From 8d7621079aa123d1d8e44ae4fd628bb1be72eb1f Mon Sep 17 00:00:00 2001 From: px4dev Date: Fri, 22 Feb 2013 23:27:24 -0800 Subject: Checkpoint: application framework makefile done --- src/apps/test/app.mk | 4 ++++ src/apps/test/foo.c | 0 2 files changed, 4 insertions(+) create mode 100644 src/apps/test/app.mk create mode 100644 src/apps/test/foo.c (limited to 'src') diff --git a/src/apps/test/app.mk b/src/apps/test/app.mk new file mode 100644 index 000000000..283425c50 --- /dev/null +++ b/src/apps/test/app.mk @@ -0,0 +1,4 @@ + +APP_NAME = test +SRCS = foo.c + diff --git a/src/apps/test/foo.c b/src/apps/test/foo.c new file mode 100644 index 000000000..e69de29bb -- cgit v1.2.3 From d24599931a3d68586cc62eddd8ffc4e309ba1606 Mon Sep 17 00:00:00 2001 From: px4dev Date: Sat, 23 Feb 2013 12:23:34 -0800 Subject: APP -> MODULE remove as many duplicate slashes, etc. as seems practical --- Makefile | 36 ++++---- makefiles/application.mk | 162 --------------------------------- makefiles/config_px4fmu_default.mk | 4 +- makefiles/firmware.mk | 172 ++++++++++++++++++------------------ makefiles/module.mk | 165 ++++++++++++++++++++++++++++++++++ makefiles/nuttx.mk | 20 +++-- makefiles/setup.mk | 24 ++--- makefiles/toolchain_gnu-arm-eabi.mk | 7 +- src/apps/test/app.mk | 4 - src/apps/test/foo.c | 0 src/modules/test/foo.c | 0 src/modules/test/module.mk | 4 + 12 files changed, 305 insertions(+), 293 deletions(-) delete mode 100644 makefiles/application.mk create mode 100644 makefiles/module.mk delete mode 100644 src/apps/test/app.mk delete mode 100644 src/apps/test/foo.c create mode 100644 src/modules/test/foo.c create mode 100644 src/modules/test/module.mk (limited to 'src') diff --git a/Makefile b/Makefile index a86065b97..b113040d0 100644 --- a/Makefile +++ b/Makefile @@ -5,8 +5,8 @@ # # Get path and tool configuration # -export PX4_BASE := $(realpath $(dir $(lastword $(MAKEFILE_LIST)))) -include $(PX4_BASE)/makefiles/setup.mk +export PX4_BASE := $(realpath $(dir $(lastword $(MAKEFILE_LIST))))/ +include $(PX4_BASE)makefiles/setup.mk # # Canned firmware configurations that we build. @@ -41,15 +41,15 @@ endif # # Built products # -STAGED_FIRMWARES = $(foreach config,$(CONFIGS),$(IMAGE_DIR)/$(config).px4) -FIRMWARES = $(foreach config,$(CONFIGS),$(BUILD_DIR)/$(config).build/firmware.px4) +STAGED_FIRMWARES = $(foreach config,$(CONFIGS),$(IMAGE_DIR)$(config).px4) +FIRMWARES = $(foreach config,$(CONFIGS),$(BUILD_DIR)$(config).build/firmware.px4) all: $(STAGED_FIRMWARES) # # Copy FIRMWARES into the image directory. # -$(STAGED_FIRMWARES): $(IMAGE_DIR)/%.px4: $(BUILD_DIR)/%.build/firmware.px4 +$(STAGED_FIRMWARES): $(IMAGE_DIR)%.px4: $(BUILD_DIR)%.build/firmware.px4 @echo %% Copying $@ $(Q) $(COPY) $< $@ @@ -57,15 +57,15 @@ $(STAGED_FIRMWARES): $(IMAGE_DIR)/%.px4: $(BUILD_DIR)/%.build/firmware.px4 # Generate FIRMWARES. # .PHONY: $(FIRMWARES) -$(BUILD_DIR)/%.build/firmware.px4: config = $(patsubst $(BUILD_DIR)/%.build/firmware.px4,%,$@) -$(BUILD_DIR)/%.build/firmware.px4: work_dir = $(BUILD_DIR)/$(config).build -$(FIRMWARES): $(BUILD_DIR)/%.build/firmware.px4: +$(BUILD_DIR)%.build/firmware.px4: config = $(patsubst $(BUILD_DIR)%.build/firmware.px4,%,$@) +$(BUILD_DIR)%.build/firmware.px4: work_dir = $(BUILD_DIR)$(config).build/ +$(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4: @echo %%%% @echo %%%% Building $(config) in $(work_dir) @echo %%%% $(Q) mkdir -p $(work_dir) $(Q) make -C $(work_dir) \ - -f $(PX4_MK_DIR)/firmware.mk \ + -f $(PX4_MK_DIR)firmware.mk \ CONFIG=$(config) \ WORK_DIR=$(work_dir) \ firmware @@ -83,21 +83,21 @@ $(FIRMWARES): $(BUILD_DIR)/%.build/firmware.px4: # # XXX PX4IO configuration name is bad - NuttX configs should probably all be "px4" # -NUTTX_ARCHIVES = $(foreach board,$(BOARDS),$(ARCHIVE_DIR)/$(board).export) +NUTTX_ARCHIVES = $(foreach board,$(BOARDS),$(ARCHIVE_DIR)$(board).export) .PHONY: archives archives: $(NUTTX_ARCHIVES) -$(ARCHIVE_DIR)/%.export: board = $(notdir $(basename $@)) -$(ARCHIVE_DIR)/%.export: configuration = $(if $(filter $(board),px4io),io,nsh) -$(NUTTX_ARCHIVES): $(ARCHIVE_DIR)/%.export: $(NUTTX_SRC) $(NUTTX_APPS) +$(ARCHIVE_DIR)%.export: board = $(notdir $(basename $@)) +$(ARCHIVE_DIR)%.export: configuration = $(if $(filter $(board),px4io),io,nsh) +$(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC) $(NUTTX_APPS) @echo %% Configuring NuttX for $(board) $(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export) $(Q) make -C $(NUTTX_SRC) -r $(MQUIET) distclean - $(Q) (cd $(NUTTX_SRC)/tools && ./configure.sh $(board)/$(configuration)) + $(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(board)/$(configuration)) @echo %% Exporting NuttX for $(board) $(Q) make -C $(NUTTX_SRC) -r $(MQUIET) export $(Q) mkdir -p $(dir $@) - $(Q) $(COPY) $(NUTTX_SRC)/nuttx-export.zip $@ + $(Q) $(COPY) $(NUTTX_SRC)nuttx-export.zip $@ # # Cleanup targets. 'clean' should remove all built products and force @@ -106,11 +106,11 @@ $(NUTTX_ARCHIVES): $(ARCHIVE_DIR)/%.export: $(NUTTX_SRC) $(NUTTX_APPS) # .PHONY: clean clean: - $(Q) $(RMDIR) $(BUILD_DIR)/*.build - $(Q) $(REMOVE) -f $(IMAGE_DIR)/*.px4 + $(Q) $(RMDIR) $(BUILD_DIR)*.build + $(Q) $(REMOVE) -f $(IMAGE_DIR)*.px4 .PHONY: distclean distclean: clean - $(Q) $(REMOVE) -f $(ARCHIVE_DIR)/*.export + $(Q) $(REMOVE) -f $(ARCHIVE_DIR)*.export $(Q) make -C $(NUTTX_SRC) -r $(MQUIET) distclean diff --git a/makefiles/application.mk b/makefiles/application.mk deleted file mode 100644 index 24be729cc..000000000 --- a/makefiles/application.mk +++ /dev/null @@ -1,162 +0,0 @@ -# -# Framework makefile for PX4 applications -# -# This makefile is invoked by firmware.mk to build each of the applications -# that will subsequently be linked into the firmware image. -# -# Applications are built as prelinked objects with a limited set of exported -# symbols, as the global namespace is shared between all apps. Normally an -# application will just export one or more _main functions. -# - -# -# Variables that can be set by the application's app.mk: -# -# -# SRCS (required) -# Lists the .c, cpp and .S files that should be compiled/assembled to -# produce the application. -# -# APP_NAME (optional) -# APP_ENTRYPOINT (optional if APP_NAME is set) -# APP_STACKSIZE (optional if APP_NAME is set) -# APP_PRIORITY (optional if APP_NAME is set) -# Defines a single builtin command exported by the application. -# APP_NAME must be unique for any configuration, but need not be the -# same as the app directory name. -# -# If APP_ENTRYPOINT is set, it names the function (which must be exported) -# that will be the entrypoint for the builtin command. It defaults to -# $(APP_NAME)_main. -# -# If APP_STACKSIZE is set, it is the size in bytes of the stack to be -# allocated for the builtin command. If it is not set, it defaults -# to CONFIG_PTHREAD_STACK_DEFAULT. -# -# If APP_PRIORITY is set, it is the thread priority for the builtin -# command. If it is not set, it defaults to SCHED_PRIORITY_DEFAULT. -# -# APP_COMMANDS (optional) -# Defines builtin commands exported by the application. Each word in -# the list should be formatted as: -# ... -# - -# -# Variables visible to the application's app.mk: -# -# CONFIG -# BOARD -# APP_WORK_DIR -# Anything set in setup.mk, board_$(BOARD).mk and the toolchain file. -# Anything exported from config_$(CONFIG).mk -# - -################################################################################ -# No user-serviceable parts below. -################################################################################ - -ifeq ($(APP_MK),) -$(error No application makefile specified) -endif - -# -# Get path and tool config -# -include $(PX4_BASE)/makefiles/setup.mk - -# -# Get the board/toolchain config -# -include $(PX4_MK_DIR)/board_$(BOARD).mk - -# -# Get the application's config -# -include $(APP_MK) -APP_SRC_DIR := $(dir $(APP_MK)) - -# -# Things that, if they change, might affect everything -# -GLOBAL_DEPS += $(MAKEFILE_LIST) - -################################################################################ -# Builtin command definitions -################################################################################ - -ifneq ($(APP_NAME),) -APP_ENTRYPOINT ?= $(APP_NAME)_main -APP_STACKSIZE ?= CONFIG_PTHREAD_STACK_DEFAULT -APP_PRIORITY ?= SCHED_PRIORITY_DEFAULT -APP_COMMANDS += $(APP_NAME).$(APP_PRIORITY).$(APP_STACKSIZE).$(APP_ENTRYPOINT) -endif - -ifneq ($(APP_COMMANDS),) -APP_COMMAND_FILES := $(addprefix $(WORK_DIR)/builtin_commands/COMMAND.,$(APP_COMMANDS)) - -.PHONY: $(APP_COMMAND_FILES) -$(APP_COMMAND_FILES): $(GLOBAL_DEPS) - @echo %% registering: $(word 2,$(subst ., ,$(notdir $(@)))) - @mkdir -p $@ - $(Q) touch $@ -endif - -################################################################################ -# Build rules -################################################################################ - -# -# What we're going to build -# -app: $(APP_OBJ) $(APP_COMMAND_FILES) - -# -# Locate sources (allows relative source paths in app.mk) -# -define SRC_SEARCH - $(firstword $(wildcard $(APP_SRC_DIR)/$1) MISSING_$1) -endef - -ABS_SRCS := $(foreach src,$(SRCS),$(call SRC_SEARCH,$(src))) -MISSING_SRCS := $(subst MISSING_,,$(filter MISSING_%,$(ABS_SRCS))) -ifneq ($(MISSING_SRCS),) -$(error $(APP_MK): missing in SRCS: $(MISSING_SRCS)) -endif -ifeq ($(ABS_SRCS),) -$(error $(APP_MK): nothing to compile in SRCS) -endif - -# -# Object files we will generate from sources -# -OBJS := $(foreach src,$(ABS_SRCS),$(APP_WORK_DIR)/$(src).o) - -# -# SRCS -> OBJS rules -# - -$(OBJS): $(GLOBAL_DEPS) - -$(filter %.c.o,$(OBJS)): $(APP_WORK_DIR)/%.c.o: %.c - $(call COMPILE,$<,$@) - -$(filter %.cpp.o,$(OBJS)): $(APP_WORK_DIR)/%.cpp.o: %.cpp $(GLOBAL_DEPS) - $(call COMPILEXX,$<,$@) - -$(filter %.S.o,$(OBJS)): $(APP_WORK_DIR)/%.S.o: %.S $(GLOBAL_DEPS) - $(call ASSEMBLE,$<,$@) - -# -# Built product rules -# - -$(APP_OBJ): $(OBJS) $(GLOBAL_DEPS) - $(call PRELINK,$@,$(OBJS)) - -# -# Utility rules -# - -clean: - $(Q) $(REMOVE) $(APP_PRELINK) $(OBJS) diff --git a/makefiles/config_px4fmu_default.mk b/makefiles/config_px4fmu_default.mk index 16b105277..6ab0d855d 100644 --- a/makefiles/config_px4fmu_default.mk +++ b/makefiles/config_px4fmu_default.mk @@ -15,6 +15,6 @@ ROMFS_ROOT = $(PX4_BASE)/ROMFS/$(CONFIG) BUILTIN_COMMANDS = perf.SCHED_PRIORITY_DEFAULT.CONFIG_PTHREAD_STACK_DEFAULT.perf_main # -# Build the test app +# Build the test module # -APPS = test +MODULES = test diff --git a/makefiles/firmware.mk b/makefiles/firmware.mk index 9a98d2bc6..1b6a1cdef 100644 --- a/makefiles/firmware.mk +++ b/makefiles/firmware.mk @@ -9,37 +9,23 @@ # # Optional: # -# APPS -# Contains a list of application paths or path fragments used -# to find applications. The names listed here are searched in +# MODULES +# Contains a list of module paths or path fragments used +# to find modules. The names listed here are searched in # the following directories: # -# $(APP_SEARCH_DIRS) +# $(MODULE_SEARCH_DIRS) # WORK_DIR -# APP_SRC -# PX4_APP_SRC +# MODULE_SRC +# PX4_MODULE_SRC # -# Application directories are expected to contain an 'app.mk' -# file which provides build configuration for the app. See -# application.mk for more details. -# -# LIBS -# Contains a list of library paths or path fragments used -# to find libraries. The names listed here are searched in the -# following directories: -# -# $(LIB_SEARCH_DIRS) -# WORK_DIR -# LIB_SRC -# PX4_LIB_SRC -# -# Library directories are expected to contain a 'lib.mk' -# file which provides build configuration for the library. See -# library.mk for more details. +# Application directories are expected to contain a module.mk +# file which provides build configuration for the module. See +# makefiles/module.mk for more details. # # BUILTIN_COMMANDS # Contains a list of built-in commands not explicitly provided -# by applications / libraries. Each entry in this list is formatted +# by modules / libraries. Each entry in this list is formatted # as ... # # PX4_BASE: @@ -59,12 +45,8 @@ # containing the files under the directory and linked into the final # image. # -# APP_SEARCH_DIRS: -# Extra directories to search first for APPS before looking in the -# usual places. -# -# LIB_SEARCH_DIRS: -# Extra directories to search first for LIBS before looking in the +# MODULE_SEARCH_DIRS: +# Extra directories to search first for MODULES before looking in the # usual places. # @@ -82,8 +64,8 @@ MK_DIR ?= $(dir $(lastword $(MAKEFILE_LIST))) ifeq ($(PX4_BASE),) export PX4_BASE := $(abspath $(MK_DIR)/..) -$(info %% set PX4_BASE to $(PX4_BASE)) endif +$(info PX4_BASE $(PX4_BASE)) # # Set a default target so that included makefiles or errors here don't @@ -111,7 +93,7 @@ $(error Can't find a config file called $(CONFIG) or $(PX4_MK_DIR)/config_$(CONF endif export CONFIG include $(CONFIG_FILE) -$(info %% CONFIG $(CONFIG)) +$(info CONFIG $(CONFIG)) # # Sanity-check the BOARD variable and then get the board config. @@ -128,7 +110,7 @@ $(error Config $(CONFIG) references board $(BOARD), but no board definition file endif export BOARD include $(BOARD_FILE) -$(info %% BOARD $(BOARD)) +$(info BOARD $(BOARD)) # # If WORK_DIR is not set, create a 'build' directory next to the @@ -136,9 +118,9 @@ $(info %% BOARD $(BOARD)) # PARENT_MAKEFILE := $(lastword $(filter-out $(lastword $(MAKEFILE_LIST)),$(MAKEFILE_LIST))) ifeq ($(WORK_DIR),) -export WORK_DIR := $(dir $(PARENT_MAKEFILE))/build +export WORK_DIR := $(dir $(PARENT_MAKEFILE))build/ endif -$(info %% WORK_DIR $(WORK_DIR)) +$(info WORK_DIR $(WORK_DIR)) # # Things that, if they change, might affect everything @@ -146,53 +128,71 @@ $(info %% WORK_DIR $(WORK_DIR)) GLOBAL_DEPS += $(MAKEFILE_LIST) ################################################################################ -# Applications +# Modules ################################################################################ -# where to look for applications -APP_SEARCH_DIRS += $(WORK_DIR) $(APP_SRC) $(PX4_APP_SRC) +# +# We don't actually know what a moldule is called; all we have is a path fragment +# that we can search for, and where we expect to find a module.mk file. +# +# As such, we replicate the successfully-found path inside WORK_DIR for the +# module's build products in order to keep modules separated from each other. +# +# XXX If this becomes unwieldy or breaks for other reasons, we will need to +# move to allocating directory names and keeping tabs on makefiles via +# the directory name. That will involve arithmetic (it'd probably be time +# for GMSL). + +# where to look for modules +MODULE_SEARCH_DIRS += $(WORK_DIR) $(MODULE_SRC) $(PX4_MODULE_SRC) -# sort and unique the apps list -APPS := $(sort $(APPS)) +# sort and unique the modules list +MODULES := $(sort $(MODULES)) -# locate the first instance of an app by full path or by looking on the -# application search path -define APP_SEARCH - $(firstword $(wildcard $(1)/app.mk) \ - $(foreach search_dir,$(APP_SEARCH_DIRS),$(wildcard $(search_dir)/$(1)/app.mk)) \ - MISSING_$1) +# locate the first instance of a module by full path or by looking on the +# module search path +define MODULE_SEARCH + $(abspath $(firstword $(wildcard $(1)/module.mk) \ + $(foreach search_dir,$(MODULE_SEARCH_DIRS),$(wildcard $(search_dir)/$(1)/module.mk)) \ + MISSING_$1)) endef -APP_MKFILES := $(foreach app,$(APPS),$(call APP_SEARCH,$(app))) -MISSING_APPS := $(subst MISSING_,,$(filter MISSING_%,$(APP_MKFILES))) -ifneq ($(MISSING_APPS),) -$(error Can't find application(s): $(MISSING_APPS)) +# make a list of module makefiles and check that we found them all +MODULE_MKFILES := $(foreach module,$(MODULES),$(call MODULE_SEARCH,$(module))) +MISSING_MODULES := $(subst MISSING_,,$(filter MISSING_%,$(MODULE_MKFILES))) +ifneq ($(MISSING_MODULES),) +$(error Can't find module(s): $(MISSING_MODULES)) endif -APP_OBJS := $(foreach path,$(dir $(APP_MKFILES)),$(WORK_DIR)/$(path)/app.pre.o) +# make a list of the object files we expect to build from modules +MODULE_OBJS := $(foreach path,$(dir $(MODULE_MKFILES)),$(WORK_DIR)$(path)module.pre.o) -$(APP_OBJS): relpath = $(patsubst $(WORK_DIR)/%,%,$@) -$(APP_OBJS): mkfile = $(patsubst %/app.pre.o,%/app.mk,$(relpath)) -$(APP_OBJS): $(GLOBAL_DEPS) $(NUTTX_CONFIG_HEADER) +# rules to build module objects +.PHONY: $(MODULE_OBJS) +$(MODULE_OBJS): relpath = $(patsubst $(WORK_DIR)%,%,$@) +$(MODULE_OBJS): mkfile = $(patsubst %module.pre.o,%module.mk,$(relpath)) +$(MODULE_OBJS): $(GLOBAL_DEPS) $(NUTTX_CONFIG_HEADER) @echo %% - @echo %% Building app in $(relpath) using $(mkfile) + @echo %% Building module using $(mkfile) @echo %% - $(Q) make -f $(PX4_MK_DIR)/application.mk \ - APP_WORK_DIR=$(dir $@) \ - APP_OBJ=$@ \ - APP_MK=$(mkfile) \ - app - -APP_CLEANS := $(foreach path,$(dir $(APP_MKFILES)),$(WORK_DIR)/$(path)/clean) - -.PHONY: $(APP_CLEANS) -$(APP_CLEANS): relpath = $(patsubst $(WORK_DIR)/%,%,$@) -$(APP_CLEANS): mkfile = $(patsubst %/clean,%/app.mk,$(relpath)) -$(APP_CLEANS): + $(Q) make -f $(PX4_MK_DIR)module.mk \ + MODULE_WORK_DIR=$(dir $@) \ + MODULE_OBJ=$@ \ + MODULE_MK=$(mkfile) \ + module + +# make a list of phony clean targets for modules +MODULE_CLEANS := $(foreach path,$(dir $(MODULE_MKFILES)),$(WORK_DIR)$(path)/clean) + +# rules to clean modules +.PHONY: $(MODULE_CLEANS) +$(MODULE_CLEANS): relpath = $(patsubst $(WORK_DIR)%,%,$@) +$(MODULE_CLEANS): mkfile = $(patsubst %clean,%module.mk,$(relpath)) +$(MODULE_CLEANS): @echo %% cleaning using $(mkfile) - $(Q) make -f $(PX4_MK_DIR)/application.mk \ - APP_WORK_DIR=$(dir $@) \ - APP_MK=$(mkfile) \ + $(Q) make -f $(PX4_MK_DIR)module.mk \ + MODULE_WORK_DIR=$(dir $@) \ + MODULE_MK=$(mkfile) \ clean ################################################################################ @@ -217,7 +217,7 @@ ROMFS_DEPS += $(wildcard \ (ROMFS_ROOT)/*/*/*/* \ (ROMFS_ROOT)/*/*/*/*/* \ (ROMFS_ROOT)/*/*/*/*/*/*) -ROMFS_IMG = $(WORK_DIR)/romfs.img +ROMFS_IMG = $(WORK_DIR)romfs.img ROMFS_CSRC = $(ROMFS_IMG:.img=.c) ROMFS_OBJ = $(ROMFS_CSRC:.c=.o) LIBS += $(ROMFS_OBJ) @@ -245,7 +245,7 @@ endif # NuttX export library. Instead, we have to treat it like a library. # # Builtin commands can be generated by the configuration, in which case they -# must refer to commands that already exist, or indirectly generated by applications +# must refer to commands that already exist, or indirectly generated by modules # when they are built. # # The configuration supplies builtin command information in the BUILTIN_COMMANDS @@ -257,10 +257,10 @@ endif # and the name of the function to call when starting the thread. # # -BUILTIN_CSRC = $(WORK_DIR)/builtin_commands.c +BUILTIN_CSRC = $(WORK_DIR)builtin_commands.c -# add command definitions from apps -BUILTIN_COMMANDS += $(subst COMMAND.,,$(notdir $(wildcard $(WORK_DIR)/builtin_commands/COMMAND.*))) +# add command definitions from modules +BUILTIN_COMMANDS += $(subst COMMAND.,,$(notdir $(wildcard $(WORK_DIR)builtin_commands/COMMAND.*))) # (BUILTIN_PROTO,,) define BUILTIN_PROTO @@ -300,7 +300,7 @@ $(BUILTIN_OBJ): $(BUILTIN_CSRC) # source file. # ifeq ($(SRCS),) -EMPTY_SRC = $(WORK_DIR)/empty.c +EMPTY_SRC = $(WORK_DIR)empty.c $(EMPTY_SRC): $(Q) echo '/* this is an empty file */' > $@ @@ -314,9 +314,9 @@ endif # # What we're going to build. # -PRODUCT_BUNDLE = $(WORK_DIR)/firmware.px4 -PRODUCT_BIN = $(WORK_DIR)/firmware.bin -PRODUCT_SYM = $(WORK_DIR)/firmware.sym +PRODUCT_BUNDLE = $(WORK_DIR)firmware.px4 +PRODUCT_BIN = $(WORK_DIR)firmware.bin +PRODUCT_SYM = $(WORK_DIR)firmware.sym .PHONY: firmware firmware: $(PRODUCT_BUNDLE) @@ -324,7 +324,7 @@ firmware: $(PRODUCT_BUNDLE) # # Object files we will generate from sources # -OBJS := $(foreach src,$(SRCS),$(WORK_DIR)/$(src).o) +OBJS := $(foreach src,$(SRCS),$(WORK_DIR)$(src).o) # # SRCS -> OBJS rules @@ -332,13 +332,13 @@ OBJS := $(foreach src,$(SRCS),$(WORK_DIR)/$(src).o) $(OBJS): $(GLOBAL_DEPS) -$(filter %.c.o,$(OBJS)): $(WORK_DIR)/%.c.o: %.c +$(filter %.c.o,$(OBJS)): $(WORK_DIR)%.c.o: %.c $(GLOBAL_DEPS) $(call COMPILE,$<,$@) -$(filter %.cpp.o,$(OBJS)): $(WORK_DIR)/%.cpp.o: %.cpp $(GLOBAL_DEPS) +$(filter %.cpp.o,$(OBJS)): $(WORK_DIR)%.cpp.o: %.cpp $(GLOBAL_DEPS) $(call COMPILEXX,$<,$@) -$(filter %.S.o,$(OBJS)): $(WORK_DIR)/%.S.o: %.S $(GLOBAL_DEPS) +$(filter %.S.o,$(OBJS)): $(WORK_DIR)%.S.o: %.S $(GLOBAL_DEPS) $(call ASSEMBLE,$<,$@) # @@ -354,8 +354,8 @@ $(PRODUCT_BUNDLE): $(PRODUCT_BIN) $(PRODUCT_BIN): $(PRODUCT_SYM) $(call SYM_TO_BIN,$<,$@) -$(PRODUCT_SYM): $(OBJS) $(APP_OBJS) $(GLOBAL_DEPS) $(LINK_DEPS) $(APP_MKFILES) - $(call LINK,$@,$(OBJS) $(APP_OBJS)) +$(PRODUCT_SYM): $(OBJS) $(MODULE_OBJS) $(GLOBAL_DEPS) $(LINK_DEPS) $(MODULE_MKFILES) + $(call LINK,$@,$(OBJS) $(MODULE_OBJS)) # # Utility rules @@ -370,7 +370,7 @@ upload: $(PRODUCT_BUNDLE) $(PRODUCT_BIN) BIN=$(PRODUCT_BIN) .PHONY: clean -clean: $(APP_CLEANS) +clean: $(MODULE_CLEANS) @echo %% cleaning $(Q) $(REMOVE) $(PRODUCT_BUNDLE) $(PRODUCT_BIN) $(PRODUCT_SYM) $(Q) $(REMOVE) $(OBJS) $(DEP_INCLUDES) diff --git a/makefiles/module.mk b/makefiles/module.mk new file mode 100644 index 000000000..306a9594f --- /dev/null +++ b/makefiles/module.mk @@ -0,0 +1,165 @@ +# +# Framework makefile for PX4 modules +# +# This makefile is invoked by firmware.mk to build each of the modules +# that will subsequently be linked into the firmware image. +# +# Applications are built as prelinked objects with a limited set of exported +# symbols, as the global namespace is shared between all modules. Normally an +# module will just export one or more _main functions. +# + +# +# Variables that can be set by the module's module.mk: +# +# +# SRCS (required) +# Lists the .c, cpp and .S files that should be compiled/assembled to +# produce the module. +# +# MODULE_NAME (optional) +# MODULE_ENTRYPOINT (optional if MODULE_NAME is set) +# MODULE_STACKSIZE (optional if MODULE_NAME is set) +# MODULE_PRIORITY (optional if MODULE_NAME is set) +# Defines a single builtin command exported by the module. +# MODULE_NAME must be unique for any configuration, but need not be the +# same as the module directory name. +# +# If MODULE_ENTRYPOINT is set, it names the function (which must be exported) +# that will be the entrypoint for the builtin command. It defaults to +# $(MODULE_NAME)_main. +# +# If MODULE_STACKSIZE is set, it is the size in bytes of the stack to be +# allocated for the builtin command. If it is not set, it defaults +# to CONFIG_PTHREAD_STACK_DEFAULT. +# +# If MODULE_PRIORITY is set, it is the thread priority for the builtin +# command. If it is not set, it defaults to SCHED_PRIORITY_DEFAULT. +# +# MODULE_COMMANDS (optional) +# Defines builtin commands exported by the module. Each word in +# the list should be formatted as: +# ... +# + +# +# Variables visible to the module's module.mk: +# +# CONFIG +# BOARD +# MODULE_WORK_DIR +# Anything set in setup.mk, board_$(BOARD).mk and the toolchain file. +# Anything exported from config_$(CONFIG).mk +# + +################################################################################ +# No user-serviceable parts below. +################################################################################ + +ifeq ($(MODULE_MK),) +$(error No module makefile specified) +endif +$(info MODULE_MK $(MODULE_MK)) + +# +# Get path and tool config +# +include $(PX4_BASE)/makefiles/setup.mk + +# +# Get the board/toolchain config +# +include $(PX4_MK_DIR)/board_$(BOARD).mk + +# +# Get the module's config +# +include $(MODULE_MK) +MODULE_SRC := $(dir $(MODULE_MK)) +$(info MODULE_SRC $(MODULE_SRC)) +$(info MODULE_WORK_DIR $(MODULE_WORK_DIR)) + +# +# Things that, if they change, might affect everything +# +GLOBAL_DEPS += $(MAKEFILE_LIST) + +################################################################################ +# Builtin command definitions +################################################################################ + +ifneq ($(MODULE_NAME),) +MODULE_ENTRYPOINT ?= $(MODULE_NAME)_main +MODULE_STACKSIZE ?= CONFIG_PTHREAD_STACK_DEFAULT +MODULE_PRIORITY ?= SCHED_PRIORITY_DEFAULT +MODULE_COMMANDS += $(MODULE_NAME).$(MODULE_PRIORITY).$(MODULE_STACKSIZE).$(MODULE_ENTRYPOINT) +endif + +ifneq ($(MODULE_COMMANDS),) +MODULE_COMMAND_FILES := $(addprefix $(WORK_DIR)/builtin_commands/COMMAND.,$(MODULE_COMMANDS)) + +.PHONY: $(MODULE_COMMAND_FILES) +$(MODULE_COMMAND_FILES): $(GLOBAL_DEPS) + @echo COMMAND $(word 2,$(subst ., ,$(notdir $(@)))) + @mkdir -p $@ + $(Q) touch $@ +endif + +################################################################################ +# Build rules +################################################################################ + +# +# What we're going to build +# +module: $(MODULE_OBJ) $(MODULE_COMMAND_FILES) + +# +# Locate sources (allows relative source paths in module.mk) +# +define SRC_SEARCH + $(abspath $(firstword $(wildcard $(MODULE_SRC)/$1) MISSING_$1)) +endef + +ABS_SRCS := $(foreach src,$(SRCS),$(call SRC_SEARCH,$(src))) +MISSING_SRCS := $(subst MISSING_,,$(filter MISSING_%,$(ABS_SRCS))) +ifneq ($(MISSING_SRCS),) +$(error $(MODULE_MK): missing in SRCS: $(MISSING_SRCS)) +endif +ifeq ($(ABS_SRCS),) +$(error $(MODULE_MK): nothing to compile in SRCS) +endif + +# +# Object files we will generate from sources +# +OBJS := $(foreach src,$(ABS_SRCS),$(MODULE_WORK_DIR)$(src).o) + +# +# SRCS -> OBJS rules +# + +$(OBJS): $(GLOBAL_DEPS) + +$(filter %.c.o,$(OBJS)): $(MODULE_WORK_DIR)%.c.o: %.c $(GLOBAL_DEPS) + $(call COMPILE,$<,$@) + +$(filter %.cpp.o,$(OBJS)): $(MODULE_WORK_DIR)%.cpp.o: %.cpp $(GLOBAL_DEPS) + $(call COMPILEXX,$<,$@) + +$(filter %.S.o,$(OBJS)): $(MODULE_WORK_DIR)%.S.o: %.S $(GLOBAL_DEPS) + $(call ASSEMBLE,$<,$@) + +# +# Built product rules +# + +$(MODULE_OBJ): $(OBJS) $(GLOBAL_DEPS) + $(call PRELINK,$@,$(OBJS)) + +# +# Utility rules +# + +clean: + $(Q) $(REMOVE) $(MODULE_PRELINK) $(OBJS) diff --git a/makefiles/nuttx.mk b/makefiles/nuttx.mk index cdbd6e0af..bd2b98084 100644 --- a/makefiles/nuttx.mk +++ b/makefiles/nuttx.mk @@ -6,7 +6,7 @@ # # Check that the NuttX archive for the selected board is available. # -NUTTX_ARCHIVE := $(wildcard $(ARCHIVE_DIR)/$(BOARD).export) +NUTTX_ARCHIVE := $(wildcard $(ARCHIVE_DIR)$(BOARD).export) ifeq ($(NUTTX_ARCHIVE),) $(error The NuttX export archive for $(BOARD) is missing from $(ARCHIVE_DIR) - try 'make archives' in $(PX4_BASE)) endif @@ -16,23 +16,27 @@ endif # if it changes, everything should be rebuilt. So, use it as the trigger to # unpack the NuttX archive. # -NUTTX_EXPORT_DIR = $(WORK_DIR)/nuttx-export -NUTTX_CONFIG_HEADER = $(NUTTX_EXPORT_DIR)/include/nuttx/config.h +NUTTX_EXPORT_DIR = $(WORK_DIR)nuttx-export/ +NUTTX_CONFIG_HEADER = $(NUTTX_EXPORT_DIR)include/nuttx/config.h +$(info NUTTX_EXPORT_DIR $(NUTTX_EXPORT_DIR)) +$(info NUTTX_CONFIG_HEADER $(NUTTX_CONFIG_HEADER)) + + GLOBAL_DEPS += $(NUTTX_CONFIG_HEADER) # # Use the linker script from the NuttX export # -LDSCRIPT = $(NUTTX_EXPORT_DIR)/build/ld.script +LDSCRIPT = $(NUTTX_EXPORT_DIR)build/ld.script # # Add directories from the NuttX export to the relevant search paths # -INCLUDE_DIRS += $(NUTTX_EXPORT_DIR)/include -LIB_DIRS += $(NUTTX_EXPORT_DIR)/libs +INCLUDE_DIRS += $(NUTTX_EXPORT_DIR)include +LIB_DIRS += $(NUTTX_EXPORT_DIR)libs LIBS += -lapps -lnuttx -LINK_DEPS += $(NUTTX_EXPORT_DIR)/libs/libapps.a \ - $(NUTTX_EXPORT_DIR)/libs/libnuttx.a +LINK_DEPS += $(NUTTX_EXPORT_DIR)libs/libapps.a \ + $(NUTTX_EXPORT_DIR)libs/libnuttx.a $(NUTTX_CONFIG_HEADER): $(NUTTX_ARCHIVE) @echo %% Unpacking $(NUTTX_ARCHIVE) diff --git a/makefiles/setup.mk b/makefiles/setup.mk index 0c142cb1d..d4b279e7c 100644 --- a/makefiles/setup.mk +++ b/makefiles/setup.mk @@ -5,16 +5,20 @@ # # Some useful paths. # -export PX4_APP_SRC = $(PX4_BASE)/src/apps -export PX4_LIB_SRC = $(PX4_BASE)/src/libs -export PX4_MK_DIR = $(PX4_BASE)/makefiles -export NUTTX_SRC = $(PX4_BASE)/nuttx -export NUTTX_APP_SRC = $(PX4_BASE)/apps -export MAVLINK_SRC = $(PX4_BASE)/mavlink -export ROMFS_SRC = $(PX4_BASE)/ROMFS -export IMAGE_DIR = $(PX4_BASE)/Images -export BUILD_DIR = $(PX4_BASE)/Build -export ARCHIVE_DIR = $(PX4_BASE)/Archives +# Note that in general we always keep directory paths with the separator +# at the end, and join paths without explicit separators. This reduces +# the number of duplicate slashes we have lying around in paths, +# and is consistent with joining the results of $(dir) and $(notdir). +# +export PX4_MODULE_SRC = $(abspath $(PX4_BASE)/src/modules)/ +export PX4_MK_DIR = $(abspath $(PX4_BASE)/makefiles)/ +export NUTTX_SRC = $(abspath $(PX4_BASE)/nuttx)/ +export NUTTX_APP_SRC = $(abspath $(PX4_BASE)/apps)/ +export MAVLINK_SRC = $(abspath $(PX4_BASE)/mavlink)/ +export ROMFS_SRC = $(abspath $(PX4_BASE)/ROMFS)/ +export IMAGE_DIR = $(abspath $(PX4_BASE)/Images)/ +export BUILD_DIR = $(abspath $(PX4_BASE)/Build)/ +export ARCHIVE_DIR = $(abspath $(PX4_BASE)/Archives)/ # # Tools diff --git a/makefiles/toolchain_gnu-arm-eabi.mk b/makefiles/toolchain_gnu-arm-eabi.mk index ba3b06c7f..0a1ee18e9 100644 --- a/makefiles/toolchain_gnu-arm-eabi.mk +++ b/makefiles/toolchain_gnu-arm-eabi.mk @@ -2,7 +2,7 @@ # Definitions for a generic GNU ARM-EABI toolchain # -$(info %% TOOLCHAIN gnu-arm-eabi) +#$(info TOOLCHAIN gnu-arm-eabi) CROSSDEV = arm-none-eabi- @@ -134,7 +134,8 @@ DEP_INCLUDES = $(subst .o,.d,$(OBJS)) # compile C source $1 to object $2 # as a side-effect, generate a dependency file define COMPILE - @echo "CC: $1" + @echo "CC <- $1" + @echo "CC -> $2" @mkdir -p $(dir $2) $(Q) $(CC) -MD -c $(CFLAGS) $(abspath $1) -o $2 endef @@ -172,7 +173,7 @@ endef define LINK @echo "LINK: $1" @mkdir -p $(dir $1) - $(Q) $(LD) $(LDFLAGS) -o $1 $2 --start-group $(LIBS) $(EXTRA_LIBS) $(LIBGCC) --end-group + $(Q) $(LD) $(LDFLAGS) -o $1 --start-group $2 $(LIBS) $(EXTRA_LIBS) $(LIBGCC) --end-group endef # convert $1 from a linked object to a raw binary diff --git a/src/apps/test/app.mk b/src/apps/test/app.mk deleted file mode 100644 index 283425c50..000000000 --- a/src/apps/test/app.mk +++ /dev/null @@ -1,4 +0,0 @@ - -APP_NAME = test -SRCS = foo.c - diff --git a/src/apps/test/foo.c b/src/apps/test/foo.c deleted file mode 100644 index e69de29bb..000000000 diff --git a/src/modules/test/foo.c b/src/modules/test/foo.c new file mode 100644 index 000000000..e69de29bb diff --git a/src/modules/test/module.mk b/src/modules/test/module.mk new file mode 100644 index 000000000..abf80eedf --- /dev/null +++ b/src/modules/test/module.mk @@ -0,0 +1,4 @@ + +MODULE_NAME = test +SRCS = foo.c + -- cgit v1.2.3 From 6b215be739528eb20b50247a0a095d27092b3be4 Mon Sep 17 00:00:00 2001 From: px4dev Date: Sat, 23 Feb 2013 14:33:53 -0800 Subject: Use indirect calls for all commands (echo, make, etc.) Replace our dependency on xxd with a toolchain call, and implement the backend using objcopy evil for the default toolchain. --- makefiles/firmware.mk | 54 ++++++++++++++++---------------- makefiles/module.mk | 6 ++-- makefiles/nuttx.mk | 8 ++--- makefiles/setup.mk | 4 +++ makefiles/toolchain_gnu-arm-eabi.mk | 61 ++++++++++++++++++++++++++----------- src/modules/test/foo.c | 4 +++ 6 files changed, 85 insertions(+), 52 deletions(-) (limited to 'src') diff --git a/makefiles/firmware.mk b/makefiles/firmware.mk index 1b6a1cdef..23fd3136f 100644 --- a/makefiles/firmware.mk +++ b/makefiles/firmware.mk @@ -172,10 +172,10 @@ MODULE_OBJS := $(foreach path,$(dir $(MODULE_MKFILES)),$(WORK_DIR)$(path)module $(MODULE_OBJS): relpath = $(patsubst $(WORK_DIR)%,%,$@) $(MODULE_OBJS): mkfile = $(patsubst %module.pre.o,%module.mk,$(relpath)) $(MODULE_OBJS): $(GLOBAL_DEPS) $(NUTTX_CONFIG_HEADER) - @echo %% - @echo %% Building module using $(mkfile) - @echo %% - $(Q) make -f $(PX4_MK_DIR)module.mk \ + @$(ECHO) %% + @$(ECHO) %% Building module using $(mkfile) + @$(ECHO) %% + $(Q) $(MAKE) -f $(PX4_MK_DIR)module.mk \ MODULE_WORK_DIR=$(dir $@) \ MODULE_OBJ=$@ \ MODULE_MK=$(mkfile) \ @@ -189,8 +189,8 @@ MODULE_CLEANS := $(foreach path,$(dir $(MODULE_MKFILES)),$(WORK_DIR)$(path)/cle $(MODULE_CLEANS): relpath = $(patsubst $(WORK_DIR)%,%,$@) $(MODULE_CLEANS): mkfile = $(patsubst %clean,%module.mk,$(relpath)) $(MODULE_CLEANS): - @echo %% cleaning using $(mkfile) - $(Q) make -f $(PX4_MK_DIR)module.mk \ + @$(ECHO) %% cleaning using $(mkfile) + $(Q) $(MAKE) -f $(PX4_MK_DIR)module.mk \ MODULE_WORK_DIR=$(dir $@) \ MODULE_MK=$(mkfile) \ clean @@ -210,6 +210,8 @@ include $(PX4_MK_DIR)/nuttx.mk # NuttX export library. Instead, we have to treat it like a library. # ifneq ($(ROMFS_ROOT),) + +# Add dependencies on anything in the ROMFS root ROMFS_DEPS += $(wildcard \ (ROMFS_ROOT)/* \ (ROMFS_ROOT)/*/* \ @@ -223,15 +225,13 @@ ROMFS_OBJ = $(ROMFS_CSRC:.c=.o) LIBS += $(ROMFS_OBJ) LINK_DEPS += $(ROMFS_OBJ) -$(ROMFS_OBJ): $(ROMFS_CSRC) - $(Q) $(call COMPILE,$<,$@) - -$(ROMFS_CSRC): $(ROMFS_IMG) - @echo %% generating $@ - $(Q) (cd $(dir $<) && xxd -i $(notdir $<)) > $@ +# Turn the ROMFS image into an object file +$(ROMFS_OBJ): $(ROMFS_IMG) $(GLOBAL_DEPS) + $(call BIN_TO_OBJ,$<,$@,romfs_img) +# Generate the ROMFS image from the root $(ROMFS_IMG): $(ROMFS_DEPS) $(GLOBAL_DEPS) - @echo %% generating $@ + @$(ECHO) %% generating $@ $(Q) $(GENROMFS) -f $@ -d $(ROMFS_ROOT) -V "NSHInitVol" endif @@ -264,25 +264,25 @@ BUILTIN_COMMANDS += $(subst COMMAND.,,$(notdir $(wildcard $(WORK_DIR)builtin_com # (BUILTIN_PROTO,,) define BUILTIN_PROTO - echo 'extern int $(word 4,$1)(int argc, char *argv[]);' >> $2; + $(ECHO) 'extern int $(word 4,$1)(int argc, char *argv[]);' >> $2; endef # (BUILTIN_DEF,,) define BUILTIN_DEF - echo ' {"$(word 1,$1)", $(word 2,$1), $(word 3,$1), $(word 4,$1)},' >> $2; + $(ECHO) ' {"$(word 1,$1)", $(word 2,$1), $(word 3,$1), $(word 4,$1)},' >> $2; endef $(BUILTIN_CSRC): $(GLOBAL_DEPS) - @echo %% generating $@ - $(Q) echo '/* builtin command list - automatically generated, do not edit */' > $@ - $(Q) echo '#include ' >> $@ - $(Q) echo '#include ' >> $@ + @$(ECHO) %% generating $@ + $(Q) $(ECHO) '/* builtin command list - automatically generated, do not edit */' > $@ + $(Q) $(ECHO) '#include ' >> $@ + $(Q) $(ECHO) '#include ' >> $@ $(Q) $(foreach spec,$(BUILTIN_COMMANDS),$(call BUILTIN_PROTO,$(subst ., ,$(spec)),$@)) - $(Q) echo 'const struct builtin_s g_builtins[] = {' >> $@ + $(Q) $(ECHO) 'const struct builtin_s g_builtins[] = {' >> $@ $(Q) $(foreach spec,$(BUILTIN_COMMANDS),$(call BUILTIN_DEF,$(subst ., ,$(spec)),$@)) - $(Q) echo ' {NULL, 0, 0, NULL}' >> $@ - $(Q) echo '};' >> $@ - $(Q) echo 'const int g_builtin_count = $(words $(BUILTIN_COMMANDS));' >> $@ + $(Q) $(ECHO) ' {NULL, 0, 0, NULL}' >> $@ + $(Q) $(ECHO) '};' >> $@ + $(Q) $(ECHO) 'const int g_builtin_count = $(words $(BUILTIN_COMMANDS));' >> $@ BUILTIN_OBJ = $(BUILTIN_CSRC:.c=.o) LIBS += $(BUILTIN_OBJ) @@ -302,7 +302,7 @@ $(BUILTIN_OBJ): $(BUILTIN_CSRC) ifeq ($(SRCS),) EMPTY_SRC = $(WORK_DIR)empty.c $(EMPTY_SRC): - $(Q) echo '/* this is an empty file */' > $@ + $(Q) $(ECHO) '/* this is an empty file */' > $@ SRCS += $(EMPTY_SRC) endif @@ -346,7 +346,7 @@ $(filter %.S.o,$(OBJS)): $(WORK_DIR)%.S.o: %.S $(GLOBAL_DEPS) # $(PRODUCT_BUNDLE): $(PRODUCT_BIN) - @echo %% Generating $@ + @$(ECHO) %% Generating $@ $(Q) $(MKFW) --prototype $(IMAGE_DIR)/$(BOARD).prototype \ --git_identity $(PX4_BASE) \ --image $< > $@ @@ -363,7 +363,7 @@ $(PRODUCT_SYM): $(OBJS) $(MODULE_OBJS) $(GLOBAL_DEPS) $(LINK_DEPS) $(MODULE_MKF .PHONY: upload upload: $(PRODUCT_BUNDLE) $(PRODUCT_BIN) - $(Q) make -f $(PX4_MK_DIR)/upload.mk \ + $(Q) $(MAKE) -f $(PX4_MK_DIR)/upload.mk \ METHOD=serial \ PRODUCT=$(PRODUCT) \ BUNDLE=$(PRODUCT_BUNDLE) \ @@ -371,7 +371,7 @@ upload: $(PRODUCT_BUNDLE) $(PRODUCT_BIN) .PHONY: clean clean: $(MODULE_CLEANS) - @echo %% cleaning + @$(ECHO) %% cleaning $(Q) $(REMOVE) $(PRODUCT_BUNDLE) $(PRODUCT_BIN) $(PRODUCT_SYM) $(Q) $(REMOVE) $(OBJS) $(DEP_INCLUDES) $(Q) $(RMDIR) $(NUTTX_EXPORT_DIR) diff --git a/makefiles/module.mk b/makefiles/module.mk index 306a9594f..bf54362e6 100644 --- a/makefiles/module.mk +++ b/makefiles/module.mk @@ -100,9 +100,9 @@ MODULE_COMMAND_FILES := $(addprefix $(WORK_DIR)/builtin_commands/COMMAND.,$(MODU .PHONY: $(MODULE_COMMAND_FILES) $(MODULE_COMMAND_FILES): $(GLOBAL_DEPS) - @echo COMMAND $(word 2,$(subst ., ,$(notdir $(@)))) - @mkdir -p $@ - $(Q) touch $@ + @$(ECHO) COMMAND $(word 2,$(subst ., ,$(notdir $(@)))) + @$(MKDIR) -p $(dir $@) + $(Q) $(TOUCH) $@ endif ################################################################################ diff --git a/makefiles/nuttx.mk b/makefiles/nuttx.mk index bd2b98084..e71993916 100644 --- a/makefiles/nuttx.mk +++ b/makefiles/nuttx.mk @@ -27,7 +27,7 @@ GLOBAL_DEPS += $(NUTTX_CONFIG_HEADER) # # Use the linker script from the NuttX export # -LDSCRIPT = $(NUTTX_EXPORT_DIR)build/ld.script +LDSCRIPT += $(NUTTX_EXPORT_DIR)build/ld.script # # Add directories from the NuttX export to the relevant search paths @@ -39,6 +39,6 @@ LINK_DEPS += $(NUTTX_EXPORT_DIR)libs/libapps.a \ $(NUTTX_EXPORT_DIR)libs/libnuttx.a $(NUTTX_CONFIG_HEADER): $(NUTTX_ARCHIVE) - @echo %% Unpacking $(NUTTX_ARCHIVE) - $(Q) unzip -q -o -d $(WORK_DIR) $(NUTTX_ARCHIVE) - $(Q) touch $@ + @$(ECHO) %% Unpacking $(NUTTX_ARCHIVE) + $(Q) $(UNZIP) -q -o -d $(WORK_DIR) $(NUTTX_ARCHIVE) + $(Q) $(TOUCH) $@ diff --git a/makefiles/setup.mk b/makefiles/setup.mk index d4b279e7c..f67ab7bb0 100644 --- a/makefiles/setup.mk +++ b/makefiles/setup.mk @@ -29,6 +29,10 @@ COPY = cp REMOVE = rm -f RMDIR = rm -rf GENROMFS = genromfs +TOUCH = touch +MKDIR = mkdir +ECHO = echo +UNZIP = unzip # # Host-specific paths, hacks and fixups diff --git a/makefiles/toolchain_gnu-arm-eabi.mk b/makefiles/toolchain_gnu-arm-eabi.mk index 0a1ee18e9..108476782 100644 --- a/makefiles/toolchain_gnu-arm-eabi.mk +++ b/makefiles/toolchain_gnu-arm-eabi.mk @@ -119,7 +119,7 @@ AFLAGS = $(CFLAGS) -D__ASSEMBLY__ LDFLAGS += --warn-common \ --gc-sections \ - -T $(LDSCRIPT) \ + $(addprefix -T,$(LDSCRIPT)) \ $(addprefix -L,$(LIB_DIRS)) LIBGCC := $(shell $(CC) $(ARCHCPUFLAGS) -print-libgcc-file-name) @@ -134,51 +134,76 @@ DEP_INCLUDES = $(subst .o,.d,$(OBJS)) # compile C source $1 to object $2 # as a side-effect, generate a dependency file define COMPILE - @echo "CC <- $1" - @echo "CC -> $2" - @mkdir -p $(dir $2) + @$(ECHO) "CC <- $1" + @$(ECHO) "CC -> $2" + @$(MKDIR) -p $(dir $2) $(Q) $(CC) -MD -c $(CFLAGS) $(abspath $1) -o $2 endef # compile C++ source $1 to $2 # as a side-effect, generate a dependency file define COMPILEXX - @echo "CXX: $1" - @mkdir -p $(dir $2) + @$(ECHO) "CXX: $1" + @$(MKDIR) -p $(dir $2) $(Q) $(CXX) -MD -c $(CXXFLAGS) $(abspath $1) -o $2 endef # assemble $1 into $2 define ASSEMBLE - @echo "AS: $1" - @mkdir -p $(dir $2) + @$(ECHO) "AS: $1" + @$(MKDIR) -p $(dir $2) $(Q) $(CC) -c $(AFLAGS) $(abspath $1) -o $2 endef # produce partially-linked $1 from files in $2 define PRELINK - @echo "PRELINK: $1" - @mkdir -p $(dir $1) + @$(ECHO) "PRELINK: $1" + @$(MKDIR) -p $(dir $1) $(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1 endef # update the archive $1 with the files in $2 define ARCHIVE - @echo "AR: $2" - @mkdir -p $(dir $1) + @$(ECHO) "AR: $2" + @$(MKDIR) -p $(dir $1) $(Q) $(AR) $1 $2 endef -# Link the objects in $2 into the binary $1 +# link the objects in $2 into the binary $1 define LINK - @echo "LINK: $1" - @mkdir -p $(dir $1) + @$(ECHO) "LINK: $1" + @$(MKDIR) -p $(dir $1) $(Q) $(LD) $(LDFLAGS) -o $1 --start-group $2 $(LIBS) $(EXTRA_LIBS) $(LIBGCC) --end-group endef -# convert $1 from a linked object to a raw binary +# convert $1 from a linked object to a raw binary in $2 define SYM_TO_BIN - @echo "BIN: $2" - @mkdir -p $(dir $2) + @$(ECHO) "BIN: $2" + @$(MKDIR) -p $(dir $2) $(Q) $(OBJCOPY) -O binary $1 $2 endef + +# Take the raw binary $1 and make it into an object file $2. +# The symbol $3 points to the beginning of the file, and $3_len +# gives its length. +# +# - compile an empty file to generate a suitable object file +# - relink the object and insert the binary file +# - edit symbol names to suit +# +define BIN_SYM_PREFIX + _binary_$(subst /,_,$(subst .,_,$1)) +endef +define BIN_TO_OBJ + @$(ECHO) "WRAP: $2" + @$(MKDIR) -p $(dir $2) + $(Q) $(ECHO) > $2.c + $(call COMPILE,$2.c,$2.c.o) + $(LD) -r -o $2 $2.c.o -b binary $1 + $(OBJCOPY) $2 \ + --redefine-sym $(call BIN_SYM_PREFIX,$1)_start=$3 \ + --redefine-sym $(call BIN_SYM_PREFIX,$1)_size=$3_len \ + --strip-symbol $(call BIN_SYM_PREFIX,$1)_end +endef + +# $(Q) $(OBJCOPY) --add-section .rodata.$3=$1 $2 diff --git a/src/modules/test/foo.c b/src/modules/test/foo.c index e69de29bb..ff6af031f 100644 --- a/src/modules/test/foo.c +++ b/src/modules/test/foo.c @@ -0,0 +1,4 @@ +int test_main(void) +{ + return 0; +} \ No newline at end of file -- cgit v1.2.3 From 01e427b17c161d8adaa38d6bdb91aecb434451f2 Mon Sep 17 00:00:00 2001 From: px4dev Date: Fri, 26 Apr 2013 16:14:32 -0700 Subject: Merge working changes into export-build branch. --- .gitignore | 4 + Makefile | 37 +- ROMFS/px4fmu_common/init.d/rc.FMU_quad_x | 67 + ROMFS/px4fmu_common/init.d/rc.PX4IO | 80 + ROMFS/px4fmu_common/init.d/rc.PX4IOAR | 98 + ROMFS/px4fmu_common/init.d/rc.boarddetect | 66 + ROMFS/px4fmu_common/init.d/rc.jig | 10 + ROMFS/px4fmu_common/init.d/rc.logging | 9 + ROMFS/px4fmu_common/init.d/rc.sensors | 34 + ROMFS/px4fmu_common/init.d/rc.standalone | 13 + ROMFS/px4fmu_common/init.d/rcS | 79 + ROMFS/px4fmu_common/logging/logconv.m | 586 ++++++ ROMFS/px4fmu_common/mixers/FMU_AERT.mix | 64 + ROMFS/px4fmu_common/mixers/FMU_AET.mix | 60 + ROMFS/px4fmu_common/mixers/FMU_Q.mix | 52 + ROMFS/px4fmu_common/mixers/FMU_RET.mix | 53 + ROMFS/px4fmu_common/mixers/FMU_X5.mix | 50 + ROMFS/px4fmu_common/mixers/FMU_delta.mix | 50 + ROMFS/px4fmu_common/mixers/FMU_hex_+.mix | 7 + ROMFS/px4fmu_common/mixers/FMU_hex_x.mix | 7 + ROMFS/px4fmu_common/mixers/FMU_octo_+.mix | 7 + ROMFS/px4fmu_common/mixers/FMU_octo_x.mix | 7 + ROMFS/px4fmu_common/mixers/FMU_pass.mix | 23 + ROMFS/px4fmu_common/mixers/FMU_quad_+.mix | 7 + ROMFS/px4fmu_common/mixers/FMU_quad_x.mix | 7 + ROMFS/px4fmu_common/mixers/README | 154 ++ ROMFS/px4fmu_default/logging/logconv.m | 586 ------ ROMFS/px4fmu_default/mixers/FMU_AERT.mix | 64 - ROMFS/px4fmu_default/mixers/FMU_AET.mix | 60 - ROMFS/px4fmu_default/mixers/FMU_Q.mix | 52 - ROMFS/px4fmu_default/mixers/FMU_RET.mix | 53 - ROMFS/px4fmu_default/mixers/FMU_X5.mix | 50 - ROMFS/px4fmu_default/mixers/FMU_delta.mix | 50 - ROMFS/px4fmu_default/mixers/FMU_hex_+.mix | 7 - ROMFS/px4fmu_default/mixers/FMU_hex_x.mix | 7 - ROMFS/px4fmu_default/mixers/FMU_octo_+.mix | 7 - ROMFS/px4fmu_default/mixers/FMU_octo_x.mix | 7 - ROMFS/px4fmu_default/mixers/FMU_pass.mix | 23 - ROMFS/px4fmu_default/mixers/FMU_quad_+.mix | 7 - ROMFS/px4fmu_default/mixers/FMU_quad_x.mix | 7 - ROMFS/px4fmu_default/mixers/README | 154 -- Tools/px_uploader.py | 679 +++--- apps/ardrone_interface/Makefile | 42 - apps/ardrone_interface/ardrone_interface.c | 398 ---- apps/ardrone_interface/ardrone_motor_control.c | 492 ----- apps/ardrone_interface/ardrone_motor_control.h | 93 - apps/attitude_estimator_ekf/Makefile | 57 - .../attitude_estimator_ekf_main.cpp | 472 ----- .../attitude_estimator_ekf_params.c | 105 - .../attitude_estimator_ekf_params.h | 68 - .../codegen/attitudeKalmanfilter.c | 1148 ----------- .../codegen/attitudeKalmanfilter.h | 34 - .../codegen/attitudeKalmanfilter_initialize.c | 31 - .../codegen/attitudeKalmanfilter_initialize.h | 34 - .../codegen/attitudeKalmanfilter_terminate.c | 31 - .../codegen/attitudeKalmanfilter_terminate.h | 34 - .../codegen/attitudeKalmanfilter_types.h | 16 - apps/attitude_estimator_ekf/codegen/cross.c | 37 - apps/attitude_estimator_ekf/codegen/cross.h | 34 - apps/attitude_estimator_ekf/codegen/eye.c | 51 - apps/attitude_estimator_ekf/codegen/eye.h | 35 - apps/attitude_estimator_ekf/codegen/mrdivide.c | 357 ---- apps/attitude_estimator_ekf/codegen/mrdivide.h | 36 - apps/attitude_estimator_ekf/codegen/norm.c | 54 - apps/attitude_estimator_ekf/codegen/norm.h | 34 - apps/attitude_estimator_ekf/codegen/rdivide.c | 38 - apps/attitude_estimator_ekf/codegen/rdivide.h | 34 - apps/attitude_estimator_ekf/codegen/rtGetInf.c | 139 -- apps/attitude_estimator_ekf/codegen/rtGetInf.h | 23 - apps/attitude_estimator_ekf/codegen/rtGetNaN.c | 96 - apps/attitude_estimator_ekf/codegen/rtGetNaN.h | 21 - apps/attitude_estimator_ekf/codegen/rt_defines.h | 24 - apps/attitude_estimator_ekf/codegen/rt_nonfinite.c | 87 - apps/attitude_estimator_ekf/codegen/rt_nonfinite.h | 53 - apps/attitude_estimator_ekf/codegen/rtwtypes.h | 159 -- apps/commander/.context | 0 apps/commander/Makefile | 45 - apps/commander/calibration_routines.c | 219 -- apps/commander/calibration_routines.h | 61 - apps/commander/commander.c | 2181 -------------------- apps/commander/commander.h | 58 - apps/commander/state_machine_helper.c | 752 ------- apps/commander/state_machine_helper.h | 209 -- apps/drivers/boards/px4fmu/Makefile | 41 - apps/drivers/boards/px4fmu/px4fmu_can.c | 141 -- apps/drivers/boards/px4fmu/px4fmu_init.c | 232 --- apps/drivers/boards/px4fmu/px4fmu_internal.h | 161 -- apps/drivers/boards/px4fmu/px4fmu_led.c | 88 - apps/drivers/boards/px4fmu/px4fmu_pwm_servo.c | 87 - apps/drivers/boards/px4fmu/px4fmu_spi.c | 136 -- apps/drivers/boards/px4fmu/px4fmu_usb.c | 108 - apps/drivers/l3gd20/Makefile | 42 - apps/drivers/l3gd20/l3gd20.cpp | 887 -------- apps/drivers/px4fmu/Makefile | 44 - apps/drivers/px4fmu/fmu.cpp | 1084 ---------- apps/sensors/sensors.cpp | 2 + apps/systemcmds/eeprom/24xxxx_mtd.c | 571 ----- apps/systemcmds/eeprom/Makefile | 45 - apps/systemcmds/eeprom/eeprom.c | 265 --- makefiles/board_px4fmu.mk | 2 +- makefiles/board_px4io.mk | 2 +- makefiles/config_px4fmu_default.mk | 28 +- makefiles/firmware.mk | 65 +- makefiles/module.mk | 34 +- makefiles/nuttx.mk | 7 +- makefiles/setup.mk | 34 +- makefiles/toolchain_gnu-arm-eabi.mk | 1 + makefiles/upload.mk | 6 +- nuttx/configs/px4fmu/include/board.h | 6 + nuttx/configs/px4fmu/nsh/appconfig | 7 +- nuttx/configs/px4fmu/nsh/defconfig | 2 +- src/drivers/ardrone_interface/ardrone_interface.c | 398 ++++ .../ardrone_interface/ardrone_motor_control.c | 492 +++++ .../ardrone_interface/ardrone_motor_control.h | 93 + src/drivers/ardrone_interface/module.mk | 40 + src/drivers/boards/px4fmu/module.mk | 9 + src/drivers/boards/px4fmu/px4fmu_can.c | 144 ++ src/drivers/boards/px4fmu/px4fmu_init.c | 255 +++ src/drivers/boards/px4fmu/px4fmu_internal.h | 162 ++ src/drivers/boards/px4fmu/px4fmu_led.c | 88 + src/drivers/boards/px4fmu/px4fmu_pwm_servo.c | 87 + src/drivers/boards/px4fmu/px4fmu_spi.c | 154 ++ src/drivers/boards/px4fmu/px4fmu_usb.c | 108 + src/drivers/l3gd20/l3gd20.cpp | 887 ++++++++ src/drivers/l3gd20/module.mk | 6 + src/drivers/px4fmu/fmu.cpp | 1084 ++++++++++ src/drivers/px4fmu/module.mk | 6 + src/include/visibility.h | 62 + .../attitude_estimator_ekf_main.cpp | 472 +++++ .../attitude_estimator_ekf_params.c | 105 + .../attitude_estimator_ekf_params.h | 68 + .../codegen/attitudeKalmanfilter.c | 1148 +++++++++++ .../codegen/attitudeKalmanfilter.h | 34 + .../codegen/attitudeKalmanfilter_initialize.c | 31 + .../codegen/attitudeKalmanfilter_initialize.h | 34 + .../codegen/attitudeKalmanfilter_terminate.c | 31 + .../codegen/attitudeKalmanfilter_terminate.h | 34 + .../codegen/attitudeKalmanfilter_types.h | 16 + src/modules/attitude_estimator_ekf/codegen/cross.c | 37 + src/modules/attitude_estimator_ekf/codegen/cross.h | 34 + src/modules/attitude_estimator_ekf/codegen/eye.c | 51 + src/modules/attitude_estimator_ekf/codegen/eye.h | 35 + .../attitude_estimator_ekf/codegen/mrdivide.c | 357 ++++ .../attitude_estimator_ekf/codegen/mrdivide.h | 36 + src/modules/attitude_estimator_ekf/codegen/norm.c | 54 + src/modules/attitude_estimator_ekf/codegen/norm.h | 34 + .../attitude_estimator_ekf/codegen/rdivide.c | 38 + .../attitude_estimator_ekf/codegen/rdivide.h | 34 + .../attitude_estimator_ekf/codegen/rtGetInf.c | 139 ++ .../attitude_estimator_ekf/codegen/rtGetInf.h | 23 + .../attitude_estimator_ekf/codegen/rtGetNaN.c | 96 + .../attitude_estimator_ekf/codegen/rtGetNaN.h | 21 + .../attitude_estimator_ekf/codegen/rt_defines.h | 24 + .../attitude_estimator_ekf/codegen/rt_nonfinite.c | 87 + .../attitude_estimator_ekf/codegen/rt_nonfinite.h | 53 + .../attitude_estimator_ekf/codegen/rtwtypes.h | 159 ++ src/modules/attitude_estimator_ekf/module.mk | 16 + src/modules/commander/calibration_routines.c | 219 ++ src/modules/commander/calibration_routines.h | 61 + src/modules/commander/commander.c | 2181 ++++++++++++++++++++ src/modules/commander/commander.h | 58 + src/modules/commander/module.mk | 41 + src/modules/commander/state_machine_helper.c | 752 +++++++ src/modules/commander/state_machine_helper.h | 209 ++ src/systemcmds/eeprom/24xxxx_mtd.c | 571 +++++ src/systemcmds/eeprom/eeprom.c | 265 +++ src/systemcmds/eeprom/module.mk | 6 + 167 files changed, 13835 insertions(+), 13368 deletions(-) create mode 100644 ROMFS/px4fmu_common/init.d/rc.FMU_quad_x create mode 100644 ROMFS/px4fmu_common/init.d/rc.PX4IO create mode 100644 ROMFS/px4fmu_common/init.d/rc.PX4IOAR create mode 100644 ROMFS/px4fmu_common/init.d/rc.boarddetect create mode 100644 ROMFS/px4fmu_common/init.d/rc.jig create mode 100644 ROMFS/px4fmu_common/init.d/rc.logging create mode 100644 ROMFS/px4fmu_common/init.d/rc.sensors create mode 100644 ROMFS/px4fmu_common/init.d/rc.standalone create mode 100755 ROMFS/px4fmu_common/init.d/rcS create mode 100644 ROMFS/px4fmu_common/logging/logconv.m create mode 100644 ROMFS/px4fmu_common/mixers/FMU_AERT.mix create mode 100644 ROMFS/px4fmu_common/mixers/FMU_AET.mix create mode 100644 ROMFS/px4fmu_common/mixers/FMU_Q.mix create mode 100644 ROMFS/px4fmu_common/mixers/FMU_RET.mix create mode 100644 ROMFS/px4fmu_common/mixers/FMU_X5.mix create mode 100644 ROMFS/px4fmu_common/mixers/FMU_delta.mix create mode 100644 ROMFS/px4fmu_common/mixers/FMU_hex_+.mix create mode 100644 ROMFS/px4fmu_common/mixers/FMU_hex_x.mix create mode 100644 ROMFS/px4fmu_common/mixers/FMU_octo_+.mix create mode 100644 ROMFS/px4fmu_common/mixers/FMU_octo_x.mix create mode 100644 ROMFS/px4fmu_common/mixers/FMU_pass.mix create mode 100644 ROMFS/px4fmu_common/mixers/FMU_quad_+.mix create mode 100644 ROMFS/px4fmu_common/mixers/FMU_quad_x.mix create mode 100644 ROMFS/px4fmu_common/mixers/README delete mode 100644 ROMFS/px4fmu_default/logging/logconv.m delete mode 100644 ROMFS/px4fmu_default/mixers/FMU_AERT.mix delete mode 100644 ROMFS/px4fmu_default/mixers/FMU_AET.mix delete mode 100644 ROMFS/px4fmu_default/mixers/FMU_Q.mix delete mode 100644 ROMFS/px4fmu_default/mixers/FMU_RET.mix delete mode 100644 ROMFS/px4fmu_default/mixers/FMU_X5.mix delete mode 100644 ROMFS/px4fmu_default/mixers/FMU_delta.mix delete mode 100644 ROMFS/px4fmu_default/mixers/FMU_hex_+.mix delete mode 100644 ROMFS/px4fmu_default/mixers/FMU_hex_x.mix delete mode 100644 ROMFS/px4fmu_default/mixers/FMU_octo_+.mix delete mode 100644 ROMFS/px4fmu_default/mixers/FMU_octo_x.mix delete mode 100644 ROMFS/px4fmu_default/mixers/FMU_pass.mix delete mode 100644 ROMFS/px4fmu_default/mixers/FMU_quad_+.mix delete mode 100644 ROMFS/px4fmu_default/mixers/FMU_quad_x.mix delete mode 100644 ROMFS/px4fmu_default/mixers/README delete mode 100644 apps/ardrone_interface/Makefile delete mode 100644 apps/ardrone_interface/ardrone_interface.c delete mode 100644 apps/ardrone_interface/ardrone_motor_control.c delete mode 100644 apps/ardrone_interface/ardrone_motor_control.h delete mode 100755 apps/attitude_estimator_ekf/Makefile delete mode 100755 apps/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp delete mode 100755 apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c delete mode 100755 apps/attitude_estimator_ekf/attitude_estimator_ekf_params.h delete mode 100755 apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.c delete mode 100755 apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.h delete mode 100755 apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.c delete mode 100755 apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.h delete mode 100755 apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.c delete mode 100755 apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.h delete mode 100755 apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_types.h delete mode 100755 apps/attitude_estimator_ekf/codegen/cross.c delete mode 100755 apps/attitude_estimator_ekf/codegen/cross.h delete mode 100755 apps/attitude_estimator_ekf/codegen/eye.c delete mode 100755 apps/attitude_estimator_ekf/codegen/eye.h delete mode 100755 apps/attitude_estimator_ekf/codegen/mrdivide.c delete mode 100755 apps/attitude_estimator_ekf/codegen/mrdivide.h delete mode 100755 apps/attitude_estimator_ekf/codegen/norm.c delete mode 100755 apps/attitude_estimator_ekf/codegen/norm.h delete mode 100755 apps/attitude_estimator_ekf/codegen/rdivide.c delete mode 100755 apps/attitude_estimator_ekf/codegen/rdivide.h delete mode 100755 apps/attitude_estimator_ekf/codegen/rtGetInf.c delete mode 100755 apps/attitude_estimator_ekf/codegen/rtGetInf.h delete mode 100755 apps/attitude_estimator_ekf/codegen/rtGetNaN.c delete mode 100755 apps/attitude_estimator_ekf/codegen/rtGetNaN.h delete mode 100755 apps/attitude_estimator_ekf/codegen/rt_defines.h delete mode 100755 apps/attitude_estimator_ekf/codegen/rt_nonfinite.c delete mode 100755 apps/attitude_estimator_ekf/codegen/rt_nonfinite.h delete mode 100755 apps/attitude_estimator_ekf/codegen/rtwtypes.h delete mode 100644 apps/commander/.context delete mode 100644 apps/commander/Makefile delete mode 100644 apps/commander/calibration_routines.c delete mode 100644 apps/commander/calibration_routines.h delete mode 100644 apps/commander/commander.c delete mode 100644 apps/commander/commander.h delete mode 100644 apps/commander/state_machine_helper.c delete mode 100644 apps/commander/state_machine_helper.h delete mode 100644 apps/drivers/boards/px4fmu/Makefile delete mode 100644 apps/drivers/boards/px4fmu/px4fmu_can.c delete mode 100644 apps/drivers/boards/px4fmu/px4fmu_init.c delete mode 100644 apps/drivers/boards/px4fmu/px4fmu_internal.h delete mode 100644 apps/drivers/boards/px4fmu/px4fmu_led.c delete mode 100644 apps/drivers/boards/px4fmu/px4fmu_pwm_servo.c delete mode 100644 apps/drivers/boards/px4fmu/px4fmu_spi.c delete mode 100644 apps/drivers/boards/px4fmu/px4fmu_usb.c delete mode 100644 apps/drivers/l3gd20/Makefile delete mode 100644 apps/drivers/l3gd20/l3gd20.cpp delete mode 100644 apps/drivers/px4fmu/Makefile delete mode 100644 apps/drivers/px4fmu/fmu.cpp delete mode 100644 apps/systemcmds/eeprom/24xxxx_mtd.c delete mode 100644 apps/systemcmds/eeprom/Makefile delete mode 100644 apps/systemcmds/eeprom/eeprom.c create mode 100644 src/drivers/ardrone_interface/ardrone_interface.c create mode 100644 src/drivers/ardrone_interface/ardrone_motor_control.c create mode 100644 src/drivers/ardrone_interface/ardrone_motor_control.h create mode 100644 src/drivers/ardrone_interface/module.mk create mode 100644 src/drivers/boards/px4fmu/module.mk create mode 100644 src/drivers/boards/px4fmu/px4fmu_can.c create mode 100644 src/drivers/boards/px4fmu/px4fmu_init.c create mode 100644 src/drivers/boards/px4fmu/px4fmu_internal.h create mode 100644 src/drivers/boards/px4fmu/px4fmu_led.c create mode 100644 src/drivers/boards/px4fmu/px4fmu_pwm_servo.c create mode 100644 src/drivers/boards/px4fmu/px4fmu_spi.c create mode 100644 src/drivers/boards/px4fmu/px4fmu_usb.c create mode 100644 src/drivers/l3gd20/l3gd20.cpp create mode 100644 src/drivers/l3gd20/module.mk create mode 100644 src/drivers/px4fmu/fmu.cpp create mode 100644 src/drivers/px4fmu/module.mk create mode 100644 src/include/visibility.h create mode 100755 src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp create mode 100755 src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c create mode 100755 src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.h create mode 100755 src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter.c create mode 100755 src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter.h create mode 100755 src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.c create mode 100755 src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.h create mode 100755 src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.c create mode 100755 src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.h create mode 100755 src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_types.h create mode 100755 src/modules/attitude_estimator_ekf/codegen/cross.c create mode 100755 src/modules/attitude_estimator_ekf/codegen/cross.h create mode 100755 src/modules/attitude_estimator_ekf/codegen/eye.c create mode 100755 src/modules/attitude_estimator_ekf/codegen/eye.h create mode 100755 src/modules/attitude_estimator_ekf/codegen/mrdivide.c create mode 100755 src/modules/attitude_estimator_ekf/codegen/mrdivide.h create mode 100755 src/modules/attitude_estimator_ekf/codegen/norm.c create mode 100755 src/modules/attitude_estimator_ekf/codegen/norm.h create mode 100755 src/modules/attitude_estimator_ekf/codegen/rdivide.c create mode 100755 src/modules/attitude_estimator_ekf/codegen/rdivide.h create mode 100755 src/modules/attitude_estimator_ekf/codegen/rtGetInf.c create mode 100755 src/modules/attitude_estimator_ekf/codegen/rtGetInf.h create mode 100755 src/modules/attitude_estimator_ekf/codegen/rtGetNaN.c create mode 100755 src/modules/attitude_estimator_ekf/codegen/rtGetNaN.h create mode 100755 src/modules/attitude_estimator_ekf/codegen/rt_defines.h create mode 100755 src/modules/attitude_estimator_ekf/codegen/rt_nonfinite.c create mode 100755 src/modules/attitude_estimator_ekf/codegen/rt_nonfinite.h create mode 100755 src/modules/attitude_estimator_ekf/codegen/rtwtypes.h create mode 100644 src/modules/attitude_estimator_ekf/module.mk create mode 100644 src/modules/commander/calibration_routines.c create mode 100644 src/modules/commander/calibration_routines.h create mode 100644 src/modules/commander/commander.c create mode 100644 src/modules/commander/commander.h create mode 100644 src/modules/commander/module.mk create mode 100644 src/modules/commander/state_machine_helper.c create mode 100644 src/modules/commander/state_machine_helper.h create mode 100644 src/systemcmds/eeprom/24xxxx_mtd.c create mode 100644 src/systemcmds/eeprom/eeprom.c create mode 100644 src/systemcmds/eeprom/module.mk (limited to 'src') diff --git a/.gitignore b/.gitignore index 46b347f72..de03b0a60 100644 --- a/.gitignore +++ b/.gitignore @@ -1,4 +1,5 @@ .built +.context *.context *.bdat *.pdat @@ -56,3 +57,6 @@ core mkdeps Archives Build +!ROMFS/*/*.d +!ROMFS/*/*/*.d +!ROMFS/*/*/*/*.d diff --git a/Makefile b/Makefile index d0ffeb740..8f566a002 100644 --- a/Makefile +++ b/Makefile @@ -42,12 +42,12 @@ include $(PX4_BASE)makefiles/setup.mk # # Canned firmware configurations that we build. # -CONFIGS ?= px4fmu_default px4io_default +CONFIGS ?= $(subst config_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)config_*.mk)))) # # Boards that we build NuttX export kits for. # -BOARDS = px4fmu px4io +BOARDS := $(subst board_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)board_*.mk)))) # # Debugging @@ -62,11 +62,26 @@ MQUIET = --no-print-directory # # If the user has listed a config as a target, strip it out and override CONFIGS. # +FIRMWARE_GOAL = firmware EXPLICIT_CONFIGS := $(filter $(CONFIGS),$(MAKECMDGOALS)) ifneq ($(EXPLICIT_CONFIGS),) CONFIGS := $(EXPLICIT_CONFIGS) .PHONY: $(EXPLICIT_CONFIGS) $(EXPLICIT_CONFIGS): all + +# +# If the user has asked to upload, they must have also specified exactly one +# config. +# +ifneq ($(filter upload,$(MAKECMDGOALS)),) +ifneq ($(words $(EXPLICIT_CONFIGS)),1) +$(error In order to upload, exactly one board config must be specified) +endif +FIRMWARE_GOAL = upload +.PHONY: upload +upload: + @: +endif endif # @@ -95,11 +110,11 @@ $(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4: @echo %%%% Building $(config) in $(work_dir) @echo %%%% $(Q) mkdir -p $(work_dir) - $(Q) make -C $(work_dir) \ + $(Q) make -r -C $(work_dir) \ -f $(PX4_MK_DIR)firmware.mk \ CONFIG=$(config) \ WORK_DIR=$(work_dir) \ - firmware + $(FIRMWARE_GOAL) # # Build the NuttX export archives. @@ -118,15 +133,21 @@ NUTTX_ARCHIVES = $(foreach board,$(BOARDS),$(ARCHIVE_DIR)$(board).export) .PHONY: archives archives: $(NUTTX_ARCHIVES) +# We cannot build these parallel; note that we also force -j1 for the +# sub-make invocations. +ifneq ($(filter archives,$(MAKECMDGOALS)),) +.NOTPARALLEL: +endif + $(ARCHIVE_DIR)%.export: board = $(notdir $(basename $@)) $(ARCHIVE_DIR)%.export: configuration = $(if $(filter $(board),px4io),io,nsh) $(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC) $(NUTTX_APPS) @echo %% Configuring NuttX for $(board) $(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export) - $(Q) make -C $(NUTTX_SRC) -r $(MQUIET) distclean + $(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) distclean $(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(board)/$(configuration)) @echo %% Exporting NuttX for $(board) - $(Q) make -C $(NUTTX_SRC) -r $(MQUIET) export + $(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) export $(Q) mkdir -p $(dir $@) $(Q) $(COPY) $(NUTTX_SRC)nuttx-export.zip $@ @@ -162,9 +183,7 @@ help: @echo "" @echo " all" @echo " Build all firmware configs: $(CONFIGS)" - @echo " A limited set of configs can be built with:" - @echo "" - @echo " CONFIGS=" + @echo " A limited set of configs can be built with CONFIGS=" @echo "" @for config in $(CONFIGS); do \ echo " $$config"; \ diff --git a/ROMFS/px4fmu_common/init.d/rc.FMU_quad_x b/ROMFS/px4fmu_common/init.d/rc.FMU_quad_x new file mode 100644 index 000000000..8787443ea --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/rc.FMU_quad_x @@ -0,0 +1,67 @@ +#!nsh +# +# Flight startup script for PX4FMU with PWM outputs. +# + +# Disable the USB interface +set USB no + +# Disable autostarting other apps +set MODE custom + +echo "[init] doing PX4FMU Quad startup..." + +# +# Start the ORB +# +uorb start + +# +# Load microSD params +# +echo "[init] loading microSD params" +param select /fs/microsd/parameters +if [ -f /fs/microsd/parameters ] +then + param load /fs/microsd/parameters +fi + +# +# Force some key parameters to sane values +# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor +# see https://pixhawk.ethz.ch/mavlink/ +# +param set MAV_TYPE 2 + +# +# Start MAVLink +# +mavlink start -d /dev/ttyS0 -b 57600 +usleep 5000 + +# +# Start the sensors and test them. +# +sh /etc/init.d/rc.sensors + +# +# Start the commander. +# +commander start + +# +# Start the attitude estimator +# +attitude_estimator_ekf start + +echo "[init] starting PWM output" +fmu mode_pwm +mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix + +# +# Start attitude control +# +multirotor_att_control start + +echo "[init] startup done, exiting" +exit \ No newline at end of file diff --git a/ROMFS/px4fmu_common/init.d/rc.PX4IO b/ROMFS/px4fmu_common/init.d/rc.PX4IO new file mode 100644 index 000000000..1e3963b9a --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/rc.PX4IO @@ -0,0 +1,80 @@ +#!nsh + +# Disable USB and autostart +set USB no +set MODE camflyer + +# +# Start the ORB +# +uorb start + +# +# Load microSD params +# +echo "[init] loading microSD params" +param select /fs/microsd/parameters +if [ -f /fs/microsd/parameters ] +then + param load /fs/microsd/parameters +fi + +# +# Force some key parameters to sane values +# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor +# see https://pixhawk.ethz.ch/mavlink/ +# +param set MAV_TYPE 1 + +# +# Start the sensors. +# +sh /etc/init.d/rc.sensors + +# +# Start MAVLink +# +mavlink start -d /dev/ttyS1 -b 57600 +usleep 5000 + +# +# Start the commander. +# +commander start + +# +# Start GPS interface +# +gps start + +# +# Start the attitude estimator +# +kalman_demo start + +# +# Start PX4IO interface +# +px4io start + +# +# Load mixer and start controllers +# +mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix +control_demo start + +# +# Start logging +# +sdlog start -s 10 + +# +# Start system state +# +if blinkm start +then + echo "using BlinkM for state indication" + blinkm systemstate +else + echo "no BlinkM found, OK." +fi diff --git a/ROMFS/px4fmu_common/init.d/rc.PX4IOAR b/ROMFS/px4fmu_common/init.d/rc.PX4IOAR new file mode 100644 index 000000000..72df68e35 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/rc.PX4IOAR @@ -0,0 +1,98 @@ +#!nsh +# +# Flight startup script for PX4FMU on PX4IOAR carrier board. +# + +# Disable the USB interface +set USB no + +# Disable autostarting other apps +set MODE ardrone + +echo "[init] doing PX4IOAR startup..." + +# +# Start the ORB +# +uorb start + +# +# Init the parameter storage +# +echo "[init] loading microSD params" +param select /fs/microsd/parameters +if [ -f /fs/microsd/parameters ] +then + param load /fs/microsd/parameters +fi + +# +# Force some key parameters to sane values +# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor +# see https://pixhawk.ethz.ch/mavlink/ +# +param set MAV_TYPE 2 + +# +# Start the sensors. +# +sh /etc/init.d/rc.sensors + +# +# Start MAVLink +# +mavlink start -d /dev/ttyS0 -b 57600 +usleep 5000 + +# +# Start the commander. +# +commander start + +# +# Start the attitude estimator +# +attitude_estimator_ekf start + +# +# Configure PX4FMU for operation with PX4IOAR +# +fmu mode_gpio_serial + +# +# Fire up the multi rotor attitude controller +# +multirotor_att_control start + +# +# Fire up the AR.Drone interface. +# +ardrone_interface start -d /dev/ttyS1 + +# +# Start GPS capture +# +gps start + +# +# Start logging +# +sdlog start -s 10 + +# +# Start system state +# +if blinkm start +then + echo "using BlinkM for state indication" + blinkm systemstate +else + echo "no BlinkM found, OK." +fi + +# +# startup is done; we don't want the shell because we +# use the same UART for telemetry +# +echo "[init] startup done" +exit \ No newline at end of file diff --git a/ROMFS/px4fmu_common/init.d/rc.boarddetect b/ROMFS/px4fmu_common/init.d/rc.boarddetect new file mode 100644 index 000000000..f233e51df --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/rc.boarddetect @@ -0,0 +1,66 @@ +#!nsh +# +# If we are still in flight mode, work out what airframe +# configuration we have and start up accordingly. +# +if [ $MODE != autostart ] +then + echo "[init] automatic startup cancelled by user script" +else + echo "[init] detecting attached hardware..." + + # + # Assume that we are PX4FMU in standalone mode + # + set BOARD PX4FMU + + # + # Are we attached to a PX4IOAR (AR.Drone carrier board)? + # + if boardinfo test name PX4IOAR + then + set BOARD PX4IOAR + if [ -f /etc/init.d/rc.PX4IOAR ] + then + echo "[init] reading /etc/init.d/rc.PX4IOAR" + usleep 500 + sh /etc/init.d/rc.PX4IOAR + fi + else + echo "[init] PX4IOAR not detected" + fi + + # + # Are we attached to a PX4IO? + # + if boardinfo test name PX4IO + then + set BOARD PX4IO + if [ -f /etc/init.d/rc.PX4IO ] + then + echo "[init] reading /etc/init.d/rc.PX4IO" + usleep 500 + sh /etc/init.d/rc.PX4IO + fi + else + echo "[init] PX4IO not detected" + fi + + # + # Looks like we are stand-alone + # + if [ $BOARD == PX4FMU ] + then + echo "[init] no expansion board detected" + if [ -f /etc/init.d/rc.standalone ] + then + echo "[init] reading /etc/init.d/rc.standalone" + sh /etc/init.d/rc.standalone + fi + fi + + # + # We may not reach here if the airframe-specific script exits the shell. + # + echo "[init] startup done." +fi \ No newline at end of file diff --git a/ROMFS/px4fmu_common/init.d/rc.jig b/ROMFS/px4fmu_common/init.d/rc.jig new file mode 100644 index 000000000..e2b5d8f30 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/rc.jig @@ -0,0 +1,10 @@ +#!nsh +# +# Test jig startup script +# + +echo "[testing] doing production test.." + +tests jig + +echo "[testing] testing done" diff --git a/ROMFS/px4fmu_common/init.d/rc.logging b/ROMFS/px4fmu_common/init.d/rc.logging new file mode 100644 index 000000000..09c2d00d1 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/rc.logging @@ -0,0 +1,9 @@ +#!nsh +# +# Initialise logging services. +# + +if [ -d /fs/microsd ] +then + sdlog start +fi diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors new file mode 100644 index 000000000..42c2f52e9 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/rc.sensors @@ -0,0 +1,34 @@ +#!nsh +# +# Standard startup script for PX4FMU onboard sensor drivers. +# + +# +# Start sensor drivers here. +# + +ms5611 start +adc start + +if mpu6000 start +then + echo "using MPU6000 and HMC5883L" + hmc5883 start +else + echo "using L3GD20 and LSM303D" + l3gd20 start + lsm303 start +fi + +# +# Start the sensor collection task. +# IMPORTANT: this also loads param offsets +# ALWAYS start this task before the +# preflight_check. +# +sensors start + +# +# Check sensors - run AFTER 'sensors start' +# +preflight_check \ No newline at end of file diff --git a/ROMFS/px4fmu_common/init.d/rc.standalone b/ROMFS/px4fmu_common/init.d/rc.standalone new file mode 100644 index 000000000..67e95215b --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/rc.standalone @@ -0,0 +1,13 @@ +#!nsh +# +# Flight startup script for PX4FMU standalone configuration. +# + +echo "[init] doing standalone PX4FMU startup..." + +# +# Start the ORB +# +uorb start + +echo "[init] startup done" diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS new file mode 100755 index 000000000..89a767879 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -0,0 +1,79 @@ +#!nsh +# +# PX4FMU startup script. +# +# This script is responsible for: +# +# - mounting the microSD card (if present) +# - running the user startup script from the microSD card (if present) +# - detecting the configuration of the system and picking a suitable +# startup script to continue with +# +# Note: DO NOT add configuration-specific commands to this script; +# add them to the per-configuration scripts instead. +# + +# +# Default to auto-start mode. An init script on the microSD card +# can change this to prevent automatic startup of the flight script. +# +set MODE autostart +set USB autoconnect + +# +# Start playing the startup tune +# +tone_alarm start + +# +# Try to mount the microSD card. +# +echo "[init] looking for microSD..." +if mount -t vfat /dev/mmcsd0 /fs/microsd +then + echo "[init] card mounted at /fs/microsd" +else + echo "[init] no microSD card found" +fi + +# +# Look for an init script on the microSD card. +# +# To prevent automatic startup in the current flight mode, +# the script should set MODE to some other value. +# +if [ -f /fs/microsd/etc/rc ] +then + echo "[init] reading /fs/microsd/etc/rc" + sh /fs/microsd/etc/rc +fi +# Also consider rc.txt files +if [ -f /fs/microsd/etc/rc.txt ] +then + echo "[init] reading /fs/microsd/etc/rc.txt" + sh /fs/microsd/etc/rc.txt +fi + +# +# Check for USB host +# +if [ $USB != autoconnect ] +then + echo "[init] not connecting USB" +else + if sercon + then + echo "[init] USB interface connected" + else + echo "[init] No USB connected" + fi +fi + +# if this is an APM build then there will be a rc.APM script +# from an EXTERNAL_SCRIPTS build option +if [ -f /etc/init.d/rc.APM ] +then + echo Running rc.APM + # if APM startup is successful then nsh will exit + sh /etc/init.d/rc.APM +fi diff --git a/ROMFS/px4fmu_common/logging/logconv.m b/ROMFS/px4fmu_common/logging/logconv.m new file mode 100644 index 000000000..3750ddae2 --- /dev/null +++ b/ROMFS/px4fmu_common/logging/logconv.m @@ -0,0 +1,586 @@ +% This Matlab Script can be used to import the binary logged values of the +% PX4FMU into data that can be plotted and analyzed. + +%% ************************************************************************ +% PX4LOG_PLOTSCRIPT: Main function +% ************************************************************************ +function PX4Log_Plotscript + +% Clear everything +clc +clear all +close all + +% ************************************************************************ +% SETTINGS +% ************************************************************************ + +% Set the path to your sysvector.bin file here +filePath = 'sysvector.bin'; + +% Set the minimum and maximum times to plot here [in seconds] +mintime=0; %The minimum time/timestamp to display, as set by the user [0 for first element / start] +maxtime=0; %The maximum time/timestamp to display, as set by the user [0 for last element / end] + +%Determine which data to plot. Not completely implemented yet. +bDisplayGPS=true; + +%conversion factors +fconv_gpsalt=1E-3; %[mm] to [m] +fconv_gpslatlong=1E-7; %[gps_raw_position_unit] to [deg] +fconv_timestamp=1E-6; % [microseconds] to [seconds] + +% ************************************************************************ +% Import the PX4 logs +% ************************************************************************ +ImportPX4LogData(); + +%Translate min and max plot times to indices +time=double(sysvector.timestamp) .*fconv_timestamp; +mintime_log=time(1); %The minimum time/timestamp found in the log +maxtime_log=time(end); %The maximum time/timestamp found in the log +CurTime=mintime_log; %The current time at which to draw the aircraft position + +[imintime,imaxtime]=FindMinMaxTimeIndices(); + +% ************************************************************************ +% PLOT & GUI SETUP +% ************************************************************************ +NrFigures=5; +NrAxes=10; +h.figures(1:NrFigures)=0.0; % Temporary initialization of figure handle array - these are numbered consecutively +h.axes(1:NrAxes)=0.0; % Temporary initialization of axes handle array - these are numbered consecutively +h.pathpoints=[]; % Temporary initiliazation of path points + +% Setup the GUI to control the plots +InitControlGUI(); +% Setup the plotting-GUI (figures, axes) itself. +InitPlotGUI(); + +% ************************************************************************ +% DRAW EVERYTHING +% ************************************************************************ +DrawRawData(); +DrawCurrentAircraftState(); + +%% ************************************************************************ +% *** END OF MAIN SCRIPT *** +% NESTED FUNCTION DEFINTIONS FROM HERE ON +% ************************************************************************ + + +%% ************************************************************************ +% IMPORTPX4LOGDATA (nested function) +% ************************************************************************ +% Attention: This is the import routine for firmware from ca. 03/2013. +% Other firmware versions might require different import +% routines. + +function ImportPX4LogData() + % Work around a Matlab bug (not related to PX4) + % where timestamps from 1.1.1970 do not allow to + % read the file's size + if ismac + system('touch -t 201212121212.12 sysvector.bin'); + end + + % ************************************************************************ + % RETRIEVE SYSTEM VECTOR + % ************************************************************************* + % //All measurements in NED frame + % + % uint64_t timestamp; //[us] + % float gyro[3]; //[rad/s] + % float accel[3]; //[m/s^2] + % float mag[3]; //[gauss] + % float baro; //pressure [millibar] + % float baro_alt; //altitude above MSL [meter] + % float baro_temp; //[degree celcius] + % float control[4]; //roll, pitch, yaw [-1..1], thrust [0..1] + % float actuators[8]; //motor 1-8, in motor units (PWM: 1000-2000,AR.Drone: 0-512) + % float vbat; //battery voltage in [volt] + % float bat_current - current drawn from battery at this time instant + % float bat_discharged - discharged energy in mAh + % float adc[4]; //remaining auxiliary ADC ports [volt] + % float local_position[3]; //tangent plane mapping into x,y,z [m] + % int32_t gps_raw_position[3]; //latitude [degrees] north, longitude [degrees] east, altitude above MSL [millimeter] + % float attitude[3]; //pitch, roll, yaw [rad] + % float rotMatrix[9]; //unitvectors + % float actuator_control[4]; //unitvector + % float optical_flow[4]; //roll, pitch, yaw [-1..1], thrust [0..1] + % float diff_pressure; - pressure difference in millibar + % float ind_airspeed; + % float true_airspeed; + + % Definition of the logged values + logFormat{1} = struct('name', 'timestamp', 'bytes', 8, 'array', 1, 'precision', 'uint64', 'machineformat', 'ieee-le.l64'); + logFormat{2} = struct('name', 'gyro', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le'); + logFormat{3} = struct('name', 'accel', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le'); + logFormat{4} = struct('name', 'mag', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le'); + logFormat{5} = struct('name', 'baro', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); + logFormat{6} = struct('name', 'baro_alt', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); + logFormat{7} = struct('name', 'baro_temp', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); + logFormat{8} = struct('name', 'control', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le'); + logFormat{9} = struct('name', 'actuators', 'bytes', 4, 'array', 8, 'precision', 'float', 'machineformat', 'ieee-le'); + logFormat{10} = struct('name', 'vbat', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); + logFormat{11} = struct('name', 'bat_current', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); + logFormat{12} = struct('name', 'bat_discharged', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); + logFormat{13} = struct('name', 'adc', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le'); + logFormat{14} = struct('name', 'local_position', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le'); + logFormat{15} = struct('name', 'gps_raw_position', 'bytes', 4, 'array', 3, 'precision', 'uint32', 'machineformat', 'ieee-le'); + logFormat{16} = struct('name', 'attitude', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le'); + logFormat{17} = struct('name', 'rot_matrix', 'bytes', 4, 'array', 9, 'precision', 'float', 'machineformat', 'ieee-le'); + logFormat{18} = struct('name', 'vicon_position', 'bytes', 4, 'array', 6, 'precision', 'float', 'machineformat', 'ieee-le'); + logFormat{19} = struct('name', 'actuator_control', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le'); + logFormat{20} = struct('name', 'optical_flow', 'bytes', 4, 'array', 6, 'precision', 'float', 'machineformat', 'ieee-le'); + logFormat{21} = struct('name', 'diff_pressure', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); + logFormat{22} = struct('name', 'ind_airspeed', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); + logFormat{23} = struct('name', 'true_airspeed', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); + + % First get length of one line + columns = length(logFormat); + lineLength = 0; + + for i=1:columns + lineLength = lineLength + logFormat{i}.bytes * logFormat{i}.array; + end + + + if exist(filePath, 'file') + + fileInfo = dir(filePath); + fileSize = fileInfo.bytes; + + elements = int64(fileSize./(lineLength)); + + fid = fopen(filePath, 'r'); + offset = 0; + for i=1:columns + % using fread with a skip speeds up the import drastically, do not + % import the values one after the other + sysvector.(genvarname(logFormat{i}.name)) = transpose(fread(... + fid, ... + [logFormat{i}.array, elements], [num2str(logFormat{i}.array),'*',logFormat{i}.precision,'=>',logFormat{i}.precision], ... + lineLength - logFormat{i}.bytes*logFormat{i}.array, ... + logFormat{i}.machineformat) ... + ); + offset = offset + logFormat{i}.bytes*logFormat{i}.array; + fseek(fid, offset,'bof'); + end + + % shot the flight time + time_us = sysvector.timestamp(end) - sysvector.timestamp(1); + time_s = time_us*1e-6; + time_m = time_s/60; + + % close the logfile + fclose(fid); + + disp(['end log2matlab conversion' char(10)]); + else + disp(['file: ' filePath ' does not exist' char(10)]); + end +end + +%% ************************************************************************ +% INITCONTROLGUI (nested function) +% ************************************************************************ +%Setup central control GUI components to control current time where data is shown +function InitControlGUI() + %********************************************************************** + % GUI size definitions + %********************************************************************** + dxy=5; %margins + %Panel: Plotctrl + dlabels=120; + dsliders=200; + dedits=80; + hslider=20; + + hpanel1=40; %panel1 + hpanel2=220;%panel2 + hpanel3=3*hslider+4*dxy+3*dxy;%panel3. + + width=dlabels+dsliders+dedits+4*dxy+2*dxy; %figure width + height=hpanel1+hpanel2+hpanel3+4*dxy; %figure height + + %********************************************************************** + % Create GUI + %********************************************************************** + h.figures(1)=figure('Units','pixels','position',[200 200 width height],'Name','Control GUI'); + h.guistatepanel=uipanel('Title','Current GUI state','Units','pixels','Position',[dxy dxy width-2*dxy hpanel1],'parent',h.figures(1)); + h.aircraftstatepanel=uipanel('Title','Current aircraft state','Units','pixels','Position',[dxy hpanel1+2*dxy width-2*dxy hpanel2],'parent',h.figures(1)); + h.plotctrlpanel=uipanel('Title','Plot Control','Units','pixels','Position',[dxy hpanel1+hpanel2+3*dxy width-2*dxy hpanel3],'parent',h.figures(1)); + + %%Control GUI-elements + %Slider: Current time + h.labels.CurTime=uicontrol(gcf,'style','text','Position',[dxy dxy dlabels hslider],'String','Current time t[s]:','parent',h.plotctrlpanel,'HorizontalAlignment','left'); + h.sliders.CurTime=uicontrol(gcf,'style','slider','units','pix','position',[2*dxy+dlabels dxy dsliders hslider],... + 'min',mintime,'max',maxtime,'value',mintime,'callback',@curtime_callback,'parent',h.plotctrlpanel); + temp=get(h.sliders.CurTime,'Max')-get(h.sliders.CurTime,'Min'); + set(h.sliders.CurTime,'SliderStep',[1.0/temp 5.0/temp]); + h.edits.CurTime=uicontrol(gcf,'style','edit','position',[3*dxy+dlabels+dsliders dxy dedits hslider],'String',get(h.sliders.CurTime,'value'),... + 'BackgroundColor','white','callback',@curtime_callback,'parent',h.plotctrlpanel); + + %Slider: MaxTime + h.labels.MaxTime=uicontrol(gcf,'style','text','position',[dxy 2*dxy+hslider dlabels hslider],'String','Max. time t[s] to display:','parent',h.plotctrlpanel,'HorizontalAlignment','left'); + h.sliders.MaxTime=uicontrol(gcf,'style','slider','units','pix','position',[2*dxy+dlabels 2*dxy+hslider dsliders hslider],... + 'min',mintime_log,'max',maxtime_log,'value',maxtime,'callback',@minmaxtime_callback,'parent',h.plotctrlpanel); + h.edits.MaxTime=uicontrol(gcf,'style','edit','position',[3*dxy+dlabels+dsliders 2*dxy+hslider dedits hslider],'String',get(h.sliders.MaxTime,'value'),... + 'BackgroundColor','white','callback',@minmaxtime_callback,'parent',h.plotctrlpanel); + + %Slider: MinTime + h.labels.MinTime=uicontrol(gcf,'style','text','position',[dxy 3*dxy+2*hslider dlabels hslider],'String','Min. time t[s] to dispay :','parent',h.plotctrlpanel,'HorizontalAlignment','left'); + h.sliders.MinTime=uicontrol(gcf,'style','slider','units','pix','position',[2*dxy+dlabels 3*dxy+2*hslider dsliders hslider],... + 'min',mintime_log,'max',maxtime_log,'value',mintime,'callback',@minmaxtime_callback,'parent',h.plotctrlpanel); + h.edits.MinTime=uicontrol(gcf,'style','edit','position',[3*dxy+dlabels+dsliders 3*dxy+2*hslider dedits hslider],'String',get(h.sliders.MinTime,'value'),... + 'BackgroundColor','white','callback',@minmaxtime_callback,'parent',h.plotctrlpanel); + + %%Current data/state GUI-elements (Multiline-edit-box) + h.edits.AircraftState=uicontrol(gcf,'style','edit','Units','normalized','position',[.02 .02 0.96 0.96],'Min',1,'Max',10,'String','This shows the current aircraft state',... + 'HorizontalAlignment','left','parent',h.aircraftstatepanel); + + h.labels.GUIState=uicontrol(gcf,'style','text','Units','pixels','position',[dxy dxy width-4*dxy hslider],'String','Current state of this GUI',... + 'HorizontalAlignment','left','parent',h.guistatepanel); + +end + +%% ************************************************************************ +% INITPLOTGUI (nested function) +% ************************************************************************ +function InitPlotGUI() + + % Setup handles to lines and text + h.markertext=[]; + templinehandle=0.0;%line([0 1],[0 5]); % Just a temporary handle to init array + h.markerline(1:NrAxes)=templinehandle; % the actual handle-array to the lines - these are numbered consecutively + h.markerline(1:NrAxes)=0.0; + + % Setup all other figures and axes for plotting + % PLOT WINDOW 1: GPS POSITION + h.figures(2)=figure('units','normalized','Toolbar','figure', 'Name', 'GPS Position'); + h.axes(1)=axes(); + set(h.axes(1),'Parent',h.figures(2)); + + % PLOT WINDOW 2: IMU, baro altitude + h.figures(3)=figure('Name', 'IMU / Baro Altitude'); + h.axes(2)=subplot(4,1,1); + h.axes(3)=subplot(4,1,2); + h.axes(4)=subplot(4,1,3); + h.axes(5)=subplot(4,1,4); + set(h.axes(2:5),'Parent',h.figures(3)); + + % PLOT WINDOW 3: ATTITUDE ESTIMATE, ACTUATORS/CONTROLS, AIRSPEEDS,... + h.figures(4)=figure('Name', 'Attitude Estimate / Actuators / Airspeeds'); + h.axes(6)=subplot(4,1,1); + h.axes(7)=subplot(4,1,2); + h.axes(8)=subplot(4,1,3); + h.axes(9)=subplot(4,1,4); + set(h.axes(6:9),'Parent',h.figures(4)); + + % PLOT WINDOW 4: LOG STATS + h.figures(5) = figure('Name', 'Log Statistics'); + h.axes(10)=subplot(1,1,1); + set(h.axes(10:10),'Parent',h.figures(5)); + +end + +%% ************************************************************************ +% DRAWRAWDATA (nested function) +% ************************************************************************ +%Draws the raw data from the sysvector, but does not add any +%marker-lines or so +function DrawRawData() + % ************************************************************************ + % PLOT WINDOW 1: GPS POSITION & GUI + % ************************************************************************ + figure(h.figures(2)); + % Only plot GPS data if available + if (sum(double(sysvector.gps_raw_position(imintime:imaxtime,1)))>0) && (bDisplayGPS) + %Draw data + plot3(h.axes(1),double(sysvector.gps_raw_position(imintime:imaxtime,1))*fconv_gpslatlong, ... + double(sysvector.gps_raw_position(imintime:imaxtime,2))*fconv_gpslatlong, ... + double(sysvector.gps_raw_position(imintime:imaxtime,3))*fconv_gpsalt,'r.'); + title(h.axes(1),'GPS Position Data(if available)'); + xlabel(h.axes(1),'Latitude [deg]'); + ylabel(h.axes(1),'Longitude [deg]'); + zlabel(h.axes(1),'Altitude above MSL [m]'); + grid on + + %Reset path + h.pathpoints=0; + end + + % ************************************************************************ + % PLOT WINDOW 2: IMU, baro altitude + % ************************************************************************ + figure(h.figures(3)); + plot(h.axes(2),time(imintime:imaxtime),sysvector.mag(imintime:imaxtime,:)); + title(h.axes(2),'Magnetometers [Gauss]'); + legend(h.axes(2),'x','y','z'); + plot(h.axes(3),time(imintime:imaxtime),sysvector.accel(imintime:imaxtime,:)); + title(h.axes(3),'Accelerometers [m/s²]'); + legend(h.axes(3),'x','y','z'); + plot(h.axes(4),time(imintime:imaxtime),sysvector.gyro(imintime:imaxtime,:)); + title(h.axes(4),'Gyroscopes [rad/s]'); + legend(h.axes(4),'x','y','z'); + plot(h.axes(5),time(imintime:imaxtime),sysvector.baro_alt(imintime:imaxtime),'color','blue'); + if(bDisplayGPS) + hold on; + plot(h.axes(5),time(imintime:imaxtime),double(sysvector.gps_raw_position(imintime:imaxtime,3)).*fconv_gpsalt,'color','red'); + hold off + legend('Barometric Altitude [m]','GPS Altitude [m]'); + else + legend('Barometric Altitude [m]'); + end + title(h.axes(5),'Altitude above MSL [m]'); + + % ************************************************************************ + % PLOT WINDOW 3: ATTITUDE ESTIMATE, ACTUATORS/CONTROLS, AIRSPEEDS,... + % ************************************************************************ + figure(h.figures(4)); + %Attitude Estimate + plot(h.axes(6),time(imintime:imaxtime), sysvector.attitude(imintime:imaxtime,:).*180./3.14159); + title(h.axes(6),'Estimated attitude [deg]'); + legend(h.axes(6),'roll','pitch','yaw'); + %Actuator Controls + plot(h.axes(7),time(imintime:imaxtime), sysvector.actuator_control(imintime:imaxtime,:)); + title(h.axes(7),'Actuator control [-]'); + legend(h.axes(7),'0','1','2','3'); + %Actuator Controls + plot(h.axes(8),time(imintime:imaxtime), sysvector.actuators(imintime:imaxtime,1:8)); + title(h.axes(8),'Actuator PWM (raw-)outputs [µs]'); + legend(h.axes(8),'CH1','CH2','CH3','CH4','CH5','CH6','CH7','CH8'); + set(h.axes(8), 'YLim',[800 2200]); + %Airspeeds + plot(h.axes(9),time(imintime:imaxtime), sysvector.ind_airspeed(imintime:imaxtime)); + hold on + plot(h.axes(9),time(imintime:imaxtime), sysvector.true_airspeed(imintime:imaxtime)); + hold off + %add GPS total airspeed here + title(h.axes(9),'Airspeed [m/s]'); + legend(h.axes(9),'Indicated Airspeed (IAS)','True Airspeed (TAS)','GPS Airspeed'); + %calculate time differences and plot them + intervals = zeros(0,imaxtime - imintime); + for k = imintime+1:imaxtime + intervals(k) = time(k) - time(k-1); + end + plot(h.axes(10), time(imintime:imaxtime), intervals); + + %Set same timescale for all plots + for i=2:NrAxes + set(h.axes(i),'XLim',[mintime maxtime]); + end + + set(h.labels.GUIState,'String','OK','BackgroundColor',[240/255 240/255 240/255]); +end + +%% ************************************************************************ +% DRAWCURRENTAIRCRAFTSTATE(nested function) +% ************************************************************************ +function DrawCurrentAircraftState() + %find current data index + i=find(time>=CurTime,1,'first'); + + %********************************************************************** + % Current aircraft state label update + %********************************************************************** + acstate{1,:}=[sprintf('%s \t\t','GPS Pos:'),'[lat=',num2str(double(sysvector.gps_raw_position(i,1))*fconv_gpslatlong),'°, ',... + 'lon=',num2str(double(sysvector.gps_raw_position(i,2))*fconv_gpslatlong),'°, ',... + 'alt=',num2str(double(sysvector.gps_raw_position(i,3))*fconv_gpsalt),'m]']; + acstate{2,:}=[sprintf('%s \t\t','Mags[gauss]'),'[x=',num2str(sysvector.mag(i,1)),... + ', y=',num2str(sysvector.mag(i,2)),... + ', z=',num2str(sysvector.mag(i,3)),']']; + acstate{3,:}=[sprintf('%s \t\t','Accels[m/s²]'),'[x=',num2str(sysvector.accel(i,1)),... + ', y=',num2str(sysvector.accel(i,2)),... + ', z=',num2str(sysvector.accel(i,3)),']']; + acstate{4,:}=[sprintf('%s \t\t','Gyros[rad/s]'),'[x=',num2str(sysvector.gyro(i,1)),... + ', y=',num2str(sysvector.gyro(i,2)),... + ', z=',num2str(sysvector.gyro(i,3)),']']; + acstate{5,:}=[sprintf('%s \t\t','Altitude[m]'),'[Barometric: ',num2str(sysvector.baro_alt(i)),'m, GPS: ',num2str(double(sysvector.gps_raw_position(i,3))*fconv_gpsalt),'m]']; + acstate{6,:}=[sprintf('%s \t','Est. attitude[deg]:'),'[Roll=',num2str(sysvector.attitude(i,1).*180./3.14159),... + ', Pitch=',num2str(sysvector.attitude(i,2).*180./3.14159),... + ', Yaw=',num2str(sysvector.attitude(i,3).*180./3.14159),']']; + acstate{7,:}=sprintf('%s \t[','Actuator Ctrls [-]:'); + for j=1:4 + acstate{7,:}=[acstate{7,:},num2str(sysvector.actuator_control(i,j)),',']; + end + acstate{7,:}=[acstate{7,:},']']; + acstate{8,:}=sprintf('%s \t[','Actuator Outputs [PWM/µs]:'); + for j=1:8 + acstate{8,:}=[acstate{8,:},num2str(sysvector.actuators(i,j)),',']; + end + acstate{8,:}=[acstate{8,:},']']; + acstate{9,:}=[sprintf('%s \t','Airspeed[m/s]:'),'[IAS: ',num2str(sysvector.ind_airspeed(i)),', TAS: ',num2str(sysvector.true_airspeed(i)),']']; + + set(h.edits.AircraftState,'String',acstate); + + %********************************************************************** + % GPS Plot Update + %********************************************************************** + %Plot traveled path, and and time. + figure(h.figures(2)); + hold on; + if(CurTime>mintime+1) %the +1 is only a small bugfix + h.pathline=plot3(h.axes(1),double(sysvector.gps_raw_position(imintime:i,1))*fconv_gpslatlong, ... + double(sysvector.gps_raw_position(imintime:i,2))*fconv_gpslatlong, ... + double(sysvector.gps_raw_position(imintime:i,3))*fconv_gpsalt,'b','LineWidth',2); + end; + hold off + %Plot current position + newpoint=[double(sysvector.gps_raw_position(i,1))*fconv_gpslatlong double(sysvector.gps_raw_position(i,2))*fconv_gpslatlong double(sysvector.gps_raw_position(i,3))*fconv_gpsalt]; + if(numel(h.pathpoints)<=3) %empty path + h.pathpoints(1,1:3)=newpoint; + else %Not empty, append new point + h.pathpoints(size(h.pathpoints,1)+1,:)=newpoint; + end + axes(h.axes(1)); + line(h.pathpoints(:,1),h.pathpoints(:,2),h.pathpoints(:,3),'LineStyle','none','Marker','.','MarkerEdge','black','MarkerSize',20); + + + % Plot current time (small label next to current gps position) + textdesc=strcat(' t=',num2str(time(i)),'s'); + if(isvalidhandle(h.markertext)) + delete(h.markertext); %delete old text + end + h.markertext=text(double(sysvector.gps_raw_position(i,1))*fconv_gpslatlong,double(sysvector.gps_raw_position(i,2))*fconv_gpslatlong,... + double(sysvector.gps_raw_position(i,3))*fconv_gpsalt,textdesc); + set(h.edits.CurTime,'String',CurTime); + + %********************************************************************** + % Plot the lines showing the current time in the 2-d plots + %********************************************************************** + for i=2:NrAxes + if(isvalidhandle(h.markerline(i))) delete(h.markerline(i)); end + ylims=get(h.axes(i),'YLim'); + h.markerline(i)=line([CurTime CurTime] ,get(h.axes(i),'YLim'),'Color','black'); + set(h.markerline(i),'parent',h.axes(i)); + end + + set(h.labels.GUIState,'String','OK','BackgroundColor',[240/255 240/255 240/255]); +end + +%% ************************************************************************ +% MINMAXTIME CALLBACK (nested function) +% ************************************************************************ +function minmaxtime_callback(hObj,event) %#ok + new_mintime=get(h.sliders.MinTime,'Value'); + new_maxtime=get(h.sliders.MaxTime,'Value'); + + %Safety checks: + bErr=false; + %1: mintime must be < maxtime + if((new_mintime>maxtime) || (new_maxtimeCurTime) + set(h.labels.GUIState,'String','Error: Mintime cannot be bigger than CurTime! CurTime set to new mintime.','BackgroundColor','red'); + mintime=new_mintime; + CurTime=mintime; + bErr=true; + end + %3: MaxTime must be >CurTime + if(new_maxtime + %find current time + if(hObj==h.sliders.CurTime) + CurTime=get(h.sliders.CurTime,'Value'); + elseif (hObj==h.edits.CurTime) + temp=str2num(get(h.edits.CurTime,'String')); + if(tempmintime) + CurTime=temp; + else + %Error + set(h.labels.GUIState,'String','Error: You tried to set an invalid current time! Previous value restored.','BackgroundColor','red'); + end + else + %Error + set(h.labels.GUIState,'String','Error: curtime_callback','BackgroundColor','red'); + end + + set(h.sliders.CurTime,'Value',CurTime); + set(h.edits.CurTime,'String',num2str(CurTime)); + + %Redraw time markers, but don't have to redraw the whole raw data + DrawCurrentAircraftState(); +end + +%% ************************************************************************ +% FINDMINMAXINDICES (nested function) +% ************************************************************************ +function [idxmin,idxmax] = FindMinMaxTimeIndices() + for i=1:size(sysvector.timestamp,1) + if time(i)>=mintime; idxmin=i; break; end + end + for i=1:size(sysvector.timestamp,1) + if maxtime==0; idxmax=size(sysvector.timestamp,1); break; end + if time(i)>=maxtime; idxmax=i; break; end + end + mintime=time(idxmin); + maxtime=time(idxmax); +end + +%% ************************************************************************ +% ISVALIDHANDLE (nested function) +% ************************************************************************ +function isvalid = isvalidhandle(handle) + if(exist(varname(handle))>0 && length(ishandle(handle))>0) + if(ishandle(handle)>0) + if(handle>0.0) + isvalid=true; + return; + end + end + end + isvalid=false; +end + +%% ************************************************************************ +% JUST SOME SMALL HELPER FUNCTIONS (nested function) +% ************************************************************************ +function out = varname(var) + out = inputname(1); +end + +%This is the end of the matlab file / the main function +end diff --git a/ROMFS/px4fmu_common/mixers/FMU_AERT.mix b/ROMFS/px4fmu_common/mixers/FMU_AERT.mix new file mode 100644 index 000000000..75e82bb00 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/FMU_AERT.mix @@ -0,0 +1,64 @@ +Aileron/rudder/elevator/throttle mixer for PX4FMU +================================================== + +This file defines mixers suitable for controlling a fixed wing aircraft with +aileron, rudder, elevator and throttle controls using PX4FMU. The configuration +assumes the aileron servo(s) are connected to PX4FMU servo output 0, the +elevator to output 1, the rudder to output 2 and the throttle to output 3. + +Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 +(roll), 1 (pitch) and 3 (thrust). + +Aileron mixer +------------- +Two scalers total (output, roll). + +This mixer assumes that the aileron servos are set up correctly mechanically; +depending on the actual configuration it may be necessary to reverse the scaling +factors (to reverse the servo movement) and adjust the offset, scaling and +endpoints to suit. + +As there is only one output, if using two servos adjustments to compensate for +differences between the servos must be made mechanically. To obtain the correct +motion using a Y cable, the servos can be positioned reversed from one another. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 0 10000 10000 0 -10000 10000 + +Elevator mixer +------------ +Two scalers total (output, roll). + +This mixer assumes that the elevator servo is set up correctly mechanically; +depending on the actual configuration it may be necessary to reverse the scaling +factors (to reverse the servo movement) and adjust the offset, scaling and +endpoints to suit. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 1 -10000 -10000 0 -10000 10000 + +Rudder mixer +------------ +Two scalers total (output, yaw). + +This mixer assumes that the rudder servo is set up correctly mechanically; +depending on the actual configuration it may be necessary to reverse the scaling +factors (to reverse the servo movement) and adjust the offset, scaling and +endpoints to suit. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 2 10000 10000 0 -10000 10000 + +Motor speed mixer +----------------- +Two scalers total (output, thrust). + +This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1) +range. Inputs below zero are treated as zero. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 3 0 20000 -10000 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/FMU_AET.mix b/ROMFS/px4fmu_common/mixers/FMU_AET.mix new file mode 100644 index 000000000..20cb88b91 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/FMU_AET.mix @@ -0,0 +1,60 @@ +Aileron/elevator/throttle mixer for PX4FMU +================================================== + +This file defines mixers suitable for controlling a fixed wing aircraft with +aileron, elevator and throttle controls using PX4FMU. The configuration assumes +the aileron servo(s) are connected to PX4FMU servo output 0, the elevator to +output 1 and the throttle to output 3. + +Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 +(roll), 1 (pitch) and 3 (thrust). + +Aileron mixer +------------- +Two scalers total (output, roll). + +This mixer assumes that the aileron servos are set up correctly mechanically; +depending on the actual configuration it may be necessary to reverse the scaling +factors (to reverse the servo movement) and adjust the offset, scaling and +endpoints to suit. + +As there is only one output, if using two servos adjustments to compensate for +differences between the servos must be made mechanically. To obtain the correct +motion using a Y cable, the servos can be positioned reversed from one another. + +Alternatively, output 2 could be used as a second aileron servo output with +separate mixing. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 0 10000 10000 0 -10000 10000 + +Elevator mixer +------------ +Two scalers total (output, roll). + +This mixer assumes that the elevator servo is set up correctly mechanically; +depending on the actual configuration it may be necessary to reverse the scaling +factors (to reverse the servo movement) and adjust the offset, scaling and +endpoints to suit. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 1 -10000 -10000 0 -10000 10000 + +Output 2 +-------- +This mixer is empty. + +Z: + +Motor speed mixer +----------------- +Two scalers total (output, thrust). + +This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1) +range. Inputs below zero are treated as zero. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 3 0 20000 -10000 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/FMU_Q.mix b/ROMFS/px4fmu_common/mixers/FMU_Q.mix new file mode 100644 index 000000000..ebcb66b24 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/FMU_Q.mix @@ -0,0 +1,52 @@ +Delta-wing mixer for PX4FMU +=========================== + +Designed for Bormatec Camflyer Q + +This file defines mixers suitable for controlling a delta wing aircraft using +PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU +servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is +assumed to be unused. + +Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 +(roll), 1 (pitch) and 3 (thrust). + +See the README for more information on the scaler format. + +Elevon mixers +------------- +Three scalers total (output, roll, pitch). + +On the assumption that the two elevon servos are physically reversed, the pitch +input is inverted between the two servos. + +The scaling factor for roll inputs is adjusted to implement differential travel +for the elevons. + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 0 0 -5000 -8000 0 -10000 10000 +S: 0 1 8000 8000 0 -10000 10000 + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 0 0 -8000 -5000 0 -10000 10000 +S: 0 1 -8000 -8000 0 -10000 10000 + +Output 2 +-------- +This mixer is empty. + +Z: + +Motor speed mixer +----------------- +Two scalers total (output, thrust). + +This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1) +range. Inputs below zero are treated as zero. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 3 0 20000 -10000 -10000 10000 + diff --git a/ROMFS/px4fmu_common/mixers/FMU_RET.mix b/ROMFS/px4fmu_common/mixers/FMU_RET.mix new file mode 100644 index 000000000..95beb8927 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/FMU_RET.mix @@ -0,0 +1,53 @@ +Rudder/elevator/throttle mixer for PX4FMU +========================================= + +This file defines mixers suitable for controlling a fixed wing aircraft with +rudder, elevator and throttle controls using PX4FMU. The configuration assumes +the rudder servo is connected to PX4FMU servo output 0, the elevator to output 1 +and the throttle to output 3. + +Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 +(roll), 1 (pitch) and 3 (thrust). + +Rudder mixer +------------ +Two scalers total (output, roll). + +This mixer assumes that the rudder servo is set up correctly mechanically; +depending on the actual configuration it may be necessary to reverse the scaling +factors (to reverse the servo movement) and adjust the offset, scaling and +endpoints to suit. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 0 10000 10000 0 -10000 10000 + +Elevator mixer +------------ +Two scalers total (output, roll). + +This mixer assumes that the elevator servo is set up correctly mechanically; +depending on the actual configuration it may be necessary to reverse the scaling +factors (to reverse the servo movement) and adjust the offset, scaling and +endpoints to suit. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 1 -10000 -10000 0 -10000 10000 + +Output 2 +-------- +This mixer is empty. + +Z: + +Motor speed mixer +----------------- +Two scalers total (output, thrust). + +This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1) +range. Inputs below zero are treated as zero. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 3 0 20000 -10000 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/FMU_X5.mix b/ROMFS/px4fmu_common/mixers/FMU_X5.mix new file mode 100644 index 000000000..9f81e1dc3 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/FMU_X5.mix @@ -0,0 +1,50 @@ +Delta-wing mixer for PX4FMU +=========================== + +This file defines mixers suitable for controlling a delta wing aircraft using +PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU +servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is +assumed to be unused. + +Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 +(roll), 1 (pitch) and 3 (thrust). + +See the README for more information on the scaler format. + +Elevon mixers +------------- +Three scalers total (output, roll, pitch). + +On the assumption that the two elevon servos are physically reversed, the pitch +input is inverted between the two servos. + +The scaling factor for roll inputs is adjusted to implement differential travel +for the elevons. + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 0 0 -3000 -5000 0 -10000 10000 +S: 0 1 -5000 -5000 0 -10000 10000 + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 0 0 -5000 -3000 0 -10000 10000 +S: 0 1 5000 5000 0 -10000 10000 + +Output 2 +-------- +This mixer is empty. + +Z: + +Motor speed mixer +----------------- +Two scalers total (output, thrust). + +This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1) +range. Inputs below zero are treated as zero. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 3 0 20000 -10000 -10000 10000 + diff --git a/ROMFS/px4fmu_common/mixers/FMU_delta.mix b/ROMFS/px4fmu_common/mixers/FMU_delta.mix new file mode 100644 index 000000000..981466704 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/FMU_delta.mix @@ -0,0 +1,50 @@ +Delta-wing mixer for PX4FMU +=========================== + +This file defines mixers suitable for controlling a delta wing aircraft using +PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU +servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is +assumed to be unused. + +Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 +(roll), 1 (pitch) and 3 (thrust). + +See the README for more information on the scaler format. + +Elevon mixers +------------- +Three scalers total (output, roll, pitch). + +On the assumption that the two elevon servos are physically reversed, the pitch +input is inverted between the two servos. + +The scaling factor for roll inputs is adjusted to implement differential travel +for the elevons. + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 0 0 3000 5000 0 -10000 10000 +S: 0 1 5000 5000 0 -10000 10000 + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 0 0 5000 3000 0 -10000 10000 +S: 0 1 -5000 -5000 0 -10000 10000 + +Output 2 +-------- +This mixer is empty. + +Z: + +Motor speed mixer +----------------- +Two scalers total (output, thrust). + +This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1) +range. Inputs below zero are treated as zero. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 3 0 20000 -10000 -10000 10000 + diff --git a/ROMFS/px4fmu_common/mixers/FMU_hex_+.mix b/ROMFS/px4fmu_common/mixers/FMU_hex_+.mix new file mode 100644 index 000000000..b5e38ce9e --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/FMU_hex_+.mix @@ -0,0 +1,7 @@ +Multirotor mixer for PX4FMU +=========================== + +This file defines a single mixer for a hexacopter in the + configuration. All controls +are mixed 100%. + +R: 6+ 10000 10000 10000 0 diff --git a/ROMFS/px4fmu_common/mixers/FMU_hex_x.mix b/ROMFS/px4fmu_common/mixers/FMU_hex_x.mix new file mode 100644 index 000000000..8e8d122ad --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/FMU_hex_x.mix @@ -0,0 +1,7 @@ +Multirotor mixer for PX4FMU +=========================== + +This file defines a single mixer for a hexacopter in the X configuration. All controls +are mixed 100%. + +R: 6x 10000 10000 10000 0 diff --git a/ROMFS/px4fmu_common/mixers/FMU_octo_+.mix b/ROMFS/px4fmu_common/mixers/FMU_octo_+.mix new file mode 100644 index 000000000..2cb70e814 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/FMU_octo_+.mix @@ -0,0 +1,7 @@ +Multirotor mixer for PX4FMU +=========================== + +This file defines a single mixer for a octocopter in the + configuration. All controls +are mixed 100%. + +R: 8+ 10000 10000 10000 0 diff --git a/ROMFS/px4fmu_common/mixers/FMU_octo_x.mix b/ROMFS/px4fmu_common/mixers/FMU_octo_x.mix new file mode 100644 index 000000000..edc71f013 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/FMU_octo_x.mix @@ -0,0 +1,7 @@ +Multirotor mixer for PX4FMU +=========================== + +This file defines a single mixer for a octocopter in the X configuration. All controls +are mixed 100%. + +R: 8x 10000 10000 10000 0 diff --git a/ROMFS/px4fmu_common/mixers/FMU_pass.mix b/ROMFS/px4fmu_common/mixers/FMU_pass.mix new file mode 100644 index 000000000..e9a81f2bb --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/FMU_pass.mix @@ -0,0 +1,23 @@ +Passthrough mixer for PX4FMU +============================ + +This file defines passthrough mixers suitable for testing. + +Channel group 0, channels 0-3 are passed directly through to the outputs. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 0 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 1 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 2 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 3 10000 10000 0 -10000 10000 + diff --git a/ROMFS/px4fmu_common/mixers/FMU_quad_+.mix b/ROMFS/px4fmu_common/mixers/FMU_quad_+.mix new file mode 100644 index 000000000..dfdf1d58e --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/FMU_quad_+.mix @@ -0,0 +1,7 @@ +Multirotor mixer for PX4FMU +=========================== + +This file defines a single mixer for a quadrotor in the + configuration. All controls +are mixed 100%. + +R: 4+ 10000 10000 10000 0 diff --git a/ROMFS/px4fmu_common/mixers/FMU_quad_x.mix b/ROMFS/px4fmu_common/mixers/FMU_quad_x.mix new file mode 100644 index 000000000..12a3bee20 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/FMU_quad_x.mix @@ -0,0 +1,7 @@ +Multirotor mixer for PX4FMU +=========================== + +This file defines a single mixer for a quadrotor in the X configuration. All controls +are mixed 100%. + +R: 4x 10000 10000 10000 0 diff --git a/ROMFS/px4fmu_common/mixers/README b/ROMFS/px4fmu_common/mixers/README new file mode 100644 index 000000000..6649c53c2 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/README @@ -0,0 +1,154 @@ +PX4 mixer definitions +===================== + +Files in this directory implement example mixers that can be used as a basis +for customisation, or for general testing purposes. + +Mixer basics +------------ + +Mixers combine control values from various sources (control tasks, user inputs, +etc.) and produce output values suitable for controlling actuators; servos, +motors, switches and so on. + +An actuator derives its value from the combination of one or more control +values. Each of the control values is scaled according to the actuator's +configuration and then combined to produce the actuator value, which may then be +further scaled to suit the specific output type. + +Internally, all scaling is performed using floating point values. Inputs and +outputs are clamped to the range -1.0 to 1.0. + +control control control + | | | + v v v + scale scale scale + | | | + | v | + +-------> mix <------+ + | + scale + | + v + out + +Scaling +------- + +Basic scalers provide linear scaling of the input to the output. + +Each scaler allows the input value to be scaled independently for inputs +greater/less than zero. An offset can be applied to the output, and lower and +upper boundary constraints can be applied. Negative scaling factors cause the +output to be inverted (negative input produces positive output). + +Scaler pseudocode: + +if (input < 0) + output = (input * NEGATIVE_SCALE) + OFFSET +else + output = (input * POSITIVE_SCALE) + OFFSET + +if (output < LOWER_LIMIT) + output = LOWER_LIMIT +if (output > UPPER_LIMIT) + output = UPPER_LIMIT + +Syntax +------ + +Mixer definitions are text files; lines beginning with a single capital letter +followed by a colon are significant. All other lines are ignored, meaning that +explanatory text can be freely mixed with the definitions. + +Each file may define more than one mixer; the allocation of mixers to actuators +is specific to the device reading the mixer definition, and the number of +actuator outputs generated by a mixer is specific to the mixer. + +A mixer begins with a line of the form + + : + +The tag selects the mixer type; 'M' for a simple summing mixer, 'R' for a +multirotor mixer, etc. + +Null Mixer +.......... + +A null mixer consumes no controls and generates a single actuator output whose +value is always zero. Typically a null mixer is used as a placeholder in a +collection of mixers in order to achieve a specific pattern of actuator outputs. + +The null mixer definition has the form: + + Z: + +Simple Mixer +............ + +A simple mixer combines zero or more control inputs into a single actuator +output. Inputs are scaled, and the mixing function sums the result before +applying an output scaler. + +A simple mixer definition begins with: + + M: + O: <-ve scale> <+ve scale> + +If is zero, the sum is effectively zero and the mixer will +output a fixed value that is constrained by and . + +The second line defines the output scaler with scaler parameters as discussed +above. Whilst the calculations are performed as floating-point operations, the +values stored in the definition file are scaled by a factor of 10000; i.e. an +offset of -0.5 is encoded as -5000. + +The definition continues with entries describing the control +inputs and their scaling, in the form: + + S: <-ve scale> <+ve scale> + +The value identifies the control group from which the scaler will read, +and the value an offset within that group. These values are specific to +the device reading the mixer definition. + +When used to mix vehicle controls, mixer group zero is the vehicle attitude +control group, and index values zero through three are normally roll, pitch, +yaw and thrust respectively. + +The remaining fields on the line configure the control scaler with parameters as +discussed above. Whilst the calculations are performed as floating-point +operations, the values stored in the definition file are scaled by a factor of +10000; i.e. an offset of -0.5 is encoded as -5000. + +Multirotor Mixer +................ + +The multirotor mixer combines four control inputs (roll, pitch, yaw, thrust) +into a set of actuator outputs intended to drive motor speed controllers. + +The mixer definition is a single line of the form: + +R: + +The supported geometries include: + + 4x - quadrotor in X configuration + 4+ - quadrotor in + configuration + 6x - hexcopter in X configuration + 6+ - hexcopter in + configuration + 8x - octocopter in X configuration + 8+ - octocopter in + configuration + +Each of the roll, pitch and yaw scale values determine scaling of the roll, +pitch and yaw controls relative to the thrust control. Whilst the calculations +are performed as floating-point operations, the values stored in the definition +file are scaled by a factor of 10000; i.e. an factor of 0.5 is encoded as 5000. + +Roll, pitch and yaw inputs are expected to range from -1.0 to 1.0, whilst the +thrust input ranges from 0.0 to 1.0. Output for each actuator is in the +range -1.0 to 1.0. + +In the case where an actuator saturates, all actuator values are rescaled so that +the saturating actuator is limited to 1.0. diff --git a/ROMFS/px4fmu_default/logging/logconv.m b/ROMFS/px4fmu_default/logging/logconv.m deleted file mode 100644 index 3750ddae2..000000000 --- a/ROMFS/px4fmu_default/logging/logconv.m +++ /dev/null @@ -1,586 +0,0 @@ -% This Matlab Script can be used to import the binary logged values of the -% PX4FMU into data that can be plotted and analyzed. - -%% ************************************************************************ -% PX4LOG_PLOTSCRIPT: Main function -% ************************************************************************ -function PX4Log_Plotscript - -% Clear everything -clc -clear all -close all - -% ************************************************************************ -% SETTINGS -% ************************************************************************ - -% Set the path to your sysvector.bin file here -filePath = 'sysvector.bin'; - -% Set the minimum and maximum times to plot here [in seconds] -mintime=0; %The minimum time/timestamp to display, as set by the user [0 for first element / start] -maxtime=0; %The maximum time/timestamp to display, as set by the user [0 for last element / end] - -%Determine which data to plot. Not completely implemented yet. -bDisplayGPS=true; - -%conversion factors -fconv_gpsalt=1E-3; %[mm] to [m] -fconv_gpslatlong=1E-7; %[gps_raw_position_unit] to [deg] -fconv_timestamp=1E-6; % [microseconds] to [seconds] - -% ************************************************************************ -% Import the PX4 logs -% ************************************************************************ -ImportPX4LogData(); - -%Translate min and max plot times to indices -time=double(sysvector.timestamp) .*fconv_timestamp; -mintime_log=time(1); %The minimum time/timestamp found in the log -maxtime_log=time(end); %The maximum time/timestamp found in the log -CurTime=mintime_log; %The current time at which to draw the aircraft position - -[imintime,imaxtime]=FindMinMaxTimeIndices(); - -% ************************************************************************ -% PLOT & GUI SETUP -% ************************************************************************ -NrFigures=5; -NrAxes=10; -h.figures(1:NrFigures)=0.0; % Temporary initialization of figure handle array - these are numbered consecutively -h.axes(1:NrAxes)=0.0; % Temporary initialization of axes handle array - these are numbered consecutively -h.pathpoints=[]; % Temporary initiliazation of path points - -% Setup the GUI to control the plots -InitControlGUI(); -% Setup the plotting-GUI (figures, axes) itself. -InitPlotGUI(); - -% ************************************************************************ -% DRAW EVERYTHING -% ************************************************************************ -DrawRawData(); -DrawCurrentAircraftState(); - -%% ************************************************************************ -% *** END OF MAIN SCRIPT *** -% NESTED FUNCTION DEFINTIONS FROM HERE ON -% ************************************************************************ - - -%% ************************************************************************ -% IMPORTPX4LOGDATA (nested function) -% ************************************************************************ -% Attention: This is the import routine for firmware from ca. 03/2013. -% Other firmware versions might require different import -% routines. - -function ImportPX4LogData() - % Work around a Matlab bug (not related to PX4) - % where timestamps from 1.1.1970 do not allow to - % read the file's size - if ismac - system('touch -t 201212121212.12 sysvector.bin'); - end - - % ************************************************************************ - % RETRIEVE SYSTEM VECTOR - % ************************************************************************* - % //All measurements in NED frame - % - % uint64_t timestamp; //[us] - % float gyro[3]; //[rad/s] - % float accel[3]; //[m/s^2] - % float mag[3]; //[gauss] - % float baro; //pressure [millibar] - % float baro_alt; //altitude above MSL [meter] - % float baro_temp; //[degree celcius] - % float control[4]; //roll, pitch, yaw [-1..1], thrust [0..1] - % float actuators[8]; //motor 1-8, in motor units (PWM: 1000-2000,AR.Drone: 0-512) - % float vbat; //battery voltage in [volt] - % float bat_current - current drawn from battery at this time instant - % float bat_discharged - discharged energy in mAh - % float adc[4]; //remaining auxiliary ADC ports [volt] - % float local_position[3]; //tangent plane mapping into x,y,z [m] - % int32_t gps_raw_position[3]; //latitude [degrees] north, longitude [degrees] east, altitude above MSL [millimeter] - % float attitude[3]; //pitch, roll, yaw [rad] - % float rotMatrix[9]; //unitvectors - % float actuator_control[4]; //unitvector - % float optical_flow[4]; //roll, pitch, yaw [-1..1], thrust [0..1] - % float diff_pressure; - pressure difference in millibar - % float ind_airspeed; - % float true_airspeed; - - % Definition of the logged values - logFormat{1} = struct('name', 'timestamp', 'bytes', 8, 'array', 1, 'precision', 'uint64', 'machineformat', 'ieee-le.l64'); - logFormat{2} = struct('name', 'gyro', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le'); - logFormat{3} = struct('name', 'accel', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le'); - logFormat{4} = struct('name', 'mag', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le'); - logFormat{5} = struct('name', 'baro', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); - logFormat{6} = struct('name', 'baro_alt', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); - logFormat{7} = struct('name', 'baro_temp', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); - logFormat{8} = struct('name', 'control', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le'); - logFormat{9} = struct('name', 'actuators', 'bytes', 4, 'array', 8, 'precision', 'float', 'machineformat', 'ieee-le'); - logFormat{10} = struct('name', 'vbat', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); - logFormat{11} = struct('name', 'bat_current', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); - logFormat{12} = struct('name', 'bat_discharged', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); - logFormat{13} = struct('name', 'adc', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le'); - logFormat{14} = struct('name', 'local_position', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le'); - logFormat{15} = struct('name', 'gps_raw_position', 'bytes', 4, 'array', 3, 'precision', 'uint32', 'machineformat', 'ieee-le'); - logFormat{16} = struct('name', 'attitude', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le'); - logFormat{17} = struct('name', 'rot_matrix', 'bytes', 4, 'array', 9, 'precision', 'float', 'machineformat', 'ieee-le'); - logFormat{18} = struct('name', 'vicon_position', 'bytes', 4, 'array', 6, 'precision', 'float', 'machineformat', 'ieee-le'); - logFormat{19} = struct('name', 'actuator_control', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le'); - logFormat{20} = struct('name', 'optical_flow', 'bytes', 4, 'array', 6, 'precision', 'float', 'machineformat', 'ieee-le'); - logFormat{21} = struct('name', 'diff_pressure', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); - logFormat{22} = struct('name', 'ind_airspeed', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); - logFormat{23} = struct('name', 'true_airspeed', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); - - % First get length of one line - columns = length(logFormat); - lineLength = 0; - - for i=1:columns - lineLength = lineLength + logFormat{i}.bytes * logFormat{i}.array; - end - - - if exist(filePath, 'file') - - fileInfo = dir(filePath); - fileSize = fileInfo.bytes; - - elements = int64(fileSize./(lineLength)); - - fid = fopen(filePath, 'r'); - offset = 0; - for i=1:columns - % using fread with a skip speeds up the import drastically, do not - % import the values one after the other - sysvector.(genvarname(logFormat{i}.name)) = transpose(fread(... - fid, ... - [logFormat{i}.array, elements], [num2str(logFormat{i}.array),'*',logFormat{i}.precision,'=>',logFormat{i}.precision], ... - lineLength - logFormat{i}.bytes*logFormat{i}.array, ... - logFormat{i}.machineformat) ... - ); - offset = offset + logFormat{i}.bytes*logFormat{i}.array; - fseek(fid, offset,'bof'); - end - - % shot the flight time - time_us = sysvector.timestamp(end) - sysvector.timestamp(1); - time_s = time_us*1e-6; - time_m = time_s/60; - - % close the logfile - fclose(fid); - - disp(['end log2matlab conversion' char(10)]); - else - disp(['file: ' filePath ' does not exist' char(10)]); - end -end - -%% ************************************************************************ -% INITCONTROLGUI (nested function) -% ************************************************************************ -%Setup central control GUI components to control current time where data is shown -function InitControlGUI() - %********************************************************************** - % GUI size definitions - %********************************************************************** - dxy=5; %margins - %Panel: Plotctrl - dlabels=120; - dsliders=200; - dedits=80; - hslider=20; - - hpanel1=40; %panel1 - hpanel2=220;%panel2 - hpanel3=3*hslider+4*dxy+3*dxy;%panel3. - - width=dlabels+dsliders+dedits+4*dxy+2*dxy; %figure width - height=hpanel1+hpanel2+hpanel3+4*dxy; %figure height - - %********************************************************************** - % Create GUI - %********************************************************************** - h.figures(1)=figure('Units','pixels','position',[200 200 width height],'Name','Control GUI'); - h.guistatepanel=uipanel('Title','Current GUI state','Units','pixels','Position',[dxy dxy width-2*dxy hpanel1],'parent',h.figures(1)); - h.aircraftstatepanel=uipanel('Title','Current aircraft state','Units','pixels','Position',[dxy hpanel1+2*dxy width-2*dxy hpanel2],'parent',h.figures(1)); - h.plotctrlpanel=uipanel('Title','Plot Control','Units','pixels','Position',[dxy hpanel1+hpanel2+3*dxy width-2*dxy hpanel3],'parent',h.figures(1)); - - %%Control GUI-elements - %Slider: Current time - h.labels.CurTime=uicontrol(gcf,'style','text','Position',[dxy dxy dlabels hslider],'String','Current time t[s]:','parent',h.plotctrlpanel,'HorizontalAlignment','left'); - h.sliders.CurTime=uicontrol(gcf,'style','slider','units','pix','position',[2*dxy+dlabels dxy dsliders hslider],... - 'min',mintime,'max',maxtime,'value',mintime,'callback',@curtime_callback,'parent',h.plotctrlpanel); - temp=get(h.sliders.CurTime,'Max')-get(h.sliders.CurTime,'Min'); - set(h.sliders.CurTime,'SliderStep',[1.0/temp 5.0/temp]); - h.edits.CurTime=uicontrol(gcf,'style','edit','position',[3*dxy+dlabels+dsliders dxy dedits hslider],'String',get(h.sliders.CurTime,'value'),... - 'BackgroundColor','white','callback',@curtime_callback,'parent',h.plotctrlpanel); - - %Slider: MaxTime - h.labels.MaxTime=uicontrol(gcf,'style','text','position',[dxy 2*dxy+hslider dlabels hslider],'String','Max. time t[s] to display:','parent',h.plotctrlpanel,'HorizontalAlignment','left'); - h.sliders.MaxTime=uicontrol(gcf,'style','slider','units','pix','position',[2*dxy+dlabels 2*dxy+hslider dsliders hslider],... - 'min',mintime_log,'max',maxtime_log,'value',maxtime,'callback',@minmaxtime_callback,'parent',h.plotctrlpanel); - h.edits.MaxTime=uicontrol(gcf,'style','edit','position',[3*dxy+dlabels+dsliders 2*dxy+hslider dedits hslider],'String',get(h.sliders.MaxTime,'value'),... - 'BackgroundColor','white','callback',@minmaxtime_callback,'parent',h.plotctrlpanel); - - %Slider: MinTime - h.labels.MinTime=uicontrol(gcf,'style','text','position',[dxy 3*dxy+2*hslider dlabels hslider],'String','Min. time t[s] to dispay :','parent',h.plotctrlpanel,'HorizontalAlignment','left'); - h.sliders.MinTime=uicontrol(gcf,'style','slider','units','pix','position',[2*dxy+dlabels 3*dxy+2*hslider dsliders hslider],... - 'min',mintime_log,'max',maxtime_log,'value',mintime,'callback',@minmaxtime_callback,'parent',h.plotctrlpanel); - h.edits.MinTime=uicontrol(gcf,'style','edit','position',[3*dxy+dlabels+dsliders 3*dxy+2*hslider dedits hslider],'String',get(h.sliders.MinTime,'value'),... - 'BackgroundColor','white','callback',@minmaxtime_callback,'parent',h.plotctrlpanel); - - %%Current data/state GUI-elements (Multiline-edit-box) - h.edits.AircraftState=uicontrol(gcf,'style','edit','Units','normalized','position',[.02 .02 0.96 0.96],'Min',1,'Max',10,'String','This shows the current aircraft state',... - 'HorizontalAlignment','left','parent',h.aircraftstatepanel); - - h.labels.GUIState=uicontrol(gcf,'style','text','Units','pixels','position',[dxy dxy width-4*dxy hslider],'String','Current state of this GUI',... - 'HorizontalAlignment','left','parent',h.guistatepanel); - -end - -%% ************************************************************************ -% INITPLOTGUI (nested function) -% ************************************************************************ -function InitPlotGUI() - - % Setup handles to lines and text - h.markertext=[]; - templinehandle=0.0;%line([0 1],[0 5]); % Just a temporary handle to init array - h.markerline(1:NrAxes)=templinehandle; % the actual handle-array to the lines - these are numbered consecutively - h.markerline(1:NrAxes)=0.0; - - % Setup all other figures and axes for plotting - % PLOT WINDOW 1: GPS POSITION - h.figures(2)=figure('units','normalized','Toolbar','figure', 'Name', 'GPS Position'); - h.axes(1)=axes(); - set(h.axes(1),'Parent',h.figures(2)); - - % PLOT WINDOW 2: IMU, baro altitude - h.figures(3)=figure('Name', 'IMU / Baro Altitude'); - h.axes(2)=subplot(4,1,1); - h.axes(3)=subplot(4,1,2); - h.axes(4)=subplot(4,1,3); - h.axes(5)=subplot(4,1,4); - set(h.axes(2:5),'Parent',h.figures(3)); - - % PLOT WINDOW 3: ATTITUDE ESTIMATE, ACTUATORS/CONTROLS, AIRSPEEDS,... - h.figures(4)=figure('Name', 'Attitude Estimate / Actuators / Airspeeds'); - h.axes(6)=subplot(4,1,1); - h.axes(7)=subplot(4,1,2); - h.axes(8)=subplot(4,1,3); - h.axes(9)=subplot(4,1,4); - set(h.axes(6:9),'Parent',h.figures(4)); - - % PLOT WINDOW 4: LOG STATS - h.figures(5) = figure('Name', 'Log Statistics'); - h.axes(10)=subplot(1,1,1); - set(h.axes(10:10),'Parent',h.figures(5)); - -end - -%% ************************************************************************ -% DRAWRAWDATA (nested function) -% ************************************************************************ -%Draws the raw data from the sysvector, but does not add any -%marker-lines or so -function DrawRawData() - % ************************************************************************ - % PLOT WINDOW 1: GPS POSITION & GUI - % ************************************************************************ - figure(h.figures(2)); - % Only plot GPS data if available - if (sum(double(sysvector.gps_raw_position(imintime:imaxtime,1)))>0) && (bDisplayGPS) - %Draw data - plot3(h.axes(1),double(sysvector.gps_raw_position(imintime:imaxtime,1))*fconv_gpslatlong, ... - double(sysvector.gps_raw_position(imintime:imaxtime,2))*fconv_gpslatlong, ... - double(sysvector.gps_raw_position(imintime:imaxtime,3))*fconv_gpsalt,'r.'); - title(h.axes(1),'GPS Position Data(if available)'); - xlabel(h.axes(1),'Latitude [deg]'); - ylabel(h.axes(1),'Longitude [deg]'); - zlabel(h.axes(1),'Altitude above MSL [m]'); - grid on - - %Reset path - h.pathpoints=0; - end - - % ************************************************************************ - % PLOT WINDOW 2: IMU, baro altitude - % ************************************************************************ - figure(h.figures(3)); - plot(h.axes(2),time(imintime:imaxtime),sysvector.mag(imintime:imaxtime,:)); - title(h.axes(2),'Magnetometers [Gauss]'); - legend(h.axes(2),'x','y','z'); - plot(h.axes(3),time(imintime:imaxtime),sysvector.accel(imintime:imaxtime,:)); - title(h.axes(3),'Accelerometers [m/s²]'); - legend(h.axes(3),'x','y','z'); - plot(h.axes(4),time(imintime:imaxtime),sysvector.gyro(imintime:imaxtime,:)); - title(h.axes(4),'Gyroscopes [rad/s]'); - legend(h.axes(4),'x','y','z'); - plot(h.axes(5),time(imintime:imaxtime),sysvector.baro_alt(imintime:imaxtime),'color','blue'); - if(bDisplayGPS) - hold on; - plot(h.axes(5),time(imintime:imaxtime),double(sysvector.gps_raw_position(imintime:imaxtime,3)).*fconv_gpsalt,'color','red'); - hold off - legend('Barometric Altitude [m]','GPS Altitude [m]'); - else - legend('Barometric Altitude [m]'); - end - title(h.axes(5),'Altitude above MSL [m]'); - - % ************************************************************************ - % PLOT WINDOW 3: ATTITUDE ESTIMATE, ACTUATORS/CONTROLS, AIRSPEEDS,... - % ************************************************************************ - figure(h.figures(4)); - %Attitude Estimate - plot(h.axes(6),time(imintime:imaxtime), sysvector.attitude(imintime:imaxtime,:).*180./3.14159); - title(h.axes(6),'Estimated attitude [deg]'); - legend(h.axes(6),'roll','pitch','yaw'); - %Actuator Controls - plot(h.axes(7),time(imintime:imaxtime), sysvector.actuator_control(imintime:imaxtime,:)); - title(h.axes(7),'Actuator control [-]'); - legend(h.axes(7),'0','1','2','3'); - %Actuator Controls - plot(h.axes(8),time(imintime:imaxtime), sysvector.actuators(imintime:imaxtime,1:8)); - title(h.axes(8),'Actuator PWM (raw-)outputs [µs]'); - legend(h.axes(8),'CH1','CH2','CH3','CH4','CH5','CH6','CH7','CH8'); - set(h.axes(8), 'YLim',[800 2200]); - %Airspeeds - plot(h.axes(9),time(imintime:imaxtime), sysvector.ind_airspeed(imintime:imaxtime)); - hold on - plot(h.axes(9),time(imintime:imaxtime), sysvector.true_airspeed(imintime:imaxtime)); - hold off - %add GPS total airspeed here - title(h.axes(9),'Airspeed [m/s]'); - legend(h.axes(9),'Indicated Airspeed (IAS)','True Airspeed (TAS)','GPS Airspeed'); - %calculate time differences and plot them - intervals = zeros(0,imaxtime - imintime); - for k = imintime+1:imaxtime - intervals(k) = time(k) - time(k-1); - end - plot(h.axes(10), time(imintime:imaxtime), intervals); - - %Set same timescale for all plots - for i=2:NrAxes - set(h.axes(i),'XLim',[mintime maxtime]); - end - - set(h.labels.GUIState,'String','OK','BackgroundColor',[240/255 240/255 240/255]); -end - -%% ************************************************************************ -% DRAWCURRENTAIRCRAFTSTATE(nested function) -% ************************************************************************ -function DrawCurrentAircraftState() - %find current data index - i=find(time>=CurTime,1,'first'); - - %********************************************************************** - % Current aircraft state label update - %********************************************************************** - acstate{1,:}=[sprintf('%s \t\t','GPS Pos:'),'[lat=',num2str(double(sysvector.gps_raw_position(i,1))*fconv_gpslatlong),'°, ',... - 'lon=',num2str(double(sysvector.gps_raw_position(i,2))*fconv_gpslatlong),'°, ',... - 'alt=',num2str(double(sysvector.gps_raw_position(i,3))*fconv_gpsalt),'m]']; - acstate{2,:}=[sprintf('%s \t\t','Mags[gauss]'),'[x=',num2str(sysvector.mag(i,1)),... - ', y=',num2str(sysvector.mag(i,2)),... - ', z=',num2str(sysvector.mag(i,3)),']']; - acstate{3,:}=[sprintf('%s \t\t','Accels[m/s²]'),'[x=',num2str(sysvector.accel(i,1)),... - ', y=',num2str(sysvector.accel(i,2)),... - ', z=',num2str(sysvector.accel(i,3)),']']; - acstate{4,:}=[sprintf('%s \t\t','Gyros[rad/s]'),'[x=',num2str(sysvector.gyro(i,1)),... - ', y=',num2str(sysvector.gyro(i,2)),... - ', z=',num2str(sysvector.gyro(i,3)),']']; - acstate{5,:}=[sprintf('%s \t\t','Altitude[m]'),'[Barometric: ',num2str(sysvector.baro_alt(i)),'m, GPS: ',num2str(double(sysvector.gps_raw_position(i,3))*fconv_gpsalt),'m]']; - acstate{6,:}=[sprintf('%s \t','Est. attitude[deg]:'),'[Roll=',num2str(sysvector.attitude(i,1).*180./3.14159),... - ', Pitch=',num2str(sysvector.attitude(i,2).*180./3.14159),... - ', Yaw=',num2str(sysvector.attitude(i,3).*180./3.14159),']']; - acstate{7,:}=sprintf('%s \t[','Actuator Ctrls [-]:'); - for j=1:4 - acstate{7,:}=[acstate{7,:},num2str(sysvector.actuator_control(i,j)),',']; - end - acstate{7,:}=[acstate{7,:},']']; - acstate{8,:}=sprintf('%s \t[','Actuator Outputs [PWM/µs]:'); - for j=1:8 - acstate{8,:}=[acstate{8,:},num2str(sysvector.actuators(i,j)),',']; - end - acstate{8,:}=[acstate{8,:},']']; - acstate{9,:}=[sprintf('%s \t','Airspeed[m/s]:'),'[IAS: ',num2str(sysvector.ind_airspeed(i)),', TAS: ',num2str(sysvector.true_airspeed(i)),']']; - - set(h.edits.AircraftState,'String',acstate); - - %********************************************************************** - % GPS Plot Update - %********************************************************************** - %Plot traveled path, and and time. - figure(h.figures(2)); - hold on; - if(CurTime>mintime+1) %the +1 is only a small bugfix - h.pathline=plot3(h.axes(1),double(sysvector.gps_raw_position(imintime:i,1))*fconv_gpslatlong, ... - double(sysvector.gps_raw_position(imintime:i,2))*fconv_gpslatlong, ... - double(sysvector.gps_raw_position(imintime:i,3))*fconv_gpsalt,'b','LineWidth',2); - end; - hold off - %Plot current position - newpoint=[double(sysvector.gps_raw_position(i,1))*fconv_gpslatlong double(sysvector.gps_raw_position(i,2))*fconv_gpslatlong double(sysvector.gps_raw_position(i,3))*fconv_gpsalt]; - if(numel(h.pathpoints)<=3) %empty path - h.pathpoints(1,1:3)=newpoint; - else %Not empty, append new point - h.pathpoints(size(h.pathpoints,1)+1,:)=newpoint; - end - axes(h.axes(1)); - line(h.pathpoints(:,1),h.pathpoints(:,2),h.pathpoints(:,3),'LineStyle','none','Marker','.','MarkerEdge','black','MarkerSize',20); - - - % Plot current time (small label next to current gps position) - textdesc=strcat(' t=',num2str(time(i)),'s'); - if(isvalidhandle(h.markertext)) - delete(h.markertext); %delete old text - end - h.markertext=text(double(sysvector.gps_raw_position(i,1))*fconv_gpslatlong,double(sysvector.gps_raw_position(i,2))*fconv_gpslatlong,... - double(sysvector.gps_raw_position(i,3))*fconv_gpsalt,textdesc); - set(h.edits.CurTime,'String',CurTime); - - %********************************************************************** - % Plot the lines showing the current time in the 2-d plots - %********************************************************************** - for i=2:NrAxes - if(isvalidhandle(h.markerline(i))) delete(h.markerline(i)); end - ylims=get(h.axes(i),'YLim'); - h.markerline(i)=line([CurTime CurTime] ,get(h.axes(i),'YLim'),'Color','black'); - set(h.markerline(i),'parent',h.axes(i)); - end - - set(h.labels.GUIState,'String','OK','BackgroundColor',[240/255 240/255 240/255]); -end - -%% ************************************************************************ -% MINMAXTIME CALLBACK (nested function) -% ************************************************************************ -function minmaxtime_callback(hObj,event) %#ok - new_mintime=get(h.sliders.MinTime,'Value'); - new_maxtime=get(h.sliders.MaxTime,'Value'); - - %Safety checks: - bErr=false; - %1: mintime must be < maxtime - if((new_mintime>maxtime) || (new_maxtimeCurTime) - set(h.labels.GUIState,'String','Error: Mintime cannot be bigger than CurTime! CurTime set to new mintime.','BackgroundColor','red'); - mintime=new_mintime; - CurTime=mintime; - bErr=true; - end - %3: MaxTime must be >CurTime - if(new_maxtime - %find current time - if(hObj==h.sliders.CurTime) - CurTime=get(h.sliders.CurTime,'Value'); - elseif (hObj==h.edits.CurTime) - temp=str2num(get(h.edits.CurTime,'String')); - if(tempmintime) - CurTime=temp; - else - %Error - set(h.labels.GUIState,'String','Error: You tried to set an invalid current time! Previous value restored.','BackgroundColor','red'); - end - else - %Error - set(h.labels.GUIState,'String','Error: curtime_callback','BackgroundColor','red'); - end - - set(h.sliders.CurTime,'Value',CurTime); - set(h.edits.CurTime,'String',num2str(CurTime)); - - %Redraw time markers, but don't have to redraw the whole raw data - DrawCurrentAircraftState(); -end - -%% ************************************************************************ -% FINDMINMAXINDICES (nested function) -% ************************************************************************ -function [idxmin,idxmax] = FindMinMaxTimeIndices() - for i=1:size(sysvector.timestamp,1) - if time(i)>=mintime; idxmin=i; break; end - end - for i=1:size(sysvector.timestamp,1) - if maxtime==0; idxmax=size(sysvector.timestamp,1); break; end - if time(i)>=maxtime; idxmax=i; break; end - end - mintime=time(idxmin); - maxtime=time(idxmax); -end - -%% ************************************************************************ -% ISVALIDHANDLE (nested function) -% ************************************************************************ -function isvalid = isvalidhandle(handle) - if(exist(varname(handle))>0 && length(ishandle(handle))>0) - if(ishandle(handle)>0) - if(handle>0.0) - isvalid=true; - return; - end - end - end - isvalid=false; -end - -%% ************************************************************************ -% JUST SOME SMALL HELPER FUNCTIONS (nested function) -% ************************************************************************ -function out = varname(var) - out = inputname(1); -end - -%This is the end of the matlab file / the main function -end diff --git a/ROMFS/px4fmu_default/mixers/FMU_AERT.mix b/ROMFS/px4fmu_default/mixers/FMU_AERT.mix deleted file mode 100644 index 75e82bb00..000000000 --- a/ROMFS/px4fmu_default/mixers/FMU_AERT.mix +++ /dev/null @@ -1,64 +0,0 @@ -Aileron/rudder/elevator/throttle mixer for PX4FMU -================================================== - -This file defines mixers suitable for controlling a fixed wing aircraft with -aileron, rudder, elevator and throttle controls using PX4FMU. The configuration -assumes the aileron servo(s) are connected to PX4FMU servo output 0, the -elevator to output 1, the rudder to output 2 and the throttle to output 3. - -Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 -(roll), 1 (pitch) and 3 (thrust). - -Aileron mixer -------------- -Two scalers total (output, roll). - -This mixer assumes that the aileron servos are set up correctly mechanically; -depending on the actual configuration it may be necessary to reverse the scaling -factors (to reverse the servo movement) and adjust the offset, scaling and -endpoints to suit. - -As there is only one output, if using two servos adjustments to compensate for -differences between the servos must be made mechanically. To obtain the correct -motion using a Y cable, the servos can be positioned reversed from one another. - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 0 10000 10000 0 -10000 10000 - -Elevator mixer ------------- -Two scalers total (output, roll). - -This mixer assumes that the elevator servo is set up correctly mechanically; -depending on the actual configuration it may be necessary to reverse the scaling -factors (to reverse the servo movement) and adjust the offset, scaling and -endpoints to suit. - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 1 -10000 -10000 0 -10000 10000 - -Rudder mixer ------------- -Two scalers total (output, yaw). - -This mixer assumes that the rudder servo is set up correctly mechanically; -depending on the actual configuration it may be necessary to reverse the scaling -factors (to reverse the servo movement) and adjust the offset, scaling and -endpoints to suit. - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 2 10000 10000 0 -10000 10000 - -Motor speed mixer ------------------ -Two scalers total (output, thrust). - -This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1) -range. Inputs below zero are treated as zero. - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 3 0 20000 -10000 -10000 10000 diff --git a/ROMFS/px4fmu_default/mixers/FMU_AET.mix b/ROMFS/px4fmu_default/mixers/FMU_AET.mix deleted file mode 100644 index 20cb88b91..000000000 --- a/ROMFS/px4fmu_default/mixers/FMU_AET.mix +++ /dev/null @@ -1,60 +0,0 @@ -Aileron/elevator/throttle mixer for PX4FMU -================================================== - -This file defines mixers suitable for controlling a fixed wing aircraft with -aileron, elevator and throttle controls using PX4FMU. The configuration assumes -the aileron servo(s) are connected to PX4FMU servo output 0, the elevator to -output 1 and the throttle to output 3. - -Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 -(roll), 1 (pitch) and 3 (thrust). - -Aileron mixer -------------- -Two scalers total (output, roll). - -This mixer assumes that the aileron servos are set up correctly mechanically; -depending on the actual configuration it may be necessary to reverse the scaling -factors (to reverse the servo movement) and adjust the offset, scaling and -endpoints to suit. - -As there is only one output, if using two servos adjustments to compensate for -differences between the servos must be made mechanically. To obtain the correct -motion using a Y cable, the servos can be positioned reversed from one another. - -Alternatively, output 2 could be used as a second aileron servo output with -separate mixing. - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 0 10000 10000 0 -10000 10000 - -Elevator mixer ------------- -Two scalers total (output, roll). - -This mixer assumes that the elevator servo is set up correctly mechanically; -depending on the actual configuration it may be necessary to reverse the scaling -factors (to reverse the servo movement) and adjust the offset, scaling and -endpoints to suit. - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 1 -10000 -10000 0 -10000 10000 - -Output 2 --------- -This mixer is empty. - -Z: - -Motor speed mixer ------------------ -Two scalers total (output, thrust). - -This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1) -range. Inputs below zero are treated as zero. - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 3 0 20000 -10000 -10000 10000 diff --git a/ROMFS/px4fmu_default/mixers/FMU_Q.mix b/ROMFS/px4fmu_default/mixers/FMU_Q.mix deleted file mode 100644 index ebcb66b24..000000000 --- a/ROMFS/px4fmu_default/mixers/FMU_Q.mix +++ /dev/null @@ -1,52 +0,0 @@ -Delta-wing mixer for PX4FMU -=========================== - -Designed for Bormatec Camflyer Q - -This file defines mixers suitable for controlling a delta wing aircraft using -PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU -servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is -assumed to be unused. - -Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 -(roll), 1 (pitch) and 3 (thrust). - -See the README for more information on the scaler format. - -Elevon mixers -------------- -Three scalers total (output, roll, pitch). - -On the assumption that the two elevon servos are physically reversed, the pitch -input is inverted between the two servos. - -The scaling factor for roll inputs is adjusted to implement differential travel -for the elevons. - -M: 2 -O: 10000 10000 0 -10000 10000 -S: 0 0 -5000 -8000 0 -10000 10000 -S: 0 1 8000 8000 0 -10000 10000 - -M: 2 -O: 10000 10000 0 -10000 10000 -S: 0 0 -8000 -5000 0 -10000 10000 -S: 0 1 -8000 -8000 0 -10000 10000 - -Output 2 --------- -This mixer is empty. - -Z: - -Motor speed mixer ------------------ -Two scalers total (output, thrust). - -This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1) -range. Inputs below zero are treated as zero. - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 3 0 20000 -10000 -10000 10000 - diff --git a/ROMFS/px4fmu_default/mixers/FMU_RET.mix b/ROMFS/px4fmu_default/mixers/FMU_RET.mix deleted file mode 100644 index 95beb8927..000000000 --- a/ROMFS/px4fmu_default/mixers/FMU_RET.mix +++ /dev/null @@ -1,53 +0,0 @@ -Rudder/elevator/throttle mixer for PX4FMU -========================================= - -This file defines mixers suitable for controlling a fixed wing aircraft with -rudder, elevator and throttle controls using PX4FMU. The configuration assumes -the rudder servo is connected to PX4FMU servo output 0, the elevator to output 1 -and the throttle to output 3. - -Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 -(roll), 1 (pitch) and 3 (thrust). - -Rudder mixer ------------- -Two scalers total (output, roll). - -This mixer assumes that the rudder servo is set up correctly mechanically; -depending on the actual configuration it may be necessary to reverse the scaling -factors (to reverse the servo movement) and adjust the offset, scaling and -endpoints to suit. - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 0 10000 10000 0 -10000 10000 - -Elevator mixer ------------- -Two scalers total (output, roll). - -This mixer assumes that the elevator servo is set up correctly mechanically; -depending on the actual configuration it may be necessary to reverse the scaling -factors (to reverse the servo movement) and adjust the offset, scaling and -endpoints to suit. - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 1 -10000 -10000 0 -10000 10000 - -Output 2 --------- -This mixer is empty. - -Z: - -Motor speed mixer ------------------ -Two scalers total (output, thrust). - -This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1) -range. Inputs below zero are treated as zero. - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 3 0 20000 -10000 -10000 10000 diff --git a/ROMFS/px4fmu_default/mixers/FMU_X5.mix b/ROMFS/px4fmu_default/mixers/FMU_X5.mix deleted file mode 100644 index 9f81e1dc3..000000000 --- a/ROMFS/px4fmu_default/mixers/FMU_X5.mix +++ /dev/null @@ -1,50 +0,0 @@ -Delta-wing mixer for PX4FMU -=========================== - -This file defines mixers suitable for controlling a delta wing aircraft using -PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU -servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is -assumed to be unused. - -Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 -(roll), 1 (pitch) and 3 (thrust). - -See the README for more information on the scaler format. - -Elevon mixers -------------- -Three scalers total (output, roll, pitch). - -On the assumption that the two elevon servos are physically reversed, the pitch -input is inverted between the two servos. - -The scaling factor for roll inputs is adjusted to implement differential travel -for the elevons. - -M: 2 -O: 10000 10000 0 -10000 10000 -S: 0 0 -3000 -5000 0 -10000 10000 -S: 0 1 -5000 -5000 0 -10000 10000 - -M: 2 -O: 10000 10000 0 -10000 10000 -S: 0 0 -5000 -3000 0 -10000 10000 -S: 0 1 5000 5000 0 -10000 10000 - -Output 2 --------- -This mixer is empty. - -Z: - -Motor speed mixer ------------------ -Two scalers total (output, thrust). - -This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1) -range. Inputs below zero are treated as zero. - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 3 0 20000 -10000 -10000 10000 - diff --git a/ROMFS/px4fmu_default/mixers/FMU_delta.mix b/ROMFS/px4fmu_default/mixers/FMU_delta.mix deleted file mode 100644 index 981466704..000000000 --- a/ROMFS/px4fmu_default/mixers/FMU_delta.mix +++ /dev/null @@ -1,50 +0,0 @@ -Delta-wing mixer for PX4FMU -=========================== - -This file defines mixers suitable for controlling a delta wing aircraft using -PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU -servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is -assumed to be unused. - -Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 -(roll), 1 (pitch) and 3 (thrust). - -See the README for more information on the scaler format. - -Elevon mixers -------------- -Three scalers total (output, roll, pitch). - -On the assumption that the two elevon servos are physically reversed, the pitch -input is inverted between the two servos. - -The scaling factor for roll inputs is adjusted to implement differential travel -for the elevons. - -M: 2 -O: 10000 10000 0 -10000 10000 -S: 0 0 3000 5000 0 -10000 10000 -S: 0 1 5000 5000 0 -10000 10000 - -M: 2 -O: 10000 10000 0 -10000 10000 -S: 0 0 5000 3000 0 -10000 10000 -S: 0 1 -5000 -5000 0 -10000 10000 - -Output 2 --------- -This mixer is empty. - -Z: - -Motor speed mixer ------------------ -Two scalers total (output, thrust). - -This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1) -range. Inputs below zero are treated as zero. - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 3 0 20000 -10000 -10000 10000 - diff --git a/ROMFS/px4fmu_default/mixers/FMU_hex_+.mix b/ROMFS/px4fmu_default/mixers/FMU_hex_+.mix deleted file mode 100644 index b5e38ce9e..000000000 --- a/ROMFS/px4fmu_default/mixers/FMU_hex_+.mix +++ /dev/null @@ -1,7 +0,0 @@ -Multirotor mixer for PX4FMU -=========================== - -This file defines a single mixer for a hexacopter in the + configuration. All controls -are mixed 100%. - -R: 6+ 10000 10000 10000 0 diff --git a/ROMFS/px4fmu_default/mixers/FMU_hex_x.mix b/ROMFS/px4fmu_default/mixers/FMU_hex_x.mix deleted file mode 100644 index 8e8d122ad..000000000 --- a/ROMFS/px4fmu_default/mixers/FMU_hex_x.mix +++ /dev/null @@ -1,7 +0,0 @@ -Multirotor mixer for PX4FMU -=========================== - -This file defines a single mixer for a hexacopter in the X configuration. All controls -are mixed 100%. - -R: 6x 10000 10000 10000 0 diff --git a/ROMFS/px4fmu_default/mixers/FMU_octo_+.mix b/ROMFS/px4fmu_default/mixers/FMU_octo_+.mix deleted file mode 100644 index 2cb70e814..000000000 --- a/ROMFS/px4fmu_default/mixers/FMU_octo_+.mix +++ /dev/null @@ -1,7 +0,0 @@ -Multirotor mixer for PX4FMU -=========================== - -This file defines a single mixer for a octocopter in the + configuration. All controls -are mixed 100%. - -R: 8+ 10000 10000 10000 0 diff --git a/ROMFS/px4fmu_default/mixers/FMU_octo_x.mix b/ROMFS/px4fmu_default/mixers/FMU_octo_x.mix deleted file mode 100644 index edc71f013..000000000 --- a/ROMFS/px4fmu_default/mixers/FMU_octo_x.mix +++ /dev/null @@ -1,7 +0,0 @@ -Multirotor mixer for PX4FMU -=========================== - -This file defines a single mixer for a octocopter in the X configuration. All controls -are mixed 100%. - -R: 8x 10000 10000 10000 0 diff --git a/ROMFS/px4fmu_default/mixers/FMU_pass.mix b/ROMFS/px4fmu_default/mixers/FMU_pass.mix deleted file mode 100644 index e9a81f2bb..000000000 --- a/ROMFS/px4fmu_default/mixers/FMU_pass.mix +++ /dev/null @@ -1,23 +0,0 @@ -Passthrough mixer for PX4FMU -============================ - -This file defines passthrough mixers suitable for testing. - -Channel group 0, channels 0-3 are passed directly through to the outputs. - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 0 10000 10000 0 -10000 10000 - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 1 10000 10000 0 -10000 10000 - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 2 10000 10000 0 -10000 10000 - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 3 10000 10000 0 -10000 10000 - diff --git a/ROMFS/px4fmu_default/mixers/FMU_quad_+.mix b/ROMFS/px4fmu_default/mixers/FMU_quad_+.mix deleted file mode 100644 index dfdf1d58e..000000000 --- a/ROMFS/px4fmu_default/mixers/FMU_quad_+.mix +++ /dev/null @@ -1,7 +0,0 @@ -Multirotor mixer for PX4FMU -=========================== - -This file defines a single mixer for a quadrotor in the + configuration. All controls -are mixed 100%. - -R: 4+ 10000 10000 10000 0 diff --git a/ROMFS/px4fmu_default/mixers/FMU_quad_x.mix b/ROMFS/px4fmu_default/mixers/FMU_quad_x.mix deleted file mode 100644 index 12a3bee20..000000000 --- a/ROMFS/px4fmu_default/mixers/FMU_quad_x.mix +++ /dev/null @@ -1,7 +0,0 @@ -Multirotor mixer for PX4FMU -=========================== - -This file defines a single mixer for a quadrotor in the X configuration. All controls -are mixed 100%. - -R: 4x 10000 10000 10000 0 diff --git a/ROMFS/px4fmu_default/mixers/README b/ROMFS/px4fmu_default/mixers/README deleted file mode 100644 index 6649c53c2..000000000 --- a/ROMFS/px4fmu_default/mixers/README +++ /dev/null @@ -1,154 +0,0 @@ -PX4 mixer definitions -===================== - -Files in this directory implement example mixers that can be used as a basis -for customisation, or for general testing purposes. - -Mixer basics ------------- - -Mixers combine control values from various sources (control tasks, user inputs, -etc.) and produce output values suitable for controlling actuators; servos, -motors, switches and so on. - -An actuator derives its value from the combination of one or more control -values. Each of the control values is scaled according to the actuator's -configuration and then combined to produce the actuator value, which may then be -further scaled to suit the specific output type. - -Internally, all scaling is performed using floating point values. Inputs and -outputs are clamped to the range -1.0 to 1.0. - -control control control - | | | - v v v - scale scale scale - | | | - | v | - +-------> mix <------+ - | - scale - | - v - out - -Scaling -------- - -Basic scalers provide linear scaling of the input to the output. - -Each scaler allows the input value to be scaled independently for inputs -greater/less than zero. An offset can be applied to the output, and lower and -upper boundary constraints can be applied. Negative scaling factors cause the -output to be inverted (negative input produces positive output). - -Scaler pseudocode: - -if (input < 0) - output = (input * NEGATIVE_SCALE) + OFFSET -else - output = (input * POSITIVE_SCALE) + OFFSET - -if (output < LOWER_LIMIT) - output = LOWER_LIMIT -if (output > UPPER_LIMIT) - output = UPPER_LIMIT - -Syntax ------- - -Mixer definitions are text files; lines beginning with a single capital letter -followed by a colon are significant. All other lines are ignored, meaning that -explanatory text can be freely mixed with the definitions. - -Each file may define more than one mixer; the allocation of mixers to actuators -is specific to the device reading the mixer definition, and the number of -actuator outputs generated by a mixer is specific to the mixer. - -A mixer begins with a line of the form - - : - -The tag selects the mixer type; 'M' for a simple summing mixer, 'R' for a -multirotor mixer, etc. - -Null Mixer -.......... - -A null mixer consumes no controls and generates a single actuator output whose -value is always zero. Typically a null mixer is used as a placeholder in a -collection of mixers in order to achieve a specific pattern of actuator outputs. - -The null mixer definition has the form: - - Z: - -Simple Mixer -............ - -A simple mixer combines zero or more control inputs into a single actuator -output. Inputs are scaled, and the mixing function sums the result before -applying an output scaler. - -A simple mixer definition begins with: - - M: - O: <-ve scale> <+ve scale> - -If is zero, the sum is effectively zero and the mixer will -output a fixed value that is constrained by and . - -The second line defines the output scaler with scaler parameters as discussed -above. Whilst the calculations are performed as floating-point operations, the -values stored in the definition file are scaled by a factor of 10000; i.e. an -offset of -0.5 is encoded as -5000. - -The definition continues with entries describing the control -inputs and their scaling, in the form: - - S: <-ve scale> <+ve scale> - -The value identifies the control group from which the scaler will read, -and the value an offset within that group. These values are specific to -the device reading the mixer definition. - -When used to mix vehicle controls, mixer group zero is the vehicle attitude -control group, and index values zero through three are normally roll, pitch, -yaw and thrust respectively. - -The remaining fields on the line configure the control scaler with parameters as -discussed above. Whilst the calculations are performed as floating-point -operations, the values stored in the definition file are scaled by a factor of -10000; i.e. an offset of -0.5 is encoded as -5000. - -Multirotor Mixer -................ - -The multirotor mixer combines four control inputs (roll, pitch, yaw, thrust) -into a set of actuator outputs intended to drive motor speed controllers. - -The mixer definition is a single line of the form: - -R: - -The supported geometries include: - - 4x - quadrotor in X configuration - 4+ - quadrotor in + configuration - 6x - hexcopter in X configuration - 6+ - hexcopter in + configuration - 8x - octocopter in X configuration - 8+ - octocopter in + configuration - -Each of the roll, pitch and yaw scale values determine scaling of the roll, -pitch and yaw controls relative to the thrust control. Whilst the calculations -are performed as floating-point operations, the values stored in the definition -file are scaled by a factor of 10000; i.e. an factor of 0.5 is encoded as 5000. - -Roll, pitch and yaw inputs are expected to range from -1.0 to 1.0, whilst the -thrust input ranges from 0.0 to 1.0. Output for each actuator is in the -range -1.0 to 1.0. - -In the case where an actuator saturates, all actuator values are rescaled so that -the saturating actuator is limited to 1.0. diff --git a/Tools/px_uploader.py b/Tools/px_uploader.py index cce388d71..d2ebf1698 100755 --- a/Tools/px_uploader.py +++ b/Tools/px_uploader.py @@ -41,20 +41,19 @@ # The uploader uses the following fields from the firmware file: # # image -# The firmware that will be uploaded. +# The firmware that will be uploaded. # image_size -# The size of the firmware in bytes. +# The size of the firmware in bytes. # board_id -# The board for which the firmware is intended. +# The board for which the firmware is intended. # board_revision -# Currently only used for informational purposes. +# Currently only used for informational purposes. # import sys import argparse import binascii import serial -import os import struct import json import zlib @@ -64,292 +63,294 @@ import array from sys import platform as _platform + class firmware(object): - '''Loads a firmware file''' - - desc = {} - image = bytes() - crctab = array.array('I', [ - 0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3, - 0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91, - 0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7, - 0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5, - 0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b, - 0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59, - 0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f, - 0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d, - 0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433, - 0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01, - 0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457, - 0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65, - 0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb, - 0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9, - 0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f, - 0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad, - 0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683, - 0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1, - 0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7, - 0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5, - 0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b, - 0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79, - 0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236, 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f, - 0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d, - 0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713, - 0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21, - 0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777, - 0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45, - 0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db, - 0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9, - 0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf, - 0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d ]) - crcpad = bytearray('\xff\xff\xff\xff') - - def __init__(self, path): - - # read the file - f = open(path, "r") - self.desc = json.load(f) - f.close() - - self.image = bytearray(zlib.decompress(base64.b64decode(self.desc['image']))) - - # pad image to 4-byte length - while ((len(self.image) % 4) != 0): - self.image.append('\xff') - - def property(self, propname): - return self.desc[propname] - - def __crc32(self, bytes, state): - for byte in bytes: - index = (state ^ byte) & 0xff - state = self.crctab[index] ^ (state >> 8) - return state - - def crc(self, padlen): - state = self.__crc32(self.image, int(0)) - for i in range(len(self.image), (padlen - 1), 4): - state = self.__crc32(self.crcpad, state) - return state + '''Loads a firmware file''' + + desc = {} + image = bytes() + crctab = array.array('I', [ + 0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3, + 0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91, + 0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7, + 0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5, + 0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b, + 0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59, + 0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f, + 0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d, + 0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433, + 0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01, + 0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457, + 0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65, + 0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb, + 0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9, + 0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f, + 0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad, + 0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683, + 0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1, + 0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7, + 0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5, + 0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b, + 0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79, + 0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236, 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f, + 0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d, + 0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713, + 0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21, + 0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777, + 0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45, + 0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db, + 0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9, + 0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf, + 0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d]) + crcpad = bytearray('\xff\xff\xff\xff') + + def __init__(self, path): + + # read the file + f = open(path, "r") + self.desc = json.load(f) + f.close() + + self.image = bytearray(zlib.decompress(base64.b64decode(self.desc['image']))) + + # pad image to 4-byte length + while ((len(self.image) % 4) != 0): + self.image.append('\xff') + + def property(self, propname): + return self.desc[propname] + + def __crc32(self, bytes, state): + for byte in bytes: + index = (state ^ byte) & 0xff + state = self.crctab[index] ^ (state >> 8) + return state + + def crc(self, padlen): + state = self.__crc32(self.image, int(0)) + for i in range(len(self.image), (padlen - 1), 4): + state = self.__crc32(self.crcpad, state) + return state + class uploader(object): - '''Uploads a firmware file to the PX FMU bootloader''' - - # protocol bytes - INSYNC = chr(0x12) - EOC = chr(0x20) - - # reply bytes - OK = chr(0x10) - FAILED = chr(0x11) - INVALID = chr(0x13) # rev3+ - - # command bytes - NOP = chr(0x00) # guaranteed to be discarded by the bootloader - GET_SYNC = chr(0x21) - GET_DEVICE = chr(0x22) - CHIP_ERASE = chr(0x23) - CHIP_VERIFY = chr(0x24) # rev2 only - PROG_MULTI = chr(0x27) - READ_MULTI = chr(0x28) # rev2 only - GET_CRC = chr(0x29) # rev3+ - REBOOT = chr(0x30) - - INFO_BL_REV = chr(1) # bootloader protocol revision - BL_REV_MIN = 2 # minimum supported bootloader protocol - BL_REV_MAX = 3 # maximum supported bootloader protocol - INFO_BOARD_ID = chr(2) # board type - INFO_BOARD_REV = chr(3) # board revision - INFO_FLASH_SIZE = chr(4) # max firmware size in bytes - - PROG_MULTI_MAX = 60 # protocol max is 255, must be multiple of 4 - READ_MULTI_MAX = 60 # protocol max is 255, something overflows with >= 64 - - def __init__(self, portname, baudrate): - # open the port, keep the default timeout short so we can poll quickly - self.port = serial.Serial(portname, baudrate, timeout=0.25) - - def close(self): - if self.port is not None: - self.port.close() - - def __send(self, c): -# print("send " + binascii.hexlify(c)) - self.port.write(str(c)) - - def __recv(self, count = 1): - c = self.port.read(count) - if len(c) < 1: - raise RuntimeError("timeout waiting for data") -# print("recv " + binascii.hexlify(c)) - return c - - def __recv_int(self): - raw = self.__recv(4) - val = struct.unpack("= 3: - self.__getSync() - - # split a sequence into a list of size-constrained pieces - def __split_len(self, seq, length): - return [seq[i:i+length] for i in range(0, len(seq), length)] - - # upload code - def __program(self, fw): - code = fw.image - groups = self.__split_len(code, uploader.PROG_MULTI_MAX) - for bytes in groups: - self.__program_multi(bytes) - - # verify code - def __verify_v2(self, fw): - self.__send(uploader.CHIP_VERIFY - + uploader.EOC) - self.__getSync() - code = fw.image - groups = self.__split_len(code, uploader.READ_MULTI_MAX) - for bytes in groups: - if (not self.__verify_multi(bytes)): - raise RuntimeError("Verification failed") - - def __verify_v3(self, fw): - expect_crc = fw.crc(self.fw_maxsize) - self.__send(uploader.GET_CRC - + uploader.EOC) - report_crc = self.__recv_int() - self.__getSync() - if report_crc != expect_crc: - print(("Expected 0x%x" % expect_crc)) - print(("Got 0x%x" % report_crc)) - raise RuntimeError("Program CRC failed") - - # get basic data about the board - def identify(self): - # make sure we are in sync before starting - self.__sync() - - # get the bootloader protocol ID first - self.bl_rev = self.__getInfo(uploader.INFO_BL_REV) - if (self.bl_rev < uploader.BL_REV_MIN) or (self.bl_rev > uploader.BL_REV_MAX): - print(("Unsupported bootloader protocol %d" % uploader.INFO_BL_REV)) - raise RuntimeError("Bootloader protocol mismatch") - - self.board_type = self.__getInfo(uploader.INFO_BOARD_ID) - self.board_rev = self.__getInfo(uploader.INFO_BOARD_REV) - self.fw_maxsize = self.__getInfo(uploader.INFO_FLASH_SIZE) - - # upload the firmware - def upload(self, fw): - # Make sure we are doing the right thing - if self.board_type != fw.property('board_id'): - raise RuntimeError("Firmware not suitable for this board (run 'make configure_px4fmu && make clean' or 'make configure_px4io && make clean' to reconfigure).") - if self.fw_maxsize < fw.property('image_size'): - raise RuntimeError("Firmware image is too large for this board") - - print("erase...") - self.__erase() - - print("program...") - self.__program(fw) - - print("verify...") - if self.bl_rev == 2: - self.__verify_v2(fw) - else: - self.__verify_v3(fw) - - print("done, rebooting.") - self.__reboot() - self.port.close() - + '''Uploads a firmware file to the PX FMU bootloader''' + + # protocol bytes + INSYNC = chr(0x12) + EOC = chr(0x20) + + # reply bytes + OK = chr(0x10) + FAILED = chr(0x11) + INVALID = chr(0x13) # rev3+ + + # command bytes + NOP = chr(0x00) # guaranteed to be discarded by the bootloader + GET_SYNC = chr(0x21) + GET_DEVICE = chr(0x22) + CHIP_ERASE = chr(0x23) + CHIP_VERIFY = chr(0x24) # rev2 only + PROG_MULTI = chr(0x27) + READ_MULTI = chr(0x28) # rev2 only + GET_CRC = chr(0x29) # rev3+ + REBOOT = chr(0x30) + + INFO_BL_REV = chr(1) # bootloader protocol revision + BL_REV_MIN = 2 # minimum supported bootloader protocol + BL_REV_MAX = 3 # maximum supported bootloader protocol + INFO_BOARD_ID = chr(2) # board type + INFO_BOARD_REV = chr(3) # board revision + INFO_FLASH_SIZE = chr(4) # max firmware size in bytes + + PROG_MULTI_MAX = 60 # protocol max is 255, must be multiple of 4 + READ_MULTI_MAX = 60 # protocol max is 255, something overflows with >= 64 + + def __init__(self, portname, baudrate): + # open the port, keep the default timeout short so we can poll quickly + self.port = serial.Serial(portname, baudrate, timeout=0.5) + + def close(self): + if self.port is not None: + self.port.close() + + def __send(self, c): +# print("send " + binascii.hexlify(c)) + self.port.write(str(c)) + + def __recv(self, count=1): + c = self.port.read(count) + if len(c) < 1: + raise RuntimeError("timeout waiting for data") +# print("recv " + binascii.hexlify(c)) + return c + + def __recv_int(self): + raw = self.__recv(4) + val = struct.unpack("= 3: + self.__getSync() + + # split a sequence into a list of size-constrained pieces + def __split_len(self, seq, length): + return [seq[i:i+length] for i in range(0, len(seq), length)] + + # upload code + def __program(self, fw): + code = fw.image + groups = self.__split_len(code, uploader.PROG_MULTI_MAX) + for bytes in groups: + self.__program_multi(bytes) + + # verify code + def __verify_v2(self, fw): + self.__send(uploader.CHIP_VERIFY + + uploader.EOC) + self.__getSync() + code = fw.image + groups = self.__split_len(code, uploader.READ_MULTI_MAX) + for bytes in groups: + if (not self.__verify_multi(bytes)): + raise RuntimeError("Verification failed") + + def __verify_v3(self, fw): + expect_crc = fw.crc(self.fw_maxsize) + self.__send(uploader.GET_CRC + + uploader.EOC) + report_crc = self.__recv_int() + self.__getSync() + if report_crc != expect_crc: + print("Expected 0x%x" % expect_crc) + print("Got 0x%x" % report_crc) + raise RuntimeError("Program CRC failed") + + # get basic data about the board + def identify(self): + # make sure we are in sync before starting + self.__sync() + + # get the bootloader protocol ID first + self.bl_rev = self.__getInfo(uploader.INFO_BL_REV) + if (self.bl_rev < uploader.BL_REV_MIN) or (self.bl_rev > uploader.BL_REV_MAX): + print("Unsupported bootloader protocol %d" % uploader.INFO_BL_REV) + raise RuntimeError("Bootloader protocol mismatch") + + self.board_type = self.__getInfo(uploader.INFO_BOARD_ID) + self.board_rev = self.__getInfo(uploader.INFO_BOARD_REV) + self.fw_maxsize = self.__getInfo(uploader.INFO_FLASH_SIZE) + + # upload the firmware + def upload(self, fw): + # Make sure we are doing the right thing + if self.board_type != fw.property('board_id'): + raise RuntimeError("Firmware not suitable for this board") + if self.fw_maxsize < fw.property('image_size'): + raise RuntimeError("Firmware image is too large for this board") + + print("erase...") + self.__erase() + + print("program...") + self.__program(fw) + + print("verify...") + if self.bl_rev == 2: + self.__verify_v2(fw) + else: + self.__verify_v3(fw) + + print("done, rebooting.") + self.__reboot() + self.port.close() + # Parse commandline arguments parser = argparse.ArgumentParser(description="Firmware uploader for the PX autopilot system.") @@ -360,57 +361,57 @@ args = parser.parse_args() # Load the firmware file fw = firmware(args.firmware) -print(("Loaded firmware for %x,%x, waiting for the bootloader..." % (fw.property('board_id'), fw.property('board_revision')))) +print("Loaded firmware for %x,%x, waiting for the bootloader..." % (fw.property('board_id'), fw.property('board_revision'))) # Spin waiting for a device to show up while True: - for port in args.port.split(","): - - #print("Trying %s" % port) - - # create an uploader attached to the port - try: - if "linux" in _platform: - # Linux, don't open Mac OS and Win ports - if not "COM" in port and not "tty.usb" in port: - up = uploader(port, args.baud) - elif "darwin" in _platform: - # OS X, don't open Windows and Linux ports - if not "COM" in port and not "ACM" in port: - up = uploader(port, args.baud) - elif "win" in _platform: - # Windows, don't open POSIX ports - if not "/" in port: - up = uploader(port, args.baud) - except: - # open failed, rate-limit our attempts - time.sleep(0.05) - - # and loop to the next port - continue - - # port is open, try talking to it - try: - # identify the bootloader - up.identify() - print(("Found board %x,%x bootloader rev %x on %s" % (up.board_type, up.board_rev, up.bl_rev, port))) - - except: - # most probably a timeout talking to the port, no bootloader - continue - - try: - # ok, we have a bootloader, try flashing it - up.upload(fw) - - except RuntimeError as ex: - - # print the error - print(("ERROR: %s" % ex.args)) - - finally: - # always close the port - up.close() - - # we could loop here if we wanted to wait for more boards... - sys.exit(0) + for port in args.port.split(","): + + #print("Trying %s" % port) + + # create an uploader attached to the port + try: + if "linux" in _platform: + # Linux, don't open Mac OS and Win ports + if not "COM" in port and not "tty.usb" in port: + up = uploader(port, args.baud) + elif "darwin" in _platform: + # OS X, don't open Windows and Linux ports + if not "COM" in port and not "ACM" in port: + up = uploader(port, args.baud) + elif "win" in _platform: + # Windows, don't open POSIX ports + if not "/" in port: + up = uploader(port, args.baud) + except: + # open failed, rate-limit our attempts + time.sleep(0.05) + + # and loop to the next port + continue + + # port is open, try talking to it + try: + # identify the bootloader + up.identify() + print("Found board %x,%x bootloader rev %x on %s" % (up.board_type, up.board_rev, up.bl_rev, port)) + + except: + # most probably a timeout talking to the port, no bootloader + continue + + try: + # ok, we have a bootloader, try flashing it + up.upload(fw) + + except RuntimeError as ex: + + # print the error + print("ERROR: %s" % ex.args) + + finally: + # always close the port + up.close() + + # we could loop here if we wanted to wait for more boards... + sys.exit(0) diff --git a/apps/ardrone_interface/Makefile b/apps/ardrone_interface/Makefile deleted file mode 100644 index fea96082f..000000000 --- a/apps/ardrone_interface/Makefile +++ /dev/null @@ -1,42 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Makefile to build ardrone interface -# - -APPNAME = ardrone_interface -PRIORITY = SCHED_PRIORITY_MAX - 15 -STACKSIZE = 2048 - -include $(APPDIR)/mk/app.mk diff --git a/apps/ardrone_interface/ardrone_interface.c b/apps/ardrone_interface/ardrone_interface.c deleted file mode 100644 index aeaf830de..000000000 --- a/apps/ardrone_interface/ardrone_interface.c +++ /dev/null @@ -1,398 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file ardrone_interface.c - * Implementation of AR.Drone 1.0 / 2.0 motor control interface. - */ - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include - -#include "ardrone_motor_control.h" - -__EXPORT int ardrone_interface_main(int argc, char *argv[]); - - -static bool thread_should_exit = false; /**< Deamon exit flag */ -static bool thread_running = false; /**< Deamon status flag */ -static int ardrone_interface_task; /**< Handle of deamon task / thread */ -static int ardrone_write; /**< UART to write AR.Drone commands to */ - -/** - * Mainloop of ardrone_interface. - */ -int ardrone_interface_thread_main(int argc, char *argv[]); - -/** - * Open the UART connected to the motor controllers - */ -static int ardrone_open_uart(char *uart_name, struct termios *uart_config_original); - -/** - * Print the correct usage. - */ -static void usage(const char *reason); - -static void -usage(const char *reason) -{ - if (reason) - fprintf(stderr, "%s\n", reason); - fprintf(stderr, "usage: ardrone_interface {start|stop|status} [-d ]\n\n"); - exit(1); -} - -/** - * The deamon app only briefly exists to start - * the background job. The stack size assigned in the - * Makefile does only apply to this management task. - * - * The actual stack size should be set in the call - * to task_create(). - */ -int ardrone_interface_main(int argc, char *argv[]) -{ - if (argc < 1) - usage("missing command"); - - if (!strcmp(argv[1], "start")) { - - if (thread_running) { - printf("ardrone_interface already running\n"); - /* this is not an error */ - exit(0); - } - - thread_should_exit = false; - ardrone_interface_task = task_spawn("ardrone_interface", - SCHED_DEFAULT, - SCHED_PRIORITY_MAX - 15, - 2048, - ardrone_interface_thread_main, - (argv) ? (const char **)&argv[2] : (const char **)NULL); - exit(0); - } - - if (!strcmp(argv[1], "stop")) { - thread_should_exit = true; - exit(0); - } - - if (!strcmp(argv[1], "status")) { - if (thread_running) { - printf("\tardrone_interface is running\n"); - } else { - printf("\tardrone_interface not started\n"); - } - exit(0); - } - - usage("unrecognized command"); - exit(1); -} - -static int ardrone_open_uart(char *uart_name, struct termios *uart_config_original) -{ - /* baud rate */ - int speed = B115200; - int uart; - - /* open uart */ - uart = open(uart_name, O_RDWR | O_NOCTTY); - - /* Try to set baud rate */ - struct termios uart_config; - int termios_state; - - /* Back up the original uart configuration to restore it after exit */ - if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) { - fprintf(stderr, "[ardrone_interface] ERROR getting baudrate / termios config for %s: %d\n", uart_name, termios_state); - close(uart); - return -1; - } - - /* Fill the struct for the new configuration */ - tcgetattr(uart, &uart_config); - - /* Clear ONLCR flag (which appends a CR for every LF) */ - uart_config.c_oflag &= ~ONLCR; - - /* Set baud rate */ - if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) { - fprintf(stderr, "[ardrone_interface] ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state); - close(uart); - return -1; - } - - - if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) { - fprintf(stderr, "[ardrone_interface] ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name); - close(uart); - return -1; - } - - return uart; -} - -int ardrone_interface_thread_main(int argc, char *argv[]) -{ - thread_running = true; - - char *device = "/dev/ttyS1"; - - /* welcome user */ - printf("[ardrone_interface] Control started, taking over motors\n"); - - /* File descriptors */ - int gpios; - - char *commandline_usage = "\tusage: ardrone_interface start|status|stop [-t for motor test (10%% thrust)]\n"; - - bool motor_test_mode = false; - int test_motor = -1; - - /* read commandline arguments */ - for (int i = 0; i < argc && argv[i]; i++) { - if (strcmp(argv[i], "-t") == 0 || strcmp(argv[i], "--test") == 0) { - motor_test_mode = true; - } - - if (strcmp(argv[i], "-m") == 0 || strcmp(argv[i], "--motor") == 0) { - if (i+1 < argc) { - int motor = atoi(argv[i+1]); - if (motor > 0 && motor < 5) { - test_motor = motor; - } else { - thread_running = false; - errx(1, "supply a motor # between 1 and 4. Example: -m 1\n %s", commandline_usage); - } - } else { - thread_running = false; - errx(1, "missing parameter to -m 1..4\n %s", commandline_usage); - } - } - if (strcmp(argv[i], "-d") == 0 || strcmp(argv[i], "--device") == 0) { //device set - if (argc > i + 1) { - device = argv[i + 1]; - - } else { - thread_running = false; - errx(1, "missing parameter to -m 1..4\n %s", commandline_usage); - } - } - } - - struct termios uart_config_original; - - if (motor_test_mode) { - printf("[ardrone_interface] Motor test mode enabled, setting 10 %% thrust.\n"); - } - - /* Led animation */ - int counter = 0; - int led_counter = 0; - - /* declare and safely initialize all structs */ - struct vehicle_status_s state; - memset(&state, 0, sizeof(state)); - struct actuator_controls_s actuator_controls; - memset(&actuator_controls, 0, sizeof(actuator_controls)); - struct actuator_armed_s armed; - armed.armed = false; - - /* subscribe to attitude, motor setpoints and system state */ - int actuator_controls_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS); - int state_sub = orb_subscribe(ORB_ID(vehicle_status)); - int armed_sub = orb_subscribe(ORB_ID(actuator_armed)); - - printf("[ardrone_interface] Motors initialized - ready.\n"); - fflush(stdout); - - /* enable UART, writes potentially an empty buffer, but multiplexing is disabled */ - ardrone_write = ardrone_open_uart(device, &uart_config_original); - - /* initialize multiplexing, deactivate all outputs - must happen after UART open to claim GPIOs on PX4FMU */ - gpios = ar_multiplexing_init(); - - if (ardrone_write < 0) { - fprintf(stderr, "[ardrone_interface] Failed opening AR.Drone UART, exiting.\n"); - thread_running = false; - exit(ERROR); - } - - /* initialize motors */ - if (OK != ar_init_motors(ardrone_write, gpios)) { - close(ardrone_write); - fprintf(stderr, "[ardrone_interface] Failed initializing AR.Drone motors, exiting.\n"); - thread_running = false; - exit(ERROR); - } - - ardrone_write_motor_commands(ardrone_write, 0, 0, 0, 0); - - - // XXX Re-done initialization to make sure it is accepted by the motors - // XXX should be removed after more testing, but no harm - - /* close uarts */ - close(ardrone_write); - - /* enable UART, writes potentially an empty buffer, but multiplexing is disabled */ - ardrone_write = ardrone_open_uart(device, &uart_config_original); - - /* initialize multiplexing, deactivate all outputs - must happen after UART open to claim GPIOs on PX4FMU */ - gpios = ar_multiplexing_init(); - - if (ardrone_write < 0) { - fprintf(stderr, "[ardrone_interface] Failed opening AR.Drone UART, exiting.\n"); - thread_running = false; - exit(ERROR); - } - - /* initialize motors */ - if (OK != ar_init_motors(ardrone_write, gpios)) { - close(ardrone_write); - fprintf(stderr, "[ardrone_interface] Failed initializing AR.Drone motors, exiting.\n"); - thread_running = false; - exit(ERROR); - } - - while (!thread_should_exit) { - - if (motor_test_mode) { - /* set motors to idle speed */ - if (test_motor > 0 && test_motor < 5) { - int motors[4] = {0, 0, 0, 0}; - motors[test_motor - 1] = 10; - ardrone_write_motor_commands(ardrone_write, motors[0], motors[1], motors[2], motors[3]); - } else { - ardrone_write_motor_commands(ardrone_write, 10, 10, 10, 10); - } - - } else { - /* MAIN OPERATION MODE */ - - /* get a local copy of the vehicle state */ - orb_copy(ORB_ID(vehicle_status), state_sub, &state); - /* get a local copy of the actuator controls */ - orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_controls_sub, &actuator_controls); - orb_copy(ORB_ID(actuator_armed), armed_sub, &armed); - - /* for now only spin if armed and immediately shut down - * if in failsafe - */ - if (armed.armed && !armed.lockdown) { - ardrone_mixing_and_output(ardrone_write, &actuator_controls); - - } else { - /* Silently lock down motor speeds to zero */ - ardrone_write_motor_commands(ardrone_write, 0, 0, 0, 0); - } - } - - if (counter % 24 == 0) { - if (led_counter == 0) ar_set_leds(ardrone_write, 0, 1, 0, 0, 0, 0, 0 , 0); - - if (led_counter == 1) ar_set_leds(ardrone_write, 1, 1, 0, 0, 0, 0, 0 , 0); - - if (led_counter == 2) ar_set_leds(ardrone_write, 1, 0, 0, 0, 0, 0, 0 , 0); - - if (led_counter == 3) ar_set_leds(ardrone_write, 0, 0, 0, 1, 0, 0, 0 , 0); - - if (led_counter == 4) ar_set_leds(ardrone_write, 0, 0, 1, 1, 0, 0, 0 , 0); - - if (led_counter == 5) ar_set_leds(ardrone_write, 0, 0, 1, 0, 0, 0, 0 , 0); - - if (led_counter == 6) ar_set_leds(ardrone_write, 0, 0, 0, 0, 0, 1, 0 , 0); - - if (led_counter == 7) ar_set_leds(ardrone_write, 0, 0, 0, 0, 1, 1, 0 , 0); - - if (led_counter == 8) ar_set_leds(ardrone_write, 0, 0, 0, 0, 1, 0, 0 , 0); - - if (led_counter == 9) ar_set_leds(ardrone_write, 0, 0, 0, 0, 0, 0, 0 , 1); - - if (led_counter == 10) ar_set_leds(ardrone_write, 0, 0, 0, 0, 0, 0, 1 , 1); - - if (led_counter == 11) ar_set_leds(ardrone_write, 0, 0, 0, 0, 0, 0, 1 , 0); - - led_counter++; - - if (led_counter == 12) led_counter = 0; - } - - /* run at approximately 200 Hz */ - usleep(4500); - - counter++; - } - - /* restore old UART config */ - int termios_state; - - if ((termios_state = tcsetattr(ardrone_write, TCSANOW, &uart_config_original)) < 0) { - fprintf(stderr, "[ardrone_interface] ERROR setting baudrate / termios config for (tcsetattr)\n"); - } - - printf("[ardrone_interface] Restored original UART config, exiting..\n"); - - /* close uarts */ - close(ardrone_write); - ar_multiplexing_deinit(gpios); - - fflush(stdout); - - thread_running = false; - - return OK; -} - diff --git a/apps/ardrone_interface/ardrone_motor_control.c b/apps/ardrone_interface/ardrone_motor_control.c deleted file mode 100644 index f15c74a22..000000000 --- a/apps/ardrone_interface/ardrone_motor_control.c +++ /dev/null @@ -1,492 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file ardrone_motor_control.c - * Implementation of AR.Drone 1.0 / 2.0 motor control interface - */ - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include "ardrone_motor_control.h" - -static unsigned long motor_gpios = GPIO_EXT_1 | GPIO_EXT_2 | GPIO_MULTI_1 | GPIO_MULTI_2; -static unsigned long motor_gpio[4] = { GPIO_EXT_1, GPIO_EXT_2, GPIO_MULTI_1, GPIO_MULTI_2 }; - -typedef union { - uint16_t motor_value; - uint8_t bytes[2]; -} motor_union_t; - -#define UART_TRANSFER_TIME_BYTE_US (9+50) /**< 9 us per byte at 115200k plus overhead */ - -/** - * @brief Generate the 8-byte motor set packet - * - * @return the number of bytes (8) - */ -void ar_get_motor_packet(uint8_t *motor_buf, uint16_t motor1, uint16_t motor2, uint16_t motor3, uint16_t motor4) -{ - motor_buf[0] = 0x20; - motor_buf[1] = 0x00; - motor_buf[2] = 0x00; - motor_buf[3] = 0x00; - motor_buf[4] = 0x00; - /* - * {0x20, 0x00, 0x00, 0x00, 0x00}; - * 0x20 is start sign / motor command - */ - motor_union_t curr_motor; - uint16_t nineBitMask = 0x1FF; - - /* Set motor 1 */ - curr_motor.motor_value = (motor1 & nineBitMask) << 4; - motor_buf[0] |= curr_motor.bytes[1]; - motor_buf[1] |= curr_motor.bytes[0]; - - /* Set motor 2 */ - curr_motor.motor_value = (motor2 & nineBitMask) << 3; - motor_buf[1] |= curr_motor.bytes[1]; - motor_buf[2] |= curr_motor.bytes[0]; - - /* Set motor 3 */ - curr_motor.motor_value = (motor3 & nineBitMask) << 2; - motor_buf[2] |= curr_motor.bytes[1]; - motor_buf[3] |= curr_motor.bytes[0]; - - /* Set motor 4 */ - curr_motor.motor_value = (motor4 & nineBitMask) << 1; - motor_buf[3] |= curr_motor.bytes[1]; - motor_buf[4] |= curr_motor.bytes[0]; -} - -void ar_enable_broadcast(int fd) -{ - ar_select_motor(fd, 0); -} - -int ar_multiplexing_init() -{ - int fd; - - fd = open(GPIO_DEVICE_PATH, 0); - - if (fd < 0) { - warn("GPIO: open fail"); - return fd; - } - - /* deactivate all outputs */ - if (ioctl(fd, GPIO_SET, motor_gpios)) { - warn("GPIO: clearing pins fail"); - close(fd); - return -1; - } - - /* configure all motor select GPIOs as outputs */ - if (ioctl(fd, GPIO_SET_OUTPUT, motor_gpios) != 0) { - warn("GPIO: output set fail"); - close(fd); - return -1; - } - - return fd; -} - -int ar_multiplexing_deinit(int fd) -{ - if (fd < 0) { - printf("GPIO: no valid descriptor\n"); - return fd; - } - - int ret = 0; - - /* deselect motor 1-4 */ - ret += ioctl(fd, GPIO_SET, motor_gpios); - - if (ret != 0) { - printf("GPIO: clear failed %d times\n", ret); - } - - if (ioctl(fd, GPIO_SET_INPUT, motor_gpios) != 0) { - printf("GPIO: input set fail\n"); - return -1; - } - - close(fd); - - return ret; -} - -int ar_select_motor(int fd, uint8_t motor) -{ - int ret = 0; - /* - * Four GPIOS: - * GPIO_EXT1 - * GPIO_EXT2 - * GPIO_UART2_CTS - * GPIO_UART2_RTS - */ - - /* select motor 0 to enable broadcast */ - if (motor == 0) { - /* select motor 1-4 */ - ret += ioctl(fd, GPIO_CLEAR, motor_gpios); - - } else { - /* select reqested motor */ - ret += ioctl(fd, GPIO_CLEAR, motor_gpio[motor - 1]); - } - - return ret; -} - -int ar_deselect_motor(int fd, uint8_t motor) -{ - int ret = 0; - /* - * Four GPIOS: - * GPIO_EXT1 - * GPIO_EXT2 - * GPIO_UART2_CTS - * GPIO_UART2_RTS - */ - - if (motor == 0) { - /* deselect motor 1-4 */ - ret += ioctl(fd, GPIO_SET, motor_gpios); - - } else { - /* deselect reqested motor */ - ret = ioctl(fd, GPIO_SET, motor_gpio[motor - 1]); - } - - return ret; -} - -int ar_init_motors(int ardrone_uart, int gpios) -{ - /* Write ARDrone commands on UART2 */ - uint8_t initbuf[] = {0xE0, 0x91, 0xA1, 0x00, 0x40}; - uint8_t multicastbuf[] = {0xA0, 0xA0, 0xA0, 0xA0, 0xA0, 0xA0}; - - /* deselect all motors */ - ar_deselect_motor(gpios, 0); - - /* initialize all motors - * - select one motor at a time - * - configure motor - */ - int i; - int errcounter = 0; - - - /* initial setup run */ - for (i = 1; i < 5; ++i) { - /* Initialize motors 1-4 */ - errcounter += ar_select_motor(gpios, i); - usleep(200); - - /* - * write 0xE0 - request status - * receive one status byte - */ - write(ardrone_uart, &(initbuf[0]), 1); - fsync(ardrone_uart); - usleep(UART_TRANSFER_TIME_BYTE_US*1); - - /* - * write 0x91 - request checksum - * receive 120 status bytes - */ - write(ardrone_uart, &(initbuf[1]), 1); - fsync(ardrone_uart); - usleep(UART_TRANSFER_TIME_BYTE_US*120); - - /* - * write 0xA1 - set status OK - * receive one status byte - should be A0 - * to confirm status is OK - */ - write(ardrone_uart, &(initbuf[2]), 1); - fsync(ardrone_uart); - usleep(UART_TRANSFER_TIME_BYTE_US*1); - - /* - * set as motor i, where i = 1..4 - * receive nothing - */ - initbuf[3] = (uint8_t)i; - write(ardrone_uart, &(initbuf[3]), 1); - fsync(ardrone_uart); - - /* - * write 0x40 - check version - * receive 11 bytes encoding the version - */ - write(ardrone_uart, &(initbuf[4]), 1); - fsync(ardrone_uart); - usleep(UART_TRANSFER_TIME_BYTE_US*11); - - ar_deselect_motor(gpios, i); - /* sleep 200 ms */ - usleep(200000); - } - - /* start the multicast part */ - errcounter += ar_select_motor(gpios, 0); - usleep(200); - - /* - * first round - * write six times A0 - enable broadcast - * receive nothing - */ - write(ardrone_uart, multicastbuf, sizeof(multicastbuf)); - fsync(ardrone_uart); - usleep(UART_TRANSFER_TIME_BYTE_US * sizeof(multicastbuf)); - - /* - * second round - * write six times A0 - enable broadcast - * receive nothing - */ - write(ardrone_uart, multicastbuf, sizeof(multicastbuf)); - fsync(ardrone_uart); - usleep(UART_TRANSFER_TIME_BYTE_US * sizeof(multicastbuf)); - - /* set motors to zero speed (fsync is part of the write command */ - ardrone_write_motor_commands(ardrone_uart, 0, 0, 0, 0); - - if (errcounter != 0) { - fprintf(stderr, "[ardrone_interface] init sequence incomplete, failed %d times", -errcounter); - fflush(stdout); - } - return errcounter; -} - -/** - * Sets the leds on the motor controllers, 1 turns led on, 0 off. - */ -void ar_set_leds(int ardrone_uart, uint8_t led1_red, uint8_t led1_green, uint8_t led2_red, uint8_t led2_green, uint8_t led3_red, uint8_t led3_green, uint8_t led4_red, uint8_t led4_green) -{ - /* - * 2 bytes are sent. The first 3 bits describe the command: 011 means led control - * the following 4 bits are the red leds for motor 4, 3, 2, 1 - * then 4 bits with unknown function, then 4 bits for green leds for motor 4, 3, 2, 1 - * the last bit is unknown. - * - * The packet is therefore: - * 011 rrrr 0000 gggg 0 - */ - uint8_t leds[2]; - leds[0] = 0x60 | ((led4_red & 0x01) << 4) | ((led3_red & 0x01) << 3) | ((led2_red & 0x01) << 2) | ((led1_red & 0x01) << 1); - leds[1] = ((led4_green & 0x01) << 4) | ((led3_green & 0x01) << 3) | ((led2_green & 0x01) << 2) | ((led1_green & 0x01) << 1); - write(ardrone_uart, leds, 2); -} - -int ardrone_write_motor_commands(int ardrone_fd, uint16_t motor1, uint16_t motor2, uint16_t motor3, uint16_t motor4) { - const unsigned int min_motor_interval = 4900; - static uint64_t last_motor_time = 0; - - static struct actuator_outputs_s outputs; - outputs.timestamp = hrt_absolute_time(); - outputs.output[0] = motor1; - outputs.output[1] = motor2; - outputs.output[2] = motor3; - outputs.output[3] = motor4; - static orb_advert_t pub = 0; - if (pub == 0) { - pub = orb_advertise(ORB_ID_VEHICLE_CONTROLS, &outputs); - } - - if (hrt_absolute_time() - last_motor_time > min_motor_interval) { - uint8_t buf[5] = {0}; - ar_get_motor_packet(buf, motor1, motor2, motor3, motor4); - int ret; - ret = write(ardrone_fd, buf, sizeof(buf)); - fsync(ardrone_fd); - - /* publish just written values */ - orb_publish(ORB_ID_VEHICLE_CONTROLS, pub, &outputs); - - if (ret == sizeof(buf)) { - return OK; - } else { - return ret; - } - } else { - return -ERROR; - } -} - -void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls_s *actuators) { - - float roll_control = actuators->control[0]; - float pitch_control = actuators->control[1]; - float yaw_control = actuators->control[2]; - float motor_thrust = actuators->control[3]; - - //printf("AMO: Roll: %4.4f, Pitch: %4.4f, Yaw: %4.4f, Thrust: %4.4f\n",roll_control, pitch_control, yaw_control, motor_thrust); - - const float min_thrust = 0.02f; /**< 2% minimum thrust */ - const float max_thrust = 1.0f; /**< 100% max thrust */ - const float scaling = 500.0f; /**< 100% thrust equals a value of 500 which works, 512 leads to cutoff */ - const float min_gas = min_thrust * scaling; /**< value range sent to motors, minimum */ - const float max_gas = max_thrust * scaling; /**< value range sent to motors, maximum */ - - /* initialize all fields to zero */ - uint16_t motor_pwm[4] = {0}; - float motor_calc[4] = {0}; - - float output_band = 0.0f; - float band_factor = 0.75f; - const float startpoint_full_control = 0.25f; /**< start full control at 25% thrust */ - float yaw_factor = 1.0f; - - static bool initialized = false; - /* publish effective outputs */ - static struct actuator_controls_effective_s actuator_controls_effective; - static orb_advert_t actuator_controls_effective_pub; - - if (motor_thrust <= min_thrust) { - motor_thrust = min_thrust; - output_band = 0.0f; - } else if (motor_thrust < startpoint_full_control && motor_thrust > min_thrust) { - output_band = band_factor * (motor_thrust - min_thrust); - } else if (motor_thrust >= startpoint_full_control && motor_thrust < max_thrust - band_factor * startpoint_full_control) { - output_band = band_factor * startpoint_full_control; - } else if (motor_thrust >= max_thrust - band_factor * startpoint_full_control) { - output_band = band_factor * (max_thrust - motor_thrust); - } - - //add the yaw, nick and roll components to the basic thrust //TODO:this should be done by the mixer - - // FRONT (MOTOR 1) - motor_calc[0] = motor_thrust + (roll_control / 2 + pitch_control / 2 - yaw_control); - - // RIGHT (MOTOR 2) - motor_calc[1] = motor_thrust + (-roll_control / 2 + pitch_control / 2 + yaw_control); - - // BACK (MOTOR 3) - motor_calc[2] = motor_thrust + (-roll_control / 2 - pitch_control / 2 - yaw_control); - - // LEFT (MOTOR 4) - motor_calc[3] = motor_thrust + (roll_control / 2 - pitch_control / 2 + yaw_control); - - // if we are not in the output band - if (!(motor_calc[0] < motor_thrust + output_band && motor_calc[0] > motor_thrust - output_band - && motor_calc[1] < motor_thrust + output_band && motor_calc[1] > motor_thrust - output_band - && motor_calc[2] < motor_thrust + output_band && motor_calc[2] > motor_thrust - output_band - && motor_calc[3] < motor_thrust + output_band && motor_calc[3] > motor_thrust - output_band)) { - - yaw_factor = 0.5f; - yaw_control *= yaw_factor; - // FRONT (MOTOR 1) - motor_calc[0] = motor_thrust + (roll_control / 2 + pitch_control / 2 - yaw_control); - - // RIGHT (MOTOR 2) - motor_calc[1] = motor_thrust + (-roll_control / 2 + pitch_control / 2 + yaw_control); - - // BACK (MOTOR 3) - motor_calc[2] = motor_thrust + (-roll_control / 2 - pitch_control / 2 - yaw_control); - - // LEFT (MOTOR 4) - motor_calc[3] = motor_thrust + (roll_control / 2 - pitch_control / 2 + yaw_control); - } - - for (int i = 0; i < 4; i++) { - //check for limits - if (motor_calc[i] < motor_thrust - output_band) { - motor_calc[i] = motor_thrust - output_band; - } - - if (motor_calc[i] > motor_thrust + output_band) { - motor_calc[i] = motor_thrust + output_band; - } - } - - /* publish effective outputs */ - actuator_controls_effective.control_effective[0] = roll_control; - actuator_controls_effective.control_effective[1] = pitch_control; - /* yaw output after limiting */ - actuator_controls_effective.control_effective[2] = yaw_control; - /* possible motor thrust limiting */ - actuator_controls_effective.control_effective[3] = (motor_calc[0] + motor_calc[1] + motor_calc[2] + motor_calc[3]) / 4.0f; - - if (!initialized) { - /* advertise and publish */ - actuator_controls_effective_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, &actuator_controls_effective); - initialized = true; - } else { - /* already initialized, just publishing */ - orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, actuator_controls_effective_pub, &actuator_controls_effective); - } - - /* set the motor values */ - - /* scale up from 0..1 to 10..512) */ - motor_pwm[0] = (uint16_t) (motor_calc[0] * ((float)max_gas - min_gas) + min_gas); - motor_pwm[1] = (uint16_t) (motor_calc[1] * ((float)max_gas - min_gas) + min_gas); - motor_pwm[2] = (uint16_t) (motor_calc[2] * ((float)max_gas - min_gas) + min_gas); - motor_pwm[3] = (uint16_t) (motor_calc[3] * ((float)max_gas - min_gas) + min_gas); - - /* Keep motors spinning while armed and prevent overflows */ - - /* Failsafe logic - should never be necessary */ - motor_pwm[0] = (motor_pwm[0] > 0) ? motor_pwm[0] : 10; - motor_pwm[1] = (motor_pwm[1] > 0) ? motor_pwm[1] : 10; - motor_pwm[2] = (motor_pwm[2] > 0) ? motor_pwm[2] : 10; - motor_pwm[3] = (motor_pwm[3] > 0) ? motor_pwm[3] : 10; - - /* Failsafe logic - should never be necessary */ - motor_pwm[0] = (motor_pwm[0] <= 512) ? motor_pwm[0] : 512; - motor_pwm[1] = (motor_pwm[1] <= 512) ? motor_pwm[1] : 512; - motor_pwm[2] = (motor_pwm[2] <= 512) ? motor_pwm[2] : 512; - motor_pwm[3] = (motor_pwm[3] <= 512) ? motor_pwm[3] : 512; - - /* send motors via UART */ - ardrone_write_motor_commands(ardrone_write, motor_pwm[0], motor_pwm[1], motor_pwm[2], motor_pwm[3]); -} diff --git a/apps/ardrone_interface/ardrone_motor_control.h b/apps/ardrone_interface/ardrone_motor_control.h deleted file mode 100644 index 78b603b63..000000000 --- a/apps/ardrone_interface/ardrone_motor_control.h +++ /dev/null @@ -1,93 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file ardrone_motor_control.h - * Definition of AR.Drone 1.0 / 2.0 motor control interface - */ - -#include -#include - -/** - * Generate the 5-byte motor set packet. - * - * @return the number of bytes (5) - */ -void ar_get_motor_packet(uint8_t *motor_buf, uint16_t motor1, uint16_t motor2, uint16_t motor3, uint16_t motor4); - -/** - * Select a motor in the multiplexing. - * - * @param fd GPIO file descriptor - * @param motor Motor number, from 1 to 4, 0 selects all - */ -int ar_select_motor(int fd, uint8_t motor); - -/** - * Deselect a motor in the multiplexing. - * - * @param fd GPIO file descriptor - * @param motor Motor number, from 1 to 4, 0 deselects all - */ -int ar_deselect_motor(int fd, uint8_t motor); - -void ar_enable_broadcast(int fd); - -int ar_multiplexing_init(void); -int ar_multiplexing_deinit(int fd); - -/** - * Write four motor commands to an already initialized port. - * - * Writing 0 stops a motor, values from 1-512 encode the full thrust range. - * on some motor controller firmware revisions a minimum value of 10 is - * required to spin the motors. - */ -int ardrone_write_motor_commands(int ardrone_fd, uint16_t motor1, uint16_t motor2, uint16_t motor3, uint16_t motor4); - -/** - * Initialize the motors. - */ -int ar_init_motors(int ardrone_uart, int gpio); - -/** - * Set LED pattern. - */ -void ar_set_leds(int ardrone_uart, uint8_t led1_red, uint8_t led1_green, uint8_t led2_red, uint8_t led2_green, uint8_t led3_red, uint8_t led3_green, uint8_t led4_red, uint8_t led4_green); - -/** - * Mix motors and output actuators - */ -void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls_s *actuators); diff --git a/apps/attitude_estimator_ekf/Makefile b/apps/attitude_estimator_ekf/Makefile deleted file mode 100755 index 46a54c660..000000000 --- a/apps/attitude_estimator_ekf/Makefile +++ /dev/null @@ -1,57 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -APPNAME = attitude_estimator_ekf -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 - -CXXSRCS = attitude_estimator_ekf_main.cpp - -CSRCS = attitude_estimator_ekf_params.c \ - codegen/eye.c \ - codegen/attitudeKalmanfilter.c \ - codegen/mrdivide.c \ - codegen/rdivide.c \ - codegen/attitudeKalmanfilter_initialize.c \ - codegen/attitudeKalmanfilter_terminate.c \ - codegen/rt_nonfinite.c \ - codegen/rtGetInf.c \ - codegen/rtGetNaN.c \ - codegen/norm.c \ - codegen/cross.c - - -# XXX this is *horribly* broken -INCLUDES += $(TOPDIR)/../mavlink/include/mavlink - -include $(APPDIR)/mk/app.mk diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp deleted file mode 100755 index 1a50dde0f..000000000 --- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp +++ /dev/null @@ -1,472 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Tobias Naegeli - * Lorenz Meier - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/* - * @file attitude_estimator_ekf_main.c - * - * Extended Kalman Filter for Attitude Estimation. - */ - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include - -#ifdef __cplusplus -extern "C" { -#endif -#include "codegen/attitudeKalmanfilter_initialize.h" -#include "codegen/attitudeKalmanfilter.h" -#include "attitude_estimator_ekf_params.h" -#ifdef __cplusplus -} -#endif - -extern "C" __EXPORT int attitude_estimator_ekf_main(int argc, char *argv[]); - -static bool thread_should_exit = false; /**< Deamon exit flag */ -static bool thread_running = false; /**< Deamon status flag */ -static int attitude_estimator_ekf_task; /**< Handle of deamon task / thread */ - -/** - * Mainloop of attitude_estimator_ekf. - */ -int attitude_estimator_ekf_thread_main(int argc, char *argv[]); - -/** - * Print the correct usage. - */ -static void usage(const char *reason); - -static void -usage(const char *reason) -{ - if (reason) - fprintf(stderr, "%s\n", reason); - - fprintf(stderr, "usage: attitude_estimator_ekf {start|stop|status} [-p ]\n\n"); - exit(1); -} - -/** - * The attitude_estimator_ekf app only briefly exists to start - * the background job. The stack size assigned in the - * Makefile does only apply to this management task. - * - * The actual stack size should be set in the call - * to task_create(). - */ -int attitude_estimator_ekf_main(int argc, char *argv[]) -{ - if (argc < 1) - usage("missing command"); - - if (!strcmp(argv[1], "start")) { - - if (thread_running) { - printf("attitude_estimator_ekf already running\n"); - /* this is not an error */ - exit(0); - } - - thread_should_exit = false; - attitude_estimator_ekf_task = task_spawn("attitude_estimator_ekf", - SCHED_DEFAULT, - SCHED_PRIORITY_MAX - 5, - 12400, - attitude_estimator_ekf_thread_main, - (argv) ? (const char **)&argv[2] : (const char **)NULL); - exit(0); - } - - if (!strcmp(argv[1], "stop")) { - thread_should_exit = true; - exit(0); - } - - if (!strcmp(argv[1], "status")) { - if (thread_running) { - printf("\tattitude_estimator_ekf app is running\n"); - - } else { - printf("\tattitude_estimator_ekf app not started\n"); - } - - exit(0); - } - - usage("unrecognized command"); - exit(1); -} - -/* - * [Rot_matrix,x_aposteriori,P_aposteriori] = attitudeKalmanfilter(dt,z_k,x_aposteriori_k,P_aposteriori_k,knownConst) - */ - -/* - * EKF Attitude Estimator main function. - * - * Estimates the attitude recursively once started. - * - * @param argc number of commandline arguments (plus command name) - * @param argv strings containing the arguments - */ -int attitude_estimator_ekf_thread_main(int argc, char *argv[]) -{ - -const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds - - float dt = 0.005f; -/* state vector x has the following entries [ax,ay,az||mx,my,mz||wox,woy,woz||wx,wy,wz]' */ - float z_k[9] = {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 9.81f, 0.2f, -0.2f, 0.2f}; /**< Measurement vector */ - float x_aposteriori_k[12]; /**< states */ - float P_aposteriori_k[144] = {100.f, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 100.f, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 100.f, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 100.f, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 100.f, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 100.f, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 100.f, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 100.f, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 100.f, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0.0f, 100.0f, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0.0f, 0, 100.0f, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0.0f, 0, 0, 100.0f, - }; /**< init: diagonal matrix with big values */ - - float x_aposteriori[12]; - float P_aposteriori[144]; - - /* output euler angles */ - float euler[3] = {0.0f, 0.0f, 0.0f}; - - float Rot_matrix[9] = {1.f, 0, 0, - 0, 1.f, 0, - 0, 0, 1.f - }; /**< init: identity matrix */ - - // print text - printf("Extended Kalman Filter Attitude Estimator initialized..\n\n"); - fflush(stdout); - - int overloadcounter = 19; - - /* Initialize filter */ - attitudeKalmanfilter_initialize(); - - /* store start time to guard against too slow update rates */ - uint64_t last_run = hrt_absolute_time(); - - struct sensor_combined_s raw; - memset(&raw, 0, sizeof(raw)); - struct vehicle_attitude_s att; - memset(&att, 0, sizeof(att)); - struct vehicle_status_s state; - memset(&state, 0, sizeof(state)); - - uint64_t last_data = 0; - uint64_t last_measurement = 0; - - /* subscribe to raw data */ - int sub_raw = orb_subscribe(ORB_ID(sensor_combined)); - /* rate-limit raw data updates to 200Hz */ - orb_set_interval(sub_raw, 4); - - /* subscribe to param changes */ - int sub_params = orb_subscribe(ORB_ID(parameter_update)); - - /* subscribe to system state*/ - int sub_state = orb_subscribe(ORB_ID(vehicle_status)); - - /* advertise attitude */ - orb_advert_t pub_att = orb_advertise(ORB_ID(vehicle_attitude), &att); - - - int loopcounter = 0; - int printcounter = 0; - - thread_running = true; - - /* advertise debug value */ - // struct debug_key_value_s dbg = { .key = "", .value = 0.0f }; - // orb_advert_t pub_dbg = -1; - - float sensor_update_hz[3] = {0.0f, 0.0f, 0.0f}; - // XXX write this out to perf regs - - /* keep track of sensor updates */ - uint32_t sensor_last_count[3] = {0, 0, 0}; - uint64_t sensor_last_timestamp[3] = {0, 0, 0}; - - struct attitude_estimator_ekf_params ekf_params; - - struct attitude_estimator_ekf_param_handles ekf_param_handles; - - /* initialize parameter handles */ - parameters_init(&ekf_param_handles); - - uint64_t start_time = hrt_absolute_time(); - bool initialized = false; - - float gyro_offsets[3] = { 0.0f, 0.0f, 0.0f }; - unsigned offset_count = 0; - - /* register the perf counter */ - perf_counter_t ekf_loop_perf = perf_alloc(PC_ELAPSED, "attitude_estimator_ekf"); - - /* Main loop*/ - while (!thread_should_exit) { - - struct pollfd fds[2]; - fds[0].fd = sub_raw; - fds[0].events = POLLIN; - fds[1].fd = sub_params; - fds[1].events = POLLIN; - int ret = poll(fds, 2, 1000); - - if (ret < 0) { - /* XXX this is seriously bad - should be an emergency */ - } else if (ret == 0) { - /* check if we're in HIL - not getting sensor data is fine then */ - orb_copy(ORB_ID(vehicle_status), sub_state, &state); - - if (!state.flag_hil_enabled) { - fprintf(stderr, - "[att ekf] WARNING: Not getting sensors - sensor app running?\n"); - } - - } else { - - /* only update parameters if they changed */ - if (fds[1].revents & POLLIN) { - /* read from param to clear updated flag */ - struct parameter_update_s update; - orb_copy(ORB_ID(parameter_update), sub_params, &update); - - /* update parameters */ - parameters_update(&ekf_param_handles, &ekf_params); - } - - /* only run filter if sensor values changed */ - if (fds[0].revents & POLLIN) { - - /* get latest measurements */ - orb_copy(ORB_ID(sensor_combined), sub_raw, &raw); - - if (!initialized) { - - gyro_offsets[0] += raw.gyro_rad_s[0]; - gyro_offsets[1] += raw.gyro_rad_s[1]; - gyro_offsets[2] += raw.gyro_rad_s[2]; - offset_count++; - - if (hrt_absolute_time() - start_time > 3000000LL) { - initialized = true; - gyro_offsets[0] /= offset_count; - gyro_offsets[1] /= offset_count; - gyro_offsets[2] /= offset_count; - } - - } else { - - perf_begin(ekf_loop_perf); - - /* Calculate data time difference in seconds */ - dt = (raw.timestamp - last_measurement) / 1000000.0f; - last_measurement = raw.timestamp; - uint8_t update_vect[3] = {0, 0, 0}; - - /* Fill in gyro measurements */ - if (sensor_last_count[0] != raw.gyro_counter) { - update_vect[0] = 1; - sensor_last_count[0] = raw.gyro_counter; - sensor_update_hz[0] = 1e6f / (raw.timestamp - sensor_last_timestamp[0]); - sensor_last_timestamp[0] = raw.timestamp; - } - - z_k[0] = raw.gyro_rad_s[0] - gyro_offsets[0]; - z_k[1] = raw.gyro_rad_s[1] - gyro_offsets[1]; - z_k[2] = raw.gyro_rad_s[2] - gyro_offsets[2]; - - /* update accelerometer measurements */ - if (sensor_last_count[1] != raw.accelerometer_counter) { - update_vect[1] = 1; - sensor_last_count[1] = raw.accelerometer_counter; - sensor_update_hz[1] = 1e6f / (raw.timestamp - sensor_last_timestamp[1]); - sensor_last_timestamp[1] = raw.timestamp; - } - - z_k[3] = raw.accelerometer_m_s2[0]; - z_k[4] = raw.accelerometer_m_s2[1]; - z_k[5] = raw.accelerometer_m_s2[2]; - - /* update magnetometer measurements */ - if (sensor_last_count[2] != raw.magnetometer_counter) { - update_vect[2] = 1; - sensor_last_count[2] = raw.magnetometer_counter; - sensor_update_hz[2] = 1e6f / (raw.timestamp - sensor_last_timestamp[2]); - sensor_last_timestamp[2] = raw.timestamp; - } - - z_k[6] = raw.magnetometer_ga[0]; - z_k[7] = raw.magnetometer_ga[1]; - z_k[8] = raw.magnetometer_ga[2]; - - uint64_t now = hrt_absolute_time(); - unsigned int time_elapsed = now - last_run; - last_run = now; - - if (time_elapsed > loop_interval_alarm) { - //TODO: add warning, cpu overload here - // if (overloadcounter == 20) { - // printf("CPU OVERLOAD DETECTED IN ATTITUDE ESTIMATOR EKF (%lu > %lu)\n", time_elapsed, loop_interval_alarm); - // overloadcounter = 0; - // } - - overloadcounter++; - } - - static bool const_initialized = false; - - /* initialize with good values once we have a reasonable dt estimate */ - if (!const_initialized && dt < 0.05f && dt > 0.005f) { - dt = 0.005f; - parameters_update(&ekf_param_handles, &ekf_params); - - x_aposteriori_k[0] = z_k[0]; - x_aposteriori_k[1] = z_k[1]; - x_aposteriori_k[2] = z_k[2]; - x_aposteriori_k[3] = 0.0f; - x_aposteriori_k[4] = 0.0f; - x_aposteriori_k[5] = 0.0f; - x_aposteriori_k[6] = z_k[3]; - x_aposteriori_k[7] = z_k[4]; - x_aposteriori_k[8] = z_k[5]; - x_aposteriori_k[9] = z_k[6]; - x_aposteriori_k[10] = z_k[7]; - x_aposteriori_k[11] = z_k[8]; - - const_initialized = true; - } - - /* do not execute the filter if not initialized */ - if (!const_initialized) { - continue; - } - - uint64_t timing_start = hrt_absolute_time(); - - attitudeKalmanfilter(update_vect, dt, z_k, x_aposteriori_k, P_aposteriori_k, ekf_params.q, ekf_params.r, - euler, Rot_matrix, x_aposteriori, P_aposteriori); - - /* swap values for next iteration, check for fatal inputs */ - if (isfinite(euler[0]) && isfinite(euler[1]) && isfinite(euler[2])) { - memcpy(P_aposteriori_k, P_aposteriori, sizeof(P_aposteriori_k)); - memcpy(x_aposteriori_k, x_aposteriori, sizeof(x_aposteriori_k)); - - } else { - /* due to inputs or numerical failure the output is invalid, skip it */ - continue; - } - - if (last_data > 0 && raw.timestamp - last_data > 12000) printf("[attitude estimator ekf] sensor data missed! (%llu)\n", raw.timestamp - last_data); - - last_data = raw.timestamp; - - /* send out */ - att.timestamp = raw.timestamp; - - // XXX Apply the same transformation to the rotation matrix - att.roll = euler[0] - ekf_params.roll_off; - att.pitch = euler[1] - ekf_params.pitch_off; - att.yaw = euler[2] - ekf_params.yaw_off; - - att.rollspeed = x_aposteriori[0]; - att.pitchspeed = x_aposteriori[1]; - att.yawspeed = x_aposteriori[2]; - att.rollacc = x_aposteriori[3]; - att.pitchacc = x_aposteriori[4]; - att.yawacc = x_aposteriori[5]; - - //att.yawspeed =z_k[2] ; - /* copy offsets */ - memcpy(&att.rate_offsets, &(x_aposteriori[3]), sizeof(att.rate_offsets)); - - /* copy rotation matrix */ - memcpy(&att.R, Rot_matrix, sizeof(Rot_matrix)); - att.R_valid = true; - - if (isfinite(att.roll) && isfinite(att.pitch) && isfinite(att.yaw)) { - // Broadcast - orb_publish(ORB_ID(vehicle_attitude), pub_att, &att); - - } else { - warnx("NaN in roll/pitch/yaw estimate!"); - } - - perf_end(ekf_loop_perf); - } - } - } - - loopcounter++; - } - - thread_running = false; - - return 0; -} diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c b/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c deleted file mode 100755 index 7d3812abd..000000000 --- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c +++ /dev/null @@ -1,105 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Tobias Naegeli - * Lorenz Meier - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/* - * @file attitude_estimator_ekf_params.c - * - * Parameters for EKF filter - */ - -#include "attitude_estimator_ekf_params.h" - -/* Extended Kalman Filter covariances */ - -/* gyro process noise */ -PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q0, 1e-4f); -PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q1, 0.08f); -PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q2, 0.009f); -/* gyro offsets process noise */ -PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q3, 0.005f); -PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q4, 0.0f); - -/* gyro measurement noise */ -PARAM_DEFINE_FLOAT(EKF_ATT_V2_R0, 0.0008f); -PARAM_DEFINE_FLOAT(EKF_ATT_V2_R1, 0.8f); -PARAM_DEFINE_FLOAT(EKF_ATT_V2_R2, 1.0f); -/* accelerometer measurement noise */ -PARAM_DEFINE_FLOAT(EKF_ATT_V2_R3, 0.0f); - -/* offsets in roll, pitch and yaw of sensor plane and body */ -PARAM_DEFINE_FLOAT(ATT_ROLL_OFFS, 0.0f); -PARAM_DEFINE_FLOAT(ATT_PITCH_OFFS, 0.0f); -PARAM_DEFINE_FLOAT(ATT_YAW_OFFS, 0.0f); - -int parameters_init(struct attitude_estimator_ekf_param_handles *h) -{ - /* PID parameters */ - h->q0 = param_find("EKF_ATT_V2_Q0"); - h->q1 = param_find("EKF_ATT_V2_Q1"); - h->q2 = param_find("EKF_ATT_V2_Q2"); - h->q3 = param_find("EKF_ATT_V2_Q3"); - h->q4 = param_find("EKF_ATT_V2_Q4"); - - h->r0 = param_find("EKF_ATT_V2_R0"); - h->r1 = param_find("EKF_ATT_V2_R1"); - h->r2 = param_find("EKF_ATT_V2_R2"); - h->r3 = param_find("EKF_ATT_V2_R3"); - - h->roll_off = param_find("ATT_ROLL_OFFS"); - h->pitch_off = param_find("ATT_PITCH_OFFS"); - h->yaw_off = param_find("ATT_YAW_OFFS"); - - return OK; -} - -int parameters_update(const struct attitude_estimator_ekf_param_handles *h, struct attitude_estimator_ekf_params *p) -{ - param_get(h->q0, &(p->q[0])); - param_get(h->q1, &(p->q[1])); - param_get(h->q2, &(p->q[2])); - param_get(h->q3, &(p->q[3])); - param_get(h->q4, &(p->q[4])); - - param_get(h->r0, &(p->r[0])); - param_get(h->r1, &(p->r[1])); - param_get(h->r2, &(p->r[2])); - param_get(h->r3, &(p->r[3])); - - param_get(h->roll_off, &(p->roll_off)); - param_get(h->pitch_off, &(p->pitch_off)); - param_get(h->yaw_off, &(p->yaw_off)); - - return OK; -} diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.h b/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.h deleted file mode 100755 index 09817d58e..000000000 --- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.h +++ /dev/null @@ -1,68 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Tobias Naegeli - * Lorenz Meier - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/* - * @file attitude_estimator_ekf_params.h - * - * Parameters for EKF filter - */ - -#include - -struct attitude_estimator_ekf_params { - float r[9]; - float q[12]; - float roll_off; - float pitch_off; - float yaw_off; -}; - -struct attitude_estimator_ekf_param_handles { - param_t r0, r1, r2, r3; - param_t q0, q1, q2, q3, q4; - param_t roll_off, pitch_off, yaw_off; -}; - -/** - * Initialize all parameter handles and values - * - */ -int parameters_init(struct attitude_estimator_ekf_param_handles *h); - -/** - * Update all parameters - * - */ -int parameters_update(const struct attitude_estimator_ekf_param_handles *h, struct attitude_estimator_ekf_params *p); diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.c b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.c deleted file mode 100755 index 9e97ad11a..000000000 --- a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.c +++ /dev/null @@ -1,1148 +0,0 @@ -/* - * attitudeKalmanfilter.c - * - * Code generation for function 'attitudeKalmanfilter' - * - * C source code generated on: Sat Jan 19 15:25:29 2013 - * - */ - -/* Include files */ -#include "rt_nonfinite.h" -#include "attitudeKalmanfilter.h" -#include "rdivide.h" -#include "norm.h" -#include "cross.h" -#include "eye.h" -#include "mrdivide.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ -static real32_T rt_atan2f_snf(real32_T u0, real32_T u1); - -/* Function Definitions */ -static real32_T rt_atan2f_snf(real32_T u0, real32_T u1) -{ - real32_T y; - int32_T b_u0; - int32_T b_u1; - if (rtIsNaNF(u0) || rtIsNaNF(u1)) { - y = ((real32_T)rtNaN); - } else if (rtIsInfF(u0) && rtIsInfF(u1)) { - if (u0 > 0.0F) { - b_u0 = 1; - } else { - b_u0 = -1; - } - - if (u1 > 0.0F) { - b_u1 = 1; - } else { - b_u1 = -1; - } - - y = (real32_T)atan2((real32_T)b_u0, (real32_T)b_u1); - } else if (u1 == 0.0F) { - if (u0 > 0.0F) { - y = RT_PIF / 2.0F; - } else if (u0 < 0.0F) { - y = -(RT_PIF / 2.0F); - } else { - y = 0.0F; - } - } else { - y = (real32_T)atan2(u0, u1); - } - - return y; -} - -/* - * function [eulerAngles,Rot_matrix,x_aposteriori,P_aposteriori] = attitudeKalmanfilter_wo(updateVect,dt,z,x_aposteriori_k,P_aposteriori_k,q,r) - */ -void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const - real32_T z[9], const real32_T x_aposteriori_k[12], const real32_T - P_aposteriori_k[144], const real32_T q[12], real32_T r[9], real32_T - eulerAngles[3], real32_T Rot_matrix[9], real32_T x_aposteriori[12], real32_T - P_aposteriori[144]) -{ - real32_T wak[3]; - real32_T O[9]; - real_T dv0[9]; - real32_T a[9]; - int32_T i; - real32_T b_a[9]; - real32_T x_n_b[3]; - real32_T b_x_aposteriori_k[3]; - real32_T z_n_b[3]; - real32_T c_a[3]; - real32_T d_a[3]; - int32_T i0; - real32_T x_apriori[12]; - real_T dv1[144]; - real32_T A_lin[144]; - static const int8_T iv0[36] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, - 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }; - - real32_T b_A_lin[144]; - real32_T b_q[144]; - real32_T c_A_lin[144]; - real32_T d_A_lin[144]; - real32_T e_A_lin[144]; - int32_T i1; - real32_T P_apriori[144]; - real32_T b_P_apriori[108]; - static const int8_T iv1[108] = { 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1 }; - - real32_T K_k[108]; - real32_T fv0[81]; - static const int8_T iv2[108] = { 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1 }; - - real32_T b_r[81]; - real32_T fv1[81]; - real32_T f0; - real32_T c_P_apriori[36]; - static const int8_T iv3[36] = { 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0 }; - - real32_T fv2[36]; - static const int8_T iv4[36] = { 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }; - - real32_T c_r[9]; - real32_T b_K_k[36]; - real32_T d_P_apriori[72]; - static const int8_T iv5[72] = { 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 1, 0, 0, 0 }; - - real32_T c_K_k[72]; - static const int8_T iv6[72] = { 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, - 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0 }; - - real32_T b_z[6]; - static const int8_T iv7[72] = { 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 1 }; - - static const int8_T iv8[72] = { 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, - 0, 0, 0, 1 }; - - real32_T fv3[6]; - real32_T c_z[6]; - - /* Extended Attitude Kalmanfilter */ - /* */ - /* state vector x has the following entries [ax,ay,az||mx,my,mz||wox,woy,woz||wx,wy,wz]' */ - /* measurement vector z has the following entries [ax,ay,az||mx,my,mz||wmx,wmy,wmz]' */ - /* knownConst has the following entries [PrvaA,PrvarM,PrvarWO,PrvarW||MsvarA,MsvarM,MsvarW] */ - /* */ - /* [x_aposteriori,P_aposteriori] = AttKalman(dt,z_k,x_aposteriori_k,P_aposteriori_k,knownConst) */ - /* */ - /* Example.... */ - /* */ - /* $Author: Tobias Naegeli $ $Date: 2012 $ $Revision: 1 $ */ - /* coder.varsize('udpIndVect', [9,1], [1,0]) */ - /* udpIndVect=find(updVect); */ - /* process and measurement noise covariance matrix */ - /* Q = diag(q.^2*dt); */ - /* observation matrix */ - /* 'attitudeKalmanfilter:33' wx= x_aposteriori_k(1); */ - /* 'attitudeKalmanfilter:34' wy= x_aposteriori_k(2); */ - /* 'attitudeKalmanfilter:35' wz= x_aposteriori_k(3); */ - /* 'attitudeKalmanfilter:37' wax= x_aposteriori_k(4); */ - /* 'attitudeKalmanfilter:38' way= x_aposteriori_k(5); */ - /* 'attitudeKalmanfilter:39' waz= x_aposteriori_k(6); */ - /* 'attitudeKalmanfilter:41' zex= x_aposteriori_k(7); */ - /* 'attitudeKalmanfilter:42' zey= x_aposteriori_k(8); */ - /* 'attitudeKalmanfilter:43' zez= x_aposteriori_k(9); */ - /* 'attitudeKalmanfilter:45' mux= x_aposteriori_k(10); */ - /* 'attitudeKalmanfilter:46' muy= x_aposteriori_k(11); */ - /* 'attitudeKalmanfilter:47' muz= x_aposteriori_k(12); */ - /* % prediction section */ - /* body angular accelerations */ - /* 'attitudeKalmanfilter:51' wak =[wax;way;waz]; */ - wak[0] = x_aposteriori_k[3]; - wak[1] = x_aposteriori_k[4]; - wak[2] = x_aposteriori_k[5]; - - /* body angular rates */ - /* 'attitudeKalmanfilter:54' wk =[wx; wy; wz] + dt*wak; */ - /* derivative of the prediction rotation matrix */ - /* 'attitudeKalmanfilter:57' O=[0,-wz,wy;wz,0,-wx;-wy,wx,0]'; */ - O[0] = 0.0F; - O[1] = -x_aposteriori_k[2]; - O[2] = x_aposteriori_k[1]; - O[3] = x_aposteriori_k[2]; - O[4] = 0.0F; - O[5] = -x_aposteriori_k[0]; - O[6] = -x_aposteriori_k[1]; - O[7] = x_aposteriori_k[0]; - O[8] = 0.0F; - - /* prediction of the earth z vector */ - /* 'attitudeKalmanfilter:60' zek =(eye(3)+O*dt)*[zex;zey;zez]; */ - eye(dv0); - for (i = 0; i < 9; i++) { - a[i] = (real32_T)dv0[i] + O[i] * dt; - } - - /* prediction of the magnetic vector */ - /* 'attitudeKalmanfilter:63' muk =(eye(3)+O*dt)*[mux;muy;muz]; */ - eye(dv0); - for (i = 0; i < 9; i++) { - b_a[i] = (real32_T)dv0[i] + O[i] * dt; - } - - /* 'attitudeKalmanfilter:65' EZ=[0,zez,-zey; */ - /* 'attitudeKalmanfilter:66' -zez,0,zex; */ - /* 'attitudeKalmanfilter:67' zey,-zex,0]'; */ - /* 'attitudeKalmanfilter:68' MA=[0,muz,-muy; */ - /* 'attitudeKalmanfilter:69' -muz,0,mux; */ - /* 'attitudeKalmanfilter:70' zey,-mux,0]'; */ - /* 'attitudeKalmanfilter:74' E=eye(3); */ - /* 'attitudeKalmanfilter:76' Z=zeros(3); */ - /* 'attitudeKalmanfilter:77' x_apriori=[wk;wak;zek;muk]; */ - x_n_b[0] = x_aposteriori_k[0]; - x_n_b[1] = x_aposteriori_k[1]; - x_n_b[2] = x_aposteriori_k[2]; - b_x_aposteriori_k[0] = x_aposteriori_k[6]; - b_x_aposteriori_k[1] = x_aposteriori_k[7]; - b_x_aposteriori_k[2] = x_aposteriori_k[8]; - z_n_b[0] = x_aposteriori_k[9]; - z_n_b[1] = x_aposteriori_k[10]; - z_n_b[2] = x_aposteriori_k[11]; - for (i = 0; i < 3; i++) { - c_a[i] = 0.0F; - for (i0 = 0; i0 < 3; i0++) { - c_a[i] += a[i + 3 * i0] * b_x_aposteriori_k[i0]; - } - - d_a[i] = 0.0F; - for (i0 = 0; i0 < 3; i0++) { - d_a[i] += b_a[i + 3 * i0] * z_n_b[i0]; - } - - x_apriori[i] = x_n_b[i] + dt * wak[i]; - } - - for (i = 0; i < 3; i++) { - x_apriori[i + 3] = wak[i]; - } - - for (i = 0; i < 3; i++) { - x_apriori[i + 6] = c_a[i]; - } - - for (i = 0; i < 3; i++) { - x_apriori[i + 9] = d_a[i]; - } - - /* 'attitudeKalmanfilter:81' A_lin=[ Z, E, Z, Z */ - /* 'attitudeKalmanfilter:82' Z, Z, Z, Z */ - /* 'attitudeKalmanfilter:83' EZ, Z, O, Z */ - /* 'attitudeKalmanfilter:84' MA, Z, Z, O]; */ - /* 'attitudeKalmanfilter:86' A_lin=eye(12)+A_lin*dt; */ - b_eye(dv1); - for (i = 0; i < 12; i++) { - for (i0 = 0; i0 < 3; i0++) { - A_lin[i0 + 12 * i] = (real32_T)iv0[i0 + 3 * i]; - } - - for (i0 = 0; i0 < 3; i0++) { - A_lin[(i0 + 12 * i) + 3] = 0.0F; - } - } - - A_lin[6] = 0.0F; - A_lin[7] = x_aposteriori_k[8]; - A_lin[8] = -x_aposteriori_k[7]; - A_lin[18] = -x_aposteriori_k[8]; - A_lin[19] = 0.0F; - A_lin[20] = x_aposteriori_k[6]; - A_lin[30] = x_aposteriori_k[7]; - A_lin[31] = -x_aposteriori_k[6]; - A_lin[32] = 0.0F; - for (i = 0; i < 3; i++) { - for (i0 = 0; i0 < 3; i0++) { - A_lin[(i0 + 12 * (i + 3)) + 6] = 0.0F; - } - } - - for (i = 0; i < 3; i++) { - for (i0 = 0; i0 < 3; i0++) { - A_lin[(i0 + 12 * (i + 6)) + 6] = O[i0 + 3 * i]; - } - } - - for (i = 0; i < 3; i++) { - for (i0 = 0; i0 < 3; i0++) { - A_lin[(i0 + 12 * (i + 9)) + 6] = 0.0F; - } - } - - A_lin[9] = 0.0F; - A_lin[10] = x_aposteriori_k[11]; - A_lin[11] = -x_aposteriori_k[10]; - A_lin[21] = -x_aposteriori_k[11]; - A_lin[22] = 0.0F; - A_lin[23] = x_aposteriori_k[9]; - A_lin[33] = x_aposteriori_k[7]; - A_lin[34] = -x_aposteriori_k[9]; - A_lin[35] = 0.0F; - for (i = 0; i < 3; i++) { - for (i0 = 0; i0 < 3; i0++) { - A_lin[(i0 + 12 * (i + 3)) + 9] = 0.0F; - } - } - - for (i = 0; i < 3; i++) { - for (i0 = 0; i0 < 3; i0++) { - A_lin[(i0 + 12 * (i + 6)) + 9] = 0.0F; - } - } - - for (i = 0; i < 3; i++) { - for (i0 = 0; i0 < 3; i0++) { - A_lin[(i0 + 12 * (i + 9)) + 9] = O[i0 + 3 * i]; - } - } - - for (i = 0; i < 12; i++) { - for (i0 = 0; i0 < 12; i0++) { - b_A_lin[i0 + 12 * i] = (real32_T)dv1[i0 + 12 * i] + A_lin[i0 + 12 * i] * - dt; - } - } - - /* 'attitudeKalmanfilter:88' Qtemp=[ q(1), 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0; */ - /* 'attitudeKalmanfilter:89' 0, q(1), 0, 0, 0, 0, 0, 0, 0, 0, 0, 0; */ - /* 'attitudeKalmanfilter:90' 0, 0, q(1), 0, 0, 0, 0, 0, 0, 0, 0, 0; */ - /* 'attitudeKalmanfilter:91' 0, 0, 0, q(2), 0, 0, 0, 0, 0, 0, 0, 0; */ - /* 'attitudeKalmanfilter:92' 0, 0, 0, 0, q(2), 0, 0, 0, 0, 0, 0, 0; */ - /* 'attitudeKalmanfilter:93' 0, 0, 0, 0, 0, q(2), 0, 0, 0, 0, 0, 0; */ - /* 'attitudeKalmanfilter:94' 0, 0, 0, 0, 0, 0, q(3), 0, 0, 0, 0, 0; */ - /* 'attitudeKalmanfilter:95' 0, 0, 0, 0, 0, 0, 0, q(3), 0, 0, 0, 0; */ - /* 'attitudeKalmanfilter:96' 0, 0, 0, 0, 0, 0, 0, 0, q(3), 0, 0, 0; */ - /* 'attitudeKalmanfilter:97' 0, 0, 0, 0, 0, 0, 0, 0, 0, q(4), 0, 0; */ - /* 'attitudeKalmanfilter:98' 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, q(4), 0; */ - /* 'attitudeKalmanfilter:99' 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, q(4)]; */ - /* 'attitudeKalmanfilter:103' Q=A_lin*Qtemp*A_lin'; */ - /* 'attitudeKalmanfilter:106' P_apriori=A_lin*P_aposteriori_k*A_lin'+Q; */ - b_q[0] = q[0]; - b_q[12] = 0.0F; - b_q[24] = 0.0F; - b_q[36] = 0.0F; - b_q[48] = 0.0F; - b_q[60] = 0.0F; - b_q[72] = 0.0F; - b_q[84] = 0.0F; - b_q[96] = 0.0F; - b_q[108] = 0.0F; - b_q[120] = 0.0F; - b_q[132] = 0.0F; - b_q[1] = 0.0F; - b_q[13] = q[0]; - b_q[25] = 0.0F; - b_q[37] = 0.0F; - b_q[49] = 0.0F; - b_q[61] = 0.0F; - b_q[73] = 0.0F; - b_q[85] = 0.0F; - b_q[97] = 0.0F; - b_q[109] = 0.0F; - b_q[121] = 0.0F; - b_q[133] = 0.0F; - b_q[2] = 0.0F; - b_q[14] = 0.0F; - b_q[26] = q[0]; - b_q[38] = 0.0F; - b_q[50] = 0.0F; - b_q[62] = 0.0F; - b_q[74] = 0.0F; - b_q[86] = 0.0F; - b_q[98] = 0.0F; - b_q[110] = 0.0F; - b_q[122] = 0.0F; - b_q[134] = 0.0F; - b_q[3] = 0.0F; - b_q[15] = 0.0F; - b_q[27] = 0.0F; - b_q[39] = q[1]; - b_q[51] = 0.0F; - b_q[63] = 0.0F; - b_q[75] = 0.0F; - b_q[87] = 0.0F; - b_q[99] = 0.0F; - b_q[111] = 0.0F; - b_q[123] = 0.0F; - b_q[135] = 0.0F; - b_q[4] = 0.0F; - b_q[16] = 0.0F; - b_q[28] = 0.0F; - b_q[40] = 0.0F; - b_q[52] = q[1]; - b_q[64] = 0.0F; - b_q[76] = 0.0F; - b_q[88] = 0.0F; - b_q[100] = 0.0F; - b_q[112] = 0.0F; - b_q[124] = 0.0F; - b_q[136] = 0.0F; - b_q[5] = 0.0F; - b_q[17] = 0.0F; - b_q[29] = 0.0F; - b_q[41] = 0.0F; - b_q[53] = 0.0F; - b_q[65] = q[1]; - b_q[77] = 0.0F; - b_q[89] = 0.0F; - b_q[101] = 0.0F; - b_q[113] = 0.0F; - b_q[125] = 0.0F; - b_q[137] = 0.0F; - b_q[6] = 0.0F; - b_q[18] = 0.0F; - b_q[30] = 0.0F; - b_q[42] = 0.0F; - b_q[54] = 0.0F; - b_q[66] = 0.0F; - b_q[78] = q[2]; - b_q[90] = 0.0F; - b_q[102] = 0.0F; - b_q[114] = 0.0F; - b_q[126] = 0.0F; - b_q[138] = 0.0F; - b_q[7] = 0.0F; - b_q[19] = 0.0F; - b_q[31] = 0.0F; - b_q[43] = 0.0F; - b_q[55] = 0.0F; - b_q[67] = 0.0F; - b_q[79] = 0.0F; - b_q[91] = q[2]; - b_q[103] = 0.0F; - b_q[115] = 0.0F; - b_q[127] = 0.0F; - b_q[139] = 0.0F; - b_q[8] = 0.0F; - b_q[20] = 0.0F; - b_q[32] = 0.0F; - b_q[44] = 0.0F; - b_q[56] = 0.0F; - b_q[68] = 0.0F; - b_q[80] = 0.0F; - b_q[92] = 0.0F; - b_q[104] = q[2]; - b_q[116] = 0.0F; - b_q[128] = 0.0F; - b_q[140] = 0.0F; - b_q[9] = 0.0F; - b_q[21] = 0.0F; - b_q[33] = 0.0F; - b_q[45] = 0.0F; - b_q[57] = 0.0F; - b_q[69] = 0.0F; - b_q[81] = 0.0F; - b_q[93] = 0.0F; - b_q[105] = 0.0F; - b_q[117] = q[3]; - b_q[129] = 0.0F; - b_q[141] = 0.0F; - b_q[10] = 0.0F; - b_q[22] = 0.0F; - b_q[34] = 0.0F; - b_q[46] = 0.0F; - b_q[58] = 0.0F; - b_q[70] = 0.0F; - b_q[82] = 0.0F; - b_q[94] = 0.0F; - b_q[106] = 0.0F; - b_q[118] = 0.0F; - b_q[130] = q[3]; - b_q[142] = 0.0F; - b_q[11] = 0.0F; - b_q[23] = 0.0F; - b_q[35] = 0.0F; - b_q[47] = 0.0F; - b_q[59] = 0.0F; - b_q[71] = 0.0F; - b_q[83] = 0.0F; - b_q[95] = 0.0F; - b_q[107] = 0.0F; - b_q[119] = 0.0F; - b_q[131] = 0.0F; - b_q[143] = q[3]; - for (i = 0; i < 12; i++) { - for (i0 = 0; i0 < 12; i0++) { - A_lin[i + 12 * i0] = 0.0F; - for (i1 = 0; i1 < 12; i1++) { - A_lin[i + 12 * i0] += b_A_lin[i + 12 * i1] * P_aposteriori_k[i1 + 12 * - i0]; - } - - c_A_lin[i + 12 * i0] = 0.0F; - for (i1 = 0; i1 < 12; i1++) { - c_A_lin[i + 12 * i0] += b_A_lin[i + 12 * i1] * b_q[i1 + 12 * i0]; - } - } - - for (i0 = 0; i0 < 12; i0++) { - d_A_lin[i + 12 * i0] = 0.0F; - for (i1 = 0; i1 < 12; i1++) { - d_A_lin[i + 12 * i0] += A_lin[i + 12 * i1] * b_A_lin[i0 + 12 * i1]; - } - - e_A_lin[i + 12 * i0] = 0.0F; - for (i1 = 0; i1 < 12; i1++) { - e_A_lin[i + 12 * i0] += c_A_lin[i + 12 * i1] * b_A_lin[i0 + 12 * i1]; - } - } - } - - for (i = 0; i < 12; i++) { - for (i0 = 0; i0 < 12; i0++) { - P_apriori[i0 + 12 * i] = d_A_lin[i0 + 12 * i] + e_A_lin[i0 + 12 * i]; - } - } - - /* % update */ - /* 'attitudeKalmanfilter:110' if updateVect(1)==1&&updateVect(2)==1&&updateVect(3)==1 */ - if ((updateVect[0] == 1) && (updateVect[1] == 1) && (updateVect[2] == 1)) { - /* 'attitudeKalmanfilter:111' if z(6)<4 || z(5)>15 */ - if ((z[5] < 4.0F) || (z[4] > 15.0F)) { - /* 'attitudeKalmanfilter:112' r(2)=10000; */ - r[1] = 10000.0F; - } - - /* 'attitudeKalmanfilter:114' R=[r(1),0,0,0,0,0,0,0,0; */ - /* 'attitudeKalmanfilter:115' 0,r(1),0,0,0,0,0,0,0; */ - /* 'attitudeKalmanfilter:116' 0,0,r(1),0,0,0,0,0,0; */ - /* 'attitudeKalmanfilter:117' 0,0,0,r(2),0,0,0,0,0; */ - /* 'attitudeKalmanfilter:118' 0,0,0,0,r(2),0,0,0,0; */ - /* 'attitudeKalmanfilter:119' 0,0,0,0,0,r(2),0,0,0; */ - /* 'attitudeKalmanfilter:120' 0,0,0,0,0,0,r(3),0,0; */ - /* 'attitudeKalmanfilter:121' 0,0,0,0,0,0,0,r(3),0; */ - /* 'attitudeKalmanfilter:122' 0,0,0,0,0,0,0,0,r(3)]; */ - /* observation matrix */ - /* [zw;ze;zmk]; */ - /* 'attitudeKalmanfilter:125' H_k=[ E, Z, Z, Z; */ - /* 'attitudeKalmanfilter:126' Z, Z, E, Z; */ - /* 'attitudeKalmanfilter:127' Z, Z, Z, E]; */ - /* 'attitudeKalmanfilter:129' y_k=z(1:9)-H_k*x_apriori; */ - /* 'attitudeKalmanfilter:132' S_k=H_k*P_apriori*H_k'+R; */ - /* 'attitudeKalmanfilter:133' K_k=(P_apriori*H_k'/(S_k)); */ - for (i = 0; i < 12; i++) { - for (i0 = 0; i0 < 9; i0++) { - b_P_apriori[i + 12 * i0] = 0.0F; - for (i1 = 0; i1 < 12; i1++) { - b_P_apriori[i + 12 * i0] += P_apriori[i + 12 * i1] * (real32_T)iv1[i1 - + 12 * i0]; - } - } - } - - for (i = 0; i < 9; i++) { - for (i0 = 0; i0 < 12; i0++) { - K_k[i + 9 * i0] = 0.0F; - for (i1 = 0; i1 < 12; i1++) { - K_k[i + 9 * i0] += (real32_T)iv2[i + 9 * i1] * P_apriori[i1 + 12 * i0]; - } - } - - for (i0 = 0; i0 < 9; i0++) { - fv0[i + 9 * i0] = 0.0F; - for (i1 = 0; i1 < 12; i1++) { - fv0[i + 9 * i0] += K_k[i + 9 * i1] * (real32_T)iv1[i1 + 12 * i0]; - } - } - } - - b_r[0] = r[0]; - b_r[9] = 0.0F; - b_r[18] = 0.0F; - b_r[27] = 0.0F; - b_r[36] = 0.0F; - b_r[45] = 0.0F; - b_r[54] = 0.0F; - b_r[63] = 0.0F; - b_r[72] = 0.0F; - b_r[1] = 0.0F; - b_r[10] = r[0]; - b_r[19] = 0.0F; - b_r[28] = 0.0F; - b_r[37] = 0.0F; - b_r[46] = 0.0F; - b_r[55] = 0.0F; - b_r[64] = 0.0F; - b_r[73] = 0.0F; - b_r[2] = 0.0F; - b_r[11] = 0.0F; - b_r[20] = r[0]; - b_r[29] = 0.0F; - b_r[38] = 0.0F; - b_r[47] = 0.0F; - b_r[56] = 0.0F; - b_r[65] = 0.0F; - b_r[74] = 0.0F; - b_r[3] = 0.0F; - b_r[12] = 0.0F; - b_r[21] = 0.0F; - b_r[30] = r[1]; - b_r[39] = 0.0F; - b_r[48] = 0.0F; - b_r[57] = 0.0F; - b_r[66] = 0.0F; - b_r[75] = 0.0F; - b_r[4] = 0.0F; - b_r[13] = 0.0F; - b_r[22] = 0.0F; - b_r[31] = 0.0F; - b_r[40] = r[1]; - b_r[49] = 0.0F; - b_r[58] = 0.0F; - b_r[67] = 0.0F; - b_r[76] = 0.0F; - b_r[5] = 0.0F; - b_r[14] = 0.0F; - b_r[23] = 0.0F; - b_r[32] = 0.0F; - b_r[41] = 0.0F; - b_r[50] = r[1]; - b_r[59] = 0.0F; - b_r[68] = 0.0F; - b_r[77] = 0.0F; - b_r[6] = 0.0F; - b_r[15] = 0.0F; - b_r[24] = 0.0F; - b_r[33] = 0.0F; - b_r[42] = 0.0F; - b_r[51] = 0.0F; - b_r[60] = r[2]; - b_r[69] = 0.0F; - b_r[78] = 0.0F; - b_r[7] = 0.0F; - b_r[16] = 0.0F; - b_r[25] = 0.0F; - b_r[34] = 0.0F; - b_r[43] = 0.0F; - b_r[52] = 0.0F; - b_r[61] = 0.0F; - b_r[70] = r[2]; - b_r[79] = 0.0F; - b_r[8] = 0.0F; - b_r[17] = 0.0F; - b_r[26] = 0.0F; - b_r[35] = 0.0F; - b_r[44] = 0.0F; - b_r[53] = 0.0F; - b_r[62] = 0.0F; - b_r[71] = 0.0F; - b_r[80] = r[2]; - for (i = 0; i < 9; i++) { - for (i0 = 0; i0 < 9; i0++) { - fv1[i0 + 9 * i] = fv0[i0 + 9 * i] + b_r[i0 + 9 * i]; - } - } - - mrdivide(b_P_apriori, fv1, K_k); - - /* 'attitudeKalmanfilter:136' x_aposteriori=x_apriori+K_k*y_k; */ - for (i = 0; i < 9; i++) { - f0 = 0.0F; - for (i0 = 0; i0 < 12; i0++) { - f0 += (real32_T)iv2[i + 9 * i0] * x_apriori[i0]; - } - - O[i] = z[i] - f0; - } - - for (i = 0; i < 12; i++) { - f0 = 0.0F; - for (i0 = 0; i0 < 9; i0++) { - f0 += K_k[i + 12 * i0] * O[i0]; - } - - x_aposteriori[i] = x_apriori[i] + f0; - } - - /* 'attitudeKalmanfilter:137' P_aposteriori=(eye(12)-K_k*H_k)*P_apriori; */ - b_eye(dv1); - for (i = 0; i < 12; i++) { - for (i0 = 0; i0 < 12; i0++) { - f0 = 0.0F; - for (i1 = 0; i1 < 9; i1++) { - f0 += K_k[i + 12 * i1] * (real32_T)iv2[i1 + 9 * i0]; - } - - b_A_lin[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - f0; - } - } - - for (i = 0; i < 12; i++) { - for (i0 = 0; i0 < 12; i0++) { - P_aposteriori[i + 12 * i0] = 0.0F; - for (i1 = 0; i1 < 12; i1++) { - P_aposteriori[i + 12 * i0] += b_A_lin[i + 12 * i1] * P_apriori[i1 + 12 - * i0]; - } - } - } - } else { - /* 'attitudeKalmanfilter:138' else */ - /* 'attitudeKalmanfilter:139' if updateVect(1)==1&&updateVect(2)==0&&updateVect(3)==0 */ - if ((updateVect[0] == 1) && (updateVect[1] == 0) && (updateVect[2] == 0)) { - /* 'attitudeKalmanfilter:141' R=[r(1),0,0; */ - /* 'attitudeKalmanfilter:142' 0,r(1),0; */ - /* 'attitudeKalmanfilter:143' 0,0,r(1)]; */ - /* observation matrix */ - /* 'attitudeKalmanfilter:146' H_k=[ E, Z, Z, Z]; */ - /* 'attitudeKalmanfilter:148' y_k=z(1:3)-H_k(1:3,1:12)*x_apriori; */ - /* 'attitudeKalmanfilter:150' S_k=H_k(1:3,1:12)*P_apriori*H_k(1:3,1:12)'+R(1:3,1:3); */ - /* 'attitudeKalmanfilter:151' K_k=(P_apriori*H_k(1:3,1:12)'/(S_k)); */ - for (i = 0; i < 12; i++) { - for (i0 = 0; i0 < 3; i0++) { - c_P_apriori[i + 12 * i0] = 0.0F; - for (i1 = 0; i1 < 12; i1++) { - c_P_apriori[i + 12 * i0] += P_apriori[i + 12 * i1] * (real32_T) - iv3[i1 + 12 * i0]; - } - } - } - - for (i = 0; i < 3; i++) { - for (i0 = 0; i0 < 12; i0++) { - fv2[i + 3 * i0] = 0.0F; - for (i1 = 0; i1 < 12; i1++) { - fv2[i + 3 * i0] += (real32_T)iv4[i + 3 * i1] * P_apriori[i1 + 12 * - i0]; - } - } - - for (i0 = 0; i0 < 3; i0++) { - O[i + 3 * i0] = 0.0F; - for (i1 = 0; i1 < 12; i1++) { - O[i + 3 * i0] += fv2[i + 3 * i1] * (real32_T)iv3[i1 + 12 * i0]; - } - } - } - - c_r[0] = r[0]; - c_r[3] = 0.0F; - c_r[6] = 0.0F; - c_r[1] = 0.0F; - c_r[4] = r[0]; - c_r[7] = 0.0F; - c_r[2] = 0.0F; - c_r[5] = 0.0F; - c_r[8] = r[0]; - for (i = 0; i < 3; i++) { - for (i0 = 0; i0 < 3; i0++) { - a[i0 + 3 * i] = O[i0 + 3 * i] + c_r[i0 + 3 * i]; - } - } - - b_mrdivide(c_P_apriori, a, b_K_k); - - /* 'attitudeKalmanfilter:154' x_aposteriori=x_apriori+K_k*y_k; */ - for (i = 0; i < 3; i++) { - f0 = 0.0F; - for (i0 = 0; i0 < 12; i0++) { - f0 += (real32_T)iv4[i + 3 * i0] * x_apriori[i0]; - } - - x_n_b[i] = z[i] - f0; - } - - for (i = 0; i < 12; i++) { - f0 = 0.0F; - for (i0 = 0; i0 < 3; i0++) { - f0 += b_K_k[i + 12 * i0] * x_n_b[i0]; - } - - x_aposteriori[i] = x_apriori[i] + f0; - } - - /* 'attitudeKalmanfilter:155' P_aposteriori=(eye(12)-K_k*H_k(1:3,1:12))*P_apriori; */ - b_eye(dv1); - for (i = 0; i < 12; i++) { - for (i0 = 0; i0 < 12; i0++) { - f0 = 0.0F; - for (i1 = 0; i1 < 3; i1++) { - f0 += b_K_k[i + 12 * i1] * (real32_T)iv4[i1 + 3 * i0]; - } - - b_A_lin[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - f0; - } - } - - for (i = 0; i < 12; i++) { - for (i0 = 0; i0 < 12; i0++) { - P_aposteriori[i + 12 * i0] = 0.0F; - for (i1 = 0; i1 < 12; i1++) { - P_aposteriori[i + 12 * i0] += b_A_lin[i + 12 * i1] * P_apriori[i1 + - 12 * i0]; - } - } - } - } else { - /* 'attitudeKalmanfilter:156' else */ - /* 'attitudeKalmanfilter:157' if updateVect(1)==1&&updateVect(2)==1&&updateVect(3)==0 */ - if ((updateVect[0] == 1) && (updateVect[1] == 1) && (updateVect[2] == 0)) - { - /* 'attitudeKalmanfilter:158' if z(6)<4 || z(5)>15 */ - if ((z[5] < 4.0F) || (z[4] > 15.0F)) { - /* 'attitudeKalmanfilter:159' r(2)=10000; */ - r[1] = 10000.0F; - } - - /* 'attitudeKalmanfilter:162' R=[r(1),0,0,0,0,0; */ - /* 'attitudeKalmanfilter:163' 0,r(1),0,0,0,0; */ - /* 'attitudeKalmanfilter:164' 0,0,r(1),0,0,0; */ - /* 'attitudeKalmanfilter:165' 0,0,0,r(2),0,0; */ - /* 'attitudeKalmanfilter:166' 0,0,0,0,r(2),0; */ - /* 'attitudeKalmanfilter:167' 0,0,0,0,0,r(2)]; */ - /* observation matrix */ - /* 'attitudeKalmanfilter:170' H_k=[ E, Z, Z, Z; */ - /* 'attitudeKalmanfilter:171' Z, Z, E, Z]; */ - /* 'attitudeKalmanfilter:173' y_k=z(1:6)-H_k(1:6,1:12)*x_apriori; */ - /* 'attitudeKalmanfilter:175' S_k=H_k(1:6,1:12)*P_apriori*H_k(1:6,1:12)'+R(1:6,1:6); */ - /* 'attitudeKalmanfilter:176' K_k=(P_apriori*H_k(1:6,1:12)'/(S_k)); */ - for (i = 0; i < 12; i++) { - for (i0 = 0; i0 < 6; i0++) { - d_P_apriori[i + 12 * i0] = 0.0F; - for (i1 = 0; i1 < 12; i1++) { - d_P_apriori[i + 12 * i0] += P_apriori[i + 12 * i1] * (real32_T) - iv5[i1 + 12 * i0]; - } - } - } - - for (i = 0; i < 6; i++) { - for (i0 = 0; i0 < 12; i0++) { - c_K_k[i + 6 * i0] = 0.0F; - for (i1 = 0; i1 < 12; i1++) { - c_K_k[i + 6 * i0] += (real32_T)iv6[i + 6 * i1] * P_apriori[i1 + 12 - * i0]; - } - } - - for (i0 = 0; i0 < 6; i0++) { - fv2[i + 6 * i0] = 0.0F; - for (i1 = 0; i1 < 12; i1++) { - fv2[i + 6 * i0] += c_K_k[i + 6 * i1] * (real32_T)iv5[i1 + 12 * i0]; - } - } - } - - b_K_k[0] = r[0]; - b_K_k[6] = 0.0F; - b_K_k[12] = 0.0F; - b_K_k[18] = 0.0F; - b_K_k[24] = 0.0F; - b_K_k[30] = 0.0F; - b_K_k[1] = 0.0F; - b_K_k[7] = r[0]; - b_K_k[13] = 0.0F; - b_K_k[19] = 0.0F; - b_K_k[25] = 0.0F; - b_K_k[31] = 0.0F; - b_K_k[2] = 0.0F; - b_K_k[8] = 0.0F; - b_K_k[14] = r[0]; - b_K_k[20] = 0.0F; - b_K_k[26] = 0.0F; - b_K_k[32] = 0.0F; - b_K_k[3] = 0.0F; - b_K_k[9] = 0.0F; - b_K_k[15] = 0.0F; - b_K_k[21] = r[1]; - b_K_k[27] = 0.0F; - b_K_k[33] = 0.0F; - b_K_k[4] = 0.0F; - b_K_k[10] = 0.0F; - b_K_k[16] = 0.0F; - b_K_k[22] = 0.0F; - b_K_k[28] = r[1]; - b_K_k[34] = 0.0F; - b_K_k[5] = 0.0F; - b_K_k[11] = 0.0F; - b_K_k[17] = 0.0F; - b_K_k[23] = 0.0F; - b_K_k[29] = 0.0F; - b_K_k[35] = r[1]; - for (i = 0; i < 6; i++) { - for (i0 = 0; i0 < 6; i0++) { - c_P_apriori[i0 + 6 * i] = fv2[i0 + 6 * i] + b_K_k[i0 + 6 * i]; - } - } - - c_mrdivide(d_P_apriori, c_P_apriori, c_K_k); - - /* 'attitudeKalmanfilter:179' x_aposteriori=x_apriori+K_k*y_k; */ - for (i = 0; i < 6; i++) { - f0 = 0.0F; - for (i0 = 0; i0 < 12; i0++) { - f0 += (real32_T)iv6[i + 6 * i0] * x_apriori[i0]; - } - - b_z[i] = z[i] - f0; - } - - for (i = 0; i < 12; i++) { - f0 = 0.0F; - for (i0 = 0; i0 < 6; i0++) { - f0 += c_K_k[i + 12 * i0] * b_z[i0]; - } - - x_aposteriori[i] = x_apriori[i] + f0; - } - - /* 'attitudeKalmanfilter:180' P_aposteriori=(eye(12)-K_k*H_k(1:6,1:12))*P_apriori; */ - b_eye(dv1); - for (i = 0; i < 12; i++) { - for (i0 = 0; i0 < 12; i0++) { - f0 = 0.0F; - for (i1 = 0; i1 < 6; i1++) { - f0 += c_K_k[i + 12 * i1] * (real32_T)iv6[i1 + 6 * i0]; - } - - b_A_lin[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - f0; - } - } - - for (i = 0; i < 12; i++) { - for (i0 = 0; i0 < 12; i0++) { - P_aposteriori[i + 12 * i0] = 0.0F; - for (i1 = 0; i1 < 12; i1++) { - P_aposteriori[i + 12 * i0] += b_A_lin[i + 12 * i1] * P_apriori[i1 - + 12 * i0]; - } - } - } - } else { - /* 'attitudeKalmanfilter:181' else */ - /* 'attitudeKalmanfilter:182' if updateVect(1)==1&&updateVect(2)==0&&updateVect(3)==1 */ - if ((updateVect[0] == 1) && (updateVect[1] == 0) && (updateVect[2] == 1)) - { - /* 'attitudeKalmanfilter:183' R=[r(1),0,0,0,0,0; */ - /* 'attitudeKalmanfilter:184' 0,r(1),0,0,0,0; */ - /* 'attitudeKalmanfilter:185' 0,0,r(1),0,0,0; */ - /* 'attitudeKalmanfilter:186' 0,0,0,r(3),0,0; */ - /* 'attitudeKalmanfilter:187' 0,0,0,0,r(3),0; */ - /* 'attitudeKalmanfilter:188' 0,0,0,0,0,r(3)]; */ - /* observation matrix */ - /* 'attitudeKalmanfilter:191' H_k=[ E, Z, Z, Z; */ - /* 'attitudeKalmanfilter:192' Z, Z, Z, E]; */ - /* 'attitudeKalmanfilter:194' y_k=[z(1:3);z(7:9)]-H_k(1:6,1:12)*x_apriori; */ - /* 'attitudeKalmanfilter:196' S_k=H_k(1:6,1:12)*P_apriori*H_k(1:6,1:12)'+R(1:6,1:6); */ - /* 'attitudeKalmanfilter:197' K_k=(P_apriori*H_k(1:6,1:12)'/(S_k)); */ - for (i = 0; i < 12; i++) { - for (i0 = 0; i0 < 6; i0++) { - d_P_apriori[i + 12 * i0] = 0.0F; - for (i1 = 0; i1 < 12; i1++) { - d_P_apriori[i + 12 * i0] += P_apriori[i + 12 * i1] * (real32_T) - iv7[i1 + 12 * i0]; - } - } - } - - for (i = 0; i < 6; i++) { - for (i0 = 0; i0 < 12; i0++) { - c_K_k[i + 6 * i0] = 0.0F; - for (i1 = 0; i1 < 12; i1++) { - c_K_k[i + 6 * i0] += (real32_T)iv8[i + 6 * i1] * P_apriori[i1 + - 12 * i0]; - } - } - - for (i0 = 0; i0 < 6; i0++) { - fv2[i + 6 * i0] = 0.0F; - for (i1 = 0; i1 < 12; i1++) { - fv2[i + 6 * i0] += c_K_k[i + 6 * i1] * (real32_T)iv7[i1 + 12 * - i0]; - } - } - } - - b_K_k[0] = r[0]; - b_K_k[6] = 0.0F; - b_K_k[12] = 0.0F; - b_K_k[18] = 0.0F; - b_K_k[24] = 0.0F; - b_K_k[30] = 0.0F; - b_K_k[1] = 0.0F; - b_K_k[7] = r[0]; - b_K_k[13] = 0.0F; - b_K_k[19] = 0.0F; - b_K_k[25] = 0.0F; - b_K_k[31] = 0.0F; - b_K_k[2] = 0.0F; - b_K_k[8] = 0.0F; - b_K_k[14] = r[0]; - b_K_k[20] = 0.0F; - b_K_k[26] = 0.0F; - b_K_k[32] = 0.0F; - b_K_k[3] = 0.0F; - b_K_k[9] = 0.0F; - b_K_k[15] = 0.0F; - b_K_k[21] = r[2]; - b_K_k[27] = 0.0F; - b_K_k[33] = 0.0F; - b_K_k[4] = 0.0F; - b_K_k[10] = 0.0F; - b_K_k[16] = 0.0F; - b_K_k[22] = 0.0F; - b_K_k[28] = r[2]; - b_K_k[34] = 0.0F; - b_K_k[5] = 0.0F; - b_K_k[11] = 0.0F; - b_K_k[17] = 0.0F; - b_K_k[23] = 0.0F; - b_K_k[29] = 0.0F; - b_K_k[35] = r[2]; - for (i = 0; i < 6; i++) { - for (i0 = 0; i0 < 6; i0++) { - c_P_apriori[i0 + 6 * i] = fv2[i0 + 6 * i] + b_K_k[i0 + 6 * i]; - } - } - - c_mrdivide(d_P_apriori, c_P_apriori, c_K_k); - - /* 'attitudeKalmanfilter:200' x_aposteriori=x_apriori+K_k*y_k; */ - for (i = 0; i < 3; i++) { - b_z[i] = z[i]; - } - - for (i = 0; i < 3; i++) { - b_z[i + 3] = z[i + 6]; - } - - for (i = 0; i < 6; i++) { - fv3[i] = 0.0F; - for (i0 = 0; i0 < 12; i0++) { - fv3[i] += (real32_T)iv8[i + 6 * i0] * x_apriori[i0]; - } - - c_z[i] = b_z[i] - fv3[i]; - } - - for (i = 0; i < 12; i++) { - f0 = 0.0F; - for (i0 = 0; i0 < 6; i0++) { - f0 += c_K_k[i + 12 * i0] * c_z[i0]; - } - - x_aposteriori[i] = x_apriori[i] + f0; - } - - /* 'attitudeKalmanfilter:201' P_aposteriori=(eye(12)-K_k*H_k(1:6,1:12))*P_apriori; */ - b_eye(dv1); - for (i = 0; i < 12; i++) { - for (i0 = 0; i0 < 12; i0++) { - f0 = 0.0F; - for (i1 = 0; i1 < 6; i1++) { - f0 += c_K_k[i + 12 * i1] * (real32_T)iv8[i1 + 6 * i0]; - } - - b_A_lin[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - f0; - } - } - - for (i = 0; i < 12; i++) { - for (i0 = 0; i0 < 12; i0++) { - P_aposteriori[i + 12 * i0] = 0.0F; - for (i1 = 0; i1 < 12; i1++) { - P_aposteriori[i + 12 * i0] += b_A_lin[i + 12 * i1] * - P_apriori[i1 + 12 * i0]; - } - } - } - } else { - /* 'attitudeKalmanfilter:202' else */ - /* 'attitudeKalmanfilter:203' x_aposteriori=x_apriori; */ - for (i = 0; i < 12; i++) { - x_aposteriori[i] = x_apriori[i]; - } - - /* 'attitudeKalmanfilter:204' P_aposteriori=P_apriori; */ - memcpy(&P_aposteriori[0], &P_apriori[0], 144U * sizeof(real32_T)); - } - } - } - } - - /* % euler anglels extraction */ - /* 'attitudeKalmanfilter:213' z_n_b = -x_aposteriori(7:9)./norm(x_aposteriori(7:9)); */ - for (i = 0; i < 3; i++) { - x_n_b[i] = -x_aposteriori[i + 6]; - } - - rdivide(x_n_b, norm(*(real32_T (*)[3])&x_aposteriori[6]), z_n_b); - - /* 'attitudeKalmanfilter:214' m_n_b = x_aposteriori(10:12)./norm(x_aposteriori(10:12)); */ - rdivide(*(real32_T (*)[3])&x_aposteriori[9], norm(*(real32_T (*)[3])& - x_aposteriori[9]), wak); - - /* 'attitudeKalmanfilter:216' y_n_b=cross(z_n_b,m_n_b); */ - for (i = 0; i < 3; i++) { - x_n_b[i] = wak[i]; - } - - cross(z_n_b, x_n_b, wak); - - /* 'attitudeKalmanfilter:217' y_n_b=y_n_b./norm(y_n_b); */ - for (i = 0; i < 3; i++) { - x_n_b[i] = wak[i]; - } - - rdivide(x_n_b, norm(wak), wak); - - /* 'attitudeKalmanfilter:219' x_n_b=(cross(y_n_b,z_n_b)); */ - cross(wak, z_n_b, x_n_b); - - /* 'attitudeKalmanfilter:220' x_n_b=x_n_b./norm(x_n_b); */ - for (i = 0; i < 3; i++) { - b_x_aposteriori_k[i] = x_n_b[i]; - } - - rdivide(b_x_aposteriori_k, norm(x_n_b), x_n_b); - - /* 'attitudeKalmanfilter:226' Rot_matrix=[x_n_b,y_n_b,z_n_b]; */ - for (i = 0; i < 3; i++) { - Rot_matrix[i] = x_n_b[i]; - Rot_matrix[3 + i] = wak[i]; - Rot_matrix[6 + i] = z_n_b[i]; - } - - /* 'attitudeKalmanfilter:230' phi=atan2(Rot_matrix(2,3),Rot_matrix(3,3)); */ - /* 'attitudeKalmanfilter:231' theta=-asin(Rot_matrix(1,3)); */ - /* 'attitudeKalmanfilter:232' psi=atan2(Rot_matrix(1,2),Rot_matrix(1,1)); */ - /* 'attitudeKalmanfilter:233' eulerAngles=[phi;theta;psi]; */ - eulerAngles[0] = rt_atan2f_snf(Rot_matrix[7], Rot_matrix[8]); - eulerAngles[1] = -(real32_T)asin(Rot_matrix[6]); - eulerAngles[2] = rt_atan2f_snf(Rot_matrix[3], Rot_matrix[0]); -} - -/* End of code generation (attitudeKalmanfilter.c) */ diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.h b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.h deleted file mode 100755 index afa63c1a9..000000000 --- a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.h +++ /dev/null @@ -1,34 +0,0 @@ -/* - * attitudeKalmanfilter.h - * - * Code generation for function 'attitudeKalmanfilter' - * - * C source code generated on: Sat Jan 19 15:25:29 2013 - * - */ - -#ifndef __ATTITUDEKALMANFILTER_H__ -#define __ATTITUDEKALMANFILTER_H__ -/* Include files */ -#include -#include -#include -#include -#include "rt_defines.h" -#include "rt_nonfinite.h" - -#include "rtwtypes.h" -#include "attitudeKalmanfilter_types.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ -extern void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const real32_T z[9], const real32_T x_aposteriori_k[12], const real32_T P_aposteriori_k[144], const real32_T q[12], real32_T r[9], real32_T eulerAngles[3], real32_T Rot_matrix[9], real32_T x_aposteriori[12], real32_T P_aposteriori[144]); -#endif -/* End of code generation (attitudeKalmanfilter.h) */ diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.c b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.c deleted file mode 100755 index 7d620d7fa..000000000 --- a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.c +++ /dev/null @@ -1,31 +0,0 @@ -/* - * attitudeKalmanfilter_initialize.c - * - * Code generation for function 'attitudeKalmanfilter_initialize' - * - * C source code generated on: Sat Jan 19 15:25:29 2013 - * - */ - -/* Include files */ -#include "rt_nonfinite.h" -#include "attitudeKalmanfilter.h" -#include "attitudeKalmanfilter_initialize.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ - -/* Function Definitions */ -void attitudeKalmanfilter_initialize(void) -{ - rt_InitInfAndNaN(8U); -} - -/* End of code generation (attitudeKalmanfilter_initialize.c) */ diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.h b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.h deleted file mode 100755 index 8b599be66..000000000 --- a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.h +++ /dev/null @@ -1,34 +0,0 @@ -/* - * attitudeKalmanfilter_initialize.h - * - * Code generation for function 'attitudeKalmanfilter_initialize' - * - * C source code generated on: Sat Jan 19 15:25:29 2013 - * - */ - -#ifndef __ATTITUDEKALMANFILTER_INITIALIZE_H__ -#define __ATTITUDEKALMANFILTER_INITIALIZE_H__ -/* Include files */ -#include -#include -#include -#include -#include "rt_defines.h" -#include "rt_nonfinite.h" - -#include "rtwtypes.h" -#include "attitudeKalmanfilter_types.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ -extern void attitudeKalmanfilter_initialize(void); -#endif -/* End of code generation (attitudeKalmanfilter_initialize.h) */ diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.c b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.c deleted file mode 100755 index 7f9727419..000000000 --- a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.c +++ /dev/null @@ -1,31 +0,0 @@ -/* - * attitudeKalmanfilter_terminate.c - * - * Code generation for function 'attitudeKalmanfilter_terminate' - * - * C source code generated on: Sat Jan 19 15:25:29 2013 - * - */ - -/* Include files */ -#include "rt_nonfinite.h" -#include "attitudeKalmanfilter.h" -#include "attitudeKalmanfilter_terminate.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ - -/* Function Definitions */ -void attitudeKalmanfilter_terminate(void) -{ - /* (no terminate code required) */ -} - -/* End of code generation (attitudeKalmanfilter_terminate.c) */ diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.h b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.h deleted file mode 100755 index da84a5024..000000000 --- a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.h +++ /dev/null @@ -1,34 +0,0 @@ -/* - * attitudeKalmanfilter_terminate.h - * - * Code generation for function 'attitudeKalmanfilter_terminate' - * - * C source code generated on: Sat Jan 19 15:25:29 2013 - * - */ - -#ifndef __ATTITUDEKALMANFILTER_TERMINATE_H__ -#define __ATTITUDEKALMANFILTER_TERMINATE_H__ -/* Include files */ -#include -#include -#include -#include -#include "rt_defines.h" -#include "rt_nonfinite.h" - -#include "rtwtypes.h" -#include "attitudeKalmanfilter_types.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ -extern void attitudeKalmanfilter_terminate(void); -#endif -/* End of code generation (attitudeKalmanfilter_terminate.h) */ diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_types.h b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_types.h deleted file mode 100755 index 30fd1e75e..000000000 --- a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_types.h +++ /dev/null @@ -1,16 +0,0 @@ -/* - * attitudeKalmanfilter_types.h - * - * Code generation for function 'attitudeKalmanfilter' - * - * C source code generated on: Sat Jan 19 15:25:29 2013 - * - */ - -#ifndef __ATTITUDEKALMANFILTER_TYPES_H__ -#define __ATTITUDEKALMANFILTER_TYPES_H__ - -/* Type Definitions */ - -#endif -/* End of code generation (attitudeKalmanfilter_types.h) */ diff --git a/apps/attitude_estimator_ekf/codegen/cross.c b/apps/attitude_estimator_ekf/codegen/cross.c deleted file mode 100755 index 84ada9002..000000000 --- a/apps/attitude_estimator_ekf/codegen/cross.c +++ /dev/null @@ -1,37 +0,0 @@ -/* - * cross.c - * - * Code generation for function 'cross' - * - * C source code generated on: Sat Jan 19 15:25:29 2013 - * - */ - -/* Include files */ -#include "rt_nonfinite.h" -#include "attitudeKalmanfilter.h" -#include "cross.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ - -/* Function Definitions */ - -/* - * - */ -void cross(const real32_T a[3], const real32_T b[3], real32_T c[3]) -{ - c[0] = a[1] * b[2] - a[2] * b[1]; - c[1] = a[2] * b[0] - a[0] * b[2]; - c[2] = a[0] * b[1] - a[1] * b[0]; -} - -/* End of code generation (cross.c) */ diff --git a/apps/attitude_estimator_ekf/codegen/cross.h b/apps/attitude_estimator_ekf/codegen/cross.h deleted file mode 100755 index e727f0684..000000000 --- a/apps/attitude_estimator_ekf/codegen/cross.h +++ /dev/null @@ -1,34 +0,0 @@ -/* - * cross.h - * - * Code generation for function 'cross' - * - * C source code generated on: Sat Jan 19 15:25:29 2013 - * - */ - -#ifndef __CROSS_H__ -#define __CROSS_H__ -/* Include files */ -#include -#include -#include -#include -#include "rt_defines.h" -#include "rt_nonfinite.h" - -#include "rtwtypes.h" -#include "attitudeKalmanfilter_types.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ -extern void cross(const real32_T a[3], const real32_T b[3], real32_T c[3]); -#endif -/* End of code generation (cross.h) */ diff --git a/apps/attitude_estimator_ekf/codegen/eye.c b/apps/attitude_estimator_ekf/codegen/eye.c deleted file mode 100755 index b89ab58ef..000000000 --- a/apps/attitude_estimator_ekf/codegen/eye.c +++ /dev/null @@ -1,51 +0,0 @@ -/* - * eye.c - * - * Code generation for function 'eye' - * - * C source code generated on: Sat Jan 19 15:25:29 2013 - * - */ - -/* Include files */ -#include "rt_nonfinite.h" -#include "attitudeKalmanfilter.h" -#include "eye.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ - -/* Function Definitions */ - -/* - * - */ -void b_eye(real_T I[144]) -{ - int32_T i; - memset(&I[0], 0, 144U * sizeof(real_T)); - for (i = 0; i < 12; i++) { - I[i + 12 * i] = 1.0; - } -} - -/* - * - */ -void eye(real_T I[9]) -{ - int32_T i; - memset(&I[0], 0, 9U * sizeof(real_T)); - for (i = 0; i < 3; i++) { - I[i + 3 * i] = 1.0; - } -} - -/* End of code generation (eye.c) */ diff --git a/apps/attitude_estimator_ekf/codegen/eye.h b/apps/attitude_estimator_ekf/codegen/eye.h deleted file mode 100755 index 94fbe7671..000000000 --- a/apps/attitude_estimator_ekf/codegen/eye.h +++ /dev/null @@ -1,35 +0,0 @@ -/* - * eye.h - * - * Code generation for function 'eye' - * - * C source code generated on: Sat Jan 19 15:25:29 2013 - * - */ - -#ifndef __EYE_H__ -#define __EYE_H__ -/* Include files */ -#include -#include -#include -#include -#include "rt_defines.h" -#include "rt_nonfinite.h" - -#include "rtwtypes.h" -#include "attitudeKalmanfilter_types.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ -extern void b_eye(real_T I[144]); -extern void eye(real_T I[9]); -#endif -/* End of code generation (eye.h) */ diff --git a/apps/attitude_estimator_ekf/codegen/mrdivide.c b/apps/attitude_estimator_ekf/codegen/mrdivide.c deleted file mode 100755 index a810f22e4..000000000 --- a/apps/attitude_estimator_ekf/codegen/mrdivide.c +++ /dev/null @@ -1,357 +0,0 @@ -/* - * mrdivide.c - * - * Code generation for function 'mrdivide' - * - * C source code generated on: Sat Jan 19 15:25:29 2013 - * - */ - -/* Include files */ -#include "rt_nonfinite.h" -#include "attitudeKalmanfilter.h" -#include "mrdivide.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ - -/* Function Definitions */ - -/* - * - */ -void b_mrdivide(const real32_T A[36], const real32_T B[9], real32_T y[36]) -{ - real32_T b_A[9]; - int32_T rtemp; - int32_T k; - real32_T b_B[36]; - int32_T r1; - int32_T r2; - int32_T r3; - real32_T maxval; - real32_T a21; - real32_T Y[36]; - for (rtemp = 0; rtemp < 3; rtemp++) { - for (k = 0; k < 3; k++) { - b_A[k + 3 * rtemp] = B[rtemp + 3 * k]; - } - } - - for (rtemp = 0; rtemp < 12; rtemp++) { - for (k = 0; k < 3; k++) { - b_B[k + 3 * rtemp] = A[rtemp + 12 * k]; - } - } - - r1 = 0; - r2 = 1; - r3 = 2; - maxval = (real32_T)fabs(b_A[0]); - a21 = (real32_T)fabs(b_A[1]); - if (a21 > maxval) { - maxval = a21; - r1 = 1; - r2 = 0; - } - - if ((real32_T)fabs(b_A[2]) > maxval) { - r1 = 2; - r2 = 1; - r3 = 0; - } - - b_A[r2] /= b_A[r1]; - b_A[r3] /= b_A[r1]; - b_A[3 + r2] -= b_A[r2] * b_A[3 + r1]; - b_A[3 + r3] -= b_A[r3] * b_A[3 + r1]; - b_A[6 + r2] -= b_A[r2] * b_A[6 + r1]; - b_A[6 + r3] -= b_A[r3] * b_A[6 + r1]; - if ((real32_T)fabs(b_A[3 + r3]) > (real32_T)fabs(b_A[3 + r2])) { - rtemp = r2; - r2 = r3; - r3 = rtemp; - } - - b_A[3 + r3] /= b_A[3 + r2]; - b_A[6 + r3] -= b_A[3 + r3] * b_A[6 + r2]; - for (k = 0; k < 12; k++) { - Y[3 * k] = b_B[r1 + 3 * k]; - Y[1 + 3 * k] = b_B[r2 + 3 * k] - Y[3 * k] * b_A[r2]; - Y[2 + 3 * k] = (b_B[r3 + 3 * k] - Y[3 * k] * b_A[r3]) - Y[1 + 3 * k] * b_A[3 - + r3]; - Y[2 + 3 * k] /= b_A[6 + r3]; - Y[3 * k] -= Y[2 + 3 * k] * b_A[6 + r1]; - Y[1 + 3 * k] -= Y[2 + 3 * k] * b_A[6 + r2]; - Y[1 + 3 * k] /= b_A[3 + r2]; - Y[3 * k] -= Y[1 + 3 * k] * b_A[3 + r1]; - Y[3 * k] /= b_A[r1]; - } - - for (rtemp = 0; rtemp < 3; rtemp++) { - for (k = 0; k < 12; k++) { - y[k + 12 * rtemp] = Y[rtemp + 3 * k]; - } - } -} - -/* - * - */ -void c_mrdivide(const real32_T A[72], const real32_T B[36], real32_T y[72]) -{ - real32_T b_A[36]; - int8_T ipiv[6]; - int32_T i3; - int32_T iy; - int32_T j; - int32_T c; - int32_T ix; - real32_T temp; - int32_T k; - real32_T s; - int32_T jy; - int32_T ijA; - real32_T Y[72]; - for (i3 = 0; i3 < 6; i3++) { - for (iy = 0; iy < 6; iy++) { - b_A[iy + 6 * i3] = B[i3 + 6 * iy]; - } - - ipiv[i3] = (int8_T)(1 + i3); - } - - for (j = 0; j < 5; j++) { - c = j * 7; - iy = 0; - ix = c; - temp = (real32_T)fabs(b_A[c]); - for (k = 2; k <= 6 - j; k++) { - ix++; - s = (real32_T)fabs(b_A[ix]); - if (s > temp) { - iy = k - 1; - temp = s; - } - } - - if (b_A[c + iy] != 0.0F) { - if (iy != 0) { - ipiv[j] = (int8_T)((j + iy) + 1); - ix = j; - iy += j; - for (k = 0; k < 6; k++) { - temp = b_A[ix]; - b_A[ix] = b_A[iy]; - b_A[iy] = temp; - ix += 6; - iy += 6; - } - } - - i3 = (c - j) + 6; - for (jy = c + 1; jy + 1 <= i3; jy++) { - b_A[jy] /= b_A[c]; - } - } - - iy = c; - jy = c + 6; - for (k = 1; k <= 5 - j; k++) { - temp = b_A[jy]; - if (b_A[jy] != 0.0F) { - ix = c + 1; - i3 = (iy - j) + 12; - for (ijA = 7 + iy; ijA + 1 <= i3; ijA++) { - b_A[ijA] += b_A[ix] * -temp; - ix++; - } - } - - jy += 6; - iy += 6; - } - } - - for (i3 = 0; i3 < 12; i3++) { - for (iy = 0; iy < 6; iy++) { - Y[iy + 6 * i3] = A[i3 + 12 * iy]; - } - } - - for (jy = 0; jy < 6; jy++) { - if (ipiv[jy] != jy + 1) { - for (j = 0; j < 12; j++) { - temp = Y[jy + 6 * j]; - Y[jy + 6 * j] = Y[(ipiv[jy] + 6 * j) - 1]; - Y[(ipiv[jy] + 6 * j) - 1] = temp; - } - } - } - - for (j = 0; j < 12; j++) { - c = 6 * j; - for (k = 0; k < 6; k++) { - iy = 6 * k; - if (Y[k + c] != 0.0F) { - for (jy = k + 2; jy < 7; jy++) { - Y[(jy + c) - 1] -= Y[k + c] * b_A[(jy + iy) - 1]; - } - } - } - } - - for (j = 0; j < 12; j++) { - c = 6 * j; - for (k = 5; k > -1; k += -1) { - iy = 6 * k; - if (Y[k + c] != 0.0F) { - Y[k + c] /= b_A[k + iy]; - for (jy = 0; jy + 1 <= k; jy++) { - Y[jy + c] -= Y[k + c] * b_A[jy + iy]; - } - } - } - } - - for (i3 = 0; i3 < 6; i3++) { - for (iy = 0; iy < 12; iy++) { - y[iy + 12 * i3] = Y[i3 + 6 * iy]; - } - } -} - -/* - * - */ -void mrdivide(const real32_T A[108], const real32_T B[81], real32_T y[108]) -{ - real32_T b_A[81]; - int8_T ipiv[9]; - int32_T i2; - int32_T iy; - int32_T j; - int32_T c; - int32_T ix; - real32_T temp; - int32_T k; - real32_T s; - int32_T jy; - int32_T ijA; - real32_T Y[108]; - for (i2 = 0; i2 < 9; i2++) { - for (iy = 0; iy < 9; iy++) { - b_A[iy + 9 * i2] = B[i2 + 9 * iy]; - } - - ipiv[i2] = (int8_T)(1 + i2); - } - - for (j = 0; j < 8; j++) { - c = j * 10; - iy = 0; - ix = c; - temp = (real32_T)fabs(b_A[c]); - for (k = 2; k <= 9 - j; k++) { - ix++; - s = (real32_T)fabs(b_A[ix]); - if (s > temp) { - iy = k - 1; - temp = s; - } - } - - if (b_A[c + iy] != 0.0F) { - if (iy != 0) { - ipiv[j] = (int8_T)((j + iy) + 1); - ix = j; - iy += j; - for (k = 0; k < 9; k++) { - temp = b_A[ix]; - b_A[ix] = b_A[iy]; - b_A[iy] = temp; - ix += 9; - iy += 9; - } - } - - i2 = (c - j) + 9; - for (jy = c + 1; jy + 1 <= i2; jy++) { - b_A[jy] /= b_A[c]; - } - } - - iy = c; - jy = c + 9; - for (k = 1; k <= 8 - j; k++) { - temp = b_A[jy]; - if (b_A[jy] != 0.0F) { - ix = c + 1; - i2 = (iy - j) + 18; - for (ijA = 10 + iy; ijA + 1 <= i2; ijA++) { - b_A[ijA] += b_A[ix] * -temp; - ix++; - } - } - - jy += 9; - iy += 9; - } - } - - for (i2 = 0; i2 < 12; i2++) { - for (iy = 0; iy < 9; iy++) { - Y[iy + 9 * i2] = A[i2 + 12 * iy]; - } - } - - for (jy = 0; jy < 9; jy++) { - if (ipiv[jy] != jy + 1) { - for (j = 0; j < 12; j++) { - temp = Y[jy + 9 * j]; - Y[jy + 9 * j] = Y[(ipiv[jy] + 9 * j) - 1]; - Y[(ipiv[jy] + 9 * j) - 1] = temp; - } - } - } - - for (j = 0; j < 12; j++) { - c = 9 * j; - for (k = 0; k < 9; k++) { - iy = 9 * k; - if (Y[k + c] != 0.0F) { - for (jy = k + 2; jy < 10; jy++) { - Y[(jy + c) - 1] -= Y[k + c] * b_A[(jy + iy) - 1]; - } - } - } - } - - for (j = 0; j < 12; j++) { - c = 9 * j; - for (k = 8; k > -1; k += -1) { - iy = 9 * k; - if (Y[k + c] != 0.0F) { - Y[k + c] /= b_A[k + iy]; - for (jy = 0; jy + 1 <= k; jy++) { - Y[jy + c] -= Y[k + c] * b_A[jy + iy]; - } - } - } - } - - for (i2 = 0; i2 < 9; i2++) { - for (iy = 0; iy < 12; iy++) { - y[iy + 12 * i2] = Y[i2 + 9 * iy]; - } - } -} - -/* End of code generation (mrdivide.c) */ diff --git a/apps/attitude_estimator_ekf/codegen/mrdivide.h b/apps/attitude_estimator_ekf/codegen/mrdivide.h deleted file mode 100755 index 2d3b0d51f..000000000 --- a/apps/attitude_estimator_ekf/codegen/mrdivide.h +++ /dev/null @@ -1,36 +0,0 @@ -/* - * mrdivide.h - * - * Code generation for function 'mrdivide' - * - * C source code generated on: Sat Jan 19 15:25:29 2013 - * - */ - -#ifndef __MRDIVIDE_H__ -#define __MRDIVIDE_H__ -/* Include files */ -#include -#include -#include -#include -#include "rt_defines.h" -#include "rt_nonfinite.h" - -#include "rtwtypes.h" -#include "attitudeKalmanfilter_types.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ -extern void b_mrdivide(const real32_T A[36], const real32_T B[9], real32_T y[36]); -extern void c_mrdivide(const real32_T A[72], const real32_T B[36], real32_T y[72]); -extern void mrdivide(const real32_T A[108], const real32_T B[81], real32_T y[108]); -#endif -/* End of code generation (mrdivide.h) */ diff --git a/apps/attitude_estimator_ekf/codegen/norm.c b/apps/attitude_estimator_ekf/codegen/norm.c deleted file mode 100755 index 0c418cc7b..000000000 --- a/apps/attitude_estimator_ekf/codegen/norm.c +++ /dev/null @@ -1,54 +0,0 @@ -/* - * norm.c - * - * Code generation for function 'norm' - * - * C source code generated on: Sat Jan 19 15:25:29 2013 - * - */ - -/* Include files */ -#include "rt_nonfinite.h" -#include "attitudeKalmanfilter.h" -#include "norm.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ - -/* Function Definitions */ - -/* - * - */ -real32_T norm(const real32_T x[3]) -{ - real32_T y; - real32_T scale; - int32_T k; - real32_T absxk; - real32_T t; - y = 0.0F; - scale = 1.17549435E-38F; - for (k = 0; k < 3; k++) { - absxk = (real32_T)fabs(x[k]); - if (absxk > scale) { - t = scale / absxk; - y = 1.0F + y * t * t; - scale = absxk; - } else { - t = absxk / scale; - y += t * t; - } - } - - return scale * (real32_T)sqrt(y); -} - -/* End of code generation (norm.c) */ diff --git a/apps/attitude_estimator_ekf/codegen/norm.h b/apps/attitude_estimator_ekf/codegen/norm.h deleted file mode 100755 index 60cf77b57..000000000 --- a/apps/attitude_estimator_ekf/codegen/norm.h +++ /dev/null @@ -1,34 +0,0 @@ -/* - * norm.h - * - * Code generation for function 'norm' - * - * C source code generated on: Sat Jan 19 15:25:29 2013 - * - */ - -#ifndef __NORM_H__ -#define __NORM_H__ -/* Include files */ -#include -#include -#include -#include -#include "rt_defines.h" -#include "rt_nonfinite.h" - -#include "rtwtypes.h" -#include "attitudeKalmanfilter_types.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ -extern real32_T norm(const real32_T x[3]); -#endif -/* End of code generation (norm.h) */ diff --git a/apps/attitude_estimator_ekf/codegen/rdivide.c b/apps/attitude_estimator_ekf/codegen/rdivide.c deleted file mode 100755 index d035dae5e..000000000 --- a/apps/attitude_estimator_ekf/codegen/rdivide.c +++ /dev/null @@ -1,38 +0,0 @@ -/* - * rdivide.c - * - * Code generation for function 'rdivide' - * - * C source code generated on: Sat Jan 19 15:25:29 2013 - * - */ - -/* Include files */ -#include "rt_nonfinite.h" -#include "attitudeKalmanfilter.h" -#include "rdivide.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ - -/* Function Definitions */ - -/* - * - */ -void rdivide(const real32_T x[3], real32_T y, real32_T z[3]) -{ - int32_T i; - for (i = 0; i < 3; i++) { - z[i] = x[i] / y; - } -} - -/* End of code generation (rdivide.c) */ diff --git a/apps/attitude_estimator_ekf/codegen/rdivide.h b/apps/attitude_estimator_ekf/codegen/rdivide.h deleted file mode 100755 index 4bbebebe2..000000000 --- a/apps/attitude_estimator_ekf/codegen/rdivide.h +++ /dev/null @@ -1,34 +0,0 @@ -/* - * rdivide.h - * - * Code generation for function 'rdivide' - * - * C source code generated on: Sat Jan 19 15:25:29 2013 - * - */ - -#ifndef __RDIVIDE_H__ -#define __RDIVIDE_H__ -/* Include files */ -#include -#include -#include -#include -#include "rt_defines.h" -#include "rt_nonfinite.h" - -#include "rtwtypes.h" -#include "attitudeKalmanfilter_types.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ -extern void rdivide(const real32_T x[3], real32_T y, real32_T z[3]); -#endif -/* End of code generation (rdivide.h) */ diff --git a/apps/attitude_estimator_ekf/codegen/rtGetInf.c b/apps/attitude_estimator_ekf/codegen/rtGetInf.c deleted file mode 100755 index 34164d104..000000000 --- a/apps/attitude_estimator_ekf/codegen/rtGetInf.c +++ /dev/null @@ -1,139 +0,0 @@ -/* - * rtGetInf.c - * - * Code generation for function 'attitudeKalmanfilter' - * - * C source code generated on: Sat Jan 19 15:25:29 2013 - * - */ - -/* - * Abstract: - * MATLAB for code generation function to initialize non-finite, Inf and MinusInf - */ -#include "rtGetInf.h" -#define NumBitsPerChar 8U - -/* Function: rtGetInf ================================================== - * Abstract: - * Initialize rtInf needed by the generated code. - * Inf is initialized as non-signaling. Assumes IEEE. - */ -real_T rtGetInf(void) -{ - size_t bitsPerReal = sizeof(real_T) * (NumBitsPerChar); - real_T inf = 0.0; - if (bitsPerReal == 32U) { - inf = rtGetInfF(); - } else { - uint16_T one = 1U; - enum { - LittleEndian, - BigEndian - } machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian; - switch (machByteOrder) { - case LittleEndian: - { - union { - LittleEndianIEEEDouble bitVal; - real_T fltVal; - } tmpVal; - - tmpVal.bitVal.words.wordH = 0x7FF00000U; - tmpVal.bitVal.words.wordL = 0x00000000U; - inf = tmpVal.fltVal; - break; - } - - case BigEndian: - { - union { - BigEndianIEEEDouble bitVal; - real_T fltVal; - } tmpVal; - - tmpVal.bitVal.words.wordH = 0x7FF00000U; - tmpVal.bitVal.words.wordL = 0x00000000U; - inf = tmpVal.fltVal; - break; - } - } - } - - return inf; -} - -/* Function: rtGetInfF ================================================== - * Abstract: - * Initialize rtInfF needed by the generated code. - * Inf is initialized as non-signaling. Assumes IEEE. - */ -real32_T rtGetInfF(void) -{ - IEEESingle infF; - infF.wordL.wordLuint = 0x7F800000U; - return infF.wordL.wordLreal; -} - -/* Function: rtGetMinusInf ================================================== - * Abstract: - * Initialize rtMinusInf needed by the generated code. - * Inf is initialized as non-signaling. Assumes IEEE. - */ -real_T rtGetMinusInf(void) -{ - size_t bitsPerReal = sizeof(real_T) * (NumBitsPerChar); - real_T minf = 0.0; - if (bitsPerReal == 32U) { - minf = rtGetMinusInfF(); - } else { - uint16_T one = 1U; - enum { - LittleEndian, - BigEndian - } machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian; - switch (machByteOrder) { - case LittleEndian: - { - union { - LittleEndianIEEEDouble bitVal; - real_T fltVal; - } tmpVal; - - tmpVal.bitVal.words.wordH = 0xFFF00000U; - tmpVal.bitVal.words.wordL = 0x00000000U; - minf = tmpVal.fltVal; - break; - } - - case BigEndian: - { - union { - BigEndianIEEEDouble bitVal; - real_T fltVal; - } tmpVal; - - tmpVal.bitVal.words.wordH = 0xFFF00000U; - tmpVal.bitVal.words.wordL = 0x00000000U; - minf = tmpVal.fltVal; - break; - } - } - } - - return minf; -} - -/* Function: rtGetMinusInfF ================================================== - * Abstract: - * Initialize rtMinusInfF needed by the generated code. - * Inf is initialized as non-signaling. Assumes IEEE. - */ -real32_T rtGetMinusInfF(void) -{ - IEEESingle minfF; - minfF.wordL.wordLuint = 0xFF800000U; - return minfF.wordL.wordLreal; -} - -/* End of code generation (rtGetInf.c) */ diff --git a/apps/attitude_estimator_ekf/codegen/rtGetInf.h b/apps/attitude_estimator_ekf/codegen/rtGetInf.h deleted file mode 100755 index 145373cd0..000000000 --- a/apps/attitude_estimator_ekf/codegen/rtGetInf.h +++ /dev/null @@ -1,23 +0,0 @@ -/* - * rtGetInf.h - * - * Code generation for function 'attitudeKalmanfilter' - * - * C source code generated on: Sat Jan 19 15:25:29 2013 - * - */ - -#ifndef __RTGETINF_H__ -#define __RTGETINF_H__ - -#include -#include "rtwtypes.h" -#include "rt_nonfinite.h" - -extern real_T rtGetInf(void); -extern real32_T rtGetInfF(void); -extern real_T rtGetMinusInf(void); -extern real32_T rtGetMinusInfF(void); - -#endif -/* End of code generation (rtGetInf.h) */ diff --git a/apps/attitude_estimator_ekf/codegen/rtGetNaN.c b/apps/attitude_estimator_ekf/codegen/rtGetNaN.c deleted file mode 100755 index d84ca9573..000000000 --- a/apps/attitude_estimator_ekf/codegen/rtGetNaN.c +++ /dev/null @@ -1,96 +0,0 @@ -/* - * rtGetNaN.c - * - * Code generation for function 'attitudeKalmanfilter' - * - * C source code generated on: Sat Jan 19 15:25:29 2013 - * - */ - -/* - * Abstract: - * MATLAB for code generation function to initialize non-finite, NaN - */ -#include "rtGetNaN.h" -#define NumBitsPerChar 8U - -/* Function: rtGetNaN ================================================== - * Abstract: - * Initialize rtNaN needed by the generated code. - * NaN is initialized as non-signaling. Assumes IEEE. - */ -real_T rtGetNaN(void) -{ - size_t bitsPerReal = sizeof(real_T) * (NumBitsPerChar); - real_T nan = 0.0; - if (bitsPerReal == 32U) { - nan = rtGetNaNF(); - } else { - uint16_T one = 1U; - enum { - LittleEndian, - BigEndian - } machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian; - switch (machByteOrder) { - case LittleEndian: - { - union { - LittleEndianIEEEDouble bitVal; - real_T fltVal; - } tmpVal; - - tmpVal.bitVal.words.wordH = 0xFFF80000U; - tmpVal.bitVal.words.wordL = 0x00000000U; - nan = tmpVal.fltVal; - break; - } - - case BigEndian: - { - union { - BigEndianIEEEDouble bitVal; - real_T fltVal; - } tmpVal; - - tmpVal.bitVal.words.wordH = 0x7FFFFFFFU; - tmpVal.bitVal.words.wordL = 0xFFFFFFFFU; - nan = tmpVal.fltVal; - break; - } - } - } - - return nan; -} - -/* Function: rtGetNaNF ================================================== - * Abstract: - * Initialize rtNaNF needed by the generated code. - * NaN is initialized as non-signaling. Assumes IEEE. - */ -real32_T rtGetNaNF(void) -{ - IEEESingle nanF = { { 0 } }; - uint16_T one = 1U; - enum { - LittleEndian, - BigEndian - } machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian; - switch (machByteOrder) { - case LittleEndian: - { - nanF.wordL.wordLuint = 0xFFC00000U; - break; - } - - case BigEndian: - { - nanF.wordL.wordLuint = 0x7FFFFFFFU; - break; - } - } - - return nanF.wordL.wordLreal; -} - -/* End of code generation (rtGetNaN.c) */ diff --git a/apps/attitude_estimator_ekf/codegen/rtGetNaN.h b/apps/attitude_estimator_ekf/codegen/rtGetNaN.h deleted file mode 100755 index 65fdaa96f..000000000 --- a/apps/attitude_estimator_ekf/codegen/rtGetNaN.h +++ /dev/null @@ -1,21 +0,0 @@ -/* - * rtGetNaN.h - * - * Code generation for function 'attitudeKalmanfilter' - * - * C source code generated on: Sat Jan 19 15:25:29 2013 - * - */ - -#ifndef __RTGETNAN_H__ -#define __RTGETNAN_H__ - -#include -#include "rtwtypes.h" -#include "rt_nonfinite.h" - -extern real_T rtGetNaN(void); -extern real32_T rtGetNaNF(void); - -#endif -/* End of code generation (rtGetNaN.h) */ diff --git a/apps/attitude_estimator_ekf/codegen/rt_defines.h b/apps/attitude_estimator_ekf/codegen/rt_defines.h deleted file mode 100755 index 356498363..000000000 --- a/apps/attitude_estimator_ekf/codegen/rt_defines.h +++ /dev/null @@ -1,24 +0,0 @@ -/* - * rt_defines.h - * - * Code generation for function 'attitudeKalmanfilter' - * - * C source code generated on: Sat Jan 19 15:25:29 2013 - * - */ - -#ifndef __RT_DEFINES_H__ -#define __RT_DEFINES_H__ - -#include - -#define RT_PI 3.14159265358979323846 -#define RT_PIF 3.1415927F -#define RT_LN_10 2.30258509299404568402 -#define RT_LN_10F 2.3025851F -#define RT_LOG10E 0.43429448190325182765 -#define RT_LOG10EF 0.43429449F -#define RT_E 2.7182818284590452354 -#define RT_EF 2.7182817F -#endif -/* End of code generation (rt_defines.h) */ diff --git a/apps/attitude_estimator_ekf/codegen/rt_nonfinite.c b/apps/attitude_estimator_ekf/codegen/rt_nonfinite.c deleted file mode 100755 index 303d1d9d2..000000000 --- a/apps/attitude_estimator_ekf/codegen/rt_nonfinite.c +++ /dev/null @@ -1,87 +0,0 @@ -/* - * rt_nonfinite.c - * - * Code generation for function 'attitudeKalmanfilter' - * - * C source code generated on: Sat Jan 19 15:25:29 2013 - * - */ - -/* - * Abstract: - * MATLAB for code generation function to initialize non-finites, - * (Inf, NaN and -Inf). - */ -#include "rt_nonfinite.h" -#include "rtGetNaN.h" -#include "rtGetInf.h" - -real_T rtInf; -real_T rtMinusInf; -real_T rtNaN; -real32_T rtInfF; -real32_T rtMinusInfF; -real32_T rtNaNF; - -/* Function: rt_InitInfAndNaN ================================================== - * Abstract: - * Initialize the rtInf, rtMinusInf, and rtNaN needed by the - * generated code. NaN is initialized as non-signaling. Assumes IEEE. - */ -void rt_InitInfAndNaN(size_t realSize) -{ - (void) (realSize); - rtNaN = rtGetNaN(); - rtNaNF = rtGetNaNF(); - rtInf = rtGetInf(); - rtInfF = rtGetInfF(); - rtMinusInf = rtGetMinusInf(); - rtMinusInfF = rtGetMinusInfF(); -} - -/* Function: rtIsInf ================================================== - * Abstract: - * Test if value is infinite - */ -boolean_T rtIsInf(real_T value) -{ - return ((value==rtInf || value==rtMinusInf) ? 1U : 0U); -} - -/* Function: rtIsInfF ================================================= - * Abstract: - * Test if single-precision value is infinite - */ -boolean_T rtIsInfF(real32_T value) -{ - return(((value)==rtInfF || (value)==rtMinusInfF) ? 1U : 0U); -} - -/* Function: rtIsNaN ================================================== - * Abstract: - * Test if value is not a number - */ -boolean_T rtIsNaN(real_T value) -{ -#if defined(_MSC_VER) && (_MSC_VER <= 1200) - return _isnan(value)? TRUE:FALSE; -#else - return (value!=value)? 1U:0U; -#endif -} - -/* Function: rtIsNaNF ================================================= - * Abstract: - * Test if single-precision value is not a number - */ -boolean_T rtIsNaNF(real32_T value) -{ -#if defined(_MSC_VER) && (_MSC_VER <= 1200) - return _isnan((real_T)value)? true:false; -#else - return (value!=value)? 1U:0U; -#endif -} - - -/* End of code generation (rt_nonfinite.c) */ diff --git a/apps/attitude_estimator_ekf/codegen/rt_nonfinite.h b/apps/attitude_estimator_ekf/codegen/rt_nonfinite.h deleted file mode 100755 index bd56b30d9..000000000 --- a/apps/attitude_estimator_ekf/codegen/rt_nonfinite.h +++ /dev/null @@ -1,53 +0,0 @@ -/* - * rt_nonfinite.h - * - * Code generation for function 'attitudeKalmanfilter' - * - * C source code generated on: Sat Jan 19 15:25:29 2013 - * - */ - -#ifndef __RT_NONFINITE_H__ -#define __RT_NONFINITE_H__ - -#if defined(_MSC_VER) && (_MSC_VER <= 1200) -#include -#endif -#include -#include "rtwtypes.h" - -extern real_T rtInf; -extern real_T rtMinusInf; -extern real_T rtNaN; -extern real32_T rtInfF; -extern real32_T rtMinusInfF; -extern real32_T rtNaNF; -extern void rt_InitInfAndNaN(size_t realSize); -extern boolean_T rtIsInf(real_T value); -extern boolean_T rtIsInfF(real32_T value); -extern boolean_T rtIsNaN(real_T value); -extern boolean_T rtIsNaNF(real32_T value); - -typedef struct { - struct { - uint32_T wordH; - uint32_T wordL; - } words; -} BigEndianIEEEDouble; - -typedef struct { - struct { - uint32_T wordL; - uint32_T wordH; - } words; -} LittleEndianIEEEDouble; - -typedef struct { - union { - real32_T wordLreal; - uint32_T wordLuint; - } wordL; -} IEEESingle; - -#endif -/* End of code generation (rt_nonfinite.h) */ diff --git a/apps/attitude_estimator_ekf/codegen/rtwtypes.h b/apps/attitude_estimator_ekf/codegen/rtwtypes.h deleted file mode 100755 index 9a5c96267..000000000 --- a/apps/attitude_estimator_ekf/codegen/rtwtypes.h +++ /dev/null @@ -1,159 +0,0 @@ -/* - * rtwtypes.h - * - * Code generation for function 'attitudeKalmanfilter' - * - * C source code generated on: Sat Jan 19 15:25:29 2013 - * - */ - -#ifndef __RTWTYPES_H__ -#define __RTWTYPES_H__ -#ifndef TRUE -# define TRUE (1U) -#endif -#ifndef FALSE -# define FALSE (0U) -#endif -#ifndef __TMWTYPES__ -#define __TMWTYPES__ - -#include - -/*=======================================================================* - * Target hardware information - * Device type: Generic->MATLAB Host Computer - * Number of bits: char: 8 short: 16 int: 32 - * long: 32 native word size: 32 - * Byte ordering: LittleEndian - * Signed integer division rounds to: Zero - * Shift right on a signed integer as arithmetic shift: on - *=======================================================================*/ - -/*=======================================================================* - * Fixed width word size data types: * - * int8_T, int16_T, int32_T - signed 8, 16, or 32 bit integers * - * uint8_T, uint16_T, uint32_T - unsigned 8, 16, or 32 bit integers * - * real32_T, real64_T - 32 and 64 bit floating point numbers * - *=======================================================================*/ - -typedef signed char int8_T; -typedef unsigned char uint8_T; -typedef short int16_T; -typedef unsigned short uint16_T; -typedef int int32_T; -typedef unsigned int uint32_T; -typedef float real32_T; -typedef double real64_T; - -/*===========================================================================* - * Generic type definitions: real_T, time_T, boolean_T, int_T, uint_T, * - * ulong_T, char_T and byte_T. * - *===========================================================================*/ - -typedef double real_T; -typedef double time_T; -typedef unsigned char boolean_T; -typedef int int_T; -typedef unsigned int uint_T; -typedef unsigned long ulong_T; -typedef char char_T; -typedef char_T byte_T; - -/*===========================================================================* - * Complex number type definitions * - *===========================================================================*/ -#define CREAL_T - typedef struct { - real32_T re; - real32_T im; - } creal32_T; - - typedef struct { - real64_T re; - real64_T im; - } creal64_T; - - typedef struct { - real_T re; - real_T im; - } creal_T; - - typedef struct { - int8_T re; - int8_T im; - } cint8_T; - - typedef struct { - uint8_T re; - uint8_T im; - } cuint8_T; - - typedef struct { - int16_T re; - int16_T im; - } cint16_T; - - typedef struct { - uint16_T re; - uint16_T im; - } cuint16_T; - - typedef struct { - int32_T re; - int32_T im; - } cint32_T; - - typedef struct { - uint32_T re; - uint32_T im; - } cuint32_T; - - -/*=======================================================================* - * Min and Max: * - * int8_T, int16_T, int32_T - signed 8, 16, or 32 bit integers * - * uint8_T, uint16_T, uint32_T - unsigned 8, 16, or 32 bit integers * - *=======================================================================*/ - -#define MAX_int8_T ((int8_T)(127)) -#define MIN_int8_T ((int8_T)(-128)) -#define MAX_uint8_T ((uint8_T)(255)) -#define MIN_uint8_T ((uint8_T)(0)) -#define MAX_int16_T ((int16_T)(32767)) -#define MIN_int16_T ((int16_T)(-32768)) -#define MAX_uint16_T ((uint16_T)(65535)) -#define MIN_uint16_T ((uint16_T)(0)) -#define MAX_int32_T ((int32_T)(2147483647)) -#define MIN_int32_T ((int32_T)(-2147483647-1)) -#define MAX_uint32_T ((uint32_T)(0xFFFFFFFFU)) -#define MIN_uint32_T ((uint32_T)(0)) - -/* Logical type definitions */ -#if !defined(__cplusplus) && !defined(__true_false_are_keywords) -# ifndef false -# define false (0U) -# endif -# ifndef true -# define true (1U) -# endif -#endif - -/* - * MATLAB for code generation assumes the code is compiled on a target using a 2's compliment representation - * for signed integer values. - */ -#if ((SCHAR_MIN + 1) != -SCHAR_MAX) -#error "This code must be compiled using a 2's complement representation for signed integer values" -#endif - -/* - * Maximum length of a MATLAB identifier (function/variable) - * including the null-termination character. Referenced by - * rt_logging.c and rt_matrx.c. - */ -#define TMW_NAME_LENGTH_MAX 64 - -#endif -#endif -/* End of code generation (rtwtypes.h) */ diff --git a/apps/commander/.context b/apps/commander/.context deleted file mode 100644 index e69de29bb..000000000 diff --git a/apps/commander/Makefile b/apps/commander/Makefile deleted file mode 100644 index d12697274..000000000 --- a/apps/commander/Makefile +++ /dev/null @@ -1,45 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Commander application -# - -APPNAME = commander -PRIORITY = SCHED_PRIORITY_MAX - 30 -STACKSIZE = 2048 - -INCLUDES = $(TOPDIR)/../mavlink/include/mavlink - -include $(APPDIR)/mk/app.mk - diff --git a/apps/commander/calibration_routines.c b/apps/commander/calibration_routines.c deleted file mode 100644 index a26938637..000000000 --- a/apps/commander/calibration_routines.c +++ /dev/null @@ -1,219 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file calibration_routines.c - * Calibration routines implementations. - * - * @author Lorenz Meier - */ - -#include - -#include "calibration_routines.h" - - -int sphere_fit_least_squares(const float x[], const float y[], const float z[], - unsigned int size, unsigned int max_iterations, float delta, float *sphere_x, float *sphere_y, float *sphere_z, float *sphere_radius) -{ - - float x_sumplain = 0.0f; - float x_sumsq = 0.0f; - float x_sumcube = 0.0f; - - float y_sumplain = 0.0f; - float y_sumsq = 0.0f; - float y_sumcube = 0.0f; - - float z_sumplain = 0.0f; - float z_sumsq = 0.0f; - float z_sumcube = 0.0f; - - float xy_sum = 0.0f; - float xz_sum = 0.0f; - float yz_sum = 0.0f; - - float x2y_sum = 0.0f; - float x2z_sum = 0.0f; - float y2x_sum = 0.0f; - float y2z_sum = 0.0f; - float z2x_sum = 0.0f; - float z2y_sum = 0.0f; - - for (unsigned int i = 0; i < size; i++) { - - float x2 = x[i] * x[i]; - float y2 = y[i] * y[i]; - float z2 = z[i] * z[i]; - - x_sumplain += x[i]; - x_sumsq += x2; - x_sumcube += x2 * x[i]; - - y_sumplain += y[i]; - y_sumsq += y2; - y_sumcube += y2 * y[i]; - - z_sumplain += z[i]; - z_sumsq += z2; - z_sumcube += z2 * z[i]; - - xy_sum += x[i] * y[i]; - xz_sum += x[i] * z[i]; - yz_sum += y[i] * z[i]; - - x2y_sum += x2 * y[i]; - x2z_sum += x2 * z[i]; - - y2x_sum += y2 * x[i]; - y2z_sum += y2 * z[i]; - - z2x_sum += z2 * x[i]; - z2y_sum += z2 * y[i]; - } - - // - //Least Squares Fit a sphere A,B,C with radius squared Rsq to 3D data - // - // P is a structure that has been computed with the data earlier. - // P.npoints is the number of elements; the length of X,Y,Z are identical. - // P's members are logically named. - // - // X[n] is the x component of point n - // Y[n] is the y component of point n - // Z[n] is the z component of point n - // - // A is the x coordiante of the sphere - // B is the y coordiante of the sphere - // C is the z coordiante of the sphere - // Rsq is the radius squared of the sphere. - // - //This method should converge; maybe 5-100 iterations or more. - // - float x_sum = x_sumplain / size; //sum( X[n] ) - float x_sum2 = x_sumsq / size; //sum( X[n]^2 ) - float x_sum3 = x_sumcube / size; //sum( X[n]^3 ) - float y_sum = y_sumplain / size; //sum( Y[n] ) - float y_sum2 = y_sumsq / size; //sum( Y[n]^2 ) - float y_sum3 = y_sumcube / size; //sum( Y[n]^3 ) - float z_sum = z_sumplain / size; //sum( Z[n] ) - float z_sum2 = z_sumsq / size; //sum( Z[n]^2 ) - float z_sum3 = z_sumcube / size; //sum( Z[n]^3 ) - - float XY = xy_sum / size; //sum( X[n] * Y[n] ) - float XZ = xz_sum / size; //sum( X[n] * Z[n] ) - float YZ = yz_sum / size; //sum( Y[n] * Z[n] ) - float X2Y = x2y_sum / size; //sum( X[n]^2 * Y[n] ) - float X2Z = x2z_sum / size; //sum( X[n]^2 * Z[n] ) - float Y2X = y2x_sum / size; //sum( Y[n]^2 * X[n] ) - float Y2Z = y2z_sum / size; //sum( Y[n]^2 * Z[n] ) - float Z2X = z2x_sum / size; //sum( Z[n]^2 * X[n] ) - float Z2Y = z2y_sum / size; //sum( Z[n]^2 * Y[n] ) - - //Reduction of multiplications - float F0 = x_sum2 + y_sum2 + z_sum2; - float F1 = 0.5f * F0; - float F2 = -8.0f * (x_sum3 + Y2X + Z2X); - float F3 = -8.0f * (X2Y + y_sum3 + Z2Y); - float F4 = -8.0f * (X2Z + Y2Z + z_sum3); - - //Set initial conditions: - float A = x_sum; - float B = y_sum; - float C = z_sum; - - //First iteration computation: - float A2 = A * A; - float B2 = B * B; - float C2 = C * C; - float QS = A2 + B2 + C2; - float QB = -2.0f * (A * x_sum + B * y_sum + C * z_sum); - - //Set initial conditions: - float Rsq = F0 + QB + QS; - - //First iteration computation: - float Q0 = 0.5f * (QS - Rsq); - float Q1 = F1 + Q0; - float Q2 = 8.0f * (QS - Rsq + QB + F0); - float aA, aB, aC, nA, nB, nC, dA, dB, dC; - - //Iterate N times, ignore stop condition. - int n = 0; - - while (n < max_iterations) { - n++; - - //Compute denominator: - aA = Q2 + 16.0f * (A2 - 2.0f * A * x_sum + x_sum2); - aB = Q2 + 16.0f * (B2 - 2.0f * B * y_sum + y_sum2); - aC = Q2 + 16.0f * (C2 - 2.0f * C * z_sum + z_sum2); - aA = (aA == 0.0f) ? 1.0f : aA; - aB = (aB == 0.0f) ? 1.0f : aB; - aC = (aC == 0.0f) ? 1.0f : aC; - - //Compute next iteration - nA = A - ((F2 + 16.0f * (B * XY + C * XZ + x_sum * (-A2 - Q0) + A * (x_sum2 + Q1 - C * z_sum - B * y_sum))) / aA); - nB = B - ((F3 + 16.0f * (A * XY + C * YZ + y_sum * (-B2 - Q0) + B * (y_sum2 + Q1 - A * x_sum - C * z_sum))) / aB); - nC = C - ((F4 + 16.0f * (A * XZ + B * YZ + z_sum * (-C2 - Q0) + C * (z_sum2 + Q1 - A * x_sum - B * y_sum))) / aC); - - //Check for stop condition - dA = (nA - A); - dB = (nB - B); - dC = (nC - C); - - if ((dA * dA + dB * dB + dC * dC) <= delta) { break; } - - //Compute next iteration's values - A = nA; - B = nB; - C = nC; - A2 = A * A; - B2 = B * B; - C2 = C * C; - QS = A2 + B2 + C2; - QB = -2.0f * (A * x_sum + B * y_sum + C * z_sum); - Rsq = F0 + QB + QS; - Q0 = 0.5f * (QS - Rsq); - Q1 = F1 + Q0; - Q2 = 8.0f * (QS - Rsq + QB + F0); - } - - *sphere_x = A; - *sphere_y = B; - *sphere_z = C; - *sphere_radius = sqrtf(Rsq); - - return 0; -} diff --git a/apps/commander/calibration_routines.h b/apps/commander/calibration_routines.h deleted file mode 100644 index e3e7fbafd..000000000 --- a/apps/commander/calibration_routines.h +++ /dev/null @@ -1,61 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file calibration_routines.h - * Calibration routines definitions. - * - * @author Lorenz Meier - */ - -/** - * Least-squares fit of a sphere to a set of points. - * - * Fits a sphere to a set of points on the sphere surface. - * - * @param x point coordinates on the X axis - * @param y point coordinates on the Y axis - * @param z point coordinates on the Z axis - * @param size number of points - * @param max_iterations abort if maximum number of iterations have been reached. If unsure, set to 100. - * @param delta abort if error is below delta. If unsure, set to 0 to run max_iterations times. - * @param sphere_x coordinate of the sphere center on the X axis - * @param sphere_y coordinate of the sphere center on the Y axis - * @param sphere_z coordinate of the sphere center on the Z axis - * @param sphere_radius sphere radius - * - * @return 0 on success, 1 on failure - */ -int sphere_fit_least_squares(const float x[], const float y[], const float z[], - unsigned int size, unsigned int max_iterations, float delta, float *sphere_x, float *sphere_y, float *sphere_z, float *sphere_radius); \ No newline at end of file diff --git a/apps/commander/commander.c b/apps/commander/commander.c deleted file mode 100644 index 7c0a25f86..000000000 --- a/apps/commander/commander.c +++ /dev/null @@ -1,2181 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Petri Tanskanen - * Lorenz Meier - * Thomas Gubler - * Julian Oes - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file commander.c - * Main system state machine implementation. - * - * @author Petri Tanskanen - * @author Lorenz Meier - * @author Thomas Gubler - * @author Julian Oes - * - */ - -#include "commander.h" - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include "state_machine_helper.h" -#include "systemlib/systemlib.h" -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include - -/* XXX MOVE CALIBRATION TO SENSORS APP THREAD */ -#include -#include -#include -#include - -#include "calibration_routines.h" - - -PARAM_DEFINE_INT32(SYS_FAILSAVE_LL, 0); /**< Go into low-level failsafe after 0 ms */ -//PARAM_DEFINE_INT32(SYS_FAILSAVE_HL, 0); /**< Go into high-level failsafe after 0 ms */ -PARAM_DEFINE_FLOAT(TRIM_ROLL, 0.0f); -PARAM_DEFINE_FLOAT(TRIM_PITCH, 0.0f); -PARAM_DEFINE_FLOAT(TRIM_YAW, 0.0f); - -#include -extern struct system_load_s system_load; - -/* Decouple update interval and hysteris counters, all depends on intervals */ -#define COMMANDER_MONITORING_INTERVAL 50000 -#define COMMANDER_MONITORING_LOOPSPERMSEC (1/(COMMANDER_MONITORING_INTERVAL/1000.0f)) -#define LOW_VOLTAGE_BATTERY_COUNTER_LIMIT (LOW_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC) -#define CRITICAL_VOLTAGE_BATTERY_COUNTER_LIMIT (CRITICAL_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC) - -#define STICK_ON_OFF_LIMIT 0.75f -#define STICK_THRUST_RANGE 1.0f -#define STICK_ON_OFF_HYSTERESIS_TIME_MS 1000 -#define STICK_ON_OFF_COUNTER_LIMIT (STICK_ON_OFF_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC) - -#define GPS_FIX_TYPE_2D 2 -#define GPS_FIX_TYPE_3D 3 -#define GPS_QUALITY_GOOD_HYSTERIS_TIME_MS 5000 -#define GPS_QUALITY_GOOD_COUNTER_LIMIT (GPS_QUALITY_GOOD_HYSTERIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC) - -/* File descriptors */ -static int leds; -static int buzzer; -static int mavlink_fd; -static bool commander_initialized = false; -static struct vehicle_status_s current_status; /**< Main state machine */ -static orb_advert_t stat_pub; - -// static uint16_t nofix_counter = 0; -// static uint16_t gotfix_counter = 0; - -static unsigned int failsafe_lowlevel_timeout_ms; - -static bool thread_should_exit = false; /**< daemon exit flag */ -static bool thread_running = false; /**< daemon status flag */ -static int daemon_task; /**< Handle of daemon task / thread */ - -/* pthread loops */ -static void *orb_receive_loop(void *arg); - -__EXPORT int commander_main(int argc, char *argv[]); - -/** - * Mainloop of commander. - */ -int commander_thread_main(int argc, char *argv[]); - -static int buzzer_init(void); -static void buzzer_deinit(void); -static int led_init(void); -static void led_deinit(void); -static int led_toggle(int led); -static int led_on(int led); -static int led_off(int led); -static void do_gyro_calibration(int status_pub, struct vehicle_status_s *status); -static void do_mag_calibration(int status_pub, struct vehicle_status_s *status); -static void do_rc_calibration(int status_pub, struct vehicle_status_s *status); -static void do_accel_calibration(int status_pub, struct vehicle_status_s *status); -static void handle_command(int status_pub, struct vehicle_status_s *current_status, struct vehicle_command_s *cmd); - -int trigger_audio_alarm(uint8_t old_mode, uint8_t old_state, uint8_t new_mode, uint8_t new_state); - - - -/** - * Print the correct usage. - */ -static void usage(const char *reason); - -/** - * Sort calibration values. - * - * Sorts the calibration values with bubble sort. - * - * @param a The array to sort - * @param n The number of entries in the array - */ -// static void cal_bsort(float a[], int n); - -static int buzzer_init() -{ - buzzer = open("/dev/tone_alarm", O_WRONLY); - - if (buzzer < 0) { - warnx("Buzzer: open fail\n"); - return ERROR; - } - - return 0; -} - -static void buzzer_deinit() -{ - close(buzzer); -} - - -static int led_init() -{ - leds = open(LED_DEVICE_PATH, 0); - - if (leds < 0) { - warnx("LED: open fail\n"); - return ERROR; - } - - if (ioctl(leds, LED_ON, LED_BLUE) || ioctl(leds, LED_ON, LED_AMBER)) { - warnx("LED: ioctl fail\n"); - return ERROR; - } - - return 0; -} - -static void led_deinit() -{ - close(leds); -} - -static int led_toggle(int led) -{ - static int last_blue = LED_ON; - static int last_amber = LED_ON; - - if (led == LED_BLUE) last_blue = (last_blue == LED_ON) ? LED_OFF : LED_ON; - - if (led == LED_AMBER) last_amber = (last_amber == LED_ON) ? LED_OFF : LED_ON; - - return ioctl(leds, ((led == LED_BLUE) ? last_blue : last_amber), led); -} - -static int led_on(int led) -{ - return ioctl(leds, LED_ON, led); -} - -static int led_off(int led) -{ - return ioctl(leds, LED_OFF, led); -} - -enum AUDIO_PATTERN { - AUDIO_PATTERN_ERROR = 2, - AUDIO_PATTERN_NOTIFY_POSITIVE = 3, - AUDIO_PATTERN_NOTIFY_NEUTRAL = 4, - AUDIO_PATTERN_NOTIFY_NEGATIVE = 5, - AUDIO_PATTERN_NOTIFY_CHARGE = 6 -}; - -int trigger_audio_alarm(uint8_t old_mode, uint8_t old_state, uint8_t new_mode, uint8_t new_state) -{ - - /* Trigger alarm if going into any error state */ - if (((new_state == SYSTEM_STATE_GROUND_ERROR) && (old_state != SYSTEM_STATE_GROUND_ERROR)) || - ((new_state == SYSTEM_STATE_MISSION_ABORT) && (old_state != SYSTEM_STATE_MISSION_ABORT))) { - ioctl(buzzer, TONE_SET_ALARM, 0); - ioctl(buzzer, TONE_SET_ALARM, AUDIO_PATTERN_ERROR); - } - - /* Trigger neutral on arming / disarming */ - if (((new_state == SYSTEM_STATE_GROUND_READY) && (old_state != SYSTEM_STATE_GROUND_READY))) { - ioctl(buzzer, TONE_SET_ALARM, 0); - ioctl(buzzer, TONE_SET_ALARM, AUDIO_PATTERN_NOTIFY_NEUTRAL); - } - - /* Trigger Tetris on being bored */ - - return 0; -} - -void tune_confirm(void) -{ - ioctl(buzzer, TONE_SET_ALARM, 3); -} - -void tune_error(void) -{ - ioctl(buzzer, TONE_SET_ALARM, 4); -} - -void do_rc_calibration(int status_pub, struct vehicle_status_s *status) -{ - if (current_status.offboard_control_signal_lost) { - mavlink_log_critical(mavlink_fd, "TRIM CAL: ABORT. No RC signal."); - return; - } - - int sub_man = orb_subscribe(ORB_ID(manual_control_setpoint)); - struct manual_control_setpoint_s sp; - orb_copy(ORB_ID(manual_control_setpoint), sub_man, &sp); - - /* set parameters */ - - float p = sp.roll; - param_set(param_find("TRIM_ROLL"), &p); - p = sp.pitch; - param_set(param_find("TRIM_PITCH"), &p); - p = sp.yaw; - param_set(param_find("TRIM_YAW"), &p); - - /* store to permanent storage */ - /* auto-save to EEPROM */ - int save_ret = param_save_default(); - - if (save_ret != 0) { - mavlink_log_critical(mavlink_fd, "TRIM CAL: WARN: auto-save of params failed"); - } - - mavlink_log_info(mavlink_fd, "trim calibration done"); -} - -void do_mag_calibration(int status_pub, struct vehicle_status_s *status) -{ - - /* set to mag calibration mode */ - status->flag_preflight_mag_calibration = true; - state_machine_publish(status_pub, status, mavlink_fd); - - int sub_mag = orb_subscribe(ORB_ID(sensor_mag)); - struct mag_report mag; - - /* 45 seconds */ - uint64_t calibration_interval = 45 * 1000 * 1000; - - /* maximum 2000 values */ - const unsigned int calibration_maxcount = 500; - unsigned int calibration_counter = 0; - - /* limit update rate to get equally spaced measurements over time (in ms) */ - orb_set_interval(sub_mag, (calibration_interval / 1000) / calibration_maxcount); - - // XXX old cal - // * FLT_MIN is not the most negative float number, - // * but the smallest number by magnitude float can - // * represent. Use -FLT_MAX to initialize the most - // * negative number - - // float mag_max[3] = {-FLT_MAX, -FLT_MAX, -FLT_MAX}; - // float mag_min[3] = {FLT_MAX, FLT_MAX, FLT_MAX}; - - int fd = open(MAG_DEVICE_PATH, O_RDONLY); - - /* erase old calibration */ - struct mag_scale mscale_null = { - 0.0f, - 1.0f, - 0.0f, - 1.0f, - 0.0f, - 1.0f, - }; - - if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale_null)) { - warn("WARNING: failed to set scale / offsets for mag"); - mavlink_log_info(mavlink_fd, "failed to set scale / offsets for mag"); - } - - /* calibrate range */ - if (OK != ioctl(fd, MAGIOCCALIBRATE, fd)) { - warnx("failed to calibrate scale"); - } - - close(fd); - - /* calibrate offsets */ - - // uint64_t calibration_start = hrt_absolute_time(); - - uint64_t axis_deadline = hrt_absolute_time(); - uint64_t calibration_deadline = hrt_absolute_time() + calibration_interval; - - const char axislabels[3] = { 'X', 'Y', 'Z'}; - int axis_index = -1; - - float *x = (float *)malloc(sizeof(float) * calibration_maxcount); - float *y = (float *)malloc(sizeof(float) * calibration_maxcount); - float *z = (float *)malloc(sizeof(float) * calibration_maxcount); - - if (x == NULL || y == NULL || z == NULL) { - warnx("mag cal failed: out of memory"); - mavlink_log_info(mavlink_fd, "mag cal failed: out of memory"); - warnx("x:%p y:%p z:%p\n", x, y, z); - return; - } - - tune_confirm(); - sleep(2); - tune_confirm(); - - while (hrt_absolute_time() < calibration_deadline && - calibration_counter < calibration_maxcount) { - - /* wait blocking for new data */ - struct pollfd fds[1] = { { .fd = sub_mag, .events = POLLIN } }; - - /* user guidance */ - if (hrt_absolute_time() >= axis_deadline && - axis_index < 3) { - - axis_index++; - - char buf[50]; - sprintf(buf, "Please rotate around %c", axislabels[axis_index]); - mavlink_log_info(mavlink_fd, buf); - tune_confirm(); - - axis_deadline += calibration_interval / 3; - } - - if (!(axis_index < 3)) { - break; - } - - // int axis_left = (int64_t)axis_deadline - (int64_t)hrt_absolute_time(); - - // if ((axis_left / 1000) == 0 && axis_left > 0) { - // char buf[50]; - // sprintf(buf, "[cmd] %d seconds left for axis %c", axis_left, axislabels[axis_index]); - // mavlink_log_info(mavlink_fd, buf); - // } - - int poll_ret = poll(fds, 1, 1000); - - if (poll_ret) { - orb_copy(ORB_ID(sensor_mag), sub_mag, &mag); - - x[calibration_counter] = mag.x; - y[calibration_counter] = mag.y; - z[calibration_counter] = mag.z; - - /* get min/max values */ - - // if (mag.x < mag_min[0]) { - // mag_min[0] = mag.x; - // } - // else if (mag.x > mag_max[0]) { - // mag_max[0] = mag.x; - // } - - // if (raw.magnetometer_ga[1] < mag_min[1]) { - // mag_min[1] = raw.magnetometer_ga[1]; - // } - // else if (raw.magnetometer_ga[1] > mag_max[1]) { - // mag_max[1] = raw.magnetometer_ga[1]; - // } - - // if (raw.magnetometer_ga[2] < mag_min[2]) { - // mag_min[2] = raw.magnetometer_ga[2]; - // } - // else if (raw.magnetometer_ga[2] > mag_max[2]) { - // mag_max[2] = raw.magnetometer_ga[2]; - // } - - calibration_counter++; - - } else if (poll_ret == 0) { - /* any poll failure for 1s is a reason to abort */ - mavlink_log_info(mavlink_fd, "mag cal canceled (timed out)"); - break; - } - } - - float sphere_x; - float sphere_y; - float sphere_z; - float sphere_radius; - - sphere_fit_least_squares(x, y, z, calibration_counter, 100, 0.0f, &sphere_x, &sphere_y, &sphere_z, &sphere_radius); - - free(x); - free(y); - free(z); - - if (isfinite(sphere_x) && isfinite(sphere_y) && isfinite(sphere_z)) { - - fd = open(MAG_DEVICE_PATH, 0); - - struct mag_scale mscale; - - if (OK != ioctl(fd, MAGIOCGSCALE, (long unsigned int)&mscale)) - warn("WARNING: failed to get scale / offsets for mag"); - - mscale.x_offset = sphere_x; - mscale.y_offset = sphere_y; - mscale.z_offset = sphere_z; - - if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale)) - warn("WARNING: failed to set scale / offsets for mag"); - - close(fd); - - /* announce and set new offset */ - - if (param_set(param_find("SENS_MAG_XOFF"), &(mscale.x_offset))) { - warnx("Setting X mag offset failed!\n"); - } - - if (param_set(param_find("SENS_MAG_YOFF"), &(mscale.y_offset))) { - warnx("Setting Y mag offset failed!\n"); - } - - if (param_set(param_find("SENS_MAG_ZOFF"), &(mscale.z_offset))) { - warnx("Setting Z mag offset failed!\n"); - } - - if (param_set(param_find("SENS_MAG_XSCALE"), &(mscale.x_scale))) { - warnx("Setting X mag scale failed!\n"); - } - - if (param_set(param_find("SENS_MAG_YSCALE"), &(mscale.y_scale))) { - warnx("Setting Y mag scale failed!\n"); - } - - if (param_set(param_find("SENS_MAG_ZSCALE"), &(mscale.z_scale))) { - warnx("Setting Z mag scale failed!\n"); - } - - /* auto-save to EEPROM */ - int save_ret = param_save_default(); - - if (save_ret != 0) { - warn("WARNING: auto-save of params to storage failed"); - mavlink_log_info(mavlink_fd, "FAILED storing calibration"); - } - - warnx("\tscale: %.6f %.6f %.6f\n \toffset: %.6f %.6f %.6f\nradius: %.6f GA\n", - (double)mscale.x_scale, (double)mscale.y_scale, (double)mscale.z_scale, - (double)mscale.x_offset, (double)mscale.y_offset, (double)mscale.z_offset, (double)sphere_radius); - - char buf[52]; - sprintf(buf, "mag off: x:%.2f y:%.2f z:%.2f Ga", (double)mscale.x_offset, - (double)mscale.y_offset, (double)mscale.z_offset); - mavlink_log_info(mavlink_fd, buf); - - sprintf(buf, "mag scale: x:%.2f y:%.2f z:%.2f", (double)mscale.x_scale, - (double)mscale.y_scale, (double)mscale.z_scale); - mavlink_log_info(mavlink_fd, buf); - - mavlink_log_info(mavlink_fd, "mag calibration done"); - - tune_confirm(); - sleep(2); - tune_confirm(); - sleep(2); - /* third beep by cal end routine */ - - } else { - mavlink_log_info(mavlink_fd, "mag calibration FAILED (NaN in sphere fit)"); - } - - /* disable calibration mode */ - status->flag_preflight_mag_calibration = false; - state_machine_publish(status_pub, status, mavlink_fd); - - close(sub_mag); -} - -void do_gyro_calibration(int status_pub, struct vehicle_status_s *status) -{ - /* set to gyro calibration mode */ - status->flag_preflight_gyro_calibration = true; - state_machine_publish(status_pub, status, mavlink_fd); - - const int calibration_count = 5000; - - int sub_sensor_combined = orb_subscribe(ORB_ID(sensor_combined)); - struct sensor_combined_s raw; - - int calibration_counter = 0; - float gyro_offset[3] = {0.0f, 0.0f, 0.0f}; - - /* set offsets to zero */ - int fd = open(GYRO_DEVICE_PATH, 0); - struct gyro_scale gscale_null = { - 0.0f, - 1.0f, - 0.0f, - 1.0f, - 0.0f, - 1.0f, - }; - - if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale_null)) - warn("WARNING: failed to set scale / offsets for gyro"); - - close(fd); - - while (calibration_counter < calibration_count) { - - /* wait blocking for new data */ - struct pollfd fds[1] = { { .fd = sub_sensor_combined, .events = POLLIN } }; - - int poll_ret = poll(fds, 1, 1000); - - if (poll_ret) { - orb_copy(ORB_ID(sensor_combined), sub_sensor_combined, &raw); - gyro_offset[0] += raw.gyro_rad_s[0]; - gyro_offset[1] += raw.gyro_rad_s[1]; - gyro_offset[2] += raw.gyro_rad_s[2]; - calibration_counter++; - - } else if (poll_ret == 0) { - /* any poll failure for 1s is a reason to abort */ - mavlink_log_info(mavlink_fd, "gyro calibration aborted, retry"); - return; - } - } - - gyro_offset[0] = gyro_offset[0] / calibration_count; - gyro_offset[1] = gyro_offset[1] / calibration_count; - gyro_offset[2] = gyro_offset[2] / calibration_count; - - /* exit gyro calibration mode */ - status->flag_preflight_gyro_calibration = false; - state_machine_publish(status_pub, status, mavlink_fd); - - if (isfinite(gyro_offset[0]) && isfinite(gyro_offset[1]) && isfinite(gyro_offset[2])) { - - if (param_set(param_find("SENS_GYRO_XOFF"), &(gyro_offset[0])) - || param_set(param_find("SENS_GYRO_YOFF"), &(gyro_offset[1])) - || param_set(param_find("SENS_GYRO_ZOFF"), &(gyro_offset[2]))) { - mavlink_log_critical(mavlink_fd, "Setting gyro offsets failed!"); - } - - /* set offsets to actual value */ - fd = open(GYRO_DEVICE_PATH, 0); - struct gyro_scale gscale = { - gyro_offset[0], - 1.0f, - gyro_offset[1], - 1.0f, - gyro_offset[2], - 1.0f, - }; - - if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale)) - warn("WARNING: failed to set scale / offsets for gyro"); - - close(fd); - - /* auto-save to EEPROM */ - int save_ret = param_save_default(); - - if (save_ret != 0) { - warn("WARNING: auto-save of params to storage failed"); - } - - // char buf[50]; - // sprintf(buf, "cal: x:%8.4f y:%8.4f z:%8.4f", (double)gyro_offset[0], (double)gyro_offset[1], (double)gyro_offset[2]); - // mavlink_log_info(mavlink_fd, buf); - mavlink_log_info(mavlink_fd, "gyro calibration done"); - - tune_confirm(); - sleep(2); - tune_confirm(); - sleep(2); - /* third beep by cal end routine */ - - } else { - mavlink_log_info(mavlink_fd, "gyro calibration FAILED (NaN)"); - } - - close(sub_sensor_combined); -} - -void do_accel_calibration(int status_pub, struct vehicle_status_s *status) -{ - /* announce change */ - - mavlink_log_info(mavlink_fd, "keep it level and still"); - /* set to accel calibration mode */ - status->flag_preflight_accel_calibration = true; - state_machine_publish(status_pub, status, mavlink_fd); - - const int calibration_count = 2500; - - int sub_sensor_combined = orb_subscribe(ORB_ID(sensor_combined)); - struct sensor_combined_s raw; - - int calibration_counter = 0; - float accel_offset[3] = {0.0f, 0.0f, 0.0f}; - - int fd = open(ACCEL_DEVICE_PATH, 0); - struct accel_scale ascale_null = { - 0.0f, - 1.0f, - 0.0f, - 1.0f, - 0.0f, - 1.0f, - }; - - if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale_null)) - warn("WARNING: failed to set scale / offsets for accel"); - - close(fd); - - while (calibration_counter < calibration_count) { - - /* wait blocking for new data */ - struct pollfd fds[1] = { { .fd = sub_sensor_combined, .events = POLLIN } }; - - int poll_ret = poll(fds, 1, 1000); - - if (poll_ret) { - orb_copy(ORB_ID(sensor_combined), sub_sensor_combined, &raw); - accel_offset[0] += raw.accelerometer_m_s2[0]; - accel_offset[1] += raw.accelerometer_m_s2[1]; - accel_offset[2] += raw.accelerometer_m_s2[2]; - calibration_counter++; - - } else if (poll_ret == 0) { - /* any poll failure for 1s is a reason to abort */ - mavlink_log_info(mavlink_fd, "acceleration calibration aborted"); - return; - } - } - - accel_offset[0] = accel_offset[0] / calibration_count; - accel_offset[1] = accel_offset[1] / calibration_count; - accel_offset[2] = accel_offset[2] / calibration_count; - - if (isfinite(accel_offset[0]) && isfinite(accel_offset[1]) && isfinite(accel_offset[2])) { - - /* add the removed length from x / y to z, since we induce a scaling issue else */ - float total_len = sqrtf(accel_offset[0] * accel_offset[0] + accel_offset[1] * accel_offset[1] + accel_offset[2] * accel_offset[2]); - - /* if length is correct, zero results here */ - accel_offset[2] = accel_offset[2] + total_len; - - float scale = 9.80665f / total_len; - - if (param_set(param_find("SENS_ACC_XOFF"), &(accel_offset[0])) - || param_set(param_find("SENS_ACC_YOFF"), &(accel_offset[1])) - || param_set(param_find("SENS_ACC_ZOFF"), &(accel_offset[2])) - || param_set(param_find("SENS_ACC_XSCALE"), &(scale)) - || param_set(param_find("SENS_ACC_YSCALE"), &(scale)) - || param_set(param_find("SENS_ACC_ZSCALE"), &(scale))) { - mavlink_log_critical(mavlink_fd, "Setting offs or scale failed!"); - } - - fd = open(ACCEL_DEVICE_PATH, 0); - struct accel_scale ascale = { - accel_offset[0], - scale, - accel_offset[1], - scale, - accel_offset[2], - scale, - }; - - if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale)) - warn("WARNING: failed to set scale / offsets for accel"); - - close(fd); - - /* auto-save to EEPROM */ - int save_ret = param_save_default(); - - if (save_ret != 0) { - warn("WARNING: auto-save of params to storage failed"); - } - - //char buf[50]; - //sprintf(buf, "[cmd] accel cal: x:%8.4f y:%8.4f z:%8.4f\n", (double)accel_offset[0], (double)accel_offset[1], (double)accel_offset[2]); - //mavlink_log_info(mavlink_fd, buf); - mavlink_log_info(mavlink_fd, "accel calibration done"); - - tune_confirm(); - sleep(2); - tune_confirm(); - sleep(2); - /* third beep by cal end routine */ - - } else { - mavlink_log_info(mavlink_fd, "accel calibration FAILED (NaN)"); - } - - /* exit accel calibration mode */ - status->flag_preflight_accel_calibration = false; - state_machine_publish(status_pub, status, mavlink_fd); - - close(sub_sensor_combined); -} - -void do_airspeed_calibration(int status_pub, struct vehicle_status_s *status) -{ - /* announce change */ - - mavlink_log_info(mavlink_fd, "keep it still"); - /* set to accel calibration mode */ - status->flag_preflight_airspeed_calibration = true; - state_machine_publish(status_pub, status, mavlink_fd); - - const int calibration_count = 2500; - - int sub_differential_pressure = orb_subscribe(ORB_ID(differential_pressure)); - struct differential_pressure_s differential_pressure; - - int calibration_counter = 0; - float airspeed_offset = 0.0f; - - while (calibration_counter < calibration_count) { - - /* wait blocking for new data */ - struct pollfd fds[1] = { { .fd = sub_differential_pressure, .events = POLLIN } }; - - int poll_ret = poll(fds, 1, 1000); - - if (poll_ret) { - orb_copy(ORB_ID(differential_pressure), sub_differential_pressure, &differential_pressure); - airspeed_offset += differential_pressure.voltage; - calibration_counter++; - - } else if (poll_ret == 0) { - /* any poll failure for 1s is a reason to abort */ - mavlink_log_info(mavlink_fd, "airspeed calibration aborted"); - return; - } - } - - airspeed_offset = airspeed_offset / calibration_count; - - if (isfinite(airspeed_offset)) { - - if (param_set(param_find("SENS_VAIR_OFF"), &(airspeed_offset))) { - mavlink_log_critical(mavlink_fd, "Setting offs failed!"); - } - - /* auto-save to EEPROM */ - int save_ret = param_save_default(); - - if (save_ret != 0) { - warn("WARNING: auto-save of params to storage failed"); - } - - //char buf[50]; - //sprintf(buf, "[cmd] accel cal: x:%8.4f y:%8.4f z:%8.4f\n", (double)accel_offset[0], (double)accel_offset[1], (double)accel_offset[2]); - //mavlink_log_info(mavlink_fd, buf); - mavlink_log_info(mavlink_fd, "airspeed calibration done"); - - tune_confirm(); - sleep(2); - tune_confirm(); - sleep(2); - /* third beep by cal end routine */ - - } else { - mavlink_log_info(mavlink_fd, "airspeed calibration FAILED (NaN)"); - } - - /* exit airspeed calibration mode */ - status->flag_preflight_airspeed_calibration = false; - state_machine_publish(status_pub, status, mavlink_fd); - - close(sub_differential_pressure); -} - - - -void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_status, struct vehicle_command_s *cmd) -{ - /* result of the command */ - uint8_t result = VEHICLE_CMD_RESULT_UNSUPPORTED; - - /* announce command handling */ - tune_confirm(); - - - /* supported command handling start */ - - /* request to set different system mode */ - switch (cmd->command) { - case VEHICLE_CMD_DO_SET_MODE: { - if (OK == update_state_machine_mode_request(status_pub, current_vehicle_status, mavlink_fd, (uint8_t)cmd->param1)) { - result = VEHICLE_CMD_RESULT_ACCEPTED; - - } else { - result = VEHICLE_CMD_RESULT_DENIED; - } - } - break; - - case VEHICLE_CMD_COMPONENT_ARM_DISARM: { - /* request to arm */ - if ((int)cmd->param1 == 1) { - if (OK == update_state_machine_mode_request(status_pub, current_vehicle_status, mavlink_fd, VEHICLE_MODE_FLAG_SAFETY_ARMED)) { - result = VEHICLE_CMD_RESULT_ACCEPTED; - - } else { - result = VEHICLE_CMD_RESULT_DENIED; - } - - /* request to disarm */ - - } else if ((int)cmd->param1 == 0) { - if (OK == update_state_machine_mode_request(status_pub, current_vehicle_status, mavlink_fd, VEHICLE_MODE_FLAG_SAFETY_ARMED)) { - result = VEHICLE_CMD_RESULT_ACCEPTED; - - } else { - result = VEHICLE_CMD_RESULT_DENIED; - } - } - } - break; - - /* request for an autopilot reboot */ - case VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN: { - if ((int)cmd->param1 == 1) { - if (OK == do_state_update(status_pub, current_vehicle_status, mavlink_fd, SYSTEM_STATE_REBOOT)) { - /* SPECIAL CASE: SYSTEM WILL NEVER RETURN HERE */ - result = VEHICLE_CMD_RESULT_ACCEPTED; - - } else { - /* system may return here */ - result = VEHICLE_CMD_RESULT_DENIED; - } - } - } - break; - -// /* request to land */ -// case VEHICLE_CMD_NAV_LAND: -// { -// //TODO: add check if landing possible -// //TODO: add landing maneuver -// -// if (0 == update_state_machine_custom_mode_request(status_pub, current_vehicle_status, SYSTEM_STATE_ARMED)) { -// result = VEHICLE_CMD_RESULT_ACCEPTED; -// } } -// break; -// -// /* request to takeoff */ -// case VEHICLE_CMD_NAV_TAKEOFF: -// { -// //TODO: add check if takeoff possible -// //TODO: add takeoff maneuver -// -// if (0 == update_state_machine_custom_mode_request(status_pub, current_vehicle_status, SYSTEM_STATE_AUTO)) { -// result = VEHICLE_CMD_RESULT_ACCEPTED; -// } -// } -// break; -// - /* preflight calibration */ - case VEHICLE_CMD_PREFLIGHT_CALIBRATION: { - bool handled = false; - - /* gyro calibration */ - if ((int)(cmd->param1) == 1) { - /* transition to calibration state */ - do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT); - - if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) { - mavlink_log_info(mavlink_fd, "starting gyro cal"); - tune_confirm(); - do_gyro_calibration(status_pub, ¤t_status); - mavlink_log_info(mavlink_fd, "finished gyro cal"); - tune_confirm(); - do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_STANDBY); - result = VEHICLE_CMD_RESULT_ACCEPTED; - - } else { - mavlink_log_critical(mavlink_fd, "REJECTING gyro cal"); - result = VEHICLE_CMD_RESULT_DENIED; - } - - handled = true; - } - - /* magnetometer calibration */ - if ((int)(cmd->param2) == 1) { - /* transition to calibration state */ - do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT); - - if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) { - mavlink_log_info(mavlink_fd, "starting mag cal"); - tune_confirm(); - do_mag_calibration(status_pub, ¤t_status); - mavlink_log_info(mavlink_fd, "finished mag cal"); - tune_confirm(); - do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_STANDBY); - result = VEHICLE_CMD_RESULT_ACCEPTED; - - } else { - mavlink_log_critical(mavlink_fd, "REJECTING mag cal"); - result = VEHICLE_CMD_RESULT_DENIED; - } - - handled = true; - } - - /* zero-altitude pressure calibration */ - if ((int)(cmd->param3) == 1) { - /* transition to calibration state */ - do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT); - - if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) { - mavlink_log_info(mavlink_fd, "zero altitude cal. not implemented"); - tune_confirm(); - - } else { - mavlink_log_critical(mavlink_fd, "REJECTING altitude calibration"); - result = VEHICLE_CMD_RESULT_DENIED; - } - - handled = true; - } - - /* trim calibration */ - if ((int)(cmd->param4) == 1) { - /* transition to calibration state */ - do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT); - - if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) { - mavlink_log_info(mavlink_fd, "starting trim cal"); - tune_confirm(); - do_rc_calibration(status_pub, ¤t_status); - mavlink_log_info(mavlink_fd, "finished trim cal"); - tune_confirm(); - do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_STANDBY); - result = VEHICLE_CMD_RESULT_ACCEPTED; - - } else { - mavlink_log_critical(mavlink_fd, "REJECTING trim cal"); - result = VEHICLE_CMD_RESULT_DENIED; - } - - handled = true; - } - - /* accel calibration */ - if ((int)(cmd->param5) == 1) { - /* transition to calibration state */ - do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT); - - if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) { - mavlink_log_info(mavlink_fd, "CMD starting accel cal"); - tune_confirm(); - do_accel_calibration(status_pub, ¤t_status); - tune_confirm(); - mavlink_log_info(mavlink_fd, "CMD finished accel cal"); - do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_STANDBY); - result = VEHICLE_CMD_RESULT_ACCEPTED; - - } else { - mavlink_log_critical(mavlink_fd, "REJECTING accel cal"); - result = VEHICLE_CMD_RESULT_DENIED; - } - - handled = true; - } - - /* airspeed calibration */ - if ((int)(cmd->param6) == 1) { //xxx: this is not defined by the mavlink protocol - /* transition to calibration state */ - do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT); - - if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) { - mavlink_log_info(mavlink_fd, "CMD starting airspeed cal"); - tune_confirm(); - do_airspeed_calibration(status_pub, ¤t_status); - tune_confirm(); - mavlink_log_info(mavlink_fd, "CMD finished airspeed cal"); - do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_STANDBY); - result = VEHICLE_CMD_RESULT_ACCEPTED; - - } else { - mavlink_log_critical(mavlink_fd, "REJECTING airspeed cal"); - result = VEHICLE_CMD_RESULT_DENIED; - } - - handled = true; - } - - /* none found */ - if (!handled) { - //warnx("refusing unsupported calibration request\n"); - mavlink_log_critical(mavlink_fd, "CMD refusing unsup. calib. request"); - result = VEHICLE_CMD_RESULT_UNSUPPORTED; - } - } - break; - - case VEHICLE_CMD_PREFLIGHT_STORAGE: { - if (current_status.flag_system_armed && - ((current_status.system_type == VEHICLE_TYPE_QUADROTOR) || - (current_status.system_type == VEHICLE_TYPE_HEXAROTOR) || - (current_status.system_type == VEHICLE_TYPE_OCTOROTOR))) { - /* do not perform expensive memory tasks on multirotors in flight */ - // XXX this is over-safe, as soon as cmd is in low prio thread this can be allowed - mavlink_log_info(mavlink_fd, "REJECTING save cmd while multicopter armed"); - - } else { - - // XXX move this to LOW PRIO THREAD of commander app - /* Read all parameters from EEPROM to RAM */ - - if (((int)(cmd->param1)) == 0) { - - /* read all parameters from EEPROM to RAM */ - int read_ret = param_load_default(); - - if (read_ret == OK) { - //warnx("[mavlink pm] Loaded EEPROM params in RAM\n"); - mavlink_log_info(mavlink_fd, "OK loading params from"); - mavlink_log_info(mavlink_fd, param_get_default_file()); - result = VEHICLE_CMD_RESULT_ACCEPTED; - - } else if (read_ret == 1) { - mavlink_log_info(mavlink_fd, "OK no changes in"); - mavlink_log_info(mavlink_fd, param_get_default_file()); - result = VEHICLE_CMD_RESULT_ACCEPTED; - - } else { - if (read_ret < -1) { - mavlink_log_info(mavlink_fd, "ERR loading params from"); - mavlink_log_info(mavlink_fd, param_get_default_file()); - - } else { - mavlink_log_info(mavlink_fd, "ERR no param file named"); - mavlink_log_info(mavlink_fd, param_get_default_file()); - } - - result = VEHICLE_CMD_RESULT_FAILED; - } - - } else if (((int)(cmd->param1)) == 1) { - - /* write all parameters from RAM to EEPROM */ - int write_ret = param_save_default(); - - if (write_ret == OK) { - mavlink_log_info(mavlink_fd, "OK saved param file"); - mavlink_log_info(mavlink_fd, param_get_default_file()); - result = VEHICLE_CMD_RESULT_ACCEPTED; - - } else { - if (write_ret < -1) { - mavlink_log_info(mavlink_fd, "ERR params file does not exit:"); - mavlink_log_info(mavlink_fd, param_get_default_file()); - - } else { - mavlink_log_info(mavlink_fd, "ERR writing params to"); - mavlink_log_info(mavlink_fd, param_get_default_file()); - } - - result = VEHICLE_CMD_RESULT_FAILED; - } - - } else { - mavlink_log_info(mavlink_fd, "[pm] refusing unsupp. STOR request"); - result = VEHICLE_CMD_RESULT_UNSUPPORTED; - } - } - } - break; - - default: { - mavlink_log_critical(mavlink_fd, "[cmd] refusing unsupported command"); - result = VEHICLE_CMD_RESULT_UNSUPPORTED; - /* announce command rejection */ - ioctl(buzzer, TONE_SET_ALARM, 4); - } - break; - } - - /* supported command handling stop */ - if (result == VEHICLE_CMD_RESULT_FAILED || - result == VEHICLE_CMD_RESULT_DENIED || - result == VEHICLE_CMD_RESULT_UNSUPPORTED) { - ioctl(buzzer, TONE_SET_ALARM, 5); - - } else if (result == VEHICLE_CMD_RESULT_ACCEPTED) { - tune_confirm(); - } - - /* send any requested ACKs */ - if (cmd->confirmation > 0) { - /* send acknowledge command */ - // XXX TODO - } - -} - -static void *orb_receive_loop(void *arg) //handles status information coming from subsystems (present, enabled, health), these values do not indicate the quality (variance) of the signal -{ - /* Set thread name */ - prctl(PR_SET_NAME, "commander orb rcv", getpid()); - - /* Subscribe to command topic */ - int subsys_sub = orb_subscribe(ORB_ID(subsystem_info)); - struct subsystem_info_s info; - - struct vehicle_status_s *vstatus = (struct vehicle_status_s *)arg; - - while (!thread_should_exit) { - struct pollfd fds[1] = { { .fd = subsys_sub, .events = POLLIN } }; - - if (poll(fds, 1, 5000) == 0) { - /* timeout, but this is no problem, silently ignore */ - } else { - /* got command */ - orb_copy(ORB_ID(subsystem_info), subsys_sub, &info); - - warnx("Subsys changed: %d\n", (int)info.subsystem_type); - - /* mark / unmark as present */ - if (info.present) { - vstatus->onboard_control_sensors_present |= info.subsystem_type; - - } else { - vstatus->onboard_control_sensors_present &= ~info.subsystem_type; - } - - /* mark / unmark as enabled */ - if (info.enabled) { - vstatus->onboard_control_sensors_enabled |= info.subsystem_type; - - } else { - vstatus->onboard_control_sensors_enabled &= ~info.subsystem_type; - } - - /* mark / unmark as ok */ - if (info.ok) { - vstatus->onboard_control_sensors_health |= info.subsystem_type; - - } else { - vstatus->onboard_control_sensors_health &= ~info.subsystem_type; - } - } - } - - close(subsys_sub); - - return NULL; -} - -/* - * Provides a coarse estimate of remaining battery power. - * - * The estimate is very basic and based on decharging voltage curves. - * - * @return the estimated remaining capacity in 0..1 - */ -float battery_remaining_estimate_voltage(float voltage); - -PARAM_DEFINE_FLOAT(BAT_V_EMPTY, 3.2f); -PARAM_DEFINE_FLOAT(BAT_V_FULL, 4.05f); -PARAM_DEFINE_FLOAT(BAT_N_CELLS, 3); - -float battery_remaining_estimate_voltage(float voltage) -{ - float ret = 0; - static param_t bat_volt_empty; - static param_t bat_volt_full; - static param_t bat_n_cells; - static bool initialized = false; - static unsigned int counter = 0; - static float ncells = 3; - // XXX change cells to int (and param to INT32) - - if (!initialized) { - bat_volt_empty = param_find("BAT_V_EMPTY"); - bat_volt_full = param_find("BAT_V_FULL"); - bat_n_cells = param_find("BAT_N_CELLS"); - initialized = true; - } - - static float chemistry_voltage_empty = 3.2f; - static float chemistry_voltage_full = 4.05f; - - if (counter % 100 == 0) { - param_get(bat_volt_empty, &chemistry_voltage_empty); - param_get(bat_volt_full, &chemistry_voltage_full); - param_get(bat_n_cells, &ncells); - } - - counter++; - - ret = (voltage - ncells * chemistry_voltage_empty) / (ncells * (chemistry_voltage_full - chemistry_voltage_empty)); - - /* limit to sane values */ - ret = (ret < 0) ? 0 : ret; - ret = (ret > 1) ? 1 : ret; - return ret; -} - -static void -usage(const char *reason) -{ - if (reason) - fprintf(stderr, "%s\n", reason); - - fprintf(stderr, "usage: daemon {start|stop|status} [-p ]\n\n"); - exit(1); -} - -/** - * The daemon app only briefly exists to start - * the background job. The stack size assigned in the - * Makefile does only apply to this management task. - * - * The actual stack size should be set in the call - * to task_create(). - */ -int commander_main(int argc, char *argv[]) -{ - if (argc < 1) - usage("missing command"); - - if (!strcmp(argv[1], "start")) { - - if (thread_running) { - warnx("commander already running\n"); - /* this is not an error */ - exit(0); - } - - thread_should_exit = false; - daemon_task = task_spawn("commander", - SCHED_DEFAULT, - SCHED_PRIORITY_MAX - 40, - 3000, - commander_thread_main, - (argv) ? (const char **)&argv[2] : (const char **)NULL); - exit(0); - } - - if (!strcmp(argv[1], "stop")) { - thread_should_exit = true; - exit(0); - } - - if (!strcmp(argv[1], "status")) { - if (thread_running) { - warnx("\tcommander is running\n"); - - } else { - warnx("\tcommander not started\n"); - } - - exit(0); - } - - usage("unrecognized command"); - exit(1); -} - -int commander_thread_main(int argc, char *argv[]) -{ - /* not yet initialized */ - commander_initialized = false; - bool home_position_set = false; - - /* set parameters */ - failsafe_lowlevel_timeout_ms = 0; - param_get(param_find("SYS_FAILSAVE_LL"), &failsafe_lowlevel_timeout_ms); - - param_t _param_sys_type = param_find("MAV_TYPE"); - param_t _param_system_id = param_find("MAV_SYS_ID"); - param_t _param_component_id = param_find("MAV_COMP_ID"); - - /* welcome user */ - warnx("I am in command now!\n"); - - /* pthreads for command and subsystem info handling */ - // pthread_t command_handling_thread; - pthread_t subsystem_info_thread; - - /* initialize */ - if (led_init() != 0) { - warnx("ERROR: Failed to initialize leds\n"); - } - - if (buzzer_init() != 0) { - warnx("ERROR: Failed to initialize buzzer\n"); - } - - mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); - - if (mavlink_fd < 0) { - warnx("ERROR: Failed to open MAVLink log stream, start mavlink app first.\n"); - } - - /* make sure we are in preflight state */ - memset(¤t_status, 0, sizeof(current_status)); - current_status.state_machine = SYSTEM_STATE_PREFLIGHT; - current_status.flag_system_armed = false; - /* neither manual nor offboard control commands have been received */ - current_status.offboard_control_signal_found_once = false; - current_status.rc_signal_found_once = false; - /* mark all signals lost as long as they haven't been found */ - current_status.rc_signal_lost = true; - current_status.offboard_control_signal_lost = true; - /* allow manual override initially */ - current_status.flag_external_manual_override_ok = true; - /* flag position info as bad, do not allow auto mode */ - current_status.flag_vector_flight_mode_ok = false; - /* set battery warning flag */ - current_status.battery_warning = VEHICLE_BATTERY_WARNING_NONE; - - /* advertise to ORB */ - stat_pub = orb_advertise(ORB_ID(vehicle_status), ¤t_status); - /* publish current state machine */ - state_machine_publish(stat_pub, ¤t_status, mavlink_fd); - - /* home position */ - orb_advert_t home_pub = -1; - struct home_position_s home; - memset(&home, 0, sizeof(home)); - - if (stat_pub < 0) { - warnx("ERROR: orb_advertise for topic vehicle_status failed (uorb app running?).\n"); - warnx("exiting."); - exit(ERROR); - } - - mavlink_log_info(mavlink_fd, "system is running"); - - /* create pthreads */ - pthread_attr_t subsystem_info_attr; - pthread_attr_init(&subsystem_info_attr); - pthread_attr_setstacksize(&subsystem_info_attr, 2048); - pthread_create(&subsystem_info_thread, &subsystem_info_attr, orb_receive_loop, ¤t_status); - - /* Start monitoring loop */ - uint16_t counter = 0; - uint8_t flight_env; - - /* Initialize to 0.0V */ - float battery_voltage = 0.0f; - bool battery_voltage_valid = false; - bool low_battery_voltage_actions_done = false; - bool critical_battery_voltage_actions_done = false; - uint8_t low_voltage_counter = 0; - uint16_t critical_voltage_counter = 0; - int16_t mode_switch_rc_value; - float bat_remain = 1.0f; - - uint16_t stick_off_counter = 0; - uint16_t stick_on_counter = 0; - - /* Subscribe to manual control data */ - int sp_man_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); - struct manual_control_setpoint_s sp_man; - memset(&sp_man, 0, sizeof(sp_man)); - - /* Subscribe to offboard control data */ - int sp_offboard_sub = orb_subscribe(ORB_ID(offboard_control_setpoint)); - struct offboard_control_setpoint_s sp_offboard; - memset(&sp_offboard, 0, sizeof(sp_offboard)); - - int global_position_sub = orb_subscribe(ORB_ID(vehicle_global_position)); - struct vehicle_global_position_s global_position; - memset(&global_position, 0, sizeof(global_position)); - uint64_t last_global_position_time = 0; - - int local_position_sub = orb_subscribe(ORB_ID(vehicle_local_position)); - struct vehicle_local_position_s local_position; - memset(&local_position, 0, sizeof(local_position)); - uint64_t last_local_position_time = 0; - - /* - * The home position is set based on GPS only, to prevent a dependency between - * position estimator and commander. RAW GPS is more than good enough for a - * non-flying vehicle. - */ - int gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position)); - struct vehicle_gps_position_s gps_position; - memset(&gps_position, 0, sizeof(gps_position)); - - int sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); - struct sensor_combined_s sensors; - memset(&sensors, 0, sizeof(sensors)); - - int differential_pressure_sub = orb_subscribe(ORB_ID(differential_pressure)); - struct differential_pressure_s differential_pressure; - memset(&differential_pressure, 0, sizeof(differential_pressure)); - uint64_t last_differential_pressure_time = 0; - - /* Subscribe to command topic */ - int cmd_sub = orb_subscribe(ORB_ID(vehicle_command)); - struct vehicle_command_s cmd; - memset(&cmd, 0, sizeof(cmd)); - - /* Subscribe to parameters changed topic */ - int param_changed_sub = orb_subscribe(ORB_ID(parameter_update)); - struct parameter_update_s param_changed; - memset(¶m_changed, 0, sizeof(param_changed)); - - /* subscribe to battery topic */ - int battery_sub = orb_subscribe(ORB_ID(battery_status)); - struct battery_status_s battery; - memset(&battery, 0, sizeof(battery)); - battery.voltage_v = 0.0f; - - // uint8_t vehicle_state_previous = current_status.state_machine; - float voltage_previous = 0.0f; - - uint64_t last_idle_time = 0; - - /* now initialized */ - commander_initialized = true; - thread_running = true; - - uint64_t start_time = hrt_absolute_time(); - uint64_t failsave_ll_start_time = 0; - - bool state_changed = true; - bool param_init_forced = true; - - while (!thread_should_exit) { - - /* Get current values */ - bool new_data; - orb_check(sp_man_sub, &new_data); - - if (new_data) { - orb_copy(ORB_ID(manual_control_setpoint), sp_man_sub, &sp_man); - } - - orb_check(sp_offboard_sub, &new_data); - - if (new_data) { - orb_copy(ORB_ID(offboard_control_setpoint), sp_offboard_sub, &sp_offboard); - } - - orb_check(sensor_sub, &new_data); - - if (new_data) { - orb_copy(ORB_ID(sensor_combined), sensor_sub, &sensors); - } - - orb_check(differential_pressure_sub, &new_data); - - if (new_data) { - orb_copy(ORB_ID(differential_pressure), differential_pressure_sub, &differential_pressure); - last_differential_pressure_time = differential_pressure.timestamp; - } - - orb_check(cmd_sub, &new_data); - - if (new_data) { - /* got command */ - orb_copy(ORB_ID(vehicle_command), cmd_sub, &cmd); - - /* handle it */ - handle_command(stat_pub, ¤t_status, &cmd); - } - - /* update parameters */ - orb_check(param_changed_sub, &new_data); - - if (new_data || param_init_forced) { - param_init_forced = false; - /* parameters changed */ - orb_copy(ORB_ID(parameter_update), param_changed_sub, ¶m_changed); - - - /* update parameters */ - if (!current_status.flag_system_armed) { - if (param_get(_param_sys_type, &(current_status.system_type)) != OK) { - warnx("failed setting new system type"); - } - - /* disable manual override for all systems that rely on electronic stabilization */ - if (current_status.system_type == VEHICLE_TYPE_QUADROTOR || - current_status.system_type == VEHICLE_TYPE_HEXAROTOR || - current_status.system_type == VEHICLE_TYPE_OCTOROTOR) { - current_status.flag_external_manual_override_ok = false; - - } else { - current_status.flag_external_manual_override_ok = true; - } - - /* check and update system / component ID */ - param_get(_param_system_id, &(current_status.system_id)); - param_get(_param_component_id, &(current_status.component_id)); - - } - } - - /* update global position estimate */ - orb_check(global_position_sub, &new_data); - - if (new_data) { - /* position changed */ - orb_copy(ORB_ID(vehicle_global_position), global_position_sub, &global_position); - last_global_position_time = global_position.timestamp; - } - - /* update local position estimate */ - orb_check(local_position_sub, &new_data); - - if (new_data) { - /* position changed */ - orb_copy(ORB_ID(vehicle_local_position), local_position_sub, &local_position); - last_local_position_time = local_position.timestamp; - } - - /* update battery status */ - orb_check(battery_sub, &new_data); - if (new_data) { - orb_copy(ORB_ID(battery_status), battery_sub, &battery); - battery_voltage = battery.voltage_v; - battery_voltage_valid = true; - - /* - * Only update battery voltage estimate if system has - * been running for two and a half seconds. - */ - if (hrt_absolute_time() - start_time > 2500000) { - bat_remain = battery_remaining_estimate_voltage(battery_voltage); - } - } - - /* Slow but important 8 Hz checks */ - if (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 8) == 0) { - /* toggle activity (blue) led at 1 Hz in standby, 10 Hz in armed mode */ - if ((current_status.state_machine == SYSTEM_STATE_GROUND_READY || - current_status.state_machine == SYSTEM_STATE_AUTO || - current_status.state_machine == SYSTEM_STATE_MANUAL)) { - /* armed */ - led_toggle(LED_BLUE); - - } else if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) { - /* not armed */ - led_toggle(LED_BLUE); - } - - /* toggle error led at 5 Hz in HIL mode */ - if (current_status.flag_hil_enabled) { - /* hil enabled */ - led_toggle(LED_AMBER); - - } else if (bat_remain < 0.3f && (low_voltage_counter > LOW_VOLTAGE_BATTERY_COUNTER_LIMIT)) { - /* toggle error (red) at 5 Hz on low battery or error */ - led_toggle(LED_AMBER); - - } else { - // /* Constant error indication in standby mode without GPS */ - // if (!current_status.gps_valid) { - // led_on(LED_AMBER); - - // } else { - // led_off(LED_AMBER); - // } - } - - if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) { - /* compute system load */ - uint64_t interval_runtime = system_load.tasks[0].total_runtime - last_idle_time; - - if (last_idle_time > 0) - current_status.load = 1000 - (interval_runtime / 1000); //system load is time spent in non-idle - - last_idle_time = system_load.tasks[0].total_runtime; - } - } - - // // XXX Export patterns and threshold to parameters - /* Trigger audio event for low battery */ - if (bat_remain < 0.1f && battery_voltage_valid && (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 4) == 0)) { - /* For less than 10%, start be really annoying at 5 Hz */ - ioctl(buzzer, TONE_SET_ALARM, 0); - ioctl(buzzer, TONE_SET_ALARM, 3); - - } else if (bat_remain < 0.1f && battery_voltage_valid && (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 4) == 2)) { - ioctl(buzzer, TONE_SET_ALARM, 0); - - } else if (bat_remain < 0.2f && battery_voltage_valid && (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 2) == 0)) { - /* For less than 20%, start be slightly annoying at 1 Hz */ - ioctl(buzzer, TONE_SET_ALARM, 0); - tune_confirm(); - - } else if (bat_remain < 0.2f && battery_voltage_valid && (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 2) == 2)) { - ioctl(buzzer, TONE_SET_ALARM, 0); - } - - /* Check battery voltage */ - /* write to sys_status */ - if (battery_voltage_valid) { - current_status.voltage_battery = battery_voltage; - - } else { - current_status.voltage_battery = 0.0f; - } - - /* if battery voltage is getting lower, warn using buzzer, etc. */ - if (battery_voltage_valid && (bat_remain < 0.15f /* XXX MAGIC NUMBER */) && (false == low_battery_voltage_actions_done)) { //TODO: add filter, or call emergency after n measurements < VOLTAGE_BATTERY_MINIMAL_MILLIVOLTS - - if (low_voltage_counter > LOW_VOLTAGE_BATTERY_COUNTER_LIMIT) { - low_battery_voltage_actions_done = true; - mavlink_log_critical(mavlink_fd, "[cmd] WARNING! LOW BATTERY!"); - current_status.battery_warning = VEHICLE_BATTERY_WARNING_WARNING; - } - - low_voltage_counter++; - } - - /* Critical, this is rather an emergency, kill signal to sdlog and change state machine */ - else if (battery_voltage_valid && (bat_remain < 0.1f /* XXX MAGIC NUMBER */) && (false == critical_battery_voltage_actions_done && true == low_battery_voltage_actions_done)) { - if (critical_voltage_counter > CRITICAL_VOLTAGE_BATTERY_COUNTER_LIMIT) { - critical_battery_voltage_actions_done = true; - mavlink_log_critical(mavlink_fd, "[cmd] EMERGENCY! CRITICAL BATTERY!"); - current_status.battery_warning = VEHICLE_BATTERY_WARNING_ALERT; - state_machine_emergency(stat_pub, ¤t_status, mavlink_fd); - } - - critical_voltage_counter++; - - } else { - low_voltage_counter = 0; - critical_voltage_counter = 0; - } - - /* End battery voltage check */ - - - /* - * Check for valid position information. - * - * If the system has a valid position source from an onboard - * position estimator, it is safe to operate it autonomously. - * The flag_vector_flight_mode_ok flag indicates that a minimum - * set of position measurements is available. - */ - - /* store current state to reason later about a state change */ - bool vector_flight_mode_ok = current_status.flag_vector_flight_mode_ok; - bool global_pos_valid = current_status.flag_global_position_valid; - bool local_pos_valid = current_status.flag_local_position_valid; - bool airspeed_valid = current_status.flag_airspeed_valid; - - /* check for global or local position updates, set a timeout of 2s */ - if (hrt_absolute_time() - last_global_position_time < 2000000) { - current_status.flag_global_position_valid = true; - // XXX check for controller status and home position as well - - } else { - current_status.flag_global_position_valid = false; - } - - if (hrt_absolute_time() - last_local_position_time < 2000000) { - current_status.flag_local_position_valid = true; - // XXX check for controller status and home position as well - - } else { - current_status.flag_local_position_valid = false; - } - - /* Check for valid airspeed/differential pressure measurements */ - if (hrt_absolute_time() - last_differential_pressure_time < 2000000) { - current_status.flag_airspeed_valid = true; - - } else { - current_status.flag_airspeed_valid = false; - } - - /* - * Consolidate global position and local position valid flags - * for vector flight mode. - */ - if (current_status.flag_local_position_valid || - current_status.flag_global_position_valid) { - current_status.flag_vector_flight_mode_ok = true; - - } else { - current_status.flag_vector_flight_mode_ok = false; - } - - /* consolidate state change, flag as changed if required */ - if (vector_flight_mode_ok != current_status.flag_vector_flight_mode_ok || - global_pos_valid != current_status.flag_global_position_valid || - local_pos_valid != current_status.flag_local_position_valid || - airspeed_valid != current_status.flag_airspeed_valid) { - state_changed = true; - } - - /* - * Mark the position of the first position lock as return to launch (RTL) - * position. The MAV will return here on command or emergency. - * - * Conditions: - * - * 1) The system aquired position lock just now - * 2) The system has not aquired position lock before - * 3) The system is not armed (on the ground) - */ - if (!current_status.flag_valid_launch_position && - !vector_flight_mode_ok && current_status.flag_vector_flight_mode_ok && - !current_status.flag_system_armed) { - /* first time a valid position, store it and emit it */ - - // XXX implement storage and publication of RTL position - current_status.flag_valid_launch_position = true; - current_status.flag_auto_flight_mode_ok = true; - state_changed = true; - } - - if (orb_check(ORB_ID(vehicle_gps_position), &new_data)) { - - orb_copy(ORB_ID(vehicle_gps_position), gps_sub, &gps_position); - - /* check for first, long-term and valid GPS lock -> set home position */ - float hdop_m = gps_position.eph_m; - float vdop_m = gps_position.epv_m; - - /* check if gps fix is ok */ - // XXX magic number - float hdop_threshold_m = 4.0f; - float vdop_threshold_m = 8.0f; - - /* - * If horizontal dilution of precision (hdop / eph) - * and vertical diluation of precision (vdop / epv) - * are below a certain threshold (e.g. 4 m), AND - * home position is not yet set AND the last GPS - * GPS measurement is not older than two seconds AND - * the system is currently not armed, set home - * position to the current position. - */ - - if (gps_position.fix_type == GPS_FIX_TYPE_3D - && (hdop_m < hdop_threshold_m) - && (vdop_m < vdop_threshold_m) - && !home_position_set - && (hrt_absolute_time() - gps_position.timestamp_position < 2000000) - && !current_status.flag_system_armed) { - warnx("setting home position"); - - /* copy position data to uORB home message, store it locally as well */ - home.lat = gps_position.lat; - home.lon = gps_position.lon; - home.alt = gps_position.alt; - - home.eph_m = gps_position.eph_m; - home.epv_m = gps_position.epv_m; - - home.s_variance_m_s = gps_position.s_variance_m_s; - home.p_variance_m = gps_position.p_variance_m; - - /* announce new home position */ - if (home_pub > 0) { - orb_publish(ORB_ID(home_position), home_pub, &home); - } else { - home_pub = orb_advertise(ORB_ID(home_position), &home); - } - - /* mark home position as set */ - home_position_set = true; - tune_confirm(); - } - } - - /* ignore RC signals if in offboard control mode */ - if (!current_status.offboard_control_signal_found_once && sp_man.timestamp != 0) { - /* Start RC state check */ - - if ((hrt_absolute_time() - sp_man.timestamp) < 100000) { - - // /* - // * Check if manual control modes have to be switched - // */ - // if (!isfinite(sp_man.manual_mode_switch)) { - // warnx("man mode sw not finite\n"); - - // /* this switch is not properly mapped, set default */ - // if ((current_status.system_type == VEHICLE_TYPE_QUADROTOR) || - // (current_status.system_type == VEHICLE_TYPE_HEXAROTOR) || - // (current_status.system_type == VEHICLE_TYPE_OCTOROTOR)) { - - // /* assuming a rotary wing, fall back to SAS */ - // current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS; - // current_status.flag_control_attitude_enabled = true; - // current_status.flag_control_rates_enabled = true; - // } else { - - // /* assuming a fixed wing, fall back to direct pass-through */ - // current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_DIRECT; - // current_status.flag_control_attitude_enabled = false; - // current_status.flag_control_rates_enabled = false; - // } - - // } else if (sp_man.manual_mode_switch < -STICK_ON_OFF_LIMIT) { - - // /* bottom stick position, set direct mode for vehicles supporting it */ - // if ((current_status.system_type == VEHICLE_TYPE_QUADROTOR) || - // (current_status.system_type == VEHICLE_TYPE_HEXAROTOR) || - // (current_status.system_type == VEHICLE_TYPE_OCTOROTOR)) { - - // /* assuming a rotary wing, fall back to SAS */ - // current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS; - // current_status.flag_control_attitude_enabled = true; - // current_status.flag_control_rates_enabled = true; - // } else { - - // /* assuming a fixed wing, set to direct pass-through as requested */ - // current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_DIRECT; - // current_status.flag_control_attitude_enabled = false; - // current_status.flag_control_rates_enabled = false; - // } - - // } else if (sp_man.manual_mode_switch > STICK_ON_OFF_LIMIT) { - - // /* top stick position, set SAS for all vehicle types */ - // current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS; - // current_status.flag_control_attitude_enabled = true; - // current_status.flag_control_rates_enabled = true; - - // } else { - // /* center stick position, set rate control */ - // current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_RATES; - // current_status.flag_control_attitude_enabled = false; - // current_status.flag_control_rates_enabled = true; - // } - - // warnx("man ctrl mode: %d\n", (int)current_status.manual_control_mode); - - /* - * Check if manual stability control modes have to be switched - */ - if (!isfinite(sp_man.manual_sas_switch)) { - - /* this switch is not properly mapped, set default */ - current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS; - - } else if (sp_man.manual_sas_switch < -STICK_ON_OFF_LIMIT) { - - /* bottom stick position, set altitude hold */ - current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_ALTITUDE; - - } else if (sp_man.manual_sas_switch > STICK_ON_OFF_LIMIT) { - - /* top stick position */ - current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_SIMPLE; - - } else { - /* center stick position, set default */ - current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS; - } - - /* - * Check if left stick is in lower left position --> switch to standby state. - * Do this only for multirotors, not for fixed wing aircraft. - */ - if (((current_status.system_type == VEHICLE_TYPE_QUADROTOR) || - (current_status.system_type == VEHICLE_TYPE_HEXAROTOR) || - (current_status.system_type == VEHICLE_TYPE_OCTOROTOR) - ) && - ((sp_man.yaw < -STICK_ON_OFF_LIMIT)) && - (sp_man.throttle < STICK_THRUST_RANGE * 0.2f)) { - if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) { - update_state_machine_disarm(stat_pub, ¤t_status, mavlink_fd); - stick_on_counter = 0; - - } else { - stick_off_counter++; - stick_on_counter = 0; - } - } - - /* check if left stick is in lower right position --> arm */ - if (sp_man.yaw > STICK_ON_OFF_LIMIT && sp_man.throttle < STICK_THRUST_RANGE * 0.2f) { - if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) { - update_state_machine_arm(stat_pub, ¤t_status, mavlink_fd); - stick_on_counter = 0; - - } else { - stick_on_counter++; - stick_off_counter = 0; - } - } - - /* check manual override switch - switch to manual or auto mode */ - if (sp_man.manual_override_switch > STICK_ON_OFF_LIMIT) { - /* enable manual override */ - update_state_machine_mode_manual(stat_pub, ¤t_status, mavlink_fd); - - } else if (sp_man.manual_override_switch < -STICK_ON_OFF_LIMIT) { - // /* check auto mode switch for correct mode */ - // if (sp_man.auto_mode_switch > STICK_ON_OFF_LIMIT) { - // /* enable guided mode */ - // update_state_machine_mode_guided(stat_pub, ¤t_status, mavlink_fd); - - // } else if (sp_man.auto_mode_switch < -STICK_ON_OFF_LIMIT) { - // XXX hardcode to auto for now - update_state_machine_mode_auto(stat_pub, ¤t_status, mavlink_fd); - - // } - - } else { - /* center stick position, set SAS for all vehicle types */ - update_state_machine_mode_stabilized(stat_pub, ¤t_status, mavlink_fd); - } - - /* handle the case where RC signal was regained */ - if (!current_status.rc_signal_found_once) { - current_status.rc_signal_found_once = true; - mavlink_log_critical(mavlink_fd, "DETECTED RC SIGNAL FIRST TIME."); - - } else { - if (current_status.rc_signal_lost) mavlink_log_critical(mavlink_fd, "[cmd] RECOVERY - RC SIGNAL GAINED!"); - } - - current_status.rc_signal_cutting_off = false; - current_status.rc_signal_lost = false; - current_status.rc_signal_lost_interval = 0; - - } else { - static uint64_t last_print_time = 0; - - /* print error message for first RC glitch and then every 5 s / 5000 ms) */ - if (!current_status.rc_signal_cutting_off || ((hrt_absolute_time() - last_print_time) > 5000000)) { - /* only complain if the offboard control is NOT active */ - current_status.rc_signal_cutting_off = true; - mavlink_log_critical(mavlink_fd, "CRITICAL - NO REMOTE SIGNAL!"); - last_print_time = hrt_absolute_time(); - } - - /* flag as lost and update interval since when the signal was lost (to initiate RTL after some time) */ - current_status.rc_signal_lost_interval = hrt_absolute_time() - sp_man.timestamp; - - /* if the RC signal is gone for a full second, consider it lost */ - if (current_status.rc_signal_lost_interval > 1000000) { - current_status.rc_signal_lost = true; - current_status.failsave_lowlevel = true; - state_changed = true; - } - - // if (hrt_absolute_time() - current_status.failsave_ll_start_time > failsafe_lowlevel_timeout_ms*1000) { - // publish_armed_status(¤t_status); - // } - } - } - - - - - /* End mode switch */ - - /* END RC state check */ - - - /* State machine update for offboard control */ - if (!current_status.rc_signal_found_once && sp_offboard.timestamp != 0) { - if ((hrt_absolute_time() - sp_offboard.timestamp) < 5000000) { - - /* decide about attitude control flag, enable in att/pos/vel */ - bool attitude_ctrl_enabled = (sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE || - sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY || - sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_POSITION); - - /* decide about rate control flag, enable it always XXX (for now) */ - bool rates_ctrl_enabled = true; - - /* set up control mode */ - if (current_status.flag_control_attitude_enabled != attitude_ctrl_enabled) { - current_status.flag_control_attitude_enabled = attitude_ctrl_enabled; - state_changed = true; - } - - if (current_status.flag_control_rates_enabled != rates_ctrl_enabled) { - current_status.flag_control_rates_enabled = rates_ctrl_enabled; - state_changed = true; - } - - /* handle the case where offboard control signal was regained */ - if (!current_status.offboard_control_signal_found_once) { - current_status.offboard_control_signal_found_once = true; - /* enable offboard control, disable manual input */ - current_status.flag_control_manual_enabled = false; - current_status.flag_control_offboard_enabled = true; - state_changed = true; - tune_confirm(); - - mavlink_log_critical(mavlink_fd, "DETECTED OFFBOARD SIGNAL FIRST"); - - } else { - if (current_status.offboard_control_signal_lost) { - mavlink_log_critical(mavlink_fd, "RECOVERY OFFBOARD CONTROL"); - state_changed = true; - tune_confirm(); - } - } - - current_status.offboard_control_signal_weak = false; - current_status.offboard_control_signal_lost = false; - current_status.offboard_control_signal_lost_interval = 0; - - /* arm / disarm on request */ - if (sp_offboard.armed && !current_status.flag_system_armed) { - update_state_machine_arm(stat_pub, ¤t_status, mavlink_fd); - /* switch to stabilized mode = takeoff */ - update_state_machine_mode_stabilized(stat_pub, ¤t_status, mavlink_fd); - - } else if (!sp_offboard.armed && current_status.flag_system_armed) { - update_state_machine_disarm(stat_pub, ¤t_status, mavlink_fd); - } - - } else { - static uint64_t last_print_time = 0; - - /* print error message for first RC glitch and then every 5 s / 5000 ms) */ - if (!current_status.offboard_control_signal_weak || ((hrt_absolute_time() - last_print_time) > 5000000)) { - current_status.offboard_control_signal_weak = true; - mavlink_log_critical(mavlink_fd, "CRIT:NO OFFBOARD CONTROL!"); - last_print_time = hrt_absolute_time(); - } - - /* flag as lost and update interval since when the signal was lost (to initiate RTL after some time) */ - current_status.offboard_control_signal_lost_interval = hrt_absolute_time() - sp_offboard.timestamp; - - /* if the signal is gone for 0.1 seconds, consider it lost */ - if (current_status.offboard_control_signal_lost_interval > 100000) { - current_status.offboard_control_signal_lost = true; - current_status.failsave_lowlevel_start_time = hrt_absolute_time(); - tune_confirm(); - - /* kill motors after timeout */ - if (hrt_absolute_time() - current_status.failsave_lowlevel_start_time > failsafe_lowlevel_timeout_ms * 1000) { - current_status.failsave_lowlevel = true; - state_changed = true; - } - } - } - } - - - current_status.counter++; - current_status.timestamp = hrt_absolute_time(); - - - /* If full run came back clean, transition to standby */ - if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT && - current_status.flag_preflight_gyro_calibration == false && - current_status.flag_preflight_mag_calibration == false && - current_status.flag_preflight_accel_calibration == false) { - /* All ok, no calibration going on, go to standby */ - do_state_update(stat_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_STANDBY); - } - - /* publish at least with 1 Hz */ - if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0 || state_changed) { - publish_armed_status(¤t_status); - orb_publish(ORB_ID(vehicle_status), stat_pub, ¤t_status); - state_changed = false; - } - - /* Store old modes to detect and act on state transitions */ - voltage_previous = current_status.voltage_battery; - - fflush(stdout); - counter++; - usleep(COMMANDER_MONITORING_INTERVAL); - } - - /* wait for threads to complete */ - // pthread_join(command_handling_thread, NULL); - pthread_join(subsystem_info_thread, NULL); - - /* close fds */ - led_deinit(); - buzzer_deinit(); - close(sp_man_sub); - close(sp_offboard_sub); - close(global_position_sub); - close(sensor_sub); - close(cmd_sub); - - warnx("exiting..\n"); - fflush(stdout); - - thread_running = false; - - return 0; -} diff --git a/apps/commander/commander.h b/apps/commander/commander.h deleted file mode 100644 index 04b4e72ab..000000000 --- a/apps/commander/commander.h +++ /dev/null @@ -1,58 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Petri Tanskanen - * Lorenz Meier - * Thomas Gubler - * Julian Oes - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file commander.h - * Main system state machine definition. - * - * @author Petri Tanskanen - * @author Lorenz Meier - * @author Thomas Gubler - * @author Julian Oes - * - */ - -#ifndef COMMANDER_H_ -#define COMMANDER_H_ - -#define LOW_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS 1000.0f -#define CRITICAL_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS 100.0f - -void tune_confirm(void); -void tune_error(void); - -#endif /* COMMANDER_H_ */ diff --git a/apps/commander/state_machine_helper.c b/apps/commander/state_machine_helper.c deleted file mode 100644 index bea388a10..000000000 --- a/apps/commander/state_machine_helper.c +++ /dev/null @@ -1,752 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Thomas Gubler - * Julian Oes - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file state_machine_helper.c - * State machine helper functions implementations - */ - -#include -#include - -#include -#include -#include -#include -#include -#include - -#include "state_machine_helper.h" - -static const char *system_state_txt[] = { - "SYSTEM_STATE_PREFLIGHT", - "SYSTEM_STATE_STANDBY", - "SYSTEM_STATE_GROUND_READY", - "SYSTEM_STATE_MANUAL", - "SYSTEM_STATE_STABILIZED", - "SYSTEM_STATE_AUTO", - "SYSTEM_STATE_MISSION_ABORT", - "SYSTEM_STATE_EMCY_LANDING", - "SYSTEM_STATE_EMCY_CUTOFF", - "SYSTEM_STATE_GROUND_ERROR", - "SYSTEM_STATE_REBOOT", - -}; - -/** - * Transition from one state to another - */ -int do_state_update(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, commander_state_machine_t new_state) -{ - int invalid_state = false; - int ret = ERROR; - - commander_state_machine_t old_state = current_status->state_machine; - - switch (new_state) { - case SYSTEM_STATE_MISSION_ABORT: { - /* Indoor or outdoor */ - // if (flight_environment_parameter == PX4_FLIGHT_ENVIRONMENT_OUTDOOR) { - ret = do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_EMCY_LANDING); - - // } else { - // ret = do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_EMCY_CUTOFF); - // } - } - break; - - case SYSTEM_STATE_EMCY_LANDING: - /* Tell the controller to land */ - - /* set system flags according to state */ - current_status->flag_system_armed = true; - - warnx("EMERGENCY LANDING!\n"); - mavlink_log_critical(mavlink_fd, "EMERGENCY LANDING!"); - break; - - case SYSTEM_STATE_EMCY_CUTOFF: - /* Tell the controller to cutoff the motors (thrust = 0) */ - - /* set system flags according to state */ - current_status->flag_system_armed = false; - - warnx("EMERGENCY MOTOR CUTOFF!\n"); - mavlink_log_critical(mavlink_fd, "EMERGENCY MOTOR CUTOFF!"); - break; - - case SYSTEM_STATE_GROUND_ERROR: - - /* set system flags according to state */ - - /* prevent actuators from arming */ - current_status->flag_system_armed = false; - - warnx("GROUND ERROR, locking down propulsion system\n"); - mavlink_log_critical(mavlink_fd, "GROUND ERROR, locking down system"); - break; - - case SYSTEM_STATE_PREFLIGHT: - if (current_status->state_machine == SYSTEM_STATE_STANDBY - || current_status->state_machine == SYSTEM_STATE_PREFLIGHT) { - /* set system flags according to state */ - current_status->flag_system_armed = false; - mavlink_log_critical(mavlink_fd, "Switched to PREFLIGHT state"); - - } else { - invalid_state = true; - mavlink_log_critical(mavlink_fd, "REFUSED to switch to PREFLIGHT state"); - } - - break; - - case SYSTEM_STATE_REBOOT: - if (current_status->state_machine == SYSTEM_STATE_STANDBY - || current_status->state_machine == SYSTEM_STATE_PREFLIGHT - || current_status->flag_hil_enabled) { - invalid_state = false; - /* set system flags according to state */ - current_status->flag_system_armed = false; - mavlink_log_critical(mavlink_fd, "REBOOTING SYSTEM"); - usleep(500000); - up_systemreset(); - /* SPECIAL CASE: NEVER RETURNS FROM THIS FUNCTION CALL */ - - } else { - invalid_state = true; - mavlink_log_critical(mavlink_fd, "REFUSED to REBOOT"); - } - - break; - - case SYSTEM_STATE_STANDBY: - /* set system flags according to state */ - - /* standby enforces disarmed */ - current_status->flag_system_armed = false; - - mavlink_log_critical(mavlink_fd, "Switched to STANDBY state"); - break; - - case SYSTEM_STATE_GROUND_READY: - - /* set system flags according to state */ - - /* ground ready has motors / actuators armed */ - current_status->flag_system_armed = true; - - mavlink_log_critical(mavlink_fd, "Switched to GROUND READY state"); - break; - - case SYSTEM_STATE_AUTO: - - /* set system flags according to state */ - - /* auto is airborne and in auto mode, motors armed */ - current_status->flag_system_armed = true; - - mavlink_log_critical(mavlink_fd, "Switched to FLYING / AUTO mode"); - break; - - case SYSTEM_STATE_STABILIZED: - - /* set system flags according to state */ - current_status->flag_system_armed = true; - - mavlink_log_critical(mavlink_fd, "Switched to FLYING / STABILIZED mode"); - break; - - case SYSTEM_STATE_MANUAL: - - /* set system flags according to state */ - current_status->flag_system_armed = true; - - mavlink_log_critical(mavlink_fd, "Switched to FLYING / MANUAL mode"); - break; - - default: - invalid_state = true; - break; - } - - if (invalid_state == false || old_state != new_state) { - current_status->state_machine = new_state; - state_machine_publish(status_pub, current_status, mavlink_fd); - publish_armed_status(current_status); - ret = OK; - } - - if (invalid_state) { - mavlink_log_critical(mavlink_fd, "REJECTING invalid state transition"); - ret = ERROR; - } - - return ret; -} - -void state_machine_publish(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) -{ - /* publish the new state */ - current_status->counter++; - current_status->timestamp = hrt_absolute_time(); - - /* assemble state vector based on flag values */ - if (current_status->flag_control_rates_enabled) { - current_status->onboard_control_sensors_present |= 0x400; - - } else { - current_status->onboard_control_sensors_present &= ~0x400; - } - - current_status->onboard_control_sensors_present |= (current_status->flag_control_attitude_enabled) ? 0x800 : 0; - current_status->onboard_control_sensors_present |= (current_status->flag_control_attitude_enabled) ? 0x1000 : 0; - current_status->onboard_control_sensors_present |= (current_status->flag_control_velocity_enabled || current_status->flag_control_position_enabled) ? 0x2000 : 0; - current_status->onboard_control_sensors_present |= (current_status->flag_control_velocity_enabled || current_status->flag_control_position_enabled) ? 0x4000 : 0; - - current_status->onboard_control_sensors_enabled |= (current_status->flag_control_rates_enabled) ? 0x400 : 0; - current_status->onboard_control_sensors_enabled |= (current_status->flag_control_attitude_enabled) ? 0x800 : 0; - current_status->onboard_control_sensors_enabled |= (current_status->flag_control_attitude_enabled) ? 0x1000 : 0; - current_status->onboard_control_sensors_enabled |= (current_status->flag_control_velocity_enabled || current_status->flag_control_position_enabled) ? 0x2000 : 0; - current_status->onboard_control_sensors_enabled |= (current_status->flag_control_velocity_enabled || current_status->flag_control_position_enabled) ? 0x4000 : 0; - - orb_publish(ORB_ID(vehicle_status), status_pub, current_status); - printf("[cmd] new state: %s\n", system_state_txt[current_status->state_machine]); -} - -void publish_armed_status(const struct vehicle_status_s *current_status) -{ - struct actuator_armed_s armed; - armed.armed = current_status->flag_system_armed; - /* lock down actuators if required, only in HIL */ - armed.lockdown = (current_status->flag_hil_enabled) ? true : false; - orb_advert_t armed_pub = orb_advertise(ORB_ID(actuator_armed), &armed); - orb_publish(ORB_ID(actuator_armed), armed_pub, &armed); -} - - -/* - * Private functions, update the state machine - */ -void state_machine_emergency_always_critical(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) -{ - warnx("EMERGENCY HANDLER\n"); - /* Depending on the current state go to one of the error states */ - - if (current_status->state_machine == SYSTEM_STATE_PREFLIGHT || current_status->state_machine == SYSTEM_STATE_STANDBY || current_status->state_machine == SYSTEM_STATE_GROUND_READY) { - do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_GROUND_ERROR); - - } else if (current_status->state_machine == SYSTEM_STATE_AUTO || current_status->state_machine == SYSTEM_STATE_MANUAL) { - - // DO NOT abort mission - //do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_MISSION_ABORT); - - } else { - warnx("Unknown system state: #%d\n", current_status->state_machine); - } -} - -void state_machine_emergency(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) //do not call state_machine_emergency_always_critical if we are in manual mode for these errors -{ - if (current_status->state_machine != SYSTEM_STATE_MANUAL) { //if we are in manual: user can react to errors themself - state_machine_emergency_always_critical(status_pub, current_status, mavlink_fd); - - } else { - //global_data_send_mavlink_statustext_message_out("[cmd] ERROR: take action immediately! (did not switch to error state because the system is in manual mode)", MAV_SEVERITY_CRITICAL); - } - -} - - - -// /* -// * Wrapper functions (to be used in the commander), all functions assume lock on current_status -// */ - -// /* These functions decide if an emergency exits and then switch to SYSTEM_STATE_MISSION_ABORT or SYSTEM_STATE_GROUND_ERROR -// * -// * START SUBSYSTEM/EMERGENCY FUNCTIONS -// * */ - -// void update_state_machine_subsystem_present(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type) -// { -// current_status->onboard_control_sensors_present |= 1 << *subsystem_type; -// current_status->counter++; -// current_status->timestamp = hrt_absolute_time(); -// orb_publish(ORB_ID(vehicle_status), status_pub, current_status); -// } - -// void update_state_machine_subsystem_notpresent(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type) -// { -// current_status->onboard_control_sensors_present &= ~(1 << *subsystem_type); -// current_status->counter++; -// current_status->timestamp = hrt_absolute_time(); -// orb_publish(ORB_ID(vehicle_status), status_pub, current_status); - -// /* if a subsystem was removed something went completely wrong */ - -// switch (*subsystem_type) { -// case SUBSYSTEM_TYPE_GYRO: -// //global_data_send_mavlink_statustext_message_out("Commander: gyro not present", MAV_SEVERITY_EMERGENCY); -// state_machine_emergency_always_critical(status_pub, current_status); -// break; - -// case SUBSYSTEM_TYPE_ACC: -// //global_data_send_mavlink_statustext_message_out("Commander: accelerometer not present", MAV_SEVERITY_EMERGENCY); -// state_machine_emergency_always_critical(status_pub, current_status); -// break; - -// case SUBSYSTEM_TYPE_MAG: -// //global_data_send_mavlink_statustext_message_out("Commander: magnetometer not present", MAV_SEVERITY_EMERGENCY); -// state_machine_emergency_always_critical(status_pub, current_status); -// break; - -// case SUBSYSTEM_TYPE_GPS: -// { -// uint8_t flight_env = global_data_parameter_storage->pm.param_values[PARAM_FLIGHT_ENV]; - -// if (flight_env == PX4_FLIGHT_ENVIRONMENT_OUTDOOR) { -// //global_data_send_mavlink_statustext_message_out("Commander: GPS not present", MAV_SEVERITY_EMERGENCY); -// state_machine_emergency(status_pub, current_status); -// } -// } -// break; - -// default: -// break; -// } - -// } - -// void update_state_machine_subsystem_enabled(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type) -// { -// current_status->onboard_control_sensors_enabled |= 1 << *subsystem_type; -// current_status->counter++; -// current_status->timestamp = hrt_absolute_time(); -// orb_publish(ORB_ID(vehicle_status), status_pub, current_status); -// } - -// void update_state_machine_subsystem_disabled(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type) -// { -// current_status->onboard_control_sensors_enabled &= ~(1 << *subsystem_type); -// current_status->counter++; -// current_status->timestamp = hrt_absolute_time(); -// orb_publish(ORB_ID(vehicle_status), status_pub, current_status); - -// /* if a subsystem was disabled something went completely wrong */ - -// switch (*subsystem_type) { -// case SUBSYSTEM_TYPE_GYRO: -// //global_data_send_mavlink_statustext_message_out("Commander: EMERGENCY - gyro disabled", MAV_SEVERITY_EMERGENCY); -// state_machine_emergency_always_critical(status_pub, current_status); -// break; - -// case SUBSYSTEM_TYPE_ACC: -// //global_data_send_mavlink_statustext_message_out("Commander: EMERGENCY - accelerometer disabled", MAV_SEVERITY_EMERGENCY); -// state_machine_emergency_always_critical(status_pub, current_status); -// break; - -// case SUBSYSTEM_TYPE_MAG: -// //global_data_send_mavlink_statustext_message_out("Commander: EMERGENCY - magnetometer disabled", MAV_SEVERITY_EMERGENCY); -// state_machine_emergency_always_critical(status_pub, current_status); -// break; - -// case SUBSYSTEM_TYPE_GPS: -// { -// uint8_t flight_env = (uint8_t)(global_data_parameter_storage->pm.param_values[PARAM_FLIGHT_ENV]); - -// if (flight_env == PX4_FLIGHT_ENVIRONMENT_OUTDOOR) { -// //global_data_send_mavlink_statustext_message_out("Commander: EMERGENCY - GPS disabled", MAV_SEVERITY_EMERGENCY); -// state_machine_emergency(status_pub, current_status); -// } -// } -// break; - -// default: -// break; -// } - -// } - - -// void update_state_machine_subsystem_healthy(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type) -// { -// current_status->onboard_control_sensors_health |= 1 << *subsystem_type; -// current_status->counter++; -// current_status->timestamp = hrt_absolute_time(); -// orb_publish(ORB_ID(vehicle_status), status_pub, current_status); - -// switch (*subsystem_type) { -// case SUBSYSTEM_TYPE_GYRO: -// //TODO state machine change (recovering) -// break; - -// case SUBSYSTEM_TYPE_ACC: -// //TODO state machine change -// break; - -// case SUBSYSTEM_TYPE_MAG: -// //TODO state machine change -// break; - -// case SUBSYSTEM_TYPE_GPS: -// //TODO state machine change -// break; - -// default: -// break; -// } - - -// } - - -// void update_state_machine_subsystem_unhealthy(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type) -// { -// bool previosly_healthy = (bool)(current_status->onboard_control_sensors_health & 1 << *subsystem_type); -// current_status->onboard_control_sensors_health &= ~(1 << *subsystem_type); -// current_status->counter++; -// current_status->timestamp = hrt_absolute_time(); -// orb_publish(ORB_ID(vehicle_status), status_pub, current_status); - -// /* if we received unhealthy message more than *_HEALTH_COUNTER_LIMIT, switch to error state */ - -// switch (*subsystem_type) { -// case SUBSYSTEM_TYPE_GYRO: -// //global_data_send_mavlink_statustext_message_out("Commander: gyro unhealthy", MAV_SEVERITY_CRITICAL); - -// if (previosly_healthy) //only throw emergency if previously healthy -// state_machine_emergency_always_critical(status_pub, current_status); - -// break; - -// case SUBSYSTEM_TYPE_ACC: -// //global_data_send_mavlink_statustext_message_out("Commander: accelerometer unhealthy", MAV_SEVERITY_CRITICAL); - -// if (previosly_healthy) //only throw emergency if previously healthy -// state_machine_emergency_always_critical(status_pub, current_status); - -// break; - -// case SUBSYSTEM_TYPE_MAG: -// //global_data_send_mavlink_statustext_message_out("Commander: magnetometer unhealthy", MAV_SEVERITY_CRITICAL); - -// if (previosly_healthy) //only throw emergency if previously healthy -// state_machine_emergency_always_critical(status_pub, current_status); - -// break; - -// case SUBSYSTEM_TYPE_GPS: -// // //TODO: remove this block -// // break; -// // /////////////////// -// //global_data_send_mavlink_statustext_message_out("Commander: GPS unhealthy", MAV_SEVERITY_CRITICAL); - -// // printf("previosly_healthy = %u\n", previosly_healthy); -// if (previosly_healthy) //only throw emergency if previously healthy -// state_machine_emergency(status_pub, current_status); - -// break; - -// default: -// break; -// } - -// } - - -/* END SUBSYSTEM/EMERGENCY FUNCTIONS*/ - - -void update_state_machine_got_position_fix(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) -{ - /* Depending on the current state switch state */ - if (current_status->state_machine == SYSTEM_STATE_PREFLIGHT) { - do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_STANDBY); - } -} - -void update_state_machine_no_position_fix(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) -{ - /* Depending on the current state switch state */ - if (current_status->state_machine == SYSTEM_STATE_STANDBY || current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_AUTO) { - state_machine_emergency(status_pub, current_status, mavlink_fd); - } -} - -void update_state_machine_arm(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) -{ - if (current_status->state_machine == SYSTEM_STATE_STANDBY) { - printf("[cmd] arming\n"); - do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_GROUND_READY); - } -} - -void update_state_machine_disarm(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) -{ - if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_PREFLIGHT) { - printf("[cmd] going standby\n"); - do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_STANDBY); - - } else if (current_status->state_machine == SYSTEM_STATE_STABILIZED || current_status->state_machine == SYSTEM_STATE_AUTO) { - printf("[cmd] MISSION ABORT!\n"); - do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_STANDBY); - } -} - -void update_state_machine_mode_manual(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) -{ - int old_mode = current_status->flight_mode; - current_status->flight_mode = VEHICLE_FLIGHT_MODE_MANUAL; - - current_status->flag_control_manual_enabled = true; - - /* set behaviour based on airframe */ - if ((current_status->system_type == VEHICLE_TYPE_QUADROTOR) || - (current_status->system_type == VEHICLE_TYPE_HEXAROTOR) || - (current_status->system_type == VEHICLE_TYPE_OCTOROTOR)) { - - /* assuming a rotary wing, set to SAS */ - current_status->manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS; - current_status->flag_control_attitude_enabled = true; - current_status->flag_control_rates_enabled = true; - - } else { - - /* assuming a fixed wing, set to direct pass-through */ - current_status->manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_DIRECT; - current_status->flag_control_attitude_enabled = false; - current_status->flag_control_rates_enabled = false; - } - - if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd); - - if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_STABILIZED || current_status->state_machine == SYSTEM_STATE_AUTO) { - printf("[cmd] manual mode\n"); - do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_MANUAL); - } -} - -void update_state_machine_mode_stabilized(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) -{ - if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_STABILIZED || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_AUTO) { - int old_mode = current_status->flight_mode; - int old_manual_control_mode = current_status->manual_control_mode; - current_status->flight_mode = VEHICLE_FLIGHT_MODE_MANUAL; - current_status->manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS; - current_status->flag_control_attitude_enabled = true; - current_status->flag_control_rates_enabled = true; - current_status->flag_control_manual_enabled = true; - - if (old_mode != current_status->flight_mode || - old_manual_control_mode != current_status->manual_control_mode) { - printf("[cmd] att stabilized mode\n"); - do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_MANUAL); - state_machine_publish(status_pub, current_status, mavlink_fd); - } - - } -} - -void update_state_machine_mode_guided(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) -{ - if (!current_status->flag_vector_flight_mode_ok) { - mavlink_log_critical(mavlink_fd, "NO POS LOCK, REJ. GUIDED MODE"); - tune_error(); - return; - } - - if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_AUTO) { - printf("[cmd] position guided mode\n"); - int old_mode = current_status->flight_mode; - current_status->flight_mode = VEHICLE_FLIGHT_MODE_STAB; - current_status->flag_control_manual_enabled = false; - current_status->flag_control_attitude_enabled = true; - current_status->flag_control_rates_enabled = true; - do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_STABILIZED); - - if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd); - - } -} - -void update_state_machine_mode_auto(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) -{ - if (!current_status->flag_vector_flight_mode_ok) { - mavlink_log_critical(mavlink_fd, "NO POS LOCK, REJ. AUTO MODE"); - return; - } - - if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_STABILIZED) { - printf("[cmd] auto mode\n"); - int old_mode = current_status->flight_mode; - current_status->flight_mode = VEHICLE_FLIGHT_MODE_AUTO; - current_status->flag_control_manual_enabled = false; - current_status->flag_control_attitude_enabled = true; - current_status->flag_control_rates_enabled = true; - do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_AUTO); - - if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd); - } -} - - -uint8_t update_state_machine_mode_request(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, uint8_t mode) -{ - uint8_t ret = 1; - - /* Switch on HIL if in standby and not already in HIL mode */ - if ((mode & VEHICLE_MODE_FLAG_HIL_ENABLED) - && !current_status->flag_hil_enabled) { - if ((current_status->state_machine == SYSTEM_STATE_STANDBY)) { - /* Enable HIL on request */ - current_status->flag_hil_enabled = true; - ret = OK; - state_machine_publish(status_pub, current_status, mavlink_fd); - publish_armed_status(current_status); - printf("[cmd] Enabling HIL, locking down all actuators for safety.\n\t(Arming the system will not activate them while in HIL mode)\n"); - - } else if (current_status->state_machine != SYSTEM_STATE_STANDBY && - current_status->flag_system_armed) { - - mavlink_log_critical(mavlink_fd, "REJECTING HIL, disarm first!") - - } else { - - mavlink_log_critical(mavlink_fd, "REJECTING HIL, not in standby.") - } - } - - /* switch manual / auto */ - if (mode & VEHICLE_MODE_FLAG_AUTO_ENABLED) { - update_state_machine_mode_auto(status_pub, current_status, mavlink_fd); - - } else if (mode & VEHICLE_MODE_FLAG_STABILIZED_ENABLED) { - update_state_machine_mode_stabilized(status_pub, current_status, mavlink_fd); - - } else if (mode & VEHICLE_MODE_FLAG_GUIDED_ENABLED) { - update_state_machine_mode_guided(status_pub, current_status, mavlink_fd); - - } else if (mode & VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED) { - update_state_machine_mode_manual(status_pub, current_status, mavlink_fd); - } - - /* vehicle is disarmed, mode requests arming */ - if (!(current_status->flag_system_armed) && (mode & VEHICLE_MODE_FLAG_SAFETY_ARMED)) { - /* only arm in standby state */ - // XXX REMOVE - if (current_status->state_machine == SYSTEM_STATE_STANDBY || current_status->state_machine == SYSTEM_STATE_PREFLIGHT) { - do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_GROUND_READY); - ret = OK; - printf("[cmd] arming due to command request\n"); - } - } - - /* vehicle is armed, mode requests disarming */ - if (current_status->flag_system_armed && !(mode & VEHICLE_MODE_FLAG_SAFETY_ARMED)) { - /* only disarm in ground ready */ - if (current_status->state_machine == SYSTEM_STATE_GROUND_READY) { - do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_STANDBY); - ret = OK; - printf("[cmd] disarming due to command request\n"); - } - } - - /* NEVER actually switch off HIL without reboot */ - if (current_status->flag_hil_enabled && !(mode & VEHICLE_MODE_FLAG_HIL_ENABLED)) { - warnx("DENYING request to switch off HIL. Please power cycle (safety reasons)\n"); - mavlink_log_critical(mavlink_fd, "Power-cycle to exit HIL"); - ret = ERROR; - } - - return ret; -} - -uint8_t update_state_machine_custom_mode_request(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, uint8_t custom_mode) //TODO: add more checks to avoid state switching in critical situations -{ - commander_state_machine_t current_system_state = current_status->state_machine; - - uint8_t ret = 1; - - switch (custom_mode) { - case SYSTEM_STATE_GROUND_READY: - break; - - case SYSTEM_STATE_STANDBY: - break; - - case SYSTEM_STATE_REBOOT: - printf("try to reboot\n"); - - if (current_system_state == SYSTEM_STATE_STANDBY - || current_system_state == SYSTEM_STATE_PREFLIGHT - || current_status->flag_hil_enabled) { - printf("system will reboot\n"); - mavlink_log_critical(mavlink_fd, "Rebooting.."); - usleep(200000); - do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_REBOOT); - ret = 0; - } - - break; - - case SYSTEM_STATE_AUTO: - printf("try to switch to auto/takeoff\n"); - - if (current_system_state == SYSTEM_STATE_GROUND_READY || current_system_state == SYSTEM_STATE_MANUAL) { - do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_AUTO); - printf("state: auto\n"); - ret = 0; - } - - break; - - case SYSTEM_STATE_MANUAL: - printf("try to switch to manual\n"); - - if (current_system_state == SYSTEM_STATE_GROUND_READY || current_system_state == SYSTEM_STATE_AUTO) { - do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_MANUAL); - printf("state: manual\n"); - ret = 0; - } - - break; - - default: - break; - } - - return ret; -} - diff --git a/apps/commander/state_machine_helper.h b/apps/commander/state_machine_helper.h deleted file mode 100644 index 2f2ccc729..000000000 --- a/apps/commander/state_machine_helper.h +++ /dev/null @@ -1,209 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Thomas Gubler - * Julian Oes - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file state_machine_helper.h - * State machine helper functions definitions - */ - -#ifndef STATE_MACHINE_HELPER_H_ -#define STATE_MACHINE_HELPER_H_ - -#define GPS_NOFIX_COUNTER_LIMIT 4 //need GPS_NOFIX_COUNTER_LIMIT gps packets with a bad fix to call an error (if outdoor) -#define GPS_GOTFIX_COUNTER_REQUIRED 4 //need GPS_GOTFIX_COUNTER_REQUIRED gps packets with a good fix to obtain position lock - -#include -#include - -/** - * Switch to new state with no checking. - * - * do_state_update: this is the functions that all other functions have to call in order to update the state. - * the function does not question the state change, this must be done before - * The function performs actions that are connected with the new state (buzzer, reboot, ...) - * - * @param status_pub file descriptor for state update topic publication - * @param current_status pointer to the current state machine to operate on - * @param mavlink_fd file descriptor for MAVLink statustext messages - * - * @return 0 (macro OK) or 1 on error (macro ERROR) - */ -int do_state_update(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, commander_state_machine_t new_state); - -/* These functions decide if an emergency exits and then switch to SYSTEM_STATE_MISSION_ABORT or SYSTEM_STATE_GROUND_ERROR */ -// void update_state_machine_subsystem_present(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type); -// void update_state_machine_subsystem_notpresent(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type); - -// void update_state_machine_subsystem_enabled(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type); -// void update_state_machine_subsystem_disabled(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type); - -// void update_state_machine_subsystem_healthy(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type); -// void update_state_machine_subsystem_unhealthy(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type); - - -/** - * Handle state machine if got position fix - * - * @param status_pub file descriptor for state update topic publication - * @param current_status pointer to the current state machine to operate on - * @param mavlink_fd file descriptor for MAVLink statustext messages - */ -void update_state_machine_got_position_fix(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); - -/** - * Handle state machine if position fix lost - * - * @param status_pub file descriptor for state update topic publication - * @param current_status pointer to the current state machine to operate on - * @param mavlink_fd file descriptor for MAVLink statustext messages - */ -void update_state_machine_no_position_fix(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); - -/** - * Handle state machine if user wants to arm - * - * @param status_pub file descriptor for state update topic publication - * @param current_status pointer to the current state machine to operate on - * @param mavlink_fd file descriptor for MAVLink statustext messages - */ -void update_state_machine_arm(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); - -/** - * Handle state machine if user wants to disarm - * - * @param status_pub file descriptor for state update topic publication - * @param current_status pointer to the current state machine to operate on - * @param mavlink_fd file descriptor for MAVLink statustext messages - */ -void update_state_machine_disarm(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); - -/** - * Handle state machine if mode switch is manual - * - * @param status_pub file descriptor for state update topic publication - * @param current_status pointer to the current state machine to operate on - * @param mavlink_fd file descriptor for MAVLink statustext messages - */ -void update_state_machine_mode_manual(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); - -/** - * Handle state machine if mode switch is stabilized - * - * @param status_pub file descriptor for state update topic publication - * @param current_status pointer to the current state machine to operate on - * @param mavlink_fd file descriptor for MAVLink statustext messages - */ -void update_state_machine_mode_stabilized(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); - -/** - * Handle state machine if mode switch is guided - * - * @param status_pub file descriptor for state update topic publication - * @param current_status pointer to the current state machine to operate on - * @param mavlink_fd file descriptor for MAVLink statustext messages - */ -void update_state_machine_mode_guided(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); - -/** - * Handle state machine if mode switch is auto - * - * @param status_pub file descriptor for state update topic publication - * @param current_status pointer to the current state machine to operate on - * @param mavlink_fd file descriptor for MAVLink statustext messages - */ -void update_state_machine_mode_auto(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); - -/** - * Publish current state information - * - * @param status_pub file descriptor for state update topic publication - * @param current_status pointer to the current state machine to operate on - * @param mavlink_fd file descriptor for MAVLink statustext messages - */ -void state_machine_publish(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); - - -/* - * Functions that handle incoming requests to change the state machine or a parameter (probably from the mavlink app). - * If the request is obeyed the functions return 0 - * - */ - -/** - * Handles *incoming request* to switch to a specific state, if state change is successful returns 0 - * - * @param status_pub file descriptor for state update topic publication - * @param current_status pointer to the current state machine to operate on - * @param mavlink_fd file descriptor for MAVLink statustext messages - */ -uint8_t update_state_machine_mode_request(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, uint8_t mode); - -/** - * Handles *incoming request* to switch to a specific custom state, if state change is successful returns 0 - * - * @param status_pub file descriptor for state update topic publication - * @param current_status pointer to the current state machine to operate on - * @param mavlink_fd file descriptor for MAVLink statustext messages - */ -uint8_t update_state_machine_custom_mode_request(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, uint8_t custom_mode); - -/** - * Always switches to critical mode under any circumstances. - * - * @param status_pub file descriptor for state update topic publication - * @param current_status pointer to the current state machine to operate on - * @param mavlink_fd file descriptor for MAVLink statustext messages - */ -void state_machine_emergency_always_critical(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); - -/** - * Switches to emergency if required. - * - * @param status_pub file descriptor for state update topic publication - * @param current_status pointer to the current state machine to operate on - * @param mavlink_fd file descriptor for MAVLink statustext messages - */ -void state_machine_emergency(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); - -/** - * Publish the armed state depending on the current system state - * - * @param current_status the current system status - */ -void publish_armed_status(const struct vehicle_status_s *current_status); - - - -#endif /* STATE_MACHINE_HELPER_H_ */ diff --git a/apps/drivers/boards/px4fmu/Makefile b/apps/drivers/boards/px4fmu/Makefile deleted file mode 100644 index 6b183d8d2..000000000 --- a/apps/drivers/boards/px4fmu/Makefile +++ /dev/null @@ -1,41 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Board-specific startup code for the PX4FMU -# - -INCLUDES = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common -LIBNAME = brd_px4fmu - -include $(APPDIR)/mk/app.mk diff --git a/apps/drivers/boards/px4fmu/px4fmu_can.c b/apps/drivers/boards/px4fmu/px4fmu_can.c deleted file mode 100644 index 0d0b5fcd3..000000000 --- a/apps/drivers/boards/px4fmu/px4fmu_can.c +++ /dev/null @@ -1,141 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file px4fmu_can.c - * - * Board-specific CAN functions. - */ - - -/************************************************************************************ - * Included Files - ************************************************************************************/ - -#include - -#include -#include - -#include -#include - -#include "chip.h" -#include "up_arch.h" - -#include "stm32.h" -#include "stm32_can.h" -#include "px4fmu_internal.h" - -/************************************************************************************ - * Pre-processor Definitions - ************************************************************************************/ -/* Configuration ********************************************************************/ - -#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2) -# warning "Both CAN1 and CAN2 are enabled. Assuming only CAN1." -# undef CONFIG_STM32_CAN2 -#endif - -#ifdef CONFIG_STM32_CAN1 -# define CAN_PORT 1 -#else -# define CAN_PORT 2 -#endif - -/* Debug ***************************************************************************/ -/* Non-standard debug that may be enabled just for testing CAN */ - -#ifdef CONFIG_DEBUG_CAN -# define candbg dbg -# define canvdbg vdbg -# define canlldbg lldbg -# define canllvdbg llvdbg -#else -# define candbg(x...) -# define canvdbg(x...) -# define canlldbg(x...) -# define canllvdbg(x...) -#endif - -/************************************************************************************ - * Private Functions - ************************************************************************************/ - -/************************************************************************************ - * Public Functions - ************************************************************************************/ - -/************************************************************************************ - * Name: can_devinit - * - * Description: - * All STM32 architectures must provide the following interface to work with - * examples/can. - * - ************************************************************************************/ - -int can_devinit(void) -{ - static bool initialized = false; - struct can_dev_s *can; - int ret; - - /* Check if we have already initialized */ - - if (!initialized) { - /* Call stm32_caninitialize() to get an instance of the CAN interface */ - - can = stm32_caninitialize(CAN_PORT); - - if (can == NULL) { - candbg("ERROR: Failed to get CAN interface\n"); - return -ENODEV; - } - - /* Register the CAN driver at "/dev/can0" */ - - ret = can_register("/dev/can0", can); - - if (ret < 0) { - candbg("ERROR: can_register failed: %d\n", ret); - return ret; - } - - /* Now we are initialized */ - - initialized = true; - } - - return OK; -} diff --git a/apps/drivers/boards/px4fmu/px4fmu_init.c b/apps/drivers/boards/px4fmu/px4fmu_init.c deleted file mode 100644 index 9960c6bbd..000000000 --- a/apps/drivers/boards/px4fmu/px4fmu_init.c +++ /dev/null @@ -1,232 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file px4fmu_init.c - * - * PX4FMU-specific early startup code. This file implements the - * nsh_archinitialize() function that is called early by nsh during startup. - * - * Code here is run before the rcS script is invoked; it should start required - * subsystems and perform board-specific initialisation. - */ - -/**************************************************************************** - * Included Files - ****************************************************************************/ - -#include - -#include -#include -#include -#include - -#include -#include -#include -#include -#include - -#include "stm32_internal.h" -#include "px4fmu_internal.h" -#include "stm32_uart.h" - -#include - -#include -#include - -#include - -/**************************************************************************** - * Pre-Processor Definitions - ****************************************************************************/ - -/* Configuration ************************************************************/ - -/* Debug ********************************************************************/ - -#ifdef CONFIG_CPP_HAVE_VARARGS -# ifdef CONFIG_DEBUG -# define message(...) lowsyslog(__VA_ARGS__) -# else -# define message(...) printf(__VA_ARGS__) -# endif -#else -# ifdef CONFIG_DEBUG -# define message lowsyslog -# else -# define message printf -# endif -#endif - -/**************************************************************************** - * Protected Functions - ****************************************************************************/ - -/**************************************************************************** - * Public Functions - ****************************************************************************/ - -/************************************************************************************ - * Name: stm32_boardinitialize - * - * Description: - * All STM32 architectures must provide the following entry point. This entry point - * is called early in the intitialization -- after all memory has been configured - * and mapped but before any devices have been initialized. - * - ************************************************************************************/ - -__EXPORT void stm32_boardinitialize(void) -{ - /* configure SPI interfaces */ - stm32_spiinitialize(); - - /* configure LEDs */ - up_ledinit(); -} - -/**************************************************************************** - * Name: nsh_archinitialize - * - * Description: - * Perform architecture specific initialization - * - ****************************************************************************/ - -static struct spi_dev_s *spi1; -static struct spi_dev_s *spi3; - -#include - -#ifdef __cplusplus -__EXPORT int matherr(struct __exception *e) -{ - return 1; -} -#else -__EXPORT int matherr(struct exception *e) -{ - return 1; -} -#endif - -__EXPORT int nsh_archinitialize(void) -{ - int result; - - /* configure the high-resolution time/callout interface */ - hrt_init(); - - /* configure CPU load estimation */ -#ifdef CONFIG_SCHED_INSTRUMENTATION - cpuload_initialize_once(); -#endif - - /* set up the serial DMA polling */ - static struct hrt_call serial_dma_call; - struct timespec ts; - - /* - * Poll at 1ms intervals for received bytes that have not triggered - * a DMA event. - */ - ts.tv_sec = 0; - ts.tv_nsec = 1000000; - - hrt_call_every(&serial_dma_call, - ts_to_abstime(&ts), - ts_to_abstime(&ts), - (hrt_callout)stm32_serial_dma_poll, - NULL); - - // initial LED state - drv_led_start(); - up_ledoff(LED_BLUE); - up_ledoff(LED_AMBER); - up_ledon(LED_BLUE); - - /* Configure SPI-based devices */ - - spi1 = up_spiinitialize(1); - - if (!spi1) { - message("[boot] FAILED to initialize SPI port 1\r\n"); - up_ledon(LED_AMBER); - return -ENODEV; - } - - // Default SPI1 to 1MHz and de-assert the known chip selects. - SPI_SETFREQUENCY(spi1, 10000000); - SPI_SETBITS(spi1, 8); - SPI_SETMODE(spi1, SPIDEV_MODE3); - SPI_SELECT(spi1, PX4_SPIDEV_GYRO, false); - SPI_SELECT(spi1, PX4_SPIDEV_ACCEL, false); - SPI_SELECT(spi1, PX4_SPIDEV_MPU, false); - up_udelay(20); - - message("[boot] Successfully initialized SPI port 1\r\n"); - - /* Get the SPI port for the microSD slot */ - - message("[boot] Initializing SPI port 3\n"); - spi3 = up_spiinitialize(3); - - if (!spi3) { - message("[boot] FAILED to initialize SPI port 3\n"); - up_ledon(LED_AMBER); - return -ENODEV; - } - - message("[boot] Successfully initialized SPI port 3\n"); - - /* Now bind the SPI interface to the MMCSD driver */ - result = mmcsd_spislotinitialize(CONFIG_NSH_MMCSDMINOR, CONFIG_NSH_MMCSDSLOTNO, spi3); - - if (result != OK) { - message("[boot] FAILED to bind SPI port 3 to the MMCSD driver\n"); - up_ledon(LED_AMBER); - return -ENODEV; - } - - message("[boot] Successfully bound SPI port 3 to the MMCSD driver\n"); - - stm32_configgpio(GPIO_ADC1_IN10); - stm32_configgpio(GPIO_ADC1_IN11); - stm32_configgpio(GPIO_ADC1_IN12); - stm32_configgpio(GPIO_ADC1_IN13); // jumperable to MPU6000 DRDY on some boards - - return OK; -} diff --git a/apps/drivers/boards/px4fmu/px4fmu_internal.h b/apps/drivers/boards/px4fmu/px4fmu_internal.h deleted file mode 100644 index 6550fdf3d..000000000 --- a/apps/drivers/boards/px4fmu/px4fmu_internal.h +++ /dev/null @@ -1,161 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file px4fmu_internal.h - * - * PX4FMU internal definitions - */ - -#pragma once - -/**************************************************************************************************** - * Included Files - ****************************************************************************************************/ - -#include -#include -#include - -__BEGIN_DECLS - -/* these headers are not C++ safe */ -#include - - -/**************************************************************************************************** - * Definitions - ****************************************************************************************************/ -/* Configuration ************************************************************************************/ - -#ifdef CONFIG_STM32_SPI2 -# error "SPI2 is not supported on this board" -#endif - -#if defined(CONFIG_STM32_CAN1) -# warning "CAN1 is not supported on this board" -#endif - -/* PX4FMU GPIOs ***********************************************************************************/ -/* LEDs */ - -#define GPIO_LED1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN15) -#define GPIO_LED2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN14) - -/* External interrupts */ -#define GPIO_EXTI_COMPASS (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN1) -// XXX MPU6000 DRDY? - -/* SPI chip selects */ -#define GPIO_SPI_CS_GYRO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN14) -#define GPIO_SPI_CS_ACCEL (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15) -#define GPIO_SPI_CS_MPU (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0) -#define GPIO_SPI_CS_SDCARD (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4) - -/* User GPIOs - * - * GPIO0-1 are the buffered high-power GPIOs. - * GPIO2-5 are the USART2 pins. - * GPIO6-7 are the CAN2 pins. - */ -#define GPIO_GPIO0_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN4) -#define GPIO_GPIO1_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN5) -#define GPIO_GPIO2_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN0) -#define GPIO_GPIO3_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN1) -#define GPIO_GPIO4_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN2) -#define GPIO_GPIO5_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN3) -#define GPIO_GPIO6_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN13) -#define GPIO_GPIO7_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN2) -#define GPIO_GPIO0_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN4) -#define GPIO_GPIO1_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN5) -#define GPIO_GPIO2_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0) -#define GPIO_GPIO3_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN1) -#define GPIO_GPIO4_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN2) -#define GPIO_GPIO5_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN3) -#define GPIO_GPIO6_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN13) -#define GPIO_GPIO7_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN12) -#define GPIO_GPIO_DIR (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13) - -/* USB OTG FS - * - * PA9 OTG_FS_VBUS VBUS sensing (also connected to the green LED) - */ -#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9) - -/* PWM - * - * The PX4FMU has five PWM outputs, of which only the output on - * pin PC8 is fixed assigned to this function. The other four possible - * pwm sources are the TX, RX, RTS and CTS pins of USART2 - * - * Alternate function mapping: - * PC8 - BUZZER - TIM8_CH3/SDIO_D0 /TIM3_CH3/ USART6_CK / DCMI_D2 - */ - -#ifdef CONFIG_PWM -# if defined(CONFIG_STM32_TIM3_PWM) -# define BUZZER_PWMCHANNEL 3 -# define BUZZER_PWMTIMER 3 -# elif defined(CONFIG_STM32_TIM8_PWM) -# define BUZZER_PWMCHANNEL 3 -# define BUZZER_PWMTIMER 8 -# endif -#endif - -/**************************************************************************************************** - * Public Types - ****************************************************************************************************/ - -/**************************************************************************************************** - * Public data - ****************************************************************************************************/ - -#ifndef __ASSEMBLY__ - -/**************************************************************************************************** - * Public Functions - ****************************************************************************************************/ - -/**************************************************************************************************** - * Name: stm32_spiinitialize - * - * Description: - * Called to configure SPI chip select GPIO pins for the PX4FMU board. - * - ****************************************************************************************************/ - -extern void stm32_spiinitialize(void); - -#endif /* __ASSEMBLY__ */ - -__END_DECLS diff --git a/apps/drivers/boards/px4fmu/px4fmu_led.c b/apps/drivers/boards/px4fmu/px4fmu_led.c deleted file mode 100644 index fd1e159aa..000000000 --- a/apps/drivers/boards/px4fmu/px4fmu_led.c +++ /dev/null @@ -1,88 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file px4fmu_led.c - * - * PX4FMU LED backend. - */ - -#include - -#include -#include -#include - -#include - -#include "chip.h" -#include "up_arch.h" -#include "up_internal.h" -#include "stm32_internal.h" -#include "px4fmu_internal.h" - -__EXPORT void up_ledinit() -{ - /* Configure LED1-2 GPIOs for output */ - - stm32_configgpio(GPIO_LED1); - stm32_configgpio(GPIO_LED2); -} - -__EXPORT void up_ledon(int led) -{ - if (led == 0) - { - /* Pull down to switch on */ - stm32_gpiowrite(GPIO_LED1, false); - } - if (led == 1) - { - /* Pull down to switch on */ - stm32_gpiowrite(GPIO_LED2, false); - } -} - -__EXPORT void up_ledoff(int led) -{ - if (led == 0) - { - /* Pull up to switch off */ - stm32_gpiowrite(GPIO_LED1, true); - } - if (led == 1) - { - /* Pull up to switch off */ - stm32_gpiowrite(GPIO_LED2, true); - } -} diff --git a/apps/drivers/boards/px4fmu/px4fmu_pwm_servo.c b/apps/drivers/boards/px4fmu/px4fmu_pwm_servo.c deleted file mode 100644 index cb8918306..000000000 --- a/apps/drivers/boards/px4fmu/px4fmu_pwm_servo.c +++ /dev/null @@ -1,87 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/* - * @file px4fmu_pwm_servo.c - * - * Configuration data for the stm32 pwm_servo driver. - * - * Note that these arrays must always be fully-sized. - */ - -#include - -#include - -#include -#include - -#include -#include -#include - -__EXPORT const struct pwm_servo_timer pwm_timers[PWM_SERVO_MAX_TIMERS] = { - { - .base = STM32_TIM2_BASE, - .clock_register = STM32_RCC_APB1ENR, - .clock_bit = RCC_APB1ENR_TIM2EN, - .clock_freq = STM32_APB1_TIM2_CLKIN - } -}; - -__EXPORT const struct pwm_servo_channel pwm_channels[PWM_SERVO_MAX_CHANNELS] = { - { - .gpio = GPIO_TIM2_CH1OUT, - .timer_index = 0, - .timer_channel = 1, - .default_value = 1000, - }, - { - .gpio = GPIO_TIM2_CH2OUT, - .timer_index = 0, - .timer_channel = 2, - .default_value = 1000, - }, - { - .gpio = GPIO_TIM2_CH3OUT, - .timer_index = 0, - .timer_channel = 3, - .default_value = 1000, - }, - { - .gpio = GPIO_TIM2_CH4OUT, - .timer_index = 0, - .timer_channel = 4, - .default_value = 1000, - } -}; diff --git a/apps/drivers/boards/px4fmu/px4fmu_spi.c b/apps/drivers/boards/px4fmu/px4fmu_spi.c deleted file mode 100644 index 7a02eaeb7..000000000 --- a/apps/drivers/boards/px4fmu/px4fmu_spi.c +++ /dev/null @@ -1,136 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file px4fmu_spi.c - * - * Board-specific SPI functions. - */ - -/************************************************************************************ - * Included Files - ************************************************************************************/ - -#include - -#include -#include -#include - -#include -#include - -#include "up_arch.h" -#include "chip.h" -#include "stm32_internal.h" -#include "px4fmu_internal.h" - -/************************************************************************************ - * Public Functions - ************************************************************************************/ - -/************************************************************************************ - * Name: stm32_spiinitialize - * - * Description: - * Called to configure SPI chip select GPIO pins for the PX4FMU board. - * - ************************************************************************************/ - -__EXPORT void weak_function stm32_spiinitialize(void) -{ - stm32_configgpio(GPIO_SPI_CS_GYRO); - stm32_configgpio(GPIO_SPI_CS_ACCEL); - stm32_configgpio(GPIO_SPI_CS_MPU); - stm32_configgpio(GPIO_SPI_CS_SDCARD); - - /* De-activate all peripherals, - * required for some peripheral - * state machines - */ - stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1); - stm32_gpiowrite(GPIO_SPI_CS_ACCEL, 1); - stm32_gpiowrite(GPIO_SPI_CS_MPU, 1); - stm32_gpiowrite(GPIO_SPI_CS_SDCARD, 1); -} - -__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected) -{ - /* SPI select is active low, so write !selected to select the device */ - - switch (devid) { - case PX4_SPIDEV_GYRO: - /* Making sure the other peripherals are not selected */ - stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected); - stm32_gpiowrite(GPIO_SPI_CS_MPU, 1); - stm32_gpiowrite(GPIO_SPI_CS_ACCEL, 1); - break; - - case PX4_SPIDEV_ACCEL: - /* Making sure the other peripherals are not selected */ - stm32_gpiowrite(GPIO_SPI_CS_ACCEL, !selected); - stm32_gpiowrite(GPIO_SPI_CS_MPU, 1); - stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1); - break; - - case PX4_SPIDEV_MPU: - /* Making sure the other peripherals are not selected */ - stm32_gpiowrite(GPIO_SPI_CS_ACCEL, 1); - stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1); - stm32_gpiowrite(GPIO_SPI_CS_MPU, !selected); - break; - - default: - break; - - } -} - -__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, enum spi_dev_e devid) -{ - return SPI_STATUS_PRESENT; -} - - -__EXPORT void stm32_spi3select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected) -{ - /* there can only be one device on this bus, so always select it */ - stm32_gpiowrite(GPIO_SPI_CS_SDCARD, !selected); -} - -__EXPORT uint8_t stm32_spi3status(FAR struct spi_dev_s *dev, enum spi_dev_e devid) -{ - /* this is actually bogus, but PX4 has no way to sense the presence of an SD card */ - return SPI_STATUS_PRESENT; -} - diff --git a/apps/drivers/boards/px4fmu/px4fmu_usb.c b/apps/drivers/boards/px4fmu/px4fmu_usb.c deleted file mode 100644 index b0b669fbe..000000000 --- a/apps/drivers/boards/px4fmu/px4fmu_usb.c +++ /dev/null @@ -1,108 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file px4fmu_usb.c - * - * Board-specific USB functions. - */ - -/************************************************************************************ - * Included Files - ************************************************************************************/ - -#include - -#include -#include -#include -#include - -#include -#include - -#include "up_arch.h" -#include "stm32_internal.h" -#include "px4fmu_internal.h" - -/************************************************************************************ - * Definitions - ************************************************************************************/ - -/************************************************************************************ - * Private Functions - ************************************************************************************/ - -/************************************************************************************ - * Public Functions - ************************************************************************************/ - -/************************************************************************************ - * Name: stm32_usbinitialize - * - * Description: - * Called to setup USB-related GPIO pins for the PX4FMU board. - * - ************************************************************************************/ - -__EXPORT void stm32_usbinitialize(void) -{ - /* The OTG FS has an internal soft pull-up */ - - /* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */ - -#ifdef CONFIG_STM32_OTGFS - stm32_configgpio(GPIO_OTGFS_VBUS); - /* XXX We only support device mode - stm32_configgpio(GPIO_OTGFS_PWRON); - stm32_configgpio(GPIO_OTGFS_OVER); - */ -#endif -} - -/************************************************************************************ - * Name: stm32_usbsuspend - * - * Description: - * Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is - * used. This function is called whenever the USB enters or leaves suspend mode. - * This is an opportunity for the board logic to shutdown clocks, power, etc. - * while the USB is suspended. - * - ************************************************************************************/ - -__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume) -{ - ulldbg("resume: %d\n", resume); -} - diff --git a/apps/drivers/l3gd20/Makefile b/apps/drivers/l3gd20/Makefile deleted file mode 100644 index 98e2d57c5..000000000 --- a/apps/drivers/l3gd20/Makefile +++ /dev/null @@ -1,42 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Makefile to build the L3GD20 driver. -# - -APPNAME = l3gd20 -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 - -include $(APPDIR)/mk/app.mk diff --git a/apps/drivers/l3gd20/l3gd20.cpp b/apps/drivers/l3gd20/l3gd20.cpp deleted file mode 100644 index c7f433dd4..000000000 --- a/apps/drivers/l3gd20/l3gd20.cpp +++ /dev/null @@ -1,887 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file Driver for the ST L3GD20 MEMS gyro connected via SPI. - */ - -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include - -#include -#include - -#include -#include - -#include -#include - - -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -static const int ERROR = -1; - -/* SPI protocol address bits */ -#define DIR_READ (1<<7) -#define DIR_WRITE (0<<7) -#define ADDR_INCREMENT (1<<6) - -/* register addresses */ -#define ADDR_WHO_AM_I 0x0F -#define WHO_I_AM 0xD4 - -#define ADDR_CTRL_REG1 0x20 -#define REG1_RATE_LP_MASK 0xF0 /* Mask to guard partial register update */ -/* keep lowpass low to avoid noise issues */ -#define RATE_95HZ_LP_25HZ ((0<<7) | (0<<6) | (0<<5) | (1<<4)) -#define RATE_190HZ_LP_25HZ ((0<<7) | (1<<6) | (1<<5) | (1<<4)) -#define RATE_380HZ_LP_30HZ ((1<<7) | (0<<6) | (1<<5) | (1<<4)) -#define RATE_760HZ_LP_30HZ ((1<<7) | (1<<6) | (1<<5) | (1<<4)) - -#define ADDR_CTRL_REG2 0x21 -#define ADDR_CTRL_REG3 0x22 -#define ADDR_CTRL_REG4 0x23 -#define REG4_RANGE_MASK 0x30 /* Mask to guard partial register update */ -#define RANGE_250DPS (0<<4) -#define RANGE_500DPS (1<<4) -#define RANGE_2000DPS (3<<4) - -#define ADDR_CTRL_REG5 0x24 -#define ADDR_REFERENCE 0x25 -#define ADDR_OUT_TEMP 0x26 -#define ADDR_STATUS_REG 0x27 -#define ADDR_OUT_X_L 0x28 -#define ADDR_OUT_X_H 0x29 -#define ADDR_OUT_Y_L 0x2A -#define ADDR_OUT_Y_H 0x2B -#define ADDR_OUT_Z_L 0x2C -#define ADDR_OUT_Z_H 0x2D -#define ADDR_FIFO_CTRL_REG 0x2E -#define ADDR_FIFO_SRC_REG 0x2F -#define ADDR_INT1_CFG 0x30 -#define ADDR_INT1_SRC 0x31 -#define ADDR_INT1_TSH_XH 0x32 -#define ADDR_INT1_TSH_XL 0x33 -#define ADDR_INT1_TSH_YH 0x34 -#define ADDR_INT1_TSH_YL 0x35 -#define ADDR_INT1_TSH_ZH 0x36 -#define ADDR_INT1_TSH_ZL 0x37 -#define ADDR_INT1_DURATION 0x38 - - -/* Internal configuration values */ -#define REG1_POWER_NORMAL (1<<3) -#define REG1_Z_ENABLE (1<<2) -#define REG1_Y_ENABLE (1<<1) -#define REG1_X_ENABLE (1<<0) - -#define REG4_BDU (1<<7) -#define REG4_BLE (1<<6) -//#define REG4_SPI_3WIRE (1<<0) - -#define REG5_FIFO_ENABLE (1<<6) -#define REG5_REBOOT_MEMORY (1<<7) - -#define STATUS_ZYXOR (1<<7) -#define STATUS_ZOR (1<<6) -#define STATUS_YOR (1<<5) -#define STATUS_XOR (1<<4) -#define STATUS_ZYXDA (1<<3) -#define STATUS_ZDA (1<<2) -#define STATUS_YDA (1<<1) -#define STATUS_XDA (1<<0) - -#define FIFO_CTRL_BYPASS_MODE (0<<5) -#define FIFO_CTRL_FIFO_MODE (1<<5) -#define FIFO_CTRL_STREAM_MODE (1<<6) -#define FIFO_CTRL_STREAM_TO_FIFO_MODE (3<<5) -#define FIFO_CTRL_BYPASS_TO_STREAM_MODE (1<<7) - -extern "C" { __EXPORT int l3gd20_main(int argc, char *argv[]); } - -class L3GD20 : public device::SPI -{ -public: - L3GD20(int bus, const char* path, spi_dev_e device); - virtual ~L3GD20(); - - virtual int init(); - - virtual ssize_t read(struct file *filp, char *buffer, size_t buflen); - virtual int ioctl(struct file *filp, int cmd, unsigned long arg); - - /** - * Diagnostics - print some basic information about the driver. - */ - void print_info(); - -protected: - virtual int probe(); - -private: - - struct hrt_call _call; - unsigned _call_interval; - - unsigned _num_reports; - volatile unsigned _next_report; - volatile unsigned _oldest_report; - struct gyro_report *_reports; - - struct gyro_scale _gyro_scale; - float _gyro_range_scale; - float _gyro_range_rad_s; - orb_advert_t _gyro_topic; - - unsigned _current_rate; - unsigned _current_range; - - perf_counter_t _sample_perf; - - /** - * Start automatic measurement. - */ - void start(); - - /** - * Stop automatic measurement. - */ - void stop(); - - /** - * Static trampoline from the hrt_call context; because we don't have a - * generic hrt wrapper yet. - * - * Called by the HRT in interrupt context at the specified rate if - * automatic polling is enabled. - * - * @param arg Instance pointer for the driver that is polling. - */ - static void measure_trampoline(void *arg); - - /** - * Fetch measurements from the sensor and update the report ring. - */ - void measure(); - - /** - * Read a register from the L3GD20 - * - * @param The register to read. - * @return The value that was read. - */ - uint8_t read_reg(unsigned reg); - - /** - * Write a register in the L3GD20 - * - * @param reg The register to write. - * @param value The new value to write. - */ - void write_reg(unsigned reg, uint8_t value); - - /** - * Modify a register in the L3GD20 - * - * Bits are cleared before bits are set. - * - * @param reg The register to modify. - * @param clearbits Bits in the register to clear. - * @param setbits Bits in the register to set. - */ - void modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits); - - /** - * Set the L3GD20 measurement range. - * - * @param max_dps The measurement range is set to permit reading at least - * this rate in degrees per second. - * Zero selects the maximum supported range. - * @return OK if the value can be supported, -ERANGE otherwise. - */ - int set_range(unsigned max_dps); - - /** - * Set the L3GD20 internal sampling frequency. - * - * @param frequency The internal sampling frequency is set to not less than - * this value. - * Zero selects the maximum rate supported. - * @return OK if the value can be supported. - */ - int set_samplerate(unsigned frequency); -}; - -/* helper macro for handling report buffer indices */ -#define INCREMENT(_x, _lim) do { _x++; if (_x >= _lim) _x = 0; } while(0) - - -L3GD20::L3GD20(int bus, const char* path, spi_dev_e device) : - SPI("L3GD20", path, bus, device, SPIDEV_MODE3, 8000000), - _call_interval(0), - _num_reports(0), - _next_report(0), - _oldest_report(0), - _reports(nullptr), - _gyro_range_scale(0.0f), - _gyro_range_rad_s(0.0f), - _gyro_topic(-1), - _current_rate(0), - _current_range(0), - _sample_perf(perf_alloc(PC_ELAPSED, "l3gd20_read")) -{ - // enable debug() calls - _debug_enabled = true; - - // default scale factors - _gyro_scale.x_offset = 0; - _gyro_scale.x_scale = 1.0f; - _gyro_scale.y_offset = 0; - _gyro_scale.y_scale = 1.0f; - _gyro_scale.z_offset = 0; - _gyro_scale.z_scale = 1.0f; -} - -L3GD20::~L3GD20() -{ - /* make sure we are truly inactive */ - stop(); - - /* free any existing reports */ - if (_reports != nullptr) - delete[] _reports; - - /* delete the perf counter */ - perf_free(_sample_perf); -} - -int -L3GD20::init() -{ - int ret = ERROR; - - /* do SPI init (and probe) first */ - if (SPI::init() != OK) - goto out; - - /* allocate basic report buffers */ - _num_reports = 2; - _oldest_report = _next_report = 0; - _reports = new struct gyro_report[_num_reports]; - - if (_reports == nullptr) - goto out; - - /* advertise sensor topic */ - memset(&_reports[0], 0, sizeof(_reports[0])); - _gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &_reports[0]); - - /* set default configuration */ - write_reg(ADDR_CTRL_REG1, REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE); - write_reg(ADDR_CTRL_REG2, 0); /* disable high-pass filters */ - write_reg(ADDR_CTRL_REG3, 0); /* no interrupts - we don't use them */ - write_reg(ADDR_CTRL_REG4, REG4_BDU); - write_reg(ADDR_CTRL_REG5, 0); - - write_reg(ADDR_CTRL_REG5, REG5_FIFO_ENABLE); /* disable wake-on-interrupt */ - write_reg(ADDR_FIFO_CTRL_REG, FIFO_CTRL_STREAM_MODE); /* Enable FIFO, old data is overwritten */ - - set_range(500); /* default to 500dps */ - set_samplerate(0); /* max sample rate */ - - ret = OK; -out: - return ret; -} - -int -L3GD20::probe() -{ - /* read dummy value to void to clear SPI statemachine on sensor */ - (void)read_reg(ADDR_WHO_AM_I); - - /* verify that the device is attached and functioning */ - if (read_reg(ADDR_WHO_AM_I) == WHO_I_AM) - return OK; - - return -EIO; -} - -ssize_t -L3GD20::read(struct file *filp, char *buffer, size_t buflen) -{ - unsigned count = buflen / sizeof(struct gyro_report); - int ret = 0; - - /* buffer must be large enough */ - if (count < 1) - return -ENOSPC; - - /* if automatic measurement is enabled */ - if (_call_interval > 0) { - - /* - * While there is space in the caller's buffer, and reports, copy them. - * Note that we may be pre-empted by the measurement code while we are doing this; - * we are careful to avoid racing with it. - */ - while (count--) { - if (_oldest_report != _next_report) { - memcpy(buffer, _reports + _oldest_report, sizeof(*_reports)); - ret += sizeof(_reports[0]); - INCREMENT(_oldest_report, _num_reports); - } - } - - /* if there was no data, warn the caller */ - return ret ? ret : -EAGAIN; - } - - /* manual measurement */ - _oldest_report = _next_report = 0; - measure(); - - /* measurement will have generated a report, copy it out */ - memcpy(buffer, _reports, sizeof(*_reports)); - ret = sizeof(*_reports); - - return ret; -} - -int -L3GD20::ioctl(struct file *filp, int cmd, unsigned long arg) -{ - switch (cmd) { - - case SENSORIOCSPOLLRATE: { - switch (arg) { - - /* switching to manual polling */ - case SENSOR_POLLRATE_MANUAL: - stop(); - _call_interval = 0; - return OK; - - /* external signalling not supported */ - case SENSOR_POLLRATE_EXTERNAL: - - /* zero would be bad */ - case 0: - return -EINVAL; - - /* set default/max polling rate */ - case SENSOR_POLLRATE_MAX: - case SENSOR_POLLRATE_DEFAULT: - /* With internal low pass filters enabled, 250 Hz is sufficient */ - return ioctl(filp, SENSORIOCSPOLLRATE, 250); - - /* adjust to a legal polling interval in Hz */ - default: { - /* do we need to start internal polling? */ - bool want_start = (_call_interval == 0); - - /* convert hz to hrt interval via microseconds */ - unsigned ticks = 1000000 / arg; - - /* check against maximum sane rate */ - if (ticks < 1000) - return -EINVAL; - - /* update interval for next measurement */ - /* XXX this is a bit shady, but no other way to adjust... */ - _call.period = _call_interval = ticks; - - /* if we need to start the poll state machine, do it */ - if (want_start) - start(); - - return OK; - } - } - } - - case SENSORIOCGPOLLRATE: - if (_call_interval == 0) - return SENSOR_POLLRATE_MANUAL; - - return 1000000 / _call_interval; - - case SENSORIOCSQUEUEDEPTH: { - /* account for sentinel in the ring */ - arg++; - - /* lower bound is mandatory, upper bound is a sanity check */ - if ((arg < 2) || (arg > 100)) - return -EINVAL; - - /* allocate new buffer */ - struct gyro_report *buf = new struct gyro_report[arg]; - - if (nullptr == buf) - return -ENOMEM; - - /* reset the measurement state machine with the new buffer, free the old */ - stop(); - delete[] _reports; - _num_reports = arg; - _reports = buf; - start(); - - return OK; - } - - case SENSORIOCGQUEUEDEPTH: - return _num_reports - 1; - - case SENSORIOCRESET: - /* XXX implement */ - return -EINVAL; - - case GYROIOCSSAMPLERATE: - return set_samplerate(arg); - - case GYROIOCGSAMPLERATE: - return _current_rate; - - case GYROIOCSLOWPASS: - case GYROIOCGLOWPASS: - /* XXX not implemented due to wacky interaction with samplerate */ - return -EINVAL; - - case GYROIOCSSCALE: - /* copy scale in */ - memcpy(&_gyro_scale, (struct gyro_scale *) arg, sizeof(_gyro_scale)); - return OK; - - case GYROIOCGSCALE: - /* copy scale out */ - memcpy((struct gyro_scale *) arg, &_gyro_scale, sizeof(_gyro_scale)); - return OK; - - case GYROIOCSRANGE: - return set_range(arg); - - case GYROIOCGRANGE: - return _current_range; - - default: - /* give it to the superclass */ - return SPI::ioctl(filp, cmd, arg); - } -} - -uint8_t -L3GD20::read_reg(unsigned reg) -{ - uint8_t cmd[2]; - - cmd[0] = reg | DIR_READ; - - transfer(cmd, cmd, sizeof(cmd)); - - return cmd[1]; -} - -void -L3GD20::write_reg(unsigned reg, uint8_t value) -{ - uint8_t cmd[2]; - - cmd[0] = reg | DIR_WRITE; - cmd[1] = value; - - transfer(cmd, nullptr, sizeof(cmd)); -} - -void -L3GD20::modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits) -{ - uint8_t val; - - val = read_reg(reg); - val &= ~clearbits; - val |= setbits; - write_reg(reg, val); -} - -int -L3GD20::set_range(unsigned max_dps) -{ - uint8_t bits = REG4_BDU; - - if (max_dps == 0) - max_dps = 2000; - - if (max_dps <= 250) { - _current_range = 250; - bits |= RANGE_250DPS; - - } else if (max_dps <= 500) { - _current_range = 500; - bits |= RANGE_500DPS; - - } else if (max_dps <= 2000) { - _current_range = 2000; - bits |= RANGE_2000DPS; - - } else { - return -EINVAL; - } - - _gyro_range_rad_s = _current_range / 180.0f * M_PI_F; - _gyro_range_scale = _gyro_range_rad_s / 32768.0f; - write_reg(ADDR_CTRL_REG4, bits); - - return OK; -} - -int -L3GD20::set_samplerate(unsigned frequency) -{ - uint8_t bits = REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE; - - if (frequency == 0) - frequency = 760; - - if (frequency <= 95) { - _current_rate = 95; - bits |= RATE_95HZ_LP_25HZ; - - } else if (frequency <= 190) { - _current_rate = 190; - bits |= RATE_190HZ_LP_25HZ; - - } else if (frequency <= 380) { - _current_rate = 380; - bits |= RATE_380HZ_LP_30HZ; - - } else if (frequency <= 760) { - _current_rate = 760; - bits |= RATE_760HZ_LP_30HZ; - - } else { - return -EINVAL; - } - - write_reg(ADDR_CTRL_REG1, bits); - - return OK; -} - -void -L3GD20::start() -{ - /* make sure we are stopped first */ - stop(); - - /* reset the report ring */ - _oldest_report = _next_report = 0; - - /* start polling at the specified rate */ - hrt_call_every(&_call, 1000, _call_interval, (hrt_callout)&L3GD20::measure_trampoline, this); -} - -void -L3GD20::stop() -{ - hrt_cancel(&_call); -} - -void -L3GD20::measure_trampoline(void *arg) -{ - L3GD20 *dev = (L3GD20 *)arg; - - /* make another measurement */ - dev->measure(); -} - -void -L3GD20::measure() -{ - /* status register and data as read back from the device */ -#pragma pack(push, 1) - struct { - uint8_t cmd; - uint8_t temp; - uint8_t status; - int16_t x; - int16_t y; - int16_t z; - } raw_report; -#pragma pack(pop) - - gyro_report *report = &_reports[_next_report]; - - /* start the performance counter */ - perf_begin(_sample_perf); - - /* fetch data from the sensor */ - raw_report.cmd = ADDR_OUT_TEMP | DIR_READ | ADDR_INCREMENT; - transfer((uint8_t *)&raw_report, (uint8_t *)&raw_report, sizeof(raw_report)); - - /* - * 1) Scale raw value to SI units using scaling from datasheet. - * 2) Subtract static offset (in SI units) - * 3) Scale the statically calibrated values with a linear - * dynamically obtained factor - * - * Note: the static sensor offset is the number the sensor outputs - * at a nominally 'zero' input. Therefore the offset has to - * be subtracted. - * - * Example: A gyro outputs a value of 74 at zero angular rate - * the offset is 74 from the origin and subtracting - * 74 from all measurements centers them around zero. - */ - report->timestamp = hrt_absolute_time(); - - /* swap x and y and negate y */ - report->x_raw = raw_report.y; - report->y_raw = ((raw_report.x == -32768) ? 32767 : -raw_report.x); - report->z_raw = raw_report.z; - - report->x = ((report->x_raw * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale; - report->y = ((report->y_raw * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale; - report->z = ((report->z_raw * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale; - report->scaling = _gyro_range_scale; - report->range_rad_s = _gyro_range_rad_s; - - /* post a report to the ring - note, not locked */ - INCREMENT(_next_report, _num_reports); - - /* if we are running up against the oldest report, fix it */ - if (_next_report == _oldest_report) - INCREMENT(_oldest_report, _num_reports); - - /* notify anyone waiting for data */ - poll_notify(POLLIN); - - /* publish for subscribers */ - orb_publish(ORB_ID(sensor_gyro), _gyro_topic, report); - - /* stop the perf counter */ - perf_end(_sample_perf); -} - -void -L3GD20::print_info() -{ - perf_print_counter(_sample_perf); - printf("report queue: %u (%u/%u @ %p)\n", - _num_reports, _oldest_report, _next_report, _reports); -} - -/** - * Local functions in support of the shell command. - */ -namespace l3gd20 -{ - -L3GD20 *g_dev; - -void start(); -void test(); -void reset(); -void info(); - -/** - * Start the driver. - */ -void -start() -{ - int fd; - - if (g_dev != nullptr) - errx(1, "already started"); - - /* create the driver */ - g_dev = new L3GD20(1 /* XXX magic number */, GYRO_DEVICE_PATH, (spi_dev_e)PX4_SPIDEV_GYRO); - - if (g_dev == nullptr) - goto fail; - - if (OK != g_dev->init()) - goto fail; - - /* set the poll rate to default, starts automatic data collection */ - fd = open(GYRO_DEVICE_PATH, O_RDONLY); - - if (fd < 0) - goto fail; - - if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) - goto fail; - - exit(0); -fail: - - if (g_dev != nullptr) { - delete g_dev; - g_dev = nullptr; - } - - errx(1, "driver start failed"); -} - -/** - * Perform some basic functional tests on the driver; - * make sure we can collect data from the sensor in polled - * and automatic modes. - */ -void -test() -{ - int fd_gyro = -1; - struct gyro_report g_report; - ssize_t sz; - - /* get the driver */ - fd_gyro = open(GYRO_DEVICE_PATH, O_RDONLY); - - if (fd_gyro < 0) - err(1, "%s open failed", GYRO_DEVICE_PATH); - - /* reset to manual polling */ - if (ioctl(fd_gyro, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MANUAL) < 0) - err(1, "reset to manual polling"); - - /* do a simple demand read */ - sz = read(fd_gyro, &g_report, sizeof(g_report)); - - if (sz != sizeof(g_report)) - err(1, "immediate gyro read failed"); - - warnx("gyro x: \t% 9.5f\trad/s", (double)g_report.x); - warnx("gyro y: \t% 9.5f\trad/s", (double)g_report.y); - warnx("gyro z: \t% 9.5f\trad/s", (double)g_report.z); - warnx("gyro x: \t%d\traw", (int)g_report.x_raw); - warnx("gyro y: \t%d\traw", (int)g_report.y_raw); - warnx("gyro z: \t%d\traw", (int)g_report.z_raw); - warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s, - (int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f)); - - /* XXX add poll-rate tests here too */ - - reset(); - errx(0, "PASS"); -} - -/** - * Reset the driver. - */ -void -reset() -{ - int fd = open(GYRO_DEVICE_PATH, O_RDONLY); - - if (fd < 0) - err(1, "failed "); - - if (ioctl(fd, SENSORIOCRESET, 0) < 0) - err(1, "driver reset failed"); - - if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) - err(1, "driver poll restart failed"); - - exit(0); -} - -/** - * Print a little info about the driver. - */ -void -info() -{ - if (g_dev == nullptr) - errx(1, "driver not running\n"); - - printf("state @ %p\n", g_dev); - g_dev->print_info(); - - exit(0); -} - - -} // namespace - -int -l3gd20_main(int argc, char *argv[]) -{ - /* - * Start/load the driver. - - */ - if (!strcmp(argv[1], "start")) - l3gd20::start(); - - /* - * Test the driver/device. - */ - if (!strcmp(argv[1], "test")) - l3gd20::test(); - - /* - * Reset the driver. - */ - if (!strcmp(argv[1], "reset")) - l3gd20::reset(); - - /* - * Print driver information. - */ - if (!strcmp(argv[1], "info")) - l3gd20::info(); - - errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'"); -} diff --git a/apps/drivers/px4fmu/Makefile b/apps/drivers/px4fmu/Makefile deleted file mode 100644 index 7f7c2a732..000000000 --- a/apps/drivers/px4fmu/Makefile +++ /dev/null @@ -1,44 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Interface driver for the PX4FMU board -# - -APPNAME = fmu -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 - -INCLUDES = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common - -include $(APPDIR)/mk/app.mk diff --git a/apps/drivers/px4fmu/fmu.cpp b/apps/drivers/px4fmu/fmu.cpp deleted file mode 100644 index e54724536..000000000 --- a/apps/drivers/px4fmu/fmu.cpp +++ /dev/null @@ -1,1084 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file fmu.cpp - * - * Driver/configurator for the PX4 FMU multi-purpose port. - */ - -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include - -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include - -#include -#include -#include - -#include -#include - -class PX4FMU : public device::CDev -{ -public: - enum Mode { - MODE_2PWM, - MODE_4PWM, - MODE_NONE - }; - PX4FMU(); - virtual ~PX4FMU(); - - virtual int ioctl(file *filp, int cmd, unsigned long arg); - virtual ssize_t write(file *filp, const char *buffer, size_t len); - - virtual int init(); - - int set_mode(Mode mode); - - int set_pwm_alt_rate(unsigned rate); - int set_pwm_alt_channels(uint32_t channels); - -private: - static const unsigned _max_actuators = 4; - - Mode _mode; - unsigned _pwm_default_rate; - unsigned _pwm_alt_rate; - uint32_t _pwm_alt_rate_channels; - unsigned _current_update_rate; - int _task; - int _t_actuators; - int _t_armed; - orb_advert_t _t_outputs; - orb_advert_t _t_actuators_effective; - unsigned _num_outputs; - bool _primary_pwm_device; - - volatile bool _task_should_exit; - bool _armed; - - MixerGroup *_mixers; - - actuator_controls_s _controls; - - static void task_main_trampoline(int argc, char *argv[]); - void task_main() __attribute__((noreturn)); - - static int control_callback(uintptr_t handle, - uint8_t control_group, - uint8_t control_index, - float &input); - - int set_pwm_rate(unsigned rate_map, unsigned default_rate, unsigned alt_rate); - int pwm_ioctl(file *filp, int cmd, unsigned long arg); - - struct GPIOConfig { - uint32_t input; - uint32_t output; - uint32_t alt; - }; - - static const GPIOConfig _gpio_tab[]; - static const unsigned _ngpio; - - void gpio_reset(void); - void gpio_set_function(uint32_t gpios, int function); - void gpio_write(uint32_t gpios, int function); - uint32_t gpio_read(void); - int gpio_ioctl(file *filp, int cmd, unsigned long arg); - -}; - -const PX4FMU::GPIOConfig PX4FMU::_gpio_tab[] = { - {GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0}, - {GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0}, - {GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, GPIO_USART2_CTS_1}, - {GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, GPIO_USART2_RTS_1}, - {GPIO_GPIO4_INPUT, GPIO_GPIO4_OUTPUT, GPIO_USART2_TX_1}, - {GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, GPIO_USART2_RX_1}, - {GPIO_GPIO6_INPUT, GPIO_GPIO6_OUTPUT, GPIO_CAN2_TX_2}, - {GPIO_GPIO7_INPUT, GPIO_GPIO7_OUTPUT, GPIO_CAN2_RX_2}, -}; - -const unsigned PX4FMU::_ngpio = sizeof(PX4FMU::_gpio_tab) / sizeof(PX4FMU::_gpio_tab[0]); - -namespace -{ - -PX4FMU *g_fmu; - -} // namespace - -PX4FMU::PX4FMU() : - CDev("fmuservo", "/dev/px4fmu"), - _mode(MODE_NONE), - _pwm_default_rate(50), - _pwm_alt_rate(50), - _pwm_alt_rate_channels(0), - _current_update_rate(0), - _task(-1), - _t_actuators(-1), - _t_armed(-1), - _t_outputs(0), - _t_actuators_effective(0), - _num_outputs(0), - _primary_pwm_device(false), - _task_should_exit(false), - _armed(false), - _mixers(nullptr) -{ - _debug_enabled = true; -} - -PX4FMU::~PX4FMU() -{ - if (_task != -1) { - /* tell the task we want it to go away */ - _task_should_exit = true; - - unsigned i = 10; - - do { - /* wait 50ms - it should wake every 100ms or so worst-case */ - usleep(50000); - - /* if we have given up, kill it */ - if (--i == 0) { - task_delete(_task); - break; - } - - } while (_task != -1); - } - - /* clean up the alternate device node */ - if (_primary_pwm_device) - unregister_driver(PWM_OUTPUT_DEVICE_PATH); - - g_fmu = nullptr; -} - -int -PX4FMU::init() -{ - int ret; - - ASSERT(_task == -1); - - /* do regular cdev init */ - ret = CDev::init(); - - if (ret != OK) - return ret; - - /* try to claim the generic PWM output device node as well - it's OK if we fail at this */ - ret = register_driver(PWM_OUTPUT_DEVICE_PATH, &fops, 0666, (void *)this); - - if (ret == OK) { - log("default PWM output device"); - _primary_pwm_device = true; - } - - /* reset GPIOs */ - gpio_reset(); - - /* start the IO interface task */ - _task = task_spawn("fmuservo", - SCHED_DEFAULT, - SCHED_PRIORITY_DEFAULT, - 2048, - (main_t)&PX4FMU::task_main_trampoline, - nullptr); - - if (_task < 0) { - debug("task start failed: %d", errno); - return -errno; - } - - return OK; -} - -void -PX4FMU::task_main_trampoline(int argc, char *argv[]) -{ - g_fmu->task_main(); -} - -int -PX4FMU::set_mode(Mode mode) -{ - /* - * Configure for PWM output. - * - * Note that regardless of the configured mode, the task is always - * listening and mixing; the mode just selects which of the channels - * are presented on the output pins. - */ - switch (mode) { - case MODE_2PWM: // multi-port with flow control lines as PWM - case MODE_4PWM: // multi-port as 4 PWM outs - debug("MODE_%dPWM", (mode == MODE_2PWM) ? 2 : 4); - - /* default output rates */ - _pwm_default_rate = 50; - _pwm_alt_rate = 50; - _pwm_alt_rate_channels = 0; - - /* XXX magic numbers */ - up_pwm_servo_init((mode == MODE_2PWM) ? 0x3 : 0xf); - set_pwm_rate(_pwm_alt_rate_channels, _pwm_default_rate, _pwm_alt_rate); - - break; - - case MODE_NONE: - debug("MODE_NONE"); - - _pwm_default_rate = 10; /* artificially reduced output rate */ - _pwm_alt_rate = 10; - _pwm_alt_rate_channels = 0; - - /* disable servo outputs - no need to set rates */ - up_pwm_servo_deinit(); - - break; - - default: - return -EINVAL; - } - - _mode = mode; - return OK; -} - -int -PX4FMU::set_pwm_rate(uint32_t rate_map, unsigned default_rate, unsigned alt_rate) -{ - debug("set_pwm_rate %x %u %u", rate_map, default_rate, alt_rate); - - for (unsigned pass = 0; pass < 2; pass++) { - for (unsigned group = 0; group < _max_actuators; group++) { - - // get the channel mask for this rate group - uint32_t mask = up_pwm_servo_get_rate_group(group); - if (mask == 0) - continue; - - // all channels in the group must be either default or alt-rate - uint32_t alt = rate_map & mask; - - if (pass == 0) { - // preflight - if ((alt != 0) && (alt != mask)) { - warn("rate group %u mask %x bad overlap %x", group, mask, alt); - // not a legal map, bail - return -EINVAL; - } - } else { - // set it - errors here are unexpected - if (alt != 0) { - if (up_pwm_servo_set_rate_group_update(group, _pwm_alt_rate) != OK) { - warn("rate group set alt failed"); - return -EINVAL; - } - } else { - if (up_pwm_servo_set_rate_group_update(group, _pwm_default_rate) != OK) { - warn("rate group set default failed"); - return -EINVAL; - } - } - } - } - } - _pwm_alt_rate_channels = rate_map; - _pwm_default_rate = default_rate; - _pwm_alt_rate = alt_rate; - - return OK; -} - -int -PX4FMU::set_pwm_alt_rate(unsigned rate) -{ - return set_pwm_rate(_pwm_alt_rate_channels, _pwm_default_rate, rate); -} - -int -PX4FMU::set_pwm_alt_channels(uint32_t channels) -{ - return set_pwm_rate(channels, _pwm_default_rate, _pwm_alt_rate); -} - -void -PX4FMU::task_main() -{ - /* - * Subscribe to the appropriate PWM output topic based on whether we are the - * primary PWM output or not. - */ - _t_actuators = orb_subscribe(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS : - ORB_ID(actuator_controls_1)); - /* force a reset of the update rate */ - _current_update_rate = 0; - - _t_armed = orb_subscribe(ORB_ID(actuator_armed)); - orb_set_interval(_t_armed, 200); /* 5Hz update rate */ - - /* advertise the mixed control outputs */ - actuator_outputs_s outputs; - memset(&outputs, 0, sizeof(outputs)); - /* advertise the mixed control outputs */ - _t_outputs = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1), - &outputs); - - /* advertise the effective control inputs */ - actuator_controls_effective_s controls_effective; - memset(&controls_effective, 0, sizeof(controls_effective)); - /* advertise the effective control inputs */ - _t_actuators_effective = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : ORB_ID(actuator_controls_effective_1), - &controls_effective); - - pollfd fds[2]; - fds[0].fd = _t_actuators; - fds[0].events = POLLIN; - fds[1].fd = _t_armed; - fds[1].events = POLLIN; - - unsigned num_outputs = (_mode == MODE_2PWM) ? 2 : 4; - - // rc input, published to ORB - struct rc_input_values rc_in; - orb_advert_t to_input_rc = 0; - - memset(&rc_in, 0, sizeof(rc_in)); - rc_in.input_source = RC_INPUT_SOURCE_PX4FMU_PPM; - - log("starting"); - - /* loop until killed */ - while (!_task_should_exit) { - - /* - * Adjust actuator topic update rate to keep up with - * the highest servo update rate configured. - * - * We always mix at max rate; some channels may update slower. - */ - unsigned max_rate = (_pwm_default_rate > _pwm_alt_rate) ? _pwm_default_rate : _pwm_alt_rate; - if (_current_update_rate != max_rate) { - _current_update_rate = max_rate; - int update_rate_in_ms = int(1000 / _current_update_rate); - - /* reject faster than 500 Hz updates */ - if (update_rate_in_ms < 2) { - update_rate_in_ms = 2; - } - /* reject slower than 10 Hz updates */ - if (update_rate_in_ms > 100) { - update_rate_in_ms = 100; - } - - debug("adjusted actuator update interval to %ums", update_rate_in_ms); - orb_set_interval(_t_actuators, update_rate_in_ms); - - // set to current max rate, even if we are actually checking slower/faster - _current_update_rate = max_rate; - } - - /* sleep waiting for data, stopping to check for PPM - * input at 100Hz */ - int ret = ::poll(&fds[0], 2, 10); - - /* this would be bad... */ - if (ret < 0) { - log("poll error %d", errno); - usleep(1000000); - continue; - } - - /* do we have a control update? */ - if (fds[0].revents & POLLIN) { - - /* get controls - must always do this to avoid spinning */ - orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, _t_actuators, &_controls); - - /* can we mix? */ - if (_mixers != nullptr) { - - /* do mixing */ - outputs.noutputs = _mixers->mix(&outputs.output[0], num_outputs); - outputs.timestamp = hrt_absolute_time(); - - // XXX output actual limited values - memcpy(&controls_effective, &_controls, sizeof(controls_effective)); - - orb_publish(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : ORB_ID(actuator_controls_effective_1), _t_actuators_effective, &controls_effective); - - /* iterate actuators */ - for (unsigned i = 0; i < num_outputs; i++) { - - /* last resort: catch NaN, INF and out-of-band errors */ - if (i < outputs.noutputs && - isfinite(outputs.output[i]) && - outputs.output[i] >= -1.0f && - outputs.output[i] <= 1.0f) { - /* scale for PWM output 900 - 2100us */ - outputs.output[i] = 1500 + (600 * outputs.output[i]); - } else { - /* - * Value is NaN, INF or out of band - set to the minimum value. - * This will be clearly visible on the servo status and will limit the risk of accidentally - * spinning motors. It would be deadly in flight. - */ - outputs.output[i] = 900; - } - - /* output to the servo */ - up_pwm_servo_set(i, outputs.output[i]); - } - - /* and publish for anyone that cares to see */ - orb_publish(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1), _t_outputs, &outputs); - } - } - - /* how about an arming update? */ - if (fds[1].revents & POLLIN) { - actuator_armed_s aa; - - /* get new value */ - orb_copy(ORB_ID(actuator_armed), _t_armed, &aa); - - /* update PWM servo armed status if armed and not locked down */ - up_pwm_servo_arm(aa.armed && !aa.lockdown); - } - - // see if we have new PPM input data - if (ppm_last_valid_decode != rc_in.timestamp) { - // we have a new PPM frame. Publish it. - rc_in.channel_count = ppm_decoded_channels; - if (rc_in.channel_count > RC_INPUT_MAX_CHANNELS) { - rc_in.channel_count = RC_INPUT_MAX_CHANNELS; - } - for (uint8_t i=0; icontrol[control_index]; - return 0; -} - -int -PX4FMU::ioctl(file *filp, int cmd, unsigned long arg) -{ - int ret; - - // XXX disabled, confusing users - //debug("ioctl 0x%04x 0x%08x", cmd, arg); - - /* try it as a GPIO ioctl first */ - ret = gpio_ioctl(filp, cmd, arg); - - if (ret != -ENOTTY) - return ret; - - /* if we are in valid PWM mode, try it as a PWM ioctl as well */ - switch (_mode) { - case MODE_2PWM: - case MODE_4PWM: - ret = pwm_ioctl(filp, cmd, arg); - break; - - default: - debug("not in a PWM mode"); - break; - } - - /* if nobody wants it, let CDev have it */ - if (ret == -ENOTTY) - ret = CDev::ioctl(filp, cmd, arg); - - return ret; -} - -int -PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg) -{ - int ret = OK; - - lock(); - - switch (cmd) { - case PWM_SERVO_ARM: - up_pwm_servo_arm(true); - break; - - case PWM_SERVO_DISARM: - up_pwm_servo_arm(false); - break; - - case PWM_SERVO_SET_UPDATE_RATE: - ret = set_pwm_rate(_pwm_alt_rate_channels, _pwm_default_rate, arg); - break; - - case PWM_SERVO_SELECT_UPDATE_RATE: - ret = set_pwm_rate(arg, _pwm_default_rate, _pwm_alt_rate); - break; - - case PWM_SERVO_SET(2): - case PWM_SERVO_SET(3): - if (_mode != MODE_4PWM) { - ret = -EINVAL; - break; - } - - /* FALLTHROUGH */ - case PWM_SERVO_SET(0): - case PWM_SERVO_SET(1): - if (arg < 2100) { - up_pwm_servo_set(cmd - PWM_SERVO_SET(0), arg); - } else { - ret = -EINVAL; - } - - break; - - case PWM_SERVO_GET(2): - case PWM_SERVO_GET(3): - if (_mode != MODE_4PWM) { - ret = -EINVAL; - break; - } - - /* FALLTHROUGH */ - case PWM_SERVO_GET(0): - case PWM_SERVO_GET(1): - *(servo_position_t *)arg = up_pwm_servo_get(cmd - PWM_SERVO_GET(0)); - break; - - case PWM_SERVO_GET_RATEGROUP(0): - case PWM_SERVO_GET_RATEGROUP(1): - case PWM_SERVO_GET_RATEGROUP(2): - case PWM_SERVO_GET_RATEGROUP(3): - *(uint32_t *)arg = up_pwm_servo_get_rate_group(cmd - PWM_SERVO_GET_RATEGROUP(0)); - break; - - case PWM_SERVO_GET_COUNT: - case MIXERIOCGETOUTPUTCOUNT: - if (_mode == MODE_4PWM) { - *(unsigned *)arg = 4; - - } else { - *(unsigned *)arg = 2; - } - - break; - - case MIXERIOCRESET: - if (_mixers != nullptr) { - delete _mixers; - _mixers = nullptr; - } - - break; - - case MIXERIOCADDSIMPLE: { - mixer_simple_s *mixinfo = (mixer_simple_s *)arg; - - SimpleMixer *mixer = new SimpleMixer(control_callback, - (uintptr_t)&_controls, mixinfo); - - if (mixer->check()) { - delete mixer; - ret = -EINVAL; - - } else { - if (_mixers == nullptr) - _mixers = new MixerGroup(control_callback, - (uintptr_t)&_controls); - - _mixers->add_mixer(mixer); - } - - break; - } - - case MIXERIOCLOADBUF: { - const char *buf = (const char *)arg; - unsigned buflen = strnlen(buf, 1024); - - if (_mixers == nullptr) - _mixers = new MixerGroup(control_callback, (uintptr_t)&_controls); - - if (_mixers == nullptr) { - ret = -ENOMEM; - - } else { - - ret = _mixers->load_from_buf(buf, buflen); - - if (ret != 0) { - debug("mixer load failed with %d", ret); - delete _mixers; - _mixers = nullptr; - ret = -EINVAL; - } - } - break; - } - - default: - ret = -ENOTTY; - break; - } - - unlock(); - - return ret; -} - -/* - this implements PWM output via a write() method, for compatibility - with px4io - */ -ssize_t -PX4FMU::write(file *filp, const char *buffer, size_t len) -{ - unsigned count = len / 2; - uint16_t values[4]; - - if (count > 4) { - // we only have 4 PWM outputs on the FMU - count = 4; - } - - // allow for misaligned values - memcpy(values, buffer, count*2); - - for (uint8_t i=0; iioctl(0, GPIO_RESET, 0); - - gpio_bits = 0; - servo_mode = PX4FMU::MODE_NONE; - - switch (new_mode) { - case PORT_FULL_GPIO: - case PORT_MODE_UNSET: - /* nothing more to do here */ - break; - - case PORT_FULL_SERIAL: - /* set all multi-GPIOs to serial mode */ - gpio_bits = GPIO_MULTI_1 | GPIO_MULTI_2 | GPIO_MULTI_3 | GPIO_MULTI_4; - break; - - case PORT_FULL_PWM: - /* select 4-pin PWM mode */ - servo_mode = PX4FMU::MODE_4PWM; - break; - - case PORT_GPIO_AND_SERIAL: - /* set RX/TX multi-GPIOs to serial mode */ - gpio_bits = GPIO_MULTI_3 | GPIO_MULTI_4; - break; - - case PORT_PWM_AND_SERIAL: - /* select 2-pin PWM mode */ - servo_mode = PX4FMU::MODE_2PWM; - /* set RX/TX multi-GPIOs to serial mode */ - gpio_bits = GPIO_MULTI_3 | GPIO_MULTI_4; - break; - - case PORT_PWM_AND_GPIO: - /* select 2-pin PWM mode */ - servo_mode = PX4FMU::MODE_2PWM; - break; - } - - /* adjust GPIO config for serial mode(s) */ - if (gpio_bits != 0) - g_fmu->ioctl(0, GPIO_SET_ALT_1, gpio_bits); - - /* (re)set the PWM output mode */ - g_fmu->set_mode(servo_mode); - - return OK; -} - -int -fmu_start(void) -{ - int ret = OK; - - if (g_fmu == nullptr) { - - g_fmu = new PX4FMU; - - if (g_fmu == nullptr) { - ret = -ENOMEM; - - } else { - ret = g_fmu->init(); - - if (ret != OK) { - delete g_fmu; - g_fmu = nullptr; - } - } - } - - return ret; -} - -void -test(void) -{ - int fd; - - fd = open(PWM_OUTPUT_DEVICE_PATH, 0); - - if (fd < 0) - errx(1, "open fail"); - - if (ioctl(fd, PWM_SERVO_ARM, 0) < 0) err(1, "servo arm failed"); - - if (ioctl(fd, PWM_SERVO_SET(0), 1000) < 0) err(1, "servo 1 set failed"); - - if (ioctl(fd, PWM_SERVO_SET(1), 1200) < 0) err(1, "servo 2 set failed"); - - if (ioctl(fd, PWM_SERVO_SET(2), 1400) < 0) err(1, "servo 3 set failed"); - - if (ioctl(fd, PWM_SERVO_SET(3), 1600) < 0) err(1, "servo 4 set failed"); - - close(fd); - - exit(0); -} - -void -fake(int argc, char *argv[]) -{ - if (argc < 5) - errx(1, "fmu fake (values -100 .. 100)"); - - actuator_controls_s ac; - - ac.control[0] = strtol(argv[1], 0, 0) / 100.0f; - - ac.control[1] = strtol(argv[2], 0, 0) / 100.0f; - - ac.control[2] = strtol(argv[3], 0, 0) / 100.0f; - - ac.control[3] = strtol(argv[4], 0, 0) / 100.0f; - - orb_advert_t handle = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &ac); - - if (handle < 0) - errx(1, "advertise failed"); - - actuator_armed_s aa; - - aa.armed = true; - aa.lockdown = false; - - handle = orb_advertise(ORB_ID(actuator_armed), &aa); - - if (handle < 0) - errx(1, "advertise failed 2"); - - exit(0); -} - -} // namespace - -extern "C" __EXPORT int fmu_main(int argc, char *argv[]); - -int -fmu_main(int argc, char *argv[]) -{ - PortMode new_mode = PORT_MODE_UNSET; - const char *verb = argv[1]; - - if (fmu_start() != OK) - errx(1, "failed to start the FMU driver"); - - /* - * Mode switches. - */ - if (!strcmp(verb, "mode_gpio")) { - new_mode = PORT_FULL_GPIO; - - } else if (!strcmp(verb, "mode_serial")) { - new_mode = PORT_FULL_SERIAL; - - } else if (!strcmp(verb, "mode_pwm")) { - new_mode = PORT_FULL_PWM; - - } else if (!strcmp(verb, "mode_gpio_serial")) { - new_mode = PORT_GPIO_AND_SERIAL; - - } else if (!strcmp(verb, "mode_pwm_serial")) { - new_mode = PORT_PWM_AND_SERIAL; - - } else if (!strcmp(verb, "mode_pwm_gpio")) { - new_mode = PORT_PWM_AND_GPIO; - } - - /* was a new mode set? */ - if (new_mode != PORT_MODE_UNSET) { - - /* yes but it's the same mode */ - if (new_mode == g_port_mode) - return OK; - - /* switch modes */ - int ret = fmu_new_mode(new_mode); - exit(ret == OK ? 0 : 1); - } - - if (!strcmp(verb, "test")) - test(); - - if (!strcmp(verb, "fake")) - fake(argc - 1, argv + 1); - - fprintf(stderr, "FMU: unrecognised command, try:\n"); - fprintf(stderr, " mode_gpio, mode_serial, mode_pwm, mode_gpio_serial, mode_pwm_serial, mode_pwm_gpio\n"); - exit(1); -} diff --git a/apps/sensors/sensors.cpp b/apps/sensors/sensors.cpp index 1f3f7707e..123bbb120 100644 --- a/apps/sensors/sensors.cpp +++ b/apps/sensors/sensors.cpp @@ -372,7 +372,9 @@ Sensors *g_sensors; } Sensors::Sensors() : +#ifdef CONFIG_HRT_PPM _ppm_last_valid(0), +#endif _fd_adc(-1), _last_adc(0), diff --git a/apps/systemcmds/eeprom/24xxxx_mtd.c b/apps/systemcmds/eeprom/24xxxx_mtd.c deleted file mode 100644 index e34be44e3..000000000 --- a/apps/systemcmds/eeprom/24xxxx_mtd.c +++ /dev/null @@ -1,571 +0,0 @@ -/************************************************************************************ - * Driver for 24xxxx-style I2C EEPROMs. - * - * Adapted from: - * - * drivers/mtd/at24xx.c - * Driver for I2C-based at24cxx EEPROM(at24c32,at24c64,at24c128,at24c256) - * - * Copyright (C) 2011 Li Zhuoyi. All rights reserved. - * Author: Li Zhuoyi - * History: 0.1 2011-08-20 initial version - * - * 2011-11-1 Added support for larger MTD block sizes: Hal Glenn - * - * Derived from drivers/mtd/m25px.c - * - * Copyright (C) 2009-2011 Gregory Nutt. All rights reserved. - * Author: Gregory Nutt - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name NuttX nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ************************************************************************************/ - -/************************************************************************************ - * Included Files - ************************************************************************************/ - -#include - -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include - -#include "systemlib/perf_counter.h" - -/************************************************************************************ - * Pre-processor Definitions - ************************************************************************************/ - -/* - * Configuration is as for the AT24 driver, but the CONFIG_MTD_AT24XX define should be - * omitted in order to avoid building the AT24XX driver as well. - */ - -/* As a minimum, the size of the AT24 part and its 7-bit I2C address are required. */ - -#ifndef CONFIG_AT24XX_SIZE -# warning "Assuming AT24 size 64" -# define CONFIG_AT24XX_SIZE 64 -#endif -#ifndef CONFIG_AT24XX_ADDR -# warning "Assuming AT24 address of 0x50" -# define CONFIG_AT24XX_ADDR 0x50 -#endif - -/* Get the part configuration based on the size configuration */ - -#if CONFIG_AT24XX_SIZE == 32 -# define AT24XX_NPAGES 128 -# define AT24XX_PAGESIZE 32 -#elif CONFIG_AT24XX_SIZE == 48 -# define AT24XX_NPAGES 192 -# define AT24XX_PAGESIZE 32 -#elif CONFIG_AT24XX_SIZE == 64 -# define AT24XX_NPAGES 256 -# define AT24XX_PAGESIZE 32 -#elif CONFIG_AT24XX_SIZE == 128 -# define AT24XX_NPAGES 256 -# define AT24XX_PAGESIZE 64 -#elif CONFIG_AT24XX_SIZE == 256 -# define AT24XX_NPAGES 512 -# define AT24XX_PAGESIZE 64 -#endif - -/* For applications where a file system is used on the AT24, the tiny page sizes - * will result in very inefficient FLASH usage. In such cases, it is better if - * blocks are comprised of "clusters" of pages so that the file system block - * size is, say, 256 or 512 bytes. In any event, the block size *must* be an - * even multiple of the pages. - */ - -#ifndef CONFIG_AT24XX_MTD_BLOCKSIZE -# warning "Assuming driver block size is the same as the FLASH page size" -# define CONFIG_AT24XX_MTD_BLOCKSIZE AT24XX_PAGESIZE -#endif - -/* The AT24 does not respond on the bus during write cycles, so we depend on a long - * timeout to detect problems. The max program time is typically ~5ms. - */ -#ifndef CONFIG_AT24XX_WRITE_TIMEOUT_MS -# define CONFIG_AT24XX_WRITE_TIMEOUT_MS 20 -#endif - -/************************************************************************************ - * Private Types - ************************************************************************************/ - -/* This type represents the state of the MTD device. The struct mtd_dev_s - * must appear at the beginning of the definition so that you can freely - * cast between pointers to struct mtd_dev_s and struct at24c_dev_s. - */ - -struct at24c_dev_s { - struct mtd_dev_s mtd; /* MTD interface */ - FAR struct i2c_dev_s *dev; /* Saved I2C interface instance */ - uint8_t addr; /* I2C address */ - uint16_t pagesize; /* 32, 63 */ - uint16_t npages; /* 128, 256, 512, 1024 */ - - perf_counter_t perf_reads; - perf_counter_t perf_writes; - perf_counter_t perf_resets; - perf_counter_t perf_read_retries; - perf_counter_t perf_read_errors; - perf_counter_t perf_write_errors; -}; - -/************************************************************************************ - * Private Function Prototypes - ************************************************************************************/ - -/* MTD driver methods */ - -static int at24c_erase(FAR struct mtd_dev_s *dev, off_t startblock, size_t nblocks); -static ssize_t at24c_bread(FAR struct mtd_dev_s *dev, off_t startblock, - size_t nblocks, FAR uint8_t *buf); -static ssize_t at24c_bwrite(FAR struct mtd_dev_s *dev, off_t startblock, - size_t nblocks, FAR const uint8_t *buf); -static int at24c_ioctl(FAR struct mtd_dev_s *dev, int cmd, unsigned long arg); - -void at24c_test(void); - -/************************************************************************************ - * Private Data - ************************************************************************************/ - -/* At present, only a single AT24 part is supported. In this case, a statically - * allocated state structure may be used. - */ - -static struct at24c_dev_s g_at24c; - -/************************************************************************************ - * Private Functions - ************************************************************************************/ - -static int at24c_eraseall(FAR struct at24c_dev_s *priv) -{ - int startblock = 0; - uint8_t buf[AT24XX_PAGESIZE + 2]; - - struct i2c_msg_s msgv[1] = { - { - .addr = priv->addr, - .flags = 0, - .buffer = &buf[0], - .length = sizeof(buf), - } - }; - - memset(&buf[2], 0xff, priv->pagesize); - - for (startblock = 0; startblock < priv->npages; startblock++) { - uint16_t offset = startblock * priv->pagesize; - buf[1] = offset & 0xff; - buf[0] = (offset >> 8) & 0xff; - - while (I2C_TRANSFER(priv->dev, &msgv[0], 1) < 0) { - fvdbg("erase stall\n"); - usleep(10000); - } - } - - return OK; -} - -/************************************************************************************ - * Name: at24c_erase - ************************************************************************************/ - -static int at24c_erase(FAR struct mtd_dev_s *dev, off_t startblock, size_t nblocks) -{ - /* EEprom need not erase */ - - return (int)nblocks; -} - -/************************************************************************************ - * Name: at24c_test - ************************************************************************************/ - -void at24c_test(void) -{ - uint8_t buf[CONFIG_AT24XX_MTD_BLOCKSIZE]; - unsigned count = 0; - unsigned errors = 0; - - for (count = 0; count < 10000; count++) { - ssize_t result = at24c_bread(&g_at24c.mtd, 0, 1, buf); - if (result == ERROR) { - if (errors++ > 2) { - vdbg("too many errors\n"); - return; - } - } else if (result != 1) { - vdbg("unexpected %u\n", result); - } - if ((count % 100) == 0) - vdbg("test %u errors %u\n", count, errors); - } -} - -/************************************************************************************ - * Name: at24c_bread - ************************************************************************************/ - -static ssize_t at24c_bread(FAR struct mtd_dev_s *dev, off_t startblock, - size_t nblocks, FAR uint8_t *buffer) -{ - FAR struct at24c_dev_s *priv = (FAR struct at24c_dev_s *)dev; - size_t blocksleft; - uint8_t addr[2]; - int ret; - - struct i2c_msg_s msgv[2] = { - { - .addr = priv->addr, - .flags = 0, - .buffer = &addr[0], - .length = sizeof(addr), - }, - { - .addr = priv->addr, - .flags = I2C_M_READ, - .buffer = 0, - .length = priv->pagesize, - } - }; - -#if CONFIG_AT24XX_MTD_BLOCKSIZE > AT24XX_PAGESIZE - startblock *= (CONFIG_AT24XX_MTD_BLOCKSIZE / AT24XX_PAGESIZE); - nblocks *= (CONFIG_AT24XX_MTD_BLOCKSIZE / AT24XX_PAGESIZE); -#endif - blocksleft = nblocks; - - fvdbg("startblock: %08lx nblocks: %d\n", (long)startblock, (int)nblocks); - - if (startblock >= priv->npages) { - return 0; - } - - if (startblock + nblocks > priv->npages) { - nblocks = priv->npages - startblock; - } - - while (blocksleft-- > 0) { - uint16_t offset = startblock * priv->pagesize; - unsigned tries = CONFIG_AT24XX_WRITE_TIMEOUT_MS; - - addr[1] = offset & 0xff; - addr[0] = (offset >> 8) & 0xff; - msgv[1].buffer = buffer; - - for (;;) { - - perf_begin(priv->perf_reads); - ret = I2C_TRANSFER(priv->dev, &msgv[0], 2); - perf_end(priv->perf_reads); - - if (ret >= 0) - break; - - fvdbg("read stall"); - usleep(1000); - - /* We should normally only be here on the first read after - * a write. - * - * XXX maybe do special first-read handling with optional - * bus reset as well? - */ - perf_count(priv->perf_read_retries); - - if (--tries == 0) { - perf_count(priv->perf_read_errors); - return ERROR; - } - } - - startblock++; - buffer += priv->pagesize; - } - -#if CONFIG_AT24XX_MTD_BLOCKSIZE > AT24XX_PAGESIZE - return nblocks / (CONFIG_AT24XX_MTD_BLOCKSIZE / AT24XX_PAGESIZE); -#else - return nblocks; -#endif -} - -/************************************************************************************ - * Name: at24c_bwrite - * - * Operates on MTD block's and translates to FLASH pages - * - ************************************************************************************/ - -static ssize_t at24c_bwrite(FAR struct mtd_dev_s *dev, off_t startblock, size_t nblocks, - FAR const uint8_t *buffer) -{ - FAR struct at24c_dev_s *priv = (FAR struct at24c_dev_s *)dev; - size_t blocksleft; - uint8_t buf[AT24XX_PAGESIZE + 2]; - int ret; - - struct i2c_msg_s msgv[1] = { - { - .addr = priv->addr, - .flags = 0, - .buffer = &buf[0], - .length = sizeof(buf), - } - }; - -#if CONFIG_AT24XX_MTD_BLOCKSIZE > AT24XX_PAGESIZE - startblock *= (CONFIG_AT24XX_MTD_BLOCKSIZE / AT24XX_PAGESIZE); - nblocks *= (CONFIG_AT24XX_MTD_BLOCKSIZE / AT24XX_PAGESIZE); -#endif - blocksleft = nblocks; - - if (startblock >= priv->npages) { - return 0; - } - - if (startblock + nblocks > priv->npages) { - nblocks = priv->npages - startblock; - } - - fvdbg("startblock: %08lx nblocks: %d\n", (long)startblock, (int)nblocks); - - while (blocksleft-- > 0) { - uint16_t offset = startblock * priv->pagesize; - unsigned tries = CONFIG_AT24XX_WRITE_TIMEOUT_MS; - - buf[1] = offset & 0xff; - buf[0] = (offset >> 8) & 0xff; - memcpy(&buf[2], buffer, priv->pagesize); - - for (;;) { - - perf_begin(priv->perf_writes); - ret = I2C_TRANSFER(priv->dev, &msgv[0], 1); - perf_end(priv->perf_writes); - - if (ret >= 0) - break; - - fvdbg("write stall"); - usleep(1000); - - /* We expect to see a number of retries per write cycle as we - * poll for write completion. - */ - if (--tries == 0) { - perf_count(priv->perf_write_errors); - return ERROR; - } - } - - startblock++; - buffer += priv->pagesize; - } - -#if CONFIG_AT24XX_MTD_BLOCKSIZE > AT24XX_PAGESIZE - return nblocks / (CONFIG_AT24XX_MTD_BLOCKSIZE / AT24XX_PAGESIZE); -#else - return nblocks; -#endif -} - -/************************************************************************************ - * Name: at24c_ioctl - ************************************************************************************/ - -static int at24c_ioctl(FAR struct mtd_dev_s *dev, int cmd, unsigned long arg) -{ - FAR struct at24c_dev_s *priv = (FAR struct at24c_dev_s *)dev; - int ret = -EINVAL; /* Assume good command with bad parameters */ - - fvdbg("cmd: %d \n", cmd); - - switch (cmd) { - case MTDIOC_GEOMETRY: { - FAR struct mtd_geometry_s *geo = (FAR struct mtd_geometry_s *)((uintptr_t)arg); - - if (geo) { - /* Populate the geometry structure with information need to know - * the capacity and how to access the device. - * - * NOTE: that the device is treated as though it where just an array - * of fixed size blocks. That is most likely not true, but the client - * will expect the device logic to do whatever is necessary to make it - * appear so. - * - * blocksize: - * May be user defined. The block size for the at24XX devices may be - * larger than the page size in order to better support file systems. - * The read and write functions translate BLOCKS to pages for the - * small flash devices - * erasesize: - * It has to be at least as big as the blocksize, bigger serves no - * purpose. - * neraseblocks - * Note that the device size is in kilobits and must be scaled by - * 1024 / 8 - */ - -#if CONFIG_AT24XX_MTD_BLOCKSIZE > AT24XX_PAGESIZE - geo->blocksize = CONFIG_AT24XX_MTD_BLOCKSIZE; - geo->erasesize = CONFIG_AT24XX_MTD_BLOCKSIZE; - geo->neraseblocks = (CONFIG_AT24XX_SIZE * 1024 / 8) / CONFIG_AT24XX_MTD_BLOCKSIZE; -#else - geo->blocksize = priv->pagesize; - geo->erasesize = priv->pagesize; - geo->neraseblocks = priv->npages; -#endif - ret = OK; - - fvdbg("blocksize: %d erasesize: %d neraseblocks: %d\n", - geo->blocksize, geo->erasesize, geo->neraseblocks); - } - } - break; - - case MTDIOC_BULKERASE: - ret = at24c_eraseall(priv); - break; - - case MTDIOC_XIPBASE: - default: - ret = -ENOTTY; /* Bad command */ - break; - } - - return ret; -} - -/************************************************************************************ - * Public Functions - ************************************************************************************/ - -/************************************************************************************ - * Name: at24c_initialize - * - * Description: - * Create an initialize MTD device instance. MTD devices are not registered - * in the file system, but are created as instances that can be bound to - * other functions (such as a block or character driver front end). - * - ************************************************************************************/ - -FAR struct mtd_dev_s *at24c_initialize(FAR struct i2c_dev_s *dev) { - FAR struct at24c_dev_s *priv; - - fvdbg("dev: %p\n", dev); - - /* Allocate a state structure (we allocate the structure instead of using - * a fixed, static allocation so that we can handle multiple FLASH devices. - * The current implementation would handle only one FLASH part per I2C - * device (only because of the SPIDEV_FLASH definition) and so would have - * to be extended to handle multiple FLASH parts on the same I2C bus. - */ - - priv = &g_at24c; - - if (priv) { - /* Initialize the allocated structure */ - - priv->addr = CONFIG_AT24XX_ADDR; - priv->pagesize = AT24XX_PAGESIZE; - priv->npages = AT24XX_NPAGES; - - priv->mtd.erase = at24c_erase; - priv->mtd.bread = at24c_bread; - priv->mtd.bwrite = at24c_bwrite; - priv->mtd.ioctl = at24c_ioctl; - priv->dev = dev; - - priv->perf_reads = perf_alloc(PC_ELAPSED, "EEPROM read"); - priv->perf_writes = perf_alloc(PC_ELAPSED, "EEPROM write"); - priv->perf_resets = perf_alloc(PC_COUNT, "EEPROM reset"); - priv->perf_read_retries = perf_alloc(PC_COUNT, "EEPROM read retries"); - priv->perf_read_errors = perf_alloc(PC_COUNT, "EEPROM read errors"); - priv->perf_write_errors = perf_alloc(PC_COUNT, "EEPROM write errors"); - } - - /* attempt to read to validate device is present */ - unsigned char buf[5]; - uint8_t addrbuf[2] = {0, 0}; - - struct i2c_msg_s msgv[2] = { - { - .addr = priv->addr, - .flags = 0, - .buffer = &addrbuf[0], - .length = sizeof(addrbuf), - }, - { - .addr = priv->addr, - .flags = I2C_M_READ, - .buffer = &buf[0], - .length = sizeof(buf), - } - }; - - perf_begin(priv->perf_reads); - int ret = I2C_TRANSFER(priv->dev, &msgv[0], 2); - perf_end(priv->perf_reads); - - if (ret < 0) { - return NULL; - } - - /* Return the implementation-specific state structure as the MTD device */ - - fvdbg("Return %p\n", priv); - return (FAR struct mtd_dev_s *)priv; -} - -/* - * XXX: debug hackery - */ -int at24c_nuke(void) -{ - return at24c_eraseall(&g_at24c); -} diff --git a/apps/systemcmds/eeprom/Makefile b/apps/systemcmds/eeprom/Makefile deleted file mode 100644 index 58c8cb5ec..000000000 --- a/apps/systemcmds/eeprom/Makefile +++ /dev/null @@ -1,45 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Build the eeprom tool. -# - -APPNAME = eeprom -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 4096 -MAXOPTIMIZATION = -Os - -include $(APPDIR)/mk/app.mk - -MAXOPTIMIZATION = -Os diff --git a/apps/systemcmds/eeprom/eeprom.c b/apps/systemcmds/eeprom/eeprom.c deleted file mode 100644 index 49da51358..000000000 --- a/apps/systemcmds/eeprom/eeprom.c +++ /dev/null @@ -1,265 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file eeprom.c - * - * EEPROM service and utility app. - */ - -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include - -#include - -#include "systemlib/systemlib.h" -#include "systemlib/param/param.h" -#include "systemlib/err.h" - -#ifndef PX4_I2C_BUS_ONBOARD -# error PX4_I2C_BUS_ONBOARD not defined, cannot locate onboard EEPROM -#endif - -__EXPORT int eeprom_main(int argc, char *argv[]); - -static void eeprom_attach(void); -static void eeprom_start(void); -static void eeprom_erase(void); -static void eeprom_ioctl(unsigned operation); -static void eeprom_save(const char *name); -static void eeprom_load(const char *name); -static void eeprom_test(void); - -static bool attached = false; -static bool started = false; -static struct mtd_dev_s *eeprom_mtd; - -int eeprom_main(int argc, char *argv[]) -{ - if (argc >= 2) { - if (!strcmp(argv[1], "start")) - eeprom_start(); - - if (!strcmp(argv[1], "save_param")) - eeprom_save(argv[2]); - - if (!strcmp(argv[1], "load_param")) - eeprom_load(argv[2]); - - if (!strcmp(argv[1], "erase")) - eeprom_erase(); - - if (!strcmp(argv[1], "test")) - eeprom_test(); - - if (0) { /* these actually require a file on the filesystem... */ - - if (!strcmp(argv[1], "reformat")) - eeprom_ioctl(FIOC_REFORMAT); - - if (!strcmp(argv[1], "repack")) - eeprom_ioctl(FIOC_OPTIMIZE); - } - } - - errx(1, "expected a command, try 'start'\n\t'save_param /eeprom/parameters'\n\t'load_param /eeprom/parameters'\n\t'erase'\n"); -} - - -static void -eeprom_attach(void) -{ - /* find the right I2C */ - struct i2c_dev_s *i2c = up_i2cinitialize(PX4_I2C_BUS_ONBOARD); - /* this resets the I2C bus, set correct bus speed again */ - I2C_SETFREQUENCY(i2c, 400000); - - if (i2c == NULL) - errx(1, "failed to locate I2C bus"); - - /* start the MTD driver, attempt 5 times */ - for (int i = 0; i < 5; i++) { - eeprom_mtd = at24c_initialize(i2c); - if (eeprom_mtd) { - /* abort on first valid result */ - if (i > 0) { - warnx("warning: EEPROM needed %d attempts to attach", i+1); - } - break; - } - } - - /* if last attempt is still unsuccessful, abort */ - if (eeprom_mtd == NULL) - errx(1, "failed to initialize EEPROM driver"); - - attached = true; -} - -static void -eeprom_start(void) -{ - int ret; - - if (started) - errx(1, "EEPROM already mounted"); - - if (!attached) - eeprom_attach(); - - /* start NXFFS */ - ret = nxffs_initialize(eeprom_mtd); - - if (ret < 0) - errx(1, "failed to initialize NXFFS - erase EEPROM to reformat"); - - /* mount the EEPROM */ - ret = mount(NULL, "/eeprom", "nxffs", 0, NULL); - - if (ret < 0) - errx(1, "failed to mount /eeprom - erase EEPROM to reformat"); - - started = true; - warnx("mounted EEPROM at /eeprom"); - exit(0); -} - -extern int at24c_nuke(void); - -static void -eeprom_erase(void) -{ - if (!attached) - eeprom_attach(); - - if (at24c_nuke()) - errx(1, "erase failed"); - - errx(0, "erase done, reboot now"); -} - -static void -eeprom_ioctl(unsigned operation) -{ - int fd; - - fd = open("/eeprom/.", 0); - - if (fd < 0) - err(1, "open /eeprom"); - - if (ioctl(fd, operation, 0) < 0) - err(1, "ioctl"); - - exit(0); -} - -static void -eeprom_save(const char *name) -{ - if (!started) - errx(1, "must be started first"); - - if (!name) - err(1, "missing argument for device name, try '/eeprom/parameters'"); - - warnx("WARNING: 'eeprom save_param' deprecated - use 'param save' instead"); - - /* delete the file in case it exists */ - unlink(name); - - /* create the file */ - int fd = open(name, O_WRONLY | O_CREAT | O_EXCL); - - if (fd < 0) - err(1, "opening '%s' failed", name); - - int result = param_export(fd, false); - close(fd); - - if (result < 0) { - unlink(name); - errx(1, "error exporting to '%s'", name); - } - - exit(0); -} - -static void -eeprom_load(const char *name) -{ - if (!started) - errx(1, "must be started first"); - - if (!name) - err(1, "missing argument for device name, try '/eeprom/parameters'"); - - warnx("WARNING: 'eeprom load_param' deprecated - use 'param load' instead"); - - int fd = open(name, O_RDONLY); - - if (fd < 0) - err(1, "open '%s'", name); - - int result = param_load(fd); - close(fd); - - if (result < 0) - errx(1, "error importing from '%s'", name); - - exit(0); -} - -extern void at24c_test(void); - -static void -eeprom_test(void) -{ - at24c_test(); - exit(0); -} diff --git a/makefiles/board_px4fmu.mk b/makefiles/board_px4fmu.mk index 959e4ed26..837069644 100644 --- a/makefiles/board_px4fmu.mk +++ b/makefiles/board_px4fmu.mk @@ -1,5 +1,5 @@ # -# Platform-specific definitions for the PX4FMU +# Board-specific definitions for the PX4FMU # # diff --git a/makefiles/board_px4io.mk b/makefiles/board_px4io.mk index 275014aba..b0eb2dae7 100644 --- a/makefiles/board_px4io.mk +++ b/makefiles/board_px4io.mk @@ -1,5 +1,5 @@ # -# Platform-specific definitions for the PX4IO +# Board-specific definitions for the PX4IO # # diff --git a/makefiles/config_px4fmu_default.mk b/makefiles/config_px4fmu_default.mk index a6d766511..3f634d72c 100644 --- a/makefiles/config_px4fmu_default.mk +++ b/makefiles/config_px4fmu_default.mk @@ -5,7 +5,26 @@ # # Use the configuration's ROMFS. # -ROMFS_ROOT = $(PX4_BASE)/ROMFS/$(CONFIG) +ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_common + +# +# Board support modules +# +MODULES += drivers/px4fmu +MODULES += drivers/boards/px4fmu +MODULES += drivers/l3gd20 +MODULES += drivers/ardrone_interface +MODULES += systemcmds/eeprom + +# +# General system control +# +MODULES += modules/commander + +# +# Estimation modules (EKF / other filters) +# +#MODULES += modules/attitude_estimator_ekf # # Transitional support - add commands from the NuttX export archive. @@ -22,25 +41,19 @@ endef # command priority stack entrypoint BUILTIN_COMMANDS := \ $(call _B, adc, , 2048, adc_main ) \ - $(call _B, ardrone_interface, SCHED_PRIORITY_MAX-15, 2048, ardrone_interface_main ) \ - $(call _B, attitude_estimator_ekf, , 2048, attitude_estimator_ekf_main) \ $(call _B, bl_update, , 4096, bl_update_main ) \ $(call _B, blinkm, , 2048, blinkm_main ) \ $(call _B, bma180, , 2048, bma180_main ) \ $(call _B, boardinfo, , 2048, boardinfo_main ) \ - $(call _B, commander, SCHED_PRIORITY_MAX-30, 2048, commander_main ) \ $(call _B, control_demo, , 2048, control_demo_main ) \ $(call _B, delay_test, , 2048, delay_test_main ) \ - $(call _B, eeprom, , 4096, eeprom_main ) \ $(call _B, fixedwing_att_control, SCHED_PRIORITY_MAX-30, 2048, fixedwing_att_control_main ) \ $(call _B, fixedwing_pos_control, SCHED_PRIORITY_MAX-30, 2048, fixedwing_pos_control_main ) \ - $(call _B, fmu, , 2048, fmu_main ) \ $(call _B, gps, , 2048, gps_main ) \ $(call _B, hil, , 2048, hil_main ) \ $(call _B, hmc5883, , 4096, hmc5883_main ) \ $(call _B, hott_telemetry, , 2048, hott_telemetry_main ) \ $(call _B, kalman_demo, SCHED_PRIORITY_MAX-30, 2048, kalman_demo_main ) \ - $(call _B, l3gd20, , 2048, l3gd20_main ) \ $(call _B, math_demo, , 8192, math_demo_main ) \ $(call _B, mavlink, , 2048, mavlink_main ) \ $(call _B, mavlink_onboard, , 2048, mavlink_onboard_main ) \ @@ -62,4 +75,5 @@ BUILTIN_COMMANDS := \ $(call _B, tests, , 12000, tests_main ) \ $(call _B, tone_alarm, , 2048, tone_alarm_main ) \ $(call _B, top, SCHED_PRIORITY_DEFAULT-10, 3000, top_main ) \ + $(call _B, param, SCHED_PRIORITY_DEFAULT-10, 2048, param_main ) \ $(call _B, uorb, , 4096, uorb_main ) diff --git a/makefiles/firmware.mk b/makefiles/firmware.mk index dad57d531..fff0e1c65 100644 --- a/makefiles/firmware.mk +++ b/makefiles/firmware.mk @@ -64,7 +64,16 @@ # path to this file. # # CONFIG: -# Used to set the output filename; defaults to 'firmware'. +# Used when searching for the configuration file, and available +# to module Makefiles to select optional features. +# If not set, CONFIG_FILE must be set and CONFIG will be derived +# automatically from it. +# +# CONFIG_FILE: +# If set, overrides the configuration file search logic. Sets +# CONFIG to the name of the configuration file, strips any +# leading config_ prefix and any suffix. e.g. config_board_foo.mk +# results in CONFIG being set to 'board_foo'. # # WORK_DIR: # Sets the directory in which the firmware will be built. Defaults @@ -92,11 +101,14 @@ # If PX4_BASE wasn't set previously, work out what it should be # and set it here now. # -MK_DIR ?= $(dir $(lastword $(MAKEFILE_LIST))) +MK_DIR ?= $(dir $(lastword $(MAKEFILE_LIST))) ifeq ($(PX4_BASE),) export PX4_BASE := $(abspath $(MK_DIR)/..) endif $(info % PX4_BASE = $(PX4_BASE)) +ifneq ($(words $(PX4_BASE)),1) +$(error Cannot build when the PX4_BASE path contains one or more space characters.) +endif # # Set a default target so that included makefiles or errors here don't @@ -115,13 +127,14 @@ include $(MK_DIR)/setup.mk # # Locate the configuration file # +ifneq ($(CONFIG_FILE),) +CONFIG := $(subst config_,,$(basename $(notdir $(CONFIG_FILE)))) +else +CONFIG_FILE := $(wildcard $(PX4_MK_DIR)/config_$(CONFIG).mk) +endif ifeq ($(CONFIG),) $(error Missing configuration name or file (specify with CONFIG=)) endif -CONFIG_FILE := $(firstword $(wildcard $(CONFIG)) $(wildcard $(PX4_MK_DIR)/config_$(CONFIG).mk)) -ifeq ($(CONFIG_FILE),) -$(error Can't find a config file called $(CONFIG) or $(PX4_MK_DIR)/config_$(CONFIG).mk) -endif export CONFIG include $(CONFIG_FILE) $(info % CONFIG = $(CONFIG)) @@ -211,10 +224,7 @@ MODULE_OBJS := $(foreach path,$(dir $(MODULE_MKFILES)),$(WORK_DIR)$(path)module $(MODULE_OBJS): relpath = $(patsubst $(WORK_DIR)%,%,$@) $(MODULE_OBJS): mkfile = $(patsubst %module.pre.o,%module.mk,$(relpath)) $(MODULE_OBJS): $(GLOBAL_DEPS) $(NUTTX_CONFIG_HEADER) - @$(ECHO) %% - @$(ECHO) %% Building module using $(mkfile) - @$(ECHO) %% - $(Q) $(MAKE) -f $(PX4_MK_DIR)module.mk \ + $(Q) $(MAKE) -r -f $(PX4_MK_DIR)module.mk \ MODULE_WORK_DIR=$(dir $@) \ MODULE_OBJ=$@ \ MODULE_MK=$(mkfile) \ @@ -230,7 +240,7 @@ $(MODULE_CLEANS): relpath = $(patsubst $(WORK_DIR)%,%,$@) $(MODULE_CLEANS): mkfile = $(patsubst %clean,%module.mk,$(relpath)) $(MODULE_CLEANS): @$(ECHO) %% cleaning using $(mkfile) - $(Q) $(MAKE) -f $(PX4_MK_DIR)module.mk \ + $(Q) $(MAKE) -r -f $(PX4_MK_DIR)module.mk \ MODULE_WORK_DIR=$(dir $@) \ MODULE_MK=$(mkfile) \ clean @@ -246,6 +256,9 @@ include $(PX4_MK_DIR)/nuttx.mk ################################################################################ ifneq ($(ROMFS_ROOT),) +ifeq ($(wildcard $(ROMFS_ROOT)),) +$(error ROMFS_ROOT specifies a directory that does not exist) +endif # # Note that there is no support for more than one root directory or constructing @@ -272,7 +285,7 @@ $(ROMFS_OBJ): $(ROMFS_IMG) $(GLOBAL_DEPS) # Generate the ROMFS image from the root $(ROMFS_IMG): $(ROMFS_DEPS) $(GLOBAL_DEPS) - @$(ECHO) %% generating $@ + @$(ECHO) "ROMFS: $@" $(Q) $(GENROMFS) -f $@ -d $(ROMFS_ROOT) -V "NSHInitVol" EXTRA_CLEANS += $(ROMGS_OBJ) $(ROMFS_IMG) @@ -298,10 +311,12 @@ endif # BUILTIN_CSRC = $(WORK_DIR)builtin_commands.c -# add command definitions from modules -BUILTIN_COMMAND_FILES := $(wildcard $(WORK_DIR)builtin_commands/COMMAND.*) -BUILTIN_COMMANDS += $(subst COMMAND.,,$(notdir $(BUILTIN_COMMAND_FILES))) +# command definitions from modules (may be empty at Makefile parsing time...) +MODULE_COMMANDS = $(subst COMMAND.,,$(notdir $(wildcard $(WORK_DIR)builtin_commands/COMMAND.*))) +# We must have at least one pre-defined builtin command in order to generate +# any of this. +# ifneq ($(BUILTIN_COMMANDS),) # (BUILTIN_PROTO,,) @@ -315,17 +330,19 @@ define BUILTIN_DEF endef # Don't generate until modules have updated their command files -$(BUILTIN_CSRC): $(GLOBAL_DEPS) $(BUILTIN_COMMAND_FILES) - @$(ECHO) %% generating $@ +$(BUILTIN_CSRC): $(GLOBAL_DEPS) $(MODULE_OBJS) $(BUILTIN_COMMAND_FILES) + @$(ECHO) "CMDS: $@" $(Q) $(ECHO) '/* builtin command list - automatically generated, do not edit */' > $@ $(Q) $(ECHO) '#include ' >> $@ $(Q) $(ECHO) '#include ' >> $@ $(Q) $(foreach spec,$(BUILTIN_COMMANDS),$(call BUILTIN_PROTO,$(subst ., ,$(spec)),$@)) + $(Q) $(foreach spec,$(MODULE_COMMANDS),$(call BUILTIN_PROTO,$(subst ., ,$(spec)),$@)) $(Q) $(ECHO) 'const struct builtin_s g_builtins[] = {' >> $@ $(Q) $(foreach spec,$(BUILTIN_COMMANDS),$(call BUILTIN_DEF,$(subst ., ,$(spec)),$@)) + $(Q) $(foreach spec,$(MODULE_COMMANDS),$(call BUILTIN_DEF,$(subst ., ,$(spec)),$@)) $(Q) $(ECHO) ' {NULL, 0, 0, NULL}' >> $@ $(Q) $(ECHO) '};' >> $@ - $(Q) $(ECHO) 'const int g_builtin_count = $(words $(BUILTIN_COMMANDS));' >> $@ + $(Q) $(ECHO) 'const int g_builtin_count = $(words $(BUILTIN_COMMANDS) $(MODULE_COMMANDS));' >> $@ SRCS += $(BUILTIN_CSRC) @@ -358,7 +375,7 @@ endif # PRODUCT_BUNDLE = $(WORK_DIR)firmware.px4 PRODUCT_BIN = $(WORK_DIR)firmware.bin -PRODUCT_SYM = $(WORK_DIR)firmware.sym +PRODUCT_ELF = $(WORK_DIR)firmware.elf .PHONY: firmware firmware: $(PRODUCT_BUNDLE) @@ -393,10 +410,10 @@ $(PRODUCT_BUNDLE): $(PRODUCT_BIN) --git_identity $(PX4_BASE) \ --image $< > $@ -$(PRODUCT_BIN): $(PRODUCT_SYM) +$(PRODUCT_BIN): $(PRODUCT_ELF) $(call SYM_TO_BIN,$<,$@) -$(PRODUCT_SYM): $(OBJS) $(MODULE_OBJS) $(GLOBAL_DEPS) $(LINK_DEPS) $(MODULE_MKFILES) +$(PRODUCT_ELF): $(OBJS) $(MODULE_OBJS) $(GLOBAL_DEPS) $(LINK_DEPS) $(MODULE_MKFILES) $(call LINK,$@,$(OBJS) $(MODULE_OBJS)) # @@ -407,17 +424,19 @@ $(PRODUCT_SYM): $(OBJS) $(MODULE_OBJS) $(GLOBAL_DEPS) $(LINK_DEPS) $(MODULE_MKF upload: $(PRODUCT_BUNDLE) $(PRODUCT_BIN) $(Q) $(MAKE) -f $(PX4_MK_DIR)/upload.mk \ METHOD=serial \ - PRODUCT=$(PRODUCT) \ + CONFIG=$(CONFIG) \ + BOARD=$(BOARD) \ BUNDLE=$(PRODUCT_BUNDLE) \ BIN=$(PRODUCT_BIN) .PHONY: clean clean: $(MODULE_CLEANS) @$(ECHO) %% cleaning - $(Q) $(REMOVE) $(PRODUCT_BUNDLE) $(PRODUCT_BIN) $(PRODUCT_SYM) + $(Q) $(REMOVE) $(PRODUCT_BUNDLE) $(PRODUCT_BIN) $(PRODUCT_ELF) $(Q) $(REMOVE) $(OBJS) $(DEP_INCLUDES) $(EXTRA_CLEANS) $(Q) $(RMDIR) $(NUTTX_EXPORT_DIR) + # # DEP_INCLUDES is defined by the toolchain include in terms of $(OBJS) # diff --git a/makefiles/module.mk b/makefiles/module.mk index 8b01d0a12..538f6d318 100644 --- a/makefiles/module.mk +++ b/makefiles/module.mk @@ -75,6 +75,18 @@ # the list should be formatted as: # ... # +# INCLUDE_DIRS (optional, must be appended) +# +# The list of directories searched for include files. If non-standard +# includes (e.g. those from another module) are required, paths to search +# can be added here. +# +# DEFAULT_VISIBILITY (optional) +# +# If not set, global symbols defined in a module will not be visible +# outside the module. Symbols that should be globally visible must be +# marked __EXPORT. +# If set, global symbols defined in a module will be globally visible. # # @@ -96,12 +108,7 @@ ifeq ($(MODULE_MK),) $(error No module makefile specified) endif -$(info % MODULE_MK = $(MODULE_MK)) - -# -# Get path and tool config -# -include $(PX4_BASE)/makefiles/setup.mk +$(info %% MODULE_MK = $(MODULE_MK)) # # Get the board/toolchain config @@ -144,12 +151,25 @@ MODULE_COMMAND_FILES := $(addprefix $(WORK_DIR)/builtin_commands/COMMAND.,$(MODU $(MODULE_COMMAND_FILES): command = $(word 2,$(subst ., ,$(notdir $(@)))) $(MODULE_COMMAND_FILES): exclude = $(dir $@)COMMAND.$(command).* $(MODULE_COMMAND_FILES): $(GLOBAL_DEPS) - @$(ECHO) COMMAND: $(command) @$(REMOVE) -f $(exclude) @$(MKDIR) -p $(dir $@) + @echo "CMD: $(command)" $(Q) $(TOUCH) $@ endif +################################################################################ +# Adjust compilation flags to implement EXPORT +################################################################################ + +ifeq ($(DEFAULT_VISIBILITY),) +DEFAULT_VISIBILITY = hidden +else +DEFAULT_VISIBILITY = default +endif + +CFLAGS += -fvisibility=$(DEFAULT_VISIBILITY) -include $(PX4_INCLUDE_DIR)visibility.h +CXXFLAGS += -fvisibility=$(DEFAULT_VISIBILITY) -include $(PX4_INCLUDE_DIR)visibility.h + ################################################################################ # Build rules ################################################################################ diff --git a/makefiles/nuttx.mk b/makefiles/nuttx.mk index c6e2c86d1..346735a02 100644 --- a/makefiles/nuttx.mk +++ b/makefiles/nuttx.mk @@ -63,7 +63,10 @@ LDSCRIPT += $(NUTTX_EXPORT_DIR)build/ld.script # # Add directories from the NuttX export to the relevant search paths # -INCLUDE_DIRS += $(NUTTX_EXPORT_DIR)include +INCLUDE_DIRS += $(NUTTX_EXPORT_DIR)include \ + $(NUTTX_EXPORT_DIR)arch/chip \ + $(NUTTX_EXPORT_DIR)arch/common + LIB_DIRS += $(NUTTX_EXPORT_DIR)libs LIBS += -lapps -lnuttx LINK_DEPS += $(NUTTX_EXPORT_DIR)libs/libapps.a \ @@ -71,5 +74,5 @@ LINK_DEPS += $(NUTTX_EXPORT_DIR)libs/libapps.a \ $(NUTTX_CONFIG_HEADER): $(NUTTX_ARCHIVE) @$(ECHO) %% Unpacking $(NUTTX_ARCHIVE) - $(Q) $(UNZIP) -q -o -d $(WORK_DIR) $(NUTTX_ARCHIVE) + $(Q) $(UNZIP_CMD) -q -o -d $(WORK_DIR) $(NUTTX_ARCHIVE) $(Q) $(TOUCH) $@ diff --git a/makefiles/setup.mk b/makefiles/setup.mk index 8e7a00ef4..b798f7cab 100644 --- a/makefiles/setup.mk +++ b/makefiles/setup.mk @@ -41,7 +41,8 @@ # the number of duplicate slashes we have lying around in paths, # and is consistent with joining the results of $(dir) and $(notdir). # -export PX4_MODULE_SRC = $(abspath $(PX4_BASE)/src/modules)/ +export PX4_INCLUDE_DIR = $(abspath $(PX4_BASE)/src/include)/ +export PX4_MODULE_SRC = $(abspath $(PX4_BASE)/src)/ export PX4_MK_DIR = $(abspath $(PX4_BASE)/makefiles)/ export NUTTX_SRC = $(abspath $(PX4_BASE)/nuttx)/ export NUTTX_APP_SRC = $(abspath $(PX4_BASE)/apps)/ @@ -51,24 +52,33 @@ export IMAGE_DIR = $(abspath $(PX4_BASE)/Images)/ export BUILD_DIR = $(abspath $(PX4_BASE)/Build)/ export ARCHIVE_DIR = $(abspath $(PX4_BASE)/Archives)/ +# +# Default include paths +# +export INCLUDE_DIRS := $(PX4_MODULE_SRC) \ + $(PX4_INCLUDE_DIR) + +# Include from legacy app/library path +export INCLUDE_DIRS += $(NUTTX_APP_SRC) + # # Tools # -MKFW = $(PX4_BASE)/Tools/px_mkfw.py -UPLOADER = $(PX4_BASE)/Tools/px_uploader.py -COPY = cp -REMOVE = rm -f -RMDIR = rm -rf -GENROMFS = genromfs -TOUCH = touch -MKDIR = mkdir -ECHO = echo -UNZIP = unzip +export MKFW = $(PX4_BASE)/Tools/px_mkfw.py +export UPLOADER = $(PX4_BASE)/Tools/px_uploader.py +export COPY = cp +export REMOVE = rm -f +export RMDIR = rm -rf +export GENROMFS = genromfs +export TOUCH = touch +export MKDIR = mkdir +export ECHO = echo +export UNZIP_CMD = unzip # # Host-specific paths, hacks and fixups # -SYSTYPE := $(shell uname -s) +export SYSTYPE := $(shell uname -s) ifeq ($(SYSTYPE),Darwin) # Eclipse may not have the toolchain on its path. diff --git a/makefiles/toolchain_gnu-arm-eabi.mk b/makefiles/toolchain_gnu-arm-eabi.mk index d214006be..5e6a5bf04 100644 --- a/makefiles/toolchain_gnu-arm-eabi.mk +++ b/makefiles/toolchain_gnu-arm-eabi.mk @@ -157,6 +157,7 @@ CXXFLAGS = $(ARCHCXXFLAGS) \ $(INSTRUMENTATIONDEFINES) \ $(ARCHDEFINES) \ $(EXTRADEFINES) \ + -DCONFIG_WCHAR_BUILTIN \ $(addprefix -I,$(INCLUDE_DIRS)) # Flags we pass to the assembler diff --git a/makefiles/upload.mk b/makefiles/upload.mk index 5308aaa3e..f23d6ae41 100644 --- a/makefiles/upload.mk +++ b/makefiles/upload.mk @@ -21,11 +21,11 @@ ifeq ($(SERIAL_PORTS),) SERIAL_PORTS = "\\\\.\\COM32,\\\\.\\COM31,\\\\.\\COM30,\\\\.\\COM29,\\\\.\\COM28,\\\\.\\COM27,\\\\.\\COM26,\\\\.\\COM25,\\\\.\\COM24,\\\\.\\COM23,\\\\.\\COM22,\\\\.\\COM21,\\\\.\\COM20,\\\\.\\COM19,\\\\.\\COM18,\\\\.\\COM17,\\\\.\\COM16,\\\\.\\COM15,\\\\.\\COM14,\\\\.\\COM13,\\\\.\\COM12,\\\\.\\COM11,\\\\.\\COM10,\\\\.\\COM9,\\\\.\\COM8,\\\\.\\COM7,\\\\.\\COM6,\\\\.\\COM5,\\\\.\\COM4,\\\\.\\COM3,\\\\.\\COM2,\\\\.\\COM1,\\\\.\\COM0" endif -.PHONY: all upload-$(METHOD)-$(PRODUCT) -all: upload-$(METHOD)-$(PRODUCT) +.PHONY: all upload-$(METHOD)-$(BOARD) +all: upload-$(METHOD)-$(BOARD) upload-serial-px4fmu: $(BUNDLE) $(UPLOADER) - @python -u $(UPLOADER) --port $(SERIAL_PORTS) $(PRODUCT_BUNDLE) + @python -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE) # # JTAG firmware uploading with OpenOCD diff --git a/nuttx/configs/px4fmu/include/board.h b/nuttx/configs/px4fmu/include/board.h index 0bc0b3021..294b6c398 100755 --- a/nuttx/configs/px4fmu/include/board.h +++ b/nuttx/configs/px4fmu/include/board.h @@ -308,6 +308,10 @@ #define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1 #define GPIO_SPI1_SCK GPIO_SPI1_SCK_1 +#define GPIO_SPI2_MISO GPIO_SPI2_MISO_2 +#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_2 +#define GPIO_SPI2_SCK GPIO_SPI2_SCK_2 + #define GPIO_SPI3_MISO GPIO_SPI3_MISO_2 #define GPIO_SPI3_MOSI GPIO_SPI3_MOSI_1 #define GPIO_SPI3_SCK GPIO_SPI3_SCK_2 @@ -321,6 +325,8 @@ #define PX4_SPIDEV_ACCEL 2 #define PX4_SPIDEV_MPU 3 +#define PX4_SPIDEV_ACCEL_MAG 2 // external for anti vibration test + /* * Tone alarm output */ diff --git a/nuttx/configs/px4fmu/nsh/appconfig b/nuttx/configs/px4fmu/nsh/appconfig index 9e28ff485..1e5d7d4e1 100644 --- a/nuttx/configs/px4fmu/nsh/appconfig +++ b/nuttx/configs/px4fmu/nsh/appconfig @@ -65,7 +65,6 @@ CONFIGURED_APPS += systemcmds/perf CONFIGURED_APPS += systemcmds/top CONFIGURED_APPS += systemcmds/boardinfo CONFIGURED_APPS += systemcmds/mixer -CONFIGURED_APPS += systemcmds/eeprom CONFIGURED_APPS += systemcmds/param CONFIGURED_APPS += systemcmds/pwm CONFIGURED_APPS += systemcmds/bl_update @@ -110,20 +109,18 @@ endif CONFIGURED_APPS += systemcmds/i2c # Communication and Drivers -CONFIGURED_APPS += drivers/boards/px4fmu +#CONFIGURED_APPS += drivers/boards/px4fmu CONFIGURED_APPS += drivers/device CONFIGURED_APPS += drivers/ms5611 CONFIGURED_APPS += drivers/hmc5883 CONFIGURED_APPS += drivers/mpu6000 CONFIGURED_APPS += drivers/bma180 -CONFIGURED_APPS += drivers/l3gd20 CONFIGURED_APPS += drivers/px4io CONFIGURED_APPS += drivers/stm32 -CONFIGURED_APPS += drivers/led +#CONFIGURED_APPS += drivers/led CONFIGURED_APPS += drivers/blinkm CONFIGURED_APPS += drivers/stm32/tone_alarm CONFIGURED_APPS += drivers/stm32/adc -CONFIGURED_APPS += drivers/px4fmu CONFIGURED_APPS += drivers/hil CONFIGURED_APPS += drivers/gps CONFIGURED_APPS += drivers/mb12xx diff --git a/nuttx/configs/px4fmu/nsh/defconfig b/nuttx/configs/px4fmu/nsh/defconfig index 130886aac..cf30b835f 100755 --- a/nuttx/configs/px4fmu/nsh/defconfig +++ b/nuttx/configs/px4fmu/nsh/defconfig @@ -85,7 +85,7 @@ CONFIG_ARCH_FPU=y CONFIG_ARCH_INTERRUPTSTACK=n CONFIG_ARCH_STACKDUMP=y CONFIG_ARCH_BOOTLOADER=n -CONFIG_ARCH_LEDS=y +CONFIG_ARCH_LEDS=n CONFIG_ARCH_BUTTONS=n CONFIG_ARCH_CALIBRATION=n CONFIG_ARCH_DMA=y diff --git a/src/drivers/ardrone_interface/ardrone_interface.c b/src/drivers/ardrone_interface/ardrone_interface.c new file mode 100644 index 000000000..aeaf830de --- /dev/null +++ b/src/drivers/ardrone_interface/ardrone_interface.c @@ -0,0 +1,398 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file ardrone_interface.c + * Implementation of AR.Drone 1.0 / 2.0 motor control interface. + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +#include "ardrone_motor_control.h" + +__EXPORT int ardrone_interface_main(int argc, char *argv[]); + + +static bool thread_should_exit = false; /**< Deamon exit flag */ +static bool thread_running = false; /**< Deamon status flag */ +static int ardrone_interface_task; /**< Handle of deamon task / thread */ +static int ardrone_write; /**< UART to write AR.Drone commands to */ + +/** + * Mainloop of ardrone_interface. + */ +int ardrone_interface_thread_main(int argc, char *argv[]); + +/** + * Open the UART connected to the motor controllers + */ +static int ardrone_open_uart(char *uart_name, struct termios *uart_config_original); + +/** + * Print the correct usage. + */ +static void usage(const char *reason); + +static void +usage(const char *reason) +{ + if (reason) + fprintf(stderr, "%s\n", reason); + fprintf(stderr, "usage: ardrone_interface {start|stop|status} [-d ]\n\n"); + exit(1); +} + +/** + * The deamon app only briefly exists to start + * the background job. The stack size assigned in the + * Makefile does only apply to this management task. + * + * The actual stack size should be set in the call + * to task_create(). + */ +int ardrone_interface_main(int argc, char *argv[]) +{ + if (argc < 1) + usage("missing command"); + + if (!strcmp(argv[1], "start")) { + + if (thread_running) { + printf("ardrone_interface already running\n"); + /* this is not an error */ + exit(0); + } + + thread_should_exit = false; + ardrone_interface_task = task_spawn("ardrone_interface", + SCHED_DEFAULT, + SCHED_PRIORITY_MAX - 15, + 2048, + ardrone_interface_thread_main, + (argv) ? (const char **)&argv[2] : (const char **)NULL); + exit(0); + } + + if (!strcmp(argv[1], "stop")) { + thread_should_exit = true; + exit(0); + } + + if (!strcmp(argv[1], "status")) { + if (thread_running) { + printf("\tardrone_interface is running\n"); + } else { + printf("\tardrone_interface not started\n"); + } + exit(0); + } + + usage("unrecognized command"); + exit(1); +} + +static int ardrone_open_uart(char *uart_name, struct termios *uart_config_original) +{ + /* baud rate */ + int speed = B115200; + int uart; + + /* open uart */ + uart = open(uart_name, O_RDWR | O_NOCTTY); + + /* Try to set baud rate */ + struct termios uart_config; + int termios_state; + + /* Back up the original uart configuration to restore it after exit */ + if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) { + fprintf(stderr, "[ardrone_interface] ERROR getting baudrate / termios config for %s: %d\n", uart_name, termios_state); + close(uart); + return -1; + } + + /* Fill the struct for the new configuration */ + tcgetattr(uart, &uart_config); + + /* Clear ONLCR flag (which appends a CR for every LF) */ + uart_config.c_oflag &= ~ONLCR; + + /* Set baud rate */ + if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) { + fprintf(stderr, "[ardrone_interface] ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state); + close(uart); + return -1; + } + + + if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) { + fprintf(stderr, "[ardrone_interface] ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name); + close(uart); + return -1; + } + + return uart; +} + +int ardrone_interface_thread_main(int argc, char *argv[]) +{ + thread_running = true; + + char *device = "/dev/ttyS1"; + + /* welcome user */ + printf("[ardrone_interface] Control started, taking over motors\n"); + + /* File descriptors */ + int gpios; + + char *commandline_usage = "\tusage: ardrone_interface start|status|stop [-t for motor test (10%% thrust)]\n"; + + bool motor_test_mode = false; + int test_motor = -1; + + /* read commandline arguments */ + for (int i = 0; i < argc && argv[i]; i++) { + if (strcmp(argv[i], "-t") == 0 || strcmp(argv[i], "--test") == 0) { + motor_test_mode = true; + } + + if (strcmp(argv[i], "-m") == 0 || strcmp(argv[i], "--motor") == 0) { + if (i+1 < argc) { + int motor = atoi(argv[i+1]); + if (motor > 0 && motor < 5) { + test_motor = motor; + } else { + thread_running = false; + errx(1, "supply a motor # between 1 and 4. Example: -m 1\n %s", commandline_usage); + } + } else { + thread_running = false; + errx(1, "missing parameter to -m 1..4\n %s", commandline_usage); + } + } + if (strcmp(argv[i], "-d") == 0 || strcmp(argv[i], "--device") == 0) { //device set + if (argc > i + 1) { + device = argv[i + 1]; + + } else { + thread_running = false; + errx(1, "missing parameter to -m 1..4\n %s", commandline_usage); + } + } + } + + struct termios uart_config_original; + + if (motor_test_mode) { + printf("[ardrone_interface] Motor test mode enabled, setting 10 %% thrust.\n"); + } + + /* Led animation */ + int counter = 0; + int led_counter = 0; + + /* declare and safely initialize all structs */ + struct vehicle_status_s state; + memset(&state, 0, sizeof(state)); + struct actuator_controls_s actuator_controls; + memset(&actuator_controls, 0, sizeof(actuator_controls)); + struct actuator_armed_s armed; + armed.armed = false; + + /* subscribe to attitude, motor setpoints and system state */ + int actuator_controls_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS); + int state_sub = orb_subscribe(ORB_ID(vehicle_status)); + int armed_sub = orb_subscribe(ORB_ID(actuator_armed)); + + printf("[ardrone_interface] Motors initialized - ready.\n"); + fflush(stdout); + + /* enable UART, writes potentially an empty buffer, but multiplexing is disabled */ + ardrone_write = ardrone_open_uart(device, &uart_config_original); + + /* initialize multiplexing, deactivate all outputs - must happen after UART open to claim GPIOs on PX4FMU */ + gpios = ar_multiplexing_init(); + + if (ardrone_write < 0) { + fprintf(stderr, "[ardrone_interface] Failed opening AR.Drone UART, exiting.\n"); + thread_running = false; + exit(ERROR); + } + + /* initialize motors */ + if (OK != ar_init_motors(ardrone_write, gpios)) { + close(ardrone_write); + fprintf(stderr, "[ardrone_interface] Failed initializing AR.Drone motors, exiting.\n"); + thread_running = false; + exit(ERROR); + } + + ardrone_write_motor_commands(ardrone_write, 0, 0, 0, 0); + + + // XXX Re-done initialization to make sure it is accepted by the motors + // XXX should be removed after more testing, but no harm + + /* close uarts */ + close(ardrone_write); + + /* enable UART, writes potentially an empty buffer, but multiplexing is disabled */ + ardrone_write = ardrone_open_uart(device, &uart_config_original); + + /* initialize multiplexing, deactivate all outputs - must happen after UART open to claim GPIOs on PX4FMU */ + gpios = ar_multiplexing_init(); + + if (ardrone_write < 0) { + fprintf(stderr, "[ardrone_interface] Failed opening AR.Drone UART, exiting.\n"); + thread_running = false; + exit(ERROR); + } + + /* initialize motors */ + if (OK != ar_init_motors(ardrone_write, gpios)) { + close(ardrone_write); + fprintf(stderr, "[ardrone_interface] Failed initializing AR.Drone motors, exiting.\n"); + thread_running = false; + exit(ERROR); + } + + while (!thread_should_exit) { + + if (motor_test_mode) { + /* set motors to idle speed */ + if (test_motor > 0 && test_motor < 5) { + int motors[4] = {0, 0, 0, 0}; + motors[test_motor - 1] = 10; + ardrone_write_motor_commands(ardrone_write, motors[0], motors[1], motors[2], motors[3]); + } else { + ardrone_write_motor_commands(ardrone_write, 10, 10, 10, 10); + } + + } else { + /* MAIN OPERATION MODE */ + + /* get a local copy of the vehicle state */ + orb_copy(ORB_ID(vehicle_status), state_sub, &state); + /* get a local copy of the actuator controls */ + orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_controls_sub, &actuator_controls); + orb_copy(ORB_ID(actuator_armed), armed_sub, &armed); + + /* for now only spin if armed and immediately shut down + * if in failsafe + */ + if (armed.armed && !armed.lockdown) { + ardrone_mixing_and_output(ardrone_write, &actuator_controls); + + } else { + /* Silently lock down motor speeds to zero */ + ardrone_write_motor_commands(ardrone_write, 0, 0, 0, 0); + } + } + + if (counter % 24 == 0) { + if (led_counter == 0) ar_set_leds(ardrone_write, 0, 1, 0, 0, 0, 0, 0 , 0); + + if (led_counter == 1) ar_set_leds(ardrone_write, 1, 1, 0, 0, 0, 0, 0 , 0); + + if (led_counter == 2) ar_set_leds(ardrone_write, 1, 0, 0, 0, 0, 0, 0 , 0); + + if (led_counter == 3) ar_set_leds(ardrone_write, 0, 0, 0, 1, 0, 0, 0 , 0); + + if (led_counter == 4) ar_set_leds(ardrone_write, 0, 0, 1, 1, 0, 0, 0 , 0); + + if (led_counter == 5) ar_set_leds(ardrone_write, 0, 0, 1, 0, 0, 0, 0 , 0); + + if (led_counter == 6) ar_set_leds(ardrone_write, 0, 0, 0, 0, 0, 1, 0 , 0); + + if (led_counter == 7) ar_set_leds(ardrone_write, 0, 0, 0, 0, 1, 1, 0 , 0); + + if (led_counter == 8) ar_set_leds(ardrone_write, 0, 0, 0, 0, 1, 0, 0 , 0); + + if (led_counter == 9) ar_set_leds(ardrone_write, 0, 0, 0, 0, 0, 0, 0 , 1); + + if (led_counter == 10) ar_set_leds(ardrone_write, 0, 0, 0, 0, 0, 0, 1 , 1); + + if (led_counter == 11) ar_set_leds(ardrone_write, 0, 0, 0, 0, 0, 0, 1 , 0); + + led_counter++; + + if (led_counter == 12) led_counter = 0; + } + + /* run at approximately 200 Hz */ + usleep(4500); + + counter++; + } + + /* restore old UART config */ + int termios_state; + + if ((termios_state = tcsetattr(ardrone_write, TCSANOW, &uart_config_original)) < 0) { + fprintf(stderr, "[ardrone_interface] ERROR setting baudrate / termios config for (tcsetattr)\n"); + } + + printf("[ardrone_interface] Restored original UART config, exiting..\n"); + + /* close uarts */ + close(ardrone_write); + ar_multiplexing_deinit(gpios); + + fflush(stdout); + + thread_running = false; + + return OK; +} + diff --git a/src/drivers/ardrone_interface/ardrone_motor_control.c b/src/drivers/ardrone_interface/ardrone_motor_control.c new file mode 100644 index 000000000..f15c74a22 --- /dev/null +++ b/src/drivers/ardrone_interface/ardrone_motor_control.c @@ -0,0 +1,492 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file ardrone_motor_control.c + * Implementation of AR.Drone 1.0 / 2.0 motor control interface + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "ardrone_motor_control.h" + +static unsigned long motor_gpios = GPIO_EXT_1 | GPIO_EXT_2 | GPIO_MULTI_1 | GPIO_MULTI_2; +static unsigned long motor_gpio[4] = { GPIO_EXT_1, GPIO_EXT_2, GPIO_MULTI_1, GPIO_MULTI_2 }; + +typedef union { + uint16_t motor_value; + uint8_t bytes[2]; +} motor_union_t; + +#define UART_TRANSFER_TIME_BYTE_US (9+50) /**< 9 us per byte at 115200k plus overhead */ + +/** + * @brief Generate the 8-byte motor set packet + * + * @return the number of bytes (8) + */ +void ar_get_motor_packet(uint8_t *motor_buf, uint16_t motor1, uint16_t motor2, uint16_t motor3, uint16_t motor4) +{ + motor_buf[0] = 0x20; + motor_buf[1] = 0x00; + motor_buf[2] = 0x00; + motor_buf[3] = 0x00; + motor_buf[4] = 0x00; + /* + * {0x20, 0x00, 0x00, 0x00, 0x00}; + * 0x20 is start sign / motor command + */ + motor_union_t curr_motor; + uint16_t nineBitMask = 0x1FF; + + /* Set motor 1 */ + curr_motor.motor_value = (motor1 & nineBitMask) << 4; + motor_buf[0] |= curr_motor.bytes[1]; + motor_buf[1] |= curr_motor.bytes[0]; + + /* Set motor 2 */ + curr_motor.motor_value = (motor2 & nineBitMask) << 3; + motor_buf[1] |= curr_motor.bytes[1]; + motor_buf[2] |= curr_motor.bytes[0]; + + /* Set motor 3 */ + curr_motor.motor_value = (motor3 & nineBitMask) << 2; + motor_buf[2] |= curr_motor.bytes[1]; + motor_buf[3] |= curr_motor.bytes[0]; + + /* Set motor 4 */ + curr_motor.motor_value = (motor4 & nineBitMask) << 1; + motor_buf[3] |= curr_motor.bytes[1]; + motor_buf[4] |= curr_motor.bytes[0]; +} + +void ar_enable_broadcast(int fd) +{ + ar_select_motor(fd, 0); +} + +int ar_multiplexing_init() +{ + int fd; + + fd = open(GPIO_DEVICE_PATH, 0); + + if (fd < 0) { + warn("GPIO: open fail"); + return fd; + } + + /* deactivate all outputs */ + if (ioctl(fd, GPIO_SET, motor_gpios)) { + warn("GPIO: clearing pins fail"); + close(fd); + return -1; + } + + /* configure all motor select GPIOs as outputs */ + if (ioctl(fd, GPIO_SET_OUTPUT, motor_gpios) != 0) { + warn("GPIO: output set fail"); + close(fd); + return -1; + } + + return fd; +} + +int ar_multiplexing_deinit(int fd) +{ + if (fd < 0) { + printf("GPIO: no valid descriptor\n"); + return fd; + } + + int ret = 0; + + /* deselect motor 1-4 */ + ret += ioctl(fd, GPIO_SET, motor_gpios); + + if (ret != 0) { + printf("GPIO: clear failed %d times\n", ret); + } + + if (ioctl(fd, GPIO_SET_INPUT, motor_gpios) != 0) { + printf("GPIO: input set fail\n"); + return -1; + } + + close(fd); + + return ret; +} + +int ar_select_motor(int fd, uint8_t motor) +{ + int ret = 0; + /* + * Four GPIOS: + * GPIO_EXT1 + * GPIO_EXT2 + * GPIO_UART2_CTS + * GPIO_UART2_RTS + */ + + /* select motor 0 to enable broadcast */ + if (motor == 0) { + /* select motor 1-4 */ + ret += ioctl(fd, GPIO_CLEAR, motor_gpios); + + } else { + /* select reqested motor */ + ret += ioctl(fd, GPIO_CLEAR, motor_gpio[motor - 1]); + } + + return ret; +} + +int ar_deselect_motor(int fd, uint8_t motor) +{ + int ret = 0; + /* + * Four GPIOS: + * GPIO_EXT1 + * GPIO_EXT2 + * GPIO_UART2_CTS + * GPIO_UART2_RTS + */ + + if (motor == 0) { + /* deselect motor 1-4 */ + ret += ioctl(fd, GPIO_SET, motor_gpios); + + } else { + /* deselect reqested motor */ + ret = ioctl(fd, GPIO_SET, motor_gpio[motor - 1]); + } + + return ret; +} + +int ar_init_motors(int ardrone_uart, int gpios) +{ + /* Write ARDrone commands on UART2 */ + uint8_t initbuf[] = {0xE0, 0x91, 0xA1, 0x00, 0x40}; + uint8_t multicastbuf[] = {0xA0, 0xA0, 0xA0, 0xA0, 0xA0, 0xA0}; + + /* deselect all motors */ + ar_deselect_motor(gpios, 0); + + /* initialize all motors + * - select one motor at a time + * - configure motor + */ + int i; + int errcounter = 0; + + + /* initial setup run */ + for (i = 1; i < 5; ++i) { + /* Initialize motors 1-4 */ + errcounter += ar_select_motor(gpios, i); + usleep(200); + + /* + * write 0xE0 - request status + * receive one status byte + */ + write(ardrone_uart, &(initbuf[0]), 1); + fsync(ardrone_uart); + usleep(UART_TRANSFER_TIME_BYTE_US*1); + + /* + * write 0x91 - request checksum + * receive 120 status bytes + */ + write(ardrone_uart, &(initbuf[1]), 1); + fsync(ardrone_uart); + usleep(UART_TRANSFER_TIME_BYTE_US*120); + + /* + * write 0xA1 - set status OK + * receive one status byte - should be A0 + * to confirm status is OK + */ + write(ardrone_uart, &(initbuf[2]), 1); + fsync(ardrone_uart); + usleep(UART_TRANSFER_TIME_BYTE_US*1); + + /* + * set as motor i, where i = 1..4 + * receive nothing + */ + initbuf[3] = (uint8_t)i; + write(ardrone_uart, &(initbuf[3]), 1); + fsync(ardrone_uart); + + /* + * write 0x40 - check version + * receive 11 bytes encoding the version + */ + write(ardrone_uart, &(initbuf[4]), 1); + fsync(ardrone_uart); + usleep(UART_TRANSFER_TIME_BYTE_US*11); + + ar_deselect_motor(gpios, i); + /* sleep 200 ms */ + usleep(200000); + } + + /* start the multicast part */ + errcounter += ar_select_motor(gpios, 0); + usleep(200); + + /* + * first round + * write six times A0 - enable broadcast + * receive nothing + */ + write(ardrone_uart, multicastbuf, sizeof(multicastbuf)); + fsync(ardrone_uart); + usleep(UART_TRANSFER_TIME_BYTE_US * sizeof(multicastbuf)); + + /* + * second round + * write six times A0 - enable broadcast + * receive nothing + */ + write(ardrone_uart, multicastbuf, sizeof(multicastbuf)); + fsync(ardrone_uart); + usleep(UART_TRANSFER_TIME_BYTE_US * sizeof(multicastbuf)); + + /* set motors to zero speed (fsync is part of the write command */ + ardrone_write_motor_commands(ardrone_uart, 0, 0, 0, 0); + + if (errcounter != 0) { + fprintf(stderr, "[ardrone_interface] init sequence incomplete, failed %d times", -errcounter); + fflush(stdout); + } + return errcounter; +} + +/** + * Sets the leds on the motor controllers, 1 turns led on, 0 off. + */ +void ar_set_leds(int ardrone_uart, uint8_t led1_red, uint8_t led1_green, uint8_t led2_red, uint8_t led2_green, uint8_t led3_red, uint8_t led3_green, uint8_t led4_red, uint8_t led4_green) +{ + /* + * 2 bytes are sent. The first 3 bits describe the command: 011 means led control + * the following 4 bits are the red leds for motor 4, 3, 2, 1 + * then 4 bits with unknown function, then 4 bits for green leds for motor 4, 3, 2, 1 + * the last bit is unknown. + * + * The packet is therefore: + * 011 rrrr 0000 gggg 0 + */ + uint8_t leds[2]; + leds[0] = 0x60 | ((led4_red & 0x01) << 4) | ((led3_red & 0x01) << 3) | ((led2_red & 0x01) << 2) | ((led1_red & 0x01) << 1); + leds[1] = ((led4_green & 0x01) << 4) | ((led3_green & 0x01) << 3) | ((led2_green & 0x01) << 2) | ((led1_green & 0x01) << 1); + write(ardrone_uart, leds, 2); +} + +int ardrone_write_motor_commands(int ardrone_fd, uint16_t motor1, uint16_t motor2, uint16_t motor3, uint16_t motor4) { + const unsigned int min_motor_interval = 4900; + static uint64_t last_motor_time = 0; + + static struct actuator_outputs_s outputs; + outputs.timestamp = hrt_absolute_time(); + outputs.output[0] = motor1; + outputs.output[1] = motor2; + outputs.output[2] = motor3; + outputs.output[3] = motor4; + static orb_advert_t pub = 0; + if (pub == 0) { + pub = orb_advertise(ORB_ID_VEHICLE_CONTROLS, &outputs); + } + + if (hrt_absolute_time() - last_motor_time > min_motor_interval) { + uint8_t buf[5] = {0}; + ar_get_motor_packet(buf, motor1, motor2, motor3, motor4); + int ret; + ret = write(ardrone_fd, buf, sizeof(buf)); + fsync(ardrone_fd); + + /* publish just written values */ + orb_publish(ORB_ID_VEHICLE_CONTROLS, pub, &outputs); + + if (ret == sizeof(buf)) { + return OK; + } else { + return ret; + } + } else { + return -ERROR; + } +} + +void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls_s *actuators) { + + float roll_control = actuators->control[0]; + float pitch_control = actuators->control[1]; + float yaw_control = actuators->control[2]; + float motor_thrust = actuators->control[3]; + + //printf("AMO: Roll: %4.4f, Pitch: %4.4f, Yaw: %4.4f, Thrust: %4.4f\n",roll_control, pitch_control, yaw_control, motor_thrust); + + const float min_thrust = 0.02f; /**< 2% minimum thrust */ + const float max_thrust = 1.0f; /**< 100% max thrust */ + const float scaling = 500.0f; /**< 100% thrust equals a value of 500 which works, 512 leads to cutoff */ + const float min_gas = min_thrust * scaling; /**< value range sent to motors, minimum */ + const float max_gas = max_thrust * scaling; /**< value range sent to motors, maximum */ + + /* initialize all fields to zero */ + uint16_t motor_pwm[4] = {0}; + float motor_calc[4] = {0}; + + float output_band = 0.0f; + float band_factor = 0.75f; + const float startpoint_full_control = 0.25f; /**< start full control at 25% thrust */ + float yaw_factor = 1.0f; + + static bool initialized = false; + /* publish effective outputs */ + static struct actuator_controls_effective_s actuator_controls_effective; + static orb_advert_t actuator_controls_effective_pub; + + if (motor_thrust <= min_thrust) { + motor_thrust = min_thrust; + output_band = 0.0f; + } else if (motor_thrust < startpoint_full_control && motor_thrust > min_thrust) { + output_band = band_factor * (motor_thrust - min_thrust); + } else if (motor_thrust >= startpoint_full_control && motor_thrust < max_thrust - band_factor * startpoint_full_control) { + output_band = band_factor * startpoint_full_control; + } else if (motor_thrust >= max_thrust - band_factor * startpoint_full_control) { + output_band = band_factor * (max_thrust - motor_thrust); + } + + //add the yaw, nick and roll components to the basic thrust //TODO:this should be done by the mixer + + // FRONT (MOTOR 1) + motor_calc[0] = motor_thrust + (roll_control / 2 + pitch_control / 2 - yaw_control); + + // RIGHT (MOTOR 2) + motor_calc[1] = motor_thrust + (-roll_control / 2 + pitch_control / 2 + yaw_control); + + // BACK (MOTOR 3) + motor_calc[2] = motor_thrust + (-roll_control / 2 - pitch_control / 2 - yaw_control); + + // LEFT (MOTOR 4) + motor_calc[3] = motor_thrust + (roll_control / 2 - pitch_control / 2 + yaw_control); + + // if we are not in the output band + if (!(motor_calc[0] < motor_thrust + output_band && motor_calc[0] > motor_thrust - output_band + && motor_calc[1] < motor_thrust + output_band && motor_calc[1] > motor_thrust - output_band + && motor_calc[2] < motor_thrust + output_band && motor_calc[2] > motor_thrust - output_band + && motor_calc[3] < motor_thrust + output_band && motor_calc[3] > motor_thrust - output_band)) { + + yaw_factor = 0.5f; + yaw_control *= yaw_factor; + // FRONT (MOTOR 1) + motor_calc[0] = motor_thrust + (roll_control / 2 + pitch_control / 2 - yaw_control); + + // RIGHT (MOTOR 2) + motor_calc[1] = motor_thrust + (-roll_control / 2 + pitch_control / 2 + yaw_control); + + // BACK (MOTOR 3) + motor_calc[2] = motor_thrust + (-roll_control / 2 - pitch_control / 2 - yaw_control); + + // LEFT (MOTOR 4) + motor_calc[3] = motor_thrust + (roll_control / 2 - pitch_control / 2 + yaw_control); + } + + for (int i = 0; i < 4; i++) { + //check for limits + if (motor_calc[i] < motor_thrust - output_band) { + motor_calc[i] = motor_thrust - output_band; + } + + if (motor_calc[i] > motor_thrust + output_band) { + motor_calc[i] = motor_thrust + output_band; + } + } + + /* publish effective outputs */ + actuator_controls_effective.control_effective[0] = roll_control; + actuator_controls_effective.control_effective[1] = pitch_control; + /* yaw output after limiting */ + actuator_controls_effective.control_effective[2] = yaw_control; + /* possible motor thrust limiting */ + actuator_controls_effective.control_effective[3] = (motor_calc[0] + motor_calc[1] + motor_calc[2] + motor_calc[3]) / 4.0f; + + if (!initialized) { + /* advertise and publish */ + actuator_controls_effective_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, &actuator_controls_effective); + initialized = true; + } else { + /* already initialized, just publishing */ + orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, actuator_controls_effective_pub, &actuator_controls_effective); + } + + /* set the motor values */ + + /* scale up from 0..1 to 10..512) */ + motor_pwm[0] = (uint16_t) (motor_calc[0] * ((float)max_gas - min_gas) + min_gas); + motor_pwm[1] = (uint16_t) (motor_calc[1] * ((float)max_gas - min_gas) + min_gas); + motor_pwm[2] = (uint16_t) (motor_calc[2] * ((float)max_gas - min_gas) + min_gas); + motor_pwm[3] = (uint16_t) (motor_calc[3] * ((float)max_gas - min_gas) + min_gas); + + /* Keep motors spinning while armed and prevent overflows */ + + /* Failsafe logic - should never be necessary */ + motor_pwm[0] = (motor_pwm[0] > 0) ? motor_pwm[0] : 10; + motor_pwm[1] = (motor_pwm[1] > 0) ? motor_pwm[1] : 10; + motor_pwm[2] = (motor_pwm[2] > 0) ? motor_pwm[2] : 10; + motor_pwm[3] = (motor_pwm[3] > 0) ? motor_pwm[3] : 10; + + /* Failsafe logic - should never be necessary */ + motor_pwm[0] = (motor_pwm[0] <= 512) ? motor_pwm[0] : 512; + motor_pwm[1] = (motor_pwm[1] <= 512) ? motor_pwm[1] : 512; + motor_pwm[2] = (motor_pwm[2] <= 512) ? motor_pwm[2] : 512; + motor_pwm[3] = (motor_pwm[3] <= 512) ? motor_pwm[3] : 512; + + /* send motors via UART */ + ardrone_write_motor_commands(ardrone_write, motor_pwm[0], motor_pwm[1], motor_pwm[2], motor_pwm[3]); +} diff --git a/src/drivers/ardrone_interface/ardrone_motor_control.h b/src/drivers/ardrone_interface/ardrone_motor_control.h new file mode 100644 index 000000000..78b603b63 --- /dev/null +++ b/src/drivers/ardrone_interface/ardrone_motor_control.h @@ -0,0 +1,93 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file ardrone_motor_control.h + * Definition of AR.Drone 1.0 / 2.0 motor control interface + */ + +#include +#include + +/** + * Generate the 5-byte motor set packet. + * + * @return the number of bytes (5) + */ +void ar_get_motor_packet(uint8_t *motor_buf, uint16_t motor1, uint16_t motor2, uint16_t motor3, uint16_t motor4); + +/** + * Select a motor in the multiplexing. + * + * @param fd GPIO file descriptor + * @param motor Motor number, from 1 to 4, 0 selects all + */ +int ar_select_motor(int fd, uint8_t motor); + +/** + * Deselect a motor in the multiplexing. + * + * @param fd GPIO file descriptor + * @param motor Motor number, from 1 to 4, 0 deselects all + */ +int ar_deselect_motor(int fd, uint8_t motor); + +void ar_enable_broadcast(int fd); + +int ar_multiplexing_init(void); +int ar_multiplexing_deinit(int fd); + +/** + * Write four motor commands to an already initialized port. + * + * Writing 0 stops a motor, values from 1-512 encode the full thrust range. + * on some motor controller firmware revisions a minimum value of 10 is + * required to spin the motors. + */ +int ardrone_write_motor_commands(int ardrone_fd, uint16_t motor1, uint16_t motor2, uint16_t motor3, uint16_t motor4); + +/** + * Initialize the motors. + */ +int ar_init_motors(int ardrone_uart, int gpio); + +/** + * Set LED pattern. + */ +void ar_set_leds(int ardrone_uart, uint8_t led1_red, uint8_t led1_green, uint8_t led2_red, uint8_t led2_green, uint8_t led3_red, uint8_t led3_green, uint8_t led4_red, uint8_t led4_green); + +/** + * Mix motors and output actuators + */ +void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls_s *actuators); diff --git a/src/drivers/ardrone_interface/module.mk b/src/drivers/ardrone_interface/module.mk new file mode 100644 index 000000000..058bd1397 --- /dev/null +++ b/src/drivers/ardrone_interface/module.mk @@ -0,0 +1,40 @@ +############################################################################ +# +# Copyright (C) 2012-2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# AR.Drone motor driver +# + +MODULE_COMMAND = ardrone_interface +SRCS = ardrone_interface.c \ + ardrone_motor_control.c diff --git a/src/drivers/boards/px4fmu/module.mk b/src/drivers/boards/px4fmu/module.mk new file mode 100644 index 000000000..2cb261d30 --- /dev/null +++ b/src/drivers/boards/px4fmu/module.mk @@ -0,0 +1,9 @@ +# +# Board-specific startup code for the PX4FMU +# + +SRCS = px4fmu_can.c \ + px4fmu_init.c \ + px4fmu_pwm_servo.c \ + px4fmu_spi.c \ + px4fmu_usb.c diff --git a/src/drivers/boards/px4fmu/px4fmu_can.c b/src/drivers/boards/px4fmu/px4fmu_can.c new file mode 100644 index 000000000..187689ff9 --- /dev/null +++ b/src/drivers/boards/px4fmu/px4fmu_can.c @@ -0,0 +1,144 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file px4fmu_can.c + * + * Board-specific CAN functions. + */ + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +#include + +#include +#include + +#include +#include + +#include "chip.h" +#include "up_arch.h" + +#include "stm32.h" +#include "stm32_can.h" +#include "px4fmu_internal.h" + +#ifdef CONFIG_CAN + +/************************************************************************************ + * Pre-processor Definitions + ************************************************************************************/ +/* Configuration ********************************************************************/ + +#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2) +# warning "Both CAN1 and CAN2 are enabled. Assuming only CAN1." +# undef CONFIG_STM32_CAN2 +#endif + +#ifdef CONFIG_STM32_CAN1 +# define CAN_PORT 1 +#else +# define CAN_PORT 2 +#endif + +/* Debug ***************************************************************************/ +/* Non-standard debug that may be enabled just for testing CAN */ + +#ifdef CONFIG_DEBUG_CAN +# define candbg dbg +# define canvdbg vdbg +# define canlldbg lldbg +# define canllvdbg llvdbg +#else +# define candbg(x...) +# define canvdbg(x...) +# define canlldbg(x...) +# define canllvdbg(x...) +#endif + +/************************************************************************************ + * Private Functions + ************************************************************************************/ + +/************************************************************************************ + * Public Functions + ************************************************************************************/ + +/************************************************************************************ + * Name: can_devinit + * + * Description: + * All STM32 architectures must provide the following interface to work with + * examples/can. + * + ************************************************************************************/ + +int can_devinit(void) +{ + static bool initialized = false; + struct can_dev_s *can; + int ret; + + /* Check if we have already initialized */ + + if (!initialized) { + /* Call stm32_caninitialize() to get an instance of the CAN interface */ + + can = stm32_caninitialize(CAN_PORT); + + if (can == NULL) { + candbg("ERROR: Failed to get CAN interface\n"); + return -ENODEV; + } + + /* Register the CAN driver at "/dev/can0" */ + + ret = can_register("/dev/can0", can); + + if (ret < 0) { + candbg("ERROR: can_register failed: %d\n", ret); + return ret; + } + + /* Now we are initialized */ + + initialized = true; + } + + return OK; +} + +#endif diff --git a/src/drivers/boards/px4fmu/px4fmu_init.c b/src/drivers/boards/px4fmu/px4fmu_init.c new file mode 100644 index 000000000..5dd70c3f9 --- /dev/null +++ b/src/drivers/boards/px4fmu/px4fmu_init.c @@ -0,0 +1,255 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file px4fmu_init.c + * + * PX4FMU-specific early startup code. This file implements the + * nsh_archinitialize() function that is called early by nsh during startup. + * + * Code here is run before the rcS script is invoked; it should start required + * subsystems and perform board-specific initialisation. + */ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include + +#include +#include +#include +#include + +#include +#include +#include +#include +#include + +#include "stm32_internal.h" +#include "px4fmu_internal.h" +#include "stm32_uart.h" + +#include + +#include +#include + +#include + +/**************************************************************************** + * Pre-Processor Definitions + ****************************************************************************/ + +/* Configuration ************************************************************/ + +/* Debug ********************************************************************/ + +#ifdef CONFIG_CPP_HAVE_VARARGS +# ifdef CONFIG_DEBUG +# define message(...) lowsyslog(__VA_ARGS__) +# else +# define message(...) printf(__VA_ARGS__) +# endif +#else +# ifdef CONFIG_DEBUG +# define message lowsyslog +# else +# define message printf +# endif +#endif + +/**************************************************************************** + * Protected Functions + ****************************************************************************/ + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/************************************************************************************ + * Name: stm32_boardinitialize + * + * Description: + * All STM32 architectures must provide the following entry point. This entry point + * is called early in the intitialization -- after all memory has been configured + * and mapped but before any devices have been initialized. + * + ************************************************************************************/ + +__EXPORT void stm32_boardinitialize(void) +{ + /* configure SPI interfaces */ + stm32_spiinitialize(); + + /* configure LEDs */ + up_ledinit(); +} + +/**************************************************************************** + * Name: nsh_archinitialize + * + * Description: + * Perform architecture specific initialization + * + ****************************************************************************/ + +static struct spi_dev_s *spi1; +static struct spi_dev_s *spi2; +static struct spi_dev_s *spi3; + +#include + +#ifdef __cplusplus +__EXPORT int matherr(struct __exception *e) +{ + return 1; +} +#else +__EXPORT int matherr(struct exception *e) +{ + return 1; +} +#endif + +__EXPORT int nsh_archinitialize(void) +{ + int result; + + /* configure always-on ADC pins */ + stm32_configgpio(GPIO_ADC1_IN10); + stm32_configgpio(GPIO_ADC1_IN11); + /* IN12 and IN13 further below */ + + /* configure the high-resolution time/callout interface */ + hrt_init(); + + /* configure CPU load estimation */ +#ifdef CONFIG_SCHED_INSTRUMENTATION + cpuload_initialize_once(); +#endif + + /* set up the serial DMA polling */ + static struct hrt_call serial_dma_call; + struct timespec ts; + + /* + * Poll at 1ms intervals for received bytes that have not triggered + * a DMA event. + */ + ts.tv_sec = 0; + ts.tv_nsec = 1000000; + + hrt_call_every(&serial_dma_call, + ts_to_abstime(&ts), + ts_to_abstime(&ts), + (hrt_callout)stm32_serial_dma_poll, + NULL); + + // initial LED state +// drv_led_start(); + up_ledoff(LED_BLUE); + up_ledoff(LED_AMBER); + up_ledon(LED_BLUE); + + /* Configure SPI-based devices */ + + spi1 = up_spiinitialize(1); + + if (!spi1) { + message("[boot] FAILED to initialize SPI port 1\r\n"); + up_ledon(LED_AMBER); + return -ENODEV; + } + + /* Default SPI1 to 1MHz and de-assert the known chip selects. */ + SPI_SETFREQUENCY(spi1, 10000000); + SPI_SETBITS(spi1, 8); + SPI_SETMODE(spi1, SPIDEV_MODE3); + SPI_SELECT(spi1, PX4_SPIDEV_GYRO, false); + SPI_SELECT(spi1, PX4_SPIDEV_ACCEL, false); + SPI_SELECT(spi1, PX4_SPIDEV_MPU, false); + up_udelay(20); + + message("[boot] Successfully initialized SPI port 1\r\n"); + + /* + * If SPI2 is enabled in the defconfig, we loose some ADC pins as chip selects. + * Keep the SPI2 init optional and conditionally initialize the ADC pins + */ + spi2 = up_spiinitialize(2); + + if (!spi2) { + message("[boot] Enabling IN12/13 instead of SPI2\n"); + /* no SPI2, use pins for ADC */ + stm32_configgpio(GPIO_ADC1_IN12); + stm32_configgpio(GPIO_ADC1_IN13); // jumperable to MPU6000 DRDY on some boards + } else { + /* Default SPI2 to 1MHz and de-assert the known chip selects. */ + SPI_SETFREQUENCY(spi2, 10000000); + SPI_SETBITS(spi2, 8); + SPI_SETMODE(spi2, SPIDEV_MODE3); + SPI_SELECT(spi2, PX4_SPIDEV_GYRO, false); + SPI_SELECT(spi2, PX4_SPIDEV_ACCEL_MAG, false); + + message("[boot] Initialized SPI port2 (ADC IN12/13 blocked)\n"); + } + + /* Get the SPI port for the microSD slot */ + + message("[boot] Initializing SPI port 3\n"); + spi3 = up_spiinitialize(3); + + if (!spi3) { + message("[boot] FAILED to initialize SPI port 3\n"); + up_ledon(LED_AMBER); + return -ENODEV; + } + + message("[boot] Successfully initialized SPI port 3\n"); + + /* Now bind the SPI interface to the MMCSD driver */ + result = mmcsd_spislotinitialize(CONFIG_NSH_MMCSDMINOR, CONFIG_NSH_MMCSDSLOTNO, spi3); + + if (result != OK) { + message("[boot] FAILED to bind SPI port 3 to the MMCSD driver\n"); + up_ledon(LED_AMBER); + return -ENODEV; + } + + message("[boot] Successfully bound SPI port 3 to the MMCSD driver\n"); + + return OK; +} diff --git a/src/drivers/boards/px4fmu/px4fmu_internal.h b/src/drivers/boards/px4fmu/px4fmu_internal.h new file mode 100644 index 000000000..671a58f8f --- /dev/null +++ b/src/drivers/boards/px4fmu/px4fmu_internal.h @@ -0,0 +1,162 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file px4fmu_internal.h + * + * PX4FMU internal definitions + */ + +#pragma once + +/**************************************************************************************************** + * Included Files + ****************************************************************************************************/ + +#include +#include +#include + +__BEGIN_DECLS + +/* these headers are not C++ safe */ +#include + + +/**************************************************************************************************** + * Definitions + ****************************************************************************************************/ +/* Configuration ************************************************************************************/ + +//#ifdef CONFIG_STM32_SPI2 +//# error "SPI2 is not supported on this board" +//#endif + +#if defined(CONFIG_STM32_CAN1) +# warning "CAN1 is not supported on this board" +#endif + +/* PX4FMU GPIOs ***********************************************************************************/ +/* LEDs */ + +#define GPIO_LED1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN15) +#define GPIO_LED2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN14) + +/* External interrupts */ +#define GPIO_EXTI_COMPASS (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN1) +// XXX MPU6000 DRDY? + +/* SPI chip selects */ + +#define GPIO_SPI_CS_GYRO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN14) +#define GPIO_SPI_CS_ACCEL (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15) +#define GPIO_SPI_CS_MPU (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0) +#define GPIO_SPI_CS_SDCARD (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4) + +/* User GPIOs + * + * GPIO0-1 are the buffered high-power GPIOs. + * GPIO2-5 are the USART2 pins. + * GPIO6-7 are the CAN2 pins. + */ +#define GPIO_GPIO0_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN4) +#define GPIO_GPIO1_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN5) +#define GPIO_GPIO2_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN0) +#define GPIO_GPIO3_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN1) +#define GPIO_GPIO4_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN2) +#define GPIO_GPIO5_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN3) +#define GPIO_GPIO6_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN13) +#define GPIO_GPIO7_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN2) +#define GPIO_GPIO0_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN4) +#define GPIO_GPIO1_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN5) +#define GPIO_GPIO2_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0) +#define GPIO_GPIO3_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN1) +#define GPIO_GPIO4_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN2) +#define GPIO_GPIO5_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN3) +#define GPIO_GPIO6_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN13) +#define GPIO_GPIO7_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN12) +#define GPIO_GPIO_DIR (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13) + +/* USB OTG FS + * + * PA9 OTG_FS_VBUS VBUS sensing (also connected to the green LED) + */ +#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9) + +/* PWM + * + * The PX4FMU has five PWM outputs, of which only the output on + * pin PC8 is fixed assigned to this function. The other four possible + * pwm sources are the TX, RX, RTS and CTS pins of USART2 + * + * Alternate function mapping: + * PC8 - BUZZER - TIM8_CH3/SDIO_D0 /TIM3_CH3/ USART6_CK / DCMI_D2 + */ + +#ifdef CONFIG_PWM +# if defined(CONFIG_STM32_TIM3_PWM) +# define BUZZER_PWMCHANNEL 3 +# define BUZZER_PWMTIMER 3 +# elif defined(CONFIG_STM32_TIM8_PWM) +# define BUZZER_PWMCHANNEL 3 +# define BUZZER_PWMTIMER 8 +# endif +#endif + +/**************************************************************************************************** + * Public Types + ****************************************************************************************************/ + +/**************************************************************************************************** + * Public data + ****************************************************************************************************/ + +#ifndef __ASSEMBLY__ + +/**************************************************************************************************** + * Public Functions + ****************************************************************************************************/ + +/**************************************************************************************************** + * Name: stm32_spiinitialize + * + * Description: + * Called to configure SPI chip select GPIO pins for the PX4FMU board. + * + ****************************************************************************************************/ + +extern void stm32_spiinitialize(void); + +#endif /* __ASSEMBLY__ */ + +__END_DECLS diff --git a/src/drivers/boards/px4fmu/px4fmu_led.c b/src/drivers/boards/px4fmu/px4fmu_led.c new file mode 100644 index 000000000..fd1e159aa --- /dev/null +++ b/src/drivers/boards/px4fmu/px4fmu_led.c @@ -0,0 +1,88 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file px4fmu_led.c + * + * PX4FMU LED backend. + */ + +#include + +#include +#include +#include + +#include + +#include "chip.h" +#include "up_arch.h" +#include "up_internal.h" +#include "stm32_internal.h" +#include "px4fmu_internal.h" + +__EXPORT void up_ledinit() +{ + /* Configure LED1-2 GPIOs for output */ + + stm32_configgpio(GPIO_LED1); + stm32_configgpio(GPIO_LED2); +} + +__EXPORT void up_ledon(int led) +{ + if (led == 0) + { + /* Pull down to switch on */ + stm32_gpiowrite(GPIO_LED1, false); + } + if (led == 1) + { + /* Pull down to switch on */ + stm32_gpiowrite(GPIO_LED2, false); + } +} + +__EXPORT void up_ledoff(int led) +{ + if (led == 0) + { + /* Pull up to switch off */ + stm32_gpiowrite(GPIO_LED1, true); + } + if (led == 1) + { + /* Pull up to switch off */ + stm32_gpiowrite(GPIO_LED2, true); + } +} diff --git a/src/drivers/boards/px4fmu/px4fmu_pwm_servo.c b/src/drivers/boards/px4fmu/px4fmu_pwm_servo.c new file mode 100644 index 000000000..cb8918306 --- /dev/null +++ b/src/drivers/boards/px4fmu/px4fmu_pwm_servo.c @@ -0,0 +1,87 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* + * @file px4fmu_pwm_servo.c + * + * Configuration data for the stm32 pwm_servo driver. + * + * Note that these arrays must always be fully-sized. + */ + +#include + +#include + +#include +#include + +#include +#include +#include + +__EXPORT const struct pwm_servo_timer pwm_timers[PWM_SERVO_MAX_TIMERS] = { + { + .base = STM32_TIM2_BASE, + .clock_register = STM32_RCC_APB1ENR, + .clock_bit = RCC_APB1ENR_TIM2EN, + .clock_freq = STM32_APB1_TIM2_CLKIN + } +}; + +__EXPORT const struct pwm_servo_channel pwm_channels[PWM_SERVO_MAX_CHANNELS] = { + { + .gpio = GPIO_TIM2_CH1OUT, + .timer_index = 0, + .timer_channel = 1, + .default_value = 1000, + }, + { + .gpio = GPIO_TIM2_CH2OUT, + .timer_index = 0, + .timer_channel = 2, + .default_value = 1000, + }, + { + .gpio = GPIO_TIM2_CH3OUT, + .timer_index = 0, + .timer_channel = 3, + .default_value = 1000, + }, + { + .gpio = GPIO_TIM2_CH4OUT, + .timer_index = 0, + .timer_channel = 4, + .default_value = 1000, + } +}; diff --git a/src/drivers/boards/px4fmu/px4fmu_spi.c b/src/drivers/boards/px4fmu/px4fmu_spi.c new file mode 100644 index 000000000..b5d00eac0 --- /dev/null +++ b/src/drivers/boards/px4fmu/px4fmu_spi.c @@ -0,0 +1,154 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file px4fmu_spi.c + * + * Board-specific SPI functions. + */ + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +#include + +#include +#include +#include + +#include +#include + +#include "up_arch.h" +#include "chip.h" +#include "stm32_internal.h" +#include "px4fmu_internal.h" + +/************************************************************************************ + * Public Functions + ************************************************************************************/ + +/************************************************************************************ + * Name: stm32_spiinitialize + * + * Description: + * Called to configure SPI chip select GPIO pins for the PX4FMU board. + * + ************************************************************************************/ + +__EXPORT void weak_function stm32_spiinitialize(void) +{ + stm32_configgpio(GPIO_SPI_CS_GYRO); + stm32_configgpio(GPIO_SPI_CS_ACCEL); + stm32_configgpio(GPIO_SPI_CS_MPU); + stm32_configgpio(GPIO_SPI_CS_SDCARD); + + /* De-activate all peripherals, + * required for some peripheral + * state machines + */ + stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1); + stm32_gpiowrite(GPIO_SPI_CS_ACCEL, 1); + stm32_gpiowrite(GPIO_SPI_CS_MPU, 1); + stm32_gpiowrite(GPIO_SPI_CS_SDCARD, 1); +} + +__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected) +{ + /* SPI select is active low, so write !selected to select the device */ + + switch (devid) { + case PX4_SPIDEV_GYRO: + /* Making sure the other peripherals are not selected */ + stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected); + stm32_gpiowrite(GPIO_SPI_CS_MPU, 1); + stm32_gpiowrite(GPIO_SPI_CS_ACCEL, 1); + break; + + case PX4_SPIDEV_ACCEL: + /* Making sure the other peripherals are not selected */ + stm32_gpiowrite(GPIO_SPI_CS_ACCEL, !selected); + stm32_gpiowrite(GPIO_SPI_CS_MPU, 1); + stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1); + break; + + case PX4_SPIDEV_MPU: + /* Making sure the other peripherals are not selected */ + stm32_gpiowrite(GPIO_SPI_CS_ACCEL, 1); + stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1); + stm32_gpiowrite(GPIO_SPI_CS_MPU, !selected); + break; + + default: + break; + + } +} + +__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, enum spi_dev_e devid) +{ + return SPI_STATUS_PRESENT; +} + +__EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected) +{ + /* SPI select is active low, so write !selected to select the device */ + + switch (devid) { + break; + + default: + break; + + } +} + +__EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, enum spi_dev_e devid) +{ + return SPI_STATUS_PRESENT; +} + + +__EXPORT void stm32_spi3select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected) +{ + /* there can only be one device on this bus, so always select it */ + stm32_gpiowrite(GPIO_SPI_CS_SDCARD, !selected); +} + +__EXPORT uint8_t stm32_spi3status(FAR struct spi_dev_s *dev, enum spi_dev_e devid) +{ + /* this is actually bogus, but PX4 has no way to sense the presence of an SD card */ + return SPI_STATUS_PRESENT; +} + diff --git a/src/drivers/boards/px4fmu/px4fmu_usb.c b/src/drivers/boards/px4fmu/px4fmu_usb.c new file mode 100644 index 000000000..b0b669fbe --- /dev/null +++ b/src/drivers/boards/px4fmu/px4fmu_usb.c @@ -0,0 +1,108 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file px4fmu_usb.c + * + * Board-specific USB functions. + */ + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +#include + +#include +#include +#include +#include + +#include +#include + +#include "up_arch.h" +#include "stm32_internal.h" +#include "px4fmu_internal.h" + +/************************************************************************************ + * Definitions + ************************************************************************************/ + +/************************************************************************************ + * Private Functions + ************************************************************************************/ + +/************************************************************************************ + * Public Functions + ************************************************************************************/ + +/************************************************************************************ + * Name: stm32_usbinitialize + * + * Description: + * Called to setup USB-related GPIO pins for the PX4FMU board. + * + ************************************************************************************/ + +__EXPORT void stm32_usbinitialize(void) +{ + /* The OTG FS has an internal soft pull-up */ + + /* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */ + +#ifdef CONFIG_STM32_OTGFS + stm32_configgpio(GPIO_OTGFS_VBUS); + /* XXX We only support device mode + stm32_configgpio(GPIO_OTGFS_PWRON); + stm32_configgpio(GPIO_OTGFS_OVER); + */ +#endif +} + +/************************************************************************************ + * Name: stm32_usbsuspend + * + * Description: + * Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is + * used. This function is called whenever the USB enters or leaves suspend mode. + * This is an opportunity for the board logic to shutdown clocks, power, etc. + * while the USB is suspended. + * + ************************************************************************************/ + +__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume) +{ + ulldbg("resume: %d\n", resume); +} + diff --git a/src/drivers/l3gd20/l3gd20.cpp b/src/drivers/l3gd20/l3gd20.cpp new file mode 100644 index 000000000..c7f433dd4 --- /dev/null +++ b/src/drivers/l3gd20/l3gd20.cpp @@ -0,0 +1,887 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file Driver for the ST L3GD20 MEMS gyro connected via SPI. + */ + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +#include +#include + +#include +#include + +#include +#include + + +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +static const int ERROR = -1; + +/* SPI protocol address bits */ +#define DIR_READ (1<<7) +#define DIR_WRITE (0<<7) +#define ADDR_INCREMENT (1<<6) + +/* register addresses */ +#define ADDR_WHO_AM_I 0x0F +#define WHO_I_AM 0xD4 + +#define ADDR_CTRL_REG1 0x20 +#define REG1_RATE_LP_MASK 0xF0 /* Mask to guard partial register update */ +/* keep lowpass low to avoid noise issues */ +#define RATE_95HZ_LP_25HZ ((0<<7) | (0<<6) | (0<<5) | (1<<4)) +#define RATE_190HZ_LP_25HZ ((0<<7) | (1<<6) | (1<<5) | (1<<4)) +#define RATE_380HZ_LP_30HZ ((1<<7) | (0<<6) | (1<<5) | (1<<4)) +#define RATE_760HZ_LP_30HZ ((1<<7) | (1<<6) | (1<<5) | (1<<4)) + +#define ADDR_CTRL_REG2 0x21 +#define ADDR_CTRL_REG3 0x22 +#define ADDR_CTRL_REG4 0x23 +#define REG4_RANGE_MASK 0x30 /* Mask to guard partial register update */ +#define RANGE_250DPS (0<<4) +#define RANGE_500DPS (1<<4) +#define RANGE_2000DPS (3<<4) + +#define ADDR_CTRL_REG5 0x24 +#define ADDR_REFERENCE 0x25 +#define ADDR_OUT_TEMP 0x26 +#define ADDR_STATUS_REG 0x27 +#define ADDR_OUT_X_L 0x28 +#define ADDR_OUT_X_H 0x29 +#define ADDR_OUT_Y_L 0x2A +#define ADDR_OUT_Y_H 0x2B +#define ADDR_OUT_Z_L 0x2C +#define ADDR_OUT_Z_H 0x2D +#define ADDR_FIFO_CTRL_REG 0x2E +#define ADDR_FIFO_SRC_REG 0x2F +#define ADDR_INT1_CFG 0x30 +#define ADDR_INT1_SRC 0x31 +#define ADDR_INT1_TSH_XH 0x32 +#define ADDR_INT1_TSH_XL 0x33 +#define ADDR_INT1_TSH_YH 0x34 +#define ADDR_INT1_TSH_YL 0x35 +#define ADDR_INT1_TSH_ZH 0x36 +#define ADDR_INT1_TSH_ZL 0x37 +#define ADDR_INT1_DURATION 0x38 + + +/* Internal configuration values */ +#define REG1_POWER_NORMAL (1<<3) +#define REG1_Z_ENABLE (1<<2) +#define REG1_Y_ENABLE (1<<1) +#define REG1_X_ENABLE (1<<0) + +#define REG4_BDU (1<<7) +#define REG4_BLE (1<<6) +//#define REG4_SPI_3WIRE (1<<0) + +#define REG5_FIFO_ENABLE (1<<6) +#define REG5_REBOOT_MEMORY (1<<7) + +#define STATUS_ZYXOR (1<<7) +#define STATUS_ZOR (1<<6) +#define STATUS_YOR (1<<5) +#define STATUS_XOR (1<<4) +#define STATUS_ZYXDA (1<<3) +#define STATUS_ZDA (1<<2) +#define STATUS_YDA (1<<1) +#define STATUS_XDA (1<<0) + +#define FIFO_CTRL_BYPASS_MODE (0<<5) +#define FIFO_CTRL_FIFO_MODE (1<<5) +#define FIFO_CTRL_STREAM_MODE (1<<6) +#define FIFO_CTRL_STREAM_TO_FIFO_MODE (3<<5) +#define FIFO_CTRL_BYPASS_TO_STREAM_MODE (1<<7) + +extern "C" { __EXPORT int l3gd20_main(int argc, char *argv[]); } + +class L3GD20 : public device::SPI +{ +public: + L3GD20(int bus, const char* path, spi_dev_e device); + virtual ~L3GD20(); + + virtual int init(); + + virtual ssize_t read(struct file *filp, char *buffer, size_t buflen); + virtual int ioctl(struct file *filp, int cmd, unsigned long arg); + + /** + * Diagnostics - print some basic information about the driver. + */ + void print_info(); + +protected: + virtual int probe(); + +private: + + struct hrt_call _call; + unsigned _call_interval; + + unsigned _num_reports; + volatile unsigned _next_report; + volatile unsigned _oldest_report; + struct gyro_report *_reports; + + struct gyro_scale _gyro_scale; + float _gyro_range_scale; + float _gyro_range_rad_s; + orb_advert_t _gyro_topic; + + unsigned _current_rate; + unsigned _current_range; + + perf_counter_t _sample_perf; + + /** + * Start automatic measurement. + */ + void start(); + + /** + * Stop automatic measurement. + */ + void stop(); + + /** + * Static trampoline from the hrt_call context; because we don't have a + * generic hrt wrapper yet. + * + * Called by the HRT in interrupt context at the specified rate if + * automatic polling is enabled. + * + * @param arg Instance pointer for the driver that is polling. + */ + static void measure_trampoline(void *arg); + + /** + * Fetch measurements from the sensor and update the report ring. + */ + void measure(); + + /** + * Read a register from the L3GD20 + * + * @param The register to read. + * @return The value that was read. + */ + uint8_t read_reg(unsigned reg); + + /** + * Write a register in the L3GD20 + * + * @param reg The register to write. + * @param value The new value to write. + */ + void write_reg(unsigned reg, uint8_t value); + + /** + * Modify a register in the L3GD20 + * + * Bits are cleared before bits are set. + * + * @param reg The register to modify. + * @param clearbits Bits in the register to clear. + * @param setbits Bits in the register to set. + */ + void modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits); + + /** + * Set the L3GD20 measurement range. + * + * @param max_dps The measurement range is set to permit reading at least + * this rate in degrees per second. + * Zero selects the maximum supported range. + * @return OK if the value can be supported, -ERANGE otherwise. + */ + int set_range(unsigned max_dps); + + /** + * Set the L3GD20 internal sampling frequency. + * + * @param frequency The internal sampling frequency is set to not less than + * this value. + * Zero selects the maximum rate supported. + * @return OK if the value can be supported. + */ + int set_samplerate(unsigned frequency); +}; + +/* helper macro for handling report buffer indices */ +#define INCREMENT(_x, _lim) do { _x++; if (_x >= _lim) _x = 0; } while(0) + + +L3GD20::L3GD20(int bus, const char* path, spi_dev_e device) : + SPI("L3GD20", path, bus, device, SPIDEV_MODE3, 8000000), + _call_interval(0), + _num_reports(0), + _next_report(0), + _oldest_report(0), + _reports(nullptr), + _gyro_range_scale(0.0f), + _gyro_range_rad_s(0.0f), + _gyro_topic(-1), + _current_rate(0), + _current_range(0), + _sample_perf(perf_alloc(PC_ELAPSED, "l3gd20_read")) +{ + // enable debug() calls + _debug_enabled = true; + + // default scale factors + _gyro_scale.x_offset = 0; + _gyro_scale.x_scale = 1.0f; + _gyro_scale.y_offset = 0; + _gyro_scale.y_scale = 1.0f; + _gyro_scale.z_offset = 0; + _gyro_scale.z_scale = 1.0f; +} + +L3GD20::~L3GD20() +{ + /* make sure we are truly inactive */ + stop(); + + /* free any existing reports */ + if (_reports != nullptr) + delete[] _reports; + + /* delete the perf counter */ + perf_free(_sample_perf); +} + +int +L3GD20::init() +{ + int ret = ERROR; + + /* do SPI init (and probe) first */ + if (SPI::init() != OK) + goto out; + + /* allocate basic report buffers */ + _num_reports = 2; + _oldest_report = _next_report = 0; + _reports = new struct gyro_report[_num_reports]; + + if (_reports == nullptr) + goto out; + + /* advertise sensor topic */ + memset(&_reports[0], 0, sizeof(_reports[0])); + _gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &_reports[0]); + + /* set default configuration */ + write_reg(ADDR_CTRL_REG1, REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE); + write_reg(ADDR_CTRL_REG2, 0); /* disable high-pass filters */ + write_reg(ADDR_CTRL_REG3, 0); /* no interrupts - we don't use them */ + write_reg(ADDR_CTRL_REG4, REG4_BDU); + write_reg(ADDR_CTRL_REG5, 0); + + write_reg(ADDR_CTRL_REG5, REG5_FIFO_ENABLE); /* disable wake-on-interrupt */ + write_reg(ADDR_FIFO_CTRL_REG, FIFO_CTRL_STREAM_MODE); /* Enable FIFO, old data is overwritten */ + + set_range(500); /* default to 500dps */ + set_samplerate(0); /* max sample rate */ + + ret = OK; +out: + return ret; +} + +int +L3GD20::probe() +{ + /* read dummy value to void to clear SPI statemachine on sensor */ + (void)read_reg(ADDR_WHO_AM_I); + + /* verify that the device is attached and functioning */ + if (read_reg(ADDR_WHO_AM_I) == WHO_I_AM) + return OK; + + return -EIO; +} + +ssize_t +L3GD20::read(struct file *filp, char *buffer, size_t buflen) +{ + unsigned count = buflen / sizeof(struct gyro_report); + int ret = 0; + + /* buffer must be large enough */ + if (count < 1) + return -ENOSPC; + + /* if automatic measurement is enabled */ + if (_call_interval > 0) { + + /* + * While there is space in the caller's buffer, and reports, copy them. + * Note that we may be pre-empted by the measurement code while we are doing this; + * we are careful to avoid racing with it. + */ + while (count--) { + if (_oldest_report != _next_report) { + memcpy(buffer, _reports + _oldest_report, sizeof(*_reports)); + ret += sizeof(_reports[0]); + INCREMENT(_oldest_report, _num_reports); + } + } + + /* if there was no data, warn the caller */ + return ret ? ret : -EAGAIN; + } + + /* manual measurement */ + _oldest_report = _next_report = 0; + measure(); + + /* measurement will have generated a report, copy it out */ + memcpy(buffer, _reports, sizeof(*_reports)); + ret = sizeof(*_reports); + + return ret; +} + +int +L3GD20::ioctl(struct file *filp, int cmd, unsigned long arg) +{ + switch (cmd) { + + case SENSORIOCSPOLLRATE: { + switch (arg) { + + /* switching to manual polling */ + case SENSOR_POLLRATE_MANUAL: + stop(); + _call_interval = 0; + return OK; + + /* external signalling not supported */ + case SENSOR_POLLRATE_EXTERNAL: + + /* zero would be bad */ + case 0: + return -EINVAL; + + /* set default/max polling rate */ + case SENSOR_POLLRATE_MAX: + case SENSOR_POLLRATE_DEFAULT: + /* With internal low pass filters enabled, 250 Hz is sufficient */ + return ioctl(filp, SENSORIOCSPOLLRATE, 250); + + /* adjust to a legal polling interval in Hz */ + default: { + /* do we need to start internal polling? */ + bool want_start = (_call_interval == 0); + + /* convert hz to hrt interval via microseconds */ + unsigned ticks = 1000000 / arg; + + /* check against maximum sane rate */ + if (ticks < 1000) + return -EINVAL; + + /* update interval for next measurement */ + /* XXX this is a bit shady, but no other way to adjust... */ + _call.period = _call_interval = ticks; + + /* if we need to start the poll state machine, do it */ + if (want_start) + start(); + + return OK; + } + } + } + + case SENSORIOCGPOLLRATE: + if (_call_interval == 0) + return SENSOR_POLLRATE_MANUAL; + + return 1000000 / _call_interval; + + case SENSORIOCSQUEUEDEPTH: { + /* account for sentinel in the ring */ + arg++; + + /* lower bound is mandatory, upper bound is a sanity check */ + if ((arg < 2) || (arg > 100)) + return -EINVAL; + + /* allocate new buffer */ + struct gyro_report *buf = new struct gyro_report[arg]; + + if (nullptr == buf) + return -ENOMEM; + + /* reset the measurement state machine with the new buffer, free the old */ + stop(); + delete[] _reports; + _num_reports = arg; + _reports = buf; + start(); + + return OK; + } + + case SENSORIOCGQUEUEDEPTH: + return _num_reports - 1; + + case SENSORIOCRESET: + /* XXX implement */ + return -EINVAL; + + case GYROIOCSSAMPLERATE: + return set_samplerate(arg); + + case GYROIOCGSAMPLERATE: + return _current_rate; + + case GYROIOCSLOWPASS: + case GYROIOCGLOWPASS: + /* XXX not implemented due to wacky interaction with samplerate */ + return -EINVAL; + + case GYROIOCSSCALE: + /* copy scale in */ + memcpy(&_gyro_scale, (struct gyro_scale *) arg, sizeof(_gyro_scale)); + return OK; + + case GYROIOCGSCALE: + /* copy scale out */ + memcpy((struct gyro_scale *) arg, &_gyro_scale, sizeof(_gyro_scale)); + return OK; + + case GYROIOCSRANGE: + return set_range(arg); + + case GYROIOCGRANGE: + return _current_range; + + default: + /* give it to the superclass */ + return SPI::ioctl(filp, cmd, arg); + } +} + +uint8_t +L3GD20::read_reg(unsigned reg) +{ + uint8_t cmd[2]; + + cmd[0] = reg | DIR_READ; + + transfer(cmd, cmd, sizeof(cmd)); + + return cmd[1]; +} + +void +L3GD20::write_reg(unsigned reg, uint8_t value) +{ + uint8_t cmd[2]; + + cmd[0] = reg | DIR_WRITE; + cmd[1] = value; + + transfer(cmd, nullptr, sizeof(cmd)); +} + +void +L3GD20::modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits) +{ + uint8_t val; + + val = read_reg(reg); + val &= ~clearbits; + val |= setbits; + write_reg(reg, val); +} + +int +L3GD20::set_range(unsigned max_dps) +{ + uint8_t bits = REG4_BDU; + + if (max_dps == 0) + max_dps = 2000; + + if (max_dps <= 250) { + _current_range = 250; + bits |= RANGE_250DPS; + + } else if (max_dps <= 500) { + _current_range = 500; + bits |= RANGE_500DPS; + + } else if (max_dps <= 2000) { + _current_range = 2000; + bits |= RANGE_2000DPS; + + } else { + return -EINVAL; + } + + _gyro_range_rad_s = _current_range / 180.0f * M_PI_F; + _gyro_range_scale = _gyro_range_rad_s / 32768.0f; + write_reg(ADDR_CTRL_REG4, bits); + + return OK; +} + +int +L3GD20::set_samplerate(unsigned frequency) +{ + uint8_t bits = REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE; + + if (frequency == 0) + frequency = 760; + + if (frequency <= 95) { + _current_rate = 95; + bits |= RATE_95HZ_LP_25HZ; + + } else if (frequency <= 190) { + _current_rate = 190; + bits |= RATE_190HZ_LP_25HZ; + + } else if (frequency <= 380) { + _current_rate = 380; + bits |= RATE_380HZ_LP_30HZ; + + } else if (frequency <= 760) { + _current_rate = 760; + bits |= RATE_760HZ_LP_30HZ; + + } else { + return -EINVAL; + } + + write_reg(ADDR_CTRL_REG1, bits); + + return OK; +} + +void +L3GD20::start() +{ + /* make sure we are stopped first */ + stop(); + + /* reset the report ring */ + _oldest_report = _next_report = 0; + + /* start polling at the specified rate */ + hrt_call_every(&_call, 1000, _call_interval, (hrt_callout)&L3GD20::measure_trampoline, this); +} + +void +L3GD20::stop() +{ + hrt_cancel(&_call); +} + +void +L3GD20::measure_trampoline(void *arg) +{ + L3GD20 *dev = (L3GD20 *)arg; + + /* make another measurement */ + dev->measure(); +} + +void +L3GD20::measure() +{ + /* status register and data as read back from the device */ +#pragma pack(push, 1) + struct { + uint8_t cmd; + uint8_t temp; + uint8_t status; + int16_t x; + int16_t y; + int16_t z; + } raw_report; +#pragma pack(pop) + + gyro_report *report = &_reports[_next_report]; + + /* start the performance counter */ + perf_begin(_sample_perf); + + /* fetch data from the sensor */ + raw_report.cmd = ADDR_OUT_TEMP | DIR_READ | ADDR_INCREMENT; + transfer((uint8_t *)&raw_report, (uint8_t *)&raw_report, sizeof(raw_report)); + + /* + * 1) Scale raw value to SI units using scaling from datasheet. + * 2) Subtract static offset (in SI units) + * 3) Scale the statically calibrated values with a linear + * dynamically obtained factor + * + * Note: the static sensor offset is the number the sensor outputs + * at a nominally 'zero' input. Therefore the offset has to + * be subtracted. + * + * Example: A gyro outputs a value of 74 at zero angular rate + * the offset is 74 from the origin and subtracting + * 74 from all measurements centers them around zero. + */ + report->timestamp = hrt_absolute_time(); + + /* swap x and y and negate y */ + report->x_raw = raw_report.y; + report->y_raw = ((raw_report.x == -32768) ? 32767 : -raw_report.x); + report->z_raw = raw_report.z; + + report->x = ((report->x_raw * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale; + report->y = ((report->y_raw * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale; + report->z = ((report->z_raw * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale; + report->scaling = _gyro_range_scale; + report->range_rad_s = _gyro_range_rad_s; + + /* post a report to the ring - note, not locked */ + INCREMENT(_next_report, _num_reports); + + /* if we are running up against the oldest report, fix it */ + if (_next_report == _oldest_report) + INCREMENT(_oldest_report, _num_reports); + + /* notify anyone waiting for data */ + poll_notify(POLLIN); + + /* publish for subscribers */ + orb_publish(ORB_ID(sensor_gyro), _gyro_topic, report); + + /* stop the perf counter */ + perf_end(_sample_perf); +} + +void +L3GD20::print_info() +{ + perf_print_counter(_sample_perf); + printf("report queue: %u (%u/%u @ %p)\n", + _num_reports, _oldest_report, _next_report, _reports); +} + +/** + * Local functions in support of the shell command. + */ +namespace l3gd20 +{ + +L3GD20 *g_dev; + +void start(); +void test(); +void reset(); +void info(); + +/** + * Start the driver. + */ +void +start() +{ + int fd; + + if (g_dev != nullptr) + errx(1, "already started"); + + /* create the driver */ + g_dev = new L3GD20(1 /* XXX magic number */, GYRO_DEVICE_PATH, (spi_dev_e)PX4_SPIDEV_GYRO); + + if (g_dev == nullptr) + goto fail; + + if (OK != g_dev->init()) + goto fail; + + /* set the poll rate to default, starts automatic data collection */ + fd = open(GYRO_DEVICE_PATH, O_RDONLY); + + if (fd < 0) + goto fail; + + if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) + goto fail; + + exit(0); +fail: + + if (g_dev != nullptr) { + delete g_dev; + g_dev = nullptr; + } + + errx(1, "driver start failed"); +} + +/** + * Perform some basic functional tests on the driver; + * make sure we can collect data from the sensor in polled + * and automatic modes. + */ +void +test() +{ + int fd_gyro = -1; + struct gyro_report g_report; + ssize_t sz; + + /* get the driver */ + fd_gyro = open(GYRO_DEVICE_PATH, O_RDONLY); + + if (fd_gyro < 0) + err(1, "%s open failed", GYRO_DEVICE_PATH); + + /* reset to manual polling */ + if (ioctl(fd_gyro, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MANUAL) < 0) + err(1, "reset to manual polling"); + + /* do a simple demand read */ + sz = read(fd_gyro, &g_report, sizeof(g_report)); + + if (sz != sizeof(g_report)) + err(1, "immediate gyro read failed"); + + warnx("gyro x: \t% 9.5f\trad/s", (double)g_report.x); + warnx("gyro y: \t% 9.5f\trad/s", (double)g_report.y); + warnx("gyro z: \t% 9.5f\trad/s", (double)g_report.z); + warnx("gyro x: \t%d\traw", (int)g_report.x_raw); + warnx("gyro y: \t%d\traw", (int)g_report.y_raw); + warnx("gyro z: \t%d\traw", (int)g_report.z_raw); + warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s, + (int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f)); + + /* XXX add poll-rate tests here too */ + + reset(); + errx(0, "PASS"); +} + +/** + * Reset the driver. + */ +void +reset() +{ + int fd = open(GYRO_DEVICE_PATH, O_RDONLY); + + if (fd < 0) + err(1, "failed "); + + if (ioctl(fd, SENSORIOCRESET, 0) < 0) + err(1, "driver reset failed"); + + if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) + err(1, "driver poll restart failed"); + + exit(0); +} + +/** + * Print a little info about the driver. + */ +void +info() +{ + if (g_dev == nullptr) + errx(1, "driver not running\n"); + + printf("state @ %p\n", g_dev); + g_dev->print_info(); + + exit(0); +} + + +} // namespace + +int +l3gd20_main(int argc, char *argv[]) +{ + /* + * Start/load the driver. + + */ + if (!strcmp(argv[1], "start")) + l3gd20::start(); + + /* + * Test the driver/device. + */ + if (!strcmp(argv[1], "test")) + l3gd20::test(); + + /* + * Reset the driver. + */ + if (!strcmp(argv[1], "reset")) + l3gd20::reset(); + + /* + * Print driver information. + */ + if (!strcmp(argv[1], "info")) + l3gd20::info(); + + errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'"); +} diff --git a/src/drivers/l3gd20/module.mk b/src/drivers/l3gd20/module.mk new file mode 100644 index 000000000..23e77e871 --- /dev/null +++ b/src/drivers/l3gd20/module.mk @@ -0,0 +1,6 @@ +# +# LSM303D accel/mag driver +# + +MODULE_COMMAND = l3gd20 +SRCS = l3gd20.cpp diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp new file mode 100644 index 000000000..e54724536 --- /dev/null +++ b/src/drivers/px4fmu/fmu.cpp @@ -0,0 +1,1084 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file fmu.cpp + * + * Driver/configurator for the PX4 FMU multi-purpose port. + */ + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include + +#include +#include +#include + +#include +#include + +class PX4FMU : public device::CDev +{ +public: + enum Mode { + MODE_2PWM, + MODE_4PWM, + MODE_NONE + }; + PX4FMU(); + virtual ~PX4FMU(); + + virtual int ioctl(file *filp, int cmd, unsigned long arg); + virtual ssize_t write(file *filp, const char *buffer, size_t len); + + virtual int init(); + + int set_mode(Mode mode); + + int set_pwm_alt_rate(unsigned rate); + int set_pwm_alt_channels(uint32_t channels); + +private: + static const unsigned _max_actuators = 4; + + Mode _mode; + unsigned _pwm_default_rate; + unsigned _pwm_alt_rate; + uint32_t _pwm_alt_rate_channels; + unsigned _current_update_rate; + int _task; + int _t_actuators; + int _t_armed; + orb_advert_t _t_outputs; + orb_advert_t _t_actuators_effective; + unsigned _num_outputs; + bool _primary_pwm_device; + + volatile bool _task_should_exit; + bool _armed; + + MixerGroup *_mixers; + + actuator_controls_s _controls; + + static void task_main_trampoline(int argc, char *argv[]); + void task_main() __attribute__((noreturn)); + + static int control_callback(uintptr_t handle, + uint8_t control_group, + uint8_t control_index, + float &input); + + int set_pwm_rate(unsigned rate_map, unsigned default_rate, unsigned alt_rate); + int pwm_ioctl(file *filp, int cmd, unsigned long arg); + + struct GPIOConfig { + uint32_t input; + uint32_t output; + uint32_t alt; + }; + + static const GPIOConfig _gpio_tab[]; + static const unsigned _ngpio; + + void gpio_reset(void); + void gpio_set_function(uint32_t gpios, int function); + void gpio_write(uint32_t gpios, int function); + uint32_t gpio_read(void); + int gpio_ioctl(file *filp, int cmd, unsigned long arg); + +}; + +const PX4FMU::GPIOConfig PX4FMU::_gpio_tab[] = { + {GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0}, + {GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0}, + {GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, GPIO_USART2_CTS_1}, + {GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, GPIO_USART2_RTS_1}, + {GPIO_GPIO4_INPUT, GPIO_GPIO4_OUTPUT, GPIO_USART2_TX_1}, + {GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, GPIO_USART2_RX_1}, + {GPIO_GPIO6_INPUT, GPIO_GPIO6_OUTPUT, GPIO_CAN2_TX_2}, + {GPIO_GPIO7_INPUT, GPIO_GPIO7_OUTPUT, GPIO_CAN2_RX_2}, +}; + +const unsigned PX4FMU::_ngpio = sizeof(PX4FMU::_gpio_tab) / sizeof(PX4FMU::_gpio_tab[0]); + +namespace +{ + +PX4FMU *g_fmu; + +} // namespace + +PX4FMU::PX4FMU() : + CDev("fmuservo", "/dev/px4fmu"), + _mode(MODE_NONE), + _pwm_default_rate(50), + _pwm_alt_rate(50), + _pwm_alt_rate_channels(0), + _current_update_rate(0), + _task(-1), + _t_actuators(-1), + _t_armed(-1), + _t_outputs(0), + _t_actuators_effective(0), + _num_outputs(0), + _primary_pwm_device(false), + _task_should_exit(false), + _armed(false), + _mixers(nullptr) +{ + _debug_enabled = true; +} + +PX4FMU::~PX4FMU() +{ + if (_task != -1) { + /* tell the task we want it to go away */ + _task_should_exit = true; + + unsigned i = 10; + + do { + /* wait 50ms - it should wake every 100ms or so worst-case */ + usleep(50000); + + /* if we have given up, kill it */ + if (--i == 0) { + task_delete(_task); + break; + } + + } while (_task != -1); + } + + /* clean up the alternate device node */ + if (_primary_pwm_device) + unregister_driver(PWM_OUTPUT_DEVICE_PATH); + + g_fmu = nullptr; +} + +int +PX4FMU::init() +{ + int ret; + + ASSERT(_task == -1); + + /* do regular cdev init */ + ret = CDev::init(); + + if (ret != OK) + return ret; + + /* try to claim the generic PWM output device node as well - it's OK if we fail at this */ + ret = register_driver(PWM_OUTPUT_DEVICE_PATH, &fops, 0666, (void *)this); + + if (ret == OK) { + log("default PWM output device"); + _primary_pwm_device = true; + } + + /* reset GPIOs */ + gpio_reset(); + + /* start the IO interface task */ + _task = task_spawn("fmuservo", + SCHED_DEFAULT, + SCHED_PRIORITY_DEFAULT, + 2048, + (main_t)&PX4FMU::task_main_trampoline, + nullptr); + + if (_task < 0) { + debug("task start failed: %d", errno); + return -errno; + } + + return OK; +} + +void +PX4FMU::task_main_trampoline(int argc, char *argv[]) +{ + g_fmu->task_main(); +} + +int +PX4FMU::set_mode(Mode mode) +{ + /* + * Configure for PWM output. + * + * Note that regardless of the configured mode, the task is always + * listening and mixing; the mode just selects which of the channels + * are presented on the output pins. + */ + switch (mode) { + case MODE_2PWM: // multi-port with flow control lines as PWM + case MODE_4PWM: // multi-port as 4 PWM outs + debug("MODE_%dPWM", (mode == MODE_2PWM) ? 2 : 4); + + /* default output rates */ + _pwm_default_rate = 50; + _pwm_alt_rate = 50; + _pwm_alt_rate_channels = 0; + + /* XXX magic numbers */ + up_pwm_servo_init((mode == MODE_2PWM) ? 0x3 : 0xf); + set_pwm_rate(_pwm_alt_rate_channels, _pwm_default_rate, _pwm_alt_rate); + + break; + + case MODE_NONE: + debug("MODE_NONE"); + + _pwm_default_rate = 10; /* artificially reduced output rate */ + _pwm_alt_rate = 10; + _pwm_alt_rate_channels = 0; + + /* disable servo outputs - no need to set rates */ + up_pwm_servo_deinit(); + + break; + + default: + return -EINVAL; + } + + _mode = mode; + return OK; +} + +int +PX4FMU::set_pwm_rate(uint32_t rate_map, unsigned default_rate, unsigned alt_rate) +{ + debug("set_pwm_rate %x %u %u", rate_map, default_rate, alt_rate); + + for (unsigned pass = 0; pass < 2; pass++) { + for (unsigned group = 0; group < _max_actuators; group++) { + + // get the channel mask for this rate group + uint32_t mask = up_pwm_servo_get_rate_group(group); + if (mask == 0) + continue; + + // all channels in the group must be either default or alt-rate + uint32_t alt = rate_map & mask; + + if (pass == 0) { + // preflight + if ((alt != 0) && (alt != mask)) { + warn("rate group %u mask %x bad overlap %x", group, mask, alt); + // not a legal map, bail + return -EINVAL; + } + } else { + // set it - errors here are unexpected + if (alt != 0) { + if (up_pwm_servo_set_rate_group_update(group, _pwm_alt_rate) != OK) { + warn("rate group set alt failed"); + return -EINVAL; + } + } else { + if (up_pwm_servo_set_rate_group_update(group, _pwm_default_rate) != OK) { + warn("rate group set default failed"); + return -EINVAL; + } + } + } + } + } + _pwm_alt_rate_channels = rate_map; + _pwm_default_rate = default_rate; + _pwm_alt_rate = alt_rate; + + return OK; +} + +int +PX4FMU::set_pwm_alt_rate(unsigned rate) +{ + return set_pwm_rate(_pwm_alt_rate_channels, _pwm_default_rate, rate); +} + +int +PX4FMU::set_pwm_alt_channels(uint32_t channels) +{ + return set_pwm_rate(channels, _pwm_default_rate, _pwm_alt_rate); +} + +void +PX4FMU::task_main() +{ + /* + * Subscribe to the appropriate PWM output topic based on whether we are the + * primary PWM output or not. + */ + _t_actuators = orb_subscribe(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS : + ORB_ID(actuator_controls_1)); + /* force a reset of the update rate */ + _current_update_rate = 0; + + _t_armed = orb_subscribe(ORB_ID(actuator_armed)); + orb_set_interval(_t_armed, 200); /* 5Hz update rate */ + + /* advertise the mixed control outputs */ + actuator_outputs_s outputs; + memset(&outputs, 0, sizeof(outputs)); + /* advertise the mixed control outputs */ + _t_outputs = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1), + &outputs); + + /* advertise the effective control inputs */ + actuator_controls_effective_s controls_effective; + memset(&controls_effective, 0, sizeof(controls_effective)); + /* advertise the effective control inputs */ + _t_actuators_effective = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : ORB_ID(actuator_controls_effective_1), + &controls_effective); + + pollfd fds[2]; + fds[0].fd = _t_actuators; + fds[0].events = POLLIN; + fds[1].fd = _t_armed; + fds[1].events = POLLIN; + + unsigned num_outputs = (_mode == MODE_2PWM) ? 2 : 4; + + // rc input, published to ORB + struct rc_input_values rc_in; + orb_advert_t to_input_rc = 0; + + memset(&rc_in, 0, sizeof(rc_in)); + rc_in.input_source = RC_INPUT_SOURCE_PX4FMU_PPM; + + log("starting"); + + /* loop until killed */ + while (!_task_should_exit) { + + /* + * Adjust actuator topic update rate to keep up with + * the highest servo update rate configured. + * + * We always mix at max rate; some channels may update slower. + */ + unsigned max_rate = (_pwm_default_rate > _pwm_alt_rate) ? _pwm_default_rate : _pwm_alt_rate; + if (_current_update_rate != max_rate) { + _current_update_rate = max_rate; + int update_rate_in_ms = int(1000 / _current_update_rate); + + /* reject faster than 500 Hz updates */ + if (update_rate_in_ms < 2) { + update_rate_in_ms = 2; + } + /* reject slower than 10 Hz updates */ + if (update_rate_in_ms > 100) { + update_rate_in_ms = 100; + } + + debug("adjusted actuator update interval to %ums", update_rate_in_ms); + orb_set_interval(_t_actuators, update_rate_in_ms); + + // set to current max rate, even if we are actually checking slower/faster + _current_update_rate = max_rate; + } + + /* sleep waiting for data, stopping to check for PPM + * input at 100Hz */ + int ret = ::poll(&fds[0], 2, 10); + + /* this would be bad... */ + if (ret < 0) { + log("poll error %d", errno); + usleep(1000000); + continue; + } + + /* do we have a control update? */ + if (fds[0].revents & POLLIN) { + + /* get controls - must always do this to avoid spinning */ + orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, _t_actuators, &_controls); + + /* can we mix? */ + if (_mixers != nullptr) { + + /* do mixing */ + outputs.noutputs = _mixers->mix(&outputs.output[0], num_outputs); + outputs.timestamp = hrt_absolute_time(); + + // XXX output actual limited values + memcpy(&controls_effective, &_controls, sizeof(controls_effective)); + + orb_publish(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : ORB_ID(actuator_controls_effective_1), _t_actuators_effective, &controls_effective); + + /* iterate actuators */ + for (unsigned i = 0; i < num_outputs; i++) { + + /* last resort: catch NaN, INF and out-of-band errors */ + if (i < outputs.noutputs && + isfinite(outputs.output[i]) && + outputs.output[i] >= -1.0f && + outputs.output[i] <= 1.0f) { + /* scale for PWM output 900 - 2100us */ + outputs.output[i] = 1500 + (600 * outputs.output[i]); + } else { + /* + * Value is NaN, INF or out of band - set to the minimum value. + * This will be clearly visible on the servo status and will limit the risk of accidentally + * spinning motors. It would be deadly in flight. + */ + outputs.output[i] = 900; + } + + /* output to the servo */ + up_pwm_servo_set(i, outputs.output[i]); + } + + /* and publish for anyone that cares to see */ + orb_publish(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1), _t_outputs, &outputs); + } + } + + /* how about an arming update? */ + if (fds[1].revents & POLLIN) { + actuator_armed_s aa; + + /* get new value */ + orb_copy(ORB_ID(actuator_armed), _t_armed, &aa); + + /* update PWM servo armed status if armed and not locked down */ + up_pwm_servo_arm(aa.armed && !aa.lockdown); + } + + // see if we have new PPM input data + if (ppm_last_valid_decode != rc_in.timestamp) { + // we have a new PPM frame. Publish it. + rc_in.channel_count = ppm_decoded_channels; + if (rc_in.channel_count > RC_INPUT_MAX_CHANNELS) { + rc_in.channel_count = RC_INPUT_MAX_CHANNELS; + } + for (uint8_t i=0; icontrol[control_index]; + return 0; +} + +int +PX4FMU::ioctl(file *filp, int cmd, unsigned long arg) +{ + int ret; + + // XXX disabled, confusing users + //debug("ioctl 0x%04x 0x%08x", cmd, arg); + + /* try it as a GPIO ioctl first */ + ret = gpio_ioctl(filp, cmd, arg); + + if (ret != -ENOTTY) + return ret; + + /* if we are in valid PWM mode, try it as a PWM ioctl as well */ + switch (_mode) { + case MODE_2PWM: + case MODE_4PWM: + ret = pwm_ioctl(filp, cmd, arg); + break; + + default: + debug("not in a PWM mode"); + break; + } + + /* if nobody wants it, let CDev have it */ + if (ret == -ENOTTY) + ret = CDev::ioctl(filp, cmd, arg); + + return ret; +} + +int +PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg) +{ + int ret = OK; + + lock(); + + switch (cmd) { + case PWM_SERVO_ARM: + up_pwm_servo_arm(true); + break; + + case PWM_SERVO_DISARM: + up_pwm_servo_arm(false); + break; + + case PWM_SERVO_SET_UPDATE_RATE: + ret = set_pwm_rate(_pwm_alt_rate_channels, _pwm_default_rate, arg); + break; + + case PWM_SERVO_SELECT_UPDATE_RATE: + ret = set_pwm_rate(arg, _pwm_default_rate, _pwm_alt_rate); + break; + + case PWM_SERVO_SET(2): + case PWM_SERVO_SET(3): + if (_mode != MODE_4PWM) { + ret = -EINVAL; + break; + } + + /* FALLTHROUGH */ + case PWM_SERVO_SET(0): + case PWM_SERVO_SET(1): + if (arg < 2100) { + up_pwm_servo_set(cmd - PWM_SERVO_SET(0), arg); + } else { + ret = -EINVAL; + } + + break; + + case PWM_SERVO_GET(2): + case PWM_SERVO_GET(3): + if (_mode != MODE_4PWM) { + ret = -EINVAL; + break; + } + + /* FALLTHROUGH */ + case PWM_SERVO_GET(0): + case PWM_SERVO_GET(1): + *(servo_position_t *)arg = up_pwm_servo_get(cmd - PWM_SERVO_GET(0)); + break; + + case PWM_SERVO_GET_RATEGROUP(0): + case PWM_SERVO_GET_RATEGROUP(1): + case PWM_SERVO_GET_RATEGROUP(2): + case PWM_SERVO_GET_RATEGROUP(3): + *(uint32_t *)arg = up_pwm_servo_get_rate_group(cmd - PWM_SERVO_GET_RATEGROUP(0)); + break; + + case PWM_SERVO_GET_COUNT: + case MIXERIOCGETOUTPUTCOUNT: + if (_mode == MODE_4PWM) { + *(unsigned *)arg = 4; + + } else { + *(unsigned *)arg = 2; + } + + break; + + case MIXERIOCRESET: + if (_mixers != nullptr) { + delete _mixers; + _mixers = nullptr; + } + + break; + + case MIXERIOCADDSIMPLE: { + mixer_simple_s *mixinfo = (mixer_simple_s *)arg; + + SimpleMixer *mixer = new SimpleMixer(control_callback, + (uintptr_t)&_controls, mixinfo); + + if (mixer->check()) { + delete mixer; + ret = -EINVAL; + + } else { + if (_mixers == nullptr) + _mixers = new MixerGroup(control_callback, + (uintptr_t)&_controls); + + _mixers->add_mixer(mixer); + } + + break; + } + + case MIXERIOCLOADBUF: { + const char *buf = (const char *)arg; + unsigned buflen = strnlen(buf, 1024); + + if (_mixers == nullptr) + _mixers = new MixerGroup(control_callback, (uintptr_t)&_controls); + + if (_mixers == nullptr) { + ret = -ENOMEM; + + } else { + + ret = _mixers->load_from_buf(buf, buflen); + + if (ret != 0) { + debug("mixer load failed with %d", ret); + delete _mixers; + _mixers = nullptr; + ret = -EINVAL; + } + } + break; + } + + default: + ret = -ENOTTY; + break; + } + + unlock(); + + return ret; +} + +/* + this implements PWM output via a write() method, for compatibility + with px4io + */ +ssize_t +PX4FMU::write(file *filp, const char *buffer, size_t len) +{ + unsigned count = len / 2; + uint16_t values[4]; + + if (count > 4) { + // we only have 4 PWM outputs on the FMU + count = 4; + } + + // allow for misaligned values + memcpy(values, buffer, count*2); + + for (uint8_t i=0; iioctl(0, GPIO_RESET, 0); + + gpio_bits = 0; + servo_mode = PX4FMU::MODE_NONE; + + switch (new_mode) { + case PORT_FULL_GPIO: + case PORT_MODE_UNSET: + /* nothing more to do here */ + break; + + case PORT_FULL_SERIAL: + /* set all multi-GPIOs to serial mode */ + gpio_bits = GPIO_MULTI_1 | GPIO_MULTI_2 | GPIO_MULTI_3 | GPIO_MULTI_4; + break; + + case PORT_FULL_PWM: + /* select 4-pin PWM mode */ + servo_mode = PX4FMU::MODE_4PWM; + break; + + case PORT_GPIO_AND_SERIAL: + /* set RX/TX multi-GPIOs to serial mode */ + gpio_bits = GPIO_MULTI_3 | GPIO_MULTI_4; + break; + + case PORT_PWM_AND_SERIAL: + /* select 2-pin PWM mode */ + servo_mode = PX4FMU::MODE_2PWM; + /* set RX/TX multi-GPIOs to serial mode */ + gpio_bits = GPIO_MULTI_3 | GPIO_MULTI_4; + break; + + case PORT_PWM_AND_GPIO: + /* select 2-pin PWM mode */ + servo_mode = PX4FMU::MODE_2PWM; + break; + } + + /* adjust GPIO config for serial mode(s) */ + if (gpio_bits != 0) + g_fmu->ioctl(0, GPIO_SET_ALT_1, gpio_bits); + + /* (re)set the PWM output mode */ + g_fmu->set_mode(servo_mode); + + return OK; +} + +int +fmu_start(void) +{ + int ret = OK; + + if (g_fmu == nullptr) { + + g_fmu = new PX4FMU; + + if (g_fmu == nullptr) { + ret = -ENOMEM; + + } else { + ret = g_fmu->init(); + + if (ret != OK) { + delete g_fmu; + g_fmu = nullptr; + } + } + } + + return ret; +} + +void +test(void) +{ + int fd; + + fd = open(PWM_OUTPUT_DEVICE_PATH, 0); + + if (fd < 0) + errx(1, "open fail"); + + if (ioctl(fd, PWM_SERVO_ARM, 0) < 0) err(1, "servo arm failed"); + + if (ioctl(fd, PWM_SERVO_SET(0), 1000) < 0) err(1, "servo 1 set failed"); + + if (ioctl(fd, PWM_SERVO_SET(1), 1200) < 0) err(1, "servo 2 set failed"); + + if (ioctl(fd, PWM_SERVO_SET(2), 1400) < 0) err(1, "servo 3 set failed"); + + if (ioctl(fd, PWM_SERVO_SET(3), 1600) < 0) err(1, "servo 4 set failed"); + + close(fd); + + exit(0); +} + +void +fake(int argc, char *argv[]) +{ + if (argc < 5) + errx(1, "fmu fake (values -100 .. 100)"); + + actuator_controls_s ac; + + ac.control[0] = strtol(argv[1], 0, 0) / 100.0f; + + ac.control[1] = strtol(argv[2], 0, 0) / 100.0f; + + ac.control[2] = strtol(argv[3], 0, 0) / 100.0f; + + ac.control[3] = strtol(argv[4], 0, 0) / 100.0f; + + orb_advert_t handle = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &ac); + + if (handle < 0) + errx(1, "advertise failed"); + + actuator_armed_s aa; + + aa.armed = true; + aa.lockdown = false; + + handle = orb_advertise(ORB_ID(actuator_armed), &aa); + + if (handle < 0) + errx(1, "advertise failed 2"); + + exit(0); +} + +} // namespace + +extern "C" __EXPORT int fmu_main(int argc, char *argv[]); + +int +fmu_main(int argc, char *argv[]) +{ + PortMode new_mode = PORT_MODE_UNSET; + const char *verb = argv[1]; + + if (fmu_start() != OK) + errx(1, "failed to start the FMU driver"); + + /* + * Mode switches. + */ + if (!strcmp(verb, "mode_gpio")) { + new_mode = PORT_FULL_GPIO; + + } else if (!strcmp(verb, "mode_serial")) { + new_mode = PORT_FULL_SERIAL; + + } else if (!strcmp(verb, "mode_pwm")) { + new_mode = PORT_FULL_PWM; + + } else if (!strcmp(verb, "mode_gpio_serial")) { + new_mode = PORT_GPIO_AND_SERIAL; + + } else if (!strcmp(verb, "mode_pwm_serial")) { + new_mode = PORT_PWM_AND_SERIAL; + + } else if (!strcmp(verb, "mode_pwm_gpio")) { + new_mode = PORT_PWM_AND_GPIO; + } + + /* was a new mode set? */ + if (new_mode != PORT_MODE_UNSET) { + + /* yes but it's the same mode */ + if (new_mode == g_port_mode) + return OK; + + /* switch modes */ + int ret = fmu_new_mode(new_mode); + exit(ret == OK ? 0 : 1); + } + + if (!strcmp(verb, "test")) + test(); + + if (!strcmp(verb, "fake")) + fake(argc - 1, argv + 1); + + fprintf(stderr, "FMU: unrecognised command, try:\n"); + fprintf(stderr, " mode_gpio, mode_serial, mode_pwm, mode_gpio_serial, mode_pwm_serial, mode_pwm_gpio\n"); + exit(1); +} diff --git a/src/drivers/px4fmu/module.mk b/src/drivers/px4fmu/module.mk new file mode 100644 index 000000000..05bc7a5b3 --- /dev/null +++ b/src/drivers/px4fmu/module.mk @@ -0,0 +1,6 @@ +# +# Interface driver for the PX4FMU board +# + +MODULE_COMMAND = fmu +SRCS = fmu.cpp diff --git a/src/include/visibility.h b/src/include/visibility.h new file mode 100644 index 000000000..2c6adc062 --- /dev/null +++ b/src/include/visibility.h @@ -0,0 +1,62 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file visibility.h + * + * Definitions controlling symbol naming and visibility. + * + * This file is normally included automatically by the build system. + */ + +#ifndef __SYSTEMLIB_VISIBILITY_H +#define __SYSTEMLIB_VISIBILITY_H + +#ifdef __EXPORT +# undef __EXPORT +#endif +#define __EXPORT __attribute__ ((visibility ("default"))) + +#ifdef __PRIVATE +# undef __PRIVATE +#endif +#define __PRIVATE __attribute__ ((visibility ("hidden"))) + +#ifdef __cplusplus +# define __BEGIN_DECLS extern "C" { +# define __END_DECLS } +#else +# define __BEGIN_DECLS +# define __END_DECLS +#endif +#endif \ No newline at end of file diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp new file mode 100755 index 000000000..1a50dde0f --- /dev/null +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp @@ -0,0 +1,472 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: Tobias Naegeli + * Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* + * @file attitude_estimator_ekf_main.c + * + * Extended Kalman Filter for Attitude Estimation. + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#ifdef __cplusplus +extern "C" { +#endif +#include "codegen/attitudeKalmanfilter_initialize.h" +#include "codegen/attitudeKalmanfilter.h" +#include "attitude_estimator_ekf_params.h" +#ifdef __cplusplus +} +#endif + +extern "C" __EXPORT int attitude_estimator_ekf_main(int argc, char *argv[]); + +static bool thread_should_exit = false; /**< Deamon exit flag */ +static bool thread_running = false; /**< Deamon status flag */ +static int attitude_estimator_ekf_task; /**< Handle of deamon task / thread */ + +/** + * Mainloop of attitude_estimator_ekf. + */ +int attitude_estimator_ekf_thread_main(int argc, char *argv[]); + +/** + * Print the correct usage. + */ +static void usage(const char *reason); + +static void +usage(const char *reason) +{ + if (reason) + fprintf(stderr, "%s\n", reason); + + fprintf(stderr, "usage: attitude_estimator_ekf {start|stop|status} [-p ]\n\n"); + exit(1); +} + +/** + * The attitude_estimator_ekf app only briefly exists to start + * the background job. The stack size assigned in the + * Makefile does only apply to this management task. + * + * The actual stack size should be set in the call + * to task_create(). + */ +int attitude_estimator_ekf_main(int argc, char *argv[]) +{ + if (argc < 1) + usage("missing command"); + + if (!strcmp(argv[1], "start")) { + + if (thread_running) { + printf("attitude_estimator_ekf already running\n"); + /* this is not an error */ + exit(0); + } + + thread_should_exit = false; + attitude_estimator_ekf_task = task_spawn("attitude_estimator_ekf", + SCHED_DEFAULT, + SCHED_PRIORITY_MAX - 5, + 12400, + attitude_estimator_ekf_thread_main, + (argv) ? (const char **)&argv[2] : (const char **)NULL); + exit(0); + } + + if (!strcmp(argv[1], "stop")) { + thread_should_exit = true; + exit(0); + } + + if (!strcmp(argv[1], "status")) { + if (thread_running) { + printf("\tattitude_estimator_ekf app is running\n"); + + } else { + printf("\tattitude_estimator_ekf app not started\n"); + } + + exit(0); + } + + usage("unrecognized command"); + exit(1); +} + +/* + * [Rot_matrix,x_aposteriori,P_aposteriori] = attitudeKalmanfilter(dt,z_k,x_aposteriori_k,P_aposteriori_k,knownConst) + */ + +/* + * EKF Attitude Estimator main function. + * + * Estimates the attitude recursively once started. + * + * @param argc number of commandline arguments (plus command name) + * @param argv strings containing the arguments + */ +int attitude_estimator_ekf_thread_main(int argc, char *argv[]) +{ + +const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds + + float dt = 0.005f; +/* state vector x has the following entries [ax,ay,az||mx,my,mz||wox,woy,woz||wx,wy,wz]' */ + float z_k[9] = {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 9.81f, 0.2f, -0.2f, 0.2f}; /**< Measurement vector */ + float x_aposteriori_k[12]; /**< states */ + float P_aposteriori_k[144] = {100.f, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 100.f, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 100.f, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 100.f, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 100.f, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 100.f, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 100.f, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 100.f, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 100.f, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0.0f, 100.0f, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0.0f, 0, 100.0f, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0.0f, 0, 0, 100.0f, + }; /**< init: diagonal matrix with big values */ + + float x_aposteriori[12]; + float P_aposteriori[144]; + + /* output euler angles */ + float euler[3] = {0.0f, 0.0f, 0.0f}; + + float Rot_matrix[9] = {1.f, 0, 0, + 0, 1.f, 0, + 0, 0, 1.f + }; /**< init: identity matrix */ + + // print text + printf("Extended Kalman Filter Attitude Estimator initialized..\n\n"); + fflush(stdout); + + int overloadcounter = 19; + + /* Initialize filter */ + attitudeKalmanfilter_initialize(); + + /* store start time to guard against too slow update rates */ + uint64_t last_run = hrt_absolute_time(); + + struct sensor_combined_s raw; + memset(&raw, 0, sizeof(raw)); + struct vehicle_attitude_s att; + memset(&att, 0, sizeof(att)); + struct vehicle_status_s state; + memset(&state, 0, sizeof(state)); + + uint64_t last_data = 0; + uint64_t last_measurement = 0; + + /* subscribe to raw data */ + int sub_raw = orb_subscribe(ORB_ID(sensor_combined)); + /* rate-limit raw data updates to 200Hz */ + orb_set_interval(sub_raw, 4); + + /* subscribe to param changes */ + int sub_params = orb_subscribe(ORB_ID(parameter_update)); + + /* subscribe to system state*/ + int sub_state = orb_subscribe(ORB_ID(vehicle_status)); + + /* advertise attitude */ + orb_advert_t pub_att = orb_advertise(ORB_ID(vehicle_attitude), &att); + + + int loopcounter = 0; + int printcounter = 0; + + thread_running = true; + + /* advertise debug value */ + // struct debug_key_value_s dbg = { .key = "", .value = 0.0f }; + // orb_advert_t pub_dbg = -1; + + float sensor_update_hz[3] = {0.0f, 0.0f, 0.0f}; + // XXX write this out to perf regs + + /* keep track of sensor updates */ + uint32_t sensor_last_count[3] = {0, 0, 0}; + uint64_t sensor_last_timestamp[3] = {0, 0, 0}; + + struct attitude_estimator_ekf_params ekf_params; + + struct attitude_estimator_ekf_param_handles ekf_param_handles; + + /* initialize parameter handles */ + parameters_init(&ekf_param_handles); + + uint64_t start_time = hrt_absolute_time(); + bool initialized = false; + + float gyro_offsets[3] = { 0.0f, 0.0f, 0.0f }; + unsigned offset_count = 0; + + /* register the perf counter */ + perf_counter_t ekf_loop_perf = perf_alloc(PC_ELAPSED, "attitude_estimator_ekf"); + + /* Main loop*/ + while (!thread_should_exit) { + + struct pollfd fds[2]; + fds[0].fd = sub_raw; + fds[0].events = POLLIN; + fds[1].fd = sub_params; + fds[1].events = POLLIN; + int ret = poll(fds, 2, 1000); + + if (ret < 0) { + /* XXX this is seriously bad - should be an emergency */ + } else if (ret == 0) { + /* check if we're in HIL - not getting sensor data is fine then */ + orb_copy(ORB_ID(vehicle_status), sub_state, &state); + + if (!state.flag_hil_enabled) { + fprintf(stderr, + "[att ekf] WARNING: Not getting sensors - sensor app running?\n"); + } + + } else { + + /* only update parameters if they changed */ + if (fds[1].revents & POLLIN) { + /* read from param to clear updated flag */ + struct parameter_update_s update; + orb_copy(ORB_ID(parameter_update), sub_params, &update); + + /* update parameters */ + parameters_update(&ekf_param_handles, &ekf_params); + } + + /* only run filter if sensor values changed */ + if (fds[0].revents & POLLIN) { + + /* get latest measurements */ + orb_copy(ORB_ID(sensor_combined), sub_raw, &raw); + + if (!initialized) { + + gyro_offsets[0] += raw.gyro_rad_s[0]; + gyro_offsets[1] += raw.gyro_rad_s[1]; + gyro_offsets[2] += raw.gyro_rad_s[2]; + offset_count++; + + if (hrt_absolute_time() - start_time > 3000000LL) { + initialized = true; + gyro_offsets[0] /= offset_count; + gyro_offsets[1] /= offset_count; + gyro_offsets[2] /= offset_count; + } + + } else { + + perf_begin(ekf_loop_perf); + + /* Calculate data time difference in seconds */ + dt = (raw.timestamp - last_measurement) / 1000000.0f; + last_measurement = raw.timestamp; + uint8_t update_vect[3] = {0, 0, 0}; + + /* Fill in gyro measurements */ + if (sensor_last_count[0] != raw.gyro_counter) { + update_vect[0] = 1; + sensor_last_count[0] = raw.gyro_counter; + sensor_update_hz[0] = 1e6f / (raw.timestamp - sensor_last_timestamp[0]); + sensor_last_timestamp[0] = raw.timestamp; + } + + z_k[0] = raw.gyro_rad_s[0] - gyro_offsets[0]; + z_k[1] = raw.gyro_rad_s[1] - gyro_offsets[1]; + z_k[2] = raw.gyro_rad_s[2] - gyro_offsets[2]; + + /* update accelerometer measurements */ + if (sensor_last_count[1] != raw.accelerometer_counter) { + update_vect[1] = 1; + sensor_last_count[1] = raw.accelerometer_counter; + sensor_update_hz[1] = 1e6f / (raw.timestamp - sensor_last_timestamp[1]); + sensor_last_timestamp[1] = raw.timestamp; + } + + z_k[3] = raw.accelerometer_m_s2[0]; + z_k[4] = raw.accelerometer_m_s2[1]; + z_k[5] = raw.accelerometer_m_s2[2]; + + /* update magnetometer measurements */ + if (sensor_last_count[2] != raw.magnetometer_counter) { + update_vect[2] = 1; + sensor_last_count[2] = raw.magnetometer_counter; + sensor_update_hz[2] = 1e6f / (raw.timestamp - sensor_last_timestamp[2]); + sensor_last_timestamp[2] = raw.timestamp; + } + + z_k[6] = raw.magnetometer_ga[0]; + z_k[7] = raw.magnetometer_ga[1]; + z_k[8] = raw.magnetometer_ga[2]; + + uint64_t now = hrt_absolute_time(); + unsigned int time_elapsed = now - last_run; + last_run = now; + + if (time_elapsed > loop_interval_alarm) { + //TODO: add warning, cpu overload here + // if (overloadcounter == 20) { + // printf("CPU OVERLOAD DETECTED IN ATTITUDE ESTIMATOR EKF (%lu > %lu)\n", time_elapsed, loop_interval_alarm); + // overloadcounter = 0; + // } + + overloadcounter++; + } + + static bool const_initialized = false; + + /* initialize with good values once we have a reasonable dt estimate */ + if (!const_initialized && dt < 0.05f && dt > 0.005f) { + dt = 0.005f; + parameters_update(&ekf_param_handles, &ekf_params); + + x_aposteriori_k[0] = z_k[0]; + x_aposteriori_k[1] = z_k[1]; + x_aposteriori_k[2] = z_k[2]; + x_aposteriori_k[3] = 0.0f; + x_aposteriori_k[4] = 0.0f; + x_aposteriori_k[5] = 0.0f; + x_aposteriori_k[6] = z_k[3]; + x_aposteriori_k[7] = z_k[4]; + x_aposteriori_k[8] = z_k[5]; + x_aposteriori_k[9] = z_k[6]; + x_aposteriori_k[10] = z_k[7]; + x_aposteriori_k[11] = z_k[8]; + + const_initialized = true; + } + + /* do not execute the filter if not initialized */ + if (!const_initialized) { + continue; + } + + uint64_t timing_start = hrt_absolute_time(); + + attitudeKalmanfilter(update_vect, dt, z_k, x_aposteriori_k, P_aposteriori_k, ekf_params.q, ekf_params.r, + euler, Rot_matrix, x_aposteriori, P_aposteriori); + + /* swap values for next iteration, check for fatal inputs */ + if (isfinite(euler[0]) && isfinite(euler[1]) && isfinite(euler[2])) { + memcpy(P_aposteriori_k, P_aposteriori, sizeof(P_aposteriori_k)); + memcpy(x_aposteriori_k, x_aposteriori, sizeof(x_aposteriori_k)); + + } else { + /* due to inputs or numerical failure the output is invalid, skip it */ + continue; + } + + if (last_data > 0 && raw.timestamp - last_data > 12000) printf("[attitude estimator ekf] sensor data missed! (%llu)\n", raw.timestamp - last_data); + + last_data = raw.timestamp; + + /* send out */ + att.timestamp = raw.timestamp; + + // XXX Apply the same transformation to the rotation matrix + att.roll = euler[0] - ekf_params.roll_off; + att.pitch = euler[1] - ekf_params.pitch_off; + att.yaw = euler[2] - ekf_params.yaw_off; + + att.rollspeed = x_aposteriori[0]; + att.pitchspeed = x_aposteriori[1]; + att.yawspeed = x_aposteriori[2]; + att.rollacc = x_aposteriori[3]; + att.pitchacc = x_aposteriori[4]; + att.yawacc = x_aposteriori[5]; + + //att.yawspeed =z_k[2] ; + /* copy offsets */ + memcpy(&att.rate_offsets, &(x_aposteriori[3]), sizeof(att.rate_offsets)); + + /* copy rotation matrix */ + memcpy(&att.R, Rot_matrix, sizeof(Rot_matrix)); + att.R_valid = true; + + if (isfinite(att.roll) && isfinite(att.pitch) && isfinite(att.yaw)) { + // Broadcast + orb_publish(ORB_ID(vehicle_attitude), pub_att, &att); + + } else { + warnx("NaN in roll/pitch/yaw estimate!"); + } + + perf_end(ekf_loop_perf); + } + } + } + + loopcounter++; + } + + thread_running = false; + + return 0; +} diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c new file mode 100755 index 000000000..7d3812abd --- /dev/null +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c @@ -0,0 +1,105 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: Tobias Naegeli + * Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* + * @file attitude_estimator_ekf_params.c + * + * Parameters for EKF filter + */ + +#include "attitude_estimator_ekf_params.h" + +/* Extended Kalman Filter covariances */ + +/* gyro process noise */ +PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q0, 1e-4f); +PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q1, 0.08f); +PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q2, 0.009f); +/* gyro offsets process noise */ +PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q3, 0.005f); +PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q4, 0.0f); + +/* gyro measurement noise */ +PARAM_DEFINE_FLOAT(EKF_ATT_V2_R0, 0.0008f); +PARAM_DEFINE_FLOAT(EKF_ATT_V2_R1, 0.8f); +PARAM_DEFINE_FLOAT(EKF_ATT_V2_R2, 1.0f); +/* accelerometer measurement noise */ +PARAM_DEFINE_FLOAT(EKF_ATT_V2_R3, 0.0f); + +/* offsets in roll, pitch and yaw of sensor plane and body */ +PARAM_DEFINE_FLOAT(ATT_ROLL_OFFS, 0.0f); +PARAM_DEFINE_FLOAT(ATT_PITCH_OFFS, 0.0f); +PARAM_DEFINE_FLOAT(ATT_YAW_OFFS, 0.0f); + +int parameters_init(struct attitude_estimator_ekf_param_handles *h) +{ + /* PID parameters */ + h->q0 = param_find("EKF_ATT_V2_Q0"); + h->q1 = param_find("EKF_ATT_V2_Q1"); + h->q2 = param_find("EKF_ATT_V2_Q2"); + h->q3 = param_find("EKF_ATT_V2_Q3"); + h->q4 = param_find("EKF_ATT_V2_Q4"); + + h->r0 = param_find("EKF_ATT_V2_R0"); + h->r1 = param_find("EKF_ATT_V2_R1"); + h->r2 = param_find("EKF_ATT_V2_R2"); + h->r3 = param_find("EKF_ATT_V2_R3"); + + h->roll_off = param_find("ATT_ROLL_OFFS"); + h->pitch_off = param_find("ATT_PITCH_OFFS"); + h->yaw_off = param_find("ATT_YAW_OFFS"); + + return OK; +} + +int parameters_update(const struct attitude_estimator_ekf_param_handles *h, struct attitude_estimator_ekf_params *p) +{ + param_get(h->q0, &(p->q[0])); + param_get(h->q1, &(p->q[1])); + param_get(h->q2, &(p->q[2])); + param_get(h->q3, &(p->q[3])); + param_get(h->q4, &(p->q[4])); + + param_get(h->r0, &(p->r[0])); + param_get(h->r1, &(p->r[1])); + param_get(h->r2, &(p->r[2])); + param_get(h->r3, &(p->r[3])); + + param_get(h->roll_off, &(p->roll_off)); + param_get(h->pitch_off, &(p->pitch_off)); + param_get(h->yaw_off, &(p->yaw_off)); + + return OK; +} diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.h b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.h new file mode 100755 index 000000000..09817d58e --- /dev/null +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.h @@ -0,0 +1,68 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: Tobias Naegeli + * Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* + * @file attitude_estimator_ekf_params.h + * + * Parameters for EKF filter + */ + +#include + +struct attitude_estimator_ekf_params { + float r[9]; + float q[12]; + float roll_off; + float pitch_off; + float yaw_off; +}; + +struct attitude_estimator_ekf_param_handles { + param_t r0, r1, r2, r3; + param_t q0, q1, q2, q3, q4; + param_t roll_off, pitch_off, yaw_off; +}; + +/** + * Initialize all parameter handles and values + * + */ +int parameters_init(struct attitude_estimator_ekf_param_handles *h); + +/** + * Update all parameters + * + */ +int parameters_update(const struct attitude_estimator_ekf_param_handles *h, struct attitude_estimator_ekf_params *p); diff --git a/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter.c b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter.c new file mode 100755 index 000000000..9e97ad11a --- /dev/null +++ b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter.c @@ -0,0 +1,1148 @@ +/* + * attitudeKalmanfilter.c + * + * Code generation for function 'attitudeKalmanfilter' + * + * C source code generated on: Sat Jan 19 15:25:29 2013 + * + */ + +/* Include files */ +#include "rt_nonfinite.h" +#include "attitudeKalmanfilter.h" +#include "rdivide.h" +#include "norm.h" +#include "cross.h" +#include "eye.h" +#include "mrdivide.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ +static real32_T rt_atan2f_snf(real32_T u0, real32_T u1); + +/* Function Definitions */ +static real32_T rt_atan2f_snf(real32_T u0, real32_T u1) +{ + real32_T y; + int32_T b_u0; + int32_T b_u1; + if (rtIsNaNF(u0) || rtIsNaNF(u1)) { + y = ((real32_T)rtNaN); + } else if (rtIsInfF(u0) && rtIsInfF(u1)) { + if (u0 > 0.0F) { + b_u0 = 1; + } else { + b_u0 = -1; + } + + if (u1 > 0.0F) { + b_u1 = 1; + } else { + b_u1 = -1; + } + + y = (real32_T)atan2((real32_T)b_u0, (real32_T)b_u1); + } else if (u1 == 0.0F) { + if (u0 > 0.0F) { + y = RT_PIF / 2.0F; + } else if (u0 < 0.0F) { + y = -(RT_PIF / 2.0F); + } else { + y = 0.0F; + } + } else { + y = (real32_T)atan2(u0, u1); + } + + return y; +} + +/* + * function [eulerAngles,Rot_matrix,x_aposteriori,P_aposteriori] = attitudeKalmanfilter_wo(updateVect,dt,z,x_aposteriori_k,P_aposteriori_k,q,r) + */ +void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const + real32_T z[9], const real32_T x_aposteriori_k[12], const real32_T + P_aposteriori_k[144], const real32_T q[12], real32_T r[9], real32_T + eulerAngles[3], real32_T Rot_matrix[9], real32_T x_aposteriori[12], real32_T + P_aposteriori[144]) +{ + real32_T wak[3]; + real32_T O[9]; + real_T dv0[9]; + real32_T a[9]; + int32_T i; + real32_T b_a[9]; + real32_T x_n_b[3]; + real32_T b_x_aposteriori_k[3]; + real32_T z_n_b[3]; + real32_T c_a[3]; + real32_T d_a[3]; + int32_T i0; + real32_T x_apriori[12]; + real_T dv1[144]; + real32_T A_lin[144]; + static const int8_T iv0[36] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, + 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }; + + real32_T b_A_lin[144]; + real32_T b_q[144]; + real32_T c_A_lin[144]; + real32_T d_A_lin[144]; + real32_T e_A_lin[144]; + int32_T i1; + real32_T P_apriori[144]; + real32_T b_P_apriori[108]; + static const int8_T iv1[108] = { 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1 }; + + real32_T K_k[108]; + real32_T fv0[81]; + static const int8_T iv2[108] = { 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1 }; + + real32_T b_r[81]; + real32_T fv1[81]; + real32_T f0; + real32_T c_P_apriori[36]; + static const int8_T iv3[36] = { 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0 }; + + real32_T fv2[36]; + static const int8_T iv4[36] = { 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }; + + real32_T c_r[9]; + real32_T b_K_k[36]; + real32_T d_P_apriori[72]; + static const int8_T iv5[72] = { 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0 }; + + real32_T c_K_k[72]; + static const int8_T iv6[72] = { 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, + 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0 }; + + real32_T b_z[6]; + static const int8_T iv7[72] = { 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 1 }; + + static const int8_T iv8[72] = { 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 0, 1 }; + + real32_T fv3[6]; + real32_T c_z[6]; + + /* Extended Attitude Kalmanfilter */ + /* */ + /* state vector x has the following entries [ax,ay,az||mx,my,mz||wox,woy,woz||wx,wy,wz]' */ + /* measurement vector z has the following entries [ax,ay,az||mx,my,mz||wmx,wmy,wmz]' */ + /* knownConst has the following entries [PrvaA,PrvarM,PrvarWO,PrvarW||MsvarA,MsvarM,MsvarW] */ + /* */ + /* [x_aposteriori,P_aposteriori] = AttKalman(dt,z_k,x_aposteriori_k,P_aposteriori_k,knownConst) */ + /* */ + /* Example.... */ + /* */ + /* $Author: Tobias Naegeli $ $Date: 2012 $ $Revision: 1 $ */ + /* coder.varsize('udpIndVect', [9,1], [1,0]) */ + /* udpIndVect=find(updVect); */ + /* process and measurement noise covariance matrix */ + /* Q = diag(q.^2*dt); */ + /* observation matrix */ + /* 'attitudeKalmanfilter:33' wx= x_aposteriori_k(1); */ + /* 'attitudeKalmanfilter:34' wy= x_aposteriori_k(2); */ + /* 'attitudeKalmanfilter:35' wz= x_aposteriori_k(3); */ + /* 'attitudeKalmanfilter:37' wax= x_aposteriori_k(4); */ + /* 'attitudeKalmanfilter:38' way= x_aposteriori_k(5); */ + /* 'attitudeKalmanfilter:39' waz= x_aposteriori_k(6); */ + /* 'attitudeKalmanfilter:41' zex= x_aposteriori_k(7); */ + /* 'attitudeKalmanfilter:42' zey= x_aposteriori_k(8); */ + /* 'attitudeKalmanfilter:43' zez= x_aposteriori_k(9); */ + /* 'attitudeKalmanfilter:45' mux= x_aposteriori_k(10); */ + /* 'attitudeKalmanfilter:46' muy= x_aposteriori_k(11); */ + /* 'attitudeKalmanfilter:47' muz= x_aposteriori_k(12); */ + /* % prediction section */ + /* body angular accelerations */ + /* 'attitudeKalmanfilter:51' wak =[wax;way;waz]; */ + wak[0] = x_aposteriori_k[3]; + wak[1] = x_aposteriori_k[4]; + wak[2] = x_aposteriori_k[5]; + + /* body angular rates */ + /* 'attitudeKalmanfilter:54' wk =[wx; wy; wz] + dt*wak; */ + /* derivative of the prediction rotation matrix */ + /* 'attitudeKalmanfilter:57' O=[0,-wz,wy;wz,0,-wx;-wy,wx,0]'; */ + O[0] = 0.0F; + O[1] = -x_aposteriori_k[2]; + O[2] = x_aposteriori_k[1]; + O[3] = x_aposteriori_k[2]; + O[4] = 0.0F; + O[5] = -x_aposteriori_k[0]; + O[6] = -x_aposteriori_k[1]; + O[7] = x_aposteriori_k[0]; + O[8] = 0.0F; + + /* prediction of the earth z vector */ + /* 'attitudeKalmanfilter:60' zek =(eye(3)+O*dt)*[zex;zey;zez]; */ + eye(dv0); + for (i = 0; i < 9; i++) { + a[i] = (real32_T)dv0[i] + O[i] * dt; + } + + /* prediction of the magnetic vector */ + /* 'attitudeKalmanfilter:63' muk =(eye(3)+O*dt)*[mux;muy;muz]; */ + eye(dv0); + for (i = 0; i < 9; i++) { + b_a[i] = (real32_T)dv0[i] + O[i] * dt; + } + + /* 'attitudeKalmanfilter:65' EZ=[0,zez,-zey; */ + /* 'attitudeKalmanfilter:66' -zez,0,zex; */ + /* 'attitudeKalmanfilter:67' zey,-zex,0]'; */ + /* 'attitudeKalmanfilter:68' MA=[0,muz,-muy; */ + /* 'attitudeKalmanfilter:69' -muz,0,mux; */ + /* 'attitudeKalmanfilter:70' zey,-mux,0]'; */ + /* 'attitudeKalmanfilter:74' E=eye(3); */ + /* 'attitudeKalmanfilter:76' Z=zeros(3); */ + /* 'attitudeKalmanfilter:77' x_apriori=[wk;wak;zek;muk]; */ + x_n_b[0] = x_aposteriori_k[0]; + x_n_b[1] = x_aposteriori_k[1]; + x_n_b[2] = x_aposteriori_k[2]; + b_x_aposteriori_k[0] = x_aposteriori_k[6]; + b_x_aposteriori_k[1] = x_aposteriori_k[7]; + b_x_aposteriori_k[2] = x_aposteriori_k[8]; + z_n_b[0] = x_aposteriori_k[9]; + z_n_b[1] = x_aposteriori_k[10]; + z_n_b[2] = x_aposteriori_k[11]; + for (i = 0; i < 3; i++) { + c_a[i] = 0.0F; + for (i0 = 0; i0 < 3; i0++) { + c_a[i] += a[i + 3 * i0] * b_x_aposteriori_k[i0]; + } + + d_a[i] = 0.0F; + for (i0 = 0; i0 < 3; i0++) { + d_a[i] += b_a[i + 3 * i0] * z_n_b[i0]; + } + + x_apriori[i] = x_n_b[i] + dt * wak[i]; + } + + for (i = 0; i < 3; i++) { + x_apriori[i + 3] = wak[i]; + } + + for (i = 0; i < 3; i++) { + x_apriori[i + 6] = c_a[i]; + } + + for (i = 0; i < 3; i++) { + x_apriori[i + 9] = d_a[i]; + } + + /* 'attitudeKalmanfilter:81' A_lin=[ Z, E, Z, Z */ + /* 'attitudeKalmanfilter:82' Z, Z, Z, Z */ + /* 'attitudeKalmanfilter:83' EZ, Z, O, Z */ + /* 'attitudeKalmanfilter:84' MA, Z, Z, O]; */ + /* 'attitudeKalmanfilter:86' A_lin=eye(12)+A_lin*dt; */ + b_eye(dv1); + for (i = 0; i < 12; i++) { + for (i0 = 0; i0 < 3; i0++) { + A_lin[i0 + 12 * i] = (real32_T)iv0[i0 + 3 * i]; + } + + for (i0 = 0; i0 < 3; i0++) { + A_lin[(i0 + 12 * i) + 3] = 0.0F; + } + } + + A_lin[6] = 0.0F; + A_lin[7] = x_aposteriori_k[8]; + A_lin[8] = -x_aposteriori_k[7]; + A_lin[18] = -x_aposteriori_k[8]; + A_lin[19] = 0.0F; + A_lin[20] = x_aposteriori_k[6]; + A_lin[30] = x_aposteriori_k[7]; + A_lin[31] = -x_aposteriori_k[6]; + A_lin[32] = 0.0F; + for (i = 0; i < 3; i++) { + for (i0 = 0; i0 < 3; i0++) { + A_lin[(i0 + 12 * (i + 3)) + 6] = 0.0F; + } + } + + for (i = 0; i < 3; i++) { + for (i0 = 0; i0 < 3; i0++) { + A_lin[(i0 + 12 * (i + 6)) + 6] = O[i0 + 3 * i]; + } + } + + for (i = 0; i < 3; i++) { + for (i0 = 0; i0 < 3; i0++) { + A_lin[(i0 + 12 * (i + 9)) + 6] = 0.0F; + } + } + + A_lin[9] = 0.0F; + A_lin[10] = x_aposteriori_k[11]; + A_lin[11] = -x_aposteriori_k[10]; + A_lin[21] = -x_aposteriori_k[11]; + A_lin[22] = 0.0F; + A_lin[23] = x_aposteriori_k[9]; + A_lin[33] = x_aposteriori_k[7]; + A_lin[34] = -x_aposteriori_k[9]; + A_lin[35] = 0.0F; + for (i = 0; i < 3; i++) { + for (i0 = 0; i0 < 3; i0++) { + A_lin[(i0 + 12 * (i + 3)) + 9] = 0.0F; + } + } + + for (i = 0; i < 3; i++) { + for (i0 = 0; i0 < 3; i0++) { + A_lin[(i0 + 12 * (i + 6)) + 9] = 0.0F; + } + } + + for (i = 0; i < 3; i++) { + for (i0 = 0; i0 < 3; i0++) { + A_lin[(i0 + 12 * (i + 9)) + 9] = O[i0 + 3 * i]; + } + } + + for (i = 0; i < 12; i++) { + for (i0 = 0; i0 < 12; i0++) { + b_A_lin[i0 + 12 * i] = (real32_T)dv1[i0 + 12 * i] + A_lin[i0 + 12 * i] * + dt; + } + } + + /* 'attitudeKalmanfilter:88' Qtemp=[ q(1), 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0; */ + /* 'attitudeKalmanfilter:89' 0, q(1), 0, 0, 0, 0, 0, 0, 0, 0, 0, 0; */ + /* 'attitudeKalmanfilter:90' 0, 0, q(1), 0, 0, 0, 0, 0, 0, 0, 0, 0; */ + /* 'attitudeKalmanfilter:91' 0, 0, 0, q(2), 0, 0, 0, 0, 0, 0, 0, 0; */ + /* 'attitudeKalmanfilter:92' 0, 0, 0, 0, q(2), 0, 0, 0, 0, 0, 0, 0; */ + /* 'attitudeKalmanfilter:93' 0, 0, 0, 0, 0, q(2), 0, 0, 0, 0, 0, 0; */ + /* 'attitudeKalmanfilter:94' 0, 0, 0, 0, 0, 0, q(3), 0, 0, 0, 0, 0; */ + /* 'attitudeKalmanfilter:95' 0, 0, 0, 0, 0, 0, 0, q(3), 0, 0, 0, 0; */ + /* 'attitudeKalmanfilter:96' 0, 0, 0, 0, 0, 0, 0, 0, q(3), 0, 0, 0; */ + /* 'attitudeKalmanfilter:97' 0, 0, 0, 0, 0, 0, 0, 0, 0, q(4), 0, 0; */ + /* 'attitudeKalmanfilter:98' 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, q(4), 0; */ + /* 'attitudeKalmanfilter:99' 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, q(4)]; */ + /* 'attitudeKalmanfilter:103' Q=A_lin*Qtemp*A_lin'; */ + /* 'attitudeKalmanfilter:106' P_apriori=A_lin*P_aposteriori_k*A_lin'+Q; */ + b_q[0] = q[0]; + b_q[12] = 0.0F; + b_q[24] = 0.0F; + b_q[36] = 0.0F; + b_q[48] = 0.0F; + b_q[60] = 0.0F; + b_q[72] = 0.0F; + b_q[84] = 0.0F; + b_q[96] = 0.0F; + b_q[108] = 0.0F; + b_q[120] = 0.0F; + b_q[132] = 0.0F; + b_q[1] = 0.0F; + b_q[13] = q[0]; + b_q[25] = 0.0F; + b_q[37] = 0.0F; + b_q[49] = 0.0F; + b_q[61] = 0.0F; + b_q[73] = 0.0F; + b_q[85] = 0.0F; + b_q[97] = 0.0F; + b_q[109] = 0.0F; + b_q[121] = 0.0F; + b_q[133] = 0.0F; + b_q[2] = 0.0F; + b_q[14] = 0.0F; + b_q[26] = q[0]; + b_q[38] = 0.0F; + b_q[50] = 0.0F; + b_q[62] = 0.0F; + b_q[74] = 0.0F; + b_q[86] = 0.0F; + b_q[98] = 0.0F; + b_q[110] = 0.0F; + b_q[122] = 0.0F; + b_q[134] = 0.0F; + b_q[3] = 0.0F; + b_q[15] = 0.0F; + b_q[27] = 0.0F; + b_q[39] = q[1]; + b_q[51] = 0.0F; + b_q[63] = 0.0F; + b_q[75] = 0.0F; + b_q[87] = 0.0F; + b_q[99] = 0.0F; + b_q[111] = 0.0F; + b_q[123] = 0.0F; + b_q[135] = 0.0F; + b_q[4] = 0.0F; + b_q[16] = 0.0F; + b_q[28] = 0.0F; + b_q[40] = 0.0F; + b_q[52] = q[1]; + b_q[64] = 0.0F; + b_q[76] = 0.0F; + b_q[88] = 0.0F; + b_q[100] = 0.0F; + b_q[112] = 0.0F; + b_q[124] = 0.0F; + b_q[136] = 0.0F; + b_q[5] = 0.0F; + b_q[17] = 0.0F; + b_q[29] = 0.0F; + b_q[41] = 0.0F; + b_q[53] = 0.0F; + b_q[65] = q[1]; + b_q[77] = 0.0F; + b_q[89] = 0.0F; + b_q[101] = 0.0F; + b_q[113] = 0.0F; + b_q[125] = 0.0F; + b_q[137] = 0.0F; + b_q[6] = 0.0F; + b_q[18] = 0.0F; + b_q[30] = 0.0F; + b_q[42] = 0.0F; + b_q[54] = 0.0F; + b_q[66] = 0.0F; + b_q[78] = q[2]; + b_q[90] = 0.0F; + b_q[102] = 0.0F; + b_q[114] = 0.0F; + b_q[126] = 0.0F; + b_q[138] = 0.0F; + b_q[7] = 0.0F; + b_q[19] = 0.0F; + b_q[31] = 0.0F; + b_q[43] = 0.0F; + b_q[55] = 0.0F; + b_q[67] = 0.0F; + b_q[79] = 0.0F; + b_q[91] = q[2]; + b_q[103] = 0.0F; + b_q[115] = 0.0F; + b_q[127] = 0.0F; + b_q[139] = 0.0F; + b_q[8] = 0.0F; + b_q[20] = 0.0F; + b_q[32] = 0.0F; + b_q[44] = 0.0F; + b_q[56] = 0.0F; + b_q[68] = 0.0F; + b_q[80] = 0.0F; + b_q[92] = 0.0F; + b_q[104] = q[2]; + b_q[116] = 0.0F; + b_q[128] = 0.0F; + b_q[140] = 0.0F; + b_q[9] = 0.0F; + b_q[21] = 0.0F; + b_q[33] = 0.0F; + b_q[45] = 0.0F; + b_q[57] = 0.0F; + b_q[69] = 0.0F; + b_q[81] = 0.0F; + b_q[93] = 0.0F; + b_q[105] = 0.0F; + b_q[117] = q[3]; + b_q[129] = 0.0F; + b_q[141] = 0.0F; + b_q[10] = 0.0F; + b_q[22] = 0.0F; + b_q[34] = 0.0F; + b_q[46] = 0.0F; + b_q[58] = 0.0F; + b_q[70] = 0.0F; + b_q[82] = 0.0F; + b_q[94] = 0.0F; + b_q[106] = 0.0F; + b_q[118] = 0.0F; + b_q[130] = q[3]; + b_q[142] = 0.0F; + b_q[11] = 0.0F; + b_q[23] = 0.0F; + b_q[35] = 0.0F; + b_q[47] = 0.0F; + b_q[59] = 0.0F; + b_q[71] = 0.0F; + b_q[83] = 0.0F; + b_q[95] = 0.0F; + b_q[107] = 0.0F; + b_q[119] = 0.0F; + b_q[131] = 0.0F; + b_q[143] = q[3]; + for (i = 0; i < 12; i++) { + for (i0 = 0; i0 < 12; i0++) { + A_lin[i + 12 * i0] = 0.0F; + for (i1 = 0; i1 < 12; i1++) { + A_lin[i + 12 * i0] += b_A_lin[i + 12 * i1] * P_aposteriori_k[i1 + 12 * + i0]; + } + + c_A_lin[i + 12 * i0] = 0.0F; + for (i1 = 0; i1 < 12; i1++) { + c_A_lin[i + 12 * i0] += b_A_lin[i + 12 * i1] * b_q[i1 + 12 * i0]; + } + } + + for (i0 = 0; i0 < 12; i0++) { + d_A_lin[i + 12 * i0] = 0.0F; + for (i1 = 0; i1 < 12; i1++) { + d_A_lin[i + 12 * i0] += A_lin[i + 12 * i1] * b_A_lin[i0 + 12 * i1]; + } + + e_A_lin[i + 12 * i0] = 0.0F; + for (i1 = 0; i1 < 12; i1++) { + e_A_lin[i + 12 * i0] += c_A_lin[i + 12 * i1] * b_A_lin[i0 + 12 * i1]; + } + } + } + + for (i = 0; i < 12; i++) { + for (i0 = 0; i0 < 12; i0++) { + P_apriori[i0 + 12 * i] = d_A_lin[i0 + 12 * i] + e_A_lin[i0 + 12 * i]; + } + } + + /* % update */ + /* 'attitudeKalmanfilter:110' if updateVect(1)==1&&updateVect(2)==1&&updateVect(3)==1 */ + if ((updateVect[0] == 1) && (updateVect[1] == 1) && (updateVect[2] == 1)) { + /* 'attitudeKalmanfilter:111' if z(6)<4 || z(5)>15 */ + if ((z[5] < 4.0F) || (z[4] > 15.0F)) { + /* 'attitudeKalmanfilter:112' r(2)=10000; */ + r[1] = 10000.0F; + } + + /* 'attitudeKalmanfilter:114' R=[r(1),0,0,0,0,0,0,0,0; */ + /* 'attitudeKalmanfilter:115' 0,r(1),0,0,0,0,0,0,0; */ + /* 'attitudeKalmanfilter:116' 0,0,r(1),0,0,0,0,0,0; */ + /* 'attitudeKalmanfilter:117' 0,0,0,r(2),0,0,0,0,0; */ + /* 'attitudeKalmanfilter:118' 0,0,0,0,r(2),0,0,0,0; */ + /* 'attitudeKalmanfilter:119' 0,0,0,0,0,r(2),0,0,0; */ + /* 'attitudeKalmanfilter:120' 0,0,0,0,0,0,r(3),0,0; */ + /* 'attitudeKalmanfilter:121' 0,0,0,0,0,0,0,r(3),0; */ + /* 'attitudeKalmanfilter:122' 0,0,0,0,0,0,0,0,r(3)]; */ + /* observation matrix */ + /* [zw;ze;zmk]; */ + /* 'attitudeKalmanfilter:125' H_k=[ E, Z, Z, Z; */ + /* 'attitudeKalmanfilter:126' Z, Z, E, Z; */ + /* 'attitudeKalmanfilter:127' Z, Z, Z, E]; */ + /* 'attitudeKalmanfilter:129' y_k=z(1:9)-H_k*x_apriori; */ + /* 'attitudeKalmanfilter:132' S_k=H_k*P_apriori*H_k'+R; */ + /* 'attitudeKalmanfilter:133' K_k=(P_apriori*H_k'/(S_k)); */ + for (i = 0; i < 12; i++) { + for (i0 = 0; i0 < 9; i0++) { + b_P_apriori[i + 12 * i0] = 0.0F; + for (i1 = 0; i1 < 12; i1++) { + b_P_apriori[i + 12 * i0] += P_apriori[i + 12 * i1] * (real32_T)iv1[i1 + + 12 * i0]; + } + } + } + + for (i = 0; i < 9; i++) { + for (i0 = 0; i0 < 12; i0++) { + K_k[i + 9 * i0] = 0.0F; + for (i1 = 0; i1 < 12; i1++) { + K_k[i + 9 * i0] += (real32_T)iv2[i + 9 * i1] * P_apriori[i1 + 12 * i0]; + } + } + + for (i0 = 0; i0 < 9; i0++) { + fv0[i + 9 * i0] = 0.0F; + for (i1 = 0; i1 < 12; i1++) { + fv0[i + 9 * i0] += K_k[i + 9 * i1] * (real32_T)iv1[i1 + 12 * i0]; + } + } + } + + b_r[0] = r[0]; + b_r[9] = 0.0F; + b_r[18] = 0.0F; + b_r[27] = 0.0F; + b_r[36] = 0.0F; + b_r[45] = 0.0F; + b_r[54] = 0.0F; + b_r[63] = 0.0F; + b_r[72] = 0.0F; + b_r[1] = 0.0F; + b_r[10] = r[0]; + b_r[19] = 0.0F; + b_r[28] = 0.0F; + b_r[37] = 0.0F; + b_r[46] = 0.0F; + b_r[55] = 0.0F; + b_r[64] = 0.0F; + b_r[73] = 0.0F; + b_r[2] = 0.0F; + b_r[11] = 0.0F; + b_r[20] = r[0]; + b_r[29] = 0.0F; + b_r[38] = 0.0F; + b_r[47] = 0.0F; + b_r[56] = 0.0F; + b_r[65] = 0.0F; + b_r[74] = 0.0F; + b_r[3] = 0.0F; + b_r[12] = 0.0F; + b_r[21] = 0.0F; + b_r[30] = r[1]; + b_r[39] = 0.0F; + b_r[48] = 0.0F; + b_r[57] = 0.0F; + b_r[66] = 0.0F; + b_r[75] = 0.0F; + b_r[4] = 0.0F; + b_r[13] = 0.0F; + b_r[22] = 0.0F; + b_r[31] = 0.0F; + b_r[40] = r[1]; + b_r[49] = 0.0F; + b_r[58] = 0.0F; + b_r[67] = 0.0F; + b_r[76] = 0.0F; + b_r[5] = 0.0F; + b_r[14] = 0.0F; + b_r[23] = 0.0F; + b_r[32] = 0.0F; + b_r[41] = 0.0F; + b_r[50] = r[1]; + b_r[59] = 0.0F; + b_r[68] = 0.0F; + b_r[77] = 0.0F; + b_r[6] = 0.0F; + b_r[15] = 0.0F; + b_r[24] = 0.0F; + b_r[33] = 0.0F; + b_r[42] = 0.0F; + b_r[51] = 0.0F; + b_r[60] = r[2]; + b_r[69] = 0.0F; + b_r[78] = 0.0F; + b_r[7] = 0.0F; + b_r[16] = 0.0F; + b_r[25] = 0.0F; + b_r[34] = 0.0F; + b_r[43] = 0.0F; + b_r[52] = 0.0F; + b_r[61] = 0.0F; + b_r[70] = r[2]; + b_r[79] = 0.0F; + b_r[8] = 0.0F; + b_r[17] = 0.0F; + b_r[26] = 0.0F; + b_r[35] = 0.0F; + b_r[44] = 0.0F; + b_r[53] = 0.0F; + b_r[62] = 0.0F; + b_r[71] = 0.0F; + b_r[80] = r[2]; + for (i = 0; i < 9; i++) { + for (i0 = 0; i0 < 9; i0++) { + fv1[i0 + 9 * i] = fv0[i0 + 9 * i] + b_r[i0 + 9 * i]; + } + } + + mrdivide(b_P_apriori, fv1, K_k); + + /* 'attitudeKalmanfilter:136' x_aposteriori=x_apriori+K_k*y_k; */ + for (i = 0; i < 9; i++) { + f0 = 0.0F; + for (i0 = 0; i0 < 12; i0++) { + f0 += (real32_T)iv2[i + 9 * i0] * x_apriori[i0]; + } + + O[i] = z[i] - f0; + } + + for (i = 0; i < 12; i++) { + f0 = 0.0F; + for (i0 = 0; i0 < 9; i0++) { + f0 += K_k[i + 12 * i0] * O[i0]; + } + + x_aposteriori[i] = x_apriori[i] + f0; + } + + /* 'attitudeKalmanfilter:137' P_aposteriori=(eye(12)-K_k*H_k)*P_apriori; */ + b_eye(dv1); + for (i = 0; i < 12; i++) { + for (i0 = 0; i0 < 12; i0++) { + f0 = 0.0F; + for (i1 = 0; i1 < 9; i1++) { + f0 += K_k[i + 12 * i1] * (real32_T)iv2[i1 + 9 * i0]; + } + + b_A_lin[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - f0; + } + } + + for (i = 0; i < 12; i++) { + for (i0 = 0; i0 < 12; i0++) { + P_aposteriori[i + 12 * i0] = 0.0F; + for (i1 = 0; i1 < 12; i1++) { + P_aposteriori[i + 12 * i0] += b_A_lin[i + 12 * i1] * P_apriori[i1 + 12 + * i0]; + } + } + } + } else { + /* 'attitudeKalmanfilter:138' else */ + /* 'attitudeKalmanfilter:139' if updateVect(1)==1&&updateVect(2)==0&&updateVect(3)==0 */ + if ((updateVect[0] == 1) && (updateVect[1] == 0) && (updateVect[2] == 0)) { + /* 'attitudeKalmanfilter:141' R=[r(1),0,0; */ + /* 'attitudeKalmanfilter:142' 0,r(1),0; */ + /* 'attitudeKalmanfilter:143' 0,0,r(1)]; */ + /* observation matrix */ + /* 'attitudeKalmanfilter:146' H_k=[ E, Z, Z, Z]; */ + /* 'attitudeKalmanfilter:148' y_k=z(1:3)-H_k(1:3,1:12)*x_apriori; */ + /* 'attitudeKalmanfilter:150' S_k=H_k(1:3,1:12)*P_apriori*H_k(1:3,1:12)'+R(1:3,1:3); */ + /* 'attitudeKalmanfilter:151' K_k=(P_apriori*H_k(1:3,1:12)'/(S_k)); */ + for (i = 0; i < 12; i++) { + for (i0 = 0; i0 < 3; i0++) { + c_P_apriori[i + 12 * i0] = 0.0F; + for (i1 = 0; i1 < 12; i1++) { + c_P_apriori[i + 12 * i0] += P_apriori[i + 12 * i1] * (real32_T) + iv3[i1 + 12 * i0]; + } + } + } + + for (i = 0; i < 3; i++) { + for (i0 = 0; i0 < 12; i0++) { + fv2[i + 3 * i0] = 0.0F; + for (i1 = 0; i1 < 12; i1++) { + fv2[i + 3 * i0] += (real32_T)iv4[i + 3 * i1] * P_apriori[i1 + 12 * + i0]; + } + } + + for (i0 = 0; i0 < 3; i0++) { + O[i + 3 * i0] = 0.0F; + for (i1 = 0; i1 < 12; i1++) { + O[i + 3 * i0] += fv2[i + 3 * i1] * (real32_T)iv3[i1 + 12 * i0]; + } + } + } + + c_r[0] = r[0]; + c_r[3] = 0.0F; + c_r[6] = 0.0F; + c_r[1] = 0.0F; + c_r[4] = r[0]; + c_r[7] = 0.0F; + c_r[2] = 0.0F; + c_r[5] = 0.0F; + c_r[8] = r[0]; + for (i = 0; i < 3; i++) { + for (i0 = 0; i0 < 3; i0++) { + a[i0 + 3 * i] = O[i0 + 3 * i] + c_r[i0 + 3 * i]; + } + } + + b_mrdivide(c_P_apriori, a, b_K_k); + + /* 'attitudeKalmanfilter:154' x_aposteriori=x_apriori+K_k*y_k; */ + for (i = 0; i < 3; i++) { + f0 = 0.0F; + for (i0 = 0; i0 < 12; i0++) { + f0 += (real32_T)iv4[i + 3 * i0] * x_apriori[i0]; + } + + x_n_b[i] = z[i] - f0; + } + + for (i = 0; i < 12; i++) { + f0 = 0.0F; + for (i0 = 0; i0 < 3; i0++) { + f0 += b_K_k[i + 12 * i0] * x_n_b[i0]; + } + + x_aposteriori[i] = x_apriori[i] + f0; + } + + /* 'attitudeKalmanfilter:155' P_aposteriori=(eye(12)-K_k*H_k(1:3,1:12))*P_apriori; */ + b_eye(dv1); + for (i = 0; i < 12; i++) { + for (i0 = 0; i0 < 12; i0++) { + f0 = 0.0F; + for (i1 = 0; i1 < 3; i1++) { + f0 += b_K_k[i + 12 * i1] * (real32_T)iv4[i1 + 3 * i0]; + } + + b_A_lin[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - f0; + } + } + + for (i = 0; i < 12; i++) { + for (i0 = 0; i0 < 12; i0++) { + P_aposteriori[i + 12 * i0] = 0.0F; + for (i1 = 0; i1 < 12; i1++) { + P_aposteriori[i + 12 * i0] += b_A_lin[i + 12 * i1] * P_apriori[i1 + + 12 * i0]; + } + } + } + } else { + /* 'attitudeKalmanfilter:156' else */ + /* 'attitudeKalmanfilter:157' if updateVect(1)==1&&updateVect(2)==1&&updateVect(3)==0 */ + if ((updateVect[0] == 1) && (updateVect[1] == 1) && (updateVect[2] == 0)) + { + /* 'attitudeKalmanfilter:158' if z(6)<4 || z(5)>15 */ + if ((z[5] < 4.0F) || (z[4] > 15.0F)) { + /* 'attitudeKalmanfilter:159' r(2)=10000; */ + r[1] = 10000.0F; + } + + /* 'attitudeKalmanfilter:162' R=[r(1),0,0,0,0,0; */ + /* 'attitudeKalmanfilter:163' 0,r(1),0,0,0,0; */ + /* 'attitudeKalmanfilter:164' 0,0,r(1),0,0,0; */ + /* 'attitudeKalmanfilter:165' 0,0,0,r(2),0,0; */ + /* 'attitudeKalmanfilter:166' 0,0,0,0,r(2),0; */ + /* 'attitudeKalmanfilter:167' 0,0,0,0,0,r(2)]; */ + /* observation matrix */ + /* 'attitudeKalmanfilter:170' H_k=[ E, Z, Z, Z; */ + /* 'attitudeKalmanfilter:171' Z, Z, E, Z]; */ + /* 'attitudeKalmanfilter:173' y_k=z(1:6)-H_k(1:6,1:12)*x_apriori; */ + /* 'attitudeKalmanfilter:175' S_k=H_k(1:6,1:12)*P_apriori*H_k(1:6,1:12)'+R(1:6,1:6); */ + /* 'attitudeKalmanfilter:176' K_k=(P_apriori*H_k(1:6,1:12)'/(S_k)); */ + for (i = 0; i < 12; i++) { + for (i0 = 0; i0 < 6; i0++) { + d_P_apriori[i + 12 * i0] = 0.0F; + for (i1 = 0; i1 < 12; i1++) { + d_P_apriori[i + 12 * i0] += P_apriori[i + 12 * i1] * (real32_T) + iv5[i1 + 12 * i0]; + } + } + } + + for (i = 0; i < 6; i++) { + for (i0 = 0; i0 < 12; i0++) { + c_K_k[i + 6 * i0] = 0.0F; + for (i1 = 0; i1 < 12; i1++) { + c_K_k[i + 6 * i0] += (real32_T)iv6[i + 6 * i1] * P_apriori[i1 + 12 + * i0]; + } + } + + for (i0 = 0; i0 < 6; i0++) { + fv2[i + 6 * i0] = 0.0F; + for (i1 = 0; i1 < 12; i1++) { + fv2[i + 6 * i0] += c_K_k[i + 6 * i1] * (real32_T)iv5[i1 + 12 * i0]; + } + } + } + + b_K_k[0] = r[0]; + b_K_k[6] = 0.0F; + b_K_k[12] = 0.0F; + b_K_k[18] = 0.0F; + b_K_k[24] = 0.0F; + b_K_k[30] = 0.0F; + b_K_k[1] = 0.0F; + b_K_k[7] = r[0]; + b_K_k[13] = 0.0F; + b_K_k[19] = 0.0F; + b_K_k[25] = 0.0F; + b_K_k[31] = 0.0F; + b_K_k[2] = 0.0F; + b_K_k[8] = 0.0F; + b_K_k[14] = r[0]; + b_K_k[20] = 0.0F; + b_K_k[26] = 0.0F; + b_K_k[32] = 0.0F; + b_K_k[3] = 0.0F; + b_K_k[9] = 0.0F; + b_K_k[15] = 0.0F; + b_K_k[21] = r[1]; + b_K_k[27] = 0.0F; + b_K_k[33] = 0.0F; + b_K_k[4] = 0.0F; + b_K_k[10] = 0.0F; + b_K_k[16] = 0.0F; + b_K_k[22] = 0.0F; + b_K_k[28] = r[1]; + b_K_k[34] = 0.0F; + b_K_k[5] = 0.0F; + b_K_k[11] = 0.0F; + b_K_k[17] = 0.0F; + b_K_k[23] = 0.0F; + b_K_k[29] = 0.0F; + b_K_k[35] = r[1]; + for (i = 0; i < 6; i++) { + for (i0 = 0; i0 < 6; i0++) { + c_P_apriori[i0 + 6 * i] = fv2[i0 + 6 * i] + b_K_k[i0 + 6 * i]; + } + } + + c_mrdivide(d_P_apriori, c_P_apriori, c_K_k); + + /* 'attitudeKalmanfilter:179' x_aposteriori=x_apriori+K_k*y_k; */ + for (i = 0; i < 6; i++) { + f0 = 0.0F; + for (i0 = 0; i0 < 12; i0++) { + f0 += (real32_T)iv6[i + 6 * i0] * x_apriori[i0]; + } + + b_z[i] = z[i] - f0; + } + + for (i = 0; i < 12; i++) { + f0 = 0.0F; + for (i0 = 0; i0 < 6; i0++) { + f0 += c_K_k[i + 12 * i0] * b_z[i0]; + } + + x_aposteriori[i] = x_apriori[i] + f0; + } + + /* 'attitudeKalmanfilter:180' P_aposteriori=(eye(12)-K_k*H_k(1:6,1:12))*P_apriori; */ + b_eye(dv1); + for (i = 0; i < 12; i++) { + for (i0 = 0; i0 < 12; i0++) { + f0 = 0.0F; + for (i1 = 0; i1 < 6; i1++) { + f0 += c_K_k[i + 12 * i1] * (real32_T)iv6[i1 + 6 * i0]; + } + + b_A_lin[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - f0; + } + } + + for (i = 0; i < 12; i++) { + for (i0 = 0; i0 < 12; i0++) { + P_aposteriori[i + 12 * i0] = 0.0F; + for (i1 = 0; i1 < 12; i1++) { + P_aposteriori[i + 12 * i0] += b_A_lin[i + 12 * i1] * P_apriori[i1 + + 12 * i0]; + } + } + } + } else { + /* 'attitudeKalmanfilter:181' else */ + /* 'attitudeKalmanfilter:182' if updateVect(1)==1&&updateVect(2)==0&&updateVect(3)==1 */ + if ((updateVect[0] == 1) && (updateVect[1] == 0) && (updateVect[2] == 1)) + { + /* 'attitudeKalmanfilter:183' R=[r(1),0,0,0,0,0; */ + /* 'attitudeKalmanfilter:184' 0,r(1),0,0,0,0; */ + /* 'attitudeKalmanfilter:185' 0,0,r(1),0,0,0; */ + /* 'attitudeKalmanfilter:186' 0,0,0,r(3),0,0; */ + /* 'attitudeKalmanfilter:187' 0,0,0,0,r(3),0; */ + /* 'attitudeKalmanfilter:188' 0,0,0,0,0,r(3)]; */ + /* observation matrix */ + /* 'attitudeKalmanfilter:191' H_k=[ E, Z, Z, Z; */ + /* 'attitudeKalmanfilter:192' Z, Z, Z, E]; */ + /* 'attitudeKalmanfilter:194' y_k=[z(1:3);z(7:9)]-H_k(1:6,1:12)*x_apriori; */ + /* 'attitudeKalmanfilter:196' S_k=H_k(1:6,1:12)*P_apriori*H_k(1:6,1:12)'+R(1:6,1:6); */ + /* 'attitudeKalmanfilter:197' K_k=(P_apriori*H_k(1:6,1:12)'/(S_k)); */ + for (i = 0; i < 12; i++) { + for (i0 = 0; i0 < 6; i0++) { + d_P_apriori[i + 12 * i0] = 0.0F; + for (i1 = 0; i1 < 12; i1++) { + d_P_apriori[i + 12 * i0] += P_apriori[i + 12 * i1] * (real32_T) + iv7[i1 + 12 * i0]; + } + } + } + + for (i = 0; i < 6; i++) { + for (i0 = 0; i0 < 12; i0++) { + c_K_k[i + 6 * i0] = 0.0F; + for (i1 = 0; i1 < 12; i1++) { + c_K_k[i + 6 * i0] += (real32_T)iv8[i + 6 * i1] * P_apriori[i1 + + 12 * i0]; + } + } + + for (i0 = 0; i0 < 6; i0++) { + fv2[i + 6 * i0] = 0.0F; + for (i1 = 0; i1 < 12; i1++) { + fv2[i + 6 * i0] += c_K_k[i + 6 * i1] * (real32_T)iv7[i1 + 12 * + i0]; + } + } + } + + b_K_k[0] = r[0]; + b_K_k[6] = 0.0F; + b_K_k[12] = 0.0F; + b_K_k[18] = 0.0F; + b_K_k[24] = 0.0F; + b_K_k[30] = 0.0F; + b_K_k[1] = 0.0F; + b_K_k[7] = r[0]; + b_K_k[13] = 0.0F; + b_K_k[19] = 0.0F; + b_K_k[25] = 0.0F; + b_K_k[31] = 0.0F; + b_K_k[2] = 0.0F; + b_K_k[8] = 0.0F; + b_K_k[14] = r[0]; + b_K_k[20] = 0.0F; + b_K_k[26] = 0.0F; + b_K_k[32] = 0.0F; + b_K_k[3] = 0.0F; + b_K_k[9] = 0.0F; + b_K_k[15] = 0.0F; + b_K_k[21] = r[2]; + b_K_k[27] = 0.0F; + b_K_k[33] = 0.0F; + b_K_k[4] = 0.0F; + b_K_k[10] = 0.0F; + b_K_k[16] = 0.0F; + b_K_k[22] = 0.0F; + b_K_k[28] = r[2]; + b_K_k[34] = 0.0F; + b_K_k[5] = 0.0F; + b_K_k[11] = 0.0F; + b_K_k[17] = 0.0F; + b_K_k[23] = 0.0F; + b_K_k[29] = 0.0F; + b_K_k[35] = r[2]; + for (i = 0; i < 6; i++) { + for (i0 = 0; i0 < 6; i0++) { + c_P_apriori[i0 + 6 * i] = fv2[i0 + 6 * i] + b_K_k[i0 + 6 * i]; + } + } + + c_mrdivide(d_P_apriori, c_P_apriori, c_K_k); + + /* 'attitudeKalmanfilter:200' x_aposteriori=x_apriori+K_k*y_k; */ + for (i = 0; i < 3; i++) { + b_z[i] = z[i]; + } + + for (i = 0; i < 3; i++) { + b_z[i + 3] = z[i + 6]; + } + + for (i = 0; i < 6; i++) { + fv3[i] = 0.0F; + for (i0 = 0; i0 < 12; i0++) { + fv3[i] += (real32_T)iv8[i + 6 * i0] * x_apriori[i0]; + } + + c_z[i] = b_z[i] - fv3[i]; + } + + for (i = 0; i < 12; i++) { + f0 = 0.0F; + for (i0 = 0; i0 < 6; i0++) { + f0 += c_K_k[i + 12 * i0] * c_z[i0]; + } + + x_aposteriori[i] = x_apriori[i] + f0; + } + + /* 'attitudeKalmanfilter:201' P_aposteriori=(eye(12)-K_k*H_k(1:6,1:12))*P_apriori; */ + b_eye(dv1); + for (i = 0; i < 12; i++) { + for (i0 = 0; i0 < 12; i0++) { + f0 = 0.0F; + for (i1 = 0; i1 < 6; i1++) { + f0 += c_K_k[i + 12 * i1] * (real32_T)iv8[i1 + 6 * i0]; + } + + b_A_lin[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - f0; + } + } + + for (i = 0; i < 12; i++) { + for (i0 = 0; i0 < 12; i0++) { + P_aposteriori[i + 12 * i0] = 0.0F; + for (i1 = 0; i1 < 12; i1++) { + P_aposteriori[i + 12 * i0] += b_A_lin[i + 12 * i1] * + P_apriori[i1 + 12 * i0]; + } + } + } + } else { + /* 'attitudeKalmanfilter:202' else */ + /* 'attitudeKalmanfilter:203' x_aposteriori=x_apriori; */ + for (i = 0; i < 12; i++) { + x_aposteriori[i] = x_apriori[i]; + } + + /* 'attitudeKalmanfilter:204' P_aposteriori=P_apriori; */ + memcpy(&P_aposteriori[0], &P_apriori[0], 144U * sizeof(real32_T)); + } + } + } + } + + /* % euler anglels extraction */ + /* 'attitudeKalmanfilter:213' z_n_b = -x_aposteriori(7:9)./norm(x_aposteriori(7:9)); */ + for (i = 0; i < 3; i++) { + x_n_b[i] = -x_aposteriori[i + 6]; + } + + rdivide(x_n_b, norm(*(real32_T (*)[3])&x_aposteriori[6]), z_n_b); + + /* 'attitudeKalmanfilter:214' m_n_b = x_aposteriori(10:12)./norm(x_aposteriori(10:12)); */ + rdivide(*(real32_T (*)[3])&x_aposteriori[9], norm(*(real32_T (*)[3])& + x_aposteriori[9]), wak); + + /* 'attitudeKalmanfilter:216' y_n_b=cross(z_n_b,m_n_b); */ + for (i = 0; i < 3; i++) { + x_n_b[i] = wak[i]; + } + + cross(z_n_b, x_n_b, wak); + + /* 'attitudeKalmanfilter:217' y_n_b=y_n_b./norm(y_n_b); */ + for (i = 0; i < 3; i++) { + x_n_b[i] = wak[i]; + } + + rdivide(x_n_b, norm(wak), wak); + + /* 'attitudeKalmanfilter:219' x_n_b=(cross(y_n_b,z_n_b)); */ + cross(wak, z_n_b, x_n_b); + + /* 'attitudeKalmanfilter:220' x_n_b=x_n_b./norm(x_n_b); */ + for (i = 0; i < 3; i++) { + b_x_aposteriori_k[i] = x_n_b[i]; + } + + rdivide(b_x_aposteriori_k, norm(x_n_b), x_n_b); + + /* 'attitudeKalmanfilter:226' Rot_matrix=[x_n_b,y_n_b,z_n_b]; */ + for (i = 0; i < 3; i++) { + Rot_matrix[i] = x_n_b[i]; + Rot_matrix[3 + i] = wak[i]; + Rot_matrix[6 + i] = z_n_b[i]; + } + + /* 'attitudeKalmanfilter:230' phi=atan2(Rot_matrix(2,3),Rot_matrix(3,3)); */ + /* 'attitudeKalmanfilter:231' theta=-asin(Rot_matrix(1,3)); */ + /* 'attitudeKalmanfilter:232' psi=atan2(Rot_matrix(1,2),Rot_matrix(1,1)); */ + /* 'attitudeKalmanfilter:233' eulerAngles=[phi;theta;psi]; */ + eulerAngles[0] = rt_atan2f_snf(Rot_matrix[7], Rot_matrix[8]); + eulerAngles[1] = -(real32_T)asin(Rot_matrix[6]); + eulerAngles[2] = rt_atan2f_snf(Rot_matrix[3], Rot_matrix[0]); +} + +/* End of code generation (attitudeKalmanfilter.c) */ diff --git a/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter.h b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter.h new file mode 100755 index 000000000..afa63c1a9 --- /dev/null +++ b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter.h @@ -0,0 +1,34 @@ +/* + * attitudeKalmanfilter.h + * + * Code generation for function 'attitudeKalmanfilter' + * + * C source code generated on: Sat Jan 19 15:25:29 2013 + * + */ + +#ifndef __ATTITUDEKALMANFILTER_H__ +#define __ATTITUDEKALMANFILTER_H__ +/* Include files */ +#include +#include +#include +#include +#include "rt_defines.h" +#include "rt_nonfinite.h" + +#include "rtwtypes.h" +#include "attitudeKalmanfilter_types.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ +extern void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const real32_T z[9], const real32_T x_aposteriori_k[12], const real32_T P_aposteriori_k[144], const real32_T q[12], real32_T r[9], real32_T eulerAngles[3], real32_T Rot_matrix[9], real32_T x_aposteriori[12], real32_T P_aposteriori[144]); +#endif +/* End of code generation (attitudeKalmanfilter.h) */ diff --git a/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.c b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.c new file mode 100755 index 000000000..7d620d7fa --- /dev/null +++ b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.c @@ -0,0 +1,31 @@ +/* + * attitudeKalmanfilter_initialize.c + * + * Code generation for function 'attitudeKalmanfilter_initialize' + * + * C source code generated on: Sat Jan 19 15:25:29 2013 + * + */ + +/* Include files */ +#include "rt_nonfinite.h" +#include "attitudeKalmanfilter.h" +#include "attitudeKalmanfilter_initialize.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ + +/* Function Definitions */ +void attitudeKalmanfilter_initialize(void) +{ + rt_InitInfAndNaN(8U); +} + +/* End of code generation (attitudeKalmanfilter_initialize.c) */ diff --git a/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.h b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.h new file mode 100755 index 000000000..8b599be66 --- /dev/null +++ b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.h @@ -0,0 +1,34 @@ +/* + * attitudeKalmanfilter_initialize.h + * + * Code generation for function 'attitudeKalmanfilter_initialize' + * + * C source code generated on: Sat Jan 19 15:25:29 2013 + * + */ + +#ifndef __ATTITUDEKALMANFILTER_INITIALIZE_H__ +#define __ATTITUDEKALMANFILTER_INITIALIZE_H__ +/* Include files */ +#include +#include +#include +#include +#include "rt_defines.h" +#include "rt_nonfinite.h" + +#include "rtwtypes.h" +#include "attitudeKalmanfilter_types.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ +extern void attitudeKalmanfilter_initialize(void); +#endif +/* End of code generation (attitudeKalmanfilter_initialize.h) */ diff --git a/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.c b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.c new file mode 100755 index 000000000..7f9727419 --- /dev/null +++ b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.c @@ -0,0 +1,31 @@ +/* + * attitudeKalmanfilter_terminate.c + * + * Code generation for function 'attitudeKalmanfilter_terminate' + * + * C source code generated on: Sat Jan 19 15:25:29 2013 + * + */ + +/* Include files */ +#include "rt_nonfinite.h" +#include "attitudeKalmanfilter.h" +#include "attitudeKalmanfilter_terminate.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ + +/* Function Definitions */ +void attitudeKalmanfilter_terminate(void) +{ + /* (no terminate code required) */ +} + +/* End of code generation (attitudeKalmanfilter_terminate.c) */ diff --git a/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.h b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.h new file mode 100755 index 000000000..da84a5024 --- /dev/null +++ b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.h @@ -0,0 +1,34 @@ +/* + * attitudeKalmanfilter_terminate.h + * + * Code generation for function 'attitudeKalmanfilter_terminate' + * + * C source code generated on: Sat Jan 19 15:25:29 2013 + * + */ + +#ifndef __ATTITUDEKALMANFILTER_TERMINATE_H__ +#define __ATTITUDEKALMANFILTER_TERMINATE_H__ +/* Include files */ +#include +#include +#include +#include +#include "rt_defines.h" +#include "rt_nonfinite.h" + +#include "rtwtypes.h" +#include "attitudeKalmanfilter_types.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ +extern void attitudeKalmanfilter_terminate(void); +#endif +/* End of code generation (attitudeKalmanfilter_terminate.h) */ diff --git a/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_types.h b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_types.h new file mode 100755 index 000000000..30fd1e75e --- /dev/null +++ b/src/modules/attitude_estimator_ekf/codegen/attitudeKalmanfilter_types.h @@ -0,0 +1,16 @@ +/* + * attitudeKalmanfilter_types.h + * + * Code generation for function 'attitudeKalmanfilter' + * + * C source code generated on: Sat Jan 19 15:25:29 2013 + * + */ + +#ifndef __ATTITUDEKALMANFILTER_TYPES_H__ +#define __ATTITUDEKALMANFILTER_TYPES_H__ + +/* Type Definitions */ + +#endif +/* End of code generation (attitudeKalmanfilter_types.h) */ diff --git a/src/modules/attitude_estimator_ekf/codegen/cross.c b/src/modules/attitude_estimator_ekf/codegen/cross.c new file mode 100755 index 000000000..84ada9002 --- /dev/null +++ b/src/modules/attitude_estimator_ekf/codegen/cross.c @@ -0,0 +1,37 @@ +/* + * cross.c + * + * Code generation for function 'cross' + * + * C source code generated on: Sat Jan 19 15:25:29 2013 + * + */ + +/* Include files */ +#include "rt_nonfinite.h" +#include "attitudeKalmanfilter.h" +#include "cross.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ + +/* Function Definitions */ + +/* + * + */ +void cross(const real32_T a[3], const real32_T b[3], real32_T c[3]) +{ + c[0] = a[1] * b[2] - a[2] * b[1]; + c[1] = a[2] * b[0] - a[0] * b[2]; + c[2] = a[0] * b[1] - a[1] * b[0]; +} + +/* End of code generation (cross.c) */ diff --git a/src/modules/attitude_estimator_ekf/codegen/cross.h b/src/modules/attitude_estimator_ekf/codegen/cross.h new file mode 100755 index 000000000..e727f0684 --- /dev/null +++ b/src/modules/attitude_estimator_ekf/codegen/cross.h @@ -0,0 +1,34 @@ +/* + * cross.h + * + * Code generation for function 'cross' + * + * C source code generated on: Sat Jan 19 15:25:29 2013 + * + */ + +#ifndef __CROSS_H__ +#define __CROSS_H__ +/* Include files */ +#include +#include +#include +#include +#include "rt_defines.h" +#include "rt_nonfinite.h" + +#include "rtwtypes.h" +#include "attitudeKalmanfilter_types.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ +extern void cross(const real32_T a[3], const real32_T b[3], real32_T c[3]); +#endif +/* End of code generation (cross.h) */ diff --git a/src/modules/attitude_estimator_ekf/codegen/eye.c b/src/modules/attitude_estimator_ekf/codegen/eye.c new file mode 100755 index 000000000..b89ab58ef --- /dev/null +++ b/src/modules/attitude_estimator_ekf/codegen/eye.c @@ -0,0 +1,51 @@ +/* + * eye.c + * + * Code generation for function 'eye' + * + * C source code generated on: Sat Jan 19 15:25:29 2013 + * + */ + +/* Include files */ +#include "rt_nonfinite.h" +#include "attitudeKalmanfilter.h" +#include "eye.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ + +/* Function Definitions */ + +/* + * + */ +void b_eye(real_T I[144]) +{ + int32_T i; + memset(&I[0], 0, 144U * sizeof(real_T)); + for (i = 0; i < 12; i++) { + I[i + 12 * i] = 1.0; + } +} + +/* + * + */ +void eye(real_T I[9]) +{ + int32_T i; + memset(&I[0], 0, 9U * sizeof(real_T)); + for (i = 0; i < 3; i++) { + I[i + 3 * i] = 1.0; + } +} + +/* End of code generation (eye.c) */ diff --git a/src/modules/attitude_estimator_ekf/codegen/eye.h b/src/modules/attitude_estimator_ekf/codegen/eye.h new file mode 100755 index 000000000..94fbe7671 --- /dev/null +++ b/src/modules/attitude_estimator_ekf/codegen/eye.h @@ -0,0 +1,35 @@ +/* + * eye.h + * + * Code generation for function 'eye' + * + * C source code generated on: Sat Jan 19 15:25:29 2013 + * + */ + +#ifndef __EYE_H__ +#define __EYE_H__ +/* Include files */ +#include +#include +#include +#include +#include "rt_defines.h" +#include "rt_nonfinite.h" + +#include "rtwtypes.h" +#include "attitudeKalmanfilter_types.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ +extern void b_eye(real_T I[144]); +extern void eye(real_T I[9]); +#endif +/* End of code generation (eye.h) */ diff --git a/src/modules/attitude_estimator_ekf/codegen/mrdivide.c b/src/modules/attitude_estimator_ekf/codegen/mrdivide.c new file mode 100755 index 000000000..a810f22e4 --- /dev/null +++ b/src/modules/attitude_estimator_ekf/codegen/mrdivide.c @@ -0,0 +1,357 @@ +/* + * mrdivide.c + * + * Code generation for function 'mrdivide' + * + * C source code generated on: Sat Jan 19 15:25:29 2013 + * + */ + +/* Include files */ +#include "rt_nonfinite.h" +#include "attitudeKalmanfilter.h" +#include "mrdivide.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ + +/* Function Definitions */ + +/* + * + */ +void b_mrdivide(const real32_T A[36], const real32_T B[9], real32_T y[36]) +{ + real32_T b_A[9]; + int32_T rtemp; + int32_T k; + real32_T b_B[36]; + int32_T r1; + int32_T r2; + int32_T r3; + real32_T maxval; + real32_T a21; + real32_T Y[36]; + for (rtemp = 0; rtemp < 3; rtemp++) { + for (k = 0; k < 3; k++) { + b_A[k + 3 * rtemp] = B[rtemp + 3 * k]; + } + } + + for (rtemp = 0; rtemp < 12; rtemp++) { + for (k = 0; k < 3; k++) { + b_B[k + 3 * rtemp] = A[rtemp + 12 * k]; + } + } + + r1 = 0; + r2 = 1; + r3 = 2; + maxval = (real32_T)fabs(b_A[0]); + a21 = (real32_T)fabs(b_A[1]); + if (a21 > maxval) { + maxval = a21; + r1 = 1; + r2 = 0; + } + + if ((real32_T)fabs(b_A[2]) > maxval) { + r1 = 2; + r2 = 1; + r3 = 0; + } + + b_A[r2] /= b_A[r1]; + b_A[r3] /= b_A[r1]; + b_A[3 + r2] -= b_A[r2] * b_A[3 + r1]; + b_A[3 + r3] -= b_A[r3] * b_A[3 + r1]; + b_A[6 + r2] -= b_A[r2] * b_A[6 + r1]; + b_A[6 + r3] -= b_A[r3] * b_A[6 + r1]; + if ((real32_T)fabs(b_A[3 + r3]) > (real32_T)fabs(b_A[3 + r2])) { + rtemp = r2; + r2 = r3; + r3 = rtemp; + } + + b_A[3 + r3] /= b_A[3 + r2]; + b_A[6 + r3] -= b_A[3 + r3] * b_A[6 + r2]; + for (k = 0; k < 12; k++) { + Y[3 * k] = b_B[r1 + 3 * k]; + Y[1 + 3 * k] = b_B[r2 + 3 * k] - Y[3 * k] * b_A[r2]; + Y[2 + 3 * k] = (b_B[r3 + 3 * k] - Y[3 * k] * b_A[r3]) - Y[1 + 3 * k] * b_A[3 + + r3]; + Y[2 + 3 * k] /= b_A[6 + r3]; + Y[3 * k] -= Y[2 + 3 * k] * b_A[6 + r1]; + Y[1 + 3 * k] -= Y[2 + 3 * k] * b_A[6 + r2]; + Y[1 + 3 * k] /= b_A[3 + r2]; + Y[3 * k] -= Y[1 + 3 * k] * b_A[3 + r1]; + Y[3 * k] /= b_A[r1]; + } + + for (rtemp = 0; rtemp < 3; rtemp++) { + for (k = 0; k < 12; k++) { + y[k + 12 * rtemp] = Y[rtemp + 3 * k]; + } + } +} + +/* + * + */ +void c_mrdivide(const real32_T A[72], const real32_T B[36], real32_T y[72]) +{ + real32_T b_A[36]; + int8_T ipiv[6]; + int32_T i3; + int32_T iy; + int32_T j; + int32_T c; + int32_T ix; + real32_T temp; + int32_T k; + real32_T s; + int32_T jy; + int32_T ijA; + real32_T Y[72]; + for (i3 = 0; i3 < 6; i3++) { + for (iy = 0; iy < 6; iy++) { + b_A[iy + 6 * i3] = B[i3 + 6 * iy]; + } + + ipiv[i3] = (int8_T)(1 + i3); + } + + for (j = 0; j < 5; j++) { + c = j * 7; + iy = 0; + ix = c; + temp = (real32_T)fabs(b_A[c]); + for (k = 2; k <= 6 - j; k++) { + ix++; + s = (real32_T)fabs(b_A[ix]); + if (s > temp) { + iy = k - 1; + temp = s; + } + } + + if (b_A[c + iy] != 0.0F) { + if (iy != 0) { + ipiv[j] = (int8_T)((j + iy) + 1); + ix = j; + iy += j; + for (k = 0; k < 6; k++) { + temp = b_A[ix]; + b_A[ix] = b_A[iy]; + b_A[iy] = temp; + ix += 6; + iy += 6; + } + } + + i3 = (c - j) + 6; + for (jy = c + 1; jy + 1 <= i3; jy++) { + b_A[jy] /= b_A[c]; + } + } + + iy = c; + jy = c + 6; + for (k = 1; k <= 5 - j; k++) { + temp = b_A[jy]; + if (b_A[jy] != 0.0F) { + ix = c + 1; + i3 = (iy - j) + 12; + for (ijA = 7 + iy; ijA + 1 <= i3; ijA++) { + b_A[ijA] += b_A[ix] * -temp; + ix++; + } + } + + jy += 6; + iy += 6; + } + } + + for (i3 = 0; i3 < 12; i3++) { + for (iy = 0; iy < 6; iy++) { + Y[iy + 6 * i3] = A[i3 + 12 * iy]; + } + } + + for (jy = 0; jy < 6; jy++) { + if (ipiv[jy] != jy + 1) { + for (j = 0; j < 12; j++) { + temp = Y[jy + 6 * j]; + Y[jy + 6 * j] = Y[(ipiv[jy] + 6 * j) - 1]; + Y[(ipiv[jy] + 6 * j) - 1] = temp; + } + } + } + + for (j = 0; j < 12; j++) { + c = 6 * j; + for (k = 0; k < 6; k++) { + iy = 6 * k; + if (Y[k + c] != 0.0F) { + for (jy = k + 2; jy < 7; jy++) { + Y[(jy + c) - 1] -= Y[k + c] * b_A[(jy + iy) - 1]; + } + } + } + } + + for (j = 0; j < 12; j++) { + c = 6 * j; + for (k = 5; k > -1; k += -1) { + iy = 6 * k; + if (Y[k + c] != 0.0F) { + Y[k + c] /= b_A[k + iy]; + for (jy = 0; jy + 1 <= k; jy++) { + Y[jy + c] -= Y[k + c] * b_A[jy + iy]; + } + } + } + } + + for (i3 = 0; i3 < 6; i3++) { + for (iy = 0; iy < 12; iy++) { + y[iy + 12 * i3] = Y[i3 + 6 * iy]; + } + } +} + +/* + * + */ +void mrdivide(const real32_T A[108], const real32_T B[81], real32_T y[108]) +{ + real32_T b_A[81]; + int8_T ipiv[9]; + int32_T i2; + int32_T iy; + int32_T j; + int32_T c; + int32_T ix; + real32_T temp; + int32_T k; + real32_T s; + int32_T jy; + int32_T ijA; + real32_T Y[108]; + for (i2 = 0; i2 < 9; i2++) { + for (iy = 0; iy < 9; iy++) { + b_A[iy + 9 * i2] = B[i2 + 9 * iy]; + } + + ipiv[i2] = (int8_T)(1 + i2); + } + + for (j = 0; j < 8; j++) { + c = j * 10; + iy = 0; + ix = c; + temp = (real32_T)fabs(b_A[c]); + for (k = 2; k <= 9 - j; k++) { + ix++; + s = (real32_T)fabs(b_A[ix]); + if (s > temp) { + iy = k - 1; + temp = s; + } + } + + if (b_A[c + iy] != 0.0F) { + if (iy != 0) { + ipiv[j] = (int8_T)((j + iy) + 1); + ix = j; + iy += j; + for (k = 0; k < 9; k++) { + temp = b_A[ix]; + b_A[ix] = b_A[iy]; + b_A[iy] = temp; + ix += 9; + iy += 9; + } + } + + i2 = (c - j) + 9; + for (jy = c + 1; jy + 1 <= i2; jy++) { + b_A[jy] /= b_A[c]; + } + } + + iy = c; + jy = c + 9; + for (k = 1; k <= 8 - j; k++) { + temp = b_A[jy]; + if (b_A[jy] != 0.0F) { + ix = c + 1; + i2 = (iy - j) + 18; + for (ijA = 10 + iy; ijA + 1 <= i2; ijA++) { + b_A[ijA] += b_A[ix] * -temp; + ix++; + } + } + + jy += 9; + iy += 9; + } + } + + for (i2 = 0; i2 < 12; i2++) { + for (iy = 0; iy < 9; iy++) { + Y[iy + 9 * i2] = A[i2 + 12 * iy]; + } + } + + for (jy = 0; jy < 9; jy++) { + if (ipiv[jy] != jy + 1) { + for (j = 0; j < 12; j++) { + temp = Y[jy + 9 * j]; + Y[jy + 9 * j] = Y[(ipiv[jy] + 9 * j) - 1]; + Y[(ipiv[jy] + 9 * j) - 1] = temp; + } + } + } + + for (j = 0; j < 12; j++) { + c = 9 * j; + for (k = 0; k < 9; k++) { + iy = 9 * k; + if (Y[k + c] != 0.0F) { + for (jy = k + 2; jy < 10; jy++) { + Y[(jy + c) - 1] -= Y[k + c] * b_A[(jy + iy) - 1]; + } + } + } + } + + for (j = 0; j < 12; j++) { + c = 9 * j; + for (k = 8; k > -1; k += -1) { + iy = 9 * k; + if (Y[k + c] != 0.0F) { + Y[k + c] /= b_A[k + iy]; + for (jy = 0; jy + 1 <= k; jy++) { + Y[jy + c] -= Y[k + c] * b_A[jy + iy]; + } + } + } + } + + for (i2 = 0; i2 < 9; i2++) { + for (iy = 0; iy < 12; iy++) { + y[iy + 12 * i2] = Y[i2 + 9 * iy]; + } + } +} + +/* End of code generation (mrdivide.c) */ diff --git a/src/modules/attitude_estimator_ekf/codegen/mrdivide.h b/src/modules/attitude_estimator_ekf/codegen/mrdivide.h new file mode 100755 index 000000000..2d3b0d51f --- /dev/null +++ b/src/modules/attitude_estimator_ekf/codegen/mrdivide.h @@ -0,0 +1,36 @@ +/* + * mrdivide.h + * + * Code generation for function 'mrdivide' + * + * C source code generated on: Sat Jan 19 15:25:29 2013 + * + */ + +#ifndef __MRDIVIDE_H__ +#define __MRDIVIDE_H__ +/* Include files */ +#include +#include +#include +#include +#include "rt_defines.h" +#include "rt_nonfinite.h" + +#include "rtwtypes.h" +#include "attitudeKalmanfilter_types.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ +extern void b_mrdivide(const real32_T A[36], const real32_T B[9], real32_T y[36]); +extern void c_mrdivide(const real32_T A[72], const real32_T B[36], real32_T y[72]); +extern void mrdivide(const real32_T A[108], const real32_T B[81], real32_T y[108]); +#endif +/* End of code generation (mrdivide.h) */ diff --git a/src/modules/attitude_estimator_ekf/codegen/norm.c b/src/modules/attitude_estimator_ekf/codegen/norm.c new file mode 100755 index 000000000..0c418cc7b --- /dev/null +++ b/src/modules/attitude_estimator_ekf/codegen/norm.c @@ -0,0 +1,54 @@ +/* + * norm.c + * + * Code generation for function 'norm' + * + * C source code generated on: Sat Jan 19 15:25:29 2013 + * + */ + +/* Include files */ +#include "rt_nonfinite.h" +#include "attitudeKalmanfilter.h" +#include "norm.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ + +/* Function Definitions */ + +/* + * + */ +real32_T norm(const real32_T x[3]) +{ + real32_T y; + real32_T scale; + int32_T k; + real32_T absxk; + real32_T t; + y = 0.0F; + scale = 1.17549435E-38F; + for (k = 0; k < 3; k++) { + absxk = (real32_T)fabs(x[k]); + if (absxk > scale) { + t = scale / absxk; + y = 1.0F + y * t * t; + scale = absxk; + } else { + t = absxk / scale; + y += t * t; + } + } + + return scale * (real32_T)sqrt(y); +} + +/* End of code generation (norm.c) */ diff --git a/src/modules/attitude_estimator_ekf/codegen/norm.h b/src/modules/attitude_estimator_ekf/codegen/norm.h new file mode 100755 index 000000000..60cf77b57 --- /dev/null +++ b/src/modules/attitude_estimator_ekf/codegen/norm.h @@ -0,0 +1,34 @@ +/* + * norm.h + * + * Code generation for function 'norm' + * + * C source code generated on: Sat Jan 19 15:25:29 2013 + * + */ + +#ifndef __NORM_H__ +#define __NORM_H__ +/* Include files */ +#include +#include +#include +#include +#include "rt_defines.h" +#include "rt_nonfinite.h" + +#include "rtwtypes.h" +#include "attitudeKalmanfilter_types.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ +extern real32_T norm(const real32_T x[3]); +#endif +/* End of code generation (norm.h) */ diff --git a/src/modules/attitude_estimator_ekf/codegen/rdivide.c b/src/modules/attitude_estimator_ekf/codegen/rdivide.c new file mode 100755 index 000000000..d035dae5e --- /dev/null +++ b/src/modules/attitude_estimator_ekf/codegen/rdivide.c @@ -0,0 +1,38 @@ +/* + * rdivide.c + * + * Code generation for function 'rdivide' + * + * C source code generated on: Sat Jan 19 15:25:29 2013 + * + */ + +/* Include files */ +#include "rt_nonfinite.h" +#include "attitudeKalmanfilter.h" +#include "rdivide.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ + +/* Function Definitions */ + +/* + * + */ +void rdivide(const real32_T x[3], real32_T y, real32_T z[3]) +{ + int32_T i; + for (i = 0; i < 3; i++) { + z[i] = x[i] / y; + } +} + +/* End of code generation (rdivide.c) */ diff --git a/src/modules/attitude_estimator_ekf/codegen/rdivide.h b/src/modules/attitude_estimator_ekf/codegen/rdivide.h new file mode 100755 index 000000000..4bbebebe2 --- /dev/null +++ b/src/modules/attitude_estimator_ekf/codegen/rdivide.h @@ -0,0 +1,34 @@ +/* + * rdivide.h + * + * Code generation for function 'rdivide' + * + * C source code generated on: Sat Jan 19 15:25:29 2013 + * + */ + +#ifndef __RDIVIDE_H__ +#define __RDIVIDE_H__ +/* Include files */ +#include +#include +#include +#include +#include "rt_defines.h" +#include "rt_nonfinite.h" + +#include "rtwtypes.h" +#include "attitudeKalmanfilter_types.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ +extern void rdivide(const real32_T x[3], real32_T y, real32_T z[3]); +#endif +/* End of code generation (rdivide.h) */ diff --git a/src/modules/attitude_estimator_ekf/codegen/rtGetInf.c b/src/modules/attitude_estimator_ekf/codegen/rtGetInf.c new file mode 100755 index 000000000..34164d104 --- /dev/null +++ b/src/modules/attitude_estimator_ekf/codegen/rtGetInf.c @@ -0,0 +1,139 @@ +/* + * rtGetInf.c + * + * Code generation for function 'attitudeKalmanfilter' + * + * C source code generated on: Sat Jan 19 15:25:29 2013 + * + */ + +/* + * Abstract: + * MATLAB for code generation function to initialize non-finite, Inf and MinusInf + */ +#include "rtGetInf.h" +#define NumBitsPerChar 8U + +/* Function: rtGetInf ================================================== + * Abstract: + * Initialize rtInf needed by the generated code. + * Inf is initialized as non-signaling. Assumes IEEE. + */ +real_T rtGetInf(void) +{ + size_t bitsPerReal = sizeof(real_T) * (NumBitsPerChar); + real_T inf = 0.0; + if (bitsPerReal == 32U) { + inf = rtGetInfF(); + } else { + uint16_T one = 1U; + enum { + LittleEndian, + BigEndian + } machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian; + switch (machByteOrder) { + case LittleEndian: + { + union { + LittleEndianIEEEDouble bitVal; + real_T fltVal; + } tmpVal; + + tmpVal.bitVal.words.wordH = 0x7FF00000U; + tmpVal.bitVal.words.wordL = 0x00000000U; + inf = tmpVal.fltVal; + break; + } + + case BigEndian: + { + union { + BigEndianIEEEDouble bitVal; + real_T fltVal; + } tmpVal; + + tmpVal.bitVal.words.wordH = 0x7FF00000U; + tmpVal.bitVal.words.wordL = 0x00000000U; + inf = tmpVal.fltVal; + break; + } + } + } + + return inf; +} + +/* Function: rtGetInfF ================================================== + * Abstract: + * Initialize rtInfF needed by the generated code. + * Inf is initialized as non-signaling. Assumes IEEE. + */ +real32_T rtGetInfF(void) +{ + IEEESingle infF; + infF.wordL.wordLuint = 0x7F800000U; + return infF.wordL.wordLreal; +} + +/* Function: rtGetMinusInf ================================================== + * Abstract: + * Initialize rtMinusInf needed by the generated code. + * Inf is initialized as non-signaling. Assumes IEEE. + */ +real_T rtGetMinusInf(void) +{ + size_t bitsPerReal = sizeof(real_T) * (NumBitsPerChar); + real_T minf = 0.0; + if (bitsPerReal == 32U) { + minf = rtGetMinusInfF(); + } else { + uint16_T one = 1U; + enum { + LittleEndian, + BigEndian + } machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian; + switch (machByteOrder) { + case LittleEndian: + { + union { + LittleEndianIEEEDouble bitVal; + real_T fltVal; + } tmpVal; + + tmpVal.bitVal.words.wordH = 0xFFF00000U; + tmpVal.bitVal.words.wordL = 0x00000000U; + minf = tmpVal.fltVal; + break; + } + + case BigEndian: + { + union { + BigEndianIEEEDouble bitVal; + real_T fltVal; + } tmpVal; + + tmpVal.bitVal.words.wordH = 0xFFF00000U; + tmpVal.bitVal.words.wordL = 0x00000000U; + minf = tmpVal.fltVal; + break; + } + } + } + + return minf; +} + +/* Function: rtGetMinusInfF ================================================== + * Abstract: + * Initialize rtMinusInfF needed by the generated code. + * Inf is initialized as non-signaling. Assumes IEEE. + */ +real32_T rtGetMinusInfF(void) +{ + IEEESingle minfF; + minfF.wordL.wordLuint = 0xFF800000U; + return minfF.wordL.wordLreal; +} + +/* End of code generation (rtGetInf.c) */ diff --git a/src/modules/attitude_estimator_ekf/codegen/rtGetInf.h b/src/modules/attitude_estimator_ekf/codegen/rtGetInf.h new file mode 100755 index 000000000..145373cd0 --- /dev/null +++ b/src/modules/attitude_estimator_ekf/codegen/rtGetInf.h @@ -0,0 +1,23 @@ +/* + * rtGetInf.h + * + * Code generation for function 'attitudeKalmanfilter' + * + * C source code generated on: Sat Jan 19 15:25:29 2013 + * + */ + +#ifndef __RTGETINF_H__ +#define __RTGETINF_H__ + +#include +#include "rtwtypes.h" +#include "rt_nonfinite.h" + +extern real_T rtGetInf(void); +extern real32_T rtGetInfF(void); +extern real_T rtGetMinusInf(void); +extern real32_T rtGetMinusInfF(void); + +#endif +/* End of code generation (rtGetInf.h) */ diff --git a/src/modules/attitude_estimator_ekf/codegen/rtGetNaN.c b/src/modules/attitude_estimator_ekf/codegen/rtGetNaN.c new file mode 100755 index 000000000..d84ca9573 --- /dev/null +++ b/src/modules/attitude_estimator_ekf/codegen/rtGetNaN.c @@ -0,0 +1,96 @@ +/* + * rtGetNaN.c + * + * Code generation for function 'attitudeKalmanfilter' + * + * C source code generated on: Sat Jan 19 15:25:29 2013 + * + */ + +/* + * Abstract: + * MATLAB for code generation function to initialize non-finite, NaN + */ +#include "rtGetNaN.h" +#define NumBitsPerChar 8U + +/* Function: rtGetNaN ================================================== + * Abstract: + * Initialize rtNaN needed by the generated code. + * NaN is initialized as non-signaling. Assumes IEEE. + */ +real_T rtGetNaN(void) +{ + size_t bitsPerReal = sizeof(real_T) * (NumBitsPerChar); + real_T nan = 0.0; + if (bitsPerReal == 32U) { + nan = rtGetNaNF(); + } else { + uint16_T one = 1U; + enum { + LittleEndian, + BigEndian + } machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian; + switch (machByteOrder) { + case LittleEndian: + { + union { + LittleEndianIEEEDouble bitVal; + real_T fltVal; + } tmpVal; + + tmpVal.bitVal.words.wordH = 0xFFF80000U; + tmpVal.bitVal.words.wordL = 0x00000000U; + nan = tmpVal.fltVal; + break; + } + + case BigEndian: + { + union { + BigEndianIEEEDouble bitVal; + real_T fltVal; + } tmpVal; + + tmpVal.bitVal.words.wordH = 0x7FFFFFFFU; + tmpVal.bitVal.words.wordL = 0xFFFFFFFFU; + nan = tmpVal.fltVal; + break; + } + } + } + + return nan; +} + +/* Function: rtGetNaNF ================================================== + * Abstract: + * Initialize rtNaNF needed by the generated code. + * NaN is initialized as non-signaling. Assumes IEEE. + */ +real32_T rtGetNaNF(void) +{ + IEEESingle nanF = { { 0 } }; + uint16_T one = 1U; + enum { + LittleEndian, + BigEndian + } machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian; + switch (machByteOrder) { + case LittleEndian: + { + nanF.wordL.wordLuint = 0xFFC00000U; + break; + } + + case BigEndian: + { + nanF.wordL.wordLuint = 0x7FFFFFFFU; + break; + } + } + + return nanF.wordL.wordLreal; +} + +/* End of code generation (rtGetNaN.c) */ diff --git a/src/modules/attitude_estimator_ekf/codegen/rtGetNaN.h b/src/modules/attitude_estimator_ekf/codegen/rtGetNaN.h new file mode 100755 index 000000000..65fdaa96f --- /dev/null +++ b/src/modules/attitude_estimator_ekf/codegen/rtGetNaN.h @@ -0,0 +1,21 @@ +/* + * rtGetNaN.h + * + * Code generation for function 'attitudeKalmanfilter' + * + * C source code generated on: Sat Jan 19 15:25:29 2013 + * + */ + +#ifndef __RTGETNAN_H__ +#define __RTGETNAN_H__ + +#include +#include "rtwtypes.h" +#include "rt_nonfinite.h" + +extern real_T rtGetNaN(void); +extern real32_T rtGetNaNF(void); + +#endif +/* End of code generation (rtGetNaN.h) */ diff --git a/src/modules/attitude_estimator_ekf/codegen/rt_defines.h b/src/modules/attitude_estimator_ekf/codegen/rt_defines.h new file mode 100755 index 000000000..356498363 --- /dev/null +++ b/src/modules/attitude_estimator_ekf/codegen/rt_defines.h @@ -0,0 +1,24 @@ +/* + * rt_defines.h + * + * Code generation for function 'attitudeKalmanfilter' + * + * C source code generated on: Sat Jan 19 15:25:29 2013 + * + */ + +#ifndef __RT_DEFINES_H__ +#define __RT_DEFINES_H__ + +#include + +#define RT_PI 3.14159265358979323846 +#define RT_PIF 3.1415927F +#define RT_LN_10 2.30258509299404568402 +#define RT_LN_10F 2.3025851F +#define RT_LOG10E 0.43429448190325182765 +#define RT_LOG10EF 0.43429449F +#define RT_E 2.7182818284590452354 +#define RT_EF 2.7182817F +#endif +/* End of code generation (rt_defines.h) */ diff --git a/src/modules/attitude_estimator_ekf/codegen/rt_nonfinite.c b/src/modules/attitude_estimator_ekf/codegen/rt_nonfinite.c new file mode 100755 index 000000000..303d1d9d2 --- /dev/null +++ b/src/modules/attitude_estimator_ekf/codegen/rt_nonfinite.c @@ -0,0 +1,87 @@ +/* + * rt_nonfinite.c + * + * Code generation for function 'attitudeKalmanfilter' + * + * C source code generated on: Sat Jan 19 15:25:29 2013 + * + */ + +/* + * Abstract: + * MATLAB for code generation function to initialize non-finites, + * (Inf, NaN and -Inf). + */ +#include "rt_nonfinite.h" +#include "rtGetNaN.h" +#include "rtGetInf.h" + +real_T rtInf; +real_T rtMinusInf; +real_T rtNaN; +real32_T rtInfF; +real32_T rtMinusInfF; +real32_T rtNaNF; + +/* Function: rt_InitInfAndNaN ================================================== + * Abstract: + * Initialize the rtInf, rtMinusInf, and rtNaN needed by the + * generated code. NaN is initialized as non-signaling. Assumes IEEE. + */ +void rt_InitInfAndNaN(size_t realSize) +{ + (void) (realSize); + rtNaN = rtGetNaN(); + rtNaNF = rtGetNaNF(); + rtInf = rtGetInf(); + rtInfF = rtGetInfF(); + rtMinusInf = rtGetMinusInf(); + rtMinusInfF = rtGetMinusInfF(); +} + +/* Function: rtIsInf ================================================== + * Abstract: + * Test if value is infinite + */ +boolean_T rtIsInf(real_T value) +{ + return ((value==rtInf || value==rtMinusInf) ? 1U : 0U); +} + +/* Function: rtIsInfF ================================================= + * Abstract: + * Test if single-precision value is infinite + */ +boolean_T rtIsInfF(real32_T value) +{ + return(((value)==rtInfF || (value)==rtMinusInfF) ? 1U : 0U); +} + +/* Function: rtIsNaN ================================================== + * Abstract: + * Test if value is not a number + */ +boolean_T rtIsNaN(real_T value) +{ +#if defined(_MSC_VER) && (_MSC_VER <= 1200) + return _isnan(value)? TRUE:FALSE; +#else + return (value!=value)? 1U:0U; +#endif +} + +/* Function: rtIsNaNF ================================================= + * Abstract: + * Test if single-precision value is not a number + */ +boolean_T rtIsNaNF(real32_T value) +{ +#if defined(_MSC_VER) && (_MSC_VER <= 1200) + return _isnan((real_T)value)? true:false; +#else + return (value!=value)? 1U:0U; +#endif +} + + +/* End of code generation (rt_nonfinite.c) */ diff --git a/src/modules/attitude_estimator_ekf/codegen/rt_nonfinite.h b/src/modules/attitude_estimator_ekf/codegen/rt_nonfinite.h new file mode 100755 index 000000000..bd56b30d9 --- /dev/null +++ b/src/modules/attitude_estimator_ekf/codegen/rt_nonfinite.h @@ -0,0 +1,53 @@ +/* + * rt_nonfinite.h + * + * Code generation for function 'attitudeKalmanfilter' + * + * C source code generated on: Sat Jan 19 15:25:29 2013 + * + */ + +#ifndef __RT_NONFINITE_H__ +#define __RT_NONFINITE_H__ + +#if defined(_MSC_VER) && (_MSC_VER <= 1200) +#include +#endif +#include +#include "rtwtypes.h" + +extern real_T rtInf; +extern real_T rtMinusInf; +extern real_T rtNaN; +extern real32_T rtInfF; +extern real32_T rtMinusInfF; +extern real32_T rtNaNF; +extern void rt_InitInfAndNaN(size_t realSize); +extern boolean_T rtIsInf(real_T value); +extern boolean_T rtIsInfF(real32_T value); +extern boolean_T rtIsNaN(real_T value); +extern boolean_T rtIsNaNF(real32_T value); + +typedef struct { + struct { + uint32_T wordH; + uint32_T wordL; + } words; +} BigEndianIEEEDouble; + +typedef struct { + struct { + uint32_T wordL; + uint32_T wordH; + } words; +} LittleEndianIEEEDouble; + +typedef struct { + union { + real32_T wordLreal; + uint32_T wordLuint; + } wordL; +} IEEESingle; + +#endif +/* End of code generation (rt_nonfinite.h) */ diff --git a/src/modules/attitude_estimator_ekf/codegen/rtwtypes.h b/src/modules/attitude_estimator_ekf/codegen/rtwtypes.h new file mode 100755 index 000000000..9a5c96267 --- /dev/null +++ b/src/modules/attitude_estimator_ekf/codegen/rtwtypes.h @@ -0,0 +1,159 @@ +/* + * rtwtypes.h + * + * Code generation for function 'attitudeKalmanfilter' + * + * C source code generated on: Sat Jan 19 15:25:29 2013 + * + */ + +#ifndef __RTWTYPES_H__ +#define __RTWTYPES_H__ +#ifndef TRUE +# define TRUE (1U) +#endif +#ifndef FALSE +# define FALSE (0U) +#endif +#ifndef __TMWTYPES__ +#define __TMWTYPES__ + +#include + +/*=======================================================================* + * Target hardware information + * Device type: Generic->MATLAB Host Computer + * Number of bits: char: 8 short: 16 int: 32 + * long: 32 native word size: 32 + * Byte ordering: LittleEndian + * Signed integer division rounds to: Zero + * Shift right on a signed integer as arithmetic shift: on + *=======================================================================*/ + +/*=======================================================================* + * Fixed width word size data types: * + * int8_T, int16_T, int32_T - signed 8, 16, or 32 bit integers * + * uint8_T, uint16_T, uint32_T - unsigned 8, 16, or 32 bit integers * + * real32_T, real64_T - 32 and 64 bit floating point numbers * + *=======================================================================*/ + +typedef signed char int8_T; +typedef unsigned char uint8_T; +typedef short int16_T; +typedef unsigned short uint16_T; +typedef int int32_T; +typedef unsigned int uint32_T; +typedef float real32_T; +typedef double real64_T; + +/*===========================================================================* + * Generic type definitions: real_T, time_T, boolean_T, int_T, uint_T, * + * ulong_T, char_T and byte_T. * + *===========================================================================*/ + +typedef double real_T; +typedef double time_T; +typedef unsigned char boolean_T; +typedef int int_T; +typedef unsigned int uint_T; +typedef unsigned long ulong_T; +typedef char char_T; +typedef char_T byte_T; + +/*===========================================================================* + * Complex number type definitions * + *===========================================================================*/ +#define CREAL_T + typedef struct { + real32_T re; + real32_T im; + } creal32_T; + + typedef struct { + real64_T re; + real64_T im; + } creal64_T; + + typedef struct { + real_T re; + real_T im; + } creal_T; + + typedef struct { + int8_T re; + int8_T im; + } cint8_T; + + typedef struct { + uint8_T re; + uint8_T im; + } cuint8_T; + + typedef struct { + int16_T re; + int16_T im; + } cint16_T; + + typedef struct { + uint16_T re; + uint16_T im; + } cuint16_T; + + typedef struct { + int32_T re; + int32_T im; + } cint32_T; + + typedef struct { + uint32_T re; + uint32_T im; + } cuint32_T; + + +/*=======================================================================* + * Min and Max: * + * int8_T, int16_T, int32_T - signed 8, 16, or 32 bit integers * + * uint8_T, uint16_T, uint32_T - unsigned 8, 16, or 32 bit integers * + *=======================================================================*/ + +#define MAX_int8_T ((int8_T)(127)) +#define MIN_int8_T ((int8_T)(-128)) +#define MAX_uint8_T ((uint8_T)(255)) +#define MIN_uint8_T ((uint8_T)(0)) +#define MAX_int16_T ((int16_T)(32767)) +#define MIN_int16_T ((int16_T)(-32768)) +#define MAX_uint16_T ((uint16_T)(65535)) +#define MIN_uint16_T ((uint16_T)(0)) +#define MAX_int32_T ((int32_T)(2147483647)) +#define MIN_int32_T ((int32_T)(-2147483647-1)) +#define MAX_uint32_T ((uint32_T)(0xFFFFFFFFU)) +#define MIN_uint32_T ((uint32_T)(0)) + +/* Logical type definitions */ +#if !defined(__cplusplus) && !defined(__true_false_are_keywords) +# ifndef false +# define false (0U) +# endif +# ifndef true +# define true (1U) +# endif +#endif + +/* + * MATLAB for code generation assumes the code is compiled on a target using a 2's compliment representation + * for signed integer values. + */ +#if ((SCHAR_MIN + 1) != -SCHAR_MAX) +#error "This code must be compiled using a 2's complement representation for signed integer values" +#endif + +/* + * Maximum length of a MATLAB identifier (function/variable) + * including the null-termination character. Referenced by + * rt_logging.c and rt_matrx.c. + */ +#define TMW_NAME_LENGTH_MAX 64 + +#endif +#endif +/* End of code generation (rtwtypes.h) */ diff --git a/src/modules/attitude_estimator_ekf/module.mk b/src/modules/attitude_estimator_ekf/module.mk new file mode 100644 index 000000000..5ce545112 --- /dev/null +++ b/src/modules/attitude_estimator_ekf/module.mk @@ -0,0 +1,16 @@ + +MODULE_NAME = attitude_estimator_ekf +SRCS = attitude_estimator_ekf_main.cpp \ + attitude_estimator_ekf_params.c \ + codegen/attitudeKalmanfilter_initialize.c \ + codegen/attitudeKalmanfilter_terminate.c \ + codegen/attitudeKalmanfilter.c \ + codegen/cross.c \ + codegen/eye.c \ + codegen/mrdivide.c \ + codegen/norm.c \ + codegen/rdivide.c \ + codegen/rt_nonfinite.c \ + codegen/rtGetInf.c \ + codegen/rtGetNaN.c + diff --git a/src/modules/commander/calibration_routines.c b/src/modules/commander/calibration_routines.c new file mode 100644 index 000000000..a26938637 --- /dev/null +++ b/src/modules/commander/calibration_routines.c @@ -0,0 +1,219 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file calibration_routines.c + * Calibration routines implementations. + * + * @author Lorenz Meier + */ + +#include + +#include "calibration_routines.h" + + +int sphere_fit_least_squares(const float x[], const float y[], const float z[], + unsigned int size, unsigned int max_iterations, float delta, float *sphere_x, float *sphere_y, float *sphere_z, float *sphere_radius) +{ + + float x_sumplain = 0.0f; + float x_sumsq = 0.0f; + float x_sumcube = 0.0f; + + float y_sumplain = 0.0f; + float y_sumsq = 0.0f; + float y_sumcube = 0.0f; + + float z_sumplain = 0.0f; + float z_sumsq = 0.0f; + float z_sumcube = 0.0f; + + float xy_sum = 0.0f; + float xz_sum = 0.0f; + float yz_sum = 0.0f; + + float x2y_sum = 0.0f; + float x2z_sum = 0.0f; + float y2x_sum = 0.0f; + float y2z_sum = 0.0f; + float z2x_sum = 0.0f; + float z2y_sum = 0.0f; + + for (unsigned int i = 0; i < size; i++) { + + float x2 = x[i] * x[i]; + float y2 = y[i] * y[i]; + float z2 = z[i] * z[i]; + + x_sumplain += x[i]; + x_sumsq += x2; + x_sumcube += x2 * x[i]; + + y_sumplain += y[i]; + y_sumsq += y2; + y_sumcube += y2 * y[i]; + + z_sumplain += z[i]; + z_sumsq += z2; + z_sumcube += z2 * z[i]; + + xy_sum += x[i] * y[i]; + xz_sum += x[i] * z[i]; + yz_sum += y[i] * z[i]; + + x2y_sum += x2 * y[i]; + x2z_sum += x2 * z[i]; + + y2x_sum += y2 * x[i]; + y2z_sum += y2 * z[i]; + + z2x_sum += z2 * x[i]; + z2y_sum += z2 * y[i]; + } + + // + //Least Squares Fit a sphere A,B,C with radius squared Rsq to 3D data + // + // P is a structure that has been computed with the data earlier. + // P.npoints is the number of elements; the length of X,Y,Z are identical. + // P's members are logically named. + // + // X[n] is the x component of point n + // Y[n] is the y component of point n + // Z[n] is the z component of point n + // + // A is the x coordiante of the sphere + // B is the y coordiante of the sphere + // C is the z coordiante of the sphere + // Rsq is the radius squared of the sphere. + // + //This method should converge; maybe 5-100 iterations or more. + // + float x_sum = x_sumplain / size; //sum( X[n] ) + float x_sum2 = x_sumsq / size; //sum( X[n]^2 ) + float x_sum3 = x_sumcube / size; //sum( X[n]^3 ) + float y_sum = y_sumplain / size; //sum( Y[n] ) + float y_sum2 = y_sumsq / size; //sum( Y[n]^2 ) + float y_sum3 = y_sumcube / size; //sum( Y[n]^3 ) + float z_sum = z_sumplain / size; //sum( Z[n] ) + float z_sum2 = z_sumsq / size; //sum( Z[n]^2 ) + float z_sum3 = z_sumcube / size; //sum( Z[n]^3 ) + + float XY = xy_sum / size; //sum( X[n] * Y[n] ) + float XZ = xz_sum / size; //sum( X[n] * Z[n] ) + float YZ = yz_sum / size; //sum( Y[n] * Z[n] ) + float X2Y = x2y_sum / size; //sum( X[n]^2 * Y[n] ) + float X2Z = x2z_sum / size; //sum( X[n]^2 * Z[n] ) + float Y2X = y2x_sum / size; //sum( Y[n]^2 * X[n] ) + float Y2Z = y2z_sum / size; //sum( Y[n]^2 * Z[n] ) + float Z2X = z2x_sum / size; //sum( Z[n]^2 * X[n] ) + float Z2Y = z2y_sum / size; //sum( Z[n]^2 * Y[n] ) + + //Reduction of multiplications + float F0 = x_sum2 + y_sum2 + z_sum2; + float F1 = 0.5f * F0; + float F2 = -8.0f * (x_sum3 + Y2X + Z2X); + float F3 = -8.0f * (X2Y + y_sum3 + Z2Y); + float F4 = -8.0f * (X2Z + Y2Z + z_sum3); + + //Set initial conditions: + float A = x_sum; + float B = y_sum; + float C = z_sum; + + //First iteration computation: + float A2 = A * A; + float B2 = B * B; + float C2 = C * C; + float QS = A2 + B2 + C2; + float QB = -2.0f * (A * x_sum + B * y_sum + C * z_sum); + + //Set initial conditions: + float Rsq = F0 + QB + QS; + + //First iteration computation: + float Q0 = 0.5f * (QS - Rsq); + float Q1 = F1 + Q0; + float Q2 = 8.0f * (QS - Rsq + QB + F0); + float aA, aB, aC, nA, nB, nC, dA, dB, dC; + + //Iterate N times, ignore stop condition. + int n = 0; + + while (n < max_iterations) { + n++; + + //Compute denominator: + aA = Q2 + 16.0f * (A2 - 2.0f * A * x_sum + x_sum2); + aB = Q2 + 16.0f * (B2 - 2.0f * B * y_sum + y_sum2); + aC = Q2 + 16.0f * (C2 - 2.0f * C * z_sum + z_sum2); + aA = (aA == 0.0f) ? 1.0f : aA; + aB = (aB == 0.0f) ? 1.0f : aB; + aC = (aC == 0.0f) ? 1.0f : aC; + + //Compute next iteration + nA = A - ((F2 + 16.0f * (B * XY + C * XZ + x_sum * (-A2 - Q0) + A * (x_sum2 + Q1 - C * z_sum - B * y_sum))) / aA); + nB = B - ((F3 + 16.0f * (A * XY + C * YZ + y_sum * (-B2 - Q0) + B * (y_sum2 + Q1 - A * x_sum - C * z_sum))) / aB); + nC = C - ((F4 + 16.0f * (A * XZ + B * YZ + z_sum * (-C2 - Q0) + C * (z_sum2 + Q1 - A * x_sum - B * y_sum))) / aC); + + //Check for stop condition + dA = (nA - A); + dB = (nB - B); + dC = (nC - C); + + if ((dA * dA + dB * dB + dC * dC) <= delta) { break; } + + //Compute next iteration's values + A = nA; + B = nB; + C = nC; + A2 = A * A; + B2 = B * B; + C2 = C * C; + QS = A2 + B2 + C2; + QB = -2.0f * (A * x_sum + B * y_sum + C * z_sum); + Rsq = F0 + QB + QS; + Q0 = 0.5f * (QS - Rsq); + Q1 = F1 + Q0; + Q2 = 8.0f * (QS - Rsq + QB + F0); + } + + *sphere_x = A; + *sphere_y = B; + *sphere_z = C; + *sphere_radius = sqrtf(Rsq); + + return 0; +} diff --git a/src/modules/commander/calibration_routines.h b/src/modules/commander/calibration_routines.h new file mode 100644 index 000000000..e3e7fbafd --- /dev/null +++ b/src/modules/commander/calibration_routines.h @@ -0,0 +1,61 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file calibration_routines.h + * Calibration routines definitions. + * + * @author Lorenz Meier + */ + +/** + * Least-squares fit of a sphere to a set of points. + * + * Fits a sphere to a set of points on the sphere surface. + * + * @param x point coordinates on the X axis + * @param y point coordinates on the Y axis + * @param z point coordinates on the Z axis + * @param size number of points + * @param max_iterations abort if maximum number of iterations have been reached. If unsure, set to 100. + * @param delta abort if error is below delta. If unsure, set to 0 to run max_iterations times. + * @param sphere_x coordinate of the sphere center on the X axis + * @param sphere_y coordinate of the sphere center on the Y axis + * @param sphere_z coordinate of the sphere center on the Z axis + * @param sphere_radius sphere radius + * + * @return 0 on success, 1 on failure + */ +int sphere_fit_least_squares(const float x[], const float y[], const float z[], + unsigned int size, unsigned int max_iterations, float delta, float *sphere_x, float *sphere_y, float *sphere_z, float *sphere_radius); \ No newline at end of file diff --git a/src/modules/commander/commander.c b/src/modules/commander/commander.c new file mode 100644 index 000000000..7c0a25f86 --- /dev/null +++ b/src/modules/commander/commander.c @@ -0,0 +1,2181 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: Petri Tanskanen + * Lorenz Meier + * Thomas Gubler + * Julian Oes + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file commander.c + * Main system state machine implementation. + * + * @author Petri Tanskanen + * @author Lorenz Meier + * @author Thomas Gubler + * @author Julian Oes + * + */ + +#include "commander.h" + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "state_machine_helper.h" +#include "systemlib/systemlib.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +/* XXX MOVE CALIBRATION TO SENSORS APP THREAD */ +#include +#include +#include +#include + +#include "calibration_routines.h" + + +PARAM_DEFINE_INT32(SYS_FAILSAVE_LL, 0); /**< Go into low-level failsafe after 0 ms */ +//PARAM_DEFINE_INT32(SYS_FAILSAVE_HL, 0); /**< Go into high-level failsafe after 0 ms */ +PARAM_DEFINE_FLOAT(TRIM_ROLL, 0.0f); +PARAM_DEFINE_FLOAT(TRIM_PITCH, 0.0f); +PARAM_DEFINE_FLOAT(TRIM_YAW, 0.0f); + +#include +extern struct system_load_s system_load; + +/* Decouple update interval and hysteris counters, all depends on intervals */ +#define COMMANDER_MONITORING_INTERVAL 50000 +#define COMMANDER_MONITORING_LOOPSPERMSEC (1/(COMMANDER_MONITORING_INTERVAL/1000.0f)) +#define LOW_VOLTAGE_BATTERY_COUNTER_LIMIT (LOW_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC) +#define CRITICAL_VOLTAGE_BATTERY_COUNTER_LIMIT (CRITICAL_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC) + +#define STICK_ON_OFF_LIMIT 0.75f +#define STICK_THRUST_RANGE 1.0f +#define STICK_ON_OFF_HYSTERESIS_TIME_MS 1000 +#define STICK_ON_OFF_COUNTER_LIMIT (STICK_ON_OFF_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC) + +#define GPS_FIX_TYPE_2D 2 +#define GPS_FIX_TYPE_3D 3 +#define GPS_QUALITY_GOOD_HYSTERIS_TIME_MS 5000 +#define GPS_QUALITY_GOOD_COUNTER_LIMIT (GPS_QUALITY_GOOD_HYSTERIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC) + +/* File descriptors */ +static int leds; +static int buzzer; +static int mavlink_fd; +static bool commander_initialized = false; +static struct vehicle_status_s current_status; /**< Main state machine */ +static orb_advert_t stat_pub; + +// static uint16_t nofix_counter = 0; +// static uint16_t gotfix_counter = 0; + +static unsigned int failsafe_lowlevel_timeout_ms; + +static bool thread_should_exit = false; /**< daemon exit flag */ +static bool thread_running = false; /**< daemon status flag */ +static int daemon_task; /**< Handle of daemon task / thread */ + +/* pthread loops */ +static void *orb_receive_loop(void *arg); + +__EXPORT int commander_main(int argc, char *argv[]); + +/** + * Mainloop of commander. + */ +int commander_thread_main(int argc, char *argv[]); + +static int buzzer_init(void); +static void buzzer_deinit(void); +static int led_init(void); +static void led_deinit(void); +static int led_toggle(int led); +static int led_on(int led); +static int led_off(int led); +static void do_gyro_calibration(int status_pub, struct vehicle_status_s *status); +static void do_mag_calibration(int status_pub, struct vehicle_status_s *status); +static void do_rc_calibration(int status_pub, struct vehicle_status_s *status); +static void do_accel_calibration(int status_pub, struct vehicle_status_s *status); +static void handle_command(int status_pub, struct vehicle_status_s *current_status, struct vehicle_command_s *cmd); + +int trigger_audio_alarm(uint8_t old_mode, uint8_t old_state, uint8_t new_mode, uint8_t new_state); + + + +/** + * Print the correct usage. + */ +static void usage(const char *reason); + +/** + * Sort calibration values. + * + * Sorts the calibration values with bubble sort. + * + * @param a The array to sort + * @param n The number of entries in the array + */ +// static void cal_bsort(float a[], int n); + +static int buzzer_init() +{ + buzzer = open("/dev/tone_alarm", O_WRONLY); + + if (buzzer < 0) { + warnx("Buzzer: open fail\n"); + return ERROR; + } + + return 0; +} + +static void buzzer_deinit() +{ + close(buzzer); +} + + +static int led_init() +{ + leds = open(LED_DEVICE_PATH, 0); + + if (leds < 0) { + warnx("LED: open fail\n"); + return ERROR; + } + + if (ioctl(leds, LED_ON, LED_BLUE) || ioctl(leds, LED_ON, LED_AMBER)) { + warnx("LED: ioctl fail\n"); + return ERROR; + } + + return 0; +} + +static void led_deinit() +{ + close(leds); +} + +static int led_toggle(int led) +{ + static int last_blue = LED_ON; + static int last_amber = LED_ON; + + if (led == LED_BLUE) last_blue = (last_blue == LED_ON) ? LED_OFF : LED_ON; + + if (led == LED_AMBER) last_amber = (last_amber == LED_ON) ? LED_OFF : LED_ON; + + return ioctl(leds, ((led == LED_BLUE) ? last_blue : last_amber), led); +} + +static int led_on(int led) +{ + return ioctl(leds, LED_ON, led); +} + +static int led_off(int led) +{ + return ioctl(leds, LED_OFF, led); +} + +enum AUDIO_PATTERN { + AUDIO_PATTERN_ERROR = 2, + AUDIO_PATTERN_NOTIFY_POSITIVE = 3, + AUDIO_PATTERN_NOTIFY_NEUTRAL = 4, + AUDIO_PATTERN_NOTIFY_NEGATIVE = 5, + AUDIO_PATTERN_NOTIFY_CHARGE = 6 +}; + +int trigger_audio_alarm(uint8_t old_mode, uint8_t old_state, uint8_t new_mode, uint8_t new_state) +{ + + /* Trigger alarm if going into any error state */ + if (((new_state == SYSTEM_STATE_GROUND_ERROR) && (old_state != SYSTEM_STATE_GROUND_ERROR)) || + ((new_state == SYSTEM_STATE_MISSION_ABORT) && (old_state != SYSTEM_STATE_MISSION_ABORT))) { + ioctl(buzzer, TONE_SET_ALARM, 0); + ioctl(buzzer, TONE_SET_ALARM, AUDIO_PATTERN_ERROR); + } + + /* Trigger neutral on arming / disarming */ + if (((new_state == SYSTEM_STATE_GROUND_READY) && (old_state != SYSTEM_STATE_GROUND_READY))) { + ioctl(buzzer, TONE_SET_ALARM, 0); + ioctl(buzzer, TONE_SET_ALARM, AUDIO_PATTERN_NOTIFY_NEUTRAL); + } + + /* Trigger Tetris on being bored */ + + return 0; +} + +void tune_confirm(void) +{ + ioctl(buzzer, TONE_SET_ALARM, 3); +} + +void tune_error(void) +{ + ioctl(buzzer, TONE_SET_ALARM, 4); +} + +void do_rc_calibration(int status_pub, struct vehicle_status_s *status) +{ + if (current_status.offboard_control_signal_lost) { + mavlink_log_critical(mavlink_fd, "TRIM CAL: ABORT. No RC signal."); + return; + } + + int sub_man = orb_subscribe(ORB_ID(manual_control_setpoint)); + struct manual_control_setpoint_s sp; + orb_copy(ORB_ID(manual_control_setpoint), sub_man, &sp); + + /* set parameters */ + + float p = sp.roll; + param_set(param_find("TRIM_ROLL"), &p); + p = sp.pitch; + param_set(param_find("TRIM_PITCH"), &p); + p = sp.yaw; + param_set(param_find("TRIM_YAW"), &p); + + /* store to permanent storage */ + /* auto-save to EEPROM */ + int save_ret = param_save_default(); + + if (save_ret != 0) { + mavlink_log_critical(mavlink_fd, "TRIM CAL: WARN: auto-save of params failed"); + } + + mavlink_log_info(mavlink_fd, "trim calibration done"); +} + +void do_mag_calibration(int status_pub, struct vehicle_status_s *status) +{ + + /* set to mag calibration mode */ + status->flag_preflight_mag_calibration = true; + state_machine_publish(status_pub, status, mavlink_fd); + + int sub_mag = orb_subscribe(ORB_ID(sensor_mag)); + struct mag_report mag; + + /* 45 seconds */ + uint64_t calibration_interval = 45 * 1000 * 1000; + + /* maximum 2000 values */ + const unsigned int calibration_maxcount = 500; + unsigned int calibration_counter = 0; + + /* limit update rate to get equally spaced measurements over time (in ms) */ + orb_set_interval(sub_mag, (calibration_interval / 1000) / calibration_maxcount); + + // XXX old cal + // * FLT_MIN is not the most negative float number, + // * but the smallest number by magnitude float can + // * represent. Use -FLT_MAX to initialize the most + // * negative number + + // float mag_max[3] = {-FLT_MAX, -FLT_MAX, -FLT_MAX}; + // float mag_min[3] = {FLT_MAX, FLT_MAX, FLT_MAX}; + + int fd = open(MAG_DEVICE_PATH, O_RDONLY); + + /* erase old calibration */ + struct mag_scale mscale_null = { + 0.0f, + 1.0f, + 0.0f, + 1.0f, + 0.0f, + 1.0f, + }; + + if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale_null)) { + warn("WARNING: failed to set scale / offsets for mag"); + mavlink_log_info(mavlink_fd, "failed to set scale / offsets for mag"); + } + + /* calibrate range */ + if (OK != ioctl(fd, MAGIOCCALIBRATE, fd)) { + warnx("failed to calibrate scale"); + } + + close(fd); + + /* calibrate offsets */ + + // uint64_t calibration_start = hrt_absolute_time(); + + uint64_t axis_deadline = hrt_absolute_time(); + uint64_t calibration_deadline = hrt_absolute_time() + calibration_interval; + + const char axislabels[3] = { 'X', 'Y', 'Z'}; + int axis_index = -1; + + float *x = (float *)malloc(sizeof(float) * calibration_maxcount); + float *y = (float *)malloc(sizeof(float) * calibration_maxcount); + float *z = (float *)malloc(sizeof(float) * calibration_maxcount); + + if (x == NULL || y == NULL || z == NULL) { + warnx("mag cal failed: out of memory"); + mavlink_log_info(mavlink_fd, "mag cal failed: out of memory"); + warnx("x:%p y:%p z:%p\n", x, y, z); + return; + } + + tune_confirm(); + sleep(2); + tune_confirm(); + + while (hrt_absolute_time() < calibration_deadline && + calibration_counter < calibration_maxcount) { + + /* wait blocking for new data */ + struct pollfd fds[1] = { { .fd = sub_mag, .events = POLLIN } }; + + /* user guidance */ + if (hrt_absolute_time() >= axis_deadline && + axis_index < 3) { + + axis_index++; + + char buf[50]; + sprintf(buf, "Please rotate around %c", axislabels[axis_index]); + mavlink_log_info(mavlink_fd, buf); + tune_confirm(); + + axis_deadline += calibration_interval / 3; + } + + if (!(axis_index < 3)) { + break; + } + + // int axis_left = (int64_t)axis_deadline - (int64_t)hrt_absolute_time(); + + // if ((axis_left / 1000) == 0 && axis_left > 0) { + // char buf[50]; + // sprintf(buf, "[cmd] %d seconds left for axis %c", axis_left, axislabels[axis_index]); + // mavlink_log_info(mavlink_fd, buf); + // } + + int poll_ret = poll(fds, 1, 1000); + + if (poll_ret) { + orb_copy(ORB_ID(sensor_mag), sub_mag, &mag); + + x[calibration_counter] = mag.x; + y[calibration_counter] = mag.y; + z[calibration_counter] = mag.z; + + /* get min/max values */ + + // if (mag.x < mag_min[0]) { + // mag_min[0] = mag.x; + // } + // else if (mag.x > mag_max[0]) { + // mag_max[0] = mag.x; + // } + + // if (raw.magnetometer_ga[1] < mag_min[1]) { + // mag_min[1] = raw.magnetometer_ga[1]; + // } + // else if (raw.magnetometer_ga[1] > mag_max[1]) { + // mag_max[1] = raw.magnetometer_ga[1]; + // } + + // if (raw.magnetometer_ga[2] < mag_min[2]) { + // mag_min[2] = raw.magnetometer_ga[2]; + // } + // else if (raw.magnetometer_ga[2] > mag_max[2]) { + // mag_max[2] = raw.magnetometer_ga[2]; + // } + + calibration_counter++; + + } else if (poll_ret == 0) { + /* any poll failure for 1s is a reason to abort */ + mavlink_log_info(mavlink_fd, "mag cal canceled (timed out)"); + break; + } + } + + float sphere_x; + float sphere_y; + float sphere_z; + float sphere_radius; + + sphere_fit_least_squares(x, y, z, calibration_counter, 100, 0.0f, &sphere_x, &sphere_y, &sphere_z, &sphere_radius); + + free(x); + free(y); + free(z); + + if (isfinite(sphere_x) && isfinite(sphere_y) && isfinite(sphere_z)) { + + fd = open(MAG_DEVICE_PATH, 0); + + struct mag_scale mscale; + + if (OK != ioctl(fd, MAGIOCGSCALE, (long unsigned int)&mscale)) + warn("WARNING: failed to get scale / offsets for mag"); + + mscale.x_offset = sphere_x; + mscale.y_offset = sphere_y; + mscale.z_offset = sphere_z; + + if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale)) + warn("WARNING: failed to set scale / offsets for mag"); + + close(fd); + + /* announce and set new offset */ + + if (param_set(param_find("SENS_MAG_XOFF"), &(mscale.x_offset))) { + warnx("Setting X mag offset failed!\n"); + } + + if (param_set(param_find("SENS_MAG_YOFF"), &(mscale.y_offset))) { + warnx("Setting Y mag offset failed!\n"); + } + + if (param_set(param_find("SENS_MAG_ZOFF"), &(mscale.z_offset))) { + warnx("Setting Z mag offset failed!\n"); + } + + if (param_set(param_find("SENS_MAG_XSCALE"), &(mscale.x_scale))) { + warnx("Setting X mag scale failed!\n"); + } + + if (param_set(param_find("SENS_MAG_YSCALE"), &(mscale.y_scale))) { + warnx("Setting Y mag scale failed!\n"); + } + + if (param_set(param_find("SENS_MAG_ZSCALE"), &(mscale.z_scale))) { + warnx("Setting Z mag scale failed!\n"); + } + + /* auto-save to EEPROM */ + int save_ret = param_save_default(); + + if (save_ret != 0) { + warn("WARNING: auto-save of params to storage failed"); + mavlink_log_info(mavlink_fd, "FAILED storing calibration"); + } + + warnx("\tscale: %.6f %.6f %.6f\n \toffset: %.6f %.6f %.6f\nradius: %.6f GA\n", + (double)mscale.x_scale, (double)mscale.y_scale, (double)mscale.z_scale, + (double)mscale.x_offset, (double)mscale.y_offset, (double)mscale.z_offset, (double)sphere_radius); + + char buf[52]; + sprintf(buf, "mag off: x:%.2f y:%.2f z:%.2f Ga", (double)mscale.x_offset, + (double)mscale.y_offset, (double)mscale.z_offset); + mavlink_log_info(mavlink_fd, buf); + + sprintf(buf, "mag scale: x:%.2f y:%.2f z:%.2f", (double)mscale.x_scale, + (double)mscale.y_scale, (double)mscale.z_scale); + mavlink_log_info(mavlink_fd, buf); + + mavlink_log_info(mavlink_fd, "mag calibration done"); + + tune_confirm(); + sleep(2); + tune_confirm(); + sleep(2); + /* third beep by cal end routine */ + + } else { + mavlink_log_info(mavlink_fd, "mag calibration FAILED (NaN in sphere fit)"); + } + + /* disable calibration mode */ + status->flag_preflight_mag_calibration = false; + state_machine_publish(status_pub, status, mavlink_fd); + + close(sub_mag); +} + +void do_gyro_calibration(int status_pub, struct vehicle_status_s *status) +{ + /* set to gyro calibration mode */ + status->flag_preflight_gyro_calibration = true; + state_machine_publish(status_pub, status, mavlink_fd); + + const int calibration_count = 5000; + + int sub_sensor_combined = orb_subscribe(ORB_ID(sensor_combined)); + struct sensor_combined_s raw; + + int calibration_counter = 0; + float gyro_offset[3] = {0.0f, 0.0f, 0.0f}; + + /* set offsets to zero */ + int fd = open(GYRO_DEVICE_PATH, 0); + struct gyro_scale gscale_null = { + 0.0f, + 1.0f, + 0.0f, + 1.0f, + 0.0f, + 1.0f, + }; + + if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale_null)) + warn("WARNING: failed to set scale / offsets for gyro"); + + close(fd); + + while (calibration_counter < calibration_count) { + + /* wait blocking for new data */ + struct pollfd fds[1] = { { .fd = sub_sensor_combined, .events = POLLIN } }; + + int poll_ret = poll(fds, 1, 1000); + + if (poll_ret) { + orb_copy(ORB_ID(sensor_combined), sub_sensor_combined, &raw); + gyro_offset[0] += raw.gyro_rad_s[0]; + gyro_offset[1] += raw.gyro_rad_s[1]; + gyro_offset[2] += raw.gyro_rad_s[2]; + calibration_counter++; + + } else if (poll_ret == 0) { + /* any poll failure for 1s is a reason to abort */ + mavlink_log_info(mavlink_fd, "gyro calibration aborted, retry"); + return; + } + } + + gyro_offset[0] = gyro_offset[0] / calibration_count; + gyro_offset[1] = gyro_offset[1] / calibration_count; + gyro_offset[2] = gyro_offset[2] / calibration_count; + + /* exit gyro calibration mode */ + status->flag_preflight_gyro_calibration = false; + state_machine_publish(status_pub, status, mavlink_fd); + + if (isfinite(gyro_offset[0]) && isfinite(gyro_offset[1]) && isfinite(gyro_offset[2])) { + + if (param_set(param_find("SENS_GYRO_XOFF"), &(gyro_offset[0])) + || param_set(param_find("SENS_GYRO_YOFF"), &(gyro_offset[1])) + || param_set(param_find("SENS_GYRO_ZOFF"), &(gyro_offset[2]))) { + mavlink_log_critical(mavlink_fd, "Setting gyro offsets failed!"); + } + + /* set offsets to actual value */ + fd = open(GYRO_DEVICE_PATH, 0); + struct gyro_scale gscale = { + gyro_offset[0], + 1.0f, + gyro_offset[1], + 1.0f, + gyro_offset[2], + 1.0f, + }; + + if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale)) + warn("WARNING: failed to set scale / offsets for gyro"); + + close(fd); + + /* auto-save to EEPROM */ + int save_ret = param_save_default(); + + if (save_ret != 0) { + warn("WARNING: auto-save of params to storage failed"); + } + + // char buf[50]; + // sprintf(buf, "cal: x:%8.4f y:%8.4f z:%8.4f", (double)gyro_offset[0], (double)gyro_offset[1], (double)gyro_offset[2]); + // mavlink_log_info(mavlink_fd, buf); + mavlink_log_info(mavlink_fd, "gyro calibration done"); + + tune_confirm(); + sleep(2); + tune_confirm(); + sleep(2); + /* third beep by cal end routine */ + + } else { + mavlink_log_info(mavlink_fd, "gyro calibration FAILED (NaN)"); + } + + close(sub_sensor_combined); +} + +void do_accel_calibration(int status_pub, struct vehicle_status_s *status) +{ + /* announce change */ + + mavlink_log_info(mavlink_fd, "keep it level and still"); + /* set to accel calibration mode */ + status->flag_preflight_accel_calibration = true; + state_machine_publish(status_pub, status, mavlink_fd); + + const int calibration_count = 2500; + + int sub_sensor_combined = orb_subscribe(ORB_ID(sensor_combined)); + struct sensor_combined_s raw; + + int calibration_counter = 0; + float accel_offset[3] = {0.0f, 0.0f, 0.0f}; + + int fd = open(ACCEL_DEVICE_PATH, 0); + struct accel_scale ascale_null = { + 0.0f, + 1.0f, + 0.0f, + 1.0f, + 0.0f, + 1.0f, + }; + + if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale_null)) + warn("WARNING: failed to set scale / offsets for accel"); + + close(fd); + + while (calibration_counter < calibration_count) { + + /* wait blocking for new data */ + struct pollfd fds[1] = { { .fd = sub_sensor_combined, .events = POLLIN } }; + + int poll_ret = poll(fds, 1, 1000); + + if (poll_ret) { + orb_copy(ORB_ID(sensor_combined), sub_sensor_combined, &raw); + accel_offset[0] += raw.accelerometer_m_s2[0]; + accel_offset[1] += raw.accelerometer_m_s2[1]; + accel_offset[2] += raw.accelerometer_m_s2[2]; + calibration_counter++; + + } else if (poll_ret == 0) { + /* any poll failure for 1s is a reason to abort */ + mavlink_log_info(mavlink_fd, "acceleration calibration aborted"); + return; + } + } + + accel_offset[0] = accel_offset[0] / calibration_count; + accel_offset[1] = accel_offset[1] / calibration_count; + accel_offset[2] = accel_offset[2] / calibration_count; + + if (isfinite(accel_offset[0]) && isfinite(accel_offset[1]) && isfinite(accel_offset[2])) { + + /* add the removed length from x / y to z, since we induce a scaling issue else */ + float total_len = sqrtf(accel_offset[0] * accel_offset[0] + accel_offset[1] * accel_offset[1] + accel_offset[2] * accel_offset[2]); + + /* if length is correct, zero results here */ + accel_offset[2] = accel_offset[2] + total_len; + + float scale = 9.80665f / total_len; + + if (param_set(param_find("SENS_ACC_XOFF"), &(accel_offset[0])) + || param_set(param_find("SENS_ACC_YOFF"), &(accel_offset[1])) + || param_set(param_find("SENS_ACC_ZOFF"), &(accel_offset[2])) + || param_set(param_find("SENS_ACC_XSCALE"), &(scale)) + || param_set(param_find("SENS_ACC_YSCALE"), &(scale)) + || param_set(param_find("SENS_ACC_ZSCALE"), &(scale))) { + mavlink_log_critical(mavlink_fd, "Setting offs or scale failed!"); + } + + fd = open(ACCEL_DEVICE_PATH, 0); + struct accel_scale ascale = { + accel_offset[0], + scale, + accel_offset[1], + scale, + accel_offset[2], + scale, + }; + + if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale)) + warn("WARNING: failed to set scale / offsets for accel"); + + close(fd); + + /* auto-save to EEPROM */ + int save_ret = param_save_default(); + + if (save_ret != 0) { + warn("WARNING: auto-save of params to storage failed"); + } + + //char buf[50]; + //sprintf(buf, "[cmd] accel cal: x:%8.4f y:%8.4f z:%8.4f\n", (double)accel_offset[0], (double)accel_offset[1], (double)accel_offset[2]); + //mavlink_log_info(mavlink_fd, buf); + mavlink_log_info(mavlink_fd, "accel calibration done"); + + tune_confirm(); + sleep(2); + tune_confirm(); + sleep(2); + /* third beep by cal end routine */ + + } else { + mavlink_log_info(mavlink_fd, "accel calibration FAILED (NaN)"); + } + + /* exit accel calibration mode */ + status->flag_preflight_accel_calibration = false; + state_machine_publish(status_pub, status, mavlink_fd); + + close(sub_sensor_combined); +} + +void do_airspeed_calibration(int status_pub, struct vehicle_status_s *status) +{ + /* announce change */ + + mavlink_log_info(mavlink_fd, "keep it still"); + /* set to accel calibration mode */ + status->flag_preflight_airspeed_calibration = true; + state_machine_publish(status_pub, status, mavlink_fd); + + const int calibration_count = 2500; + + int sub_differential_pressure = orb_subscribe(ORB_ID(differential_pressure)); + struct differential_pressure_s differential_pressure; + + int calibration_counter = 0; + float airspeed_offset = 0.0f; + + while (calibration_counter < calibration_count) { + + /* wait blocking for new data */ + struct pollfd fds[1] = { { .fd = sub_differential_pressure, .events = POLLIN } }; + + int poll_ret = poll(fds, 1, 1000); + + if (poll_ret) { + orb_copy(ORB_ID(differential_pressure), sub_differential_pressure, &differential_pressure); + airspeed_offset += differential_pressure.voltage; + calibration_counter++; + + } else if (poll_ret == 0) { + /* any poll failure for 1s is a reason to abort */ + mavlink_log_info(mavlink_fd, "airspeed calibration aborted"); + return; + } + } + + airspeed_offset = airspeed_offset / calibration_count; + + if (isfinite(airspeed_offset)) { + + if (param_set(param_find("SENS_VAIR_OFF"), &(airspeed_offset))) { + mavlink_log_critical(mavlink_fd, "Setting offs failed!"); + } + + /* auto-save to EEPROM */ + int save_ret = param_save_default(); + + if (save_ret != 0) { + warn("WARNING: auto-save of params to storage failed"); + } + + //char buf[50]; + //sprintf(buf, "[cmd] accel cal: x:%8.4f y:%8.4f z:%8.4f\n", (double)accel_offset[0], (double)accel_offset[1], (double)accel_offset[2]); + //mavlink_log_info(mavlink_fd, buf); + mavlink_log_info(mavlink_fd, "airspeed calibration done"); + + tune_confirm(); + sleep(2); + tune_confirm(); + sleep(2); + /* third beep by cal end routine */ + + } else { + mavlink_log_info(mavlink_fd, "airspeed calibration FAILED (NaN)"); + } + + /* exit airspeed calibration mode */ + status->flag_preflight_airspeed_calibration = false; + state_machine_publish(status_pub, status, mavlink_fd); + + close(sub_differential_pressure); +} + + + +void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_status, struct vehicle_command_s *cmd) +{ + /* result of the command */ + uint8_t result = VEHICLE_CMD_RESULT_UNSUPPORTED; + + /* announce command handling */ + tune_confirm(); + + + /* supported command handling start */ + + /* request to set different system mode */ + switch (cmd->command) { + case VEHICLE_CMD_DO_SET_MODE: { + if (OK == update_state_machine_mode_request(status_pub, current_vehicle_status, mavlink_fd, (uint8_t)cmd->param1)) { + result = VEHICLE_CMD_RESULT_ACCEPTED; + + } else { + result = VEHICLE_CMD_RESULT_DENIED; + } + } + break; + + case VEHICLE_CMD_COMPONENT_ARM_DISARM: { + /* request to arm */ + if ((int)cmd->param1 == 1) { + if (OK == update_state_machine_mode_request(status_pub, current_vehicle_status, mavlink_fd, VEHICLE_MODE_FLAG_SAFETY_ARMED)) { + result = VEHICLE_CMD_RESULT_ACCEPTED; + + } else { + result = VEHICLE_CMD_RESULT_DENIED; + } + + /* request to disarm */ + + } else if ((int)cmd->param1 == 0) { + if (OK == update_state_machine_mode_request(status_pub, current_vehicle_status, mavlink_fd, VEHICLE_MODE_FLAG_SAFETY_ARMED)) { + result = VEHICLE_CMD_RESULT_ACCEPTED; + + } else { + result = VEHICLE_CMD_RESULT_DENIED; + } + } + } + break; + + /* request for an autopilot reboot */ + case VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN: { + if ((int)cmd->param1 == 1) { + if (OK == do_state_update(status_pub, current_vehicle_status, mavlink_fd, SYSTEM_STATE_REBOOT)) { + /* SPECIAL CASE: SYSTEM WILL NEVER RETURN HERE */ + result = VEHICLE_CMD_RESULT_ACCEPTED; + + } else { + /* system may return here */ + result = VEHICLE_CMD_RESULT_DENIED; + } + } + } + break; + +// /* request to land */ +// case VEHICLE_CMD_NAV_LAND: +// { +// //TODO: add check if landing possible +// //TODO: add landing maneuver +// +// if (0 == update_state_machine_custom_mode_request(status_pub, current_vehicle_status, SYSTEM_STATE_ARMED)) { +// result = VEHICLE_CMD_RESULT_ACCEPTED; +// } } +// break; +// +// /* request to takeoff */ +// case VEHICLE_CMD_NAV_TAKEOFF: +// { +// //TODO: add check if takeoff possible +// //TODO: add takeoff maneuver +// +// if (0 == update_state_machine_custom_mode_request(status_pub, current_vehicle_status, SYSTEM_STATE_AUTO)) { +// result = VEHICLE_CMD_RESULT_ACCEPTED; +// } +// } +// break; +// + /* preflight calibration */ + case VEHICLE_CMD_PREFLIGHT_CALIBRATION: { + bool handled = false; + + /* gyro calibration */ + if ((int)(cmd->param1) == 1) { + /* transition to calibration state */ + do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT); + + if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) { + mavlink_log_info(mavlink_fd, "starting gyro cal"); + tune_confirm(); + do_gyro_calibration(status_pub, ¤t_status); + mavlink_log_info(mavlink_fd, "finished gyro cal"); + tune_confirm(); + do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_STANDBY); + result = VEHICLE_CMD_RESULT_ACCEPTED; + + } else { + mavlink_log_critical(mavlink_fd, "REJECTING gyro cal"); + result = VEHICLE_CMD_RESULT_DENIED; + } + + handled = true; + } + + /* magnetometer calibration */ + if ((int)(cmd->param2) == 1) { + /* transition to calibration state */ + do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT); + + if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) { + mavlink_log_info(mavlink_fd, "starting mag cal"); + tune_confirm(); + do_mag_calibration(status_pub, ¤t_status); + mavlink_log_info(mavlink_fd, "finished mag cal"); + tune_confirm(); + do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_STANDBY); + result = VEHICLE_CMD_RESULT_ACCEPTED; + + } else { + mavlink_log_critical(mavlink_fd, "REJECTING mag cal"); + result = VEHICLE_CMD_RESULT_DENIED; + } + + handled = true; + } + + /* zero-altitude pressure calibration */ + if ((int)(cmd->param3) == 1) { + /* transition to calibration state */ + do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT); + + if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) { + mavlink_log_info(mavlink_fd, "zero altitude cal. not implemented"); + tune_confirm(); + + } else { + mavlink_log_critical(mavlink_fd, "REJECTING altitude calibration"); + result = VEHICLE_CMD_RESULT_DENIED; + } + + handled = true; + } + + /* trim calibration */ + if ((int)(cmd->param4) == 1) { + /* transition to calibration state */ + do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT); + + if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) { + mavlink_log_info(mavlink_fd, "starting trim cal"); + tune_confirm(); + do_rc_calibration(status_pub, ¤t_status); + mavlink_log_info(mavlink_fd, "finished trim cal"); + tune_confirm(); + do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_STANDBY); + result = VEHICLE_CMD_RESULT_ACCEPTED; + + } else { + mavlink_log_critical(mavlink_fd, "REJECTING trim cal"); + result = VEHICLE_CMD_RESULT_DENIED; + } + + handled = true; + } + + /* accel calibration */ + if ((int)(cmd->param5) == 1) { + /* transition to calibration state */ + do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT); + + if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) { + mavlink_log_info(mavlink_fd, "CMD starting accel cal"); + tune_confirm(); + do_accel_calibration(status_pub, ¤t_status); + tune_confirm(); + mavlink_log_info(mavlink_fd, "CMD finished accel cal"); + do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_STANDBY); + result = VEHICLE_CMD_RESULT_ACCEPTED; + + } else { + mavlink_log_critical(mavlink_fd, "REJECTING accel cal"); + result = VEHICLE_CMD_RESULT_DENIED; + } + + handled = true; + } + + /* airspeed calibration */ + if ((int)(cmd->param6) == 1) { //xxx: this is not defined by the mavlink protocol + /* transition to calibration state */ + do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT); + + if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) { + mavlink_log_info(mavlink_fd, "CMD starting airspeed cal"); + tune_confirm(); + do_airspeed_calibration(status_pub, ¤t_status); + tune_confirm(); + mavlink_log_info(mavlink_fd, "CMD finished airspeed cal"); + do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_STANDBY); + result = VEHICLE_CMD_RESULT_ACCEPTED; + + } else { + mavlink_log_critical(mavlink_fd, "REJECTING airspeed cal"); + result = VEHICLE_CMD_RESULT_DENIED; + } + + handled = true; + } + + /* none found */ + if (!handled) { + //warnx("refusing unsupported calibration request\n"); + mavlink_log_critical(mavlink_fd, "CMD refusing unsup. calib. request"); + result = VEHICLE_CMD_RESULT_UNSUPPORTED; + } + } + break; + + case VEHICLE_CMD_PREFLIGHT_STORAGE: { + if (current_status.flag_system_armed && + ((current_status.system_type == VEHICLE_TYPE_QUADROTOR) || + (current_status.system_type == VEHICLE_TYPE_HEXAROTOR) || + (current_status.system_type == VEHICLE_TYPE_OCTOROTOR))) { + /* do not perform expensive memory tasks on multirotors in flight */ + // XXX this is over-safe, as soon as cmd is in low prio thread this can be allowed + mavlink_log_info(mavlink_fd, "REJECTING save cmd while multicopter armed"); + + } else { + + // XXX move this to LOW PRIO THREAD of commander app + /* Read all parameters from EEPROM to RAM */ + + if (((int)(cmd->param1)) == 0) { + + /* read all parameters from EEPROM to RAM */ + int read_ret = param_load_default(); + + if (read_ret == OK) { + //warnx("[mavlink pm] Loaded EEPROM params in RAM\n"); + mavlink_log_info(mavlink_fd, "OK loading params from"); + mavlink_log_info(mavlink_fd, param_get_default_file()); + result = VEHICLE_CMD_RESULT_ACCEPTED; + + } else if (read_ret == 1) { + mavlink_log_info(mavlink_fd, "OK no changes in"); + mavlink_log_info(mavlink_fd, param_get_default_file()); + result = VEHICLE_CMD_RESULT_ACCEPTED; + + } else { + if (read_ret < -1) { + mavlink_log_info(mavlink_fd, "ERR loading params from"); + mavlink_log_info(mavlink_fd, param_get_default_file()); + + } else { + mavlink_log_info(mavlink_fd, "ERR no param file named"); + mavlink_log_info(mavlink_fd, param_get_default_file()); + } + + result = VEHICLE_CMD_RESULT_FAILED; + } + + } else if (((int)(cmd->param1)) == 1) { + + /* write all parameters from RAM to EEPROM */ + int write_ret = param_save_default(); + + if (write_ret == OK) { + mavlink_log_info(mavlink_fd, "OK saved param file"); + mavlink_log_info(mavlink_fd, param_get_default_file()); + result = VEHICLE_CMD_RESULT_ACCEPTED; + + } else { + if (write_ret < -1) { + mavlink_log_info(mavlink_fd, "ERR params file does not exit:"); + mavlink_log_info(mavlink_fd, param_get_default_file()); + + } else { + mavlink_log_info(mavlink_fd, "ERR writing params to"); + mavlink_log_info(mavlink_fd, param_get_default_file()); + } + + result = VEHICLE_CMD_RESULT_FAILED; + } + + } else { + mavlink_log_info(mavlink_fd, "[pm] refusing unsupp. STOR request"); + result = VEHICLE_CMD_RESULT_UNSUPPORTED; + } + } + } + break; + + default: { + mavlink_log_critical(mavlink_fd, "[cmd] refusing unsupported command"); + result = VEHICLE_CMD_RESULT_UNSUPPORTED; + /* announce command rejection */ + ioctl(buzzer, TONE_SET_ALARM, 4); + } + break; + } + + /* supported command handling stop */ + if (result == VEHICLE_CMD_RESULT_FAILED || + result == VEHICLE_CMD_RESULT_DENIED || + result == VEHICLE_CMD_RESULT_UNSUPPORTED) { + ioctl(buzzer, TONE_SET_ALARM, 5); + + } else if (result == VEHICLE_CMD_RESULT_ACCEPTED) { + tune_confirm(); + } + + /* send any requested ACKs */ + if (cmd->confirmation > 0) { + /* send acknowledge command */ + // XXX TODO + } + +} + +static void *orb_receive_loop(void *arg) //handles status information coming from subsystems (present, enabled, health), these values do not indicate the quality (variance) of the signal +{ + /* Set thread name */ + prctl(PR_SET_NAME, "commander orb rcv", getpid()); + + /* Subscribe to command topic */ + int subsys_sub = orb_subscribe(ORB_ID(subsystem_info)); + struct subsystem_info_s info; + + struct vehicle_status_s *vstatus = (struct vehicle_status_s *)arg; + + while (!thread_should_exit) { + struct pollfd fds[1] = { { .fd = subsys_sub, .events = POLLIN } }; + + if (poll(fds, 1, 5000) == 0) { + /* timeout, but this is no problem, silently ignore */ + } else { + /* got command */ + orb_copy(ORB_ID(subsystem_info), subsys_sub, &info); + + warnx("Subsys changed: %d\n", (int)info.subsystem_type); + + /* mark / unmark as present */ + if (info.present) { + vstatus->onboard_control_sensors_present |= info.subsystem_type; + + } else { + vstatus->onboard_control_sensors_present &= ~info.subsystem_type; + } + + /* mark / unmark as enabled */ + if (info.enabled) { + vstatus->onboard_control_sensors_enabled |= info.subsystem_type; + + } else { + vstatus->onboard_control_sensors_enabled &= ~info.subsystem_type; + } + + /* mark / unmark as ok */ + if (info.ok) { + vstatus->onboard_control_sensors_health |= info.subsystem_type; + + } else { + vstatus->onboard_control_sensors_health &= ~info.subsystem_type; + } + } + } + + close(subsys_sub); + + return NULL; +} + +/* + * Provides a coarse estimate of remaining battery power. + * + * The estimate is very basic and based on decharging voltage curves. + * + * @return the estimated remaining capacity in 0..1 + */ +float battery_remaining_estimate_voltage(float voltage); + +PARAM_DEFINE_FLOAT(BAT_V_EMPTY, 3.2f); +PARAM_DEFINE_FLOAT(BAT_V_FULL, 4.05f); +PARAM_DEFINE_FLOAT(BAT_N_CELLS, 3); + +float battery_remaining_estimate_voltage(float voltage) +{ + float ret = 0; + static param_t bat_volt_empty; + static param_t bat_volt_full; + static param_t bat_n_cells; + static bool initialized = false; + static unsigned int counter = 0; + static float ncells = 3; + // XXX change cells to int (and param to INT32) + + if (!initialized) { + bat_volt_empty = param_find("BAT_V_EMPTY"); + bat_volt_full = param_find("BAT_V_FULL"); + bat_n_cells = param_find("BAT_N_CELLS"); + initialized = true; + } + + static float chemistry_voltage_empty = 3.2f; + static float chemistry_voltage_full = 4.05f; + + if (counter % 100 == 0) { + param_get(bat_volt_empty, &chemistry_voltage_empty); + param_get(bat_volt_full, &chemistry_voltage_full); + param_get(bat_n_cells, &ncells); + } + + counter++; + + ret = (voltage - ncells * chemistry_voltage_empty) / (ncells * (chemistry_voltage_full - chemistry_voltage_empty)); + + /* limit to sane values */ + ret = (ret < 0) ? 0 : ret; + ret = (ret > 1) ? 1 : ret; + return ret; +} + +static void +usage(const char *reason) +{ + if (reason) + fprintf(stderr, "%s\n", reason); + + fprintf(stderr, "usage: daemon {start|stop|status} [-p ]\n\n"); + exit(1); +} + +/** + * The daemon app only briefly exists to start + * the background job. The stack size assigned in the + * Makefile does only apply to this management task. + * + * The actual stack size should be set in the call + * to task_create(). + */ +int commander_main(int argc, char *argv[]) +{ + if (argc < 1) + usage("missing command"); + + if (!strcmp(argv[1], "start")) { + + if (thread_running) { + warnx("commander already running\n"); + /* this is not an error */ + exit(0); + } + + thread_should_exit = false; + daemon_task = task_spawn("commander", + SCHED_DEFAULT, + SCHED_PRIORITY_MAX - 40, + 3000, + commander_thread_main, + (argv) ? (const char **)&argv[2] : (const char **)NULL); + exit(0); + } + + if (!strcmp(argv[1], "stop")) { + thread_should_exit = true; + exit(0); + } + + if (!strcmp(argv[1], "status")) { + if (thread_running) { + warnx("\tcommander is running\n"); + + } else { + warnx("\tcommander not started\n"); + } + + exit(0); + } + + usage("unrecognized command"); + exit(1); +} + +int commander_thread_main(int argc, char *argv[]) +{ + /* not yet initialized */ + commander_initialized = false; + bool home_position_set = false; + + /* set parameters */ + failsafe_lowlevel_timeout_ms = 0; + param_get(param_find("SYS_FAILSAVE_LL"), &failsafe_lowlevel_timeout_ms); + + param_t _param_sys_type = param_find("MAV_TYPE"); + param_t _param_system_id = param_find("MAV_SYS_ID"); + param_t _param_component_id = param_find("MAV_COMP_ID"); + + /* welcome user */ + warnx("I am in command now!\n"); + + /* pthreads for command and subsystem info handling */ + // pthread_t command_handling_thread; + pthread_t subsystem_info_thread; + + /* initialize */ + if (led_init() != 0) { + warnx("ERROR: Failed to initialize leds\n"); + } + + if (buzzer_init() != 0) { + warnx("ERROR: Failed to initialize buzzer\n"); + } + + mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); + + if (mavlink_fd < 0) { + warnx("ERROR: Failed to open MAVLink log stream, start mavlink app first.\n"); + } + + /* make sure we are in preflight state */ + memset(¤t_status, 0, sizeof(current_status)); + current_status.state_machine = SYSTEM_STATE_PREFLIGHT; + current_status.flag_system_armed = false; + /* neither manual nor offboard control commands have been received */ + current_status.offboard_control_signal_found_once = false; + current_status.rc_signal_found_once = false; + /* mark all signals lost as long as they haven't been found */ + current_status.rc_signal_lost = true; + current_status.offboard_control_signal_lost = true; + /* allow manual override initially */ + current_status.flag_external_manual_override_ok = true; + /* flag position info as bad, do not allow auto mode */ + current_status.flag_vector_flight_mode_ok = false; + /* set battery warning flag */ + current_status.battery_warning = VEHICLE_BATTERY_WARNING_NONE; + + /* advertise to ORB */ + stat_pub = orb_advertise(ORB_ID(vehicle_status), ¤t_status); + /* publish current state machine */ + state_machine_publish(stat_pub, ¤t_status, mavlink_fd); + + /* home position */ + orb_advert_t home_pub = -1; + struct home_position_s home; + memset(&home, 0, sizeof(home)); + + if (stat_pub < 0) { + warnx("ERROR: orb_advertise for topic vehicle_status failed (uorb app running?).\n"); + warnx("exiting."); + exit(ERROR); + } + + mavlink_log_info(mavlink_fd, "system is running"); + + /* create pthreads */ + pthread_attr_t subsystem_info_attr; + pthread_attr_init(&subsystem_info_attr); + pthread_attr_setstacksize(&subsystem_info_attr, 2048); + pthread_create(&subsystem_info_thread, &subsystem_info_attr, orb_receive_loop, ¤t_status); + + /* Start monitoring loop */ + uint16_t counter = 0; + uint8_t flight_env; + + /* Initialize to 0.0V */ + float battery_voltage = 0.0f; + bool battery_voltage_valid = false; + bool low_battery_voltage_actions_done = false; + bool critical_battery_voltage_actions_done = false; + uint8_t low_voltage_counter = 0; + uint16_t critical_voltage_counter = 0; + int16_t mode_switch_rc_value; + float bat_remain = 1.0f; + + uint16_t stick_off_counter = 0; + uint16_t stick_on_counter = 0; + + /* Subscribe to manual control data */ + int sp_man_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); + struct manual_control_setpoint_s sp_man; + memset(&sp_man, 0, sizeof(sp_man)); + + /* Subscribe to offboard control data */ + int sp_offboard_sub = orb_subscribe(ORB_ID(offboard_control_setpoint)); + struct offboard_control_setpoint_s sp_offboard; + memset(&sp_offboard, 0, sizeof(sp_offboard)); + + int global_position_sub = orb_subscribe(ORB_ID(vehicle_global_position)); + struct vehicle_global_position_s global_position; + memset(&global_position, 0, sizeof(global_position)); + uint64_t last_global_position_time = 0; + + int local_position_sub = orb_subscribe(ORB_ID(vehicle_local_position)); + struct vehicle_local_position_s local_position; + memset(&local_position, 0, sizeof(local_position)); + uint64_t last_local_position_time = 0; + + /* + * The home position is set based on GPS only, to prevent a dependency between + * position estimator and commander. RAW GPS is more than good enough for a + * non-flying vehicle. + */ + int gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position)); + struct vehicle_gps_position_s gps_position; + memset(&gps_position, 0, sizeof(gps_position)); + + int sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); + struct sensor_combined_s sensors; + memset(&sensors, 0, sizeof(sensors)); + + int differential_pressure_sub = orb_subscribe(ORB_ID(differential_pressure)); + struct differential_pressure_s differential_pressure; + memset(&differential_pressure, 0, sizeof(differential_pressure)); + uint64_t last_differential_pressure_time = 0; + + /* Subscribe to command topic */ + int cmd_sub = orb_subscribe(ORB_ID(vehicle_command)); + struct vehicle_command_s cmd; + memset(&cmd, 0, sizeof(cmd)); + + /* Subscribe to parameters changed topic */ + int param_changed_sub = orb_subscribe(ORB_ID(parameter_update)); + struct parameter_update_s param_changed; + memset(¶m_changed, 0, sizeof(param_changed)); + + /* subscribe to battery topic */ + int battery_sub = orb_subscribe(ORB_ID(battery_status)); + struct battery_status_s battery; + memset(&battery, 0, sizeof(battery)); + battery.voltage_v = 0.0f; + + // uint8_t vehicle_state_previous = current_status.state_machine; + float voltage_previous = 0.0f; + + uint64_t last_idle_time = 0; + + /* now initialized */ + commander_initialized = true; + thread_running = true; + + uint64_t start_time = hrt_absolute_time(); + uint64_t failsave_ll_start_time = 0; + + bool state_changed = true; + bool param_init_forced = true; + + while (!thread_should_exit) { + + /* Get current values */ + bool new_data; + orb_check(sp_man_sub, &new_data); + + if (new_data) { + orb_copy(ORB_ID(manual_control_setpoint), sp_man_sub, &sp_man); + } + + orb_check(sp_offboard_sub, &new_data); + + if (new_data) { + orb_copy(ORB_ID(offboard_control_setpoint), sp_offboard_sub, &sp_offboard); + } + + orb_check(sensor_sub, &new_data); + + if (new_data) { + orb_copy(ORB_ID(sensor_combined), sensor_sub, &sensors); + } + + orb_check(differential_pressure_sub, &new_data); + + if (new_data) { + orb_copy(ORB_ID(differential_pressure), differential_pressure_sub, &differential_pressure); + last_differential_pressure_time = differential_pressure.timestamp; + } + + orb_check(cmd_sub, &new_data); + + if (new_data) { + /* got command */ + orb_copy(ORB_ID(vehicle_command), cmd_sub, &cmd); + + /* handle it */ + handle_command(stat_pub, ¤t_status, &cmd); + } + + /* update parameters */ + orb_check(param_changed_sub, &new_data); + + if (new_data || param_init_forced) { + param_init_forced = false; + /* parameters changed */ + orb_copy(ORB_ID(parameter_update), param_changed_sub, ¶m_changed); + + + /* update parameters */ + if (!current_status.flag_system_armed) { + if (param_get(_param_sys_type, &(current_status.system_type)) != OK) { + warnx("failed setting new system type"); + } + + /* disable manual override for all systems that rely on electronic stabilization */ + if (current_status.system_type == VEHICLE_TYPE_QUADROTOR || + current_status.system_type == VEHICLE_TYPE_HEXAROTOR || + current_status.system_type == VEHICLE_TYPE_OCTOROTOR) { + current_status.flag_external_manual_override_ok = false; + + } else { + current_status.flag_external_manual_override_ok = true; + } + + /* check and update system / component ID */ + param_get(_param_system_id, &(current_status.system_id)); + param_get(_param_component_id, &(current_status.component_id)); + + } + } + + /* update global position estimate */ + orb_check(global_position_sub, &new_data); + + if (new_data) { + /* position changed */ + orb_copy(ORB_ID(vehicle_global_position), global_position_sub, &global_position); + last_global_position_time = global_position.timestamp; + } + + /* update local position estimate */ + orb_check(local_position_sub, &new_data); + + if (new_data) { + /* position changed */ + orb_copy(ORB_ID(vehicle_local_position), local_position_sub, &local_position); + last_local_position_time = local_position.timestamp; + } + + /* update battery status */ + orb_check(battery_sub, &new_data); + if (new_data) { + orb_copy(ORB_ID(battery_status), battery_sub, &battery); + battery_voltage = battery.voltage_v; + battery_voltage_valid = true; + + /* + * Only update battery voltage estimate if system has + * been running for two and a half seconds. + */ + if (hrt_absolute_time() - start_time > 2500000) { + bat_remain = battery_remaining_estimate_voltage(battery_voltage); + } + } + + /* Slow but important 8 Hz checks */ + if (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 8) == 0) { + /* toggle activity (blue) led at 1 Hz in standby, 10 Hz in armed mode */ + if ((current_status.state_machine == SYSTEM_STATE_GROUND_READY || + current_status.state_machine == SYSTEM_STATE_AUTO || + current_status.state_machine == SYSTEM_STATE_MANUAL)) { + /* armed */ + led_toggle(LED_BLUE); + + } else if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) { + /* not armed */ + led_toggle(LED_BLUE); + } + + /* toggle error led at 5 Hz in HIL mode */ + if (current_status.flag_hil_enabled) { + /* hil enabled */ + led_toggle(LED_AMBER); + + } else if (bat_remain < 0.3f && (low_voltage_counter > LOW_VOLTAGE_BATTERY_COUNTER_LIMIT)) { + /* toggle error (red) at 5 Hz on low battery or error */ + led_toggle(LED_AMBER); + + } else { + // /* Constant error indication in standby mode without GPS */ + // if (!current_status.gps_valid) { + // led_on(LED_AMBER); + + // } else { + // led_off(LED_AMBER); + // } + } + + if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) { + /* compute system load */ + uint64_t interval_runtime = system_load.tasks[0].total_runtime - last_idle_time; + + if (last_idle_time > 0) + current_status.load = 1000 - (interval_runtime / 1000); //system load is time spent in non-idle + + last_idle_time = system_load.tasks[0].total_runtime; + } + } + + // // XXX Export patterns and threshold to parameters + /* Trigger audio event for low battery */ + if (bat_remain < 0.1f && battery_voltage_valid && (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 4) == 0)) { + /* For less than 10%, start be really annoying at 5 Hz */ + ioctl(buzzer, TONE_SET_ALARM, 0); + ioctl(buzzer, TONE_SET_ALARM, 3); + + } else if (bat_remain < 0.1f && battery_voltage_valid && (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 4) == 2)) { + ioctl(buzzer, TONE_SET_ALARM, 0); + + } else if (bat_remain < 0.2f && battery_voltage_valid && (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 2) == 0)) { + /* For less than 20%, start be slightly annoying at 1 Hz */ + ioctl(buzzer, TONE_SET_ALARM, 0); + tune_confirm(); + + } else if (bat_remain < 0.2f && battery_voltage_valid && (counter % ((1000000 / COMMANDER_MONITORING_INTERVAL) / 2) == 2)) { + ioctl(buzzer, TONE_SET_ALARM, 0); + } + + /* Check battery voltage */ + /* write to sys_status */ + if (battery_voltage_valid) { + current_status.voltage_battery = battery_voltage; + + } else { + current_status.voltage_battery = 0.0f; + } + + /* if battery voltage is getting lower, warn using buzzer, etc. */ + if (battery_voltage_valid && (bat_remain < 0.15f /* XXX MAGIC NUMBER */) && (false == low_battery_voltage_actions_done)) { //TODO: add filter, or call emergency after n measurements < VOLTAGE_BATTERY_MINIMAL_MILLIVOLTS + + if (low_voltage_counter > LOW_VOLTAGE_BATTERY_COUNTER_LIMIT) { + low_battery_voltage_actions_done = true; + mavlink_log_critical(mavlink_fd, "[cmd] WARNING! LOW BATTERY!"); + current_status.battery_warning = VEHICLE_BATTERY_WARNING_WARNING; + } + + low_voltage_counter++; + } + + /* Critical, this is rather an emergency, kill signal to sdlog and change state machine */ + else if (battery_voltage_valid && (bat_remain < 0.1f /* XXX MAGIC NUMBER */) && (false == critical_battery_voltage_actions_done && true == low_battery_voltage_actions_done)) { + if (critical_voltage_counter > CRITICAL_VOLTAGE_BATTERY_COUNTER_LIMIT) { + critical_battery_voltage_actions_done = true; + mavlink_log_critical(mavlink_fd, "[cmd] EMERGENCY! CRITICAL BATTERY!"); + current_status.battery_warning = VEHICLE_BATTERY_WARNING_ALERT; + state_machine_emergency(stat_pub, ¤t_status, mavlink_fd); + } + + critical_voltage_counter++; + + } else { + low_voltage_counter = 0; + critical_voltage_counter = 0; + } + + /* End battery voltage check */ + + + /* + * Check for valid position information. + * + * If the system has a valid position source from an onboard + * position estimator, it is safe to operate it autonomously. + * The flag_vector_flight_mode_ok flag indicates that a minimum + * set of position measurements is available. + */ + + /* store current state to reason later about a state change */ + bool vector_flight_mode_ok = current_status.flag_vector_flight_mode_ok; + bool global_pos_valid = current_status.flag_global_position_valid; + bool local_pos_valid = current_status.flag_local_position_valid; + bool airspeed_valid = current_status.flag_airspeed_valid; + + /* check for global or local position updates, set a timeout of 2s */ + if (hrt_absolute_time() - last_global_position_time < 2000000) { + current_status.flag_global_position_valid = true; + // XXX check for controller status and home position as well + + } else { + current_status.flag_global_position_valid = false; + } + + if (hrt_absolute_time() - last_local_position_time < 2000000) { + current_status.flag_local_position_valid = true; + // XXX check for controller status and home position as well + + } else { + current_status.flag_local_position_valid = false; + } + + /* Check for valid airspeed/differential pressure measurements */ + if (hrt_absolute_time() - last_differential_pressure_time < 2000000) { + current_status.flag_airspeed_valid = true; + + } else { + current_status.flag_airspeed_valid = false; + } + + /* + * Consolidate global position and local position valid flags + * for vector flight mode. + */ + if (current_status.flag_local_position_valid || + current_status.flag_global_position_valid) { + current_status.flag_vector_flight_mode_ok = true; + + } else { + current_status.flag_vector_flight_mode_ok = false; + } + + /* consolidate state change, flag as changed if required */ + if (vector_flight_mode_ok != current_status.flag_vector_flight_mode_ok || + global_pos_valid != current_status.flag_global_position_valid || + local_pos_valid != current_status.flag_local_position_valid || + airspeed_valid != current_status.flag_airspeed_valid) { + state_changed = true; + } + + /* + * Mark the position of the first position lock as return to launch (RTL) + * position. The MAV will return here on command or emergency. + * + * Conditions: + * + * 1) The system aquired position lock just now + * 2) The system has not aquired position lock before + * 3) The system is not armed (on the ground) + */ + if (!current_status.flag_valid_launch_position && + !vector_flight_mode_ok && current_status.flag_vector_flight_mode_ok && + !current_status.flag_system_armed) { + /* first time a valid position, store it and emit it */ + + // XXX implement storage and publication of RTL position + current_status.flag_valid_launch_position = true; + current_status.flag_auto_flight_mode_ok = true; + state_changed = true; + } + + if (orb_check(ORB_ID(vehicle_gps_position), &new_data)) { + + orb_copy(ORB_ID(vehicle_gps_position), gps_sub, &gps_position); + + /* check for first, long-term and valid GPS lock -> set home position */ + float hdop_m = gps_position.eph_m; + float vdop_m = gps_position.epv_m; + + /* check if gps fix is ok */ + // XXX magic number + float hdop_threshold_m = 4.0f; + float vdop_threshold_m = 8.0f; + + /* + * If horizontal dilution of precision (hdop / eph) + * and vertical diluation of precision (vdop / epv) + * are below a certain threshold (e.g. 4 m), AND + * home position is not yet set AND the last GPS + * GPS measurement is not older than two seconds AND + * the system is currently not armed, set home + * position to the current position. + */ + + if (gps_position.fix_type == GPS_FIX_TYPE_3D + && (hdop_m < hdop_threshold_m) + && (vdop_m < vdop_threshold_m) + && !home_position_set + && (hrt_absolute_time() - gps_position.timestamp_position < 2000000) + && !current_status.flag_system_armed) { + warnx("setting home position"); + + /* copy position data to uORB home message, store it locally as well */ + home.lat = gps_position.lat; + home.lon = gps_position.lon; + home.alt = gps_position.alt; + + home.eph_m = gps_position.eph_m; + home.epv_m = gps_position.epv_m; + + home.s_variance_m_s = gps_position.s_variance_m_s; + home.p_variance_m = gps_position.p_variance_m; + + /* announce new home position */ + if (home_pub > 0) { + orb_publish(ORB_ID(home_position), home_pub, &home); + } else { + home_pub = orb_advertise(ORB_ID(home_position), &home); + } + + /* mark home position as set */ + home_position_set = true; + tune_confirm(); + } + } + + /* ignore RC signals if in offboard control mode */ + if (!current_status.offboard_control_signal_found_once && sp_man.timestamp != 0) { + /* Start RC state check */ + + if ((hrt_absolute_time() - sp_man.timestamp) < 100000) { + + // /* + // * Check if manual control modes have to be switched + // */ + // if (!isfinite(sp_man.manual_mode_switch)) { + // warnx("man mode sw not finite\n"); + + // /* this switch is not properly mapped, set default */ + // if ((current_status.system_type == VEHICLE_TYPE_QUADROTOR) || + // (current_status.system_type == VEHICLE_TYPE_HEXAROTOR) || + // (current_status.system_type == VEHICLE_TYPE_OCTOROTOR)) { + + // /* assuming a rotary wing, fall back to SAS */ + // current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS; + // current_status.flag_control_attitude_enabled = true; + // current_status.flag_control_rates_enabled = true; + // } else { + + // /* assuming a fixed wing, fall back to direct pass-through */ + // current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_DIRECT; + // current_status.flag_control_attitude_enabled = false; + // current_status.flag_control_rates_enabled = false; + // } + + // } else if (sp_man.manual_mode_switch < -STICK_ON_OFF_LIMIT) { + + // /* bottom stick position, set direct mode for vehicles supporting it */ + // if ((current_status.system_type == VEHICLE_TYPE_QUADROTOR) || + // (current_status.system_type == VEHICLE_TYPE_HEXAROTOR) || + // (current_status.system_type == VEHICLE_TYPE_OCTOROTOR)) { + + // /* assuming a rotary wing, fall back to SAS */ + // current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS; + // current_status.flag_control_attitude_enabled = true; + // current_status.flag_control_rates_enabled = true; + // } else { + + // /* assuming a fixed wing, set to direct pass-through as requested */ + // current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_DIRECT; + // current_status.flag_control_attitude_enabled = false; + // current_status.flag_control_rates_enabled = false; + // } + + // } else if (sp_man.manual_mode_switch > STICK_ON_OFF_LIMIT) { + + // /* top stick position, set SAS for all vehicle types */ + // current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS; + // current_status.flag_control_attitude_enabled = true; + // current_status.flag_control_rates_enabled = true; + + // } else { + // /* center stick position, set rate control */ + // current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_RATES; + // current_status.flag_control_attitude_enabled = false; + // current_status.flag_control_rates_enabled = true; + // } + + // warnx("man ctrl mode: %d\n", (int)current_status.manual_control_mode); + + /* + * Check if manual stability control modes have to be switched + */ + if (!isfinite(sp_man.manual_sas_switch)) { + + /* this switch is not properly mapped, set default */ + current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS; + + } else if (sp_man.manual_sas_switch < -STICK_ON_OFF_LIMIT) { + + /* bottom stick position, set altitude hold */ + current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_ALTITUDE; + + } else if (sp_man.manual_sas_switch > STICK_ON_OFF_LIMIT) { + + /* top stick position */ + current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_SIMPLE; + + } else { + /* center stick position, set default */ + current_status.manual_sas_mode = VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS; + } + + /* + * Check if left stick is in lower left position --> switch to standby state. + * Do this only for multirotors, not for fixed wing aircraft. + */ + if (((current_status.system_type == VEHICLE_TYPE_QUADROTOR) || + (current_status.system_type == VEHICLE_TYPE_HEXAROTOR) || + (current_status.system_type == VEHICLE_TYPE_OCTOROTOR) + ) && + ((sp_man.yaw < -STICK_ON_OFF_LIMIT)) && + (sp_man.throttle < STICK_THRUST_RANGE * 0.2f)) { + if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) { + update_state_machine_disarm(stat_pub, ¤t_status, mavlink_fd); + stick_on_counter = 0; + + } else { + stick_off_counter++; + stick_on_counter = 0; + } + } + + /* check if left stick is in lower right position --> arm */ + if (sp_man.yaw > STICK_ON_OFF_LIMIT && sp_man.throttle < STICK_THRUST_RANGE * 0.2f) { + if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) { + update_state_machine_arm(stat_pub, ¤t_status, mavlink_fd); + stick_on_counter = 0; + + } else { + stick_on_counter++; + stick_off_counter = 0; + } + } + + /* check manual override switch - switch to manual or auto mode */ + if (sp_man.manual_override_switch > STICK_ON_OFF_LIMIT) { + /* enable manual override */ + update_state_machine_mode_manual(stat_pub, ¤t_status, mavlink_fd); + + } else if (sp_man.manual_override_switch < -STICK_ON_OFF_LIMIT) { + // /* check auto mode switch for correct mode */ + // if (sp_man.auto_mode_switch > STICK_ON_OFF_LIMIT) { + // /* enable guided mode */ + // update_state_machine_mode_guided(stat_pub, ¤t_status, mavlink_fd); + + // } else if (sp_man.auto_mode_switch < -STICK_ON_OFF_LIMIT) { + // XXX hardcode to auto for now + update_state_machine_mode_auto(stat_pub, ¤t_status, mavlink_fd); + + // } + + } else { + /* center stick position, set SAS for all vehicle types */ + update_state_machine_mode_stabilized(stat_pub, ¤t_status, mavlink_fd); + } + + /* handle the case where RC signal was regained */ + if (!current_status.rc_signal_found_once) { + current_status.rc_signal_found_once = true; + mavlink_log_critical(mavlink_fd, "DETECTED RC SIGNAL FIRST TIME."); + + } else { + if (current_status.rc_signal_lost) mavlink_log_critical(mavlink_fd, "[cmd] RECOVERY - RC SIGNAL GAINED!"); + } + + current_status.rc_signal_cutting_off = false; + current_status.rc_signal_lost = false; + current_status.rc_signal_lost_interval = 0; + + } else { + static uint64_t last_print_time = 0; + + /* print error message for first RC glitch and then every 5 s / 5000 ms) */ + if (!current_status.rc_signal_cutting_off || ((hrt_absolute_time() - last_print_time) > 5000000)) { + /* only complain if the offboard control is NOT active */ + current_status.rc_signal_cutting_off = true; + mavlink_log_critical(mavlink_fd, "CRITICAL - NO REMOTE SIGNAL!"); + last_print_time = hrt_absolute_time(); + } + + /* flag as lost and update interval since when the signal was lost (to initiate RTL after some time) */ + current_status.rc_signal_lost_interval = hrt_absolute_time() - sp_man.timestamp; + + /* if the RC signal is gone for a full second, consider it lost */ + if (current_status.rc_signal_lost_interval > 1000000) { + current_status.rc_signal_lost = true; + current_status.failsave_lowlevel = true; + state_changed = true; + } + + // if (hrt_absolute_time() - current_status.failsave_ll_start_time > failsafe_lowlevel_timeout_ms*1000) { + // publish_armed_status(¤t_status); + // } + } + } + + + + + /* End mode switch */ + + /* END RC state check */ + + + /* State machine update for offboard control */ + if (!current_status.rc_signal_found_once && sp_offboard.timestamp != 0) { + if ((hrt_absolute_time() - sp_offboard.timestamp) < 5000000) { + + /* decide about attitude control flag, enable in att/pos/vel */ + bool attitude_ctrl_enabled = (sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE || + sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY || + sp_offboard.mode == OFFBOARD_CONTROL_MODE_DIRECT_POSITION); + + /* decide about rate control flag, enable it always XXX (for now) */ + bool rates_ctrl_enabled = true; + + /* set up control mode */ + if (current_status.flag_control_attitude_enabled != attitude_ctrl_enabled) { + current_status.flag_control_attitude_enabled = attitude_ctrl_enabled; + state_changed = true; + } + + if (current_status.flag_control_rates_enabled != rates_ctrl_enabled) { + current_status.flag_control_rates_enabled = rates_ctrl_enabled; + state_changed = true; + } + + /* handle the case where offboard control signal was regained */ + if (!current_status.offboard_control_signal_found_once) { + current_status.offboard_control_signal_found_once = true; + /* enable offboard control, disable manual input */ + current_status.flag_control_manual_enabled = false; + current_status.flag_control_offboard_enabled = true; + state_changed = true; + tune_confirm(); + + mavlink_log_critical(mavlink_fd, "DETECTED OFFBOARD SIGNAL FIRST"); + + } else { + if (current_status.offboard_control_signal_lost) { + mavlink_log_critical(mavlink_fd, "RECOVERY OFFBOARD CONTROL"); + state_changed = true; + tune_confirm(); + } + } + + current_status.offboard_control_signal_weak = false; + current_status.offboard_control_signal_lost = false; + current_status.offboard_control_signal_lost_interval = 0; + + /* arm / disarm on request */ + if (sp_offboard.armed && !current_status.flag_system_armed) { + update_state_machine_arm(stat_pub, ¤t_status, mavlink_fd); + /* switch to stabilized mode = takeoff */ + update_state_machine_mode_stabilized(stat_pub, ¤t_status, mavlink_fd); + + } else if (!sp_offboard.armed && current_status.flag_system_armed) { + update_state_machine_disarm(stat_pub, ¤t_status, mavlink_fd); + } + + } else { + static uint64_t last_print_time = 0; + + /* print error message for first RC glitch and then every 5 s / 5000 ms) */ + if (!current_status.offboard_control_signal_weak || ((hrt_absolute_time() - last_print_time) > 5000000)) { + current_status.offboard_control_signal_weak = true; + mavlink_log_critical(mavlink_fd, "CRIT:NO OFFBOARD CONTROL!"); + last_print_time = hrt_absolute_time(); + } + + /* flag as lost and update interval since when the signal was lost (to initiate RTL after some time) */ + current_status.offboard_control_signal_lost_interval = hrt_absolute_time() - sp_offboard.timestamp; + + /* if the signal is gone for 0.1 seconds, consider it lost */ + if (current_status.offboard_control_signal_lost_interval > 100000) { + current_status.offboard_control_signal_lost = true; + current_status.failsave_lowlevel_start_time = hrt_absolute_time(); + tune_confirm(); + + /* kill motors after timeout */ + if (hrt_absolute_time() - current_status.failsave_lowlevel_start_time > failsafe_lowlevel_timeout_ms * 1000) { + current_status.failsave_lowlevel = true; + state_changed = true; + } + } + } + } + + + current_status.counter++; + current_status.timestamp = hrt_absolute_time(); + + + /* If full run came back clean, transition to standby */ + if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT && + current_status.flag_preflight_gyro_calibration == false && + current_status.flag_preflight_mag_calibration == false && + current_status.flag_preflight_accel_calibration == false) { + /* All ok, no calibration going on, go to standby */ + do_state_update(stat_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_STANDBY); + } + + /* publish at least with 1 Hz */ + if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0 || state_changed) { + publish_armed_status(¤t_status); + orb_publish(ORB_ID(vehicle_status), stat_pub, ¤t_status); + state_changed = false; + } + + /* Store old modes to detect and act on state transitions */ + voltage_previous = current_status.voltage_battery; + + fflush(stdout); + counter++; + usleep(COMMANDER_MONITORING_INTERVAL); + } + + /* wait for threads to complete */ + // pthread_join(command_handling_thread, NULL); + pthread_join(subsystem_info_thread, NULL); + + /* close fds */ + led_deinit(); + buzzer_deinit(); + close(sp_man_sub); + close(sp_offboard_sub); + close(global_position_sub); + close(sensor_sub); + close(cmd_sub); + + warnx("exiting..\n"); + fflush(stdout); + + thread_running = false; + + return 0; +} diff --git a/src/modules/commander/commander.h b/src/modules/commander/commander.h new file mode 100644 index 000000000..04b4e72ab --- /dev/null +++ b/src/modules/commander/commander.h @@ -0,0 +1,58 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: Petri Tanskanen + * Lorenz Meier + * Thomas Gubler + * Julian Oes + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file commander.h + * Main system state machine definition. + * + * @author Petri Tanskanen + * @author Lorenz Meier + * @author Thomas Gubler + * @author Julian Oes + * + */ + +#ifndef COMMANDER_H_ +#define COMMANDER_H_ + +#define LOW_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS 1000.0f +#define CRITICAL_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS 100.0f + +void tune_confirm(void); +void tune_error(void); + +#endif /* COMMANDER_H_ */ diff --git a/src/modules/commander/module.mk b/src/modules/commander/module.mk new file mode 100644 index 000000000..b90da8289 --- /dev/null +++ b/src/modules/commander/module.mk @@ -0,0 +1,41 @@ +############################################################################ +# +# Copyright (C) 2012-2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# Main system state machine +# + +MODULE_COMMAND = commander +SRCS = commander.c \ + state_machine_helper.c \ + calibration_routines.c diff --git a/src/modules/commander/state_machine_helper.c b/src/modules/commander/state_machine_helper.c new file mode 100644 index 000000000..bea388a10 --- /dev/null +++ b/src/modules/commander/state_machine_helper.c @@ -0,0 +1,752 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: Thomas Gubler + * Julian Oes + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file state_machine_helper.c + * State machine helper functions implementations + */ + +#include +#include + +#include +#include +#include +#include +#include +#include + +#include "state_machine_helper.h" + +static const char *system_state_txt[] = { + "SYSTEM_STATE_PREFLIGHT", + "SYSTEM_STATE_STANDBY", + "SYSTEM_STATE_GROUND_READY", + "SYSTEM_STATE_MANUAL", + "SYSTEM_STATE_STABILIZED", + "SYSTEM_STATE_AUTO", + "SYSTEM_STATE_MISSION_ABORT", + "SYSTEM_STATE_EMCY_LANDING", + "SYSTEM_STATE_EMCY_CUTOFF", + "SYSTEM_STATE_GROUND_ERROR", + "SYSTEM_STATE_REBOOT", + +}; + +/** + * Transition from one state to another + */ +int do_state_update(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, commander_state_machine_t new_state) +{ + int invalid_state = false; + int ret = ERROR; + + commander_state_machine_t old_state = current_status->state_machine; + + switch (new_state) { + case SYSTEM_STATE_MISSION_ABORT: { + /* Indoor or outdoor */ + // if (flight_environment_parameter == PX4_FLIGHT_ENVIRONMENT_OUTDOOR) { + ret = do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_EMCY_LANDING); + + // } else { + // ret = do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_EMCY_CUTOFF); + // } + } + break; + + case SYSTEM_STATE_EMCY_LANDING: + /* Tell the controller to land */ + + /* set system flags according to state */ + current_status->flag_system_armed = true; + + warnx("EMERGENCY LANDING!\n"); + mavlink_log_critical(mavlink_fd, "EMERGENCY LANDING!"); + break; + + case SYSTEM_STATE_EMCY_CUTOFF: + /* Tell the controller to cutoff the motors (thrust = 0) */ + + /* set system flags according to state */ + current_status->flag_system_armed = false; + + warnx("EMERGENCY MOTOR CUTOFF!\n"); + mavlink_log_critical(mavlink_fd, "EMERGENCY MOTOR CUTOFF!"); + break; + + case SYSTEM_STATE_GROUND_ERROR: + + /* set system flags according to state */ + + /* prevent actuators from arming */ + current_status->flag_system_armed = false; + + warnx("GROUND ERROR, locking down propulsion system\n"); + mavlink_log_critical(mavlink_fd, "GROUND ERROR, locking down system"); + break; + + case SYSTEM_STATE_PREFLIGHT: + if (current_status->state_machine == SYSTEM_STATE_STANDBY + || current_status->state_machine == SYSTEM_STATE_PREFLIGHT) { + /* set system flags according to state */ + current_status->flag_system_armed = false; + mavlink_log_critical(mavlink_fd, "Switched to PREFLIGHT state"); + + } else { + invalid_state = true; + mavlink_log_critical(mavlink_fd, "REFUSED to switch to PREFLIGHT state"); + } + + break; + + case SYSTEM_STATE_REBOOT: + if (current_status->state_machine == SYSTEM_STATE_STANDBY + || current_status->state_machine == SYSTEM_STATE_PREFLIGHT + || current_status->flag_hil_enabled) { + invalid_state = false; + /* set system flags according to state */ + current_status->flag_system_armed = false; + mavlink_log_critical(mavlink_fd, "REBOOTING SYSTEM"); + usleep(500000); + up_systemreset(); + /* SPECIAL CASE: NEVER RETURNS FROM THIS FUNCTION CALL */ + + } else { + invalid_state = true; + mavlink_log_critical(mavlink_fd, "REFUSED to REBOOT"); + } + + break; + + case SYSTEM_STATE_STANDBY: + /* set system flags according to state */ + + /* standby enforces disarmed */ + current_status->flag_system_armed = false; + + mavlink_log_critical(mavlink_fd, "Switched to STANDBY state"); + break; + + case SYSTEM_STATE_GROUND_READY: + + /* set system flags according to state */ + + /* ground ready has motors / actuators armed */ + current_status->flag_system_armed = true; + + mavlink_log_critical(mavlink_fd, "Switched to GROUND READY state"); + break; + + case SYSTEM_STATE_AUTO: + + /* set system flags according to state */ + + /* auto is airborne and in auto mode, motors armed */ + current_status->flag_system_armed = true; + + mavlink_log_critical(mavlink_fd, "Switched to FLYING / AUTO mode"); + break; + + case SYSTEM_STATE_STABILIZED: + + /* set system flags according to state */ + current_status->flag_system_armed = true; + + mavlink_log_critical(mavlink_fd, "Switched to FLYING / STABILIZED mode"); + break; + + case SYSTEM_STATE_MANUAL: + + /* set system flags according to state */ + current_status->flag_system_armed = true; + + mavlink_log_critical(mavlink_fd, "Switched to FLYING / MANUAL mode"); + break; + + default: + invalid_state = true; + break; + } + + if (invalid_state == false || old_state != new_state) { + current_status->state_machine = new_state; + state_machine_publish(status_pub, current_status, mavlink_fd); + publish_armed_status(current_status); + ret = OK; + } + + if (invalid_state) { + mavlink_log_critical(mavlink_fd, "REJECTING invalid state transition"); + ret = ERROR; + } + + return ret; +} + +void state_machine_publish(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) +{ + /* publish the new state */ + current_status->counter++; + current_status->timestamp = hrt_absolute_time(); + + /* assemble state vector based on flag values */ + if (current_status->flag_control_rates_enabled) { + current_status->onboard_control_sensors_present |= 0x400; + + } else { + current_status->onboard_control_sensors_present &= ~0x400; + } + + current_status->onboard_control_sensors_present |= (current_status->flag_control_attitude_enabled) ? 0x800 : 0; + current_status->onboard_control_sensors_present |= (current_status->flag_control_attitude_enabled) ? 0x1000 : 0; + current_status->onboard_control_sensors_present |= (current_status->flag_control_velocity_enabled || current_status->flag_control_position_enabled) ? 0x2000 : 0; + current_status->onboard_control_sensors_present |= (current_status->flag_control_velocity_enabled || current_status->flag_control_position_enabled) ? 0x4000 : 0; + + current_status->onboard_control_sensors_enabled |= (current_status->flag_control_rates_enabled) ? 0x400 : 0; + current_status->onboard_control_sensors_enabled |= (current_status->flag_control_attitude_enabled) ? 0x800 : 0; + current_status->onboard_control_sensors_enabled |= (current_status->flag_control_attitude_enabled) ? 0x1000 : 0; + current_status->onboard_control_sensors_enabled |= (current_status->flag_control_velocity_enabled || current_status->flag_control_position_enabled) ? 0x2000 : 0; + current_status->onboard_control_sensors_enabled |= (current_status->flag_control_velocity_enabled || current_status->flag_control_position_enabled) ? 0x4000 : 0; + + orb_publish(ORB_ID(vehicle_status), status_pub, current_status); + printf("[cmd] new state: %s\n", system_state_txt[current_status->state_machine]); +} + +void publish_armed_status(const struct vehicle_status_s *current_status) +{ + struct actuator_armed_s armed; + armed.armed = current_status->flag_system_armed; + /* lock down actuators if required, only in HIL */ + armed.lockdown = (current_status->flag_hil_enabled) ? true : false; + orb_advert_t armed_pub = orb_advertise(ORB_ID(actuator_armed), &armed); + orb_publish(ORB_ID(actuator_armed), armed_pub, &armed); +} + + +/* + * Private functions, update the state machine + */ +void state_machine_emergency_always_critical(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) +{ + warnx("EMERGENCY HANDLER\n"); + /* Depending on the current state go to one of the error states */ + + if (current_status->state_machine == SYSTEM_STATE_PREFLIGHT || current_status->state_machine == SYSTEM_STATE_STANDBY || current_status->state_machine == SYSTEM_STATE_GROUND_READY) { + do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_GROUND_ERROR); + + } else if (current_status->state_machine == SYSTEM_STATE_AUTO || current_status->state_machine == SYSTEM_STATE_MANUAL) { + + // DO NOT abort mission + //do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_MISSION_ABORT); + + } else { + warnx("Unknown system state: #%d\n", current_status->state_machine); + } +} + +void state_machine_emergency(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) //do not call state_machine_emergency_always_critical if we are in manual mode for these errors +{ + if (current_status->state_machine != SYSTEM_STATE_MANUAL) { //if we are in manual: user can react to errors themself + state_machine_emergency_always_critical(status_pub, current_status, mavlink_fd); + + } else { + //global_data_send_mavlink_statustext_message_out("[cmd] ERROR: take action immediately! (did not switch to error state because the system is in manual mode)", MAV_SEVERITY_CRITICAL); + } + +} + + + +// /* +// * Wrapper functions (to be used in the commander), all functions assume lock on current_status +// */ + +// /* These functions decide if an emergency exits and then switch to SYSTEM_STATE_MISSION_ABORT or SYSTEM_STATE_GROUND_ERROR +// * +// * START SUBSYSTEM/EMERGENCY FUNCTIONS +// * */ + +// void update_state_machine_subsystem_present(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type) +// { +// current_status->onboard_control_sensors_present |= 1 << *subsystem_type; +// current_status->counter++; +// current_status->timestamp = hrt_absolute_time(); +// orb_publish(ORB_ID(vehicle_status), status_pub, current_status); +// } + +// void update_state_machine_subsystem_notpresent(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type) +// { +// current_status->onboard_control_sensors_present &= ~(1 << *subsystem_type); +// current_status->counter++; +// current_status->timestamp = hrt_absolute_time(); +// orb_publish(ORB_ID(vehicle_status), status_pub, current_status); + +// /* if a subsystem was removed something went completely wrong */ + +// switch (*subsystem_type) { +// case SUBSYSTEM_TYPE_GYRO: +// //global_data_send_mavlink_statustext_message_out("Commander: gyro not present", MAV_SEVERITY_EMERGENCY); +// state_machine_emergency_always_critical(status_pub, current_status); +// break; + +// case SUBSYSTEM_TYPE_ACC: +// //global_data_send_mavlink_statustext_message_out("Commander: accelerometer not present", MAV_SEVERITY_EMERGENCY); +// state_machine_emergency_always_critical(status_pub, current_status); +// break; + +// case SUBSYSTEM_TYPE_MAG: +// //global_data_send_mavlink_statustext_message_out("Commander: magnetometer not present", MAV_SEVERITY_EMERGENCY); +// state_machine_emergency_always_critical(status_pub, current_status); +// break; + +// case SUBSYSTEM_TYPE_GPS: +// { +// uint8_t flight_env = global_data_parameter_storage->pm.param_values[PARAM_FLIGHT_ENV]; + +// if (flight_env == PX4_FLIGHT_ENVIRONMENT_OUTDOOR) { +// //global_data_send_mavlink_statustext_message_out("Commander: GPS not present", MAV_SEVERITY_EMERGENCY); +// state_machine_emergency(status_pub, current_status); +// } +// } +// break; + +// default: +// break; +// } + +// } + +// void update_state_machine_subsystem_enabled(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type) +// { +// current_status->onboard_control_sensors_enabled |= 1 << *subsystem_type; +// current_status->counter++; +// current_status->timestamp = hrt_absolute_time(); +// orb_publish(ORB_ID(vehicle_status), status_pub, current_status); +// } + +// void update_state_machine_subsystem_disabled(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type) +// { +// current_status->onboard_control_sensors_enabled &= ~(1 << *subsystem_type); +// current_status->counter++; +// current_status->timestamp = hrt_absolute_time(); +// orb_publish(ORB_ID(vehicle_status), status_pub, current_status); + +// /* if a subsystem was disabled something went completely wrong */ + +// switch (*subsystem_type) { +// case SUBSYSTEM_TYPE_GYRO: +// //global_data_send_mavlink_statustext_message_out("Commander: EMERGENCY - gyro disabled", MAV_SEVERITY_EMERGENCY); +// state_machine_emergency_always_critical(status_pub, current_status); +// break; + +// case SUBSYSTEM_TYPE_ACC: +// //global_data_send_mavlink_statustext_message_out("Commander: EMERGENCY - accelerometer disabled", MAV_SEVERITY_EMERGENCY); +// state_machine_emergency_always_critical(status_pub, current_status); +// break; + +// case SUBSYSTEM_TYPE_MAG: +// //global_data_send_mavlink_statustext_message_out("Commander: EMERGENCY - magnetometer disabled", MAV_SEVERITY_EMERGENCY); +// state_machine_emergency_always_critical(status_pub, current_status); +// break; + +// case SUBSYSTEM_TYPE_GPS: +// { +// uint8_t flight_env = (uint8_t)(global_data_parameter_storage->pm.param_values[PARAM_FLIGHT_ENV]); + +// if (flight_env == PX4_FLIGHT_ENVIRONMENT_OUTDOOR) { +// //global_data_send_mavlink_statustext_message_out("Commander: EMERGENCY - GPS disabled", MAV_SEVERITY_EMERGENCY); +// state_machine_emergency(status_pub, current_status); +// } +// } +// break; + +// default: +// break; +// } + +// } + + +// void update_state_machine_subsystem_healthy(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type) +// { +// current_status->onboard_control_sensors_health |= 1 << *subsystem_type; +// current_status->counter++; +// current_status->timestamp = hrt_absolute_time(); +// orb_publish(ORB_ID(vehicle_status), status_pub, current_status); + +// switch (*subsystem_type) { +// case SUBSYSTEM_TYPE_GYRO: +// //TODO state machine change (recovering) +// break; + +// case SUBSYSTEM_TYPE_ACC: +// //TODO state machine change +// break; + +// case SUBSYSTEM_TYPE_MAG: +// //TODO state machine change +// break; + +// case SUBSYSTEM_TYPE_GPS: +// //TODO state machine change +// break; + +// default: +// break; +// } + + +// } + + +// void update_state_machine_subsystem_unhealthy(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type) +// { +// bool previosly_healthy = (bool)(current_status->onboard_control_sensors_health & 1 << *subsystem_type); +// current_status->onboard_control_sensors_health &= ~(1 << *subsystem_type); +// current_status->counter++; +// current_status->timestamp = hrt_absolute_time(); +// orb_publish(ORB_ID(vehicle_status), status_pub, current_status); + +// /* if we received unhealthy message more than *_HEALTH_COUNTER_LIMIT, switch to error state */ + +// switch (*subsystem_type) { +// case SUBSYSTEM_TYPE_GYRO: +// //global_data_send_mavlink_statustext_message_out("Commander: gyro unhealthy", MAV_SEVERITY_CRITICAL); + +// if (previosly_healthy) //only throw emergency if previously healthy +// state_machine_emergency_always_critical(status_pub, current_status); + +// break; + +// case SUBSYSTEM_TYPE_ACC: +// //global_data_send_mavlink_statustext_message_out("Commander: accelerometer unhealthy", MAV_SEVERITY_CRITICAL); + +// if (previosly_healthy) //only throw emergency if previously healthy +// state_machine_emergency_always_critical(status_pub, current_status); + +// break; + +// case SUBSYSTEM_TYPE_MAG: +// //global_data_send_mavlink_statustext_message_out("Commander: magnetometer unhealthy", MAV_SEVERITY_CRITICAL); + +// if (previosly_healthy) //only throw emergency if previously healthy +// state_machine_emergency_always_critical(status_pub, current_status); + +// break; + +// case SUBSYSTEM_TYPE_GPS: +// // //TODO: remove this block +// // break; +// // /////////////////// +// //global_data_send_mavlink_statustext_message_out("Commander: GPS unhealthy", MAV_SEVERITY_CRITICAL); + +// // printf("previosly_healthy = %u\n", previosly_healthy); +// if (previosly_healthy) //only throw emergency if previously healthy +// state_machine_emergency(status_pub, current_status); + +// break; + +// default: +// break; +// } + +// } + + +/* END SUBSYSTEM/EMERGENCY FUNCTIONS*/ + + +void update_state_machine_got_position_fix(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) +{ + /* Depending on the current state switch state */ + if (current_status->state_machine == SYSTEM_STATE_PREFLIGHT) { + do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_STANDBY); + } +} + +void update_state_machine_no_position_fix(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) +{ + /* Depending on the current state switch state */ + if (current_status->state_machine == SYSTEM_STATE_STANDBY || current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_AUTO) { + state_machine_emergency(status_pub, current_status, mavlink_fd); + } +} + +void update_state_machine_arm(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) +{ + if (current_status->state_machine == SYSTEM_STATE_STANDBY) { + printf("[cmd] arming\n"); + do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_GROUND_READY); + } +} + +void update_state_machine_disarm(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) +{ + if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_PREFLIGHT) { + printf("[cmd] going standby\n"); + do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_STANDBY); + + } else if (current_status->state_machine == SYSTEM_STATE_STABILIZED || current_status->state_machine == SYSTEM_STATE_AUTO) { + printf("[cmd] MISSION ABORT!\n"); + do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_STANDBY); + } +} + +void update_state_machine_mode_manual(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) +{ + int old_mode = current_status->flight_mode; + current_status->flight_mode = VEHICLE_FLIGHT_MODE_MANUAL; + + current_status->flag_control_manual_enabled = true; + + /* set behaviour based on airframe */ + if ((current_status->system_type == VEHICLE_TYPE_QUADROTOR) || + (current_status->system_type == VEHICLE_TYPE_HEXAROTOR) || + (current_status->system_type == VEHICLE_TYPE_OCTOROTOR)) { + + /* assuming a rotary wing, set to SAS */ + current_status->manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS; + current_status->flag_control_attitude_enabled = true; + current_status->flag_control_rates_enabled = true; + + } else { + + /* assuming a fixed wing, set to direct pass-through */ + current_status->manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_DIRECT; + current_status->flag_control_attitude_enabled = false; + current_status->flag_control_rates_enabled = false; + } + + if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd); + + if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_STABILIZED || current_status->state_machine == SYSTEM_STATE_AUTO) { + printf("[cmd] manual mode\n"); + do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_MANUAL); + } +} + +void update_state_machine_mode_stabilized(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) +{ + if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_STABILIZED || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_AUTO) { + int old_mode = current_status->flight_mode; + int old_manual_control_mode = current_status->manual_control_mode; + current_status->flight_mode = VEHICLE_FLIGHT_MODE_MANUAL; + current_status->manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS; + current_status->flag_control_attitude_enabled = true; + current_status->flag_control_rates_enabled = true; + current_status->flag_control_manual_enabled = true; + + if (old_mode != current_status->flight_mode || + old_manual_control_mode != current_status->manual_control_mode) { + printf("[cmd] att stabilized mode\n"); + do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_MANUAL); + state_machine_publish(status_pub, current_status, mavlink_fd); + } + + } +} + +void update_state_machine_mode_guided(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) +{ + if (!current_status->flag_vector_flight_mode_ok) { + mavlink_log_critical(mavlink_fd, "NO POS LOCK, REJ. GUIDED MODE"); + tune_error(); + return; + } + + if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_AUTO) { + printf("[cmd] position guided mode\n"); + int old_mode = current_status->flight_mode; + current_status->flight_mode = VEHICLE_FLIGHT_MODE_STAB; + current_status->flag_control_manual_enabled = false; + current_status->flag_control_attitude_enabled = true; + current_status->flag_control_rates_enabled = true; + do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_STABILIZED); + + if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd); + + } +} + +void update_state_machine_mode_auto(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd) +{ + if (!current_status->flag_vector_flight_mode_ok) { + mavlink_log_critical(mavlink_fd, "NO POS LOCK, REJ. AUTO MODE"); + return; + } + + if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_STABILIZED) { + printf("[cmd] auto mode\n"); + int old_mode = current_status->flight_mode; + current_status->flight_mode = VEHICLE_FLIGHT_MODE_AUTO; + current_status->flag_control_manual_enabled = false; + current_status->flag_control_attitude_enabled = true; + current_status->flag_control_rates_enabled = true; + do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_AUTO); + + if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd); + } +} + + +uint8_t update_state_machine_mode_request(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, uint8_t mode) +{ + uint8_t ret = 1; + + /* Switch on HIL if in standby and not already in HIL mode */ + if ((mode & VEHICLE_MODE_FLAG_HIL_ENABLED) + && !current_status->flag_hil_enabled) { + if ((current_status->state_machine == SYSTEM_STATE_STANDBY)) { + /* Enable HIL on request */ + current_status->flag_hil_enabled = true; + ret = OK; + state_machine_publish(status_pub, current_status, mavlink_fd); + publish_armed_status(current_status); + printf("[cmd] Enabling HIL, locking down all actuators for safety.\n\t(Arming the system will not activate them while in HIL mode)\n"); + + } else if (current_status->state_machine != SYSTEM_STATE_STANDBY && + current_status->flag_system_armed) { + + mavlink_log_critical(mavlink_fd, "REJECTING HIL, disarm first!") + + } else { + + mavlink_log_critical(mavlink_fd, "REJECTING HIL, not in standby.") + } + } + + /* switch manual / auto */ + if (mode & VEHICLE_MODE_FLAG_AUTO_ENABLED) { + update_state_machine_mode_auto(status_pub, current_status, mavlink_fd); + + } else if (mode & VEHICLE_MODE_FLAG_STABILIZED_ENABLED) { + update_state_machine_mode_stabilized(status_pub, current_status, mavlink_fd); + + } else if (mode & VEHICLE_MODE_FLAG_GUIDED_ENABLED) { + update_state_machine_mode_guided(status_pub, current_status, mavlink_fd); + + } else if (mode & VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED) { + update_state_machine_mode_manual(status_pub, current_status, mavlink_fd); + } + + /* vehicle is disarmed, mode requests arming */ + if (!(current_status->flag_system_armed) && (mode & VEHICLE_MODE_FLAG_SAFETY_ARMED)) { + /* only arm in standby state */ + // XXX REMOVE + if (current_status->state_machine == SYSTEM_STATE_STANDBY || current_status->state_machine == SYSTEM_STATE_PREFLIGHT) { + do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_GROUND_READY); + ret = OK; + printf("[cmd] arming due to command request\n"); + } + } + + /* vehicle is armed, mode requests disarming */ + if (current_status->flag_system_armed && !(mode & VEHICLE_MODE_FLAG_SAFETY_ARMED)) { + /* only disarm in ground ready */ + if (current_status->state_machine == SYSTEM_STATE_GROUND_READY) { + do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_STANDBY); + ret = OK; + printf("[cmd] disarming due to command request\n"); + } + } + + /* NEVER actually switch off HIL without reboot */ + if (current_status->flag_hil_enabled && !(mode & VEHICLE_MODE_FLAG_HIL_ENABLED)) { + warnx("DENYING request to switch off HIL. Please power cycle (safety reasons)\n"); + mavlink_log_critical(mavlink_fd, "Power-cycle to exit HIL"); + ret = ERROR; + } + + return ret; +} + +uint8_t update_state_machine_custom_mode_request(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, uint8_t custom_mode) //TODO: add more checks to avoid state switching in critical situations +{ + commander_state_machine_t current_system_state = current_status->state_machine; + + uint8_t ret = 1; + + switch (custom_mode) { + case SYSTEM_STATE_GROUND_READY: + break; + + case SYSTEM_STATE_STANDBY: + break; + + case SYSTEM_STATE_REBOOT: + printf("try to reboot\n"); + + if (current_system_state == SYSTEM_STATE_STANDBY + || current_system_state == SYSTEM_STATE_PREFLIGHT + || current_status->flag_hil_enabled) { + printf("system will reboot\n"); + mavlink_log_critical(mavlink_fd, "Rebooting.."); + usleep(200000); + do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_REBOOT); + ret = 0; + } + + break; + + case SYSTEM_STATE_AUTO: + printf("try to switch to auto/takeoff\n"); + + if (current_system_state == SYSTEM_STATE_GROUND_READY || current_system_state == SYSTEM_STATE_MANUAL) { + do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_AUTO); + printf("state: auto\n"); + ret = 0; + } + + break; + + case SYSTEM_STATE_MANUAL: + printf("try to switch to manual\n"); + + if (current_system_state == SYSTEM_STATE_GROUND_READY || current_system_state == SYSTEM_STATE_AUTO) { + do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_MANUAL); + printf("state: manual\n"); + ret = 0; + } + + break; + + default: + break; + } + + return ret; +} + diff --git a/src/modules/commander/state_machine_helper.h b/src/modules/commander/state_machine_helper.h new file mode 100644 index 000000000..2f2ccc729 --- /dev/null +++ b/src/modules/commander/state_machine_helper.h @@ -0,0 +1,209 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: Thomas Gubler + * Julian Oes + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file state_machine_helper.h + * State machine helper functions definitions + */ + +#ifndef STATE_MACHINE_HELPER_H_ +#define STATE_MACHINE_HELPER_H_ + +#define GPS_NOFIX_COUNTER_LIMIT 4 //need GPS_NOFIX_COUNTER_LIMIT gps packets with a bad fix to call an error (if outdoor) +#define GPS_GOTFIX_COUNTER_REQUIRED 4 //need GPS_GOTFIX_COUNTER_REQUIRED gps packets with a good fix to obtain position lock + +#include +#include + +/** + * Switch to new state with no checking. + * + * do_state_update: this is the functions that all other functions have to call in order to update the state. + * the function does not question the state change, this must be done before + * The function performs actions that are connected with the new state (buzzer, reboot, ...) + * + * @param status_pub file descriptor for state update topic publication + * @param current_status pointer to the current state machine to operate on + * @param mavlink_fd file descriptor for MAVLink statustext messages + * + * @return 0 (macro OK) or 1 on error (macro ERROR) + */ +int do_state_update(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, commander_state_machine_t new_state); + +/* These functions decide if an emergency exits and then switch to SYSTEM_STATE_MISSION_ABORT or SYSTEM_STATE_GROUND_ERROR */ +// void update_state_machine_subsystem_present(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type); +// void update_state_machine_subsystem_notpresent(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type); + +// void update_state_machine_subsystem_enabled(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type); +// void update_state_machine_subsystem_disabled(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type); + +// void update_state_machine_subsystem_healthy(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type); +// void update_state_machine_subsystem_unhealthy(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type); + + +/** + * Handle state machine if got position fix + * + * @param status_pub file descriptor for state update topic publication + * @param current_status pointer to the current state machine to operate on + * @param mavlink_fd file descriptor for MAVLink statustext messages + */ +void update_state_machine_got_position_fix(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); + +/** + * Handle state machine if position fix lost + * + * @param status_pub file descriptor for state update topic publication + * @param current_status pointer to the current state machine to operate on + * @param mavlink_fd file descriptor for MAVLink statustext messages + */ +void update_state_machine_no_position_fix(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); + +/** + * Handle state machine if user wants to arm + * + * @param status_pub file descriptor for state update topic publication + * @param current_status pointer to the current state machine to operate on + * @param mavlink_fd file descriptor for MAVLink statustext messages + */ +void update_state_machine_arm(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); + +/** + * Handle state machine if user wants to disarm + * + * @param status_pub file descriptor for state update topic publication + * @param current_status pointer to the current state machine to operate on + * @param mavlink_fd file descriptor for MAVLink statustext messages + */ +void update_state_machine_disarm(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); + +/** + * Handle state machine if mode switch is manual + * + * @param status_pub file descriptor for state update topic publication + * @param current_status pointer to the current state machine to operate on + * @param mavlink_fd file descriptor for MAVLink statustext messages + */ +void update_state_machine_mode_manual(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); + +/** + * Handle state machine if mode switch is stabilized + * + * @param status_pub file descriptor for state update topic publication + * @param current_status pointer to the current state machine to operate on + * @param mavlink_fd file descriptor for MAVLink statustext messages + */ +void update_state_machine_mode_stabilized(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); + +/** + * Handle state machine if mode switch is guided + * + * @param status_pub file descriptor for state update topic publication + * @param current_status pointer to the current state machine to operate on + * @param mavlink_fd file descriptor for MAVLink statustext messages + */ +void update_state_machine_mode_guided(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); + +/** + * Handle state machine if mode switch is auto + * + * @param status_pub file descriptor for state update topic publication + * @param current_status pointer to the current state machine to operate on + * @param mavlink_fd file descriptor for MAVLink statustext messages + */ +void update_state_machine_mode_auto(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); + +/** + * Publish current state information + * + * @param status_pub file descriptor for state update topic publication + * @param current_status pointer to the current state machine to operate on + * @param mavlink_fd file descriptor for MAVLink statustext messages + */ +void state_machine_publish(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); + + +/* + * Functions that handle incoming requests to change the state machine or a parameter (probably from the mavlink app). + * If the request is obeyed the functions return 0 + * + */ + +/** + * Handles *incoming request* to switch to a specific state, if state change is successful returns 0 + * + * @param status_pub file descriptor for state update topic publication + * @param current_status pointer to the current state machine to operate on + * @param mavlink_fd file descriptor for MAVLink statustext messages + */ +uint8_t update_state_machine_mode_request(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, uint8_t mode); + +/** + * Handles *incoming request* to switch to a specific custom state, if state change is successful returns 0 + * + * @param status_pub file descriptor for state update topic publication + * @param current_status pointer to the current state machine to operate on + * @param mavlink_fd file descriptor for MAVLink statustext messages + */ +uint8_t update_state_machine_custom_mode_request(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, uint8_t custom_mode); + +/** + * Always switches to critical mode under any circumstances. + * + * @param status_pub file descriptor for state update topic publication + * @param current_status pointer to the current state machine to operate on + * @param mavlink_fd file descriptor for MAVLink statustext messages + */ +void state_machine_emergency_always_critical(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); + +/** + * Switches to emergency if required. + * + * @param status_pub file descriptor for state update topic publication + * @param current_status pointer to the current state machine to operate on + * @param mavlink_fd file descriptor for MAVLink statustext messages + */ +void state_machine_emergency(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd); + +/** + * Publish the armed state depending on the current system state + * + * @param current_status the current system status + */ +void publish_armed_status(const struct vehicle_status_s *current_status); + + + +#endif /* STATE_MACHINE_HELPER_H_ */ diff --git a/src/systemcmds/eeprom/24xxxx_mtd.c b/src/systemcmds/eeprom/24xxxx_mtd.c new file mode 100644 index 000000000..e34be44e3 --- /dev/null +++ b/src/systemcmds/eeprom/24xxxx_mtd.c @@ -0,0 +1,571 @@ +/************************************************************************************ + * Driver for 24xxxx-style I2C EEPROMs. + * + * Adapted from: + * + * drivers/mtd/at24xx.c + * Driver for I2C-based at24cxx EEPROM(at24c32,at24c64,at24c128,at24c256) + * + * Copyright (C) 2011 Li Zhuoyi. All rights reserved. + * Author: Li Zhuoyi + * History: 0.1 2011-08-20 initial version + * + * 2011-11-1 Added support for larger MTD block sizes: Hal Glenn + * + * Derived from drivers/mtd/m25px.c + * + * Copyright (C) 2009-2011 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ************************************************************************************/ + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +#include + +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +#include "systemlib/perf_counter.h" + +/************************************************************************************ + * Pre-processor Definitions + ************************************************************************************/ + +/* + * Configuration is as for the AT24 driver, but the CONFIG_MTD_AT24XX define should be + * omitted in order to avoid building the AT24XX driver as well. + */ + +/* As a minimum, the size of the AT24 part and its 7-bit I2C address are required. */ + +#ifndef CONFIG_AT24XX_SIZE +# warning "Assuming AT24 size 64" +# define CONFIG_AT24XX_SIZE 64 +#endif +#ifndef CONFIG_AT24XX_ADDR +# warning "Assuming AT24 address of 0x50" +# define CONFIG_AT24XX_ADDR 0x50 +#endif + +/* Get the part configuration based on the size configuration */ + +#if CONFIG_AT24XX_SIZE == 32 +# define AT24XX_NPAGES 128 +# define AT24XX_PAGESIZE 32 +#elif CONFIG_AT24XX_SIZE == 48 +# define AT24XX_NPAGES 192 +# define AT24XX_PAGESIZE 32 +#elif CONFIG_AT24XX_SIZE == 64 +# define AT24XX_NPAGES 256 +# define AT24XX_PAGESIZE 32 +#elif CONFIG_AT24XX_SIZE == 128 +# define AT24XX_NPAGES 256 +# define AT24XX_PAGESIZE 64 +#elif CONFIG_AT24XX_SIZE == 256 +# define AT24XX_NPAGES 512 +# define AT24XX_PAGESIZE 64 +#endif + +/* For applications where a file system is used on the AT24, the tiny page sizes + * will result in very inefficient FLASH usage. In such cases, it is better if + * blocks are comprised of "clusters" of pages so that the file system block + * size is, say, 256 or 512 bytes. In any event, the block size *must* be an + * even multiple of the pages. + */ + +#ifndef CONFIG_AT24XX_MTD_BLOCKSIZE +# warning "Assuming driver block size is the same as the FLASH page size" +# define CONFIG_AT24XX_MTD_BLOCKSIZE AT24XX_PAGESIZE +#endif + +/* The AT24 does not respond on the bus during write cycles, so we depend on a long + * timeout to detect problems. The max program time is typically ~5ms. + */ +#ifndef CONFIG_AT24XX_WRITE_TIMEOUT_MS +# define CONFIG_AT24XX_WRITE_TIMEOUT_MS 20 +#endif + +/************************************************************************************ + * Private Types + ************************************************************************************/ + +/* This type represents the state of the MTD device. The struct mtd_dev_s + * must appear at the beginning of the definition so that you can freely + * cast between pointers to struct mtd_dev_s and struct at24c_dev_s. + */ + +struct at24c_dev_s { + struct mtd_dev_s mtd; /* MTD interface */ + FAR struct i2c_dev_s *dev; /* Saved I2C interface instance */ + uint8_t addr; /* I2C address */ + uint16_t pagesize; /* 32, 63 */ + uint16_t npages; /* 128, 256, 512, 1024 */ + + perf_counter_t perf_reads; + perf_counter_t perf_writes; + perf_counter_t perf_resets; + perf_counter_t perf_read_retries; + perf_counter_t perf_read_errors; + perf_counter_t perf_write_errors; +}; + +/************************************************************************************ + * Private Function Prototypes + ************************************************************************************/ + +/* MTD driver methods */ + +static int at24c_erase(FAR struct mtd_dev_s *dev, off_t startblock, size_t nblocks); +static ssize_t at24c_bread(FAR struct mtd_dev_s *dev, off_t startblock, + size_t nblocks, FAR uint8_t *buf); +static ssize_t at24c_bwrite(FAR struct mtd_dev_s *dev, off_t startblock, + size_t nblocks, FAR const uint8_t *buf); +static int at24c_ioctl(FAR struct mtd_dev_s *dev, int cmd, unsigned long arg); + +void at24c_test(void); + +/************************************************************************************ + * Private Data + ************************************************************************************/ + +/* At present, only a single AT24 part is supported. In this case, a statically + * allocated state structure may be used. + */ + +static struct at24c_dev_s g_at24c; + +/************************************************************************************ + * Private Functions + ************************************************************************************/ + +static int at24c_eraseall(FAR struct at24c_dev_s *priv) +{ + int startblock = 0; + uint8_t buf[AT24XX_PAGESIZE + 2]; + + struct i2c_msg_s msgv[1] = { + { + .addr = priv->addr, + .flags = 0, + .buffer = &buf[0], + .length = sizeof(buf), + } + }; + + memset(&buf[2], 0xff, priv->pagesize); + + for (startblock = 0; startblock < priv->npages; startblock++) { + uint16_t offset = startblock * priv->pagesize; + buf[1] = offset & 0xff; + buf[0] = (offset >> 8) & 0xff; + + while (I2C_TRANSFER(priv->dev, &msgv[0], 1) < 0) { + fvdbg("erase stall\n"); + usleep(10000); + } + } + + return OK; +} + +/************************************************************************************ + * Name: at24c_erase + ************************************************************************************/ + +static int at24c_erase(FAR struct mtd_dev_s *dev, off_t startblock, size_t nblocks) +{ + /* EEprom need not erase */ + + return (int)nblocks; +} + +/************************************************************************************ + * Name: at24c_test + ************************************************************************************/ + +void at24c_test(void) +{ + uint8_t buf[CONFIG_AT24XX_MTD_BLOCKSIZE]; + unsigned count = 0; + unsigned errors = 0; + + for (count = 0; count < 10000; count++) { + ssize_t result = at24c_bread(&g_at24c.mtd, 0, 1, buf); + if (result == ERROR) { + if (errors++ > 2) { + vdbg("too many errors\n"); + return; + } + } else if (result != 1) { + vdbg("unexpected %u\n", result); + } + if ((count % 100) == 0) + vdbg("test %u errors %u\n", count, errors); + } +} + +/************************************************************************************ + * Name: at24c_bread + ************************************************************************************/ + +static ssize_t at24c_bread(FAR struct mtd_dev_s *dev, off_t startblock, + size_t nblocks, FAR uint8_t *buffer) +{ + FAR struct at24c_dev_s *priv = (FAR struct at24c_dev_s *)dev; + size_t blocksleft; + uint8_t addr[2]; + int ret; + + struct i2c_msg_s msgv[2] = { + { + .addr = priv->addr, + .flags = 0, + .buffer = &addr[0], + .length = sizeof(addr), + }, + { + .addr = priv->addr, + .flags = I2C_M_READ, + .buffer = 0, + .length = priv->pagesize, + } + }; + +#if CONFIG_AT24XX_MTD_BLOCKSIZE > AT24XX_PAGESIZE + startblock *= (CONFIG_AT24XX_MTD_BLOCKSIZE / AT24XX_PAGESIZE); + nblocks *= (CONFIG_AT24XX_MTD_BLOCKSIZE / AT24XX_PAGESIZE); +#endif + blocksleft = nblocks; + + fvdbg("startblock: %08lx nblocks: %d\n", (long)startblock, (int)nblocks); + + if (startblock >= priv->npages) { + return 0; + } + + if (startblock + nblocks > priv->npages) { + nblocks = priv->npages - startblock; + } + + while (blocksleft-- > 0) { + uint16_t offset = startblock * priv->pagesize; + unsigned tries = CONFIG_AT24XX_WRITE_TIMEOUT_MS; + + addr[1] = offset & 0xff; + addr[0] = (offset >> 8) & 0xff; + msgv[1].buffer = buffer; + + for (;;) { + + perf_begin(priv->perf_reads); + ret = I2C_TRANSFER(priv->dev, &msgv[0], 2); + perf_end(priv->perf_reads); + + if (ret >= 0) + break; + + fvdbg("read stall"); + usleep(1000); + + /* We should normally only be here on the first read after + * a write. + * + * XXX maybe do special first-read handling with optional + * bus reset as well? + */ + perf_count(priv->perf_read_retries); + + if (--tries == 0) { + perf_count(priv->perf_read_errors); + return ERROR; + } + } + + startblock++; + buffer += priv->pagesize; + } + +#if CONFIG_AT24XX_MTD_BLOCKSIZE > AT24XX_PAGESIZE + return nblocks / (CONFIG_AT24XX_MTD_BLOCKSIZE / AT24XX_PAGESIZE); +#else + return nblocks; +#endif +} + +/************************************************************************************ + * Name: at24c_bwrite + * + * Operates on MTD block's and translates to FLASH pages + * + ************************************************************************************/ + +static ssize_t at24c_bwrite(FAR struct mtd_dev_s *dev, off_t startblock, size_t nblocks, + FAR const uint8_t *buffer) +{ + FAR struct at24c_dev_s *priv = (FAR struct at24c_dev_s *)dev; + size_t blocksleft; + uint8_t buf[AT24XX_PAGESIZE + 2]; + int ret; + + struct i2c_msg_s msgv[1] = { + { + .addr = priv->addr, + .flags = 0, + .buffer = &buf[0], + .length = sizeof(buf), + } + }; + +#if CONFIG_AT24XX_MTD_BLOCKSIZE > AT24XX_PAGESIZE + startblock *= (CONFIG_AT24XX_MTD_BLOCKSIZE / AT24XX_PAGESIZE); + nblocks *= (CONFIG_AT24XX_MTD_BLOCKSIZE / AT24XX_PAGESIZE); +#endif + blocksleft = nblocks; + + if (startblock >= priv->npages) { + return 0; + } + + if (startblock + nblocks > priv->npages) { + nblocks = priv->npages - startblock; + } + + fvdbg("startblock: %08lx nblocks: %d\n", (long)startblock, (int)nblocks); + + while (blocksleft-- > 0) { + uint16_t offset = startblock * priv->pagesize; + unsigned tries = CONFIG_AT24XX_WRITE_TIMEOUT_MS; + + buf[1] = offset & 0xff; + buf[0] = (offset >> 8) & 0xff; + memcpy(&buf[2], buffer, priv->pagesize); + + for (;;) { + + perf_begin(priv->perf_writes); + ret = I2C_TRANSFER(priv->dev, &msgv[0], 1); + perf_end(priv->perf_writes); + + if (ret >= 0) + break; + + fvdbg("write stall"); + usleep(1000); + + /* We expect to see a number of retries per write cycle as we + * poll for write completion. + */ + if (--tries == 0) { + perf_count(priv->perf_write_errors); + return ERROR; + } + } + + startblock++; + buffer += priv->pagesize; + } + +#if CONFIG_AT24XX_MTD_BLOCKSIZE > AT24XX_PAGESIZE + return nblocks / (CONFIG_AT24XX_MTD_BLOCKSIZE / AT24XX_PAGESIZE); +#else + return nblocks; +#endif +} + +/************************************************************************************ + * Name: at24c_ioctl + ************************************************************************************/ + +static int at24c_ioctl(FAR struct mtd_dev_s *dev, int cmd, unsigned long arg) +{ + FAR struct at24c_dev_s *priv = (FAR struct at24c_dev_s *)dev; + int ret = -EINVAL; /* Assume good command with bad parameters */ + + fvdbg("cmd: %d \n", cmd); + + switch (cmd) { + case MTDIOC_GEOMETRY: { + FAR struct mtd_geometry_s *geo = (FAR struct mtd_geometry_s *)((uintptr_t)arg); + + if (geo) { + /* Populate the geometry structure with information need to know + * the capacity and how to access the device. + * + * NOTE: that the device is treated as though it where just an array + * of fixed size blocks. That is most likely not true, but the client + * will expect the device logic to do whatever is necessary to make it + * appear so. + * + * blocksize: + * May be user defined. The block size for the at24XX devices may be + * larger than the page size in order to better support file systems. + * The read and write functions translate BLOCKS to pages for the + * small flash devices + * erasesize: + * It has to be at least as big as the blocksize, bigger serves no + * purpose. + * neraseblocks + * Note that the device size is in kilobits and must be scaled by + * 1024 / 8 + */ + +#if CONFIG_AT24XX_MTD_BLOCKSIZE > AT24XX_PAGESIZE + geo->blocksize = CONFIG_AT24XX_MTD_BLOCKSIZE; + geo->erasesize = CONFIG_AT24XX_MTD_BLOCKSIZE; + geo->neraseblocks = (CONFIG_AT24XX_SIZE * 1024 / 8) / CONFIG_AT24XX_MTD_BLOCKSIZE; +#else + geo->blocksize = priv->pagesize; + geo->erasesize = priv->pagesize; + geo->neraseblocks = priv->npages; +#endif + ret = OK; + + fvdbg("blocksize: %d erasesize: %d neraseblocks: %d\n", + geo->blocksize, geo->erasesize, geo->neraseblocks); + } + } + break; + + case MTDIOC_BULKERASE: + ret = at24c_eraseall(priv); + break; + + case MTDIOC_XIPBASE: + default: + ret = -ENOTTY; /* Bad command */ + break; + } + + return ret; +} + +/************************************************************************************ + * Public Functions + ************************************************************************************/ + +/************************************************************************************ + * Name: at24c_initialize + * + * Description: + * Create an initialize MTD device instance. MTD devices are not registered + * in the file system, but are created as instances that can be bound to + * other functions (such as a block or character driver front end). + * + ************************************************************************************/ + +FAR struct mtd_dev_s *at24c_initialize(FAR struct i2c_dev_s *dev) { + FAR struct at24c_dev_s *priv; + + fvdbg("dev: %p\n", dev); + + /* Allocate a state structure (we allocate the structure instead of using + * a fixed, static allocation so that we can handle multiple FLASH devices. + * The current implementation would handle only one FLASH part per I2C + * device (only because of the SPIDEV_FLASH definition) and so would have + * to be extended to handle multiple FLASH parts on the same I2C bus. + */ + + priv = &g_at24c; + + if (priv) { + /* Initialize the allocated structure */ + + priv->addr = CONFIG_AT24XX_ADDR; + priv->pagesize = AT24XX_PAGESIZE; + priv->npages = AT24XX_NPAGES; + + priv->mtd.erase = at24c_erase; + priv->mtd.bread = at24c_bread; + priv->mtd.bwrite = at24c_bwrite; + priv->mtd.ioctl = at24c_ioctl; + priv->dev = dev; + + priv->perf_reads = perf_alloc(PC_ELAPSED, "EEPROM read"); + priv->perf_writes = perf_alloc(PC_ELAPSED, "EEPROM write"); + priv->perf_resets = perf_alloc(PC_COUNT, "EEPROM reset"); + priv->perf_read_retries = perf_alloc(PC_COUNT, "EEPROM read retries"); + priv->perf_read_errors = perf_alloc(PC_COUNT, "EEPROM read errors"); + priv->perf_write_errors = perf_alloc(PC_COUNT, "EEPROM write errors"); + } + + /* attempt to read to validate device is present */ + unsigned char buf[5]; + uint8_t addrbuf[2] = {0, 0}; + + struct i2c_msg_s msgv[2] = { + { + .addr = priv->addr, + .flags = 0, + .buffer = &addrbuf[0], + .length = sizeof(addrbuf), + }, + { + .addr = priv->addr, + .flags = I2C_M_READ, + .buffer = &buf[0], + .length = sizeof(buf), + } + }; + + perf_begin(priv->perf_reads); + int ret = I2C_TRANSFER(priv->dev, &msgv[0], 2); + perf_end(priv->perf_reads); + + if (ret < 0) { + return NULL; + } + + /* Return the implementation-specific state structure as the MTD device */ + + fvdbg("Return %p\n", priv); + return (FAR struct mtd_dev_s *)priv; +} + +/* + * XXX: debug hackery + */ +int at24c_nuke(void) +{ + return at24c_eraseall(&g_at24c); +} diff --git a/src/systemcmds/eeprom/eeprom.c b/src/systemcmds/eeprom/eeprom.c new file mode 100644 index 000000000..49da51358 --- /dev/null +++ b/src/systemcmds/eeprom/eeprom.c @@ -0,0 +1,265 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file eeprom.c + * + * EEPROM service and utility app. + */ + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +#include + +#include "systemlib/systemlib.h" +#include "systemlib/param/param.h" +#include "systemlib/err.h" + +#ifndef PX4_I2C_BUS_ONBOARD +# error PX4_I2C_BUS_ONBOARD not defined, cannot locate onboard EEPROM +#endif + +__EXPORT int eeprom_main(int argc, char *argv[]); + +static void eeprom_attach(void); +static void eeprom_start(void); +static void eeprom_erase(void); +static void eeprom_ioctl(unsigned operation); +static void eeprom_save(const char *name); +static void eeprom_load(const char *name); +static void eeprom_test(void); + +static bool attached = false; +static bool started = false; +static struct mtd_dev_s *eeprom_mtd; + +int eeprom_main(int argc, char *argv[]) +{ + if (argc >= 2) { + if (!strcmp(argv[1], "start")) + eeprom_start(); + + if (!strcmp(argv[1], "save_param")) + eeprom_save(argv[2]); + + if (!strcmp(argv[1], "load_param")) + eeprom_load(argv[2]); + + if (!strcmp(argv[1], "erase")) + eeprom_erase(); + + if (!strcmp(argv[1], "test")) + eeprom_test(); + + if (0) { /* these actually require a file on the filesystem... */ + + if (!strcmp(argv[1], "reformat")) + eeprom_ioctl(FIOC_REFORMAT); + + if (!strcmp(argv[1], "repack")) + eeprom_ioctl(FIOC_OPTIMIZE); + } + } + + errx(1, "expected a command, try 'start'\n\t'save_param /eeprom/parameters'\n\t'load_param /eeprom/parameters'\n\t'erase'\n"); +} + + +static void +eeprom_attach(void) +{ + /* find the right I2C */ + struct i2c_dev_s *i2c = up_i2cinitialize(PX4_I2C_BUS_ONBOARD); + /* this resets the I2C bus, set correct bus speed again */ + I2C_SETFREQUENCY(i2c, 400000); + + if (i2c == NULL) + errx(1, "failed to locate I2C bus"); + + /* start the MTD driver, attempt 5 times */ + for (int i = 0; i < 5; i++) { + eeprom_mtd = at24c_initialize(i2c); + if (eeprom_mtd) { + /* abort on first valid result */ + if (i > 0) { + warnx("warning: EEPROM needed %d attempts to attach", i+1); + } + break; + } + } + + /* if last attempt is still unsuccessful, abort */ + if (eeprom_mtd == NULL) + errx(1, "failed to initialize EEPROM driver"); + + attached = true; +} + +static void +eeprom_start(void) +{ + int ret; + + if (started) + errx(1, "EEPROM already mounted"); + + if (!attached) + eeprom_attach(); + + /* start NXFFS */ + ret = nxffs_initialize(eeprom_mtd); + + if (ret < 0) + errx(1, "failed to initialize NXFFS - erase EEPROM to reformat"); + + /* mount the EEPROM */ + ret = mount(NULL, "/eeprom", "nxffs", 0, NULL); + + if (ret < 0) + errx(1, "failed to mount /eeprom - erase EEPROM to reformat"); + + started = true; + warnx("mounted EEPROM at /eeprom"); + exit(0); +} + +extern int at24c_nuke(void); + +static void +eeprom_erase(void) +{ + if (!attached) + eeprom_attach(); + + if (at24c_nuke()) + errx(1, "erase failed"); + + errx(0, "erase done, reboot now"); +} + +static void +eeprom_ioctl(unsigned operation) +{ + int fd; + + fd = open("/eeprom/.", 0); + + if (fd < 0) + err(1, "open /eeprom"); + + if (ioctl(fd, operation, 0) < 0) + err(1, "ioctl"); + + exit(0); +} + +static void +eeprom_save(const char *name) +{ + if (!started) + errx(1, "must be started first"); + + if (!name) + err(1, "missing argument for device name, try '/eeprom/parameters'"); + + warnx("WARNING: 'eeprom save_param' deprecated - use 'param save' instead"); + + /* delete the file in case it exists */ + unlink(name); + + /* create the file */ + int fd = open(name, O_WRONLY | O_CREAT | O_EXCL); + + if (fd < 0) + err(1, "opening '%s' failed", name); + + int result = param_export(fd, false); + close(fd); + + if (result < 0) { + unlink(name); + errx(1, "error exporting to '%s'", name); + } + + exit(0); +} + +static void +eeprom_load(const char *name) +{ + if (!started) + errx(1, "must be started first"); + + if (!name) + err(1, "missing argument for device name, try '/eeprom/parameters'"); + + warnx("WARNING: 'eeprom load_param' deprecated - use 'param load' instead"); + + int fd = open(name, O_RDONLY); + + if (fd < 0) + err(1, "open '%s'", name); + + int result = param_load(fd); + close(fd); + + if (result < 0) + errx(1, "error importing from '%s'", name); + + exit(0); +} + +extern void at24c_test(void); + +static void +eeprom_test(void) +{ + at24c_test(); + exit(0); +} diff --git a/src/systemcmds/eeprom/module.mk b/src/systemcmds/eeprom/module.mk new file mode 100644 index 000000000..3b4fc0479 --- /dev/null +++ b/src/systemcmds/eeprom/module.mk @@ -0,0 +1,6 @@ +# +# EEPROM file system driver +# + +MODULE_COMMAND = eeprom +SRCS = 24xxxx_mtd.c eeprom.c -- cgit v1.2.3 From 4748bba35ac8f5ff0010d2ba202c85a6c5d36168 Mon Sep 17 00:00:00 2001 From: px4dev Date: Fri, 26 Apr 2013 20:02:12 -0700 Subject: Move the 'tests' app to the new world. --- apps/px4/tests/.context | 0 apps/px4/tests/Makefile | 44 ---- apps/px4/tests/test_adc.c | 94 -------- apps/px4/tests/test_bson.c | 244 -------------------- apps/px4/tests/test_float.c | 283 ----------------------- apps/px4/tests/test_gpio.c | 115 ---------- apps/px4/tests/test_hott_telemetry.c | 240 -------------------- apps/px4/tests/test_hrt.c | 218 ------------------ apps/px4/tests/test_int.c | 149 ------------ apps/px4/tests/test_jig_voltages.c | 168 -------------- apps/px4/tests/test_led.c | 134 ----------- apps/px4/tests/test_sensors.c | 297 ------------------------ apps/px4/tests/test_servo.c | 132 ----------- apps/px4/tests/test_sleep.c | 100 -------- apps/px4/tests/test_time.c | 160 ------------- apps/px4/tests/test_uart_baudchange.c | 158 ------------- apps/px4/tests/test_uart_console.c | 175 -------------- apps/px4/tests/test_uart_loopback.c | 195 ---------------- apps/px4/tests/test_uart_send.c | 131 ----------- apps/px4/tests/tests.h | 102 --------- apps/px4/tests/tests_file.c | 84 ------- apps/px4/tests/tests_main.c | 339 ---------------------------- apps/px4/tests/tests_param.c | 78 ------- makefiles/config_px4fmu_default.mk | 6 +- nuttx/configs/px4fmu/nsh/appconfig | 1 - src/systemcmds/tests/.context | 0 src/systemcmds/tests/module.mk | 28 +++ src/systemcmds/tests/test_adc.c | 94 ++++++++ src/systemcmds/tests/test_bson.c | 244 ++++++++++++++++++++ src/systemcmds/tests/test_float.c | 283 +++++++++++++++++++++++ src/systemcmds/tests/test_gpio.c | 115 ++++++++++ src/systemcmds/tests/test_hott_telemetry.c | 240 ++++++++++++++++++++ src/systemcmds/tests/test_hrt.c | 218 ++++++++++++++++++ src/systemcmds/tests/test_int.c | 149 ++++++++++++ src/systemcmds/tests/test_jig_voltages.c | 168 ++++++++++++++ src/systemcmds/tests/test_led.c | 134 +++++++++++ src/systemcmds/tests/test_sensors.c | 297 ++++++++++++++++++++++++ src/systemcmds/tests/test_servo.c | 132 +++++++++++ src/systemcmds/tests/test_sleep.c | 100 ++++++++ src/systemcmds/tests/test_time.c | 160 +++++++++++++ src/systemcmds/tests/test_uart_baudchange.c | 158 +++++++++++++ src/systemcmds/tests/test_uart_console.c | 175 ++++++++++++++ src/systemcmds/tests/test_uart_loopback.c | 195 ++++++++++++++++ src/systemcmds/tests/test_uart_send.c | 131 +++++++++++ src/systemcmds/tests/tests.h | 102 +++++++++ src/systemcmds/tests/tests_file.c | 84 +++++++ src/systemcmds/tests/tests_main.c | 339 ++++++++++++++++++++++++++++ src/systemcmds/tests/tests_param.c | 78 +++++++ 48 files changed, 3629 insertions(+), 3642 deletions(-) delete mode 100644 apps/px4/tests/.context delete mode 100644 apps/px4/tests/Makefile delete mode 100644 apps/px4/tests/test_adc.c delete mode 100644 apps/px4/tests/test_bson.c delete mode 100644 apps/px4/tests/test_float.c delete mode 100644 apps/px4/tests/test_gpio.c delete mode 100644 apps/px4/tests/test_hott_telemetry.c delete mode 100644 apps/px4/tests/test_hrt.c delete mode 100644 apps/px4/tests/test_int.c delete mode 100644 apps/px4/tests/test_jig_voltages.c delete mode 100644 apps/px4/tests/test_led.c delete mode 100644 apps/px4/tests/test_sensors.c delete mode 100644 apps/px4/tests/test_servo.c delete mode 100644 apps/px4/tests/test_sleep.c delete mode 100644 apps/px4/tests/test_time.c delete mode 100644 apps/px4/tests/test_uart_baudchange.c delete mode 100644 apps/px4/tests/test_uart_console.c delete mode 100644 apps/px4/tests/test_uart_loopback.c delete mode 100644 apps/px4/tests/test_uart_send.c delete mode 100644 apps/px4/tests/tests.h delete mode 100644 apps/px4/tests/tests_file.c delete mode 100644 apps/px4/tests/tests_main.c delete mode 100644 apps/px4/tests/tests_param.c create mode 100644 src/systemcmds/tests/.context create mode 100644 src/systemcmds/tests/module.mk create mode 100644 src/systemcmds/tests/test_adc.c create mode 100644 src/systemcmds/tests/test_bson.c create mode 100644 src/systemcmds/tests/test_float.c create mode 100644 src/systemcmds/tests/test_gpio.c create mode 100644 src/systemcmds/tests/test_hott_telemetry.c create mode 100644 src/systemcmds/tests/test_hrt.c create mode 100644 src/systemcmds/tests/test_int.c create mode 100644 src/systemcmds/tests/test_jig_voltages.c create mode 100644 src/systemcmds/tests/test_led.c create mode 100644 src/systemcmds/tests/test_sensors.c create mode 100644 src/systemcmds/tests/test_servo.c create mode 100644 src/systemcmds/tests/test_sleep.c create mode 100644 src/systemcmds/tests/test_time.c create mode 100644 src/systemcmds/tests/test_uart_baudchange.c create mode 100644 src/systemcmds/tests/test_uart_console.c create mode 100644 src/systemcmds/tests/test_uart_loopback.c create mode 100644 src/systemcmds/tests/test_uart_send.c create mode 100644 src/systemcmds/tests/tests.h create mode 100644 src/systemcmds/tests/tests_file.c create mode 100644 src/systemcmds/tests/tests_main.c create mode 100644 src/systemcmds/tests/tests_param.c (limited to 'src') diff --git a/apps/px4/tests/.context b/apps/px4/tests/.context deleted file mode 100644 index e69de29bb..000000000 diff --git a/apps/px4/tests/Makefile b/apps/px4/tests/Makefile deleted file mode 100644 index e27222b9d..000000000 --- a/apps/px4/tests/Makefile +++ /dev/null @@ -1,44 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Makefile to build assorted test cases -# - -APPNAME = tests -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 12000 - -include $(APPDIR)/mk/app.mk - -MAXOPTIMIZATION = -Os \ No newline at end of file diff --git a/apps/px4/tests/test_adc.c b/apps/px4/tests/test_adc.c deleted file mode 100644 index 030ac6e23..000000000 --- a/apps/px4/tests/test_adc.c +++ /dev/null @@ -1,94 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file test_adc.c - * Test for the analog to digital converter. - */ - -#include -#include - -#include - -#include -#include -#include -#include -#include -#include - -#include - -#include "tests.h" - -#include -#include -#include - -int test_adc(int argc, char *argv[]) -{ - int fd = open(ADC_DEVICE_PATH, O_RDONLY); - - if (fd < 0) { - warnx("ERROR: can't open ADC device"); - return 1; - } - - for (unsigned i = 0; i < 5; i++) { - /* make space for a maximum of eight channels */ - struct adc_msg_s data[8]; - /* read all channels available */ - ssize_t count = read(fd, data, sizeof(data)); - - if (count < 0) - goto errout_with_dev; - - unsigned channels = count / sizeof(data[0]); - - for (unsigned j = 0; j < channels; j++) { - printf("%d: %u ", data[j].am_channel, data[j].am_data); - } - - printf("\n"); - usleep(150000); - } - - warnx("\t ADC test successful.\n"); - -errout_with_dev: - - if (fd != 0) close(fd); - - return OK; -} diff --git a/apps/px4/tests/test_bson.c b/apps/px4/tests/test_bson.c deleted file mode 100644 index 6130fe763..000000000 --- a/apps/px4/tests/test_bson.c +++ /dev/null @@ -1,244 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file tests_bson.c - * - * Tests for the bson en/decoder - */ - -#include -#include -#include - -#include -#include - -#include "tests.h" - -static const bool sample_bool = true; -static const int32_t sample_small_int = 123; -static const int64_t sample_big_int = (int64_t)INT_MAX + 123LL; -static const double sample_double = 2.5f; -static const char *sample_string = "this is a test"; -static const uint8_t sample_data[256] = {0}; -//static const char *sample_filename = "/fs/microsd/bson.test"; - -static int -encode(bson_encoder_t encoder) -{ - if (bson_encoder_append_bool(encoder, "bool1", sample_bool) != 0) - warnx("FAIL: encoder: append bool failed"); - if (bson_encoder_append_int(encoder, "int1", sample_small_int) != 0) - warnx("FAIL: encoder: append int failed"); - if (bson_encoder_append_int(encoder, "int2", sample_big_int) != 0) - warnx("FAIL: encoder: append int failed"); - if (bson_encoder_append_double(encoder, "double1", sample_double) != 0) - warnx("FAIL: encoder: append double failed"); - if (bson_encoder_append_string(encoder, "string1", sample_string) != 0) - warnx("FAIL: encoder: append string failed"); - if (bson_encoder_append_binary(encoder, "data1", BSON_BIN_BINARY, sizeof(sample_data), sample_data) != 0) - warnx("FAIL: encoder: append data failed"); - - bson_encoder_fini(encoder); - - return 0; -} - -static int -decode_callback(bson_decoder_t decoder, void *private, bson_node_t node) -{ - unsigned len; - - if (!strcmp(node->name, "bool1")) { - if (node->type != BSON_BOOL) { - warnx("FAIL: decoder: bool1 type %d, expected %d", node->type, BSON_BOOL); - return 1; - } - if (node->b != sample_bool) { - warnx("FAIL: decoder: bool1 value %s, expected %s", - (node->b ? "true" : "false"), - (sample_bool ? "true" : "false")); - return 1; - } - warnx("PASS: decoder: bool1"); - return 1; - } - if (!strcmp(node->name, "int1")) { - if (node->type != BSON_INT32) { - warnx("FAIL: decoder: int1 type %d, expected %d", node->type, BSON_INT32); - return 1; - } - if (node->i != sample_small_int) { - warnx("FAIL: decoder: int1 value %lld, expected %d", node->i, sample_small_int); - return 1; - } - warnx("PASS: decoder: int1"); - return 1; - } - if (!strcmp(node->name, "int2")) { - if (node->type != BSON_INT64) { - warnx("FAIL: decoder: int2 type %d, expected %d", node->type, BSON_INT64); - return 1; - } - if (node->i != sample_big_int) { - warnx("FAIL: decoder: int2 value %lld, expected %lld", node->i, sample_big_int); - return 1; - } - warnx("PASS: decoder: int2"); - return 1; - } - if (!strcmp(node->name, "double1")) { - if (node->type != BSON_DOUBLE) { - warnx("FAIL: decoder: double1 type %d, expected %d", node->type, BSON_DOUBLE); - return 1; - } - if (node->d != sample_double) { - warnx("FAIL: decoder: double1 value %f, expected %f", node->d, sample_double); - return 1; - } - warnx("PASS: decoder: double1"); - return 1; - } - if (!strcmp(node->name, "string1")) { - if (node->type != BSON_STRING) { - warnx("FAIL: decoder: string1 type %d, expected %d", node->type, BSON_STRING); - return 1; - } - - len = bson_decoder_data_pending(decoder); - - if (len != strlen(sample_string) + 1) { - warnx("FAIL: decoder: string1 length %d wrong, expected %d", len, strlen(sample_string) + 1); - return 1; - } - - char sbuf[len]; - - if (bson_decoder_copy_data(decoder, sbuf)) { - warnx("FAIL: decoder: string1 copy failed"); - return 1; - } - if (bson_decoder_data_pending(decoder) != 0) { - warnx("FAIL: decoder: string1 copy did not exhaust all data"); - return 1; - } - if (sbuf[len - 1] != '\0') { - warnx("FAIL: decoder: string1 not 0-terminated"); - return 1; - } - if (strcmp(sbuf, sample_string)) { - warnx("FAIL: decoder: string1 value '%s', expected '%s'", sbuf, sample_string); - return 1; - } - warnx("PASS: decoder: string1"); - return 1; - } - if (!strcmp(node->name, "data1")) { - if (node->type != BSON_BINDATA) { - warnx("FAIL: decoder: data1 type %d, expected %d", node->type, BSON_BINDATA); - return 1; - } - - len = bson_decoder_data_pending(decoder); - - if (len != sizeof(sample_data)) { - warnx("FAIL: decoder: data1 length %d, expected %d", len, sizeof(sample_data)); - return 1; - } - - if (node->subtype != BSON_BIN_BINARY) { - warnx("FAIL: decoder: data1 subtype %d, expected %d", node->subtype, BSON_BIN_BINARY); - return 1; - } - - uint8_t dbuf[len]; - - if (bson_decoder_copy_data(decoder, dbuf)) { - warnx("FAIL: decoder: data1 copy failed"); - return 1; - } - if (bson_decoder_data_pending(decoder) != 0) { - warnx("FAIL: decoder: data1 copy did not exhaust all data"); - return 1; - } - if (memcmp(sample_data, dbuf, len)) { - warnx("FAIL: decoder: data1 compare fail"); - return 1; - } - warnx("PASS: decoder: data1"); - return 1; - } - - if (node->type != BSON_EOO) - warnx("FAIL: decoder: unexpected node name '%s'", node->name); - return 1; -} - -static void -decode(bson_decoder_t decoder) -{ - int result; - - do { - result = bson_decoder_next(decoder); - } while (result > 0); -} - -int -test_bson(int argc, char *argv[]) -{ - struct bson_encoder_s encoder; - struct bson_decoder_s decoder; - void *buf; - int len; - - /* encode data to a memory buffer */ - if (bson_encoder_init_buf(&encoder, NULL, 0)) - errx(1, "FAIL: bson_encoder_init_buf"); - encode(&encoder); - len = bson_encoder_buf_size(&encoder); - if (len <= 0) - errx(1, "FAIL: bson_encoder_buf_len"); - buf = bson_encoder_buf_data(&encoder); - if (buf == NULL) - errx(1, "FAIL: bson_encoder_buf_data"); - - /* now test-decode it */ - if (bson_decoder_init_buf(&decoder, buf, len, decode_callback, NULL)) - errx(1, "FAIL: bson_decoder_init_buf"); - decode(&decoder); - free(buf); - - return OK; -} \ No newline at end of file diff --git a/apps/px4/tests/test_float.c b/apps/px4/tests/test_float.c deleted file mode 100644 index 4921c9bbb..000000000 --- a/apps/px4/tests/test_float.c +++ /dev/null @@ -1,283 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Lorenz Meier - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file tests_float.c - * Floating point tests - */ - -#include -#include -#include -#include -#include -#include -#include -#include -#include "tests.h" -#include -#include - -typedef union { - float f; - double d; - uint8_t b[8]; -} test_float_double_t; - -int test_float(int argc, char *argv[]) -{ - int ret = 0; - - printf("\n--- SINGLE PRECISION TESTS ---\n"); - printf("The single precision test involves calls to fabsf(),\nif test fails check this function as well.\n\n"); - - float f1 = 1.55f; - - float sinf_zero = sinf(0.0f); - float sinf_one = sinf(1.0f); - float sqrt_two = sqrt(2.0f); - - if (sinf_zero == 0.0f) { - printf("\t success: sinf(0.0f) == 0.0f\n"); - - } else { - printf("\t FAIL: sinf(0.0f) != 0.0f, result: %8.4f\n", (double)sinf_zero); - ret = -4; - } - - fflush(stdout); - - if (fabsf((sinf_one - 0.841470956802368164062500000000f)) < FLT_EPSILON) { - printf("\t success: sinf(1.0f) == 0.84147f\n"); - - } else { - printf("\t FAIL: sinf(1.0f) != 0.84147f, result: %8.4f\n", (double)sinf_one); - ret = -1; - } - - fflush(stdout); - - float asinf_one = asinf(1.0f); - - if (fabsf((asinf_one - 1.570796251296997070312500000000f)) < FLT_EPSILON * 1.5f) { - printf("\t success: asinf(1.0f) == 1.57079f\n"); - - } else { - printf("\t FAIL: asinf(1.0f) != 1.57079f, result: %f\n", asinf_one); - ret = -1; - } - - fflush(stdout); - - float cosf_one = cosf(1.0f); - - if (fabsf((cosf_one - 0.540302336215972900390625000000f)) < FLT_EPSILON) { - printf("\t success: cosf(1.0f) == 0.54030f\n"); - - } else { - printf("\t FAIL: cosf(1.0f) != 0.54030f, result: %8.4f\n", (double)cosf_one); - ret = -1; - } - - fflush(stdout); - - - float acosf_one = acosf(1.0f); - - if (fabsf((acosf_one - 0.000000000000000000000000000000f)) < FLT_EPSILON) { - printf("\t success: acosf(1.0f) == 0.0f\n"); - - } else { - printf("\t FAIL: acosf(1.0f) != 0.0f, result: %8.4f\n", (double)acosf_one); - ret = -1; - } - - fflush(stdout); - - - float sinf_zero_one = sinf(0.1f); - - if (fabs(sinf_zero_one - 0.0998334166f) < FLT_EPSILON) { - printf("\t success: sinf(0.1f) == 0.09983f\n"); - - } else { - printf("\t FAIL: sinf(0.1f) != 0.09983f, result: %8.4f\n", (double)sinf_zero_one); - ret = -2; - } - - if (sqrt_two == 1.41421356f) { - printf("\t success: sqrt(2.0f) == 1.41421f\n"); - - } else { - printf("\t FAIL: sqrt(2.0f) != 1.41421f, result: %8.4f\n", (double)sinf_zero_one); - ret = -3; - } - - float atan2f_ones = atan2(1.0f, 1.0f); - - if (fabsf(atan2f_ones - 0.785398163397448278999490867136f) < FLT_EPSILON) { - printf("\t success: atan2f(1.0f, 1.0f) == 0.78539f\n"); - - } else { - printf("\t FAIL: atan2f(1.0f, 1.0f) != 0.78539f, result: %8.4f\n", (double)atan2f_ones); - ret = -4; - } - - char sbuf[30]; - sprintf(sbuf, "%8.4f", 0.553415f); - - if (sbuf[0] == ' ' && sbuf[1] == ' ' && sbuf[2] == '0' && - sbuf[3] == '.' && sbuf[4] == '5' && sbuf[5] == '5' - && sbuf[6] == '3' && sbuf[7] == '4' && sbuf[8] == '\0') { - printf("\t success: printf(\"%%8.4f\", 0.553415f) == %8.4f\n", (double)0.553415f); - } else { - printf("\t FAIL: printf(\"%%8.4f\", 0.553415f) != \" 0.5534\", result: %s\n", sbuf); - ret = -5; - } - - sprintf(sbuf, "%8.4f", -0.553415f); - - if (sbuf[0] == ' ' && sbuf[1] == '-' && sbuf[2] == '0' && - sbuf[3] == '.' && sbuf[4] == '5' && sbuf[5] == '5' - && sbuf[6] == '3' && sbuf[7] == '4' && sbuf[8] == '\0') { - printf("\t success: printf(\"%%8.4f\", -0.553415f) == %8.4f\n", (double)-0.553415f); - } else { - printf("\t FAIL: printf(\"%%8.4f\", -0.553415f) != \" -0.5534\", result: %s\n", sbuf); - ret = -6; - } - - - - - - printf("\n--- DOUBLE PRECISION TESTS ---\n"); - - double d1 = 1.0111; - double d2 = 2.0; - - double d1d2 = d1 * d2; - - if (d1d2 == 2.022200000000000219557705349871) { - printf("\t success: 1.0111 * 2.0 == 2.0222\n"); - - } else { - printf("\t FAIL: 1.0111 * 2.0 != 2.0222, result: %8.4f\n", d1d2); - ret = -7; - } - - fflush(stdout); - - // Assign value of f1 to d1 - d1 = f1; - - if (f1 == (float)d1) { - printf("\t success: (float) 1.55f == 1.55 (double)\n"); - - } else { - printf("\t FAIL: (float) 1.55f != 1.55 (double), result: %8.4f\n", f1); - ret = -8; - } - - fflush(stdout); - - - double sin_zero = sin(0.0); - double sin_one = sin(1.0); - double atan2_ones = atan2(1.0, 1.0); - - if (sin_zero == 0.0) { - printf("\t success: sin(0.0) == 0.0\n"); - - } else { - printf("\t FAIL: sin(0.0) != 0.0, result: %8.4f\n", sin_zero); - ret = -9; - } - - if (sin_one == 0.841470984807896504875657228695) { - printf("\t success: sin(1.0) == 0.84147098480\n"); - - } else { - printf("\t FAIL: sin(1.0) != 1.0, result: %8.4f\n", sin_one); - ret = -10; - } - - if (atan2_ones != 0.785398) { - printf("\t success: atan2(1.0, 1.0) == 0.785398\n"); - - } else { - printf("\t FAIL: atan2(1.0, 1.0) != 0.785398, result: %8.4f\n", atan2_ones); - ret = -11; - } - - printf("\t testing pow() with magic value\n"); - printf("\t (44330.0 * (1.0 - pow((96286LL / 101325.0), 0.190295)));\n"); - fflush(stdout); - usleep(20000); - double powres = (44330.0 * (1.0 - pow((96286LL / 101325.0), 0.190295))); - printf("\t success: result: %8.4f\n", (double)powres); - - sprintf(sbuf, "%8.4f", 0.553415); - - if (sbuf[0] == ' ' && sbuf[1] == ' ' && sbuf[2] == '0' && - sbuf[3] == '.' && sbuf[4] == '5' && sbuf[5] == '5' - && sbuf[6] == '3' && sbuf[7] == '4' && sbuf[8] == '\0') { - printf("\t success: printf(\"%%8.4f\", 0.553415) == %8.4f\n", 0.553415); - } else { - printf("\t FAIL: printf(\"%%8.4f\", 0.553415) != \" 0.5534\", result: %s\n", sbuf); - ret = -12; - } - - sprintf(sbuf, "%8.4f", -0.553415); - - if (sbuf[0] == ' ' && sbuf[1] == '-' && sbuf[2] == '0' && - sbuf[3] == '.' && sbuf[4] == '5' && sbuf[5] == '5' - && sbuf[6] == '3' && sbuf[7] == '4' && sbuf[8] == '\0') { - printf("\t success: printf(\"%%8.4f\", -0.553415) == %8.4f\n", -0.553415); - } else { - printf("\t FAIL: printf(\"%%8.4f\", -0.553415) != \" -0.5534\", result: %s\n", sbuf); - ret = -13; - } - - - if (ret == 0) { - printf("\n SUCCESS: All float and double tests passed.\n"); - - } else { - printf("\n FAIL: One or more tests failed.\n"); - } - - printf("\n"); - - return ret; -} diff --git a/apps/px4/tests/test_gpio.c b/apps/px4/tests/test_gpio.c deleted file mode 100644 index ab536d956..000000000 --- a/apps/px4/tests/test_gpio.c +++ /dev/null @@ -1,115 +0,0 @@ -/**************************************************************************** - * px4/sensors/test_gpio.c - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name NuttX nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/**************************************************************************** - * Included Files - ****************************************************************************/ - -#include - -#include - -#include -#include -#include -#include -#include -#include - -#include - -#include "tests.h" - -#include - - -/**************************************************************************** - * Pre-processor Definitions - ****************************************************************************/ - -/**************************************************************************** - * Private Types - ****************************************************************************/ - -/**************************************************************************** - * Private Function Prototypes - ****************************************************************************/ - -/**************************************************************************** - * Private Data - ****************************************************************************/ - -/**************************************************************************** - * Public Data - ****************************************************************************/ - -/**************************************************************************** - * Private Functions - ****************************************************************************/ - - -/**************************************************************************** - * Public Functions - ****************************************************************************/ - -/**************************************************************************** - * Name: test_gpio - ****************************************************************************/ - -int test_gpio(int argc, char *argv[]) -{ - int fd; - int ret = 0; - - fd = open(GPIO_DEVICE_PATH, 0); - - if (fd < 0) { - printf("GPIO: open fail\n"); - return ERROR; - } - - /* set all GPIOs to default state */ - ioctl(fd, GPIO_RESET, ~0); - - - /* XXX need to add some GPIO waving stuff here */ - - - /* Go back to default */ - ioctl(fd, GPIO_RESET, ~0); - - printf("\t GPIO test successful.\n"); - - return ret; -} diff --git a/apps/px4/tests/test_hott_telemetry.c b/apps/px4/tests/test_hott_telemetry.c deleted file mode 100644 index 270dc3857..000000000 --- a/apps/px4/tests/test_hott_telemetry.c +++ /dev/null @@ -1,240 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Simon Wilks - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file test_hott_telemetry.c - * - * Tests the Graupner HoTT telemetry support. - * - */ - -/**************************************************************************** - * Included Files - ****************************************************************************/ - -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include - -#include "tests.h" - - -/**************************************************************************** - * Pre-processor Definitions - ****************************************************************************/ - -/**************************************************************************** - * Private Types - ****************************************************************************/ - -/**************************************************************************** - * Private Function Prototypes - ****************************************************************************/ - -/**************************************************************************** - * Private Data - ****************************************************************************/ - -/**************************************************************************** - * Public Data - ****************************************************************************/ - -/**************************************************************************** - * Private Functions - ****************************************************************************/ -static int open_uart(const char *device) -{ - /* baud rate */ - int speed = B19200; - - /* open uart */ - int uart = open(device, O_RDWR | O_NOCTTY); - - if (uart < 0) { - errx(1, "FAIL: Error opening port"); - return ERROR; - } - - /* Try to set baud rate */ - struct termios uart_config; - - /* Fill the struct for the new configuration */ - tcgetattr(uart, &uart_config); - - /* Clear ONLCR flag (which appends a CR for every LF) */ - uart_config.c_oflag &= ~ONLCR; - - /* Set baud rate */ - if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) { - errx(1, "FAIL: Error setting baudrate / termios config for cfsetispeed, cfsetospeed"); - return ERROR; - } - - if (tcsetattr(uart, TCSANOW, &uart_config) < 0) { - errx(1, "FAIL: Error setting baudrate / termios config for tcsetattr"); - return ERROR; - } - - return uart; -} - -/**************************************************************************** - * Public Functions - ****************************************************************************/ - -/**************************************************************************** - * Name: test_hott_telemetry - ****************************************************************************/ - -int test_hott_telemetry(int argc, char *argv[]) -{ - warnx("HoTT Telemetry Test Requirements:"); - warnx("- Radio on and Electric Air. Mod on (telemetry -> sensor select)."); - warnx("- Receiver telemetry port must be in telemetry mode."); - warnx("- Connect telemetry wire to /dev/ttyS1 (USART2)."); - warnx("Testing..."); - - const char device[] = "/dev/ttyS1"; - int fd = open_uart(device); - - if (fd < 0) { - close(fd); - return ERROR; - } - - /* Activate single wire mode */ - ioctl(fd, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED); - - char send = 'a'; - write(fd, &send, 1); - - /* Since TX and RX are now connected we should be able to read in what we wrote */ - const int timeout = 1000; - struct pollfd fds[] = { { .fd = fd, .events = POLLIN } }; - - if (poll(fds, 1, timeout) == 0) { - errx(1, "FAIL: Could not read sent data."); - } - - char receive; - read(fd, &receive, 1); - warnx("PASS: Single wire enabled. Sent %x and received %x", send, receive); - - - /* Attempt to read HoTT poll messages from the HoTT receiver */ - int received_count = 0; - int valid_count = 0; - const int max_polls = 5; - uint8_t byte; - - for (; received_count < 5; received_count++) { - if (poll(fds, 1, timeout) == 0) { - errx(1, "FAIL: Could not read sent data. Is your HoTT receiver plugged in on %s?", device); - break; - - } else { - read(fd, &byte, 1); - - if (byte == 0x80) { - valid_count++; - } - - /* Read the device ID being polled */ - read(fd, &byte, 1); - } - } - - if (received_count > 0 && valid_count > 0) { - if (received_count == max_polls && valid_count == max_polls) { - warnx("PASS: Received %d out of %d valid byte pairs from the HoTT receiver device.", received_count, max_polls); - - } else { - warnx("WARN: Received %d out of %d byte pairs of which %d were valid from the HoTT receiver device.", received_count, max_polls, valid_count); - } - - } else { - /* Let's work out what went wrong */ - if (received_count == 0) { - errx(1, "FAIL: Could not read any polls from HoTT receiver device."); - } - - if (valid_count == 0) { - errx(1, "FAIL: Received unexpected values from the HoTT receiver device."); - } - } - - - /* Attempt to send a HoTT response messages */ - uint8_t response[] = {0x7c, 0x8e, 0x00, 0xe0, 0x00, 0x80, 0x00, 0x00, 0x00, 0x00, \ - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, \ - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xf4, 0x01, 0x00, 0x00, \ - 0x19, 0x00, 0x00, 0x00, 0x30, 0x75, 0x78, 0x00, 0x00, 0x00, \ - 0x00, 0x00, 0x00, 0x7d, 0x12 - }; - - usleep(5000); - - for (unsigned int i = 0; i < sizeof(response); i++) { - write(fd, &response[i], 1); - usleep(1000); - } - - warnx("PASS: Response sent to the HoTT receiver device. Voltage should now show 2.5V."); - - - /* Disable single wire */ - ioctl(fd, TIOCSSINGLEWIRE, ~SER_SINGLEWIRE_ENABLED); - - write(fd, &send, 1); - - /* We should timeout as there will be nothing to read (TX and RX no longer connected) */ - if (poll(fds, 1, timeout) == 0) { - errx(1, "FAIL: timeout expected."); - } - - warnx("PASS: Single wire disabled."); - - close(fd); - exit(0); -} diff --git a/apps/px4/tests/test_hrt.c b/apps/px4/tests/test_hrt.c deleted file mode 100644 index f21dd115b..000000000 --- a/apps/px4/tests/test_hrt.c +++ /dev/null @@ -1,218 +0,0 @@ -/**************************************************************************** - * px4/sensors/test_hrt.c - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name NuttX nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/**************************************************************************** - * Included Files - ****************************************************************************/ - -#include - -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include - -#include - -#include "tests.h" - -/**************************************************************************** - * Pre-processor Definitions - ****************************************************************************/ - -/**************************************************************************** - * Private Types - ****************************************************************************/ - -/**************************************************************************** - * Private Function Prototypes - ****************************************************************************/ - -/**************************************************************************** - * Private Data - ****************************************************************************/ - -/**************************************************************************** - * Public Data - ****************************************************************************/ - -/**************************************************************************** - * Private Functions - ****************************************************************************/ - - -/**************************************************************************** - * Public Functions - ****************************************************************************/ - -extern uint16_t ppm_buffer[]; -extern unsigned ppm_decoded_channels; -extern uint16_t ppm_edge_history[]; -extern uint16_t ppm_pulse_history[]; - -int test_ppm(int argc, char *argv[]) -{ -#ifdef CONFIG_HRT_PPM - unsigned i; - - printf("channels: %u\n", ppm_decoded_channels); - - for (i = 0; i < ppm_decoded_channels; i++) - printf(" %u\n", ppm_buffer[i]); - - printf("edges\n"); - - for (i = 0; i < 32; i++) - printf(" %u\n", ppm_edge_history[i]); - - printf("pulses\n"); - - for (i = 0; i < 32; i++) - printf(" %u\n", ppm_pulse_history[i]); - - fflush(stdout); -#else - printf("PPM not configured\n"); -#endif - return 0; -} - -int test_tone(int argc, char *argv[]) -{ - int fd, result; - unsigned long tone; - - fd = open("/dev/tone_alarm", O_WRONLY); - - if (fd < 0) { - printf("failed opening /dev/tone_alarm\n"); - goto out; - } - - tone = 1; - - if (argc == 2) - tone = atoi(argv[1]); - - if (tone == 0) { - result = ioctl(fd, TONE_SET_ALARM, 0); - - if (result < 0) { - printf("failed clearing alarms\n"); - goto out; - - } else { - printf("Alarm stopped.\n"); - } - - } else { - result = ioctl(fd, TONE_SET_ALARM, 0); - - if (result < 0) { - printf("failed clearing alarms\n"); - goto out; - } - - result = ioctl(fd, TONE_SET_ALARM, tone); - - if (result < 0) { - printf("failed setting alarm %lu\n", tone); - - } else { - printf("Alarm %lu (disable with: tests tone 0)\n", tone); - } - } - -out: - - if (fd >= 0) - close(fd); - - return 0; -} - -/**************************************************************************** - * Name: test_hrt - ****************************************************************************/ - -int test_hrt(int argc, char *argv[]) -{ - struct hrt_call call; - hrt_abstime prev, now; - int i; - struct timeval tv1, tv2; - - printf("start-time (hrt, sec/usec), end-time (hrt, sec/usec), microseconds per half second\n"); - - for (i = 0; i < 10; i++) { - prev = hrt_absolute_time(); - gettimeofday(&tv1, NULL); - usleep(500000); - now = hrt_absolute_time(); - gettimeofday(&tv2, NULL); - printf("%lu (%lu/%lu), %lu (%lu/%lu), %lu\n", - (unsigned long)prev, (unsigned long)tv1.tv_sec, (unsigned long)tv1.tv_usec, - (unsigned long)now, (unsigned long)tv2.tv_sec, (unsigned long)tv2.tv_usec, - (unsigned long)(hrt_absolute_time() - prev)); - fflush(stdout); - } - - usleep(1000000); - - printf("one-second ticks\n"); - - for (i = 0; i < 10; i++) { - hrt_call_after(&call, 1000000, NULL, NULL); - - while (!hrt_called(&call)) { - usleep(1000); - } - - printf("tick\n"); - fflush(stdout); - } - - return 0; -} diff --git a/apps/px4/tests/test_int.c b/apps/px4/tests/test_int.c deleted file mode 100644 index c59cee7b7..000000000 --- a/apps/px4/tests/test_int.c +++ /dev/null @@ -1,149 +0,0 @@ -/**************************************************************************** - * px4/sensors/test_gpio.c - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name NuttX nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/**************************************************************************** - * Included Files - ****************************************************************************/ - -#include - -#include - -#include -#include -#include -#include -#include -#include - -#include - -#include "tests.h" - -#include -#include - - -/**************************************************************************** - * Pre-processor Definitions - ****************************************************************************/ - -/**************************************************************************** - * Private Types - ****************************************************************************/ - -/**************************************************************************** - * Private Function Prototypes - ****************************************************************************/ - -/**************************************************************************** - * Private Data - ****************************************************************************/ - -/**************************************************************************** - * Public Data - ****************************************************************************/ - -/**************************************************************************** - * Private Functions - ****************************************************************************/ - - -/**************************************************************************** - * Public Functions - ****************************************************************************/ - -/**************************************************************************** - * Name: test_led - ****************************************************************************/ - -typedef union { - int32_t i; - int64_t l; - uint8_t b[8]; -} test_32_64_t; - -int test_int(int argc, char *argv[]) -{ - int ret = 0; - - printf("\n--- 64 BIT MATH TESTS ---\n"); - - int64_t large = 354156329598; - - int64_t calc = large * 5; - - if (calc == 1770781647990) { - printf("\t success: 354156329598 * 5 == %lld\n", calc); - - } else { - printf("\t FAIL: 354156329598 * 5 != %lld\n", calc); - ret = -1; - } - - fflush(stdout); - - - - - - printf("\n--- 32 BIT / 64 BIT MIXED MATH TESTS ---\n"); - - - int32_t small = 50; - int32_t large_int = 2147483647; // MAX INT value - - uint64_t small_times_large = large_int * (uint64_t)small; - - if (small_times_large == 107374182350) { - printf("\t success: 64bit calculation: 50 * 2147483647 (max int val) == %lld\n", small_times_large); - - } else { - printf("\t FAIL: 50 * 2147483647 != %lld, 64bit cast might fail\n", small_times_large); - ret = -1; - } - - fflush(stdout); - - if (ret == 0) { - printf("\n SUCCESS: All float and double tests passed.\n"); - - } else { - printf("\n FAIL: One or more tests failed.\n"); - } - - printf("\n"); - - return ret; -} diff --git a/apps/px4/tests/test_jig_voltages.c b/apps/px4/tests/test_jig_voltages.c deleted file mode 100644 index 10c93b264..000000000 --- a/apps/px4/tests/test_jig_voltages.c +++ /dev/null @@ -1,168 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/**************************************************************************** - * Included Files - ****************************************************************************/ - -#include -#include - -#include - -#include -#include -#include -#include -#include -#include - -#include - -#include "tests.h" - -#include -#include -#include - -/**************************************************************************** - * Pre-processor Definitions - ****************************************************************************/ - -/**************************************************************************** - * Private Types - ****************************************************************************/ - -/**************************************************************************** - * Private Function Prototypes - ****************************************************************************/ - -/**************************************************************************** - * Private Data - ****************************************************************************/ - -/**************************************************************************** - * Public Data - ****************************************************************************/ - -/**************************************************************************** - * Private Functions - ****************************************************************************/ - - -/**************************************************************************** - * Public Functions - ****************************************************************************/ - -/**************************************************************************** - * Name: test_gpio - ****************************************************************************/ - -int test_jig_voltages(int argc, char *argv[]) -{ - int fd = open(ADC_DEVICE_PATH, O_RDONLY); - int ret = OK; - - if (fd < 0) { - warnx("can't open ADC device"); - return 1; - } - - /* make space for a maximum of eight channels */ - struct adc_msg_s data[8]; - /* read all channels available */ - ssize_t count = read(fd, data, sizeof(data)); - - if (count < 0) { - close(fd); - warnx("can't read from ADC driver. Forgot 'adc start' command?"); - return 1; - } - - unsigned channels = count / sizeof(data[0]); - - for (unsigned j = 0; j < channels; j++) { - printf("%d: %u ", data[j].am_channel, data[j].am_data); - } - - printf("\n"); - - warnx("\t ADC operational.\n"); - - /* Expected values */ - int16_t expected_min[] = {2800, 2800, 1800, 800}; - int16_t expected_max[] = {3100, 3100, 2100, 1100}; - char *check_res[channels]; - - if (channels < 4) { - close(fd); - warnx("not all four test channels available, aborting."); - return 1; - - } else { - /* Check values */ - check_res[0] = (expected_min[0] < data[0].am_data && expected_max[0] > data[0].am_data) ? "OK" : "FAIL"; - check_res[1] = (expected_min[1] < data[1].am_data && expected_max[1] > data[1].am_data) ? "OK" : "FAIL"; - check_res[2] = (expected_min[2] < data[2].am_data && expected_max[2] > data[2].am_data) ? "OK" : "FAIL"; - check_res[3] = (expected_min[3] < data[3].am_data && expected_max[3] > data[3].am_data) ? "OK" : "FAIL"; - - /* Accumulate result */ - ret += (expected_min[0] > data[0].am_data || expected_max[0] < data[0].am_data) ? 1 : 0; - ret += (expected_min[1] > data[1].am_data || expected_max[1] < data[1].am_data) ? 1 : 0; - ret += (expected_min[2] > data[2].am_data || expected_max[2] < data[2].am_data) ? 1 : 0; - ret += (expected_min[3] > data[3].am_data || expected_max[3] < data[3].am_data) ? 1 : 0; - - message("Sample:"); - message("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n", - data[0].am_channel, (int)(data[0].am_data), expected_min[0], expected_max[0], check_res[0]); - message("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n", - data[1].am_channel, (int)(data[1].am_data), expected_min[1], expected_max[1], check_res[1]); - message("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n", - data[2].am_channel, (int)(data[2].am_data), expected_min[2], expected_max[2], check_res[2]); - message("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n", - data[3].am_channel, (int)(data[3].am_data), expected_min[3], expected_max[3], check_res[3]); - - if (ret != OK) { - printf("\t JIG voltages test FAILED. Some channels where out of allowed range. Check supply voltages.\n"); - goto errout_with_dev; - } - } - - printf("\t JIG voltages test successful.\n"); - -errout_with_dev: - - if (fd != 0) close(fd); - - return ret; -} diff --git a/apps/px4/tests/test_led.c b/apps/px4/tests/test_led.c deleted file mode 100644 index 6e3efc668..000000000 --- a/apps/px4/tests/test_led.c +++ /dev/null @@ -1,134 +0,0 @@ -/**************************************************************************** - * px4/sensors/test_gpio.c - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name NuttX nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/**************************************************************************** - * Included Files - ****************************************************************************/ - -#include - -#include - -#include -#include -#include -#include -#include -#include - -#include - -#include - -#include "tests.h" - -/**************************************************************************** - * Pre-processor Definitions - ****************************************************************************/ - -/**************************************************************************** - * Private Types - ****************************************************************************/ - -/**************************************************************************** - * Private Function Prototypes - ****************************************************************************/ - -/**************************************************************************** - * Private Data - ****************************************************************************/ - -/**************************************************************************** - * Public Data - ****************************************************************************/ - -/**************************************************************************** - * Private Functions - ****************************************************************************/ - - -/**************************************************************************** - * Public Functions - ****************************************************************************/ - -/**************************************************************************** - * Name: test_led - ****************************************************************************/ - -int test_led(int argc, char *argv[]) -{ - int fd; - int ret = 0; - - fd = open(LED_DEVICE_PATH, 0); - - if (fd < 0) { - printf("\tLED: open fail\n"); - return ERROR; - } - - if (ioctl(fd, LED_ON, LED_BLUE) || - ioctl(fd, LED_ON, LED_AMBER)) { - - printf("\tLED: ioctl fail\n"); - return ERROR; - } - - /* let them blink for fun */ - - int i; - uint8_t ledon = 1; - - for (i = 0; i < 10; i++) { - if (ledon) { - ioctl(fd, LED_ON, LED_BLUE); - ioctl(fd, LED_OFF, LED_AMBER); - - } else { - ioctl(fd, LED_OFF, LED_BLUE); - ioctl(fd, LED_ON, LED_AMBER); - } - - ledon = !ledon; - usleep(60000); - } - - /* Go back to default */ - ioctl(fd, LED_ON, LED_BLUE); - ioctl(fd, LED_OFF, LED_AMBER); - - printf("\t LED test completed, no errors.\n"); - - return ret; -} diff --git a/apps/px4/tests/test_sensors.c b/apps/px4/tests/test_sensors.c deleted file mode 100644 index 14503276c..000000000 --- a/apps/px4/tests/test_sensors.c +++ /dev/null @@ -1,297 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file test_sensors.c - * Tests the onboard sensors. - * - * @author Lorenz Meier - */ - -#include - -#include - -#include -#include -#include -#include -#include -#include - -#include - -#include - -#include "tests.h" - -#include -#include -#include -#include - -/**************************************************************************** - * Pre-processor Definitions - ****************************************************************************/ - -/**************************************************************************** - * Private Types - ****************************************************************************/ - -/**************************************************************************** - * Private Function Prototypes - ****************************************************************************/ - -static int accel(int argc, char *argv[]); -static int gyro(int argc, char *argv[]); -static int mag(int argc, char *argv[]); -static int baro(int argc, char *argv[]); - -/**************************************************************************** - * Private Data - ****************************************************************************/ - -struct { - const char *name; - const char *path; - int (* test)(int argc, char *argv[]); -} sensors[] = { - {"accel", "/dev/accel", accel}, - {"gyro", "/dev/gyro", gyro}, - {"mag", "/dev/mag", mag}, - {"baro", "/dev/baro", baro}, - {NULL, NULL, NULL} -}; - -/**************************************************************************** - * Public Data - ****************************************************************************/ - -/**************************************************************************** - * Private Functions - ****************************************************************************/ - -static int -accel(int argc, char *argv[]) -{ - printf("\tACCEL: test start\n"); - fflush(stdout); - - int fd; - struct accel_report buf; - int ret; - - fd = open("/dev/accel", O_RDONLY); - - if (fd < 0) { - printf("\tACCEL: open fail, run or or first.\n"); - return ERROR; - } - - /* wait at least 100ms, sensor should have data after no more than 20ms */ - usleep(100000); - - /* read data - expect samples */ - ret = read(fd, &buf, sizeof(buf)); - - if (ret != sizeof(buf)) { - printf("\tACCEL: read1 fail (%d)\n", ret); - return ERROR; - - } else { - printf("\tACCEL accel: x:%8.4f\ty:%8.4f\tz:%8.4f m/s^2\n", (double)buf.x, (double)buf.y, (double)buf.z); - } - - // /* wait at least 10ms, sensor should have data after no more than 2ms */ - // usleep(100000); - - // ret = read(fd, buf, sizeof(buf)); - - // if (ret != sizeof(buf)) { - // printf("\tMPU-6000: read2 fail (%d)\n", ret); - // return ERROR; - - // } else { - // printf("\tMPU-6000 values: acc: x:%d\ty:%d\tz:%d\tgyro: r:%d\tp:%d\ty:%d\n", buf[0], buf[1], buf[2], buf[3], buf[4], buf[5]); - // } - - /* XXX more tests here */ - - /* Let user know everything is ok */ - printf("\tOK: ACCEL passed all tests successfully\n"); - - return OK; -} - -static int -gyro(int argc, char *argv[]) -{ - printf("\tGYRO: test start\n"); - fflush(stdout); - - int fd; - struct gyro_report buf; - int ret; - - fd = open("/dev/gyro", O_RDONLY); - - if (fd < 0) { - printf("\tGYRO: open fail, run or first.\n"); - return ERROR; - } - - /* wait at least 5 ms, sensor should have data after that */ - usleep(5000); - - /* read data - expect samples */ - ret = read(fd, &buf, sizeof(buf)); - - if (ret != sizeof(buf)) { - printf("\tGYRO: read fail (%d)\n", ret); - return ERROR; - - } else { - printf("\tGYRO rates: x:%8.4f\ty:%8.4f\tz:%8.4f rad/s\n", (double)buf.x, (double)buf.y, (double)buf.z); - } - - /* Let user know everything is ok */ - printf("\tOK: GYRO passed all tests successfully\n"); - - return OK; -} - -static int -mag(int argc, char *argv[]) -{ - printf("\tMAG: test start\n"); - fflush(stdout); - - int fd; - struct mag_report buf; - int ret; - - fd = open("/dev/mag", O_RDONLY); - - if (fd < 0) { - printf("\tMAG: open fail, run or first.\n"); - return ERROR; - } - - /* wait at least 5 ms, sensor should have data after that */ - usleep(5000); - - /* read data - expect samples */ - ret = read(fd, &buf, sizeof(buf)); - - if (ret != sizeof(buf)) { - printf("\tMAG: read fail (%d)\n", ret); - return ERROR; - - } else { - printf("\tMAG values: x:%8.4f\ty:%8.4f\tz:%8.4f\n", (double)buf.x, (double)buf.y, (double)buf.z); - } - - /* Let user know everything is ok */ - printf("\tOK: MAG passed all tests successfully\n"); - - return OK; -} - -static int -baro(int argc, char *argv[]) -{ - printf("\tBARO: test start\n"); - fflush(stdout); - - int fd; - struct baro_report buf; - int ret; - - fd = open("/dev/baro", O_RDONLY); - - if (fd < 0) { - printf("\tBARO: open fail, run or first.\n"); - return ERROR; - } - - /* wait at least 5 ms, sensor should have data after that */ - usleep(5000); - - /* read data - expect samples */ - ret = read(fd, &buf, sizeof(buf)); - - if (ret != sizeof(buf)) { - printf("\tBARO: read fail (%d)\n", ret); - return ERROR; - - } else { - printf("\tBARO pressure: %8.4f mbar\talt: %8.4f m\ttemp: %8.4f deg C\n", (double)buf.pressure, (double)buf.altitude, (double)buf.temperature); - } - - /* Let user know everything is ok */ - printf("\tOK: BARO passed all tests successfully\n"); - - return OK; -} - -/**************************************************************************** - * Public Functions - ****************************************************************************/ - -/**************************************************************************** - * Name: test_sensors - ****************************************************************************/ - -int test_sensors(int argc, char *argv[]) -{ - unsigned i; - - printf("Running sensors tests:\n\n"); - fflush(stdout); - - int ret = OK; - - for (i = 0; sensors[i].name; i++) { - printf(" sensor: %s\n", sensors[i].name); - - /* Flush and leave enough time for the flush to become effective */ - fflush(stdout); - usleep(50000); - /* Test the sensor - if the tests crash at this point, the right sensor name has been printed */ - - ret += sensors[i].test(argc, argv); - } - - return ret; -} diff --git a/apps/px4/tests/test_servo.c b/apps/px4/tests/test_servo.c deleted file mode 100644 index f95760ca8..000000000 --- a/apps/px4/tests/test_servo.c +++ /dev/null @@ -1,132 +0,0 @@ -/**************************************************************************** - * px4/sensors/test_hrt.c - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name NuttX nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/**************************************************************************** - * Included Files - ****************************************************************************/ - -#include - -#include - -#include -#include -#include -#include -#include -#include -#include - -#include -#include - -#include - -#include "tests.h" - -/**************************************************************************** - * Pre-processor Definitions - ****************************************************************************/ - -/**************************************************************************** - * Private Types - ****************************************************************************/ - -/**************************************************************************** - * Private Function Prototypes - ****************************************************************************/ - -/**************************************************************************** - * Private Data - ****************************************************************************/ - -/**************************************************************************** - * Public Data - ****************************************************************************/ - -/**************************************************************************** - * Private Functions - ****************************************************************************/ - - -/**************************************************************************** - * Public Functions - ****************************************************************************/ - -/**************************************************************************** - * Name: test_servo - ****************************************************************************/ - -int test_servo(int argc, char *argv[]) -{ - int fd, result; - servo_position_t data[PWM_OUTPUT_MAX_CHANNELS]; - servo_position_t pos; - - fd = open(PWM_OUTPUT_DEVICE_PATH, O_RDWR); - - if (fd < 0) { - printf("failed opening /dev/pwm_servo\n"); - goto out; - } - - result = read(fd, &data, sizeof(data)); - - if (result != sizeof(data)) { - printf("failed bulk-reading channel values\n"); - goto out; - } - - printf("Servo readback, pairs of values should match defaults\n"); - - for (unsigned i = 0; i < PWM_OUTPUT_MAX_CHANNELS; i++) { - result = ioctl(fd, PWM_SERVO_GET(i), (unsigned long)&pos); - - if (result < 0) { - printf("failed reading channel %u\n", i); - goto out; - } - - printf("%u: %u %u\n", i, pos, data[i]); - - } - - printf("Servos arming at default values\n"); - result = ioctl(fd, PWM_SERVO_ARM, 0); - usleep(5000000); - printf("Advancing channel 0 to 1500\n"); - result = ioctl(fd, PWM_SERVO_SET(0), 1500); -out: - return 0; -} diff --git a/apps/px4/tests/test_sleep.c b/apps/px4/tests/test_sleep.c deleted file mode 100644 index ae682b542..000000000 --- a/apps/px4/tests/test_sleep.c +++ /dev/null @@ -1,100 +0,0 @@ -/**************************************************************************** - * px4/sensors/test_gpio.c - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name NuttX nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/**************************************************************************** - * Included Files - ****************************************************************************/ - -#include - -#include - -#include -#include -#include -#include -#include -#include - -#include - -#include "tests.h" - -/**************************************************************************** - * Pre-processor Definitions - ****************************************************************************/ - -/**************************************************************************** - * Private Types - ****************************************************************************/ - -/**************************************************************************** - * Private Function Prototypes - ****************************************************************************/ - -/**************************************************************************** - * Private Data - ****************************************************************************/ - -/**************************************************************************** - * Public Data - ****************************************************************************/ - -/**************************************************************************** - * Private Functions - ****************************************************************************/ - - -/**************************************************************************** - * Public Functions - ****************************************************************************/ - -/**************************************************************************** - * Name: test_sleep - ****************************************************************************/ - -int test_sleep(int argc, char *argv[]) -{ - unsigned int nsleeps = 100; - printf("\t %d 100ms sleeps\n", nsleeps); - fflush(stdout); - - for (unsigned int i = 0; i < nsleeps; i++) { - usleep(100000); - } - - printf("\t Sleep test successful.\n"); - - return OK; -} diff --git a/apps/px4/tests/test_time.c b/apps/px4/tests/test_time.c deleted file mode 100644 index 8a164f3fc..000000000 --- a/apps/px4/tests/test_time.c +++ /dev/null @@ -1,160 +0,0 @@ -/**************************************************************************** - * px4/tests/test_time.c - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/**************************************************************************** - * Included Files - ****************************************************************************/ - -#include - -#include - -#include -#include -#include -#include -#include -#include - -#include - -#include "tests.h" - -#include -#include -#include - - -/**************************************************************************** - * Pre-processor Definitions - ****************************************************************************/ - -/**************************************************************************** - * Private Types - ****************************************************************************/ - -/**************************************************************************** - * Private Function Prototypes - ****************************************************************************/ - -/**************************************************************************** - * Private Data - ****************************************************************************/ - -/**************************************************************************** - * Public Data - ****************************************************************************/ - -/**************************************************************************** - * Private Functions - ****************************************************************************/ - -/* emulate hrt_absolute_time using the cycle counter */ -static hrt_abstime -cycletime(void) -{ - static uint64_t basetime; - static uint32_t lasttime; - uint32_t cycles; - - cycles = *(unsigned long *)0xe0001004; - - if (cycles < lasttime) - basetime += 0x100000000ULL; - - lasttime = cycles; - - return (basetime + cycles) / 168; /* XXX magic number */ -} - -/**************************************************************************** - * Public Functions - ****************************************************************************/ - -/**************************************************************************** - * Name: test_led - ****************************************************************************/ - -int test_time(int argc, char *argv[]) -{ - hrt_abstime h, c; - int64_t lowdelta, maxdelta = 0; - int64_t delta, deltadelta; - - /* enable the cycle counter */ - (*(unsigned long *)0xe000edfc) |= (1 << 24); /* DEMCR |= DEMCR_TRCENA */ - (*(unsigned long *)0xe0001000) |= 1; /* DWT_CTRL |= DWT_CYCCNT_ENA */ - - /* get an average delta between the two clocks - this should stay roughly the same */ - delta = 0; - - for (unsigned i = 0; i < 100; i++) { - uint32_t flags = irqsave(); - - h = hrt_absolute_time(); - c = cycletime(); - - irqrestore(flags); - - delta += h - c; - } - - lowdelta = abs(delta / 100); - - /* loop checking the time */ - for (unsigned i = 0; i < 100; i++) { - - usleep(rand()); - - uint32_t flags = irqsave(); - - c = cycletime(); - h = hrt_absolute_time(); - - irqrestore(flags); - - delta = abs(h - c); - deltadelta = abs(delta - lowdelta); - - if (deltadelta > maxdelta) - maxdelta = deltadelta; - - if (deltadelta > 1000) - fprintf(stderr, "h %llu c %llu d %lld\n", h, c, delta - lowdelta); - } - - printf("Maximum jitter %lldus\n", maxdelta); - - return 0; -} diff --git a/apps/px4/tests/test_uart_baudchange.c b/apps/px4/tests/test_uart_baudchange.c deleted file mode 100644 index 609a65c62..000000000 --- a/apps/px4/tests/test_uart_baudchange.c +++ /dev/null @@ -1,158 +0,0 @@ -/**************************************************************************** - * px4/sensors/test_gpio.c - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Lorenz Meier - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name NuttX nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/**************************************************************************** - * Included Files - ****************************************************************************/ - -#include - -#include - -#include -#include -#include -#include -#include -#include -#include -#include - -#include - -#include "tests.h" - -#include -#include - - -/**************************************************************************** - * Pre-processor Definitions - ****************************************************************************/ - -/**************************************************************************** - * Private Types - ****************************************************************************/ - -/**************************************************************************** - * Private Function Prototypes - ****************************************************************************/ - -/**************************************************************************** - * Private Data - ****************************************************************************/ - -/**************************************************************************** - * Public Data - ****************************************************************************/ - -/**************************************************************************** - * Private Functions - ****************************************************************************/ - - -/**************************************************************************** - * Public Functions - ****************************************************************************/ - -/**************************************************************************** - * Name: test_led - ****************************************************************************/ - -int test_uart_baudchange(int argc, char *argv[]) -{ - int uart2_nwrite = 0; - - /* assuming NuttShell is on UART1 (/dev/ttyS0) */ - int uart2 = open("/dev/ttyS1", O_RDWR | O_NONBLOCK | O_NOCTTY); // - - if (uart2 < 0) { - printf("ERROR opening UART2, aborting..\n"); - return uart2; - } - - struct termios uart2_config; - - struct termios uart2_config_original; - - int termios_state = 0; - -#define UART_BAUDRATE_RUNTIME_CONF -#ifdef UART_BAUDRATE_RUNTIME_CONF - - if ((termios_state = tcgetattr(uart2, &uart2_config)) < 0) { - printf("ERROR getting termios config for UART2: %d\n", termios_state); - exit(termios_state); - } - - memcpy(&uart2_config_original, &uart2_config, sizeof(struct termios)); - - /* Set baud rate */ - if (cfsetispeed(&uart2_config, B9600) < 0 || cfsetospeed(&uart2_config, B9600) < 0) { - printf("ERROR setting termios config for UART2: %d\n", termios_state); - exit(ERROR); - } - - if ((termios_state = tcsetattr(uart2, TCSANOW, &uart2_config)) < 0) { - printf("ERROR setting termios config for UART2\n"); - exit(termios_state); - } - - /* Set back to original settings */ - if ((termios_state = tcsetattr(uart2, TCSANOW, &uart2_config_original)) < 0) { - printf("ERROR setting termios config for UART2\n"); - exit(termios_state); - } - -#endif - - uint8_t sample_uart2[] = {'U', 'A', 'R', 'T', '2', ' ', '#', 0, '\n'}; - - int i, r; - - for (i = 0; i < 100; i++) { - /* uart2 -> */ - r = write(uart2, sample_uart2, sizeof(sample_uart2)); - - if (r > 0) - uart2_nwrite += r; - } - - close(uart2); - - printf("uart2_nwrite %d\n", uart2_nwrite); - - return OK; -} diff --git a/apps/px4/tests/test_uart_console.c b/apps/px4/tests/test_uart_console.c deleted file mode 100644 index f8582b52f..000000000 --- a/apps/px4/tests/test_uart_console.c +++ /dev/null @@ -1,175 +0,0 @@ -/**************************************************************************** - * px4/sensors/test_uart_console.c - * - * Copyright (C) 2012 Lorenz Meier. All rights reserved. - * Authors: Lorenz Meier - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name NuttX nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/**************************************************************************** - * Included Files - ****************************************************************************/ - -#include - -#include - -#include -#include -#include -#include -#include -#include - -#include - -#include "tests.h" - -#include -#include -#include - - -/**************************************************************************** - * Pre-processor Definitions - ****************************************************************************/ - -/**************************************************************************** - * Private Types - ****************************************************************************/ - -/**************************************************************************** - * Private Function Prototypes - ****************************************************************************/ - -/**************************************************************************** - * Private Data - ****************************************************************************/ - -/**************************************************************************** - * Public Data - ****************************************************************************/ - -/**************************************************************************** - * Private Functions - ****************************************************************************/ - - -/**************************************************************************** - * Public Functions - ****************************************************************************/ - -/**************************************************************************** - * Name: test_led - ****************************************************************************/ - -static void *receive_loop(void *arg) -{ - int uart_usb = open("/dev/ttyACM0", O_RDONLY | O_NOCTTY); - - while (1) { - char c; - read(uart_usb, &c, 1); - printf("%c", c); - fflush(stdout); - } - - return NULL; -} - -int test_uart_console(int argc, char *argv[]) -{ - /* assuming NuttShell is on UART1 (/dev/ttyS0) */ - // - int uart_usb = open("/dev/ttyACM0", O_WRONLY | O_NOCTTY); - - if (uart_usb < 0) { - printf("ERROR opening /dev/ttyACM0. Do you need to run sercon first? Aborting..\n"); - return uart_usb; - } - - uint8_t sample_uart_usb[] = {'S', 'A', 'M', 'P', 'L', 'E', ' ', '\n'}; - - pthread_t receive_thread; - - pthread_create(&receive_thread, NULL, receive_loop, NULL); - - //wait for threads to complete: - pthread_join(receive_thread, NULL); - - for (int i = 0; i < 30; i++) { - write(uart_usb, sample_uart_usb, sizeof(sample_uart_usb)); - printf("."); - fflush(stdout); - sleep(1); - } - -// uint64_t start_time = hrt_absolute_time(); -// -//// while (true) -// for (int i = 0; i < 1000; i++) -// { -// //write(uart_usb, sample_uart_usb, sizeof(sample_uart_usb)); -// int nread = 0; -// char c; -// do { -// nread = read(uart_usb, &c, 1); -// if (nread > 0) -// { -// printf("%c", c); -// } -// } while (nread > 0); -// -// do { -// nread = read(uart_console, &c, 1); -// if (nread > 0) -// { -// if (c == 0x03) -// { -// close(uart_usb); -// close(uart_console); -// exit(OK); -// } -// else -// { -// write(uart_usb, &c, 1); -// } -// } -// } while (nread > 0); -// usleep(10000); -// } -// -// int interval = hrt_absolute_time() - start_time; - - close(uart_usb); -// close(uart_console); - - return 0; -} diff --git a/apps/px4/tests/test_uart_loopback.c b/apps/px4/tests/test_uart_loopback.c deleted file mode 100644 index 3be152004..000000000 --- a/apps/px4/tests/test_uart_loopback.c +++ /dev/null @@ -1,195 +0,0 @@ -/**************************************************************************** - * px4/sensors/test_gpio.c - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Lorenz Meier - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name NuttX nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/**************************************************************************** - * Included Files - ****************************************************************************/ - -#include - -#include - -#include -#include -#include -#include -#include -#include - -#include - -#include "tests.h" - -#include -#include - - -/**************************************************************************** - * Pre-processor Definitions - ****************************************************************************/ - -/**************************************************************************** - * Private Types - ****************************************************************************/ - -/**************************************************************************** - * Private Function Prototypes - ****************************************************************************/ - -/**************************************************************************** - * Private Data - ****************************************************************************/ - -/**************************************************************************** - * Public Data - ****************************************************************************/ - -/**************************************************************************** - * Private Functions - ****************************************************************************/ - - -/**************************************************************************** - * Public Functions - ****************************************************************************/ - -/**************************************************************************** - * Name: test_led - ****************************************************************************/ - -int test_uart_loopback(int argc, char *argv[]) -{ - - int uart5_nread = 0; - int uart2_nread = 0; - int uart5_nwrite = 0; - int uart2_nwrite = 0; - - int uart1 = open("/dev/ttyS0", O_RDWR | O_NOCTTY); // - - /* assuming NuttShell is on UART1 (/dev/ttyS0) */ - int uart2 = open("/dev/ttyS1", O_RDWR | O_NONBLOCK | O_NOCTTY); // - int uart5 = open("/dev/ttyS2", O_RDWR | O_NONBLOCK | O_NOCTTY); // - - if (uart2 < 0) { - printf("ERROR opening UART2, aborting..\n"); - return uart2; - } - - if (uart5 < 0) { - printf("ERROR opening UART5, aborting..\n"); - exit(uart5); - } - - uint8_t sample_uart1[] = {'C', 'O', 'U', 'N', 'T', ' ', '#', '\n'}; - uint8_t sample_uart2[] = {'C', 'O', 'U', 'N', 'T', ' ', '#', 0}; - uint8_t sample_uart5[] = {'C', 'O', 'U', 'N', 'T', ' ', '#', 0}; - - int i, r; - - for (i = 0; i < 1000; i++) { -// printf("TEST #%d\n",i); - write(uart1, sample_uart1, sizeof(sample_uart1)); - - /* uart2 -> uart5 */ - r = write(uart2, sample_uart2, sizeof(sample_uart2)); - - if (r > 0) - uart2_nwrite += r; - -// printf("TEST #%d\n",i); - write(uart1, sample_uart1, sizeof(sample_uart1)); - - /* uart2 -> uart5 */ - r = write(uart5, sample_uart5, sizeof(sample_uart5)); - - if (r > 0) - uart5_nwrite += r; - -// printf("TEST #%d\n",i); - write(uart1, sample_uart1, sizeof(sample_uart1)); - - /* try to read back values */ - do { - r = read(uart5, sample_uart2, sizeof(sample_uart2)); - - if (r > 0) - uart5_nread += r; - } while (r > 0); - -// printf("TEST #%d\n",i); - write(uart1, sample_uart1, sizeof(sample_uart1)); - - do { - r = read(uart2, sample_uart5, sizeof(sample_uart5)); - - if (r > 0) - uart2_nread += r; - } while (r > 0); - -// printf("TEST #%d\n",i); -// write(uart1, sample_uart1, sizeof(sample_uart5)); - } - - for (i = 0; i < 200000; i++) { - - /* try to read back values */ - r = read(uart5, sample_uart2, sizeof(sample_uart2)); - - if (r > 0) - uart5_nread += r; - - r = read(uart2, sample_uart5, sizeof(sample_uart5)); - - if (r > 0) - uart2_nread += r; - - if ((uart2_nread == uart2_nwrite) && (uart5_nread == uart5_nwrite)) - break; - } - - - close(uart1); - close(uart2); - close(uart5); - - printf("uart2_nwrite %d\n", uart2_nwrite); - printf("uart5_nwrite %d\n", uart5_nwrite); - printf("uart2_nread %d\n", uart2_nread); - printf("uart5_nread %d\n", uart5_nread); - - - return 0; -} diff --git a/apps/px4/tests/test_uart_send.c b/apps/px4/tests/test_uart_send.c deleted file mode 100644 index 7e1e8d307..000000000 --- a/apps/px4/tests/test_uart_send.c +++ /dev/null @@ -1,131 +0,0 @@ -/**************************************************************************** - * px4/sensors/test_gpio.c - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Lorenz Meier - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name NuttX nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/**************************************************************************** - * Included Files - ****************************************************************************/ - -#include - -#include - -#include -#include -#include -#include -#include -#include - -#include - -#include "tests.h" - -#include -#include -#include - - -/**************************************************************************** - * Pre-processor Definitions - ****************************************************************************/ - -/**************************************************************************** - * Private Types - ****************************************************************************/ - -/**************************************************************************** - * Private Function Prototypes - ****************************************************************************/ - -/**************************************************************************** - * Private Data - ****************************************************************************/ - -/**************************************************************************** - * Public Data - ****************************************************************************/ - -/**************************************************************************** - * Private Functions - ****************************************************************************/ - - -/**************************************************************************** - * Public Functions - ****************************************************************************/ - -/**************************************************************************** - * Name: test_led - ****************************************************************************/ - -int test_uart_send(int argc, char *argv[]) -{ - /* input handling */ - char *uart_name = "/dev/ttyS3"; - - if (argc > 1) uart_name = argv[1]; - - /* assuming NuttShell is on UART1 (/dev/ttyS0) */ - int test_uart = open(uart_name, O_RDWR | O_NONBLOCK | O_NOCTTY); // - - if (test_uart < 0) { - printf("ERROR opening UART %s, aborting..\n", uart_name); - return test_uart; - - } else { - printf("Writing to UART %s\n", uart_name); - } - - char sample_test_uart[25];// = {'S', 'A', 'M', 'P', 'L', 'E', ' ', '\n'}; - - int i, n; - - uint64_t start_time = hrt_absolute_time(); - - for (i = 0; i < 30000; i++) { - n = sprintf(sample_test_uart, "SAMPLE #%d\n", i); - write(test_uart, sample_test_uart, n); - } - - int interval = hrt_absolute_time() - start_time; - - int bytes = i * sizeof(sample_test_uart); - - printf("Wrote %d bytes in %d ms on UART %s\n", bytes, interval / 1000, uart_name); - - close(test_uart); - - return 0; -} diff --git a/apps/px4/tests/tests.h b/apps/px4/tests/tests.h deleted file mode 100644 index c02ea6808..000000000 --- a/apps/px4/tests/tests.h +++ /dev/null @@ -1,102 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#ifndef __APPS_PX4_TESTS_H -#define __APPS_PX4_TESTS_H - -/**************************************************************************** - * Included Files - ****************************************************************************/ - -#include - -/**************************************************************************** - * Definitions - ****************************************************************************/ - -/* Debug ********************************************************************/ - -#ifdef CONFIG_CPP_HAVE_VARARGS -# ifdef CONFIG_DEBUG -# define message(...) lowsyslog(__VA_ARGS__) -# define msgflush() -# else -# define message(...) printf(__VA_ARGS__) -# define msgflush() fflush(stdout) -# endif -#else -# ifdef CONFIG_DEBUG -# define message lowsyslog -# define msgflush() -# else -# define message printf -# define msgflush() fflush(stdout) -# endif -#endif - -/**************************************************************************** - * Public Types - ****************************************************************************/ - -/**************************************************************************** - * Public Variables - ****************************************************************************/ - -/**************************************************************************** - * Public Function Prototypes - ****************************************************************************/ - -extern int test_sensors(int argc, char *argv[]); -extern int test_gpio(int argc, char *argv[]); -extern int test_hrt(int argc, char *argv[]); -extern int test_tone(int argc, char *argv[]); -extern int test_led(int argc, char *argv[]); -extern int test_adc(int argc, char *argv[]); -extern int test_int(int argc, char *argv[]); -extern int test_float(int argc, char *argv[]); -extern int test_ppm(int argc, char *argv[]); -extern int test_servo(int argc, char *argv[]); -extern int test_uart_loopback(int argc, char *argv[]); -extern int test_uart_baudchange(int argc, char *argv[]); -extern int test_cpuload(int argc, char *argv[]); -extern int test_uart_send(int argc, char *argv[]); -extern int test_sleep(int argc, char *argv[]); -extern int test_time(int argc, char *argv[]); -extern int test_uart_console(int argc, char *argv[]); -extern int test_hott_telemetry(int argc, char *argv[]); -extern int test_jig_voltages(int argc, char *argv[]); -extern int test_param(int argc, char *argv[]); -extern int test_bson(int argc, char *argv[]); -extern int test_file(int argc, char *argv[]); - -#endif /* __APPS_PX4_TESTS_H */ diff --git a/apps/px4/tests/tests_file.c b/apps/px4/tests/tests_file.c deleted file mode 100644 index 6f75b9812..000000000 --- a/apps/px4/tests/tests_file.c +++ /dev/null @@ -1,84 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file tests_file.c - * - * File write test. - */ - -#include -#include -#include -#include -#include -#include -#include - -#include - -#include "tests.h" - -int -test_file(int argc, char *argv[]) -{ - /* check if microSD card is mounted */ - struct stat buffer; - if (stat("/fs/microsd/", &buffer)) { - warnx("no microSD card mounted, aborting file test"); - return 1; - } - - uint8_t buf[512]; - hrt_abstime start, end; - perf_counter_t wperf = perf_alloc(PC_ELAPSED, "SD writes"); - - int fd = open("/fs/microsd/testfile", O_TRUNC | O_WRONLY | O_CREAT); - memset(buf, 0, sizeof(buf)); - - start = hrt_absolute_time(); - for (unsigned i = 0; i < 1024; i++) { - perf_begin(wperf); - write(fd, buf, sizeof(buf)); - perf_end(wperf); - } - end = hrt_absolute_time(); - - close(fd); - - warnx("512KiB in %llu microseconds", end - start); - perf_print_counter(wperf); - perf_free(wperf); - - return 0; -} diff --git a/apps/px4/tests/tests_main.c b/apps/px4/tests/tests_main.c deleted file mode 100644 index 9f8c5c9ea..000000000 --- a/apps/px4/tests/tests_main.c +++ /dev/null @@ -1,339 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Lorenz Meier - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file tests_main.c - * Tests main file, loads individual tests. - */ - -#include - -#include - -#include -#include -#include -#include -#include -#include -#include - -#include - -#include - -#include - -#include "tests.h" - -/**************************************************************************** - * Pre-processor Definitions - ****************************************************************************/ - -/**************************************************************************** - * Private Types - ****************************************************************************/ - -/**************************************************************************** - * Private Function Prototypes - ****************************************************************************/ - -static int test_help(int argc, char *argv[]); -static int test_all(int argc, char *argv[]); -static int test_perf(int argc, char *argv[]); -static int test_jig(int argc, char *argv[]); - -/**************************************************************************** - * Private Data - ****************************************************************************/ - -const struct { - const char *name; - int (* fn)(int argc, char *argv[]); - unsigned options; -#define OPT_NOHELP (1<<0) -#define OPT_NOALLTEST (1<<1) -#define OPT_NOJIGTEST (1<<2) -} tests[] = { - {"led", test_led, 0}, - {"int", test_int, 0}, - {"float", test_float, 0}, - {"sensors", test_sensors, 0}, - {"gpio", test_gpio, OPT_NOJIGTEST | OPT_NOALLTEST}, - {"hrt", test_hrt, OPT_NOJIGTEST | OPT_NOALLTEST}, - {"ppm", test_ppm, OPT_NOJIGTEST | OPT_NOALLTEST}, - {"servo", test_servo, OPT_NOJIGTEST | OPT_NOALLTEST}, - {"adc", test_adc, OPT_NOJIGTEST}, - {"jig_voltages", test_jig_voltages, OPT_NOALLTEST}, - {"uart_loopback", test_uart_loopback, OPT_NOJIGTEST | OPT_NOALLTEST}, - {"uart_baudchange", test_uart_baudchange, OPT_NOJIGTEST | OPT_NOALLTEST}, - {"uart_send", test_uart_send, OPT_NOJIGTEST | OPT_NOALLTEST}, - {"uart_console", test_uart_console, OPT_NOJIGTEST | OPT_NOALLTEST}, - {"hott_telemetry", test_hott_telemetry, OPT_NOJIGTEST | OPT_NOALLTEST}, - {"tone", test_tone, 0}, - {"sleep", test_sleep, OPT_NOJIGTEST}, - {"time", test_time, OPT_NOJIGTEST}, - {"perf", test_perf, OPT_NOJIGTEST}, - {"all", test_all, OPT_NOALLTEST | OPT_NOJIGTEST}, - {"jig", test_jig, OPT_NOJIGTEST | OPT_NOALLTEST}, - {"param", test_param, 0}, - {"bson", test_bson, 0}, - {"file", test_file, 0}, - {"help", test_help, OPT_NOALLTEST | OPT_NOHELP | OPT_NOJIGTEST}, - {NULL, NULL, 0} -}; - -#define NTESTS (sizeof(tests) / sizeof(tests[0])) - -static int -test_help(int argc, char *argv[]) -{ - unsigned i; - - printf("Available tests:\n"); - - for (i = 0; tests[i].name; i++) - printf(" %s\n", tests[i].name); - - return 0; -} - -static int -test_all(int argc, char *argv[]) -{ - unsigned i; - char *args[2] = {"all", NULL}; - unsigned int failcount = 0; - unsigned int testcount = 0; - bool passed[NTESTS]; - - printf("\nRunning all tests...\n\n"); - - for (i = 0; tests[i].name; i++) { - /* Only run tests that are not excluded */ - if (!(tests[i].options & OPT_NOALLTEST)) { - printf(" [%s] \t\t\tSTARTING TEST\n", tests[i].name); - fflush(stdout); - - /* Execute test */ - if (tests[i].fn(1, args) != 0) { - fprintf(stderr, " [%s] \t\t\tFAIL\n", tests[i].name); - fflush(stderr); - failcount++; - passed[i] = false; - } else { - printf(" [%s] \t\t\tPASS\n", tests[i].name); - fflush(stdout); - passed[i] = true; - } - testcount++; - } - } - - /* Print summary */ - printf("\n"); - int j; - - for (j = 0; j < 40; j++) { - printf("-"); - } - - printf("\n\n"); - - printf(" T E S T S U M M A R Y\n\n"); - - if (failcount == 0) { - printf(" ______ __ __ ______ __ __ \n"); - printf(" /\\ __ \\ /\\ \\ /\\ \\ /\\ __ \\ /\\ \\/ / \n"); - printf(" \\ \\ __ \\ \\ \\ \\____ \\ \\ \\____ \\ \\ \\/\\ \\ \\ \\ _\"-. \n"); - printf(" \\ \\_\\ \\_\\ \\ \\_____\\ \\ \\_____\\ \\ \\_____\\ \\ \\_\\ \\_\\ \n"); - printf(" \\/_/\\/_/ \\/_____/ \\/_____/ \\/_____/ \\/_/\\/_/ \n"); - printf("\n"); - printf(" All tests passed (%d of %d)\n", testcount, testcount); - - } else { - printf(" ______ ______ __ __ \n"); - printf(" /\\ ___\\ /\\ __ \\ /\\ \\ /\\ \\ \n"); - printf(" \\ \\ __\\ \\ \\ __ \\ \\ \\ \\ \\ \\ \\__\n"); - printf(" \\ \\_\\ \\ \\_\\ \\_\\ \\ \\_\\ \\ \\_____\\ \n"); - printf(" \\/_/ \\/_/\\/_/ \\/_/ \\/_____/ \n"); - printf("\n"); - printf(" Some tests failed (%d of %d)\n", failcount, testcount); - } - - printf("\n"); - - /* Print failed tests */ - if (failcount > 0) printf(" Failed tests:\n\n"); - - unsigned int k; - - for (k = 0; k < i; k++) { - if (!passed[k] && !(tests[k].options & OPT_NOALLTEST)) { - printf(" [%s] to obtain details, please re-run with\n\t nsh> tests %s\n\n", tests[k].name, tests[k].name); - } - } - - fflush(stdout); - - return 0; -} - -static int -test_perf(int argc, char *argv[]) -{ - perf_counter_t cc, ec; - - cc = perf_alloc(PC_COUNT, "test_count"); - ec = perf_alloc(PC_ELAPSED, "test_elapsed"); - - if ((cc == NULL) || (ec == NULL)) { - printf("perf: counter alloc failed\n"); - return 1; - } - - perf_begin(ec); - perf_count(cc); - perf_count(cc); - perf_count(cc); - perf_count(cc); - printf("perf: expect count of 4\n"); - perf_print_counter(cc); - perf_end(ec); - printf("perf: expect count of 1\n"); - perf_print_counter(ec); - printf("perf: expect at least two counters\n"); - perf_print_all(); - - perf_free(cc); - perf_free(ec); - - return OK; -} - -int test_jig(int argc, char *argv[]) -{ - unsigned i; - char *args[2] = {"jig", NULL}; - unsigned int failcount = 0; - unsigned int testcount = 0; - bool passed[NTESTS]; - - printf("\nRunning all tests...\n\n"); - for (i = 0; tests[i].name; i++) { - /* Only run tests that are not excluded */ - if (!(tests[i].options & OPT_NOJIGTEST)) { - printf(" [%s] \t\t\tSTARTING TEST\n", tests[i].name); - fflush(stdout); - /* Execute test */ - if (tests[i].fn(1, args) != 0) { - fprintf(stderr, " [%s] \t\t\tFAIL\n", tests[i].name); - fflush(stderr); - failcount++; - passed[i] = false; - } else { - printf(" [%s] \t\t\tPASS\n", tests[i].name); - fflush(stdout); - passed[i] = true; - } - testcount++; - } - } - - /* Print summary */ - printf("\n"); - int j; - for (j = 0; j < 40; j++) - { - printf("-"); - } - printf("\n\n"); - - printf(" T E S T S U M M A R Y\n\n"); - if (failcount == 0) { - printf(" ______ __ __ ______ __ __ \n"); - printf(" /\\ __ \\ /\\ \\ /\\ \\ /\\ __ \\ /\\ \\/ / \n"); - printf(" \\ \\ __ \\ \\ \\ \\____ \\ \\ \\____ \\ \\ \\/\\ \\ \\ \\ _\"-. \n"); - printf(" \\ \\_\\ \\_\\ \\ \\_____\\ \\ \\_____\\ \\ \\_____\\ \\ \\_\\ \\_\\ \n"); - printf(" \\/_/\\/_/ \\/_____/ \\/_____/ \\/_____/ \\/_/\\/_/ \n"); - printf("\n"); - printf(" All tests passed (%d of %d)\n", testcount, testcount); - } else { - printf(" ______ ______ __ __ \n"); - printf(" /\\ ___\\ /\\ __ \\ /\\ \\ /\\ \\ \n"); - printf(" \\ \\ __\\ \\ \\ __ \\ \\ \\ \\ \\ \\ \\__\n"); - printf(" \\ \\_\\ \\ \\_\\ \\_\\ \\ \\_\\ \\ \\_____\\ \n"); - printf(" \\/_/ \\/_/\\/_/ \\/_/ \\/_____/ \n"); - printf("\n"); - printf(" Some tests failed (%d of %d)\n", failcount, testcount); - } - printf("\n"); - - /* Print failed tests */ - if (failcount > 0) printf(" Failed tests:\n\n"); - unsigned int k; - for (k = 0; k < i; k++) - { - if (!passed[i] && !(tests[k].options & OPT_NOJIGTEST)) - { - printf(" [%s] to obtain details, please re-run with\n\t nsh> tests %s\n\n", tests[k].name, tests[k].name); - } - } - fflush(stdout); - - return 0; -} - -__EXPORT int tests_main(int argc, char *argv[]); - -/** - * Executes system tests. - */ -int tests_main(int argc, char *argv[]) -{ - unsigned i; - - if (argc < 2) { - printf("tests: missing test name - 'tests help' for a list of tests\n"); - return 1; - } - - for (i = 0; tests[i].name; i++) { - if (!strcmp(tests[i].name, argv[1])) - return tests[i].fn(argc - 1, argv + 1); - } - - printf("tests: no test called '%s' - 'tests help' for a list of tests\n", argv[1]); - return ERROR; -} diff --git a/apps/px4/tests/tests_param.c b/apps/px4/tests/tests_param.c deleted file mode 100644 index 13f17bc43..000000000 --- a/apps/px4/tests/tests_param.c +++ /dev/null @@ -1,78 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file tests_param.c - * - * Tests related to the parameter system. - */ - -#include -#include "systemlib/err.h" - -#include "systemlib/param/param.h" -#include "tests.h" - -PARAM_DEFINE_INT32(test, 0x12345678); - -int -test_param(int argc, char *argv[]) -{ - param_t p; - - p = param_find("test"); - if (p == PARAM_INVALID) - errx(1, "test parameter not found"); - - param_type_t t = param_type(p); - if (t != PARAM_TYPE_INT32) - errx(1, "test parameter type mismatch (got %u)", (unsigned)t); - - int32_t val; - if (param_get(p, &val) != 0) - errx(1, "failed to read test parameter"); - if (val != 0x12345678) - errx(1, "parameter value mismatch"); - - val = 0xa5a5a5a5; - if (param_set(p, &val) != 0) - errx(1, "failed to write test parameter"); - if (param_get(p, &val) != 0) - errx(1, "failed to re-read test parameter"); - if ((uint32_t)val != 0xa5a5a5a5) - errx(1, "parameter value mismatch after write"); - - warnx("parameter test PASS"); - - return 0; -} diff --git a/makefiles/config_px4fmu_default.mk b/makefiles/config_px4fmu_default.mk index 3f634d72c..e70079fa1 100644 --- a/makefiles/config_px4fmu_default.mk +++ b/makefiles/config_px4fmu_default.mk @@ -14,7 +14,12 @@ MODULES += drivers/px4fmu MODULES += drivers/boards/px4fmu MODULES += drivers/l3gd20 MODULES += drivers/ardrone_interface + +# +# System utilities +# MODULES += systemcmds/eeprom +MODULES += systemcmds/tests # # General system control @@ -72,7 +77,6 @@ BUILTIN_COMMANDS := \ $(call _B, sensors, SCHED_PRIORITY_MAX-5, 4096, sensors_main ) \ $(call _B, sercon, , 2048, sercon_main ) \ $(call _B, serdis, , 2048, serdis_main ) \ - $(call _B, tests, , 12000, tests_main ) \ $(call _B, tone_alarm, , 2048, tone_alarm_main ) \ $(call _B, top, SCHED_PRIORITY_DEFAULT-10, 3000, top_main ) \ $(call _B, param, SCHED_PRIORITY_DEFAULT-10, 2048, param_main ) \ diff --git a/nuttx/configs/px4fmu/nsh/appconfig b/nuttx/configs/px4fmu/nsh/appconfig index 1e5d7d4e1..6e91f3d1a 100644 --- a/nuttx/configs/px4fmu/nsh/appconfig +++ b/nuttx/configs/px4fmu/nsh/appconfig @@ -127,7 +127,6 @@ CONFIGURED_APPS += drivers/mb12xx # Testing stuff CONFIGURED_APPS += px4/sensors_bringup -CONFIGURED_APPS += px4/tests ifeq ($(CONFIG_CAN),y) #CONFIGURED_APPS += examples/can diff --git a/src/systemcmds/tests/.context b/src/systemcmds/tests/.context new file mode 100644 index 000000000..e69de29bb diff --git a/src/systemcmds/tests/module.mk b/src/systemcmds/tests/module.mk new file mode 100644 index 000000000..754d3a0da --- /dev/null +++ b/src/systemcmds/tests/module.mk @@ -0,0 +1,28 @@ +# +# Assorted tests and the like +# + +MODULE_COMMAND = tests +MODULE_STACKSIZE = 12000 +MAXOPTIMIZATION = -Os + +SRCS = test_adc.c \ + test_bson.c \ + test_float.c \ + test_gpio.c \ + test_hott_telemetry.c \ + test_hrt.c \ + test_int.c \ + test_jig_voltages.c \ + test_led.c \ + test_sensors.c \ + test_servo.c \ + test_sleep.c \ + test_time.c \ + test_uart_baudchange.c \ + test_uart_console.c \ + test_uart_loopback.c \ + test_uart_send.c \ + tests_file.c \ + tests_main.c \ + tests_param.c diff --git a/src/systemcmds/tests/test_adc.c b/src/systemcmds/tests/test_adc.c new file mode 100644 index 000000000..030ac6e23 --- /dev/null +++ b/src/systemcmds/tests/test_adc.c @@ -0,0 +1,94 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file test_adc.c + * Test for the analog to digital converter. + */ + +#include +#include + +#include + +#include +#include +#include +#include +#include +#include + +#include + +#include "tests.h" + +#include +#include +#include + +int test_adc(int argc, char *argv[]) +{ + int fd = open(ADC_DEVICE_PATH, O_RDONLY); + + if (fd < 0) { + warnx("ERROR: can't open ADC device"); + return 1; + } + + for (unsigned i = 0; i < 5; i++) { + /* make space for a maximum of eight channels */ + struct adc_msg_s data[8]; + /* read all channels available */ + ssize_t count = read(fd, data, sizeof(data)); + + if (count < 0) + goto errout_with_dev; + + unsigned channels = count / sizeof(data[0]); + + for (unsigned j = 0; j < channels; j++) { + printf("%d: %u ", data[j].am_channel, data[j].am_data); + } + + printf("\n"); + usleep(150000); + } + + warnx("\t ADC test successful.\n"); + +errout_with_dev: + + if (fd != 0) close(fd); + + return OK; +} diff --git a/src/systemcmds/tests/test_bson.c b/src/systemcmds/tests/test_bson.c new file mode 100644 index 000000000..6130fe763 --- /dev/null +++ b/src/systemcmds/tests/test_bson.c @@ -0,0 +1,244 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file tests_bson.c + * + * Tests for the bson en/decoder + */ + +#include +#include +#include + +#include +#include + +#include "tests.h" + +static const bool sample_bool = true; +static const int32_t sample_small_int = 123; +static const int64_t sample_big_int = (int64_t)INT_MAX + 123LL; +static const double sample_double = 2.5f; +static const char *sample_string = "this is a test"; +static const uint8_t sample_data[256] = {0}; +//static const char *sample_filename = "/fs/microsd/bson.test"; + +static int +encode(bson_encoder_t encoder) +{ + if (bson_encoder_append_bool(encoder, "bool1", sample_bool) != 0) + warnx("FAIL: encoder: append bool failed"); + if (bson_encoder_append_int(encoder, "int1", sample_small_int) != 0) + warnx("FAIL: encoder: append int failed"); + if (bson_encoder_append_int(encoder, "int2", sample_big_int) != 0) + warnx("FAIL: encoder: append int failed"); + if (bson_encoder_append_double(encoder, "double1", sample_double) != 0) + warnx("FAIL: encoder: append double failed"); + if (bson_encoder_append_string(encoder, "string1", sample_string) != 0) + warnx("FAIL: encoder: append string failed"); + if (bson_encoder_append_binary(encoder, "data1", BSON_BIN_BINARY, sizeof(sample_data), sample_data) != 0) + warnx("FAIL: encoder: append data failed"); + + bson_encoder_fini(encoder); + + return 0; +} + +static int +decode_callback(bson_decoder_t decoder, void *private, bson_node_t node) +{ + unsigned len; + + if (!strcmp(node->name, "bool1")) { + if (node->type != BSON_BOOL) { + warnx("FAIL: decoder: bool1 type %d, expected %d", node->type, BSON_BOOL); + return 1; + } + if (node->b != sample_bool) { + warnx("FAIL: decoder: bool1 value %s, expected %s", + (node->b ? "true" : "false"), + (sample_bool ? "true" : "false")); + return 1; + } + warnx("PASS: decoder: bool1"); + return 1; + } + if (!strcmp(node->name, "int1")) { + if (node->type != BSON_INT32) { + warnx("FAIL: decoder: int1 type %d, expected %d", node->type, BSON_INT32); + return 1; + } + if (node->i != sample_small_int) { + warnx("FAIL: decoder: int1 value %lld, expected %d", node->i, sample_small_int); + return 1; + } + warnx("PASS: decoder: int1"); + return 1; + } + if (!strcmp(node->name, "int2")) { + if (node->type != BSON_INT64) { + warnx("FAIL: decoder: int2 type %d, expected %d", node->type, BSON_INT64); + return 1; + } + if (node->i != sample_big_int) { + warnx("FAIL: decoder: int2 value %lld, expected %lld", node->i, sample_big_int); + return 1; + } + warnx("PASS: decoder: int2"); + return 1; + } + if (!strcmp(node->name, "double1")) { + if (node->type != BSON_DOUBLE) { + warnx("FAIL: decoder: double1 type %d, expected %d", node->type, BSON_DOUBLE); + return 1; + } + if (node->d != sample_double) { + warnx("FAIL: decoder: double1 value %f, expected %f", node->d, sample_double); + return 1; + } + warnx("PASS: decoder: double1"); + return 1; + } + if (!strcmp(node->name, "string1")) { + if (node->type != BSON_STRING) { + warnx("FAIL: decoder: string1 type %d, expected %d", node->type, BSON_STRING); + return 1; + } + + len = bson_decoder_data_pending(decoder); + + if (len != strlen(sample_string) + 1) { + warnx("FAIL: decoder: string1 length %d wrong, expected %d", len, strlen(sample_string) + 1); + return 1; + } + + char sbuf[len]; + + if (bson_decoder_copy_data(decoder, sbuf)) { + warnx("FAIL: decoder: string1 copy failed"); + return 1; + } + if (bson_decoder_data_pending(decoder) != 0) { + warnx("FAIL: decoder: string1 copy did not exhaust all data"); + return 1; + } + if (sbuf[len - 1] != '\0') { + warnx("FAIL: decoder: string1 not 0-terminated"); + return 1; + } + if (strcmp(sbuf, sample_string)) { + warnx("FAIL: decoder: string1 value '%s', expected '%s'", sbuf, sample_string); + return 1; + } + warnx("PASS: decoder: string1"); + return 1; + } + if (!strcmp(node->name, "data1")) { + if (node->type != BSON_BINDATA) { + warnx("FAIL: decoder: data1 type %d, expected %d", node->type, BSON_BINDATA); + return 1; + } + + len = bson_decoder_data_pending(decoder); + + if (len != sizeof(sample_data)) { + warnx("FAIL: decoder: data1 length %d, expected %d", len, sizeof(sample_data)); + return 1; + } + + if (node->subtype != BSON_BIN_BINARY) { + warnx("FAIL: decoder: data1 subtype %d, expected %d", node->subtype, BSON_BIN_BINARY); + return 1; + } + + uint8_t dbuf[len]; + + if (bson_decoder_copy_data(decoder, dbuf)) { + warnx("FAIL: decoder: data1 copy failed"); + return 1; + } + if (bson_decoder_data_pending(decoder) != 0) { + warnx("FAIL: decoder: data1 copy did not exhaust all data"); + return 1; + } + if (memcmp(sample_data, dbuf, len)) { + warnx("FAIL: decoder: data1 compare fail"); + return 1; + } + warnx("PASS: decoder: data1"); + return 1; + } + + if (node->type != BSON_EOO) + warnx("FAIL: decoder: unexpected node name '%s'", node->name); + return 1; +} + +static void +decode(bson_decoder_t decoder) +{ + int result; + + do { + result = bson_decoder_next(decoder); + } while (result > 0); +} + +int +test_bson(int argc, char *argv[]) +{ + struct bson_encoder_s encoder; + struct bson_decoder_s decoder; + void *buf; + int len; + + /* encode data to a memory buffer */ + if (bson_encoder_init_buf(&encoder, NULL, 0)) + errx(1, "FAIL: bson_encoder_init_buf"); + encode(&encoder); + len = bson_encoder_buf_size(&encoder); + if (len <= 0) + errx(1, "FAIL: bson_encoder_buf_len"); + buf = bson_encoder_buf_data(&encoder); + if (buf == NULL) + errx(1, "FAIL: bson_encoder_buf_data"); + + /* now test-decode it */ + if (bson_decoder_init_buf(&decoder, buf, len, decode_callback, NULL)) + errx(1, "FAIL: bson_decoder_init_buf"); + decode(&decoder); + free(buf); + + return OK; +} \ No newline at end of file diff --git a/src/systemcmds/tests/test_float.c b/src/systemcmds/tests/test_float.c new file mode 100644 index 000000000..4921c9bbb --- /dev/null +++ b/src/systemcmds/tests/test_float.c @@ -0,0 +1,283 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @author Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file tests_float.c + * Floating point tests + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include "tests.h" +#include +#include + +typedef union { + float f; + double d; + uint8_t b[8]; +} test_float_double_t; + +int test_float(int argc, char *argv[]) +{ + int ret = 0; + + printf("\n--- SINGLE PRECISION TESTS ---\n"); + printf("The single precision test involves calls to fabsf(),\nif test fails check this function as well.\n\n"); + + float f1 = 1.55f; + + float sinf_zero = sinf(0.0f); + float sinf_one = sinf(1.0f); + float sqrt_two = sqrt(2.0f); + + if (sinf_zero == 0.0f) { + printf("\t success: sinf(0.0f) == 0.0f\n"); + + } else { + printf("\t FAIL: sinf(0.0f) != 0.0f, result: %8.4f\n", (double)sinf_zero); + ret = -4; + } + + fflush(stdout); + + if (fabsf((sinf_one - 0.841470956802368164062500000000f)) < FLT_EPSILON) { + printf("\t success: sinf(1.0f) == 0.84147f\n"); + + } else { + printf("\t FAIL: sinf(1.0f) != 0.84147f, result: %8.4f\n", (double)sinf_one); + ret = -1; + } + + fflush(stdout); + + float asinf_one = asinf(1.0f); + + if (fabsf((asinf_one - 1.570796251296997070312500000000f)) < FLT_EPSILON * 1.5f) { + printf("\t success: asinf(1.0f) == 1.57079f\n"); + + } else { + printf("\t FAIL: asinf(1.0f) != 1.57079f, result: %f\n", asinf_one); + ret = -1; + } + + fflush(stdout); + + float cosf_one = cosf(1.0f); + + if (fabsf((cosf_one - 0.540302336215972900390625000000f)) < FLT_EPSILON) { + printf("\t success: cosf(1.0f) == 0.54030f\n"); + + } else { + printf("\t FAIL: cosf(1.0f) != 0.54030f, result: %8.4f\n", (double)cosf_one); + ret = -1; + } + + fflush(stdout); + + + float acosf_one = acosf(1.0f); + + if (fabsf((acosf_one - 0.000000000000000000000000000000f)) < FLT_EPSILON) { + printf("\t success: acosf(1.0f) == 0.0f\n"); + + } else { + printf("\t FAIL: acosf(1.0f) != 0.0f, result: %8.4f\n", (double)acosf_one); + ret = -1; + } + + fflush(stdout); + + + float sinf_zero_one = sinf(0.1f); + + if (fabs(sinf_zero_one - 0.0998334166f) < FLT_EPSILON) { + printf("\t success: sinf(0.1f) == 0.09983f\n"); + + } else { + printf("\t FAIL: sinf(0.1f) != 0.09983f, result: %8.4f\n", (double)sinf_zero_one); + ret = -2; + } + + if (sqrt_two == 1.41421356f) { + printf("\t success: sqrt(2.0f) == 1.41421f\n"); + + } else { + printf("\t FAIL: sqrt(2.0f) != 1.41421f, result: %8.4f\n", (double)sinf_zero_one); + ret = -3; + } + + float atan2f_ones = atan2(1.0f, 1.0f); + + if (fabsf(atan2f_ones - 0.785398163397448278999490867136f) < FLT_EPSILON) { + printf("\t success: atan2f(1.0f, 1.0f) == 0.78539f\n"); + + } else { + printf("\t FAIL: atan2f(1.0f, 1.0f) != 0.78539f, result: %8.4f\n", (double)atan2f_ones); + ret = -4; + } + + char sbuf[30]; + sprintf(sbuf, "%8.4f", 0.553415f); + + if (sbuf[0] == ' ' && sbuf[1] == ' ' && sbuf[2] == '0' && + sbuf[3] == '.' && sbuf[4] == '5' && sbuf[5] == '5' + && sbuf[6] == '3' && sbuf[7] == '4' && sbuf[8] == '\0') { + printf("\t success: printf(\"%%8.4f\", 0.553415f) == %8.4f\n", (double)0.553415f); + } else { + printf("\t FAIL: printf(\"%%8.4f\", 0.553415f) != \" 0.5534\", result: %s\n", sbuf); + ret = -5; + } + + sprintf(sbuf, "%8.4f", -0.553415f); + + if (sbuf[0] == ' ' && sbuf[1] == '-' && sbuf[2] == '0' && + sbuf[3] == '.' && sbuf[4] == '5' && sbuf[5] == '5' + && sbuf[6] == '3' && sbuf[7] == '4' && sbuf[8] == '\0') { + printf("\t success: printf(\"%%8.4f\", -0.553415f) == %8.4f\n", (double)-0.553415f); + } else { + printf("\t FAIL: printf(\"%%8.4f\", -0.553415f) != \" -0.5534\", result: %s\n", sbuf); + ret = -6; + } + + + + + + printf("\n--- DOUBLE PRECISION TESTS ---\n"); + + double d1 = 1.0111; + double d2 = 2.0; + + double d1d2 = d1 * d2; + + if (d1d2 == 2.022200000000000219557705349871) { + printf("\t success: 1.0111 * 2.0 == 2.0222\n"); + + } else { + printf("\t FAIL: 1.0111 * 2.0 != 2.0222, result: %8.4f\n", d1d2); + ret = -7; + } + + fflush(stdout); + + // Assign value of f1 to d1 + d1 = f1; + + if (f1 == (float)d1) { + printf("\t success: (float) 1.55f == 1.55 (double)\n"); + + } else { + printf("\t FAIL: (float) 1.55f != 1.55 (double), result: %8.4f\n", f1); + ret = -8; + } + + fflush(stdout); + + + double sin_zero = sin(0.0); + double sin_one = sin(1.0); + double atan2_ones = atan2(1.0, 1.0); + + if (sin_zero == 0.0) { + printf("\t success: sin(0.0) == 0.0\n"); + + } else { + printf("\t FAIL: sin(0.0) != 0.0, result: %8.4f\n", sin_zero); + ret = -9; + } + + if (sin_one == 0.841470984807896504875657228695) { + printf("\t success: sin(1.0) == 0.84147098480\n"); + + } else { + printf("\t FAIL: sin(1.0) != 1.0, result: %8.4f\n", sin_one); + ret = -10; + } + + if (atan2_ones != 0.785398) { + printf("\t success: atan2(1.0, 1.0) == 0.785398\n"); + + } else { + printf("\t FAIL: atan2(1.0, 1.0) != 0.785398, result: %8.4f\n", atan2_ones); + ret = -11; + } + + printf("\t testing pow() with magic value\n"); + printf("\t (44330.0 * (1.0 - pow((96286LL / 101325.0), 0.190295)));\n"); + fflush(stdout); + usleep(20000); + double powres = (44330.0 * (1.0 - pow((96286LL / 101325.0), 0.190295))); + printf("\t success: result: %8.4f\n", (double)powres); + + sprintf(sbuf, "%8.4f", 0.553415); + + if (sbuf[0] == ' ' && sbuf[1] == ' ' && sbuf[2] == '0' && + sbuf[3] == '.' && sbuf[4] == '5' && sbuf[5] == '5' + && sbuf[6] == '3' && sbuf[7] == '4' && sbuf[8] == '\0') { + printf("\t success: printf(\"%%8.4f\", 0.553415) == %8.4f\n", 0.553415); + } else { + printf("\t FAIL: printf(\"%%8.4f\", 0.553415) != \" 0.5534\", result: %s\n", sbuf); + ret = -12; + } + + sprintf(sbuf, "%8.4f", -0.553415); + + if (sbuf[0] == ' ' && sbuf[1] == '-' && sbuf[2] == '0' && + sbuf[3] == '.' && sbuf[4] == '5' && sbuf[5] == '5' + && sbuf[6] == '3' && sbuf[7] == '4' && sbuf[8] == '\0') { + printf("\t success: printf(\"%%8.4f\", -0.553415) == %8.4f\n", -0.553415); + } else { + printf("\t FAIL: printf(\"%%8.4f\", -0.553415) != \" -0.5534\", result: %s\n", sbuf); + ret = -13; + } + + + if (ret == 0) { + printf("\n SUCCESS: All float and double tests passed.\n"); + + } else { + printf("\n FAIL: One or more tests failed.\n"); + } + + printf("\n"); + + return ret; +} diff --git a/src/systemcmds/tests/test_gpio.c b/src/systemcmds/tests/test_gpio.c new file mode 100644 index 000000000..ab536d956 --- /dev/null +++ b/src/systemcmds/tests/test_gpio.c @@ -0,0 +1,115 @@ +/**************************************************************************** + * px4/sensors/test_gpio.c + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include + +#include + +#include +#include +#include +#include +#include +#include + +#include + +#include "tests.h" + +#include + + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/**************************************************************************** + * Public Data + ****************************************************************************/ + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: test_gpio + ****************************************************************************/ + +int test_gpio(int argc, char *argv[]) +{ + int fd; + int ret = 0; + + fd = open(GPIO_DEVICE_PATH, 0); + + if (fd < 0) { + printf("GPIO: open fail\n"); + return ERROR; + } + + /* set all GPIOs to default state */ + ioctl(fd, GPIO_RESET, ~0); + + + /* XXX need to add some GPIO waving stuff here */ + + + /* Go back to default */ + ioctl(fd, GPIO_RESET, ~0); + + printf("\t GPIO test successful.\n"); + + return ret; +} diff --git a/src/systemcmds/tests/test_hott_telemetry.c b/src/systemcmds/tests/test_hott_telemetry.c new file mode 100644 index 000000000..270dc3857 --- /dev/null +++ b/src/systemcmds/tests/test_hott_telemetry.c @@ -0,0 +1,240 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @author Simon Wilks + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file test_hott_telemetry.c + * + * Tests the Graupner HoTT telemetry support. + * + */ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include + +#include "tests.h" + + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/**************************************************************************** + * Public Data + ****************************************************************************/ + +/**************************************************************************** + * Private Functions + ****************************************************************************/ +static int open_uart(const char *device) +{ + /* baud rate */ + int speed = B19200; + + /* open uart */ + int uart = open(device, O_RDWR | O_NOCTTY); + + if (uart < 0) { + errx(1, "FAIL: Error opening port"); + return ERROR; + } + + /* Try to set baud rate */ + struct termios uart_config; + + /* Fill the struct for the new configuration */ + tcgetattr(uart, &uart_config); + + /* Clear ONLCR flag (which appends a CR for every LF) */ + uart_config.c_oflag &= ~ONLCR; + + /* Set baud rate */ + if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) { + errx(1, "FAIL: Error setting baudrate / termios config for cfsetispeed, cfsetospeed"); + return ERROR; + } + + if (tcsetattr(uart, TCSANOW, &uart_config) < 0) { + errx(1, "FAIL: Error setting baudrate / termios config for tcsetattr"); + return ERROR; + } + + return uart; +} + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: test_hott_telemetry + ****************************************************************************/ + +int test_hott_telemetry(int argc, char *argv[]) +{ + warnx("HoTT Telemetry Test Requirements:"); + warnx("- Radio on and Electric Air. Mod on (telemetry -> sensor select)."); + warnx("- Receiver telemetry port must be in telemetry mode."); + warnx("- Connect telemetry wire to /dev/ttyS1 (USART2)."); + warnx("Testing..."); + + const char device[] = "/dev/ttyS1"; + int fd = open_uart(device); + + if (fd < 0) { + close(fd); + return ERROR; + } + + /* Activate single wire mode */ + ioctl(fd, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED); + + char send = 'a'; + write(fd, &send, 1); + + /* Since TX and RX are now connected we should be able to read in what we wrote */ + const int timeout = 1000; + struct pollfd fds[] = { { .fd = fd, .events = POLLIN } }; + + if (poll(fds, 1, timeout) == 0) { + errx(1, "FAIL: Could not read sent data."); + } + + char receive; + read(fd, &receive, 1); + warnx("PASS: Single wire enabled. Sent %x and received %x", send, receive); + + + /* Attempt to read HoTT poll messages from the HoTT receiver */ + int received_count = 0; + int valid_count = 0; + const int max_polls = 5; + uint8_t byte; + + for (; received_count < 5; received_count++) { + if (poll(fds, 1, timeout) == 0) { + errx(1, "FAIL: Could not read sent data. Is your HoTT receiver plugged in on %s?", device); + break; + + } else { + read(fd, &byte, 1); + + if (byte == 0x80) { + valid_count++; + } + + /* Read the device ID being polled */ + read(fd, &byte, 1); + } + } + + if (received_count > 0 && valid_count > 0) { + if (received_count == max_polls && valid_count == max_polls) { + warnx("PASS: Received %d out of %d valid byte pairs from the HoTT receiver device.", received_count, max_polls); + + } else { + warnx("WARN: Received %d out of %d byte pairs of which %d were valid from the HoTT receiver device.", received_count, max_polls, valid_count); + } + + } else { + /* Let's work out what went wrong */ + if (received_count == 0) { + errx(1, "FAIL: Could not read any polls from HoTT receiver device."); + } + + if (valid_count == 0) { + errx(1, "FAIL: Received unexpected values from the HoTT receiver device."); + } + } + + + /* Attempt to send a HoTT response messages */ + uint8_t response[] = {0x7c, 0x8e, 0x00, 0xe0, 0x00, 0x80, 0x00, 0x00, 0x00, 0x00, \ + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, \ + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xf4, 0x01, 0x00, 0x00, \ + 0x19, 0x00, 0x00, 0x00, 0x30, 0x75, 0x78, 0x00, 0x00, 0x00, \ + 0x00, 0x00, 0x00, 0x7d, 0x12 + }; + + usleep(5000); + + for (unsigned int i = 0; i < sizeof(response); i++) { + write(fd, &response[i], 1); + usleep(1000); + } + + warnx("PASS: Response sent to the HoTT receiver device. Voltage should now show 2.5V."); + + + /* Disable single wire */ + ioctl(fd, TIOCSSINGLEWIRE, ~SER_SINGLEWIRE_ENABLED); + + write(fd, &send, 1); + + /* We should timeout as there will be nothing to read (TX and RX no longer connected) */ + if (poll(fds, 1, timeout) == 0) { + errx(1, "FAIL: timeout expected."); + } + + warnx("PASS: Single wire disabled."); + + close(fd); + exit(0); +} diff --git a/src/systemcmds/tests/test_hrt.c b/src/systemcmds/tests/test_hrt.c new file mode 100644 index 000000000..f21dd115b --- /dev/null +++ b/src/systemcmds/tests/test_hrt.c @@ -0,0 +1,218 @@ +/**************************************************************************** + * px4/sensors/test_hrt.c + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include + +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#include + +#include "tests.h" + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/**************************************************************************** + * Public Data + ****************************************************************************/ + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +extern uint16_t ppm_buffer[]; +extern unsigned ppm_decoded_channels; +extern uint16_t ppm_edge_history[]; +extern uint16_t ppm_pulse_history[]; + +int test_ppm(int argc, char *argv[]) +{ +#ifdef CONFIG_HRT_PPM + unsigned i; + + printf("channels: %u\n", ppm_decoded_channels); + + for (i = 0; i < ppm_decoded_channels; i++) + printf(" %u\n", ppm_buffer[i]); + + printf("edges\n"); + + for (i = 0; i < 32; i++) + printf(" %u\n", ppm_edge_history[i]); + + printf("pulses\n"); + + for (i = 0; i < 32; i++) + printf(" %u\n", ppm_pulse_history[i]); + + fflush(stdout); +#else + printf("PPM not configured\n"); +#endif + return 0; +} + +int test_tone(int argc, char *argv[]) +{ + int fd, result; + unsigned long tone; + + fd = open("/dev/tone_alarm", O_WRONLY); + + if (fd < 0) { + printf("failed opening /dev/tone_alarm\n"); + goto out; + } + + tone = 1; + + if (argc == 2) + tone = atoi(argv[1]); + + if (tone == 0) { + result = ioctl(fd, TONE_SET_ALARM, 0); + + if (result < 0) { + printf("failed clearing alarms\n"); + goto out; + + } else { + printf("Alarm stopped.\n"); + } + + } else { + result = ioctl(fd, TONE_SET_ALARM, 0); + + if (result < 0) { + printf("failed clearing alarms\n"); + goto out; + } + + result = ioctl(fd, TONE_SET_ALARM, tone); + + if (result < 0) { + printf("failed setting alarm %lu\n", tone); + + } else { + printf("Alarm %lu (disable with: tests tone 0)\n", tone); + } + } + +out: + + if (fd >= 0) + close(fd); + + return 0; +} + +/**************************************************************************** + * Name: test_hrt + ****************************************************************************/ + +int test_hrt(int argc, char *argv[]) +{ + struct hrt_call call; + hrt_abstime prev, now; + int i; + struct timeval tv1, tv2; + + printf("start-time (hrt, sec/usec), end-time (hrt, sec/usec), microseconds per half second\n"); + + for (i = 0; i < 10; i++) { + prev = hrt_absolute_time(); + gettimeofday(&tv1, NULL); + usleep(500000); + now = hrt_absolute_time(); + gettimeofday(&tv2, NULL); + printf("%lu (%lu/%lu), %lu (%lu/%lu), %lu\n", + (unsigned long)prev, (unsigned long)tv1.tv_sec, (unsigned long)tv1.tv_usec, + (unsigned long)now, (unsigned long)tv2.tv_sec, (unsigned long)tv2.tv_usec, + (unsigned long)(hrt_absolute_time() - prev)); + fflush(stdout); + } + + usleep(1000000); + + printf("one-second ticks\n"); + + for (i = 0; i < 10; i++) { + hrt_call_after(&call, 1000000, NULL, NULL); + + while (!hrt_called(&call)) { + usleep(1000); + } + + printf("tick\n"); + fflush(stdout); + } + + return 0; +} diff --git a/src/systemcmds/tests/test_int.c b/src/systemcmds/tests/test_int.c new file mode 100644 index 000000000..c59cee7b7 --- /dev/null +++ b/src/systemcmds/tests/test_int.c @@ -0,0 +1,149 @@ +/**************************************************************************** + * px4/sensors/test_gpio.c + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include + +#include + +#include +#include +#include +#include +#include +#include + +#include + +#include "tests.h" + +#include +#include + + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/**************************************************************************** + * Public Data + ****************************************************************************/ + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: test_led + ****************************************************************************/ + +typedef union { + int32_t i; + int64_t l; + uint8_t b[8]; +} test_32_64_t; + +int test_int(int argc, char *argv[]) +{ + int ret = 0; + + printf("\n--- 64 BIT MATH TESTS ---\n"); + + int64_t large = 354156329598; + + int64_t calc = large * 5; + + if (calc == 1770781647990) { + printf("\t success: 354156329598 * 5 == %lld\n", calc); + + } else { + printf("\t FAIL: 354156329598 * 5 != %lld\n", calc); + ret = -1; + } + + fflush(stdout); + + + + + + printf("\n--- 32 BIT / 64 BIT MIXED MATH TESTS ---\n"); + + + int32_t small = 50; + int32_t large_int = 2147483647; // MAX INT value + + uint64_t small_times_large = large_int * (uint64_t)small; + + if (small_times_large == 107374182350) { + printf("\t success: 64bit calculation: 50 * 2147483647 (max int val) == %lld\n", small_times_large); + + } else { + printf("\t FAIL: 50 * 2147483647 != %lld, 64bit cast might fail\n", small_times_large); + ret = -1; + } + + fflush(stdout); + + if (ret == 0) { + printf("\n SUCCESS: All float and double tests passed.\n"); + + } else { + printf("\n FAIL: One or more tests failed.\n"); + } + + printf("\n"); + + return ret; +} diff --git a/src/systemcmds/tests/test_jig_voltages.c b/src/systemcmds/tests/test_jig_voltages.c new file mode 100644 index 000000000..10c93b264 --- /dev/null +++ b/src/systemcmds/tests/test_jig_voltages.c @@ -0,0 +1,168 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include +#include + +#include + +#include +#include +#include +#include +#include +#include + +#include + +#include "tests.h" + +#include +#include +#include + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/**************************************************************************** + * Public Data + ****************************************************************************/ + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: test_gpio + ****************************************************************************/ + +int test_jig_voltages(int argc, char *argv[]) +{ + int fd = open(ADC_DEVICE_PATH, O_RDONLY); + int ret = OK; + + if (fd < 0) { + warnx("can't open ADC device"); + return 1; + } + + /* make space for a maximum of eight channels */ + struct adc_msg_s data[8]; + /* read all channels available */ + ssize_t count = read(fd, data, sizeof(data)); + + if (count < 0) { + close(fd); + warnx("can't read from ADC driver. Forgot 'adc start' command?"); + return 1; + } + + unsigned channels = count / sizeof(data[0]); + + for (unsigned j = 0; j < channels; j++) { + printf("%d: %u ", data[j].am_channel, data[j].am_data); + } + + printf("\n"); + + warnx("\t ADC operational.\n"); + + /* Expected values */ + int16_t expected_min[] = {2800, 2800, 1800, 800}; + int16_t expected_max[] = {3100, 3100, 2100, 1100}; + char *check_res[channels]; + + if (channels < 4) { + close(fd); + warnx("not all four test channels available, aborting."); + return 1; + + } else { + /* Check values */ + check_res[0] = (expected_min[0] < data[0].am_data && expected_max[0] > data[0].am_data) ? "OK" : "FAIL"; + check_res[1] = (expected_min[1] < data[1].am_data && expected_max[1] > data[1].am_data) ? "OK" : "FAIL"; + check_res[2] = (expected_min[2] < data[2].am_data && expected_max[2] > data[2].am_data) ? "OK" : "FAIL"; + check_res[3] = (expected_min[3] < data[3].am_data && expected_max[3] > data[3].am_data) ? "OK" : "FAIL"; + + /* Accumulate result */ + ret += (expected_min[0] > data[0].am_data || expected_max[0] < data[0].am_data) ? 1 : 0; + ret += (expected_min[1] > data[1].am_data || expected_max[1] < data[1].am_data) ? 1 : 0; + ret += (expected_min[2] > data[2].am_data || expected_max[2] < data[2].am_data) ? 1 : 0; + ret += (expected_min[3] > data[3].am_data || expected_max[3] < data[3].am_data) ? 1 : 0; + + message("Sample:"); + message("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n", + data[0].am_channel, (int)(data[0].am_data), expected_min[0], expected_max[0], check_res[0]); + message("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n", + data[1].am_channel, (int)(data[1].am_data), expected_min[1], expected_max[1], check_res[1]); + message("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n", + data[2].am_channel, (int)(data[2].am_data), expected_min[2], expected_max[2], check_res[2]); + message("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n", + data[3].am_channel, (int)(data[3].am_data), expected_min[3], expected_max[3], check_res[3]); + + if (ret != OK) { + printf("\t JIG voltages test FAILED. Some channels where out of allowed range. Check supply voltages.\n"); + goto errout_with_dev; + } + } + + printf("\t JIG voltages test successful.\n"); + +errout_with_dev: + + if (fd != 0) close(fd); + + return ret; +} diff --git a/src/systemcmds/tests/test_led.c b/src/systemcmds/tests/test_led.c new file mode 100644 index 000000000..6e3efc668 --- /dev/null +++ b/src/systemcmds/tests/test_led.c @@ -0,0 +1,134 @@ +/**************************************************************************** + * px4/sensors/test_gpio.c + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include + +#include + +#include +#include +#include +#include +#include +#include + +#include + +#include + +#include "tests.h" + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/**************************************************************************** + * Public Data + ****************************************************************************/ + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: test_led + ****************************************************************************/ + +int test_led(int argc, char *argv[]) +{ + int fd; + int ret = 0; + + fd = open(LED_DEVICE_PATH, 0); + + if (fd < 0) { + printf("\tLED: open fail\n"); + return ERROR; + } + + if (ioctl(fd, LED_ON, LED_BLUE) || + ioctl(fd, LED_ON, LED_AMBER)) { + + printf("\tLED: ioctl fail\n"); + return ERROR; + } + + /* let them blink for fun */ + + int i; + uint8_t ledon = 1; + + for (i = 0; i < 10; i++) { + if (ledon) { + ioctl(fd, LED_ON, LED_BLUE); + ioctl(fd, LED_OFF, LED_AMBER); + + } else { + ioctl(fd, LED_OFF, LED_BLUE); + ioctl(fd, LED_ON, LED_AMBER); + } + + ledon = !ledon; + usleep(60000); + } + + /* Go back to default */ + ioctl(fd, LED_ON, LED_BLUE); + ioctl(fd, LED_OFF, LED_AMBER); + + printf("\t LED test completed, no errors.\n"); + + return ret; +} diff --git a/src/systemcmds/tests/test_sensors.c b/src/systemcmds/tests/test_sensors.c new file mode 100644 index 000000000..14503276c --- /dev/null +++ b/src/systemcmds/tests/test_sensors.c @@ -0,0 +1,297 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file test_sensors.c + * Tests the onboard sensors. + * + * @author Lorenz Meier + */ + +#include + +#include + +#include +#include +#include +#include +#include +#include + +#include + +#include + +#include "tests.h" + +#include +#include +#include +#include + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +static int accel(int argc, char *argv[]); +static int gyro(int argc, char *argv[]); +static int mag(int argc, char *argv[]); +static int baro(int argc, char *argv[]); + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +struct { + const char *name; + const char *path; + int (* test)(int argc, char *argv[]); +} sensors[] = { + {"accel", "/dev/accel", accel}, + {"gyro", "/dev/gyro", gyro}, + {"mag", "/dev/mag", mag}, + {"baro", "/dev/baro", baro}, + {NULL, NULL, NULL} +}; + +/**************************************************************************** + * Public Data + ****************************************************************************/ + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +static int +accel(int argc, char *argv[]) +{ + printf("\tACCEL: test start\n"); + fflush(stdout); + + int fd; + struct accel_report buf; + int ret; + + fd = open("/dev/accel", O_RDONLY); + + if (fd < 0) { + printf("\tACCEL: open fail, run or or first.\n"); + return ERROR; + } + + /* wait at least 100ms, sensor should have data after no more than 20ms */ + usleep(100000); + + /* read data - expect samples */ + ret = read(fd, &buf, sizeof(buf)); + + if (ret != sizeof(buf)) { + printf("\tACCEL: read1 fail (%d)\n", ret); + return ERROR; + + } else { + printf("\tACCEL accel: x:%8.4f\ty:%8.4f\tz:%8.4f m/s^2\n", (double)buf.x, (double)buf.y, (double)buf.z); + } + + // /* wait at least 10ms, sensor should have data after no more than 2ms */ + // usleep(100000); + + // ret = read(fd, buf, sizeof(buf)); + + // if (ret != sizeof(buf)) { + // printf("\tMPU-6000: read2 fail (%d)\n", ret); + // return ERROR; + + // } else { + // printf("\tMPU-6000 values: acc: x:%d\ty:%d\tz:%d\tgyro: r:%d\tp:%d\ty:%d\n", buf[0], buf[1], buf[2], buf[3], buf[4], buf[5]); + // } + + /* XXX more tests here */ + + /* Let user know everything is ok */ + printf("\tOK: ACCEL passed all tests successfully\n"); + + return OK; +} + +static int +gyro(int argc, char *argv[]) +{ + printf("\tGYRO: test start\n"); + fflush(stdout); + + int fd; + struct gyro_report buf; + int ret; + + fd = open("/dev/gyro", O_RDONLY); + + if (fd < 0) { + printf("\tGYRO: open fail, run or first.\n"); + return ERROR; + } + + /* wait at least 5 ms, sensor should have data after that */ + usleep(5000); + + /* read data - expect samples */ + ret = read(fd, &buf, sizeof(buf)); + + if (ret != sizeof(buf)) { + printf("\tGYRO: read fail (%d)\n", ret); + return ERROR; + + } else { + printf("\tGYRO rates: x:%8.4f\ty:%8.4f\tz:%8.4f rad/s\n", (double)buf.x, (double)buf.y, (double)buf.z); + } + + /* Let user know everything is ok */ + printf("\tOK: GYRO passed all tests successfully\n"); + + return OK; +} + +static int +mag(int argc, char *argv[]) +{ + printf("\tMAG: test start\n"); + fflush(stdout); + + int fd; + struct mag_report buf; + int ret; + + fd = open("/dev/mag", O_RDONLY); + + if (fd < 0) { + printf("\tMAG: open fail, run or first.\n"); + return ERROR; + } + + /* wait at least 5 ms, sensor should have data after that */ + usleep(5000); + + /* read data - expect samples */ + ret = read(fd, &buf, sizeof(buf)); + + if (ret != sizeof(buf)) { + printf("\tMAG: read fail (%d)\n", ret); + return ERROR; + + } else { + printf("\tMAG values: x:%8.4f\ty:%8.4f\tz:%8.4f\n", (double)buf.x, (double)buf.y, (double)buf.z); + } + + /* Let user know everything is ok */ + printf("\tOK: MAG passed all tests successfully\n"); + + return OK; +} + +static int +baro(int argc, char *argv[]) +{ + printf("\tBARO: test start\n"); + fflush(stdout); + + int fd; + struct baro_report buf; + int ret; + + fd = open("/dev/baro", O_RDONLY); + + if (fd < 0) { + printf("\tBARO: open fail, run or first.\n"); + return ERROR; + } + + /* wait at least 5 ms, sensor should have data after that */ + usleep(5000); + + /* read data - expect samples */ + ret = read(fd, &buf, sizeof(buf)); + + if (ret != sizeof(buf)) { + printf("\tBARO: read fail (%d)\n", ret); + return ERROR; + + } else { + printf("\tBARO pressure: %8.4f mbar\talt: %8.4f m\ttemp: %8.4f deg C\n", (double)buf.pressure, (double)buf.altitude, (double)buf.temperature); + } + + /* Let user know everything is ok */ + printf("\tOK: BARO passed all tests successfully\n"); + + return OK; +} + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: test_sensors + ****************************************************************************/ + +int test_sensors(int argc, char *argv[]) +{ + unsigned i; + + printf("Running sensors tests:\n\n"); + fflush(stdout); + + int ret = OK; + + for (i = 0; sensors[i].name; i++) { + printf(" sensor: %s\n", sensors[i].name); + + /* Flush and leave enough time for the flush to become effective */ + fflush(stdout); + usleep(50000); + /* Test the sensor - if the tests crash at this point, the right sensor name has been printed */ + + ret += sensors[i].test(argc, argv); + } + + return ret; +} diff --git a/src/systemcmds/tests/test_servo.c b/src/systemcmds/tests/test_servo.c new file mode 100644 index 000000000..f95760ca8 --- /dev/null +++ b/src/systemcmds/tests/test_servo.c @@ -0,0 +1,132 @@ +/**************************************************************************** + * px4/sensors/test_hrt.c + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include + +#include + +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +#include + +#include "tests.h" + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/**************************************************************************** + * Public Data + ****************************************************************************/ + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: test_servo + ****************************************************************************/ + +int test_servo(int argc, char *argv[]) +{ + int fd, result; + servo_position_t data[PWM_OUTPUT_MAX_CHANNELS]; + servo_position_t pos; + + fd = open(PWM_OUTPUT_DEVICE_PATH, O_RDWR); + + if (fd < 0) { + printf("failed opening /dev/pwm_servo\n"); + goto out; + } + + result = read(fd, &data, sizeof(data)); + + if (result != sizeof(data)) { + printf("failed bulk-reading channel values\n"); + goto out; + } + + printf("Servo readback, pairs of values should match defaults\n"); + + for (unsigned i = 0; i < PWM_OUTPUT_MAX_CHANNELS; i++) { + result = ioctl(fd, PWM_SERVO_GET(i), (unsigned long)&pos); + + if (result < 0) { + printf("failed reading channel %u\n", i); + goto out; + } + + printf("%u: %u %u\n", i, pos, data[i]); + + } + + printf("Servos arming at default values\n"); + result = ioctl(fd, PWM_SERVO_ARM, 0); + usleep(5000000); + printf("Advancing channel 0 to 1500\n"); + result = ioctl(fd, PWM_SERVO_SET(0), 1500); +out: + return 0; +} diff --git a/src/systemcmds/tests/test_sleep.c b/src/systemcmds/tests/test_sleep.c new file mode 100644 index 000000000..ae682b542 --- /dev/null +++ b/src/systemcmds/tests/test_sleep.c @@ -0,0 +1,100 @@ +/**************************************************************************** + * px4/sensors/test_gpio.c + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include + +#include + +#include +#include +#include +#include +#include +#include + +#include + +#include "tests.h" + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/**************************************************************************** + * Public Data + ****************************************************************************/ + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: test_sleep + ****************************************************************************/ + +int test_sleep(int argc, char *argv[]) +{ + unsigned int nsleeps = 100; + printf("\t %d 100ms sleeps\n", nsleeps); + fflush(stdout); + + for (unsigned int i = 0; i < nsleeps; i++) { + usleep(100000); + } + + printf("\t Sleep test successful.\n"); + + return OK; +} diff --git a/src/systemcmds/tests/test_time.c b/src/systemcmds/tests/test_time.c new file mode 100644 index 000000000..8a164f3fc --- /dev/null +++ b/src/systemcmds/tests/test_time.c @@ -0,0 +1,160 @@ +/**************************************************************************** + * px4/tests/test_time.c + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include + +#include + +#include +#include +#include +#include +#include +#include + +#include + +#include "tests.h" + +#include +#include +#include + + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/**************************************************************************** + * Public Data + ****************************************************************************/ + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +/* emulate hrt_absolute_time using the cycle counter */ +static hrt_abstime +cycletime(void) +{ + static uint64_t basetime; + static uint32_t lasttime; + uint32_t cycles; + + cycles = *(unsigned long *)0xe0001004; + + if (cycles < lasttime) + basetime += 0x100000000ULL; + + lasttime = cycles; + + return (basetime + cycles) / 168; /* XXX magic number */ +} + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: test_led + ****************************************************************************/ + +int test_time(int argc, char *argv[]) +{ + hrt_abstime h, c; + int64_t lowdelta, maxdelta = 0; + int64_t delta, deltadelta; + + /* enable the cycle counter */ + (*(unsigned long *)0xe000edfc) |= (1 << 24); /* DEMCR |= DEMCR_TRCENA */ + (*(unsigned long *)0xe0001000) |= 1; /* DWT_CTRL |= DWT_CYCCNT_ENA */ + + /* get an average delta between the two clocks - this should stay roughly the same */ + delta = 0; + + for (unsigned i = 0; i < 100; i++) { + uint32_t flags = irqsave(); + + h = hrt_absolute_time(); + c = cycletime(); + + irqrestore(flags); + + delta += h - c; + } + + lowdelta = abs(delta / 100); + + /* loop checking the time */ + for (unsigned i = 0; i < 100; i++) { + + usleep(rand()); + + uint32_t flags = irqsave(); + + c = cycletime(); + h = hrt_absolute_time(); + + irqrestore(flags); + + delta = abs(h - c); + deltadelta = abs(delta - lowdelta); + + if (deltadelta > maxdelta) + maxdelta = deltadelta; + + if (deltadelta > 1000) + fprintf(stderr, "h %llu c %llu d %lld\n", h, c, delta - lowdelta); + } + + printf("Maximum jitter %lldus\n", maxdelta); + + return 0; +} diff --git a/src/systemcmds/tests/test_uart_baudchange.c b/src/systemcmds/tests/test_uart_baudchange.c new file mode 100644 index 000000000..609a65c62 --- /dev/null +++ b/src/systemcmds/tests/test_uart_baudchange.c @@ -0,0 +1,158 @@ +/**************************************************************************** + * px4/sensors/test_gpio.c + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include + +#include + +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +#include "tests.h" + +#include +#include + + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/**************************************************************************** + * Public Data + ****************************************************************************/ + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: test_led + ****************************************************************************/ + +int test_uart_baudchange(int argc, char *argv[]) +{ + int uart2_nwrite = 0; + + /* assuming NuttShell is on UART1 (/dev/ttyS0) */ + int uart2 = open("/dev/ttyS1", O_RDWR | O_NONBLOCK | O_NOCTTY); // + + if (uart2 < 0) { + printf("ERROR opening UART2, aborting..\n"); + return uart2; + } + + struct termios uart2_config; + + struct termios uart2_config_original; + + int termios_state = 0; + +#define UART_BAUDRATE_RUNTIME_CONF +#ifdef UART_BAUDRATE_RUNTIME_CONF + + if ((termios_state = tcgetattr(uart2, &uart2_config)) < 0) { + printf("ERROR getting termios config for UART2: %d\n", termios_state); + exit(termios_state); + } + + memcpy(&uart2_config_original, &uart2_config, sizeof(struct termios)); + + /* Set baud rate */ + if (cfsetispeed(&uart2_config, B9600) < 0 || cfsetospeed(&uart2_config, B9600) < 0) { + printf("ERROR setting termios config for UART2: %d\n", termios_state); + exit(ERROR); + } + + if ((termios_state = tcsetattr(uart2, TCSANOW, &uart2_config)) < 0) { + printf("ERROR setting termios config for UART2\n"); + exit(termios_state); + } + + /* Set back to original settings */ + if ((termios_state = tcsetattr(uart2, TCSANOW, &uart2_config_original)) < 0) { + printf("ERROR setting termios config for UART2\n"); + exit(termios_state); + } + +#endif + + uint8_t sample_uart2[] = {'U', 'A', 'R', 'T', '2', ' ', '#', 0, '\n'}; + + int i, r; + + for (i = 0; i < 100; i++) { + /* uart2 -> */ + r = write(uart2, sample_uart2, sizeof(sample_uart2)); + + if (r > 0) + uart2_nwrite += r; + } + + close(uart2); + + printf("uart2_nwrite %d\n", uart2_nwrite); + + return OK; +} diff --git a/src/systemcmds/tests/test_uart_console.c b/src/systemcmds/tests/test_uart_console.c new file mode 100644 index 000000000..f8582b52f --- /dev/null +++ b/src/systemcmds/tests/test_uart_console.c @@ -0,0 +1,175 @@ +/**************************************************************************** + * px4/sensors/test_uart_console.c + * + * Copyright (C) 2012 Lorenz Meier. All rights reserved. + * Authors: Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include + +#include + +#include +#include +#include +#include +#include +#include + +#include + +#include "tests.h" + +#include +#include +#include + + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/**************************************************************************** + * Public Data + ****************************************************************************/ + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: test_led + ****************************************************************************/ + +static void *receive_loop(void *arg) +{ + int uart_usb = open("/dev/ttyACM0", O_RDONLY | O_NOCTTY); + + while (1) { + char c; + read(uart_usb, &c, 1); + printf("%c", c); + fflush(stdout); + } + + return NULL; +} + +int test_uart_console(int argc, char *argv[]) +{ + /* assuming NuttShell is on UART1 (/dev/ttyS0) */ + // + int uart_usb = open("/dev/ttyACM0", O_WRONLY | O_NOCTTY); + + if (uart_usb < 0) { + printf("ERROR opening /dev/ttyACM0. Do you need to run sercon first? Aborting..\n"); + return uart_usb; + } + + uint8_t sample_uart_usb[] = {'S', 'A', 'M', 'P', 'L', 'E', ' ', '\n'}; + + pthread_t receive_thread; + + pthread_create(&receive_thread, NULL, receive_loop, NULL); + + //wait for threads to complete: + pthread_join(receive_thread, NULL); + + for (int i = 0; i < 30; i++) { + write(uart_usb, sample_uart_usb, sizeof(sample_uart_usb)); + printf("."); + fflush(stdout); + sleep(1); + } + +// uint64_t start_time = hrt_absolute_time(); +// +//// while (true) +// for (int i = 0; i < 1000; i++) +// { +// //write(uart_usb, sample_uart_usb, sizeof(sample_uart_usb)); +// int nread = 0; +// char c; +// do { +// nread = read(uart_usb, &c, 1); +// if (nread > 0) +// { +// printf("%c", c); +// } +// } while (nread > 0); +// +// do { +// nread = read(uart_console, &c, 1); +// if (nread > 0) +// { +// if (c == 0x03) +// { +// close(uart_usb); +// close(uart_console); +// exit(OK); +// } +// else +// { +// write(uart_usb, &c, 1); +// } +// } +// } while (nread > 0); +// usleep(10000); +// } +// +// int interval = hrt_absolute_time() - start_time; + + close(uart_usb); +// close(uart_console); + + return 0; +} diff --git a/src/systemcmds/tests/test_uart_loopback.c b/src/systemcmds/tests/test_uart_loopback.c new file mode 100644 index 000000000..3be152004 --- /dev/null +++ b/src/systemcmds/tests/test_uart_loopback.c @@ -0,0 +1,195 @@ +/**************************************************************************** + * px4/sensors/test_gpio.c + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include + +#include + +#include +#include +#include +#include +#include +#include + +#include + +#include "tests.h" + +#include +#include + + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/**************************************************************************** + * Public Data + ****************************************************************************/ + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: test_led + ****************************************************************************/ + +int test_uart_loopback(int argc, char *argv[]) +{ + + int uart5_nread = 0; + int uart2_nread = 0; + int uart5_nwrite = 0; + int uart2_nwrite = 0; + + int uart1 = open("/dev/ttyS0", O_RDWR | O_NOCTTY); // + + /* assuming NuttShell is on UART1 (/dev/ttyS0) */ + int uart2 = open("/dev/ttyS1", O_RDWR | O_NONBLOCK | O_NOCTTY); // + int uart5 = open("/dev/ttyS2", O_RDWR | O_NONBLOCK | O_NOCTTY); // + + if (uart2 < 0) { + printf("ERROR opening UART2, aborting..\n"); + return uart2; + } + + if (uart5 < 0) { + printf("ERROR opening UART5, aborting..\n"); + exit(uart5); + } + + uint8_t sample_uart1[] = {'C', 'O', 'U', 'N', 'T', ' ', '#', '\n'}; + uint8_t sample_uart2[] = {'C', 'O', 'U', 'N', 'T', ' ', '#', 0}; + uint8_t sample_uart5[] = {'C', 'O', 'U', 'N', 'T', ' ', '#', 0}; + + int i, r; + + for (i = 0; i < 1000; i++) { +// printf("TEST #%d\n",i); + write(uart1, sample_uart1, sizeof(sample_uart1)); + + /* uart2 -> uart5 */ + r = write(uart2, sample_uart2, sizeof(sample_uart2)); + + if (r > 0) + uart2_nwrite += r; + +// printf("TEST #%d\n",i); + write(uart1, sample_uart1, sizeof(sample_uart1)); + + /* uart2 -> uart5 */ + r = write(uart5, sample_uart5, sizeof(sample_uart5)); + + if (r > 0) + uart5_nwrite += r; + +// printf("TEST #%d\n",i); + write(uart1, sample_uart1, sizeof(sample_uart1)); + + /* try to read back values */ + do { + r = read(uart5, sample_uart2, sizeof(sample_uart2)); + + if (r > 0) + uart5_nread += r; + } while (r > 0); + +// printf("TEST #%d\n",i); + write(uart1, sample_uart1, sizeof(sample_uart1)); + + do { + r = read(uart2, sample_uart5, sizeof(sample_uart5)); + + if (r > 0) + uart2_nread += r; + } while (r > 0); + +// printf("TEST #%d\n",i); +// write(uart1, sample_uart1, sizeof(sample_uart5)); + } + + for (i = 0; i < 200000; i++) { + + /* try to read back values */ + r = read(uart5, sample_uart2, sizeof(sample_uart2)); + + if (r > 0) + uart5_nread += r; + + r = read(uart2, sample_uart5, sizeof(sample_uart5)); + + if (r > 0) + uart2_nread += r; + + if ((uart2_nread == uart2_nwrite) && (uart5_nread == uart5_nwrite)) + break; + } + + + close(uart1); + close(uart2); + close(uart5); + + printf("uart2_nwrite %d\n", uart2_nwrite); + printf("uart5_nwrite %d\n", uart5_nwrite); + printf("uart2_nread %d\n", uart2_nread); + printf("uart5_nread %d\n", uart5_nread); + + + return 0; +} diff --git a/src/systemcmds/tests/test_uart_send.c b/src/systemcmds/tests/test_uart_send.c new file mode 100644 index 000000000..7e1e8d307 --- /dev/null +++ b/src/systemcmds/tests/test_uart_send.c @@ -0,0 +1,131 @@ +/**************************************************************************** + * px4/sensors/test_gpio.c + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include + +#include + +#include +#include +#include +#include +#include +#include + +#include + +#include "tests.h" + +#include +#include +#include + + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/**************************************************************************** + * Public Data + ****************************************************************************/ + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: test_led + ****************************************************************************/ + +int test_uart_send(int argc, char *argv[]) +{ + /* input handling */ + char *uart_name = "/dev/ttyS3"; + + if (argc > 1) uart_name = argv[1]; + + /* assuming NuttShell is on UART1 (/dev/ttyS0) */ + int test_uart = open(uart_name, O_RDWR | O_NONBLOCK | O_NOCTTY); // + + if (test_uart < 0) { + printf("ERROR opening UART %s, aborting..\n", uart_name); + return test_uart; + + } else { + printf("Writing to UART %s\n", uart_name); + } + + char sample_test_uart[25];// = {'S', 'A', 'M', 'P', 'L', 'E', ' ', '\n'}; + + int i, n; + + uint64_t start_time = hrt_absolute_time(); + + for (i = 0; i < 30000; i++) { + n = sprintf(sample_test_uart, "SAMPLE #%d\n", i); + write(test_uart, sample_test_uart, n); + } + + int interval = hrt_absolute_time() - start_time; + + int bytes = i * sizeof(sample_test_uart); + + printf("Wrote %d bytes in %d ms on UART %s\n", bytes, interval / 1000, uart_name); + + close(test_uart); + + return 0; +} diff --git a/src/systemcmds/tests/tests.h b/src/systemcmds/tests/tests.h new file mode 100644 index 000000000..c02ea6808 --- /dev/null +++ b/src/systemcmds/tests/tests.h @@ -0,0 +1,102 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#ifndef __APPS_PX4_TESTS_H +#define __APPS_PX4_TESTS_H + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include + +/**************************************************************************** + * Definitions + ****************************************************************************/ + +/* Debug ********************************************************************/ + +#ifdef CONFIG_CPP_HAVE_VARARGS +# ifdef CONFIG_DEBUG +# define message(...) lowsyslog(__VA_ARGS__) +# define msgflush() +# else +# define message(...) printf(__VA_ARGS__) +# define msgflush() fflush(stdout) +# endif +#else +# ifdef CONFIG_DEBUG +# define message lowsyslog +# define msgflush() +# else +# define message printf +# define msgflush() fflush(stdout) +# endif +#endif + +/**************************************************************************** + * Public Types + ****************************************************************************/ + +/**************************************************************************** + * Public Variables + ****************************************************************************/ + +/**************************************************************************** + * Public Function Prototypes + ****************************************************************************/ + +extern int test_sensors(int argc, char *argv[]); +extern int test_gpio(int argc, char *argv[]); +extern int test_hrt(int argc, char *argv[]); +extern int test_tone(int argc, char *argv[]); +extern int test_led(int argc, char *argv[]); +extern int test_adc(int argc, char *argv[]); +extern int test_int(int argc, char *argv[]); +extern int test_float(int argc, char *argv[]); +extern int test_ppm(int argc, char *argv[]); +extern int test_servo(int argc, char *argv[]); +extern int test_uart_loopback(int argc, char *argv[]); +extern int test_uart_baudchange(int argc, char *argv[]); +extern int test_cpuload(int argc, char *argv[]); +extern int test_uart_send(int argc, char *argv[]); +extern int test_sleep(int argc, char *argv[]); +extern int test_time(int argc, char *argv[]); +extern int test_uart_console(int argc, char *argv[]); +extern int test_hott_telemetry(int argc, char *argv[]); +extern int test_jig_voltages(int argc, char *argv[]); +extern int test_param(int argc, char *argv[]); +extern int test_bson(int argc, char *argv[]); +extern int test_file(int argc, char *argv[]); + +#endif /* __APPS_PX4_TESTS_H */ diff --git a/src/systemcmds/tests/tests_file.c b/src/systemcmds/tests/tests_file.c new file mode 100644 index 000000000..6f75b9812 --- /dev/null +++ b/src/systemcmds/tests/tests_file.c @@ -0,0 +1,84 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file tests_file.c + * + * File write test. + */ + +#include +#include +#include +#include +#include +#include +#include + +#include + +#include "tests.h" + +int +test_file(int argc, char *argv[]) +{ + /* check if microSD card is mounted */ + struct stat buffer; + if (stat("/fs/microsd/", &buffer)) { + warnx("no microSD card mounted, aborting file test"); + return 1; + } + + uint8_t buf[512]; + hrt_abstime start, end; + perf_counter_t wperf = perf_alloc(PC_ELAPSED, "SD writes"); + + int fd = open("/fs/microsd/testfile", O_TRUNC | O_WRONLY | O_CREAT); + memset(buf, 0, sizeof(buf)); + + start = hrt_absolute_time(); + for (unsigned i = 0; i < 1024; i++) { + perf_begin(wperf); + write(fd, buf, sizeof(buf)); + perf_end(wperf); + } + end = hrt_absolute_time(); + + close(fd); + + warnx("512KiB in %llu microseconds", end - start); + perf_print_counter(wperf); + perf_free(wperf); + + return 0; +} diff --git a/src/systemcmds/tests/tests_main.c b/src/systemcmds/tests/tests_main.c new file mode 100644 index 000000000..9f8c5c9ea --- /dev/null +++ b/src/systemcmds/tests/tests_main.c @@ -0,0 +1,339 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @author Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file tests_main.c + * Tests main file, loads individual tests. + */ + +#include + +#include + +#include +#include +#include +#include +#include +#include +#include + +#include + +#include + +#include + +#include "tests.h" + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +static int test_help(int argc, char *argv[]); +static int test_all(int argc, char *argv[]); +static int test_perf(int argc, char *argv[]); +static int test_jig(int argc, char *argv[]); + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +const struct { + const char *name; + int (* fn)(int argc, char *argv[]); + unsigned options; +#define OPT_NOHELP (1<<0) +#define OPT_NOALLTEST (1<<1) +#define OPT_NOJIGTEST (1<<2) +} tests[] = { + {"led", test_led, 0}, + {"int", test_int, 0}, + {"float", test_float, 0}, + {"sensors", test_sensors, 0}, + {"gpio", test_gpio, OPT_NOJIGTEST | OPT_NOALLTEST}, + {"hrt", test_hrt, OPT_NOJIGTEST | OPT_NOALLTEST}, + {"ppm", test_ppm, OPT_NOJIGTEST | OPT_NOALLTEST}, + {"servo", test_servo, OPT_NOJIGTEST | OPT_NOALLTEST}, + {"adc", test_adc, OPT_NOJIGTEST}, + {"jig_voltages", test_jig_voltages, OPT_NOALLTEST}, + {"uart_loopback", test_uart_loopback, OPT_NOJIGTEST | OPT_NOALLTEST}, + {"uart_baudchange", test_uart_baudchange, OPT_NOJIGTEST | OPT_NOALLTEST}, + {"uart_send", test_uart_send, OPT_NOJIGTEST | OPT_NOALLTEST}, + {"uart_console", test_uart_console, OPT_NOJIGTEST | OPT_NOALLTEST}, + {"hott_telemetry", test_hott_telemetry, OPT_NOJIGTEST | OPT_NOALLTEST}, + {"tone", test_tone, 0}, + {"sleep", test_sleep, OPT_NOJIGTEST}, + {"time", test_time, OPT_NOJIGTEST}, + {"perf", test_perf, OPT_NOJIGTEST}, + {"all", test_all, OPT_NOALLTEST | OPT_NOJIGTEST}, + {"jig", test_jig, OPT_NOJIGTEST | OPT_NOALLTEST}, + {"param", test_param, 0}, + {"bson", test_bson, 0}, + {"file", test_file, 0}, + {"help", test_help, OPT_NOALLTEST | OPT_NOHELP | OPT_NOJIGTEST}, + {NULL, NULL, 0} +}; + +#define NTESTS (sizeof(tests) / sizeof(tests[0])) + +static int +test_help(int argc, char *argv[]) +{ + unsigned i; + + printf("Available tests:\n"); + + for (i = 0; tests[i].name; i++) + printf(" %s\n", tests[i].name); + + return 0; +} + +static int +test_all(int argc, char *argv[]) +{ + unsigned i; + char *args[2] = {"all", NULL}; + unsigned int failcount = 0; + unsigned int testcount = 0; + bool passed[NTESTS]; + + printf("\nRunning all tests...\n\n"); + + for (i = 0; tests[i].name; i++) { + /* Only run tests that are not excluded */ + if (!(tests[i].options & OPT_NOALLTEST)) { + printf(" [%s] \t\t\tSTARTING TEST\n", tests[i].name); + fflush(stdout); + + /* Execute test */ + if (tests[i].fn(1, args) != 0) { + fprintf(stderr, " [%s] \t\t\tFAIL\n", tests[i].name); + fflush(stderr); + failcount++; + passed[i] = false; + } else { + printf(" [%s] \t\t\tPASS\n", tests[i].name); + fflush(stdout); + passed[i] = true; + } + testcount++; + } + } + + /* Print summary */ + printf("\n"); + int j; + + for (j = 0; j < 40; j++) { + printf("-"); + } + + printf("\n\n"); + + printf(" T E S T S U M M A R Y\n\n"); + + if (failcount == 0) { + printf(" ______ __ __ ______ __ __ \n"); + printf(" /\\ __ \\ /\\ \\ /\\ \\ /\\ __ \\ /\\ \\/ / \n"); + printf(" \\ \\ __ \\ \\ \\ \\____ \\ \\ \\____ \\ \\ \\/\\ \\ \\ \\ _\"-. \n"); + printf(" \\ \\_\\ \\_\\ \\ \\_____\\ \\ \\_____\\ \\ \\_____\\ \\ \\_\\ \\_\\ \n"); + printf(" \\/_/\\/_/ \\/_____/ \\/_____/ \\/_____/ \\/_/\\/_/ \n"); + printf("\n"); + printf(" All tests passed (%d of %d)\n", testcount, testcount); + + } else { + printf(" ______ ______ __ __ \n"); + printf(" /\\ ___\\ /\\ __ \\ /\\ \\ /\\ \\ \n"); + printf(" \\ \\ __\\ \\ \\ __ \\ \\ \\ \\ \\ \\ \\__\n"); + printf(" \\ \\_\\ \\ \\_\\ \\_\\ \\ \\_\\ \\ \\_____\\ \n"); + printf(" \\/_/ \\/_/\\/_/ \\/_/ \\/_____/ \n"); + printf("\n"); + printf(" Some tests failed (%d of %d)\n", failcount, testcount); + } + + printf("\n"); + + /* Print failed tests */ + if (failcount > 0) printf(" Failed tests:\n\n"); + + unsigned int k; + + for (k = 0; k < i; k++) { + if (!passed[k] && !(tests[k].options & OPT_NOALLTEST)) { + printf(" [%s] to obtain details, please re-run with\n\t nsh> tests %s\n\n", tests[k].name, tests[k].name); + } + } + + fflush(stdout); + + return 0; +} + +static int +test_perf(int argc, char *argv[]) +{ + perf_counter_t cc, ec; + + cc = perf_alloc(PC_COUNT, "test_count"); + ec = perf_alloc(PC_ELAPSED, "test_elapsed"); + + if ((cc == NULL) || (ec == NULL)) { + printf("perf: counter alloc failed\n"); + return 1; + } + + perf_begin(ec); + perf_count(cc); + perf_count(cc); + perf_count(cc); + perf_count(cc); + printf("perf: expect count of 4\n"); + perf_print_counter(cc); + perf_end(ec); + printf("perf: expect count of 1\n"); + perf_print_counter(ec); + printf("perf: expect at least two counters\n"); + perf_print_all(); + + perf_free(cc); + perf_free(ec); + + return OK; +} + +int test_jig(int argc, char *argv[]) +{ + unsigned i; + char *args[2] = {"jig", NULL}; + unsigned int failcount = 0; + unsigned int testcount = 0; + bool passed[NTESTS]; + + printf("\nRunning all tests...\n\n"); + for (i = 0; tests[i].name; i++) { + /* Only run tests that are not excluded */ + if (!(tests[i].options & OPT_NOJIGTEST)) { + printf(" [%s] \t\t\tSTARTING TEST\n", tests[i].name); + fflush(stdout); + /* Execute test */ + if (tests[i].fn(1, args) != 0) { + fprintf(stderr, " [%s] \t\t\tFAIL\n", tests[i].name); + fflush(stderr); + failcount++; + passed[i] = false; + } else { + printf(" [%s] \t\t\tPASS\n", tests[i].name); + fflush(stdout); + passed[i] = true; + } + testcount++; + } + } + + /* Print summary */ + printf("\n"); + int j; + for (j = 0; j < 40; j++) + { + printf("-"); + } + printf("\n\n"); + + printf(" T E S T S U M M A R Y\n\n"); + if (failcount == 0) { + printf(" ______ __ __ ______ __ __ \n"); + printf(" /\\ __ \\ /\\ \\ /\\ \\ /\\ __ \\ /\\ \\/ / \n"); + printf(" \\ \\ __ \\ \\ \\ \\____ \\ \\ \\____ \\ \\ \\/\\ \\ \\ \\ _\"-. \n"); + printf(" \\ \\_\\ \\_\\ \\ \\_____\\ \\ \\_____\\ \\ \\_____\\ \\ \\_\\ \\_\\ \n"); + printf(" \\/_/\\/_/ \\/_____/ \\/_____/ \\/_____/ \\/_/\\/_/ \n"); + printf("\n"); + printf(" All tests passed (%d of %d)\n", testcount, testcount); + } else { + printf(" ______ ______ __ __ \n"); + printf(" /\\ ___\\ /\\ __ \\ /\\ \\ /\\ \\ \n"); + printf(" \\ \\ __\\ \\ \\ __ \\ \\ \\ \\ \\ \\ \\__\n"); + printf(" \\ \\_\\ \\ \\_\\ \\_\\ \\ \\_\\ \\ \\_____\\ \n"); + printf(" \\/_/ \\/_/\\/_/ \\/_/ \\/_____/ \n"); + printf("\n"); + printf(" Some tests failed (%d of %d)\n", failcount, testcount); + } + printf("\n"); + + /* Print failed tests */ + if (failcount > 0) printf(" Failed tests:\n\n"); + unsigned int k; + for (k = 0; k < i; k++) + { + if (!passed[i] && !(tests[k].options & OPT_NOJIGTEST)) + { + printf(" [%s] to obtain details, please re-run with\n\t nsh> tests %s\n\n", tests[k].name, tests[k].name); + } + } + fflush(stdout); + + return 0; +} + +__EXPORT int tests_main(int argc, char *argv[]); + +/** + * Executes system tests. + */ +int tests_main(int argc, char *argv[]) +{ + unsigned i; + + if (argc < 2) { + printf("tests: missing test name - 'tests help' for a list of tests\n"); + return 1; + } + + for (i = 0; tests[i].name; i++) { + if (!strcmp(tests[i].name, argv[1])) + return tests[i].fn(argc - 1, argv + 1); + } + + printf("tests: no test called '%s' - 'tests help' for a list of tests\n", argv[1]); + return ERROR; +} diff --git a/src/systemcmds/tests/tests_param.c b/src/systemcmds/tests/tests_param.c new file mode 100644 index 000000000..13f17bc43 --- /dev/null +++ b/src/systemcmds/tests/tests_param.c @@ -0,0 +1,78 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file tests_param.c + * + * Tests related to the parameter system. + */ + +#include +#include "systemlib/err.h" + +#include "systemlib/param/param.h" +#include "tests.h" + +PARAM_DEFINE_INT32(test, 0x12345678); + +int +test_param(int argc, char *argv[]) +{ + param_t p; + + p = param_find("test"); + if (p == PARAM_INVALID) + errx(1, "test parameter not found"); + + param_type_t t = param_type(p); + if (t != PARAM_TYPE_INT32) + errx(1, "test parameter type mismatch (got %u)", (unsigned)t); + + int32_t val; + if (param_get(p, &val) != 0) + errx(1, "failed to read test parameter"); + if (val != 0x12345678) + errx(1, "parameter value mismatch"); + + val = 0xa5a5a5a5; + if (param_set(p, &val) != 0) + errx(1, "failed to write test parameter"); + if (param_get(p, &val) != 0) + errx(1, "failed to re-read test parameter"); + if ((uint32_t)val != 0xa5a5a5a5) + errx(1, "parameter value mismatch after write"); + + warnx("parameter test PASS"); + + return 0; +} -- cgit v1.2.3 From d8a3454538e2a634513defd50b40fb49c194b670 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 27 Apr 2013 00:10:20 +0200 Subject: Cut over MAVLink to new build system --- apps/mavlink/.context | 0 apps/mavlink/.gitignore | 3 - apps/mavlink/Makefile | 44 - apps/mavlink/mavlink.c | 825 -------------- apps/mavlink/mavlink_bridge_header.h | 81 -- apps/mavlink/mavlink_hil.h | 61 -- apps/mavlink/mavlink_log.c | 89 -- apps/mavlink/mavlink_log.h | 120 --- apps/mavlink/mavlink_parameters.c | 231 ---- apps/mavlink/mavlink_parameters.h | 104 -- apps/mavlink/mavlink_receiver.c | 718 ------------- apps/mavlink/missionlib.c | 200 ---- apps/mavlink/missionlib.h | 52 - apps/mavlink/orb_listener.c | 777 -------------- apps/mavlink/orb_topics.h | 106 -- apps/mavlink/util.h | 54 - apps/mavlink/waypoints.c | 1134 -------------------- apps/mavlink/waypoints.h | 131 --- apps/mavlink_onboard/Makefile | 44 - apps/mavlink_onboard/mavlink.c | 529 --------- apps/mavlink_onboard/mavlink_bridge_header.h | 81 -- apps/mavlink_onboard/mavlink_receiver.c | 331 ------ apps/mavlink_onboard/orb_topics.h | 100 -- apps/mavlink_onboard/util.h | 54 - makefiles/config_px4fmu_default.mk | 4 +- src/include/mavlink/mavlink_log.h | 120 +++ src/modules/mavlink/.gitignore | 3 + src/modules/mavlink/mavlink.c | 825 ++++++++++++++ src/modules/mavlink/mavlink_bridge_header.h | 81 ++ src/modules/mavlink/mavlink_hil.h | 61 ++ src/modules/mavlink/mavlink_log.c | 89 ++ src/modules/mavlink/mavlink_parameters.c | 231 ++++ src/modules/mavlink/mavlink_parameters.h | 104 ++ src/modules/mavlink/mavlink_receiver.c | 718 +++++++++++++ src/modules/mavlink/missionlib.c | 200 ++++ src/modules/mavlink/missionlib.h | 52 + src/modules/mavlink/module.mk | 47 + src/modules/mavlink/orb_listener.c | 778 ++++++++++++++ src/modules/mavlink/orb_topics.h | 106 ++ src/modules/mavlink/util.h | 54 + src/modules/mavlink/waypoints.c | 1134 ++++++++++++++++++++ src/modules/mavlink/waypoints.h | 131 +++ src/modules/mavlink_onboard/mavlink.c | 529 +++++++++ .../mavlink_onboard/mavlink_bridge_header.h | 81 ++ src/modules/mavlink_onboard/mavlink_receiver.c | 331 ++++++ src/modules/mavlink_onboard/module.mk | 42 + src/modules/mavlink_onboard/orb_topics.h | 100 ++ src/modules/mavlink_onboard/util.h | 54 + 48 files changed, 5873 insertions(+), 5871 deletions(-) delete mode 100644 apps/mavlink/.context delete mode 100644 apps/mavlink/.gitignore delete mode 100644 apps/mavlink/Makefile delete mode 100644 apps/mavlink/mavlink.c delete mode 100644 apps/mavlink/mavlink_bridge_header.h delete mode 100644 apps/mavlink/mavlink_hil.h delete mode 100644 apps/mavlink/mavlink_log.c delete mode 100644 apps/mavlink/mavlink_log.h delete mode 100644 apps/mavlink/mavlink_parameters.c delete mode 100644 apps/mavlink/mavlink_parameters.h delete mode 100644 apps/mavlink/mavlink_receiver.c delete mode 100644 apps/mavlink/missionlib.c delete mode 100644 apps/mavlink/missionlib.h delete mode 100644 apps/mavlink/orb_listener.c delete mode 100644 apps/mavlink/orb_topics.h delete mode 100644 apps/mavlink/util.h delete mode 100644 apps/mavlink/waypoints.c delete mode 100644 apps/mavlink/waypoints.h delete mode 100644 apps/mavlink_onboard/Makefile delete mode 100644 apps/mavlink_onboard/mavlink.c delete mode 100644 apps/mavlink_onboard/mavlink_bridge_header.h delete mode 100644 apps/mavlink_onboard/mavlink_receiver.c delete mode 100644 apps/mavlink_onboard/orb_topics.h delete mode 100644 apps/mavlink_onboard/util.h create mode 100644 src/include/mavlink/mavlink_log.h create mode 100644 src/modules/mavlink/.gitignore create mode 100644 src/modules/mavlink/mavlink.c create mode 100644 src/modules/mavlink/mavlink_bridge_header.h create mode 100644 src/modules/mavlink/mavlink_hil.h create mode 100644 src/modules/mavlink/mavlink_log.c create mode 100644 src/modules/mavlink/mavlink_parameters.c create mode 100644 src/modules/mavlink/mavlink_parameters.h create mode 100644 src/modules/mavlink/mavlink_receiver.c create mode 100644 src/modules/mavlink/missionlib.c create mode 100644 src/modules/mavlink/missionlib.h create mode 100644 src/modules/mavlink/module.mk create mode 100644 src/modules/mavlink/orb_listener.c create mode 100644 src/modules/mavlink/orb_topics.h create mode 100644 src/modules/mavlink/util.h create mode 100644 src/modules/mavlink/waypoints.c create mode 100644 src/modules/mavlink/waypoints.h create mode 100644 src/modules/mavlink_onboard/mavlink.c create mode 100644 src/modules/mavlink_onboard/mavlink_bridge_header.h create mode 100644 src/modules/mavlink_onboard/mavlink_receiver.c create mode 100644 src/modules/mavlink_onboard/module.mk create mode 100644 src/modules/mavlink_onboard/orb_topics.h create mode 100644 src/modules/mavlink_onboard/util.h (limited to 'src') diff --git a/apps/mavlink/.context b/apps/mavlink/.context deleted file mode 100644 index e69de29bb..000000000 diff --git a/apps/mavlink/.gitignore b/apps/mavlink/.gitignore deleted file mode 100644 index a02827195..000000000 --- a/apps/mavlink/.gitignore +++ /dev/null @@ -1,3 +0,0 @@ -include -mavlink-* -pymavlink-* diff --git a/apps/mavlink/Makefile b/apps/mavlink/Makefile deleted file mode 100644 index 8ddb69b71..000000000 --- a/apps/mavlink/Makefile +++ /dev/null @@ -1,44 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Mavlink Application -# - -APPNAME = mavlink -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 - -INCLUDES = $(TOPDIR)/../mavlink/include/mavlink - -include $(APPDIR)/mk/app.mk diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c deleted file mode 100644 index 644b779af..000000000 --- a/apps/mavlink/mavlink.c +++ /dev/null @@ -1,825 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file mavlink.c - * MAVLink 1.0 protocol implementation. - * - * @author Lorenz Meier - */ - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include "mavlink_bridge_header.h" -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include - -#include "waypoints.h" -#include "mavlink_log.h" -#include "orb_topics.h" -#include "missionlib.h" -#include "mavlink_hil.h" -#include "util.h" -#include "waypoints.h" -#include "mavlink_parameters.h" - -/* define MAVLink specific parameters */ -PARAM_DEFINE_INT32(MAV_SYS_ID, 1); -PARAM_DEFINE_INT32(MAV_COMP_ID, 50); -PARAM_DEFINE_INT32(MAV_TYPE, MAV_TYPE_FIXED_WING); - -__EXPORT int mavlink_main(int argc, char *argv[]); - -static int mavlink_thread_main(int argc, char *argv[]); - -/* thread state */ -volatile bool thread_should_exit = false; -static volatile bool thread_running = false; -static int mavlink_task; - -/* pthreads */ -static pthread_t receive_thread; -static pthread_t uorb_receive_thread; - -/* terminate MAVLink on user request - disabled by default */ -static bool mavlink_link_termination_allowed = false; - -mavlink_system_t mavlink_system = { - 100, - 50, - MAV_TYPE_FIXED_WING, - 0, - 0, - 0 -}; // System ID, 1-255, Component/Subsystem ID, 1-255 - -/* XXX not widely used */ -uint8_t chan = MAVLINK_COMM_0; - -/* XXX probably should be in a header... */ -extern pthread_t receive_start(int uart); - -/* Allocate storage space for waypoints */ -static mavlink_wpm_storage wpm_s; -mavlink_wpm_storage *wpm = &wpm_s; - -bool mavlink_hil_enabled = false; - -/* protocol interface */ -static int uart; -static int baudrate; -bool gcs_link = true; - -/* interface mode */ -static enum { - MAVLINK_INTERFACE_MODE_OFFBOARD, - MAVLINK_INTERFACE_MODE_ONBOARD -} mavlink_link_mode = MAVLINK_INTERFACE_MODE_OFFBOARD; - -static struct mavlink_logbuffer lb; - -static void mavlink_update_system(void); -static int mavlink_open_uart(int baudrate, const char *uart_name, struct termios *uart_config_original, bool *is_usb); -static void usage(void); -int set_mavlink_interval_limit(struct mavlink_subscriptions *subs, int mavlink_msg_id, int min_interval); - - - -int -set_hil_on_off(bool hil_enabled) -{ - int ret = OK; - - /* Enable HIL */ - if (hil_enabled && !mavlink_hil_enabled) { - - /* Advertise topics */ - pub_hil_attitude = orb_advertise(ORB_ID(vehicle_attitude), &hil_attitude); - pub_hil_global_pos = orb_advertise(ORB_ID(vehicle_global_position), &hil_global_pos); - - /* sensore level hil */ - pub_hil_sensors = orb_advertise(ORB_ID(sensor_combined), &hil_sensors); - pub_hil_gps = orb_advertise(ORB_ID(vehicle_gps_position), &hil_gps); - - mavlink_hil_enabled = true; - - /* ramp up some HIL-related subscriptions */ - unsigned hil_rate_interval; - - if (baudrate < 19200) { - /* 10 Hz */ - hil_rate_interval = 100; - - } else if (baudrate < 38400) { - /* 10 Hz */ - hil_rate_interval = 100; - - } else if (baudrate < 115200) { - /* 20 Hz */ - hil_rate_interval = 50; - - } else { - /* 200 Hz */ - hil_rate_interval = 5; - } - - orb_set_interval(mavlink_subs.spa_sub, hil_rate_interval); - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, hil_rate_interval); - } - - if (!hil_enabled && mavlink_hil_enabled) { - mavlink_hil_enabled = false; - orb_set_interval(mavlink_subs.spa_sub, 200); - - } else { - ret = ERROR; - } - - return ret; -} - -void -get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_mode) -{ - /* reset MAVLink mode bitfield */ - *mavlink_mode = 0; - - /* set mode flags independent of system state */ - - /* HIL */ - if (v_status.flag_hil_enabled) { - *mavlink_mode |= MAV_MODE_FLAG_HIL_ENABLED; - } - - /* manual input */ - if (v_status.flag_control_manual_enabled) { - *mavlink_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED; - } - - /* attitude or rate control */ - if (v_status.flag_control_attitude_enabled || - v_status.flag_control_rates_enabled) { - *mavlink_mode |= MAV_MODE_FLAG_STABILIZE_ENABLED; - } - - /* vector control */ - if (v_status.flag_control_velocity_enabled || - v_status.flag_control_position_enabled) { - *mavlink_mode |= MAV_MODE_FLAG_GUIDED_ENABLED; - } - - /* autonomous mode */ - if (v_status.state_machine == SYSTEM_STATE_AUTO) { - *mavlink_mode |= MAV_MODE_FLAG_AUTO_ENABLED; - } - - /* set arming state */ - if (armed.armed) { - *mavlink_mode |= MAV_MODE_FLAG_SAFETY_ARMED; - - } else { - *mavlink_mode &= ~MAV_MODE_FLAG_SAFETY_ARMED; - } - - switch (v_status.state_machine) { - case SYSTEM_STATE_PREFLIGHT: - if (v_status.flag_preflight_gyro_calibration || - v_status.flag_preflight_mag_calibration || - v_status.flag_preflight_accel_calibration) { - *mavlink_state = MAV_STATE_CALIBRATING; - - } else { - *mavlink_state = MAV_STATE_UNINIT; - } - - break; - - case SYSTEM_STATE_STANDBY: - *mavlink_state = MAV_STATE_STANDBY; - break; - - case SYSTEM_STATE_GROUND_READY: - *mavlink_state = MAV_STATE_ACTIVE; - break; - - case SYSTEM_STATE_MANUAL: - *mavlink_state = MAV_STATE_ACTIVE; - break; - - case SYSTEM_STATE_STABILIZED: - *mavlink_state = MAV_STATE_ACTIVE; - break; - - case SYSTEM_STATE_AUTO: - *mavlink_state = MAV_STATE_ACTIVE; - break; - - case SYSTEM_STATE_MISSION_ABORT: - *mavlink_state = MAV_STATE_EMERGENCY; - break; - - case SYSTEM_STATE_EMCY_LANDING: - *mavlink_state = MAV_STATE_EMERGENCY; - break; - - case SYSTEM_STATE_EMCY_CUTOFF: - *mavlink_state = MAV_STATE_EMERGENCY; - break; - - case SYSTEM_STATE_GROUND_ERROR: - *mavlink_state = MAV_STATE_EMERGENCY; - break; - - case SYSTEM_STATE_REBOOT: - *mavlink_state = MAV_STATE_POWEROFF; - break; - } - -} - - -int set_mavlink_interval_limit(struct mavlink_subscriptions *subs, int mavlink_msg_id, int min_interval) -{ - int ret = OK; - - switch (mavlink_msg_id) { - case MAVLINK_MSG_ID_SCALED_IMU: - /* sensor sub triggers scaled IMU */ - orb_set_interval(subs->sensor_sub, min_interval); - break; - - case MAVLINK_MSG_ID_HIGHRES_IMU: - /* sensor sub triggers highres IMU */ - orb_set_interval(subs->sensor_sub, min_interval); - break; - - case MAVLINK_MSG_ID_RAW_IMU: - /* sensor sub triggers RAW IMU */ - orb_set_interval(subs->sensor_sub, min_interval); - break; - - case MAVLINK_MSG_ID_ATTITUDE: - /* attitude sub triggers attitude */ - orb_set_interval(subs->att_sub, min_interval); - break; - - case MAVLINK_MSG_ID_SERVO_OUTPUT_RAW: - /* actuator_outputs triggers this message */ - orb_set_interval(subs->act_0_sub, min_interval); - orb_set_interval(subs->act_1_sub, min_interval); - orb_set_interval(subs->act_2_sub, min_interval); - orb_set_interval(subs->act_3_sub, min_interval); - orb_set_interval(subs->actuators_sub, min_interval); - break; - - case MAVLINK_MSG_ID_MANUAL_CONTROL: - /* manual_control_setpoint triggers this message */ - orb_set_interval(subs->man_control_sp_sub, min_interval); - break; - - case MAVLINK_MSG_ID_NAMED_VALUE_FLOAT: - orb_set_interval(subs->debug_key_value, min_interval); - break; - - default: - /* not found */ - ret = ERROR; - break; - } - - return ret; -} - - -/**************************************************************************** - * MAVLink text message logger - ****************************************************************************/ - -static int mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg); - -static const struct file_operations mavlink_fops = { - .ioctl = mavlink_dev_ioctl -}; - -static int -mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg) -{ - static unsigned int total_counter = 0; - - switch (cmd) { - case (int)MAVLINK_IOC_SEND_TEXT_INFO: - case (int)MAVLINK_IOC_SEND_TEXT_CRITICAL: - case (int)MAVLINK_IOC_SEND_TEXT_EMERGENCY: { - const char *txt = (const char *)arg; - struct mavlink_logmessage msg; - strncpy(msg.text, txt, sizeof(msg.text)); - mavlink_logbuffer_write(&lb, &msg); - total_counter++; - return OK; - } - - default: - return ENOTTY; - } -} - -#define MAVLINK_OFFBOARD_CONTROL_FLAG_ARMED 0x10 - -/**************************************************************************** - * Public Functions - ****************************************************************************/ - -int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_config_original, bool *is_usb) -{ - /* process baud rate */ - int speed; - - switch (baud) { - case 0: speed = B0; break; - - case 50: speed = B50; break; - - case 75: speed = B75; break; - - case 110: speed = B110; break; - - case 134: speed = B134; break; - - case 150: speed = B150; break; - - case 200: speed = B200; break; - - case 300: speed = B300; break; - - case 600: speed = B600; break; - - case 1200: speed = B1200; break; - - case 1800: speed = B1800; break; - - case 2400: speed = B2400; break; - - case 4800: speed = B4800; break; - - case 9600: speed = B9600; break; - - case 19200: speed = B19200; break; - - case 38400: speed = B38400; break; - - case 57600: speed = B57600; break; - - case 115200: speed = B115200; break; - - case 230400: speed = B230400; break; - - case 460800: speed = B460800; break; - - case 921600: speed = B921600; break; - - default: - fprintf(stderr, "[mavlink] ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\n\t9600\n19200\n38400\n57600\n115200\n230400\n460800\n921600\n\n", baud); - return -EINVAL; - } - - /* open uart */ - printf("[mavlink] UART is %s, baudrate is %d\n", uart_name, baud); - uart = open(uart_name, O_RDWR | O_NOCTTY); - - /* Try to set baud rate */ - struct termios uart_config; - int termios_state; - *is_usb = false; - - /* make some wild guesses including that USB serial is indicated by either /dev/ttyACM0 or /dev/console */ - if (strcmp(uart_name, "/dev/ttyACM0") != OK && strcmp(uart_name, "/dev/console") != OK) { - /* Back up the original uart configuration to restore it after exit */ - if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) { - fprintf(stderr, "[mavlink] ERROR getting baudrate / termios config for %s: %d\n", uart_name, termios_state); - close(uart); - return -1; - } - - /* Fill the struct for the new configuration */ - tcgetattr(uart, &uart_config); - - /* Clear ONLCR flag (which appends a CR for every LF) */ - uart_config.c_oflag &= ~ONLCR; - - /* Set baud rate */ - if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) { - fprintf(stderr, "[mavlink] ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state); - close(uart); - return -1; - } - - - if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) { - fprintf(stderr, "[mavlink] ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name); - close(uart); - return -1; - } - - } else { - *is_usb = true; - } - - return uart; -} - -void -mavlink_send_uart_bytes(mavlink_channel_t channel, uint8_t *ch, int length) -{ - write(uart, ch, (size_t)(sizeof(uint8_t) * length)); -} - -/* - * Internal function to give access to the channel status for each channel - */ -mavlink_status_t *mavlink_get_channel_status(uint8_t channel) -{ - static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS]; - return &m_mavlink_status[channel]; -} - -/* - * Internal function to give access to the channel buffer for each channel - */ -mavlink_message_t *mavlink_get_channel_buffer(uint8_t channel) -{ - static mavlink_message_t m_mavlink_buffer[MAVLINK_COMM_NUM_BUFFERS]; - return &m_mavlink_buffer[channel]; -} - -void mavlink_update_system(void) -{ - static bool initialized = false; - static param_t param_system_id; - static param_t param_component_id; - static param_t param_system_type; - - if (!initialized) { - param_system_id = param_find("MAV_SYS_ID"); - param_component_id = param_find("MAV_COMP_ID"); - param_system_type = param_find("MAV_TYPE"); - initialized = true; - } - - /* update system and component id */ - int32_t system_id; - param_get(param_system_id, &system_id); - - if (system_id > 0 && system_id < 255) { - mavlink_system.sysid = system_id; - } - - int32_t component_id; - param_get(param_component_id, &component_id); - - if (component_id > 0 && component_id < 255) { - mavlink_system.compid = component_id; - } - - int32_t system_type; - param_get(param_system_type, &system_type); - - if (system_type >= 0 && system_type < MAV_TYPE_ENUM_END) { - mavlink_system.type = system_type; - } -} - -/** - * MAVLink Protocol main function. - */ -int mavlink_thread_main(int argc, char *argv[]) -{ - /* initialize mavlink text message buffering */ - mavlink_logbuffer_init(&lb, 5); - - int ch; - char *device_name = "/dev/ttyS1"; - baudrate = 57600; - - /* work around some stupidity in task_create's argv handling */ - argc -= 2; - argv += 2; - - while ((ch = getopt(argc, argv, "b:d:eo")) != EOF) { - switch (ch) { - case 'b': - baudrate = strtoul(optarg, NULL, 10); - - if (baudrate == 0) - errx(1, "invalid baud rate '%s'", optarg); - - break; - - case 'd': - device_name = optarg; - break; - - case 'e': - mavlink_link_termination_allowed = true; - break; - - case 'o': - mavlink_link_mode = MAVLINK_INTERFACE_MODE_ONBOARD; - break; - - default: - usage(); - } - } - - struct termios uart_config_original; - - bool usb_uart; - - /* print welcome text */ - warnx("MAVLink v1.0 serial interface starting..."); - - /* inform about mode */ - warnx((mavlink_link_mode == MAVLINK_INTERFACE_MODE_ONBOARD) ? "ONBOARD MODE" : "DOWNLINK MODE"); - - /* Flush stdout in case MAVLink is about to take it over */ - fflush(stdout); - - /* default values for arguments */ - uart = mavlink_open_uart(baudrate, device_name, &uart_config_original, &usb_uart); - - if (uart < 0) - err(1, "could not open %s", device_name); - - /* create the device node that's used for sending text log messages, etc. */ - register_driver(MAVLINK_LOG_DEVICE, &mavlink_fops, 0666, NULL); - - /* Initialize system properties */ - mavlink_update_system(); - - /* start the MAVLink receiver */ - receive_thread = receive_start(uart); - - /* start the ORB receiver */ - uorb_receive_thread = uorb_receive_start(); - - /* initialize waypoint manager */ - mavlink_wpm_init(wpm); - - /* all subscriptions are now active, set up initial guess about rate limits */ - if (baudrate >= 230400) { - /* 200 Hz / 5 ms */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 20); - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 20); - /* 50 Hz / 20 ms */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 30); - /* 20 Hz / 50 ms */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 10); - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 50); - /* 10 Hz */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_GPS_RAW_INT, 100); - /* 10 Hz */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 100); - - } else if (baudrate >= 115200) { - /* 20 Hz / 50 ms */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 50); - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 50); - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 50); - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 50); - /* 5 Hz / 200 ms */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 200); - /* 5 Hz / 200 ms */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_GPS_RAW_INT, 200); - /* 2 Hz */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 500); - - } else if (baudrate >= 57600) { - /* 10 Hz / 100 ms */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 300); - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 300); - /* 10 Hz / 100 ms ATTITUDE */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 200); - /* 5 Hz / 200 ms */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 200); - /* 5 Hz / 200 ms */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 500); - /* 2 Hz */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 500); - /* 2 Hz */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_GPS_RAW_INT, 500); - - } else { - /* very low baud rate, limit to 1 Hz / 1000 ms */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 1000); - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 1000); - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 1000); - /* 1 Hz / 1000 ms */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 1000); - /* 0.5 Hz */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 2000); - /* 0.1 Hz */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 10000); - } - - thread_running = true; - - /* arm counter to go off immediately */ - unsigned lowspeed_counter = 10; - - while (!thread_should_exit) { - - /* 1 Hz */ - if (lowspeed_counter == 10) { - mavlink_update_system(); - - /* translate the current system state to mavlink state and mode */ - uint8_t mavlink_state = 0; - uint8_t mavlink_mode = 0; - get_mavlink_mode_and_state(&mavlink_state, &mavlink_mode); - - /* send heartbeat */ - mavlink_msg_heartbeat_send(chan, mavlink_system.type, MAV_AUTOPILOT_PX4, mavlink_mode, v_status.state_machine, mavlink_state); - - /* switch HIL mode if required */ - set_hil_on_off(v_status.flag_hil_enabled); - - /* send status (values already copied in the section above) */ - mavlink_msg_sys_status_send(chan, - v_status.onboard_control_sensors_present, - v_status.onboard_control_sensors_enabled, - v_status.onboard_control_sensors_health, - v_status.load, - v_status.voltage_battery * 1000.0f, - v_status.current_battery * 1000.0f, - v_status.battery_remaining, - v_status.drop_rate_comm, - v_status.errors_comm, - v_status.errors_count1, - v_status.errors_count2, - v_status.errors_count3, - v_status.errors_count4); - lowspeed_counter = 0; - } - - lowspeed_counter++; - - /* sleep quarter the time */ - usleep(25000); - - /* check if waypoint has been reached against the last positions */ - mavlink_waypoint_eventloop(mavlink_missionlib_get_system_timestamp(), &global_pos, &local_pos); - - /* sleep quarter the time */ - usleep(25000); - - /* send parameters at 20 Hz (if queued for sending) */ - mavlink_pm_queued_send(); - - /* sleep quarter the time */ - usleep(25000); - - if (baudrate > 57600) { - mavlink_pm_queued_send(); - } - - /* sleep 10 ms */ - usleep(10000); - - /* send one string at 10 Hz */ - if (!mavlink_logbuffer_is_empty(&lb)) { - struct mavlink_logmessage msg; - int lb_ret = mavlink_logbuffer_read(&lb, &msg); - - if (lb_ret == OK) { - mavlink_missionlib_send_gcs_string(msg.text); - } - } - - /* sleep 15 ms */ - usleep(15000); - } - - /* wait for threads to complete */ - pthread_join(receive_thread, NULL); - pthread_join(uorb_receive_thread, NULL); - - /* Reset the UART flags to original state */ - if (!usb_uart) - tcsetattr(uart, TCSANOW, &uart_config_original); - - thread_running = false; - - exit(0); -} - -static void -usage() -{ - fprintf(stderr, "usage: mavlink start [-d ] [-b ]\n" - " mavlink stop\n" - " mavlink status\n"); - exit(1); -} - -int mavlink_main(int argc, char *argv[]) -{ - - if (argc < 2) { - warnx("missing command"); - usage(); - } - - if (!strcmp(argv[1], "start")) { - - /* this is not an error */ - if (thread_running) - errx(0, "mavlink already running\n"); - - thread_should_exit = false; - mavlink_task = task_spawn("mavlink", - SCHED_DEFAULT, - SCHED_PRIORITY_DEFAULT, - 2048, - mavlink_thread_main, - (const char **)argv); - exit(0); - } - - if (!strcmp(argv[1], "stop")) { - thread_should_exit = true; - - while (thread_running) { - usleep(200000); - printf("."); - } - - warnx("terminated."); - exit(0); - } - - if (!strcmp(argv[1], "status")) { - if (thread_running) { - errx(0, "running"); - - } else { - errx(1, "not running"); - } - } - - warnx("unrecognized command"); - usage(); - /* not getting here */ - return 0; -} - diff --git a/apps/mavlink/mavlink_bridge_header.h b/apps/mavlink/mavlink_bridge_header.h deleted file mode 100644 index 270ec1727..000000000 --- a/apps/mavlink/mavlink_bridge_header.h +++ /dev/null @@ -1,81 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file mavlink_bridge_header - * MAVLink bridge header for UART access. - * - * @author Lorenz Meier - */ - -/* MAVLink adapter header */ -#ifndef MAVLINK_BRIDGE_HEADER_H -#define MAVLINK_BRIDGE_HEADER_H - -#define MAVLINK_USE_CONVENIENCE_FUNCTIONS - -/* use efficient approach, see mavlink_helpers.h */ -#define MAVLINK_SEND_UART_BYTES mavlink_send_uart_bytes - -#define MAVLINK_GET_CHANNEL_BUFFER mavlink_get_channel_buffer -#define MAVLINK_GET_CHANNEL_STATUS mavlink_get_channel_status - -#include "v1.0/mavlink_types.h" -#include - - -/* Struct that stores the communication settings of this system. - you can also define / alter these settings elsewhere, as long - as they're included BEFORE mavlink.h. - So you can set the - - mavlink_system.sysid = 100; // System ID, 1-255 - mavlink_system.compid = 50; // Component/Subsystem ID, 1-255 - - Lines also in your main.c, e.g. by reading these parameter from EEPROM. - */ -extern mavlink_system_t mavlink_system; - -/** - * @brief Send multiple chars (uint8_t) over a comm channel - * - * @param chan MAVLink channel to use, usually MAVLINK_COMM_0 = UART0 - * @param ch Character to send - */ -extern void mavlink_send_uart_bytes(mavlink_channel_t chan, uint8_t *ch, int length); - -mavlink_status_t *mavlink_get_channel_status(uint8_t chan); -mavlink_message_t *mavlink_get_channel_buffer(uint8_t chan); - -#endif /* MAVLINK_BRIDGE_HEADER_H */ diff --git a/apps/mavlink/mavlink_hil.h b/apps/mavlink/mavlink_hil.h deleted file mode 100644 index 8c7a5b514..000000000 --- a/apps/mavlink/mavlink_hil.h +++ /dev/null @@ -1,61 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Lorenz Meier - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file mavlink_hil.h - * Hardware-in-the-loop simulation support. - */ - -#pragma once - -extern bool mavlink_hil_enabled; - -extern struct vehicle_global_position_s hil_global_pos; -extern struct vehicle_attitude_s hil_attitude; -extern struct sensor_combined_s hil_sensors; -extern struct vehicle_gps_position_s hil_gps; -extern orb_advert_t pub_hil_global_pos; -extern orb_advert_t pub_hil_attitude; -extern orb_advert_t pub_hil_sensors; -extern orb_advert_t pub_hil_gps; - -/** - * Enable / disable Hardware in the Loop simulation mode. - * - * @param hil_enabled The new HIL enable/disable state. - * @return OK if the HIL state changed, ERROR if the - * requested change could not be made or was - * redundant. - */ -extern int set_hil_on_off(bool hil_enabled); diff --git a/apps/mavlink/mavlink_log.c b/apps/mavlink/mavlink_log.c deleted file mode 100644 index ed65fb883..000000000 --- a/apps/mavlink/mavlink_log.c +++ /dev/null @@ -1,89 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file mavlink_log.c - * MAVLink text logging. - * - * @author Lorenz Meier - */ - -#include -#include - -#include "mavlink_log.h" - -void mavlink_logbuffer_init(struct mavlink_logbuffer *lb, int size) -{ - lb->size = size; - lb->start = 0; - lb->count = 0; - lb->elems = (struct mavlink_logmessage *)calloc(lb->size, sizeof(struct mavlink_logmessage)); -} - -int mavlink_logbuffer_is_full(struct mavlink_logbuffer *lb) -{ - return lb->count == (int)lb->size; -} - -int mavlink_logbuffer_is_empty(struct mavlink_logbuffer *lb) -{ - return lb->count == 0; -} - -void mavlink_logbuffer_write(struct mavlink_logbuffer *lb, const struct mavlink_logmessage *elem) -{ - int end = (lb->start + lb->count) % lb->size; - memcpy(&(lb->elems[end]), elem, sizeof(struct mavlink_logmessage)); - - if (mavlink_logbuffer_is_full(lb)) { - lb->start = (lb->start + 1) % lb->size; /* full, overwrite */ - - } else { - ++lb->count; - } -} - -int mavlink_logbuffer_read(struct mavlink_logbuffer *lb, struct mavlink_logmessage *elem) -{ - if (!mavlink_logbuffer_is_empty(lb)) { - memcpy(elem, &(lb->elems[lb->start]), sizeof(struct mavlink_logmessage)); - lb->start = (lb->start + 1) % lb->size; - --lb->count; - return 0; - - } else { - return 1; - } -} diff --git a/apps/mavlink/mavlink_log.h b/apps/mavlink/mavlink_log.h deleted file mode 100644 index 233a76cb3..000000000 --- a/apps/mavlink/mavlink_log.h +++ /dev/null @@ -1,120 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file mavlink_log.h - * MAVLink text logging. - * - * @author Lorenz Meier - */ - -#ifndef MAVLINK_LOG -#define MAVLINK_LOG - -/* - * IOCTL interface for sending log messages. - */ -#include - -/* - * The mavlink log device node; must be opened before messages - * can be logged. - */ -#define MAVLINK_LOG_DEVICE "/dev/mavlink" - -#define MAVLINK_IOC_SEND_TEXT_INFO _IOC(0x1100, 1) -#define MAVLINK_IOC_SEND_TEXT_CRITICAL _IOC(0x1100, 2) -#define MAVLINK_IOC_SEND_TEXT_EMERGENCY _IOC(0x1100, 3) - -/** - * Send a mavlink emergency message. - * - * @param _fd A file descriptor returned from open(MAVLINK_LOG_DEVICE, 0); - * @param _text The text to log; - */ -#ifdef __cplusplus -#define mavlink_log_emergency(_fd, _text) ::ioctl(_fd, MAVLINK_IOC_SEND_TEXT_EMERGENCY, (unsigned long)_text); -#else -#define mavlink_log_emergency(_fd, _text) ioctl(_fd, MAVLINK_IOC_SEND_TEXT_EMERGENCY, (unsigned long)_text); -#endif - -/** - * Send a mavlink critical message. - * - * @param _fd A file descriptor returned from open(MAVLINK_LOG_DEVICE, 0); - * @param _text The text to log; - */ -#ifdef __cplusplus -#define mavlink_log_critical(_fd, _text) ::ioctl(_fd, MAVLINK_IOC_SEND_TEXT_CRITICAL, (unsigned long)_text); -#else -#define mavlink_log_critical(_fd, _text) ioctl(_fd, MAVLINK_IOC_SEND_TEXT_CRITICAL, (unsigned long)_text); -#endif - -/** - * Send a mavlink info message. - * - * @param _fd A file descriptor returned from open(MAVLINK_LOG_DEVICE, 0); - * @param _text The text to log; - */ -#ifdef __cplusplus -#define mavlink_log_info(_fd, _text) ::ioctl(_fd, MAVLINK_IOC_SEND_TEXT_INFO, (unsigned long)_text); -#else -#define mavlink_log_info(_fd, _text) ioctl(_fd, MAVLINK_IOC_SEND_TEXT_INFO, (unsigned long)_text); -#endif - -struct mavlink_logmessage { - char text[51]; - unsigned char severity; -}; - -struct mavlink_logbuffer { - unsigned int start; - // unsigned int end; - unsigned int size; - int count; - struct mavlink_logmessage *elems; -}; - -void mavlink_logbuffer_init(struct mavlink_logbuffer *lb, int size); - -int mavlink_logbuffer_is_full(struct mavlink_logbuffer *lb); - -int mavlink_logbuffer_is_empty(struct mavlink_logbuffer *lb); - -void mavlink_logbuffer_write(struct mavlink_logbuffer *lb, const struct mavlink_logmessage *elem); - -int mavlink_logbuffer_read(struct mavlink_logbuffer *lb, struct mavlink_logmessage *elem); - -#endif - diff --git a/apps/mavlink/mavlink_parameters.c b/apps/mavlink/mavlink_parameters.c deleted file mode 100644 index 819f3441b..000000000 --- a/apps/mavlink/mavlink_parameters.c +++ /dev/null @@ -1,231 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file mavlink_parameters.c - * MAVLink parameter protocol implementation (BSD-relicensed). - * - * @author Lorenz Meier - */ - -#include "mavlink_bridge_header.h" -#include -#include "mavlink_parameters.h" -#include -#include "math.h" /* isinf / isnan checks */ -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -extern mavlink_system_t mavlink_system; - -extern int mavlink_missionlib_send_message(mavlink_message_t *msg); -extern int mavlink_missionlib_send_gcs_string(const char *string); - -/** - * If the queue index is not at 0, the queue sending - * logic will send parameters from the current index - * to len - 1, the end of the param list. - */ -static unsigned int mavlink_param_queue_index = 0; - -/** - * Callback for param interface. - */ -void mavlink_pm_callback(void *arg, param_t param); - -void mavlink_pm_callback(void *arg, param_t param) -{ - mavlink_pm_send_param(param); - usleep(*(unsigned int *)arg); -} - -void mavlink_pm_send_all_params(unsigned int delay) -{ - unsigned int dbuf = delay; - param_foreach(&mavlink_pm_callback, &dbuf, false); -} - -int mavlink_pm_queued_send() -{ - if (mavlink_param_queue_index < param_count()) { - mavlink_pm_send_param(param_for_index(mavlink_param_queue_index)); - mavlink_param_queue_index++; - return 0; - - } else { - return 1; - } -} - -void mavlink_pm_start_queued_send() -{ - mavlink_param_queue_index = 0; -} - -int mavlink_pm_send_param_for_index(uint16_t index) -{ - return mavlink_pm_send_param(param_for_index(index)); -} - -int mavlink_pm_send_param_for_name(const char *name) -{ - return mavlink_pm_send_param(param_find(name)); -} - -int mavlink_pm_send_param(param_t param) -{ - if (param == PARAM_INVALID) return 1; - - /* buffers for param transmission */ - static char name_buf[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN]; - float val_buf; - static mavlink_message_t tx_msg; - - /* query parameter type */ - param_type_t type = param_type(param); - /* copy parameter name */ - strncpy((char *)name_buf, param_name(param), MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN); - - /* - * Map onboard parameter type to MAVLink type, - * endianess matches (both little endian) - */ - uint8_t mavlink_type; - - if (type == PARAM_TYPE_INT32) { - mavlink_type = MAVLINK_TYPE_INT32_T; - - } else if (type == PARAM_TYPE_FLOAT) { - mavlink_type = MAVLINK_TYPE_FLOAT; - - } else { - mavlink_type = MAVLINK_TYPE_FLOAT; - } - - /* - * get param value, since MAVLink encodes float and int params in the same - * space during transmission, copy param onto float val_buf - */ - - int ret; - - if ((ret = param_get(param, &val_buf)) != OK) { - return ret; - } - - mavlink_msg_param_value_pack_chan(mavlink_system.sysid, - mavlink_system.compid, - MAVLINK_COMM_0, - &tx_msg, - name_buf, - val_buf, - mavlink_type, - param_count(), - param_get_index(param)); - ret = mavlink_missionlib_send_message(&tx_msg); - return ret; -} - -void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t *msg) -{ - switch (msg->msgid) { - case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: { - /* Start sending parameters */ - mavlink_pm_start_queued_send(); - mavlink_missionlib_send_gcs_string("[mavlink pm] sending list"); - } break; - - case MAVLINK_MSG_ID_PARAM_SET: { - - /* Handle parameter setting */ - - if (msg->msgid == MAVLINK_MSG_ID_PARAM_SET) { - mavlink_param_set_t mavlink_param_set; - mavlink_msg_param_set_decode(msg, &mavlink_param_set); - - if (mavlink_param_set.target_system == mavlink_system.sysid && ((mavlink_param_set.target_component == mavlink_system.compid) || (mavlink_param_set.target_component == MAV_COMP_ID_ALL))) { - /* local name buffer to enforce null-terminated string */ - char name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN + 1]; - strncpy(name, mavlink_param_set.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN); - /* enforce null termination */ - name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN] = '\0'; - /* attempt to find parameter, set and send it */ - param_t param = param_find(name); - - if (param == PARAM_INVALID) { - char buf[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN]; - sprintf(buf, "[mavlink pm] unknown: %s", name); - mavlink_missionlib_send_gcs_string(buf); - - } else { - /* set and send parameter */ - param_set(param, &(mavlink_param_set.param_value)); - mavlink_pm_send_param(param); - } - } - } - } break; - - case MAVLINK_MSG_ID_PARAM_REQUEST_READ: { - mavlink_param_request_read_t mavlink_param_request_read; - mavlink_msg_param_request_read_decode(msg, &mavlink_param_request_read); - - if (mavlink_param_request_read.target_system == mavlink_system.sysid && ((mavlink_param_request_read.target_component == mavlink_system.compid) || (mavlink_param_request_read.target_component == MAV_COMP_ID_ALL))) { - /* when no index is given, loop through string ids and compare them */ - if (mavlink_param_request_read.param_index == -1) { - /* local name buffer to enforce null-terminated string */ - char name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN + 1]; - strncpy(name, mavlink_param_request_read.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN); - /* enforce null termination */ - name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN] = '\0'; - /* attempt to find parameter and send it */ - mavlink_pm_send_param_for_name(name); - - } else { - /* when index is >= 0, send this parameter again */ - mavlink_pm_send_param_for_index(mavlink_param_request_read.param_index); - } - } - - } break; - } -} diff --git a/apps/mavlink/mavlink_parameters.h b/apps/mavlink/mavlink_parameters.h deleted file mode 100644 index b1e38bcc8..000000000 --- a/apps/mavlink/mavlink_parameters.h +++ /dev/null @@ -1,104 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file mavlink_parameters.h - * MAVLink parameter protocol definitions (BSD-relicensed). - * - * @author Lorenz Meier - */ - -/* This assumes you have the mavlink headers on your include path - or in the same folder as this source file */ - - -#include -#include -#include - -/** - * Handle parameter related messages. - */ -void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t *msg); - -/** - * Send all parameters at once. - * - * This function blocks until all parameters have been sent. - * it delays each parameter by the passed amount of microseconds. - * - * @param delay The delay in us between sending all parameters. - */ -void mavlink_pm_send_all_params(unsigned int delay); - -/** - * Send one parameter. - * - * @param param The parameter id to send. - * @return zero on success, nonzero on failure. - */ -int mavlink_pm_send_param(param_t param); - -/** - * Send one parameter identified by index. - * - * @param index The index of the parameter to send. - * @return zero on success, nonzero else. - */ -int mavlink_pm_send_param_for_index(uint16_t index); - -/** - * Send one parameter identified by name. - * - * @param name The index of the parameter to send. - * @return zero on success, nonzero else. - */ -int mavlink_pm_send_param_for_name(const char *name); - -/** - * Send a queue of parameters, one parameter per function call. - * - * @return zero on success, nonzero on failure - */ -int mavlink_pm_queued_send(void); - -/** - * Start sending the parameter queue. - * - * This function will not directly send parameters, but instead - * activate the sending of one parameter on each call of - * mavlink_pm_queued_send(). - * @see mavlink_pm_queued_send() - */ -void mavlink_pm_start_queued_send(void); diff --git a/apps/mavlink/mavlink_receiver.c b/apps/mavlink/mavlink_receiver.c deleted file mode 100644 index 22c2fcdad..000000000 --- a/apps/mavlink/mavlink_receiver.c +++ /dev/null @@ -1,718 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file mavlink_receiver.c - * MAVLink protocol message receive and dispatch - * - * @author Lorenz Meier - */ - -/* XXX trim includes */ -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include "mavlink_bridge_header.h" -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include - -#include "waypoints.h" -#include "mavlink_log.h" -#include "orb_topics.h" -#include "missionlib.h" -#include "mavlink_hil.h" -#include "mavlink_parameters.h" -#include "util.h" - -/* XXX should be in a header somewhere */ -pthread_t receive_start(int uart); - -static void handle_message(mavlink_message_t *msg); -static void *receive_thread(void *arg); - -static mavlink_status_t status; -static struct vehicle_vicon_position_s vicon_position; -static struct vehicle_command_s vcmd; -static struct offboard_control_setpoint_s offboard_control_sp; - -struct vehicle_global_position_s hil_global_pos; -struct vehicle_attitude_s hil_attitude; -struct vehicle_gps_position_s hil_gps; -struct sensor_combined_s hil_sensors; -orb_advert_t pub_hil_global_pos = -1; -orb_advert_t pub_hil_attitude = -1; -orb_advert_t pub_hil_gps = -1; -orb_advert_t pub_hil_sensors = -1; - -static orb_advert_t cmd_pub = -1; -static orb_advert_t flow_pub = -1; - -static orb_advert_t offboard_control_sp_pub = -1; -static orb_advert_t vicon_position_pub = -1; - -extern bool gcs_link; - -static void -handle_message(mavlink_message_t *msg) -{ - if (msg->msgid == MAVLINK_MSG_ID_COMMAND_LONG) { - - mavlink_command_long_t cmd_mavlink; - mavlink_msg_command_long_decode(msg, &cmd_mavlink); - - if (cmd_mavlink.target_system == mavlink_system.sysid && ((cmd_mavlink.target_component == mavlink_system.compid) - || (cmd_mavlink.target_component == MAV_COMP_ID_ALL))) { - //check for MAVLINK terminate command - if (cmd_mavlink.command == MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN && ((int)cmd_mavlink.param1) == 3) { - /* This is the link shutdown command, terminate mavlink */ - printf("[mavlink] Terminating .. \n"); - fflush(stdout); - usleep(50000); - - /* terminate other threads and this thread */ - thread_should_exit = true; - - } else { - - /* Copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */ - vcmd.param1 = cmd_mavlink.param1; - vcmd.param2 = cmd_mavlink.param2; - vcmd.param3 = cmd_mavlink.param3; - vcmd.param4 = cmd_mavlink.param4; - vcmd.param5 = cmd_mavlink.param5; - vcmd.param6 = cmd_mavlink.param6; - vcmd.param7 = cmd_mavlink.param7; - vcmd.command = cmd_mavlink.command; - vcmd.target_system = cmd_mavlink.target_system; - vcmd.target_component = cmd_mavlink.target_component; - vcmd.source_system = msg->sysid; - vcmd.source_component = msg->compid; - vcmd.confirmation = cmd_mavlink.confirmation; - - /* check if topic is advertised */ - if (cmd_pub <= 0) { - cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd); - } - - /* publish */ - orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd); - } - } - } - - if (msg->msgid == MAVLINK_MSG_ID_OPTICAL_FLOW) { - mavlink_optical_flow_t flow; - mavlink_msg_optical_flow_decode(msg, &flow); - - struct optical_flow_s f; - - f.timestamp = flow.time_usec; - f.flow_raw_x = flow.flow_x; - f.flow_raw_y = flow.flow_y; - f.flow_comp_x_m = flow.flow_comp_m_x; - f.flow_comp_y_m = flow.flow_comp_m_y; - f.ground_distance_m = flow.ground_distance; - f.quality = flow.quality; - f.sensor_id = flow.sensor_id; - - /* check if topic is advertised */ - if (flow_pub <= 0) { - flow_pub = orb_advertise(ORB_ID(optical_flow), &f); - - } else { - /* publish */ - orb_publish(ORB_ID(optical_flow), flow_pub, &f); - } - } - - if (msg->msgid == MAVLINK_MSG_ID_SET_MODE) { - /* Set mode on request */ - mavlink_set_mode_t new_mode; - mavlink_msg_set_mode_decode(msg, &new_mode); - - /* Copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */ - vcmd.param1 = new_mode.base_mode; - vcmd.param2 = new_mode.custom_mode; - vcmd.param3 = 0; - vcmd.param4 = 0; - vcmd.param5 = 0; - vcmd.param6 = 0; - vcmd.param7 = 0; - vcmd.command = MAV_CMD_DO_SET_MODE; - vcmd.target_system = new_mode.target_system; - vcmd.target_component = MAV_COMP_ID_ALL; - vcmd.source_system = msg->sysid; - vcmd.source_component = msg->compid; - vcmd.confirmation = 1; - - /* check if topic is advertised */ - if (cmd_pub <= 0) { - cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd); - - } else { - /* create command */ - orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd); - } - } - - /* Handle Vicon position estimates */ - if (msg->msgid == MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE) { - mavlink_vicon_position_estimate_t pos; - mavlink_msg_vicon_position_estimate_decode(msg, &pos); - - vicon_position.timestamp = hrt_absolute_time(); - - vicon_position.x = pos.x; - vicon_position.y = pos.y; - vicon_position.z = pos.z; - - vicon_position.roll = pos.roll; - vicon_position.pitch = pos.pitch; - vicon_position.yaw = pos.yaw; - - if (vicon_position_pub <= 0) { - vicon_position_pub = orb_advertise(ORB_ID(vehicle_vicon_position), &vicon_position); - - } else { - orb_publish(ORB_ID(vehicle_vicon_position), vicon_position_pub, &vicon_position); - } - } - - /* Handle quadrotor motor setpoints */ - - if (msg->msgid == MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST) { - mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t quad_motors_setpoint; - mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_decode(msg, &quad_motors_setpoint); - - if (mavlink_system.sysid < 4) { - - /* switch to a receiving link mode */ - gcs_link = false; - - /* - * rate control mode - defined by MAVLink - */ - - uint8_t ml_mode = 0; - bool ml_armed = false; - - switch (quad_motors_setpoint.mode) { - case 0: - ml_armed = false; - break; - - case 1: - ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_RATES; - ml_armed = true; - - break; - - case 2: - ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE; - ml_armed = true; - - break; - - case 3: - ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY; - break; - - case 4: - ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_POSITION; - break; - } - - offboard_control_sp.p1 = (float)quad_motors_setpoint.roll[mavlink_system.sysid - 1] / (float)INT16_MAX; - offboard_control_sp.p2 = (float)quad_motors_setpoint.pitch[mavlink_system.sysid - 1] / (float)INT16_MAX; - offboard_control_sp.p3 = (float)quad_motors_setpoint.yaw[mavlink_system.sysid - 1] / (float)INT16_MAX; - offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid - 1] / (float)UINT16_MAX; - - if (quad_motors_setpoint.thrust[mavlink_system.sysid - 1] == 0) { - ml_armed = false; - } - - offboard_control_sp.armed = ml_armed; - offboard_control_sp.mode = ml_mode; - - offboard_control_sp.timestamp = hrt_absolute_time(); - - /* check if topic has to be advertised */ - if (offboard_control_sp_pub <= 0) { - offboard_control_sp_pub = orb_advertise(ORB_ID(offboard_control_setpoint), &offboard_control_sp); - - } else { - /* Publish */ - orb_publish(ORB_ID(offboard_control_setpoint), offboard_control_sp_pub, &offboard_control_sp); - } - } - } - - /* - * Only decode hil messages in HIL mode. - * - * The HIL mode is enabled by the HIL bit flag - * in the system mode. Either send a set mode - * COMMAND_LONG message or a SET_MODE message - */ - - if (mavlink_hil_enabled) { - - uint64_t timestamp = hrt_absolute_time(); - - /* TODO, set ground_press/ temp during calib */ - static const float ground_press = 1013.25f; // mbar - static const float ground_tempC = 21.0f; - static const float ground_alt = 0.0f; - static const float T0 = 273.15; - static const float R = 287.05f; - static const float g = 9.806f; - - if (msg->msgid == MAVLINK_MSG_ID_RAW_IMU) { - - mavlink_raw_imu_t imu; - mavlink_msg_raw_imu_decode(msg, &imu); - - /* packet counter */ - static uint16_t hil_counter = 0; - static uint16_t hil_frames = 0; - static uint64_t old_timestamp = 0; - - /* sensors general */ - hil_sensors.timestamp = imu.time_usec; - - /* hil gyro */ - static const float mrad2rad = 1.0e-3f; - hil_sensors.gyro_counter = hil_counter; - hil_sensors.gyro_raw[0] = imu.xgyro; - hil_sensors.gyro_raw[1] = imu.ygyro; - hil_sensors.gyro_raw[2] = imu.zgyro; - hil_sensors.gyro_rad_s[0] = imu.xgyro * mrad2rad; - hil_sensors.gyro_rad_s[1] = imu.ygyro * mrad2rad; - hil_sensors.gyro_rad_s[2] = imu.zgyro * mrad2rad; - - /* accelerometer */ - hil_sensors.accelerometer_counter = hil_counter; - static const float mg2ms2 = 9.8f / 1000.0f; - hil_sensors.accelerometer_raw[0] = imu.xacc; - hil_sensors.accelerometer_raw[1] = imu.yacc; - hil_sensors.accelerometer_raw[2] = imu.zacc; - hil_sensors.accelerometer_m_s2[0] = mg2ms2 * imu.xacc; - hil_sensors.accelerometer_m_s2[1] = mg2ms2 * imu.yacc; - hil_sensors.accelerometer_m_s2[2] = mg2ms2 * imu.zacc; - hil_sensors.accelerometer_mode = 0; // TODO what is this? - hil_sensors.accelerometer_range_m_s2 = 32.7f; // int16 - - /* adc */ - hil_sensors.adc_voltage_v[0] = 0; - hil_sensors.adc_voltage_v[1] = 0; - hil_sensors.adc_voltage_v[2] = 0; - - /* magnetometer */ - float mga2ga = 1.0e-3f; - hil_sensors.magnetometer_counter = hil_counter; - hil_sensors.magnetometer_raw[0] = imu.xmag; - hil_sensors.magnetometer_raw[1] = imu.ymag; - hil_sensors.magnetometer_raw[2] = imu.zmag; - hil_sensors.magnetometer_ga[0] = imu.xmag * mga2ga; - hil_sensors.magnetometer_ga[1] = imu.ymag * mga2ga; - hil_sensors.magnetometer_ga[2] = imu.zmag * mga2ga; - hil_sensors.magnetometer_range_ga = 32.7f; // int16 - hil_sensors.magnetometer_mode = 0; // TODO what is this - hil_sensors.magnetometer_cuttoff_freq_hz = 50.0f; - - /* publish */ - orb_publish(ORB_ID(sensor_combined), pub_hil_sensors, &hil_sensors); - - // increment counters - hil_counter += 1 ; - hil_frames += 1 ; - - // output - if ((timestamp - old_timestamp) > 10000000) { - printf("receiving hil imu at %d hz\n", hil_frames/10); - old_timestamp = timestamp; - hil_frames = 0; - } - } - - if (msg->msgid == MAVLINK_MSG_ID_HIGHRES_IMU) { - - mavlink_highres_imu_t imu; - mavlink_msg_highres_imu_decode(msg, &imu); - - /* packet counter */ - static uint16_t hil_counter = 0; - static uint16_t hil_frames = 0; - static uint64_t old_timestamp = 0; - - /* sensors general */ - hil_sensors.timestamp = hrt_absolute_time(); - - /* hil gyro */ - static const float mrad2rad = 1.0e-3f; - hil_sensors.gyro_counter = hil_counter; - hil_sensors.gyro_raw[0] = imu.xgyro / mrad2rad; - hil_sensors.gyro_raw[1] = imu.ygyro / mrad2rad; - hil_sensors.gyro_raw[2] = imu.zgyro / mrad2rad; - hil_sensors.gyro_rad_s[0] = imu.xgyro; - hil_sensors.gyro_rad_s[1] = imu.ygyro; - hil_sensors.gyro_rad_s[2] = imu.zgyro; - - /* accelerometer */ - hil_sensors.accelerometer_counter = hil_counter; - static const float mg2ms2 = 9.8f / 1000.0f; - hil_sensors.accelerometer_raw[0] = imu.xacc / mg2ms2; - hil_sensors.accelerometer_raw[1] = imu.yacc / mg2ms2; - hil_sensors.accelerometer_raw[2] = imu.zacc / mg2ms2; - hil_sensors.accelerometer_m_s2[0] = imu.xacc; - hil_sensors.accelerometer_m_s2[1] = imu.yacc; - hil_sensors.accelerometer_m_s2[2] = imu.zacc; - hil_sensors.accelerometer_mode = 0; // TODO what is this? - hil_sensors.accelerometer_range_m_s2 = 32.7f; // int16 - - /* adc */ - hil_sensors.adc_voltage_v[0] = 0; - hil_sensors.adc_voltage_v[1] = 0; - hil_sensors.adc_voltage_v[2] = 0; - - /* magnetometer */ - float mga2ga = 1.0e-3f; - hil_sensors.magnetometer_counter = hil_counter; - hil_sensors.magnetometer_raw[0] = imu.xmag / mga2ga; - hil_sensors.magnetometer_raw[1] = imu.ymag / mga2ga; - hil_sensors.magnetometer_raw[2] = imu.zmag / mga2ga; - hil_sensors.magnetometer_ga[0] = imu.xmag; - hil_sensors.magnetometer_ga[1] = imu.ymag; - hil_sensors.magnetometer_ga[2] = imu.zmag; - hil_sensors.magnetometer_range_ga = 32.7f; // int16 - hil_sensors.magnetometer_mode = 0; // TODO what is this - hil_sensors.magnetometer_cuttoff_freq_hz = 50.0f; - - hil_sensors.baro_pres_mbar = imu.abs_pressure; - - float tempC = imu.temperature; - float tempAvgK = T0 + (tempC + ground_tempC) / 2.0f; - float h = ground_alt + (R / g) * tempAvgK * logf(ground_press / imu.abs_pressure); - - hil_sensors.baro_alt_meter = h; - hil_sensors.baro_temp_celcius = imu.temperature; - - hil_sensors.gyro_counter = hil_counter; - hil_sensors.magnetometer_counter = hil_counter; - hil_sensors.accelerometer_counter = hil_counter; - - /* publish */ - orb_publish(ORB_ID(sensor_combined), pub_hil_sensors, &hil_sensors); - - // increment counters - hil_counter++; - hil_frames++; - - // output - if ((timestamp - old_timestamp) > 10000000) { - printf("receiving hil imu at %d hz\n", hil_frames/10); - old_timestamp = timestamp; - hil_frames = 0; - } - } - - if (msg->msgid == MAVLINK_MSG_ID_GPS_RAW_INT) { - - mavlink_gps_raw_int_t gps; - mavlink_msg_gps_raw_int_decode(msg, &gps); - - /* packet counter */ - static uint16_t hil_counter = 0; - static uint16_t hil_frames = 0; - static uint64_t old_timestamp = 0; - - /* gps */ - hil_gps.timestamp_position = gps.time_usec; - hil_gps.time_gps_usec = gps.time_usec; - hil_gps.lat = gps.lat; - hil_gps.lon = gps.lon; - hil_gps.alt = gps.alt; - hil_gps.eph_m = (float)gps.eph * 1e-2f; // from cm to m - hil_gps.epv_m = (float)gps.epv * 1e-2f; // from cm to m - hil_gps.s_variance_m_s = 5.0f; - hil_gps.p_variance_m = hil_gps.eph_m * hil_gps.eph_m; - hil_gps.vel_m_s = (float)gps.vel * 1e-2f; // from cm/s to m/s - - /* gps.cog is in degrees 0..360 * 100, heading is -PI..+PI */ - float heading_rad = gps.cog * M_DEG_TO_RAD_F * 1e-2f; - /* go back to -PI..PI */ - if (heading_rad > M_PI_F) - heading_rad -= 2.0f * M_PI_F; - hil_gps.vel_n_m_s = (float)gps.vel * 1e-2f * cosf(heading_rad); - hil_gps.vel_e_m_s = (float)gps.vel * 1e-2f * sinf(heading_rad); - hil_gps.vel_d_m_s = 0.0f; - hil_gps.vel_ned_valid = true; - /* COG (course over ground) is speced as -PI..+PI */ - hil_gps.cog_rad = heading_rad; - hil_gps.fix_type = gps.fix_type; - hil_gps.satellites_visible = gps.satellites_visible; - - /* publish */ - orb_publish(ORB_ID(vehicle_gps_position), pub_hil_gps, &hil_gps); - - // increment counters - hil_counter += 1 ; - hil_frames += 1 ; - - // output - if ((timestamp - old_timestamp) > 10000000) { - printf("receiving hil gps at %d hz\n", hil_frames/10); - old_timestamp = timestamp; - hil_frames = 0; - } - } - - if (msg->msgid == MAVLINK_MSG_ID_RAW_PRESSURE) { - - mavlink_raw_pressure_t press; - mavlink_msg_raw_pressure_decode(msg, &press); - - /* packet counter */ - static uint16_t hil_counter = 0; - static uint16_t hil_frames = 0; - static uint64_t old_timestamp = 0; - - /* sensors general */ - hil_sensors.timestamp = press.time_usec; - - /* baro */ - - float tempC = press.temperature / 100.0f; - float tempAvgK = T0 + (tempC + ground_tempC) / 2.0f; - float h = ground_alt + (R / g) * tempAvgK * logf(ground_press / press.press_abs); - hil_sensors.baro_counter = hil_counter; - hil_sensors.baro_pres_mbar = press.press_abs; - hil_sensors.baro_alt_meter = h; - hil_sensors.baro_temp_celcius = tempC; - - /* publish */ - orb_publish(ORB_ID(sensor_combined), pub_hil_sensors, &hil_sensors); - - // increment counters - hil_counter += 1 ; - hil_frames += 1 ; - - // output - if ((timestamp - old_timestamp) > 10000000) { - printf("receiving hil pressure at %d hz\n", hil_frames/10); - old_timestamp = timestamp; - hil_frames = 0; - } - } - - if (msg->msgid == MAVLINK_MSG_ID_HIL_STATE) { - - mavlink_hil_state_t hil_state; - mavlink_msg_hil_state_decode(msg, &hil_state); - - /* Calculate Rotation Matrix */ - //TODO: better clarification which app does this, atm we have a ekf for quadrotors which does this, but there is no such thing if fly in fixed wing mode - - if (mavlink_system.type == MAV_TYPE_FIXED_WING) { - //TODO: assuming low pitch and roll values for now - hil_attitude.R[0][0] = cosf(hil_state.yaw); - hil_attitude.R[0][1] = sinf(hil_state.yaw); - hil_attitude.R[0][2] = 0.0f; - - hil_attitude.R[1][0] = -sinf(hil_state.yaw); - hil_attitude.R[1][1] = cosf(hil_state.yaw); - hil_attitude.R[1][2] = 0.0f; - - hil_attitude.R[2][0] = 0.0f; - hil_attitude.R[2][1] = 0.0f; - hil_attitude.R[2][2] = 1.0f; - - hil_attitude.R_valid = true; - } - - hil_global_pos.lat = hil_state.lat; - hil_global_pos.lon = hil_state.lon; - hil_global_pos.alt = hil_state.alt / 1000.0f; - hil_global_pos.vx = hil_state.vx / 100.0f; - hil_global_pos.vy = hil_state.vy / 100.0f; - hil_global_pos.vz = hil_state.vz / 100.0f; - - - /* set timestamp and notify processes (broadcast) */ - hil_global_pos.timestamp = hrt_absolute_time(); - orb_publish(ORB_ID(vehicle_global_position), pub_hil_global_pos, &hil_global_pos); - - hil_attitude.roll = hil_state.roll; - hil_attitude.pitch = hil_state.pitch; - hil_attitude.yaw = hil_state.yaw; - hil_attitude.rollspeed = hil_state.rollspeed; - hil_attitude.pitchspeed = hil_state.pitchspeed; - hil_attitude.yawspeed = hil_state.yawspeed; - - /* set timestamp and notify processes (broadcast) */ - hil_attitude.timestamp = hrt_absolute_time(); - orb_publish(ORB_ID(vehicle_attitude), pub_hil_attitude, &hil_attitude); - } - - if (msg->msgid == MAVLINK_MSG_ID_MANUAL_CONTROL) { - mavlink_manual_control_t man; - mavlink_msg_manual_control_decode(msg, &man); - - struct rc_channels_s rc_hil; - memset(&rc_hil, 0, sizeof(rc_hil)); - static orb_advert_t rc_pub = 0; - - rc_hil.timestamp = hrt_absolute_time(); - rc_hil.chan_count = 4; - - rc_hil.chan[0].scaled = man.x / 1000.0f; - rc_hil.chan[1].scaled = man.y / 1000.0f; - rc_hil.chan[2].scaled = man.r / 1000.0f; - rc_hil.chan[3].scaled = man.z / 1000.0f; - - struct manual_control_setpoint_s mc; - static orb_advert_t mc_pub = 0; - - int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); - - /* get a copy first, to prevent altering values that are not sent by the mavlink command */ - orb_copy(ORB_ID(manual_control_setpoint), manual_sub, &mc); - - mc.timestamp = rc_hil.timestamp; - mc.roll = man.x / 1000.0f; - mc.pitch = man.y / 1000.0f; - mc.yaw = man.r / 1000.0f; - mc.throttle = man.z / 1000.0f; - - /* fake RC channels with manual control input from simulator */ - - - if (rc_pub == 0) { - rc_pub = orb_advertise(ORB_ID(rc_channels), &rc_hil); - - } else { - orb_publish(ORB_ID(rc_channels), rc_pub, &rc_hil); - } - - if (mc_pub == 0) { - mc_pub = orb_advertise(ORB_ID(manual_control_setpoint), &mc); - - } else { - orb_publish(ORB_ID(manual_control_setpoint), mc_pub, &mc); - } - } - } -} - - -/** - * Receive data from UART. - */ -static void * -receive_thread(void *arg) -{ - int uart_fd = *((int *)arg); - - const int timeout = 1000; - uint8_t buf[32]; - - mavlink_message_t msg; - - prctl(PR_SET_NAME, "mavlink uart rcv", getpid()); - - while (!thread_should_exit) { - - struct pollfd fds[] = { { .fd = uart_fd, .events = POLLIN } }; - - if (poll(fds, 1, timeout) > 0) { - /* non-blocking read. read may return negative values */ - ssize_t nread = read(uart_fd, buf, sizeof(buf)); - - /* if read failed, this loop won't execute */ - for (ssize_t i = 0; i < nread; i++) { - if (mavlink_parse_char(chan, buf[i], &msg, &status)) { - /* handle generic messages and commands */ - handle_message(&msg); - - /* Handle packet with waypoint component */ - mavlink_wpm_message_handler(&msg, &global_pos, &local_pos); - - /* Handle packet with parameter component */ - mavlink_pm_message_handler(MAVLINK_COMM_0, &msg); - } - } - } - } - - return NULL; -} - -pthread_t -receive_start(int uart) -{ - pthread_attr_t receiveloop_attr; - pthread_attr_init(&receiveloop_attr); - - // set to non-blocking read - int flags = fcntl(uart, F_GETFL, 0); - fcntl(uart, F_SETFL, flags | O_NONBLOCK); - - struct sched_param param; - param.sched_priority = SCHED_PRIORITY_MAX - 40; - (void)pthread_attr_setschedparam(&receiveloop_attr, ¶m); - - pthread_attr_setstacksize(&receiveloop_attr, 2048); - - pthread_t thread; - pthread_create(&thread, &receiveloop_attr, receive_thread, &uart); - return thread; -} diff --git a/apps/mavlink/missionlib.c b/apps/mavlink/missionlib.c deleted file mode 100644 index 8064febc4..000000000 --- a/apps/mavlink/missionlib.c +++ /dev/null @@ -1,200 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Lorenz Meier - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file missionlib.h - * MAVLink missionlib components - */ - -// XXX trim includes -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include "mavlink_bridge_header.h" -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include - -#include "waypoints.h" -#include "mavlink_log.h" -#include "orb_topics.h" -#include "missionlib.h" -#include "mavlink_hil.h" -#include "util.h" -#include "waypoints.h" -#include "mavlink_parameters.h" - -static uint8_t missionlib_msg_buf[MAVLINK_MAX_PACKET_LEN]; - -int -mavlink_missionlib_send_message(mavlink_message_t *msg) -{ - uint16_t len = mavlink_msg_to_send_buffer(missionlib_msg_buf, msg); - - mavlink_send_uart_bytes(chan, missionlib_msg_buf, len); - return 0; -} - -int -mavlink_missionlib_send_gcs_string(const char *string) -{ - const int len = MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN; - mavlink_statustext_t statustext; - int i = 0; - - while (i < len - 1) { - statustext.text[i] = string[i]; - - if (string[i] == '\0') - break; - - i++; - } - - if (i > 1) { - /* Enforce null termination */ - statustext.text[i] = '\0'; - mavlink_message_t msg; - - mavlink_msg_statustext_encode(mavlink_system.sysid, mavlink_system.compid, &msg, &statustext); - return mavlink_missionlib_send_message(&msg); - - } else { - return 1; - } -} - -/** - * Get system time since boot in microseconds - * - * @return the system time since boot in microseconds - */ -uint64_t mavlink_missionlib_get_system_timestamp() -{ - return hrt_absolute_time(); -} - -/** - * This callback is executed each time a waypoint changes. - * - * It publishes the vehicle_global_position_setpoint_s or the - * vehicle_local_position_setpoint_s topic, depending on the type of waypoint - */ -void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1, - float param2, float param3, float param4, float param5_lat_x, - float param6_lon_y, float param7_alt_z, uint8_t frame, uint16_t command) -{ - static orb_advert_t global_position_setpoint_pub = -1; - static orb_advert_t local_position_setpoint_pub = -1; - char buf[50] = {0}; - - /* Update controller setpoints */ - if (frame == (int)MAV_FRAME_GLOBAL) { - /* global, absolute waypoint */ - struct vehicle_global_position_setpoint_s sp; - sp.lat = param5_lat_x * 1e7f; - sp.lon = param6_lon_y * 1e7f; - sp.altitude = param7_alt_z; - sp.altitude_is_relative = false; - sp.yaw = (param4 / 180.0f) * M_PI_F - M_PI_F; - - /* Initialize publication if necessary */ - if (global_position_setpoint_pub < 0) { - global_position_setpoint_pub = orb_advertise(ORB_ID(vehicle_global_position_setpoint), &sp); - - } else { - orb_publish(ORB_ID(vehicle_global_position_setpoint), global_position_setpoint_pub, &sp); - } - - sprintf(buf, "[mp] WP#%i lat: % 3.6f/lon % 3.6f/alt % 4.6f/hdg %3.4f\n", (int)index, (double)param5_lat_x, (double)param6_lon_y, (double)param7_alt_z, (double)param4); - - } else if (frame == (int)MAV_FRAME_GLOBAL_RELATIVE_ALT) { - /* global, relative alt (in relation to HOME) waypoint */ - struct vehicle_global_position_setpoint_s sp; - sp.lat = param5_lat_x * 1e7f; - sp.lon = param6_lon_y * 1e7f; - sp.altitude = param7_alt_z; - sp.altitude_is_relative = true; - sp.yaw = (param4 / 180.0f) * M_PI_F - M_PI_F; - - /* Initialize publication if necessary */ - if (global_position_setpoint_pub < 0) { - global_position_setpoint_pub = orb_advertise(ORB_ID(vehicle_global_position_setpoint), &sp); - - } else { - orb_publish(ORB_ID(vehicle_global_position_setpoint), global_position_setpoint_pub, &sp); - } - - sprintf(buf, "[mp] WP#%i (lat: %f/lon %f/rel alt %f/hdg %f\n", (int)index, (double)param5_lat_x, (double)param6_lon_y, (double)param7_alt_z, (double)param4); - - } else if (frame == (int)MAV_FRAME_LOCAL_ENU || frame == (int)MAV_FRAME_LOCAL_NED) { - /* local, absolute waypoint */ - struct vehicle_local_position_setpoint_s sp; - sp.x = param5_lat_x; - sp.y = param6_lon_y; - sp.z = param7_alt_z; - sp.yaw = (param4 / 180.0f) * M_PI_F - M_PI_F; - - /* Initialize publication if necessary */ - if (local_position_setpoint_pub < 0) { - local_position_setpoint_pub = orb_advertise(ORB_ID(vehicle_local_position_setpoint), &sp); - - } else { - orb_publish(ORB_ID(vehicle_local_position_setpoint), local_position_setpoint_pub, &sp); - } - - sprintf(buf, "[mp] WP#%i (x: %f/y %f/z %f/hdg %f\n", (int)index, (double)param5_lat_x, (double)param6_lon_y, (double)param7_alt_z, (double)param4); - } - - mavlink_missionlib_send_gcs_string(buf); - printf("%s\n", buf); - //printf("[mavlink mp] new setpoint\n");//: frame: %d, lat: %d, lon: %d, alt: %d, yaw: %d\n", frame, param5_lat_x*1000, param6_lon_y*1000, param7_alt_z*1000, param4*1000); -} diff --git a/apps/mavlink/missionlib.h b/apps/mavlink/missionlib.h deleted file mode 100644 index c2ca735b3..000000000 --- a/apps/mavlink/missionlib.h +++ /dev/null @@ -1,52 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Lorenz Meier - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file missionlib.h - * MAVLink mission helper library - */ - -#pragma once - -#include - -//extern void mavlink_wpm_send_message(mavlink_message_t *msg); -//extern void mavlink_wpm_send_gcs_string(const char *string); -//extern uint64_t mavlink_wpm_get_system_timestamp(void); -extern int mavlink_missionlib_send_message(mavlink_message_t *msg); -extern int mavlink_missionlib_send_gcs_string(const char *string); -extern uint64_t mavlink_missionlib_get_system_timestamp(void); -extern void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1, - float param2, float param3, float param4, float param5_lat_x, - float param6_lon_y, float param7_alt_z, uint8_t frame, uint16_t command); diff --git a/apps/mavlink/orb_listener.c b/apps/mavlink/orb_listener.c deleted file mode 100644 index 5f15facf8..000000000 --- a/apps/mavlink/orb_listener.c +++ /dev/null @@ -1,777 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file orb_listener.c - * Monitors ORB topics and sends update messages as appropriate. - * - * @author Lorenz Meier - */ - -// XXX trim includes -#include -#include -#include -#include -#include -#include -#include "mavlink_bridge_header.h" -#include -#include -#include -#include -#include -#include -#include -#include - -#include "waypoints.h" -#include "mavlink_log.h" -#include "orb_topics.h" -#include "missionlib.h" -#include "mavlink_hil.h" -#include "util.h" - -extern bool gcs_link; - -struct vehicle_global_position_s global_pos; -struct vehicle_local_position_s local_pos; -struct vehicle_status_s v_status; -struct rc_channels_s rc; -struct rc_input_values rc_raw; -struct actuator_armed_s armed; - -struct mavlink_subscriptions mavlink_subs; - -static int status_sub; -static int rc_sub; - -static unsigned int sensors_raw_counter; -static unsigned int attitude_counter; -static unsigned int gps_counter; - -/* - * Last sensor loop time - * some outputs are better timestamped - * with this "global" reference. - */ -static uint64_t last_sensor_timestamp; - -static void *uorb_receive_thread(void *arg); - -struct listener { - void (*callback)(const struct listener *l); - int *subp; - uintptr_t arg; -}; - -static void l_sensor_combined(const struct listener *l); -static void l_vehicle_attitude(const struct listener *l); -static void l_vehicle_gps_position(const struct listener *l); -static void l_vehicle_status(const struct listener *l); -static void l_rc_channels(const struct listener *l); -static void l_input_rc(const struct listener *l); -static void l_global_position(const struct listener *l); -static void l_local_position(const struct listener *l); -static void l_global_position_setpoint(const struct listener *l); -static void l_local_position_setpoint(const struct listener *l); -static void l_attitude_setpoint(const struct listener *l); -static void l_actuator_outputs(const struct listener *l); -static void l_actuator_armed(const struct listener *l); -static void l_manual_control_setpoint(const struct listener *l); -static void l_vehicle_attitude_controls(const struct listener *l); -static void l_debug_key_value(const struct listener *l); -static void l_optical_flow(const struct listener *l); -static void l_vehicle_rates_setpoint(const struct listener *l); -static void l_home(const struct listener *l); - -static const struct listener listeners[] = { - {l_sensor_combined, &mavlink_subs.sensor_sub, 0}, - {l_vehicle_attitude, &mavlink_subs.att_sub, 0}, - {l_vehicle_gps_position, &mavlink_subs.gps_sub, 0}, - {l_vehicle_status, &status_sub, 0}, - {l_rc_channels, &rc_sub, 0}, - {l_input_rc, &mavlink_subs.input_rc_sub, 0}, - {l_global_position, &mavlink_subs.global_pos_sub, 0}, - {l_local_position, &mavlink_subs.local_pos_sub, 0}, - {l_global_position_setpoint, &mavlink_subs.spg_sub, 0}, - {l_local_position_setpoint, &mavlink_subs.spl_sub, 0}, - {l_attitude_setpoint, &mavlink_subs.spa_sub, 0}, - {l_actuator_outputs, &mavlink_subs.act_0_sub, 0}, - {l_actuator_outputs, &mavlink_subs.act_1_sub, 1}, - {l_actuator_outputs, &mavlink_subs.act_2_sub, 2}, - {l_actuator_outputs, &mavlink_subs.act_3_sub, 3}, - {l_actuator_armed, &mavlink_subs.armed_sub, 0}, - {l_manual_control_setpoint, &mavlink_subs.man_control_sp_sub, 0}, - {l_vehicle_attitude_controls, &mavlink_subs.actuators_sub, 0}, - {l_debug_key_value, &mavlink_subs.debug_key_value, 0}, - {l_optical_flow, &mavlink_subs.optical_flow, 0}, - {l_vehicle_rates_setpoint, &mavlink_subs.rates_setpoint_sub, 0}, - {l_home, &mavlink_subs.home_sub, 0}, -}; - -static const unsigned n_listeners = sizeof(listeners) / sizeof(listeners[0]); - -void -l_sensor_combined(const struct listener *l) -{ - struct sensor_combined_s raw; - - /* copy sensors raw data into local buffer */ - orb_copy(ORB_ID(sensor_combined), mavlink_subs.sensor_sub, &raw); - - last_sensor_timestamp = raw.timestamp; - - /* mark individual fields as changed */ - uint16_t fields_updated = 0; - static unsigned accel_counter = 0; - static unsigned gyro_counter = 0; - static unsigned mag_counter = 0; - static unsigned baro_counter = 0; - - if (accel_counter != raw.accelerometer_counter) { - /* mark first three dimensions as changed */ - fields_updated |= (1 << 0) | (1 << 1) | (1 << 2); - accel_counter = raw.accelerometer_counter; - } - - if (gyro_counter != raw.gyro_counter) { - /* mark second group dimensions as changed */ - fields_updated |= (1 << 3) | (1 << 4) | (1 << 5); - gyro_counter = raw.gyro_counter; - } - - if (mag_counter != raw.magnetometer_counter) { - /* mark third group dimensions as changed */ - fields_updated |= (1 << 6) | (1 << 7) | (1 << 8); - mag_counter = raw.magnetometer_counter; - } - - if (baro_counter != raw.baro_counter) { - /* mark last group dimensions as changed */ - fields_updated |= (1 << 9) | (1 << 11) | (1 << 12); - baro_counter = raw.baro_counter; - } - - if (gcs_link) - mavlink_msg_highres_imu_send(MAVLINK_COMM_0, last_sensor_timestamp, - raw.accelerometer_m_s2[0], raw.accelerometer_m_s2[1], - raw.accelerometer_m_s2[2], raw.gyro_rad_s[0], - raw.gyro_rad_s[1], raw.gyro_rad_s[2], - raw.magnetometer_ga[0], - raw.magnetometer_ga[1], raw.magnetometer_ga[2], - raw.baro_pres_mbar, 0 /* no diff pressure yet */, - raw.baro_alt_meter, raw.baro_temp_celcius, - fields_updated); - - sensors_raw_counter++; -} - -void -l_vehicle_attitude(const struct listener *l) -{ - struct vehicle_attitude_s att; - - - /* copy attitude data into local buffer */ - orb_copy(ORB_ID(vehicle_attitude), mavlink_subs.att_sub, &att); - - if (gcs_link) - /* send sensor values */ - mavlink_msg_attitude_send(MAVLINK_COMM_0, - last_sensor_timestamp / 1000, - att.roll, - att.pitch, - att.yaw, - att.rollspeed, - att.pitchspeed, - att.yawspeed); - - attitude_counter++; -} - -void -l_vehicle_gps_position(const struct listener *l) -{ - struct vehicle_gps_position_s gps; - - /* copy gps data into local buffer */ - orb_copy(ORB_ID(vehicle_gps_position), mavlink_subs.gps_sub, &gps); - - /* GPS COG is 0..2PI in degrees * 1e2 */ - float cog_deg = gps.cog_rad; - if (cog_deg > M_PI_F) - cog_deg -= 2.0f * M_PI_F; - cog_deg *= M_RAD_TO_DEG_F; - - - /* GPS position */ - mavlink_msg_gps_raw_int_send(MAVLINK_COMM_0, - gps.timestamp_position, - gps.fix_type, - gps.lat, - gps.lon, - gps.alt, - gps.eph_m * 1e2f, // from m to cm - gps.epv_m * 1e2f, // from m to cm - gps.vel_m_s * 1e2f, // from m/s to cm/s - cog_deg * 1e2f, // from rad to deg * 100 - gps.satellites_visible); - - /* update SAT info every 10 seconds */ - if (gps.satellite_info_available && (gps_counter % 50 == 0)) { - mavlink_msg_gps_status_send(MAVLINK_COMM_0, - gps.satellites_visible, - gps.satellite_prn, - gps.satellite_used, - gps.satellite_elevation, - gps.satellite_azimuth, - gps.satellite_snr); - } - - gps_counter++; -} - -void -l_vehicle_status(const struct listener *l) -{ - /* immediately communicate state changes back to user */ - orb_copy(ORB_ID(vehicle_status), status_sub, &v_status); - orb_copy(ORB_ID(actuator_armed), mavlink_subs.armed_sub, &armed); - - /* enable or disable HIL */ - set_hil_on_off(v_status.flag_hil_enabled); - - /* translate the current syste state to mavlink state and mode */ - uint8_t mavlink_state = 0; - uint8_t mavlink_mode = 0; - get_mavlink_mode_and_state(&mavlink_state, &mavlink_mode); - - /* send heartbeat */ - mavlink_msg_heartbeat_send(chan, - mavlink_system.type, - MAV_AUTOPILOT_PX4, - mavlink_mode, - v_status.state_machine, - mavlink_state); -} - -void -l_rc_channels(const struct listener *l) -{ - /* copy rc channels into local buffer */ - orb_copy(ORB_ID(rc_channels), rc_sub, &rc); - // XXX Add RC channels scaled message here -} - -void -l_input_rc(const struct listener *l) -{ - /* copy rc channels into local buffer */ - orb_copy(ORB_ID(input_rc), mavlink_subs.input_rc_sub, &rc_raw); - - if (gcs_link) - /* Channels are sent in MAVLink main loop at a fixed interval */ - mavlink_msg_rc_channels_raw_send(chan, - rc_raw.timestamp / 1000, - 0, - (rc_raw.channel_count > 0) ? rc_raw.values[0] : UINT16_MAX, - (rc_raw.channel_count > 1) ? rc_raw.values[1] : UINT16_MAX, - (rc_raw.channel_count > 2) ? rc_raw.values[2] : UINT16_MAX, - (rc_raw.channel_count > 3) ? rc_raw.values[3] : UINT16_MAX, - (rc_raw.channel_count > 4) ? rc_raw.values[4] : UINT16_MAX, - (rc_raw.channel_count > 5) ? rc_raw.values[5] : UINT16_MAX, - (rc_raw.channel_count > 6) ? rc_raw.values[6] : UINT16_MAX, - (rc_raw.channel_count > 7) ? rc_raw.values[7] : UINT16_MAX, - 255); -} - -void -l_global_position(const struct listener *l) -{ - /* copy global position data into local buffer */ - orb_copy(ORB_ID(vehicle_global_position), mavlink_subs.global_pos_sub, &global_pos); - - uint64_t timestamp = global_pos.timestamp; - int32_t lat = global_pos.lat; - int32_t lon = global_pos.lon; - int32_t alt = (int32_t)(global_pos.alt * 1000); - int32_t relative_alt = (int32_t)(global_pos.relative_alt * 1000.0f); - int16_t vx = (int16_t)(global_pos.vx * 100.0f); - int16_t vy = (int16_t)(global_pos.vy * 100.0f); - int16_t vz = (int16_t)(global_pos.vz * 100.0f); - - /* heading in degrees * 10, from 0 to 36.000) */ - uint16_t hdg = (global_pos.hdg / M_PI_F) * (180.0f * 10.0f) + (180.0f * 10.0f); - - mavlink_msg_global_position_int_send(MAVLINK_COMM_0, - timestamp / 1000, - lat, - lon, - alt, - relative_alt, - vx, - vy, - vz, - hdg); -} - -void -l_local_position(const struct listener *l) -{ - /* copy local position data into local buffer */ - orb_copy(ORB_ID(vehicle_local_position), mavlink_subs.local_pos_sub, &local_pos); - - if (gcs_link) - mavlink_msg_local_position_ned_send(MAVLINK_COMM_0, - local_pos.timestamp / 1000, - local_pos.x, - local_pos.y, - local_pos.z, - local_pos.vx, - local_pos.vy, - local_pos.vz); -} - -void -l_global_position_setpoint(const struct listener *l) -{ - struct vehicle_global_position_setpoint_s global_sp; - - /* copy local position data into local buffer */ - orb_copy(ORB_ID(vehicle_global_position_setpoint), mavlink_subs.spg_sub, &global_sp); - - uint8_t coordinate_frame = MAV_FRAME_GLOBAL; - - if (global_sp.altitude_is_relative) - coordinate_frame = MAV_FRAME_GLOBAL_RELATIVE_ALT; - - if (gcs_link) - mavlink_msg_global_position_setpoint_int_send(MAVLINK_COMM_0, - coordinate_frame, - global_sp.lat, - global_sp.lon, - global_sp.altitude, - global_sp.yaw); -} - -void -l_local_position_setpoint(const struct listener *l) -{ - struct vehicle_local_position_setpoint_s local_sp; - - /* copy local position data into local buffer */ - orb_copy(ORB_ID(vehicle_local_position_setpoint), mavlink_subs.spl_sub, &local_sp); - - if (gcs_link) - mavlink_msg_local_position_setpoint_send(MAVLINK_COMM_0, - MAV_FRAME_LOCAL_NED, - local_sp.x, - local_sp.y, - local_sp.z, - local_sp.yaw); -} - -void -l_attitude_setpoint(const struct listener *l) -{ - struct vehicle_attitude_setpoint_s att_sp; - - /* copy local position data into local buffer */ - orb_copy(ORB_ID(vehicle_attitude_setpoint), mavlink_subs.spa_sub, &att_sp); - - if (gcs_link) - mavlink_msg_roll_pitch_yaw_thrust_setpoint_send(MAVLINK_COMM_0, - att_sp.timestamp / 1000, - att_sp.roll_body, - att_sp.pitch_body, - att_sp.yaw_body, - att_sp.thrust); -} - -void -l_vehicle_rates_setpoint(const struct listener *l) -{ - struct vehicle_rates_setpoint_s rates_sp; - - /* copy local position data into local buffer */ - orb_copy(ORB_ID(vehicle_rates_setpoint), mavlink_subs.rates_setpoint_sub, &rates_sp); - - if (gcs_link) - mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_send(MAVLINK_COMM_0, - rates_sp.timestamp / 1000, - rates_sp.roll, - rates_sp.pitch, - rates_sp.yaw, - rates_sp.thrust); -} - -void -l_actuator_outputs(const struct listener *l) -{ - struct actuator_outputs_s act_outputs; - - orb_id_t ids[] = { - ORB_ID(actuator_outputs_0), - ORB_ID(actuator_outputs_1), - ORB_ID(actuator_outputs_2), - ORB_ID(actuator_outputs_3) - }; - - /* copy actuator data into local buffer */ - orb_copy(ids[l->arg], *l->subp, &act_outputs); - - if (gcs_link) { - mavlink_msg_servo_output_raw_send(MAVLINK_COMM_0, last_sensor_timestamp / 1000, - l->arg /* port number */, - act_outputs.output[0], - act_outputs.output[1], - act_outputs.output[2], - act_outputs.output[3], - act_outputs.output[4], - act_outputs.output[5], - act_outputs.output[6], - act_outputs.output[7]); - - /* only send in HIL mode */ - if (mavlink_hil_enabled && armed.armed) { - - /* translate the current syste state to mavlink state and mode */ - uint8_t mavlink_state = 0; - uint8_t mavlink_mode = 0; - get_mavlink_mode_and_state(&mavlink_state, &mavlink_mode); - - /* HIL message as per MAVLink spec */ - - /* scale / assign outputs depending on system type */ - - if (mavlink_system.type == MAV_TYPE_QUADROTOR) { - mavlink_msg_hil_controls_send(chan, - hrt_absolute_time(), - ((act_outputs.output[0] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[1] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[2] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[3] - 900.0f) / 600.0f) / 2.0f, - -1, - -1, - -1, - -1, - mavlink_mode, - 0); - - } else if (mavlink_system.type == MAV_TYPE_HEXAROTOR) { - mavlink_msg_hil_controls_send(chan, - hrt_absolute_time(), - ((act_outputs.output[0] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[1] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[2] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[3] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[4] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[5] - 900.0f) / 600.0f) / 2.0f, - -1, - -1, - mavlink_mode, - 0); - - } else if (mavlink_system.type == MAV_TYPE_OCTOROTOR) { - mavlink_msg_hil_controls_send(chan, - hrt_absolute_time(), - ((act_outputs.output[0] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[1] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[2] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[3] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[4] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[5] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[6] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[7] - 900.0f) / 600.0f) / 2.0f, - mavlink_mode, - 0); - - } else { - mavlink_msg_hil_controls_send(chan, - hrt_absolute_time(), - (act_outputs.output[0] - 1500.0f) / 500.0f, - (act_outputs.output[1] - 1500.0f) / 500.0f, - (act_outputs.output[2] - 1500.0f) / 500.0f, - (act_outputs.output[3] - 1000.0f) / 1000.0f, - (act_outputs.output[4] - 1500.0f) / 500.0f, - (act_outputs.output[5] - 1500.0f) / 500.0f, - (act_outputs.output[6] - 1500.0f) / 500.0f, - (act_outputs.output[7] - 1500.0f) / 500.0f, - mavlink_mode, - 0); - } - } - } -} - -void -l_actuator_armed(const struct listener *l) -{ - orb_copy(ORB_ID(actuator_armed), mavlink_subs.armed_sub, &armed); -} - -void -l_manual_control_setpoint(const struct listener *l) -{ - struct manual_control_setpoint_s man_control; - - /* copy manual control data into local buffer */ - orb_copy(ORB_ID(manual_control_setpoint), mavlink_subs.man_control_sp_sub, &man_control); - - if (gcs_link) - mavlink_msg_manual_control_send(MAVLINK_COMM_0, - mavlink_system.sysid, - man_control.roll * 1000, - man_control.pitch * 1000, - man_control.yaw * 1000, - man_control.throttle * 1000, - 0); -} - -void -l_vehicle_attitude_controls(const struct listener *l) -{ - struct actuator_controls_effective_s actuators; - - orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, mavlink_subs.actuators_sub, &actuators); - - if (gcs_link) { - /* send, add spaces so that string buffer is at least 10 chars long */ - mavlink_msg_named_value_float_send(MAVLINK_COMM_0, - last_sensor_timestamp / 1000, - "eff ctrl0 ", - actuators.control_effective[0]); - mavlink_msg_named_value_float_send(MAVLINK_COMM_0, - last_sensor_timestamp / 1000, - "eff ctrl1 ", - actuators.control_effective[1]); - mavlink_msg_named_value_float_send(MAVLINK_COMM_0, - last_sensor_timestamp / 1000, - "eff ctrl2 ", - actuators.control_effective[2]); - mavlink_msg_named_value_float_send(MAVLINK_COMM_0, - last_sensor_timestamp / 1000, - "eff ctrl3 ", - actuators.control_effective[3]); - } -} - -void -l_debug_key_value(const struct listener *l) -{ - struct debug_key_value_s debug; - - orb_copy(ORB_ID(debug_key_value), mavlink_subs.debug_key_value, &debug); - - /* Enforce null termination */ - debug.key[sizeof(debug.key) - 1] = '\0'; - - mavlink_msg_named_value_float_send(MAVLINK_COMM_0, - last_sensor_timestamp / 1000, - debug.key, - debug.value); -} - -void -l_optical_flow(const struct listener *l) -{ - struct optical_flow_s flow; - - orb_copy(ORB_ID(optical_flow), mavlink_subs.optical_flow, &flow); - - mavlink_msg_optical_flow_send(MAVLINK_COMM_0, flow.timestamp, flow.sensor_id, flow.flow_raw_x, flow.flow_raw_y, - flow.flow_comp_x_m, flow.flow_comp_y_m, flow.quality, flow.ground_distance_m); -} - -void -l_home(const struct listener *l) -{ - struct home_position_s home; - - orb_copy(ORB_ID(home_position), mavlink_subs.home_sub, &home); - - mavlink_msg_gps_global_origin_send(MAVLINK_COMM_0, home.lat, home.lon, home.alt); -} - -static void * -uorb_receive_thread(void *arg) -{ - /* Set thread name */ - prctl(PR_SET_NAME, "mavlink orb rcv", getpid()); - - /* - * set up poll to block for new data, - * wait for a maximum of 1000 ms (1 second) - */ - const int timeout = 1000; - - /* - * Initialise listener array. - * - * Might want to invoke each listener once to set initial state. - */ - struct pollfd fds[n_listeners]; - - for (unsigned i = 0; i < n_listeners; i++) { - fds[i].fd = *listeners[i].subp; - fds[i].events = POLLIN; - - /* Invoke callback to set initial state */ - //listeners[i].callback(&listener[i]); - } - - while (!thread_should_exit) { - - int poll_ret = poll(fds, n_listeners, timeout); - - /* handle the poll result */ - if (poll_ret == 0) { - mavlink_missionlib_send_gcs_string("[mavlink] No telemetry data for 1 s"); - - } else if (poll_ret < 0) { - mavlink_missionlib_send_gcs_string("[mavlink] ERROR reading uORB data"); - - } else { - - for (unsigned i = 0; i < n_listeners; i++) { - if (fds[i].revents & POLLIN) - listeners[i].callback(&listeners[i]); - } - } - } - - return NULL; -} - -pthread_t -uorb_receive_start(void) -{ - /* --- SENSORS RAW VALUE --- */ - mavlink_subs.sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); - /* rate limit set externally based on interface speed, set a basic default here */ - orb_set_interval(mavlink_subs.sensor_sub, 200); /* 5Hz updates */ - - /* --- ATTITUDE VALUE --- */ - mavlink_subs.att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); - /* rate limit set externally based on interface speed, set a basic default here */ - orb_set_interval(mavlink_subs.att_sub, 200); /* 5Hz updates */ - - /* --- GPS VALUE --- */ - mavlink_subs.gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position)); - orb_set_interval(mavlink_subs.gps_sub, 200); /* 5Hz updates */ - - /* --- HOME POSITION --- */ - mavlink_subs.home_sub = orb_subscribe(ORB_ID(home_position)); - orb_set_interval(mavlink_subs.home_sub, 1000); /* 1Hz updates */ - - /* --- SYSTEM STATE --- */ - status_sub = orb_subscribe(ORB_ID(vehicle_status)); - orb_set_interval(status_sub, 300); /* max 3.33 Hz updates */ - - /* --- RC CHANNELS VALUE --- */ - rc_sub = orb_subscribe(ORB_ID(rc_channels)); - orb_set_interval(rc_sub, 100); /* 10Hz updates */ - - /* --- RC RAW VALUE --- */ - mavlink_subs.input_rc_sub = orb_subscribe(ORB_ID(input_rc)); - orb_set_interval(mavlink_subs.input_rc_sub, 100); - - /* --- GLOBAL POS VALUE --- */ - mavlink_subs.global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position)); - orb_set_interval(mavlink_subs.global_pos_sub, 100); /* 10 Hz active updates */ - - /* --- LOCAL POS VALUE --- */ - mavlink_subs.local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position)); - orb_set_interval(mavlink_subs.local_pos_sub, 1000); /* 1Hz active updates */ - - /* --- GLOBAL SETPOINT VALUE --- */ - mavlink_subs.spg_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint)); - orb_set_interval(mavlink_subs.spg_sub, 2000); /* 0.5 Hz updates */ - - /* --- LOCAL SETPOINT VALUE --- */ - mavlink_subs.spl_sub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint)); - orb_set_interval(mavlink_subs.spl_sub, 2000); /* 0.5 Hz updates */ - - /* --- ATTITUDE SETPOINT VALUE --- */ - mavlink_subs.spa_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); - orb_set_interval(mavlink_subs.spa_sub, 2000); /* 0.5 Hz updates */ - - /* --- RATES SETPOINT VALUE --- */ - mavlink_subs.rates_setpoint_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint)); - orb_set_interval(mavlink_subs.rates_setpoint_sub, 2000); /* 0.5 Hz updates */ - - /* --- ACTUATOR OUTPUTS --- */ - mavlink_subs.act_0_sub = orb_subscribe(ORB_ID(actuator_outputs_0)); - mavlink_subs.act_1_sub = orb_subscribe(ORB_ID(actuator_outputs_1)); - mavlink_subs.act_2_sub = orb_subscribe(ORB_ID(actuator_outputs_2)); - mavlink_subs.act_3_sub = orb_subscribe(ORB_ID(actuator_outputs_3)); - /* rate limits set externally based on interface speed, set a basic default here */ - orb_set_interval(mavlink_subs.act_0_sub, 100); /* 10Hz updates */ - orb_set_interval(mavlink_subs.act_1_sub, 100); /* 10Hz updates */ - orb_set_interval(mavlink_subs.act_2_sub, 100); /* 10Hz updates */ - orb_set_interval(mavlink_subs.act_3_sub, 100); /* 10Hz updates */ - - /* --- ACTUATOR ARMED VALUE --- */ - mavlink_subs.armed_sub = orb_subscribe(ORB_ID(actuator_armed)); - orb_set_interval(mavlink_subs.armed_sub, 100); /* 10Hz updates */ - - /* --- MAPPED MANUAL CONTROL INPUTS --- */ - mavlink_subs.man_control_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); - /* rate limits set externally based on interface speed, set a basic default here */ - orb_set_interval(mavlink_subs.man_control_sp_sub, 100); /* 10Hz updates */ - - /* --- ACTUATOR CONTROL VALUE --- */ - mavlink_subs.actuators_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE); - orb_set_interval(mavlink_subs.actuators_sub, 100); /* 10Hz updates */ - - /* --- DEBUG VALUE OUTPUT --- */ - mavlink_subs.debug_key_value = orb_subscribe(ORB_ID(debug_key_value)); - orb_set_interval(mavlink_subs.debug_key_value, 100); /* 10Hz updates */ - - /* --- FLOW SENSOR --- */ - mavlink_subs.optical_flow = orb_subscribe(ORB_ID(optical_flow)); - orb_set_interval(mavlink_subs.optical_flow, 200); /* 5Hz updates */ - - /* start the listener loop */ - pthread_attr_t uorb_attr; - pthread_attr_init(&uorb_attr); - - /* Set stack size, needs less than 2k */ - pthread_attr_setstacksize(&uorb_attr, 2048); - - pthread_t thread; - pthread_create(&thread, &uorb_attr, uorb_receive_thread, NULL); - return thread; -} diff --git a/apps/mavlink/orb_topics.h b/apps/mavlink/orb_topics.h deleted file mode 100644 index d61cd43dc..000000000 --- a/apps/mavlink/orb_topics.h +++ /dev/null @@ -1,106 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. - * Author: @author Lorenz Meier - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file orb_topics.h - * Common sets of topics subscribed to or published by the MAVLink driver, - * and structures maintained by those subscriptions. - */ -#pragma once - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -struct mavlink_subscriptions { - int sensor_sub; - int att_sub; - int global_pos_sub; - int act_0_sub; - int act_1_sub; - int act_2_sub; - int act_3_sub; - int gps_sub; - int man_control_sp_sub; - int armed_sub; - int actuators_sub; - int local_pos_sub; - int spa_sub; - int spl_sub; - int spg_sub; - int debug_key_value; - int input_rc_sub; - int optical_flow; - int rates_setpoint_sub; - int home_sub; -}; - -extern struct mavlink_subscriptions mavlink_subs; - -/** Global position */ -extern struct vehicle_global_position_s global_pos; - -/** Local position */ -extern struct vehicle_local_position_s local_pos; - -/** Vehicle status */ -extern struct vehicle_status_s v_status; - -/** RC channels */ -extern struct rc_channels_s rc; - -/** Actuator armed state */ -extern struct actuator_armed_s armed; - -/** Worker thread starter */ -extern pthread_t uorb_receive_start(void); diff --git a/apps/mavlink/util.h b/apps/mavlink/util.h deleted file mode 100644 index a4ff06a88..000000000 --- a/apps/mavlink/util.h +++ /dev/null @@ -1,54 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Lorenz Meier - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file util.h - * Utility and helper functions and data. - */ - -#pragma once - -/** MAVLink communications channel */ -extern uint8_t chan; - -/** Shutdown marker */ -extern volatile bool thread_should_exit; - -/** Waypoint storage */ -extern mavlink_wpm_storage *wpm; - -/** - * Translate the custom state into standard mavlink modes and state. - */ -extern void get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_mode); diff --git a/apps/mavlink/waypoints.c b/apps/mavlink/waypoints.c deleted file mode 100644 index a131b143b..000000000 --- a/apps/mavlink/waypoints.c +++ /dev/null @@ -1,1134 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. - * Author: @author Petri Tanskanen - * @author Lorenz Meier - * @author Thomas Gubler - * @author Julian Oes - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file waypoints.c - * MAVLink waypoint protocol implementation (BSD-relicensed). - */ - -#include -#include -#include -#include - -#include "missionlib.h" -#include "waypoints.h" -#include "util.h" - -#ifndef FM_PI -#define FM_PI 3.1415926535897932384626433832795f -#endif - -bool debug = false; -bool verbose = false; - - -#define MAVLINK_WPM_NO_PRINTF - -uint8_t mavlink_wpm_comp_id = MAV_COMP_ID_MISSIONPLANNER; - -void mavlink_wpm_init(mavlink_wpm_storage *state) -{ - // Set all waypoints to zero - - // Set count to zero - state->size = 0; - state->max_size = MAVLINK_WPM_MAX_WP_COUNT; - state->current_state = MAVLINK_WPM_STATE_IDLE; - state->current_partner_sysid = 0; - state->current_partner_compid = 0; - state->timestamp_lastaction = 0; - state->timestamp_last_send_setpoint = 0; - state->timeout = MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT; - state->delay_setpoint = MAVLINK_WPM_SETPOINT_DELAY_DEFAULT; - state->idle = false; ///< indicates if the system is following the waypoints or is waiting - state->current_active_wp_id = -1; ///< id of current waypoint - state->yaw_reached = false; ///< boolean for yaw attitude reached - state->pos_reached = false; ///< boolean for position reached - state->timestamp_lastoutside_orbit = 0;///< timestamp when the MAV was last outside the orbit or had the wrong yaw value - state->timestamp_firstinside_orbit = 0;///< timestamp when the MAV was the first time after a waypoint change inside the orbit and had the correct yaw value - -} - -/* - * @brief Sends an waypoint ack message - */ -void mavlink_wpm_send_waypoint_ack(uint8_t sysid, uint8_t compid, uint8_t type) -{ - mavlink_message_t msg; - mavlink_mission_ack_t wpa; - - wpa.target_system = wpm->current_partner_sysid; - wpa.target_component = wpm->current_partner_compid; - wpa.type = type; - - mavlink_msg_mission_ack_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpa); - mavlink_missionlib_send_message(&msg); - - // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY")); - - if (MAVLINK_WPM_TEXT_FEEDBACK) { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("Sent waypoint ACK"); -#else - - if (MAVLINK_WPM_VERBOSE) printf("Sent waypoint ack (%u) to ID %u\n", wpa.type, wpa.target_system); - -#endif - mavlink_missionlib_send_gcs_string("Sent waypoint ACK"); - } -} - -/* - * @brief Broadcasts the new target waypoint and directs the MAV to fly there - * - * This function broadcasts its new active waypoint sequence number and - * sends a message to the controller, advising it to fly to the coordinates - * of the waypoint with a given orientation - * - * @param seq The waypoint sequence number the MAV should fly to. - */ -void mavlink_wpm_send_waypoint_current(uint16_t seq) -{ - if (seq < wpm->size) { - mavlink_mission_item_t *cur = &(wpm->waypoints[seq]); - - mavlink_message_t msg; - mavlink_mission_current_t wpc; - - wpc.seq = cur->seq; - - mavlink_msg_mission_current_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpc); - mavlink_missionlib_send_message(&msg); - - // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY")); - - if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("Set current waypoint\n"); //// printf("Broadcasted new current waypoint %u\n", wpc.seq); - - } else { - if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("ERROR: wp index out of bounds\n"); - } -} - -/* - * @brief Directs the MAV to fly to a position - * - * Sends a message to the controller, advising it to fly to the coordinates - * of the waypoint with a given orientation - * - * @param seq The waypoint sequence number the MAV should fly to. - */ -void mavlink_wpm_send_setpoint(uint16_t seq) -{ - if (seq < wpm->size) { - mavlink_mission_item_t *cur = &(wpm->waypoints[seq]); - mavlink_missionlib_current_waypoint_changed(cur->seq, cur->param1, - cur->param2, cur->param3, cur->param4, cur->x, - cur->y, cur->z, cur->frame, cur->command); - - wpm->timestamp_last_send_setpoint = mavlink_missionlib_get_system_timestamp(); - - } else { - if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("ERROR: Waypoint index out of bounds\n"); //// if (verbose) // printf("ERROR: index out of bounds\n"); - } -} - -void mavlink_wpm_send_waypoint_count(uint8_t sysid, uint8_t compid, uint16_t count) -{ - mavlink_message_t msg; - mavlink_mission_count_t wpc; - - wpc.target_system = wpm->current_partner_sysid; - wpc.target_component = wpm->current_partner_compid; - wpc.count = count; - - mavlink_msg_mission_count_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpc); - mavlink_missionlib_send_message(&msg); - - if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("Sent waypoint count"); //// if (verbose) // printf("Sent waypoint count (%u) to ID %u\n", wpc.count, wpc.target_system); - - // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY")); -} - -void mavlink_wpm_send_waypoint(uint8_t sysid, uint8_t compid, uint16_t seq) -{ - if (seq < wpm->size) { - mavlink_message_t msg; - mavlink_mission_item_t *wp = &(wpm->waypoints[seq]); - wp->target_system = wpm->current_partner_sysid; - wp->target_component = wpm->current_partner_compid; - mavlink_msg_mission_item_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, wp); - mavlink_missionlib_send_message(&msg); - - if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("Sent waypoint"); //// if (verbose) // printf("Sent waypoint %u to ID %u\n", wp->seq, wp->target_system); - - // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY")); - - } else { - if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("ERROR: Waypoint index out of bounds\n"); - } -} - -void mavlink_wpm_send_waypoint_request(uint8_t sysid, uint8_t compid, uint16_t seq) -{ - if (seq < wpm->max_size) { - mavlink_message_t msg; - mavlink_mission_request_t wpr; - wpr.target_system = wpm->current_partner_sysid; - wpr.target_component = wpm->current_partner_compid; - wpr.seq = seq; - mavlink_msg_mission_request_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpr); - mavlink_missionlib_send_message(&msg); - - if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("Sent waypoint request"); //// if (verbose) // printf("Sent waypoint request %u to ID %u\n", wpr.seq, wpr.target_system); - - // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY")); - - } else { - if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("ERROR: Waypoint index exceeds list capacity\n"); - } -} - -/* - * @brief emits a message that a waypoint reached - * - * This function broadcasts a message that a waypoint is reached. - * - * @param seq The waypoint sequence number the MAV has reached. - */ -void mavlink_wpm_send_waypoint_reached(uint16_t seq) -{ - mavlink_message_t msg; - mavlink_mission_item_reached_t wp_reached; - - wp_reached.seq = seq; - - mavlink_msg_mission_item_reached_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wp_reached); - mavlink_missionlib_send_message(&msg); - - if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("Sent waypoint reached message"); //// if (verbose) // printf("Sent waypoint %u reached message\n", wp_reached.seq); - - // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY")); -} - -//float mavlink_wpm_distance_to_segment(uint16_t seq, float x, float y, float z) -//{ -// if (seq < wpm->size) -// { -// mavlink_mission_item_t *cur = waypoints->at(seq); -// -// const PxVector3 A(cur->x, cur->y, cur->z); -// const PxVector3 C(x, y, z); -// -// // seq not the second last waypoint -// if ((uint16_t)(seq+1) < wpm->size) -// { -// mavlink_mission_item_t *next = waypoints->at(seq+1); -// const PxVector3 B(next->x, next->y, next->z); -// const float r = (B-A).dot(C-A) / (B-A).lengthSquared(); -// if (r >= 0 && r <= 1) -// { -// const PxVector3 P(A + r*(B-A)); -// return (P-C).length(); -// } -// else if (r < 0.f) -// { -// return (C-A).length(); -// } -// else -// { -// return (C-B).length(); -// } -// } -// else -// { -// return (C-A).length(); -// } -// } -// else -// { -// // if (verbose) // printf("ERROR: index out of bounds\n"); -// } -// return -1.f; -//} - -/* - * Calculate distance in global frame. - * - * The distance calculation is based on the WGS84 geoid (GPS) - */ -float mavlink_wpm_distance_to_point_global_wgs84(uint16_t seq, float lat, float lon, float alt) -{ - //TODO: implement for z once altidude contoller is implemented - - static uint16_t counter; - -// if(counter % 10 == 0) printf(" x = %.10f, y = %.10f\n", x, y); - if (seq < wpm->size) { - mavlink_mission_item_t *cur = &(wpm->waypoints[seq]); - - double current_x_rad = cur->x / 180.0 * M_PI; - double current_y_rad = cur->y / 180.0 * M_PI; - double x_rad = lat / 180.0 * M_PI; - double y_rad = lon / 180.0 * M_PI; - - double d_lat = x_rad - current_x_rad; - double d_lon = y_rad - current_y_rad; - - double a = sin(d_lat / 2.0) * sin(d_lat / 2.0) + sin(d_lon / 2.0) * sin(d_lon / 2.0f) * cos(current_x_rad) * cos(x_rad); - double c = 2 * atan2(sqrt(a), sqrt(1 - a)); - - const double radius_earth = 6371000.0; - - return radius_earth * c; - - } else { - return -1.0f; - } - - counter++; - -} - -/* - * Calculate distance in local frame (NED) - */ -float mavlink_wpm_distance_to_point_local(uint16_t seq, float x, float y, float z) -{ - if (seq < wpm->size) { - mavlink_mission_item_t *cur = &(wpm->waypoints[seq]); - - float dx = (cur->x - x); - float dy = (cur->y - y); - float dz = (cur->z - z); - - return sqrt(dx * dx + dy * dy + dz * dz); - - } else { - return -1.0f; - } -} - -void check_waypoints_reached(uint64_t now, const struct vehicle_global_position_s *global_pos, struct vehicle_local_position_s *local_pos) -{ - static uint16_t counter; - - // Do not flood the precious wireless link with debug data - // if (wpm->size > 0 && counter % 10 == 0) { - // printf("Currect active waypoint id: %i\n", wpm->current_active_wp_id); - // } - - - if (wpm->current_active_wp_id < wpm->size) { - - float orbit = wpm->waypoints[wpm->current_active_wp_id].param2; - int coordinate_frame = wpm->waypoints[wpm->current_active_wp_id].frame; - float dist = -1.0f; - - if (coordinate_frame == (int)MAV_FRAME_GLOBAL) { - dist = mavlink_wpm_distance_to_point_global_wgs84(wpm->current_active_wp_id, (float)global_pos->lat * 1e-7f, (float)global_pos->lon * 1e-7f, global_pos->alt); - - } else if (coordinate_frame == (int)MAV_FRAME_GLOBAL_RELATIVE_ALT) { - dist = mavlink_wpm_distance_to_point_global_wgs84(wpm->current_active_wp_id, global_pos->lat, global_pos->lon, global_pos->relative_alt); - - } else if (coordinate_frame == (int)MAV_FRAME_LOCAL_ENU || coordinate_frame == (int)MAV_FRAME_LOCAL_NED) { - dist = mavlink_wpm_distance_to_point_local(wpm->current_active_wp_id, local_pos->x, local_pos->y, local_pos->z); - - } else if (coordinate_frame == (int)MAV_FRAME_MISSION) { - /* Check if conditions of mission item are satisfied */ - // XXX TODO - } - - if (dist >= 0.f && dist <= orbit /*&& wpm->yaw_reached*/) { //TODO implement yaw - wpm->pos_reached = true; - - if (counter % 100 == 0) - printf("Setpoint reached: %0.4f, orbit: %.4f\n", dist, orbit); - } - -// else -// { -// if(counter % 100 == 0) -// printf("Setpoint not reached yet: %0.4f, orbit: %.4f, coordinate frame: %d\n",dist, orbit, coordinate_frame); -// } - } - - //check if the current waypoint was reached - if (wpm->pos_reached /*wpm->yaw_reached &&*/ && !wpm->idle) { - if (wpm->current_active_wp_id < wpm->size) { - mavlink_mission_item_t *cur_wp = &(wpm->waypoints[wpm->current_active_wp_id]); - - if (wpm->timestamp_firstinside_orbit == 0) { - // Announce that last waypoint was reached - printf("Reached waypoint %u for the first time \n", cur_wp->seq); - mavlink_wpm_send_waypoint_reached(cur_wp->seq); - wpm->timestamp_firstinside_orbit = now; - } - - // check if the MAV was long enough inside the waypoint orbit - //if (now-timestamp_lastoutside_orbit > (cur_wp->hold_time*1000)) - if (now - wpm->timestamp_firstinside_orbit >= cur_wp->param2 * 1000) { - printf("Reached waypoint %u long enough \n", cur_wp->seq); - - if (cur_wp->autocontinue) { - cur_wp->current = 0; - - if (wpm->current_active_wp_id == wpm->size - 1 && wpm->size > 1) { - /* the last waypoint was reached, if auto continue is - * activated restart the waypoint list from the beginning - */ - wpm->current_active_wp_id = 0; - - } else { - if ((uint16_t)(wpm->current_active_wp_id + 1) < wpm->size) - wpm->current_active_wp_id++; - } - - // Fly to next waypoint - wpm->timestamp_firstinside_orbit = 0; - mavlink_wpm_send_waypoint_current(wpm->current_active_wp_id); - mavlink_wpm_send_setpoint(wpm->current_active_wp_id); - wpm->waypoints[wpm->current_active_wp_id].current = true; - wpm->pos_reached = false; - wpm->yaw_reached = false; - printf("Set new waypoint (%u)\n", wpm->current_active_wp_id); - } - } - } - - } else { - wpm->timestamp_lastoutside_orbit = now; - } - - counter++; -} - - -int mavlink_waypoint_eventloop(uint64_t now, const struct vehicle_global_position_s *global_position, struct vehicle_local_position_s *local_position) -{ - /* check for timed-out operations */ - if (now - wpm->timestamp_lastaction > wpm->timeout && wpm->current_state != MAVLINK_WPM_STATE_IDLE) { - -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("Operation timeout switching -> IDLE"); -#else - - if (MAVLINK_WPM_VERBOSE) printf("Last operation (state=%u) timed out, changing state to MAVLINK_WPM_STATE_IDLE\n", wpm->current_state); - -#endif - wpm->current_state = MAVLINK_WPM_STATE_IDLE; - wpm->current_count = 0; - wpm->current_partner_sysid = 0; - wpm->current_partner_compid = 0; - wpm->current_wp_id = -1; - - if (wpm->size == 0) { - wpm->current_active_wp_id = -1; - } - } - - // Do NOT continously send the current WP, since we're not loosing messages - // if (now - wpm->timestamp_last_send_setpoint > wpm->delay_setpoint && wpm->current_active_wp_id < wpm->size) { - // mavlink_wpm_send_setpoint(wpm->current_active_wp_id); - // } - - check_waypoints_reached(now, global_position , local_position); - - return OK; -} - - -void mavlink_wpm_message_handler(const mavlink_message_t *msg, const struct vehicle_global_position_s *global_pos , struct vehicle_local_position_s *local_pos) -{ - uint64_t now = mavlink_missionlib_get_system_timestamp(); - - switch (msg->msgid) { -// case MAVLINK_MSG_ID_ATTITUDE: -// { -// if(msg->sysid == mavlink_system.sysid && wpm->current_active_wp_id < wpm->size) -// { -// mavlink_mission_item_t *wp = &(wpm->waypoints[wpm->current_active_wp_id]); -// if(wp->frame == MAV_FRAME_LOCAL_ENU || wp->frame == MAV_FRAME_LOCAL_NED) -// { -// mavlink_attitude_t att; -// mavlink_msg_attitude_decode(msg, &att); -// float yaw_tolerance = wpm->accept_range_yaw; -// //compare current yaw -// if (att.yaw - yaw_tolerance >= 0.0f && att.yaw + yaw_tolerance < 2.f*FM_PI) -// { -// if (att.yaw - yaw_tolerance <= wp->param4 && att.yaw + yaw_tolerance >= wp->param4) -// wpm->yaw_reached = true; -// } -// else if(att.yaw - yaw_tolerance < 0.0f) -// { -// float lowerBound = 360.0f + att.yaw - yaw_tolerance; -// if (lowerBound < wp->param4 || wp->param4 < att.yaw + yaw_tolerance) -// wpm->yaw_reached = true; -// } -// else -// { -// float upperBound = att.yaw + yaw_tolerance - 2.f*FM_PI; -// if (att.yaw - yaw_tolerance < wp->param4 || wp->param4 < upperBound) -// wpm->yaw_reached = true; -// } -// } -// } -// break; -// } -// -// case MAVLINK_MSG_ID_LOCAL_POSITION_NED: -// { -// if(msg->sysid == mavlink_system.sysid && wpm->current_active_wp_id < wpm->size) -// { -// mavlink_mission_item_t *wp = &(wpm->waypoints[wpm->current_active_wp_id]); -// -// if(wp->frame == MAV_FRAME_LOCAL_ENU || MAV_FRAME_LOCAL_NED) -// { -// mavlink_local_position_ned_t pos; -// mavlink_msg_local_position_ned_decode(msg, &pos); -// //// if (debug) // printf("Received new position: x: %f | y: %f | z: %f\n", pos.x, pos.y, pos.z); -// -// wpm->pos_reached = false; -// -// // compare current position (given in message) with current waypoint -// float orbit = wp->param1; -// -// float dist; -//// if (wp->param2 == 0) -//// { -//// // FIXME segment distance -//// //dist = mavlink_wpm_distance_to_segment(current_active_wp_id, pos.x, pos.y, pos.z); -//// } -//// else -//// { -// dist = mavlink_wpm_distance_to_point(wpm->current_active_wp_id, pos.x, pos.y, pos.z); -//// } -// -// if (dist >= 0.f && dist <= orbit && wpm->yaw_reached) -// { -// wpm->pos_reached = true; -// } -// } -// } -// break; -// } - -// case MAVLINK_MSG_ID_CMD: // special action from ground station -// { -// mavlink_cmd_t action; -// mavlink_msg_cmd_decode(msg, &action); -// if(action.target == mavlink_system.sysid) -// { -// // if (verbose) std::cerr << "Waypoint: received message with action " << action.action << std::endl; -// switch (action.action) -// { -// // case MAV_ACTION_LAUNCH: -// // // if (verbose) std::cerr << "Launch received" << std::endl; -// // current_active_wp_id = 0; -// // if (wpm->size>0) -// // { -// // setActive(waypoints[current_active_wp_id]); -// // } -// // else -// // // if (verbose) std::cerr << "No launch, waypointList empty" << std::endl; -// // break; -// -// // case MAV_ACTION_CONTINUE: -// // // if (verbose) std::c -// // err << "Continue received" << std::endl; -// // idle = false; -// // setActive(waypoints[current_active_wp_id]); -// // break; -// -// // case MAV_ACTION_HALT: -// // // if (verbose) std::cerr << "Halt received" << std::endl; -// // idle = true; -// // break; -// -// // default: -// // // if (verbose) std::cerr << "Unknown action received with id " << action.action << ", no action taken" << std::endl; -// // break; -// } -// } -// break; -// } - - case MAVLINK_MSG_ID_MISSION_ACK: { - mavlink_mission_ack_t wpa; - mavlink_msg_mission_ack_decode(msg, &wpa); - - if ((msg->sysid == wpm->current_partner_sysid && msg->compid == wpm->current_partner_compid) && (wpa.target_system == mavlink_system.sysid /*&& wpa.target_component == mavlink_wpm_comp_id*/)) { - wpm->timestamp_lastaction = now; - - if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST || wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS) { - if (wpm->current_wp_id == wpm->size - 1) { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("Got last WP ACK state -> IDLE"); -#else - - if (MAVLINK_WPM_VERBOSE) printf("Received ACK after having sent last waypoint, going to state MAVLINK_WPM_STATE_IDLE\n"); - -#endif - wpm->current_state = MAVLINK_WPM_STATE_IDLE; - wpm->current_wp_id = 0; - } - } - - } else { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("REJ. WP CMD: curr partner id mismatch"); -#else - - if (MAVLINK_WPM_VERBOSE) printf("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH\n"); - -#endif - } - - break; - } - - case MAVLINK_MSG_ID_MISSION_SET_CURRENT: { - mavlink_mission_set_current_t wpc; - mavlink_msg_mission_set_current_decode(msg, &wpc); - - if (wpc.target_system == mavlink_system.sysid /*&& wpc.target_component == mavlink_wpm_comp_id*/) { - wpm->timestamp_lastaction = now; - - if (wpm->current_state == MAVLINK_WPM_STATE_IDLE) { - if (wpc.seq < wpm->size) { - // if (verbose) // printf("Received MAVLINK_MSG_ID_MISSION_ITEM_SET_CURRENT\n"); - wpm->current_active_wp_id = wpc.seq; - uint32_t i; - - for (i = 0; i < wpm->size; i++) { - if (i == wpm->current_active_wp_id) { - wpm->waypoints[i].current = true; - - } else { - wpm->waypoints[i].current = false; - } - } - -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("NEW WP SET"); -#else - - if (MAVLINK_WPM_VERBOSE) printf("New current waypoint %u\n", wpm->current_active_wp_id); - -#endif - wpm->yaw_reached = false; - wpm->pos_reached = false; - mavlink_wpm_send_waypoint_current(wpm->current_active_wp_id); - mavlink_wpm_send_setpoint(wpm->current_active_wp_id); - wpm->timestamp_firstinside_orbit = 0; - - } else { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("IGN WP CURR CMD: Not in list"); -#else - - if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_SET_CURRENT: Index out of bounds\n"); - -#endif - } - - } else { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("IGN WP CURR CMD: Busy"); -#else - - if (MAVLINK_WPM_VERBOSE) printf("IGNORED WAYPOINT COMMAND BECAUSE NOT IN IDLE STATE\n"); - -#endif - } - - } else { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch"); -#else - - if (MAVLINK_WPM_VERBOSE) printf("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH\n"); - -#endif - } - - break; - } - - case MAVLINK_MSG_ID_MISSION_REQUEST_LIST: { - mavlink_mission_request_list_t wprl; - mavlink_msg_mission_request_list_decode(msg, &wprl); - - if (wprl.target_system == mavlink_system.sysid /*&& wprl.target_component == mavlink_wpm_comp_id*/) { - wpm->timestamp_lastaction = now; - - if (wpm->current_state == MAVLINK_WPM_STATE_IDLE || wpm->current_state == MAVLINK_WPM_STATE_SENDLIST) { - if (wpm->size > 0) { - //if (verbose && wpm->current_state == MAVLINK_WPM_STATE_IDLE) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST from %u changing state to MAVLINK_WPM_STATE_SENDLIST\n", msg->sysid); -// if (verbose && wpm->current_state == MAVLINK_WPM_STATE_SENDLIST) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST again from %u staying in state MAVLINK_WPM_STATE_SENDLIST\n", msg->sysid); - wpm->current_state = MAVLINK_WPM_STATE_SENDLIST; - wpm->current_wp_id = 0; - wpm->current_partner_sysid = msg->sysid; - wpm->current_partner_compid = msg->compid; - - } else { - // if (verbose) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST from %u but have no waypoints, staying in \n", msg->sysid); - } - - wpm->current_count = wpm->size; - mavlink_wpm_send_waypoint_count(msg->sysid, msg->compid, wpm->current_count); - - } else { - // if (verbose) // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST because i'm doing something else already (state=%i).\n", wpm->current_state); - } - } else { - // if (verbose) // printf("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT MISMATCH\n"); - } - - break; - } - - case MAVLINK_MSG_ID_MISSION_REQUEST: { - mavlink_mission_request_t wpr; - mavlink_msg_mission_request_decode(msg, &wpr); - - if (msg->sysid == wpm->current_partner_sysid && msg->compid == wpm->current_partner_compid && wpr.target_system == mavlink_system.sysid /*&& wpr.target_component == mavlink_wpm_comp_id*/) { - wpm->timestamp_lastaction = now; - - //ensure that we are in the correct state and that the first request has id 0 and the following requests have either the last id (re-send last waypoint) or last_id+1 (next waypoint) - if ((wpm->current_state == MAVLINK_WPM_STATE_SENDLIST && wpr.seq == 0) || (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS && (wpr.seq == wpm->current_wp_id || wpr.seq == wpm->current_wp_id + 1) && wpr.seq < wpm->size)) { - if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST) { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("GOT WP REQ, state -> SEND"); -#else - - if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u from %u changing state to MAVLINK_WPM_STATE_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid); - -#endif - } - - if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS && wpr.seq == wpm->current_wp_id + 1) { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("GOT 2nd WP REQ"); -#else - - if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u from %u staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid); - -#endif - } - - if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS && wpr.seq == wpm->current_wp_id) { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("GOT 2nd WP REQ"); -#else - - if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u (again) from %u staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid); - -#endif - } - - wpm->current_state = MAVLINK_WPM_STATE_SENDLIST_SENDWPS; - wpm->current_wp_id = wpr.seq; - mavlink_wpm_send_waypoint(wpm->current_partner_sysid, wpm->current_partner_compid, wpr.seq); - - } else { - // if (verbose) - { - if (!(wpm->current_state == MAVLINK_WPM_STATE_SENDLIST || wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS)) { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); -#else - - if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because i'm doing something else already (state=%i).\n", wpm->current_state); - -#endif - break; - - } else if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST) { - if (wpr.seq != 0) { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("REJ. WP CMD: First id != 0"); -#else - - if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the first requested waypoint ID (%u) was not 0.\n", wpr.seq); - -#endif - } - - } else if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS) { - if (wpr.seq != wpm->current_wp_id && wpr.seq != wpm->current_wp_id + 1) { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("REJ. WP CMD: Req. WP was unexpected"); -#else - - if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the requested waypoint ID (%u) was not the expected (%u or %u).\n", wpr.seq, wpm->current_wp_id, wpm->current_wp_id + 1); - -#endif - - } else if (wpr.seq >= wpm->size) { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("REJ. WP CMD: Req. WP not in list"); -#else - - if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the requested waypoint ID (%u) was out of bounds.\n", wpr.seq); - -#endif - } - - } else { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("REJ. WP CMD: ?"); -#else - - if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST - FIXME: missed error description\n"); - -#endif - } - } - } - - } else { - //we we're target but already communicating with someone else - if ((wpr.target_system == mavlink_system.sysid /*&& wpr.target_component == mavlink_wpm_comp_id*/) && !(msg->sysid == wpm->current_partner_sysid && msg->compid == wpm->current_partner_compid)) { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); -#else - - if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST from ID %u because i'm already talking to ID %u.\n", msg->sysid, wpm->current_partner_sysid); - -#endif - - } else { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch"); -#else - - if (MAVLINK_WPM_VERBOSE) printf("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH\n"); - -#endif - } - - } - - break; - } - - case MAVLINK_MSG_ID_MISSION_COUNT: { - mavlink_mission_count_t wpc; - mavlink_msg_mission_count_decode(msg, &wpc); - - if (wpc.target_system == mavlink_system.sysid/* && wpc.target_component == mavlink_wpm_comp_id*/) { - wpm->timestamp_lastaction = now; - - if (wpm->current_state == MAVLINK_WPM_STATE_IDLE || (wpm->current_state == MAVLINK_WPM_STATE_GETLIST && wpm->current_wp_id == 0)) { -// printf("wpc count in: %d\n",wpc.count); -// printf("Comp id: %d\n",msg->compid); -// printf("Current partner sysid: %d\n",wpm->current_partner_sysid); - - if (wpc.count > 0) { - if (wpm->current_state == MAVLINK_WPM_STATE_IDLE) { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("WP CMD OK: state -> GETLIST"); -#else - - if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_COUNT (%u) from %u changing state to MAVLINK_WPM_STATE_GETLIST\n", wpc.count, msg->sysid); - -#endif - } - - if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST) { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("WP CMD OK AGAIN"); -#else - - if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_COUNT (%u) again from %u\n", wpc.count, msg->sysid); - -#endif - } - - wpm->current_state = MAVLINK_WPM_STATE_GETLIST; - wpm->current_wp_id = 0; - wpm->current_partner_sysid = msg->sysid; - wpm->current_partner_compid = msg->compid; - wpm->current_count = wpc.count; - -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("CLR RCV BUF: READY"); -#else - - if (MAVLINK_WPM_VERBOSE) printf("clearing receive buffer and readying for receiving waypoints\n"); - -#endif - wpm->rcv_size = 0; - //while(waypoints_receive_buffer->size() > 0) -// { -// delete waypoints_receive_buffer->back(); -// waypoints_receive_buffer->pop_back(); -// } - - mavlink_wpm_send_waypoint_request(wpm->current_partner_sysid, wpm->current_partner_compid, wpm->current_wp_id); - - } else if (wpc.count == 0) { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("COUNT 0"); -#else - - if (MAVLINK_WPM_VERBOSE) printf("got waypoint count of 0, clearing waypoint list and staying in state MAVLINK_WPM_STATE_IDLE\n"); - -#endif - wpm->rcv_size = 0; - //while(waypoints_receive_buffer->size() > 0) -// { -// delete waypoints->back(); -// waypoints->pop_back(); -// } - wpm->current_active_wp_id = -1; - wpm->yaw_reached = false; - wpm->pos_reached = false; - break; - - } else { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("IGN WP CMD"); -#else - - if (MAVLINK_WPM_VERBOSE) printf("Ignoring MAVLINK_MSG_ID_MISSION_ITEM_COUNT from %u with count of %u\n", msg->sysid, wpc.count); - -#endif - } - - } else { - if (!(wpm->current_state == MAVLINK_WPM_STATE_IDLE || wpm->current_state == MAVLINK_WPM_STATE_GETLIST)) { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); -#else - - if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_COUNT because i'm doing something else already (state=%i).\n", wpm->current_state); - -#endif - - } else if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST && wpm->current_wp_id != 0) { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); -#else - - if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_COUNT because i'm already receiving waypoint %u.\n", wpm->current_wp_id); - -#endif - - } else { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("REJ. WP CMD: ?"); -#else - - if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_COUNT - FIXME: missed error description\n"); - -#endif - } - } - - } else { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch"); -#else - - if (MAVLINK_WPM_VERBOSE) printf("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH\n"); - -#endif - } - - } - break; - - case MAVLINK_MSG_ID_MISSION_ITEM: { - mavlink_mission_item_t wp; - mavlink_msg_mission_item_decode(msg, &wp); - - mavlink_missionlib_send_gcs_string("GOT WP"); -// printf("sysid=%d, current_partner_sysid=%d\n", msg->sysid, wpm->current_partner_sysid); -// printf("compid=%d, current_partner_compid=%d\n", msg->compid, wpm->current_partner_compid); - -// if((msg->sysid == wpm->current_partner_sysid && msg->compid == wpm->current_partner_compid) && (wp.target_system == mavlink_system.sysid /*&& wp.target_component == mavlink_wpm_comp_id*/)) - if (wp.target_system == mavlink_system.sysid && wp.target_component == mavlink_wpm_comp_id) { - - wpm->timestamp_lastaction = now; - -// printf("wpm->current_state=%u, wp.seq = %d, wpm->current_wp_id=%d\n", wpm->current_state, wp.seq, wpm->current_wp_id); - -// wpm->current_state = MAVLINK_WPM_STATE_GETLIST;//removeme debug XXX TODO - - //ensure that we are in the correct state and that the first waypoint has id 0 and the following waypoints have the correct ids - if ((wpm->current_state == MAVLINK_WPM_STATE_GETLIST && wp.seq == 0) || (wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS && wp.seq == wpm->current_wp_id && wp.seq < wpm->current_count)) { - //mavlink_missionlib_send_gcs_string("DEBUG 2"); - -// if (verbose && wpm->current_state == MAVLINK_WPM_STATE_GETLIST) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM %u from %u changing state to MAVLINK_WPM_STATE_GETLIST_GETWPS\n", wp.seq, msg->sysid); -// if (verbose && wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS && wp.seq == wpm->current_wp_id) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM %u from %u\n", wp.seq, msg->sysid); -// if (verbose && wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS && wp.seq-1 == wpm->current_wp_id) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM %u (again) from %u\n", wp.seq, msg->sysid); -// - wpm->current_state = MAVLINK_WPM_STATE_GETLIST_GETWPS; - mavlink_mission_item_t *newwp = &(wpm->rcv_waypoints[wp.seq]); - memcpy(newwp, &wp, sizeof(mavlink_mission_item_t)); -// printf("WP seq: %d\n",wp.seq); - wpm->current_wp_id = wp.seq + 1; - - // if (verbose) // printf ("Added new waypoint to list. X= %f\t Y= %f\t Z= %f\t Yaw= %f\n", newwp->x, newwp->y, newwp->z, newwp->param4); -// printf ("Added new waypoint to list. X= %f\t Y= %f\t Z= %f\t Yaw= %f\n", newwp->x, newwp->y, newwp->z, newwp->param4); - -// printf ("wpm->current_wp_id =%d, wpm->current_count=%d\n\n", wpm->current_wp_id, wpm->current_count); - if (wpm->current_wp_id == wpm->current_count && wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) { - mavlink_missionlib_send_gcs_string("GOT ALL WPS"); - // if (verbose) // printf("Got all %u waypoints, changing state to MAVLINK_WPM_STATE_IDLE\n", wpm->current_count); - - mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, 0); - - if (wpm->current_active_wp_id > wpm->rcv_size - 1) { - wpm->current_active_wp_id = wpm->rcv_size - 1; - } - - // switch the waypoints list - // FIXME CHECK!!! - uint32_t i; - - for (i = 0; i < wpm->current_count; ++i) { - wpm->waypoints[i] = wpm->rcv_waypoints[i]; - } - - wpm->size = wpm->current_count; - - //get the new current waypoint - - for (i = 0; i < wpm->size; i++) { - if (wpm->waypoints[i].current == 1) { - wpm->current_active_wp_id = i; - //// if (verbose) // printf("New current waypoint %u\n", current_active_wp_id); - wpm->yaw_reached = false; - wpm->pos_reached = false; - mavlink_wpm_send_waypoint_current(wpm->current_active_wp_id); - mavlink_wpm_send_setpoint(wpm->current_active_wp_id); - wpm->timestamp_firstinside_orbit = 0; - break; - } - } - - if (i == wpm->size) { - wpm->current_active_wp_id = -1; - wpm->yaw_reached = false; - wpm->pos_reached = false; - wpm->timestamp_firstinside_orbit = 0; - } - - wpm->current_state = MAVLINK_WPM_STATE_IDLE; - - } else { - mavlink_wpm_send_waypoint_request(wpm->current_partner_sysid, wpm->current_partner_compid, wpm->current_wp_id); - } - - } else { - if (wpm->current_state == MAVLINK_WPM_STATE_IDLE) { - //we're done receiving waypoints, answer with ack. - mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, 0); - printf("Received MAVLINK_MSG_ID_MISSION_ITEM while state=MAVLINK_WPM_STATE_IDLE, answered with WAYPOINT_ACK.\n"); - } - - // if (verbose) - { - if (!(wpm->current_state == MAVLINK_WPM_STATE_GETLIST || wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS)) { -// printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u because i'm doing something else already (state=%i).\n", wp.seq, wpm->current_state); - break; - - } else if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST) { - if (!(wp.seq == 0)) { -// printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the first waypoint ID (%u) was not 0.\n", wp.seq); - } else { -// printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u - FIXME: missed error description\n", wp.seq); - } - } else if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) { - if (!(wp.seq == wpm->current_wp_id)) { -// printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the waypoint ID (%u) was not the expected %u.\n", wp.seq, wpm->current_wp_id); - mavlink_wpm_send_waypoint_request(wpm->current_partner_sysid, wpm->current_partner_compid, wpm->current_wp_id); - - } else if (!(wp.seq < wpm->current_count)) { -// printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the waypoint ID (%u) was out of bounds.\n", wp.seq); - } else { -// printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u - FIXME: missed error description\n", wp.seq); - } - } else { -// printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u - FIXME: missed error description\n", wp.seq); - } - } - } - } else { - //we we're target but already communicating with someone else - if ((wp.target_system == mavlink_system.sysid /*&& wp.target_component == mavlink_wpm_comp_id*/) && !(msg->sysid == wpm->current_partner_sysid && msg->compid == wpm->current_partner_compid) && wpm->current_state != MAVLINK_WPM_STATE_IDLE) { - // if (verbose) // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u from ID %u because i'm already talking to ID %u.\n", wp.seq, msg->sysid, wpm->current_partner_sysid); - } else if (wp.target_system == mavlink_system.sysid /* && wp.target_component == mavlink_wpm_comp_id*/) { - // if (verbose) // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u from ID %u because i have no idea what to do with it\n", wp.seq, msg->sysid); - } - } - - break; - } - - case MAVLINK_MSG_ID_MISSION_CLEAR_ALL: { - mavlink_mission_clear_all_t wpca; - mavlink_msg_mission_clear_all_decode(msg, &wpca); - - if (wpca.target_system == mavlink_system.sysid /*&& wpca.target_component == mavlink_wpm_comp_id */ && wpm->current_state == MAVLINK_WPM_STATE_IDLE) { - wpm->timestamp_lastaction = now; - - // if (verbose) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM_CLEAR_LIST from %u deleting all waypoints\n", msg->sysid); - // Delete all waypoints - wpm->size = 0; - wpm->current_active_wp_id = -1; - wpm->yaw_reached = false; - wpm->pos_reached = false; - - } else if (wpca.target_system == mavlink_system.sysid /*&& wpca.target_component == mavlink_wpm_comp_id */ && wpm->current_state != MAVLINK_WPM_STATE_IDLE) { - // if (verbose) // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_CLEAR_LIST from %u because i'm doing something else already (state=%i).\n", msg->sysid, wpm->current_state); - } - - break; - } - - default: { - // if (debug) // printf("Waypoint: received message of unknown type"); - break; - } - } - - check_waypoints_reached(now, global_pos, local_pos); -} diff --git a/apps/mavlink/waypoints.h b/apps/mavlink/waypoints.h deleted file mode 100644 index c32ab32e5..000000000 --- a/apps/mavlink/waypoints.h +++ /dev/null @@ -1,131 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. - * Author: @author Lorenz Meier - * @author Thomas Gubler - * @author Julian Oes - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file waypoints.h - * MAVLink waypoint protocol definition (BSD-relicensed). - */ - -#ifndef WAYPOINTS_H_ -#define WAYPOINTS_H_ - -/* This assumes you have the mavlink headers on your include path - or in the same folder as this source file */ - -#include - -#ifndef MAVLINK_SEND_UART_BYTES -#define MAVLINK_SEND_UART_BYTES(chan, buffer, len) mavlink_send_uart_bytes(chan, buffer, len) -#endif -extern mavlink_system_t mavlink_system; -#include -#include -#include -#include - -// FIXME XXX - TO BE MOVED TO XML -enum MAVLINK_WPM_STATES { - MAVLINK_WPM_STATE_IDLE = 0, - MAVLINK_WPM_STATE_SENDLIST, - MAVLINK_WPM_STATE_SENDLIST_SENDWPS, - MAVLINK_WPM_STATE_GETLIST, - MAVLINK_WPM_STATE_GETLIST_GETWPS, - MAVLINK_WPM_STATE_GETLIST_GOTALL, - MAVLINK_WPM_STATE_ENUM_END -}; - -enum MAVLINK_WPM_CODES { - MAVLINK_WPM_CODE_OK = 0, - MAVLINK_WPM_CODE_ERR_WAYPOINT_ACTION_NOT_SUPPORTED, - MAVLINK_WPM_CODE_ERR_WAYPOINT_FRAME_NOT_SUPPORTED, - MAVLINK_WPM_CODE_ERR_WAYPOINT_OUT_OF_BOUNDS, - MAVLINK_WPM_CODE_ERR_WAYPOINT_MAX_NUMBER_EXCEEDED, - MAVLINK_WPM_CODE_ENUM_END -}; - - -/* WAYPOINT MANAGER - MISSION LIB */ - -#define MAVLINK_WPM_MAX_WP_COUNT 15 -#define MAVLINK_WPM_CONFIG_IN_FLIGHT_UPDATE ///< Enable double buffer and in-flight updates -#ifndef MAVLINK_WPM_TEXT_FEEDBACK -#define MAVLINK_WPM_TEXT_FEEDBACK 0 ///< Report back status information as text -#endif -#define MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT 5000000 ///< Protocol communication timeout in useconds -#define MAVLINK_WPM_SETPOINT_DELAY_DEFAULT 1000000 ///< When to send a new setpoint -#define MAVLINK_WPM_PROTOCOL_DELAY_DEFAULT 40000 - - -struct mavlink_wpm_storage { - mavlink_mission_item_t waypoints[MAVLINK_WPM_MAX_WP_COUNT]; ///< Currently active waypoints -#ifdef MAVLINK_WPM_CONFIG_IN_FLIGHT_UPDATE - mavlink_mission_item_t rcv_waypoints[MAVLINK_WPM_MAX_WP_COUNT]; ///< Receive buffer for next waypoints -#endif - uint16_t size; - uint16_t max_size; - uint16_t rcv_size; - enum MAVLINK_WPM_STATES current_state; - int16_t current_wp_id; ///< Waypoint in current transmission - int16_t current_active_wp_id; ///< Waypoint the system is currently heading towards - uint16_t current_count; - uint8_t current_partner_sysid; - uint8_t current_partner_compid; - uint64_t timestamp_lastaction; - uint64_t timestamp_last_send_setpoint; - uint64_t timestamp_firstinside_orbit; - uint64_t timestamp_lastoutside_orbit; - uint32_t timeout; - uint32_t delay_setpoint; - float accept_range_yaw; - float accept_range_distance; - bool yaw_reached; - bool pos_reached; - bool idle; -}; - -typedef struct mavlink_wpm_storage mavlink_wpm_storage; - -void mavlink_wpm_init(mavlink_wpm_storage *state); -int mavlink_waypoint_eventloop(uint64_t now, const struct vehicle_global_position_s *global_position, - struct vehicle_local_position_s *local_pos); -void mavlink_wpm_message_handler(const mavlink_message_t *msg, const struct vehicle_global_position_s *global_pos , - struct vehicle_local_position_s *local_pos); - -extern void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1, - float param2, float param3, float param4, float param5_lat_x, - float param6_lon_y, float param7_alt_z, uint8_t frame, uint16_t command); - -#endif /* WAYPOINTS_H_ */ diff --git a/apps/mavlink_onboard/Makefile b/apps/mavlink_onboard/Makefile deleted file mode 100644 index 8b1cb9b2c..000000000 --- a/apps/mavlink_onboard/Makefile +++ /dev/null @@ -1,44 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Mavlink Application -# - -APPNAME = mavlink_onboard -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 - -INCLUDES = $(TOPDIR)/../mavlink/include/mavlink - -include $(APPDIR)/mk/app.mk diff --git a/apps/mavlink_onboard/mavlink.c b/apps/mavlink_onboard/mavlink.c deleted file mode 100644 index 5a2685560..000000000 --- a/apps/mavlink_onboard/mavlink.c +++ /dev/null @@ -1,529 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file mavlink.c - * MAVLink 1.0 protocol implementation. - * - * @author Lorenz Meier - */ - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include "mavlink_bridge_header.h" -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include - -#include "orb_topics.h" -#include "util.h" - -__EXPORT int mavlink_onboard_main(int argc, char *argv[]); - -static int mavlink_thread_main(int argc, char *argv[]); - -/* thread state */ -volatile bool thread_should_exit = false; -static volatile bool thread_running = false; -static int mavlink_task; - -/* pthreads */ -static pthread_t receive_thread; - -/* terminate MAVLink on user request - disabled by default */ -static bool mavlink_link_termination_allowed = false; - -mavlink_system_t mavlink_system = { - 100, - 50, - MAV_TYPE_QUADROTOR, - 0, - 0, - 0 -}; // System ID, 1-255, Component/Subsystem ID, 1-255 - -/* XXX not widely used */ -uint8_t chan = MAVLINK_COMM_0; - -/* XXX probably should be in a header... */ -extern pthread_t receive_start(int uart); - -bool mavlink_hil_enabled = false; - -/* protocol interface */ -static int uart; -static int baudrate; -bool gcs_link = true; - -/* interface mode */ -static enum { - MAVLINK_INTERFACE_MODE_OFFBOARD, - MAVLINK_INTERFACE_MODE_ONBOARD -} mavlink_link_mode = MAVLINK_INTERFACE_MODE_OFFBOARD; - -static void mavlink_update_system(void); -static int mavlink_open_uart(int baudrate, const char *uart_name, struct termios *uart_config_original, bool *is_usb); -static void usage(void); - -/**************************************************************************** - * Public Functions - ****************************************************************************/ - -int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_config_original, bool *is_usb) -{ - /* process baud rate */ - int speed; - - switch (baud) { - case 0: speed = B0; break; - - case 50: speed = B50; break; - - case 75: speed = B75; break; - - case 110: speed = B110; break; - - case 134: speed = B134; break; - - case 150: speed = B150; break; - - case 200: speed = B200; break; - - case 300: speed = B300; break; - - case 600: speed = B600; break; - - case 1200: speed = B1200; break; - - case 1800: speed = B1800; break; - - case 2400: speed = B2400; break; - - case 4800: speed = B4800; break; - - case 9600: speed = B9600; break; - - case 19200: speed = B19200; break; - - case 38400: speed = B38400; break; - - case 57600: speed = B57600; break; - - case 115200: speed = B115200; break; - - case 230400: speed = B230400; break; - - case 460800: speed = B460800; break; - - case 921600: speed = B921600; break; - - default: - fprintf(stderr, "[mavlink] ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\n\t9600\n19200\n38400\n57600\n115200\n230400\n460800\n921600\n\n", baud); - return -EINVAL; - } - - /* open uart */ - printf("[mavlink] UART is %s, baudrate is %d\n", uart_name, baud); - uart = open(uart_name, O_RDWR | O_NOCTTY); - - /* Try to set baud rate */ - struct termios uart_config; - int termios_state; - *is_usb = false; - - if (strcmp(uart_name, "/dev/ttyACM0") != OK) { - /* Back up the original uart configuration to restore it after exit */ - if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) { - fprintf(stderr, "[mavlink] ERROR getting baudrate / termios config for %s: %d\n", uart_name, termios_state); - close(uart); - return -1; - } - - /* Fill the struct for the new configuration */ - tcgetattr(uart, &uart_config); - - /* Clear ONLCR flag (which appends a CR for every LF) */ - uart_config.c_oflag &= ~ONLCR; - - /* Set baud rate */ - if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) { - fprintf(stderr, "[mavlink] ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state); - close(uart); - return -1; - } - - - if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) { - fprintf(stderr, "[mavlink] ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name); - close(uart); - return -1; - } - - } else { - *is_usb = true; - } - - return uart; -} - -void -mavlink_send_uart_bytes(mavlink_channel_t channel, uint8_t *ch, int length) -{ - write(uart, ch, (size_t)(sizeof(uint8_t) * length)); -} - -/* - * Internal function to give access to the channel status for each channel - */ -mavlink_status_t* mavlink_get_channel_status(uint8_t channel) -{ - static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS]; - return &m_mavlink_status[channel]; -} - -/* - * Internal function to give access to the channel buffer for each channel - */ -mavlink_message_t* mavlink_get_channel_buffer(uint8_t channel) -{ - static mavlink_message_t m_mavlink_buffer[MAVLINK_COMM_NUM_BUFFERS]; - return &m_mavlink_buffer[channel]; -} - -void mavlink_update_system(void) -{ - static bool initialized = false; - param_t param_system_id; - param_t param_component_id; - param_t param_system_type; - - if (!initialized) { - param_system_id = param_find("MAV_SYS_ID"); - param_component_id = param_find("MAV_COMP_ID"); - param_system_type = param_find("MAV_TYPE"); - } - - /* update system and component id */ - int32_t system_id; - param_get(param_system_id, &system_id); - if (system_id > 0 && system_id < 255) { - mavlink_system.sysid = system_id; - } - - int32_t component_id; - param_get(param_component_id, &component_id); - if (component_id > 0 && component_id < 255) { - mavlink_system.compid = component_id; - } - - int32_t system_type; - param_get(param_system_type, &system_type); - if (system_type >= 0 && system_type < MAV_TYPE_ENUM_END) { - mavlink_system.type = system_type; - } -} - -void -get_mavlink_mode_and_state(const struct vehicle_status_s *v_status, const struct actuator_armed_s *armed, - uint8_t *mavlink_state, uint8_t *mavlink_mode) -{ - /* reset MAVLink mode bitfield */ - *mavlink_mode = 0; - - /* set mode flags independent of system state */ - if (v_status->flag_control_manual_enabled) { - *mavlink_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED; - } - - if (v_status->flag_hil_enabled) { - *mavlink_mode |= MAV_MODE_FLAG_HIL_ENABLED; - } - - /* set arming state */ - if (armed->armed) { - *mavlink_mode |= MAV_MODE_FLAG_SAFETY_ARMED; - } else { - *mavlink_mode &= ~MAV_MODE_FLAG_SAFETY_ARMED; - } - - switch (v_status->state_machine) { - case SYSTEM_STATE_PREFLIGHT: - if (v_status->flag_preflight_gyro_calibration || - v_status->flag_preflight_mag_calibration || - v_status->flag_preflight_accel_calibration) { - *mavlink_state = MAV_STATE_CALIBRATING; - } else { - *mavlink_state = MAV_STATE_UNINIT; - } - break; - - case SYSTEM_STATE_STANDBY: - *mavlink_state = MAV_STATE_STANDBY; - break; - - case SYSTEM_STATE_GROUND_READY: - *mavlink_state = MAV_STATE_ACTIVE; - break; - - case SYSTEM_STATE_MANUAL: - *mavlink_state = MAV_STATE_ACTIVE; - *mavlink_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED; - break; - - case SYSTEM_STATE_STABILIZED: - *mavlink_state = MAV_STATE_ACTIVE; - *mavlink_mode |= MAV_MODE_FLAG_STABILIZE_ENABLED; - break; - - case SYSTEM_STATE_AUTO: - *mavlink_state = MAV_STATE_ACTIVE; - *mavlink_mode |= MAV_MODE_FLAG_GUIDED_ENABLED; - break; - - case SYSTEM_STATE_MISSION_ABORT: - *mavlink_state = MAV_STATE_EMERGENCY; - break; - - case SYSTEM_STATE_EMCY_LANDING: - *mavlink_state = MAV_STATE_EMERGENCY; - break; - - case SYSTEM_STATE_EMCY_CUTOFF: - *mavlink_state = MAV_STATE_EMERGENCY; - break; - - case SYSTEM_STATE_GROUND_ERROR: - *mavlink_state = MAV_STATE_EMERGENCY; - break; - - case SYSTEM_STATE_REBOOT: - *mavlink_state = MAV_STATE_POWEROFF; - break; - } - -} - -/** - * MAVLink Protocol main function. - */ -int mavlink_thread_main(int argc, char *argv[]) -{ - int ch; - char *device_name = "/dev/ttyS1"; - baudrate = 57600; - - struct vehicle_status_s v_status; - struct actuator_armed_s armed; - - /* work around some stupidity in task_create's argv handling */ - argc -= 2; - argv += 2; - - while ((ch = getopt(argc, argv, "b:d:eo")) != EOF) { - switch (ch) { - case 'b': - baudrate = strtoul(optarg, NULL, 10); - if (baudrate == 0) - errx(1, "invalid baud rate '%s'", optarg); - break; - - case 'd': - device_name = optarg; - break; - - case 'e': - mavlink_link_termination_allowed = true; - break; - - case 'o': - mavlink_link_mode = MAVLINK_INTERFACE_MODE_ONBOARD; - break; - - default: - usage(); - } - } - - struct termios uart_config_original; - bool usb_uart; - - /* print welcome text */ - warnx("MAVLink v1.0 serial interface starting..."); - - /* inform about mode */ - warnx((mavlink_link_mode == MAVLINK_INTERFACE_MODE_ONBOARD) ? "ONBOARD MODE" : "DOWNLINK MODE"); - - /* Flush stdout in case MAVLink is about to take it over */ - fflush(stdout); - - /* default values for arguments */ - uart = mavlink_open_uart(baudrate, device_name, &uart_config_original, &usb_uart); - if (uart < 0) - err(1, "could not open %s", device_name); - - /* Initialize system properties */ - mavlink_update_system(); - - /* start the MAVLink receiver */ - receive_thread = receive_start(uart); - - thread_running = true; - - /* arm counter to go off immediately */ - unsigned lowspeed_counter = 10; - - while (!thread_should_exit) { - - /* 1 Hz */ - if (lowspeed_counter == 10) { - mavlink_update_system(); - - /* translate the current system state to mavlink state and mode */ - uint8_t mavlink_state = 0; - uint8_t mavlink_mode = 0; - get_mavlink_mode_and_state(&v_status, &armed, &mavlink_state, &mavlink_mode); - - /* send heartbeat */ - mavlink_msg_heartbeat_send(chan, mavlink_system.type, MAV_AUTOPILOT_PX4, mavlink_mode, v_status.state_machine, mavlink_state); - - /* send status (values already copied in the section above) */ - mavlink_msg_sys_status_send(chan, - v_status.onboard_control_sensors_present, - v_status.onboard_control_sensors_enabled, - v_status.onboard_control_sensors_health, - v_status.load, - v_status.voltage_battery * 1000.0f, - v_status.current_battery * 1000.0f, - v_status.battery_remaining, - v_status.drop_rate_comm, - v_status.errors_comm, - v_status.errors_count1, - v_status.errors_count2, - v_status.errors_count3, - v_status.errors_count4); - lowspeed_counter = 0; - } - lowspeed_counter++; - - /* sleep 1000 ms */ - usleep(1000000); - } - - /* wait for threads to complete */ - pthread_join(receive_thread, NULL); - - /* Reset the UART flags to original state */ - if (!usb_uart) - tcsetattr(uart, TCSANOW, &uart_config_original); - - thread_running = false; - - exit(0); -} - -static void -usage() -{ - fprintf(stderr, "usage: mavlink start [-d ] [-b ]\n" - " mavlink stop\n" - " mavlink status\n"); - exit(1); -} - -int mavlink_onboard_main(int argc, char *argv[]) -{ - - if (argc < 2) { - warnx("missing command"); - usage(); - } - - if (!strcmp(argv[1], "start")) { - - /* this is not an error */ - if (thread_running) - errx(0, "mavlink already running\n"); - - thread_should_exit = false; - mavlink_task = task_spawn("mavlink_onboard", - SCHED_DEFAULT, - SCHED_PRIORITY_DEFAULT, - 2048, - mavlink_thread_main, - (const char**)argv); - exit(0); - } - - if (!strcmp(argv[1], "stop")) { - thread_should_exit = true; - while (thread_running) { - usleep(200000); - } - warnx("terminated."); - exit(0); - } - - if (!strcmp(argv[1], "status")) { - if (thread_running) { - errx(0, "running"); - } else { - errx(1, "not running"); - } - } - - warnx("unrecognized command"); - usage(); - /* not getting here */ - return 0; -} - diff --git a/apps/mavlink_onboard/mavlink_bridge_header.h b/apps/mavlink_onboard/mavlink_bridge_header.h deleted file mode 100644 index bf7c5354c..000000000 --- a/apps/mavlink_onboard/mavlink_bridge_header.h +++ /dev/null @@ -1,81 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file mavlink_bridge_header - * MAVLink bridge header for UART access. - * - * @author Lorenz Meier - */ - -/* MAVLink adapter header */ -#ifndef MAVLINK_BRIDGE_HEADER_H -#define MAVLINK_BRIDGE_HEADER_H - -#define MAVLINK_USE_CONVENIENCE_FUNCTIONS - -/* use efficient approach, see mavlink_helpers.h */ -#define MAVLINK_SEND_UART_BYTES mavlink_send_uart_bytes - -#define MAVLINK_GET_CHANNEL_BUFFER mavlink_get_channel_buffer -#define MAVLINK_GET_CHANNEL_STATUS mavlink_get_channel_status - -#include "v1.0/mavlink_types.h" -#include - - -/* Struct that stores the communication settings of this system. - you can also define / alter these settings elsewhere, as long - as they're included BEFORE mavlink.h. - So you can set the - - mavlink_system.sysid = 100; // System ID, 1-255 - mavlink_system.compid = 50; // Component/Subsystem ID, 1-255 - - Lines also in your main.c, e.g. by reading these parameter from EEPROM. - */ -extern mavlink_system_t mavlink_system; - -/** - * @brief Send multiple chars (uint8_t) over a comm channel - * - * @param chan MAVLink channel to use, usually MAVLINK_COMM_0 = UART0 - * @param ch Character to send - */ -extern void mavlink_send_uart_bytes(mavlink_channel_t chan, uint8_t *ch, int length); - -mavlink_status_t* mavlink_get_channel_status(uint8_t chan); -mavlink_message_t* mavlink_get_channel_buffer(uint8_t chan); - -#endif /* MAVLINK_BRIDGE_HEADER_H */ diff --git a/apps/mavlink_onboard/mavlink_receiver.c b/apps/mavlink_onboard/mavlink_receiver.c deleted file mode 100644 index 0acbea675..000000000 --- a/apps/mavlink_onboard/mavlink_receiver.c +++ /dev/null @@ -1,331 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file mavlink_receiver.c - * MAVLink protocol message receive and dispatch - * - * @author Lorenz Meier - */ - -/* XXX trim includes */ -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include "mavlink_bridge_header.h" -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include - -#include "util.h" -#include "orb_topics.h" - -/* XXX should be in a header somewhere */ -pthread_t receive_start(int uart); - -static void handle_message(mavlink_message_t *msg); -static void *receive_thread(void *arg); - -static mavlink_status_t status; -static struct vehicle_vicon_position_s vicon_position; -static struct vehicle_command_s vcmd; -static struct offboard_control_setpoint_s offboard_control_sp; - -struct vehicle_global_position_s hil_global_pos; -struct vehicle_attitude_s hil_attitude; -orb_advert_t pub_hil_global_pos = -1; -orb_advert_t pub_hil_attitude = -1; - -static orb_advert_t cmd_pub = -1; -static orb_advert_t flow_pub = -1; - -static orb_advert_t offboard_control_sp_pub = -1; -static orb_advert_t vicon_position_pub = -1; - -extern bool gcs_link; - -static void -handle_message(mavlink_message_t *msg) -{ - if (msg->msgid == MAVLINK_MSG_ID_COMMAND_LONG) { - - mavlink_command_long_t cmd_mavlink; - mavlink_msg_command_long_decode(msg, &cmd_mavlink); - - if (cmd_mavlink.target_system == mavlink_system.sysid && ((cmd_mavlink.target_component == mavlink_system.compid) - || (cmd_mavlink.target_component == MAV_COMP_ID_ALL))) { - //check for MAVLINK terminate command - if (cmd_mavlink.command == MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN && ((int)cmd_mavlink.param1) == 3) { - /* This is the link shutdown command, terminate mavlink */ - printf("[mavlink] Terminating .. \n"); - fflush(stdout); - usleep(50000); - - /* terminate other threads and this thread */ - thread_should_exit = true; - - } else { - - /* Copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */ - vcmd.param1 = cmd_mavlink.param1; - vcmd.param2 = cmd_mavlink.param2; - vcmd.param3 = cmd_mavlink.param3; - vcmd.param4 = cmd_mavlink.param4; - vcmd.param5 = cmd_mavlink.param5; - vcmd.param6 = cmd_mavlink.param6; - vcmd.param7 = cmd_mavlink.param7; - vcmd.command = cmd_mavlink.command; - vcmd.target_system = cmd_mavlink.target_system; - vcmd.target_component = cmd_mavlink.target_component; - vcmd.source_system = msg->sysid; - vcmd.source_component = msg->compid; - vcmd.confirmation = cmd_mavlink.confirmation; - - /* check if topic is advertised */ - if (cmd_pub <= 0) { - cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd); - } - /* publish */ - orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd); - } - } - } - - if (msg->msgid == MAVLINK_MSG_ID_OPTICAL_FLOW) { - mavlink_optical_flow_t flow; - mavlink_msg_optical_flow_decode(msg, &flow); - - struct optical_flow_s f; - - f.timestamp = hrt_absolute_time(); - f.flow_raw_x = flow.flow_x; - f.flow_raw_y = flow.flow_y; - f.flow_comp_x_m = flow.flow_comp_m_x; - f.flow_comp_y_m = flow.flow_comp_m_y; - f.ground_distance_m = flow.ground_distance; - f.quality = flow.quality; - f.sensor_id = flow.sensor_id; - - /* check if topic is advertised */ - if (flow_pub <= 0) { - flow_pub = orb_advertise(ORB_ID(optical_flow), &f); - } else { - /* publish */ - orb_publish(ORB_ID(optical_flow), flow_pub, &f); - } - - } - - if (msg->msgid == MAVLINK_MSG_ID_SET_MODE) { - /* Set mode on request */ - mavlink_set_mode_t new_mode; - mavlink_msg_set_mode_decode(msg, &new_mode); - - /* Copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */ - vcmd.param1 = new_mode.base_mode; - vcmd.param2 = new_mode.custom_mode; - vcmd.param3 = 0; - vcmd.param4 = 0; - vcmd.param5 = 0; - vcmd.param6 = 0; - vcmd.param7 = 0; - vcmd.command = MAV_CMD_DO_SET_MODE; - vcmd.target_system = new_mode.target_system; - vcmd.target_component = MAV_COMP_ID_ALL; - vcmd.source_system = msg->sysid; - vcmd.source_component = msg->compid; - vcmd.confirmation = 1; - - /* check if topic is advertised */ - if (cmd_pub <= 0) { - cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd); - } else { - /* create command */ - orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd); - } - } - - /* Handle Vicon position estimates */ - if (msg->msgid == MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE) { - mavlink_vicon_position_estimate_t pos; - mavlink_msg_vicon_position_estimate_decode(msg, &pos); - - vicon_position.x = pos.x; - vicon_position.y = pos.y; - vicon_position.z = pos.z; - - if (vicon_position_pub <= 0) { - vicon_position_pub = orb_advertise(ORB_ID(vehicle_vicon_position), &vicon_position); - } else { - orb_publish(ORB_ID(vehicle_vicon_position), vicon_position_pub, &vicon_position); - } - } - - /* Handle quadrotor motor setpoints */ - - if (msg->msgid == MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST) { - mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t quad_motors_setpoint; - mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_decode(msg, &quad_motors_setpoint); - - if (mavlink_system.sysid < 4) { - - /* switch to a receiving link mode */ - gcs_link = false; - - /* - * rate control mode - defined by MAVLink - */ - - uint8_t ml_mode = 0; - bool ml_armed = false; - - switch (quad_motors_setpoint.mode) { - case 0: - ml_armed = false; - break; - case 1: - ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_RATES; - ml_armed = true; - - break; - case 2: - ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE; - ml_armed = true; - - break; - case 3: - ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY; - break; - case 4: - ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_POSITION; - break; - } - - offboard_control_sp.p1 = (float)quad_motors_setpoint.roll[mavlink_system.sysid-1] / (float)INT16_MAX; - offboard_control_sp.p2 = (float)quad_motors_setpoint.pitch[mavlink_system.sysid-1] / (float)INT16_MAX; - offboard_control_sp.p3= (float)quad_motors_setpoint.yaw[mavlink_system.sysid-1] / (float)INT16_MAX; - offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid-1]/(float)UINT16_MAX; - - if (quad_motors_setpoint.thrust[mavlink_system.sysid-1] == 0) { - ml_armed = false; - } - - offboard_control_sp.armed = ml_armed; - offboard_control_sp.mode = ml_mode; - - offboard_control_sp.timestamp = hrt_absolute_time(); - - /* check if topic has to be advertised */ - if (offboard_control_sp_pub <= 0) { - offboard_control_sp_pub = orb_advertise(ORB_ID(offboard_control_setpoint), &offboard_control_sp); - } else { - /* Publish */ - orb_publish(ORB_ID(offboard_control_setpoint), offboard_control_sp_pub, &offboard_control_sp); - } - } - } - -} - - -/** - * Receive data from UART. - */ -static void * -receive_thread(void *arg) -{ - int uart_fd = *((int*)arg); - - const int timeout = 1000; - uint8_t ch; - - mavlink_message_t msg; - - prctl(PR_SET_NAME, "mavlink offb rcv", getpid()); - - while (!thread_should_exit) { - - struct pollfd fds[] = { { .fd = uart_fd, .events = POLLIN } }; - - if (poll(fds, 1, timeout) > 0) { - /* non-blocking read until buffer is empty */ - int nread = 0; - - do { - nread = read(uart_fd, &ch, 1); - - if (mavlink_parse_char(chan, ch, &msg, &status)) { //parse the char - /* handle generic messages and commands */ - handle_message(&msg); - } - } while (nread > 0); - } - } - - return NULL; -} - -pthread_t -receive_start(int uart) -{ - pthread_attr_t receiveloop_attr; - pthread_attr_init(&receiveloop_attr); - - struct sched_param param; - param.sched_priority = SCHED_PRIORITY_MAX - 40; - (void)pthread_attr_setschedparam(&receiveloop_attr, ¶m); - - pthread_attr_setstacksize(&receiveloop_attr, 2048); - - pthread_t thread; - pthread_create(&thread, &receiveloop_attr, receive_thread, &uart); - return thread; -} \ No newline at end of file diff --git a/apps/mavlink_onboard/orb_topics.h b/apps/mavlink_onboard/orb_topics.h deleted file mode 100644 index f18f56243..000000000 --- a/apps/mavlink_onboard/orb_topics.h +++ /dev/null @@ -1,100 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. - * Author: @author Lorenz Meier - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file orb_topics.h - * Common sets of topics subscribed to or published by the MAVLink driver, - * and structures maintained by those subscriptions. - */ -#pragma once - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -struct mavlink_subscriptions { - int sensor_sub; - int att_sub; - int global_pos_sub; - int act_0_sub; - int act_1_sub; - int act_2_sub; - int act_3_sub; - int gps_sub; - int man_control_sp_sub; - int armed_sub; - int actuators_sub; - int local_pos_sub; - int spa_sub; - int spl_sub; - int spg_sub; - int debug_key_value; - int input_rc_sub; -}; - -extern struct mavlink_subscriptions mavlink_subs; - -/** Global position */ -extern struct vehicle_global_position_s global_pos; - -/** Local position */ -extern struct vehicle_local_position_s local_pos; - -/** Vehicle status */ -// extern struct vehicle_status_s v_status; - -/** RC channels */ -extern struct rc_channels_s rc; - -/** Actuator armed state */ -// extern struct actuator_armed_s armed; - -/** Worker thread starter */ -extern pthread_t uorb_receive_start(void); diff --git a/apps/mavlink_onboard/util.h b/apps/mavlink_onboard/util.h deleted file mode 100644 index 38a4db372..000000000 --- a/apps/mavlink_onboard/util.h +++ /dev/null @@ -1,54 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Lorenz Meier - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file util.h - * Utility and helper functions and data. - */ - -#pragma once - -#include "orb_topics.h" - -/** MAVLink communications channel */ -extern uint8_t chan; - -/** Shutdown marker */ -extern volatile bool thread_should_exit; - -/** - * Translate the custom state into standard mavlink modes and state. - */ -extern void get_mavlink_mode_and_state(const struct vehicle_status_s *v_status, const struct actuator_armed_s *armed, - uint8_t *mavlink_state, uint8_t *mavlink_mode); diff --git a/makefiles/config_px4fmu_default.mk b/makefiles/config_px4fmu_default.mk index e70079fa1..44e35bdf9 100644 --- a/makefiles/config_px4fmu_default.mk +++ b/makefiles/config_px4fmu_default.mk @@ -25,6 +25,8 @@ MODULES += systemcmds/tests # General system control # MODULES += modules/commander +MODULES += modules/mavlink +MODULES += modules/mavlink_onboard # # Estimation modules (EKF / other filters) @@ -60,8 +62,6 @@ BUILTIN_COMMANDS := \ $(call _B, hott_telemetry, , 2048, hott_telemetry_main ) \ $(call _B, kalman_demo, SCHED_PRIORITY_MAX-30, 2048, kalman_demo_main ) \ $(call _B, math_demo, , 8192, math_demo_main ) \ - $(call _B, mavlink, , 2048, mavlink_main ) \ - $(call _B, mavlink_onboard, , 2048, mavlink_onboard_main ) \ $(call _B, mixer, , 4096, mixer_main ) \ $(call _B, mpu6000, , 4096, mpu6000_main ) \ $(call _B, ms5611, , 2048, ms5611_main ) \ diff --git a/src/include/mavlink/mavlink_log.h b/src/include/mavlink/mavlink_log.h new file mode 100644 index 000000000..233a76cb3 --- /dev/null +++ b/src/include/mavlink/mavlink_log.h @@ -0,0 +1,120 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file mavlink_log.h + * MAVLink text logging. + * + * @author Lorenz Meier + */ + +#ifndef MAVLINK_LOG +#define MAVLINK_LOG + +/* + * IOCTL interface for sending log messages. + */ +#include + +/* + * The mavlink log device node; must be opened before messages + * can be logged. + */ +#define MAVLINK_LOG_DEVICE "/dev/mavlink" + +#define MAVLINK_IOC_SEND_TEXT_INFO _IOC(0x1100, 1) +#define MAVLINK_IOC_SEND_TEXT_CRITICAL _IOC(0x1100, 2) +#define MAVLINK_IOC_SEND_TEXT_EMERGENCY _IOC(0x1100, 3) + +/** + * Send a mavlink emergency message. + * + * @param _fd A file descriptor returned from open(MAVLINK_LOG_DEVICE, 0); + * @param _text The text to log; + */ +#ifdef __cplusplus +#define mavlink_log_emergency(_fd, _text) ::ioctl(_fd, MAVLINK_IOC_SEND_TEXT_EMERGENCY, (unsigned long)_text); +#else +#define mavlink_log_emergency(_fd, _text) ioctl(_fd, MAVLINK_IOC_SEND_TEXT_EMERGENCY, (unsigned long)_text); +#endif + +/** + * Send a mavlink critical message. + * + * @param _fd A file descriptor returned from open(MAVLINK_LOG_DEVICE, 0); + * @param _text The text to log; + */ +#ifdef __cplusplus +#define mavlink_log_critical(_fd, _text) ::ioctl(_fd, MAVLINK_IOC_SEND_TEXT_CRITICAL, (unsigned long)_text); +#else +#define mavlink_log_critical(_fd, _text) ioctl(_fd, MAVLINK_IOC_SEND_TEXT_CRITICAL, (unsigned long)_text); +#endif + +/** + * Send a mavlink info message. + * + * @param _fd A file descriptor returned from open(MAVLINK_LOG_DEVICE, 0); + * @param _text The text to log; + */ +#ifdef __cplusplus +#define mavlink_log_info(_fd, _text) ::ioctl(_fd, MAVLINK_IOC_SEND_TEXT_INFO, (unsigned long)_text); +#else +#define mavlink_log_info(_fd, _text) ioctl(_fd, MAVLINK_IOC_SEND_TEXT_INFO, (unsigned long)_text); +#endif + +struct mavlink_logmessage { + char text[51]; + unsigned char severity; +}; + +struct mavlink_logbuffer { + unsigned int start; + // unsigned int end; + unsigned int size; + int count; + struct mavlink_logmessage *elems; +}; + +void mavlink_logbuffer_init(struct mavlink_logbuffer *lb, int size); + +int mavlink_logbuffer_is_full(struct mavlink_logbuffer *lb); + +int mavlink_logbuffer_is_empty(struct mavlink_logbuffer *lb); + +void mavlink_logbuffer_write(struct mavlink_logbuffer *lb, const struct mavlink_logmessage *elem); + +int mavlink_logbuffer_read(struct mavlink_logbuffer *lb, struct mavlink_logmessage *elem); + +#endif + diff --git a/src/modules/mavlink/.gitignore b/src/modules/mavlink/.gitignore new file mode 100644 index 000000000..a02827195 --- /dev/null +++ b/src/modules/mavlink/.gitignore @@ -0,0 +1,3 @@ +include +mavlink-* +pymavlink-* diff --git a/src/modules/mavlink/mavlink.c b/src/modules/mavlink/mavlink.c new file mode 100644 index 000000000..de78cd139 --- /dev/null +++ b/src/modules/mavlink/mavlink.c @@ -0,0 +1,825 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file mavlink.c + * MAVLink 1.0 protocol implementation. + * + * @author Lorenz Meier + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "mavlink_bridge_header.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +#include "waypoints.h" +#include "orb_topics.h" +#include "missionlib.h" +#include "mavlink_hil.h" +#include "util.h" +#include "waypoints.h" +#include "mavlink_parameters.h" + +/* define MAVLink specific parameters */ +PARAM_DEFINE_INT32(MAV_SYS_ID, 1); +PARAM_DEFINE_INT32(MAV_COMP_ID, 50); +PARAM_DEFINE_INT32(MAV_TYPE, MAV_TYPE_FIXED_WING); + +__EXPORT int mavlink_main(int argc, char *argv[]); + +static int mavlink_thread_main(int argc, char *argv[]); + +/* thread state */ +volatile bool thread_should_exit = false; +static volatile bool thread_running = false; +static int mavlink_task; + +/* pthreads */ +static pthread_t receive_thread; +static pthread_t uorb_receive_thread; + +/* terminate MAVLink on user request - disabled by default */ +static bool mavlink_link_termination_allowed = false; + +mavlink_system_t mavlink_system = { + 100, + 50, + MAV_TYPE_FIXED_WING, + 0, + 0, + 0 +}; // System ID, 1-255, Component/Subsystem ID, 1-255 + +/* XXX not widely used */ +uint8_t chan = MAVLINK_COMM_0; + +/* XXX probably should be in a header... */ +extern pthread_t receive_start(int uart); + +/* Allocate storage space for waypoints */ +static mavlink_wpm_storage wpm_s; +mavlink_wpm_storage *wpm = &wpm_s; + +bool mavlink_hil_enabled = false; + +/* protocol interface */ +static int uart; +static int baudrate; +bool gcs_link = true; + +/* interface mode */ +static enum { + MAVLINK_INTERFACE_MODE_OFFBOARD, + MAVLINK_INTERFACE_MODE_ONBOARD +} mavlink_link_mode = MAVLINK_INTERFACE_MODE_OFFBOARD; + +static struct mavlink_logbuffer lb; + +static void mavlink_update_system(void); +static int mavlink_open_uart(int baudrate, const char *uart_name, struct termios *uart_config_original, bool *is_usb); +static void usage(void); +int set_mavlink_interval_limit(struct mavlink_subscriptions *subs, int mavlink_msg_id, int min_interval); + + + +int +set_hil_on_off(bool hil_enabled) +{ + int ret = OK; + + /* Enable HIL */ + if (hil_enabled && !mavlink_hil_enabled) { + + /* Advertise topics */ + pub_hil_attitude = orb_advertise(ORB_ID(vehicle_attitude), &hil_attitude); + pub_hil_global_pos = orb_advertise(ORB_ID(vehicle_global_position), &hil_global_pos); + + /* sensore level hil */ + pub_hil_sensors = orb_advertise(ORB_ID(sensor_combined), &hil_sensors); + pub_hil_gps = orb_advertise(ORB_ID(vehicle_gps_position), &hil_gps); + + mavlink_hil_enabled = true; + + /* ramp up some HIL-related subscriptions */ + unsigned hil_rate_interval; + + if (baudrate < 19200) { + /* 10 Hz */ + hil_rate_interval = 100; + + } else if (baudrate < 38400) { + /* 10 Hz */ + hil_rate_interval = 100; + + } else if (baudrate < 115200) { + /* 20 Hz */ + hil_rate_interval = 50; + + } else { + /* 200 Hz */ + hil_rate_interval = 5; + } + + orb_set_interval(mavlink_subs.spa_sub, hil_rate_interval); + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, hil_rate_interval); + } + + if (!hil_enabled && mavlink_hil_enabled) { + mavlink_hil_enabled = false; + orb_set_interval(mavlink_subs.spa_sub, 200); + + } else { + ret = ERROR; + } + + return ret; +} + +void +get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_mode) +{ + /* reset MAVLink mode bitfield */ + *mavlink_mode = 0; + + /* set mode flags independent of system state */ + + /* HIL */ + if (v_status.flag_hil_enabled) { + *mavlink_mode |= MAV_MODE_FLAG_HIL_ENABLED; + } + + /* manual input */ + if (v_status.flag_control_manual_enabled) { + *mavlink_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED; + } + + /* attitude or rate control */ + if (v_status.flag_control_attitude_enabled || + v_status.flag_control_rates_enabled) { + *mavlink_mode |= MAV_MODE_FLAG_STABILIZE_ENABLED; + } + + /* vector control */ + if (v_status.flag_control_velocity_enabled || + v_status.flag_control_position_enabled) { + *mavlink_mode |= MAV_MODE_FLAG_GUIDED_ENABLED; + } + + /* autonomous mode */ + if (v_status.state_machine == SYSTEM_STATE_AUTO) { + *mavlink_mode |= MAV_MODE_FLAG_AUTO_ENABLED; + } + + /* set arming state */ + if (armed.armed) { + *mavlink_mode |= MAV_MODE_FLAG_SAFETY_ARMED; + + } else { + *mavlink_mode &= ~MAV_MODE_FLAG_SAFETY_ARMED; + } + + switch (v_status.state_machine) { + case SYSTEM_STATE_PREFLIGHT: + if (v_status.flag_preflight_gyro_calibration || + v_status.flag_preflight_mag_calibration || + v_status.flag_preflight_accel_calibration) { + *mavlink_state = MAV_STATE_CALIBRATING; + + } else { + *mavlink_state = MAV_STATE_UNINIT; + } + + break; + + case SYSTEM_STATE_STANDBY: + *mavlink_state = MAV_STATE_STANDBY; + break; + + case SYSTEM_STATE_GROUND_READY: + *mavlink_state = MAV_STATE_ACTIVE; + break; + + case SYSTEM_STATE_MANUAL: + *mavlink_state = MAV_STATE_ACTIVE; + break; + + case SYSTEM_STATE_STABILIZED: + *mavlink_state = MAV_STATE_ACTIVE; + break; + + case SYSTEM_STATE_AUTO: + *mavlink_state = MAV_STATE_ACTIVE; + break; + + case SYSTEM_STATE_MISSION_ABORT: + *mavlink_state = MAV_STATE_EMERGENCY; + break; + + case SYSTEM_STATE_EMCY_LANDING: + *mavlink_state = MAV_STATE_EMERGENCY; + break; + + case SYSTEM_STATE_EMCY_CUTOFF: + *mavlink_state = MAV_STATE_EMERGENCY; + break; + + case SYSTEM_STATE_GROUND_ERROR: + *mavlink_state = MAV_STATE_EMERGENCY; + break; + + case SYSTEM_STATE_REBOOT: + *mavlink_state = MAV_STATE_POWEROFF; + break; + } + +} + + +int set_mavlink_interval_limit(struct mavlink_subscriptions *subs, int mavlink_msg_id, int min_interval) +{ + int ret = OK; + + switch (mavlink_msg_id) { + case MAVLINK_MSG_ID_SCALED_IMU: + /* sensor sub triggers scaled IMU */ + orb_set_interval(subs->sensor_sub, min_interval); + break; + + case MAVLINK_MSG_ID_HIGHRES_IMU: + /* sensor sub triggers highres IMU */ + orb_set_interval(subs->sensor_sub, min_interval); + break; + + case MAVLINK_MSG_ID_RAW_IMU: + /* sensor sub triggers RAW IMU */ + orb_set_interval(subs->sensor_sub, min_interval); + break; + + case MAVLINK_MSG_ID_ATTITUDE: + /* attitude sub triggers attitude */ + orb_set_interval(subs->att_sub, min_interval); + break; + + case MAVLINK_MSG_ID_SERVO_OUTPUT_RAW: + /* actuator_outputs triggers this message */ + orb_set_interval(subs->act_0_sub, min_interval); + orb_set_interval(subs->act_1_sub, min_interval); + orb_set_interval(subs->act_2_sub, min_interval); + orb_set_interval(subs->act_3_sub, min_interval); + orb_set_interval(subs->actuators_sub, min_interval); + break; + + case MAVLINK_MSG_ID_MANUAL_CONTROL: + /* manual_control_setpoint triggers this message */ + orb_set_interval(subs->man_control_sp_sub, min_interval); + break; + + case MAVLINK_MSG_ID_NAMED_VALUE_FLOAT: + orb_set_interval(subs->debug_key_value, min_interval); + break; + + default: + /* not found */ + ret = ERROR; + break; + } + + return ret; +} + + +/**************************************************************************** + * MAVLink text message logger + ****************************************************************************/ + +static int mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg); + +static const struct file_operations mavlink_fops = { + .ioctl = mavlink_dev_ioctl +}; + +static int +mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg) +{ + static unsigned int total_counter = 0; + + switch (cmd) { + case (int)MAVLINK_IOC_SEND_TEXT_INFO: + case (int)MAVLINK_IOC_SEND_TEXT_CRITICAL: + case (int)MAVLINK_IOC_SEND_TEXT_EMERGENCY: { + const char *txt = (const char *)arg; + struct mavlink_logmessage msg; + strncpy(msg.text, txt, sizeof(msg.text)); + mavlink_logbuffer_write(&lb, &msg); + total_counter++; + return OK; + } + + default: + return ENOTTY; + } +} + +#define MAVLINK_OFFBOARD_CONTROL_FLAG_ARMED 0x10 + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_config_original, bool *is_usb) +{ + /* process baud rate */ + int speed; + + switch (baud) { + case 0: speed = B0; break; + + case 50: speed = B50; break; + + case 75: speed = B75; break; + + case 110: speed = B110; break; + + case 134: speed = B134; break; + + case 150: speed = B150; break; + + case 200: speed = B200; break; + + case 300: speed = B300; break; + + case 600: speed = B600; break; + + case 1200: speed = B1200; break; + + case 1800: speed = B1800; break; + + case 2400: speed = B2400; break; + + case 4800: speed = B4800; break; + + case 9600: speed = B9600; break; + + case 19200: speed = B19200; break; + + case 38400: speed = B38400; break; + + case 57600: speed = B57600; break; + + case 115200: speed = B115200; break; + + case 230400: speed = B230400; break; + + case 460800: speed = B460800; break; + + case 921600: speed = B921600; break; + + default: + fprintf(stderr, "[mavlink] ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\n\t9600\n19200\n38400\n57600\n115200\n230400\n460800\n921600\n\n", baud); + return -EINVAL; + } + + /* open uart */ + printf("[mavlink] UART is %s, baudrate is %d\n", uart_name, baud); + uart = open(uart_name, O_RDWR | O_NOCTTY); + + /* Try to set baud rate */ + struct termios uart_config; + int termios_state; + *is_usb = false; + + /* make some wild guesses including that USB serial is indicated by either /dev/ttyACM0 or /dev/console */ + if (strcmp(uart_name, "/dev/ttyACM0") != OK && strcmp(uart_name, "/dev/console") != OK) { + /* Back up the original uart configuration to restore it after exit */ + if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) { + fprintf(stderr, "[mavlink] ERROR getting baudrate / termios config for %s: %d\n", uart_name, termios_state); + close(uart); + return -1; + } + + /* Fill the struct for the new configuration */ + tcgetattr(uart, &uart_config); + + /* Clear ONLCR flag (which appends a CR for every LF) */ + uart_config.c_oflag &= ~ONLCR; + + /* Set baud rate */ + if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) { + fprintf(stderr, "[mavlink] ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state); + close(uart); + return -1; + } + + + if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) { + fprintf(stderr, "[mavlink] ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name); + close(uart); + return -1; + } + + } else { + *is_usb = true; + } + + return uart; +} + +void +mavlink_send_uart_bytes(mavlink_channel_t channel, uint8_t *ch, int length) +{ + write(uart, ch, (size_t)(sizeof(uint8_t) * length)); +} + +/* + * Internal function to give access to the channel status for each channel + */ +mavlink_status_t *mavlink_get_channel_status(uint8_t channel) +{ + static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS]; + return &m_mavlink_status[channel]; +} + +/* + * Internal function to give access to the channel buffer for each channel + */ +mavlink_message_t *mavlink_get_channel_buffer(uint8_t channel) +{ + static mavlink_message_t m_mavlink_buffer[MAVLINK_COMM_NUM_BUFFERS]; + return &m_mavlink_buffer[channel]; +} + +void mavlink_update_system(void) +{ + static bool initialized = false; + static param_t param_system_id; + static param_t param_component_id; + static param_t param_system_type; + + if (!initialized) { + param_system_id = param_find("MAV_SYS_ID"); + param_component_id = param_find("MAV_COMP_ID"); + param_system_type = param_find("MAV_TYPE"); + initialized = true; + } + + /* update system and component id */ + int32_t system_id; + param_get(param_system_id, &system_id); + + if (system_id > 0 && system_id < 255) { + mavlink_system.sysid = system_id; + } + + int32_t component_id; + param_get(param_component_id, &component_id); + + if (component_id > 0 && component_id < 255) { + mavlink_system.compid = component_id; + } + + int32_t system_type; + param_get(param_system_type, &system_type); + + if (system_type >= 0 && system_type < MAV_TYPE_ENUM_END) { + mavlink_system.type = system_type; + } +} + +/** + * MAVLink Protocol main function. + */ +int mavlink_thread_main(int argc, char *argv[]) +{ + /* initialize mavlink text message buffering */ + mavlink_logbuffer_init(&lb, 5); + + int ch; + char *device_name = "/dev/ttyS1"; + baudrate = 57600; + + /* work around some stupidity in task_create's argv handling */ + argc -= 2; + argv += 2; + + while ((ch = getopt(argc, argv, "b:d:eo")) != EOF) { + switch (ch) { + case 'b': + baudrate = strtoul(optarg, NULL, 10); + + if (baudrate == 0) + errx(1, "invalid baud rate '%s'", optarg); + + break; + + case 'd': + device_name = optarg; + break; + + case 'e': + mavlink_link_termination_allowed = true; + break; + + case 'o': + mavlink_link_mode = MAVLINK_INTERFACE_MODE_ONBOARD; + break; + + default: + usage(); + } + } + + struct termios uart_config_original; + + bool usb_uart; + + /* print welcome text */ + warnx("MAVLink v1.0 serial interface starting..."); + + /* inform about mode */ + warnx((mavlink_link_mode == MAVLINK_INTERFACE_MODE_ONBOARD) ? "ONBOARD MODE" : "DOWNLINK MODE"); + + /* Flush stdout in case MAVLink is about to take it over */ + fflush(stdout); + + /* default values for arguments */ + uart = mavlink_open_uart(baudrate, device_name, &uart_config_original, &usb_uart); + + if (uart < 0) + err(1, "could not open %s", device_name); + + /* create the device node that's used for sending text log messages, etc. */ + register_driver(MAVLINK_LOG_DEVICE, &mavlink_fops, 0666, NULL); + + /* Initialize system properties */ + mavlink_update_system(); + + /* start the MAVLink receiver */ + receive_thread = receive_start(uart); + + /* start the ORB receiver */ + uorb_receive_thread = uorb_receive_start(); + + /* initialize waypoint manager */ + mavlink_wpm_init(wpm); + + /* all subscriptions are now active, set up initial guess about rate limits */ + if (baudrate >= 230400) { + /* 200 Hz / 5 ms */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 20); + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 20); + /* 50 Hz / 20 ms */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 30); + /* 20 Hz / 50 ms */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 10); + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 50); + /* 10 Hz */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_GPS_RAW_INT, 100); + /* 10 Hz */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 100); + + } else if (baudrate >= 115200) { + /* 20 Hz / 50 ms */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 50); + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 50); + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 50); + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 50); + /* 5 Hz / 200 ms */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 200); + /* 5 Hz / 200 ms */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_GPS_RAW_INT, 200); + /* 2 Hz */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 500); + + } else if (baudrate >= 57600) { + /* 10 Hz / 100 ms */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 300); + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 300); + /* 10 Hz / 100 ms ATTITUDE */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 200); + /* 5 Hz / 200 ms */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 200); + /* 5 Hz / 200 ms */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 500); + /* 2 Hz */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 500); + /* 2 Hz */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_GPS_RAW_INT, 500); + + } else { + /* very low baud rate, limit to 1 Hz / 1000 ms */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 1000); + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 1000); + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 1000); + /* 1 Hz / 1000 ms */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 1000); + /* 0.5 Hz */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 2000); + /* 0.1 Hz */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 10000); + } + + thread_running = true; + + /* arm counter to go off immediately */ + unsigned lowspeed_counter = 10; + + while (!thread_should_exit) { + + /* 1 Hz */ + if (lowspeed_counter == 10) { + mavlink_update_system(); + + /* translate the current system state to mavlink state and mode */ + uint8_t mavlink_state = 0; + uint8_t mavlink_mode = 0; + get_mavlink_mode_and_state(&mavlink_state, &mavlink_mode); + + /* send heartbeat */ + mavlink_msg_heartbeat_send(chan, mavlink_system.type, MAV_AUTOPILOT_PX4, mavlink_mode, v_status.state_machine, mavlink_state); + + /* switch HIL mode if required */ + set_hil_on_off(v_status.flag_hil_enabled); + + /* send status (values already copied in the section above) */ + mavlink_msg_sys_status_send(chan, + v_status.onboard_control_sensors_present, + v_status.onboard_control_sensors_enabled, + v_status.onboard_control_sensors_health, + v_status.load, + v_status.voltage_battery * 1000.0f, + v_status.current_battery * 1000.0f, + v_status.battery_remaining, + v_status.drop_rate_comm, + v_status.errors_comm, + v_status.errors_count1, + v_status.errors_count2, + v_status.errors_count3, + v_status.errors_count4); + lowspeed_counter = 0; + } + + lowspeed_counter++; + + /* sleep quarter the time */ + usleep(25000); + + /* check if waypoint has been reached against the last positions */ + mavlink_waypoint_eventloop(mavlink_missionlib_get_system_timestamp(), &global_pos, &local_pos); + + /* sleep quarter the time */ + usleep(25000); + + /* send parameters at 20 Hz (if queued for sending) */ + mavlink_pm_queued_send(); + + /* sleep quarter the time */ + usleep(25000); + + if (baudrate > 57600) { + mavlink_pm_queued_send(); + } + + /* sleep 10 ms */ + usleep(10000); + + /* send one string at 10 Hz */ + if (!mavlink_logbuffer_is_empty(&lb)) { + struct mavlink_logmessage msg; + int lb_ret = mavlink_logbuffer_read(&lb, &msg); + + if (lb_ret == OK) { + mavlink_missionlib_send_gcs_string(msg.text); + } + } + + /* sleep 15 ms */ + usleep(15000); + } + + /* wait for threads to complete */ + pthread_join(receive_thread, NULL); + pthread_join(uorb_receive_thread, NULL); + + /* Reset the UART flags to original state */ + if (!usb_uart) + tcsetattr(uart, TCSANOW, &uart_config_original); + + thread_running = false; + + exit(0); +} + +static void +usage() +{ + fprintf(stderr, "usage: mavlink start [-d ] [-b ]\n" + " mavlink stop\n" + " mavlink status\n"); + exit(1); +} + +int mavlink_main(int argc, char *argv[]) +{ + + if (argc < 2) { + warnx("missing command"); + usage(); + } + + if (!strcmp(argv[1], "start")) { + + /* this is not an error */ + if (thread_running) + errx(0, "mavlink already running\n"); + + thread_should_exit = false; + mavlink_task = task_spawn("mavlink", + SCHED_DEFAULT, + SCHED_PRIORITY_DEFAULT, + 2048, + mavlink_thread_main, + (const char **)argv); + exit(0); + } + + if (!strcmp(argv[1], "stop")) { + thread_should_exit = true; + + while (thread_running) { + usleep(200000); + printf("."); + } + + warnx("terminated."); + exit(0); + } + + if (!strcmp(argv[1], "status")) { + if (thread_running) { + errx(0, "running"); + + } else { + errx(1, "not running"); + } + } + + warnx("unrecognized command"); + usage(); + /* not getting here */ + return 0; +} + diff --git a/src/modules/mavlink/mavlink_bridge_header.h b/src/modules/mavlink/mavlink_bridge_header.h new file mode 100644 index 000000000..0010bb341 --- /dev/null +++ b/src/modules/mavlink/mavlink_bridge_header.h @@ -0,0 +1,81 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file mavlink_bridge_header + * MAVLink bridge header for UART access. + * + * @author Lorenz Meier + */ + +/* MAVLink adapter header */ +#ifndef MAVLINK_BRIDGE_HEADER_H +#define MAVLINK_BRIDGE_HEADER_H + +#define MAVLINK_USE_CONVENIENCE_FUNCTIONS + +/* use efficient approach, see mavlink_helpers.h */ +#define MAVLINK_SEND_UART_BYTES mavlink_send_uart_bytes + +#define MAVLINK_GET_CHANNEL_BUFFER mavlink_get_channel_buffer +#define MAVLINK_GET_CHANNEL_STATUS mavlink_get_channel_status + +#include +#include + + +/* Struct that stores the communication settings of this system. + you can also define / alter these settings elsewhere, as long + as they're included BEFORE mavlink.h. + So you can set the + + mavlink_system.sysid = 100; // System ID, 1-255 + mavlink_system.compid = 50; // Component/Subsystem ID, 1-255 + + Lines also in your main.c, e.g. by reading these parameter from EEPROM. + */ +extern mavlink_system_t mavlink_system; + +/** + * @brief Send multiple chars (uint8_t) over a comm channel + * + * @param chan MAVLink channel to use, usually MAVLINK_COMM_0 = UART0 + * @param ch Character to send + */ +extern void mavlink_send_uart_bytes(mavlink_channel_t chan, uint8_t *ch, int length); + +mavlink_status_t *mavlink_get_channel_status(uint8_t chan); +mavlink_message_t *mavlink_get_channel_buffer(uint8_t chan); + +#endif /* MAVLINK_BRIDGE_HEADER_H */ diff --git a/src/modules/mavlink/mavlink_hil.h b/src/modules/mavlink/mavlink_hil.h new file mode 100644 index 000000000..8c7a5b514 --- /dev/null +++ b/src/modules/mavlink/mavlink_hil.h @@ -0,0 +1,61 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @author Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file mavlink_hil.h + * Hardware-in-the-loop simulation support. + */ + +#pragma once + +extern bool mavlink_hil_enabled; + +extern struct vehicle_global_position_s hil_global_pos; +extern struct vehicle_attitude_s hil_attitude; +extern struct sensor_combined_s hil_sensors; +extern struct vehicle_gps_position_s hil_gps; +extern orb_advert_t pub_hil_global_pos; +extern orb_advert_t pub_hil_attitude; +extern orb_advert_t pub_hil_sensors; +extern orb_advert_t pub_hil_gps; + +/** + * Enable / disable Hardware in the Loop simulation mode. + * + * @param hil_enabled The new HIL enable/disable state. + * @return OK if the HIL state changed, ERROR if the + * requested change could not be made or was + * redundant. + */ +extern int set_hil_on_off(bool hil_enabled); diff --git a/src/modules/mavlink/mavlink_log.c b/src/modules/mavlink/mavlink_log.c new file mode 100644 index 000000000..fa974dc0b --- /dev/null +++ b/src/modules/mavlink/mavlink_log.c @@ -0,0 +1,89 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file mavlink_log.c + * MAVLink text logging. + * + * @author Lorenz Meier + */ + +#include +#include + +#include + +void mavlink_logbuffer_init(struct mavlink_logbuffer *lb, int size) +{ + lb->size = size; + lb->start = 0; + lb->count = 0; + lb->elems = (struct mavlink_logmessage *)calloc(lb->size, sizeof(struct mavlink_logmessage)); +} + +int mavlink_logbuffer_is_full(struct mavlink_logbuffer *lb) +{ + return lb->count == (int)lb->size; +} + +int mavlink_logbuffer_is_empty(struct mavlink_logbuffer *lb) +{ + return lb->count == 0; +} + +void mavlink_logbuffer_write(struct mavlink_logbuffer *lb, const struct mavlink_logmessage *elem) +{ + int end = (lb->start + lb->count) % lb->size; + memcpy(&(lb->elems[end]), elem, sizeof(struct mavlink_logmessage)); + + if (mavlink_logbuffer_is_full(lb)) { + lb->start = (lb->start + 1) % lb->size; /* full, overwrite */ + + } else { + ++lb->count; + } +} + +int mavlink_logbuffer_read(struct mavlink_logbuffer *lb, struct mavlink_logmessage *elem) +{ + if (!mavlink_logbuffer_is_empty(lb)) { + memcpy(elem, &(lb->elems[lb->start]), sizeof(struct mavlink_logmessage)); + lb->start = (lb->start + 1) % lb->size; + --lb->count; + return 0; + + } else { + return 1; + } +} diff --git a/src/modules/mavlink/mavlink_parameters.c b/src/modules/mavlink/mavlink_parameters.c new file mode 100644 index 000000000..819f3441b --- /dev/null +++ b/src/modules/mavlink/mavlink_parameters.c @@ -0,0 +1,231 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file mavlink_parameters.c + * MAVLink parameter protocol implementation (BSD-relicensed). + * + * @author Lorenz Meier + */ + +#include "mavlink_bridge_header.h" +#include +#include "mavlink_parameters.h" +#include +#include "math.h" /* isinf / isnan checks */ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +extern mavlink_system_t mavlink_system; + +extern int mavlink_missionlib_send_message(mavlink_message_t *msg); +extern int mavlink_missionlib_send_gcs_string(const char *string); + +/** + * If the queue index is not at 0, the queue sending + * logic will send parameters from the current index + * to len - 1, the end of the param list. + */ +static unsigned int mavlink_param_queue_index = 0; + +/** + * Callback for param interface. + */ +void mavlink_pm_callback(void *arg, param_t param); + +void mavlink_pm_callback(void *arg, param_t param) +{ + mavlink_pm_send_param(param); + usleep(*(unsigned int *)arg); +} + +void mavlink_pm_send_all_params(unsigned int delay) +{ + unsigned int dbuf = delay; + param_foreach(&mavlink_pm_callback, &dbuf, false); +} + +int mavlink_pm_queued_send() +{ + if (mavlink_param_queue_index < param_count()) { + mavlink_pm_send_param(param_for_index(mavlink_param_queue_index)); + mavlink_param_queue_index++; + return 0; + + } else { + return 1; + } +} + +void mavlink_pm_start_queued_send() +{ + mavlink_param_queue_index = 0; +} + +int mavlink_pm_send_param_for_index(uint16_t index) +{ + return mavlink_pm_send_param(param_for_index(index)); +} + +int mavlink_pm_send_param_for_name(const char *name) +{ + return mavlink_pm_send_param(param_find(name)); +} + +int mavlink_pm_send_param(param_t param) +{ + if (param == PARAM_INVALID) return 1; + + /* buffers for param transmission */ + static char name_buf[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN]; + float val_buf; + static mavlink_message_t tx_msg; + + /* query parameter type */ + param_type_t type = param_type(param); + /* copy parameter name */ + strncpy((char *)name_buf, param_name(param), MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN); + + /* + * Map onboard parameter type to MAVLink type, + * endianess matches (both little endian) + */ + uint8_t mavlink_type; + + if (type == PARAM_TYPE_INT32) { + mavlink_type = MAVLINK_TYPE_INT32_T; + + } else if (type == PARAM_TYPE_FLOAT) { + mavlink_type = MAVLINK_TYPE_FLOAT; + + } else { + mavlink_type = MAVLINK_TYPE_FLOAT; + } + + /* + * get param value, since MAVLink encodes float and int params in the same + * space during transmission, copy param onto float val_buf + */ + + int ret; + + if ((ret = param_get(param, &val_buf)) != OK) { + return ret; + } + + mavlink_msg_param_value_pack_chan(mavlink_system.sysid, + mavlink_system.compid, + MAVLINK_COMM_0, + &tx_msg, + name_buf, + val_buf, + mavlink_type, + param_count(), + param_get_index(param)); + ret = mavlink_missionlib_send_message(&tx_msg); + return ret; +} + +void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t *msg) +{ + switch (msg->msgid) { + case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: { + /* Start sending parameters */ + mavlink_pm_start_queued_send(); + mavlink_missionlib_send_gcs_string("[mavlink pm] sending list"); + } break; + + case MAVLINK_MSG_ID_PARAM_SET: { + + /* Handle parameter setting */ + + if (msg->msgid == MAVLINK_MSG_ID_PARAM_SET) { + mavlink_param_set_t mavlink_param_set; + mavlink_msg_param_set_decode(msg, &mavlink_param_set); + + if (mavlink_param_set.target_system == mavlink_system.sysid && ((mavlink_param_set.target_component == mavlink_system.compid) || (mavlink_param_set.target_component == MAV_COMP_ID_ALL))) { + /* local name buffer to enforce null-terminated string */ + char name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN + 1]; + strncpy(name, mavlink_param_set.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN); + /* enforce null termination */ + name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN] = '\0'; + /* attempt to find parameter, set and send it */ + param_t param = param_find(name); + + if (param == PARAM_INVALID) { + char buf[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN]; + sprintf(buf, "[mavlink pm] unknown: %s", name); + mavlink_missionlib_send_gcs_string(buf); + + } else { + /* set and send parameter */ + param_set(param, &(mavlink_param_set.param_value)); + mavlink_pm_send_param(param); + } + } + } + } break; + + case MAVLINK_MSG_ID_PARAM_REQUEST_READ: { + mavlink_param_request_read_t mavlink_param_request_read; + mavlink_msg_param_request_read_decode(msg, &mavlink_param_request_read); + + if (mavlink_param_request_read.target_system == mavlink_system.sysid && ((mavlink_param_request_read.target_component == mavlink_system.compid) || (mavlink_param_request_read.target_component == MAV_COMP_ID_ALL))) { + /* when no index is given, loop through string ids and compare them */ + if (mavlink_param_request_read.param_index == -1) { + /* local name buffer to enforce null-terminated string */ + char name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN + 1]; + strncpy(name, mavlink_param_request_read.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN); + /* enforce null termination */ + name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN] = '\0'; + /* attempt to find parameter and send it */ + mavlink_pm_send_param_for_name(name); + + } else { + /* when index is >= 0, send this parameter again */ + mavlink_pm_send_param_for_index(mavlink_param_request_read.param_index); + } + } + + } break; + } +} diff --git a/src/modules/mavlink/mavlink_parameters.h b/src/modules/mavlink/mavlink_parameters.h new file mode 100644 index 000000000..b1e38bcc8 --- /dev/null +++ b/src/modules/mavlink/mavlink_parameters.h @@ -0,0 +1,104 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file mavlink_parameters.h + * MAVLink parameter protocol definitions (BSD-relicensed). + * + * @author Lorenz Meier + */ + +/* This assumes you have the mavlink headers on your include path + or in the same folder as this source file */ + + +#include +#include +#include + +/** + * Handle parameter related messages. + */ +void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t *msg); + +/** + * Send all parameters at once. + * + * This function blocks until all parameters have been sent. + * it delays each parameter by the passed amount of microseconds. + * + * @param delay The delay in us between sending all parameters. + */ +void mavlink_pm_send_all_params(unsigned int delay); + +/** + * Send one parameter. + * + * @param param The parameter id to send. + * @return zero on success, nonzero on failure. + */ +int mavlink_pm_send_param(param_t param); + +/** + * Send one parameter identified by index. + * + * @param index The index of the parameter to send. + * @return zero on success, nonzero else. + */ +int mavlink_pm_send_param_for_index(uint16_t index); + +/** + * Send one parameter identified by name. + * + * @param name The index of the parameter to send. + * @return zero on success, nonzero else. + */ +int mavlink_pm_send_param_for_name(const char *name); + +/** + * Send a queue of parameters, one parameter per function call. + * + * @return zero on success, nonzero on failure + */ +int mavlink_pm_queued_send(void); + +/** + * Start sending the parameter queue. + * + * This function will not directly send parameters, but instead + * activate the sending of one parameter on each call of + * mavlink_pm_queued_send(). + * @see mavlink_pm_queued_send() + */ +void mavlink_pm_start_queued_send(void); diff --git a/src/modules/mavlink/mavlink_receiver.c b/src/modules/mavlink/mavlink_receiver.c new file mode 100644 index 000000000..e62e4dcc4 --- /dev/null +++ b/src/modules/mavlink/mavlink_receiver.c @@ -0,0 +1,718 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file mavlink_receiver.c + * MAVLink protocol message receive and dispatch + * + * @author Lorenz Meier + */ + +/* XXX trim includes */ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "mavlink_bridge_header.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#include "waypoints.h" +#include "orb_topics.h" +#include "missionlib.h" +#include "mavlink_hil.h" +#include "mavlink_parameters.h" +#include "util.h" + +/* XXX should be in a header somewhere */ +pthread_t receive_start(int uart); + +static void handle_message(mavlink_message_t *msg); +static void *receive_thread(void *arg); + +static mavlink_status_t status; +static struct vehicle_vicon_position_s vicon_position; +static struct vehicle_command_s vcmd; +static struct offboard_control_setpoint_s offboard_control_sp; + +struct vehicle_global_position_s hil_global_pos; +struct vehicle_attitude_s hil_attitude; +struct vehicle_gps_position_s hil_gps; +struct sensor_combined_s hil_sensors; +orb_advert_t pub_hil_global_pos = -1; +orb_advert_t pub_hil_attitude = -1; +orb_advert_t pub_hil_gps = -1; +orb_advert_t pub_hil_sensors = -1; + +static orb_advert_t cmd_pub = -1; +static orb_advert_t flow_pub = -1; + +static orb_advert_t offboard_control_sp_pub = -1; +static orb_advert_t vicon_position_pub = -1; + +extern bool gcs_link; + +static void +handle_message(mavlink_message_t *msg) +{ + if (msg->msgid == MAVLINK_MSG_ID_COMMAND_LONG) { + + mavlink_command_long_t cmd_mavlink; + mavlink_msg_command_long_decode(msg, &cmd_mavlink); + + if (cmd_mavlink.target_system == mavlink_system.sysid && ((cmd_mavlink.target_component == mavlink_system.compid) + || (cmd_mavlink.target_component == MAV_COMP_ID_ALL))) { + //check for MAVLINK terminate command + if (cmd_mavlink.command == MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN && ((int)cmd_mavlink.param1) == 3) { + /* This is the link shutdown command, terminate mavlink */ + printf("[mavlink] Terminating .. \n"); + fflush(stdout); + usleep(50000); + + /* terminate other threads and this thread */ + thread_should_exit = true; + + } else { + + /* Copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */ + vcmd.param1 = cmd_mavlink.param1; + vcmd.param2 = cmd_mavlink.param2; + vcmd.param3 = cmd_mavlink.param3; + vcmd.param4 = cmd_mavlink.param4; + vcmd.param5 = cmd_mavlink.param5; + vcmd.param6 = cmd_mavlink.param6; + vcmd.param7 = cmd_mavlink.param7; + vcmd.command = cmd_mavlink.command; + vcmd.target_system = cmd_mavlink.target_system; + vcmd.target_component = cmd_mavlink.target_component; + vcmd.source_system = msg->sysid; + vcmd.source_component = msg->compid; + vcmd.confirmation = cmd_mavlink.confirmation; + + /* check if topic is advertised */ + if (cmd_pub <= 0) { + cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd); + } + + /* publish */ + orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd); + } + } + } + + if (msg->msgid == MAVLINK_MSG_ID_OPTICAL_FLOW) { + mavlink_optical_flow_t flow; + mavlink_msg_optical_flow_decode(msg, &flow); + + struct optical_flow_s f; + + f.timestamp = flow.time_usec; + f.flow_raw_x = flow.flow_x; + f.flow_raw_y = flow.flow_y; + f.flow_comp_x_m = flow.flow_comp_m_x; + f.flow_comp_y_m = flow.flow_comp_m_y; + f.ground_distance_m = flow.ground_distance; + f.quality = flow.quality; + f.sensor_id = flow.sensor_id; + + /* check if topic is advertised */ + if (flow_pub <= 0) { + flow_pub = orb_advertise(ORB_ID(optical_flow), &f); + + } else { + /* publish */ + orb_publish(ORB_ID(optical_flow), flow_pub, &f); + } + } + + if (msg->msgid == MAVLINK_MSG_ID_SET_MODE) { + /* Set mode on request */ + mavlink_set_mode_t new_mode; + mavlink_msg_set_mode_decode(msg, &new_mode); + + /* Copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */ + vcmd.param1 = new_mode.base_mode; + vcmd.param2 = new_mode.custom_mode; + vcmd.param3 = 0; + vcmd.param4 = 0; + vcmd.param5 = 0; + vcmd.param6 = 0; + vcmd.param7 = 0; + vcmd.command = MAV_CMD_DO_SET_MODE; + vcmd.target_system = new_mode.target_system; + vcmd.target_component = MAV_COMP_ID_ALL; + vcmd.source_system = msg->sysid; + vcmd.source_component = msg->compid; + vcmd.confirmation = 1; + + /* check if topic is advertised */ + if (cmd_pub <= 0) { + cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd); + + } else { + /* create command */ + orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd); + } + } + + /* Handle Vicon position estimates */ + if (msg->msgid == MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE) { + mavlink_vicon_position_estimate_t pos; + mavlink_msg_vicon_position_estimate_decode(msg, &pos); + + vicon_position.timestamp = hrt_absolute_time(); + + vicon_position.x = pos.x; + vicon_position.y = pos.y; + vicon_position.z = pos.z; + + vicon_position.roll = pos.roll; + vicon_position.pitch = pos.pitch; + vicon_position.yaw = pos.yaw; + + if (vicon_position_pub <= 0) { + vicon_position_pub = orb_advertise(ORB_ID(vehicle_vicon_position), &vicon_position); + + } else { + orb_publish(ORB_ID(vehicle_vicon_position), vicon_position_pub, &vicon_position); + } + } + + /* Handle quadrotor motor setpoints */ + + if (msg->msgid == MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST) { + mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t quad_motors_setpoint; + mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_decode(msg, &quad_motors_setpoint); + + if (mavlink_system.sysid < 4) { + + /* switch to a receiving link mode */ + gcs_link = false; + + /* + * rate control mode - defined by MAVLink + */ + + uint8_t ml_mode = 0; + bool ml_armed = false; + + switch (quad_motors_setpoint.mode) { + case 0: + ml_armed = false; + break; + + case 1: + ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_RATES; + ml_armed = true; + + break; + + case 2: + ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE; + ml_armed = true; + + break; + + case 3: + ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY; + break; + + case 4: + ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_POSITION; + break; + } + + offboard_control_sp.p1 = (float)quad_motors_setpoint.roll[mavlink_system.sysid - 1] / (float)INT16_MAX; + offboard_control_sp.p2 = (float)quad_motors_setpoint.pitch[mavlink_system.sysid - 1] / (float)INT16_MAX; + offboard_control_sp.p3 = (float)quad_motors_setpoint.yaw[mavlink_system.sysid - 1] / (float)INT16_MAX; + offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid - 1] / (float)UINT16_MAX; + + if (quad_motors_setpoint.thrust[mavlink_system.sysid - 1] == 0) { + ml_armed = false; + } + + offboard_control_sp.armed = ml_armed; + offboard_control_sp.mode = ml_mode; + + offboard_control_sp.timestamp = hrt_absolute_time(); + + /* check if topic has to be advertised */ + if (offboard_control_sp_pub <= 0) { + offboard_control_sp_pub = orb_advertise(ORB_ID(offboard_control_setpoint), &offboard_control_sp); + + } else { + /* Publish */ + orb_publish(ORB_ID(offboard_control_setpoint), offboard_control_sp_pub, &offboard_control_sp); + } + } + } + + /* + * Only decode hil messages in HIL mode. + * + * The HIL mode is enabled by the HIL bit flag + * in the system mode. Either send a set mode + * COMMAND_LONG message or a SET_MODE message + */ + + if (mavlink_hil_enabled) { + + uint64_t timestamp = hrt_absolute_time(); + + /* TODO, set ground_press/ temp during calib */ + static const float ground_press = 1013.25f; // mbar + static const float ground_tempC = 21.0f; + static const float ground_alt = 0.0f; + static const float T0 = 273.15f; + static const float R = 287.05f; + static const float g = 9.806f; + + if (msg->msgid == MAVLINK_MSG_ID_RAW_IMU) { + + mavlink_raw_imu_t imu; + mavlink_msg_raw_imu_decode(msg, &imu); + + /* packet counter */ + static uint16_t hil_counter = 0; + static uint16_t hil_frames = 0; + static uint64_t old_timestamp = 0; + + /* sensors general */ + hil_sensors.timestamp = imu.time_usec; + + /* hil gyro */ + static const float mrad2rad = 1.0e-3f; + hil_sensors.gyro_counter = hil_counter; + hil_sensors.gyro_raw[0] = imu.xgyro; + hil_sensors.gyro_raw[1] = imu.ygyro; + hil_sensors.gyro_raw[2] = imu.zgyro; + hil_sensors.gyro_rad_s[0] = imu.xgyro * mrad2rad; + hil_sensors.gyro_rad_s[1] = imu.ygyro * mrad2rad; + hil_sensors.gyro_rad_s[2] = imu.zgyro * mrad2rad; + + /* accelerometer */ + hil_sensors.accelerometer_counter = hil_counter; + static const float mg2ms2 = 9.8f / 1000.0f; + hil_sensors.accelerometer_raw[0] = imu.xacc; + hil_sensors.accelerometer_raw[1] = imu.yacc; + hil_sensors.accelerometer_raw[2] = imu.zacc; + hil_sensors.accelerometer_m_s2[0] = mg2ms2 * imu.xacc; + hil_sensors.accelerometer_m_s2[1] = mg2ms2 * imu.yacc; + hil_sensors.accelerometer_m_s2[2] = mg2ms2 * imu.zacc; + hil_sensors.accelerometer_mode = 0; // TODO what is this? + hil_sensors.accelerometer_range_m_s2 = 32.7f; // int16 + + /* adc */ + hil_sensors.adc_voltage_v[0] = 0; + hil_sensors.adc_voltage_v[1] = 0; + hil_sensors.adc_voltage_v[2] = 0; + + /* magnetometer */ + float mga2ga = 1.0e-3f; + hil_sensors.magnetometer_counter = hil_counter; + hil_sensors.magnetometer_raw[0] = imu.xmag; + hil_sensors.magnetometer_raw[1] = imu.ymag; + hil_sensors.magnetometer_raw[2] = imu.zmag; + hil_sensors.magnetometer_ga[0] = imu.xmag * mga2ga; + hil_sensors.magnetometer_ga[1] = imu.ymag * mga2ga; + hil_sensors.magnetometer_ga[2] = imu.zmag * mga2ga; + hil_sensors.magnetometer_range_ga = 32.7f; // int16 + hil_sensors.magnetometer_mode = 0; // TODO what is this + hil_sensors.magnetometer_cuttoff_freq_hz = 50.0f; + + /* publish */ + orb_publish(ORB_ID(sensor_combined), pub_hil_sensors, &hil_sensors); + + // increment counters + hil_counter += 1 ; + hil_frames += 1 ; + + // output + if ((timestamp - old_timestamp) > 10000000) { + printf("receiving hil imu at %d hz\n", hil_frames/10); + old_timestamp = timestamp; + hil_frames = 0; + } + } + + if (msg->msgid == MAVLINK_MSG_ID_HIGHRES_IMU) { + + mavlink_highres_imu_t imu; + mavlink_msg_highres_imu_decode(msg, &imu); + + /* packet counter */ + static uint16_t hil_counter = 0; + static uint16_t hil_frames = 0; + static uint64_t old_timestamp = 0; + + /* sensors general */ + hil_sensors.timestamp = hrt_absolute_time(); + + /* hil gyro */ + static const float mrad2rad = 1.0e-3f; + hil_sensors.gyro_counter = hil_counter; + hil_sensors.gyro_raw[0] = imu.xgyro / mrad2rad; + hil_sensors.gyro_raw[1] = imu.ygyro / mrad2rad; + hil_sensors.gyro_raw[2] = imu.zgyro / mrad2rad; + hil_sensors.gyro_rad_s[0] = imu.xgyro; + hil_sensors.gyro_rad_s[1] = imu.ygyro; + hil_sensors.gyro_rad_s[2] = imu.zgyro; + + /* accelerometer */ + hil_sensors.accelerometer_counter = hil_counter; + static const float mg2ms2 = 9.8f / 1000.0f; + hil_sensors.accelerometer_raw[0] = imu.xacc / mg2ms2; + hil_sensors.accelerometer_raw[1] = imu.yacc / mg2ms2; + hil_sensors.accelerometer_raw[2] = imu.zacc / mg2ms2; + hil_sensors.accelerometer_m_s2[0] = imu.xacc; + hil_sensors.accelerometer_m_s2[1] = imu.yacc; + hil_sensors.accelerometer_m_s2[2] = imu.zacc; + hil_sensors.accelerometer_mode = 0; // TODO what is this? + hil_sensors.accelerometer_range_m_s2 = 32.7f; // int16 + + /* adc */ + hil_sensors.adc_voltage_v[0] = 0; + hil_sensors.adc_voltage_v[1] = 0; + hil_sensors.adc_voltage_v[2] = 0; + + /* magnetometer */ + float mga2ga = 1.0e-3f; + hil_sensors.magnetometer_counter = hil_counter; + hil_sensors.magnetometer_raw[0] = imu.xmag / mga2ga; + hil_sensors.magnetometer_raw[1] = imu.ymag / mga2ga; + hil_sensors.magnetometer_raw[2] = imu.zmag / mga2ga; + hil_sensors.magnetometer_ga[0] = imu.xmag; + hil_sensors.magnetometer_ga[1] = imu.ymag; + hil_sensors.magnetometer_ga[2] = imu.zmag; + hil_sensors.magnetometer_range_ga = 32.7f; // int16 + hil_sensors.magnetometer_mode = 0; // TODO what is this + hil_sensors.magnetometer_cuttoff_freq_hz = 50.0f; + + hil_sensors.baro_pres_mbar = imu.abs_pressure; + + float tempC = imu.temperature; + float tempAvgK = T0 + (tempC + ground_tempC) / 2.0f; + float h = ground_alt + (R / g) * tempAvgK * logf(ground_press / imu.abs_pressure); + + hil_sensors.baro_alt_meter = h; + hil_sensors.baro_temp_celcius = imu.temperature; + + hil_sensors.gyro_counter = hil_counter; + hil_sensors.magnetometer_counter = hil_counter; + hil_sensors.accelerometer_counter = hil_counter; + + /* publish */ + orb_publish(ORB_ID(sensor_combined), pub_hil_sensors, &hil_sensors); + + // increment counters + hil_counter++; + hil_frames++; + + // output + if ((timestamp - old_timestamp) > 10000000) { + printf("receiving hil imu at %d hz\n", hil_frames/10); + old_timestamp = timestamp; + hil_frames = 0; + } + } + + if (msg->msgid == MAVLINK_MSG_ID_GPS_RAW_INT) { + + mavlink_gps_raw_int_t gps; + mavlink_msg_gps_raw_int_decode(msg, &gps); + + /* packet counter */ + static uint16_t hil_counter = 0; + static uint16_t hil_frames = 0; + static uint64_t old_timestamp = 0; + + /* gps */ + hil_gps.timestamp_position = gps.time_usec; + hil_gps.time_gps_usec = gps.time_usec; + hil_gps.lat = gps.lat; + hil_gps.lon = gps.lon; + hil_gps.alt = gps.alt; + hil_gps.eph_m = (float)gps.eph * 1e-2f; // from cm to m + hil_gps.epv_m = (float)gps.epv * 1e-2f; // from cm to m + hil_gps.s_variance_m_s = 5.0f; + hil_gps.p_variance_m = hil_gps.eph_m * hil_gps.eph_m; + hil_gps.vel_m_s = (float)gps.vel * 1e-2f; // from cm/s to m/s + + /* gps.cog is in degrees 0..360 * 100, heading is -PI..+PI */ + float heading_rad = gps.cog * M_DEG_TO_RAD_F * 1e-2f; + /* go back to -PI..PI */ + if (heading_rad > M_PI_F) + heading_rad -= 2.0f * M_PI_F; + hil_gps.vel_n_m_s = (float)gps.vel * 1e-2f * cosf(heading_rad); + hil_gps.vel_e_m_s = (float)gps.vel * 1e-2f * sinf(heading_rad); + hil_gps.vel_d_m_s = 0.0f; + hil_gps.vel_ned_valid = true; + /* COG (course over ground) is speced as -PI..+PI */ + hil_gps.cog_rad = heading_rad; + hil_gps.fix_type = gps.fix_type; + hil_gps.satellites_visible = gps.satellites_visible; + + /* publish */ + orb_publish(ORB_ID(vehicle_gps_position), pub_hil_gps, &hil_gps); + + // increment counters + hil_counter += 1 ; + hil_frames += 1 ; + + // output + if ((timestamp - old_timestamp) > 10000000) { + printf("receiving hil gps at %d hz\n", hil_frames/10); + old_timestamp = timestamp; + hil_frames = 0; + } + } + + if (msg->msgid == MAVLINK_MSG_ID_RAW_PRESSURE) { + + mavlink_raw_pressure_t press; + mavlink_msg_raw_pressure_decode(msg, &press); + + /* packet counter */ + static uint16_t hil_counter = 0; + static uint16_t hil_frames = 0; + static uint64_t old_timestamp = 0; + + /* sensors general */ + hil_sensors.timestamp = press.time_usec; + + /* baro */ + + float tempC = press.temperature / 100.0f; + float tempAvgK = T0 + (tempC + ground_tempC) / 2.0f; + float h = ground_alt + (R / g) * tempAvgK * logf(ground_press / press.press_abs); + hil_sensors.baro_counter = hil_counter; + hil_sensors.baro_pres_mbar = press.press_abs; + hil_sensors.baro_alt_meter = h; + hil_sensors.baro_temp_celcius = tempC; + + /* publish */ + orb_publish(ORB_ID(sensor_combined), pub_hil_sensors, &hil_sensors); + + // increment counters + hil_counter += 1 ; + hil_frames += 1 ; + + // output + if ((timestamp - old_timestamp) > 10000000) { + printf("receiving hil pressure at %d hz\n", hil_frames/10); + old_timestamp = timestamp; + hil_frames = 0; + } + } + + if (msg->msgid == MAVLINK_MSG_ID_HIL_STATE) { + + mavlink_hil_state_t hil_state; + mavlink_msg_hil_state_decode(msg, &hil_state); + + /* Calculate Rotation Matrix */ + //TODO: better clarification which app does this, atm we have a ekf for quadrotors which does this, but there is no such thing if fly in fixed wing mode + + if (mavlink_system.type == MAV_TYPE_FIXED_WING) { + //TODO: assuming low pitch and roll values for now + hil_attitude.R[0][0] = cosf(hil_state.yaw); + hil_attitude.R[0][1] = sinf(hil_state.yaw); + hil_attitude.R[0][2] = 0.0f; + + hil_attitude.R[1][0] = -sinf(hil_state.yaw); + hil_attitude.R[1][1] = cosf(hil_state.yaw); + hil_attitude.R[1][2] = 0.0f; + + hil_attitude.R[2][0] = 0.0f; + hil_attitude.R[2][1] = 0.0f; + hil_attitude.R[2][2] = 1.0f; + + hil_attitude.R_valid = true; + } + + hil_global_pos.lat = hil_state.lat; + hil_global_pos.lon = hil_state.lon; + hil_global_pos.alt = hil_state.alt / 1000.0f; + hil_global_pos.vx = hil_state.vx / 100.0f; + hil_global_pos.vy = hil_state.vy / 100.0f; + hil_global_pos.vz = hil_state.vz / 100.0f; + + + /* set timestamp and notify processes (broadcast) */ + hil_global_pos.timestamp = hrt_absolute_time(); + orb_publish(ORB_ID(vehicle_global_position), pub_hil_global_pos, &hil_global_pos); + + hil_attitude.roll = hil_state.roll; + hil_attitude.pitch = hil_state.pitch; + hil_attitude.yaw = hil_state.yaw; + hil_attitude.rollspeed = hil_state.rollspeed; + hil_attitude.pitchspeed = hil_state.pitchspeed; + hil_attitude.yawspeed = hil_state.yawspeed; + + /* set timestamp and notify processes (broadcast) */ + hil_attitude.timestamp = hrt_absolute_time(); + orb_publish(ORB_ID(vehicle_attitude), pub_hil_attitude, &hil_attitude); + } + + if (msg->msgid == MAVLINK_MSG_ID_MANUAL_CONTROL) { + mavlink_manual_control_t man; + mavlink_msg_manual_control_decode(msg, &man); + + struct rc_channels_s rc_hil; + memset(&rc_hil, 0, sizeof(rc_hil)); + static orb_advert_t rc_pub = 0; + + rc_hil.timestamp = hrt_absolute_time(); + rc_hil.chan_count = 4; + + rc_hil.chan[0].scaled = man.x / 1000.0f; + rc_hil.chan[1].scaled = man.y / 1000.0f; + rc_hil.chan[2].scaled = man.r / 1000.0f; + rc_hil.chan[3].scaled = man.z / 1000.0f; + + struct manual_control_setpoint_s mc; + static orb_advert_t mc_pub = 0; + + int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); + + /* get a copy first, to prevent altering values that are not sent by the mavlink command */ + orb_copy(ORB_ID(manual_control_setpoint), manual_sub, &mc); + + mc.timestamp = rc_hil.timestamp; + mc.roll = man.x / 1000.0f; + mc.pitch = man.y / 1000.0f; + mc.yaw = man.r / 1000.0f; + mc.throttle = man.z / 1000.0f; + + /* fake RC channels with manual control input from simulator */ + + + if (rc_pub == 0) { + rc_pub = orb_advertise(ORB_ID(rc_channels), &rc_hil); + + } else { + orb_publish(ORB_ID(rc_channels), rc_pub, &rc_hil); + } + + if (mc_pub == 0) { + mc_pub = orb_advertise(ORB_ID(manual_control_setpoint), &mc); + + } else { + orb_publish(ORB_ID(manual_control_setpoint), mc_pub, &mc); + } + } + } +} + + +/** + * Receive data from UART. + */ +static void * +receive_thread(void *arg) +{ + int uart_fd = *((int *)arg); + + const int timeout = 1000; + uint8_t buf[32]; + + mavlink_message_t msg; + + prctl(PR_SET_NAME, "mavlink uart rcv", getpid()); + + while (!thread_should_exit) { + + struct pollfd fds[] = { { .fd = uart_fd, .events = POLLIN } }; + + if (poll(fds, 1, timeout) > 0) { + /* non-blocking read. read may return negative values */ + ssize_t nread = read(uart_fd, buf, sizeof(buf)); + + /* if read failed, this loop won't execute */ + for (ssize_t i = 0; i < nread; i++) { + if (mavlink_parse_char(chan, buf[i], &msg, &status)) { + /* handle generic messages and commands */ + handle_message(&msg); + + /* Handle packet with waypoint component */ + mavlink_wpm_message_handler(&msg, &global_pos, &local_pos); + + /* Handle packet with parameter component */ + mavlink_pm_message_handler(MAVLINK_COMM_0, &msg); + } + } + } + } + + return NULL; +} + +pthread_t +receive_start(int uart) +{ + pthread_attr_t receiveloop_attr; + pthread_attr_init(&receiveloop_attr); + + // set to non-blocking read + int flags = fcntl(uart, F_GETFL, 0); + fcntl(uart, F_SETFL, flags | O_NONBLOCK); + + struct sched_param param; + param.sched_priority = SCHED_PRIORITY_MAX - 40; + (void)pthread_attr_setschedparam(&receiveloop_attr, ¶m); + + pthread_attr_setstacksize(&receiveloop_attr, 2048); + + pthread_t thread; + pthread_create(&thread, &receiveloop_attr, receive_thread, &uart); + return thread; +} diff --git a/src/modules/mavlink/missionlib.c b/src/modules/mavlink/missionlib.c new file mode 100644 index 000000000..d369e05ff --- /dev/null +++ b/src/modules/mavlink/missionlib.c @@ -0,0 +1,200 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @author Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file missionlib.h + * MAVLink missionlib components + */ + +// XXX trim includes +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "mavlink_bridge_header.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#include "waypoints.h" +#include "orb_topics.h" +#include "missionlib.h" +#include "mavlink_hil.h" +#include "util.h" +#include "waypoints.h" +#include "mavlink_parameters.h" + +static uint8_t missionlib_msg_buf[MAVLINK_MAX_PACKET_LEN]; + +int +mavlink_missionlib_send_message(mavlink_message_t *msg) +{ + uint16_t len = mavlink_msg_to_send_buffer(missionlib_msg_buf, msg); + + mavlink_send_uart_bytes(chan, missionlib_msg_buf, len); + return 0; +} + +int +mavlink_missionlib_send_gcs_string(const char *string) +{ + const int len = MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN; + mavlink_statustext_t statustext; + int i = 0; + + while (i < len - 1) { + statustext.text[i] = string[i]; + + if (string[i] == '\0') + break; + + i++; + } + + if (i > 1) { + /* Enforce null termination */ + statustext.text[i] = '\0'; + mavlink_message_t msg; + + mavlink_msg_statustext_encode(mavlink_system.sysid, mavlink_system.compid, &msg, &statustext); + return mavlink_missionlib_send_message(&msg); + + } else { + return 1; + } +} + +/** + * Get system time since boot in microseconds + * + * @return the system time since boot in microseconds + */ +uint64_t mavlink_missionlib_get_system_timestamp() +{ + return hrt_absolute_time(); +} + +/** + * This callback is executed each time a waypoint changes. + * + * It publishes the vehicle_global_position_setpoint_s or the + * vehicle_local_position_setpoint_s topic, depending on the type of waypoint + */ +void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1, + float param2, float param3, float param4, float param5_lat_x, + float param6_lon_y, float param7_alt_z, uint8_t frame, uint16_t command) +{ + static orb_advert_t global_position_setpoint_pub = -1; + static orb_advert_t local_position_setpoint_pub = -1; + char buf[50] = {0}; + + /* Update controller setpoints */ + if (frame == (int)MAV_FRAME_GLOBAL) { + /* global, absolute waypoint */ + struct vehicle_global_position_setpoint_s sp; + sp.lat = param5_lat_x * 1e7f; + sp.lon = param6_lon_y * 1e7f; + sp.altitude = param7_alt_z; + sp.altitude_is_relative = false; + sp.yaw = (param4 / 180.0f) * M_PI_F - M_PI_F; + + /* Initialize publication if necessary */ + if (global_position_setpoint_pub < 0) { + global_position_setpoint_pub = orb_advertise(ORB_ID(vehicle_global_position_setpoint), &sp); + + } else { + orb_publish(ORB_ID(vehicle_global_position_setpoint), global_position_setpoint_pub, &sp); + } + + sprintf(buf, "[mp] WP#%i lat: % 3.6f/lon % 3.6f/alt % 4.6f/hdg %3.4f\n", (int)index, (double)param5_lat_x, (double)param6_lon_y, (double)param7_alt_z, (double)param4); + + } else if (frame == (int)MAV_FRAME_GLOBAL_RELATIVE_ALT) { + /* global, relative alt (in relation to HOME) waypoint */ + struct vehicle_global_position_setpoint_s sp; + sp.lat = param5_lat_x * 1e7f; + sp.lon = param6_lon_y * 1e7f; + sp.altitude = param7_alt_z; + sp.altitude_is_relative = true; + sp.yaw = (param4 / 180.0f) * M_PI_F - M_PI_F; + + /* Initialize publication if necessary */ + if (global_position_setpoint_pub < 0) { + global_position_setpoint_pub = orb_advertise(ORB_ID(vehicle_global_position_setpoint), &sp); + + } else { + orb_publish(ORB_ID(vehicle_global_position_setpoint), global_position_setpoint_pub, &sp); + } + + sprintf(buf, "[mp] WP#%i (lat: %f/lon %f/rel alt %f/hdg %f\n", (int)index, (double)param5_lat_x, (double)param6_lon_y, (double)param7_alt_z, (double)param4); + + } else if (frame == (int)MAV_FRAME_LOCAL_ENU || frame == (int)MAV_FRAME_LOCAL_NED) { + /* local, absolute waypoint */ + struct vehicle_local_position_setpoint_s sp; + sp.x = param5_lat_x; + sp.y = param6_lon_y; + sp.z = param7_alt_z; + sp.yaw = (param4 / 180.0f) * M_PI_F - M_PI_F; + + /* Initialize publication if necessary */ + if (local_position_setpoint_pub < 0) { + local_position_setpoint_pub = orb_advertise(ORB_ID(vehicle_local_position_setpoint), &sp); + + } else { + orb_publish(ORB_ID(vehicle_local_position_setpoint), local_position_setpoint_pub, &sp); + } + + sprintf(buf, "[mp] WP#%i (x: %f/y %f/z %f/hdg %f\n", (int)index, (double)param5_lat_x, (double)param6_lon_y, (double)param7_alt_z, (double)param4); + } + + mavlink_missionlib_send_gcs_string(buf); + printf("%s\n", buf); + //printf("[mavlink mp] new setpoint\n");//: frame: %d, lat: %d, lon: %d, alt: %d, yaw: %d\n", frame, param5_lat_x*1000, param6_lon_y*1000, param7_alt_z*1000, param4*1000); +} diff --git a/src/modules/mavlink/missionlib.h b/src/modules/mavlink/missionlib.h new file mode 100644 index 000000000..c2ca735b3 --- /dev/null +++ b/src/modules/mavlink/missionlib.h @@ -0,0 +1,52 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @author Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file missionlib.h + * MAVLink mission helper library + */ + +#pragma once + +#include + +//extern void mavlink_wpm_send_message(mavlink_message_t *msg); +//extern void mavlink_wpm_send_gcs_string(const char *string); +//extern uint64_t mavlink_wpm_get_system_timestamp(void); +extern int mavlink_missionlib_send_message(mavlink_message_t *msg); +extern int mavlink_missionlib_send_gcs_string(const char *string); +extern uint64_t mavlink_missionlib_get_system_timestamp(void); +extern void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1, + float param2, float param3, float param4, float param5_lat_x, + float param6_lon_y, float param7_alt_z, uint8_t frame, uint16_t command); diff --git a/src/modules/mavlink/module.mk b/src/modules/mavlink/module.mk new file mode 100644 index 000000000..cbf08aeb2 --- /dev/null +++ b/src/modules/mavlink/module.mk @@ -0,0 +1,47 @@ +############################################################################ +# +# Copyright (C) 2012-2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# MAVLink protocol to uORB interface process +# + +MODULE_COMMAND = mavlink +SRCS += mavlink.c \ + missionlib.c \ + mavlink_parameters.c \ + mavlink_log.c \ + mavlink_receiver.c \ + orb_listener.c \ + waypoints.c + +INCLUDE_DIRS += $(MAVLINK_SRC)/include/mavlink diff --git a/src/modules/mavlink/orb_listener.c b/src/modules/mavlink/orb_listener.c new file mode 100644 index 000000000..295cd5e28 --- /dev/null +++ b/src/modules/mavlink/orb_listener.c @@ -0,0 +1,778 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file orb_listener.c + * Monitors ORB topics and sends update messages as appropriate. + * + * @author Lorenz Meier + */ + +// XXX trim includes +#include +#include +#include +#include +#include +#include +#include "mavlink_bridge_header.h" +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +#include "waypoints.h" +#include "orb_topics.h" +#include "missionlib.h" +#include "mavlink_hil.h" +#include "util.h" + +extern bool gcs_link; + +struct vehicle_global_position_s global_pos; +struct vehicle_local_position_s local_pos; +struct vehicle_status_s v_status; +struct rc_channels_s rc; +struct rc_input_values rc_raw; +struct actuator_armed_s armed; + +struct mavlink_subscriptions mavlink_subs; + +static int status_sub; +static int rc_sub; + +static unsigned int sensors_raw_counter; +static unsigned int attitude_counter; +static unsigned int gps_counter; + +/* + * Last sensor loop time + * some outputs are better timestamped + * with this "global" reference. + */ +static uint64_t last_sensor_timestamp; + +static void *uorb_receive_thread(void *arg); + +struct listener { + void (*callback)(const struct listener *l); + int *subp; + uintptr_t arg; +}; + +static void l_sensor_combined(const struct listener *l); +static void l_vehicle_attitude(const struct listener *l); +static void l_vehicle_gps_position(const struct listener *l); +static void l_vehicle_status(const struct listener *l); +static void l_rc_channels(const struct listener *l); +static void l_input_rc(const struct listener *l); +static void l_global_position(const struct listener *l); +static void l_local_position(const struct listener *l); +static void l_global_position_setpoint(const struct listener *l); +static void l_local_position_setpoint(const struct listener *l); +static void l_attitude_setpoint(const struct listener *l); +static void l_actuator_outputs(const struct listener *l); +static void l_actuator_armed(const struct listener *l); +static void l_manual_control_setpoint(const struct listener *l); +static void l_vehicle_attitude_controls(const struct listener *l); +static void l_debug_key_value(const struct listener *l); +static void l_optical_flow(const struct listener *l); +static void l_vehicle_rates_setpoint(const struct listener *l); +static void l_home(const struct listener *l); + +static const struct listener listeners[] = { + {l_sensor_combined, &mavlink_subs.sensor_sub, 0}, + {l_vehicle_attitude, &mavlink_subs.att_sub, 0}, + {l_vehicle_gps_position, &mavlink_subs.gps_sub, 0}, + {l_vehicle_status, &status_sub, 0}, + {l_rc_channels, &rc_sub, 0}, + {l_input_rc, &mavlink_subs.input_rc_sub, 0}, + {l_global_position, &mavlink_subs.global_pos_sub, 0}, + {l_local_position, &mavlink_subs.local_pos_sub, 0}, + {l_global_position_setpoint, &mavlink_subs.spg_sub, 0}, + {l_local_position_setpoint, &mavlink_subs.spl_sub, 0}, + {l_attitude_setpoint, &mavlink_subs.spa_sub, 0}, + {l_actuator_outputs, &mavlink_subs.act_0_sub, 0}, + {l_actuator_outputs, &mavlink_subs.act_1_sub, 1}, + {l_actuator_outputs, &mavlink_subs.act_2_sub, 2}, + {l_actuator_outputs, &mavlink_subs.act_3_sub, 3}, + {l_actuator_armed, &mavlink_subs.armed_sub, 0}, + {l_manual_control_setpoint, &mavlink_subs.man_control_sp_sub, 0}, + {l_vehicle_attitude_controls, &mavlink_subs.actuators_sub, 0}, + {l_debug_key_value, &mavlink_subs.debug_key_value, 0}, + {l_optical_flow, &mavlink_subs.optical_flow, 0}, + {l_vehicle_rates_setpoint, &mavlink_subs.rates_setpoint_sub, 0}, + {l_home, &mavlink_subs.home_sub, 0}, +}; + +static const unsigned n_listeners = sizeof(listeners) / sizeof(listeners[0]); + +void +l_sensor_combined(const struct listener *l) +{ + struct sensor_combined_s raw; + + /* copy sensors raw data into local buffer */ + orb_copy(ORB_ID(sensor_combined), mavlink_subs.sensor_sub, &raw); + + last_sensor_timestamp = raw.timestamp; + + /* mark individual fields as changed */ + uint16_t fields_updated = 0; + static unsigned accel_counter = 0; + static unsigned gyro_counter = 0; + static unsigned mag_counter = 0; + static unsigned baro_counter = 0; + + if (accel_counter != raw.accelerometer_counter) { + /* mark first three dimensions as changed */ + fields_updated |= (1 << 0) | (1 << 1) | (1 << 2); + accel_counter = raw.accelerometer_counter; + } + + if (gyro_counter != raw.gyro_counter) { + /* mark second group dimensions as changed */ + fields_updated |= (1 << 3) | (1 << 4) | (1 << 5); + gyro_counter = raw.gyro_counter; + } + + if (mag_counter != raw.magnetometer_counter) { + /* mark third group dimensions as changed */ + fields_updated |= (1 << 6) | (1 << 7) | (1 << 8); + mag_counter = raw.magnetometer_counter; + } + + if (baro_counter != raw.baro_counter) { + /* mark last group dimensions as changed */ + fields_updated |= (1 << 9) | (1 << 11) | (1 << 12); + baro_counter = raw.baro_counter; + } + + if (gcs_link) + mavlink_msg_highres_imu_send(MAVLINK_COMM_0, last_sensor_timestamp, + raw.accelerometer_m_s2[0], raw.accelerometer_m_s2[1], + raw.accelerometer_m_s2[2], raw.gyro_rad_s[0], + raw.gyro_rad_s[1], raw.gyro_rad_s[2], + raw.magnetometer_ga[0], + raw.magnetometer_ga[1], raw.magnetometer_ga[2], + raw.baro_pres_mbar, 0 /* no diff pressure yet */, + raw.baro_alt_meter, raw.baro_temp_celcius, + fields_updated); + + sensors_raw_counter++; +} + +void +l_vehicle_attitude(const struct listener *l) +{ + struct vehicle_attitude_s att; + + + /* copy attitude data into local buffer */ + orb_copy(ORB_ID(vehicle_attitude), mavlink_subs.att_sub, &att); + + if (gcs_link) + /* send sensor values */ + mavlink_msg_attitude_send(MAVLINK_COMM_0, + last_sensor_timestamp / 1000, + att.roll, + att.pitch, + att.yaw, + att.rollspeed, + att.pitchspeed, + att.yawspeed); + + attitude_counter++; +} + +void +l_vehicle_gps_position(const struct listener *l) +{ + struct vehicle_gps_position_s gps; + + /* copy gps data into local buffer */ + orb_copy(ORB_ID(vehicle_gps_position), mavlink_subs.gps_sub, &gps); + + /* GPS COG is 0..2PI in degrees * 1e2 */ + float cog_deg = gps.cog_rad; + if (cog_deg > M_PI_F) + cog_deg -= 2.0f * M_PI_F; + cog_deg *= M_RAD_TO_DEG_F; + + + /* GPS position */ + mavlink_msg_gps_raw_int_send(MAVLINK_COMM_0, + gps.timestamp_position, + gps.fix_type, + gps.lat, + gps.lon, + gps.alt, + gps.eph_m * 1e2f, // from m to cm + gps.epv_m * 1e2f, // from m to cm + gps.vel_m_s * 1e2f, // from m/s to cm/s + cog_deg * 1e2f, // from rad to deg * 100 + gps.satellites_visible); + + /* update SAT info every 10 seconds */ + if (gps.satellite_info_available && (gps_counter % 50 == 0)) { + mavlink_msg_gps_status_send(MAVLINK_COMM_0, + gps.satellites_visible, + gps.satellite_prn, + gps.satellite_used, + gps.satellite_elevation, + gps.satellite_azimuth, + gps.satellite_snr); + } + + gps_counter++; +} + +void +l_vehicle_status(const struct listener *l) +{ + /* immediately communicate state changes back to user */ + orb_copy(ORB_ID(vehicle_status), status_sub, &v_status); + orb_copy(ORB_ID(actuator_armed), mavlink_subs.armed_sub, &armed); + + /* enable or disable HIL */ + set_hil_on_off(v_status.flag_hil_enabled); + + /* translate the current syste state to mavlink state and mode */ + uint8_t mavlink_state = 0; + uint8_t mavlink_mode = 0; + get_mavlink_mode_and_state(&mavlink_state, &mavlink_mode); + + /* send heartbeat */ + mavlink_msg_heartbeat_send(chan, + mavlink_system.type, + MAV_AUTOPILOT_PX4, + mavlink_mode, + v_status.state_machine, + mavlink_state); +} + +void +l_rc_channels(const struct listener *l) +{ + /* copy rc channels into local buffer */ + orb_copy(ORB_ID(rc_channels), rc_sub, &rc); + // XXX Add RC channels scaled message here +} + +void +l_input_rc(const struct listener *l) +{ + /* copy rc channels into local buffer */ + orb_copy(ORB_ID(input_rc), mavlink_subs.input_rc_sub, &rc_raw); + + if (gcs_link) + /* Channels are sent in MAVLink main loop at a fixed interval */ + mavlink_msg_rc_channels_raw_send(chan, + rc_raw.timestamp / 1000, + 0, + (rc_raw.channel_count > 0) ? rc_raw.values[0] : UINT16_MAX, + (rc_raw.channel_count > 1) ? rc_raw.values[1] : UINT16_MAX, + (rc_raw.channel_count > 2) ? rc_raw.values[2] : UINT16_MAX, + (rc_raw.channel_count > 3) ? rc_raw.values[3] : UINT16_MAX, + (rc_raw.channel_count > 4) ? rc_raw.values[4] : UINT16_MAX, + (rc_raw.channel_count > 5) ? rc_raw.values[5] : UINT16_MAX, + (rc_raw.channel_count > 6) ? rc_raw.values[6] : UINT16_MAX, + (rc_raw.channel_count > 7) ? rc_raw.values[7] : UINT16_MAX, + 255); +} + +void +l_global_position(const struct listener *l) +{ + /* copy global position data into local buffer */ + orb_copy(ORB_ID(vehicle_global_position), mavlink_subs.global_pos_sub, &global_pos); + + uint64_t timestamp = global_pos.timestamp; + int32_t lat = global_pos.lat; + int32_t lon = global_pos.lon; + int32_t alt = (int32_t)(global_pos.alt * 1000); + int32_t relative_alt = (int32_t)(global_pos.relative_alt * 1000.0f); + int16_t vx = (int16_t)(global_pos.vx * 100.0f); + int16_t vy = (int16_t)(global_pos.vy * 100.0f); + int16_t vz = (int16_t)(global_pos.vz * 100.0f); + + /* heading in degrees * 10, from 0 to 36.000) */ + uint16_t hdg = (global_pos.hdg / M_PI_F) * (180.0f * 10.0f) + (180.0f * 10.0f); + + mavlink_msg_global_position_int_send(MAVLINK_COMM_0, + timestamp / 1000, + lat, + lon, + alt, + relative_alt, + vx, + vy, + vz, + hdg); +} + +void +l_local_position(const struct listener *l) +{ + /* copy local position data into local buffer */ + orb_copy(ORB_ID(vehicle_local_position), mavlink_subs.local_pos_sub, &local_pos); + + if (gcs_link) + mavlink_msg_local_position_ned_send(MAVLINK_COMM_0, + local_pos.timestamp / 1000, + local_pos.x, + local_pos.y, + local_pos.z, + local_pos.vx, + local_pos.vy, + local_pos.vz); +} + +void +l_global_position_setpoint(const struct listener *l) +{ + struct vehicle_global_position_setpoint_s global_sp; + + /* copy local position data into local buffer */ + orb_copy(ORB_ID(vehicle_global_position_setpoint), mavlink_subs.spg_sub, &global_sp); + + uint8_t coordinate_frame = MAV_FRAME_GLOBAL; + + if (global_sp.altitude_is_relative) + coordinate_frame = MAV_FRAME_GLOBAL_RELATIVE_ALT; + + if (gcs_link) + mavlink_msg_global_position_setpoint_int_send(MAVLINK_COMM_0, + coordinate_frame, + global_sp.lat, + global_sp.lon, + global_sp.altitude, + global_sp.yaw); +} + +void +l_local_position_setpoint(const struct listener *l) +{ + struct vehicle_local_position_setpoint_s local_sp; + + /* copy local position data into local buffer */ + orb_copy(ORB_ID(vehicle_local_position_setpoint), mavlink_subs.spl_sub, &local_sp); + + if (gcs_link) + mavlink_msg_local_position_setpoint_send(MAVLINK_COMM_0, + MAV_FRAME_LOCAL_NED, + local_sp.x, + local_sp.y, + local_sp.z, + local_sp.yaw); +} + +void +l_attitude_setpoint(const struct listener *l) +{ + struct vehicle_attitude_setpoint_s att_sp; + + /* copy local position data into local buffer */ + orb_copy(ORB_ID(vehicle_attitude_setpoint), mavlink_subs.spa_sub, &att_sp); + + if (gcs_link) + mavlink_msg_roll_pitch_yaw_thrust_setpoint_send(MAVLINK_COMM_0, + att_sp.timestamp / 1000, + att_sp.roll_body, + att_sp.pitch_body, + att_sp.yaw_body, + att_sp.thrust); +} + +void +l_vehicle_rates_setpoint(const struct listener *l) +{ + struct vehicle_rates_setpoint_s rates_sp; + + /* copy local position data into local buffer */ + orb_copy(ORB_ID(vehicle_rates_setpoint), mavlink_subs.rates_setpoint_sub, &rates_sp); + + if (gcs_link) + mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_send(MAVLINK_COMM_0, + rates_sp.timestamp / 1000, + rates_sp.roll, + rates_sp.pitch, + rates_sp.yaw, + rates_sp.thrust); +} + +void +l_actuator_outputs(const struct listener *l) +{ + struct actuator_outputs_s act_outputs; + + orb_id_t ids[] = { + ORB_ID(actuator_outputs_0), + ORB_ID(actuator_outputs_1), + ORB_ID(actuator_outputs_2), + ORB_ID(actuator_outputs_3) + }; + + /* copy actuator data into local buffer */ + orb_copy(ids[l->arg], *l->subp, &act_outputs); + + if (gcs_link) { + mavlink_msg_servo_output_raw_send(MAVLINK_COMM_0, last_sensor_timestamp / 1000, + l->arg /* port number */, + act_outputs.output[0], + act_outputs.output[1], + act_outputs.output[2], + act_outputs.output[3], + act_outputs.output[4], + act_outputs.output[5], + act_outputs.output[6], + act_outputs.output[7]); + + /* only send in HIL mode */ + if (mavlink_hil_enabled && armed.armed) { + + /* translate the current syste state to mavlink state and mode */ + uint8_t mavlink_state = 0; + uint8_t mavlink_mode = 0; + get_mavlink_mode_and_state(&mavlink_state, &mavlink_mode); + + /* HIL message as per MAVLink spec */ + + /* scale / assign outputs depending on system type */ + + if (mavlink_system.type == MAV_TYPE_QUADROTOR) { + mavlink_msg_hil_controls_send(chan, + hrt_absolute_time(), + ((act_outputs.output[0] - 900.0f) / 600.0f) / 2.0f, + ((act_outputs.output[1] - 900.0f) / 600.0f) / 2.0f, + ((act_outputs.output[2] - 900.0f) / 600.0f) / 2.0f, + ((act_outputs.output[3] - 900.0f) / 600.0f) / 2.0f, + -1, + -1, + -1, + -1, + mavlink_mode, + 0); + + } else if (mavlink_system.type == MAV_TYPE_HEXAROTOR) { + mavlink_msg_hil_controls_send(chan, + hrt_absolute_time(), + ((act_outputs.output[0] - 900.0f) / 600.0f) / 2.0f, + ((act_outputs.output[1] - 900.0f) / 600.0f) / 2.0f, + ((act_outputs.output[2] - 900.0f) / 600.0f) / 2.0f, + ((act_outputs.output[3] - 900.0f) / 600.0f) / 2.0f, + ((act_outputs.output[4] - 900.0f) / 600.0f) / 2.0f, + ((act_outputs.output[5] - 900.0f) / 600.0f) / 2.0f, + -1, + -1, + mavlink_mode, + 0); + + } else if (mavlink_system.type == MAV_TYPE_OCTOROTOR) { + mavlink_msg_hil_controls_send(chan, + hrt_absolute_time(), + ((act_outputs.output[0] - 900.0f) / 600.0f) / 2.0f, + ((act_outputs.output[1] - 900.0f) / 600.0f) / 2.0f, + ((act_outputs.output[2] - 900.0f) / 600.0f) / 2.0f, + ((act_outputs.output[3] - 900.0f) / 600.0f) / 2.0f, + ((act_outputs.output[4] - 900.0f) / 600.0f) / 2.0f, + ((act_outputs.output[5] - 900.0f) / 600.0f) / 2.0f, + ((act_outputs.output[6] - 900.0f) / 600.0f) / 2.0f, + ((act_outputs.output[7] - 900.0f) / 600.0f) / 2.0f, + mavlink_mode, + 0); + + } else { + mavlink_msg_hil_controls_send(chan, + hrt_absolute_time(), + (act_outputs.output[0] - 1500.0f) / 500.0f, + (act_outputs.output[1] - 1500.0f) / 500.0f, + (act_outputs.output[2] - 1500.0f) / 500.0f, + (act_outputs.output[3] - 1000.0f) / 1000.0f, + (act_outputs.output[4] - 1500.0f) / 500.0f, + (act_outputs.output[5] - 1500.0f) / 500.0f, + (act_outputs.output[6] - 1500.0f) / 500.0f, + (act_outputs.output[7] - 1500.0f) / 500.0f, + mavlink_mode, + 0); + } + } + } +} + +void +l_actuator_armed(const struct listener *l) +{ + orb_copy(ORB_ID(actuator_armed), mavlink_subs.armed_sub, &armed); +} + +void +l_manual_control_setpoint(const struct listener *l) +{ + struct manual_control_setpoint_s man_control; + + /* copy manual control data into local buffer */ + orb_copy(ORB_ID(manual_control_setpoint), mavlink_subs.man_control_sp_sub, &man_control); + + if (gcs_link) + mavlink_msg_manual_control_send(MAVLINK_COMM_0, + mavlink_system.sysid, + man_control.roll * 1000, + man_control.pitch * 1000, + man_control.yaw * 1000, + man_control.throttle * 1000, + 0); +} + +void +l_vehicle_attitude_controls(const struct listener *l) +{ + struct actuator_controls_effective_s actuators; + + orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, mavlink_subs.actuators_sub, &actuators); + + if (gcs_link) { + /* send, add spaces so that string buffer is at least 10 chars long */ + mavlink_msg_named_value_float_send(MAVLINK_COMM_0, + last_sensor_timestamp / 1000, + "eff ctrl0 ", + actuators.control_effective[0]); + mavlink_msg_named_value_float_send(MAVLINK_COMM_0, + last_sensor_timestamp / 1000, + "eff ctrl1 ", + actuators.control_effective[1]); + mavlink_msg_named_value_float_send(MAVLINK_COMM_0, + last_sensor_timestamp / 1000, + "eff ctrl2 ", + actuators.control_effective[2]); + mavlink_msg_named_value_float_send(MAVLINK_COMM_0, + last_sensor_timestamp / 1000, + "eff ctrl3 ", + actuators.control_effective[3]); + } +} + +void +l_debug_key_value(const struct listener *l) +{ + struct debug_key_value_s debug; + + orb_copy(ORB_ID(debug_key_value), mavlink_subs.debug_key_value, &debug); + + /* Enforce null termination */ + debug.key[sizeof(debug.key) - 1] = '\0'; + + mavlink_msg_named_value_float_send(MAVLINK_COMM_0, + last_sensor_timestamp / 1000, + debug.key, + debug.value); +} + +void +l_optical_flow(const struct listener *l) +{ + struct optical_flow_s flow; + + orb_copy(ORB_ID(optical_flow), mavlink_subs.optical_flow, &flow); + + mavlink_msg_optical_flow_send(MAVLINK_COMM_0, flow.timestamp, flow.sensor_id, flow.flow_raw_x, flow.flow_raw_y, + flow.flow_comp_x_m, flow.flow_comp_y_m, flow.quality, flow.ground_distance_m); +} + +void +l_home(const struct listener *l) +{ + struct home_position_s home; + + orb_copy(ORB_ID(home_position), mavlink_subs.home_sub, &home); + + mavlink_msg_gps_global_origin_send(MAVLINK_COMM_0, home.lat, home.lon, home.alt); +} + +static void * +uorb_receive_thread(void *arg) +{ + /* Set thread name */ + prctl(PR_SET_NAME, "mavlink orb rcv", getpid()); + + /* + * set up poll to block for new data, + * wait for a maximum of 1000 ms (1 second) + */ + const int timeout = 1000; + + /* + * Initialise listener array. + * + * Might want to invoke each listener once to set initial state. + */ + struct pollfd fds[n_listeners]; + + for (unsigned i = 0; i < n_listeners; i++) { + fds[i].fd = *listeners[i].subp; + fds[i].events = POLLIN; + + /* Invoke callback to set initial state */ + //listeners[i].callback(&listener[i]); + } + + while (!thread_should_exit) { + + int poll_ret = poll(fds, n_listeners, timeout); + + /* handle the poll result */ + if (poll_ret == 0) { + mavlink_missionlib_send_gcs_string("[mavlink] No telemetry data for 1 s"); + + } else if (poll_ret < 0) { + mavlink_missionlib_send_gcs_string("[mavlink] ERROR reading uORB data"); + + } else { + + for (unsigned i = 0; i < n_listeners; i++) { + if (fds[i].revents & POLLIN) + listeners[i].callback(&listeners[i]); + } + } + } + + return NULL; +} + +pthread_t +uorb_receive_start(void) +{ + /* --- SENSORS RAW VALUE --- */ + mavlink_subs.sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); + /* rate limit set externally based on interface speed, set a basic default here */ + orb_set_interval(mavlink_subs.sensor_sub, 200); /* 5Hz updates */ + + /* --- ATTITUDE VALUE --- */ + mavlink_subs.att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); + /* rate limit set externally based on interface speed, set a basic default here */ + orb_set_interval(mavlink_subs.att_sub, 200); /* 5Hz updates */ + + /* --- GPS VALUE --- */ + mavlink_subs.gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position)); + orb_set_interval(mavlink_subs.gps_sub, 200); /* 5Hz updates */ + + /* --- HOME POSITION --- */ + mavlink_subs.home_sub = orb_subscribe(ORB_ID(home_position)); + orb_set_interval(mavlink_subs.home_sub, 1000); /* 1Hz updates */ + + /* --- SYSTEM STATE --- */ + status_sub = orb_subscribe(ORB_ID(vehicle_status)); + orb_set_interval(status_sub, 300); /* max 3.33 Hz updates */ + + /* --- RC CHANNELS VALUE --- */ + rc_sub = orb_subscribe(ORB_ID(rc_channels)); + orb_set_interval(rc_sub, 100); /* 10Hz updates */ + + /* --- RC RAW VALUE --- */ + mavlink_subs.input_rc_sub = orb_subscribe(ORB_ID(input_rc)); + orb_set_interval(mavlink_subs.input_rc_sub, 100); + + /* --- GLOBAL POS VALUE --- */ + mavlink_subs.global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position)); + orb_set_interval(mavlink_subs.global_pos_sub, 100); /* 10 Hz active updates */ + + /* --- LOCAL POS VALUE --- */ + mavlink_subs.local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position)); + orb_set_interval(mavlink_subs.local_pos_sub, 1000); /* 1Hz active updates */ + + /* --- GLOBAL SETPOINT VALUE --- */ + mavlink_subs.spg_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint)); + orb_set_interval(mavlink_subs.spg_sub, 2000); /* 0.5 Hz updates */ + + /* --- LOCAL SETPOINT VALUE --- */ + mavlink_subs.spl_sub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint)); + orb_set_interval(mavlink_subs.spl_sub, 2000); /* 0.5 Hz updates */ + + /* --- ATTITUDE SETPOINT VALUE --- */ + mavlink_subs.spa_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); + orb_set_interval(mavlink_subs.spa_sub, 2000); /* 0.5 Hz updates */ + + /* --- RATES SETPOINT VALUE --- */ + mavlink_subs.rates_setpoint_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint)); + orb_set_interval(mavlink_subs.rates_setpoint_sub, 2000); /* 0.5 Hz updates */ + + /* --- ACTUATOR OUTPUTS --- */ + mavlink_subs.act_0_sub = orb_subscribe(ORB_ID(actuator_outputs_0)); + mavlink_subs.act_1_sub = orb_subscribe(ORB_ID(actuator_outputs_1)); + mavlink_subs.act_2_sub = orb_subscribe(ORB_ID(actuator_outputs_2)); + mavlink_subs.act_3_sub = orb_subscribe(ORB_ID(actuator_outputs_3)); + /* rate limits set externally based on interface speed, set a basic default here */ + orb_set_interval(mavlink_subs.act_0_sub, 100); /* 10Hz updates */ + orb_set_interval(mavlink_subs.act_1_sub, 100); /* 10Hz updates */ + orb_set_interval(mavlink_subs.act_2_sub, 100); /* 10Hz updates */ + orb_set_interval(mavlink_subs.act_3_sub, 100); /* 10Hz updates */ + + /* --- ACTUATOR ARMED VALUE --- */ + mavlink_subs.armed_sub = orb_subscribe(ORB_ID(actuator_armed)); + orb_set_interval(mavlink_subs.armed_sub, 100); /* 10Hz updates */ + + /* --- MAPPED MANUAL CONTROL INPUTS --- */ + mavlink_subs.man_control_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); + /* rate limits set externally based on interface speed, set a basic default here */ + orb_set_interval(mavlink_subs.man_control_sp_sub, 100); /* 10Hz updates */ + + /* --- ACTUATOR CONTROL VALUE --- */ + mavlink_subs.actuators_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE); + orb_set_interval(mavlink_subs.actuators_sub, 100); /* 10Hz updates */ + + /* --- DEBUG VALUE OUTPUT --- */ + mavlink_subs.debug_key_value = orb_subscribe(ORB_ID(debug_key_value)); + orb_set_interval(mavlink_subs.debug_key_value, 100); /* 10Hz updates */ + + /* --- FLOW SENSOR --- */ + mavlink_subs.optical_flow = orb_subscribe(ORB_ID(optical_flow)); + orb_set_interval(mavlink_subs.optical_flow, 200); /* 5Hz updates */ + + /* start the listener loop */ + pthread_attr_t uorb_attr; + pthread_attr_init(&uorb_attr); + + /* Set stack size, needs less than 2k */ + pthread_attr_setstacksize(&uorb_attr, 2048); + + pthread_t thread; + pthread_create(&thread, &uorb_attr, uorb_receive_thread, NULL); + return thread; +} diff --git a/src/modules/mavlink/orb_topics.h b/src/modules/mavlink/orb_topics.h new file mode 100644 index 000000000..d61cd43dc --- /dev/null +++ b/src/modules/mavlink/orb_topics.h @@ -0,0 +1,106 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. + * Author: @author Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file orb_topics.h + * Common sets of topics subscribed to or published by the MAVLink driver, + * and structures maintained by those subscriptions. + */ +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +struct mavlink_subscriptions { + int sensor_sub; + int att_sub; + int global_pos_sub; + int act_0_sub; + int act_1_sub; + int act_2_sub; + int act_3_sub; + int gps_sub; + int man_control_sp_sub; + int armed_sub; + int actuators_sub; + int local_pos_sub; + int spa_sub; + int spl_sub; + int spg_sub; + int debug_key_value; + int input_rc_sub; + int optical_flow; + int rates_setpoint_sub; + int home_sub; +}; + +extern struct mavlink_subscriptions mavlink_subs; + +/** Global position */ +extern struct vehicle_global_position_s global_pos; + +/** Local position */ +extern struct vehicle_local_position_s local_pos; + +/** Vehicle status */ +extern struct vehicle_status_s v_status; + +/** RC channels */ +extern struct rc_channels_s rc; + +/** Actuator armed state */ +extern struct actuator_armed_s armed; + +/** Worker thread starter */ +extern pthread_t uorb_receive_start(void); diff --git a/src/modules/mavlink/util.h b/src/modules/mavlink/util.h new file mode 100644 index 000000000..a4ff06a88 --- /dev/null +++ b/src/modules/mavlink/util.h @@ -0,0 +1,54 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @author Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file util.h + * Utility and helper functions and data. + */ + +#pragma once + +/** MAVLink communications channel */ +extern uint8_t chan; + +/** Shutdown marker */ +extern volatile bool thread_should_exit; + +/** Waypoint storage */ +extern mavlink_wpm_storage *wpm; + +/** + * Translate the custom state into standard mavlink modes and state. + */ +extern void get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_mode); diff --git a/src/modules/mavlink/waypoints.c b/src/modules/mavlink/waypoints.c new file mode 100644 index 000000000..a131b143b --- /dev/null +++ b/src/modules/mavlink/waypoints.c @@ -0,0 +1,1134 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. + * Author: @author Petri Tanskanen + * @author Lorenz Meier + * @author Thomas Gubler + * @author Julian Oes + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file waypoints.c + * MAVLink waypoint protocol implementation (BSD-relicensed). + */ + +#include +#include +#include +#include + +#include "missionlib.h" +#include "waypoints.h" +#include "util.h" + +#ifndef FM_PI +#define FM_PI 3.1415926535897932384626433832795f +#endif + +bool debug = false; +bool verbose = false; + + +#define MAVLINK_WPM_NO_PRINTF + +uint8_t mavlink_wpm_comp_id = MAV_COMP_ID_MISSIONPLANNER; + +void mavlink_wpm_init(mavlink_wpm_storage *state) +{ + // Set all waypoints to zero + + // Set count to zero + state->size = 0; + state->max_size = MAVLINK_WPM_MAX_WP_COUNT; + state->current_state = MAVLINK_WPM_STATE_IDLE; + state->current_partner_sysid = 0; + state->current_partner_compid = 0; + state->timestamp_lastaction = 0; + state->timestamp_last_send_setpoint = 0; + state->timeout = MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT; + state->delay_setpoint = MAVLINK_WPM_SETPOINT_DELAY_DEFAULT; + state->idle = false; ///< indicates if the system is following the waypoints or is waiting + state->current_active_wp_id = -1; ///< id of current waypoint + state->yaw_reached = false; ///< boolean for yaw attitude reached + state->pos_reached = false; ///< boolean for position reached + state->timestamp_lastoutside_orbit = 0;///< timestamp when the MAV was last outside the orbit or had the wrong yaw value + state->timestamp_firstinside_orbit = 0;///< timestamp when the MAV was the first time after a waypoint change inside the orbit and had the correct yaw value + +} + +/* + * @brief Sends an waypoint ack message + */ +void mavlink_wpm_send_waypoint_ack(uint8_t sysid, uint8_t compid, uint8_t type) +{ + mavlink_message_t msg; + mavlink_mission_ack_t wpa; + + wpa.target_system = wpm->current_partner_sysid; + wpa.target_component = wpm->current_partner_compid; + wpa.type = type; + + mavlink_msg_mission_ack_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpa); + mavlink_missionlib_send_message(&msg); + + // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY")); + + if (MAVLINK_WPM_TEXT_FEEDBACK) { +#ifdef MAVLINK_WPM_NO_PRINTF + mavlink_missionlib_send_gcs_string("Sent waypoint ACK"); +#else + + if (MAVLINK_WPM_VERBOSE) printf("Sent waypoint ack (%u) to ID %u\n", wpa.type, wpa.target_system); + +#endif + mavlink_missionlib_send_gcs_string("Sent waypoint ACK"); + } +} + +/* + * @brief Broadcasts the new target waypoint and directs the MAV to fly there + * + * This function broadcasts its new active waypoint sequence number and + * sends a message to the controller, advising it to fly to the coordinates + * of the waypoint with a given orientation + * + * @param seq The waypoint sequence number the MAV should fly to. + */ +void mavlink_wpm_send_waypoint_current(uint16_t seq) +{ + if (seq < wpm->size) { + mavlink_mission_item_t *cur = &(wpm->waypoints[seq]); + + mavlink_message_t msg; + mavlink_mission_current_t wpc; + + wpc.seq = cur->seq; + + mavlink_msg_mission_current_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpc); + mavlink_missionlib_send_message(&msg); + + // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY")); + + if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("Set current waypoint\n"); //// printf("Broadcasted new current waypoint %u\n", wpc.seq); + + } else { + if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("ERROR: wp index out of bounds\n"); + } +} + +/* + * @brief Directs the MAV to fly to a position + * + * Sends a message to the controller, advising it to fly to the coordinates + * of the waypoint with a given orientation + * + * @param seq The waypoint sequence number the MAV should fly to. + */ +void mavlink_wpm_send_setpoint(uint16_t seq) +{ + if (seq < wpm->size) { + mavlink_mission_item_t *cur = &(wpm->waypoints[seq]); + mavlink_missionlib_current_waypoint_changed(cur->seq, cur->param1, + cur->param2, cur->param3, cur->param4, cur->x, + cur->y, cur->z, cur->frame, cur->command); + + wpm->timestamp_last_send_setpoint = mavlink_missionlib_get_system_timestamp(); + + } else { + if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("ERROR: Waypoint index out of bounds\n"); //// if (verbose) // printf("ERROR: index out of bounds\n"); + } +} + +void mavlink_wpm_send_waypoint_count(uint8_t sysid, uint8_t compid, uint16_t count) +{ + mavlink_message_t msg; + mavlink_mission_count_t wpc; + + wpc.target_system = wpm->current_partner_sysid; + wpc.target_component = wpm->current_partner_compid; + wpc.count = count; + + mavlink_msg_mission_count_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpc); + mavlink_missionlib_send_message(&msg); + + if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("Sent waypoint count"); //// if (verbose) // printf("Sent waypoint count (%u) to ID %u\n", wpc.count, wpc.target_system); + + // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY")); +} + +void mavlink_wpm_send_waypoint(uint8_t sysid, uint8_t compid, uint16_t seq) +{ + if (seq < wpm->size) { + mavlink_message_t msg; + mavlink_mission_item_t *wp = &(wpm->waypoints[seq]); + wp->target_system = wpm->current_partner_sysid; + wp->target_component = wpm->current_partner_compid; + mavlink_msg_mission_item_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, wp); + mavlink_missionlib_send_message(&msg); + + if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("Sent waypoint"); //// if (verbose) // printf("Sent waypoint %u to ID %u\n", wp->seq, wp->target_system); + + // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY")); + + } else { + if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("ERROR: Waypoint index out of bounds\n"); + } +} + +void mavlink_wpm_send_waypoint_request(uint8_t sysid, uint8_t compid, uint16_t seq) +{ + if (seq < wpm->max_size) { + mavlink_message_t msg; + mavlink_mission_request_t wpr; + wpr.target_system = wpm->current_partner_sysid; + wpr.target_component = wpm->current_partner_compid; + wpr.seq = seq; + mavlink_msg_mission_request_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpr); + mavlink_missionlib_send_message(&msg); + + if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("Sent waypoint request"); //// if (verbose) // printf("Sent waypoint request %u to ID %u\n", wpr.seq, wpr.target_system); + + // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY")); + + } else { + if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("ERROR: Waypoint index exceeds list capacity\n"); + } +} + +/* + * @brief emits a message that a waypoint reached + * + * This function broadcasts a message that a waypoint is reached. + * + * @param seq The waypoint sequence number the MAV has reached. + */ +void mavlink_wpm_send_waypoint_reached(uint16_t seq) +{ + mavlink_message_t msg; + mavlink_mission_item_reached_t wp_reached; + + wp_reached.seq = seq; + + mavlink_msg_mission_item_reached_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wp_reached); + mavlink_missionlib_send_message(&msg); + + if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("Sent waypoint reached message"); //// if (verbose) // printf("Sent waypoint %u reached message\n", wp_reached.seq); + + // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY")); +} + +//float mavlink_wpm_distance_to_segment(uint16_t seq, float x, float y, float z) +//{ +// if (seq < wpm->size) +// { +// mavlink_mission_item_t *cur = waypoints->at(seq); +// +// const PxVector3 A(cur->x, cur->y, cur->z); +// const PxVector3 C(x, y, z); +// +// // seq not the second last waypoint +// if ((uint16_t)(seq+1) < wpm->size) +// { +// mavlink_mission_item_t *next = waypoints->at(seq+1); +// const PxVector3 B(next->x, next->y, next->z); +// const float r = (B-A).dot(C-A) / (B-A).lengthSquared(); +// if (r >= 0 && r <= 1) +// { +// const PxVector3 P(A + r*(B-A)); +// return (P-C).length(); +// } +// else if (r < 0.f) +// { +// return (C-A).length(); +// } +// else +// { +// return (C-B).length(); +// } +// } +// else +// { +// return (C-A).length(); +// } +// } +// else +// { +// // if (verbose) // printf("ERROR: index out of bounds\n"); +// } +// return -1.f; +//} + +/* + * Calculate distance in global frame. + * + * The distance calculation is based on the WGS84 geoid (GPS) + */ +float mavlink_wpm_distance_to_point_global_wgs84(uint16_t seq, float lat, float lon, float alt) +{ + //TODO: implement for z once altidude contoller is implemented + + static uint16_t counter; + +// if(counter % 10 == 0) printf(" x = %.10f, y = %.10f\n", x, y); + if (seq < wpm->size) { + mavlink_mission_item_t *cur = &(wpm->waypoints[seq]); + + double current_x_rad = cur->x / 180.0 * M_PI; + double current_y_rad = cur->y / 180.0 * M_PI; + double x_rad = lat / 180.0 * M_PI; + double y_rad = lon / 180.0 * M_PI; + + double d_lat = x_rad - current_x_rad; + double d_lon = y_rad - current_y_rad; + + double a = sin(d_lat / 2.0) * sin(d_lat / 2.0) + sin(d_lon / 2.0) * sin(d_lon / 2.0f) * cos(current_x_rad) * cos(x_rad); + double c = 2 * atan2(sqrt(a), sqrt(1 - a)); + + const double radius_earth = 6371000.0; + + return radius_earth * c; + + } else { + return -1.0f; + } + + counter++; + +} + +/* + * Calculate distance in local frame (NED) + */ +float mavlink_wpm_distance_to_point_local(uint16_t seq, float x, float y, float z) +{ + if (seq < wpm->size) { + mavlink_mission_item_t *cur = &(wpm->waypoints[seq]); + + float dx = (cur->x - x); + float dy = (cur->y - y); + float dz = (cur->z - z); + + return sqrt(dx * dx + dy * dy + dz * dz); + + } else { + return -1.0f; + } +} + +void check_waypoints_reached(uint64_t now, const struct vehicle_global_position_s *global_pos, struct vehicle_local_position_s *local_pos) +{ + static uint16_t counter; + + // Do not flood the precious wireless link with debug data + // if (wpm->size > 0 && counter % 10 == 0) { + // printf("Currect active waypoint id: %i\n", wpm->current_active_wp_id); + // } + + + if (wpm->current_active_wp_id < wpm->size) { + + float orbit = wpm->waypoints[wpm->current_active_wp_id].param2; + int coordinate_frame = wpm->waypoints[wpm->current_active_wp_id].frame; + float dist = -1.0f; + + if (coordinate_frame == (int)MAV_FRAME_GLOBAL) { + dist = mavlink_wpm_distance_to_point_global_wgs84(wpm->current_active_wp_id, (float)global_pos->lat * 1e-7f, (float)global_pos->lon * 1e-7f, global_pos->alt); + + } else if (coordinate_frame == (int)MAV_FRAME_GLOBAL_RELATIVE_ALT) { + dist = mavlink_wpm_distance_to_point_global_wgs84(wpm->current_active_wp_id, global_pos->lat, global_pos->lon, global_pos->relative_alt); + + } else if (coordinate_frame == (int)MAV_FRAME_LOCAL_ENU || coordinate_frame == (int)MAV_FRAME_LOCAL_NED) { + dist = mavlink_wpm_distance_to_point_local(wpm->current_active_wp_id, local_pos->x, local_pos->y, local_pos->z); + + } else if (coordinate_frame == (int)MAV_FRAME_MISSION) { + /* Check if conditions of mission item are satisfied */ + // XXX TODO + } + + if (dist >= 0.f && dist <= orbit /*&& wpm->yaw_reached*/) { //TODO implement yaw + wpm->pos_reached = true; + + if (counter % 100 == 0) + printf("Setpoint reached: %0.4f, orbit: %.4f\n", dist, orbit); + } + +// else +// { +// if(counter % 100 == 0) +// printf("Setpoint not reached yet: %0.4f, orbit: %.4f, coordinate frame: %d\n",dist, orbit, coordinate_frame); +// } + } + + //check if the current waypoint was reached + if (wpm->pos_reached /*wpm->yaw_reached &&*/ && !wpm->idle) { + if (wpm->current_active_wp_id < wpm->size) { + mavlink_mission_item_t *cur_wp = &(wpm->waypoints[wpm->current_active_wp_id]); + + if (wpm->timestamp_firstinside_orbit == 0) { + // Announce that last waypoint was reached + printf("Reached waypoint %u for the first time \n", cur_wp->seq); + mavlink_wpm_send_waypoint_reached(cur_wp->seq); + wpm->timestamp_firstinside_orbit = now; + } + + // check if the MAV was long enough inside the waypoint orbit + //if (now-timestamp_lastoutside_orbit > (cur_wp->hold_time*1000)) + if (now - wpm->timestamp_firstinside_orbit >= cur_wp->param2 * 1000) { + printf("Reached waypoint %u long enough \n", cur_wp->seq); + + if (cur_wp->autocontinue) { + cur_wp->current = 0; + + if (wpm->current_active_wp_id == wpm->size - 1 && wpm->size > 1) { + /* the last waypoint was reached, if auto continue is + * activated restart the waypoint list from the beginning + */ + wpm->current_active_wp_id = 0; + + } else { + if ((uint16_t)(wpm->current_active_wp_id + 1) < wpm->size) + wpm->current_active_wp_id++; + } + + // Fly to next waypoint + wpm->timestamp_firstinside_orbit = 0; + mavlink_wpm_send_waypoint_current(wpm->current_active_wp_id); + mavlink_wpm_send_setpoint(wpm->current_active_wp_id); + wpm->waypoints[wpm->current_active_wp_id].current = true; + wpm->pos_reached = false; + wpm->yaw_reached = false; + printf("Set new waypoint (%u)\n", wpm->current_active_wp_id); + } + } + } + + } else { + wpm->timestamp_lastoutside_orbit = now; + } + + counter++; +} + + +int mavlink_waypoint_eventloop(uint64_t now, const struct vehicle_global_position_s *global_position, struct vehicle_local_position_s *local_position) +{ + /* check for timed-out operations */ + if (now - wpm->timestamp_lastaction > wpm->timeout && wpm->current_state != MAVLINK_WPM_STATE_IDLE) { + +#ifdef MAVLINK_WPM_NO_PRINTF + mavlink_missionlib_send_gcs_string("Operation timeout switching -> IDLE"); +#else + + if (MAVLINK_WPM_VERBOSE) printf("Last operation (state=%u) timed out, changing state to MAVLINK_WPM_STATE_IDLE\n", wpm->current_state); + +#endif + wpm->current_state = MAVLINK_WPM_STATE_IDLE; + wpm->current_count = 0; + wpm->current_partner_sysid = 0; + wpm->current_partner_compid = 0; + wpm->current_wp_id = -1; + + if (wpm->size == 0) { + wpm->current_active_wp_id = -1; + } + } + + // Do NOT continously send the current WP, since we're not loosing messages + // if (now - wpm->timestamp_last_send_setpoint > wpm->delay_setpoint && wpm->current_active_wp_id < wpm->size) { + // mavlink_wpm_send_setpoint(wpm->current_active_wp_id); + // } + + check_waypoints_reached(now, global_position , local_position); + + return OK; +} + + +void mavlink_wpm_message_handler(const mavlink_message_t *msg, const struct vehicle_global_position_s *global_pos , struct vehicle_local_position_s *local_pos) +{ + uint64_t now = mavlink_missionlib_get_system_timestamp(); + + switch (msg->msgid) { +// case MAVLINK_MSG_ID_ATTITUDE: +// { +// if(msg->sysid == mavlink_system.sysid && wpm->current_active_wp_id < wpm->size) +// { +// mavlink_mission_item_t *wp = &(wpm->waypoints[wpm->current_active_wp_id]); +// if(wp->frame == MAV_FRAME_LOCAL_ENU || wp->frame == MAV_FRAME_LOCAL_NED) +// { +// mavlink_attitude_t att; +// mavlink_msg_attitude_decode(msg, &att); +// float yaw_tolerance = wpm->accept_range_yaw; +// //compare current yaw +// if (att.yaw - yaw_tolerance >= 0.0f && att.yaw + yaw_tolerance < 2.f*FM_PI) +// { +// if (att.yaw - yaw_tolerance <= wp->param4 && att.yaw + yaw_tolerance >= wp->param4) +// wpm->yaw_reached = true; +// } +// else if(att.yaw - yaw_tolerance < 0.0f) +// { +// float lowerBound = 360.0f + att.yaw - yaw_tolerance; +// if (lowerBound < wp->param4 || wp->param4 < att.yaw + yaw_tolerance) +// wpm->yaw_reached = true; +// } +// else +// { +// float upperBound = att.yaw + yaw_tolerance - 2.f*FM_PI; +// if (att.yaw - yaw_tolerance < wp->param4 || wp->param4 < upperBound) +// wpm->yaw_reached = true; +// } +// } +// } +// break; +// } +// +// case MAVLINK_MSG_ID_LOCAL_POSITION_NED: +// { +// if(msg->sysid == mavlink_system.sysid && wpm->current_active_wp_id < wpm->size) +// { +// mavlink_mission_item_t *wp = &(wpm->waypoints[wpm->current_active_wp_id]); +// +// if(wp->frame == MAV_FRAME_LOCAL_ENU || MAV_FRAME_LOCAL_NED) +// { +// mavlink_local_position_ned_t pos; +// mavlink_msg_local_position_ned_decode(msg, &pos); +// //// if (debug) // printf("Received new position: x: %f | y: %f | z: %f\n", pos.x, pos.y, pos.z); +// +// wpm->pos_reached = false; +// +// // compare current position (given in message) with current waypoint +// float orbit = wp->param1; +// +// float dist; +//// if (wp->param2 == 0) +//// { +//// // FIXME segment distance +//// //dist = mavlink_wpm_distance_to_segment(current_active_wp_id, pos.x, pos.y, pos.z); +//// } +//// else +//// { +// dist = mavlink_wpm_distance_to_point(wpm->current_active_wp_id, pos.x, pos.y, pos.z); +//// } +// +// if (dist >= 0.f && dist <= orbit && wpm->yaw_reached) +// { +// wpm->pos_reached = true; +// } +// } +// } +// break; +// } + +// case MAVLINK_MSG_ID_CMD: // special action from ground station +// { +// mavlink_cmd_t action; +// mavlink_msg_cmd_decode(msg, &action); +// if(action.target == mavlink_system.sysid) +// { +// // if (verbose) std::cerr << "Waypoint: received message with action " << action.action << std::endl; +// switch (action.action) +// { +// // case MAV_ACTION_LAUNCH: +// // // if (verbose) std::cerr << "Launch received" << std::endl; +// // current_active_wp_id = 0; +// // if (wpm->size>0) +// // { +// // setActive(waypoints[current_active_wp_id]); +// // } +// // else +// // // if (verbose) std::cerr << "No launch, waypointList empty" << std::endl; +// // break; +// +// // case MAV_ACTION_CONTINUE: +// // // if (verbose) std::c +// // err << "Continue received" << std::endl; +// // idle = false; +// // setActive(waypoints[current_active_wp_id]); +// // break; +// +// // case MAV_ACTION_HALT: +// // // if (verbose) std::cerr << "Halt received" << std::endl; +// // idle = true; +// // break; +// +// // default: +// // // if (verbose) std::cerr << "Unknown action received with id " << action.action << ", no action taken" << std::endl; +// // break; +// } +// } +// break; +// } + + case MAVLINK_MSG_ID_MISSION_ACK: { + mavlink_mission_ack_t wpa; + mavlink_msg_mission_ack_decode(msg, &wpa); + + if ((msg->sysid == wpm->current_partner_sysid && msg->compid == wpm->current_partner_compid) && (wpa.target_system == mavlink_system.sysid /*&& wpa.target_component == mavlink_wpm_comp_id*/)) { + wpm->timestamp_lastaction = now; + + if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST || wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS) { + if (wpm->current_wp_id == wpm->size - 1) { +#ifdef MAVLINK_WPM_NO_PRINTF + mavlink_missionlib_send_gcs_string("Got last WP ACK state -> IDLE"); +#else + + if (MAVLINK_WPM_VERBOSE) printf("Received ACK after having sent last waypoint, going to state MAVLINK_WPM_STATE_IDLE\n"); + +#endif + wpm->current_state = MAVLINK_WPM_STATE_IDLE; + wpm->current_wp_id = 0; + } + } + + } else { +#ifdef MAVLINK_WPM_NO_PRINTF + mavlink_missionlib_send_gcs_string("REJ. WP CMD: curr partner id mismatch"); +#else + + if (MAVLINK_WPM_VERBOSE) printf("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH\n"); + +#endif + } + + break; + } + + case MAVLINK_MSG_ID_MISSION_SET_CURRENT: { + mavlink_mission_set_current_t wpc; + mavlink_msg_mission_set_current_decode(msg, &wpc); + + if (wpc.target_system == mavlink_system.sysid /*&& wpc.target_component == mavlink_wpm_comp_id*/) { + wpm->timestamp_lastaction = now; + + if (wpm->current_state == MAVLINK_WPM_STATE_IDLE) { + if (wpc.seq < wpm->size) { + // if (verbose) // printf("Received MAVLINK_MSG_ID_MISSION_ITEM_SET_CURRENT\n"); + wpm->current_active_wp_id = wpc.seq; + uint32_t i; + + for (i = 0; i < wpm->size; i++) { + if (i == wpm->current_active_wp_id) { + wpm->waypoints[i].current = true; + + } else { + wpm->waypoints[i].current = false; + } + } + +#ifdef MAVLINK_WPM_NO_PRINTF + mavlink_missionlib_send_gcs_string("NEW WP SET"); +#else + + if (MAVLINK_WPM_VERBOSE) printf("New current waypoint %u\n", wpm->current_active_wp_id); + +#endif + wpm->yaw_reached = false; + wpm->pos_reached = false; + mavlink_wpm_send_waypoint_current(wpm->current_active_wp_id); + mavlink_wpm_send_setpoint(wpm->current_active_wp_id); + wpm->timestamp_firstinside_orbit = 0; + + } else { +#ifdef MAVLINK_WPM_NO_PRINTF + mavlink_missionlib_send_gcs_string("IGN WP CURR CMD: Not in list"); +#else + + if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_SET_CURRENT: Index out of bounds\n"); + +#endif + } + + } else { +#ifdef MAVLINK_WPM_NO_PRINTF + mavlink_missionlib_send_gcs_string("IGN WP CURR CMD: Busy"); +#else + + if (MAVLINK_WPM_VERBOSE) printf("IGNORED WAYPOINT COMMAND BECAUSE NOT IN IDLE STATE\n"); + +#endif + } + + } else { +#ifdef MAVLINK_WPM_NO_PRINTF + mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch"); +#else + + if (MAVLINK_WPM_VERBOSE) printf("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH\n"); + +#endif + } + + break; + } + + case MAVLINK_MSG_ID_MISSION_REQUEST_LIST: { + mavlink_mission_request_list_t wprl; + mavlink_msg_mission_request_list_decode(msg, &wprl); + + if (wprl.target_system == mavlink_system.sysid /*&& wprl.target_component == mavlink_wpm_comp_id*/) { + wpm->timestamp_lastaction = now; + + if (wpm->current_state == MAVLINK_WPM_STATE_IDLE || wpm->current_state == MAVLINK_WPM_STATE_SENDLIST) { + if (wpm->size > 0) { + //if (verbose && wpm->current_state == MAVLINK_WPM_STATE_IDLE) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST from %u changing state to MAVLINK_WPM_STATE_SENDLIST\n", msg->sysid); +// if (verbose && wpm->current_state == MAVLINK_WPM_STATE_SENDLIST) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST again from %u staying in state MAVLINK_WPM_STATE_SENDLIST\n", msg->sysid); + wpm->current_state = MAVLINK_WPM_STATE_SENDLIST; + wpm->current_wp_id = 0; + wpm->current_partner_sysid = msg->sysid; + wpm->current_partner_compid = msg->compid; + + } else { + // if (verbose) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST from %u but have no waypoints, staying in \n", msg->sysid); + } + + wpm->current_count = wpm->size; + mavlink_wpm_send_waypoint_count(msg->sysid, msg->compid, wpm->current_count); + + } else { + // if (verbose) // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST because i'm doing something else already (state=%i).\n", wpm->current_state); + } + } else { + // if (verbose) // printf("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT MISMATCH\n"); + } + + break; + } + + case MAVLINK_MSG_ID_MISSION_REQUEST: { + mavlink_mission_request_t wpr; + mavlink_msg_mission_request_decode(msg, &wpr); + + if (msg->sysid == wpm->current_partner_sysid && msg->compid == wpm->current_partner_compid && wpr.target_system == mavlink_system.sysid /*&& wpr.target_component == mavlink_wpm_comp_id*/) { + wpm->timestamp_lastaction = now; + + //ensure that we are in the correct state and that the first request has id 0 and the following requests have either the last id (re-send last waypoint) or last_id+1 (next waypoint) + if ((wpm->current_state == MAVLINK_WPM_STATE_SENDLIST && wpr.seq == 0) || (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS && (wpr.seq == wpm->current_wp_id || wpr.seq == wpm->current_wp_id + 1) && wpr.seq < wpm->size)) { + if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST) { +#ifdef MAVLINK_WPM_NO_PRINTF + mavlink_missionlib_send_gcs_string("GOT WP REQ, state -> SEND"); +#else + + if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u from %u changing state to MAVLINK_WPM_STATE_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid); + +#endif + } + + if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS && wpr.seq == wpm->current_wp_id + 1) { +#ifdef MAVLINK_WPM_NO_PRINTF + mavlink_missionlib_send_gcs_string("GOT 2nd WP REQ"); +#else + + if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u from %u staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid); + +#endif + } + + if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS && wpr.seq == wpm->current_wp_id) { +#ifdef MAVLINK_WPM_NO_PRINTF + mavlink_missionlib_send_gcs_string("GOT 2nd WP REQ"); +#else + + if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u (again) from %u staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid); + +#endif + } + + wpm->current_state = MAVLINK_WPM_STATE_SENDLIST_SENDWPS; + wpm->current_wp_id = wpr.seq; + mavlink_wpm_send_waypoint(wpm->current_partner_sysid, wpm->current_partner_compid, wpr.seq); + + } else { + // if (verbose) + { + if (!(wpm->current_state == MAVLINK_WPM_STATE_SENDLIST || wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS)) { +#ifdef MAVLINK_WPM_NO_PRINTF + mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); +#else + + if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because i'm doing something else already (state=%i).\n", wpm->current_state); + +#endif + break; + + } else if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST) { + if (wpr.seq != 0) { +#ifdef MAVLINK_WPM_NO_PRINTF + mavlink_missionlib_send_gcs_string("REJ. WP CMD: First id != 0"); +#else + + if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the first requested waypoint ID (%u) was not 0.\n", wpr.seq); + +#endif + } + + } else if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS) { + if (wpr.seq != wpm->current_wp_id && wpr.seq != wpm->current_wp_id + 1) { +#ifdef MAVLINK_WPM_NO_PRINTF + mavlink_missionlib_send_gcs_string("REJ. WP CMD: Req. WP was unexpected"); +#else + + if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the requested waypoint ID (%u) was not the expected (%u or %u).\n", wpr.seq, wpm->current_wp_id, wpm->current_wp_id + 1); + +#endif + + } else if (wpr.seq >= wpm->size) { +#ifdef MAVLINK_WPM_NO_PRINTF + mavlink_missionlib_send_gcs_string("REJ. WP CMD: Req. WP not in list"); +#else + + if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the requested waypoint ID (%u) was out of bounds.\n", wpr.seq); + +#endif + } + + } else { +#ifdef MAVLINK_WPM_NO_PRINTF + mavlink_missionlib_send_gcs_string("REJ. WP CMD: ?"); +#else + + if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST - FIXME: missed error description\n"); + +#endif + } + } + } + + } else { + //we we're target but already communicating with someone else + if ((wpr.target_system == mavlink_system.sysid /*&& wpr.target_component == mavlink_wpm_comp_id*/) && !(msg->sysid == wpm->current_partner_sysid && msg->compid == wpm->current_partner_compid)) { +#ifdef MAVLINK_WPM_NO_PRINTF + mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); +#else + + if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST from ID %u because i'm already talking to ID %u.\n", msg->sysid, wpm->current_partner_sysid); + +#endif + + } else { +#ifdef MAVLINK_WPM_NO_PRINTF + mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch"); +#else + + if (MAVLINK_WPM_VERBOSE) printf("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH\n"); + +#endif + } + + } + + break; + } + + case MAVLINK_MSG_ID_MISSION_COUNT: { + mavlink_mission_count_t wpc; + mavlink_msg_mission_count_decode(msg, &wpc); + + if (wpc.target_system == mavlink_system.sysid/* && wpc.target_component == mavlink_wpm_comp_id*/) { + wpm->timestamp_lastaction = now; + + if (wpm->current_state == MAVLINK_WPM_STATE_IDLE || (wpm->current_state == MAVLINK_WPM_STATE_GETLIST && wpm->current_wp_id == 0)) { +// printf("wpc count in: %d\n",wpc.count); +// printf("Comp id: %d\n",msg->compid); +// printf("Current partner sysid: %d\n",wpm->current_partner_sysid); + + if (wpc.count > 0) { + if (wpm->current_state == MAVLINK_WPM_STATE_IDLE) { +#ifdef MAVLINK_WPM_NO_PRINTF + mavlink_missionlib_send_gcs_string("WP CMD OK: state -> GETLIST"); +#else + + if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_COUNT (%u) from %u changing state to MAVLINK_WPM_STATE_GETLIST\n", wpc.count, msg->sysid); + +#endif + } + + if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST) { +#ifdef MAVLINK_WPM_NO_PRINTF + mavlink_missionlib_send_gcs_string("WP CMD OK AGAIN"); +#else + + if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_COUNT (%u) again from %u\n", wpc.count, msg->sysid); + +#endif + } + + wpm->current_state = MAVLINK_WPM_STATE_GETLIST; + wpm->current_wp_id = 0; + wpm->current_partner_sysid = msg->sysid; + wpm->current_partner_compid = msg->compid; + wpm->current_count = wpc.count; + +#ifdef MAVLINK_WPM_NO_PRINTF + mavlink_missionlib_send_gcs_string("CLR RCV BUF: READY"); +#else + + if (MAVLINK_WPM_VERBOSE) printf("clearing receive buffer and readying for receiving waypoints\n"); + +#endif + wpm->rcv_size = 0; + //while(waypoints_receive_buffer->size() > 0) +// { +// delete waypoints_receive_buffer->back(); +// waypoints_receive_buffer->pop_back(); +// } + + mavlink_wpm_send_waypoint_request(wpm->current_partner_sysid, wpm->current_partner_compid, wpm->current_wp_id); + + } else if (wpc.count == 0) { +#ifdef MAVLINK_WPM_NO_PRINTF + mavlink_missionlib_send_gcs_string("COUNT 0"); +#else + + if (MAVLINK_WPM_VERBOSE) printf("got waypoint count of 0, clearing waypoint list and staying in state MAVLINK_WPM_STATE_IDLE\n"); + +#endif + wpm->rcv_size = 0; + //while(waypoints_receive_buffer->size() > 0) +// { +// delete waypoints->back(); +// waypoints->pop_back(); +// } + wpm->current_active_wp_id = -1; + wpm->yaw_reached = false; + wpm->pos_reached = false; + break; + + } else { +#ifdef MAVLINK_WPM_NO_PRINTF + mavlink_missionlib_send_gcs_string("IGN WP CMD"); +#else + + if (MAVLINK_WPM_VERBOSE) printf("Ignoring MAVLINK_MSG_ID_MISSION_ITEM_COUNT from %u with count of %u\n", msg->sysid, wpc.count); + +#endif + } + + } else { + if (!(wpm->current_state == MAVLINK_WPM_STATE_IDLE || wpm->current_state == MAVLINK_WPM_STATE_GETLIST)) { +#ifdef MAVLINK_WPM_NO_PRINTF + mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); +#else + + if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_COUNT because i'm doing something else already (state=%i).\n", wpm->current_state); + +#endif + + } else if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST && wpm->current_wp_id != 0) { +#ifdef MAVLINK_WPM_NO_PRINTF + mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); +#else + + if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_COUNT because i'm already receiving waypoint %u.\n", wpm->current_wp_id); + +#endif + + } else { +#ifdef MAVLINK_WPM_NO_PRINTF + mavlink_missionlib_send_gcs_string("REJ. WP CMD: ?"); +#else + + if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_COUNT - FIXME: missed error description\n"); + +#endif + } + } + + } else { +#ifdef MAVLINK_WPM_NO_PRINTF + mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch"); +#else + + if (MAVLINK_WPM_VERBOSE) printf("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH\n"); + +#endif + } + + } + break; + + case MAVLINK_MSG_ID_MISSION_ITEM: { + mavlink_mission_item_t wp; + mavlink_msg_mission_item_decode(msg, &wp); + + mavlink_missionlib_send_gcs_string("GOT WP"); +// printf("sysid=%d, current_partner_sysid=%d\n", msg->sysid, wpm->current_partner_sysid); +// printf("compid=%d, current_partner_compid=%d\n", msg->compid, wpm->current_partner_compid); + +// if((msg->sysid == wpm->current_partner_sysid && msg->compid == wpm->current_partner_compid) && (wp.target_system == mavlink_system.sysid /*&& wp.target_component == mavlink_wpm_comp_id*/)) + if (wp.target_system == mavlink_system.sysid && wp.target_component == mavlink_wpm_comp_id) { + + wpm->timestamp_lastaction = now; + +// printf("wpm->current_state=%u, wp.seq = %d, wpm->current_wp_id=%d\n", wpm->current_state, wp.seq, wpm->current_wp_id); + +// wpm->current_state = MAVLINK_WPM_STATE_GETLIST;//removeme debug XXX TODO + + //ensure that we are in the correct state and that the first waypoint has id 0 and the following waypoints have the correct ids + if ((wpm->current_state == MAVLINK_WPM_STATE_GETLIST && wp.seq == 0) || (wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS && wp.seq == wpm->current_wp_id && wp.seq < wpm->current_count)) { + //mavlink_missionlib_send_gcs_string("DEBUG 2"); + +// if (verbose && wpm->current_state == MAVLINK_WPM_STATE_GETLIST) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM %u from %u changing state to MAVLINK_WPM_STATE_GETLIST_GETWPS\n", wp.seq, msg->sysid); +// if (verbose && wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS && wp.seq == wpm->current_wp_id) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM %u from %u\n", wp.seq, msg->sysid); +// if (verbose && wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS && wp.seq-1 == wpm->current_wp_id) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM %u (again) from %u\n", wp.seq, msg->sysid); +// + wpm->current_state = MAVLINK_WPM_STATE_GETLIST_GETWPS; + mavlink_mission_item_t *newwp = &(wpm->rcv_waypoints[wp.seq]); + memcpy(newwp, &wp, sizeof(mavlink_mission_item_t)); +// printf("WP seq: %d\n",wp.seq); + wpm->current_wp_id = wp.seq + 1; + + // if (verbose) // printf ("Added new waypoint to list. X= %f\t Y= %f\t Z= %f\t Yaw= %f\n", newwp->x, newwp->y, newwp->z, newwp->param4); +// printf ("Added new waypoint to list. X= %f\t Y= %f\t Z= %f\t Yaw= %f\n", newwp->x, newwp->y, newwp->z, newwp->param4); + +// printf ("wpm->current_wp_id =%d, wpm->current_count=%d\n\n", wpm->current_wp_id, wpm->current_count); + if (wpm->current_wp_id == wpm->current_count && wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) { + mavlink_missionlib_send_gcs_string("GOT ALL WPS"); + // if (verbose) // printf("Got all %u waypoints, changing state to MAVLINK_WPM_STATE_IDLE\n", wpm->current_count); + + mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, 0); + + if (wpm->current_active_wp_id > wpm->rcv_size - 1) { + wpm->current_active_wp_id = wpm->rcv_size - 1; + } + + // switch the waypoints list + // FIXME CHECK!!! + uint32_t i; + + for (i = 0; i < wpm->current_count; ++i) { + wpm->waypoints[i] = wpm->rcv_waypoints[i]; + } + + wpm->size = wpm->current_count; + + //get the new current waypoint + + for (i = 0; i < wpm->size; i++) { + if (wpm->waypoints[i].current == 1) { + wpm->current_active_wp_id = i; + //// if (verbose) // printf("New current waypoint %u\n", current_active_wp_id); + wpm->yaw_reached = false; + wpm->pos_reached = false; + mavlink_wpm_send_waypoint_current(wpm->current_active_wp_id); + mavlink_wpm_send_setpoint(wpm->current_active_wp_id); + wpm->timestamp_firstinside_orbit = 0; + break; + } + } + + if (i == wpm->size) { + wpm->current_active_wp_id = -1; + wpm->yaw_reached = false; + wpm->pos_reached = false; + wpm->timestamp_firstinside_orbit = 0; + } + + wpm->current_state = MAVLINK_WPM_STATE_IDLE; + + } else { + mavlink_wpm_send_waypoint_request(wpm->current_partner_sysid, wpm->current_partner_compid, wpm->current_wp_id); + } + + } else { + if (wpm->current_state == MAVLINK_WPM_STATE_IDLE) { + //we're done receiving waypoints, answer with ack. + mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, 0); + printf("Received MAVLINK_MSG_ID_MISSION_ITEM while state=MAVLINK_WPM_STATE_IDLE, answered with WAYPOINT_ACK.\n"); + } + + // if (verbose) + { + if (!(wpm->current_state == MAVLINK_WPM_STATE_GETLIST || wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS)) { +// printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u because i'm doing something else already (state=%i).\n", wp.seq, wpm->current_state); + break; + + } else if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST) { + if (!(wp.seq == 0)) { +// printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the first waypoint ID (%u) was not 0.\n", wp.seq); + } else { +// printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u - FIXME: missed error description\n", wp.seq); + } + } else if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) { + if (!(wp.seq == wpm->current_wp_id)) { +// printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the waypoint ID (%u) was not the expected %u.\n", wp.seq, wpm->current_wp_id); + mavlink_wpm_send_waypoint_request(wpm->current_partner_sysid, wpm->current_partner_compid, wpm->current_wp_id); + + } else if (!(wp.seq < wpm->current_count)) { +// printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the waypoint ID (%u) was out of bounds.\n", wp.seq); + } else { +// printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u - FIXME: missed error description\n", wp.seq); + } + } else { +// printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u - FIXME: missed error description\n", wp.seq); + } + } + } + } else { + //we we're target but already communicating with someone else + if ((wp.target_system == mavlink_system.sysid /*&& wp.target_component == mavlink_wpm_comp_id*/) && !(msg->sysid == wpm->current_partner_sysid && msg->compid == wpm->current_partner_compid) && wpm->current_state != MAVLINK_WPM_STATE_IDLE) { + // if (verbose) // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u from ID %u because i'm already talking to ID %u.\n", wp.seq, msg->sysid, wpm->current_partner_sysid); + } else if (wp.target_system == mavlink_system.sysid /* && wp.target_component == mavlink_wpm_comp_id*/) { + // if (verbose) // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u from ID %u because i have no idea what to do with it\n", wp.seq, msg->sysid); + } + } + + break; + } + + case MAVLINK_MSG_ID_MISSION_CLEAR_ALL: { + mavlink_mission_clear_all_t wpca; + mavlink_msg_mission_clear_all_decode(msg, &wpca); + + if (wpca.target_system == mavlink_system.sysid /*&& wpca.target_component == mavlink_wpm_comp_id */ && wpm->current_state == MAVLINK_WPM_STATE_IDLE) { + wpm->timestamp_lastaction = now; + + // if (verbose) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM_CLEAR_LIST from %u deleting all waypoints\n", msg->sysid); + // Delete all waypoints + wpm->size = 0; + wpm->current_active_wp_id = -1; + wpm->yaw_reached = false; + wpm->pos_reached = false; + + } else if (wpca.target_system == mavlink_system.sysid /*&& wpca.target_component == mavlink_wpm_comp_id */ && wpm->current_state != MAVLINK_WPM_STATE_IDLE) { + // if (verbose) // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_CLEAR_LIST from %u because i'm doing something else already (state=%i).\n", msg->sysid, wpm->current_state); + } + + break; + } + + default: { + // if (debug) // printf("Waypoint: received message of unknown type"); + break; + } + } + + check_waypoints_reached(now, global_pos, local_pos); +} diff --git a/src/modules/mavlink/waypoints.h b/src/modules/mavlink/waypoints.h new file mode 100644 index 000000000..c32ab32e5 --- /dev/null +++ b/src/modules/mavlink/waypoints.h @@ -0,0 +1,131 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. + * Author: @author Lorenz Meier + * @author Thomas Gubler + * @author Julian Oes + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file waypoints.h + * MAVLink waypoint protocol definition (BSD-relicensed). + */ + +#ifndef WAYPOINTS_H_ +#define WAYPOINTS_H_ + +/* This assumes you have the mavlink headers on your include path + or in the same folder as this source file */ + +#include + +#ifndef MAVLINK_SEND_UART_BYTES +#define MAVLINK_SEND_UART_BYTES(chan, buffer, len) mavlink_send_uart_bytes(chan, buffer, len) +#endif +extern mavlink_system_t mavlink_system; +#include +#include +#include +#include + +// FIXME XXX - TO BE MOVED TO XML +enum MAVLINK_WPM_STATES { + MAVLINK_WPM_STATE_IDLE = 0, + MAVLINK_WPM_STATE_SENDLIST, + MAVLINK_WPM_STATE_SENDLIST_SENDWPS, + MAVLINK_WPM_STATE_GETLIST, + MAVLINK_WPM_STATE_GETLIST_GETWPS, + MAVLINK_WPM_STATE_GETLIST_GOTALL, + MAVLINK_WPM_STATE_ENUM_END +}; + +enum MAVLINK_WPM_CODES { + MAVLINK_WPM_CODE_OK = 0, + MAVLINK_WPM_CODE_ERR_WAYPOINT_ACTION_NOT_SUPPORTED, + MAVLINK_WPM_CODE_ERR_WAYPOINT_FRAME_NOT_SUPPORTED, + MAVLINK_WPM_CODE_ERR_WAYPOINT_OUT_OF_BOUNDS, + MAVLINK_WPM_CODE_ERR_WAYPOINT_MAX_NUMBER_EXCEEDED, + MAVLINK_WPM_CODE_ENUM_END +}; + + +/* WAYPOINT MANAGER - MISSION LIB */ + +#define MAVLINK_WPM_MAX_WP_COUNT 15 +#define MAVLINK_WPM_CONFIG_IN_FLIGHT_UPDATE ///< Enable double buffer and in-flight updates +#ifndef MAVLINK_WPM_TEXT_FEEDBACK +#define MAVLINK_WPM_TEXT_FEEDBACK 0 ///< Report back status information as text +#endif +#define MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT 5000000 ///< Protocol communication timeout in useconds +#define MAVLINK_WPM_SETPOINT_DELAY_DEFAULT 1000000 ///< When to send a new setpoint +#define MAVLINK_WPM_PROTOCOL_DELAY_DEFAULT 40000 + + +struct mavlink_wpm_storage { + mavlink_mission_item_t waypoints[MAVLINK_WPM_MAX_WP_COUNT]; ///< Currently active waypoints +#ifdef MAVLINK_WPM_CONFIG_IN_FLIGHT_UPDATE + mavlink_mission_item_t rcv_waypoints[MAVLINK_WPM_MAX_WP_COUNT]; ///< Receive buffer for next waypoints +#endif + uint16_t size; + uint16_t max_size; + uint16_t rcv_size; + enum MAVLINK_WPM_STATES current_state; + int16_t current_wp_id; ///< Waypoint in current transmission + int16_t current_active_wp_id; ///< Waypoint the system is currently heading towards + uint16_t current_count; + uint8_t current_partner_sysid; + uint8_t current_partner_compid; + uint64_t timestamp_lastaction; + uint64_t timestamp_last_send_setpoint; + uint64_t timestamp_firstinside_orbit; + uint64_t timestamp_lastoutside_orbit; + uint32_t timeout; + uint32_t delay_setpoint; + float accept_range_yaw; + float accept_range_distance; + bool yaw_reached; + bool pos_reached; + bool idle; +}; + +typedef struct mavlink_wpm_storage mavlink_wpm_storage; + +void mavlink_wpm_init(mavlink_wpm_storage *state); +int mavlink_waypoint_eventloop(uint64_t now, const struct vehicle_global_position_s *global_position, + struct vehicle_local_position_s *local_pos); +void mavlink_wpm_message_handler(const mavlink_message_t *msg, const struct vehicle_global_position_s *global_pos , + struct vehicle_local_position_s *local_pos); + +extern void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1, + float param2, float param3, float param4, float param5_lat_x, + float param6_lon_y, float param7_alt_z, uint8_t frame, uint16_t command); + +#endif /* WAYPOINTS_H_ */ diff --git a/src/modules/mavlink_onboard/mavlink.c b/src/modules/mavlink_onboard/mavlink.c new file mode 100644 index 000000000..5a2685560 --- /dev/null +++ b/src/modules/mavlink_onboard/mavlink.c @@ -0,0 +1,529 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file mavlink.c + * MAVLink 1.0 protocol implementation. + * + * @author Lorenz Meier + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "mavlink_bridge_header.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#include "orb_topics.h" +#include "util.h" + +__EXPORT int mavlink_onboard_main(int argc, char *argv[]); + +static int mavlink_thread_main(int argc, char *argv[]); + +/* thread state */ +volatile bool thread_should_exit = false; +static volatile bool thread_running = false; +static int mavlink_task; + +/* pthreads */ +static pthread_t receive_thread; + +/* terminate MAVLink on user request - disabled by default */ +static bool mavlink_link_termination_allowed = false; + +mavlink_system_t mavlink_system = { + 100, + 50, + MAV_TYPE_QUADROTOR, + 0, + 0, + 0 +}; // System ID, 1-255, Component/Subsystem ID, 1-255 + +/* XXX not widely used */ +uint8_t chan = MAVLINK_COMM_0; + +/* XXX probably should be in a header... */ +extern pthread_t receive_start(int uart); + +bool mavlink_hil_enabled = false; + +/* protocol interface */ +static int uart; +static int baudrate; +bool gcs_link = true; + +/* interface mode */ +static enum { + MAVLINK_INTERFACE_MODE_OFFBOARD, + MAVLINK_INTERFACE_MODE_ONBOARD +} mavlink_link_mode = MAVLINK_INTERFACE_MODE_OFFBOARD; + +static void mavlink_update_system(void); +static int mavlink_open_uart(int baudrate, const char *uart_name, struct termios *uart_config_original, bool *is_usb); +static void usage(void); + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_config_original, bool *is_usb) +{ + /* process baud rate */ + int speed; + + switch (baud) { + case 0: speed = B0; break; + + case 50: speed = B50; break; + + case 75: speed = B75; break; + + case 110: speed = B110; break; + + case 134: speed = B134; break; + + case 150: speed = B150; break; + + case 200: speed = B200; break; + + case 300: speed = B300; break; + + case 600: speed = B600; break; + + case 1200: speed = B1200; break; + + case 1800: speed = B1800; break; + + case 2400: speed = B2400; break; + + case 4800: speed = B4800; break; + + case 9600: speed = B9600; break; + + case 19200: speed = B19200; break; + + case 38400: speed = B38400; break; + + case 57600: speed = B57600; break; + + case 115200: speed = B115200; break; + + case 230400: speed = B230400; break; + + case 460800: speed = B460800; break; + + case 921600: speed = B921600; break; + + default: + fprintf(stderr, "[mavlink] ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\n\t9600\n19200\n38400\n57600\n115200\n230400\n460800\n921600\n\n", baud); + return -EINVAL; + } + + /* open uart */ + printf("[mavlink] UART is %s, baudrate is %d\n", uart_name, baud); + uart = open(uart_name, O_RDWR | O_NOCTTY); + + /* Try to set baud rate */ + struct termios uart_config; + int termios_state; + *is_usb = false; + + if (strcmp(uart_name, "/dev/ttyACM0") != OK) { + /* Back up the original uart configuration to restore it after exit */ + if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) { + fprintf(stderr, "[mavlink] ERROR getting baudrate / termios config for %s: %d\n", uart_name, termios_state); + close(uart); + return -1; + } + + /* Fill the struct for the new configuration */ + tcgetattr(uart, &uart_config); + + /* Clear ONLCR flag (which appends a CR for every LF) */ + uart_config.c_oflag &= ~ONLCR; + + /* Set baud rate */ + if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) { + fprintf(stderr, "[mavlink] ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state); + close(uart); + return -1; + } + + + if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) { + fprintf(stderr, "[mavlink] ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name); + close(uart); + return -1; + } + + } else { + *is_usb = true; + } + + return uart; +} + +void +mavlink_send_uart_bytes(mavlink_channel_t channel, uint8_t *ch, int length) +{ + write(uart, ch, (size_t)(sizeof(uint8_t) * length)); +} + +/* + * Internal function to give access to the channel status for each channel + */ +mavlink_status_t* mavlink_get_channel_status(uint8_t channel) +{ + static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS]; + return &m_mavlink_status[channel]; +} + +/* + * Internal function to give access to the channel buffer for each channel + */ +mavlink_message_t* mavlink_get_channel_buffer(uint8_t channel) +{ + static mavlink_message_t m_mavlink_buffer[MAVLINK_COMM_NUM_BUFFERS]; + return &m_mavlink_buffer[channel]; +} + +void mavlink_update_system(void) +{ + static bool initialized = false; + param_t param_system_id; + param_t param_component_id; + param_t param_system_type; + + if (!initialized) { + param_system_id = param_find("MAV_SYS_ID"); + param_component_id = param_find("MAV_COMP_ID"); + param_system_type = param_find("MAV_TYPE"); + } + + /* update system and component id */ + int32_t system_id; + param_get(param_system_id, &system_id); + if (system_id > 0 && system_id < 255) { + mavlink_system.sysid = system_id; + } + + int32_t component_id; + param_get(param_component_id, &component_id); + if (component_id > 0 && component_id < 255) { + mavlink_system.compid = component_id; + } + + int32_t system_type; + param_get(param_system_type, &system_type); + if (system_type >= 0 && system_type < MAV_TYPE_ENUM_END) { + mavlink_system.type = system_type; + } +} + +void +get_mavlink_mode_and_state(const struct vehicle_status_s *v_status, const struct actuator_armed_s *armed, + uint8_t *mavlink_state, uint8_t *mavlink_mode) +{ + /* reset MAVLink mode bitfield */ + *mavlink_mode = 0; + + /* set mode flags independent of system state */ + if (v_status->flag_control_manual_enabled) { + *mavlink_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED; + } + + if (v_status->flag_hil_enabled) { + *mavlink_mode |= MAV_MODE_FLAG_HIL_ENABLED; + } + + /* set arming state */ + if (armed->armed) { + *mavlink_mode |= MAV_MODE_FLAG_SAFETY_ARMED; + } else { + *mavlink_mode &= ~MAV_MODE_FLAG_SAFETY_ARMED; + } + + switch (v_status->state_machine) { + case SYSTEM_STATE_PREFLIGHT: + if (v_status->flag_preflight_gyro_calibration || + v_status->flag_preflight_mag_calibration || + v_status->flag_preflight_accel_calibration) { + *mavlink_state = MAV_STATE_CALIBRATING; + } else { + *mavlink_state = MAV_STATE_UNINIT; + } + break; + + case SYSTEM_STATE_STANDBY: + *mavlink_state = MAV_STATE_STANDBY; + break; + + case SYSTEM_STATE_GROUND_READY: + *mavlink_state = MAV_STATE_ACTIVE; + break; + + case SYSTEM_STATE_MANUAL: + *mavlink_state = MAV_STATE_ACTIVE; + *mavlink_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED; + break; + + case SYSTEM_STATE_STABILIZED: + *mavlink_state = MAV_STATE_ACTIVE; + *mavlink_mode |= MAV_MODE_FLAG_STABILIZE_ENABLED; + break; + + case SYSTEM_STATE_AUTO: + *mavlink_state = MAV_STATE_ACTIVE; + *mavlink_mode |= MAV_MODE_FLAG_GUIDED_ENABLED; + break; + + case SYSTEM_STATE_MISSION_ABORT: + *mavlink_state = MAV_STATE_EMERGENCY; + break; + + case SYSTEM_STATE_EMCY_LANDING: + *mavlink_state = MAV_STATE_EMERGENCY; + break; + + case SYSTEM_STATE_EMCY_CUTOFF: + *mavlink_state = MAV_STATE_EMERGENCY; + break; + + case SYSTEM_STATE_GROUND_ERROR: + *mavlink_state = MAV_STATE_EMERGENCY; + break; + + case SYSTEM_STATE_REBOOT: + *mavlink_state = MAV_STATE_POWEROFF; + break; + } + +} + +/** + * MAVLink Protocol main function. + */ +int mavlink_thread_main(int argc, char *argv[]) +{ + int ch; + char *device_name = "/dev/ttyS1"; + baudrate = 57600; + + struct vehicle_status_s v_status; + struct actuator_armed_s armed; + + /* work around some stupidity in task_create's argv handling */ + argc -= 2; + argv += 2; + + while ((ch = getopt(argc, argv, "b:d:eo")) != EOF) { + switch (ch) { + case 'b': + baudrate = strtoul(optarg, NULL, 10); + if (baudrate == 0) + errx(1, "invalid baud rate '%s'", optarg); + break; + + case 'd': + device_name = optarg; + break; + + case 'e': + mavlink_link_termination_allowed = true; + break; + + case 'o': + mavlink_link_mode = MAVLINK_INTERFACE_MODE_ONBOARD; + break; + + default: + usage(); + } + } + + struct termios uart_config_original; + bool usb_uart; + + /* print welcome text */ + warnx("MAVLink v1.0 serial interface starting..."); + + /* inform about mode */ + warnx((mavlink_link_mode == MAVLINK_INTERFACE_MODE_ONBOARD) ? "ONBOARD MODE" : "DOWNLINK MODE"); + + /* Flush stdout in case MAVLink is about to take it over */ + fflush(stdout); + + /* default values for arguments */ + uart = mavlink_open_uart(baudrate, device_name, &uart_config_original, &usb_uart); + if (uart < 0) + err(1, "could not open %s", device_name); + + /* Initialize system properties */ + mavlink_update_system(); + + /* start the MAVLink receiver */ + receive_thread = receive_start(uart); + + thread_running = true; + + /* arm counter to go off immediately */ + unsigned lowspeed_counter = 10; + + while (!thread_should_exit) { + + /* 1 Hz */ + if (lowspeed_counter == 10) { + mavlink_update_system(); + + /* translate the current system state to mavlink state and mode */ + uint8_t mavlink_state = 0; + uint8_t mavlink_mode = 0; + get_mavlink_mode_and_state(&v_status, &armed, &mavlink_state, &mavlink_mode); + + /* send heartbeat */ + mavlink_msg_heartbeat_send(chan, mavlink_system.type, MAV_AUTOPILOT_PX4, mavlink_mode, v_status.state_machine, mavlink_state); + + /* send status (values already copied in the section above) */ + mavlink_msg_sys_status_send(chan, + v_status.onboard_control_sensors_present, + v_status.onboard_control_sensors_enabled, + v_status.onboard_control_sensors_health, + v_status.load, + v_status.voltage_battery * 1000.0f, + v_status.current_battery * 1000.0f, + v_status.battery_remaining, + v_status.drop_rate_comm, + v_status.errors_comm, + v_status.errors_count1, + v_status.errors_count2, + v_status.errors_count3, + v_status.errors_count4); + lowspeed_counter = 0; + } + lowspeed_counter++; + + /* sleep 1000 ms */ + usleep(1000000); + } + + /* wait for threads to complete */ + pthread_join(receive_thread, NULL); + + /* Reset the UART flags to original state */ + if (!usb_uart) + tcsetattr(uart, TCSANOW, &uart_config_original); + + thread_running = false; + + exit(0); +} + +static void +usage() +{ + fprintf(stderr, "usage: mavlink start [-d ] [-b ]\n" + " mavlink stop\n" + " mavlink status\n"); + exit(1); +} + +int mavlink_onboard_main(int argc, char *argv[]) +{ + + if (argc < 2) { + warnx("missing command"); + usage(); + } + + if (!strcmp(argv[1], "start")) { + + /* this is not an error */ + if (thread_running) + errx(0, "mavlink already running\n"); + + thread_should_exit = false; + mavlink_task = task_spawn("mavlink_onboard", + SCHED_DEFAULT, + SCHED_PRIORITY_DEFAULT, + 2048, + mavlink_thread_main, + (const char**)argv); + exit(0); + } + + if (!strcmp(argv[1], "stop")) { + thread_should_exit = true; + while (thread_running) { + usleep(200000); + } + warnx("terminated."); + exit(0); + } + + if (!strcmp(argv[1], "status")) { + if (thread_running) { + errx(0, "running"); + } else { + errx(1, "not running"); + } + } + + warnx("unrecognized command"); + usage(); + /* not getting here */ + return 0; +} + diff --git a/src/modules/mavlink_onboard/mavlink_bridge_header.h b/src/modules/mavlink_onboard/mavlink_bridge_header.h new file mode 100644 index 000000000..3ad3bb617 --- /dev/null +++ b/src/modules/mavlink_onboard/mavlink_bridge_header.h @@ -0,0 +1,81 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file mavlink_bridge_header + * MAVLink bridge header for UART access. + * + * @author Lorenz Meier + */ + +/* MAVLink adapter header */ +#ifndef MAVLINK_BRIDGE_HEADER_H +#define MAVLINK_BRIDGE_HEADER_H + +#define MAVLINK_USE_CONVENIENCE_FUNCTIONS + +/* use efficient approach, see mavlink_helpers.h */ +#define MAVLINK_SEND_UART_BYTES mavlink_send_uart_bytes + +#define MAVLINK_GET_CHANNEL_BUFFER mavlink_get_channel_buffer +#define MAVLINK_GET_CHANNEL_STATUS mavlink_get_channel_status + +#include +#include + + +/* Struct that stores the communication settings of this system. + you can also define / alter these settings elsewhere, as long + as they're included BEFORE mavlink.h. + So you can set the + + mavlink_system.sysid = 100; // System ID, 1-255 + mavlink_system.compid = 50; // Component/Subsystem ID, 1-255 + + Lines also in your main.c, e.g. by reading these parameter from EEPROM. + */ +extern mavlink_system_t mavlink_system; + +/** + * @brief Send multiple chars (uint8_t) over a comm channel + * + * @param chan MAVLink channel to use, usually MAVLINK_COMM_0 = UART0 + * @param ch Character to send + */ +extern void mavlink_send_uart_bytes(mavlink_channel_t chan, uint8_t *ch, int length); + +mavlink_status_t* mavlink_get_channel_status(uint8_t chan); +mavlink_message_t* mavlink_get_channel_buffer(uint8_t chan); + +#endif /* MAVLINK_BRIDGE_HEADER_H */ diff --git a/src/modules/mavlink_onboard/mavlink_receiver.c b/src/modules/mavlink_onboard/mavlink_receiver.c new file mode 100644 index 000000000..0acbea675 --- /dev/null +++ b/src/modules/mavlink_onboard/mavlink_receiver.c @@ -0,0 +1,331 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file mavlink_receiver.c + * MAVLink protocol message receive and dispatch + * + * @author Lorenz Meier + */ + +/* XXX trim includes */ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "mavlink_bridge_header.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +#include "util.h" +#include "orb_topics.h" + +/* XXX should be in a header somewhere */ +pthread_t receive_start(int uart); + +static void handle_message(mavlink_message_t *msg); +static void *receive_thread(void *arg); + +static mavlink_status_t status; +static struct vehicle_vicon_position_s vicon_position; +static struct vehicle_command_s vcmd; +static struct offboard_control_setpoint_s offboard_control_sp; + +struct vehicle_global_position_s hil_global_pos; +struct vehicle_attitude_s hil_attitude; +orb_advert_t pub_hil_global_pos = -1; +orb_advert_t pub_hil_attitude = -1; + +static orb_advert_t cmd_pub = -1; +static orb_advert_t flow_pub = -1; + +static orb_advert_t offboard_control_sp_pub = -1; +static orb_advert_t vicon_position_pub = -1; + +extern bool gcs_link; + +static void +handle_message(mavlink_message_t *msg) +{ + if (msg->msgid == MAVLINK_MSG_ID_COMMAND_LONG) { + + mavlink_command_long_t cmd_mavlink; + mavlink_msg_command_long_decode(msg, &cmd_mavlink); + + if (cmd_mavlink.target_system == mavlink_system.sysid && ((cmd_mavlink.target_component == mavlink_system.compid) + || (cmd_mavlink.target_component == MAV_COMP_ID_ALL))) { + //check for MAVLINK terminate command + if (cmd_mavlink.command == MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN && ((int)cmd_mavlink.param1) == 3) { + /* This is the link shutdown command, terminate mavlink */ + printf("[mavlink] Terminating .. \n"); + fflush(stdout); + usleep(50000); + + /* terminate other threads and this thread */ + thread_should_exit = true; + + } else { + + /* Copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */ + vcmd.param1 = cmd_mavlink.param1; + vcmd.param2 = cmd_mavlink.param2; + vcmd.param3 = cmd_mavlink.param3; + vcmd.param4 = cmd_mavlink.param4; + vcmd.param5 = cmd_mavlink.param5; + vcmd.param6 = cmd_mavlink.param6; + vcmd.param7 = cmd_mavlink.param7; + vcmd.command = cmd_mavlink.command; + vcmd.target_system = cmd_mavlink.target_system; + vcmd.target_component = cmd_mavlink.target_component; + vcmd.source_system = msg->sysid; + vcmd.source_component = msg->compid; + vcmd.confirmation = cmd_mavlink.confirmation; + + /* check if topic is advertised */ + if (cmd_pub <= 0) { + cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd); + } + /* publish */ + orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd); + } + } + } + + if (msg->msgid == MAVLINK_MSG_ID_OPTICAL_FLOW) { + mavlink_optical_flow_t flow; + mavlink_msg_optical_flow_decode(msg, &flow); + + struct optical_flow_s f; + + f.timestamp = hrt_absolute_time(); + f.flow_raw_x = flow.flow_x; + f.flow_raw_y = flow.flow_y; + f.flow_comp_x_m = flow.flow_comp_m_x; + f.flow_comp_y_m = flow.flow_comp_m_y; + f.ground_distance_m = flow.ground_distance; + f.quality = flow.quality; + f.sensor_id = flow.sensor_id; + + /* check if topic is advertised */ + if (flow_pub <= 0) { + flow_pub = orb_advertise(ORB_ID(optical_flow), &f); + } else { + /* publish */ + orb_publish(ORB_ID(optical_flow), flow_pub, &f); + } + + } + + if (msg->msgid == MAVLINK_MSG_ID_SET_MODE) { + /* Set mode on request */ + mavlink_set_mode_t new_mode; + mavlink_msg_set_mode_decode(msg, &new_mode); + + /* Copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */ + vcmd.param1 = new_mode.base_mode; + vcmd.param2 = new_mode.custom_mode; + vcmd.param3 = 0; + vcmd.param4 = 0; + vcmd.param5 = 0; + vcmd.param6 = 0; + vcmd.param7 = 0; + vcmd.command = MAV_CMD_DO_SET_MODE; + vcmd.target_system = new_mode.target_system; + vcmd.target_component = MAV_COMP_ID_ALL; + vcmd.source_system = msg->sysid; + vcmd.source_component = msg->compid; + vcmd.confirmation = 1; + + /* check if topic is advertised */ + if (cmd_pub <= 0) { + cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd); + } else { + /* create command */ + orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd); + } + } + + /* Handle Vicon position estimates */ + if (msg->msgid == MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE) { + mavlink_vicon_position_estimate_t pos; + mavlink_msg_vicon_position_estimate_decode(msg, &pos); + + vicon_position.x = pos.x; + vicon_position.y = pos.y; + vicon_position.z = pos.z; + + if (vicon_position_pub <= 0) { + vicon_position_pub = orb_advertise(ORB_ID(vehicle_vicon_position), &vicon_position); + } else { + orb_publish(ORB_ID(vehicle_vicon_position), vicon_position_pub, &vicon_position); + } + } + + /* Handle quadrotor motor setpoints */ + + if (msg->msgid == MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST) { + mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t quad_motors_setpoint; + mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_decode(msg, &quad_motors_setpoint); + + if (mavlink_system.sysid < 4) { + + /* switch to a receiving link mode */ + gcs_link = false; + + /* + * rate control mode - defined by MAVLink + */ + + uint8_t ml_mode = 0; + bool ml_armed = false; + + switch (quad_motors_setpoint.mode) { + case 0: + ml_armed = false; + break; + case 1: + ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_RATES; + ml_armed = true; + + break; + case 2: + ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE; + ml_armed = true; + + break; + case 3: + ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY; + break; + case 4: + ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_POSITION; + break; + } + + offboard_control_sp.p1 = (float)quad_motors_setpoint.roll[mavlink_system.sysid-1] / (float)INT16_MAX; + offboard_control_sp.p2 = (float)quad_motors_setpoint.pitch[mavlink_system.sysid-1] / (float)INT16_MAX; + offboard_control_sp.p3= (float)quad_motors_setpoint.yaw[mavlink_system.sysid-1] / (float)INT16_MAX; + offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid-1]/(float)UINT16_MAX; + + if (quad_motors_setpoint.thrust[mavlink_system.sysid-1] == 0) { + ml_armed = false; + } + + offboard_control_sp.armed = ml_armed; + offboard_control_sp.mode = ml_mode; + + offboard_control_sp.timestamp = hrt_absolute_time(); + + /* check if topic has to be advertised */ + if (offboard_control_sp_pub <= 0) { + offboard_control_sp_pub = orb_advertise(ORB_ID(offboard_control_setpoint), &offboard_control_sp); + } else { + /* Publish */ + orb_publish(ORB_ID(offboard_control_setpoint), offboard_control_sp_pub, &offboard_control_sp); + } + } + } + +} + + +/** + * Receive data from UART. + */ +static void * +receive_thread(void *arg) +{ + int uart_fd = *((int*)arg); + + const int timeout = 1000; + uint8_t ch; + + mavlink_message_t msg; + + prctl(PR_SET_NAME, "mavlink offb rcv", getpid()); + + while (!thread_should_exit) { + + struct pollfd fds[] = { { .fd = uart_fd, .events = POLLIN } }; + + if (poll(fds, 1, timeout) > 0) { + /* non-blocking read until buffer is empty */ + int nread = 0; + + do { + nread = read(uart_fd, &ch, 1); + + if (mavlink_parse_char(chan, ch, &msg, &status)) { //parse the char + /* handle generic messages and commands */ + handle_message(&msg); + } + } while (nread > 0); + } + } + + return NULL; +} + +pthread_t +receive_start(int uart) +{ + pthread_attr_t receiveloop_attr; + pthread_attr_init(&receiveloop_attr); + + struct sched_param param; + param.sched_priority = SCHED_PRIORITY_MAX - 40; + (void)pthread_attr_setschedparam(&receiveloop_attr, ¶m); + + pthread_attr_setstacksize(&receiveloop_attr, 2048); + + pthread_t thread; + pthread_create(&thread, &receiveloop_attr, receive_thread, &uart); + return thread; +} \ No newline at end of file diff --git a/src/modules/mavlink_onboard/module.mk b/src/modules/mavlink_onboard/module.mk new file mode 100644 index 000000000..c40fa042e --- /dev/null +++ b/src/modules/mavlink_onboard/module.mk @@ -0,0 +1,42 @@ +############################################################################ +# +# Copyright (C) 2012-2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# MAVLink protocol to uORB interface process (XXX hack for onboard use) +# + +MODULE_COMMAND = mavlink_onboard +SRCS = mavlink.c \ + mavlink_receiver.c + +INCLUDE_DIRS += $(MAVLINK_SRC)/include/mavlink diff --git a/src/modules/mavlink_onboard/orb_topics.h b/src/modules/mavlink_onboard/orb_topics.h new file mode 100644 index 000000000..f18f56243 --- /dev/null +++ b/src/modules/mavlink_onboard/orb_topics.h @@ -0,0 +1,100 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. + * Author: @author Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file orb_topics.h + * Common sets of topics subscribed to or published by the MAVLink driver, + * and structures maintained by those subscriptions. + */ +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +struct mavlink_subscriptions { + int sensor_sub; + int att_sub; + int global_pos_sub; + int act_0_sub; + int act_1_sub; + int act_2_sub; + int act_3_sub; + int gps_sub; + int man_control_sp_sub; + int armed_sub; + int actuators_sub; + int local_pos_sub; + int spa_sub; + int spl_sub; + int spg_sub; + int debug_key_value; + int input_rc_sub; +}; + +extern struct mavlink_subscriptions mavlink_subs; + +/** Global position */ +extern struct vehicle_global_position_s global_pos; + +/** Local position */ +extern struct vehicle_local_position_s local_pos; + +/** Vehicle status */ +// extern struct vehicle_status_s v_status; + +/** RC channels */ +extern struct rc_channels_s rc; + +/** Actuator armed state */ +// extern struct actuator_armed_s armed; + +/** Worker thread starter */ +extern pthread_t uorb_receive_start(void); diff --git a/src/modules/mavlink_onboard/util.h b/src/modules/mavlink_onboard/util.h new file mode 100644 index 000000000..38a4db372 --- /dev/null +++ b/src/modules/mavlink_onboard/util.h @@ -0,0 +1,54 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @author Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file util.h + * Utility and helper functions and data. + */ + +#pragma once + +#include "orb_topics.h" + +/** MAVLink communications channel */ +extern uint8_t chan; + +/** Shutdown marker */ +extern volatile bool thread_should_exit; + +/** + * Translate the custom state into standard mavlink modes and state. + */ +extern void get_mavlink_mode_and_state(const struct vehicle_status_s *v_status, const struct actuator_armed_s *armed, + uint8_t *mavlink_state, uint8_t *mavlink_mode); -- cgit v1.2.3 From f924e312fa8022c6f4ee61cd8c0d6693ccb8a743 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 27 Apr 2013 00:11:16 +0200 Subject: Merged --- src/modules/attitude_estimator_ekf/module.mk | 62 ++++++++++++++++++++++------ 1 file changed, 49 insertions(+), 13 deletions(-) (limited to 'src') diff --git a/src/modules/attitude_estimator_ekf/module.mk b/src/modules/attitude_estimator_ekf/module.mk index 5ce545112..bfb7db997 100644 --- a/src/modules/attitude_estimator_ekf/module.mk +++ b/src/modules/attitude_estimator_ekf/module.mk @@ -1,16 +1,52 @@ +############################################################################ +# +# Copyright (C) 2012-2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# Attitude estimator (Extended Kalman Filter) +# MODULE_NAME = attitude_estimator_ekf -SRCS = attitude_estimator_ekf_main.cpp \ - attitude_estimator_ekf_params.c \ - codegen/attitudeKalmanfilter_initialize.c \ - codegen/attitudeKalmanfilter_terminate.c \ - codegen/attitudeKalmanfilter.c \ - codegen/cross.c \ - codegen/eye.c \ - codegen/mrdivide.c \ - codegen/norm.c \ - codegen/rdivide.c \ - codegen/rt_nonfinite.c \ - codegen/rtGetInf.c \ - codegen/rtGetNaN.c +CXXSRCS = attitude_estimator_ekf_main.cpp +SRCS = attitude_estimator_ekf_params.c \ + codegen/eye.c \ + codegen/attitudeKalmanfilter.c \ + codegen/mrdivide.c \ + codegen/rdivide.c \ + codegen/attitudeKalmanfilter_initialize.c \ + codegen/attitudeKalmanfilter_terminate.c \ + codegen/rt_nonfinite.c \ + codegen/rtGetInf.c \ + codegen/rtGetNaN.c \ + codegen/norm.c \ + codegen/cross.c -- cgit v1.2.3 From 574e76532126fea8ab0ac5fd0595f6fb2935f0dd Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 27 Apr 2013 11:30:41 +0200 Subject: Moved all system commands to the new world --- apps/systemcmds/bl_update/Makefile | 44 --- apps/systemcmds/bl_update/bl_update.c | 215 ------------ apps/systemcmds/boardinfo/.context | 0 apps/systemcmds/boardinfo/Makefile | 44 --- apps/systemcmds/boardinfo/boardinfo.c | 409 ---------------------- apps/systemcmds/calibration/Makefile | 44 --- apps/systemcmds/calibration/calibration.c | 147 -------- apps/systemcmds/calibration/calibration.h | 60 ---- apps/systemcmds/calibration/channels_cal.c | 196 ----------- apps/systemcmds/calibration/range_cal.c | 224 ------------ apps/systemcmds/calibration/servo_cal.c | 264 -------------- apps/systemcmds/i2c/Makefile | 42 --- apps/systemcmds/i2c/i2c.c | 140 -------- apps/systemcmds/mixer/Makefile | 44 --- apps/systemcmds/mixer/mixer.c | 152 -------- apps/systemcmds/param/Makefile | 44 --- apps/systemcmds/param/param.c | 297 ---------------- apps/systemcmds/perf/.context | 0 apps/systemcmds/perf/Makefile | 44 --- apps/systemcmds/perf/perf.c | 81 ----- apps/systemcmds/preflight_check/Makefile | 44 --- apps/systemcmds/preflight_check/preflight_check.c | 206 ----------- apps/systemcmds/pwm/Makefile | 42 --- apps/systemcmds/pwm/pwm.c | 233 ------------ apps/systemcmds/reboot/.context | 0 apps/systemcmds/reboot/Makefile | 44 --- apps/systemcmds/reboot/reboot.c | 53 --- apps/systemcmds/top/.context | 0 apps/systemcmds/top/Makefile | 44 --- apps/systemcmds/top/top.c | 253 ------------- makefiles/config_px4fmu_default.mk | 22 +- src/modules/mavlink_onboard/module.mk | 2 +- src/systemcmds/bl_update/bl_update.c | 215 ++++++++++++ src/systemcmds/bl_update/module.mk | 43 +++ src/systemcmds/boardinfo/boardinfo.c | 409 ++++++++++++++++++++++ src/systemcmds/boardinfo/module.mk | 41 +++ src/systemcmds/eeprom/module.mk | 33 ++ src/systemcmds/i2c/i2c.c | 140 ++++++++ src/systemcmds/i2c/module.mk | 41 +++ src/systemcmds/mixer/mixer.c | 152 ++++++++ src/systemcmds/mixer/module.mk | 43 +++ src/systemcmds/param/module.mk | 44 +++ src/systemcmds/param/param.c | 297 ++++++++++++++++ src/systemcmds/perf/module.mk | 41 +++ src/systemcmds/perf/perf.c | 81 +++++ src/systemcmds/preflight_check/module.mk | 42 +++ src/systemcmds/preflight_check/preflight_check.c | 206 +++++++++++ src/systemcmds/pwm/module.mk | 41 +++ src/systemcmds/pwm/pwm.c | 233 ++++++++++++ src/systemcmds/reboot/module.mk | 41 +++ src/systemcmds/reboot/reboot.c | 53 +++ src/systemcmds/top/module.mk | 44 +++ src/systemcmds/top/top.c | 253 +++++++++++++ 53 files changed, 2505 insertions(+), 3422 deletions(-) delete mode 100644 apps/systemcmds/bl_update/Makefile delete mode 100644 apps/systemcmds/bl_update/bl_update.c delete mode 100644 apps/systemcmds/boardinfo/.context delete mode 100644 apps/systemcmds/boardinfo/Makefile delete mode 100644 apps/systemcmds/boardinfo/boardinfo.c delete mode 100644 apps/systemcmds/calibration/Makefile delete mode 100755 apps/systemcmds/calibration/calibration.c delete mode 100644 apps/systemcmds/calibration/calibration.h delete mode 100755 apps/systemcmds/calibration/channels_cal.c delete mode 100755 apps/systemcmds/calibration/range_cal.c delete mode 100644 apps/systemcmds/calibration/servo_cal.c delete mode 100644 apps/systemcmds/i2c/Makefile delete mode 100644 apps/systemcmds/i2c/i2c.c delete mode 100644 apps/systemcmds/mixer/Makefile delete mode 100644 apps/systemcmds/mixer/mixer.c delete mode 100644 apps/systemcmds/param/Makefile delete mode 100644 apps/systemcmds/param/param.c delete mode 100644 apps/systemcmds/perf/.context delete mode 100644 apps/systemcmds/perf/Makefile delete mode 100644 apps/systemcmds/perf/perf.c delete mode 100644 apps/systemcmds/preflight_check/Makefile delete mode 100644 apps/systemcmds/preflight_check/preflight_check.c delete mode 100644 apps/systemcmds/pwm/Makefile delete mode 100644 apps/systemcmds/pwm/pwm.c delete mode 100644 apps/systemcmds/reboot/.context delete mode 100644 apps/systemcmds/reboot/Makefile delete mode 100644 apps/systemcmds/reboot/reboot.c delete mode 100644 apps/systemcmds/top/.context delete mode 100644 apps/systemcmds/top/Makefile delete mode 100644 apps/systemcmds/top/top.c create mode 100644 src/systemcmds/bl_update/bl_update.c create mode 100644 src/systemcmds/bl_update/module.mk create mode 100644 src/systemcmds/boardinfo/boardinfo.c create mode 100644 src/systemcmds/boardinfo/module.mk create mode 100644 src/systemcmds/i2c/i2c.c create mode 100644 src/systemcmds/i2c/module.mk create mode 100644 src/systemcmds/mixer/mixer.c create mode 100644 src/systemcmds/mixer/module.mk create mode 100644 src/systemcmds/param/module.mk create mode 100644 src/systemcmds/param/param.c create mode 100644 src/systemcmds/perf/module.mk create mode 100644 src/systemcmds/perf/perf.c create mode 100644 src/systemcmds/preflight_check/module.mk create mode 100644 src/systemcmds/preflight_check/preflight_check.c create mode 100644 src/systemcmds/pwm/module.mk create mode 100644 src/systemcmds/pwm/pwm.c create mode 100644 src/systemcmds/reboot/module.mk create mode 100644 src/systemcmds/reboot/reboot.c create mode 100644 src/systemcmds/top/module.mk create mode 100644 src/systemcmds/top/top.c (limited to 'src') diff --git a/apps/systemcmds/bl_update/Makefile b/apps/systemcmds/bl_update/Makefile deleted file mode 100644 index d05493577..000000000 --- a/apps/systemcmds/bl_update/Makefile +++ /dev/null @@ -1,44 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Build the eeprom tool. -# - -APPNAME = bl_update -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 4096 - -include $(APPDIR)/mk/app.mk - -MAXOPTIMIZATION = -Os diff --git a/apps/systemcmds/bl_update/bl_update.c b/apps/systemcmds/bl_update/bl_update.c deleted file mode 100644 index 45715b791..000000000 --- a/apps/systemcmds/bl_update/bl_update.c +++ /dev/null @@ -1,215 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file bl_update.c - * - * STM32F4 bootloader update tool. - */ - -#include - -#include -#include -#include -#include -#include -#include -#include - -#include - -#include "systemlib/systemlib.h" -#include "systemlib/err.h" - -__EXPORT int bl_update_main(int argc, char *argv[]); - -static void setopt(void); - -int -bl_update_main(int argc, char *argv[]) -{ - if (argc != 2) - errx(1, "missing firmware filename or command"); - - if (!strcmp(argv[1], "setopt")) - setopt(); - - int fd = open(argv[1], O_RDONLY); - - if (fd < 0) - err(1, "open %s", argv[1]); - - struct stat s; - - if (stat(argv[1], &s) < 0) - err(1, "stat %s", argv[1]); - - /* sanity-check file size */ - if (s.st_size > 16384) - errx(1, "%s: file too large", argv[1]); - - uint8_t *buf = malloc(s.st_size); - - if (buf == NULL) - errx(1, "failed to allocate %u bytes for firmware buffer", s.st_size); - - if (read(fd, buf, s.st_size) != s.st_size) - err(1, "firmware read error"); - - close(fd); - - uint32_t *hdr = (uint32_t *)buf; - - if ((hdr[0] < 0x20000000) || /* stack not below RAM */ - (hdr[0] > (0x20000000 + (128 * 1024))) || /* stack not above RAM */ - (hdr[1] < 0x08000000) || /* entrypoint not below flash */ - ((hdr[1] - 0x08000000) > 16384)) { /* entrypoint not outside bootloader */ - free(buf); - errx(1, "not a bootloader image"); - } - - warnx("image validated, erasing bootloader..."); - usleep(10000); - - /* prevent other tasks from running while we do this */ - sched_lock(); - - /* unlock the control register */ - volatile uint32_t *keyr = (volatile uint32_t *)0x40023c04; - *keyr = 0x45670123U; - *keyr = 0xcdef89abU; - - volatile uint32_t *sr = (volatile uint32_t *)0x40023c0c; - volatile uint32_t *cr = (volatile uint32_t *)0x40023c10; - volatile uint8_t *base = (volatile uint8_t *)0x08000000; - - /* check the control register */ - if (*cr & 0x80000000) { - warnx("WARNING: flash unlock failed, flash aborted"); - goto flash_end; - } - - /* erase the bootloader sector */ - *cr = 0x2; - *cr = 0x10002; - - /* wait for the operation to complete */ - while (*sr & 0x1000) { - } - - if (*sr & 0xf2) { - warnx("WARNING: erase error 0x%02x", *sr); - goto flash_end; - } - - /* verify the erase */ - for (int i = 0; i < s.st_size; i++) { - if (base[i] != 0xff) { - warnx("WARNING: erase failed at %d - retry update, DO NOT reboot", i); - goto flash_end; - } - } - - warnx("flashing..."); - - /* now program the bootloader - speed is not critical so use x8 mode */ - for (int i = 0; i < s.st_size; i++) { - - /* program a byte */ - *cr = 1; - base[i] = buf[i]; - - /* wait for the operation to complete */ - while (*sr & 0x1000) { - } - - if (*sr & 0xf2) { - warnx("WARNING: program error 0x%02x", *sr); - goto flash_end; - } - } - - /* re-lock the flash control register */ - *cr = 0x80000000; - - warnx("verifying..."); - - /* now run a verify pass */ - for (int i = 0; i < s.st_size; i++) { - if (base[i] != buf[i]) { - warnx("WARNING: verify failed at %u - retry update, DO NOT reboot", i); - goto flash_end; - } - } - - warnx("bootloader update complete"); - -flash_end: - /* unlock the scheduler */ - sched_unlock(); - - free(buf); - exit(0); -} - -static void -setopt(void) -{ - volatile uint32_t *optcr = (volatile uint32_t *)0x40023c14; - - const uint16_t opt_mask = (3 << 2); /* BOR_LEV bitmask */ - const uint16_t opt_bits = (0 << 2); /* BOR = 0, setting for 2.7-3.6V operation */ - - if ((*optcr & opt_mask) == opt_bits) - errx(0, "option bits are already set as required"); - - /* unlock the control register */ - volatile uint32_t *optkeyr = (volatile uint32_t *)0x40023c08; - *optkeyr = 0x08192a3bU; - *optkeyr = 0x4c5d6e7fU; - - if (*optcr & 1) - errx(1, "option control register unlock failed"); - - /* program the new option value */ - *optcr = (*optcr & ~opt_mask) | opt_bits | (1 << 1); - - usleep(1000); - - if ((*optcr & opt_mask) == opt_bits) - errx(0, "option bits set"); - - errx(1, "option bits setting failed; readback 0x%04x", *optcr); - -} \ No newline at end of file diff --git a/apps/systemcmds/boardinfo/.context b/apps/systemcmds/boardinfo/.context deleted file mode 100644 index e69de29bb..000000000 diff --git a/apps/systemcmds/boardinfo/Makefile b/apps/systemcmds/boardinfo/Makefile deleted file mode 100644 index 6f1be149c..000000000 --- a/apps/systemcmds/boardinfo/Makefile +++ /dev/null @@ -1,44 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Build the boardinfo tool. -# - -APPNAME = boardinfo -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 - -include $(APPDIR)/mk/app.mk - -MAXOPTIMIZATION = -Os diff --git a/apps/systemcmds/boardinfo/boardinfo.c b/apps/systemcmds/boardinfo/boardinfo.c deleted file mode 100644 index fb8b07ef4..000000000 --- a/apps/systemcmds/boardinfo/boardinfo.c +++ /dev/null @@ -1,409 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file boardinfo.c - * autopilot and carrier board information app - */ - -#include -#include -#include -#include -#include - -#include - -#include -#include -#include - -__EXPORT int boardinfo_main(int argc, char *argv[]); - -struct eeprom_info_s -{ - unsigned bus; - unsigned address; - unsigned page_size; - unsigned page_count; - unsigned page_write_delay; -}; - -/* XXX currently code below only supports 8-bit addressing */ -const struct eeprom_info_s eeprom_info[] = { - {3, 0x57, 8, 16, 3300}, -}; - -struct board_parameter_s { - const char *name; - bson_type_t type; -}; - -const struct board_parameter_s board_parameters[] = { - {"name", BSON_STRING}, /* ascii board name */ - {"vers", BSON_INT32}, /* board version (major << 8) | minor */ - {"date", BSON_INT32}, /* manufacture date */ - {"build", BSON_INT32} /* build code (fab << 8) | tester */ -}; - -const unsigned num_parameters = sizeof(board_parameters) / sizeof(board_parameters[0]); - -static int -eeprom_write(const struct eeprom_info_s *eeprom, uint8_t *buf, unsigned size) -{ - int result = -1; - - struct i2c_dev_s *dev = up_i2cinitialize(eeprom->bus); - if (dev == NULL) { - warnx("failed to init bus %d for EEPROM", eeprom->bus); - goto out; - } - I2C_SETFREQUENCY(dev, 400000); - - /* loop until all data has been transferred */ - for (unsigned address = 0; address < size; ) { - - uint8_t pagebuf[eeprom->page_size + 1]; - - /* how many bytes available to transfer? */ - unsigned count = size - address; - - /* constrain writes to the page size */ - if (count > eeprom->page_size) - count = eeprom->page_size; - - pagebuf[0] = address & 0xff; - memcpy(pagebuf + 1, buf + address, count); - - struct i2c_msg_s msgv[1] = { - { - .addr = eeprom->address, - .flags = 0, - .buffer = pagebuf, - .length = count + 1 - } - }; - - result = I2C_TRANSFER(dev, msgv, 1); - if (result != OK) { - warnx("EEPROM write failed: %d", result); - goto out; - } - usleep(eeprom->page_write_delay); - address += count; - } - -out: - if (dev != NULL) - up_i2cuninitialize(dev); - return result; -} - -static int -eeprom_read(const struct eeprom_info_s *eeprom, uint8_t *buf, unsigned size) -{ - int result = -1; - - struct i2c_dev_s *dev = up_i2cinitialize(eeprom->bus); - if (dev == NULL) { - warnx("failed to init bus %d for EEPROM", eeprom->bus); - goto out; - } - I2C_SETFREQUENCY(dev, 400000); - - /* loop until all data has been transferred */ - for (unsigned address = 0; address < size; ) { - - /* how many bytes available to transfer? */ - unsigned count = size - address; - - /* constrain transfers to the page size (bus anti-hog) */ - if (count > eeprom->page_size) - count = eeprom->page_size; - - uint8_t addr = address; - struct i2c_msg_s msgv[2] = { - { - .addr = eeprom->address, - .flags = 0, - .buffer = &addr, - .length = 1 - }, - { - .addr = eeprom->address, - .flags = I2C_M_READ, - .buffer = buf + address, - .length = count - } - }; - - result = I2C_TRANSFER(dev, msgv, 2); - if (result != OK) { - warnx("EEPROM read failed: %d", result); - goto out; - } - address += count; - } - -out: - if (dev != NULL) - up_i2cuninitialize(dev); - return result; -} - -static void * -idrom_read(const struct eeprom_info_s *eeprom) -{ - uint32_t size = 0xffffffff; - int result; - void *buf = NULL; - - result = eeprom_read(eeprom, (uint8_t *)&size, sizeof(size)); - if (result != 0) { - warnx("failed reading ID ROM length"); - goto fail; - } - if (size > (eeprom->page_size * eeprom->page_count)) { - warnx("ID ROM not programmed"); - goto fail; - } - - buf = malloc(size); - if (buf == NULL) { - warnx("could not allocate %d bytes for ID ROM", size); - goto fail; - } - result = eeprom_read(eeprom, buf, size); - if (result != 0) { - warnx("failed reading ID ROM"); - goto fail; - } - return buf; - -fail: - if (buf != NULL) - free(buf); - return NULL; -} - -static void -boardinfo_set(const struct eeprom_info_s *eeprom, char *spec) -{ - struct bson_encoder_s encoder; - int result = 1; - char *state, *token; - unsigned i; - - /* create the encoder and make a writable copy of the spec */ - bson_encoder_init_buf(&encoder, NULL, 0); - - for (i = 0, token = strtok_r(spec, ",", &state); - token && (i < num_parameters); - i++, token = strtok_r(NULL, ",", &state)) { - - switch (board_parameters[i].type) { - case BSON_STRING: - result = bson_encoder_append_string(&encoder, board_parameters[i].name, token); - break; - case BSON_INT32: - result = bson_encoder_append_int(&encoder, board_parameters[i].name, strtoul(token, NULL, 0)); - break; - default: - result = 1; - } - if (result) { - warnx("bson append failed for %s<%s>", board_parameters[i].name, token); - goto out; - } - } - bson_encoder_fini(&encoder); - if (i != num_parameters) { - warnx("incorrect parameter list, expected: \",,\""); - result = 1; - goto out; - } - if (bson_encoder_buf_size(&encoder) > (int)(eeprom->page_size * eeprom->page_count)) { - warnx("data too large for EEPROM"); - result = 1; - goto out; - } - if ((int)*(uint32_t *)bson_encoder_buf_data(&encoder) != bson_encoder_buf_size(&encoder)) { - warnx("buffer length mismatch"); - result = 1; - goto out; - } - warnx("writing %p/%u", bson_encoder_buf_data(&encoder), bson_encoder_buf_size(&encoder)); - - result = eeprom_write(eeprom, (uint8_t *)bson_encoder_buf_data(&encoder), bson_encoder_buf_size(&encoder)); - if (result < 0) { - warnc(-result, "error writing EEPROM"); - result = 1; - } else { - result = 0; - } - -out: - free(bson_encoder_buf_data(&encoder)); - - exit(result); -} - -static int -boardinfo_print(bson_decoder_t decoder, void *private, bson_node_t node) -{ - switch (node->type) { - case BSON_INT32: - printf("%s: %d / 0x%08x\n", node->name, (int)node->i, (unsigned)node->i); - break; - case BSON_STRING: { - char buf[bson_decoder_data_pending(decoder)]; - bson_decoder_copy_data(decoder, buf); - printf("%s: %s\n", node->name, buf); - break; - } - case BSON_EOO: - break; - default: - warnx("unexpected node type %d", node->type); - break; - } - return 1; -} - -static void -boardinfo_show(const struct eeprom_info_s *eeprom) -{ - struct bson_decoder_s decoder; - void *buf; - - buf = idrom_read(eeprom); - if (buf == NULL) - errx(1, "ID ROM read failed"); - - if (bson_decoder_init_buf(&decoder, buf, 0, boardinfo_print, NULL) == 0) { - while (bson_decoder_next(&decoder) > 0) - ; - } else { - warnx("failed to init decoder"); - } - free(buf); - exit(0); -} - -struct { - const char *property; - const char *value; -} test_args; - -static int -boardinfo_test_callback(bson_decoder_t decoder, void *private, bson_node_t node) -{ - /* reject nodes with non-matching names */ - if (strcmp(node->name, test_args.property)) - return 1; - - /* compare node values to check for a match */ - switch (node->type) { - case BSON_STRING: { - char buf[bson_decoder_data_pending(decoder)]; - bson_decoder_copy_data(decoder, buf); - - /* check for a match */ - if (!strcmp(test_args.value, buf)) { - return 2; - } - break; - } - - case BSON_INT32: { - int32_t val = strtol(test_args.value, NULL, 0); - - /* check for a match */ - if (node->i == val) { - return 2; - } - break; - } - - default: - break; - } - - return 1; -} - -static void -boardinfo_test(const struct eeprom_info_s *eeprom, const char *property, const char *value) -{ - struct bson_decoder_s decoder; - void *buf; - int result = -1; - - if ((property == NULL) || (strlen(property) == 0) || - (value == NULL) || (strlen(value) == 0)) - errx(1, "missing property name or value"); - - test_args.property = property; - test_args.value = value; - - buf = idrom_read(eeprom); - if (buf == NULL) - errx(1, "ID ROM read failed"); - - if (bson_decoder_init_buf(&decoder, buf, 0, boardinfo_test_callback, NULL) == 0) { - do { - result = bson_decoder_next(&decoder); - } while (result == 1); - } else { - warnx("failed to init decoder"); - } - free(buf); - - /* if we matched, we exit with zero success */ - exit((result == 2) ? 0 : 1); -} - -int -boardinfo_main(int argc, char *argv[]) -{ - if (!strcmp(argv[1], "set")) - boardinfo_set(&eeprom_info[0], argv[2]); - - if (!strcmp(argv[1], "show")) - boardinfo_show(&eeprom_info[0]); - - if (!strcmp(argv[1], "test")) - boardinfo_test(&eeprom_info[0], argv[2], argv[3]); - - errx(1, "missing/unrecognised command, try one of 'set', 'show', 'test'"); -} diff --git a/apps/systemcmds/calibration/Makefile b/apps/systemcmds/calibration/Makefile deleted file mode 100644 index a1735962e..000000000 --- a/apps/systemcmds/calibration/Makefile +++ /dev/null @@ -1,44 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Makefile to build the calibration tool -# - -APPNAME = calibration -PRIORITY = SCHED_PRIORITY_MAX - 1 -STACKSIZE = 4096 - -include $(APPDIR)/mk/app.mk - -MAXOPTIMIZATION = -Os diff --git a/apps/systemcmds/calibration/calibration.c b/apps/systemcmds/calibration/calibration.c deleted file mode 100755 index 7f8b9240f..000000000 --- a/apps/systemcmds/calibration/calibration.c +++ /dev/null @@ -1,147 +0,0 @@ -/**************************************************************************** - * calibration.c - * - * Copyright (C) 2012 Ivan Ovinnikov. All rights reserved. - * Authors: Nils Wenzler - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name NuttX nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/**************************************************************************** - * Included Files - ****************************************************************************/ -#include -#include -#include -#include "calibration.h" - -/**************************************************************************** - * Private Function Prototypes - ****************************************************************************/ - -static int calibrate_help(int argc, char *argv[]); -static int calibrate_all(int argc, char *argv[]); - -__EXPORT int calibration_main(int argc, char *argv[]); - -/**************************************************************************** - * Private Data - ****************************************************************************/ - -struct { - const char *name; - int (* fn)(int argc, char *argv[]); - unsigned options; -#define OPT_NOHELP (1<<0) -#define OPT_NOALLTEST (1<<1) -} calibrates[] = { - {"range", range_cal, 0}, - {"servo", servo_cal, 0}, - {"all", calibrate_all, OPT_NOALLTEST}, - {"help", calibrate_help, OPT_NOALLTEST | OPT_NOHELP}, - {NULL, NULL} -}; - -/**************************************************************************** - * Public Data - ****************************************************************************/ - -/**************************************************************************** - * Private Functions - ****************************************************************************/ - -static int -calibrate_help(int argc, char *argv[]) -{ - unsigned i; - - printf("Available calibration routines:\n"); - - for (i = 0; calibrates[i].name; i++) - printf(" %s\n", calibrates[i].name); - - return 0; -} - -static int -calibrate_all(int argc, char *argv[]) -{ - unsigned i; - char *args[2] = {"all", NULL}; - - printf("Running all calibration routines...\n\n"); - - for (i = 0; calibrates[i].name; i++) { - printf(" %s:\n", calibrates[i].name); - - if (calibrates[i].fn(1, args)) { - printf(" FAIL\n"); - - } else { - printf(" DONE\n"); - } - } - - return 0; -} - -/**************************************************************************** - * Public Functions - ****************************************************************************/ - -void press_enter(void) -{ - int c; - printf("Press CTRL+ENTER to continue... \n"); - fflush(stdout); - - do c = getchar(); while ((c != '\n') && (c != EOF)); -} - -/**************************************************************************** - * Name: calibrate_main - ****************************************************************************/ - -int calibration_main(int argc, char *argv[]) -{ - unsigned i; - - if (argc < 2) { - printf("calibration: missing name - 'calibration help' for a list of routines\n"); - return 1; - } - - for (i = 0; calibrates[i].name; i++) { - if (!strcmp(calibrates[i].name, argv[1])) - return calibrates[i].fn(argc - 1, argv + 1); - } - - printf("calibrate: no routines called '%s' - 'calibration help' for a list of routines\n", argv[1]); - return 1; -} diff --git a/apps/systemcmds/calibration/calibration.h b/apps/systemcmds/calibration/calibration.h deleted file mode 100644 index 028853ec8..000000000 --- a/apps/systemcmds/calibration/calibration.h +++ /dev/null @@ -1,60 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#ifndef _CALIBRATION_H -#define _CALIBRATION_H - -/**************************************************************************** - * Included Files - ****************************************************************************/ - -/**************************************************************************** - * Definitions - ****************************************************************************/ - -/**************************************************************************** - * Public Types - ****************************************************************************/ - -/**************************************************************************** - * Public Variables - ****************************************************************************/ - -/**************************************************************************** - * Public Function Prototypes - ****************************************************************************/ - -extern int range_cal(int argc, char *argv[]); -extern int servo_cal(int argc, char *argv[]); - -#endif diff --git a/apps/systemcmds/calibration/channels_cal.c b/apps/systemcmds/calibration/channels_cal.c deleted file mode 100755 index 575138b12..000000000 --- a/apps/systemcmds/calibration/channels_cal.c +++ /dev/null @@ -1,196 +0,0 @@ -/**************************************************************************** - * channels_cal.c - * - * Copyright (C) 2012 Nils Wenzler. All rights reserved. - * Authors: Nils Wenzler - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name NuttX nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/**************************************************************************** - * Included Files - ****************************************************************************/ -#include -#include -#include -#include "calibration.h" - -/**************************************************************************** - * Defines - ****************************************************************************/ -#define ABS(a) (((a) < 0) ? -(a) : (a)) -#define MIN(a,b) (((a)<(b))?(a):(b)) -#define MAX(a,b) (((a)>(b))?(a):(b)) - -/**************************************************************************** - * Private Data - ****************************************************************************/ -//Store the values here before writing them to global_data_rc_channels -uint16_t old_values[NR_CHANNELS]; -uint16_t cur_values[NR_CHANNELS]; -uint8_t function_map[NR_CHANNELS]; -char names[12][9]; - - - -/**************************************************************************** - * Private Functions - ****************************************************************************/ -void press_enter_2(void) -{ - int c; - printf("Press CTRL+ENTER to continue... \n"); - fflush(stdout); - - do c = getchar(); while ((c != '\n') && (c != EOF)); -} - -/**This gets all current values and writes them to min or max - */ -uint8_t get_val(uint16_t *buffer) -{ - if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) { - uint8_t i; - - for (i = 0; i < NR_CHANNELS; i++) { - printf("Channel: %i\t RAW Value: %i: \n", i, global_data_rc_channels->chan[i].raw); - buffer[i] = global_data_rc_channels->chan[i].raw; - } - - global_data_unlock(&global_data_rc_channels->access_conf); - return 0; - - } else - return -1; -} - -void set_channel(void) -{ - static uint8_t j = 0; - uint8_t i; - - for (i = 0; i < NR_CHANNELS; i++) { - if (ABS(old_values - cur_values) > 50) { - function_map[j] = i; - strcpy(names[i], global_data_rc_channels->function_names[j]); - j++; - } - } -} - -void write_dat(void) -{ - global_data_lock(&global_data_rc_channels->access_conf); - uint8_t i; - - for (i = 0; i < NR_CHANNELS; i++) { - global_data_rc_channels->function[i] = function_map[i]; - strcpy(global_data_rc_channels->chan[i].name, names[i]); - - printf("Channel %i\t Function %s\n", i, - global_data_rc_channels->chan[i].name); - } - - global_data_unlock(&global_data_rc_channels->access_conf); -} - - -/**************************************************************************** - * Public Functions - ****************************************************************************/ -int channels_cal(int argc, char *argv[]) -{ - - printf("This routine maps the input functions on the remote control\n"); - printf("to the corresponding function (Throttle, Roll,..)\n"); - printf("Always move the stick all the way\n"); - press_enter_2(); - - printf("Pull the THROTTLE stick down\n"); - press_enter_2(); - - while (get_val(old_values)); - - printf("Move the THROTTLE stick up\n "); - press_enter_2(); - - while (get_val(cur_values)); - - set_channel(); - - printf("Pull the PITCH stick down\n"); - press_enter_2(); - - while (get_val(old_values)); - - printf("Move the PITCH stick up\n "); - press_enter_2(); - - while (get_val(cur_values)); - - set_channel(); - - printf("Put the ROLL stick to the left\n"); - press_enter_2(); - - while (get_val(old_values)); - - printf("Put the ROLL stick to the right\n "); - press_enter_2(); - - while (get_val(cur_values)); - - set_channel(); - - printf("Put the YAW stick to the left\n"); - press_enter_2(); - - while (get_val(old_values)); - - printf("Put the YAW stick to the right\n "); - press_enter_2(); - - while (get_val(cur_values)); - - set_channel(); - - uint8_t k; - - for (k = 5; k < NR_CHANNELS; k++) { - function_map[k] = k; - strcpy(names[k], global_data_rc_channels->function_names[k]); - } - -//write the values to global_data_rc_channels - write_dat(); - - return 0; - -} - diff --git a/apps/systemcmds/calibration/range_cal.c b/apps/systemcmds/calibration/range_cal.c deleted file mode 100755 index 159a0d06b..000000000 --- a/apps/systemcmds/calibration/range_cal.c +++ /dev/null @@ -1,224 +0,0 @@ -/**************************************************************************** - * range_cal.c - * - * Copyright (C) 2012 Nils Wenzler. All rights reserved. - * Authors: Nils Wenzler - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name NuttX nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/**************************************************************************** - * Included Files - ****************************************************************************/ -#include -#include -#include "calibration.h" - -/**************************************************************************** - * Defines - ****************************************************************************/ - -/**************************************************************************** - * Private Data - ****************************************************************************/ -//Store the values here before writing them to global_data_rc_channels -uint16_t max_values[NR_CHANNELS]; -uint16_t min_values[NR_CHANNELS]; -uint16_t mid_values[NR_CHANNELS]; - - -/**************************************************************************** - * Private Functions - ****************************************************************************/ - -/**This sets the middle values - */ -uint8_t set_mid(void) -{ - if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) { - uint8_t i; - - for (i = 0; i < NR_CHANNELS; i++) { - if (i == global_data_rc_channels->function[ROLL] || - i == global_data_rc_channels->function[YAW] || - i == global_data_rc_channels->function[PITCH]) { - - mid_values[i] = global_data_rc_channels->chan[i].raw; - - } else { - mid_values[i] = (max_values[i] + min_values[i]) / 2; - } - - } - - global_data_unlock(&global_data_rc_channels->access_conf); - return 0; - - } else - return -1; -} - -/**This gets all current values and writes them to min or max - */ -uint8_t get_value(void) -{ - if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) { - uint8_t i; - - for (i = 0; i < NR_CHANNELS; i++) { - //see if the value is bigger or smaller than 1500 (roughly neutral) - //and write to the appropriate array - if (global_data_rc_channels->chan[i].raw != 0 && - global_data_rc_channels->chan[i].raw < 1500) { - min_values[i] = global_data_rc_channels->chan[i].raw; - - } else if (global_data_rc_channels->chan[i].raw != 0 && - global_data_rc_channels->chan[i].raw > 1500) { - max_values[i] = global_data_rc_channels->chan[i].raw; - - } else { - max_values[i] = 0; - min_values[i] = 0; - } - } - - global_data_unlock(&global_data_rc_channels->access_conf); - return 0; - - } else - return -1; -} - - -void write_data(void) -{ - // global_data_lock(&global_data_rc_channels->access_conf); - // uint8_t i; - // for(i=0; i < NR_CHANNELS; i++){ - // //Write the data to global_data_rc_channels (if not 0) - // if(mid_values[i]!=0 && min_values[i]!=0 && max_values[i]!=0){ - // global_data_rc_channels->chan[i].scaling_factor = - // 10000/((max_values[i] - min_values[i])/2); - // - // global_data_rc_channels->chan[i].mid = mid_values[i]; - // } - // - // printf("Channel %i\t Function %s \t\t Min %i\t\t Max %i\t\t Scaling Factor: %i\t Middle Value %i\n", - // i, - // global_data_rc_channels->function_name[global_data_rc_channels->function[i]], - // min_values[i], max_values[i], - // global_data_rc_channels->chan[i].scaling_factor, - // global_data_rc_channels->chan[i].mid); - // } - // global_data_unlock(&global_data_rc_channels->access_conf); - - //Write to the Parameter storage - - global_data_parameter_storage->pm.param_values[PARAM_RC1_MIN] = min_values[0]; - global_data_parameter_storage->pm.param_values[PARAM_RC2_MIN] = min_values[1]; - global_data_parameter_storage->pm.param_values[PARAM_RC3_MIN] = min_values[2]; - global_data_parameter_storage->pm.param_values[PARAM_RC4_MIN] = min_values[3]; - global_data_parameter_storage->pm.param_values[PARAM_RC5_MIN] = min_values[4]; - global_data_parameter_storage->pm.param_values[PARAM_RC6_MIN] = min_values[5]; - global_data_parameter_storage->pm.param_values[PARAM_RC7_MIN] = min_values[6]; - global_data_parameter_storage->pm.param_values[PARAM_RC8_MIN] = min_values[7]; - - - global_data_parameter_storage->pm.param_values[PARAM_RC1_MAX] = max_values[0]; - global_data_parameter_storage->pm.param_values[PARAM_RC2_MAX] = max_values[1]; - global_data_parameter_storage->pm.param_values[PARAM_RC3_MAX] = max_values[2]; - global_data_parameter_storage->pm.param_values[PARAM_RC4_MAX] = max_values[3]; - global_data_parameter_storage->pm.param_values[PARAM_RC5_MAX] = max_values[4]; - global_data_parameter_storage->pm.param_values[PARAM_RC6_MAX] = max_values[5]; - global_data_parameter_storage->pm.param_values[PARAM_RC7_MAX] = max_values[6]; - global_data_parameter_storage->pm.param_values[PARAM_RC8_MAX] = max_values[7]; - - - global_data_parameter_storage->pm.param_values[PARAM_RC1_TRIM] = mid_values[0]; - global_data_parameter_storage->pm.param_values[PARAM_RC2_TRIM] = mid_values[1]; - global_data_parameter_storage->pm.param_values[PARAM_RC3_TRIM] = mid_values[2]; - global_data_parameter_storage->pm.param_values[PARAM_RC4_TRIM] = mid_values[3]; - global_data_parameter_storage->pm.param_values[PARAM_RC5_TRIM] = mid_values[4]; - global_data_parameter_storage->pm.param_values[PARAM_RC6_TRIM] = mid_values[5]; - global_data_parameter_storage->pm.param_values[PARAM_RC7_TRIM] = mid_values[6]; - global_data_parameter_storage->pm.param_values[PARAM_RC8_TRIM] = mid_values[7]; - - usleep(3e6); - uint8_t i; - - for (i = 0; i < NR_CHANNELS; i++) { - printf("Channel %i:\t\t Min %i\t\t Max %i\t\t Scaling Factor: %i\t Middle Value %i\n", - i, - min_values[i], max_values[i], - global_data_rc_channels->chan[i].scaling_factor, - global_data_rc_channels->chan[i].mid); - } - - -} - -/**************************************************************************** - * Public Functions - ****************************************************************************/ -int range_cal(int argc, char *argv[]) -{ - - printf("The range calibration routine assumes you already did the channel\n"); - printf("assignment\n"); - printf("This routine chooses the minimum, maximum and middle\n"); - printf("value for each channel separatly. The ROLL, PITCH and YAW function\n"); - printf("get their middle value from the RC direct, for the rest it is\n"); - printf("calculated out of the min and max values.\n"); - press_enter(); - - printf("Hold both sticks in lower left corner and continue\n "); - press_enter(); - usleep(500000); - - while (get_value()); - - printf("Hold both sticks in upper right corner and continue\n"); - press_enter(); - usleep(500000); - - while (get_value()); - - printf("Set the trim to 0 and leave the sticks in the neutral position\n"); - press_enter(); - - //Loop until successfull - while (set_mid()); - - //write the values to global_data_rc_channels - write_data(); - - return 0; - -} - diff --git a/apps/systemcmds/calibration/servo_cal.c b/apps/systemcmds/calibration/servo_cal.c deleted file mode 100644 index 96b3045a9..000000000 --- a/apps/systemcmds/calibration/servo_cal.c +++ /dev/null @@ -1,264 +0,0 @@ -/**************************************************************************** - * servo_cal.c - * - * Copyright (C) 2012 Nils Wenzler. All rights reserved. - * Authors: Nils Wenzler - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name NuttX nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/**************************************************************************** - * Included Files - ****************************************************************************/ -#include -#include -#include -#include -#include "calibration.h" - -/**************************************************************************** - * Defines - ****************************************************************************/ - -/**************************************************************************** - * Private Data - ****************************************************************************/ -//Store the values here before writing them to global_data_rc_channels -uint16_t max_values_servo[PWM_SERVO_MAX_CHANNELS]; -uint16_t min_values_servo[PWM_SERVO_MAX_CHANNELS]; -uint16_t mid_values_servo[PWM_SERVO_MAX_CHANNELS]; - -// Servo loop thread - -pthread_t servo_calib_thread; - -/**************************************************************************** - * Private Functions - ****************************************************************************/ - -/**This sets the middle values - */ -uint8_t set_mid_s(void) -{ - if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) { - uint8_t i; - - for (i = 0; i < PWM_SERVO_MAX_CHANNELS; i++) { - if (i == global_data_rc_channels->function[ROLL] || - i == global_data_rc_channels->function[YAW] || - i == global_data_rc_channels->function[PITCH]) { - - mid_values_servo[i] = global_data_rc_channels->chan[i].raw; - - } else { - mid_values_servo[i] = (max_values_servo[i] + min_values_servo[i]) / 2; - } - - } - - global_data_unlock(&global_data_rc_channels->access_conf); - return 0; - - } else - return -1; -} - -/**This gets all current values and writes them to min or max - */ -uint8_t get_value_s(void) -{ - if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) { - uint8_t i; - - for (i = 0; i < PWM_SERVO_MAX_CHANNELS; i++) { - //see if the value is bigger or smaller than 1500 (roughly neutral) - //and write to the appropriate array - if (global_data_rc_channels->chan[i].raw != 0 && - global_data_rc_channels->chan[i].raw < 1500) { - min_values_servo[i] = global_data_rc_channels->chan[i].raw; - - } else if (global_data_rc_channels->chan[i].raw != 0 && - global_data_rc_channels->chan[i].raw > 1500) { - max_values_servo[i] = global_data_rc_channels->chan[i].raw; - - } else { - max_values_servo[i] = 0; - min_values_servo[i] = 0; - } - } - - global_data_unlock(&global_data_rc_channels->access_conf); - return 0; - - } else - return -1; -} - - -void write_data_s(void) -{ - // global_data_lock(&global_data_rc_channels->access_conf); - // uint8_t i; - // for(i=0; i < NR_CHANNELS; i++){ - // //Write the data to global_data_rc_channels (if not 0) - // if(mid_values_servo[i]!=0 && min_values_servo[i]!=0 && max_values_servo[i]!=0){ - // global_data_rc_channels->chan[i].scaling_factor = - // 10000/((max_values_servo[i] - min_values_servo[i])/2); - // - // global_data_rc_channels->chan[i].mid = mid_values_servo[i]; - // } - // - // printf("Channel %i\t Function %s \t\t Min %i\t\t Max %i\t\t Scaling Factor: %i\t Middle Value %i\n", - // i, - // global_data_rc_channels->function_name[global_data_rc_channels->function[i]], - // min_values_servo[i], max_values_servo[i], - // global_data_rc_channels->chan[i].scaling_factor, - // global_data_rc_channels->chan[i].mid); - // } - // global_data_unlock(&global_data_rc_channels->access_conf); - - //Write to the Parameter storage - - - - global_data_lock(&global_data_parameter_storage->access_conf); - - global_data_parameter_storage->pm.param_values[PARAM_SERVO1_MIN] = min_values_servo[0]; - global_data_parameter_storage->pm.param_values[PARAM_SERVO2_MIN] = min_values_servo[1]; - global_data_parameter_storage->pm.param_values[PARAM_SERVO3_MIN] = min_values_servo[2]; - global_data_parameter_storage->pm.param_values[PARAM_SERVO4_MIN] = min_values_servo[3]; - - global_data_parameter_storage->pm.param_values[PARAM_SERVO1_MAX] = max_values_servo[0]; - global_data_parameter_storage->pm.param_values[PARAM_SERVO2_MAX] = max_values_servo[1]; - global_data_parameter_storage->pm.param_values[PARAM_SERVO3_MAX] = max_values_servo[2]; - global_data_parameter_storage->pm.param_values[PARAM_SERVO4_MAX] = max_values_servo[3]; - - global_data_parameter_storage->pm.param_values[PARAM_SERVO1_TRIM] = mid_values_servo[0]; - global_data_parameter_storage->pm.param_values[PARAM_SERVO2_TRIM] = mid_values_servo[1]; - global_data_parameter_storage->pm.param_values[PARAM_SERVO3_TRIM] = mid_values_servo[2]; - global_data_parameter_storage->pm.param_values[PARAM_SERVO4_TRIM] = mid_values_servo[3]; - - global_data_unlock(&global_data_parameter_storage->access_conf); - - usleep(3e6); - uint8_t i; - - for (i = 0; i < NR_CHANNELS; i++) { - printf("Channel %i:\t\t Min %i\t\t Max %i\t\t Scaling Factor: %i\t Middle Value %i\n", - i, - min_values_servo[i], max_values_servo[i], - global_data_rc_channels->chan[i].scaling_factor, - global_data_rc_channels->chan[i].mid); - } - -} - -static void *servo_loop(void *arg) -{ - - // Set thread name - prctl(1, "calibration servo", getpid()); - - // initialize servos - int fd; - servo_position_t data[PWM_SERVO_MAX_CHANNELS]; - - fd = open("/dev/pwm_servo", O_RDWR); - - if (fd < 0) { - printf("failed opening /dev/pwm_servo\n"); - } - - ioctl(fd, PWM_SERVO_ARM, 0); - - while (1) { - int i; - - for (i = 0; i < 4; i++) { - data[i] = global_data_rc_channels->chan[global_data_rc_channels->function[THROTTLE]].raw; - } - - int result = write(fd, &data, sizeof(data)); - - if (result != sizeof(data)) { - printf("failed bulk-reading channel values\n"); - } - - // 5Hz loop - usleep(200000); - } - - return NULL; -} - - -/**************************************************************************** - * Public Functions - ****************************************************************************/ -int servo_cal(int argc, char *argv[]) -{ - // pthread_attr_t servo_loop_attr; - // pthread_attr_init(&servo_loop_attr); - // pthread_attr_setstacksize(&servo_loop_attr, 1024); - pthread_create(&servo_calib_thread, NULL, servo_loop, NULL); - pthread_join(servo_calib_thread, NULL); - - printf("The servo calibration routine assumes you already did the channel\n"); - printf("assignment with 'calibration channels'\n"); - printf("This routine chooses the minimum, maximum and middle\n"); - printf("value for each channel separately. The ROLL, PITCH and YAW function\n"); - printf("get their middle value from the RC direct, for the rest it is\n"); - printf("calculated out of the min and max values.\n"); - press_enter(); - - printf("Hold both sticks in lower left corner and continue\n "); - press_enter(); - usleep(500000); - - while (get_value_s()); - - printf("Hold both sticks in upper right corner and continue\n"); - press_enter(); - usleep(500000); - - while (get_value_s()); - - printf("Set the trim to 0 and leave the sticks in the neutral position\n"); - press_enter(); - - //Loop until successfull - while (set_mid_s()); - - //write the values to global_data_rc_channels - write_data_s(); - - return 0; - -} - diff --git a/apps/systemcmds/i2c/Makefile b/apps/systemcmds/i2c/Makefile deleted file mode 100644 index 046e74757..000000000 --- a/apps/systemcmds/i2c/Makefile +++ /dev/null @@ -1,42 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Build the i2c test tool. -# - -APPNAME = i2c -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 4096 - -include $(APPDIR)/mk/app.mk diff --git a/apps/systemcmds/i2c/i2c.c b/apps/systemcmds/i2c/i2c.c deleted file mode 100644 index e1babdc12..000000000 --- a/apps/systemcmds/i2c/i2c.c +++ /dev/null @@ -1,140 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file i2c.c - * - * i2c hacking tool - */ - -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include - -#include - -#include "systemlib/systemlib.h" -#include "systemlib/err.h" - -#ifndef PX4_I2C_BUS_ONBOARD -# error PX4_I2C_BUS_ONBOARD not defined, no device interface -#endif -#ifndef PX4_I2C_OBDEV_PX4IO -# error PX4_I2C_OBDEV_PX4IO not defined -#endif - -__EXPORT int i2c_main(int argc, char *argv[]); - -static int transfer(uint8_t address, uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len); - -static struct i2c_dev_s *i2c; - -int i2c_main(int argc, char *argv[]) -{ - /* find the right I2C */ - i2c = up_i2cinitialize(PX4_I2C_BUS_ONBOARD); - - if (i2c == NULL) - errx(1, "failed to locate I2C bus"); - - usleep(100000); - - uint8_t buf[] = { 0, 4}; - int ret = transfer(PX4_I2C_OBDEV_PX4IO, buf, sizeof(buf), NULL, 0); - - if (ret) - errx(1, "send failed - %d", ret); - - uint32_t val; - ret = transfer(PX4_I2C_OBDEV_PX4IO, NULL, 0, (uint8_t *)&val, sizeof(val)); - if (ret) - errx(1, "recive failed - %d", ret); - - errx(0, "got 0x%08x", val); -} - -static int -transfer(uint8_t address, uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len) -{ - struct i2c_msg_s msgv[2]; - unsigned msgs; - int ret; - - // debug("transfer out %p/%u in %p/%u", send, send_len, recv, recv_len); - - msgs = 0; - - if (send_len > 0) { - msgv[msgs].addr = address; - msgv[msgs].flags = 0; - msgv[msgs].buffer = send; - msgv[msgs].length = send_len; - msgs++; - } - - if (recv_len > 0) { - msgv[msgs].addr = address; - msgv[msgs].flags = I2C_M_READ; - msgv[msgs].buffer = recv; - msgv[msgs].length = recv_len; - msgs++; - } - - if (msgs == 0) - return -1; - - /* - * I2C architecture means there is an unavoidable race here - * if there are any devices on the bus with a different frequency - * preference. Really, this is pointless. - */ - I2C_SETFREQUENCY(i2c, 400000); - ret = I2C_TRANSFER(i2c, &msgv[0], msgs); - - // reset the I2C bus to unwedge on error - if (ret != OK) - up_i2creset(i2c); - - return ret; -} diff --git a/apps/systemcmds/mixer/Makefile b/apps/systemcmds/mixer/Makefile deleted file mode 100644 index 3d8ac38cb..000000000 --- a/apps/systemcmds/mixer/Makefile +++ /dev/null @@ -1,44 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Build the mixer tool. -# - -APPNAME = mixer -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 4096 - -include $(APPDIR)/mk/app.mk - -MAXOPTIMIZATION = -Os diff --git a/apps/systemcmds/mixer/mixer.c b/apps/systemcmds/mixer/mixer.c deleted file mode 100644 index 55c4f0836..000000000 --- a/apps/systemcmds/mixer/mixer.c +++ /dev/null @@ -1,152 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file mixer.c - * - * Mixer utility. - */ - -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include - -__EXPORT int mixer_main(int argc, char *argv[]); - -static void usage(const char *reason) noreturn_function; -static void load(const char *devname, const char *fname) noreturn_function; - -int -mixer_main(int argc, char *argv[]) -{ - if (argc < 2) - usage("missing command"); - - if (!strcmp(argv[1], "load")) { - if (argc < 4) - usage("missing device or filename"); - - load(argv[2], argv[3]); - } - - usage("unrecognised command"); -} - -static void -usage(const char *reason) -{ - if (reason) - fprintf(stderr, "%s\n", reason); - - fprintf(stderr, "usage:\n"); - fprintf(stderr, " mixer load \n"); - /* XXX other useful commands? */ - exit(1); -} - -static void -load(const char *devname, const char *fname) -{ - int dev; - FILE *fp; - char line[80]; - char buf[512]; - - /* open the device */ - if ((dev = open(devname, 0)) < 0) - err(1, "can't open %s\n", devname); - - /* reset mixers on the device */ - if (ioctl(dev, MIXERIOCRESET, 0)) - err(1, "can't reset mixers on %s", devname); - - /* open the mixer definition file */ - fp = fopen(fname, "r"); - if (fp == NULL) - err(1, "can't open %s", fname); - - /* read valid lines from the file into a buffer */ - buf[0] = '\0'; - for (;;) { - - /* get a line, bail on error/EOF */ - line[0] = '\0'; - if (fgets(line, sizeof(line), fp) == NULL) - break; - - /* if the line doesn't look like a mixer definition line, skip it */ - if ((strlen(line) < 2) || !isupper(line[0]) || (line[1] != ':')) - continue; - - /* compact whitespace in the buffer */ - char *t, *f; - for (f = buf; *f != '\0'; f++) { - /* scan for space characters */ - if (*f == ' ') { - /* look for additional spaces */ - t = f + 1; - while (*t == ' ') - t++; - if (*t == '\0') { - /* strip trailing whitespace */ - *f = '\0'; - } else if (t > (f + 1)) { - memmove(f + 1, t, strlen(t) + 1); - } - } - } - - /* if the line is too long to fit in the buffer, bail */ - if ((strlen(line) + strlen(buf) + 1) >= sizeof(buf)) - break; - - /* add the line to the buffer */ - strcat(buf, line); - } - - /* XXX pass the buffer to the device */ - int ret = ioctl(dev, MIXERIOCLOADBUF, (unsigned long)buf); - - if (ret < 0) - err(1, "error loading mixers from %s", fname); - exit(0); -} diff --git a/apps/systemcmds/param/Makefile b/apps/systemcmds/param/Makefile deleted file mode 100644 index f19cadbb6..000000000 --- a/apps/systemcmds/param/Makefile +++ /dev/null @@ -1,44 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Build the parameters tool. -# - -APPNAME = param -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 4096 - -include $(APPDIR)/mk/app.mk - -MAXOPTIMIZATION = -Os diff --git a/apps/systemcmds/param/param.c b/apps/systemcmds/param/param.c deleted file mode 100644 index 56f5317e3..000000000 --- a/apps/systemcmds/param/param.c +++ /dev/null @@ -1,297 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file param.c - * - * Parameter tool. - */ - -#include - -#include -#include -#include -#include -#include -#include -#include - -#include - -#include "systemlib/systemlib.h" -#include "systemlib/param/param.h" -#include "systemlib/err.h" - -__EXPORT int param_main(int argc, char *argv[]); - -static void do_save(const char* param_file_name); -static void do_load(const char* param_file_name); -static void do_import(const char* param_file_name); -static void do_show(const char* search_string); -static void do_show_print(void *arg, param_t param); -static void do_set(const char* name, const char* val); - -int -param_main(int argc, char *argv[]) -{ - if (argc >= 2) { - if (!strcmp(argv[1], "save")) { - if (argc >= 3) { - do_save(argv[2]); - } else { - do_save(param_get_default_file()); - } - } - - if (!strcmp(argv[1], "load")) { - if (argc >= 3) { - do_load(argv[2]); - } else { - do_load(param_get_default_file()); - } - } - - if (!strcmp(argv[1], "import")) { - if (argc >= 3) { - do_import(argv[2]); - } else { - do_import(param_get_default_file()); - } - } - - if (!strcmp(argv[1], "select")) { - if (argc >= 3) { - param_set_default_file(argv[2]); - } else { - param_set_default_file(NULL); - } - warnx("selected parameter default file %s", param_get_default_file()); - exit(0); - } - - if (!strcmp(argv[1], "show")) { - if (argc >= 3) { - do_show(argv[2]); - } else { - do_show(NULL); - } - } - - if (!strcmp(argv[1], "set")) { - if (argc >= 4) { - do_set(argv[2], argv[3]); - } else { - errx(1, "not enough arguments.\nTry 'param set PARAM_NAME 3'"); - } - } - } - - errx(1, "expected a command, try 'load', 'import', 'show', 'set', 'select' or 'save'"); -} - -static void -do_save(const char* param_file_name) -{ - /* delete the parameter file in case it exists */ - unlink(param_file_name); - - /* create the file */ - int fd = open(param_file_name, O_WRONLY | O_CREAT | O_EXCL); - - if (fd < 0) - err(1, "opening '%s' failed", param_file_name); - - int result = param_export(fd, false); - close(fd); - - if (result < 0) { - unlink(param_file_name); - errx(1, "error exporting to '%s'", param_file_name); - } - - exit(0); -} - -static void -do_load(const char* param_file_name) -{ - int fd = open(param_file_name, O_RDONLY); - - if (fd < 0) - err(1, "open '%s'", param_file_name); - - int result = param_load(fd); - close(fd); - - if (result < 0) { - errx(1, "error importing from '%s'", param_file_name); - } - - exit(0); -} - -static void -do_import(const char* param_file_name) -{ - int fd = open(param_file_name, O_RDONLY); - - if (fd < 0) - err(1, "open '%s'", param_file_name); - - int result = param_import(fd); - close(fd); - - if (result < 0) - errx(1, "error importing from '%s'", param_file_name); - - exit(0); -} - -static void -do_show(const char* search_string) -{ - printf(" + = saved, * = unsaved\n"); - param_foreach(do_show_print, search_string, false); - - exit(0); -} - -static void -do_show_print(void *arg, param_t param) -{ - int32_t i; - float f; - const char *search_string = (const char*)arg; - - /* print nothing if search string is invalid and not matching */ - if (!(arg == NULL || (!strcmp(search_string, param_name(param))))) { - /* param not found */ - return; - } - - printf("%c %s: ", - param_value_unsaved(param) ? '*' : (param_value_is_default(param) ? ' ' : '+'), - param_name(param)); - - /* - * This case can be expanded to handle printing common structure types. - */ - - switch (param_type(param)) { - case PARAM_TYPE_INT32: - if (!param_get(param, &i)) { - printf("%d\n", i); - return; - } - - break; - - case PARAM_TYPE_FLOAT: - if (!param_get(param, &f)) { - printf("%4.4f\n", (double)f); - return; - } - - break; - - case PARAM_TYPE_STRUCT ... PARAM_TYPE_STRUCT_MAX: - printf("\n", 0 + param_type(param), param_size(param)); - return; - - default: - printf("\n", 0 + param_type(param)); - return; - } - - printf("\n", param); -} - -static void -do_set(const char* name, const char* val) -{ - int32_t i; - float f; - param_t param = param_find(name); - - /* set nothing if parameter cannot be found */ - if (param == PARAM_INVALID) { - /* param not found */ - errx(1, "Error: Parameter %s not found.", name); - } - - printf("%c %s: ", - param_value_unsaved(param) ? '*' : (param_value_is_default(param) ? ' ' : '+'), - param_name(param)); - - /* - * Set parameter if type is known and conversion from string to value turns out fine - */ - - switch (param_type(param)) { - case PARAM_TYPE_INT32: - if (!param_get(param, &i)) { - printf("old: %d", i); - - /* convert string */ - char* end; - i = strtol(val,&end,10); - param_set(param, &i); - printf(" -> new: %d\n", i); - - } - - break; - - case PARAM_TYPE_FLOAT: - if (!param_get(param, &f)) { - printf("float values are not yet supported."); - // printf("old: %4.4f", (double)f); - - // /* convert string */ - // char* end; - // f = strtof(val,&end); - // param_set(param, &f); - // printf(" -> new: %4.4f\n", f); - - } - - break; - - default: - errx(1, "\n", 0 + param_type(param)); - } - - exit(0); -} diff --git a/apps/systemcmds/perf/.context b/apps/systemcmds/perf/.context deleted file mode 100644 index e69de29bb..000000000 diff --git a/apps/systemcmds/perf/Makefile b/apps/systemcmds/perf/Makefile deleted file mode 100644 index f8bab41b6..000000000 --- a/apps/systemcmds/perf/Makefile +++ /dev/null @@ -1,44 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# perf_counter reporting tool -# - -APPNAME = perf -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 - -include $(APPDIR)/mk/app.mk - -MAXOPTIMIZATION = -Os diff --git a/apps/systemcmds/perf/perf.c b/apps/systemcmds/perf/perf.c deleted file mode 100644 index 64443d019..000000000 --- a/apps/systemcmds/perf/perf.c +++ /dev/null @@ -1,81 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/**************************************************************************** - * Included Files - ****************************************************************************/ - - -#include -#include -#include -#include - -#include "systemlib/perf_counter.h" - - -/**************************************************************************** - * Definitions - ****************************************************************************/ - -/**************************************************************************** - * Private Data - ****************************************************************************/ - -/**************************************************************************** - * Public Functions - ****************************************************************************/ - -__EXPORT int perf_main(int argc, char *argv[]); - -/**************************************************************************** - * user_start - ****************************************************************************/ - -int perf_main(int argc, char *argv[]) -{ - if (argc > 1) { - if (strcmp(argv[1], "reset") == 0) { - perf_reset_all(); - return 0; - } - printf("Usage: perf \n"); - return -1; - } - - perf_print_all(); - fflush(stdout); - return 0; -} - - diff --git a/apps/systemcmds/preflight_check/Makefile b/apps/systemcmds/preflight_check/Makefile deleted file mode 100644 index 98aadaa86..000000000 --- a/apps/systemcmds/preflight_check/Makefile +++ /dev/null @@ -1,44 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Reboot command. -# - -APPNAME = preflight_check -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 - -include $(APPDIR)/mk/app.mk - -MAXOPTIMIZATION = -Os diff --git a/apps/systemcmds/preflight_check/preflight_check.c b/apps/systemcmds/preflight_check/preflight_check.c deleted file mode 100644 index 9ac6f0b5e..000000000 --- a/apps/systemcmds/preflight_check/preflight_check.c +++ /dev/null @@ -1,206 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Lorenz Meier - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file reboot.c - * Tool similar to UNIX reboot command - */ - -#include -#include -#include -#include -#include -#include - -#include - -#include -#include -#include -#include -#include -#include -#include - -#include - -__EXPORT int preflight_check_main(int argc, char *argv[]); -static int led_toggle(int leds, int led); -static int led_on(int leds, int led); -static int led_off(int leds, int led); - -int preflight_check_main(int argc, char *argv[]) -{ - bool fail_on_error = false; - - if (argc > 1 && !strcmp(argv[1], "--help")) { - warnx("usage: preflight_check [--fail-on-error]\n\tif fail on error is enabled, will return 1 on error"); - exit(1); - } - - if (argc > 1 && !strcmp(argv[1], "--fail-on-error")) { - fail_on_error = true; - } - - bool system_ok = true; - - int fd; - /* open text message output path */ - int mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); - int ret; - - /* give the system some time to sample the sensors in the background */ - usleep(150000); - - - /* ---- MAG ---- */ - close(fd); - fd = open(MAG_DEVICE_PATH, 0); - if (fd < 0) { - warn("failed to open magnetometer - start with 'hmc5883 start' or 'lsm303d start'"); - mavlink_log_critical(mavlink_fd, "SENSOR FAIL: NO MAG"); - system_ok = false; - goto system_eval; - } - ret = ioctl(fd, MAGIOCSELFTEST, 0); - - if (ret != OK) { - warnx("magnetometer calibration missing or bad - calibrate magnetometer first"); - mavlink_log_critical(mavlink_fd, "SENSOR FAIL: MAG CALIBRATION"); - system_ok = false; - goto system_eval; - } - - /* ---- ACCEL ---- */ - - close(fd); - fd = open(ACCEL_DEVICE_PATH, 0); - ret = ioctl(fd, ACCELIOCSELFTEST, 0); - - if (ret != OK) { - warnx("accel self test failed"); - mavlink_log_critical(mavlink_fd, "SENSOR FAIL: ACCEL CHECK"); - system_ok = false; - goto system_eval; - } - - /* ---- GYRO ---- */ - - close(fd); - fd = open(GYRO_DEVICE_PATH, 0); - ret = ioctl(fd, GYROIOCSELFTEST, 0); - - if (ret != OK) { - warnx("gyro self test failed"); - mavlink_log_critical(mavlink_fd, "SENSOR FAIL: GYRO CHECK"); - system_ok = false; - goto system_eval; - } - - /* ---- BARO ---- */ - - close(fd); - fd = open(BARO_DEVICE_PATH, 0); - - - -system_eval: - - if (system_ok) { - /* all good, exit silently */ - exit(0); - } else { - fflush(stdout); - - int buzzer = open("/dev/tone_alarm", O_WRONLY); - int leds = open(LED_DEVICE_PATH, 0); - - /* flip blue led into alternating amber */ - led_off(leds, LED_BLUE); - led_off(leds, LED_AMBER); - led_toggle(leds, LED_BLUE); - - /* display and sound error */ - for (int i = 0; i < 150; i++) - { - led_toggle(leds, LED_BLUE); - led_toggle(leds, LED_AMBER); - - if (i % 10 == 0) { - ioctl(buzzer, TONE_SET_ALARM, 4); - } else if (i % 5 == 0) { - ioctl(buzzer, TONE_SET_ALARM, 2); - } - usleep(100000); - } - - /* stop alarm */ - ioctl(buzzer, TONE_SET_ALARM, 0); - - /* switch on leds */ - led_on(leds, LED_BLUE); - led_on(leds, LED_AMBER); - - if (fail_on_error) { - /* exit with error message */ - exit(1); - } else { - /* do not emit an error code to make sure system still boots */ - exit(0); - } - } -} - -static int led_toggle(int leds, int led) -{ - static int last_blue = LED_ON; - static int last_amber = LED_ON; - - if (led == LED_BLUE) last_blue = (last_blue == LED_ON) ? LED_OFF : LED_ON; - - if (led == LED_AMBER) last_amber = (last_amber == LED_ON) ? LED_OFF : LED_ON; - - return ioctl(leds, ((led == LED_BLUE) ? last_blue : last_amber), led); -} - -static int led_off(int leds, int led) -{ - return ioctl(leds, LED_OFF, led); -} - -static int led_on(int leds, int led) -{ - return ioctl(leds, LED_ON, led); -} \ No newline at end of file diff --git a/apps/systemcmds/pwm/Makefile b/apps/systemcmds/pwm/Makefile deleted file mode 100644 index 5ab105ed1..000000000 --- a/apps/systemcmds/pwm/Makefile +++ /dev/null @@ -1,42 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Build the pwm tool. -# - -APPNAME = pwm -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 4096 - -include $(APPDIR)/mk/app.mk diff --git a/apps/systemcmds/pwm/pwm.c b/apps/systemcmds/pwm/pwm.c deleted file mode 100644 index de7a53199..000000000 --- a/apps/systemcmds/pwm/pwm.c +++ /dev/null @@ -1,233 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file pwm.c - * - * PWM servo output configuration and monitoring tool. - */ - -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include - -#include - -#include "systemlib/systemlib.h" -#include "systemlib/err.h" -#include "drivers/drv_pwm_output.h" - -static void usage(const char *reason); -__EXPORT int pwm_main(int argc, char *argv[]); - - -static void -usage(const char *reason) -{ - if (reason != NULL) - warnx("%s", reason); - errx(1, - "usage:\n" - "pwm [-v] [-d ] [-u ] [-c ] [arm|disarm] [ ...]\n" - " -v Print information about the PWM device\n" - " PWM output device (defaults to " PWM_OUTPUT_DEVICE_PATH ")\n" - " PWM update rate for channels in \n" - " Channel group that should update at the alternate rate (may be specified more than once)\n" - " arm | disarm Arm or disarm the ouptut\n" - " ... PWM output values in microseconds to assign to the PWM outputs\n" - "\n" - "When -c is specified, any channel groups not listed with -c will update at the default rate.\n" - ); - -} - -int -pwm_main(int argc, char *argv[]) -{ - const char *dev = PWM_OUTPUT_DEVICE_PATH; - unsigned alt_rate = 0; - uint32_t alt_channel_groups = 0; - bool alt_channels_set = false; - bool print_info = false; - int ch; - int ret; - char *ep; - unsigned group; - - if (argc < 2) - usage(NULL); - - while ((ch = getopt(argc, argv, "c:d:u:v")) != EOF) { - switch (ch) { - case 'c': - group = strtoul(optarg, &ep, 0); - if ((*ep != '\0') || (group >= 32)) - usage("bad channel_group value"); - alt_channel_groups |= (1 << group); - alt_channels_set = true; - break; - - case 'd': - dev = optarg; - break; - - case 'u': - alt_rate = strtol(optarg, &ep, 0); - if (*ep != '\0') - usage("bad alt_rate value"); - break; - - case 'v': - print_info = true; - break; - - default: - usage(NULL); - } - } - argc -= optind; - argv += optind; - - /* open for ioctl only */ - int fd = open(dev, 0); - if (fd < 0) - err(1, "can't open %s", dev); - - /* change alternate PWM rate */ - if (alt_rate > 0) { - ret = ioctl(fd, PWM_SERVO_SET_UPDATE_RATE, alt_rate); - if (ret != OK) - err(1, "PWM_SERVO_SET_UPDATE_RATE (check rate for sanity)"); - } - - /* assign alternate rate to channel groups */ - if (alt_channels_set) { - uint32_t mask = 0; - - for (unsigned group = 0; group < 32; group++) { - if ((1 << group) & alt_channel_groups) { - uint32_t group_mask; - - ret = ioctl(fd, PWM_SERVO_GET_RATEGROUP(group), (unsigned long)&group_mask); - if (ret != OK) - err(1, "PWM_SERVO_GET_RATEGROUP(%u)", group); - - mask |= group_mask; - } - } - - ret = ioctl(fd, PWM_SERVO_SELECT_UPDATE_RATE, mask); - if (ret != OK) - err(1, "PWM_SERVO_SELECT_UPDATE_RATE"); - } - - /* iterate remaining arguments */ - unsigned channel = 0; - while (argc--) { - const char *arg = argv[0]; - argv++; - if (!strcmp(arg, "arm")) { - ret = ioctl(fd, PWM_SERVO_ARM, 0); - if (ret != OK) - err(1, "PWM_SERVO_ARM"); - continue; - } - if (!strcmp(arg, "disarm")) { - ret = ioctl(fd, PWM_SERVO_DISARM, 0); - if (ret != OK) - err(1, "PWM_SERVO_DISARM"); - continue; - } - unsigned pwm_value = strtol(arg, &ep, 0); - if (*ep == '\0') { - ret = ioctl(fd, PWM_SERVO_SET(channel), pwm_value); - if (ret != OK) - err(1, "PWM_SERVO_SET(%d)", channel); - channel++; - continue; - } - usage("unrecognised option"); - } - - /* print verbose info */ - if (print_info) { - /* get the number of servo channels */ - unsigned count; - ret = ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&count); - if (ret != OK) - err(1, "PWM_SERVO_GET_COUNT"); - - /* print current servo values */ - for (unsigned i = 0; i < count; i++) { - servo_position_t spos; - - ret = ioctl(fd, PWM_SERVO_GET(i), (unsigned long)&spos); - if (ret == OK) { - printf("channel %u: %uus\n", i, spos); - } else { - printf("%u: ERROR\n", i); - } - } - - /* print rate groups */ - for (unsigned i = 0; i < count; i++) { - uint32_t group_mask; - - ret = ioctl(fd, PWM_SERVO_GET_RATEGROUP(i), (unsigned long)&group_mask); - if (ret != OK) - break; - if (group_mask != 0) { - printf("channel group %u: channels", i); - for (unsigned j = 0; j < 32; j++) - if (group_mask & (1 << j)) - printf(" %u", j); - printf("\n"); - } - } - fflush(stdout); - } - exit(0); -} \ No newline at end of file diff --git a/apps/systemcmds/reboot/.context b/apps/systemcmds/reboot/.context deleted file mode 100644 index e69de29bb..000000000 diff --git a/apps/systemcmds/reboot/Makefile b/apps/systemcmds/reboot/Makefile deleted file mode 100644 index 15dd19982..000000000 --- a/apps/systemcmds/reboot/Makefile +++ /dev/null @@ -1,44 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Reboot command. -# - -APPNAME = reboot -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 - -include $(APPDIR)/mk/app.mk - -MAXOPTIMIZATION = -Os diff --git a/apps/systemcmds/reboot/reboot.c b/apps/systemcmds/reboot/reboot.c deleted file mode 100644 index 47d3cd948..000000000 --- a/apps/systemcmds/reboot/reboot.c +++ /dev/null @@ -1,53 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Lorenz Meier - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file reboot.c - * Tool similar to UNIX reboot command - */ - -#include -#include -#include - -#include - -__EXPORT int reboot_main(int argc, char *argv[]); - -int reboot_main(int argc, char *argv[]) -{ - up_systemreset(); -} - - diff --git a/apps/systemcmds/top/.context b/apps/systemcmds/top/.context deleted file mode 100644 index e69de29bb..000000000 diff --git a/apps/systemcmds/top/Makefile b/apps/systemcmds/top/Makefile deleted file mode 100644 index f58f9212e..000000000 --- a/apps/systemcmds/top/Makefile +++ /dev/null @@ -1,44 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# realtime system performance display -# - -APPNAME = top -PRIORITY = SCHED_PRIORITY_DEFAULT - 10 -STACKSIZE = 3000 - -include $(APPDIR)/mk/app.mk - -MAXOPTIMIZATION = -Os diff --git a/apps/systemcmds/top/top.c b/apps/systemcmds/top/top.c deleted file mode 100644 index 59d2bc8f1..000000000 --- a/apps/systemcmds/top/top.c +++ /dev/null @@ -1,253 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Lorenz Meier - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file top.c - * Tool similar to UNIX top command - * @see http://en.wikipedia.org/wiki/Top_unix - */ - -#include -#include -#include -#include -#include -#include -#include - -#include -#include - -/** - * Start the top application. - */ -__EXPORT int top_main(int argc, char *argv[]); - -extern struct system_load_s system_load; - -bool top_sigusr1_rcvd = false; - -int top_main(int argc, char *argv[]) -{ - int t; - - uint64_t total_user_time = 0; - - int running_count = 0; - int blocked_count = 0; - - uint64_t new_time = hrt_absolute_time(); - uint64_t interval_start_time = new_time; - - uint64_t last_times[CONFIG_MAX_TASKS]; - float curr_loads[CONFIG_MAX_TASKS]; - - for (t = 0; t < CONFIG_MAX_TASKS; t++) - last_times[t] = 0; - - float interval_time_ms_inv = 0.f; - - /* Open console directly to grab CTRL-C signal */ - int console = open("/dev/console", O_NONBLOCK | O_RDONLY | O_NOCTTY); - - while (true) -// for (t = 0; t < 10; t++) - { - int i; - - uint64_t curr_time_ms = (hrt_absolute_time() / 1000LLU); - unsigned int curr_time_s = curr_time_ms / 1000LLU; - - uint64_t idle_time_total_ms = (system_load.tasks[0].total_runtime / 1000LLU); - unsigned int idle_time_total_s = idle_time_total_ms / 1000LLU; - - if (new_time > interval_start_time) - interval_time_ms_inv = 1.f / ((float)((new_time - interval_start_time) / 1000)); - - running_count = 0; - blocked_count = 0; - total_user_time = 0; - - for (i = 0; i < CONFIG_MAX_TASKS; i++) { - uint64_t interval_runtime = (system_load.tasks[i].valid && last_times[i] > 0 && system_load.tasks[i].total_runtime > last_times[i]) ? (system_load.tasks[i].total_runtime - last_times[i]) / 1000 : 0; - - last_times[i] = system_load.tasks[i].total_runtime; - - if (system_load.tasks[i].valid && (new_time > interval_start_time)) { - curr_loads[i] = interval_runtime * interval_time_ms_inv; - - if (i > 0) - total_user_time += interval_runtime; - - } else - curr_loads[i] = 0; - } - - for (i = 0; i < CONFIG_MAX_TASKS; i++) { - if (system_load.tasks[i].valid && (new_time > interval_start_time)) { - if (system_load.tasks[i].tcb->pid == 0) { - float idle = curr_loads[0]; - float task_load = (float)(total_user_time) * interval_time_ms_inv; - - if (task_load > (1.f - idle)) task_load = (1.f - idle); /* this can happen if one tasks total runtime was not computed correctly by the scheduler instrumentation TODO */ - - float sched_load = 1.f - idle - task_load; - - /* print system information */ - printf("\033[H"); /* cursor home */ - printf("\033[KProcesses: %d total, %d running, %d sleeping\n", system_load.total_count, running_count, blocked_count); - printf("\033[KCPU usage: %d.%02d%% tasks, %d.%02d%% sched, %d.%02d%% idle\n", (int)(task_load * 100), (int)((task_load * 10000.0f) - (int)(task_load * 100.0f) * 100), (int)(sched_load * 100), (int)((sched_load * 10000.0f) - (int)(sched_load * 100.0f) * 100), (int)(idle * 100), (int)((idle * 10000.0f) - ((int)(idle * 100)) * 100)); - printf("\033[KUptime: %u.%03u s total, %d.%03d s idle\n\033[K\n", curr_time_s, (unsigned int)(curr_time_ms - curr_time_s * 1000LLU), idle_time_total_s, (int)(idle_time_total_ms - idle_time_total_s * 1000)); - - /* 34 chars command name length (32 chars plus two spaces) */ - char header_spaces[CONFIG_TASK_NAME_SIZE + 1]; - memset(header_spaces, ' ', CONFIG_TASK_NAME_SIZE); - header_spaces[CONFIG_TASK_NAME_SIZE] = '\0'; -#if CONFIG_RR_INTERVAL > 0 - printf("\033[KPID\tCOMMAND%s CPU TOTAL \t%%CPU CURR \tSTACK USE\tCURR (BASE) PRIO\tRR SLICE\n", header_spaces); -#else - printf("\033[KPID\tCOMMAND%s CPU TOTAL \t%%CPU CURR \tSTACK USE\tCURR (BASE) PRIO\n", header_spaces); -#endif - - } else { - enum tstate_e task_state = (enum tstate_e)system_load.tasks[i].tcb->task_state; - - if (task_state == TSTATE_TASK_PENDING || - task_state == TSTATE_TASK_READYTORUN || - task_state == TSTATE_TASK_RUNNING) { - running_count++; - } - - if (task_state == TSTATE_TASK_INACTIVE || /* BLOCKED - Initialized but not yet activated */ - task_state == TSTATE_WAIT_SEM /* BLOCKED - Waiting for a semaphore */ -#ifndef CONFIG_DISABLE_SIGNALS - || task_state == TSTATE_WAIT_SIG /* BLOCKED - Waiting for a signal */ -#endif -#ifndef CONFIG_DISABLE_MQUEUE - || task_state == TSTATE_WAIT_MQNOTEMPTY /* BLOCKED - Waiting for a MQ to become not empty. */ - || task_state == TSTATE_WAIT_MQNOTFULL /* BLOCKED - Waiting for a MQ to become not full. */ -#endif -#ifdef CONFIG_PAGING - || task_state == TSTATE_WAIT_PAGEFILL /* BLOCKED - Waiting for page fill */ -#endif - ) { - blocked_count++; - } - - char spaces[CONFIG_TASK_NAME_SIZE + 2]; - - /* count name len */ - int namelen = 0; - - while (namelen < CONFIG_TASK_NAME_SIZE) { - if (system_load.tasks[i].tcb->name[namelen] == '\0') break; - - namelen++; - } - - int s = 0; - - for (s = 0; s < CONFIG_TASK_NAME_SIZE + 2 - namelen; s++) { - spaces[s] = ' '; - } - - spaces[s] = '\0'; - - char *runtime_spaces = " "; - - if ((system_load.tasks[i].total_runtime / 1000) < 99) { - runtime_spaces = ""; - } - - unsigned stack_size = (uintptr_t)system_load.tasks[i].tcb->adj_stack_ptr - - (uintptr_t)system_load.tasks[i].tcb->stack_alloc_ptr; - unsigned stack_free = 0; - uint8_t *stack_sweeper = (uint8_t *)system_load.tasks[i].tcb->stack_alloc_ptr; - - while (stack_free < stack_size) { - if (*stack_sweeper++ != 0xff) - break; - - stack_free++; - } - - printf("\033[K % 2d\t%s%s % 8lld ms%s \t % 2d.%03d \t % 4u / % 4u", - (int)system_load.tasks[i].tcb->pid, - system_load.tasks[i].tcb->name, - spaces, - (system_load.tasks[i].total_runtime / 1000), - runtime_spaces, - (int)(curr_loads[i] * 100), - (int)(curr_loads[i] * 100000.0f - (int)(curr_loads[i] * 1000.0f) * 100), - stack_size - stack_free, - stack_size); - /* Print scheduling info with RR time slice */ -#if CONFIG_RR_INTERVAL > 0 - printf("\t%d\t(%d)\t\t%d\n", (int)system_load.tasks[i].tcb->sched_priority, (int)system_load.tasks[i].tcb->base_priority, (int)system_load.tasks[i].tcb->timeslice); -#else - /* Print scheduling info without time slice*/ - printf("\t%d (%d)\n", (int)system_load.tasks[i].tcb->sched_priority, (int)system_load.tasks[i].tcb->base_priority); -#endif - } - } - } - - printf("\033[K[ Hit Ctrl-C to quit. ]\n\033[J"); - fflush(stdout); - - interval_start_time = new_time; - - char c; - - /* Sleep 200 ms waiting for user input four times */ - /* XXX use poll ... */ - for (int k = 0; k < 4; k++) { - if (read(console, &c, 1) == 1) { - if (c == 0x03 || c == 0x63) { - printf("Abort\n"); - close(console); - return OK; - } - } - - usleep(200000); - } - - new_time = hrt_absolute_time(); - } - - close(console); - - return OK; -} diff --git a/makefiles/config_px4fmu_default.mk b/makefiles/config_px4fmu_default.mk index 44e35bdf9..b3ebe4553 100644 --- a/makefiles/config_px4fmu_default.mk +++ b/makefiles/config_px4fmu_default.mk @@ -16,9 +16,19 @@ MODULES += drivers/l3gd20 MODULES += drivers/ardrone_interface # -# System utilities +# System commands # MODULES += systemcmds/eeprom +MODULES += systemcmds/bl_update +MODULES += systemcmds/boardinfo +MODULES += systemcmds/i2c +MODULES += systemcmds/mixer +MODULES += systemcmds/param +MODULES += systemcmds/perf +MODULES += systemcmds/preflight_check +MODULES += systemcmds/pwm +MODULES += systemcmds/reboot +MODULES += systemcmds/top MODULES += systemcmds/tests # @@ -48,12 +58,9 @@ endef # command priority stack entrypoint BUILTIN_COMMANDS := \ $(call _B, adc, , 2048, adc_main ) \ - $(call _B, bl_update, , 4096, bl_update_main ) \ $(call _B, blinkm, , 2048, blinkm_main ) \ $(call _B, bma180, , 2048, bma180_main ) \ - $(call _B, boardinfo, , 2048, boardinfo_main ) \ $(call _B, control_demo, , 2048, control_demo_main ) \ - $(call _B, delay_test, , 2048, delay_test_main ) \ $(call _B, fixedwing_att_control, SCHED_PRIORITY_MAX-30, 2048, fixedwing_att_control_main ) \ $(call _B, fixedwing_pos_control, SCHED_PRIORITY_MAX-30, 2048, fixedwing_pos_control_main ) \ $(call _B, gps, , 2048, gps_main ) \ @@ -62,22 +69,15 @@ BUILTIN_COMMANDS := \ $(call _B, hott_telemetry, , 2048, hott_telemetry_main ) \ $(call _B, kalman_demo, SCHED_PRIORITY_MAX-30, 2048, kalman_demo_main ) \ $(call _B, math_demo, , 8192, math_demo_main ) \ - $(call _B, mixer, , 4096, mixer_main ) \ $(call _B, mpu6000, , 4096, mpu6000_main ) \ $(call _B, ms5611, , 2048, ms5611_main ) \ $(call _B, multirotor_att_control, SCHED_PRIORITY_MAX-15, 2048, multirotor_att_control_main) \ $(call _B, multirotor_pos_control, SCHED_PRIORITY_MAX-25, 2048, multirotor_pos_control_main) \ - $(call _B, param, , 4096, param_main ) \ - $(call _B, perf, , 2048, perf_main ) \ $(call _B, position_estimator, , 4096, position_estimator_main ) \ - $(call _B, preflight_check, , 2048, preflight_check_main ) \ $(call _B, px4io, , 2048, px4io_main ) \ - $(call _B, reboot, , 2048, reboot_main ) \ $(call _B, sdlog, SCHED_PRIORITY_MAX-30, 2048, sdlog_main ) \ $(call _B, sensors, SCHED_PRIORITY_MAX-5, 4096, sensors_main ) \ $(call _B, sercon, , 2048, sercon_main ) \ $(call _B, serdis, , 2048, serdis_main ) \ $(call _B, tone_alarm, , 2048, tone_alarm_main ) \ - $(call _B, top, SCHED_PRIORITY_DEFAULT-10, 3000, top_main ) \ - $(call _B, param, SCHED_PRIORITY_DEFAULT-10, 2048, param_main ) \ $(call _B, uorb, , 4096, uorb_main ) diff --git a/src/modules/mavlink_onboard/module.mk b/src/modules/mavlink_onboard/module.mk index c40fa042e..a7a4980fa 100644 --- a/src/modules/mavlink_onboard/module.mk +++ b/src/modules/mavlink_onboard/module.mk @@ -37,6 +37,6 @@ MODULE_COMMAND = mavlink_onboard SRCS = mavlink.c \ - mavlink_receiver.c + mavlink_receiver.c INCLUDE_DIRS += $(MAVLINK_SRC)/include/mavlink diff --git a/src/systemcmds/bl_update/bl_update.c b/src/systemcmds/bl_update/bl_update.c new file mode 100644 index 000000000..0569d89f5 --- /dev/null +++ b/src/systemcmds/bl_update/bl_update.c @@ -0,0 +1,215 @@ +/**************************************************************************** + * + * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file bl_update.c + * + * STM32F4 bootloader update tool. + */ + +#include + +#include +#include +#include +#include +#include +#include +#include + +#include + +#include "systemlib/systemlib.h" +#include "systemlib/err.h" + +__EXPORT int bl_update_main(int argc, char *argv[]); + +static void setopt(void); + +int +bl_update_main(int argc, char *argv[]) +{ + if (argc != 2) + errx(1, "missing firmware filename or command"); + + if (!strcmp(argv[1], "setopt")) + setopt(); + + int fd = open(argv[1], O_RDONLY); + + if (fd < 0) + err(1, "open %s", argv[1]); + + struct stat s; + + if (stat(argv[1], &s) < 0) + err(1, "stat %s", argv[1]); + + /* sanity-check file size */ + if (s.st_size > 16384) + errx(1, "%s: file too large", argv[1]); + + uint8_t *buf = malloc(s.st_size); + + if (buf == NULL) + errx(1, "failed to allocate %u bytes for firmware buffer", s.st_size); + + if (read(fd, buf, s.st_size) != s.st_size) + err(1, "firmware read error"); + + close(fd); + + uint32_t *hdr = (uint32_t *)buf; + + if ((hdr[0] < 0x20000000) || /* stack not below RAM */ + (hdr[0] > (0x20000000 + (128 * 1024))) || /* stack not above RAM */ + (hdr[1] < 0x08000000) || /* entrypoint not below flash */ + ((hdr[1] - 0x08000000) > 16384)) { /* entrypoint not outside bootloader */ + free(buf); + errx(1, "not a bootloader image"); + } + + warnx("image validated, erasing bootloader..."); + usleep(10000); + + /* prevent other tasks from running while we do this */ + sched_lock(); + + /* unlock the control register */ + volatile uint32_t *keyr = (volatile uint32_t *)0x40023c04; + *keyr = 0x45670123U; + *keyr = 0xcdef89abU; + + volatile uint32_t *sr = (volatile uint32_t *)0x40023c0c; + volatile uint32_t *cr = (volatile uint32_t *)0x40023c10; + volatile uint8_t *base = (volatile uint8_t *)0x08000000; + + /* check the control register */ + if (*cr & 0x80000000) { + warnx("WARNING: flash unlock failed, flash aborted"); + goto flash_end; + } + + /* erase the bootloader sector */ + *cr = 0x2; + *cr = 0x10002; + + /* wait for the operation to complete */ + while (*sr & 0x1000) { + } + + if (*sr & 0xf2) { + warnx("WARNING: erase error 0x%02x", *sr); + goto flash_end; + } + + /* verify the erase */ + for (int i = 0; i < s.st_size; i++) { + if (base[i] != 0xff) { + warnx("WARNING: erase failed at %d - retry update, DO NOT reboot", i); + goto flash_end; + } + } + + warnx("flashing..."); + + /* now program the bootloader - speed is not critical so use x8 mode */ + for (int i = 0; i < s.st_size; i++) { + + /* program a byte */ + *cr = 1; + base[i] = buf[i]; + + /* wait for the operation to complete */ + while (*sr & 0x1000) { + } + + if (*sr & 0xf2) { + warnx("WARNING: program error 0x%02x", *sr); + goto flash_end; + } + } + + /* re-lock the flash control register */ + *cr = 0x80000000; + + warnx("verifying..."); + + /* now run a verify pass */ + for (int i = 0; i < s.st_size; i++) { + if (base[i] != buf[i]) { + warnx("WARNING: verify failed at %u - retry update, DO NOT reboot", i); + goto flash_end; + } + } + + warnx("bootloader update complete"); + +flash_end: + /* unlock the scheduler */ + sched_unlock(); + + free(buf); + exit(0); +} + +static void +setopt(void) +{ + volatile uint32_t *optcr = (volatile uint32_t *)0x40023c14; + + const uint16_t opt_mask = (3 << 2); /* BOR_LEV bitmask */ + const uint16_t opt_bits = (0 << 2); /* BOR = 0, setting for 2.7-3.6V operation */ + + if ((*optcr & opt_mask) == opt_bits) + errx(0, "option bits are already set as required"); + + /* unlock the control register */ + volatile uint32_t *optkeyr = (volatile uint32_t *)0x40023c08; + *optkeyr = 0x08192a3bU; + *optkeyr = 0x4c5d6e7fU; + + if (*optcr & 1) + errx(1, "option control register unlock failed"); + + /* program the new option value */ + *optcr = (*optcr & ~opt_mask) | opt_bits | (1 << 1); + + usleep(1000); + + if ((*optcr & opt_mask) == opt_bits) + errx(0, "option bits set"); + + errx(1, "option bits setting failed; readback 0x%04x", *optcr); + +} \ No newline at end of file diff --git a/src/systemcmds/bl_update/module.mk b/src/systemcmds/bl_update/module.mk new file mode 100644 index 000000000..e8eea045e --- /dev/null +++ b/src/systemcmds/bl_update/module.mk @@ -0,0 +1,43 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# Bootloader updater (flashes the FMU USB bootloader software) +# + +MODULE_COMMAND = bl_update +SRCS = bl_update.c + +MODULE_STACKSIZE = 4096 + +MAXOPTIMIZATION = -Os diff --git a/src/systemcmds/boardinfo/boardinfo.c b/src/systemcmds/boardinfo/boardinfo.c new file mode 100644 index 000000000..3ff5a066c --- /dev/null +++ b/src/systemcmds/boardinfo/boardinfo.c @@ -0,0 +1,409 @@ +/**************************************************************************** + * + * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file boardinfo.c + * autopilot and carrier board information app + */ + +#include +#include +#include +#include +#include + +#include + +#include +#include +#include + +__EXPORT int boardinfo_main(int argc, char *argv[]); + +struct eeprom_info_s +{ + unsigned bus; + unsigned address; + unsigned page_size; + unsigned page_count; + unsigned page_write_delay; +}; + +/* XXX currently code below only supports 8-bit addressing */ +const struct eeprom_info_s eeprom_info[] = { + {3, 0x57, 8, 16, 3300}, +}; + +struct board_parameter_s { + const char *name; + bson_type_t type; +}; + +const struct board_parameter_s board_parameters[] = { + {"name", BSON_STRING}, /* ascii board name */ + {"vers", BSON_INT32}, /* board version (major << 8) | minor */ + {"date", BSON_INT32}, /* manufacture date */ + {"build", BSON_INT32} /* build code (fab << 8) | tester */ +}; + +const unsigned num_parameters = sizeof(board_parameters) / sizeof(board_parameters[0]); + +static int +eeprom_write(const struct eeprom_info_s *eeprom, uint8_t *buf, unsigned size) +{ + int result = -1; + + struct i2c_dev_s *dev = up_i2cinitialize(eeprom->bus); + if (dev == NULL) { + warnx("failed to init bus %d for EEPROM", eeprom->bus); + goto out; + } + I2C_SETFREQUENCY(dev, 400000); + + /* loop until all data has been transferred */ + for (unsigned address = 0; address < size; ) { + + uint8_t pagebuf[eeprom->page_size + 1]; + + /* how many bytes available to transfer? */ + unsigned count = size - address; + + /* constrain writes to the page size */ + if (count > eeprom->page_size) + count = eeprom->page_size; + + pagebuf[0] = address & 0xff; + memcpy(pagebuf + 1, buf + address, count); + + struct i2c_msg_s msgv[1] = { + { + .addr = eeprom->address, + .flags = 0, + .buffer = pagebuf, + .length = count + 1 + } + }; + + result = I2C_TRANSFER(dev, msgv, 1); + if (result != OK) { + warnx("EEPROM write failed: %d", result); + goto out; + } + usleep(eeprom->page_write_delay); + address += count; + } + +out: + if (dev != NULL) + up_i2cuninitialize(dev); + return result; +} + +static int +eeprom_read(const struct eeprom_info_s *eeprom, uint8_t *buf, unsigned size) +{ + int result = -1; + + struct i2c_dev_s *dev = up_i2cinitialize(eeprom->bus); + if (dev == NULL) { + warnx("failed to init bus %d for EEPROM", eeprom->bus); + goto out; + } + I2C_SETFREQUENCY(dev, 400000); + + /* loop until all data has been transferred */ + for (unsigned address = 0; address < size; ) { + + /* how many bytes available to transfer? */ + unsigned count = size - address; + + /* constrain transfers to the page size (bus anti-hog) */ + if (count > eeprom->page_size) + count = eeprom->page_size; + + uint8_t addr = address; + struct i2c_msg_s msgv[2] = { + { + .addr = eeprom->address, + .flags = 0, + .buffer = &addr, + .length = 1 + }, + { + .addr = eeprom->address, + .flags = I2C_M_READ, + .buffer = buf + address, + .length = count + } + }; + + result = I2C_TRANSFER(dev, msgv, 2); + if (result != OK) { + warnx("EEPROM read failed: %d", result); + goto out; + } + address += count; + } + +out: + if (dev != NULL) + up_i2cuninitialize(dev); + return result; +} + +static void * +idrom_read(const struct eeprom_info_s *eeprom) +{ + uint32_t size = 0xffffffff; + int result; + void *buf = NULL; + + result = eeprom_read(eeprom, (uint8_t *)&size, sizeof(size)); + if (result != 0) { + warnx("failed reading ID ROM length"); + goto fail; + } + if (size > (eeprom->page_size * eeprom->page_count)) { + warnx("ID ROM not programmed"); + goto fail; + } + + buf = malloc(size); + if (buf == NULL) { + warnx("could not allocate %d bytes for ID ROM", size); + goto fail; + } + result = eeprom_read(eeprom, buf, size); + if (result != 0) { + warnx("failed reading ID ROM"); + goto fail; + } + return buf; + +fail: + if (buf != NULL) + free(buf); + return NULL; +} + +static void +boardinfo_set(const struct eeprom_info_s *eeprom, char *spec) +{ + struct bson_encoder_s encoder; + int result = 1; + char *state, *token; + unsigned i; + + /* create the encoder and make a writable copy of the spec */ + bson_encoder_init_buf(&encoder, NULL, 0); + + for (i = 0, token = strtok_r(spec, ",", &state); + token && (i < num_parameters); + i++, token = strtok_r(NULL, ",", &state)) { + + switch (board_parameters[i].type) { + case BSON_STRING: + result = bson_encoder_append_string(&encoder, board_parameters[i].name, token); + break; + case BSON_INT32: + result = bson_encoder_append_int(&encoder, board_parameters[i].name, strtoul(token, NULL, 0)); + break; + default: + result = 1; + } + if (result) { + warnx("bson append failed for %s<%s>", board_parameters[i].name, token); + goto out; + } + } + bson_encoder_fini(&encoder); + if (i != num_parameters) { + warnx("incorrect parameter list, expected: \",,\""); + result = 1; + goto out; + } + if (bson_encoder_buf_size(&encoder) > (int)(eeprom->page_size * eeprom->page_count)) { + warnx("data too large for EEPROM"); + result = 1; + goto out; + } + if ((int)*(uint32_t *)bson_encoder_buf_data(&encoder) != bson_encoder_buf_size(&encoder)) { + warnx("buffer length mismatch"); + result = 1; + goto out; + } + warnx("writing %p/%u", bson_encoder_buf_data(&encoder), bson_encoder_buf_size(&encoder)); + + result = eeprom_write(eeprom, (uint8_t *)bson_encoder_buf_data(&encoder), bson_encoder_buf_size(&encoder)); + if (result < 0) { + warnc(-result, "error writing EEPROM"); + result = 1; + } else { + result = 0; + } + +out: + free(bson_encoder_buf_data(&encoder)); + + exit(result); +} + +static int +boardinfo_print(bson_decoder_t decoder, void *private, bson_node_t node) +{ + switch (node->type) { + case BSON_INT32: + printf("%s: %d / 0x%08x\n", node->name, (int)node->i, (unsigned)node->i); + break; + case BSON_STRING: { + char buf[bson_decoder_data_pending(decoder)]; + bson_decoder_copy_data(decoder, buf); + printf("%s: %s\n", node->name, buf); + break; + } + case BSON_EOO: + break; + default: + warnx("unexpected node type %d", node->type); + break; + } + return 1; +} + +static void +boardinfo_show(const struct eeprom_info_s *eeprom) +{ + struct bson_decoder_s decoder; + void *buf; + + buf = idrom_read(eeprom); + if (buf == NULL) + errx(1, "ID ROM read failed"); + + if (bson_decoder_init_buf(&decoder, buf, 0, boardinfo_print, NULL) == 0) { + while (bson_decoder_next(&decoder) > 0) + ; + } else { + warnx("failed to init decoder"); + } + free(buf); + exit(0); +} + +struct { + const char *property; + const char *value; +} test_args; + +static int +boardinfo_test_callback(bson_decoder_t decoder, void *private, bson_node_t node) +{ + /* reject nodes with non-matching names */ + if (strcmp(node->name, test_args.property)) + return 1; + + /* compare node values to check for a match */ + switch (node->type) { + case BSON_STRING: { + char buf[bson_decoder_data_pending(decoder)]; + bson_decoder_copy_data(decoder, buf); + + /* check for a match */ + if (!strcmp(test_args.value, buf)) { + return 2; + } + break; + } + + case BSON_INT32: { + int32_t val = strtol(test_args.value, NULL, 0); + + /* check for a match */ + if (node->i == val) { + return 2; + } + break; + } + + default: + break; + } + + return 1; +} + +static void +boardinfo_test(const struct eeprom_info_s *eeprom, const char *property, const char *value) +{ + struct bson_decoder_s decoder; + void *buf; + int result = -1; + + if ((property == NULL) || (strlen(property) == 0) || + (value == NULL) || (strlen(value) == 0)) + errx(1, "missing property name or value"); + + test_args.property = property; + test_args.value = value; + + buf = idrom_read(eeprom); + if (buf == NULL) + errx(1, "ID ROM read failed"); + + if (bson_decoder_init_buf(&decoder, buf, 0, boardinfo_test_callback, NULL) == 0) { + do { + result = bson_decoder_next(&decoder); + } while (result == 1); + } else { + warnx("failed to init decoder"); + } + free(buf); + + /* if we matched, we exit with zero success */ + exit((result == 2) ? 0 : 1); +} + +int +boardinfo_main(int argc, char *argv[]) +{ + if (!strcmp(argv[1], "set")) + boardinfo_set(&eeprom_info[0], argv[2]); + + if (!strcmp(argv[1], "show")) + boardinfo_show(&eeprom_info[0]); + + if (!strcmp(argv[1], "test")) + boardinfo_test(&eeprom_info[0], argv[2], argv[3]); + + errx(1, "missing/unrecognised command, try one of 'set', 'show', 'test'"); +} diff --git a/src/systemcmds/boardinfo/module.mk b/src/systemcmds/boardinfo/module.mk new file mode 100644 index 000000000..6851d229b --- /dev/null +++ b/src/systemcmds/boardinfo/module.mk @@ -0,0 +1,41 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# Information about FMU and IO boards connected +# + +MODULE_COMMAND = boardinfo +SRCS = boardinfo.c + +MAXOPTIMIZATION = -Os diff --git a/src/systemcmds/eeprom/module.mk b/src/systemcmds/eeprom/module.mk index 3b4fc0479..07f3945be 100644 --- a/src/systemcmds/eeprom/module.mk +++ b/src/systemcmds/eeprom/module.mk @@ -1,3 +1,36 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + # # EEPROM file system driver # diff --git a/src/systemcmds/i2c/i2c.c b/src/systemcmds/i2c/i2c.c new file mode 100644 index 000000000..4da238039 --- /dev/null +++ b/src/systemcmds/i2c/i2c.c @@ -0,0 +1,140 @@ +/**************************************************************************** + * + * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. + * Author: Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file i2c.c + * + * i2c hacking tool + */ + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +#include + +#include "systemlib/systemlib.h" +#include "systemlib/err.h" + +#ifndef PX4_I2C_BUS_ONBOARD +# error PX4_I2C_BUS_ONBOARD not defined, no device interface +#endif +#ifndef PX4_I2C_OBDEV_PX4IO +# error PX4_I2C_OBDEV_PX4IO not defined +#endif + +__EXPORT int i2c_main(int argc, char *argv[]); + +static int transfer(uint8_t address, uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len); + +static struct i2c_dev_s *i2c; + +int i2c_main(int argc, char *argv[]) +{ + /* find the right I2C */ + i2c = up_i2cinitialize(PX4_I2C_BUS_ONBOARD); + + if (i2c == NULL) + errx(1, "failed to locate I2C bus"); + + usleep(100000); + + uint8_t buf[] = { 0, 4}; + int ret = transfer(PX4_I2C_OBDEV_PX4IO, buf, sizeof(buf), NULL, 0); + + if (ret) + errx(1, "send failed - %d", ret); + + uint32_t val; + ret = transfer(PX4_I2C_OBDEV_PX4IO, NULL, 0, (uint8_t *)&val, sizeof(val)); + if (ret) + errx(1, "recive failed - %d", ret); + + errx(0, "got 0x%08x", val); +} + +static int +transfer(uint8_t address, uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len) +{ + struct i2c_msg_s msgv[2]; + unsigned msgs; + int ret; + + // debug("transfer out %p/%u in %p/%u", send, send_len, recv, recv_len); + + msgs = 0; + + if (send_len > 0) { + msgv[msgs].addr = address; + msgv[msgs].flags = 0; + msgv[msgs].buffer = send; + msgv[msgs].length = send_len; + msgs++; + } + + if (recv_len > 0) { + msgv[msgs].addr = address; + msgv[msgs].flags = I2C_M_READ; + msgv[msgs].buffer = recv; + msgv[msgs].length = recv_len; + msgs++; + } + + if (msgs == 0) + return -1; + + /* + * I2C architecture means there is an unavoidable race here + * if there are any devices on the bus with a different frequency + * preference. Really, this is pointless. + */ + I2C_SETFREQUENCY(i2c, 400000); + ret = I2C_TRANSFER(i2c, &msgv[0], msgs); + + // reset the I2C bus to unwedge on error + if (ret != OK) + up_i2creset(i2c); + + return ret; +} diff --git a/src/systemcmds/i2c/module.mk b/src/systemcmds/i2c/module.mk new file mode 100644 index 000000000..ab2357c7d --- /dev/null +++ b/src/systemcmds/i2c/module.mk @@ -0,0 +1,41 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# Build the i2c test tool. +# + +MODULE_COMMAND = i2c +SRCS = i2c.c + +MAXOPTIMIZATION = -Os diff --git a/src/systemcmds/mixer/mixer.c b/src/systemcmds/mixer/mixer.c new file mode 100644 index 000000000..55c4f0836 --- /dev/null +++ b/src/systemcmds/mixer/mixer.c @@ -0,0 +1,152 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file mixer.c + * + * Mixer utility. + */ + +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +__EXPORT int mixer_main(int argc, char *argv[]); + +static void usage(const char *reason) noreturn_function; +static void load(const char *devname, const char *fname) noreturn_function; + +int +mixer_main(int argc, char *argv[]) +{ + if (argc < 2) + usage("missing command"); + + if (!strcmp(argv[1], "load")) { + if (argc < 4) + usage("missing device or filename"); + + load(argv[2], argv[3]); + } + + usage("unrecognised command"); +} + +static void +usage(const char *reason) +{ + if (reason) + fprintf(stderr, "%s\n", reason); + + fprintf(stderr, "usage:\n"); + fprintf(stderr, " mixer load \n"); + /* XXX other useful commands? */ + exit(1); +} + +static void +load(const char *devname, const char *fname) +{ + int dev; + FILE *fp; + char line[80]; + char buf[512]; + + /* open the device */ + if ((dev = open(devname, 0)) < 0) + err(1, "can't open %s\n", devname); + + /* reset mixers on the device */ + if (ioctl(dev, MIXERIOCRESET, 0)) + err(1, "can't reset mixers on %s", devname); + + /* open the mixer definition file */ + fp = fopen(fname, "r"); + if (fp == NULL) + err(1, "can't open %s", fname); + + /* read valid lines from the file into a buffer */ + buf[0] = '\0'; + for (;;) { + + /* get a line, bail on error/EOF */ + line[0] = '\0'; + if (fgets(line, sizeof(line), fp) == NULL) + break; + + /* if the line doesn't look like a mixer definition line, skip it */ + if ((strlen(line) < 2) || !isupper(line[0]) || (line[1] != ':')) + continue; + + /* compact whitespace in the buffer */ + char *t, *f; + for (f = buf; *f != '\0'; f++) { + /* scan for space characters */ + if (*f == ' ') { + /* look for additional spaces */ + t = f + 1; + while (*t == ' ') + t++; + if (*t == '\0') { + /* strip trailing whitespace */ + *f = '\0'; + } else if (t > (f + 1)) { + memmove(f + 1, t, strlen(t) + 1); + } + } + } + + /* if the line is too long to fit in the buffer, bail */ + if ((strlen(line) + strlen(buf) + 1) >= sizeof(buf)) + break; + + /* add the line to the buffer */ + strcat(buf, line); + } + + /* XXX pass the buffer to the device */ + int ret = ioctl(dev, MIXERIOCLOADBUF, (unsigned long)buf); + + if (ret < 0) + err(1, "error loading mixers from %s", fname); + exit(0); +} diff --git a/src/systemcmds/mixer/module.mk b/src/systemcmds/mixer/module.mk new file mode 100644 index 000000000..d5a3f9f77 --- /dev/null +++ b/src/systemcmds/mixer/module.mk @@ -0,0 +1,43 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# Build the mixer tool. +# + +MODULE_COMMAND = mixer +SRCS = mixer.c + +MODULE_STACKSIZE = 4096 + +MAXOPTIMIZATION = -Os diff --git a/src/systemcmds/param/module.mk b/src/systemcmds/param/module.mk new file mode 100644 index 000000000..63f15ad28 --- /dev/null +++ b/src/systemcmds/param/module.mk @@ -0,0 +1,44 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# Build the parameters tool. +# + +MODULE_COMMAND = param +SRCS = param.c + +MODULE_STACKSIZE = 4096 + +MAXOPTIMIZATION = -Os + diff --git a/src/systemcmds/param/param.c b/src/systemcmds/param/param.c new file mode 100644 index 000000000..56f5317e3 --- /dev/null +++ b/src/systemcmds/param/param.c @@ -0,0 +1,297 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file param.c + * + * Parameter tool. + */ + +#include + +#include +#include +#include +#include +#include +#include +#include + +#include + +#include "systemlib/systemlib.h" +#include "systemlib/param/param.h" +#include "systemlib/err.h" + +__EXPORT int param_main(int argc, char *argv[]); + +static void do_save(const char* param_file_name); +static void do_load(const char* param_file_name); +static void do_import(const char* param_file_name); +static void do_show(const char* search_string); +static void do_show_print(void *arg, param_t param); +static void do_set(const char* name, const char* val); + +int +param_main(int argc, char *argv[]) +{ + if (argc >= 2) { + if (!strcmp(argv[1], "save")) { + if (argc >= 3) { + do_save(argv[2]); + } else { + do_save(param_get_default_file()); + } + } + + if (!strcmp(argv[1], "load")) { + if (argc >= 3) { + do_load(argv[2]); + } else { + do_load(param_get_default_file()); + } + } + + if (!strcmp(argv[1], "import")) { + if (argc >= 3) { + do_import(argv[2]); + } else { + do_import(param_get_default_file()); + } + } + + if (!strcmp(argv[1], "select")) { + if (argc >= 3) { + param_set_default_file(argv[2]); + } else { + param_set_default_file(NULL); + } + warnx("selected parameter default file %s", param_get_default_file()); + exit(0); + } + + if (!strcmp(argv[1], "show")) { + if (argc >= 3) { + do_show(argv[2]); + } else { + do_show(NULL); + } + } + + if (!strcmp(argv[1], "set")) { + if (argc >= 4) { + do_set(argv[2], argv[3]); + } else { + errx(1, "not enough arguments.\nTry 'param set PARAM_NAME 3'"); + } + } + } + + errx(1, "expected a command, try 'load', 'import', 'show', 'set', 'select' or 'save'"); +} + +static void +do_save(const char* param_file_name) +{ + /* delete the parameter file in case it exists */ + unlink(param_file_name); + + /* create the file */ + int fd = open(param_file_name, O_WRONLY | O_CREAT | O_EXCL); + + if (fd < 0) + err(1, "opening '%s' failed", param_file_name); + + int result = param_export(fd, false); + close(fd); + + if (result < 0) { + unlink(param_file_name); + errx(1, "error exporting to '%s'", param_file_name); + } + + exit(0); +} + +static void +do_load(const char* param_file_name) +{ + int fd = open(param_file_name, O_RDONLY); + + if (fd < 0) + err(1, "open '%s'", param_file_name); + + int result = param_load(fd); + close(fd); + + if (result < 0) { + errx(1, "error importing from '%s'", param_file_name); + } + + exit(0); +} + +static void +do_import(const char* param_file_name) +{ + int fd = open(param_file_name, O_RDONLY); + + if (fd < 0) + err(1, "open '%s'", param_file_name); + + int result = param_import(fd); + close(fd); + + if (result < 0) + errx(1, "error importing from '%s'", param_file_name); + + exit(0); +} + +static void +do_show(const char* search_string) +{ + printf(" + = saved, * = unsaved\n"); + param_foreach(do_show_print, search_string, false); + + exit(0); +} + +static void +do_show_print(void *arg, param_t param) +{ + int32_t i; + float f; + const char *search_string = (const char*)arg; + + /* print nothing if search string is invalid and not matching */ + if (!(arg == NULL || (!strcmp(search_string, param_name(param))))) { + /* param not found */ + return; + } + + printf("%c %s: ", + param_value_unsaved(param) ? '*' : (param_value_is_default(param) ? ' ' : '+'), + param_name(param)); + + /* + * This case can be expanded to handle printing common structure types. + */ + + switch (param_type(param)) { + case PARAM_TYPE_INT32: + if (!param_get(param, &i)) { + printf("%d\n", i); + return; + } + + break; + + case PARAM_TYPE_FLOAT: + if (!param_get(param, &f)) { + printf("%4.4f\n", (double)f); + return; + } + + break; + + case PARAM_TYPE_STRUCT ... PARAM_TYPE_STRUCT_MAX: + printf("\n", 0 + param_type(param), param_size(param)); + return; + + default: + printf("\n", 0 + param_type(param)); + return; + } + + printf("\n", param); +} + +static void +do_set(const char* name, const char* val) +{ + int32_t i; + float f; + param_t param = param_find(name); + + /* set nothing if parameter cannot be found */ + if (param == PARAM_INVALID) { + /* param not found */ + errx(1, "Error: Parameter %s not found.", name); + } + + printf("%c %s: ", + param_value_unsaved(param) ? '*' : (param_value_is_default(param) ? ' ' : '+'), + param_name(param)); + + /* + * Set parameter if type is known and conversion from string to value turns out fine + */ + + switch (param_type(param)) { + case PARAM_TYPE_INT32: + if (!param_get(param, &i)) { + printf("old: %d", i); + + /* convert string */ + char* end; + i = strtol(val,&end,10); + param_set(param, &i); + printf(" -> new: %d\n", i); + + } + + break; + + case PARAM_TYPE_FLOAT: + if (!param_get(param, &f)) { + printf("float values are not yet supported."); + // printf("old: %4.4f", (double)f); + + // /* convert string */ + // char* end; + // f = strtof(val,&end); + // param_set(param, &f); + // printf(" -> new: %4.4f\n", f); + + } + + break; + + default: + errx(1, "\n", 0 + param_type(param)); + } + + exit(0); +} diff --git a/src/systemcmds/perf/module.mk b/src/systemcmds/perf/module.mk new file mode 100644 index 000000000..77952842b --- /dev/null +++ b/src/systemcmds/perf/module.mk @@ -0,0 +1,41 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# perf_counter reporting tool +# + +MODULE_COMMAND = perf +SRCS = perf.c + +MAXOPTIMIZATION = -Os diff --git a/src/systemcmds/perf/perf.c b/src/systemcmds/perf/perf.c new file mode 100644 index 000000000..b69ea597b --- /dev/null +++ b/src/systemcmds/perf/perf.c @@ -0,0 +1,81 @@ +/**************************************************************************** + * + * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + + +#include +#include +#include +#include + +#include "systemlib/perf_counter.h" + + +/**************************************************************************** + * Definitions + ****************************************************************************/ + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +__EXPORT int perf_main(int argc, char *argv[]); + +/**************************************************************************** + * user_start + ****************************************************************************/ + +int perf_main(int argc, char *argv[]) +{ + if (argc > 1) { + if (strcmp(argv[1], "reset") == 0) { + perf_reset_all(); + return 0; + } + printf("Usage: perf \n"); + return -1; + } + + perf_print_all(); + fflush(stdout); + return 0; +} + + diff --git a/src/systemcmds/preflight_check/module.mk b/src/systemcmds/preflight_check/module.mk new file mode 100644 index 000000000..7c3c88783 --- /dev/null +++ b/src/systemcmds/preflight_check/module.mk @@ -0,0 +1,42 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# Pre-flight check. Locks down system for a few systems with blinking leds +# and buzzer if the sensors do not report an OK status. +# + +MODULE_COMMAND = preflight_check +SRCS = preflight_check.c + +MAXOPTIMIZATION = -Os diff --git a/src/systemcmds/preflight_check/preflight_check.c b/src/systemcmds/preflight_check/preflight_check.c new file mode 100644 index 000000000..42256be61 --- /dev/null +++ b/src/systemcmds/preflight_check/preflight_check.c @@ -0,0 +1,206 @@ +/**************************************************************************** + * + * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. + * Author: @author Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file reboot.c + * Tool similar to UNIX reboot command + */ + +#include +#include +#include +#include +#include +#include + +#include + +#include +#include +#include +#include +#include +#include +#include + +#include + +__EXPORT int preflight_check_main(int argc, char *argv[]); +static int led_toggle(int leds, int led); +static int led_on(int leds, int led); +static int led_off(int leds, int led); + +int preflight_check_main(int argc, char *argv[]) +{ + bool fail_on_error = false; + + if (argc > 1 && !strcmp(argv[1], "--help")) { + warnx("usage: preflight_check [--fail-on-error]\n\tif fail on error is enabled, will return 1 on error"); + exit(1); + } + + if (argc > 1 && !strcmp(argv[1], "--fail-on-error")) { + fail_on_error = true; + } + + bool system_ok = true; + + int fd; + /* open text message output path */ + int mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); + int ret; + + /* give the system some time to sample the sensors in the background */ + usleep(150000); + + + /* ---- MAG ---- */ + close(fd); + fd = open(MAG_DEVICE_PATH, 0); + if (fd < 0) { + warn("failed to open magnetometer - start with 'hmc5883 start' or 'lsm303d start'"); + mavlink_log_critical(mavlink_fd, "SENSOR FAIL: NO MAG"); + system_ok = false; + goto system_eval; + } + ret = ioctl(fd, MAGIOCSELFTEST, 0); + + if (ret != OK) { + warnx("magnetometer calibration missing or bad - calibrate magnetometer first"); + mavlink_log_critical(mavlink_fd, "SENSOR FAIL: MAG CALIBRATION"); + system_ok = false; + goto system_eval; + } + + /* ---- ACCEL ---- */ + + close(fd); + fd = open(ACCEL_DEVICE_PATH, 0); + ret = ioctl(fd, ACCELIOCSELFTEST, 0); + + if (ret != OK) { + warnx("accel self test failed"); + mavlink_log_critical(mavlink_fd, "SENSOR FAIL: ACCEL CHECK"); + system_ok = false; + goto system_eval; + } + + /* ---- GYRO ---- */ + + close(fd); + fd = open(GYRO_DEVICE_PATH, 0); + ret = ioctl(fd, GYROIOCSELFTEST, 0); + + if (ret != OK) { + warnx("gyro self test failed"); + mavlink_log_critical(mavlink_fd, "SENSOR FAIL: GYRO CHECK"); + system_ok = false; + goto system_eval; + } + + /* ---- BARO ---- */ + + close(fd); + fd = open(BARO_DEVICE_PATH, 0); + + + +system_eval: + + if (system_ok) { + /* all good, exit silently */ + exit(0); + } else { + fflush(stdout); + + int buzzer = open("/dev/tone_alarm", O_WRONLY); + int leds = open(LED_DEVICE_PATH, 0); + + /* flip blue led into alternating amber */ + led_off(leds, LED_BLUE); + led_off(leds, LED_AMBER); + led_toggle(leds, LED_BLUE); + + /* display and sound error */ + for (int i = 0; i < 150; i++) + { + led_toggle(leds, LED_BLUE); + led_toggle(leds, LED_AMBER); + + if (i % 10 == 0) { + ioctl(buzzer, TONE_SET_ALARM, 4); + } else if (i % 5 == 0) { + ioctl(buzzer, TONE_SET_ALARM, 2); + } + usleep(100000); + } + + /* stop alarm */ + ioctl(buzzer, TONE_SET_ALARM, 0); + + /* switch on leds */ + led_on(leds, LED_BLUE); + led_on(leds, LED_AMBER); + + if (fail_on_error) { + /* exit with error message */ + exit(1); + } else { + /* do not emit an error code to make sure system still boots */ + exit(0); + } + } +} + +static int led_toggle(int leds, int led) +{ + static int last_blue = LED_ON; + static int last_amber = LED_ON; + + if (led == LED_BLUE) last_blue = (last_blue == LED_ON) ? LED_OFF : LED_ON; + + if (led == LED_AMBER) last_amber = (last_amber == LED_ON) ? LED_OFF : LED_ON; + + return ioctl(leds, ((led == LED_BLUE) ? last_blue : last_amber), led); +} + +static int led_off(int leds, int led) +{ + return ioctl(leds, LED_OFF, led); +} + +static int led_on(int leds, int led) +{ + return ioctl(leds, LED_ON, led); +} \ No newline at end of file diff --git a/src/systemcmds/pwm/module.mk b/src/systemcmds/pwm/module.mk new file mode 100644 index 000000000..4a23bba90 --- /dev/null +++ b/src/systemcmds/pwm/module.mk @@ -0,0 +1,41 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# Build the pwm tool. +# + +MODULE_COMMAND = pwm +SRCS = pwm.c + +MODULE_STACKSIZE = 4096 diff --git a/src/systemcmds/pwm/pwm.c b/src/systemcmds/pwm/pwm.c new file mode 100644 index 000000000..de7a53199 --- /dev/null +++ b/src/systemcmds/pwm/pwm.c @@ -0,0 +1,233 @@ +/**************************************************************************** + * + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file pwm.c + * + * PWM servo output configuration and monitoring tool. + */ + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +#include + +#include "systemlib/systemlib.h" +#include "systemlib/err.h" +#include "drivers/drv_pwm_output.h" + +static void usage(const char *reason); +__EXPORT int pwm_main(int argc, char *argv[]); + + +static void +usage(const char *reason) +{ + if (reason != NULL) + warnx("%s", reason); + errx(1, + "usage:\n" + "pwm [-v] [-d ] [-u ] [-c ] [arm|disarm] [ ...]\n" + " -v Print information about the PWM device\n" + " PWM output device (defaults to " PWM_OUTPUT_DEVICE_PATH ")\n" + " PWM update rate for channels in \n" + " Channel group that should update at the alternate rate (may be specified more than once)\n" + " arm | disarm Arm or disarm the ouptut\n" + " ... PWM output values in microseconds to assign to the PWM outputs\n" + "\n" + "When -c is specified, any channel groups not listed with -c will update at the default rate.\n" + ); + +} + +int +pwm_main(int argc, char *argv[]) +{ + const char *dev = PWM_OUTPUT_DEVICE_PATH; + unsigned alt_rate = 0; + uint32_t alt_channel_groups = 0; + bool alt_channels_set = false; + bool print_info = false; + int ch; + int ret; + char *ep; + unsigned group; + + if (argc < 2) + usage(NULL); + + while ((ch = getopt(argc, argv, "c:d:u:v")) != EOF) { + switch (ch) { + case 'c': + group = strtoul(optarg, &ep, 0); + if ((*ep != '\0') || (group >= 32)) + usage("bad channel_group value"); + alt_channel_groups |= (1 << group); + alt_channels_set = true; + break; + + case 'd': + dev = optarg; + break; + + case 'u': + alt_rate = strtol(optarg, &ep, 0); + if (*ep != '\0') + usage("bad alt_rate value"); + break; + + case 'v': + print_info = true; + break; + + default: + usage(NULL); + } + } + argc -= optind; + argv += optind; + + /* open for ioctl only */ + int fd = open(dev, 0); + if (fd < 0) + err(1, "can't open %s", dev); + + /* change alternate PWM rate */ + if (alt_rate > 0) { + ret = ioctl(fd, PWM_SERVO_SET_UPDATE_RATE, alt_rate); + if (ret != OK) + err(1, "PWM_SERVO_SET_UPDATE_RATE (check rate for sanity)"); + } + + /* assign alternate rate to channel groups */ + if (alt_channels_set) { + uint32_t mask = 0; + + for (unsigned group = 0; group < 32; group++) { + if ((1 << group) & alt_channel_groups) { + uint32_t group_mask; + + ret = ioctl(fd, PWM_SERVO_GET_RATEGROUP(group), (unsigned long)&group_mask); + if (ret != OK) + err(1, "PWM_SERVO_GET_RATEGROUP(%u)", group); + + mask |= group_mask; + } + } + + ret = ioctl(fd, PWM_SERVO_SELECT_UPDATE_RATE, mask); + if (ret != OK) + err(1, "PWM_SERVO_SELECT_UPDATE_RATE"); + } + + /* iterate remaining arguments */ + unsigned channel = 0; + while (argc--) { + const char *arg = argv[0]; + argv++; + if (!strcmp(arg, "arm")) { + ret = ioctl(fd, PWM_SERVO_ARM, 0); + if (ret != OK) + err(1, "PWM_SERVO_ARM"); + continue; + } + if (!strcmp(arg, "disarm")) { + ret = ioctl(fd, PWM_SERVO_DISARM, 0); + if (ret != OK) + err(1, "PWM_SERVO_DISARM"); + continue; + } + unsigned pwm_value = strtol(arg, &ep, 0); + if (*ep == '\0') { + ret = ioctl(fd, PWM_SERVO_SET(channel), pwm_value); + if (ret != OK) + err(1, "PWM_SERVO_SET(%d)", channel); + channel++; + continue; + } + usage("unrecognised option"); + } + + /* print verbose info */ + if (print_info) { + /* get the number of servo channels */ + unsigned count; + ret = ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&count); + if (ret != OK) + err(1, "PWM_SERVO_GET_COUNT"); + + /* print current servo values */ + for (unsigned i = 0; i < count; i++) { + servo_position_t spos; + + ret = ioctl(fd, PWM_SERVO_GET(i), (unsigned long)&spos); + if (ret == OK) { + printf("channel %u: %uus\n", i, spos); + } else { + printf("%u: ERROR\n", i); + } + } + + /* print rate groups */ + for (unsigned i = 0; i < count; i++) { + uint32_t group_mask; + + ret = ioctl(fd, PWM_SERVO_GET_RATEGROUP(i), (unsigned long)&group_mask); + if (ret != OK) + break; + if (group_mask != 0) { + printf("channel group %u: channels", i); + for (unsigned j = 0; j < 32; j++) + if (group_mask & (1 << j)) + printf(" %u", j); + printf("\n"); + } + } + fflush(stdout); + } + exit(0); +} \ No newline at end of file diff --git a/src/systemcmds/reboot/module.mk b/src/systemcmds/reboot/module.mk new file mode 100644 index 000000000..19f64af54 --- /dev/null +++ b/src/systemcmds/reboot/module.mk @@ -0,0 +1,41 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# reboot command. +# + +MODULE_COMMAND = reboot +SRCS = reboot.c + +MAXOPTIMIZATION = -Os diff --git a/src/systemcmds/reboot/reboot.c b/src/systemcmds/reboot/reboot.c new file mode 100644 index 000000000..47d3cd948 --- /dev/null +++ b/src/systemcmds/reboot/reboot.c @@ -0,0 +1,53 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @author Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file reboot.c + * Tool similar to UNIX reboot command + */ + +#include +#include +#include + +#include + +__EXPORT int reboot_main(int argc, char *argv[]); + +int reboot_main(int argc, char *argv[]) +{ + up_systemreset(); +} + + diff --git a/src/systemcmds/top/module.mk b/src/systemcmds/top/module.mk new file mode 100644 index 000000000..9239aafc3 --- /dev/null +++ b/src/systemcmds/top/module.mk @@ -0,0 +1,44 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# Build top memory / cpu status tool. +# + +MODULE_COMMAND = top +SRCS = top.c + +MODULE_STACKSIZE = 3000 + +MAXOPTIMIZATION = -Os + diff --git a/src/systemcmds/top/top.c b/src/systemcmds/top/top.c new file mode 100644 index 000000000..59d2bc8f1 --- /dev/null +++ b/src/systemcmds/top/top.c @@ -0,0 +1,253 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @author Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file top.c + * Tool similar to UNIX top command + * @see http://en.wikipedia.org/wiki/Top_unix + */ + +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +/** + * Start the top application. + */ +__EXPORT int top_main(int argc, char *argv[]); + +extern struct system_load_s system_load; + +bool top_sigusr1_rcvd = false; + +int top_main(int argc, char *argv[]) +{ + int t; + + uint64_t total_user_time = 0; + + int running_count = 0; + int blocked_count = 0; + + uint64_t new_time = hrt_absolute_time(); + uint64_t interval_start_time = new_time; + + uint64_t last_times[CONFIG_MAX_TASKS]; + float curr_loads[CONFIG_MAX_TASKS]; + + for (t = 0; t < CONFIG_MAX_TASKS; t++) + last_times[t] = 0; + + float interval_time_ms_inv = 0.f; + + /* Open console directly to grab CTRL-C signal */ + int console = open("/dev/console", O_NONBLOCK | O_RDONLY | O_NOCTTY); + + while (true) +// for (t = 0; t < 10; t++) + { + int i; + + uint64_t curr_time_ms = (hrt_absolute_time() / 1000LLU); + unsigned int curr_time_s = curr_time_ms / 1000LLU; + + uint64_t idle_time_total_ms = (system_load.tasks[0].total_runtime / 1000LLU); + unsigned int idle_time_total_s = idle_time_total_ms / 1000LLU; + + if (new_time > interval_start_time) + interval_time_ms_inv = 1.f / ((float)((new_time - interval_start_time) / 1000)); + + running_count = 0; + blocked_count = 0; + total_user_time = 0; + + for (i = 0; i < CONFIG_MAX_TASKS; i++) { + uint64_t interval_runtime = (system_load.tasks[i].valid && last_times[i] > 0 && system_load.tasks[i].total_runtime > last_times[i]) ? (system_load.tasks[i].total_runtime - last_times[i]) / 1000 : 0; + + last_times[i] = system_load.tasks[i].total_runtime; + + if (system_load.tasks[i].valid && (new_time > interval_start_time)) { + curr_loads[i] = interval_runtime * interval_time_ms_inv; + + if (i > 0) + total_user_time += interval_runtime; + + } else + curr_loads[i] = 0; + } + + for (i = 0; i < CONFIG_MAX_TASKS; i++) { + if (system_load.tasks[i].valid && (new_time > interval_start_time)) { + if (system_load.tasks[i].tcb->pid == 0) { + float idle = curr_loads[0]; + float task_load = (float)(total_user_time) * interval_time_ms_inv; + + if (task_load > (1.f - idle)) task_load = (1.f - idle); /* this can happen if one tasks total runtime was not computed correctly by the scheduler instrumentation TODO */ + + float sched_load = 1.f - idle - task_load; + + /* print system information */ + printf("\033[H"); /* cursor home */ + printf("\033[KProcesses: %d total, %d running, %d sleeping\n", system_load.total_count, running_count, blocked_count); + printf("\033[KCPU usage: %d.%02d%% tasks, %d.%02d%% sched, %d.%02d%% idle\n", (int)(task_load * 100), (int)((task_load * 10000.0f) - (int)(task_load * 100.0f) * 100), (int)(sched_load * 100), (int)((sched_load * 10000.0f) - (int)(sched_load * 100.0f) * 100), (int)(idle * 100), (int)((idle * 10000.0f) - ((int)(idle * 100)) * 100)); + printf("\033[KUptime: %u.%03u s total, %d.%03d s idle\n\033[K\n", curr_time_s, (unsigned int)(curr_time_ms - curr_time_s * 1000LLU), idle_time_total_s, (int)(idle_time_total_ms - idle_time_total_s * 1000)); + + /* 34 chars command name length (32 chars plus two spaces) */ + char header_spaces[CONFIG_TASK_NAME_SIZE + 1]; + memset(header_spaces, ' ', CONFIG_TASK_NAME_SIZE); + header_spaces[CONFIG_TASK_NAME_SIZE] = '\0'; +#if CONFIG_RR_INTERVAL > 0 + printf("\033[KPID\tCOMMAND%s CPU TOTAL \t%%CPU CURR \tSTACK USE\tCURR (BASE) PRIO\tRR SLICE\n", header_spaces); +#else + printf("\033[KPID\tCOMMAND%s CPU TOTAL \t%%CPU CURR \tSTACK USE\tCURR (BASE) PRIO\n", header_spaces); +#endif + + } else { + enum tstate_e task_state = (enum tstate_e)system_load.tasks[i].tcb->task_state; + + if (task_state == TSTATE_TASK_PENDING || + task_state == TSTATE_TASK_READYTORUN || + task_state == TSTATE_TASK_RUNNING) { + running_count++; + } + + if (task_state == TSTATE_TASK_INACTIVE || /* BLOCKED - Initialized but not yet activated */ + task_state == TSTATE_WAIT_SEM /* BLOCKED - Waiting for a semaphore */ +#ifndef CONFIG_DISABLE_SIGNALS + || task_state == TSTATE_WAIT_SIG /* BLOCKED - Waiting for a signal */ +#endif +#ifndef CONFIG_DISABLE_MQUEUE + || task_state == TSTATE_WAIT_MQNOTEMPTY /* BLOCKED - Waiting for a MQ to become not empty. */ + || task_state == TSTATE_WAIT_MQNOTFULL /* BLOCKED - Waiting for a MQ to become not full. */ +#endif +#ifdef CONFIG_PAGING + || task_state == TSTATE_WAIT_PAGEFILL /* BLOCKED - Waiting for page fill */ +#endif + ) { + blocked_count++; + } + + char spaces[CONFIG_TASK_NAME_SIZE + 2]; + + /* count name len */ + int namelen = 0; + + while (namelen < CONFIG_TASK_NAME_SIZE) { + if (system_load.tasks[i].tcb->name[namelen] == '\0') break; + + namelen++; + } + + int s = 0; + + for (s = 0; s < CONFIG_TASK_NAME_SIZE + 2 - namelen; s++) { + spaces[s] = ' '; + } + + spaces[s] = '\0'; + + char *runtime_spaces = " "; + + if ((system_load.tasks[i].total_runtime / 1000) < 99) { + runtime_spaces = ""; + } + + unsigned stack_size = (uintptr_t)system_load.tasks[i].tcb->adj_stack_ptr - + (uintptr_t)system_load.tasks[i].tcb->stack_alloc_ptr; + unsigned stack_free = 0; + uint8_t *stack_sweeper = (uint8_t *)system_load.tasks[i].tcb->stack_alloc_ptr; + + while (stack_free < stack_size) { + if (*stack_sweeper++ != 0xff) + break; + + stack_free++; + } + + printf("\033[K % 2d\t%s%s % 8lld ms%s \t % 2d.%03d \t % 4u / % 4u", + (int)system_load.tasks[i].tcb->pid, + system_load.tasks[i].tcb->name, + spaces, + (system_load.tasks[i].total_runtime / 1000), + runtime_spaces, + (int)(curr_loads[i] * 100), + (int)(curr_loads[i] * 100000.0f - (int)(curr_loads[i] * 1000.0f) * 100), + stack_size - stack_free, + stack_size); + /* Print scheduling info with RR time slice */ +#if CONFIG_RR_INTERVAL > 0 + printf("\t%d\t(%d)\t\t%d\n", (int)system_load.tasks[i].tcb->sched_priority, (int)system_load.tasks[i].tcb->base_priority, (int)system_load.tasks[i].tcb->timeslice); +#else + /* Print scheduling info without time slice*/ + printf("\t%d (%d)\n", (int)system_load.tasks[i].tcb->sched_priority, (int)system_load.tasks[i].tcb->base_priority); +#endif + } + } + } + + printf("\033[K[ Hit Ctrl-C to quit. ]\n\033[J"); + fflush(stdout); + + interval_start_time = new_time; + + char c; + + /* Sleep 200 ms waiting for user input four times */ + /* XXX use poll ... */ + for (int k = 0; k < 4; k++) { + if (read(console, &c, 1) == 1) { + if (c == 0x03 || c == 0x63) { + printf("Abort\n"); + close(console); + return OK; + } + } + + usleep(200000); + } + + new_time = hrt_absolute_time(); + } + + close(console); + + return OK; +} -- cgit v1.2.3 From e6ed8268ee610d0b9e9b4930ad379a6d7dcc3629 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 27 Apr 2013 12:59:47 +0200 Subject: Moved position_estimator_mc, px4io driver and sdlog app to new style build --- apps/drivers/px4io/Makefile | 42 - apps/drivers/px4io/px4io.cpp | 1793 -------------------- apps/drivers/px4io/uploader.cpp | 603 ------- apps/drivers/px4io/uploader.h | 103 -- apps/position_estimator_mc/Makefile | 64 - apps/position_estimator_mc/codegen/kalman_dlqe1.c | 58 - apps/position_estimator_mc/codegen/kalman_dlqe1.h | 30 - .../codegen/kalman_dlqe1_initialize.c | 31 - .../codegen/kalman_dlqe1_initialize.h | 30 - .../codegen/kalman_dlqe1_terminate.c | 31 - .../codegen/kalman_dlqe1_terminate.h | 30 - .../codegen/kalman_dlqe1_types.h | 16 - apps/position_estimator_mc/codegen/kalman_dlqe2.c | 119 -- apps/position_estimator_mc/codegen/kalman_dlqe2.h | 32 - .../codegen/kalman_dlqe2_initialize.c | 31 - .../codegen/kalman_dlqe2_initialize.h | 32 - .../codegen/kalman_dlqe2_terminate.c | 31 - .../codegen/kalman_dlqe2_terminate.h | 32 - .../codegen/kalman_dlqe2_types.h | 16 - apps/position_estimator_mc/codegen/kalman_dlqe3.c | 137 -- apps/position_estimator_mc/codegen/kalman_dlqe3.h | 33 - .../codegen/kalman_dlqe3_data.c | 32 - .../codegen/kalman_dlqe3_data.h | 38 - .../codegen/kalman_dlqe3_initialize.c | 47 - .../codegen/kalman_dlqe3_initialize.h | 33 - .../codegen/kalman_dlqe3_terminate.c | 31 - .../codegen/kalman_dlqe3_terminate.h | 33 - .../codegen/kalman_dlqe3_types.h | 16 - .../codegen/positionKalmanFilter1D.c | 136 -- .../codegen/positionKalmanFilter1D.h | 31 - .../codegen/positionKalmanFilter1D_dT.c | 157 -- .../codegen/positionKalmanFilter1D_dT.h | 31 - .../codegen/positionKalmanFilter1D_dT_initialize.c | 31 - .../codegen/positionKalmanFilter1D_dT_initialize.h | 31 - .../codegen/positionKalmanFilter1D_dT_terminate.c | 31 - .../codegen/positionKalmanFilter1D_dT_terminate.h | 31 - .../codegen/positionKalmanFilter1D_dT_types.h | 16 - .../codegen/positionKalmanFilter1D_initialize.c | 31 - .../codegen/positionKalmanFilter1D_initialize.h | 31 - .../codegen/positionKalmanFilter1D_terminate.c | 31 - .../codegen/positionKalmanFilter1D_terminate.h | 31 - .../codegen/positionKalmanFilter1D_types.h | 16 - apps/position_estimator_mc/codegen/randn.c | 524 ------ apps/position_estimator_mc/codegen/randn.h | 33 - apps/position_estimator_mc/codegen/rtGetInf.c | 139 -- apps/position_estimator_mc/codegen/rtGetInf.h | 23 - apps/position_estimator_mc/codegen/rtGetNaN.c | 96 -- apps/position_estimator_mc/codegen/rtGetNaN.h | 21 - apps/position_estimator_mc/codegen/rt_nonfinite.c | 87 - apps/position_estimator_mc/codegen/rt_nonfinite.h | 53 - apps/position_estimator_mc/codegen/rtwtypes.h | 159 -- apps/position_estimator_mc/kalman_dlqe1.m | 3 - apps/position_estimator_mc/kalman_dlqe2.m | 9 - apps/position_estimator_mc/kalman_dlqe3.m | 17 - .../position_estimator_mc/positionKalmanFilter1D.m | 19 - .../positionKalmanFilter1D_dT.m | 26 - .../position_estimator_mc_main.c | 510 ------ .../position_estimator_mc_params.c | 68 - .../position_estimator_mc_params.h | 69 - apps/sdlog/Makefile | 43 - apps/sdlog/sdlog.c | 829 --------- apps/sdlog/sdlog_ringbuffer.c | 91 - apps/sdlog/sdlog_ringbuffer.h | 91 - makefiles/config_px4fmu_default.mk | 15 +- src/drivers/l3gd20/l3gd20.cpp | 5 +- src/drivers/px4io/module.mk | 41 + src/drivers/px4io/px4io.cpp | 1793 ++++++++++++++++++++ src/drivers/px4io/uploader.cpp | 604 +++++++ src/drivers/px4io/uploader.h | 104 ++ .../attitude_estimator_ekf_main.cpp | 1 - src/modules/attitude_estimator_ekf/module.mk | 8 +- src/modules/commander/module.mk | 2 +- .../position_estimator_mc/codegen/kalman_dlqe1.c | 58 + .../position_estimator_mc/codegen/kalman_dlqe1.h | 30 + .../codegen/kalman_dlqe1_initialize.c | 31 + .../codegen/kalman_dlqe1_initialize.h | 30 + .../codegen/kalman_dlqe1_terminate.c | 31 + .../codegen/kalman_dlqe1_terminate.h | 30 + .../codegen/kalman_dlqe1_types.h | 16 + .../position_estimator_mc/codegen/kalman_dlqe2.c | 119 ++ .../position_estimator_mc/codegen/kalman_dlqe2.h | 32 + .../codegen/kalman_dlqe2_initialize.c | 31 + .../codegen/kalman_dlqe2_initialize.h | 32 + .../codegen/kalman_dlqe2_terminate.c | 31 + .../codegen/kalman_dlqe2_terminate.h | 32 + .../codegen/kalman_dlqe2_types.h | 16 + .../position_estimator_mc/codegen/kalman_dlqe3.c | 137 ++ .../position_estimator_mc/codegen/kalman_dlqe3.h | 33 + .../codegen/kalman_dlqe3_data.c | 32 + .../codegen/kalman_dlqe3_data.h | 38 + .../codegen/kalman_dlqe3_initialize.c | 47 + .../codegen/kalman_dlqe3_initialize.h | 33 + .../codegen/kalman_dlqe3_terminate.c | 31 + .../codegen/kalman_dlqe3_terminate.h | 33 + .../codegen/kalman_dlqe3_types.h | 16 + .../codegen/positionKalmanFilter1D.c | 136 ++ .../codegen/positionKalmanFilter1D.h | 31 + .../codegen/positionKalmanFilter1D_dT.c | 157 ++ .../codegen/positionKalmanFilter1D_dT.h | 31 + .../codegen/positionKalmanFilter1D_dT_initialize.c | 31 + .../codegen/positionKalmanFilter1D_dT_initialize.h | 31 + .../codegen/positionKalmanFilter1D_dT_terminate.c | 31 + .../codegen/positionKalmanFilter1D_dT_terminate.h | 31 + .../codegen/positionKalmanFilter1D_dT_types.h | 16 + .../codegen/positionKalmanFilter1D_initialize.c | 31 + .../codegen/positionKalmanFilter1D_initialize.h | 31 + .../codegen/positionKalmanFilter1D_terminate.c | 31 + .../codegen/positionKalmanFilter1D_terminate.h | 31 + .../codegen/positionKalmanFilter1D_types.h | 16 + src/modules/position_estimator_mc/codegen/randn.c | 524 ++++++ src/modules/position_estimator_mc/codegen/randn.h | 33 + .../position_estimator_mc/codegen/rtGetInf.c | 139 ++ .../position_estimator_mc/codegen/rtGetInf.h | 23 + .../position_estimator_mc/codegen/rtGetNaN.c | 96 ++ .../position_estimator_mc/codegen/rtGetNaN.h | 21 + .../position_estimator_mc/codegen/rt_nonfinite.c | 87 + .../position_estimator_mc/codegen/rt_nonfinite.h | 53 + .../position_estimator_mc/codegen/rtwtypes.h | 159 ++ src/modules/position_estimator_mc/kalman_dlqe1.m | 3 + src/modules/position_estimator_mc/kalman_dlqe2.m | 9 + src/modules/position_estimator_mc/kalman_dlqe3.m | 17 + src/modules/position_estimator_mc/module.mk | 60 + .../position_estimator_mc/positionKalmanFilter1D.m | 19 + .../positionKalmanFilter1D_dT.m | 26 + .../position_estimator_mc_main.c | 510 ++++++ .../position_estimator_mc_params.c | 68 + .../position_estimator_mc_params.h | 69 + src/modules/sdlog/module.mk | 43 + src/modules/sdlog/sdlog.c | 829 +++++++++ src/modules/sdlog/sdlog_ringbuffer.c | 91 + src/modules/sdlog/sdlog_ringbuffer.h | 91 + 131 files changed, 7084 insertions(+), 7082 deletions(-) delete mode 100644 apps/drivers/px4io/Makefile delete mode 100644 apps/drivers/px4io/px4io.cpp delete mode 100644 apps/drivers/px4io/uploader.cpp delete mode 100644 apps/drivers/px4io/uploader.h delete mode 100644 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src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.h create mode 100755 src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.c create mode 100755 src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.h create mode 100755 src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.c create mode 100755 src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.h create mode 100755 src/modules/position_estimator_mc/codegen/kalman_dlqe3_types.h create mode 100755 src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.c create mode 100755 src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.h create mode 100755 src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.c create mode 100755 src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.h create mode 100755 src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.c create mode 100755 src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.h create mode 100755 src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.c create mode 100755 src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.h create mode 100755 src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_types.h create mode 100755 src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.c create mode 100755 src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.h create mode 100755 src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.c create mode 100755 src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.h create mode 100755 src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_types.h create mode 100755 src/modules/position_estimator_mc/codegen/randn.c create mode 100755 src/modules/position_estimator_mc/codegen/randn.h create mode 100755 src/modules/position_estimator_mc/codegen/rtGetInf.c create mode 100755 src/modules/position_estimator_mc/codegen/rtGetInf.h create mode 100755 src/modules/position_estimator_mc/codegen/rtGetNaN.c create mode 100755 src/modules/position_estimator_mc/codegen/rtGetNaN.h create mode 100755 src/modules/position_estimator_mc/codegen/rt_nonfinite.c create mode 100755 src/modules/position_estimator_mc/codegen/rt_nonfinite.h create mode 100755 src/modules/position_estimator_mc/codegen/rtwtypes.h create mode 100755 src/modules/position_estimator_mc/kalman_dlqe1.m create mode 100755 src/modules/position_estimator_mc/kalman_dlqe2.m create mode 100755 src/modules/position_estimator_mc/kalman_dlqe3.m create mode 100644 src/modules/position_estimator_mc/module.mk create mode 100755 src/modules/position_estimator_mc/positionKalmanFilter1D.m create mode 100755 src/modules/position_estimator_mc/positionKalmanFilter1D_dT.m create mode 100755 src/modules/position_estimator_mc/position_estimator_mc_main.c create mode 100755 src/modules/position_estimator_mc/position_estimator_mc_params.c create mode 100755 src/modules/position_estimator_mc/position_estimator_mc_params.h create mode 100644 src/modules/sdlog/module.mk create mode 100644 src/modules/sdlog/sdlog.c create mode 100644 src/modules/sdlog/sdlog_ringbuffer.c create mode 100644 src/modules/sdlog/sdlog_ringbuffer.h (limited to 'src') diff --git a/apps/drivers/px4io/Makefile b/apps/drivers/px4io/Makefile deleted file mode 100644 index cbd942546..000000000 --- a/apps/drivers/px4io/Makefile +++ /dev/null @@ -1,42 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Interface driver for the PX4IO board. -# - -APPNAME = px4io -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 - -include $(APPDIR)/mk/app.mk diff --git a/apps/drivers/px4io/px4io.cpp b/apps/drivers/px4io/px4io.cpp deleted file mode 100644 index 4f6938a14..000000000 --- a/apps/drivers/px4io/px4io.cpp +++ /dev/null @@ -1,1793 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012,2013 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file px4io.cpp - * Driver for the PX4IO board. - * - * PX4IO is connected via I2C. - */ - -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include - -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include "uploader.h" -#include - -#define PX4IO_SET_DEBUG _IOC(0xff00, 0) -#define PX4IO_INAIR_RESTART_ENABLE _IOC(0xff00, 1) - -class PX4IO : public device::I2C -{ -public: - PX4IO(); - virtual ~PX4IO(); - - virtual int init(); - - virtual int ioctl(file *filp, int cmd, unsigned long arg); - virtual ssize_t write(file *filp, const char *buffer, size_t len); - - /** - * Set the update rate for actuator outputs from FMU to IO. - * - * @param rate The rate in Hz actuator outpus are sent to IO. - * Min 10 Hz, max 400 Hz - */ - int set_update_rate(int rate); - - /** - * Print the current status of IO - */ - void print_status(); - -private: - // XXX - unsigned _max_actuators; - unsigned _max_controls; - unsigned _max_rc_input; - unsigned _max_relays; - unsigned _max_transfer; - - unsigned _update_interval; ///< subscription interval limiting send rate - - volatile int _task; ///< worker task - volatile bool _task_should_exit; - - int _mavlink_fd; - - perf_counter_t _perf_update; - - /* cached IO state */ - uint16_t _status; - uint16_t _alarms; - - /* subscribed topics */ - int _t_actuators; ///< actuator controls topic - int _t_armed; ///< system armed control topic - int _t_vstatus; ///< system / vehicle status - int _t_param; ///< parameter update topic - - /* advertised topics */ - orb_advert_t _to_input_rc; ///< rc inputs from io - orb_advert_t _to_actuators_effective; ///< effective actuator controls topic - orb_advert_t _to_outputs; ///< mixed servo outputs topic - orb_advert_t _to_battery; ///< battery status / voltage - - actuator_outputs_s _outputs; ///< mixed outputs - actuator_controls_effective_s _controls_effective; ///< effective controls - - bool _primary_pwm_device; ///< true if we are the default PWM output - - - /** - * Trampoline to the worker task - */ - static void task_main_trampoline(int argc, char *argv[]); - - /** - * worker task - */ - void task_main(); - - /** - * Send controls to IO - */ - int io_set_control_state(); - - /** - * Update IO's arming-related state - */ - int io_set_arming_state(); - - /** - * Push RC channel configuration to IO. - */ - int io_set_rc_config(); - - /** - * Fetch status and alarms from IO - * - * Also publishes battery voltage/current. - */ - int io_get_status(); - - /** - * Fetch RC inputs from IO. - * - * @param input_rc Input structure to populate. - * @return OK if data was returned. - */ - int io_get_raw_rc_input(rc_input_values &input_rc); - - /** - * Fetch and publish raw RC input data. - */ - int io_publish_raw_rc(); - - /** - * Fetch and publish the mixed control values. - */ - int io_publish_mixed_controls(); - - /** - * Fetch and publish the PWM servo outputs. - */ - int io_publish_pwm_outputs(); - - /** - * write register(s) - * - * @param page Register page to write to. - * @param offset Register offset to start writing at. - * @param values Pointer to array of values to write. - * @param num_values The number of values to write. - * @return Zero if all values were successfully written. - */ - int io_reg_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values); - - /** - * write a register - * - * @param page Register page to write to. - * @param offset Register offset to write to. - * @param value Value to write. - * @return Zero if the value was written successfully. - */ - int io_reg_set(uint8_t page, uint8_t offset, const uint16_t value); - - /** - * read register(s) - * - * @param page Register page to read from. - * @param offset Register offset to start reading from. - * @param values Pointer to array where values should be stored. - * @param num_values The number of values to read. - * @return Zero if all values were successfully read. - */ - int io_reg_get(uint8_t page, uint8_t offset, uint16_t *values, unsigned num_values); - - /** - * read a register - * - * @param page Register page to read from. - * @param offset Register offset to start reading from. - * @return Register value that was read, or _io_reg_get_error on error. - */ - uint32_t io_reg_get(uint8_t page, uint8_t offset); - static const uint32_t _io_reg_get_error = 0x80000000; - - /** - * modify a register - * - * @param page Register page to modify. - * @param offset Register offset to modify. - * @param clearbits Bits to clear in the register. - * @param setbits Bits to set in the register. - */ - int io_reg_modify(uint8_t page, uint8_t offset, uint16_t clearbits, uint16_t setbits); - - /** - * Send mixer definition text to IO - */ - int mixer_send(const char *buf, unsigned buflen); - - /** - * Handle a status update from IO. - * - * Publish IO status information if necessary. - * - * @param status The status register - */ - int io_handle_status(uint16_t status); - - /** - * Handle an alarm update from IO. - * - * Publish IO alarm information if necessary. - * - * @param alarm The status register - */ - int io_handle_alarms(uint16_t alarms); - -}; - - -namespace -{ - -PX4IO *g_dev; - -} - -PX4IO::PX4IO() : - I2C("px4io", "/dev/px4io", PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_PX4IO, 320000), - _max_actuators(0), - _max_controls(0), - _max_rc_input(0), - _max_relays(0), - _max_transfer(16), /* sensible default */ - _update_interval(0), - _task(-1), - _task_should_exit(false), - _mavlink_fd(-1), - _perf_update(perf_alloc(PC_ELAPSED, "px4io update")), - _status(0), - _alarms(0), - _t_actuators(-1), - _t_armed(-1), - _t_vstatus(-1), - _t_param(-1), - _to_input_rc(0), - _to_actuators_effective(0), - _to_outputs(0), - _to_battery(0), - _primary_pwm_device(false) -{ - /* we need this potentially before it could be set in task_main */ - g_dev = this; - - /* open MAVLink text channel */ - _mavlink_fd = ::open(MAVLINK_LOG_DEVICE, 0); - - _debug_enabled = true; -} - -PX4IO::~PX4IO() -{ - /* tell the task we want it to go away */ - _task_should_exit = true; - - /* spin waiting for the task to stop */ - for (unsigned i = 0; (i < 10) && (_task != -1); i++) { - /* give it another 100ms */ - usleep(100000); - } - - /* well, kill it anyway, though this will probably crash */ - if (_task != -1) - task_delete(_task); - - g_dev = nullptr; -} - -int -PX4IO::init() -{ - int ret; - - ASSERT(_task == -1); - - /* do regular cdev init */ - ret = I2C::init(); - if (ret != OK) - return ret; - - /* - * Enable a couple of retries for operations to IO. - * - * Register read/write operations are intentionally idempotent - * so this is safe as designed. - */ - _retries = 2; - - /* get some parameters */ - _max_actuators = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_ACTUATOR_COUNT); - _max_controls = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_CONTROL_COUNT); - _max_relays = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_RELAY_COUNT); - _max_transfer = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_MAX_TRANSFER) - 2; - _max_rc_input = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_RC_INPUT_COUNT); - if ((_max_actuators < 1) || (_max_actuators > 255) || - (_max_relays < 1) || (_max_relays > 255) || - (_max_transfer < 16) || (_max_transfer > 255) || - (_max_rc_input < 1) || (_max_rc_input > 255)) { - - log("failed getting parameters from PX4IO"); - mavlink_log_emergency(_mavlink_fd, "[IO] param read fail, abort."); - return -1; - } - if (_max_rc_input > RC_INPUT_MAX_CHANNELS) - _max_rc_input = RC_INPUT_MAX_CHANNELS; - - /* - * Check for IO flight state - if FMU was flagged to be in - * armed state, FMU is recovering from an in-air reset. - * Read back status and request the commander to arm - * in this case. - */ - - uint16_t reg; - - /* get IO's last seen FMU state */ - ret = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, ®, sizeof(reg)); - if (ret != OK) - return ret; - - /* - * in-air restart is only tried if the IO board reports it is - * already armed, and has been configured for in-air restart - */ - if ((reg & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK) && - (reg & PX4IO_P_SETUP_ARMING_ARM_OK)) { - - mavlink_log_emergency(_mavlink_fd, "[IO] RECOVERING FROM FMU IN-AIR RESTART"); - - /* WARNING: COMMANDER app/vehicle status must be initialized. - * If this fails (or the app is not started), worst-case IO - * remains untouched (so manual override is still available). - */ - - int vstatus_sub = orb_subscribe(ORB_ID(vehicle_status)); - /* fill with initial values, clear updated flag */ - vehicle_status_s status; - uint64_t try_start_time = hrt_absolute_time(); - bool updated = false; - - /* keep checking for an update, ensure we got a recent state, - not something that was published a long time ago. */ - do { - orb_check(vstatus_sub, &updated); - - if (updated) { - /* got data, copy and exit loop */ - orb_copy(ORB_ID(vehicle_status), vstatus_sub, &status); - break; - } - - /* wait 10 ms */ - usleep(10000); - - /* abort after 5s */ - if ((hrt_absolute_time() - try_start_time)/1000 > 50000) { - log("failed to recover from in-air restart (1), aborting IO driver init."); - return 1; - } - - } while (true); - - /* send command to arm system via command API */ - vehicle_command_s cmd; - /* request arming */ - cmd.param1 = 1.0f; - cmd.param2 = 0; - cmd.param3 = 0; - cmd.param4 = 0; - cmd.param5 = 0; - cmd.param6 = 0; - cmd.param7 = 0; - cmd.command = VEHICLE_CMD_COMPONENT_ARM_DISARM; - cmd.target_system = status.system_id; - cmd.target_component = status.component_id; - cmd.source_system = status.system_id; - cmd.source_component = status.component_id; - /* ask to confirm command */ - cmd.confirmation = 1; - - /* send command once */ - (void)orb_advertise(ORB_ID(vehicle_command), &cmd); - - /* spin here until IO's state has propagated into the system */ - do { - orb_check(vstatus_sub, &updated); - - if (updated) { - orb_copy(ORB_ID(vehicle_status), vstatus_sub, &status); - } - - /* wait 10 ms */ - usleep(10000); - - /* abort after 5s */ - if ((hrt_absolute_time() - try_start_time)/1000 > 50000) { - log("failed to recover from in-air restart (2), aborting IO driver init."); - return 1; - } - - /* keep waiting for state change for 10 s */ - } while (!status.flag_system_armed); - - /* regular boot, no in-air restart, init IO */ - } else { - - - /* dis-arm IO before touching anything */ - io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, - PX4IO_P_SETUP_ARMING_ARM_OK | - PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK | - PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK | - PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK, 0); - - /* publish RC config to IO */ - ret = io_set_rc_config(); - if (ret != OK) { - log("failed to update RC input config"); - mavlink_log_info(_mavlink_fd, "[IO] RC config upload fail"); - return ret; - } - - } - - /* try to claim the generic PWM output device node as well - it's OK if we fail at this */ - ret = register_driver(PWM_OUTPUT_DEVICE_PATH, &fops, 0666, (void *)this); - - if (ret == OK) { - log("default PWM output device"); - _primary_pwm_device = true; - } - - /* start the IO interface task */ - _task = task_create("px4io", SCHED_PRIORITY_ACTUATOR_OUTPUTS, 4096, (main_t)&PX4IO::task_main_trampoline, nullptr); - - if (_task < 0) { - debug("task start failed: %d", errno); - return -errno; - } - - mavlink_log_info(_mavlink_fd, "[IO] init ok"); - - return OK; -} - -void -PX4IO::task_main_trampoline(int argc, char *argv[]) -{ - g_dev->task_main(); -} - -void -PX4IO::task_main() -{ - hrt_abstime last_poll_time = 0; - - log("starting"); - - /* - * Subscribe to the appropriate PWM output topic based on whether we are the - * primary PWM output or not. - */ - _t_actuators = orb_subscribe(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS : - ORB_ID(actuator_controls_1)); - orb_set_interval(_t_actuators, 20); /* default to 50Hz */ - - _t_armed = orb_subscribe(ORB_ID(actuator_armed)); - orb_set_interval(_t_armed, 200); /* 5Hz update rate */ - - _t_vstatus = orb_subscribe(ORB_ID(vehicle_status)); - orb_set_interval(_t_vstatus, 200); /* 5Hz update rate max. */ - - _t_param = orb_subscribe(ORB_ID(parameter_update)); - orb_set_interval(_t_param, 500); /* 2Hz update rate max. */ - - /* poll descriptor */ - pollfd fds[4]; - fds[0].fd = _t_actuators; - fds[0].events = POLLIN; - fds[1].fd = _t_armed; - fds[1].events = POLLIN; - fds[2].fd = _t_vstatus; - fds[2].events = POLLIN; - fds[3].fd = _t_param; - fds[3].events = POLLIN; - - debug("ready"); - - /* lock against the ioctl handler */ - lock(); - - /* loop talking to IO */ - while (!_task_should_exit) { - - /* adjust update interval */ - if (_update_interval != 0) { - if (_update_interval < 5) - _update_interval = 5; - if (_update_interval > 100) - _update_interval = 100; - orb_set_interval(_t_actuators, _update_interval); - _update_interval = 0; - } - - /* sleep waiting for topic updates, but no more than 20ms */ - unlock(); - int ret = ::poll(&fds[0], sizeof(fds) / sizeof(fds[0]), 20); - lock(); - - /* this would be bad... */ - if (ret < 0) { - log("poll error %d", errno); - continue; - } - - perf_begin(_perf_update); - hrt_abstime now = hrt_absolute_time(); - - /* if we have new control data from the ORB, handle it */ - if (fds[0].revents & POLLIN) - io_set_control_state(); - - /* if we have an arming state update, handle it */ - if ((fds[1].revents & POLLIN) || (fds[2].revents & POLLIN)) - io_set_arming_state(); - - /* - * If it's time for another tick of the polling status machine, - * try it now. - */ - if ((now - last_poll_time) >= 20000) { - - /* - * Pull status and alarms from IO. - */ - io_get_status(); - - /* - * Get raw R/C input from IO. - */ - io_publish_raw_rc(); - - /* - * Fetch mixed servo controls and PWM outputs from IO. - * - * XXX We could do this at a reduced rate in many/most cases. - */ - io_publish_mixed_controls(); - io_publish_pwm_outputs(); - - /* - * If parameters have changed, re-send RC mappings to IO - * - * XXX this may be a bit spammy - */ - if (fds[3].revents & POLLIN) { - parameter_update_s pupdate; - - /* copy to reset the notification */ - orb_copy(ORB_ID(parameter_update), _t_param, &pupdate); - - /* re-upload RC input config as it may have changed */ - io_set_rc_config(); - } - } - - perf_end(_perf_update); - } - - unlock(); - - debug("exiting"); - - /* clean up the alternate device node */ - if (_primary_pwm_device) - unregister_driver(PWM_OUTPUT_DEVICE_PATH); - - /* tell the dtor that we are exiting */ - _task = -1; - _exit(0); -} - -int -PX4IO::io_set_control_state() -{ - actuator_controls_s controls; ///< actuator outputs - uint16_t regs[_max_actuators]; - - /* get controls */ - orb_copy(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS : - ORB_ID(actuator_controls_1), _t_actuators, &controls); - - for (unsigned i = 0; i < _max_controls; i++) - regs[i] = FLOAT_TO_REG(controls.control[i]); - - /* copy values to registers in IO */ - return io_reg_set(PX4IO_PAGE_CONTROLS, 0, regs, _max_controls); -} - -int -PX4IO::io_set_arming_state() -{ - actuator_armed_s armed; ///< system armed state - vehicle_status_s vstatus; ///< overall system state - - orb_copy(ORB_ID(actuator_armed), _t_armed, &armed); - orb_copy(ORB_ID(vehicle_status), _t_vstatus, &vstatus); - - uint16_t set = 0; - uint16_t clear = 0; - - if (armed.armed) { - set |= PX4IO_P_SETUP_ARMING_ARM_OK; - } else { - clear |= PX4IO_P_SETUP_ARMING_ARM_OK; - } - if (vstatus.flag_vector_flight_mode_ok) { - set |= PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK; - } else { - clear |= PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK; - } - if (vstatus.flag_external_manual_override_ok) { - set |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK; - } else { - clear |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK; - } - - return io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, clear, set); -} - -int -PX4IO::io_set_rc_config() -{ - unsigned offset = 0; - int input_map[_max_rc_input]; - int32_t ichan; - int ret = OK; - - /* - * Generate the input channel -> control channel mapping table; - * assign RC_MAP_ROLL/PITCH/YAW/THROTTLE to the canonical - * controls. - */ - for (unsigned i = 0; i < _max_rc_input; i++) - input_map[i] = -1; - - /* - * NOTE: The indices for mapped channels are 1-based - * for compatibility reasons with existing - * autopilots / GCS'. - */ - param_get(param_find("RC_MAP_ROLL"), &ichan); - if ((ichan >= 0) && (ichan < (int)_max_rc_input)) - input_map[ichan - 1] = 0; - - param_get(param_find("RC_MAP_PITCH"), &ichan); - if ((ichan >= 0) && (ichan < (int)_max_rc_input)) - input_map[ichan - 1] = 1; - - param_get(param_find("RC_MAP_YAW"), &ichan); - if ((ichan >= 0) && (ichan < (int)_max_rc_input)) - input_map[ichan - 1] = 2; - - param_get(param_find("RC_MAP_THROTTLE"), &ichan); - if ((ichan >= 0) && (ichan < (int)_max_rc_input)) - input_map[ichan - 1] = 3; - - ichan = 4; - for (unsigned i = 0; i < _max_rc_input; i++) - if (input_map[i] == -1) - input_map[i] = ichan++; - - /* - * Iterate all possible RC inputs. - */ - for (unsigned i = 0; i < _max_rc_input; i++) { - uint16_t regs[PX4IO_P_RC_CONFIG_STRIDE]; - char pname[16]; - float fval; - - /* - * RC params are floats, but do only - * contain integer values. Do not scale - * or cast them, let the auto-typeconversion - * do its job here. - * Channels: 500 - 2500 - * Inverted flag: -1 (inverted) or 1 (normal) - */ - - sprintf(pname, "RC%d_MIN", i + 1); - param_get(param_find(pname), &fval); - regs[PX4IO_P_RC_CONFIG_MIN] = fval; - - sprintf(pname, "RC%d_TRIM", i + 1); - param_get(param_find(pname), &fval); - regs[PX4IO_P_RC_CONFIG_CENTER] = fval; - - sprintf(pname, "RC%d_MAX", i + 1); - param_get(param_find(pname), &fval); - regs[PX4IO_P_RC_CONFIG_MAX] = fval; - - sprintf(pname, "RC%d_DZ", i + 1); - param_get(param_find(pname), &fval); - regs[PX4IO_P_RC_CONFIG_DEADZONE] = fval; - - regs[PX4IO_P_RC_CONFIG_ASSIGNMENT] = input_map[i]; - - regs[PX4IO_P_RC_CONFIG_OPTIONS] = PX4IO_P_RC_CONFIG_OPTIONS_ENABLED; - sprintf(pname, "RC%d_REV", i + 1); - param_get(param_find(pname), &fval); - - /* - * This has been taken for the sake of compatibility - * with APM's setup / mission planner: normal: 1, - * inverted: -1 - */ - if (fval < 0) { - regs[PX4IO_P_RC_CONFIG_OPTIONS] |= PX4IO_P_RC_CONFIG_OPTIONS_REVERSE; - } - - /* send channel config to IO */ - ret = io_reg_set(PX4IO_PAGE_RC_CONFIG, offset, regs, PX4IO_P_RC_CONFIG_STRIDE); - if (ret != OK) { - log("rc config upload failed"); - break; - } - - /* check the IO initialisation flag */ - if (!(io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS) & PX4IO_P_STATUS_FLAGS_INIT_OK)) { - log("config for RC%d rejected by IO", i + 1); - break; - } - - offset += PX4IO_P_RC_CONFIG_STRIDE; - } - - return ret; -} - -int -PX4IO::io_handle_status(uint16_t status) -{ - int ret = 1; - /** - * WARNING: This section handles in-air resets. - */ - - /* check for IO reset - force it back to armed if necessary */ - if (_status & PX4IO_P_STATUS_FLAGS_ARMED && !(status & PX4IO_P_STATUS_FLAGS_ARMED) - && !(status & PX4IO_P_STATUS_FLAGS_ARM_SYNC)) { - /* set the arming flag */ - ret = io_reg_modify(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, 0, PX4IO_P_STATUS_FLAGS_ARMED | PX4IO_P_STATUS_FLAGS_ARM_SYNC); - - /* set new status */ - _status = status; - _status &= PX4IO_P_STATUS_FLAGS_ARMED; - } else if (!(_status & PX4IO_P_STATUS_FLAGS_ARM_SYNC)) { - - /* set the sync flag */ - ret = io_reg_modify(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, 0, PX4IO_P_STATUS_FLAGS_ARM_SYNC); - /* set new status */ - _status = status; - - } else { - ret = 0; - - /* set new status */ - _status = status; - } - - return ret; -} - -int -PX4IO::io_handle_alarms(uint16_t alarms) -{ - - /* XXX handle alarms */ - - - /* set new alarms state */ - _alarms = alarms; - - return 0; -} - -int -PX4IO::io_get_status() -{ - uint16_t regs[4]; - int ret; - - /* get STATUS_FLAGS, STATUS_ALARMS, STATUS_VBATT, STATUS_IBATT in that order */ - ret = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, ®s[0], sizeof(regs) / sizeof(regs[0])); - if (ret != OK) - return ret; - - io_handle_status(regs[0]); - io_handle_alarms(regs[1]); - - /* only publish if battery has a valid minimum voltage */ - if (regs[2] > 3300) { - battery_status_s battery_status; - - battery_status.timestamp = hrt_absolute_time(); - - /* voltage is scaled to mV */ - battery_status.voltage_v = regs[2] / 1000.0f; - - /* current scaling should be to cA in order to avoid limiting at 65A */ - battery_status.current_a = regs[3] / 100.f; - - /* this requires integration over time - not currently implemented */ - battery_status.discharged_mah = -1.0f; - - /* lazily publish the battery voltage */ - if (_to_battery > 0) { - orb_publish(ORB_ID(battery_status), _to_battery, &battery_status); - } else { - _to_battery = orb_advertise(ORB_ID(battery_status), &battery_status); - } - } - return ret; -} - -int -PX4IO::io_get_raw_rc_input(rc_input_values &input_rc) -{ - uint32_t channel_count; - int ret = OK; - - /* we don't have the status bits, so input_source has to be set elsewhere */ - input_rc.input_source = RC_INPUT_SOURCE_UNKNOWN; - - /* - * XXX Because the channel count and channel data are fetched - * separately, there is a risk of a race between the two - * that could leave us with channel data and a count that - * are out of sync. - * Fixing this would require a guarantee of atomicity from - * IO, and a single fetch for both count and channels. - * - * XXX Since IO has the input calibration info, we ought to be - * able to get the pre-fixed-up controls directly. - * - * XXX can we do this more cheaply? If we knew we had DMA, it would - * almost certainly be better to just get all the inputs... - */ - channel_count = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_COUNT); - if (channel_count == _io_reg_get_error) - return -EIO; - if (channel_count > RC_INPUT_MAX_CHANNELS) - channel_count = RC_INPUT_MAX_CHANNELS; - input_rc.channel_count = channel_count; - - if (channel_count > 0) { - ret = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE, input_rc.values, channel_count); - if (ret == OK) - input_rc.timestamp = hrt_absolute_time(); - } - - return ret; -} - -int -PX4IO::io_publish_raw_rc() -{ - /* if no raw RC, just don't publish */ - if (!(_status & PX4IO_P_STATUS_FLAGS_RC_OK)) - return OK; - - /* fetch values from IO */ - rc_input_values rc_val; - rc_val.timestamp = hrt_absolute_time(); - - int ret = io_get_raw_rc_input(rc_val); - if (ret != OK) - return ret; - - /* sort out the source of the values */ - if (_status & PX4IO_P_STATUS_FLAGS_RC_PPM) { - rc_val.input_source = RC_INPUT_SOURCE_PX4IO_PPM; - } else if (_status & PX4IO_P_STATUS_FLAGS_RC_DSM) { - rc_val.input_source = RC_INPUT_SOURCE_PX4IO_SPEKTRUM; - } else if (_status & PX4IO_P_STATUS_FLAGS_RC_SBUS) { - rc_val.input_source = RC_INPUT_SOURCE_PX4IO_SBUS; - } else { - rc_val.input_source = RC_INPUT_SOURCE_UNKNOWN; - } - - /* lazily advertise on first publication */ - if (_to_input_rc == 0) { - _to_input_rc = orb_advertise(ORB_ID(input_rc), &rc_val); - } else { - orb_publish(ORB_ID(input_rc), _to_input_rc, &rc_val); - } - - return OK; -} - -int -PX4IO::io_publish_mixed_controls() -{ - /* if no FMU comms(!) just don't publish */ - if (!(_status & PX4IO_P_STATUS_FLAGS_FMU_OK)) - return OK; - - /* if not taking raw PPM from us, must be mixing */ - if (_status & PX4IO_P_STATUS_FLAGS_RAW_PWM) - return OK; - - /* data we are going to fetch */ - actuator_controls_effective_s controls_effective; - controls_effective.timestamp = hrt_absolute_time(); - - /* get actuator controls from IO */ - uint16_t act[_max_actuators]; - int ret = io_reg_get(PX4IO_PAGE_ACTUATORS, 0, act, _max_actuators); - if (ret != OK) - return ret; - - /* convert from register format to float */ - for (unsigned i = 0; i < _max_actuators; i++) - controls_effective.control_effective[i] = REG_TO_FLOAT(act[i]); - - /* laxily advertise on first publication */ - if (_to_actuators_effective == 0) { - _to_actuators_effective = - orb_advertise((_primary_pwm_device ? - ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : - ORB_ID(actuator_controls_effective_1)), - &controls_effective); - } else { - orb_publish((_primary_pwm_device ? - ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : - ORB_ID(actuator_controls_effective_1)), - _to_actuators_effective, &controls_effective); - } - - return OK; -} - -int -PX4IO::io_publish_pwm_outputs() -{ - /* if no FMU comms(!) just don't publish */ - if (!(_status & PX4IO_P_STATUS_FLAGS_FMU_OK)) - return OK; - - /* data we are going to fetch */ - actuator_outputs_s outputs; - outputs.timestamp = hrt_absolute_time(); - - /* get servo values from IO */ - uint16_t ctl[_max_actuators]; - int ret = io_reg_get(PX4IO_PAGE_SERVOS, 0, ctl, _max_actuators); - if (ret != OK) - return ret; - - /* convert from register format to float */ - for (unsigned i = 0; i < _max_actuators; i++) - outputs.output[i] = ctl[i]; - outputs.noutputs = _max_actuators; - - /* lazily advertise on first publication */ - if (_to_outputs == 0) { - _to_outputs = orb_advertise((_primary_pwm_device ? - ORB_ID_VEHICLE_CONTROLS : - ORB_ID(actuator_outputs_1)), - &outputs); - } else { - orb_publish((_primary_pwm_device ? - ORB_ID_VEHICLE_CONTROLS : - ORB_ID(actuator_outputs_1)), - _to_outputs, - &outputs); - } - - return OK; -} - -int -PX4IO::io_reg_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values) -{ - /* range check the transfer */ - if (num_values > ((_max_transfer) / sizeof(*values))) { - debug("io_reg_set: too many registers (%u, max %u)", num_values, _max_transfer / 2); - return -EINVAL; - } - - /* set up the transfer */ - uint8_t addr[2] = { - page, - offset - }; - i2c_msg_s msgv[2]; - - msgv[0].flags = 0; - msgv[0].buffer = addr; - msgv[0].length = 2; - msgv[1].flags = I2C_M_NORESTART; - msgv[1].buffer = (uint8_t *)values; - msgv[1].length = num_values * sizeof(*values); - - /* perform the transfer */ - int ret = transfer(msgv, 2); - if (ret != OK) - debug("io_reg_set: error %d", ret); - return ret; -} - -int -PX4IO::io_reg_set(uint8_t page, uint8_t offset, uint16_t value) -{ - return io_reg_set(page, offset, &value, 1); -} - -int -PX4IO::io_reg_get(uint8_t page, uint8_t offset, uint16_t *values, unsigned num_values) -{ - /* set up the transfer */ - uint8_t addr[2] = { - page, - offset - }; - i2c_msg_s msgv[2]; - - msgv[0].flags = 0; - msgv[0].buffer = addr; - msgv[0].length = 2; - msgv[1].flags = I2C_M_READ; - msgv[1].buffer = (uint8_t *)values; - msgv[1].length = num_values * sizeof(*values); - - /* perform the transfer */ - int ret = transfer(msgv, 2); - if (ret != OK) - debug("io_reg_get: data error %d", ret); - return ret; -} - -uint32_t -PX4IO::io_reg_get(uint8_t page, uint8_t offset) -{ - uint16_t value; - - if (io_reg_get(page, offset, &value, 1)) - return _io_reg_get_error; - - return value; -} - -int -PX4IO::io_reg_modify(uint8_t page, uint8_t offset, uint16_t clearbits, uint16_t setbits) -{ - int ret; - uint16_t value; - - ret = io_reg_get(page, offset, &value, 1); - if (ret) - return ret; - value &= ~clearbits; - value |= setbits; - - return io_reg_set(page, offset, value); -} - -int -PX4IO::mixer_send(const char *buf, unsigned buflen) -{ - uint8_t frame[_max_transfer]; - px4io_mixdata *msg = (px4io_mixdata *)&frame[0]; - unsigned max_len = _max_transfer - sizeof(px4io_mixdata); - - msg->f2i_mixer_magic = F2I_MIXER_MAGIC; - msg->action = F2I_MIXER_ACTION_RESET; - - do { - unsigned count = buflen; - - if (count > max_len) - count = max_len; - - if (count > 0) { - memcpy(&msg->text[0], buf, count); - buf += count; - buflen -= count; - } - - /* - * We have to send an even number of bytes. This - * will only happen on the very last transfer of a - * mixer, and we are guaranteed that there will be - * space left to round up as _max_transfer will be - * even. - */ - unsigned total_len = sizeof(px4io_mixdata) + count; - if (total_len % 1) { - msg->text[count] = '\0'; - total_len++; - } - - int ret = io_reg_set(PX4IO_PAGE_MIXERLOAD, 0, (uint16_t *)frame, total_len / 2); - - if (ret) { - log("mixer send error %d", ret); - return ret; - } - - msg->action = F2I_MIXER_ACTION_APPEND; - - } while (buflen > 0); - - /* check for the mixer-OK flag */ - if (io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS) & PX4IO_P_STATUS_FLAGS_MIXER_OK) { - debug("mixer upload OK"); - mavlink_log_info(_mavlink_fd, "[IO] mixer upload ok"); - return 0; - } else { - debug("mixer rejected by IO"); - mavlink_log_info(_mavlink_fd, "[IO] mixer upload fail"); - } - - /* load must have failed for some reason */ - return -EINVAL; -} - -void -PX4IO::print_status() -{ - /* basic configuration */ - printf("protocol %u software %u bootloader %u buffer %uB\n", - io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_PROTOCOL_VERSION), - io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_SOFTWARE_VERSION), - io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_BOOTLOADER_VERSION), - io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_MAX_TRANSFER)); - printf("%u controls %u actuators %u R/C inputs %u analog inputs %u relays\n", - io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_CONTROL_COUNT), - io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_ACTUATOR_COUNT), - io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_RC_INPUT_COUNT), - io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_ADC_INPUT_COUNT), - io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_RELAY_COUNT)); - - /* status */ - printf("%u bytes free\n", - io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FREEMEM)); - uint16_t flags = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS); - printf("status 0x%04x%s%s%s%s%s%s%s%s%s%s%s\n", - flags, - ((flags & PX4IO_P_STATUS_FLAGS_ARMED) ? " ARMED" : ""), - ((flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) ? " OVERRIDE" : ""), - ((flags & PX4IO_P_STATUS_FLAGS_RC_OK) ? " RC_OK" : " RC_FAIL"), - ((flags & PX4IO_P_STATUS_FLAGS_RC_PPM) ? " PPM" : ""), - ((flags & PX4IO_P_STATUS_FLAGS_RC_DSM) ? " DSM" : ""), - ((flags & PX4IO_P_STATUS_FLAGS_RC_SBUS) ? " SBUS" : ""), - ((flags & PX4IO_P_STATUS_FLAGS_FMU_OK) ? " FMU_OK" : " FMU_FAIL"), - ((flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) ? " RAW_PPM" : ""), - ((flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) ? " MIXER_OK" : " MIXER_FAIL"), - ((flags & PX4IO_P_STATUS_FLAGS_ARM_SYNC) ? " ARM_SYNC" : " ARM_NO_SYNC"), - ((flags & PX4IO_P_STATUS_FLAGS_INIT_OK) ? " INIT_OK" : " INIT_FAIL")); - uint16_t alarms = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS); - printf("alarms 0x%04x%s%s%s%s%s%s%s\n", - alarms, - ((alarms & PX4IO_P_STATUS_ALARMS_VBATT_LOW) ? " VBATT_LOW" : ""), - ((alarms & PX4IO_P_STATUS_ALARMS_TEMPERATURE) ? " TEMPERATURE" : ""), - ((alarms & PX4IO_P_STATUS_ALARMS_SERVO_CURRENT) ? " SERVO_CURRENT" : ""), - ((alarms & PX4IO_P_STATUS_ALARMS_ACC_CURRENT) ? " ACC_CURRENT" : ""), - ((alarms & PX4IO_P_STATUS_ALARMS_FMU_LOST) ? " FMU_LOST" : ""), - ((alarms & PX4IO_P_STATUS_ALARMS_RC_LOST) ? " RC_LOST" : ""), - ((alarms & PX4IO_P_STATUS_ALARMS_PWM_ERROR) ? " PWM_ERROR" : "")); - printf("vbatt %u ibatt %u\n", - io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_VBATT), - io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_IBATT)); - printf("actuators"); - for (unsigned i = 0; i < _max_actuators; i++) - printf(" %u", io_reg_get(PX4IO_PAGE_ACTUATORS, i)); - printf("\n"); - printf("servos"); - for (unsigned i = 0; i < _max_actuators; i++) - printf(" %u", io_reg_get(PX4IO_PAGE_SERVOS, i)); - printf("\n"); - uint16_t raw_inputs = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_COUNT); - printf("%d raw R/C inputs", raw_inputs); - for (unsigned i = 0; i < raw_inputs; i++) - printf(" %u", io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE + i)); - printf("\n"); - uint16_t mapped_inputs = io_reg_get(PX4IO_PAGE_RC_INPUT, PX4IO_P_RC_VALID); - printf("mapped R/C inputs 0x%04x", mapped_inputs); - for (unsigned i = 0; i < _max_rc_input; i++) { - if (mapped_inputs & (1 << i)) - printf(" %u:%d", i, REG_TO_SIGNED(io_reg_get(PX4IO_PAGE_RC_INPUT, PX4IO_P_RC_BASE + i))); - } - printf("\n"); - uint16_t adc_inputs = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_ADC_INPUT_COUNT); - printf("ADC inputs"); - for (unsigned i = 0; i < adc_inputs; i++) - printf(" %u", io_reg_get(PX4IO_PAGE_RAW_ADC_INPUT, i)); - printf("\n"); - - /* setup and state */ - printf("features 0x%04x\n", io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES)); - uint16_t arming = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING); - printf("arming 0x%04x%s%s%s%s\n", - arming, - ((arming & PX4IO_P_SETUP_ARMING_ARM_OK) ? " ARM_OK" : ""), - ((arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) ? " MANUAL_OVERRIDE_OK" : ""), - ((arming & PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK) ? " VECTOR_FLIGHT_OK" : ""), - ((arming & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK) ? " INAIR_RESTART_OK" : "")); - printf("rates 0x%04x default %u alt %u relays 0x%04x\n", - io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_RATES), - io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_DEFAULTRATE), - io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_ALTRATE), - io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS)); - printf("vbatt scale %u ibatt scale %u ibatt bias %u\n", - io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VBATT_SCALE), - io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_IBATT_SCALE), - io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_IBATT_BIAS)); - printf("debuglevel %u\n", io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SET_DEBUG)); - printf("controls"); - for (unsigned i = 0; i < _max_controls; i++) - printf(" %u", io_reg_get(PX4IO_PAGE_CONTROLS, i)); - printf("\n"); - for (unsigned i = 0; i < _max_rc_input; i++) { - unsigned base = PX4IO_P_RC_CONFIG_STRIDE * i; - uint16_t options = io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_OPTIONS); - printf("input %u min %u center %u max %u deadzone %u assigned %u options 0x%04x%s%s\n", - i, - io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_MIN), - io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_CENTER), - io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_MAX), - io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_DEADZONE), - io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_ASSIGNMENT), - options, - ((options & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) ? " ENABLED" : ""), - ((options & PX4IO_P_RC_CONFIG_OPTIONS_REVERSE) ? " REVERSED" : "")); - } - printf("failsafe"); - for (unsigned i = 0; i < _max_actuators; i++) - printf(" %u", io_reg_get(PX4IO_PAGE_FAILSAFE_PWM, i)); - printf("\n"); -} - -int -PX4IO::ioctl(file *filep, int cmd, unsigned long arg) -{ - int ret = OK; - - /* regular ioctl? */ - switch (cmd) { - case PWM_SERVO_ARM: - /* set the 'armed' bit */ - ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_ARM_OK); - break; - - case PWM_SERVO_DISARM: - /* clear the 'armed' bit */ - ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_ARM_OK, 0); - break; - - case PWM_SERVO_SET_UPDATE_RATE: - /* set the requested alternate rate */ - if ((arg >= 50) && (arg <= 400)) { /* TODO: we could go higher for e.g. TurboPWM */ - ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_ALTRATE, arg); - } else { - ret = -EINVAL; - } - break; - - case PWM_SERVO_SELECT_UPDATE_RATE: { - - /* blindly clear the PWM update alarm - might be set for some other reason */ - io_reg_set(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS, PX4IO_P_STATUS_ALARMS_PWM_ERROR); - - /* attempt to set the rate map */ - io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_RATES, arg); - - /* check that the changes took */ - uint16_t alarms = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS); - if (alarms & PX4IO_P_STATUS_ALARMS_PWM_ERROR) { - ret = -EINVAL; - io_reg_set(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS, PX4IO_P_STATUS_ALARMS_PWM_ERROR); - } - break; - } - - case PWM_SERVO_GET_COUNT: - *(unsigned *)arg = _max_actuators; - break; - - case PWM_SERVO_SET(0) ... PWM_SERVO_SET(PWM_OUTPUT_MAX_CHANNELS - 1): { - - /* TODO: we could go lower for e.g. TurboPWM */ - unsigned channel = cmd - PWM_SERVO_SET(0); - if ((channel >= _max_actuators) || (arg < 900) || (arg > 2100)) { - ret = -EINVAL; - } else { - /* send a direct PWM value */ - ret = io_reg_set(PX4IO_PAGE_DIRECT_PWM, channel, arg); - } - - break; - } - - case PWM_SERVO_GET(0) ... PWM_SERVO_GET(PWM_OUTPUT_MAX_CHANNELS - 1): { - - unsigned channel = cmd - PWM_SERVO_GET(0); - - if (channel >= _max_actuators) { - ret = -EINVAL; - } else { - /* fetch a current PWM value */ - uint32_t value = io_reg_get(PX4IO_PAGE_SERVOS, channel); - if (value == _io_reg_get_error) { - ret = -EIO; - } else { - *(servo_position_t *)arg = value; - } - } - break; - } - - case PWM_SERVO_GET_RATEGROUP(0) ... PWM_SERVO_GET_RATEGROUP(PWM_OUTPUT_MAX_CHANNELS - 1): { - - unsigned channel = cmd - PWM_SERVO_GET_RATEGROUP(0); - - uint32_t value = io_reg_get(PX4IO_PAGE_PWM_INFO, PX4IO_RATE_MAP_BASE + channel); - - *(uint32_t *)arg = value; - break; - } - - case GPIO_RESET: - ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS, 0); - break; - - case GPIO_SET: - arg &= ((1 << _max_relays) - 1); - ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS, 0, arg); - break; - - case GPIO_CLEAR: - arg &= ((1 << _max_relays) - 1); - ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS, arg, 0); - break; - - case GPIO_GET: - *(uint32_t *)arg = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS); - if (*(uint32_t *)arg == _io_reg_get_error) - ret = -EIO; - break; - - case MIXERIOCGETOUTPUTCOUNT: - *(unsigned *)arg = _max_actuators; - break; - - case MIXERIOCRESET: - ret = 0; /* load always resets */ - break; - - case MIXERIOCLOADBUF: { - const char *buf = (const char *)arg; - ret = mixer_send(buf, strnlen(buf, 1024)); - break; - } - - case RC_INPUT_GET: { - uint16_t status; - rc_input_values *rc_val = (rc_input_values *)arg; - - ret = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, &status, 1); - if (ret != OK) - break; - - /* if no R/C input, don't try to fetch anything */ - if (!(status & PX4IO_P_STATUS_FLAGS_RC_OK)) { - ret = -ENOTCONN; - break; - } - - /* sort out the source of the values */ - if (status & PX4IO_P_STATUS_FLAGS_RC_PPM) { - rc_val->input_source = RC_INPUT_SOURCE_PX4IO_PPM; - } else if (status & PX4IO_P_STATUS_FLAGS_RC_DSM) { - rc_val->input_source = RC_INPUT_SOURCE_PX4IO_SPEKTRUM; - } else if (status & PX4IO_P_STATUS_FLAGS_RC_SBUS) { - rc_val->input_source = RC_INPUT_SOURCE_PX4IO_SBUS; - } else { - rc_val->input_source = RC_INPUT_SOURCE_UNKNOWN; - } - - /* read raw R/C input values */ - ret = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE, &(rc_val->values[0]), _max_rc_input); - break; - } - - case PX4IO_SET_DEBUG: - /* set the debug level */ - ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SET_DEBUG, arg); - break; - - case PX4IO_INAIR_RESTART_ENABLE: - /* set/clear the 'in-air restart' bit */ - if (arg) { - ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK); - } else { - ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK, 0); - } - break; - - default: - /* not a recognized value */ - ret = -ENOTTY; - } - - return ret; -} - -ssize_t -PX4IO::write(file *filp, const char *buffer, size_t len) -{ - unsigned count = len / 2; - - if (count > _max_actuators) - count = _max_actuators; - if (count > 0) { - int ret = io_reg_set(PX4IO_PAGE_DIRECT_PWM, 0, (uint16_t *)buffer, count); - if (ret != OK) - return ret; - } - return count * 2; -} - -int -PX4IO::set_update_rate(int rate) -{ - int interval_ms = 1000 / rate; - if (interval_ms < 5) { - interval_ms = 5; - warnx("update rate too high, limiting interval to %d ms (%d Hz).", interval_ms, 1000 / interval_ms); - } - - if (interval_ms > 100) { - interval_ms = 100; - warnx("update rate too low, limiting to %d ms (%d Hz).", interval_ms, 1000 / interval_ms); - } - - _update_interval = interval_ms; - return 0; -} - - -extern "C" __EXPORT int px4io_main(int argc, char *argv[]); - -namespace -{ - -void -start(int argc, char *argv[]) -{ - if (g_dev != nullptr) - errx(1, "already loaded"); - - /* create the driver - it will set g_dev */ - (void)new PX4IO(); - - if (g_dev == nullptr) - errx(1, "driver alloc failed"); - - if (OK != g_dev->init()) { - delete g_dev; - errx(1, "driver init failed"); - } - - exit(0); -} - -void -test(void) -{ - int fd; - unsigned servo_count = 0; - unsigned pwm_value = 1000; - int direction = 1; - int ret; - - fd = open("/dev/px4io", O_WRONLY); - - if (fd < 0) - err(1, "failed to open device"); - - if (ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count)) - err(1, "failed to get servo count"); - - if (ioctl(fd, PWM_SERVO_ARM, 0)) - err(1, "failed to arm servos"); - - for (;;) { - - /* sweep all servos between 1000..2000 */ - servo_position_t servos[servo_count]; - for (unsigned i = 0; i < servo_count; i++) - servos[i] = pwm_value; - - ret = write(fd, servos, sizeof(servos)); - if (ret != (int)sizeof(servos)) - err(1, "error writing PWM servo data, wrote %u got %d", sizeof(servos), ret); - - if (direction > 0) { - if (pwm_value < 2000) { - pwm_value++; - } else { - direction = -1; - } - } else { - if (pwm_value > 1000) { - pwm_value--; - } else { - direction = 1; - } - } - - /* readback servo values */ - for (unsigned i = 0; i < servo_count; i++) { - servo_position_t value; - - if (ioctl(fd, PWM_SERVO_GET(i), (unsigned long)&value)) - err(1, "error reading PWM servo %d", i); - if (value != servos[i]) - errx(1, "servo %d readback error, got %u expected %u", i, value, servos[i]); - } - } -} - -void -monitor(void) -{ - unsigned cancels = 3; - printf("Hit three times to exit monitor mode\n"); - - for (;;) { - pollfd fds[1]; - - fds[0].fd = 0; - fds[0].events = POLLIN; - poll(fds, 1, 500); - - if (fds[0].revents == POLLIN) { - int c; - read(0, &c, 1); - - if (cancels-- == 0) - exit(0); - } - -#warning implement this - -// if (g_dev != nullptr) -// g_dev->dump_one = true; - } -} - -} - -int -px4io_main(int argc, char *argv[]) -{ - /* check for sufficient number of arguments */ - if (argc < 2) - goto out; - - if (!strcmp(argv[1], "start")) - start(argc - 1, argv + 1); - - if (!strcmp(argv[1], "limit")) { - - if (g_dev != nullptr) { - - if ((argc > 2)) { - g_dev->set_update_rate(atoi(argv[2])); - } else { - errx(1, "missing argument (50 - 200 Hz)"); - return 1; - } - } - exit(0); - } - - if (!strcmp(argv[1], "recovery")) { - - if (g_dev != nullptr) { - /* - * Enable in-air restart support. - * We can cheat and call the driver directly, as it - * doesn't reference filp in ioctl() - */ - g_dev->ioctl(NULL, PX4IO_INAIR_RESTART_ENABLE, 1); - } else { - errx(1, "not loaded"); - } - exit(0); - } - - if (!strcmp(argv[1], "stop")) { - - if (g_dev != nullptr) { - /* stop the driver */ - delete g_dev; - } else { - errx(1, "not loaded"); - } - exit(0); - } - - - if (!strcmp(argv[1], "status")) { - - if (g_dev != nullptr) { - printf("[px4io] loaded\n"); - g_dev->print_status(); - } else { - printf("[px4io] not loaded\n"); - } - - exit(0); - } - - if (!strcmp(argv[1], "debug")) { - if (argc <= 2) { - printf("usage: px4io debug LEVEL\n"); - exit(1); - } - if (g_dev == nullptr) { - printf("px4io is not started\n"); - exit(1); - } - uint8_t level = atoi(argv[2]); - /* we can cheat and call the driver directly, as it - * doesn't reference filp in ioctl() - */ - int ret = g_dev->ioctl(NULL, PX4IO_SET_DEBUG, level); - if (ret != 0) { - printf("SET_DEBUG failed - %d\n", ret); - exit(1); - } - printf("SET_DEBUG %u OK\n", (unsigned)level); - exit(0); - } - - /* note, stop not currently implemented */ - - if (!strcmp(argv[1], "update")) { - - if (g_dev != nullptr) { - printf("[px4io] loaded, detaching first\n"); - /* stop the driver */ - delete g_dev; - } - - PX4IO_Uploader *up; - const char *fn[3]; - - /* work out what we're uploading... */ - if (argc > 2) { - fn[0] = argv[2]; - fn[1] = nullptr; - - } else { - fn[0] = "/fs/microsd/px4io.bin"; - fn[1] = "/etc/px4io.bin"; - fn[2] = nullptr; - } - - up = new PX4IO_Uploader; - int ret = up->upload(&fn[0]); - delete up; - - switch (ret) { - case OK: - break; - - case -ENOENT: - errx(1, "PX4IO firmware file not found"); - - case -EEXIST: - case -EIO: - errx(1, "error updating PX4IO - check that bootloader mode is enabled"); - - case -EINVAL: - errx(1, "verify failed - retry the update"); - - case -ETIMEDOUT: - errx(1, "timed out waiting for bootloader - power-cycle and try again"); - - default: - errx(1, "unexpected error %d", ret); - } - - return ret; - } - - if (!strcmp(argv[1], "rx_dsm") || - !strcmp(argv[1], "rx_dsm_10bit") || - !strcmp(argv[1], "rx_dsm_11bit") || - !strcmp(argv[1], "rx_sbus") || - !strcmp(argv[1], "rx_ppm")) - errx(0, "receiver type is automatically detected, option '%s' is deprecated", argv[1]); - - if (!strcmp(argv[1], "test")) - test(); - - if (!strcmp(argv[1], "monitor")) - monitor(); - - out: - errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug', 'recovery', 'limit' or 'update'"); -} diff --git a/apps/drivers/px4io/uploader.cpp b/apps/drivers/px4io/uploader.cpp deleted file mode 100644 index abf59216a..000000000 --- a/apps/drivers/px4io/uploader.cpp +++ /dev/null @@ -1,603 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file Firmware uploader for PX4IO - */ - -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include "uploader.h" - -static const uint32_t crctab[] = -{ - 0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3, - 0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91, - 0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7, - 0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5, - 0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b, - 0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59, - 0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f, - 0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d, - 0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433, - 0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01, - 0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457, - 0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65, - 0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb, - 0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9, - 0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f, - 0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad, - 0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683, - 0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1, - 0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7, - 0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5, - 0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b, - 0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79, - 0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236, 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f, - 0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d, - 0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713, - 0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21, - 0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777, - 0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45, - 0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db, - 0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9, - 0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf, - 0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d -}; - -static uint32_t -crc32(const uint8_t *src, unsigned len, unsigned state) -{ - for (unsigned i = 0; i < len; i++) - state = crctab[(state ^ src[i]) & 0xff] ^ (state >> 8); - return state; -} - -PX4IO_Uploader::PX4IO_Uploader() : - _io_fd(-1), - _fw_fd(-1) -{ -} - -PX4IO_Uploader::~PX4IO_Uploader() -{ -} - -int -PX4IO_Uploader::upload(const char *filenames[]) -{ - int ret; - const char *filename = NULL; - size_t fw_size; - - _io_fd = open("/dev/ttyS2", O_RDWR); - - if (_io_fd < 0) { - log("could not open interface"); - return -errno; - } - - /* look for the bootloader */ - ret = sync(); - - if (ret != OK) { - /* this is immediately fatal */ - log("bootloader not responding"); - return -EIO; - } - - for (unsigned i = 0; filenames[i] != nullptr; i++) { - _fw_fd = open(filenames[i], O_RDONLY); - - if (_fw_fd < 0) { - log("failed to open %s", filenames[i]); - continue; - } - - log("using firmware from %s", filenames[i]); - filename = filenames[i]; - break; - } - - if (filename == NULL) { - log("no firmware found"); - return -ENOENT; - } - - struct stat st; - if (stat(filename, &st) != 0) { - log("Failed to stat %s - %d\n", filename, (int)errno); - return -errno; - } - fw_size = st.st_size; - - if (_fw_fd == -1) - return -ENOENT; - - /* do the usual program thing - allow for failure */ - for (unsigned retries = 0; retries < 1; retries++) { - if (retries > 0) { - log("retrying update..."); - ret = sync(); - - if (ret != OK) { - /* this is immediately fatal */ - log("bootloader not responding"); - return -EIO; - } - } - - ret = get_info(INFO_BL_REV, bl_rev); - - if (ret == OK) { - if (bl_rev <= BL_REV) { - log("found bootloader revision: %d", bl_rev); - } else { - log("found unsupported bootloader revision %d, exiting", bl_rev); - return OK; - } - } - - ret = erase(); - - if (ret != OK) { - log("erase failed"); - continue; - } - - ret = program(fw_size); - - if (ret != OK) { - log("program failed"); - continue; - } - - if (bl_rev <= 2) - ret = verify_rev2(fw_size); - else if(bl_rev == 3) { - ret = verify_rev3(fw_size); - } - - if (ret != OK) { - log("verify failed"); - continue; - } - - ret = reboot(); - - if (ret != OK) { - log("reboot failed"); - return ret; - } - - log("update complete"); - - ret = OK; - break; - } - - close(_fw_fd); - return ret; -} - -int -PX4IO_Uploader::recv(uint8_t &c, unsigned timeout) -{ - struct pollfd fds[1]; - - fds[0].fd = _io_fd; - fds[0].events = POLLIN; - - /* wait 100 ms for a character */ - int ret = ::poll(&fds[0], 1, timeout); - - if (ret < 1) { - log("poll timeout %d", ret); - return -ETIMEDOUT; - } - - read(_io_fd, &c, 1); - //log("recv 0x%02x", c); - return OK; -} - -int -PX4IO_Uploader::recv(uint8_t *p, unsigned count) -{ - while (count--) { - int ret = recv(*p++, 5000); - - if (ret != OK) - return ret; - } - - return OK; -} - -void -PX4IO_Uploader::drain() -{ - uint8_t c; - int ret; - - do { - ret = recv(c, 1000); - - if (ret == OK) { - //log("discard 0x%02x", c); - } - } while (ret == OK); -} - -int -PX4IO_Uploader::send(uint8_t c) -{ - //log("send 0x%02x", c); - if (write(_io_fd, &c, 1) != 1) - return -errno; - - return OK; -} - -int -PX4IO_Uploader::send(uint8_t *p, unsigned count) -{ - while (count--) { - int ret = send(*p++); - - if (ret != OK) - return ret; - } - - return OK; -} - -int -PX4IO_Uploader::get_sync(unsigned timeout) -{ - uint8_t c[2]; - int ret; - - ret = recv(c[0], timeout); - - if (ret != OK) - return ret; - - ret = recv(c[1], timeout); - - if (ret != OK) - return ret; - - if ((c[0] != PROTO_INSYNC) || (c[1] != PROTO_OK)) { - log("bad sync 0x%02x,0x%02x", c[0], c[1]); - return -EIO; - } - - return OK; -} - -int -PX4IO_Uploader::sync() -{ - drain(); - - /* complete any pending program operation */ - for (unsigned i = 0; i < (PROG_MULTI_MAX + 6); i++) - send(0); - - send(PROTO_GET_SYNC); - send(PROTO_EOC); - return get_sync(); -} - -int -PX4IO_Uploader::get_info(int param, uint32_t &val) -{ - int ret; - - send(PROTO_GET_DEVICE); - send(param); - send(PROTO_EOC); - - ret = recv((uint8_t *)&val, sizeof(val)); - - if (ret != OK) - return ret; - - return get_sync(); -} - -int -PX4IO_Uploader::erase() -{ - log("erase..."); - send(PROTO_CHIP_ERASE); - send(PROTO_EOC); - return get_sync(10000); /* allow 10s timeout */ -} - - -static int read_with_retry(int fd, void *buf, size_t n) -{ - int ret; - uint8_t retries = 0; - do { - ret = read(fd, buf, n); - } while (ret == -1 && retries++ < 100); - if (retries != 0) { - printf("read of %u bytes needed %u retries\n", - (unsigned)n, - (unsigned)retries); - } - return ret; -} - -int -PX4IO_Uploader::program(size_t fw_size) -{ - uint8_t file_buf[PROG_MULTI_MAX]; - ssize_t count; - int ret; - size_t sent = 0; - - log("programming %u bytes...", (unsigned)fw_size); - - ret = lseek(_fw_fd, 0, SEEK_SET); - - while (sent < fw_size) { - /* get more bytes to program */ - size_t n = fw_size - sent; - if (n > sizeof(file_buf)) { - n = sizeof(file_buf); - } - count = read_with_retry(_fw_fd, file_buf, n); - - if (count != (ssize_t)n) { - log("firmware read of %u bytes at %u failed -> %d errno %d", - (unsigned)n, - (unsigned)sent, - (int)count, - (int)errno); - } - - if (count == 0) - return OK; - - sent += count; - - if (count < 0) - return -errno; - - ASSERT((count % 4) == 0); - - send(PROTO_PROG_MULTI); - send(count); - send(&file_buf[0], count); - send(PROTO_EOC); - - ret = get_sync(1000); - - if (ret != OK) - return ret; - } - return OK; -} - -int -PX4IO_Uploader::verify_rev2(size_t fw_size) -{ - uint8_t file_buf[4]; - ssize_t count; - int ret; - size_t sent = 0; - - log("verify..."); - lseek(_fw_fd, 0, SEEK_SET); - - send(PROTO_CHIP_VERIFY); - send(PROTO_EOC); - ret = get_sync(); - - if (ret != OK) - return ret; - - while (sent < fw_size) { - /* get more bytes to verify */ - size_t n = fw_size - sent; - if (n > sizeof(file_buf)) { - n = sizeof(file_buf); - } - count = read_with_retry(_fw_fd, file_buf, n); - - if (count != (ssize_t)n) { - log("firmware read of %u bytes at %u failed -> %d errno %d", - (unsigned)n, - (unsigned)sent, - (int)count, - (int)errno); - } - - if (count == 0) - break; - - sent += count; - - if (count < 0) - return -errno; - - ASSERT((count % 4) == 0); - - send(PROTO_READ_MULTI); - send(count); - send(PROTO_EOC); - - for (ssize_t i = 0; i < count; i++) { - uint8_t c; - - ret = recv(c, 5000); - - if (ret != OK) { - log("%d: got %d waiting for bytes", sent + i, ret); - return ret; - } - - if (c != file_buf[i]) { - log("%d: got 0x%02x expected 0x%02x", sent + i, c, file_buf[i]); - return -EINVAL; - } - } - - ret = get_sync(); - - if (ret != OK) { - log("timeout waiting for post-verify sync"); - return ret; - } - } - - return OK; -} - -int -PX4IO_Uploader::verify_rev3(size_t fw_size_local) -{ - int ret; - uint8_t file_buf[4]; - ssize_t count; - uint32_t sum = 0; - uint32_t bytes_read = 0; - uint32_t crc = 0; - uint32_t fw_size_remote; - uint8_t fill_blank = 0xff; - - log("verify..."); - lseek(_fw_fd, 0, SEEK_SET); - - ret = get_info(INFO_FLASH_SIZE, fw_size_remote); - send(PROTO_EOC); - - if (ret != OK) { - log("could not read firmware size"); - return ret; - } - - /* read through the firmware file again and calculate the checksum*/ - while (bytes_read < fw_size_local) { - size_t n = fw_size_local - bytes_read; - if (n > sizeof(file_buf)) { - n = sizeof(file_buf); - } - count = read_with_retry(_fw_fd, file_buf, n); - - if (count != (ssize_t)n) { - log("firmware read of %u bytes at %u failed -> %d errno %d", - (unsigned)n, - (unsigned)bytes_read, - (int)count, - (int)errno); - } - - /* set the rest to ff */ - if (count == 0) { - break; - } - /* stop if the file cannot be read */ - if (count < 0) - return -errno; - - /* calculate crc32 sum */ - sum = crc32((uint8_t *)&file_buf, sizeof(file_buf), sum); - - bytes_read += count; - } - - /* fill the rest with 0xff */ - while (bytes_read < fw_size_remote) { - sum = crc32(&fill_blank, sizeof(fill_blank), sum); - bytes_read += sizeof(fill_blank); - } - - /* request CRC from IO */ - send(PROTO_GET_CRC); - send(PROTO_EOC); - - ret = recv((uint8_t*)(&crc), sizeof(crc)); - - if (ret != OK) { - log("did not receive CRC checksum"); - return ret; - } - - /* compare the CRC sum from the IO with the one calculated */ - if (sum != crc) { - log("CRC wrong: received: %d, expected: %d", crc, sum); - return -EINVAL; - } - - return OK; -} - -int -PX4IO_Uploader::reboot() -{ - send(PROTO_REBOOT); - send(PROTO_EOC); - - return OK; -} - -void -PX4IO_Uploader::log(const char *fmt, ...) -{ - va_list ap; - - printf("[PX4IO] "); - va_start(ap, fmt); - vprintf(fmt, ap); - va_end(ap); - printf("\n"); - fflush(stdout); -} diff --git a/apps/drivers/px4io/uploader.h b/apps/drivers/px4io/uploader.h deleted file mode 100644 index f983d1981..000000000 --- a/apps/drivers/px4io/uploader.h +++ /dev/null @@ -1,103 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file Firmware uploader for PX4IO - */ - -#ifndef _PX4IO_UPLOADER_H -#define _PX4IO_UPLOADER_H value - -#include -#include - - -class PX4IO_Uploader -{ -public: - PX4IO_Uploader(); - virtual ~PX4IO_Uploader(); - - int upload(const char *filenames[]); - -private: - enum { - - PROTO_NOP = 0x00, - PROTO_OK = 0x10, - PROTO_FAILED = 0x11, - PROTO_INSYNC = 0x12, - PROTO_EOC = 0x20, - PROTO_GET_SYNC = 0x21, - PROTO_GET_DEVICE = 0x22, - PROTO_CHIP_ERASE = 0x23, - PROTO_CHIP_VERIFY = 0x24, - PROTO_PROG_MULTI = 0x27, - PROTO_READ_MULTI = 0x28, - PROTO_GET_CRC = 0x29, - PROTO_REBOOT = 0x30, - - INFO_BL_REV = 1, /**< bootloader protocol revision */ - BL_REV = 3, /**< supported bootloader protocol */ - INFO_BOARD_ID = 2, /**< board type */ - INFO_BOARD_REV = 3, /**< board revision */ - INFO_FLASH_SIZE = 4, /**< max firmware size in bytes */ - - PROG_MULTI_MAX = 60, /**< protocol max is 255, must be multiple of 4 */ - READ_MULTI_MAX = 60, /**< protocol max is 255, something overflows with >= 64 */ - - }; - - int _io_fd; - int _fw_fd; - - uint32_t bl_rev; /**< bootloader revision */ - - void log(const char *fmt, ...); - - int recv(uint8_t &c, unsigned timeout); - int recv(uint8_t *p, unsigned count); - void drain(); - int send(uint8_t c); - int send(uint8_t *p, unsigned count); - int get_sync(unsigned timeout = 1000); - int sync(); - int get_info(int param, uint32_t &val); - int erase(); - int program(size_t fw_size); - int verify_rev2(size_t fw_size); - int verify_rev3(size_t fw_size); - int reboot(); -}; - -#endif diff --git a/apps/position_estimator_mc/Makefile b/apps/position_estimator_mc/Makefile deleted file mode 100644 index 8f1100158..000000000 --- a/apps/position_estimator_mc/Makefile +++ /dev/null @@ -1,64 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Makefile to build the position estimator -# - -APPNAME = position_estimator_mc -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 4096 - -CSRCS = position_estimator_mc_main.c \ - position_estimator_mc_params.c \ - codegen/positionKalmanFilter1D_initialize.c \ - codegen/positionKalmanFilter1D_terminate.c \ - codegen/positionKalmanFilter1D.c \ - codegen/rt_nonfinite.c \ - codegen/rtGetInf.c \ - codegen/rtGetNaN.c \ - codegen/positionKalmanFilter1D_dT_initialize.c \ - codegen/positionKalmanFilter1D_dT_terminate.c \ - codegen/kalman_dlqe1.c \ - codegen/kalman_dlqe1_initialize.c \ - codegen/kalman_dlqe1_terminate.c \ - codegen/kalman_dlqe2.c \ - codegen/kalman_dlqe2_initialize.c \ - codegen/kalman_dlqe2_terminate.c \ - codegen/kalman_dlqe3.c \ - codegen/kalman_dlqe3_initialize.c \ - codegen/kalman_dlqe3_terminate.c \ - codegen/kalman_dlqe3_data.c \ - codegen/randn.c - -include $(APPDIR)/mk/app.mk diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe1.c b/apps/position_estimator_mc/codegen/kalman_dlqe1.c deleted file mode 100755 index 977565b8e..000000000 --- a/apps/position_estimator_mc/codegen/kalman_dlqe1.c +++ /dev/null @@ -1,58 +0,0 @@ -/* - * kalman_dlqe1.c - * - * Code generation for function 'kalman_dlqe1' - * - * C source code generated on: Wed Feb 13 20:34:32 2013 - * - */ - -/* Include files */ -#include "rt_nonfinite.h" -#include "kalman_dlqe1.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ - -/* Function Definitions */ -void kalman_dlqe1(const real32_T A[9], const real32_T C[3], const real32_T K[3], - const real32_T x_aposteriori_k[3], real32_T z, real32_T - x_aposteriori[3]) -{ - printf("[dlqe input]: x_aposteriori_k %12.8f\t %12.8f\t %12.8f\t z:%12.8f\n", (double)(x_aposteriori_k[0]), (double)(x_aposteriori_k[1]), (double)(x_aposteriori_k[2]), (double)z); - printf("[dlqe input]: C[0]: %12.8f\tC[1] %12.8f\tC[2] %12.8f\n", (double)(C[0]), (double)(C[1]), (double)(C[2])); - real32_T y; - int32_T i0; - real32_T b_y[3]; - int32_T i1; - real32_T f0; - y = 0.0F; - for (i0 = 0; i0 < 3; i0++) { - b_y[i0] = 0.0F; - for (i1 = 0; i1 < 3; i1++) { - b_y[i0] += C[i1] * A[i1 + 3 * i0]; - } - - y += b_y[i0] * x_aposteriori_k[i0]; - } - - y = z - y; - for (i0 = 0; i0 < 3; i0++) { - f0 = 0.0F; - for (i1 = 0; i1 < 3; i1++) { - f0 += A[i0 + 3 * i1] * x_aposteriori_k[i1]; - } - - x_aposteriori[i0] = f0 + K[i0] * y; - } - //printf("[dlqe output]: x_aposteriori %12.8f\t %12.8f\t %12.8f\n", (double)(x_aposteriori[0]), (double)(x_aposteriori[1]), (double)(x_aposteriori[2])); -} - -/* End of code generation (kalman_dlqe1.c) */ diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe1.h b/apps/position_estimator_mc/codegen/kalman_dlqe1.h deleted file mode 100755 index 2f5330563..000000000 --- a/apps/position_estimator_mc/codegen/kalman_dlqe1.h +++ /dev/null @@ -1,30 +0,0 @@ -/* - * kalman_dlqe1.h - * - * Code generation for function 'kalman_dlqe1' - * - * C source code generated on: Wed Feb 13 20:34:32 2013 - * - */ - -#ifndef __KALMAN_DLQE1_H__ -#define __KALMAN_DLQE1_H__ -/* Include files */ -#include -#include - -#include "rtwtypes.h" -#include "kalman_dlqe1_types.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ -extern void kalman_dlqe1(const real32_T A[9], const real32_T C[3], const real32_T K[3], const real32_T x_aposteriori_k[3], real32_T z, real32_T x_aposteriori[3]); -#endif -/* End of code generation (kalman_dlqe1.h) */ diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe1_initialize.c b/apps/position_estimator_mc/codegen/kalman_dlqe1_initialize.c deleted file mode 100755 index 6627f76e9..000000000 --- a/apps/position_estimator_mc/codegen/kalman_dlqe1_initialize.c +++ /dev/null @@ -1,31 +0,0 @@ -/* - * kalman_dlqe1_initialize.c - * - * Code generation for function 'kalman_dlqe1_initialize' - * - * C source code generated on: Wed Feb 13 20:34:31 2013 - * - */ - -/* Include files */ -#include "rt_nonfinite.h" -#include "kalman_dlqe1.h" -#include "kalman_dlqe1_initialize.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ - -/* Function Definitions */ -void kalman_dlqe1_initialize(void) -{ - rt_InitInfAndNaN(8U); -} - -/* End of code generation (kalman_dlqe1_initialize.c) */ diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe1_initialize.h b/apps/position_estimator_mc/codegen/kalman_dlqe1_initialize.h deleted file mode 100755 index a77eb5712..000000000 --- a/apps/position_estimator_mc/codegen/kalman_dlqe1_initialize.h +++ /dev/null @@ -1,30 +0,0 @@ -/* - * kalman_dlqe1_initialize.h - * - * Code generation for function 'kalman_dlqe1_initialize' - * - * C source code generated on: Wed Feb 13 20:34:31 2013 - * - */ - -#ifndef __KALMAN_DLQE1_INITIALIZE_H__ -#define __KALMAN_DLQE1_INITIALIZE_H__ -/* Include files */ -#include -#include - -#include "rtwtypes.h" -#include "kalman_dlqe1_types.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ -extern void kalman_dlqe1_initialize(void); -#endif -/* End of code generation (kalman_dlqe1_initialize.h) */ diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe1_terminate.c b/apps/position_estimator_mc/codegen/kalman_dlqe1_terminate.c deleted file mode 100755 index a65536f79..000000000 --- a/apps/position_estimator_mc/codegen/kalman_dlqe1_terminate.c +++ /dev/null @@ -1,31 +0,0 @@ -/* - * kalman_dlqe1_terminate.c - * - * Code generation for function 'kalman_dlqe1_terminate' - * - * C source code generated on: Wed Feb 13 20:34:31 2013 - * - */ - -/* Include files */ -#include "rt_nonfinite.h" -#include "kalman_dlqe1.h" -#include "kalman_dlqe1_terminate.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ - -/* Function Definitions */ -void kalman_dlqe1_terminate(void) -{ - /* (no terminate code required) */ -} - -/* End of code generation (kalman_dlqe1_terminate.c) */ diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe1_terminate.h b/apps/position_estimator_mc/codegen/kalman_dlqe1_terminate.h deleted file mode 100755 index 100c7f76c..000000000 --- a/apps/position_estimator_mc/codegen/kalman_dlqe1_terminate.h +++ /dev/null @@ -1,30 +0,0 @@ -/* - * kalman_dlqe1_terminate.h - * - * Code generation for function 'kalman_dlqe1_terminate' - * - * C source code generated on: Wed Feb 13 20:34:32 2013 - * - */ - -#ifndef __KALMAN_DLQE1_TERMINATE_H__ -#define __KALMAN_DLQE1_TERMINATE_H__ -/* Include files */ -#include -#include - -#include "rtwtypes.h" -#include "kalman_dlqe1_types.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ -extern void kalman_dlqe1_terminate(void); -#endif -/* End of code generation (kalman_dlqe1_terminate.h) */ diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe1_types.h b/apps/position_estimator_mc/codegen/kalman_dlqe1_types.h deleted file mode 100755 index d4b2c2d61..000000000 --- a/apps/position_estimator_mc/codegen/kalman_dlqe1_types.h +++ /dev/null @@ -1,16 +0,0 @@ -/* - * kalman_dlqe1_types.h - * - * Code generation for function 'kalman_dlqe1' - * - * C source code generated on: Wed Feb 13 20:34:31 2013 - * - */ - -#ifndef __KALMAN_DLQE1_TYPES_H__ -#define __KALMAN_DLQE1_TYPES_H__ - -/* Type Definitions */ - -#endif -/* End of code generation (kalman_dlqe1_types.h) */ diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe2.c b/apps/position_estimator_mc/codegen/kalman_dlqe2.c deleted file mode 100755 index 11b999064..000000000 --- a/apps/position_estimator_mc/codegen/kalman_dlqe2.c +++ /dev/null @@ -1,119 +0,0 @@ -/* - * kalman_dlqe2.c - * - * Code generation for function 'kalman_dlqe2' - * - * C source code generated on: Thu Feb 14 12:52:28 2013 - * - */ - -/* Include files */ -#include "rt_nonfinite.h" -#include "kalman_dlqe2.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ -static real32_T rt_powf_snf(real32_T u0, real32_T u1); - -/* Function Definitions */ -static real32_T rt_powf_snf(real32_T u0, real32_T u1) -{ - real32_T y; - real32_T f1; - real32_T f2; - if (rtIsNaNF(u0) || rtIsNaNF(u1)) { - y = ((real32_T)rtNaN); - } else { - f1 = (real32_T)fabs(u0); - f2 = (real32_T)fabs(u1); - if (rtIsInfF(u1)) { - if (f1 == 1.0F) { - y = ((real32_T)rtNaN); - } else if (f1 > 1.0F) { - if (u1 > 0.0F) { - y = ((real32_T)rtInf); - } else { - y = 0.0F; - } - } else if (u1 > 0.0F) { - y = 0.0F; - } else { - y = ((real32_T)rtInf); - } - } else if (f2 == 0.0F) { - y = 1.0F; - } else if (f2 == 1.0F) { - if (u1 > 0.0F) { - y = u0; - } else { - y = 1.0F / u0; - } - } else if (u1 == 2.0F) { - y = u0 * u0; - } else if ((u1 == 0.5F) && (u0 >= 0.0F)) { - y = (real32_T)sqrt(u0); - } else if ((u0 < 0.0F) && (u1 > (real32_T)floor(u1))) { - y = ((real32_T)rtNaN); - } else { - y = (real32_T)pow(u0, u1); - } - } - - return y; -} - -void kalman_dlqe2(real32_T dt, real32_T k1, real32_T k2, real32_T k3, const - real32_T x_aposteriori_k[3], real32_T z, real32_T - x_aposteriori[3]) -{ - //printf("[dqle2] dt: %12.8f\tvk1 %12.8f\tk2: %12.8f\tk3: %12.8f\n", (double)(dt), (double)(k1), (double)(k2), (double)(k3)); - //printf("[dqle2] dt: %8.4f\n", (double)(dt));//, (double)(k1), (double)(k2), (double)(k3)); - real32_T A[9]; - real32_T y; - int32_T i0; - static const int8_T iv0[3] = { 0, 0, 1 }; - - real32_T b_k1[3]; - int32_T i1; - static const int8_T iv1[3] = { 1, 0, 0 }; - - real32_T f0; - A[0] = 1.0F; - A[3] = dt; - A[6] = 0.5F * rt_powf_snf(dt, 2.0F); - A[1] = 0.0F; - A[4] = 1.0F; - A[7] = dt; - y = 0.0F; - for (i0 = 0; i0 < 3; i0++) { - A[2 + 3 * i0] = (real32_T)iv0[i0]; - b_k1[i0] = 0.0F; - for (i1 = 0; i1 < 3; i1++) { - b_k1[i0] += (real32_T)iv1[i1] * A[i1 + 3 * i0]; - } - - y += b_k1[i0] * x_aposteriori_k[i0]; - } - - y = z - y; - b_k1[0] = k1; - b_k1[1] = k2; - b_k1[2] = k3; - for (i0 = 0; i0 < 3; i0++) { - f0 = 0.0F; - for (i1 = 0; i1 < 3; i1++) { - f0 += A[i0 + 3 * i1] * x_aposteriori_k[i1]; - } - - x_aposteriori[i0] = f0 + b_k1[i0] * y; - } -} - -/* End of code generation (kalman_dlqe2.c) */ diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe2.h b/apps/position_estimator_mc/codegen/kalman_dlqe2.h deleted file mode 100755 index 30170ae22..000000000 --- a/apps/position_estimator_mc/codegen/kalman_dlqe2.h +++ /dev/null @@ -1,32 +0,0 @@ -/* - * kalman_dlqe2.h - * - * Code generation for function 'kalman_dlqe2' - * - * C source code generated on: Thu Feb 14 12:52:29 2013 - * - */ - -#ifndef __KALMAN_DLQE2_H__ -#define __KALMAN_DLQE2_H__ -/* Include files */ -#include -#include -#include -#include "rt_nonfinite.h" - -#include "rtwtypes.h" -#include "kalman_dlqe2_types.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ -extern void kalman_dlqe2(real32_T dt, real32_T k1, real32_T k2, real32_T k3, const real32_T x_aposteriori_k[3], real32_T z, real32_T x_aposteriori[3]); -#endif -/* End of code generation (kalman_dlqe2.h) */ diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe2_initialize.c b/apps/position_estimator_mc/codegen/kalman_dlqe2_initialize.c deleted file mode 100755 index de5a1d8aa..000000000 --- a/apps/position_estimator_mc/codegen/kalman_dlqe2_initialize.c +++ /dev/null @@ -1,31 +0,0 @@ -/* - * kalman_dlqe2_initialize.c - * - * Code generation for function 'kalman_dlqe2_initialize' - * - * C source code generated on: Thu Feb 14 12:52:28 2013 - * - */ - -/* Include files */ -#include "rt_nonfinite.h" -#include "kalman_dlqe2.h" -#include "kalman_dlqe2_initialize.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ - -/* Function Definitions */ -void kalman_dlqe2_initialize(void) -{ - rt_InitInfAndNaN(8U); -} - -/* End of code generation (kalman_dlqe2_initialize.c) */ diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe2_initialize.h b/apps/position_estimator_mc/codegen/kalman_dlqe2_initialize.h deleted file mode 100755 index 3d507ff31..000000000 --- a/apps/position_estimator_mc/codegen/kalman_dlqe2_initialize.h +++ /dev/null @@ -1,32 +0,0 @@ -/* - * kalman_dlqe2_initialize.h - * - * Code generation for function 'kalman_dlqe2_initialize' - * - * C source code generated on: Thu Feb 14 12:52:28 2013 - * - */ - -#ifndef __KALMAN_DLQE2_INITIALIZE_H__ -#define __KALMAN_DLQE2_INITIALIZE_H__ -/* Include files */ -#include -#include -#include -#include "rt_nonfinite.h" - -#include "rtwtypes.h" -#include "kalman_dlqe2_types.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ -extern void kalman_dlqe2_initialize(void); -#endif -/* End of code generation (kalman_dlqe2_initialize.h) */ diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe2_terminate.c b/apps/position_estimator_mc/codegen/kalman_dlqe2_terminate.c deleted file mode 100755 index 0757c878c..000000000 --- a/apps/position_estimator_mc/codegen/kalman_dlqe2_terminate.c +++ /dev/null @@ -1,31 +0,0 @@ -/* - * kalman_dlqe2_terminate.c - * - * Code generation for function 'kalman_dlqe2_terminate' - * - * C source code generated on: Thu Feb 14 12:52:28 2013 - * - */ - -/* Include files */ -#include "rt_nonfinite.h" -#include "kalman_dlqe2.h" -#include "kalman_dlqe2_terminate.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ - -/* Function Definitions */ -void kalman_dlqe2_terminate(void) -{ - /* (no terminate code required) */ -} - -/* End of code generation (kalman_dlqe2_terminate.c) */ diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe2_terminate.h b/apps/position_estimator_mc/codegen/kalman_dlqe2_terminate.h deleted file mode 100755 index 23995020b..000000000 --- a/apps/position_estimator_mc/codegen/kalman_dlqe2_terminate.h +++ /dev/null @@ -1,32 +0,0 @@ -/* - * kalman_dlqe2_terminate.h - * - * Code generation for function 'kalman_dlqe2_terminate' - * - * C source code generated on: Thu Feb 14 12:52:28 2013 - * - */ - -#ifndef __KALMAN_DLQE2_TERMINATE_H__ -#define __KALMAN_DLQE2_TERMINATE_H__ -/* Include files */ -#include -#include -#include -#include "rt_nonfinite.h" - -#include "rtwtypes.h" -#include "kalman_dlqe2_types.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ -extern void kalman_dlqe2_terminate(void); -#endif -/* End of code generation (kalman_dlqe2_terminate.h) */ diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe2_types.h b/apps/position_estimator_mc/codegen/kalman_dlqe2_types.h deleted file mode 100755 index f7a04d908..000000000 --- a/apps/position_estimator_mc/codegen/kalman_dlqe2_types.h +++ /dev/null @@ -1,16 +0,0 @@ -/* - * kalman_dlqe2_types.h - * - * Code generation for function 'kalman_dlqe2' - * - * C source code generated on: Thu Feb 14 12:52:28 2013 - * - */ - -#ifndef __KALMAN_DLQE2_TYPES_H__ -#define __KALMAN_DLQE2_TYPES_H__ - -/* Type Definitions */ - -#endif -/* End of code generation (kalman_dlqe2_types.h) */ diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe3.c b/apps/position_estimator_mc/codegen/kalman_dlqe3.c deleted file mode 100755 index 9efe2ea7a..000000000 --- a/apps/position_estimator_mc/codegen/kalman_dlqe3.c +++ /dev/null @@ -1,137 +0,0 @@ -/* - * kalman_dlqe3.c - * - * Code generation for function 'kalman_dlqe3' - * - * C source code generated on: Tue Feb 19 15:26:31 2013 - * - */ - -/* Include files */ -#include "rt_nonfinite.h" -#include "kalman_dlqe3.h" -#include "randn.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ -static real32_T rt_powf_snf(real32_T u0, real32_T u1); - -/* Function Definitions */ -static real32_T rt_powf_snf(real32_T u0, real32_T u1) -{ - real32_T y; - real32_T f1; - real32_T f2; - if (rtIsNaNF(u0) || rtIsNaNF(u1)) { - y = ((real32_T)rtNaN); - } else { - f1 = (real32_T)fabs(u0); - f2 = (real32_T)fabs(u1); - if (rtIsInfF(u1)) { - if (f1 == 1.0F) { - y = ((real32_T)rtNaN); - } else if (f1 > 1.0F) { - if (u1 > 0.0F) { - y = ((real32_T)rtInf); - } else { - y = 0.0F; - } - } else if (u1 > 0.0F) { - y = 0.0F; - } else { - y = ((real32_T)rtInf); - } - } else if (f2 == 0.0F) { - y = 1.0F; - } else if (f2 == 1.0F) { - if (u1 > 0.0F) { - y = u0; - } else { - y = 1.0F / u0; - } - } else if (u1 == 2.0F) { - y = u0 * u0; - } else if ((u1 == 0.5F) && (u0 >= 0.0F)) { - y = (real32_T)sqrt(u0); - } else if ((u0 < 0.0F) && (u1 > (real32_T)floor(u1))) { - y = ((real32_T)rtNaN); - } else { - y = (real32_T)pow(u0, u1); - } - } - - return y; -} - -void kalman_dlqe3(real32_T dt, real32_T k1, real32_T k2, real32_T k3, const - real32_T x_aposteriori_k[3], real32_T z, real32_T posUpdate, - real32_T addNoise, real32_T sigma, real32_T x_aposteriori[3]) -{ - real32_T A[9]; - int32_T i0; - static const int8_T iv0[3] = { 0, 0, 1 }; - - real_T b; - real32_T y; - real32_T b_y[3]; - int32_T i1; - static const int8_T iv1[3] = { 1, 0, 0 }; - - real32_T b_k1[3]; - real32_T f0; - A[0] = 1.0F; - A[3] = dt; - A[6] = 0.5F * rt_powf_snf(dt, 2.0F); - A[1] = 0.0F; - A[4] = 1.0F; - A[7] = dt; - for (i0 = 0; i0 < 3; i0++) { - A[2 + 3 * i0] = (real32_T)iv0[i0]; - } - - if (addNoise == 1.0F) { - b = randn(); - z += sigma * (real32_T)b; - } - - if (posUpdate != 0.0F) { - y = 0.0F; - for (i0 = 0; i0 < 3; i0++) { - b_y[i0] = 0.0F; - for (i1 = 0; i1 < 3; i1++) { - b_y[i0] += (real32_T)iv1[i1] * A[i1 + 3 * i0]; - } - - y += b_y[i0] * x_aposteriori_k[i0]; - } - - y = z - y; - b_k1[0] = k1; - b_k1[1] = k2; - b_k1[2] = k3; - for (i0 = 0; i0 < 3; i0++) { - f0 = 0.0F; - for (i1 = 0; i1 < 3; i1++) { - f0 += A[i0 + 3 * i1] * x_aposteriori_k[i1]; - } - - x_aposteriori[i0] = f0 + b_k1[i0] * y; - } - } else { - for (i0 = 0; i0 < 3; i0++) { - x_aposteriori[i0] = 0.0F; - for (i1 = 0; i1 < 3; i1++) { - x_aposteriori[i0] += A[i0 + 3 * i1] * x_aposteriori_k[i1]; - } - } - } -} - -/* End of code generation (kalman_dlqe3.c) */ diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe3.h b/apps/position_estimator_mc/codegen/kalman_dlqe3.h deleted file mode 100755 index 9bbffbbb3..000000000 --- a/apps/position_estimator_mc/codegen/kalman_dlqe3.h +++ /dev/null @@ -1,33 +0,0 @@ -/* - * kalman_dlqe3.h - * - * Code generation for function 'kalman_dlqe3' - * - * C source code generated on: Tue Feb 19 15:26:32 2013 - * - */ - -#ifndef __KALMAN_DLQE3_H__ -#define __KALMAN_DLQE3_H__ -/* Include files */ -#include -#include -#include -#include -#include "rt_nonfinite.h" - -#include "rtwtypes.h" -#include "kalman_dlqe3_types.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ -extern void kalman_dlqe3(real32_T dt, real32_T k1, real32_T k2, real32_T k3, const real32_T x_aposteriori_k[3], real32_T z, real32_T posUpdate, real32_T addNoise, real32_T sigma, real32_T x_aposteriori[3]); -#endif -/* End of code generation (kalman_dlqe3.h) */ diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe3_data.c b/apps/position_estimator_mc/codegen/kalman_dlqe3_data.c deleted file mode 100755 index 8f2275c13..000000000 --- a/apps/position_estimator_mc/codegen/kalman_dlqe3_data.c +++ /dev/null @@ -1,32 +0,0 @@ -/* - * kalman_dlqe3_data.c - * - * Code generation for function 'kalman_dlqe3_data' - * - * C source code generated on: Tue Feb 19 15:26:31 2013 - * - */ - -/* Include files */ -#include "rt_nonfinite.h" -#include "kalman_dlqe3.h" -#include "kalman_dlqe3_data.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ -uint32_T method; -uint32_T state[2]; -uint32_T b_method; -uint32_T b_state; -uint32_T c_state[2]; -boolean_T state_not_empty; - -/* Function Declarations */ - -/* Function Definitions */ -/* End of code generation (kalman_dlqe3_data.c) */ diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe3_data.h b/apps/position_estimator_mc/codegen/kalman_dlqe3_data.h deleted file mode 100755 index 952eb7b89..000000000 --- a/apps/position_estimator_mc/codegen/kalman_dlqe3_data.h +++ /dev/null @@ -1,38 +0,0 @@ -/* - * kalman_dlqe3_data.h - * - * Code generation for function 'kalman_dlqe3_data' - * - * C source code generated on: Tue Feb 19 15:26:31 2013 - * - */ - -#ifndef __KALMAN_DLQE3_DATA_H__ -#define __KALMAN_DLQE3_DATA_H__ -/* Include files */ -#include -#include -#include -#include -#include "rt_nonfinite.h" - -#include "rtwtypes.h" -#include "kalman_dlqe3_types.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ -extern uint32_T method; -extern uint32_T state[2]; -extern uint32_T b_method; -extern uint32_T b_state; -extern uint32_T c_state[2]; -extern boolean_T state_not_empty; - -/* Variable Definitions */ - -/* Function Declarations */ -#endif -/* End of code generation (kalman_dlqe3_data.h) */ diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe3_initialize.c b/apps/position_estimator_mc/codegen/kalman_dlqe3_initialize.c deleted file mode 100755 index b87d604c4..000000000 --- a/apps/position_estimator_mc/codegen/kalman_dlqe3_initialize.c +++ /dev/null @@ -1,47 +0,0 @@ -/* - * kalman_dlqe3_initialize.c - * - * Code generation for function 'kalman_dlqe3_initialize' - * - * C source code generated on: Tue Feb 19 15:26:31 2013 - * - */ - -/* Include files */ -#include "rt_nonfinite.h" -#include "kalman_dlqe3.h" -#include "kalman_dlqe3_initialize.h" -#include "kalman_dlqe3_data.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ - -/* Function Definitions */ -void kalman_dlqe3_initialize(void) -{ - int32_T i; - static const uint32_T uv0[2] = { 362436069U, 0U }; - - rt_InitInfAndNaN(8U); - state_not_empty = FALSE; - b_state = 1144108930U; - b_method = 7U; - method = 0U; - for (i = 0; i < 2; i++) { - c_state[i] = 362436069U + 158852560U * (uint32_T)i; - state[i] = uv0[i]; - } - - if (state[1] == 0U) { - state[1] = 521288629U; - } -} - -/* End of code generation (kalman_dlqe3_initialize.c) */ diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe3_initialize.h b/apps/position_estimator_mc/codegen/kalman_dlqe3_initialize.h deleted file mode 100755 index 9dee90f9e..000000000 --- a/apps/position_estimator_mc/codegen/kalman_dlqe3_initialize.h +++ /dev/null @@ -1,33 +0,0 @@ -/* - * kalman_dlqe3_initialize.h - * - * Code generation for function 'kalman_dlqe3_initialize' - * - * C source code generated on: Tue Feb 19 15:26:31 2013 - * - */ - -#ifndef __KALMAN_DLQE3_INITIALIZE_H__ -#define __KALMAN_DLQE3_INITIALIZE_H__ -/* Include files */ -#include -#include -#include -#include -#include "rt_nonfinite.h" - -#include "rtwtypes.h" -#include "kalman_dlqe3_types.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ -extern void kalman_dlqe3_initialize(void); -#endif -/* End of code generation (kalman_dlqe3_initialize.h) */ diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe3_terminate.c b/apps/position_estimator_mc/codegen/kalman_dlqe3_terminate.c deleted file mode 100755 index b00858205..000000000 --- a/apps/position_estimator_mc/codegen/kalman_dlqe3_terminate.c +++ /dev/null @@ -1,31 +0,0 @@ -/* - * kalman_dlqe3_terminate.c - * - * Code generation for function 'kalman_dlqe3_terminate' - * - * C source code generated on: Tue Feb 19 15:26:31 2013 - * - */ - -/* Include files */ -#include "rt_nonfinite.h" -#include "kalman_dlqe3.h" -#include "kalman_dlqe3_terminate.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ - -/* Function Definitions */ -void kalman_dlqe3_terminate(void) -{ - /* (no terminate code required) */ -} - -/* End of code generation (kalman_dlqe3_terminate.c) */ diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe3_terminate.h b/apps/position_estimator_mc/codegen/kalman_dlqe3_terminate.h deleted file mode 100755 index 69cc85c76..000000000 --- a/apps/position_estimator_mc/codegen/kalman_dlqe3_terminate.h +++ /dev/null @@ -1,33 +0,0 @@ -/* - * kalman_dlqe3_terminate.h - * - * Code generation for function 'kalman_dlqe3_terminate' - * - * C source code generated on: Tue Feb 19 15:26:31 2013 - * - */ - -#ifndef __KALMAN_DLQE3_TERMINATE_H__ -#define __KALMAN_DLQE3_TERMINATE_H__ -/* Include files */ -#include -#include -#include -#include -#include "rt_nonfinite.h" - -#include "rtwtypes.h" -#include "kalman_dlqe3_types.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ -extern void kalman_dlqe3_terminate(void); -#endif -/* End of code generation (kalman_dlqe3_terminate.h) */ diff --git a/apps/position_estimator_mc/codegen/kalman_dlqe3_types.h b/apps/position_estimator_mc/codegen/kalman_dlqe3_types.h deleted file mode 100755 index f36ea4557..000000000 --- a/apps/position_estimator_mc/codegen/kalman_dlqe3_types.h +++ /dev/null @@ -1,16 +0,0 @@ -/* - * kalman_dlqe3_types.h - * - * Code generation for function 'kalman_dlqe3' - * - * C source code generated on: Tue Feb 19 15:26:30 2013 - * - */ - -#ifndef __KALMAN_DLQE3_TYPES_H__ -#define __KALMAN_DLQE3_TYPES_H__ - -/* Type Definitions */ - -#endif -/* End of code generation (kalman_dlqe3_types.h) */ diff --git a/apps/position_estimator_mc/codegen/positionKalmanFilter1D.c b/apps/position_estimator_mc/codegen/positionKalmanFilter1D.c deleted file mode 100755 index 5139848bc..000000000 --- a/apps/position_estimator_mc/codegen/positionKalmanFilter1D.c +++ /dev/null @@ -1,136 +0,0 @@ -/* - * positionKalmanFilter1D.c - * - * Code generation for function 'positionKalmanFilter1D' - * - * C source code generated on: Fri Nov 30 14:26:11 2012 - * - */ - -/* Include files */ -#include "rt_nonfinite.h" -#include "positionKalmanFilter1D.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ - -/* Function Definitions */ -void positionKalmanFilter1D(const real32_T A[9], const real32_T B[3], const - real32_T C[3], const real32_T x_aposteriori_k[3], const real32_T - P_aposteriori_k[9], real32_T u, real32_T z, uint8_T gps_update, const real32_T - Q[9], real32_T R, real32_T thresh, real32_T decay, real32_T x_aposteriori[3], - real32_T P_aposteriori[9]) -{ - int32_T i0; - real32_T f0; - int32_T k; - real32_T b_A[9]; - int32_T i1; - real32_T P_apriori[9]; - real32_T y; - real32_T K[3]; - real32_T S; - int8_T I[9]; - - /* prediction */ - for (i0 = 0; i0 < 3; i0++) { - f0 = 0.0F; - for (k = 0; k < 3; k++) { - f0 += A[i0 + 3 * k] * x_aposteriori_k[k]; - } - - x_aposteriori[i0] = f0 + B[i0] * u; - } - - for (i0 = 0; i0 < 3; i0++) { - for (k = 0; k < 3; k++) { - b_A[i0 + 3 * k] = 0.0F; - for (i1 = 0; i1 < 3; i1++) { - b_A[i0 + 3 * k] += A[i0 + 3 * i1] * P_aposteriori_k[i1 + 3 * k]; - } - } - } - - for (i0 = 0; i0 < 3; i0++) { - for (k = 0; k < 3; k++) { - f0 = 0.0F; - for (i1 = 0; i1 < 3; i1++) { - f0 += b_A[i0 + 3 * i1] * A[k + 3 * i1]; - } - - P_apriori[i0 + 3 * k] = f0 + Q[i0 + 3 * k]; - } - } - - if ((real32_T)fabs(u) < thresh) { - x_aposteriori[1] *= decay; - } - - /* update */ - if (gps_update == 1) { - y = 0.0F; - for (k = 0; k < 3; k++) { - y += C[k] * x_aposteriori[k]; - K[k] = 0.0F; - for (i0 = 0; i0 < 3; i0++) { - K[k] += C[i0] * P_apriori[i0 + 3 * k]; - } - } - - y = z - y; - S = 0.0F; - for (k = 0; k < 3; k++) { - S += K[k] * C[k]; - } - - S += R; - for (i0 = 0; i0 < 3; i0++) { - f0 = 0.0F; - for (k = 0; k < 3; k++) { - f0 += P_apriori[i0 + 3 * k] * C[k]; - } - - K[i0] = f0 / S; - } - - for (i0 = 0; i0 < 3; i0++) { - x_aposteriori[i0] += K[i0] * y; - } - - for (i0 = 0; i0 < 9; i0++) { - I[i0] = 0; - } - - for (k = 0; k < 3; k++) { - I[k + 3 * k] = 1; - } - - for (i0 = 0; i0 < 3; i0++) { - for (k = 0; k < 3; k++) { - b_A[k + 3 * i0] = (real32_T)I[k + 3 * i0] - K[k] * C[i0]; - } - } - - for (i0 = 0; i0 < 3; i0++) { - for (k = 0; k < 3; k++) { - P_aposteriori[i0 + 3 * k] = 0.0F; - for (i1 = 0; i1 < 3; i1++) { - P_aposteriori[i0 + 3 * k] += b_A[i0 + 3 * i1] * P_apriori[i1 + 3 * k]; - } - } - } - } else { - for (i0 = 0; i0 < 9; i0++) { - P_aposteriori[i0] = P_apriori[i0]; - } - } -} - -/* End of code generation (positionKalmanFilter1D.c) */ diff --git a/apps/position_estimator_mc/codegen/positionKalmanFilter1D.h b/apps/position_estimator_mc/codegen/positionKalmanFilter1D.h deleted file mode 100755 index 205c8eb4e..000000000 --- a/apps/position_estimator_mc/codegen/positionKalmanFilter1D.h +++ /dev/null @@ -1,31 +0,0 @@ -/* - * positionKalmanFilter1D.h - * - * Code generation for function 'positionKalmanFilter1D' - * - * C source code generated on: Fri Nov 30 14:26:11 2012 - * - */ - -#ifndef __POSITIONKALMANFILTER1D_H__ -#define __POSITIONKALMANFILTER1D_H__ -/* Include files */ -#include -#include -#include - -#include "rtwtypes.h" -#include "positionKalmanFilter1D_types.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ -extern void positionKalmanFilter1D(const real32_T A[9], const real32_T B[3], const real32_T C[3], const real32_T x_aposteriori_k[3], const real32_T P_aposteriori_k[9], real32_T u, real32_T z, uint8_T gps_update, const real32_T Q[9], real32_T R, real32_T thresh, real32_T decay, real32_T x_aposteriori[3], real32_T P_aposteriori[9]); -#endif -/* End of code generation (positionKalmanFilter1D.h) */ diff --git a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT.c b/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT.c deleted file mode 100755 index 4c535618a..000000000 --- a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT.c +++ /dev/null @@ -1,157 +0,0 @@ -/* - * positionKalmanFilter1D_dT.c - * - * Code generation for function 'positionKalmanFilter1D_dT' - * - * C source code generated on: Fri Nov 30 17:37:33 2012 - * - */ - -/* Include files */ -#include "rt_nonfinite.h" -#include "positionKalmanFilter1D_dT.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ - -/* Function Definitions */ -void positionKalmanFilter1D_dT(real32_T dT, const real32_T x_aposteriori_k[3], - const real32_T P_aposteriori_k[9], real32_T u, real32_T z, uint8_T gps_update, - const real32_T Q[9], real_T R, real32_T thresh, real32_T decay, real32_T - x_aposteriori[3], real32_T P_aposteriori[9]) -{ - real32_T A[9]; - int32_T i; - static const int8_T iv0[3] = { 0, 0, 1 }; - - real32_T K[3]; - real32_T f0; - int32_T i0; - real32_T b_A[9]; - int32_T i1; - real32_T P_apriori[9]; - static const int8_T iv1[3] = { 1, 0, 0 }; - - real32_T fv0[3]; - real32_T y; - static const int8_T iv2[3] = { 1, 0, 0 }; - - real32_T S; - int8_T I[9]; - - /* dynamics */ - A[0] = 1.0F; - A[3] = dT; - A[6] = -0.5F * dT * dT; - A[1] = 0.0F; - A[4] = 1.0F; - A[7] = -dT; - for (i = 0; i < 3; i++) { - A[2 + 3 * i] = (real32_T)iv0[i]; - } - - /* prediction */ - K[0] = 0.5F * dT * dT; - K[1] = dT; - K[2] = 0.0F; - for (i = 0; i < 3; i++) { - f0 = 0.0F; - for (i0 = 0; i0 < 3; i0++) { - f0 += A[i + 3 * i0] * x_aposteriori_k[i0]; - } - - x_aposteriori[i] = f0 + K[i] * u; - } - - for (i = 0; i < 3; i++) { - for (i0 = 0; i0 < 3; i0++) { - b_A[i + 3 * i0] = 0.0F; - for (i1 = 0; i1 < 3; i1++) { - b_A[i + 3 * i0] += A[i + 3 * i1] * P_aposteriori_k[i1 + 3 * i0]; - } - } - } - - for (i = 0; i < 3; i++) { - for (i0 = 0; i0 < 3; i0++) { - f0 = 0.0F; - for (i1 = 0; i1 < 3; i1++) { - f0 += b_A[i + 3 * i1] * A[i0 + 3 * i1]; - } - - P_apriori[i + 3 * i0] = f0 + Q[i + 3 * i0]; - } - } - - if ((real32_T)fabs(u) < thresh) { - x_aposteriori[1] *= decay; - } - - /* update */ - if (gps_update == 1) { - f0 = 0.0F; - for (i = 0; i < 3; i++) { - f0 += (real32_T)iv1[i] * x_aposteriori[i]; - fv0[i] = 0.0F; - for (i0 = 0; i0 < 3; i0++) { - fv0[i] += (real32_T)iv1[i0] * P_apriori[i0 + 3 * i]; - } - } - - y = z - f0; - f0 = 0.0F; - for (i = 0; i < 3; i++) { - f0 += fv0[i] * (real32_T)iv2[i]; - } - - S = f0 + (real32_T)R; - for (i = 0; i < 3; i++) { - f0 = 0.0F; - for (i0 = 0; i0 < 3; i0++) { - f0 += P_apriori[i + 3 * i0] * (real32_T)iv2[i0]; - } - - K[i] = f0 / S; - } - - for (i = 0; i < 3; i++) { - x_aposteriori[i] += K[i] * y; - } - - for (i = 0; i < 9; i++) { - I[i] = 0; - } - - for (i = 0; i < 3; i++) { - I[i + 3 * i] = 1; - } - - for (i = 0; i < 3; i++) { - for (i0 = 0; i0 < 3; i0++) { - A[i0 + 3 * i] = (real32_T)I[i0 + 3 * i] - K[i0] * (real32_T)iv1[i]; - } - } - - for (i = 0; i < 3; i++) { - for (i0 = 0; i0 < 3; i0++) { - P_aposteriori[i + 3 * i0] = 0.0F; - for (i1 = 0; i1 < 3; i1++) { - P_aposteriori[i + 3 * i0] += A[i + 3 * i1] * P_apriori[i1 + 3 * i0]; - } - } - } - } else { - for (i = 0; i < 9; i++) { - P_aposteriori[i] = P_apriori[i]; - } - } -} - -/* End of code generation (positionKalmanFilter1D_dT.c) */ diff --git a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT.h b/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT.h deleted file mode 100755 index 94cbe2ce6..000000000 --- a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT.h +++ /dev/null @@ -1,31 +0,0 @@ -/* - * positionKalmanFilter1D_dT.h - * - * Code generation for function 'positionKalmanFilter1D_dT' - * - * C source code generated on: Fri Nov 30 17:37:33 2012 - * - */ - -#ifndef __POSITIONKALMANFILTER1D_DT_H__ -#define __POSITIONKALMANFILTER1D_DT_H__ -/* Include files */ -#include -#include -#include - -#include "rtwtypes.h" -#include "positionKalmanFilter1D_dT_types.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ -extern void positionKalmanFilter1D_dT(real32_T dT, const real32_T x_aposteriori_k[3], const real32_T P_aposteriori_k[9], real32_T u, real32_T z, uint8_T gps_update, const real32_T Q[9], real_T R, real32_T thresh, real32_T decay, real32_T x_aposteriori[3], real32_T P_aposteriori[9]); -#endif -/* End of code generation (positionKalmanFilter1D_dT.h) */ diff --git a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.c b/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.c deleted file mode 100755 index aa89f8a9d..000000000 --- a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.c +++ /dev/null @@ -1,31 +0,0 @@ -/* - * positionKalmanFilter1D_dT_initialize.c - * - * Code generation for function 'positionKalmanFilter1D_dT_initialize' - * - * C source code generated on: Fri Nov 30 17:37:33 2012 - * - */ - -/* Include files */ -#include "rt_nonfinite.h" -#include "positionKalmanFilter1D_dT.h" -#include "positionKalmanFilter1D_dT_initialize.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ - -/* Function Definitions */ -void positionKalmanFilter1D_dT_initialize(void) -{ - rt_InitInfAndNaN(8U); -} - -/* End of code generation (positionKalmanFilter1D_dT_initialize.c) */ diff --git a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.h b/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.h deleted file mode 100755 index 8d358a9a3..000000000 --- a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.h +++ /dev/null @@ -1,31 +0,0 @@ -/* - * positionKalmanFilter1D_dT_initialize.h - * - * Code generation for function 'positionKalmanFilter1D_dT_initialize' - * - * C source code generated on: Fri Nov 30 17:37:33 2012 - * - */ - -#ifndef __POSITIONKALMANFILTER1D_DT_INITIALIZE_H__ -#define __POSITIONKALMANFILTER1D_DT_INITIALIZE_H__ -/* Include files */ -#include -#include -#include - -#include "rtwtypes.h" -#include "positionKalmanFilter1D_dT_types.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ -extern void positionKalmanFilter1D_dT_initialize(void); -#endif -/* End of code generation (positionKalmanFilter1D_dT_initialize.h) */ diff --git a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.c b/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.c deleted file mode 100755 index 20ed2edbb..000000000 --- a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.c +++ /dev/null @@ -1,31 +0,0 @@ -/* - * positionKalmanFilter1D_dT_terminate.c - * - * Code generation for function 'positionKalmanFilter1D_dT_terminate' - * - * C source code generated on: Fri Nov 30 17:37:33 2012 - * - */ - -/* Include files */ -#include "rt_nonfinite.h" -#include "positionKalmanFilter1D_dT.h" -#include "positionKalmanFilter1D_dT_terminate.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ - -/* Function Definitions */ -void positionKalmanFilter1D_dT_terminate(void) -{ - /* (no terminate code required) */ -} - -/* End of code generation (positionKalmanFilter1D_dT_terminate.c) */ diff --git a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.h b/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.h deleted file mode 100755 index 5eb5807a0..000000000 --- a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.h +++ /dev/null @@ -1,31 +0,0 @@ -/* - * positionKalmanFilter1D_dT_terminate.h - * - * Code generation for function 'positionKalmanFilter1D_dT_terminate' - * - * C source code generated on: Fri Nov 30 17:37:33 2012 - * - */ - -#ifndef __POSITIONKALMANFILTER1D_DT_TERMINATE_H__ -#define __POSITIONKALMANFILTER1D_DT_TERMINATE_H__ -/* Include files */ -#include -#include -#include - -#include "rtwtypes.h" -#include "positionKalmanFilter1D_dT_types.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ -extern void positionKalmanFilter1D_dT_terminate(void); -#endif -/* End of code generation (positionKalmanFilter1D_dT_terminate.h) */ diff --git a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT_types.h b/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT_types.h deleted file mode 100755 index 43e5f016c..000000000 --- a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_dT_types.h +++ /dev/null @@ -1,16 +0,0 @@ -/* - * positionKalmanFilter1D_dT_types.h - * - * Code generation for function 'positionKalmanFilter1D_dT' - * - * C source code generated on: Fri Nov 30 17:37:33 2012 - * - */ - -#ifndef __POSITIONKALMANFILTER1D_DT_TYPES_H__ -#define __POSITIONKALMANFILTER1D_DT_TYPES_H__ - -/* Type Definitions */ - -#endif -/* End of code generation (positionKalmanFilter1D_dT_types.h) */ diff --git a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.c b/apps/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.c deleted file mode 100755 index 5bd87c390..000000000 --- a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.c +++ /dev/null @@ -1,31 +0,0 @@ -/* - * positionKalmanFilter1D_initialize.c - * - * Code generation for function 'positionKalmanFilter1D_initialize' - * - * C source code generated on: Fri Nov 30 14:26:11 2012 - * - */ - -/* Include files */ -#include "rt_nonfinite.h" -#include "positionKalmanFilter1D.h" -#include "positionKalmanFilter1D_initialize.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ - -/* Function Definitions */ -void positionKalmanFilter1D_initialize(void) -{ - rt_InitInfAndNaN(8U); -} - -/* End of code generation (positionKalmanFilter1D_initialize.c) */ diff --git a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.h b/apps/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.h deleted file mode 100755 index 44bce472f..000000000 --- a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.h +++ /dev/null @@ -1,31 +0,0 @@ -/* - * positionKalmanFilter1D_initialize.h - * - * Code generation for function 'positionKalmanFilter1D_initialize' - * - * C source code generated on: Fri Nov 30 14:26:11 2012 - * - */ - -#ifndef __POSITIONKALMANFILTER1D_INITIALIZE_H__ -#define __POSITIONKALMANFILTER1D_INITIALIZE_H__ -/* Include files */ -#include -#include -#include - -#include "rtwtypes.h" -#include "positionKalmanFilter1D_types.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ -extern void positionKalmanFilter1D_initialize(void); -#endif -/* End of code generation (positionKalmanFilter1D_initialize.h) */ diff --git a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.c b/apps/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.c deleted file mode 100755 index 41e11936f..000000000 --- a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.c +++ /dev/null @@ -1,31 +0,0 @@ -/* - * positionKalmanFilter1D_terminate.c - * - * Code generation for function 'positionKalmanFilter1D_terminate' - * - * C source code generated on: Fri Nov 30 14:26:11 2012 - * - */ - -/* Include files */ -#include "rt_nonfinite.h" -#include "positionKalmanFilter1D.h" -#include "positionKalmanFilter1D_terminate.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ - -/* Function Definitions */ -void positionKalmanFilter1D_terminate(void) -{ - /* (no terminate code required) */ -} - -/* End of code generation (positionKalmanFilter1D_terminate.c) */ diff --git a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.h b/apps/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.h deleted file mode 100755 index e84ea01bc..000000000 --- a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.h +++ /dev/null @@ -1,31 +0,0 @@ -/* - * positionKalmanFilter1D_terminate.h - * - * Code generation for function 'positionKalmanFilter1D_terminate' - * - * C source code generated on: Fri Nov 30 14:26:11 2012 - * - */ - -#ifndef __POSITIONKALMANFILTER1D_TERMINATE_H__ -#define __POSITIONKALMANFILTER1D_TERMINATE_H__ -/* Include files */ -#include -#include -#include - -#include "rtwtypes.h" -#include "positionKalmanFilter1D_types.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ -extern void positionKalmanFilter1D_terminate(void); -#endif -/* End of code generation (positionKalmanFilter1D_terminate.h) */ diff --git a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_types.h b/apps/position_estimator_mc/codegen/positionKalmanFilter1D_types.h deleted file mode 100755 index 4b473f56f..000000000 --- a/apps/position_estimator_mc/codegen/positionKalmanFilter1D_types.h +++ /dev/null @@ -1,16 +0,0 @@ -/* - * positionKalmanFilter1D_types.h - * - * Code generation for function 'positionKalmanFilter1D' - * - * C source code generated on: Fri Nov 30 14:26:11 2012 - * - */ - -#ifndef __POSITIONKALMANFILTER1D_TYPES_H__ -#define __POSITIONKALMANFILTER1D_TYPES_H__ - -/* Type Definitions */ - -#endif -/* End of code generation (positionKalmanFilter1D_types.h) */ diff --git a/apps/position_estimator_mc/codegen/randn.c b/apps/position_estimator_mc/codegen/randn.c deleted file mode 100755 index 51aef7b76..000000000 --- a/apps/position_estimator_mc/codegen/randn.c +++ /dev/null @@ -1,524 +0,0 @@ -/* - * randn.c - * - * Code generation for function 'randn' - * - * C source code generated on: Tue Feb 19 15:26:32 2013 - * - */ - -/* Include files */ -#include "rt_nonfinite.h" -#include "kalman_dlqe3.h" -#include "randn.h" -#include "kalman_dlqe3_data.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ -static uint32_T d_state[625]; - -/* Function Declarations */ -static real_T b_genrandu(uint32_T mt[625]); -static real_T eml_rand_mt19937ar(uint32_T e_state[625]); -static real_T eml_rand_shr3cong(uint32_T e_state[2]); -static void genrand_uint32_vector(uint32_T mt[625], uint32_T u[2]); -static void genrandu(uint32_T s, uint32_T *e_state, real_T *r); -static void twister_state_vector(uint32_T mt[625], real_T seed); - -/* Function Definitions */ -static real_T b_genrandu(uint32_T mt[625]) -{ - real_T r; - int32_T exitg1; - uint32_T u[2]; - boolean_T isvalid; - int32_T k; - boolean_T exitg2; - - /* This is a uniform (0,1) pseudorandom number generator based on: */ - /* */ - /* A C-program for MT19937, with initialization improved 2002/1/26. */ - /* Coded by Takuji Nishimura and Makoto Matsumoto. */ - /* */ - /* Copyright (C) 1997 - 2002, Makoto Matsumoto and Takuji Nishimura, */ - /* All rights reserved. */ - /* */ - /* Redistribution and use in source and binary forms, with or without */ - /* modification, are permitted provided that the following conditions */ - /* are met: */ - /* */ - /* 1. Redistributions of source code must retain the above copyright */ - /* notice, this list of conditions and the following disclaimer. */ - /* */ - /* 2. Redistributions in binary form must reproduce the above copyright */ - /* notice, this list of conditions and the following disclaimer in the */ - /* documentation and/or other materials provided with the distribution. */ - /* */ - /* 3. The names of its contributors may not be used to endorse or promote */ - /* products derived from this software without specific prior written */ - /* permission. */ - /* */ - /* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS */ - /* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT */ - /* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR */ - /* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR */ - /* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, */ - /* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, */ - /* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR */ - /* PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF */ - /* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING */ - /* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS */ - /* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ - do { - exitg1 = 0; - genrand_uint32_vector(mt, u); - r = 1.1102230246251565E-16 * ((real_T)(u[0] >> 5U) * 6.7108864E+7 + (real_T) - (u[1] >> 6U)); - if (r == 0.0) { - if ((mt[624] >= 1U) && (mt[624] < 625U)) { - isvalid = TRUE; - } else { - isvalid = FALSE; - } - - if (isvalid) { - isvalid = FALSE; - k = 1; - exitg2 = FALSE; - while ((exitg2 == FALSE) && (k < 625)) { - if (mt[k - 1] == 0U) { - k++; - } else { - isvalid = TRUE; - exitg2 = TRUE; - } - } - } - - if (!isvalid) { - twister_state_vector(mt, 5489.0); - } - } else { - exitg1 = 1; - } - } while (exitg1 == 0); - - return r; -} - -static real_T eml_rand_mt19937ar(uint32_T e_state[625]) -{ - real_T r; - int32_T exitg1; - uint32_T u32[2]; - int32_T i; - static const real_T dv1[257] = { 0.0, 0.215241895984875, 0.286174591792068, - 0.335737519214422, 0.375121332878378, 0.408389134611989, 0.43751840220787, - 0.46363433679088, 0.487443966139235, 0.50942332960209, 0.529909720661557, - 0.549151702327164, 0.567338257053817, 0.584616766106378, 0.601104617755991, - 0.61689699000775, 0.63207223638606, 0.646695714894993, 0.660822574244419, - 0.674499822837293, 0.687767892795788, 0.700661841106814, 0.713212285190975, - 0.725446140909999, 0.737387211434295, 0.749056662017815, 0.760473406430107, - 0.771654424224568, 0.782615023307232, 0.793369058840623, 0.80392911698997, - 0.814306670135215, 0.824512208752291, 0.834555354086381, 0.844444954909153, - 0.854189171008163, 0.863795545553308, 0.87327106808886, 0.882622229585165, - 0.891855070732941, 0.900975224461221, 0.909987953496718, 0.91889818364959, - 0.927710533401999, 0.936429340286575, 0.945058684468165, 0.953602409881086, - 0.96206414322304, 0.970447311064224, 0.978755155294224, 0.986990747099062, - 0.99515699963509, 1.00325667954467, 1.01129241744, 1.01926671746548, - 1.02718196603564, 1.03504043983344, 1.04284431314415, 1.05059566459093, - 1.05829648333067, 1.06594867476212, 1.07355406579244, 1.0811144097034, - 1.08863139065398, 1.09610662785202, 1.10354167942464, 1.11093804601357, - 1.11829717411934, 1.12562045921553, 1.13290924865253, 1.14016484436815, - 1.14738850542085, 1.15458145035993, 1.16174485944561, 1.16887987673083, - 1.17598761201545, 1.18306914268269, 1.19012551542669, 1.19715774787944, - 1.20416683014438, 1.2111537262437, 1.21811937548548, 1.22506469375653, - 1.23199057474614, 1.23889789110569, 1.24578749554863, 1.2526602218949, - 1.25951688606371, 1.26635828701823, 1.27318520766536, 1.27999841571382, - 1.28679866449324, 1.29358669373695, 1.30036323033084, 1.30712898903073, - 1.31388467315022, 1.32063097522106, 1.32736857762793, 1.33409815321936, - 1.3408203658964, 1.34753587118059, 1.35424531676263, 1.36094934303328, - 1.36764858359748, 1.37434366577317, 1.38103521107586, 1.38772383568998, - 1.39441015092814, 1.40109476367925, 1.4077782768464, 1.41446128977547, - 1.42114439867531, 1.42782819703026, 1.43451327600589, 1.44120022484872, - 1.44788963128058, 1.45458208188841, 1.46127816251028, 1.46797845861808, - 1.47468355569786, 1.48139403962819, 1.48811049705745, 1.49483351578049, - 1.50156368511546, 1.50830159628131, 1.51504784277671, 1.521803020761, - 1.52856772943771, 1.53534257144151, 1.542128153229, 1.54892508547417, - 1.55573398346918, 1.56255546753104, 1.56939016341512, 1.57623870273591, - 1.58310172339603, 1.58997987002419, 1.59687379442279, 1.60378415602609, - 1.61071162236983, 1.61765686957301, 1.62462058283303, 1.63160345693487, - 1.63860619677555, 1.64562951790478, 1.65267414708306, 1.65974082285818, - 1.66683029616166, 1.67394333092612, 1.68108070472517, 1.68824320943719, - 1.69543165193456, 1.70264685479992, 1.7098896570713, 1.71716091501782, - 1.72446150294804, 1.73179231405296, 1.73915426128591, 1.74654827828172, - 1.75397532031767, 1.76143636531891, 1.76893241491127, 1.77646449552452, - 1.78403365954944, 1.79164098655216, 1.79928758454972, 1.80697459135082, - 1.81470317596628, 1.82247454009388, 1.83028991968276, 1.83815058658281, - 1.84605785028518, 1.8540130597602, 1.86201760539967, 1.87007292107127, - 1.878180486293, 1.88634182853678, 1.8945585256707, 1.90283220855043, - 1.91116456377125, 1.91955733659319, 1.92801233405266, 1.93653142827569, - 1.94511656000868, 1.95376974238465, 1.96249306494436, 1.97128869793366, - 1.98015889690048, 1.98910600761744, 1.99813247135842, 2.00724083056053, - 2.0164337349062, 2.02571394786385, 2.03508435372962, 2.04454796521753, - 2.05410793165065, 2.06376754781173, 2.07353026351874, 2.0833996939983, - 2.09337963113879, 2.10347405571488, 2.11368715068665, 2.12402331568952, - 2.13448718284602, 2.14508363404789, 2.15581781987674, 2.16669518035431, - 2.17772146774029, 2.18890277162636, 2.20024554661128, 2.21175664288416, - 2.22344334009251, 2.23531338492992, 2.24737503294739, 2.25963709517379, - 2.27210899022838, 2.28480080272449, 2.29772334890286, 2.31088825060137, - 2.32430801887113, 2.33799614879653, 2.35196722737914, 2.36623705671729, - 2.38082279517208, 2.39574311978193, 2.41101841390112, 2.42667098493715, - 2.44272531820036, 2.4592083743347, 2.47614993967052, 2.49358304127105, - 2.51154444162669, 2.53007523215985, 2.54922155032478, 2.56903545268184, - 2.58957598670829, 2.61091051848882, 2.63311639363158, 2.65628303757674, - 2.68051464328574, 2.70593365612306, 2.73268535904401, 2.76094400527999, - 2.79092117400193, 2.82287739682644, 2.85713873087322, 2.89412105361341, - 2.93436686720889, 2.97860327988184, 3.02783779176959, 3.08352613200214, - 3.147889289518, 3.2245750520478, 3.32024473383983, 3.44927829856143, - 3.65415288536101, 3.91075795952492 }; - - real_T u; - static const real_T dv2[257] = { 1.0, 0.977101701267673, 0.959879091800108, - 0.9451989534423, 0.932060075959231, 0.919991505039348, 0.908726440052131, - 0.898095921898344, 0.887984660755834, 0.878309655808918, 0.869008688036857, - 0.860033621196332, 0.851346258458678, 0.842915653112205, 0.834716292986884, - 0.826726833946222, 0.818929191603703, 0.811307874312656, 0.803849483170964, - 0.796542330422959, 0.789376143566025, 0.782341832654803, 0.775431304981187, - 0.768637315798486, 0.761953346836795, 0.755373506507096, 0.748892447219157, - 0.742505296340151, 0.736207598126863, 0.729995264561476, 0.72386453346863, - 0.717811932630722, 0.711834248878248, 0.705928501332754, 0.700091918136512, - 0.694321916126117, 0.688616083004672, 0.682972161644995, 0.677388036218774, - 0.671861719897082, 0.66639134390875, 0.660975147776663, 0.655611470579697, - 0.650298743110817, 0.645035480820822, 0.639820277453057, 0.634651799287624, - 0.629528779924837, 0.624450015547027, 0.619414360605834, 0.614420723888914, - 0.609468064925773, 0.604555390697468, 0.599681752619125, 0.594846243767987, - 0.590047996332826, 0.585286179263371, 0.580559996100791, 0.575868682972354, - 0.571211506735253, 0.566587763256165, 0.561996775814525, 0.557437893618766, - 0.552910490425833, 0.548413963255266, 0.543947731190026, 0.539511234256952, - 0.535103932380458, 0.530725304403662, 0.526374847171684, 0.522052074672322, - 0.517756517229756, 0.513487720747327, 0.509245245995748, 0.505028667943468, - 0.500837575126149, 0.49667156905249, 0.492530263643869, 0.488413284705458, - 0.484320269426683, 0.480250865909047, 0.476204732719506, 0.47218153846773, - 0.468180961405694, 0.464202689048174, 0.460246417812843, 0.456311852678716, - 0.452398706861849, 0.448506701507203, 0.444635565395739, 0.440785034665804, - 0.436954852547985, 0.433144769112652, 0.429354541029442, 0.425583931338022, - 0.421832709229496, 0.418100649837848, 0.414387534040891, 0.410693148270188, - 0.407017284329473, 0.403359739221114, 0.399720314980197, 0.396098818515832, - 0.392495061459315, 0.388908860018789, 0.385340034840077, 0.381788410873393, - 0.378253817245619, 0.374736087137891, 0.371235057668239, 0.367750569779032, - 0.364282468129004, 0.360830600989648, 0.357394820145781, 0.353974980800077, - 0.350570941481406, 0.347182563956794, 0.343809713146851, 0.340452257044522, - 0.337110066637006, 0.333783015830718, 0.330470981379163, 0.327173842813601, - 0.323891482376391, 0.320623784956905, 0.317370638029914, 0.314131931596337, - 0.310907558126286, 0.307697412504292, 0.30450139197665, 0.301319396100803, - 0.298151326696685, 0.294997087799962, 0.291856585617095, 0.288729728482183, - 0.285616426815502, 0.282516593083708, 0.279430141761638, 0.276356989295668, - 0.273297054068577, 0.270250256365875, 0.267216518343561, 0.264195763997261, - 0.261187919132721, 0.258192911337619, 0.255210669954662, 0.252241126055942, - 0.249284212418529, 0.246339863501264, 0.24340801542275, 0.240488605940501, - 0.237581574431238, 0.23468686187233, 0.231804410824339, 0.228934165414681, - 0.226076071322381, 0.223230075763918, 0.220396127480152, 0.217574176724331, - 0.214764175251174, 0.211966076307031, 0.209179834621125, 0.206405406397881, - 0.203642749310335, 0.200891822494657, 0.198152586545776, 0.195425003514135, - 0.192709036903589, 0.190004651670465, 0.187311814223801, 0.1846304924268, - 0.181960655599523, 0.179302274522848, 0.176655321443735, 0.174019770081839, - 0.171395595637506, 0.168782774801212, 0.166181285764482, 0.163591108232366, - 0.161012223437511, 0.158444614155925, 0.15588826472448, 0.153343161060263, - 0.150809290681846, 0.148286642732575, 0.145775208005994, 0.143274978973514, - 0.140785949814445, 0.138308116448551, 0.135841476571254, 0.133386029691669, - 0.130941777173644, 0.12850872228, 0.126086870220186, 0.123676228201597, - 0.12127680548479, 0.11888861344291, 0.116511665625611, 0.114145977827839, - 0.111791568163838, 0.109448457146812, 0.107116667774684, 0.104796225622487, - 0.102487158941935, 0.10018949876881, 0.0979032790388625, 0.095628536713009, - 0.093365311912691, 0.0911136480663738, 0.0888735920682759, - 0.0866451944505581, 0.0844285095703535, 0.082223595813203, - 0.0800305158146631, 0.0778493367020961, 0.0756801303589272, - 0.0735229737139814, 0.0713779490588905, 0.0692451443970068, - 0.0671246538277886, 0.065016577971243, 0.0629210244377582, 0.06083810834954, - 0.0587679529209339, 0.0567106901062031, 0.0546664613248891, - 0.0526354182767924, 0.0506177238609479, 0.0486135532158687, - 0.0466230949019305, 0.0446465522512946, 0.0426841449164746, - 0.0407361106559411, 0.0388027074045262, 0.0368842156885674, - 0.0349809414617162, 0.0330932194585786, 0.0312214171919203, - 0.0293659397581334, 0.0275272356696031, 0.0257058040085489, - 0.0239022033057959, 0.0221170627073089, 0.0203510962300445, - 0.0186051212757247, 0.0168800831525432, 0.0151770883079353, - 0.0134974506017399, 0.0118427578579079, 0.0102149714397015, - 0.00861658276939875, 0.00705087547137324, 0.00552240329925101, - 0.00403797259336304, 0.00260907274610216, 0.0012602859304986, - 0.000477467764609386 }; - - real_T x; - do { - exitg1 = 0; - genrand_uint32_vector(e_state, u32); - i = (int32_T)((u32[1] >> 24U) + 1U); - r = (((real_T)(u32[0] >> 3U) * 1.6777216E+7 + (real_T)((int32_T)u32[1] & - 16777215)) * 2.2204460492503131E-16 - 1.0) * dv1[i]; - if (fabs(r) <= dv1[i - 1]) { - exitg1 = 1; - } else if (i < 256) { - u = b_genrandu(e_state); - if (dv2[i] + u * (dv2[i - 1] - dv2[i]) < exp(-0.5 * r * r)) { - exitg1 = 1; - } - } else { - do { - u = b_genrandu(e_state); - x = log(u) * 0.273661237329758; - u = b_genrandu(e_state); - } while (!(-2.0 * log(u) > x * x)); - - if (r < 0.0) { - r = x - 3.65415288536101; - } else { - r = 3.65415288536101 - x; - } - - exitg1 = 1; - } - } while (exitg1 == 0); - - return r; -} - -static real_T eml_rand_shr3cong(uint32_T e_state[2]) -{ - real_T r; - uint32_T icng; - uint32_T jsr; - uint32_T ui; - int32_T j; - static const real_T dv0[65] = { 0.340945, 0.4573146, 0.5397793, 0.6062427, - 0.6631691, 0.7136975, 0.7596125, 0.8020356, 0.8417227, 0.8792102, 0.9148948, - 0.9490791, 0.9820005, 1.0138492, 1.044781, 1.0749254, 1.1043917, 1.1332738, - 1.161653, 1.189601, 1.2171815, 1.2444516, 1.2714635, 1.298265, 1.3249008, - 1.3514125, 1.3778399, 1.4042211, 1.4305929, 1.4569915, 1.4834527, 1.5100122, - 1.5367061, 1.5635712, 1.5906454, 1.617968, 1.6455802, 1.6735255, 1.7018503, - 1.7306045, 1.7598422, 1.7896223, 1.8200099, 1.851077, 1.8829044, 1.9155831, - 1.9492166, 1.9839239, 2.0198431, 2.0571356, 2.095993, 2.136645, 2.1793713, - 2.2245175, 2.2725186, 2.3239338, 2.3795008, 2.4402218, 2.5075117, 2.5834658, - 2.6713916, 2.7769942, 2.7769942, 2.7769942, 2.7769942 }; - - real_T x; - real_T y; - real_T s; - icng = 69069U * e_state[0] + 1234567U; - jsr = e_state[1] ^ e_state[1] << 13U; - jsr ^= jsr >> 17U; - jsr ^= jsr << 5U; - ui = icng + jsr; - j = (int32_T)(ui & 63U); - r = (real_T)(int32_T)ui * 4.6566128730773926E-10 * dv0[j + 1]; - if (fabs(r) <= dv0[j]) { - } else { - x = (fabs(r) - dv0[j]) / (dv0[j + 1] - dv0[j]); - icng = 69069U * icng + 1234567U; - jsr ^= jsr << 13U; - jsr ^= jsr >> 17U; - jsr ^= jsr << 5U; - y = (real_T)(int32_T)(icng + jsr) * 2.328306436538696E-10; - s = x + (0.5 + y); - if (s > 1.301198) { - if (r < 0.0) { - r = 0.4878992 * x - 0.4878992; - } else { - r = 0.4878992 - 0.4878992 * x; - } - } else if (s <= 0.9689279) { - } else { - s = 0.4878992 * x; - x = 0.4878992 - 0.4878992 * x; - if (0.5 + y > 12.67706 - 12.37586 * exp(-0.5 * (0.4878992 - s) * x)) { - if (r < 0.0) { - r = -(0.4878992 - s); - } else { - r = 0.4878992 - s; - } - } else if (exp(-0.5 * dv0[j + 1] * dv0[j + 1]) + (0.5 + y) * 0.01958303 / - dv0[j + 1] <= exp(-0.5 * r * r)) { - } else { - do { - icng = 69069U * icng + 1234567U; - jsr ^= jsr << 13U; - jsr ^= jsr >> 17U; - jsr ^= jsr << 5U; - x = log(0.5 + (real_T)(int32_T)(icng + jsr) * 2.328306436538696E-10) / - 2.776994; - icng = 69069U * icng + 1234567U; - jsr ^= jsr << 13U; - jsr ^= jsr >> 17U; - jsr ^= jsr << 5U; - } while (!(-2.0 * log(0.5 + (real_T)(int32_T)(icng + jsr) * - 2.328306436538696E-10) > x * x)); - - if (r < 0.0) { - r = x - 2.776994; - } else { - r = 2.776994 - x; - } - } - } - } - - e_state[0] = icng; - e_state[1] = jsr; - return r; -} - -static void genrand_uint32_vector(uint32_T mt[625], uint32_T u[2]) -{ - int32_T i; - uint32_T mti; - int32_T kk; - uint32_T y; - uint32_T b_y; - uint32_T c_y; - uint32_T d_y; - for (i = 0; i < 2; i++) { - u[i] = 0U; - } - - for (i = 0; i < 2; i++) { - mti = mt[624] + 1U; - if (mti >= 625U) { - for (kk = 0; kk < 227; kk++) { - y = (mt[kk] & 2147483648U) | (mt[1 + kk] & 2147483647U); - if ((int32_T)(y & 1U) == 0) { - b_y = y >> 1U; - } else { - b_y = y >> 1U ^ 2567483615U; - } - - mt[kk] = mt[397 + kk] ^ b_y; - } - - for (kk = 0; kk < 396; kk++) { - y = (mt[227 + kk] & 2147483648U) | (mt[228 + kk] & 2147483647U); - if ((int32_T)(y & 1U) == 0) { - c_y = y >> 1U; - } else { - c_y = y >> 1U ^ 2567483615U; - } - - mt[227 + kk] = mt[kk] ^ c_y; - } - - y = (mt[623] & 2147483648U) | (mt[0] & 2147483647U); - if ((int32_T)(y & 1U) == 0) { - d_y = y >> 1U; - } else { - d_y = y >> 1U ^ 2567483615U; - } - - mt[623] = mt[396] ^ d_y; - mti = 1U; - } - - y = mt[(int32_T)mti - 1]; - mt[624] = mti; - y ^= y >> 11U; - y ^= y << 7U & 2636928640U; - y ^= y << 15U & 4022730752U; - y ^= y >> 18U; - u[i] = y; - } -} - -static void genrandu(uint32_T s, uint32_T *e_state, real_T *r) -{ - int32_T hi; - uint32_T test1; - uint32_T test2; - hi = (int32_T)(s / 127773U); - test1 = 16807U * (s - (uint32_T)hi * 127773U); - test2 = 2836U * (uint32_T)hi; - if (test1 < test2) { - *e_state = (test1 - test2) + 2147483647U; - } else { - *e_state = test1 - test2; - } - - *r = (real_T)*e_state * 4.6566128752457969E-10; -} - -static void twister_state_vector(uint32_T mt[625], real_T seed) -{ - uint32_T r; - int32_T mti; - if (seed < 4.294967296E+9) { - if (seed >= 0.0) { - r = (uint32_T)seed; - } else { - r = 0U; - } - } else if (seed >= 4.294967296E+9) { - r = MAX_uint32_T; - } else { - r = 0U; - } - - mt[0] = r; - for (mti = 0; mti < 623; mti++) { - r = (r ^ r >> 30U) * 1812433253U + (uint32_T)(1 + mti); - mt[1 + mti] = r; - } - - mt[624] = 624U; -} - -real_T randn(void) -{ - real_T r; - uint32_T e_state; - real_T t; - real_T b_r; - uint32_T f_state; - if (method == 0U) { - if (b_method == 4U) { - do { - genrandu(b_state, &e_state, &r); - genrandu(e_state, &b_state, &t); - b_r = 2.0 * r - 1.0; - t = 2.0 * t - 1.0; - t = t * t + b_r * b_r; - } while (!(t <= 1.0)); - - r = (2.0 * r - 1.0) * sqrt(-2.0 * log(t) / t); - } else if (b_method == 5U) { - r = eml_rand_shr3cong(c_state); - } else { - if (!state_not_empty) { - memset(&d_state[0], 0, 625U * sizeof(uint32_T)); - twister_state_vector(d_state, 5489.0); - state_not_empty = TRUE; - } - - r = eml_rand_mt19937ar(d_state); - } - } else if (method == 4U) { - e_state = state[0]; - do { - genrandu(e_state, &f_state, &r); - genrandu(f_state, &e_state, &t); - b_r = 2.0 * r - 1.0; - t = 2.0 * t - 1.0; - t = t * t + b_r * b_r; - } while (!(t <= 1.0)); - - state[0] = e_state; - r = (2.0 * r - 1.0) * sqrt(-2.0 * log(t) / t); - } else { - r = eml_rand_shr3cong(state); - } - - return r; -} - -/* End of code generation (randn.c) */ diff --git a/apps/position_estimator_mc/codegen/randn.h b/apps/position_estimator_mc/codegen/randn.h deleted file mode 100755 index 8a2aa9277..000000000 --- a/apps/position_estimator_mc/codegen/randn.h +++ /dev/null @@ -1,33 +0,0 @@ -/* - * randn.h - * - * Code generation for function 'randn' - * - * C source code generated on: Tue Feb 19 15:26:32 2013 - * - */ - -#ifndef __RANDN_H__ -#define __RANDN_H__ -/* Include files */ -#include -#include -#include -#include -#include "rt_nonfinite.h" - -#include "rtwtypes.h" -#include "kalman_dlqe3_types.h" - -/* Type Definitions */ - -/* Named Constants */ - -/* Variable Declarations */ - -/* Variable Definitions */ - -/* Function Declarations */ -extern real_T randn(void); -#endif -/* End of code generation (randn.h) */ diff --git a/apps/position_estimator_mc/codegen/rtGetInf.c b/apps/position_estimator_mc/codegen/rtGetInf.c deleted file mode 100755 index c6fa7884e..000000000 --- a/apps/position_estimator_mc/codegen/rtGetInf.c +++ /dev/null @@ -1,139 +0,0 @@ -/* - * rtGetInf.c - * - * Code generation for function 'kalman_dlqe2' - * - * C source code generated on: Thu Feb 14 12:52:29 2013 - * - */ - -/* - * Abstract: - * MATLAB for code generation function to initialize non-finite, Inf and MinusInf - */ -#include "rtGetInf.h" -#define NumBitsPerChar 8U - -/* Function: rtGetInf ================================================== - * Abstract: - * Initialize rtInf needed by the generated code. - * Inf is initialized as non-signaling. Assumes IEEE. - */ -real_T rtGetInf(void) -{ - size_t bitsPerReal = sizeof(real_T) * (NumBitsPerChar); - real_T inf = 0.0; - if (bitsPerReal == 32U) { - inf = rtGetInfF(); - } else { - uint16_T one = 1U; - enum { - LittleEndian, - BigEndian - } machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian; - switch (machByteOrder) { - case LittleEndian: - { - union { - LittleEndianIEEEDouble bitVal; - real_T fltVal; - } tmpVal; - - tmpVal.bitVal.words.wordH = 0x7FF00000U; - tmpVal.bitVal.words.wordL = 0x00000000U; - inf = tmpVal.fltVal; - break; - } - - case BigEndian: - { - union { - BigEndianIEEEDouble bitVal; - real_T fltVal; - } tmpVal; - - tmpVal.bitVal.words.wordH = 0x7FF00000U; - tmpVal.bitVal.words.wordL = 0x00000000U; - inf = tmpVal.fltVal; - break; - } - } - } - - return inf; -} - -/* Function: rtGetInfF ================================================== - * Abstract: - * Initialize rtInfF needed by the generated code. - * Inf is initialized as non-signaling. Assumes IEEE. - */ -real32_T rtGetInfF(void) -{ - IEEESingle infF; - infF.wordL.wordLuint = 0x7F800000U; - return infF.wordL.wordLreal; -} - -/* Function: rtGetMinusInf ================================================== - * Abstract: - * Initialize rtMinusInf needed by the generated code. - * Inf is initialized as non-signaling. Assumes IEEE. - */ -real_T rtGetMinusInf(void) -{ - size_t bitsPerReal = sizeof(real_T) * (NumBitsPerChar); - real_T minf = 0.0; - if (bitsPerReal == 32U) { - minf = rtGetMinusInfF(); - } else { - uint16_T one = 1U; - enum { - LittleEndian, - BigEndian - } machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian; - switch (machByteOrder) { - case LittleEndian: - { - union { - LittleEndianIEEEDouble bitVal; - real_T fltVal; - } tmpVal; - - tmpVal.bitVal.words.wordH = 0xFFF00000U; - tmpVal.bitVal.words.wordL = 0x00000000U; - minf = tmpVal.fltVal; - break; - } - - case BigEndian: - { - union { - BigEndianIEEEDouble bitVal; - real_T fltVal; - } tmpVal; - - tmpVal.bitVal.words.wordH = 0xFFF00000U; - tmpVal.bitVal.words.wordL = 0x00000000U; - minf = tmpVal.fltVal; - break; - } - } - } - - return minf; -} - -/* Function: rtGetMinusInfF ================================================== - * Abstract: - * Initialize rtMinusInfF needed by the generated code. - * Inf is initialized as non-signaling. Assumes IEEE. - */ -real32_T rtGetMinusInfF(void) -{ - IEEESingle minfF; - minfF.wordL.wordLuint = 0xFF800000U; - return minfF.wordL.wordLreal; -} - -/* End of code generation (rtGetInf.c) */ diff --git a/apps/position_estimator_mc/codegen/rtGetInf.h b/apps/position_estimator_mc/codegen/rtGetInf.h deleted file mode 100755 index e7b2a2d1c..000000000 --- a/apps/position_estimator_mc/codegen/rtGetInf.h +++ /dev/null @@ -1,23 +0,0 @@ -/* - * rtGetInf.h - * - * Code generation for function 'kalman_dlqe2' - * - * C source code generated on: Thu Feb 14 12:52:29 2013 - * - */ - -#ifndef __RTGETINF_H__ -#define __RTGETINF_H__ - -#include -#include "rtwtypes.h" -#include "rt_nonfinite.h" - -extern real_T rtGetInf(void); -extern real32_T rtGetInfF(void); -extern real_T rtGetMinusInf(void); -extern real32_T rtGetMinusInfF(void); - -#endif -/* End of code generation (rtGetInf.h) */ diff --git a/apps/position_estimator_mc/codegen/rtGetNaN.c b/apps/position_estimator_mc/codegen/rtGetNaN.c deleted file mode 100755 index 552770149..000000000 --- a/apps/position_estimator_mc/codegen/rtGetNaN.c +++ /dev/null @@ -1,96 +0,0 @@ -/* - * rtGetNaN.c - * - * Code generation for function 'kalman_dlqe2' - * - * C source code generated on: Thu Feb 14 12:52:29 2013 - * - */ - -/* - * Abstract: - * MATLAB for code generation function to initialize non-finite, NaN - */ -#include "rtGetNaN.h" -#define NumBitsPerChar 8U - -/* Function: rtGetNaN ================================================== - * Abstract: - * Initialize rtNaN needed by the generated code. - * NaN is initialized as non-signaling. Assumes IEEE. - */ -real_T rtGetNaN(void) -{ - size_t bitsPerReal = sizeof(real_T) * (NumBitsPerChar); - real_T nan = 0.0; - if (bitsPerReal == 32U) { - nan = rtGetNaNF(); - } else { - uint16_T one = 1U; - enum { - LittleEndian, - BigEndian - } machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian; - switch (machByteOrder) { - case LittleEndian: - { - union { - LittleEndianIEEEDouble bitVal; - real_T fltVal; - } tmpVal; - - tmpVal.bitVal.words.wordH = 0xFFF80000U; - tmpVal.bitVal.words.wordL = 0x00000000U; - nan = tmpVal.fltVal; - break; - } - - case BigEndian: - { - union { - BigEndianIEEEDouble bitVal; - real_T fltVal; - } tmpVal; - - tmpVal.bitVal.words.wordH = 0x7FFFFFFFU; - tmpVal.bitVal.words.wordL = 0xFFFFFFFFU; - nan = tmpVal.fltVal; - break; - } - } - } - - return nan; -} - -/* Function: rtGetNaNF ================================================== - * Abstract: - * Initialize rtNaNF needed by the generated code. - * NaN is initialized as non-signaling. Assumes IEEE. - */ -real32_T rtGetNaNF(void) -{ - IEEESingle nanF = { { 0 } }; - uint16_T one = 1U; - enum { - LittleEndian, - BigEndian - } machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian; - switch (machByteOrder) { - case LittleEndian: - { - nanF.wordL.wordLuint = 0xFFC00000U; - break; - } - - case BigEndian: - { - nanF.wordL.wordLuint = 0x7FFFFFFFU; - break; - } - } - - return nanF.wordL.wordLreal; -} - -/* End of code generation (rtGetNaN.c) */ diff --git a/apps/position_estimator_mc/codegen/rtGetNaN.h b/apps/position_estimator_mc/codegen/rtGetNaN.h deleted file mode 100755 index 5acdd9790..000000000 --- a/apps/position_estimator_mc/codegen/rtGetNaN.h +++ /dev/null @@ -1,21 +0,0 @@ -/* - * rtGetNaN.h - * - * Code generation for function 'kalman_dlqe2' - * - * C source code generated on: Thu Feb 14 12:52:29 2013 - * - */ - -#ifndef __RTGETNAN_H__ -#define __RTGETNAN_H__ - -#include -#include "rtwtypes.h" -#include "rt_nonfinite.h" - -extern real_T rtGetNaN(void); -extern real32_T rtGetNaNF(void); - -#endif -/* End of code generation (rtGetNaN.h) */ diff --git a/apps/position_estimator_mc/codegen/rt_nonfinite.c b/apps/position_estimator_mc/codegen/rt_nonfinite.c deleted file mode 100755 index de121c4a0..000000000 --- a/apps/position_estimator_mc/codegen/rt_nonfinite.c +++ /dev/null @@ -1,87 +0,0 @@ -/* - * rt_nonfinite.c - * - * Code generation for function 'kalman_dlqe2' - * - * C source code generated on: Thu Feb 14 12:52:29 2013 - * - */ - -/* - * Abstract: - * MATLAB for code generation function to initialize non-finites, - * (Inf, NaN and -Inf). - */ -#include "rt_nonfinite.h" -#include "rtGetNaN.h" -#include "rtGetInf.h" - -real_T rtInf; -real_T rtMinusInf; -real_T rtNaN; -real32_T rtInfF; -real32_T rtMinusInfF; -real32_T rtNaNF; - -/* Function: rt_InitInfAndNaN ================================================== - * Abstract: - * Initialize the rtInf, rtMinusInf, and rtNaN needed by the - * generated code. NaN is initialized as non-signaling. Assumes IEEE. - */ -void rt_InitInfAndNaN(size_t realSize) -{ - (void) (realSize); - rtNaN = rtGetNaN(); - rtNaNF = rtGetNaNF(); - rtInf = rtGetInf(); - rtInfF = rtGetInfF(); - rtMinusInf = rtGetMinusInf(); - rtMinusInfF = rtGetMinusInfF(); -} - -/* Function: rtIsInf ================================================== - * Abstract: - * Test if value is infinite - */ -boolean_T rtIsInf(real_T value) -{ - return ((value==rtInf || value==rtMinusInf) ? 1U : 0U); -} - -/* Function: rtIsInfF ================================================= - * Abstract: - * Test if single-precision value is infinite - */ -boolean_T rtIsInfF(real32_T value) -{ - return(((value)==rtInfF || (value)==rtMinusInfF) ? 1U : 0U); -} - -/* Function: rtIsNaN ================================================== - * Abstract: - * Test if value is not a number - */ -boolean_T rtIsNaN(real_T value) -{ -#if defined(_MSC_VER) && (_MSC_VER <= 1200) - return _isnan(value)? TRUE:FALSE; -#else - return (value!=value)? 1U:0U; -#endif -} - -/* Function: rtIsNaNF ================================================= - * Abstract: - * Test if single-precision value is not a number - */ -boolean_T rtIsNaNF(real32_T value) -{ -#if defined(_MSC_VER) && (_MSC_VER <= 1200) - return _isnan((real_T)value)? true:false; -#else - return (value!=value)? 1U:0U; -#endif -} - - -/* End of code generation (rt_nonfinite.c) */ diff --git a/apps/position_estimator_mc/codegen/rt_nonfinite.h b/apps/position_estimator_mc/codegen/rt_nonfinite.h deleted file mode 100755 index 3bbcfd087..000000000 --- a/apps/position_estimator_mc/codegen/rt_nonfinite.h +++ /dev/null @@ -1,53 +0,0 @@ -/* - * rt_nonfinite.h - * - * Code generation for function 'kalman_dlqe2' - * - * C source code generated on: Thu Feb 14 12:52:29 2013 - * - */ - -#ifndef __RT_NONFINITE_H__ -#define __RT_NONFINITE_H__ - -#if defined(_MSC_VER) && (_MSC_VER <= 1200) -#include -#endif -#include -#include "rtwtypes.h" - -extern real_T rtInf; -extern real_T rtMinusInf; -extern real_T rtNaN; -extern real32_T rtInfF; -extern real32_T rtMinusInfF; -extern real32_T rtNaNF; -extern void rt_InitInfAndNaN(size_t realSize); -extern boolean_T rtIsInf(real_T value); -extern boolean_T rtIsInfF(real32_T value); -extern boolean_T rtIsNaN(real_T value); -extern boolean_T rtIsNaNF(real32_T value); - -typedef struct { - struct { - uint32_T wordH; - uint32_T wordL; - } words; -} BigEndianIEEEDouble; - -typedef struct { - struct { - uint32_T wordL; - uint32_T wordH; - } words; -} LittleEndianIEEEDouble; - -typedef struct { - union { - real32_T wordLreal; - uint32_T wordLuint; - } wordL; -} IEEESingle; - -#endif -/* End of code generation (rt_nonfinite.h) */ diff --git a/apps/position_estimator_mc/codegen/rtwtypes.h b/apps/position_estimator_mc/codegen/rtwtypes.h deleted file mode 100755 index 8916e8572..000000000 --- a/apps/position_estimator_mc/codegen/rtwtypes.h +++ /dev/null @@ -1,159 +0,0 @@ -/* - * rtwtypes.h - * - * Code generation for function 'kalman_dlqe2' - * - * C source code generated on: Thu Feb 14 12:52:29 2013 - * - */ - -#ifndef __RTWTYPES_H__ -#define __RTWTYPES_H__ -#ifndef TRUE -# define TRUE (1U) -#endif -#ifndef FALSE -# define FALSE (0U) -#endif -#ifndef __TMWTYPES__ -#define __TMWTYPES__ - -#include - -/*=======================================================================* - * Target hardware information - * Device type: Generic->MATLAB Host Computer - * Number of bits: char: 8 short: 16 int: 32 - * long: 32 native word size: 32 - * Byte ordering: LittleEndian - * Signed integer division rounds to: Undefined - * Shift right on a signed integer as arithmetic shift: off - *=======================================================================*/ - -/*=======================================================================* - * Fixed width word size data types: * - * int8_T, int16_T, int32_T - signed 8, 16, or 32 bit integers * - * uint8_T, uint16_T, uint32_T - unsigned 8, 16, or 32 bit integers * - * real32_T, real64_T - 32 and 64 bit floating point numbers * - *=======================================================================*/ - -typedef signed char int8_T; -typedef unsigned char uint8_T; -typedef short int16_T; -typedef unsigned short uint16_T; -typedef int int32_T; -typedef unsigned int uint32_T; -typedef float real32_T; -typedef double real64_T; - -/*===========================================================================* - * Generic type definitions: real_T, time_T, boolean_T, int_T, uint_T, * - * ulong_T, char_T and byte_T. * - *===========================================================================*/ - -typedef double real_T; -typedef double time_T; -typedef unsigned char boolean_T; -typedef int int_T; -typedef unsigned int uint_T; -typedef unsigned long ulong_T; -typedef char char_T; -typedef char_T byte_T; - -/*===========================================================================* - * Complex number type definitions * - *===========================================================================*/ -#define CREAL_T - typedef struct { - real32_T re; - real32_T im; - } creal32_T; - - typedef struct { - real64_T re; - real64_T im; - } creal64_T; - - typedef struct { - real_T re; - real_T im; - } creal_T; - - typedef struct { - int8_T re; - int8_T im; - } cint8_T; - - typedef struct { - uint8_T re; - uint8_T im; - } cuint8_T; - - typedef struct { - int16_T re; - int16_T im; - } cint16_T; - - typedef struct { - uint16_T re; - uint16_T im; - } cuint16_T; - - typedef struct { - int32_T re; - int32_T im; - } cint32_T; - - typedef struct { - uint32_T re; - uint32_T im; - } cuint32_T; - - -/*=======================================================================* - * Min and Max: * - * int8_T, int16_T, int32_T - signed 8, 16, or 32 bit integers * - * uint8_T, uint16_T, uint32_T - unsigned 8, 16, or 32 bit integers * - *=======================================================================*/ - -#define MAX_int8_T ((int8_T)(127)) -#define MIN_int8_T ((int8_T)(-128)) -#define MAX_uint8_T ((uint8_T)(255)) -#define MIN_uint8_T ((uint8_T)(0)) -#define MAX_int16_T ((int16_T)(32767)) -#define MIN_int16_T ((int16_T)(-32768)) -#define MAX_uint16_T ((uint16_T)(65535)) -#define MIN_uint16_T ((uint16_T)(0)) -#define MAX_int32_T ((int32_T)(2147483647)) -#define MIN_int32_T ((int32_T)(-2147483647-1)) -#define MAX_uint32_T ((uint32_T)(0xFFFFFFFFU)) -#define MIN_uint32_T ((uint32_T)(0)) - -/* Logical type definitions */ -#if !defined(__cplusplus) && !defined(__true_false_are_keywords) -# ifndef false -# define false (0U) -# endif -# ifndef true -# define true (1U) -# endif -#endif - -/* - * MATLAB for code generation assumes the code is compiled on a target using a 2's compliment representation - * for signed integer values. - */ -#if ((SCHAR_MIN + 1) != -SCHAR_MAX) -#error "This code must be compiled using a 2's complement representation for signed integer values" -#endif - -/* - * Maximum length of a MATLAB identifier (function/variable) - * including the null-termination character. Referenced by - * rt_logging.c and rt_matrx.c. - */ -#define TMW_NAME_LENGTH_MAX 64 - -#endif -#endif -/* End of code generation (rtwtypes.h) */ diff --git a/apps/position_estimator_mc/kalman_dlqe1.m b/apps/position_estimator_mc/kalman_dlqe1.m deleted file mode 100755 index ff939d029..000000000 --- a/apps/position_estimator_mc/kalman_dlqe1.m +++ /dev/null @@ -1,3 +0,0 @@ -function [x_aposteriori] = kalman_dlqe1(A,C,K,x_aposteriori_k,z) - x_aposteriori=A*x_aposteriori_k+K*(z-C*A*x_aposteriori_k); -end \ No newline at end of file diff --git a/apps/position_estimator_mc/kalman_dlqe2.m b/apps/position_estimator_mc/kalman_dlqe2.m deleted file mode 100755 index 2a50164ef..000000000 --- a/apps/position_estimator_mc/kalman_dlqe2.m +++ /dev/null @@ -1,9 +0,0 @@ -function [x_aposteriori] = kalman_dlqe2(dt,k1,k2,k3,x_aposteriori_k,z) - st = 1/2*dt^2; - A = [1,dt,st; - 0,1,dt; - 0,0,1]; - C=[1,0,0]; - K = [k1;k2;k3]; - x_aposteriori=A*x_aposteriori_k+K*(z-C*A*x_aposteriori_k); -end \ No newline at end of file diff --git a/apps/position_estimator_mc/kalman_dlqe3.m b/apps/position_estimator_mc/kalman_dlqe3.m deleted file mode 100755 index 4c6421b7f..000000000 --- a/apps/position_estimator_mc/kalman_dlqe3.m +++ /dev/null @@ -1,17 +0,0 @@ -function [x_aposteriori] = kalman_dlqe3(dt,k1,k2,k3,x_aposteriori_k,z,posUpdate,addNoise,sigma) - st = 1/2*dt^2; - A = [1,dt,st; - 0,1,dt; - 0,0,1]; - C=[1,0,0]; - K = [k1;k2;k3]; - if addNoise==1 - noise = sigma*randn(1,1); - z = z + noise; - end - if(posUpdate) - x_aposteriori=A*x_aposteriori_k+K*(z-C*A*x_aposteriori_k); - else - x_aposteriori=A*x_aposteriori_k; - end -end \ No newline at end of file diff --git a/apps/position_estimator_mc/positionKalmanFilter1D.m b/apps/position_estimator_mc/positionKalmanFilter1D.m deleted file mode 100755 index 144ff8c7c..000000000 --- a/apps/position_estimator_mc/positionKalmanFilter1D.m +++ /dev/null @@ -1,19 +0,0 @@ -function [x_aposteriori,P_aposteriori]=positionKalmanFilter1D(A,B,C,x_aposteriori_k,P_aposteriori_k,u,z,gps_update,Q,R,thresh,decay) -%prediction - x_apriori=A*x_aposteriori_k+B*u; - P_apriori=A*P_aposteriori_k*A'+Q; - if abs(u) - * Tobias Naegeli -* Lorenz Meier - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file position_estimator_main.c - * Model-identification based position estimator for multirotors - */ - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include - -#include "position_estimator_mc_params.h" -//#include -#include "codegen/kalman_dlqe2.h" -#include "codegen/kalman_dlqe2_initialize.h" -#include "codegen/kalman_dlqe3.h" -#include "codegen/kalman_dlqe3_initialize.h" - -static bool thread_should_exit = false; /**< Deamon exit flag */ -static bool thread_running = false; /**< Deamon status flag */ -static int position_estimator_mc_task; /**< Handle of deamon task / thread */ - -__EXPORT int position_estimator_mc_main(int argc, char *argv[]); - -int position_estimator_mc_thread_main(int argc, char *argv[]); -/** - * Print the correct usage. - */ -static void usage(const char *reason); - -static void -usage(const char *reason) -{ - if (reason) - warnx("%s\n", reason); - warnx("usage: position_estimator_mc {start|stop|status}"); - exit(1); -} - -/** - * The position_estimator_mc_thread only briefly exists to start - * the background job. The stack size assigned in the - * Makefile does only apply to this management task. - * - * The actual stack size should be set in the call - * to task_create(). - */ -int position_estimator_mc_main(int argc, char *argv[]) -{ - if (argc < 1) - usage("missing command"); - - if (!strcmp(argv[1], "start")) { - - if (thread_running) { - printf("position_estimator_mc already running\n"); - /* this is not an error */ - exit(0); - } - - thread_should_exit = false; - position_estimator_mc_task = task_spawn("position_estimator_mc", - SCHED_RR, - SCHED_PRIORITY_MAX - 5, - 4096, - position_estimator_mc_thread_main, - (argv) ? (const char **)&argv[2] : (const char **)NULL); - exit(0); - } - if (!strcmp(argv[1], "stop")) { - thread_should_exit = true; - exit(0); - } - - if (!strcmp(argv[1], "status")) { - if (thread_running) { - warnx("position_estimator_mc is running"); - } else { - warnx("position_estimator_mc not started"); - } - exit(0); - } - - usage("unrecognized command"); - exit(1); -} - -/**************************************************************************** - * main - ****************************************************************************/ -int position_estimator_mc_thread_main(int argc, char *argv[]) -{ - /* welcome user */ - warnx("[position_estimator_mc] started"); - int mavlink_fd; - mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); - mavlink_log_info(mavlink_fd, "[position_estimator_mc] started"); - - /* initialize values */ - float z[3] = {0, 0, 0}; /* output variables from tangent plane mapping */ - // float rotMatrix[4] = {1.0f, 0.0f, 0.0f, 1.0f}; - float x_x_aposteriori_k[3] = {1.0f, 0.0f, 0.0f}; - float x_y_aposteriori_k[3] = {1.0f, 0.0f, 0.0f}; - float x_z_aposteriori_k[3] = {1.0f, 0.0f, 0.0f}; - float x_x_aposteriori[3] = {0.0f, 0.0f, 0.0f}; - float x_y_aposteriori[3] = {1.0f, 0.0f, 0.0f}; - float x_z_aposteriori[3] = {1.0f, 0.0f, 0.0f}; - - // XXX this is terribly wrong and should actual dT instead - const float dT_const_50 = 1.0f/50.0f; - - float addNoise = 0.0f; - float sigma = 0.0f; - //computed from dlqe in matlab - const float K_vicon_50Hz[3] = {0.5297f, 0.9873f, 0.9201f}; - // XXX implement baro filter - const float K_baro[3] = {0.0248f, 0.0377f, 0.0287f}; - float K[3] = {0.0f, 0.0f, 0.0f}; - int baro_loop_cnt = 0; - int baro_loop_end = 70; /* measurement for 1 second */ - float p0_Pa = 0.0f; /* to determin while start up */ - float rho0 = 1.293f; /* standard pressure */ - const float const_earth_gravity = 9.81f; - - float posX = 0.0f; - float posY = 0.0f; - float posZ = 0.0f; - - double lat_current; - double lon_current; - float alt_current; - - float gps_origin_altitude = 0.0f; - - /* Initialize filter */ - kalman_dlqe2_initialize(); - kalman_dlqe3_initialize(); - - /* declare and safely initialize all structs */ - struct sensor_combined_s sensor; - memset(&sensor, 0, sizeof(sensor)); - struct vehicle_attitude_s att; - memset(&att, 0, sizeof(att)); - struct vehicle_status_s vehicle_status; - memset(&vehicle_status, 0, sizeof(vehicle_status)); /* make sure that baroINITdone = false */ - struct vehicle_vicon_position_s vicon_pos; - memset(&vicon_pos, 0, sizeof(vicon_pos)); - struct actuator_controls_effective_s act_eff; - memset(&act_eff, 0, sizeof(act_eff)); - struct vehicle_gps_position_s gps; - memset(&gps, 0, sizeof(gps)); - struct vehicle_local_position_s local_pos_est; - memset(&local_pos_est, 0, sizeof(local_pos_est)); - struct vehicle_global_position_s global_pos_est; - memset(&global_pos_est, 0, sizeof(global_pos_est)); - - /* subscribe */ - int sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); - int sub_params = orb_subscribe(ORB_ID(parameter_update)); - int vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude)); - int vicon_pos_sub = orb_subscribe(ORB_ID(vehicle_vicon_position)); - int actuator_eff_sub = orb_subscribe(ORB_ID(actuator_controls_effective_0)); - int vehicle_gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position)); - int vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status)); - - /* advertise */ - orb_advert_t local_pos_est_pub = 0; - orb_advert_t global_pos_est_pub = 0; - - struct position_estimator_mc_params pos1D_params; - struct position_estimator_mc_param_handles pos1D_param_handles; - /* initialize parameter handles */ - parameters_init(&pos1D_param_handles); - - bool flag_use_gps = false; - bool flag_use_baro = false; - bool flag_baro_initialized = false; /* in any case disable baroINITdone */ - /* FIRST PARAMETER READ at START UP*/ - struct parameter_update_s update; - orb_copy(ORB_ID(parameter_update), sub_params, &update); /* read from param to clear updated flag */ - /* FIRST PARAMETER UPDATE */ - parameters_update(&pos1D_param_handles, &pos1D_params); - flag_use_baro = pos1D_params.baro; - sigma = pos1D_params.sigma; - addNoise = pos1D_params.addNoise; - /* END FIRST PARAMETER UPDATE */ - - /* try to grab a vicon message - if it fails, go for GPS. */ - - /* make sure the next orb_check() can't return true unless we get a timely update */ - orb_copy(ORB_ID(vehicle_vicon_position), vicon_pos_sub, &vicon_pos); - /* allow 200 ms for vicon to come in */ - usleep(200000); - /* check if we got vicon */ - bool update_check; - orb_check(vicon_pos_sub, &update_check); - /* if no update was available, use GPS */ - flag_use_gps = !update_check; - - if (flag_use_gps) { - mavlink_log_info(mavlink_fd, "[pos_est_mc] GPS locked"); - /* wait until gps signal turns valid, only then can we initialize the projection */ - - // XXX magic number - float hdop_threshold_m = 4.0f; - float vdop_threshold_m = 8.0f; - - /* - * If horizontal dilution of precision (hdop / eph) - * and vertical diluation of precision (vdop / epv) - * are below a certain threshold (e.g. 4 m), AND - * home position is not yet set AND the last GPS - * GPS measurement is not older than two seconds AND - * the system is currently not armed, set home - * position to the current position. - */ - - while (!(gps.fix_type == 3 - && (gps.eph_m < hdop_threshold_m) - && (gps.epv_m < vdop_threshold_m) - && (hrt_absolute_time() - gps.timestamp_position < 2000000))) { - - struct pollfd fds1[2] = { - { .fd = vehicle_gps_sub, .events = POLLIN }, - { .fd = sub_params, .events = POLLIN }, - }; - - /* wait for GPS updates, BUT READ VEHICLE STATUS (!) - * this choice is critical, since the vehicle status might not - * actually change, if this app is started after GPS lock was - * aquired. - */ - if (poll(fds1, 2, 5000)) { - if (fds1[0].revents & POLLIN){ - /* Read gps position */ - orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_sub, &gps); - } - if (fds1[1].revents & POLLIN){ - /* Read out parameters to check for an update there, e.g. useGPS variable */ - /* read from param to clear updated flag */ - struct parameter_update_s updated; - orb_copy(ORB_ID(parameter_update), sub_params, &updated); - /* update parameters */ - parameters_update(&pos1D_param_handles, &pos1D_params); - } - } - static int printcounter = 0; - if (printcounter == 100) { - printcounter = 0; - warnx("[pos_est_mc] wait for GPS fix"); - } - printcounter++; - } - - /* get gps value for first initialization */ - orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_sub, &gps); - lat_current = ((double)(gps.lat)) * 1e-7d; - lon_current = ((double)(gps.lon)) * 1e-7d; - alt_current = gps.alt * 1e-3f; - gps_origin_altitude = alt_current; - /* initialize coordinates */ - map_projection_init(lat_current, lon_current); - /* publish global position messages only after first GPS message */ - printf("[pos_est_mc] initialized projection with: lat: %.10f, lon:%.10f\n", lat_current, lon_current); - - } else { - mavlink_log_info(mavlink_fd, "[pos_est_mc] I'm NOT using GPS - I use VICON"); - /* onboard calculated position estimations */ - } - thread_running = true; - - struct pollfd fds2[3] = { - { .fd = vehicle_gps_sub, .events = POLLIN }, - { .fd = vicon_pos_sub, .events = POLLIN }, - { .fd = sub_params, .events = POLLIN }, - }; - - bool vicon_updated = false; - bool gps_updated = false; - - /**< main_loop */ - while (!thread_should_exit) { - int ret = poll(fds2, 3, 20); //wait maximal this 20 ms = 50 Hz minimum rate - if (ret < 0) { - /* poll error */ - } else { - if (fds2[2].revents & POLLIN){ - /* new parameter */ - /* read from param to clear updated flag */ - struct parameter_update_s updated; - orb_copy(ORB_ID(parameter_update), sub_params, &updated); - /* update parameters */ - parameters_update(&pos1D_param_handles, &pos1D_params); - flag_use_baro = pos1D_params.baro; - sigma = pos1D_params.sigma; - addNoise = pos1D_params.addNoise; - } - vicon_updated = false; /* default is no vicon_updated */ - if (fds2[1].revents & POLLIN) { - /* new vicon position */ - orb_copy(ORB_ID(vehicle_vicon_position), vicon_pos_sub, &vicon_pos); - posX = vicon_pos.x; - posY = vicon_pos.y; - posZ = vicon_pos.z; - vicon_updated = true; /* set flag for vicon update */ - } /* end of poll call for vicon updates */ - gps_updated = false; - if (fds2[0].revents & POLLIN) { - /* new GPS value */ - orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_sub, &gps); - /* Project gps lat lon (Geographic coordinate system) to plane*/ - map_projection_project(((double)(gps.lat)) * 1e-7d, ((double)(gps.lon)) * 1e-7d, &(z[0]), &(z[1])); - posX = z[0]; - posY = z[1]; - posZ = (float)(gps.alt * 1e-3f); - gps_updated = true; - } - - /* Main estimator loop */ - orb_copy(ORB_ID(actuator_controls_effective_0), actuator_eff_sub, &act_eff); - orb_copy(ORB_ID(vehicle_attitude), vehicle_attitude_sub, &att); - orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &vehicle_status); - orb_copy(ORB_ID(sensor_combined), sensor_sub, &sensor); - // barometric pressure estimation at start up - if (!flag_baro_initialized){ - // mean calculation over several measurements - if (baro_loop_cnt 2) { - /* x-y-position/velocity estimation in earth frame = gps frame */ - kalman_dlqe3(dT_const_50,K_vicon_50Hz[0],K_vicon_50Hz[1],K_vicon_50Hz[2],x_x_aposteriori_k,posX,gps_updated,0.0f,0.0f,x_x_aposteriori); - memcpy(x_x_aposteriori_k, x_x_aposteriori, sizeof(x_x_aposteriori)); - kalman_dlqe3(dT_const_50,K_vicon_50Hz[0],K_vicon_50Hz[1],K_vicon_50Hz[2],x_y_aposteriori_k,posY,gps_updated,0.0f,0.0f,x_y_aposteriori); - memcpy(x_y_aposteriori_k, x_y_aposteriori, sizeof(x_y_aposteriori)); - /* z-position/velocity estimation in earth frame = vicon frame */ - float z_est = 0.0f; - if (flag_baro_initialized && flag_use_baro) { - z_est = -p0_Pa*logf(p0_Pa/(sensor.baro_pres_mbar*100))/(rho0*const_earth_gravity); - K[0] = K_vicon_50Hz[0]; - K[1] = K_vicon_50Hz[1]; - K[2] = K_vicon_50Hz[2]; - gps_updated = 1.0f; /* always enable the update, cause baro update = 200 Hz */ - } else { - z_est = posZ; - K[0] = K_vicon_50Hz[0]; - K[1] = K_vicon_50Hz[1]; - K[2] = K_vicon_50Hz[2]; - } - - kalman_dlqe3(dT_const_50,K[0],K[1],K[2],x_z_aposteriori_k,z_est,gps_updated,0.0f,0.0f,x_z_aposteriori); - memcpy(x_z_aposteriori_k, x_z_aposteriori, sizeof(x_z_aposteriori)); - local_pos_est.x = x_x_aposteriori_k[0]; - local_pos_est.vx = x_x_aposteriori_k[1]; - local_pos_est.y = x_y_aposteriori_k[0]; - local_pos_est.vy = x_y_aposteriori_k[1]; - local_pos_est.z = x_z_aposteriori_k[0]; - local_pos_est.vz = x_z_aposteriori_k[1]; - local_pos_est.timestamp = hrt_absolute_time(); - if ((isfinite(x_x_aposteriori_k[0])) && (isfinite(x_x_aposteriori_k[1])) && (isfinite(x_y_aposteriori_k[0])) && (isfinite(x_y_aposteriori_k[1])) && (isfinite(x_z_aposteriori_k[0])) && (isfinite(x_z_aposteriori_k[1]))) { - /* publish local position estimate */ - if (local_pos_est_pub > 0) { - orb_publish(ORB_ID(vehicle_local_position), local_pos_est_pub, &local_pos_est); - } else { - local_pos_est_pub = orb_advertise(ORB_ID(vehicle_local_position), &local_pos_est); - } - /* publish on GPS updates */ - if (gps_updated) { - - double lat, lon; - float alt = z_est + gps_origin_altitude; - - map_projection_reproject(local_pos_est.x, local_pos_est.y, &lat, &lon); - - global_pos_est.lat = lat; - global_pos_est.lon = lon; - global_pos_est.alt = alt; - - if (global_pos_est_pub > 0) { - orb_publish(ORB_ID(vehicle_global_position), global_pos_est_pub, &global_pos_est); - } else { - global_pos_est_pub = orb_advertise(ORB_ID(vehicle_global_position), &global_pos_est); - } - } - } - } - } else { - /* x-y-position/velocity estimation in earth frame = vicon frame */ - kalman_dlqe3(dT_const_50,K_vicon_50Hz[0],K_vicon_50Hz[1],K_vicon_50Hz[2],x_x_aposteriori_k,posX,vicon_updated,addNoise,sigma,x_x_aposteriori); - memcpy(x_x_aposteriori_k, x_x_aposteriori, sizeof(x_x_aposteriori)); - kalman_dlqe3(dT_const_50,K_vicon_50Hz[0],K_vicon_50Hz[1],K_vicon_50Hz[2],x_y_aposteriori_k,posY,vicon_updated,addNoise,sigma,x_y_aposteriori); - memcpy(x_y_aposteriori_k, x_y_aposteriori, sizeof(x_y_aposteriori)); - /* z-position/velocity estimation in earth frame = vicon frame */ - float z_est = 0.0f; - float local_sigma = 0.0f; - if (flag_baro_initialized && flag_use_baro) { - z_est = -p0_Pa*logf(p0_Pa/(sensor.baro_pres_mbar*100.0f))/(rho0*const_earth_gravity); - K[0] = K_vicon_50Hz[0]; - K[1] = K_vicon_50Hz[1]; - K[2] = K_vicon_50Hz[2]; - vicon_updated = 1; /* always enable the update, cause baro update = 200 Hz */ - local_sigma = 0.0f; /* don't add noise on barometer in any case */ - } else { - z_est = posZ; - K[0] = K_vicon_50Hz[0]; - K[1] = K_vicon_50Hz[1]; - K[2] = K_vicon_50Hz[2]; - local_sigma = sigma; - } - kalman_dlqe3(dT_const_50,K[0],K[1],K[2],x_z_aposteriori_k,z_est,vicon_updated,addNoise,local_sigma,x_z_aposteriori); - memcpy(x_z_aposteriori_k, x_z_aposteriori, sizeof(x_z_aposteriori)); - local_pos_est.x = x_x_aposteriori_k[0]; - local_pos_est.vx = x_x_aposteriori_k[1]; - local_pos_est.y = x_y_aposteriori_k[0]; - local_pos_est.vy = x_y_aposteriori_k[1]; - local_pos_est.z = x_z_aposteriori_k[0]; - local_pos_est.vz = x_z_aposteriori_k[1]; - local_pos_est.timestamp = hrt_absolute_time(); - if ((isfinite(x_x_aposteriori_k[0])) && (isfinite(x_x_aposteriori_k[1])) && (isfinite(x_y_aposteriori_k[0])) && (isfinite(x_y_aposteriori_k[1])) && (isfinite(x_z_aposteriori_k[0])) && (isfinite(x_z_aposteriori_k[1]))){ - orb_publish(ORB_ID(vehicle_local_position), local_pos_est_pub, &local_pos_est); - } - } - } /* end of poll return value check */ - } - - printf("[pos_est_mc] exiting.\n"); - mavlink_log_info(mavlink_fd, "[pos_est_mc] exiting"); - thread_running = false; - return 0; -} diff --git a/apps/position_estimator_mc/position_estimator_mc_params.c b/apps/position_estimator_mc/position_estimator_mc_params.c deleted file mode 100755 index 72e5bc73b..000000000 --- a/apps/position_estimator_mc/position_estimator_mc_params.c +++ /dev/null @@ -1,68 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Damian Aregger - * Tobias Naegeli -* Lorenz Meier - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/* - * @file position_estimator_mc_params.c - * - * Parameters for position_estimator_mc - */ - -#include "position_estimator_mc_params.h" - -/* Kalman Filter covariances */ -/* gps measurement noise standard deviation */ -PARAM_DEFINE_FLOAT(POS_EST_ADDN, 1.0f); -PARAM_DEFINE_FLOAT(POS_EST_SIGMA, 0.0f); -PARAM_DEFINE_FLOAT(POS_EST_R, 1.0f); -PARAM_DEFINE_INT32(POS_EST_BARO, 0.0f); - -int parameters_init(struct position_estimator_mc_param_handles *h) -{ - h->addNoise = param_find("POS_EST_ADDN"); - h->sigma = param_find("POS_EST_SIGMA"); - h->r = param_find("POS_EST_R"); - h->baro_param_handle = param_find("POS_EST_BARO"); - return OK; -} - -int parameters_update(const struct position_estimator_mc_param_handles *h, struct position_estimator_mc_params *p) -{ - param_get(h->addNoise, &(p->addNoise)); - param_get(h->sigma, &(p->sigma)); - param_get(h->r, &(p->R)); - param_get(h->baro_param_handle, &(p->baro)); - return OK; -} diff --git a/apps/position_estimator_mc/position_estimator_mc_params.h b/apps/position_estimator_mc/position_estimator_mc_params.h deleted file mode 100755 index c4c95f7b4..000000000 --- a/apps/position_estimator_mc/position_estimator_mc_params.h +++ /dev/null @@ -1,69 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Damian Aregger - * Tobias Naegeli - * Lorenz Meier - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/* - * @file position_estimator_mc_params.h - * - * Parameters for Position Estimator - */ - -#include - -struct position_estimator_mc_params { - float addNoise; - float sigma; - float R; - int baro; /* consider barometer */ -}; - -struct position_estimator_mc_param_handles { - param_t addNoise; - param_t sigma; - param_t r; - param_t baro_param_handle; -}; - -/** - * Initialize all parameter handles and values - * - */ -int parameters_init(struct position_estimator_mc_param_handles *h); - -/** - * Update all parameters - * - */ -int parameters_update(const struct position_estimator_mc_param_handles *h, struct position_estimator_mc_params *p); diff --git a/apps/sdlog/Makefile b/apps/sdlog/Makefile deleted file mode 100644 index 225b14a32..000000000 --- a/apps/sdlog/Makefile +++ /dev/null @@ -1,43 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# sdlog Application -# - -APPNAME = sdlog -# The main thread only buffers to RAM, needs a high priority -PRIORITY = SCHED_PRIORITY_MAX - 30 -STACKSIZE = 2048 - -include $(APPDIR)/mk/app.mk diff --git a/apps/sdlog/sdlog.c b/apps/sdlog/sdlog.c deleted file mode 100644 index df8745d9f..000000000 --- a/apps/sdlog/sdlog.c +++ /dev/null @@ -1,829 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file sdlog.c - * @author Lorenz Meier - * - * Simple SD logger for flight data. Buffers new sensor values and - * does the heavy SD I/O in a low-priority worker thread. - */ - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include - -#include - -#include "sdlog_ringbuffer.h" - -static bool thread_should_exit = false; /**< Deamon exit flag */ -static bool thread_running = false; /**< Deamon status flag */ -static int deamon_task; /**< Handle of deamon task / thread */ -static const int MAX_NO_LOGFOLDER = 999; /**< Maximum number of log folders */ - -static const char *mountpoint = "/fs/microsd"; -static const char *mfile_in = "/etc/logging/logconv.m"; -int sysvector_file = -1; -int mavlink_fd = -1; -struct sdlog_logbuffer lb; - -/* mutex / condition to synchronize threads */ -pthread_mutex_t sysvector_mutex; -pthread_cond_t sysvector_cond; - -/** - * System state vector log buffer writing - */ -static void *sdlog_sysvector_write_thread(void *arg); - -/** - * Create the thread to write the system vector - */ -pthread_t sysvector_write_start(struct sdlog_logbuffer *logbuf); - -/** - * SD log management function. - */ -__EXPORT int sdlog_main(int argc, char *argv[]); - -/** - * Mainloop of sd log deamon. - */ -int sdlog_thread_main(int argc, char *argv[]); - -/** - * Print the correct usage. - */ -static void usage(const char *reason); - -static int file_exist(const char *filename); - -static int file_copy(const char *file_old, const char *file_new); - -static void handle_command(struct vehicle_command_s *cmd); - -/** - * Print the current status. - */ -static void print_sdlog_status(void); - -/** - * Create folder for current logging session. - */ -static int create_logfolder(char *folder_path); - -static void -usage(const char *reason) -{ - if (reason) - fprintf(stderr, "%s\n", reason); - - errx(1, "usage: sdlog {start|stop|status} [-s ]\n\n"); -} - -// XXX turn this into a C++ class -unsigned sensor_combined_bytes = 0; -unsigned actuator_outputs_bytes = 0; -unsigned actuator_controls_bytes = 0; -unsigned sysvector_bytes = 0; -unsigned blackbox_file_bytes = 0; -uint64_t starttime = 0; - -/* logging on or off, default to true */ -bool logging_enabled = true; - -/** - * The sd log deamon app only briefly exists to start - * the background job. The stack size assigned in the - * Makefile does only apply to this management task. - * - * The actual stack size should be set in the call - * to task_spawn(). - */ -int sdlog_main(int argc, char *argv[]) -{ - if (argc < 1) - usage("missing command"); - - if (!strcmp(argv[1], "start")) { - - if (thread_running) { - printf("sdlog already running\n"); - /* this is not an error */ - exit(0); - } - - thread_should_exit = false; - deamon_task = task_spawn("sdlog", - SCHED_DEFAULT, - SCHED_PRIORITY_DEFAULT - 30, - 4096, - sdlog_thread_main, - (const char **)argv); - exit(0); - } - - if (!strcmp(argv[1], "stop")) { - if (!thread_running) { - printf("\tsdlog is not started\n"); - } - - thread_should_exit = true; - exit(0); - } - - if (!strcmp(argv[1], "status")) { - if (thread_running) { - print_sdlog_status(); - - } else { - printf("\tsdlog not started\n"); - } - - exit(0); - } - - usage("unrecognized command"); - exit(1); -} - -int create_logfolder(char *folder_path) -{ - /* make folder on sdcard */ - uint16_t foldernumber = 1; // start with folder 0001 - int mkdir_ret; - - /* look for the next folder that does not exist */ - while (foldernumber < MAX_NO_LOGFOLDER) { - /* set up file path: e.g. /mnt/sdcard/sensorfile0001.txt */ - sprintf(folder_path, "%s/session%04u", mountpoint, foldernumber); - mkdir_ret = mkdir(folder_path, S_IRWXU | S_IRWXG | S_IRWXO); - /* the result is -1 if the folder exists */ - - if (mkdir_ret == 0) { - /* folder does not exist, success */ - - /* now copy the Matlab/Octave file */ - char mfile_out[100]; - sprintf(mfile_out, "%s/session%04u/run_to_plot_data.m", mountpoint, foldernumber); - int ret = file_copy(mfile_in, mfile_out); - - if (!ret) { - warnx("copied m file to %s", mfile_out); - - } else { - warnx("failed copying m file from %s to\n %s", mfile_in, mfile_out); - } - - break; - - } else if (mkdir_ret == -1) { - /* folder exists already */ - foldernumber++; - continue; - - } else { - warn("failed creating new folder"); - return -1; - } - } - - if (foldernumber >= MAX_NO_LOGFOLDER) { - /* we should not end up here, either we have more than MAX_NO_LOGFOLDER on the SD card, or another problem */ - warn("all %d possible folders exist already", MAX_NO_LOGFOLDER); - return -1; - } - - return 0; -} - - -static void * -sdlog_sysvector_write_thread(void *arg) -{ - /* set name */ - prctl(PR_SET_NAME, "sdlog microSD I/O", 0); - - struct sdlog_logbuffer *logbuf = (struct sdlog_logbuffer *)arg; - - int poll_count = 0; - struct sdlog_sysvector sysvect; - memset(&sysvect, 0, sizeof(sysvect)); - - while (!thread_should_exit) { - - /* make sure threads are synchronized */ - pthread_mutex_lock(&sysvector_mutex); - - /* only wait if no data is available to process */ - if (sdlog_logbuffer_is_empty(logbuf)) { - /* blocking wait for new data at this line */ - pthread_cond_wait(&sysvector_cond, &sysvector_mutex); - } - - /* only quickly load data, do heavy I/O a few lines down */ - int ret = sdlog_logbuffer_read(logbuf, &sysvect); - /* continue */ - pthread_mutex_unlock(&sysvector_mutex); - - if (ret == OK) { - sysvector_bytes += write(sysvector_file, (const char *)&sysvect, sizeof(sysvect)); - } - - if (poll_count % 100 == 0) { - fsync(sysvector_file); - } - - poll_count++; - } - - fsync(sysvector_file); - - return OK; -} - -pthread_t -sysvector_write_start(struct sdlog_logbuffer *logbuf) -{ - pthread_attr_t receiveloop_attr; - pthread_attr_init(&receiveloop_attr); - - struct sched_param param; - /* low priority, as this is expensive disk I/O */ - param.sched_priority = SCHED_PRIORITY_DEFAULT - 40; - (void)pthread_attr_setschedparam(&receiveloop_attr, ¶m); - - pthread_attr_setstacksize(&receiveloop_attr, 2048); - - pthread_t thread; - pthread_create(&thread, &receiveloop_attr, sdlog_sysvector_write_thread, logbuf); - return thread; - - // XXX we have to destroy the attr at some point -} - - -int sdlog_thread_main(int argc, char *argv[]) -{ - mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); - - if (mavlink_fd < 0) { - warnx("ERROR: Failed to open MAVLink log stream, start mavlink app first.\n"); - } - - /* log every n'th value (skip three per default) */ - int skip_value = 3; - - /* work around some stupidity in task_create's argv handling */ - argc -= 2; - argv += 2; - int ch; - - while ((ch = getopt(argc, argv, "s:r")) != EOF) { - switch (ch) { - case 's': - { - /* log only every n'th (gyro clocked) value */ - unsigned s = strtoul(optarg, NULL, 10); - - if (s < 1 || s > 250) { - errx(1, "Wrong skip value of %d, out of range (1..250)\n", s); - } else { - skip_value = s; - } - } - break; - - case 'r': - /* log only on request, disable logging per default */ - logging_enabled = false; - break; - - case '?': - if (optopt == 'c') { - warnx("Option -%c requires an argument.\n", optopt); - } else if (isprint(optopt)) { - warnx("Unknown option `-%c'.\n", optopt); - } else { - warnx("Unknown option character `\\x%x'.\n", optopt); - } - - default: - usage("unrecognized flag"); - errx(1, "exiting."); - } - } - - if (file_exist(mountpoint) != OK) { - errx(1, "logging mount point %s not present, exiting.", mountpoint); - } - - char folder_path[64]; - - if (create_logfolder(folder_path)) - errx(1, "unable to create logging folder, exiting."); - - FILE *gpsfile; - FILE *blackbox_file; - - /* string to hold the path to the sensorfile */ - char path_buf[64] = ""; - - /* only print logging path, important to find log file later */ - warnx("logging to directory %s\n", folder_path); - - /* set up file path: e.g. /mnt/sdcard/session0001/actuator_controls0.bin */ - sprintf(path_buf, "%s/%s.bin", folder_path, "sysvector"); - - if (0 == (sysvector_file = open(path_buf, O_CREAT | O_WRONLY | O_DSYNC))) { - errx(1, "opening %s failed.\n", path_buf); - } - - /* set up file path: e.g. /mnt/sdcard/session0001/gps.txt */ - sprintf(path_buf, "%s/%s.txt", folder_path, "gps"); - - if (NULL == (gpsfile = fopen(path_buf, "w"))) { - errx(1, "opening %s failed.\n", path_buf); - } - - int gpsfile_no = fileno(gpsfile); - - /* set up file path: e.g. /mnt/sdcard/session0001/blackbox.txt */ - sprintf(path_buf, "%s/%s.txt", folder_path, "blackbox"); - - if (NULL == (blackbox_file = fopen(path_buf, "w"))) { - errx(1, "opening %s failed.\n", path_buf); - } - - // XXX for fsync() calls - int blackbox_file_no = fileno(blackbox_file); - - /* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */ - /* number of messages */ - const ssize_t fdsc = 25; - /* Sanity check variable and index */ - ssize_t fdsc_count = 0; - /* file descriptors to wait for */ - struct pollfd fds[fdsc]; - - - struct { - struct sensor_combined_s raw; - struct vehicle_attitude_s att; - struct vehicle_attitude_setpoint_s att_sp; - struct actuator_outputs_s act_outputs; - struct actuator_controls_s act_controls; - struct actuator_controls_effective_s act_controls_effective; - struct vehicle_command_s cmd; - struct vehicle_local_position_s local_pos; - struct vehicle_global_position_s global_pos; - struct vehicle_gps_position_s gps_pos; - struct vehicle_vicon_position_s vicon_pos; - struct optical_flow_s flow; - struct battery_status_s batt; - struct differential_pressure_s diff_pressure; - } buf; - memset(&buf, 0, sizeof(buf)); - - struct { - int cmd_sub; - int sensor_sub; - int att_sub; - int spa_sub; - int act_0_sub; - int controls_0_sub; - int controls_effective_0_sub; - int local_pos_sub; - int global_pos_sub; - int gps_pos_sub; - int vicon_pos_sub; - int flow_sub; - int batt_sub; - int diff_pressure_sub; - } subs; - - /* --- MANAGEMENT - LOGGING COMMAND --- */ - /* subscribe to ORB for vehicle command */ - subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command)); - fds[fdsc_count].fd = subs.cmd_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- GPS POSITION --- */ - /* subscribe to ORB for global position */ - subs.gps_pos_sub = orb_subscribe(ORB_ID(vehicle_gps_position)); - fds[fdsc_count].fd = subs.gps_pos_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- SENSORS RAW VALUE --- */ - /* subscribe to ORB for sensors raw */ - subs.sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); - fds[fdsc_count].fd = subs.sensor_sub; - /* do not rate limit, instead use skip counter (aliasing on rate limit) */ - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- ATTITUDE VALUE --- */ - /* subscribe to ORB for attitude */ - subs.att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); - fds[fdsc_count].fd = subs.att_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- ATTITUDE SETPOINT VALUE --- */ - /* subscribe to ORB for attitude setpoint */ - /* struct already allocated */ - subs.spa_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); - fds[fdsc_count].fd = subs.spa_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /** --- ACTUATOR OUTPUTS --- */ - subs.act_0_sub = orb_subscribe(ORB_ID(actuator_outputs_0)); - fds[fdsc_count].fd = subs.act_0_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- ACTUATOR CONTROL VALUE --- */ - /* subscribe to ORB for actuator control */ - subs.controls_0_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS); - fds[fdsc_count].fd = subs.controls_0_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- ACTUATOR CONTROL EFFECTIVE VALUE --- */ - /* subscribe to ORB for actuator control */ - subs.controls_effective_0_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE); - fds[fdsc_count].fd = subs.controls_effective_0_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- LOCAL POSITION --- */ - /* subscribe to ORB for local position */ - subs.local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position)); - fds[fdsc_count].fd = subs.local_pos_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- GLOBAL POSITION --- */ - /* subscribe to ORB for global position */ - subs.global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position)); - fds[fdsc_count].fd = subs.global_pos_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- VICON POSITION --- */ - /* subscribe to ORB for vicon position */ - subs.vicon_pos_sub = orb_subscribe(ORB_ID(vehicle_vicon_position)); - fds[fdsc_count].fd = subs.vicon_pos_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- FLOW measurements --- */ - /* subscribe to ORB for flow measurements */ - subs.flow_sub = orb_subscribe(ORB_ID(optical_flow)); - fds[fdsc_count].fd = subs.flow_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- BATTERY STATUS --- */ - /* subscribe to ORB for flow measurements */ - subs.batt_sub = orb_subscribe(ORB_ID(battery_status)); - fds[fdsc_count].fd = subs.batt_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- DIFFERENTIAL PRESSURE --- */ - /* subscribe to ORB for flow measurements */ - subs.diff_pressure_sub = orb_subscribe(ORB_ID(differential_pressure)); - fds[fdsc_count].fd = subs.diff_pressure_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* WARNING: If you get the error message below, - * then the number of registered messages (fdsc) - * differs from the number of messages in the above list. - */ - if (fdsc_count > fdsc) { - warn("WARNING: Not enough space for poll fds allocated. Check %s:%d.\n", __FILE__, __LINE__); - fdsc_count = fdsc; - } - - /* - * set up poll to block for new data, - * wait for a maximum of 1000 ms (1 second) - */ - // const int timeout = 1000; - - thread_running = true; - - /* initialize log buffer with a size of 10 */ - sdlog_logbuffer_init(&lb, 10); - - /* initialize thread synchronization */ - pthread_mutex_init(&sysvector_mutex, NULL); - pthread_cond_init(&sysvector_cond, NULL); - - /* start logbuffer emptying thread */ - pthread_t sysvector_pthread = sysvector_write_start(&lb); - - starttime = hrt_absolute_time(); - - /* track skipping */ - int skip_count = 0; - - while (!thread_should_exit) { - - /* only poll for commands, gps and sensor_combined */ - int poll_ret = poll(fds, 3, 1000); - - /* handle the poll result */ - if (poll_ret == 0) { - /* XXX this means none of our providers is giving us data - might be an error? */ - } else if (poll_ret < 0) { - /* XXX this is seriously bad - should be an emergency */ - } else { - - int ifds = 0; - - /* --- VEHICLE COMMAND VALUE --- */ - if (fds[ifds++].revents & POLLIN) { - /* copy command into local buffer */ - orb_copy(ORB_ID(vehicle_command), subs.cmd_sub, &buf.cmd); - - /* always log to blackbox, even when logging disabled */ - blackbox_file_bytes += fprintf(blackbox_file, "[%10.4f\tVCMD] CMD #%d [%f\t%f\t%f\t%f\t%f\t%f\t%f]\n", hrt_absolute_time()/1000000.0d, - buf.cmd.command, (double)buf.cmd.param1, (double)buf.cmd.param2, (double)buf.cmd.param3, (double)buf.cmd.param4, - (double)buf.cmd.param5, (double)buf.cmd.param6, (double)buf.cmd.param7); - - handle_command(&buf.cmd); - } - - /* --- VEHICLE GPS VALUE --- */ - if (fds[ifds++].revents & POLLIN) { - /* copy gps position into local buffer */ - orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos); - - /* if logging disabled, continue */ - if (logging_enabled) { - - /* write KML line */ - } - } - - /* --- SENSORS RAW VALUE --- */ - if (fds[ifds++].revents & POLLIN) { - - // /* copy sensors raw data into local buffer */ - // orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.raw); - // /* write out */ - // sensor_combined_bytes += write(sensorfile, (const char*)&(buf.raw), sizeof(buf.raw)); - - /* always copy sensors raw data into local buffer, since poll flags won't clear else */ - orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.raw); - orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, subs.controls_0_sub, &buf.act_controls); - orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, subs.controls_effective_0_sub, &buf.act_controls_effective); - orb_copy(ORB_ID(actuator_outputs_0), subs.act_0_sub, &buf.act_outputs); - orb_copy(ORB_ID(vehicle_attitude_setpoint), subs.spa_sub, &buf.att_sp); - orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos); - orb_copy(ORB_ID(vehicle_local_position), subs.local_pos_sub, &buf.local_pos); - orb_copy(ORB_ID(vehicle_global_position), subs.global_pos_sub, &buf.global_pos); - orb_copy(ORB_ID(vehicle_attitude), subs.att_sub, &buf.att); - orb_copy(ORB_ID(vehicle_vicon_position), subs.vicon_pos_sub, &buf.vicon_pos); - orb_copy(ORB_ID(optical_flow), subs.flow_sub, &buf.flow); - orb_copy(ORB_ID(differential_pressure), subs.diff_pressure_sub, &buf.diff_pressure); - orb_copy(ORB_ID(battery_status), subs.batt_sub, &buf.batt); - - /* if skipping is on or logging is disabled, ignore */ - if (skip_count < skip_value || !logging_enabled) { - skip_count++; - /* do not log data */ - continue; - } else { - /* log data, reset */ - skip_count = 0; - } - - struct sdlog_sysvector sysvect = { - .timestamp = buf.raw.timestamp, - .gyro = {buf.raw.gyro_rad_s[0], buf.raw.gyro_rad_s[1], buf.raw.gyro_rad_s[2]}, - .accel = {buf.raw.accelerometer_m_s2[0], buf.raw.accelerometer_m_s2[1], buf.raw.accelerometer_m_s2[2]}, - .mag = {buf.raw.magnetometer_ga[0], buf.raw.magnetometer_ga[1], buf.raw.magnetometer_ga[2]}, - .baro = buf.raw.baro_pres_mbar, - .baro_alt = buf.raw.baro_alt_meter, - .baro_temp = buf.raw.baro_temp_celcius, - .control = {buf.act_controls.control[0], buf.act_controls.control[1], buf.act_controls.control[2], buf.act_controls.control[3]}, - .actuators = { - buf.act_outputs.output[0], buf.act_outputs.output[1], buf.act_outputs.output[2], buf.act_outputs.output[3], - buf.act_outputs.output[4], buf.act_outputs.output[5], buf.act_outputs.output[6], buf.act_outputs.output[7] - }, - .vbat = buf.batt.voltage_v, - .bat_current = buf.batt.current_a, - .bat_discharged = buf.batt.discharged_mah, - .adc = {buf.raw.adc_voltage_v[0], buf.raw.adc_voltage_v[1], buf.raw.adc_voltage_v[2], buf.raw.adc_voltage_v[3]}, - .local_position = {buf.local_pos.x, buf.local_pos.y, buf.local_pos.z}, - .gps_raw_position = {buf.gps_pos.lat, buf.gps_pos.lon, buf.gps_pos.alt}, - .attitude = {buf.att.pitch, buf.att.roll, buf.att.yaw}, - .rotMatrix = {buf.att.R[0][0], buf.att.R[0][1], buf.att.R[0][2], buf.att.R[1][0], buf.att.R[1][1], buf.att.R[1][2], buf.att.R[2][0], buf.att.R[2][1], buf.att.R[2][2]}, - .vicon = {buf.vicon_pos.x, buf.vicon_pos.y, buf.vicon_pos.z, buf.vicon_pos.roll, buf.vicon_pos.pitch, buf.vicon_pos.yaw}, - .control_effective = {buf.act_controls_effective.control_effective[0], buf.act_controls_effective.control_effective[1], buf.act_controls_effective.control_effective[2], buf.act_controls_effective.control_effective[3]}, - .flow = {buf.flow.flow_raw_x, buf.flow.flow_raw_y, buf.flow.flow_comp_x_m, buf.flow.flow_comp_y_m, buf.flow.ground_distance_m, buf.flow.quality}, - .diff_pressure = buf.diff_pressure.differential_pressure_mbar, - .ind_airspeed = buf.diff_pressure.indicated_airspeed_m_s, - .true_airspeed = buf.diff_pressure.true_airspeed_m_s - }; - - /* put into buffer for later IO */ - pthread_mutex_lock(&sysvector_mutex); - sdlog_logbuffer_write(&lb, &sysvect); - /* signal the other thread new data, but not yet unlock */ - if ((unsigned)lb.count > (lb.size / 2)) { - /* only request write if several packets can be written at once */ - pthread_cond_signal(&sysvector_cond); - } - /* unlock, now the writer thread may run */ - pthread_mutex_unlock(&sysvector_mutex); - } - - } - - } - - print_sdlog_status(); - - /* wake up write thread one last time */ - pthread_mutex_lock(&sysvector_mutex); - pthread_cond_signal(&sysvector_cond); - /* unlock, now the writer thread may return */ - pthread_mutex_unlock(&sysvector_mutex); - - /* wait for write thread to return */ - (void)pthread_join(sysvector_pthread, NULL); - - pthread_mutex_destroy(&sysvector_mutex); - pthread_cond_destroy(&sysvector_cond); - - warnx("exiting.\n\n"); - - /* finish KML file */ - // XXX - fclose(gpsfile); - fclose(blackbox_file); - - thread_running = false; - - return 0; -} - -void print_sdlog_status() -{ - unsigned bytes = sysvector_bytes + sensor_combined_bytes + actuator_outputs_bytes + blackbox_file_bytes + actuator_controls_bytes; - float mebibytes = bytes / 1024.0f / 1024.0f; - float seconds = ((float)(hrt_absolute_time() - starttime)) / 1000000.0f; - - warnx("wrote %4.2f MiB (average %5.3f MiB/s).\n", (double)mebibytes, (double)(mebibytes / seconds)); -} - -/** - * @return 0 if file exists - */ -int file_exist(const char *filename) -{ - struct stat buffer; - return stat(filename, &buffer); -} - -int file_copy(const char *file_old, const char *file_new) -{ - FILE *source, *target; - source = fopen(file_old, "r"); - int ret = 0; - - if (source == NULL) { - warnx("failed opening input file to copy"); - return 1; - } - - target = fopen(file_new, "w"); - - if (target == NULL) { - fclose(source); - warnx("failed to open output file to copy"); - return 1; - } - - char buf[128]; - int nread; - - while ((nread = fread(buf, 1, sizeof(buf), source)) > 0) { - int ret = fwrite(buf, 1, nread, target); - - if (ret <= 0) { - warnx("error writing file"); - ret = 1; - break; - } - } - - fsync(fileno(target)); - - fclose(source); - fclose(target); - - return ret; -} - -void handle_command(struct vehicle_command_s *cmd) -{ - /* result of the command */ - uint8_t result = VEHICLE_CMD_RESULT_UNSUPPORTED; - - /* request to set different system mode */ - switch (cmd->command) { - - case VEHICLE_CMD_PREFLIGHT_STORAGE: - - if (((int)(cmd->param3)) == 1) { - - /* enable logging */ - mavlink_log_info(mavlink_fd, "[log] file:"); - mavlink_log_info(mavlink_fd, "logdir"); - logging_enabled = true; - } - if (((int)(cmd->param3)) == 0) { - - /* disable logging */ - mavlink_log_info(mavlink_fd, "[log] stopped."); - logging_enabled = false; - } - break; - - default: - /* silently ignore */ - break; - } - -} diff --git a/apps/sdlog/sdlog_ringbuffer.c b/apps/sdlog/sdlog_ringbuffer.c deleted file mode 100644 index d7c8a4759..000000000 --- a/apps/sdlog/sdlog_ringbuffer.c +++ /dev/null @@ -1,91 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file sdlog_log.c - * MAVLink text logging. - * - * @author Lorenz Meier - */ - -#include -#include - -#include "sdlog_ringbuffer.h" - -void sdlog_logbuffer_init(struct sdlog_logbuffer *lb, int size) -{ - lb->size = size; - lb->start = 0; - lb->count = 0; - lb->elems = (struct sdlog_sysvector *)calloc(lb->size, sizeof(struct sdlog_sysvector)); -} - -int sdlog_logbuffer_is_full(struct sdlog_logbuffer *lb) -{ - return lb->count == (int)lb->size; -} - -int sdlog_logbuffer_is_empty(struct sdlog_logbuffer *lb) -{ - return lb->count == 0; -} - - -// XXX make these functions thread-safe -void sdlog_logbuffer_write(struct sdlog_logbuffer *lb, const struct sdlog_sysvector *elem) -{ - int end = (lb->start + lb->count) % lb->size; - memcpy(&(lb->elems[end]), elem, sizeof(struct sdlog_sysvector)); - - if (sdlog_logbuffer_is_full(lb)) { - lb->start = (lb->start + 1) % lb->size; /* full, overwrite */ - - } else { - ++lb->count; - } -} - -int sdlog_logbuffer_read(struct sdlog_logbuffer *lb, struct sdlog_sysvector *elem) -{ - if (!sdlog_logbuffer_is_empty(lb)) { - memcpy(elem, &(lb->elems[lb->start]), sizeof(struct sdlog_sysvector)); - lb->start = (lb->start + 1) % lb->size; - --lb->count; - return 0; - - } else { - return 1; - } -} diff --git a/apps/sdlog/sdlog_ringbuffer.h b/apps/sdlog/sdlog_ringbuffer.h deleted file mode 100644 index b65916459..000000000 --- a/apps/sdlog/sdlog_ringbuffer.h +++ /dev/null @@ -1,91 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file sdlog_ringbuffer.h - * microSD logging - * - * @author Lorenz Meier - */ - -#ifndef SDLOG_RINGBUFFER_H_ -#define SDLOG_RINGBUFFER_H_ - -#pragma pack(push, 1) -struct sdlog_sysvector { - uint64_t timestamp; /**< time [us] */ - float gyro[3]; /**< [rad/s] */ - float accel[3]; /**< [m/s^2] */ - float mag[3]; /**< [gauss] */ - float baro; /**< pressure [millibar] */ - float baro_alt; /**< altitude above MSL [meter] */ - float baro_temp; /**< [degree celcius] */ - float control[4]; /**< roll, pitch, yaw [-1..1], thrust [0..1] */ - float actuators[8]; /**< motor 1-8, in motor units (PWM: 1000-2000,AR.Drone: 0-512) */ - float vbat; /**< battery voltage in [volt] */ - float bat_current; /**< battery discharge current */ - float bat_discharged; /**< discharged energy in mAh */ - float adc[4]; /**< ADC ports [volt] */ - float local_position[3]; /**< tangent plane mapping into x,y,z [m] */ - int32_t gps_raw_position[3]; /**< latitude [degrees] north, longitude [degrees] east, altitude above MSL [millimeter] */ - float attitude[3]; /**< roll, pitch, yaw [rad] */ - float rotMatrix[9]; /**< unitvectors */ - float vicon[6]; /**< Vicon ground truth x, y, z and roll, pitch, yaw */ - float control_effective[4]; /**< roll, pitch, yaw [-1..1], thrust [0..1] */ - float flow[6]; /**< flow raw x, y, flow metric x, y, flow ground dist, flow quality */ - float diff_pressure; /**< differential pressure */ - float ind_airspeed; /**< indicated airspeed */ - float true_airspeed; /**< true airspeed */ -}; -#pragma pack(pop) - -struct sdlog_logbuffer { - unsigned int start; - // unsigned int end; - unsigned int size; - int count; - struct sdlog_sysvector *elems; -}; - -void sdlog_logbuffer_init(struct sdlog_logbuffer *lb, int size); - -int sdlog_logbuffer_is_full(struct sdlog_logbuffer *lb); - -int sdlog_logbuffer_is_empty(struct sdlog_logbuffer *lb); - -void sdlog_logbuffer_write(struct sdlog_logbuffer *lb, const struct sdlog_sysvector *elem); - -int sdlog_logbuffer_read(struct sdlog_logbuffer *lb, struct sdlog_sysvector *elem); - -#endif diff --git a/makefiles/config_px4fmu_default.mk b/makefiles/config_px4fmu_default.mk index b3ebe4553..80c34d5dd 100644 --- a/makefiles/config_px4fmu_default.mk +++ b/makefiles/config_px4fmu_default.mk @@ -14,6 +14,9 @@ MODULES += drivers/px4fmu MODULES += drivers/boards/px4fmu MODULES += drivers/l3gd20 MODULES += drivers/ardrone_interface +MODULES += drivers/px4io +# sensors app is WIP +#MODULES += modules/sensors # # System commands @@ -41,7 +44,13 @@ MODULES += modules/mavlink_onboard # # Estimation modules (EKF / other filters) # -#MODULES += modules/attitude_estimator_ekf +MODULES += modules/attitude_estimator_ekf +MODULES += modules/position_estimator_mc + +# +# Logging +# +MODULES += modules/sdlog # # Transitional support - add commands from the NuttX export archive. @@ -73,10 +82,6 @@ BUILTIN_COMMANDS := \ $(call _B, ms5611, , 2048, ms5611_main ) \ $(call _B, multirotor_att_control, SCHED_PRIORITY_MAX-15, 2048, multirotor_att_control_main) \ $(call _B, multirotor_pos_control, SCHED_PRIORITY_MAX-25, 2048, multirotor_pos_control_main) \ - $(call _B, position_estimator, , 4096, position_estimator_main ) \ - $(call _B, px4io, , 2048, px4io_main ) \ - $(call _B, sdlog, SCHED_PRIORITY_MAX-30, 2048, sdlog_main ) \ - $(call _B, sensors, SCHED_PRIORITY_MAX-5, 4096, sensors_main ) \ $(call _B, sercon, , 2048, sercon_main ) \ $(call _B, serdis, , 2048, serdis_main ) \ $(call _B, tone_alarm, , 2048, tone_alarm_main ) \ diff --git a/src/drivers/l3gd20/l3gd20.cpp b/src/drivers/l3gd20/l3gd20.cpp index c7f433dd4..98098c83b 100644 --- a/src/drivers/l3gd20/l3gd20.cpp +++ b/src/drivers/l3gd20/l3gd20.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -32,7 +32,8 @@ ****************************************************************************/ /** - * @file Driver for the ST L3GD20 MEMS gyro connected via SPI. + * @file l3gd20.cpp + * Driver for the ST L3GD20 MEMS gyro connected via SPI. */ #include diff --git a/src/drivers/px4io/module.mk b/src/drivers/px4io/module.mk new file mode 100644 index 000000000..328e5a684 --- /dev/null +++ b/src/drivers/px4io/module.mk @@ -0,0 +1,41 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# Interface driver for the PX4IO board. +# + +MODULE_COMMAND = px4io + +SRCS = px4io.cpp \ + uploader.cpp diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp new file mode 100644 index 000000000..b21f83e44 --- /dev/null +++ b/src/drivers/px4io/px4io.cpp @@ -0,0 +1,1793 @@ +/**************************************************************************** + * + * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file px4io.cpp + * Driver for the PX4IO board. + * + * PX4IO is connected via I2C. + */ + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include "uploader.h" +#include + +#define PX4IO_SET_DEBUG _IOC(0xff00, 0) +#define PX4IO_INAIR_RESTART_ENABLE _IOC(0xff00, 1) + +class PX4IO : public device::I2C +{ +public: + PX4IO(); + virtual ~PX4IO(); + + virtual int init(); + + virtual int ioctl(file *filp, int cmd, unsigned long arg); + virtual ssize_t write(file *filp, const char *buffer, size_t len); + + /** + * Set the update rate for actuator outputs from FMU to IO. + * + * @param rate The rate in Hz actuator outpus are sent to IO. + * Min 10 Hz, max 400 Hz + */ + int set_update_rate(int rate); + + /** + * Print the current status of IO + */ + void print_status(); + +private: + // XXX + unsigned _max_actuators; + unsigned _max_controls; + unsigned _max_rc_input; + unsigned _max_relays; + unsigned _max_transfer; + + unsigned _update_interval; ///< subscription interval limiting send rate + + volatile int _task; ///< worker task + volatile bool _task_should_exit; + + int _mavlink_fd; + + perf_counter_t _perf_update; + + /* cached IO state */ + uint16_t _status; + uint16_t _alarms; + + /* subscribed topics */ + int _t_actuators; ///< actuator controls topic + int _t_armed; ///< system armed control topic + int _t_vstatus; ///< system / vehicle status + int _t_param; ///< parameter update topic + + /* advertised topics */ + orb_advert_t _to_input_rc; ///< rc inputs from io + orb_advert_t _to_actuators_effective; ///< effective actuator controls topic + orb_advert_t _to_outputs; ///< mixed servo outputs topic + orb_advert_t _to_battery; ///< battery status / voltage + + actuator_outputs_s _outputs; ///< mixed outputs + actuator_controls_effective_s _controls_effective; ///< effective controls + + bool _primary_pwm_device; ///< true if we are the default PWM output + + + /** + * Trampoline to the worker task + */ + static void task_main_trampoline(int argc, char *argv[]); + + /** + * worker task + */ + void task_main(); + + /** + * Send controls to IO + */ + int io_set_control_state(); + + /** + * Update IO's arming-related state + */ + int io_set_arming_state(); + + /** + * Push RC channel configuration to IO. + */ + int io_set_rc_config(); + + /** + * Fetch status and alarms from IO + * + * Also publishes battery voltage/current. + */ + int io_get_status(); + + /** + * Fetch RC inputs from IO. + * + * @param input_rc Input structure to populate. + * @return OK if data was returned. + */ + int io_get_raw_rc_input(rc_input_values &input_rc); + + /** + * Fetch and publish raw RC input data. + */ + int io_publish_raw_rc(); + + /** + * Fetch and publish the mixed control values. + */ + int io_publish_mixed_controls(); + + /** + * Fetch and publish the PWM servo outputs. + */ + int io_publish_pwm_outputs(); + + /** + * write register(s) + * + * @param page Register page to write to. + * @param offset Register offset to start writing at. + * @param values Pointer to array of values to write. + * @param num_values The number of values to write. + * @return Zero if all values were successfully written. + */ + int io_reg_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values); + + /** + * write a register + * + * @param page Register page to write to. + * @param offset Register offset to write to. + * @param value Value to write. + * @return Zero if the value was written successfully. + */ + int io_reg_set(uint8_t page, uint8_t offset, const uint16_t value); + + /** + * read register(s) + * + * @param page Register page to read from. + * @param offset Register offset to start reading from. + * @param values Pointer to array where values should be stored. + * @param num_values The number of values to read. + * @return Zero if all values were successfully read. + */ + int io_reg_get(uint8_t page, uint8_t offset, uint16_t *values, unsigned num_values); + + /** + * read a register + * + * @param page Register page to read from. + * @param offset Register offset to start reading from. + * @return Register value that was read, or _io_reg_get_error on error. + */ + uint32_t io_reg_get(uint8_t page, uint8_t offset); + static const uint32_t _io_reg_get_error = 0x80000000; + + /** + * modify a register + * + * @param page Register page to modify. + * @param offset Register offset to modify. + * @param clearbits Bits to clear in the register. + * @param setbits Bits to set in the register. + */ + int io_reg_modify(uint8_t page, uint8_t offset, uint16_t clearbits, uint16_t setbits); + + /** + * Send mixer definition text to IO + */ + int mixer_send(const char *buf, unsigned buflen); + + /** + * Handle a status update from IO. + * + * Publish IO status information if necessary. + * + * @param status The status register + */ + int io_handle_status(uint16_t status); + + /** + * Handle an alarm update from IO. + * + * Publish IO alarm information if necessary. + * + * @param alarm The status register + */ + int io_handle_alarms(uint16_t alarms); + +}; + + +namespace +{ + +PX4IO *g_dev; + +} + +PX4IO::PX4IO() : + I2C("px4io", "/dev/px4io", PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_PX4IO, 320000), + _max_actuators(0), + _max_controls(0), + _max_rc_input(0), + _max_relays(0), + _max_transfer(16), /* sensible default */ + _update_interval(0), + _task(-1), + _task_should_exit(false), + _mavlink_fd(-1), + _perf_update(perf_alloc(PC_ELAPSED, "px4io update")), + _status(0), + _alarms(0), + _t_actuators(-1), + _t_armed(-1), + _t_vstatus(-1), + _t_param(-1), + _to_input_rc(0), + _to_actuators_effective(0), + _to_outputs(0), + _to_battery(0), + _primary_pwm_device(false) +{ + /* we need this potentially before it could be set in task_main */ + g_dev = this; + + /* open MAVLink text channel */ + _mavlink_fd = ::open(MAVLINK_LOG_DEVICE, 0); + + _debug_enabled = true; +} + +PX4IO::~PX4IO() +{ + /* tell the task we want it to go away */ + _task_should_exit = true; + + /* spin waiting for the task to stop */ + for (unsigned i = 0; (i < 10) && (_task != -1); i++) { + /* give it another 100ms */ + usleep(100000); + } + + /* well, kill it anyway, though this will probably crash */ + if (_task != -1) + task_delete(_task); + + g_dev = nullptr; +} + +int +PX4IO::init() +{ + int ret; + + ASSERT(_task == -1); + + /* do regular cdev init */ + ret = I2C::init(); + if (ret != OK) + return ret; + + /* + * Enable a couple of retries for operations to IO. + * + * Register read/write operations are intentionally idempotent + * so this is safe as designed. + */ + _retries = 2; + + /* get some parameters */ + _max_actuators = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_ACTUATOR_COUNT); + _max_controls = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_CONTROL_COUNT); + _max_relays = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_RELAY_COUNT); + _max_transfer = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_MAX_TRANSFER) - 2; + _max_rc_input = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_RC_INPUT_COUNT); + if ((_max_actuators < 1) || (_max_actuators > 255) || + (_max_relays < 1) || (_max_relays > 255) || + (_max_transfer < 16) || (_max_transfer > 255) || + (_max_rc_input < 1) || (_max_rc_input > 255)) { + + log("failed getting parameters from PX4IO"); + mavlink_log_emergency(_mavlink_fd, "[IO] param read fail, abort."); + return -1; + } + if (_max_rc_input > RC_INPUT_MAX_CHANNELS) + _max_rc_input = RC_INPUT_MAX_CHANNELS; + + /* + * Check for IO flight state - if FMU was flagged to be in + * armed state, FMU is recovering from an in-air reset. + * Read back status and request the commander to arm + * in this case. + */ + + uint16_t reg; + + /* get IO's last seen FMU state */ + ret = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, ®, sizeof(reg)); + if (ret != OK) + return ret; + + /* + * in-air restart is only tried if the IO board reports it is + * already armed, and has been configured for in-air restart + */ + if ((reg & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK) && + (reg & PX4IO_P_SETUP_ARMING_ARM_OK)) { + + mavlink_log_emergency(_mavlink_fd, "[IO] RECOVERING FROM FMU IN-AIR RESTART"); + + /* WARNING: COMMANDER app/vehicle status must be initialized. + * If this fails (or the app is not started), worst-case IO + * remains untouched (so manual override is still available). + */ + + int vstatus_sub = orb_subscribe(ORB_ID(vehicle_status)); + /* fill with initial values, clear updated flag */ + vehicle_status_s status; + uint64_t try_start_time = hrt_absolute_time(); + bool updated = false; + + /* keep checking for an update, ensure we got a recent state, + not something that was published a long time ago. */ + do { + orb_check(vstatus_sub, &updated); + + if (updated) { + /* got data, copy and exit loop */ + orb_copy(ORB_ID(vehicle_status), vstatus_sub, &status); + break; + } + + /* wait 10 ms */ + usleep(10000); + + /* abort after 5s */ + if ((hrt_absolute_time() - try_start_time)/1000 > 50000) { + log("failed to recover from in-air restart (1), aborting IO driver init."); + return 1; + } + + } while (true); + + /* send command to arm system via command API */ + vehicle_command_s cmd; + /* request arming */ + cmd.param1 = 1.0f; + cmd.param2 = 0; + cmd.param3 = 0; + cmd.param4 = 0; + cmd.param5 = 0; + cmd.param6 = 0; + cmd.param7 = 0; + cmd.command = VEHICLE_CMD_COMPONENT_ARM_DISARM; + cmd.target_system = status.system_id; + cmd.target_component = status.component_id; + cmd.source_system = status.system_id; + cmd.source_component = status.component_id; + /* ask to confirm command */ + cmd.confirmation = 1; + + /* send command once */ + (void)orb_advertise(ORB_ID(vehicle_command), &cmd); + + /* spin here until IO's state has propagated into the system */ + do { + orb_check(vstatus_sub, &updated); + + if (updated) { + orb_copy(ORB_ID(vehicle_status), vstatus_sub, &status); + } + + /* wait 10 ms */ + usleep(10000); + + /* abort after 5s */ + if ((hrt_absolute_time() - try_start_time)/1000 > 50000) { + log("failed to recover from in-air restart (2), aborting IO driver init."); + return 1; + } + + /* keep waiting for state change for 10 s */ + } while (!status.flag_system_armed); + + /* regular boot, no in-air restart, init IO */ + } else { + + + /* dis-arm IO before touching anything */ + io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, + PX4IO_P_SETUP_ARMING_ARM_OK | + PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK | + PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK | + PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK, 0); + + /* publish RC config to IO */ + ret = io_set_rc_config(); + if (ret != OK) { + log("failed to update RC input config"); + mavlink_log_info(_mavlink_fd, "[IO] RC config upload fail"); + return ret; + } + + } + + /* try to claim the generic PWM output device node as well - it's OK if we fail at this */ + ret = register_driver(PWM_OUTPUT_DEVICE_PATH, &fops, 0666, (void *)this); + + if (ret == OK) { + log("default PWM output device"); + _primary_pwm_device = true; + } + + /* start the IO interface task */ + _task = task_create("px4io", SCHED_PRIORITY_ACTUATOR_OUTPUTS, 4096, (main_t)&PX4IO::task_main_trampoline, nullptr); + + if (_task < 0) { + debug("task start failed: %d", errno); + return -errno; + } + + mavlink_log_info(_mavlink_fd, "[IO] init ok"); + + return OK; +} + +void +PX4IO::task_main_trampoline(int argc, char *argv[]) +{ + g_dev->task_main(); +} + +void +PX4IO::task_main() +{ + hrt_abstime last_poll_time = 0; + + log("starting"); + + /* + * Subscribe to the appropriate PWM output topic based on whether we are the + * primary PWM output or not. + */ + _t_actuators = orb_subscribe(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS : + ORB_ID(actuator_controls_1)); + orb_set_interval(_t_actuators, 20); /* default to 50Hz */ + + _t_armed = orb_subscribe(ORB_ID(actuator_armed)); + orb_set_interval(_t_armed, 200); /* 5Hz update rate */ + + _t_vstatus = orb_subscribe(ORB_ID(vehicle_status)); + orb_set_interval(_t_vstatus, 200); /* 5Hz update rate max. */ + + _t_param = orb_subscribe(ORB_ID(parameter_update)); + orb_set_interval(_t_param, 500); /* 2Hz update rate max. */ + + /* poll descriptor */ + pollfd fds[4]; + fds[0].fd = _t_actuators; + fds[0].events = POLLIN; + fds[1].fd = _t_armed; + fds[1].events = POLLIN; + fds[2].fd = _t_vstatus; + fds[2].events = POLLIN; + fds[3].fd = _t_param; + fds[3].events = POLLIN; + + debug("ready"); + + /* lock against the ioctl handler */ + lock(); + + /* loop talking to IO */ + while (!_task_should_exit) { + + /* adjust update interval */ + if (_update_interval != 0) { + if (_update_interval < 5) + _update_interval = 5; + if (_update_interval > 100) + _update_interval = 100; + orb_set_interval(_t_actuators, _update_interval); + _update_interval = 0; + } + + /* sleep waiting for topic updates, but no more than 20ms */ + unlock(); + int ret = ::poll(&fds[0], sizeof(fds) / sizeof(fds[0]), 20); + lock(); + + /* this would be bad... */ + if (ret < 0) { + log("poll error %d", errno); + continue; + } + + perf_begin(_perf_update); + hrt_abstime now = hrt_absolute_time(); + + /* if we have new control data from the ORB, handle it */ + if (fds[0].revents & POLLIN) + io_set_control_state(); + + /* if we have an arming state update, handle it */ + if ((fds[1].revents & POLLIN) || (fds[2].revents & POLLIN)) + io_set_arming_state(); + + /* + * If it's time for another tick of the polling status machine, + * try it now. + */ + if ((now - last_poll_time) >= 20000) { + + /* + * Pull status and alarms from IO. + */ + io_get_status(); + + /* + * Get raw R/C input from IO. + */ + io_publish_raw_rc(); + + /* + * Fetch mixed servo controls and PWM outputs from IO. + * + * XXX We could do this at a reduced rate in many/most cases. + */ + io_publish_mixed_controls(); + io_publish_pwm_outputs(); + + /* + * If parameters have changed, re-send RC mappings to IO + * + * XXX this may be a bit spammy + */ + if (fds[3].revents & POLLIN) { + parameter_update_s pupdate; + + /* copy to reset the notification */ + orb_copy(ORB_ID(parameter_update), _t_param, &pupdate); + + /* re-upload RC input config as it may have changed */ + io_set_rc_config(); + } + } + + perf_end(_perf_update); + } + + unlock(); + + debug("exiting"); + + /* clean up the alternate device node */ + if (_primary_pwm_device) + unregister_driver(PWM_OUTPUT_DEVICE_PATH); + + /* tell the dtor that we are exiting */ + _task = -1; + _exit(0); +} + +int +PX4IO::io_set_control_state() +{ + actuator_controls_s controls; ///< actuator outputs + uint16_t regs[_max_actuators]; + + /* get controls */ + orb_copy(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS : + ORB_ID(actuator_controls_1), _t_actuators, &controls); + + for (unsigned i = 0; i < _max_controls; i++) + regs[i] = FLOAT_TO_REG(controls.control[i]); + + /* copy values to registers in IO */ + return io_reg_set(PX4IO_PAGE_CONTROLS, 0, regs, _max_controls); +} + +int +PX4IO::io_set_arming_state() +{ + actuator_armed_s armed; ///< system armed state + vehicle_status_s vstatus; ///< overall system state + + orb_copy(ORB_ID(actuator_armed), _t_armed, &armed); + orb_copy(ORB_ID(vehicle_status), _t_vstatus, &vstatus); + + uint16_t set = 0; + uint16_t clear = 0; + + if (armed.armed) { + set |= PX4IO_P_SETUP_ARMING_ARM_OK; + } else { + clear |= PX4IO_P_SETUP_ARMING_ARM_OK; + } + if (vstatus.flag_vector_flight_mode_ok) { + set |= PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK; + } else { + clear |= PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK; + } + if (vstatus.flag_external_manual_override_ok) { + set |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK; + } else { + clear |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK; + } + + return io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, clear, set); +} + +int +PX4IO::io_set_rc_config() +{ + unsigned offset = 0; + int input_map[_max_rc_input]; + int32_t ichan; + int ret = OK; + + /* + * Generate the input channel -> control channel mapping table; + * assign RC_MAP_ROLL/PITCH/YAW/THROTTLE to the canonical + * controls. + */ + for (unsigned i = 0; i < _max_rc_input; i++) + input_map[i] = -1; + + /* + * NOTE: The indices for mapped channels are 1-based + * for compatibility reasons with existing + * autopilots / GCS'. + */ + param_get(param_find("RC_MAP_ROLL"), &ichan); + if ((ichan >= 0) && (ichan < (int)_max_rc_input)) + input_map[ichan - 1] = 0; + + param_get(param_find("RC_MAP_PITCH"), &ichan); + if ((ichan >= 0) && (ichan < (int)_max_rc_input)) + input_map[ichan - 1] = 1; + + param_get(param_find("RC_MAP_YAW"), &ichan); + if ((ichan >= 0) && (ichan < (int)_max_rc_input)) + input_map[ichan - 1] = 2; + + param_get(param_find("RC_MAP_THROTTLE"), &ichan); + if ((ichan >= 0) && (ichan < (int)_max_rc_input)) + input_map[ichan - 1] = 3; + + ichan = 4; + for (unsigned i = 0; i < _max_rc_input; i++) + if (input_map[i] == -1) + input_map[i] = ichan++; + + /* + * Iterate all possible RC inputs. + */ + for (unsigned i = 0; i < _max_rc_input; i++) { + uint16_t regs[PX4IO_P_RC_CONFIG_STRIDE]; + char pname[16]; + float fval; + + /* + * RC params are floats, but do only + * contain integer values. Do not scale + * or cast them, let the auto-typeconversion + * do its job here. + * Channels: 500 - 2500 + * Inverted flag: -1 (inverted) or 1 (normal) + */ + + sprintf(pname, "RC%d_MIN", i + 1); + param_get(param_find(pname), &fval); + regs[PX4IO_P_RC_CONFIG_MIN] = fval; + + sprintf(pname, "RC%d_TRIM", i + 1); + param_get(param_find(pname), &fval); + regs[PX4IO_P_RC_CONFIG_CENTER] = fval; + + sprintf(pname, "RC%d_MAX", i + 1); + param_get(param_find(pname), &fval); + regs[PX4IO_P_RC_CONFIG_MAX] = fval; + + sprintf(pname, "RC%d_DZ", i + 1); + param_get(param_find(pname), &fval); + regs[PX4IO_P_RC_CONFIG_DEADZONE] = fval; + + regs[PX4IO_P_RC_CONFIG_ASSIGNMENT] = input_map[i]; + + regs[PX4IO_P_RC_CONFIG_OPTIONS] = PX4IO_P_RC_CONFIG_OPTIONS_ENABLED; + sprintf(pname, "RC%d_REV", i + 1); + param_get(param_find(pname), &fval); + + /* + * This has been taken for the sake of compatibility + * with APM's setup / mission planner: normal: 1, + * inverted: -1 + */ + if (fval < 0) { + regs[PX4IO_P_RC_CONFIG_OPTIONS] |= PX4IO_P_RC_CONFIG_OPTIONS_REVERSE; + } + + /* send channel config to IO */ + ret = io_reg_set(PX4IO_PAGE_RC_CONFIG, offset, regs, PX4IO_P_RC_CONFIG_STRIDE); + if (ret != OK) { + log("rc config upload failed"); + break; + } + + /* check the IO initialisation flag */ + if (!(io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS) & PX4IO_P_STATUS_FLAGS_INIT_OK)) { + log("config for RC%d rejected by IO", i + 1); + break; + } + + offset += PX4IO_P_RC_CONFIG_STRIDE; + } + + return ret; +} + +int +PX4IO::io_handle_status(uint16_t status) +{ + int ret = 1; + /** + * WARNING: This section handles in-air resets. + */ + + /* check for IO reset - force it back to armed if necessary */ + if (_status & PX4IO_P_STATUS_FLAGS_ARMED && !(status & PX4IO_P_STATUS_FLAGS_ARMED) + && !(status & PX4IO_P_STATUS_FLAGS_ARM_SYNC)) { + /* set the arming flag */ + ret = io_reg_modify(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, 0, PX4IO_P_STATUS_FLAGS_ARMED | PX4IO_P_STATUS_FLAGS_ARM_SYNC); + + /* set new status */ + _status = status; + _status &= PX4IO_P_STATUS_FLAGS_ARMED; + } else if (!(_status & PX4IO_P_STATUS_FLAGS_ARM_SYNC)) { + + /* set the sync flag */ + ret = io_reg_modify(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, 0, PX4IO_P_STATUS_FLAGS_ARM_SYNC); + /* set new status */ + _status = status; + + } else { + ret = 0; + + /* set new status */ + _status = status; + } + + return ret; +} + +int +PX4IO::io_handle_alarms(uint16_t alarms) +{ + + /* XXX handle alarms */ + + + /* set new alarms state */ + _alarms = alarms; + + return 0; +} + +int +PX4IO::io_get_status() +{ + uint16_t regs[4]; + int ret; + + /* get STATUS_FLAGS, STATUS_ALARMS, STATUS_VBATT, STATUS_IBATT in that order */ + ret = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, ®s[0], sizeof(regs) / sizeof(regs[0])); + if (ret != OK) + return ret; + + io_handle_status(regs[0]); + io_handle_alarms(regs[1]); + + /* only publish if battery has a valid minimum voltage */ + if (regs[2] > 3300) { + battery_status_s battery_status; + + battery_status.timestamp = hrt_absolute_time(); + + /* voltage is scaled to mV */ + battery_status.voltage_v = regs[2] / 1000.0f; + + /* current scaling should be to cA in order to avoid limiting at 65A */ + battery_status.current_a = regs[3] / 100.f; + + /* this requires integration over time - not currently implemented */ + battery_status.discharged_mah = -1.0f; + + /* lazily publish the battery voltage */ + if (_to_battery > 0) { + orb_publish(ORB_ID(battery_status), _to_battery, &battery_status); + } else { + _to_battery = orb_advertise(ORB_ID(battery_status), &battery_status); + } + } + return ret; +} + +int +PX4IO::io_get_raw_rc_input(rc_input_values &input_rc) +{ + uint32_t channel_count; + int ret = OK; + + /* we don't have the status bits, so input_source has to be set elsewhere */ + input_rc.input_source = RC_INPUT_SOURCE_UNKNOWN; + + /* + * XXX Because the channel count and channel data are fetched + * separately, there is a risk of a race between the two + * that could leave us with channel data and a count that + * are out of sync. + * Fixing this would require a guarantee of atomicity from + * IO, and a single fetch for both count and channels. + * + * XXX Since IO has the input calibration info, we ought to be + * able to get the pre-fixed-up controls directly. + * + * XXX can we do this more cheaply? If we knew we had DMA, it would + * almost certainly be better to just get all the inputs... + */ + channel_count = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_COUNT); + if (channel_count == _io_reg_get_error) + return -EIO; + if (channel_count > RC_INPUT_MAX_CHANNELS) + channel_count = RC_INPUT_MAX_CHANNELS; + input_rc.channel_count = channel_count; + + if (channel_count > 0) { + ret = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE, input_rc.values, channel_count); + if (ret == OK) + input_rc.timestamp = hrt_absolute_time(); + } + + return ret; +} + +int +PX4IO::io_publish_raw_rc() +{ + /* if no raw RC, just don't publish */ + if (!(_status & PX4IO_P_STATUS_FLAGS_RC_OK)) + return OK; + + /* fetch values from IO */ + rc_input_values rc_val; + rc_val.timestamp = hrt_absolute_time(); + + int ret = io_get_raw_rc_input(rc_val); + if (ret != OK) + return ret; + + /* sort out the source of the values */ + if (_status & PX4IO_P_STATUS_FLAGS_RC_PPM) { + rc_val.input_source = RC_INPUT_SOURCE_PX4IO_PPM; + } else if (_status & PX4IO_P_STATUS_FLAGS_RC_DSM) { + rc_val.input_source = RC_INPUT_SOURCE_PX4IO_SPEKTRUM; + } else if (_status & PX4IO_P_STATUS_FLAGS_RC_SBUS) { + rc_val.input_source = RC_INPUT_SOURCE_PX4IO_SBUS; + } else { + rc_val.input_source = RC_INPUT_SOURCE_UNKNOWN; + } + + /* lazily advertise on first publication */ + if (_to_input_rc == 0) { + _to_input_rc = orb_advertise(ORB_ID(input_rc), &rc_val); + } else { + orb_publish(ORB_ID(input_rc), _to_input_rc, &rc_val); + } + + return OK; +} + +int +PX4IO::io_publish_mixed_controls() +{ + /* if no FMU comms(!) just don't publish */ + if (!(_status & PX4IO_P_STATUS_FLAGS_FMU_OK)) + return OK; + + /* if not taking raw PPM from us, must be mixing */ + if (_status & PX4IO_P_STATUS_FLAGS_RAW_PWM) + return OK; + + /* data we are going to fetch */ + actuator_controls_effective_s controls_effective; + controls_effective.timestamp = hrt_absolute_time(); + + /* get actuator controls from IO */ + uint16_t act[_max_actuators]; + int ret = io_reg_get(PX4IO_PAGE_ACTUATORS, 0, act, _max_actuators); + if (ret != OK) + return ret; + + /* convert from register format to float */ + for (unsigned i = 0; i < _max_actuators; i++) + controls_effective.control_effective[i] = REG_TO_FLOAT(act[i]); + + /* laxily advertise on first publication */ + if (_to_actuators_effective == 0) { + _to_actuators_effective = + orb_advertise((_primary_pwm_device ? + ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : + ORB_ID(actuator_controls_effective_1)), + &controls_effective); + } else { + orb_publish((_primary_pwm_device ? + ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : + ORB_ID(actuator_controls_effective_1)), + _to_actuators_effective, &controls_effective); + } + + return OK; +} + +int +PX4IO::io_publish_pwm_outputs() +{ + /* if no FMU comms(!) just don't publish */ + if (!(_status & PX4IO_P_STATUS_FLAGS_FMU_OK)) + return OK; + + /* data we are going to fetch */ + actuator_outputs_s outputs; + outputs.timestamp = hrt_absolute_time(); + + /* get servo values from IO */ + uint16_t ctl[_max_actuators]; + int ret = io_reg_get(PX4IO_PAGE_SERVOS, 0, ctl, _max_actuators); + if (ret != OK) + return ret; + + /* convert from register format to float */ + for (unsigned i = 0; i < _max_actuators; i++) + outputs.output[i] = ctl[i]; + outputs.noutputs = _max_actuators; + + /* lazily advertise on first publication */ + if (_to_outputs == 0) { + _to_outputs = orb_advertise((_primary_pwm_device ? + ORB_ID_VEHICLE_CONTROLS : + ORB_ID(actuator_outputs_1)), + &outputs); + } else { + orb_publish((_primary_pwm_device ? + ORB_ID_VEHICLE_CONTROLS : + ORB_ID(actuator_outputs_1)), + _to_outputs, + &outputs); + } + + return OK; +} + +int +PX4IO::io_reg_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values) +{ + /* range check the transfer */ + if (num_values > ((_max_transfer) / sizeof(*values))) { + debug("io_reg_set: too many registers (%u, max %u)", num_values, _max_transfer / 2); + return -EINVAL; + } + + /* set up the transfer */ + uint8_t addr[2] = { + page, + offset + }; + i2c_msg_s msgv[2]; + + msgv[0].flags = 0; + msgv[0].buffer = addr; + msgv[0].length = 2; + msgv[1].flags = I2C_M_NORESTART; + msgv[1].buffer = (uint8_t *)values; + msgv[1].length = num_values * sizeof(*values); + + /* perform the transfer */ + int ret = transfer(msgv, 2); + if (ret != OK) + debug("io_reg_set: error %d", ret); + return ret; +} + +int +PX4IO::io_reg_set(uint8_t page, uint8_t offset, uint16_t value) +{ + return io_reg_set(page, offset, &value, 1); +} + +int +PX4IO::io_reg_get(uint8_t page, uint8_t offset, uint16_t *values, unsigned num_values) +{ + /* set up the transfer */ + uint8_t addr[2] = { + page, + offset + }; + i2c_msg_s msgv[2]; + + msgv[0].flags = 0; + msgv[0].buffer = addr; + msgv[0].length = 2; + msgv[1].flags = I2C_M_READ; + msgv[1].buffer = (uint8_t *)values; + msgv[1].length = num_values * sizeof(*values); + + /* perform the transfer */ + int ret = transfer(msgv, 2); + if (ret != OK) + debug("io_reg_get: data error %d", ret); + return ret; +} + +uint32_t +PX4IO::io_reg_get(uint8_t page, uint8_t offset) +{ + uint16_t value; + + if (io_reg_get(page, offset, &value, 1)) + return _io_reg_get_error; + + return value; +} + +int +PX4IO::io_reg_modify(uint8_t page, uint8_t offset, uint16_t clearbits, uint16_t setbits) +{ + int ret; + uint16_t value; + + ret = io_reg_get(page, offset, &value, 1); + if (ret) + return ret; + value &= ~clearbits; + value |= setbits; + + return io_reg_set(page, offset, value); +} + +int +PX4IO::mixer_send(const char *buf, unsigned buflen) +{ + uint8_t frame[_max_transfer]; + px4io_mixdata *msg = (px4io_mixdata *)&frame[0]; + unsigned max_len = _max_transfer - sizeof(px4io_mixdata); + + msg->f2i_mixer_magic = F2I_MIXER_MAGIC; + msg->action = F2I_MIXER_ACTION_RESET; + + do { + unsigned count = buflen; + + if (count > max_len) + count = max_len; + + if (count > 0) { + memcpy(&msg->text[0], buf, count); + buf += count; + buflen -= count; + } + + /* + * We have to send an even number of bytes. This + * will only happen on the very last transfer of a + * mixer, and we are guaranteed that there will be + * space left to round up as _max_transfer will be + * even. + */ + unsigned total_len = sizeof(px4io_mixdata) + count; + if (total_len % 1) { + msg->text[count] = '\0'; + total_len++; + } + + int ret = io_reg_set(PX4IO_PAGE_MIXERLOAD, 0, (uint16_t *)frame, total_len / 2); + + if (ret) { + log("mixer send error %d", ret); + return ret; + } + + msg->action = F2I_MIXER_ACTION_APPEND; + + } while (buflen > 0); + + /* check for the mixer-OK flag */ + if (io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS) & PX4IO_P_STATUS_FLAGS_MIXER_OK) { + debug("mixer upload OK"); + mavlink_log_info(_mavlink_fd, "[IO] mixer upload ok"); + return 0; + } else { + debug("mixer rejected by IO"); + mavlink_log_info(_mavlink_fd, "[IO] mixer upload fail"); + } + + /* load must have failed for some reason */ + return -EINVAL; +} + +void +PX4IO::print_status() +{ + /* basic configuration */ + printf("protocol %u software %u bootloader %u buffer %uB\n", + io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_PROTOCOL_VERSION), + io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_SOFTWARE_VERSION), + io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_BOOTLOADER_VERSION), + io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_MAX_TRANSFER)); + printf("%u controls %u actuators %u R/C inputs %u analog inputs %u relays\n", + io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_CONTROL_COUNT), + io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_ACTUATOR_COUNT), + io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_RC_INPUT_COUNT), + io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_ADC_INPUT_COUNT), + io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_RELAY_COUNT)); + + /* status */ + printf("%u bytes free\n", + io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FREEMEM)); + uint16_t flags = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS); + printf("status 0x%04x%s%s%s%s%s%s%s%s%s%s%s\n", + flags, + ((flags & PX4IO_P_STATUS_FLAGS_ARMED) ? " ARMED" : ""), + ((flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) ? " OVERRIDE" : ""), + ((flags & PX4IO_P_STATUS_FLAGS_RC_OK) ? " RC_OK" : " RC_FAIL"), + ((flags & PX4IO_P_STATUS_FLAGS_RC_PPM) ? " PPM" : ""), + ((flags & PX4IO_P_STATUS_FLAGS_RC_DSM) ? " DSM" : ""), + ((flags & PX4IO_P_STATUS_FLAGS_RC_SBUS) ? " SBUS" : ""), + ((flags & PX4IO_P_STATUS_FLAGS_FMU_OK) ? " FMU_OK" : " FMU_FAIL"), + ((flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) ? " RAW_PPM" : ""), + ((flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) ? " MIXER_OK" : " MIXER_FAIL"), + ((flags & PX4IO_P_STATUS_FLAGS_ARM_SYNC) ? " ARM_SYNC" : " ARM_NO_SYNC"), + ((flags & PX4IO_P_STATUS_FLAGS_INIT_OK) ? " INIT_OK" : " INIT_FAIL")); + uint16_t alarms = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS); + printf("alarms 0x%04x%s%s%s%s%s%s%s\n", + alarms, + ((alarms & PX4IO_P_STATUS_ALARMS_VBATT_LOW) ? " VBATT_LOW" : ""), + ((alarms & PX4IO_P_STATUS_ALARMS_TEMPERATURE) ? " TEMPERATURE" : ""), + ((alarms & PX4IO_P_STATUS_ALARMS_SERVO_CURRENT) ? " SERVO_CURRENT" : ""), + ((alarms & PX4IO_P_STATUS_ALARMS_ACC_CURRENT) ? " ACC_CURRENT" : ""), + ((alarms & PX4IO_P_STATUS_ALARMS_FMU_LOST) ? " FMU_LOST" : ""), + ((alarms & PX4IO_P_STATUS_ALARMS_RC_LOST) ? " RC_LOST" : ""), + ((alarms & PX4IO_P_STATUS_ALARMS_PWM_ERROR) ? " PWM_ERROR" : "")); + printf("vbatt %u ibatt %u\n", + io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_VBATT), + io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_IBATT)); + printf("actuators"); + for (unsigned i = 0; i < _max_actuators; i++) + printf(" %u", io_reg_get(PX4IO_PAGE_ACTUATORS, i)); + printf("\n"); + printf("servos"); + for (unsigned i = 0; i < _max_actuators; i++) + printf(" %u", io_reg_get(PX4IO_PAGE_SERVOS, i)); + printf("\n"); + uint16_t raw_inputs = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_COUNT); + printf("%d raw R/C inputs", raw_inputs); + for (unsigned i = 0; i < raw_inputs; i++) + printf(" %u", io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE + i)); + printf("\n"); + uint16_t mapped_inputs = io_reg_get(PX4IO_PAGE_RC_INPUT, PX4IO_P_RC_VALID); + printf("mapped R/C inputs 0x%04x", mapped_inputs); + for (unsigned i = 0; i < _max_rc_input; i++) { + if (mapped_inputs & (1 << i)) + printf(" %u:%d", i, REG_TO_SIGNED(io_reg_get(PX4IO_PAGE_RC_INPUT, PX4IO_P_RC_BASE + i))); + } + printf("\n"); + uint16_t adc_inputs = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_ADC_INPUT_COUNT); + printf("ADC inputs"); + for (unsigned i = 0; i < adc_inputs; i++) + printf(" %u", io_reg_get(PX4IO_PAGE_RAW_ADC_INPUT, i)); + printf("\n"); + + /* setup and state */ + printf("features 0x%04x\n", io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES)); + uint16_t arming = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING); + printf("arming 0x%04x%s%s%s%s\n", + arming, + ((arming & PX4IO_P_SETUP_ARMING_ARM_OK) ? " ARM_OK" : ""), + ((arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) ? " MANUAL_OVERRIDE_OK" : ""), + ((arming & PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK) ? " VECTOR_FLIGHT_OK" : ""), + ((arming & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK) ? " INAIR_RESTART_OK" : "")); + printf("rates 0x%04x default %u alt %u relays 0x%04x\n", + io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_RATES), + io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_DEFAULTRATE), + io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_ALTRATE), + io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS)); + printf("vbatt scale %u ibatt scale %u ibatt bias %u\n", + io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VBATT_SCALE), + io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_IBATT_SCALE), + io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_IBATT_BIAS)); + printf("debuglevel %u\n", io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SET_DEBUG)); + printf("controls"); + for (unsigned i = 0; i < _max_controls; i++) + printf(" %u", io_reg_get(PX4IO_PAGE_CONTROLS, i)); + printf("\n"); + for (unsigned i = 0; i < _max_rc_input; i++) { + unsigned base = PX4IO_P_RC_CONFIG_STRIDE * i; + uint16_t options = io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_OPTIONS); + printf("input %u min %u center %u max %u deadzone %u assigned %u options 0x%04x%s%s\n", + i, + io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_MIN), + io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_CENTER), + io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_MAX), + io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_DEADZONE), + io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_ASSIGNMENT), + options, + ((options & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) ? " ENABLED" : ""), + ((options & PX4IO_P_RC_CONFIG_OPTIONS_REVERSE) ? " REVERSED" : "")); + } + printf("failsafe"); + for (unsigned i = 0; i < _max_actuators; i++) + printf(" %u", io_reg_get(PX4IO_PAGE_FAILSAFE_PWM, i)); + printf("\n"); +} + +int +PX4IO::ioctl(file *filep, int cmd, unsigned long arg) +{ + int ret = OK; + + /* regular ioctl? */ + switch (cmd) { + case PWM_SERVO_ARM: + /* set the 'armed' bit */ + ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_ARM_OK); + break; + + case PWM_SERVO_DISARM: + /* clear the 'armed' bit */ + ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_ARM_OK, 0); + break; + + case PWM_SERVO_SET_UPDATE_RATE: + /* set the requested alternate rate */ + if ((arg >= 50) && (arg <= 400)) { /* TODO: we could go higher for e.g. TurboPWM */ + ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_ALTRATE, arg); + } else { + ret = -EINVAL; + } + break; + + case PWM_SERVO_SELECT_UPDATE_RATE: { + + /* blindly clear the PWM update alarm - might be set for some other reason */ + io_reg_set(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS, PX4IO_P_STATUS_ALARMS_PWM_ERROR); + + /* attempt to set the rate map */ + io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_RATES, arg); + + /* check that the changes took */ + uint16_t alarms = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS); + if (alarms & PX4IO_P_STATUS_ALARMS_PWM_ERROR) { + ret = -EINVAL; + io_reg_set(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS, PX4IO_P_STATUS_ALARMS_PWM_ERROR); + } + break; + } + + case PWM_SERVO_GET_COUNT: + *(unsigned *)arg = _max_actuators; + break; + + case PWM_SERVO_SET(0) ... PWM_SERVO_SET(PWM_OUTPUT_MAX_CHANNELS - 1): { + + /* TODO: we could go lower for e.g. TurboPWM */ + unsigned channel = cmd - PWM_SERVO_SET(0); + if ((channel >= _max_actuators) || (arg < 900) || (arg > 2100)) { + ret = -EINVAL; + } else { + /* send a direct PWM value */ + ret = io_reg_set(PX4IO_PAGE_DIRECT_PWM, channel, arg); + } + + break; + } + + case PWM_SERVO_GET(0) ... PWM_SERVO_GET(PWM_OUTPUT_MAX_CHANNELS - 1): { + + unsigned channel = cmd - PWM_SERVO_GET(0); + + if (channel >= _max_actuators) { + ret = -EINVAL; + } else { + /* fetch a current PWM value */ + uint32_t value = io_reg_get(PX4IO_PAGE_SERVOS, channel); + if (value == _io_reg_get_error) { + ret = -EIO; + } else { + *(servo_position_t *)arg = value; + } + } + break; + } + + case PWM_SERVO_GET_RATEGROUP(0) ... PWM_SERVO_GET_RATEGROUP(PWM_OUTPUT_MAX_CHANNELS - 1): { + + unsigned channel = cmd - PWM_SERVO_GET_RATEGROUP(0); + + uint32_t value = io_reg_get(PX4IO_PAGE_PWM_INFO, PX4IO_RATE_MAP_BASE + channel); + + *(uint32_t *)arg = value; + break; + } + + case GPIO_RESET: + ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS, 0); + break; + + case GPIO_SET: + arg &= ((1 << _max_relays) - 1); + ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS, 0, arg); + break; + + case GPIO_CLEAR: + arg &= ((1 << _max_relays) - 1); + ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS, arg, 0); + break; + + case GPIO_GET: + *(uint32_t *)arg = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS); + if (*(uint32_t *)arg == _io_reg_get_error) + ret = -EIO; + break; + + case MIXERIOCGETOUTPUTCOUNT: + *(unsigned *)arg = _max_actuators; + break; + + case MIXERIOCRESET: + ret = 0; /* load always resets */ + break; + + case MIXERIOCLOADBUF: { + const char *buf = (const char *)arg; + ret = mixer_send(buf, strnlen(buf, 1024)); + break; + } + + case RC_INPUT_GET: { + uint16_t status; + rc_input_values *rc_val = (rc_input_values *)arg; + + ret = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, &status, 1); + if (ret != OK) + break; + + /* if no R/C input, don't try to fetch anything */ + if (!(status & PX4IO_P_STATUS_FLAGS_RC_OK)) { + ret = -ENOTCONN; + break; + } + + /* sort out the source of the values */ + if (status & PX4IO_P_STATUS_FLAGS_RC_PPM) { + rc_val->input_source = RC_INPUT_SOURCE_PX4IO_PPM; + } else if (status & PX4IO_P_STATUS_FLAGS_RC_DSM) { + rc_val->input_source = RC_INPUT_SOURCE_PX4IO_SPEKTRUM; + } else if (status & PX4IO_P_STATUS_FLAGS_RC_SBUS) { + rc_val->input_source = RC_INPUT_SOURCE_PX4IO_SBUS; + } else { + rc_val->input_source = RC_INPUT_SOURCE_UNKNOWN; + } + + /* read raw R/C input values */ + ret = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE, &(rc_val->values[0]), _max_rc_input); + break; + } + + case PX4IO_SET_DEBUG: + /* set the debug level */ + ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SET_DEBUG, arg); + break; + + case PX4IO_INAIR_RESTART_ENABLE: + /* set/clear the 'in-air restart' bit */ + if (arg) { + ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK); + } else { + ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK, 0); + } + break; + + default: + /* not a recognized value */ + ret = -ENOTTY; + } + + return ret; +} + +ssize_t +PX4IO::write(file *filp, const char *buffer, size_t len) +{ + unsigned count = len / 2; + + if (count > _max_actuators) + count = _max_actuators; + if (count > 0) { + int ret = io_reg_set(PX4IO_PAGE_DIRECT_PWM, 0, (uint16_t *)buffer, count); + if (ret != OK) + return ret; + } + return count * 2; +} + +int +PX4IO::set_update_rate(int rate) +{ + int interval_ms = 1000 / rate; + if (interval_ms < 5) { + interval_ms = 5; + warnx("update rate too high, limiting interval to %d ms (%d Hz).", interval_ms, 1000 / interval_ms); + } + + if (interval_ms > 100) { + interval_ms = 100; + warnx("update rate too low, limiting to %d ms (%d Hz).", interval_ms, 1000 / interval_ms); + } + + _update_interval = interval_ms; + return 0; +} + + +extern "C" __EXPORT int px4io_main(int argc, char *argv[]); + +namespace +{ + +void +start(int argc, char *argv[]) +{ + if (g_dev != nullptr) + errx(1, "already loaded"); + + /* create the driver - it will set g_dev */ + (void)new PX4IO(); + + if (g_dev == nullptr) + errx(1, "driver alloc failed"); + + if (OK != g_dev->init()) { + delete g_dev; + errx(1, "driver init failed"); + } + + exit(0); +} + +void +test(void) +{ + int fd; + unsigned servo_count = 0; + unsigned pwm_value = 1000; + int direction = 1; + int ret; + + fd = open("/dev/px4io", O_WRONLY); + + if (fd < 0) + err(1, "failed to open device"); + + if (ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count)) + err(1, "failed to get servo count"); + + if (ioctl(fd, PWM_SERVO_ARM, 0)) + err(1, "failed to arm servos"); + + for (;;) { + + /* sweep all servos between 1000..2000 */ + servo_position_t servos[servo_count]; + for (unsigned i = 0; i < servo_count; i++) + servos[i] = pwm_value; + + ret = write(fd, servos, sizeof(servos)); + if (ret != (int)sizeof(servos)) + err(1, "error writing PWM servo data, wrote %u got %d", sizeof(servos), ret); + + if (direction > 0) { + if (pwm_value < 2000) { + pwm_value++; + } else { + direction = -1; + } + } else { + if (pwm_value > 1000) { + pwm_value--; + } else { + direction = 1; + } + } + + /* readback servo values */ + for (unsigned i = 0; i < servo_count; i++) { + servo_position_t value; + + if (ioctl(fd, PWM_SERVO_GET(i), (unsigned long)&value)) + err(1, "error reading PWM servo %d", i); + if (value != servos[i]) + errx(1, "servo %d readback error, got %u expected %u", i, value, servos[i]); + } + } +} + +void +monitor(void) +{ + unsigned cancels = 3; + printf("Hit three times to exit monitor mode\n"); + + for (;;) { + pollfd fds[1]; + + fds[0].fd = 0; + fds[0].events = POLLIN; + poll(fds, 1, 500); + + if (fds[0].revents == POLLIN) { + int c; + read(0, &c, 1); + + if (cancels-- == 0) + exit(0); + } + +#warning implement this + +// if (g_dev != nullptr) +// g_dev->dump_one = true; + } +} + +} + +int +px4io_main(int argc, char *argv[]) +{ + /* check for sufficient number of arguments */ + if (argc < 2) + goto out; + + if (!strcmp(argv[1], "start")) + start(argc - 1, argv + 1); + + if (!strcmp(argv[1], "limit")) { + + if (g_dev != nullptr) { + + if ((argc > 2)) { + g_dev->set_update_rate(atoi(argv[2])); + } else { + errx(1, "missing argument (50 - 200 Hz)"); + return 1; + } + } + exit(0); + } + + if (!strcmp(argv[1], "recovery")) { + + if (g_dev != nullptr) { + /* + * Enable in-air restart support. + * We can cheat and call the driver directly, as it + * doesn't reference filp in ioctl() + */ + g_dev->ioctl(NULL, PX4IO_INAIR_RESTART_ENABLE, 1); + } else { + errx(1, "not loaded"); + } + exit(0); + } + + if (!strcmp(argv[1], "stop")) { + + if (g_dev != nullptr) { + /* stop the driver */ + delete g_dev; + } else { + errx(1, "not loaded"); + } + exit(0); + } + + + if (!strcmp(argv[1], "status")) { + + if (g_dev != nullptr) { + printf("[px4io] loaded\n"); + g_dev->print_status(); + } else { + printf("[px4io] not loaded\n"); + } + + exit(0); + } + + if (!strcmp(argv[1], "debug")) { + if (argc <= 2) { + printf("usage: px4io debug LEVEL\n"); + exit(1); + } + if (g_dev == nullptr) { + printf("px4io is not started\n"); + exit(1); + } + uint8_t level = atoi(argv[2]); + /* we can cheat and call the driver directly, as it + * doesn't reference filp in ioctl() + */ + int ret = g_dev->ioctl(NULL, PX4IO_SET_DEBUG, level); + if (ret != 0) { + printf("SET_DEBUG failed - %d\n", ret); + exit(1); + } + printf("SET_DEBUG %u OK\n", (unsigned)level); + exit(0); + } + + /* note, stop not currently implemented */ + + if (!strcmp(argv[1], "update")) { + + if (g_dev != nullptr) { + printf("[px4io] loaded, detaching first\n"); + /* stop the driver */ + delete g_dev; + } + + PX4IO_Uploader *up; + const char *fn[3]; + + /* work out what we're uploading... */ + if (argc > 2) { + fn[0] = argv[2]; + fn[1] = nullptr; + + } else { + fn[0] = "/fs/microsd/px4io.bin"; + fn[1] = "/etc/px4io.bin"; + fn[2] = nullptr; + } + + up = new PX4IO_Uploader; + int ret = up->upload(&fn[0]); + delete up; + + switch (ret) { + case OK: + break; + + case -ENOENT: + errx(1, "PX4IO firmware file not found"); + + case -EEXIST: + case -EIO: + errx(1, "error updating PX4IO - check that bootloader mode is enabled"); + + case -EINVAL: + errx(1, "verify failed - retry the update"); + + case -ETIMEDOUT: + errx(1, "timed out waiting for bootloader - power-cycle and try again"); + + default: + errx(1, "unexpected error %d", ret); + } + + return ret; + } + + if (!strcmp(argv[1], "rx_dsm") || + !strcmp(argv[1], "rx_dsm_10bit") || + !strcmp(argv[1], "rx_dsm_11bit") || + !strcmp(argv[1], "rx_sbus") || + !strcmp(argv[1], "rx_ppm")) + errx(0, "receiver type is automatically detected, option '%s' is deprecated", argv[1]); + + if (!strcmp(argv[1], "test")) + test(); + + if (!strcmp(argv[1], "monitor")) + monitor(); + + out: + errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug', 'recovery', 'limit' or 'update'"); +} diff --git a/src/drivers/px4io/uploader.cpp b/src/drivers/px4io/uploader.cpp new file mode 100644 index 000000000..9a67875e8 --- /dev/null +++ b/src/drivers/px4io/uploader.cpp @@ -0,0 +1,604 @@ +/**************************************************************************** + * + * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file uploader.cpp + * Firmware uploader for PX4IO + */ + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "uploader.h" + +static const uint32_t crctab[] = +{ + 0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3, + 0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91, + 0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7, + 0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5, + 0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b, + 0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59, + 0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f, + 0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d, + 0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433, + 0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01, + 0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457, + 0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65, + 0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb, + 0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9, + 0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f, + 0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad, + 0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683, + 0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1, + 0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7, + 0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5, + 0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b, + 0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79, + 0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236, 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f, + 0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d, + 0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713, + 0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21, + 0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777, + 0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45, + 0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db, + 0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9, + 0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf, + 0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d +}; + +static uint32_t +crc32(const uint8_t *src, unsigned len, unsigned state) +{ + for (unsigned i = 0; i < len; i++) + state = crctab[(state ^ src[i]) & 0xff] ^ (state >> 8); + return state; +} + +PX4IO_Uploader::PX4IO_Uploader() : + _io_fd(-1), + _fw_fd(-1) +{ +} + +PX4IO_Uploader::~PX4IO_Uploader() +{ +} + +int +PX4IO_Uploader::upload(const char *filenames[]) +{ + int ret; + const char *filename = NULL; + size_t fw_size; + + _io_fd = open("/dev/ttyS2", O_RDWR); + + if (_io_fd < 0) { + log("could not open interface"); + return -errno; + } + + /* look for the bootloader */ + ret = sync(); + + if (ret != OK) { + /* this is immediately fatal */ + log("bootloader not responding"); + return -EIO; + } + + for (unsigned i = 0; filenames[i] != nullptr; i++) { + _fw_fd = open(filenames[i], O_RDONLY); + + if (_fw_fd < 0) { + log("failed to open %s", filenames[i]); + continue; + } + + log("using firmware from %s", filenames[i]); + filename = filenames[i]; + break; + } + + if (filename == NULL) { + log("no firmware found"); + return -ENOENT; + } + + struct stat st; + if (stat(filename, &st) != 0) { + log("Failed to stat %s - %d\n", filename, (int)errno); + return -errno; + } + fw_size = st.st_size; + + if (_fw_fd == -1) + return -ENOENT; + + /* do the usual program thing - allow for failure */ + for (unsigned retries = 0; retries < 1; retries++) { + if (retries > 0) { + log("retrying update..."); + ret = sync(); + + if (ret != OK) { + /* this is immediately fatal */ + log("bootloader not responding"); + return -EIO; + } + } + + ret = get_info(INFO_BL_REV, bl_rev); + + if (ret == OK) { + if (bl_rev <= BL_REV) { + log("found bootloader revision: %d", bl_rev); + } else { + log("found unsupported bootloader revision %d, exiting", bl_rev); + return OK; + } + } + + ret = erase(); + + if (ret != OK) { + log("erase failed"); + continue; + } + + ret = program(fw_size); + + if (ret != OK) { + log("program failed"); + continue; + } + + if (bl_rev <= 2) + ret = verify_rev2(fw_size); + else if(bl_rev == 3) { + ret = verify_rev3(fw_size); + } + + if (ret != OK) { + log("verify failed"); + continue; + } + + ret = reboot(); + + if (ret != OK) { + log("reboot failed"); + return ret; + } + + log("update complete"); + + ret = OK; + break; + } + + close(_fw_fd); + return ret; +} + +int +PX4IO_Uploader::recv(uint8_t &c, unsigned timeout) +{ + struct pollfd fds[1]; + + fds[0].fd = _io_fd; + fds[0].events = POLLIN; + + /* wait 100 ms for a character */ + int ret = ::poll(&fds[0], 1, timeout); + + if (ret < 1) { + log("poll timeout %d", ret); + return -ETIMEDOUT; + } + + read(_io_fd, &c, 1); + //log("recv 0x%02x", c); + return OK; +} + +int +PX4IO_Uploader::recv(uint8_t *p, unsigned count) +{ + while (count--) { + int ret = recv(*p++, 5000); + + if (ret != OK) + return ret; + } + + return OK; +} + +void +PX4IO_Uploader::drain() +{ + uint8_t c; + int ret; + + do { + ret = recv(c, 1000); + + if (ret == OK) { + //log("discard 0x%02x", c); + } + } while (ret == OK); +} + +int +PX4IO_Uploader::send(uint8_t c) +{ + //log("send 0x%02x", c); + if (write(_io_fd, &c, 1) != 1) + return -errno; + + return OK; +} + +int +PX4IO_Uploader::send(uint8_t *p, unsigned count) +{ + while (count--) { + int ret = send(*p++); + + if (ret != OK) + return ret; + } + + return OK; +} + +int +PX4IO_Uploader::get_sync(unsigned timeout) +{ + uint8_t c[2]; + int ret; + + ret = recv(c[0], timeout); + + if (ret != OK) + return ret; + + ret = recv(c[1], timeout); + + if (ret != OK) + return ret; + + if ((c[0] != PROTO_INSYNC) || (c[1] != PROTO_OK)) { + log("bad sync 0x%02x,0x%02x", c[0], c[1]); + return -EIO; + } + + return OK; +} + +int +PX4IO_Uploader::sync() +{ + drain(); + + /* complete any pending program operation */ + for (unsigned i = 0; i < (PROG_MULTI_MAX + 6); i++) + send(0); + + send(PROTO_GET_SYNC); + send(PROTO_EOC); + return get_sync(); +} + +int +PX4IO_Uploader::get_info(int param, uint32_t &val) +{ + int ret; + + send(PROTO_GET_DEVICE); + send(param); + send(PROTO_EOC); + + ret = recv((uint8_t *)&val, sizeof(val)); + + if (ret != OK) + return ret; + + return get_sync(); +} + +int +PX4IO_Uploader::erase() +{ + log("erase..."); + send(PROTO_CHIP_ERASE); + send(PROTO_EOC); + return get_sync(10000); /* allow 10s timeout */ +} + + +static int read_with_retry(int fd, void *buf, size_t n) +{ + int ret; + uint8_t retries = 0; + do { + ret = read(fd, buf, n); + } while (ret == -1 && retries++ < 100); + if (retries != 0) { + printf("read of %u bytes needed %u retries\n", + (unsigned)n, + (unsigned)retries); + } + return ret; +} + +int +PX4IO_Uploader::program(size_t fw_size) +{ + uint8_t file_buf[PROG_MULTI_MAX]; + ssize_t count; + int ret; + size_t sent = 0; + + log("programming %u bytes...", (unsigned)fw_size); + + ret = lseek(_fw_fd, 0, SEEK_SET); + + while (sent < fw_size) { + /* get more bytes to program */ + size_t n = fw_size - sent; + if (n > sizeof(file_buf)) { + n = sizeof(file_buf); + } + count = read_with_retry(_fw_fd, file_buf, n); + + if (count != (ssize_t)n) { + log("firmware read of %u bytes at %u failed -> %d errno %d", + (unsigned)n, + (unsigned)sent, + (int)count, + (int)errno); + } + + if (count == 0) + return OK; + + sent += count; + + if (count < 0) + return -errno; + + ASSERT((count % 4) == 0); + + send(PROTO_PROG_MULTI); + send(count); + send(&file_buf[0], count); + send(PROTO_EOC); + + ret = get_sync(1000); + + if (ret != OK) + return ret; + } + return OK; +} + +int +PX4IO_Uploader::verify_rev2(size_t fw_size) +{ + uint8_t file_buf[4]; + ssize_t count; + int ret; + size_t sent = 0; + + log("verify..."); + lseek(_fw_fd, 0, SEEK_SET); + + send(PROTO_CHIP_VERIFY); + send(PROTO_EOC); + ret = get_sync(); + + if (ret != OK) + return ret; + + while (sent < fw_size) { + /* get more bytes to verify */ + size_t n = fw_size - sent; + if (n > sizeof(file_buf)) { + n = sizeof(file_buf); + } + count = read_with_retry(_fw_fd, file_buf, n); + + if (count != (ssize_t)n) { + log("firmware read of %u bytes at %u failed -> %d errno %d", + (unsigned)n, + (unsigned)sent, + (int)count, + (int)errno); + } + + if (count == 0) + break; + + sent += count; + + if (count < 0) + return -errno; + + ASSERT((count % 4) == 0); + + send(PROTO_READ_MULTI); + send(count); + send(PROTO_EOC); + + for (ssize_t i = 0; i < count; i++) { + uint8_t c; + + ret = recv(c, 5000); + + if (ret != OK) { + log("%d: got %d waiting for bytes", sent + i, ret); + return ret; + } + + if (c != file_buf[i]) { + log("%d: got 0x%02x expected 0x%02x", sent + i, c, file_buf[i]); + return -EINVAL; + } + } + + ret = get_sync(); + + if (ret != OK) { + log("timeout waiting for post-verify sync"); + return ret; + } + } + + return OK; +} + +int +PX4IO_Uploader::verify_rev3(size_t fw_size_local) +{ + int ret; + uint8_t file_buf[4]; + ssize_t count; + uint32_t sum = 0; + uint32_t bytes_read = 0; + uint32_t crc = 0; + uint32_t fw_size_remote; + uint8_t fill_blank = 0xff; + + log("verify..."); + lseek(_fw_fd, 0, SEEK_SET); + + ret = get_info(INFO_FLASH_SIZE, fw_size_remote); + send(PROTO_EOC); + + if (ret != OK) { + log("could not read firmware size"); + return ret; + } + + /* read through the firmware file again and calculate the checksum*/ + while (bytes_read < fw_size_local) { + size_t n = fw_size_local - bytes_read; + if (n > sizeof(file_buf)) { + n = sizeof(file_buf); + } + count = read_with_retry(_fw_fd, file_buf, n); + + if (count != (ssize_t)n) { + log("firmware read of %u bytes at %u failed -> %d errno %d", + (unsigned)n, + (unsigned)bytes_read, + (int)count, + (int)errno); + } + + /* set the rest to ff */ + if (count == 0) { + break; + } + /* stop if the file cannot be read */ + if (count < 0) + return -errno; + + /* calculate crc32 sum */ + sum = crc32((uint8_t *)&file_buf, sizeof(file_buf), sum); + + bytes_read += count; + } + + /* fill the rest with 0xff */ + while (bytes_read < fw_size_remote) { + sum = crc32(&fill_blank, sizeof(fill_blank), sum); + bytes_read += sizeof(fill_blank); + } + + /* request CRC from IO */ + send(PROTO_GET_CRC); + send(PROTO_EOC); + + ret = recv((uint8_t*)(&crc), sizeof(crc)); + + if (ret != OK) { + log("did not receive CRC checksum"); + return ret; + } + + /* compare the CRC sum from the IO with the one calculated */ + if (sum != crc) { + log("CRC wrong: received: %d, expected: %d", crc, sum); + return -EINVAL; + } + + return OK; +} + +int +PX4IO_Uploader::reboot() +{ + send(PROTO_REBOOT); + send(PROTO_EOC); + + return OK; +} + +void +PX4IO_Uploader::log(const char *fmt, ...) +{ + va_list ap; + + printf("[PX4IO] "); + va_start(ap, fmt); + vprintf(fmt, ap); + va_end(ap); + printf("\n"); + fflush(stdout); +} diff --git a/src/drivers/px4io/uploader.h b/src/drivers/px4io/uploader.h new file mode 100644 index 000000000..135202dd1 --- /dev/null +++ b/src/drivers/px4io/uploader.h @@ -0,0 +1,104 @@ +/**************************************************************************** + * + * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file uploader.h + * Firmware uploader definitions for PX4IO. + */ + +#ifndef _PX4IO_UPLOADER_H +#define _PX4IO_UPLOADER_H value + +#include +#include + + +class PX4IO_Uploader +{ +public: + PX4IO_Uploader(); + virtual ~PX4IO_Uploader(); + + int upload(const char *filenames[]); + +private: + enum { + + PROTO_NOP = 0x00, + PROTO_OK = 0x10, + PROTO_FAILED = 0x11, + PROTO_INSYNC = 0x12, + PROTO_EOC = 0x20, + PROTO_GET_SYNC = 0x21, + PROTO_GET_DEVICE = 0x22, + PROTO_CHIP_ERASE = 0x23, + PROTO_CHIP_VERIFY = 0x24, + PROTO_PROG_MULTI = 0x27, + PROTO_READ_MULTI = 0x28, + PROTO_GET_CRC = 0x29, + PROTO_REBOOT = 0x30, + + INFO_BL_REV = 1, /**< bootloader protocol revision */ + BL_REV = 3, /**< supported bootloader protocol */ + INFO_BOARD_ID = 2, /**< board type */ + INFO_BOARD_REV = 3, /**< board revision */ + INFO_FLASH_SIZE = 4, /**< max firmware size in bytes */ + + PROG_MULTI_MAX = 60, /**< protocol max is 255, must be multiple of 4 */ + READ_MULTI_MAX = 60, /**< protocol max is 255, something overflows with >= 64 */ + + }; + + int _io_fd; + int _fw_fd; + + uint32_t bl_rev; /**< bootloader revision */ + + void log(const char *fmt, ...); + + int recv(uint8_t &c, unsigned timeout); + int recv(uint8_t *p, unsigned count); + void drain(); + int send(uint8_t c); + int send(uint8_t *p, unsigned count); + int get_sync(unsigned timeout = 1000); + int sync(); + int get_info(int param, uint32_t &val); + int erase(); + int program(size_t fw_size); + int verify_rev2(size_t fw_size); + int verify_rev3(size_t fw_size); + int reboot(); +}; + +#endif diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp index 1a50dde0f..8e18c3c9a 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp @@ -46,7 +46,6 @@ #include #include #include -#include #include #include #include diff --git a/src/modules/attitude_estimator_ekf/module.mk b/src/modules/attitude_estimator_ekf/module.mk index bfb7db997..d98647f99 100644 --- a/src/modules/attitude_estimator_ekf/module.mk +++ b/src/modules/attitude_estimator_ekf/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (C) 2012-2013 PX4 Development Team. All rights reserved. +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -35,10 +35,10 @@ # Attitude estimator (Extended Kalman Filter) # -MODULE_NAME = attitude_estimator_ekf -CXXSRCS = attitude_estimator_ekf_main.cpp +MODULE_COMMAND = attitude_estimator_ekf -SRCS = attitude_estimator_ekf_params.c \ +SRCS = attitude_estimator_ekf_main.cpp \ + attitude_estimator_ekf_params.c \ codegen/eye.c \ codegen/attitudeKalmanfilter.c \ codegen/mrdivide.c \ diff --git a/src/modules/commander/module.mk b/src/modules/commander/module.mk index b90da8289..556d5c2df 100644 --- a/src/modules/commander/module.mk +++ b/src/modules/commander/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (C) 2012-2013 PX4 Development Team. All rights reserved. +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe1.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe1.c new file mode 100755 index 000000000..977565b8e --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe1.c @@ -0,0 +1,58 @@ +/* + * kalman_dlqe1.c + * + * Code generation for function 'kalman_dlqe1' + * + * C source code generated on: Wed Feb 13 20:34:32 2013 + * + */ + +/* Include files */ +#include "rt_nonfinite.h" +#include "kalman_dlqe1.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ + +/* Function Definitions */ +void kalman_dlqe1(const real32_T A[9], const real32_T C[3], const real32_T K[3], + const real32_T x_aposteriori_k[3], real32_T z, real32_T + x_aposteriori[3]) +{ + printf("[dlqe input]: x_aposteriori_k %12.8f\t %12.8f\t %12.8f\t z:%12.8f\n", (double)(x_aposteriori_k[0]), (double)(x_aposteriori_k[1]), (double)(x_aposteriori_k[2]), (double)z); + printf("[dlqe input]: C[0]: %12.8f\tC[1] %12.8f\tC[2] %12.8f\n", (double)(C[0]), (double)(C[1]), (double)(C[2])); + real32_T y; + int32_T i0; + real32_T b_y[3]; + int32_T i1; + real32_T f0; + y = 0.0F; + for (i0 = 0; i0 < 3; i0++) { + b_y[i0] = 0.0F; + for (i1 = 0; i1 < 3; i1++) { + b_y[i0] += C[i1] * A[i1 + 3 * i0]; + } + + y += b_y[i0] * x_aposteriori_k[i0]; + } + + y = z - y; + for (i0 = 0; i0 < 3; i0++) { + f0 = 0.0F; + for (i1 = 0; i1 < 3; i1++) { + f0 += A[i0 + 3 * i1] * x_aposteriori_k[i1]; + } + + x_aposteriori[i0] = f0 + K[i0] * y; + } + //printf("[dlqe output]: x_aposteriori %12.8f\t %12.8f\t %12.8f\n", (double)(x_aposteriori[0]), (double)(x_aposteriori[1]), (double)(x_aposteriori[2])); +} + +/* End of code generation (kalman_dlqe1.c) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe1.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe1.h new file mode 100755 index 000000000..2f5330563 --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe1.h @@ -0,0 +1,30 @@ +/* + * kalman_dlqe1.h + * + * Code generation for function 'kalman_dlqe1' + * + * C source code generated on: Wed Feb 13 20:34:32 2013 + * + */ + +#ifndef __KALMAN_DLQE1_H__ +#define __KALMAN_DLQE1_H__ +/* Include files */ +#include +#include + +#include "rtwtypes.h" +#include "kalman_dlqe1_types.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ +extern void kalman_dlqe1(const real32_T A[9], const real32_T C[3], const real32_T K[3], const real32_T x_aposteriori_k[3], real32_T z, real32_T x_aposteriori[3]); +#endif +/* End of code generation (kalman_dlqe1.h) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.c new file mode 100755 index 000000000..6627f76e9 --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.c @@ -0,0 +1,31 @@ +/* + * kalman_dlqe1_initialize.c + * + * Code generation for function 'kalman_dlqe1_initialize' + * + * C source code generated on: Wed Feb 13 20:34:31 2013 + * + */ + +/* Include files */ +#include "rt_nonfinite.h" +#include "kalman_dlqe1.h" +#include "kalman_dlqe1_initialize.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ + +/* Function Definitions */ +void kalman_dlqe1_initialize(void) +{ + rt_InitInfAndNaN(8U); +} + +/* End of code generation (kalman_dlqe1_initialize.c) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.h new file mode 100755 index 000000000..a77eb5712 --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.h @@ -0,0 +1,30 @@ +/* + * kalman_dlqe1_initialize.h + * + * Code generation for function 'kalman_dlqe1_initialize' + * + * C source code generated on: Wed Feb 13 20:34:31 2013 + * + */ + +#ifndef __KALMAN_DLQE1_INITIALIZE_H__ +#define __KALMAN_DLQE1_INITIALIZE_H__ +/* Include files */ +#include +#include + +#include "rtwtypes.h" +#include "kalman_dlqe1_types.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ +extern void kalman_dlqe1_initialize(void); +#endif +/* End of code generation (kalman_dlqe1_initialize.h) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.c new file mode 100755 index 000000000..a65536f79 --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.c @@ -0,0 +1,31 @@ +/* + * kalman_dlqe1_terminate.c + * + * Code generation for function 'kalman_dlqe1_terminate' + * + * C source code generated on: Wed Feb 13 20:34:31 2013 + * + */ + +/* Include files */ +#include "rt_nonfinite.h" +#include "kalman_dlqe1.h" +#include "kalman_dlqe1_terminate.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ + +/* Function Definitions */ +void kalman_dlqe1_terminate(void) +{ + /* (no terminate code required) */ +} + +/* End of code generation (kalman_dlqe1_terminate.c) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.h new file mode 100755 index 000000000..100c7f76c --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.h @@ -0,0 +1,30 @@ +/* + * kalman_dlqe1_terminate.h + * + * Code generation for function 'kalman_dlqe1_terminate' + * + * C source code generated on: Wed Feb 13 20:34:32 2013 + * + */ + +#ifndef __KALMAN_DLQE1_TERMINATE_H__ +#define __KALMAN_DLQE1_TERMINATE_H__ +/* Include files */ +#include +#include + +#include "rtwtypes.h" +#include "kalman_dlqe1_types.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ +extern void kalman_dlqe1_terminate(void); +#endif +/* End of code generation (kalman_dlqe1_terminate.h) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_types.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_types.h new file mode 100755 index 000000000..d4b2c2d61 --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_types.h @@ -0,0 +1,16 @@ +/* + * kalman_dlqe1_types.h + * + * Code generation for function 'kalman_dlqe1' + * + * C source code generated on: Wed Feb 13 20:34:31 2013 + * + */ + +#ifndef __KALMAN_DLQE1_TYPES_H__ +#define __KALMAN_DLQE1_TYPES_H__ + +/* Type Definitions */ + +#endif +/* End of code generation (kalman_dlqe1_types.h) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe2.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe2.c new file mode 100755 index 000000000..11b999064 --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe2.c @@ -0,0 +1,119 @@ +/* + * kalman_dlqe2.c + * + * Code generation for function 'kalman_dlqe2' + * + * C source code generated on: Thu Feb 14 12:52:28 2013 + * + */ + +/* Include files */ +#include "rt_nonfinite.h" +#include "kalman_dlqe2.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ +static real32_T rt_powf_snf(real32_T u0, real32_T u1); + +/* Function Definitions */ +static real32_T rt_powf_snf(real32_T u0, real32_T u1) +{ + real32_T y; + real32_T f1; + real32_T f2; + if (rtIsNaNF(u0) || rtIsNaNF(u1)) { + y = ((real32_T)rtNaN); + } else { + f1 = (real32_T)fabs(u0); + f2 = (real32_T)fabs(u1); + if (rtIsInfF(u1)) { + if (f1 == 1.0F) { + y = ((real32_T)rtNaN); + } else if (f1 > 1.0F) { + if (u1 > 0.0F) { + y = ((real32_T)rtInf); + } else { + y = 0.0F; + } + } else if (u1 > 0.0F) { + y = 0.0F; + } else { + y = ((real32_T)rtInf); + } + } else if (f2 == 0.0F) { + y = 1.0F; + } else if (f2 == 1.0F) { + if (u1 > 0.0F) { + y = u0; + } else { + y = 1.0F / u0; + } + } else if (u1 == 2.0F) { + y = u0 * u0; + } else if ((u1 == 0.5F) && (u0 >= 0.0F)) { + y = (real32_T)sqrt(u0); + } else if ((u0 < 0.0F) && (u1 > (real32_T)floor(u1))) { + y = ((real32_T)rtNaN); + } else { + y = (real32_T)pow(u0, u1); + } + } + + return y; +} + +void kalman_dlqe2(real32_T dt, real32_T k1, real32_T k2, real32_T k3, const + real32_T x_aposteriori_k[3], real32_T z, real32_T + x_aposteriori[3]) +{ + //printf("[dqle2] dt: %12.8f\tvk1 %12.8f\tk2: %12.8f\tk3: %12.8f\n", (double)(dt), (double)(k1), (double)(k2), (double)(k3)); + //printf("[dqle2] dt: %8.4f\n", (double)(dt));//, (double)(k1), (double)(k2), (double)(k3)); + real32_T A[9]; + real32_T y; + int32_T i0; + static const int8_T iv0[3] = { 0, 0, 1 }; + + real32_T b_k1[3]; + int32_T i1; + static const int8_T iv1[3] = { 1, 0, 0 }; + + real32_T f0; + A[0] = 1.0F; + A[3] = dt; + A[6] = 0.5F * rt_powf_snf(dt, 2.0F); + A[1] = 0.0F; + A[4] = 1.0F; + A[7] = dt; + y = 0.0F; + for (i0 = 0; i0 < 3; i0++) { + A[2 + 3 * i0] = (real32_T)iv0[i0]; + b_k1[i0] = 0.0F; + for (i1 = 0; i1 < 3; i1++) { + b_k1[i0] += (real32_T)iv1[i1] * A[i1 + 3 * i0]; + } + + y += b_k1[i0] * x_aposteriori_k[i0]; + } + + y = z - y; + b_k1[0] = k1; + b_k1[1] = k2; + b_k1[2] = k3; + for (i0 = 0; i0 < 3; i0++) { + f0 = 0.0F; + for (i1 = 0; i1 < 3; i1++) { + f0 += A[i0 + 3 * i1] * x_aposteriori_k[i1]; + } + + x_aposteriori[i0] = f0 + b_k1[i0] * y; + } +} + +/* End of code generation (kalman_dlqe2.c) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe2.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe2.h new file mode 100755 index 000000000..30170ae22 --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe2.h @@ -0,0 +1,32 @@ +/* + * kalman_dlqe2.h + * + * Code generation for function 'kalman_dlqe2' + * + * C source code generated on: Thu Feb 14 12:52:29 2013 + * + */ + +#ifndef __KALMAN_DLQE2_H__ +#define __KALMAN_DLQE2_H__ +/* Include files */ +#include +#include +#include +#include "rt_nonfinite.h" + +#include "rtwtypes.h" +#include "kalman_dlqe2_types.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ +extern void kalman_dlqe2(real32_T dt, real32_T k1, real32_T k2, real32_T k3, const real32_T x_aposteriori_k[3], real32_T z, real32_T x_aposteriori[3]); +#endif +/* End of code generation (kalman_dlqe2.h) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.c new file mode 100755 index 000000000..de5a1d8aa --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.c @@ -0,0 +1,31 @@ +/* + * kalman_dlqe2_initialize.c + * + * Code generation for function 'kalman_dlqe2_initialize' + * + * C source code generated on: Thu Feb 14 12:52:28 2013 + * + */ + +/* Include files */ +#include "rt_nonfinite.h" +#include "kalman_dlqe2.h" +#include "kalman_dlqe2_initialize.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ + +/* Function Definitions */ +void kalman_dlqe2_initialize(void) +{ + rt_InitInfAndNaN(8U); +} + +/* End of code generation (kalman_dlqe2_initialize.c) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.h new file mode 100755 index 000000000..3d507ff31 --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.h @@ -0,0 +1,32 @@ +/* + * kalman_dlqe2_initialize.h + * + * Code generation for function 'kalman_dlqe2_initialize' + * + * C source code generated on: Thu Feb 14 12:52:28 2013 + * + */ + +#ifndef __KALMAN_DLQE2_INITIALIZE_H__ +#define __KALMAN_DLQE2_INITIALIZE_H__ +/* Include files */ +#include +#include +#include +#include "rt_nonfinite.h" + +#include "rtwtypes.h" +#include "kalman_dlqe2_types.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ +extern void kalman_dlqe2_initialize(void); +#endif +/* End of code generation (kalman_dlqe2_initialize.h) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.c new file mode 100755 index 000000000..0757c878c --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.c @@ -0,0 +1,31 @@ +/* + * kalman_dlqe2_terminate.c + * + * Code generation for function 'kalman_dlqe2_terminate' + * + * C source code generated on: Thu Feb 14 12:52:28 2013 + * + */ + +/* Include files */ +#include "rt_nonfinite.h" +#include "kalman_dlqe2.h" +#include "kalman_dlqe2_terminate.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ + +/* Function Definitions */ +void kalman_dlqe2_terminate(void) +{ + /* (no terminate code required) */ +} + +/* End of code generation (kalman_dlqe2_terminate.c) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.h new file mode 100755 index 000000000..23995020b --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.h @@ -0,0 +1,32 @@ +/* + * kalman_dlqe2_terminate.h + * + * Code generation for function 'kalman_dlqe2_terminate' + * + * C source code generated on: Thu Feb 14 12:52:28 2013 + * + */ + +#ifndef __KALMAN_DLQE2_TERMINATE_H__ +#define __KALMAN_DLQE2_TERMINATE_H__ +/* Include files */ +#include +#include +#include +#include "rt_nonfinite.h" + +#include "rtwtypes.h" +#include "kalman_dlqe2_types.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ +extern void kalman_dlqe2_terminate(void); +#endif +/* End of code generation (kalman_dlqe2_terminate.h) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_types.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_types.h new file mode 100755 index 000000000..f7a04d908 --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_types.h @@ -0,0 +1,16 @@ +/* + * kalman_dlqe2_types.h + * + * Code generation for function 'kalman_dlqe2' + * + * C source code generated on: Thu Feb 14 12:52:28 2013 + * + */ + +#ifndef __KALMAN_DLQE2_TYPES_H__ +#define __KALMAN_DLQE2_TYPES_H__ + +/* Type Definitions */ + +#endif +/* End of code generation (kalman_dlqe2_types.h) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe3.c new file mode 100755 index 000000000..9efe2ea7a --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe3.c @@ -0,0 +1,137 @@ +/* + * kalman_dlqe3.c + * + * Code generation for function 'kalman_dlqe3' + * + * C source code generated on: Tue Feb 19 15:26:31 2013 + * + */ + +/* Include files */ +#include "rt_nonfinite.h" +#include "kalman_dlqe3.h" +#include "randn.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ +static real32_T rt_powf_snf(real32_T u0, real32_T u1); + +/* Function Definitions */ +static real32_T rt_powf_snf(real32_T u0, real32_T u1) +{ + real32_T y; + real32_T f1; + real32_T f2; + if (rtIsNaNF(u0) || rtIsNaNF(u1)) { + y = ((real32_T)rtNaN); + } else { + f1 = (real32_T)fabs(u0); + f2 = (real32_T)fabs(u1); + if (rtIsInfF(u1)) { + if (f1 == 1.0F) { + y = ((real32_T)rtNaN); + } else if (f1 > 1.0F) { + if (u1 > 0.0F) { + y = ((real32_T)rtInf); + } else { + y = 0.0F; + } + } else if (u1 > 0.0F) { + y = 0.0F; + } else { + y = ((real32_T)rtInf); + } + } else if (f2 == 0.0F) { + y = 1.0F; + } else if (f2 == 1.0F) { + if (u1 > 0.0F) { + y = u0; + } else { + y = 1.0F / u0; + } + } else if (u1 == 2.0F) { + y = u0 * u0; + } else if ((u1 == 0.5F) && (u0 >= 0.0F)) { + y = (real32_T)sqrt(u0); + } else if ((u0 < 0.0F) && (u1 > (real32_T)floor(u1))) { + y = ((real32_T)rtNaN); + } else { + y = (real32_T)pow(u0, u1); + } + } + + return y; +} + +void kalman_dlqe3(real32_T dt, real32_T k1, real32_T k2, real32_T k3, const + real32_T x_aposteriori_k[3], real32_T z, real32_T posUpdate, + real32_T addNoise, real32_T sigma, real32_T x_aposteriori[3]) +{ + real32_T A[9]; + int32_T i0; + static const int8_T iv0[3] = { 0, 0, 1 }; + + real_T b; + real32_T y; + real32_T b_y[3]; + int32_T i1; + static const int8_T iv1[3] = { 1, 0, 0 }; + + real32_T b_k1[3]; + real32_T f0; + A[0] = 1.0F; + A[3] = dt; + A[6] = 0.5F * rt_powf_snf(dt, 2.0F); + A[1] = 0.0F; + A[4] = 1.0F; + A[7] = dt; + for (i0 = 0; i0 < 3; i0++) { + A[2 + 3 * i0] = (real32_T)iv0[i0]; + } + + if (addNoise == 1.0F) { + b = randn(); + z += sigma * (real32_T)b; + } + + if (posUpdate != 0.0F) { + y = 0.0F; + for (i0 = 0; i0 < 3; i0++) { + b_y[i0] = 0.0F; + for (i1 = 0; i1 < 3; i1++) { + b_y[i0] += (real32_T)iv1[i1] * A[i1 + 3 * i0]; + } + + y += b_y[i0] * x_aposteriori_k[i0]; + } + + y = z - y; + b_k1[0] = k1; + b_k1[1] = k2; + b_k1[2] = k3; + for (i0 = 0; i0 < 3; i0++) { + f0 = 0.0F; + for (i1 = 0; i1 < 3; i1++) { + f0 += A[i0 + 3 * i1] * x_aposteriori_k[i1]; + } + + x_aposteriori[i0] = f0 + b_k1[i0] * y; + } + } else { + for (i0 = 0; i0 < 3; i0++) { + x_aposteriori[i0] = 0.0F; + for (i1 = 0; i1 < 3; i1++) { + x_aposteriori[i0] += A[i0 + 3 * i1] * x_aposteriori_k[i1]; + } + } + } +} + +/* End of code generation (kalman_dlqe3.c) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe3.h new file mode 100755 index 000000000..9bbffbbb3 --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe3.h @@ -0,0 +1,33 @@ +/* + * kalman_dlqe3.h + * + * Code generation for function 'kalman_dlqe3' + * + * C source code generated on: Tue Feb 19 15:26:32 2013 + * + */ + +#ifndef __KALMAN_DLQE3_H__ +#define __KALMAN_DLQE3_H__ +/* Include files */ +#include +#include +#include +#include +#include "rt_nonfinite.h" + +#include "rtwtypes.h" +#include "kalman_dlqe3_types.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ +extern void kalman_dlqe3(real32_T dt, real32_T k1, real32_T k2, real32_T k3, const real32_T x_aposteriori_k[3], real32_T z, real32_T posUpdate, real32_T addNoise, real32_T sigma, real32_T x_aposteriori[3]); +#endif +/* End of code generation (kalman_dlqe3.h) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.c new file mode 100755 index 000000000..8f2275c13 --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.c @@ -0,0 +1,32 @@ +/* + * kalman_dlqe3_data.c + * + * Code generation for function 'kalman_dlqe3_data' + * + * C source code generated on: Tue Feb 19 15:26:31 2013 + * + */ + +/* Include files */ +#include "rt_nonfinite.h" +#include "kalman_dlqe3.h" +#include "kalman_dlqe3_data.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ +uint32_T method; +uint32_T state[2]; +uint32_T b_method; +uint32_T b_state; +uint32_T c_state[2]; +boolean_T state_not_empty; + +/* Function Declarations */ + +/* Function Definitions */ +/* End of code generation (kalman_dlqe3_data.c) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.h new file mode 100755 index 000000000..952eb7b89 --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.h @@ -0,0 +1,38 @@ +/* + * kalman_dlqe3_data.h + * + * Code generation for function 'kalman_dlqe3_data' + * + * C source code generated on: Tue Feb 19 15:26:31 2013 + * + */ + +#ifndef __KALMAN_DLQE3_DATA_H__ +#define __KALMAN_DLQE3_DATA_H__ +/* Include files */ +#include +#include +#include +#include +#include "rt_nonfinite.h" + +#include "rtwtypes.h" +#include "kalman_dlqe3_types.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ +extern uint32_T method; +extern uint32_T state[2]; +extern uint32_T b_method; +extern uint32_T b_state; +extern uint32_T c_state[2]; +extern boolean_T state_not_empty; + +/* Variable Definitions */ + +/* Function Declarations */ +#endif +/* End of code generation (kalman_dlqe3_data.h) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.c new file mode 100755 index 000000000..b87d604c4 --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.c @@ -0,0 +1,47 @@ +/* + * kalman_dlqe3_initialize.c + * + * Code generation for function 'kalman_dlqe3_initialize' + * + * C source code generated on: Tue Feb 19 15:26:31 2013 + * + */ + +/* Include files */ +#include "rt_nonfinite.h" +#include "kalman_dlqe3.h" +#include "kalman_dlqe3_initialize.h" +#include "kalman_dlqe3_data.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ + +/* Function Definitions */ +void kalman_dlqe3_initialize(void) +{ + int32_T i; + static const uint32_T uv0[2] = { 362436069U, 0U }; + + rt_InitInfAndNaN(8U); + state_not_empty = FALSE; + b_state = 1144108930U; + b_method = 7U; + method = 0U; + for (i = 0; i < 2; i++) { + c_state[i] = 362436069U + 158852560U * (uint32_T)i; + state[i] = uv0[i]; + } + + if (state[1] == 0U) { + state[1] = 521288629U; + } +} + +/* End of code generation (kalman_dlqe3_initialize.c) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.h new file mode 100755 index 000000000..9dee90f9e --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.h @@ -0,0 +1,33 @@ +/* + * kalman_dlqe3_initialize.h + * + * Code generation for function 'kalman_dlqe3_initialize' + * + * C source code generated on: Tue Feb 19 15:26:31 2013 + * + */ + +#ifndef __KALMAN_DLQE3_INITIALIZE_H__ +#define __KALMAN_DLQE3_INITIALIZE_H__ +/* Include files */ +#include +#include +#include +#include +#include "rt_nonfinite.h" + +#include "rtwtypes.h" +#include "kalman_dlqe3_types.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ +extern void kalman_dlqe3_initialize(void); +#endif +/* End of code generation (kalman_dlqe3_initialize.h) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.c new file mode 100755 index 000000000..b00858205 --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.c @@ -0,0 +1,31 @@ +/* + * kalman_dlqe3_terminate.c + * + * Code generation for function 'kalman_dlqe3_terminate' + * + * C source code generated on: Tue Feb 19 15:26:31 2013 + * + */ + +/* Include files */ +#include "rt_nonfinite.h" +#include "kalman_dlqe3.h" +#include "kalman_dlqe3_terminate.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ + +/* Function Definitions */ +void kalman_dlqe3_terminate(void) +{ + /* (no terminate code required) */ +} + +/* End of code generation (kalman_dlqe3_terminate.c) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.h new file mode 100755 index 000000000..69cc85c76 --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.h @@ -0,0 +1,33 @@ +/* + * kalman_dlqe3_terminate.h + * + * Code generation for function 'kalman_dlqe3_terminate' + * + * C source code generated on: Tue Feb 19 15:26:31 2013 + * + */ + +#ifndef __KALMAN_DLQE3_TERMINATE_H__ +#define __KALMAN_DLQE3_TERMINATE_H__ +/* Include files */ +#include +#include +#include +#include +#include "rt_nonfinite.h" + +#include "rtwtypes.h" +#include "kalman_dlqe3_types.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ +extern void kalman_dlqe3_terminate(void); +#endif +/* End of code generation (kalman_dlqe3_terminate.h) */ diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_types.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_types.h new file mode 100755 index 000000000..f36ea4557 --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_types.h @@ -0,0 +1,16 @@ +/* + * kalman_dlqe3_types.h + * + * Code generation for function 'kalman_dlqe3' + * + * C source code generated on: Tue Feb 19 15:26:30 2013 + * + */ + +#ifndef __KALMAN_DLQE3_TYPES_H__ +#define __KALMAN_DLQE3_TYPES_H__ + +/* Type Definitions */ + +#endif +/* End of code generation (kalman_dlqe3_types.h) */ diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.c new file mode 100755 index 000000000..5139848bc --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.c @@ -0,0 +1,136 @@ +/* + * positionKalmanFilter1D.c + * + * Code generation for function 'positionKalmanFilter1D' + * + * C source code generated on: Fri Nov 30 14:26:11 2012 + * + */ + +/* Include files */ +#include "rt_nonfinite.h" +#include "positionKalmanFilter1D.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ + +/* Function Definitions */ +void positionKalmanFilter1D(const real32_T A[9], const real32_T B[3], const + real32_T C[3], const real32_T x_aposteriori_k[3], const real32_T + P_aposteriori_k[9], real32_T u, real32_T z, uint8_T gps_update, const real32_T + Q[9], real32_T R, real32_T thresh, real32_T decay, real32_T x_aposteriori[3], + real32_T P_aposteriori[9]) +{ + int32_T i0; + real32_T f0; + int32_T k; + real32_T b_A[9]; + int32_T i1; + real32_T P_apriori[9]; + real32_T y; + real32_T K[3]; + real32_T S; + int8_T I[9]; + + /* prediction */ + for (i0 = 0; i0 < 3; i0++) { + f0 = 0.0F; + for (k = 0; k < 3; k++) { + f0 += A[i0 + 3 * k] * x_aposteriori_k[k]; + } + + x_aposteriori[i0] = f0 + B[i0] * u; + } + + for (i0 = 0; i0 < 3; i0++) { + for (k = 0; k < 3; k++) { + b_A[i0 + 3 * k] = 0.0F; + for (i1 = 0; i1 < 3; i1++) { + b_A[i0 + 3 * k] += A[i0 + 3 * i1] * P_aposteriori_k[i1 + 3 * k]; + } + } + } + + for (i0 = 0; i0 < 3; i0++) { + for (k = 0; k < 3; k++) { + f0 = 0.0F; + for (i1 = 0; i1 < 3; i1++) { + f0 += b_A[i0 + 3 * i1] * A[k + 3 * i1]; + } + + P_apriori[i0 + 3 * k] = f0 + Q[i0 + 3 * k]; + } + } + + if ((real32_T)fabs(u) < thresh) { + x_aposteriori[1] *= decay; + } + + /* update */ + if (gps_update == 1) { + y = 0.0F; + for (k = 0; k < 3; k++) { + y += C[k] * x_aposteriori[k]; + K[k] = 0.0F; + for (i0 = 0; i0 < 3; i0++) { + K[k] += C[i0] * P_apriori[i0 + 3 * k]; + } + } + + y = z - y; + S = 0.0F; + for (k = 0; k < 3; k++) { + S += K[k] * C[k]; + } + + S += R; + for (i0 = 0; i0 < 3; i0++) { + f0 = 0.0F; + for (k = 0; k < 3; k++) { + f0 += P_apriori[i0 + 3 * k] * C[k]; + } + + K[i0] = f0 / S; + } + + for (i0 = 0; i0 < 3; i0++) { + x_aposteriori[i0] += K[i0] * y; + } + + for (i0 = 0; i0 < 9; i0++) { + I[i0] = 0; + } + + for (k = 0; k < 3; k++) { + I[k + 3 * k] = 1; + } + + for (i0 = 0; i0 < 3; i0++) { + for (k = 0; k < 3; k++) { + b_A[k + 3 * i0] = (real32_T)I[k + 3 * i0] - K[k] * C[i0]; + } + } + + for (i0 = 0; i0 < 3; i0++) { + for (k = 0; k < 3; k++) { + P_aposteriori[i0 + 3 * k] = 0.0F; + for (i1 = 0; i1 < 3; i1++) { + P_aposteriori[i0 + 3 * k] += b_A[i0 + 3 * i1] * P_apriori[i1 + 3 * k]; + } + } + } + } else { + for (i0 = 0; i0 < 9; i0++) { + P_aposteriori[i0] = P_apriori[i0]; + } + } +} + +/* End of code generation (positionKalmanFilter1D.c) */ diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.h new file mode 100755 index 000000000..205c8eb4e --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.h @@ -0,0 +1,31 @@ +/* + * positionKalmanFilter1D.h + * + * Code generation for function 'positionKalmanFilter1D' + * + * C source code generated on: Fri Nov 30 14:26:11 2012 + * + */ + +#ifndef __POSITIONKALMANFILTER1D_H__ +#define __POSITIONKALMANFILTER1D_H__ +/* Include files */ +#include +#include +#include + +#include "rtwtypes.h" +#include "positionKalmanFilter1D_types.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ +extern void positionKalmanFilter1D(const real32_T A[9], const real32_T B[3], const real32_T C[3], const real32_T x_aposteriori_k[3], const real32_T P_aposteriori_k[9], real32_T u, real32_T z, uint8_T gps_update, const real32_T Q[9], real32_T R, real32_T thresh, real32_T decay, real32_T x_aposteriori[3], real32_T P_aposteriori[9]); +#endif +/* End of code generation (positionKalmanFilter1D.h) */ diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.c new file mode 100755 index 000000000..4c535618a --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.c @@ -0,0 +1,157 @@ +/* + * positionKalmanFilter1D_dT.c + * + * Code generation for function 'positionKalmanFilter1D_dT' + * + * C source code generated on: Fri Nov 30 17:37:33 2012 + * + */ + +/* Include files */ +#include "rt_nonfinite.h" +#include "positionKalmanFilter1D_dT.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ + +/* Function Definitions */ +void positionKalmanFilter1D_dT(real32_T dT, const real32_T x_aposteriori_k[3], + const real32_T P_aposteriori_k[9], real32_T u, real32_T z, uint8_T gps_update, + const real32_T Q[9], real_T R, real32_T thresh, real32_T decay, real32_T + x_aposteriori[3], real32_T P_aposteriori[9]) +{ + real32_T A[9]; + int32_T i; + static const int8_T iv0[3] = { 0, 0, 1 }; + + real32_T K[3]; + real32_T f0; + int32_T i0; + real32_T b_A[9]; + int32_T i1; + real32_T P_apriori[9]; + static const int8_T iv1[3] = { 1, 0, 0 }; + + real32_T fv0[3]; + real32_T y; + static const int8_T iv2[3] = { 1, 0, 0 }; + + real32_T S; + int8_T I[9]; + + /* dynamics */ + A[0] = 1.0F; + A[3] = dT; + A[6] = -0.5F * dT * dT; + A[1] = 0.0F; + A[4] = 1.0F; + A[7] = -dT; + for (i = 0; i < 3; i++) { + A[2 + 3 * i] = (real32_T)iv0[i]; + } + + /* prediction */ + K[0] = 0.5F * dT * dT; + K[1] = dT; + K[2] = 0.0F; + for (i = 0; i < 3; i++) { + f0 = 0.0F; + for (i0 = 0; i0 < 3; i0++) { + f0 += A[i + 3 * i0] * x_aposteriori_k[i0]; + } + + x_aposteriori[i] = f0 + K[i] * u; + } + + for (i = 0; i < 3; i++) { + for (i0 = 0; i0 < 3; i0++) { + b_A[i + 3 * i0] = 0.0F; + for (i1 = 0; i1 < 3; i1++) { + b_A[i + 3 * i0] += A[i + 3 * i1] * P_aposteriori_k[i1 + 3 * i0]; + } + } + } + + for (i = 0; i < 3; i++) { + for (i0 = 0; i0 < 3; i0++) { + f0 = 0.0F; + for (i1 = 0; i1 < 3; i1++) { + f0 += b_A[i + 3 * i1] * A[i0 + 3 * i1]; + } + + P_apriori[i + 3 * i0] = f0 + Q[i + 3 * i0]; + } + } + + if ((real32_T)fabs(u) < thresh) { + x_aposteriori[1] *= decay; + } + + /* update */ + if (gps_update == 1) { + f0 = 0.0F; + for (i = 0; i < 3; i++) { + f0 += (real32_T)iv1[i] * x_aposteriori[i]; + fv0[i] = 0.0F; + for (i0 = 0; i0 < 3; i0++) { + fv0[i] += (real32_T)iv1[i0] * P_apriori[i0 + 3 * i]; + } + } + + y = z - f0; + f0 = 0.0F; + for (i = 0; i < 3; i++) { + f0 += fv0[i] * (real32_T)iv2[i]; + } + + S = f0 + (real32_T)R; + for (i = 0; i < 3; i++) { + f0 = 0.0F; + for (i0 = 0; i0 < 3; i0++) { + f0 += P_apriori[i + 3 * i0] * (real32_T)iv2[i0]; + } + + K[i] = f0 / S; + } + + for (i = 0; i < 3; i++) { + x_aposteriori[i] += K[i] * y; + } + + for (i = 0; i < 9; i++) { + I[i] = 0; + } + + for (i = 0; i < 3; i++) { + I[i + 3 * i] = 1; + } + + for (i = 0; i < 3; i++) { + for (i0 = 0; i0 < 3; i0++) { + A[i0 + 3 * i] = (real32_T)I[i0 + 3 * i] - K[i0] * (real32_T)iv1[i]; + } + } + + for (i = 0; i < 3; i++) { + for (i0 = 0; i0 < 3; i0++) { + P_aposteriori[i + 3 * i0] = 0.0F; + for (i1 = 0; i1 < 3; i1++) { + P_aposteriori[i + 3 * i0] += A[i + 3 * i1] * P_apriori[i1 + 3 * i0]; + } + } + } + } else { + for (i = 0; i < 9; i++) { + P_aposteriori[i] = P_apriori[i]; + } + } +} + +/* End of code generation (positionKalmanFilter1D_dT.c) */ diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.h new file mode 100755 index 000000000..94cbe2ce6 --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.h @@ -0,0 +1,31 @@ +/* + * positionKalmanFilter1D_dT.h + * + * Code generation for function 'positionKalmanFilter1D_dT' + * + * C source code generated on: Fri Nov 30 17:37:33 2012 + * + */ + +#ifndef __POSITIONKALMANFILTER1D_DT_H__ +#define __POSITIONKALMANFILTER1D_DT_H__ +/* Include files */ +#include +#include +#include + +#include "rtwtypes.h" +#include "positionKalmanFilter1D_dT_types.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ +extern void positionKalmanFilter1D_dT(real32_T dT, const real32_T x_aposteriori_k[3], const real32_T P_aposteriori_k[9], real32_T u, real32_T z, uint8_T gps_update, const real32_T Q[9], real_T R, real32_T thresh, real32_T decay, real32_T x_aposteriori[3], real32_T P_aposteriori[9]); +#endif +/* End of code generation (positionKalmanFilter1D_dT.h) */ diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.c new file mode 100755 index 000000000..aa89f8a9d --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.c @@ -0,0 +1,31 @@ +/* + * positionKalmanFilter1D_dT_initialize.c + * + * Code generation for function 'positionKalmanFilter1D_dT_initialize' + * + * C source code generated on: Fri Nov 30 17:37:33 2012 + * + */ + +/* Include files */ +#include "rt_nonfinite.h" +#include "positionKalmanFilter1D_dT.h" +#include "positionKalmanFilter1D_dT_initialize.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ + +/* Function Definitions */ +void positionKalmanFilter1D_dT_initialize(void) +{ + rt_InitInfAndNaN(8U); +} + +/* End of code generation (positionKalmanFilter1D_dT_initialize.c) */ diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.h new file mode 100755 index 000000000..8d358a9a3 --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.h @@ -0,0 +1,31 @@ +/* + * positionKalmanFilter1D_dT_initialize.h + * + * Code generation for function 'positionKalmanFilter1D_dT_initialize' + * + * C source code generated on: Fri Nov 30 17:37:33 2012 + * + */ + +#ifndef __POSITIONKALMANFILTER1D_DT_INITIALIZE_H__ +#define __POSITIONKALMANFILTER1D_DT_INITIALIZE_H__ +/* Include files */ +#include +#include +#include + +#include "rtwtypes.h" +#include "positionKalmanFilter1D_dT_types.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ +extern void positionKalmanFilter1D_dT_initialize(void); +#endif +/* End of code generation (positionKalmanFilter1D_dT_initialize.h) */ diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.c new file mode 100755 index 000000000..20ed2edbb --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.c @@ -0,0 +1,31 @@ +/* + * positionKalmanFilter1D_dT_terminate.c + * + * Code generation for function 'positionKalmanFilter1D_dT_terminate' + * + * C source code generated on: Fri Nov 30 17:37:33 2012 + * + */ + +/* Include files */ +#include "rt_nonfinite.h" +#include "positionKalmanFilter1D_dT.h" +#include "positionKalmanFilter1D_dT_terminate.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ + +/* Function Definitions */ +void positionKalmanFilter1D_dT_terminate(void) +{ + /* (no terminate code required) */ +} + +/* End of code generation (positionKalmanFilter1D_dT_terminate.c) */ diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.h new file mode 100755 index 000000000..5eb5807a0 --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.h @@ -0,0 +1,31 @@ +/* + * positionKalmanFilter1D_dT_terminate.h + * + * Code generation for function 'positionKalmanFilter1D_dT_terminate' + * + * C source code generated on: Fri Nov 30 17:37:33 2012 + * + */ + +#ifndef __POSITIONKALMANFILTER1D_DT_TERMINATE_H__ +#define __POSITIONKALMANFILTER1D_DT_TERMINATE_H__ +/* Include files */ +#include +#include +#include + +#include "rtwtypes.h" +#include "positionKalmanFilter1D_dT_types.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ +extern void positionKalmanFilter1D_dT_terminate(void); +#endif +/* End of code generation (positionKalmanFilter1D_dT_terminate.h) */ diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_types.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_types.h new file mode 100755 index 000000000..43e5f016c --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_types.h @@ -0,0 +1,16 @@ +/* + * positionKalmanFilter1D_dT_types.h + * + * Code generation for function 'positionKalmanFilter1D_dT' + * + * C source code generated on: Fri Nov 30 17:37:33 2012 + * + */ + +#ifndef __POSITIONKALMANFILTER1D_DT_TYPES_H__ +#define __POSITIONKALMANFILTER1D_DT_TYPES_H__ + +/* Type Definitions */ + +#endif +/* End of code generation (positionKalmanFilter1D_dT_types.h) */ diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.c new file mode 100755 index 000000000..5bd87c390 --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.c @@ -0,0 +1,31 @@ +/* + * positionKalmanFilter1D_initialize.c + * + * Code generation for function 'positionKalmanFilter1D_initialize' + * + * C source code generated on: Fri Nov 30 14:26:11 2012 + * + */ + +/* Include files */ +#include "rt_nonfinite.h" +#include "positionKalmanFilter1D.h" +#include "positionKalmanFilter1D_initialize.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ + +/* Function Definitions */ +void positionKalmanFilter1D_initialize(void) +{ + rt_InitInfAndNaN(8U); +} + +/* End of code generation (positionKalmanFilter1D_initialize.c) */ diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.h new file mode 100755 index 000000000..44bce472f --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.h @@ -0,0 +1,31 @@ +/* + * positionKalmanFilter1D_initialize.h + * + * Code generation for function 'positionKalmanFilter1D_initialize' + * + * C source code generated on: Fri Nov 30 14:26:11 2012 + * + */ + +#ifndef __POSITIONKALMANFILTER1D_INITIALIZE_H__ +#define __POSITIONKALMANFILTER1D_INITIALIZE_H__ +/* Include files */ +#include +#include +#include + +#include "rtwtypes.h" +#include "positionKalmanFilter1D_types.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ +extern void positionKalmanFilter1D_initialize(void); +#endif +/* End of code generation (positionKalmanFilter1D_initialize.h) */ diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.c new file mode 100755 index 000000000..41e11936f --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.c @@ -0,0 +1,31 @@ +/* + * positionKalmanFilter1D_terminate.c + * + * Code generation for function 'positionKalmanFilter1D_terminate' + * + * C source code generated on: Fri Nov 30 14:26:11 2012 + * + */ + +/* Include files */ +#include "rt_nonfinite.h" +#include "positionKalmanFilter1D.h" +#include "positionKalmanFilter1D_terminate.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ + +/* Function Definitions */ +void positionKalmanFilter1D_terminate(void) +{ + /* (no terminate code required) */ +} + +/* End of code generation (positionKalmanFilter1D_terminate.c) */ diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.h new file mode 100755 index 000000000..e84ea01bc --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.h @@ -0,0 +1,31 @@ +/* + * positionKalmanFilter1D_terminate.h + * + * Code generation for function 'positionKalmanFilter1D_terminate' + * + * C source code generated on: Fri Nov 30 14:26:11 2012 + * + */ + +#ifndef __POSITIONKALMANFILTER1D_TERMINATE_H__ +#define __POSITIONKALMANFILTER1D_TERMINATE_H__ +/* Include files */ +#include +#include +#include + +#include "rtwtypes.h" +#include "positionKalmanFilter1D_types.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ +extern void positionKalmanFilter1D_terminate(void); +#endif +/* End of code generation (positionKalmanFilter1D_terminate.h) */ diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_types.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_types.h new file mode 100755 index 000000000..4b473f56f --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_types.h @@ -0,0 +1,16 @@ +/* + * positionKalmanFilter1D_types.h + * + * Code generation for function 'positionKalmanFilter1D' + * + * C source code generated on: Fri Nov 30 14:26:11 2012 + * + */ + +#ifndef __POSITIONKALMANFILTER1D_TYPES_H__ +#define __POSITIONKALMANFILTER1D_TYPES_H__ + +/* Type Definitions */ + +#endif +/* End of code generation (positionKalmanFilter1D_types.h) */ diff --git a/src/modules/position_estimator_mc/codegen/randn.c b/src/modules/position_estimator_mc/codegen/randn.c new file mode 100755 index 000000000..51aef7b76 --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/randn.c @@ -0,0 +1,524 @@ +/* + * randn.c + * + * Code generation for function 'randn' + * + * C source code generated on: Tue Feb 19 15:26:32 2013 + * + */ + +/* Include files */ +#include "rt_nonfinite.h" +#include "kalman_dlqe3.h" +#include "randn.h" +#include "kalman_dlqe3_data.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ +static uint32_T d_state[625]; + +/* Function Declarations */ +static real_T b_genrandu(uint32_T mt[625]); +static real_T eml_rand_mt19937ar(uint32_T e_state[625]); +static real_T eml_rand_shr3cong(uint32_T e_state[2]); +static void genrand_uint32_vector(uint32_T mt[625], uint32_T u[2]); +static void genrandu(uint32_T s, uint32_T *e_state, real_T *r); +static void twister_state_vector(uint32_T mt[625], real_T seed); + +/* Function Definitions */ +static real_T b_genrandu(uint32_T mt[625]) +{ + real_T r; + int32_T exitg1; + uint32_T u[2]; + boolean_T isvalid; + int32_T k; + boolean_T exitg2; + + /* This is a uniform (0,1) pseudorandom number generator based on: */ + /* */ + /* A C-program for MT19937, with initialization improved 2002/1/26. */ + /* Coded by Takuji Nishimura and Makoto Matsumoto. */ + /* */ + /* Copyright (C) 1997 - 2002, Makoto Matsumoto and Takuji Nishimura, */ + /* All rights reserved. */ + /* */ + /* Redistribution and use in source and binary forms, with or without */ + /* modification, are permitted provided that the following conditions */ + /* are met: */ + /* */ + /* 1. Redistributions of source code must retain the above copyright */ + /* notice, this list of conditions and the following disclaimer. */ + /* */ + /* 2. Redistributions in binary form must reproduce the above copyright */ + /* notice, this list of conditions and the following disclaimer in the */ + /* documentation and/or other materials provided with the distribution. */ + /* */ + /* 3. The names of its contributors may not be used to endorse or promote */ + /* products derived from this software without specific prior written */ + /* permission. */ + /* */ + /* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS */ + /* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT */ + /* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR */ + /* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR */ + /* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, */ + /* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, */ + /* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR */ + /* PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF */ + /* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING */ + /* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS */ + /* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ + do { + exitg1 = 0; + genrand_uint32_vector(mt, u); + r = 1.1102230246251565E-16 * ((real_T)(u[0] >> 5U) * 6.7108864E+7 + (real_T) + (u[1] >> 6U)); + if (r == 0.0) { + if ((mt[624] >= 1U) && (mt[624] < 625U)) { + isvalid = TRUE; + } else { + isvalid = FALSE; + } + + if (isvalid) { + isvalid = FALSE; + k = 1; + exitg2 = FALSE; + while ((exitg2 == FALSE) && (k < 625)) { + if (mt[k - 1] == 0U) { + k++; + } else { + isvalid = TRUE; + exitg2 = TRUE; + } + } + } + + if (!isvalid) { + twister_state_vector(mt, 5489.0); + } + } else { + exitg1 = 1; + } + } while (exitg1 == 0); + + return r; +} + +static real_T eml_rand_mt19937ar(uint32_T e_state[625]) +{ + real_T r; + int32_T exitg1; + uint32_T u32[2]; + int32_T i; + static const real_T dv1[257] = { 0.0, 0.215241895984875, 0.286174591792068, + 0.335737519214422, 0.375121332878378, 0.408389134611989, 0.43751840220787, + 0.46363433679088, 0.487443966139235, 0.50942332960209, 0.529909720661557, + 0.549151702327164, 0.567338257053817, 0.584616766106378, 0.601104617755991, + 0.61689699000775, 0.63207223638606, 0.646695714894993, 0.660822574244419, + 0.674499822837293, 0.687767892795788, 0.700661841106814, 0.713212285190975, + 0.725446140909999, 0.737387211434295, 0.749056662017815, 0.760473406430107, + 0.771654424224568, 0.782615023307232, 0.793369058840623, 0.80392911698997, + 0.814306670135215, 0.824512208752291, 0.834555354086381, 0.844444954909153, + 0.854189171008163, 0.863795545553308, 0.87327106808886, 0.882622229585165, + 0.891855070732941, 0.900975224461221, 0.909987953496718, 0.91889818364959, + 0.927710533401999, 0.936429340286575, 0.945058684468165, 0.953602409881086, + 0.96206414322304, 0.970447311064224, 0.978755155294224, 0.986990747099062, + 0.99515699963509, 1.00325667954467, 1.01129241744, 1.01926671746548, + 1.02718196603564, 1.03504043983344, 1.04284431314415, 1.05059566459093, + 1.05829648333067, 1.06594867476212, 1.07355406579244, 1.0811144097034, + 1.08863139065398, 1.09610662785202, 1.10354167942464, 1.11093804601357, + 1.11829717411934, 1.12562045921553, 1.13290924865253, 1.14016484436815, + 1.14738850542085, 1.15458145035993, 1.16174485944561, 1.16887987673083, + 1.17598761201545, 1.18306914268269, 1.19012551542669, 1.19715774787944, + 1.20416683014438, 1.2111537262437, 1.21811937548548, 1.22506469375653, + 1.23199057474614, 1.23889789110569, 1.24578749554863, 1.2526602218949, + 1.25951688606371, 1.26635828701823, 1.27318520766536, 1.27999841571382, + 1.28679866449324, 1.29358669373695, 1.30036323033084, 1.30712898903073, + 1.31388467315022, 1.32063097522106, 1.32736857762793, 1.33409815321936, + 1.3408203658964, 1.34753587118059, 1.35424531676263, 1.36094934303328, + 1.36764858359748, 1.37434366577317, 1.38103521107586, 1.38772383568998, + 1.39441015092814, 1.40109476367925, 1.4077782768464, 1.41446128977547, + 1.42114439867531, 1.42782819703026, 1.43451327600589, 1.44120022484872, + 1.44788963128058, 1.45458208188841, 1.46127816251028, 1.46797845861808, + 1.47468355569786, 1.48139403962819, 1.48811049705745, 1.49483351578049, + 1.50156368511546, 1.50830159628131, 1.51504784277671, 1.521803020761, + 1.52856772943771, 1.53534257144151, 1.542128153229, 1.54892508547417, + 1.55573398346918, 1.56255546753104, 1.56939016341512, 1.57623870273591, + 1.58310172339603, 1.58997987002419, 1.59687379442279, 1.60378415602609, + 1.61071162236983, 1.61765686957301, 1.62462058283303, 1.63160345693487, + 1.63860619677555, 1.64562951790478, 1.65267414708306, 1.65974082285818, + 1.66683029616166, 1.67394333092612, 1.68108070472517, 1.68824320943719, + 1.69543165193456, 1.70264685479992, 1.7098896570713, 1.71716091501782, + 1.72446150294804, 1.73179231405296, 1.73915426128591, 1.74654827828172, + 1.75397532031767, 1.76143636531891, 1.76893241491127, 1.77646449552452, + 1.78403365954944, 1.79164098655216, 1.79928758454972, 1.80697459135082, + 1.81470317596628, 1.82247454009388, 1.83028991968276, 1.83815058658281, + 1.84605785028518, 1.8540130597602, 1.86201760539967, 1.87007292107127, + 1.878180486293, 1.88634182853678, 1.8945585256707, 1.90283220855043, + 1.91116456377125, 1.91955733659319, 1.92801233405266, 1.93653142827569, + 1.94511656000868, 1.95376974238465, 1.96249306494436, 1.97128869793366, + 1.98015889690048, 1.98910600761744, 1.99813247135842, 2.00724083056053, + 2.0164337349062, 2.02571394786385, 2.03508435372962, 2.04454796521753, + 2.05410793165065, 2.06376754781173, 2.07353026351874, 2.0833996939983, + 2.09337963113879, 2.10347405571488, 2.11368715068665, 2.12402331568952, + 2.13448718284602, 2.14508363404789, 2.15581781987674, 2.16669518035431, + 2.17772146774029, 2.18890277162636, 2.20024554661128, 2.21175664288416, + 2.22344334009251, 2.23531338492992, 2.24737503294739, 2.25963709517379, + 2.27210899022838, 2.28480080272449, 2.29772334890286, 2.31088825060137, + 2.32430801887113, 2.33799614879653, 2.35196722737914, 2.36623705671729, + 2.38082279517208, 2.39574311978193, 2.41101841390112, 2.42667098493715, + 2.44272531820036, 2.4592083743347, 2.47614993967052, 2.49358304127105, + 2.51154444162669, 2.53007523215985, 2.54922155032478, 2.56903545268184, + 2.58957598670829, 2.61091051848882, 2.63311639363158, 2.65628303757674, + 2.68051464328574, 2.70593365612306, 2.73268535904401, 2.76094400527999, + 2.79092117400193, 2.82287739682644, 2.85713873087322, 2.89412105361341, + 2.93436686720889, 2.97860327988184, 3.02783779176959, 3.08352613200214, + 3.147889289518, 3.2245750520478, 3.32024473383983, 3.44927829856143, + 3.65415288536101, 3.91075795952492 }; + + real_T u; + static const real_T dv2[257] = { 1.0, 0.977101701267673, 0.959879091800108, + 0.9451989534423, 0.932060075959231, 0.919991505039348, 0.908726440052131, + 0.898095921898344, 0.887984660755834, 0.878309655808918, 0.869008688036857, + 0.860033621196332, 0.851346258458678, 0.842915653112205, 0.834716292986884, + 0.826726833946222, 0.818929191603703, 0.811307874312656, 0.803849483170964, + 0.796542330422959, 0.789376143566025, 0.782341832654803, 0.775431304981187, + 0.768637315798486, 0.761953346836795, 0.755373506507096, 0.748892447219157, + 0.742505296340151, 0.736207598126863, 0.729995264561476, 0.72386453346863, + 0.717811932630722, 0.711834248878248, 0.705928501332754, 0.700091918136512, + 0.694321916126117, 0.688616083004672, 0.682972161644995, 0.677388036218774, + 0.671861719897082, 0.66639134390875, 0.660975147776663, 0.655611470579697, + 0.650298743110817, 0.645035480820822, 0.639820277453057, 0.634651799287624, + 0.629528779924837, 0.624450015547027, 0.619414360605834, 0.614420723888914, + 0.609468064925773, 0.604555390697468, 0.599681752619125, 0.594846243767987, + 0.590047996332826, 0.585286179263371, 0.580559996100791, 0.575868682972354, + 0.571211506735253, 0.566587763256165, 0.561996775814525, 0.557437893618766, + 0.552910490425833, 0.548413963255266, 0.543947731190026, 0.539511234256952, + 0.535103932380458, 0.530725304403662, 0.526374847171684, 0.522052074672322, + 0.517756517229756, 0.513487720747327, 0.509245245995748, 0.505028667943468, + 0.500837575126149, 0.49667156905249, 0.492530263643869, 0.488413284705458, + 0.484320269426683, 0.480250865909047, 0.476204732719506, 0.47218153846773, + 0.468180961405694, 0.464202689048174, 0.460246417812843, 0.456311852678716, + 0.452398706861849, 0.448506701507203, 0.444635565395739, 0.440785034665804, + 0.436954852547985, 0.433144769112652, 0.429354541029442, 0.425583931338022, + 0.421832709229496, 0.418100649837848, 0.414387534040891, 0.410693148270188, + 0.407017284329473, 0.403359739221114, 0.399720314980197, 0.396098818515832, + 0.392495061459315, 0.388908860018789, 0.385340034840077, 0.381788410873393, + 0.378253817245619, 0.374736087137891, 0.371235057668239, 0.367750569779032, + 0.364282468129004, 0.360830600989648, 0.357394820145781, 0.353974980800077, + 0.350570941481406, 0.347182563956794, 0.343809713146851, 0.340452257044522, + 0.337110066637006, 0.333783015830718, 0.330470981379163, 0.327173842813601, + 0.323891482376391, 0.320623784956905, 0.317370638029914, 0.314131931596337, + 0.310907558126286, 0.307697412504292, 0.30450139197665, 0.301319396100803, + 0.298151326696685, 0.294997087799962, 0.291856585617095, 0.288729728482183, + 0.285616426815502, 0.282516593083708, 0.279430141761638, 0.276356989295668, + 0.273297054068577, 0.270250256365875, 0.267216518343561, 0.264195763997261, + 0.261187919132721, 0.258192911337619, 0.255210669954662, 0.252241126055942, + 0.249284212418529, 0.246339863501264, 0.24340801542275, 0.240488605940501, + 0.237581574431238, 0.23468686187233, 0.231804410824339, 0.228934165414681, + 0.226076071322381, 0.223230075763918, 0.220396127480152, 0.217574176724331, + 0.214764175251174, 0.211966076307031, 0.209179834621125, 0.206405406397881, + 0.203642749310335, 0.200891822494657, 0.198152586545776, 0.195425003514135, + 0.192709036903589, 0.190004651670465, 0.187311814223801, 0.1846304924268, + 0.181960655599523, 0.179302274522848, 0.176655321443735, 0.174019770081839, + 0.171395595637506, 0.168782774801212, 0.166181285764482, 0.163591108232366, + 0.161012223437511, 0.158444614155925, 0.15588826472448, 0.153343161060263, + 0.150809290681846, 0.148286642732575, 0.145775208005994, 0.143274978973514, + 0.140785949814445, 0.138308116448551, 0.135841476571254, 0.133386029691669, + 0.130941777173644, 0.12850872228, 0.126086870220186, 0.123676228201597, + 0.12127680548479, 0.11888861344291, 0.116511665625611, 0.114145977827839, + 0.111791568163838, 0.109448457146812, 0.107116667774684, 0.104796225622487, + 0.102487158941935, 0.10018949876881, 0.0979032790388625, 0.095628536713009, + 0.093365311912691, 0.0911136480663738, 0.0888735920682759, + 0.0866451944505581, 0.0844285095703535, 0.082223595813203, + 0.0800305158146631, 0.0778493367020961, 0.0756801303589272, + 0.0735229737139814, 0.0713779490588905, 0.0692451443970068, + 0.0671246538277886, 0.065016577971243, 0.0629210244377582, 0.06083810834954, + 0.0587679529209339, 0.0567106901062031, 0.0546664613248891, + 0.0526354182767924, 0.0506177238609479, 0.0486135532158687, + 0.0466230949019305, 0.0446465522512946, 0.0426841449164746, + 0.0407361106559411, 0.0388027074045262, 0.0368842156885674, + 0.0349809414617162, 0.0330932194585786, 0.0312214171919203, + 0.0293659397581334, 0.0275272356696031, 0.0257058040085489, + 0.0239022033057959, 0.0221170627073089, 0.0203510962300445, + 0.0186051212757247, 0.0168800831525432, 0.0151770883079353, + 0.0134974506017399, 0.0118427578579079, 0.0102149714397015, + 0.00861658276939875, 0.00705087547137324, 0.00552240329925101, + 0.00403797259336304, 0.00260907274610216, 0.0012602859304986, + 0.000477467764609386 }; + + real_T x; + do { + exitg1 = 0; + genrand_uint32_vector(e_state, u32); + i = (int32_T)((u32[1] >> 24U) + 1U); + r = (((real_T)(u32[0] >> 3U) * 1.6777216E+7 + (real_T)((int32_T)u32[1] & + 16777215)) * 2.2204460492503131E-16 - 1.0) * dv1[i]; + if (fabs(r) <= dv1[i - 1]) { + exitg1 = 1; + } else if (i < 256) { + u = b_genrandu(e_state); + if (dv2[i] + u * (dv2[i - 1] - dv2[i]) < exp(-0.5 * r * r)) { + exitg1 = 1; + } + } else { + do { + u = b_genrandu(e_state); + x = log(u) * 0.273661237329758; + u = b_genrandu(e_state); + } while (!(-2.0 * log(u) > x * x)); + + if (r < 0.0) { + r = x - 3.65415288536101; + } else { + r = 3.65415288536101 - x; + } + + exitg1 = 1; + } + } while (exitg1 == 0); + + return r; +} + +static real_T eml_rand_shr3cong(uint32_T e_state[2]) +{ + real_T r; + uint32_T icng; + uint32_T jsr; + uint32_T ui; + int32_T j; + static const real_T dv0[65] = { 0.340945, 0.4573146, 0.5397793, 0.6062427, + 0.6631691, 0.7136975, 0.7596125, 0.8020356, 0.8417227, 0.8792102, 0.9148948, + 0.9490791, 0.9820005, 1.0138492, 1.044781, 1.0749254, 1.1043917, 1.1332738, + 1.161653, 1.189601, 1.2171815, 1.2444516, 1.2714635, 1.298265, 1.3249008, + 1.3514125, 1.3778399, 1.4042211, 1.4305929, 1.4569915, 1.4834527, 1.5100122, + 1.5367061, 1.5635712, 1.5906454, 1.617968, 1.6455802, 1.6735255, 1.7018503, + 1.7306045, 1.7598422, 1.7896223, 1.8200099, 1.851077, 1.8829044, 1.9155831, + 1.9492166, 1.9839239, 2.0198431, 2.0571356, 2.095993, 2.136645, 2.1793713, + 2.2245175, 2.2725186, 2.3239338, 2.3795008, 2.4402218, 2.5075117, 2.5834658, + 2.6713916, 2.7769942, 2.7769942, 2.7769942, 2.7769942 }; + + real_T x; + real_T y; + real_T s; + icng = 69069U * e_state[0] + 1234567U; + jsr = e_state[1] ^ e_state[1] << 13U; + jsr ^= jsr >> 17U; + jsr ^= jsr << 5U; + ui = icng + jsr; + j = (int32_T)(ui & 63U); + r = (real_T)(int32_T)ui * 4.6566128730773926E-10 * dv0[j + 1]; + if (fabs(r) <= dv0[j]) { + } else { + x = (fabs(r) - dv0[j]) / (dv0[j + 1] - dv0[j]); + icng = 69069U * icng + 1234567U; + jsr ^= jsr << 13U; + jsr ^= jsr >> 17U; + jsr ^= jsr << 5U; + y = (real_T)(int32_T)(icng + jsr) * 2.328306436538696E-10; + s = x + (0.5 + y); + if (s > 1.301198) { + if (r < 0.0) { + r = 0.4878992 * x - 0.4878992; + } else { + r = 0.4878992 - 0.4878992 * x; + } + } else if (s <= 0.9689279) { + } else { + s = 0.4878992 * x; + x = 0.4878992 - 0.4878992 * x; + if (0.5 + y > 12.67706 - 12.37586 * exp(-0.5 * (0.4878992 - s) * x)) { + if (r < 0.0) { + r = -(0.4878992 - s); + } else { + r = 0.4878992 - s; + } + } else if (exp(-0.5 * dv0[j + 1] * dv0[j + 1]) + (0.5 + y) * 0.01958303 / + dv0[j + 1] <= exp(-0.5 * r * r)) { + } else { + do { + icng = 69069U * icng + 1234567U; + jsr ^= jsr << 13U; + jsr ^= jsr >> 17U; + jsr ^= jsr << 5U; + x = log(0.5 + (real_T)(int32_T)(icng + jsr) * 2.328306436538696E-10) / + 2.776994; + icng = 69069U * icng + 1234567U; + jsr ^= jsr << 13U; + jsr ^= jsr >> 17U; + jsr ^= jsr << 5U; + } while (!(-2.0 * log(0.5 + (real_T)(int32_T)(icng + jsr) * + 2.328306436538696E-10) > x * x)); + + if (r < 0.0) { + r = x - 2.776994; + } else { + r = 2.776994 - x; + } + } + } + } + + e_state[0] = icng; + e_state[1] = jsr; + return r; +} + +static void genrand_uint32_vector(uint32_T mt[625], uint32_T u[2]) +{ + int32_T i; + uint32_T mti; + int32_T kk; + uint32_T y; + uint32_T b_y; + uint32_T c_y; + uint32_T d_y; + for (i = 0; i < 2; i++) { + u[i] = 0U; + } + + for (i = 0; i < 2; i++) { + mti = mt[624] + 1U; + if (mti >= 625U) { + for (kk = 0; kk < 227; kk++) { + y = (mt[kk] & 2147483648U) | (mt[1 + kk] & 2147483647U); + if ((int32_T)(y & 1U) == 0) { + b_y = y >> 1U; + } else { + b_y = y >> 1U ^ 2567483615U; + } + + mt[kk] = mt[397 + kk] ^ b_y; + } + + for (kk = 0; kk < 396; kk++) { + y = (mt[227 + kk] & 2147483648U) | (mt[228 + kk] & 2147483647U); + if ((int32_T)(y & 1U) == 0) { + c_y = y >> 1U; + } else { + c_y = y >> 1U ^ 2567483615U; + } + + mt[227 + kk] = mt[kk] ^ c_y; + } + + y = (mt[623] & 2147483648U) | (mt[0] & 2147483647U); + if ((int32_T)(y & 1U) == 0) { + d_y = y >> 1U; + } else { + d_y = y >> 1U ^ 2567483615U; + } + + mt[623] = mt[396] ^ d_y; + mti = 1U; + } + + y = mt[(int32_T)mti - 1]; + mt[624] = mti; + y ^= y >> 11U; + y ^= y << 7U & 2636928640U; + y ^= y << 15U & 4022730752U; + y ^= y >> 18U; + u[i] = y; + } +} + +static void genrandu(uint32_T s, uint32_T *e_state, real_T *r) +{ + int32_T hi; + uint32_T test1; + uint32_T test2; + hi = (int32_T)(s / 127773U); + test1 = 16807U * (s - (uint32_T)hi * 127773U); + test2 = 2836U * (uint32_T)hi; + if (test1 < test2) { + *e_state = (test1 - test2) + 2147483647U; + } else { + *e_state = test1 - test2; + } + + *r = (real_T)*e_state * 4.6566128752457969E-10; +} + +static void twister_state_vector(uint32_T mt[625], real_T seed) +{ + uint32_T r; + int32_T mti; + if (seed < 4.294967296E+9) { + if (seed >= 0.0) { + r = (uint32_T)seed; + } else { + r = 0U; + } + } else if (seed >= 4.294967296E+9) { + r = MAX_uint32_T; + } else { + r = 0U; + } + + mt[0] = r; + for (mti = 0; mti < 623; mti++) { + r = (r ^ r >> 30U) * 1812433253U + (uint32_T)(1 + mti); + mt[1 + mti] = r; + } + + mt[624] = 624U; +} + +real_T randn(void) +{ + real_T r; + uint32_T e_state; + real_T t; + real_T b_r; + uint32_T f_state; + if (method == 0U) { + if (b_method == 4U) { + do { + genrandu(b_state, &e_state, &r); + genrandu(e_state, &b_state, &t); + b_r = 2.0 * r - 1.0; + t = 2.0 * t - 1.0; + t = t * t + b_r * b_r; + } while (!(t <= 1.0)); + + r = (2.0 * r - 1.0) * sqrt(-2.0 * log(t) / t); + } else if (b_method == 5U) { + r = eml_rand_shr3cong(c_state); + } else { + if (!state_not_empty) { + memset(&d_state[0], 0, 625U * sizeof(uint32_T)); + twister_state_vector(d_state, 5489.0); + state_not_empty = TRUE; + } + + r = eml_rand_mt19937ar(d_state); + } + } else if (method == 4U) { + e_state = state[0]; + do { + genrandu(e_state, &f_state, &r); + genrandu(f_state, &e_state, &t); + b_r = 2.0 * r - 1.0; + t = 2.0 * t - 1.0; + t = t * t + b_r * b_r; + } while (!(t <= 1.0)); + + state[0] = e_state; + r = (2.0 * r - 1.0) * sqrt(-2.0 * log(t) / t); + } else { + r = eml_rand_shr3cong(state); + } + + return r; +} + +/* End of code generation (randn.c) */ diff --git a/src/modules/position_estimator_mc/codegen/randn.h b/src/modules/position_estimator_mc/codegen/randn.h new file mode 100755 index 000000000..8a2aa9277 --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/randn.h @@ -0,0 +1,33 @@ +/* + * randn.h + * + * Code generation for function 'randn' + * + * C source code generated on: Tue Feb 19 15:26:32 2013 + * + */ + +#ifndef __RANDN_H__ +#define __RANDN_H__ +/* Include files */ +#include +#include +#include +#include +#include "rt_nonfinite.h" + +#include "rtwtypes.h" +#include "kalman_dlqe3_types.h" + +/* Type Definitions */ + +/* Named Constants */ + +/* Variable Declarations */ + +/* Variable Definitions */ + +/* Function Declarations */ +extern real_T randn(void); +#endif +/* End of code generation (randn.h) */ diff --git a/src/modules/position_estimator_mc/codegen/rtGetInf.c b/src/modules/position_estimator_mc/codegen/rtGetInf.c new file mode 100755 index 000000000..c6fa7884e --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/rtGetInf.c @@ -0,0 +1,139 @@ +/* + * rtGetInf.c + * + * Code generation for function 'kalman_dlqe2' + * + * C source code generated on: Thu Feb 14 12:52:29 2013 + * + */ + +/* + * Abstract: + * MATLAB for code generation function to initialize non-finite, Inf and MinusInf + */ +#include "rtGetInf.h" +#define NumBitsPerChar 8U + +/* Function: rtGetInf ================================================== + * Abstract: + * Initialize rtInf needed by the generated code. + * Inf is initialized as non-signaling. Assumes IEEE. + */ +real_T rtGetInf(void) +{ + size_t bitsPerReal = sizeof(real_T) * (NumBitsPerChar); + real_T inf = 0.0; + if (bitsPerReal == 32U) { + inf = rtGetInfF(); + } else { + uint16_T one = 1U; + enum { + LittleEndian, + BigEndian + } machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian; + switch (machByteOrder) { + case LittleEndian: + { + union { + LittleEndianIEEEDouble bitVal; + real_T fltVal; + } tmpVal; + + tmpVal.bitVal.words.wordH = 0x7FF00000U; + tmpVal.bitVal.words.wordL = 0x00000000U; + inf = tmpVal.fltVal; + break; + } + + case BigEndian: + { + union { + BigEndianIEEEDouble bitVal; + real_T fltVal; + } tmpVal; + + tmpVal.bitVal.words.wordH = 0x7FF00000U; + tmpVal.bitVal.words.wordL = 0x00000000U; + inf = tmpVal.fltVal; + break; + } + } + } + + return inf; +} + +/* Function: rtGetInfF ================================================== + * Abstract: + * Initialize rtInfF needed by the generated code. + * Inf is initialized as non-signaling. Assumes IEEE. + */ +real32_T rtGetInfF(void) +{ + IEEESingle infF; + infF.wordL.wordLuint = 0x7F800000U; + return infF.wordL.wordLreal; +} + +/* Function: rtGetMinusInf ================================================== + * Abstract: + * Initialize rtMinusInf needed by the generated code. + * Inf is initialized as non-signaling. Assumes IEEE. + */ +real_T rtGetMinusInf(void) +{ + size_t bitsPerReal = sizeof(real_T) * (NumBitsPerChar); + real_T minf = 0.0; + if (bitsPerReal == 32U) { + minf = rtGetMinusInfF(); + } else { + uint16_T one = 1U; + enum { + LittleEndian, + BigEndian + } machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian; + switch (machByteOrder) { + case LittleEndian: + { + union { + LittleEndianIEEEDouble bitVal; + real_T fltVal; + } tmpVal; + + tmpVal.bitVal.words.wordH = 0xFFF00000U; + tmpVal.bitVal.words.wordL = 0x00000000U; + minf = tmpVal.fltVal; + break; + } + + case BigEndian: + { + union { + BigEndianIEEEDouble bitVal; + real_T fltVal; + } tmpVal; + + tmpVal.bitVal.words.wordH = 0xFFF00000U; + tmpVal.bitVal.words.wordL = 0x00000000U; + minf = tmpVal.fltVal; + break; + } + } + } + + return minf; +} + +/* Function: rtGetMinusInfF ================================================== + * Abstract: + * Initialize rtMinusInfF needed by the generated code. + * Inf is initialized as non-signaling. Assumes IEEE. + */ +real32_T rtGetMinusInfF(void) +{ + IEEESingle minfF; + minfF.wordL.wordLuint = 0xFF800000U; + return minfF.wordL.wordLreal; +} + +/* End of code generation (rtGetInf.c) */ diff --git a/src/modules/position_estimator_mc/codegen/rtGetInf.h b/src/modules/position_estimator_mc/codegen/rtGetInf.h new file mode 100755 index 000000000..e7b2a2d1c --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/rtGetInf.h @@ -0,0 +1,23 @@ +/* + * rtGetInf.h + * + * Code generation for function 'kalman_dlqe2' + * + * C source code generated on: Thu Feb 14 12:52:29 2013 + * + */ + +#ifndef __RTGETINF_H__ +#define __RTGETINF_H__ + +#include +#include "rtwtypes.h" +#include "rt_nonfinite.h" + +extern real_T rtGetInf(void); +extern real32_T rtGetInfF(void); +extern real_T rtGetMinusInf(void); +extern real32_T rtGetMinusInfF(void); + +#endif +/* End of code generation (rtGetInf.h) */ diff --git a/src/modules/position_estimator_mc/codegen/rtGetNaN.c b/src/modules/position_estimator_mc/codegen/rtGetNaN.c new file mode 100755 index 000000000..552770149 --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/rtGetNaN.c @@ -0,0 +1,96 @@ +/* + * rtGetNaN.c + * + * Code generation for function 'kalman_dlqe2' + * + * C source code generated on: Thu Feb 14 12:52:29 2013 + * + */ + +/* + * Abstract: + * MATLAB for code generation function to initialize non-finite, NaN + */ +#include "rtGetNaN.h" +#define NumBitsPerChar 8U + +/* Function: rtGetNaN ================================================== + * Abstract: + * Initialize rtNaN needed by the generated code. + * NaN is initialized as non-signaling. Assumes IEEE. + */ +real_T rtGetNaN(void) +{ + size_t bitsPerReal = sizeof(real_T) * (NumBitsPerChar); + real_T nan = 0.0; + if (bitsPerReal == 32U) { + nan = rtGetNaNF(); + } else { + uint16_T one = 1U; + enum { + LittleEndian, + BigEndian + } machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian; + switch (machByteOrder) { + case LittleEndian: + { + union { + LittleEndianIEEEDouble bitVal; + real_T fltVal; + } tmpVal; + + tmpVal.bitVal.words.wordH = 0xFFF80000U; + tmpVal.bitVal.words.wordL = 0x00000000U; + nan = tmpVal.fltVal; + break; + } + + case BigEndian: + { + union { + BigEndianIEEEDouble bitVal; + real_T fltVal; + } tmpVal; + + tmpVal.bitVal.words.wordH = 0x7FFFFFFFU; + tmpVal.bitVal.words.wordL = 0xFFFFFFFFU; + nan = tmpVal.fltVal; + break; + } + } + } + + return nan; +} + +/* Function: rtGetNaNF ================================================== + * Abstract: + * Initialize rtNaNF needed by the generated code. + * NaN is initialized as non-signaling. Assumes IEEE. + */ +real32_T rtGetNaNF(void) +{ + IEEESingle nanF = { { 0 } }; + uint16_T one = 1U; + enum { + LittleEndian, + BigEndian + } machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian; + switch (machByteOrder) { + case LittleEndian: + { + nanF.wordL.wordLuint = 0xFFC00000U; + break; + } + + case BigEndian: + { + nanF.wordL.wordLuint = 0x7FFFFFFFU; + break; + } + } + + return nanF.wordL.wordLreal; +} + +/* End of code generation (rtGetNaN.c) */ diff --git a/src/modules/position_estimator_mc/codegen/rtGetNaN.h b/src/modules/position_estimator_mc/codegen/rtGetNaN.h new file mode 100755 index 000000000..5acdd9790 --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/rtGetNaN.h @@ -0,0 +1,21 @@ +/* + * rtGetNaN.h + * + * Code generation for function 'kalman_dlqe2' + * + * C source code generated on: Thu Feb 14 12:52:29 2013 + * + */ + +#ifndef __RTGETNAN_H__ +#define __RTGETNAN_H__ + +#include +#include "rtwtypes.h" +#include "rt_nonfinite.h" + +extern real_T rtGetNaN(void); +extern real32_T rtGetNaNF(void); + +#endif +/* End of code generation (rtGetNaN.h) */ diff --git a/src/modules/position_estimator_mc/codegen/rt_nonfinite.c b/src/modules/position_estimator_mc/codegen/rt_nonfinite.c new file mode 100755 index 000000000..de121c4a0 --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/rt_nonfinite.c @@ -0,0 +1,87 @@ +/* + * rt_nonfinite.c + * + * Code generation for function 'kalman_dlqe2' + * + * C source code generated on: Thu Feb 14 12:52:29 2013 + * + */ + +/* + * Abstract: + * MATLAB for code generation function to initialize non-finites, + * (Inf, NaN and -Inf). + */ +#include "rt_nonfinite.h" +#include "rtGetNaN.h" +#include "rtGetInf.h" + +real_T rtInf; +real_T rtMinusInf; +real_T rtNaN; +real32_T rtInfF; +real32_T rtMinusInfF; +real32_T rtNaNF; + +/* Function: rt_InitInfAndNaN ================================================== + * Abstract: + * Initialize the rtInf, rtMinusInf, and rtNaN needed by the + * generated code. NaN is initialized as non-signaling. Assumes IEEE. + */ +void rt_InitInfAndNaN(size_t realSize) +{ + (void) (realSize); + rtNaN = rtGetNaN(); + rtNaNF = rtGetNaNF(); + rtInf = rtGetInf(); + rtInfF = rtGetInfF(); + rtMinusInf = rtGetMinusInf(); + rtMinusInfF = rtGetMinusInfF(); +} + +/* Function: rtIsInf ================================================== + * Abstract: + * Test if value is infinite + */ +boolean_T rtIsInf(real_T value) +{ + return ((value==rtInf || value==rtMinusInf) ? 1U : 0U); +} + +/* Function: rtIsInfF ================================================= + * Abstract: + * Test if single-precision value is infinite + */ +boolean_T rtIsInfF(real32_T value) +{ + return(((value)==rtInfF || (value)==rtMinusInfF) ? 1U : 0U); +} + +/* Function: rtIsNaN ================================================== + * Abstract: + * Test if value is not a number + */ +boolean_T rtIsNaN(real_T value) +{ +#if defined(_MSC_VER) && (_MSC_VER <= 1200) + return _isnan(value)? TRUE:FALSE; +#else + return (value!=value)? 1U:0U; +#endif +} + +/* Function: rtIsNaNF ================================================= + * Abstract: + * Test if single-precision value is not a number + */ +boolean_T rtIsNaNF(real32_T value) +{ +#if defined(_MSC_VER) && (_MSC_VER <= 1200) + return _isnan((real_T)value)? true:false; +#else + return (value!=value)? 1U:0U; +#endif +} + + +/* End of code generation (rt_nonfinite.c) */ diff --git a/src/modules/position_estimator_mc/codegen/rt_nonfinite.h b/src/modules/position_estimator_mc/codegen/rt_nonfinite.h new file mode 100755 index 000000000..3bbcfd087 --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/rt_nonfinite.h @@ -0,0 +1,53 @@ +/* + * rt_nonfinite.h + * + * Code generation for function 'kalman_dlqe2' + * + * C source code generated on: Thu Feb 14 12:52:29 2013 + * + */ + +#ifndef __RT_NONFINITE_H__ +#define __RT_NONFINITE_H__ + +#if defined(_MSC_VER) && (_MSC_VER <= 1200) +#include +#endif +#include +#include "rtwtypes.h" + +extern real_T rtInf; +extern real_T rtMinusInf; +extern real_T rtNaN; +extern real32_T rtInfF; +extern real32_T rtMinusInfF; +extern real32_T rtNaNF; +extern void rt_InitInfAndNaN(size_t realSize); +extern boolean_T rtIsInf(real_T value); +extern boolean_T rtIsInfF(real32_T value); +extern boolean_T rtIsNaN(real_T value); +extern boolean_T rtIsNaNF(real32_T value); + +typedef struct { + struct { + uint32_T wordH; + uint32_T wordL; + } words; +} BigEndianIEEEDouble; + +typedef struct { + struct { + uint32_T wordL; + uint32_T wordH; + } words; +} LittleEndianIEEEDouble; + +typedef struct { + union { + real32_T wordLreal; + uint32_T wordLuint; + } wordL; +} IEEESingle; + +#endif +/* End of code generation (rt_nonfinite.h) */ diff --git a/src/modules/position_estimator_mc/codegen/rtwtypes.h b/src/modules/position_estimator_mc/codegen/rtwtypes.h new file mode 100755 index 000000000..8916e8572 --- /dev/null +++ b/src/modules/position_estimator_mc/codegen/rtwtypes.h @@ -0,0 +1,159 @@ +/* + * rtwtypes.h + * + * Code generation for function 'kalman_dlqe2' + * + * C source code generated on: Thu Feb 14 12:52:29 2013 + * + */ + +#ifndef __RTWTYPES_H__ +#define __RTWTYPES_H__ +#ifndef TRUE +# define TRUE (1U) +#endif +#ifndef FALSE +# define FALSE (0U) +#endif +#ifndef __TMWTYPES__ +#define __TMWTYPES__ + +#include + +/*=======================================================================* + * Target hardware information + * Device type: Generic->MATLAB Host Computer + * Number of bits: char: 8 short: 16 int: 32 + * long: 32 native word size: 32 + * Byte ordering: LittleEndian + * Signed integer division rounds to: Undefined + * Shift right on a signed integer as arithmetic shift: off + *=======================================================================*/ + +/*=======================================================================* + * Fixed width word size data types: * + * int8_T, int16_T, int32_T - signed 8, 16, or 32 bit integers * + * uint8_T, uint16_T, uint32_T - unsigned 8, 16, or 32 bit integers * + * real32_T, real64_T - 32 and 64 bit floating point numbers * + *=======================================================================*/ + +typedef signed char int8_T; +typedef unsigned char uint8_T; +typedef short int16_T; +typedef unsigned short uint16_T; +typedef int int32_T; +typedef unsigned int uint32_T; +typedef float real32_T; +typedef double real64_T; + +/*===========================================================================* + * Generic type definitions: real_T, time_T, boolean_T, int_T, uint_T, * + * ulong_T, char_T and byte_T. * + *===========================================================================*/ + +typedef double real_T; +typedef double time_T; +typedef unsigned char boolean_T; +typedef int int_T; +typedef unsigned int uint_T; +typedef unsigned long ulong_T; +typedef char char_T; +typedef char_T byte_T; + +/*===========================================================================* + * Complex number type definitions * + *===========================================================================*/ +#define CREAL_T + typedef struct { + real32_T re; + real32_T im; + } creal32_T; + + typedef struct { + real64_T re; + real64_T im; + } creal64_T; + + typedef struct { + real_T re; + real_T im; + } creal_T; + + typedef struct { + int8_T re; + int8_T im; + } cint8_T; + + typedef struct { + uint8_T re; + uint8_T im; + } cuint8_T; + + typedef struct { + int16_T re; + int16_T im; + } cint16_T; + + typedef struct { + uint16_T re; + uint16_T im; + } cuint16_T; + + typedef struct { + int32_T re; + int32_T im; + } cint32_T; + + typedef struct { + uint32_T re; + uint32_T im; + } cuint32_T; + + +/*=======================================================================* + * Min and Max: * + * int8_T, int16_T, int32_T - signed 8, 16, or 32 bit integers * + * uint8_T, uint16_T, uint32_T - unsigned 8, 16, or 32 bit integers * + *=======================================================================*/ + +#define MAX_int8_T ((int8_T)(127)) +#define MIN_int8_T ((int8_T)(-128)) +#define MAX_uint8_T ((uint8_T)(255)) +#define MIN_uint8_T ((uint8_T)(0)) +#define MAX_int16_T ((int16_T)(32767)) +#define MIN_int16_T ((int16_T)(-32768)) +#define MAX_uint16_T ((uint16_T)(65535)) +#define MIN_uint16_T ((uint16_T)(0)) +#define MAX_int32_T ((int32_T)(2147483647)) +#define MIN_int32_T ((int32_T)(-2147483647-1)) +#define MAX_uint32_T ((uint32_T)(0xFFFFFFFFU)) +#define MIN_uint32_T ((uint32_T)(0)) + +/* Logical type definitions */ +#if !defined(__cplusplus) && !defined(__true_false_are_keywords) +# ifndef false +# define false (0U) +# endif +# ifndef true +# define true (1U) +# endif +#endif + +/* + * MATLAB for code generation assumes the code is compiled on a target using a 2's compliment representation + * for signed integer values. + */ +#if ((SCHAR_MIN + 1) != -SCHAR_MAX) +#error "This code must be compiled using a 2's complement representation for signed integer values" +#endif + +/* + * Maximum length of a MATLAB identifier (function/variable) + * including the null-termination character. Referenced by + * rt_logging.c and rt_matrx.c. + */ +#define TMW_NAME_LENGTH_MAX 64 + +#endif +#endif +/* End of code generation (rtwtypes.h) */ diff --git a/src/modules/position_estimator_mc/kalman_dlqe1.m b/src/modules/position_estimator_mc/kalman_dlqe1.m new file mode 100755 index 000000000..ff939d029 --- /dev/null +++ b/src/modules/position_estimator_mc/kalman_dlqe1.m @@ -0,0 +1,3 @@ +function [x_aposteriori] = kalman_dlqe1(A,C,K,x_aposteriori_k,z) + x_aposteriori=A*x_aposteriori_k+K*(z-C*A*x_aposteriori_k); +end \ No newline at end of file diff --git a/src/modules/position_estimator_mc/kalman_dlqe2.m b/src/modules/position_estimator_mc/kalman_dlqe2.m new file mode 100755 index 000000000..2a50164ef --- /dev/null +++ b/src/modules/position_estimator_mc/kalman_dlqe2.m @@ -0,0 +1,9 @@ +function [x_aposteriori] = kalman_dlqe2(dt,k1,k2,k3,x_aposteriori_k,z) + st = 1/2*dt^2; + A = [1,dt,st; + 0,1,dt; + 0,0,1]; + C=[1,0,0]; + K = [k1;k2;k3]; + x_aposteriori=A*x_aposteriori_k+K*(z-C*A*x_aposteriori_k); +end \ No newline at end of file diff --git a/src/modules/position_estimator_mc/kalman_dlqe3.m b/src/modules/position_estimator_mc/kalman_dlqe3.m new file mode 100755 index 000000000..4c6421b7f --- /dev/null +++ b/src/modules/position_estimator_mc/kalman_dlqe3.m @@ -0,0 +1,17 @@ +function [x_aposteriori] = kalman_dlqe3(dt,k1,k2,k3,x_aposteriori_k,z,posUpdate,addNoise,sigma) + st = 1/2*dt^2; + A = [1,dt,st; + 0,1,dt; + 0,0,1]; + C=[1,0,0]; + K = [k1;k2;k3]; + if addNoise==1 + noise = sigma*randn(1,1); + z = z + noise; + end + if(posUpdate) + x_aposteriori=A*x_aposteriori_k+K*(z-C*A*x_aposteriori_k); + else + x_aposteriori=A*x_aposteriori_k; + end +end \ No newline at end of file diff --git a/src/modules/position_estimator_mc/module.mk b/src/modules/position_estimator_mc/module.mk new file mode 100644 index 000000000..40b135ea4 --- /dev/null +++ b/src/modules/position_estimator_mc/module.mk @@ -0,0 +1,60 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# Makefile to build the position estimator +# + +MODULE_COMMAND = position_estimator_mc + +SRCS = position_estimator_mc_main.c \ + position_estimator_mc_params.c \ + codegen/positionKalmanFilter1D_initialize.c \ + codegen/positionKalmanFilter1D_terminate.c \ + codegen/positionKalmanFilter1D.c \ + codegen/rt_nonfinite.c \ + codegen/rtGetInf.c \ + codegen/rtGetNaN.c \ + codegen/positionKalmanFilter1D_dT_initialize.c \ + codegen/positionKalmanFilter1D_dT_terminate.c \ + codegen/kalman_dlqe1.c \ + codegen/kalman_dlqe1_initialize.c \ + codegen/kalman_dlqe1_terminate.c \ + codegen/kalman_dlqe2.c \ + codegen/kalman_dlqe2_initialize.c \ + codegen/kalman_dlqe2_terminate.c \ + codegen/kalman_dlqe3.c \ + codegen/kalman_dlqe3_initialize.c \ + codegen/kalman_dlqe3_terminate.c \ + codegen/kalman_dlqe3_data.c \ + codegen/randn.c diff --git a/src/modules/position_estimator_mc/positionKalmanFilter1D.m b/src/modules/position_estimator_mc/positionKalmanFilter1D.m new file mode 100755 index 000000000..144ff8c7c --- /dev/null +++ b/src/modules/position_estimator_mc/positionKalmanFilter1D.m @@ -0,0 +1,19 @@ +function [x_aposteriori,P_aposteriori]=positionKalmanFilter1D(A,B,C,x_aposteriori_k,P_aposteriori_k,u,z,gps_update,Q,R,thresh,decay) +%prediction + x_apriori=A*x_aposteriori_k+B*u; + P_apriori=A*P_aposteriori_k*A'+Q; + if abs(u) + * Tobias Naegeli +* Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file position_estimator_main.c + * Model-identification based position estimator for multirotors + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +#include "position_estimator_mc_params.h" +//#include +#include "codegen/kalman_dlqe2.h" +#include "codegen/kalman_dlqe2_initialize.h" +#include "codegen/kalman_dlqe3.h" +#include "codegen/kalman_dlqe3_initialize.h" + +static bool thread_should_exit = false; /**< Deamon exit flag */ +static bool thread_running = false; /**< Deamon status flag */ +static int position_estimator_mc_task; /**< Handle of deamon task / thread */ + +__EXPORT int position_estimator_mc_main(int argc, char *argv[]); + +int position_estimator_mc_thread_main(int argc, char *argv[]); +/** + * Print the correct usage. + */ +static void usage(const char *reason); + +static void +usage(const char *reason) +{ + if (reason) + warnx("%s\n", reason); + warnx("usage: position_estimator_mc {start|stop|status}"); + exit(1); +} + +/** + * The position_estimator_mc_thread only briefly exists to start + * the background job. The stack size assigned in the + * Makefile does only apply to this management task. + * + * The actual stack size should be set in the call + * to task_create(). + */ +int position_estimator_mc_main(int argc, char *argv[]) +{ + if (argc < 1) + usage("missing command"); + + if (!strcmp(argv[1], "start")) { + + if (thread_running) { + printf("position_estimator_mc already running\n"); + /* this is not an error */ + exit(0); + } + + thread_should_exit = false; + position_estimator_mc_task = task_spawn("position_estimator_mc", + SCHED_RR, + SCHED_PRIORITY_MAX - 5, + 4096, + position_estimator_mc_thread_main, + (argv) ? (const char **)&argv[2] : (const char **)NULL); + exit(0); + } + if (!strcmp(argv[1], "stop")) { + thread_should_exit = true; + exit(0); + } + + if (!strcmp(argv[1], "status")) { + if (thread_running) { + warnx("position_estimator_mc is running"); + } else { + warnx("position_estimator_mc not started"); + } + exit(0); + } + + usage("unrecognized command"); + exit(1); +} + +/**************************************************************************** + * main + ****************************************************************************/ +int position_estimator_mc_thread_main(int argc, char *argv[]) +{ + /* welcome user */ + warnx("[position_estimator_mc] started"); + int mavlink_fd; + mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); + mavlink_log_info(mavlink_fd, "[position_estimator_mc] started"); + + /* initialize values */ + float z[3] = {0, 0, 0}; /* output variables from tangent plane mapping */ + // float rotMatrix[4] = {1.0f, 0.0f, 0.0f, 1.0f}; + float x_x_aposteriori_k[3] = {1.0f, 0.0f, 0.0f}; + float x_y_aposteriori_k[3] = {1.0f, 0.0f, 0.0f}; + float x_z_aposteriori_k[3] = {1.0f, 0.0f, 0.0f}; + float x_x_aposteriori[3] = {0.0f, 0.0f, 0.0f}; + float x_y_aposteriori[3] = {1.0f, 0.0f, 0.0f}; + float x_z_aposteriori[3] = {1.0f, 0.0f, 0.0f}; + + // XXX this is terribly wrong and should actual dT instead + const float dT_const_50 = 1.0f/50.0f; + + float addNoise = 0.0f; + float sigma = 0.0f; + //computed from dlqe in matlab + const float K_vicon_50Hz[3] = {0.5297f, 0.9873f, 0.9201f}; + // XXX implement baro filter + const float K_baro[3] = {0.0248f, 0.0377f, 0.0287f}; + float K[3] = {0.0f, 0.0f, 0.0f}; + int baro_loop_cnt = 0; + int baro_loop_end = 70; /* measurement for 1 second */ + float p0_Pa = 0.0f; /* to determin while start up */ + float rho0 = 1.293f; /* standard pressure */ + const float const_earth_gravity = 9.81f; + + float posX = 0.0f; + float posY = 0.0f; + float posZ = 0.0f; + + double lat_current; + double lon_current; + float alt_current; + + float gps_origin_altitude = 0.0f; + + /* Initialize filter */ + kalman_dlqe2_initialize(); + kalman_dlqe3_initialize(); + + /* declare and safely initialize all structs */ + struct sensor_combined_s sensor; + memset(&sensor, 0, sizeof(sensor)); + struct vehicle_attitude_s att; + memset(&att, 0, sizeof(att)); + struct vehicle_status_s vehicle_status; + memset(&vehicle_status, 0, sizeof(vehicle_status)); /* make sure that baroINITdone = false */ + struct vehicle_vicon_position_s vicon_pos; + memset(&vicon_pos, 0, sizeof(vicon_pos)); + struct actuator_controls_effective_s act_eff; + memset(&act_eff, 0, sizeof(act_eff)); + struct vehicle_gps_position_s gps; + memset(&gps, 0, sizeof(gps)); + struct vehicle_local_position_s local_pos_est; + memset(&local_pos_est, 0, sizeof(local_pos_est)); + struct vehicle_global_position_s global_pos_est; + memset(&global_pos_est, 0, sizeof(global_pos_est)); + + /* subscribe */ + int sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); + int sub_params = orb_subscribe(ORB_ID(parameter_update)); + int vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude)); + int vicon_pos_sub = orb_subscribe(ORB_ID(vehicle_vicon_position)); + int actuator_eff_sub = orb_subscribe(ORB_ID(actuator_controls_effective_0)); + int vehicle_gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position)); + int vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status)); + + /* advertise */ + orb_advert_t local_pos_est_pub = 0; + orb_advert_t global_pos_est_pub = 0; + + struct position_estimator_mc_params pos1D_params; + struct position_estimator_mc_param_handles pos1D_param_handles; + /* initialize parameter handles */ + parameters_init(&pos1D_param_handles); + + bool flag_use_gps = false; + bool flag_use_baro = false; + bool flag_baro_initialized = false; /* in any case disable baroINITdone */ + /* FIRST PARAMETER READ at START UP*/ + struct parameter_update_s update; + orb_copy(ORB_ID(parameter_update), sub_params, &update); /* read from param to clear updated flag */ + /* FIRST PARAMETER UPDATE */ + parameters_update(&pos1D_param_handles, &pos1D_params); + flag_use_baro = pos1D_params.baro; + sigma = pos1D_params.sigma; + addNoise = pos1D_params.addNoise; + /* END FIRST PARAMETER UPDATE */ + + /* try to grab a vicon message - if it fails, go for GPS. */ + + /* make sure the next orb_check() can't return true unless we get a timely update */ + orb_copy(ORB_ID(vehicle_vicon_position), vicon_pos_sub, &vicon_pos); + /* allow 200 ms for vicon to come in */ + usleep(200000); + /* check if we got vicon */ + bool update_check; + orb_check(vicon_pos_sub, &update_check); + /* if no update was available, use GPS */ + flag_use_gps = !update_check; + + if (flag_use_gps) { + mavlink_log_info(mavlink_fd, "[pos_est_mc] GPS locked"); + /* wait until gps signal turns valid, only then can we initialize the projection */ + + // XXX magic number + float hdop_threshold_m = 4.0f; + float vdop_threshold_m = 8.0f; + + /* + * If horizontal dilution of precision (hdop / eph) + * and vertical diluation of precision (vdop / epv) + * are below a certain threshold (e.g. 4 m), AND + * home position is not yet set AND the last GPS + * GPS measurement is not older than two seconds AND + * the system is currently not armed, set home + * position to the current position. + */ + + while (!(gps.fix_type == 3 + && (gps.eph_m < hdop_threshold_m) + && (gps.epv_m < vdop_threshold_m) + && (hrt_absolute_time() - gps.timestamp_position < 2000000))) { + + struct pollfd fds1[2] = { + { .fd = vehicle_gps_sub, .events = POLLIN }, + { .fd = sub_params, .events = POLLIN }, + }; + + /* wait for GPS updates, BUT READ VEHICLE STATUS (!) + * this choice is critical, since the vehicle status might not + * actually change, if this app is started after GPS lock was + * aquired. + */ + if (poll(fds1, 2, 5000)) { + if (fds1[0].revents & POLLIN){ + /* Read gps position */ + orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_sub, &gps); + } + if (fds1[1].revents & POLLIN){ + /* Read out parameters to check for an update there, e.g. useGPS variable */ + /* read from param to clear updated flag */ + struct parameter_update_s updated; + orb_copy(ORB_ID(parameter_update), sub_params, &updated); + /* update parameters */ + parameters_update(&pos1D_param_handles, &pos1D_params); + } + } + static int printcounter = 0; + if (printcounter == 100) { + printcounter = 0; + warnx("[pos_est_mc] wait for GPS fix"); + } + printcounter++; + } + + /* get gps value for first initialization */ + orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_sub, &gps); + lat_current = ((double)(gps.lat)) * 1e-7d; + lon_current = ((double)(gps.lon)) * 1e-7d; + alt_current = gps.alt * 1e-3f; + gps_origin_altitude = alt_current; + /* initialize coordinates */ + map_projection_init(lat_current, lon_current); + /* publish global position messages only after first GPS message */ + printf("[pos_est_mc] initialized projection with: lat: %.10f, lon:%.10f\n", lat_current, lon_current); + + } else { + mavlink_log_info(mavlink_fd, "[pos_est_mc] I'm NOT using GPS - I use VICON"); + /* onboard calculated position estimations */ + } + thread_running = true; + + struct pollfd fds2[3] = { + { .fd = vehicle_gps_sub, .events = POLLIN }, + { .fd = vicon_pos_sub, .events = POLLIN }, + { .fd = sub_params, .events = POLLIN }, + }; + + bool vicon_updated = false; + bool gps_updated = false; + + /**< main_loop */ + while (!thread_should_exit) { + int ret = poll(fds2, 3, 20); //wait maximal this 20 ms = 50 Hz minimum rate + if (ret < 0) { + /* poll error */ + } else { + if (fds2[2].revents & POLLIN){ + /* new parameter */ + /* read from param to clear updated flag */ + struct parameter_update_s updated; + orb_copy(ORB_ID(parameter_update), sub_params, &updated); + /* update parameters */ + parameters_update(&pos1D_param_handles, &pos1D_params); + flag_use_baro = pos1D_params.baro; + sigma = pos1D_params.sigma; + addNoise = pos1D_params.addNoise; + } + vicon_updated = false; /* default is no vicon_updated */ + if (fds2[1].revents & POLLIN) { + /* new vicon position */ + orb_copy(ORB_ID(vehicle_vicon_position), vicon_pos_sub, &vicon_pos); + posX = vicon_pos.x; + posY = vicon_pos.y; + posZ = vicon_pos.z; + vicon_updated = true; /* set flag for vicon update */ + } /* end of poll call for vicon updates */ + gps_updated = false; + if (fds2[0].revents & POLLIN) { + /* new GPS value */ + orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_sub, &gps); + /* Project gps lat lon (Geographic coordinate system) to plane*/ + map_projection_project(((double)(gps.lat)) * 1e-7d, ((double)(gps.lon)) * 1e-7d, &(z[0]), &(z[1])); + posX = z[0]; + posY = z[1]; + posZ = (float)(gps.alt * 1e-3f); + gps_updated = true; + } + + /* Main estimator loop */ + orb_copy(ORB_ID(actuator_controls_effective_0), actuator_eff_sub, &act_eff); + orb_copy(ORB_ID(vehicle_attitude), vehicle_attitude_sub, &att); + orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &vehicle_status); + orb_copy(ORB_ID(sensor_combined), sensor_sub, &sensor); + // barometric pressure estimation at start up + if (!flag_baro_initialized){ + // mean calculation over several measurements + if (baro_loop_cnt 2) { + /* x-y-position/velocity estimation in earth frame = gps frame */ + kalman_dlqe3(dT_const_50,K_vicon_50Hz[0],K_vicon_50Hz[1],K_vicon_50Hz[2],x_x_aposteriori_k,posX,gps_updated,0.0f,0.0f,x_x_aposteriori); + memcpy(x_x_aposteriori_k, x_x_aposteriori, sizeof(x_x_aposteriori)); + kalman_dlqe3(dT_const_50,K_vicon_50Hz[0],K_vicon_50Hz[1],K_vicon_50Hz[2],x_y_aposteriori_k,posY,gps_updated,0.0f,0.0f,x_y_aposteriori); + memcpy(x_y_aposteriori_k, x_y_aposteriori, sizeof(x_y_aposteriori)); + /* z-position/velocity estimation in earth frame = vicon frame */ + float z_est = 0.0f; + if (flag_baro_initialized && flag_use_baro) { + z_est = -p0_Pa*logf(p0_Pa/(sensor.baro_pres_mbar*100))/(rho0*const_earth_gravity); + K[0] = K_vicon_50Hz[0]; + K[1] = K_vicon_50Hz[1]; + K[2] = K_vicon_50Hz[2]; + gps_updated = 1.0f; /* always enable the update, cause baro update = 200 Hz */ + } else { + z_est = posZ; + K[0] = K_vicon_50Hz[0]; + K[1] = K_vicon_50Hz[1]; + K[2] = K_vicon_50Hz[2]; + } + + kalman_dlqe3(dT_const_50,K[0],K[1],K[2],x_z_aposteriori_k,z_est,gps_updated,0.0f,0.0f,x_z_aposteriori); + memcpy(x_z_aposteriori_k, x_z_aposteriori, sizeof(x_z_aposteriori)); + local_pos_est.x = x_x_aposteriori_k[0]; + local_pos_est.vx = x_x_aposteriori_k[1]; + local_pos_est.y = x_y_aposteriori_k[0]; + local_pos_est.vy = x_y_aposteriori_k[1]; + local_pos_est.z = x_z_aposteriori_k[0]; + local_pos_est.vz = x_z_aposteriori_k[1]; + local_pos_est.timestamp = hrt_absolute_time(); + if ((isfinite(x_x_aposteriori_k[0])) && (isfinite(x_x_aposteriori_k[1])) && (isfinite(x_y_aposteriori_k[0])) && (isfinite(x_y_aposteriori_k[1])) && (isfinite(x_z_aposteriori_k[0])) && (isfinite(x_z_aposteriori_k[1]))) { + /* publish local position estimate */ + if (local_pos_est_pub > 0) { + orb_publish(ORB_ID(vehicle_local_position), local_pos_est_pub, &local_pos_est); + } else { + local_pos_est_pub = orb_advertise(ORB_ID(vehicle_local_position), &local_pos_est); + } + /* publish on GPS updates */ + if (gps_updated) { + + double lat, lon; + float alt = z_est + gps_origin_altitude; + + map_projection_reproject(local_pos_est.x, local_pos_est.y, &lat, &lon); + + global_pos_est.lat = lat; + global_pos_est.lon = lon; + global_pos_est.alt = alt; + + if (global_pos_est_pub > 0) { + orb_publish(ORB_ID(vehicle_global_position), global_pos_est_pub, &global_pos_est); + } else { + global_pos_est_pub = orb_advertise(ORB_ID(vehicle_global_position), &global_pos_est); + } + } + } + } + } else { + /* x-y-position/velocity estimation in earth frame = vicon frame */ + kalman_dlqe3(dT_const_50,K_vicon_50Hz[0],K_vicon_50Hz[1],K_vicon_50Hz[2],x_x_aposteriori_k,posX,vicon_updated,addNoise,sigma,x_x_aposteriori); + memcpy(x_x_aposteriori_k, x_x_aposteriori, sizeof(x_x_aposteriori)); + kalman_dlqe3(dT_const_50,K_vicon_50Hz[0],K_vicon_50Hz[1],K_vicon_50Hz[2],x_y_aposteriori_k,posY,vicon_updated,addNoise,sigma,x_y_aposteriori); + memcpy(x_y_aposteriori_k, x_y_aposteriori, sizeof(x_y_aposteriori)); + /* z-position/velocity estimation in earth frame = vicon frame */ + float z_est = 0.0f; + float local_sigma = 0.0f; + if (flag_baro_initialized && flag_use_baro) { + z_est = -p0_Pa*logf(p0_Pa/(sensor.baro_pres_mbar*100.0f))/(rho0*const_earth_gravity); + K[0] = K_vicon_50Hz[0]; + K[1] = K_vicon_50Hz[1]; + K[2] = K_vicon_50Hz[2]; + vicon_updated = 1; /* always enable the update, cause baro update = 200 Hz */ + local_sigma = 0.0f; /* don't add noise on barometer in any case */ + } else { + z_est = posZ; + K[0] = K_vicon_50Hz[0]; + K[1] = K_vicon_50Hz[1]; + K[2] = K_vicon_50Hz[2]; + local_sigma = sigma; + } + kalman_dlqe3(dT_const_50,K[0],K[1],K[2],x_z_aposteriori_k,z_est,vicon_updated,addNoise,local_sigma,x_z_aposteriori); + memcpy(x_z_aposteriori_k, x_z_aposteriori, sizeof(x_z_aposteriori)); + local_pos_est.x = x_x_aposteriori_k[0]; + local_pos_est.vx = x_x_aposteriori_k[1]; + local_pos_est.y = x_y_aposteriori_k[0]; + local_pos_est.vy = x_y_aposteriori_k[1]; + local_pos_est.z = x_z_aposteriori_k[0]; + local_pos_est.vz = x_z_aposteriori_k[1]; + local_pos_est.timestamp = hrt_absolute_time(); + if ((isfinite(x_x_aposteriori_k[0])) && (isfinite(x_x_aposteriori_k[1])) && (isfinite(x_y_aposteriori_k[0])) && (isfinite(x_y_aposteriori_k[1])) && (isfinite(x_z_aposteriori_k[0])) && (isfinite(x_z_aposteriori_k[1]))){ + orb_publish(ORB_ID(vehicle_local_position), local_pos_est_pub, &local_pos_est); + } + } + } /* end of poll return value check */ + } + + printf("[pos_est_mc] exiting.\n"); + mavlink_log_info(mavlink_fd, "[pos_est_mc] exiting"); + thread_running = false; + return 0; +} diff --git a/src/modules/position_estimator_mc/position_estimator_mc_params.c b/src/modules/position_estimator_mc/position_estimator_mc_params.c new file mode 100755 index 000000000..72e5bc73b --- /dev/null +++ b/src/modules/position_estimator_mc/position_estimator_mc_params.c @@ -0,0 +1,68 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: Damian Aregger + * Tobias Naegeli +* Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* + * @file position_estimator_mc_params.c + * + * Parameters for position_estimator_mc + */ + +#include "position_estimator_mc_params.h" + +/* Kalman Filter covariances */ +/* gps measurement noise standard deviation */ +PARAM_DEFINE_FLOAT(POS_EST_ADDN, 1.0f); +PARAM_DEFINE_FLOAT(POS_EST_SIGMA, 0.0f); +PARAM_DEFINE_FLOAT(POS_EST_R, 1.0f); +PARAM_DEFINE_INT32(POS_EST_BARO, 0.0f); + +int parameters_init(struct position_estimator_mc_param_handles *h) +{ + h->addNoise = param_find("POS_EST_ADDN"); + h->sigma = param_find("POS_EST_SIGMA"); + h->r = param_find("POS_EST_R"); + h->baro_param_handle = param_find("POS_EST_BARO"); + return OK; +} + +int parameters_update(const struct position_estimator_mc_param_handles *h, struct position_estimator_mc_params *p) +{ + param_get(h->addNoise, &(p->addNoise)); + param_get(h->sigma, &(p->sigma)); + param_get(h->r, &(p->R)); + param_get(h->baro_param_handle, &(p->baro)); + return OK; +} diff --git a/src/modules/position_estimator_mc/position_estimator_mc_params.h b/src/modules/position_estimator_mc/position_estimator_mc_params.h new file mode 100755 index 000000000..c4c95f7b4 --- /dev/null +++ b/src/modules/position_estimator_mc/position_estimator_mc_params.h @@ -0,0 +1,69 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: Damian Aregger + * Tobias Naegeli + * Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* + * @file position_estimator_mc_params.h + * + * Parameters for Position Estimator + */ + +#include + +struct position_estimator_mc_params { + float addNoise; + float sigma; + float R; + int baro; /* consider barometer */ +}; + +struct position_estimator_mc_param_handles { + param_t addNoise; + param_t sigma; + param_t r; + param_t baro_param_handle; +}; + +/** + * Initialize all parameter handles and values + * + */ +int parameters_init(struct position_estimator_mc_param_handles *h); + +/** + * Update all parameters + * + */ +int parameters_update(const struct position_estimator_mc_param_handles *h, struct position_estimator_mc_params *p); diff --git a/src/modules/sdlog/module.mk b/src/modules/sdlog/module.mk new file mode 100644 index 000000000..89da2d827 --- /dev/null +++ b/src/modules/sdlog/module.mk @@ -0,0 +1,43 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# sdlog Application +# + +MODULE_COMMAND = sdlog +# The main thread only buffers to RAM, needs a high priority +MODULE_PRIORITY = "SCHED_PRIORITY_MAX-30" + +SRCS = sdlog.c \ + sdlog_ringbuffer.c diff --git a/src/modules/sdlog/sdlog.c b/src/modules/sdlog/sdlog.c new file mode 100644 index 000000000..df8745d9f --- /dev/null +++ b/src/modules/sdlog/sdlog.c @@ -0,0 +1,829 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file sdlog.c + * @author Lorenz Meier + * + * Simple SD logger for flight data. Buffers new sensor values and + * does the heavy SD I/O in a low-priority worker thread. + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +#include + +#include "sdlog_ringbuffer.h" + +static bool thread_should_exit = false; /**< Deamon exit flag */ +static bool thread_running = false; /**< Deamon status flag */ +static int deamon_task; /**< Handle of deamon task / thread */ +static const int MAX_NO_LOGFOLDER = 999; /**< Maximum number of log folders */ + +static const char *mountpoint = "/fs/microsd"; +static const char *mfile_in = "/etc/logging/logconv.m"; +int sysvector_file = -1; +int mavlink_fd = -1; +struct sdlog_logbuffer lb; + +/* mutex / condition to synchronize threads */ +pthread_mutex_t sysvector_mutex; +pthread_cond_t sysvector_cond; + +/** + * System state vector log buffer writing + */ +static void *sdlog_sysvector_write_thread(void *arg); + +/** + * Create the thread to write the system vector + */ +pthread_t sysvector_write_start(struct sdlog_logbuffer *logbuf); + +/** + * SD log management function. + */ +__EXPORT int sdlog_main(int argc, char *argv[]); + +/** + * Mainloop of sd log deamon. + */ +int sdlog_thread_main(int argc, char *argv[]); + +/** + * Print the correct usage. + */ +static void usage(const char *reason); + +static int file_exist(const char *filename); + +static int file_copy(const char *file_old, const char *file_new); + +static void handle_command(struct vehicle_command_s *cmd); + +/** + * Print the current status. + */ +static void print_sdlog_status(void); + +/** + * Create folder for current logging session. + */ +static int create_logfolder(char *folder_path); + +static void +usage(const char *reason) +{ + if (reason) + fprintf(stderr, "%s\n", reason); + + errx(1, "usage: sdlog {start|stop|status} [-s ]\n\n"); +} + +// XXX turn this into a C++ class +unsigned sensor_combined_bytes = 0; +unsigned actuator_outputs_bytes = 0; +unsigned actuator_controls_bytes = 0; +unsigned sysvector_bytes = 0; +unsigned blackbox_file_bytes = 0; +uint64_t starttime = 0; + +/* logging on or off, default to true */ +bool logging_enabled = true; + +/** + * The sd log deamon app only briefly exists to start + * the background job. The stack size assigned in the + * Makefile does only apply to this management task. + * + * The actual stack size should be set in the call + * to task_spawn(). + */ +int sdlog_main(int argc, char *argv[]) +{ + if (argc < 1) + usage("missing command"); + + if (!strcmp(argv[1], "start")) { + + if (thread_running) { + printf("sdlog already running\n"); + /* this is not an error */ + exit(0); + } + + thread_should_exit = false; + deamon_task = task_spawn("sdlog", + SCHED_DEFAULT, + SCHED_PRIORITY_DEFAULT - 30, + 4096, + sdlog_thread_main, + (const char **)argv); + exit(0); + } + + if (!strcmp(argv[1], "stop")) { + if (!thread_running) { + printf("\tsdlog is not started\n"); + } + + thread_should_exit = true; + exit(0); + } + + if (!strcmp(argv[1], "status")) { + if (thread_running) { + print_sdlog_status(); + + } else { + printf("\tsdlog not started\n"); + } + + exit(0); + } + + usage("unrecognized command"); + exit(1); +} + +int create_logfolder(char *folder_path) +{ + /* make folder on sdcard */ + uint16_t foldernumber = 1; // start with folder 0001 + int mkdir_ret; + + /* look for the next folder that does not exist */ + while (foldernumber < MAX_NO_LOGFOLDER) { + /* set up file path: e.g. /mnt/sdcard/sensorfile0001.txt */ + sprintf(folder_path, "%s/session%04u", mountpoint, foldernumber); + mkdir_ret = mkdir(folder_path, S_IRWXU | S_IRWXG | S_IRWXO); + /* the result is -1 if the folder exists */ + + if (mkdir_ret == 0) { + /* folder does not exist, success */ + + /* now copy the Matlab/Octave file */ + char mfile_out[100]; + sprintf(mfile_out, "%s/session%04u/run_to_plot_data.m", mountpoint, foldernumber); + int ret = file_copy(mfile_in, mfile_out); + + if (!ret) { + warnx("copied m file to %s", mfile_out); + + } else { + warnx("failed copying m file from %s to\n %s", mfile_in, mfile_out); + } + + break; + + } else if (mkdir_ret == -1) { + /* folder exists already */ + foldernumber++; + continue; + + } else { + warn("failed creating new folder"); + return -1; + } + } + + if (foldernumber >= MAX_NO_LOGFOLDER) { + /* we should not end up here, either we have more than MAX_NO_LOGFOLDER on the SD card, or another problem */ + warn("all %d possible folders exist already", MAX_NO_LOGFOLDER); + return -1; + } + + return 0; +} + + +static void * +sdlog_sysvector_write_thread(void *arg) +{ + /* set name */ + prctl(PR_SET_NAME, "sdlog microSD I/O", 0); + + struct sdlog_logbuffer *logbuf = (struct sdlog_logbuffer *)arg; + + int poll_count = 0; + struct sdlog_sysvector sysvect; + memset(&sysvect, 0, sizeof(sysvect)); + + while (!thread_should_exit) { + + /* make sure threads are synchronized */ + pthread_mutex_lock(&sysvector_mutex); + + /* only wait if no data is available to process */ + if (sdlog_logbuffer_is_empty(logbuf)) { + /* blocking wait for new data at this line */ + pthread_cond_wait(&sysvector_cond, &sysvector_mutex); + } + + /* only quickly load data, do heavy I/O a few lines down */ + int ret = sdlog_logbuffer_read(logbuf, &sysvect); + /* continue */ + pthread_mutex_unlock(&sysvector_mutex); + + if (ret == OK) { + sysvector_bytes += write(sysvector_file, (const char *)&sysvect, sizeof(sysvect)); + } + + if (poll_count % 100 == 0) { + fsync(sysvector_file); + } + + poll_count++; + } + + fsync(sysvector_file); + + return OK; +} + +pthread_t +sysvector_write_start(struct sdlog_logbuffer *logbuf) +{ + pthread_attr_t receiveloop_attr; + pthread_attr_init(&receiveloop_attr); + + struct sched_param param; + /* low priority, as this is expensive disk I/O */ + param.sched_priority = SCHED_PRIORITY_DEFAULT - 40; + (void)pthread_attr_setschedparam(&receiveloop_attr, ¶m); + + pthread_attr_setstacksize(&receiveloop_attr, 2048); + + pthread_t thread; + pthread_create(&thread, &receiveloop_attr, sdlog_sysvector_write_thread, logbuf); + return thread; + + // XXX we have to destroy the attr at some point +} + + +int sdlog_thread_main(int argc, char *argv[]) +{ + mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); + + if (mavlink_fd < 0) { + warnx("ERROR: Failed to open MAVLink log stream, start mavlink app first.\n"); + } + + /* log every n'th value (skip three per default) */ + int skip_value = 3; + + /* work around some stupidity in task_create's argv handling */ + argc -= 2; + argv += 2; + int ch; + + while ((ch = getopt(argc, argv, "s:r")) != EOF) { + switch (ch) { + case 's': + { + /* log only every n'th (gyro clocked) value */ + unsigned s = strtoul(optarg, NULL, 10); + + if (s < 1 || s > 250) { + errx(1, "Wrong skip value of %d, out of range (1..250)\n", s); + } else { + skip_value = s; + } + } + break; + + case 'r': + /* log only on request, disable logging per default */ + logging_enabled = false; + break; + + case '?': + if (optopt == 'c') { + warnx("Option -%c requires an argument.\n", optopt); + } else if (isprint(optopt)) { + warnx("Unknown option `-%c'.\n", optopt); + } else { + warnx("Unknown option character `\\x%x'.\n", optopt); + } + + default: + usage("unrecognized flag"); + errx(1, "exiting."); + } + } + + if (file_exist(mountpoint) != OK) { + errx(1, "logging mount point %s not present, exiting.", mountpoint); + } + + char folder_path[64]; + + if (create_logfolder(folder_path)) + errx(1, "unable to create logging folder, exiting."); + + FILE *gpsfile; + FILE *blackbox_file; + + /* string to hold the path to the sensorfile */ + char path_buf[64] = ""; + + /* only print logging path, important to find log file later */ + warnx("logging to directory %s\n", folder_path); + + /* set up file path: e.g. /mnt/sdcard/session0001/actuator_controls0.bin */ + sprintf(path_buf, "%s/%s.bin", folder_path, "sysvector"); + + if (0 == (sysvector_file = open(path_buf, O_CREAT | O_WRONLY | O_DSYNC))) { + errx(1, "opening %s failed.\n", path_buf); + } + + /* set up file path: e.g. /mnt/sdcard/session0001/gps.txt */ + sprintf(path_buf, "%s/%s.txt", folder_path, "gps"); + + if (NULL == (gpsfile = fopen(path_buf, "w"))) { + errx(1, "opening %s failed.\n", path_buf); + } + + int gpsfile_no = fileno(gpsfile); + + /* set up file path: e.g. /mnt/sdcard/session0001/blackbox.txt */ + sprintf(path_buf, "%s/%s.txt", folder_path, "blackbox"); + + if (NULL == (blackbox_file = fopen(path_buf, "w"))) { + errx(1, "opening %s failed.\n", path_buf); + } + + // XXX for fsync() calls + int blackbox_file_no = fileno(blackbox_file); + + /* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */ + /* number of messages */ + const ssize_t fdsc = 25; + /* Sanity check variable and index */ + ssize_t fdsc_count = 0; + /* file descriptors to wait for */ + struct pollfd fds[fdsc]; + + + struct { + struct sensor_combined_s raw; + struct vehicle_attitude_s att; + struct vehicle_attitude_setpoint_s att_sp; + struct actuator_outputs_s act_outputs; + struct actuator_controls_s act_controls; + struct actuator_controls_effective_s act_controls_effective; + struct vehicle_command_s cmd; + struct vehicle_local_position_s local_pos; + struct vehicle_global_position_s global_pos; + struct vehicle_gps_position_s gps_pos; + struct vehicle_vicon_position_s vicon_pos; + struct optical_flow_s flow; + struct battery_status_s batt; + struct differential_pressure_s diff_pressure; + } buf; + memset(&buf, 0, sizeof(buf)); + + struct { + int cmd_sub; + int sensor_sub; + int att_sub; + int spa_sub; + int act_0_sub; + int controls_0_sub; + int controls_effective_0_sub; + int local_pos_sub; + int global_pos_sub; + int gps_pos_sub; + int vicon_pos_sub; + int flow_sub; + int batt_sub; + int diff_pressure_sub; + } subs; + + /* --- MANAGEMENT - LOGGING COMMAND --- */ + /* subscribe to ORB for vehicle command */ + subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command)); + fds[fdsc_count].fd = subs.cmd_sub; + fds[fdsc_count].events = POLLIN; + fdsc_count++; + + /* --- GPS POSITION --- */ + /* subscribe to ORB for global position */ + subs.gps_pos_sub = orb_subscribe(ORB_ID(vehicle_gps_position)); + fds[fdsc_count].fd = subs.gps_pos_sub; + fds[fdsc_count].events = POLLIN; + fdsc_count++; + + /* --- SENSORS RAW VALUE --- */ + /* subscribe to ORB for sensors raw */ + subs.sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); + fds[fdsc_count].fd = subs.sensor_sub; + /* do not rate limit, instead use skip counter (aliasing on rate limit) */ + fds[fdsc_count].events = POLLIN; + fdsc_count++; + + /* --- ATTITUDE VALUE --- */ + /* subscribe to ORB for attitude */ + subs.att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); + fds[fdsc_count].fd = subs.att_sub; + fds[fdsc_count].events = POLLIN; + fdsc_count++; + + /* --- ATTITUDE SETPOINT VALUE --- */ + /* subscribe to ORB for attitude setpoint */ + /* struct already allocated */ + subs.spa_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); + fds[fdsc_count].fd = subs.spa_sub; + fds[fdsc_count].events = POLLIN; + fdsc_count++; + + /** --- ACTUATOR OUTPUTS --- */ + subs.act_0_sub = orb_subscribe(ORB_ID(actuator_outputs_0)); + fds[fdsc_count].fd = subs.act_0_sub; + fds[fdsc_count].events = POLLIN; + fdsc_count++; + + /* --- ACTUATOR CONTROL VALUE --- */ + /* subscribe to ORB for actuator control */ + subs.controls_0_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS); + fds[fdsc_count].fd = subs.controls_0_sub; + fds[fdsc_count].events = POLLIN; + fdsc_count++; + + /* --- ACTUATOR CONTROL EFFECTIVE VALUE --- */ + /* subscribe to ORB for actuator control */ + subs.controls_effective_0_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE); + fds[fdsc_count].fd = subs.controls_effective_0_sub; + fds[fdsc_count].events = POLLIN; + fdsc_count++; + + /* --- LOCAL POSITION --- */ + /* subscribe to ORB for local position */ + subs.local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position)); + fds[fdsc_count].fd = subs.local_pos_sub; + fds[fdsc_count].events = POLLIN; + fdsc_count++; + + /* --- GLOBAL POSITION --- */ + /* subscribe to ORB for global position */ + subs.global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position)); + fds[fdsc_count].fd = subs.global_pos_sub; + fds[fdsc_count].events = POLLIN; + fdsc_count++; + + /* --- VICON POSITION --- */ + /* subscribe to ORB for vicon position */ + subs.vicon_pos_sub = orb_subscribe(ORB_ID(vehicle_vicon_position)); + fds[fdsc_count].fd = subs.vicon_pos_sub; + fds[fdsc_count].events = POLLIN; + fdsc_count++; + + /* --- FLOW measurements --- */ + /* subscribe to ORB for flow measurements */ + subs.flow_sub = orb_subscribe(ORB_ID(optical_flow)); + fds[fdsc_count].fd = subs.flow_sub; + fds[fdsc_count].events = POLLIN; + fdsc_count++; + + /* --- BATTERY STATUS --- */ + /* subscribe to ORB for flow measurements */ + subs.batt_sub = orb_subscribe(ORB_ID(battery_status)); + fds[fdsc_count].fd = subs.batt_sub; + fds[fdsc_count].events = POLLIN; + fdsc_count++; + + /* --- DIFFERENTIAL PRESSURE --- */ + /* subscribe to ORB for flow measurements */ + subs.diff_pressure_sub = orb_subscribe(ORB_ID(differential_pressure)); + fds[fdsc_count].fd = subs.diff_pressure_sub; + fds[fdsc_count].events = POLLIN; + fdsc_count++; + + /* WARNING: If you get the error message below, + * then the number of registered messages (fdsc) + * differs from the number of messages in the above list. + */ + if (fdsc_count > fdsc) { + warn("WARNING: Not enough space for poll fds allocated. Check %s:%d.\n", __FILE__, __LINE__); + fdsc_count = fdsc; + } + + /* + * set up poll to block for new data, + * wait for a maximum of 1000 ms (1 second) + */ + // const int timeout = 1000; + + thread_running = true; + + /* initialize log buffer with a size of 10 */ + sdlog_logbuffer_init(&lb, 10); + + /* initialize thread synchronization */ + pthread_mutex_init(&sysvector_mutex, NULL); + pthread_cond_init(&sysvector_cond, NULL); + + /* start logbuffer emptying thread */ + pthread_t sysvector_pthread = sysvector_write_start(&lb); + + starttime = hrt_absolute_time(); + + /* track skipping */ + int skip_count = 0; + + while (!thread_should_exit) { + + /* only poll for commands, gps and sensor_combined */ + int poll_ret = poll(fds, 3, 1000); + + /* handle the poll result */ + if (poll_ret == 0) { + /* XXX this means none of our providers is giving us data - might be an error? */ + } else if (poll_ret < 0) { + /* XXX this is seriously bad - should be an emergency */ + } else { + + int ifds = 0; + + /* --- VEHICLE COMMAND VALUE --- */ + if (fds[ifds++].revents & POLLIN) { + /* copy command into local buffer */ + orb_copy(ORB_ID(vehicle_command), subs.cmd_sub, &buf.cmd); + + /* always log to blackbox, even when logging disabled */ + blackbox_file_bytes += fprintf(blackbox_file, "[%10.4f\tVCMD] CMD #%d [%f\t%f\t%f\t%f\t%f\t%f\t%f]\n", hrt_absolute_time()/1000000.0d, + buf.cmd.command, (double)buf.cmd.param1, (double)buf.cmd.param2, (double)buf.cmd.param3, (double)buf.cmd.param4, + (double)buf.cmd.param5, (double)buf.cmd.param6, (double)buf.cmd.param7); + + handle_command(&buf.cmd); + } + + /* --- VEHICLE GPS VALUE --- */ + if (fds[ifds++].revents & POLLIN) { + /* copy gps position into local buffer */ + orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos); + + /* if logging disabled, continue */ + if (logging_enabled) { + + /* write KML line */ + } + } + + /* --- SENSORS RAW VALUE --- */ + if (fds[ifds++].revents & POLLIN) { + + // /* copy sensors raw data into local buffer */ + // orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.raw); + // /* write out */ + // sensor_combined_bytes += write(sensorfile, (const char*)&(buf.raw), sizeof(buf.raw)); + + /* always copy sensors raw data into local buffer, since poll flags won't clear else */ + orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.raw); + orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, subs.controls_0_sub, &buf.act_controls); + orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, subs.controls_effective_0_sub, &buf.act_controls_effective); + orb_copy(ORB_ID(actuator_outputs_0), subs.act_0_sub, &buf.act_outputs); + orb_copy(ORB_ID(vehicle_attitude_setpoint), subs.spa_sub, &buf.att_sp); + orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos); + orb_copy(ORB_ID(vehicle_local_position), subs.local_pos_sub, &buf.local_pos); + orb_copy(ORB_ID(vehicle_global_position), subs.global_pos_sub, &buf.global_pos); + orb_copy(ORB_ID(vehicle_attitude), subs.att_sub, &buf.att); + orb_copy(ORB_ID(vehicle_vicon_position), subs.vicon_pos_sub, &buf.vicon_pos); + orb_copy(ORB_ID(optical_flow), subs.flow_sub, &buf.flow); + orb_copy(ORB_ID(differential_pressure), subs.diff_pressure_sub, &buf.diff_pressure); + orb_copy(ORB_ID(battery_status), subs.batt_sub, &buf.batt); + + /* if skipping is on or logging is disabled, ignore */ + if (skip_count < skip_value || !logging_enabled) { + skip_count++; + /* do not log data */ + continue; + } else { + /* log data, reset */ + skip_count = 0; + } + + struct sdlog_sysvector sysvect = { + .timestamp = buf.raw.timestamp, + .gyro = {buf.raw.gyro_rad_s[0], buf.raw.gyro_rad_s[1], buf.raw.gyro_rad_s[2]}, + .accel = {buf.raw.accelerometer_m_s2[0], buf.raw.accelerometer_m_s2[1], buf.raw.accelerometer_m_s2[2]}, + .mag = {buf.raw.magnetometer_ga[0], buf.raw.magnetometer_ga[1], buf.raw.magnetometer_ga[2]}, + .baro = buf.raw.baro_pres_mbar, + .baro_alt = buf.raw.baro_alt_meter, + .baro_temp = buf.raw.baro_temp_celcius, + .control = {buf.act_controls.control[0], buf.act_controls.control[1], buf.act_controls.control[2], buf.act_controls.control[3]}, + .actuators = { + buf.act_outputs.output[0], buf.act_outputs.output[1], buf.act_outputs.output[2], buf.act_outputs.output[3], + buf.act_outputs.output[4], buf.act_outputs.output[5], buf.act_outputs.output[6], buf.act_outputs.output[7] + }, + .vbat = buf.batt.voltage_v, + .bat_current = buf.batt.current_a, + .bat_discharged = buf.batt.discharged_mah, + .adc = {buf.raw.adc_voltage_v[0], buf.raw.adc_voltage_v[1], buf.raw.adc_voltage_v[2], buf.raw.adc_voltage_v[3]}, + .local_position = {buf.local_pos.x, buf.local_pos.y, buf.local_pos.z}, + .gps_raw_position = {buf.gps_pos.lat, buf.gps_pos.lon, buf.gps_pos.alt}, + .attitude = {buf.att.pitch, buf.att.roll, buf.att.yaw}, + .rotMatrix = {buf.att.R[0][0], buf.att.R[0][1], buf.att.R[0][2], buf.att.R[1][0], buf.att.R[1][1], buf.att.R[1][2], buf.att.R[2][0], buf.att.R[2][1], buf.att.R[2][2]}, + .vicon = {buf.vicon_pos.x, buf.vicon_pos.y, buf.vicon_pos.z, buf.vicon_pos.roll, buf.vicon_pos.pitch, buf.vicon_pos.yaw}, + .control_effective = {buf.act_controls_effective.control_effective[0], buf.act_controls_effective.control_effective[1], buf.act_controls_effective.control_effective[2], buf.act_controls_effective.control_effective[3]}, + .flow = {buf.flow.flow_raw_x, buf.flow.flow_raw_y, buf.flow.flow_comp_x_m, buf.flow.flow_comp_y_m, buf.flow.ground_distance_m, buf.flow.quality}, + .diff_pressure = buf.diff_pressure.differential_pressure_mbar, + .ind_airspeed = buf.diff_pressure.indicated_airspeed_m_s, + .true_airspeed = buf.diff_pressure.true_airspeed_m_s + }; + + /* put into buffer for later IO */ + pthread_mutex_lock(&sysvector_mutex); + sdlog_logbuffer_write(&lb, &sysvect); + /* signal the other thread new data, but not yet unlock */ + if ((unsigned)lb.count > (lb.size / 2)) { + /* only request write if several packets can be written at once */ + pthread_cond_signal(&sysvector_cond); + } + /* unlock, now the writer thread may run */ + pthread_mutex_unlock(&sysvector_mutex); + } + + } + + } + + print_sdlog_status(); + + /* wake up write thread one last time */ + pthread_mutex_lock(&sysvector_mutex); + pthread_cond_signal(&sysvector_cond); + /* unlock, now the writer thread may return */ + pthread_mutex_unlock(&sysvector_mutex); + + /* wait for write thread to return */ + (void)pthread_join(sysvector_pthread, NULL); + + pthread_mutex_destroy(&sysvector_mutex); + pthread_cond_destroy(&sysvector_cond); + + warnx("exiting.\n\n"); + + /* finish KML file */ + // XXX + fclose(gpsfile); + fclose(blackbox_file); + + thread_running = false; + + return 0; +} + +void print_sdlog_status() +{ + unsigned bytes = sysvector_bytes + sensor_combined_bytes + actuator_outputs_bytes + blackbox_file_bytes + actuator_controls_bytes; + float mebibytes = bytes / 1024.0f / 1024.0f; + float seconds = ((float)(hrt_absolute_time() - starttime)) / 1000000.0f; + + warnx("wrote %4.2f MiB (average %5.3f MiB/s).\n", (double)mebibytes, (double)(mebibytes / seconds)); +} + +/** + * @return 0 if file exists + */ +int file_exist(const char *filename) +{ + struct stat buffer; + return stat(filename, &buffer); +} + +int file_copy(const char *file_old, const char *file_new) +{ + FILE *source, *target; + source = fopen(file_old, "r"); + int ret = 0; + + if (source == NULL) { + warnx("failed opening input file to copy"); + return 1; + } + + target = fopen(file_new, "w"); + + if (target == NULL) { + fclose(source); + warnx("failed to open output file to copy"); + return 1; + } + + char buf[128]; + int nread; + + while ((nread = fread(buf, 1, sizeof(buf), source)) > 0) { + int ret = fwrite(buf, 1, nread, target); + + if (ret <= 0) { + warnx("error writing file"); + ret = 1; + break; + } + } + + fsync(fileno(target)); + + fclose(source); + fclose(target); + + return ret; +} + +void handle_command(struct vehicle_command_s *cmd) +{ + /* result of the command */ + uint8_t result = VEHICLE_CMD_RESULT_UNSUPPORTED; + + /* request to set different system mode */ + switch (cmd->command) { + + case VEHICLE_CMD_PREFLIGHT_STORAGE: + + if (((int)(cmd->param3)) == 1) { + + /* enable logging */ + mavlink_log_info(mavlink_fd, "[log] file:"); + mavlink_log_info(mavlink_fd, "logdir"); + logging_enabled = true; + } + if (((int)(cmd->param3)) == 0) { + + /* disable logging */ + mavlink_log_info(mavlink_fd, "[log] stopped."); + logging_enabled = false; + } + break; + + default: + /* silently ignore */ + break; + } + +} diff --git a/src/modules/sdlog/sdlog_ringbuffer.c b/src/modules/sdlog/sdlog_ringbuffer.c new file mode 100644 index 000000000..d7c8a4759 --- /dev/null +++ b/src/modules/sdlog/sdlog_ringbuffer.c @@ -0,0 +1,91 @@ +/**************************************************************************** + * + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Author: Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file sdlog_log.c + * MAVLink text logging. + * + * @author Lorenz Meier + */ + +#include +#include + +#include "sdlog_ringbuffer.h" + +void sdlog_logbuffer_init(struct sdlog_logbuffer *lb, int size) +{ + lb->size = size; + lb->start = 0; + lb->count = 0; + lb->elems = (struct sdlog_sysvector *)calloc(lb->size, sizeof(struct sdlog_sysvector)); +} + +int sdlog_logbuffer_is_full(struct sdlog_logbuffer *lb) +{ + return lb->count == (int)lb->size; +} + +int sdlog_logbuffer_is_empty(struct sdlog_logbuffer *lb) +{ + return lb->count == 0; +} + + +// XXX make these functions thread-safe +void sdlog_logbuffer_write(struct sdlog_logbuffer *lb, const struct sdlog_sysvector *elem) +{ + int end = (lb->start + lb->count) % lb->size; + memcpy(&(lb->elems[end]), elem, sizeof(struct sdlog_sysvector)); + + if (sdlog_logbuffer_is_full(lb)) { + lb->start = (lb->start + 1) % lb->size; /* full, overwrite */ + + } else { + ++lb->count; + } +} + +int sdlog_logbuffer_read(struct sdlog_logbuffer *lb, struct sdlog_sysvector *elem) +{ + if (!sdlog_logbuffer_is_empty(lb)) { + memcpy(elem, &(lb->elems[lb->start]), sizeof(struct sdlog_sysvector)); + lb->start = (lb->start + 1) % lb->size; + --lb->count; + return 0; + + } else { + return 1; + } +} diff --git a/src/modules/sdlog/sdlog_ringbuffer.h b/src/modules/sdlog/sdlog_ringbuffer.h new file mode 100644 index 000000000..b65916459 --- /dev/null +++ b/src/modules/sdlog/sdlog_ringbuffer.h @@ -0,0 +1,91 @@ +/**************************************************************************** + * + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Author: Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file sdlog_ringbuffer.h + * microSD logging + * + * @author Lorenz Meier + */ + +#ifndef SDLOG_RINGBUFFER_H_ +#define SDLOG_RINGBUFFER_H_ + +#pragma pack(push, 1) +struct sdlog_sysvector { + uint64_t timestamp; /**< time [us] */ + float gyro[3]; /**< [rad/s] */ + float accel[3]; /**< [m/s^2] */ + float mag[3]; /**< [gauss] */ + float baro; /**< pressure [millibar] */ + float baro_alt; /**< altitude above MSL [meter] */ + float baro_temp; /**< [degree celcius] */ + float control[4]; /**< roll, pitch, yaw [-1..1], thrust [0..1] */ + float actuators[8]; /**< motor 1-8, in motor units (PWM: 1000-2000,AR.Drone: 0-512) */ + float vbat; /**< battery voltage in [volt] */ + float bat_current; /**< battery discharge current */ + float bat_discharged; /**< discharged energy in mAh */ + float adc[4]; /**< ADC ports [volt] */ + float local_position[3]; /**< tangent plane mapping into x,y,z [m] */ + int32_t gps_raw_position[3]; /**< latitude [degrees] north, longitude [degrees] east, altitude above MSL [millimeter] */ + float attitude[3]; /**< roll, pitch, yaw [rad] */ + float rotMatrix[9]; /**< unitvectors */ + float vicon[6]; /**< Vicon ground truth x, y, z and roll, pitch, yaw */ + float control_effective[4]; /**< roll, pitch, yaw [-1..1], thrust [0..1] */ + float flow[6]; /**< flow raw x, y, flow metric x, y, flow ground dist, flow quality */ + float diff_pressure; /**< differential pressure */ + float ind_airspeed; /**< indicated airspeed */ + float true_airspeed; /**< true airspeed */ +}; +#pragma pack(pop) + +struct sdlog_logbuffer { + unsigned int start; + // unsigned int end; + unsigned int size; + int count; + struct sdlog_sysvector *elems; +}; + +void sdlog_logbuffer_init(struct sdlog_logbuffer *lb, int size); + +int sdlog_logbuffer_is_full(struct sdlog_logbuffer *lb); + +int sdlog_logbuffer_is_empty(struct sdlog_logbuffer *lb); + +void sdlog_logbuffer_write(struct sdlog_logbuffer *lb, const struct sdlog_sysvector *elem); + +int sdlog_logbuffer_read(struct sdlog_logbuffer *lb, struct sdlog_sysvector *elem); + +#endif -- cgit v1.2.3 From c89f46f59055f4cc0d7ada4a26e48f021278538e Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 27 Apr 2013 13:16:24 +0200 Subject: Moved sensors app to new world --- apps/sensors/.context | 0 apps/sensors/Makefile | 45 -- apps/sensors/sensor_params.c | 181 ----- apps/sensors/sensors.cpp | 1470 ----------------------------------- makefiles/config_px4fmu_default.mk | 3 +- src/modules/sensors/.context | 0 src/modules/sensors/module.mk | 42 + src/modules/sensors/sensor_params.c | 181 +++++ src/modules/sensors/sensors.cpp | 1470 +++++++++++++++++++++++++++++++++++ 9 files changed, 1694 insertions(+), 1698 deletions(-) delete mode 100644 apps/sensors/.context delete mode 100644 apps/sensors/Makefile delete mode 100644 apps/sensors/sensor_params.c delete mode 100644 apps/sensors/sensors.cpp create mode 100644 src/modules/sensors/.context create mode 100644 src/modules/sensors/module.mk create mode 100644 src/modules/sensors/sensor_params.c create mode 100644 src/modules/sensors/sensors.cpp (limited to 'src') diff --git a/apps/sensors/.context b/apps/sensors/.context deleted file mode 100644 index e69de29bb..000000000 diff --git a/apps/sensors/Makefile b/apps/sensors/Makefile deleted file mode 100644 index 526fb0164..000000000 --- a/apps/sensors/Makefile +++ /dev/null @@ -1,45 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Makefile to build the sensor data collector -# - -APPNAME = sensors -PRIORITY = SCHED_PRIORITY_MAX-5 -STACKSIZE = 4096 - -CXXSRCS = sensors.cpp -CSRCS = sensor_params.c - -include $(APPDIR)/mk/app.mk diff --git a/apps/sensors/sensor_params.c b/apps/sensors/sensor_params.c deleted file mode 100644 index c850e3a1e..000000000 --- a/apps/sensors/sensor_params.c +++ /dev/null @@ -1,181 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Lorenz Meier - * @author Thomas Gubler - * @author Julian Oes - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file sensor_params.c - * - * Parameters defined by the sensors task. - */ - -#include - -#include - -PARAM_DEFINE_FLOAT(SENS_GYRO_XOFF, 0.0f); -PARAM_DEFINE_FLOAT(SENS_GYRO_YOFF, 0.0f); -PARAM_DEFINE_FLOAT(SENS_GYRO_ZOFF, 0.0f); - -PARAM_DEFINE_FLOAT(SENS_MAG_XOFF, 0.0f); -PARAM_DEFINE_FLOAT(SENS_MAG_YOFF, 0.0f); -PARAM_DEFINE_FLOAT(SENS_MAG_ZOFF, 0.0f); - -PARAM_DEFINE_FLOAT(SENS_MAG_XSCALE, 1.0f); -PARAM_DEFINE_FLOAT(SENS_MAG_YSCALE, 1.0f); -PARAM_DEFINE_FLOAT(SENS_MAG_ZSCALE, 1.0f); - -PARAM_DEFINE_FLOAT(SENS_ACC_XOFF, 0.0f); -PARAM_DEFINE_FLOAT(SENS_ACC_YOFF, 0.0f); -PARAM_DEFINE_FLOAT(SENS_ACC_ZOFF, 0.0f); - -PARAM_DEFINE_FLOAT(SENS_ACC_XSCALE, 1.0f); -PARAM_DEFINE_FLOAT(SENS_ACC_YSCALE, 1.0f); -PARAM_DEFINE_FLOAT(SENS_ACC_ZSCALE, 1.0f); - -PARAM_DEFINE_FLOAT(SENS_VAIR_OFF, 2.5f); - -PARAM_DEFINE_FLOAT(RC1_MIN, 1000.0f); -PARAM_DEFINE_FLOAT(RC1_TRIM, 1500.0f); -PARAM_DEFINE_FLOAT(RC1_MAX, 2000.0f); -PARAM_DEFINE_FLOAT(RC1_REV, 1.0f); -PARAM_DEFINE_FLOAT(RC1_DZ, 0.0f); - -PARAM_DEFINE_FLOAT(RC2_MIN, 1000); -PARAM_DEFINE_FLOAT(RC2_TRIM, 1500); -PARAM_DEFINE_FLOAT(RC2_MAX, 2000); -PARAM_DEFINE_FLOAT(RC2_REV, 1.0f); -PARAM_DEFINE_FLOAT(RC2_DZ, 0.0f); - -PARAM_DEFINE_FLOAT(RC3_MIN, 1000); -PARAM_DEFINE_FLOAT(RC3_TRIM, 1500); -PARAM_DEFINE_FLOAT(RC3_MAX, 2000); -PARAM_DEFINE_FLOAT(RC3_REV, 1.0f); -PARAM_DEFINE_FLOAT(RC3_DZ, 0.0f); - -PARAM_DEFINE_FLOAT(RC4_MIN, 1000); -PARAM_DEFINE_FLOAT(RC4_TRIM, 1500); -PARAM_DEFINE_FLOAT(RC4_MAX, 2000); -PARAM_DEFINE_FLOAT(RC4_REV, 1.0f); -PARAM_DEFINE_FLOAT(RC4_DZ, 30.0f); - -PARAM_DEFINE_FLOAT(RC5_MIN, 1000); -PARAM_DEFINE_FLOAT(RC5_TRIM, 1500); -PARAM_DEFINE_FLOAT(RC5_MAX, 2000); -PARAM_DEFINE_FLOAT(RC5_REV, 1.0f); -PARAM_DEFINE_FLOAT(RC5_DZ, 0.0f); - -PARAM_DEFINE_FLOAT(RC6_MIN, 1000); -PARAM_DEFINE_FLOAT(RC6_TRIM, 1500); -PARAM_DEFINE_FLOAT(RC6_MAX, 2000); -PARAM_DEFINE_FLOAT(RC6_REV, 1.0f); -PARAM_DEFINE_FLOAT(RC6_DZ, 0.0f); - -PARAM_DEFINE_FLOAT(RC7_MIN, 1000); -PARAM_DEFINE_FLOAT(RC7_TRIM, 1500); -PARAM_DEFINE_FLOAT(RC7_MAX, 2000); -PARAM_DEFINE_FLOAT(RC7_REV, 1.0f); -PARAM_DEFINE_FLOAT(RC7_DZ, 0.0f); - -PARAM_DEFINE_FLOAT(RC8_MIN, 1000); -PARAM_DEFINE_FLOAT(RC8_TRIM, 1500); -PARAM_DEFINE_FLOAT(RC8_MAX, 2000); -PARAM_DEFINE_FLOAT(RC8_REV, 1.0f); -PARAM_DEFINE_FLOAT(RC8_DZ, 0.0f); - -PARAM_DEFINE_FLOAT(RC9_MIN, 1000); -PARAM_DEFINE_FLOAT(RC9_TRIM, 1500); -PARAM_DEFINE_FLOAT(RC9_MAX, 2000); -PARAM_DEFINE_FLOAT(RC9_REV, 1.0f); -PARAM_DEFINE_FLOAT(RC9_DZ, 0.0f); - -PARAM_DEFINE_FLOAT(RC10_MIN, 1000); -PARAM_DEFINE_FLOAT(RC10_TRIM, 1500); -PARAM_DEFINE_FLOAT(RC10_MAX, 2000); -PARAM_DEFINE_FLOAT(RC10_REV, 1.0f); -PARAM_DEFINE_FLOAT(RC10_DZ, 0.0f); - -PARAM_DEFINE_FLOAT(RC11_MIN, 1000); -PARAM_DEFINE_FLOAT(RC11_TRIM, 1500); -PARAM_DEFINE_FLOAT(RC11_MAX, 2000); -PARAM_DEFINE_FLOAT(RC11_REV, 1.0f); -PARAM_DEFINE_FLOAT(RC11_DZ, 0.0f); - -PARAM_DEFINE_FLOAT(RC12_MIN, 1000); -PARAM_DEFINE_FLOAT(RC12_TRIM, 1500); -PARAM_DEFINE_FLOAT(RC12_MAX, 2000); -PARAM_DEFINE_FLOAT(RC12_REV, 1.0f); -PARAM_DEFINE_FLOAT(RC12_DZ, 0.0f); - -PARAM_DEFINE_FLOAT(RC13_MIN, 1000); -PARAM_DEFINE_FLOAT(RC13_TRIM, 1500); -PARAM_DEFINE_FLOAT(RC13_MAX, 2000); -PARAM_DEFINE_FLOAT(RC13_REV, 1.0f); -PARAM_DEFINE_FLOAT(RC13_DZ, 0.0f); - -PARAM_DEFINE_FLOAT(RC14_MIN, 1000); -PARAM_DEFINE_FLOAT(RC14_TRIM, 1500); -PARAM_DEFINE_FLOAT(RC14_MAX, 2000); -PARAM_DEFINE_FLOAT(RC14_REV, 1.0f); -PARAM_DEFINE_FLOAT(RC14_DZ, 0.0f); - -PARAM_DEFINE_INT32(RC_TYPE, 1); /** 1 = FUTABA, 2 = Spektrum, 3 = Graupner HoTT, 4 = Turnigy 9x */ - -/* default is conversion factor for the PX4IO / PX4IOAR board, the factor for PX4FMU standalone is different */ -PARAM_DEFINE_FLOAT(BAT_V_SCALING, (3.3f * 52.0f / 5.0f / 4095.0f)); - -PARAM_DEFINE_INT32(RC_MAP_ROLL, 1); -PARAM_DEFINE_INT32(RC_MAP_PITCH, 2); -PARAM_DEFINE_INT32(RC_MAP_THROTTLE, 3); -PARAM_DEFINE_INT32(RC_MAP_YAW, 4); - -PARAM_DEFINE_INT32(RC_MAP_OVER_SW, 5); -PARAM_DEFINE_INT32(RC_MAP_MODE_SW, 6); - -PARAM_DEFINE_INT32(RC_MAP_MAN_SW, 0); -PARAM_DEFINE_INT32(RC_MAP_SAS_SW, 0); -PARAM_DEFINE_INT32(RC_MAP_RTL_SW, 0); -PARAM_DEFINE_INT32(RC_MAP_OFFB_SW, 0); - -PARAM_DEFINE_INT32(RC_MAP_FLAPS, 0); - -PARAM_DEFINE_INT32(RC_MAP_AUX1, 0); /**< default function: camera yaw / azimuth */ -PARAM_DEFINE_INT32(RC_MAP_AUX2, 0); /**< default function: camera pitch / tilt */ -PARAM_DEFINE_INT32(RC_MAP_AUX3, 0); /**< default function: camera trigger */ -PARAM_DEFINE_INT32(RC_MAP_AUX4, 0); /**< default function: camera roll */ -PARAM_DEFINE_INT32(RC_MAP_AUX5, 0); /**< default function: payload drop */ - -PARAM_DEFINE_FLOAT(RC_SCALE_ROLL, 0.4f); -PARAM_DEFINE_FLOAT(RC_SCALE_PITCH, 0.4f); -PARAM_DEFINE_FLOAT(RC_SCALE_YAW, 1.0f); diff --git a/apps/sensors/sensors.cpp b/apps/sensors/sensors.cpp deleted file mode 100644 index 123bbb120..000000000 --- a/apps/sensors/sensors.cpp +++ /dev/null @@ -1,1470 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file sensors.cpp - * Sensor readout process. - * - * @author Lorenz Meier - */ - -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include - -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include - -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include - -#define GYRO_HEALTH_COUNTER_LIMIT_ERROR 20 /* 40 ms downtime at 500 Hz update rate */ -#define ACC_HEALTH_COUNTER_LIMIT_ERROR 20 /* 40 ms downtime at 500 Hz update rate */ -#define MAGN_HEALTH_COUNTER_LIMIT_ERROR 100 /* 1000 ms downtime at 100 Hz update rate */ -#define BARO_HEALTH_COUNTER_LIMIT_ERROR 50 /* 500 ms downtime at 100 Hz update rate */ -#define ADC_HEALTH_COUNTER_LIMIT_ERROR 10 /* 100 ms downtime at 100 Hz update rate */ - -#define GYRO_HEALTH_COUNTER_LIMIT_OK 5 -#define ACC_HEALTH_COUNTER_LIMIT_OK 5 -#define MAGN_HEALTH_COUNTER_LIMIT_OK 5 -#define BARO_HEALTH_COUNTER_LIMIT_OK 5 -#define ADC_HEALTH_COUNTER_LIMIT_OK 5 - -#define ADC_BATTERY_VOLTAGE_CHANNEL 10 -#define ADC_AIRSPEED_VOLTAGE_CHANNEL 11 - -#define BAT_VOL_INITIAL 0.f -#define BAT_VOL_LOWPASS_1 0.99f -#define BAT_VOL_LOWPASS_2 0.01f -#define VOLTAGE_BATTERY_IGNORE_THRESHOLD_VOLTS 3.5f - -#define PPM_INPUT_TIMEOUT_INTERVAL 50000 /**< 50 ms timeout / 20 Hz */ - -#define limit_minus_one_to_one(arg) (arg < -1.0f) ? -1.0f : ((arg > 1.0f) ? 1.0f : arg) - -/** - * Sensor app start / stop handling function - * - * @ingroup apps - */ -extern "C" __EXPORT int sensors_main(int argc, char *argv[]); - -class Sensors -{ -public: - /** - * Constructor - */ - Sensors(); - - /** - * Destructor, also kills the sensors task. - */ - ~Sensors(); - - /** - * Start the sensors task. - * - * @return OK on success. - */ - int start(); - -private: - static const unsigned _rc_max_chan_count = RC_CHANNELS_MAX; /**< maximum number of r/c channels we handle */ - -#if CONFIG_HRT_PPM - hrt_abstime _ppm_last_valid; /**< last time we got a valid ppm signal */ - - /** - * Gather and publish PPM input data. - */ - void ppm_poll(); -#endif - - /* XXX should not be here - should be own driver */ - int _fd_adc; /**< ADC driver handle */ - hrt_abstime _last_adc; /**< last time we took input from the ADC */ - - bool _task_should_exit; /**< if true, sensor task should exit */ - int _sensors_task; /**< task handle for sensor task */ - - bool _hil_enabled; /**< if true, HIL is active */ - bool _publishing; /**< if true, we are publishing sensor data */ - - int _gyro_sub; /**< raw gyro data subscription */ - int _accel_sub; /**< raw accel data subscription */ - int _mag_sub; /**< raw mag data subscription */ - int _rc_sub; /**< raw rc channels data subscription */ - int _baro_sub; /**< raw baro data subscription */ - int _vstatus_sub; /**< vehicle status subscription */ - int _params_sub; /**< notification of parameter updates */ - int _manual_control_sub; /**< notification of manual control updates */ - - orb_advert_t _sensor_pub; /**< combined sensor data topic */ - orb_advert_t _manual_control_pub; /**< manual control signal topic */ - orb_advert_t _rc_pub; /**< raw r/c control topic */ - orb_advert_t _battery_pub; /**< battery status */ - orb_advert_t _airspeed_pub; /**< airspeed */ - - perf_counter_t _loop_perf; /**< loop performance counter */ - - struct rc_channels_s _rc; /**< r/c channel data */ - struct battery_status_s _battery_status; /**< battery status */ - struct baro_report _barometer; /**< barometer data */ - struct differential_pressure_s _differential_pressure; - - struct { - float min[_rc_max_chan_count]; - float trim[_rc_max_chan_count]; - float max[_rc_max_chan_count]; - float rev[_rc_max_chan_count]; - float dz[_rc_max_chan_count]; - // float ex[_rc_max_chan_count]; - float scaling_factor[_rc_max_chan_count]; - - float gyro_offset[3]; - float mag_offset[3]; - float mag_scale[3]; - float accel_offset[3]; - float accel_scale[3]; - float airspeed_offset; - - int rc_type; - - int rc_map_roll; - int rc_map_pitch; - int rc_map_yaw; - int rc_map_throttle; - - int rc_map_manual_override_sw; - int rc_map_auto_mode_sw; - - int rc_map_manual_mode_sw; - int rc_map_sas_mode_sw; - int rc_map_rtl_sw; - int rc_map_offboard_ctrl_mode_sw; - - int rc_map_flaps; - - int rc_map_aux1; - int rc_map_aux2; - int rc_map_aux3; - int rc_map_aux4; - int rc_map_aux5; - - float rc_scale_roll; - float rc_scale_pitch; - float rc_scale_yaw; - float rc_scale_flaps; - - float battery_voltage_scaling; - } _parameters; /**< local copies of interesting parameters */ - - struct { - param_t min[_rc_max_chan_count]; - param_t trim[_rc_max_chan_count]; - param_t max[_rc_max_chan_count]; - param_t rev[_rc_max_chan_count]; - param_t dz[_rc_max_chan_count]; - // param_t ex[_rc_max_chan_count]; - param_t rc_type; - - param_t rc_demix; - - param_t gyro_offset[3]; - param_t accel_offset[3]; - param_t accel_scale[3]; - param_t mag_offset[3]; - param_t mag_scale[3]; - param_t airspeed_offset; - - param_t rc_map_roll; - param_t rc_map_pitch; - param_t rc_map_yaw; - param_t rc_map_throttle; - - param_t rc_map_manual_override_sw; - param_t rc_map_auto_mode_sw; - - param_t rc_map_manual_mode_sw; - param_t rc_map_sas_mode_sw; - param_t rc_map_rtl_sw; - param_t rc_map_offboard_ctrl_mode_sw; - - param_t rc_map_flaps; - - param_t rc_map_aux1; - param_t rc_map_aux2; - param_t rc_map_aux3; - param_t rc_map_aux4; - param_t rc_map_aux5; - - param_t rc_scale_roll; - param_t rc_scale_pitch; - param_t rc_scale_yaw; - param_t rc_scale_flaps; - - param_t battery_voltage_scaling; - } _parameter_handles; /**< handles for interesting parameters */ - - - /** - * Update our local parameter cache. - */ - int parameters_update(); - - /** - * Do accel-related initialisation. - */ - void accel_init(); - - /** - * Do gyro-related initialisation. - */ - void gyro_init(); - - /** - * Do mag-related initialisation. - */ - void mag_init(); - - /** - * Do baro-related initialisation. - */ - void baro_init(); - - /** - * Do adc-related initialisation. - */ - void adc_init(); - - /** - * Poll the accelerometer for updated data. - * - * @param raw Combined sensor data structure into which - * data should be returned. - */ - void accel_poll(struct sensor_combined_s &raw); - - /** - * Poll the gyro for updated data. - * - * @param raw Combined sensor data structure into which - * data should be returned. - */ - void gyro_poll(struct sensor_combined_s &raw); - - /** - * Poll the magnetometer for updated data. - * - * @param raw Combined sensor data structure into which - * data should be returned. - */ - void mag_poll(struct sensor_combined_s &raw); - - /** - * Poll the barometer for updated data. - * - * @param raw Combined sensor data structure into which - * data should be returned. - */ - void baro_poll(struct sensor_combined_s &raw); - - /** - * Check for changes in vehicle status. - */ - void vehicle_status_poll(); - - /** - * Check for changes in parameters. - */ - void parameter_update_poll(bool forced = false); - - /** - * Poll the ADC and update readings to suit. - * - * @param raw Combined sensor data structure into which - * data should be returned. - */ - void adc_poll(struct sensor_combined_s &raw); - - /** - * Shim for calling task_main from task_create. - */ - static void task_main_trampoline(int argc, char *argv[]); - - /** - * Main sensor collection task. - */ - void task_main() __attribute__((noreturn)); -}; - -namespace sensors -{ - -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -static const int ERROR = -1; - -Sensors *g_sensors; -} - -Sensors::Sensors() : -#ifdef CONFIG_HRT_PPM - _ppm_last_valid(0), -#endif - - _fd_adc(-1), - _last_adc(0), - - _task_should_exit(false), - _sensors_task(-1), - _hil_enabled(false), - _publishing(true), - -/* subscriptions */ - _gyro_sub(-1), - _accel_sub(-1), - _mag_sub(-1), - _rc_sub(-1), - _baro_sub(-1), - _vstatus_sub(-1), - _params_sub(-1), - _manual_control_sub(-1), - -/* publications */ - _sensor_pub(-1), - _manual_control_pub(-1), - _rc_pub(-1), - _battery_pub(-1), - _airspeed_pub(-1), - -/* performance counters */ - _loop_perf(perf_alloc(PC_ELAPSED, "sensor task update")) -{ - - /* basic r/c parameters */ - for (unsigned i = 0; i < _rc_max_chan_count; i++) { - char nbuf[16]; - - /* min values */ - sprintf(nbuf, "RC%d_MIN", i + 1); - _parameter_handles.min[i] = param_find(nbuf); - - /* trim values */ - sprintf(nbuf, "RC%d_TRIM", i + 1); - _parameter_handles.trim[i] = param_find(nbuf); - - /* max values */ - sprintf(nbuf, "RC%d_MAX", i + 1); - _parameter_handles.max[i] = param_find(nbuf); - - /* channel reverse */ - sprintf(nbuf, "RC%d_REV", i + 1); - _parameter_handles.rev[i] = param_find(nbuf); - - /* channel deadzone */ - sprintf(nbuf, "RC%d_DZ", i + 1); - _parameter_handles.dz[i] = param_find(nbuf); - - } - - _parameter_handles.rc_type = param_find("RC_TYPE"); - - /* mandatory input switched, mapped to channels 1-4 per default */ - _parameter_handles.rc_map_roll = param_find("RC_MAP_ROLL"); - _parameter_handles.rc_map_pitch = param_find("RC_MAP_PITCH"); - _parameter_handles.rc_map_yaw = param_find("RC_MAP_YAW"); - _parameter_handles.rc_map_throttle = param_find("RC_MAP_THROTTLE"); - - /* mandatory mode switches, mapped to channel 5 and 6 per default */ - _parameter_handles.rc_map_manual_override_sw = param_find("RC_MAP_OVER_SW"); - _parameter_handles.rc_map_auto_mode_sw = param_find("RC_MAP_MODE_SW"); - - _parameter_handles.rc_map_flaps = param_find("RC_MAP_FLAPS"); - - /* optional mode switches, not mapped per default */ - _parameter_handles.rc_map_manual_mode_sw = param_find("RC_MAP_MAN_SW"); - _parameter_handles.rc_map_sas_mode_sw = param_find("RC_MAP_SAS_SW"); - _parameter_handles.rc_map_rtl_sw = param_find("RC_MAP_RTL_SW"); - _parameter_handles.rc_map_offboard_ctrl_mode_sw = param_find("RC_MAP_OFFB_SW"); - - _parameter_handles.rc_map_aux1 = param_find("RC_MAP_AUX1"); - _parameter_handles.rc_map_aux2 = param_find("RC_MAP_AUX2"); - _parameter_handles.rc_map_aux3 = param_find("RC_MAP_AUX3"); - _parameter_handles.rc_map_aux4 = param_find("RC_MAP_AUX4"); - _parameter_handles.rc_map_aux5 = param_find("RC_MAP_AUX5"); - - _parameter_handles.rc_scale_roll = param_find("RC_SCALE_ROLL"); - _parameter_handles.rc_scale_pitch = param_find("RC_SCALE_PITCH"); - _parameter_handles.rc_scale_yaw = param_find("RC_SCALE_YAW"); - _parameter_handles.rc_scale_flaps = param_find("RC_SCALE_FLAPS"); - - /* gyro offsets */ - _parameter_handles.gyro_offset[0] = param_find("SENS_GYRO_XOFF"); - _parameter_handles.gyro_offset[1] = param_find("SENS_GYRO_YOFF"); - _parameter_handles.gyro_offset[2] = param_find("SENS_GYRO_ZOFF"); - - /* accel offsets */ - _parameter_handles.accel_offset[0] = param_find("SENS_ACC_XOFF"); - _parameter_handles.accel_offset[1] = param_find("SENS_ACC_YOFF"); - _parameter_handles.accel_offset[2] = param_find("SENS_ACC_ZOFF"); - _parameter_handles.accel_scale[0] = param_find("SENS_ACC_XSCALE"); - _parameter_handles.accel_scale[1] = param_find("SENS_ACC_YSCALE"); - _parameter_handles.accel_scale[2] = param_find("SENS_ACC_ZSCALE"); - - /* mag offsets */ - _parameter_handles.mag_offset[0] = param_find("SENS_MAG_XOFF"); - _parameter_handles.mag_offset[1] = param_find("SENS_MAG_YOFF"); - _parameter_handles.mag_offset[2] = param_find("SENS_MAG_ZOFF"); - - _parameter_handles.mag_scale[0] = param_find("SENS_MAG_XSCALE"); - _parameter_handles.mag_scale[1] = param_find("SENS_MAG_YSCALE"); - _parameter_handles.mag_scale[2] = param_find("SENS_MAG_ZSCALE"); - - /*Airspeed offset */ - _parameter_handles.airspeed_offset = param_find("SENS_VAIR_OFF"); - - _parameter_handles.battery_voltage_scaling = param_find("BAT_V_SCALING"); - - /* fetch initial parameter values */ - parameters_update(); -} - -Sensors::~Sensors() -{ - if (_sensors_task != -1) { - - /* task wakes up every 100ms or so at the longest */ - _task_should_exit = true; - - /* wait for a second for the task to quit at our request */ - unsigned i = 0; - - do { - /* wait 20ms */ - usleep(20000); - - /* if we have given up, kill it */ - if (++i > 50) { - task_delete(_sensors_task); - break; - } - } while (_sensors_task != -1); - } - - sensors::g_sensors = nullptr; -} - -int -Sensors::parameters_update() -{ - bool rc_valid = true; - - /* rc values */ - for (unsigned int i = 0; i < RC_CHANNELS_MAX; i++) { - - if (param_get(_parameter_handles.min[i], &(_parameters.min[i])) != OK) { - warnx("Failed getting min for chan %d", i); - } - - if (param_get(_parameter_handles.trim[i], &(_parameters.trim[i])) != OK) { - warnx("Failed getting trim for chan %d", i); - } - - if (param_get(_parameter_handles.max[i], &(_parameters.max[i])) != OK) { - warnx("Failed getting max for chan %d", i); - } - - if (param_get(_parameter_handles.rev[i], &(_parameters.rev[i])) != OK) { - warnx("Failed getting rev for chan %d", i); - } - - if (param_get(_parameter_handles.dz[i], &(_parameters.dz[i])) != OK) { - warnx("Failed getting dead zone for chan %d", i); - } - - _parameters.scaling_factor[i] = (1.0f / ((_parameters.max[i] - _parameters.min[i]) / 2.0f) * _parameters.rev[i]); - - /* handle blowup in the scaling factor calculation */ - if (!isfinite(_parameters.scaling_factor[i]) || - _parameters.scaling_factor[i] * _parameters.rev[i] < 0.000001f || - _parameters.scaling_factor[i] * _parameters.rev[i] > 0.2f) { - - /* scaling factors do not make sense, lock them down */ - _parameters.scaling_factor[i] = 0; - rc_valid = false; - } - - } - - /* handle wrong values */ - if (!rc_valid) - warnx("WARNING WARNING WARNING\n\nRC CALIBRATION NOT SANE!\n\n"); - - /* remote control type */ - if (param_get(_parameter_handles.rc_type, &(_parameters.rc_type)) != OK) { - warnx("Failed getting remote control type"); - } - - /* channel mapping */ - if (param_get(_parameter_handles.rc_map_roll, &(_parameters.rc_map_roll)) != OK) { - warnx("Failed getting roll chan index"); - } - - if (param_get(_parameter_handles.rc_map_pitch, &(_parameters.rc_map_pitch)) != OK) { - warnx("Failed getting pitch chan index"); - } - - if (param_get(_parameter_handles.rc_map_yaw, &(_parameters.rc_map_yaw)) != OK) { - warnx("Failed getting yaw chan index"); - } - - if (param_get(_parameter_handles.rc_map_throttle, &(_parameters.rc_map_throttle)) != OK) { - warnx("Failed getting throttle chan index"); - } - - if (param_get(_parameter_handles.rc_map_manual_override_sw, &(_parameters.rc_map_manual_override_sw)) != OK) { - warnx("Failed getting override sw chan index"); - } - - if (param_get(_parameter_handles.rc_map_auto_mode_sw, &(_parameters.rc_map_auto_mode_sw)) != OK) { - warnx("Failed getting auto mode sw chan index"); - } - - if (param_get(_parameter_handles.rc_map_flaps, &(_parameters.rc_map_flaps)) != OK) { - warnx("Failed getting flaps chan index"); - } - - if (param_get(_parameter_handles.rc_map_manual_mode_sw, &(_parameters.rc_map_manual_mode_sw)) != OK) { - warnx("Failed getting manual mode sw chan index"); - } - - if (param_get(_parameter_handles.rc_map_rtl_sw, &(_parameters.rc_map_rtl_sw)) != OK) { - warnx("Failed getting rtl sw chan index"); - } - - if (param_get(_parameter_handles.rc_map_sas_mode_sw, &(_parameters.rc_map_sas_mode_sw)) != OK) { - warnx("Failed getting sas mode sw chan index"); - } - - if (param_get(_parameter_handles.rc_map_offboard_ctrl_mode_sw, &(_parameters.rc_map_offboard_ctrl_mode_sw)) != OK) { - warnx("Failed getting offboard control mode sw chan index"); - } - - if (param_get(_parameter_handles.rc_map_aux1, &(_parameters.rc_map_aux1)) != OK) { - warnx("Failed getting mode aux 1 index"); - } - - if (param_get(_parameter_handles.rc_map_aux2, &(_parameters.rc_map_aux2)) != OK) { - warnx("Failed getting mode aux 2 index"); - } - - if (param_get(_parameter_handles.rc_map_aux3, &(_parameters.rc_map_aux3)) != OK) { - warnx("Failed getting mode aux 3 index"); - } - - if (param_get(_parameter_handles.rc_map_aux4, &(_parameters.rc_map_aux4)) != OK) { - warnx("Failed getting mode aux 4 index"); - } - - if (param_get(_parameter_handles.rc_map_aux5, &(_parameters.rc_map_aux5)) != OK) { - warnx("Failed getting mode aux 5 index"); - } - - if (param_get(_parameter_handles.rc_scale_roll, &(_parameters.rc_scale_roll)) != OK) { - warnx("Failed getting rc scaling for roll"); - } - - if (param_get(_parameter_handles.rc_scale_pitch, &(_parameters.rc_scale_pitch)) != OK) { - warnx("Failed getting rc scaling for pitch"); - } - - if (param_get(_parameter_handles.rc_scale_yaw, &(_parameters.rc_scale_yaw)) != OK) { - warnx("Failed getting rc scaling for yaw"); - } - - if (param_get(_parameter_handles.rc_scale_flaps, &(_parameters.rc_scale_flaps)) != OK) { - warnx("Failed getting rc scaling for flaps"); - } - - /* update RC function mappings */ - _rc.function[THROTTLE] = _parameters.rc_map_throttle - 1; - _rc.function[ROLL] = _parameters.rc_map_roll - 1; - _rc.function[PITCH] = _parameters.rc_map_pitch - 1; - _rc.function[YAW] = _parameters.rc_map_yaw - 1; - - _rc.function[OVERRIDE] = _parameters.rc_map_manual_override_sw - 1; - _rc.function[AUTO_MODE] = _parameters.rc_map_auto_mode_sw - 1; - - _rc.function[FLAPS] = _parameters.rc_map_flaps - 1; - - _rc.function[MANUAL_MODE] = _parameters.rc_map_manual_mode_sw - 1; - _rc.function[RTL] = _parameters.rc_map_rtl_sw - 1; - _rc.function[SAS_MODE] = _parameters.rc_map_sas_mode_sw - 1; - _rc.function[OFFBOARD_MODE] = _parameters.rc_map_offboard_ctrl_mode_sw - 1; - - _rc.function[AUX_1] = _parameters.rc_map_aux1 - 1; - _rc.function[AUX_2] = _parameters.rc_map_aux2 - 1; - _rc.function[AUX_3] = _parameters.rc_map_aux3 - 1; - _rc.function[AUX_4] = _parameters.rc_map_aux4 - 1; - _rc.function[AUX_5] = _parameters.rc_map_aux5 - 1; - - /* gyro offsets */ - param_get(_parameter_handles.gyro_offset[0], &(_parameters.gyro_offset[0])); - param_get(_parameter_handles.gyro_offset[1], &(_parameters.gyro_offset[1])); - param_get(_parameter_handles.gyro_offset[2], &(_parameters.gyro_offset[2])); - - /* accel offsets */ - param_get(_parameter_handles.accel_offset[0], &(_parameters.accel_offset[0])); - param_get(_parameter_handles.accel_offset[1], &(_parameters.accel_offset[1])); - param_get(_parameter_handles.accel_offset[2], &(_parameters.accel_offset[2])); - param_get(_parameter_handles.accel_scale[0], &(_parameters.accel_scale[0])); - param_get(_parameter_handles.accel_scale[1], &(_parameters.accel_scale[1])); - param_get(_parameter_handles.accel_scale[2], &(_parameters.accel_scale[2])); - - /* mag offsets */ - param_get(_parameter_handles.mag_offset[0], &(_parameters.mag_offset[0])); - param_get(_parameter_handles.mag_offset[1], &(_parameters.mag_offset[1])); - param_get(_parameter_handles.mag_offset[2], &(_parameters.mag_offset[2])); - /* mag scaling */ - param_get(_parameter_handles.mag_scale[0], &(_parameters.mag_scale[0])); - param_get(_parameter_handles.mag_scale[1], &(_parameters.mag_scale[1])); - param_get(_parameter_handles.mag_scale[2], &(_parameters.mag_scale[2])); - - /* Airspeed offset */ - param_get(_parameter_handles.airspeed_offset, &(_parameters.airspeed_offset)); - - /* scaling of ADC ticks to battery voltage */ - if (param_get(_parameter_handles.battery_voltage_scaling, &(_parameters.battery_voltage_scaling)) != OK) { - warnx("Failed updating voltage scaling param"); - } - - return OK; -} - -void -Sensors::accel_init() -{ - int fd; - - fd = open(ACCEL_DEVICE_PATH, 0); - - if (fd < 0) { - warn("%s", ACCEL_DEVICE_PATH); - errx(1, "FATAL: no accelerometer found"); - - } else { - /* set the accel internal sampling rate up to at leat 500Hz */ - ioctl(fd, ACCELIOCSSAMPLERATE, 500); - - /* set the driver to poll at 500Hz */ - ioctl(fd, SENSORIOCSPOLLRATE, 500); - - warnx("using system accel"); - close(fd); - } -} - -void -Sensors::gyro_init() -{ - int fd; - - fd = open(GYRO_DEVICE_PATH, 0); - - if (fd < 0) { - warn("%s", GYRO_DEVICE_PATH); - errx(1, "FATAL: no gyro found"); - - } else { - /* set the gyro internal sampling rate up to at leat 500Hz */ - ioctl(fd, GYROIOCSSAMPLERATE, 500); - - /* set the driver to poll at 500Hz */ - ioctl(fd, SENSORIOCSPOLLRATE, 500); - - warnx("using system gyro"); - close(fd); - } -} - -void -Sensors::mag_init() -{ - int fd; - - fd = open(MAG_DEVICE_PATH, 0); - - if (fd < 0) { - warn("%s", MAG_DEVICE_PATH); - errx(1, "FATAL: no magnetometer found"); - } - - /* set the mag internal poll rate to at least 150Hz */ - ioctl(fd, MAGIOCSSAMPLERATE, 150); - - /* set the driver to poll at 150Hz */ - ioctl(fd, SENSORIOCSPOLLRATE, 150); - - close(fd); -} - -void -Sensors::baro_init() -{ - int fd; - - fd = open(BARO_DEVICE_PATH, 0); - - if (fd < 0) { - warn("%s", BARO_DEVICE_PATH); - warnx("No barometer found, ignoring"); - } - - /* set the driver to poll at 150Hz */ - ioctl(fd, SENSORIOCSPOLLRATE, 150); - - close(fd); -} - -void -Sensors::adc_init() -{ - - _fd_adc = open(ADC_DEVICE_PATH, O_RDONLY | O_NONBLOCK); - - if (_fd_adc < 0) { - warn(ADC_DEVICE_PATH); - warnx("FATAL: no ADC found"); - } -} - -void -Sensors::accel_poll(struct sensor_combined_s &raw) -{ - bool accel_updated; - orb_check(_accel_sub, &accel_updated); - - if (accel_updated) { - struct accel_report accel_report; - - orb_copy(ORB_ID(sensor_accel), _accel_sub, &accel_report); - - raw.accelerometer_m_s2[0] = accel_report.x; - raw.accelerometer_m_s2[1] = accel_report.y; - raw.accelerometer_m_s2[2] = accel_report.z; - - raw.accelerometer_raw[0] = accel_report.x_raw; - raw.accelerometer_raw[1] = accel_report.y_raw; - raw.accelerometer_raw[2] = accel_report.z_raw; - - raw.accelerometer_counter++; - } -} - -void -Sensors::gyro_poll(struct sensor_combined_s &raw) -{ - bool gyro_updated; - orb_check(_gyro_sub, &gyro_updated); - - if (gyro_updated) { - struct gyro_report gyro_report; - - orb_copy(ORB_ID(sensor_gyro), _gyro_sub, &gyro_report); - - raw.gyro_rad_s[0] = gyro_report.x; - raw.gyro_rad_s[1] = gyro_report.y; - raw.gyro_rad_s[2] = gyro_report.z; - - raw.gyro_raw[0] = gyro_report.x_raw; - raw.gyro_raw[1] = gyro_report.y_raw; - raw.gyro_raw[2] = gyro_report.z_raw; - - raw.gyro_counter++; - } -} - -void -Sensors::mag_poll(struct sensor_combined_s &raw) -{ - bool mag_updated; - orb_check(_mag_sub, &mag_updated); - - if (mag_updated) { - struct mag_report mag_report; - - orb_copy(ORB_ID(sensor_mag), _mag_sub, &mag_report); - - raw.magnetometer_ga[0] = mag_report.x; - raw.magnetometer_ga[1] = mag_report.y; - raw.magnetometer_ga[2] = mag_report.z; - - raw.magnetometer_raw[0] = mag_report.x_raw; - raw.magnetometer_raw[1] = mag_report.y_raw; - raw.magnetometer_raw[2] = mag_report.z_raw; - - raw.magnetometer_counter++; - } -} - -void -Sensors::baro_poll(struct sensor_combined_s &raw) -{ - bool baro_updated; - orb_check(_baro_sub, &baro_updated); - - if (baro_updated) { - - orb_copy(ORB_ID(sensor_baro), _baro_sub, &_barometer); - - raw.baro_pres_mbar = _barometer.pressure; // Pressure in mbar - raw.baro_alt_meter = _barometer.altitude; // Altitude in meters - raw.baro_temp_celcius = _barometer.temperature; // Temperature in degrees celcius - - raw.baro_counter++; - } -} - -void -Sensors::vehicle_status_poll() -{ - struct vehicle_status_s vstatus; - bool vstatus_updated; - - /* Check HIL state if vehicle status has changed */ - orb_check(_vstatus_sub, &vstatus_updated); - - if (vstatus_updated) { - - orb_copy(ORB_ID(vehicle_status), _vstatus_sub, &vstatus); - - /* switching from non-HIL to HIL mode */ - //printf("[sensors] Vehicle mode: %i \t AND: %i, HIL: %i\n", vstatus.mode, vstatus.mode & VEHICLE_MODE_FLAG_HIL_ENABLED, hil_enabled); - if (vstatus.flag_hil_enabled && !_hil_enabled) { - _hil_enabled = true; - _publishing = false; - - /* switching from HIL to non-HIL mode */ - - } else if (!_publishing && !_hil_enabled) { - _hil_enabled = false; - _publishing = true; - } - } -} - -void -Sensors::parameter_update_poll(bool forced) -{ - bool param_updated; - - /* Check if any parameter has changed */ - orb_check(_params_sub, ¶m_updated); - - if (param_updated || forced) { - /* read from param to clear updated flag */ - struct parameter_update_s update; - orb_copy(ORB_ID(parameter_update), _params_sub, &update); - - /* update parameters */ - parameters_update(); - - /* update sensor offsets */ - int fd = open(GYRO_DEVICE_PATH, 0); - struct gyro_scale gscale = { - _parameters.gyro_offset[0], - 1.0f, - _parameters.gyro_offset[1], - 1.0f, - _parameters.gyro_offset[2], - 1.0f, - }; - - if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale)) - warn("WARNING: failed to set scale / offsets for gyro"); - - close(fd); - - fd = open(ACCEL_DEVICE_PATH, 0); - struct accel_scale ascale = { - _parameters.accel_offset[0], - _parameters.accel_scale[0], - _parameters.accel_offset[1], - _parameters.accel_scale[1], - _parameters.accel_offset[2], - _parameters.accel_scale[2], - }; - - if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale)) - warn("WARNING: failed to set scale / offsets for accel"); - - close(fd); - - fd = open(MAG_DEVICE_PATH, 0); - struct mag_scale mscale = { - _parameters.mag_offset[0], - _parameters.mag_scale[0], - _parameters.mag_offset[1], - _parameters.mag_scale[1], - _parameters.mag_offset[2], - _parameters.mag_scale[2], - }; - - if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale)) - warn("WARNING: failed to set scale / offsets for mag"); - - close(fd); - -#if 0 - printf("CH0: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[0], (int)_parameters.min[0], (int)(_rc.chan[0].scaling_factor * 10000), (int)(_rc.chan[0].mid), (int)_rc.function[0]); - printf("CH1: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[1], (int)_parameters.min[1], (int)(_rc.chan[1].scaling_factor * 10000), (int)(_rc.chan[1].mid), (int)_rc.function[1]); - printf("MAN: %d %d\n", (int)(_rc.chan[0].scaled * 100), (int)(_rc.chan[1].scaled * 100)); - fflush(stdout); - usleep(5000); -#endif - } -} - -void -Sensors::adc_poll(struct sensor_combined_s &raw) -{ - - /* rate limit to 100 Hz */ - if (hrt_absolute_time() - _last_adc >= 10000) { - /* make space for a maximum of eight channels */ - struct adc_msg_s buf_adc[8]; - /* read all channels available */ - int ret = read(_fd_adc, &buf_adc, sizeof(buf_adc)); - - for (unsigned i = 0; i < sizeof(buf_adc) / sizeof(buf_adc[0]); i++) { - - if (ret >= (int)sizeof(buf_adc[0])) { - - /* Save raw voltage values */ - if (i < (sizeof(raw.adc_voltage_v)) / sizeof(raw.adc_voltage_v[0])) { - raw.adc_voltage_v[i] = buf_adc[i].am_data / (4096.0f / 3.3f); - } - - /* look for specific channels and process the raw voltage to measurement data */ - if (ADC_BATTERY_VOLTAGE_CHANNEL == buf_adc[i].am_channel) { - /* Voltage in volts */ - float voltage = (buf_adc[i].am_data * _parameters.battery_voltage_scaling); - - if (voltage > VOLTAGE_BATTERY_IGNORE_THRESHOLD_VOLTS) { - - /* one-time initialization of low-pass value to avoid long init delays */ - if (_battery_status.voltage_v < 3.0f) { - _battery_status.voltage_v = voltage; - } - - _battery_status.timestamp = hrt_absolute_time(); - _battery_status.voltage_v = (BAT_VOL_LOWPASS_1 * (_battery_status.voltage_v + BAT_VOL_LOWPASS_2 * voltage));; - /* current and discharge are unknown */ - _battery_status.current_a = -1.0f; - _battery_status.discharged_mah = -1.0f; - - /* announce the battery voltage if needed, just publish else */ - if (_battery_pub > 0) { - orb_publish(ORB_ID(battery_status), _battery_pub, &_battery_status); - - } else { - _battery_pub = orb_advertise(ORB_ID(battery_status), &_battery_status); - } - } - - } else if (ADC_AIRSPEED_VOLTAGE_CHANNEL == buf_adc[i].am_channel) { - - /* calculate airspeed, raw is the difference from */ - float voltage = (float)(buf_adc[i].am_data ) * 3.3f / 4096.0f * 2.0f; //V_ref/4096 * (voltage divider factor) - - /** - * The voltage divider pulls the signal down, only act on - * a valid voltage from a connected sensor - */ - if (voltage > 0.4f) { - - float diff_pres_pa = (voltage - _parameters.airspeed_offset) * 1000.0f; //for MPXV7002DP sensor - - float airspeed_true = calc_true_airspeed(diff_pres_pa + _barometer.pressure*1e2f, - _barometer.pressure*1e2f, _barometer.temperature - 5.0f); //factor 1e2 for conversion from mBar to Pa - // XXX HACK - true temperature is much less than indicated temperature in baro, - // subtract 5 degrees in an attempt to account for the electrical upheating of the PCB - - float airspeed_indicated = calc_indicated_airspeed(diff_pres_pa); - - //printf("voltage: %.4f, diff_pres_pa %.4f, baro press %.4f Pa, v_ind %.4f, v_true %.4f\n", (double)voltage, (double)diff_pres_pa, (double)_barometer.pressure*1e2f, (double)airspeed_indicated, (double)airspeed_true); - - _differential_pressure.timestamp = hrt_absolute_time(); - _differential_pressure.static_pressure_mbar = _barometer.pressure; - _differential_pressure.differential_pressure_mbar = diff_pres_pa*1e-2f; - _differential_pressure.temperature_celcius = _barometer.temperature; - _differential_pressure.indicated_airspeed_m_s = airspeed_indicated; - _differential_pressure.true_airspeed_m_s = airspeed_true; - _differential_pressure.voltage = voltage; - - /* announce the airspeed if needed, just publish else */ - if (_airspeed_pub > 0) { - orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &_differential_pressure); - - } else { - _airspeed_pub = orb_advertise(ORB_ID(differential_pressure), &_differential_pressure); - } - } - } - - _last_adc = hrt_absolute_time(); - } - } - } -} - -#if CONFIG_HRT_PPM -void -Sensors::ppm_poll() -{ - - /* read low-level values from FMU or IO RC inputs (PPM, Spektrum, S.Bus) */ - bool rc_updated; - orb_check(_rc_sub, &rc_updated); - - if (rc_updated) { - struct rc_input_values rc_input; - - orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input); - - struct manual_control_setpoint_s manual_control; - - /* initialize to default values */ - manual_control.roll = NAN; - manual_control.pitch = NAN; - manual_control.yaw = NAN; - manual_control.throttle = NAN; - - manual_control.manual_mode_switch = NAN; - manual_control.manual_sas_switch = NAN; - manual_control.return_to_launch_switch = NAN; - manual_control.auto_offboard_input_switch = NAN; - - manual_control.flaps = NAN; - manual_control.aux1 = NAN; - manual_control.aux2 = NAN; - manual_control.aux3 = NAN; - manual_control.aux4 = NAN; - manual_control.aux5 = NAN; - - /* require at least four channels to consider the signal valid */ - if (rc_input.channel_count < 4) - return; - - unsigned channel_limit = rc_input.channel_count; - - if (channel_limit > _rc_max_chan_count) - channel_limit = _rc_max_chan_count; - - /* we are accepting this message */ - _ppm_last_valid = rc_input.timestamp; - - /* Read out values from raw message */ - for (unsigned int i = 0; i < channel_limit; i++) { - - /* - * 1) Constrain to min/max values, as later processing depends on bounds. - */ - if (rc_input.values[i] < _parameters.min[i]) - rc_input.values[i] = _parameters.min[i]; - if (rc_input.values[i] > _parameters.max[i]) - rc_input.values[i] = _parameters.max[i]; - - /* - * 2) Scale around the mid point differently for lower and upper range. - * - * This is necessary as they don't share the same endpoints and slope. - * - * First normalize to 0..1 range with correct sign (below or above center), - * the total range is 2 (-1..1). - * If center (trim) == min, scale to 0..1, if center (trim) == max, - * scale to -1..0. - * - * As the min and max bounds were enforced in step 1), division by zero - * cannot occur, as for the case of center == min or center == max the if - * statement is mutually exclusive with the arithmetic NaN case. - * - * DO NOT REMOVE OR ALTER STEP 1! - */ - if (rc_input.values[i] > (_parameters.trim[i] + _parameters.dz[i])) { - _rc.chan[i].scaled = (rc_input.values[i] - _parameters.trim[i] - _parameters.dz[i]) / (float)(_parameters.max[i] - _parameters.trim[i] - _parameters.dz[i]); - - } else if (rc_input.values[i] < (_parameters.trim[i] - _parameters.dz[i])) { - _rc.chan[i].scaled = (rc_input.values[i] - _parameters.trim[i] + _parameters.dz[i]) / (float)(_parameters.trim[i] - _parameters.min[i] - _parameters.dz[i]); - - } else { - /* in the configured dead zone, output zero */ - _rc.chan[i].scaled = 0.0f; - } - - _rc.chan[i].scaled *= _parameters.rev[i]; - - /* handle any parameter-induced blowups */ - if (!isfinite(_rc.chan[i].scaled)) - _rc.chan[i].scaled = 0.0f; - } - - _rc.chan_count = rc_input.channel_count; - _rc.timestamp = rc_input.timestamp; - - manual_control.timestamp = rc_input.timestamp; - - /* roll input - rolling right is stick-wise and rotation-wise positive */ - manual_control.roll = limit_minus_one_to_one(_rc.chan[_rc.function[ROLL]].scaled); - /* - * pitch input - stick down is negative, but stick down is pitching up (pos) in NED, - * so reverse sign. - */ - manual_control.pitch = limit_minus_one_to_one(-1.0f * _rc.chan[_rc.function[PITCH]].scaled); - /* yaw input - stick right is positive and positive rotation */ - manual_control.yaw = limit_minus_one_to_one(_rc.chan[_rc.function[YAW]].scaled); - /* throttle input */ - manual_control.throttle = _rc.chan[_rc.function[THROTTLE]].scaled; - - if (manual_control.throttle < 0.0f) manual_control.throttle = 0.0f; - - if (manual_control.throttle > 1.0f) manual_control.throttle = 1.0f; - - /* scale output */ - if (isfinite(_parameters.rc_scale_roll) && _parameters.rc_scale_roll > 0.0f) { - manual_control.roll *= _parameters.rc_scale_roll; - } - - if (isfinite(_parameters.rc_scale_pitch) && _parameters.rc_scale_pitch > 0.0f) { - manual_control.pitch *= _parameters.rc_scale_pitch; - } - - if (isfinite(_parameters.rc_scale_yaw) && _parameters.rc_scale_yaw > 0.0f) { - manual_control.yaw *= _parameters.rc_scale_yaw; - } - - /* override switch input */ - manual_control.manual_override_switch = limit_minus_one_to_one(_rc.chan[_rc.function[OVERRIDE]].scaled); - - /* mode switch input */ - manual_control.auto_mode_switch = limit_minus_one_to_one(_rc.chan[_rc.function[AUTO_MODE]].scaled); - - /* flaps */ - if (_rc.function[FLAPS] >= 0) { - - manual_control.flaps = limit_minus_one_to_one(_rc.chan[_rc.function[FLAPS]].scaled); - - if (isfinite(_parameters.rc_scale_flaps) && _parameters.rc_scale_flaps > 0.0f) { - manual_control.flaps *= _parameters.rc_scale_flaps; - } - } - - if (_rc.function[MANUAL_MODE] >= 0) { - manual_control.manual_mode_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MANUAL_MODE]].scaled); - } - - if (_rc.function[SAS_MODE] >= 0) { - manual_control.manual_sas_switch = limit_minus_one_to_one(_rc.chan[_rc.function[SAS_MODE]].scaled); - } - - if (_rc.function[RTL] >= 0) { - manual_control.return_to_launch_switch = limit_minus_one_to_one(_rc.chan[_rc.function[RTL]].scaled); - } - - if (_rc.function[OFFBOARD_MODE] >= 0) { - manual_control.auto_offboard_input_switch = limit_minus_one_to_one(_rc.chan[_rc.function[OFFBOARD_MODE]].scaled); - } - - /* aux functions, only assign if valid mapping is present */ - if (_rc.function[AUX_1] >= 0) { - manual_control.aux1 = limit_minus_one_to_one(_rc.chan[_rc.function[AUX_1]].scaled); - } - - if (_rc.function[AUX_2] >= 0) { - manual_control.aux2 = limit_minus_one_to_one(_rc.chan[_rc.function[AUX_2]].scaled); - } - - if (_rc.function[AUX_3] >= 0) { - manual_control.aux3 = limit_minus_one_to_one(_rc.chan[_rc.function[AUX_3]].scaled); - } - - if (_rc.function[AUX_4] >= 0) { - manual_control.aux4 = limit_minus_one_to_one(_rc.chan[_rc.function[AUX_4]].scaled); - } - - if (_rc.function[AUX_5] >= 0) { - manual_control.aux5 = limit_minus_one_to_one(_rc.chan[_rc.function[AUX_5]].scaled); - } - - /* check if ready for publishing */ - if (_rc_pub > 0) { - orb_publish(ORB_ID(rc_channels), _rc_pub, &_rc); - - } else { - /* advertise the rc topic */ - _rc_pub = orb_advertise(ORB_ID(rc_channels), &_rc); - } - - /* check if ready for publishing */ - if (_manual_control_pub > 0) { - orb_publish(ORB_ID(manual_control_setpoint), _manual_control_pub, &manual_control); - - } else { - _manual_control_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual_control); - } - } - -} -#endif - -void -Sensors::task_main_trampoline(int argc, char *argv[]) -{ - sensors::g_sensors->task_main(); -} - -void -Sensors::task_main() -{ - - /* inform about start */ - printf("[sensors] Initializing..\n"); - fflush(stdout); - - /* start individual sensors */ - accel_init(); - gyro_init(); - mag_init(); - baro_init(); - adc_init(); - - /* - * do subscriptions - */ - _gyro_sub = orb_subscribe(ORB_ID(sensor_gyro)); - _accel_sub = orb_subscribe(ORB_ID(sensor_accel)); - _mag_sub = orb_subscribe(ORB_ID(sensor_mag)); - _rc_sub = orb_subscribe(ORB_ID(input_rc)); - _baro_sub = orb_subscribe(ORB_ID(sensor_baro)); - _vstatus_sub = orb_subscribe(ORB_ID(vehicle_status)); - _params_sub = orb_subscribe(ORB_ID(parameter_update)); - _manual_control_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); - - /* rate limit vehicle status updates to 5Hz */ - orb_set_interval(_vstatus_sub, 200); - - /* - * do advertisements - */ - struct sensor_combined_s raw; - memset(&raw, 0, sizeof(raw)); - raw.timestamp = hrt_absolute_time(); - raw.adc_voltage_v[0] = 0.0f; - raw.adc_voltage_v[1] = 0.0f; - raw.adc_voltage_v[2] = 0.0f; - raw.adc_voltage_v[3] = 0.0f; - - memset(&_battery_status, 0, sizeof(_battery_status)); - _battery_status.voltage_v = BAT_VOL_INITIAL; - - /* get a set of initial values */ - accel_poll(raw); - gyro_poll(raw); - mag_poll(raw); - baro_poll(raw); - - parameter_update_poll(true /* forced */); - - /* advertise the sensor_combined topic and make the initial publication */ - _sensor_pub = orb_advertise(ORB_ID(sensor_combined), &raw); - - /* wakeup source(s) */ - struct pollfd fds[1]; - - /* use the gyro to pace output - XXX BROKEN if we are using the L3GD20 */ - fds[0].fd = _gyro_sub; - fds[0].events = POLLIN; - - while (!_task_should_exit) { - - /* wait for up to 500ms for data */ - int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100); - - /* timed out - periodic check for _task_should_exit, etc. */ - if (pret == 0) - continue; - - /* this is undesirable but not much we can do - might want to flag unhappy status */ - if (pret < 0) { - warn("poll error %d, %d", pret, errno); - continue; - } - - perf_begin(_loop_perf); - - /* check vehicle status for changes to publication state */ - vehicle_status_poll(); - - /* check parameters for updates */ - parameter_update_poll(); - - /* store the time closest to all measurements (this is bogus, sensor timestamps should be propagated...) */ - raw.timestamp = hrt_absolute_time(); - - /* copy most recent sensor data */ - gyro_poll(raw); - accel_poll(raw); - mag_poll(raw); - baro_poll(raw); - - /* check battery voltage */ - adc_poll(raw); - - /* Inform other processes that new data is available to copy */ - if (_publishing) - orb_publish(ORB_ID(sensor_combined), _sensor_pub, &raw); - -#ifdef CONFIG_HRT_PPM - /* Look for new r/c input data */ - ppm_poll(); -#endif - - perf_end(_loop_perf); - } - - printf("[sensors] exiting.\n"); - - _sensors_task = -1; - _exit(0); -} - -int -Sensors::start() -{ - ASSERT(_sensors_task == -1); - - /* start the task */ - _sensors_task = task_spawn("sensors_task", - SCHED_DEFAULT, - SCHED_PRIORITY_MAX - 5, - 2048, - (main_t)&Sensors::task_main_trampoline, - nullptr); - - if (_sensors_task < 0) { - warn("task start failed"); - return -errno; - } - - return OK; -} - -int sensors_main(int argc, char *argv[]) -{ - if (argc < 1) - errx(1, "usage: sensors {start|stop|status}"); - - if (!strcmp(argv[1], "start")) { - - if (sensors::g_sensors != nullptr) - errx(1, "sensors task already running"); - - sensors::g_sensors = new Sensors; - - if (sensors::g_sensors == nullptr) - errx(1, "sensors task alloc failed"); - - if (OK != sensors::g_sensors->start()) { - delete sensors::g_sensors; - sensors::g_sensors = nullptr; - err(1, "sensors task start failed"); - } - - exit(0); - } - - if (!strcmp(argv[1], "stop")) { - if (sensors::g_sensors == nullptr) - errx(1, "sensors task not running"); - - delete sensors::g_sensors; - sensors::g_sensors = nullptr; - exit(0); - } - - if (!strcmp(argv[1], "status")) { - if (sensors::g_sensors) { - errx(0, "task is running"); - - } else { - errx(1, "task is not running"); - } - } - - errx(1, "unrecognized command"); -} - diff --git a/makefiles/config_px4fmu_default.mk b/makefiles/config_px4fmu_default.mk index 80c34d5dd..aae7e9b0e 100644 --- a/makefiles/config_px4fmu_default.mk +++ b/makefiles/config_px4fmu_default.mk @@ -15,8 +15,7 @@ MODULES += drivers/boards/px4fmu MODULES += drivers/l3gd20 MODULES += drivers/ardrone_interface MODULES += drivers/px4io -# sensors app is WIP -#MODULES += modules/sensors +MODULES += modules/sensors # # System commands diff --git a/src/modules/sensors/.context b/src/modules/sensors/.context new file mode 100644 index 000000000..e69de29bb diff --git a/src/modules/sensors/module.mk b/src/modules/sensors/module.mk new file mode 100644 index 000000000..ebbc580e1 --- /dev/null +++ b/src/modules/sensors/module.mk @@ -0,0 +1,42 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# Makefile to build the sensor data collector +# + +MODULE_COMMAND = sensors +MODULE_PRIORITY = "SCHED_PRIORITY_MAX-5" + +SRCS = sensors.cpp \ + sensor_params.c diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c new file mode 100644 index 000000000..c850e3a1e --- /dev/null +++ b/src/modules/sensors/sensor_params.c @@ -0,0 +1,181 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @author Lorenz Meier + * @author Thomas Gubler + * @author Julian Oes + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file sensor_params.c + * + * Parameters defined by the sensors task. + */ + +#include + +#include + +PARAM_DEFINE_FLOAT(SENS_GYRO_XOFF, 0.0f); +PARAM_DEFINE_FLOAT(SENS_GYRO_YOFF, 0.0f); +PARAM_DEFINE_FLOAT(SENS_GYRO_ZOFF, 0.0f); + +PARAM_DEFINE_FLOAT(SENS_MAG_XOFF, 0.0f); +PARAM_DEFINE_FLOAT(SENS_MAG_YOFF, 0.0f); +PARAM_DEFINE_FLOAT(SENS_MAG_ZOFF, 0.0f); + +PARAM_DEFINE_FLOAT(SENS_MAG_XSCALE, 1.0f); +PARAM_DEFINE_FLOAT(SENS_MAG_YSCALE, 1.0f); +PARAM_DEFINE_FLOAT(SENS_MAG_ZSCALE, 1.0f); + +PARAM_DEFINE_FLOAT(SENS_ACC_XOFF, 0.0f); +PARAM_DEFINE_FLOAT(SENS_ACC_YOFF, 0.0f); +PARAM_DEFINE_FLOAT(SENS_ACC_ZOFF, 0.0f); + +PARAM_DEFINE_FLOAT(SENS_ACC_XSCALE, 1.0f); +PARAM_DEFINE_FLOAT(SENS_ACC_YSCALE, 1.0f); +PARAM_DEFINE_FLOAT(SENS_ACC_ZSCALE, 1.0f); + +PARAM_DEFINE_FLOAT(SENS_VAIR_OFF, 2.5f); + +PARAM_DEFINE_FLOAT(RC1_MIN, 1000.0f); +PARAM_DEFINE_FLOAT(RC1_TRIM, 1500.0f); +PARAM_DEFINE_FLOAT(RC1_MAX, 2000.0f); +PARAM_DEFINE_FLOAT(RC1_REV, 1.0f); +PARAM_DEFINE_FLOAT(RC1_DZ, 0.0f); + +PARAM_DEFINE_FLOAT(RC2_MIN, 1000); +PARAM_DEFINE_FLOAT(RC2_TRIM, 1500); +PARAM_DEFINE_FLOAT(RC2_MAX, 2000); +PARAM_DEFINE_FLOAT(RC2_REV, 1.0f); +PARAM_DEFINE_FLOAT(RC2_DZ, 0.0f); + +PARAM_DEFINE_FLOAT(RC3_MIN, 1000); +PARAM_DEFINE_FLOAT(RC3_TRIM, 1500); +PARAM_DEFINE_FLOAT(RC3_MAX, 2000); +PARAM_DEFINE_FLOAT(RC3_REV, 1.0f); +PARAM_DEFINE_FLOAT(RC3_DZ, 0.0f); + +PARAM_DEFINE_FLOAT(RC4_MIN, 1000); +PARAM_DEFINE_FLOAT(RC4_TRIM, 1500); +PARAM_DEFINE_FLOAT(RC4_MAX, 2000); +PARAM_DEFINE_FLOAT(RC4_REV, 1.0f); +PARAM_DEFINE_FLOAT(RC4_DZ, 30.0f); + +PARAM_DEFINE_FLOAT(RC5_MIN, 1000); +PARAM_DEFINE_FLOAT(RC5_TRIM, 1500); +PARAM_DEFINE_FLOAT(RC5_MAX, 2000); +PARAM_DEFINE_FLOAT(RC5_REV, 1.0f); +PARAM_DEFINE_FLOAT(RC5_DZ, 0.0f); + +PARAM_DEFINE_FLOAT(RC6_MIN, 1000); +PARAM_DEFINE_FLOAT(RC6_TRIM, 1500); +PARAM_DEFINE_FLOAT(RC6_MAX, 2000); +PARAM_DEFINE_FLOAT(RC6_REV, 1.0f); +PARAM_DEFINE_FLOAT(RC6_DZ, 0.0f); + +PARAM_DEFINE_FLOAT(RC7_MIN, 1000); +PARAM_DEFINE_FLOAT(RC7_TRIM, 1500); +PARAM_DEFINE_FLOAT(RC7_MAX, 2000); +PARAM_DEFINE_FLOAT(RC7_REV, 1.0f); +PARAM_DEFINE_FLOAT(RC7_DZ, 0.0f); + +PARAM_DEFINE_FLOAT(RC8_MIN, 1000); +PARAM_DEFINE_FLOAT(RC8_TRIM, 1500); +PARAM_DEFINE_FLOAT(RC8_MAX, 2000); +PARAM_DEFINE_FLOAT(RC8_REV, 1.0f); +PARAM_DEFINE_FLOAT(RC8_DZ, 0.0f); + +PARAM_DEFINE_FLOAT(RC9_MIN, 1000); +PARAM_DEFINE_FLOAT(RC9_TRIM, 1500); +PARAM_DEFINE_FLOAT(RC9_MAX, 2000); +PARAM_DEFINE_FLOAT(RC9_REV, 1.0f); +PARAM_DEFINE_FLOAT(RC9_DZ, 0.0f); + +PARAM_DEFINE_FLOAT(RC10_MIN, 1000); +PARAM_DEFINE_FLOAT(RC10_TRIM, 1500); +PARAM_DEFINE_FLOAT(RC10_MAX, 2000); +PARAM_DEFINE_FLOAT(RC10_REV, 1.0f); +PARAM_DEFINE_FLOAT(RC10_DZ, 0.0f); + +PARAM_DEFINE_FLOAT(RC11_MIN, 1000); +PARAM_DEFINE_FLOAT(RC11_TRIM, 1500); +PARAM_DEFINE_FLOAT(RC11_MAX, 2000); +PARAM_DEFINE_FLOAT(RC11_REV, 1.0f); +PARAM_DEFINE_FLOAT(RC11_DZ, 0.0f); + +PARAM_DEFINE_FLOAT(RC12_MIN, 1000); +PARAM_DEFINE_FLOAT(RC12_TRIM, 1500); +PARAM_DEFINE_FLOAT(RC12_MAX, 2000); +PARAM_DEFINE_FLOAT(RC12_REV, 1.0f); +PARAM_DEFINE_FLOAT(RC12_DZ, 0.0f); + +PARAM_DEFINE_FLOAT(RC13_MIN, 1000); +PARAM_DEFINE_FLOAT(RC13_TRIM, 1500); +PARAM_DEFINE_FLOAT(RC13_MAX, 2000); +PARAM_DEFINE_FLOAT(RC13_REV, 1.0f); +PARAM_DEFINE_FLOAT(RC13_DZ, 0.0f); + +PARAM_DEFINE_FLOAT(RC14_MIN, 1000); +PARAM_DEFINE_FLOAT(RC14_TRIM, 1500); +PARAM_DEFINE_FLOAT(RC14_MAX, 2000); +PARAM_DEFINE_FLOAT(RC14_REV, 1.0f); +PARAM_DEFINE_FLOAT(RC14_DZ, 0.0f); + +PARAM_DEFINE_INT32(RC_TYPE, 1); /** 1 = FUTABA, 2 = Spektrum, 3 = Graupner HoTT, 4 = Turnigy 9x */ + +/* default is conversion factor for the PX4IO / PX4IOAR board, the factor for PX4FMU standalone is different */ +PARAM_DEFINE_FLOAT(BAT_V_SCALING, (3.3f * 52.0f / 5.0f / 4095.0f)); + +PARAM_DEFINE_INT32(RC_MAP_ROLL, 1); +PARAM_DEFINE_INT32(RC_MAP_PITCH, 2); +PARAM_DEFINE_INT32(RC_MAP_THROTTLE, 3); +PARAM_DEFINE_INT32(RC_MAP_YAW, 4); + +PARAM_DEFINE_INT32(RC_MAP_OVER_SW, 5); +PARAM_DEFINE_INT32(RC_MAP_MODE_SW, 6); + +PARAM_DEFINE_INT32(RC_MAP_MAN_SW, 0); +PARAM_DEFINE_INT32(RC_MAP_SAS_SW, 0); +PARAM_DEFINE_INT32(RC_MAP_RTL_SW, 0); +PARAM_DEFINE_INT32(RC_MAP_OFFB_SW, 0); + +PARAM_DEFINE_INT32(RC_MAP_FLAPS, 0); + +PARAM_DEFINE_INT32(RC_MAP_AUX1, 0); /**< default function: camera yaw / azimuth */ +PARAM_DEFINE_INT32(RC_MAP_AUX2, 0); /**< default function: camera pitch / tilt */ +PARAM_DEFINE_INT32(RC_MAP_AUX3, 0); /**< default function: camera trigger */ +PARAM_DEFINE_INT32(RC_MAP_AUX4, 0); /**< default function: camera roll */ +PARAM_DEFINE_INT32(RC_MAP_AUX5, 0); /**< default function: payload drop */ + +PARAM_DEFINE_FLOAT(RC_SCALE_ROLL, 0.4f); +PARAM_DEFINE_FLOAT(RC_SCALE_PITCH, 0.4f); +PARAM_DEFINE_FLOAT(RC_SCALE_YAW, 1.0f); diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp new file mode 100644 index 000000000..123bbb120 --- /dev/null +++ b/src/modules/sensors/sensors.cpp @@ -0,0 +1,1470 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file sensors.cpp + * Sensor readout process. + * + * @author Lorenz Meier + */ + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include + +#define GYRO_HEALTH_COUNTER_LIMIT_ERROR 20 /* 40 ms downtime at 500 Hz update rate */ +#define ACC_HEALTH_COUNTER_LIMIT_ERROR 20 /* 40 ms downtime at 500 Hz update rate */ +#define MAGN_HEALTH_COUNTER_LIMIT_ERROR 100 /* 1000 ms downtime at 100 Hz update rate */ +#define BARO_HEALTH_COUNTER_LIMIT_ERROR 50 /* 500 ms downtime at 100 Hz update rate */ +#define ADC_HEALTH_COUNTER_LIMIT_ERROR 10 /* 100 ms downtime at 100 Hz update rate */ + +#define GYRO_HEALTH_COUNTER_LIMIT_OK 5 +#define ACC_HEALTH_COUNTER_LIMIT_OK 5 +#define MAGN_HEALTH_COUNTER_LIMIT_OK 5 +#define BARO_HEALTH_COUNTER_LIMIT_OK 5 +#define ADC_HEALTH_COUNTER_LIMIT_OK 5 + +#define ADC_BATTERY_VOLTAGE_CHANNEL 10 +#define ADC_AIRSPEED_VOLTAGE_CHANNEL 11 + +#define BAT_VOL_INITIAL 0.f +#define BAT_VOL_LOWPASS_1 0.99f +#define BAT_VOL_LOWPASS_2 0.01f +#define VOLTAGE_BATTERY_IGNORE_THRESHOLD_VOLTS 3.5f + +#define PPM_INPUT_TIMEOUT_INTERVAL 50000 /**< 50 ms timeout / 20 Hz */ + +#define limit_minus_one_to_one(arg) (arg < -1.0f) ? -1.0f : ((arg > 1.0f) ? 1.0f : arg) + +/** + * Sensor app start / stop handling function + * + * @ingroup apps + */ +extern "C" __EXPORT int sensors_main(int argc, char *argv[]); + +class Sensors +{ +public: + /** + * Constructor + */ + Sensors(); + + /** + * Destructor, also kills the sensors task. + */ + ~Sensors(); + + /** + * Start the sensors task. + * + * @return OK on success. + */ + int start(); + +private: + static const unsigned _rc_max_chan_count = RC_CHANNELS_MAX; /**< maximum number of r/c channels we handle */ + +#if CONFIG_HRT_PPM + hrt_abstime _ppm_last_valid; /**< last time we got a valid ppm signal */ + + /** + * Gather and publish PPM input data. + */ + void ppm_poll(); +#endif + + /* XXX should not be here - should be own driver */ + int _fd_adc; /**< ADC driver handle */ + hrt_abstime _last_adc; /**< last time we took input from the ADC */ + + bool _task_should_exit; /**< if true, sensor task should exit */ + int _sensors_task; /**< task handle for sensor task */ + + bool _hil_enabled; /**< if true, HIL is active */ + bool _publishing; /**< if true, we are publishing sensor data */ + + int _gyro_sub; /**< raw gyro data subscription */ + int _accel_sub; /**< raw accel data subscription */ + int _mag_sub; /**< raw mag data subscription */ + int _rc_sub; /**< raw rc channels data subscription */ + int _baro_sub; /**< raw baro data subscription */ + int _vstatus_sub; /**< vehicle status subscription */ + int _params_sub; /**< notification of parameter updates */ + int _manual_control_sub; /**< notification of manual control updates */ + + orb_advert_t _sensor_pub; /**< combined sensor data topic */ + orb_advert_t _manual_control_pub; /**< manual control signal topic */ + orb_advert_t _rc_pub; /**< raw r/c control topic */ + orb_advert_t _battery_pub; /**< battery status */ + orb_advert_t _airspeed_pub; /**< airspeed */ + + perf_counter_t _loop_perf; /**< loop performance counter */ + + struct rc_channels_s _rc; /**< r/c channel data */ + struct battery_status_s _battery_status; /**< battery status */ + struct baro_report _barometer; /**< barometer data */ + struct differential_pressure_s _differential_pressure; + + struct { + float min[_rc_max_chan_count]; + float trim[_rc_max_chan_count]; + float max[_rc_max_chan_count]; + float rev[_rc_max_chan_count]; + float dz[_rc_max_chan_count]; + // float ex[_rc_max_chan_count]; + float scaling_factor[_rc_max_chan_count]; + + float gyro_offset[3]; + float mag_offset[3]; + float mag_scale[3]; + float accel_offset[3]; + float accel_scale[3]; + float airspeed_offset; + + int rc_type; + + int rc_map_roll; + int rc_map_pitch; + int rc_map_yaw; + int rc_map_throttle; + + int rc_map_manual_override_sw; + int rc_map_auto_mode_sw; + + int rc_map_manual_mode_sw; + int rc_map_sas_mode_sw; + int rc_map_rtl_sw; + int rc_map_offboard_ctrl_mode_sw; + + int rc_map_flaps; + + int rc_map_aux1; + int rc_map_aux2; + int rc_map_aux3; + int rc_map_aux4; + int rc_map_aux5; + + float rc_scale_roll; + float rc_scale_pitch; + float rc_scale_yaw; + float rc_scale_flaps; + + float battery_voltage_scaling; + } _parameters; /**< local copies of interesting parameters */ + + struct { + param_t min[_rc_max_chan_count]; + param_t trim[_rc_max_chan_count]; + param_t max[_rc_max_chan_count]; + param_t rev[_rc_max_chan_count]; + param_t dz[_rc_max_chan_count]; + // param_t ex[_rc_max_chan_count]; + param_t rc_type; + + param_t rc_demix; + + param_t gyro_offset[3]; + param_t accel_offset[3]; + param_t accel_scale[3]; + param_t mag_offset[3]; + param_t mag_scale[3]; + param_t airspeed_offset; + + param_t rc_map_roll; + param_t rc_map_pitch; + param_t rc_map_yaw; + param_t rc_map_throttle; + + param_t rc_map_manual_override_sw; + param_t rc_map_auto_mode_sw; + + param_t rc_map_manual_mode_sw; + param_t rc_map_sas_mode_sw; + param_t rc_map_rtl_sw; + param_t rc_map_offboard_ctrl_mode_sw; + + param_t rc_map_flaps; + + param_t rc_map_aux1; + param_t rc_map_aux2; + param_t rc_map_aux3; + param_t rc_map_aux4; + param_t rc_map_aux5; + + param_t rc_scale_roll; + param_t rc_scale_pitch; + param_t rc_scale_yaw; + param_t rc_scale_flaps; + + param_t battery_voltage_scaling; + } _parameter_handles; /**< handles for interesting parameters */ + + + /** + * Update our local parameter cache. + */ + int parameters_update(); + + /** + * Do accel-related initialisation. + */ + void accel_init(); + + /** + * Do gyro-related initialisation. + */ + void gyro_init(); + + /** + * Do mag-related initialisation. + */ + void mag_init(); + + /** + * Do baro-related initialisation. + */ + void baro_init(); + + /** + * Do adc-related initialisation. + */ + void adc_init(); + + /** + * Poll the accelerometer for updated data. + * + * @param raw Combined sensor data structure into which + * data should be returned. + */ + void accel_poll(struct sensor_combined_s &raw); + + /** + * Poll the gyro for updated data. + * + * @param raw Combined sensor data structure into which + * data should be returned. + */ + void gyro_poll(struct sensor_combined_s &raw); + + /** + * Poll the magnetometer for updated data. + * + * @param raw Combined sensor data structure into which + * data should be returned. + */ + void mag_poll(struct sensor_combined_s &raw); + + /** + * Poll the barometer for updated data. + * + * @param raw Combined sensor data structure into which + * data should be returned. + */ + void baro_poll(struct sensor_combined_s &raw); + + /** + * Check for changes in vehicle status. + */ + void vehicle_status_poll(); + + /** + * Check for changes in parameters. + */ + void parameter_update_poll(bool forced = false); + + /** + * Poll the ADC and update readings to suit. + * + * @param raw Combined sensor data structure into which + * data should be returned. + */ + void adc_poll(struct sensor_combined_s &raw); + + /** + * Shim for calling task_main from task_create. + */ + static void task_main_trampoline(int argc, char *argv[]); + + /** + * Main sensor collection task. + */ + void task_main() __attribute__((noreturn)); +}; + +namespace sensors +{ + +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +static const int ERROR = -1; + +Sensors *g_sensors; +} + +Sensors::Sensors() : +#ifdef CONFIG_HRT_PPM + _ppm_last_valid(0), +#endif + + _fd_adc(-1), + _last_adc(0), + + _task_should_exit(false), + _sensors_task(-1), + _hil_enabled(false), + _publishing(true), + +/* subscriptions */ + _gyro_sub(-1), + _accel_sub(-1), + _mag_sub(-1), + _rc_sub(-1), + _baro_sub(-1), + _vstatus_sub(-1), + _params_sub(-1), + _manual_control_sub(-1), + +/* publications */ + _sensor_pub(-1), + _manual_control_pub(-1), + _rc_pub(-1), + _battery_pub(-1), + _airspeed_pub(-1), + +/* performance counters */ + _loop_perf(perf_alloc(PC_ELAPSED, "sensor task update")) +{ + + /* basic r/c parameters */ + for (unsigned i = 0; i < _rc_max_chan_count; i++) { + char nbuf[16]; + + /* min values */ + sprintf(nbuf, "RC%d_MIN", i + 1); + _parameter_handles.min[i] = param_find(nbuf); + + /* trim values */ + sprintf(nbuf, "RC%d_TRIM", i + 1); + _parameter_handles.trim[i] = param_find(nbuf); + + /* max values */ + sprintf(nbuf, "RC%d_MAX", i + 1); + _parameter_handles.max[i] = param_find(nbuf); + + /* channel reverse */ + sprintf(nbuf, "RC%d_REV", i + 1); + _parameter_handles.rev[i] = param_find(nbuf); + + /* channel deadzone */ + sprintf(nbuf, "RC%d_DZ", i + 1); + _parameter_handles.dz[i] = param_find(nbuf); + + } + + _parameter_handles.rc_type = param_find("RC_TYPE"); + + /* mandatory input switched, mapped to channels 1-4 per default */ + _parameter_handles.rc_map_roll = param_find("RC_MAP_ROLL"); + _parameter_handles.rc_map_pitch = param_find("RC_MAP_PITCH"); + _parameter_handles.rc_map_yaw = param_find("RC_MAP_YAW"); + _parameter_handles.rc_map_throttle = param_find("RC_MAP_THROTTLE"); + + /* mandatory mode switches, mapped to channel 5 and 6 per default */ + _parameter_handles.rc_map_manual_override_sw = param_find("RC_MAP_OVER_SW"); + _parameter_handles.rc_map_auto_mode_sw = param_find("RC_MAP_MODE_SW"); + + _parameter_handles.rc_map_flaps = param_find("RC_MAP_FLAPS"); + + /* optional mode switches, not mapped per default */ + _parameter_handles.rc_map_manual_mode_sw = param_find("RC_MAP_MAN_SW"); + _parameter_handles.rc_map_sas_mode_sw = param_find("RC_MAP_SAS_SW"); + _parameter_handles.rc_map_rtl_sw = param_find("RC_MAP_RTL_SW"); + _parameter_handles.rc_map_offboard_ctrl_mode_sw = param_find("RC_MAP_OFFB_SW"); + + _parameter_handles.rc_map_aux1 = param_find("RC_MAP_AUX1"); + _parameter_handles.rc_map_aux2 = param_find("RC_MAP_AUX2"); + _parameter_handles.rc_map_aux3 = param_find("RC_MAP_AUX3"); + _parameter_handles.rc_map_aux4 = param_find("RC_MAP_AUX4"); + _parameter_handles.rc_map_aux5 = param_find("RC_MAP_AUX5"); + + _parameter_handles.rc_scale_roll = param_find("RC_SCALE_ROLL"); + _parameter_handles.rc_scale_pitch = param_find("RC_SCALE_PITCH"); + _parameter_handles.rc_scale_yaw = param_find("RC_SCALE_YAW"); + _parameter_handles.rc_scale_flaps = param_find("RC_SCALE_FLAPS"); + + /* gyro offsets */ + _parameter_handles.gyro_offset[0] = param_find("SENS_GYRO_XOFF"); + _parameter_handles.gyro_offset[1] = param_find("SENS_GYRO_YOFF"); + _parameter_handles.gyro_offset[2] = param_find("SENS_GYRO_ZOFF"); + + /* accel offsets */ + _parameter_handles.accel_offset[0] = param_find("SENS_ACC_XOFF"); + _parameter_handles.accel_offset[1] = param_find("SENS_ACC_YOFF"); + _parameter_handles.accel_offset[2] = param_find("SENS_ACC_ZOFF"); + _parameter_handles.accel_scale[0] = param_find("SENS_ACC_XSCALE"); + _parameter_handles.accel_scale[1] = param_find("SENS_ACC_YSCALE"); + _parameter_handles.accel_scale[2] = param_find("SENS_ACC_ZSCALE"); + + /* mag offsets */ + _parameter_handles.mag_offset[0] = param_find("SENS_MAG_XOFF"); + _parameter_handles.mag_offset[1] = param_find("SENS_MAG_YOFF"); + _parameter_handles.mag_offset[2] = param_find("SENS_MAG_ZOFF"); + + _parameter_handles.mag_scale[0] = param_find("SENS_MAG_XSCALE"); + _parameter_handles.mag_scale[1] = param_find("SENS_MAG_YSCALE"); + _parameter_handles.mag_scale[2] = param_find("SENS_MAG_ZSCALE"); + + /*Airspeed offset */ + _parameter_handles.airspeed_offset = param_find("SENS_VAIR_OFF"); + + _parameter_handles.battery_voltage_scaling = param_find("BAT_V_SCALING"); + + /* fetch initial parameter values */ + parameters_update(); +} + +Sensors::~Sensors() +{ + if (_sensors_task != -1) { + + /* task wakes up every 100ms or so at the longest */ + _task_should_exit = true; + + /* wait for a second for the task to quit at our request */ + unsigned i = 0; + + do { + /* wait 20ms */ + usleep(20000); + + /* if we have given up, kill it */ + if (++i > 50) { + task_delete(_sensors_task); + break; + } + } while (_sensors_task != -1); + } + + sensors::g_sensors = nullptr; +} + +int +Sensors::parameters_update() +{ + bool rc_valid = true; + + /* rc values */ + for (unsigned int i = 0; i < RC_CHANNELS_MAX; i++) { + + if (param_get(_parameter_handles.min[i], &(_parameters.min[i])) != OK) { + warnx("Failed getting min for chan %d", i); + } + + if (param_get(_parameter_handles.trim[i], &(_parameters.trim[i])) != OK) { + warnx("Failed getting trim for chan %d", i); + } + + if (param_get(_parameter_handles.max[i], &(_parameters.max[i])) != OK) { + warnx("Failed getting max for chan %d", i); + } + + if (param_get(_parameter_handles.rev[i], &(_parameters.rev[i])) != OK) { + warnx("Failed getting rev for chan %d", i); + } + + if (param_get(_parameter_handles.dz[i], &(_parameters.dz[i])) != OK) { + warnx("Failed getting dead zone for chan %d", i); + } + + _parameters.scaling_factor[i] = (1.0f / ((_parameters.max[i] - _parameters.min[i]) / 2.0f) * _parameters.rev[i]); + + /* handle blowup in the scaling factor calculation */ + if (!isfinite(_parameters.scaling_factor[i]) || + _parameters.scaling_factor[i] * _parameters.rev[i] < 0.000001f || + _parameters.scaling_factor[i] * _parameters.rev[i] > 0.2f) { + + /* scaling factors do not make sense, lock them down */ + _parameters.scaling_factor[i] = 0; + rc_valid = false; + } + + } + + /* handle wrong values */ + if (!rc_valid) + warnx("WARNING WARNING WARNING\n\nRC CALIBRATION NOT SANE!\n\n"); + + /* remote control type */ + if (param_get(_parameter_handles.rc_type, &(_parameters.rc_type)) != OK) { + warnx("Failed getting remote control type"); + } + + /* channel mapping */ + if (param_get(_parameter_handles.rc_map_roll, &(_parameters.rc_map_roll)) != OK) { + warnx("Failed getting roll chan index"); + } + + if (param_get(_parameter_handles.rc_map_pitch, &(_parameters.rc_map_pitch)) != OK) { + warnx("Failed getting pitch chan index"); + } + + if (param_get(_parameter_handles.rc_map_yaw, &(_parameters.rc_map_yaw)) != OK) { + warnx("Failed getting yaw chan index"); + } + + if (param_get(_parameter_handles.rc_map_throttle, &(_parameters.rc_map_throttle)) != OK) { + warnx("Failed getting throttle chan index"); + } + + if (param_get(_parameter_handles.rc_map_manual_override_sw, &(_parameters.rc_map_manual_override_sw)) != OK) { + warnx("Failed getting override sw chan index"); + } + + if (param_get(_parameter_handles.rc_map_auto_mode_sw, &(_parameters.rc_map_auto_mode_sw)) != OK) { + warnx("Failed getting auto mode sw chan index"); + } + + if (param_get(_parameter_handles.rc_map_flaps, &(_parameters.rc_map_flaps)) != OK) { + warnx("Failed getting flaps chan index"); + } + + if (param_get(_parameter_handles.rc_map_manual_mode_sw, &(_parameters.rc_map_manual_mode_sw)) != OK) { + warnx("Failed getting manual mode sw chan index"); + } + + if (param_get(_parameter_handles.rc_map_rtl_sw, &(_parameters.rc_map_rtl_sw)) != OK) { + warnx("Failed getting rtl sw chan index"); + } + + if (param_get(_parameter_handles.rc_map_sas_mode_sw, &(_parameters.rc_map_sas_mode_sw)) != OK) { + warnx("Failed getting sas mode sw chan index"); + } + + if (param_get(_parameter_handles.rc_map_offboard_ctrl_mode_sw, &(_parameters.rc_map_offboard_ctrl_mode_sw)) != OK) { + warnx("Failed getting offboard control mode sw chan index"); + } + + if (param_get(_parameter_handles.rc_map_aux1, &(_parameters.rc_map_aux1)) != OK) { + warnx("Failed getting mode aux 1 index"); + } + + if (param_get(_parameter_handles.rc_map_aux2, &(_parameters.rc_map_aux2)) != OK) { + warnx("Failed getting mode aux 2 index"); + } + + if (param_get(_parameter_handles.rc_map_aux3, &(_parameters.rc_map_aux3)) != OK) { + warnx("Failed getting mode aux 3 index"); + } + + if (param_get(_parameter_handles.rc_map_aux4, &(_parameters.rc_map_aux4)) != OK) { + warnx("Failed getting mode aux 4 index"); + } + + if (param_get(_parameter_handles.rc_map_aux5, &(_parameters.rc_map_aux5)) != OK) { + warnx("Failed getting mode aux 5 index"); + } + + if (param_get(_parameter_handles.rc_scale_roll, &(_parameters.rc_scale_roll)) != OK) { + warnx("Failed getting rc scaling for roll"); + } + + if (param_get(_parameter_handles.rc_scale_pitch, &(_parameters.rc_scale_pitch)) != OK) { + warnx("Failed getting rc scaling for pitch"); + } + + if (param_get(_parameter_handles.rc_scale_yaw, &(_parameters.rc_scale_yaw)) != OK) { + warnx("Failed getting rc scaling for yaw"); + } + + if (param_get(_parameter_handles.rc_scale_flaps, &(_parameters.rc_scale_flaps)) != OK) { + warnx("Failed getting rc scaling for flaps"); + } + + /* update RC function mappings */ + _rc.function[THROTTLE] = _parameters.rc_map_throttle - 1; + _rc.function[ROLL] = _parameters.rc_map_roll - 1; + _rc.function[PITCH] = _parameters.rc_map_pitch - 1; + _rc.function[YAW] = _parameters.rc_map_yaw - 1; + + _rc.function[OVERRIDE] = _parameters.rc_map_manual_override_sw - 1; + _rc.function[AUTO_MODE] = _parameters.rc_map_auto_mode_sw - 1; + + _rc.function[FLAPS] = _parameters.rc_map_flaps - 1; + + _rc.function[MANUAL_MODE] = _parameters.rc_map_manual_mode_sw - 1; + _rc.function[RTL] = _parameters.rc_map_rtl_sw - 1; + _rc.function[SAS_MODE] = _parameters.rc_map_sas_mode_sw - 1; + _rc.function[OFFBOARD_MODE] = _parameters.rc_map_offboard_ctrl_mode_sw - 1; + + _rc.function[AUX_1] = _parameters.rc_map_aux1 - 1; + _rc.function[AUX_2] = _parameters.rc_map_aux2 - 1; + _rc.function[AUX_3] = _parameters.rc_map_aux3 - 1; + _rc.function[AUX_4] = _parameters.rc_map_aux4 - 1; + _rc.function[AUX_5] = _parameters.rc_map_aux5 - 1; + + /* gyro offsets */ + param_get(_parameter_handles.gyro_offset[0], &(_parameters.gyro_offset[0])); + param_get(_parameter_handles.gyro_offset[1], &(_parameters.gyro_offset[1])); + param_get(_parameter_handles.gyro_offset[2], &(_parameters.gyro_offset[2])); + + /* accel offsets */ + param_get(_parameter_handles.accel_offset[0], &(_parameters.accel_offset[0])); + param_get(_parameter_handles.accel_offset[1], &(_parameters.accel_offset[1])); + param_get(_parameter_handles.accel_offset[2], &(_parameters.accel_offset[2])); + param_get(_parameter_handles.accel_scale[0], &(_parameters.accel_scale[0])); + param_get(_parameter_handles.accel_scale[1], &(_parameters.accel_scale[1])); + param_get(_parameter_handles.accel_scale[2], &(_parameters.accel_scale[2])); + + /* mag offsets */ + param_get(_parameter_handles.mag_offset[0], &(_parameters.mag_offset[0])); + param_get(_parameter_handles.mag_offset[1], &(_parameters.mag_offset[1])); + param_get(_parameter_handles.mag_offset[2], &(_parameters.mag_offset[2])); + /* mag scaling */ + param_get(_parameter_handles.mag_scale[0], &(_parameters.mag_scale[0])); + param_get(_parameter_handles.mag_scale[1], &(_parameters.mag_scale[1])); + param_get(_parameter_handles.mag_scale[2], &(_parameters.mag_scale[2])); + + /* Airspeed offset */ + param_get(_parameter_handles.airspeed_offset, &(_parameters.airspeed_offset)); + + /* scaling of ADC ticks to battery voltage */ + if (param_get(_parameter_handles.battery_voltage_scaling, &(_parameters.battery_voltage_scaling)) != OK) { + warnx("Failed updating voltage scaling param"); + } + + return OK; +} + +void +Sensors::accel_init() +{ + int fd; + + fd = open(ACCEL_DEVICE_PATH, 0); + + if (fd < 0) { + warn("%s", ACCEL_DEVICE_PATH); + errx(1, "FATAL: no accelerometer found"); + + } else { + /* set the accel internal sampling rate up to at leat 500Hz */ + ioctl(fd, ACCELIOCSSAMPLERATE, 500); + + /* set the driver to poll at 500Hz */ + ioctl(fd, SENSORIOCSPOLLRATE, 500); + + warnx("using system accel"); + close(fd); + } +} + +void +Sensors::gyro_init() +{ + int fd; + + fd = open(GYRO_DEVICE_PATH, 0); + + if (fd < 0) { + warn("%s", GYRO_DEVICE_PATH); + errx(1, "FATAL: no gyro found"); + + } else { + /* set the gyro internal sampling rate up to at leat 500Hz */ + ioctl(fd, GYROIOCSSAMPLERATE, 500); + + /* set the driver to poll at 500Hz */ + ioctl(fd, SENSORIOCSPOLLRATE, 500); + + warnx("using system gyro"); + close(fd); + } +} + +void +Sensors::mag_init() +{ + int fd; + + fd = open(MAG_DEVICE_PATH, 0); + + if (fd < 0) { + warn("%s", MAG_DEVICE_PATH); + errx(1, "FATAL: no magnetometer found"); + } + + /* set the mag internal poll rate to at least 150Hz */ + ioctl(fd, MAGIOCSSAMPLERATE, 150); + + /* set the driver to poll at 150Hz */ + ioctl(fd, SENSORIOCSPOLLRATE, 150); + + close(fd); +} + +void +Sensors::baro_init() +{ + int fd; + + fd = open(BARO_DEVICE_PATH, 0); + + if (fd < 0) { + warn("%s", BARO_DEVICE_PATH); + warnx("No barometer found, ignoring"); + } + + /* set the driver to poll at 150Hz */ + ioctl(fd, SENSORIOCSPOLLRATE, 150); + + close(fd); +} + +void +Sensors::adc_init() +{ + + _fd_adc = open(ADC_DEVICE_PATH, O_RDONLY | O_NONBLOCK); + + if (_fd_adc < 0) { + warn(ADC_DEVICE_PATH); + warnx("FATAL: no ADC found"); + } +} + +void +Sensors::accel_poll(struct sensor_combined_s &raw) +{ + bool accel_updated; + orb_check(_accel_sub, &accel_updated); + + if (accel_updated) { + struct accel_report accel_report; + + orb_copy(ORB_ID(sensor_accel), _accel_sub, &accel_report); + + raw.accelerometer_m_s2[0] = accel_report.x; + raw.accelerometer_m_s2[1] = accel_report.y; + raw.accelerometer_m_s2[2] = accel_report.z; + + raw.accelerometer_raw[0] = accel_report.x_raw; + raw.accelerometer_raw[1] = accel_report.y_raw; + raw.accelerometer_raw[2] = accel_report.z_raw; + + raw.accelerometer_counter++; + } +} + +void +Sensors::gyro_poll(struct sensor_combined_s &raw) +{ + bool gyro_updated; + orb_check(_gyro_sub, &gyro_updated); + + if (gyro_updated) { + struct gyro_report gyro_report; + + orb_copy(ORB_ID(sensor_gyro), _gyro_sub, &gyro_report); + + raw.gyro_rad_s[0] = gyro_report.x; + raw.gyro_rad_s[1] = gyro_report.y; + raw.gyro_rad_s[2] = gyro_report.z; + + raw.gyro_raw[0] = gyro_report.x_raw; + raw.gyro_raw[1] = gyro_report.y_raw; + raw.gyro_raw[2] = gyro_report.z_raw; + + raw.gyro_counter++; + } +} + +void +Sensors::mag_poll(struct sensor_combined_s &raw) +{ + bool mag_updated; + orb_check(_mag_sub, &mag_updated); + + if (mag_updated) { + struct mag_report mag_report; + + orb_copy(ORB_ID(sensor_mag), _mag_sub, &mag_report); + + raw.magnetometer_ga[0] = mag_report.x; + raw.magnetometer_ga[1] = mag_report.y; + raw.magnetometer_ga[2] = mag_report.z; + + raw.magnetometer_raw[0] = mag_report.x_raw; + raw.magnetometer_raw[1] = mag_report.y_raw; + raw.magnetometer_raw[2] = mag_report.z_raw; + + raw.magnetometer_counter++; + } +} + +void +Sensors::baro_poll(struct sensor_combined_s &raw) +{ + bool baro_updated; + orb_check(_baro_sub, &baro_updated); + + if (baro_updated) { + + orb_copy(ORB_ID(sensor_baro), _baro_sub, &_barometer); + + raw.baro_pres_mbar = _barometer.pressure; // Pressure in mbar + raw.baro_alt_meter = _barometer.altitude; // Altitude in meters + raw.baro_temp_celcius = _barometer.temperature; // Temperature in degrees celcius + + raw.baro_counter++; + } +} + +void +Sensors::vehicle_status_poll() +{ + struct vehicle_status_s vstatus; + bool vstatus_updated; + + /* Check HIL state if vehicle status has changed */ + orb_check(_vstatus_sub, &vstatus_updated); + + if (vstatus_updated) { + + orb_copy(ORB_ID(vehicle_status), _vstatus_sub, &vstatus); + + /* switching from non-HIL to HIL mode */ + //printf("[sensors] Vehicle mode: %i \t AND: %i, HIL: %i\n", vstatus.mode, vstatus.mode & VEHICLE_MODE_FLAG_HIL_ENABLED, hil_enabled); + if (vstatus.flag_hil_enabled && !_hil_enabled) { + _hil_enabled = true; + _publishing = false; + + /* switching from HIL to non-HIL mode */ + + } else if (!_publishing && !_hil_enabled) { + _hil_enabled = false; + _publishing = true; + } + } +} + +void +Sensors::parameter_update_poll(bool forced) +{ + bool param_updated; + + /* Check if any parameter has changed */ + orb_check(_params_sub, ¶m_updated); + + if (param_updated || forced) { + /* read from param to clear updated flag */ + struct parameter_update_s update; + orb_copy(ORB_ID(parameter_update), _params_sub, &update); + + /* update parameters */ + parameters_update(); + + /* update sensor offsets */ + int fd = open(GYRO_DEVICE_PATH, 0); + struct gyro_scale gscale = { + _parameters.gyro_offset[0], + 1.0f, + _parameters.gyro_offset[1], + 1.0f, + _parameters.gyro_offset[2], + 1.0f, + }; + + if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale)) + warn("WARNING: failed to set scale / offsets for gyro"); + + close(fd); + + fd = open(ACCEL_DEVICE_PATH, 0); + struct accel_scale ascale = { + _parameters.accel_offset[0], + _parameters.accel_scale[0], + _parameters.accel_offset[1], + _parameters.accel_scale[1], + _parameters.accel_offset[2], + _parameters.accel_scale[2], + }; + + if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale)) + warn("WARNING: failed to set scale / offsets for accel"); + + close(fd); + + fd = open(MAG_DEVICE_PATH, 0); + struct mag_scale mscale = { + _parameters.mag_offset[0], + _parameters.mag_scale[0], + _parameters.mag_offset[1], + _parameters.mag_scale[1], + _parameters.mag_offset[2], + _parameters.mag_scale[2], + }; + + if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale)) + warn("WARNING: failed to set scale / offsets for mag"); + + close(fd); + +#if 0 + printf("CH0: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[0], (int)_parameters.min[0], (int)(_rc.chan[0].scaling_factor * 10000), (int)(_rc.chan[0].mid), (int)_rc.function[0]); + printf("CH1: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[1], (int)_parameters.min[1], (int)(_rc.chan[1].scaling_factor * 10000), (int)(_rc.chan[1].mid), (int)_rc.function[1]); + printf("MAN: %d %d\n", (int)(_rc.chan[0].scaled * 100), (int)(_rc.chan[1].scaled * 100)); + fflush(stdout); + usleep(5000); +#endif + } +} + +void +Sensors::adc_poll(struct sensor_combined_s &raw) +{ + + /* rate limit to 100 Hz */ + if (hrt_absolute_time() - _last_adc >= 10000) { + /* make space for a maximum of eight channels */ + struct adc_msg_s buf_adc[8]; + /* read all channels available */ + int ret = read(_fd_adc, &buf_adc, sizeof(buf_adc)); + + for (unsigned i = 0; i < sizeof(buf_adc) / sizeof(buf_adc[0]); i++) { + + if (ret >= (int)sizeof(buf_adc[0])) { + + /* Save raw voltage values */ + if (i < (sizeof(raw.adc_voltage_v)) / sizeof(raw.adc_voltage_v[0])) { + raw.adc_voltage_v[i] = buf_adc[i].am_data / (4096.0f / 3.3f); + } + + /* look for specific channels and process the raw voltage to measurement data */ + if (ADC_BATTERY_VOLTAGE_CHANNEL == buf_adc[i].am_channel) { + /* Voltage in volts */ + float voltage = (buf_adc[i].am_data * _parameters.battery_voltage_scaling); + + if (voltage > VOLTAGE_BATTERY_IGNORE_THRESHOLD_VOLTS) { + + /* one-time initialization of low-pass value to avoid long init delays */ + if (_battery_status.voltage_v < 3.0f) { + _battery_status.voltage_v = voltage; + } + + _battery_status.timestamp = hrt_absolute_time(); + _battery_status.voltage_v = (BAT_VOL_LOWPASS_1 * (_battery_status.voltage_v + BAT_VOL_LOWPASS_2 * voltage));; + /* current and discharge are unknown */ + _battery_status.current_a = -1.0f; + _battery_status.discharged_mah = -1.0f; + + /* announce the battery voltage if needed, just publish else */ + if (_battery_pub > 0) { + orb_publish(ORB_ID(battery_status), _battery_pub, &_battery_status); + + } else { + _battery_pub = orb_advertise(ORB_ID(battery_status), &_battery_status); + } + } + + } else if (ADC_AIRSPEED_VOLTAGE_CHANNEL == buf_adc[i].am_channel) { + + /* calculate airspeed, raw is the difference from */ + float voltage = (float)(buf_adc[i].am_data ) * 3.3f / 4096.0f * 2.0f; //V_ref/4096 * (voltage divider factor) + + /** + * The voltage divider pulls the signal down, only act on + * a valid voltage from a connected sensor + */ + if (voltage > 0.4f) { + + float diff_pres_pa = (voltage - _parameters.airspeed_offset) * 1000.0f; //for MPXV7002DP sensor + + float airspeed_true = calc_true_airspeed(diff_pres_pa + _barometer.pressure*1e2f, + _barometer.pressure*1e2f, _barometer.temperature - 5.0f); //factor 1e2 for conversion from mBar to Pa + // XXX HACK - true temperature is much less than indicated temperature in baro, + // subtract 5 degrees in an attempt to account for the electrical upheating of the PCB + + float airspeed_indicated = calc_indicated_airspeed(diff_pres_pa); + + //printf("voltage: %.4f, diff_pres_pa %.4f, baro press %.4f Pa, v_ind %.4f, v_true %.4f\n", (double)voltage, (double)diff_pres_pa, (double)_barometer.pressure*1e2f, (double)airspeed_indicated, (double)airspeed_true); + + _differential_pressure.timestamp = hrt_absolute_time(); + _differential_pressure.static_pressure_mbar = _barometer.pressure; + _differential_pressure.differential_pressure_mbar = diff_pres_pa*1e-2f; + _differential_pressure.temperature_celcius = _barometer.temperature; + _differential_pressure.indicated_airspeed_m_s = airspeed_indicated; + _differential_pressure.true_airspeed_m_s = airspeed_true; + _differential_pressure.voltage = voltage; + + /* announce the airspeed if needed, just publish else */ + if (_airspeed_pub > 0) { + orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &_differential_pressure); + + } else { + _airspeed_pub = orb_advertise(ORB_ID(differential_pressure), &_differential_pressure); + } + } + } + + _last_adc = hrt_absolute_time(); + } + } + } +} + +#if CONFIG_HRT_PPM +void +Sensors::ppm_poll() +{ + + /* read low-level values from FMU or IO RC inputs (PPM, Spektrum, S.Bus) */ + bool rc_updated; + orb_check(_rc_sub, &rc_updated); + + if (rc_updated) { + struct rc_input_values rc_input; + + orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input); + + struct manual_control_setpoint_s manual_control; + + /* initialize to default values */ + manual_control.roll = NAN; + manual_control.pitch = NAN; + manual_control.yaw = NAN; + manual_control.throttle = NAN; + + manual_control.manual_mode_switch = NAN; + manual_control.manual_sas_switch = NAN; + manual_control.return_to_launch_switch = NAN; + manual_control.auto_offboard_input_switch = NAN; + + manual_control.flaps = NAN; + manual_control.aux1 = NAN; + manual_control.aux2 = NAN; + manual_control.aux3 = NAN; + manual_control.aux4 = NAN; + manual_control.aux5 = NAN; + + /* require at least four channels to consider the signal valid */ + if (rc_input.channel_count < 4) + return; + + unsigned channel_limit = rc_input.channel_count; + + if (channel_limit > _rc_max_chan_count) + channel_limit = _rc_max_chan_count; + + /* we are accepting this message */ + _ppm_last_valid = rc_input.timestamp; + + /* Read out values from raw message */ + for (unsigned int i = 0; i < channel_limit; i++) { + + /* + * 1) Constrain to min/max values, as later processing depends on bounds. + */ + if (rc_input.values[i] < _parameters.min[i]) + rc_input.values[i] = _parameters.min[i]; + if (rc_input.values[i] > _parameters.max[i]) + rc_input.values[i] = _parameters.max[i]; + + /* + * 2) Scale around the mid point differently for lower and upper range. + * + * This is necessary as they don't share the same endpoints and slope. + * + * First normalize to 0..1 range with correct sign (below or above center), + * the total range is 2 (-1..1). + * If center (trim) == min, scale to 0..1, if center (trim) == max, + * scale to -1..0. + * + * As the min and max bounds were enforced in step 1), division by zero + * cannot occur, as for the case of center == min or center == max the if + * statement is mutually exclusive with the arithmetic NaN case. + * + * DO NOT REMOVE OR ALTER STEP 1! + */ + if (rc_input.values[i] > (_parameters.trim[i] + _parameters.dz[i])) { + _rc.chan[i].scaled = (rc_input.values[i] - _parameters.trim[i] - _parameters.dz[i]) / (float)(_parameters.max[i] - _parameters.trim[i] - _parameters.dz[i]); + + } else if (rc_input.values[i] < (_parameters.trim[i] - _parameters.dz[i])) { + _rc.chan[i].scaled = (rc_input.values[i] - _parameters.trim[i] + _parameters.dz[i]) / (float)(_parameters.trim[i] - _parameters.min[i] - _parameters.dz[i]); + + } else { + /* in the configured dead zone, output zero */ + _rc.chan[i].scaled = 0.0f; + } + + _rc.chan[i].scaled *= _parameters.rev[i]; + + /* handle any parameter-induced blowups */ + if (!isfinite(_rc.chan[i].scaled)) + _rc.chan[i].scaled = 0.0f; + } + + _rc.chan_count = rc_input.channel_count; + _rc.timestamp = rc_input.timestamp; + + manual_control.timestamp = rc_input.timestamp; + + /* roll input - rolling right is stick-wise and rotation-wise positive */ + manual_control.roll = limit_minus_one_to_one(_rc.chan[_rc.function[ROLL]].scaled); + /* + * pitch input - stick down is negative, but stick down is pitching up (pos) in NED, + * so reverse sign. + */ + manual_control.pitch = limit_minus_one_to_one(-1.0f * _rc.chan[_rc.function[PITCH]].scaled); + /* yaw input - stick right is positive and positive rotation */ + manual_control.yaw = limit_minus_one_to_one(_rc.chan[_rc.function[YAW]].scaled); + /* throttle input */ + manual_control.throttle = _rc.chan[_rc.function[THROTTLE]].scaled; + + if (manual_control.throttle < 0.0f) manual_control.throttle = 0.0f; + + if (manual_control.throttle > 1.0f) manual_control.throttle = 1.0f; + + /* scale output */ + if (isfinite(_parameters.rc_scale_roll) && _parameters.rc_scale_roll > 0.0f) { + manual_control.roll *= _parameters.rc_scale_roll; + } + + if (isfinite(_parameters.rc_scale_pitch) && _parameters.rc_scale_pitch > 0.0f) { + manual_control.pitch *= _parameters.rc_scale_pitch; + } + + if (isfinite(_parameters.rc_scale_yaw) && _parameters.rc_scale_yaw > 0.0f) { + manual_control.yaw *= _parameters.rc_scale_yaw; + } + + /* override switch input */ + manual_control.manual_override_switch = limit_minus_one_to_one(_rc.chan[_rc.function[OVERRIDE]].scaled); + + /* mode switch input */ + manual_control.auto_mode_switch = limit_minus_one_to_one(_rc.chan[_rc.function[AUTO_MODE]].scaled); + + /* flaps */ + if (_rc.function[FLAPS] >= 0) { + + manual_control.flaps = limit_minus_one_to_one(_rc.chan[_rc.function[FLAPS]].scaled); + + if (isfinite(_parameters.rc_scale_flaps) && _parameters.rc_scale_flaps > 0.0f) { + manual_control.flaps *= _parameters.rc_scale_flaps; + } + } + + if (_rc.function[MANUAL_MODE] >= 0) { + manual_control.manual_mode_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MANUAL_MODE]].scaled); + } + + if (_rc.function[SAS_MODE] >= 0) { + manual_control.manual_sas_switch = limit_minus_one_to_one(_rc.chan[_rc.function[SAS_MODE]].scaled); + } + + if (_rc.function[RTL] >= 0) { + manual_control.return_to_launch_switch = limit_minus_one_to_one(_rc.chan[_rc.function[RTL]].scaled); + } + + if (_rc.function[OFFBOARD_MODE] >= 0) { + manual_control.auto_offboard_input_switch = limit_minus_one_to_one(_rc.chan[_rc.function[OFFBOARD_MODE]].scaled); + } + + /* aux functions, only assign if valid mapping is present */ + if (_rc.function[AUX_1] >= 0) { + manual_control.aux1 = limit_minus_one_to_one(_rc.chan[_rc.function[AUX_1]].scaled); + } + + if (_rc.function[AUX_2] >= 0) { + manual_control.aux2 = limit_minus_one_to_one(_rc.chan[_rc.function[AUX_2]].scaled); + } + + if (_rc.function[AUX_3] >= 0) { + manual_control.aux3 = limit_minus_one_to_one(_rc.chan[_rc.function[AUX_3]].scaled); + } + + if (_rc.function[AUX_4] >= 0) { + manual_control.aux4 = limit_minus_one_to_one(_rc.chan[_rc.function[AUX_4]].scaled); + } + + if (_rc.function[AUX_5] >= 0) { + manual_control.aux5 = limit_minus_one_to_one(_rc.chan[_rc.function[AUX_5]].scaled); + } + + /* check if ready for publishing */ + if (_rc_pub > 0) { + orb_publish(ORB_ID(rc_channels), _rc_pub, &_rc); + + } else { + /* advertise the rc topic */ + _rc_pub = orb_advertise(ORB_ID(rc_channels), &_rc); + } + + /* check if ready for publishing */ + if (_manual_control_pub > 0) { + orb_publish(ORB_ID(manual_control_setpoint), _manual_control_pub, &manual_control); + + } else { + _manual_control_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual_control); + } + } + +} +#endif + +void +Sensors::task_main_trampoline(int argc, char *argv[]) +{ + sensors::g_sensors->task_main(); +} + +void +Sensors::task_main() +{ + + /* inform about start */ + printf("[sensors] Initializing..\n"); + fflush(stdout); + + /* start individual sensors */ + accel_init(); + gyro_init(); + mag_init(); + baro_init(); + adc_init(); + + /* + * do subscriptions + */ + _gyro_sub = orb_subscribe(ORB_ID(sensor_gyro)); + _accel_sub = orb_subscribe(ORB_ID(sensor_accel)); + _mag_sub = orb_subscribe(ORB_ID(sensor_mag)); + _rc_sub = orb_subscribe(ORB_ID(input_rc)); + _baro_sub = orb_subscribe(ORB_ID(sensor_baro)); + _vstatus_sub = orb_subscribe(ORB_ID(vehicle_status)); + _params_sub = orb_subscribe(ORB_ID(parameter_update)); + _manual_control_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); + + /* rate limit vehicle status updates to 5Hz */ + orb_set_interval(_vstatus_sub, 200); + + /* + * do advertisements + */ + struct sensor_combined_s raw; + memset(&raw, 0, sizeof(raw)); + raw.timestamp = hrt_absolute_time(); + raw.adc_voltage_v[0] = 0.0f; + raw.adc_voltage_v[1] = 0.0f; + raw.adc_voltage_v[2] = 0.0f; + raw.adc_voltage_v[3] = 0.0f; + + memset(&_battery_status, 0, sizeof(_battery_status)); + _battery_status.voltage_v = BAT_VOL_INITIAL; + + /* get a set of initial values */ + accel_poll(raw); + gyro_poll(raw); + mag_poll(raw); + baro_poll(raw); + + parameter_update_poll(true /* forced */); + + /* advertise the sensor_combined topic and make the initial publication */ + _sensor_pub = orb_advertise(ORB_ID(sensor_combined), &raw); + + /* wakeup source(s) */ + struct pollfd fds[1]; + + /* use the gyro to pace output - XXX BROKEN if we are using the L3GD20 */ + fds[0].fd = _gyro_sub; + fds[0].events = POLLIN; + + while (!_task_should_exit) { + + /* wait for up to 500ms for data */ + int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100); + + /* timed out - periodic check for _task_should_exit, etc. */ + if (pret == 0) + continue; + + /* this is undesirable but not much we can do - might want to flag unhappy status */ + if (pret < 0) { + warn("poll error %d, %d", pret, errno); + continue; + } + + perf_begin(_loop_perf); + + /* check vehicle status for changes to publication state */ + vehicle_status_poll(); + + /* check parameters for updates */ + parameter_update_poll(); + + /* store the time closest to all measurements (this is bogus, sensor timestamps should be propagated...) */ + raw.timestamp = hrt_absolute_time(); + + /* copy most recent sensor data */ + gyro_poll(raw); + accel_poll(raw); + mag_poll(raw); + baro_poll(raw); + + /* check battery voltage */ + adc_poll(raw); + + /* Inform other processes that new data is available to copy */ + if (_publishing) + orb_publish(ORB_ID(sensor_combined), _sensor_pub, &raw); + +#ifdef CONFIG_HRT_PPM + /* Look for new r/c input data */ + ppm_poll(); +#endif + + perf_end(_loop_perf); + } + + printf("[sensors] exiting.\n"); + + _sensors_task = -1; + _exit(0); +} + +int +Sensors::start() +{ + ASSERT(_sensors_task == -1); + + /* start the task */ + _sensors_task = task_spawn("sensors_task", + SCHED_DEFAULT, + SCHED_PRIORITY_MAX - 5, + 2048, + (main_t)&Sensors::task_main_trampoline, + nullptr); + + if (_sensors_task < 0) { + warn("task start failed"); + return -errno; + } + + return OK; +} + +int sensors_main(int argc, char *argv[]) +{ + if (argc < 1) + errx(1, "usage: sensors {start|stop|status}"); + + if (!strcmp(argv[1], "start")) { + + if (sensors::g_sensors != nullptr) + errx(1, "sensors task already running"); + + sensors::g_sensors = new Sensors; + + if (sensors::g_sensors == nullptr) + errx(1, "sensors task alloc failed"); + + if (OK != sensors::g_sensors->start()) { + delete sensors::g_sensors; + sensors::g_sensors = nullptr; + err(1, "sensors task start failed"); + } + + exit(0); + } + + if (!strcmp(argv[1], "stop")) { + if (sensors::g_sensors == nullptr) + errx(1, "sensors task not running"); + + delete sensors::g_sensors; + sensors::g_sensors = nullptr; + exit(0); + } + + if (!strcmp(argv[1], "status")) { + if (sensors::g_sensors) { + errx(0, "task is running"); + + } else { + errx(1, "task is not running"); + } + } + + errx(1, "unrecognized command"); +} + -- cgit v1.2.3 From 5974c37abba562c1372beb04490014db274fd175 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 27 Apr 2013 14:06:23 +0200 Subject: Moved the bulk of sensor drivers to the new world --- apps/drivers/blinkm/Makefile | 42 - apps/drivers/blinkm/blinkm.cpp | 919 -------------- apps/drivers/bma180/Makefile | 42 - apps/drivers/bma180/bma180.cpp | 929 -------------- apps/drivers/gps/Makefile | 42 - apps/drivers/gps/gps.cpp | 536 -------- apps/drivers/gps/gps_helper.cpp | 92 -- apps/drivers/gps/gps_helper.h | 52 - apps/drivers/gps/mtk.cpp | 274 ---- apps/drivers/gps/mtk.h | 124 -- apps/drivers/gps/ubx.cpp | 755 ----------- apps/drivers/gps/ubx.h | 395 ------ apps/drivers/hil/Makefile | 42 - apps/drivers/hil/hil.cpp | 851 ------------- apps/drivers/hmc5883/Makefile | 42 - apps/drivers/hmc5883/hmc5883.cpp | 1447 ---------------------- apps/drivers/mb12xx/Makefile | 42 - apps/drivers/mb12xx/mb12xx.cpp | 840 ------------- apps/drivers/mpu6000/Makefile | 42 - apps/drivers/mpu6000/mpu6000.cpp | 1219 ------------------ apps/drivers/ms5611/Makefile | 42 - apps/drivers/ms5611/ms5611.cpp | 1214 ------------------ apps/hott_telemetry/Makefile | 45 - apps/hott_telemetry/hott_telemetry_main.c | 312 ----- apps/hott_telemetry/messages.c | 87 -- apps/hott_telemetry/messages.h | 123 -- makefiles/config_px4fmu_default.mk | 17 +- src/drivers/blinkm/blinkm.cpp | 919 ++++++++++++++ src/drivers/blinkm/module.mk | 40 + src/drivers/bma180/bma180.cpp | 929 ++++++++++++++ src/drivers/bma180/module.mk | 40 + src/drivers/gps/gps.cpp | 536 ++++++++ src/drivers/gps/gps_helper.cpp | 92 ++ src/drivers/gps/gps_helper.h | 52 + src/drivers/gps/module.mk | 43 + src/drivers/gps/mtk.cpp | 274 ++++ src/drivers/gps/mtk.h | 124 ++ src/drivers/gps/ubx.cpp | 755 +++++++++++ src/drivers/gps/ubx.h | 395 ++++++ src/drivers/hil/hil.cpp | 851 +++++++++++++ src/drivers/hil/module.mk | 40 + src/drivers/hmc5883/hmc5883.cpp | 1447 ++++++++++++++++++++++ src/drivers/hmc5883/module.mk | 43 + src/drivers/hott_telemetry/hott_telemetry_main.c | 306 +++++ src/drivers/hott_telemetry/messages.c | 87 ++ src/drivers/hott_telemetry/messages.h | 124 ++ src/drivers/hott_telemetry/module.mk | 41 + src/drivers/mb12xx/mb12xx.cpp | 840 +++++++++++++ src/drivers/mb12xx/module.mk | 40 + src/drivers/mpu6000/module.mk | 43 + src/drivers/mpu6000/mpu6000.cpp | 1219 ++++++++++++++++++ src/drivers/ms5611/module.mk | 40 + src/drivers/ms5611/ms5611.cpp | 1214 ++++++++++++++++++ 53 files changed, 10543 insertions(+), 10558 deletions(-) delete mode 100644 apps/drivers/blinkm/Makefile delete mode 100644 apps/drivers/blinkm/blinkm.cpp delete mode 100644 apps/drivers/bma180/Makefile delete mode 100644 apps/drivers/bma180/bma180.cpp delete mode 100644 apps/drivers/gps/Makefile delete mode 100644 apps/drivers/gps/gps.cpp delete mode 100644 apps/drivers/gps/gps_helper.cpp delete mode 100644 apps/drivers/gps/gps_helper.h delete mode 100644 apps/drivers/gps/mtk.cpp delete mode 100644 apps/drivers/gps/mtk.h delete mode 100644 apps/drivers/gps/ubx.cpp delete mode 100644 apps/drivers/gps/ubx.h delete mode 100644 apps/drivers/hil/Makefile delete mode 100644 apps/drivers/hil/hil.cpp delete mode 100644 apps/drivers/hmc5883/Makefile delete mode 100644 apps/drivers/hmc5883/hmc5883.cpp delete mode 100644 apps/drivers/mb12xx/Makefile delete mode 100644 apps/drivers/mb12xx/mb12xx.cpp delete mode 100644 apps/drivers/mpu6000/Makefile delete mode 100644 apps/drivers/mpu6000/mpu6000.cpp delete mode 100644 apps/drivers/ms5611/Makefile delete mode 100644 apps/drivers/ms5611/ms5611.cpp delete mode 100644 apps/hott_telemetry/Makefile delete mode 100644 apps/hott_telemetry/hott_telemetry_main.c delete mode 100644 apps/hott_telemetry/messages.c delete mode 100644 apps/hott_telemetry/messages.h create mode 100644 src/drivers/blinkm/blinkm.cpp create mode 100644 src/drivers/blinkm/module.mk create mode 100644 src/drivers/bma180/bma180.cpp create mode 100644 src/drivers/bma180/module.mk create mode 100644 src/drivers/gps/gps.cpp create mode 100644 src/drivers/gps/gps_helper.cpp create mode 100644 src/drivers/gps/gps_helper.h create mode 100644 src/drivers/gps/module.mk create mode 100644 src/drivers/gps/mtk.cpp create mode 100644 src/drivers/gps/mtk.h create mode 100644 src/drivers/gps/ubx.cpp create mode 100644 src/drivers/gps/ubx.h create mode 100644 src/drivers/hil/hil.cpp create mode 100644 src/drivers/hil/module.mk create mode 100644 src/drivers/hmc5883/hmc5883.cpp create mode 100644 src/drivers/hmc5883/module.mk create mode 100644 src/drivers/hott_telemetry/hott_telemetry_main.c create mode 100644 src/drivers/hott_telemetry/messages.c create mode 100644 src/drivers/hott_telemetry/messages.h create mode 100644 src/drivers/hott_telemetry/module.mk create mode 100644 src/drivers/mb12xx/mb12xx.cpp create mode 100644 src/drivers/mb12xx/module.mk create mode 100644 src/drivers/mpu6000/module.mk create mode 100644 src/drivers/mpu6000/mpu6000.cpp create mode 100644 src/drivers/ms5611/module.mk create mode 100644 src/drivers/ms5611/ms5611.cpp (limited to 'src') diff --git a/apps/drivers/blinkm/Makefile b/apps/drivers/blinkm/Makefile deleted file mode 100644 index 5a623693d..000000000 --- a/apps/drivers/blinkm/Makefile +++ /dev/null @@ -1,42 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# BlinkM I2C LED driver -# - -APPNAME = blinkm -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 - -include $(APPDIR)/mk/app.mk diff --git a/apps/drivers/blinkm/blinkm.cpp b/apps/drivers/blinkm/blinkm.cpp deleted file mode 100644 index 3fabfd9a5..000000000 --- a/apps/drivers/blinkm/blinkm.cpp +++ /dev/null @@ -1,919 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file blinkm.cpp - * - * Driver for the BlinkM LED controller connected via I2C. - * - * Connect the BlinkM to I2C3 and put the following line to the rc startup-script: - * blinkm start - * - * To start the system monitor put in the next line after the blinkm start: - * blinkm systemmonitor - * - * - * Description: - * After startup, the Application checked how many lipo cells are connected to the System. - * The recognized number off cells, will be blinked 5 times in purple color. - * 2 Cells = 2 blinks - * ... - * 5 Cells = 5 blinks - * Now the Application will show the actual selected Flightmode, GPS-Fix and Battery Warnings and Alerts. - * - * System disarmed: - * The BlinkM should lit solid red. - * - * System armed: - * One message is made of 4 Blinks and a pause in the same length as the 4 blinks. - * - * X-X-X-X-_-_-_-_-_-_- - * ------------------------- - * G G G M - * P P P O - * S S S D - * E - * - * (X = on, _=off) - * - * The first 3 blinks indicates the status of the GPS-Signal (red): - * 0-4 satellites = X-X-X-X-_-_-_-_-_-_- - * 5 satellites = X-X-_-X-_-_-_-_-_-_- - * 6 satellites = X-_-_-X-_-_-_-_-_-_- - * >=7 satellites = _-_-_-X-_-_-_-_-_-_- - * If no GPS is found the first 3 blinks are white - * - * The fourth Blink indicates the Flightmode: - * MANUAL : amber - * STABILIZED : yellow - * HOLD : blue - * AUTO : green - * - * Battery Warning (low Battery Level): - * Continuously blinking in yellow X-X-X-X-X-X-X-X-X-X - * - * Battery Alert (critical Battery Level) - * Continuously blinking in red X-X-X-X-X-X-X-X-X-X - * - * General Error (no uOrb Data) - * Continuously blinking in white X-X-X-X-X-X-X-X-X-X - * - */ - -#include - -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include - -#include - -#include -#include - -#include -#include -#include -#include -#include - -static const float MAX_CELL_VOLTAGE = 4.3f; -static const int LED_ONTIME = 120; -static const int LED_OFFTIME = 120; -static const int LED_BLINK = 1; -static const int LED_NOBLINK = 0; - -class BlinkM : public device::I2C -{ -public: - BlinkM(int bus, int blinkm); - virtual ~BlinkM(); - - - virtual int init(); - virtual int probe(); - virtual int setMode(int mode); - virtual int ioctl(struct file *filp, int cmd, unsigned long arg); - - static const char *const script_names[]; - -private: - enum ScriptID { - USER = 0, - RGB, - WHITE_FLASH, - RED_FLASH, - GREEN_FLASH, - BLUE_FLASH, - CYAN_FLASH, - MAGENTA_FLASH, - YELLOW_FLASH, - BLACK, - HUE_CYCLE, - MOOD_LIGHT, - VIRTUAL_CANDLE, - WATER_REFLECTIONS, - OLD_NEON, - THE_SEASONS, - THUNDERSTORM, - STOP_LIGHT, - MORSE_CODE - }; - - enum ledColors { - LED_OFF, - LED_RED, - LED_YELLOW, - LED_PURPLE, - LED_GREEN, - LED_BLUE, - LED_WHITE, - LED_AMBER - }; - - work_s _work; - - int led_color_1; - int led_color_2; - int led_color_3; - int led_color_4; - int led_color_5; - int led_color_6; - int led_color_7; - int led_color_8; - int led_blink; - - bool systemstate_run; - - void setLEDColor(int ledcolor); - static void led_trampoline(void *arg); - void led(); - - int set_rgb(uint8_t r, uint8_t g, uint8_t b); - - int fade_rgb(uint8_t r, uint8_t g, uint8_t b); - int fade_hsb(uint8_t h, uint8_t s, uint8_t b); - - int fade_rgb_random(uint8_t r, uint8_t g, uint8_t b); - int fade_hsb_random(uint8_t h, uint8_t s, uint8_t b); - - int set_fade_speed(uint8_t s); - - int play_script(uint8_t script_id); - int play_script(const char *script_name); - int stop_script(); - - int write_script_line(uint8_t line, uint8_t ticks, uint8_t cmd, uint8_t arg1, uint8_t arg2, uint8_t arg3); - int read_script_line(uint8_t line, uint8_t &ticks, uint8_t cmd[4]); - int set_script(uint8_t length, uint8_t repeats); - - int get_rgb(uint8_t &r, uint8_t &g, uint8_t &b); - - int get_firmware_version(uint8_t version[2]); -}; - -/* for now, we only support one BlinkM */ -namespace -{ - BlinkM *g_blinkm; -} - -/* list of script names, must match script ID numbers */ -const char *const BlinkM::script_names[] = { - "USER", - "RGB", - "WHITE_FLASH", - "RED_FLASH", - "GREEN_FLASH", - "BLUE_FLASH", - "CYAN_FLASH", - "MAGENTA_FLASH", - "YELLOW_FLASH", - "BLACK", - "HUE_CYCLE", - "MOOD_LIGHT", - "VIRTUAL_CANDLE", - "WATER_REFLECTIONS", - "OLD_NEON", - "THE_SEASONS", - "THUNDERSTORM", - "STOP_LIGHT", - "MORSE_CODE", - nullptr -}; - - -extern "C" __EXPORT int blinkm_main(int argc, char *argv[]); - -BlinkM::BlinkM(int bus, int blinkm) : - I2C("blinkm", BLINKM_DEVICE_PATH, bus, blinkm, 100000), - led_color_1(LED_OFF), - led_color_2(LED_OFF), - led_color_3(LED_OFF), - led_color_4(LED_OFF), - led_color_5(LED_OFF), - led_color_6(LED_OFF), - led_color_7(LED_OFF), - led_color_8(LED_OFF), - led_blink(LED_NOBLINK), - systemstate_run(false) -{ - memset(&_work, 0, sizeof(_work)); -} - -BlinkM::~BlinkM() -{ -} - -int -BlinkM::init() -{ - int ret; - ret = I2C::init(); - - if (ret != OK) { - warnx("I2C init failed"); - return ret; - } - - stop_script(); - set_rgb(0,0,0); - - return OK; -} - -int -BlinkM::setMode(int mode) -{ - if(mode == 1) { - if(systemstate_run == false) { - stop_script(); - set_rgb(0,0,0); - systemstate_run = true; - work_queue(LPWORK, &_work, (worker_t)&BlinkM::led_trampoline, this, 1); - } - } else { - systemstate_run = false; - } - - return OK; -} - -int -BlinkM::probe() -{ - uint8_t version[2]; - int ret; - - ret = get_firmware_version(version); - - if (ret == OK) - log("found BlinkM firmware version %c%c", version[1], version[0]); - - return ret; -} - -int -BlinkM::ioctl(struct file *filp, int cmd, unsigned long arg) -{ - int ret = ENOTTY; - - switch (cmd) { - case BLINKM_PLAY_SCRIPT_NAMED: - if (arg == 0) { - ret = EINVAL; - break; - } - ret = play_script((const char *)arg); - break; - - case BLINKM_PLAY_SCRIPT: - ret = play_script(arg); - break; - - case BLINKM_SET_USER_SCRIPT: { - if (arg == 0) { - ret = EINVAL; - break; - } - - unsigned lines = 0; - const uint8_t *script = (const uint8_t *)arg; - - while ((lines < 50) && (script[1] != 0)) { - ret = write_script_line(lines, script[0], script[1], script[2], script[3], script[4]); - if (ret != OK) - break; - script += 5; - } - if (ret == OK) - ret = set_script(lines, 0); - break; - } - - default: - break; - } - - return ret; -} - - -void -BlinkM::led_trampoline(void *arg) -{ - BlinkM *bm = (BlinkM *)arg; - - bm->led(); -} - - - -void -BlinkM::led() -{ - - static int vehicle_status_sub_fd; - static int vehicle_gps_position_sub_fd; - - static int num_of_cells = 0; - static int detected_cells_runcount = 0; - - static int t_led_color[8] = { 0, 0, 0, 0, 0, 0, 0, 0}; - static int t_led_blink = 0; - static int led_thread_runcount=0; - static int led_interval = 1000; - - static int no_data_vehicle_status = 0; - static int no_data_vehicle_gps_position = 0; - - static bool topic_initialized = false; - static bool detected_cells_blinked = false; - static bool led_thread_ready = true; - - int num_of_used_sats = 0; - - if(!topic_initialized) { - vehicle_status_sub_fd = orb_subscribe(ORB_ID(vehicle_status)); - orb_set_interval(vehicle_status_sub_fd, 1000); - - vehicle_gps_position_sub_fd = orb_subscribe(ORB_ID(vehicle_gps_position)); - orb_set_interval(vehicle_gps_position_sub_fd, 1000); - - topic_initialized = true; - } - - if(led_thread_ready == true) { - if(!detected_cells_blinked) { - if(num_of_cells > 0) { - t_led_color[0] = LED_PURPLE; - } - if(num_of_cells > 1) { - t_led_color[1] = LED_PURPLE; - } - if(num_of_cells > 2) { - t_led_color[2] = LED_PURPLE; - } - if(num_of_cells > 3) { - t_led_color[3] = LED_PURPLE; - } - if(num_of_cells > 4) { - t_led_color[4] = LED_PURPLE; - } - t_led_color[5] = LED_OFF; - t_led_color[6] = LED_OFF; - t_led_color[7] = LED_OFF; - t_led_blink = LED_BLINK; - } else { - t_led_color[0] = led_color_1; - t_led_color[1] = led_color_2; - t_led_color[2] = led_color_3; - t_led_color[3] = led_color_4; - t_led_color[4] = led_color_5; - t_led_color[5] = led_color_6; - t_led_color[6] = led_color_7; - t_led_color[7] = led_color_8; - t_led_blink = led_blink; - } - led_thread_ready = false; - } - - if (led_thread_runcount & 1) { - if (t_led_blink) - setLEDColor(LED_OFF); - led_interval = LED_OFFTIME; - } else { - setLEDColor(t_led_color[(led_thread_runcount / 2) % 8]); - //led_interval = (led_thread_runcount & 1) : LED_ONTIME; - led_interval = LED_ONTIME; - } - - if (led_thread_runcount == 15) { - /* obtained data for the first file descriptor */ - struct vehicle_status_s vehicle_status_raw; - struct vehicle_gps_position_s vehicle_gps_position_raw; - - memset(&vehicle_status_raw, 0, sizeof(vehicle_status_raw)); - memset(&vehicle_gps_position_raw, 0, sizeof(vehicle_gps_position_raw)); - - bool new_data_vehicle_status; - bool new_data_vehicle_gps_position; - - orb_check(vehicle_status_sub_fd, &new_data_vehicle_status); - - if (new_data_vehicle_status) { - orb_copy(ORB_ID(vehicle_status), vehicle_status_sub_fd, &vehicle_status_raw); - no_data_vehicle_status = 0; - } else { - no_data_vehicle_status++; - if(no_data_vehicle_status >= 3) - no_data_vehicle_status = 3; - } - - orb_check(vehicle_gps_position_sub_fd, &new_data_vehicle_gps_position); - - if (new_data_vehicle_gps_position) { - orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_position_sub_fd, &vehicle_gps_position_raw); - no_data_vehicle_gps_position = 0; - } else { - no_data_vehicle_gps_position++; - if(no_data_vehicle_gps_position >= 3) - no_data_vehicle_gps_position = 3; - } - - - - /* get number of used satellites in navigation */ - num_of_used_sats = 0; - //for(int satloop=0; satloop<20; satloop++) { - for(int satloop=0; satloop checking cells\n"); - for(num_of_cells = 2; num_of_cells < 7; num_of_cells++) { - if(vehicle_status_raw.voltage_battery < num_of_cells * MAX_CELL_VOLTAGE) break; - } - printf(" cells found:%d\n", num_of_cells); - - } else { - if(vehicle_status_raw.battery_warning == VEHICLE_BATTERY_WARNING_WARNING) { - /* LED Pattern for battery low warning */ - led_color_1 = LED_YELLOW; - led_color_2 = LED_YELLOW; - led_color_3 = LED_YELLOW; - led_color_4 = LED_YELLOW; - led_color_5 = LED_YELLOW; - led_color_6 = LED_YELLOW; - led_color_7 = LED_YELLOW; - led_color_8 = LED_YELLOW; - led_blink = LED_BLINK; - - } else if(vehicle_status_raw.battery_warning == VEHICLE_BATTERY_WARNING_ALERT) { - /* LED Pattern for battery critical alerting */ - led_color_1 = LED_RED; - led_color_2 = LED_RED; - led_color_3 = LED_RED; - led_color_4 = LED_RED; - led_color_5 = LED_RED; - led_color_6 = LED_RED; - led_color_7 = LED_RED; - led_color_8 = LED_RED; - led_blink = LED_BLINK; - - } else { - /* no battery warnings here */ - - if(vehicle_status_raw.flag_system_armed == false) { - /* system not armed */ - led_color_1 = LED_RED; - led_color_2 = LED_RED; - led_color_3 = LED_RED; - led_color_4 = LED_RED; - led_color_5 = LED_RED; - led_color_6 = LED_RED; - led_color_7 = LED_RED; - led_color_8 = LED_RED; - led_blink = LED_NOBLINK; - - } else { - /* armed system - initial led pattern */ - led_color_1 = LED_RED; - led_color_2 = LED_RED; - led_color_3 = LED_RED; - led_color_4 = LED_OFF; - led_color_5 = LED_OFF; - led_color_6 = LED_OFF; - led_color_7 = LED_OFF; - led_color_8 = LED_OFF; - led_blink = LED_BLINK; - - /* handle 4th led - flightmode indicator */ - switch((int)vehicle_status_raw.flight_mode) { - case VEHICLE_FLIGHT_MODE_MANUAL: - led_color_4 = LED_AMBER; - break; - - case VEHICLE_FLIGHT_MODE_STAB: - led_color_4 = LED_YELLOW; - break; - - case VEHICLE_FLIGHT_MODE_HOLD: - led_color_4 = LED_BLUE; - break; - - case VEHICLE_FLIGHT_MODE_AUTO: - led_color_4 = LED_GREEN; - break; - } - - if(new_data_vehicle_gps_position || no_data_vehicle_gps_position < 3) { - /* handling used sat´s */ - if(num_of_used_sats >= 7) { - led_color_1 = LED_OFF; - led_color_2 = LED_OFF; - led_color_3 = LED_OFF; - } else if(num_of_used_sats == 6) { - led_color_2 = LED_OFF; - led_color_3 = LED_OFF; - } else if(num_of_used_sats == 5) { - led_color_3 = LED_OFF; - } - - } else { - /* no vehicle_gps_position data */ - led_color_1 = LED_WHITE; - led_color_2 = LED_WHITE; - led_color_3 = LED_WHITE; - - } - - } - } - } - } else { - /* LED Pattern for general Error - no vehicle_status can retrieved */ - led_color_1 = LED_WHITE; - led_color_2 = LED_WHITE; - led_color_3 = LED_WHITE; - led_color_4 = LED_WHITE; - led_color_5 = LED_WHITE; - led_color_6 = LED_WHITE; - led_color_7 = LED_WHITE; - led_color_8 = LED_WHITE; - led_blink = LED_BLINK; - - } - - /* - printf( " Volt:%8.4f\tArmed:%4u\tMode:%4u\tCells:%4u\tNDVS:%4u\tNDSAT:%4u\tSats:%4u\tFix:%4u\tVisible:%4u\n", - vehicle_status_raw.voltage_battery, - vehicle_status_raw.flag_system_armed, - vehicle_status_raw.flight_mode, - num_of_cells, - no_data_vehicle_status, - no_data_vehicle_gps_position, - num_of_used_sats, - vehicle_gps_position_raw.fix_type, - vehicle_gps_position_raw.satellites_visible); - */ - - led_thread_runcount=0; - led_thread_ready = true; - led_interval = LED_OFFTIME; - - if(detected_cells_runcount < 4){ - detected_cells_runcount++; - } else { - detected_cells_blinked = true; - } - - } else { - led_thread_runcount++; - } - - if(systemstate_run == true) { - /* re-queue ourselves to run again later */ - work_queue(LPWORK, &_work, (worker_t)&BlinkM::led_trampoline, this, led_interval); - } else { - stop_script(); - set_rgb(0,0,0); - } -} - -void BlinkM::setLEDColor(int ledcolor) { - switch (ledcolor) { - case LED_OFF: // off - set_rgb(0,0,0); - break; - case LED_RED: // red - set_rgb(255,0,0); - break; - case LED_YELLOW: // yellow - set_rgb(255,70,0); - break; - case LED_PURPLE: // purple - set_rgb(255,0,255); - break; - case LED_GREEN: // green - set_rgb(0,255,0); - break; - case LED_BLUE: // blue - set_rgb(0,0,255); - break; - case LED_WHITE: // white - set_rgb(255,255,255); - break; - case LED_AMBER: // amber - set_rgb(255,20,0); - break; - } -} - -int -BlinkM::set_rgb(uint8_t r, uint8_t g, uint8_t b) -{ - const uint8_t msg[4] = { 'n', r, g, b }; - - return transfer(msg, sizeof(msg), nullptr, 0); -} - -int -BlinkM::fade_rgb(uint8_t r, uint8_t g, uint8_t b) -{ - const uint8_t msg[4] = { 'c', r, g, b }; - - return transfer(msg, sizeof(msg), nullptr, 0); -} - -int -BlinkM::fade_hsb(uint8_t h, uint8_t s, uint8_t b) -{ - const uint8_t msg[4] = { 'h', h, s, b }; - - return transfer(msg, sizeof(msg), nullptr, 0); -} - -int -BlinkM::fade_rgb_random(uint8_t r, uint8_t g, uint8_t b) -{ - const uint8_t msg[4] = { 'C', r, g, b }; - - return transfer(msg, sizeof(msg), nullptr, 0); -} - -int -BlinkM::fade_hsb_random(uint8_t h, uint8_t s, uint8_t b) -{ - const uint8_t msg[4] = { 'H', h, s, b }; - - return transfer(msg, sizeof(msg), nullptr, 0); -} - -int -BlinkM::set_fade_speed(uint8_t s) -{ - const uint8_t msg[2] = { 'f', s }; - - return transfer(msg, sizeof(msg), nullptr, 0); -} - -int -BlinkM::play_script(uint8_t script_id) -{ - const uint8_t msg[4] = { 'p', script_id, 0, 0 }; - - return transfer(msg, sizeof(msg), nullptr, 0); -} - -int -BlinkM::play_script(const char *script_name) -{ - /* handle HTML colour encoding */ - if (isxdigit(script_name[0]) && (strlen(script_name) == 6)) { - char code[3]; - uint8_t r, g, b; - - code[2] = '\0'; - - code[0] = script_name[1]; - code[1] = script_name[2]; - r = strtol(code, 0, 16); - code[0] = script_name[3]; - code[1] = script_name[4]; - g = strtol(code, 0, 16); - code[0] = script_name[5]; - code[1] = script_name[6]; - b = strtol(code, 0, 16); - - stop_script(); - return set_rgb(r, g, b); - } - - for (unsigned i = 0; script_names[i] != nullptr; i++) - if (!strcasecmp(script_name, script_names[i])) - return play_script(i); - - return -1; -} - -int -BlinkM::stop_script() -{ - const uint8_t msg[1] = { 'o' }; - - return transfer(msg, sizeof(msg), nullptr, 0); -} - -int -BlinkM::write_script_line(uint8_t line, uint8_t ticks, uint8_t cmd, uint8_t arg1, uint8_t arg2, uint8_t arg3) -{ - const uint8_t msg[8] = { 'W', 0, line, ticks, cmd, arg1, arg2, arg3 }; - - return transfer(msg, sizeof(msg), nullptr, 0); -} - -int -BlinkM::read_script_line(uint8_t line, uint8_t &ticks, uint8_t cmd[4]) -{ - const uint8_t msg[3] = { 'R', 0, line }; - uint8_t result[5]; - - int ret = transfer(msg, sizeof(msg), result, sizeof(result)); - - if (ret == OK) { - ticks = result[0]; - cmd[0] = result[1]; - cmd[1] = result[2]; - cmd[2] = result[3]; - cmd[3] = result[4]; - } - - return ret; -} - -int -BlinkM::set_script(uint8_t len, uint8_t repeats) -{ - const uint8_t msg[4] = { 'L', 0, len, repeats }; - - return transfer(msg, sizeof(msg), nullptr, 0); -} - -int -BlinkM::get_rgb(uint8_t &r, uint8_t &g, uint8_t &b) -{ - const uint8_t msg = 'g'; - uint8_t result[3]; - - int ret = transfer(&msg, sizeof(msg), result, sizeof(result)); - - if (ret == OK) { - r = result[0]; - g = result[1]; - b = result[2]; - } - - return ret; -} - -int -BlinkM::get_firmware_version(uint8_t version[2]) -{ - const uint8_t msg = 'Z'; - - return transfer(&msg, sizeof(msg), version, 2); -} - -void blinkm_usage() { - fprintf(stderr, "missing command: try 'start', 'systemstate', 'ledoff', 'list' or a script name {options}\n"); - fprintf(stderr, "options:\n"); - fprintf(stderr, "\t-b --bus i2cbus (3)\n"); - fprintf(stderr, "\t-a --blinkmaddr blinkmaddr (9)\n"); -} - -int -blinkm_main(int argc, char *argv[]) -{ - - int i2cdevice = PX4_I2C_BUS_EXPANSION; - int blinkmadr = 9; - - int x; - - for (x = 1; x < argc; x++) { - if (strcmp(argv[x], "-b") == 0 || strcmp(argv[x], "--bus") == 0) { - if (argc > x + 1) { - i2cdevice = atoi(argv[x + 1]); - } - } - - if (strcmp(argv[x], "-a") == 0 || strcmp(argv[x], "--blinkmaddr") == 0) { - if (argc > x + 1) { - blinkmadr = atoi(argv[x + 1]); - } - } - - } - - if (!strcmp(argv[1], "start")) { - if (g_blinkm != nullptr) - errx(1, "already started"); - - g_blinkm = new BlinkM(i2cdevice, blinkmadr); - - if (g_blinkm == nullptr) - errx(1, "new failed"); - - if (OK != g_blinkm->init()) { - delete g_blinkm; - g_blinkm = nullptr; - errx(1, "init failed"); - } - - exit(0); - } - - - if (g_blinkm == nullptr) { - fprintf(stderr, "not started\n"); - blinkm_usage(); - exit(0); - } - - if (!strcmp(argv[1], "systemstate")) { - g_blinkm->setMode(1); - exit(0); - } - - if (!strcmp(argv[1], "ledoff")) { - g_blinkm->setMode(0); - exit(0); - } - - - if (!strcmp(argv[1], "list")) { - for (unsigned i = 0; BlinkM::script_names[i] != nullptr; i++) - fprintf(stderr, " %s\n", BlinkM::script_names[i]); - fprintf(stderr, " \n"); - exit(0); - } - - /* things that require access to the device */ - int fd = open(BLINKM_DEVICE_PATH, 0); - if (fd < 0) - err(1, "can't open BlinkM device"); - - g_blinkm->setMode(0); - if (ioctl(fd, BLINKM_PLAY_SCRIPT_NAMED, (unsigned long)argv[1]) == OK) - exit(0); - - blinkm_usage(); - exit(0); -} diff --git a/apps/drivers/bma180/Makefile b/apps/drivers/bma180/Makefile deleted file mode 100644 index cc01b629e..000000000 --- a/apps/drivers/bma180/Makefile +++ /dev/null @@ -1,42 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Makefile to build the BMA180 driver. -# - -APPNAME = bma180 -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 - -include $(APPDIR)/mk/app.mk diff --git a/apps/drivers/bma180/bma180.cpp b/apps/drivers/bma180/bma180.cpp deleted file mode 100644 index 4409a8a9c..000000000 --- a/apps/drivers/bma180/bma180.cpp +++ /dev/null @@ -1,929 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file bma180.cpp - * Driver for the Bosch BMA 180 MEMS accelerometer connected via SPI. - */ - -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include - -#include -#include - -#include -#include - - -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -static const int ERROR = -1; - -#define DIR_READ (1<<7) -#define DIR_WRITE (0<<7) - -#define ADDR_CHIP_ID 0x00 -#define CHIP_ID 0x03 - -#define ADDR_ACC_X_LSB 0x02 -#define ADDR_ACC_Y_LSB 0x04 -#define ADDR_ACC_Z_LSB 0x06 -#define ADDR_TEMPERATURE 0x08 - -#define ADDR_CTRL_REG0 0x0D -#define REG0_WRITE_ENABLE 0x10 - -#define ADDR_RESET 0x10 -#define SOFT_RESET 0xB6 - -#define ADDR_BW_TCS 0x20 -#define BW_TCS_BW_MASK (0xf<<4) -#define BW_TCS_BW_10HZ (0<<4) -#define BW_TCS_BW_20HZ (1<<4) -#define BW_TCS_BW_40HZ (2<<4) -#define BW_TCS_BW_75HZ (3<<4) -#define BW_TCS_BW_150HZ (4<<4) -#define BW_TCS_BW_300HZ (5<<4) -#define BW_TCS_BW_600HZ (6<<4) -#define BW_TCS_BW_1200HZ (7<<4) - -#define ADDR_HIGH_DUR 0x27 -#define HIGH_DUR_DIS_I2C (1<<0) - -#define ADDR_TCO_Z 0x30 -#define TCO_Z_MODE_MASK 0x3 - -#define ADDR_GAIN_Y 0x33 -#define GAIN_Y_SHADOW_DIS (1<<0) - -#define ADDR_OFFSET_LSB1 0x35 -#define OFFSET_LSB1_RANGE_MASK (7<<1) -#define OFFSET_LSB1_RANGE_1G (0<<1) -#define OFFSET_LSB1_RANGE_2G (2<<1) -#define OFFSET_LSB1_RANGE_3G (3<<1) -#define OFFSET_LSB1_RANGE_4G (4<<1) -#define OFFSET_LSB1_RANGE_8G (5<<1) -#define OFFSET_LSB1_RANGE_16G (6<<1) - -#define ADDR_OFFSET_T 0x37 -#define OFFSET_T_READOUT_12BIT (1<<0) - -extern "C" { __EXPORT int bma180_main(int argc, char *argv[]); } - -class BMA180 : public device::SPI -{ -public: - BMA180(int bus, spi_dev_e device); - virtual ~BMA180(); - - virtual int init(); - - virtual ssize_t read(struct file *filp, char *buffer, size_t buflen); - virtual int ioctl(struct file *filp, int cmd, unsigned long arg); - - /** - * Diagnostics - print some basic information about the driver. - */ - void print_info(); - -protected: - virtual int probe(); - -private: - - struct hrt_call _call; - unsigned _call_interval; - - unsigned _num_reports; - volatile unsigned _next_report; - volatile unsigned _oldest_report; - struct accel_report *_reports; - - struct accel_scale _accel_scale; - float _accel_range_scale; - float _accel_range_m_s2; - orb_advert_t _accel_topic; - - unsigned _current_lowpass; - unsigned _current_range; - - perf_counter_t _sample_perf; - - /** - * Start automatic measurement. - */ - void start(); - - /** - * Stop automatic measurement. - */ - void stop(); - - /** - * Static trampoline from the hrt_call context; because we don't have a - * generic hrt wrapper yet. - * - * Called by the HRT in interrupt context at the specified rate if - * automatic polling is enabled. - * - * @param arg Instance pointer for the driver that is polling. - */ - static void measure_trampoline(void *arg); - - /** - * Fetch measurements from the sensor and update the report ring. - */ - void measure(); - - /** - * Read a register from the BMA180 - * - * @param The register to read. - * @return The value that was read. - */ - uint8_t read_reg(unsigned reg); - - /** - * Write a register in the BMA180 - * - * @param reg The register to write. - * @param value The new value to write. - */ - void write_reg(unsigned reg, uint8_t value); - - /** - * Modify a register in the BMA180 - * - * Bits are cleared before bits are set. - * - * @param reg The register to modify. - * @param clearbits Bits in the register to clear. - * @param setbits Bits in the register to set. - */ - void modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits); - - /** - * Set the BMA180 measurement range. - * - * @param max_g The maximum G value the range must support. - * @return OK if the value can be supported, -ERANGE otherwise. - */ - int set_range(unsigned max_g); - - /** - * Set the BMA180 internal lowpass filter frequency. - * - * @param frequency The internal lowpass filter frequency is set to a value - * equal or greater to this. - * Zero selects the highest frequency supported. - * @return OK if the value can be supported. - */ - int set_lowpass(unsigned frequency); -}; - -/* helper macro for handling report buffer indices */ -#define INCREMENT(_x, _lim) do { _x++; if (_x >= _lim) _x = 0; } while(0) - - -BMA180::BMA180(int bus, spi_dev_e device) : - SPI("BMA180", ACCEL_DEVICE_PATH, bus, device, SPIDEV_MODE3, 8000000), - _call_interval(0), - _num_reports(0), - _next_report(0), - _oldest_report(0), - _reports(nullptr), - _accel_range_scale(0.0f), - _accel_range_m_s2(0.0f), - _accel_topic(-1), - _current_lowpass(0), - _current_range(0), - _sample_perf(perf_alloc(PC_ELAPSED, "bma180_read")) -{ - // enable debug() calls - _debug_enabled = true; - - // default scale factors - _accel_scale.x_offset = 0; - _accel_scale.x_scale = 1.0f; - _accel_scale.y_offset = 0; - _accel_scale.y_scale = 1.0f; - _accel_scale.z_offset = 0; - _accel_scale.z_scale = 1.0f; -} - -BMA180::~BMA180() -{ - /* make sure we are truly inactive */ - stop(); - - /* free any existing reports */ - if (_reports != nullptr) - delete[] _reports; - - /* delete the perf counter */ - perf_free(_sample_perf); -} - -int -BMA180::init() -{ - int ret = ERROR; - - /* do SPI init (and probe) first */ - if (SPI::init() != OK) - goto out; - - /* allocate basic report buffers */ - _num_reports = 2; - _oldest_report = _next_report = 0; - _reports = new struct accel_report[_num_reports]; - - if (_reports == nullptr) - goto out; - - /* advertise sensor topic */ - memset(&_reports[0], 0, sizeof(_reports[0])); - _accel_topic = orb_advertise(ORB_ID(sensor_accel), &_reports[0]); - - /* perform soft reset (p48) */ - write_reg(ADDR_RESET, SOFT_RESET); - - /* wait 10 ms (datasheet incorrectly lists 10 us on page 49) */ - usleep(10000); - - /* enable writing to chip config */ - modify_reg(ADDR_CTRL_REG0, 0, REG0_WRITE_ENABLE); - - /* disable I2C interface */ - modify_reg(ADDR_HIGH_DUR, HIGH_DUR_DIS_I2C, 0); - - /* switch to low-noise mode */ - modify_reg(ADDR_TCO_Z, TCO_Z_MODE_MASK, 0); - - /* disable 12-bit mode */ - modify_reg(ADDR_OFFSET_T, OFFSET_T_READOUT_12BIT, 0); - - /* disable shadow-disable mode */ - modify_reg(ADDR_GAIN_Y, GAIN_Y_SHADOW_DIS, 0); - - /* disable writing to chip config */ - modify_reg(ADDR_CTRL_REG0, REG0_WRITE_ENABLE, 0); - - if (set_range(4)) warnx("Failed setting range"); - - if (set_lowpass(75)) warnx("Failed setting lowpass"); - - if (read_reg(ADDR_CHIP_ID) == CHIP_ID) { - ret = OK; - - } else { - ret = ERROR; - } - -out: - return ret; -} - -int -BMA180::probe() -{ - /* dummy read to ensure SPI state machine is sane */ - read_reg(ADDR_CHIP_ID); - - if (read_reg(ADDR_CHIP_ID) == CHIP_ID) - return OK; - - return -EIO; -} - -ssize_t -BMA180::read(struct file *filp, char *buffer, size_t buflen) -{ - unsigned count = buflen / sizeof(struct accel_report); - int ret = 0; - - /* buffer must be large enough */ - if (count < 1) - return -ENOSPC; - - /* if automatic measurement is enabled */ - if (_call_interval > 0) { - - /* - * While there is space in the caller's buffer, and reports, copy them. - * Note that we may be pre-empted by the measurement code while we are doing this; - * we are careful to avoid racing with it. - */ - while (count--) { - if (_oldest_report != _next_report) { - memcpy(buffer, _reports + _oldest_report, sizeof(*_reports)); - ret += sizeof(_reports[0]); - INCREMENT(_oldest_report, _num_reports); - } - } - - /* if there was no data, warn the caller */ - return ret ? ret : -EAGAIN; - } - - /* manual measurement */ - _oldest_report = _next_report = 0; - measure(); - - /* measurement will have generated a report, copy it out */ - memcpy(buffer, _reports, sizeof(*_reports)); - ret = sizeof(*_reports); - - return ret; -} - -int -BMA180::ioctl(struct file *filp, int cmd, unsigned long arg) -{ - switch (cmd) { - - case SENSORIOCSPOLLRATE: { - switch (arg) { - - /* switching to manual polling */ - case SENSOR_POLLRATE_MANUAL: - stop(); - _call_interval = 0; - return OK; - - /* external signalling not supported */ - case SENSOR_POLLRATE_EXTERNAL: - - /* zero would be bad */ - case 0: - return -EINVAL; - - - /* set default/max polling rate */ - case SENSOR_POLLRATE_MAX: - case SENSOR_POLLRATE_DEFAULT: - /* With internal low pass filters enabled, 250 Hz is sufficient */ - return ioctl(filp, SENSORIOCSPOLLRATE, 250); - - /* adjust to a legal polling interval in Hz */ - default: { - /* do we need to start internal polling? */ - bool want_start = (_call_interval == 0); - - /* convert hz to hrt interval via microseconds */ - unsigned ticks = 1000000 / arg; - - /* check against maximum sane rate */ - if (ticks < 1000) - return -EINVAL; - - /* update interval for next measurement */ - /* XXX this is a bit shady, but no other way to adjust... */ - _call.period = _call_interval = ticks; - - /* if we need to start the poll state machine, do it */ - if (want_start) - start(); - - return OK; - } - } - } - - case SENSORIOCGPOLLRATE: - if (_call_interval == 0) - return SENSOR_POLLRATE_MANUAL; - - return 1000000 / _call_interval; - - case SENSORIOCSQUEUEDEPTH: { - /* account for sentinel in the ring */ - arg++; - - /* lower bound is mandatory, upper bound is a sanity check */ - if ((arg < 2) || (arg > 100)) - return -EINVAL; - - /* allocate new buffer */ - struct accel_report *buf = new struct accel_report[arg]; - - if (nullptr == buf) - return -ENOMEM; - - /* reset the measurement state machine with the new buffer, free the old */ - stop(); - delete[] _reports; - _num_reports = arg; - _reports = buf; - start(); - - return OK; - } - - case SENSORIOCGQUEUEDEPTH: - return _num_reports - 1; - - case SENSORIOCRESET: - /* XXX implement */ - return -EINVAL; - - case ACCELIOCSSAMPLERATE: /* sensor sample rate is not (really) adjustable */ - return -EINVAL; - - case ACCELIOCGSAMPLERATE: - return 1200; /* always operating in low-noise mode */ - - case ACCELIOCSLOWPASS: - return set_lowpass(arg); - - case ACCELIOCGLOWPASS: - return _current_lowpass; - - case ACCELIOCSSCALE: - /* copy scale in */ - memcpy(&_accel_scale, (struct accel_scale *) arg, sizeof(_accel_scale)); - return OK; - - case ACCELIOCGSCALE: - /* copy scale out */ - memcpy((struct accel_scale *) arg, &_accel_scale, sizeof(_accel_scale)); - return OK; - - case ACCELIOCSRANGE: - return set_range(arg); - - case ACCELIOCGRANGE: - return _current_range; - - default: - /* give it to the superclass */ - return SPI::ioctl(filp, cmd, arg); - } -} - -uint8_t -BMA180::read_reg(unsigned reg) -{ - uint8_t cmd[2]; - - cmd[0] = reg | DIR_READ; - - transfer(cmd, cmd, sizeof(cmd)); - - return cmd[1]; -} - -void -BMA180::write_reg(unsigned reg, uint8_t value) -{ - uint8_t cmd[2]; - - cmd[0] = reg | DIR_WRITE; - cmd[1] = value; - - transfer(cmd, nullptr, sizeof(cmd)); -} - -void -BMA180::modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits) -{ - uint8_t val; - - val = read_reg(reg); - val &= ~clearbits; - val |= setbits; - write_reg(reg, val); -} - -int -BMA180::set_range(unsigned max_g) -{ - uint8_t rangebits; - - if (max_g == 0) - max_g = 16; - - if (max_g > 16) - return -ERANGE; - - if (max_g <= 2) { - _current_range = 2; - rangebits = OFFSET_LSB1_RANGE_2G; - - } else if (max_g <= 3) { - _current_range = 3; - rangebits = OFFSET_LSB1_RANGE_3G; - - } else if (max_g <= 4) { - _current_range = 4; - rangebits = OFFSET_LSB1_RANGE_4G; - - } else if (max_g <= 8) { - _current_range = 8; - rangebits = OFFSET_LSB1_RANGE_8G; - - } else if (max_g <= 16) { - _current_range = 16; - rangebits = OFFSET_LSB1_RANGE_16G; - - } else { - return -EINVAL; - } - - /* set new range scaling factor */ - _accel_range_m_s2 = _current_range * 9.80665f; - _accel_range_scale = _accel_range_m_s2 / 8192.0f; - - /* enable writing to chip config */ - modify_reg(ADDR_CTRL_REG0, 0, REG0_WRITE_ENABLE); - - /* adjust sensor configuration */ - modify_reg(ADDR_OFFSET_LSB1, OFFSET_LSB1_RANGE_MASK, rangebits); - - /* block writing to chip config */ - modify_reg(ADDR_CTRL_REG0, REG0_WRITE_ENABLE, 0); - - /* check if wanted value is now in register */ - return !((read_reg(ADDR_OFFSET_LSB1) & OFFSET_LSB1_RANGE_MASK) == - (OFFSET_LSB1_RANGE_MASK & rangebits)); -} - -int -BMA180::set_lowpass(unsigned frequency) -{ - uint8_t bwbits; - - if (frequency > 1200) { - return -ERANGE; - - } else if (frequency > 600) { - bwbits = BW_TCS_BW_1200HZ; - - } else if (frequency > 300) { - bwbits = BW_TCS_BW_600HZ; - - } else if (frequency > 150) { - bwbits = BW_TCS_BW_300HZ; - - } else if (frequency > 75) { - bwbits = BW_TCS_BW_150HZ; - - } else if (frequency > 40) { - bwbits = BW_TCS_BW_75HZ; - - } else if (frequency > 20) { - bwbits = BW_TCS_BW_40HZ; - - } else if (frequency > 10) { - bwbits = BW_TCS_BW_20HZ; - - } else { - bwbits = BW_TCS_BW_10HZ; - } - - /* enable writing to chip config */ - modify_reg(ADDR_CTRL_REG0, 0, REG0_WRITE_ENABLE); - - /* adjust sensor configuration */ - modify_reg(ADDR_BW_TCS, BW_TCS_BW_MASK, bwbits); - - /* block writing to chip config */ - modify_reg(ADDR_CTRL_REG0, REG0_WRITE_ENABLE, 0); - - /* check if wanted value is now in register */ - return !((read_reg(ADDR_BW_TCS) & BW_TCS_BW_MASK) == - (BW_TCS_BW_MASK & bwbits)); -} - -void -BMA180::start() -{ - /* make sure we are stopped first */ - stop(); - - /* reset the report ring */ - _oldest_report = _next_report = 0; - - /* start polling at the specified rate */ - hrt_call_every(&_call, 1000, _call_interval, (hrt_callout)&BMA180::measure_trampoline, this); -} - -void -BMA180::stop() -{ - hrt_cancel(&_call); -} - -void -BMA180::measure_trampoline(void *arg) -{ - BMA180 *dev = (BMA180 *)arg; - - /* make another measurement */ - dev->measure(); -} - -void -BMA180::measure() -{ - /* BMA180 measurement registers */ -// #pragma pack(push, 1) -// struct { -// uint8_t cmd; -// int16_t x; -// int16_t y; -// int16_t z; -// } raw_report; -// #pragma pack(pop) - - accel_report *report = &_reports[_next_report]; - - /* start the performance counter */ - perf_begin(_sample_perf); - - /* - * Fetch the full set of measurements from the BMA180 in one pass; - * starting from the X LSB. - */ - //raw_report.cmd = ADDR_ACC_X_LSB; - // XXX PX4DEV transfer((uint8_t *)&raw_report, (uint8_t *)&raw_report, sizeof(raw_report)); - - /* - * Adjust and scale results to SI units. - * - * Note that we ignore the "new data" bits. At any time we read, each - * of the axis measurements are the "most recent", even if we've seen - * them before. There is no good way to synchronise with the internal - * measurement flow without using the external interrupt. - */ - _reports[_next_report].timestamp = hrt_absolute_time(); - /* - * y of board is x of sensor and x of board is -y of sensor - * perform only the axis assignment here. - * Two non-value bits are discarded directly - */ - report->y_raw = read_reg(ADDR_ACC_X_LSB + 0); - report->y_raw |= read_reg(ADDR_ACC_X_LSB + 1) << 8; - report->x_raw = read_reg(ADDR_ACC_X_LSB + 2); - report->x_raw |= read_reg(ADDR_ACC_X_LSB + 3) << 8; - report->z_raw = read_reg(ADDR_ACC_X_LSB + 4); - report->z_raw |= read_reg(ADDR_ACC_X_LSB + 5) << 8; - - /* discard two non-value bits in the 16 bit measurement */ - report->x_raw = (report->x_raw / 4); - report->y_raw = (report->y_raw / 4); - report->z_raw = (report->z_raw / 4); - - /* invert y axis, due to 14 bit data no overflow can occur in the negation */ - report->y_raw = -report->y_raw; - - report->x = ((report->x_raw * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale; - report->y = ((report->y_raw * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale; - report->z = ((report->z_raw * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale; - report->scaling = _accel_range_scale; - report->range_m_s2 = _accel_range_m_s2; - - /* post a report to the ring - note, not locked */ - INCREMENT(_next_report, _num_reports); - - /* if we are running up against the oldest report, fix it */ - if (_next_report == _oldest_report) - INCREMENT(_oldest_report, _num_reports); - - /* notify anyone waiting for data */ - poll_notify(POLLIN); - - /* publish for subscribers */ - orb_publish(ORB_ID(sensor_accel), _accel_topic, report); - - /* stop the perf counter */ - perf_end(_sample_perf); -} - -void -BMA180::print_info() -{ - perf_print_counter(_sample_perf); - printf("report queue: %u (%u/%u @ %p)\n", - _num_reports, _oldest_report, _next_report, _reports); -} - -/** - * Local functions in support of the shell command. - */ -namespace bma180 -{ - -BMA180 *g_dev; - -void start(); -void test(); -void reset(); -void info(); - -/** - * Start the driver. - */ -void -start() -{ - int fd; - - if (g_dev != nullptr) - errx(1, "already started"); - - /* create the driver */ - g_dev = new BMA180(1 /* XXX magic number */, (spi_dev_e)PX4_SPIDEV_ACCEL); - - if (g_dev == nullptr) - goto fail; - - if (OK != g_dev->init()) - goto fail; - - /* set the poll rate to default, starts automatic data collection */ - fd = open(ACCEL_DEVICE_PATH, O_RDONLY); - - if (fd < 0) - goto fail; - - if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) - goto fail; - - exit(0); -fail: - - if (g_dev != nullptr) { - delete g_dev; - g_dev = nullptr; - } - - errx(1, "driver start failed"); -} - -/** - * Perform some basic functional tests on the driver; - * make sure we can collect data from the sensor in polled - * and automatic modes. - */ -void -test() -{ - int fd = -1; - struct accel_report a_report; - ssize_t sz; - - /* get the driver */ - fd = open(ACCEL_DEVICE_PATH, O_RDONLY); - - if (fd < 0) - err(1, "%s open failed (try 'bma180 start' if the driver is not running)", - ACCEL_DEVICE_PATH); - - /* reset to manual polling */ - if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MANUAL) < 0) - err(1, "reset to manual polling"); - - /* do a simple demand read */ - sz = read(fd, &a_report, sizeof(a_report)); - - if (sz != sizeof(a_report)) - err(1, "immediate acc read failed"); - - warnx("single read"); - warnx("time: %lld", a_report.timestamp); - warnx("acc x: \t%8.4f\tm/s^2", (double)a_report.x); - warnx("acc y: \t%8.4f\tm/s^2", (double)a_report.y); - warnx("acc z: \t%8.4f\tm/s^2", (double)a_report.z); - warnx("acc x: \t%d\traw 0x%0x", (short)a_report.x_raw, (unsigned short)a_report.x_raw); - warnx("acc y: \t%d\traw 0x%0x", (short)a_report.y_raw, (unsigned short)a_report.y_raw); - warnx("acc z: \t%d\traw 0x%0x", (short)a_report.z_raw, (unsigned short)a_report.z_raw); - warnx("acc range: %8.4f m/s^2 (%8.4f g)", (double)a_report.range_m_s2, - (double)(a_report.range_m_s2 / 9.81f)); - - /* XXX add poll-rate tests here too */ - - reset(); - errx(0, "PASS"); -} - -/** - * Reset the driver. - */ -void -reset() -{ - int fd = open(ACCEL_DEVICE_PATH, O_RDONLY); - - if (fd < 0) - err(1, "failed "); - - if (ioctl(fd, SENSORIOCRESET, 0) < 0) - err(1, "driver reset failed"); - - if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) - err(1, "driver poll restart failed"); - - exit(0); -} - -/** - * Print a little info about the driver. - */ -void -info() -{ - if (g_dev == nullptr) - errx(1, "BMA180: driver not running"); - - printf("state @ %p\n", g_dev); - g_dev->print_info(); - - exit(0); -} - - -} // namespace - -int -bma180_main(int argc, char *argv[]) -{ - /* - * Start/load the driver. - - */ - if (!strcmp(argv[1], "start")) - bma180::start(); - - /* - * Test the driver/device. - */ - if (!strcmp(argv[1], "test")) - bma180::test(); - - /* - * Reset the driver. - */ - if (!strcmp(argv[1], "reset")) - bma180::reset(); - - /* - * Print driver information. - */ - if (!strcmp(argv[1], "info")) - bma180::info(); - - errx(1, "unrecognised command, try 'start', 'test', 'reset' or 'info'"); -} diff --git a/apps/drivers/gps/Makefile b/apps/drivers/gps/Makefile deleted file mode 100644 index 3859a88a5..000000000 --- a/apps/drivers/gps/Makefile +++ /dev/null @@ -1,42 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# GPS driver -# - -APPNAME = gps -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 - -include $(APPDIR)/mk/app.mk diff --git a/apps/drivers/gps/gps.cpp b/apps/drivers/gps/gps.cpp deleted file mode 100644 index e35bdb944..000000000 --- a/apps/drivers/gps/gps.cpp +++ /dev/null @@ -1,536 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file gps.cpp - * Driver for the GPS on a serial port - */ - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include "ubx.h" -#include "mtk.h" - - -#define TIMEOUT_5HZ 500 -#define RATE_MEASUREMENT_PERIOD 5000000 - -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -static const int ERROR = -1; - -#ifndef CONFIG_SCHED_WORKQUEUE -# error This requires CONFIG_SCHED_WORKQUEUE. -#endif - - - -class GPS : public device::CDev -{ -public: - GPS(const char* uart_path); - virtual ~GPS(); - - virtual int init(); - - virtual int ioctl(struct file *filp, int cmd, unsigned long arg); - - /** - * Diagnostics - print some basic information about the driver. - */ - void print_info(); - -private: - - bool _task_should_exit; ///< flag to make the main worker task exit - int _serial_fd; ///< serial interface to GPS - unsigned _baudrate; ///< current baudrate - char _port[20]; ///< device / serial port path - volatile int _task; //< worker task - bool _healthy; ///< flag to signal if the GPS is ok - bool _baudrate_changed; ///< flag to signal that the baudrate with the GPS has changed - bool _mode_changed; ///< flag that the GPS mode has changed - gps_driver_mode_t _mode; ///< current mode - GPS_Helper *_Helper; ///< instance of GPS parser - struct vehicle_gps_position_s _report; ///< uORB topic for gps position - orb_advert_t _report_pub; ///< uORB pub for gps position - float _rate; ///< position update rate - - - /** - * Try to configure the GPS, handle outgoing communication to the GPS - */ - void config(); - - /** - * Trampoline to the worker task - */ - static void task_main_trampoline(void *arg); - - - /** - * Worker task: main GPS thread that configures the GPS and parses incoming data, always running - */ - void task_main(void); - - /** - * Set the baudrate of the UART to the GPS - */ - int set_baudrate(unsigned baud); - - /** - * Send a reset command to the GPS - */ - void cmd_reset(); - -}; - - -/* - * Driver 'main' command. - */ -extern "C" __EXPORT int gps_main(int argc, char *argv[]); - -namespace -{ - -GPS *g_dev; - -} - - -GPS::GPS(const char* uart_path) : - CDev("gps", GPS_DEVICE_PATH), - _task_should_exit(false), - _healthy(false), - _mode_changed(false), - _mode(GPS_DRIVER_MODE_UBX), - _Helper(nullptr), - _report_pub(-1), - _rate(0.0f) -{ - /* store port name */ - strncpy(_port, uart_path, sizeof(_port)); - /* enforce null termination */ - _port[sizeof(_port) - 1] = '\0'; - - /* we need this potentially before it could be set in task_main */ - g_dev = this; - memset(&_report, 0, sizeof(_report)); - - _debug_enabled = true; -} - -GPS::~GPS() -{ - /* tell the task we want it to go away */ - _task_should_exit = true; - - /* spin waiting for the task to stop */ - for (unsigned i = 0; (i < 10) && (_task != -1); i++) { - /* give it another 100ms */ - usleep(100000); - } - - /* well, kill it anyway, though this will probably crash */ - if (_task != -1) - task_delete(_task); - g_dev = nullptr; - -} - -int -GPS::init() -{ - int ret = ERROR; - - /* do regular cdev init */ - if (CDev::init() != OK) - goto out; - - /* start the GPS driver worker task */ - _task = task_create("gps", SCHED_PRIORITY_SLOW_DRIVER, 2048, (main_t)&GPS::task_main_trampoline, nullptr); - - if (_task < 0) { - warnx("task start failed: %d", errno); - return -errno; - } - - ret = OK; -out: - return ret; -} - -int -GPS::ioctl(struct file *filp, int cmd, unsigned long arg) -{ - lock(); - - int ret = OK; - - switch (cmd) { - case SENSORIOCRESET: - cmd_reset(); - break; - } - - unlock(); - - return ret; -} - -void -GPS::task_main_trampoline(void *arg) -{ - g_dev->task_main(); -} - -void -GPS::task_main() -{ - log("starting"); - - /* open the serial port */ - _serial_fd = ::open(_port, O_RDWR); - - if (_serial_fd < 0) { - log("failed to open serial port: %s err: %d", _port, errno); - /* tell the dtor that we are exiting, set error code */ - _task = -1; - _exit(1); - } - - uint64_t last_rate_measurement = hrt_absolute_time(); - unsigned last_rate_count = 0; - - /* loop handling received serial bytes and also configuring in between */ - while (!_task_should_exit) { - - if (_Helper != nullptr) { - delete(_Helper); - /* set to zero to ensure parser is not used while not instantiated */ - _Helper = nullptr; - } - - switch (_mode) { - case GPS_DRIVER_MODE_UBX: - _Helper = new UBX(_serial_fd, &_report); - break; - case GPS_DRIVER_MODE_MTK: - _Helper = new MTK(_serial_fd, &_report); - break; - case GPS_DRIVER_MODE_NMEA: - //_Helper = new NMEA(); //TODO: add NMEA - break; - default: - break; - } - unlock(); - if (_Helper->configure(_baudrate) == 0) { - unlock(); - while (_Helper->receive(TIMEOUT_5HZ) > 0 && !_task_should_exit) { -// lock(); - /* opportunistic publishing - else invalid data would end up on the bus */ - if (_report_pub > 0) { - orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report); - } else { - _report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report); - } - - last_rate_count++; - - /* measure update rate every 5 seconds */ - if (hrt_absolute_time() - last_rate_measurement > RATE_MEASUREMENT_PERIOD) { - _rate = last_rate_count / ((float)((hrt_absolute_time() - last_rate_measurement)) / 1000000.0f); - last_rate_measurement = hrt_absolute_time(); - last_rate_count = 0; - } - - if (!_healthy) { - warnx("module found"); - _healthy = true; - } - } - if (_healthy) { - warnx("module lost"); - _healthy = false; - _rate = 0.0f; - } - - lock(); - } - lock(); - - /* select next mode */ - switch (_mode) { - case GPS_DRIVER_MODE_UBX: - _mode = GPS_DRIVER_MODE_MTK; - break; - case GPS_DRIVER_MODE_MTK: - _mode = GPS_DRIVER_MODE_UBX; - break; - // case GPS_DRIVER_MODE_NMEA: - // _mode = GPS_DRIVER_MODE_UBX; - // break; - default: - break; - } - - } - debug("exiting"); - - ::close(_serial_fd); - - /* tell the dtor that we are exiting */ - _task = -1; - _exit(0); -} - - - -void -GPS::cmd_reset() -{ - //XXX add reset? -} - -void -GPS::print_info() -{ - switch (_mode) { - case GPS_DRIVER_MODE_UBX: - warnx("protocol: UBX"); - break; - case GPS_DRIVER_MODE_MTK: - warnx("protocol: MTK"); - break; - case GPS_DRIVER_MODE_NMEA: - warnx("protocol: NMEA"); - break; - default: - break; - } - warnx("port: %s, baudrate: %d, status: %s", _port, _baudrate, (_healthy) ? "OK" : "NOT OK"); - if (_report.timestamp_position != 0) { - warnx("position lock: %dD, last update %4.2f seconds ago", (int)_report.fix_type, - (double)((float)(hrt_absolute_time() - _report.timestamp_position) / 1000000.0f)); - warnx("lat: %d, lon: %d, alt: %d", _report.lat, _report.lon, _report.alt); - warnx("update rate: %6.2f Hz", (double)_rate); - } - - usleep(100000); -} - -/** - * Local functions in support of the shell command. - */ -namespace gps -{ - -GPS *g_dev; - -void start(const char *uart_path); -void stop(); -void test(); -void reset(); -void info(); - -/** - * Start the driver. - */ -void -start(const char *uart_path) -{ - int fd; - - if (g_dev != nullptr) - errx(1, "already started"); - - /* create the driver */ - g_dev = new GPS(uart_path); - - if (g_dev == nullptr) - goto fail; - - if (OK != g_dev->init()) - goto fail; - - /* set the poll rate to default, starts automatic data collection */ - fd = open(GPS_DEVICE_PATH, O_RDONLY); - - if (fd < 0) { - errx(1, "Could not open device path: %s\n", GPS_DEVICE_PATH); - goto fail; - } - exit(0); - -fail: - - if (g_dev != nullptr) { - delete g_dev; - g_dev = nullptr; - } - - errx(1, "driver start failed"); -} - -/** - * Stop the driver. - */ -void -stop() -{ - delete g_dev; - g_dev = nullptr; - - exit(0); -} - -/** - * Perform some basic functional tests on the driver; - * make sure we can collect data from the sensor in polled - * and automatic modes. - */ -void -test() -{ - - errx(0, "PASS"); -} - -/** - * Reset the driver. - */ -void -reset() -{ - int fd = open(GPS_DEVICE_PATH, O_RDONLY); - - if (fd < 0) - err(1, "failed "); - - if (ioctl(fd, SENSORIOCRESET, 0) < 0) - err(1, "driver reset failed"); - - exit(0); -} - -/** - * Print the status of the driver. - */ -void -info() -{ - if (g_dev == nullptr) - errx(1, "driver not running"); - - g_dev->print_info(); - - exit(0); -} - -} // namespace - - -int -gps_main(int argc, char *argv[]) -{ - - /* set to default */ - char* device_name = GPS_DEFAULT_UART_PORT; - - /* - * Start/load the driver. - */ - if (!strcmp(argv[1], "start")) { - /* work around getopt unreliability */ - if (argc > 3) { - if (!strcmp(argv[2], "-d")) { - device_name = argv[3]; - } else { - goto out; - } - } - gps::start(device_name); - } - - if (!strcmp(argv[1], "stop")) - gps::stop(); - /* - * Test the driver/device. - */ - if (!strcmp(argv[1], "test")) - gps::test(); - - /* - * Reset the driver. - */ - if (!strcmp(argv[1], "reset")) - gps::reset(); - - /* - * Print driver status. - */ - if (!strcmp(argv[1], "status")) - gps::info(); - -out: - errx(1, "unrecognized command, try 'start', 'stop', 'test', 'reset' or 'status' [-d /dev/ttyS0-n]"); -} diff --git a/apps/drivers/gps/gps_helper.cpp b/apps/drivers/gps/gps_helper.cpp deleted file mode 100644 index 9c1fad569..000000000 --- a/apps/drivers/gps/gps_helper.cpp +++ /dev/null @@ -1,92 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2008-2013 PX4 Development Team. All rights reserved. - * Author: Thomas Gubler - * Julian Oes - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#include -#include -#include -#include "gps_helper.h" - -/* @file gps_helper.cpp */ - -int -GPS_Helper::set_baudrate(const int &fd, unsigned baud) -{ - /* process baud rate */ - int speed; - - switch (baud) { - case 9600: speed = B9600; break; - - case 19200: speed = B19200; break; - - case 38400: speed = B38400; break; - - case 57600: speed = B57600; break; - - case 115200: speed = B115200; break; - - warnx("try baudrate: %d\n", speed); - - default: - warnx("ERROR: Unsupported baudrate: %d\n", baud); - return -EINVAL; - } - struct termios uart_config; - int termios_state; - - /* fill the struct for the new configuration */ - tcgetattr(fd, &uart_config); - - /* clear ONLCR flag (which appends a CR for every LF) */ - uart_config.c_oflag &= ~ONLCR; - /* no parity, one stop bit */ - uart_config.c_cflag &= ~(CSTOPB | PARENB); - - /* set baud rate */ - if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) { - warnx("ERROR setting config: %d (cfsetispeed)\n", termios_state); - return -1; - } - if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) { - warnx("ERROR setting config: %d (cfsetospeed)\n", termios_state); - return -1; - } - if ((termios_state = tcsetattr(fd, TCSANOW, &uart_config)) < 0) { - warnx("ERROR setting baudrate (tcsetattr)\n"); - return -1; - } - /* XXX if resetting the parser here, ensure it does exist (check for null pointer) */ - return 0; -} diff --git a/apps/drivers/gps/gps_helper.h b/apps/drivers/gps/gps_helper.h deleted file mode 100644 index f3d3bc40b..000000000 --- a/apps/drivers/gps/gps_helper.h +++ /dev/null @@ -1,52 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2008-2013 PX4 Development Team. All rights reserved. - * Author: Thomas Gubler - * Julian Oes - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/* @file gps_helper.h */ - -#ifndef GPS_HELPER_H -#define GPS_HELPER_H - -#include -#include - -class GPS_Helper -{ -public: - virtual int configure(unsigned &baud) = 0; - virtual int receive(unsigned timeout) = 0; - int set_baudrate(const int &fd, unsigned baud); -}; - -#endif /* GPS_HELPER_H */ diff --git a/apps/drivers/gps/mtk.cpp b/apps/drivers/gps/mtk.cpp deleted file mode 100644 index 4762bd503..000000000 --- a/apps/drivers/gps/mtk.cpp +++ /dev/null @@ -1,274 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. - * Author: Thomas Gubler - * Julian Oes - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/* @file mkt.cpp */ - -#include -#include -#include -#include -#include -#include -#include -#include - -#include "mtk.h" - - -MTK::MTK(const int &fd, struct vehicle_gps_position_s *gps_position) : -_fd(fd), -_gps_position(gps_position), -_mtk_revision(0) -{ - decode_init(); -} - -MTK::~MTK() -{ -} - -int -MTK::configure(unsigned &baudrate) -{ - /* set baudrate first */ - if (GPS_Helper::set_baudrate(_fd, MTK_BAUDRATE) != 0) - return -1; - - baudrate = MTK_BAUDRATE; - - /* Write config messages, don't wait for an answer */ - if (strlen(MTK_OUTPUT_5HZ) != write(_fd, MTK_OUTPUT_5HZ, strlen(MTK_OUTPUT_5HZ))) { - warnx("mtk: config write failed"); - return -1; - } - usleep(10000); - - if (strlen(MTK_SET_BINARY) != write(_fd, MTK_SET_BINARY, strlen(MTK_SET_BINARY))) { - warnx("mtk: config write failed"); - return -1; - } - usleep(10000); - - if (strlen(SBAS_ON) != write(_fd, SBAS_ON, strlen(SBAS_ON))) { - warnx("mtk: config write failed"); - return -1; - } - usleep(10000); - - if (strlen(WAAS_ON) != write(_fd, WAAS_ON, strlen(WAAS_ON))) { - warnx("mtk: config write failed"); - return -1; - } - usleep(10000); - - if (strlen(MTK_NAVTHRES_OFF) != write(_fd, MTK_NAVTHRES_OFF, strlen(MTK_NAVTHRES_OFF))) { - warnx("mtk: config write failed"); - return -1; - } - - return 0; -} - -int -MTK::receive(unsigned timeout) -{ - /* poll descriptor */ - pollfd fds[1]; - fds[0].fd = _fd; - fds[0].events = POLLIN; - - uint8_t buf[32]; - gps_mtk_packet_t packet; - - /* timeout additional to poll */ - uint64_t time_started = hrt_absolute_time(); - - int j = 0; - ssize_t count = 0; - - while (true) { - - /* first read whatever is left */ - if (j < count) { - /* pass received bytes to the packet decoder */ - while (j < count) { - if (parse_char(buf[j], packet) > 0) { - handle_message(packet); - return 1; - } - /* in case we keep trying but only get crap from GPS */ - if (time_started + timeout*1000 < hrt_absolute_time() ) { - return -1; - } - j++; - } - /* everything is read */ - j = count = 0; - } - - /* then poll for new data */ - int ret = ::poll(fds, sizeof(fds) / sizeof(fds[0]), timeout); - - if (ret < 0) { - /* something went wrong when polling */ - return -1; - - } else if (ret == 0) { - /* Timeout */ - return -1; - - } else if (ret > 0) { - /* if we have new data from GPS, go handle it */ - if (fds[0].revents & POLLIN) { - /* - * We are here because poll says there is some data, so this - * won't block even on a blocking device. If more bytes are - * available, we'll go back to poll() again... - */ - count = ::read(_fd, buf, sizeof(buf)); - } - } - } -} - -void -MTK::decode_init(void) -{ - _rx_ck_a = 0; - _rx_ck_b = 0; - _rx_count = 0; - _decode_state = MTK_DECODE_UNINIT; -} -int -MTK::parse_char(uint8_t b, gps_mtk_packet_t &packet) -{ - int ret = 0; - - if (_decode_state == MTK_DECODE_UNINIT) { - - if (b == MTK_SYNC1_V16) { - _decode_state = MTK_DECODE_GOT_CK_A; - _mtk_revision = 16; - } else if (b == MTK_SYNC1_V19) { - _decode_state = MTK_DECODE_GOT_CK_A; - _mtk_revision = 19; - } - - } else if (_decode_state == MTK_DECODE_GOT_CK_A) { - if (b == MTK_SYNC2) { - _decode_state = MTK_DECODE_GOT_CK_B; - - } else { - // Second start symbol was wrong, reset state machine - decode_init(); - } - - } else if (_decode_state == MTK_DECODE_GOT_CK_B) { - // Add to checksum - if (_rx_count < 33) - add_byte_to_checksum(b); - - // Fill packet buffer - ((uint8_t*)(&packet))[_rx_count] = b; - _rx_count++; - - /* Packet size minus checksum, XXX ? */ - if (_rx_count >= sizeof(packet)) { - /* Compare checksum */ - if (_rx_ck_a == packet.ck_a && _rx_ck_b == packet.ck_b) { - ret = 1; - } else { - warnx("MTK Checksum invalid"); - ret = -1; - } - // Reset state machine to decode next packet - decode_init(); - } - } - return ret; -} - -void -MTK::handle_message(gps_mtk_packet_t &packet) -{ - if (_mtk_revision == 16) { - _gps_position->lat = packet.latitude * 10; // from degrees*1e6 to degrees*1e7 - _gps_position->lon = packet.longitude * 10; // from degrees*1e6 to degrees*1e7 - } else if (_mtk_revision == 19) { - _gps_position->lat = packet.latitude; // both degrees*1e7 - _gps_position->lon = packet.longitude; // both degrees*1e7 - } else { - warnx("mtk: unknown revision"); - _gps_position->lat = 0; - _gps_position->lon = 0; - } - _gps_position->alt = (int32_t)(packet.msl_altitude * 10); // from cm to mm - _gps_position->fix_type = packet.fix_type; - _gps_position->eph_m = packet.hdop; // XXX: Check this because eph_m is in m and hdop is without unit - _gps_position->epv_m = 0.0; //unknown in mtk custom mode - _gps_position->vel_m_s = ((float)packet.ground_speed)*1e-2f; // from cm/s to m/s - _gps_position->cog_rad = ((float)packet.heading) * M_DEG_TO_RAD_F * 1e-2f; //from deg *100 to rad - _gps_position->satellites_visible = packet.satellites; - - /* convert time and date information to unix timestamp */ - struct tm timeinfo; //TODO: test this conversion - uint32_t timeinfo_conversion_temp; - - timeinfo.tm_mday = packet.date * 1e-4; - timeinfo_conversion_temp = packet.date - timeinfo.tm_mday * 1e4; - timeinfo.tm_mon = timeinfo_conversion_temp * 1e-2 - 1; - timeinfo.tm_year = (timeinfo_conversion_temp - (timeinfo.tm_mon + 1) * 1e2) + 100; - - timeinfo.tm_hour = packet.utc_time * 1e-7; - timeinfo_conversion_temp = packet.utc_time - timeinfo.tm_hour * 1e7; - timeinfo.tm_min = timeinfo_conversion_temp * 1e-5; - timeinfo_conversion_temp -= timeinfo.tm_min * 1e5; - timeinfo.tm_sec = timeinfo_conversion_temp * 1e-3; - timeinfo_conversion_temp -= timeinfo.tm_sec * 1e3; - time_t epoch = mktime(&timeinfo); - - _gps_position->time_gps_usec = epoch * 1e6; //TODO: test this - _gps_position->time_gps_usec += timeinfo_conversion_temp * 1e3; - _gps_position->timestamp_position = _gps_position->timestamp_time = hrt_absolute_time(); - - return; -} - -void -MTK::add_byte_to_checksum(uint8_t b) -{ - _rx_ck_a = _rx_ck_a + b; - _rx_ck_b = _rx_ck_b + _rx_ck_a; -} diff --git a/apps/drivers/gps/mtk.h b/apps/drivers/gps/mtk.h deleted file mode 100644 index d4e390b01..000000000 --- a/apps/drivers/gps/mtk.h +++ /dev/null @@ -1,124 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2008-2013 PX4 Development Team. All rights reserved. - * Author: Thomas Gubler - * Julian Oes - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/* @file mtk.h */ - -#ifndef MTK_H_ -#define MTK_H_ - -#include "gps_helper.h" - -#define MTK_SYNC1_V16 0xd0 -#define MTK_SYNC1_V19 0xd1 -#define MTK_SYNC2 0xdd - -#define MTK_OUTPUT_5HZ "$PMTK220,200*2C\r\n" -#define MTK_SET_BINARY "$PGCMD,16,0,0,0,0,0*6A\r\n" -#define SBAS_ON "$PMTK313,1*2E\r\n" -#define WAAS_ON "$PMTK301,2*2E\r\n" -#define MTK_NAVTHRES_OFF "$PMTK397,0*23\r\n" - -#define MTK_TIMEOUT_5HZ 400 -#define MTK_BAUDRATE 38400 - -typedef enum { - MTK_DECODE_UNINIT = 0, - MTK_DECODE_GOT_CK_A = 1, - MTK_DECODE_GOT_CK_B = 2 -} mtk_decode_state_t; - -/** the structures of the binary packets */ -#pragma pack(push, 1) - -typedef struct { - uint8_t payload; ///< Number of payload bytes - int32_t latitude; ///< Latitude in degrees * 10^7 - int32_t longitude; ///< Longitude in degrees * 10^7 - uint32_t msl_altitude; ///< MSL altitude in meters * 10^2 - uint32_t ground_speed; ///< velocity in m/s - int32_t heading; ///< heading in degrees * 10^2 - uint8_t satellites; ///< number of sattelites used - uint8_t fix_type; ///< fix type: XXX correct for that - uint32_t date; - uint32_t utc_time; - uint16_t hdop; ///< horizontal dilution of position (without unit) - uint8_t ck_a; - uint8_t ck_b; -} gps_mtk_packet_t; - -#pragma pack(pop) - -#define MTK_RECV_BUFFER_SIZE 40 - -class MTK : public GPS_Helper -{ -public: - MTK(const int &fd, struct vehicle_gps_position_s *gps_position); - ~MTK(); - int receive(unsigned timeout); - int configure(unsigned &baudrate); - -private: - /** - * Parse the binary MTK packet - */ - int parse_char(uint8_t b, gps_mtk_packet_t &packet); - - /** - * Handle the package once it has arrived - */ - void handle_message(gps_mtk_packet_t &packet); - - /** - * Reset the parse state machine for a fresh start - */ - void decode_init(void); - - /** - * While parsing add every byte (except the sync bytes) to the checksum - */ - void add_byte_to_checksum(uint8_t); - - int _fd; - struct vehicle_gps_position_s *_gps_position; - mtk_decode_state_t _decode_state; - uint8_t _mtk_revision; - uint8_t _rx_buffer[MTK_RECV_BUFFER_SIZE]; - unsigned _rx_count; - uint8_t _rx_ck_a; - uint8_t _rx_ck_b; -}; - -#endif /* MTK_H_ */ diff --git a/apps/drivers/gps/ubx.cpp b/apps/drivers/gps/ubx.cpp deleted file mode 100644 index c150f5271..000000000 --- a/apps/drivers/gps/ubx.cpp +++ /dev/null @@ -1,755 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. - * Author: Thomas Gubler - * Julian Oes - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file ubx.cpp - * - * U-Blox protocol implementation. Following u-blox 6/7 Receiver Description - * including Prototol Specification. - * - * @see http://www.u-blox.com/images/downloads/Product_Docs/u-blox6_ReceiverDescriptionProtocolSpec_%28GPS.G6-SW-10018%29.pdf - */ - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include "ubx.h" - -#define UBX_CONFIG_TIMEOUT 100 - -UBX::UBX(const int &fd, struct vehicle_gps_position_s *gps_position) : -_fd(fd), -_gps_position(gps_position), -_waiting_for_ack(false) -{ - decode_init(); -} - -UBX::~UBX() -{ -} - -int -UBX::configure(unsigned &baudrate) -{ - _waiting_for_ack = true; - - /* try different baudrates */ - const unsigned baudrates_to_try[] = {9600, 38400, 19200, 57600, 115200}; - - for (int baud_i = 0; baud_i < 5; baud_i++) { - baudrate = baudrates_to_try[baud_i]; - set_baudrate(_fd, baudrate); - - /* Send a CFG-PRT message to set the UBX protocol for in and out - * and leave the baudrate as it is, we just want an ACK-ACK from this - */ - type_gps_bin_cfg_prt_packet_t cfg_prt_packet; - /* Set everything else of the packet to 0, otherwise the module wont accept it */ - memset(&cfg_prt_packet, 0, sizeof(cfg_prt_packet)); - - _clsID_needed = UBX_CLASS_CFG; - _msgID_needed = UBX_MESSAGE_CFG_PRT; - - /* Define the package contents, don't change the baudrate */ - cfg_prt_packet.clsID = UBX_CLASS_CFG; - cfg_prt_packet.msgID = UBX_MESSAGE_CFG_PRT; - cfg_prt_packet.length = UBX_CFG_PRT_LENGTH; - cfg_prt_packet.portID = UBX_CFG_PRT_PAYLOAD_PORTID; - cfg_prt_packet.mode = UBX_CFG_PRT_PAYLOAD_MODE; - cfg_prt_packet.baudRate = baudrate; - cfg_prt_packet.inProtoMask = UBX_CFG_PRT_PAYLOAD_INPROTOMASK; - cfg_prt_packet.outProtoMask = UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK; - - send_config_packet(_fd, (uint8_t*)&cfg_prt_packet, sizeof(cfg_prt_packet)); - - if (receive(UBX_CONFIG_TIMEOUT) < 0) { - /* try next baudrate */ - continue; - } - - /* Send a CFG-PRT message again, this time change the baudrate */ - - cfg_prt_packet.clsID = UBX_CLASS_CFG; - cfg_prt_packet.msgID = UBX_MESSAGE_CFG_PRT; - cfg_prt_packet.length = UBX_CFG_PRT_LENGTH; - cfg_prt_packet.portID = UBX_CFG_PRT_PAYLOAD_PORTID; - cfg_prt_packet.mode = UBX_CFG_PRT_PAYLOAD_MODE; - cfg_prt_packet.baudRate = UBX_CFG_PRT_PAYLOAD_BAUDRATE; - cfg_prt_packet.inProtoMask = UBX_CFG_PRT_PAYLOAD_INPROTOMASK; - cfg_prt_packet.outProtoMask = UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK; - - send_config_packet(_fd, (uint8_t*)&cfg_prt_packet, sizeof(cfg_prt_packet)); - - /* no ACK is expected here, but read the buffer anyway in case we actually get an ACK */ - receive(UBX_CONFIG_TIMEOUT); - - if (UBX_CFG_PRT_PAYLOAD_BAUDRATE != baudrate) { - set_baudrate(_fd, UBX_CFG_PRT_PAYLOAD_BAUDRATE); - baudrate = UBX_CFG_PRT_PAYLOAD_BAUDRATE; - } - - /* send a CFT-RATE message to define update rate */ - type_gps_bin_cfg_rate_packet_t cfg_rate_packet; - memset(&cfg_rate_packet, 0, sizeof(cfg_rate_packet)); - - _clsID_needed = UBX_CLASS_CFG; - _msgID_needed = UBX_MESSAGE_CFG_RATE; - - cfg_rate_packet.clsID = UBX_CLASS_CFG; - cfg_rate_packet.msgID = UBX_MESSAGE_CFG_RATE; - cfg_rate_packet.length = UBX_CFG_RATE_LENGTH; - cfg_rate_packet.measRate = UBX_CFG_RATE_PAYLOAD_MEASRATE; - cfg_rate_packet.navRate = UBX_CFG_RATE_PAYLOAD_NAVRATE; - cfg_rate_packet.timeRef = UBX_CFG_RATE_PAYLOAD_TIMEREF; - - send_config_packet(_fd, (uint8_t*)&cfg_rate_packet, sizeof(cfg_rate_packet)); - if (receive(UBX_CONFIG_TIMEOUT) < 0) { - /* try next baudrate */ - continue; - } - - /* send a NAV5 message to set the options for the internal filter */ - type_gps_bin_cfg_nav5_packet_t cfg_nav5_packet; - memset(&cfg_nav5_packet, 0, sizeof(cfg_nav5_packet)); - - _clsID_needed = UBX_CLASS_CFG; - _msgID_needed = UBX_MESSAGE_CFG_NAV5; - - cfg_nav5_packet.clsID = UBX_CLASS_CFG; - cfg_nav5_packet.msgID = UBX_MESSAGE_CFG_NAV5; - cfg_nav5_packet.length = UBX_CFG_NAV5_LENGTH; - cfg_nav5_packet.mask = UBX_CFG_NAV5_PAYLOAD_MASK; - cfg_nav5_packet.dynModel = UBX_CFG_NAV5_PAYLOAD_DYNMODEL; - cfg_nav5_packet.fixMode = UBX_CFG_NAV5_PAYLOAD_FIXMODE; - - send_config_packet(_fd, (uint8_t*)&cfg_nav5_packet, sizeof(cfg_nav5_packet)); - if (receive(UBX_CONFIG_TIMEOUT) < 0) { - /* try next baudrate */ - continue; - } - - type_gps_bin_cfg_msg_packet_t cfg_msg_packet; - memset(&cfg_msg_packet, 0, sizeof(cfg_msg_packet)); - - _clsID_needed = UBX_CLASS_CFG; - _msgID_needed = UBX_MESSAGE_CFG_MSG; - - cfg_msg_packet.clsID = UBX_CLASS_CFG; - cfg_msg_packet.msgID = UBX_MESSAGE_CFG_MSG; - cfg_msg_packet.length = UBX_CFG_MSG_LENGTH; - /* Choose fast 5Hz rate for all messages except SVINFO which is big and not important */ - cfg_msg_packet.rate[1] = UBX_CFG_MSG_PAYLOAD_RATE1_5HZ; - - cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV; - cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_POSLLH; - - send_config_packet(_fd, (uint8_t*)&cfg_msg_packet, sizeof(cfg_msg_packet)); - if (receive(UBX_CONFIG_TIMEOUT) < 0) { - /* try next baudrate */ - continue; - } - - cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV; - cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_TIMEUTC; - - send_config_packet(_fd, (uint8_t*)&cfg_msg_packet, sizeof(cfg_msg_packet)); - if (receive(UBX_CONFIG_TIMEOUT) < 0) { - /* try next baudrate */ - continue; - } - - cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV; - cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_SVINFO; - /* For satelites info 1Hz is enough */ - cfg_msg_packet.rate[1] = UBX_CFG_MSG_PAYLOAD_RATE1_1HZ; - - send_config_packet(_fd, (uint8_t*)&cfg_msg_packet, sizeof(cfg_msg_packet)); - if (receive(UBX_CONFIG_TIMEOUT) < 0) { - /* try next baudrate */ - continue; - } - - cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV; - cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_SOL; - - send_config_packet(_fd, (uint8_t*)&cfg_msg_packet, sizeof(cfg_msg_packet)); - if (receive(UBX_CONFIG_TIMEOUT) < 0) { - /* try next baudrate */ - continue; - } - - cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV; - cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_VELNED; - - send_config_packet(_fd, (uint8_t*)&cfg_msg_packet, sizeof(cfg_msg_packet)); - if (receive(UBX_CONFIG_TIMEOUT) < 0) { - /* try next baudrate */ - continue; - } -// cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV; -// cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_DOP; - -// cfg_msg_packet.msgClass_payload = UBX_CLASS_RXM; -// cfg_msg_packet.msgID_payload = UBX_MESSAGE_RXM_SVSI; - - _waiting_for_ack = false; - return 0; - } - return -1; -} - -int -UBX::receive(unsigned timeout) -{ - /* poll descriptor */ - pollfd fds[1]; - fds[0].fd = _fd; - fds[0].events = POLLIN; - - uint8_t buf[32]; - - /* timeout additional to poll */ - uint64_t time_started = hrt_absolute_time(); - - int j = 0; - ssize_t count = 0; - - while (true) { - - /* pass received bytes to the packet decoder */ - while (j < count) { - if (parse_char(buf[j]) > 0) { - /* return to configure during configuration or to the gps driver during normal work - * if a packet has arrived */ - if (handle_message() > 0) - return 1; - } - /* in case we keep trying but only get crap from GPS */ - if (time_started + timeout*1000 < hrt_absolute_time() ) { - return -1; - } - j++; - } - - /* everything is read */ - j = count = 0; - - /* then poll for new data */ - int ret = ::poll(fds, sizeof(fds) / sizeof(fds[0]), timeout); - - if (ret < 0) { - /* something went wrong when polling */ - return -1; - - } else if (ret == 0) { - /* Timeout */ - return -1; - - } else if (ret > 0) { - /* if we have new data from GPS, go handle it */ - if (fds[0].revents & POLLIN) { - /* - * We are here because poll says there is some data, so this - * won't block even on a blocking device. If more bytes are - * available, we'll go back to poll() again... - */ - count = ::read(_fd, buf, sizeof(buf)); - } - } - } -} - -int -UBX::parse_char(uint8_t b) -{ - switch (_decode_state) { - /* First, look for sync1 */ - case UBX_DECODE_UNINIT: - if (b == UBX_SYNC1) { - _decode_state = UBX_DECODE_GOT_SYNC1; - } - break; - /* Second, look for sync2 */ - case UBX_DECODE_GOT_SYNC1: - if (b == UBX_SYNC2) { - _decode_state = UBX_DECODE_GOT_SYNC2; - } else { - /* Second start symbol was wrong, reset state machine */ - decode_init(); - } - break; - /* Now look for class */ - case UBX_DECODE_GOT_SYNC2: - /* everything except sync1 and sync2 needs to be added to the checksum */ - add_byte_to_checksum(b); - /* check for known class */ - switch (b) { - case UBX_CLASS_ACK: - _decode_state = UBX_DECODE_GOT_CLASS; - _message_class = ACK; - break; - - case UBX_CLASS_NAV: - _decode_state = UBX_DECODE_GOT_CLASS; - _message_class = NAV; - break; - -// case UBX_CLASS_RXM: -// _decode_state = UBX_DECODE_GOT_CLASS; -// _message_class = RXM; -// break; - - case UBX_CLASS_CFG: - _decode_state = UBX_DECODE_GOT_CLASS; - _message_class = CFG; - break; - default: //unknown class: reset state machine - decode_init(); - break; - } - break; - case UBX_DECODE_GOT_CLASS: - add_byte_to_checksum(b); - switch (_message_class) { - case NAV: - switch (b) { - case UBX_MESSAGE_NAV_POSLLH: - _decode_state = UBX_DECODE_GOT_MESSAGEID; - _message_id = NAV_POSLLH; - break; - - case UBX_MESSAGE_NAV_SOL: - _decode_state = UBX_DECODE_GOT_MESSAGEID; - _message_id = NAV_SOL; - break; - - case UBX_MESSAGE_NAV_TIMEUTC: - _decode_state = UBX_DECODE_GOT_MESSAGEID; - _message_id = NAV_TIMEUTC; - break; - -// case UBX_MESSAGE_NAV_DOP: -// _decode_state = UBX_DECODE_GOT_MESSAGEID; -// _message_id = NAV_DOP; -// break; - - case UBX_MESSAGE_NAV_SVINFO: - _decode_state = UBX_DECODE_GOT_MESSAGEID; - _message_id = NAV_SVINFO; - break; - - case UBX_MESSAGE_NAV_VELNED: - _decode_state = UBX_DECODE_GOT_MESSAGEID; - _message_id = NAV_VELNED; - break; - - default: //unknown class: reset state machine, should not happen - decode_init(); - break; - } - break; -// case RXM: -// switch (b) { -// case UBX_MESSAGE_RXM_SVSI: -// _decode_state = UBX_DECODE_GOT_MESSAGEID; -// _message_id = RXM_SVSI; -// break; -// -// default: //unknown class: reset state machine, should not happen -// decode_init(); -// break; -// } -// break; - - case CFG: - switch (b) { - case UBX_MESSAGE_CFG_NAV5: - _decode_state = UBX_DECODE_GOT_MESSAGEID; - _message_id = CFG_NAV5; - break; - - default: //unknown class: reset state machine, should not happen - decode_init(); - break; - } - break; - - case ACK: - switch (b) { - case UBX_MESSAGE_ACK_ACK: - _decode_state = UBX_DECODE_GOT_MESSAGEID; - _message_id = ACK_ACK; - break; - case UBX_MESSAGE_ACK_NAK: - _decode_state = UBX_DECODE_GOT_MESSAGEID; - _message_id = ACK_NAK; - break; - default: //unknown class: reset state machine, should not happen - decode_init(); - break; - } - break; - default: //should not happen because we set the class - warnx("UBX Error, we set a class that we don't know"); - decode_init(); -// config_needed = true; - break; - } - break; - case UBX_DECODE_GOT_MESSAGEID: - add_byte_to_checksum(b); - _payload_size = b; //this is the first length byte - _decode_state = UBX_DECODE_GOT_LENGTH1; - break; - case UBX_DECODE_GOT_LENGTH1: - add_byte_to_checksum(b); - _payload_size += b << 8; // here comes the second byte of length - _decode_state = UBX_DECODE_GOT_LENGTH2; - break; - case UBX_DECODE_GOT_LENGTH2: - /* Add to checksum if not yet at checksum byte */ - if (_rx_count < _payload_size) - add_byte_to_checksum(b); - _rx_buffer[_rx_count] = b; - /* once the payload has arrived, we can process the information */ - if (_rx_count >= _payload_size + 1) { //+1 because of 2 checksum bytes - - /* compare checksum */ - if (_rx_ck_a == _rx_buffer[_rx_count-1] && _rx_ck_b == _rx_buffer[_rx_count]) { - return 1; - } else { - decode_init(); - return -1; - warnx("ubx: Checksum wrong"); - } - - return 1; - } else if (_rx_count < RECV_BUFFER_SIZE) { - _rx_count++; - } else { - warnx("ubx: buffer full"); - decode_init(); - return -1; - } - break; - default: - break; - } - return 0; //XXX ? -} - - -int -UBX::handle_message() -{ - int ret = 0; - - switch (_message_id) { //this enum is unique for all ids --> no need to check the class - case NAV_POSLLH: { -// printf("GOT NAV_POSLLH MESSAGE\n"); - if (!_waiting_for_ack) { - gps_bin_nav_posllh_packet_t *packet = (gps_bin_nav_posllh_packet_t *) _rx_buffer; - - _gps_position->lat = packet->lat; - _gps_position->lon = packet->lon; - _gps_position->alt = packet->height_msl; - - _gps_position->eph_m = (float)packet->hAcc * 1e-3f; // from mm to m - _gps_position->epv_m = (float)packet->vAcc * 1e-3f; // from mm to m - - /* Add timestamp to finish the report */ - _gps_position->timestamp_position = hrt_absolute_time(); - /* only return 1 when new position is available */ - ret = 1; - } - break; - } - - case NAV_SOL: { -// printf("GOT NAV_SOL MESSAGE\n"); - if (!_waiting_for_ack) { - gps_bin_nav_sol_packet_t *packet = (gps_bin_nav_sol_packet_t *) _rx_buffer; - - _gps_position->fix_type = packet->gpsFix; - _gps_position->s_variance_m_s = packet->sAcc; - _gps_position->p_variance_m = packet->pAcc; - - _gps_position->timestamp_variance = hrt_absolute_time(); - } - break; - } - -// case NAV_DOP: { -//// printf("GOT NAV_DOP MESSAGE\n"); -// gps_bin_nav_dop_packet_t *packet = (gps_bin_nav_dop_packet_t *) _rx_buffer; -// -// _gps_position->eph_m = packet->hDOP; -// _gps_position->epv = packet->vDOP; -// -// _gps_position->timestamp_posdilution = hrt_absolute_time(); -// -// _new_nav_dop = true; -// -// break; -// } - - case NAV_TIMEUTC: { -// printf("GOT NAV_TIMEUTC MESSAGE\n"); - - if (!_waiting_for_ack) { - gps_bin_nav_timeutc_packet_t *packet = (gps_bin_nav_timeutc_packet_t *) _rx_buffer; - - //convert to unix timestamp - struct tm timeinfo; - timeinfo.tm_year = packet->year - 1900; - timeinfo.tm_mon = packet->month - 1; - timeinfo.tm_mday = packet->day; - timeinfo.tm_hour = packet->hour; - timeinfo.tm_min = packet->min; - timeinfo.tm_sec = packet->sec; - - time_t epoch = mktime(&timeinfo); - - _gps_position->time_gps_usec = (uint64_t)epoch * 1000000; //TODO: test this - _gps_position->time_gps_usec += (uint64_t)(packet->time_nanoseconds * 1e-3f); - - _gps_position->timestamp_time = hrt_absolute_time(); - } - break; - } - - case NAV_SVINFO: { -// printf("GOT NAV_SVINFO MESSAGE\n"); - - if (!_waiting_for_ack) { - //this is a more complicated message: the length depends on the number of satellites. This number is extracted from the first part of the message - const int length_part1 = 8; - char _rx_buffer_part1[length_part1]; - memcpy(_rx_buffer_part1, _rx_buffer, length_part1); - gps_bin_nav_svinfo_part1_packet_t *packet_part1 = (gps_bin_nav_svinfo_part1_packet_t *) _rx_buffer_part1; - - //read checksum - const int length_part3 = 2; - char _rx_buffer_part3[length_part3]; - memcpy(_rx_buffer_part3, &(_rx_buffer[_rx_count - 1]), length_part3); - - //definitions needed to read numCh elements from the buffer: - const int length_part2 = 12; - gps_bin_nav_svinfo_part2_packet_t *packet_part2; - char _rx_buffer_part2[length_part2]; //for temporal storage - - uint8_t satellites_used = 0; - int i; - - for (i = 0; i < packet_part1->numCh; i++) { //for each channel - - /* Get satellite information from the buffer */ - memcpy(_rx_buffer_part2, &(_rx_buffer[length_part1 + i * length_part2]), length_part2); - packet_part2 = (gps_bin_nav_svinfo_part2_packet_t *) _rx_buffer_part2; - - - /* Write satellite information in the global storage */ - _gps_position->satellite_prn[i] = packet_part2->svid; - - //if satellite information is healthy store the data - uint8_t unhealthy = packet_part2->flags & 1 << 4; //flags is a bitfield - - if (!unhealthy) { - if ((packet_part2->flags) & 1) { //flags is a bitfield - _gps_position->satellite_used[i] = 1; - satellites_used++; - - } else { - _gps_position->satellite_used[i] = 0; - } - - _gps_position->satellite_snr[i] = packet_part2->cno; - _gps_position->satellite_elevation[i] = (uint8_t)(packet_part2->elev); - _gps_position->satellite_azimuth[i] = (uint8_t)((float)packet_part2->azim * 255.0f / 360.0f); - - } else { - _gps_position->satellite_used[i] = 0; - _gps_position->satellite_snr[i] = 0; - _gps_position->satellite_elevation[i] = 0; - _gps_position->satellite_azimuth[i] = 0; - } - - } - - for (i = packet_part1->numCh; i < 20; i++) { //these channels are unused - /* Unused channels have to be set to zero for e.g. MAVLink */ - _gps_position->satellite_prn[i] = 0; - _gps_position->satellite_used[i] = 0; - _gps_position->satellite_snr[i] = 0; - _gps_position->satellite_elevation[i] = 0; - _gps_position->satellite_azimuth[i] = 0; - } - _gps_position->satellites_visible = satellites_used; // visible ~= used but we are interested in the used ones - - /* set timestamp if any sat info is available */ - if (packet_part1->numCh > 0) { - _gps_position->satellite_info_available = true; - } else { - _gps_position->satellite_info_available = false; - } - _gps_position->timestamp_satellites = hrt_absolute_time(); - } - - break; - } - - case NAV_VELNED: { - - if (!_waiting_for_ack) { - /* 35.15 NAV-VELNED (0x01 0x12) message (page 181 / 210 of reference manual */ - gps_bin_nav_velned_packet_t *packet = (gps_bin_nav_velned_packet_t *) _rx_buffer; - - _gps_position->vel_m_s = (float)packet->speed * 1e-2f; - _gps_position->vel_n_m_s = (float)packet->velN * 1e-2f; /* NED NORTH velocity */ - _gps_position->vel_e_m_s = (float)packet->velE * 1e-2f; /* NED EAST velocity */ - _gps_position->vel_d_m_s = (float)packet->velD * 1e-2f; /* NED DOWN velocity */ - _gps_position->cog_rad = (float)packet->heading * M_DEG_TO_RAD_F * 1e-5f; - _gps_position->c_variance_rad = (float)packet->cAcc * M_DEG_TO_RAD_F * 1e-5f; - _gps_position->vel_ned_valid = true; - _gps_position->timestamp_velocity = hrt_absolute_time(); - } - - break; - } - -// case RXM_SVSI: { -// printf("GOT RXM_SVSI MESSAGE\n"); -// const int length_part1 = 7; -// char _rx_buffer_part1[length_part1]; -// memcpy(_rx_buffer_part1, _rx_buffer, length_part1); -// gps_bin_rxm_svsi_packet_t *packet = (gps_bin_rxm_svsi_packet_t *) _rx_buffer_part1; -// -// _gps_position->satellites_visible = packet->numVis; -// _gps_position->counter++; -// _last_message_timestamps[RXM_SVSI - 1] = hrt_absolute_time(); -// -// break; -// } - case ACK_ACK: { -// printf("GOT ACK_ACK\n"); - gps_bin_ack_ack_packet_t *packet = (gps_bin_ack_ack_packet_t *) _rx_buffer; - - if (_waiting_for_ack) { - if (packet->clsID == _clsID_needed && packet->msgID == _msgID_needed) { - ret = 1; - } - } - } - break; - - case ACK_NAK: { -// printf("GOT ACK_NAK\n"); - warnx("UBX: Received: Not Acknowledged"); - /* configuration obviously not successful */ - ret = -1; - break; - } - - default: //we don't know the message - warnx("UBX: Unknown message received: %d-%d\n",_message_class,_message_id); - ret = -1; - break; - } - // end if _rx_count high enough - decode_init(); - return ret; //XXX? -} - -void -UBX::decode_init(void) -{ - _rx_ck_a = 0; - _rx_ck_b = 0; - _rx_count = 0; - _decode_state = UBX_DECODE_UNINIT; - _message_class = CLASS_UNKNOWN; - _message_id = ID_UNKNOWN; - _payload_size = 0; -} - -void -UBX::add_byte_to_checksum(uint8_t b) -{ - _rx_ck_a = _rx_ck_a + b; - _rx_ck_b = _rx_ck_b + _rx_ck_a; -} - -void -UBX::add_checksum_to_message(uint8_t* message, const unsigned length) -{ - uint8_t ck_a = 0; - uint8_t ck_b = 0; - unsigned i; - - for (i = 0; i < length-2; i++) { - ck_a = ck_a + message[i]; - ck_b = ck_b + ck_a; - } - /* The checksum is written to the last to bytes of a message */ - message[length-2] = ck_a; - message[length-1] = ck_b; -} - -void -UBX::send_config_packet(const int &fd, uint8_t *packet, const unsigned length) -{ - ssize_t ret = 0; - - /* Calculate the checksum now */ - add_checksum_to_message(packet, length); - - const uint8_t sync_bytes[] = {UBX_SYNC1, UBX_SYNC2}; - - /* Start with the two sync bytes */ - ret += write(fd, sync_bytes, sizeof(sync_bytes)); - ret += write(fd, packet, length); - - if (ret != (int)length + (int)sizeof(sync_bytes)) // XXX is there a neater way to get rid of the unsigned signed warning? - warnx("ubx: config write fail"); -} diff --git a/apps/drivers/gps/ubx.h b/apps/drivers/gps/ubx.h deleted file mode 100644 index e3dd1c7ea..000000000 --- a/apps/drivers/gps/ubx.h +++ /dev/null @@ -1,395 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2008-2013 PX4 Development Team. All rights reserved. - * Author: Thomas Gubler - * Julian Oes - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/* @file U-Blox protocol definitions */ - -#ifndef UBX_H_ -#define UBX_H_ - -#include "gps_helper.h" - -#define UBX_SYNC1 0xB5 -#define UBX_SYNC2 0x62 - -/* ClassIDs (the ones that are used) */ -#define UBX_CLASS_NAV 0x01 -//#define UBX_CLASS_RXM 0x02 -#define UBX_CLASS_ACK 0x05 -#define UBX_CLASS_CFG 0x06 - -/* MessageIDs (the ones that are used) */ -#define UBX_MESSAGE_NAV_POSLLH 0x02 -#define UBX_MESSAGE_NAV_SOL 0x06 -#define UBX_MESSAGE_NAV_TIMEUTC 0x21 -//#define UBX_MESSAGE_NAV_DOP 0x04 -#define UBX_MESSAGE_NAV_SVINFO 0x30 -#define UBX_MESSAGE_NAV_VELNED 0x12 -//#define UBX_MESSAGE_RXM_SVSI 0x20 -#define UBX_MESSAGE_ACK_ACK 0x01 -#define UBX_MESSAGE_ACK_NAK 0x00 -#define UBX_MESSAGE_CFG_PRT 0x00 -#define UBX_MESSAGE_CFG_NAV5 0x24 -#define UBX_MESSAGE_CFG_MSG 0x01 -#define UBX_MESSAGE_CFG_RATE 0x08 - -#define UBX_CFG_PRT_LENGTH 20 -#define UBX_CFG_PRT_PAYLOAD_PORTID 0x01 /**< UART1 */ -#define UBX_CFG_PRT_PAYLOAD_MODE 0x000008D0 /**< 0b0000100011010000: 8N1 */ -#define UBX_CFG_PRT_PAYLOAD_BAUDRATE 38400 /**< always choose 38400 as GPS baudrate */ -#define UBX_CFG_PRT_PAYLOAD_INPROTOMASK 0x01 /**< UBX in */ -#define UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK 0x01 /**< UBX out */ - -#define UBX_CFG_RATE_LENGTH 6 -#define UBX_CFG_RATE_PAYLOAD_MEASRATE 200 /**< 200ms for 5Hz */ -#define UBX_CFG_RATE_PAYLOAD_NAVRATE 1 /**< cannot be changed */ -#define UBX_CFG_RATE_PAYLOAD_TIMEREF 0 /**< 0: UTC, 1: GPS time */ - - -#define UBX_CFG_NAV5_LENGTH 36 -#define UBX_CFG_NAV5_PAYLOAD_MASK 0x0001 /**< only update dynamic model and fix mode */ -#define UBX_CFG_NAV5_PAYLOAD_DYNMODEL 7 /**< 0: portable, 2: stationary, 3: pedestrian, 4: automotive, 5: sea, 6: airborne <1g, 7: airborne <2g, 8: airborne <4g */ -#define UBX_CFG_NAV5_PAYLOAD_FIXMODE 2 /**< 1: 2D only, 2: 3D only, 3: Auto 2D/3D */ - -#define UBX_CFG_MSG_LENGTH 8 -#define UBX_CFG_MSG_PAYLOAD_RATE1_5HZ 0x01 /**< {0x00, 0x01, 0x00, 0x00, 0x00, 0x00} the second entry is for UART1 */ -#define UBX_CFG_MSG_PAYLOAD_RATE1_1HZ 0x05 /**< {0x00, 0x05, 0x00, 0x00, 0x00, 0x00} the second entry is for UART1 */ - -#define UBX_MAX_PAYLOAD_LENGTH 500 - -// ************ -/** the structures of the binary packets */ -#pragma pack(push, 1) - -typedef struct { - uint32_t time_milliseconds; /**< GPS Millisecond Time of Week */ - int32_t lon; /**< Longitude * 1e-7, deg */ - int32_t lat; /**< Latitude * 1e-7, deg */ - int32_t height; /**< Height above Ellipsoid, mm */ - int32_t height_msl; /**< Height above mean sea level, mm */ - uint32_t hAcc; /**< Horizontal Accuracy Estimate, mm */ - uint32_t vAcc; /**< Vertical Accuracy Estimate, mm */ - uint8_t ck_a; - uint8_t ck_b; -} gps_bin_nav_posllh_packet_t; - -typedef struct { - uint32_t time_milliseconds; /**< GPS Millisecond Time of Week */ - int32_t time_nanoseconds; /**< Fractional Nanoseconds remainder of rounded ms above, range -500000 .. 500000 */ - int16_t week; /**< GPS week (GPS time) */ - uint8_t gpsFix; /**< GPS Fix: 0 = No fix, 1 = Dead Reckoning only, 2 = 2D fix, 3 = 3d-fix, 4 = GPS + dead reckoning, 5 = time only fix */ - uint8_t flags; - int32_t ecefX; - int32_t ecefY; - int32_t ecefZ; - uint32_t pAcc; - int32_t ecefVX; - int32_t ecefVY; - int32_t ecefVZ; - uint32_t sAcc; - uint16_t pDOP; - uint8_t reserved1; - uint8_t numSV; - uint32_t reserved2; - uint8_t ck_a; - uint8_t ck_b; -} gps_bin_nav_sol_packet_t; - -typedef struct { - uint32_t time_milliseconds; /**< GPS Millisecond Time of Week */ - uint32_t time_accuracy; /**< Time Accuracy Estimate, ns */ - int32_t time_nanoseconds; /**< Nanoseconds of second, range -1e9 .. 1e9 (UTC) */ - uint16_t year; /**< Year, range 1999..2099 (UTC) */ - uint8_t month; /**< Month, range 1..12 (UTC) */ - uint8_t day; /**< Day of Month, range 1..31 (UTC) */ - uint8_t hour; /**< Hour of Day, range 0..23 (UTC) */ - uint8_t min; /**< Minute of Hour, range 0..59 (UTC) */ - uint8_t sec; /**< Seconds of Minute, range 0..59 (UTC) */ - uint8_t valid_flag; /**< Validity Flags (see ubx documentation) */ - uint8_t ck_a; - uint8_t ck_b; -} gps_bin_nav_timeutc_packet_t; - -//typedef struct { -// uint32_t time_milliseconds; /**< GPS Millisecond Time of Week */ -// uint16_t gDOP; /**< Geometric DOP (scaling 0.01) */ -// uint16_t pDOP; /**< Position DOP (scaling 0.01) */ -// uint16_t tDOP; /**< Time DOP (scaling 0.01) */ -// uint16_t vDOP; /**< Vertical DOP (scaling 0.01) */ -// uint16_t hDOP; /**< Horizontal DOP (scaling 0.01) */ -// uint16_t nDOP; /**< Northing DOP (scaling 0.01) */ -// uint16_t eDOP; /**< Easting DOP (scaling 0.01) */ -// uint8_t ck_a; -// uint8_t ck_b; -//} gps_bin_nav_dop_packet_t; - -typedef struct { - uint32_t time_milliseconds; /**< GPS Millisecond Time of Week */ - uint8_t numCh; /**< Number of channels */ - uint8_t globalFlags; - uint16_t reserved2; - -} gps_bin_nav_svinfo_part1_packet_t; - -typedef struct { - uint8_t chn; /**< Channel number, 255 for SVs not assigned to a channel */ - uint8_t svid; /**< Satellite ID */ - uint8_t flags; - uint8_t quality; - uint8_t cno; /**< Carrier to Noise Ratio (Signal Strength), dbHz */ - int8_t elev; /**< Elevation in integer degrees */ - int16_t azim; /**< Azimuth in integer degrees */ - int32_t prRes; /**< Pseudo range residual in centimetres */ - -} gps_bin_nav_svinfo_part2_packet_t; - -typedef struct { - uint8_t ck_a; - uint8_t ck_b; -} gps_bin_nav_svinfo_part3_packet_t; - -typedef struct { - uint32_t time_milliseconds; // GPS Millisecond Time of Week - int32_t velN; //NED north velocity, cm/s - int32_t velE; //NED east velocity, cm/s - int32_t velD; //NED down velocity, cm/s - uint32_t speed; //Speed (3-D), cm/s - uint32_t gSpeed; //Ground Speed (2-D), cm/s - int32_t heading; //Heading of motion 2-D, deg, scaling: 1e-5 - uint32_t sAcc; //Speed Accuracy Estimate, cm/s - uint32_t cAcc; //Course / Heading Accuracy Estimate, scaling: 1e-5 - uint8_t ck_a; - uint8_t ck_b; -} gps_bin_nav_velned_packet_t; - -//typedef struct { -// int32_t time_milliseconds; /**< Measurement integer millisecond GPS time of week */ -// int16_t week; /**< Measurement GPS week number */ -// uint8_t numVis; /**< Number of visible satellites */ -// -// //... rest of package is not used in this implementation -// -//} gps_bin_rxm_svsi_packet_t; - -typedef struct { - uint8_t clsID; - uint8_t msgID; - uint8_t ck_a; - uint8_t ck_b; -} gps_bin_ack_ack_packet_t; - -typedef struct { - uint8_t clsID; - uint8_t msgID; - uint8_t ck_a; - uint8_t ck_b; -} gps_bin_ack_nak_packet_t; - -typedef struct { - uint8_t clsID; - uint8_t msgID; - uint16_t length; - uint8_t portID; - uint8_t res0; - uint16_t res1; - uint32_t mode; - uint32_t baudRate; - uint16_t inProtoMask; - uint16_t outProtoMask; - uint16_t flags; - uint16_t pad; - uint8_t ck_a; - uint8_t ck_b; -} type_gps_bin_cfg_prt_packet_t; - -typedef struct { - uint8_t clsID; - uint8_t msgID; - uint16_t length; - uint16_t measRate; - uint16_t navRate; - uint16_t timeRef; - uint8_t ck_a; - uint8_t ck_b; -} type_gps_bin_cfg_rate_packet_t; - -typedef struct { - uint8_t clsID; - uint8_t msgID; - uint16_t length; - uint16_t mask; - uint8_t dynModel; - uint8_t fixMode; - int32_t fixedAlt; - uint32_t fixedAltVar; - int8_t minElev; - uint8_t drLimit; - uint16_t pDop; - uint16_t tDop; - uint16_t pAcc; - uint16_t tAcc; - uint8_t staticHoldThresh; - uint8_t dgpsTimeOut; - uint32_t reserved2; - uint32_t reserved3; - uint32_t reserved4; - uint8_t ck_a; - uint8_t ck_b; -} type_gps_bin_cfg_nav5_packet_t; - -typedef struct { - uint8_t clsID; - uint8_t msgID; - uint16_t length; - uint8_t msgClass_payload; - uint8_t msgID_payload; - uint8_t rate[6]; - uint8_t ck_a; - uint8_t ck_b; -} type_gps_bin_cfg_msg_packet_t; - - -// END the structures of the binary packets -// ************ - -typedef enum { - UBX_CONFIG_STATE_PRT = 0, - UBX_CONFIG_STATE_PRT_NEW_BAUDRATE, - UBX_CONFIG_STATE_RATE, - UBX_CONFIG_STATE_NAV5, - UBX_CONFIG_STATE_MSG_NAV_POSLLH, - UBX_CONFIG_STATE_MSG_NAV_TIMEUTC, - UBX_CONFIG_STATE_MSG_NAV_DOP, - UBX_CONFIG_STATE_MSG_NAV_SVINFO, - UBX_CONFIG_STATE_MSG_NAV_SOL, - UBX_CONFIG_STATE_MSG_NAV_VELNED, -// UBX_CONFIG_STATE_MSG_RXM_SVSI, - UBX_CONFIG_STATE_CONFIGURED -} ubx_config_state_t; - -typedef enum { - CLASS_UNKNOWN = 0, - NAV = 1, - RXM = 2, - ACK = 3, - CFG = 4 -} ubx_message_class_t; - -typedef enum { - //these numbers do NOT correspond to the message id numbers of the ubx protocol - ID_UNKNOWN = 0, - NAV_POSLLH, - NAV_SOL, - NAV_TIMEUTC, -// NAV_DOP, - NAV_SVINFO, - NAV_VELNED, -// RXM_SVSI, - CFG_NAV5, - ACK_ACK, - ACK_NAK, -} ubx_message_id_t; - -typedef enum { - UBX_DECODE_UNINIT = 0, - UBX_DECODE_GOT_SYNC1, - UBX_DECODE_GOT_SYNC2, - UBX_DECODE_GOT_CLASS, - UBX_DECODE_GOT_MESSAGEID, - UBX_DECODE_GOT_LENGTH1, - UBX_DECODE_GOT_LENGTH2 -} ubx_decode_state_t; - -//typedef type_gps_bin_ubx_state gps_bin_ubx_state_t; -#pragma pack(pop) - -#define RECV_BUFFER_SIZE 500 //The NAV-SOL messages really need such a big buffer - -class UBX : public GPS_Helper -{ -public: - UBX(const int &fd, struct vehicle_gps_position_s *gps_position); - ~UBX(); - int receive(unsigned timeout); - int configure(unsigned &baudrate); - -private: - - /** - * Parse the binary MTK packet - */ - int parse_char(uint8_t b); - - /** - * Handle the package once it has arrived - */ - int handle_message(void); - - /** - * Reset the parse state machine for a fresh start - */ - void decode_init(void); - - /** - * While parsing add every byte (except the sync bytes) to the checksum - */ - void add_byte_to_checksum(uint8_t); - - /** - * Add the two checksum bytes to an outgoing message - */ - void add_checksum_to_message(uint8_t* message, const unsigned length); - - /** - * Helper to send a config packet - */ - void send_config_packet(const int &fd, uint8_t *packet, const unsigned length); - - int _fd; - struct vehicle_gps_position_s *_gps_position; - ubx_config_state_t _config_state; - bool _waiting_for_ack; - uint8_t _clsID_needed; - uint8_t _msgID_needed; - ubx_decode_state_t _decode_state; - uint8_t _rx_buffer[RECV_BUFFER_SIZE]; - unsigned _rx_count; - uint8_t _rx_ck_a; - uint8_t _rx_ck_b; - ubx_message_class_t _message_class; - ubx_message_id_t _message_id; - unsigned _payload_size; -}; - -#endif /* UBX_H_ */ diff --git a/apps/drivers/hil/Makefile b/apps/drivers/hil/Makefile deleted file mode 100644 index 1fb6e37bc..000000000 --- a/apps/drivers/hil/Makefile +++ /dev/null @@ -1,42 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Interface driver for the PX4FMU board -# - -APPNAME = hil -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 - -include $(APPDIR)/mk/app.mk diff --git a/apps/drivers/hil/hil.cpp b/apps/drivers/hil/hil.cpp deleted file mode 100644 index d9aa772d4..000000000 --- a/apps/drivers/hil/hil.cpp +++ /dev/null @@ -1,851 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file hil.cpp - * - * Driver/configurator for the virtual HIL port. - * - * This virtual driver emulates PWM / servo outputs for setups where - * the connected hardware does not provide enough or no PWM outputs. - * - * Its only function is to take actuator_control uORB messages, - * mix them with any loaded mixer and output the result to the - * actuator_output uORB topic. HIL can also be performed with normal - * PWM outputs, a special flag prevents the outputs to be operated - * during HIL mode. If HIL is not performed with a standalone FMU, - * but in a real system, it is NOT recommended to use this virtual - * driver. Use instead the normal FMU or IO driver. - */ - -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include - -#include -#include -#include -#include -#include - -#include -#include - -#include -#include - -#include - -class HIL : public device::CDev -{ -public: - enum Mode { - MODE_2PWM, - MODE_4PWM, - MODE_8PWM, - MODE_12PWM, - MODE_16PWM, - MODE_NONE - }; - HIL(); - virtual ~HIL(); - - virtual int ioctl(file *filp, int cmd, unsigned long arg); - - virtual int init(); - - int set_mode(Mode mode); - int set_pwm_rate(unsigned rate); - -private: - static const unsigned _max_actuators = 4; - - Mode _mode; - int _update_rate; - int _current_update_rate; - int _task; - int _t_actuators; - int _t_armed; - orb_advert_t _t_outputs; - unsigned _num_outputs; - bool _primary_pwm_device; - - volatile bool _task_should_exit; - bool _armed; - - MixerGroup *_mixers; - - actuator_controls_s _controls; - - static void task_main_trampoline(int argc, char *argv[]); - void task_main() __attribute__((noreturn)); - - static int control_callback(uintptr_t handle, - uint8_t control_group, - uint8_t control_index, - float &input); - - int pwm_ioctl(file *filp, int cmd, unsigned long arg); - - struct GPIOConfig { - uint32_t input; - uint32_t output; - uint32_t alt; - }; - - static const GPIOConfig _gpio_tab[]; - static const unsigned _ngpio; - - void gpio_reset(void); - void gpio_set_function(uint32_t gpios, int function); - void gpio_write(uint32_t gpios, int function); - uint32_t gpio_read(void); - int gpio_ioctl(file *filp, int cmd, unsigned long arg); - -}; - -namespace -{ - -HIL *g_hil; - -} // namespace - -HIL::HIL() : - CDev("hilservo", PWM_OUTPUT_DEVICE_PATH/*"/dev/hil" XXXL*/), - _mode(MODE_NONE), - _update_rate(50), - _current_update_rate(0), - _task(-1), - _t_actuators(-1), - _t_armed(-1), - _t_outputs(0), - _num_outputs(0), - _primary_pwm_device(false), - _task_should_exit(false), - _armed(false), - _mixers(nullptr) -{ - _debug_enabled = true; -} - -HIL::~HIL() -{ - if (_task != -1) { - /* tell the task we want it to go away */ - _task_should_exit = true; - - unsigned i = 10; - do { - /* wait 50ms - it should wake every 100ms or so worst-case */ - usleep(50000); - - /* if we have given up, kill it */ - if (--i == 0) { - task_delete(_task); - break; - } - - } while (_task != -1); - } - - /* clean up the alternate device node */ - if (_primary_pwm_device) - unregister_driver(PWM_OUTPUT_DEVICE_PATH); - - g_hil = nullptr; -} - -int -HIL::init() -{ - int ret; - - ASSERT(_task == -1); - - /* do regular cdev init */ - ret = CDev::init(); - - if (ret != OK) - return ret; - - // XXX already claimed with CDEV - ///* try to claim the generic PWM output device node as well - it's OK if we fail at this */ - //ret = register_driver(PWM_OUTPUT_DEVICE_PATH, &fops, 0666, (void *)this); - if (ret == OK) { - log("default PWM output device"); - _primary_pwm_device = true; - } - - /* reset GPIOs */ - // gpio_reset(); - - /* start the HIL interface task */ - _task = task_spawn("fmuhil", - SCHED_DEFAULT, - SCHED_PRIORITY_DEFAULT, - 2048, - (main_t)&HIL::task_main_trampoline, - nullptr); - - if (_task < 0) { - debug("task start failed: %d", errno); - return -errno; - } - - return OK; -} - -void -HIL::task_main_trampoline(int argc, char *argv[]) -{ - g_hil->task_main(); -} - -int -HIL::set_mode(Mode mode) -{ - /* - * Configure for PWM output. - * - * Note that regardless of the configured mode, the task is always - * listening and mixing; the mode just selects which of the channels - * are presented on the output pins. - */ - switch (mode) { - case MODE_2PWM: - debug("MODE_2PWM"); - /* multi-port with flow control lines as PWM */ - _update_rate = 50; /* default output rate */ - break; - - case MODE_4PWM: - debug("MODE_4PWM"); - /* multi-port as 4 PWM outs */ - _update_rate = 50; /* default output rate */ - break; - - case MODE_8PWM: - debug("MODE_8PWM"); - /* multi-port as 8 PWM outs */ - _update_rate = 50; /* default output rate */ - break; - - case MODE_12PWM: - debug("MODE_12PWM"); - /* multi-port as 12 PWM outs */ - _update_rate = 50; /* default output rate */ - break; - - case MODE_16PWM: - debug("MODE_16PWM"); - /* multi-port as 16 PWM outs */ - _update_rate = 50; /* default output rate */ - break; - - case MODE_NONE: - debug("MODE_NONE"); - /* disable servo outputs and set a very low update rate */ - _update_rate = 10; - break; - - default: - return -EINVAL; - } - _mode = mode; - return OK; -} - -int -HIL::set_pwm_rate(unsigned rate) -{ - if ((rate > 500) || (rate < 10)) - return -EINVAL; - - _update_rate = rate; - return OK; -} - -void -HIL::task_main() -{ - /* - * Subscribe to the appropriate PWM output topic based on whether we are the - * primary PWM output or not. - */ - _t_actuators = orb_subscribe(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS : - ORB_ID(actuator_controls_1)); - /* force a reset of the update rate */ - _current_update_rate = 0; - - _t_armed = orb_subscribe(ORB_ID(actuator_armed)); - orb_set_interval(_t_armed, 200); /* 5Hz update rate */ - - /* advertise the mixed control outputs */ - actuator_outputs_s outputs; - memset(&outputs, 0, sizeof(outputs)); - /* advertise the mixed control outputs */ - _t_outputs = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1), - &outputs); - - pollfd fds[2]; - fds[0].fd = _t_actuators; - fds[0].events = POLLIN; - fds[1].fd = _t_armed; - fds[1].events = POLLIN; - - unsigned num_outputs; - - /* select the number of virtual outputs */ - switch (_mode) { - case MODE_2PWM: - num_outputs = 2; - break; - - case MODE_4PWM: - num_outputs = 4; - break; - - case MODE_8PWM: - case MODE_12PWM: - case MODE_16PWM: - // XXX only support the lower 8 - trivial to extend - num_outputs = 8; - break; - - case MODE_NONE: - default: - num_outputs = 0; - break; - } - - log("starting"); - - /* loop until killed */ - while (!_task_should_exit) { - - /* handle update rate changes */ - if (_current_update_rate != _update_rate) { - int update_rate_in_ms = int(1000 / _update_rate); - if (update_rate_in_ms < 2) - update_rate_in_ms = 2; - orb_set_interval(_t_actuators, update_rate_in_ms); - // up_pwm_servo_set_rate(_update_rate); - _current_update_rate = _update_rate; - } - - /* sleep waiting for data, but no more than a second */ - int ret = ::poll(&fds[0], 2, 1000); - - /* this would be bad... */ - if (ret < 0) { - log("poll error %d", errno); - continue; - } - - /* do we have a control update? */ - if (fds[0].revents & POLLIN) { - - /* get controls - must always do this to avoid spinning */ - orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, _t_actuators, &_controls); - - /* can we mix? */ - if (_mixers != nullptr) { - - /* do mixing */ - outputs.noutputs = _mixers->mix(&outputs.output[0], num_outputs); - outputs.timestamp = hrt_absolute_time(); - - /* iterate actuators */ - for (unsigned i = 0; i < num_outputs; i++) { - - /* last resort: catch NaN, INF and out-of-band errors */ - if (i < (unsigned)outputs.noutputs && - isfinite(outputs.output[i]) && - outputs.output[i] >= -1.0f && - outputs.output[i] <= 1.0f) { - /* scale for PWM output 900 - 2100us */ - outputs.output[i] = 1500 + (600 * outputs.output[i]); - } else { - /* - * Value is NaN, INF or out of band - set to the minimum value. - * This will be clearly visible on the servo status and will limit the risk of accidentally - * spinning motors. It would be deadly in flight. - */ - outputs.output[i] = 900; - } - } - - /* and publish for anyone that cares to see */ - orb_publish(ORB_ID_VEHICLE_CONTROLS, _t_outputs, &outputs); - } - } - - /* how about an arming update? */ - if (fds[1].revents & POLLIN) { - actuator_armed_s aa; - - /* get new value */ - orb_copy(ORB_ID(actuator_armed), _t_armed, &aa); - } - } - - ::close(_t_actuators); - ::close(_t_armed); - - /* make sure servos are off */ - // up_pwm_servo_deinit(); - - log("stopping"); - - /* note - someone else is responsible for restoring the GPIO config */ - - /* tell the dtor that we are exiting */ - _task = -1; - _exit(0); -} - -int -HIL::control_callback(uintptr_t handle, - uint8_t control_group, - uint8_t control_index, - float &input) -{ - const actuator_controls_s *controls = (actuator_controls_s *)handle; - - input = controls->control[control_index]; - return 0; -} - -int -HIL::ioctl(file *filp, int cmd, unsigned long arg) -{ - int ret; - - debug("ioctl 0x%04x 0x%08x", cmd, arg); - - // /* try it as a GPIO ioctl first */ - // ret = HIL::gpio_ioctl(filp, cmd, arg); - // if (ret != -ENOTTY) - // return ret; - - /* if we are in valid PWM mode, try it as a PWM ioctl as well */ - switch(_mode) { - case MODE_2PWM: - case MODE_4PWM: - case MODE_8PWM: - case MODE_12PWM: - case MODE_16PWM: - ret = HIL::pwm_ioctl(filp, cmd, arg); - break; - default: - ret = -ENOTTY; - debug("not in a PWM mode"); - break; - } - - /* if nobody wants it, let CDev have it */ - if (ret == -ENOTTY) - ret = CDev::ioctl(filp, cmd, arg); - - return ret; -} - -int -HIL::pwm_ioctl(file *filp, int cmd, unsigned long arg) -{ - int ret = OK; - // int channel; - - lock(); - - switch (cmd) { - case PWM_SERVO_ARM: - // up_pwm_servo_arm(true); - break; - - case PWM_SERVO_DISARM: - // up_pwm_servo_arm(false); - break; - - case PWM_SERVO_SET_UPDATE_RATE: - // HIL always outputs at the alternate (usually faster) rate - g_hil->set_pwm_rate(arg); - break; - - case PWM_SERVO_SELECT_UPDATE_RATE: - // HIL always outputs at the alternate (usually faster) rate - break; - - case PWM_SERVO_SET(2): - case PWM_SERVO_SET(3): - if (_mode != MODE_4PWM) { - ret = -EINVAL; - break; - } - - /* FALLTHROUGH */ - case PWM_SERVO_SET(0): - case PWM_SERVO_SET(1): - if (arg < 2100) { - // channel = cmd - PWM_SERVO_SET(0); -// up_pwm_servo_set(channel, arg); XXX - - } else { - ret = -EINVAL; - } - - break; - - case PWM_SERVO_GET(2): - case PWM_SERVO_GET(3): - if (_mode != MODE_4PWM) { - ret = -EINVAL; - break; - } - - /* FALLTHROUGH */ - case PWM_SERVO_GET(0): - case PWM_SERVO_GET(1): { - // channel = cmd - PWM_SERVO_SET(0); - // *(servo_position_t *)arg = up_pwm_servo_get(channel); - break; - } - - case PWM_SERVO_GET_RATEGROUP(0) ... PWM_SERVO_GET_RATEGROUP(PWM_OUTPUT_MAX_CHANNELS - 1): { - // no restrictions on output grouping - unsigned channel = cmd - PWM_SERVO_GET_RATEGROUP(0); - - *(uint32_t *)arg = (1 << channel); - break; - } - - case MIXERIOCGETOUTPUTCOUNT: - if (_mode == MODE_4PWM) { - *(unsigned *)arg = 4; - - } else { - *(unsigned *)arg = 2; - } - - break; - - case MIXERIOCRESET: - if (_mixers != nullptr) { - delete _mixers; - _mixers = nullptr; - } - - break; - - case MIXERIOCADDSIMPLE: { - mixer_simple_s *mixinfo = (mixer_simple_s *)arg; - - SimpleMixer *mixer = new SimpleMixer(control_callback, - (uintptr_t)&_controls, mixinfo); - - if (mixer->check()) { - delete mixer; - ret = -EINVAL; - - } else { - if (_mixers == nullptr) - _mixers = new MixerGroup(control_callback, - (uintptr_t)&_controls); - - _mixers->add_mixer(mixer); - } - - break; - } - - case MIXERIOCLOADBUF: { - const char *buf = (const char *)arg; - unsigned buflen = strnlen(buf, 1024); - - if (_mixers == nullptr) - _mixers = new MixerGroup(control_callback, (uintptr_t)&_controls); - - if (_mixers == nullptr) { - ret = -ENOMEM; - - } else { - - ret = _mixers->load_from_buf(buf, buflen); - - if (ret != 0) { - debug("mixer load failed with %d", ret); - delete _mixers; - _mixers = nullptr; - ret = -EINVAL; - } - } - break; - } - - - default: - ret = -ENOTTY; - break; - } - - unlock(); - - return ret; -} - -namespace -{ - -enum PortMode { - PORT_MODE_UNDEFINED = 0, - PORT1_MODE_UNSET, - PORT1_FULL_PWM, - PORT1_PWM_AND_SERIAL, - PORT1_PWM_AND_GPIO, - PORT2_MODE_UNSET, - PORT2_8PWM, - PORT2_12PWM, - PORT2_16PWM, -}; - -PortMode g_port_mode; - -int -hil_new_mode(PortMode new_mode) -{ - // uint32_t gpio_bits; - - -// /* reset to all-inputs */ -// g_hil->ioctl(0, GPIO_RESET, 0); - - // gpio_bits = 0; - - HIL::Mode servo_mode = HIL::MODE_NONE; - - switch (new_mode) { - case PORT_MODE_UNDEFINED: - case PORT1_MODE_UNSET: - case PORT2_MODE_UNSET: - /* nothing more to do here */ - break; - - case PORT1_FULL_PWM: - /* select 4-pin PWM mode */ - servo_mode = HIL::MODE_4PWM; - break; - - case PORT1_PWM_AND_SERIAL: - /* select 2-pin PWM mode */ - servo_mode = HIL::MODE_2PWM; -// /* set RX/TX multi-GPIOs to serial mode */ -// gpio_bits = GPIO_MULTI_3 | GPIO_MULTI_4; - break; - - case PORT1_PWM_AND_GPIO: - /* select 2-pin PWM mode */ - servo_mode = HIL::MODE_2PWM; - break; - - case PORT2_8PWM: - /* select 8-pin PWM mode */ - servo_mode = HIL::MODE_8PWM; - break; - - case PORT2_12PWM: - /* select 12-pin PWM mode */ - servo_mode = HIL::MODE_12PWM; - break; - - case PORT2_16PWM: - /* select 16-pin PWM mode */ - servo_mode = HIL::MODE_16PWM; - break; - } - -// /* adjust GPIO config for serial mode(s) */ -// if (gpio_bits != 0) -// g_hil->ioctl(0, GPIO_SET_ALT_1, gpio_bits); - - /* (re)set the PWM output mode */ - g_hil->set_mode(servo_mode); - - return OK; -} - -int -hil_start(void) -{ - int ret = OK; - - if (g_hil == nullptr) { - - g_hil = new HIL; - - if (g_hil == nullptr) { - ret = -ENOMEM; - - } else { - ret = g_hil->init(); - - if (ret != OK) { - delete g_hil; - g_hil = nullptr; - } - } - } - - return ret; -} - -void -test(void) -{ - int fd; - - fd = open(PWM_OUTPUT_DEVICE_PATH, 0); - - if (fd < 0) { - puts("open fail"); - exit(1); - } - - ioctl(fd, PWM_SERVO_ARM, 0); - ioctl(fd, PWM_SERVO_SET(0), 1000); - - close(fd); - - exit(0); -} - -void -fake(int argc, char *argv[]) -{ - if (argc < 5) { - puts("hil fake (values -100 .. 100)"); - exit(1); - } - - actuator_controls_s ac; - - ac.control[0] = strtol(argv[1], 0, 0) / 100.0f; - - ac.control[1] = strtol(argv[2], 0, 0) / 100.0f; - - ac.control[2] = strtol(argv[3], 0, 0) / 100.0f; - - ac.control[3] = strtol(argv[4], 0, 0) / 100.0f; - - orb_advert_t handle = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &ac); - - if (handle < 0) { - puts("advertise failed"); - exit(1); - } - - exit(0); -} - -} // namespace - -extern "C" __EXPORT int hil_main(int argc, char *argv[]); - -int -hil_main(int argc, char *argv[]) -{ - PortMode new_mode = PORT_MODE_UNDEFINED; - const char *verb = argv[1]; - - if (hil_start() != OK) - errx(1, "failed to start the HIL driver"); - - /* - * Mode switches. - */ - - // this was all cut-and-pasted from the FMU driver; it's junk - if (!strcmp(verb, "mode_pwm")) { - new_mode = PORT1_FULL_PWM; - - } else if (!strcmp(verb, "mode_pwm_serial")) { - new_mode = PORT1_PWM_AND_SERIAL; - - } else if (!strcmp(verb, "mode_pwm_gpio")) { - new_mode = PORT1_PWM_AND_GPIO; - - } else if (!strcmp(verb, "mode_port2_pwm8")) { - new_mode = PORT2_8PWM; - - } else if (!strcmp(verb, "mode_port2_pwm12")) { - new_mode = PORT2_8PWM; - - } else if (!strcmp(verb, "mode_port2_pwm16")) { - new_mode = PORT2_8PWM; - } - - /* was a new mode set? */ - if (new_mode != PORT_MODE_UNDEFINED) { - - /* yes but it's the same mode */ - if (new_mode == g_port_mode) - return OK; - - /* switch modes */ - return hil_new_mode(new_mode); - } - - if (!strcmp(verb, "test")) - test(); - - if (!strcmp(verb, "fake")) - fake(argc - 1, argv + 1); - - - fprintf(stderr, "HIL: unrecognized command, try:\n"); - fprintf(stderr, " mode_pwm, mode_gpio_serial, mode_pwm_serial, mode_pwm_gpio, mode_port2_pwm8, mode_port2_pwm12, mode_port2_pwm16\n"); - return -EINVAL; -} diff --git a/apps/drivers/hmc5883/Makefile b/apps/drivers/hmc5883/Makefile deleted file mode 100644 index 4d7cb4e7b..000000000 --- a/apps/drivers/hmc5883/Makefile +++ /dev/null @@ -1,42 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# HMC5883 driver -# - -APPNAME = hmc5883 -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 4096 - -include $(APPDIR)/mk/app.mk diff --git a/apps/drivers/hmc5883/hmc5883.cpp b/apps/drivers/hmc5883/hmc5883.cpp deleted file mode 100644 index 8ab568282..000000000 --- a/apps/drivers/hmc5883/hmc5883.cpp +++ /dev/null @@ -1,1447 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file hmc5883.cpp - * - * Driver for the HMC5883 magnetometer connected via I2C. - */ - -#include - -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include - -#include - -#include -#include - -#include -#include - -#include -#include - -#include - -/* - * HMC5883 internal constants and data structures. - */ - -#define HMC5883L_BUS PX4_I2C_BUS_ONBOARD -#define HMC5883L_ADDRESS PX4_I2C_OBDEV_HMC5883 - -/* Max measurement rate is 160Hz */ -#define HMC5883_CONVERSION_INTERVAL (1000000 / 160) /* microseconds */ - -#define ADDR_CONF_A 0x00 -#define ADDR_CONF_B 0x01 -#define ADDR_MODE 0x02 -#define ADDR_DATA_OUT_X_MSB 0x03 -#define ADDR_DATA_OUT_X_LSB 0x04 -#define ADDR_DATA_OUT_Z_MSB 0x05 -#define ADDR_DATA_OUT_Z_LSB 0x06 -#define ADDR_DATA_OUT_Y_MSB 0x07 -#define ADDR_DATA_OUT_Y_LSB 0x08 -#define ADDR_STATUS 0x09 -#define ADDR_ID_A 0x0a -#define ADDR_ID_B 0x0b -#define ADDR_ID_C 0x0c - -/* modes not changeable outside of driver */ -#define HMC5883L_MODE_NORMAL (0 << 0) /* default */ -#define HMC5883L_MODE_POSITIVE_BIAS (1 << 0) /* positive bias */ -#define HMC5883L_MODE_NEGATIVE_BIAS (1 << 1) /* negative bias */ - -#define HMC5883L_AVERAGING_1 (0 << 5) /* conf a register */ -#define HMC5883L_AVERAGING_2 (1 << 5) -#define HMC5883L_AVERAGING_4 (2 << 5) -#define HMC5883L_AVERAGING_8 (3 << 5) - -#define MODE_REG_CONTINOUS_MODE (0 << 0) -#define MODE_REG_SINGLE_MODE (1 << 0) /* default */ - -#define STATUS_REG_DATA_OUT_LOCK (1 << 1) /* page 16: set if data is only partially read, read device to reset */ -#define STATUS_REG_DATA_READY (1 << 0) /* page 16: set if all axes have valid measurements */ - -#define ID_A_WHO_AM_I 'H' -#define ID_B_WHO_AM_I '4' -#define ID_C_WHO_AM_I '3' - - -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -static const int ERROR = -1; - -#ifndef CONFIG_SCHED_WORKQUEUE -# error This requires CONFIG_SCHED_WORKQUEUE. -#endif - -class HMC5883 : public device::I2C -{ -public: - HMC5883(int bus); - virtual ~HMC5883(); - - virtual int init(); - - virtual ssize_t read(struct file *filp, char *buffer, size_t buflen); - virtual int ioctl(struct file *filp, int cmd, unsigned long arg); - - /** - * Diagnostics - print some basic information about the driver. - */ - void print_info(); - -protected: - virtual int probe(); - -private: - work_s _work; - unsigned _measure_ticks; - - unsigned _num_reports; - volatile unsigned _next_report; - volatile unsigned _oldest_report; - mag_report *_reports; - mag_scale _scale; - float _range_scale; - float _range_ga; - bool _collect_phase; - - orb_advert_t _mag_topic; - - perf_counter_t _sample_perf; - perf_counter_t _comms_errors; - perf_counter_t _buffer_overflows; - - /* status reporting */ - bool _sensor_ok; /**< sensor was found and reports ok */ - bool _calibrated; /**< the calibration is valid */ - - /** - * Test whether the device supported by the driver is present at a - * specific address. - * - * @param address The I2C bus address to probe. - * @return True if the device is present. - */ - int probe_address(uint8_t address); - - /** - * Initialise the automatic measurement state machine and start it. - * - * @note This function is called at open and error time. It might make sense - * to make it more aggressive about resetting the bus in case of errors. - */ - void start(); - - /** - * Stop the automatic measurement state machine. - */ - void stop(); - - /** - * Perform the on-sensor scale calibration routine. - * - * @note The sensor will continue to provide measurements, these - * will however reflect the uncalibrated sensor state until - * the calibration routine has been completed. - * - * @param enable set to 1 to enable self-test strap, 0 to disable - */ - int calibrate(struct file *filp, unsigned enable); - - /** - * Perform the on-sensor scale calibration routine. - * - * @note The sensor will continue to provide measurements, these - * will however reflect the uncalibrated sensor state until - * the calibration routine has been completed. - * - * @param enable set to 1 to enable self-test positive strap, -1 to enable - * negative strap, 0 to set to normal mode - */ - int set_excitement(unsigned enable); - - /** - * Set the sensor range. - * - * Sets the internal range to handle at least the argument in Gauss. - */ - int set_range(unsigned range); - - /** - * Perform a poll cycle; collect from the previous measurement - * and start a new one. - * - * This is the heart of the measurement state machine. This function - * alternately starts a measurement, or collects the data from the - * previous measurement. - * - * When the interval between measurements is greater than the minimum - * measurement interval, a gap is inserted between collection - * and measurement to provide the most recent measurement possible - * at the next interval. - */ - void cycle(); - - /** - * Static trampoline from the workq context; because we don't have a - * generic workq wrapper yet. - * - * @param arg Instance pointer for the driver that is polling. - */ - static void cycle_trampoline(void *arg); - - /** - * Write a register. - * - * @param reg The register to write. - * @param val The value to write. - * @return OK on write success. - */ - int write_reg(uint8_t reg, uint8_t val); - - /** - * Read a register. - * - * @param reg The register to read. - * @param val The value read. - * @return OK on read success. - */ - int read_reg(uint8_t reg, uint8_t &val); - - /** - * Issue a measurement command. - * - * @return OK if the measurement command was successful. - */ - int measure(); - - /** - * Collect the result of the most recent measurement. - */ - int collect(); - - /** - * Convert a big-endian signed 16-bit value to a float. - * - * @param in A signed 16-bit big-endian value. - * @return The floating-point representation of the value. - */ - float meas_to_float(uint8_t in[2]); - - /** - * Check the current calibration and update device status - * - * @return 0 if calibration is ok, 1 else - */ - int check_calibration(); - - /** - * Check the current scale calibration - * - * @return 0 if scale calibration is ok, 1 else - */ - int check_scale(); - - /** - * Check the current offset calibration - * - * @return 0 if offset calibration is ok, 1 else - */ - int check_offset(); - -}; - -/* helper macro for handling report buffer indices */ -#define INCREMENT(_x, _lim) do { _x++; if (_x >= _lim) _x = 0; } while(0) - -/* - * Driver 'main' command. - */ -extern "C" __EXPORT int hmc5883_main(int argc, char *argv[]); - - -HMC5883::HMC5883(int bus) : - I2C("HMC5883", MAG_DEVICE_PATH, bus, HMC5883L_ADDRESS, 400000), - _measure_ticks(0), - _num_reports(0), - _next_report(0), - _oldest_report(0), - _reports(nullptr), - _range_scale(0), /* default range scale from counts to gauss */ - _range_ga(1.3f), - _mag_topic(-1), - _sample_perf(perf_alloc(PC_ELAPSED, "hmc5883_read")), - _comms_errors(perf_alloc(PC_COUNT, "hmc5883_comms_errors")), - _buffer_overflows(perf_alloc(PC_COUNT, "hmc5883_buffer_overflows")), - _sensor_ok(false), - _calibrated(false) -{ - // enable debug() calls - _debug_enabled = true; - - // default scaling - _scale.x_offset = 0; - _scale.x_scale = 1.0f; - _scale.y_offset = 0; - _scale.y_scale = 1.0f; - _scale.z_offset = 0; - _scale.z_scale = 1.0f; - - // work_cancel in the dtor will explode if we don't do this... - memset(&_work, 0, sizeof(_work)); -} - -HMC5883::~HMC5883() -{ - /* make sure we are truly inactive */ - stop(); - - /* free any existing reports */ - if (_reports != nullptr) - delete[] _reports; -} - -int -HMC5883::init() -{ - int ret = ERROR; - - /* do I2C init (and probe) first */ - if (I2C::init() != OK) - goto out; - - /* allocate basic report buffers */ - _num_reports = 2; - _reports = new struct mag_report[_num_reports]; - - if (_reports == nullptr) - goto out; - - _oldest_report = _next_report = 0; - - /* get a publish handle on the mag topic */ - memset(&_reports[0], 0, sizeof(_reports[0])); - _mag_topic = orb_advertise(ORB_ID(sensor_mag), &_reports[0]); - - if (_mag_topic < 0) - debug("failed to create sensor_mag object"); - - /* set range */ - set_range(_range_ga); - - ret = OK; - /* sensor is ok, but not calibrated */ - _sensor_ok = true; -out: - return ret; -} - -int HMC5883::set_range(unsigned range) -{ - uint8_t range_bits; - - if (range < 1) { - range_bits = 0x00; - _range_scale = 1.0f / 1370.0f; - _range_ga = 0.88f; - - } else if (range <= 1) { - range_bits = 0x01; - _range_scale = 1.0f / 1090.0f; - _range_ga = 1.3f; - - } else if (range <= 2) { - range_bits = 0x02; - _range_scale = 1.0f / 820.0f; - _range_ga = 1.9f; - - } else if (range <= 3) { - range_bits = 0x03; - _range_scale = 1.0f / 660.0f; - _range_ga = 2.5f; - - } else if (range <= 4) { - range_bits = 0x04; - _range_scale = 1.0f / 440.0f; - _range_ga = 4.0f; - - } else if (range <= 4.7f) { - range_bits = 0x05; - _range_scale = 1.0f / 390.0f; - _range_ga = 4.7f; - - } else if (range <= 5.6f) { - range_bits = 0x06; - _range_scale = 1.0f / 330.0f; - _range_ga = 5.6f; - - } else { - range_bits = 0x07; - _range_scale = 1.0f / 230.0f; - _range_ga = 8.1f; - } - - int ret; - - /* - * Send the command to set the range - */ - ret = write_reg(ADDR_CONF_B, (range_bits << 5)); - - if (OK != ret) - perf_count(_comms_errors); - - uint8_t range_bits_in; - ret = read_reg(ADDR_CONF_B, range_bits_in); - - if (OK != ret) - perf_count(_comms_errors); - - return !(range_bits_in == (range_bits << 5)); -} - -int -HMC5883::probe() -{ - uint8_t data[3] = {0, 0, 0}; - - _retries = 10; - - if (read_reg(ADDR_ID_A, data[0]) || - read_reg(ADDR_ID_B, data[1]) || - read_reg(ADDR_ID_C, data[2])) - debug("read_reg fail"); - - _retries = 2; - - if ((data[0] != ID_A_WHO_AM_I) || - (data[1] != ID_B_WHO_AM_I) || - (data[2] != ID_C_WHO_AM_I)) { - debug("ID byte mismatch (%02x,%02x,%02x)", data[0], data[1], data[2]); - return -EIO; - } - - return OK; -} - -ssize_t -HMC5883::read(struct file *filp, char *buffer, size_t buflen) -{ - unsigned count = buflen / sizeof(struct mag_report); - int ret = 0; - - /* buffer must be large enough */ - if (count < 1) - return -ENOSPC; - - /* if automatic measurement is enabled */ - if (_measure_ticks > 0) { - - /* - * While there is space in the caller's buffer, and reports, copy them. - * Note that we may be pre-empted by the workq thread while we are doing this; - * we are careful to avoid racing with them. - */ - while (count--) { - if (_oldest_report != _next_report) { - memcpy(buffer, _reports + _oldest_report, sizeof(*_reports)); - ret += sizeof(_reports[0]); - INCREMENT(_oldest_report, _num_reports); - } - } - - /* if there was no data, warn the caller */ - return ret ? ret : -EAGAIN; - } - - /* manual measurement - run one conversion */ - /* XXX really it'd be nice to lock against other readers here */ - do { - _oldest_report = _next_report = 0; - - /* trigger a measurement */ - if (OK != measure()) { - ret = -EIO; - break; - } - - /* wait for it to complete */ - usleep(HMC5883_CONVERSION_INTERVAL); - - /* run the collection phase */ - if (OK != collect()) { - ret = -EIO; - break; - } - - /* state machine will have generated a report, copy it out */ - memcpy(buffer, _reports, sizeof(*_reports)); - ret = sizeof(*_reports); - - } while (0); - - return ret; -} - -int -HMC5883::ioctl(struct file *filp, int cmd, unsigned long arg) -{ - switch (cmd) { - - case SENSORIOCSPOLLRATE: { - switch (arg) { - - /* switching to manual polling */ - case SENSOR_POLLRATE_MANUAL: - stop(); - _measure_ticks = 0; - return OK; - - /* external signalling (DRDY) not supported */ - case SENSOR_POLLRATE_EXTERNAL: - - /* zero would be bad */ - case 0: - return -EINVAL; - - /* set default/max polling rate */ - case SENSOR_POLLRATE_MAX: - case SENSOR_POLLRATE_DEFAULT: { - /* do we need to start internal polling? */ - bool want_start = (_measure_ticks == 0); - - /* set interval for next measurement to minimum legal value */ - _measure_ticks = USEC2TICK(HMC5883_CONVERSION_INTERVAL); - - /* if we need to start the poll state machine, do it */ - if (want_start) - start(); - - return OK; - } - - /* adjust to a legal polling interval in Hz */ - default: { - /* do we need to start internal polling? */ - bool want_start = (_measure_ticks == 0); - - /* convert hz to tick interval via microseconds */ - unsigned ticks = USEC2TICK(1000000 / arg); - - /* check against maximum rate */ - if (ticks < USEC2TICK(HMC5883_CONVERSION_INTERVAL)) - return -EINVAL; - - /* update interval for next measurement */ - _measure_ticks = ticks; - - /* if we need to start the poll state machine, do it */ - if (want_start) - start(); - - return OK; - } - } - } - - case SENSORIOCGPOLLRATE: - if (_measure_ticks == 0) - return SENSOR_POLLRATE_MANUAL; - - return (1000 / _measure_ticks); - - case SENSORIOCSQUEUEDEPTH: { - /* add one to account for the sentinel in the ring */ - arg++; - - /* lower bound is mandatory, upper bound is a sanity check */ - if ((arg < 2) || (arg > 100)) - return -EINVAL; - - /* allocate new buffer */ - struct mag_report *buf = new struct mag_report[arg]; - - if (nullptr == buf) - return -ENOMEM; - - /* reset the measurement state machine with the new buffer, free the old */ - stop(); - delete[] _reports; - _num_reports = arg; - _reports = buf; - start(); - - return OK; - } - - case SENSORIOCGQUEUEDEPTH: - return _num_reports - 1; - - case SENSORIOCRESET: - /* XXX implement this */ - return -EINVAL; - - case MAGIOCSSAMPLERATE: - /* not supported, always 1 sample per poll */ - return -EINVAL; - - case MAGIOCSRANGE: - return set_range(arg); - - case MAGIOCSLOWPASS: - /* not supported, no internal filtering */ - return -EINVAL; - - case MAGIOCSSCALE: - /* set new scale factors */ - memcpy(&_scale, (mag_scale *)arg, sizeof(_scale)); - /* check calibration, but not actually return an error */ - (void)check_calibration(); - return 0; - - case MAGIOCGSCALE: - /* copy out scale factors */ - memcpy((mag_scale *)arg, &_scale, sizeof(_scale)); - return 0; - - case MAGIOCCALIBRATE: - return calibrate(filp, arg); - - case MAGIOCEXSTRAP: - return set_excitement(arg); - - case MAGIOCSELFTEST: - return check_calibration(); - - default: - /* give it to the superclass */ - return I2C::ioctl(filp, cmd, arg); - } -} - -void -HMC5883::start() -{ - /* reset the report ring and state machine */ - _collect_phase = false; - _oldest_report = _next_report = 0; - - /* schedule a cycle to start things */ - work_queue(HPWORK, &_work, (worker_t)&HMC5883::cycle_trampoline, this, 1); -} - -void -HMC5883::stop() -{ - work_cancel(HPWORK, &_work); -} - -void -HMC5883::cycle_trampoline(void *arg) -{ - HMC5883 *dev = (HMC5883 *)arg; - - dev->cycle(); -} - -void -HMC5883::cycle() -{ - /* collection phase? */ - if (_collect_phase) { - - /* perform collection */ - if (OK != collect()) { - log("collection error"); - /* restart the measurement state machine */ - start(); - return; - } - - /* next phase is measurement */ - _collect_phase = false; - - /* - * Is there a collect->measure gap? - */ - if (_measure_ticks > USEC2TICK(HMC5883_CONVERSION_INTERVAL)) { - - /* schedule a fresh cycle call when we are ready to measure again */ - work_queue(HPWORK, - &_work, - (worker_t)&HMC5883::cycle_trampoline, - this, - _measure_ticks - USEC2TICK(HMC5883_CONVERSION_INTERVAL)); - - return; - } - } - - /* measurement phase */ - if (OK != measure()) - log("measure error"); - - /* next phase is collection */ - _collect_phase = true; - - /* schedule a fresh cycle call when the measurement is done */ - work_queue(HPWORK, - &_work, - (worker_t)&HMC5883::cycle_trampoline, - this, - USEC2TICK(HMC5883_CONVERSION_INTERVAL)); -} - -int -HMC5883::measure() -{ - int ret; - - /* - * Send the command to begin a measurement. - */ - ret = write_reg(ADDR_MODE, MODE_REG_SINGLE_MODE); - - if (OK != ret) - perf_count(_comms_errors); - - return ret; -} - -int -HMC5883::collect() -{ -#pragma pack(push, 1) - struct { /* status register and data as read back from the device */ - uint8_t x[2]; - uint8_t z[2]; - uint8_t y[2]; - } hmc_report; -#pragma pack(pop) - struct { - int16_t x, y, z; - } report; - int ret = -EIO; - uint8_t cmd; - - - perf_begin(_sample_perf); - - /* this should be fairly close to the end of the measurement, so the best approximation of the time */ - _reports[_next_report].timestamp = hrt_absolute_time(); - - /* - * @note We could read the status register here, which could tell us that - * we were too early and that the output registers are still being - * written. In the common case that would just slow us down, and - * we're better off just never being early. - */ - - /* get measurements from the device */ - cmd = ADDR_DATA_OUT_X_MSB; - ret = transfer(&cmd, 1, (uint8_t *)&hmc_report, sizeof(hmc_report)); - - if (ret != OK) { - perf_count(_comms_errors); - debug("data/status read error"); - goto out; - } - - /* swap the data we just received */ - report.x = (((int16_t)hmc_report.x[0]) << 8) + hmc_report.x[1]; - report.y = (((int16_t)hmc_report.y[0]) << 8) + hmc_report.y[1]; - report.z = (((int16_t)hmc_report.z[0]) << 8) + hmc_report.z[1]; - - /* - * If any of the values are -4096, there was an internal math error in the sensor. - * Generalise this to a simple range check that will also catch some bit errors. - */ - if ((abs(report.x) > 2048) || - (abs(report.y) > 2048) || - (abs(report.z) > 2048)) - goto out; - - /* - * RAW outputs - * - * to align the sensor axes with the board, x and y need to be flipped - * and y needs to be negated - */ - _reports[_next_report].x_raw = report.y; - _reports[_next_report].y_raw = ((report.x == -32768) ? 32767 : -report.x); - /* z remains z */ - _reports[_next_report].z_raw = report.z; - - /* scale values for output */ - - /* - * 1) Scale raw value to SI units using scaling from datasheet. - * 2) Subtract static offset (in SI units) - * 3) Scale the statically calibrated values with a linear - * dynamically obtained factor - * - * Note: the static sensor offset is the number the sensor outputs - * at a nominally 'zero' input. Therefore the offset has to - * be subtracted. - * - * Example: A gyro outputs a value of 74 at zero angular rate - * the offset is 74 from the origin and subtracting - * 74 from all measurements centers them around zero. - */ - - /* to align the sensor axes with the board, x and y need to be flipped */ - _reports[_next_report].x = ((report.y * _range_scale) - _scale.x_offset) * _scale.x_scale; - /* flip axes and negate value for y */ - _reports[_next_report].y = ((((report.x == -32768) ? 32767 : -report.x) * _range_scale) - _scale.y_offset) * _scale.y_scale; - /* z remains z */ - _reports[_next_report].z = ((report.z * _range_scale) - _scale.z_offset) * _scale.z_scale; - - /* publish it */ - orb_publish(ORB_ID(sensor_mag), _mag_topic, &_reports[_next_report]); - - /* post a report to the ring - note, not locked */ - INCREMENT(_next_report, _num_reports); - - /* if we are running up against the oldest report, toss it */ - if (_next_report == _oldest_report) { - perf_count(_buffer_overflows); - INCREMENT(_oldest_report, _num_reports); - } - - /* notify anyone waiting for data */ - poll_notify(POLLIN); - - ret = OK; - -out: - perf_end(_sample_perf); - return ret; -} - -int HMC5883::calibrate(struct file *filp, unsigned enable) -{ - struct mag_report report; - ssize_t sz; - int ret = 1; - - // XXX do something smarter here - int fd = (int)enable; - - struct mag_scale mscale_previous = { - 0.0f, - 1.0f, - 0.0f, - 1.0f, - 0.0f, - 1.0f, - }; - - struct mag_scale mscale_null = { - 0.0f, - 1.0f, - 0.0f, - 1.0f, - 0.0f, - 1.0f, - }; - - float avg_excited[3] = {0.0f, 0.0f, 0.0f}; - unsigned i; - - warnx("starting mag scale calibration"); - - /* do a simple demand read */ - sz = read(filp, (char *)&report, sizeof(report)); - - if (sz != sizeof(report)) { - warn("immediate read failed"); - ret = 1; - goto out; - } - - warnx("current measurement: %.6f %.6f %.6f", (double)report.x, (double)report.y, (double)report.z); - warnx("time: %lld", report.timestamp); - warnx("sampling 500 samples for scaling offset"); - - /* set the queue depth to 10 */ - if (OK != ioctl(filp, SENSORIOCSQUEUEDEPTH, 10)) { - warn("failed to set queue depth"); - ret = 1; - goto out; - } - - /* start the sensor polling at 50 Hz */ - if (OK != ioctl(filp, SENSORIOCSPOLLRATE, 50)) { - warn("failed to set 2Hz poll rate"); - ret = 1; - goto out; - } - - /* Set to 2.5 Gauss */ - if (OK != ioctl(filp, MAGIOCSRANGE, 2)) { - warnx("failed to set 2.5 Ga range"); - ret = 1; - goto out; - } - - if (OK != ioctl(filp, MAGIOCEXSTRAP, 1)) { - warnx("failed to enable sensor calibration mode"); - ret = 1; - goto out; - } - - if (OK != ioctl(filp, MAGIOCGSCALE, (long unsigned int)&mscale_previous)) { - warn("WARNING: failed to get scale / offsets for mag"); - ret = 1; - goto out; - } - - if (OK != ioctl(filp, MAGIOCSSCALE, (long unsigned int)&mscale_null)) { - warn("WARNING: failed to set null scale / offsets for mag"); - ret = 1; - goto out; - } - - /* read the sensor 10x and report each value */ - for (i = 0; i < 500; i++) { - struct pollfd fds; - - /* wait for data to be ready */ - fds.fd = fd; - fds.events = POLLIN; - ret = ::poll(&fds, 1, 2000); - - if (ret != 1) { - warn("timed out waiting for sensor data"); - goto out; - } - - /* now go get it */ - sz = ::read(fd, &report, sizeof(report)); - - if (sz != sizeof(report)) { - warn("periodic read failed"); - goto out; - - } else { - avg_excited[0] += report.x; - avg_excited[1] += report.y; - avg_excited[2] += report.z; - } - - //warnx("periodic read %u", i); - //warnx("measurement: %.6f %.6f %.6f", (double)report.x, (double)report.y, (double)report.z); - } - - avg_excited[0] /= i; - avg_excited[1] /= i; - avg_excited[2] /= i; - - warnx("done. Performed %u reads", i); - warnx("measurement avg: %.6f %.6f %.6f", (double)avg_excited[0], (double)avg_excited[1], (double)avg_excited[2]); - - float scaling[3]; - - /* calculate axis scaling */ - scaling[0] = fabsf(1.16f / avg_excited[0]); - /* second axis inverted */ - scaling[1] = fabsf(1.16f / -avg_excited[1]); - scaling[2] = fabsf(1.08f / avg_excited[2]); - - warnx("axes scaling: %.6f %.6f %.6f", (double)scaling[0], (double)scaling[1], (double)scaling[2]); - - /* set back to normal mode */ - /* Set to 1.1 Gauss */ - if (OK != ::ioctl(fd, MAGIOCSRANGE, 1)) { - warnx("failed to set 1.1 Ga range"); - goto out; - } - - if (OK != ::ioctl(fd, MAGIOCEXSTRAP, 0)) { - warnx("failed to disable sensor calibration mode"); - goto out; - } - - /* set scaling in device */ - mscale_previous.x_scale = scaling[0]; - mscale_previous.y_scale = scaling[1]; - mscale_previous.z_scale = scaling[2]; - - if (OK != ioctl(filp, MAGIOCSSCALE, (long unsigned int)&mscale_previous)) { - warn("WARNING: failed to set new scale / offsets for mag"); - goto out; - } - - ret = OK; - -out: - - if (ret == OK) { - if (!check_scale()) { - warnx("mag scale calibration successfully finished."); - } else { - warnx("mag scale calibration finished with invalid results."); - ret = ERROR; - } - - } else { - warnx("mag scale calibration failed."); - } - - return ret; -} - -int HMC5883::check_scale() -{ - bool scale_valid; - - if ((-FLT_EPSILON + 1.0f < _scale.x_scale && _scale.x_scale < FLT_EPSILON + 1.0f) && - (-FLT_EPSILON + 1.0f < _scale.y_scale && _scale.y_scale < FLT_EPSILON + 1.0f) && - (-FLT_EPSILON + 1.0f < _scale.z_scale && _scale.z_scale < FLT_EPSILON + 1.0f)) { - /* scale is one */ - scale_valid = false; - } else { - scale_valid = true; - } - - /* return 0 if calibrated, 1 else */ - return !scale_valid; -} - -int HMC5883::check_offset() -{ - bool offset_valid; - - if ((-2.0f * FLT_EPSILON < _scale.x_offset && _scale.x_offset < 2.0f * FLT_EPSILON) && - (-2.0f * FLT_EPSILON < _scale.y_offset && _scale.y_offset < 2.0f * FLT_EPSILON) && - (-2.0f * FLT_EPSILON < _scale.z_offset && _scale.z_offset < 2.0f * FLT_EPSILON)) { - /* offset is zero */ - offset_valid = false; - } else { - offset_valid = true; - } - - /* return 0 if calibrated, 1 else */ - return !offset_valid; -} - -int HMC5883::check_calibration() -{ - bool offset_valid = (check_offset() == OK); - bool scale_valid = (check_scale() == OK); - - if (_calibrated != (offset_valid && scale_valid)) { - warnx("mag cal status changed %s%s", (scale_valid) ? "" : "scale invalid ", - (offset_valid) ? "" : "offset invalid"); - _calibrated = (offset_valid && scale_valid); - - - // XXX Change advertisement - - /* notify about state change */ - struct subsystem_info_s info = { - true, - true, - _calibrated, - SUBSYSTEM_TYPE_MAG}; - static orb_advert_t pub = -1; - - if (pub > 0) { - orb_publish(ORB_ID(subsystem_info), pub, &info); - } else { - pub = orb_advertise(ORB_ID(subsystem_info), &info); - } - } - - /* return 0 if calibrated, 1 else */ - return (!_calibrated); -} - -int HMC5883::set_excitement(unsigned enable) -{ - int ret; - /* arm the excitement strap */ - uint8_t conf_reg; - ret = read_reg(ADDR_CONF_A, conf_reg); - - if (OK != ret) - perf_count(_comms_errors); - - if (((int)enable) < 0) { - conf_reg |= 0x01; - - } else if (enable > 0) { - conf_reg |= 0x02; - - } else { - conf_reg &= ~0x03; - } - - ret = write_reg(ADDR_CONF_A, conf_reg); - - if (OK != ret) - perf_count(_comms_errors); - - uint8_t conf_reg_ret; - read_reg(ADDR_CONF_A, conf_reg_ret); - - return !(conf_reg == conf_reg_ret); -} - -int -HMC5883::write_reg(uint8_t reg, uint8_t val) -{ - uint8_t cmd[] = { reg, val }; - - return transfer(&cmd[0], 2, nullptr, 0); -} - -int -HMC5883::read_reg(uint8_t reg, uint8_t &val) -{ - return transfer(®, 1, &val, 1); -} - -float -HMC5883::meas_to_float(uint8_t in[2]) -{ - union { - uint8_t b[2]; - int16_t w; - } u; - - u.b[0] = in[1]; - u.b[1] = in[0]; - - return (float) u.w; -} - -void -HMC5883::print_info() -{ - perf_print_counter(_sample_perf); - perf_print_counter(_comms_errors); - perf_print_counter(_buffer_overflows); - printf("poll interval: %u ticks\n", _measure_ticks); - printf("report queue: %u (%u/%u @ %p)\n", - _num_reports, _oldest_report, _next_report, _reports); -} - -/** - * Local functions in support of the shell command. - */ -namespace hmc5883 -{ - -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -const int ERROR = -1; - -HMC5883 *g_dev; - -void start(); -void test(); -void reset(); -void info(); -int calibrate(); - -/** - * Start the driver. - */ -void -start() -{ - int fd; - - if (g_dev != nullptr) - errx(1, "already started"); - - /* create the driver */ - g_dev = new HMC5883(HMC5883L_BUS); - - if (g_dev == nullptr) - goto fail; - - if (OK != g_dev->init()) - goto fail; - - /* set the poll rate to default, starts automatic data collection */ - fd = open(MAG_DEVICE_PATH, O_RDONLY); - - if (fd < 0) - goto fail; - - if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) - goto fail; - - exit(0); - -fail: - - if (g_dev != nullptr) { - delete g_dev; - g_dev = nullptr; - } - - errx(1, "driver start failed"); -} - -/** - * Perform some basic functional tests on the driver; - * make sure we can collect data from the sensor in polled - * and automatic modes. - */ -void -test() -{ - struct mag_report report; - ssize_t sz; - int ret; - - int fd = open(MAG_DEVICE_PATH, O_RDONLY); - - if (fd < 0) - err(1, "%s open failed (try 'hmc5883 start' if the driver is not running", MAG_DEVICE_PATH); - - /* do a simple demand read */ - sz = read(fd, &report, sizeof(report)); - - if (sz != sizeof(report)) - err(1, "immediate read failed"); - - warnx("single read"); - warnx("measurement: %.6f %.6f %.6f", (double)report.x, (double)report.y, (double)report.z); - warnx("time: %lld", report.timestamp); - - /* set the queue depth to 10 */ - if (OK != ioctl(fd, SENSORIOCSQUEUEDEPTH, 10)) - errx(1, "failed to set queue depth"); - - /* start the sensor polling at 2Hz */ - if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) - errx(1, "failed to set 2Hz poll rate"); - - /* read the sensor 5x and report each value */ - for (unsigned i = 0; i < 5; i++) { - struct pollfd fds; - - /* wait for data to be ready */ - fds.fd = fd; - fds.events = POLLIN; - ret = poll(&fds, 1, 2000); - - if (ret != 1) - errx(1, "timed out waiting for sensor data"); - - /* now go get it */ - sz = read(fd, &report, sizeof(report)); - - if (sz != sizeof(report)) - err(1, "periodic read failed"); - - warnx("periodic read %u", i); - warnx("measurement: %.6f %.6f %.6f", (double)report.x, (double)report.y, (double)report.z); - warnx("time: %lld", report.timestamp); - } - - errx(0, "PASS"); -} - - -/** - * Automatic scale calibration. - * - * Basic idea: - * - * output = (ext field +- 1.1 Ga self-test) * scale factor - * - * and consequently: - * - * 1.1 Ga = (excited - normal) * scale factor - * scale factor = (excited - normal) / 1.1 Ga - * - * sxy = (excited - normal) / 766 | for conf reg. B set to 0x60 / Gain = 3 - * sz = (excited - normal) / 713 | for conf reg. B set to 0x60 / Gain = 3 - * - * By subtracting the non-excited measurement the pure 1.1 Ga reading - * can be extracted and the sensitivity of all axes can be matched. - * - * SELF TEST OPERATION - * To check the HMC5883L for proper operation, a self test feature in incorporated - * in which the sensor offset straps are excited to create a nominal field strength - * (bias field) to be measured. To implement self test, the least significant bits - * (MS1 and MS0) of configuration register A are changed from 00 to 01 (positive bias) - * or 10 (negetive bias), e.g. 0x11 or 0x12. - * Then, by placing the mode register into single-measurement mode (0x01), - * two data acquisition cycles will be made on each magnetic vector. - * The first acquisition will be a set pulse followed shortly by measurement - * data of the external field. The second acquisition will have the offset strap - * excited (about 10 mA) in the positive bias mode for X, Y, and Z axes to create - * about a ±1.1 gauss self test field plus the external field. The first acquisition - * values will be subtracted from the second acquisition, and the net measurement - * will be placed into the data output registers. - * Since self test adds ~1.1 Gauss additional field to the existing field strength, - * using a reduced gain setting prevents sensor from being saturated and data registers - * overflowed. For example, if the configuration register B is set to 0x60 (Gain=3), - * values around +766 LSB (1.16 Ga * 660 LSB/Ga) will be placed in the X and Y data - * output registers and around +713 (1.08 Ga * 660 LSB/Ga) will be placed in Z data - * output register. To leave the self test mode, change MS1 and MS0 bit of the - * configuration register A back to 00 (Normal Measurement Mode), e.g. 0x10. - * Using the self test method described above, the user can scale sensor - */ -int calibrate() -{ - int ret; - - int fd = open(MAG_DEVICE_PATH, O_RDONLY); - - if (fd < 0) - err(1, "%s open failed (try 'hmc5883 start' if the driver is not running", MAG_DEVICE_PATH); - - if (OK != (ret = ioctl(fd, MAGIOCCALIBRATE, fd))) { - warnx("failed to enable sensor calibration mode"); - } - - close(fd); - - if (ret == OK) { - errx(0, "PASS"); - - } else { - errx(1, "FAIL"); - } -} - -/** - * Reset the driver. - */ -void -reset() -{ - int fd = open(MAG_DEVICE_PATH, O_RDONLY); - - if (fd < 0) - err(1, "failed "); - - if (ioctl(fd, SENSORIOCRESET, 0) < 0) - err(1, "driver reset failed"); - - if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) - err(1, "driver poll restart failed"); - - exit(0); -} - -/** - * Print a little info about the driver. - */ -void -info() -{ - if (g_dev == nullptr) - errx(1, "driver not running"); - - printf("state @ %p\n", g_dev); - g_dev->print_info(); - - exit(0); -} - -} // namespace - -int -hmc5883_main(int argc, char *argv[]) -{ - /* - * Start/load the driver. - */ - if (!strcmp(argv[1], "start")) - hmc5883::start(); - - /* - * Test the driver/device. - */ - if (!strcmp(argv[1], "test")) - hmc5883::test(); - - /* - * Reset the driver. - */ - if (!strcmp(argv[1], "reset")) - hmc5883::reset(); - - /* - * Print driver information. - */ - if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) - hmc5883::info(); - - /* - * Autocalibrate the scaling - */ - if (!strcmp(argv[1], "calibrate")) { - if (hmc5883::calibrate() == 0) { - errx(0, "calibration successful"); - - } else { - errx(1, "calibration failed"); - } - } - - errx(1, "unrecognized command, try 'start', 'test', 'reset' 'calibrate' or 'info'"); -} diff --git a/apps/drivers/mb12xx/Makefile b/apps/drivers/mb12xx/Makefile deleted file mode 100644 index 0d2405787..000000000 --- a/apps/drivers/mb12xx/Makefile +++ /dev/null @@ -1,42 +0,0 @@ -############################################################################ -# -# Copyright (C) 2013 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Makefile to build the Maxbotix Sonar driver. -# - -APPNAME = mb12xx -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 - -include $(APPDIR)/mk/app.mk diff --git a/apps/drivers/mb12xx/mb12xx.cpp b/apps/drivers/mb12xx/mb12xx.cpp deleted file mode 100644 index 9d0f6bddc..000000000 --- a/apps/drivers/mb12xx/mb12xx.cpp +++ /dev/null @@ -1,840 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file mb12xx.cpp - * @author Greg Hulands - * - * Driver for the Maxbotix sonar range finders connected via I2C. - */ - -#include - -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include - -#include - -#include -#include - -#include -#include - -#include -#include - -/* Configuration Constants */ -#define MB12XX_BUS PX4_I2C_BUS_EXPANSION -#define MB12XX_BASEADDR 0x70 /* 7-bit address. 8-bit address is 0xE0 */ - -/* MB12xx Registers addresses */ - -#define MB12XX_TAKE_RANGE_REG 0x51 /* Measure range Register */ -#define MB12XX_SET_ADDRESS_1 0xAA /* Change address 1 Register */ -#define MB12XX_SET_ADDRESS_2 0xA5 /* Change address 2 Register */ - -/* Device limits */ -#define MB12XX_MIN_DISTANCE (0.20f) -#define MB12XX_MAX_DISTANCE (7.65f) - -#define MB12XX_CONVERSION_INTERVAL 60000 /* 60ms */ - -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -static const int ERROR = -1; - -#ifndef CONFIG_SCHED_WORKQUEUE -# error This requires CONFIG_SCHED_WORKQUEUE. -#endif - -class MB12XX : public device::I2C -{ -public: - MB12XX(int bus = MB12XX_BUS, int address = MB12XX_BASEADDR); - virtual ~MB12XX(); - - virtual int init(); - - virtual ssize_t read(struct file *filp, char *buffer, size_t buflen); - virtual int ioctl(struct file *filp, int cmd, unsigned long arg); - - /** - * Diagnostics - print some basic information about the driver. - */ - void print_info(); - -protected: - virtual int probe(); - -private: - float _min_distance; - float _max_distance; - work_s _work; - unsigned _num_reports; - volatile unsigned _next_report; - volatile unsigned _oldest_report; - range_finder_report *_reports; - bool _sensor_ok; - int _measure_ticks; - bool _collect_phase; - - orb_advert_t _range_finder_topic; - - perf_counter_t _sample_perf; - perf_counter_t _comms_errors; - perf_counter_t _buffer_overflows; - - /** - * Test whether the device supported by the driver is present at a - * specific address. - * - * @param address The I2C bus address to probe. - * @return True if the device is present. - */ - int probe_address(uint8_t address); - - /** - * Initialise the automatic measurement state machine and start it. - * - * @note This function is called at open and error time. It might make sense - * to make it more aggressive about resetting the bus in case of errors. - */ - void start(); - - /** - * Stop the automatic measurement state machine. - */ - void stop(); - - /** - * Set the min and max distance thresholds if you want the end points of the sensors - * range to be brought in at all, otherwise it will use the defaults MB12XX_MIN_DISTANCE - * and MB12XX_MAX_DISTANCE - */ - void set_minimum_distance(float min); - void set_maximum_distance(float max); - float get_minimum_distance(); - float get_maximum_distance(); - - /** - * Perform a poll cycle; collect from the previous measurement - * and start a new one. - */ - void cycle(); - int measure(); - int collect(); - /** - * Static trampoline from the workq context; because we don't have a - * generic workq wrapper yet. - * - * @param arg Instance pointer for the driver that is polling. - */ - static void cycle_trampoline(void *arg); - - -}; - -/* helper macro for handling report buffer indices */ -#define INCREMENT(_x, _lim) do { _x++; if (_x >= _lim) _x = 0; } while(0) - -/* - * Driver 'main' command. - */ -extern "C" __EXPORT int mb12xx_main(int argc, char *argv[]); - -MB12XX::MB12XX(int bus, int address) : - I2C("MB12xx", RANGE_FINDER_DEVICE_PATH, bus, address, 100000), - _min_distance(MB12XX_MIN_DISTANCE), - _max_distance(MB12XX_MAX_DISTANCE), - _num_reports(0), - _next_report(0), - _oldest_report(0), - _reports(nullptr), - _sensor_ok(false), - _measure_ticks(0), - _collect_phase(false), - _range_finder_topic(-1), - _sample_perf(perf_alloc(PC_ELAPSED, "mb12xx_read")), - _comms_errors(perf_alloc(PC_COUNT, "mb12xx_comms_errors")), - _buffer_overflows(perf_alloc(PC_COUNT, "mb12xx_buffer_overflows")) -{ - // enable debug() calls - _debug_enabled = true; - - // work_cancel in the dtor will explode if we don't do this... - memset(&_work, 0, sizeof(_work)); -} - -MB12XX::~MB12XX() -{ - /* make sure we are truly inactive */ - stop(); - - /* free any existing reports */ - if (_reports != nullptr) - delete[] _reports; -} - -int -MB12XX::init() -{ - int ret = ERROR; - - /* do I2C init (and probe) first */ - if (I2C::init() != OK) - goto out; - - /* allocate basic report buffers */ - _num_reports = 2; - _reports = new struct range_finder_report[_num_reports]; - - if (_reports == nullptr) - goto out; - - _oldest_report = _next_report = 0; - - /* get a publish handle on the range finder topic */ - memset(&_reports[0], 0, sizeof(_reports[0])); - _range_finder_topic = orb_advertise(ORB_ID(sensor_range_finder), &_reports[0]); - - if (_range_finder_topic < 0) - debug("failed to create sensor_range_finder object. Did you start uOrb?"); - - ret = OK; - /* sensor is ok, but we don't really know if it is within range */ - _sensor_ok = true; -out: - return ret; -} - -int -MB12XX::probe() -{ - return measure(); -} - -void -MB12XX::set_minimum_distance(float min) -{ - _min_distance = min; -} - -void -MB12XX::set_maximum_distance(float max) -{ - _max_distance = max; -} - -float -MB12XX::get_minimum_distance() -{ - return _min_distance; -} - -float -MB12XX::get_maximum_distance() -{ - return _max_distance; -} - -int -MB12XX::ioctl(struct file *filp, int cmd, unsigned long arg) -{ - switch (cmd) { - - case SENSORIOCSPOLLRATE: { - switch (arg) { - - /* switching to manual polling */ - case SENSOR_POLLRATE_MANUAL: - stop(); - _measure_ticks = 0; - return OK; - - /* external signalling (DRDY) not supported */ - case SENSOR_POLLRATE_EXTERNAL: - - /* zero would be bad */ - case 0: - return -EINVAL; - - /* set default/max polling rate */ - case SENSOR_POLLRATE_MAX: - case SENSOR_POLLRATE_DEFAULT: { - /* do we need to start internal polling? */ - bool want_start = (_measure_ticks == 0); - - /* set interval for next measurement to minimum legal value */ - _measure_ticks = USEC2TICK(MB12XX_CONVERSION_INTERVAL); - - /* if we need to start the poll state machine, do it */ - if (want_start) - start(); - - return OK; - } - - /* adjust to a legal polling interval in Hz */ - default: { - /* do we need to start internal polling? */ - bool want_start = (_measure_ticks == 0); - - /* convert hz to tick interval via microseconds */ - unsigned ticks = USEC2TICK(1000000 / arg); - - /* check against maximum rate */ - if (ticks < USEC2TICK(MB12XX_CONVERSION_INTERVAL)) - return -EINVAL; - - /* update interval for next measurement */ - _measure_ticks = ticks; - - /* if we need to start the poll state machine, do it */ - if (want_start) - start(); - - return OK; - } - } - } - - case SENSORIOCGPOLLRATE: - if (_measure_ticks == 0) - return SENSOR_POLLRATE_MANUAL; - - return (1000 / _measure_ticks); - - case SENSORIOCSQUEUEDEPTH: { - /* add one to account for the sentinel in the ring */ - arg++; - - /* lower bound is mandatory, upper bound is a sanity check */ - if ((arg < 2) || (arg > 100)) - return -EINVAL; - - /* allocate new buffer */ - struct range_finder_report *buf = new struct range_finder_report[arg]; - - if (nullptr == buf) - return -ENOMEM; - - /* reset the measurement state machine with the new buffer, free the old */ - stop(); - delete[] _reports; - _num_reports = arg; - _reports = buf; - start(); - - return OK; - } - - case SENSORIOCGQUEUEDEPTH: - return _num_reports - 1; - - case SENSORIOCRESET: - /* XXX implement this */ - return -EINVAL; - - case RANGEFINDERIOCSETMINIUMDISTANCE: - { - set_minimum_distance(*(float *)arg); - return 0; - } - break; - case RANGEFINDERIOCSETMAXIUMDISTANCE: - { - set_maximum_distance(*(float *)arg); - return 0; - } - break; - default: - /* give it to the superclass */ - return I2C::ioctl(filp, cmd, arg); - } -} - -ssize_t -MB12XX::read(struct file *filp, char *buffer, size_t buflen) -{ - unsigned count = buflen / sizeof(struct range_finder_report); - int ret = 0; - - /* buffer must be large enough */ - if (count < 1) - return -ENOSPC; - - /* if automatic measurement is enabled */ - if (_measure_ticks > 0) { - - /* - * While there is space in the caller's buffer, and reports, copy them. - * Note that we may be pre-empted by the workq thread while we are doing this; - * we are careful to avoid racing with them. - */ - while (count--) { - if (_oldest_report != _next_report) { - memcpy(buffer, _reports + _oldest_report, sizeof(*_reports)); - ret += sizeof(_reports[0]); - INCREMENT(_oldest_report, _num_reports); - } - } - - /* if there was no data, warn the caller */ - return ret ? ret : -EAGAIN; - } - - /* manual measurement - run one conversion */ - /* XXX really it'd be nice to lock against other readers here */ - do { - _oldest_report = _next_report = 0; - - /* trigger a measurement */ - if (OK != measure()) { - ret = -EIO; - break; - } - - /* wait for it to complete */ - usleep(MB12XX_CONVERSION_INTERVAL); - - /* run the collection phase */ - if (OK != collect()) { - ret = -EIO; - break; - } - - /* state machine will have generated a report, copy it out */ - memcpy(buffer, _reports, sizeof(*_reports)); - ret = sizeof(*_reports); - - } while (0); - - return ret; -} - -int -MB12XX::measure() -{ - int ret; - - /* - * Send the command to begin a measurement. - */ - uint8_t cmd = MB12XX_TAKE_RANGE_REG; - ret = transfer(&cmd, 1, nullptr, 0); - - if (OK != ret) - { - perf_count(_comms_errors); - log("i2c::transfer returned %d", ret); - return ret; - } - ret = OK; - - return ret; -} - -int -MB12XX::collect() -{ - int ret = -EIO; - - /* read from the sensor */ - uint8_t val[2] = {0, 0}; - - perf_begin(_sample_perf); - - ret = transfer(nullptr, 0, &val[0], 2); - - if (ret < 0) - { - log("error reading from sensor: %d", ret); - return ret; - } - - uint16_t distance = val[0] << 8 | val[1]; - float si_units = (distance * 1.0f)/ 100.0f; /* cm to m */ - /* this should be fairly close to the end of the measurement, so the best approximation of the time */ - _reports[_next_report].timestamp = hrt_absolute_time(); - _reports[_next_report].distance = si_units; - _reports[_next_report].valid = si_units > get_minimum_distance() && si_units < get_maximum_distance() ? 1 : 0; - - /* publish it */ - orb_publish(ORB_ID(sensor_range_finder), _range_finder_topic, &_reports[_next_report]); - - /* post a report to the ring - note, not locked */ - INCREMENT(_next_report, _num_reports); - - /* if we are running up against the oldest report, toss it */ - if (_next_report == _oldest_report) { - perf_count(_buffer_overflows); - INCREMENT(_oldest_report, _num_reports); - } - - /* notify anyone waiting for data */ - poll_notify(POLLIN); - - ret = OK; - -out: - perf_end(_sample_perf); - return ret; - - return ret; -} - -void -MB12XX::start() -{ - /* reset the report ring and state machine */ - _collect_phase = false; - _oldest_report = _next_report = 0; - - /* schedule a cycle to start things */ - work_queue(HPWORK, &_work, (worker_t)&MB12XX::cycle_trampoline, this, 1); - - /* notify about state change */ - struct subsystem_info_s info = { - true, - true, - true, - SUBSYSTEM_TYPE_RANGEFINDER}; - static orb_advert_t pub = -1; - - if (pub > 0) { - orb_publish(ORB_ID(subsystem_info), pub, &info); - } else { - pub = orb_advertise(ORB_ID(subsystem_info), &info); - } -} - -void -MB12XX::stop() -{ - work_cancel(HPWORK, &_work); -} - -void -MB12XX::cycle_trampoline(void *arg) -{ - MB12XX *dev = (MB12XX *)arg; - - dev->cycle(); -} - -void -MB12XX::cycle() -{ - /* collection phase? */ - if (_collect_phase) { - - /* perform collection */ - if (OK != collect()) { - log("collection error"); - /* restart the measurement state machine */ - start(); - return; - } - - /* next phase is measurement */ - _collect_phase = false; - - /* - * Is there a collect->measure gap? - */ - if (_measure_ticks > USEC2TICK(MB12XX_CONVERSION_INTERVAL)) { - - /* schedule a fresh cycle call when we are ready to measure again */ - work_queue(HPWORK, - &_work, - (worker_t)&MB12XX::cycle_trampoline, - this, - _measure_ticks - USEC2TICK(MB12XX_CONVERSION_INTERVAL)); - - return; - } - } - - /* measurement phase */ - if (OK != measure()) - log("measure error"); - - /* next phase is collection */ - _collect_phase = true; - - /* schedule a fresh cycle call when the measurement is done */ - work_queue(HPWORK, - &_work, - (worker_t)&MB12XX::cycle_trampoline, - this, - USEC2TICK(MB12XX_CONVERSION_INTERVAL)); -} - -void -MB12XX::print_info() -{ - perf_print_counter(_sample_perf); - perf_print_counter(_comms_errors); - perf_print_counter(_buffer_overflows); - printf("poll interval: %u ticks\n", _measure_ticks); - printf("report queue: %u (%u/%u @ %p)\n", - _num_reports, _oldest_report, _next_report, _reports); -} - -/** - * Local functions in support of the shell command. - */ -namespace mb12xx -{ - -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -const int ERROR = -1; - -MB12XX *g_dev; - -void start(); -void stop(); -void test(); -void reset(); -void info(); - -/** - * Start the driver. - */ -void -start() -{ - int fd; - - if (g_dev != nullptr) - errx(1, "already started"); - - /* create the driver */ - g_dev = new MB12XX(MB12XX_BUS); - - if (g_dev == nullptr) - goto fail; - - if (OK != g_dev->init()) - goto fail; - - /* set the poll rate to default, starts automatic data collection */ - fd = open(RANGE_FINDER_DEVICE_PATH, O_RDONLY); - - if (fd < 0) - goto fail; - - if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) - goto fail; - - exit(0); - -fail: - - if (g_dev != nullptr) - { - delete g_dev; - g_dev = nullptr; - } - - errx(1, "driver start failed"); -} - -/** - * Stop the driver - */ -void stop() -{ - if (g_dev != nullptr) - { - delete g_dev; - g_dev = nullptr; - } - else - { - errx(1, "driver not running"); - } - exit(0); -} - -/** - * Perform some basic functional tests on the driver; - * make sure we can collect data from the sensor in polled - * and automatic modes. - */ -void -test() -{ - struct range_finder_report report; - ssize_t sz; - int ret; - - int fd = open(RANGE_FINDER_DEVICE_PATH, O_RDONLY); - - if (fd < 0) - err(1, "%s open failed (try 'mb12xx start' if the driver is not running", RANGE_FINDER_DEVICE_PATH); - - /* do a simple demand read */ - sz = read(fd, &report, sizeof(report)); - - if (sz != sizeof(report)) - err(1, "immediate read failed"); - - warnx("single read"); - warnx("measurement: %0.2f m", (double)report.distance); - warnx("time: %lld", report.timestamp); - - /* start the sensor polling at 2Hz */ - if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) - errx(1, "failed to set 2Hz poll rate"); - - /* read the sensor 5x and report each value */ - for (unsigned i = 0; i < 5; i++) { - struct pollfd fds; - - /* wait for data to be ready */ - fds.fd = fd; - fds.events = POLLIN; - ret = poll(&fds, 1, 2000); - - if (ret != 1) - errx(1, "timed out waiting for sensor data"); - - /* now go get it */ - sz = read(fd, &report, sizeof(report)); - - if (sz != sizeof(report)) - err(1, "periodic read failed"); - - warnx("periodic read %u", i); - warnx("measurement: %0.3f", (double)report.distance); - warnx("time: %lld", report.timestamp); - } - - errx(0, "PASS"); -} - -/** - * Reset the driver. - */ -void -reset() -{ - int fd = open(RANGE_FINDER_DEVICE_PATH, O_RDONLY); - - if (fd < 0) - err(1, "failed "); - - if (ioctl(fd, SENSORIOCRESET, 0) < 0) - err(1, "driver reset failed"); - - if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) - err(1, "driver poll restart failed"); - - exit(0); -} - -/** - * Print a little info about the driver. - */ -void -info() -{ - if (g_dev == nullptr) - errx(1, "driver not running"); - - printf("state @ %p\n", g_dev); - g_dev->print_info(); - - exit(0); -} - -} // namespace - -int -mb12xx_main(int argc, char *argv[]) -{ - /* - * Start/load the driver. - */ - if (!strcmp(argv[1], "start")) - mb12xx::start(); - - /* - * Stop the driver - */ - if (!strcmp(argv[1], "stop")) - mb12xx::stop(); - - /* - * Test the driver/device. - */ - if (!strcmp(argv[1], "test")) - mb12xx::test(); - - /* - * Reset the driver. - */ - if (!strcmp(argv[1], "reset")) - mb12xx::reset(); - - /* - * Print driver information. - */ - if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) - mb12xx::info(); - - errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'"); -} diff --git a/apps/drivers/mpu6000/Makefile b/apps/drivers/mpu6000/Makefile deleted file mode 100644 index 32df1bdae..000000000 --- a/apps/drivers/mpu6000/Makefile +++ /dev/null @@ -1,42 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Makefile to build the BMA180 driver. -# - -APPNAME = mpu6000 -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 4096 - -include $(APPDIR)/mk/app.mk diff --git a/apps/drivers/mpu6000/mpu6000.cpp b/apps/drivers/mpu6000/mpu6000.cpp deleted file mode 100644 index ce7062046..000000000 --- a/apps/drivers/mpu6000/mpu6000.cpp +++ /dev/null @@ -1,1219 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file mpu6000.cpp - * - * Driver for the Invensense MPU6000 connected via SPI. - */ - -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include - -#include -#include - -#include -#include - -#include -#include -#include - -#define DIR_READ 0x80 -#define DIR_WRITE 0x00 - -// MPU 6000 registers -#define MPUREG_WHOAMI 0x75 -#define MPUREG_SMPLRT_DIV 0x19 -#define MPUREG_CONFIG 0x1A -#define MPUREG_GYRO_CONFIG 0x1B -#define MPUREG_ACCEL_CONFIG 0x1C -#define MPUREG_FIFO_EN 0x23 -#define MPUREG_INT_PIN_CFG 0x37 -#define MPUREG_INT_ENABLE 0x38 -#define MPUREG_INT_STATUS 0x3A -#define MPUREG_ACCEL_XOUT_H 0x3B -#define MPUREG_ACCEL_XOUT_L 0x3C -#define MPUREG_ACCEL_YOUT_H 0x3D -#define MPUREG_ACCEL_YOUT_L 0x3E -#define MPUREG_ACCEL_ZOUT_H 0x3F -#define MPUREG_ACCEL_ZOUT_L 0x40 -#define MPUREG_TEMP_OUT_H 0x41 -#define MPUREG_TEMP_OUT_L 0x42 -#define MPUREG_GYRO_XOUT_H 0x43 -#define MPUREG_GYRO_XOUT_L 0x44 -#define MPUREG_GYRO_YOUT_H 0x45 -#define MPUREG_GYRO_YOUT_L 0x46 -#define MPUREG_GYRO_ZOUT_H 0x47 -#define MPUREG_GYRO_ZOUT_L 0x48 -#define MPUREG_USER_CTRL 0x6A -#define MPUREG_PWR_MGMT_1 0x6B -#define MPUREG_PWR_MGMT_2 0x6C -#define MPUREG_FIFO_COUNTH 0x72 -#define MPUREG_FIFO_COUNTL 0x73 -#define MPUREG_FIFO_R_W 0x74 -#define MPUREG_PRODUCT_ID 0x0C - -// Configuration bits MPU 3000 and MPU 6000 (not revised)? -#define BIT_SLEEP 0x40 -#define BIT_H_RESET 0x80 -#define BITS_CLKSEL 0x07 -#define MPU_CLK_SEL_PLLGYROX 0x01 -#define MPU_CLK_SEL_PLLGYROZ 0x03 -#define MPU_EXT_SYNC_GYROX 0x02 -#define BITS_FS_250DPS 0x00 -#define BITS_FS_500DPS 0x08 -#define BITS_FS_1000DPS 0x10 -#define BITS_FS_2000DPS 0x18 -#define BITS_FS_MASK 0x18 -#define BITS_DLPF_CFG_256HZ_NOLPF2 0x00 -#define BITS_DLPF_CFG_188HZ 0x01 -#define BITS_DLPF_CFG_98HZ 0x02 -#define BITS_DLPF_CFG_42HZ 0x03 -#define BITS_DLPF_CFG_20HZ 0x04 -#define BITS_DLPF_CFG_10HZ 0x05 -#define BITS_DLPF_CFG_5HZ 0x06 -#define BITS_DLPF_CFG_2100HZ_NOLPF 0x07 -#define BITS_DLPF_CFG_MASK 0x07 -#define BIT_INT_ANYRD_2CLEAR 0x10 -#define BIT_RAW_RDY_EN 0x01 -#define BIT_I2C_IF_DIS 0x10 -#define BIT_INT_STATUS_DATA 0x01 - -// Product ID Description for MPU6000 -// high 4 bits low 4 bits -// Product Name Product Revision -#define MPU6000ES_REV_C4 0x14 -#define MPU6000ES_REV_C5 0x15 -#define MPU6000ES_REV_D6 0x16 -#define MPU6000ES_REV_D7 0x17 -#define MPU6000ES_REV_D8 0x18 -#define MPU6000_REV_C4 0x54 -#define MPU6000_REV_C5 0x55 -#define MPU6000_REV_D6 0x56 -#define MPU6000_REV_D7 0x57 -#define MPU6000_REV_D8 0x58 -#define MPU6000_REV_D9 0x59 -#define MPU6000_REV_D10 0x5A - - -class MPU6000_gyro; - -class MPU6000 : public device::SPI -{ -public: - MPU6000(int bus, spi_dev_e device); - virtual ~MPU6000(); - - virtual int init(); - - virtual ssize_t read(struct file *filp, char *buffer, size_t buflen); - virtual int ioctl(struct file *filp, int cmd, unsigned long arg); - - /** - * Diagnostics - print some basic information about the driver. - */ - void print_info(); - -protected: - virtual int probe(); - - friend class MPU6000_gyro; - - virtual ssize_t gyro_read(struct file *filp, char *buffer, size_t buflen); - virtual int gyro_ioctl(struct file *filp, int cmd, unsigned long arg); - -private: - MPU6000_gyro *_gyro; - uint8_t _product; /** product code */ - - struct hrt_call _call; - unsigned _call_interval; - - struct accel_report _accel_report; - struct accel_scale _accel_scale; - float _accel_range_scale; - float _accel_range_m_s2; - orb_advert_t _accel_topic; - - struct gyro_report _gyro_report; - struct gyro_scale _gyro_scale; - float _gyro_range_scale; - float _gyro_range_rad_s; - orb_advert_t _gyro_topic; - - unsigned _reads; - perf_counter_t _sample_perf; - - /** - * Start automatic measurement. - */ - void start(); - - /** - * Stop automatic measurement. - */ - void stop(); - - /** - * Static trampoline from the hrt_call context; because we don't have a - * generic hrt wrapper yet. - * - * Called by the HRT in interrupt context at the specified rate if - * automatic polling is enabled. - * - * @param arg Instance pointer for the driver that is polling. - */ - static void measure_trampoline(void *arg); - - /** - * Fetch measurements from the sensor and update the report ring. - */ - void measure(); - - /** - * Read a register from the MPU6000 - * - * @param The register to read. - * @return The value that was read. - */ - uint8_t read_reg(unsigned reg); - uint16_t read_reg16(unsigned reg); - - /** - * Write a register in the MPU6000 - * - * @param reg The register to write. - * @param value The new value to write. - */ - void write_reg(unsigned reg, uint8_t value); - - /** - * Modify a register in the MPU6000 - * - * Bits are cleared before bits are set. - * - * @param reg The register to modify. - * @param clearbits Bits in the register to clear. - * @param setbits Bits in the register to set. - */ - void modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits); - - /** - * Set the MPU6000 measurement range. - * - * @param max_g The maximum G value the range must support. - * @return OK if the value can be supported, -ERANGE otherwise. - */ - int set_range(unsigned max_g); - - /** - * Swap a 16-bit value read from the MPU6000 to native byte order. - */ - uint16_t swap16(uint16_t val) { return (val >> 8) | (val << 8); } - - /** - * Self test - * - * @return 0 on success, 1 on failure - */ - int self_test(); - - /* - set low pass filter frequency - */ - void _set_dlpf_filter(uint16_t frequency_hz); - -}; - -/** - * Helper class implementing the gyro driver node. - */ -class MPU6000_gyro : public device::CDev -{ -public: - MPU6000_gyro(MPU6000 *parent); - ~MPU6000_gyro(); - - virtual ssize_t read(struct file *filp, char *buffer, size_t buflen); - virtual int ioctl(struct file *filp, int cmd, unsigned long arg); - -protected: - friend class MPU6000; - - void parent_poll_notify(); -private: - MPU6000 *_parent; -}; - -/** driver 'main' command */ -extern "C" { __EXPORT int mpu6000_main(int argc, char *argv[]); } - -MPU6000::MPU6000(int bus, spi_dev_e device) : - SPI("MPU6000", ACCEL_DEVICE_PATH, bus, device, SPIDEV_MODE3, 10000000), - _gyro(new MPU6000_gyro(this)), - _product(0), - _call_interval(0), - _accel_range_scale(0.0f), - _accel_range_m_s2(0.0f), - _accel_topic(-1), - _gyro_range_scale(0.0f), - _gyro_range_rad_s(0.0f), - _gyro_topic(-1), - _reads(0), - _sample_perf(perf_alloc(PC_ELAPSED, "mpu6000_read")) -{ - // disable debug() calls - _debug_enabled = false; - - // default accel scale factors - _accel_scale.x_offset = 0; - _accel_scale.x_scale = 1.0f; - _accel_scale.y_offset = 0; - _accel_scale.y_scale = 1.0f; - _accel_scale.z_offset = 0; - _accel_scale.z_scale = 1.0f; - - // default gyro scale factors - _gyro_scale.x_offset = 0; - _gyro_scale.x_scale = 1.0f; - _gyro_scale.y_offset = 0; - _gyro_scale.y_scale = 1.0f; - _gyro_scale.z_offset = 0; - _gyro_scale.z_scale = 1.0f; - - memset(&_accel_report, 0, sizeof(_accel_report)); - memset(&_gyro_report, 0, sizeof(_gyro_report)); - memset(&_call, 0, sizeof(_call)); -} - -MPU6000::~MPU6000() -{ - /* make sure we are truly inactive */ - stop(); - - /* delete the gyro subdriver */ - delete _gyro; - - /* delete the perf counter */ - perf_free(_sample_perf); -} - -int -MPU6000::init() -{ - int ret; - - /* do SPI init (and probe) first */ - ret = SPI::init(); - - /* if probe/setup failed, bail now */ - if (ret != OK) { - debug("SPI setup failed"); - return ret; - } - - /* advertise sensor topics */ - _accel_topic = orb_advertise(ORB_ID(sensor_accel), &_accel_report); - _gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &_gyro_report); - - // Chip reset - write_reg(MPUREG_PWR_MGMT_1, BIT_H_RESET); - up_udelay(10000); - - // Wake up device and select GyroZ clock (better performance) - write_reg(MPUREG_PWR_MGMT_1, MPU_CLK_SEL_PLLGYROZ); - up_udelay(1000); - - // Disable I2C bus (recommended on datasheet) - write_reg(MPUREG_USER_CTRL, BIT_I2C_IF_DIS); - up_udelay(1000); - - // SAMPLE RATE - write_reg(MPUREG_SMPLRT_DIV, 0x04); // Sample rate = 200Hz Fsample= 1Khz/(4+1) = 200Hz - usleep(1000); - - // FS & DLPF FS=2000 deg/s, DLPF = 20Hz (low pass filter) - // was 90 Hz, but this ruins quality and does not improve the - // system response - _set_dlpf_filter(20); - usleep(1000); - // Gyro scale 2000 deg/s () - write_reg(MPUREG_GYRO_CONFIG, BITS_FS_2000DPS); - usleep(1000); - - // correct gyro scale factors - // scale to rad/s in SI units - // 2000 deg/s = (2000/180)*PI = 34.906585 rad/s - // scaling factor: - // 1/(2^15)*(2000/180)*PI - _gyro_scale.x_offset = 0; - _gyro_scale.x_scale = 1.0f; - _gyro_scale.y_offset = 0; - _gyro_scale.y_scale = 1.0f; - _gyro_scale.z_offset = 0; - _gyro_scale.z_scale = 1.0f; - _gyro_range_scale = (0.0174532 / 16.4);//1.0f / (32768.0f * (2000.0f / 180.0f) * M_PI_F); - _gyro_range_rad_s = (2000.0f / 180.0f) * M_PI_F; - - // product-specific scaling - switch (_product) { - case MPU6000ES_REV_C4: - case MPU6000ES_REV_C5: - case MPU6000_REV_C4: - case MPU6000_REV_C5: - // Accel scale 8g (4096 LSB/g) - // Rev C has different scaling than rev D - write_reg(MPUREG_ACCEL_CONFIG, 1 << 3); - break; - - case MPU6000ES_REV_D6: - case MPU6000ES_REV_D7: - case MPU6000ES_REV_D8: - case MPU6000_REV_D6: - case MPU6000_REV_D7: - case MPU6000_REV_D8: - case MPU6000_REV_D9: - case MPU6000_REV_D10: - // default case to cope with new chip revisions, which - // presumably won't have the accel scaling bug - default: - // Accel scale 8g (4096 LSB/g) - write_reg(MPUREG_ACCEL_CONFIG, 2 << 3); - break; - } - - // Correct accel scale factors of 4096 LSB/g - // scale to m/s^2 ( 1g = 9.81 m/s^2) - _accel_scale.x_offset = 0; - _accel_scale.x_scale = 1.0f; - _accel_scale.y_offset = 0; - _accel_scale.y_scale = 1.0f; - _accel_scale.z_offset = 0; - _accel_scale.z_scale = 1.0f; - _accel_range_scale = (9.81f / 4096.0f); - _accel_range_m_s2 = 8.0f * 9.81f; - - usleep(1000); - - // INT CFG => Interrupt on Data Ready - write_reg(MPUREG_INT_ENABLE, BIT_RAW_RDY_EN); // INT: Raw data ready - usleep(1000); - write_reg(MPUREG_INT_PIN_CFG, BIT_INT_ANYRD_2CLEAR); // INT: Clear on any read - usleep(1000); - - // Oscillator set - // write_reg(MPUREG_PWR_MGMT_1,MPU_CLK_SEL_PLLGYROZ); - usleep(1000); - - /* do CDev init for the gyro device node, keep it optional */ - int gyro_ret = _gyro->init(); - - if (gyro_ret != OK) { - _gyro_topic = -1; - } - - return ret; -} - -int -MPU6000::probe() -{ - - /* look for a product ID we recognise */ - _product = read_reg(MPUREG_PRODUCT_ID); - - // verify product revision - switch (_product) { - case MPU6000ES_REV_C4: - case MPU6000ES_REV_C5: - case MPU6000_REV_C4: - case MPU6000_REV_C5: - case MPU6000ES_REV_D6: - case MPU6000ES_REV_D7: - case MPU6000ES_REV_D8: - case MPU6000_REV_D6: - case MPU6000_REV_D7: - case MPU6000_REV_D8: - case MPU6000_REV_D9: - case MPU6000_REV_D10: - debug("ID 0x%02x", _product); - return OK; - } - - debug("unexpected ID 0x%02x", _product); - return -EIO; -} - -/* - set the DLPF filter frequency. This affects both accel and gyro. - */ -void -MPU6000::_set_dlpf_filter(uint16_t frequency_hz) -{ - uint8_t filter; - - /* - choose next highest filter frequency available - */ - if (frequency_hz <= 5) { - filter = BITS_DLPF_CFG_5HZ; - } else if (frequency_hz <= 10) { - filter = BITS_DLPF_CFG_10HZ; - } else if (frequency_hz <= 20) { - filter = BITS_DLPF_CFG_20HZ; - } else if (frequency_hz <= 42) { - filter = BITS_DLPF_CFG_42HZ; - } else if (frequency_hz <= 98) { - filter = BITS_DLPF_CFG_98HZ; - } else if (frequency_hz <= 188) { - filter = BITS_DLPF_CFG_188HZ; - } else if (frequency_hz <= 256) { - filter = BITS_DLPF_CFG_256HZ_NOLPF2; - } else { - filter = BITS_DLPF_CFG_2100HZ_NOLPF; - } - write_reg(MPUREG_CONFIG, filter); -} - -ssize_t -MPU6000::read(struct file *filp, char *buffer, size_t buflen) -{ - int ret = 0; - - /* buffer must be large enough */ - if (buflen < sizeof(_accel_report)) - return -ENOSPC; - - /* if automatic measurement is not enabled */ - if (_call_interval == 0) - measure(); - - /* copy out the latest reports */ - memcpy(buffer, &_accel_report, sizeof(_accel_report)); - ret = sizeof(_accel_report); - - return ret; -} - -int -MPU6000::self_test() -{ - if (_reads == 0) { - measure(); - } - - /* return 0 on success, 1 else */ - return (_reads > 0) ? 0 : 1; -} - -ssize_t -MPU6000::gyro_read(struct file *filp, char *buffer, size_t buflen) -{ - int ret = 0; - - /* buffer must be large enough */ - if (buflen < sizeof(_gyro_report)) - return -ENOSPC; - - /* if automatic measurement is not enabled */ - if (_call_interval == 0) - measure(); - - /* copy out the latest report */ - memcpy(buffer, &_gyro_report, sizeof(_gyro_report)); - ret = sizeof(_gyro_report); - - return ret; -} - -int -MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg) -{ - switch (cmd) { - - case SENSORIOCSPOLLRATE: { - switch (arg) { - - /* switching to manual polling */ - case SENSOR_POLLRATE_MANUAL: - stop(); - _call_interval = 0; - return OK; - - /* external signalling not supported */ - case SENSOR_POLLRATE_EXTERNAL: - - /* zero would be bad */ - case 0: - return -EINVAL; - - /* set default/max polling rate */ - case SENSOR_POLLRATE_MAX: - case SENSOR_POLLRATE_DEFAULT: - /* XXX 500Hz is just a wild guess */ - return ioctl(filp, SENSORIOCSPOLLRATE, 500); - - /* adjust to a legal polling interval in Hz */ - default: { - /* do we need to start internal polling? */ - bool want_start = (_call_interval == 0); - - /* convert hz to hrt interval via microseconds */ - unsigned ticks = 1000000 / arg; - - /* check against maximum sane rate */ - if (ticks < 1000) - return -EINVAL; - - /* update interval for next measurement */ - /* XXX this is a bit shady, but no other way to adjust... */ - _call.period = _call_interval = ticks; - - /* if we need to start the poll state machine, do it */ - if (want_start) - start(); - - return OK; - } - } - } - - case SENSORIOCGPOLLRATE: - if (_call_interval == 0) - return SENSOR_POLLRATE_MANUAL; - - return 1000000 / _call_interval; - - case SENSORIOCSQUEUEDEPTH: - /* XXX not implemented */ - return -EINVAL; - - case SENSORIOCGQUEUEDEPTH: - /* XXX not implemented */ - return -EINVAL; - - - case ACCELIOCSSAMPLERATE: - case ACCELIOCGSAMPLERATE: - /* XXX not implemented */ - return -EINVAL; - - case ACCELIOCSLOWPASS: - case ACCELIOCGLOWPASS: - _set_dlpf_filter((uint16_t)arg); - return OK; - - case ACCELIOCSSCALE: - { - /* copy scale, but only if off by a few percent */ - struct accel_scale *s = (struct accel_scale *) arg; - float sum = s->x_scale + s->y_scale + s->z_scale; - if (sum > 2.0f && sum < 4.0f) { - memcpy(&_accel_scale, s, sizeof(_accel_scale)); - return OK; - } else { - return -EINVAL; - } - } - - case ACCELIOCGSCALE: - /* copy scale out */ - memcpy((struct accel_scale *) arg, &_accel_scale, sizeof(_accel_scale)); - return OK; - - case ACCELIOCSRANGE: - case ACCELIOCGRANGE: - /* XXX not implemented */ - // XXX change these two values on set: - // _accel_range_scale = (9.81f / 4096.0f); - // _accel_range_rad_s = 8.0f * 9.81f; - return -EINVAL; - - case ACCELIOCSELFTEST: - return self_test(); - - default: - /* give it to the superclass */ - return SPI::ioctl(filp, cmd, arg); - } -} - -int -MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg) -{ - switch (cmd) { - - /* these are shared with the accel side */ - case SENSORIOCSPOLLRATE: - case SENSORIOCGPOLLRATE: - case SENSORIOCSQUEUEDEPTH: - case SENSORIOCGQUEUEDEPTH: - case SENSORIOCRESET: - return ioctl(filp, cmd, arg); - - case GYROIOCSSAMPLERATE: - case GYROIOCGSAMPLERATE: - /* XXX not implemented */ - return -EINVAL; - - case GYROIOCSLOWPASS: - case GYROIOCGLOWPASS: - _set_dlpf_filter((uint16_t)arg); - return OK; - - case GYROIOCSSCALE: - /* copy scale in */ - memcpy(&_gyro_scale, (struct gyro_scale *) arg, sizeof(_gyro_scale)); - return OK; - - case GYROIOCGSCALE: - /* copy scale out */ - memcpy((struct gyro_scale *) arg, &_gyro_scale, sizeof(_gyro_scale)); - return OK; - - case GYROIOCSRANGE: - case GYROIOCGRANGE: - /* XXX not implemented */ - // XXX change these two values on set: - // _gyro_range_scale = xx - // _gyro_range_m_s2 = xx - return -EINVAL; - - case GYROIOCSELFTEST: - return self_test(); - - default: - /* give it to the superclass */ - return SPI::ioctl(filp, cmd, arg); - } -} - -uint8_t -MPU6000::read_reg(unsigned reg) -{ - uint8_t cmd[2]; - - cmd[0] = reg | DIR_READ; - - transfer(cmd, cmd, sizeof(cmd)); - - return cmd[1]; -} - -uint16_t -MPU6000::read_reg16(unsigned reg) -{ - uint8_t cmd[3]; - - cmd[0] = reg | DIR_READ; - - transfer(cmd, cmd, sizeof(cmd)); - - return (uint16_t)(cmd[1] << 8) | cmd[2]; -} - -void -MPU6000::write_reg(unsigned reg, uint8_t value) -{ - uint8_t cmd[2]; - - cmd[0] = reg | DIR_WRITE; - cmd[1] = value; - - transfer(cmd, nullptr, sizeof(cmd)); -} - -void -MPU6000::modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits) -{ - uint8_t val; - - val = read_reg(reg); - val &= ~clearbits; - val |= setbits; - write_reg(reg, val); -} - -int -MPU6000::set_range(unsigned max_g) -{ -#if 0 - uint8_t rangebits; - float rangescale; - - if (max_g > 16) { - return -ERANGE; - - } else if (max_g > 8) { /* 16G */ - rangebits = OFFSET_LSB1_RANGE_16G; - rangescale = 1.98; - - } else if (max_g > 4) { /* 8G */ - rangebits = OFFSET_LSB1_RANGE_8G; - rangescale = 0.99; - - } else if (max_g > 3) { /* 4G */ - rangebits = OFFSET_LSB1_RANGE_4G; - rangescale = 0.5; - - } else if (max_g > 2) { /* 3G */ - rangebits = OFFSET_LSB1_RANGE_3G; - rangescale = 0.38; - - } else if (max_g > 1) { /* 2G */ - rangebits = OFFSET_LSB1_RANGE_2G; - rangescale = 0.25; - - } else { /* 1G */ - rangebits = OFFSET_LSB1_RANGE_1G; - rangescale = 0.13; - } - - /* adjust sensor configuration */ - modify_reg(ADDR_OFFSET_LSB1, OFFSET_LSB1_RANGE_MASK, rangebits); - _range_scale = rangescale; -#endif - return OK; -} - -void -MPU6000::start() -{ - /* make sure we are stopped first */ - stop(); - - /* start polling at the specified rate */ - hrt_call_every(&_call, 1000, _call_interval, (hrt_callout)&MPU6000::measure_trampoline, this); -} - -void -MPU6000::stop() -{ - hrt_cancel(&_call); -} - -void -MPU6000::measure_trampoline(void *arg) -{ - MPU6000 *dev = (MPU6000 *)arg; - - /* make another measurement */ - dev->measure(); -} - -void -MPU6000::measure() -{ -#pragma pack(push, 1) - /** - * Report conversation within the MPU6000, including command byte and - * interrupt status. - */ - struct MPUReport { - uint8_t cmd; - uint8_t status; - uint8_t accel_x[2]; - uint8_t accel_y[2]; - uint8_t accel_z[2]; - uint8_t temp[2]; - uint8_t gyro_x[2]; - uint8_t gyro_y[2]; - uint8_t gyro_z[2]; - } mpu_report; -#pragma pack(pop) - - struct Report { - int16_t accel_x; - int16_t accel_y; - int16_t accel_z; - int16_t temp; - int16_t gyro_x; - int16_t gyro_y; - int16_t gyro_z; - } report; - - /* start measuring */ - perf_begin(_sample_perf); - - /* - * Fetch the full set of measurements from the MPU6000 in one pass. - */ - mpu_report.cmd = DIR_READ | MPUREG_INT_STATUS; - if (OK != transfer((uint8_t *)&mpu_report, ((uint8_t *)&mpu_report), sizeof(mpu_report))) - return; - - /* count measurement */ - _reads++; - - /* - * Convert from big to little endian - */ - - report.accel_x = int16_t_from_bytes(mpu_report.accel_x); - report.accel_y = int16_t_from_bytes(mpu_report.accel_y); - report.accel_z = int16_t_from_bytes(mpu_report.accel_z); - - report.temp = int16_t_from_bytes(mpu_report.temp); - - report.gyro_x = int16_t_from_bytes(mpu_report.gyro_x); - report.gyro_y = int16_t_from_bytes(mpu_report.gyro_y); - report.gyro_z = int16_t_from_bytes(mpu_report.gyro_z); - - /* - * Swap axes and negate y - */ - int16_t accel_xt = report.accel_y; - int16_t accel_yt = ((report.accel_x == -32768) ? 32767 : -report.accel_x); - - int16_t gyro_xt = report.gyro_y; - int16_t gyro_yt = ((report.gyro_x == -32768) ? 32767 : -report.gyro_x); - - /* - * Apply the swap - */ - report.accel_x = accel_xt; - report.accel_y = accel_yt; - report.gyro_x = gyro_xt; - report.gyro_y = gyro_yt; - - /* - * Adjust and scale results to m/s^2. - */ - _gyro_report.timestamp = _accel_report.timestamp = hrt_absolute_time(); - - - /* - * 1) Scale raw value to SI units using scaling from datasheet. - * 2) Subtract static offset (in SI units) - * 3) Scale the statically calibrated values with a linear - * dynamically obtained factor - * - * Note: the static sensor offset is the number the sensor outputs - * at a nominally 'zero' input. Therefore the offset has to - * be subtracted. - * - * Example: A gyro outputs a value of 74 at zero angular rate - * the offset is 74 from the origin and subtracting - * 74 from all measurements centers them around zero. - */ - - - /* NOTE: Axes have been swapped to match the board a few lines above. */ - - _accel_report.x_raw = report.accel_x; - _accel_report.y_raw = report.accel_y; - _accel_report.z_raw = report.accel_z; - - _accel_report.x = ((report.accel_x * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale; - _accel_report.y = ((report.accel_y * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale; - _accel_report.z = ((report.accel_z * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale; - _accel_report.scaling = _accel_range_scale; - _accel_report.range_m_s2 = _accel_range_m_s2; - - _accel_report.temperature_raw = report.temp; - _accel_report.temperature = (report.temp) / 361.0f + 35.0f; - - _gyro_report.x_raw = report.gyro_x; - _gyro_report.y_raw = report.gyro_y; - _gyro_report.z_raw = report.gyro_z; - - _gyro_report.x = ((report.gyro_x * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale; - _gyro_report.y = ((report.gyro_y * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale; - _gyro_report.z = ((report.gyro_z * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale; - _gyro_report.scaling = _gyro_range_scale; - _gyro_report.range_rad_s = _gyro_range_rad_s; - - _gyro_report.temperature_raw = report.temp; - _gyro_report.temperature = (report.temp) / 361.0f + 35.0f; - - /* notify anyone waiting for data */ - poll_notify(POLLIN); - _gyro->parent_poll_notify(); - - /* and publish for subscribers */ - orb_publish(ORB_ID(sensor_accel), _accel_topic, &_accel_report); - if (_gyro_topic != -1) { - orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &_gyro_report); - } - - /* stop measuring */ - perf_end(_sample_perf); -} - -void -MPU6000::print_info() -{ - printf("reads: %u\n", _reads); -} - -MPU6000_gyro::MPU6000_gyro(MPU6000 *parent) : - CDev("MPU6000_gyro", GYRO_DEVICE_PATH), - _parent(parent) -{ -} - -MPU6000_gyro::~MPU6000_gyro() -{ -} - -void -MPU6000_gyro::parent_poll_notify() -{ - poll_notify(POLLIN); -} - -ssize_t -MPU6000_gyro::read(struct file *filp, char *buffer, size_t buflen) -{ - return _parent->gyro_read(filp, buffer, buflen); -} - -int -MPU6000_gyro::ioctl(struct file *filp, int cmd, unsigned long arg) -{ - return _parent->gyro_ioctl(filp, cmd, arg); -} - -/** - * Local functions in support of the shell command. - */ -namespace mpu6000 -{ - -MPU6000 *g_dev; - -void start(); -void test(); -void reset(); -void info(); - -/** - * Start the driver. - */ -void -start() -{ - int fd; - - if (g_dev != nullptr) - errx(1, "already started"); - - /* create the driver */ - g_dev = new MPU6000(1 /* XXX magic number */, (spi_dev_e)PX4_SPIDEV_MPU); - - if (g_dev == nullptr) - goto fail; - - if (OK != g_dev->init()) - goto fail; - - /* set the poll rate to default, starts automatic data collection */ - fd = open(ACCEL_DEVICE_PATH, O_RDONLY); - - if (fd < 0) - goto fail; - - if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) - goto fail; - - exit(0); -fail: - - if (g_dev != nullptr) { - delete g_dev; - g_dev = nullptr; - } - - errx(1, "driver start failed"); -} - -/** - * Perform some basic functional tests on the driver; - * make sure we can collect data from the sensor in polled - * and automatic modes. - */ -void -test() -{ - int fd = -1; - int fd_gyro = -1; - struct accel_report a_report; - struct gyro_report g_report; - ssize_t sz; - - /* get the driver */ - fd = open(ACCEL_DEVICE_PATH, O_RDONLY); - - if (fd < 0) - err(1, "%s open failed (try 'mpu6000 start' if the driver is not running)", - ACCEL_DEVICE_PATH); - - /* get the driver */ - fd_gyro = open(GYRO_DEVICE_PATH, O_RDONLY); - - if (fd_gyro < 0) - err(1, "%s open failed", GYRO_DEVICE_PATH); - - /* reset to manual polling */ - if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MANUAL) < 0) - err(1, "reset to manual polling"); - - /* do a simple demand read */ - sz = read(fd, &a_report, sizeof(a_report)); - - if (sz != sizeof(a_report)) - err(1, "immediate acc read failed"); - - warnx("single read"); - warnx("time: %lld", a_report.timestamp); - warnx("acc x: \t%8.4f\tm/s^2", (double)a_report.x); - warnx("acc y: \t%8.4f\tm/s^2", (double)a_report.y); - warnx("acc z: \t%8.4f\tm/s^2", (double)a_report.z); - warnx("acc x: \t%d\traw 0x%0x", (short)a_report.x_raw, (unsigned short)a_report.x_raw); - warnx("acc y: \t%d\traw 0x%0x", (short)a_report.y_raw, (unsigned short)a_report.y_raw); - warnx("acc z: \t%d\traw 0x%0x", (short)a_report.z_raw, (unsigned short)a_report.z_raw); - warnx("acc range: %8.4f m/s^2 (%8.4f g)", (double)a_report.range_m_s2, - (double)(a_report.range_m_s2 / 9.81f)); - - /* do a simple demand read */ - sz = read(fd_gyro, &g_report, sizeof(g_report)); - - if (sz != sizeof(g_report)) - err(1, "immediate gyro read failed"); - - warnx("gyro x: \t% 9.5f\trad/s", (double)g_report.x); - warnx("gyro y: \t% 9.5f\trad/s", (double)g_report.y); - warnx("gyro z: \t% 9.5f\trad/s", (double)g_report.z); - warnx("gyro x: \t%d\traw", (int)g_report.x_raw); - warnx("gyro y: \t%d\traw", (int)g_report.y_raw); - warnx("gyro z: \t%d\traw", (int)g_report.z_raw); - warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s, - (int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f)); - - warnx("temp: \t%8.4f\tdeg celsius", (double)a_report.temperature); - warnx("temp: \t%d\traw 0x%0x", (short)a_report.temperature_raw, (unsigned short)a_report.temperature_raw); - - - /* XXX add poll-rate tests here too */ - - reset(); - errx(0, "PASS"); -} - -/** - * Reset the driver. - */ -void -reset() -{ - int fd = open(ACCEL_DEVICE_PATH, O_RDONLY); - - if (fd < 0) - err(1, "failed "); - - if (ioctl(fd, SENSORIOCRESET, 0) < 0) - err(1, "driver reset failed"); - - if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) - err(1, "driver poll restart failed"); - - exit(0); -} - -/** - * Print a little info about the driver. - */ -void -info() -{ - if (g_dev == nullptr) - errx(1, "driver not running"); - - printf("state @ %p\n", g_dev); - g_dev->print_info(); - - exit(0); -} - - -} // namespace - -int -mpu6000_main(int argc, char *argv[]) -{ - /* - * Start/load the driver. - - */ - if (!strcmp(argv[1], "start")) - mpu6000::start(); - - /* - * Test the driver/device. - */ - if (!strcmp(argv[1], "test")) - mpu6000::test(); - - /* - * Reset the driver. - */ - if (!strcmp(argv[1], "reset")) - mpu6000::reset(); - - /* - * Print driver information. - */ - if (!strcmp(argv[1], "info")) - mpu6000::info(); - - errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'"); -} diff --git a/apps/drivers/ms5611/Makefile b/apps/drivers/ms5611/Makefile deleted file mode 100644 index d8e67cba2..000000000 --- a/apps/drivers/ms5611/Makefile +++ /dev/null @@ -1,42 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# MS5611 driver -# - -APPNAME = ms5611 -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 - -include $(APPDIR)/mk/app.mk diff --git a/apps/drivers/ms5611/ms5611.cpp b/apps/drivers/ms5611/ms5611.cpp deleted file mode 100644 index 59ab5936e..000000000 --- a/apps/drivers/ms5611/ms5611.cpp +++ /dev/null @@ -1,1214 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file ms5611.cpp - * Driver for the MS5611 barometric pressure sensor connected via I2C. - */ - -#include - -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include - -#include - -#include - -#include -#include - -#include - -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -static const int ERROR = -1; - -#ifndef CONFIG_SCHED_WORKQUEUE -# error This requires CONFIG_SCHED_WORKQUEUE. -#endif - -/** - * Calibration PROM as reported by the device. - */ -#pragma pack(push,1) -struct ms5611_prom_s { - uint16_t factory_setup; - uint16_t c1_pressure_sens; - uint16_t c2_pressure_offset; - uint16_t c3_temp_coeff_pres_sens; - uint16_t c4_temp_coeff_pres_offset; - uint16_t c5_reference_temp; - uint16_t c6_temp_coeff_temp; - uint16_t serial_and_crc; -}; - -/** - * Grody hack for crc4() - */ -union ms5611_prom_u { - uint16_t c[8]; - struct ms5611_prom_s s; -}; -#pragma pack(pop) - -class MS5611 : public device::I2C -{ -public: - MS5611(int bus); - virtual ~MS5611(); - - virtual int init(); - - virtual ssize_t read(struct file *filp, char *buffer, size_t buflen); - virtual int ioctl(struct file *filp, int cmd, unsigned long arg); - - /** - * Diagnostics - print some basic information about the driver. - */ - void print_info(); - -protected: - virtual int probe(); - -private: - union ms5611_prom_u _prom; - - struct work_s _work; - unsigned _measure_ticks; - - unsigned _num_reports; - volatile unsigned _next_report; - volatile unsigned _oldest_report; - struct baro_report *_reports; - - bool _collect_phase; - unsigned _measure_phase; - - /* intermediate temperature values per MS5611 datasheet */ - int32_t _TEMP; - int64_t _OFF; - int64_t _SENS; - - /* altitude conversion calibration */ - unsigned _msl_pressure; /* in kPa */ - - orb_advert_t _baro_topic; - - perf_counter_t _sample_perf; - perf_counter_t _measure_perf; - perf_counter_t _comms_errors; - perf_counter_t _buffer_overflows; - - /** - * Test whether the device supported by the driver is present at a - * specific address. - * - * @param address The I2C bus address to probe. - * @return True if the device is present. - */ - int probe_address(uint8_t address); - - /** - * Initialise the automatic measurement state machine and start it. - * - * @note This function is called at open and error time. It might make sense - * to make it more aggressive about resetting the bus in case of errors. - */ - void start_cycle(); - - /** - * Stop the automatic measurement state machine. - */ - void stop_cycle(); - - /** - * Perform a poll cycle; collect from the previous measurement - * and start a new one. - * - * This is the heart of the measurement state machine. This function - * alternately starts a measurement, or collects the data from the - * previous measurement. - * - * When the interval between measurements is greater than the minimum - * measurement interval, a gap is inserted between collection - * and measurement to provide the most recent measurement possible - * at the next interval. - */ - void cycle(); - - /** - * Static trampoline from the workq context; because we don't have a - * generic workq wrapper yet. - * - * @param arg Instance pointer for the driver that is polling. - */ - static void cycle_trampoline(void *arg); - - /** - * Issue a measurement command for the current state. - * - * @return OK if the measurement command was successful. - */ - int measure(); - - /** - * Collect the result of the most recent measurement. - */ - int collect(); - - /** - * Send a reset command to the MS5611. - * - * This is required after any bus reset. - */ - int cmd_reset(); - - /** - * Read the MS5611 PROM - * - * @return OK if the PROM reads successfully. - */ - int read_prom(); - - /** - * PROM CRC routine ported from MS5611 application note - * - * @param n_prom Pointer to words read from PROM. - * @return True if the CRC matches. - */ - bool crc4(uint16_t *n_prom); - -}; - -/* helper macro for handling report buffer indices */ -#define INCREMENT(_x, _lim) do { _x++; if (_x >= _lim) _x = 0; } while(0) - -/* helper macro for arithmetic - returns the square of the argument */ -#define POW2(_x) ((_x) * (_x)) - -/* - * MS5611 internal constants and data structures. - */ - -/* internal conversion time: 9.17 ms, so should not be read at rates higher than 100 Hz */ -#define MS5611_CONVERSION_INTERVAL 10000 /* microseconds */ -#define MS5611_MEASUREMENT_RATIO 3 /* pressure measurements per temperature measurement */ - -#define MS5611_BUS PX4_I2C_BUS_ONBOARD -#define MS5611_ADDRESS_1 PX4_I2C_OBDEV_MS5611 /* address select pins pulled high (PX4FMU series v1.6+) */ -#define MS5611_ADDRESS_2 0x77 /* address select pins pulled low (PX4FMU prototypes) */ - -#define ADDR_RESET_CMD 0x1E /* write to this address to reset chip */ -#define ADDR_CMD_CONVERT_D1 0x48 /* write to this address to start temperature conversion */ -#define ADDR_CMD_CONVERT_D2 0x58 /* write to this address to start pressure conversion */ -#define ADDR_DATA 0x00 /* address of 3 bytes / 32bit pressure data */ -#define ADDR_PROM_SETUP 0xA0 /* address of 8x 2 bytes factory and calibration data */ -#define ADDR_PROM_C1 0xA2 /* address of 6x 2 bytes calibration data */ - -/* - * Driver 'main' command. - */ -extern "C" __EXPORT int ms5611_main(int argc, char *argv[]); - - -MS5611::MS5611(int bus) : - I2C("MS5611", BARO_DEVICE_PATH, bus, 0, 400000), - _measure_ticks(0), - _num_reports(0), - _next_report(0), - _oldest_report(0), - _reports(nullptr), - _collect_phase(false), - _measure_phase(0), - _TEMP(0), - _OFF(0), - _SENS(0), - _msl_pressure(101325), - _baro_topic(-1), - _sample_perf(perf_alloc(PC_ELAPSED, "ms5611_read")), - _measure_perf(perf_alloc(PC_ELAPSED, "ms5611_measure")), - _comms_errors(perf_alloc(PC_COUNT, "ms5611_comms_errors")), - _buffer_overflows(perf_alloc(PC_COUNT, "ms5611_buffer_overflows")) -{ - // enable debug() calls - _debug_enabled = true; - - // work_cancel in the dtor will explode if we don't do this... - memset(&_work, 0, sizeof(_work)); -} - -MS5611::~MS5611() -{ - /* make sure we are truly inactive */ - stop_cycle(); - - /* free any existing reports */ - if (_reports != nullptr) - delete[] _reports; -} - -int -MS5611::init() -{ - int ret = ERROR; - - /* do I2C init (and probe) first */ - if (I2C::init() != OK) - goto out; - - /* allocate basic report buffers */ - _num_reports = 2; - _reports = new struct baro_report[_num_reports]; - - if (_reports == nullptr) - goto out; - - _oldest_report = _next_report = 0; - - /* get a publish handle on the baro topic */ - memset(&_reports[0], 0, sizeof(_reports[0])); - _baro_topic = orb_advertise(ORB_ID(sensor_baro), &_reports[0]); - - if (_baro_topic < 0) - debug("failed to create sensor_baro object"); - - ret = OK; -out: - return ret; -} - -int -MS5611::probe() -{ - _retries = 10; - - if ((OK == probe_address(MS5611_ADDRESS_1)) || - (OK == probe_address(MS5611_ADDRESS_2))) { - /* - * Disable retries; we may enable them selectively in some cases, - * but the device gets confused if we retry some of the commands. - */ - _retries = 0; - return OK; - } - - return -EIO; -} - -int -MS5611::probe_address(uint8_t address) -{ - /* select the address we are going to try */ - set_address(address); - - /* send reset command */ - if (OK != cmd_reset()) - return -EIO; - - /* read PROM */ - if (OK != read_prom()) - return -EIO; - - return OK; -} - -ssize_t -MS5611::read(struct file *filp, char *buffer, size_t buflen) -{ - unsigned count = buflen / sizeof(struct baro_report); - int ret = 0; - - /* buffer must be large enough */ - if (count < 1) - return -ENOSPC; - - /* if automatic measurement is enabled */ - if (_measure_ticks > 0) { - - /* - * While there is space in the caller's buffer, and reports, copy them. - * Note that we may be pre-empted by the workq thread while we are doing this; - * we are careful to avoid racing with them. - */ - while (count--) { - if (_oldest_report != _next_report) { - memcpy(buffer, _reports + _oldest_report, sizeof(*_reports)); - ret += sizeof(_reports[0]); - INCREMENT(_oldest_report, _num_reports); - } - } - - /* if there was no data, warn the caller */ - return ret ? ret : -EAGAIN; - } - - /* manual measurement - run one conversion */ - /* XXX really it'd be nice to lock against other readers here */ - do { - _measure_phase = 0; - _oldest_report = _next_report = 0; - - /* do temperature first */ - if (OK != measure()) { - ret = -EIO; - break; - } - - usleep(MS5611_CONVERSION_INTERVAL); - - if (OK != collect()) { - ret = -EIO; - break; - } - - /* now do a pressure measurement */ - if (OK != measure()) { - ret = -EIO; - break; - } - - usleep(MS5611_CONVERSION_INTERVAL); - - if (OK != collect()) { - ret = -EIO; - break; - } - - /* state machine will have generated a report, copy it out */ - memcpy(buffer, _reports, sizeof(*_reports)); - ret = sizeof(*_reports); - - } while (0); - - return ret; -} - -int -MS5611::ioctl(struct file *filp, int cmd, unsigned long arg) -{ - switch (cmd) { - - case SENSORIOCSPOLLRATE: { - switch (arg) { - - /* switching to manual polling */ - case SENSOR_POLLRATE_MANUAL: - stop_cycle(); - _measure_ticks = 0; - return OK; - - /* external signalling not supported */ - case SENSOR_POLLRATE_EXTERNAL: - - /* zero would be bad */ - case 0: - return -EINVAL; - - /* set default/max polling rate */ - case SENSOR_POLLRATE_MAX: - case SENSOR_POLLRATE_DEFAULT: { - /* do we need to start internal polling? */ - bool want_start = (_measure_ticks == 0); - - /* set interval for next measurement to minimum legal value */ - _measure_ticks = USEC2TICK(MS5611_CONVERSION_INTERVAL); - - /* if we need to start the poll state machine, do it */ - if (want_start) - start_cycle(); - - return OK; - } - - /* adjust to a legal polling interval in Hz */ - default: { - /* do we need to start internal polling? */ - bool want_start = (_measure_ticks == 0); - - /* convert hz to tick interval via microseconds */ - unsigned ticks = USEC2TICK(1000000 / arg); - - /* check against maximum rate */ - if (ticks < USEC2TICK(MS5611_CONVERSION_INTERVAL)) - return -EINVAL; - - /* update interval for next measurement */ - _measure_ticks = ticks; - - /* if we need to start the poll state machine, do it */ - if (want_start) - start_cycle(); - - return OK; - } - } - } - - case SENSORIOCGPOLLRATE: - if (_measure_ticks == 0) - return SENSOR_POLLRATE_MANUAL; - - return (1000 / _measure_ticks); - - case SENSORIOCSQUEUEDEPTH: { - /* add one to account for the sentinel in the ring */ - arg++; - - /* lower bound is mandatory, upper bound is a sanity check */ - if ((arg < 2) || (arg > 100)) - return -EINVAL; - - /* allocate new buffer */ - struct baro_report *buf = new struct baro_report[arg]; - - if (nullptr == buf) - return -ENOMEM; - - /* reset the measurement state machine with the new buffer, free the old */ - stop_cycle(); - delete[] _reports; - _num_reports = arg; - _reports = buf; - start_cycle(); - - return OK; - } - - case SENSORIOCGQUEUEDEPTH: - return _num_reports - 1; - - case SENSORIOCRESET: - /* XXX implement this */ - return -EINVAL; - - case BAROIOCSMSLPRESSURE: - - /* range-check for sanity */ - if ((arg < 80000) || (arg > 120000)) - return -EINVAL; - - _msl_pressure = arg; - return OK; - - case BAROIOCGMSLPRESSURE: - return _msl_pressure; - - default: - break; - } - - /* give it to the superclass */ - return I2C::ioctl(filp, cmd, arg); -} - -void -MS5611::start_cycle() -{ - - /* reset the report ring and state machine */ - _collect_phase = false; - _measure_phase = 0; - _oldest_report = _next_report = 0; - - /* schedule a cycle to start things */ - work_queue(HPWORK, &_work, (worker_t)&MS5611::cycle_trampoline, this, 1); -} - -void -MS5611::stop_cycle() -{ - work_cancel(HPWORK, &_work); -} - -void -MS5611::cycle_trampoline(void *arg) -{ - MS5611 *dev = (MS5611 *)arg; - - dev->cycle(); -} - -void -MS5611::cycle() -{ - int ret; - - /* collection phase? */ - if (_collect_phase) { - - /* perform collection */ - ret = collect(); - if (ret != OK) { - if (ret == -6) { - /* - * The ms5611 seems to regularly fail to respond to - * its address; this happens often enough that we'd rather not - * spam the console with the message. - */ - } else { - //log("collection error %d", ret); - } - /* reset the collection state machine and try again */ - start_cycle(); - return; - } - - /* next phase is measurement */ - _collect_phase = false; - - /* - * Is there a collect->measure gap? - * Don't inject one after temperature measurements, so we can keep - * doing pressure measurements at something close to the desired rate. - */ - if ((_measure_phase != 0) && - (_measure_ticks > USEC2TICK(MS5611_CONVERSION_INTERVAL))) { - - /* schedule a fresh cycle call when we are ready to measure again */ - work_queue(HPWORK, - &_work, - (worker_t)&MS5611::cycle_trampoline, - this, - _measure_ticks - USEC2TICK(MS5611_CONVERSION_INTERVAL)); - - return; - } - } - - /* measurement phase */ - ret = measure(); - if (ret != OK) { - //log("measure error %d", ret); - /* reset the collection state machine and try again */ - start_cycle(); - return; - } - - /* next phase is collection */ - _collect_phase = true; - - /* schedule a fresh cycle call when the measurement is done */ - work_queue(HPWORK, - &_work, - (worker_t)&MS5611::cycle_trampoline, - this, - USEC2TICK(MS5611_CONVERSION_INTERVAL)); -} - -int -MS5611::measure() -{ - int ret; - - perf_begin(_measure_perf); - - /* - * In phase zero, request temperature; in other phases, request pressure. - */ - uint8_t cmd_data = (_measure_phase == 0) ? ADDR_CMD_CONVERT_D2 : ADDR_CMD_CONVERT_D1; - - /* - * Send the command to begin measuring. - * - * Disable retries on this command; we can't know whether failure - * means the device did or did not see the write. - */ - _retries = 0; - ret = transfer(&cmd_data, 1, nullptr, 0); - - if (OK != ret) - perf_count(_comms_errors); - - perf_end(_measure_perf); - - return ret; -} - -int -MS5611::collect() -{ - int ret; - uint8_t cmd; - uint8_t data[3]; - union { - uint8_t b[4]; - uint32_t w; - } cvt; - - /* read the most recent measurement */ - cmd = 0; - - perf_begin(_sample_perf); - - /* this should be fairly close to the end of the conversion, so the best approximation of the time */ - _reports[_next_report].timestamp = hrt_absolute_time(); - - ret = transfer(&cmd, 1, &data[0], 3); - if (ret != OK) { - perf_count(_comms_errors); - perf_end(_sample_perf); - return ret; - } - - /* fetch the raw value */ - cvt.b[0] = data[2]; - cvt.b[1] = data[1]; - cvt.b[2] = data[0]; - cvt.b[3] = 0; - uint32_t raw = cvt.w; - - /* handle a measurement */ - if (_measure_phase == 0) { - - /* temperature offset (in ADC units) */ - int32_t dT = (int32_t)raw - ((int32_t)_prom.s.c5_reference_temp << 8); - - /* absolute temperature in centidegrees - note intermediate value is outside 32-bit range */ - _TEMP = 2000 + (int32_t)(((int64_t)dT * _prom.s.c6_temp_coeff_temp) >> 23); - - /* base sensor scale/offset values */ - _SENS = ((int64_t)_prom.s.c1_pressure_sens << 15) + (((int64_t)_prom.s.c3_temp_coeff_pres_sens * dT) >> 8); - _OFF = ((int64_t)_prom.s.c2_pressure_offset << 16) + (((int64_t)_prom.s.c4_temp_coeff_pres_offset * dT) >> 7); - - /* temperature compensation */ - if (_TEMP < 2000) { - - int32_t T2 = POW2(dT) >> 31; - - int64_t f = POW2((int64_t)_TEMP - 2000); - int64_t OFF2 = 5 * f >> 1; - int64_t SENS2 = 5 * f >> 2; - - if (_TEMP < -1500) { - int64_t f2 = POW2(_TEMP + 1500); - OFF2 += 7 * f2; - SENS2 += 11 * f2 >> 1; - } - - _TEMP -= T2; - _OFF -= OFF2; - _SENS -= SENS2; - } - - } else { - - /* pressure calculation, result in Pa */ - int32_t P = (((raw * _SENS) >> 21) - _OFF) >> 15; - - /* generate a new report */ - _reports[_next_report].temperature = _TEMP / 100.0f; - _reports[_next_report].pressure = P / 100.0f; /* convert to millibar */ - - /* altitude calculations based on http://www.kansasflyer.org/index.asp?nav=Avi&sec=Alti&tab=Theory&pg=1 */ - - /* - * PERFORMANCE HINT: - * - * The single precision calculation is 50 microseconds faster than the double - * precision variant. It is however not obvious if double precision is required. - * Pending more inspection and tests, we'll leave the double precision variant active. - * - * Measurements: - * double precision: ms5611_read: 992 events, 258641us elapsed, min 202us max 305us - * single precision: ms5611_read: 963 events, 208066us elapsed, min 202us max 241us - */ -#if 0/* USE_FLOAT */ - /* tropospheric properties (0-11km) for standard atmosphere */ - const float T1 = 15.0f + 273.15f; /* temperature at base height in Kelvin */ - const float a = -6.5f / 1000f; /* temperature gradient in degrees per metre */ - const float g = 9.80665f; /* gravity constant in m/s/s */ - const float R = 287.05f; /* ideal gas constant in J/kg/K */ - - /* current pressure at MSL in kPa */ - float p1 = _msl_pressure / 1000.0f; - - /* measured pressure in kPa */ - float p = P / 1000.0f; - - /* - * Solve: - * - * / -(aR / g) \ - * | (p / p1) . T1 | - T1 - * \ / - * h = ------------------------------- + h1 - * a - */ - _reports[_next_report].altitude = (((powf((p / p1), (-(a * R) / g))) * T1) - T1) / a; -#else - /* tropospheric properties (0-11km) for standard atmosphere */ - const double T1 = 15.0 + 273.15; /* temperature at base height in Kelvin */ - const double a = -6.5 / 1000; /* temperature gradient in degrees per metre */ - const double g = 9.80665; /* gravity constant in m/s/s */ - const double R = 287.05; /* ideal gas constant in J/kg/K */ - - /* current pressure at MSL in kPa */ - double p1 = _msl_pressure / 1000.0; - - /* measured pressure in kPa */ - double p = P / 1000.0; - - /* - * Solve: - * - * / -(aR / g) \ - * | (p / p1) . T1 | - T1 - * \ / - * h = ------------------------------- + h1 - * a - */ - _reports[_next_report].altitude = (((pow((p / p1), (-(a * R) / g))) * T1) - T1) / a; -#endif - /* publish it */ - orb_publish(ORB_ID(sensor_baro), _baro_topic, &_reports[_next_report]); - - /* post a report to the ring - note, not locked */ - INCREMENT(_next_report, _num_reports); - - /* if we are running up against the oldest report, toss it */ - if (_next_report == _oldest_report) { - perf_count(_buffer_overflows); - INCREMENT(_oldest_report, _num_reports); - } - - /* notify anyone waiting for data */ - poll_notify(POLLIN); - } - - /* update the measurement state machine */ - INCREMENT(_measure_phase, MS5611_MEASUREMENT_RATIO + 1); - - perf_end(_sample_perf); - - return OK; -} - -int -MS5611::cmd_reset() -{ - unsigned old_retrycount = _retries; - uint8_t cmd = ADDR_RESET_CMD; - int result; - - /* bump the retry count */ - _retries = 10; - result = transfer(&cmd, 1, nullptr, 0); - _retries = old_retrycount; - - return result; -} - -int -MS5611::read_prom() -{ - uint8_t prom_buf[2]; - union { - uint8_t b[2]; - uint16_t w; - } cvt; - - /* - * Wait for PROM contents to be in the device (2.8 ms) in the case we are - * called immediately after reset. - */ - usleep(3000); - - /* read and convert PROM words */ - for (int i = 0; i < 8; i++) { - uint8_t cmd = ADDR_PROM_SETUP + (i * 2); - - if (OK != transfer(&cmd, 1, &prom_buf[0], 2)) - break; - - /* assemble 16 bit value and convert from big endian (sensor) to little endian (MCU) */ - cvt.b[0] = prom_buf[1]; - cvt.b[1] = prom_buf[0]; - _prom.c[i] = cvt.w; - } - - /* calculate CRC and return success/failure accordingly */ - return crc4(&_prom.c[0]) ? OK : -EIO; -} - -bool -MS5611::crc4(uint16_t *n_prom) -{ - int16_t cnt; - uint16_t n_rem; - uint16_t crc_read; - uint8_t n_bit; - - n_rem = 0x00; - - /* save the read crc */ - crc_read = n_prom[7]; - - /* remove CRC byte */ - n_prom[7] = (0xFF00 & (n_prom[7])); - - for (cnt = 0; cnt < 16; cnt++) { - /* uneven bytes */ - if (cnt & 1) { - n_rem ^= (uint8_t)((n_prom[cnt >> 1]) & 0x00FF); - - } else { - n_rem ^= (uint8_t)(n_prom[cnt >> 1] >> 8); - } - - for (n_bit = 8; n_bit > 0; n_bit--) { - if (n_rem & 0x8000) { - n_rem = (n_rem << 1) ^ 0x3000; - - } else { - n_rem = (n_rem << 1); - } - } - } - - /* final 4 bit remainder is CRC value */ - n_rem = (0x000F & (n_rem >> 12)); - n_prom[7] = crc_read; - - /* return true if CRCs match */ - return (0x000F & crc_read) == (n_rem ^ 0x00); -} - -void -MS5611::print_info() -{ - perf_print_counter(_sample_perf); - perf_print_counter(_comms_errors); - perf_print_counter(_buffer_overflows); - printf("poll interval: %u ticks\n", _measure_ticks); - printf("report queue: %u (%u/%u @ %p)\n", - _num_reports, _oldest_report, _next_report, _reports); - printf("TEMP: %d\n", _TEMP); - printf("SENS: %lld\n", _SENS); - printf("OFF: %lld\n", _OFF); - printf("MSL pressure: %10.4f\n", (double)(_msl_pressure / 100.f)); - - printf("factory_setup %u\n", _prom.s.factory_setup); - printf("c1_pressure_sens %u\n", _prom.s.c1_pressure_sens); - printf("c2_pressure_offset %u\n", _prom.s.c2_pressure_offset); - printf("c3_temp_coeff_pres_sens %u\n", _prom.s.c3_temp_coeff_pres_sens); - printf("c4_temp_coeff_pres_offset %u\n", _prom.s.c4_temp_coeff_pres_offset); - printf("c5_reference_temp %u\n", _prom.s.c5_reference_temp); - printf("c6_temp_coeff_temp %u\n", _prom.s.c6_temp_coeff_temp); - printf("serial_and_crc %u\n", _prom.s.serial_and_crc); -} - -/** - * Local functions in support of the shell command. - */ -namespace ms5611 -{ - -MS5611 *g_dev; - -void start(); -void test(); -void reset(); -void info(); -void calibrate(unsigned altitude); - -/** - * Start the driver. - */ -void -start() -{ - int fd; - - if (g_dev != nullptr) - errx(1, "already started"); - - /* create the driver */ - g_dev = new MS5611(MS5611_BUS); - - if (g_dev == nullptr) - goto fail; - - if (OK != g_dev->init()) - goto fail; - - /* set the poll rate to default, starts automatic data collection */ - fd = open(BARO_DEVICE_PATH, O_RDONLY); - - if (fd < 0) - goto fail; - - if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) - goto fail; - - exit(0); - -fail: - - if (g_dev != nullptr) { - delete g_dev; - g_dev = nullptr; - } - - errx(1, "driver start failed"); -} - -/** - * Perform some basic functional tests on the driver; - * make sure we can collect data from the sensor in polled - * and automatic modes. - */ -void -test() -{ - struct baro_report report; - ssize_t sz; - int ret; - - int fd = open(BARO_DEVICE_PATH, O_RDONLY); - - if (fd < 0) - err(1, "%s open failed (try 'ms5611 start' if the driver is not running)", BARO_DEVICE_PATH); - - /* do a simple demand read */ - sz = read(fd, &report, sizeof(report)); - - if (sz != sizeof(report)) - err(1, "immediate read failed"); - - warnx("single read"); - warnx("pressure: %10.4f", (double)report.pressure); - warnx("altitude: %11.4f", (double)report.altitude); - warnx("temperature: %8.4f", (double)report.temperature); - warnx("time: %lld", report.timestamp); - - /* set the queue depth to 10 */ - if (OK != ioctl(fd, SENSORIOCSQUEUEDEPTH, 10)) - errx(1, "failed to set queue depth"); - - /* start the sensor polling at 2Hz */ - if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) - errx(1, "failed to set 2Hz poll rate"); - - /* read the sensor 5x and report each value */ - for (unsigned i = 0; i < 5; i++) { - struct pollfd fds; - - /* wait for data to be ready */ - fds.fd = fd; - fds.events = POLLIN; - ret = poll(&fds, 1, 2000); - - if (ret != 1) - errx(1, "timed out waiting for sensor data"); - - /* now go get it */ - sz = read(fd, &report, sizeof(report)); - - if (sz != sizeof(report)) - err(1, "periodic read failed"); - - warnx("periodic read %u", i); - warnx("pressure: %10.4f", (double)report.pressure); - warnx("altitude: %11.4f", (double)report.altitude); - warnx("temperature: %8.4f", (double)report.temperature); - warnx("time: %lld", report.timestamp); - } - - errx(0, "PASS"); -} - -/** - * Reset the driver. - */ -void -reset() -{ - int fd = open(BARO_DEVICE_PATH, O_RDONLY); - - if (fd < 0) - err(1, "failed "); - - if (ioctl(fd, SENSORIOCRESET, 0) < 0) - err(1, "driver reset failed"); - - if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) - err(1, "driver poll restart failed"); - - exit(0); -} - -/** - * Print a little info about the driver. - */ -void -info() -{ - if (g_dev == nullptr) - errx(1, "driver not running"); - - printf("state @ %p\n", g_dev); - g_dev->print_info(); - - exit(0); -} - -/** - * Calculate actual MSL pressure given current altitude - */ -void -calibrate(unsigned altitude) -{ - struct baro_report report; - float pressure; - float p1; - - int fd = open(BARO_DEVICE_PATH, O_RDONLY); - - if (fd < 0) - err(1, "%s open failed (try 'ms5611 start' if the driver is not running)", BARO_DEVICE_PATH); - - /* start the sensor polling at max */ - if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MAX)) - errx(1, "failed to set poll rate"); - - /* average a few measurements */ - pressure = 0.0f; - - for (unsigned i = 0; i < 20; i++) { - struct pollfd fds; - int ret; - ssize_t sz; - - /* wait for data to be ready */ - fds.fd = fd; - fds.events = POLLIN; - ret = poll(&fds, 1, 1000); - - if (ret != 1) - errx(1, "timed out waiting for sensor data"); - - /* now go get it */ - sz = read(fd, &report, sizeof(report)); - - if (sz != sizeof(report)) - err(1, "sensor read failed"); - - pressure += report.pressure; - } - - pressure /= 20; /* average */ - pressure /= 10; /* scale from millibar to kPa */ - - /* tropospheric properties (0-11km) for standard atmosphere */ - const float T1 = 15.0 + 273.15; /* temperature at base height in Kelvin */ - const float a = -6.5 / 1000; /* temperature gradient in degrees per metre */ - const float g = 9.80665f; /* gravity constant in m/s/s */ - const float R = 287.05f; /* ideal gas constant in J/kg/K */ - - warnx("averaged pressure %10.4fkPa at %um", pressure, altitude); - - p1 = pressure * (powf(((T1 + (a * (float)altitude)) / T1), (g / (a * R)))); - - warnx("calculated MSL pressure %10.4fkPa", p1); - - /* save as integer Pa */ - p1 *= 1000.0f; - - if (ioctl(fd, BAROIOCSMSLPRESSURE, (unsigned long)p1) != OK) - err(1, "BAROIOCSMSLPRESSURE"); - - exit(0); -} - -} // namespace - -int -ms5611_main(int argc, char *argv[]) -{ - /* - * Start/load the driver. - */ - if (!strcmp(argv[1], "start")) - ms5611::start(); - - /* - * Test the driver/device. - */ - if (!strcmp(argv[1], "test")) - ms5611::test(); - - /* - * Reset the driver. - */ - if (!strcmp(argv[1], "reset")) - ms5611::reset(); - - /* - * Print driver information. - */ - if (!strcmp(argv[1], "info")) - ms5611::info(); - - /* - * Perform MSL pressure calibration given an altitude in metres - */ - if (!strcmp(argv[1], "calibrate")) { - if (argc < 2) - errx(1, "missing altitude"); - - long altitude = strtol(argv[2], nullptr, 10); - - ms5611::calibrate(altitude); - } - - errx(1, "unrecognised command, try 'start', 'test', 'reset' or 'info'"); -} diff --git a/apps/hott_telemetry/Makefile b/apps/hott_telemetry/Makefile deleted file mode 100644 index 8d5faa3b7..000000000 --- a/apps/hott_telemetry/Makefile +++ /dev/null @@ -1,45 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Graupner HoTT Telemetry application. -# - -# The following line is required for accessing UARTs directly. -INCLUDES = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common - -APPNAME = hott_telemetry -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 - -include $(APPDIR)/mk/app.mk diff --git a/apps/hott_telemetry/hott_telemetry_main.c b/apps/hott_telemetry/hott_telemetry_main.c deleted file mode 100644 index 31c9247aa..000000000 --- a/apps/hott_telemetry/hott_telemetry_main.c +++ /dev/null @@ -1,312 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Simon Wilks - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file hott_telemetry_main.c - * - * Graupner HoTT Telemetry implementation. - * - * The HoTT receiver polls each device at a regular interval at which point - * a data packet can be returned if necessary. - * - * TODO: Add support for at least the vario and GPS sensor data. - * - */ - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include "messages.h" - -/* The following are equired for UART direct manipulation. */ -#include -#include "up_arch.h" -#include "chip.h" -#include "stm32_internal.h" - -static int thread_should_exit = false; /**< Deamon exit flag */ -static int thread_running = false; /**< Deamon status flag */ -static int deamon_task; /**< Handle of deamon task / thread */ -static char *daemon_name = "hott_telemetry"; -static char *commandline_usage = "usage: hott_telemetry start|status|stop [-d ]"; - - -/* A little console messaging experiment - console helper macro */ -#define FATAL_MSG(_msg) fprintf(stderr, "[%s] %s\n", daemon_name, _msg); exit(1); -#define ERROR_MSG(_msg) fprintf(stderr, "[%s] %s\n", daemon_name, _msg); -#define INFO_MSG(_msg) printf("[%s] %s\n", daemon_name, _msg); -/** - * Deamon management function. - */ -__EXPORT int hott_telemetry_main(int argc, char *argv[]); - -/** - * Mainloop of deamon. - */ -int hott_telemetry_thread_main(int argc, char *argv[]); - -static int read_data(int uart, int *id); -static int send_data(int uart, uint8_t *buffer, int size); - -static int open_uart(const char *device, struct termios *uart_config_original) -{ - /* baud rate */ - int speed = B19200; - int uart; - - /* open uart */ - uart = open(device, O_RDWR | O_NOCTTY); - - if (uart < 0) { - char msg[80]; - sprintf(msg, "Error opening port: %s\n", device); - FATAL_MSG(msg); - } - - /* Try to set baud rate */ - struct termios uart_config; - int termios_state; - - /* Back up the original uart configuration to restore it after exit */ - char msg[80]; - - if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) { - sprintf(msg, "Error getting baudrate / termios config for %s: %d\n", device, termios_state); - close(uart); - FATAL_MSG(msg); - } - - /* Fill the struct for the new configuration */ - tcgetattr(uart, &uart_config); - - /* Clear ONLCR flag (which appends a CR for every LF) */ - uart_config.c_oflag &= ~ONLCR; - - /* Set baud rate */ - if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) { - sprintf(msg, "Error setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", - device, termios_state); - close(uart); - FATAL_MSG(msg); - } - - if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) { - sprintf(msg, "Error setting baudrate / termios config for %s (tcsetattr)\n", device); - close(uart); - FATAL_MSG(msg); - } - - /* Activate single wire mode */ - ioctl(uart, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED); - - return uart; -} - -int read_data(int uart, int *id) -{ - const int timeout = 1000; - struct pollfd fds[] = { { .fd = uart, .events = POLLIN } }; - - char mode; - - if (poll(fds, 1, timeout) > 0) { - /* Get the mode: binary or text */ - read(uart, &mode, 1); - /* Read the device ID being polled */ - read(uart, id, 1); - - /* if we have a binary mode request */ - if (mode != BINARY_MODE_REQUEST_ID) { - return ERROR; - } - - } else { - ERROR_MSG("UART timeout on TX/RX port"); - return ERROR; - } - - return OK; -} - -int send_data(int uart, uint8_t *buffer, int size) -{ - usleep(POST_READ_DELAY_IN_USECS); - - uint16_t checksum = 0; - - for (int i = 0; i < size; i++) { - if (i == size - 1) { - /* Set the checksum: the first uint8_t is taken as the checksum. */ - buffer[i] = checksum & 0xff; - - } else { - checksum += buffer[i]; - } - - write(uart, &buffer[i], 1); - - /* Sleep before sending the next byte. */ - usleep(POST_WRITE_DELAY_IN_USECS); - } - - /* A hack the reads out what was written so the next read from the receiver doesn't get it. */ - /* TODO: Fix this!! */ - uint8_t dummy[size]; - read(uart, &dummy, size); - - return OK; -} - -int hott_telemetry_thread_main(int argc, char *argv[]) -{ - INFO_MSG("starting"); - - thread_running = true; - - char *device = "/dev/ttyS1"; /**< Default telemetry port: USART2 */ - - /* read commandline arguments */ - for (int i = 0; i < argc && argv[i]; i++) { - if (strcmp(argv[i], "-d") == 0 || strcmp(argv[i], "--device") == 0) { //device set - if (argc > i + 1) { - device = argv[i + 1]; - - } else { - thread_running = false; - ERROR_MSG("missing parameter to -d"); - ERROR_MSG(commandline_usage); - exit(1); - } - } - } - - /* enable UART, writes potentially an empty buffer, but multiplexing is disabled */ - struct termios uart_config_original; - int uart = open_uart(device, &uart_config_original); - - if (uart < 0) { - ERROR_MSG("Failed opening HoTT UART, exiting."); - thread_running = false; - exit(ERROR); - } - - messages_init(); - - uint8_t buffer[MESSAGE_BUFFER_SIZE]; - int size = 0; - int id = 0; - - while (!thread_should_exit) { - if (read_data(uart, &id) == OK) { - switch (id) { - case ELECTRIC_AIR_MODULE: - build_eam_response(buffer, &size); - break; - - default: - continue; // Not a module we support. - } - - send_data(uart, buffer, size); - } - } - - INFO_MSG("exiting"); - - close(uart); - - thread_running = false; - - return 0; -} - -/** - * Process command line arguments and tart the daemon. - */ -int hott_telemetry_main(int argc, char *argv[]) -{ - if (argc < 1) { - ERROR_MSG("missing command"); - ERROR_MSG(commandline_usage); - exit(1); - } - - if (!strcmp(argv[1], "start")) { - - if (thread_running) { - INFO_MSG("deamon already running"); - exit(0); - } - - thread_should_exit = false; - deamon_task = task_spawn("hott_telemetry", - SCHED_DEFAULT, - SCHED_PRIORITY_MAX - 40, - 2048, - hott_telemetry_thread_main, - (argv) ? (const char **)&argv[2] : (const char **)NULL); - exit(0); - } - - if (!strcmp(argv[1], "stop")) { - thread_should_exit = true; - exit(0); - } - - if (!strcmp(argv[1], "status")) { - if (thread_running) { - INFO_MSG("daemon is running"); - - } else { - INFO_MSG("daemon not started"); - } - - exit(0); - } - - ERROR_MSG("unrecognized command"); - ERROR_MSG(commandline_usage); - exit(1); -} - - - diff --git a/apps/hott_telemetry/messages.c b/apps/hott_telemetry/messages.c deleted file mode 100644 index 8bfb99773..000000000 --- a/apps/hott_telemetry/messages.c +++ /dev/null @@ -1,87 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Simon Wilks - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file messages.c - * - */ - -#include "messages.h" - -#include -#include -#include -#include -#include - -static int battery_sub = -1; -static int sensor_sub = -1; - -void messages_init(void) -{ - battery_sub = orb_subscribe(ORB_ID(battery_status)); - sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); -} - -void build_eam_response(uint8_t *buffer, int *size) -{ - /* get a local copy of the current sensor values */ - struct sensor_combined_s raw; - memset(&raw, 0, sizeof(raw)); - orb_copy(ORB_ID(sensor_combined), sensor_sub, &raw); - - /* get a local copy of the battery data */ - struct battery_status_s battery; - memset(&battery, 0, sizeof(battery)); - orb_copy(ORB_ID(battery_status), battery_sub, &battery); - - struct eam_module_msg msg; - *size = sizeof(msg); - memset(&msg, 0, *size); - - msg.start = START_BYTE; - msg.eam_sensor_id = ELECTRIC_AIR_MODULE; - msg.sensor_id = EAM_SENSOR_ID; - msg.temperature1 = (uint8_t)(raw.baro_temp_celcius + 20); - msg.temperature2 = TEMP_ZERO_CELSIUS; - msg.main_voltage_L = (uint8_t)(battery.voltage_v * 10); - - uint16_t alt = (uint16_t)(raw.baro_alt_meter + 500); - msg.altitude_L = (uint8_t)alt & 0xff; - msg.altitude_H = (uint8_t)(alt >> 8) & 0xff; - - msg.stop = STOP_BYTE; - - memcpy(buffer, &msg, *size); -} \ No newline at end of file diff --git a/apps/hott_telemetry/messages.h b/apps/hott_telemetry/messages.h deleted file mode 100644 index 44001e04f..000000000 --- a/apps/hott_telemetry/messages.h +++ /dev/null @@ -1,123 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Simon Wilks - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file messages.h - * - * Graupner HoTT Telemetry message generation. - * - */ -#ifndef MESSAGES_H_ -#define MESSAGES_H - -#include - -/* The buffer size used to store messages. This must be at least as big as the number of - * fields in the largest message struct. - */ -#define MESSAGE_BUFFER_SIZE 50 - -/* The HoTT receiver demands a minimum 5ms period of silence after delivering its request. - * Note that the value specified here is lower than 5000 (5ms) as time is lost constucting - * the message after the read which takes some milliseconds. - */ -#define POST_READ_DELAY_IN_USECS 4000 -/* A pause of 3ms is required between each uint8_t sent back to the HoTT receiver. Much lower - * values can be used in practise though. - */ -#define POST_WRITE_DELAY_IN_USECS 2000 - -// Protocol constants. -#define BINARY_MODE_REQUEST_ID 0x80 // Binary mode request. -#define START_BYTE 0x7c -#define STOP_BYTE 0x7d -#define TEMP_ZERO_CELSIUS 0x14 - -/* Electric Air Module (EAM) constants. */ -#define ELECTRIC_AIR_MODULE 0x8e -#define EAM_SENSOR_ID 0xe0 - -/* The Electric Air Module message. */ -struct eam_module_msg { - uint8_t start; /**< Start byte */ - uint8_t eam_sensor_id; /**< EAM sensor ID */ - uint8_t warning; - uint8_t sensor_id; /**< Sensor ID, why different? */ - uint8_t alarm_inverse1; - uint8_t alarm_inverse2; - uint8_t cell1_L; /**< Lipo cell voltages. Not supported. */ - uint8_t cell2_L; - uint8_t cell3_L; - uint8_t cell4_L; - uint8_t cell5_L; - uint8_t cell6_L; - uint8_t cell7_L; - uint8_t cell1_H; - uint8_t cell2_H; - uint8_t cell3_H; - uint8_t cell4_H; - uint8_t cell5_H; - uint8_t cell6_H; - uint8_t cell7_H; - uint8_t batt1_voltage_L; /**< Battery 1 voltage, lower 8-bits in steps of 0.02V */ - uint8_t batt1_voltage_H; - uint8_t batt2_voltage_L; /**< Battery 2 voltage, lower 8-bits in steps of 0.02V */ - uint8_t batt2_voltage_H; - uint8_t temperature1; /**< Temperature sensor 1. 20 = 0 degrees */ - uint8_t temperature2; - uint8_t altitude_L; /**< Attitude (meters) lower 8-bits. 500 = 0 meters */ - uint8_t altitude_H; - uint8_t current_L; /**< Current (mAh) lower 8-bits in steps of 0.1V */ - uint8_t current_H; - uint8_t main_voltage_L; /**< Main power voltage lower 8-bits in steps of 0.1V */ - uint8_t main_voltage_H; - uint8_t battery_capacity_L; /**< Used battery capacity in steps of 10mAh */ - uint8_t battery_capacity_H; - uint8_t climbrate_L; /**< Climb rate in 0.01m/s. 0m/s = 30000 */ - uint8_t climbrate_H; - uint8_t climbrate_3s; /**< Climb rate in m/3sec. 0m/3sec = 120 */ - uint8_t rpm_L; /**< RPM Lower 8-bits In steps of 10 U/min */ - uint8_t rpm_H; - uint8_t electric_min; /**< Flight time in minutes. */ - uint8_t electric_sec; /**< Flight time in seconds. */ - uint8_t speed_L; /**< Airspeed in km/h in steps of 1 km/h */ - uint8_t speed_H; - uint8_t stop; /**< Stop byte */ - uint8_t checksum; /**< Lower 8-bits of all bytes summed. */ -}; - -void messages_init(void); -void build_eam_response(uint8_t *buffer, int *size); - -#endif /* MESSAGES_H_ */ diff --git a/makefiles/config_px4fmu_default.mk b/makefiles/config_px4fmu_default.mk index 57d949258..00aec3f8a 100644 --- a/makefiles/config_px4fmu_default.mk +++ b/makefiles/config_px4fmu_default.mk @@ -15,6 +15,15 @@ MODULES += drivers/px4fmu MODULES += drivers/boards/px4fmu MODULES += drivers/ardrone_interface MODULES += drivers/l3gd20 +MODULES += drivers/bma180 +MODULES += drivers/mpu6000 +MODULES += drivers/hmc5883 +MODULES += drivers/ms5611 +MODULES += drivers/mb12xx +MODULES += drivers/gps +MODULES += drivers/hil +MODULES += drivers/hott_telemetry +MODULES += drivers/blinkm MODULES += modules/sensors # @@ -66,19 +75,11 @@ endef # command priority stack entrypoint BUILTIN_COMMANDS := \ $(call _B, adc, , 2048, adc_main ) \ - $(call _B, blinkm, , 2048, blinkm_main ) \ - $(call _B, bma180, , 2048, bma180_main ) \ $(call _B, control_demo, , 2048, control_demo_main ) \ $(call _B, fixedwing_att_control, SCHED_PRIORITY_MAX-30, 2048, fixedwing_att_control_main ) \ $(call _B, fixedwing_pos_control, SCHED_PRIORITY_MAX-30, 2048, fixedwing_pos_control_main ) \ - $(call _B, gps, , 2048, gps_main ) \ - $(call _B, hil, , 2048, hil_main ) \ - $(call _B, hmc5883, , 4096, hmc5883_main ) \ - $(call _B, hott_telemetry, , 2048, hott_telemetry_main ) \ $(call _B, kalman_demo, SCHED_PRIORITY_MAX-30, 2048, kalman_demo_main ) \ $(call _B, math_demo, , 8192, math_demo_main ) \ - $(call _B, mpu6000, , 4096, mpu6000_main ) \ - $(call _B, ms5611, , 2048, ms5611_main ) \ $(call _B, multirotor_att_control, SCHED_PRIORITY_MAX-15, 2048, multirotor_att_control_main) \ $(call _B, multirotor_pos_control, SCHED_PRIORITY_MAX-25, 2048, multirotor_pos_control_main) \ $(call _B, sercon, , 2048, sercon_main ) \ diff --git a/src/drivers/blinkm/blinkm.cpp b/src/drivers/blinkm/blinkm.cpp new file mode 100644 index 000000000..3fabfd9a5 --- /dev/null +++ b/src/drivers/blinkm/blinkm.cpp @@ -0,0 +1,919 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file blinkm.cpp + * + * Driver for the BlinkM LED controller connected via I2C. + * + * Connect the BlinkM to I2C3 and put the following line to the rc startup-script: + * blinkm start + * + * To start the system monitor put in the next line after the blinkm start: + * blinkm systemmonitor + * + * + * Description: + * After startup, the Application checked how many lipo cells are connected to the System. + * The recognized number off cells, will be blinked 5 times in purple color. + * 2 Cells = 2 blinks + * ... + * 5 Cells = 5 blinks + * Now the Application will show the actual selected Flightmode, GPS-Fix and Battery Warnings and Alerts. + * + * System disarmed: + * The BlinkM should lit solid red. + * + * System armed: + * One message is made of 4 Blinks and a pause in the same length as the 4 blinks. + * + * X-X-X-X-_-_-_-_-_-_- + * ------------------------- + * G G G M + * P P P O + * S S S D + * E + * + * (X = on, _=off) + * + * The first 3 blinks indicates the status of the GPS-Signal (red): + * 0-4 satellites = X-X-X-X-_-_-_-_-_-_- + * 5 satellites = X-X-_-X-_-_-_-_-_-_- + * 6 satellites = X-_-_-X-_-_-_-_-_-_- + * >=7 satellites = _-_-_-X-_-_-_-_-_-_- + * If no GPS is found the first 3 blinks are white + * + * The fourth Blink indicates the Flightmode: + * MANUAL : amber + * STABILIZED : yellow + * HOLD : blue + * AUTO : green + * + * Battery Warning (low Battery Level): + * Continuously blinking in yellow X-X-X-X-X-X-X-X-X-X + * + * Battery Alert (critical Battery Level) + * Continuously blinking in red X-X-X-X-X-X-X-X-X-X + * + * General Error (no uOrb Data) + * Continuously blinking in white X-X-X-X-X-X-X-X-X-X + * + */ + +#include + +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +#include + +#include +#include + +#include +#include +#include +#include +#include + +static const float MAX_CELL_VOLTAGE = 4.3f; +static const int LED_ONTIME = 120; +static const int LED_OFFTIME = 120; +static const int LED_BLINK = 1; +static const int LED_NOBLINK = 0; + +class BlinkM : public device::I2C +{ +public: + BlinkM(int bus, int blinkm); + virtual ~BlinkM(); + + + virtual int init(); + virtual int probe(); + virtual int setMode(int mode); + virtual int ioctl(struct file *filp, int cmd, unsigned long arg); + + static const char *const script_names[]; + +private: + enum ScriptID { + USER = 0, + RGB, + WHITE_FLASH, + RED_FLASH, + GREEN_FLASH, + BLUE_FLASH, + CYAN_FLASH, + MAGENTA_FLASH, + YELLOW_FLASH, + BLACK, + HUE_CYCLE, + MOOD_LIGHT, + VIRTUAL_CANDLE, + WATER_REFLECTIONS, + OLD_NEON, + THE_SEASONS, + THUNDERSTORM, + STOP_LIGHT, + MORSE_CODE + }; + + enum ledColors { + LED_OFF, + LED_RED, + LED_YELLOW, + LED_PURPLE, + LED_GREEN, + LED_BLUE, + LED_WHITE, + LED_AMBER + }; + + work_s _work; + + int led_color_1; + int led_color_2; + int led_color_3; + int led_color_4; + int led_color_5; + int led_color_6; + int led_color_7; + int led_color_8; + int led_blink; + + bool systemstate_run; + + void setLEDColor(int ledcolor); + static void led_trampoline(void *arg); + void led(); + + int set_rgb(uint8_t r, uint8_t g, uint8_t b); + + int fade_rgb(uint8_t r, uint8_t g, uint8_t b); + int fade_hsb(uint8_t h, uint8_t s, uint8_t b); + + int fade_rgb_random(uint8_t r, uint8_t g, uint8_t b); + int fade_hsb_random(uint8_t h, uint8_t s, uint8_t b); + + int set_fade_speed(uint8_t s); + + int play_script(uint8_t script_id); + int play_script(const char *script_name); + int stop_script(); + + int write_script_line(uint8_t line, uint8_t ticks, uint8_t cmd, uint8_t arg1, uint8_t arg2, uint8_t arg3); + int read_script_line(uint8_t line, uint8_t &ticks, uint8_t cmd[4]); + int set_script(uint8_t length, uint8_t repeats); + + int get_rgb(uint8_t &r, uint8_t &g, uint8_t &b); + + int get_firmware_version(uint8_t version[2]); +}; + +/* for now, we only support one BlinkM */ +namespace +{ + BlinkM *g_blinkm; +} + +/* list of script names, must match script ID numbers */ +const char *const BlinkM::script_names[] = { + "USER", + "RGB", + "WHITE_FLASH", + "RED_FLASH", + "GREEN_FLASH", + "BLUE_FLASH", + "CYAN_FLASH", + "MAGENTA_FLASH", + "YELLOW_FLASH", + "BLACK", + "HUE_CYCLE", + "MOOD_LIGHT", + "VIRTUAL_CANDLE", + "WATER_REFLECTIONS", + "OLD_NEON", + "THE_SEASONS", + "THUNDERSTORM", + "STOP_LIGHT", + "MORSE_CODE", + nullptr +}; + + +extern "C" __EXPORT int blinkm_main(int argc, char *argv[]); + +BlinkM::BlinkM(int bus, int blinkm) : + I2C("blinkm", BLINKM_DEVICE_PATH, bus, blinkm, 100000), + led_color_1(LED_OFF), + led_color_2(LED_OFF), + led_color_3(LED_OFF), + led_color_4(LED_OFF), + led_color_5(LED_OFF), + led_color_6(LED_OFF), + led_color_7(LED_OFF), + led_color_8(LED_OFF), + led_blink(LED_NOBLINK), + systemstate_run(false) +{ + memset(&_work, 0, sizeof(_work)); +} + +BlinkM::~BlinkM() +{ +} + +int +BlinkM::init() +{ + int ret; + ret = I2C::init(); + + if (ret != OK) { + warnx("I2C init failed"); + return ret; + } + + stop_script(); + set_rgb(0,0,0); + + return OK; +} + +int +BlinkM::setMode(int mode) +{ + if(mode == 1) { + if(systemstate_run == false) { + stop_script(); + set_rgb(0,0,0); + systemstate_run = true; + work_queue(LPWORK, &_work, (worker_t)&BlinkM::led_trampoline, this, 1); + } + } else { + systemstate_run = false; + } + + return OK; +} + +int +BlinkM::probe() +{ + uint8_t version[2]; + int ret; + + ret = get_firmware_version(version); + + if (ret == OK) + log("found BlinkM firmware version %c%c", version[1], version[0]); + + return ret; +} + +int +BlinkM::ioctl(struct file *filp, int cmd, unsigned long arg) +{ + int ret = ENOTTY; + + switch (cmd) { + case BLINKM_PLAY_SCRIPT_NAMED: + if (arg == 0) { + ret = EINVAL; + break; + } + ret = play_script((const char *)arg); + break; + + case BLINKM_PLAY_SCRIPT: + ret = play_script(arg); + break; + + case BLINKM_SET_USER_SCRIPT: { + if (arg == 0) { + ret = EINVAL; + break; + } + + unsigned lines = 0; + const uint8_t *script = (const uint8_t *)arg; + + while ((lines < 50) && (script[1] != 0)) { + ret = write_script_line(lines, script[0], script[1], script[2], script[3], script[4]); + if (ret != OK) + break; + script += 5; + } + if (ret == OK) + ret = set_script(lines, 0); + break; + } + + default: + break; + } + + return ret; +} + + +void +BlinkM::led_trampoline(void *arg) +{ + BlinkM *bm = (BlinkM *)arg; + + bm->led(); +} + + + +void +BlinkM::led() +{ + + static int vehicle_status_sub_fd; + static int vehicle_gps_position_sub_fd; + + static int num_of_cells = 0; + static int detected_cells_runcount = 0; + + static int t_led_color[8] = { 0, 0, 0, 0, 0, 0, 0, 0}; + static int t_led_blink = 0; + static int led_thread_runcount=0; + static int led_interval = 1000; + + static int no_data_vehicle_status = 0; + static int no_data_vehicle_gps_position = 0; + + static bool topic_initialized = false; + static bool detected_cells_blinked = false; + static bool led_thread_ready = true; + + int num_of_used_sats = 0; + + if(!topic_initialized) { + vehicle_status_sub_fd = orb_subscribe(ORB_ID(vehicle_status)); + orb_set_interval(vehicle_status_sub_fd, 1000); + + vehicle_gps_position_sub_fd = orb_subscribe(ORB_ID(vehicle_gps_position)); + orb_set_interval(vehicle_gps_position_sub_fd, 1000); + + topic_initialized = true; + } + + if(led_thread_ready == true) { + if(!detected_cells_blinked) { + if(num_of_cells > 0) { + t_led_color[0] = LED_PURPLE; + } + if(num_of_cells > 1) { + t_led_color[1] = LED_PURPLE; + } + if(num_of_cells > 2) { + t_led_color[2] = LED_PURPLE; + } + if(num_of_cells > 3) { + t_led_color[3] = LED_PURPLE; + } + if(num_of_cells > 4) { + t_led_color[4] = LED_PURPLE; + } + t_led_color[5] = LED_OFF; + t_led_color[6] = LED_OFF; + t_led_color[7] = LED_OFF; + t_led_blink = LED_BLINK; + } else { + t_led_color[0] = led_color_1; + t_led_color[1] = led_color_2; + t_led_color[2] = led_color_3; + t_led_color[3] = led_color_4; + t_led_color[4] = led_color_5; + t_led_color[5] = led_color_6; + t_led_color[6] = led_color_7; + t_led_color[7] = led_color_8; + t_led_blink = led_blink; + } + led_thread_ready = false; + } + + if (led_thread_runcount & 1) { + if (t_led_blink) + setLEDColor(LED_OFF); + led_interval = LED_OFFTIME; + } else { + setLEDColor(t_led_color[(led_thread_runcount / 2) % 8]); + //led_interval = (led_thread_runcount & 1) : LED_ONTIME; + led_interval = LED_ONTIME; + } + + if (led_thread_runcount == 15) { + /* obtained data for the first file descriptor */ + struct vehicle_status_s vehicle_status_raw; + struct vehicle_gps_position_s vehicle_gps_position_raw; + + memset(&vehicle_status_raw, 0, sizeof(vehicle_status_raw)); + memset(&vehicle_gps_position_raw, 0, sizeof(vehicle_gps_position_raw)); + + bool new_data_vehicle_status; + bool new_data_vehicle_gps_position; + + orb_check(vehicle_status_sub_fd, &new_data_vehicle_status); + + if (new_data_vehicle_status) { + orb_copy(ORB_ID(vehicle_status), vehicle_status_sub_fd, &vehicle_status_raw); + no_data_vehicle_status = 0; + } else { + no_data_vehicle_status++; + if(no_data_vehicle_status >= 3) + no_data_vehicle_status = 3; + } + + orb_check(vehicle_gps_position_sub_fd, &new_data_vehicle_gps_position); + + if (new_data_vehicle_gps_position) { + orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_position_sub_fd, &vehicle_gps_position_raw); + no_data_vehicle_gps_position = 0; + } else { + no_data_vehicle_gps_position++; + if(no_data_vehicle_gps_position >= 3) + no_data_vehicle_gps_position = 3; + } + + + + /* get number of used satellites in navigation */ + num_of_used_sats = 0; + //for(int satloop=0; satloop<20; satloop++) { + for(int satloop=0; satloop checking cells\n"); + for(num_of_cells = 2; num_of_cells < 7; num_of_cells++) { + if(vehicle_status_raw.voltage_battery < num_of_cells * MAX_CELL_VOLTAGE) break; + } + printf(" cells found:%d\n", num_of_cells); + + } else { + if(vehicle_status_raw.battery_warning == VEHICLE_BATTERY_WARNING_WARNING) { + /* LED Pattern for battery low warning */ + led_color_1 = LED_YELLOW; + led_color_2 = LED_YELLOW; + led_color_3 = LED_YELLOW; + led_color_4 = LED_YELLOW; + led_color_5 = LED_YELLOW; + led_color_6 = LED_YELLOW; + led_color_7 = LED_YELLOW; + led_color_8 = LED_YELLOW; + led_blink = LED_BLINK; + + } else if(vehicle_status_raw.battery_warning == VEHICLE_BATTERY_WARNING_ALERT) { + /* LED Pattern for battery critical alerting */ + led_color_1 = LED_RED; + led_color_2 = LED_RED; + led_color_3 = LED_RED; + led_color_4 = LED_RED; + led_color_5 = LED_RED; + led_color_6 = LED_RED; + led_color_7 = LED_RED; + led_color_8 = LED_RED; + led_blink = LED_BLINK; + + } else { + /* no battery warnings here */ + + if(vehicle_status_raw.flag_system_armed == false) { + /* system not armed */ + led_color_1 = LED_RED; + led_color_2 = LED_RED; + led_color_3 = LED_RED; + led_color_4 = LED_RED; + led_color_5 = LED_RED; + led_color_6 = LED_RED; + led_color_7 = LED_RED; + led_color_8 = LED_RED; + led_blink = LED_NOBLINK; + + } else { + /* armed system - initial led pattern */ + led_color_1 = LED_RED; + led_color_2 = LED_RED; + led_color_3 = LED_RED; + led_color_4 = LED_OFF; + led_color_5 = LED_OFF; + led_color_6 = LED_OFF; + led_color_7 = LED_OFF; + led_color_8 = LED_OFF; + led_blink = LED_BLINK; + + /* handle 4th led - flightmode indicator */ + switch((int)vehicle_status_raw.flight_mode) { + case VEHICLE_FLIGHT_MODE_MANUAL: + led_color_4 = LED_AMBER; + break; + + case VEHICLE_FLIGHT_MODE_STAB: + led_color_4 = LED_YELLOW; + break; + + case VEHICLE_FLIGHT_MODE_HOLD: + led_color_4 = LED_BLUE; + break; + + case VEHICLE_FLIGHT_MODE_AUTO: + led_color_4 = LED_GREEN; + break; + } + + if(new_data_vehicle_gps_position || no_data_vehicle_gps_position < 3) { + /* handling used sat´s */ + if(num_of_used_sats >= 7) { + led_color_1 = LED_OFF; + led_color_2 = LED_OFF; + led_color_3 = LED_OFF; + } else if(num_of_used_sats == 6) { + led_color_2 = LED_OFF; + led_color_3 = LED_OFF; + } else if(num_of_used_sats == 5) { + led_color_3 = LED_OFF; + } + + } else { + /* no vehicle_gps_position data */ + led_color_1 = LED_WHITE; + led_color_2 = LED_WHITE; + led_color_3 = LED_WHITE; + + } + + } + } + } + } else { + /* LED Pattern for general Error - no vehicle_status can retrieved */ + led_color_1 = LED_WHITE; + led_color_2 = LED_WHITE; + led_color_3 = LED_WHITE; + led_color_4 = LED_WHITE; + led_color_5 = LED_WHITE; + led_color_6 = LED_WHITE; + led_color_7 = LED_WHITE; + led_color_8 = LED_WHITE; + led_blink = LED_BLINK; + + } + + /* + printf( " Volt:%8.4f\tArmed:%4u\tMode:%4u\tCells:%4u\tNDVS:%4u\tNDSAT:%4u\tSats:%4u\tFix:%4u\tVisible:%4u\n", + vehicle_status_raw.voltage_battery, + vehicle_status_raw.flag_system_armed, + vehicle_status_raw.flight_mode, + num_of_cells, + no_data_vehicle_status, + no_data_vehicle_gps_position, + num_of_used_sats, + vehicle_gps_position_raw.fix_type, + vehicle_gps_position_raw.satellites_visible); + */ + + led_thread_runcount=0; + led_thread_ready = true; + led_interval = LED_OFFTIME; + + if(detected_cells_runcount < 4){ + detected_cells_runcount++; + } else { + detected_cells_blinked = true; + } + + } else { + led_thread_runcount++; + } + + if(systemstate_run == true) { + /* re-queue ourselves to run again later */ + work_queue(LPWORK, &_work, (worker_t)&BlinkM::led_trampoline, this, led_interval); + } else { + stop_script(); + set_rgb(0,0,0); + } +} + +void BlinkM::setLEDColor(int ledcolor) { + switch (ledcolor) { + case LED_OFF: // off + set_rgb(0,0,0); + break; + case LED_RED: // red + set_rgb(255,0,0); + break; + case LED_YELLOW: // yellow + set_rgb(255,70,0); + break; + case LED_PURPLE: // purple + set_rgb(255,0,255); + break; + case LED_GREEN: // green + set_rgb(0,255,0); + break; + case LED_BLUE: // blue + set_rgb(0,0,255); + break; + case LED_WHITE: // white + set_rgb(255,255,255); + break; + case LED_AMBER: // amber + set_rgb(255,20,0); + break; + } +} + +int +BlinkM::set_rgb(uint8_t r, uint8_t g, uint8_t b) +{ + const uint8_t msg[4] = { 'n', r, g, b }; + + return transfer(msg, sizeof(msg), nullptr, 0); +} + +int +BlinkM::fade_rgb(uint8_t r, uint8_t g, uint8_t b) +{ + const uint8_t msg[4] = { 'c', r, g, b }; + + return transfer(msg, sizeof(msg), nullptr, 0); +} + +int +BlinkM::fade_hsb(uint8_t h, uint8_t s, uint8_t b) +{ + const uint8_t msg[4] = { 'h', h, s, b }; + + return transfer(msg, sizeof(msg), nullptr, 0); +} + +int +BlinkM::fade_rgb_random(uint8_t r, uint8_t g, uint8_t b) +{ + const uint8_t msg[4] = { 'C', r, g, b }; + + return transfer(msg, sizeof(msg), nullptr, 0); +} + +int +BlinkM::fade_hsb_random(uint8_t h, uint8_t s, uint8_t b) +{ + const uint8_t msg[4] = { 'H', h, s, b }; + + return transfer(msg, sizeof(msg), nullptr, 0); +} + +int +BlinkM::set_fade_speed(uint8_t s) +{ + const uint8_t msg[2] = { 'f', s }; + + return transfer(msg, sizeof(msg), nullptr, 0); +} + +int +BlinkM::play_script(uint8_t script_id) +{ + const uint8_t msg[4] = { 'p', script_id, 0, 0 }; + + return transfer(msg, sizeof(msg), nullptr, 0); +} + +int +BlinkM::play_script(const char *script_name) +{ + /* handle HTML colour encoding */ + if (isxdigit(script_name[0]) && (strlen(script_name) == 6)) { + char code[3]; + uint8_t r, g, b; + + code[2] = '\0'; + + code[0] = script_name[1]; + code[1] = script_name[2]; + r = strtol(code, 0, 16); + code[0] = script_name[3]; + code[1] = script_name[4]; + g = strtol(code, 0, 16); + code[0] = script_name[5]; + code[1] = script_name[6]; + b = strtol(code, 0, 16); + + stop_script(); + return set_rgb(r, g, b); + } + + for (unsigned i = 0; script_names[i] != nullptr; i++) + if (!strcasecmp(script_name, script_names[i])) + return play_script(i); + + return -1; +} + +int +BlinkM::stop_script() +{ + const uint8_t msg[1] = { 'o' }; + + return transfer(msg, sizeof(msg), nullptr, 0); +} + +int +BlinkM::write_script_line(uint8_t line, uint8_t ticks, uint8_t cmd, uint8_t arg1, uint8_t arg2, uint8_t arg3) +{ + const uint8_t msg[8] = { 'W', 0, line, ticks, cmd, arg1, arg2, arg3 }; + + return transfer(msg, sizeof(msg), nullptr, 0); +} + +int +BlinkM::read_script_line(uint8_t line, uint8_t &ticks, uint8_t cmd[4]) +{ + const uint8_t msg[3] = { 'R', 0, line }; + uint8_t result[5]; + + int ret = transfer(msg, sizeof(msg), result, sizeof(result)); + + if (ret == OK) { + ticks = result[0]; + cmd[0] = result[1]; + cmd[1] = result[2]; + cmd[2] = result[3]; + cmd[3] = result[4]; + } + + return ret; +} + +int +BlinkM::set_script(uint8_t len, uint8_t repeats) +{ + const uint8_t msg[4] = { 'L', 0, len, repeats }; + + return transfer(msg, sizeof(msg), nullptr, 0); +} + +int +BlinkM::get_rgb(uint8_t &r, uint8_t &g, uint8_t &b) +{ + const uint8_t msg = 'g'; + uint8_t result[3]; + + int ret = transfer(&msg, sizeof(msg), result, sizeof(result)); + + if (ret == OK) { + r = result[0]; + g = result[1]; + b = result[2]; + } + + return ret; +} + +int +BlinkM::get_firmware_version(uint8_t version[2]) +{ + const uint8_t msg = 'Z'; + + return transfer(&msg, sizeof(msg), version, 2); +} + +void blinkm_usage() { + fprintf(stderr, "missing command: try 'start', 'systemstate', 'ledoff', 'list' or a script name {options}\n"); + fprintf(stderr, "options:\n"); + fprintf(stderr, "\t-b --bus i2cbus (3)\n"); + fprintf(stderr, "\t-a --blinkmaddr blinkmaddr (9)\n"); +} + +int +blinkm_main(int argc, char *argv[]) +{ + + int i2cdevice = PX4_I2C_BUS_EXPANSION; + int blinkmadr = 9; + + int x; + + for (x = 1; x < argc; x++) { + if (strcmp(argv[x], "-b") == 0 || strcmp(argv[x], "--bus") == 0) { + if (argc > x + 1) { + i2cdevice = atoi(argv[x + 1]); + } + } + + if (strcmp(argv[x], "-a") == 0 || strcmp(argv[x], "--blinkmaddr") == 0) { + if (argc > x + 1) { + blinkmadr = atoi(argv[x + 1]); + } + } + + } + + if (!strcmp(argv[1], "start")) { + if (g_blinkm != nullptr) + errx(1, "already started"); + + g_blinkm = new BlinkM(i2cdevice, blinkmadr); + + if (g_blinkm == nullptr) + errx(1, "new failed"); + + if (OK != g_blinkm->init()) { + delete g_blinkm; + g_blinkm = nullptr; + errx(1, "init failed"); + } + + exit(0); + } + + + if (g_blinkm == nullptr) { + fprintf(stderr, "not started\n"); + blinkm_usage(); + exit(0); + } + + if (!strcmp(argv[1], "systemstate")) { + g_blinkm->setMode(1); + exit(0); + } + + if (!strcmp(argv[1], "ledoff")) { + g_blinkm->setMode(0); + exit(0); + } + + + if (!strcmp(argv[1], "list")) { + for (unsigned i = 0; BlinkM::script_names[i] != nullptr; i++) + fprintf(stderr, " %s\n", BlinkM::script_names[i]); + fprintf(stderr, " \n"); + exit(0); + } + + /* things that require access to the device */ + int fd = open(BLINKM_DEVICE_PATH, 0); + if (fd < 0) + err(1, "can't open BlinkM device"); + + g_blinkm->setMode(0); + if (ioctl(fd, BLINKM_PLAY_SCRIPT_NAMED, (unsigned long)argv[1]) == OK) + exit(0); + + blinkm_usage(); + exit(0); +} diff --git a/src/drivers/blinkm/module.mk b/src/drivers/blinkm/module.mk new file mode 100644 index 000000000..b48b90f3f --- /dev/null +++ b/src/drivers/blinkm/module.mk @@ -0,0 +1,40 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# BlinkM I2C LED driver +# + +MODULE_COMMAND = blinkm + +SRCS = blinkm.cpp diff --git a/src/drivers/bma180/bma180.cpp b/src/drivers/bma180/bma180.cpp new file mode 100644 index 000000000..4409a8a9c --- /dev/null +++ b/src/drivers/bma180/bma180.cpp @@ -0,0 +1,929 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file bma180.cpp + * Driver for the Bosch BMA 180 MEMS accelerometer connected via SPI. + */ + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include + +#include +#include + +#include +#include + + +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +static const int ERROR = -1; + +#define DIR_READ (1<<7) +#define DIR_WRITE (0<<7) + +#define ADDR_CHIP_ID 0x00 +#define CHIP_ID 0x03 + +#define ADDR_ACC_X_LSB 0x02 +#define ADDR_ACC_Y_LSB 0x04 +#define ADDR_ACC_Z_LSB 0x06 +#define ADDR_TEMPERATURE 0x08 + +#define ADDR_CTRL_REG0 0x0D +#define REG0_WRITE_ENABLE 0x10 + +#define ADDR_RESET 0x10 +#define SOFT_RESET 0xB6 + +#define ADDR_BW_TCS 0x20 +#define BW_TCS_BW_MASK (0xf<<4) +#define BW_TCS_BW_10HZ (0<<4) +#define BW_TCS_BW_20HZ (1<<4) +#define BW_TCS_BW_40HZ (2<<4) +#define BW_TCS_BW_75HZ (3<<4) +#define BW_TCS_BW_150HZ (4<<4) +#define BW_TCS_BW_300HZ (5<<4) +#define BW_TCS_BW_600HZ (6<<4) +#define BW_TCS_BW_1200HZ (7<<4) + +#define ADDR_HIGH_DUR 0x27 +#define HIGH_DUR_DIS_I2C (1<<0) + +#define ADDR_TCO_Z 0x30 +#define TCO_Z_MODE_MASK 0x3 + +#define ADDR_GAIN_Y 0x33 +#define GAIN_Y_SHADOW_DIS (1<<0) + +#define ADDR_OFFSET_LSB1 0x35 +#define OFFSET_LSB1_RANGE_MASK (7<<1) +#define OFFSET_LSB1_RANGE_1G (0<<1) +#define OFFSET_LSB1_RANGE_2G (2<<1) +#define OFFSET_LSB1_RANGE_3G (3<<1) +#define OFFSET_LSB1_RANGE_4G (4<<1) +#define OFFSET_LSB1_RANGE_8G (5<<1) +#define OFFSET_LSB1_RANGE_16G (6<<1) + +#define ADDR_OFFSET_T 0x37 +#define OFFSET_T_READOUT_12BIT (1<<0) + +extern "C" { __EXPORT int bma180_main(int argc, char *argv[]); } + +class BMA180 : public device::SPI +{ +public: + BMA180(int bus, spi_dev_e device); + virtual ~BMA180(); + + virtual int init(); + + virtual ssize_t read(struct file *filp, char *buffer, size_t buflen); + virtual int ioctl(struct file *filp, int cmd, unsigned long arg); + + /** + * Diagnostics - print some basic information about the driver. + */ + void print_info(); + +protected: + virtual int probe(); + +private: + + struct hrt_call _call; + unsigned _call_interval; + + unsigned _num_reports; + volatile unsigned _next_report; + volatile unsigned _oldest_report; + struct accel_report *_reports; + + struct accel_scale _accel_scale; + float _accel_range_scale; + float _accel_range_m_s2; + orb_advert_t _accel_topic; + + unsigned _current_lowpass; + unsigned _current_range; + + perf_counter_t _sample_perf; + + /** + * Start automatic measurement. + */ + void start(); + + /** + * Stop automatic measurement. + */ + void stop(); + + /** + * Static trampoline from the hrt_call context; because we don't have a + * generic hrt wrapper yet. + * + * Called by the HRT in interrupt context at the specified rate if + * automatic polling is enabled. + * + * @param arg Instance pointer for the driver that is polling. + */ + static void measure_trampoline(void *arg); + + /** + * Fetch measurements from the sensor and update the report ring. + */ + void measure(); + + /** + * Read a register from the BMA180 + * + * @param The register to read. + * @return The value that was read. + */ + uint8_t read_reg(unsigned reg); + + /** + * Write a register in the BMA180 + * + * @param reg The register to write. + * @param value The new value to write. + */ + void write_reg(unsigned reg, uint8_t value); + + /** + * Modify a register in the BMA180 + * + * Bits are cleared before bits are set. + * + * @param reg The register to modify. + * @param clearbits Bits in the register to clear. + * @param setbits Bits in the register to set. + */ + void modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits); + + /** + * Set the BMA180 measurement range. + * + * @param max_g The maximum G value the range must support. + * @return OK if the value can be supported, -ERANGE otherwise. + */ + int set_range(unsigned max_g); + + /** + * Set the BMA180 internal lowpass filter frequency. + * + * @param frequency The internal lowpass filter frequency is set to a value + * equal or greater to this. + * Zero selects the highest frequency supported. + * @return OK if the value can be supported. + */ + int set_lowpass(unsigned frequency); +}; + +/* helper macro for handling report buffer indices */ +#define INCREMENT(_x, _lim) do { _x++; if (_x >= _lim) _x = 0; } while(0) + + +BMA180::BMA180(int bus, spi_dev_e device) : + SPI("BMA180", ACCEL_DEVICE_PATH, bus, device, SPIDEV_MODE3, 8000000), + _call_interval(0), + _num_reports(0), + _next_report(0), + _oldest_report(0), + _reports(nullptr), + _accel_range_scale(0.0f), + _accel_range_m_s2(0.0f), + _accel_topic(-1), + _current_lowpass(0), + _current_range(0), + _sample_perf(perf_alloc(PC_ELAPSED, "bma180_read")) +{ + // enable debug() calls + _debug_enabled = true; + + // default scale factors + _accel_scale.x_offset = 0; + _accel_scale.x_scale = 1.0f; + _accel_scale.y_offset = 0; + _accel_scale.y_scale = 1.0f; + _accel_scale.z_offset = 0; + _accel_scale.z_scale = 1.0f; +} + +BMA180::~BMA180() +{ + /* make sure we are truly inactive */ + stop(); + + /* free any existing reports */ + if (_reports != nullptr) + delete[] _reports; + + /* delete the perf counter */ + perf_free(_sample_perf); +} + +int +BMA180::init() +{ + int ret = ERROR; + + /* do SPI init (and probe) first */ + if (SPI::init() != OK) + goto out; + + /* allocate basic report buffers */ + _num_reports = 2; + _oldest_report = _next_report = 0; + _reports = new struct accel_report[_num_reports]; + + if (_reports == nullptr) + goto out; + + /* advertise sensor topic */ + memset(&_reports[0], 0, sizeof(_reports[0])); + _accel_topic = orb_advertise(ORB_ID(sensor_accel), &_reports[0]); + + /* perform soft reset (p48) */ + write_reg(ADDR_RESET, SOFT_RESET); + + /* wait 10 ms (datasheet incorrectly lists 10 us on page 49) */ + usleep(10000); + + /* enable writing to chip config */ + modify_reg(ADDR_CTRL_REG0, 0, REG0_WRITE_ENABLE); + + /* disable I2C interface */ + modify_reg(ADDR_HIGH_DUR, HIGH_DUR_DIS_I2C, 0); + + /* switch to low-noise mode */ + modify_reg(ADDR_TCO_Z, TCO_Z_MODE_MASK, 0); + + /* disable 12-bit mode */ + modify_reg(ADDR_OFFSET_T, OFFSET_T_READOUT_12BIT, 0); + + /* disable shadow-disable mode */ + modify_reg(ADDR_GAIN_Y, GAIN_Y_SHADOW_DIS, 0); + + /* disable writing to chip config */ + modify_reg(ADDR_CTRL_REG0, REG0_WRITE_ENABLE, 0); + + if (set_range(4)) warnx("Failed setting range"); + + if (set_lowpass(75)) warnx("Failed setting lowpass"); + + if (read_reg(ADDR_CHIP_ID) == CHIP_ID) { + ret = OK; + + } else { + ret = ERROR; + } + +out: + return ret; +} + +int +BMA180::probe() +{ + /* dummy read to ensure SPI state machine is sane */ + read_reg(ADDR_CHIP_ID); + + if (read_reg(ADDR_CHIP_ID) == CHIP_ID) + return OK; + + return -EIO; +} + +ssize_t +BMA180::read(struct file *filp, char *buffer, size_t buflen) +{ + unsigned count = buflen / sizeof(struct accel_report); + int ret = 0; + + /* buffer must be large enough */ + if (count < 1) + return -ENOSPC; + + /* if automatic measurement is enabled */ + if (_call_interval > 0) { + + /* + * While there is space in the caller's buffer, and reports, copy them. + * Note that we may be pre-empted by the measurement code while we are doing this; + * we are careful to avoid racing with it. + */ + while (count--) { + if (_oldest_report != _next_report) { + memcpy(buffer, _reports + _oldest_report, sizeof(*_reports)); + ret += sizeof(_reports[0]); + INCREMENT(_oldest_report, _num_reports); + } + } + + /* if there was no data, warn the caller */ + return ret ? ret : -EAGAIN; + } + + /* manual measurement */ + _oldest_report = _next_report = 0; + measure(); + + /* measurement will have generated a report, copy it out */ + memcpy(buffer, _reports, sizeof(*_reports)); + ret = sizeof(*_reports); + + return ret; +} + +int +BMA180::ioctl(struct file *filp, int cmd, unsigned long arg) +{ + switch (cmd) { + + case SENSORIOCSPOLLRATE: { + switch (arg) { + + /* switching to manual polling */ + case SENSOR_POLLRATE_MANUAL: + stop(); + _call_interval = 0; + return OK; + + /* external signalling not supported */ + case SENSOR_POLLRATE_EXTERNAL: + + /* zero would be bad */ + case 0: + return -EINVAL; + + + /* set default/max polling rate */ + case SENSOR_POLLRATE_MAX: + case SENSOR_POLLRATE_DEFAULT: + /* With internal low pass filters enabled, 250 Hz is sufficient */ + return ioctl(filp, SENSORIOCSPOLLRATE, 250); + + /* adjust to a legal polling interval in Hz */ + default: { + /* do we need to start internal polling? */ + bool want_start = (_call_interval == 0); + + /* convert hz to hrt interval via microseconds */ + unsigned ticks = 1000000 / arg; + + /* check against maximum sane rate */ + if (ticks < 1000) + return -EINVAL; + + /* update interval for next measurement */ + /* XXX this is a bit shady, but no other way to adjust... */ + _call.period = _call_interval = ticks; + + /* if we need to start the poll state machine, do it */ + if (want_start) + start(); + + return OK; + } + } + } + + case SENSORIOCGPOLLRATE: + if (_call_interval == 0) + return SENSOR_POLLRATE_MANUAL; + + return 1000000 / _call_interval; + + case SENSORIOCSQUEUEDEPTH: { + /* account for sentinel in the ring */ + arg++; + + /* lower bound is mandatory, upper bound is a sanity check */ + if ((arg < 2) || (arg > 100)) + return -EINVAL; + + /* allocate new buffer */ + struct accel_report *buf = new struct accel_report[arg]; + + if (nullptr == buf) + return -ENOMEM; + + /* reset the measurement state machine with the new buffer, free the old */ + stop(); + delete[] _reports; + _num_reports = arg; + _reports = buf; + start(); + + return OK; + } + + case SENSORIOCGQUEUEDEPTH: + return _num_reports - 1; + + case SENSORIOCRESET: + /* XXX implement */ + return -EINVAL; + + case ACCELIOCSSAMPLERATE: /* sensor sample rate is not (really) adjustable */ + return -EINVAL; + + case ACCELIOCGSAMPLERATE: + return 1200; /* always operating in low-noise mode */ + + case ACCELIOCSLOWPASS: + return set_lowpass(arg); + + case ACCELIOCGLOWPASS: + return _current_lowpass; + + case ACCELIOCSSCALE: + /* copy scale in */ + memcpy(&_accel_scale, (struct accel_scale *) arg, sizeof(_accel_scale)); + return OK; + + case ACCELIOCGSCALE: + /* copy scale out */ + memcpy((struct accel_scale *) arg, &_accel_scale, sizeof(_accel_scale)); + return OK; + + case ACCELIOCSRANGE: + return set_range(arg); + + case ACCELIOCGRANGE: + return _current_range; + + default: + /* give it to the superclass */ + return SPI::ioctl(filp, cmd, arg); + } +} + +uint8_t +BMA180::read_reg(unsigned reg) +{ + uint8_t cmd[2]; + + cmd[0] = reg | DIR_READ; + + transfer(cmd, cmd, sizeof(cmd)); + + return cmd[1]; +} + +void +BMA180::write_reg(unsigned reg, uint8_t value) +{ + uint8_t cmd[2]; + + cmd[0] = reg | DIR_WRITE; + cmd[1] = value; + + transfer(cmd, nullptr, sizeof(cmd)); +} + +void +BMA180::modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits) +{ + uint8_t val; + + val = read_reg(reg); + val &= ~clearbits; + val |= setbits; + write_reg(reg, val); +} + +int +BMA180::set_range(unsigned max_g) +{ + uint8_t rangebits; + + if (max_g == 0) + max_g = 16; + + if (max_g > 16) + return -ERANGE; + + if (max_g <= 2) { + _current_range = 2; + rangebits = OFFSET_LSB1_RANGE_2G; + + } else if (max_g <= 3) { + _current_range = 3; + rangebits = OFFSET_LSB1_RANGE_3G; + + } else if (max_g <= 4) { + _current_range = 4; + rangebits = OFFSET_LSB1_RANGE_4G; + + } else if (max_g <= 8) { + _current_range = 8; + rangebits = OFFSET_LSB1_RANGE_8G; + + } else if (max_g <= 16) { + _current_range = 16; + rangebits = OFFSET_LSB1_RANGE_16G; + + } else { + return -EINVAL; + } + + /* set new range scaling factor */ + _accel_range_m_s2 = _current_range * 9.80665f; + _accel_range_scale = _accel_range_m_s2 / 8192.0f; + + /* enable writing to chip config */ + modify_reg(ADDR_CTRL_REG0, 0, REG0_WRITE_ENABLE); + + /* adjust sensor configuration */ + modify_reg(ADDR_OFFSET_LSB1, OFFSET_LSB1_RANGE_MASK, rangebits); + + /* block writing to chip config */ + modify_reg(ADDR_CTRL_REG0, REG0_WRITE_ENABLE, 0); + + /* check if wanted value is now in register */ + return !((read_reg(ADDR_OFFSET_LSB1) & OFFSET_LSB1_RANGE_MASK) == + (OFFSET_LSB1_RANGE_MASK & rangebits)); +} + +int +BMA180::set_lowpass(unsigned frequency) +{ + uint8_t bwbits; + + if (frequency > 1200) { + return -ERANGE; + + } else if (frequency > 600) { + bwbits = BW_TCS_BW_1200HZ; + + } else if (frequency > 300) { + bwbits = BW_TCS_BW_600HZ; + + } else if (frequency > 150) { + bwbits = BW_TCS_BW_300HZ; + + } else if (frequency > 75) { + bwbits = BW_TCS_BW_150HZ; + + } else if (frequency > 40) { + bwbits = BW_TCS_BW_75HZ; + + } else if (frequency > 20) { + bwbits = BW_TCS_BW_40HZ; + + } else if (frequency > 10) { + bwbits = BW_TCS_BW_20HZ; + + } else { + bwbits = BW_TCS_BW_10HZ; + } + + /* enable writing to chip config */ + modify_reg(ADDR_CTRL_REG0, 0, REG0_WRITE_ENABLE); + + /* adjust sensor configuration */ + modify_reg(ADDR_BW_TCS, BW_TCS_BW_MASK, bwbits); + + /* block writing to chip config */ + modify_reg(ADDR_CTRL_REG0, REG0_WRITE_ENABLE, 0); + + /* check if wanted value is now in register */ + return !((read_reg(ADDR_BW_TCS) & BW_TCS_BW_MASK) == + (BW_TCS_BW_MASK & bwbits)); +} + +void +BMA180::start() +{ + /* make sure we are stopped first */ + stop(); + + /* reset the report ring */ + _oldest_report = _next_report = 0; + + /* start polling at the specified rate */ + hrt_call_every(&_call, 1000, _call_interval, (hrt_callout)&BMA180::measure_trampoline, this); +} + +void +BMA180::stop() +{ + hrt_cancel(&_call); +} + +void +BMA180::measure_trampoline(void *arg) +{ + BMA180 *dev = (BMA180 *)arg; + + /* make another measurement */ + dev->measure(); +} + +void +BMA180::measure() +{ + /* BMA180 measurement registers */ +// #pragma pack(push, 1) +// struct { +// uint8_t cmd; +// int16_t x; +// int16_t y; +// int16_t z; +// } raw_report; +// #pragma pack(pop) + + accel_report *report = &_reports[_next_report]; + + /* start the performance counter */ + perf_begin(_sample_perf); + + /* + * Fetch the full set of measurements from the BMA180 in one pass; + * starting from the X LSB. + */ + //raw_report.cmd = ADDR_ACC_X_LSB; + // XXX PX4DEV transfer((uint8_t *)&raw_report, (uint8_t *)&raw_report, sizeof(raw_report)); + + /* + * Adjust and scale results to SI units. + * + * Note that we ignore the "new data" bits. At any time we read, each + * of the axis measurements are the "most recent", even if we've seen + * them before. There is no good way to synchronise with the internal + * measurement flow without using the external interrupt. + */ + _reports[_next_report].timestamp = hrt_absolute_time(); + /* + * y of board is x of sensor and x of board is -y of sensor + * perform only the axis assignment here. + * Two non-value bits are discarded directly + */ + report->y_raw = read_reg(ADDR_ACC_X_LSB + 0); + report->y_raw |= read_reg(ADDR_ACC_X_LSB + 1) << 8; + report->x_raw = read_reg(ADDR_ACC_X_LSB + 2); + report->x_raw |= read_reg(ADDR_ACC_X_LSB + 3) << 8; + report->z_raw = read_reg(ADDR_ACC_X_LSB + 4); + report->z_raw |= read_reg(ADDR_ACC_X_LSB + 5) << 8; + + /* discard two non-value bits in the 16 bit measurement */ + report->x_raw = (report->x_raw / 4); + report->y_raw = (report->y_raw / 4); + report->z_raw = (report->z_raw / 4); + + /* invert y axis, due to 14 bit data no overflow can occur in the negation */ + report->y_raw = -report->y_raw; + + report->x = ((report->x_raw * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale; + report->y = ((report->y_raw * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale; + report->z = ((report->z_raw * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale; + report->scaling = _accel_range_scale; + report->range_m_s2 = _accel_range_m_s2; + + /* post a report to the ring - note, not locked */ + INCREMENT(_next_report, _num_reports); + + /* if we are running up against the oldest report, fix it */ + if (_next_report == _oldest_report) + INCREMENT(_oldest_report, _num_reports); + + /* notify anyone waiting for data */ + poll_notify(POLLIN); + + /* publish for subscribers */ + orb_publish(ORB_ID(sensor_accel), _accel_topic, report); + + /* stop the perf counter */ + perf_end(_sample_perf); +} + +void +BMA180::print_info() +{ + perf_print_counter(_sample_perf); + printf("report queue: %u (%u/%u @ %p)\n", + _num_reports, _oldest_report, _next_report, _reports); +} + +/** + * Local functions in support of the shell command. + */ +namespace bma180 +{ + +BMA180 *g_dev; + +void start(); +void test(); +void reset(); +void info(); + +/** + * Start the driver. + */ +void +start() +{ + int fd; + + if (g_dev != nullptr) + errx(1, "already started"); + + /* create the driver */ + g_dev = new BMA180(1 /* XXX magic number */, (spi_dev_e)PX4_SPIDEV_ACCEL); + + if (g_dev == nullptr) + goto fail; + + if (OK != g_dev->init()) + goto fail; + + /* set the poll rate to default, starts automatic data collection */ + fd = open(ACCEL_DEVICE_PATH, O_RDONLY); + + if (fd < 0) + goto fail; + + if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) + goto fail; + + exit(0); +fail: + + if (g_dev != nullptr) { + delete g_dev; + g_dev = nullptr; + } + + errx(1, "driver start failed"); +} + +/** + * Perform some basic functional tests on the driver; + * make sure we can collect data from the sensor in polled + * and automatic modes. + */ +void +test() +{ + int fd = -1; + struct accel_report a_report; + ssize_t sz; + + /* get the driver */ + fd = open(ACCEL_DEVICE_PATH, O_RDONLY); + + if (fd < 0) + err(1, "%s open failed (try 'bma180 start' if the driver is not running)", + ACCEL_DEVICE_PATH); + + /* reset to manual polling */ + if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MANUAL) < 0) + err(1, "reset to manual polling"); + + /* do a simple demand read */ + sz = read(fd, &a_report, sizeof(a_report)); + + if (sz != sizeof(a_report)) + err(1, "immediate acc read failed"); + + warnx("single read"); + warnx("time: %lld", a_report.timestamp); + warnx("acc x: \t%8.4f\tm/s^2", (double)a_report.x); + warnx("acc y: \t%8.4f\tm/s^2", (double)a_report.y); + warnx("acc z: \t%8.4f\tm/s^2", (double)a_report.z); + warnx("acc x: \t%d\traw 0x%0x", (short)a_report.x_raw, (unsigned short)a_report.x_raw); + warnx("acc y: \t%d\traw 0x%0x", (short)a_report.y_raw, (unsigned short)a_report.y_raw); + warnx("acc z: \t%d\traw 0x%0x", (short)a_report.z_raw, (unsigned short)a_report.z_raw); + warnx("acc range: %8.4f m/s^2 (%8.4f g)", (double)a_report.range_m_s2, + (double)(a_report.range_m_s2 / 9.81f)); + + /* XXX add poll-rate tests here too */ + + reset(); + errx(0, "PASS"); +} + +/** + * Reset the driver. + */ +void +reset() +{ + int fd = open(ACCEL_DEVICE_PATH, O_RDONLY); + + if (fd < 0) + err(1, "failed "); + + if (ioctl(fd, SENSORIOCRESET, 0) < 0) + err(1, "driver reset failed"); + + if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) + err(1, "driver poll restart failed"); + + exit(0); +} + +/** + * Print a little info about the driver. + */ +void +info() +{ + if (g_dev == nullptr) + errx(1, "BMA180: driver not running"); + + printf("state @ %p\n", g_dev); + g_dev->print_info(); + + exit(0); +} + + +} // namespace + +int +bma180_main(int argc, char *argv[]) +{ + /* + * Start/load the driver. + + */ + if (!strcmp(argv[1], "start")) + bma180::start(); + + /* + * Test the driver/device. + */ + if (!strcmp(argv[1], "test")) + bma180::test(); + + /* + * Reset the driver. + */ + if (!strcmp(argv[1], "reset")) + bma180::reset(); + + /* + * Print driver information. + */ + if (!strcmp(argv[1], "info")) + bma180::info(); + + errx(1, "unrecognised command, try 'start', 'test', 'reset' or 'info'"); +} diff --git a/src/drivers/bma180/module.mk b/src/drivers/bma180/module.mk new file mode 100644 index 000000000..4c60ee082 --- /dev/null +++ b/src/drivers/bma180/module.mk @@ -0,0 +1,40 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# Makefile to build the BMA180 driver. +# + +MODULE_COMMAND = bma180 + +SRCS = bma180.cpp diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp new file mode 100644 index 000000000..e35bdb944 --- /dev/null +++ b/src/drivers/gps/gps.cpp @@ -0,0 +1,536 @@ +/**************************************************************************** + * + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file gps.cpp + * Driver for the GPS on a serial port + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "ubx.h" +#include "mtk.h" + + +#define TIMEOUT_5HZ 500 +#define RATE_MEASUREMENT_PERIOD 5000000 + +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +static const int ERROR = -1; + +#ifndef CONFIG_SCHED_WORKQUEUE +# error This requires CONFIG_SCHED_WORKQUEUE. +#endif + + + +class GPS : public device::CDev +{ +public: + GPS(const char* uart_path); + virtual ~GPS(); + + virtual int init(); + + virtual int ioctl(struct file *filp, int cmd, unsigned long arg); + + /** + * Diagnostics - print some basic information about the driver. + */ + void print_info(); + +private: + + bool _task_should_exit; ///< flag to make the main worker task exit + int _serial_fd; ///< serial interface to GPS + unsigned _baudrate; ///< current baudrate + char _port[20]; ///< device / serial port path + volatile int _task; //< worker task + bool _healthy; ///< flag to signal if the GPS is ok + bool _baudrate_changed; ///< flag to signal that the baudrate with the GPS has changed + bool _mode_changed; ///< flag that the GPS mode has changed + gps_driver_mode_t _mode; ///< current mode + GPS_Helper *_Helper; ///< instance of GPS parser + struct vehicle_gps_position_s _report; ///< uORB topic for gps position + orb_advert_t _report_pub; ///< uORB pub for gps position + float _rate; ///< position update rate + + + /** + * Try to configure the GPS, handle outgoing communication to the GPS + */ + void config(); + + /** + * Trampoline to the worker task + */ + static void task_main_trampoline(void *arg); + + + /** + * Worker task: main GPS thread that configures the GPS and parses incoming data, always running + */ + void task_main(void); + + /** + * Set the baudrate of the UART to the GPS + */ + int set_baudrate(unsigned baud); + + /** + * Send a reset command to the GPS + */ + void cmd_reset(); + +}; + + +/* + * Driver 'main' command. + */ +extern "C" __EXPORT int gps_main(int argc, char *argv[]); + +namespace +{ + +GPS *g_dev; + +} + + +GPS::GPS(const char* uart_path) : + CDev("gps", GPS_DEVICE_PATH), + _task_should_exit(false), + _healthy(false), + _mode_changed(false), + _mode(GPS_DRIVER_MODE_UBX), + _Helper(nullptr), + _report_pub(-1), + _rate(0.0f) +{ + /* store port name */ + strncpy(_port, uart_path, sizeof(_port)); + /* enforce null termination */ + _port[sizeof(_port) - 1] = '\0'; + + /* we need this potentially before it could be set in task_main */ + g_dev = this; + memset(&_report, 0, sizeof(_report)); + + _debug_enabled = true; +} + +GPS::~GPS() +{ + /* tell the task we want it to go away */ + _task_should_exit = true; + + /* spin waiting for the task to stop */ + for (unsigned i = 0; (i < 10) && (_task != -1); i++) { + /* give it another 100ms */ + usleep(100000); + } + + /* well, kill it anyway, though this will probably crash */ + if (_task != -1) + task_delete(_task); + g_dev = nullptr; + +} + +int +GPS::init() +{ + int ret = ERROR; + + /* do regular cdev init */ + if (CDev::init() != OK) + goto out; + + /* start the GPS driver worker task */ + _task = task_create("gps", SCHED_PRIORITY_SLOW_DRIVER, 2048, (main_t)&GPS::task_main_trampoline, nullptr); + + if (_task < 0) { + warnx("task start failed: %d", errno); + return -errno; + } + + ret = OK; +out: + return ret; +} + +int +GPS::ioctl(struct file *filp, int cmd, unsigned long arg) +{ + lock(); + + int ret = OK; + + switch (cmd) { + case SENSORIOCRESET: + cmd_reset(); + break; + } + + unlock(); + + return ret; +} + +void +GPS::task_main_trampoline(void *arg) +{ + g_dev->task_main(); +} + +void +GPS::task_main() +{ + log("starting"); + + /* open the serial port */ + _serial_fd = ::open(_port, O_RDWR); + + if (_serial_fd < 0) { + log("failed to open serial port: %s err: %d", _port, errno); + /* tell the dtor that we are exiting, set error code */ + _task = -1; + _exit(1); + } + + uint64_t last_rate_measurement = hrt_absolute_time(); + unsigned last_rate_count = 0; + + /* loop handling received serial bytes and also configuring in between */ + while (!_task_should_exit) { + + if (_Helper != nullptr) { + delete(_Helper); + /* set to zero to ensure parser is not used while not instantiated */ + _Helper = nullptr; + } + + switch (_mode) { + case GPS_DRIVER_MODE_UBX: + _Helper = new UBX(_serial_fd, &_report); + break; + case GPS_DRIVER_MODE_MTK: + _Helper = new MTK(_serial_fd, &_report); + break; + case GPS_DRIVER_MODE_NMEA: + //_Helper = new NMEA(); //TODO: add NMEA + break; + default: + break; + } + unlock(); + if (_Helper->configure(_baudrate) == 0) { + unlock(); + while (_Helper->receive(TIMEOUT_5HZ) > 0 && !_task_should_exit) { +// lock(); + /* opportunistic publishing - else invalid data would end up on the bus */ + if (_report_pub > 0) { + orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report); + } else { + _report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report); + } + + last_rate_count++; + + /* measure update rate every 5 seconds */ + if (hrt_absolute_time() - last_rate_measurement > RATE_MEASUREMENT_PERIOD) { + _rate = last_rate_count / ((float)((hrt_absolute_time() - last_rate_measurement)) / 1000000.0f); + last_rate_measurement = hrt_absolute_time(); + last_rate_count = 0; + } + + if (!_healthy) { + warnx("module found"); + _healthy = true; + } + } + if (_healthy) { + warnx("module lost"); + _healthy = false; + _rate = 0.0f; + } + + lock(); + } + lock(); + + /* select next mode */ + switch (_mode) { + case GPS_DRIVER_MODE_UBX: + _mode = GPS_DRIVER_MODE_MTK; + break; + case GPS_DRIVER_MODE_MTK: + _mode = GPS_DRIVER_MODE_UBX; + break; + // case GPS_DRIVER_MODE_NMEA: + // _mode = GPS_DRIVER_MODE_UBX; + // break; + default: + break; + } + + } + debug("exiting"); + + ::close(_serial_fd); + + /* tell the dtor that we are exiting */ + _task = -1; + _exit(0); +} + + + +void +GPS::cmd_reset() +{ + //XXX add reset? +} + +void +GPS::print_info() +{ + switch (_mode) { + case GPS_DRIVER_MODE_UBX: + warnx("protocol: UBX"); + break; + case GPS_DRIVER_MODE_MTK: + warnx("protocol: MTK"); + break; + case GPS_DRIVER_MODE_NMEA: + warnx("protocol: NMEA"); + break; + default: + break; + } + warnx("port: %s, baudrate: %d, status: %s", _port, _baudrate, (_healthy) ? "OK" : "NOT OK"); + if (_report.timestamp_position != 0) { + warnx("position lock: %dD, last update %4.2f seconds ago", (int)_report.fix_type, + (double)((float)(hrt_absolute_time() - _report.timestamp_position) / 1000000.0f)); + warnx("lat: %d, lon: %d, alt: %d", _report.lat, _report.lon, _report.alt); + warnx("update rate: %6.2f Hz", (double)_rate); + } + + usleep(100000); +} + +/** + * Local functions in support of the shell command. + */ +namespace gps +{ + +GPS *g_dev; + +void start(const char *uart_path); +void stop(); +void test(); +void reset(); +void info(); + +/** + * Start the driver. + */ +void +start(const char *uart_path) +{ + int fd; + + if (g_dev != nullptr) + errx(1, "already started"); + + /* create the driver */ + g_dev = new GPS(uart_path); + + if (g_dev == nullptr) + goto fail; + + if (OK != g_dev->init()) + goto fail; + + /* set the poll rate to default, starts automatic data collection */ + fd = open(GPS_DEVICE_PATH, O_RDONLY); + + if (fd < 0) { + errx(1, "Could not open device path: %s\n", GPS_DEVICE_PATH); + goto fail; + } + exit(0); + +fail: + + if (g_dev != nullptr) { + delete g_dev; + g_dev = nullptr; + } + + errx(1, "driver start failed"); +} + +/** + * Stop the driver. + */ +void +stop() +{ + delete g_dev; + g_dev = nullptr; + + exit(0); +} + +/** + * Perform some basic functional tests on the driver; + * make sure we can collect data from the sensor in polled + * and automatic modes. + */ +void +test() +{ + + errx(0, "PASS"); +} + +/** + * Reset the driver. + */ +void +reset() +{ + int fd = open(GPS_DEVICE_PATH, O_RDONLY); + + if (fd < 0) + err(1, "failed "); + + if (ioctl(fd, SENSORIOCRESET, 0) < 0) + err(1, "driver reset failed"); + + exit(0); +} + +/** + * Print the status of the driver. + */ +void +info() +{ + if (g_dev == nullptr) + errx(1, "driver not running"); + + g_dev->print_info(); + + exit(0); +} + +} // namespace + + +int +gps_main(int argc, char *argv[]) +{ + + /* set to default */ + char* device_name = GPS_DEFAULT_UART_PORT; + + /* + * Start/load the driver. + */ + if (!strcmp(argv[1], "start")) { + /* work around getopt unreliability */ + if (argc > 3) { + if (!strcmp(argv[2], "-d")) { + device_name = argv[3]; + } else { + goto out; + } + } + gps::start(device_name); + } + + if (!strcmp(argv[1], "stop")) + gps::stop(); + /* + * Test the driver/device. + */ + if (!strcmp(argv[1], "test")) + gps::test(); + + /* + * Reset the driver. + */ + if (!strcmp(argv[1], "reset")) + gps::reset(); + + /* + * Print driver status. + */ + if (!strcmp(argv[1], "status")) + gps::info(); + +out: + errx(1, "unrecognized command, try 'start', 'stop', 'test', 'reset' or 'status' [-d /dev/ttyS0-n]"); +} diff --git a/src/drivers/gps/gps_helper.cpp b/src/drivers/gps/gps_helper.cpp new file mode 100644 index 000000000..9c1fad569 --- /dev/null +++ b/src/drivers/gps/gps_helper.cpp @@ -0,0 +1,92 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2013 PX4 Development Team. All rights reserved. + * Author: Thomas Gubler + * Julian Oes + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include +#include +#include +#include "gps_helper.h" + +/* @file gps_helper.cpp */ + +int +GPS_Helper::set_baudrate(const int &fd, unsigned baud) +{ + /* process baud rate */ + int speed; + + switch (baud) { + case 9600: speed = B9600; break; + + case 19200: speed = B19200; break; + + case 38400: speed = B38400; break; + + case 57600: speed = B57600; break; + + case 115200: speed = B115200; break; + + warnx("try baudrate: %d\n", speed); + + default: + warnx("ERROR: Unsupported baudrate: %d\n", baud); + return -EINVAL; + } + struct termios uart_config; + int termios_state; + + /* fill the struct for the new configuration */ + tcgetattr(fd, &uart_config); + + /* clear ONLCR flag (which appends a CR for every LF) */ + uart_config.c_oflag &= ~ONLCR; + /* no parity, one stop bit */ + uart_config.c_cflag &= ~(CSTOPB | PARENB); + + /* set baud rate */ + if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) { + warnx("ERROR setting config: %d (cfsetispeed)\n", termios_state); + return -1; + } + if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) { + warnx("ERROR setting config: %d (cfsetospeed)\n", termios_state); + return -1; + } + if ((termios_state = tcsetattr(fd, TCSANOW, &uart_config)) < 0) { + warnx("ERROR setting baudrate (tcsetattr)\n"); + return -1; + } + /* XXX if resetting the parser here, ensure it does exist (check for null pointer) */ + return 0; +} diff --git a/src/drivers/gps/gps_helper.h b/src/drivers/gps/gps_helper.h new file mode 100644 index 000000000..f3d3bc40b --- /dev/null +++ b/src/drivers/gps/gps_helper.h @@ -0,0 +1,52 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2013 PX4 Development Team. All rights reserved. + * Author: Thomas Gubler + * Julian Oes + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* @file gps_helper.h */ + +#ifndef GPS_HELPER_H +#define GPS_HELPER_H + +#include +#include + +class GPS_Helper +{ +public: + virtual int configure(unsigned &baud) = 0; + virtual int receive(unsigned timeout) = 0; + int set_baudrate(const int &fd, unsigned baud); +}; + +#endif /* GPS_HELPER_H */ diff --git a/src/drivers/gps/module.mk b/src/drivers/gps/module.mk new file mode 100644 index 000000000..097db2abf --- /dev/null +++ b/src/drivers/gps/module.mk @@ -0,0 +1,43 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# GPS driver +# + +MODULE_COMMAND = gps + +SRCS = gps.cpp \ + gps_helper.cpp \ + mtk.cpp \ + ubx.cpp diff --git a/src/drivers/gps/mtk.cpp b/src/drivers/gps/mtk.cpp new file mode 100644 index 000000000..4762bd503 --- /dev/null +++ b/src/drivers/gps/mtk.cpp @@ -0,0 +1,274 @@ +/**************************************************************************** + * + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Author: Thomas Gubler + * Julian Oes + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* @file mkt.cpp */ + +#include +#include +#include +#include +#include +#include +#include +#include + +#include "mtk.h" + + +MTK::MTK(const int &fd, struct vehicle_gps_position_s *gps_position) : +_fd(fd), +_gps_position(gps_position), +_mtk_revision(0) +{ + decode_init(); +} + +MTK::~MTK() +{ +} + +int +MTK::configure(unsigned &baudrate) +{ + /* set baudrate first */ + if (GPS_Helper::set_baudrate(_fd, MTK_BAUDRATE) != 0) + return -1; + + baudrate = MTK_BAUDRATE; + + /* Write config messages, don't wait for an answer */ + if (strlen(MTK_OUTPUT_5HZ) != write(_fd, MTK_OUTPUT_5HZ, strlen(MTK_OUTPUT_5HZ))) { + warnx("mtk: config write failed"); + return -1; + } + usleep(10000); + + if (strlen(MTK_SET_BINARY) != write(_fd, MTK_SET_BINARY, strlen(MTK_SET_BINARY))) { + warnx("mtk: config write failed"); + return -1; + } + usleep(10000); + + if (strlen(SBAS_ON) != write(_fd, SBAS_ON, strlen(SBAS_ON))) { + warnx("mtk: config write failed"); + return -1; + } + usleep(10000); + + if (strlen(WAAS_ON) != write(_fd, WAAS_ON, strlen(WAAS_ON))) { + warnx("mtk: config write failed"); + return -1; + } + usleep(10000); + + if (strlen(MTK_NAVTHRES_OFF) != write(_fd, MTK_NAVTHRES_OFF, strlen(MTK_NAVTHRES_OFF))) { + warnx("mtk: config write failed"); + return -1; + } + + return 0; +} + +int +MTK::receive(unsigned timeout) +{ + /* poll descriptor */ + pollfd fds[1]; + fds[0].fd = _fd; + fds[0].events = POLLIN; + + uint8_t buf[32]; + gps_mtk_packet_t packet; + + /* timeout additional to poll */ + uint64_t time_started = hrt_absolute_time(); + + int j = 0; + ssize_t count = 0; + + while (true) { + + /* first read whatever is left */ + if (j < count) { + /* pass received bytes to the packet decoder */ + while (j < count) { + if (parse_char(buf[j], packet) > 0) { + handle_message(packet); + return 1; + } + /* in case we keep trying but only get crap from GPS */ + if (time_started + timeout*1000 < hrt_absolute_time() ) { + return -1; + } + j++; + } + /* everything is read */ + j = count = 0; + } + + /* then poll for new data */ + int ret = ::poll(fds, sizeof(fds) / sizeof(fds[0]), timeout); + + if (ret < 0) { + /* something went wrong when polling */ + return -1; + + } else if (ret == 0) { + /* Timeout */ + return -1; + + } else if (ret > 0) { + /* if we have new data from GPS, go handle it */ + if (fds[0].revents & POLLIN) { + /* + * We are here because poll says there is some data, so this + * won't block even on a blocking device. If more bytes are + * available, we'll go back to poll() again... + */ + count = ::read(_fd, buf, sizeof(buf)); + } + } + } +} + +void +MTK::decode_init(void) +{ + _rx_ck_a = 0; + _rx_ck_b = 0; + _rx_count = 0; + _decode_state = MTK_DECODE_UNINIT; +} +int +MTK::parse_char(uint8_t b, gps_mtk_packet_t &packet) +{ + int ret = 0; + + if (_decode_state == MTK_DECODE_UNINIT) { + + if (b == MTK_SYNC1_V16) { + _decode_state = MTK_DECODE_GOT_CK_A; + _mtk_revision = 16; + } else if (b == MTK_SYNC1_V19) { + _decode_state = MTK_DECODE_GOT_CK_A; + _mtk_revision = 19; + } + + } else if (_decode_state == MTK_DECODE_GOT_CK_A) { + if (b == MTK_SYNC2) { + _decode_state = MTK_DECODE_GOT_CK_B; + + } else { + // Second start symbol was wrong, reset state machine + decode_init(); + } + + } else if (_decode_state == MTK_DECODE_GOT_CK_B) { + // Add to checksum + if (_rx_count < 33) + add_byte_to_checksum(b); + + // Fill packet buffer + ((uint8_t*)(&packet))[_rx_count] = b; + _rx_count++; + + /* Packet size minus checksum, XXX ? */ + if (_rx_count >= sizeof(packet)) { + /* Compare checksum */ + if (_rx_ck_a == packet.ck_a && _rx_ck_b == packet.ck_b) { + ret = 1; + } else { + warnx("MTK Checksum invalid"); + ret = -1; + } + // Reset state machine to decode next packet + decode_init(); + } + } + return ret; +} + +void +MTK::handle_message(gps_mtk_packet_t &packet) +{ + if (_mtk_revision == 16) { + _gps_position->lat = packet.latitude * 10; // from degrees*1e6 to degrees*1e7 + _gps_position->lon = packet.longitude * 10; // from degrees*1e6 to degrees*1e7 + } else if (_mtk_revision == 19) { + _gps_position->lat = packet.latitude; // both degrees*1e7 + _gps_position->lon = packet.longitude; // both degrees*1e7 + } else { + warnx("mtk: unknown revision"); + _gps_position->lat = 0; + _gps_position->lon = 0; + } + _gps_position->alt = (int32_t)(packet.msl_altitude * 10); // from cm to mm + _gps_position->fix_type = packet.fix_type; + _gps_position->eph_m = packet.hdop; // XXX: Check this because eph_m is in m and hdop is without unit + _gps_position->epv_m = 0.0; //unknown in mtk custom mode + _gps_position->vel_m_s = ((float)packet.ground_speed)*1e-2f; // from cm/s to m/s + _gps_position->cog_rad = ((float)packet.heading) * M_DEG_TO_RAD_F * 1e-2f; //from deg *100 to rad + _gps_position->satellites_visible = packet.satellites; + + /* convert time and date information to unix timestamp */ + struct tm timeinfo; //TODO: test this conversion + uint32_t timeinfo_conversion_temp; + + timeinfo.tm_mday = packet.date * 1e-4; + timeinfo_conversion_temp = packet.date - timeinfo.tm_mday * 1e4; + timeinfo.tm_mon = timeinfo_conversion_temp * 1e-2 - 1; + timeinfo.tm_year = (timeinfo_conversion_temp - (timeinfo.tm_mon + 1) * 1e2) + 100; + + timeinfo.tm_hour = packet.utc_time * 1e-7; + timeinfo_conversion_temp = packet.utc_time - timeinfo.tm_hour * 1e7; + timeinfo.tm_min = timeinfo_conversion_temp * 1e-5; + timeinfo_conversion_temp -= timeinfo.tm_min * 1e5; + timeinfo.tm_sec = timeinfo_conversion_temp * 1e-3; + timeinfo_conversion_temp -= timeinfo.tm_sec * 1e3; + time_t epoch = mktime(&timeinfo); + + _gps_position->time_gps_usec = epoch * 1e6; //TODO: test this + _gps_position->time_gps_usec += timeinfo_conversion_temp * 1e3; + _gps_position->timestamp_position = _gps_position->timestamp_time = hrt_absolute_time(); + + return; +} + +void +MTK::add_byte_to_checksum(uint8_t b) +{ + _rx_ck_a = _rx_ck_a + b; + _rx_ck_b = _rx_ck_b + _rx_ck_a; +} diff --git a/src/drivers/gps/mtk.h b/src/drivers/gps/mtk.h new file mode 100644 index 000000000..d4e390b01 --- /dev/null +++ b/src/drivers/gps/mtk.h @@ -0,0 +1,124 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2013 PX4 Development Team. All rights reserved. + * Author: Thomas Gubler + * Julian Oes + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* @file mtk.h */ + +#ifndef MTK_H_ +#define MTK_H_ + +#include "gps_helper.h" + +#define MTK_SYNC1_V16 0xd0 +#define MTK_SYNC1_V19 0xd1 +#define MTK_SYNC2 0xdd + +#define MTK_OUTPUT_5HZ "$PMTK220,200*2C\r\n" +#define MTK_SET_BINARY "$PGCMD,16,0,0,0,0,0*6A\r\n" +#define SBAS_ON "$PMTK313,1*2E\r\n" +#define WAAS_ON "$PMTK301,2*2E\r\n" +#define MTK_NAVTHRES_OFF "$PMTK397,0*23\r\n" + +#define MTK_TIMEOUT_5HZ 400 +#define MTK_BAUDRATE 38400 + +typedef enum { + MTK_DECODE_UNINIT = 0, + MTK_DECODE_GOT_CK_A = 1, + MTK_DECODE_GOT_CK_B = 2 +} mtk_decode_state_t; + +/** the structures of the binary packets */ +#pragma pack(push, 1) + +typedef struct { + uint8_t payload; ///< Number of payload bytes + int32_t latitude; ///< Latitude in degrees * 10^7 + int32_t longitude; ///< Longitude in degrees * 10^7 + uint32_t msl_altitude; ///< MSL altitude in meters * 10^2 + uint32_t ground_speed; ///< velocity in m/s + int32_t heading; ///< heading in degrees * 10^2 + uint8_t satellites; ///< number of sattelites used + uint8_t fix_type; ///< fix type: XXX correct for that + uint32_t date; + uint32_t utc_time; + uint16_t hdop; ///< horizontal dilution of position (without unit) + uint8_t ck_a; + uint8_t ck_b; +} gps_mtk_packet_t; + +#pragma pack(pop) + +#define MTK_RECV_BUFFER_SIZE 40 + +class MTK : public GPS_Helper +{ +public: + MTK(const int &fd, struct vehicle_gps_position_s *gps_position); + ~MTK(); + int receive(unsigned timeout); + int configure(unsigned &baudrate); + +private: + /** + * Parse the binary MTK packet + */ + int parse_char(uint8_t b, gps_mtk_packet_t &packet); + + /** + * Handle the package once it has arrived + */ + void handle_message(gps_mtk_packet_t &packet); + + /** + * Reset the parse state machine for a fresh start + */ + void decode_init(void); + + /** + * While parsing add every byte (except the sync bytes) to the checksum + */ + void add_byte_to_checksum(uint8_t); + + int _fd; + struct vehicle_gps_position_s *_gps_position; + mtk_decode_state_t _decode_state; + uint8_t _mtk_revision; + uint8_t _rx_buffer[MTK_RECV_BUFFER_SIZE]; + unsigned _rx_count; + uint8_t _rx_ck_a; + uint8_t _rx_ck_b; +}; + +#endif /* MTK_H_ */ diff --git a/src/drivers/gps/ubx.cpp b/src/drivers/gps/ubx.cpp new file mode 100644 index 000000000..c150f5271 --- /dev/null +++ b/src/drivers/gps/ubx.cpp @@ -0,0 +1,755 @@ +/**************************************************************************** + * + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Author: Thomas Gubler + * Julian Oes + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file ubx.cpp + * + * U-Blox protocol implementation. Following u-blox 6/7 Receiver Description + * including Prototol Specification. + * + * @see http://www.u-blox.com/images/downloads/Product_Docs/u-blox6_ReceiverDescriptionProtocolSpec_%28GPS.G6-SW-10018%29.pdf + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "ubx.h" + +#define UBX_CONFIG_TIMEOUT 100 + +UBX::UBX(const int &fd, struct vehicle_gps_position_s *gps_position) : +_fd(fd), +_gps_position(gps_position), +_waiting_for_ack(false) +{ + decode_init(); +} + +UBX::~UBX() +{ +} + +int +UBX::configure(unsigned &baudrate) +{ + _waiting_for_ack = true; + + /* try different baudrates */ + const unsigned baudrates_to_try[] = {9600, 38400, 19200, 57600, 115200}; + + for (int baud_i = 0; baud_i < 5; baud_i++) { + baudrate = baudrates_to_try[baud_i]; + set_baudrate(_fd, baudrate); + + /* Send a CFG-PRT message to set the UBX protocol for in and out + * and leave the baudrate as it is, we just want an ACK-ACK from this + */ + type_gps_bin_cfg_prt_packet_t cfg_prt_packet; + /* Set everything else of the packet to 0, otherwise the module wont accept it */ + memset(&cfg_prt_packet, 0, sizeof(cfg_prt_packet)); + + _clsID_needed = UBX_CLASS_CFG; + _msgID_needed = UBX_MESSAGE_CFG_PRT; + + /* Define the package contents, don't change the baudrate */ + cfg_prt_packet.clsID = UBX_CLASS_CFG; + cfg_prt_packet.msgID = UBX_MESSAGE_CFG_PRT; + cfg_prt_packet.length = UBX_CFG_PRT_LENGTH; + cfg_prt_packet.portID = UBX_CFG_PRT_PAYLOAD_PORTID; + cfg_prt_packet.mode = UBX_CFG_PRT_PAYLOAD_MODE; + cfg_prt_packet.baudRate = baudrate; + cfg_prt_packet.inProtoMask = UBX_CFG_PRT_PAYLOAD_INPROTOMASK; + cfg_prt_packet.outProtoMask = UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK; + + send_config_packet(_fd, (uint8_t*)&cfg_prt_packet, sizeof(cfg_prt_packet)); + + if (receive(UBX_CONFIG_TIMEOUT) < 0) { + /* try next baudrate */ + continue; + } + + /* Send a CFG-PRT message again, this time change the baudrate */ + + cfg_prt_packet.clsID = UBX_CLASS_CFG; + cfg_prt_packet.msgID = UBX_MESSAGE_CFG_PRT; + cfg_prt_packet.length = UBX_CFG_PRT_LENGTH; + cfg_prt_packet.portID = UBX_CFG_PRT_PAYLOAD_PORTID; + cfg_prt_packet.mode = UBX_CFG_PRT_PAYLOAD_MODE; + cfg_prt_packet.baudRate = UBX_CFG_PRT_PAYLOAD_BAUDRATE; + cfg_prt_packet.inProtoMask = UBX_CFG_PRT_PAYLOAD_INPROTOMASK; + cfg_prt_packet.outProtoMask = UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK; + + send_config_packet(_fd, (uint8_t*)&cfg_prt_packet, sizeof(cfg_prt_packet)); + + /* no ACK is expected here, but read the buffer anyway in case we actually get an ACK */ + receive(UBX_CONFIG_TIMEOUT); + + if (UBX_CFG_PRT_PAYLOAD_BAUDRATE != baudrate) { + set_baudrate(_fd, UBX_CFG_PRT_PAYLOAD_BAUDRATE); + baudrate = UBX_CFG_PRT_PAYLOAD_BAUDRATE; + } + + /* send a CFT-RATE message to define update rate */ + type_gps_bin_cfg_rate_packet_t cfg_rate_packet; + memset(&cfg_rate_packet, 0, sizeof(cfg_rate_packet)); + + _clsID_needed = UBX_CLASS_CFG; + _msgID_needed = UBX_MESSAGE_CFG_RATE; + + cfg_rate_packet.clsID = UBX_CLASS_CFG; + cfg_rate_packet.msgID = UBX_MESSAGE_CFG_RATE; + cfg_rate_packet.length = UBX_CFG_RATE_LENGTH; + cfg_rate_packet.measRate = UBX_CFG_RATE_PAYLOAD_MEASRATE; + cfg_rate_packet.navRate = UBX_CFG_RATE_PAYLOAD_NAVRATE; + cfg_rate_packet.timeRef = UBX_CFG_RATE_PAYLOAD_TIMEREF; + + send_config_packet(_fd, (uint8_t*)&cfg_rate_packet, sizeof(cfg_rate_packet)); + if (receive(UBX_CONFIG_TIMEOUT) < 0) { + /* try next baudrate */ + continue; + } + + /* send a NAV5 message to set the options for the internal filter */ + type_gps_bin_cfg_nav5_packet_t cfg_nav5_packet; + memset(&cfg_nav5_packet, 0, sizeof(cfg_nav5_packet)); + + _clsID_needed = UBX_CLASS_CFG; + _msgID_needed = UBX_MESSAGE_CFG_NAV5; + + cfg_nav5_packet.clsID = UBX_CLASS_CFG; + cfg_nav5_packet.msgID = UBX_MESSAGE_CFG_NAV5; + cfg_nav5_packet.length = UBX_CFG_NAV5_LENGTH; + cfg_nav5_packet.mask = UBX_CFG_NAV5_PAYLOAD_MASK; + cfg_nav5_packet.dynModel = UBX_CFG_NAV5_PAYLOAD_DYNMODEL; + cfg_nav5_packet.fixMode = UBX_CFG_NAV5_PAYLOAD_FIXMODE; + + send_config_packet(_fd, (uint8_t*)&cfg_nav5_packet, sizeof(cfg_nav5_packet)); + if (receive(UBX_CONFIG_TIMEOUT) < 0) { + /* try next baudrate */ + continue; + } + + type_gps_bin_cfg_msg_packet_t cfg_msg_packet; + memset(&cfg_msg_packet, 0, sizeof(cfg_msg_packet)); + + _clsID_needed = UBX_CLASS_CFG; + _msgID_needed = UBX_MESSAGE_CFG_MSG; + + cfg_msg_packet.clsID = UBX_CLASS_CFG; + cfg_msg_packet.msgID = UBX_MESSAGE_CFG_MSG; + cfg_msg_packet.length = UBX_CFG_MSG_LENGTH; + /* Choose fast 5Hz rate for all messages except SVINFO which is big and not important */ + cfg_msg_packet.rate[1] = UBX_CFG_MSG_PAYLOAD_RATE1_5HZ; + + cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV; + cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_POSLLH; + + send_config_packet(_fd, (uint8_t*)&cfg_msg_packet, sizeof(cfg_msg_packet)); + if (receive(UBX_CONFIG_TIMEOUT) < 0) { + /* try next baudrate */ + continue; + } + + cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV; + cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_TIMEUTC; + + send_config_packet(_fd, (uint8_t*)&cfg_msg_packet, sizeof(cfg_msg_packet)); + if (receive(UBX_CONFIG_TIMEOUT) < 0) { + /* try next baudrate */ + continue; + } + + cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV; + cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_SVINFO; + /* For satelites info 1Hz is enough */ + cfg_msg_packet.rate[1] = UBX_CFG_MSG_PAYLOAD_RATE1_1HZ; + + send_config_packet(_fd, (uint8_t*)&cfg_msg_packet, sizeof(cfg_msg_packet)); + if (receive(UBX_CONFIG_TIMEOUT) < 0) { + /* try next baudrate */ + continue; + } + + cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV; + cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_SOL; + + send_config_packet(_fd, (uint8_t*)&cfg_msg_packet, sizeof(cfg_msg_packet)); + if (receive(UBX_CONFIG_TIMEOUT) < 0) { + /* try next baudrate */ + continue; + } + + cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV; + cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_VELNED; + + send_config_packet(_fd, (uint8_t*)&cfg_msg_packet, sizeof(cfg_msg_packet)); + if (receive(UBX_CONFIG_TIMEOUT) < 0) { + /* try next baudrate */ + continue; + } +// cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV; +// cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_DOP; + +// cfg_msg_packet.msgClass_payload = UBX_CLASS_RXM; +// cfg_msg_packet.msgID_payload = UBX_MESSAGE_RXM_SVSI; + + _waiting_for_ack = false; + return 0; + } + return -1; +} + +int +UBX::receive(unsigned timeout) +{ + /* poll descriptor */ + pollfd fds[1]; + fds[0].fd = _fd; + fds[0].events = POLLIN; + + uint8_t buf[32]; + + /* timeout additional to poll */ + uint64_t time_started = hrt_absolute_time(); + + int j = 0; + ssize_t count = 0; + + while (true) { + + /* pass received bytes to the packet decoder */ + while (j < count) { + if (parse_char(buf[j]) > 0) { + /* return to configure during configuration or to the gps driver during normal work + * if a packet has arrived */ + if (handle_message() > 0) + return 1; + } + /* in case we keep trying but only get crap from GPS */ + if (time_started + timeout*1000 < hrt_absolute_time() ) { + return -1; + } + j++; + } + + /* everything is read */ + j = count = 0; + + /* then poll for new data */ + int ret = ::poll(fds, sizeof(fds) / sizeof(fds[0]), timeout); + + if (ret < 0) { + /* something went wrong when polling */ + return -1; + + } else if (ret == 0) { + /* Timeout */ + return -1; + + } else if (ret > 0) { + /* if we have new data from GPS, go handle it */ + if (fds[0].revents & POLLIN) { + /* + * We are here because poll says there is some data, so this + * won't block even on a blocking device. If more bytes are + * available, we'll go back to poll() again... + */ + count = ::read(_fd, buf, sizeof(buf)); + } + } + } +} + +int +UBX::parse_char(uint8_t b) +{ + switch (_decode_state) { + /* First, look for sync1 */ + case UBX_DECODE_UNINIT: + if (b == UBX_SYNC1) { + _decode_state = UBX_DECODE_GOT_SYNC1; + } + break; + /* Second, look for sync2 */ + case UBX_DECODE_GOT_SYNC1: + if (b == UBX_SYNC2) { + _decode_state = UBX_DECODE_GOT_SYNC2; + } else { + /* Second start symbol was wrong, reset state machine */ + decode_init(); + } + break; + /* Now look for class */ + case UBX_DECODE_GOT_SYNC2: + /* everything except sync1 and sync2 needs to be added to the checksum */ + add_byte_to_checksum(b); + /* check for known class */ + switch (b) { + case UBX_CLASS_ACK: + _decode_state = UBX_DECODE_GOT_CLASS; + _message_class = ACK; + break; + + case UBX_CLASS_NAV: + _decode_state = UBX_DECODE_GOT_CLASS; + _message_class = NAV; + break; + +// case UBX_CLASS_RXM: +// _decode_state = UBX_DECODE_GOT_CLASS; +// _message_class = RXM; +// break; + + case UBX_CLASS_CFG: + _decode_state = UBX_DECODE_GOT_CLASS; + _message_class = CFG; + break; + default: //unknown class: reset state machine + decode_init(); + break; + } + break; + case UBX_DECODE_GOT_CLASS: + add_byte_to_checksum(b); + switch (_message_class) { + case NAV: + switch (b) { + case UBX_MESSAGE_NAV_POSLLH: + _decode_state = UBX_DECODE_GOT_MESSAGEID; + _message_id = NAV_POSLLH; + break; + + case UBX_MESSAGE_NAV_SOL: + _decode_state = UBX_DECODE_GOT_MESSAGEID; + _message_id = NAV_SOL; + break; + + case UBX_MESSAGE_NAV_TIMEUTC: + _decode_state = UBX_DECODE_GOT_MESSAGEID; + _message_id = NAV_TIMEUTC; + break; + +// case UBX_MESSAGE_NAV_DOP: +// _decode_state = UBX_DECODE_GOT_MESSAGEID; +// _message_id = NAV_DOP; +// break; + + case UBX_MESSAGE_NAV_SVINFO: + _decode_state = UBX_DECODE_GOT_MESSAGEID; + _message_id = NAV_SVINFO; + break; + + case UBX_MESSAGE_NAV_VELNED: + _decode_state = UBX_DECODE_GOT_MESSAGEID; + _message_id = NAV_VELNED; + break; + + default: //unknown class: reset state machine, should not happen + decode_init(); + break; + } + break; +// case RXM: +// switch (b) { +// case UBX_MESSAGE_RXM_SVSI: +// _decode_state = UBX_DECODE_GOT_MESSAGEID; +// _message_id = RXM_SVSI; +// break; +// +// default: //unknown class: reset state machine, should not happen +// decode_init(); +// break; +// } +// break; + + case CFG: + switch (b) { + case UBX_MESSAGE_CFG_NAV5: + _decode_state = UBX_DECODE_GOT_MESSAGEID; + _message_id = CFG_NAV5; + break; + + default: //unknown class: reset state machine, should not happen + decode_init(); + break; + } + break; + + case ACK: + switch (b) { + case UBX_MESSAGE_ACK_ACK: + _decode_state = UBX_DECODE_GOT_MESSAGEID; + _message_id = ACK_ACK; + break; + case UBX_MESSAGE_ACK_NAK: + _decode_state = UBX_DECODE_GOT_MESSAGEID; + _message_id = ACK_NAK; + break; + default: //unknown class: reset state machine, should not happen + decode_init(); + break; + } + break; + default: //should not happen because we set the class + warnx("UBX Error, we set a class that we don't know"); + decode_init(); +// config_needed = true; + break; + } + break; + case UBX_DECODE_GOT_MESSAGEID: + add_byte_to_checksum(b); + _payload_size = b; //this is the first length byte + _decode_state = UBX_DECODE_GOT_LENGTH1; + break; + case UBX_DECODE_GOT_LENGTH1: + add_byte_to_checksum(b); + _payload_size += b << 8; // here comes the second byte of length + _decode_state = UBX_DECODE_GOT_LENGTH2; + break; + case UBX_DECODE_GOT_LENGTH2: + /* Add to checksum if not yet at checksum byte */ + if (_rx_count < _payload_size) + add_byte_to_checksum(b); + _rx_buffer[_rx_count] = b; + /* once the payload has arrived, we can process the information */ + if (_rx_count >= _payload_size + 1) { //+1 because of 2 checksum bytes + + /* compare checksum */ + if (_rx_ck_a == _rx_buffer[_rx_count-1] && _rx_ck_b == _rx_buffer[_rx_count]) { + return 1; + } else { + decode_init(); + return -1; + warnx("ubx: Checksum wrong"); + } + + return 1; + } else if (_rx_count < RECV_BUFFER_SIZE) { + _rx_count++; + } else { + warnx("ubx: buffer full"); + decode_init(); + return -1; + } + break; + default: + break; + } + return 0; //XXX ? +} + + +int +UBX::handle_message() +{ + int ret = 0; + + switch (_message_id) { //this enum is unique for all ids --> no need to check the class + case NAV_POSLLH: { +// printf("GOT NAV_POSLLH MESSAGE\n"); + if (!_waiting_for_ack) { + gps_bin_nav_posllh_packet_t *packet = (gps_bin_nav_posllh_packet_t *) _rx_buffer; + + _gps_position->lat = packet->lat; + _gps_position->lon = packet->lon; + _gps_position->alt = packet->height_msl; + + _gps_position->eph_m = (float)packet->hAcc * 1e-3f; // from mm to m + _gps_position->epv_m = (float)packet->vAcc * 1e-3f; // from mm to m + + /* Add timestamp to finish the report */ + _gps_position->timestamp_position = hrt_absolute_time(); + /* only return 1 when new position is available */ + ret = 1; + } + break; + } + + case NAV_SOL: { +// printf("GOT NAV_SOL MESSAGE\n"); + if (!_waiting_for_ack) { + gps_bin_nav_sol_packet_t *packet = (gps_bin_nav_sol_packet_t *) _rx_buffer; + + _gps_position->fix_type = packet->gpsFix; + _gps_position->s_variance_m_s = packet->sAcc; + _gps_position->p_variance_m = packet->pAcc; + + _gps_position->timestamp_variance = hrt_absolute_time(); + } + break; + } + +// case NAV_DOP: { +//// printf("GOT NAV_DOP MESSAGE\n"); +// gps_bin_nav_dop_packet_t *packet = (gps_bin_nav_dop_packet_t *) _rx_buffer; +// +// _gps_position->eph_m = packet->hDOP; +// _gps_position->epv = packet->vDOP; +// +// _gps_position->timestamp_posdilution = hrt_absolute_time(); +// +// _new_nav_dop = true; +// +// break; +// } + + case NAV_TIMEUTC: { +// printf("GOT NAV_TIMEUTC MESSAGE\n"); + + if (!_waiting_for_ack) { + gps_bin_nav_timeutc_packet_t *packet = (gps_bin_nav_timeutc_packet_t *) _rx_buffer; + + //convert to unix timestamp + struct tm timeinfo; + timeinfo.tm_year = packet->year - 1900; + timeinfo.tm_mon = packet->month - 1; + timeinfo.tm_mday = packet->day; + timeinfo.tm_hour = packet->hour; + timeinfo.tm_min = packet->min; + timeinfo.tm_sec = packet->sec; + + time_t epoch = mktime(&timeinfo); + + _gps_position->time_gps_usec = (uint64_t)epoch * 1000000; //TODO: test this + _gps_position->time_gps_usec += (uint64_t)(packet->time_nanoseconds * 1e-3f); + + _gps_position->timestamp_time = hrt_absolute_time(); + } + break; + } + + case NAV_SVINFO: { +// printf("GOT NAV_SVINFO MESSAGE\n"); + + if (!_waiting_for_ack) { + //this is a more complicated message: the length depends on the number of satellites. This number is extracted from the first part of the message + const int length_part1 = 8; + char _rx_buffer_part1[length_part1]; + memcpy(_rx_buffer_part1, _rx_buffer, length_part1); + gps_bin_nav_svinfo_part1_packet_t *packet_part1 = (gps_bin_nav_svinfo_part1_packet_t *) _rx_buffer_part1; + + //read checksum + const int length_part3 = 2; + char _rx_buffer_part3[length_part3]; + memcpy(_rx_buffer_part3, &(_rx_buffer[_rx_count - 1]), length_part3); + + //definitions needed to read numCh elements from the buffer: + const int length_part2 = 12; + gps_bin_nav_svinfo_part2_packet_t *packet_part2; + char _rx_buffer_part2[length_part2]; //for temporal storage + + uint8_t satellites_used = 0; + int i; + + for (i = 0; i < packet_part1->numCh; i++) { //for each channel + + /* Get satellite information from the buffer */ + memcpy(_rx_buffer_part2, &(_rx_buffer[length_part1 + i * length_part2]), length_part2); + packet_part2 = (gps_bin_nav_svinfo_part2_packet_t *) _rx_buffer_part2; + + + /* Write satellite information in the global storage */ + _gps_position->satellite_prn[i] = packet_part2->svid; + + //if satellite information is healthy store the data + uint8_t unhealthy = packet_part2->flags & 1 << 4; //flags is a bitfield + + if (!unhealthy) { + if ((packet_part2->flags) & 1) { //flags is a bitfield + _gps_position->satellite_used[i] = 1; + satellites_used++; + + } else { + _gps_position->satellite_used[i] = 0; + } + + _gps_position->satellite_snr[i] = packet_part2->cno; + _gps_position->satellite_elevation[i] = (uint8_t)(packet_part2->elev); + _gps_position->satellite_azimuth[i] = (uint8_t)((float)packet_part2->azim * 255.0f / 360.0f); + + } else { + _gps_position->satellite_used[i] = 0; + _gps_position->satellite_snr[i] = 0; + _gps_position->satellite_elevation[i] = 0; + _gps_position->satellite_azimuth[i] = 0; + } + + } + + for (i = packet_part1->numCh; i < 20; i++) { //these channels are unused + /* Unused channels have to be set to zero for e.g. MAVLink */ + _gps_position->satellite_prn[i] = 0; + _gps_position->satellite_used[i] = 0; + _gps_position->satellite_snr[i] = 0; + _gps_position->satellite_elevation[i] = 0; + _gps_position->satellite_azimuth[i] = 0; + } + _gps_position->satellites_visible = satellites_used; // visible ~= used but we are interested in the used ones + + /* set timestamp if any sat info is available */ + if (packet_part1->numCh > 0) { + _gps_position->satellite_info_available = true; + } else { + _gps_position->satellite_info_available = false; + } + _gps_position->timestamp_satellites = hrt_absolute_time(); + } + + break; + } + + case NAV_VELNED: { + + if (!_waiting_for_ack) { + /* 35.15 NAV-VELNED (0x01 0x12) message (page 181 / 210 of reference manual */ + gps_bin_nav_velned_packet_t *packet = (gps_bin_nav_velned_packet_t *) _rx_buffer; + + _gps_position->vel_m_s = (float)packet->speed * 1e-2f; + _gps_position->vel_n_m_s = (float)packet->velN * 1e-2f; /* NED NORTH velocity */ + _gps_position->vel_e_m_s = (float)packet->velE * 1e-2f; /* NED EAST velocity */ + _gps_position->vel_d_m_s = (float)packet->velD * 1e-2f; /* NED DOWN velocity */ + _gps_position->cog_rad = (float)packet->heading * M_DEG_TO_RAD_F * 1e-5f; + _gps_position->c_variance_rad = (float)packet->cAcc * M_DEG_TO_RAD_F * 1e-5f; + _gps_position->vel_ned_valid = true; + _gps_position->timestamp_velocity = hrt_absolute_time(); + } + + break; + } + +// case RXM_SVSI: { +// printf("GOT RXM_SVSI MESSAGE\n"); +// const int length_part1 = 7; +// char _rx_buffer_part1[length_part1]; +// memcpy(_rx_buffer_part1, _rx_buffer, length_part1); +// gps_bin_rxm_svsi_packet_t *packet = (gps_bin_rxm_svsi_packet_t *) _rx_buffer_part1; +// +// _gps_position->satellites_visible = packet->numVis; +// _gps_position->counter++; +// _last_message_timestamps[RXM_SVSI - 1] = hrt_absolute_time(); +// +// break; +// } + case ACK_ACK: { +// printf("GOT ACK_ACK\n"); + gps_bin_ack_ack_packet_t *packet = (gps_bin_ack_ack_packet_t *) _rx_buffer; + + if (_waiting_for_ack) { + if (packet->clsID == _clsID_needed && packet->msgID == _msgID_needed) { + ret = 1; + } + } + } + break; + + case ACK_NAK: { +// printf("GOT ACK_NAK\n"); + warnx("UBX: Received: Not Acknowledged"); + /* configuration obviously not successful */ + ret = -1; + break; + } + + default: //we don't know the message + warnx("UBX: Unknown message received: %d-%d\n",_message_class,_message_id); + ret = -1; + break; + } + // end if _rx_count high enough + decode_init(); + return ret; //XXX? +} + +void +UBX::decode_init(void) +{ + _rx_ck_a = 0; + _rx_ck_b = 0; + _rx_count = 0; + _decode_state = UBX_DECODE_UNINIT; + _message_class = CLASS_UNKNOWN; + _message_id = ID_UNKNOWN; + _payload_size = 0; +} + +void +UBX::add_byte_to_checksum(uint8_t b) +{ + _rx_ck_a = _rx_ck_a + b; + _rx_ck_b = _rx_ck_b + _rx_ck_a; +} + +void +UBX::add_checksum_to_message(uint8_t* message, const unsigned length) +{ + uint8_t ck_a = 0; + uint8_t ck_b = 0; + unsigned i; + + for (i = 0; i < length-2; i++) { + ck_a = ck_a + message[i]; + ck_b = ck_b + ck_a; + } + /* The checksum is written to the last to bytes of a message */ + message[length-2] = ck_a; + message[length-1] = ck_b; +} + +void +UBX::send_config_packet(const int &fd, uint8_t *packet, const unsigned length) +{ + ssize_t ret = 0; + + /* Calculate the checksum now */ + add_checksum_to_message(packet, length); + + const uint8_t sync_bytes[] = {UBX_SYNC1, UBX_SYNC2}; + + /* Start with the two sync bytes */ + ret += write(fd, sync_bytes, sizeof(sync_bytes)); + ret += write(fd, packet, length); + + if (ret != (int)length + (int)sizeof(sync_bytes)) // XXX is there a neater way to get rid of the unsigned signed warning? + warnx("ubx: config write fail"); +} diff --git a/src/drivers/gps/ubx.h b/src/drivers/gps/ubx.h new file mode 100644 index 000000000..e3dd1c7ea --- /dev/null +++ b/src/drivers/gps/ubx.h @@ -0,0 +1,395 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2013 PX4 Development Team. All rights reserved. + * Author: Thomas Gubler + * Julian Oes + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* @file U-Blox protocol definitions */ + +#ifndef UBX_H_ +#define UBX_H_ + +#include "gps_helper.h" + +#define UBX_SYNC1 0xB5 +#define UBX_SYNC2 0x62 + +/* ClassIDs (the ones that are used) */ +#define UBX_CLASS_NAV 0x01 +//#define UBX_CLASS_RXM 0x02 +#define UBX_CLASS_ACK 0x05 +#define UBX_CLASS_CFG 0x06 + +/* MessageIDs (the ones that are used) */ +#define UBX_MESSAGE_NAV_POSLLH 0x02 +#define UBX_MESSAGE_NAV_SOL 0x06 +#define UBX_MESSAGE_NAV_TIMEUTC 0x21 +//#define UBX_MESSAGE_NAV_DOP 0x04 +#define UBX_MESSAGE_NAV_SVINFO 0x30 +#define UBX_MESSAGE_NAV_VELNED 0x12 +//#define UBX_MESSAGE_RXM_SVSI 0x20 +#define UBX_MESSAGE_ACK_ACK 0x01 +#define UBX_MESSAGE_ACK_NAK 0x00 +#define UBX_MESSAGE_CFG_PRT 0x00 +#define UBX_MESSAGE_CFG_NAV5 0x24 +#define UBX_MESSAGE_CFG_MSG 0x01 +#define UBX_MESSAGE_CFG_RATE 0x08 + +#define UBX_CFG_PRT_LENGTH 20 +#define UBX_CFG_PRT_PAYLOAD_PORTID 0x01 /**< UART1 */ +#define UBX_CFG_PRT_PAYLOAD_MODE 0x000008D0 /**< 0b0000100011010000: 8N1 */ +#define UBX_CFG_PRT_PAYLOAD_BAUDRATE 38400 /**< always choose 38400 as GPS baudrate */ +#define UBX_CFG_PRT_PAYLOAD_INPROTOMASK 0x01 /**< UBX in */ +#define UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK 0x01 /**< UBX out */ + +#define UBX_CFG_RATE_LENGTH 6 +#define UBX_CFG_RATE_PAYLOAD_MEASRATE 200 /**< 200ms for 5Hz */ +#define UBX_CFG_RATE_PAYLOAD_NAVRATE 1 /**< cannot be changed */ +#define UBX_CFG_RATE_PAYLOAD_TIMEREF 0 /**< 0: UTC, 1: GPS time */ + + +#define UBX_CFG_NAV5_LENGTH 36 +#define UBX_CFG_NAV5_PAYLOAD_MASK 0x0001 /**< only update dynamic model and fix mode */ +#define UBX_CFG_NAV5_PAYLOAD_DYNMODEL 7 /**< 0: portable, 2: stationary, 3: pedestrian, 4: automotive, 5: sea, 6: airborne <1g, 7: airborne <2g, 8: airborne <4g */ +#define UBX_CFG_NAV5_PAYLOAD_FIXMODE 2 /**< 1: 2D only, 2: 3D only, 3: Auto 2D/3D */ + +#define UBX_CFG_MSG_LENGTH 8 +#define UBX_CFG_MSG_PAYLOAD_RATE1_5HZ 0x01 /**< {0x00, 0x01, 0x00, 0x00, 0x00, 0x00} the second entry is for UART1 */ +#define UBX_CFG_MSG_PAYLOAD_RATE1_1HZ 0x05 /**< {0x00, 0x05, 0x00, 0x00, 0x00, 0x00} the second entry is for UART1 */ + +#define UBX_MAX_PAYLOAD_LENGTH 500 + +// ************ +/** the structures of the binary packets */ +#pragma pack(push, 1) + +typedef struct { + uint32_t time_milliseconds; /**< GPS Millisecond Time of Week */ + int32_t lon; /**< Longitude * 1e-7, deg */ + int32_t lat; /**< Latitude * 1e-7, deg */ + int32_t height; /**< Height above Ellipsoid, mm */ + int32_t height_msl; /**< Height above mean sea level, mm */ + uint32_t hAcc; /**< Horizontal Accuracy Estimate, mm */ + uint32_t vAcc; /**< Vertical Accuracy Estimate, mm */ + uint8_t ck_a; + uint8_t ck_b; +} gps_bin_nav_posllh_packet_t; + +typedef struct { + uint32_t time_milliseconds; /**< GPS Millisecond Time of Week */ + int32_t time_nanoseconds; /**< Fractional Nanoseconds remainder of rounded ms above, range -500000 .. 500000 */ + int16_t week; /**< GPS week (GPS time) */ + uint8_t gpsFix; /**< GPS Fix: 0 = No fix, 1 = Dead Reckoning only, 2 = 2D fix, 3 = 3d-fix, 4 = GPS + dead reckoning, 5 = time only fix */ + uint8_t flags; + int32_t ecefX; + int32_t ecefY; + int32_t ecefZ; + uint32_t pAcc; + int32_t ecefVX; + int32_t ecefVY; + int32_t ecefVZ; + uint32_t sAcc; + uint16_t pDOP; + uint8_t reserved1; + uint8_t numSV; + uint32_t reserved2; + uint8_t ck_a; + uint8_t ck_b; +} gps_bin_nav_sol_packet_t; + +typedef struct { + uint32_t time_milliseconds; /**< GPS Millisecond Time of Week */ + uint32_t time_accuracy; /**< Time Accuracy Estimate, ns */ + int32_t time_nanoseconds; /**< Nanoseconds of second, range -1e9 .. 1e9 (UTC) */ + uint16_t year; /**< Year, range 1999..2099 (UTC) */ + uint8_t month; /**< Month, range 1..12 (UTC) */ + uint8_t day; /**< Day of Month, range 1..31 (UTC) */ + uint8_t hour; /**< Hour of Day, range 0..23 (UTC) */ + uint8_t min; /**< Minute of Hour, range 0..59 (UTC) */ + uint8_t sec; /**< Seconds of Minute, range 0..59 (UTC) */ + uint8_t valid_flag; /**< Validity Flags (see ubx documentation) */ + uint8_t ck_a; + uint8_t ck_b; +} gps_bin_nav_timeutc_packet_t; + +//typedef struct { +// uint32_t time_milliseconds; /**< GPS Millisecond Time of Week */ +// uint16_t gDOP; /**< Geometric DOP (scaling 0.01) */ +// uint16_t pDOP; /**< Position DOP (scaling 0.01) */ +// uint16_t tDOP; /**< Time DOP (scaling 0.01) */ +// uint16_t vDOP; /**< Vertical DOP (scaling 0.01) */ +// uint16_t hDOP; /**< Horizontal DOP (scaling 0.01) */ +// uint16_t nDOP; /**< Northing DOP (scaling 0.01) */ +// uint16_t eDOP; /**< Easting DOP (scaling 0.01) */ +// uint8_t ck_a; +// uint8_t ck_b; +//} gps_bin_nav_dop_packet_t; + +typedef struct { + uint32_t time_milliseconds; /**< GPS Millisecond Time of Week */ + uint8_t numCh; /**< Number of channels */ + uint8_t globalFlags; + uint16_t reserved2; + +} gps_bin_nav_svinfo_part1_packet_t; + +typedef struct { + uint8_t chn; /**< Channel number, 255 for SVs not assigned to a channel */ + uint8_t svid; /**< Satellite ID */ + uint8_t flags; + uint8_t quality; + uint8_t cno; /**< Carrier to Noise Ratio (Signal Strength), dbHz */ + int8_t elev; /**< Elevation in integer degrees */ + int16_t azim; /**< Azimuth in integer degrees */ + int32_t prRes; /**< Pseudo range residual in centimetres */ + +} gps_bin_nav_svinfo_part2_packet_t; + +typedef struct { + uint8_t ck_a; + uint8_t ck_b; +} gps_bin_nav_svinfo_part3_packet_t; + +typedef struct { + uint32_t time_milliseconds; // GPS Millisecond Time of Week + int32_t velN; //NED north velocity, cm/s + int32_t velE; //NED east velocity, cm/s + int32_t velD; //NED down velocity, cm/s + uint32_t speed; //Speed (3-D), cm/s + uint32_t gSpeed; //Ground Speed (2-D), cm/s + int32_t heading; //Heading of motion 2-D, deg, scaling: 1e-5 + uint32_t sAcc; //Speed Accuracy Estimate, cm/s + uint32_t cAcc; //Course / Heading Accuracy Estimate, scaling: 1e-5 + uint8_t ck_a; + uint8_t ck_b; +} gps_bin_nav_velned_packet_t; + +//typedef struct { +// int32_t time_milliseconds; /**< Measurement integer millisecond GPS time of week */ +// int16_t week; /**< Measurement GPS week number */ +// uint8_t numVis; /**< Number of visible satellites */ +// +// //... rest of package is not used in this implementation +// +//} gps_bin_rxm_svsi_packet_t; + +typedef struct { + uint8_t clsID; + uint8_t msgID; + uint8_t ck_a; + uint8_t ck_b; +} gps_bin_ack_ack_packet_t; + +typedef struct { + uint8_t clsID; + uint8_t msgID; + uint8_t ck_a; + uint8_t ck_b; +} gps_bin_ack_nak_packet_t; + +typedef struct { + uint8_t clsID; + uint8_t msgID; + uint16_t length; + uint8_t portID; + uint8_t res0; + uint16_t res1; + uint32_t mode; + uint32_t baudRate; + uint16_t inProtoMask; + uint16_t outProtoMask; + uint16_t flags; + uint16_t pad; + uint8_t ck_a; + uint8_t ck_b; +} type_gps_bin_cfg_prt_packet_t; + +typedef struct { + uint8_t clsID; + uint8_t msgID; + uint16_t length; + uint16_t measRate; + uint16_t navRate; + uint16_t timeRef; + uint8_t ck_a; + uint8_t ck_b; +} type_gps_bin_cfg_rate_packet_t; + +typedef struct { + uint8_t clsID; + uint8_t msgID; + uint16_t length; + uint16_t mask; + uint8_t dynModel; + uint8_t fixMode; + int32_t fixedAlt; + uint32_t fixedAltVar; + int8_t minElev; + uint8_t drLimit; + uint16_t pDop; + uint16_t tDop; + uint16_t pAcc; + uint16_t tAcc; + uint8_t staticHoldThresh; + uint8_t dgpsTimeOut; + uint32_t reserved2; + uint32_t reserved3; + uint32_t reserved4; + uint8_t ck_a; + uint8_t ck_b; +} type_gps_bin_cfg_nav5_packet_t; + +typedef struct { + uint8_t clsID; + uint8_t msgID; + uint16_t length; + uint8_t msgClass_payload; + uint8_t msgID_payload; + uint8_t rate[6]; + uint8_t ck_a; + uint8_t ck_b; +} type_gps_bin_cfg_msg_packet_t; + + +// END the structures of the binary packets +// ************ + +typedef enum { + UBX_CONFIG_STATE_PRT = 0, + UBX_CONFIG_STATE_PRT_NEW_BAUDRATE, + UBX_CONFIG_STATE_RATE, + UBX_CONFIG_STATE_NAV5, + UBX_CONFIG_STATE_MSG_NAV_POSLLH, + UBX_CONFIG_STATE_MSG_NAV_TIMEUTC, + UBX_CONFIG_STATE_MSG_NAV_DOP, + UBX_CONFIG_STATE_MSG_NAV_SVINFO, + UBX_CONFIG_STATE_MSG_NAV_SOL, + UBX_CONFIG_STATE_MSG_NAV_VELNED, +// UBX_CONFIG_STATE_MSG_RXM_SVSI, + UBX_CONFIG_STATE_CONFIGURED +} ubx_config_state_t; + +typedef enum { + CLASS_UNKNOWN = 0, + NAV = 1, + RXM = 2, + ACK = 3, + CFG = 4 +} ubx_message_class_t; + +typedef enum { + //these numbers do NOT correspond to the message id numbers of the ubx protocol + ID_UNKNOWN = 0, + NAV_POSLLH, + NAV_SOL, + NAV_TIMEUTC, +// NAV_DOP, + NAV_SVINFO, + NAV_VELNED, +// RXM_SVSI, + CFG_NAV5, + ACK_ACK, + ACK_NAK, +} ubx_message_id_t; + +typedef enum { + UBX_DECODE_UNINIT = 0, + UBX_DECODE_GOT_SYNC1, + UBX_DECODE_GOT_SYNC2, + UBX_DECODE_GOT_CLASS, + UBX_DECODE_GOT_MESSAGEID, + UBX_DECODE_GOT_LENGTH1, + UBX_DECODE_GOT_LENGTH2 +} ubx_decode_state_t; + +//typedef type_gps_bin_ubx_state gps_bin_ubx_state_t; +#pragma pack(pop) + +#define RECV_BUFFER_SIZE 500 //The NAV-SOL messages really need such a big buffer + +class UBX : public GPS_Helper +{ +public: + UBX(const int &fd, struct vehicle_gps_position_s *gps_position); + ~UBX(); + int receive(unsigned timeout); + int configure(unsigned &baudrate); + +private: + + /** + * Parse the binary MTK packet + */ + int parse_char(uint8_t b); + + /** + * Handle the package once it has arrived + */ + int handle_message(void); + + /** + * Reset the parse state machine for a fresh start + */ + void decode_init(void); + + /** + * While parsing add every byte (except the sync bytes) to the checksum + */ + void add_byte_to_checksum(uint8_t); + + /** + * Add the two checksum bytes to an outgoing message + */ + void add_checksum_to_message(uint8_t* message, const unsigned length); + + /** + * Helper to send a config packet + */ + void send_config_packet(const int &fd, uint8_t *packet, const unsigned length); + + int _fd; + struct vehicle_gps_position_s *_gps_position; + ubx_config_state_t _config_state; + bool _waiting_for_ack; + uint8_t _clsID_needed; + uint8_t _msgID_needed; + ubx_decode_state_t _decode_state; + uint8_t _rx_buffer[RECV_BUFFER_SIZE]; + unsigned _rx_count; + uint8_t _rx_ck_a; + uint8_t _rx_ck_b; + ubx_message_class_t _message_class; + ubx_message_id_t _message_id; + unsigned _payload_size; +}; + +#endif /* UBX_H_ */ diff --git a/src/drivers/hil/hil.cpp b/src/drivers/hil/hil.cpp new file mode 100644 index 000000000..d9aa772d4 --- /dev/null +++ b/src/drivers/hil/hil.cpp @@ -0,0 +1,851 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file hil.cpp + * + * Driver/configurator for the virtual HIL port. + * + * This virtual driver emulates PWM / servo outputs for setups where + * the connected hardware does not provide enough or no PWM outputs. + * + * Its only function is to take actuator_control uORB messages, + * mix them with any loaded mixer and output the result to the + * actuator_output uORB topic. HIL can also be performed with normal + * PWM outputs, a special flag prevents the outputs to be operated + * during HIL mode. If HIL is not performed with a standalone FMU, + * but in a real system, it is NOT recommended to use this virtual + * driver. Use instead the normal FMU or IO driver. + */ + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +#include +#include +#include +#include +#include + +#include +#include + +#include +#include + +#include + +class HIL : public device::CDev +{ +public: + enum Mode { + MODE_2PWM, + MODE_4PWM, + MODE_8PWM, + MODE_12PWM, + MODE_16PWM, + MODE_NONE + }; + HIL(); + virtual ~HIL(); + + virtual int ioctl(file *filp, int cmd, unsigned long arg); + + virtual int init(); + + int set_mode(Mode mode); + int set_pwm_rate(unsigned rate); + +private: + static const unsigned _max_actuators = 4; + + Mode _mode; + int _update_rate; + int _current_update_rate; + int _task; + int _t_actuators; + int _t_armed; + orb_advert_t _t_outputs; + unsigned _num_outputs; + bool _primary_pwm_device; + + volatile bool _task_should_exit; + bool _armed; + + MixerGroup *_mixers; + + actuator_controls_s _controls; + + static void task_main_trampoline(int argc, char *argv[]); + void task_main() __attribute__((noreturn)); + + static int control_callback(uintptr_t handle, + uint8_t control_group, + uint8_t control_index, + float &input); + + int pwm_ioctl(file *filp, int cmd, unsigned long arg); + + struct GPIOConfig { + uint32_t input; + uint32_t output; + uint32_t alt; + }; + + static const GPIOConfig _gpio_tab[]; + static const unsigned _ngpio; + + void gpio_reset(void); + void gpio_set_function(uint32_t gpios, int function); + void gpio_write(uint32_t gpios, int function); + uint32_t gpio_read(void); + int gpio_ioctl(file *filp, int cmd, unsigned long arg); + +}; + +namespace +{ + +HIL *g_hil; + +} // namespace + +HIL::HIL() : + CDev("hilservo", PWM_OUTPUT_DEVICE_PATH/*"/dev/hil" XXXL*/), + _mode(MODE_NONE), + _update_rate(50), + _current_update_rate(0), + _task(-1), + _t_actuators(-1), + _t_armed(-1), + _t_outputs(0), + _num_outputs(0), + _primary_pwm_device(false), + _task_should_exit(false), + _armed(false), + _mixers(nullptr) +{ + _debug_enabled = true; +} + +HIL::~HIL() +{ + if (_task != -1) { + /* tell the task we want it to go away */ + _task_should_exit = true; + + unsigned i = 10; + do { + /* wait 50ms - it should wake every 100ms or so worst-case */ + usleep(50000); + + /* if we have given up, kill it */ + if (--i == 0) { + task_delete(_task); + break; + } + + } while (_task != -1); + } + + /* clean up the alternate device node */ + if (_primary_pwm_device) + unregister_driver(PWM_OUTPUT_DEVICE_PATH); + + g_hil = nullptr; +} + +int +HIL::init() +{ + int ret; + + ASSERT(_task == -1); + + /* do regular cdev init */ + ret = CDev::init(); + + if (ret != OK) + return ret; + + // XXX already claimed with CDEV + ///* try to claim the generic PWM output device node as well - it's OK if we fail at this */ + //ret = register_driver(PWM_OUTPUT_DEVICE_PATH, &fops, 0666, (void *)this); + if (ret == OK) { + log("default PWM output device"); + _primary_pwm_device = true; + } + + /* reset GPIOs */ + // gpio_reset(); + + /* start the HIL interface task */ + _task = task_spawn("fmuhil", + SCHED_DEFAULT, + SCHED_PRIORITY_DEFAULT, + 2048, + (main_t)&HIL::task_main_trampoline, + nullptr); + + if (_task < 0) { + debug("task start failed: %d", errno); + return -errno; + } + + return OK; +} + +void +HIL::task_main_trampoline(int argc, char *argv[]) +{ + g_hil->task_main(); +} + +int +HIL::set_mode(Mode mode) +{ + /* + * Configure for PWM output. + * + * Note that regardless of the configured mode, the task is always + * listening and mixing; the mode just selects which of the channels + * are presented on the output pins. + */ + switch (mode) { + case MODE_2PWM: + debug("MODE_2PWM"); + /* multi-port with flow control lines as PWM */ + _update_rate = 50; /* default output rate */ + break; + + case MODE_4PWM: + debug("MODE_4PWM"); + /* multi-port as 4 PWM outs */ + _update_rate = 50; /* default output rate */ + break; + + case MODE_8PWM: + debug("MODE_8PWM"); + /* multi-port as 8 PWM outs */ + _update_rate = 50; /* default output rate */ + break; + + case MODE_12PWM: + debug("MODE_12PWM"); + /* multi-port as 12 PWM outs */ + _update_rate = 50; /* default output rate */ + break; + + case MODE_16PWM: + debug("MODE_16PWM"); + /* multi-port as 16 PWM outs */ + _update_rate = 50; /* default output rate */ + break; + + case MODE_NONE: + debug("MODE_NONE"); + /* disable servo outputs and set a very low update rate */ + _update_rate = 10; + break; + + default: + return -EINVAL; + } + _mode = mode; + return OK; +} + +int +HIL::set_pwm_rate(unsigned rate) +{ + if ((rate > 500) || (rate < 10)) + return -EINVAL; + + _update_rate = rate; + return OK; +} + +void +HIL::task_main() +{ + /* + * Subscribe to the appropriate PWM output topic based on whether we are the + * primary PWM output or not. + */ + _t_actuators = orb_subscribe(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS : + ORB_ID(actuator_controls_1)); + /* force a reset of the update rate */ + _current_update_rate = 0; + + _t_armed = orb_subscribe(ORB_ID(actuator_armed)); + orb_set_interval(_t_armed, 200); /* 5Hz update rate */ + + /* advertise the mixed control outputs */ + actuator_outputs_s outputs; + memset(&outputs, 0, sizeof(outputs)); + /* advertise the mixed control outputs */ + _t_outputs = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1), + &outputs); + + pollfd fds[2]; + fds[0].fd = _t_actuators; + fds[0].events = POLLIN; + fds[1].fd = _t_armed; + fds[1].events = POLLIN; + + unsigned num_outputs; + + /* select the number of virtual outputs */ + switch (_mode) { + case MODE_2PWM: + num_outputs = 2; + break; + + case MODE_4PWM: + num_outputs = 4; + break; + + case MODE_8PWM: + case MODE_12PWM: + case MODE_16PWM: + // XXX only support the lower 8 - trivial to extend + num_outputs = 8; + break; + + case MODE_NONE: + default: + num_outputs = 0; + break; + } + + log("starting"); + + /* loop until killed */ + while (!_task_should_exit) { + + /* handle update rate changes */ + if (_current_update_rate != _update_rate) { + int update_rate_in_ms = int(1000 / _update_rate); + if (update_rate_in_ms < 2) + update_rate_in_ms = 2; + orb_set_interval(_t_actuators, update_rate_in_ms); + // up_pwm_servo_set_rate(_update_rate); + _current_update_rate = _update_rate; + } + + /* sleep waiting for data, but no more than a second */ + int ret = ::poll(&fds[0], 2, 1000); + + /* this would be bad... */ + if (ret < 0) { + log("poll error %d", errno); + continue; + } + + /* do we have a control update? */ + if (fds[0].revents & POLLIN) { + + /* get controls - must always do this to avoid spinning */ + orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, _t_actuators, &_controls); + + /* can we mix? */ + if (_mixers != nullptr) { + + /* do mixing */ + outputs.noutputs = _mixers->mix(&outputs.output[0], num_outputs); + outputs.timestamp = hrt_absolute_time(); + + /* iterate actuators */ + for (unsigned i = 0; i < num_outputs; i++) { + + /* last resort: catch NaN, INF and out-of-band errors */ + if (i < (unsigned)outputs.noutputs && + isfinite(outputs.output[i]) && + outputs.output[i] >= -1.0f && + outputs.output[i] <= 1.0f) { + /* scale for PWM output 900 - 2100us */ + outputs.output[i] = 1500 + (600 * outputs.output[i]); + } else { + /* + * Value is NaN, INF or out of band - set to the minimum value. + * This will be clearly visible on the servo status and will limit the risk of accidentally + * spinning motors. It would be deadly in flight. + */ + outputs.output[i] = 900; + } + } + + /* and publish for anyone that cares to see */ + orb_publish(ORB_ID_VEHICLE_CONTROLS, _t_outputs, &outputs); + } + } + + /* how about an arming update? */ + if (fds[1].revents & POLLIN) { + actuator_armed_s aa; + + /* get new value */ + orb_copy(ORB_ID(actuator_armed), _t_armed, &aa); + } + } + + ::close(_t_actuators); + ::close(_t_armed); + + /* make sure servos are off */ + // up_pwm_servo_deinit(); + + log("stopping"); + + /* note - someone else is responsible for restoring the GPIO config */ + + /* tell the dtor that we are exiting */ + _task = -1; + _exit(0); +} + +int +HIL::control_callback(uintptr_t handle, + uint8_t control_group, + uint8_t control_index, + float &input) +{ + const actuator_controls_s *controls = (actuator_controls_s *)handle; + + input = controls->control[control_index]; + return 0; +} + +int +HIL::ioctl(file *filp, int cmd, unsigned long arg) +{ + int ret; + + debug("ioctl 0x%04x 0x%08x", cmd, arg); + + // /* try it as a GPIO ioctl first */ + // ret = HIL::gpio_ioctl(filp, cmd, arg); + // if (ret != -ENOTTY) + // return ret; + + /* if we are in valid PWM mode, try it as a PWM ioctl as well */ + switch(_mode) { + case MODE_2PWM: + case MODE_4PWM: + case MODE_8PWM: + case MODE_12PWM: + case MODE_16PWM: + ret = HIL::pwm_ioctl(filp, cmd, arg); + break; + default: + ret = -ENOTTY; + debug("not in a PWM mode"); + break; + } + + /* if nobody wants it, let CDev have it */ + if (ret == -ENOTTY) + ret = CDev::ioctl(filp, cmd, arg); + + return ret; +} + +int +HIL::pwm_ioctl(file *filp, int cmd, unsigned long arg) +{ + int ret = OK; + // int channel; + + lock(); + + switch (cmd) { + case PWM_SERVO_ARM: + // up_pwm_servo_arm(true); + break; + + case PWM_SERVO_DISARM: + // up_pwm_servo_arm(false); + break; + + case PWM_SERVO_SET_UPDATE_RATE: + // HIL always outputs at the alternate (usually faster) rate + g_hil->set_pwm_rate(arg); + break; + + case PWM_SERVO_SELECT_UPDATE_RATE: + // HIL always outputs at the alternate (usually faster) rate + break; + + case PWM_SERVO_SET(2): + case PWM_SERVO_SET(3): + if (_mode != MODE_4PWM) { + ret = -EINVAL; + break; + } + + /* FALLTHROUGH */ + case PWM_SERVO_SET(0): + case PWM_SERVO_SET(1): + if (arg < 2100) { + // channel = cmd - PWM_SERVO_SET(0); +// up_pwm_servo_set(channel, arg); XXX + + } else { + ret = -EINVAL; + } + + break; + + case PWM_SERVO_GET(2): + case PWM_SERVO_GET(3): + if (_mode != MODE_4PWM) { + ret = -EINVAL; + break; + } + + /* FALLTHROUGH */ + case PWM_SERVO_GET(0): + case PWM_SERVO_GET(1): { + // channel = cmd - PWM_SERVO_SET(0); + // *(servo_position_t *)arg = up_pwm_servo_get(channel); + break; + } + + case PWM_SERVO_GET_RATEGROUP(0) ... PWM_SERVO_GET_RATEGROUP(PWM_OUTPUT_MAX_CHANNELS - 1): { + // no restrictions on output grouping + unsigned channel = cmd - PWM_SERVO_GET_RATEGROUP(0); + + *(uint32_t *)arg = (1 << channel); + break; + } + + case MIXERIOCGETOUTPUTCOUNT: + if (_mode == MODE_4PWM) { + *(unsigned *)arg = 4; + + } else { + *(unsigned *)arg = 2; + } + + break; + + case MIXERIOCRESET: + if (_mixers != nullptr) { + delete _mixers; + _mixers = nullptr; + } + + break; + + case MIXERIOCADDSIMPLE: { + mixer_simple_s *mixinfo = (mixer_simple_s *)arg; + + SimpleMixer *mixer = new SimpleMixer(control_callback, + (uintptr_t)&_controls, mixinfo); + + if (mixer->check()) { + delete mixer; + ret = -EINVAL; + + } else { + if (_mixers == nullptr) + _mixers = new MixerGroup(control_callback, + (uintptr_t)&_controls); + + _mixers->add_mixer(mixer); + } + + break; + } + + case MIXERIOCLOADBUF: { + const char *buf = (const char *)arg; + unsigned buflen = strnlen(buf, 1024); + + if (_mixers == nullptr) + _mixers = new MixerGroup(control_callback, (uintptr_t)&_controls); + + if (_mixers == nullptr) { + ret = -ENOMEM; + + } else { + + ret = _mixers->load_from_buf(buf, buflen); + + if (ret != 0) { + debug("mixer load failed with %d", ret); + delete _mixers; + _mixers = nullptr; + ret = -EINVAL; + } + } + break; + } + + + default: + ret = -ENOTTY; + break; + } + + unlock(); + + return ret; +} + +namespace +{ + +enum PortMode { + PORT_MODE_UNDEFINED = 0, + PORT1_MODE_UNSET, + PORT1_FULL_PWM, + PORT1_PWM_AND_SERIAL, + PORT1_PWM_AND_GPIO, + PORT2_MODE_UNSET, + PORT2_8PWM, + PORT2_12PWM, + PORT2_16PWM, +}; + +PortMode g_port_mode; + +int +hil_new_mode(PortMode new_mode) +{ + // uint32_t gpio_bits; + + +// /* reset to all-inputs */ +// g_hil->ioctl(0, GPIO_RESET, 0); + + // gpio_bits = 0; + + HIL::Mode servo_mode = HIL::MODE_NONE; + + switch (new_mode) { + case PORT_MODE_UNDEFINED: + case PORT1_MODE_UNSET: + case PORT2_MODE_UNSET: + /* nothing more to do here */ + break; + + case PORT1_FULL_PWM: + /* select 4-pin PWM mode */ + servo_mode = HIL::MODE_4PWM; + break; + + case PORT1_PWM_AND_SERIAL: + /* select 2-pin PWM mode */ + servo_mode = HIL::MODE_2PWM; +// /* set RX/TX multi-GPIOs to serial mode */ +// gpio_bits = GPIO_MULTI_3 | GPIO_MULTI_4; + break; + + case PORT1_PWM_AND_GPIO: + /* select 2-pin PWM mode */ + servo_mode = HIL::MODE_2PWM; + break; + + case PORT2_8PWM: + /* select 8-pin PWM mode */ + servo_mode = HIL::MODE_8PWM; + break; + + case PORT2_12PWM: + /* select 12-pin PWM mode */ + servo_mode = HIL::MODE_12PWM; + break; + + case PORT2_16PWM: + /* select 16-pin PWM mode */ + servo_mode = HIL::MODE_16PWM; + break; + } + +// /* adjust GPIO config for serial mode(s) */ +// if (gpio_bits != 0) +// g_hil->ioctl(0, GPIO_SET_ALT_1, gpio_bits); + + /* (re)set the PWM output mode */ + g_hil->set_mode(servo_mode); + + return OK; +} + +int +hil_start(void) +{ + int ret = OK; + + if (g_hil == nullptr) { + + g_hil = new HIL; + + if (g_hil == nullptr) { + ret = -ENOMEM; + + } else { + ret = g_hil->init(); + + if (ret != OK) { + delete g_hil; + g_hil = nullptr; + } + } + } + + return ret; +} + +void +test(void) +{ + int fd; + + fd = open(PWM_OUTPUT_DEVICE_PATH, 0); + + if (fd < 0) { + puts("open fail"); + exit(1); + } + + ioctl(fd, PWM_SERVO_ARM, 0); + ioctl(fd, PWM_SERVO_SET(0), 1000); + + close(fd); + + exit(0); +} + +void +fake(int argc, char *argv[]) +{ + if (argc < 5) { + puts("hil fake (values -100 .. 100)"); + exit(1); + } + + actuator_controls_s ac; + + ac.control[0] = strtol(argv[1], 0, 0) / 100.0f; + + ac.control[1] = strtol(argv[2], 0, 0) / 100.0f; + + ac.control[2] = strtol(argv[3], 0, 0) / 100.0f; + + ac.control[3] = strtol(argv[4], 0, 0) / 100.0f; + + orb_advert_t handle = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &ac); + + if (handle < 0) { + puts("advertise failed"); + exit(1); + } + + exit(0); +} + +} // namespace + +extern "C" __EXPORT int hil_main(int argc, char *argv[]); + +int +hil_main(int argc, char *argv[]) +{ + PortMode new_mode = PORT_MODE_UNDEFINED; + const char *verb = argv[1]; + + if (hil_start() != OK) + errx(1, "failed to start the HIL driver"); + + /* + * Mode switches. + */ + + // this was all cut-and-pasted from the FMU driver; it's junk + if (!strcmp(verb, "mode_pwm")) { + new_mode = PORT1_FULL_PWM; + + } else if (!strcmp(verb, "mode_pwm_serial")) { + new_mode = PORT1_PWM_AND_SERIAL; + + } else if (!strcmp(verb, "mode_pwm_gpio")) { + new_mode = PORT1_PWM_AND_GPIO; + + } else if (!strcmp(verb, "mode_port2_pwm8")) { + new_mode = PORT2_8PWM; + + } else if (!strcmp(verb, "mode_port2_pwm12")) { + new_mode = PORT2_8PWM; + + } else if (!strcmp(verb, "mode_port2_pwm16")) { + new_mode = PORT2_8PWM; + } + + /* was a new mode set? */ + if (new_mode != PORT_MODE_UNDEFINED) { + + /* yes but it's the same mode */ + if (new_mode == g_port_mode) + return OK; + + /* switch modes */ + return hil_new_mode(new_mode); + } + + if (!strcmp(verb, "test")) + test(); + + if (!strcmp(verb, "fake")) + fake(argc - 1, argv + 1); + + + fprintf(stderr, "HIL: unrecognized command, try:\n"); + fprintf(stderr, " mode_pwm, mode_gpio_serial, mode_pwm_serial, mode_pwm_gpio, mode_port2_pwm8, mode_port2_pwm12, mode_port2_pwm16\n"); + return -EINVAL; +} diff --git a/src/drivers/hil/module.mk b/src/drivers/hil/module.mk new file mode 100644 index 000000000..f8895f5d5 --- /dev/null +++ b/src/drivers/hil/module.mk @@ -0,0 +1,40 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# Hardware in the Loop (HIL) simulation actuator output bank +# + +MODULE_COMMAND = hil + +SRCS = hil.cpp diff --git a/src/drivers/hmc5883/hmc5883.cpp b/src/drivers/hmc5883/hmc5883.cpp new file mode 100644 index 000000000..8ab568282 --- /dev/null +++ b/src/drivers/hmc5883/hmc5883.cpp @@ -0,0 +1,1447 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file hmc5883.cpp + * + * Driver for the HMC5883 magnetometer connected via I2C. + */ + +#include + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#include + +#include +#include + +#include +#include + +#include +#include + +#include + +/* + * HMC5883 internal constants and data structures. + */ + +#define HMC5883L_BUS PX4_I2C_BUS_ONBOARD +#define HMC5883L_ADDRESS PX4_I2C_OBDEV_HMC5883 + +/* Max measurement rate is 160Hz */ +#define HMC5883_CONVERSION_INTERVAL (1000000 / 160) /* microseconds */ + +#define ADDR_CONF_A 0x00 +#define ADDR_CONF_B 0x01 +#define ADDR_MODE 0x02 +#define ADDR_DATA_OUT_X_MSB 0x03 +#define ADDR_DATA_OUT_X_LSB 0x04 +#define ADDR_DATA_OUT_Z_MSB 0x05 +#define ADDR_DATA_OUT_Z_LSB 0x06 +#define ADDR_DATA_OUT_Y_MSB 0x07 +#define ADDR_DATA_OUT_Y_LSB 0x08 +#define ADDR_STATUS 0x09 +#define ADDR_ID_A 0x0a +#define ADDR_ID_B 0x0b +#define ADDR_ID_C 0x0c + +/* modes not changeable outside of driver */ +#define HMC5883L_MODE_NORMAL (0 << 0) /* default */ +#define HMC5883L_MODE_POSITIVE_BIAS (1 << 0) /* positive bias */ +#define HMC5883L_MODE_NEGATIVE_BIAS (1 << 1) /* negative bias */ + +#define HMC5883L_AVERAGING_1 (0 << 5) /* conf a register */ +#define HMC5883L_AVERAGING_2 (1 << 5) +#define HMC5883L_AVERAGING_4 (2 << 5) +#define HMC5883L_AVERAGING_8 (3 << 5) + +#define MODE_REG_CONTINOUS_MODE (0 << 0) +#define MODE_REG_SINGLE_MODE (1 << 0) /* default */ + +#define STATUS_REG_DATA_OUT_LOCK (1 << 1) /* page 16: set if data is only partially read, read device to reset */ +#define STATUS_REG_DATA_READY (1 << 0) /* page 16: set if all axes have valid measurements */ + +#define ID_A_WHO_AM_I 'H' +#define ID_B_WHO_AM_I '4' +#define ID_C_WHO_AM_I '3' + + +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +static const int ERROR = -1; + +#ifndef CONFIG_SCHED_WORKQUEUE +# error This requires CONFIG_SCHED_WORKQUEUE. +#endif + +class HMC5883 : public device::I2C +{ +public: + HMC5883(int bus); + virtual ~HMC5883(); + + virtual int init(); + + virtual ssize_t read(struct file *filp, char *buffer, size_t buflen); + virtual int ioctl(struct file *filp, int cmd, unsigned long arg); + + /** + * Diagnostics - print some basic information about the driver. + */ + void print_info(); + +protected: + virtual int probe(); + +private: + work_s _work; + unsigned _measure_ticks; + + unsigned _num_reports; + volatile unsigned _next_report; + volatile unsigned _oldest_report; + mag_report *_reports; + mag_scale _scale; + float _range_scale; + float _range_ga; + bool _collect_phase; + + orb_advert_t _mag_topic; + + perf_counter_t _sample_perf; + perf_counter_t _comms_errors; + perf_counter_t _buffer_overflows; + + /* status reporting */ + bool _sensor_ok; /**< sensor was found and reports ok */ + bool _calibrated; /**< the calibration is valid */ + + /** + * Test whether the device supported by the driver is present at a + * specific address. + * + * @param address The I2C bus address to probe. + * @return True if the device is present. + */ + int probe_address(uint8_t address); + + /** + * Initialise the automatic measurement state machine and start it. + * + * @note This function is called at open and error time. It might make sense + * to make it more aggressive about resetting the bus in case of errors. + */ + void start(); + + /** + * Stop the automatic measurement state machine. + */ + void stop(); + + /** + * Perform the on-sensor scale calibration routine. + * + * @note The sensor will continue to provide measurements, these + * will however reflect the uncalibrated sensor state until + * the calibration routine has been completed. + * + * @param enable set to 1 to enable self-test strap, 0 to disable + */ + int calibrate(struct file *filp, unsigned enable); + + /** + * Perform the on-sensor scale calibration routine. + * + * @note The sensor will continue to provide measurements, these + * will however reflect the uncalibrated sensor state until + * the calibration routine has been completed. + * + * @param enable set to 1 to enable self-test positive strap, -1 to enable + * negative strap, 0 to set to normal mode + */ + int set_excitement(unsigned enable); + + /** + * Set the sensor range. + * + * Sets the internal range to handle at least the argument in Gauss. + */ + int set_range(unsigned range); + + /** + * Perform a poll cycle; collect from the previous measurement + * and start a new one. + * + * This is the heart of the measurement state machine. This function + * alternately starts a measurement, or collects the data from the + * previous measurement. + * + * When the interval between measurements is greater than the minimum + * measurement interval, a gap is inserted between collection + * and measurement to provide the most recent measurement possible + * at the next interval. + */ + void cycle(); + + /** + * Static trampoline from the workq context; because we don't have a + * generic workq wrapper yet. + * + * @param arg Instance pointer for the driver that is polling. + */ + static void cycle_trampoline(void *arg); + + /** + * Write a register. + * + * @param reg The register to write. + * @param val The value to write. + * @return OK on write success. + */ + int write_reg(uint8_t reg, uint8_t val); + + /** + * Read a register. + * + * @param reg The register to read. + * @param val The value read. + * @return OK on read success. + */ + int read_reg(uint8_t reg, uint8_t &val); + + /** + * Issue a measurement command. + * + * @return OK if the measurement command was successful. + */ + int measure(); + + /** + * Collect the result of the most recent measurement. + */ + int collect(); + + /** + * Convert a big-endian signed 16-bit value to a float. + * + * @param in A signed 16-bit big-endian value. + * @return The floating-point representation of the value. + */ + float meas_to_float(uint8_t in[2]); + + /** + * Check the current calibration and update device status + * + * @return 0 if calibration is ok, 1 else + */ + int check_calibration(); + + /** + * Check the current scale calibration + * + * @return 0 if scale calibration is ok, 1 else + */ + int check_scale(); + + /** + * Check the current offset calibration + * + * @return 0 if offset calibration is ok, 1 else + */ + int check_offset(); + +}; + +/* helper macro for handling report buffer indices */ +#define INCREMENT(_x, _lim) do { _x++; if (_x >= _lim) _x = 0; } while(0) + +/* + * Driver 'main' command. + */ +extern "C" __EXPORT int hmc5883_main(int argc, char *argv[]); + + +HMC5883::HMC5883(int bus) : + I2C("HMC5883", MAG_DEVICE_PATH, bus, HMC5883L_ADDRESS, 400000), + _measure_ticks(0), + _num_reports(0), + _next_report(0), + _oldest_report(0), + _reports(nullptr), + _range_scale(0), /* default range scale from counts to gauss */ + _range_ga(1.3f), + _mag_topic(-1), + _sample_perf(perf_alloc(PC_ELAPSED, "hmc5883_read")), + _comms_errors(perf_alloc(PC_COUNT, "hmc5883_comms_errors")), + _buffer_overflows(perf_alloc(PC_COUNT, "hmc5883_buffer_overflows")), + _sensor_ok(false), + _calibrated(false) +{ + // enable debug() calls + _debug_enabled = true; + + // default scaling + _scale.x_offset = 0; + _scale.x_scale = 1.0f; + _scale.y_offset = 0; + _scale.y_scale = 1.0f; + _scale.z_offset = 0; + _scale.z_scale = 1.0f; + + // work_cancel in the dtor will explode if we don't do this... + memset(&_work, 0, sizeof(_work)); +} + +HMC5883::~HMC5883() +{ + /* make sure we are truly inactive */ + stop(); + + /* free any existing reports */ + if (_reports != nullptr) + delete[] _reports; +} + +int +HMC5883::init() +{ + int ret = ERROR; + + /* do I2C init (and probe) first */ + if (I2C::init() != OK) + goto out; + + /* allocate basic report buffers */ + _num_reports = 2; + _reports = new struct mag_report[_num_reports]; + + if (_reports == nullptr) + goto out; + + _oldest_report = _next_report = 0; + + /* get a publish handle on the mag topic */ + memset(&_reports[0], 0, sizeof(_reports[0])); + _mag_topic = orb_advertise(ORB_ID(sensor_mag), &_reports[0]); + + if (_mag_topic < 0) + debug("failed to create sensor_mag object"); + + /* set range */ + set_range(_range_ga); + + ret = OK; + /* sensor is ok, but not calibrated */ + _sensor_ok = true; +out: + return ret; +} + +int HMC5883::set_range(unsigned range) +{ + uint8_t range_bits; + + if (range < 1) { + range_bits = 0x00; + _range_scale = 1.0f / 1370.0f; + _range_ga = 0.88f; + + } else if (range <= 1) { + range_bits = 0x01; + _range_scale = 1.0f / 1090.0f; + _range_ga = 1.3f; + + } else if (range <= 2) { + range_bits = 0x02; + _range_scale = 1.0f / 820.0f; + _range_ga = 1.9f; + + } else if (range <= 3) { + range_bits = 0x03; + _range_scale = 1.0f / 660.0f; + _range_ga = 2.5f; + + } else if (range <= 4) { + range_bits = 0x04; + _range_scale = 1.0f / 440.0f; + _range_ga = 4.0f; + + } else if (range <= 4.7f) { + range_bits = 0x05; + _range_scale = 1.0f / 390.0f; + _range_ga = 4.7f; + + } else if (range <= 5.6f) { + range_bits = 0x06; + _range_scale = 1.0f / 330.0f; + _range_ga = 5.6f; + + } else { + range_bits = 0x07; + _range_scale = 1.0f / 230.0f; + _range_ga = 8.1f; + } + + int ret; + + /* + * Send the command to set the range + */ + ret = write_reg(ADDR_CONF_B, (range_bits << 5)); + + if (OK != ret) + perf_count(_comms_errors); + + uint8_t range_bits_in; + ret = read_reg(ADDR_CONF_B, range_bits_in); + + if (OK != ret) + perf_count(_comms_errors); + + return !(range_bits_in == (range_bits << 5)); +} + +int +HMC5883::probe() +{ + uint8_t data[3] = {0, 0, 0}; + + _retries = 10; + + if (read_reg(ADDR_ID_A, data[0]) || + read_reg(ADDR_ID_B, data[1]) || + read_reg(ADDR_ID_C, data[2])) + debug("read_reg fail"); + + _retries = 2; + + if ((data[0] != ID_A_WHO_AM_I) || + (data[1] != ID_B_WHO_AM_I) || + (data[2] != ID_C_WHO_AM_I)) { + debug("ID byte mismatch (%02x,%02x,%02x)", data[0], data[1], data[2]); + return -EIO; + } + + return OK; +} + +ssize_t +HMC5883::read(struct file *filp, char *buffer, size_t buflen) +{ + unsigned count = buflen / sizeof(struct mag_report); + int ret = 0; + + /* buffer must be large enough */ + if (count < 1) + return -ENOSPC; + + /* if automatic measurement is enabled */ + if (_measure_ticks > 0) { + + /* + * While there is space in the caller's buffer, and reports, copy them. + * Note that we may be pre-empted by the workq thread while we are doing this; + * we are careful to avoid racing with them. + */ + while (count--) { + if (_oldest_report != _next_report) { + memcpy(buffer, _reports + _oldest_report, sizeof(*_reports)); + ret += sizeof(_reports[0]); + INCREMENT(_oldest_report, _num_reports); + } + } + + /* if there was no data, warn the caller */ + return ret ? ret : -EAGAIN; + } + + /* manual measurement - run one conversion */ + /* XXX really it'd be nice to lock against other readers here */ + do { + _oldest_report = _next_report = 0; + + /* trigger a measurement */ + if (OK != measure()) { + ret = -EIO; + break; + } + + /* wait for it to complete */ + usleep(HMC5883_CONVERSION_INTERVAL); + + /* run the collection phase */ + if (OK != collect()) { + ret = -EIO; + break; + } + + /* state machine will have generated a report, copy it out */ + memcpy(buffer, _reports, sizeof(*_reports)); + ret = sizeof(*_reports); + + } while (0); + + return ret; +} + +int +HMC5883::ioctl(struct file *filp, int cmd, unsigned long arg) +{ + switch (cmd) { + + case SENSORIOCSPOLLRATE: { + switch (arg) { + + /* switching to manual polling */ + case SENSOR_POLLRATE_MANUAL: + stop(); + _measure_ticks = 0; + return OK; + + /* external signalling (DRDY) not supported */ + case SENSOR_POLLRATE_EXTERNAL: + + /* zero would be bad */ + case 0: + return -EINVAL; + + /* set default/max polling rate */ + case SENSOR_POLLRATE_MAX: + case SENSOR_POLLRATE_DEFAULT: { + /* do we need to start internal polling? */ + bool want_start = (_measure_ticks == 0); + + /* set interval for next measurement to minimum legal value */ + _measure_ticks = USEC2TICK(HMC5883_CONVERSION_INTERVAL); + + /* if we need to start the poll state machine, do it */ + if (want_start) + start(); + + return OK; + } + + /* adjust to a legal polling interval in Hz */ + default: { + /* do we need to start internal polling? */ + bool want_start = (_measure_ticks == 0); + + /* convert hz to tick interval via microseconds */ + unsigned ticks = USEC2TICK(1000000 / arg); + + /* check against maximum rate */ + if (ticks < USEC2TICK(HMC5883_CONVERSION_INTERVAL)) + return -EINVAL; + + /* update interval for next measurement */ + _measure_ticks = ticks; + + /* if we need to start the poll state machine, do it */ + if (want_start) + start(); + + return OK; + } + } + } + + case SENSORIOCGPOLLRATE: + if (_measure_ticks == 0) + return SENSOR_POLLRATE_MANUAL; + + return (1000 / _measure_ticks); + + case SENSORIOCSQUEUEDEPTH: { + /* add one to account for the sentinel in the ring */ + arg++; + + /* lower bound is mandatory, upper bound is a sanity check */ + if ((arg < 2) || (arg > 100)) + return -EINVAL; + + /* allocate new buffer */ + struct mag_report *buf = new struct mag_report[arg]; + + if (nullptr == buf) + return -ENOMEM; + + /* reset the measurement state machine with the new buffer, free the old */ + stop(); + delete[] _reports; + _num_reports = arg; + _reports = buf; + start(); + + return OK; + } + + case SENSORIOCGQUEUEDEPTH: + return _num_reports - 1; + + case SENSORIOCRESET: + /* XXX implement this */ + return -EINVAL; + + case MAGIOCSSAMPLERATE: + /* not supported, always 1 sample per poll */ + return -EINVAL; + + case MAGIOCSRANGE: + return set_range(arg); + + case MAGIOCSLOWPASS: + /* not supported, no internal filtering */ + return -EINVAL; + + case MAGIOCSSCALE: + /* set new scale factors */ + memcpy(&_scale, (mag_scale *)arg, sizeof(_scale)); + /* check calibration, but not actually return an error */ + (void)check_calibration(); + return 0; + + case MAGIOCGSCALE: + /* copy out scale factors */ + memcpy((mag_scale *)arg, &_scale, sizeof(_scale)); + return 0; + + case MAGIOCCALIBRATE: + return calibrate(filp, arg); + + case MAGIOCEXSTRAP: + return set_excitement(arg); + + case MAGIOCSELFTEST: + return check_calibration(); + + default: + /* give it to the superclass */ + return I2C::ioctl(filp, cmd, arg); + } +} + +void +HMC5883::start() +{ + /* reset the report ring and state machine */ + _collect_phase = false; + _oldest_report = _next_report = 0; + + /* schedule a cycle to start things */ + work_queue(HPWORK, &_work, (worker_t)&HMC5883::cycle_trampoline, this, 1); +} + +void +HMC5883::stop() +{ + work_cancel(HPWORK, &_work); +} + +void +HMC5883::cycle_trampoline(void *arg) +{ + HMC5883 *dev = (HMC5883 *)arg; + + dev->cycle(); +} + +void +HMC5883::cycle() +{ + /* collection phase? */ + if (_collect_phase) { + + /* perform collection */ + if (OK != collect()) { + log("collection error"); + /* restart the measurement state machine */ + start(); + return; + } + + /* next phase is measurement */ + _collect_phase = false; + + /* + * Is there a collect->measure gap? + */ + if (_measure_ticks > USEC2TICK(HMC5883_CONVERSION_INTERVAL)) { + + /* schedule a fresh cycle call when we are ready to measure again */ + work_queue(HPWORK, + &_work, + (worker_t)&HMC5883::cycle_trampoline, + this, + _measure_ticks - USEC2TICK(HMC5883_CONVERSION_INTERVAL)); + + return; + } + } + + /* measurement phase */ + if (OK != measure()) + log("measure error"); + + /* next phase is collection */ + _collect_phase = true; + + /* schedule a fresh cycle call when the measurement is done */ + work_queue(HPWORK, + &_work, + (worker_t)&HMC5883::cycle_trampoline, + this, + USEC2TICK(HMC5883_CONVERSION_INTERVAL)); +} + +int +HMC5883::measure() +{ + int ret; + + /* + * Send the command to begin a measurement. + */ + ret = write_reg(ADDR_MODE, MODE_REG_SINGLE_MODE); + + if (OK != ret) + perf_count(_comms_errors); + + return ret; +} + +int +HMC5883::collect() +{ +#pragma pack(push, 1) + struct { /* status register and data as read back from the device */ + uint8_t x[2]; + uint8_t z[2]; + uint8_t y[2]; + } hmc_report; +#pragma pack(pop) + struct { + int16_t x, y, z; + } report; + int ret = -EIO; + uint8_t cmd; + + + perf_begin(_sample_perf); + + /* this should be fairly close to the end of the measurement, so the best approximation of the time */ + _reports[_next_report].timestamp = hrt_absolute_time(); + + /* + * @note We could read the status register here, which could tell us that + * we were too early and that the output registers are still being + * written. In the common case that would just slow us down, and + * we're better off just never being early. + */ + + /* get measurements from the device */ + cmd = ADDR_DATA_OUT_X_MSB; + ret = transfer(&cmd, 1, (uint8_t *)&hmc_report, sizeof(hmc_report)); + + if (ret != OK) { + perf_count(_comms_errors); + debug("data/status read error"); + goto out; + } + + /* swap the data we just received */ + report.x = (((int16_t)hmc_report.x[0]) << 8) + hmc_report.x[1]; + report.y = (((int16_t)hmc_report.y[0]) << 8) + hmc_report.y[1]; + report.z = (((int16_t)hmc_report.z[0]) << 8) + hmc_report.z[1]; + + /* + * If any of the values are -4096, there was an internal math error in the sensor. + * Generalise this to a simple range check that will also catch some bit errors. + */ + if ((abs(report.x) > 2048) || + (abs(report.y) > 2048) || + (abs(report.z) > 2048)) + goto out; + + /* + * RAW outputs + * + * to align the sensor axes with the board, x and y need to be flipped + * and y needs to be negated + */ + _reports[_next_report].x_raw = report.y; + _reports[_next_report].y_raw = ((report.x == -32768) ? 32767 : -report.x); + /* z remains z */ + _reports[_next_report].z_raw = report.z; + + /* scale values for output */ + + /* + * 1) Scale raw value to SI units using scaling from datasheet. + * 2) Subtract static offset (in SI units) + * 3) Scale the statically calibrated values with a linear + * dynamically obtained factor + * + * Note: the static sensor offset is the number the sensor outputs + * at a nominally 'zero' input. Therefore the offset has to + * be subtracted. + * + * Example: A gyro outputs a value of 74 at zero angular rate + * the offset is 74 from the origin and subtracting + * 74 from all measurements centers them around zero. + */ + + /* to align the sensor axes with the board, x and y need to be flipped */ + _reports[_next_report].x = ((report.y * _range_scale) - _scale.x_offset) * _scale.x_scale; + /* flip axes and negate value for y */ + _reports[_next_report].y = ((((report.x == -32768) ? 32767 : -report.x) * _range_scale) - _scale.y_offset) * _scale.y_scale; + /* z remains z */ + _reports[_next_report].z = ((report.z * _range_scale) - _scale.z_offset) * _scale.z_scale; + + /* publish it */ + orb_publish(ORB_ID(sensor_mag), _mag_topic, &_reports[_next_report]); + + /* post a report to the ring - note, not locked */ + INCREMENT(_next_report, _num_reports); + + /* if we are running up against the oldest report, toss it */ + if (_next_report == _oldest_report) { + perf_count(_buffer_overflows); + INCREMENT(_oldest_report, _num_reports); + } + + /* notify anyone waiting for data */ + poll_notify(POLLIN); + + ret = OK; + +out: + perf_end(_sample_perf); + return ret; +} + +int HMC5883::calibrate(struct file *filp, unsigned enable) +{ + struct mag_report report; + ssize_t sz; + int ret = 1; + + // XXX do something smarter here + int fd = (int)enable; + + struct mag_scale mscale_previous = { + 0.0f, + 1.0f, + 0.0f, + 1.0f, + 0.0f, + 1.0f, + }; + + struct mag_scale mscale_null = { + 0.0f, + 1.0f, + 0.0f, + 1.0f, + 0.0f, + 1.0f, + }; + + float avg_excited[3] = {0.0f, 0.0f, 0.0f}; + unsigned i; + + warnx("starting mag scale calibration"); + + /* do a simple demand read */ + sz = read(filp, (char *)&report, sizeof(report)); + + if (sz != sizeof(report)) { + warn("immediate read failed"); + ret = 1; + goto out; + } + + warnx("current measurement: %.6f %.6f %.6f", (double)report.x, (double)report.y, (double)report.z); + warnx("time: %lld", report.timestamp); + warnx("sampling 500 samples for scaling offset"); + + /* set the queue depth to 10 */ + if (OK != ioctl(filp, SENSORIOCSQUEUEDEPTH, 10)) { + warn("failed to set queue depth"); + ret = 1; + goto out; + } + + /* start the sensor polling at 50 Hz */ + if (OK != ioctl(filp, SENSORIOCSPOLLRATE, 50)) { + warn("failed to set 2Hz poll rate"); + ret = 1; + goto out; + } + + /* Set to 2.5 Gauss */ + if (OK != ioctl(filp, MAGIOCSRANGE, 2)) { + warnx("failed to set 2.5 Ga range"); + ret = 1; + goto out; + } + + if (OK != ioctl(filp, MAGIOCEXSTRAP, 1)) { + warnx("failed to enable sensor calibration mode"); + ret = 1; + goto out; + } + + if (OK != ioctl(filp, MAGIOCGSCALE, (long unsigned int)&mscale_previous)) { + warn("WARNING: failed to get scale / offsets for mag"); + ret = 1; + goto out; + } + + if (OK != ioctl(filp, MAGIOCSSCALE, (long unsigned int)&mscale_null)) { + warn("WARNING: failed to set null scale / offsets for mag"); + ret = 1; + goto out; + } + + /* read the sensor 10x and report each value */ + for (i = 0; i < 500; i++) { + struct pollfd fds; + + /* wait for data to be ready */ + fds.fd = fd; + fds.events = POLLIN; + ret = ::poll(&fds, 1, 2000); + + if (ret != 1) { + warn("timed out waiting for sensor data"); + goto out; + } + + /* now go get it */ + sz = ::read(fd, &report, sizeof(report)); + + if (sz != sizeof(report)) { + warn("periodic read failed"); + goto out; + + } else { + avg_excited[0] += report.x; + avg_excited[1] += report.y; + avg_excited[2] += report.z; + } + + //warnx("periodic read %u", i); + //warnx("measurement: %.6f %.6f %.6f", (double)report.x, (double)report.y, (double)report.z); + } + + avg_excited[0] /= i; + avg_excited[1] /= i; + avg_excited[2] /= i; + + warnx("done. Performed %u reads", i); + warnx("measurement avg: %.6f %.6f %.6f", (double)avg_excited[0], (double)avg_excited[1], (double)avg_excited[2]); + + float scaling[3]; + + /* calculate axis scaling */ + scaling[0] = fabsf(1.16f / avg_excited[0]); + /* second axis inverted */ + scaling[1] = fabsf(1.16f / -avg_excited[1]); + scaling[2] = fabsf(1.08f / avg_excited[2]); + + warnx("axes scaling: %.6f %.6f %.6f", (double)scaling[0], (double)scaling[1], (double)scaling[2]); + + /* set back to normal mode */ + /* Set to 1.1 Gauss */ + if (OK != ::ioctl(fd, MAGIOCSRANGE, 1)) { + warnx("failed to set 1.1 Ga range"); + goto out; + } + + if (OK != ::ioctl(fd, MAGIOCEXSTRAP, 0)) { + warnx("failed to disable sensor calibration mode"); + goto out; + } + + /* set scaling in device */ + mscale_previous.x_scale = scaling[0]; + mscale_previous.y_scale = scaling[1]; + mscale_previous.z_scale = scaling[2]; + + if (OK != ioctl(filp, MAGIOCSSCALE, (long unsigned int)&mscale_previous)) { + warn("WARNING: failed to set new scale / offsets for mag"); + goto out; + } + + ret = OK; + +out: + + if (ret == OK) { + if (!check_scale()) { + warnx("mag scale calibration successfully finished."); + } else { + warnx("mag scale calibration finished with invalid results."); + ret = ERROR; + } + + } else { + warnx("mag scale calibration failed."); + } + + return ret; +} + +int HMC5883::check_scale() +{ + bool scale_valid; + + if ((-FLT_EPSILON + 1.0f < _scale.x_scale && _scale.x_scale < FLT_EPSILON + 1.0f) && + (-FLT_EPSILON + 1.0f < _scale.y_scale && _scale.y_scale < FLT_EPSILON + 1.0f) && + (-FLT_EPSILON + 1.0f < _scale.z_scale && _scale.z_scale < FLT_EPSILON + 1.0f)) { + /* scale is one */ + scale_valid = false; + } else { + scale_valid = true; + } + + /* return 0 if calibrated, 1 else */ + return !scale_valid; +} + +int HMC5883::check_offset() +{ + bool offset_valid; + + if ((-2.0f * FLT_EPSILON < _scale.x_offset && _scale.x_offset < 2.0f * FLT_EPSILON) && + (-2.0f * FLT_EPSILON < _scale.y_offset && _scale.y_offset < 2.0f * FLT_EPSILON) && + (-2.0f * FLT_EPSILON < _scale.z_offset && _scale.z_offset < 2.0f * FLT_EPSILON)) { + /* offset is zero */ + offset_valid = false; + } else { + offset_valid = true; + } + + /* return 0 if calibrated, 1 else */ + return !offset_valid; +} + +int HMC5883::check_calibration() +{ + bool offset_valid = (check_offset() == OK); + bool scale_valid = (check_scale() == OK); + + if (_calibrated != (offset_valid && scale_valid)) { + warnx("mag cal status changed %s%s", (scale_valid) ? "" : "scale invalid ", + (offset_valid) ? "" : "offset invalid"); + _calibrated = (offset_valid && scale_valid); + + + // XXX Change advertisement + + /* notify about state change */ + struct subsystem_info_s info = { + true, + true, + _calibrated, + SUBSYSTEM_TYPE_MAG}; + static orb_advert_t pub = -1; + + if (pub > 0) { + orb_publish(ORB_ID(subsystem_info), pub, &info); + } else { + pub = orb_advertise(ORB_ID(subsystem_info), &info); + } + } + + /* return 0 if calibrated, 1 else */ + return (!_calibrated); +} + +int HMC5883::set_excitement(unsigned enable) +{ + int ret; + /* arm the excitement strap */ + uint8_t conf_reg; + ret = read_reg(ADDR_CONF_A, conf_reg); + + if (OK != ret) + perf_count(_comms_errors); + + if (((int)enable) < 0) { + conf_reg |= 0x01; + + } else if (enable > 0) { + conf_reg |= 0x02; + + } else { + conf_reg &= ~0x03; + } + + ret = write_reg(ADDR_CONF_A, conf_reg); + + if (OK != ret) + perf_count(_comms_errors); + + uint8_t conf_reg_ret; + read_reg(ADDR_CONF_A, conf_reg_ret); + + return !(conf_reg == conf_reg_ret); +} + +int +HMC5883::write_reg(uint8_t reg, uint8_t val) +{ + uint8_t cmd[] = { reg, val }; + + return transfer(&cmd[0], 2, nullptr, 0); +} + +int +HMC5883::read_reg(uint8_t reg, uint8_t &val) +{ + return transfer(®, 1, &val, 1); +} + +float +HMC5883::meas_to_float(uint8_t in[2]) +{ + union { + uint8_t b[2]; + int16_t w; + } u; + + u.b[0] = in[1]; + u.b[1] = in[0]; + + return (float) u.w; +} + +void +HMC5883::print_info() +{ + perf_print_counter(_sample_perf); + perf_print_counter(_comms_errors); + perf_print_counter(_buffer_overflows); + printf("poll interval: %u ticks\n", _measure_ticks); + printf("report queue: %u (%u/%u @ %p)\n", + _num_reports, _oldest_report, _next_report, _reports); +} + +/** + * Local functions in support of the shell command. + */ +namespace hmc5883 +{ + +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +const int ERROR = -1; + +HMC5883 *g_dev; + +void start(); +void test(); +void reset(); +void info(); +int calibrate(); + +/** + * Start the driver. + */ +void +start() +{ + int fd; + + if (g_dev != nullptr) + errx(1, "already started"); + + /* create the driver */ + g_dev = new HMC5883(HMC5883L_BUS); + + if (g_dev == nullptr) + goto fail; + + if (OK != g_dev->init()) + goto fail; + + /* set the poll rate to default, starts automatic data collection */ + fd = open(MAG_DEVICE_PATH, O_RDONLY); + + if (fd < 0) + goto fail; + + if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) + goto fail; + + exit(0); + +fail: + + if (g_dev != nullptr) { + delete g_dev; + g_dev = nullptr; + } + + errx(1, "driver start failed"); +} + +/** + * Perform some basic functional tests on the driver; + * make sure we can collect data from the sensor in polled + * and automatic modes. + */ +void +test() +{ + struct mag_report report; + ssize_t sz; + int ret; + + int fd = open(MAG_DEVICE_PATH, O_RDONLY); + + if (fd < 0) + err(1, "%s open failed (try 'hmc5883 start' if the driver is not running", MAG_DEVICE_PATH); + + /* do a simple demand read */ + sz = read(fd, &report, sizeof(report)); + + if (sz != sizeof(report)) + err(1, "immediate read failed"); + + warnx("single read"); + warnx("measurement: %.6f %.6f %.6f", (double)report.x, (double)report.y, (double)report.z); + warnx("time: %lld", report.timestamp); + + /* set the queue depth to 10 */ + if (OK != ioctl(fd, SENSORIOCSQUEUEDEPTH, 10)) + errx(1, "failed to set queue depth"); + + /* start the sensor polling at 2Hz */ + if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) + errx(1, "failed to set 2Hz poll rate"); + + /* read the sensor 5x and report each value */ + for (unsigned i = 0; i < 5; i++) { + struct pollfd fds; + + /* wait for data to be ready */ + fds.fd = fd; + fds.events = POLLIN; + ret = poll(&fds, 1, 2000); + + if (ret != 1) + errx(1, "timed out waiting for sensor data"); + + /* now go get it */ + sz = read(fd, &report, sizeof(report)); + + if (sz != sizeof(report)) + err(1, "periodic read failed"); + + warnx("periodic read %u", i); + warnx("measurement: %.6f %.6f %.6f", (double)report.x, (double)report.y, (double)report.z); + warnx("time: %lld", report.timestamp); + } + + errx(0, "PASS"); +} + + +/** + * Automatic scale calibration. + * + * Basic idea: + * + * output = (ext field +- 1.1 Ga self-test) * scale factor + * + * and consequently: + * + * 1.1 Ga = (excited - normal) * scale factor + * scale factor = (excited - normal) / 1.1 Ga + * + * sxy = (excited - normal) / 766 | for conf reg. B set to 0x60 / Gain = 3 + * sz = (excited - normal) / 713 | for conf reg. B set to 0x60 / Gain = 3 + * + * By subtracting the non-excited measurement the pure 1.1 Ga reading + * can be extracted and the sensitivity of all axes can be matched. + * + * SELF TEST OPERATION + * To check the HMC5883L for proper operation, a self test feature in incorporated + * in which the sensor offset straps are excited to create a nominal field strength + * (bias field) to be measured. To implement self test, the least significant bits + * (MS1 and MS0) of configuration register A are changed from 00 to 01 (positive bias) + * or 10 (negetive bias), e.g. 0x11 or 0x12. + * Then, by placing the mode register into single-measurement mode (0x01), + * two data acquisition cycles will be made on each magnetic vector. + * The first acquisition will be a set pulse followed shortly by measurement + * data of the external field. The second acquisition will have the offset strap + * excited (about 10 mA) in the positive bias mode for X, Y, and Z axes to create + * about a ±1.1 gauss self test field plus the external field. The first acquisition + * values will be subtracted from the second acquisition, and the net measurement + * will be placed into the data output registers. + * Since self test adds ~1.1 Gauss additional field to the existing field strength, + * using a reduced gain setting prevents sensor from being saturated and data registers + * overflowed. For example, if the configuration register B is set to 0x60 (Gain=3), + * values around +766 LSB (1.16 Ga * 660 LSB/Ga) will be placed in the X and Y data + * output registers and around +713 (1.08 Ga * 660 LSB/Ga) will be placed in Z data + * output register. To leave the self test mode, change MS1 and MS0 bit of the + * configuration register A back to 00 (Normal Measurement Mode), e.g. 0x10. + * Using the self test method described above, the user can scale sensor + */ +int calibrate() +{ + int ret; + + int fd = open(MAG_DEVICE_PATH, O_RDONLY); + + if (fd < 0) + err(1, "%s open failed (try 'hmc5883 start' if the driver is not running", MAG_DEVICE_PATH); + + if (OK != (ret = ioctl(fd, MAGIOCCALIBRATE, fd))) { + warnx("failed to enable sensor calibration mode"); + } + + close(fd); + + if (ret == OK) { + errx(0, "PASS"); + + } else { + errx(1, "FAIL"); + } +} + +/** + * Reset the driver. + */ +void +reset() +{ + int fd = open(MAG_DEVICE_PATH, O_RDONLY); + + if (fd < 0) + err(1, "failed "); + + if (ioctl(fd, SENSORIOCRESET, 0) < 0) + err(1, "driver reset failed"); + + if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) + err(1, "driver poll restart failed"); + + exit(0); +} + +/** + * Print a little info about the driver. + */ +void +info() +{ + if (g_dev == nullptr) + errx(1, "driver not running"); + + printf("state @ %p\n", g_dev); + g_dev->print_info(); + + exit(0); +} + +} // namespace + +int +hmc5883_main(int argc, char *argv[]) +{ + /* + * Start/load the driver. + */ + if (!strcmp(argv[1], "start")) + hmc5883::start(); + + /* + * Test the driver/device. + */ + if (!strcmp(argv[1], "test")) + hmc5883::test(); + + /* + * Reset the driver. + */ + if (!strcmp(argv[1], "reset")) + hmc5883::reset(); + + /* + * Print driver information. + */ + if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) + hmc5883::info(); + + /* + * Autocalibrate the scaling + */ + if (!strcmp(argv[1], "calibrate")) { + if (hmc5883::calibrate() == 0) { + errx(0, "calibration successful"); + + } else { + errx(1, "calibration failed"); + } + } + + errx(1, "unrecognized command, try 'start', 'test', 'reset' 'calibrate' or 'info'"); +} diff --git a/src/drivers/hmc5883/module.mk b/src/drivers/hmc5883/module.mk new file mode 100644 index 000000000..07377556d --- /dev/null +++ b/src/drivers/hmc5883/module.mk @@ -0,0 +1,43 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# HMC5883 driver +# + +MODULE_COMMAND = hmc5883 + +# XXX seems excessive, check if 2048 is sufficient +MODULE_STACKSIZE = 4096 + +SRCS = hmc5883.cpp diff --git a/src/drivers/hott_telemetry/hott_telemetry_main.c b/src/drivers/hott_telemetry/hott_telemetry_main.c new file mode 100644 index 000000000..a13a6ef58 --- /dev/null +++ b/src/drivers/hott_telemetry/hott_telemetry_main.c @@ -0,0 +1,306 @@ +/**************************************************************************** + * + * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. + * Author: Simon Wilks + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file hott_telemetry_main.c + * @author Simon Wilks + * + * Graupner HoTT Telemetry implementation. + * + * The HoTT receiver polls each device at a regular interval at which point + * a data packet can be returned if necessary. + * + * TODO: Add support for at least the vario and GPS sensor data. + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "messages.h" + +static int thread_should_exit = false; /**< Deamon exit flag */ +static int thread_running = false; /**< Deamon status flag */ +static int deamon_task; /**< Handle of deamon task / thread */ +static char *daemon_name = "hott_telemetry"; +static char *commandline_usage = "usage: hott_telemetry start|status|stop [-d ]"; + + +/* A little console messaging experiment - console helper macro */ +#define FATAL_MSG(_msg) fprintf(stderr, "[%s] %s\n", daemon_name, _msg); exit(1); +#define ERROR_MSG(_msg) fprintf(stderr, "[%s] %s\n", daemon_name, _msg); +#define INFO_MSG(_msg) printf("[%s] %s\n", daemon_name, _msg); +/** + * Deamon management function. + */ +__EXPORT int hott_telemetry_main(int argc, char *argv[]); + +/** + * Mainloop of deamon. + */ +int hott_telemetry_thread_main(int argc, char *argv[]); + +static int read_data(int uart, int *id); +static int send_data(int uart, uint8_t *buffer, int size); + +static int open_uart(const char *device, struct termios *uart_config_original) +{ + /* baud rate */ + int speed = B19200; + int uart; + + /* open uart */ + uart = open(device, O_RDWR | O_NOCTTY); + + if (uart < 0) { + char msg[80]; + sprintf(msg, "Error opening port: %s\n", device); + FATAL_MSG(msg); + } + + /* Try to set baud rate */ + struct termios uart_config; + int termios_state; + + /* Back up the original uart configuration to restore it after exit */ + char msg[80]; + + if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) { + sprintf(msg, "Error getting baudrate / termios config for %s: %d\n", device, termios_state); + close(uart); + FATAL_MSG(msg); + } + + /* Fill the struct for the new configuration */ + tcgetattr(uart, &uart_config); + + /* Clear ONLCR flag (which appends a CR for every LF) */ + uart_config.c_oflag &= ~ONLCR; + + /* Set baud rate */ + if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) { + sprintf(msg, "Error setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", + device, termios_state); + close(uart); + FATAL_MSG(msg); + } + + if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) { + sprintf(msg, "Error setting baudrate / termios config for %s (tcsetattr)\n", device); + close(uart); + FATAL_MSG(msg); + } + + /* Activate single wire mode */ + ioctl(uart, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED); + + return uart; +} + +int read_data(int uart, int *id) +{ + const int timeout = 1000; + struct pollfd fds[] = { { .fd = uart, .events = POLLIN } }; + + char mode; + + if (poll(fds, 1, timeout) > 0) { + /* Get the mode: binary or text */ + read(uart, &mode, 1); + /* Read the device ID being polled */ + read(uart, id, 1); + + /* if we have a binary mode request */ + if (mode != BINARY_MODE_REQUEST_ID) { + return ERROR; + } + + } else { + ERROR_MSG("UART timeout on TX/RX port"); + return ERROR; + } + + return OK; +} + +int send_data(int uart, uint8_t *buffer, int size) +{ + usleep(POST_READ_DELAY_IN_USECS); + + uint16_t checksum = 0; + + for (int i = 0; i < size; i++) { + if (i == size - 1) { + /* Set the checksum: the first uint8_t is taken as the checksum. */ + buffer[i] = checksum & 0xff; + + } else { + checksum += buffer[i]; + } + + write(uart, &buffer[i], 1); + + /* Sleep before sending the next byte. */ + usleep(POST_WRITE_DELAY_IN_USECS); + } + + /* A hack the reads out what was written so the next read from the receiver doesn't get it. */ + /* TODO: Fix this!! */ + uint8_t dummy[size]; + read(uart, &dummy, size); + + return OK; +} + +int hott_telemetry_thread_main(int argc, char *argv[]) +{ + INFO_MSG("starting"); + + thread_running = true; + + char *device = "/dev/ttyS1"; /**< Default telemetry port: USART2 */ + + /* read commandline arguments */ + for (int i = 0; i < argc && argv[i]; i++) { + if (strcmp(argv[i], "-d") == 0 || strcmp(argv[i], "--device") == 0) { //device set + if (argc > i + 1) { + device = argv[i + 1]; + + } else { + thread_running = false; + ERROR_MSG("missing parameter to -d"); + ERROR_MSG(commandline_usage); + exit(1); + } + } + } + + /* enable UART, writes potentially an empty buffer, but multiplexing is disabled */ + struct termios uart_config_original; + int uart = open_uart(device, &uart_config_original); + + if (uart < 0) { + ERROR_MSG("Failed opening HoTT UART, exiting."); + thread_running = false; + exit(ERROR); + } + + messages_init(); + + uint8_t buffer[MESSAGE_BUFFER_SIZE]; + int size = 0; + int id = 0; + + while (!thread_should_exit) { + if (read_data(uart, &id) == OK) { + switch (id) { + case ELECTRIC_AIR_MODULE: + build_eam_response(buffer, &size); + break; + + default: + continue; // Not a module we support. + } + + send_data(uart, buffer, size); + } + } + + INFO_MSG("exiting"); + + close(uart); + + thread_running = false; + + return 0; +} + +/** + * Process command line arguments and tart the daemon. + */ +int hott_telemetry_main(int argc, char *argv[]) +{ + if (argc < 1) { + ERROR_MSG("missing command"); + ERROR_MSG(commandline_usage); + exit(1); + } + + if (!strcmp(argv[1], "start")) { + + if (thread_running) { + INFO_MSG("deamon already running"); + exit(0); + } + + thread_should_exit = false; + deamon_task = task_spawn("hott_telemetry", + SCHED_DEFAULT, + SCHED_PRIORITY_MAX - 40, + 2048, + hott_telemetry_thread_main, + (argv) ? (const char **)&argv[2] : (const char **)NULL); + exit(0); + } + + if (!strcmp(argv[1], "stop")) { + thread_should_exit = true; + exit(0); + } + + if (!strcmp(argv[1], "status")) { + if (thread_running) { + INFO_MSG("daemon is running"); + + } else { + INFO_MSG("daemon not started"); + } + + exit(0); + } + + ERROR_MSG("unrecognized command"); + ERROR_MSG(commandline_usage); + exit(1); +} + + + diff --git a/src/drivers/hott_telemetry/messages.c b/src/drivers/hott_telemetry/messages.c new file mode 100644 index 000000000..5fbee16ce --- /dev/null +++ b/src/drivers/hott_telemetry/messages.c @@ -0,0 +1,87 @@ +/**************************************************************************** + * + * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. + * Author: Simon Wilks + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file messages.c + * @author Simon Wilks + */ + +#include "messages.h" + +#include +#include +#include +#include +#include + +static int battery_sub = -1; +static int sensor_sub = -1; + +void messages_init(void) +{ + battery_sub = orb_subscribe(ORB_ID(battery_status)); + sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); +} + +void build_eam_response(uint8_t *buffer, int *size) +{ + /* get a local copy of the current sensor values */ + struct sensor_combined_s raw; + memset(&raw, 0, sizeof(raw)); + orb_copy(ORB_ID(sensor_combined), sensor_sub, &raw); + + /* get a local copy of the battery data */ + struct battery_status_s battery; + memset(&battery, 0, sizeof(battery)); + orb_copy(ORB_ID(battery_status), battery_sub, &battery); + + struct eam_module_msg msg; + *size = sizeof(msg); + memset(&msg, 0, *size); + + msg.start = START_BYTE; + msg.eam_sensor_id = ELECTRIC_AIR_MODULE; + msg.sensor_id = EAM_SENSOR_ID; + msg.temperature1 = (uint8_t)(raw.baro_temp_celcius + 20); + msg.temperature2 = TEMP_ZERO_CELSIUS; + msg.main_voltage_L = (uint8_t)(battery.voltage_v * 10); + + uint16_t alt = (uint16_t)(raw.baro_alt_meter + 500); + msg.altitude_L = (uint8_t)alt & 0xff; + msg.altitude_H = (uint8_t)(alt >> 8) & 0xff; + + msg.stop = STOP_BYTE; + + memcpy(buffer, &msg, *size); +} \ No newline at end of file diff --git a/src/drivers/hott_telemetry/messages.h b/src/drivers/hott_telemetry/messages.h new file mode 100644 index 000000000..dd38075fa --- /dev/null +++ b/src/drivers/hott_telemetry/messages.h @@ -0,0 +1,124 @@ +/**************************************************************************** + * + * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. + * Author: Simon Wilks + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file messages.h + * @author Simon Wilks + * + * Graupner HoTT Telemetry message generation. + * + */ +#ifndef MESSAGES_H_ +#define MESSAGES_H + +#include + +/* The buffer size used to store messages. This must be at least as big as the number of + * fields in the largest message struct. + */ +#define MESSAGE_BUFFER_SIZE 50 + +/* The HoTT receiver demands a minimum 5ms period of silence after delivering its request. + * Note that the value specified here is lower than 5000 (5ms) as time is lost constucting + * the message after the read which takes some milliseconds. + */ +#define POST_READ_DELAY_IN_USECS 4000 +/* A pause of 3ms is required between each uint8_t sent back to the HoTT receiver. Much lower + * values can be used in practise though. + */ +#define POST_WRITE_DELAY_IN_USECS 2000 + +// Protocol constants. +#define BINARY_MODE_REQUEST_ID 0x80 // Binary mode request. +#define START_BYTE 0x7c +#define STOP_BYTE 0x7d +#define TEMP_ZERO_CELSIUS 0x14 + +/* Electric Air Module (EAM) constants. */ +#define ELECTRIC_AIR_MODULE 0x8e +#define EAM_SENSOR_ID 0xe0 + +/* The Electric Air Module message. */ +struct eam_module_msg { + uint8_t start; /**< Start byte */ + uint8_t eam_sensor_id; /**< EAM sensor ID */ + uint8_t warning; + uint8_t sensor_id; /**< Sensor ID, why different? */ + uint8_t alarm_inverse1; + uint8_t alarm_inverse2; + uint8_t cell1_L; /**< Lipo cell voltages. Not supported. */ + uint8_t cell2_L; + uint8_t cell3_L; + uint8_t cell4_L; + uint8_t cell5_L; + uint8_t cell6_L; + uint8_t cell7_L; + uint8_t cell1_H; + uint8_t cell2_H; + uint8_t cell3_H; + uint8_t cell4_H; + uint8_t cell5_H; + uint8_t cell6_H; + uint8_t cell7_H; + uint8_t batt1_voltage_L; /**< Battery 1 voltage, lower 8-bits in steps of 0.02V */ + uint8_t batt1_voltage_H; + uint8_t batt2_voltage_L; /**< Battery 2 voltage, lower 8-bits in steps of 0.02V */ + uint8_t batt2_voltage_H; + uint8_t temperature1; /**< Temperature sensor 1. 20 = 0 degrees */ + uint8_t temperature2; + uint8_t altitude_L; /**< Attitude (meters) lower 8-bits. 500 = 0 meters */ + uint8_t altitude_H; + uint8_t current_L; /**< Current (mAh) lower 8-bits in steps of 0.1V */ + uint8_t current_H; + uint8_t main_voltage_L; /**< Main power voltage lower 8-bits in steps of 0.1V */ + uint8_t main_voltage_H; + uint8_t battery_capacity_L; /**< Used battery capacity in steps of 10mAh */ + uint8_t battery_capacity_H; + uint8_t climbrate_L; /**< Climb rate in 0.01m/s. 0m/s = 30000 */ + uint8_t climbrate_H; + uint8_t climbrate_3s; /**< Climb rate in m/3sec. 0m/3sec = 120 */ + uint8_t rpm_L; /**< RPM Lower 8-bits In steps of 10 U/min */ + uint8_t rpm_H; + uint8_t electric_min; /**< Flight time in minutes. */ + uint8_t electric_sec; /**< Flight time in seconds. */ + uint8_t speed_L; /**< Airspeed in km/h in steps of 1 km/h */ + uint8_t speed_H; + uint8_t stop; /**< Stop byte */ + uint8_t checksum; /**< Lower 8-bits of all bytes summed. */ +}; + +void messages_init(void); +void build_eam_response(uint8_t *buffer, int *size); + +#endif /* MESSAGES_H_ */ diff --git a/src/drivers/hott_telemetry/module.mk b/src/drivers/hott_telemetry/module.mk new file mode 100644 index 000000000..def1d59e9 --- /dev/null +++ b/src/drivers/hott_telemetry/module.mk @@ -0,0 +1,41 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# Graupner HoTT Telemetry application. +# + +MODULE_COMMAND = hott_telemetry + +SRCS = hott_telemetry_main.c \ + messages.c diff --git a/src/drivers/mb12xx/mb12xx.cpp b/src/drivers/mb12xx/mb12xx.cpp new file mode 100644 index 000000000..397686e8b --- /dev/null +++ b/src/drivers/mb12xx/mb12xx.cpp @@ -0,0 +1,840 @@ +/**************************************************************************** + * + * Copyright (c) 2013 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file mb12xx.cpp + * @author Greg Hulands + * + * Driver for the Maxbotix sonar range finders connected via I2C. + */ + +#include + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#include + +#include +#include + +#include +#include + +#include +#include + +/* Configuration Constants */ +#define MB12XX_BUS PX4_I2C_BUS_EXPANSION +#define MB12XX_BASEADDR 0x70 /* 7-bit address. 8-bit address is 0xE0 */ + +/* MB12xx Registers addresses */ + +#define MB12XX_TAKE_RANGE_REG 0x51 /* Measure range Register */ +#define MB12XX_SET_ADDRESS_1 0xAA /* Change address 1 Register */ +#define MB12XX_SET_ADDRESS_2 0xA5 /* Change address 2 Register */ + +/* Device limits */ +#define MB12XX_MIN_DISTANCE (0.20f) +#define MB12XX_MAX_DISTANCE (7.65f) + +#define MB12XX_CONVERSION_INTERVAL 60000 /* 60ms */ + +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +static const int ERROR = -1; + +#ifndef CONFIG_SCHED_WORKQUEUE +# error This requires CONFIG_SCHED_WORKQUEUE. +#endif + +class MB12XX : public device::I2C +{ +public: + MB12XX(int bus = MB12XX_BUS, int address = MB12XX_BASEADDR); + virtual ~MB12XX(); + + virtual int init(); + + virtual ssize_t read(struct file *filp, char *buffer, size_t buflen); + virtual int ioctl(struct file *filp, int cmd, unsigned long arg); + + /** + * Diagnostics - print some basic information about the driver. + */ + void print_info(); + +protected: + virtual int probe(); + +private: + float _min_distance; + float _max_distance; + work_s _work; + unsigned _num_reports; + volatile unsigned _next_report; + volatile unsigned _oldest_report; + range_finder_report *_reports; + bool _sensor_ok; + int _measure_ticks; + bool _collect_phase; + + orb_advert_t _range_finder_topic; + + perf_counter_t _sample_perf; + perf_counter_t _comms_errors; + perf_counter_t _buffer_overflows; + + /** + * Test whether the device supported by the driver is present at a + * specific address. + * + * @param address The I2C bus address to probe. + * @return True if the device is present. + */ + int probe_address(uint8_t address); + + /** + * Initialise the automatic measurement state machine and start it. + * + * @note This function is called at open and error time. It might make sense + * to make it more aggressive about resetting the bus in case of errors. + */ + void start(); + + /** + * Stop the automatic measurement state machine. + */ + void stop(); + + /** + * Set the min and max distance thresholds if you want the end points of the sensors + * range to be brought in at all, otherwise it will use the defaults MB12XX_MIN_DISTANCE + * and MB12XX_MAX_DISTANCE + */ + void set_minimum_distance(float min); + void set_maximum_distance(float max); + float get_minimum_distance(); + float get_maximum_distance(); + + /** + * Perform a poll cycle; collect from the previous measurement + * and start a new one. + */ + void cycle(); + int measure(); + int collect(); + /** + * Static trampoline from the workq context; because we don't have a + * generic workq wrapper yet. + * + * @param arg Instance pointer for the driver that is polling. + */ + static void cycle_trampoline(void *arg); + + +}; + +/* helper macro for handling report buffer indices */ +#define INCREMENT(_x, _lim) do { _x++; if (_x >= _lim) _x = 0; } while(0) + +/* + * Driver 'main' command. + */ +extern "C" __EXPORT int mb12xx_main(int argc, char *argv[]); + +MB12XX::MB12XX(int bus, int address) : + I2C("MB12xx", RANGE_FINDER_DEVICE_PATH, bus, address, 100000), + _min_distance(MB12XX_MIN_DISTANCE), + _max_distance(MB12XX_MAX_DISTANCE), + _num_reports(0), + _next_report(0), + _oldest_report(0), + _reports(nullptr), + _sensor_ok(false), + _measure_ticks(0), + _collect_phase(false), + _range_finder_topic(-1), + _sample_perf(perf_alloc(PC_ELAPSED, "mb12xx_read")), + _comms_errors(perf_alloc(PC_COUNT, "mb12xx_comms_errors")), + _buffer_overflows(perf_alloc(PC_COUNT, "mb12xx_buffer_overflows")) +{ + // enable debug() calls + _debug_enabled = true; + + // work_cancel in the dtor will explode if we don't do this... + memset(&_work, 0, sizeof(_work)); +} + +MB12XX::~MB12XX() +{ + /* make sure we are truly inactive */ + stop(); + + /* free any existing reports */ + if (_reports != nullptr) + delete[] _reports; +} + +int +MB12XX::init() +{ + int ret = ERROR; + + /* do I2C init (and probe) first */ + if (I2C::init() != OK) + goto out; + + /* allocate basic report buffers */ + _num_reports = 2; + _reports = new struct range_finder_report[_num_reports]; + + if (_reports == nullptr) + goto out; + + _oldest_report = _next_report = 0; + + /* get a publish handle on the range finder topic */ + memset(&_reports[0], 0, sizeof(_reports[0])); + _range_finder_topic = orb_advertise(ORB_ID(sensor_range_finder), &_reports[0]); + + if (_range_finder_topic < 0) + debug("failed to create sensor_range_finder object. Did you start uOrb?"); + + ret = OK; + /* sensor is ok, but we don't really know if it is within range */ + _sensor_ok = true; +out: + return ret; +} + +int +MB12XX::probe() +{ + return measure(); +} + +void +MB12XX::set_minimum_distance(float min) +{ + _min_distance = min; +} + +void +MB12XX::set_maximum_distance(float max) +{ + _max_distance = max; +} + +float +MB12XX::get_minimum_distance() +{ + return _min_distance; +} + +float +MB12XX::get_maximum_distance() +{ + return _max_distance; +} + +int +MB12XX::ioctl(struct file *filp, int cmd, unsigned long arg) +{ + switch (cmd) { + + case SENSORIOCSPOLLRATE: { + switch (arg) { + + /* switching to manual polling */ + case SENSOR_POLLRATE_MANUAL: + stop(); + _measure_ticks = 0; + return OK; + + /* external signalling (DRDY) not supported */ + case SENSOR_POLLRATE_EXTERNAL: + + /* zero would be bad */ + case 0: + return -EINVAL; + + /* set default/max polling rate */ + case SENSOR_POLLRATE_MAX: + case SENSOR_POLLRATE_DEFAULT: { + /* do we need to start internal polling? */ + bool want_start = (_measure_ticks == 0); + + /* set interval for next measurement to minimum legal value */ + _measure_ticks = USEC2TICK(MB12XX_CONVERSION_INTERVAL); + + /* if we need to start the poll state machine, do it */ + if (want_start) + start(); + + return OK; + } + + /* adjust to a legal polling interval in Hz */ + default: { + /* do we need to start internal polling? */ + bool want_start = (_measure_ticks == 0); + + /* convert hz to tick interval via microseconds */ + unsigned ticks = USEC2TICK(1000000 / arg); + + /* check against maximum rate */ + if (ticks < USEC2TICK(MB12XX_CONVERSION_INTERVAL)) + return -EINVAL; + + /* update interval for next measurement */ + _measure_ticks = ticks; + + /* if we need to start the poll state machine, do it */ + if (want_start) + start(); + + return OK; + } + } + } + + case SENSORIOCGPOLLRATE: + if (_measure_ticks == 0) + return SENSOR_POLLRATE_MANUAL; + + return (1000 / _measure_ticks); + + case SENSORIOCSQUEUEDEPTH: { + /* add one to account for the sentinel in the ring */ + arg++; + + /* lower bound is mandatory, upper bound is a sanity check */ + if ((arg < 2) || (arg > 100)) + return -EINVAL; + + /* allocate new buffer */ + struct range_finder_report *buf = new struct range_finder_report[arg]; + + if (nullptr == buf) + return -ENOMEM; + + /* reset the measurement state machine with the new buffer, free the old */ + stop(); + delete[] _reports; + _num_reports = arg; + _reports = buf; + start(); + + return OK; + } + + case SENSORIOCGQUEUEDEPTH: + return _num_reports - 1; + + case SENSORIOCRESET: + /* XXX implement this */ + return -EINVAL; + + case RANGEFINDERIOCSETMINIUMDISTANCE: + { + set_minimum_distance(*(float *)arg); + return 0; + } + break; + case RANGEFINDERIOCSETMAXIUMDISTANCE: + { + set_maximum_distance(*(float *)arg); + return 0; + } + break; + default: + /* give it to the superclass */ + return I2C::ioctl(filp, cmd, arg); + } +} + +ssize_t +MB12XX::read(struct file *filp, char *buffer, size_t buflen) +{ + unsigned count = buflen / sizeof(struct range_finder_report); + int ret = 0; + + /* buffer must be large enough */ + if (count < 1) + return -ENOSPC; + + /* if automatic measurement is enabled */ + if (_measure_ticks > 0) { + + /* + * While there is space in the caller's buffer, and reports, copy them. + * Note that we may be pre-empted by the workq thread while we are doing this; + * we are careful to avoid racing with them. + */ + while (count--) { + if (_oldest_report != _next_report) { + memcpy(buffer, _reports + _oldest_report, sizeof(*_reports)); + ret += sizeof(_reports[0]); + INCREMENT(_oldest_report, _num_reports); + } + } + + /* if there was no data, warn the caller */ + return ret ? ret : -EAGAIN; + } + + /* manual measurement - run one conversion */ + /* XXX really it'd be nice to lock against other readers here */ + do { + _oldest_report = _next_report = 0; + + /* trigger a measurement */ + if (OK != measure()) { + ret = -EIO; + break; + } + + /* wait for it to complete */ + usleep(MB12XX_CONVERSION_INTERVAL); + + /* run the collection phase */ + if (OK != collect()) { + ret = -EIO; + break; + } + + /* state machine will have generated a report, copy it out */ + memcpy(buffer, _reports, sizeof(*_reports)); + ret = sizeof(*_reports); + + } while (0); + + return ret; +} + +int +MB12XX::measure() +{ + int ret; + + /* + * Send the command to begin a measurement. + */ + uint8_t cmd = MB12XX_TAKE_RANGE_REG; + ret = transfer(&cmd, 1, nullptr, 0); + + if (OK != ret) + { + perf_count(_comms_errors); + log("i2c::transfer returned %d", ret); + return ret; + } + ret = OK; + + return ret; +} + +int +MB12XX::collect() +{ + int ret = -EIO; + + /* read from the sensor */ + uint8_t val[2] = {0, 0}; + + perf_begin(_sample_perf); + + ret = transfer(nullptr, 0, &val[0], 2); + + if (ret < 0) + { + log("error reading from sensor: %d", ret); + return ret; + } + + uint16_t distance = val[0] << 8 | val[1]; + float si_units = (distance * 1.0f)/ 100.0f; /* cm to m */ + /* this should be fairly close to the end of the measurement, so the best approximation of the time */ + _reports[_next_report].timestamp = hrt_absolute_time(); + _reports[_next_report].distance = si_units; + _reports[_next_report].valid = si_units > get_minimum_distance() && si_units < get_maximum_distance() ? 1 : 0; + + /* publish it */ + orb_publish(ORB_ID(sensor_range_finder), _range_finder_topic, &_reports[_next_report]); + + /* post a report to the ring - note, not locked */ + INCREMENT(_next_report, _num_reports); + + /* if we are running up against the oldest report, toss it */ + if (_next_report == _oldest_report) { + perf_count(_buffer_overflows); + INCREMENT(_oldest_report, _num_reports); + } + + /* notify anyone waiting for data */ + poll_notify(POLLIN); + + ret = OK; + +out: + perf_end(_sample_perf); + return ret; + + return ret; +} + +void +MB12XX::start() +{ + /* reset the report ring and state machine */ + _collect_phase = false; + _oldest_report = _next_report = 0; + + /* schedule a cycle to start things */ + work_queue(HPWORK, &_work, (worker_t)&MB12XX::cycle_trampoline, this, 1); + + /* notify about state change */ + struct subsystem_info_s info = { + true, + true, + true, + SUBSYSTEM_TYPE_RANGEFINDER}; + static orb_advert_t pub = -1; + + if (pub > 0) { + orb_publish(ORB_ID(subsystem_info), pub, &info); + } else { + pub = orb_advertise(ORB_ID(subsystem_info), &info); + } +} + +void +MB12XX::stop() +{ + work_cancel(HPWORK, &_work); +} + +void +MB12XX::cycle_trampoline(void *arg) +{ + MB12XX *dev = (MB12XX *)arg; + + dev->cycle(); +} + +void +MB12XX::cycle() +{ + /* collection phase? */ + if (_collect_phase) { + + /* perform collection */ + if (OK != collect()) { + log("collection error"); + /* restart the measurement state machine */ + start(); + return; + } + + /* next phase is measurement */ + _collect_phase = false; + + /* + * Is there a collect->measure gap? + */ + if (_measure_ticks > USEC2TICK(MB12XX_CONVERSION_INTERVAL)) { + + /* schedule a fresh cycle call when we are ready to measure again */ + work_queue(HPWORK, + &_work, + (worker_t)&MB12XX::cycle_trampoline, + this, + _measure_ticks - USEC2TICK(MB12XX_CONVERSION_INTERVAL)); + + return; + } + } + + /* measurement phase */ + if (OK != measure()) + log("measure error"); + + /* next phase is collection */ + _collect_phase = true; + + /* schedule a fresh cycle call when the measurement is done */ + work_queue(HPWORK, + &_work, + (worker_t)&MB12XX::cycle_trampoline, + this, + USEC2TICK(MB12XX_CONVERSION_INTERVAL)); +} + +void +MB12XX::print_info() +{ + perf_print_counter(_sample_perf); + perf_print_counter(_comms_errors); + perf_print_counter(_buffer_overflows); + printf("poll interval: %u ticks\n", _measure_ticks); + printf("report queue: %u (%u/%u @ %p)\n", + _num_reports, _oldest_report, _next_report, _reports); +} + +/** + * Local functions in support of the shell command. + */ +namespace mb12xx +{ + +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +const int ERROR = -1; + +MB12XX *g_dev; + +void start(); +void stop(); +void test(); +void reset(); +void info(); + +/** + * Start the driver. + */ +void +start() +{ + int fd; + + if (g_dev != nullptr) + errx(1, "already started"); + + /* create the driver */ + g_dev = new MB12XX(MB12XX_BUS); + + if (g_dev == nullptr) + goto fail; + + if (OK != g_dev->init()) + goto fail; + + /* set the poll rate to default, starts automatic data collection */ + fd = open(RANGE_FINDER_DEVICE_PATH, O_RDONLY); + + if (fd < 0) + goto fail; + + if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) + goto fail; + + exit(0); + +fail: + + if (g_dev != nullptr) + { + delete g_dev; + g_dev = nullptr; + } + + errx(1, "driver start failed"); +} + +/** + * Stop the driver + */ +void stop() +{ + if (g_dev != nullptr) + { + delete g_dev; + g_dev = nullptr; + } + else + { + errx(1, "driver not running"); + } + exit(0); +} + +/** + * Perform some basic functional tests on the driver; + * make sure we can collect data from the sensor in polled + * and automatic modes. + */ +void +test() +{ + struct range_finder_report report; + ssize_t sz; + int ret; + + int fd = open(RANGE_FINDER_DEVICE_PATH, O_RDONLY); + + if (fd < 0) + err(1, "%s open failed (try 'mb12xx start' if the driver is not running", RANGE_FINDER_DEVICE_PATH); + + /* do a simple demand read */ + sz = read(fd, &report, sizeof(report)); + + if (sz != sizeof(report)) + err(1, "immediate read failed"); + + warnx("single read"); + warnx("measurement: %0.2f m", (double)report.distance); + warnx("time: %lld", report.timestamp); + + /* start the sensor polling at 2Hz */ + if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) + errx(1, "failed to set 2Hz poll rate"); + + /* read the sensor 5x and report each value */ + for (unsigned i = 0; i < 5; i++) { + struct pollfd fds; + + /* wait for data to be ready */ + fds.fd = fd; + fds.events = POLLIN; + ret = poll(&fds, 1, 2000); + + if (ret != 1) + errx(1, "timed out waiting for sensor data"); + + /* now go get it */ + sz = read(fd, &report, sizeof(report)); + + if (sz != sizeof(report)) + err(1, "periodic read failed"); + + warnx("periodic read %u", i); + warnx("measurement: %0.3f", (double)report.distance); + warnx("time: %lld", report.timestamp); + } + + errx(0, "PASS"); +} + +/** + * Reset the driver. + */ +void +reset() +{ + int fd = open(RANGE_FINDER_DEVICE_PATH, O_RDONLY); + + if (fd < 0) + err(1, "failed "); + + if (ioctl(fd, SENSORIOCRESET, 0) < 0) + err(1, "driver reset failed"); + + if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) + err(1, "driver poll restart failed"); + + exit(0); +} + +/** + * Print a little info about the driver. + */ +void +info() +{ + if (g_dev == nullptr) + errx(1, "driver not running"); + + printf("state @ %p\n", g_dev); + g_dev->print_info(); + + exit(0); +} + +} // namespace + +int +mb12xx_main(int argc, char *argv[]) +{ + /* + * Start/load the driver. + */ + if (!strcmp(argv[1], "start")) + mb12xx::start(); + + /* + * Stop the driver + */ + if (!strcmp(argv[1], "stop")) + mb12xx::stop(); + + /* + * Test the driver/device. + */ + if (!strcmp(argv[1], "test")) + mb12xx::test(); + + /* + * Reset the driver. + */ + if (!strcmp(argv[1], "reset")) + mb12xx::reset(); + + /* + * Print driver information. + */ + if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) + mb12xx::info(); + + errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'"); +} diff --git a/src/drivers/mb12xx/module.mk b/src/drivers/mb12xx/module.mk new file mode 100644 index 000000000..4e00ada02 --- /dev/null +++ b/src/drivers/mb12xx/module.mk @@ -0,0 +1,40 @@ +############################################################################ +# +# Copyright (c) 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# Makefile to build the Maxbotix Sonar driver. +# + +MODULE_COMMAND = mb12xx + +SRCS = mb12xx.cpp diff --git a/src/drivers/mpu6000/module.mk b/src/drivers/mpu6000/module.mk new file mode 100644 index 000000000..c7d9cd3ef --- /dev/null +++ b/src/drivers/mpu6000/module.mk @@ -0,0 +1,43 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# Makefile to build the MPU6000 driver. +# + +MODULE_COMMAND = mpu6000 + +# XXX seems excessive, check if 2048 is not sufficient +MODULE_STACKSIZE = 4096 + +SRCS = mpu6000.cpp diff --git a/src/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp new file mode 100644 index 000000000..df1958186 --- /dev/null +++ b/src/drivers/mpu6000/mpu6000.cpp @@ -0,0 +1,1219 @@ +/**************************************************************************** + * + * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file mpu6000.cpp + * + * Driver for the Invensense MPU6000 connected via SPI. + */ + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#include +#include + +#include +#include + +#include +#include +#include + +#define DIR_READ 0x80 +#define DIR_WRITE 0x00 + +// MPU 6000 registers +#define MPUREG_WHOAMI 0x75 +#define MPUREG_SMPLRT_DIV 0x19 +#define MPUREG_CONFIG 0x1A +#define MPUREG_GYRO_CONFIG 0x1B +#define MPUREG_ACCEL_CONFIG 0x1C +#define MPUREG_FIFO_EN 0x23 +#define MPUREG_INT_PIN_CFG 0x37 +#define MPUREG_INT_ENABLE 0x38 +#define MPUREG_INT_STATUS 0x3A +#define MPUREG_ACCEL_XOUT_H 0x3B +#define MPUREG_ACCEL_XOUT_L 0x3C +#define MPUREG_ACCEL_YOUT_H 0x3D +#define MPUREG_ACCEL_YOUT_L 0x3E +#define MPUREG_ACCEL_ZOUT_H 0x3F +#define MPUREG_ACCEL_ZOUT_L 0x40 +#define MPUREG_TEMP_OUT_H 0x41 +#define MPUREG_TEMP_OUT_L 0x42 +#define MPUREG_GYRO_XOUT_H 0x43 +#define MPUREG_GYRO_XOUT_L 0x44 +#define MPUREG_GYRO_YOUT_H 0x45 +#define MPUREG_GYRO_YOUT_L 0x46 +#define MPUREG_GYRO_ZOUT_H 0x47 +#define MPUREG_GYRO_ZOUT_L 0x48 +#define MPUREG_USER_CTRL 0x6A +#define MPUREG_PWR_MGMT_1 0x6B +#define MPUREG_PWR_MGMT_2 0x6C +#define MPUREG_FIFO_COUNTH 0x72 +#define MPUREG_FIFO_COUNTL 0x73 +#define MPUREG_FIFO_R_W 0x74 +#define MPUREG_PRODUCT_ID 0x0C + +// Configuration bits MPU 3000 and MPU 6000 (not revised)? +#define BIT_SLEEP 0x40 +#define BIT_H_RESET 0x80 +#define BITS_CLKSEL 0x07 +#define MPU_CLK_SEL_PLLGYROX 0x01 +#define MPU_CLK_SEL_PLLGYROZ 0x03 +#define MPU_EXT_SYNC_GYROX 0x02 +#define BITS_FS_250DPS 0x00 +#define BITS_FS_500DPS 0x08 +#define BITS_FS_1000DPS 0x10 +#define BITS_FS_2000DPS 0x18 +#define BITS_FS_MASK 0x18 +#define BITS_DLPF_CFG_256HZ_NOLPF2 0x00 +#define BITS_DLPF_CFG_188HZ 0x01 +#define BITS_DLPF_CFG_98HZ 0x02 +#define BITS_DLPF_CFG_42HZ 0x03 +#define BITS_DLPF_CFG_20HZ 0x04 +#define BITS_DLPF_CFG_10HZ 0x05 +#define BITS_DLPF_CFG_5HZ 0x06 +#define BITS_DLPF_CFG_2100HZ_NOLPF 0x07 +#define BITS_DLPF_CFG_MASK 0x07 +#define BIT_INT_ANYRD_2CLEAR 0x10 +#define BIT_RAW_RDY_EN 0x01 +#define BIT_I2C_IF_DIS 0x10 +#define BIT_INT_STATUS_DATA 0x01 + +// Product ID Description for MPU6000 +// high 4 bits low 4 bits +// Product Name Product Revision +#define MPU6000ES_REV_C4 0x14 +#define MPU6000ES_REV_C5 0x15 +#define MPU6000ES_REV_D6 0x16 +#define MPU6000ES_REV_D7 0x17 +#define MPU6000ES_REV_D8 0x18 +#define MPU6000_REV_C4 0x54 +#define MPU6000_REV_C5 0x55 +#define MPU6000_REV_D6 0x56 +#define MPU6000_REV_D7 0x57 +#define MPU6000_REV_D8 0x58 +#define MPU6000_REV_D9 0x59 +#define MPU6000_REV_D10 0x5A + + +class MPU6000_gyro; + +class MPU6000 : public device::SPI +{ +public: + MPU6000(int bus, spi_dev_e device); + virtual ~MPU6000(); + + virtual int init(); + + virtual ssize_t read(struct file *filp, char *buffer, size_t buflen); + virtual int ioctl(struct file *filp, int cmd, unsigned long arg); + + /** + * Diagnostics - print some basic information about the driver. + */ + void print_info(); + +protected: + virtual int probe(); + + friend class MPU6000_gyro; + + virtual ssize_t gyro_read(struct file *filp, char *buffer, size_t buflen); + virtual int gyro_ioctl(struct file *filp, int cmd, unsigned long arg); + +private: + MPU6000_gyro *_gyro; + uint8_t _product; /** product code */ + + struct hrt_call _call; + unsigned _call_interval; + + struct accel_report _accel_report; + struct accel_scale _accel_scale; + float _accel_range_scale; + float _accel_range_m_s2; + orb_advert_t _accel_topic; + + struct gyro_report _gyro_report; + struct gyro_scale _gyro_scale; + float _gyro_range_scale; + float _gyro_range_rad_s; + orb_advert_t _gyro_topic; + + unsigned _reads; + perf_counter_t _sample_perf; + + /** + * Start automatic measurement. + */ + void start(); + + /** + * Stop automatic measurement. + */ + void stop(); + + /** + * Static trampoline from the hrt_call context; because we don't have a + * generic hrt wrapper yet. + * + * Called by the HRT in interrupt context at the specified rate if + * automatic polling is enabled. + * + * @param arg Instance pointer for the driver that is polling. + */ + static void measure_trampoline(void *arg); + + /** + * Fetch measurements from the sensor and update the report ring. + */ + void measure(); + + /** + * Read a register from the MPU6000 + * + * @param The register to read. + * @return The value that was read. + */ + uint8_t read_reg(unsigned reg); + uint16_t read_reg16(unsigned reg); + + /** + * Write a register in the MPU6000 + * + * @param reg The register to write. + * @param value The new value to write. + */ + void write_reg(unsigned reg, uint8_t value); + + /** + * Modify a register in the MPU6000 + * + * Bits are cleared before bits are set. + * + * @param reg The register to modify. + * @param clearbits Bits in the register to clear. + * @param setbits Bits in the register to set. + */ + void modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits); + + /** + * Set the MPU6000 measurement range. + * + * @param max_g The maximum G value the range must support. + * @return OK if the value can be supported, -ERANGE otherwise. + */ + int set_range(unsigned max_g); + + /** + * Swap a 16-bit value read from the MPU6000 to native byte order. + */ + uint16_t swap16(uint16_t val) { return (val >> 8) | (val << 8); } + + /** + * Self test + * + * @return 0 on success, 1 on failure + */ + int self_test(); + + /* + set low pass filter frequency + */ + void _set_dlpf_filter(uint16_t frequency_hz); + +}; + +/** + * Helper class implementing the gyro driver node. + */ +class MPU6000_gyro : public device::CDev +{ +public: + MPU6000_gyro(MPU6000 *parent); + ~MPU6000_gyro(); + + virtual ssize_t read(struct file *filp, char *buffer, size_t buflen); + virtual int ioctl(struct file *filp, int cmd, unsigned long arg); + +protected: + friend class MPU6000; + + void parent_poll_notify(); +private: + MPU6000 *_parent; +}; + +/** driver 'main' command */ +extern "C" { __EXPORT int mpu6000_main(int argc, char *argv[]); } + +MPU6000::MPU6000(int bus, spi_dev_e device) : + SPI("MPU6000", ACCEL_DEVICE_PATH, bus, device, SPIDEV_MODE3, 10000000), + _gyro(new MPU6000_gyro(this)), + _product(0), + _call_interval(0), + _accel_range_scale(0.0f), + _accel_range_m_s2(0.0f), + _accel_topic(-1), + _gyro_range_scale(0.0f), + _gyro_range_rad_s(0.0f), + _gyro_topic(-1), + _reads(0), + _sample_perf(perf_alloc(PC_ELAPSED, "mpu6000_read")) +{ + // disable debug() calls + _debug_enabled = false; + + // default accel scale factors + _accel_scale.x_offset = 0; + _accel_scale.x_scale = 1.0f; + _accel_scale.y_offset = 0; + _accel_scale.y_scale = 1.0f; + _accel_scale.z_offset = 0; + _accel_scale.z_scale = 1.0f; + + // default gyro scale factors + _gyro_scale.x_offset = 0; + _gyro_scale.x_scale = 1.0f; + _gyro_scale.y_offset = 0; + _gyro_scale.y_scale = 1.0f; + _gyro_scale.z_offset = 0; + _gyro_scale.z_scale = 1.0f; + + memset(&_accel_report, 0, sizeof(_accel_report)); + memset(&_gyro_report, 0, sizeof(_gyro_report)); + memset(&_call, 0, sizeof(_call)); +} + +MPU6000::~MPU6000() +{ + /* make sure we are truly inactive */ + stop(); + + /* delete the gyro subdriver */ + delete _gyro; + + /* delete the perf counter */ + perf_free(_sample_perf); +} + +int +MPU6000::init() +{ + int ret; + + /* do SPI init (and probe) first */ + ret = SPI::init(); + + /* if probe/setup failed, bail now */ + if (ret != OK) { + debug("SPI setup failed"); + return ret; + } + + /* advertise sensor topics */ + _accel_topic = orb_advertise(ORB_ID(sensor_accel), &_accel_report); + _gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &_gyro_report); + + // Chip reset + write_reg(MPUREG_PWR_MGMT_1, BIT_H_RESET); + up_udelay(10000); + + // Wake up device and select GyroZ clock (better performance) + write_reg(MPUREG_PWR_MGMT_1, MPU_CLK_SEL_PLLGYROZ); + up_udelay(1000); + + // Disable I2C bus (recommended on datasheet) + write_reg(MPUREG_USER_CTRL, BIT_I2C_IF_DIS); + up_udelay(1000); + + // SAMPLE RATE + write_reg(MPUREG_SMPLRT_DIV, 0x04); // Sample rate = 200Hz Fsample= 1Khz/(4+1) = 200Hz + usleep(1000); + + // FS & DLPF FS=2000 deg/s, DLPF = 20Hz (low pass filter) + // was 90 Hz, but this ruins quality and does not improve the + // system response + _set_dlpf_filter(20); + usleep(1000); + // Gyro scale 2000 deg/s () + write_reg(MPUREG_GYRO_CONFIG, BITS_FS_2000DPS); + usleep(1000); + + // correct gyro scale factors + // scale to rad/s in SI units + // 2000 deg/s = (2000/180)*PI = 34.906585 rad/s + // scaling factor: + // 1/(2^15)*(2000/180)*PI + _gyro_scale.x_offset = 0; + _gyro_scale.x_scale = 1.0f; + _gyro_scale.y_offset = 0; + _gyro_scale.y_scale = 1.0f; + _gyro_scale.z_offset = 0; + _gyro_scale.z_scale = 1.0f; + _gyro_range_scale = (0.0174532 / 16.4);//1.0f / (32768.0f * (2000.0f / 180.0f) * M_PI_F); + _gyro_range_rad_s = (2000.0f / 180.0f) * M_PI_F; + + // product-specific scaling + switch (_product) { + case MPU6000ES_REV_C4: + case MPU6000ES_REV_C5: + case MPU6000_REV_C4: + case MPU6000_REV_C5: + // Accel scale 8g (4096 LSB/g) + // Rev C has different scaling than rev D + write_reg(MPUREG_ACCEL_CONFIG, 1 << 3); + break; + + case MPU6000ES_REV_D6: + case MPU6000ES_REV_D7: + case MPU6000ES_REV_D8: + case MPU6000_REV_D6: + case MPU6000_REV_D7: + case MPU6000_REV_D8: + case MPU6000_REV_D9: + case MPU6000_REV_D10: + // default case to cope with new chip revisions, which + // presumably won't have the accel scaling bug + default: + // Accel scale 8g (4096 LSB/g) + write_reg(MPUREG_ACCEL_CONFIG, 2 << 3); + break; + } + + // Correct accel scale factors of 4096 LSB/g + // scale to m/s^2 ( 1g = 9.81 m/s^2) + _accel_scale.x_offset = 0; + _accel_scale.x_scale = 1.0f; + _accel_scale.y_offset = 0; + _accel_scale.y_scale = 1.0f; + _accel_scale.z_offset = 0; + _accel_scale.z_scale = 1.0f; + _accel_range_scale = (9.81f / 4096.0f); + _accel_range_m_s2 = 8.0f * 9.81f; + + usleep(1000); + + // INT CFG => Interrupt on Data Ready + write_reg(MPUREG_INT_ENABLE, BIT_RAW_RDY_EN); // INT: Raw data ready + usleep(1000); + write_reg(MPUREG_INT_PIN_CFG, BIT_INT_ANYRD_2CLEAR); // INT: Clear on any read + usleep(1000); + + // Oscillator set + // write_reg(MPUREG_PWR_MGMT_1,MPU_CLK_SEL_PLLGYROZ); + usleep(1000); + + /* do CDev init for the gyro device node, keep it optional */ + int gyro_ret = _gyro->init(); + + if (gyro_ret != OK) { + _gyro_topic = -1; + } + + return ret; +} + +int +MPU6000::probe() +{ + + /* look for a product ID we recognise */ + _product = read_reg(MPUREG_PRODUCT_ID); + + // verify product revision + switch (_product) { + case MPU6000ES_REV_C4: + case MPU6000ES_REV_C5: + case MPU6000_REV_C4: + case MPU6000_REV_C5: + case MPU6000ES_REV_D6: + case MPU6000ES_REV_D7: + case MPU6000ES_REV_D8: + case MPU6000_REV_D6: + case MPU6000_REV_D7: + case MPU6000_REV_D8: + case MPU6000_REV_D9: + case MPU6000_REV_D10: + debug("ID 0x%02x", _product); + return OK; + } + + debug("unexpected ID 0x%02x", _product); + return -EIO; +} + +/* + set the DLPF filter frequency. This affects both accel and gyro. + */ +void +MPU6000::_set_dlpf_filter(uint16_t frequency_hz) +{ + uint8_t filter; + + /* + choose next highest filter frequency available + */ + if (frequency_hz <= 5) { + filter = BITS_DLPF_CFG_5HZ; + } else if (frequency_hz <= 10) { + filter = BITS_DLPF_CFG_10HZ; + } else if (frequency_hz <= 20) { + filter = BITS_DLPF_CFG_20HZ; + } else if (frequency_hz <= 42) { + filter = BITS_DLPF_CFG_42HZ; + } else if (frequency_hz <= 98) { + filter = BITS_DLPF_CFG_98HZ; + } else if (frequency_hz <= 188) { + filter = BITS_DLPF_CFG_188HZ; + } else if (frequency_hz <= 256) { + filter = BITS_DLPF_CFG_256HZ_NOLPF2; + } else { + filter = BITS_DLPF_CFG_2100HZ_NOLPF; + } + write_reg(MPUREG_CONFIG, filter); +} + +ssize_t +MPU6000::read(struct file *filp, char *buffer, size_t buflen) +{ + int ret = 0; + + /* buffer must be large enough */ + if (buflen < sizeof(_accel_report)) + return -ENOSPC; + + /* if automatic measurement is not enabled */ + if (_call_interval == 0) + measure(); + + /* copy out the latest reports */ + memcpy(buffer, &_accel_report, sizeof(_accel_report)); + ret = sizeof(_accel_report); + + return ret; +} + +int +MPU6000::self_test() +{ + if (_reads == 0) { + measure(); + } + + /* return 0 on success, 1 else */ + return (_reads > 0) ? 0 : 1; +} + +ssize_t +MPU6000::gyro_read(struct file *filp, char *buffer, size_t buflen) +{ + int ret = 0; + + /* buffer must be large enough */ + if (buflen < sizeof(_gyro_report)) + return -ENOSPC; + + /* if automatic measurement is not enabled */ + if (_call_interval == 0) + measure(); + + /* copy out the latest report */ + memcpy(buffer, &_gyro_report, sizeof(_gyro_report)); + ret = sizeof(_gyro_report); + + return ret; +} + +int +MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg) +{ + switch (cmd) { + + case SENSORIOCSPOLLRATE: { + switch (arg) { + + /* switching to manual polling */ + case SENSOR_POLLRATE_MANUAL: + stop(); + _call_interval = 0; + return OK; + + /* external signalling not supported */ + case SENSOR_POLLRATE_EXTERNAL: + + /* zero would be bad */ + case 0: + return -EINVAL; + + /* set default/max polling rate */ + case SENSOR_POLLRATE_MAX: + case SENSOR_POLLRATE_DEFAULT: + /* XXX 500Hz is just a wild guess */ + return ioctl(filp, SENSORIOCSPOLLRATE, 500); + + /* adjust to a legal polling interval in Hz */ + default: { + /* do we need to start internal polling? */ + bool want_start = (_call_interval == 0); + + /* convert hz to hrt interval via microseconds */ + unsigned ticks = 1000000 / arg; + + /* check against maximum sane rate */ + if (ticks < 1000) + return -EINVAL; + + /* update interval for next measurement */ + /* XXX this is a bit shady, but no other way to adjust... */ + _call.period = _call_interval = ticks; + + /* if we need to start the poll state machine, do it */ + if (want_start) + start(); + + return OK; + } + } + } + + case SENSORIOCGPOLLRATE: + if (_call_interval == 0) + return SENSOR_POLLRATE_MANUAL; + + return 1000000 / _call_interval; + + case SENSORIOCSQUEUEDEPTH: + /* XXX not implemented */ + return -EINVAL; + + case SENSORIOCGQUEUEDEPTH: + /* XXX not implemented */ + return -EINVAL; + + + case ACCELIOCSSAMPLERATE: + case ACCELIOCGSAMPLERATE: + /* XXX not implemented */ + return -EINVAL; + + case ACCELIOCSLOWPASS: + case ACCELIOCGLOWPASS: + _set_dlpf_filter((uint16_t)arg); + return OK; + + case ACCELIOCSSCALE: + { + /* copy scale, but only if off by a few percent */ + struct accel_scale *s = (struct accel_scale *) arg; + float sum = s->x_scale + s->y_scale + s->z_scale; + if (sum > 2.0f && sum < 4.0f) { + memcpy(&_accel_scale, s, sizeof(_accel_scale)); + return OK; + } else { + return -EINVAL; + } + } + + case ACCELIOCGSCALE: + /* copy scale out */ + memcpy((struct accel_scale *) arg, &_accel_scale, sizeof(_accel_scale)); + return OK; + + case ACCELIOCSRANGE: + case ACCELIOCGRANGE: + /* XXX not implemented */ + // XXX change these two values on set: + // _accel_range_scale = (9.81f / 4096.0f); + // _accel_range_rad_s = 8.0f * 9.81f; + return -EINVAL; + + case ACCELIOCSELFTEST: + return self_test(); + + default: + /* give it to the superclass */ + return SPI::ioctl(filp, cmd, arg); + } +} + +int +MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg) +{ + switch (cmd) { + + /* these are shared with the accel side */ + case SENSORIOCSPOLLRATE: + case SENSORIOCGPOLLRATE: + case SENSORIOCSQUEUEDEPTH: + case SENSORIOCGQUEUEDEPTH: + case SENSORIOCRESET: + return ioctl(filp, cmd, arg); + + case GYROIOCSSAMPLERATE: + case GYROIOCGSAMPLERATE: + /* XXX not implemented */ + return -EINVAL; + + case GYROIOCSLOWPASS: + case GYROIOCGLOWPASS: + _set_dlpf_filter((uint16_t)arg); + return OK; + + case GYROIOCSSCALE: + /* copy scale in */ + memcpy(&_gyro_scale, (struct gyro_scale *) arg, sizeof(_gyro_scale)); + return OK; + + case GYROIOCGSCALE: + /* copy scale out */ + memcpy((struct gyro_scale *) arg, &_gyro_scale, sizeof(_gyro_scale)); + return OK; + + case GYROIOCSRANGE: + case GYROIOCGRANGE: + /* XXX not implemented */ + // XXX change these two values on set: + // _gyro_range_scale = xx + // _gyro_range_m_s2 = xx + return -EINVAL; + + case GYROIOCSELFTEST: + return self_test(); + + default: + /* give it to the superclass */ + return SPI::ioctl(filp, cmd, arg); + } +} + +uint8_t +MPU6000::read_reg(unsigned reg) +{ + uint8_t cmd[2]; + + cmd[0] = reg | DIR_READ; + + transfer(cmd, cmd, sizeof(cmd)); + + return cmd[1]; +} + +uint16_t +MPU6000::read_reg16(unsigned reg) +{ + uint8_t cmd[3]; + + cmd[0] = reg | DIR_READ; + + transfer(cmd, cmd, sizeof(cmd)); + + return (uint16_t)(cmd[1] << 8) | cmd[2]; +} + +void +MPU6000::write_reg(unsigned reg, uint8_t value) +{ + uint8_t cmd[2]; + + cmd[0] = reg | DIR_WRITE; + cmd[1] = value; + + transfer(cmd, nullptr, sizeof(cmd)); +} + +void +MPU6000::modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits) +{ + uint8_t val; + + val = read_reg(reg); + val &= ~clearbits; + val |= setbits; + write_reg(reg, val); +} + +int +MPU6000::set_range(unsigned max_g) +{ +#if 0 + uint8_t rangebits; + float rangescale; + + if (max_g > 16) { + return -ERANGE; + + } else if (max_g > 8) { /* 16G */ + rangebits = OFFSET_LSB1_RANGE_16G; + rangescale = 1.98; + + } else if (max_g > 4) { /* 8G */ + rangebits = OFFSET_LSB1_RANGE_8G; + rangescale = 0.99; + + } else if (max_g > 3) { /* 4G */ + rangebits = OFFSET_LSB1_RANGE_4G; + rangescale = 0.5; + + } else if (max_g > 2) { /* 3G */ + rangebits = OFFSET_LSB1_RANGE_3G; + rangescale = 0.38; + + } else if (max_g > 1) { /* 2G */ + rangebits = OFFSET_LSB1_RANGE_2G; + rangescale = 0.25; + + } else { /* 1G */ + rangebits = OFFSET_LSB1_RANGE_1G; + rangescale = 0.13; + } + + /* adjust sensor configuration */ + modify_reg(ADDR_OFFSET_LSB1, OFFSET_LSB1_RANGE_MASK, rangebits); + _range_scale = rangescale; +#endif + return OK; +} + +void +MPU6000::start() +{ + /* make sure we are stopped first */ + stop(); + + /* start polling at the specified rate */ + hrt_call_every(&_call, 1000, _call_interval, (hrt_callout)&MPU6000::measure_trampoline, this); +} + +void +MPU6000::stop() +{ + hrt_cancel(&_call); +} + +void +MPU6000::measure_trampoline(void *arg) +{ + MPU6000 *dev = (MPU6000 *)arg; + + /* make another measurement */ + dev->measure(); +} + +void +MPU6000::measure() +{ +#pragma pack(push, 1) + /** + * Report conversation within the MPU6000, including command byte and + * interrupt status. + */ + struct MPUReport { + uint8_t cmd; + uint8_t status; + uint8_t accel_x[2]; + uint8_t accel_y[2]; + uint8_t accel_z[2]; + uint8_t temp[2]; + uint8_t gyro_x[2]; + uint8_t gyro_y[2]; + uint8_t gyro_z[2]; + } mpu_report; +#pragma pack(pop) + + struct Report { + int16_t accel_x; + int16_t accel_y; + int16_t accel_z; + int16_t temp; + int16_t gyro_x; + int16_t gyro_y; + int16_t gyro_z; + } report; + + /* start measuring */ + perf_begin(_sample_perf); + + /* + * Fetch the full set of measurements from the MPU6000 in one pass. + */ + mpu_report.cmd = DIR_READ | MPUREG_INT_STATUS; + if (OK != transfer((uint8_t *)&mpu_report, ((uint8_t *)&mpu_report), sizeof(mpu_report))) + return; + + /* count measurement */ + _reads++; + + /* + * Convert from big to little endian + */ + + report.accel_x = int16_t_from_bytes(mpu_report.accel_x); + report.accel_y = int16_t_from_bytes(mpu_report.accel_y); + report.accel_z = int16_t_from_bytes(mpu_report.accel_z); + + report.temp = int16_t_from_bytes(mpu_report.temp); + + report.gyro_x = int16_t_from_bytes(mpu_report.gyro_x); + report.gyro_y = int16_t_from_bytes(mpu_report.gyro_y); + report.gyro_z = int16_t_from_bytes(mpu_report.gyro_z); + + /* + * Swap axes and negate y + */ + int16_t accel_xt = report.accel_y; + int16_t accel_yt = ((report.accel_x == -32768) ? 32767 : -report.accel_x); + + int16_t gyro_xt = report.gyro_y; + int16_t gyro_yt = ((report.gyro_x == -32768) ? 32767 : -report.gyro_x); + + /* + * Apply the swap + */ + report.accel_x = accel_xt; + report.accel_y = accel_yt; + report.gyro_x = gyro_xt; + report.gyro_y = gyro_yt; + + /* + * Adjust and scale results to m/s^2. + */ + _gyro_report.timestamp = _accel_report.timestamp = hrt_absolute_time(); + + + /* + * 1) Scale raw value to SI units using scaling from datasheet. + * 2) Subtract static offset (in SI units) + * 3) Scale the statically calibrated values with a linear + * dynamically obtained factor + * + * Note: the static sensor offset is the number the sensor outputs + * at a nominally 'zero' input. Therefore the offset has to + * be subtracted. + * + * Example: A gyro outputs a value of 74 at zero angular rate + * the offset is 74 from the origin and subtracting + * 74 from all measurements centers them around zero. + */ + + + /* NOTE: Axes have been swapped to match the board a few lines above. */ + + _accel_report.x_raw = report.accel_x; + _accel_report.y_raw = report.accel_y; + _accel_report.z_raw = report.accel_z; + + _accel_report.x = ((report.accel_x * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale; + _accel_report.y = ((report.accel_y * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale; + _accel_report.z = ((report.accel_z * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale; + _accel_report.scaling = _accel_range_scale; + _accel_report.range_m_s2 = _accel_range_m_s2; + + _accel_report.temperature_raw = report.temp; + _accel_report.temperature = (report.temp) / 361.0f + 35.0f; + + _gyro_report.x_raw = report.gyro_x; + _gyro_report.y_raw = report.gyro_y; + _gyro_report.z_raw = report.gyro_z; + + _gyro_report.x = ((report.gyro_x * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale; + _gyro_report.y = ((report.gyro_y * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale; + _gyro_report.z = ((report.gyro_z * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale; + _gyro_report.scaling = _gyro_range_scale; + _gyro_report.range_rad_s = _gyro_range_rad_s; + + _gyro_report.temperature_raw = report.temp; + _gyro_report.temperature = (report.temp) / 361.0f + 35.0f; + + /* notify anyone waiting for data */ + poll_notify(POLLIN); + _gyro->parent_poll_notify(); + + /* and publish for subscribers */ + orb_publish(ORB_ID(sensor_accel), _accel_topic, &_accel_report); + if (_gyro_topic != -1) { + orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &_gyro_report); + } + + /* stop measuring */ + perf_end(_sample_perf); +} + +void +MPU6000::print_info() +{ + printf("reads: %u\n", _reads); +} + +MPU6000_gyro::MPU6000_gyro(MPU6000 *parent) : + CDev("MPU6000_gyro", GYRO_DEVICE_PATH), + _parent(parent) +{ +} + +MPU6000_gyro::~MPU6000_gyro() +{ +} + +void +MPU6000_gyro::parent_poll_notify() +{ + poll_notify(POLLIN); +} + +ssize_t +MPU6000_gyro::read(struct file *filp, char *buffer, size_t buflen) +{ + return _parent->gyro_read(filp, buffer, buflen); +} + +int +MPU6000_gyro::ioctl(struct file *filp, int cmd, unsigned long arg) +{ + return _parent->gyro_ioctl(filp, cmd, arg); +} + +/** + * Local functions in support of the shell command. + */ +namespace mpu6000 +{ + +MPU6000 *g_dev; + +void start(); +void test(); +void reset(); +void info(); + +/** + * Start the driver. + */ +void +start() +{ + int fd; + + if (g_dev != nullptr) + errx(1, "already started"); + + /* create the driver */ + g_dev = new MPU6000(1 /* XXX magic number */, (spi_dev_e)PX4_SPIDEV_MPU); + + if (g_dev == nullptr) + goto fail; + + if (OK != g_dev->init()) + goto fail; + + /* set the poll rate to default, starts automatic data collection */ + fd = open(ACCEL_DEVICE_PATH, O_RDONLY); + + if (fd < 0) + goto fail; + + if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) + goto fail; + + exit(0); +fail: + + if (g_dev != nullptr) { + delete g_dev; + g_dev = nullptr; + } + + errx(1, "driver start failed"); +} + +/** + * Perform some basic functional tests on the driver; + * make sure we can collect data from the sensor in polled + * and automatic modes. + */ +void +test() +{ + int fd = -1; + int fd_gyro = -1; + struct accel_report a_report; + struct gyro_report g_report; + ssize_t sz; + + /* get the driver */ + fd = open(ACCEL_DEVICE_PATH, O_RDONLY); + + if (fd < 0) + err(1, "%s open failed (try 'mpu6000 start' if the driver is not running)", + ACCEL_DEVICE_PATH); + + /* get the driver */ + fd_gyro = open(GYRO_DEVICE_PATH, O_RDONLY); + + if (fd_gyro < 0) + err(1, "%s open failed", GYRO_DEVICE_PATH); + + /* reset to manual polling */ + if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MANUAL) < 0) + err(1, "reset to manual polling"); + + /* do a simple demand read */ + sz = read(fd, &a_report, sizeof(a_report)); + + if (sz != sizeof(a_report)) + err(1, "immediate acc read failed"); + + warnx("single read"); + warnx("time: %lld", a_report.timestamp); + warnx("acc x: \t%8.4f\tm/s^2", (double)a_report.x); + warnx("acc y: \t%8.4f\tm/s^2", (double)a_report.y); + warnx("acc z: \t%8.4f\tm/s^2", (double)a_report.z); + warnx("acc x: \t%d\traw 0x%0x", (short)a_report.x_raw, (unsigned short)a_report.x_raw); + warnx("acc y: \t%d\traw 0x%0x", (short)a_report.y_raw, (unsigned short)a_report.y_raw); + warnx("acc z: \t%d\traw 0x%0x", (short)a_report.z_raw, (unsigned short)a_report.z_raw); + warnx("acc range: %8.4f m/s^2 (%8.4f g)", (double)a_report.range_m_s2, + (double)(a_report.range_m_s2 / 9.81f)); + + /* do a simple demand read */ + sz = read(fd_gyro, &g_report, sizeof(g_report)); + + if (sz != sizeof(g_report)) + err(1, "immediate gyro read failed"); + + warnx("gyro x: \t% 9.5f\trad/s", (double)g_report.x); + warnx("gyro y: \t% 9.5f\trad/s", (double)g_report.y); + warnx("gyro z: \t% 9.5f\trad/s", (double)g_report.z); + warnx("gyro x: \t%d\traw", (int)g_report.x_raw); + warnx("gyro y: \t%d\traw", (int)g_report.y_raw); + warnx("gyro z: \t%d\traw", (int)g_report.z_raw); + warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s, + (int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f)); + + warnx("temp: \t%8.4f\tdeg celsius", (double)a_report.temperature); + warnx("temp: \t%d\traw 0x%0x", (short)a_report.temperature_raw, (unsigned short)a_report.temperature_raw); + + + /* XXX add poll-rate tests here too */ + + reset(); + errx(0, "PASS"); +} + +/** + * Reset the driver. + */ +void +reset() +{ + int fd = open(ACCEL_DEVICE_PATH, O_RDONLY); + + if (fd < 0) + err(1, "failed "); + + if (ioctl(fd, SENSORIOCRESET, 0) < 0) + err(1, "driver reset failed"); + + if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) + err(1, "driver poll restart failed"); + + exit(0); +} + +/** + * Print a little info about the driver. + */ +void +info() +{ + if (g_dev == nullptr) + errx(1, "driver not running"); + + printf("state @ %p\n", g_dev); + g_dev->print_info(); + + exit(0); +} + + +} // namespace + +int +mpu6000_main(int argc, char *argv[]) +{ + /* + * Start/load the driver. + + */ + if (!strcmp(argv[1], "start")) + mpu6000::start(); + + /* + * Test the driver/device. + */ + if (!strcmp(argv[1], "test")) + mpu6000::test(); + + /* + * Reset the driver. + */ + if (!strcmp(argv[1], "reset")) + mpu6000::reset(); + + /* + * Print driver information. + */ + if (!strcmp(argv[1], "info")) + mpu6000::info(); + + errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'"); +} diff --git a/src/drivers/ms5611/module.mk b/src/drivers/ms5611/module.mk new file mode 100644 index 000000000..3c4b0f093 --- /dev/null +++ b/src/drivers/ms5611/module.mk @@ -0,0 +1,40 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# MS5611 driver +# + +MODULE_COMMAND = ms5611 + +SRCS = ms5611.cpp diff --git a/src/drivers/ms5611/ms5611.cpp b/src/drivers/ms5611/ms5611.cpp new file mode 100644 index 000000000..59ab5936e --- /dev/null +++ b/src/drivers/ms5611/ms5611.cpp @@ -0,0 +1,1214 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file ms5611.cpp + * Driver for the MS5611 barometric pressure sensor connected via I2C. + */ + +#include + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#include + +#include + +#include +#include + +#include + +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +static const int ERROR = -1; + +#ifndef CONFIG_SCHED_WORKQUEUE +# error This requires CONFIG_SCHED_WORKQUEUE. +#endif + +/** + * Calibration PROM as reported by the device. + */ +#pragma pack(push,1) +struct ms5611_prom_s { + uint16_t factory_setup; + uint16_t c1_pressure_sens; + uint16_t c2_pressure_offset; + uint16_t c3_temp_coeff_pres_sens; + uint16_t c4_temp_coeff_pres_offset; + uint16_t c5_reference_temp; + uint16_t c6_temp_coeff_temp; + uint16_t serial_and_crc; +}; + +/** + * Grody hack for crc4() + */ +union ms5611_prom_u { + uint16_t c[8]; + struct ms5611_prom_s s; +}; +#pragma pack(pop) + +class MS5611 : public device::I2C +{ +public: + MS5611(int bus); + virtual ~MS5611(); + + virtual int init(); + + virtual ssize_t read(struct file *filp, char *buffer, size_t buflen); + virtual int ioctl(struct file *filp, int cmd, unsigned long arg); + + /** + * Diagnostics - print some basic information about the driver. + */ + void print_info(); + +protected: + virtual int probe(); + +private: + union ms5611_prom_u _prom; + + struct work_s _work; + unsigned _measure_ticks; + + unsigned _num_reports; + volatile unsigned _next_report; + volatile unsigned _oldest_report; + struct baro_report *_reports; + + bool _collect_phase; + unsigned _measure_phase; + + /* intermediate temperature values per MS5611 datasheet */ + int32_t _TEMP; + int64_t _OFF; + int64_t _SENS; + + /* altitude conversion calibration */ + unsigned _msl_pressure; /* in kPa */ + + orb_advert_t _baro_topic; + + perf_counter_t _sample_perf; + perf_counter_t _measure_perf; + perf_counter_t _comms_errors; + perf_counter_t _buffer_overflows; + + /** + * Test whether the device supported by the driver is present at a + * specific address. + * + * @param address The I2C bus address to probe. + * @return True if the device is present. + */ + int probe_address(uint8_t address); + + /** + * Initialise the automatic measurement state machine and start it. + * + * @note This function is called at open and error time. It might make sense + * to make it more aggressive about resetting the bus in case of errors. + */ + void start_cycle(); + + /** + * Stop the automatic measurement state machine. + */ + void stop_cycle(); + + /** + * Perform a poll cycle; collect from the previous measurement + * and start a new one. + * + * This is the heart of the measurement state machine. This function + * alternately starts a measurement, or collects the data from the + * previous measurement. + * + * When the interval between measurements is greater than the minimum + * measurement interval, a gap is inserted between collection + * and measurement to provide the most recent measurement possible + * at the next interval. + */ + void cycle(); + + /** + * Static trampoline from the workq context; because we don't have a + * generic workq wrapper yet. + * + * @param arg Instance pointer for the driver that is polling. + */ + static void cycle_trampoline(void *arg); + + /** + * Issue a measurement command for the current state. + * + * @return OK if the measurement command was successful. + */ + int measure(); + + /** + * Collect the result of the most recent measurement. + */ + int collect(); + + /** + * Send a reset command to the MS5611. + * + * This is required after any bus reset. + */ + int cmd_reset(); + + /** + * Read the MS5611 PROM + * + * @return OK if the PROM reads successfully. + */ + int read_prom(); + + /** + * PROM CRC routine ported from MS5611 application note + * + * @param n_prom Pointer to words read from PROM. + * @return True if the CRC matches. + */ + bool crc4(uint16_t *n_prom); + +}; + +/* helper macro for handling report buffer indices */ +#define INCREMENT(_x, _lim) do { _x++; if (_x >= _lim) _x = 0; } while(0) + +/* helper macro for arithmetic - returns the square of the argument */ +#define POW2(_x) ((_x) * (_x)) + +/* + * MS5611 internal constants and data structures. + */ + +/* internal conversion time: 9.17 ms, so should not be read at rates higher than 100 Hz */ +#define MS5611_CONVERSION_INTERVAL 10000 /* microseconds */ +#define MS5611_MEASUREMENT_RATIO 3 /* pressure measurements per temperature measurement */ + +#define MS5611_BUS PX4_I2C_BUS_ONBOARD +#define MS5611_ADDRESS_1 PX4_I2C_OBDEV_MS5611 /* address select pins pulled high (PX4FMU series v1.6+) */ +#define MS5611_ADDRESS_2 0x77 /* address select pins pulled low (PX4FMU prototypes) */ + +#define ADDR_RESET_CMD 0x1E /* write to this address to reset chip */ +#define ADDR_CMD_CONVERT_D1 0x48 /* write to this address to start temperature conversion */ +#define ADDR_CMD_CONVERT_D2 0x58 /* write to this address to start pressure conversion */ +#define ADDR_DATA 0x00 /* address of 3 bytes / 32bit pressure data */ +#define ADDR_PROM_SETUP 0xA0 /* address of 8x 2 bytes factory and calibration data */ +#define ADDR_PROM_C1 0xA2 /* address of 6x 2 bytes calibration data */ + +/* + * Driver 'main' command. + */ +extern "C" __EXPORT int ms5611_main(int argc, char *argv[]); + + +MS5611::MS5611(int bus) : + I2C("MS5611", BARO_DEVICE_PATH, bus, 0, 400000), + _measure_ticks(0), + _num_reports(0), + _next_report(0), + _oldest_report(0), + _reports(nullptr), + _collect_phase(false), + _measure_phase(0), + _TEMP(0), + _OFF(0), + _SENS(0), + _msl_pressure(101325), + _baro_topic(-1), + _sample_perf(perf_alloc(PC_ELAPSED, "ms5611_read")), + _measure_perf(perf_alloc(PC_ELAPSED, "ms5611_measure")), + _comms_errors(perf_alloc(PC_COUNT, "ms5611_comms_errors")), + _buffer_overflows(perf_alloc(PC_COUNT, "ms5611_buffer_overflows")) +{ + // enable debug() calls + _debug_enabled = true; + + // work_cancel in the dtor will explode if we don't do this... + memset(&_work, 0, sizeof(_work)); +} + +MS5611::~MS5611() +{ + /* make sure we are truly inactive */ + stop_cycle(); + + /* free any existing reports */ + if (_reports != nullptr) + delete[] _reports; +} + +int +MS5611::init() +{ + int ret = ERROR; + + /* do I2C init (and probe) first */ + if (I2C::init() != OK) + goto out; + + /* allocate basic report buffers */ + _num_reports = 2; + _reports = new struct baro_report[_num_reports]; + + if (_reports == nullptr) + goto out; + + _oldest_report = _next_report = 0; + + /* get a publish handle on the baro topic */ + memset(&_reports[0], 0, sizeof(_reports[0])); + _baro_topic = orb_advertise(ORB_ID(sensor_baro), &_reports[0]); + + if (_baro_topic < 0) + debug("failed to create sensor_baro object"); + + ret = OK; +out: + return ret; +} + +int +MS5611::probe() +{ + _retries = 10; + + if ((OK == probe_address(MS5611_ADDRESS_1)) || + (OK == probe_address(MS5611_ADDRESS_2))) { + /* + * Disable retries; we may enable them selectively in some cases, + * but the device gets confused if we retry some of the commands. + */ + _retries = 0; + return OK; + } + + return -EIO; +} + +int +MS5611::probe_address(uint8_t address) +{ + /* select the address we are going to try */ + set_address(address); + + /* send reset command */ + if (OK != cmd_reset()) + return -EIO; + + /* read PROM */ + if (OK != read_prom()) + return -EIO; + + return OK; +} + +ssize_t +MS5611::read(struct file *filp, char *buffer, size_t buflen) +{ + unsigned count = buflen / sizeof(struct baro_report); + int ret = 0; + + /* buffer must be large enough */ + if (count < 1) + return -ENOSPC; + + /* if automatic measurement is enabled */ + if (_measure_ticks > 0) { + + /* + * While there is space in the caller's buffer, and reports, copy them. + * Note that we may be pre-empted by the workq thread while we are doing this; + * we are careful to avoid racing with them. + */ + while (count--) { + if (_oldest_report != _next_report) { + memcpy(buffer, _reports + _oldest_report, sizeof(*_reports)); + ret += sizeof(_reports[0]); + INCREMENT(_oldest_report, _num_reports); + } + } + + /* if there was no data, warn the caller */ + return ret ? ret : -EAGAIN; + } + + /* manual measurement - run one conversion */ + /* XXX really it'd be nice to lock against other readers here */ + do { + _measure_phase = 0; + _oldest_report = _next_report = 0; + + /* do temperature first */ + if (OK != measure()) { + ret = -EIO; + break; + } + + usleep(MS5611_CONVERSION_INTERVAL); + + if (OK != collect()) { + ret = -EIO; + break; + } + + /* now do a pressure measurement */ + if (OK != measure()) { + ret = -EIO; + break; + } + + usleep(MS5611_CONVERSION_INTERVAL); + + if (OK != collect()) { + ret = -EIO; + break; + } + + /* state machine will have generated a report, copy it out */ + memcpy(buffer, _reports, sizeof(*_reports)); + ret = sizeof(*_reports); + + } while (0); + + return ret; +} + +int +MS5611::ioctl(struct file *filp, int cmd, unsigned long arg) +{ + switch (cmd) { + + case SENSORIOCSPOLLRATE: { + switch (arg) { + + /* switching to manual polling */ + case SENSOR_POLLRATE_MANUAL: + stop_cycle(); + _measure_ticks = 0; + return OK; + + /* external signalling not supported */ + case SENSOR_POLLRATE_EXTERNAL: + + /* zero would be bad */ + case 0: + return -EINVAL; + + /* set default/max polling rate */ + case SENSOR_POLLRATE_MAX: + case SENSOR_POLLRATE_DEFAULT: { + /* do we need to start internal polling? */ + bool want_start = (_measure_ticks == 0); + + /* set interval for next measurement to minimum legal value */ + _measure_ticks = USEC2TICK(MS5611_CONVERSION_INTERVAL); + + /* if we need to start the poll state machine, do it */ + if (want_start) + start_cycle(); + + return OK; + } + + /* adjust to a legal polling interval in Hz */ + default: { + /* do we need to start internal polling? */ + bool want_start = (_measure_ticks == 0); + + /* convert hz to tick interval via microseconds */ + unsigned ticks = USEC2TICK(1000000 / arg); + + /* check against maximum rate */ + if (ticks < USEC2TICK(MS5611_CONVERSION_INTERVAL)) + return -EINVAL; + + /* update interval for next measurement */ + _measure_ticks = ticks; + + /* if we need to start the poll state machine, do it */ + if (want_start) + start_cycle(); + + return OK; + } + } + } + + case SENSORIOCGPOLLRATE: + if (_measure_ticks == 0) + return SENSOR_POLLRATE_MANUAL; + + return (1000 / _measure_ticks); + + case SENSORIOCSQUEUEDEPTH: { + /* add one to account for the sentinel in the ring */ + arg++; + + /* lower bound is mandatory, upper bound is a sanity check */ + if ((arg < 2) || (arg > 100)) + return -EINVAL; + + /* allocate new buffer */ + struct baro_report *buf = new struct baro_report[arg]; + + if (nullptr == buf) + return -ENOMEM; + + /* reset the measurement state machine with the new buffer, free the old */ + stop_cycle(); + delete[] _reports; + _num_reports = arg; + _reports = buf; + start_cycle(); + + return OK; + } + + case SENSORIOCGQUEUEDEPTH: + return _num_reports - 1; + + case SENSORIOCRESET: + /* XXX implement this */ + return -EINVAL; + + case BAROIOCSMSLPRESSURE: + + /* range-check for sanity */ + if ((arg < 80000) || (arg > 120000)) + return -EINVAL; + + _msl_pressure = arg; + return OK; + + case BAROIOCGMSLPRESSURE: + return _msl_pressure; + + default: + break; + } + + /* give it to the superclass */ + return I2C::ioctl(filp, cmd, arg); +} + +void +MS5611::start_cycle() +{ + + /* reset the report ring and state machine */ + _collect_phase = false; + _measure_phase = 0; + _oldest_report = _next_report = 0; + + /* schedule a cycle to start things */ + work_queue(HPWORK, &_work, (worker_t)&MS5611::cycle_trampoline, this, 1); +} + +void +MS5611::stop_cycle() +{ + work_cancel(HPWORK, &_work); +} + +void +MS5611::cycle_trampoline(void *arg) +{ + MS5611 *dev = (MS5611 *)arg; + + dev->cycle(); +} + +void +MS5611::cycle() +{ + int ret; + + /* collection phase? */ + if (_collect_phase) { + + /* perform collection */ + ret = collect(); + if (ret != OK) { + if (ret == -6) { + /* + * The ms5611 seems to regularly fail to respond to + * its address; this happens often enough that we'd rather not + * spam the console with the message. + */ + } else { + //log("collection error %d", ret); + } + /* reset the collection state machine and try again */ + start_cycle(); + return; + } + + /* next phase is measurement */ + _collect_phase = false; + + /* + * Is there a collect->measure gap? + * Don't inject one after temperature measurements, so we can keep + * doing pressure measurements at something close to the desired rate. + */ + if ((_measure_phase != 0) && + (_measure_ticks > USEC2TICK(MS5611_CONVERSION_INTERVAL))) { + + /* schedule a fresh cycle call when we are ready to measure again */ + work_queue(HPWORK, + &_work, + (worker_t)&MS5611::cycle_trampoline, + this, + _measure_ticks - USEC2TICK(MS5611_CONVERSION_INTERVAL)); + + return; + } + } + + /* measurement phase */ + ret = measure(); + if (ret != OK) { + //log("measure error %d", ret); + /* reset the collection state machine and try again */ + start_cycle(); + return; + } + + /* next phase is collection */ + _collect_phase = true; + + /* schedule a fresh cycle call when the measurement is done */ + work_queue(HPWORK, + &_work, + (worker_t)&MS5611::cycle_trampoline, + this, + USEC2TICK(MS5611_CONVERSION_INTERVAL)); +} + +int +MS5611::measure() +{ + int ret; + + perf_begin(_measure_perf); + + /* + * In phase zero, request temperature; in other phases, request pressure. + */ + uint8_t cmd_data = (_measure_phase == 0) ? ADDR_CMD_CONVERT_D2 : ADDR_CMD_CONVERT_D1; + + /* + * Send the command to begin measuring. + * + * Disable retries on this command; we can't know whether failure + * means the device did or did not see the write. + */ + _retries = 0; + ret = transfer(&cmd_data, 1, nullptr, 0); + + if (OK != ret) + perf_count(_comms_errors); + + perf_end(_measure_perf); + + return ret; +} + +int +MS5611::collect() +{ + int ret; + uint8_t cmd; + uint8_t data[3]; + union { + uint8_t b[4]; + uint32_t w; + } cvt; + + /* read the most recent measurement */ + cmd = 0; + + perf_begin(_sample_perf); + + /* this should be fairly close to the end of the conversion, so the best approximation of the time */ + _reports[_next_report].timestamp = hrt_absolute_time(); + + ret = transfer(&cmd, 1, &data[0], 3); + if (ret != OK) { + perf_count(_comms_errors); + perf_end(_sample_perf); + return ret; + } + + /* fetch the raw value */ + cvt.b[0] = data[2]; + cvt.b[1] = data[1]; + cvt.b[2] = data[0]; + cvt.b[3] = 0; + uint32_t raw = cvt.w; + + /* handle a measurement */ + if (_measure_phase == 0) { + + /* temperature offset (in ADC units) */ + int32_t dT = (int32_t)raw - ((int32_t)_prom.s.c5_reference_temp << 8); + + /* absolute temperature in centidegrees - note intermediate value is outside 32-bit range */ + _TEMP = 2000 + (int32_t)(((int64_t)dT * _prom.s.c6_temp_coeff_temp) >> 23); + + /* base sensor scale/offset values */ + _SENS = ((int64_t)_prom.s.c1_pressure_sens << 15) + (((int64_t)_prom.s.c3_temp_coeff_pres_sens * dT) >> 8); + _OFF = ((int64_t)_prom.s.c2_pressure_offset << 16) + (((int64_t)_prom.s.c4_temp_coeff_pres_offset * dT) >> 7); + + /* temperature compensation */ + if (_TEMP < 2000) { + + int32_t T2 = POW2(dT) >> 31; + + int64_t f = POW2((int64_t)_TEMP - 2000); + int64_t OFF2 = 5 * f >> 1; + int64_t SENS2 = 5 * f >> 2; + + if (_TEMP < -1500) { + int64_t f2 = POW2(_TEMP + 1500); + OFF2 += 7 * f2; + SENS2 += 11 * f2 >> 1; + } + + _TEMP -= T2; + _OFF -= OFF2; + _SENS -= SENS2; + } + + } else { + + /* pressure calculation, result in Pa */ + int32_t P = (((raw * _SENS) >> 21) - _OFF) >> 15; + + /* generate a new report */ + _reports[_next_report].temperature = _TEMP / 100.0f; + _reports[_next_report].pressure = P / 100.0f; /* convert to millibar */ + + /* altitude calculations based on http://www.kansasflyer.org/index.asp?nav=Avi&sec=Alti&tab=Theory&pg=1 */ + + /* + * PERFORMANCE HINT: + * + * The single precision calculation is 50 microseconds faster than the double + * precision variant. It is however not obvious if double precision is required. + * Pending more inspection and tests, we'll leave the double precision variant active. + * + * Measurements: + * double precision: ms5611_read: 992 events, 258641us elapsed, min 202us max 305us + * single precision: ms5611_read: 963 events, 208066us elapsed, min 202us max 241us + */ +#if 0/* USE_FLOAT */ + /* tropospheric properties (0-11km) for standard atmosphere */ + const float T1 = 15.0f + 273.15f; /* temperature at base height in Kelvin */ + const float a = -6.5f / 1000f; /* temperature gradient in degrees per metre */ + const float g = 9.80665f; /* gravity constant in m/s/s */ + const float R = 287.05f; /* ideal gas constant in J/kg/K */ + + /* current pressure at MSL in kPa */ + float p1 = _msl_pressure / 1000.0f; + + /* measured pressure in kPa */ + float p = P / 1000.0f; + + /* + * Solve: + * + * / -(aR / g) \ + * | (p / p1) . T1 | - T1 + * \ / + * h = ------------------------------- + h1 + * a + */ + _reports[_next_report].altitude = (((powf((p / p1), (-(a * R) / g))) * T1) - T1) / a; +#else + /* tropospheric properties (0-11km) for standard atmosphere */ + const double T1 = 15.0 + 273.15; /* temperature at base height in Kelvin */ + const double a = -6.5 / 1000; /* temperature gradient in degrees per metre */ + const double g = 9.80665; /* gravity constant in m/s/s */ + const double R = 287.05; /* ideal gas constant in J/kg/K */ + + /* current pressure at MSL in kPa */ + double p1 = _msl_pressure / 1000.0; + + /* measured pressure in kPa */ + double p = P / 1000.0; + + /* + * Solve: + * + * / -(aR / g) \ + * | (p / p1) . T1 | - T1 + * \ / + * h = ------------------------------- + h1 + * a + */ + _reports[_next_report].altitude = (((pow((p / p1), (-(a * R) / g))) * T1) - T1) / a; +#endif + /* publish it */ + orb_publish(ORB_ID(sensor_baro), _baro_topic, &_reports[_next_report]); + + /* post a report to the ring - note, not locked */ + INCREMENT(_next_report, _num_reports); + + /* if we are running up against the oldest report, toss it */ + if (_next_report == _oldest_report) { + perf_count(_buffer_overflows); + INCREMENT(_oldest_report, _num_reports); + } + + /* notify anyone waiting for data */ + poll_notify(POLLIN); + } + + /* update the measurement state machine */ + INCREMENT(_measure_phase, MS5611_MEASUREMENT_RATIO + 1); + + perf_end(_sample_perf); + + return OK; +} + +int +MS5611::cmd_reset() +{ + unsigned old_retrycount = _retries; + uint8_t cmd = ADDR_RESET_CMD; + int result; + + /* bump the retry count */ + _retries = 10; + result = transfer(&cmd, 1, nullptr, 0); + _retries = old_retrycount; + + return result; +} + +int +MS5611::read_prom() +{ + uint8_t prom_buf[2]; + union { + uint8_t b[2]; + uint16_t w; + } cvt; + + /* + * Wait for PROM contents to be in the device (2.8 ms) in the case we are + * called immediately after reset. + */ + usleep(3000); + + /* read and convert PROM words */ + for (int i = 0; i < 8; i++) { + uint8_t cmd = ADDR_PROM_SETUP + (i * 2); + + if (OK != transfer(&cmd, 1, &prom_buf[0], 2)) + break; + + /* assemble 16 bit value and convert from big endian (sensor) to little endian (MCU) */ + cvt.b[0] = prom_buf[1]; + cvt.b[1] = prom_buf[0]; + _prom.c[i] = cvt.w; + } + + /* calculate CRC and return success/failure accordingly */ + return crc4(&_prom.c[0]) ? OK : -EIO; +} + +bool +MS5611::crc4(uint16_t *n_prom) +{ + int16_t cnt; + uint16_t n_rem; + uint16_t crc_read; + uint8_t n_bit; + + n_rem = 0x00; + + /* save the read crc */ + crc_read = n_prom[7]; + + /* remove CRC byte */ + n_prom[7] = (0xFF00 & (n_prom[7])); + + for (cnt = 0; cnt < 16; cnt++) { + /* uneven bytes */ + if (cnt & 1) { + n_rem ^= (uint8_t)((n_prom[cnt >> 1]) & 0x00FF); + + } else { + n_rem ^= (uint8_t)(n_prom[cnt >> 1] >> 8); + } + + for (n_bit = 8; n_bit > 0; n_bit--) { + if (n_rem & 0x8000) { + n_rem = (n_rem << 1) ^ 0x3000; + + } else { + n_rem = (n_rem << 1); + } + } + } + + /* final 4 bit remainder is CRC value */ + n_rem = (0x000F & (n_rem >> 12)); + n_prom[7] = crc_read; + + /* return true if CRCs match */ + return (0x000F & crc_read) == (n_rem ^ 0x00); +} + +void +MS5611::print_info() +{ + perf_print_counter(_sample_perf); + perf_print_counter(_comms_errors); + perf_print_counter(_buffer_overflows); + printf("poll interval: %u ticks\n", _measure_ticks); + printf("report queue: %u (%u/%u @ %p)\n", + _num_reports, _oldest_report, _next_report, _reports); + printf("TEMP: %d\n", _TEMP); + printf("SENS: %lld\n", _SENS); + printf("OFF: %lld\n", _OFF); + printf("MSL pressure: %10.4f\n", (double)(_msl_pressure / 100.f)); + + printf("factory_setup %u\n", _prom.s.factory_setup); + printf("c1_pressure_sens %u\n", _prom.s.c1_pressure_sens); + printf("c2_pressure_offset %u\n", _prom.s.c2_pressure_offset); + printf("c3_temp_coeff_pres_sens %u\n", _prom.s.c3_temp_coeff_pres_sens); + printf("c4_temp_coeff_pres_offset %u\n", _prom.s.c4_temp_coeff_pres_offset); + printf("c5_reference_temp %u\n", _prom.s.c5_reference_temp); + printf("c6_temp_coeff_temp %u\n", _prom.s.c6_temp_coeff_temp); + printf("serial_and_crc %u\n", _prom.s.serial_and_crc); +} + +/** + * Local functions in support of the shell command. + */ +namespace ms5611 +{ + +MS5611 *g_dev; + +void start(); +void test(); +void reset(); +void info(); +void calibrate(unsigned altitude); + +/** + * Start the driver. + */ +void +start() +{ + int fd; + + if (g_dev != nullptr) + errx(1, "already started"); + + /* create the driver */ + g_dev = new MS5611(MS5611_BUS); + + if (g_dev == nullptr) + goto fail; + + if (OK != g_dev->init()) + goto fail; + + /* set the poll rate to default, starts automatic data collection */ + fd = open(BARO_DEVICE_PATH, O_RDONLY); + + if (fd < 0) + goto fail; + + if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) + goto fail; + + exit(0); + +fail: + + if (g_dev != nullptr) { + delete g_dev; + g_dev = nullptr; + } + + errx(1, "driver start failed"); +} + +/** + * Perform some basic functional tests on the driver; + * make sure we can collect data from the sensor in polled + * and automatic modes. + */ +void +test() +{ + struct baro_report report; + ssize_t sz; + int ret; + + int fd = open(BARO_DEVICE_PATH, O_RDONLY); + + if (fd < 0) + err(1, "%s open failed (try 'ms5611 start' if the driver is not running)", BARO_DEVICE_PATH); + + /* do a simple demand read */ + sz = read(fd, &report, sizeof(report)); + + if (sz != sizeof(report)) + err(1, "immediate read failed"); + + warnx("single read"); + warnx("pressure: %10.4f", (double)report.pressure); + warnx("altitude: %11.4f", (double)report.altitude); + warnx("temperature: %8.4f", (double)report.temperature); + warnx("time: %lld", report.timestamp); + + /* set the queue depth to 10 */ + if (OK != ioctl(fd, SENSORIOCSQUEUEDEPTH, 10)) + errx(1, "failed to set queue depth"); + + /* start the sensor polling at 2Hz */ + if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) + errx(1, "failed to set 2Hz poll rate"); + + /* read the sensor 5x and report each value */ + for (unsigned i = 0; i < 5; i++) { + struct pollfd fds; + + /* wait for data to be ready */ + fds.fd = fd; + fds.events = POLLIN; + ret = poll(&fds, 1, 2000); + + if (ret != 1) + errx(1, "timed out waiting for sensor data"); + + /* now go get it */ + sz = read(fd, &report, sizeof(report)); + + if (sz != sizeof(report)) + err(1, "periodic read failed"); + + warnx("periodic read %u", i); + warnx("pressure: %10.4f", (double)report.pressure); + warnx("altitude: %11.4f", (double)report.altitude); + warnx("temperature: %8.4f", (double)report.temperature); + warnx("time: %lld", report.timestamp); + } + + errx(0, "PASS"); +} + +/** + * Reset the driver. + */ +void +reset() +{ + int fd = open(BARO_DEVICE_PATH, O_RDONLY); + + if (fd < 0) + err(1, "failed "); + + if (ioctl(fd, SENSORIOCRESET, 0) < 0) + err(1, "driver reset failed"); + + if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) + err(1, "driver poll restart failed"); + + exit(0); +} + +/** + * Print a little info about the driver. + */ +void +info() +{ + if (g_dev == nullptr) + errx(1, "driver not running"); + + printf("state @ %p\n", g_dev); + g_dev->print_info(); + + exit(0); +} + +/** + * Calculate actual MSL pressure given current altitude + */ +void +calibrate(unsigned altitude) +{ + struct baro_report report; + float pressure; + float p1; + + int fd = open(BARO_DEVICE_PATH, O_RDONLY); + + if (fd < 0) + err(1, "%s open failed (try 'ms5611 start' if the driver is not running)", BARO_DEVICE_PATH); + + /* start the sensor polling at max */ + if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MAX)) + errx(1, "failed to set poll rate"); + + /* average a few measurements */ + pressure = 0.0f; + + for (unsigned i = 0; i < 20; i++) { + struct pollfd fds; + int ret; + ssize_t sz; + + /* wait for data to be ready */ + fds.fd = fd; + fds.events = POLLIN; + ret = poll(&fds, 1, 1000); + + if (ret != 1) + errx(1, "timed out waiting for sensor data"); + + /* now go get it */ + sz = read(fd, &report, sizeof(report)); + + if (sz != sizeof(report)) + err(1, "sensor read failed"); + + pressure += report.pressure; + } + + pressure /= 20; /* average */ + pressure /= 10; /* scale from millibar to kPa */ + + /* tropospheric properties (0-11km) for standard atmosphere */ + const float T1 = 15.0 + 273.15; /* temperature at base height in Kelvin */ + const float a = -6.5 / 1000; /* temperature gradient in degrees per metre */ + const float g = 9.80665f; /* gravity constant in m/s/s */ + const float R = 287.05f; /* ideal gas constant in J/kg/K */ + + warnx("averaged pressure %10.4fkPa at %um", pressure, altitude); + + p1 = pressure * (powf(((T1 + (a * (float)altitude)) / T1), (g / (a * R)))); + + warnx("calculated MSL pressure %10.4fkPa", p1); + + /* save as integer Pa */ + p1 *= 1000.0f; + + if (ioctl(fd, BAROIOCSMSLPRESSURE, (unsigned long)p1) != OK) + err(1, "BAROIOCSMSLPRESSURE"); + + exit(0); +} + +} // namespace + +int +ms5611_main(int argc, char *argv[]) +{ + /* + * Start/load the driver. + */ + if (!strcmp(argv[1], "start")) + ms5611::start(); + + /* + * Test the driver/device. + */ + if (!strcmp(argv[1], "test")) + ms5611::test(); + + /* + * Reset the driver. + */ + if (!strcmp(argv[1], "reset")) + ms5611::reset(); + + /* + * Print driver information. + */ + if (!strcmp(argv[1], "info")) + ms5611::info(); + + /* + * Perform MSL pressure calibration given an altitude in metres + */ + if (!strcmp(argv[1], "calibrate")) { + if (argc < 2) + errx(1, "missing altitude"); + + long altitude = strtol(argv[2], nullptr, 10); + + ms5611::calibrate(altitude); + } + + errx(1, "unrecognised command, try 'start', 'test', 'reset' or 'info'"); +} -- cgit v1.2.3 From 76a30108d2eab6a65f5fc92e2f9550d25ad5656c Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 27 Apr 2013 14:16:34 +0200 Subject: Moved James Gopperts EKF to the new world --- apps/examples/kalman_demo/KalmanNav.cpp | 771 ---------------------- apps/examples/kalman_demo/KalmanNav.hpp | 180 ----- apps/examples/kalman_demo/Makefile | 42 -- apps/examples/kalman_demo/kalman_demo.cpp | 152 ----- apps/examples/kalman_demo/params.c | 16 - makefiles/config_px4fmu_default.mk | 2 +- src/modules/att_pos_estimator_ekf/KalmanNav.cpp | 771 ++++++++++++++++++++++ src/modules/att_pos_estimator_ekf/KalmanNav.hpp | 180 +++++ src/modules/att_pos_estimator_ekf/kalman_main.cpp | 152 +++++ src/modules/att_pos_estimator_ekf/module.mk | 45 ++ src/modules/att_pos_estimator_ekf/params.c | 16 + 11 files changed, 1165 insertions(+), 1162 deletions(-) delete mode 100644 apps/examples/kalman_demo/KalmanNav.cpp delete mode 100644 apps/examples/kalman_demo/KalmanNav.hpp delete mode 100644 apps/examples/kalman_demo/Makefile delete mode 100644 apps/examples/kalman_demo/kalman_demo.cpp delete mode 100644 apps/examples/kalman_demo/params.c create mode 100644 src/modules/att_pos_estimator_ekf/KalmanNav.cpp create mode 100644 src/modules/att_pos_estimator_ekf/KalmanNav.hpp create mode 100644 src/modules/att_pos_estimator_ekf/kalman_main.cpp create mode 100644 src/modules/att_pos_estimator_ekf/module.mk create mode 100644 src/modules/att_pos_estimator_ekf/params.c (limited to 'src') diff --git a/apps/examples/kalman_demo/KalmanNav.cpp b/apps/examples/kalman_demo/KalmanNav.cpp deleted file mode 100644 index 4ef150da1..000000000 --- a/apps/examples/kalman_demo/KalmanNav.cpp +++ /dev/null @@ -1,771 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file KalmanNav.cpp - * - * kalman filter navigation code - */ - -#include - -#include "KalmanNav.hpp" - -// constants -// Titterton pg. 52 -static const float omega = 7.2921150e-5f; // earth rotation rate, rad/s -static const float R0 = 6378137.0f; // earth radius, m -static const float g0 = 9.806f; // standard gravitational accel. m/s^2 -static const int8_t ret_ok = 0; // no error in function -static const int8_t ret_error = -1; // error occurred - -KalmanNav::KalmanNav(SuperBlock *parent, const char *name) : - SuperBlock(parent, name), - // ekf matrices - F(9, 9), - G(9, 6), - P(9, 9), - P0(9, 9), - V(6, 6), - // attitude measurement ekf matrices - HAtt(6, 9), - RAtt(6, 6), - // position measurement ekf matrices - HPos(6, 9), - RPos(6, 6), - // attitude representations - C_nb(), - q(), - // subscriptions - _sensors(&getSubscriptions(), ORB_ID(sensor_combined), 5), // limit to 200 Hz - _gps(&getSubscriptions(), ORB_ID(vehicle_gps_position), 100), // limit to 10 Hz - _param_update(&getSubscriptions(), ORB_ID(parameter_update), 1000), // limit to 1 Hz - // publications - _pos(&getPublications(), ORB_ID(vehicle_global_position)), - _att(&getPublications(), ORB_ID(vehicle_attitude)), - // timestamps - _pubTimeStamp(hrt_absolute_time()), - _predictTimeStamp(hrt_absolute_time()), - _attTimeStamp(hrt_absolute_time()), - _outTimeStamp(hrt_absolute_time()), - // frame count - _navFrames(0), - // miss counts - _miss(0), - // accelerations - fN(0), fE(0), fD(0), - // state - phi(0), theta(0), psi(0), - vN(0), vE(0), vD(0), - lat(0), lon(0), alt(0), - // parameters for ground station - _vGyro(this, "V_GYRO"), - _vAccel(this, "V_ACCEL"), - _rMag(this, "R_MAG"), - _rGpsVel(this, "R_GPS_VEL"), - _rGpsPos(this, "R_GPS_POS"), - _rGpsAlt(this, "R_GPS_ALT"), - _rPressAlt(this, "R_PRESS_ALT"), - _rAccel(this, "R_ACCEL"), - _magDip(this, "ENV_MAG_DIP"), - _magDec(this, "ENV_MAG_DEC"), - _g(this, "ENV_G"), - _faultPos(this, "FAULT_POS"), - _faultAtt(this, "FAULT_ATT"), - _attitudeInitialized(false), - _positionInitialized(false), - _attitudeInitCounter(0) -{ - using namespace math; - - // initial state covariance matrix - P0 = Matrix::identity(9) * 0.01f; - P = P0; - - // initial state - phi = 0.0f; - theta = 0.0f; - psi = 0.0f; - vN = 0.0f; - vE = 0.0f; - vD = 0.0f; - lat = 0.0f; - lon = 0.0f; - alt = 0.0f; - - // initialize quaternions - q = Quaternion(EulerAngles(phi, theta, psi)); - - // initialize dcm - C_nb = Dcm(q); - - // HPos is constant - HPos(0, 3) = 1.0f; - HPos(1, 4) = 1.0f; - HPos(2, 6) = 1.0e7f * M_RAD_TO_DEG_F; - HPos(3, 7) = 1.0e7f * M_RAD_TO_DEG_F; - HPos(4, 8) = 1.0f; - HPos(5, 8) = 1.0f; - - // initialize all parameters - updateParams(); -} - -void KalmanNav::update() -{ - using namespace math; - - struct pollfd fds[1]; - fds[0].fd = _sensors.getHandle(); - fds[0].events = POLLIN; - - // poll for new data - int ret = poll(fds, 1, 1000); - - if (ret < 0) { - // XXX this is seriously bad - should be an emergency - return; - - } else if (ret == 0) { // timeout - return; - } - - // get new timestamp - uint64_t newTimeStamp = hrt_absolute_time(); - - // check updated subscriptions - if (_param_update.updated()) updateParams(); - - bool gpsUpdate = _gps.updated(); - bool sensorsUpdate = _sensors.updated(); - - // get new information from subscriptions - // this clears update flag - updateSubscriptions(); - - // initialize attitude when sensors online - if (!_attitudeInitialized && sensorsUpdate && - _sensors.accelerometer_counter > 10 && - _sensors.gyro_counter > 10 && - _sensors.magnetometer_counter > 10) { - if (correctAtt() == ret_ok) _attitudeInitCounter++; - - if (_attitudeInitCounter > 100) { - printf("[kalman_demo] initialized EKF attitude\n"); - printf("phi: %8.4f, theta: %8.4f, psi: %8.4f\n", - double(phi), double(theta), double(psi)); - _attitudeInitialized = true; - } - } - - // initialize position when gps received - if (!_positionInitialized && - _attitudeInitialized && // wait for attitude first - gpsUpdate && - _gps.fix_type > 2 - //&& _gps.counter_pos_valid > 10 - ) { - vN = _gps.vel_n_m_s; - vE = _gps.vel_e_m_s; - vD = _gps.vel_d_m_s; - setLatDegE7(_gps.lat); - setLonDegE7(_gps.lon); - setAltE3(_gps.alt); - _positionInitialized = true; - printf("[kalman_demo] initialized EKF state with GPS\n"); - printf("vN: %8.4f, vE: %8.4f, vD: %8.4f, lat: %8.4f, lon: %8.4f, alt: %8.4f\n", - double(vN), double(vE), double(vD), - lat, lon, alt); - } - - // prediciton step - // using sensors timestamp so we can account for packet lag - float dt = (_sensors.timestamp - _predictTimeStamp) / 1.0e6f; - //printf("dt: %15.10f\n", double(dt)); - _predictTimeStamp = _sensors.timestamp; - - // don't predict if time greater than a second - if (dt < 1.0f) { - predictState(dt); - predictStateCovariance(dt); - // count fast frames - _navFrames += 1; - } - - // count times 100 Hz rate isn't met - if (dt > 0.01f) _miss++; - - // gps correction step - if (_positionInitialized && gpsUpdate) { - correctPos(); - } - - // attitude correction step - if (_attitudeInitialized // initialized - && sensorsUpdate // new data - && _sensors.timestamp - _attTimeStamp > 1e6 / 20 // 20 Hz - ) { - _attTimeStamp = _sensors.timestamp; - correctAtt(); - } - - // publication - if (newTimeStamp - _pubTimeStamp > 1e6 / 50) { // 50 Hz - _pubTimeStamp = newTimeStamp; - - updatePublications(); - } - - // output - if (newTimeStamp - _outTimeStamp > 10e6) { // 0.1 Hz - _outTimeStamp = newTimeStamp; - //printf("nav: %4d Hz, miss #: %4d\n", - // _navFrames / 10, _miss / 10); - _navFrames = 0; - _miss = 0; - } -} - -void KalmanNav::updatePublications() -{ - using namespace math; - - // position publication - _pos.timestamp = _pubTimeStamp; - _pos.time_gps_usec = _gps.timestamp_position; - _pos.valid = true; - _pos.lat = getLatDegE7(); - _pos.lon = getLonDegE7(); - _pos.alt = float(alt); - _pos.relative_alt = float(alt); // TODO, make relative - _pos.vx = vN; - _pos.vy = vE; - _pos.vz = vD; - _pos.hdg = psi; - - // attitude publication - _att.timestamp = _pubTimeStamp; - _att.roll = phi; - _att.pitch = theta; - _att.yaw = psi; - _att.rollspeed = _sensors.gyro_rad_s[0]; - _att.pitchspeed = _sensors.gyro_rad_s[1]; - _att.yawspeed = _sensors.gyro_rad_s[2]; - // TODO, add gyro offsets to filter - _att.rate_offsets[0] = 0.0f; - _att.rate_offsets[1] = 0.0f; - _att.rate_offsets[2] = 0.0f; - - for (int i = 0; i < 3; i++) for (int j = 0; j < 3; j++) - _att.R[i][j] = C_nb(i, j); - - for (int i = 0; i < 4; i++) _att.q[i] = q(i); - - _att.R_valid = true; - _att.q_valid = true; - - // selectively update publications, - // do NOT call superblock do-all method - if (_positionInitialized) - _pos.update(); - - if (_attitudeInitialized) - _att.update(); -} - -int KalmanNav::predictState(float dt) -{ - using namespace math; - - // trig - float sinL = sinf(lat); - float cosL = cosf(lat); - float cosLSing = cosf(lat); - - // prevent singularity - if (fabsf(cosLSing) < 0.01f) { - if (cosLSing > 0) cosLSing = 0.01; - else cosLSing = -0.01; - } - - // attitude prediction - if (_attitudeInitialized) { - Vector3 w(_sensors.gyro_rad_s); - - // attitude - q = q + q.derivative(w) * dt; - - // renormalize quaternion if needed - if (fabsf(q.norm() - 1.0f) > 1e-4f) { - q = q.unit(); - } - - // C_nb update - C_nb = Dcm(q); - - // euler update - EulerAngles euler(C_nb); - phi = euler.getPhi(); - theta = euler.getTheta(); - psi = euler.getPsi(); - - // specific acceleration in nav frame - Vector3 accelB(_sensors.accelerometer_m_s2); - Vector3 accelN = C_nb * accelB; - fN = accelN(0); - fE = accelN(1); - fD = accelN(2); - } - - // position prediction - if (_positionInitialized) { - // neglects angular deflections in local gravity - // see Titerton pg. 70 - float R = R0 + float(alt); - float LDot = vN / R; - float lDot = vE / (cosLSing * R); - float rotRate = 2 * omega + lDot; - - // XXX position prediction using speed - float vNDot = fN - vE * rotRate * sinL + - vD * LDot; - float vDDot = fD - vE * rotRate * cosL - - vN * LDot + _g.get(); - float vEDot = fE + vN * rotRate * sinL + - vDDot * rotRate * cosL; - - // rectangular integration - vN += vNDot * dt; - vE += vEDot * dt; - vD += vDDot * dt; - lat += double(LDot * dt); - lon += double(lDot * dt); - alt += double(-vD * dt); - } - - return ret_ok; -} - -int KalmanNav::predictStateCovariance(float dt) -{ - using namespace math; - - // trig - float sinL = sinf(lat); - float cosL = cosf(lat); - float cosLSq = cosL * cosL; - float tanL = tanf(lat); - - // prepare for matrix - float R = R0 + float(alt); - float RSq = R * R; - - // F Matrix - // Titterton pg. 291 - - F(0, 1) = -(omega * sinL + vE * tanL / R); - F(0, 2) = vN / R; - F(0, 4) = 1.0f / R; - F(0, 6) = -omega * sinL; - F(0, 8) = -vE / RSq; - - F(1, 0) = omega * sinL + vE * tanL / R; - F(1, 2) = omega * cosL + vE / R; - F(1, 3) = -1.0f / R; - F(1, 8) = vN / RSq; - - F(2, 0) = -vN / R; - F(2, 1) = -omega * cosL - vE / R; - F(2, 4) = -tanL / R; - F(2, 6) = -omega * cosL - vE / (R * cosLSq); - F(2, 8) = vE * tanL / RSq; - - F(3, 1) = -fD; - F(3, 2) = fE; - F(3, 3) = vD / R; - F(3, 4) = -2 * (omega * sinL + vE * tanL / R); - F(3, 5) = vN / R; - F(3, 6) = -vE * (2 * omega * cosL + vE / (R * cosLSq)); - F(3, 8) = (vE * vE * tanL - vN * vD) / RSq; - - F(4, 0) = fD; - F(4, 2) = -fN; - F(4, 3) = 2 * omega * sinL + vE * tanL / R; - F(4, 4) = (vN * tanL + vD) / R; - F(4, 5) = 2 * omega * cosL + vE / R; - F(4, 6) = 2 * omega * (vN * cosL - vD * sinL) + - vN * vE / (R * cosLSq); - F(4, 8) = -vE * (vN * tanL + vD) / RSq; - - F(5, 0) = -fE; - F(5, 1) = fN; - F(5, 3) = -2 * vN / R; - F(5, 4) = -2 * (omega * cosL + vE / R); - F(5, 6) = 2 * omega * vE * sinL; - F(5, 8) = (vN * vN + vE * vE) / RSq; - - F(6, 3) = 1 / R; - F(6, 8) = -vN / RSq; - - F(7, 4) = 1 / (R * cosL); - F(7, 6) = vE * tanL / (R * cosL); - F(7, 8) = -vE / (cosL * RSq); - - F(8, 5) = -1; - - // G Matrix - // Titterton pg. 291 - G(0, 0) = -C_nb(0, 0); - G(0, 1) = -C_nb(0, 1); - G(0, 2) = -C_nb(0, 2); - G(1, 0) = -C_nb(1, 0); - G(1, 1) = -C_nb(1, 1); - G(1, 2) = -C_nb(1, 2); - G(2, 0) = -C_nb(2, 0); - G(2, 1) = -C_nb(2, 1); - G(2, 2) = -C_nb(2, 2); - - G(3, 3) = C_nb(0, 0); - G(3, 4) = C_nb(0, 1); - G(3, 5) = C_nb(0, 2); - G(4, 3) = C_nb(1, 0); - G(4, 4) = C_nb(1, 1); - G(4, 5) = C_nb(1, 2); - G(5, 3) = C_nb(2, 0); - G(5, 4) = C_nb(2, 1); - G(5, 5) = C_nb(2, 2); - - // continuous predictioon equations - // for discrte time EKF - // http://en.wikipedia.org/wiki/Extended_Kalman_filter - P = P + (F * P + P * F.transpose() + G * V * G.transpose()) * dt; - - return ret_ok; -} - -int KalmanNav::correctAtt() -{ - using namespace math; - - // trig - float cosPhi = cosf(phi); - float cosTheta = cosf(theta); - float cosPsi = cosf(psi); - float sinPhi = sinf(phi); - float sinTheta = sinf(theta); - float sinPsi = sinf(psi); - - // mag measurement - Vector3 zMag(_sensors.magnetometer_ga); - //float magNorm = zMag.norm(); - zMag = zMag.unit(); - - // mag predicted measurement - // choosing some typical magnetic field properties, - // TODO dip/dec depend on lat/ lon/ time - float dip = _magDip.get() / M_RAD_TO_DEG_F; // dip, inclination with level - float dec = _magDec.get() / M_RAD_TO_DEG_F; // declination, clockwise rotation from north - float bN = cosf(dip) * cosf(dec); - float bE = cosf(dip) * sinf(dec); - float bD = sinf(dip); - Vector3 bNav(bN, bE, bD); - Vector3 zMagHat = (C_nb.transpose() * bNav).unit(); - - // accel measurement - Vector3 zAccel(_sensors.accelerometer_m_s2); - float accelMag = zAccel.norm(); - zAccel = zAccel.unit(); - - // ignore accel correction when accel mag not close to g - Matrix RAttAdjust = RAtt; - - bool ignoreAccel = fabsf(accelMag - _g.get()) > 1.1f; - - if (ignoreAccel) { - RAttAdjust(3, 3) = 1.0e10; - RAttAdjust(4, 4) = 1.0e10; - RAttAdjust(5, 5) = 1.0e10; - - } else { - //printf("correcting attitude with accel\n"); - } - - // accel predicted measurement - Vector3 zAccelHat = (C_nb.transpose() * Vector3(0, 0, -_g.get())).unit(); - - // combined measurement - Vector zAtt(6); - Vector zAttHat(6); - - for (int i = 0; i < 3; i++) { - zAtt(i) = zMag(i); - zAtt(i + 3) = zAccel(i); - zAttHat(i) = zMagHat(i); - zAttHat(i + 3) = zAccelHat(i); - } - - // HMag , HAtt (0-2,:) - float tmp1 = - cosPsi * cosTheta * bN + - sinPsi * cosTheta * bE - - sinTheta * bD; - HAtt(0, 1) = -( - cosPsi * sinTheta * bN + - sinPsi * sinTheta * bE + - cosTheta * bD - ); - HAtt(0, 2) = -cosTheta * (sinPsi * bN - cosPsi * bE); - HAtt(1, 0) = - (cosPhi * cosPsi * sinTheta + sinPhi * sinPsi) * bN + - (cosPhi * sinPsi * sinTheta - sinPhi * cosPsi) * bE + - cosPhi * cosTheta * bD; - HAtt(1, 1) = sinPhi * tmp1; - HAtt(1, 2) = -( - (sinPhi * sinPsi * sinTheta + cosPhi * cosPsi) * bN - - (sinPhi * cosPsi * sinTheta - cosPhi * sinPsi) * bE - ); - HAtt(2, 0) = -( - (sinPhi * cosPsi * sinTheta - cosPhi * sinPsi) * bN + - (sinPhi * sinPsi * sinTheta + cosPhi * cosPsi) * bE + - (sinPhi * cosTheta) * bD - ); - HAtt(2, 1) = cosPhi * tmp1; - HAtt(2, 2) = -( - (cosPhi * sinPsi * sinTheta - sinPhi * cosTheta) * bN - - (cosPhi * cosPsi * sinTheta + sinPhi * sinPsi) * bE - ); - - // HAccel , HAtt (3-5,:) - HAtt(3, 1) = cosTheta; - HAtt(4, 0) = -cosPhi * cosTheta; - HAtt(4, 1) = sinPhi * sinTheta; - HAtt(5, 0) = sinPhi * cosTheta; - HAtt(5, 1) = cosPhi * sinTheta; - - // compute correction - // http://en.wikipedia.org/wiki/Extended_Kalman_filter - Vector y = zAtt - zAttHat; // residual - Matrix S = HAtt * P * HAtt.transpose() + RAttAdjust; // residual covariance - Matrix K = P * HAtt.transpose() * S.inverse(); - Vector xCorrect = K * y; - - // check correciton is sane - for (size_t i = 0; i < xCorrect.getRows(); i++) { - float val = xCorrect(i); - - if (isnan(val) || isinf(val)) { - // abort correction and return - printf("[kalman_demo] numerical failure in att correction\n"); - // reset P matrix to P0 - P = P0; - return ret_error; - } - } - - // correct state - if (!ignoreAccel) { - phi += xCorrect(PHI); - theta += xCorrect(THETA); - } - - psi += xCorrect(PSI); - - // attitude also affects nav velocities - if (_positionInitialized) { - vN += xCorrect(VN); - vE += xCorrect(VE); - vD += xCorrect(VD); - } - - // update state covariance - // http://en.wikipedia.org/wiki/Extended_Kalman_filter - P = P - K * HAtt * P; - - // fault detection - float beta = y.dot(S.inverse() * y); - - if (beta > _faultAtt.get()) { - printf("fault in attitude: beta = %8.4f\n", (double)beta); - printf("y:\n"); y.print(); - printf("zMagHat:\n"); zMagHat.print(); - printf("zMag:\n"); zMag.print(); - printf("bNav:\n"); bNav.print(); - } - - // update quaternions from euler - // angle correction - q = Quaternion(EulerAngles(phi, theta, psi)); - - return ret_ok; -} - -int KalmanNav::correctPos() -{ - using namespace math; - - // residual - Vector y(6); - y(0) = _gps.vel_n_m_s - vN; - y(1) = _gps.vel_e_m_s - vE; - y(2) = double(_gps.lat) - lat * 1.0e7 * M_RAD_TO_DEG; - y(3) = double(_gps.lon) - lon * 1.0e7 * M_RAD_TO_DEG; - y(4) = double(_gps.alt) / 1.0e3 - alt; - y(5) = double(_sensors.baro_alt_meter) - alt; - - // compute correction - // http://en.wikipedia.org/wiki/Extended_Kalman_filter - Matrix S = HPos * P * HPos.transpose() + RPos; // residual covariance - Matrix K = P * HPos.transpose() * S.inverse(); - Vector xCorrect = K * y; - - // check correction is sane - for (size_t i = 0; i < xCorrect.getRows(); i++) { - float val = xCorrect(i); - - if (isnan(val) || isinf(val)) { - // abort correction and return - printf("[kalman_demo] numerical failure in gps correction\n"); - // fallback to GPS - vN = _gps.vel_n_m_s; - vE = _gps.vel_e_m_s; - vD = _gps.vel_d_m_s; - setLatDegE7(_gps.lat); - setLonDegE7(_gps.lon); - setAltE3(_gps.alt); - // reset P matrix to P0 - P = P0; - return ret_error; - } - } - - // correct state - vN += xCorrect(VN); - vE += xCorrect(VE); - vD += xCorrect(VD); - lat += double(xCorrect(LAT)); - lon += double(xCorrect(LON)); - alt += double(xCorrect(ALT)); - - // update state covariance - // http://en.wikipedia.org/wiki/Extended_Kalman_filter - P = P - K * HPos * P; - - // fault detetcion - float beta = y.dot(S.inverse() * y); - - if (beta > _faultPos.get()) { - printf("fault in gps: beta = %8.4f\n", (double)beta); - printf("Y/N: vN: %8.4f, vE: %8.4f, lat: %8.4f, lon: %8.4f, alt: %8.4f\n", - double(y(0) / sqrtf(RPos(0, 0))), - double(y(1) / sqrtf(RPos(1, 1))), - double(y(2) / sqrtf(RPos(2, 2))), - double(y(3) / sqrtf(RPos(3, 3))), - double(y(4) / sqrtf(RPos(4, 4))), - double(y(5) / sqrtf(RPos(5, 5)))); - } - - return ret_ok; -} - -void KalmanNav::updateParams() -{ - using namespace math; - using namespace control; - SuperBlock::updateParams(); - - // gyro noise - V(0, 0) = _vGyro.get(); // gyro x, rad/s - V(1, 1) = _vGyro.get(); // gyro y - V(2, 2) = _vGyro.get(); // gyro z - - // accel noise - V(3, 3) = _vAccel.get(); // accel x, m/s^2 - V(4, 4) = _vAccel.get(); // accel y - V(5, 5) = _vAccel.get(); // accel z - - // magnetometer noise - float noiseMin = 1e-6f; - float noiseMagSq = _rMag.get() * _rMag.get(); - - if (noiseMagSq < noiseMin) noiseMagSq = noiseMin; - - RAtt(0, 0) = noiseMagSq; // normalized direction - RAtt(1, 1) = noiseMagSq; - RAtt(2, 2) = noiseMagSq; - - // accelerometer noise - float noiseAccelSq = _rAccel.get() * _rAccel.get(); - - // bound noise to prevent singularities - if (noiseAccelSq < noiseMin) noiseAccelSq = noiseMin; - - RAtt(3, 3) = noiseAccelSq; // normalized direction - RAtt(4, 4) = noiseAccelSq; - RAtt(5, 5) = noiseAccelSq; - - // gps noise - float R = R0 + float(alt); - float cosLSing = cosf(lat); - - // prevent singularity - if (fabsf(cosLSing) < 0.01f) { - if (cosLSing > 0) cosLSing = 0.01; - else cosLSing = -0.01; - } - - float noiseVel = _rGpsVel.get(); - float noiseLatDegE7 = 1.0e7f * M_RAD_TO_DEG_F * _rGpsPos.get() / R; - float noiseLonDegE7 = noiseLatDegE7 / cosLSing; - float noiseGpsAlt = _rGpsAlt.get(); - float noisePressAlt = _rPressAlt.get(); - - // bound noise to prevent singularities - if (noiseVel < noiseMin) noiseVel = noiseMin; - - if (noiseLatDegE7 < noiseMin) noiseLatDegE7 = noiseMin; - - if (noiseLonDegE7 < noiseMin) noiseLonDegE7 = noiseMin; - - if (noiseGpsAlt < noiseMin) noiseGpsAlt = noiseMin; - - if (noisePressAlt < noiseMin) noisePressAlt = noiseMin; - - RPos(0, 0) = noiseVel * noiseVel; // vn - RPos(1, 1) = noiseVel * noiseVel; // ve - RPos(2, 2) = noiseLatDegE7 * noiseLatDegE7; // lat - RPos(3, 3) = noiseLonDegE7 * noiseLonDegE7; // lon - RPos(4, 4) = noiseGpsAlt * noiseGpsAlt; // h - RPos(5, 5) = noisePressAlt * noisePressAlt; // h - // XXX, note that RPos depends on lat, so updateParams should - // be called if lat changes significantly -} diff --git a/apps/examples/kalman_demo/KalmanNav.hpp b/apps/examples/kalman_demo/KalmanNav.hpp deleted file mode 100644 index c2bf18115..000000000 --- a/apps/examples/kalman_demo/KalmanNav.hpp +++ /dev/null @@ -1,180 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file KalmanNav.hpp - * - * kalman filter navigation code - */ - -#pragma once - -//#define MATRIX_ASSERT -//#define VECTOR_ASSERT - -#include - -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include - -#include -#include -#include - -/** - * Kalman filter navigation class - * http://en.wikipedia.org/wiki/Extended_Kalman_filter - * Discrete-time extended Kalman filter - */ -class KalmanNav : public control::SuperBlock -{ -public: - /** - * Constructor - */ - KalmanNav(SuperBlock *parent, const char *name); - - /** - * Deconstuctor - */ - - virtual ~KalmanNav() {}; - /** - * The main callback function for the class - */ - void update(); - - - /** - * Publication update - */ - virtual void updatePublications(); - - /** - * State prediction - * Continuous, non-linear - */ - int predictState(float dt); - - /** - * State covariance prediction - * Continuous, linear - */ - int predictStateCovariance(float dt); - - /** - * Attitude correction - */ - int correctAtt(); - - /** - * Position correction - */ - int correctPos(); - - /** - * Overloaded update parameters - */ - virtual void updateParams(); -protected: - // kalman filter - math::Matrix F; /**< Jacobian(f,x), where dx/dt = f(x,u) */ - math::Matrix G; /**< noise shaping matrix for gyro/accel */ - math::Matrix P; /**< state covariance matrix */ - math::Matrix P0; /**< initial state covariance matrix */ - math::Matrix V; /**< gyro/ accel noise matrix */ - math::Matrix HAtt; /**< attitude measurement matrix */ - math::Matrix RAtt; /**< attitude measurement noise matrix */ - math::Matrix HPos; /**< position measurement jacobian matrix */ - math::Matrix RPos; /**< position measurement noise matrix */ - // attitude - math::Dcm C_nb; /**< direction cosine matrix from body to nav frame */ - math::Quaternion q; /**< quaternion from body to nav frame */ - // subscriptions - control::UOrbSubscription _sensors; /**< sensors sub. */ - control::UOrbSubscription _gps; /**< gps sub. */ - control::UOrbSubscription _param_update; /**< parameter update sub. */ - // publications - control::UOrbPublication _pos; /**< position pub. */ - control::UOrbPublication _att; /**< attitude pub. */ - // time stamps - uint64_t _pubTimeStamp; /**< output data publication time stamp */ - uint64_t _predictTimeStamp; /**< prediction time stamp */ - uint64_t _attTimeStamp; /**< attitude correction time stamp */ - uint64_t _outTimeStamp; /**< output time stamp */ - // frame count - uint16_t _navFrames; /**< navigation frames completed in output cycle */ - // miss counts - uint16_t _miss; /**< number of times fast prediction loop missed */ - // accelerations - float fN, fE, fD; /**< navigation frame acceleration */ - // states - enum {PHI = 0, THETA, PSI, VN, VE, VD, LAT, LON, ALT}; /**< state enumeration */ - float phi, theta, psi; /**< 3-2-1 euler angles */ - float vN, vE, vD; /**< navigation velocity, m/s */ - double lat, lon, alt; /**< lat, lon, alt, radians */ - // parameters - control::BlockParam _vGyro; /**< gyro process noise */ - control::BlockParam _vAccel; /**< accelerometer process noise */ - control::BlockParam _rMag; /**< magnetometer measurement noise */ - control::BlockParam _rGpsVel; /**< gps velocity measurement noise */ - control::BlockParam _rGpsPos; /**< gps position measurement noise */ - control::BlockParam _rGpsAlt; /**< gps altitude measurement noise */ - control::BlockParam _rPressAlt; /**< press altitude measurement noise */ - control::BlockParam _rAccel; /**< accelerometer measurement noise */ - control::BlockParam _magDip; /**< magnetic inclination with level */ - control::BlockParam _magDec; /**< magnetic declination, clockwise rotation */ - control::BlockParam _g; /**< gravitational constant */ - control::BlockParam _faultPos; /**< fault detection threshold for position */ - control::BlockParam _faultAtt; /**< fault detection threshold for attitude */ - // status - bool _attitudeInitialized; - bool _positionInitialized; - uint16_t _attitudeInitCounter; - // accessors - int32_t getLatDegE7() { return int32_t(lat * 1.0e7 * M_RAD_TO_DEG); } - void setLatDegE7(int32_t val) { lat = val / 1.0e7 / M_RAD_TO_DEG; } - int32_t getLonDegE7() { return int32_t(lon * 1.0e7 * M_RAD_TO_DEG); } - void setLonDegE7(int32_t val) { lon = val / 1.0e7 / M_RAD_TO_DEG; } - int32_t getAltE3() { return int32_t(alt * 1.0e3); } - void setAltE3(int32_t val) { alt = double(val) / 1.0e3; } -}; diff --git a/apps/examples/kalman_demo/Makefile b/apps/examples/kalman_demo/Makefile deleted file mode 100644 index 99c34d934..000000000 --- a/apps/examples/kalman_demo/Makefile +++ /dev/null @@ -1,42 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Basic example application -# - -APPNAME = kalman_demo -PRIORITY = SCHED_PRIORITY_MAX - 30 -STACKSIZE = 2048 - -include $(APPDIR)/mk/app.mk diff --git a/apps/examples/kalman_demo/kalman_demo.cpp b/apps/examples/kalman_demo/kalman_demo.cpp deleted file mode 100644 index 581b68b01..000000000 --- a/apps/examples/kalman_demo/kalman_demo.cpp +++ /dev/null @@ -1,152 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Example User - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file kalman_demo.cpp - * Demonstration of control library - */ - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include "KalmanNav.hpp" - -static bool thread_should_exit = false; /**< Deamon exit flag */ -static bool thread_running = false; /**< Deamon status flag */ -static int deamon_task; /**< Handle of deamon task / thread */ - -/** - * Deamon management function. - */ -extern "C" __EXPORT int kalman_demo_main(int argc, char *argv[]); - -/** - * Mainloop of deamon. - */ -int kalman_demo_thread_main(int argc, char *argv[]); - -/** - * Print the correct usage. - */ -static void usage(const char *reason); - -static void -usage(const char *reason) -{ - if (reason) - fprintf(stderr, "%s\n", reason); - - fprintf(stderr, "usage: kalman_demo {start|stop|status} [-p ]\n\n"); - exit(1); -} - -/** - * The deamon app only briefly exists to start - * the background job. The stack size assigned in the - * Makefile does only apply to this management task. - * - * The actual stack size should be set in the call - * to task_create(). - */ -int kalman_demo_main(int argc, char *argv[]) -{ - - if (argc < 1) - usage("missing command"); - - if (!strcmp(argv[1], "start")) { - - if (thread_running) { - printf("kalman_demo already running\n"); - /* this is not an error */ - exit(0); - } - - thread_should_exit = false; - deamon_task = task_spawn("kalman_demo", - SCHED_DEFAULT, - SCHED_PRIORITY_MAX - 5, - 4096, - kalman_demo_thread_main, - (argv) ? (const char **)&argv[2] : (const char **)NULL); - exit(0); - } - - if (!strcmp(argv[1], "stop")) { - thread_should_exit = true; - exit(0); - } - - if (!strcmp(argv[1], "status")) { - if (thread_running) { - printf("\tkalman_demo app is running\n"); - - } else { - printf("\tkalman_demo app not started\n"); - } - - exit(0); - } - - usage("unrecognized command"); - exit(1); -} - -int kalman_demo_thread_main(int argc, char *argv[]) -{ - - printf("[kalman_demo] starting\n"); - - using namespace math; - - thread_running = true; - - KalmanNav nav(NULL, "KF"); - - while (!thread_should_exit) { - nav.update(); - } - - printf("[kalman_demo] exiting.\n"); - - thread_running = false; - - return 0; -} diff --git a/apps/examples/kalman_demo/params.c b/apps/examples/kalman_demo/params.c deleted file mode 100644 index 50642f067..000000000 --- a/apps/examples/kalman_demo/params.c +++ /dev/null @@ -1,16 +0,0 @@ -#include - -/*PARAM_DEFINE_FLOAT(NAME,0.0f);*/ -PARAM_DEFINE_FLOAT(KF_V_GYRO, 0.008f); -PARAM_DEFINE_FLOAT(KF_V_ACCEL, 1.0f); -PARAM_DEFINE_FLOAT(KF_R_MAG, 1.0f); -PARAM_DEFINE_FLOAT(KF_R_GPS_VEL, 1.0f); -PARAM_DEFINE_FLOAT(KF_R_GPS_POS, 5.0f); -PARAM_DEFINE_FLOAT(KF_R_GPS_ALT, 5.0f); -PARAM_DEFINE_FLOAT(KF_R_PRESS_ALT, 0.1f); -PARAM_DEFINE_FLOAT(KF_R_ACCEL, 1.0f); -PARAM_DEFINE_FLOAT(KF_FAULT_POS, 10.0f); -PARAM_DEFINE_FLOAT(KF_FAULT_ATT, 10.0f); -PARAM_DEFINE_FLOAT(KF_ENV_G, 9.765f); -PARAM_DEFINE_FLOAT(KF_ENV_MAG_DIP, 60.0f); -PARAM_DEFINE_FLOAT(KF_ENV_MAG_DEC, 0.0f); diff --git a/makefiles/config_px4fmu_default.mk b/makefiles/config_px4fmu_default.mk index 00aec3f8a..0767f7144 100644 --- a/makefiles/config_px4fmu_default.mk +++ b/makefiles/config_px4fmu_default.mk @@ -54,6 +54,7 @@ MODULES += modules/mavlink_onboard # MODULES += modules/attitude_estimator_ekf MODULES += modules/position_estimator_mc +MODULES += modules/att_pos_estimator_ekf # # Logging @@ -78,7 +79,6 @@ BUILTIN_COMMANDS := \ $(call _B, control_demo, , 2048, control_demo_main ) \ $(call _B, fixedwing_att_control, SCHED_PRIORITY_MAX-30, 2048, fixedwing_att_control_main ) \ $(call _B, fixedwing_pos_control, SCHED_PRIORITY_MAX-30, 2048, fixedwing_pos_control_main ) \ - $(call _B, kalman_demo, SCHED_PRIORITY_MAX-30, 2048, kalman_demo_main ) \ $(call _B, math_demo, , 8192, math_demo_main ) \ $(call _B, multirotor_att_control, SCHED_PRIORITY_MAX-15, 2048, multirotor_att_control_main) \ $(call _B, multirotor_pos_control, SCHED_PRIORITY_MAX-25, 2048, multirotor_pos_control_main) \ diff --git a/src/modules/att_pos_estimator_ekf/KalmanNav.cpp b/src/modules/att_pos_estimator_ekf/KalmanNav.cpp new file mode 100644 index 000000000..4ef150da1 --- /dev/null +++ b/src/modules/att_pos_estimator_ekf/KalmanNav.cpp @@ -0,0 +1,771 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file KalmanNav.cpp + * + * kalman filter navigation code + */ + +#include + +#include "KalmanNav.hpp" + +// constants +// Titterton pg. 52 +static const float omega = 7.2921150e-5f; // earth rotation rate, rad/s +static const float R0 = 6378137.0f; // earth radius, m +static const float g0 = 9.806f; // standard gravitational accel. m/s^2 +static const int8_t ret_ok = 0; // no error in function +static const int8_t ret_error = -1; // error occurred + +KalmanNav::KalmanNav(SuperBlock *parent, const char *name) : + SuperBlock(parent, name), + // ekf matrices + F(9, 9), + G(9, 6), + P(9, 9), + P0(9, 9), + V(6, 6), + // attitude measurement ekf matrices + HAtt(6, 9), + RAtt(6, 6), + // position measurement ekf matrices + HPos(6, 9), + RPos(6, 6), + // attitude representations + C_nb(), + q(), + // subscriptions + _sensors(&getSubscriptions(), ORB_ID(sensor_combined), 5), // limit to 200 Hz + _gps(&getSubscriptions(), ORB_ID(vehicle_gps_position), 100), // limit to 10 Hz + _param_update(&getSubscriptions(), ORB_ID(parameter_update), 1000), // limit to 1 Hz + // publications + _pos(&getPublications(), ORB_ID(vehicle_global_position)), + _att(&getPublications(), ORB_ID(vehicle_attitude)), + // timestamps + _pubTimeStamp(hrt_absolute_time()), + _predictTimeStamp(hrt_absolute_time()), + _attTimeStamp(hrt_absolute_time()), + _outTimeStamp(hrt_absolute_time()), + // frame count + _navFrames(0), + // miss counts + _miss(0), + // accelerations + fN(0), fE(0), fD(0), + // state + phi(0), theta(0), psi(0), + vN(0), vE(0), vD(0), + lat(0), lon(0), alt(0), + // parameters for ground station + _vGyro(this, "V_GYRO"), + _vAccel(this, "V_ACCEL"), + _rMag(this, "R_MAG"), + _rGpsVel(this, "R_GPS_VEL"), + _rGpsPos(this, "R_GPS_POS"), + _rGpsAlt(this, "R_GPS_ALT"), + _rPressAlt(this, "R_PRESS_ALT"), + _rAccel(this, "R_ACCEL"), + _magDip(this, "ENV_MAG_DIP"), + _magDec(this, "ENV_MAG_DEC"), + _g(this, "ENV_G"), + _faultPos(this, "FAULT_POS"), + _faultAtt(this, "FAULT_ATT"), + _attitudeInitialized(false), + _positionInitialized(false), + _attitudeInitCounter(0) +{ + using namespace math; + + // initial state covariance matrix + P0 = Matrix::identity(9) * 0.01f; + P = P0; + + // initial state + phi = 0.0f; + theta = 0.0f; + psi = 0.0f; + vN = 0.0f; + vE = 0.0f; + vD = 0.0f; + lat = 0.0f; + lon = 0.0f; + alt = 0.0f; + + // initialize quaternions + q = Quaternion(EulerAngles(phi, theta, psi)); + + // initialize dcm + C_nb = Dcm(q); + + // HPos is constant + HPos(0, 3) = 1.0f; + HPos(1, 4) = 1.0f; + HPos(2, 6) = 1.0e7f * M_RAD_TO_DEG_F; + HPos(3, 7) = 1.0e7f * M_RAD_TO_DEG_F; + HPos(4, 8) = 1.0f; + HPos(5, 8) = 1.0f; + + // initialize all parameters + updateParams(); +} + +void KalmanNav::update() +{ + using namespace math; + + struct pollfd fds[1]; + fds[0].fd = _sensors.getHandle(); + fds[0].events = POLLIN; + + // poll for new data + int ret = poll(fds, 1, 1000); + + if (ret < 0) { + // XXX this is seriously bad - should be an emergency + return; + + } else if (ret == 0) { // timeout + return; + } + + // get new timestamp + uint64_t newTimeStamp = hrt_absolute_time(); + + // check updated subscriptions + if (_param_update.updated()) updateParams(); + + bool gpsUpdate = _gps.updated(); + bool sensorsUpdate = _sensors.updated(); + + // get new information from subscriptions + // this clears update flag + updateSubscriptions(); + + // initialize attitude when sensors online + if (!_attitudeInitialized && sensorsUpdate && + _sensors.accelerometer_counter > 10 && + _sensors.gyro_counter > 10 && + _sensors.magnetometer_counter > 10) { + if (correctAtt() == ret_ok) _attitudeInitCounter++; + + if (_attitudeInitCounter > 100) { + printf("[kalman_demo] initialized EKF attitude\n"); + printf("phi: %8.4f, theta: %8.4f, psi: %8.4f\n", + double(phi), double(theta), double(psi)); + _attitudeInitialized = true; + } + } + + // initialize position when gps received + if (!_positionInitialized && + _attitudeInitialized && // wait for attitude first + gpsUpdate && + _gps.fix_type > 2 + //&& _gps.counter_pos_valid > 10 + ) { + vN = _gps.vel_n_m_s; + vE = _gps.vel_e_m_s; + vD = _gps.vel_d_m_s; + setLatDegE7(_gps.lat); + setLonDegE7(_gps.lon); + setAltE3(_gps.alt); + _positionInitialized = true; + printf("[kalman_demo] initialized EKF state with GPS\n"); + printf("vN: %8.4f, vE: %8.4f, vD: %8.4f, lat: %8.4f, lon: %8.4f, alt: %8.4f\n", + double(vN), double(vE), double(vD), + lat, lon, alt); + } + + // prediciton step + // using sensors timestamp so we can account for packet lag + float dt = (_sensors.timestamp - _predictTimeStamp) / 1.0e6f; + //printf("dt: %15.10f\n", double(dt)); + _predictTimeStamp = _sensors.timestamp; + + // don't predict if time greater than a second + if (dt < 1.0f) { + predictState(dt); + predictStateCovariance(dt); + // count fast frames + _navFrames += 1; + } + + // count times 100 Hz rate isn't met + if (dt > 0.01f) _miss++; + + // gps correction step + if (_positionInitialized && gpsUpdate) { + correctPos(); + } + + // attitude correction step + if (_attitudeInitialized // initialized + && sensorsUpdate // new data + && _sensors.timestamp - _attTimeStamp > 1e6 / 20 // 20 Hz + ) { + _attTimeStamp = _sensors.timestamp; + correctAtt(); + } + + // publication + if (newTimeStamp - _pubTimeStamp > 1e6 / 50) { // 50 Hz + _pubTimeStamp = newTimeStamp; + + updatePublications(); + } + + // output + if (newTimeStamp - _outTimeStamp > 10e6) { // 0.1 Hz + _outTimeStamp = newTimeStamp; + //printf("nav: %4d Hz, miss #: %4d\n", + // _navFrames / 10, _miss / 10); + _navFrames = 0; + _miss = 0; + } +} + +void KalmanNav::updatePublications() +{ + using namespace math; + + // position publication + _pos.timestamp = _pubTimeStamp; + _pos.time_gps_usec = _gps.timestamp_position; + _pos.valid = true; + _pos.lat = getLatDegE7(); + _pos.lon = getLonDegE7(); + _pos.alt = float(alt); + _pos.relative_alt = float(alt); // TODO, make relative + _pos.vx = vN; + _pos.vy = vE; + _pos.vz = vD; + _pos.hdg = psi; + + // attitude publication + _att.timestamp = _pubTimeStamp; + _att.roll = phi; + _att.pitch = theta; + _att.yaw = psi; + _att.rollspeed = _sensors.gyro_rad_s[0]; + _att.pitchspeed = _sensors.gyro_rad_s[1]; + _att.yawspeed = _sensors.gyro_rad_s[2]; + // TODO, add gyro offsets to filter + _att.rate_offsets[0] = 0.0f; + _att.rate_offsets[1] = 0.0f; + _att.rate_offsets[2] = 0.0f; + + for (int i = 0; i < 3; i++) for (int j = 0; j < 3; j++) + _att.R[i][j] = C_nb(i, j); + + for (int i = 0; i < 4; i++) _att.q[i] = q(i); + + _att.R_valid = true; + _att.q_valid = true; + + // selectively update publications, + // do NOT call superblock do-all method + if (_positionInitialized) + _pos.update(); + + if (_attitudeInitialized) + _att.update(); +} + +int KalmanNav::predictState(float dt) +{ + using namespace math; + + // trig + float sinL = sinf(lat); + float cosL = cosf(lat); + float cosLSing = cosf(lat); + + // prevent singularity + if (fabsf(cosLSing) < 0.01f) { + if (cosLSing > 0) cosLSing = 0.01; + else cosLSing = -0.01; + } + + // attitude prediction + if (_attitudeInitialized) { + Vector3 w(_sensors.gyro_rad_s); + + // attitude + q = q + q.derivative(w) * dt; + + // renormalize quaternion if needed + if (fabsf(q.norm() - 1.0f) > 1e-4f) { + q = q.unit(); + } + + // C_nb update + C_nb = Dcm(q); + + // euler update + EulerAngles euler(C_nb); + phi = euler.getPhi(); + theta = euler.getTheta(); + psi = euler.getPsi(); + + // specific acceleration in nav frame + Vector3 accelB(_sensors.accelerometer_m_s2); + Vector3 accelN = C_nb * accelB; + fN = accelN(0); + fE = accelN(1); + fD = accelN(2); + } + + // position prediction + if (_positionInitialized) { + // neglects angular deflections in local gravity + // see Titerton pg. 70 + float R = R0 + float(alt); + float LDot = vN / R; + float lDot = vE / (cosLSing * R); + float rotRate = 2 * omega + lDot; + + // XXX position prediction using speed + float vNDot = fN - vE * rotRate * sinL + + vD * LDot; + float vDDot = fD - vE * rotRate * cosL - + vN * LDot + _g.get(); + float vEDot = fE + vN * rotRate * sinL + + vDDot * rotRate * cosL; + + // rectangular integration + vN += vNDot * dt; + vE += vEDot * dt; + vD += vDDot * dt; + lat += double(LDot * dt); + lon += double(lDot * dt); + alt += double(-vD * dt); + } + + return ret_ok; +} + +int KalmanNav::predictStateCovariance(float dt) +{ + using namespace math; + + // trig + float sinL = sinf(lat); + float cosL = cosf(lat); + float cosLSq = cosL * cosL; + float tanL = tanf(lat); + + // prepare for matrix + float R = R0 + float(alt); + float RSq = R * R; + + // F Matrix + // Titterton pg. 291 + + F(0, 1) = -(omega * sinL + vE * tanL / R); + F(0, 2) = vN / R; + F(0, 4) = 1.0f / R; + F(0, 6) = -omega * sinL; + F(0, 8) = -vE / RSq; + + F(1, 0) = omega * sinL + vE * tanL / R; + F(1, 2) = omega * cosL + vE / R; + F(1, 3) = -1.0f / R; + F(1, 8) = vN / RSq; + + F(2, 0) = -vN / R; + F(2, 1) = -omega * cosL - vE / R; + F(2, 4) = -tanL / R; + F(2, 6) = -omega * cosL - vE / (R * cosLSq); + F(2, 8) = vE * tanL / RSq; + + F(3, 1) = -fD; + F(3, 2) = fE; + F(3, 3) = vD / R; + F(3, 4) = -2 * (omega * sinL + vE * tanL / R); + F(3, 5) = vN / R; + F(3, 6) = -vE * (2 * omega * cosL + vE / (R * cosLSq)); + F(3, 8) = (vE * vE * tanL - vN * vD) / RSq; + + F(4, 0) = fD; + F(4, 2) = -fN; + F(4, 3) = 2 * omega * sinL + vE * tanL / R; + F(4, 4) = (vN * tanL + vD) / R; + F(4, 5) = 2 * omega * cosL + vE / R; + F(4, 6) = 2 * omega * (vN * cosL - vD * sinL) + + vN * vE / (R * cosLSq); + F(4, 8) = -vE * (vN * tanL + vD) / RSq; + + F(5, 0) = -fE; + F(5, 1) = fN; + F(5, 3) = -2 * vN / R; + F(5, 4) = -2 * (omega * cosL + vE / R); + F(5, 6) = 2 * omega * vE * sinL; + F(5, 8) = (vN * vN + vE * vE) / RSq; + + F(6, 3) = 1 / R; + F(6, 8) = -vN / RSq; + + F(7, 4) = 1 / (R * cosL); + F(7, 6) = vE * tanL / (R * cosL); + F(7, 8) = -vE / (cosL * RSq); + + F(8, 5) = -1; + + // G Matrix + // Titterton pg. 291 + G(0, 0) = -C_nb(0, 0); + G(0, 1) = -C_nb(0, 1); + G(0, 2) = -C_nb(0, 2); + G(1, 0) = -C_nb(1, 0); + G(1, 1) = -C_nb(1, 1); + G(1, 2) = -C_nb(1, 2); + G(2, 0) = -C_nb(2, 0); + G(2, 1) = -C_nb(2, 1); + G(2, 2) = -C_nb(2, 2); + + G(3, 3) = C_nb(0, 0); + G(3, 4) = C_nb(0, 1); + G(3, 5) = C_nb(0, 2); + G(4, 3) = C_nb(1, 0); + G(4, 4) = C_nb(1, 1); + G(4, 5) = C_nb(1, 2); + G(5, 3) = C_nb(2, 0); + G(5, 4) = C_nb(2, 1); + G(5, 5) = C_nb(2, 2); + + // continuous predictioon equations + // for discrte time EKF + // http://en.wikipedia.org/wiki/Extended_Kalman_filter + P = P + (F * P + P * F.transpose() + G * V * G.transpose()) * dt; + + return ret_ok; +} + +int KalmanNav::correctAtt() +{ + using namespace math; + + // trig + float cosPhi = cosf(phi); + float cosTheta = cosf(theta); + float cosPsi = cosf(psi); + float sinPhi = sinf(phi); + float sinTheta = sinf(theta); + float sinPsi = sinf(psi); + + // mag measurement + Vector3 zMag(_sensors.magnetometer_ga); + //float magNorm = zMag.norm(); + zMag = zMag.unit(); + + // mag predicted measurement + // choosing some typical magnetic field properties, + // TODO dip/dec depend on lat/ lon/ time + float dip = _magDip.get() / M_RAD_TO_DEG_F; // dip, inclination with level + float dec = _magDec.get() / M_RAD_TO_DEG_F; // declination, clockwise rotation from north + float bN = cosf(dip) * cosf(dec); + float bE = cosf(dip) * sinf(dec); + float bD = sinf(dip); + Vector3 bNav(bN, bE, bD); + Vector3 zMagHat = (C_nb.transpose() * bNav).unit(); + + // accel measurement + Vector3 zAccel(_sensors.accelerometer_m_s2); + float accelMag = zAccel.norm(); + zAccel = zAccel.unit(); + + // ignore accel correction when accel mag not close to g + Matrix RAttAdjust = RAtt; + + bool ignoreAccel = fabsf(accelMag - _g.get()) > 1.1f; + + if (ignoreAccel) { + RAttAdjust(3, 3) = 1.0e10; + RAttAdjust(4, 4) = 1.0e10; + RAttAdjust(5, 5) = 1.0e10; + + } else { + //printf("correcting attitude with accel\n"); + } + + // accel predicted measurement + Vector3 zAccelHat = (C_nb.transpose() * Vector3(0, 0, -_g.get())).unit(); + + // combined measurement + Vector zAtt(6); + Vector zAttHat(6); + + for (int i = 0; i < 3; i++) { + zAtt(i) = zMag(i); + zAtt(i + 3) = zAccel(i); + zAttHat(i) = zMagHat(i); + zAttHat(i + 3) = zAccelHat(i); + } + + // HMag , HAtt (0-2,:) + float tmp1 = + cosPsi * cosTheta * bN + + sinPsi * cosTheta * bE - + sinTheta * bD; + HAtt(0, 1) = -( + cosPsi * sinTheta * bN + + sinPsi * sinTheta * bE + + cosTheta * bD + ); + HAtt(0, 2) = -cosTheta * (sinPsi * bN - cosPsi * bE); + HAtt(1, 0) = + (cosPhi * cosPsi * sinTheta + sinPhi * sinPsi) * bN + + (cosPhi * sinPsi * sinTheta - sinPhi * cosPsi) * bE + + cosPhi * cosTheta * bD; + HAtt(1, 1) = sinPhi * tmp1; + HAtt(1, 2) = -( + (sinPhi * sinPsi * sinTheta + cosPhi * cosPsi) * bN - + (sinPhi * cosPsi * sinTheta - cosPhi * sinPsi) * bE + ); + HAtt(2, 0) = -( + (sinPhi * cosPsi * sinTheta - cosPhi * sinPsi) * bN + + (sinPhi * sinPsi * sinTheta + cosPhi * cosPsi) * bE + + (sinPhi * cosTheta) * bD + ); + HAtt(2, 1) = cosPhi * tmp1; + HAtt(2, 2) = -( + (cosPhi * sinPsi * sinTheta - sinPhi * cosTheta) * bN - + (cosPhi * cosPsi * sinTheta + sinPhi * sinPsi) * bE + ); + + // HAccel , HAtt (3-5,:) + HAtt(3, 1) = cosTheta; + HAtt(4, 0) = -cosPhi * cosTheta; + HAtt(4, 1) = sinPhi * sinTheta; + HAtt(5, 0) = sinPhi * cosTheta; + HAtt(5, 1) = cosPhi * sinTheta; + + // compute correction + // http://en.wikipedia.org/wiki/Extended_Kalman_filter + Vector y = zAtt - zAttHat; // residual + Matrix S = HAtt * P * HAtt.transpose() + RAttAdjust; // residual covariance + Matrix K = P * HAtt.transpose() * S.inverse(); + Vector xCorrect = K * y; + + // check correciton is sane + for (size_t i = 0; i < xCorrect.getRows(); i++) { + float val = xCorrect(i); + + if (isnan(val) || isinf(val)) { + // abort correction and return + printf("[kalman_demo] numerical failure in att correction\n"); + // reset P matrix to P0 + P = P0; + return ret_error; + } + } + + // correct state + if (!ignoreAccel) { + phi += xCorrect(PHI); + theta += xCorrect(THETA); + } + + psi += xCorrect(PSI); + + // attitude also affects nav velocities + if (_positionInitialized) { + vN += xCorrect(VN); + vE += xCorrect(VE); + vD += xCorrect(VD); + } + + // update state covariance + // http://en.wikipedia.org/wiki/Extended_Kalman_filter + P = P - K * HAtt * P; + + // fault detection + float beta = y.dot(S.inverse() * y); + + if (beta > _faultAtt.get()) { + printf("fault in attitude: beta = %8.4f\n", (double)beta); + printf("y:\n"); y.print(); + printf("zMagHat:\n"); zMagHat.print(); + printf("zMag:\n"); zMag.print(); + printf("bNav:\n"); bNav.print(); + } + + // update quaternions from euler + // angle correction + q = Quaternion(EulerAngles(phi, theta, psi)); + + return ret_ok; +} + +int KalmanNav::correctPos() +{ + using namespace math; + + // residual + Vector y(6); + y(0) = _gps.vel_n_m_s - vN; + y(1) = _gps.vel_e_m_s - vE; + y(2) = double(_gps.lat) - lat * 1.0e7 * M_RAD_TO_DEG; + y(3) = double(_gps.lon) - lon * 1.0e7 * M_RAD_TO_DEG; + y(4) = double(_gps.alt) / 1.0e3 - alt; + y(5) = double(_sensors.baro_alt_meter) - alt; + + // compute correction + // http://en.wikipedia.org/wiki/Extended_Kalman_filter + Matrix S = HPos * P * HPos.transpose() + RPos; // residual covariance + Matrix K = P * HPos.transpose() * S.inverse(); + Vector xCorrect = K * y; + + // check correction is sane + for (size_t i = 0; i < xCorrect.getRows(); i++) { + float val = xCorrect(i); + + if (isnan(val) || isinf(val)) { + // abort correction and return + printf("[kalman_demo] numerical failure in gps correction\n"); + // fallback to GPS + vN = _gps.vel_n_m_s; + vE = _gps.vel_e_m_s; + vD = _gps.vel_d_m_s; + setLatDegE7(_gps.lat); + setLonDegE7(_gps.lon); + setAltE3(_gps.alt); + // reset P matrix to P0 + P = P0; + return ret_error; + } + } + + // correct state + vN += xCorrect(VN); + vE += xCorrect(VE); + vD += xCorrect(VD); + lat += double(xCorrect(LAT)); + lon += double(xCorrect(LON)); + alt += double(xCorrect(ALT)); + + // update state covariance + // http://en.wikipedia.org/wiki/Extended_Kalman_filter + P = P - K * HPos * P; + + // fault detetcion + float beta = y.dot(S.inverse() * y); + + if (beta > _faultPos.get()) { + printf("fault in gps: beta = %8.4f\n", (double)beta); + printf("Y/N: vN: %8.4f, vE: %8.4f, lat: %8.4f, lon: %8.4f, alt: %8.4f\n", + double(y(0) / sqrtf(RPos(0, 0))), + double(y(1) / sqrtf(RPos(1, 1))), + double(y(2) / sqrtf(RPos(2, 2))), + double(y(3) / sqrtf(RPos(3, 3))), + double(y(4) / sqrtf(RPos(4, 4))), + double(y(5) / sqrtf(RPos(5, 5)))); + } + + return ret_ok; +} + +void KalmanNav::updateParams() +{ + using namespace math; + using namespace control; + SuperBlock::updateParams(); + + // gyro noise + V(0, 0) = _vGyro.get(); // gyro x, rad/s + V(1, 1) = _vGyro.get(); // gyro y + V(2, 2) = _vGyro.get(); // gyro z + + // accel noise + V(3, 3) = _vAccel.get(); // accel x, m/s^2 + V(4, 4) = _vAccel.get(); // accel y + V(5, 5) = _vAccel.get(); // accel z + + // magnetometer noise + float noiseMin = 1e-6f; + float noiseMagSq = _rMag.get() * _rMag.get(); + + if (noiseMagSq < noiseMin) noiseMagSq = noiseMin; + + RAtt(0, 0) = noiseMagSq; // normalized direction + RAtt(1, 1) = noiseMagSq; + RAtt(2, 2) = noiseMagSq; + + // accelerometer noise + float noiseAccelSq = _rAccel.get() * _rAccel.get(); + + // bound noise to prevent singularities + if (noiseAccelSq < noiseMin) noiseAccelSq = noiseMin; + + RAtt(3, 3) = noiseAccelSq; // normalized direction + RAtt(4, 4) = noiseAccelSq; + RAtt(5, 5) = noiseAccelSq; + + // gps noise + float R = R0 + float(alt); + float cosLSing = cosf(lat); + + // prevent singularity + if (fabsf(cosLSing) < 0.01f) { + if (cosLSing > 0) cosLSing = 0.01; + else cosLSing = -0.01; + } + + float noiseVel = _rGpsVel.get(); + float noiseLatDegE7 = 1.0e7f * M_RAD_TO_DEG_F * _rGpsPos.get() / R; + float noiseLonDegE7 = noiseLatDegE7 / cosLSing; + float noiseGpsAlt = _rGpsAlt.get(); + float noisePressAlt = _rPressAlt.get(); + + // bound noise to prevent singularities + if (noiseVel < noiseMin) noiseVel = noiseMin; + + if (noiseLatDegE7 < noiseMin) noiseLatDegE7 = noiseMin; + + if (noiseLonDegE7 < noiseMin) noiseLonDegE7 = noiseMin; + + if (noiseGpsAlt < noiseMin) noiseGpsAlt = noiseMin; + + if (noisePressAlt < noiseMin) noisePressAlt = noiseMin; + + RPos(0, 0) = noiseVel * noiseVel; // vn + RPos(1, 1) = noiseVel * noiseVel; // ve + RPos(2, 2) = noiseLatDegE7 * noiseLatDegE7; // lat + RPos(3, 3) = noiseLonDegE7 * noiseLonDegE7; // lon + RPos(4, 4) = noiseGpsAlt * noiseGpsAlt; // h + RPos(5, 5) = noisePressAlt * noisePressAlt; // h + // XXX, note that RPos depends on lat, so updateParams should + // be called if lat changes significantly +} diff --git a/src/modules/att_pos_estimator_ekf/KalmanNav.hpp b/src/modules/att_pos_estimator_ekf/KalmanNav.hpp new file mode 100644 index 000000000..c2bf18115 --- /dev/null +++ b/src/modules/att_pos_estimator_ekf/KalmanNav.hpp @@ -0,0 +1,180 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file KalmanNav.hpp + * + * kalman filter navigation code + */ + +#pragma once + +//#define MATRIX_ASSERT +//#define VECTOR_ASSERT + +#include + +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include + +#include +#include +#include + +/** + * Kalman filter navigation class + * http://en.wikipedia.org/wiki/Extended_Kalman_filter + * Discrete-time extended Kalman filter + */ +class KalmanNav : public control::SuperBlock +{ +public: + /** + * Constructor + */ + KalmanNav(SuperBlock *parent, const char *name); + + /** + * Deconstuctor + */ + + virtual ~KalmanNav() {}; + /** + * The main callback function for the class + */ + void update(); + + + /** + * Publication update + */ + virtual void updatePublications(); + + /** + * State prediction + * Continuous, non-linear + */ + int predictState(float dt); + + /** + * State covariance prediction + * Continuous, linear + */ + int predictStateCovariance(float dt); + + /** + * Attitude correction + */ + int correctAtt(); + + /** + * Position correction + */ + int correctPos(); + + /** + * Overloaded update parameters + */ + virtual void updateParams(); +protected: + // kalman filter + math::Matrix F; /**< Jacobian(f,x), where dx/dt = f(x,u) */ + math::Matrix G; /**< noise shaping matrix for gyro/accel */ + math::Matrix P; /**< state covariance matrix */ + math::Matrix P0; /**< initial state covariance matrix */ + math::Matrix V; /**< gyro/ accel noise matrix */ + math::Matrix HAtt; /**< attitude measurement matrix */ + math::Matrix RAtt; /**< attitude measurement noise matrix */ + math::Matrix HPos; /**< position measurement jacobian matrix */ + math::Matrix RPos; /**< position measurement noise matrix */ + // attitude + math::Dcm C_nb; /**< direction cosine matrix from body to nav frame */ + math::Quaternion q; /**< quaternion from body to nav frame */ + // subscriptions + control::UOrbSubscription _sensors; /**< sensors sub. */ + control::UOrbSubscription _gps; /**< gps sub. */ + control::UOrbSubscription _param_update; /**< parameter update sub. */ + // publications + control::UOrbPublication _pos; /**< position pub. */ + control::UOrbPublication _att; /**< attitude pub. */ + // time stamps + uint64_t _pubTimeStamp; /**< output data publication time stamp */ + uint64_t _predictTimeStamp; /**< prediction time stamp */ + uint64_t _attTimeStamp; /**< attitude correction time stamp */ + uint64_t _outTimeStamp; /**< output time stamp */ + // frame count + uint16_t _navFrames; /**< navigation frames completed in output cycle */ + // miss counts + uint16_t _miss; /**< number of times fast prediction loop missed */ + // accelerations + float fN, fE, fD; /**< navigation frame acceleration */ + // states + enum {PHI = 0, THETA, PSI, VN, VE, VD, LAT, LON, ALT}; /**< state enumeration */ + float phi, theta, psi; /**< 3-2-1 euler angles */ + float vN, vE, vD; /**< navigation velocity, m/s */ + double lat, lon, alt; /**< lat, lon, alt, radians */ + // parameters + control::BlockParam _vGyro; /**< gyro process noise */ + control::BlockParam _vAccel; /**< accelerometer process noise */ + control::BlockParam _rMag; /**< magnetometer measurement noise */ + control::BlockParam _rGpsVel; /**< gps velocity measurement noise */ + control::BlockParam _rGpsPos; /**< gps position measurement noise */ + control::BlockParam _rGpsAlt; /**< gps altitude measurement noise */ + control::BlockParam _rPressAlt; /**< press altitude measurement noise */ + control::BlockParam _rAccel; /**< accelerometer measurement noise */ + control::BlockParam _magDip; /**< magnetic inclination with level */ + control::BlockParam _magDec; /**< magnetic declination, clockwise rotation */ + control::BlockParam _g; /**< gravitational constant */ + control::BlockParam _faultPos; /**< fault detection threshold for position */ + control::BlockParam _faultAtt; /**< fault detection threshold for attitude */ + // status + bool _attitudeInitialized; + bool _positionInitialized; + uint16_t _attitudeInitCounter; + // accessors + int32_t getLatDegE7() { return int32_t(lat * 1.0e7 * M_RAD_TO_DEG); } + void setLatDegE7(int32_t val) { lat = val / 1.0e7 / M_RAD_TO_DEG; } + int32_t getLonDegE7() { return int32_t(lon * 1.0e7 * M_RAD_TO_DEG); } + void setLonDegE7(int32_t val) { lon = val / 1.0e7 / M_RAD_TO_DEG; } + int32_t getAltE3() { return int32_t(alt * 1.0e3); } + void setAltE3(int32_t val) { alt = double(val) / 1.0e3; } +}; diff --git a/src/modules/att_pos_estimator_ekf/kalman_main.cpp b/src/modules/att_pos_estimator_ekf/kalman_main.cpp new file mode 100644 index 000000000..aebe3d1fe --- /dev/null +++ b/src/modules/att_pos_estimator_ekf/kalman_main.cpp @@ -0,0 +1,152 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @author Example User + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file kalman_demo.cpp + * Demonstration of control library + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "KalmanNav.hpp" + +static bool thread_should_exit = false; /**< Deamon exit flag */ +static bool thread_running = false; /**< Deamon status flag */ +static int deamon_task; /**< Handle of deamon task / thread */ + +/** + * Deamon management function. + */ +extern "C" __EXPORT int att_pos_estimator_ekf_main(int argc, char *argv[]); + +/** + * Mainloop of deamon. + */ +int kalman_demo_thread_main(int argc, char *argv[]); + +/** + * Print the correct usage. + */ +static void usage(const char *reason); + +static void +usage(const char *reason) +{ + if (reason) + fprintf(stderr, "%s\n", reason); + + fprintf(stderr, "usage: kalman_demo {start|stop|status} [-p ]\n\n"); + exit(1); +} + +/** + * The deamon app only briefly exists to start + * the background job. The stack size assigned in the + * Makefile does only apply to this management task. + * + * The actual stack size should be set in the call + * to task_create(). + */ +int att_pos_estimator_ekf_main(int argc, char *argv[]) +{ + + if (argc < 1) + usage("missing command"); + + if (!strcmp(argv[1], "start")) { + + if (thread_running) { + printf("kalman_demo already running\n"); + /* this is not an error */ + exit(0); + } + + thread_should_exit = false; + deamon_task = task_spawn("kalman_demo", + SCHED_DEFAULT, + SCHED_PRIORITY_MAX - 5, + 4096, + kalman_demo_thread_main, + (argv) ? (const char **)&argv[2] : (const char **)NULL); + exit(0); + } + + if (!strcmp(argv[1], "stop")) { + thread_should_exit = true; + exit(0); + } + + if (!strcmp(argv[1], "status")) { + if (thread_running) { + printf("\tkalman_demo app is running\n"); + + } else { + printf("\tkalman_demo app not started\n"); + } + + exit(0); + } + + usage("unrecognized command"); + exit(1); +} + +int kalman_demo_thread_main(int argc, char *argv[]) +{ + + printf("[kalman_demo] starting\n"); + + using namespace math; + + thread_running = true; + + KalmanNav nav(NULL, "KF"); + + while (!thread_should_exit) { + nav.update(); + } + + printf("[kalman_demo] exiting.\n"); + + thread_running = false; + + return 0; +} diff --git a/src/modules/att_pos_estimator_ekf/module.mk b/src/modules/att_pos_estimator_ekf/module.mk new file mode 100644 index 000000000..abc664018 --- /dev/null +++ b/src/modules/att_pos_estimator_ekf/module.mk @@ -0,0 +1,45 @@ +############################################################################ +# +# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# Basic example application +# + +MODULE_COMMAND = att_pos_estimator_ekf + +# XXX this might be intended for the spawned deamon, validate +MODULE_PRIORITY = "SCHED_PRIORITY_MAX-30" + +SRCS = kalman_main.cpp \ + KalmanNav.cpp \ + params.c diff --git a/src/modules/att_pos_estimator_ekf/params.c b/src/modules/att_pos_estimator_ekf/params.c new file mode 100644 index 000000000..50642f067 --- /dev/null +++ b/src/modules/att_pos_estimator_ekf/params.c @@ -0,0 +1,16 @@ +#include + +/*PARAM_DEFINE_FLOAT(NAME,0.0f);*/ +PARAM_DEFINE_FLOAT(KF_V_GYRO, 0.008f); +PARAM_DEFINE_FLOAT(KF_V_ACCEL, 1.0f); +PARAM_DEFINE_FLOAT(KF_R_MAG, 1.0f); +PARAM_DEFINE_FLOAT(KF_R_GPS_VEL, 1.0f); +PARAM_DEFINE_FLOAT(KF_R_GPS_POS, 5.0f); +PARAM_DEFINE_FLOAT(KF_R_GPS_ALT, 5.0f); +PARAM_DEFINE_FLOAT(KF_R_PRESS_ALT, 0.1f); +PARAM_DEFINE_FLOAT(KF_R_ACCEL, 1.0f); +PARAM_DEFINE_FLOAT(KF_FAULT_POS, 10.0f); +PARAM_DEFINE_FLOAT(KF_FAULT_ATT, 10.0f); +PARAM_DEFINE_FLOAT(KF_ENV_G, 9.765f); +PARAM_DEFINE_FLOAT(KF_ENV_MAG_DIP, 60.0f); +PARAM_DEFINE_FLOAT(KF_ENV_MAG_DEC, 0.0f); -- cgit v1.2.3 From 988bf1eb0a3d36532883734a416f9c9e1e6ba125 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 27 Apr 2013 14:28:47 +0200 Subject: Moved all fixed wing controllers to new world --- apps/examples/control_demo/Makefile | 42 -- apps/examples/control_demo/control_demo.cpp | 168 -------- apps/examples/control_demo/params.c | 71 --- apps/fixedwing_att_control/Makefile | 45 -- .../fixedwing_att_control_att.c | 170 -------- .../fixedwing_att_control_att.h | 51 --- .../fixedwing_att_control_main.c | 369 ---------------- .../fixedwing_att_control_rate.c | 209 --------- .../fixedwing_att_control_rate.h | 48 --- apps/fixedwing_pos_control/Makefile | 45 -- .../fixedwing_pos_control_main.c | 479 --------------------- makefiles/config_px4fmu_default.mk | 7 + .../fixedwing_att_control_att.c | 169 ++++++++ .../fixedwing_att_control_att.h | 51 +++ .../fixedwing_att_control_main.c | 370 ++++++++++++++++ .../fixedwing_att_control_rate.c | 211 +++++++++ .../fixedwing_att_control_rate.h | 48 +++ src/modules/fixedwing_att_control/module.mk | 42 ++ .../fixedwing_backside/fixedwing_backside_main.cpp | 170 ++++++++ src/modules/fixedwing_backside/module.mk | 40 ++ src/modules/fixedwing_backside/params.c | 71 +++ .../fixedwing_pos_control_main.c | 479 +++++++++++++++++++++ src/modules/fixedwing_pos_control/module.mk | 40 ++ 23 files changed, 1698 insertions(+), 1697 deletions(-) delete mode 100644 apps/examples/control_demo/Makefile delete mode 100644 apps/examples/control_demo/control_demo.cpp delete mode 100644 apps/examples/control_demo/params.c delete mode 100644 apps/fixedwing_att_control/Makefile delete mode 100644 apps/fixedwing_att_control/fixedwing_att_control_att.c delete mode 100644 apps/fixedwing_att_control/fixedwing_att_control_att.h delete mode 100644 apps/fixedwing_att_control/fixedwing_att_control_main.c delete mode 100644 apps/fixedwing_att_control/fixedwing_att_control_rate.c delete mode 100644 apps/fixedwing_att_control/fixedwing_att_control_rate.h delete mode 100644 apps/fixedwing_pos_control/Makefile delete mode 100644 apps/fixedwing_pos_control/fixedwing_pos_control_main.c create mode 100644 src/modules/fixedwing_att_control/fixedwing_att_control_att.c create mode 100644 src/modules/fixedwing_att_control/fixedwing_att_control_att.h create mode 100644 src/modules/fixedwing_att_control/fixedwing_att_control_main.c create mode 100644 src/modules/fixedwing_att_control/fixedwing_att_control_rate.c create mode 100644 src/modules/fixedwing_att_control/fixedwing_att_control_rate.h create mode 100644 src/modules/fixedwing_att_control/module.mk create mode 100644 src/modules/fixedwing_backside/fixedwing_backside_main.cpp create mode 100644 src/modules/fixedwing_backside/module.mk create mode 100644 src/modules/fixedwing_backside/params.c create mode 100644 src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c create mode 100644 src/modules/fixedwing_pos_control/module.mk (limited to 'src') diff --git a/apps/examples/control_demo/Makefile b/apps/examples/control_demo/Makefile deleted file mode 100644 index 6e40e645f..000000000 --- a/apps/examples/control_demo/Makefile +++ /dev/null @@ -1,42 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Basic example application -# - -APPNAME = control_demo -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 - -include $(APPDIR)/mk/app.mk diff --git a/apps/examples/control_demo/control_demo.cpp b/apps/examples/control_demo/control_demo.cpp deleted file mode 100644 index e609f2f4b..000000000 --- a/apps/examples/control_demo/control_demo.cpp +++ /dev/null @@ -1,168 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Example User - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file control_demo.cpp - * Demonstration of control library - */ - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -static bool thread_should_exit = false; /**< Deamon exit flag */ -static bool thread_running = false; /**< Deamon status flag */ -static int deamon_task; /**< Handle of deamon task / thread */ - -/** - * Deamon management function. - */ -extern "C" __EXPORT int control_demo_main(int argc, char *argv[]); - -/** - * Mainloop of deamon. - */ -int control_demo_thread_main(int argc, char *argv[]); - -/** - * Test function - */ -void test(); - -/** - * Print the correct usage. - */ -static void usage(const char *reason); - -static void -usage(const char *reason) -{ - if (reason) - fprintf(stderr, "%s\n", reason); - - fprintf(stderr, "usage: control_demo {start|stop|status} [-p ]\n\n"); - exit(1); -} - -/** - * The deamon app only briefly exists to start - * the background job. The stack size assigned in the - * Makefile does only apply to this management task. - * - * The actual stack size should be set in the call - * to task_create(). - */ -int control_demo_main(int argc, char *argv[]) -{ - - if (argc < 1) - usage("missing command"); - - if (!strcmp(argv[1], "start")) { - - if (thread_running) { - printf("control_demo already running\n"); - /* this is not an error */ - exit(0); - } - - thread_should_exit = false; - deamon_task = task_spawn("control_demo", - SCHED_DEFAULT, - SCHED_PRIORITY_MAX - 10, - 5120, - control_demo_thread_main, - (argv) ? (const char **)&argv[2] : (const char **)NULL); - exit(0); - } - - if (!strcmp(argv[1], "test")) { - test(); - exit(0); - } - - if (!strcmp(argv[1], "stop")) { - thread_should_exit = true; - exit(0); - } - - if (!strcmp(argv[1], "status")) { - if (thread_running) { - printf("\tcontrol_demo app is running\n"); - - } else { - printf("\tcontrol_demo app not started\n"); - } - - exit(0); - } - - usage("unrecognized command"); - exit(1); -} - -int control_demo_thread_main(int argc, char *argv[]) -{ - - printf("[control_Demo] starting\n"); - - using namespace control; - - fixedwing::BlockMultiModeBacksideAutopilot autopilot(NULL, "FWB"); - - thread_running = true; - - while (!thread_should_exit) { - autopilot.update(); - } - - printf("[control_demo] exiting.\n"); - - thread_running = false; - - return 0; -} - -void test() -{ - printf("beginning control lib test\n"); - control::basicBlocksTest(); -} diff --git a/apps/examples/control_demo/params.c b/apps/examples/control_demo/params.c deleted file mode 100644 index 428b779b1..000000000 --- a/apps/examples/control_demo/params.c +++ /dev/null @@ -1,71 +0,0 @@ -#include - -// currently tuned for easystar from arkhangar in HIL -//https://github.com/arktools/arkhangar - -// 16 is max name length - -// gyro low pass filter -PARAM_DEFINE_FLOAT(FWB_P_LP, 300.0f); // roll rate low pass cut freq -PARAM_DEFINE_FLOAT(FWB_Q_LP, 300.0f); // pitch rate low pass cut freq -PARAM_DEFINE_FLOAT(FWB_R_LP, 300.0f); // yaw rate low pass cut freq - -// yaw washout -PARAM_DEFINE_FLOAT(FWB_R_HP, 1.0f); // yaw rate high pass - -// stabilization mode -PARAM_DEFINE_FLOAT(FWB_P2AIL, 0.3f); // roll rate 2 aileron -PARAM_DEFINE_FLOAT(FWB_Q2ELV, 0.1f); // pitch rate 2 elevator -PARAM_DEFINE_FLOAT(FWB_R2RDR, 0.1f); // yaw rate 2 rudder - -// psi -> phi -> p -PARAM_DEFINE_FLOAT(FWB_PSI2PHI, 0.5f); // heading 2 roll -PARAM_DEFINE_FLOAT(FWB_PHI2P, 1.0f); // roll to roll rate -PARAM_DEFINE_FLOAT(FWB_PHI_LIM_MAX, 0.3f); // roll limit, 28 deg - -// velocity -> theta -PARAM_DEFINE_FLOAT(FWB_V2THE_P, 1.0f); // velocity to pitch angle PID, prop gain -PARAM_DEFINE_FLOAT(FWB_V2THE_I, 0.0f); // integral gain -PARAM_DEFINE_FLOAT(FWB_V2THE_D, 0.0f); // derivative gain -PARAM_DEFINE_FLOAT(FWB_V2THE_D_LP, 0.0f); // derivative low-pass -PARAM_DEFINE_FLOAT(FWB_V2THE_I_MAX, 0.0f); // integrator wind up guard -PARAM_DEFINE_FLOAT(FWB_THE_MIN, -0.5f); // the max commanded pitch angle -PARAM_DEFINE_FLOAT(FWB_THE_MAX, 0.5f); // the min commanded pitch angle - - -// theta -> q -PARAM_DEFINE_FLOAT(FWB_THE2Q_P, 1.0f); // pitch angle to pitch-rate PID -PARAM_DEFINE_FLOAT(FWB_THE2Q_I, 0.0f); -PARAM_DEFINE_FLOAT(FWB_THE2Q_D, 0.0f); -PARAM_DEFINE_FLOAT(FWB_THE2Q_D_LP, 0.0f); -PARAM_DEFINE_FLOAT(FWB_THE2Q_I_MAX, 0.0f); - -// h -> thr -PARAM_DEFINE_FLOAT(FWB_H2THR_P, 0.01f); // altitude to throttle PID -PARAM_DEFINE_FLOAT(FWB_H2THR_I, 0.0f); -PARAM_DEFINE_FLOAT(FWB_H2THR_D, 0.0f); -PARAM_DEFINE_FLOAT(FWB_H2THR_D_LP, 0.0f); -PARAM_DEFINE_FLOAT(FWB_H2THR_I_MAX, 0.0f); - -// crosstrack -PARAM_DEFINE_FLOAT(FWB_XT2YAW_MAX, 1.57f); // cross-track to yaw angle limit 90 deg -PARAM_DEFINE_FLOAT(FWB_XT2YAW, 0.005f); // cross-track to yaw angle gain - -// speed command -PARAM_DEFINE_FLOAT(FWB_V_MIN, 10.0f); // minimum commanded velocity -PARAM_DEFINE_FLOAT(FWB_V_CMD, 12.0f); // commanded velocity -PARAM_DEFINE_FLOAT(FWB_V_MAX, 16.0f); // maximum commanded velocity - -// rate of climb -// this is what rate of climb is commanded (in m/s) -// when the pitch stick is fully defelcted in simple mode -PARAM_DEFINE_FLOAT(FWB_ROC_MAX, 1.0f); - -// rate of climb -> thr -PARAM_DEFINE_FLOAT(FWB_ROC2THR_P, 0.01f); // rate of climb to throttle PID -PARAM_DEFINE_FLOAT(FWB_ROC2THR_I, 0.0f); -PARAM_DEFINE_FLOAT(FWB_ROC2THR_D, 0.0f); -PARAM_DEFINE_FLOAT(FWB_ROC2THR_D_LP, 0.0f); -PARAM_DEFINE_FLOAT(FWB_ROC2THR_I_MAX, 0.0f); - -PARAM_DEFINE_FLOAT(FWB_TRIM_THR, 0.8f); // trim throttle (0,1) diff --git a/apps/fixedwing_att_control/Makefile b/apps/fixedwing_att_control/Makefile deleted file mode 100644 index 01465fa9e..000000000 --- a/apps/fixedwing_att_control/Makefile +++ /dev/null @@ -1,45 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Fixedwing Control application -# - -APPNAME = fixedwing_att_control -PRIORITY = SCHED_PRIORITY_MAX - 30 -STACKSIZE = 2048 - -INCLUDES = $(TOPDIR)/../mavlink/include/mavlink - -include $(APPDIR)/mk/app.mk - diff --git a/apps/fixedwing_att_control/fixedwing_att_control_att.c b/apps/fixedwing_att_control/fixedwing_att_control_att.c deleted file mode 100644 index b012448a2..000000000 --- a/apps/fixedwing_att_control/fixedwing_att_control_att.c +++ /dev/null @@ -1,170 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Thomas Gubler - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ -/** - * @file fixedwing_att_control_rate.c - * Implementation of a fixed wing attitude controller. - */ -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include - - - - -struct fw_att_control_params { - float roll_p; - float rollrate_lim; - float pitch_p; - float pitchrate_lim; - float yawrate_lim; - float pitch_roll_compensation_p; -}; - -struct fw_pos_control_param_handles { - param_t roll_p; - param_t rollrate_lim; - param_t pitch_p; - param_t pitchrate_lim; - param_t yawrate_lim; - param_t pitch_roll_compensation_p; -}; - - - -/* Internal Prototypes */ -static int parameters_init(struct fw_pos_control_param_handles *h); -static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_att_control_params *p); - -static int parameters_init(struct fw_pos_control_param_handles *h) -{ - /* PID parameters */ - h->roll_p = param_find("FW_ROLL_P"); - h->rollrate_lim = param_find("FW_ROLLR_LIM"); - h->pitch_p = param_find("FW_PITCH_P"); - h->pitchrate_lim = param_find("FW_PITCHR_LIM"); - h->yawrate_lim = param_find("FW_YAWR_LIM"); - h->pitch_roll_compensation_p = param_find("FW_PITCH_RCOMP"); - - return OK; -} - -static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_att_control_params *p) -{ - param_get(h->roll_p, &(p->roll_p)); - param_get(h->rollrate_lim, &(p->rollrate_lim)); - param_get(h->pitch_p, &(p->pitch_p)); - param_get(h->pitchrate_lim, &(p->pitchrate_lim)); - param_get(h->yawrate_lim, &(p->yawrate_lim)); - param_get(h->pitch_roll_compensation_p, &(p->pitch_roll_compensation_p)); - - return OK; -} - -int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, - const struct vehicle_attitude_s *att, - const float speed_body[], - struct vehicle_rates_setpoint_s *rates_sp) -{ - static int counter = 0; - static bool initialized = false; - - static struct fw_att_control_params p; - static struct fw_pos_control_param_handles h; - - static PID_t roll_controller; - static PID_t pitch_controller; - - - if (!initialized) { - parameters_init(&h); - parameters_update(&h, &p); - pid_init(&roll_controller, p.roll_p, 0, 0, 0, p.rollrate_lim, PID_MODE_DERIVATIV_NONE); //P Controller - pid_init(&pitch_controller, p.pitch_p, 0, 0, 0, p.pitchrate_lim, PID_MODE_DERIVATIV_NONE); //P Controller - initialized = true; - } - - /* load new parameters with lower rate */ - if (counter % 100 == 0) { - /* update parameters from storage */ - parameters_update(&h, &p); - pid_set_parameters(&roll_controller, p.roll_p, 0, 0, 0, p.rollrate_lim); - pid_set_parameters(&pitch_controller, p.pitch_p, 0, 0, 0, p.pitchrate_lim); - } - - /* Roll (P) */ - rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body, att->roll, 0, 0); - - - /* Pitch (P) */ - - /* compensate feedforward for loss of lift due to non-horizontal angle of wing */ - float pitch_sp_rollcompensation = p.pitch_roll_compensation_p * fabsf(sinf(att_sp->roll_body)); - /* set pitch plus feedforward roll compensation */ - rates_sp->pitch = pid_calculate(&pitch_controller, - att_sp->pitch_body + pitch_sp_rollcompensation, - att->pitch, 0, 0); - - /* Yaw (from coordinated turn constraint or lateral force) */ - rates_sp->yaw = (att->rollspeed * rates_sp->roll + 9.81f * sinf(att->roll) * cosf(att->pitch) + speed_body[0] * rates_sp->pitch * sinf(att->roll)) - / (speed_body[0] * cosf(att->roll) * cosf(att->pitch) + speed_body[2] * sinf(att->pitch)); - -// printf("rates_sp->yaw %.4f \n", (double)rates_sp->yaw); - - counter++; - - return 0; -} - - - diff --git a/apps/fixedwing_att_control/fixedwing_att_control_att.h b/apps/fixedwing_att_control/fixedwing_att_control_att.h deleted file mode 100644 index 600e35b89..000000000 --- a/apps/fixedwing_att_control/fixedwing_att_control_att.h +++ /dev/null @@ -1,51 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Thomas Gubler - * - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/* @file Fixed Wing Attitude Control */ - -#ifndef FIXEDWING_ATT_CONTROL_ATT_H_ -#define FIXEDWING_ATT_CONTROL_ATT_H_ - -#include -#include -#include -#include - -int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, - const struct vehicle_attitude_s *att, - const float speed_body[], - struct vehicle_rates_setpoint_s *rates_sp); - -#endif /* FIXEDWING_ATT_CONTROL_ATT_H_ */ diff --git a/apps/fixedwing_att_control/fixedwing_att_control_main.c b/apps/fixedwing_att_control/fixedwing_att_control_main.c deleted file mode 100644 index aa9db6d52..000000000 --- a/apps/fixedwing_att_control/fixedwing_att_control_main.c +++ /dev/null @@ -1,369 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Thomas Gubler - * @author Doug Weibel - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ -/** - * @file fixedwing_att_control.c - * Implementation of a fixed wing attitude controller. - */ - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -/* Prototypes */ -/** - * Deamon management function. - */ -__EXPORT int fixedwing_att_control_main(int argc, char *argv[]); - -/** - * Mainloop of deamon. - */ -int fixedwing_att_control_thread_main(int argc, char *argv[]); - -/** - * Print the correct usage. - */ -static void usage(const char *reason); - -/* Variables */ -static bool thread_should_exit = false; /**< Deamon exit flag */ -static bool thread_running = false; /**< Deamon status flag */ -static int deamon_task; /**< Handle of deamon task / thread */ - -/* Main Thread */ -int fixedwing_att_control_thread_main(int argc, char *argv[]) -{ - /* read arguments */ - bool verbose = false; - - for (int i = 1; i < argc; i++) { - if (strcmp(argv[i], "-v") == 0 || strcmp(argv[i], "--verbose") == 0) { - verbose = true; - } - } - - /* welcome user */ - printf("[fixedwing att control] started\n"); - - /* declare and safely initialize all structs */ - struct vehicle_attitude_s att; - memset(&att, 0, sizeof(att)); - struct vehicle_attitude_setpoint_s att_sp; - memset(&att_sp, 0, sizeof(att_sp)); - struct vehicle_rates_setpoint_s rates_sp; - memset(&rates_sp, 0, sizeof(rates_sp)); - struct vehicle_global_position_s global_pos; - memset(&global_pos, 0, sizeof(global_pos)); - struct manual_control_setpoint_s manual_sp; - memset(&manual_sp, 0, sizeof(manual_sp)); - struct vehicle_status_s vstatus; - memset(&vstatus, 0, sizeof(vstatus)); - - /* output structs */ - struct actuator_controls_s actuators; - memset(&actuators, 0, sizeof(actuators)); - - - /* publish actuator controls */ - for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) { - actuators.control[i] = 0.0f; - } - - orb_advert_t actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators); - orb_advert_t rates_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp); - - /* subscribe */ - int att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); - int att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); - int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position)); - int manual_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); - int vstatus_sub = orb_subscribe(ORB_ID(vehicle_status)); - - /* Setup of loop */ - float gyro[3] = {0.0f, 0.0f, 0.0f}; - float speed_body[3] = {0.0f, 0.0f, 0.0f}; - struct pollfd fds = { .fd = att_sub, .events = POLLIN }; - - while (!thread_should_exit) { - /* wait for a sensor update, check for exit condition every 500 ms */ - poll(&fds, 1, 500); - - /* Check if there is a new position measurement or attitude setpoint */ - bool pos_updated; - orb_check(global_pos_sub, &pos_updated); - bool att_sp_updated; - orb_check(att_sp_sub, &att_sp_updated); - - /* get a local copy of attitude */ - orb_copy(ORB_ID(vehicle_attitude), att_sub, &att); - - if (att_sp_updated) - orb_copy(ORB_ID(vehicle_attitude_setpoint), att_sp_sub, &att_sp); - - if (pos_updated) { - orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos); - - if (att.R_valid) { - speed_body[0] = att.R[0][0] * global_pos.vx + att.R[0][1] * global_pos.vy + att.R[0][2] * global_pos.vz; - speed_body[1] = att.R[1][0] * global_pos.vx + att.R[1][1] * global_pos.vy + att.R[1][2] * global_pos.vz; - speed_body[2] = att.R[2][0] * global_pos.vx + att.R[2][1] * global_pos.vy + att.R[2][2] * global_pos.vz; - - } else { - speed_body[0] = 0; - speed_body[1] = 0; - speed_body[2] = 0; - - printf("FW ATT CONTROL: Did not get a valid R\n"); - } - } - - orb_copy(ORB_ID(manual_control_setpoint), manual_sp_sub, &manual_sp); - orb_copy(ORB_ID(vehicle_status), vstatus_sub, &vstatus); - - gyro[0] = att.rollspeed; - gyro[1] = att.pitchspeed; - gyro[2] = att.yawspeed; - - /* control */ - - if (vstatus.state_machine == SYSTEM_STATE_AUTO || - vstatus.state_machine == SYSTEM_STATE_STABILIZED) { - /* attitude control */ - fixedwing_att_control_attitude(&att_sp, &att, speed_body, &rates_sp); - - /* angular rate control */ - fixedwing_att_control_rates(&rates_sp, gyro, &actuators); - - /* pass through throttle */ - actuators.control[3] = att_sp.thrust; - - /* set flaps to zero */ - actuators.control[4] = 0.0f; - - } else if (vstatus.state_machine == SYSTEM_STATE_MANUAL) { - if (vstatus.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS) { - - /* if the RC signal is lost, try to stay level and go slowly back down to ground */ - if (vstatus.rc_signal_lost) { - - /* put plane into loiter */ - att_sp.roll_body = 0.3f; - att_sp.pitch_body = 0.0f; - - /* limit throttle to 60 % of last value if sane */ - if (isfinite(manual_sp.throttle) && - (manual_sp.throttle >= 0.0f) && - (manual_sp.throttle <= 1.0f)) { - att_sp.thrust = 0.6f * manual_sp.throttle; - - } else { - att_sp.thrust = 0.0f; - } - - att_sp.yaw_body = 0; - - // XXX disable yaw control, loiter - - } else { - - att_sp.roll_body = manual_sp.roll; - att_sp.pitch_body = manual_sp.pitch; - att_sp.yaw_body = 0; - att_sp.thrust = manual_sp.throttle; - } - - att_sp.timestamp = hrt_absolute_time(); - - /* attitude control */ - fixedwing_att_control_attitude(&att_sp, &att, speed_body, &rates_sp); - - /* angular rate control */ - fixedwing_att_control_rates(&rates_sp, gyro, &actuators); - - /* pass through throttle */ - actuators.control[3] = att_sp.thrust; - - /* pass through flaps */ - if (isfinite(manual_sp.flaps)) { - actuators.control[4] = manual_sp.flaps; - - } else { - actuators.control[4] = 0.0f; - } - - } else if (vstatus.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_DIRECT) { - /* directly pass through values */ - actuators.control[0] = manual_sp.roll; - /* positive pitch means negative actuator -> pull up */ - actuators.control[1] = manual_sp.pitch; - actuators.control[2] = manual_sp.yaw; - actuators.control[3] = manual_sp.throttle; - - if (isfinite(manual_sp.flaps)) { - actuators.control[4] = manual_sp.flaps; - - } else { - actuators.control[4] = 0.0f; - } - } - } - - /* publish rates */ - orb_publish(ORB_ID(vehicle_rates_setpoint), rates_pub, &rates_sp); - - /* sanity check and publish actuator outputs */ - if (isfinite(actuators.control[0]) && - isfinite(actuators.control[1]) && - isfinite(actuators.control[2]) && - isfinite(actuators.control[3])) { - orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators); - } - } - - printf("[fixedwing_att_control] exiting, stopping all motors.\n"); - thread_running = false; - - /* kill all outputs */ - for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) - actuators.control[i] = 0.0f; - - orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators); - - - - close(att_sub); - close(actuator_pub); - close(rates_pub); - - fflush(stdout); - exit(0); - - return 0; - -} - -/* Startup Functions */ - -static void -usage(const char *reason) -{ - if (reason) - fprintf(stderr, "%s\n", reason); - - fprintf(stderr, "usage: fixedwing_att_control {start|stop|status}\n\n"); - exit(1); -} - -/** - * The deamon app only briefly exists to start - * the background job. The stack size assigned in the - * Makefile does only apply to this management task. - * - * The actual stack size should be set in the call - * to task_create(). - */ -int fixedwing_att_control_main(int argc, char *argv[]) -{ - if (argc < 1) - usage("missing command"); - - if (!strcmp(argv[1], "start")) { - - if (thread_running) { - printf("fixedwing_att_control already running\n"); - /* this is not an error */ - exit(0); - } - - thread_should_exit = false; - deamon_task = task_spawn("fixedwing_att_control", - SCHED_DEFAULT, - SCHED_PRIORITY_MAX - 20, - 2048, - fixedwing_att_control_thread_main, - (argv) ? (const char **)&argv[2] : (const char **)NULL); - thread_running = true; - exit(0); - } - - if (!strcmp(argv[1], "stop")) { - thread_should_exit = true; - exit(0); - } - - if (!strcmp(argv[1], "status")) { - if (thread_running) { - printf("\tfixedwing_att_control is running\n"); - - } else { - printf("\tfixedwing_att_control not started\n"); - } - - exit(0); - } - - usage("unrecognized command"); - exit(1); -} - - - diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.c b/apps/fixedwing_att_control/fixedwing_att_control_rate.c deleted file mode 100644 index ba5b593e2..000000000 --- a/apps/fixedwing_att_control/fixedwing_att_control_rate.c +++ /dev/null @@ -1,209 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Thomas Gubler - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ -/** - * @file fixedwing_att_control_rate.c - * Implementation of a fixed wing attitude controller. - * - * @author Thomas Gubler - */ -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include - -/* - * Controller parameters, accessible via MAVLink - * - */ -// Roll control parameters -PARAM_DEFINE_FLOAT(FW_ROLLR_P, 0.9f); -PARAM_DEFINE_FLOAT(FW_ROLLR_I, 0.2f); -PARAM_DEFINE_FLOAT(FW_ROLLR_AWU, 0.9f); -PARAM_DEFINE_FLOAT(FW_ROLLR_LIM, 0.7f); // Roll rate limit in radians/sec, applies to the roll controller -PARAM_DEFINE_FLOAT(FW_ROLL_P, 4.0f); -PARAM_DEFINE_FLOAT(FW_PITCH_RCOMP, 0.1f); - -//Pitch control parameters -PARAM_DEFINE_FLOAT(FW_PITCHR_P, 0.8f); -PARAM_DEFINE_FLOAT(FW_PITCHR_I, 0.2f); -PARAM_DEFINE_FLOAT(FW_PITCHR_AWU, 0.8f); -PARAM_DEFINE_FLOAT(FW_PITCHR_LIM, 0.35f); // Pitch rate limit in radians/sec, applies to the pitch controller -PARAM_DEFINE_FLOAT(FW_PITCH_P, 8.0f); - -//Yaw control parameters //XXX TODO this is copy paste, asign correct values -PARAM_DEFINE_FLOAT(FW_YAWR_P, 0.3f); -PARAM_DEFINE_FLOAT(FW_YAWR_I, 0.0f); -PARAM_DEFINE_FLOAT(FW_YAWR_AWU, 0.0f); -PARAM_DEFINE_FLOAT(FW_YAWR_LIM, 0.35f); // Yaw rate limit in radians/sec - -/* feedforward compensation */ -PARAM_DEFINE_FLOAT(FW_PITCH_THR_P, 0.1f); /**< throttle to pitch coupling feedforward */ - -struct fw_rate_control_params { - float rollrate_p; - float rollrate_i; - float rollrate_awu; - float pitchrate_p; - float pitchrate_i; - float pitchrate_awu; - float yawrate_p; - float yawrate_i; - float yawrate_awu; - float pitch_thr_ff; -}; - -struct fw_rate_control_param_handles { - param_t rollrate_p; - param_t rollrate_i; - param_t rollrate_awu; - param_t pitchrate_p; - param_t pitchrate_i; - param_t pitchrate_awu; - param_t yawrate_p; - param_t yawrate_i; - param_t yawrate_awu; - param_t pitch_thr_ff; -}; - - - -/* Internal Prototypes */ -static int parameters_init(struct fw_rate_control_param_handles *h); -static int parameters_update(const struct fw_rate_control_param_handles *h, struct fw_rate_control_params *p); - -static int parameters_init(struct fw_rate_control_param_handles *h) -{ - /* PID parameters */ - h->rollrate_p = param_find("FW_ROLLR_P"); //TODO define rate params for fixed wing - h->rollrate_i = param_find("FW_ROLLR_I"); - h->rollrate_awu = param_find("FW_ROLLR_AWU"); - - h->pitchrate_p = param_find("FW_PITCHR_P"); - h->pitchrate_i = param_find("FW_PITCHR_I"); - h->pitchrate_awu = param_find("FW_PITCHR_AWU"); - - h->yawrate_p = param_find("FW_YAWR_P"); - h->yawrate_i = param_find("FW_YAWR_I"); - h->yawrate_awu = param_find("FW_YAWR_AWU"); - h->pitch_thr_ff = param_find("FW_PITCH_THR_P"); - - return OK; -} - -static int parameters_update(const struct fw_rate_control_param_handles *h, struct fw_rate_control_params *p) -{ - param_get(h->rollrate_p, &(p->rollrate_p)); - param_get(h->rollrate_i, &(p->rollrate_i)); - param_get(h->rollrate_awu, &(p->rollrate_awu)); - param_get(h->pitchrate_p, &(p->pitchrate_p)); - param_get(h->pitchrate_i, &(p->pitchrate_i)); - param_get(h->pitchrate_awu, &(p->pitchrate_awu)); - param_get(h->yawrate_p, &(p->yawrate_p)); - param_get(h->yawrate_i, &(p->yawrate_i)); - param_get(h->yawrate_awu, &(p->yawrate_awu)); - param_get(h->pitch_thr_ff, &(p->pitch_thr_ff)); - - return OK; -} - -int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, - const float rates[], - struct actuator_controls_s *actuators) -{ - static int counter = 0; - static bool initialized = false; - - static struct fw_rate_control_params p; - static struct fw_rate_control_param_handles h; - - static PID_t roll_rate_controller; - static PID_t pitch_rate_controller; - static PID_t yaw_rate_controller; - - static uint64_t last_run = 0; - const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f; - last_run = hrt_absolute_time(); - - if (!initialized) { - parameters_init(&h); - parameters_update(&h, &p); - pid_init(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, 1, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the controller layout is with a PI rate controller - pid_init(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, 1, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher - pid_init(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, 1, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher - initialized = true; - } - - /* load new parameters with lower rate */ - if (counter % 100 == 0) { - /* update parameters from storage */ - parameters_update(&h, &p); - pid_set_parameters(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, 1); - pid_set_parameters(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, 1); - pid_set_parameters(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, 1); - } - - - /* roll rate (PI) */ - actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0.0f, deltaT); - /* pitch rate (PI) */ - actuators->control[1] = -pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0.0f, deltaT); - /* yaw rate (PI) */ - actuators->control[2] = pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0.0f, deltaT); - - counter++; - - return 0; -} - - - diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.h b/apps/fixedwing_att_control/fixedwing_att_control_rate.h deleted file mode 100644 index 500e3e197..000000000 --- a/apps/fixedwing_att_control/fixedwing_att_control_rate.h +++ /dev/null @@ -1,48 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Thomas Gubler - * - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/* @file Fixed Wing Attitude Rate Control */ - -#ifndef FIXEDWING_ATT_CONTROL_RATE_H_ -#define FIXEDWING_ATT_CONTROL_RATE_H_ - -#include -#include - -int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, - const float rates[], - struct actuator_controls_s *actuators); - -#endif /* FIXEDWING_ATT_CONTROL_RATE_H_ */ diff --git a/apps/fixedwing_pos_control/Makefile b/apps/fixedwing_pos_control/Makefile deleted file mode 100644 index bce391f49..000000000 --- a/apps/fixedwing_pos_control/Makefile +++ /dev/null @@ -1,45 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Fixedwing Control application -# - -APPNAME = fixedwing_pos_control -PRIORITY = SCHED_PRIORITY_MAX - 30 -STACKSIZE = 2048 - -INCLUDES = $(TOPDIR)/../mavlink/include/mavlink - -include $(APPDIR)/mk/app.mk - diff --git a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c deleted file mode 100644 index 71c78f5b8..000000000 --- a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c +++ /dev/null @@ -1,479 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Thomas Gubler - * @author Doug Weibel - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ -/** - * @file fixedwing_pos_control.c - * Implementation of a fixed wing attitude controller. - */ - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -/* - * Controller parameters, accessible via MAVLink - * - */ -PARAM_DEFINE_FLOAT(FW_HEAD_P, 0.1f); -PARAM_DEFINE_FLOAT(FW_HEADR_I, 0.1f); -PARAM_DEFINE_FLOAT(FW_HEADR_LIM, 1.5f); //TODO: think about reasonable value -PARAM_DEFINE_FLOAT(FW_XTRACK_P, 0.01745f); // Radians per meter off track -PARAM_DEFINE_FLOAT(FW_ALT_P, 0.1f); -PARAM_DEFINE_FLOAT(FW_ROLL_LIM, 0.7f); // Roll angle limit in radians -PARAM_DEFINE_FLOAT(FW_HEADR_P, 0.1f); -PARAM_DEFINE_FLOAT(FW_PITCH_LIM, 0.35f); /**< Pitch angle limit in radians per second */ - -struct fw_pos_control_params { - float heading_p; - float headingr_p; - float headingr_i; - float headingr_lim; - float xtrack_p; - float altitude_p; - float roll_lim; - float pitch_lim; -}; - -struct fw_pos_control_param_handles { - param_t heading_p; - param_t headingr_p; - param_t headingr_i; - param_t headingr_lim; - param_t xtrack_p; - param_t altitude_p; - param_t roll_lim; - param_t pitch_lim; -}; - - -struct planned_path_segments_s { - bool segment_type; - double start_lat; // Start of line or center of arc - double start_lon; - double end_lat; - double end_lon; - float radius; // Radius of arc - float arc_start_bearing; // Bearing from center to start of arc - float arc_sweep; // Angle (radians) swept out by arc around center. - // Positive for clockwise, negative for counter-clockwise -}; - - -/* Prototypes */ -/* Internal Prototypes */ -static int parameters_init(struct fw_pos_control_param_handles *h); -static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_pos_control_params *p); - -/** - * Deamon management function. - */ -__EXPORT int fixedwing_pos_control_main(int argc, char *argv[]); - -/** - * Mainloop of deamon. - */ -int fixedwing_pos_control_thread_main(int argc, char *argv[]); - -/** - * Print the correct usage. - */ -static void usage(const char *reason); - -/* Variables */ -static bool thread_should_exit = false; /**< Deamon exit flag */ -static bool thread_running = false; /**< Deamon status flag */ -static int deamon_task; /**< Handle of deamon task / thread */ - - -/** - * Parameter management - */ -static int parameters_init(struct fw_pos_control_param_handles *h) -{ - /* PID parameters */ - h->heading_p = param_find("FW_HEAD_P"); - h->headingr_p = param_find("FW_HEADR_P"); - h->headingr_i = param_find("FW_HEADR_I"); - h->headingr_lim = param_find("FW_HEADR_LIM"); - h->xtrack_p = param_find("FW_XTRACK_P"); - h->altitude_p = param_find("FW_ALT_P"); - h->roll_lim = param_find("FW_ROLL_LIM"); - h->pitch_lim = param_find("FW_PITCH_LIM"); - - return OK; -} - -static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_pos_control_params *p) -{ - param_get(h->heading_p, &(p->heading_p)); - param_get(h->headingr_p, &(p->headingr_p)); - param_get(h->headingr_i, &(p->headingr_i)); - param_get(h->headingr_lim, &(p->headingr_lim)); - param_get(h->xtrack_p, &(p->xtrack_p)); - param_get(h->altitude_p, &(p->altitude_p)); - param_get(h->roll_lim, &(p->roll_lim)); - param_get(h->pitch_lim, &(p->pitch_lim)); - - return OK; -} - - -/* Main Thread */ -int fixedwing_pos_control_thread_main(int argc, char *argv[]) -{ - /* read arguments */ - bool verbose = false; - - for (int i = 1; i < argc; i++) { - if (strcmp(argv[i], "-v") == 0 || strcmp(argv[i], "--verbose") == 0) { - verbose = true; - } - } - - /* welcome user */ - printf("[fixedwing pos control] started\n"); - - /* declare and safely initialize all structs */ - struct vehicle_global_position_s global_pos; - memset(&global_pos, 0, sizeof(global_pos)); - struct vehicle_global_position_s start_pos; // Temporary variable, replace with - memset(&start_pos, 0, sizeof(start_pos)); // previous waypoint when available - struct vehicle_global_position_setpoint_s global_setpoint; - memset(&global_setpoint, 0, sizeof(global_setpoint)); - struct vehicle_attitude_s att; - memset(&att, 0, sizeof(att)); - struct crosstrack_error_s xtrack_err; - memset(&xtrack_err, 0, sizeof(xtrack_err)); - struct parameter_update_s param_update; - memset(¶m_update, 0, sizeof(param_update)); - - /* output structs */ - struct vehicle_attitude_setpoint_s attitude_setpoint; - memset(&attitude_setpoint, 0, sizeof(attitude_setpoint)); - - /* publish attitude setpoint */ - attitude_setpoint.roll_body = 0.0f; - attitude_setpoint.pitch_body = 0.0f; - attitude_setpoint.yaw_body = 0.0f; - attitude_setpoint.thrust = 0.0f; - orb_advert_t attitude_setpoint_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &attitude_setpoint); - - /* subscribe */ - int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position)); - int global_setpoint_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint)); - int att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); - int param_sub = orb_subscribe(ORB_ID(parameter_update)); - - /* Setup of loop */ - struct pollfd fds[2] = { - { .fd = param_sub, .events = POLLIN }, - { .fd = att_sub, .events = POLLIN } - }; - bool global_sp_updated_set_once = false; - - float psi_track = 0.0f; - - int counter = 0; - - struct fw_pos_control_params p; - struct fw_pos_control_param_handles h; - - PID_t heading_controller; - PID_t heading_rate_controller; - PID_t offtrack_controller; - PID_t altitude_controller; - - parameters_init(&h); - parameters_update(&h, &p); - pid_init(&heading_controller, p.heading_p, 0.0f, 0.0f, 0.0f, 10000.0f, PID_MODE_DERIVATIV_NONE); //arbitrary high limit - pid_init(&heading_rate_controller, p.headingr_p, p.headingr_i, 0.0f, 0.0f, p.roll_lim, PID_MODE_DERIVATIV_NONE); - pid_init(&altitude_controller, p.altitude_p, 0.0f, 0.0f, 0.0f, p.pitch_lim, PID_MODE_DERIVATIV_NONE); - pid_init(&offtrack_controller, p.xtrack_p, 0.0f, 0.0f, 0.0f , 60.0f * M_DEG_TO_RAD, PID_MODE_DERIVATIV_NONE); //TODO: remove hardcoded value - - /* error and performance monitoring */ - perf_counter_t fw_interval_perf = perf_alloc(PC_INTERVAL, "fixedwing_pos_control_interval"); - perf_counter_t fw_err_perf = perf_alloc(PC_COUNT, "fixedwing_pos_control_err"); - - while (!thread_should_exit) { - /* wait for a sensor update, check for exit condition every 500 ms */ - int ret = poll(fds, 2, 500); - - if (ret < 0) { - /* poll error, count it in perf */ - perf_count(fw_err_perf); - - } else if (ret == 0) { - /* no return value, ignore */ - } else { - - /* only update parameters if they changed */ - if (fds[0].revents & POLLIN) { - /* read from param to clear updated flag */ - struct parameter_update_s update; - orb_copy(ORB_ID(parameter_update), param_sub, &update); - - /* update parameters from storage */ - parameters_update(&h, &p); - pid_set_parameters(&heading_controller, p.heading_p, 0, 0, 0, 10000.0f); //arbitrary high limit - pid_set_parameters(&heading_rate_controller, p.headingr_p, p.headingr_i, 0, 0, p.roll_lim); - pid_set_parameters(&altitude_controller, p.altitude_p, 0, 0, 0, p.pitch_lim); - pid_set_parameters(&offtrack_controller, p.xtrack_p, 0, 0, 0, 60.0f * M_DEG_TO_RAD); //TODO: remove hardcoded value - } - - /* only run controller if attitude changed */ - if (fds[1].revents & POLLIN) { - - - static uint64_t last_run = 0; - const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f; - last_run = hrt_absolute_time(); - - /* check if there is a new position or setpoint */ - bool pos_updated; - orb_check(global_pos_sub, &pos_updated); - bool global_sp_updated; - orb_check(global_setpoint_sub, &global_sp_updated); - - /* load local copies */ - orb_copy(ORB_ID(vehicle_attitude), att_sub, &att); - - if (pos_updated) { - orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos); - } - - if (global_sp_updated) { - orb_copy(ORB_ID(vehicle_global_position_setpoint), global_setpoint_sub, &global_setpoint); - start_pos = global_pos; //for now using the current position as the startpoint (= approx. last waypoint because the setpoint switch occurs at the waypoint) - global_sp_updated_set_once = true; - psi_track = get_bearing_to_next_waypoint((double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d, - (double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d); - - printf("next wp direction: %0.4f\n", (double)psi_track); - } - - /* Simple Horizontal Control */ - if (global_sp_updated_set_once) { - // if (counter % 100 == 0) - // printf("lat_sp %d, ln_sp %d, lat: %d, lon: %d\n", global_setpoint.lat, global_setpoint.lon, global_pos.lat, global_pos.lon); - - /* calculate crosstrack error */ - // Only the case of a straight line track following handled so far - int distance_res = get_distance_to_line(&xtrack_err, (double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d, - (double)start_pos.lat / (double)1e7d, (double)start_pos.lon / (double)1e7d, - (double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d); - - // XXX what is xtrack_err.past_end? - if (distance_res == OK /*&& !xtrack_err.past_end*/) { - - float delta_psi_c = pid_calculate(&offtrack_controller, 0, xtrack_err.distance, 0.0f, 0.0f); //p.xtrack_p * xtrack_err.distance - - float psi_c = psi_track + delta_psi_c; - float psi_e = psi_c - att.yaw; - - /* wrap difference back onto -pi..pi range */ - psi_e = _wrap_pi(psi_e); - - if (verbose) { - printf("xtrack_err.distance %.4f ", (double)xtrack_err.distance); - printf("delta_psi_c %.4f ", (double)delta_psi_c); - printf("psi_c %.4f ", (double)psi_c); - printf("att.yaw %.4f ", (double)att.yaw); - printf("psi_e %.4f ", (double)psi_e); - } - - /* calculate roll setpoint, do this artificially around zero */ - float delta_psi_rate_c = pid_calculate(&heading_controller, psi_e, 0.0f, 0.0f, 0.0f); - float psi_rate_track = 0; //=V_gr/r_track , this will be needed for implementation of arc following - float psi_rate_c = delta_psi_rate_c + psi_rate_track; - - /* limit turn rate */ - if (psi_rate_c > p.headingr_lim) { - psi_rate_c = p.headingr_lim; - - } else if (psi_rate_c < -p.headingr_lim) { - psi_rate_c = -p.headingr_lim; - } - - float psi_rate_e = psi_rate_c - att.yawspeed; - - // XXX sanity check: Assume 10 m/s stall speed and no stall condition - float ground_speed = sqrtf(global_pos.vx * global_pos.vx + global_pos.vy * global_pos.vy); - - if (ground_speed < 10.0f) { - ground_speed = 10.0f; - } - - float psi_rate_e_scaled = psi_rate_e * ground_speed / 9.81f; //* V_gr / g - - attitude_setpoint.roll_body = pid_calculate(&heading_rate_controller, psi_rate_e_scaled, 0.0f, 0.0f, deltaT); - - if (verbose) { - printf("psi_rate_c %.4f ", (double)psi_rate_c); - printf("psi_rate_e_scaled %.4f ", (double)psi_rate_e_scaled); - printf("rollbody %.4f\n", (double)attitude_setpoint.roll_body); - } - - if (verbose && counter % 100 == 0) - printf("xtrack_err.distance: %0.4f, delta_psi_c: %0.4f\n", xtrack_err.distance, delta_psi_c); - - } else { - if (verbose && counter % 100 == 0) - printf("distance_res: %d, past_end %d\n", distance_res, xtrack_err.past_end); - } - - /* Very simple Altitude Control */ - if (pos_updated) { - - //TODO: take care of relative vs. ab. altitude - attitude_setpoint.pitch_body = pid_calculate(&altitude_controller, global_setpoint.altitude, global_pos.alt, 0.0f, 0.0f); - - } - - // XXX need speed control - attitude_setpoint.thrust = 0.7f; - - /* publish the attitude setpoint */ - orb_publish(ORB_ID(vehicle_attitude_setpoint), attitude_setpoint_pub, &attitude_setpoint); - - /* measure in what intervals the controller runs */ - perf_count(fw_interval_perf); - - counter++; - - } else { - // XXX no setpoint, decent default needed (loiter?) - } - } - } - } - - printf("[fixedwing_pos_control] exiting.\n"); - thread_running = false; - - - close(attitude_setpoint_pub); - - fflush(stdout); - exit(0); - - return 0; - -} - -/* Startup Functions */ - -static void -usage(const char *reason) -{ - if (reason) - fprintf(stderr, "%s\n", reason); - - fprintf(stderr, "usage: fixedwing_pos_control {start|stop|status}\n\n"); - exit(1); -} - -/** - * The deamon app only briefly exists to start - * the background job. The stack size assigned in the - * Makefile does only apply to this management task. - * - * The actual stack size should be set in the call - * to task_create(). - */ -int fixedwing_pos_control_main(int argc, char *argv[]) -{ - if (argc < 1) - usage("missing command"); - - if (!strcmp(argv[1], "start")) { - - if (thread_running) { - printf("fixedwing_pos_control already running\n"); - /* this is not an error */ - exit(0); - } - - thread_should_exit = false; - deamon_task = task_spawn("fixedwing_pos_control", - SCHED_DEFAULT, - SCHED_PRIORITY_MAX - 20, - 2048, - fixedwing_pos_control_thread_main, - (argv) ? (const char **)&argv[2] : (const char **)NULL); - thread_running = true; - exit(0); - } - - if (!strcmp(argv[1], "stop")) { - thread_should_exit = true; - exit(0); - } - - if (!strcmp(argv[1], "status")) { - if (thread_running) { - printf("\tfixedwing_pos_control is running\n"); - - } else { - printf("\tfixedwing_pos_control not started\n"); - } - - exit(0); - } - - usage("unrecognized command"); - exit(1); -} diff --git a/makefiles/config_px4fmu_default.mk b/makefiles/config_px4fmu_default.mk index 0767f7144..6fd7da461 100644 --- a/makefiles/config_px4fmu_default.mk +++ b/makefiles/config_px4fmu_default.mk @@ -56,6 +56,13 @@ MODULES += modules/attitude_estimator_ekf MODULES += modules/position_estimator_mc MODULES += modules/att_pos_estimator_ekf +# +# Vehicle Control +# +MODULES += modules/fixedwing_backside +MODULES += modules/fixedwing_att_control +MODULES += modules/fixedwing_pos_control + # # Logging # diff --git a/src/modules/fixedwing_att_control/fixedwing_att_control_att.c b/src/modules/fixedwing_att_control/fixedwing_att_control_att.c new file mode 100644 index 000000000..769b8b0a8 --- /dev/null +++ b/src/modules/fixedwing_att_control/fixedwing_att_control_att.c @@ -0,0 +1,169 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @author Thomas Gubler + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ +/** + * @file fixedwing_att_control_rate.c + * Implementation of a fixed wing attitude controller. + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include + +#include "fixedwing_att_control_att.h" + + +struct fw_att_control_params { + float roll_p; + float rollrate_lim; + float pitch_p; + float pitchrate_lim; + float yawrate_lim; + float pitch_roll_compensation_p; +}; + +struct fw_pos_control_param_handles { + param_t roll_p; + param_t rollrate_lim; + param_t pitch_p; + param_t pitchrate_lim; + param_t yawrate_lim; + param_t pitch_roll_compensation_p; +}; + + + +/* Internal Prototypes */ +static int parameters_init(struct fw_pos_control_param_handles *h); +static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_att_control_params *p); + +static int parameters_init(struct fw_pos_control_param_handles *h) +{ + /* PID parameters */ + h->roll_p = param_find("FW_ROLL_P"); + h->rollrate_lim = param_find("FW_ROLLR_LIM"); + h->pitch_p = param_find("FW_PITCH_P"); + h->pitchrate_lim = param_find("FW_PITCHR_LIM"); + h->yawrate_lim = param_find("FW_YAWR_LIM"); + h->pitch_roll_compensation_p = param_find("FW_PITCH_RCOMP"); + + return OK; +} + +static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_att_control_params *p) +{ + param_get(h->roll_p, &(p->roll_p)); + param_get(h->rollrate_lim, &(p->rollrate_lim)); + param_get(h->pitch_p, &(p->pitch_p)); + param_get(h->pitchrate_lim, &(p->pitchrate_lim)); + param_get(h->yawrate_lim, &(p->yawrate_lim)); + param_get(h->pitch_roll_compensation_p, &(p->pitch_roll_compensation_p)); + + return OK; +} + +int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, + const struct vehicle_attitude_s *att, + const float speed_body[], + struct vehicle_rates_setpoint_s *rates_sp) +{ + static int counter = 0; + static bool initialized = false; + + static struct fw_att_control_params p; + static struct fw_pos_control_param_handles h; + + static PID_t roll_controller; + static PID_t pitch_controller; + + + if (!initialized) { + parameters_init(&h); + parameters_update(&h, &p); + pid_init(&roll_controller, p.roll_p, 0, 0, 0, p.rollrate_lim, PID_MODE_DERIVATIV_NONE); //P Controller + pid_init(&pitch_controller, p.pitch_p, 0, 0, 0, p.pitchrate_lim, PID_MODE_DERIVATIV_NONE); //P Controller + initialized = true; + } + + /* load new parameters with lower rate */ + if (counter % 100 == 0) { + /* update parameters from storage */ + parameters_update(&h, &p); + pid_set_parameters(&roll_controller, p.roll_p, 0, 0, 0, p.rollrate_lim); + pid_set_parameters(&pitch_controller, p.pitch_p, 0, 0, 0, p.pitchrate_lim); + } + + /* Roll (P) */ + rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body, att->roll, 0, 0); + + + /* Pitch (P) */ + + /* compensate feedforward for loss of lift due to non-horizontal angle of wing */ + float pitch_sp_rollcompensation = p.pitch_roll_compensation_p * fabsf(sinf(att_sp->roll_body)); + /* set pitch plus feedforward roll compensation */ + rates_sp->pitch = pid_calculate(&pitch_controller, + att_sp->pitch_body + pitch_sp_rollcompensation, + att->pitch, 0, 0); + + /* Yaw (from coordinated turn constraint or lateral force) */ + rates_sp->yaw = (att->rollspeed * rates_sp->roll + 9.81f * sinf(att->roll) * cosf(att->pitch) + speed_body[0] * rates_sp->pitch * sinf(att->roll)) + / (speed_body[0] * cosf(att->roll) * cosf(att->pitch) + speed_body[2] * sinf(att->pitch)); + +// printf("rates_sp->yaw %.4f \n", (double)rates_sp->yaw); + + counter++; + + return 0; +} + + + diff --git a/src/modules/fixedwing_att_control/fixedwing_att_control_att.h b/src/modules/fixedwing_att_control/fixedwing_att_control_att.h new file mode 100644 index 000000000..600e35b89 --- /dev/null +++ b/src/modules/fixedwing_att_control/fixedwing_att_control_att.h @@ -0,0 +1,51 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @author Thomas Gubler + * + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* @file Fixed Wing Attitude Control */ + +#ifndef FIXEDWING_ATT_CONTROL_ATT_H_ +#define FIXEDWING_ATT_CONTROL_ATT_H_ + +#include +#include +#include +#include + +int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, + const struct vehicle_attitude_s *att, + const float speed_body[], + struct vehicle_rates_setpoint_s *rates_sp); + +#endif /* FIXEDWING_ATT_CONTROL_ATT_H_ */ diff --git a/src/modules/fixedwing_att_control/fixedwing_att_control_main.c b/src/modules/fixedwing_att_control/fixedwing_att_control_main.c new file mode 100644 index 000000000..58477632b --- /dev/null +++ b/src/modules/fixedwing_att_control/fixedwing_att_control_main.c @@ -0,0 +1,370 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @author Thomas Gubler + * @author Doug Weibel + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ +/** + * @file fixedwing_att_control.c + * Implementation of a fixed wing attitude controller. + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "fixedwing_att_control_rate.h" +#include "fixedwing_att_control_att.h" + +/* Prototypes */ +/** + * Deamon management function. + */ +__EXPORT int fixedwing_att_control_main(int argc, char *argv[]); + +/** + * Mainloop of deamon. + */ +int fixedwing_att_control_thread_main(int argc, char *argv[]); + +/** + * Print the correct usage. + */ +static void usage(const char *reason); + +/* Variables */ +static bool thread_should_exit = false; /**< Deamon exit flag */ +static bool thread_running = false; /**< Deamon status flag */ +static int deamon_task; /**< Handle of deamon task / thread */ + +/* Main Thread */ +int fixedwing_att_control_thread_main(int argc, char *argv[]) +{ + /* read arguments */ + bool verbose = false; + + for (int i = 1; i < argc; i++) { + if (strcmp(argv[i], "-v") == 0 || strcmp(argv[i], "--verbose") == 0) { + verbose = true; + } + } + + /* welcome user */ + printf("[fixedwing att control] started\n"); + + /* declare and safely initialize all structs */ + struct vehicle_attitude_s att; + memset(&att, 0, sizeof(att)); + struct vehicle_attitude_setpoint_s att_sp; + memset(&att_sp, 0, sizeof(att_sp)); + struct vehicle_rates_setpoint_s rates_sp; + memset(&rates_sp, 0, sizeof(rates_sp)); + struct vehicle_global_position_s global_pos; + memset(&global_pos, 0, sizeof(global_pos)); + struct manual_control_setpoint_s manual_sp; + memset(&manual_sp, 0, sizeof(manual_sp)); + struct vehicle_status_s vstatus; + memset(&vstatus, 0, sizeof(vstatus)); + + /* output structs */ + struct actuator_controls_s actuators; + memset(&actuators, 0, sizeof(actuators)); + + + /* publish actuator controls */ + for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) { + actuators.control[i] = 0.0f; + } + + orb_advert_t actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators); + orb_advert_t rates_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp); + + /* subscribe */ + int att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); + int att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); + int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position)); + int manual_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); + int vstatus_sub = orb_subscribe(ORB_ID(vehicle_status)); + + /* Setup of loop */ + float gyro[3] = {0.0f, 0.0f, 0.0f}; + float speed_body[3] = {0.0f, 0.0f, 0.0f}; + struct pollfd fds = { .fd = att_sub, .events = POLLIN }; + + while (!thread_should_exit) { + /* wait for a sensor update, check for exit condition every 500 ms */ + poll(&fds, 1, 500); + + /* Check if there is a new position measurement or attitude setpoint */ + bool pos_updated; + orb_check(global_pos_sub, &pos_updated); + bool att_sp_updated; + orb_check(att_sp_sub, &att_sp_updated); + + /* get a local copy of attitude */ + orb_copy(ORB_ID(vehicle_attitude), att_sub, &att); + + if (att_sp_updated) + orb_copy(ORB_ID(vehicle_attitude_setpoint), att_sp_sub, &att_sp); + + if (pos_updated) { + orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos); + + if (att.R_valid) { + speed_body[0] = att.R[0][0] * global_pos.vx + att.R[0][1] * global_pos.vy + att.R[0][2] * global_pos.vz; + speed_body[1] = att.R[1][0] * global_pos.vx + att.R[1][1] * global_pos.vy + att.R[1][2] * global_pos.vz; + speed_body[2] = att.R[2][0] * global_pos.vx + att.R[2][1] * global_pos.vy + att.R[2][2] * global_pos.vz; + + } else { + speed_body[0] = 0; + speed_body[1] = 0; + speed_body[2] = 0; + + printf("FW ATT CONTROL: Did not get a valid R\n"); + } + } + + orb_copy(ORB_ID(manual_control_setpoint), manual_sp_sub, &manual_sp); + orb_copy(ORB_ID(vehicle_status), vstatus_sub, &vstatus); + + gyro[0] = att.rollspeed; + gyro[1] = att.pitchspeed; + gyro[2] = att.yawspeed; + + /* control */ + + if (vstatus.state_machine == SYSTEM_STATE_AUTO || + vstatus.state_machine == SYSTEM_STATE_STABILIZED) { + /* attitude control */ + fixedwing_att_control_attitude(&att_sp, &att, speed_body, &rates_sp); + + /* angular rate control */ + fixedwing_att_control_rates(&rates_sp, gyro, &actuators); + + /* pass through throttle */ + actuators.control[3] = att_sp.thrust; + + /* set flaps to zero */ + actuators.control[4] = 0.0f; + + } else if (vstatus.state_machine == SYSTEM_STATE_MANUAL) { + if (vstatus.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS) { + + /* if the RC signal is lost, try to stay level and go slowly back down to ground */ + if (vstatus.rc_signal_lost) { + + /* put plane into loiter */ + att_sp.roll_body = 0.3f; + att_sp.pitch_body = 0.0f; + + /* limit throttle to 60 % of last value if sane */ + if (isfinite(manual_sp.throttle) && + (manual_sp.throttle >= 0.0f) && + (manual_sp.throttle <= 1.0f)) { + att_sp.thrust = 0.6f * manual_sp.throttle; + + } else { + att_sp.thrust = 0.0f; + } + + att_sp.yaw_body = 0; + + // XXX disable yaw control, loiter + + } else { + + att_sp.roll_body = manual_sp.roll; + att_sp.pitch_body = manual_sp.pitch; + att_sp.yaw_body = 0; + att_sp.thrust = manual_sp.throttle; + } + + att_sp.timestamp = hrt_absolute_time(); + + /* attitude control */ + fixedwing_att_control_attitude(&att_sp, &att, speed_body, &rates_sp); + + /* angular rate control */ + fixedwing_att_control_rates(&rates_sp, gyro, &actuators); + + /* pass through throttle */ + actuators.control[3] = att_sp.thrust; + + /* pass through flaps */ + if (isfinite(manual_sp.flaps)) { + actuators.control[4] = manual_sp.flaps; + + } else { + actuators.control[4] = 0.0f; + } + + } else if (vstatus.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_DIRECT) { + /* directly pass through values */ + actuators.control[0] = manual_sp.roll; + /* positive pitch means negative actuator -> pull up */ + actuators.control[1] = manual_sp.pitch; + actuators.control[2] = manual_sp.yaw; + actuators.control[3] = manual_sp.throttle; + + if (isfinite(manual_sp.flaps)) { + actuators.control[4] = manual_sp.flaps; + + } else { + actuators.control[4] = 0.0f; + } + } + } + + /* publish rates */ + orb_publish(ORB_ID(vehicle_rates_setpoint), rates_pub, &rates_sp); + + /* sanity check and publish actuator outputs */ + if (isfinite(actuators.control[0]) && + isfinite(actuators.control[1]) && + isfinite(actuators.control[2]) && + isfinite(actuators.control[3])) { + orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators); + } + } + + printf("[fixedwing_att_control] exiting, stopping all motors.\n"); + thread_running = false; + + /* kill all outputs */ + for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) + actuators.control[i] = 0.0f; + + orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators); + + + + close(att_sub); + close(actuator_pub); + close(rates_pub); + + fflush(stdout); + exit(0); + + return 0; + +} + +/* Startup Functions */ + +static void +usage(const char *reason) +{ + if (reason) + fprintf(stderr, "%s\n", reason); + + fprintf(stderr, "usage: fixedwing_att_control {start|stop|status}\n\n"); + exit(1); +} + +/** + * The deamon app only briefly exists to start + * the background job. The stack size assigned in the + * Makefile does only apply to this management task. + * + * The actual stack size should be set in the call + * to task_create(). + */ +int fixedwing_att_control_main(int argc, char *argv[]) +{ + if (argc < 1) + usage("missing command"); + + if (!strcmp(argv[1], "start")) { + + if (thread_running) { + printf("fixedwing_att_control already running\n"); + /* this is not an error */ + exit(0); + } + + thread_should_exit = false; + deamon_task = task_spawn("fixedwing_att_control", + SCHED_DEFAULT, + SCHED_PRIORITY_MAX - 20, + 2048, + fixedwing_att_control_thread_main, + (argv) ? (const char **)&argv[2] : (const char **)NULL); + thread_running = true; + exit(0); + } + + if (!strcmp(argv[1], "stop")) { + thread_should_exit = true; + exit(0); + } + + if (!strcmp(argv[1], "status")) { + if (thread_running) { + printf("\tfixedwing_att_control is running\n"); + + } else { + printf("\tfixedwing_att_control not started\n"); + } + + exit(0); + } + + usage("unrecognized command"); + exit(1); +} + + + diff --git a/src/modules/fixedwing_att_control/fixedwing_att_control_rate.c b/src/modules/fixedwing_att_control/fixedwing_att_control_rate.c new file mode 100644 index 000000000..4eccc118c --- /dev/null +++ b/src/modules/fixedwing_att_control/fixedwing_att_control_rate.c @@ -0,0 +1,211 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: Thomas Gubler + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ +/** + * @file fixedwing_att_control_rate.c + * @author Thomas Gubler + * + * Implementation of a fixed wing attitude controller. + * + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include + +#include "fixedwing_att_control_rate.h" + +/* + * Controller parameters, accessible via MAVLink + * + */ +// Roll control parameters +PARAM_DEFINE_FLOAT(FW_ROLLR_P, 0.9f); +PARAM_DEFINE_FLOAT(FW_ROLLR_I, 0.2f); +PARAM_DEFINE_FLOAT(FW_ROLLR_AWU, 0.9f); +PARAM_DEFINE_FLOAT(FW_ROLLR_LIM, 0.7f); // Roll rate limit in radians/sec, applies to the roll controller +PARAM_DEFINE_FLOAT(FW_ROLL_P, 4.0f); +PARAM_DEFINE_FLOAT(FW_PITCH_RCOMP, 0.1f); + +//Pitch control parameters +PARAM_DEFINE_FLOAT(FW_PITCHR_P, 0.8f); +PARAM_DEFINE_FLOAT(FW_PITCHR_I, 0.2f); +PARAM_DEFINE_FLOAT(FW_PITCHR_AWU, 0.8f); +PARAM_DEFINE_FLOAT(FW_PITCHR_LIM, 0.35f); // Pitch rate limit in radians/sec, applies to the pitch controller +PARAM_DEFINE_FLOAT(FW_PITCH_P, 8.0f); + +//Yaw control parameters //XXX TODO this is copy paste, asign correct values +PARAM_DEFINE_FLOAT(FW_YAWR_P, 0.3f); +PARAM_DEFINE_FLOAT(FW_YAWR_I, 0.0f); +PARAM_DEFINE_FLOAT(FW_YAWR_AWU, 0.0f); +PARAM_DEFINE_FLOAT(FW_YAWR_LIM, 0.35f); // Yaw rate limit in radians/sec + +/* feedforward compensation */ +PARAM_DEFINE_FLOAT(FW_PITCH_THR_P, 0.1f); /**< throttle to pitch coupling feedforward */ + +struct fw_rate_control_params { + float rollrate_p; + float rollrate_i; + float rollrate_awu; + float pitchrate_p; + float pitchrate_i; + float pitchrate_awu; + float yawrate_p; + float yawrate_i; + float yawrate_awu; + float pitch_thr_ff; +}; + +struct fw_rate_control_param_handles { + param_t rollrate_p; + param_t rollrate_i; + param_t rollrate_awu; + param_t pitchrate_p; + param_t pitchrate_i; + param_t pitchrate_awu; + param_t yawrate_p; + param_t yawrate_i; + param_t yawrate_awu; + param_t pitch_thr_ff; +}; + + + +/* Internal Prototypes */ +static int parameters_init(struct fw_rate_control_param_handles *h); +static int parameters_update(const struct fw_rate_control_param_handles *h, struct fw_rate_control_params *p); + +static int parameters_init(struct fw_rate_control_param_handles *h) +{ + /* PID parameters */ + h->rollrate_p = param_find("FW_ROLLR_P"); //TODO define rate params for fixed wing + h->rollrate_i = param_find("FW_ROLLR_I"); + h->rollrate_awu = param_find("FW_ROLLR_AWU"); + + h->pitchrate_p = param_find("FW_PITCHR_P"); + h->pitchrate_i = param_find("FW_PITCHR_I"); + h->pitchrate_awu = param_find("FW_PITCHR_AWU"); + + h->yawrate_p = param_find("FW_YAWR_P"); + h->yawrate_i = param_find("FW_YAWR_I"); + h->yawrate_awu = param_find("FW_YAWR_AWU"); + h->pitch_thr_ff = param_find("FW_PITCH_THR_P"); + + return OK; +} + +static int parameters_update(const struct fw_rate_control_param_handles *h, struct fw_rate_control_params *p) +{ + param_get(h->rollrate_p, &(p->rollrate_p)); + param_get(h->rollrate_i, &(p->rollrate_i)); + param_get(h->rollrate_awu, &(p->rollrate_awu)); + param_get(h->pitchrate_p, &(p->pitchrate_p)); + param_get(h->pitchrate_i, &(p->pitchrate_i)); + param_get(h->pitchrate_awu, &(p->pitchrate_awu)); + param_get(h->yawrate_p, &(p->yawrate_p)); + param_get(h->yawrate_i, &(p->yawrate_i)); + param_get(h->yawrate_awu, &(p->yawrate_awu)); + param_get(h->pitch_thr_ff, &(p->pitch_thr_ff)); + + return OK; +} + +int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, + const float rates[], + struct actuator_controls_s *actuators) +{ + static int counter = 0; + static bool initialized = false; + + static struct fw_rate_control_params p; + static struct fw_rate_control_param_handles h; + + static PID_t roll_rate_controller; + static PID_t pitch_rate_controller; + static PID_t yaw_rate_controller; + + static uint64_t last_run = 0; + const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f; + last_run = hrt_absolute_time(); + + if (!initialized) { + parameters_init(&h); + parameters_update(&h, &p); + pid_init(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, 1, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the controller layout is with a PI rate controller + pid_init(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, 1, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher + pid_init(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, 1, PID_MODE_DERIVATIV_NONE); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher + initialized = true; + } + + /* load new parameters with lower rate */ + if (counter % 100 == 0) { + /* update parameters from storage */ + parameters_update(&h, &p); + pid_set_parameters(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, 1); + pid_set_parameters(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, 1); + pid_set_parameters(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, 1); + } + + + /* roll rate (PI) */ + actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0.0f, deltaT); + /* pitch rate (PI) */ + actuators->control[1] = -pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0.0f, deltaT); + /* yaw rate (PI) */ + actuators->control[2] = pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0.0f, deltaT); + + counter++; + + return 0; +} + + + diff --git a/src/modules/fixedwing_att_control/fixedwing_att_control_rate.h b/src/modules/fixedwing_att_control/fixedwing_att_control_rate.h new file mode 100644 index 000000000..500e3e197 --- /dev/null +++ b/src/modules/fixedwing_att_control/fixedwing_att_control_rate.h @@ -0,0 +1,48 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @author Thomas Gubler + * + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* @file Fixed Wing Attitude Rate Control */ + +#ifndef FIXEDWING_ATT_CONTROL_RATE_H_ +#define FIXEDWING_ATT_CONTROL_RATE_H_ + +#include +#include + +int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, + const float rates[], + struct actuator_controls_s *actuators); + +#endif /* FIXEDWING_ATT_CONTROL_RATE_H_ */ diff --git a/src/modules/fixedwing_att_control/module.mk b/src/modules/fixedwing_att_control/module.mk new file mode 100644 index 000000000..fd1a8724a --- /dev/null +++ b/src/modules/fixedwing_att_control/module.mk @@ -0,0 +1,42 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# Fixedwing Attitude Control application +# + +MODULE_COMMAND = fixedwing_att_control + +SRCS = fixedwing_att_control_main.c \ + fixedwing_att_control_att.c \ + fixedwing_att_control_rate.c diff --git a/src/modules/fixedwing_backside/fixedwing_backside_main.cpp b/src/modules/fixedwing_backside/fixedwing_backside_main.cpp new file mode 100644 index 000000000..e21990c92 --- /dev/null +++ b/src/modules/fixedwing_backside/fixedwing_backside_main.cpp @@ -0,0 +1,170 @@ +/**************************************************************************** + * + * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. + * Author: James Goppert + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file fixedwing_backside_main.cpp + * @author James Goppert + * + * Fixedwing backside controller using control library + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +static bool thread_should_exit = false; /**< Deamon exit flag */ +static bool thread_running = false; /**< Deamon status flag */ +static int deamon_task; /**< Handle of deamon task / thread */ + +/** + * Deamon management function. + */ +extern "C" __EXPORT int fixedwing_backside_main(int argc, char *argv[]); + +/** + * Mainloop of deamon. + */ +int control_demo_thread_main(int argc, char *argv[]); + +/** + * Test function + */ +void test(); + +/** + * Print the correct usage. + */ +static void usage(const char *reason); + +static void +usage(const char *reason) +{ + if (reason) + fprintf(stderr, "%s\n", reason); + + fprintf(stderr, "usage: control_demo {start|stop|status} [-p ]\n\n"); + exit(1); +} + +/** + * The deamon app only briefly exists to start + * the background job. The stack size assigned in the + * Makefile does only apply to this management task. + * + * The actual stack size should be set in the call + * to task_create(). + */ +int fixedwing_backside_main(int argc, char *argv[]) +{ + + if (argc < 1) + usage("missing command"); + + if (!strcmp(argv[1], "start")) { + + if (thread_running) { + printf("control_demo already running\n"); + /* this is not an error */ + exit(0); + } + + thread_should_exit = false; + deamon_task = task_spawn("control_demo", + SCHED_DEFAULT, + SCHED_PRIORITY_MAX - 10, + 5120, + control_demo_thread_main, + (argv) ? (const char **)&argv[2] : (const char **)NULL); + exit(0); + } + + if (!strcmp(argv[1], "test")) { + test(); + exit(0); + } + + if (!strcmp(argv[1], "stop")) { + thread_should_exit = true; + exit(0); + } + + if (!strcmp(argv[1], "status")) { + if (thread_running) { + printf("\tcontrol_demo app is running\n"); + + } else { + printf("\tcontrol_demo app not started\n"); + } + + exit(0); + } + + usage("unrecognized command"); + exit(1); +} + +int control_demo_thread_main(int argc, char *argv[]) +{ + + printf("[control_Demo] starting\n"); + + using namespace control; + + fixedwing::BlockMultiModeBacksideAutopilot autopilot(NULL, "FWB"); + + thread_running = true; + + while (!thread_should_exit) { + autopilot.update(); + } + + printf("[control_demo] exiting.\n"); + + thread_running = false; + + return 0; +} + +void test() +{ + printf("beginning control lib test\n"); + control::basicBlocksTest(); +} diff --git a/src/modules/fixedwing_backside/module.mk b/src/modules/fixedwing_backside/module.mk new file mode 100644 index 000000000..a9233288b --- /dev/null +++ b/src/modules/fixedwing_backside/module.mk @@ -0,0 +1,40 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# Fixedwing backside controller +# + +MODULE_COMMAND = fixedwing_backside + +SRCS = fixedwing_backside_main.cpp diff --git a/src/modules/fixedwing_backside/params.c b/src/modules/fixedwing_backside/params.c new file mode 100644 index 000000000..428b779b1 --- /dev/null +++ b/src/modules/fixedwing_backside/params.c @@ -0,0 +1,71 @@ +#include + +// currently tuned for easystar from arkhangar in HIL +//https://github.com/arktools/arkhangar + +// 16 is max name length + +// gyro low pass filter +PARAM_DEFINE_FLOAT(FWB_P_LP, 300.0f); // roll rate low pass cut freq +PARAM_DEFINE_FLOAT(FWB_Q_LP, 300.0f); // pitch rate low pass cut freq +PARAM_DEFINE_FLOAT(FWB_R_LP, 300.0f); // yaw rate low pass cut freq + +// yaw washout +PARAM_DEFINE_FLOAT(FWB_R_HP, 1.0f); // yaw rate high pass + +// stabilization mode +PARAM_DEFINE_FLOAT(FWB_P2AIL, 0.3f); // roll rate 2 aileron +PARAM_DEFINE_FLOAT(FWB_Q2ELV, 0.1f); // pitch rate 2 elevator +PARAM_DEFINE_FLOAT(FWB_R2RDR, 0.1f); // yaw rate 2 rudder + +// psi -> phi -> p +PARAM_DEFINE_FLOAT(FWB_PSI2PHI, 0.5f); // heading 2 roll +PARAM_DEFINE_FLOAT(FWB_PHI2P, 1.0f); // roll to roll rate +PARAM_DEFINE_FLOAT(FWB_PHI_LIM_MAX, 0.3f); // roll limit, 28 deg + +// velocity -> theta +PARAM_DEFINE_FLOAT(FWB_V2THE_P, 1.0f); // velocity to pitch angle PID, prop gain +PARAM_DEFINE_FLOAT(FWB_V2THE_I, 0.0f); // integral gain +PARAM_DEFINE_FLOAT(FWB_V2THE_D, 0.0f); // derivative gain +PARAM_DEFINE_FLOAT(FWB_V2THE_D_LP, 0.0f); // derivative low-pass +PARAM_DEFINE_FLOAT(FWB_V2THE_I_MAX, 0.0f); // integrator wind up guard +PARAM_DEFINE_FLOAT(FWB_THE_MIN, -0.5f); // the max commanded pitch angle +PARAM_DEFINE_FLOAT(FWB_THE_MAX, 0.5f); // the min commanded pitch angle + + +// theta -> q +PARAM_DEFINE_FLOAT(FWB_THE2Q_P, 1.0f); // pitch angle to pitch-rate PID +PARAM_DEFINE_FLOAT(FWB_THE2Q_I, 0.0f); +PARAM_DEFINE_FLOAT(FWB_THE2Q_D, 0.0f); +PARAM_DEFINE_FLOAT(FWB_THE2Q_D_LP, 0.0f); +PARAM_DEFINE_FLOAT(FWB_THE2Q_I_MAX, 0.0f); + +// h -> thr +PARAM_DEFINE_FLOAT(FWB_H2THR_P, 0.01f); // altitude to throttle PID +PARAM_DEFINE_FLOAT(FWB_H2THR_I, 0.0f); +PARAM_DEFINE_FLOAT(FWB_H2THR_D, 0.0f); +PARAM_DEFINE_FLOAT(FWB_H2THR_D_LP, 0.0f); +PARAM_DEFINE_FLOAT(FWB_H2THR_I_MAX, 0.0f); + +// crosstrack +PARAM_DEFINE_FLOAT(FWB_XT2YAW_MAX, 1.57f); // cross-track to yaw angle limit 90 deg +PARAM_DEFINE_FLOAT(FWB_XT2YAW, 0.005f); // cross-track to yaw angle gain + +// speed command +PARAM_DEFINE_FLOAT(FWB_V_MIN, 10.0f); // minimum commanded velocity +PARAM_DEFINE_FLOAT(FWB_V_CMD, 12.0f); // commanded velocity +PARAM_DEFINE_FLOAT(FWB_V_MAX, 16.0f); // maximum commanded velocity + +// rate of climb +// this is what rate of climb is commanded (in m/s) +// when the pitch stick is fully defelcted in simple mode +PARAM_DEFINE_FLOAT(FWB_ROC_MAX, 1.0f); + +// rate of climb -> thr +PARAM_DEFINE_FLOAT(FWB_ROC2THR_P, 0.01f); // rate of climb to throttle PID +PARAM_DEFINE_FLOAT(FWB_ROC2THR_I, 0.0f); +PARAM_DEFINE_FLOAT(FWB_ROC2THR_D, 0.0f); +PARAM_DEFINE_FLOAT(FWB_ROC2THR_D_LP, 0.0f); +PARAM_DEFINE_FLOAT(FWB_ROC2THR_I_MAX, 0.0f); + +PARAM_DEFINE_FLOAT(FWB_TRIM_THR, 0.8f); // trim throttle (0,1) diff --git a/src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c b/src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c new file mode 100644 index 000000000..71c78f5b8 --- /dev/null +++ b/src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c @@ -0,0 +1,479 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @author Thomas Gubler + * @author Doug Weibel + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ +/** + * @file fixedwing_pos_control.c + * Implementation of a fixed wing attitude controller. + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +/* + * Controller parameters, accessible via MAVLink + * + */ +PARAM_DEFINE_FLOAT(FW_HEAD_P, 0.1f); +PARAM_DEFINE_FLOAT(FW_HEADR_I, 0.1f); +PARAM_DEFINE_FLOAT(FW_HEADR_LIM, 1.5f); //TODO: think about reasonable value +PARAM_DEFINE_FLOAT(FW_XTRACK_P, 0.01745f); // Radians per meter off track +PARAM_DEFINE_FLOAT(FW_ALT_P, 0.1f); +PARAM_DEFINE_FLOAT(FW_ROLL_LIM, 0.7f); // Roll angle limit in radians +PARAM_DEFINE_FLOAT(FW_HEADR_P, 0.1f); +PARAM_DEFINE_FLOAT(FW_PITCH_LIM, 0.35f); /**< Pitch angle limit in radians per second */ + +struct fw_pos_control_params { + float heading_p; + float headingr_p; + float headingr_i; + float headingr_lim; + float xtrack_p; + float altitude_p; + float roll_lim; + float pitch_lim; +}; + +struct fw_pos_control_param_handles { + param_t heading_p; + param_t headingr_p; + param_t headingr_i; + param_t headingr_lim; + param_t xtrack_p; + param_t altitude_p; + param_t roll_lim; + param_t pitch_lim; +}; + + +struct planned_path_segments_s { + bool segment_type; + double start_lat; // Start of line or center of arc + double start_lon; + double end_lat; + double end_lon; + float radius; // Radius of arc + float arc_start_bearing; // Bearing from center to start of arc + float arc_sweep; // Angle (radians) swept out by arc around center. + // Positive for clockwise, negative for counter-clockwise +}; + + +/* Prototypes */ +/* Internal Prototypes */ +static int parameters_init(struct fw_pos_control_param_handles *h); +static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_pos_control_params *p); + +/** + * Deamon management function. + */ +__EXPORT int fixedwing_pos_control_main(int argc, char *argv[]); + +/** + * Mainloop of deamon. + */ +int fixedwing_pos_control_thread_main(int argc, char *argv[]); + +/** + * Print the correct usage. + */ +static void usage(const char *reason); + +/* Variables */ +static bool thread_should_exit = false; /**< Deamon exit flag */ +static bool thread_running = false; /**< Deamon status flag */ +static int deamon_task; /**< Handle of deamon task / thread */ + + +/** + * Parameter management + */ +static int parameters_init(struct fw_pos_control_param_handles *h) +{ + /* PID parameters */ + h->heading_p = param_find("FW_HEAD_P"); + h->headingr_p = param_find("FW_HEADR_P"); + h->headingr_i = param_find("FW_HEADR_I"); + h->headingr_lim = param_find("FW_HEADR_LIM"); + h->xtrack_p = param_find("FW_XTRACK_P"); + h->altitude_p = param_find("FW_ALT_P"); + h->roll_lim = param_find("FW_ROLL_LIM"); + h->pitch_lim = param_find("FW_PITCH_LIM"); + + return OK; +} + +static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_pos_control_params *p) +{ + param_get(h->heading_p, &(p->heading_p)); + param_get(h->headingr_p, &(p->headingr_p)); + param_get(h->headingr_i, &(p->headingr_i)); + param_get(h->headingr_lim, &(p->headingr_lim)); + param_get(h->xtrack_p, &(p->xtrack_p)); + param_get(h->altitude_p, &(p->altitude_p)); + param_get(h->roll_lim, &(p->roll_lim)); + param_get(h->pitch_lim, &(p->pitch_lim)); + + return OK; +} + + +/* Main Thread */ +int fixedwing_pos_control_thread_main(int argc, char *argv[]) +{ + /* read arguments */ + bool verbose = false; + + for (int i = 1; i < argc; i++) { + if (strcmp(argv[i], "-v") == 0 || strcmp(argv[i], "--verbose") == 0) { + verbose = true; + } + } + + /* welcome user */ + printf("[fixedwing pos control] started\n"); + + /* declare and safely initialize all structs */ + struct vehicle_global_position_s global_pos; + memset(&global_pos, 0, sizeof(global_pos)); + struct vehicle_global_position_s start_pos; // Temporary variable, replace with + memset(&start_pos, 0, sizeof(start_pos)); // previous waypoint when available + struct vehicle_global_position_setpoint_s global_setpoint; + memset(&global_setpoint, 0, sizeof(global_setpoint)); + struct vehicle_attitude_s att; + memset(&att, 0, sizeof(att)); + struct crosstrack_error_s xtrack_err; + memset(&xtrack_err, 0, sizeof(xtrack_err)); + struct parameter_update_s param_update; + memset(¶m_update, 0, sizeof(param_update)); + + /* output structs */ + struct vehicle_attitude_setpoint_s attitude_setpoint; + memset(&attitude_setpoint, 0, sizeof(attitude_setpoint)); + + /* publish attitude setpoint */ + attitude_setpoint.roll_body = 0.0f; + attitude_setpoint.pitch_body = 0.0f; + attitude_setpoint.yaw_body = 0.0f; + attitude_setpoint.thrust = 0.0f; + orb_advert_t attitude_setpoint_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &attitude_setpoint); + + /* subscribe */ + int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position)); + int global_setpoint_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint)); + int att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); + int param_sub = orb_subscribe(ORB_ID(parameter_update)); + + /* Setup of loop */ + struct pollfd fds[2] = { + { .fd = param_sub, .events = POLLIN }, + { .fd = att_sub, .events = POLLIN } + }; + bool global_sp_updated_set_once = false; + + float psi_track = 0.0f; + + int counter = 0; + + struct fw_pos_control_params p; + struct fw_pos_control_param_handles h; + + PID_t heading_controller; + PID_t heading_rate_controller; + PID_t offtrack_controller; + PID_t altitude_controller; + + parameters_init(&h); + parameters_update(&h, &p); + pid_init(&heading_controller, p.heading_p, 0.0f, 0.0f, 0.0f, 10000.0f, PID_MODE_DERIVATIV_NONE); //arbitrary high limit + pid_init(&heading_rate_controller, p.headingr_p, p.headingr_i, 0.0f, 0.0f, p.roll_lim, PID_MODE_DERIVATIV_NONE); + pid_init(&altitude_controller, p.altitude_p, 0.0f, 0.0f, 0.0f, p.pitch_lim, PID_MODE_DERIVATIV_NONE); + pid_init(&offtrack_controller, p.xtrack_p, 0.0f, 0.0f, 0.0f , 60.0f * M_DEG_TO_RAD, PID_MODE_DERIVATIV_NONE); //TODO: remove hardcoded value + + /* error and performance monitoring */ + perf_counter_t fw_interval_perf = perf_alloc(PC_INTERVAL, "fixedwing_pos_control_interval"); + perf_counter_t fw_err_perf = perf_alloc(PC_COUNT, "fixedwing_pos_control_err"); + + while (!thread_should_exit) { + /* wait for a sensor update, check for exit condition every 500 ms */ + int ret = poll(fds, 2, 500); + + if (ret < 0) { + /* poll error, count it in perf */ + perf_count(fw_err_perf); + + } else if (ret == 0) { + /* no return value, ignore */ + } else { + + /* only update parameters if they changed */ + if (fds[0].revents & POLLIN) { + /* read from param to clear updated flag */ + struct parameter_update_s update; + orb_copy(ORB_ID(parameter_update), param_sub, &update); + + /* update parameters from storage */ + parameters_update(&h, &p); + pid_set_parameters(&heading_controller, p.heading_p, 0, 0, 0, 10000.0f); //arbitrary high limit + pid_set_parameters(&heading_rate_controller, p.headingr_p, p.headingr_i, 0, 0, p.roll_lim); + pid_set_parameters(&altitude_controller, p.altitude_p, 0, 0, 0, p.pitch_lim); + pid_set_parameters(&offtrack_controller, p.xtrack_p, 0, 0, 0, 60.0f * M_DEG_TO_RAD); //TODO: remove hardcoded value + } + + /* only run controller if attitude changed */ + if (fds[1].revents & POLLIN) { + + + static uint64_t last_run = 0; + const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f; + last_run = hrt_absolute_time(); + + /* check if there is a new position or setpoint */ + bool pos_updated; + orb_check(global_pos_sub, &pos_updated); + bool global_sp_updated; + orb_check(global_setpoint_sub, &global_sp_updated); + + /* load local copies */ + orb_copy(ORB_ID(vehicle_attitude), att_sub, &att); + + if (pos_updated) { + orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos); + } + + if (global_sp_updated) { + orb_copy(ORB_ID(vehicle_global_position_setpoint), global_setpoint_sub, &global_setpoint); + start_pos = global_pos; //for now using the current position as the startpoint (= approx. last waypoint because the setpoint switch occurs at the waypoint) + global_sp_updated_set_once = true; + psi_track = get_bearing_to_next_waypoint((double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d, + (double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d); + + printf("next wp direction: %0.4f\n", (double)psi_track); + } + + /* Simple Horizontal Control */ + if (global_sp_updated_set_once) { + // if (counter % 100 == 0) + // printf("lat_sp %d, ln_sp %d, lat: %d, lon: %d\n", global_setpoint.lat, global_setpoint.lon, global_pos.lat, global_pos.lon); + + /* calculate crosstrack error */ + // Only the case of a straight line track following handled so far + int distance_res = get_distance_to_line(&xtrack_err, (double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d, + (double)start_pos.lat / (double)1e7d, (double)start_pos.lon / (double)1e7d, + (double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d); + + // XXX what is xtrack_err.past_end? + if (distance_res == OK /*&& !xtrack_err.past_end*/) { + + float delta_psi_c = pid_calculate(&offtrack_controller, 0, xtrack_err.distance, 0.0f, 0.0f); //p.xtrack_p * xtrack_err.distance + + float psi_c = psi_track + delta_psi_c; + float psi_e = psi_c - att.yaw; + + /* wrap difference back onto -pi..pi range */ + psi_e = _wrap_pi(psi_e); + + if (verbose) { + printf("xtrack_err.distance %.4f ", (double)xtrack_err.distance); + printf("delta_psi_c %.4f ", (double)delta_psi_c); + printf("psi_c %.4f ", (double)psi_c); + printf("att.yaw %.4f ", (double)att.yaw); + printf("psi_e %.4f ", (double)psi_e); + } + + /* calculate roll setpoint, do this artificially around zero */ + float delta_psi_rate_c = pid_calculate(&heading_controller, psi_e, 0.0f, 0.0f, 0.0f); + float psi_rate_track = 0; //=V_gr/r_track , this will be needed for implementation of arc following + float psi_rate_c = delta_psi_rate_c + psi_rate_track; + + /* limit turn rate */ + if (psi_rate_c > p.headingr_lim) { + psi_rate_c = p.headingr_lim; + + } else if (psi_rate_c < -p.headingr_lim) { + psi_rate_c = -p.headingr_lim; + } + + float psi_rate_e = psi_rate_c - att.yawspeed; + + // XXX sanity check: Assume 10 m/s stall speed and no stall condition + float ground_speed = sqrtf(global_pos.vx * global_pos.vx + global_pos.vy * global_pos.vy); + + if (ground_speed < 10.0f) { + ground_speed = 10.0f; + } + + float psi_rate_e_scaled = psi_rate_e * ground_speed / 9.81f; //* V_gr / g + + attitude_setpoint.roll_body = pid_calculate(&heading_rate_controller, psi_rate_e_scaled, 0.0f, 0.0f, deltaT); + + if (verbose) { + printf("psi_rate_c %.4f ", (double)psi_rate_c); + printf("psi_rate_e_scaled %.4f ", (double)psi_rate_e_scaled); + printf("rollbody %.4f\n", (double)attitude_setpoint.roll_body); + } + + if (verbose && counter % 100 == 0) + printf("xtrack_err.distance: %0.4f, delta_psi_c: %0.4f\n", xtrack_err.distance, delta_psi_c); + + } else { + if (verbose && counter % 100 == 0) + printf("distance_res: %d, past_end %d\n", distance_res, xtrack_err.past_end); + } + + /* Very simple Altitude Control */ + if (pos_updated) { + + //TODO: take care of relative vs. ab. altitude + attitude_setpoint.pitch_body = pid_calculate(&altitude_controller, global_setpoint.altitude, global_pos.alt, 0.0f, 0.0f); + + } + + // XXX need speed control + attitude_setpoint.thrust = 0.7f; + + /* publish the attitude setpoint */ + orb_publish(ORB_ID(vehicle_attitude_setpoint), attitude_setpoint_pub, &attitude_setpoint); + + /* measure in what intervals the controller runs */ + perf_count(fw_interval_perf); + + counter++; + + } else { + // XXX no setpoint, decent default needed (loiter?) + } + } + } + } + + printf("[fixedwing_pos_control] exiting.\n"); + thread_running = false; + + + close(attitude_setpoint_pub); + + fflush(stdout); + exit(0); + + return 0; + +} + +/* Startup Functions */ + +static void +usage(const char *reason) +{ + if (reason) + fprintf(stderr, "%s\n", reason); + + fprintf(stderr, "usage: fixedwing_pos_control {start|stop|status}\n\n"); + exit(1); +} + +/** + * The deamon app only briefly exists to start + * the background job. The stack size assigned in the + * Makefile does only apply to this management task. + * + * The actual stack size should be set in the call + * to task_create(). + */ +int fixedwing_pos_control_main(int argc, char *argv[]) +{ + if (argc < 1) + usage("missing command"); + + if (!strcmp(argv[1], "start")) { + + if (thread_running) { + printf("fixedwing_pos_control already running\n"); + /* this is not an error */ + exit(0); + } + + thread_should_exit = false; + deamon_task = task_spawn("fixedwing_pos_control", + SCHED_DEFAULT, + SCHED_PRIORITY_MAX - 20, + 2048, + fixedwing_pos_control_thread_main, + (argv) ? (const char **)&argv[2] : (const char **)NULL); + thread_running = true; + exit(0); + } + + if (!strcmp(argv[1], "stop")) { + thread_should_exit = true; + exit(0); + } + + if (!strcmp(argv[1], "status")) { + if (thread_running) { + printf("\tfixedwing_pos_control is running\n"); + + } else { + printf("\tfixedwing_pos_control not started\n"); + } + + exit(0); + } + + usage("unrecognized command"); + exit(1); +} diff --git a/src/modules/fixedwing_pos_control/module.mk b/src/modules/fixedwing_pos_control/module.mk new file mode 100644 index 000000000..b976377e9 --- /dev/null +++ b/src/modules/fixedwing_pos_control/module.mk @@ -0,0 +1,40 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# Fixedwing PositionControl application +# + +MODULE_COMMAND = fixedwing_pos_control + +SRCS = fixedwing_pos_control_main.c -- cgit v1.2.3 From 7ca82801bd4d4b9d6f4a0ac515e5cfcdc28f2e05 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 27 Apr 2013 14:42:12 +0200 Subject: Moved multirotor controllers --- apps/multirotor_att_control/Makefile | 42 -- .../multirotor_att_control_main.c | 485 --------------------- .../multirotor_attitude_control.c | 249 ----------- .../multirotor_attitude_control.h | 57 --- .../multirotor_rate_control.c | 230 ---------- .../multirotor_rate_control.h | 56 --- apps/multirotor_pos_control/Makefile | 42 -- .../multirotor_pos_control.c | 238 ---------- .../multirotor_pos_control_params.c | 62 --- .../multirotor_pos_control_params.h | 66 --- apps/multirotor_pos_control/position_control.c | 235 ---------- apps/multirotor_pos_control/position_control.h | 50 --- apps/position_estimator/.context | 0 apps/position_estimator/Makefile | 44 -- apps/position_estimator/position_estimator_main.c | 423 ------------------ makefiles/config_px4fmu_default.mk | 8 +- src/modules/multirotor_att_control/module.mk | 42 ++ .../multirotor_att_control_main.c | 485 +++++++++++++++++++++ .../multirotor_attitude_control.c | 249 +++++++++++ .../multirotor_attitude_control.h | 57 +++ .../multirotor_rate_control.c | 230 ++++++++++ .../multirotor_rate_control.h | 56 +++ src/modules/multirotor_pos_control/module.mk | 41 ++ .../multirotor_pos_control.c | 238 ++++++++++ .../multirotor_pos_control_params.c | 62 +++ .../multirotor_pos_control_params.h | 66 +++ .../multirotor_pos_control/position_control.c | 235 ++++++++++ .../multirotor_pos_control/position_control.h | 50 +++ src/modules/position_estimator/.context | 0 src/modules/position_estimator/module.mk | 44 ++ .../position_estimator/position_estimator_main.c | 423 ++++++++++++++++++ 31 files changed, 2281 insertions(+), 2284 deletions(-) delete mode 100755 apps/multirotor_att_control/Makefile delete mode 100644 apps/multirotor_att_control/multirotor_att_control_main.c delete mode 100644 apps/multirotor_att_control/multirotor_attitude_control.c delete mode 100644 apps/multirotor_att_control/multirotor_attitude_control.h delete mode 100644 apps/multirotor_att_control/multirotor_rate_control.c delete mode 100644 apps/multirotor_att_control/multirotor_rate_control.h delete mode 100644 apps/multirotor_pos_control/Makefile delete mode 100644 apps/multirotor_pos_control/multirotor_pos_control.c delete mode 100644 apps/multirotor_pos_control/multirotor_pos_control_params.c delete mode 100644 apps/multirotor_pos_control/multirotor_pos_control_params.h delete mode 100644 apps/multirotor_pos_control/position_control.c delete mode 100644 apps/multirotor_pos_control/position_control.h delete mode 100644 apps/position_estimator/.context delete mode 100644 apps/position_estimator/Makefile delete mode 100644 apps/position_estimator/position_estimator_main.c create mode 100755 src/modules/multirotor_att_control/module.mk create mode 100644 src/modules/multirotor_att_control/multirotor_att_control_main.c create mode 100644 src/modules/multirotor_att_control/multirotor_attitude_control.c create mode 100644 src/modules/multirotor_att_control/multirotor_attitude_control.h create mode 100644 src/modules/multirotor_att_control/multirotor_rate_control.c create mode 100644 src/modules/multirotor_att_control/multirotor_rate_control.h create mode 100644 src/modules/multirotor_pos_control/module.mk create mode 100644 src/modules/multirotor_pos_control/multirotor_pos_control.c create mode 100644 src/modules/multirotor_pos_control/multirotor_pos_control_params.c create mode 100644 src/modules/multirotor_pos_control/multirotor_pos_control_params.h create mode 100644 src/modules/multirotor_pos_control/position_control.c create mode 100644 src/modules/multirotor_pos_control/position_control.h create mode 100644 src/modules/position_estimator/.context create mode 100644 src/modules/position_estimator/module.mk create mode 100644 src/modules/position_estimator/position_estimator_main.c (limited to 'src') diff --git a/apps/multirotor_att_control/Makefile b/apps/multirotor_att_control/Makefile deleted file mode 100755 index 03cf33e43..000000000 --- a/apps/multirotor_att_control/Makefile +++ /dev/null @@ -1,42 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Makefile to build uORB -# - -APPNAME = multirotor_att_control -PRIORITY = SCHED_PRIORITY_MAX - 15 -STACKSIZE = 2048 - -include $(APPDIR)/mk/app.mk diff --git a/apps/multirotor_att_control/multirotor_att_control_main.c b/apps/multirotor_att_control/multirotor_att_control_main.c deleted file mode 100644 index d94c0a69c..000000000 --- a/apps/multirotor_att_control/multirotor_att_control_main.c +++ /dev/null @@ -1,485 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file multirotor_att_control_main.c - * - * Implementation of multirotor attitude control main loop. - * - * @author Lorenz Meier - */ - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include - -#include "multirotor_attitude_control.h" -#include "multirotor_rate_control.h" - -PARAM_DEFINE_FLOAT(MC_RCLOSS_THR, 0.0f); // This defines the throttle when the RC signal is lost. - -__EXPORT int multirotor_att_control_main(int argc, char *argv[]); - -static bool thread_should_exit; -static int mc_task; -static bool motor_test_mode = false; - -static orb_advert_t actuator_pub; - -static struct vehicle_status_s state; - -static int -mc_thread_main(int argc, char *argv[]) -{ - /* declare and safely initialize all structs */ - memset(&state, 0, sizeof(state)); - struct vehicle_attitude_s att; - memset(&att, 0, sizeof(att)); - struct vehicle_attitude_setpoint_s att_sp; - memset(&att_sp, 0, sizeof(att_sp)); - struct manual_control_setpoint_s manual; - memset(&manual, 0, sizeof(manual)); - struct sensor_combined_s raw; - memset(&raw, 0, sizeof(raw)); - struct offboard_control_setpoint_s offboard_sp; - memset(&offboard_sp, 0, sizeof(offboard_sp)); - struct vehicle_rates_setpoint_s rates_sp; - memset(&rates_sp, 0, sizeof(rates_sp)); - - struct actuator_controls_s actuators; - memset(&actuators, 0, sizeof(actuators)); - - /* subscribe to attitude, motor setpoints and system state */ - int att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); - int param_sub = orb_subscribe(ORB_ID(parameter_update)); - int att_setpoint_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); - int setpoint_sub = orb_subscribe(ORB_ID(offboard_control_setpoint)); - int state_sub = orb_subscribe(ORB_ID(vehicle_status)); - int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); - int sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); - - /* - * Do not rate-limit the loop to prevent aliasing - * if rate-limiting would be desired later, the line below would - * enable it. - * - * rate-limit the attitude subscription to 200Hz to pace our loop - * orb_set_interval(att_sub, 5); - */ - struct pollfd fds[2] = { - { .fd = att_sub, .events = POLLIN }, - { .fd = param_sub, .events = POLLIN } - }; - - /* publish actuator controls */ - for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) { - actuators.control[i] = 0.0f; - } - - actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators); - orb_advert_t att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp); - orb_advert_t rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp); - int rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint)); - - /* register the perf counter */ - perf_counter_t mc_loop_perf = perf_alloc(PC_ELAPSED, "multirotor_att_control_runtime"); - perf_counter_t mc_interval_perf = perf_alloc(PC_INTERVAL, "multirotor_att_control_interval"); - perf_counter_t mc_err_perf = perf_alloc(PC_COUNT, "multirotor_att_control_err"); - - /* welcome user */ - printf("[multirotor_att_control] starting\n"); - - /* store last control mode to detect mode switches */ - bool flag_control_manual_enabled = false; - bool flag_control_attitude_enabled = false; - bool flag_system_armed = false; - - /* store if yaw position or yaw speed has been changed */ - bool control_yaw_position = true; - - /* store if we stopped a yaw movement */ - bool first_time_after_yaw_speed_control = true; - - /* prepare the handle for the failsafe throttle */ - param_t failsafe_throttle_handle = param_find("MC_RCLOSS_THR"); - float failsafe_throttle = 0.0f; - - - while (!thread_should_exit) { - - /* wait for a sensor update, check for exit condition every 500 ms */ - int ret = poll(fds, 2, 500); - - if (ret < 0) { - /* poll error, count it in perf */ - perf_count(mc_err_perf); - - } else if (ret == 0) { - /* no return value, ignore */ - } else { - - /* only update parameters if they changed */ - if (fds[1].revents & POLLIN) { - /* read from param to clear updated flag */ - struct parameter_update_s update; - orb_copy(ORB_ID(parameter_update), param_sub, &update); - - /* update parameters */ - // XXX no params here yet - } - - /* only run controller if attitude changed */ - if (fds[0].revents & POLLIN) { - - perf_begin(mc_loop_perf); - - /* get a local copy of system state */ - bool updated; - orb_check(state_sub, &updated); - - if (updated) { - orb_copy(ORB_ID(vehicle_status), state_sub, &state); - } - - /* get a local copy of manual setpoint */ - orb_copy(ORB_ID(manual_control_setpoint), manual_sub, &manual); - /* get a local copy of attitude */ - orb_copy(ORB_ID(vehicle_attitude), att_sub, &att); - /* get a local copy of attitude setpoint */ - orb_copy(ORB_ID(vehicle_attitude_setpoint), att_setpoint_sub, &att_sp); - /* get a local copy of rates setpoint */ - orb_check(setpoint_sub, &updated); - - if (updated) { - orb_copy(ORB_ID(offboard_control_setpoint), setpoint_sub, &offboard_sp); - } - - /* get a local copy of the current sensor values */ - orb_copy(ORB_ID(sensor_combined), sensor_sub, &raw); - - - /** STEP 1: Define which input is the dominating control input */ - if (state.flag_control_offboard_enabled) { - /* offboard inputs */ - if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_RATES) { - rates_sp.roll = offboard_sp.p1; - rates_sp.pitch = offboard_sp.p2; - rates_sp.yaw = offboard_sp.p3; - rates_sp.thrust = offboard_sp.p4; -// printf("thrust_rate=%8.4f\n",offboard_sp.p4); - rates_sp.timestamp = hrt_absolute_time(); - orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp); - - } else if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE) { - att_sp.roll_body = offboard_sp.p1; - att_sp.pitch_body = offboard_sp.p2; - att_sp.yaw_body = offboard_sp.p3; - att_sp.thrust = offboard_sp.p4; -// printf("thrust_att=%8.4f\n",offboard_sp.p4); - att_sp.timestamp = hrt_absolute_time(); - /* STEP 2: publish the result to the vehicle actuators */ - orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp); - } - - - } else if (state.flag_control_manual_enabled) { - - if (state.flag_control_attitude_enabled) { - - /* initialize to current yaw if switching to manual or att control */ - if (state.flag_control_attitude_enabled != flag_control_attitude_enabled || - state.flag_control_manual_enabled != flag_control_manual_enabled || - state.flag_system_armed != flag_system_armed) { - att_sp.yaw_body = att.yaw; - } - - static bool rc_loss_first_time = true; - - /* if the RC signal is lost, try to stay level and go slowly back down to ground */ - if (state.rc_signal_lost) { - /* the failsafe throttle is stored as a parameter, as it depends on the copter and the payload */ - param_get(failsafe_throttle_handle, &failsafe_throttle); - att_sp.roll_body = 0.0f; - att_sp.pitch_body = 0.0f; - - /* - * Only go to failsafe throttle if last known throttle was - * high enough to create some lift to make hovering state likely. - * - * This is to prevent that someone landing, but not disarming his - * multicopter (throttle = 0) does not make it jump up in the air - * if shutting down his remote. - */ - if (isfinite(manual.throttle) && manual.throttle > 0.2f) { - att_sp.thrust = failsafe_throttle; - - } else { - att_sp.thrust = 0.0f; - } - - /* keep current yaw, do not attempt to go to north orientation, - * since if the pilot regains RC control, he will be lost regarding - * the current orientation. - */ - if (rc_loss_first_time) - att_sp.yaw_body = att.yaw; - - rc_loss_first_time = false; - - } else { - rc_loss_first_time = true; - - att_sp.roll_body = manual.roll; - att_sp.pitch_body = manual.pitch; - - /* set attitude if arming */ - if (!flag_control_attitude_enabled && state.flag_system_armed) { - att_sp.yaw_body = att.yaw; - } - - /* act if stabilization is active or if the (nonsense) direct pass through mode is set */ - if (state.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS || - state.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_DIRECT) { - - if (state.manual_sas_mode == VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_RATE) { - rates_sp.yaw = manual.yaw; - control_yaw_position = false; - - } else { - /* - * This mode SHOULD be the default mode, which is: - * VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS - * - * However, we fall back to this setting for all other (nonsense) - * settings as well. - */ - - /* only move setpoint if manual input is != 0 */ - if ((manual.yaw < -0.01f || 0.01f < manual.yaw) && manual.throttle > 0.3f) { - rates_sp.yaw = manual.yaw; - control_yaw_position = false; - first_time_after_yaw_speed_control = true; - - } else { - if (first_time_after_yaw_speed_control) { - att_sp.yaw_body = att.yaw; - first_time_after_yaw_speed_control = false; - } - - control_yaw_position = true; - } - } - } - - att_sp.thrust = manual.throttle; - att_sp.timestamp = hrt_absolute_time(); - } - - /* STEP 2: publish the controller output */ - orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp); - - if (motor_test_mode) { - printf("testmode"); - att_sp.roll_body = 0.0f; - att_sp.pitch_body = 0.0f; - att_sp.yaw_body = 0.0f; - att_sp.thrust = 0.1f; - att_sp.timestamp = hrt_absolute_time(); - /* STEP 2: publish the result to the vehicle actuators */ - orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp); - } - - } else { - /* manual rate inputs, from RC control or joystick */ - if (state.flag_control_rates_enabled && - state.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_RATES) { - rates_sp.roll = manual.roll; - - rates_sp.pitch = manual.pitch; - rates_sp.yaw = manual.yaw; - rates_sp.thrust = manual.throttle; - rates_sp.timestamp = hrt_absolute_time(); - } - } - - } - - /** STEP 3: Identify the controller setup to run and set up the inputs correctly */ - if (state.flag_control_attitude_enabled) { - multirotor_control_attitude(&att_sp, &att, &rates_sp, control_yaw_position); - - orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp); - } - - /* measure in what intervals the controller runs */ - perf_count(mc_interval_perf); - - float gyro[3]; - - /* get current rate setpoint */ - bool rates_sp_valid = false; - orb_check(rates_sp_sub, &rates_sp_valid); - - if (rates_sp_valid) { - orb_copy(ORB_ID(vehicle_rates_setpoint), rates_sp_sub, &rates_sp); - } - - /* apply controller */ - gyro[0] = att.rollspeed; - gyro[1] = att.pitchspeed; - gyro[2] = att.yawspeed; - - multirotor_control_rates(&rates_sp, gyro, &actuators); - orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators); - - /* update state */ - flag_control_attitude_enabled = state.flag_control_attitude_enabled; - flag_control_manual_enabled = state.flag_control_manual_enabled; - flag_system_armed = state.flag_system_armed; - - perf_end(mc_loop_perf); - } /* end of poll call for attitude updates */ - } /* end of poll return value check */ - } - - printf("[multirotor att control] stopping, disarming motors.\n"); - - /* kill all outputs */ - for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) - actuators.control[i] = 0.0f; - - orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators); - - - close(att_sub); - close(state_sub); - close(manual_sub); - close(actuator_pub); - close(att_sp_pub); - - perf_print_counter(mc_loop_perf); - perf_free(mc_loop_perf); - - fflush(stdout); - exit(0); -} - -static void -usage(const char *reason) -{ - if (reason) - fprintf(stderr, "%s\n", reason); - - fprintf(stderr, "usage: multirotor_att_control [-m ] [-t] {start|status|stop}\n"); - fprintf(stderr, " is 'rates' or 'attitude'\n"); - fprintf(stderr, " -t enables motor test mode with 10%% thrust\n"); - exit(1); -} - -int multirotor_att_control_main(int argc, char *argv[]) -{ - int ch; - unsigned int optioncount = 0; - - while ((ch = getopt(argc, argv, "tm:")) != EOF) { - switch (ch) { - case 't': - motor_test_mode = true; - optioncount += 1; - break; - - case ':': - usage("missing parameter"); - break; - - default: - fprintf(stderr, "option: -%c\n", ch); - usage("unrecognized option"); - break; - } - } - - argc -= optioncount; - //argv += optioncount; - - if (argc < 1) - usage("missing command"); - - if (!strcmp(argv[1 + optioncount], "start")) { - - thread_should_exit = false; - mc_task = task_spawn("multirotor_att_control", - SCHED_DEFAULT, - SCHED_PRIORITY_MAX - 15, - 2048, - mc_thread_main, - NULL); - exit(0); - } - - if (!strcmp(argv[1 + optioncount], "stop")) { - thread_should_exit = true; - exit(0); - } - - usage("unrecognized command"); - exit(1); -} diff --git a/apps/multirotor_att_control/multirotor_attitude_control.c b/apps/multirotor_att_control/multirotor_attitude_control.c deleted file mode 100644 index 76dbb36d3..000000000 --- a/apps/multirotor_att_control/multirotor_attitude_control.c +++ /dev/null @@ -1,249 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. - * Author: @author Thomas Gubler - * @author Julian Oes - * @author Laurens Mackay - * @author Tobias Naegeli - * @author Martin Rutschmann - * @author Lorenz Meier - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/* - * @file multirotor_attitude_control.c - * Implementation of attitude controller - */ - -#include "multirotor_attitude_control.h" -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -PARAM_DEFINE_FLOAT(MC_YAWPOS_P, 0.3f); -PARAM_DEFINE_FLOAT(MC_YAWPOS_I, 0.15f); -PARAM_DEFINE_FLOAT(MC_YAWPOS_D, 0.0f); -//PARAM_DEFINE_FLOAT(MC_YAWPOS_AWU, 1.0f); -//PARAM_DEFINE_FLOAT(MC_YAWPOS_LIM, 3.0f); - -PARAM_DEFINE_FLOAT(MC_ATT_P, 0.2f); -PARAM_DEFINE_FLOAT(MC_ATT_I, 0.0f); -PARAM_DEFINE_FLOAT(MC_ATT_D, 0.05f); -//PARAM_DEFINE_FLOAT(MC_ATT_AWU, 0.05f); -//PARAM_DEFINE_FLOAT(MC_ATT_LIM, 0.4f); - -//PARAM_DEFINE_FLOAT(MC_ATT_XOFF, 0.0f); -//PARAM_DEFINE_FLOAT(MC_ATT_YOFF, 0.0f); - -struct mc_att_control_params { - float yaw_p; - float yaw_i; - float yaw_d; - //float yaw_awu; - //float yaw_lim; - - float att_p; - float att_i; - float att_d; - //float att_awu; - //float att_lim; - - //float att_xoff; - //float att_yoff; -}; - -struct mc_att_control_param_handles { - param_t yaw_p; - param_t yaw_i; - param_t yaw_d; - //param_t yaw_awu; - //param_t yaw_lim; - - param_t att_p; - param_t att_i; - param_t att_d; - //param_t att_awu; - //param_t att_lim; - - //param_t att_xoff; - //param_t att_yoff; -}; - -/** - * Initialize all parameter handles and values - * - */ -static int parameters_init(struct mc_att_control_param_handles *h); - -/** - * Update all parameters - * - */ -static int parameters_update(const struct mc_att_control_param_handles *h, struct mc_att_control_params *p); - - -static int parameters_init(struct mc_att_control_param_handles *h) -{ - /* PID parameters */ - h->yaw_p = param_find("MC_YAWPOS_P"); - h->yaw_i = param_find("MC_YAWPOS_I"); - h->yaw_d = param_find("MC_YAWPOS_D"); - //h->yaw_awu = param_find("MC_YAWPOS_AWU"); - //h->yaw_lim = param_find("MC_YAWPOS_LIM"); - - h->att_p = param_find("MC_ATT_P"); - h->att_i = param_find("MC_ATT_I"); - h->att_d = param_find("MC_ATT_D"); - //h->att_awu = param_find("MC_ATT_AWU"); - //h->att_lim = param_find("MC_ATT_LIM"); - - //h->att_xoff = param_find("MC_ATT_XOFF"); - //h->att_yoff = param_find("MC_ATT_YOFF"); - - return OK; -} - -static int parameters_update(const struct mc_att_control_param_handles *h, struct mc_att_control_params *p) -{ - param_get(h->yaw_p, &(p->yaw_p)); - param_get(h->yaw_i, &(p->yaw_i)); - param_get(h->yaw_d, &(p->yaw_d)); - //param_get(h->yaw_awu, &(p->yaw_awu)); - //param_get(h->yaw_lim, &(p->yaw_lim)); - - param_get(h->att_p, &(p->att_p)); - param_get(h->att_i, &(p->att_i)); - param_get(h->att_d, &(p->att_d)); - //param_get(h->att_awu, &(p->att_awu)); - //param_get(h->att_lim, &(p->att_lim)); - - //param_get(h->att_xoff, &(p->att_xoff)); - //param_get(h->att_yoff, &(p->att_yoff)); - - return OK; -} - -void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, - const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, bool control_yaw_position) -{ - static uint64_t last_run = 0; - static uint64_t last_input = 0; - float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f; - float dT_input = (hrt_absolute_time() - last_input) / 1000000.0f; - last_run = hrt_absolute_time(); - - if (last_input != att_sp->timestamp) { - last_input = att_sp->timestamp; - } - - static int sensor_delay; - sensor_delay = hrt_absolute_time() - att->timestamp; - - static int motor_skip_counter = 0; - - static PID_t pitch_controller; - static PID_t roll_controller; - - static struct mc_att_control_params p; - static struct mc_att_control_param_handles h; - - static bool initialized = false; - - static float yaw_error; - - /* initialize the pid controllers when the function is called for the first time */ - if (initialized == false) { - parameters_init(&h); - parameters_update(&h, &p); - - pid_init(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f, - 1000.0f, PID_MODE_DERIVATIV_SET); - pid_init(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, - 1000.0f, PID_MODE_DERIVATIV_SET); - - initialized = true; - } - - /* load new parameters with lower rate */ - if (motor_skip_counter % 500 == 0) { - /* update parameters from storage */ - parameters_update(&h, &p); - - /* apply parameters */ - pid_set_parameters(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f); - pid_set_parameters(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f); - } - - /* reset integral if on ground */ - if (att_sp->thrust < 0.1f) { - pid_reset_integral(&pitch_controller); - pid_reset_integral(&roll_controller); - } - - - /* calculate current control outputs */ - - /* control pitch (forward) output */ - rates_sp->pitch = pid_calculate(&pitch_controller, att_sp->pitch_body , - att->pitch, att->pitchspeed, deltaT); - - /* control roll (left/right) output */ - rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body , - att->roll, att->rollspeed, deltaT); - - if (control_yaw_position) { - /* control yaw rate */ - - /* positive error: rotate to right, negative error, rotate to left (NED frame) */ - // yaw_error = _wrap_pi(att_sp->yaw_body - att->yaw); - - yaw_error = att_sp->yaw_body - att->yaw; - - if (yaw_error > M_PI_F) { - yaw_error -= M_TWOPI_F; - - } else if (yaw_error < -M_PI_F) { - yaw_error += M_TWOPI_F; - } - - rates_sp->yaw = p.yaw_p * (yaw_error) - (p.yaw_d * att->yawspeed); - } - - rates_sp->thrust = att_sp->thrust; - - motor_skip_counter++; -} diff --git a/apps/multirotor_att_control/multirotor_attitude_control.h b/apps/multirotor_att_control/multirotor_attitude_control.h deleted file mode 100644 index 2cf83e443..000000000 --- a/apps/multirotor_att_control/multirotor_attitude_control.h +++ /dev/null @@ -1,57 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Thomas Gubler - * @author Julian Oes - * @author Laurens Mackay - * @author Tobias Naegeli - * @author Martin Rutschmann - * @author Lorenz Meier - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/* - * @file multirotor_attitude_control.h - * Attitude control for multi rotors. - */ - -#ifndef MULTIROTOR_ATTITUDE_CONTROL_H_ -#define MULTIROTOR_ATTITUDE_CONTROL_H_ - -#include -#include -#include -#include -#include - -void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, - const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, bool control_yaw_position); - -#endif /* MULTIROTOR_ATTITUDE_CONTROL_H_ */ diff --git a/apps/multirotor_att_control/multirotor_rate_control.c b/apps/multirotor_att_control/multirotor_rate_control.c deleted file mode 100644 index deba1ac03..000000000 --- a/apps/multirotor_att_control/multirotor_rate_control.c +++ /dev/null @@ -1,230 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Tobias Naegeli - * Lorenz Meier - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file multirotor_rate_control.c - * - * Implementation of rate controller - * - * @author Tobias Naegeli - * @author Lorenz Meier - */ - -#include "multirotor_rate_control.h" -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.0f); /* same on Flamewheel */ -PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f); -PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f); -//PARAM_DEFINE_FLOAT(MC_YAWRATE_AWU, 0.0f); -//PARAM_DEFINE_FLOAT(MC_YAWRATE_LIM, 1.0f); - -PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 0.0f); /* 0.15 F405 Flamewheel */ -PARAM_DEFINE_FLOAT(MC_ATTRATE_D, 0.0f); -PARAM_DEFINE_FLOAT(MC_ATTRATE_I, 0.0f); -//PARAM_DEFINE_FLOAT(MC_ATTRATE_AWU, 0.05f); -//PARAM_DEFINE_FLOAT(MC_ATTRATE_LIM, 1.0f); /**< roughly < 500 deg/s limit */ - -struct mc_rate_control_params { - - float yawrate_p; - float yawrate_d; - float yawrate_i; - //float yawrate_awu; - //float yawrate_lim; - - float attrate_p; - float attrate_d; - float attrate_i; - //float attrate_awu; - //float attrate_lim; - - float rate_lim; -}; - -struct mc_rate_control_param_handles { - - param_t yawrate_p; - param_t yawrate_i; - param_t yawrate_d; - //param_t yawrate_awu; - //param_t yawrate_lim; - - param_t attrate_p; - param_t attrate_i; - param_t attrate_d; - //param_t attrate_awu; - //param_t attrate_lim; -}; - -/** - * Initialize all parameter handles and values - * - */ -static int parameters_init(struct mc_rate_control_param_handles *h); - -/** - * Update all parameters - * - */ -static int parameters_update(const struct mc_rate_control_param_handles *h, struct mc_rate_control_params *p); - - -static int parameters_init(struct mc_rate_control_param_handles *h) -{ - /* PID parameters */ - h->yawrate_p = param_find("MC_YAWRATE_P"); - h->yawrate_i = param_find("MC_YAWRATE_I"); - h->yawrate_d = param_find("MC_YAWRATE_D"); - //h->yawrate_awu = param_find("MC_YAWRATE_AWU"); - //h->yawrate_lim = param_find("MC_YAWRATE_LIM"); - - h->attrate_p = param_find("MC_ATTRATE_P"); - h->attrate_i = param_find("MC_ATTRATE_I"); - h->attrate_d = param_find("MC_ATTRATE_D"); - //h->attrate_awu = param_find("MC_ATTRATE_AWU"); - //h->attrate_lim = param_find("MC_ATTRATE_LIM"); - - return OK; -} - -static int parameters_update(const struct mc_rate_control_param_handles *h, struct mc_rate_control_params *p) -{ - param_get(h->yawrate_p, &(p->yawrate_p)); - param_get(h->yawrate_i, &(p->yawrate_i)); - param_get(h->yawrate_d, &(p->yawrate_d)); - //param_get(h->yawrate_awu, &(p->yawrate_awu)); - //param_get(h->yawrate_lim, &(p->yawrate_lim)); - - param_get(h->attrate_p, &(p->attrate_p)); - param_get(h->attrate_i, &(p->attrate_i)); - param_get(h->attrate_d, &(p->attrate_d)); - //param_get(h->attrate_awu, &(p->attrate_awu)); - //param_get(h->attrate_lim, &(p->attrate_lim)); - - return OK; -} - -void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, - const float rates[], struct actuator_controls_s *actuators) -{ - static float roll_control_last = 0; - static float pitch_control_last = 0; - static uint64_t last_run = 0; - const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f; - static uint64_t last_input = 0; - - float dT_input = (hrt_absolute_time() - last_input) / 1000000.0f; - - if (last_input != rate_sp->timestamp) { - last_input = rate_sp->timestamp; - } - - last_run = hrt_absolute_time(); - - static int motor_skip_counter = 0; - - static struct mc_rate_control_params p; - static struct mc_rate_control_param_handles h; - - static bool initialized = false; - - /* initialize the pid controllers when the function is called for the first time */ - if (initialized == false) { - parameters_init(&h); - parameters_update(&h, &p); - initialized = true; - } - - /* load new parameters with lower rate */ - if (motor_skip_counter % 2500 == 0) { - /* update parameters from storage */ - parameters_update(&h, &p); - // warnx("rate ctrl: p.yawrate_p: %8.4f, loop: %d Hz, input: %d Hz", - // (double)p.yawrate_p, (int)(1.0f/deltaT), (int)(1.0f/dT_input)); - } - - /* calculate current control outputs */ - - /* control pitch (forward) output */ - float pitch_control = p.attrate_p * (rate_sp->pitch - rates[1]) - (p.attrate_d * pitch_control_last); - - /* increase resilience to faulty control inputs */ - if (isfinite(pitch_control)) { - pitch_control_last = pitch_control; - - } else { - pitch_control = 0.0f; - warnx("rej. NaN ctrl pitch"); - } - - /* control roll (left/right) output */ - float roll_control = p.attrate_p * (rate_sp->roll - rates[0]) - (p.attrate_d * roll_control_last); - - /* increase resilience to faulty control inputs */ - if (isfinite(roll_control)) { - roll_control_last = roll_control; - - } else { - roll_control = 0.0f; - warnx("rej. NaN ctrl roll"); - } - - /* control yaw rate */ - float yaw_rate_control = p.yawrate_p * (rate_sp->yaw - rates[2]); - - /* increase resilience to faulty control inputs */ - if (!isfinite(yaw_rate_control)) { - yaw_rate_control = 0.0f; - warnx("rej. NaN ctrl yaw"); - } - - actuators->control[0] = roll_control; - actuators->control[1] = pitch_control; - actuators->control[2] = yaw_rate_control; - actuators->control[3] = rate_sp->thrust; - - motor_skip_counter++; -} diff --git a/apps/multirotor_att_control/multirotor_rate_control.h b/apps/multirotor_att_control/multirotor_rate_control.h deleted file mode 100644 index 03dec317a..000000000 --- a/apps/multirotor_att_control/multirotor_rate_control.h +++ /dev/null @@ -1,56 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Thomas Gubler - * @author Julian Oes - * @author Laurens Mackay - * @author Tobias Naegeli - * @author Martin Rutschmann - * @author Lorenz Meier - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/* - * @file multirotor_attitude_control.h - * Attitude control for multi rotors. - */ - -#ifndef MULTIROTOR_RATE_CONTROL_H_ -#define MULTIROTOR_RATE_CONTROL_H_ - -#include -#include -#include -#include - -void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, - const float rates[], struct actuator_controls_s *actuators); - -#endif /* MULTIROTOR_RATE_CONTROL_H_ */ diff --git a/apps/multirotor_pos_control/Makefile b/apps/multirotor_pos_control/Makefile deleted file mode 100644 index c88c85435..000000000 --- a/apps/multirotor_pos_control/Makefile +++ /dev/null @@ -1,42 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Makefile to build multirotor position control -# - -APPNAME = multirotor_pos_control -PRIORITY = SCHED_PRIORITY_MAX - 25 -STACKSIZE = 2048 - -include $(APPDIR)/mk/app.mk diff --git a/apps/multirotor_pos_control/multirotor_pos_control.c b/apps/multirotor_pos_control/multirotor_pos_control.c deleted file mode 100644 index 7b8d83aa8..000000000 --- a/apps/multirotor_pos_control/multirotor_pos_control.c +++ /dev/null @@ -1,238 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file multirotor_pos_control.c - * - * Skeleton for multirotor position controller - */ - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include "multirotor_pos_control_params.h" - - -static bool thread_should_exit = false; /**< Deamon exit flag */ -static bool thread_running = false; /**< Deamon status flag */ -static int deamon_task; /**< Handle of deamon task / thread */ - -__EXPORT int multirotor_pos_control_main(int argc, char *argv[]); - -/** - * Mainloop of position controller. - */ -static int multirotor_pos_control_thread_main(int argc, char *argv[]); - -/** - * Print the correct usage. - */ -static void usage(const char *reason); - -static void -usage(const char *reason) -{ - if (reason) - fprintf(stderr, "%s\n", reason); - fprintf(stderr, "usage: deamon {start|stop|status} [-p ]\n\n"); - exit(1); -} - -/** - * The deamon app only briefly exists to start - * the background job. The stack size assigned in the - * Makefile does only apply to this management task. - * - * The actual stack size should be set in the call - * to task_spawn(). - */ -int multirotor_pos_control_main(int argc, char *argv[]) -{ - if (argc < 1) - usage("missing command"); - - if (!strcmp(argv[1], "start")) { - - if (thread_running) { - printf("multirotor pos control already running\n"); - /* this is not an error */ - exit(0); - } - - thread_should_exit = false; - deamon_task = task_spawn("multirotor pos control", - SCHED_DEFAULT, - SCHED_PRIORITY_MAX - 60, - 4096, - multirotor_pos_control_thread_main, - (argv) ? (const char **)&argv[2] : (const char **)NULL); - exit(0); - } - - if (!strcmp(argv[1], "stop")) { - thread_should_exit = true; - exit(0); - } - - if (!strcmp(argv[1], "status")) { - if (thread_running) { - printf("\tmultirotor pos control app is running\n"); - } else { - printf("\tmultirotor pos control app not started\n"); - } - exit(0); - } - - usage("unrecognized command"); - exit(1); -} - -static int -multirotor_pos_control_thread_main(int argc, char *argv[]) -{ - /* welcome user */ - printf("[multirotor pos control] Control started, taking over position control\n"); - - /* structures */ - struct vehicle_status_s state; - struct vehicle_attitude_s att; - //struct vehicle_global_position_setpoint_s global_pos_sp; - struct vehicle_local_position_setpoint_s local_pos_sp; - struct vehicle_vicon_position_s local_pos; - struct manual_control_setpoint_s manual; - struct vehicle_attitude_setpoint_s att_sp; - - /* subscribe to attitude, motor setpoints and system state */ - int att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); - int state_sub = orb_subscribe(ORB_ID(vehicle_status)); - int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); - int local_pos_sub = orb_subscribe(ORB_ID(vehicle_vicon_position)); - //int global_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint)); - int local_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint)); - - /* publish attitude setpoint */ - orb_advert_t att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp); - - thread_running = true; - - int loopcounter = 0; - - struct multirotor_position_control_params p; - struct multirotor_position_control_param_handles h; - parameters_init(&h); - parameters_update(&h, &p); - - - while (1) { - /* get a local copy of the vehicle state */ - orb_copy(ORB_ID(vehicle_status), state_sub, &state); - /* get a local copy of manual setpoint */ - orb_copy(ORB_ID(manual_control_setpoint), manual_sub, &manual); - /* get a local copy of attitude */ - orb_copy(ORB_ID(vehicle_attitude), att_sub, &att); - /* get a local copy of local position */ - orb_copy(ORB_ID(vehicle_vicon_position), local_pos_sub, &local_pos); - /* get a local copy of local position setpoint */ - orb_copy(ORB_ID(vehicle_local_position_setpoint), local_pos_sp_sub, &local_pos_sp); - - if (loopcounter == 500) { - parameters_update(&h, &p); - loopcounter = 0; - } - - // if (state.state_machine == SYSTEM_STATE_AUTO) { - - // XXX IMPLEMENT POSITION CONTROL HERE - - float dT = 1.0f / 50.0f; - - float x_setpoint = 0.0f; - - // XXX enable switching between Vicon and local position estimate - /* local pos is the Vicon position */ - - // XXX just an example, lacks rotation around world-body transformation - att_sp.pitch_body = (local_pos.x - x_setpoint) * p.p; - att_sp.roll_body = 0.0f; - att_sp.yaw_body = 0.0f; - att_sp.thrust = 0.3f; - att_sp.timestamp = hrt_absolute_time(); - - /* publish new attitude setpoint */ - orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp); - // } else if (state.state_machine == SYSTEM_STATE_STABILIZED) { - /* set setpoint to current position */ - // XXX select pos reset channel on remote - /* reset setpoint to current position (position hold) */ - // if (1 == 2) { - // local_pos_sp.x = local_pos.x; - // local_pos_sp.y = local_pos.y; - // local_pos_sp.z = local_pos.z; - // local_pos_sp.yaw = att.yaw; - // } - // } - - /* run at approximately 50 Hz */ - usleep(20000); - loopcounter++; - - } - - printf("[multirotor pos control] ending now...\n"); - - thread_running = false; - - fflush(stdout); - return 0; -} - diff --git a/apps/multirotor_pos_control/multirotor_pos_control_params.c b/apps/multirotor_pos_control/multirotor_pos_control_params.c deleted file mode 100644 index 6b73dc405..000000000 --- a/apps/multirotor_pos_control/multirotor_pos_control_params.c +++ /dev/null @@ -1,62 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Tobias Naegeli - * Lorenz Meier - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/* - * @file multirotor_position_control_params.c - * - * Parameters for EKF filter - */ - -#include "multirotor_pos_control_params.h" - -/* Extended Kalman Filter covariances */ - -/* controller parameters */ -PARAM_DEFINE_FLOAT(MC_POS_P, 0.2f); - -int parameters_init(struct multirotor_position_control_param_handles *h) -{ - /* PID parameters */ - h->p = param_find("MC_POS_P"); - - return OK; -} - -int parameters_update(const struct multirotor_position_control_param_handles *h, struct multirotor_position_control_params *p) -{ - param_get(h->p, &(p->p)); - - return OK; -} diff --git a/apps/multirotor_pos_control/multirotor_pos_control_params.h b/apps/multirotor_pos_control/multirotor_pos_control_params.h deleted file mode 100644 index 274f6c22a..000000000 --- a/apps/multirotor_pos_control/multirotor_pos_control_params.h +++ /dev/null @@ -1,66 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Tobias Naegeli - * Lorenz Meier - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/* - * @file multirotor_position_control_params.h - * - * Parameters for position controller - */ - -#include - -struct multirotor_position_control_params { - float p; - float i; - float d; -}; - -struct multirotor_position_control_param_handles { - param_t p; - param_t i; - param_t d; -}; - -/** - * Initialize all parameter handles and values - * - */ -int parameters_init(struct multirotor_position_control_param_handles *h); - -/** - * Update all parameters - * - */ -int parameters_update(const struct multirotor_position_control_param_handles *h, struct multirotor_position_control_params *p); diff --git a/apps/multirotor_pos_control/position_control.c b/apps/multirotor_pos_control/position_control.c deleted file mode 100644 index 9c53a5bf6..000000000 --- a/apps/multirotor_pos_control/position_control.c +++ /dev/null @@ -1,235 +0,0 @@ -// /**************************************************************************** -// * -// * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. -// * Author: @author Lorenz Meier -// * @author Laurens Mackay -// * @author Tobias Naegeli -// * @author Martin Rutschmann -// * -// * Redistribution and use in source and binary forms, with or without -// * modification, are permitted provided that the following conditions -// * are met: -// * -// * 1. Redistributions of source code must retain the above copyright -// * notice, this list of conditions and the following disclaimer. -// * 2. Redistributions in binary form must reproduce the above copyright -// * notice, this list of conditions and the following disclaimer in -// * the documentation and/or other materials provided with the -// * distribution. -// * 3. Neither the name PX4 nor the names of its contributors may be -// * used to endorse or promote products derived from this software -// * without specific prior written permission. -// * -// * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -// * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -// * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -// * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -// * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -// * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -// * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -// * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -// * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -// * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -// * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -// * POSSIBILITY OF SUCH DAMAGE. -// * -// ****************************************************************************/ - -// /** -// * @file multirotor_position_control.c -// * Implementation of the position control for a multirotor VTOL -// */ - -// #include -// #include -// #include -// #include -// #include -// #include -// #include -// #include - -// #include "multirotor_position_control.h" - -// void control_multirotor_position(const struct vehicle_state_s *vstatus, const struct vehicle_manual_control_s *manual, -// const struct vehicle_attitude_s *att, const struct vehicle_local_position_s *local_pos, -// const struct vehicle_local_position_setpoint_s *local_pos_sp, struct vehicle_attitude_setpoint_s *att_sp) -// { -// static PID_t distance_controller; - -// static int read_ret; -// static global_data_position_t position_estimated; - -// static uint16_t counter; - -// static bool initialized; -// static uint16_t pm_counter; - -// static float lat_next; -// static float lon_next; - -// static float pitch_current; - -// static float thrust_total; - - -// if (initialized == false) { - -// pid_init(&distance_controller, -// global_data_parameter_storage->pm.param_values[PARAM_PID_POS_P], -// global_data_parameter_storage->pm.param_values[PARAM_PID_POS_I], -// global_data_parameter_storage->pm.param_values[PARAM_PID_POS_D], -// global_data_parameter_storage->pm.param_values[PARAM_PID_POS_AWU], -// PID_MODE_DERIVATIV_CALC, 150);//150 - -// // pid_pos_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_LIM]; -// // pid_pos_z_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_Z_LIM]; - -// thrust_total = 0.0f; - -// /* Position initialization */ -// /* Wait for new position estimate */ -// do { -// read_ret = read_lock_position(&position_estimated); -// } while (read_ret != 0); - -// lat_next = position_estimated.lat; -// lon_next = position_estimated.lon; - -// /* attitude initialization */ -// global_data_lock(&global_data_attitude->access_conf); -// pitch_current = global_data_attitude->pitch; -// global_data_unlock(&global_data_attitude->access_conf); - -// initialized = true; -// } - -// /* load new parameters with 10Hz */ -// if (counter % 50 == 0) { -// if (global_data_trylock(&global_data_parameter_storage->access_conf) == 0) { -// /* check whether new parameters are available */ -// if (global_data_parameter_storage->counter > pm_counter) { -// pid_set_parameters(&distance_controller, -// global_data_parameter_storage->pm.param_values[PARAM_PID_POS_P], -// global_data_parameter_storage->pm.param_values[PARAM_PID_POS_I], -// global_data_parameter_storage->pm.param_values[PARAM_PID_POS_D], -// global_data_parameter_storage->pm.param_values[PARAM_PID_POS_AWU]); - -// // -// // pid_pos_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_LIM]; -// // pid_pos_z_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_Z_LIM]; - -// pm_counter = global_data_parameter_storage->counter; -// printf("Position controller changed pid parameters\n"); -// } -// } - -// global_data_unlock(&global_data_parameter_storage->access_conf); -// } - - -// /* Wait for new position estimate */ -// do { -// read_ret = read_lock_position(&position_estimated); -// } while (read_ret != 0); - -// /* Get next waypoint */ //TODO: add local copy - -// if (0 == global_data_trylock(&global_data_position_setpoint->access_conf)) { -// lat_next = global_data_position_setpoint->x; -// lon_next = global_data_position_setpoint->y; -// global_data_unlock(&global_data_position_setpoint->access_conf); -// } - -// /* Get distance to waypoint */ -// float distance_to_waypoint = get_distance_to_next_waypoint(position_estimated.lat , position_estimated.lon, lat_next, lon_next); -// // if(counter % 5 == 0) -// // printf("distance_to_waypoint: %.4f\n", distance_to_waypoint); - -// /* Get bearing to waypoint (direction on earth surface to next waypoint) */ -// float bearing = get_bearing_to_next_waypoint(position_estimated.lat, position_estimated.lon, lat_next, lon_next); - -// if (counter % 5 == 0) -// printf("bearing: %.4f\n", bearing); - -// /* Calculate speed in direction of bearing (needed for controller) */ -// float speed_norm = sqrtf(position_estimated.vx * position_estimated.vx + position_estimated.vy * position_estimated.vy); -// // if(counter % 5 == 0) -// // printf("speed_norm: %.4f\n", speed_norm); -// float speed_to_waypoint = 0; //(position_estimated.vx * cosf(bearing) + position_estimated.vy * sinf(bearing))/speed_norm; //FIXME, TODO: re-enable this once we have a full estimate of the speed, then we can do a PID for the distance controller - -// /* Control Thrust in bearing direction */ -// float horizontal_thrust = -pid_calculate(&distance_controller, 0, distance_to_waypoint, speed_to_waypoint, -// CONTROL_PID_POSITION_INTERVAL); //TODO: maybe this "-" sign is an error somewhere else - -// // if(counter % 5 == 0) -// // printf("horizontal thrust: %.4f\n", horizontal_thrust); - -// /* Get total thrust (from remote for now) */ -// if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) { -// thrust_total = (float)global_data_rc_channels->chan[THROTTLE].scale; //TODO: how should we use the RC_CHANNELS_FUNCTION enum? -// global_data_unlock(&global_data_rc_channels->access_conf); -// } - -// const float max_gas = 500.0f; -// thrust_total *= max_gas / 20000.0f; //TODO: check this -// thrust_total += max_gas / 2.0f; - - -// if (horizontal_thrust > thrust_total) { -// horizontal_thrust = thrust_total; - -// } else if (horizontal_thrust < -thrust_total) { -// horizontal_thrust = -thrust_total; -// } - - - -// //TODO: maybe we want to add a speed controller later... - -// /* Calclulate thrust in east and north direction */ -// float thrust_north = cosf(bearing) * horizontal_thrust; -// float thrust_east = sinf(bearing) * horizontal_thrust; - -// if (counter % 10 == 0) { -// printf("thrust north: %.4f\n", thrust_north); -// printf("thrust east: %.4f\n", thrust_east); -// fflush(stdout); -// } - -// /* Get current attitude */ -// if (0 == global_data_trylock(&global_data_attitude->access_conf)) { -// pitch_current = global_data_attitude->pitch; -// global_data_unlock(&global_data_attitude->access_conf); -// } - -// /* Get desired pitch & roll */ -// float pitch_desired = 0.0f; -// float roll_desired = 0.0f; - -// if (thrust_total != 0) { -// float pitch_fraction = -thrust_north / thrust_total; -// float roll_fraction = thrust_east / (cosf(pitch_current) * thrust_total); - -// if (roll_fraction < -1) { -// roll_fraction = -1; - -// } else if (roll_fraction > 1) { -// roll_fraction = 1; -// } - -// // if(counter % 5 == 0) -// // { -// // printf("pitch_fraction: %.4f, roll_fraction: %.4f\n",pitch_fraction, roll_fraction); -// // fflush(stdout); -// // } - -// pitch_desired = asinf(pitch_fraction); -// roll_desired = asinf(roll_fraction); -// } - -// att_sp.roll = roll_desired; -// att_sp.pitch = pitch_desired; - -// counter++; -// } diff --git a/apps/multirotor_pos_control/position_control.h b/apps/multirotor_pos_control/position_control.h deleted file mode 100644 index 2144ebc34..000000000 --- a/apps/multirotor_pos_control/position_control.h +++ /dev/null @@ -1,50 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. - * Author: @author Lorenz Meier - * @author Laurens Mackay - * @author Tobias Naegeli - * @author Martin Rutschmann - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file multirotor_position_control.h - * Definition of the position control for a multirotor VTOL - */ - -// #ifndef POSITION_CONTROL_H_ -// #define POSITION_CONTROL_H_ - -// void control_multirotor_position(const struct vehicle_state_s *vstatus, const struct vehicle_manual_control_s *manual, -// const struct vehicle_attitude_s *att, const struct vehicle_local_position_s *local_pos, -// const struct vehicle_local_position_setpoint_s *local_pos_sp, struct vehicle_attitude_setpoint_s *att_sp); - -// #endif /* POSITION_CONTROL_H_ */ diff --git a/apps/position_estimator/.context b/apps/position_estimator/.context deleted file mode 100644 index e69de29bb..000000000 diff --git a/apps/position_estimator/Makefile b/apps/position_estimator/Makefile deleted file mode 100644 index cc5072152..000000000 --- a/apps/position_estimator/Makefile +++ /dev/null @@ -1,44 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Makefile to build the position estimator -# - -APPNAME = position_estimator -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 4096 - -CSRCS = position_estimator_main.c - -include $(APPDIR)/mk/app.mk diff --git a/apps/position_estimator/position_estimator_main.c b/apps/position_estimator/position_estimator_main.c deleted file mode 100644 index e84945299..000000000 --- a/apps/position_estimator/position_estimator_main.c +++ /dev/null @@ -1,423 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. - * Author: Tobias Naegeli - * Thomas Gubler - * Julian Oes - * Lorenz Meier - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file position_estimator_main.c - * Model-identification based position estimator for multirotors - */ - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#define N_STATES 6 -#define ERROR_COVARIANCE_INIT 3 -#define R_EARTH 6371000.0 - -#define PROJECTION_INITIALIZE_COUNTER_LIMIT 5000 -#define REPROJECTION_COUNTER_LIMIT 125 - -__EXPORT int position_estimator_main(int argc, char *argv[]); - -static uint16_t position_estimator_counter_position_information; - -/* values for map projection */ -static double phi_1; -static double sin_phi_1; -static double cos_phi_1; -static double lambda_0; -static double scale; - -/** - * Initializes the map transformation. - * - * Initializes the transformation between the geographic coordinate system and the azimuthal equidistant plane - * @param lat in degrees (47.1234567°, not 471234567°) - * @param lon in degrees (8.1234567°, not 81234567°) - */ -static void map_projection_init(double lat_0, double lon_0) //lat_0, lon_0 are expected to be in correct format: -> 47.1234567 and not 471234567 -{ - /* notation and formulas according to: http://mathworld.wolfram.com/AzimuthalEquidistantProjection.html */ - phi_1 = lat_0 / 180.0 * M_PI; - lambda_0 = lon_0 / 180.0 * M_PI; - - sin_phi_1 = sin(phi_1); - cos_phi_1 = cos(phi_1); - - /* calculate local scale by using the relation of true distance and the distance on plane */ //TODO: this is a quick solution, there are probably easier ways to determine the scale - - /* 1) calculate true distance d on sphere to a point: http://www.movable-type.co.uk/scripts/latlong.html */ - const double r_earth = 6371000; - - double lat1 = phi_1; - double lon1 = lambda_0; - - double lat2 = phi_1 + 0.5 / 180 * M_PI; - double lon2 = lambda_0 + 0.5 / 180 * M_PI; - double sin_lat_2 = sin(lat2); - double cos_lat_2 = cos(lat2); - double d = acos(sin(lat1) * sin_lat_2 + cos(lat1) * cos_lat_2 * cos(lon2 - lon1)) * r_earth; - - /* 2) calculate distance rho on plane */ - double k_bar = 0; - double c = acos(sin_phi_1 * sin_lat_2 + cos_phi_1 * cos_lat_2 * cos(lon2 - lambda_0)); - - if (0 != c) - k_bar = c / sin(c); - - double x2 = k_bar * (cos_lat_2 * sin(lon2 - lambda_0)); //Projection of point 2 on plane - double y2 = k_bar * ((cos_phi_1 * sin_lat_2 - sin_phi_1 * cos_lat_2 * cos(lon2 - lambda_0))); - double rho = sqrt(pow(x2, 2) + pow(y2, 2)); - - scale = d / rho; - -} - -/** - * Transforms a point in the geographic coordinate system to the local azimuthal equidistant plane - * @param x north - * @param y east - * @param lat in degrees (47.1234567°, not 471234567°) - * @param lon in degrees (8.1234567°, not 81234567°) - */ -static void map_projection_project(double lat, double lon, float *x, float *y) -{ - /* notation and formulas accoring to: http://mathworld.wolfram.com/AzimuthalEquidistantProjection.html */ - double phi = lat / 180.0 * M_PI; - double lambda = lon / 180.0 * M_PI; - - double sin_phi = sin(phi); - double cos_phi = cos(phi); - - double k_bar = 0; - /* using small angle approximation (formula in comment is without aproximation) */ - double c = acos(sin_phi_1 * sin_phi + cos_phi_1 * cos_phi * (1 - pow((lambda - lambda_0), 2) / 2)); //double c = acos( sin_phi_1 * sin_phi + cos_phi_1 * cos_phi * cos(lambda - lambda_0) ); - - if (0 != c) - k_bar = c / sin(c); - - /* using small angle approximation (formula in comment is without aproximation) */ - *y = k_bar * (cos_phi * (lambda - lambda_0)) * scale;//*y = k_bar * (cos_phi * sin(lambda - lambda_0)) * scale; - *x = k_bar * ((cos_phi_1 * sin_phi - sin_phi_1 * cos_phi * (1 - pow((lambda - lambda_0), 2) / 2))) * scale; // *x = k_bar * ((cos_phi_1 * sin_phi - sin_phi_1 * cos_phi * cos(lambda - lambda_0))) * scale; - -// printf("%phi_1=%.10f, lambda_0 =%.10f\n", phi_1, lambda_0); -} - -/** - * Transforms a point in the local azimuthal equidistant plane to the geographic coordinate system - * - * @param x north - * @param y east - * @param lat in degrees (47.1234567°, not 471234567°) - * @param lon in degrees (8.1234567°, not 81234567°) - */ -static void map_projection_reproject(float x, float y, double *lat, double *lon) -{ - /* notation and formulas accoring to: http://mathworld.wolfram.com/AzimuthalEquidistantProjection.html */ - - double x_descaled = x / scale; - double y_descaled = y / scale; - - double c = sqrt(pow(x_descaled, 2) + pow(y_descaled, 2)); - double sin_c = sin(c); - double cos_c = cos(c); - - double lat_sphere = 0; - - if (c != 0) - lat_sphere = asin(cos_c * sin_phi_1 + (x_descaled * sin_c * cos_phi_1) / c); - else - lat_sphere = asin(cos_c * sin_phi_1); - -// printf("lat_sphere = %.10f\n",lat_sphere); - - double lon_sphere = 0; - - if (phi_1 == M_PI / 2) { - //using small angle approximation (formula in comment is without aproximation) - lon_sphere = (lambda_0 - y_descaled / x_descaled); //lon_sphere = (lambda_0 + atan2(-y_descaled, x_descaled)); - - } else if (phi_1 == -M_PI / 2) { - //using small angle approximation (formula in comment is without aproximation) - lon_sphere = (lambda_0 + y_descaled / x_descaled); //lon_sphere = (lambda_0 + atan2(y_descaled, x_descaled)); - - } else { - - lon_sphere = (lambda_0 + atan2(y_descaled * sin_c , c * cos_phi_1 * cos_c - x_descaled * sin_phi_1 * sin_c)); - //using small angle approximation -// double denominator = (c * cos_phi_1 * cos_c - x_descaled * sin_phi_1 * sin_c); -// if(denominator != 0) -// { -// lon_sphere = (lambda_0 + (y_descaled * sin_c) / denominator); -// } -// else -// { -// ... -// } - } - -// printf("lon_sphere = %.10f\n",lon_sphere); - - *lat = lat_sphere * 180.0 / M_PI; - *lon = lon_sphere * 180.0 / M_PI; - -} - -/**************************************************************************** - * main - ****************************************************************************/ - -int position_estimator_main(int argc, char *argv[]) -{ - - /* welcome user */ - printf("[multirotor position_estimator] started\n"); - - /* initialize values */ - static float u[2] = {0, 0}; - static float z[3] = {0, 0, 0}; - static float xapo[N_STATES] = {0, 0, 0, 0, 0, 0}; - static float Papo[N_STATES * N_STATES] = {ERROR_COVARIANCE_INIT, 0, 0, 0, 0, 0, - ERROR_COVARIANCE_INIT, 0, 0, 0, 0, 0, - ERROR_COVARIANCE_INIT, 0, 0, 0, 0, 0, - ERROR_COVARIANCE_INIT, 0, 0, 0, 0, 0, - ERROR_COVARIANCE_INIT, 0, 0, 0, 0, 0, - ERROR_COVARIANCE_INIT, 0, 0, 0, 0, 0 - }; - - static float xapo1[N_STATES]; - static float Papo1[36]; - - static float gps_covariance[3] = {0.0f, 0.0f, 0.0f}; - - static uint16_t counter = 0; - position_estimator_counter_position_information = 0; - - uint8_t predict_only = 1; - - bool gps_valid = false; - - bool new_initialization = true; - - static double lat_current = 0.0d;//[°]] --> 47.0 - static double lon_current = 0.0d; //[°]] -->8.5 - float alt_current = 0.0f; - - - //TODO: handle flight without gps but with estimator - - /* subscribe to vehicle status, attitude, gps */ - struct vehicle_gps_position_s gps; - gps.fix_type = 0; - struct vehicle_status_s vstatus; - struct vehicle_attitude_s att; - - int vehicle_gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position)); - int vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status)); - - /* subscribe to attitude at 100 Hz */ - int vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude)); - - /* wait until gps signal turns valid, only then can we initialize the projection */ - while (gps.fix_type < 3) { - struct pollfd fds[1] = { {.fd = vehicle_gps_sub, .events = POLLIN} }; - - /* wait for GPS updates, BUT READ VEHICLE STATUS (!) - * this choice is critical, since the vehicle status might not - * actually change, if this app is started after GPS lock was - * aquired. - */ - if (poll(fds, 1, 5000)) { - /* Wait for the GPS update to propagate (we have some time) */ - usleep(5000); - /* Read wether the vehicle status changed */ - orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_sub, &gps); - gps_valid = (gps.fix_type > 2); - } - } - - /* get gps value for first initialization */ - orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_sub, &gps); - lat_current = ((double)(gps.lat)) * 1e-7; - lon_current = ((double)(gps.lon)) * 1e-7; - alt_current = gps.alt * 1e-3; - - /* initialize coordinates */ - map_projection_init(lat_current, lon_current); - - /* publish global position messages only after first GPS message */ - struct vehicle_local_position_s local_pos = { - .x = 0, - .y = 0, - .z = 0 - }; - orb_advert_t local_pos_pub = orb_advertise(ORB_ID(vehicle_local_position), &local_pos); - - printf("[multirotor position estimator] initialized projection with: lat: %.10f, lon:%.10f\n", lat_current, lon_current); - - while (1) { - - /*This runs at the rate of the sensors, if we have also a new gps update this is used in the position_estimator function */ - struct pollfd fds[1] = { {.fd = vehicle_attitude_sub, .events = POLLIN} }; - - if (poll(fds, 1, 5000) <= 0) { - /* error / timeout */ - } else { - - orb_copy(ORB_ID(vehicle_attitude), vehicle_attitude_sub, &att); - /* got attitude, updating pos as well */ - orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_sub, &gps); - orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &vstatus); - - /*copy attitude */ - u[0] = att.roll; - u[1] = att.pitch; - - /* initialize map projection with the last estimate (not at full rate) */ - if (gps.fix_type > 2) { - /* Project gps lat lon (Geographic coordinate system) to plane*/ - map_projection_project(((double)(gps.lat)) * 1e-7, ((double)(gps.lon)) * 1e-7, &(z[0]), &(z[1])); - - local_pos.x = z[0]; - local_pos.y = z[1]; - /* negative offset from initialization altitude */ - local_pos.z = alt_current - (gps.alt) * 1e-3; - - - orb_publish(ORB_ID(vehicle_local_position), local_pos_pub, &local_pos); - } - - - // gps_covariance[0] = gps.eph; //TODO: needs scaling - // gps_covariance[1] = gps.eph; - // gps_covariance[2] = gps.epv; - - // } else { - // /* we can not use the gps signal (it is of low quality) */ - // predict_only = 1; - // } - - // // predict_only = 0; //TODO: only for testing, removeme, XXX - // // z[0] = sinf(((float)counter)/180.0f*3.14159265f); //TODO: only for testing, removeme, XXX - // // usleep(100000); //TODO: only for testing, removeme, XXX - - - // /*Get new estimation (this is calculated in the plane) */ - // //TODO: if new_initialization == true: use 0,0,0, else use xapo - // if (true == new_initialization) { //TODO,XXX: uncomment! - // xapo[0] = 0; //we have a new plane initialization. the current estimate is in the center of the plane - // xapo[2] = 0; - // xapo[4] = 0; - // position_estimator(u, z, xapo, Papo, gps_covariance, predict_only, xapo1, Papo1); - - // } else { - // position_estimator(u, z, xapo, Papo, gps_covariance, predict_only, xapo1, Papo1); - // } - - - - // /* Copy values from xapo1 to xapo */ - // int i; - - // for (i = 0; i < N_STATES; i++) { - // xapo[i] = xapo1[i]; - // } - - // if ((counter % REPROJECTION_COUNTER_LIMIT == 0) || (counter % (PROJECTION_INITIALIZE_COUNTER_LIMIT - 1) == 0)) { - // /* Reproject from plane to geographic coordinate system */ - // // map_projection_reproject(xapo1[0], xapo1[2], map_scale, phi_1, lambda_0, &lat_current, &lon_current) //TODO,XXX: uncomment! - // map_projection_reproject(z[0], z[1], &lat_current, &lon_current); //do not use estimator for projection testing, removeme - // // //DEBUG - // // if(counter%500 == 0) - // // { - // // printf("phi_1: %.10f\n", phi_1); - // // printf("lambda_0: %.10f\n", lambda_0); - // // printf("lat_estimated: %.10f\n", lat_current); - // // printf("lon_estimated: %.10f\n", lon_current); - // // printf("z[0]=%.10f, z[1]=%.10f, z[2]=%f\n", z[0], z[1], z[2]); - // // fflush(stdout); - // // - // // } - - // // if(!isnan(lat_current) && !isnan(lon_current))// && !isnan(xapo1[4]) && !isnan(xapo1[1]) && !isnan(xapo1[3]) && !isnan(xapo1[5])) - // // { - // /* send out */ - - // global_pos.lat = lat_current; - // global_pos.lon = lon_current; - // global_pos.alt = xapo1[4]; - // global_pos.vx = xapo1[1]; - // global_pos.vy = xapo1[3]; - // global_pos.vz = xapo1[5]; - - /* publish current estimate */ - // orb_publish(ORB_ID(vehicle_global_position), global_pos_pub, &global_pos); - // } - // else - // { - // printf("[position estimator] ERROR: nan values, lat_current=%.4f, lon_current=%.4f, z[0]=%.4f z[1]=%.4f\n", lat_current, lon_current, z[0], z[1]); - // fflush(stdout); - // } - - // } - - counter++; - } - - } - - return 0; -} - - diff --git a/makefiles/config_px4fmu_default.mk b/makefiles/config_px4fmu_default.mk index 6fd7da461..fea9a814d 100644 --- a/makefiles/config_px4fmu_default.mk +++ b/makefiles/config_px4fmu_default.mk @@ -54,6 +54,7 @@ MODULES += modules/mavlink_onboard # MODULES += modules/attitude_estimator_ekf MODULES += modules/position_estimator_mc +MODULES += modules/position_estimator MODULES += modules/att_pos_estimator_ekf # @@ -62,6 +63,8 @@ MODULES += modules/att_pos_estimator_ekf MODULES += modules/fixedwing_backside MODULES += modules/fixedwing_att_control MODULES += modules/fixedwing_pos_control +MODULES += modules/multirotor_att_control +MODULES += modules/multirotor_pos_control # # Logging @@ -83,12 +86,7 @@ endef # command priority stack entrypoint BUILTIN_COMMANDS := \ $(call _B, adc, , 2048, adc_main ) \ - $(call _B, control_demo, , 2048, control_demo_main ) \ - $(call _B, fixedwing_att_control, SCHED_PRIORITY_MAX-30, 2048, fixedwing_att_control_main ) \ - $(call _B, fixedwing_pos_control, SCHED_PRIORITY_MAX-30, 2048, fixedwing_pos_control_main ) \ $(call _B, math_demo, , 8192, math_demo_main ) \ - $(call _B, multirotor_att_control, SCHED_PRIORITY_MAX-15, 2048, multirotor_att_control_main) \ - $(call _B, multirotor_pos_control, SCHED_PRIORITY_MAX-25, 2048, multirotor_pos_control_main) \ $(call _B, sercon, , 2048, sercon_main ) \ $(call _B, serdis, , 2048, serdis_main ) \ $(call _B, tone_alarm, , 2048, tone_alarm_main ) \ diff --git a/src/modules/multirotor_att_control/module.mk b/src/modules/multirotor_att_control/module.mk new file mode 100755 index 000000000..2fd52c162 --- /dev/null +++ b/src/modules/multirotor_att_control/module.mk @@ -0,0 +1,42 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# Makefile to build the multirotor attitude controller +# + +MODULE_COMMAND = multirotor_att_control + +SRCS = multirotor_att_control_main.c \ + multirotor_attitude_control.c \ + multirotor_rate_control.c diff --git a/src/modules/multirotor_att_control/multirotor_att_control_main.c b/src/modules/multirotor_att_control/multirotor_att_control_main.c new file mode 100644 index 000000000..d94c0a69c --- /dev/null +++ b/src/modules/multirotor_att_control/multirotor_att_control_main.c @@ -0,0 +1,485 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file multirotor_att_control_main.c + * + * Implementation of multirotor attitude control main loop. + * + * @author Lorenz Meier + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#include "multirotor_attitude_control.h" +#include "multirotor_rate_control.h" + +PARAM_DEFINE_FLOAT(MC_RCLOSS_THR, 0.0f); // This defines the throttle when the RC signal is lost. + +__EXPORT int multirotor_att_control_main(int argc, char *argv[]); + +static bool thread_should_exit; +static int mc_task; +static bool motor_test_mode = false; + +static orb_advert_t actuator_pub; + +static struct vehicle_status_s state; + +static int +mc_thread_main(int argc, char *argv[]) +{ + /* declare and safely initialize all structs */ + memset(&state, 0, sizeof(state)); + struct vehicle_attitude_s att; + memset(&att, 0, sizeof(att)); + struct vehicle_attitude_setpoint_s att_sp; + memset(&att_sp, 0, sizeof(att_sp)); + struct manual_control_setpoint_s manual; + memset(&manual, 0, sizeof(manual)); + struct sensor_combined_s raw; + memset(&raw, 0, sizeof(raw)); + struct offboard_control_setpoint_s offboard_sp; + memset(&offboard_sp, 0, sizeof(offboard_sp)); + struct vehicle_rates_setpoint_s rates_sp; + memset(&rates_sp, 0, sizeof(rates_sp)); + + struct actuator_controls_s actuators; + memset(&actuators, 0, sizeof(actuators)); + + /* subscribe to attitude, motor setpoints and system state */ + int att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); + int param_sub = orb_subscribe(ORB_ID(parameter_update)); + int att_setpoint_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); + int setpoint_sub = orb_subscribe(ORB_ID(offboard_control_setpoint)); + int state_sub = orb_subscribe(ORB_ID(vehicle_status)); + int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); + int sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); + + /* + * Do not rate-limit the loop to prevent aliasing + * if rate-limiting would be desired later, the line below would + * enable it. + * + * rate-limit the attitude subscription to 200Hz to pace our loop + * orb_set_interval(att_sub, 5); + */ + struct pollfd fds[2] = { + { .fd = att_sub, .events = POLLIN }, + { .fd = param_sub, .events = POLLIN } + }; + + /* publish actuator controls */ + for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) { + actuators.control[i] = 0.0f; + } + + actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators); + orb_advert_t att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp); + orb_advert_t rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp); + int rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint)); + + /* register the perf counter */ + perf_counter_t mc_loop_perf = perf_alloc(PC_ELAPSED, "multirotor_att_control_runtime"); + perf_counter_t mc_interval_perf = perf_alloc(PC_INTERVAL, "multirotor_att_control_interval"); + perf_counter_t mc_err_perf = perf_alloc(PC_COUNT, "multirotor_att_control_err"); + + /* welcome user */ + printf("[multirotor_att_control] starting\n"); + + /* store last control mode to detect mode switches */ + bool flag_control_manual_enabled = false; + bool flag_control_attitude_enabled = false; + bool flag_system_armed = false; + + /* store if yaw position or yaw speed has been changed */ + bool control_yaw_position = true; + + /* store if we stopped a yaw movement */ + bool first_time_after_yaw_speed_control = true; + + /* prepare the handle for the failsafe throttle */ + param_t failsafe_throttle_handle = param_find("MC_RCLOSS_THR"); + float failsafe_throttle = 0.0f; + + + while (!thread_should_exit) { + + /* wait for a sensor update, check for exit condition every 500 ms */ + int ret = poll(fds, 2, 500); + + if (ret < 0) { + /* poll error, count it in perf */ + perf_count(mc_err_perf); + + } else if (ret == 0) { + /* no return value, ignore */ + } else { + + /* only update parameters if they changed */ + if (fds[1].revents & POLLIN) { + /* read from param to clear updated flag */ + struct parameter_update_s update; + orb_copy(ORB_ID(parameter_update), param_sub, &update); + + /* update parameters */ + // XXX no params here yet + } + + /* only run controller if attitude changed */ + if (fds[0].revents & POLLIN) { + + perf_begin(mc_loop_perf); + + /* get a local copy of system state */ + bool updated; + orb_check(state_sub, &updated); + + if (updated) { + orb_copy(ORB_ID(vehicle_status), state_sub, &state); + } + + /* get a local copy of manual setpoint */ + orb_copy(ORB_ID(manual_control_setpoint), manual_sub, &manual); + /* get a local copy of attitude */ + orb_copy(ORB_ID(vehicle_attitude), att_sub, &att); + /* get a local copy of attitude setpoint */ + orb_copy(ORB_ID(vehicle_attitude_setpoint), att_setpoint_sub, &att_sp); + /* get a local copy of rates setpoint */ + orb_check(setpoint_sub, &updated); + + if (updated) { + orb_copy(ORB_ID(offboard_control_setpoint), setpoint_sub, &offboard_sp); + } + + /* get a local copy of the current sensor values */ + orb_copy(ORB_ID(sensor_combined), sensor_sub, &raw); + + + /** STEP 1: Define which input is the dominating control input */ + if (state.flag_control_offboard_enabled) { + /* offboard inputs */ + if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_RATES) { + rates_sp.roll = offboard_sp.p1; + rates_sp.pitch = offboard_sp.p2; + rates_sp.yaw = offboard_sp.p3; + rates_sp.thrust = offboard_sp.p4; +// printf("thrust_rate=%8.4f\n",offboard_sp.p4); + rates_sp.timestamp = hrt_absolute_time(); + orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp); + + } else if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE) { + att_sp.roll_body = offboard_sp.p1; + att_sp.pitch_body = offboard_sp.p2; + att_sp.yaw_body = offboard_sp.p3; + att_sp.thrust = offboard_sp.p4; +// printf("thrust_att=%8.4f\n",offboard_sp.p4); + att_sp.timestamp = hrt_absolute_time(); + /* STEP 2: publish the result to the vehicle actuators */ + orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp); + } + + + } else if (state.flag_control_manual_enabled) { + + if (state.flag_control_attitude_enabled) { + + /* initialize to current yaw if switching to manual or att control */ + if (state.flag_control_attitude_enabled != flag_control_attitude_enabled || + state.flag_control_manual_enabled != flag_control_manual_enabled || + state.flag_system_armed != flag_system_armed) { + att_sp.yaw_body = att.yaw; + } + + static bool rc_loss_first_time = true; + + /* if the RC signal is lost, try to stay level and go slowly back down to ground */ + if (state.rc_signal_lost) { + /* the failsafe throttle is stored as a parameter, as it depends on the copter and the payload */ + param_get(failsafe_throttle_handle, &failsafe_throttle); + att_sp.roll_body = 0.0f; + att_sp.pitch_body = 0.0f; + + /* + * Only go to failsafe throttle if last known throttle was + * high enough to create some lift to make hovering state likely. + * + * This is to prevent that someone landing, but not disarming his + * multicopter (throttle = 0) does not make it jump up in the air + * if shutting down his remote. + */ + if (isfinite(manual.throttle) && manual.throttle > 0.2f) { + att_sp.thrust = failsafe_throttle; + + } else { + att_sp.thrust = 0.0f; + } + + /* keep current yaw, do not attempt to go to north orientation, + * since if the pilot regains RC control, he will be lost regarding + * the current orientation. + */ + if (rc_loss_first_time) + att_sp.yaw_body = att.yaw; + + rc_loss_first_time = false; + + } else { + rc_loss_first_time = true; + + att_sp.roll_body = manual.roll; + att_sp.pitch_body = manual.pitch; + + /* set attitude if arming */ + if (!flag_control_attitude_enabled && state.flag_system_armed) { + att_sp.yaw_body = att.yaw; + } + + /* act if stabilization is active or if the (nonsense) direct pass through mode is set */ + if (state.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS || + state.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_DIRECT) { + + if (state.manual_sas_mode == VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_RATE) { + rates_sp.yaw = manual.yaw; + control_yaw_position = false; + + } else { + /* + * This mode SHOULD be the default mode, which is: + * VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS + * + * However, we fall back to this setting for all other (nonsense) + * settings as well. + */ + + /* only move setpoint if manual input is != 0 */ + if ((manual.yaw < -0.01f || 0.01f < manual.yaw) && manual.throttle > 0.3f) { + rates_sp.yaw = manual.yaw; + control_yaw_position = false; + first_time_after_yaw_speed_control = true; + + } else { + if (first_time_after_yaw_speed_control) { + att_sp.yaw_body = att.yaw; + first_time_after_yaw_speed_control = false; + } + + control_yaw_position = true; + } + } + } + + att_sp.thrust = manual.throttle; + att_sp.timestamp = hrt_absolute_time(); + } + + /* STEP 2: publish the controller output */ + orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp); + + if (motor_test_mode) { + printf("testmode"); + att_sp.roll_body = 0.0f; + att_sp.pitch_body = 0.0f; + att_sp.yaw_body = 0.0f; + att_sp.thrust = 0.1f; + att_sp.timestamp = hrt_absolute_time(); + /* STEP 2: publish the result to the vehicle actuators */ + orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp); + } + + } else { + /* manual rate inputs, from RC control or joystick */ + if (state.flag_control_rates_enabled && + state.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_RATES) { + rates_sp.roll = manual.roll; + + rates_sp.pitch = manual.pitch; + rates_sp.yaw = manual.yaw; + rates_sp.thrust = manual.throttle; + rates_sp.timestamp = hrt_absolute_time(); + } + } + + } + + /** STEP 3: Identify the controller setup to run and set up the inputs correctly */ + if (state.flag_control_attitude_enabled) { + multirotor_control_attitude(&att_sp, &att, &rates_sp, control_yaw_position); + + orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp); + } + + /* measure in what intervals the controller runs */ + perf_count(mc_interval_perf); + + float gyro[3]; + + /* get current rate setpoint */ + bool rates_sp_valid = false; + orb_check(rates_sp_sub, &rates_sp_valid); + + if (rates_sp_valid) { + orb_copy(ORB_ID(vehicle_rates_setpoint), rates_sp_sub, &rates_sp); + } + + /* apply controller */ + gyro[0] = att.rollspeed; + gyro[1] = att.pitchspeed; + gyro[2] = att.yawspeed; + + multirotor_control_rates(&rates_sp, gyro, &actuators); + orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators); + + /* update state */ + flag_control_attitude_enabled = state.flag_control_attitude_enabled; + flag_control_manual_enabled = state.flag_control_manual_enabled; + flag_system_armed = state.flag_system_armed; + + perf_end(mc_loop_perf); + } /* end of poll call for attitude updates */ + } /* end of poll return value check */ + } + + printf("[multirotor att control] stopping, disarming motors.\n"); + + /* kill all outputs */ + for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) + actuators.control[i] = 0.0f; + + orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators); + + + close(att_sub); + close(state_sub); + close(manual_sub); + close(actuator_pub); + close(att_sp_pub); + + perf_print_counter(mc_loop_perf); + perf_free(mc_loop_perf); + + fflush(stdout); + exit(0); +} + +static void +usage(const char *reason) +{ + if (reason) + fprintf(stderr, "%s\n", reason); + + fprintf(stderr, "usage: multirotor_att_control [-m ] [-t] {start|status|stop}\n"); + fprintf(stderr, " is 'rates' or 'attitude'\n"); + fprintf(stderr, " -t enables motor test mode with 10%% thrust\n"); + exit(1); +} + +int multirotor_att_control_main(int argc, char *argv[]) +{ + int ch; + unsigned int optioncount = 0; + + while ((ch = getopt(argc, argv, "tm:")) != EOF) { + switch (ch) { + case 't': + motor_test_mode = true; + optioncount += 1; + break; + + case ':': + usage("missing parameter"); + break; + + default: + fprintf(stderr, "option: -%c\n", ch); + usage("unrecognized option"); + break; + } + } + + argc -= optioncount; + //argv += optioncount; + + if (argc < 1) + usage("missing command"); + + if (!strcmp(argv[1 + optioncount], "start")) { + + thread_should_exit = false; + mc_task = task_spawn("multirotor_att_control", + SCHED_DEFAULT, + SCHED_PRIORITY_MAX - 15, + 2048, + mc_thread_main, + NULL); + exit(0); + } + + if (!strcmp(argv[1 + optioncount], "stop")) { + thread_should_exit = true; + exit(0); + } + + usage("unrecognized command"); + exit(1); +} diff --git a/src/modules/multirotor_att_control/multirotor_attitude_control.c b/src/modules/multirotor_att_control/multirotor_attitude_control.c new file mode 100644 index 000000000..76dbb36d3 --- /dev/null +++ b/src/modules/multirotor_att_control/multirotor_attitude_control.c @@ -0,0 +1,249 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. + * Author: @author Thomas Gubler + * @author Julian Oes + * @author Laurens Mackay + * @author Tobias Naegeli + * @author Martin Rutschmann + * @author Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* + * @file multirotor_attitude_control.c + * Implementation of attitude controller + */ + +#include "multirotor_attitude_control.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +PARAM_DEFINE_FLOAT(MC_YAWPOS_P, 0.3f); +PARAM_DEFINE_FLOAT(MC_YAWPOS_I, 0.15f); +PARAM_DEFINE_FLOAT(MC_YAWPOS_D, 0.0f); +//PARAM_DEFINE_FLOAT(MC_YAWPOS_AWU, 1.0f); +//PARAM_DEFINE_FLOAT(MC_YAWPOS_LIM, 3.0f); + +PARAM_DEFINE_FLOAT(MC_ATT_P, 0.2f); +PARAM_DEFINE_FLOAT(MC_ATT_I, 0.0f); +PARAM_DEFINE_FLOAT(MC_ATT_D, 0.05f); +//PARAM_DEFINE_FLOAT(MC_ATT_AWU, 0.05f); +//PARAM_DEFINE_FLOAT(MC_ATT_LIM, 0.4f); + +//PARAM_DEFINE_FLOAT(MC_ATT_XOFF, 0.0f); +//PARAM_DEFINE_FLOAT(MC_ATT_YOFF, 0.0f); + +struct mc_att_control_params { + float yaw_p; + float yaw_i; + float yaw_d; + //float yaw_awu; + //float yaw_lim; + + float att_p; + float att_i; + float att_d; + //float att_awu; + //float att_lim; + + //float att_xoff; + //float att_yoff; +}; + +struct mc_att_control_param_handles { + param_t yaw_p; + param_t yaw_i; + param_t yaw_d; + //param_t yaw_awu; + //param_t yaw_lim; + + param_t att_p; + param_t att_i; + param_t att_d; + //param_t att_awu; + //param_t att_lim; + + //param_t att_xoff; + //param_t att_yoff; +}; + +/** + * Initialize all parameter handles and values + * + */ +static int parameters_init(struct mc_att_control_param_handles *h); + +/** + * Update all parameters + * + */ +static int parameters_update(const struct mc_att_control_param_handles *h, struct mc_att_control_params *p); + + +static int parameters_init(struct mc_att_control_param_handles *h) +{ + /* PID parameters */ + h->yaw_p = param_find("MC_YAWPOS_P"); + h->yaw_i = param_find("MC_YAWPOS_I"); + h->yaw_d = param_find("MC_YAWPOS_D"); + //h->yaw_awu = param_find("MC_YAWPOS_AWU"); + //h->yaw_lim = param_find("MC_YAWPOS_LIM"); + + h->att_p = param_find("MC_ATT_P"); + h->att_i = param_find("MC_ATT_I"); + h->att_d = param_find("MC_ATT_D"); + //h->att_awu = param_find("MC_ATT_AWU"); + //h->att_lim = param_find("MC_ATT_LIM"); + + //h->att_xoff = param_find("MC_ATT_XOFF"); + //h->att_yoff = param_find("MC_ATT_YOFF"); + + return OK; +} + +static int parameters_update(const struct mc_att_control_param_handles *h, struct mc_att_control_params *p) +{ + param_get(h->yaw_p, &(p->yaw_p)); + param_get(h->yaw_i, &(p->yaw_i)); + param_get(h->yaw_d, &(p->yaw_d)); + //param_get(h->yaw_awu, &(p->yaw_awu)); + //param_get(h->yaw_lim, &(p->yaw_lim)); + + param_get(h->att_p, &(p->att_p)); + param_get(h->att_i, &(p->att_i)); + param_get(h->att_d, &(p->att_d)); + //param_get(h->att_awu, &(p->att_awu)); + //param_get(h->att_lim, &(p->att_lim)); + + //param_get(h->att_xoff, &(p->att_xoff)); + //param_get(h->att_yoff, &(p->att_yoff)); + + return OK; +} + +void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, + const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, bool control_yaw_position) +{ + static uint64_t last_run = 0; + static uint64_t last_input = 0; + float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f; + float dT_input = (hrt_absolute_time() - last_input) / 1000000.0f; + last_run = hrt_absolute_time(); + + if (last_input != att_sp->timestamp) { + last_input = att_sp->timestamp; + } + + static int sensor_delay; + sensor_delay = hrt_absolute_time() - att->timestamp; + + static int motor_skip_counter = 0; + + static PID_t pitch_controller; + static PID_t roll_controller; + + static struct mc_att_control_params p; + static struct mc_att_control_param_handles h; + + static bool initialized = false; + + static float yaw_error; + + /* initialize the pid controllers when the function is called for the first time */ + if (initialized == false) { + parameters_init(&h); + parameters_update(&h, &p); + + pid_init(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f, + 1000.0f, PID_MODE_DERIVATIV_SET); + pid_init(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, + 1000.0f, PID_MODE_DERIVATIV_SET); + + initialized = true; + } + + /* load new parameters with lower rate */ + if (motor_skip_counter % 500 == 0) { + /* update parameters from storage */ + parameters_update(&h, &p); + + /* apply parameters */ + pid_set_parameters(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f); + pid_set_parameters(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f); + } + + /* reset integral if on ground */ + if (att_sp->thrust < 0.1f) { + pid_reset_integral(&pitch_controller); + pid_reset_integral(&roll_controller); + } + + + /* calculate current control outputs */ + + /* control pitch (forward) output */ + rates_sp->pitch = pid_calculate(&pitch_controller, att_sp->pitch_body , + att->pitch, att->pitchspeed, deltaT); + + /* control roll (left/right) output */ + rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body , + att->roll, att->rollspeed, deltaT); + + if (control_yaw_position) { + /* control yaw rate */ + + /* positive error: rotate to right, negative error, rotate to left (NED frame) */ + // yaw_error = _wrap_pi(att_sp->yaw_body - att->yaw); + + yaw_error = att_sp->yaw_body - att->yaw; + + if (yaw_error > M_PI_F) { + yaw_error -= M_TWOPI_F; + + } else if (yaw_error < -M_PI_F) { + yaw_error += M_TWOPI_F; + } + + rates_sp->yaw = p.yaw_p * (yaw_error) - (p.yaw_d * att->yawspeed); + } + + rates_sp->thrust = att_sp->thrust; + + motor_skip_counter++; +} diff --git a/src/modules/multirotor_att_control/multirotor_attitude_control.h b/src/modules/multirotor_att_control/multirotor_attitude_control.h new file mode 100644 index 000000000..2cf83e443 --- /dev/null +++ b/src/modules/multirotor_att_control/multirotor_attitude_control.h @@ -0,0 +1,57 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @author Thomas Gubler + * @author Julian Oes + * @author Laurens Mackay + * @author Tobias Naegeli + * @author Martin Rutschmann + * @author Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* + * @file multirotor_attitude_control.h + * Attitude control for multi rotors. + */ + +#ifndef MULTIROTOR_ATTITUDE_CONTROL_H_ +#define MULTIROTOR_ATTITUDE_CONTROL_H_ + +#include +#include +#include +#include +#include + +void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, + const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, bool control_yaw_position); + +#endif /* MULTIROTOR_ATTITUDE_CONTROL_H_ */ diff --git a/src/modules/multirotor_att_control/multirotor_rate_control.c b/src/modules/multirotor_att_control/multirotor_rate_control.c new file mode 100644 index 000000000..deba1ac03 --- /dev/null +++ b/src/modules/multirotor_att_control/multirotor_rate_control.c @@ -0,0 +1,230 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: Tobias Naegeli + * Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file multirotor_rate_control.c + * + * Implementation of rate controller + * + * @author Tobias Naegeli + * @author Lorenz Meier + */ + +#include "multirotor_rate_control.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.0f); /* same on Flamewheel */ +PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f); +PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f); +//PARAM_DEFINE_FLOAT(MC_YAWRATE_AWU, 0.0f); +//PARAM_DEFINE_FLOAT(MC_YAWRATE_LIM, 1.0f); + +PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 0.0f); /* 0.15 F405 Flamewheel */ +PARAM_DEFINE_FLOAT(MC_ATTRATE_D, 0.0f); +PARAM_DEFINE_FLOAT(MC_ATTRATE_I, 0.0f); +//PARAM_DEFINE_FLOAT(MC_ATTRATE_AWU, 0.05f); +//PARAM_DEFINE_FLOAT(MC_ATTRATE_LIM, 1.0f); /**< roughly < 500 deg/s limit */ + +struct mc_rate_control_params { + + float yawrate_p; + float yawrate_d; + float yawrate_i; + //float yawrate_awu; + //float yawrate_lim; + + float attrate_p; + float attrate_d; + float attrate_i; + //float attrate_awu; + //float attrate_lim; + + float rate_lim; +}; + +struct mc_rate_control_param_handles { + + param_t yawrate_p; + param_t yawrate_i; + param_t yawrate_d; + //param_t yawrate_awu; + //param_t yawrate_lim; + + param_t attrate_p; + param_t attrate_i; + param_t attrate_d; + //param_t attrate_awu; + //param_t attrate_lim; +}; + +/** + * Initialize all parameter handles and values + * + */ +static int parameters_init(struct mc_rate_control_param_handles *h); + +/** + * Update all parameters + * + */ +static int parameters_update(const struct mc_rate_control_param_handles *h, struct mc_rate_control_params *p); + + +static int parameters_init(struct mc_rate_control_param_handles *h) +{ + /* PID parameters */ + h->yawrate_p = param_find("MC_YAWRATE_P"); + h->yawrate_i = param_find("MC_YAWRATE_I"); + h->yawrate_d = param_find("MC_YAWRATE_D"); + //h->yawrate_awu = param_find("MC_YAWRATE_AWU"); + //h->yawrate_lim = param_find("MC_YAWRATE_LIM"); + + h->attrate_p = param_find("MC_ATTRATE_P"); + h->attrate_i = param_find("MC_ATTRATE_I"); + h->attrate_d = param_find("MC_ATTRATE_D"); + //h->attrate_awu = param_find("MC_ATTRATE_AWU"); + //h->attrate_lim = param_find("MC_ATTRATE_LIM"); + + return OK; +} + +static int parameters_update(const struct mc_rate_control_param_handles *h, struct mc_rate_control_params *p) +{ + param_get(h->yawrate_p, &(p->yawrate_p)); + param_get(h->yawrate_i, &(p->yawrate_i)); + param_get(h->yawrate_d, &(p->yawrate_d)); + //param_get(h->yawrate_awu, &(p->yawrate_awu)); + //param_get(h->yawrate_lim, &(p->yawrate_lim)); + + param_get(h->attrate_p, &(p->attrate_p)); + param_get(h->attrate_i, &(p->attrate_i)); + param_get(h->attrate_d, &(p->attrate_d)); + //param_get(h->attrate_awu, &(p->attrate_awu)); + //param_get(h->attrate_lim, &(p->attrate_lim)); + + return OK; +} + +void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, + const float rates[], struct actuator_controls_s *actuators) +{ + static float roll_control_last = 0; + static float pitch_control_last = 0; + static uint64_t last_run = 0; + const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f; + static uint64_t last_input = 0; + + float dT_input = (hrt_absolute_time() - last_input) / 1000000.0f; + + if (last_input != rate_sp->timestamp) { + last_input = rate_sp->timestamp; + } + + last_run = hrt_absolute_time(); + + static int motor_skip_counter = 0; + + static struct mc_rate_control_params p; + static struct mc_rate_control_param_handles h; + + static bool initialized = false; + + /* initialize the pid controllers when the function is called for the first time */ + if (initialized == false) { + parameters_init(&h); + parameters_update(&h, &p); + initialized = true; + } + + /* load new parameters with lower rate */ + if (motor_skip_counter % 2500 == 0) { + /* update parameters from storage */ + parameters_update(&h, &p); + // warnx("rate ctrl: p.yawrate_p: %8.4f, loop: %d Hz, input: %d Hz", + // (double)p.yawrate_p, (int)(1.0f/deltaT), (int)(1.0f/dT_input)); + } + + /* calculate current control outputs */ + + /* control pitch (forward) output */ + float pitch_control = p.attrate_p * (rate_sp->pitch - rates[1]) - (p.attrate_d * pitch_control_last); + + /* increase resilience to faulty control inputs */ + if (isfinite(pitch_control)) { + pitch_control_last = pitch_control; + + } else { + pitch_control = 0.0f; + warnx("rej. NaN ctrl pitch"); + } + + /* control roll (left/right) output */ + float roll_control = p.attrate_p * (rate_sp->roll - rates[0]) - (p.attrate_d * roll_control_last); + + /* increase resilience to faulty control inputs */ + if (isfinite(roll_control)) { + roll_control_last = roll_control; + + } else { + roll_control = 0.0f; + warnx("rej. NaN ctrl roll"); + } + + /* control yaw rate */ + float yaw_rate_control = p.yawrate_p * (rate_sp->yaw - rates[2]); + + /* increase resilience to faulty control inputs */ + if (!isfinite(yaw_rate_control)) { + yaw_rate_control = 0.0f; + warnx("rej. NaN ctrl yaw"); + } + + actuators->control[0] = roll_control; + actuators->control[1] = pitch_control; + actuators->control[2] = yaw_rate_control; + actuators->control[3] = rate_sp->thrust; + + motor_skip_counter++; +} diff --git a/src/modules/multirotor_att_control/multirotor_rate_control.h b/src/modules/multirotor_att_control/multirotor_rate_control.h new file mode 100644 index 000000000..03dec317a --- /dev/null +++ b/src/modules/multirotor_att_control/multirotor_rate_control.h @@ -0,0 +1,56 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @author Thomas Gubler + * @author Julian Oes + * @author Laurens Mackay + * @author Tobias Naegeli + * @author Martin Rutschmann + * @author Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* + * @file multirotor_attitude_control.h + * Attitude control for multi rotors. + */ + +#ifndef MULTIROTOR_RATE_CONTROL_H_ +#define MULTIROTOR_RATE_CONTROL_H_ + +#include +#include +#include +#include + +void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, + const float rates[], struct actuator_controls_s *actuators); + +#endif /* MULTIROTOR_RATE_CONTROL_H_ */ diff --git a/src/modules/multirotor_pos_control/module.mk b/src/modules/multirotor_pos_control/module.mk new file mode 100644 index 000000000..d04847745 --- /dev/null +++ b/src/modules/multirotor_pos_control/module.mk @@ -0,0 +1,41 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# Build multirotor position control +# + +MODULE_COMMAND = multirotor_pos_control + +SRCS = multirotor_pos_control.c \ + multirotor_pos_control_params.c diff --git a/src/modules/multirotor_pos_control/multirotor_pos_control.c b/src/modules/multirotor_pos_control/multirotor_pos_control.c new file mode 100644 index 000000000..7b8d83aa8 --- /dev/null +++ b/src/modules/multirotor_pos_control/multirotor_pos_control.c @@ -0,0 +1,238 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. + * Author: Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file multirotor_pos_control.c + * + * Skeleton for multirotor position controller + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "multirotor_pos_control_params.h" + + +static bool thread_should_exit = false; /**< Deamon exit flag */ +static bool thread_running = false; /**< Deamon status flag */ +static int deamon_task; /**< Handle of deamon task / thread */ + +__EXPORT int multirotor_pos_control_main(int argc, char *argv[]); + +/** + * Mainloop of position controller. + */ +static int multirotor_pos_control_thread_main(int argc, char *argv[]); + +/** + * Print the correct usage. + */ +static void usage(const char *reason); + +static void +usage(const char *reason) +{ + if (reason) + fprintf(stderr, "%s\n", reason); + fprintf(stderr, "usage: deamon {start|stop|status} [-p ]\n\n"); + exit(1); +} + +/** + * The deamon app only briefly exists to start + * the background job. The stack size assigned in the + * Makefile does only apply to this management task. + * + * The actual stack size should be set in the call + * to task_spawn(). + */ +int multirotor_pos_control_main(int argc, char *argv[]) +{ + if (argc < 1) + usage("missing command"); + + if (!strcmp(argv[1], "start")) { + + if (thread_running) { + printf("multirotor pos control already running\n"); + /* this is not an error */ + exit(0); + } + + thread_should_exit = false; + deamon_task = task_spawn("multirotor pos control", + SCHED_DEFAULT, + SCHED_PRIORITY_MAX - 60, + 4096, + multirotor_pos_control_thread_main, + (argv) ? (const char **)&argv[2] : (const char **)NULL); + exit(0); + } + + if (!strcmp(argv[1], "stop")) { + thread_should_exit = true; + exit(0); + } + + if (!strcmp(argv[1], "status")) { + if (thread_running) { + printf("\tmultirotor pos control app is running\n"); + } else { + printf("\tmultirotor pos control app not started\n"); + } + exit(0); + } + + usage("unrecognized command"); + exit(1); +} + +static int +multirotor_pos_control_thread_main(int argc, char *argv[]) +{ + /* welcome user */ + printf("[multirotor pos control] Control started, taking over position control\n"); + + /* structures */ + struct vehicle_status_s state; + struct vehicle_attitude_s att; + //struct vehicle_global_position_setpoint_s global_pos_sp; + struct vehicle_local_position_setpoint_s local_pos_sp; + struct vehicle_vicon_position_s local_pos; + struct manual_control_setpoint_s manual; + struct vehicle_attitude_setpoint_s att_sp; + + /* subscribe to attitude, motor setpoints and system state */ + int att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); + int state_sub = orb_subscribe(ORB_ID(vehicle_status)); + int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); + int local_pos_sub = orb_subscribe(ORB_ID(vehicle_vicon_position)); + //int global_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint)); + int local_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint)); + + /* publish attitude setpoint */ + orb_advert_t att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp); + + thread_running = true; + + int loopcounter = 0; + + struct multirotor_position_control_params p; + struct multirotor_position_control_param_handles h; + parameters_init(&h); + parameters_update(&h, &p); + + + while (1) { + /* get a local copy of the vehicle state */ + orb_copy(ORB_ID(vehicle_status), state_sub, &state); + /* get a local copy of manual setpoint */ + orb_copy(ORB_ID(manual_control_setpoint), manual_sub, &manual); + /* get a local copy of attitude */ + orb_copy(ORB_ID(vehicle_attitude), att_sub, &att); + /* get a local copy of local position */ + orb_copy(ORB_ID(vehicle_vicon_position), local_pos_sub, &local_pos); + /* get a local copy of local position setpoint */ + orb_copy(ORB_ID(vehicle_local_position_setpoint), local_pos_sp_sub, &local_pos_sp); + + if (loopcounter == 500) { + parameters_update(&h, &p); + loopcounter = 0; + } + + // if (state.state_machine == SYSTEM_STATE_AUTO) { + + // XXX IMPLEMENT POSITION CONTROL HERE + + float dT = 1.0f / 50.0f; + + float x_setpoint = 0.0f; + + // XXX enable switching between Vicon and local position estimate + /* local pos is the Vicon position */ + + // XXX just an example, lacks rotation around world-body transformation + att_sp.pitch_body = (local_pos.x - x_setpoint) * p.p; + att_sp.roll_body = 0.0f; + att_sp.yaw_body = 0.0f; + att_sp.thrust = 0.3f; + att_sp.timestamp = hrt_absolute_time(); + + /* publish new attitude setpoint */ + orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp); + // } else if (state.state_machine == SYSTEM_STATE_STABILIZED) { + /* set setpoint to current position */ + // XXX select pos reset channel on remote + /* reset setpoint to current position (position hold) */ + // if (1 == 2) { + // local_pos_sp.x = local_pos.x; + // local_pos_sp.y = local_pos.y; + // local_pos_sp.z = local_pos.z; + // local_pos_sp.yaw = att.yaw; + // } + // } + + /* run at approximately 50 Hz */ + usleep(20000); + loopcounter++; + + } + + printf("[multirotor pos control] ending now...\n"); + + thread_running = false; + + fflush(stdout); + return 0; +} + diff --git a/src/modules/multirotor_pos_control/multirotor_pos_control_params.c b/src/modules/multirotor_pos_control/multirotor_pos_control_params.c new file mode 100644 index 000000000..6b73dc405 --- /dev/null +++ b/src/modules/multirotor_pos_control/multirotor_pos_control_params.c @@ -0,0 +1,62 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: Tobias Naegeli + * Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* + * @file multirotor_position_control_params.c + * + * Parameters for EKF filter + */ + +#include "multirotor_pos_control_params.h" + +/* Extended Kalman Filter covariances */ + +/* controller parameters */ +PARAM_DEFINE_FLOAT(MC_POS_P, 0.2f); + +int parameters_init(struct multirotor_position_control_param_handles *h) +{ + /* PID parameters */ + h->p = param_find("MC_POS_P"); + + return OK; +} + +int parameters_update(const struct multirotor_position_control_param_handles *h, struct multirotor_position_control_params *p) +{ + param_get(h->p, &(p->p)); + + return OK; +} diff --git a/src/modules/multirotor_pos_control/multirotor_pos_control_params.h b/src/modules/multirotor_pos_control/multirotor_pos_control_params.h new file mode 100644 index 000000000..274f6c22a --- /dev/null +++ b/src/modules/multirotor_pos_control/multirotor_pos_control_params.h @@ -0,0 +1,66 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: Tobias Naegeli + * Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* + * @file multirotor_position_control_params.h + * + * Parameters for position controller + */ + +#include + +struct multirotor_position_control_params { + float p; + float i; + float d; +}; + +struct multirotor_position_control_param_handles { + param_t p; + param_t i; + param_t d; +}; + +/** + * Initialize all parameter handles and values + * + */ +int parameters_init(struct multirotor_position_control_param_handles *h); + +/** + * Update all parameters + * + */ +int parameters_update(const struct multirotor_position_control_param_handles *h, struct multirotor_position_control_params *p); diff --git a/src/modules/multirotor_pos_control/position_control.c b/src/modules/multirotor_pos_control/position_control.c new file mode 100644 index 000000000..9c53a5bf6 --- /dev/null +++ b/src/modules/multirotor_pos_control/position_control.c @@ -0,0 +1,235 @@ +// /**************************************************************************** +// * +// * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. +// * Author: @author Lorenz Meier +// * @author Laurens Mackay +// * @author Tobias Naegeli +// * @author Martin Rutschmann +// * +// * Redistribution and use in source and binary forms, with or without +// * modification, are permitted provided that the following conditions +// * are met: +// * +// * 1. Redistributions of source code must retain the above copyright +// * notice, this list of conditions and the following disclaimer. +// * 2. Redistributions in binary form must reproduce the above copyright +// * notice, this list of conditions and the following disclaimer in +// * the documentation and/or other materials provided with the +// * distribution. +// * 3. Neither the name PX4 nor the names of its contributors may be +// * used to endorse or promote products derived from this software +// * without specific prior written permission. +// * +// * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +// * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +// * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +// * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +// * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +// * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +// * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +// * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +// * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +// * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +// * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +// * POSSIBILITY OF SUCH DAMAGE. +// * +// ****************************************************************************/ + +// /** +// * @file multirotor_position_control.c +// * Implementation of the position control for a multirotor VTOL +// */ + +// #include +// #include +// #include +// #include +// #include +// #include +// #include +// #include + +// #include "multirotor_position_control.h" + +// void control_multirotor_position(const struct vehicle_state_s *vstatus, const struct vehicle_manual_control_s *manual, +// const struct vehicle_attitude_s *att, const struct vehicle_local_position_s *local_pos, +// const struct vehicle_local_position_setpoint_s *local_pos_sp, struct vehicle_attitude_setpoint_s *att_sp) +// { +// static PID_t distance_controller; + +// static int read_ret; +// static global_data_position_t position_estimated; + +// static uint16_t counter; + +// static bool initialized; +// static uint16_t pm_counter; + +// static float lat_next; +// static float lon_next; + +// static float pitch_current; + +// static float thrust_total; + + +// if (initialized == false) { + +// pid_init(&distance_controller, +// global_data_parameter_storage->pm.param_values[PARAM_PID_POS_P], +// global_data_parameter_storage->pm.param_values[PARAM_PID_POS_I], +// global_data_parameter_storage->pm.param_values[PARAM_PID_POS_D], +// global_data_parameter_storage->pm.param_values[PARAM_PID_POS_AWU], +// PID_MODE_DERIVATIV_CALC, 150);//150 + +// // pid_pos_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_LIM]; +// // pid_pos_z_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_Z_LIM]; + +// thrust_total = 0.0f; + +// /* Position initialization */ +// /* Wait for new position estimate */ +// do { +// read_ret = read_lock_position(&position_estimated); +// } while (read_ret != 0); + +// lat_next = position_estimated.lat; +// lon_next = position_estimated.lon; + +// /* attitude initialization */ +// global_data_lock(&global_data_attitude->access_conf); +// pitch_current = global_data_attitude->pitch; +// global_data_unlock(&global_data_attitude->access_conf); + +// initialized = true; +// } + +// /* load new parameters with 10Hz */ +// if (counter % 50 == 0) { +// if (global_data_trylock(&global_data_parameter_storage->access_conf) == 0) { +// /* check whether new parameters are available */ +// if (global_data_parameter_storage->counter > pm_counter) { +// pid_set_parameters(&distance_controller, +// global_data_parameter_storage->pm.param_values[PARAM_PID_POS_P], +// global_data_parameter_storage->pm.param_values[PARAM_PID_POS_I], +// global_data_parameter_storage->pm.param_values[PARAM_PID_POS_D], +// global_data_parameter_storage->pm.param_values[PARAM_PID_POS_AWU]); + +// // +// // pid_pos_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_LIM]; +// // pid_pos_z_lim = global_data_parameter_storage->pm.param_values[PARAM_PID_POS_Z_LIM]; + +// pm_counter = global_data_parameter_storage->counter; +// printf("Position controller changed pid parameters\n"); +// } +// } + +// global_data_unlock(&global_data_parameter_storage->access_conf); +// } + + +// /* Wait for new position estimate */ +// do { +// read_ret = read_lock_position(&position_estimated); +// } while (read_ret != 0); + +// /* Get next waypoint */ //TODO: add local copy + +// if (0 == global_data_trylock(&global_data_position_setpoint->access_conf)) { +// lat_next = global_data_position_setpoint->x; +// lon_next = global_data_position_setpoint->y; +// global_data_unlock(&global_data_position_setpoint->access_conf); +// } + +// /* Get distance to waypoint */ +// float distance_to_waypoint = get_distance_to_next_waypoint(position_estimated.lat , position_estimated.lon, lat_next, lon_next); +// // if(counter % 5 == 0) +// // printf("distance_to_waypoint: %.4f\n", distance_to_waypoint); + +// /* Get bearing to waypoint (direction on earth surface to next waypoint) */ +// float bearing = get_bearing_to_next_waypoint(position_estimated.lat, position_estimated.lon, lat_next, lon_next); + +// if (counter % 5 == 0) +// printf("bearing: %.4f\n", bearing); + +// /* Calculate speed in direction of bearing (needed for controller) */ +// float speed_norm = sqrtf(position_estimated.vx * position_estimated.vx + position_estimated.vy * position_estimated.vy); +// // if(counter % 5 == 0) +// // printf("speed_norm: %.4f\n", speed_norm); +// float speed_to_waypoint = 0; //(position_estimated.vx * cosf(bearing) + position_estimated.vy * sinf(bearing))/speed_norm; //FIXME, TODO: re-enable this once we have a full estimate of the speed, then we can do a PID for the distance controller + +// /* Control Thrust in bearing direction */ +// float horizontal_thrust = -pid_calculate(&distance_controller, 0, distance_to_waypoint, speed_to_waypoint, +// CONTROL_PID_POSITION_INTERVAL); //TODO: maybe this "-" sign is an error somewhere else + +// // if(counter % 5 == 0) +// // printf("horizontal thrust: %.4f\n", horizontal_thrust); + +// /* Get total thrust (from remote for now) */ +// if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) { +// thrust_total = (float)global_data_rc_channels->chan[THROTTLE].scale; //TODO: how should we use the RC_CHANNELS_FUNCTION enum? +// global_data_unlock(&global_data_rc_channels->access_conf); +// } + +// const float max_gas = 500.0f; +// thrust_total *= max_gas / 20000.0f; //TODO: check this +// thrust_total += max_gas / 2.0f; + + +// if (horizontal_thrust > thrust_total) { +// horizontal_thrust = thrust_total; + +// } else if (horizontal_thrust < -thrust_total) { +// horizontal_thrust = -thrust_total; +// } + + + +// //TODO: maybe we want to add a speed controller later... + +// /* Calclulate thrust in east and north direction */ +// float thrust_north = cosf(bearing) * horizontal_thrust; +// float thrust_east = sinf(bearing) * horizontal_thrust; + +// if (counter % 10 == 0) { +// printf("thrust north: %.4f\n", thrust_north); +// printf("thrust east: %.4f\n", thrust_east); +// fflush(stdout); +// } + +// /* Get current attitude */ +// if (0 == global_data_trylock(&global_data_attitude->access_conf)) { +// pitch_current = global_data_attitude->pitch; +// global_data_unlock(&global_data_attitude->access_conf); +// } + +// /* Get desired pitch & roll */ +// float pitch_desired = 0.0f; +// float roll_desired = 0.0f; + +// if (thrust_total != 0) { +// float pitch_fraction = -thrust_north / thrust_total; +// float roll_fraction = thrust_east / (cosf(pitch_current) * thrust_total); + +// if (roll_fraction < -1) { +// roll_fraction = -1; + +// } else if (roll_fraction > 1) { +// roll_fraction = 1; +// } + +// // if(counter % 5 == 0) +// // { +// // printf("pitch_fraction: %.4f, roll_fraction: %.4f\n",pitch_fraction, roll_fraction); +// // fflush(stdout); +// // } + +// pitch_desired = asinf(pitch_fraction); +// roll_desired = asinf(roll_fraction); +// } + +// att_sp.roll = roll_desired; +// att_sp.pitch = pitch_desired; + +// counter++; +// } diff --git a/src/modules/multirotor_pos_control/position_control.h b/src/modules/multirotor_pos_control/position_control.h new file mode 100644 index 000000000..2144ebc34 --- /dev/null +++ b/src/modules/multirotor_pos_control/position_control.h @@ -0,0 +1,50 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. + * Author: @author Lorenz Meier + * @author Laurens Mackay + * @author Tobias Naegeli + * @author Martin Rutschmann + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file multirotor_position_control.h + * Definition of the position control for a multirotor VTOL + */ + +// #ifndef POSITION_CONTROL_H_ +// #define POSITION_CONTROL_H_ + +// void control_multirotor_position(const struct vehicle_state_s *vstatus, const struct vehicle_manual_control_s *manual, +// const struct vehicle_attitude_s *att, const struct vehicle_local_position_s *local_pos, +// const struct vehicle_local_position_setpoint_s *local_pos_sp, struct vehicle_attitude_setpoint_s *att_sp); + +// #endif /* POSITION_CONTROL_H_ */ diff --git a/src/modules/position_estimator/.context b/src/modules/position_estimator/.context new file mode 100644 index 000000000..e69de29bb diff --git a/src/modules/position_estimator/module.mk b/src/modules/position_estimator/module.mk new file mode 100644 index 000000000..f64095d9d --- /dev/null +++ b/src/modules/position_estimator/module.mk @@ -0,0 +1,44 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# Makefile to build the position estimator +# + +MODULE_COMMAND = position_estimator + +# XXX this should be converted to a deamon, its a pretty bad example app +MODULE_PRIORITY = SCHED_PRIORITY_DEFAULT +MODULE_STACKSIZE = 4096 + +SRCS = position_estimator_main.c diff --git a/src/modules/position_estimator/position_estimator_main.c b/src/modules/position_estimator/position_estimator_main.c new file mode 100644 index 000000000..e84945299 --- /dev/null +++ b/src/modules/position_estimator/position_estimator_main.c @@ -0,0 +1,423 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. + * Author: Tobias Naegeli + * Thomas Gubler + * Julian Oes + * Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file position_estimator_main.c + * Model-identification based position estimator for multirotors + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#define N_STATES 6 +#define ERROR_COVARIANCE_INIT 3 +#define R_EARTH 6371000.0 + +#define PROJECTION_INITIALIZE_COUNTER_LIMIT 5000 +#define REPROJECTION_COUNTER_LIMIT 125 + +__EXPORT int position_estimator_main(int argc, char *argv[]); + +static uint16_t position_estimator_counter_position_information; + +/* values for map projection */ +static double phi_1; +static double sin_phi_1; +static double cos_phi_1; +static double lambda_0; +static double scale; + +/** + * Initializes the map transformation. + * + * Initializes the transformation between the geographic coordinate system and the azimuthal equidistant plane + * @param lat in degrees (47.1234567°, not 471234567°) + * @param lon in degrees (8.1234567°, not 81234567°) + */ +static void map_projection_init(double lat_0, double lon_0) //lat_0, lon_0 are expected to be in correct format: -> 47.1234567 and not 471234567 +{ + /* notation and formulas according to: http://mathworld.wolfram.com/AzimuthalEquidistantProjection.html */ + phi_1 = lat_0 / 180.0 * M_PI; + lambda_0 = lon_0 / 180.0 * M_PI; + + sin_phi_1 = sin(phi_1); + cos_phi_1 = cos(phi_1); + + /* calculate local scale by using the relation of true distance and the distance on plane */ //TODO: this is a quick solution, there are probably easier ways to determine the scale + + /* 1) calculate true distance d on sphere to a point: http://www.movable-type.co.uk/scripts/latlong.html */ + const double r_earth = 6371000; + + double lat1 = phi_1; + double lon1 = lambda_0; + + double lat2 = phi_1 + 0.5 / 180 * M_PI; + double lon2 = lambda_0 + 0.5 / 180 * M_PI; + double sin_lat_2 = sin(lat2); + double cos_lat_2 = cos(lat2); + double d = acos(sin(lat1) * sin_lat_2 + cos(lat1) * cos_lat_2 * cos(lon2 - lon1)) * r_earth; + + /* 2) calculate distance rho on plane */ + double k_bar = 0; + double c = acos(sin_phi_1 * sin_lat_2 + cos_phi_1 * cos_lat_2 * cos(lon2 - lambda_0)); + + if (0 != c) + k_bar = c / sin(c); + + double x2 = k_bar * (cos_lat_2 * sin(lon2 - lambda_0)); //Projection of point 2 on plane + double y2 = k_bar * ((cos_phi_1 * sin_lat_2 - sin_phi_1 * cos_lat_2 * cos(lon2 - lambda_0))); + double rho = sqrt(pow(x2, 2) + pow(y2, 2)); + + scale = d / rho; + +} + +/** + * Transforms a point in the geographic coordinate system to the local azimuthal equidistant plane + * @param x north + * @param y east + * @param lat in degrees (47.1234567°, not 471234567°) + * @param lon in degrees (8.1234567°, not 81234567°) + */ +static void map_projection_project(double lat, double lon, float *x, float *y) +{ + /* notation and formulas accoring to: http://mathworld.wolfram.com/AzimuthalEquidistantProjection.html */ + double phi = lat / 180.0 * M_PI; + double lambda = lon / 180.0 * M_PI; + + double sin_phi = sin(phi); + double cos_phi = cos(phi); + + double k_bar = 0; + /* using small angle approximation (formula in comment is without aproximation) */ + double c = acos(sin_phi_1 * sin_phi + cos_phi_1 * cos_phi * (1 - pow((lambda - lambda_0), 2) / 2)); //double c = acos( sin_phi_1 * sin_phi + cos_phi_1 * cos_phi * cos(lambda - lambda_0) ); + + if (0 != c) + k_bar = c / sin(c); + + /* using small angle approximation (formula in comment is without aproximation) */ + *y = k_bar * (cos_phi * (lambda - lambda_0)) * scale;//*y = k_bar * (cos_phi * sin(lambda - lambda_0)) * scale; + *x = k_bar * ((cos_phi_1 * sin_phi - sin_phi_1 * cos_phi * (1 - pow((lambda - lambda_0), 2) / 2))) * scale; // *x = k_bar * ((cos_phi_1 * sin_phi - sin_phi_1 * cos_phi * cos(lambda - lambda_0))) * scale; + +// printf("%phi_1=%.10f, lambda_0 =%.10f\n", phi_1, lambda_0); +} + +/** + * Transforms a point in the local azimuthal equidistant plane to the geographic coordinate system + * + * @param x north + * @param y east + * @param lat in degrees (47.1234567°, not 471234567°) + * @param lon in degrees (8.1234567°, not 81234567°) + */ +static void map_projection_reproject(float x, float y, double *lat, double *lon) +{ + /* notation and formulas accoring to: http://mathworld.wolfram.com/AzimuthalEquidistantProjection.html */ + + double x_descaled = x / scale; + double y_descaled = y / scale; + + double c = sqrt(pow(x_descaled, 2) + pow(y_descaled, 2)); + double sin_c = sin(c); + double cos_c = cos(c); + + double lat_sphere = 0; + + if (c != 0) + lat_sphere = asin(cos_c * sin_phi_1 + (x_descaled * sin_c * cos_phi_1) / c); + else + lat_sphere = asin(cos_c * sin_phi_1); + +// printf("lat_sphere = %.10f\n",lat_sphere); + + double lon_sphere = 0; + + if (phi_1 == M_PI / 2) { + //using small angle approximation (formula in comment is without aproximation) + lon_sphere = (lambda_0 - y_descaled / x_descaled); //lon_sphere = (lambda_0 + atan2(-y_descaled, x_descaled)); + + } else if (phi_1 == -M_PI / 2) { + //using small angle approximation (formula in comment is without aproximation) + lon_sphere = (lambda_0 + y_descaled / x_descaled); //lon_sphere = (lambda_0 + atan2(y_descaled, x_descaled)); + + } else { + + lon_sphere = (lambda_0 + atan2(y_descaled * sin_c , c * cos_phi_1 * cos_c - x_descaled * sin_phi_1 * sin_c)); + //using small angle approximation +// double denominator = (c * cos_phi_1 * cos_c - x_descaled * sin_phi_1 * sin_c); +// if(denominator != 0) +// { +// lon_sphere = (lambda_0 + (y_descaled * sin_c) / denominator); +// } +// else +// { +// ... +// } + } + +// printf("lon_sphere = %.10f\n",lon_sphere); + + *lat = lat_sphere * 180.0 / M_PI; + *lon = lon_sphere * 180.0 / M_PI; + +} + +/**************************************************************************** + * main + ****************************************************************************/ + +int position_estimator_main(int argc, char *argv[]) +{ + + /* welcome user */ + printf("[multirotor position_estimator] started\n"); + + /* initialize values */ + static float u[2] = {0, 0}; + static float z[3] = {0, 0, 0}; + static float xapo[N_STATES] = {0, 0, 0, 0, 0, 0}; + static float Papo[N_STATES * N_STATES] = {ERROR_COVARIANCE_INIT, 0, 0, 0, 0, 0, + ERROR_COVARIANCE_INIT, 0, 0, 0, 0, 0, + ERROR_COVARIANCE_INIT, 0, 0, 0, 0, 0, + ERROR_COVARIANCE_INIT, 0, 0, 0, 0, 0, + ERROR_COVARIANCE_INIT, 0, 0, 0, 0, 0, + ERROR_COVARIANCE_INIT, 0, 0, 0, 0, 0 + }; + + static float xapo1[N_STATES]; + static float Papo1[36]; + + static float gps_covariance[3] = {0.0f, 0.0f, 0.0f}; + + static uint16_t counter = 0; + position_estimator_counter_position_information = 0; + + uint8_t predict_only = 1; + + bool gps_valid = false; + + bool new_initialization = true; + + static double lat_current = 0.0d;//[°]] --> 47.0 + static double lon_current = 0.0d; //[°]] -->8.5 + float alt_current = 0.0f; + + + //TODO: handle flight without gps but with estimator + + /* subscribe to vehicle status, attitude, gps */ + struct vehicle_gps_position_s gps; + gps.fix_type = 0; + struct vehicle_status_s vstatus; + struct vehicle_attitude_s att; + + int vehicle_gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position)); + int vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status)); + + /* subscribe to attitude at 100 Hz */ + int vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude)); + + /* wait until gps signal turns valid, only then can we initialize the projection */ + while (gps.fix_type < 3) { + struct pollfd fds[1] = { {.fd = vehicle_gps_sub, .events = POLLIN} }; + + /* wait for GPS updates, BUT READ VEHICLE STATUS (!) + * this choice is critical, since the vehicle status might not + * actually change, if this app is started after GPS lock was + * aquired. + */ + if (poll(fds, 1, 5000)) { + /* Wait for the GPS update to propagate (we have some time) */ + usleep(5000); + /* Read wether the vehicle status changed */ + orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_sub, &gps); + gps_valid = (gps.fix_type > 2); + } + } + + /* get gps value for first initialization */ + orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_sub, &gps); + lat_current = ((double)(gps.lat)) * 1e-7; + lon_current = ((double)(gps.lon)) * 1e-7; + alt_current = gps.alt * 1e-3; + + /* initialize coordinates */ + map_projection_init(lat_current, lon_current); + + /* publish global position messages only after first GPS message */ + struct vehicle_local_position_s local_pos = { + .x = 0, + .y = 0, + .z = 0 + }; + orb_advert_t local_pos_pub = orb_advertise(ORB_ID(vehicle_local_position), &local_pos); + + printf("[multirotor position estimator] initialized projection with: lat: %.10f, lon:%.10f\n", lat_current, lon_current); + + while (1) { + + /*This runs at the rate of the sensors, if we have also a new gps update this is used in the position_estimator function */ + struct pollfd fds[1] = { {.fd = vehicle_attitude_sub, .events = POLLIN} }; + + if (poll(fds, 1, 5000) <= 0) { + /* error / timeout */ + } else { + + orb_copy(ORB_ID(vehicle_attitude), vehicle_attitude_sub, &att); + /* got attitude, updating pos as well */ + orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_sub, &gps); + orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &vstatus); + + /*copy attitude */ + u[0] = att.roll; + u[1] = att.pitch; + + /* initialize map projection with the last estimate (not at full rate) */ + if (gps.fix_type > 2) { + /* Project gps lat lon (Geographic coordinate system) to plane*/ + map_projection_project(((double)(gps.lat)) * 1e-7, ((double)(gps.lon)) * 1e-7, &(z[0]), &(z[1])); + + local_pos.x = z[0]; + local_pos.y = z[1]; + /* negative offset from initialization altitude */ + local_pos.z = alt_current - (gps.alt) * 1e-3; + + + orb_publish(ORB_ID(vehicle_local_position), local_pos_pub, &local_pos); + } + + + // gps_covariance[0] = gps.eph; //TODO: needs scaling + // gps_covariance[1] = gps.eph; + // gps_covariance[2] = gps.epv; + + // } else { + // /* we can not use the gps signal (it is of low quality) */ + // predict_only = 1; + // } + + // // predict_only = 0; //TODO: only for testing, removeme, XXX + // // z[0] = sinf(((float)counter)/180.0f*3.14159265f); //TODO: only for testing, removeme, XXX + // // usleep(100000); //TODO: only for testing, removeme, XXX + + + // /*Get new estimation (this is calculated in the plane) */ + // //TODO: if new_initialization == true: use 0,0,0, else use xapo + // if (true == new_initialization) { //TODO,XXX: uncomment! + // xapo[0] = 0; //we have a new plane initialization. the current estimate is in the center of the plane + // xapo[2] = 0; + // xapo[4] = 0; + // position_estimator(u, z, xapo, Papo, gps_covariance, predict_only, xapo1, Papo1); + + // } else { + // position_estimator(u, z, xapo, Papo, gps_covariance, predict_only, xapo1, Papo1); + // } + + + + // /* Copy values from xapo1 to xapo */ + // int i; + + // for (i = 0; i < N_STATES; i++) { + // xapo[i] = xapo1[i]; + // } + + // if ((counter % REPROJECTION_COUNTER_LIMIT == 0) || (counter % (PROJECTION_INITIALIZE_COUNTER_LIMIT - 1) == 0)) { + // /* Reproject from plane to geographic coordinate system */ + // // map_projection_reproject(xapo1[0], xapo1[2], map_scale, phi_1, lambda_0, &lat_current, &lon_current) //TODO,XXX: uncomment! + // map_projection_reproject(z[0], z[1], &lat_current, &lon_current); //do not use estimator for projection testing, removeme + // // //DEBUG + // // if(counter%500 == 0) + // // { + // // printf("phi_1: %.10f\n", phi_1); + // // printf("lambda_0: %.10f\n", lambda_0); + // // printf("lat_estimated: %.10f\n", lat_current); + // // printf("lon_estimated: %.10f\n", lon_current); + // // printf("z[0]=%.10f, z[1]=%.10f, z[2]=%f\n", z[0], z[1], z[2]); + // // fflush(stdout); + // // + // // } + + // // if(!isnan(lat_current) && !isnan(lon_current))// && !isnan(xapo1[4]) && !isnan(xapo1[1]) && !isnan(xapo1[3]) && !isnan(xapo1[5])) + // // { + // /* send out */ + + // global_pos.lat = lat_current; + // global_pos.lon = lon_current; + // global_pos.alt = xapo1[4]; + // global_pos.vx = xapo1[1]; + // global_pos.vy = xapo1[3]; + // global_pos.vz = xapo1[5]; + + /* publish current estimate */ + // orb_publish(ORB_ID(vehicle_global_position), global_pos_pub, &global_pos); + // } + // else + // { + // printf("[position estimator] ERROR: nan values, lat_current=%.4f, lon_current=%.4f, z[0]=%.4f z[1]=%.4f\n", lat_current, lon_current, z[0], z[1]); + // fflush(stdout); + // } + + // } + + counter++; + } + + } + + return 0; +} + + -- cgit v1.2.3 From ee498a9d7ca4954398f35716804b1b59c7556c5b Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 27 Apr 2013 19:27:15 +0200 Subject: Made HMC bus-agnostic --- apps/drivers/device/i2c.h | 6 +++++- src/drivers/hmc5883/hmc5883.cpp | 34 ++++++++++++++++++++++++---------- 2 files changed, 29 insertions(+), 11 deletions(-) (limited to 'src') diff --git a/apps/drivers/device/i2c.h b/apps/drivers/device/i2c.h index 66c34dd7c..7daba31be 100644 --- a/apps/drivers/device/i2c.h +++ b/apps/drivers/device/i2c.h @@ -60,6 +60,11 @@ protected: */ unsigned _retries; + /** + * The I2C bus number the device is attached to. + */ + int _bus; + /** * @ Constructor * @@ -123,7 +128,6 @@ protected: } private: - int _bus; uint16_t _address; uint32_t _frequency; struct i2c_dev_s *_dev; diff --git a/src/drivers/hmc5883/hmc5883.cpp b/src/drivers/hmc5883/hmc5883.cpp index 8ab568282..d71f469e9 100644 --- a/src/drivers/hmc5883/hmc5883.cpp +++ b/src/drivers/hmc5883/hmc5883.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -75,7 +75,6 @@ * HMC5883 internal constants and data structures. */ -#define HMC5883L_BUS PX4_I2C_BUS_ONBOARD #define HMC5883L_ADDRESS PX4_I2C_OBDEV_HMC5883 /* Max measurement rate is 160Hz */ @@ -842,12 +841,21 @@ HMC5883::collect() * 74 from all measurements centers them around zero. */ - /* to align the sensor axes with the board, x and y need to be flipped */ - _reports[_next_report].x = ((report.y * _range_scale) - _scale.x_offset) * _scale.x_scale; - /* flip axes and negate value for y */ - _reports[_next_report].y = ((((report.x == -32768) ? 32767 : -report.x) * _range_scale) - _scale.y_offset) * _scale.y_scale; - /* z remains z */ - _reports[_next_report].z = ((report.z * _range_scale) - _scale.z_offset) * _scale.z_scale; + if (_bus == PX4_I2C_BUS_ONBOARD) { + /* to align the sensor axes with the board, x and y need to be flipped */ + _reports[_next_report].x = ((report.y * _range_scale) - _scale.x_offset) * _scale.x_scale; + /* flip axes and negate value for y */ + _reports[_next_report].y = ((((report.x == -32768) ? 32767 : -report.x) * _range_scale) - _scale.y_offset) * _scale.y_scale; + /* z remains z */ + _reports[_next_report].z = ((report.z * _range_scale) - _scale.z_offset) * _scale.z_scale; + } else { + /* XXX axis assignment of external sensor is yet unknown */ + _reports[_next_report].x = ((report.y * _range_scale) - _scale.x_offset) * _scale.x_scale; + /* flip axes and negate value for y */ + _reports[_next_report].y = ((((report.x == -32768) ? 32767 : -report.x) * _range_scale) - _scale.y_offset) * _scale.y_scale; + /* z remains z */ + _reports[_next_report].z = ((report.z * _range_scale) - _scale.z_offset) * _scale.z_scale; + } /* publish it */ orb_publish(ORB_ID(sensor_mag), _mag_topic, &_reports[_next_report]); @@ -1211,8 +1219,14 @@ start() if (g_dev != nullptr) errx(1, "already started"); - /* create the driver */ - g_dev = new HMC5883(HMC5883L_BUS); + /* create the driver, attempt expansion bus first */ + g_dev = new HMC5883(PX4_I2C_BUS_EXPANSION); + +#ifdef PX4_I2C_BUS_ONBOARD + /* if this failed, attempt onboard sensor */ + if (g_dev == nullptr) + g_dev = new HMC5883(PX4_I2C_BUS_ONBOARD); +#endif if (g_dev == nullptr) goto fail; -- cgit v1.2.3 From 7ac617242da56f6f826eb7496e7689f7f36c8fa2 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 27 Apr 2013 19:27:24 +0200 Subject: docs fix --- src/modules/multirotor_att_control/module.mk | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'src') diff --git a/src/modules/multirotor_att_control/module.mk b/src/modules/multirotor_att_control/module.mk index 2fd52c162..7569e1c7e 100755 --- a/src/modules/multirotor_att_control/module.mk +++ b/src/modules/multirotor_att_control/module.mk @@ -32,7 +32,7 @@ ############################################################################ # -# Makefile to build the multirotor attitude controller +# Build multirotor attitude controller # MODULE_COMMAND = multirotor_att_control -- cgit v1.2.3 From 8040b9b96e8f7c07aa981150c33f850096062f70 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 27 Apr 2013 19:51:06 +0200 Subject: Allowed for onboard bus to be not present --- src/drivers/hmc5883/hmc5883.cpp | 4 ++++ 1 file changed, 4 insertions(+) (limited to 'src') diff --git a/src/drivers/hmc5883/hmc5883.cpp b/src/drivers/hmc5883/hmc5883.cpp index d71f469e9..c406a7588 100644 --- a/src/drivers/hmc5883/hmc5883.cpp +++ b/src/drivers/hmc5883/hmc5883.cpp @@ -841,6 +841,7 @@ HMC5883::collect() * 74 from all measurements centers them around zero. */ +#ifdef PX4_I2C_BUS_ONBOARD if (_bus == PX4_I2C_BUS_ONBOARD) { /* to align the sensor axes with the board, x and y need to be flipped */ _reports[_next_report].x = ((report.y * _range_scale) - _scale.x_offset) * _scale.x_scale; @@ -849,13 +850,16 @@ HMC5883::collect() /* z remains z */ _reports[_next_report].z = ((report.z * _range_scale) - _scale.z_offset) * _scale.z_scale; } else { +#endif /* XXX axis assignment of external sensor is yet unknown */ _reports[_next_report].x = ((report.y * _range_scale) - _scale.x_offset) * _scale.x_scale; /* flip axes and negate value for y */ _reports[_next_report].y = ((((report.x == -32768) ? 32767 : -report.x) * _range_scale) - _scale.y_offset) * _scale.y_scale; /* z remains z */ _reports[_next_report].z = ((report.z * _range_scale) - _scale.z_offset) * _scale.z_scale; +#ifdef PX4_I2C_BUS_ONBOARD } +#endif /* publish it */ orb_publish(ORB_ID(sensor_mag), _mag_topic, &_reports[_next_report]); -- cgit v1.2.3 From f57439b90e23de260259dec051d3e2ead2d61c8c Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 28 Apr 2013 01:17:12 +0200 Subject: Moved all drivers to new world, PX4IO completely in new world --- apps/drivers/boards/px4io/Makefile | 41 -- apps/drivers/boards/px4io/px4io_init.c | 98 --- apps/drivers/boards/px4io/px4io_internal.h | 83 --- apps/drivers/boards/px4io/px4io_pwm_servo.c | 123 ---- apps/drivers/stm32/Makefile | 42 -- apps/drivers/stm32/adc/Makefile | 43 -- apps/drivers/stm32/adc/adc.cpp | 387 ---------- apps/drivers/stm32/drv_hrt.c | 908 ----------------------- apps/drivers/stm32/drv_pwm_servo.c | 330 --------- apps/drivers/stm32/drv_pwm_servo.h | 66 -- apps/drivers/stm32/tone_alarm/Makefile | 43 -- apps/drivers/stm32/tone_alarm/tone_alarm.cpp | 1018 -------------------------- apps/px4io/Makefile | 58 -- apps/px4io/adc.c | 168 ----- apps/px4io/controls.c | 332 --------- apps/px4io/dsm.c | 356 --------- apps/px4io/i2c.c | 340 --------- apps/px4io/mixer.cpp | 311 -------- apps/px4io/protocol.h | 204 ------ apps/px4io/px4io.c | 231 ------ apps/px4io/px4io.h | 188 ----- apps/px4io/registers.c | 644 ---------------- apps/px4io/safety.c | 195 ----- apps/px4io/sbus.c | 255 ------- makefiles/config_px4fmu_default.mk | 5 +- makefiles/config_px4io_default.mk | 7 +- makefiles/module.mk | 2 +- src/drivers/boards/px4io/module.mk | 6 + src/drivers/boards/px4io/px4io_init.c | 98 +++ src/drivers/boards/px4io/px4io_internal.h | 83 +++ src/drivers/boards/px4io/px4io_pwm_servo.c | 123 ++++ src/drivers/px4io/px4io.cpp | 4 +- src/drivers/stm32/adc/adc.cpp | 387 ++++++++++ src/drivers/stm32/adc/module.mk | 42 ++ src/drivers/stm32/drv_hrt.c | 908 +++++++++++++++++++++++ src/drivers/stm32/drv_pwm_servo.c | 332 +++++++++ src/drivers/stm32/drv_pwm_servo.h | 66 ++ src/drivers/stm32/module.mk | 43 ++ src/drivers/stm32/tone_alarm/module.mk | 42 ++ src/drivers/stm32/tone_alarm/tone_alarm.cpp | 1018 ++++++++++++++++++++++++++ src/modules/px4iofirmware/adc.c | 168 +++++ src/modules/px4iofirmware/controls.c | 332 +++++++++ src/modules/px4iofirmware/dsm.c | 356 +++++++++ src/modules/px4iofirmware/hx_stream.c | 250 +++++++ src/modules/px4iofirmware/hx_stream.h | 122 +++ src/modules/px4iofirmware/i2c.c | 340 +++++++++ src/modules/px4iofirmware/mixer.cpp | 311 ++++++++ src/modules/px4iofirmware/module.mk | 4 + src/modules/px4iofirmware/perf_counter.c | 317 ++++++++ src/modules/px4iofirmware/perf_counter.h | 128 ++++ src/modules/px4iofirmware/protocol.h | 204 ++++++ src/modules/px4iofirmware/px4io.c | 231 ++++++ src/modules/px4iofirmware/px4io.h | 188 +++++ src/modules/px4iofirmware/registers.c | 644 ++++++++++++++++ src/modules/px4iofirmware/safety.c | 195 +++++ src/modules/px4iofirmware/sbus.c | 255 +++++++ src/modules/px4iofirmware/up_cxxinitialize.c | 150 ++++ 57 files changed, 7355 insertions(+), 6470 deletions(-) delete mode 100644 apps/drivers/boards/px4io/Makefile delete mode 100644 apps/drivers/boards/px4io/px4io_init.c delete mode 100644 apps/drivers/boards/px4io/px4io_internal.h delete mode 100644 apps/drivers/boards/px4io/px4io_pwm_servo.c delete mode 100644 apps/drivers/stm32/Makefile delete mode 100644 apps/drivers/stm32/adc/Makefile delete mode 100644 apps/drivers/stm32/adc/adc.cpp delete mode 100644 apps/drivers/stm32/drv_hrt.c delete mode 100644 apps/drivers/stm32/drv_pwm_servo.c delete mode 100644 apps/drivers/stm32/drv_pwm_servo.h delete mode 100644 apps/drivers/stm32/tone_alarm/Makefile delete mode 100644 apps/drivers/stm32/tone_alarm/tone_alarm.cpp delete mode 100644 apps/px4io/Makefile delete mode 100644 apps/px4io/adc.c delete mode 100644 apps/px4io/controls.c delete mode 100644 apps/px4io/dsm.c delete mode 100644 apps/px4io/i2c.c delete mode 100644 apps/px4io/mixer.cpp delete mode 100644 apps/px4io/protocol.h delete mode 100644 apps/px4io/px4io.c delete mode 100644 apps/px4io/px4io.h delete mode 100644 apps/px4io/registers.c delete mode 100644 apps/px4io/safety.c delete mode 100644 apps/px4io/sbus.c create mode 100644 src/drivers/boards/px4io/module.mk create mode 100644 src/drivers/boards/px4io/px4io_init.c create mode 100644 src/drivers/boards/px4io/px4io_internal.h create mode 100644 src/drivers/boards/px4io/px4io_pwm_servo.c create mode 100644 src/drivers/stm32/adc/adc.cpp create mode 100644 src/drivers/stm32/adc/module.mk create mode 100644 src/drivers/stm32/drv_hrt.c create mode 100644 src/drivers/stm32/drv_pwm_servo.c create mode 100644 src/drivers/stm32/drv_pwm_servo.h create mode 100644 src/drivers/stm32/module.mk create mode 100644 src/drivers/stm32/tone_alarm/module.mk create mode 100644 src/drivers/stm32/tone_alarm/tone_alarm.cpp create mode 100644 src/modules/px4iofirmware/adc.c create mode 100644 src/modules/px4iofirmware/controls.c create mode 100644 src/modules/px4iofirmware/dsm.c create mode 100644 src/modules/px4iofirmware/hx_stream.c create mode 100644 src/modules/px4iofirmware/hx_stream.h create mode 100644 src/modules/px4iofirmware/i2c.c create mode 100644 src/modules/px4iofirmware/mixer.cpp create mode 100644 src/modules/px4iofirmware/module.mk create mode 100644 src/modules/px4iofirmware/perf_counter.c create mode 100644 src/modules/px4iofirmware/perf_counter.h create mode 100644 src/modules/px4iofirmware/protocol.h create mode 100644 src/modules/px4iofirmware/px4io.c create mode 100644 src/modules/px4iofirmware/px4io.h create mode 100644 src/modules/px4iofirmware/registers.c create mode 100644 src/modules/px4iofirmware/safety.c create mode 100644 src/modules/px4iofirmware/sbus.c create mode 100644 src/modules/px4iofirmware/up_cxxinitialize.c (limited to 'src') diff --git a/apps/drivers/boards/px4io/Makefile b/apps/drivers/boards/px4io/Makefile deleted file mode 100644 index 85806fe6f..000000000 --- a/apps/drivers/boards/px4io/Makefile +++ /dev/null @@ -1,41 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Board-specific startup code for the PX4IO -# - -INCLUDES = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common -LIBNAME = brd_px4io - -include $(APPDIR)/mk/app.mk diff --git a/apps/drivers/boards/px4io/px4io_init.c b/apps/drivers/boards/px4io/px4io_init.c deleted file mode 100644 index 14e8dc13a..000000000 --- a/apps/drivers/boards/px4io/px4io_init.c +++ /dev/null @@ -1,98 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file px4io_init.c - * - * PX4IO-specific early startup code. This file implements the - * nsh_archinitialize() function that is called early by nsh during startup. - * - * Code here is run before the rcS script is invoked; it should start required - * subsystems and perform board-specific initialisation. - */ - -/**************************************************************************** - * Included Files - ****************************************************************************/ - -#include - -#include -#include -#include -#include - -#include - -#include "stm32_internal.h" -#include "px4io_internal.h" -#include "stm32_uart.h" - -#include - -#include -#include -#include - -/**************************************************************************** - * Public Functions - ****************************************************************************/ - -/************************************************************************************ - * Name: stm32_boardinitialize - * - * Description: - * All STM32 architectures must provide the following entry point. This entry point - * is called early in the intitialization -- after all memory has been configured - * and mapped but before any devices have been initialized. - * - ************************************************************************************/ - -__EXPORT void stm32_boardinitialize(void) -{ - /* configure GPIOs */ - stm32_configgpio(GPIO_ACC1_PWR_EN); - stm32_configgpio(GPIO_ACC2_PWR_EN); - stm32_configgpio(GPIO_SERVO_PWR_EN); - stm32_configgpio(GPIO_RELAY1_EN); - stm32_configgpio(GPIO_RELAY2_EN); - stm32_configgpio(GPIO_LED1); - stm32_configgpio(GPIO_LED2); - stm32_configgpio(GPIO_LED3); - stm32_configgpio(GPIO_ACC_OC_DETECT); - stm32_configgpio(GPIO_SERVO_OC_DETECT); - stm32_configgpio(GPIO_BTN_SAFETY); - - stm32_configgpio(GPIO_ADC_VBATT); - stm32_configgpio(GPIO_ADC_IN5); -} diff --git a/apps/drivers/boards/px4io/px4io_internal.h b/apps/drivers/boards/px4io/px4io_internal.h deleted file mode 100644 index 44bb98513..000000000 --- a/apps/drivers/boards/px4io/px4io_internal.h +++ /dev/null @@ -1,83 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file PX4IO hardware definitions. - */ - -#pragma once - -/************************************************************************************ - * Included Files - ************************************************************************************/ - -#include -#include -#include - -#include - -/************************************************************************************ - * Definitions - ************************************************************************************/ - -/* PX4IO GPIOs **********************************************************************/ -/* LEDs */ - -#define GPIO_LED1 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|\ - GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN14) -#define GPIO_LED2 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|\ - GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN15) -#define GPIO_LED3 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|\ - GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10) - -/* Safety switch button *************************************************************/ - -#define GPIO_BTN_SAFETY (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN5) - -/* Power switch controls ************************************************************/ - -#define GPIO_ACC1_PWR_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13) -#define GPIO_ACC2_PWR_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN14) -#define GPIO_SERVO_PWR_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN15) - -#define GPIO_ACC_OC_DETECT (GPIO_INPUT|GPIO_CNF_INPULLUP|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN12) -#define GPIO_SERVO_OC_DETECT (GPIO_INPUT|GPIO_CNF_INPULLUP|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN13) - -#define GPIO_RELAY1_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN12) -#define GPIO_RELAY2_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN11) - -/* Analog inputs ********************************************************************/ - -#define GPIO_ADC_VBATT (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN4) -#define GPIO_ADC_IN5 (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN5) diff --git a/apps/drivers/boards/px4io/px4io_pwm_servo.c b/apps/drivers/boards/px4io/px4io_pwm_servo.c deleted file mode 100644 index a2f73c429..000000000 --- a/apps/drivers/boards/px4io/px4io_pwm_servo.c +++ /dev/null @@ -1,123 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/* - * @file px4fmu_pwm_servo.c - * - * Configuration data for the stm32 pwm_servo driver. - * - * Note that these arrays must always be fully-sized. - */ - -#include - -#include - -#include -#include - -#include -#include -#include - -__EXPORT const struct pwm_servo_timer pwm_timers[PWM_SERVO_MAX_TIMERS] = { - { - .base = STM32_TIM2_BASE, - .clock_register = STM32_RCC_APB1ENR, - .clock_bit = RCC_APB1ENR_TIM2EN, - .clock_freq = STM32_APB1_TIM2_CLKIN - }, - { - .base = STM32_TIM3_BASE, - .clock_register = STM32_RCC_APB1ENR, - .clock_bit = RCC_APB1ENR_TIM3EN, - .clock_freq = STM32_APB1_TIM3_CLKIN - }, - { - .base = STM32_TIM4_BASE, - .clock_register = STM32_RCC_APB1ENR, - .clock_bit = RCC_APB1ENR_TIM4EN, - .clock_freq = STM32_APB1_TIM4_CLKIN - } -}; - -__EXPORT const struct pwm_servo_channel pwm_channels[PWM_SERVO_MAX_CHANNELS] = { - { - .gpio = GPIO_TIM2_CH1OUT, - .timer_index = 0, - .timer_channel = 1, - .default_value = 1000, - }, - { - .gpio = GPIO_TIM2_CH2OUT, - .timer_index = 0, - .timer_channel = 2, - .default_value = 1000, - }, - { - .gpio = GPIO_TIM4_CH3OUT, - .timer_index = 2, - .timer_channel = 3, - .default_value = 1000, - }, - { - .gpio = GPIO_TIM4_CH4OUT, - .timer_index = 2, - .timer_channel = 4, - .default_value = 1000, - }, - { - .gpio = GPIO_TIM3_CH1OUT, - .timer_index = 1, - .timer_channel = 1, - .default_value = 1000, - }, - { - .gpio = GPIO_TIM3_CH2OUT, - .timer_index = 1, - .timer_channel = 2, - .default_value = 1000, - }, - { - .gpio = GPIO_TIM3_CH3OUT, - .timer_index = 1, - .timer_channel = 3, - .default_value = 1000, - }, - { - .gpio = GPIO_TIM3_CH4OUT, - .timer_index = 1, - .timer_channel = 4, - .default_value = 1000, - } -}; diff --git a/apps/drivers/stm32/Makefile b/apps/drivers/stm32/Makefile deleted file mode 100644 index 4ad57f413..000000000 --- a/apps/drivers/stm32/Makefile +++ /dev/null @@ -1,42 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# STM32 driver support code -# -# Modules in this directory are compiled for all STM32 targets. -# - -INCLUDES = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common - -include $(APPDIR)/mk/app.mk diff --git a/apps/drivers/stm32/adc/Makefile b/apps/drivers/stm32/adc/Makefile deleted file mode 100644 index 443bc0623..000000000 --- a/apps/drivers/stm32/adc/Makefile +++ /dev/null @@ -1,43 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# STM32 ADC driver -# - -APPNAME = adc -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 -INCLUDES = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common - -include $(APPDIR)/mk/app.mk diff --git a/apps/drivers/stm32/adc/adc.cpp b/apps/drivers/stm32/adc/adc.cpp deleted file mode 100644 index 911def943..000000000 --- a/apps/drivers/stm32/adc/adc.cpp +++ /dev/null @@ -1,387 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file adc.cpp - * - * Driver for the STM32 ADC. - * - * This is a low-rate driver, designed for sampling things like voltages - * and so forth. It avoids the gross complexity of the NuttX ADC driver. - */ - -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include - -#include -#include -#include - -#include -#include - -/* - * Register accessors. - * For now, no reason not to just use ADC1. - */ -#define REG(_reg) (*(volatile uint32_t *)(STM32_ADC1_BASE + _reg)) - -#define rSR REG(STM32_ADC_SR_OFFSET) -#define rCR1 REG(STM32_ADC_CR1_OFFSET) -#define rCR2 REG(STM32_ADC_CR2_OFFSET) -#define rSMPR1 REG(STM32_ADC_SMPR1_OFFSET) -#define rSMPR2 REG(STM32_ADC_SMPR2_OFFSET) -#define rJOFR1 REG(STM32_ADC_JOFR1_OFFSET) -#define rJOFR2 REG(STM32_ADC_JOFR2_OFFSET) -#define rJOFR3 REG(STM32_ADC_JOFR3_OFFSET) -#define rJOFR4 REG(STM32_ADC_JOFR4_OFFSET) -#define rHTR REG(STM32_ADC_HTR_OFFSET) -#define rLTR REG(STM32_ADC_LTR_OFFSET) -#define rSQR1 REG(STM32_ADC_SQR1_OFFSET) -#define rSQR2 REG(STM32_ADC_SQR2_OFFSET) -#define rSQR3 REG(STM32_ADC_SQR3_OFFSET) -#define rJSQR REG(STM32_ADC_JSQR_OFFSET) -#define rJDR1 REG(STM32_ADC_JDR1_OFFSET) -#define rJDR2 REG(STM32_ADC_JDR2_OFFSET) -#define rJDR3 REG(STM32_ADC_JDR3_OFFSET) -#define rJDR4 REG(STM32_ADC_JDR4_OFFSET) -#define rDR REG(STM32_ADC_DR_OFFSET) - -#ifdef STM32_ADC_CCR -# define rCCR REG(STM32_ADC_CCR_OFFSET) -#endif - -class ADC : public device::CDev -{ -public: - ADC(uint32_t channels); - ~ADC(); - - virtual int init(); - - virtual int ioctl(file *filp, int cmd, unsigned long arg); - virtual ssize_t read(file *filp, char *buffer, size_t len); - -protected: - virtual int open_first(struct file *filp); - virtual int close_last(struct file *filp); - -private: - static const hrt_abstime _tickrate = 10000; /**< 100Hz base rate */ - - hrt_call _call; - perf_counter_t _sample_perf; - - unsigned _channel_count; - adc_msg_s *_samples; /**< sample buffer */ - - /** work trampoline */ - static void _tick_trampoline(void *arg); - - /** worker function */ - void _tick(); - - /** - * Sample a single channel and return the measured value. - * - * @param channel The channel to sample. - * @return The sampled value, or 0xffff if - * sampling failed. - */ - uint16_t _sample(unsigned channel); - -}; - -ADC::ADC(uint32_t channels) : - CDev("adc", ADC_DEVICE_PATH), - _sample_perf(perf_alloc(PC_ELAPSED, "ADC samples")), - _channel_count(0), - _samples(nullptr) -{ - _debug_enabled = true; - - /* always enable the temperature sensor */ - channels |= 1 << 16; - - /* allocate the sample array */ - for (unsigned i = 0; i < 32; i++) { - if (channels & (1 << i)) { - _channel_count++; - } - } - _samples = new adc_msg_s[_channel_count]; - - /* prefill the channel numbers in the sample array */ - if (_samples != nullptr) { - unsigned index = 0; - for (unsigned i = 0; i < 32; i++) { - if (channels & (1 << i)) { - _samples[index].am_channel = i; - _samples[index].am_data = 0; - index++; - } - } - } -} - -ADC::~ADC() -{ - if (_samples != nullptr) - delete _samples; -} - -int -ADC::init() -{ - /* do calibration if supported */ -#ifdef ADC_CR2_CAL - rCR2 |= ADC_CR2_CAL; - usleep(100); - if (rCR2 & ADC_CR2_CAL) - return -1; -#endif - - /* arbitrarily configure all channels for 55 cycle sample time */ - rSMPR1 = 0b00000011011011011011011011011011; - rSMPR2 = 0b00011011011011011011011011011011; - - /* XXX for F2/4, might want to select 12-bit mode? */ - rCR1 = 0; - - /* enable the temperature sensor / Vrefint channel if supported*/ - rCR2 = -#ifdef ADC_CR2_TSVREFE - /* enable the temperature sensor in CR2 */ - ADC_CR2_TSVREFE | -#endif - 0; - -#ifdef ADC_CCR_TSVREFE - /* enable temperature sensor in CCR */ - rCCR = ADC_CCR_TSVREFE; -#endif - - /* configure for a single-channel sequence */ - rSQR1 = 0; - rSQR2 = 0; - rSQR3 = 0; /* will be updated with the channel each tick */ - - /* power-cycle the ADC and turn it on */ - rCR2 &= ~ADC_CR2_ADON; - usleep(10); - rCR2 |= ADC_CR2_ADON; - usleep(10); - rCR2 |= ADC_CR2_ADON; - usleep(10); - - /* kick off a sample and wait for it to complete */ - hrt_abstime now = hrt_absolute_time(); - rCR2 |= ADC_CR2_SWSTART; - while (!(rSR & ADC_SR_EOC)) { - - /* don't wait for more than 500us, since that means something broke - should reset here if we see this */ - if ((hrt_absolute_time() - now) > 500) { - log("sample timeout"); - return -1; - return 0xffff; - } - } - - - debug("init done"); - - /* create the device node */ - return CDev::init(); -} - -int -ADC::ioctl(file *filp, int cmd, unsigned long arg) -{ - return -ENOTTY; -} - -ssize_t -ADC::read(file *filp, char *buffer, size_t len) -{ - const size_t maxsize = sizeof(adc_msg_s) * _channel_count; - - if (len > maxsize) - len = maxsize; - - /* block interrupts while copying samples to avoid racing with an update */ - irqstate_t flags = irqsave(); - memcpy(buffer, _samples, len); - irqrestore(flags); - - return len; -} - -int -ADC::open_first(struct file *filp) -{ - /* get fresh data */ - _tick(); - - /* and schedule regular updates */ - hrt_call_every(&_call, _tickrate, _tickrate, _tick_trampoline, this); - - return 0; -} - -int -ADC::close_last(struct file *filp) -{ - hrt_cancel(&_call); - return 0; -} - -void -ADC::_tick_trampoline(void *arg) -{ - ((ADC *)arg)->_tick(); -} - -void -ADC::_tick() -{ - /* scan the channel set and sample each */ - for (unsigned i = 0; i < _channel_count; i++) - _samples[i].am_data = _sample(_samples[i].am_channel); -} - -uint16_t -ADC::_sample(unsigned channel) -{ - perf_begin(_sample_perf); - - /* clear any previous EOC */ - if (rSR & ADC_SR_EOC) - rSR &= ~ADC_SR_EOC; - - /* run a single conversion right now - should take about 60 cycles (a few microseconds) max */ - rSQR3 = channel; - rCR2 |= ADC_CR2_SWSTART; - - /* wait for the conversion to complete */ - hrt_abstime now = hrt_absolute_time(); - while (!(rSR & ADC_SR_EOC)) { - - /* don't wait for more than 50us, since that means something broke - should reset here if we see this */ - if ((hrt_absolute_time() - now) > 50) { - log("sample timeout"); - return 0xffff; - } - } - - /* read the result and clear EOC */ - uint16_t result = rDR; - - perf_end(_sample_perf); - return result; -} - -/* - * Driver 'main' command. - */ -extern "C" __EXPORT int adc_main(int argc, char *argv[]); - -namespace -{ -ADC *g_adc; - -void -test(void) -{ - - int fd = open(ADC_DEVICE_PATH, O_RDONLY); - if (fd < 0) - err(1, "can't open ADC device"); - - for (unsigned i = 0; i < 50; i++) { - adc_msg_s data[8]; - ssize_t count = read(fd, data, sizeof(data)); - - if (count < 0) - errx(1, "read error"); - - unsigned channels = count / sizeof(data[0]); - - for (unsigned j = 0; j < channels; j++) { - printf ("%d: %u ", data[j].am_channel, data[j].am_data); - } - - printf("\n"); - usleep(500000); - } - - exit(0); -} -} - -int -adc_main(int argc, char *argv[]) -{ - if (g_adc == nullptr) { - /* XXX this hardcodes the default channel set for PX4FMU - should be configurable */ - g_adc = new ADC((1 << 10) | (1 << 11) | (1 << 12) | (1 << 13)); - - if (g_adc == nullptr) - errx(1, "couldn't allocate the ADC driver"); - - if (g_adc->init() != OK) { - delete g_adc; - errx(1, "ADC init failed"); - } - } - - if (argc > 1) { - if (!strcmp(argv[1], "test")) - test(); - } - - exit(0); -} diff --git a/apps/drivers/stm32/drv_hrt.c b/apps/drivers/stm32/drv_hrt.c deleted file mode 100644 index cec0c49ff..000000000 --- a/apps/drivers/stm32/drv_hrt.c +++ /dev/null @@ -1,908 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file drv_hrt.c - * - * High-resolution timer callouts and timekeeping. - * - * This can use any general or advanced STM32 timer. - * - * Note that really, this could use systick too, but that's - * monopolised by NuttX and stealing it would just be awkward. - * - * We don't use the NuttX STM32 driver per se; rather, we - * claim the timer and then drive it directly. - */ - -#include -#include -#include - -#include -#include - -#include -#include -#include -#include -#include -#include - -#include -#include - -#include "chip.h" -#include "up_internal.h" -#include "up_arch.h" - -#include "stm32_internal.h" -#include "stm32_gpio.h" -#include "stm32_tim.h" - -#ifdef CONFIG_HRT_TIMER - -/* HRT configuration */ -#if HRT_TIMER == 1 -# define HRT_TIMER_BASE STM32_TIM1_BASE -# define HRT_TIMER_POWER_REG STM32_RCC_APB2ENR -# define HRT_TIMER_POWER_BIT RCC_APB2ENR_TIM1EN -# define HRT_TIMER_VECTOR STM32_IRQ_TIM1CC -# define HRT_TIMER_CLOCK STM32_APB2_TIM1_CLKIN -# if CONFIG_STM32_TIM1 -# error must not set CONFIG_STM32_TIM1=y and HRT_TIMER=1 -# endif -#elif HRT_TIMER == 2 -# define HRT_TIMER_BASE STM32_TIM2_BASE -# define HRT_TIMER_POWER_REG STM32_RCC_APB1ENR -# define HRT_TIMER_POWER_BIT RCC_APB2ENR_TIM2EN -# define HRT_TIMER_VECTOR STM32_IRQ_TIM2 -# define HRT_TIMER_CLOCK STM32_APB1_TIM2_CLKIN -# if CONFIG_STM32_TIM2 -# error must not set CONFIG_STM32_TIM2=y and HRT_TIMER=2 -# endif -#elif HRT_TIMER == 3 -# define HRT_TIMER_BASE STM32_TIM3_BASE -# define HRT_TIMER_POWER_REG STM32_RCC_APB1ENR -# define HRT_TIMER_POWER_BIT RCC_APB2ENR_TIM3EN -# define HRT_TIMER_VECTOR STM32_IRQ_TIM3 -# define HRT_TIMER_CLOCK STM32_APB1_TIM3_CLKIN -# if CONFIG_STM32_TIM3 -# error must not set CONFIG_STM32_TIM3=y and HRT_TIMER=3 -# endif -#elif HRT_TIMER == 4 -# define HRT_TIMER_BASE STM32_TIM4_BASE -# define HRT_TIMER_POWER_REG STM32_RCC_APB1ENR -# define HRT_TIMER_POWER_BIT RCC_APB2ENR_TIM4EN -# define HRT_TIMER_VECTOR STM32_IRQ_TIM4 -# define HRT_TIMER_CLOCK STM32_APB1_TIM4_CLKIN -# if CONFIG_STM32_TIM4 -# error must not set CONFIG_STM32_TIM4=y and HRT_TIMER=4 -# endif -#elif HRT_TIMER == 5 -# define HRT_TIMER_BASE STM32_TIM5_BASE -# define HRT_TIMER_POWER_REG STM32_RCC_APB1ENR -# define HRT_TIMER_POWER_BIT RCC_APB2ENR_TIM5EN -# define HRT_TIMER_VECTOR STM32_IRQ_TIM5 -# define HRT_TIMER_CLOCK STM32_APB1_TIM5_CLKIN -# if CONFIG_STM32_TIM5 -# error must not set CONFIG_STM32_TIM5=y and HRT_TIMER=5 -# endif -#elif HRT_TIMER == 8 -# define HRT_TIMER_BASE STM32_TIM8_BASE -# define HRT_TIMER_POWER_REG STM32_RCC_APB2ENR -# define HRT_TIMER_POWER_BIT RCC_APB2ENR_TIM8EN -# define HRT_TIMER_VECTOR STM32_IRQ_TIM8CC -# define HRT_TIMER_CLOCK STM32_APB2_TIM8_CLKIN -# if CONFIG_STM32_TIM8 -# error must not set CONFIG_STM32_TIM8=y and HRT_TIMER=8 -# endif -#elif HRT_TIMER == 9 -# define HRT_TIMER_BASE STM32_TIM9_BASE -# define HRT_TIMER_POWER_REG STM32_RCC_APB1ENR -# define HRT_TIMER_POWER_BIT RCC_APB2ENR_TIM9EN -# define HRT_TIMER_VECTOR STM32_IRQ_TIM1BRK -# define HRT_TIMER_CLOCK STM32_APB1_TIM9_CLKIN -# if CONFIG_STM32_TIM9 -# error must not set CONFIG_STM32_TIM9=y and HRT_TIMER=9 -# endif -#elif HRT_TIMER == 10 -# define HRT_TIMER_BASE STM32_TIM10_BASE -# define HRT_TIMER_POWER_REG STM32_RCC_APB1ENR -# define HRT_TIMER_POWER_BIT RCC_APB2ENR_TIM10EN -# define HRT_TIMER_VECTOR STM32_IRQ_TIM1UP -# define HRT_TIMER_CLOCK STM32_APB1_TIM10_CLKIN -# if CONFIG_STM32_TIM10 -# error must not set CONFIG_STM32_TIM11=y and HRT_TIMER=10 -# endif -#elif HRT_TIMER == 11 -# define HRT_TIMER_BASE STM32_TIM11_BASE -# define HRT_TIMER_POWER_REG STM32_RCC_APB1ENR -# define HRT_TIMER_POWER_BIT RCC_APB2ENR_TIM11EN -# define HRT_TIMER_VECTOR STM32_IRQ_TIM1TRGCOM -# define HRT_TIMER_CLOCK STM32_APB1_TIM11_CLKIN -# if CONFIG_STM32_TIM11 -# error must not set CONFIG_STM32_TIM11=y and HRT_TIMER=11 -# endif -#else -# error HRT_TIMER must be set in board.h if CONFIG_HRT_TIMER=y -#endif - -/* - * HRT clock must be a multiple of 1MHz greater than 1MHz - */ -#if (HRT_TIMER_CLOCK % 1000000) != 0 -# error HRT_TIMER_CLOCK must be a multiple of 1MHz -#endif -#if HRT_TIMER_CLOCK <= 1000000 -# error HRT_TIMER_CLOCK must be greater than 1MHz -#endif - -/* - * Minimum/maximum deadlines. - * - * These are suitable for use with a 16-bit timer/counter clocked - * at 1MHz. The high-resolution timer need only guarantee that it - * not wrap more than once in the 50ms period for absolute time to - * be consistently maintained. - * - * The minimum deadline must be such that the time taken between - * reading a time and writing a deadline to the timer cannot - * result in missing the deadline. - */ -#define HRT_INTERVAL_MIN 50 -#define HRT_INTERVAL_MAX 50000 - -/* - * Period of the free-running counter, in microseconds. - */ -#define HRT_COUNTER_PERIOD 65536 - -/* - * Scaling factor(s) for the free-running counter; convert an input - * in counts to a time in microseconds. - */ -#define HRT_COUNTER_SCALE(_c) (_c) - -/* - * Timer register accessors - */ -#define REG(_reg) (*(volatile uint32_t *)(HRT_TIMER_BASE + _reg)) - -#define rCR1 REG(STM32_GTIM_CR1_OFFSET) -#define rCR2 REG(STM32_GTIM_CR2_OFFSET) -#define rSMCR REG(STM32_GTIM_SMCR_OFFSET) -#define rDIER REG(STM32_GTIM_DIER_OFFSET) -#define rSR REG(STM32_GTIM_SR_OFFSET) -#define rEGR REG(STM32_GTIM_EGR_OFFSET) -#define rCCMR1 REG(STM32_GTIM_CCMR1_OFFSET) -#define rCCMR2 REG(STM32_GTIM_CCMR2_OFFSET) -#define rCCER REG(STM32_GTIM_CCER_OFFSET) -#define rCNT REG(STM32_GTIM_CNT_OFFSET) -#define rPSC REG(STM32_GTIM_PSC_OFFSET) -#define rARR REG(STM32_GTIM_ARR_OFFSET) -#define rCCR1 REG(STM32_GTIM_CCR1_OFFSET) -#define rCCR2 REG(STM32_GTIM_CCR2_OFFSET) -#define rCCR3 REG(STM32_GTIM_CCR3_OFFSET) -#define rCCR4 REG(STM32_GTIM_CCR4_OFFSET) -#define rDCR REG(STM32_GTIM_DCR_OFFSET) -#define rDMAR REG(STM32_GTIM_DMAR_OFFSET) - -/* - * Specific registers and bits used by HRT sub-functions - */ -#if HRT_TIMER_CHANNEL == 1 -# define rCCR_HRT rCCR1 /* compare register for HRT */ -# define DIER_HRT GTIM_DIER_CC1IE /* interrupt enable for HRT */ -# define SR_INT_HRT GTIM_SR_CC1IF /* interrupt status for HRT */ -#elif HRT_TIMER_CHANNEL == 2 -# define rCCR_HRT rCCR2 /* compare register for HRT */ -# define DIER_HRT GTIM_DIER_CC2IE /* interrupt enable for HRT */ -# define SR_INT_HRT GTIM_SR_CC2IF /* interrupt status for HRT */ -#elif HRT_TIMER_CHANNEL == 3 -# define rCCR_HRT rCCR3 /* compare register for HRT */ -# define DIER_HRT GTIM_DIER_CC3IE /* interrupt enable for HRT */ -# define SR_INT_HRT GTIM_SR_CC3IF /* interrupt status for HRT */ -#elif HRT_TIMER_CHANNEL == 4 -# define rCCR_HRT rCCR4 /* compare register for HRT */ -# define DIER_HRT GTIM_DIER_CC4IE /* interrupt enable for HRT */ -# define SR_INT_HRT GTIM_SR_CC4IF /* interrupt status for HRT */ -#else -# error HRT_TIMER_CHANNEL must be a value between 1 and 4 -#endif - -/* - * Queue of callout entries. - */ -static struct sq_queue_s callout_queue; - -/* latency baseline (last compare value applied) */ -static uint16_t latency_baseline; - -/* timer count at interrupt (for latency purposes) */ -static uint16_t latency_actual; - -/* latency histogram */ -#define LATENCY_BUCKET_COUNT 8 -static const uint16_t latency_buckets[LATENCY_BUCKET_COUNT] = { 1, 2, 5, 10, 20, 50, 100, 1000 }; -static uint32_t latency_counters[LATENCY_BUCKET_COUNT + 1]; - -/* timer-specific functions */ -static void hrt_tim_init(void); -static int hrt_tim_isr(int irq, void *context); -static void hrt_latency_update(void); - -/* callout list manipulation */ -static void hrt_call_internal(struct hrt_call *entry, - hrt_abstime deadline, - hrt_abstime interval, - hrt_callout callout, - void *arg); -static void hrt_call_enter(struct hrt_call *entry); -static void hrt_call_reschedule(void); -static void hrt_call_invoke(void); - -/* - * Specific registers and bits used by PPM sub-functions - */ -#ifdef CONFIG_HRT_PPM -/* - * If the timer hardware doesn't support GTIM_CCER_CCxNP, then we will work around it. - */ -# ifndef GTIM_CCER_CC1NP -# define GTIM_CCER_CC1NP 0 -# define GTIM_CCER_CC2NP 0 -# define GTIM_CCER_CC3NP 0 -# define GTIM_CCER_CC4NP 0 -# define PPM_EDGE_FLIP -# endif - -# if HRT_PPM_CHANNEL == 1 -# define rCCR_PPM rCCR1 /* capture register for PPM */ -# define DIER_PPM GTIM_DIER_CC1IE /* capture interrupt (non-DMA mode) */ -# define SR_INT_PPM GTIM_SR_CC1IF /* capture interrupt (non-DMA mode) */ -# define SR_OVF_PPM GTIM_SR_CC1OF /* capture overflow (non-DMA mode) */ -# define CCMR1_PPM 1 /* not on TI1/TI2 */ -# define CCMR2_PPM 0 /* on TI3, not on TI4 */ -# define CCER_PPM (GTIM_CCER_CC1E | GTIM_CCER_CC1P | GTIM_CCER_CC1NP) /* CC1, both edges */ -# define CCER_PPM_FLIP GTIM_CCER_CC1P -# elif HRT_PPM_CHANNEL == 2 -# define rCCR_PPM rCCR2 /* capture register for PPM */ -# define DIER_PPM GTIM_DIER_CC2IE /* capture interrupt (non-DMA mode) */ -# define SR_INT_PPM GTIM_SR_CC2IF /* capture interrupt (non-DMA mode) */ -# define SR_OVF_PPM GTIM_SR_CC2OF /* capture overflow (non-DMA mode) */ -# define CCMR1_PPM 2 /* not on TI1/TI2 */ -# define CCMR2_PPM 0 /* on TI3, not on TI4 */ -# define CCER_PPM (GTIM_CCER_CC2E | GTIM_CCER_CC2P | GTIM_CCER_CC2NP) /* CC2, both edges */ -# define CCER_PPM_FLIP GTIM_CCER_CC2P -# elif HRT_PPM_CHANNEL == 3 -# define rCCR_PPM rCCR3 /* capture register for PPM */ -# define DIER_PPM GTIM_DIER_CC3IE /* capture interrupt (non-DMA mode) */ -# define SR_INT_PPM GTIM_SR_CC3IF /* capture interrupt (non-DMA mode) */ -# define SR_OVF_PPM GTIM_SR_CC3OF /* capture overflow (non-DMA mode) */ -# define CCMR1_PPM 0 /* not on TI1/TI2 */ -# define CCMR2_PPM 1 /* on TI3, not on TI4 */ -# define CCER_PPM (GTIM_CCER_CC3E | GTIM_CCER_CC3P | GTIM_CCER_CC3NP) /* CC3, both edges */ -# define CCER_PPM_FLIP GTIM_CCER_CC3P -# elif HRT_PPM_CHANNEL == 4 -# define rCCR_PPM rCCR4 /* capture register for PPM */ -# define DIER_PPM GTIM_DIER_CC4IE /* capture interrupt (non-DMA mode) */ -# define SR_INT_PPM GTIM_SR_CC4IF /* capture interrupt (non-DMA mode) */ -# define SR_OVF_PPM GTIM_SR_CC4OF /* capture overflow (non-DMA mode) */ -# define CCMR1_PPM 0 /* not on TI1/TI2 */ -# define CCMR2_PPM 2 /* on TI3, not on TI4 */ -# define CCER_PPM (GTIM_CCER_CC4E | GTIM_CCER_CC4P | GTIM_CCER_CC4NP) /* CC4, both edges */ -# define CCER_PPM_FLIP GTIM_CCER_CC4P -# else -# error HRT_PPM_CHANNEL must be a value between 1 and 4 if CONFIG_HRT_PPM is set -# endif - -/* - * PPM decoder tuning parameters - */ -# define PPM_MAX_PULSE_WIDTH 500 /* maximum width of a pulse */ -# define PPM_MIN_CHANNEL_VALUE 800 /* shortest valid channel signal */ -# define PPM_MAX_CHANNEL_VALUE 2200 /* longest valid channel signal */ -# define PPM_MIN_START 2500 /* shortest valid start gap */ - -/* decoded PPM buffer */ -#define PPM_MAX_CHANNELS 12 -__EXPORT uint16_t ppm_buffer[PPM_MAX_CHANNELS]; -__EXPORT unsigned ppm_decoded_channels = 0; -__EXPORT uint64_t ppm_last_valid_decode = 0; - -/* PPM edge history */ -__EXPORT uint16_t ppm_edge_history[32]; -unsigned ppm_edge_next; - -/* PPM pulse history */ -__EXPORT uint16_t ppm_pulse_history[32]; -unsigned ppm_pulse_next; - -static uint16_t ppm_temp_buffer[PPM_MAX_CHANNELS]; - -/* PPM decoder state machine */ -struct { - uint16_t last_edge; /* last capture time */ - uint16_t last_mark; /* last significant edge */ - unsigned next_channel; - enum { - UNSYNCH = 0, - ARM, - ACTIVE, - INACTIVE - } phase; -} ppm; - -static void hrt_ppm_decode(uint32_t status); - -#else -/* disable the PPM configuration */ -# define rCCR_PPM 0 -# define DIER_PPM 0 -# define SR_INT_PPM 0 -# define SR_OVF_PPM 0 -# define CCMR1_PPM 0 -# define CCMR2_PPM 0 -# define CCER_PPM 0 -#endif /* CONFIG_HRT_PPM */ - -/* - * Initialise the timer we are going to use. - * - * We expect that we'll own one of the reduced-function STM32 general - * timers, and that we can use channel 1 in compare mode. - */ -static void -hrt_tim_init(void) -{ - /* claim our interrupt vector */ - irq_attach(HRT_TIMER_VECTOR, hrt_tim_isr); - - /* clock/power on our timer */ - modifyreg32(HRT_TIMER_POWER_REG, 0, HRT_TIMER_POWER_BIT); - - /* disable and configure the timer */ - rCR1 = 0; - rCR2 = 0; - rSMCR = 0; - rDIER = DIER_HRT | DIER_PPM; - rCCER = 0; /* unlock CCMR* registers */ - rCCMR1 = CCMR1_PPM; - rCCMR2 = CCMR2_PPM; - rCCER = CCER_PPM; - rDCR = 0; - - /* configure the timer to free-run at 1MHz */ - rPSC = (HRT_TIMER_CLOCK / 1000000) - 1; /* this really only works for whole-MHz clocks */ - - /* run the full span of the counter */ - rARR = 0xffff; - - /* set an initial capture a little ways off */ - rCCR_HRT = 1000; - - /* generate an update event; reloads the counter, all registers */ - rEGR = GTIM_EGR_UG; - - /* enable the timer */ - rCR1 = GTIM_CR1_CEN; - - /* enable interrupts */ - up_enable_irq(HRT_TIMER_VECTOR); -} - -#ifdef CONFIG_HRT_PPM -/* - * Handle the PPM decoder state machine. - */ -static void -hrt_ppm_decode(uint32_t status) -{ - uint16_t count = rCCR_PPM; - uint16_t width; - uint16_t interval; - unsigned i; - - /* if we missed an edge, we have to give up */ - if (status & SR_OVF_PPM) - goto error; - - /* how long since the last edge? */ - width = count - ppm.last_edge; - ppm.last_edge = count; - - ppm_edge_history[ppm_edge_next++] = width; - - if (ppm_edge_next >= 32) - ppm_edge_next = 0; - - /* - * if this looks like a start pulse, then push the last set of values - * and reset the state machine - */ - if (width >= PPM_MIN_START) { - - /* export the last set of samples if we got something sensible */ - if (ppm.next_channel > 4) { - for (i = 0; i < ppm.next_channel && i < PPM_MAX_CHANNELS; i++) - ppm_buffer[i] = ppm_temp_buffer[i]; - - ppm_decoded_channels = i; - ppm_last_valid_decode = hrt_absolute_time(); - - } - - /* reset for the next frame */ - ppm.next_channel = 0; - - /* next edge is the reference for the first channel */ - ppm.phase = ARM; - - return; - } - - switch (ppm.phase) { - case UNSYNCH: - /* we are waiting for a start pulse - nothing useful to do here */ - return; - - case ARM: - - /* we expect a pulse giving us the first mark */ - if (width > PPM_MAX_PULSE_WIDTH) - goto error; /* pulse was too long */ - - /* record the mark timing, expect an inactive edge */ - ppm.last_mark = count; - ppm.phase = INACTIVE; - return; - - case INACTIVE: - /* this edge is not interesting, but now we are ready for the next mark */ - ppm.phase = ACTIVE; - return; - - case ACTIVE: - /* determine the interval from the last mark */ - interval = count - ppm.last_mark; - ppm.last_mark = count; - - ppm_pulse_history[ppm_pulse_next++] = interval; - - if (ppm_pulse_next >= 32) - ppm_pulse_next = 0; - - /* if the mark-mark timing is out of bounds, abandon the frame */ - if ((interval < PPM_MIN_CHANNEL_VALUE) || (interval > PPM_MAX_CHANNEL_VALUE)) - goto error; - - /* if we have room to store the value, do so */ - if (ppm.next_channel < PPM_MAX_CHANNELS) - ppm_temp_buffer[ppm.next_channel++] = interval; - - ppm.phase = INACTIVE; - return; - - } - - /* the state machine is corrupted; reset it */ - -error: - /* we don't like the state of the decoder, reset it and try again */ - ppm.phase = UNSYNCH; - ppm_decoded_channels = 0; - -} -#endif /* CONFIG_HRT_PPM */ - -/* - * Handle the compare interupt by calling the callout dispatcher - * and then re-scheduling the next deadline. - */ -static int -hrt_tim_isr(int irq, void *context) -{ - uint32_t status; - - /* grab the timer for latency tracking purposes */ - latency_actual = rCNT; - - /* copy interrupt status */ - status = rSR; - - /* ack the interrupts we just read */ - rSR = ~status; - -#ifdef CONFIG_HRT_PPM - - /* was this a PPM edge? */ - if (status & (SR_INT_PPM | SR_OVF_PPM)) { - /* if required, flip edge sensitivity */ -# ifdef PPM_EDGE_FLIP - rCCER ^= CCER_PPM_FLIP; -# endif - - hrt_ppm_decode(status); - } -#endif - - /* was this a timer tick? */ - if (status & SR_INT_HRT) { - - /* do latency calculations */ - hrt_latency_update(); - - /* run any callouts that have met their deadline */ - hrt_call_invoke(); - - /* and schedule the next interrupt */ - hrt_call_reschedule(); - } - - return OK; -} - -/* - * Fetch a never-wrapping absolute time value in microseconds from - * some arbitrary epoch shortly after system start. - */ -hrt_abstime -hrt_absolute_time(void) -{ - hrt_abstime abstime; - uint32_t count; - irqstate_t flags; - - /* - * Counter state. Marked volatile as they may change - * inside this routine but outside the irqsave/restore - * pair. Discourage the compiler from moving loads/stores - * to these outside of the protected range. - */ - static volatile hrt_abstime base_time; - static volatile uint32_t last_count; - - /* prevent re-entry */ - flags = irqsave(); - - /* get the current counter value */ - count = rCNT; - - /* - * Determine whether the counter has wrapped since the - * last time we're called. - * - * This simple test is sufficient due to the guarantee that - * we are always called at least once per counter period. - */ - if (count < last_count) - base_time += HRT_COUNTER_PERIOD; - - /* save the count for next time */ - last_count = count; - - /* compute the current time */ - abstime = HRT_COUNTER_SCALE(base_time + count); - - irqrestore(flags); - - return abstime; -} - -/* - * Convert a timespec to absolute time - */ -hrt_abstime -ts_to_abstime(struct timespec *ts) -{ - hrt_abstime result; - - result = (hrt_abstime)(ts->tv_sec) * 1000000; - result += ts->tv_nsec / 1000; - - return result; -} - -/* - * Convert absolute time to a timespec. - */ -void -abstime_to_ts(struct timespec *ts, hrt_abstime abstime) -{ - ts->tv_sec = abstime / 1000000; - abstime -= ts->tv_sec * 1000000; - ts->tv_nsec = abstime * 1000; -} - -/* - * Compare a time value with the current time. - */ -hrt_abstime -hrt_elapsed_time(const volatile hrt_abstime *then) -{ - irqstate_t flags = irqsave(); - - hrt_abstime delta = hrt_absolute_time() - *then; - - irqrestore(flags); - - return delta; -} - -/* - * Store the absolute time in an interrupt-safe fashion - */ -hrt_abstime -hrt_store_absolute_time(volatile hrt_abstime *now) -{ - irqstate_t flags = irqsave(); - - hrt_abstime ts = hrt_absolute_time(); - - irqrestore(flags); - - return ts; -} - -/* - * Initalise the high-resolution timing module. - */ -void -hrt_init(void) -{ - sq_init(&callout_queue); - hrt_tim_init(); - -#ifdef CONFIG_HRT_PPM - /* configure the PPM input pin */ - stm32_configgpio(GPIO_PPM_IN); -#endif -} - -/* - * Call callout(arg) after interval has elapsed. - */ -void -hrt_call_after(struct hrt_call *entry, hrt_abstime delay, hrt_callout callout, void *arg) -{ - hrt_call_internal(entry, - hrt_absolute_time() + delay, - 0, - callout, - arg); -} - -/* - * Call callout(arg) at calltime. - */ -void -hrt_call_at(struct hrt_call *entry, hrt_abstime calltime, hrt_callout callout, void *arg) -{ - hrt_call_internal(entry, calltime, 0, callout, arg); -} - -/* - * Call callout(arg) every period. - */ -void -hrt_call_every(struct hrt_call *entry, hrt_abstime delay, hrt_abstime interval, hrt_callout callout, void *arg) -{ - hrt_call_internal(entry, - hrt_absolute_time() + delay, - interval, - callout, - arg); -} - -static void -hrt_call_internal(struct hrt_call *entry, hrt_abstime deadline, hrt_abstime interval, hrt_callout callout, void *arg) -{ - irqstate_t flags = irqsave(); - - /* if the entry is currently queued, remove it */ - if (entry->deadline != 0) - sq_rem(&entry->link, &callout_queue); - - entry->deadline = deadline; - entry->period = interval; - entry->callout = callout; - entry->arg = arg; - - hrt_call_enter(entry); - - irqrestore(flags); -} - -/* - * If this returns true, the call has been invoked and removed from the callout list. - * - * Always returns false for repeating callouts. - */ -bool -hrt_called(struct hrt_call *entry) -{ - return (entry->deadline == 0); -} - -/* - * Remove the entry from the callout list. - */ -void -hrt_cancel(struct hrt_call *entry) -{ - irqstate_t flags = irqsave(); - - sq_rem(&entry->link, &callout_queue); - entry->deadline = 0; - - /* if this is a periodic call being removed by the callout, prevent it from - * being re-entered when the callout returns. - */ - entry->period = 0; - - irqrestore(flags); -} - -static void -hrt_call_enter(struct hrt_call *entry) -{ - struct hrt_call *call, *next; - - call = (struct hrt_call *)sq_peek(&callout_queue); - - if ((call == NULL) || (entry->deadline < call->deadline)) { - sq_addfirst(&entry->link, &callout_queue); - //lldbg("call enter at head, reschedule\n"); - /* we changed the next deadline, reschedule the timer event */ - hrt_call_reschedule(); - - } else { - do { - next = (struct hrt_call *)sq_next(&call->link); - - if ((next == NULL) || (entry->deadline < next->deadline)) { - //lldbg("call enter after head\n"); - sq_addafter(&call->link, &entry->link, &callout_queue); - break; - } - } while ((call = next) != NULL); - } - - //lldbg("scheduled\n"); -} - -static void -hrt_call_invoke(void) -{ - struct hrt_call *call; - hrt_abstime deadline; - - while (true) { - /* get the current time */ - hrt_abstime now = hrt_absolute_time(); - - call = (struct hrt_call *)sq_peek(&callout_queue); - - if (call == NULL) - break; - - if (call->deadline > now) - break; - - sq_rem(&call->link, &callout_queue); - //lldbg("call pop\n"); - - /* save the intended deadline for periodic calls */ - deadline = call->deadline; - - /* zero the deadline, as the call has occurred */ - call->deadline = 0; - - /* invoke the callout (if there is one) */ - if (call->callout) { - //lldbg("call %p: %p(%p)\n", call, call->callout, call->arg); - call->callout(call->arg); - } - - /* if the callout has a non-zero period, it has to be re-entered */ - if (call->period != 0) { - call->deadline = deadline + call->period; - hrt_call_enter(call); - } - } -} - -/* - * Reschedule the next timer interrupt. - * - * This routine must be called with interrupts disabled. - */ -static void -hrt_call_reschedule() -{ - hrt_abstime now = hrt_absolute_time(); - struct hrt_call *next = (struct hrt_call *)sq_peek(&callout_queue); - hrt_abstime deadline = now + HRT_INTERVAL_MAX; - - /* - * Determine what the next deadline will be. - * - * Note that we ensure that this will be within the counter - * period, so that when we truncate all but the low 16 bits - * the next time the compare matches it will be the deadline - * we want. - * - * It is important for accurate timekeeping that the compare - * interrupt fires sufficiently often that the base_time update in - * hrt_absolute_time runs at least once per timer period. - */ - if (next != NULL) { - //lldbg("entry in queue\n"); - if (next->deadline <= (now + HRT_INTERVAL_MIN)) { - //lldbg("pre-expired\n"); - /* set a minimal deadline so that we call ASAP */ - deadline = now + HRT_INTERVAL_MIN; - - } else if (next->deadline < deadline) { - //lldbg("due soon\n"); - deadline = next->deadline; - } - } - - //lldbg("schedule for %u at %u\n", (unsigned)(deadline & 0xffffffff), (unsigned)(now & 0xffffffff)); - - /* set the new compare value and remember it for latency tracking */ - rCCR_HRT = latency_baseline = deadline & 0xffff; -} - -static void -hrt_latency_update(void) -{ - uint16_t latency = latency_actual - latency_baseline; - unsigned index; - - /* bounded buckets */ - for (index = 0; index < LATENCY_BUCKET_COUNT; index++) { - if (latency <= latency_buckets[index]) { - latency_counters[index]++; - return; - } - } - - /* catch-all at the end */ - latency_counters[index]++; -} - - -#endif /* CONFIG_HRT_TIMER */ diff --git a/apps/drivers/stm32/drv_pwm_servo.c b/apps/drivers/stm32/drv_pwm_servo.c deleted file mode 100644 index d7316e1f7..000000000 --- a/apps/drivers/stm32/drv_pwm_servo.c +++ /dev/null @@ -1,330 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/* - * @file drv_pwm_servo.c - * - * Servo driver supporting PWM servos connected to STM32 timer blocks. - * - * Works with any of the 'generic' or 'advanced' STM32 timers that - * have output pins, does not require an interrupt. - */ - -#include -#include -#include - -#include -#include - -#include -#include -#include -#include -#include -#include -#include - -#include -#include - -#include "drv_pwm_servo.h" - -#include -#include -#include - -#include -#include -#include - -#define REG(_tmr, _reg) (*(volatile uint32_t *)(pwm_timers[_tmr].base + _reg)) - -#define rCR1(_tmr) REG(_tmr, STM32_GTIM_CR1_OFFSET) -#define rCR2(_tmr) REG(_tmr, STM32_GTIM_CR2_OFFSET) -#define rSMCR(_tmr) REG(_tmr, STM32_GTIM_SMCR_OFFSET) -#define rDIER(_tmr) REG(_tmr, STM32_GTIM_DIER_OFFSET) -#define rSR(_tmr) REG(_tmr, STM32_GTIM_SR_OFFSET) -#define rEGR(_tmr) REG(_tmr, STM32_GTIM_EGR_OFFSET) -#define rCCMR1(_tmr) REG(_tmr, STM32_GTIM_CCMR1_OFFSET) -#define rCCMR2(_tmr) REG(_tmr, STM32_GTIM_CCMR2_OFFSET) -#define rCCER(_tmr) REG(_tmr, STM32_GTIM_CCER_OFFSET) -#define rCNT(_tmr) REG(_tmr, STM32_GTIM_CNT_OFFSET) -#define rPSC(_tmr) REG(_tmr, STM32_GTIM_PSC_OFFSET) -#define rARR(_tmr) REG(_tmr, STM32_GTIM_ARR_OFFSET) -#define rCCR1(_tmr) REG(_tmr, STM32_GTIM_CCR1_OFFSET) -#define rCCR2(_tmr) REG(_tmr, STM32_GTIM_CCR2_OFFSET) -#define rCCR3(_tmr) REG(_tmr, STM32_GTIM_CCR3_OFFSET) -#define rCCR4(_tmr) REG(_tmr, STM32_GTIM_CCR4_OFFSET) -#define rDCR(_tmr) REG(_tmr, STM32_GTIM_DCR_OFFSET) -#define rDMAR(_tmr) REG(_tmr, STM32_GTIM_DMAR_OFFSET) - -static void pwm_timer_init(unsigned timer); -static void pwm_timer_set_rate(unsigned timer, unsigned rate); -static void pwm_channel_init(unsigned channel); - -static void -pwm_timer_init(unsigned timer) -{ - /* enable the timer clock before we try to talk to it */ - modifyreg32(pwm_timers[timer].clock_register, 0, pwm_timers[timer].clock_bit); - - /* disable and configure the timer */ - rCR1(timer) = 0; - rCR2(timer) = 0; - rSMCR(timer) = 0; - rDIER(timer) = 0; - rCCER(timer) = 0; - rCCMR1(timer) = 0; - rCCMR2(timer) = 0; - rCCER(timer) = 0; - rDCR(timer) = 0; - - /* configure the timer to free-run at 1MHz */ - rPSC(timer) = (pwm_timers[timer].clock_freq / 1000000) - 1; - - /* default to updating at 50Hz */ - pwm_timer_set_rate(timer, 50); - - /* note that the timer is left disabled - arming is performed separately */ -} - -static void -pwm_timer_set_rate(unsigned timer, unsigned rate) -{ - /* configure the timer to update at the desired rate */ - rARR(timer) = 1000000 / rate; - - /* generate an update event; reloads the counter and all registers */ - rEGR(timer) = GTIM_EGR_UG; -} - -static void -pwm_channel_init(unsigned channel) -{ - unsigned timer = pwm_channels[channel].timer_index; - - /* configure the GPIO first */ - stm32_configgpio(pwm_channels[channel].gpio); - - /* configure the channel */ - switch (pwm_channels[channel].timer_channel) { - case 1: - rCCMR1(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR1_OC1M_SHIFT) | GTIM_CCMR1_OC1PE; - rCCR1(timer) = pwm_channels[channel].default_value; - rCCER(timer) |= GTIM_CCER_CC1E; - break; - - case 2: - rCCMR1(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR1_OC2M_SHIFT) | GTIM_CCMR1_OC2PE; - rCCR2(timer) = pwm_channels[channel].default_value; - rCCER(timer) |= GTIM_CCER_CC2E; - break; - - case 3: - rCCMR2(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR2_OC3M_SHIFT) | GTIM_CCMR2_OC3PE; - rCCR3(timer) = pwm_channels[channel].default_value; - rCCER(timer) |= GTIM_CCER_CC3E; - break; - - case 4: - rCCMR2(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR2_OC4M_SHIFT) | GTIM_CCMR2_OC4PE; - rCCR4(timer) = pwm_channels[channel].default_value; - rCCER(timer) |= GTIM_CCER_CC4E; - break; - } -} - -int -up_pwm_servo_set(unsigned channel, servo_position_t value) -{ - if (channel >= PWM_SERVO_MAX_CHANNELS) - return -1; - - unsigned timer = pwm_channels[channel].timer_index; - - /* test timer for validity */ - if ((pwm_timers[timer].base == 0) || - (pwm_channels[channel].gpio == 0)) - return -1; - - /* configure the channel */ - if (value > 0) - value--; - - switch (pwm_channels[channel].timer_channel) { - case 1: - rCCR1(timer) = value; - break; - - case 2: - rCCR2(timer) = value; - break; - - case 3: - rCCR3(timer) = value; - break; - - case 4: - rCCR4(timer) = value; - break; - - default: - return -1; - } - - return 0; -} - -servo_position_t -up_pwm_servo_get(unsigned channel) -{ - if (channel >= PWM_SERVO_MAX_CHANNELS) - return 0; - - unsigned timer = pwm_channels[channel].timer_index; - servo_position_t value = 0; - - /* test timer for validity */ - if ((pwm_timers[timer].base == 0) || - (pwm_channels[channel].timer_channel == 0)) - return 0; - - /* configure the channel */ - switch (pwm_channels[channel].timer_channel) { - case 1: - value = rCCR1(timer); - break; - - case 2: - value = rCCR2(timer); - break; - - case 3: - value = rCCR3(timer); - break; - - case 4: - value = rCCR4(timer); - break; - } - - return value + 1; -} - -int -up_pwm_servo_init(uint32_t channel_mask) -{ - /* do basic timer initialisation first */ - for (unsigned i = 0; i < PWM_SERVO_MAX_TIMERS; i++) { - if (pwm_timers[i].base != 0) - pwm_timer_init(i); - } - - /* now init channels */ - for (unsigned i = 0; i < PWM_SERVO_MAX_CHANNELS; i++) { - /* don't do init for disabled channels; this leaves the pin configs alone */ - if (((1 << i) & channel_mask) && (pwm_channels[i].timer_channel != 0)) - pwm_channel_init(i); - } - - return OK; -} - -void -up_pwm_servo_deinit(void) -{ - /* disable the timers */ - up_pwm_servo_arm(false); -} - -int -up_pwm_servo_set_rate_group_update(unsigned group, unsigned rate) -{ - /* limit update rate to 1..10000Hz; somewhat arbitrary but safe */ - if (rate < 1) - return -ERANGE; - if (rate > 10000) - return -ERANGE; - - if ((group >= PWM_SERVO_MAX_TIMERS) || (pwm_timers[group].base == 0)) - return ERROR; - - pwm_timer_set_rate(group, rate); - - return OK; -} - -int -up_pwm_servo_set_rate(unsigned rate) -{ - for (unsigned i = 0; i < PWM_SERVO_MAX_TIMERS; i++) - up_pwm_servo_set_rate_group_update(i, rate); -} - -uint32_t -up_pwm_servo_get_rate_group(unsigned group) -{ - unsigned channels = 0; - - for (unsigned i = 0; i < PWM_SERVO_MAX_CHANNELS; i++) { - if ((pwm_channels[i].gpio != 0) && (pwm_channels[i].timer_index == group)) - channels |= (1 << i); - } - return channels; -} - -void -up_pwm_servo_arm(bool armed) -{ - /* iterate timers and arm/disarm appropriately */ - for (unsigned i = 0; i < PWM_SERVO_MAX_TIMERS; i++) { - if (pwm_timers[i].base != 0) { - if (armed) { - /* force an update to preload all registers */ - rEGR(i) = GTIM_EGR_UG; - - /* arm requires the timer be enabled */ - rCR1(i) |= GTIM_CR1_CEN | GTIM_CR1_ARPE; - - } else { - // XXX This leads to FMU PWM being still active - // but uncontrollable. Just disable the timer - // and risk a runt. - ///* on disarm, just stop auto-reload so we don't generate runts */ - //rCR1(i) &= ~GTIM_CR1_ARPE; - rCR1(i) = 0; - } - } - } -} diff --git a/apps/drivers/stm32/drv_pwm_servo.h b/apps/drivers/stm32/drv_pwm_servo.h deleted file mode 100644 index 5dd4cf70c..000000000 --- a/apps/drivers/stm32/drv_pwm_servo.h +++ /dev/null @@ -1,66 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file drv_pwm_servo.h - * - * stm32-specific PWM output data. - */ - -#pragma once - -#include - -/* configuration limits */ -#define PWM_SERVO_MAX_TIMERS 4 -#define PWM_SERVO_MAX_CHANNELS 8 - -/* array of timers dedicated to PWM servo use */ -struct pwm_servo_timer { - uint32_t base; - uint32_t clock_register; - uint32_t clock_bit; - uint32_t clock_freq; -}; - -/* array of channels in logical order */ -struct pwm_servo_channel { - uint32_t gpio; - uint8_t timer_index; - uint8_t timer_channel; - servo_position_t default_value; -}; - -/* supplied by board-specific code */ -__EXPORT extern const struct pwm_servo_timer pwm_timers[PWM_SERVO_MAX_TIMERS]; -__EXPORT extern const struct pwm_servo_channel pwm_channels[PWM_SERVO_MAX_CHANNELS]; diff --git a/apps/drivers/stm32/tone_alarm/Makefile b/apps/drivers/stm32/tone_alarm/Makefile deleted file mode 100644 index d2ddf9534..000000000 --- a/apps/drivers/stm32/tone_alarm/Makefile +++ /dev/null @@ -1,43 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Tone alarm driver -# - -APPNAME = tone_alarm -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 -INCLUDES = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common - -include $(APPDIR)/mk/app.mk diff --git a/apps/drivers/stm32/tone_alarm/tone_alarm.cpp b/apps/drivers/stm32/tone_alarm/tone_alarm.cpp deleted file mode 100644 index ac5511e60..000000000 --- a/apps/drivers/stm32/tone_alarm/tone_alarm.cpp +++ /dev/null @@ -1,1018 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * Driver for the PX4 audio alarm port, /dev/tone_alarm. - * - * The tone_alarm driver supports a set of predefined "alarm" - * tunes and one user-supplied tune. - * - * The TONE_SET_ALARM ioctl can be used to select a predefined - * alarm tune, from 1 - . Selecting tune zero silences - * the alarm. - * - * Tunes follow the syntax of the Microsoft GWBasic/QBasic PLAY - * statement, with some exceptions and extensions. - * - * From Wikibooks: - * - * PLAY "[string expression]" - * - * Used to play notes and a score ... The tones are indicated by letters A through G. - * Accidentals are indicated with a "+" or "#" (for sharp) or "-" (for flat) - * immediately after the note letter. See this example: - * - * PLAY "C C# C C#" - * - * Whitespaces are ignored inside the string expression. There are also codes that - * set the duration, octave and tempo. They are all case-insensitive. PLAY executes - * the commands or notes the order in which they appear in the string. Any indicators - * that change the properties are effective for the notes following that indicator. - * - * Ln Sets the duration (length) of the notes. The variable n does not indicate an actual duration - * amount but rather a note type; L1 - whole note, L2 - half note, L4 - quarter note, etc. - * (L8, L16, L32, L64, ...). By default, n = 4. - * For triplets and quintets, use L3, L6, L12, ... and L5, L10, L20, ... series respectively. - * The shorthand notation of length is also provided for a note. For example, "L4 CDE L8 FG L4 AB" - * can be shortened to "L4 CDE F8G8 AB". F and G play as eighth notes while others play as quarter notes. - * On Sets the current octave. Valid values for n are 0 through 6. An octave begins with C and ends with B. - * Remember that C- is equivalent to B. - * < > Changes the current octave respectively down or up one level. - * Nn Plays a specified note in the seven-octave range. Valid values are from 0 to 84. (0 is a pause.) - * Cannot use with sharp and flat. Cannot use with the shorthand notation neither. - * MN Stand for Music Normal. Note duration is 7/8ths of the length indicated by Ln. It is the default mode. - * ML Stand for Music Legato. Note duration is full length of that indicated by Ln. - * MS Stand for Music Staccato. Note duration is 3/4ths of the length indicated by Ln. - * Pn Causes a silence (pause) for the length of note indicated (same as Ln). - * Tn Sets the number of "L4"s per minute (tempo). Valid values are from 32 to 255. The default value is T120. - * . When placed after a note, it causes the duration of the note to be 3/2 of the set duration. - * This is how to get "dotted" notes. "L4 C#." would play C sharp as a dotted quarter note. - * It can be used for a pause as well. - * - * Extensions/variations: - * - * MB MF The MF command causes the tune to play once and then stop. The MB command causes the - * tune to repeat when it ends. - * - */ - -#include -#include - -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include - -#include -#include -#include - -#include -#include -#include - -#include - -#ifndef CONFIG_HRT_TIMER -# error This driver requires CONFIG_HRT_TIMER -#endif - -/* Tone alarm configuration */ -#if TONE_ALARM_TIMER == 2 -# define TONE_ALARM_BASE STM32_TIM2_BASE -# define TONE_ALARM_CLOCK STM32_APB1_TIM2_CLKIN -# define TONE_ALARM_CLOCK_ENABLE RCC_APB1ENR_TIM2EN -# ifdef CONFIG_STM32_TIM2 -# error Must not set CONFIG_STM32_TIM2 when TONE_ALARM_TIMER is 2 -# endif -#elif TONE_ALARM_TIMER == 3 -# define TONE_ALARM_BASE STM32_TIM3_BASE -# define TONE_ALARM_CLOCK STM32_APB1_TIM3_CLKIN -# define TONE_ALARM_CLOCK_ENABLE RCC_APB1ENR_TIM3EN -# ifdef CONFIG_STM32_TIM3 -# error Must not set CONFIG_STM32_TIM3 when TONE_ALARM_TIMER is 3 -# endif -#elif TONE_ALARM_TIMER == 4 -# define TONE_ALARM_BASE STM32_TIM4_BASE -# define TONE_ALARM_CLOCK STM32_APB1_TIM4_CLKIN -# define TONE_ALARM_CLOCK_ENABLE RCC_APB1ENR_TIM4EN -# ifdef CONFIG_STM32_TIM4 -# error Must not set CONFIG_STM32_TIM4 when TONE_ALARM_TIMER is 4 -# endif -#elif TONE_ALARM_TIMER == 5 -# define TONE_ALARM_BASE STM32_TIM5_BASE -# define TONE_ALARM_CLOCK STM32_APB1_TIM5_CLKIN -# define TONE_ALARM_CLOCK_ENABLE RCC_APB1ENR_TIM5EN -# ifdef CONFIG_STM32_TIM5 -# error Must not set CONFIG_STM32_TIM5 when TONE_ALARM_TIMER is 5 -# endif -#elif TONE_ALARM_TIMER == 9 -# define TONE_ALARM_BASE STM32_TIM9_BASE -# define TONE_ALARM_CLOCK STM32_APB1_TIM9_CLKIN -# define TONE_ALARM_CLOCK_ENABLE RCC_APB1ENR_TIM9EN -# ifdef CONFIG_STM32_TIM9 -# error Must not set CONFIG_STM32_TIM9 when TONE_ALARM_TIMER is 9 -# endif -#elif TONE_ALARM_TIMER == 10 -# define TONE_ALARM_BASE STM32_TIM10_BASE -# define TONE_ALARM_CLOCK STM32_APB1_TIM10_CLKIN -# define TONE_ALARM_CLOCK_ENABLE RCC_APB1ENR_TIM10EN -# ifdef CONFIG_STM32_TIM10 -# error Must not set CONFIG_STM32_TIM10 when TONE_ALARM_TIMER is 10 -# endif -#elif TONE_ALARM_TIMER == 11 -# define TONE_ALARM_BASE STM32_TIM11_BASE -# define TONE_ALARM_CLOCK STM32_APB1_TIM11_CLKIN -# define TONE_ALARM_CLOCK_ENABLE RCC_APB1ENR_TIM11EN -# ifdef CONFIG_STM32_TIM11 -# error Must not set CONFIG_STM32_TIM11 when TONE_ALARM_TIMER is 11 -# endif -#else -# error Must set TONE_ALARM_TIMER to a generic timer in order to use this driver. -#endif - -#if TONE_ALARM_CHANNEL == 1 -# define TONE_CCMR1 (3 << 4) -# define TONE_CCMR2 0 -# define TONE_CCER (1 << 0) -# define TONE_rCCR rCCR1 -#elif TONE_ALARM_CHANNEL == 2 -# define TONE_CCMR1 (3 << 12) -# define TONE_CCMR2 0 -# define TONE_CCER (1 << 4) -# define TONE_rCCR rCCR2 -#elif TONE_ALARM_CHANNEL == 3 -# define TONE_CCMR1 0 -# define TONE_CCMR2 (3 << 4) -# define TONE_CCER (1 << 8) -# define TONE_rCCR rCCR3 -#elif TONE_ALARM_CHANNEL == 4 -# define TONE_CCMR1 0 -# define TONE_CCMR2 (3 << 12) -# define TONE_CCER (1 << 12) -# define TONE_rCCR rCCR4 -#else -# error Must set TONE_ALARM_CHANNEL to a value between 1 and 4 to use this driver. -#endif - - -/* - * Timer register accessors - */ -#define REG(_reg) (*(volatile uint32_t *)(TONE_ALARM_BASE + _reg)) - -#define rCR1 REG(STM32_GTIM_CR1_OFFSET) -#define rCR2 REG(STM32_GTIM_CR2_OFFSET) -#define rSMCR REG(STM32_GTIM_SMCR_OFFSET) -#define rDIER REG(STM32_GTIM_DIER_OFFSET) -#define rSR REG(STM32_GTIM_SR_OFFSET) -#define rEGR REG(STM32_GTIM_EGR_OFFSET) -#define rCCMR1 REG(STM32_GTIM_CCMR1_OFFSET) -#define rCCMR2 REG(STM32_GTIM_CCMR2_OFFSET) -#define rCCER REG(STM32_GTIM_CCER_OFFSET) -#define rCNT REG(STM32_GTIM_CNT_OFFSET) -#define rPSC REG(STM32_GTIM_PSC_OFFSET) -#define rARR REG(STM32_GTIM_ARR_OFFSET) -#define rCCR1 REG(STM32_GTIM_CCR1_OFFSET) -#define rCCR2 REG(STM32_GTIM_CCR2_OFFSET) -#define rCCR3 REG(STM32_GTIM_CCR3_OFFSET) -#define rCCR4 REG(STM32_GTIM_CCR4_OFFSET) -#define rDCR REG(STM32_GTIM_DCR_OFFSET) -#define rDMAR REG(STM32_GTIM_DMAR_OFFSET) - -class ToneAlarm : public device::CDev -{ -public: - ToneAlarm(); - ~ToneAlarm(); - - virtual int init(); - - virtual int ioctl(file *filp, int cmd, unsigned long arg); - virtual ssize_t write(file *filp, const char *buffer, size_t len); - -private: - static const unsigned _tune_max = 1024; // be reasonable about user tunes - static const char * const _default_tunes[]; - static const unsigned _default_ntunes; - static const uint8_t _note_tab[]; - - const char *_user_tune; - - const char *_tune; // current tune string - const char *_next; // next note in the string - - unsigned _tempo; - unsigned _note_length; - enum { MODE_NORMAL, MODE_LEGATO, MODE_STACCATO} _note_mode; - unsigned _octave; - unsigned _silence_length; // if nonzero, silence before next note - bool _repeat; // if true, tune restarts at end - - hrt_call _note_call; // HRT callout for note completion - - // Convert a note value in the range C1 to B7 into a divisor for - // the configured timer's clock. - // - unsigned note_to_divisor(unsigned note); - - // Calculate the duration in microseconds of play and silence for a - // note given the current tempo, length and mode and the number of - // dots following in the play string. - // - unsigned note_duration(unsigned &silence, unsigned note_length, unsigned dots); - - // Calculate the duration in microseconds of a rest corresponding to - // a given note length. - // - unsigned rest_duration(unsigned rest_length, unsigned dots); - - // Start playing the note - // - void start_note(unsigned note); - - // Stop playing the current note and make the player 'safe' - // - void stop_note(); - - // Start playing the tune - // - void start_tune(const char *tune); - - // Parse the next note out of the string and play it - // - void next_note(); - - // Find the next character in the string, discard any whitespace and - // return the canonical (uppercase) version. - // - int next_char(); - - // Extract a number from the string, consuming all the digit characters. - // - unsigned next_number(); - - // Consume dot characters from the string, returning the number consumed. - // - unsigned next_dots(); - - // hrt_call trampoline for next_note - // - static void next_trampoline(void *arg); - -}; - -// predefined tune array -const char * const ToneAlarm::_default_tunes[] = { - "MFT240L8 O4aO5dc O4aO5dc O4aO5dc L16dcdcdcdc", // startup tune - "MBT200a8a8a8PaaaP", // ERROR tone - "MFT200e8a8a", // NotifyPositive tone - "MFT200e8e", // NotifyNeutral tone - "MFT200e8c8e8c8e8c8", // NotifyNegative tone - "MFT90O3C16.C32C16.C32C16.C32G16.E32G16.E32G16.E32C16.C32C16.C32C16.C32G16.E32G16.E32G16.E32C4", // charge! - "MFT60O3C32O2A32F16F16F32G32A32A+32O3C16C16C16O2A16", // dixie - "MFT90O2C16C16C16F8.A8C16C16C16F8.A4P16P8", // cucuracha - "MNT150L8O2GGABGBADGGABL4GL8F+", // yankee - "MFT200O3C4.O2A4.G4.F4.D8E8F8D4F8C2.O2G4.O3C4.O2A4.F4.D8E8F8G4A8G2P8", // daisy - "T200O2B4P8B16B16B4P8B16B16B8G+8E8G+8B8G+8B8O3E8" // william tell - "O2B8G+8E8G+8B8G+8B8O3E8O2B4P8B16B16B4P8B16" - "O2B16B4P8B16B16B4P8B16B16B8B16B16B8B8B8B16" - "O2B16B8B8B8B16B16B8B8B8B16B16B8B8B2B2B8P8" - "P4P4P8O1B16B16B8B16B16B8B16B16O2E8F+8G+8" - "O1B16B16B8B16B16O2E8G+16G+16F+8D+8O1B8B16" - "O1B16B8B16B16B8B16B16O2E8F+8G+8E16G+16B4" - "O2B16A16G+16F+16E8G+8E8O3B16B16B8B16B16B8" - "O3B16B16O4E8F+8G+8O3B16B16B8B16B16O4E8G+16" - "O4G+16F+8D+8O3B8B16B16B8B16B16B8B16B16O4E8" - "O4F+8G+8E16G+16B4B16A16G+16F+16E8G+8E8O3G+16" - "O3G+16G+8G+16G+16G+8G+16G+16G+8O4C+8O3G+8" - "O4C+8O3G+8O4C+8O3G+8F+8E8D+8C+8G+16G+16G+8" - "O3G+16G+16G+8G+16G+16G+8O4C+8O3G+8O4C+8O3G+8" - "O4C+8O3B8A+8B8A+8B8G+16G+16G+8G+16G+16G+8" - "O3G+16G+16G+8O4C+8O3G+8O4C+8O3G+8O4C+8O3G+8" - "O3F+8E8D+8C+8G+16G+16G+8G+16G+16G+8G+16G+16" - "O3G+8O4C+8O3G+8O4C+8O3G+8O4C+8O3B8A+8B8O2B16" - "O2B16B8F+16F+16F+8F+16F+16F+8G+8A8F+4A8G+8" - "O2E4G+8F+8F+8F+8O3F+16F+16F+8F+16F+16F+8" - "O3G+8A8F+4A8G+8E4G+8F+8O2B16B16B8O1B16B16" - "O1B8B16B16B8B16B16O2E8F+8G+8O1B16B16B8B16" - "O1B16O2E8G+16G+16F+8D+8O1B8B16B16B8B16B16" - "O1B8B16B16O2E8F+8G+8E16G+16B4B16A16G+16F+16" - "O2E8G+8E8O3B16B16B8B16B16B8B16B16O4E8F+8" - "O4G+8O3B16B16B8B16B16O4E8G+16G+16F+8D+8O3B8" - "O3B16B16B8B16B16B8B16B16O4E8F+8G+8E16G+16" - "O4B4B16A16G+16F+16E8G+8E8O3E64F64G64A64B64" - "O4C64D64E8E16E16E8E8G+4.F+8E8D+8E8C+8O3B16" - "O4C+16O3B16O4C+16O3B16O4C+16D+16E16O3A16" - "O3B16A16B16A16B16O4C+16D+16O3G+16A16G+16" - "O3A16G+16A16B16O4C+16O3F+16G+16F+16G+16F+16" - "O3G+16F+16G+16F+16G+16F+16D+16O2B16O3B16" - "O4C+16D+16E8D+8E8C+8O3B16O4C+16O3B16O4C+16" - "O3B16O4C+16D+16E16O3A16B16A16B16A16B16O4C+16" - "O4D+16O3G+16A16G+16A16G+16A16B16O4C+16O3F+16" - "O3G+16F+16G+16F+16A16F+16E16E8P8C+4C+16O2C16" - "O3C+16O2C16O3D+16C+16O2B16A16A16G+16E16C+16" - "O2C+16C+16C+16C+16E16D+16O1C16G+16G+16G+16" - "O1G+16G+16G+16O2C+16E16G+16O3C+16C+16C+16" - "O3C+16C+16O2C16O3C+16O2C16O3D+16C+16O2B16" - "O2A16A16G+16E16C+16C+16C+16C+16C+16E16D+16" - "O1C16G+16G+16G+16G+16G+16G+16O2C+16E16G+16" - "O3C+16E16D+16C+16D+16O2C16G+16G+16G+16O3G+16" - "O3E16C+16D+16O2C16G+16G+16G+16O3G+16E16C+16" - "O3D+16O2B16G+16G+16A+16G16D+16D+16G+16G16" - "O2G+16G16G+16A16G+16F+16E16O1B16A+16B16O2E16" - "O1B16O2F+16O1B16O2G+16E16D+16E16G+16E16A16" - "O2F+16B16O3G+16F+16E16D+16F+16E16C+16O2B16" - "O3C+16O2B16O3C+16D+16E16F+16G+16O2A16B16" - "O2A16B16O3C+16D+16E16F+16O2G+16A16G+16A16" - "O2C16O3C+16D+16E16O2F+16G+16F+16G+16F+16" - "O2G+16F+16G+16F+16G+16F+16D+16O1B16C16O2C+16" - "O2D+16E16O1B16A+16B16O2E16O1B16O2F+16O1B16" - "O2G+16E16D+16E16G+16E16A16F+16B16O3G+16F+16" - "O3E16D+16F+16E16C+16O2B16O3C+16O2B16O3C+16" - "O3D+16E16F+16G+16O2A16B16A16B16O3C+16D+16" - "O3E16F+16O2G+16A16G+16A16B16O3C+16D+16E16" - "O2F+16O3C+16O2C16O3C+16D+16C+16O2A16F+16" - "O2E16O3E16F+16G+16A16B16O4C+16D+16E8E16E16" - "O4E8E8G+4.F8E8D+8E8C+8O3B16O4C+16O3B16O4C+16" - "O3B16O4C+16D+16E16O3A16B16A16B16A16B16O4C+16" - "O4D+16O3G+16A16G+16A16G+16A16B16O4C+16O3F+16" - "O3G+16F+16G+16F+16G+16F+16G+16F+16G+16F+16" - "O3D+16O2B16O3B16O4C+16D+16E8E16E16E8E8G+4." - "O4F+8E8D+8E8C+8O3B16O4C+16O3B16O4C+16O3B16" - "O4C+16D+16E16O3A16B16A16B16A16B16O4C+16D+16" - "O3G+16A16G+16A16G+16A16B16O4C+16O3F+16G+16" - "O3F+16G+16F+16A16G+16F+16E8O2B8O3E8G+16G+16" - "O3G+8G+16G+16G+8G+16G+16G+8O4C+8O3G+8O4C+8" - "O3G+8O4C+8O3G+8F+8E8D+8C+8G+16G+16G+8G+16" - "O3G+16G+8G+16G+16G+8O4C+8O3G+8O4C+8O3G+8" - "O4C+8O3B8A+8B8A+8B8G+16G+16G+8G+16G+16G+8" - "O3G+16G+16G+8O4C+8O3G+8O4C+8O3G+8O4C+8O3G+8" - "O3F+8E8D+8C+8G+16G+16G+8G+16G+16G+8G+16G+16" - "O3G+8O4C+8O3G+8O4C+8O3G+8O4C+8O3B8A+8B8A+8" - "O3B8O2F+16F+16F+8F+16F+16F+8G+8A8F+4A8G+8" - "O2E4G+8F+8B8O1B8O2F+16F+16F+8F+16F+16F+8" - "O2G+8A8F+4A8G+8E4G+8F+8B16B16B8O1B16B16B8" - "O1B16B16B8B16B16O2E8F+8G+8O1B16B16B8B16B16" - "O2E8G+16G+16F+8D+8O1B8B16B16B8B16B16B8B16" - "O1B16O2E8F+8G+8E16G+16B4B16A16G+16F+16E8" - "O1B8O2E8O3B16B16B8B16B16B8B16B16O4E8F+8G+8" - "O3B16B16B8B16B16O4E8G+16G+16F+8D+8O3B8B16" - "O3B16B8B16B16B8B16B16O4E8F+8G+8O3E16G+16" - "O3B4B16A16G+16F+16E16F+16G+16A16G+16A16B16" - "O4C+16O3B16O4C+16D+16E16D+16E16F+16G+16A16" - "O3B16O4A16O3B16O4A16O3B16O4A16O3B16O4A16" - "O3B16O4A16O3B16O4A16O3B16O4A16O3B16E16F+16" - "O3G+16A16G+16A16B16O4C+16O3B16O4C+16D+16" - "O4E16D+16E16F+16G+16A16O3B16O4A16O3B16O4A16" - "O3B16O4A16O3B16O4A16O3B16O4A16O3B16O4A16" - "O3B16O4A16O3B16P16G+16O4G+16O3G+16P16D+16" - "O4D+16O3D+16P16E16O4E16O3E16P16A16O4A16O3A16" - "P16O3G+16O4G+16O3G+16P16D+16O4D+16O3D+16" - "P16O3E16O4E16O3E16P16A16O4A16O3A16O4G16O3G16" - "O4G16O3G16O4G16O3G16O4G16O3G16O4G8E8C8E8" - "O4G+16O3G+16O4G+16O3G+16O4G+16O3G+16O4G+16" - "O3G+16O4G+8E8O3B8O4E8G+16O3G+16O4G+16O3G+16" - "O4G+16O3G+16O4G+16O3G+16O4G+8F8C+8F8A+16" - "O3A+16O4A+16O3A+16O4A+16O3A+16O4A+16O3A+16" - "O4A+8G8E8G8B8P16A+16P16A16P16G+16P16F+16" - "P16O4E16P16D+16P16C+16P16O3B16P16A+16P16" - "O3A16P16G+16P16F+16P16E16P16D+16P16F+16E16" - "O3F+16G+16A16G+16A16B16O4C+16O3B16O4C+16" - "O4D+16E16D+16E16F+16G+16A16O3B16O4A16O3B16" - "O4A16O3B16O4A16O3B16O4A16O3B16O4A16O3B16" - "O4A16O3B16O4A16O3B16E16F+16G+16A16G+16A16" - "O3B16O4C+16O3B16O4C+16D+16E16D+16E16F+16" - "O4G+16A16O3B16O4A16O3B16O4A16O3B16O4A16O3B16" - "O4A16O3B16O4A16O3B16O4A16O3B16O4A16O3B16" - "P16O3G+16O4G+16O3G+16P16D+16O4D+16O3D+16" - "P16O3E16O4E16O3E16P16A16O4A16O3A16P16G+16" - "O4G+16O3G+16P16D+16O4D+16O3D+16P16E16O4E16" - "O3E16P16A16O4A16O3A16O4G16O3G16O4G16O3G16" - "O4G16O3G16O4G16O3G16O4G8E8C8E8G+16O3G+16" - "O4G+16O3G+16O4G+16O3G+16O4G+16O3G+16O4G+8" - "O4E8O3B8O4E8G+16O3G+16O4G+16O3G+16O4G+16" - "O3G+16O4G+16O3G+16O4G+8F8C+8F8A+16O3A+16" - "O4A+16O3A+16O4A+16O3A+16O4A+16O3A+16O4A+8" - "O4G8E8G8B8P16A+16P16A16P16G+16P16F+16P16" - "O4E16P16D+16P16C+16P16O3B16P16A+16P16A16" - "P16O3G+16P16F+16P16E16P16D+16P16F16E16D+16" - "O3E16D+16E8B16B16B8B16B16B8B16B16O4E8F+8" - "O4G+8O3B16B16B8B16B16B8B16B16O4G+8A8B8P8" - "O4E8F+8G+8P8O3G+8A8B8P8P2O2B16C16O3C+16D16" - "O3D+16E16F16F+16G16G+16A16A+16B16C16O4C+16" - "O4D+16E16D+16F+16D+16E16D+16F+16D+16E16D+16" - "O4F+16D+16E16D+16F+16D+16E16D+16F+16D+16" - "O4E16D+16F+16D+16E16D+16F+16D+16E16D+16F+16" - "O4D+16E8E16O3E16O4E16O3E16O4E16O3E16O4E8" - "O3B16O2B16O3B16O2B16O3B16O2B16O3B8G+16O2G+16" - "O3G+16O2G+16O3G+16O2G+16O3G8E16O2E16O3E16" - "O2E16O3E16O2E16O3E8E16E16E8E8E8O2B16B16B8" - "O2B8B8G+16G+16G+8G+8G+8E16E16E8E8E8O1B8O2E8" - "O1B8O2G+8E8B8G+8O3E8O2B8O3E8O2B8O3G+8E8B8" - "O3G+8O4E4P8E16E16E8E8E8E8E4P8E16E4P8O2E16" - "O2E2P64", -}; - -const unsigned ToneAlarm::_default_ntunes = sizeof(_default_tunes) / sizeof(_default_tunes[0]); - -// semitone offsets from C for the characters 'A'-'G' -const uint8_t ToneAlarm::_note_tab[] = {9, 11, 0, 2, 4, 5, 7}; - -/* - * Driver 'main' command. - */ -extern "C" __EXPORT int tone_alarm_main(int argc, char *argv[]); - - -ToneAlarm::ToneAlarm() : - CDev("tone_alarm", "/dev/tone_alarm"), - _user_tune(nullptr), - _tune(nullptr), - _next(nullptr) -{ - // enable debug() calls - //_debug_enabled = true; -} - -ToneAlarm::~ToneAlarm() -{ -} - -int -ToneAlarm::init() -{ - int ret; - - ret = CDev::init(); - - if (ret != OK) - return ret; - - /* configure the GPIO to the idle state */ - stm32_configgpio(GPIO_TONE_ALARM_IDLE); - - /* clock/power on our timer */ - modifyreg32(STM32_RCC_APB1ENR, 0, TONE_ALARM_CLOCK_ENABLE); - - /* initialise the timer */ - rCR1 = 0; - rCR2 = 0; - rSMCR = 0; - rDIER = 0; - rCCER &= TONE_CCER; /* unlock CCMR* registers */ - rCCMR1 = TONE_CCMR1; - rCCMR2 = TONE_CCMR2; - rCCER = TONE_CCER; - rDCR = 0; - - /* toggle the CC output each time the count passes 1 */ - TONE_rCCR = 1; - - /* default the timer to a prescale value of 1; playing notes will change this */ - rPSC = 0; - - /* make sure the timer is running */ - rCR1 = GTIM_CR1_CEN; - - debug("ready"); - return OK; -} - -unsigned -ToneAlarm::note_to_divisor(unsigned note) -{ - // compute the frequency first (Hz) - float freq = 880.0f * expf(logf(2.0f) * ((int)note - 46) / 12.0f); - - float period = 0.5f / freq; - - // and the divisor, rounded to the nearest integer - unsigned divisor = (period * TONE_ALARM_CLOCK) + 0.5f; - - return divisor; -} - -unsigned -ToneAlarm::note_duration(unsigned &silence, unsigned note_length, unsigned dots) -{ - unsigned whole_note_period = (60 * 1000000 * 4) / _tempo; - - if (note_length == 0) - note_length = 1; - unsigned note_period = whole_note_period / note_length; - - switch (_note_mode) { - case MODE_NORMAL: - silence = note_period / 8; - break; - case MODE_STACCATO: - silence = note_period / 4; - break; - default: - case MODE_LEGATO: - silence = 0; - break; - } - note_period -= silence; - - unsigned dot_extension = note_period / 2; - while (dots--) { - note_period += dot_extension; - dot_extension /= 2; - } - - return note_period; -} - -unsigned -ToneAlarm::rest_duration(unsigned rest_length, unsigned dots) -{ - unsigned whole_note_period = (60 * 1000000 * 4) / _tempo; - - if (rest_length == 0) - rest_length = 1; - - unsigned rest_period = whole_note_period / rest_length; - - unsigned dot_extension = rest_period / 2; - while (dots--) { - rest_period += dot_extension; - dot_extension /= 2; - } - - return rest_period; -} - -void -ToneAlarm::start_note(unsigned note) -{ - // compute the divisor - unsigned divisor = note_to_divisor(note); - - // pick the lowest prescaler value that we can use - // (note that the effective prescale value is 1 greater) - unsigned prescale = divisor / 65536; - - // calculate the timer period for the selected prescaler value - unsigned period = (divisor / (prescale + 1)) - 1; - - rPSC = prescale; // load new prescaler - rARR = period; // load new toggle period - rEGR = GTIM_EGR_UG; // force a reload of the period - rCCER |= TONE_CCER; // enable the output - - // configure the GPIO to enable timer output - stm32_configgpio(GPIO_TONE_ALARM); -} - -void -ToneAlarm::stop_note() -{ - /* stop the current note */ - rCCER &= ~TONE_CCER; - - /* - * Make sure the GPIO is not driving the speaker. - */ - stm32_configgpio(GPIO_TONE_ALARM_IDLE); -} - -void -ToneAlarm::start_tune(const char *tune) -{ - // kill any current playback - hrt_cancel(&_note_call); - - // record the tune - _tune = tune; - _next = tune; - - // initialise player state - _tempo = 120; - _note_length = 4; - _note_mode = MODE_NORMAL; - _octave = 4; - _silence_length = 0; - _repeat = false; // otherwise command-line tunes repeat forever... - - // schedule a callback to start playing - hrt_call_after(&_note_call, 0, (hrt_callout)next_trampoline, this); -} - -void -ToneAlarm::next_note() -{ - // do we have an inter-note gap to wait for? - if (_silence_length > 0) { - stop_note(); - hrt_call_after(&_note_call, (hrt_abstime)_silence_length, (hrt_callout)next_trampoline, this); - _silence_length = 0; - return; - } - - // make sure we still have a tune - may be removed by the write / ioctl handler - if ((_next == nullptr) || (_tune == nullptr)) { - stop_note(); - return; - } - - // parse characters out of the string until we have resolved a note - unsigned note = 0; - unsigned note_length = _note_length; - unsigned duration; - - while (note == 0) { - // we always need at least one character from the string - int c = next_char(); - if (c == 0) - goto tune_end; - _next++; - - switch (c) { - case 'L': // select note length - _note_length = next_number(); - if (_note_length < 1) - goto tune_error; - break; - - case 'O': // select octave - _octave = next_number(); - if (_octave > 6) - _octave = 6; - break; - - case '<': // decrease octave - if (_octave > 0) - _octave--; - break; - - case '>': // increase octave - if (_octave < 6) - _octave++; - break; - - case 'M': // select inter-note gap - c = next_char(); - if (c == 0) - goto tune_error; - _next++; - switch (c) { - case 'N': - _note_mode = MODE_NORMAL; - break; - case 'L': - _note_mode = MODE_LEGATO; - break; - case 'S': - _note_mode = MODE_STACCATO; - break; - case 'F': - _repeat = false; - break; - case 'B': - _repeat = true; - break; - default: - goto tune_error; - } - break; - - case 'P': // pause for a note length - stop_note(); - hrt_call_after(&_note_call, - (hrt_abstime)rest_duration(next_number(), next_dots()), - (hrt_callout)next_trampoline, - this); - return; - - case 'T': { // change tempo - unsigned nt = next_number(); - - if ((nt >= 32) && (nt <= 255)) { - _tempo = nt; - } else { - goto tune_error; - } - break; - } - - case 'N': // play an arbitrary note - note = next_number(); - if (note > 84) - goto tune_error; - if (note == 0) { - // this is a rest - pause for the current note length - hrt_call_after(&_note_call, - (hrt_abstime)rest_duration(_note_length, next_dots()), - (hrt_callout)next_trampoline, - this); - return; - } - break; - - case 'A'...'G': // play a note in the current octave - note = _note_tab[c - 'A'] + (_octave * 12) + 1; - c = next_char(); - switch (c) { - case '#': // up a semitone - case '+': - if (note < 84) - note++; - _next++; - break; - case '-': // down a semitone - if (note > 1) - note--; - _next++; - break; - default: - // 0 / no next char here is OK - break; - } - // shorthand length notation - note_length = next_number(); - if (note_length == 0) - note_length = _note_length; - break; - - default: - goto tune_error; - } - } - - // compute the duration of the note and the following silence (if any) - duration = note_duration(_silence_length, note_length, next_dots()); - - // start playing the note - start_note(note); - - // and arrange a callback when the note should stop - hrt_call_after(&_note_call, (hrt_abstime)duration, (hrt_callout)next_trampoline, this); - return; - - // tune looks bad (unexpected EOF, bad character, etc.) -tune_error: - lowsyslog("tune error\n"); - _repeat = false; // don't loop on error - - // stop (and potentially restart) the tune -tune_end: - stop_note(); - if (_repeat) - start_tune(_tune); - return; -} - -int -ToneAlarm::next_char() -{ - while (isspace(*_next)) { - _next++; - } - return toupper(*_next); -} - -unsigned -ToneAlarm::next_number() -{ - unsigned number = 0; - int c; - - for (;;) { - c = next_char(); - if (!isdigit(c)) - return number; - _next++; - number = (number * 10) + (c - '0'); - } -} - -unsigned -ToneAlarm::next_dots() -{ - unsigned dots = 0; - - while (next_char() == '.') { - _next++; - dots++; - } - return dots; -} - -void -ToneAlarm::next_trampoline(void *arg) -{ - ToneAlarm *ta = (ToneAlarm *)arg; - - ta->next_note(); -} - - -int -ToneAlarm::ioctl(file *filp, int cmd, unsigned long arg) -{ - int result = OK; - - debug("ioctl %i %u", cmd, arg); - -// irqstate_t flags = irqsave(); - - /* decide whether to increase the alarm level to cmd or leave it alone */ - switch (cmd) { - case TONE_SET_ALARM: - debug("TONE_SET_ALARM %u", arg); - - if (arg <= _default_ntunes) { - if (arg == 0) { - // stop the tune - _tune = nullptr; - _next = nullptr; - } else { - // play the selected tune - start_tune(_default_tunes[arg - 1]); - } - } else { - result = -EINVAL; - } - - break; - - default: - result = -ENOTTY; - break; - } - -// irqrestore(flags); - - /* give it to the superclass if we didn't like it */ - if (result == -ENOTTY) - result = CDev::ioctl(filp, cmd, arg); - - return result; -} - -int -ToneAlarm::write(file *filp, const char *buffer, size_t len) -{ - // sanity-check the buffer for length and nul-termination - if (len > _tune_max) - return -EFBIG; - - // if we have an existing user tune, free it - if (_user_tune != nullptr) { - - // if we are playing the user tune, stop - if (_tune == _user_tune) { - _tune = nullptr; - _next = nullptr; - } - - // free the old user tune - free((void *)_user_tune); - _user_tune = nullptr; - } - - // if the new tune is empty, we're done - if (buffer[0] == '\0') - return OK; - - // allocate a copy of the new tune - _user_tune = strndup(buffer, len); - if (_user_tune == nullptr) - return -ENOMEM; - - // and play it - start_tune(_user_tune); - - return len; -} - -/** - * Local functions in support of the shell command. - */ -namespace -{ - -ToneAlarm *g_dev; - -int -play_tune(unsigned tune) -{ - int fd, ret; - - fd = open("/dev/tone_alarm", 0); - - if (fd < 0) - err(1, "/dev/tone_alarm"); - - ret = ioctl(fd, TONE_SET_ALARM, tune); - close(fd); - - if (ret != 0) - err(1, "TONE_SET_ALARM"); - - exit(0); -} - -int -play_string(const char *str) -{ - int fd, ret; - - fd = open("/dev/tone_alarm", O_WRONLY); - - if (fd < 0) - err(1, "/dev/tone_alarm"); - - ret = write(fd, str, strlen(str) + 1); - close(fd); - - if (ret < 0) - err(1, "play tune"); - exit(0); -} - -} // namespace - -int -tone_alarm_main(int argc, char *argv[]) -{ - unsigned tune; - - /* start the driver lazily */ - if (g_dev == nullptr) { - g_dev = new ToneAlarm; - - if (g_dev == nullptr) - errx(1, "couldn't allocate the ToneAlarm driver"); - - if (g_dev->init() != OK) { - delete g_dev; - errx(1, "ToneAlarm init failed"); - } - } - - if ((argc > 1) && !strcmp(argv[1], "start")) - play_tune(1); - - if ((argc > 1) && !strcmp(argv[1], "stop")) - play_tune(0); - - if ((tune = strtol(argv[1], nullptr, 10)) != 0) - play_tune(tune); - - /* if it looks like a PLAY string... */ - if (strlen(argv[1]) > 2) { - const char *str = argv[1]; - if (str[0] == 'M') { - play_string(str); - } - } - - errx(1, "unrecognised command, try 'start', 'stop' or an alarm number"); -} diff --git a/apps/px4io/Makefile b/apps/px4io/Makefile deleted file mode 100644 index 0eb3ffcf7..000000000 --- a/apps/px4io/Makefile +++ /dev/null @@ -1,58 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Build the px4io application. -# - -# -# Note that we pull a couple of specific files from the systemlib, since -# we can't support it all. -# -CSRCS = adc.c \ - controls.c \ - dsm.c \ - i2c.c \ - px4io.c \ - registers.c \ - safety.c \ - sbus.c \ - ../systemlib/hx_stream.c \ - ../systemlib/perf_counter.c \ - ../systemlib/up_cxxinitialize.c - -CXXSRCS = mixer.cpp - -INCLUDES = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common - -include $(APPDIR)/mk/app.mk diff --git a/apps/px4io/adc.c b/apps/px4io/adc.c deleted file mode 100644 index 670b8d635..000000000 --- a/apps/px4io/adc.c +++ /dev/null @@ -1,168 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file adc.c - * - * Simple ADC support for PX4IO on STM32. - */ -#include -#include - -#include -#include -#include - -#include -#include - -#define DEBUG -#include "px4io.h" - -/* - * Register accessors. - * For now, no reason not to just use ADC1. - */ -#define REG(_reg) (*(volatile uint32_t *)(STM32_ADC1_BASE + _reg)) - -#define rSR REG(STM32_ADC_SR_OFFSET) -#define rCR1 REG(STM32_ADC_CR1_OFFSET) -#define rCR2 REG(STM32_ADC_CR2_OFFSET) -#define rSMPR1 REG(STM32_ADC_SMPR1_OFFSET) -#define rSMPR2 REG(STM32_ADC_SMPR2_OFFSET) -#define rJOFR1 REG(STM32_ADC_JOFR1_OFFSET) -#define rJOFR2 REG(STM32_ADC_JOFR2_OFFSET) -#define rJOFR3 REG(STM32_ADC_JOFR3_OFFSET) -#define rJOFR4 REG(STM32_ADC_JOFR4_OFFSET) -#define rHTR REG(STM32_ADC_HTR_OFFSET) -#define rLTR REG(STM32_ADC_LTR_OFFSET) -#define rSQR1 REG(STM32_ADC_SQR1_OFFSET) -#define rSQR2 REG(STM32_ADC_SQR2_OFFSET) -#define rSQR3 REG(STM32_ADC_SQR3_OFFSET) -#define rJSQR REG(STM32_ADC_JSQR_OFFSET) -#define rJDR1 REG(STM32_ADC_JDR1_OFFSET) -#define rJDR2 REG(STM32_ADC_JDR2_OFFSET) -#define rJDR3 REG(STM32_ADC_JDR3_OFFSET) -#define rJDR4 REG(STM32_ADC_JDR4_OFFSET) -#define rDR REG(STM32_ADC_DR_OFFSET) - -perf_counter_t adc_perf; - -int -adc_init(void) -{ - adc_perf = perf_alloc(PC_ELAPSED, "adc"); - - /* do calibration if supported */ -#ifdef ADC_CR2_CAL - rCR2 |= ADC_CR2_RSTCAL; - up_udelay(1); - - if (rCR2 & ADC_CR2_RSTCAL) - return -1; - - rCR2 |= ADC_CR2_CAL; - up_udelay(100); - - if (rCR2 & ADC_CR2_CAL) - return -1; - -#endif - - /* arbitrarily configure all channels for 55 cycle sample time */ - rSMPR1 = 0b00000011011011011011011011011011; - rSMPR2 = 0b00011011011011011011011011011011; - - /* XXX for F2/4, might want to select 12-bit mode? */ - rCR1 = 0; - - /* enable the temperature sensor / Vrefint channel if supported*/ - rCR2 = -#ifdef ADC_CR2_TSVREFE - /* enable the temperature sensor in CR2 */ - ADC_CR2_TSVREFE | -#endif - 0; - -#ifdef ADC_CCR_TSVREFE - /* enable temperature sensor in CCR */ - rCCR = ADC_CCR_TSVREFE; -#endif - - /* configure for a single-channel sequence */ - rSQR1 = 0; - rSQR2 = 0; - rSQR3 = 0; /* will be updated with the channel each tick */ - - /* power-cycle the ADC and turn it on */ - rCR2 &= ~ADC_CR2_ADON; - up_udelay(10); - rCR2 |= ADC_CR2_ADON; - up_udelay(10); - rCR2 |= ADC_CR2_ADON; - up_udelay(10); - - return 0; -} - -uint16_t -adc_measure(unsigned channel) -{ - perf_begin(adc_perf); - - /* clear any previous EOC */ - if (rSR & ADC_SR_EOC) - rSR &= ~ADC_SR_EOC; - - /* run a single conversion right now - should take about 60 cycles (a few microseconds) max */ - rSQR3 = channel; - rCR2 |= ADC_CR2_ADON; - - /* wait for the conversion to complete */ - hrt_abstime now = hrt_absolute_time(); - - while (!(rSR & ADC_SR_EOC)) { - - /* never spin forever - this will give a bogus result though */ - if (hrt_elapsed_time(&now) > 1000) { - debug("adc timeout"); - break; - } - } - - /* read the result and clear EOC */ - uint16_t result = rDR; - - perf_end(adc_perf); - return result; -} \ No newline at end of file diff --git a/apps/px4io/controls.c b/apps/px4io/controls.c deleted file mode 100644 index dc36f6c93..000000000 --- a/apps/px4io/controls.c +++ /dev/null @@ -1,332 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file controls.c - * - * R/C inputs and servo outputs. - */ - -#include -#include - -#include -#include -#include - -#include "px4io.h" - -#define RC_FAILSAFE_TIMEOUT 2000000 /**< two seconds failsafe timeout */ -#define RC_CHANNEL_HIGH_THRESH 5000 -#define RC_CHANNEL_LOW_THRESH -5000 - -static bool ppm_input(uint16_t *values, uint16_t *num_values); - -static perf_counter_t c_gather_dsm; -static perf_counter_t c_gather_sbus; -static perf_counter_t c_gather_ppm; - -void -controls_init(void) -{ - /* DSM input */ - dsm_init("/dev/ttyS0"); - - /* S.bus input */ - sbus_init("/dev/ttyS2"); - - /* default to a 1:1 input map, all enabled */ - for (unsigned i = 0; i < MAX_CONTROL_CHANNELS; i++) { - unsigned base = PX4IO_P_RC_CONFIG_STRIDE * i; - - r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_OPTIONS] = 0; - r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_MIN] = 1000; - r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_CENTER] = 1500; - r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_MAX] = 2000; - r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_DEADZONE] = 30; - r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_ASSIGNMENT] = i; - r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_OPTIONS] = PX4IO_P_RC_CONFIG_OPTIONS_ENABLED; - } - - c_gather_dsm = perf_alloc(PC_ELAPSED, "c_gather_dsm"); - c_gather_sbus = perf_alloc(PC_ELAPSED, "c_gather_sbus"); - c_gather_ppm = perf_alloc(PC_ELAPSED, "c_gather_ppm"); -} - -void -controls_tick() { - - /* - * Gather R/C control inputs from supported sources. - * - * Note that if you're silly enough to connect more than - * one control input source, they're going to fight each - * other. Don't do that. - */ - - perf_begin(c_gather_dsm); - bool dsm_updated = dsm_input(r_raw_rc_values, &r_raw_rc_count); - if (dsm_updated) - r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_DSM; - perf_end(c_gather_dsm); - - perf_begin(c_gather_sbus); - bool sbus_updated = sbus_input(r_raw_rc_values, &r_raw_rc_count); - if (sbus_updated) - r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_SBUS; - perf_end(c_gather_sbus); - - /* - * XXX each S.bus frame will cause a PPM decoder interrupt - * storm (lots of edges). It might be sensible to actually - * disable the PPM decoder completely if we have S.bus signal. - */ - perf_begin(c_gather_ppm); - bool ppm_updated = ppm_input(r_raw_rc_values, &r_raw_rc_count); - if (ppm_updated) - r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_PPM; - perf_end(c_gather_ppm); - - ASSERT(r_raw_rc_count <= MAX_CONTROL_CHANNELS); - - /* - * In some cases we may have received a frame, but input has still - * been lost. - */ - bool rc_input_lost = false; - - /* - * If we received a new frame from any of the RC sources, process it. - */ - if (dsm_updated || sbus_updated || ppm_updated) { - - /* update RC-received timestamp */ - system_state.rc_channels_timestamp = hrt_absolute_time(); - - /* record a bitmask of channels assigned */ - unsigned assigned_channels = 0; - - /* map raw inputs to mapped inputs */ - /* XXX mapping should be atomic relative to protocol */ - for (unsigned i = 0; i < r_raw_rc_count; i++) { - - /* map the input channel */ - uint16_t *conf = &r_page_rc_input_config[i * PX4IO_P_RC_CONFIG_STRIDE]; - - if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) { - - uint16_t raw = r_raw_rc_values[i]; - - int16_t scaled; - - /* - * 1) Constrain to min/max values, as later processing depends on bounds. - */ - if (raw < conf[PX4IO_P_RC_CONFIG_MIN]) - raw = conf[PX4IO_P_RC_CONFIG_MIN]; - if (raw > conf[PX4IO_P_RC_CONFIG_MAX]) - raw = conf[PX4IO_P_RC_CONFIG_MAX]; - - /* - * 2) Scale around the mid point differently for lower and upper range. - * - * This is necessary as they don't share the same endpoints and slope. - * - * First normalize to 0..1 range with correct sign (below or above center), - * then scale to 20000 range (if center is an actual center, -10000..10000, - * if parameters only support half range, scale to 10000 range, e.g. if - * center == min 0..10000, if center == max -10000..0). - * - * As the min and max bounds were enforced in step 1), division by zero - * cannot occur, as for the case of center == min or center == max the if - * statement is mutually exclusive with the arithmetic NaN case. - * - * DO NOT REMOVE OR ALTER STEP 1! - */ - if (raw > (conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE])) { - scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_MAX] - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])); - - } else if (raw < (conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])) { - scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE] - conf[PX4IO_P_RC_CONFIG_MIN])); - - } else { - /* in the configured dead zone, output zero */ - scaled = 0; - } - - /* invert channel if requested */ - if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_REVERSE) - scaled = -scaled; - - /* and update the scaled/mapped version */ - unsigned mapped = conf[PX4IO_P_RC_CONFIG_ASSIGNMENT]; - ASSERT(mapped < MAX_CONTROL_CHANNELS); - - /* invert channel if pitch - pulling the lever down means pitching up by convention */ - if (mapped == 1) /* roll, pitch, yaw, throttle, override is the standard order */ - scaled = -scaled; - - r_rc_values[mapped] = SIGNED_TO_REG(scaled); - assigned_channels |= (1 << mapped); - } - } - - /* set un-assigned controls to zero */ - for (unsigned i = 0; i < MAX_CONTROL_CHANNELS; i++) { - if (!(assigned_channels & (1 << i))) - r_rc_values[i] = 0; - } - - /* - * If we got an update with zero channels, treat it as - * a loss of input. - * - * This might happen if a protocol-based receiver returns an update - * that contains no channels that we have mapped. - */ - if (assigned_channels == 0) { - rc_input_lost = true; - } else { - /* set RC OK flag and clear RC lost alarm */ - r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_OK; - r_status_alarms &= ~PX4IO_P_STATUS_ALARMS_RC_LOST; - } - - /* - * Export the valid channel bitmap - */ - r_rc_valid = assigned_channels; - } - - /* - * If we haven't seen any new control data in 200ms, assume we - * have lost input. - */ - if (hrt_elapsed_time(&system_state.rc_channels_timestamp) > 200000) { - rc_input_lost = true; - - /* clear the input-kind flags here */ - r_status_flags &= ~( - PX4IO_P_STATUS_FLAGS_RC_PPM | - PX4IO_P_STATUS_FLAGS_RC_DSM | - PX4IO_P_STATUS_FLAGS_RC_SBUS); - } - - /* - * Handle losing RC input - */ - if (rc_input_lost) { - - /* Clear the RC input status flag, clear manual override flag */ - r_status_flags &= ~( - PX4IO_P_STATUS_FLAGS_OVERRIDE | - PX4IO_P_STATUS_FLAGS_RC_OK); - - /* Set the RC_LOST alarm */ - r_status_alarms |= PX4IO_P_STATUS_ALARMS_RC_LOST; - - /* Mark the arrays as empty */ - r_raw_rc_count = 0; - r_rc_valid = 0; - } - - /* - * Check for manual override. - * - * The PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK flag must be set, and we - * must have R/C input. - * Override is enabled if either the hardcoded channel / value combination - * is selected, or the AP has requested it. - */ - if ((r_setup_arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) && - (r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK)) { - - bool override = false; - - /* - * Check mapped channel 5 (can be any remote channel, - * depends on RC_MAP_OVER parameter); - * If the value is 'high' then the pilot has - * requested override. - * - */ - if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && (REG_TO_SIGNED(r_rc_values[4]) > RC_CHANNEL_HIGH_THRESH)) - override = true; - - if (override) { - - r_status_flags |= PX4IO_P_STATUS_FLAGS_OVERRIDE; - - /* mix new RC input control values to servos */ - if (dsm_updated || sbus_updated || ppm_updated) - mixer_tick(); - - } else { - r_status_flags &= ~PX4IO_P_STATUS_FLAGS_OVERRIDE; - } - } -} - -static bool -ppm_input(uint16_t *values, uint16_t *num_values) -{ - bool result = false; - - /* avoid racing with PPM updates */ - irqstate_t state = irqsave(); - - /* - * If we have received a new PPM frame within the last 200ms, accept it - * and then invalidate it. - */ - if (hrt_elapsed_time(&ppm_last_valid_decode) < 200000) { - - /* PPM data exists, copy it */ - *num_values = ppm_decoded_channels; - if (*num_values > MAX_CONTROL_CHANNELS) - *num_values = MAX_CONTROL_CHANNELS; - - for (unsigned i = 0; i < *num_values; i++) - values[i] = ppm_buffer[i]; - - /* clear validity */ - ppm_last_valid_decode = 0; - - /* good if we got any channels */ - result = (*num_values > 0); - } - - irqrestore(state); - - return result; -} diff --git a/apps/px4io/dsm.c b/apps/px4io/dsm.c deleted file mode 100644 index ea35e5513..000000000 --- a/apps/px4io/dsm.c +++ /dev/null @@ -1,356 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file dsm.c - * - * Serial protocol decoder for the Spektrum DSM* family of protocols. - * - * Decodes into the global PPM buffer and updates accordingly. - */ - -#include - -#include -#include -#include - -#include - -#define DEBUG - -#include "px4io.h" - -#define DSM_FRAME_SIZE 16 -#define DSM_FRAME_CHANNELS 7 - -static int dsm_fd = -1; - -static hrt_abstime last_rx_time; -static hrt_abstime last_frame_time; - -static uint8_t frame[DSM_FRAME_SIZE]; - -static unsigned partial_frame_count; -static unsigned channel_shift; - -unsigned dsm_frame_drops; - -static bool dsm_decode_channel(uint16_t raw, unsigned shift, unsigned *channel, unsigned *value); -static void dsm_guess_format(bool reset); -static bool dsm_decode(hrt_abstime now, uint16_t *values, uint16_t *num_values); - -int -dsm_init(const char *device) -{ - if (dsm_fd < 0) - dsm_fd = open(device, O_RDONLY | O_NONBLOCK); - - if (dsm_fd >= 0) { - struct termios t; - - /* 115200bps, no parity, one stop bit */ - tcgetattr(dsm_fd, &t); - cfsetspeed(&t, 115200); - t.c_cflag &= ~(CSTOPB | PARENB); - tcsetattr(dsm_fd, TCSANOW, &t); - - /* initialise the decoder */ - partial_frame_count = 0; - last_rx_time = hrt_absolute_time(); - - /* reset the format detector */ - dsm_guess_format(true); - - debug("DSM: ready"); - - } else { - debug("DSM: open failed"); - } - - return dsm_fd; -} - -bool -dsm_input(uint16_t *values, uint16_t *num_values) -{ - ssize_t ret; - hrt_abstime now; - - /* - * The DSM* protocol doesn't provide any explicit framing, - * so we detect frame boundaries by the inter-frame delay. - * - * The minimum frame spacing is 11ms; with 16 bytes at 115200bps - * frame transmission time is ~1.4ms. - * - * We expect to only be called when bytes arrive for processing, - * and if an interval of more than 5ms passes between calls, - * the first byte we read will be the first byte of a frame. - * - * In the case where byte(s) are dropped from a frame, this also - * provides a degree of protection. Of course, it would be better - * if we didn't drop bytes... - */ - now = hrt_absolute_time(); - - if ((now - last_rx_time) > 5000) { - if (partial_frame_count > 0) { - dsm_frame_drops++; - partial_frame_count = 0; - } - } - - /* - * Fetch bytes, but no more than we would need to complete - * the current frame. - */ - ret = read(dsm_fd, &frame[partial_frame_count], DSM_FRAME_SIZE - partial_frame_count); - - /* if the read failed for any reason, just give up here */ - if (ret < 1) - return false; - - last_rx_time = now; - - /* - * Add bytes to the current frame - */ - partial_frame_count += ret; - - /* - * If we don't have a full frame, return - */ - if (partial_frame_count < DSM_FRAME_SIZE) - return false; - - /* - * Great, it looks like we might have a frame. Go ahead and - * decode it. - */ - partial_frame_count = 0; - return dsm_decode(now, values, num_values); -} - -static bool -dsm_decode_channel(uint16_t raw, unsigned shift, unsigned *channel, unsigned *value) -{ - - if (raw == 0xffff) - return false; - - *channel = (raw >> shift) & 0xf; - - uint16_t data_mask = (1 << shift) - 1; - *value = raw & data_mask; - - //debug("DSM: %d 0x%04x -> %d %d", shift, raw, *channel, *value); - - return true; -} - -static void -dsm_guess_format(bool reset) -{ - static uint32_t cs10; - static uint32_t cs11; - static unsigned samples; - - /* reset the 10/11 bit sniffed channel masks */ - if (reset) { - cs10 = 0; - cs11 = 0; - samples = 0; - channel_shift = 0; - return; - } - - /* scan the channels in the current frame in both 10- and 11-bit mode */ - for (unsigned i = 0; i < DSM_FRAME_CHANNELS; i++) { - - uint8_t *dp = &frame[2 + (2 * i)]; - uint16_t raw = (dp[0] << 8) | dp[1]; - unsigned channel, value; - - /* if the channel decodes, remember the assigned number */ - if (dsm_decode_channel(raw, 10, &channel, &value) && (channel < 31)) - cs10 |= (1 << channel); - - if (dsm_decode_channel(raw, 11, &channel, &value) && (channel < 31)) - cs11 |= (1 << channel); - - /* XXX if we cared, we could look for the phase bit here to decide 1 vs. 2-frame format */ - } - - /* wait until we have seen plenty of frames - 2 should normally be enough */ - if (samples++ < 5) - return; - - /* - * Iterate the set of sensible sniffed channel sets and see whether - * decoding in 10 or 11-bit mode has yielded anything we recognise. - * - * XXX Note that due to what seem to be bugs in the DSM2 high-resolution - * stream, we may want to sniff for longer in some cases when we think we - * are talking to a DSM2 receiver in high-resolution mode (so that we can - * reject it, ideally). - * See e.g. http://git.openpilot.org/cru/OPReview-116 for a discussion - * of this issue. - */ - static uint32_t masks[] = { - 0x3f, /* 6 channels (DX6) */ - 0x7f, /* 7 channels (DX7) */ - 0xff, /* 8 channels (DX8) */ - 0x1ff, /* 9 channels (DX9, etc.) */ - 0x3ff, /* 10 channels (DX10) */ - 0x3fff /* 18 channels (DX10) */ - }; - unsigned votes10 = 0; - unsigned votes11 = 0; - - for (unsigned i = 0; i < (sizeof(masks) / sizeof(masks[0])); i++) { - - if (cs10 == masks[i]) - votes10++; - - if (cs11 == masks[i]) - votes11++; - } - - if ((votes11 == 1) && (votes10 == 0)) { - channel_shift = 11; - debug("DSM: 11-bit format"); - return; - } - - if ((votes10 == 1) && (votes11 == 0)) { - channel_shift = 10; - debug("DSM: 10-bit format"); - return; - } - - /* call ourselves to reset our state ... we have to try again */ - debug("DSM: format detect fail, 10: 0x%08x %d 11: 0x%08x %d", cs10, votes10, cs11, votes11); - dsm_guess_format(true); -} - -static bool -dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values) -{ - - /* - debug("DSM frame %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x", - frame[0], frame[1], frame[2], frame[3], frame[4], frame[5], frame[6], frame[7], - frame[8], frame[9], frame[10], frame[11], frame[12], frame[13], frame[14], frame[15]); - */ - /* - * If we have lost signal for at least a second, reset the - * format guessing heuristic. - */ - if (((frame_time - last_frame_time) > 1000000) && (channel_shift != 0)) - dsm_guess_format(true); - - /* we have received something we think is a frame */ - last_frame_time = frame_time; - - /* if we don't know the frame format, update the guessing state machine */ - if (channel_shift == 0) { - dsm_guess_format(false); - return false; - } - - /* - * The encoding of the first two bytes is uncertain, so we're - * going to ignore them for now. - * - * Each channel is a 16-bit unsigned value containing either a 10- - * or 11-bit channel value and a 4-bit channel number, shifted - * either 10 or 11 bits. The MSB may also be set to indicate the - * second frame in variants of the protocol where more than - * seven channels are being transmitted. - */ - - for (unsigned i = 0; i < DSM_FRAME_CHANNELS; i++) { - - uint8_t *dp = &frame[2 + (2 * i)]; - uint16_t raw = (dp[0] << 8) | dp[1]; - unsigned channel, value; - - if (!dsm_decode_channel(raw, channel_shift, &channel, &value)) - continue; - - /* ignore channels out of range */ - if (channel >= PX4IO_INPUT_CHANNELS) - continue; - - /* update the decoded channel count */ - if (channel >= *num_values) - *num_values = channel + 1; - - /* convert 0-1024 / 0-2048 values to 1000-2000 ppm encoding in a very sloppy fashion */ - if (channel_shift == 11) - value /= 2; - - value += 998; - - /* - * Store the decoded channel into the R/C input buffer, taking into - * account the different ideas about channel assignement that we have. - * - * Specifically, the first four channels in rc_channel_data are roll, pitch, thrust, yaw, - * but the first four channels from the DSM receiver are thrust, roll, pitch, yaw. - */ - switch (channel) { - case 0: - channel = 2; - break; - - case 1: - channel = 0; - break; - - case 2: - channel = 1; - - default: - break; - } - - values[channel] = value; - } - - /* - * XXX Note that we may be in failsafe here; we need to work out how to detect that. - */ - return true; -} diff --git a/apps/px4io/i2c.c b/apps/px4io/i2c.c deleted file mode 100644 index 4485daa5b..000000000 --- a/apps/px4io/i2c.c +++ /dev/null @@ -1,340 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file i2c.c - * - * I2C communication for the PX4IO module. - */ - -#include - -#include -#include -#include -#include - -//#define DEBUG -#include "px4io.h" - -/* - * I2C register definitions. - */ -#define I2C_BASE STM32_I2C1_BASE - -#define REG(_reg) (*(volatile uint32_t *)(I2C_BASE + _reg)) - -#define rCR1 REG(STM32_I2C_CR1_OFFSET) -#define rCR2 REG(STM32_I2C_CR2_OFFSET) -#define rOAR1 REG(STM32_I2C_OAR1_OFFSET) -#define rOAR2 REG(STM32_I2C_OAR2_OFFSET) -#define rDR REG(STM32_I2C_DR_OFFSET) -#define rSR1 REG(STM32_I2C_SR1_OFFSET) -#define rSR2 REG(STM32_I2C_SR2_OFFSET) -#define rCCR REG(STM32_I2C_CCR_OFFSET) -#define rTRISE REG(STM32_I2C_TRISE_OFFSET) - -static int i2c_interrupt(int irq, void *context); -static void i2c_rx_setup(void); -static void i2c_tx_setup(void); -static void i2c_rx_complete(void); -static void i2c_tx_complete(void); - -static DMA_HANDLE rx_dma; -static DMA_HANDLE tx_dma; - -static uint8_t rx_buf[68]; -static unsigned rx_len; - -static const uint8_t junk_buf[] = { 0xff, 0xff, 0xff, 0xff }; - -static const uint8_t *tx_buf = junk_buf; -static unsigned tx_len = sizeof(junk_buf); -unsigned tx_count; - -static uint8_t selected_page; -static uint8_t selected_offset; - -enum { - DIR_NONE = 0, - DIR_TX = 1, - DIR_RX = 2 -} direction; - -void -i2c_init(void) -{ - debug("i2c init"); - - /* allocate DMA handles and initialise DMA */ - rx_dma = stm32_dmachannel(DMACHAN_I2C1_RX); - i2c_rx_setup(); - tx_dma = stm32_dmachannel(DMACHAN_I2C1_TX); - i2c_tx_setup(); - - /* enable the i2c block clock and reset it */ - modifyreg32(STM32_RCC_APB1ENR, 0, RCC_APB1ENR_I2C1EN); - modifyreg32(STM32_RCC_APB1RSTR, 0, RCC_APB1RSTR_I2C1RST); - modifyreg32(STM32_RCC_APB1RSTR, RCC_APB1RSTR_I2C1RST, 0); - - /* configure the i2c GPIOs */ - stm32_configgpio(GPIO_I2C1_SCL); - stm32_configgpio(GPIO_I2C1_SDA); - - /* soft-reset the block */ - rCR1 |= I2C_CR1_SWRST; - rCR1 = 0; - - /* set for DMA operation */ - rCR2 |= I2C_CR2_ITEVFEN |I2C_CR2_ITERREN | I2C_CR2_DMAEN; - - /* set the frequency value in CR2 */ - rCR2 &= ~I2C_CR2_FREQ_MASK; - rCR2 |= STM32_PCLK1_FREQUENCY / 1000000; - - /* set divisor and risetime for fast mode */ - uint16_t result = STM32_PCLK1_FREQUENCY / (400000 * 25); - if (result < 1) - result = 1; - result = 3; - rCCR &= ~I2C_CCR_CCR_MASK; - rCCR |= I2C_CCR_DUTY | I2C_CCR_FS | result; - rTRISE = (uint16_t)((((STM32_PCLK1_FREQUENCY / 1000000) * 300) / 1000) + 1); - - /* set our device address */ - rOAR1 = 0x1a << 1; - - /* enable event interrupts */ - irq_attach(STM32_IRQ_I2C1EV, i2c_interrupt); - irq_attach(STM32_IRQ_I2C1ER, i2c_interrupt); - up_enable_irq(STM32_IRQ_I2C1EV); - up_enable_irq(STM32_IRQ_I2C1ER); - - /* and enable the I2C port */ - rCR1 |= I2C_CR1_ACK | I2C_CR1_PE; - -#ifdef DEBUG - i2c_dump(); -#endif -} - - -/* - reset the I2C bus - used to recover from lockups - */ -void i2c_reset(void) -{ - rCR1 |= I2C_CR1_SWRST; - rCR1 = 0; - - /* set for DMA operation */ - rCR2 |= I2C_CR2_ITEVFEN |I2C_CR2_ITERREN | I2C_CR2_DMAEN; - - /* set the frequency value in CR2 */ - rCR2 &= ~I2C_CR2_FREQ_MASK; - rCR2 |= STM32_PCLK1_FREQUENCY / 1000000; - - /* set divisor and risetime for fast mode */ - uint16_t result = STM32_PCLK1_FREQUENCY / (400000 * 25); - if (result < 1) - result = 1; - result = 3; - rCCR &= ~I2C_CCR_CCR_MASK; - rCCR |= I2C_CCR_DUTY | I2C_CCR_FS | result; - rTRISE = (uint16_t)((((STM32_PCLK1_FREQUENCY / 1000000) * 300) / 1000) + 1); - - /* set our device address */ - rOAR1 = 0x1a << 1; - - /* and enable the I2C port */ - rCR1 |= I2C_CR1_ACK | I2C_CR1_PE; -} - -static int -i2c_interrupt(int irq, FAR void *context) -{ - uint16_t sr1 = rSR1; - - if (sr1 & (I2C_SR1_STOPF | I2C_SR1_AF | I2C_SR1_ADDR)) { - - if (sr1 & I2C_SR1_STOPF) { - /* write to CR1 to clear STOPF */ - (void)rSR1; /* as recommended, re-read SR1 */ - rCR1 |= I2C_CR1_PE; - } - - /* DMA never stops, so we should do that now */ - switch (direction) { - case DIR_TX: - i2c_tx_complete(); - break; - case DIR_RX: - i2c_rx_complete(); - break; - default: - /* not currently transferring - must be a new txn */ - break; - } - direction = DIR_NONE; - } - - if (sr1 & I2C_SR1_ADDR) { - - /* clear ADDR to ack our selection and get direction */ - (void)rSR1; /* as recommended, re-read SR1 */ - uint16_t sr2 = rSR2; - - if (sr2 & I2C_SR2_TRA) { - /* we are the transmitter */ - - direction = DIR_TX; - - } else { - /* we are the receiver */ - - direction = DIR_RX; - } - } - - /* clear any errors that might need it (this handles AF as well */ - if (sr1 & I2C_SR1_ERRORMASK) - rSR1 = 0; - - return 0; -} - -static void -i2c_rx_setup(void) -{ - /* - * Note that we configure DMA in circular mode; this means that a too-long - * transfer will overwrite the buffer, but that avoids us having to deal with - * bailing out of a transaction while the master is still babbling at us. - */ - rx_len = 0; - stm32_dmasetup(rx_dma, (uintptr_t)&rDR, (uintptr_t)&rx_buf[0], sizeof(rx_buf), - DMA_CCR_CIRC | - DMA_CCR_MINC | - DMA_CCR_PSIZE_32BITS | - DMA_CCR_MSIZE_8BITS | - DMA_CCR_PRIMED); - - stm32_dmastart(rx_dma, NULL, NULL, false); -} - -static void -i2c_rx_complete(void) -{ - rx_len = sizeof(rx_buf) - stm32_dmaresidual(rx_dma); - stm32_dmastop(rx_dma); - - if (rx_len >= 2) { - selected_page = rx_buf[0]; - selected_offset = rx_buf[1]; - - /* work out how many registers are being written */ - unsigned count = (rx_len - 2) / 2; - if (count > 0) { - registers_set(selected_page, selected_offset, (const uint16_t *)&rx_buf[2], count); - } else { - /* no registers written, must be an address cycle */ - uint16_t *regs; - unsigned reg_count; - - /* work out which registers are being addressed */ - int ret = registers_get(selected_page, selected_offset, ®s, ®_count); - if (ret == 0) { - tx_buf = (uint8_t *)regs; - tx_len = reg_count * 2; - } else { - tx_buf = junk_buf; - tx_len = sizeof(junk_buf); - } - - /* disable interrupts while reconfiguring DMA for the selected registers */ - irqstate_t flags = irqsave(); - - stm32_dmastop(tx_dma); - i2c_tx_setup(); - - irqrestore(flags); - } - } - - /* prepare for the next transaction */ - i2c_rx_setup(); -} - -static void -i2c_tx_setup(void) -{ - /* - * Note that we configure DMA in circular mode; this means that a too-long - * transfer will copy the buffer more than once, but that avoids us having - * to deal with bailing out of a transaction while the master is still - * babbling at us. - */ - stm32_dmasetup(tx_dma, (uintptr_t)&rDR, (uintptr_t)&tx_buf[0], tx_len, - DMA_CCR_DIR | - DMA_CCR_CIRC | - DMA_CCR_MINC | - DMA_CCR_PSIZE_8BITS | - DMA_CCR_MSIZE_8BITS | - DMA_CCR_PRIMED); - - stm32_dmastart(tx_dma, NULL, NULL, false); -} - -static void -i2c_tx_complete(void) -{ - tx_count = tx_len - stm32_dmaresidual(tx_dma); - stm32_dmastop(tx_dma); - - /* for debug purposes, save the length of the last transmit as seen by the DMA */ - - /* leave tx_buf/tx_len alone, so that a retry will see the same data */ - - /* prepare for the next transaction */ - i2c_tx_setup(); -} - -void -i2c_dump(void) -{ - debug("CR1 0x%08x CR2 0x%08x", rCR1, rCR2); - debug("OAR1 0x%08x OAR2 0x%08x", rOAR1, rOAR2); - debug("CCR 0x%08x TRISE 0x%08x", rCCR, rTRISE); - debug("SR1 0x%08x SR2 0x%08x", rSR1, rSR2); -} diff --git a/apps/px4io/mixer.cpp b/apps/px4io/mixer.cpp deleted file mode 100644 index f38593d2a..000000000 --- a/apps/px4io/mixer.cpp +++ /dev/null @@ -1,311 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file mixer.cpp - * - * Control channel input/output mixer and failsafe. - */ - -#include -#include - -#include -#include -#include - -#include -#include - -#include - -extern "C" { -//#define DEBUG -#include "px4io.h" -} - -/* - * Maximum interval in us before FMU signal is considered lost - */ -#define FMU_INPUT_DROP_LIMIT_US 200000 - -/* XXX need to move the RC_CHANNEL_FUNCTION out of rc_channels.h and into systemlib */ -#define ROLL 0 -#define PITCH 1 -#define YAW 2 -#define THROTTLE 3 -#define OVERRIDE 4 - -/* current servo arm/disarm state */ -static bool mixer_servos_armed = false; - -/* selected control values and count for mixing */ -enum mixer_source { - MIX_NONE, - MIX_FMU, - MIX_OVERRIDE, - MIX_FAILSAFE -}; -static mixer_source source; - -static int mixer_callback(uintptr_t handle, - uint8_t control_group, - uint8_t control_index, - float &control); - -static MixerGroup mixer_group(mixer_callback, 0); - -void -mixer_tick(void) -{ - /* check that we are receiving fresh data from the FMU */ - if (hrt_elapsed_time(&system_state.fmu_data_received_time) > FMU_INPUT_DROP_LIMIT_US) { - - /* too long without FMU input, time to go to failsafe */ - if (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) { - isr_debug(1, "AP RX timeout"); - } - r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_FMU_OK | PX4IO_P_STATUS_FLAGS_RAW_PWM); - r_status_alarms |= PX4IO_P_STATUS_ALARMS_FMU_LOST; - - } else { - r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK; - r_status_alarms &= ~PX4IO_P_STATUS_ALARMS_FMU_LOST; - } - - source = MIX_FAILSAFE; - - /* - * Decide which set of controls we're using. - */ - if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) || - !(r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) { - - /* don't actually mix anything - we already have raw PWM values or - not a valid mixer. */ - source = MIX_NONE; - - } else { - - if (!(r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) && - (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) { - - /* mix from FMU controls */ - source = MIX_FMU; - } - - if ( (r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) && - (r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && - (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) { - - /* if allowed, mix from RC inputs directly */ - source = MIX_OVERRIDE; - } - } - - /* - * Run the mixers. - */ - if (source == MIX_FAILSAFE) { - - /* copy failsafe values to the servo outputs */ - for (unsigned i = 0; i < IO_SERVO_COUNT; i++) - r_page_servos[i] = r_page_servo_failsafe[i]; - - } else if (source != MIX_NONE) { - - float outputs[IO_SERVO_COUNT]; - unsigned mixed; - - /* mix */ - mixed = mixer_group.mix(&outputs[0], IO_SERVO_COUNT); - - /* scale to PWM and update the servo outputs as required */ - for (unsigned i = 0; i < mixed; i++) { - - /* save actuator values for FMU readback */ - r_page_actuators[i] = FLOAT_TO_REG(outputs[i]); - - /* scale to servo output */ - r_page_servos[i] = (outputs[i] * 500.0f) + 1500; - - } - for (unsigned i = mixed; i < IO_SERVO_COUNT; i++) - r_page_servos[i] = 0; - } - - /* - * Decide whether the servos should be armed right now. - * - * We must be armed, and we must have a PWM source; either raw from - * FMU or from the mixer. - * - * XXX correct behaviour for failsafe may require an additional case - * here. - */ - bool should_arm = ( - /* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) && - /* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) && - /* there is valid input */ (r_status_flags & (PX4IO_P_STATUS_FLAGS_RAW_PWM | PX4IO_P_STATUS_FLAGS_MIXER_OK)) && - /* IO initialised without error */ (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK) && - /* FMU is available or FMU is not available but override is an option */ - ((r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) || (!(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) && (r_setup_arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) )) - ); - - if (should_arm && !mixer_servos_armed) { - /* need to arm, but not armed */ - up_pwm_servo_arm(true); - mixer_servos_armed = true; - - } else if (!should_arm && mixer_servos_armed) { - /* armed but need to disarm */ - up_pwm_servo_arm(false); - mixer_servos_armed = false; - } - - if (mixer_servos_armed) { - /* update the servo outputs. */ - for (unsigned i = 0; i < IO_SERVO_COUNT; i++) - up_pwm_servo_set(i, r_page_servos[i]); - } -} - -static int -mixer_callback(uintptr_t handle, - uint8_t control_group, - uint8_t control_index, - float &control) -{ - if (control_group != 0) - return -1; - - switch (source) { - case MIX_FMU: - if (control_index < PX4IO_CONTROL_CHANNELS) { - control = REG_TO_FLOAT(r_page_controls[control_index]); - break; - } - return -1; - - case MIX_OVERRIDE: - if (r_page_rc_input[PX4IO_P_RC_VALID] & (1 << control_index)) { - control = REG_TO_FLOAT(r_page_rc_input[PX4IO_P_RC_BASE + control_index]); - break; - } - return -1; - - case MIX_FAILSAFE: - case MIX_NONE: - /* XXX we could allow for configuration of per-output failsafe values */ - return -1; - } - - return 0; -} - -/* - * XXX error handling here should be more aggressive; currently it is - * possible to get STATUS_FLAGS_MIXER_OK set even though the mixer has - * not loaded faithfully. - */ - -static char mixer_text[256]; /* large enough for one mixer */ -static unsigned mixer_text_length = 0; - -void -mixer_handle_text(const void *buffer, size_t length) -{ - /* do not allow a mixer change while fully armed */ - if (/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) && - /* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) { - return; - } - - px4io_mixdata *msg = (px4io_mixdata *)buffer; - - isr_debug(2, "mix txt %u", length); - - if (length < sizeof(px4io_mixdata)) - return; - - unsigned text_length = length - sizeof(px4io_mixdata); - - switch (msg->action) { - case F2I_MIXER_ACTION_RESET: - isr_debug(2, "reset"); - - /* FIRST mark the mixer as invalid */ - r_status_flags &= ~PX4IO_P_STATUS_FLAGS_MIXER_OK; - /* THEN actually delete it */ - mixer_group.reset(); - mixer_text_length = 0; - - /* FALLTHROUGH */ - case F2I_MIXER_ACTION_APPEND: - isr_debug(2, "append %d", length); - - /* check for overflow - this is really fatal */ - /* XXX could add just what will fit & try to parse, then repeat... */ - if ((mixer_text_length + text_length + 1) > sizeof(mixer_text)) { - r_status_flags &= ~PX4IO_P_STATUS_FLAGS_MIXER_OK; - return; - } - - /* append mixer text and nul-terminate */ - memcpy(&mixer_text[mixer_text_length], msg->text, text_length); - mixer_text_length += text_length; - mixer_text[mixer_text_length] = '\0'; - isr_debug(2, "buflen %u", mixer_text_length); - - /* process the text buffer, adding new mixers as their descriptions can be parsed */ - unsigned resid = mixer_text_length; - mixer_group.load_from_buf(&mixer_text[0], resid); - - /* if anything was parsed */ - if (resid != mixer_text_length) { - - /* ideally, this should test resid == 0 ? */ - r_status_flags |= PX4IO_P_STATUS_FLAGS_MIXER_OK; - - isr_debug(2, "used %u", mixer_text_length - resid); - - /* copy any leftover text to the base of the buffer for re-use */ - if (resid > 0) - memcpy(&mixer_text[0], &mixer_text[mixer_text_length - resid], resid); - - mixer_text_length = resid; - } - - break; - } -} diff --git a/apps/px4io/protocol.h b/apps/px4io/protocol.h deleted file mode 100644 index 8d8b7e941..000000000 --- a/apps/px4io/protocol.h +++ /dev/null @@ -1,204 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#pragma once - -/** - * @file protocol.h - * - * PX4IO I2C interface protocol. - * - * Communication is performed via writes to and reads from 16-bit virtual - * registers organised into pages of 255 registers each. - * - * The first two bytes of each write select a page and offset address - * respectively. Subsequent reads and writes increment the offset within - * the page. - * - * Most pages are readable or writable but not both. - * - * Note that some pages may permit offset values greater than 255, which - * can only be achieved by long writes. The offset does not wrap. - * - * Writes to unimplemented registers are ignored. Reads from unimplemented - * registers return undefined values. - * - * As convention, values that would be floating point in other parts of - * the PX4 system are expressed as signed integer values scaled by 10000, - * e.g. control values range from -10000..10000. Use the REG_TO_SIGNED and - * SIGNED_TO_REG macros to convert between register representation and - * the signed version, and REG_TO_FLOAT/FLOAT_TO_REG to convert to float. - * - * Note that the implementation of readable pages prefers registers within - * readable pages to be densely packed. Page numbers do not need to be - * packed. - */ - -#define PX4IO_CONTROL_CHANNELS 8 -#define PX4IO_INPUT_CHANNELS 12 -#define PX4IO_RELAY_CHANNELS 4 - -/* Per C, this is safe for all 2's complement systems */ -#define REG_TO_SIGNED(_reg) ((int16_t)(_reg)) -#define SIGNED_TO_REG(_signed) ((uint16_t)(_signed)) - -#define REG_TO_FLOAT(_reg) ((float)REG_TO_SIGNED(_reg) / 10000.0f) -#define FLOAT_TO_REG(_float) SIGNED_TO_REG((int16_t)((_float) * 10000.0f)) - -/* static configuration page */ -#define PX4IO_PAGE_CONFIG 0 -#define PX4IO_P_CONFIG_PROTOCOL_VERSION 0 /* magic numbers TBD */ -#define PX4IO_P_CONFIG_SOFTWARE_VERSION 1 /* magic numbers TBD */ -#define PX4IO_P_CONFIG_BOOTLOADER_VERSION 2 /* get this how? */ -#define PX4IO_P_CONFIG_MAX_TRANSFER 3 /* maximum I2C transfer size */ -#define PX4IO_P_CONFIG_CONTROL_COUNT 4 /* hardcoded max control count supported */ -#define PX4IO_P_CONFIG_ACTUATOR_COUNT 5 /* hardcoded max actuator output count */ -#define PX4IO_P_CONFIG_RC_INPUT_COUNT 6 /* hardcoded max R/C input count supported */ -#define PX4IO_P_CONFIG_ADC_INPUT_COUNT 7 /* hardcoded max ADC inputs */ -#define PX4IO_P_CONFIG_RELAY_COUNT 8 /* harcoded # of relay outputs */ - -/* dynamic status page */ -#define PX4IO_PAGE_STATUS 1 -#define PX4IO_P_STATUS_FREEMEM 0 -#define PX4IO_P_STATUS_CPULOAD 1 - -#define PX4IO_P_STATUS_FLAGS 2 /* monitoring flags */ -#define PX4IO_P_STATUS_FLAGS_ARMED (1 << 0) /* arm-ok and locally armed */ -#define PX4IO_P_STATUS_FLAGS_OVERRIDE (1 << 1) /* in manual override */ -#define PX4IO_P_STATUS_FLAGS_RC_OK (1 << 2) /* RC input is valid */ -#define PX4IO_P_STATUS_FLAGS_RC_PPM (1 << 3) /* PPM input is valid */ -#define PX4IO_P_STATUS_FLAGS_RC_DSM (1 << 4) /* DSM input is valid */ -#define PX4IO_P_STATUS_FLAGS_RC_SBUS (1 << 5) /* SBUS input is valid */ -#define PX4IO_P_STATUS_FLAGS_FMU_OK (1 << 6) /* controls from FMU are valid */ -#define PX4IO_P_STATUS_FLAGS_RAW_PWM (1 << 7) /* raw PWM from FMU is bypassing the mixer */ -#define PX4IO_P_STATUS_FLAGS_MIXER_OK (1 << 8) /* mixer is OK */ -#define PX4IO_P_STATUS_FLAGS_ARM_SYNC (1 << 9) /* the arming state between IO and FMU is in sync */ -#define PX4IO_P_STATUS_FLAGS_INIT_OK (1 << 10) /* initialisation of the IO completed without error */ - -#define PX4IO_P_STATUS_ALARMS 3 /* alarm flags - alarms latch, write 1 to a bit to clear it */ -#define PX4IO_P_STATUS_ALARMS_VBATT_LOW (1 << 0) /* VBatt is very close to regulator dropout */ -#define PX4IO_P_STATUS_ALARMS_TEMPERATURE (1 << 1) /* board temperature is high */ -#define PX4IO_P_STATUS_ALARMS_SERVO_CURRENT (1 << 2) /* servo current limit was exceeded */ -#define PX4IO_P_STATUS_ALARMS_ACC_CURRENT (1 << 3) /* accessory current limit was exceeded */ -#define PX4IO_P_STATUS_ALARMS_FMU_LOST (1 << 4) /* timed out waiting for controls from FMU */ -#define PX4IO_P_STATUS_ALARMS_RC_LOST (1 << 5) /* timed out waiting for RC input */ -#define PX4IO_P_STATUS_ALARMS_PWM_ERROR (1 << 6) /* PWM configuration or output was bad */ - -#define PX4IO_P_STATUS_VBATT 4 /* battery voltage in mV */ -#define PX4IO_P_STATUS_IBATT 5 /* battery current in cA */ - -/* array of post-mix actuator outputs, -10000..10000 */ -#define PX4IO_PAGE_ACTUATORS 2 /* 0..CONFIG_ACTUATOR_COUNT-1 */ - -/* array of PWM servo output values, microseconds */ -#define PX4IO_PAGE_SERVOS 3 /* 0..CONFIG_ACTUATOR_COUNT-1 */ - -/* array of raw RC input values, microseconds */ -#define PX4IO_PAGE_RAW_RC_INPUT 4 -#define PX4IO_P_RAW_RC_COUNT 0 /* number of valid channels */ -#define PX4IO_P_RAW_RC_BASE 1 /* CONFIG_RC_INPUT_COUNT channels from here */ - -/* array of scaled RC input values, -10000..10000 */ -#define PX4IO_PAGE_RC_INPUT 5 -#define PX4IO_P_RC_VALID 0 /* bitmask of valid controls */ -#define PX4IO_P_RC_BASE 1 /* CONFIG_RC_INPUT_COUNT controls from here */ - -/* array of raw ADC values */ -#define PX4IO_PAGE_RAW_ADC_INPUT 6 /* 0..CONFIG_ADC_INPUT_COUNT-1 */ - -/* PWM servo information */ -#define PX4IO_PAGE_PWM_INFO 7 -#define PX4IO_RATE_MAP_BASE 0 /* 0..CONFIG_ACTUATOR_COUNT bitmaps of PWM rate groups */ - -/* setup page */ -#define PX4IO_PAGE_SETUP 100 -#define PX4IO_P_SETUP_FEATURES 0 - -#define PX4IO_P_SETUP_ARMING 1 /* arming controls */ -#define PX4IO_P_SETUP_ARMING_ARM_OK (1 << 0) /* OK to arm */ -#define PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK (1 << 2) /* OK to switch to manual override via override RC channel */ -#define PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK (1 << 3) /* OK to perform position / vector control (= position lock) */ -#define PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK (1 << 4) /* OK to try in-air restart */ - -#define PX4IO_P_SETUP_PWM_RATES 2 /* bitmask, 0 = low rate, 1 = high rate */ -#define PX4IO_P_SETUP_PWM_DEFAULTRATE 3 /* 'low' PWM frame output rate in Hz */ -#define PX4IO_P_SETUP_PWM_ALTRATE 4 /* 'high' PWM frame output rate in Hz */ -#define PX4IO_P_SETUP_RELAYS 5 /* bitmask of relay/switch outputs, 0 = off, 1 = on */ -#define PX4IO_P_SETUP_VBATT_SCALE 6 /* battery voltage correction factor (float) */ -#define PX4IO_P_SETUP_IBATT_SCALE 7 /* battery current scaling factor (float) */ -#define PX4IO_P_SETUP_IBATT_BIAS 8 /* battery current bias value */ -#define PX4IO_P_SETUP_SET_DEBUG 9 /* debug level for IO board */ - -/* autopilot control values, -10000..10000 */ -#define PX4IO_PAGE_CONTROLS 101 /* 0..CONFIG_CONTROL_COUNT */ - -/* raw text load to the mixer parser - ignores offset */ -#define PX4IO_PAGE_MIXERLOAD 102 - -/* R/C channel config */ -#define PX4IO_PAGE_RC_CONFIG 103 /* R/C input configuration */ -#define PX4IO_P_RC_CONFIG_MIN 0 /* lowest input value */ -#define PX4IO_P_RC_CONFIG_CENTER 1 /* center input value */ -#define PX4IO_P_RC_CONFIG_MAX 2 /* highest input value */ -#define PX4IO_P_RC_CONFIG_DEADZONE 3 /* band around center that is ignored */ -#define PX4IO_P_RC_CONFIG_ASSIGNMENT 4 /* mapped input value */ -#define PX4IO_P_RC_CONFIG_OPTIONS 5 /* channel options bitmask */ -#define PX4IO_P_RC_CONFIG_OPTIONS_ENABLED (1 << 0) -#define PX4IO_P_RC_CONFIG_OPTIONS_REVERSE (1 << 1) -#define PX4IO_P_RC_CONFIG_STRIDE 6 /* spacing between channel config data */ - -/* PWM output - overrides mixer */ -#define PX4IO_PAGE_DIRECT_PWM 104 /* 0..CONFIG_ACTUATOR_COUNT-1 */ - -/* PWM failsafe values - zero disables the output */ -#define PX4IO_PAGE_FAILSAFE_PWM 105 /* 0..CONFIG_ACTUATOR_COUNT-1 */ - -/** - * As-needed mixer data upload. - * - * This message adds text to the mixer text buffer; the text - * buffer is drained as the definitions are consumed. - */ -#pragma pack(push, 1) -struct px4io_mixdata { - uint16_t f2i_mixer_magic; -#define F2I_MIXER_MAGIC 0x6d74 - - uint8_t action; -#define F2I_MIXER_ACTION_RESET 0 -#define F2I_MIXER_ACTION_APPEND 1 - - char text[0]; /* actual text size may vary */ -}; -#pragma pack(pop) - diff --git a/apps/px4io/px4io.c b/apps/px4io/px4io.c deleted file mode 100644 index 9de37e118..000000000 --- a/apps/px4io/px4io.c +++ /dev/null @@ -1,231 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file px4io.c - * Top-level logic for the PX4IO module. - */ - -#include - -#include // required for task_create -#include -#include -#include -#include -#include -#include - -#include -#include - -#include - -#include - -#define DEBUG -#include "px4io.h" - -__EXPORT int user_start(int argc, char *argv[]); - -extern void up_cxxinitialize(void); - -struct sys_state_s system_state; - -static struct hrt_call serial_dma_call; - -/* store i2c reset count XXX this should be a register, together with other error counters */ -volatile uint32_t i2c_loop_resets = 0; - -/* - * a set of debug buffers to allow us to send debug information from ISRs - */ - -static volatile uint32_t msg_counter; -static volatile uint32_t last_msg_counter; -static volatile uint8_t msg_next_out, msg_next_in; - -/* - * WARNING: too large buffers here consume the memory required - * for mixer handling. Do not allocate more than 80 bytes for - * output. - */ -#define NUM_MSG 2 -static char msg[NUM_MSG][40]; - -/* - * add a debug message to be printed on the console - */ -void -isr_debug(uint8_t level, const char *fmt, ...) -{ - if (level > r_page_setup[PX4IO_P_SETUP_SET_DEBUG]) { - return; - } - va_list ap; - va_start(ap, fmt); - vsnprintf(msg[msg_next_in], sizeof(msg[0]), fmt, ap); - va_end(ap); - msg_next_in = (msg_next_in+1) % NUM_MSG; - msg_counter++; -} - -/* - * show all pending debug messages - */ -static void -show_debug_messages(void) -{ - if (msg_counter != last_msg_counter) { - uint32_t n = msg_counter - last_msg_counter; - if (n > NUM_MSG) n = NUM_MSG; - last_msg_counter = msg_counter; - while (n--) { - debug("%s", msg[msg_next_out]); - msg_next_out = (msg_next_out+1) % NUM_MSG; - } - } -} - -int -user_start(int argc, char *argv[]) -{ - /* run C++ ctors before we go any further */ - up_cxxinitialize(); - - /* reset all to zero */ - memset(&system_state, 0, sizeof(system_state)); - - /* configure the high-resolution time/callout interface */ - hrt_init(); - - /* - * Poll at 1ms intervals for received bytes that have not triggered - * a DMA event. - */ - hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL); - - /* print some startup info */ - lowsyslog("\nPX4IO: starting\n"); - - /* default all the LEDs to off while we start */ - LED_AMBER(false); - LED_BLUE(false); - LED_SAFETY(false); - - /* turn on servo power */ - POWER_SERVO(true); - - /* start the safety switch handler */ - safety_init(); - - /* configure the first 8 PWM outputs (i.e. all of them) */ - up_pwm_servo_init(0xff); - - /* initialise the control inputs */ - controls_init(); - - /* start the i2c handler */ - i2c_init(); - - /* add a performance counter for mixing */ - perf_counter_t mixer_perf = perf_alloc(PC_ELAPSED, "mix"); - - /* add a performance counter for controls */ - perf_counter_t controls_perf = perf_alloc(PC_ELAPSED, "controls"); - - /* and one for measuring the loop rate */ - perf_counter_t loop_perf = perf_alloc(PC_INTERVAL, "loop"); - - struct mallinfo minfo = mallinfo(); - lowsyslog("MEM: free %u, largest %u\n", minfo.mxordblk, minfo.fordblks); - -#if 0 - /* not enough memory, lock down */ - if (minfo.mxordblk < 500) { - lowsyslog("ERR: not enough MEM"); - bool phase = false; - - if (phase) { - LED_AMBER(true); - LED_BLUE(false); - } else { - LED_AMBER(false); - LED_BLUE(true); - } - - phase = !phase; - usleep(300000); - } -#endif - - /* - * Run everything in a tight loop. - */ - - uint64_t last_debug_time = 0; - for (;;) { - - /* track the rate at which the loop is running */ - perf_count(loop_perf); - - /* kick the mixer */ - perf_begin(mixer_perf); - mixer_tick(); - perf_end(mixer_perf); - - /* kick the control inputs */ - perf_begin(controls_perf); - controls_tick(); - perf_end(controls_perf); - - /* check for debug activity */ - show_debug_messages(); - - /* post debug state at ~1Hz */ - if (hrt_absolute_time() - last_debug_time > (1000 * 1000)) { - - struct mallinfo minfo = mallinfo(); - - isr_debug(1, "d:%u s=0x%x a=0x%x f=0x%x r=%u m=%u", - (unsigned)r_page_setup[PX4IO_P_SETUP_SET_DEBUG], - (unsigned)r_status_flags, - (unsigned)r_setup_arming, - (unsigned)r_setup_features, - (unsigned)i2c_loop_resets, - (unsigned)minfo.mxordblk); - last_debug_time = hrt_absolute_time(); - } - } -} - diff --git a/apps/px4io/px4io.h b/apps/px4io/px4io.h deleted file mode 100644 index 202e9d9d9..000000000 --- a/apps/px4io/px4io.h +++ /dev/null @@ -1,188 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file px4io.h - * - * General defines and structures for the PX4IO module firmware. - */ - -#include - -#include -#include - -#include - -#include "protocol.h" - -/* - * Constants and limits. - */ -#define MAX_CONTROL_CHANNELS 12 -#define IO_SERVO_COUNT 8 - -/* - * Debug logging - */ - -#ifdef DEBUG -# include -# define debug(fmt, args...) lowsyslog(fmt "\n", ##args) -#else -# define debug(fmt, args...) do {} while(0) -#endif - -/* - * Registers. - */ -extern uint16_t r_page_status[]; /* PX4IO_PAGE_STATUS */ -extern uint16_t r_page_actuators[]; /* PX4IO_PAGE_ACTUATORS */ -extern uint16_t r_page_servos[]; /* PX4IO_PAGE_SERVOS */ -extern uint16_t r_page_raw_rc_input[]; /* PX4IO_PAGE_RAW_RC_INPUT */ -extern uint16_t r_page_rc_input[]; /* PX4IO_PAGE_RC_INPUT */ -extern uint16_t r_page_adc[]; /* PX4IO_PAGE_RAW_ADC_INPUT */ - -extern volatile uint16_t r_page_setup[]; /* PX4IO_PAGE_SETUP */ -extern volatile uint16_t r_page_controls[]; /* PX4IO_PAGE_CONTROLS */ -extern uint16_t r_page_rc_input_config[]; /* PX4IO_PAGE_RC_INPUT_CONFIG */ -extern uint16_t r_page_servo_failsafe[]; /* PX4IO_PAGE_FAILSAFE_PWM */ - -/* - * Register aliases. - * - * Handy aliases for registers that are widely used. - */ -#define r_status_flags r_page_status[PX4IO_P_STATUS_FLAGS] -#define r_status_alarms r_page_status[PX4IO_P_STATUS_ALARMS] - -#define r_raw_rc_count r_page_raw_rc_input[PX4IO_P_RAW_RC_COUNT] -#define r_raw_rc_values (&r_page_raw_rc_input[PX4IO_P_RAW_RC_BASE]) -#define r_rc_valid r_page_rc_input[PX4IO_P_RC_VALID] -#define r_rc_values (&r_page_rc_input[PX4IO_P_RAW_RC_BASE]) - -#define r_setup_features r_page_setup[PX4IO_P_SETUP_FEATURES] -#define r_setup_arming r_page_setup[PX4IO_P_SETUP_ARMING] -#define r_setup_pwm_rates r_page_setup[PX4IO_P_SETUP_PWM_RATES] -#define r_setup_pwm_defaultrate r_page_setup[PX4IO_P_SETUP_PWM_DEFAULTRATE] -#define r_setup_pwm_altrate r_page_setup[PX4IO_P_SETUP_PWM_ALTRATE] -#define r_setup_relays r_page_setup[PX4IO_P_SETUP_RELAYS] - -#define r_control_values (&r_page_controls[0]) - -/* - * System state structure. - */ -struct sys_state_s { - - volatile uint64_t rc_channels_timestamp; - - /** - * Last FMU receive time, in microseconds since system boot - */ - volatile uint64_t fmu_data_received_time; - -}; - -extern struct sys_state_s system_state; - -/* - * GPIO handling. - */ -#define LED_BLUE(_s) stm32_gpiowrite(GPIO_LED1, !(_s)) -#define LED_AMBER(_s) stm32_gpiowrite(GPIO_LED2, !(_s)) -#define LED_SAFETY(_s) stm32_gpiowrite(GPIO_LED3, !(_s)) - -#define POWER_SERVO(_s) stm32_gpiowrite(GPIO_SERVO_PWR_EN, (_s)) -#define POWER_ACC1(_s) stm32_gpiowrite(GPIO_ACC1_PWR_EN, (_s)) -#define POWER_ACC2(_s) stm32_gpiowrite(GPIO_ACC2_PWR_EN, (_s)) -#define POWER_RELAY1(_s) stm32_gpiowrite(GPIO_RELAY1_EN, (_s)) -#define POWER_RELAY2(_s) stm32_gpiowrite(GPIO_RELAY2_EN, (_s)) - -#define OVERCURRENT_ACC (!stm32_gpioread(GPIO_ACC_OC_DETECT)) -#define OVERCURRENT_SERVO (!stm32_gpioread(GPIO_SERVO_OC_DETECT)) -#define BUTTON_SAFETY stm32_gpioread(GPIO_BTN_SAFETY) - -#define ADC_VBATT 4 -#define ADC_IN5 5 -#define ADC_CHANNEL_COUNT 2 - -/* - * Mixer - */ -extern void mixer_tick(void); -extern void mixer_handle_text(const void *buffer, size_t length); - -/** - * Safety switch/LED. - */ -extern void safety_init(void); - -/** - * FMU communications - */ -extern void i2c_init(void); - -/** - * Register space - */ -extern void registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values); -extern int registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_values); - -/** - * Sensors/misc inputs - */ -extern int adc_init(void); -extern uint16_t adc_measure(unsigned channel); - -/** - * R/C receiver handling. - * - * Input functions return true when they receive an update from the RC controller. - */ -extern void controls_init(void); -extern void controls_tick(void); -extern int dsm_init(const char *device); -extern bool dsm_input(uint16_t *values, uint16_t *num_values); -extern int sbus_init(const char *device); -extern bool sbus_input(uint16_t *values, uint16_t *num_values); - -/** global debug level for isr_debug() */ -extern volatile uint8_t debug_level; - -/* send a debug message to the console */ -extern void isr_debug(uint8_t level, const char *fmt, ...); - -void i2c_dump(void); -void i2c_reset(void); - diff --git a/apps/px4io/registers.c b/apps/px4io/registers.c deleted file mode 100644 index 6c09def9e..000000000 --- a/apps/px4io/registers.c +++ /dev/null @@ -1,644 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file registers.c - * - * Implementation of the PX4IO register space. - */ - -#include - -#include -#include - -#include - -#include "px4io.h" -#include "protocol.h" - -static int registers_set_one(uint8_t page, uint8_t offset, uint16_t value); -static void pwm_configure_rates(uint16_t map, uint16_t defaultrate, uint16_t altrate); - -/** - * PAGE 0 - * - * Static configuration parameters. - */ -static const uint16_t r_page_config[] = { - [PX4IO_P_CONFIG_PROTOCOL_VERSION] = 1, /* XXX hardcoded magic number */ - [PX4IO_P_CONFIG_SOFTWARE_VERSION] = 1, /* XXX hardcoded magic number */ - [PX4IO_P_CONFIG_BOOTLOADER_VERSION] = 3, /* XXX hardcoded magic number */ - [PX4IO_P_CONFIG_MAX_TRANSFER] = 64, /* XXX hardcoded magic number */ - [PX4IO_P_CONFIG_CONTROL_COUNT] = PX4IO_CONTROL_CHANNELS, - [PX4IO_P_CONFIG_ACTUATOR_COUNT] = IO_SERVO_COUNT, - [PX4IO_P_CONFIG_RC_INPUT_COUNT] = MAX_CONTROL_CHANNELS, - [PX4IO_P_CONFIG_ADC_INPUT_COUNT] = ADC_CHANNEL_COUNT, - [PX4IO_P_CONFIG_RELAY_COUNT] = PX4IO_RELAY_CHANNELS, -}; - -/** - * PAGE 1 - * - * Status values. - */ -uint16_t r_page_status[] = { - [PX4IO_P_STATUS_FREEMEM] = 0, - [PX4IO_P_STATUS_CPULOAD] = 0, - [PX4IO_P_STATUS_FLAGS] = 0, - [PX4IO_P_STATUS_ALARMS] = 0, - [PX4IO_P_STATUS_VBATT] = 0, - [PX4IO_P_STATUS_IBATT] = 0 -}; - -/** - * PAGE 2 - * - * Post-mixed actuator values. - */ -uint16_t r_page_actuators[IO_SERVO_COUNT]; - -/** - * PAGE 3 - * - * Servo PWM values - */ -uint16_t r_page_servos[IO_SERVO_COUNT]; - -/** - * PAGE 4 - * - * Raw RC input - */ -uint16_t r_page_raw_rc_input[] = -{ - [PX4IO_P_RAW_RC_COUNT] = 0, - [PX4IO_P_RAW_RC_BASE ... (PX4IO_P_RAW_RC_BASE + MAX_CONTROL_CHANNELS)] = 0 -}; - -/** - * PAGE 5 - * - * Scaled/routed RC input - */ -uint16_t r_page_rc_input[] = { - [PX4IO_P_RC_VALID] = 0, - [PX4IO_P_RC_BASE ... (PX4IO_P_RC_BASE + MAX_CONTROL_CHANNELS)] = 0 -}; - -/** - * Scratch page; used for registers that are constructed as-read. - * - * PAGE 6 Raw ADC input. - * PAGE 7 PWM rate maps. - */ -uint16_t r_page_scratch[32]; - -/** - * PAGE 100 - * - * Setup registers - */ -volatile uint16_t r_page_setup[] = -{ - [PX4IO_P_SETUP_FEATURES] = 0, - [PX4IO_P_SETUP_ARMING] = 0, - [PX4IO_P_SETUP_PWM_RATES] = 0, - [PX4IO_P_SETUP_PWM_DEFAULTRATE] = 50, - [PX4IO_P_SETUP_PWM_ALTRATE] = 200, - [PX4IO_P_SETUP_RELAYS] = 0, - [PX4IO_P_SETUP_VBATT_SCALE] = 10000, - [PX4IO_P_SETUP_IBATT_SCALE] = 0, - [PX4IO_P_SETUP_IBATT_BIAS] = 0, - [PX4IO_P_SETUP_SET_DEBUG] = 0, -}; - -#define PX4IO_P_SETUP_FEATURES_VALID (0) -#define PX4IO_P_SETUP_ARMING_VALID (PX4IO_P_SETUP_ARMING_ARM_OK | \ - PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK | \ - PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK) -#define PX4IO_P_SETUP_RATES_VALID ((1 << IO_SERVO_COUNT) - 1) -#define PX4IO_P_SETUP_RELAYS_VALID ((1 << PX4IO_RELAY_CHANNELS) - 1) - -/** - * PAGE 101 - * - * Control values from the FMU. - */ -volatile uint16_t r_page_controls[PX4IO_CONTROL_CHANNELS]; - -/* - * PAGE 102 does not have a buffer. - */ - -/** - * PAGE 103 - * - * R/C channel input configuration. - */ -uint16_t r_page_rc_input_config[MAX_CONTROL_CHANNELS * PX4IO_P_RC_CONFIG_STRIDE]; - -/* valid options */ -#define PX4IO_P_RC_CONFIG_OPTIONS_VALID (PX4IO_P_RC_CONFIG_OPTIONS_REVERSE | PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) - -/* - * PAGE 104 uses r_page_servos. - */ - -/** - * PAGE 105 - * - * Failsafe servo PWM values - */ -uint16_t r_page_servo_failsafe[IO_SERVO_COUNT]; - -void -registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values) -{ - - switch (page) { - - /* handle bulk controls input */ - case PX4IO_PAGE_CONTROLS: - - /* copy channel data */ - while ((offset < PX4IO_CONTROL_CHANNELS) && (num_values > 0)) { - - /* XXX range-check value? */ - r_page_controls[offset] = *values; - - offset++; - num_values--; - values++; - } - - system_state.fmu_data_received_time = hrt_absolute_time(); - r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK; - r_status_alarms &= ~PX4IO_P_STATUS_ALARMS_FMU_LOST; - r_status_flags &= ~PX4IO_P_STATUS_FLAGS_RAW_PWM; - - break; - - /* handle raw PWM input */ - case PX4IO_PAGE_DIRECT_PWM: - - /* copy channel data */ - while ((offset < PX4IO_CONTROL_CHANNELS) && (num_values > 0)) { - - /* XXX range-check value? */ - r_page_servos[offset] = *values; - - offset++; - num_values--; - values++; - } - - system_state.fmu_data_received_time = hrt_absolute_time(); - r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK | PX4IO_P_STATUS_FLAGS_RAW_PWM; - - break; - - /* handle setup for servo failsafe values */ - case PX4IO_PAGE_FAILSAFE_PWM: - - /* copy channel data */ - while ((offset < PX4IO_CONTROL_CHANNELS) && (num_values > 0)) { - - /* XXX range-check value? */ - r_page_servo_failsafe[offset] = *values; - - offset++; - num_values--; - values++; - } - break; - - /* handle text going to the mixer parser */ - case PX4IO_PAGE_MIXERLOAD: - mixer_handle_text(values, num_values * sizeof(*values)); - break; - - default: - /* avoid offset wrap */ - if ((offset + num_values) > 255) - num_values = 255 - offset; - - /* iterate individual registers, set each in turn */ - while (num_values--) { - if (registers_set_one(page, offset, *values)) - break; - offset++; - values++; - } - } -} - -static int -registers_set_one(uint8_t page, uint8_t offset, uint16_t value) -{ - switch (page) { - - case PX4IO_PAGE_STATUS: - switch (offset) { - case PX4IO_P_STATUS_ALARMS: - /* clear bits being written */ - r_status_alarms &= ~value; - break; - - case PX4IO_P_STATUS_FLAGS: - /* - * Allow FMU override of arming state (to allow in-air restores), - * but only if the arming state is not in sync on the IO side. - */ - if (!(r_status_flags & PX4IO_P_STATUS_FLAGS_ARM_SYNC)) { - r_status_flags = value; - } - break; - - default: - /* just ignore writes to other registers in this page */ - break; - } - break; - - case PX4IO_PAGE_SETUP: - switch (offset) { - case PX4IO_P_SETUP_FEATURES: - - value &= PX4IO_P_SETUP_FEATURES_VALID; - r_setup_features = value; - - /* no implemented feature selection at this point */ - - break; - - case PX4IO_P_SETUP_ARMING: - - value &= PX4IO_P_SETUP_ARMING_VALID; - - /* - * Update arming state - disarm if no longer OK. - * This builds on the requirement that the FMU driver - * asks about the FMU arming state on initialization, - * so that an in-air reset of FMU can not lead to a - * lockup of the IO arming state. - */ - if ((r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) && !(value & PX4IO_P_SETUP_ARMING_ARM_OK)) { - r_status_flags &= ~PX4IO_P_STATUS_FLAGS_ARMED; - } - - r_setup_arming = value; - - break; - - case PX4IO_P_SETUP_PWM_RATES: - value &= PX4IO_P_SETUP_RATES_VALID; - pwm_configure_rates(value, r_setup_pwm_defaultrate, r_setup_pwm_altrate); - break; - - case PX4IO_P_SETUP_PWM_DEFAULTRATE: - if (value < 50) - value = 50; - if (value > 400) - value = 400; - pwm_configure_rates(r_setup_pwm_rates, value, r_setup_pwm_altrate); - break; - - case PX4IO_P_SETUP_PWM_ALTRATE: - if (value < 50) - value = 50; - if (value > 400) - value = 400; - pwm_configure_rates(r_setup_pwm_rates, r_setup_pwm_defaultrate, value); - break; - - case PX4IO_P_SETUP_RELAYS: - value &= PX4IO_P_SETUP_RELAYS_VALID; - r_setup_relays = value; - POWER_RELAY1(value & (1 << 0) ? 1 : 0); - POWER_RELAY2(value & (1 << 1) ? 1 : 0); - POWER_ACC1(value & (1 << 2) ? 1 : 0); - POWER_ACC2(value & (1 << 3) ? 1 : 0); - break; - - case PX4IO_P_SETUP_SET_DEBUG: - r_page_setup[PX4IO_P_SETUP_SET_DEBUG] = value; - isr_debug(0, "set debug %u\n", (unsigned)r_page_setup[PX4IO_P_SETUP_SET_DEBUG]); - break; - - default: - return -1; - } - break; - - case PX4IO_PAGE_RC_CONFIG: { - - /* do not allow a RC config change while fully armed */ - if (/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) && - /* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) { - break; - } - - unsigned channel = offset / PX4IO_P_RC_CONFIG_STRIDE; - unsigned index = offset - channel * PX4IO_P_RC_CONFIG_STRIDE; - uint16_t *conf = &r_page_rc_input_config[channel * PX4IO_P_RC_CONFIG_STRIDE]; - - if (channel >= MAX_CONTROL_CHANNELS) - return -1; - - /* disable the channel until we have a chance to sanity-check it */ - conf[PX4IO_P_RC_CONFIG_OPTIONS] &= PX4IO_P_RC_CONFIG_OPTIONS_ENABLED; - - switch (index) { - - case PX4IO_P_RC_CONFIG_MIN: - case PX4IO_P_RC_CONFIG_CENTER: - case PX4IO_P_RC_CONFIG_MAX: - case PX4IO_P_RC_CONFIG_DEADZONE: - case PX4IO_P_RC_CONFIG_ASSIGNMENT: - conf[index] = value; - break; - - case PX4IO_P_RC_CONFIG_OPTIONS: - value &= PX4IO_P_RC_CONFIG_OPTIONS_VALID; - r_status_flags |= PX4IO_P_STATUS_FLAGS_INIT_OK; - - /* set all options except the enabled option */ - conf[index] = value & ~PX4IO_P_RC_CONFIG_OPTIONS_ENABLED; - - /* should the channel be enabled? */ - /* this option is normally set last */ - if (value & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) { - uint8_t count = 0; - - /* assert min..center..max ordering */ - if (conf[PX4IO_P_RC_CONFIG_MIN] < 500) { - count++; - } - if (conf[PX4IO_P_RC_CONFIG_MAX] > 2500) { - count++; - } - if (conf[PX4IO_P_RC_CONFIG_CENTER] < conf[PX4IO_P_RC_CONFIG_MIN]) { - count++; - } - if (conf[PX4IO_P_RC_CONFIG_CENTER] > conf[PX4IO_P_RC_CONFIG_MAX]) { - count++; - } - - /* assert deadzone is sane */ - if (conf[PX4IO_P_RC_CONFIG_DEADZONE] > 500) { - count++; - } - // The following check isn't needed as constraint checks in controls.c will catch this. - //if (conf[PX4IO_P_RC_CONFIG_MIN] > (conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])) { - // count++; - //} - //if (conf[PX4IO_P_RC_CONFIG_MAX] < (conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE])) { - // count++; - //} - if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= MAX_CONTROL_CHANNELS) { - count++; - } - - /* sanity checks pass, enable channel */ - if (count) { - isr_debug(0, "ERROR: %d config error(s) for RC%d.\n", count, (channel + 1)); - r_status_flags &= ~PX4IO_P_STATUS_FLAGS_INIT_OK; - } else { - conf[index] |= PX4IO_P_RC_CONFIG_OPTIONS_ENABLED; - } - } - break; - /* inner switch: case PX4IO_P_RC_CONFIG_OPTIONS */ - - } - break; - /* case PX4IO_RC_PAGE_CONFIG */ - } - - default: - return -1; - } - return 0; -} - -uint8_t last_page; -uint8_t last_offset; - -int -registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_values) -{ -#define SELECT_PAGE(_page_name) \ - do { \ - *values = &_page_name[0]; \ - *num_values = sizeof(_page_name) / sizeof(_page_name[0]); \ - } while(0) - - switch (page) { - - /* - * Handle pages that are updated dynamically at read time. - */ - case PX4IO_PAGE_STATUS: - /* PX4IO_P_STATUS_FREEMEM */ - { - struct mallinfo minfo = mallinfo(); - r_page_status[PX4IO_P_STATUS_FREEMEM] = minfo.fordblks; - } - - /* XXX PX4IO_P_STATUS_CPULOAD */ - - /* PX4IO_P_STATUS_FLAGS maintained externally */ - - /* PX4IO_P_STATUS_ALARMS maintained externally */ - - /* PX4IO_P_STATUS_VBATT */ - { - /* - * Coefficients here derived by measurement of the 5-16V - * range on one unit: - * - * V counts - * 5 1001 - * 6 1219 - * 7 1436 - * 8 1653 - * 9 1870 - * 10 2086 - * 11 2303 - * 12 2522 - * 13 2738 - * 14 2956 - * 15 3172 - * 16 3389 - * - * slope = 0.0046067 - * intercept = 0.3863 - * - * Intercept corrected for best results @ 12V. - */ - unsigned counts = adc_measure(ADC_VBATT); - unsigned mV = (4150 + (counts * 46)) / 10 - 200; - unsigned corrected = (mV * r_page_setup[PX4IO_P_SETUP_VBATT_SCALE]) / 10000; - - r_page_status[PX4IO_P_STATUS_VBATT] = corrected; - } - - /* PX4IO_P_STATUS_IBATT */ - { - unsigned counts = adc_measure(ADC_VBATT); - unsigned scaled = (counts * r_page_setup[PX4IO_P_SETUP_IBATT_SCALE]) / 10000; - int corrected = scaled + REG_TO_SIGNED(r_page_setup[PX4IO_P_SETUP_IBATT_BIAS]); - if (corrected < 0) - corrected = 0; - r_page_status[PX4IO_P_STATUS_IBATT] = corrected; - } - - SELECT_PAGE(r_page_status); - break; - - case PX4IO_PAGE_RAW_ADC_INPUT: - memset(r_page_scratch, 0, sizeof(r_page_scratch)); - r_page_scratch[0] = adc_measure(ADC_VBATT); - r_page_scratch[1] = adc_measure(ADC_IN5); - - SELECT_PAGE(r_page_scratch); - break; - - case PX4IO_PAGE_PWM_INFO: - memset(r_page_scratch, 0, sizeof(r_page_scratch)); - for (unsigned i = 0; i < IO_SERVO_COUNT; i++) - r_page_scratch[PX4IO_RATE_MAP_BASE + i] = up_pwm_servo_get_rate_group(i); - - SELECT_PAGE(r_page_scratch); - break; - - /* - * Pages that are just a straight read of the register state. - */ - - /* status pages */ - case PX4IO_PAGE_CONFIG: - SELECT_PAGE(r_page_config); - break; - case PX4IO_PAGE_ACTUATORS: - SELECT_PAGE(r_page_actuators); - break; - case PX4IO_PAGE_SERVOS: - SELECT_PAGE(r_page_servos); - break; - case PX4IO_PAGE_RAW_RC_INPUT: - SELECT_PAGE(r_page_raw_rc_input); - break; - case PX4IO_PAGE_RC_INPUT: - SELECT_PAGE(r_page_rc_input); - break; - - /* readback of input pages */ - case PX4IO_PAGE_SETUP: - SELECT_PAGE(r_page_setup); - break; - case PX4IO_PAGE_CONTROLS: - SELECT_PAGE(r_page_controls); - break; - case PX4IO_PAGE_RC_CONFIG: - SELECT_PAGE(r_page_rc_input_config); - break; - case PX4IO_PAGE_DIRECT_PWM: - SELECT_PAGE(r_page_servos); - break; - case PX4IO_PAGE_FAILSAFE_PWM: - SELECT_PAGE(r_page_servo_failsafe); - break; - - default: - return -1; - } - -#undef SELECT_PAGE -#undef COPY_PAGE - -last_page = page; -last_offset = offset; - - /* if the offset is at or beyond the end of the page, we have no data */ - if (offset >= *num_values) - return -1; - - /* correct the data pointer and count for the offset */ - *values += offset; - *num_values -= offset; - - return 0; -} - -/* - * Helper function to handle changes to the PWM rate control registers. - */ -static void -pwm_configure_rates(uint16_t map, uint16_t defaultrate, uint16_t altrate) -{ - for (unsigned pass = 0; pass < 2; pass++) { - for (unsigned group = 0; group < IO_SERVO_COUNT; group++) { - - /* get the channel mask for this rate group */ - uint32_t mask = up_pwm_servo_get_rate_group(group); - if (mask == 0) - continue; - - /* all channels in the group must be either default or alt-rate */ - uint32_t alt = map & mask; - - if (pass == 0) { - /* preflight */ - if ((alt != 0) && (alt != mask)) { - /* not a legal map, bail with an alarm */ - r_status_alarms |= PX4IO_P_STATUS_ALARMS_PWM_ERROR; - return; - } - } else { - /* set it - errors here are unexpected */ - if (alt != 0) { - if (up_pwm_servo_set_rate_group_update(group, r_setup_pwm_altrate) != OK) - r_status_alarms |= PX4IO_P_STATUS_ALARMS_PWM_ERROR; - } else { - if (up_pwm_servo_set_rate_group_update(group, r_setup_pwm_defaultrate) != OK) - r_status_alarms |= PX4IO_P_STATUS_ALARMS_PWM_ERROR; - } - } - } - } - r_setup_pwm_rates = map; - r_setup_pwm_defaultrate = defaultrate; - r_setup_pwm_altrate = altrate; -} diff --git a/apps/px4io/safety.c b/apps/px4io/safety.c deleted file mode 100644 index 5495d5ae1..000000000 --- a/apps/px4io/safety.c +++ /dev/null @@ -1,195 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file Safety button logic. - */ - -#include - -#include - -#include - -#include "px4io.h" - -static struct hrt_call arming_call; -static struct hrt_call heartbeat_call; -static struct hrt_call failsafe_call; - -/* - * Count the number of times in a row that we see the arming button - * held down. - */ -static unsigned counter = 0; - -/* - * Define the various LED flash sequences for each system state. - */ -#define LED_PATTERN_SAFE 0xffff /**< always on */ -#define LED_PATTERN_VECTOR_FLIGHT_MODE_OK 0xFFFE /**< always on with short break */ -#define LED_PATTERN_FMU_ARMED 0x4444 /**< slow blinking */ -#define LED_PATTERN_IO_ARMED 0x5555 /**< fast blinking */ -#define LED_PATTERN_IO_FMU_ARMED 0x5050 /**< long off then double blink */ - -static unsigned blink_counter = 0; - -/* - * IMPORTANT: The arming state machine critically - * depends on using the same threshold - * for arming and disarming. Since disarming - * is quite deadly for the system, a similar - * length can be justified. - */ -#define ARM_COUNTER_THRESHOLD 10 - -static bool safety_button_pressed; - -static void safety_check_button(void *arg); -static void heartbeat_blink(void *arg); -static void failsafe_blink(void *arg); - -void -safety_init(void) -{ - /* arrange for the button handler to be called at 10Hz */ - hrt_call_every(&arming_call, 1000, 100000, safety_check_button, NULL); - - /* arrange for the heartbeat handler to be called at 4Hz */ - hrt_call_every(&heartbeat_call, 1000, 250000, heartbeat_blink, NULL); - - /* arrange for the failsafe blinker to be called at 8Hz */ - hrt_call_every(&failsafe_call, 1000, 125000, failsafe_blink, NULL); -} - -static void -safety_check_button(void *arg) -{ - /* - * Debounce the safety button, change state if it has been held for long enough. - * - */ - safety_button_pressed = BUTTON_SAFETY; - - /* - * Keep pressed for a while to arm. - * - * Note that the counting sequence has to be same length - * for arming / disarming in order to end up as proper - * state machine, keep ARM_COUNTER_THRESHOLD the same - * length in all cases of the if/else struct below. - */ - if (safety_button_pressed && !(r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) { - - if (counter < ARM_COUNTER_THRESHOLD) { - counter++; - - } else if (counter == ARM_COUNTER_THRESHOLD) { - /* switch to armed state */ - r_status_flags |= PX4IO_P_STATUS_FLAGS_ARMED; - counter++; - } - - /* Disarm quickly */ - - } else if (safety_button_pressed && (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) { - - if (counter < ARM_COUNTER_THRESHOLD) { - counter++; - - } else if (counter == ARM_COUNTER_THRESHOLD) { - /* change to disarmed state and notify the FMU */ - r_status_flags &= ~PX4IO_P_STATUS_FLAGS_ARMED; - counter++; - } - - } else { - counter = 0; - } - - /* Select the appropriate LED flash pattern depending on the current IO/FMU arm state */ - uint16_t pattern = LED_PATTERN_SAFE; - - if (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) { - if (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) { - pattern = LED_PATTERN_IO_FMU_ARMED; - - } else { - pattern = LED_PATTERN_IO_ARMED; - } - - } else if (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) { - pattern = LED_PATTERN_FMU_ARMED; - - } else if (r_setup_arming & PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK) { - pattern = LED_PATTERN_VECTOR_FLIGHT_MODE_OK; - } - - /* Turn the LED on if we have a 1 at the current bit position */ - LED_SAFETY(pattern & (1 << blink_counter++)); - - if (blink_counter > 15) { - blink_counter = 0; - } -} - -static void -heartbeat_blink(void *arg) -{ - static bool heartbeat = false; - - /* XXX add flags here that need to be frobbed by various loops */ - - LED_BLUE(heartbeat = !heartbeat); -} - -static void -failsafe_blink(void *arg) -{ - /* indicate that a serious initialisation error occured */ - if (!(r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK)) { - LED_AMBER(true); - return; - } - - static bool failsafe = false; - - /* blink the failsafe LED if we don't have FMU input */ - if (!(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK)) { - failsafe = !failsafe; - } else { - failsafe = false; - } - - LED_AMBER(failsafe); -} \ No newline at end of file diff --git a/apps/px4io/sbus.c b/apps/px4io/sbus.c deleted file mode 100644 index 073ddeaba..000000000 --- a/apps/px4io/sbus.c +++ /dev/null @@ -1,255 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file sbus.c - * - * Serial protocol decoder for the Futaba S.bus protocol. - */ - -#include - -#include -#include -#include - -#include - -#include - -#define DEBUG -#include "px4io.h" -#include "protocol.h" -#include "debug.h" - -#define SBUS_FRAME_SIZE 25 -#define SBUS_INPUT_CHANNELS 16 - -static int sbus_fd = -1; - -static hrt_abstime last_rx_time; -static hrt_abstime last_frame_time; - -static uint8_t frame[SBUS_FRAME_SIZE]; - -static unsigned partial_frame_count; - -unsigned sbus_frame_drops; - -static bool sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values); - -int -sbus_init(const char *device) -{ - if (sbus_fd < 0) - sbus_fd = open(device, O_RDONLY | O_NONBLOCK); - - if (sbus_fd >= 0) { - struct termios t; - - /* 100000bps, even parity, two stop bits */ - tcgetattr(sbus_fd, &t); - cfsetspeed(&t, 100000); - t.c_cflag |= (CSTOPB | PARENB); - tcsetattr(sbus_fd, TCSANOW, &t); - - /* initialise the decoder */ - partial_frame_count = 0; - last_rx_time = hrt_absolute_time(); - - debug("S.Bus: ready"); - - } else { - debug("S.Bus: open failed"); - } - - return sbus_fd; -} - -bool -sbus_input(uint16_t *values, uint16_t *num_values) -{ - ssize_t ret; - hrt_abstime now; - - /* - * The S.bus protocol doesn't provide reliable framing, - * so we detect frame boundaries by the inter-frame delay. - * - * The minimum frame spacing is 7ms; with 25 bytes at 100000bps - * frame transmission time is ~2ms. - * - * We expect to only be called when bytes arrive for processing, - * and if an interval of more than 3ms passes between calls, - * the first byte we read will be the first byte of a frame. - * - * In the case where byte(s) are dropped from a frame, this also - * provides a degree of protection. Of course, it would be better - * if we didn't drop bytes... - */ - now = hrt_absolute_time(); - - if ((now - last_rx_time) > 3000) { - if (partial_frame_count > 0) { - sbus_frame_drops++; - partial_frame_count = 0; - } - } - - /* - * Fetch bytes, but no more than we would need to complete - * the current frame. - */ - ret = read(sbus_fd, &frame[partial_frame_count], SBUS_FRAME_SIZE - partial_frame_count); - - /* if the read failed for any reason, just give up here */ - if (ret < 1) - return false; - - last_rx_time = now; - - /* - * Add bytes to the current frame - */ - partial_frame_count += ret; - - /* - * If we don't have a full frame, return - */ - if (partial_frame_count < SBUS_FRAME_SIZE) - return false; - - /* - * Great, it looks like we might have a frame. Go ahead and - * decode it. - */ - partial_frame_count = 0; - return sbus_decode(now, values, num_values); -} - -/* - * S.bus decoder matrix. - * - * Each channel value can come from up to 3 input bytes. Each row in the - * matrix describes up to three bytes, and each entry gives: - * - * - byte offset in the data portion of the frame - * - right shift applied to the data byte - * - mask for the data byte - * - left shift applied to the result into the channel value - */ -struct sbus_bit_pick { - uint8_t byte; - uint8_t rshift; - uint8_t mask; - uint8_t lshift; -}; -static const struct sbus_bit_pick sbus_decoder[SBUS_INPUT_CHANNELS][3] = { - /* 0 */ { { 0, 0, 0xff, 0}, { 1, 0, 0x07, 8}, { 0, 0, 0x00, 0} }, - /* 1 */ { { 1, 3, 0x1f, 0}, { 2, 0, 0x3f, 5}, { 0, 0, 0x00, 0} }, - /* 2 */ { { 2, 6, 0x03, 0}, { 3, 0, 0xff, 2}, { 4, 0, 0x01, 10} }, - /* 3 */ { { 4, 1, 0x7f, 0}, { 5, 0, 0x0f, 7}, { 0, 0, 0x00, 0} }, - /* 4 */ { { 5, 4, 0x0f, 0}, { 6, 0, 0x7f, 4}, { 0, 0, 0x00, 0} }, - /* 5 */ { { 6, 7, 0x01, 0}, { 7, 0, 0xff, 1}, { 8, 0, 0x03, 9} }, - /* 6 */ { { 8, 2, 0x3f, 0}, { 9, 0, 0x1f, 6}, { 0, 0, 0x00, 0} }, - /* 7 */ { { 9, 5, 0x07, 0}, {10, 0, 0xff, 3}, { 0, 0, 0x00, 0} }, - /* 8 */ { {11, 0, 0xff, 0}, {12, 0, 0x07, 8}, { 0, 0, 0x00, 0} }, - /* 9 */ { {12, 3, 0x1f, 0}, {13, 0, 0x3f, 5}, { 0, 0, 0x00, 0} }, - /* 10 */ { {13, 6, 0x03, 0}, {14, 0, 0xff, 2}, {15, 0, 0x01, 10} }, - /* 11 */ { {15, 1, 0x7f, 0}, {16, 0, 0x0f, 7}, { 0, 0, 0x00, 0} }, - /* 12 */ { {16, 4, 0x0f, 0}, {17, 0, 0x7f, 4}, { 0, 0, 0x00, 0} }, - /* 13 */ { {17, 7, 0x01, 0}, {18, 0, 0xff, 1}, {19, 0, 0x03, 9} }, - /* 14 */ { {19, 2, 0x3f, 0}, {20, 0, 0x1f, 6}, { 0, 0, 0x00, 0} }, - /* 15 */ { {20, 5, 0x07, 0}, {21, 0, 0xff, 3}, { 0, 0, 0x00, 0} } -}; - -static bool -sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values) -{ - /* check frame boundary markers to avoid out-of-sync cases */ - if ((frame[0] != 0x0f) || (frame[24] != 0x00)) { - sbus_frame_drops++; - return false; - } - - /* if the failsafe or connection lost bit is set, we consider the frame invalid */ - if ((frame[23] & (1 << 2)) && /* signal lost */ - (frame[23] & (1 << 3))) { /* failsafe */ - - /* actively announce signal loss */ - *values = 0; - return false; - } - - /* we have received something we think is a frame */ - last_frame_time = frame_time; - - unsigned chancount = (PX4IO_INPUT_CHANNELS > SBUS_INPUT_CHANNELS) ? - SBUS_INPUT_CHANNELS : PX4IO_INPUT_CHANNELS; - - /* use the decoder matrix to extract channel data */ - for (unsigned channel = 0; channel < chancount; channel++) { - unsigned value = 0; - - for (unsigned pick = 0; pick < 3; pick++) { - const struct sbus_bit_pick *decode = &sbus_decoder[channel][pick]; - - if (decode->mask != 0) { - unsigned piece = frame[1 + decode->byte]; - piece >>= decode->rshift; - piece &= decode->mask; - piece <<= decode->lshift; - - value |= piece; - } - } - - /* convert 0-2048 values to 1000-2000 ppm encoding in a very sloppy fashion */ - values[channel] = (value / 2) + 998; - } - - /* decode switch channels if data fields are wide enough */ - if (PX4IO_INPUT_CHANNELS > 17 && chancount > 15) { - chancount = 18; - - /* channel 17 (index 16) */ - values[16] = (frame[23] & (1 << 0)) * 1000 + 998; - /* channel 18 (index 17) */ - values[17] = (frame[23] & (1 << 1)) * 1000 + 998; - } - - /* note the number of channels decoded */ - *num_values = chancount; - - return true; -} diff --git a/makefiles/config_px4fmu_default.mk b/makefiles/config_px4fmu_default.mk index fea9a814d..47e15b344 100644 --- a/makefiles/config_px4fmu_default.mk +++ b/makefiles/config_px4fmu_default.mk @@ -10,6 +10,9 @@ ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_common # # Board support modules # +MODULES += drivers/stm32 +MODULES += drivers/stm32/adc +MODULES += drivers/stm32/tone_alarm MODULES += drivers/px4io MODULES += drivers/px4fmu MODULES += drivers/boards/px4fmu @@ -85,9 +88,7 @@ endef # command priority stack entrypoint BUILTIN_COMMANDS := \ - $(call _B, adc, , 2048, adc_main ) \ $(call _B, math_demo, , 8192, math_demo_main ) \ $(call _B, sercon, , 2048, sercon_main ) \ $(call _B, serdis, , 2048, serdis_main ) \ - $(call _B, tone_alarm, , 2048, tone_alarm_main ) \ $(call _B, uorb, , 4096, uorb_main ) diff --git a/makefiles/config_px4io_default.mk b/makefiles/config_px4io_default.mk index dc774fe63..cf70391bc 100644 --- a/makefiles/config_px4io_default.mk +++ b/makefiles/config_px4io_default.mk @@ -2,4 +2,9 @@ # Makefile for the px4io_default configuration # -# ... nothing here yet +# +# Board support modules +# +MODULES += drivers/stm32 +MODULES += drivers/boards/px4io +MODULES += modules/px4iofirmware \ No newline at end of file diff --git a/makefiles/module.mk b/makefiles/module.mk index 538f6d318..253b3cd52 100644 --- a/makefiles/module.mk +++ b/makefiles/module.mk @@ -1,5 +1,5 @@ # -# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions diff --git a/src/drivers/boards/px4io/module.mk b/src/drivers/boards/px4io/module.mk new file mode 100644 index 000000000..2601a1c15 --- /dev/null +++ b/src/drivers/boards/px4io/module.mk @@ -0,0 +1,6 @@ +# +# Board-specific startup code for the PX4IO +# + +SRCS = px4io_init.c \ + px4io_pwm_servo.c diff --git a/src/drivers/boards/px4io/px4io_init.c b/src/drivers/boards/px4io/px4io_init.c new file mode 100644 index 000000000..14e8dc13a --- /dev/null +++ b/src/drivers/boards/px4io/px4io_init.c @@ -0,0 +1,98 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file px4io_init.c + * + * PX4IO-specific early startup code. This file implements the + * nsh_archinitialize() function that is called early by nsh during startup. + * + * Code here is run before the rcS script is invoked; it should start required + * subsystems and perform board-specific initialisation. + */ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include + +#include +#include +#include +#include + +#include + +#include "stm32_internal.h" +#include "px4io_internal.h" +#include "stm32_uart.h" + +#include + +#include +#include +#include + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/************************************************************************************ + * Name: stm32_boardinitialize + * + * Description: + * All STM32 architectures must provide the following entry point. This entry point + * is called early in the intitialization -- after all memory has been configured + * and mapped but before any devices have been initialized. + * + ************************************************************************************/ + +__EXPORT void stm32_boardinitialize(void) +{ + /* configure GPIOs */ + stm32_configgpio(GPIO_ACC1_PWR_EN); + stm32_configgpio(GPIO_ACC2_PWR_EN); + stm32_configgpio(GPIO_SERVO_PWR_EN); + stm32_configgpio(GPIO_RELAY1_EN); + stm32_configgpio(GPIO_RELAY2_EN); + stm32_configgpio(GPIO_LED1); + stm32_configgpio(GPIO_LED2); + stm32_configgpio(GPIO_LED3); + stm32_configgpio(GPIO_ACC_OC_DETECT); + stm32_configgpio(GPIO_SERVO_OC_DETECT); + stm32_configgpio(GPIO_BTN_SAFETY); + + stm32_configgpio(GPIO_ADC_VBATT); + stm32_configgpio(GPIO_ADC_IN5); +} diff --git a/src/drivers/boards/px4io/px4io_internal.h b/src/drivers/boards/px4io/px4io_internal.h new file mode 100644 index 000000000..44bb98513 --- /dev/null +++ b/src/drivers/boards/px4io/px4io_internal.h @@ -0,0 +1,83 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file PX4IO hardware definitions. + */ + +#pragma once + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +#include +#include +#include + +#include + +/************************************************************************************ + * Definitions + ************************************************************************************/ + +/* PX4IO GPIOs **********************************************************************/ +/* LEDs */ + +#define GPIO_LED1 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|\ + GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN14) +#define GPIO_LED2 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|\ + GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN15) +#define GPIO_LED3 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|\ + GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10) + +/* Safety switch button *************************************************************/ + +#define GPIO_BTN_SAFETY (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN5) + +/* Power switch controls ************************************************************/ + +#define GPIO_ACC1_PWR_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13) +#define GPIO_ACC2_PWR_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN14) +#define GPIO_SERVO_PWR_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN15) + +#define GPIO_ACC_OC_DETECT (GPIO_INPUT|GPIO_CNF_INPULLUP|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN12) +#define GPIO_SERVO_OC_DETECT (GPIO_INPUT|GPIO_CNF_INPULLUP|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN13) + +#define GPIO_RELAY1_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN12) +#define GPIO_RELAY2_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN11) + +/* Analog inputs ********************************************************************/ + +#define GPIO_ADC_VBATT (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN4) +#define GPIO_ADC_IN5 (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN5) diff --git a/src/drivers/boards/px4io/px4io_pwm_servo.c b/src/drivers/boards/px4io/px4io_pwm_servo.c new file mode 100644 index 000000000..a2f73c429 --- /dev/null +++ b/src/drivers/boards/px4io/px4io_pwm_servo.c @@ -0,0 +1,123 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* + * @file px4fmu_pwm_servo.c + * + * Configuration data for the stm32 pwm_servo driver. + * + * Note that these arrays must always be fully-sized. + */ + +#include + +#include + +#include +#include + +#include +#include +#include + +__EXPORT const struct pwm_servo_timer pwm_timers[PWM_SERVO_MAX_TIMERS] = { + { + .base = STM32_TIM2_BASE, + .clock_register = STM32_RCC_APB1ENR, + .clock_bit = RCC_APB1ENR_TIM2EN, + .clock_freq = STM32_APB1_TIM2_CLKIN + }, + { + .base = STM32_TIM3_BASE, + .clock_register = STM32_RCC_APB1ENR, + .clock_bit = RCC_APB1ENR_TIM3EN, + .clock_freq = STM32_APB1_TIM3_CLKIN + }, + { + .base = STM32_TIM4_BASE, + .clock_register = STM32_RCC_APB1ENR, + .clock_bit = RCC_APB1ENR_TIM4EN, + .clock_freq = STM32_APB1_TIM4_CLKIN + } +}; + +__EXPORT const struct pwm_servo_channel pwm_channels[PWM_SERVO_MAX_CHANNELS] = { + { + .gpio = GPIO_TIM2_CH1OUT, + .timer_index = 0, + .timer_channel = 1, + .default_value = 1000, + }, + { + .gpio = GPIO_TIM2_CH2OUT, + .timer_index = 0, + .timer_channel = 2, + .default_value = 1000, + }, + { + .gpio = GPIO_TIM4_CH3OUT, + .timer_index = 2, + .timer_channel = 3, + .default_value = 1000, + }, + { + .gpio = GPIO_TIM4_CH4OUT, + .timer_index = 2, + .timer_channel = 4, + .default_value = 1000, + }, + { + .gpio = GPIO_TIM3_CH1OUT, + .timer_index = 1, + .timer_channel = 1, + .default_value = 1000, + }, + { + .gpio = GPIO_TIM3_CH2OUT, + .timer_index = 1, + .timer_channel = 2, + .default_value = 1000, + }, + { + .gpio = GPIO_TIM3_CH3OUT, + .timer_index = 1, + .timer_channel = 3, + .default_value = 1000, + }, + { + .gpio = GPIO_TIM3_CH4OUT, + .timer_index = 1, + .timer_channel = 4, + .default_value = 1000, + } +}; diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index b21f83e44..4c2f1736f 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -80,11 +80,11 @@ #include #include #include +#include -#include #include #include "uploader.h" -#include +#include #define PX4IO_SET_DEBUG _IOC(0xff00, 0) #define PX4IO_INAIR_RESTART_ENABLE _IOC(0xff00, 1) diff --git a/src/drivers/stm32/adc/adc.cpp b/src/drivers/stm32/adc/adc.cpp new file mode 100644 index 000000000..911def943 --- /dev/null +++ b/src/drivers/stm32/adc/adc.cpp @@ -0,0 +1,387 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file adc.cpp + * + * Driver for the STM32 ADC. + * + * This is a low-rate driver, designed for sampling things like voltages + * and so forth. It avoids the gross complexity of the NuttX ADC driver. + */ + +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#include +#include +#include + +#include +#include + +/* + * Register accessors. + * For now, no reason not to just use ADC1. + */ +#define REG(_reg) (*(volatile uint32_t *)(STM32_ADC1_BASE + _reg)) + +#define rSR REG(STM32_ADC_SR_OFFSET) +#define rCR1 REG(STM32_ADC_CR1_OFFSET) +#define rCR2 REG(STM32_ADC_CR2_OFFSET) +#define rSMPR1 REG(STM32_ADC_SMPR1_OFFSET) +#define rSMPR2 REG(STM32_ADC_SMPR2_OFFSET) +#define rJOFR1 REG(STM32_ADC_JOFR1_OFFSET) +#define rJOFR2 REG(STM32_ADC_JOFR2_OFFSET) +#define rJOFR3 REG(STM32_ADC_JOFR3_OFFSET) +#define rJOFR4 REG(STM32_ADC_JOFR4_OFFSET) +#define rHTR REG(STM32_ADC_HTR_OFFSET) +#define rLTR REG(STM32_ADC_LTR_OFFSET) +#define rSQR1 REG(STM32_ADC_SQR1_OFFSET) +#define rSQR2 REG(STM32_ADC_SQR2_OFFSET) +#define rSQR3 REG(STM32_ADC_SQR3_OFFSET) +#define rJSQR REG(STM32_ADC_JSQR_OFFSET) +#define rJDR1 REG(STM32_ADC_JDR1_OFFSET) +#define rJDR2 REG(STM32_ADC_JDR2_OFFSET) +#define rJDR3 REG(STM32_ADC_JDR3_OFFSET) +#define rJDR4 REG(STM32_ADC_JDR4_OFFSET) +#define rDR REG(STM32_ADC_DR_OFFSET) + +#ifdef STM32_ADC_CCR +# define rCCR REG(STM32_ADC_CCR_OFFSET) +#endif + +class ADC : public device::CDev +{ +public: + ADC(uint32_t channels); + ~ADC(); + + virtual int init(); + + virtual int ioctl(file *filp, int cmd, unsigned long arg); + virtual ssize_t read(file *filp, char *buffer, size_t len); + +protected: + virtual int open_first(struct file *filp); + virtual int close_last(struct file *filp); + +private: + static const hrt_abstime _tickrate = 10000; /**< 100Hz base rate */ + + hrt_call _call; + perf_counter_t _sample_perf; + + unsigned _channel_count; + adc_msg_s *_samples; /**< sample buffer */ + + /** work trampoline */ + static void _tick_trampoline(void *arg); + + /** worker function */ + void _tick(); + + /** + * Sample a single channel and return the measured value. + * + * @param channel The channel to sample. + * @return The sampled value, or 0xffff if + * sampling failed. + */ + uint16_t _sample(unsigned channel); + +}; + +ADC::ADC(uint32_t channels) : + CDev("adc", ADC_DEVICE_PATH), + _sample_perf(perf_alloc(PC_ELAPSED, "ADC samples")), + _channel_count(0), + _samples(nullptr) +{ + _debug_enabled = true; + + /* always enable the temperature sensor */ + channels |= 1 << 16; + + /* allocate the sample array */ + for (unsigned i = 0; i < 32; i++) { + if (channels & (1 << i)) { + _channel_count++; + } + } + _samples = new adc_msg_s[_channel_count]; + + /* prefill the channel numbers in the sample array */ + if (_samples != nullptr) { + unsigned index = 0; + for (unsigned i = 0; i < 32; i++) { + if (channels & (1 << i)) { + _samples[index].am_channel = i; + _samples[index].am_data = 0; + index++; + } + } + } +} + +ADC::~ADC() +{ + if (_samples != nullptr) + delete _samples; +} + +int +ADC::init() +{ + /* do calibration if supported */ +#ifdef ADC_CR2_CAL + rCR2 |= ADC_CR2_CAL; + usleep(100); + if (rCR2 & ADC_CR2_CAL) + return -1; +#endif + + /* arbitrarily configure all channels for 55 cycle sample time */ + rSMPR1 = 0b00000011011011011011011011011011; + rSMPR2 = 0b00011011011011011011011011011011; + + /* XXX for F2/4, might want to select 12-bit mode? */ + rCR1 = 0; + + /* enable the temperature sensor / Vrefint channel if supported*/ + rCR2 = +#ifdef ADC_CR2_TSVREFE + /* enable the temperature sensor in CR2 */ + ADC_CR2_TSVREFE | +#endif + 0; + +#ifdef ADC_CCR_TSVREFE + /* enable temperature sensor in CCR */ + rCCR = ADC_CCR_TSVREFE; +#endif + + /* configure for a single-channel sequence */ + rSQR1 = 0; + rSQR2 = 0; + rSQR3 = 0; /* will be updated with the channel each tick */ + + /* power-cycle the ADC and turn it on */ + rCR2 &= ~ADC_CR2_ADON; + usleep(10); + rCR2 |= ADC_CR2_ADON; + usleep(10); + rCR2 |= ADC_CR2_ADON; + usleep(10); + + /* kick off a sample and wait for it to complete */ + hrt_abstime now = hrt_absolute_time(); + rCR2 |= ADC_CR2_SWSTART; + while (!(rSR & ADC_SR_EOC)) { + + /* don't wait for more than 500us, since that means something broke - should reset here if we see this */ + if ((hrt_absolute_time() - now) > 500) { + log("sample timeout"); + return -1; + return 0xffff; + } + } + + + debug("init done"); + + /* create the device node */ + return CDev::init(); +} + +int +ADC::ioctl(file *filp, int cmd, unsigned long arg) +{ + return -ENOTTY; +} + +ssize_t +ADC::read(file *filp, char *buffer, size_t len) +{ + const size_t maxsize = sizeof(adc_msg_s) * _channel_count; + + if (len > maxsize) + len = maxsize; + + /* block interrupts while copying samples to avoid racing with an update */ + irqstate_t flags = irqsave(); + memcpy(buffer, _samples, len); + irqrestore(flags); + + return len; +} + +int +ADC::open_first(struct file *filp) +{ + /* get fresh data */ + _tick(); + + /* and schedule regular updates */ + hrt_call_every(&_call, _tickrate, _tickrate, _tick_trampoline, this); + + return 0; +} + +int +ADC::close_last(struct file *filp) +{ + hrt_cancel(&_call); + return 0; +} + +void +ADC::_tick_trampoline(void *arg) +{ + ((ADC *)arg)->_tick(); +} + +void +ADC::_tick() +{ + /* scan the channel set and sample each */ + for (unsigned i = 0; i < _channel_count; i++) + _samples[i].am_data = _sample(_samples[i].am_channel); +} + +uint16_t +ADC::_sample(unsigned channel) +{ + perf_begin(_sample_perf); + + /* clear any previous EOC */ + if (rSR & ADC_SR_EOC) + rSR &= ~ADC_SR_EOC; + + /* run a single conversion right now - should take about 60 cycles (a few microseconds) max */ + rSQR3 = channel; + rCR2 |= ADC_CR2_SWSTART; + + /* wait for the conversion to complete */ + hrt_abstime now = hrt_absolute_time(); + while (!(rSR & ADC_SR_EOC)) { + + /* don't wait for more than 50us, since that means something broke - should reset here if we see this */ + if ((hrt_absolute_time() - now) > 50) { + log("sample timeout"); + return 0xffff; + } + } + + /* read the result and clear EOC */ + uint16_t result = rDR; + + perf_end(_sample_perf); + return result; +} + +/* + * Driver 'main' command. + */ +extern "C" __EXPORT int adc_main(int argc, char *argv[]); + +namespace +{ +ADC *g_adc; + +void +test(void) +{ + + int fd = open(ADC_DEVICE_PATH, O_RDONLY); + if (fd < 0) + err(1, "can't open ADC device"); + + for (unsigned i = 0; i < 50; i++) { + adc_msg_s data[8]; + ssize_t count = read(fd, data, sizeof(data)); + + if (count < 0) + errx(1, "read error"); + + unsigned channels = count / sizeof(data[0]); + + for (unsigned j = 0; j < channels; j++) { + printf ("%d: %u ", data[j].am_channel, data[j].am_data); + } + + printf("\n"); + usleep(500000); + } + + exit(0); +} +} + +int +adc_main(int argc, char *argv[]) +{ + if (g_adc == nullptr) { + /* XXX this hardcodes the default channel set for PX4FMU - should be configurable */ + g_adc = new ADC((1 << 10) | (1 << 11) | (1 << 12) | (1 << 13)); + + if (g_adc == nullptr) + errx(1, "couldn't allocate the ADC driver"); + + if (g_adc->init() != OK) { + delete g_adc; + errx(1, "ADC init failed"); + } + } + + if (argc > 1) { + if (!strcmp(argv[1], "test")) + test(); + } + + exit(0); +} diff --git a/src/drivers/stm32/adc/module.mk b/src/drivers/stm32/adc/module.mk new file mode 100644 index 000000000..48620feea --- /dev/null +++ b/src/drivers/stm32/adc/module.mk @@ -0,0 +1,42 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# STM32 ADC driver +# + +MODULE_COMMAND = adc + +SRCS = adc.cpp + +INCLUDE_DIRS += $(NUTTX_SRC)/arch/arm/src/stm32 $(NUTTX_SRC)/arch/arm/src/common diff --git a/src/drivers/stm32/drv_hrt.c b/src/drivers/stm32/drv_hrt.c new file mode 100644 index 000000000..cec0c49ff --- /dev/null +++ b/src/drivers/stm32/drv_hrt.c @@ -0,0 +1,908 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file drv_hrt.c + * + * High-resolution timer callouts and timekeeping. + * + * This can use any general or advanced STM32 timer. + * + * Note that really, this could use systick too, but that's + * monopolised by NuttX and stealing it would just be awkward. + * + * We don't use the NuttX STM32 driver per se; rather, we + * claim the timer and then drive it directly. + */ + +#include +#include +#include + +#include +#include + +#include +#include +#include +#include +#include +#include + +#include +#include + +#include "chip.h" +#include "up_internal.h" +#include "up_arch.h" + +#include "stm32_internal.h" +#include "stm32_gpio.h" +#include "stm32_tim.h" + +#ifdef CONFIG_HRT_TIMER + +/* HRT configuration */ +#if HRT_TIMER == 1 +# define HRT_TIMER_BASE STM32_TIM1_BASE +# define HRT_TIMER_POWER_REG STM32_RCC_APB2ENR +# define HRT_TIMER_POWER_BIT RCC_APB2ENR_TIM1EN +# define HRT_TIMER_VECTOR STM32_IRQ_TIM1CC +# define HRT_TIMER_CLOCK STM32_APB2_TIM1_CLKIN +# if CONFIG_STM32_TIM1 +# error must not set CONFIG_STM32_TIM1=y and HRT_TIMER=1 +# endif +#elif HRT_TIMER == 2 +# define HRT_TIMER_BASE STM32_TIM2_BASE +# define HRT_TIMER_POWER_REG STM32_RCC_APB1ENR +# define HRT_TIMER_POWER_BIT RCC_APB2ENR_TIM2EN +# define HRT_TIMER_VECTOR STM32_IRQ_TIM2 +# define HRT_TIMER_CLOCK STM32_APB1_TIM2_CLKIN +# if CONFIG_STM32_TIM2 +# error must not set CONFIG_STM32_TIM2=y and HRT_TIMER=2 +# endif +#elif HRT_TIMER == 3 +# define HRT_TIMER_BASE STM32_TIM3_BASE +# define HRT_TIMER_POWER_REG STM32_RCC_APB1ENR +# define HRT_TIMER_POWER_BIT RCC_APB2ENR_TIM3EN +# define HRT_TIMER_VECTOR STM32_IRQ_TIM3 +# define HRT_TIMER_CLOCK STM32_APB1_TIM3_CLKIN +# if CONFIG_STM32_TIM3 +# error must not set CONFIG_STM32_TIM3=y and HRT_TIMER=3 +# endif +#elif HRT_TIMER == 4 +# define HRT_TIMER_BASE STM32_TIM4_BASE +# define HRT_TIMER_POWER_REG STM32_RCC_APB1ENR +# define HRT_TIMER_POWER_BIT RCC_APB2ENR_TIM4EN +# define HRT_TIMER_VECTOR STM32_IRQ_TIM4 +# define HRT_TIMER_CLOCK STM32_APB1_TIM4_CLKIN +# if CONFIG_STM32_TIM4 +# error must not set CONFIG_STM32_TIM4=y and HRT_TIMER=4 +# endif +#elif HRT_TIMER == 5 +# define HRT_TIMER_BASE STM32_TIM5_BASE +# define HRT_TIMER_POWER_REG STM32_RCC_APB1ENR +# define HRT_TIMER_POWER_BIT RCC_APB2ENR_TIM5EN +# define HRT_TIMER_VECTOR STM32_IRQ_TIM5 +# define HRT_TIMER_CLOCK STM32_APB1_TIM5_CLKIN +# if CONFIG_STM32_TIM5 +# error must not set CONFIG_STM32_TIM5=y and HRT_TIMER=5 +# endif +#elif HRT_TIMER == 8 +# define HRT_TIMER_BASE STM32_TIM8_BASE +# define HRT_TIMER_POWER_REG STM32_RCC_APB2ENR +# define HRT_TIMER_POWER_BIT RCC_APB2ENR_TIM8EN +# define HRT_TIMER_VECTOR STM32_IRQ_TIM8CC +# define HRT_TIMER_CLOCK STM32_APB2_TIM8_CLKIN +# if CONFIG_STM32_TIM8 +# error must not set CONFIG_STM32_TIM8=y and HRT_TIMER=8 +# endif +#elif HRT_TIMER == 9 +# define HRT_TIMER_BASE STM32_TIM9_BASE +# define HRT_TIMER_POWER_REG STM32_RCC_APB1ENR +# define HRT_TIMER_POWER_BIT RCC_APB2ENR_TIM9EN +# define HRT_TIMER_VECTOR STM32_IRQ_TIM1BRK +# define HRT_TIMER_CLOCK STM32_APB1_TIM9_CLKIN +# if CONFIG_STM32_TIM9 +# error must not set CONFIG_STM32_TIM9=y and HRT_TIMER=9 +# endif +#elif HRT_TIMER == 10 +# define HRT_TIMER_BASE STM32_TIM10_BASE +# define HRT_TIMER_POWER_REG STM32_RCC_APB1ENR +# define HRT_TIMER_POWER_BIT RCC_APB2ENR_TIM10EN +# define HRT_TIMER_VECTOR STM32_IRQ_TIM1UP +# define HRT_TIMER_CLOCK STM32_APB1_TIM10_CLKIN +# if CONFIG_STM32_TIM10 +# error must not set CONFIG_STM32_TIM11=y and HRT_TIMER=10 +# endif +#elif HRT_TIMER == 11 +# define HRT_TIMER_BASE STM32_TIM11_BASE +# define HRT_TIMER_POWER_REG STM32_RCC_APB1ENR +# define HRT_TIMER_POWER_BIT RCC_APB2ENR_TIM11EN +# define HRT_TIMER_VECTOR STM32_IRQ_TIM1TRGCOM +# define HRT_TIMER_CLOCK STM32_APB1_TIM11_CLKIN +# if CONFIG_STM32_TIM11 +# error must not set CONFIG_STM32_TIM11=y and HRT_TIMER=11 +# endif +#else +# error HRT_TIMER must be set in board.h if CONFIG_HRT_TIMER=y +#endif + +/* + * HRT clock must be a multiple of 1MHz greater than 1MHz + */ +#if (HRT_TIMER_CLOCK % 1000000) != 0 +# error HRT_TIMER_CLOCK must be a multiple of 1MHz +#endif +#if HRT_TIMER_CLOCK <= 1000000 +# error HRT_TIMER_CLOCK must be greater than 1MHz +#endif + +/* + * Minimum/maximum deadlines. + * + * These are suitable for use with a 16-bit timer/counter clocked + * at 1MHz. The high-resolution timer need only guarantee that it + * not wrap more than once in the 50ms period for absolute time to + * be consistently maintained. + * + * The minimum deadline must be such that the time taken between + * reading a time and writing a deadline to the timer cannot + * result in missing the deadline. + */ +#define HRT_INTERVAL_MIN 50 +#define HRT_INTERVAL_MAX 50000 + +/* + * Period of the free-running counter, in microseconds. + */ +#define HRT_COUNTER_PERIOD 65536 + +/* + * Scaling factor(s) for the free-running counter; convert an input + * in counts to a time in microseconds. + */ +#define HRT_COUNTER_SCALE(_c) (_c) + +/* + * Timer register accessors + */ +#define REG(_reg) (*(volatile uint32_t *)(HRT_TIMER_BASE + _reg)) + +#define rCR1 REG(STM32_GTIM_CR1_OFFSET) +#define rCR2 REG(STM32_GTIM_CR2_OFFSET) +#define rSMCR REG(STM32_GTIM_SMCR_OFFSET) +#define rDIER REG(STM32_GTIM_DIER_OFFSET) +#define rSR REG(STM32_GTIM_SR_OFFSET) +#define rEGR REG(STM32_GTIM_EGR_OFFSET) +#define rCCMR1 REG(STM32_GTIM_CCMR1_OFFSET) +#define rCCMR2 REG(STM32_GTIM_CCMR2_OFFSET) +#define rCCER REG(STM32_GTIM_CCER_OFFSET) +#define rCNT REG(STM32_GTIM_CNT_OFFSET) +#define rPSC REG(STM32_GTIM_PSC_OFFSET) +#define rARR REG(STM32_GTIM_ARR_OFFSET) +#define rCCR1 REG(STM32_GTIM_CCR1_OFFSET) +#define rCCR2 REG(STM32_GTIM_CCR2_OFFSET) +#define rCCR3 REG(STM32_GTIM_CCR3_OFFSET) +#define rCCR4 REG(STM32_GTIM_CCR4_OFFSET) +#define rDCR REG(STM32_GTIM_DCR_OFFSET) +#define rDMAR REG(STM32_GTIM_DMAR_OFFSET) + +/* + * Specific registers and bits used by HRT sub-functions + */ +#if HRT_TIMER_CHANNEL == 1 +# define rCCR_HRT rCCR1 /* compare register for HRT */ +# define DIER_HRT GTIM_DIER_CC1IE /* interrupt enable for HRT */ +# define SR_INT_HRT GTIM_SR_CC1IF /* interrupt status for HRT */ +#elif HRT_TIMER_CHANNEL == 2 +# define rCCR_HRT rCCR2 /* compare register for HRT */ +# define DIER_HRT GTIM_DIER_CC2IE /* interrupt enable for HRT */ +# define SR_INT_HRT GTIM_SR_CC2IF /* interrupt status for HRT */ +#elif HRT_TIMER_CHANNEL == 3 +# define rCCR_HRT rCCR3 /* compare register for HRT */ +# define DIER_HRT GTIM_DIER_CC3IE /* interrupt enable for HRT */ +# define SR_INT_HRT GTIM_SR_CC3IF /* interrupt status for HRT */ +#elif HRT_TIMER_CHANNEL == 4 +# define rCCR_HRT rCCR4 /* compare register for HRT */ +# define DIER_HRT GTIM_DIER_CC4IE /* interrupt enable for HRT */ +# define SR_INT_HRT GTIM_SR_CC4IF /* interrupt status for HRT */ +#else +# error HRT_TIMER_CHANNEL must be a value between 1 and 4 +#endif + +/* + * Queue of callout entries. + */ +static struct sq_queue_s callout_queue; + +/* latency baseline (last compare value applied) */ +static uint16_t latency_baseline; + +/* timer count at interrupt (for latency purposes) */ +static uint16_t latency_actual; + +/* latency histogram */ +#define LATENCY_BUCKET_COUNT 8 +static const uint16_t latency_buckets[LATENCY_BUCKET_COUNT] = { 1, 2, 5, 10, 20, 50, 100, 1000 }; +static uint32_t latency_counters[LATENCY_BUCKET_COUNT + 1]; + +/* timer-specific functions */ +static void hrt_tim_init(void); +static int hrt_tim_isr(int irq, void *context); +static void hrt_latency_update(void); + +/* callout list manipulation */ +static void hrt_call_internal(struct hrt_call *entry, + hrt_abstime deadline, + hrt_abstime interval, + hrt_callout callout, + void *arg); +static void hrt_call_enter(struct hrt_call *entry); +static void hrt_call_reschedule(void); +static void hrt_call_invoke(void); + +/* + * Specific registers and bits used by PPM sub-functions + */ +#ifdef CONFIG_HRT_PPM +/* + * If the timer hardware doesn't support GTIM_CCER_CCxNP, then we will work around it. + */ +# ifndef GTIM_CCER_CC1NP +# define GTIM_CCER_CC1NP 0 +# define GTIM_CCER_CC2NP 0 +# define GTIM_CCER_CC3NP 0 +# define GTIM_CCER_CC4NP 0 +# define PPM_EDGE_FLIP +# endif + +# if HRT_PPM_CHANNEL == 1 +# define rCCR_PPM rCCR1 /* capture register for PPM */ +# define DIER_PPM GTIM_DIER_CC1IE /* capture interrupt (non-DMA mode) */ +# define SR_INT_PPM GTIM_SR_CC1IF /* capture interrupt (non-DMA mode) */ +# define SR_OVF_PPM GTIM_SR_CC1OF /* capture overflow (non-DMA mode) */ +# define CCMR1_PPM 1 /* not on TI1/TI2 */ +# define CCMR2_PPM 0 /* on TI3, not on TI4 */ +# define CCER_PPM (GTIM_CCER_CC1E | GTIM_CCER_CC1P | GTIM_CCER_CC1NP) /* CC1, both edges */ +# define CCER_PPM_FLIP GTIM_CCER_CC1P +# elif HRT_PPM_CHANNEL == 2 +# define rCCR_PPM rCCR2 /* capture register for PPM */ +# define DIER_PPM GTIM_DIER_CC2IE /* capture interrupt (non-DMA mode) */ +# define SR_INT_PPM GTIM_SR_CC2IF /* capture interrupt (non-DMA mode) */ +# define SR_OVF_PPM GTIM_SR_CC2OF /* capture overflow (non-DMA mode) */ +# define CCMR1_PPM 2 /* not on TI1/TI2 */ +# define CCMR2_PPM 0 /* on TI3, not on TI4 */ +# define CCER_PPM (GTIM_CCER_CC2E | GTIM_CCER_CC2P | GTIM_CCER_CC2NP) /* CC2, both edges */ +# define CCER_PPM_FLIP GTIM_CCER_CC2P +# elif HRT_PPM_CHANNEL == 3 +# define rCCR_PPM rCCR3 /* capture register for PPM */ +# define DIER_PPM GTIM_DIER_CC3IE /* capture interrupt (non-DMA mode) */ +# define SR_INT_PPM GTIM_SR_CC3IF /* capture interrupt (non-DMA mode) */ +# define SR_OVF_PPM GTIM_SR_CC3OF /* capture overflow (non-DMA mode) */ +# define CCMR1_PPM 0 /* not on TI1/TI2 */ +# define CCMR2_PPM 1 /* on TI3, not on TI4 */ +# define CCER_PPM (GTIM_CCER_CC3E | GTIM_CCER_CC3P | GTIM_CCER_CC3NP) /* CC3, both edges */ +# define CCER_PPM_FLIP GTIM_CCER_CC3P +# elif HRT_PPM_CHANNEL == 4 +# define rCCR_PPM rCCR4 /* capture register for PPM */ +# define DIER_PPM GTIM_DIER_CC4IE /* capture interrupt (non-DMA mode) */ +# define SR_INT_PPM GTIM_SR_CC4IF /* capture interrupt (non-DMA mode) */ +# define SR_OVF_PPM GTIM_SR_CC4OF /* capture overflow (non-DMA mode) */ +# define CCMR1_PPM 0 /* not on TI1/TI2 */ +# define CCMR2_PPM 2 /* on TI3, not on TI4 */ +# define CCER_PPM (GTIM_CCER_CC4E | GTIM_CCER_CC4P | GTIM_CCER_CC4NP) /* CC4, both edges */ +# define CCER_PPM_FLIP GTIM_CCER_CC4P +# else +# error HRT_PPM_CHANNEL must be a value between 1 and 4 if CONFIG_HRT_PPM is set +# endif + +/* + * PPM decoder tuning parameters + */ +# define PPM_MAX_PULSE_WIDTH 500 /* maximum width of a pulse */ +# define PPM_MIN_CHANNEL_VALUE 800 /* shortest valid channel signal */ +# define PPM_MAX_CHANNEL_VALUE 2200 /* longest valid channel signal */ +# define PPM_MIN_START 2500 /* shortest valid start gap */ + +/* decoded PPM buffer */ +#define PPM_MAX_CHANNELS 12 +__EXPORT uint16_t ppm_buffer[PPM_MAX_CHANNELS]; +__EXPORT unsigned ppm_decoded_channels = 0; +__EXPORT uint64_t ppm_last_valid_decode = 0; + +/* PPM edge history */ +__EXPORT uint16_t ppm_edge_history[32]; +unsigned ppm_edge_next; + +/* PPM pulse history */ +__EXPORT uint16_t ppm_pulse_history[32]; +unsigned ppm_pulse_next; + +static uint16_t ppm_temp_buffer[PPM_MAX_CHANNELS]; + +/* PPM decoder state machine */ +struct { + uint16_t last_edge; /* last capture time */ + uint16_t last_mark; /* last significant edge */ + unsigned next_channel; + enum { + UNSYNCH = 0, + ARM, + ACTIVE, + INACTIVE + } phase; +} ppm; + +static void hrt_ppm_decode(uint32_t status); + +#else +/* disable the PPM configuration */ +# define rCCR_PPM 0 +# define DIER_PPM 0 +# define SR_INT_PPM 0 +# define SR_OVF_PPM 0 +# define CCMR1_PPM 0 +# define CCMR2_PPM 0 +# define CCER_PPM 0 +#endif /* CONFIG_HRT_PPM */ + +/* + * Initialise the timer we are going to use. + * + * We expect that we'll own one of the reduced-function STM32 general + * timers, and that we can use channel 1 in compare mode. + */ +static void +hrt_tim_init(void) +{ + /* claim our interrupt vector */ + irq_attach(HRT_TIMER_VECTOR, hrt_tim_isr); + + /* clock/power on our timer */ + modifyreg32(HRT_TIMER_POWER_REG, 0, HRT_TIMER_POWER_BIT); + + /* disable and configure the timer */ + rCR1 = 0; + rCR2 = 0; + rSMCR = 0; + rDIER = DIER_HRT | DIER_PPM; + rCCER = 0; /* unlock CCMR* registers */ + rCCMR1 = CCMR1_PPM; + rCCMR2 = CCMR2_PPM; + rCCER = CCER_PPM; + rDCR = 0; + + /* configure the timer to free-run at 1MHz */ + rPSC = (HRT_TIMER_CLOCK / 1000000) - 1; /* this really only works for whole-MHz clocks */ + + /* run the full span of the counter */ + rARR = 0xffff; + + /* set an initial capture a little ways off */ + rCCR_HRT = 1000; + + /* generate an update event; reloads the counter, all registers */ + rEGR = GTIM_EGR_UG; + + /* enable the timer */ + rCR1 = GTIM_CR1_CEN; + + /* enable interrupts */ + up_enable_irq(HRT_TIMER_VECTOR); +} + +#ifdef CONFIG_HRT_PPM +/* + * Handle the PPM decoder state machine. + */ +static void +hrt_ppm_decode(uint32_t status) +{ + uint16_t count = rCCR_PPM; + uint16_t width; + uint16_t interval; + unsigned i; + + /* if we missed an edge, we have to give up */ + if (status & SR_OVF_PPM) + goto error; + + /* how long since the last edge? */ + width = count - ppm.last_edge; + ppm.last_edge = count; + + ppm_edge_history[ppm_edge_next++] = width; + + if (ppm_edge_next >= 32) + ppm_edge_next = 0; + + /* + * if this looks like a start pulse, then push the last set of values + * and reset the state machine + */ + if (width >= PPM_MIN_START) { + + /* export the last set of samples if we got something sensible */ + if (ppm.next_channel > 4) { + for (i = 0; i < ppm.next_channel && i < PPM_MAX_CHANNELS; i++) + ppm_buffer[i] = ppm_temp_buffer[i]; + + ppm_decoded_channels = i; + ppm_last_valid_decode = hrt_absolute_time(); + + } + + /* reset for the next frame */ + ppm.next_channel = 0; + + /* next edge is the reference for the first channel */ + ppm.phase = ARM; + + return; + } + + switch (ppm.phase) { + case UNSYNCH: + /* we are waiting for a start pulse - nothing useful to do here */ + return; + + case ARM: + + /* we expect a pulse giving us the first mark */ + if (width > PPM_MAX_PULSE_WIDTH) + goto error; /* pulse was too long */ + + /* record the mark timing, expect an inactive edge */ + ppm.last_mark = count; + ppm.phase = INACTIVE; + return; + + case INACTIVE: + /* this edge is not interesting, but now we are ready for the next mark */ + ppm.phase = ACTIVE; + return; + + case ACTIVE: + /* determine the interval from the last mark */ + interval = count - ppm.last_mark; + ppm.last_mark = count; + + ppm_pulse_history[ppm_pulse_next++] = interval; + + if (ppm_pulse_next >= 32) + ppm_pulse_next = 0; + + /* if the mark-mark timing is out of bounds, abandon the frame */ + if ((interval < PPM_MIN_CHANNEL_VALUE) || (interval > PPM_MAX_CHANNEL_VALUE)) + goto error; + + /* if we have room to store the value, do so */ + if (ppm.next_channel < PPM_MAX_CHANNELS) + ppm_temp_buffer[ppm.next_channel++] = interval; + + ppm.phase = INACTIVE; + return; + + } + + /* the state machine is corrupted; reset it */ + +error: + /* we don't like the state of the decoder, reset it and try again */ + ppm.phase = UNSYNCH; + ppm_decoded_channels = 0; + +} +#endif /* CONFIG_HRT_PPM */ + +/* + * Handle the compare interupt by calling the callout dispatcher + * and then re-scheduling the next deadline. + */ +static int +hrt_tim_isr(int irq, void *context) +{ + uint32_t status; + + /* grab the timer for latency tracking purposes */ + latency_actual = rCNT; + + /* copy interrupt status */ + status = rSR; + + /* ack the interrupts we just read */ + rSR = ~status; + +#ifdef CONFIG_HRT_PPM + + /* was this a PPM edge? */ + if (status & (SR_INT_PPM | SR_OVF_PPM)) { + /* if required, flip edge sensitivity */ +# ifdef PPM_EDGE_FLIP + rCCER ^= CCER_PPM_FLIP; +# endif + + hrt_ppm_decode(status); + } +#endif + + /* was this a timer tick? */ + if (status & SR_INT_HRT) { + + /* do latency calculations */ + hrt_latency_update(); + + /* run any callouts that have met their deadline */ + hrt_call_invoke(); + + /* and schedule the next interrupt */ + hrt_call_reschedule(); + } + + return OK; +} + +/* + * Fetch a never-wrapping absolute time value in microseconds from + * some arbitrary epoch shortly after system start. + */ +hrt_abstime +hrt_absolute_time(void) +{ + hrt_abstime abstime; + uint32_t count; + irqstate_t flags; + + /* + * Counter state. Marked volatile as they may change + * inside this routine but outside the irqsave/restore + * pair. Discourage the compiler from moving loads/stores + * to these outside of the protected range. + */ + static volatile hrt_abstime base_time; + static volatile uint32_t last_count; + + /* prevent re-entry */ + flags = irqsave(); + + /* get the current counter value */ + count = rCNT; + + /* + * Determine whether the counter has wrapped since the + * last time we're called. + * + * This simple test is sufficient due to the guarantee that + * we are always called at least once per counter period. + */ + if (count < last_count) + base_time += HRT_COUNTER_PERIOD; + + /* save the count for next time */ + last_count = count; + + /* compute the current time */ + abstime = HRT_COUNTER_SCALE(base_time + count); + + irqrestore(flags); + + return abstime; +} + +/* + * Convert a timespec to absolute time + */ +hrt_abstime +ts_to_abstime(struct timespec *ts) +{ + hrt_abstime result; + + result = (hrt_abstime)(ts->tv_sec) * 1000000; + result += ts->tv_nsec / 1000; + + return result; +} + +/* + * Convert absolute time to a timespec. + */ +void +abstime_to_ts(struct timespec *ts, hrt_abstime abstime) +{ + ts->tv_sec = abstime / 1000000; + abstime -= ts->tv_sec * 1000000; + ts->tv_nsec = abstime * 1000; +} + +/* + * Compare a time value with the current time. + */ +hrt_abstime +hrt_elapsed_time(const volatile hrt_abstime *then) +{ + irqstate_t flags = irqsave(); + + hrt_abstime delta = hrt_absolute_time() - *then; + + irqrestore(flags); + + return delta; +} + +/* + * Store the absolute time in an interrupt-safe fashion + */ +hrt_abstime +hrt_store_absolute_time(volatile hrt_abstime *now) +{ + irqstate_t flags = irqsave(); + + hrt_abstime ts = hrt_absolute_time(); + + irqrestore(flags); + + return ts; +} + +/* + * Initalise the high-resolution timing module. + */ +void +hrt_init(void) +{ + sq_init(&callout_queue); + hrt_tim_init(); + +#ifdef CONFIG_HRT_PPM + /* configure the PPM input pin */ + stm32_configgpio(GPIO_PPM_IN); +#endif +} + +/* + * Call callout(arg) after interval has elapsed. + */ +void +hrt_call_after(struct hrt_call *entry, hrt_abstime delay, hrt_callout callout, void *arg) +{ + hrt_call_internal(entry, + hrt_absolute_time() + delay, + 0, + callout, + arg); +} + +/* + * Call callout(arg) at calltime. + */ +void +hrt_call_at(struct hrt_call *entry, hrt_abstime calltime, hrt_callout callout, void *arg) +{ + hrt_call_internal(entry, calltime, 0, callout, arg); +} + +/* + * Call callout(arg) every period. + */ +void +hrt_call_every(struct hrt_call *entry, hrt_abstime delay, hrt_abstime interval, hrt_callout callout, void *arg) +{ + hrt_call_internal(entry, + hrt_absolute_time() + delay, + interval, + callout, + arg); +} + +static void +hrt_call_internal(struct hrt_call *entry, hrt_abstime deadline, hrt_abstime interval, hrt_callout callout, void *arg) +{ + irqstate_t flags = irqsave(); + + /* if the entry is currently queued, remove it */ + if (entry->deadline != 0) + sq_rem(&entry->link, &callout_queue); + + entry->deadline = deadline; + entry->period = interval; + entry->callout = callout; + entry->arg = arg; + + hrt_call_enter(entry); + + irqrestore(flags); +} + +/* + * If this returns true, the call has been invoked and removed from the callout list. + * + * Always returns false for repeating callouts. + */ +bool +hrt_called(struct hrt_call *entry) +{ + return (entry->deadline == 0); +} + +/* + * Remove the entry from the callout list. + */ +void +hrt_cancel(struct hrt_call *entry) +{ + irqstate_t flags = irqsave(); + + sq_rem(&entry->link, &callout_queue); + entry->deadline = 0; + + /* if this is a periodic call being removed by the callout, prevent it from + * being re-entered when the callout returns. + */ + entry->period = 0; + + irqrestore(flags); +} + +static void +hrt_call_enter(struct hrt_call *entry) +{ + struct hrt_call *call, *next; + + call = (struct hrt_call *)sq_peek(&callout_queue); + + if ((call == NULL) || (entry->deadline < call->deadline)) { + sq_addfirst(&entry->link, &callout_queue); + //lldbg("call enter at head, reschedule\n"); + /* we changed the next deadline, reschedule the timer event */ + hrt_call_reschedule(); + + } else { + do { + next = (struct hrt_call *)sq_next(&call->link); + + if ((next == NULL) || (entry->deadline < next->deadline)) { + //lldbg("call enter after head\n"); + sq_addafter(&call->link, &entry->link, &callout_queue); + break; + } + } while ((call = next) != NULL); + } + + //lldbg("scheduled\n"); +} + +static void +hrt_call_invoke(void) +{ + struct hrt_call *call; + hrt_abstime deadline; + + while (true) { + /* get the current time */ + hrt_abstime now = hrt_absolute_time(); + + call = (struct hrt_call *)sq_peek(&callout_queue); + + if (call == NULL) + break; + + if (call->deadline > now) + break; + + sq_rem(&call->link, &callout_queue); + //lldbg("call pop\n"); + + /* save the intended deadline for periodic calls */ + deadline = call->deadline; + + /* zero the deadline, as the call has occurred */ + call->deadline = 0; + + /* invoke the callout (if there is one) */ + if (call->callout) { + //lldbg("call %p: %p(%p)\n", call, call->callout, call->arg); + call->callout(call->arg); + } + + /* if the callout has a non-zero period, it has to be re-entered */ + if (call->period != 0) { + call->deadline = deadline + call->period; + hrt_call_enter(call); + } + } +} + +/* + * Reschedule the next timer interrupt. + * + * This routine must be called with interrupts disabled. + */ +static void +hrt_call_reschedule() +{ + hrt_abstime now = hrt_absolute_time(); + struct hrt_call *next = (struct hrt_call *)sq_peek(&callout_queue); + hrt_abstime deadline = now + HRT_INTERVAL_MAX; + + /* + * Determine what the next deadline will be. + * + * Note that we ensure that this will be within the counter + * period, so that when we truncate all but the low 16 bits + * the next time the compare matches it will be the deadline + * we want. + * + * It is important for accurate timekeeping that the compare + * interrupt fires sufficiently often that the base_time update in + * hrt_absolute_time runs at least once per timer period. + */ + if (next != NULL) { + //lldbg("entry in queue\n"); + if (next->deadline <= (now + HRT_INTERVAL_MIN)) { + //lldbg("pre-expired\n"); + /* set a minimal deadline so that we call ASAP */ + deadline = now + HRT_INTERVAL_MIN; + + } else if (next->deadline < deadline) { + //lldbg("due soon\n"); + deadline = next->deadline; + } + } + + //lldbg("schedule for %u at %u\n", (unsigned)(deadline & 0xffffffff), (unsigned)(now & 0xffffffff)); + + /* set the new compare value and remember it for latency tracking */ + rCCR_HRT = latency_baseline = deadline & 0xffff; +} + +static void +hrt_latency_update(void) +{ + uint16_t latency = latency_actual - latency_baseline; + unsigned index; + + /* bounded buckets */ + for (index = 0; index < LATENCY_BUCKET_COUNT; index++) { + if (latency <= latency_buckets[index]) { + latency_counters[index]++; + return; + } + } + + /* catch-all at the end */ + latency_counters[index]++; +} + + +#endif /* CONFIG_HRT_TIMER */ diff --git a/src/drivers/stm32/drv_pwm_servo.c b/src/drivers/stm32/drv_pwm_servo.c new file mode 100644 index 000000000..c1efb8515 --- /dev/null +++ b/src/drivers/stm32/drv_pwm_servo.c @@ -0,0 +1,332 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* + * @file drv_pwm_servo.c + * + * Servo driver supporting PWM servos connected to STM32 timer blocks. + * + * Works with any of the 'generic' or 'advanced' STM32 timers that + * have output pins, does not require an interrupt. + */ + +#include +#include +#include + +#include +#include + +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +#include "drv_pwm_servo.h" + +#include +#include +#include + +#include +#include +#include + +#define REG(_tmr, _reg) (*(volatile uint32_t *)(pwm_timers[_tmr].base + _reg)) + +#define rCR1(_tmr) REG(_tmr, STM32_GTIM_CR1_OFFSET) +#define rCR2(_tmr) REG(_tmr, STM32_GTIM_CR2_OFFSET) +#define rSMCR(_tmr) REG(_tmr, STM32_GTIM_SMCR_OFFSET) +#define rDIER(_tmr) REG(_tmr, STM32_GTIM_DIER_OFFSET) +#define rSR(_tmr) REG(_tmr, STM32_GTIM_SR_OFFSET) +#define rEGR(_tmr) REG(_tmr, STM32_GTIM_EGR_OFFSET) +#define rCCMR1(_tmr) REG(_tmr, STM32_GTIM_CCMR1_OFFSET) +#define rCCMR2(_tmr) REG(_tmr, STM32_GTIM_CCMR2_OFFSET) +#define rCCER(_tmr) REG(_tmr, STM32_GTIM_CCER_OFFSET) +#define rCNT(_tmr) REG(_tmr, STM32_GTIM_CNT_OFFSET) +#define rPSC(_tmr) REG(_tmr, STM32_GTIM_PSC_OFFSET) +#define rARR(_tmr) REG(_tmr, STM32_GTIM_ARR_OFFSET) +#define rCCR1(_tmr) REG(_tmr, STM32_GTIM_CCR1_OFFSET) +#define rCCR2(_tmr) REG(_tmr, STM32_GTIM_CCR2_OFFSET) +#define rCCR3(_tmr) REG(_tmr, STM32_GTIM_CCR3_OFFSET) +#define rCCR4(_tmr) REG(_tmr, STM32_GTIM_CCR4_OFFSET) +#define rDCR(_tmr) REG(_tmr, STM32_GTIM_DCR_OFFSET) +#define rDMAR(_tmr) REG(_tmr, STM32_GTIM_DMAR_OFFSET) + +static void pwm_timer_init(unsigned timer); +static void pwm_timer_set_rate(unsigned timer, unsigned rate); +static void pwm_channel_init(unsigned channel); + +static void +pwm_timer_init(unsigned timer) +{ + /* enable the timer clock before we try to talk to it */ + modifyreg32(pwm_timers[timer].clock_register, 0, pwm_timers[timer].clock_bit); + + /* disable and configure the timer */ + rCR1(timer) = 0; + rCR2(timer) = 0; + rSMCR(timer) = 0; + rDIER(timer) = 0; + rCCER(timer) = 0; + rCCMR1(timer) = 0; + rCCMR2(timer) = 0; + rCCER(timer) = 0; + rDCR(timer) = 0; + + /* configure the timer to free-run at 1MHz */ + rPSC(timer) = (pwm_timers[timer].clock_freq / 1000000) - 1; + + /* default to updating at 50Hz */ + pwm_timer_set_rate(timer, 50); + + /* note that the timer is left disabled - arming is performed separately */ +} + +static void +pwm_timer_set_rate(unsigned timer, unsigned rate) +{ + /* configure the timer to update at the desired rate */ + rARR(timer) = 1000000 / rate; + + /* generate an update event; reloads the counter and all registers */ + rEGR(timer) = GTIM_EGR_UG; +} + +static void +pwm_channel_init(unsigned channel) +{ + unsigned timer = pwm_channels[channel].timer_index; + + /* configure the GPIO first */ + stm32_configgpio(pwm_channels[channel].gpio); + + /* configure the channel */ + switch (pwm_channels[channel].timer_channel) { + case 1: + rCCMR1(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR1_OC1M_SHIFT) | GTIM_CCMR1_OC1PE; + rCCR1(timer) = pwm_channels[channel].default_value; + rCCER(timer) |= GTIM_CCER_CC1E; + break; + + case 2: + rCCMR1(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR1_OC2M_SHIFT) | GTIM_CCMR1_OC2PE; + rCCR2(timer) = pwm_channels[channel].default_value; + rCCER(timer) |= GTIM_CCER_CC2E; + break; + + case 3: + rCCMR2(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR2_OC3M_SHIFT) | GTIM_CCMR2_OC3PE; + rCCR3(timer) = pwm_channels[channel].default_value; + rCCER(timer) |= GTIM_CCER_CC3E; + break; + + case 4: + rCCMR2(timer) |= (GTIM_CCMR_MODE_PWM1 << GTIM_CCMR2_OC4M_SHIFT) | GTIM_CCMR2_OC4PE; + rCCR4(timer) = pwm_channels[channel].default_value; + rCCER(timer) |= GTIM_CCER_CC4E; + break; + } +} + +int +up_pwm_servo_set(unsigned channel, servo_position_t value) +{ + if (channel >= PWM_SERVO_MAX_CHANNELS) + return -1; + + unsigned timer = pwm_channels[channel].timer_index; + + /* test timer for validity */ + if ((pwm_timers[timer].base == 0) || + (pwm_channels[channel].gpio == 0)) + return -1; + + /* configure the channel */ + if (value > 0) + value--; + + switch (pwm_channels[channel].timer_channel) { + case 1: + rCCR1(timer) = value; + break; + + case 2: + rCCR2(timer) = value; + break; + + case 3: + rCCR3(timer) = value; + break; + + case 4: + rCCR4(timer) = value; + break; + + default: + return -1; + } + + return 0; +} + +servo_position_t +up_pwm_servo_get(unsigned channel) +{ + if (channel >= PWM_SERVO_MAX_CHANNELS) + return 0; + + unsigned timer = pwm_channels[channel].timer_index; + servo_position_t value = 0; + + /* test timer for validity */ + if ((pwm_timers[timer].base == 0) || + (pwm_channels[channel].timer_channel == 0)) + return 0; + + /* configure the channel */ + switch (pwm_channels[channel].timer_channel) { + case 1: + value = rCCR1(timer); + break; + + case 2: + value = rCCR2(timer); + break; + + case 3: + value = rCCR3(timer); + break; + + case 4: + value = rCCR4(timer); + break; + } + + return value + 1; +} + +int +up_pwm_servo_init(uint32_t channel_mask) +{ + /* do basic timer initialisation first */ + for (unsigned i = 0; i < PWM_SERVO_MAX_TIMERS; i++) { + if (pwm_timers[i].base != 0) + pwm_timer_init(i); + } + + /* now init channels */ + for (unsigned i = 0; i < PWM_SERVO_MAX_CHANNELS; i++) { + /* don't do init for disabled channels; this leaves the pin configs alone */ + if (((1 << i) & channel_mask) && (pwm_channels[i].timer_channel != 0)) + pwm_channel_init(i); + } + + return OK; +} + +void +up_pwm_servo_deinit(void) +{ + /* disable the timers */ + up_pwm_servo_arm(false); +} + +int +up_pwm_servo_set_rate_group_update(unsigned group, unsigned rate) +{ + /* limit update rate to 1..10000Hz; somewhat arbitrary but safe */ + if (rate < 1) + return -ERANGE; + if (rate > 10000) + return -ERANGE; + + if ((group >= PWM_SERVO_MAX_TIMERS) || (pwm_timers[group].base == 0)) + return ERROR; + + pwm_timer_set_rate(group, rate); + + return OK; +} + +int +up_pwm_servo_set_rate(unsigned rate) +{ + for (unsigned i = 0; i < PWM_SERVO_MAX_TIMERS; i++) + up_pwm_servo_set_rate_group_update(i, rate); + + return 0; +} + +uint32_t +up_pwm_servo_get_rate_group(unsigned group) +{ + unsigned channels = 0; + + for (unsigned i = 0; i < PWM_SERVO_MAX_CHANNELS; i++) { + if ((pwm_channels[i].gpio != 0) && (pwm_channels[i].timer_index == group)) + channels |= (1 << i); + } + return channels; +} + +void +up_pwm_servo_arm(bool armed) +{ + /* iterate timers and arm/disarm appropriately */ + for (unsigned i = 0; i < PWM_SERVO_MAX_TIMERS; i++) { + if (pwm_timers[i].base != 0) { + if (armed) { + /* force an update to preload all registers */ + rEGR(i) = GTIM_EGR_UG; + + /* arm requires the timer be enabled */ + rCR1(i) |= GTIM_CR1_CEN | GTIM_CR1_ARPE; + + } else { + // XXX This leads to FMU PWM being still active + // but uncontrollable. Just disable the timer + // and risk a runt. + ///* on disarm, just stop auto-reload so we don't generate runts */ + //rCR1(i) &= ~GTIM_CR1_ARPE; + rCR1(i) = 0; + } + } + } +} diff --git a/src/drivers/stm32/drv_pwm_servo.h b/src/drivers/stm32/drv_pwm_servo.h new file mode 100644 index 000000000..5dd4cf70c --- /dev/null +++ b/src/drivers/stm32/drv_pwm_servo.h @@ -0,0 +1,66 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file drv_pwm_servo.h + * + * stm32-specific PWM output data. + */ + +#pragma once + +#include + +/* configuration limits */ +#define PWM_SERVO_MAX_TIMERS 4 +#define PWM_SERVO_MAX_CHANNELS 8 + +/* array of timers dedicated to PWM servo use */ +struct pwm_servo_timer { + uint32_t base; + uint32_t clock_register; + uint32_t clock_bit; + uint32_t clock_freq; +}; + +/* array of channels in logical order */ +struct pwm_servo_channel { + uint32_t gpio; + uint8_t timer_index; + uint8_t timer_channel; + servo_position_t default_value; +}; + +/* supplied by board-specific code */ +__EXPORT extern const struct pwm_servo_timer pwm_timers[PWM_SERVO_MAX_TIMERS]; +__EXPORT extern const struct pwm_servo_channel pwm_channels[PWM_SERVO_MAX_CHANNELS]; diff --git a/src/drivers/stm32/module.mk b/src/drivers/stm32/module.mk new file mode 100644 index 000000000..bb751c7f6 --- /dev/null +++ b/src/drivers/stm32/module.mk @@ -0,0 +1,43 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# STM32 driver support code +# +# Modules in this directory are compiled for all STM32 targets. +# + +SRCS = drv_hrt.c \ + drv_pwm_servo.c + +INCLUDE_DIRS += $(NUTTX_SRC)/arch/arm/src/stm32 $(NUTTX_SRC)/arch/arm/src/common diff --git a/src/drivers/stm32/tone_alarm/module.mk b/src/drivers/stm32/tone_alarm/module.mk new file mode 100644 index 000000000..827cf30b2 --- /dev/null +++ b/src/drivers/stm32/tone_alarm/module.mk @@ -0,0 +1,42 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# Tone alarm driver +# + +MODULE_COMMAND = tone_alarm + +SRCS = tone_alarm.cpp + +INCLUDE_DIRS += $(NUTTX_SRC)/arch/arm/src/stm32 $(NUTTX_SRC)/arch/arm/src/common diff --git a/src/drivers/stm32/tone_alarm/tone_alarm.cpp b/src/drivers/stm32/tone_alarm/tone_alarm.cpp new file mode 100644 index 000000000..ac5511e60 --- /dev/null +++ b/src/drivers/stm32/tone_alarm/tone_alarm.cpp @@ -0,0 +1,1018 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * Driver for the PX4 audio alarm port, /dev/tone_alarm. + * + * The tone_alarm driver supports a set of predefined "alarm" + * tunes and one user-supplied tune. + * + * The TONE_SET_ALARM ioctl can be used to select a predefined + * alarm tune, from 1 - . Selecting tune zero silences + * the alarm. + * + * Tunes follow the syntax of the Microsoft GWBasic/QBasic PLAY + * statement, with some exceptions and extensions. + * + * From Wikibooks: + * + * PLAY "[string expression]" + * + * Used to play notes and a score ... The tones are indicated by letters A through G. + * Accidentals are indicated with a "+" or "#" (for sharp) or "-" (for flat) + * immediately after the note letter. See this example: + * + * PLAY "C C# C C#" + * + * Whitespaces are ignored inside the string expression. There are also codes that + * set the duration, octave and tempo. They are all case-insensitive. PLAY executes + * the commands or notes the order in which they appear in the string. Any indicators + * that change the properties are effective for the notes following that indicator. + * + * Ln Sets the duration (length) of the notes. The variable n does not indicate an actual duration + * amount but rather a note type; L1 - whole note, L2 - half note, L4 - quarter note, etc. + * (L8, L16, L32, L64, ...). By default, n = 4. + * For triplets and quintets, use L3, L6, L12, ... and L5, L10, L20, ... series respectively. + * The shorthand notation of length is also provided for a note. For example, "L4 CDE L8 FG L4 AB" + * can be shortened to "L4 CDE F8G8 AB". F and G play as eighth notes while others play as quarter notes. + * On Sets the current octave. Valid values for n are 0 through 6. An octave begins with C and ends with B. + * Remember that C- is equivalent to B. + * < > Changes the current octave respectively down or up one level. + * Nn Plays a specified note in the seven-octave range. Valid values are from 0 to 84. (0 is a pause.) + * Cannot use with sharp and flat. Cannot use with the shorthand notation neither. + * MN Stand for Music Normal. Note duration is 7/8ths of the length indicated by Ln. It is the default mode. + * ML Stand for Music Legato. Note duration is full length of that indicated by Ln. + * MS Stand for Music Staccato. Note duration is 3/4ths of the length indicated by Ln. + * Pn Causes a silence (pause) for the length of note indicated (same as Ln). + * Tn Sets the number of "L4"s per minute (tempo). Valid values are from 32 to 255. The default value is T120. + * . When placed after a note, it causes the duration of the note to be 3/2 of the set duration. + * This is how to get "dotted" notes. "L4 C#." would play C sharp as a dotted quarter note. + * It can be used for a pause as well. + * + * Extensions/variations: + * + * MB MF The MF command causes the tune to play once and then stop. The MB command causes the + * tune to repeat when it ends. + * + */ + +#include +#include + +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +#include +#include +#include + +#include +#include +#include + +#include + +#ifndef CONFIG_HRT_TIMER +# error This driver requires CONFIG_HRT_TIMER +#endif + +/* Tone alarm configuration */ +#if TONE_ALARM_TIMER == 2 +# define TONE_ALARM_BASE STM32_TIM2_BASE +# define TONE_ALARM_CLOCK STM32_APB1_TIM2_CLKIN +# define TONE_ALARM_CLOCK_ENABLE RCC_APB1ENR_TIM2EN +# ifdef CONFIG_STM32_TIM2 +# error Must not set CONFIG_STM32_TIM2 when TONE_ALARM_TIMER is 2 +# endif +#elif TONE_ALARM_TIMER == 3 +# define TONE_ALARM_BASE STM32_TIM3_BASE +# define TONE_ALARM_CLOCK STM32_APB1_TIM3_CLKIN +# define TONE_ALARM_CLOCK_ENABLE RCC_APB1ENR_TIM3EN +# ifdef CONFIG_STM32_TIM3 +# error Must not set CONFIG_STM32_TIM3 when TONE_ALARM_TIMER is 3 +# endif +#elif TONE_ALARM_TIMER == 4 +# define TONE_ALARM_BASE STM32_TIM4_BASE +# define TONE_ALARM_CLOCK STM32_APB1_TIM4_CLKIN +# define TONE_ALARM_CLOCK_ENABLE RCC_APB1ENR_TIM4EN +# ifdef CONFIG_STM32_TIM4 +# error Must not set CONFIG_STM32_TIM4 when TONE_ALARM_TIMER is 4 +# endif +#elif TONE_ALARM_TIMER == 5 +# define TONE_ALARM_BASE STM32_TIM5_BASE +# define TONE_ALARM_CLOCK STM32_APB1_TIM5_CLKIN +# define TONE_ALARM_CLOCK_ENABLE RCC_APB1ENR_TIM5EN +# ifdef CONFIG_STM32_TIM5 +# error Must not set CONFIG_STM32_TIM5 when TONE_ALARM_TIMER is 5 +# endif +#elif TONE_ALARM_TIMER == 9 +# define TONE_ALARM_BASE STM32_TIM9_BASE +# define TONE_ALARM_CLOCK STM32_APB1_TIM9_CLKIN +# define TONE_ALARM_CLOCK_ENABLE RCC_APB1ENR_TIM9EN +# ifdef CONFIG_STM32_TIM9 +# error Must not set CONFIG_STM32_TIM9 when TONE_ALARM_TIMER is 9 +# endif +#elif TONE_ALARM_TIMER == 10 +# define TONE_ALARM_BASE STM32_TIM10_BASE +# define TONE_ALARM_CLOCK STM32_APB1_TIM10_CLKIN +# define TONE_ALARM_CLOCK_ENABLE RCC_APB1ENR_TIM10EN +# ifdef CONFIG_STM32_TIM10 +# error Must not set CONFIG_STM32_TIM10 when TONE_ALARM_TIMER is 10 +# endif +#elif TONE_ALARM_TIMER == 11 +# define TONE_ALARM_BASE STM32_TIM11_BASE +# define TONE_ALARM_CLOCK STM32_APB1_TIM11_CLKIN +# define TONE_ALARM_CLOCK_ENABLE RCC_APB1ENR_TIM11EN +# ifdef CONFIG_STM32_TIM11 +# error Must not set CONFIG_STM32_TIM11 when TONE_ALARM_TIMER is 11 +# endif +#else +# error Must set TONE_ALARM_TIMER to a generic timer in order to use this driver. +#endif + +#if TONE_ALARM_CHANNEL == 1 +# define TONE_CCMR1 (3 << 4) +# define TONE_CCMR2 0 +# define TONE_CCER (1 << 0) +# define TONE_rCCR rCCR1 +#elif TONE_ALARM_CHANNEL == 2 +# define TONE_CCMR1 (3 << 12) +# define TONE_CCMR2 0 +# define TONE_CCER (1 << 4) +# define TONE_rCCR rCCR2 +#elif TONE_ALARM_CHANNEL == 3 +# define TONE_CCMR1 0 +# define TONE_CCMR2 (3 << 4) +# define TONE_CCER (1 << 8) +# define TONE_rCCR rCCR3 +#elif TONE_ALARM_CHANNEL == 4 +# define TONE_CCMR1 0 +# define TONE_CCMR2 (3 << 12) +# define TONE_CCER (1 << 12) +# define TONE_rCCR rCCR4 +#else +# error Must set TONE_ALARM_CHANNEL to a value between 1 and 4 to use this driver. +#endif + + +/* + * Timer register accessors + */ +#define REG(_reg) (*(volatile uint32_t *)(TONE_ALARM_BASE + _reg)) + +#define rCR1 REG(STM32_GTIM_CR1_OFFSET) +#define rCR2 REG(STM32_GTIM_CR2_OFFSET) +#define rSMCR REG(STM32_GTIM_SMCR_OFFSET) +#define rDIER REG(STM32_GTIM_DIER_OFFSET) +#define rSR REG(STM32_GTIM_SR_OFFSET) +#define rEGR REG(STM32_GTIM_EGR_OFFSET) +#define rCCMR1 REG(STM32_GTIM_CCMR1_OFFSET) +#define rCCMR2 REG(STM32_GTIM_CCMR2_OFFSET) +#define rCCER REG(STM32_GTIM_CCER_OFFSET) +#define rCNT REG(STM32_GTIM_CNT_OFFSET) +#define rPSC REG(STM32_GTIM_PSC_OFFSET) +#define rARR REG(STM32_GTIM_ARR_OFFSET) +#define rCCR1 REG(STM32_GTIM_CCR1_OFFSET) +#define rCCR2 REG(STM32_GTIM_CCR2_OFFSET) +#define rCCR3 REG(STM32_GTIM_CCR3_OFFSET) +#define rCCR4 REG(STM32_GTIM_CCR4_OFFSET) +#define rDCR REG(STM32_GTIM_DCR_OFFSET) +#define rDMAR REG(STM32_GTIM_DMAR_OFFSET) + +class ToneAlarm : public device::CDev +{ +public: + ToneAlarm(); + ~ToneAlarm(); + + virtual int init(); + + virtual int ioctl(file *filp, int cmd, unsigned long arg); + virtual ssize_t write(file *filp, const char *buffer, size_t len); + +private: + static const unsigned _tune_max = 1024; // be reasonable about user tunes + static const char * const _default_tunes[]; + static const unsigned _default_ntunes; + static const uint8_t _note_tab[]; + + const char *_user_tune; + + const char *_tune; // current tune string + const char *_next; // next note in the string + + unsigned _tempo; + unsigned _note_length; + enum { MODE_NORMAL, MODE_LEGATO, MODE_STACCATO} _note_mode; + unsigned _octave; + unsigned _silence_length; // if nonzero, silence before next note + bool _repeat; // if true, tune restarts at end + + hrt_call _note_call; // HRT callout for note completion + + // Convert a note value in the range C1 to B7 into a divisor for + // the configured timer's clock. + // + unsigned note_to_divisor(unsigned note); + + // Calculate the duration in microseconds of play and silence for a + // note given the current tempo, length and mode and the number of + // dots following in the play string. + // + unsigned note_duration(unsigned &silence, unsigned note_length, unsigned dots); + + // Calculate the duration in microseconds of a rest corresponding to + // a given note length. + // + unsigned rest_duration(unsigned rest_length, unsigned dots); + + // Start playing the note + // + void start_note(unsigned note); + + // Stop playing the current note and make the player 'safe' + // + void stop_note(); + + // Start playing the tune + // + void start_tune(const char *tune); + + // Parse the next note out of the string and play it + // + void next_note(); + + // Find the next character in the string, discard any whitespace and + // return the canonical (uppercase) version. + // + int next_char(); + + // Extract a number from the string, consuming all the digit characters. + // + unsigned next_number(); + + // Consume dot characters from the string, returning the number consumed. + // + unsigned next_dots(); + + // hrt_call trampoline for next_note + // + static void next_trampoline(void *arg); + +}; + +// predefined tune array +const char * const ToneAlarm::_default_tunes[] = { + "MFT240L8 O4aO5dc O4aO5dc O4aO5dc L16dcdcdcdc", // startup tune + "MBT200a8a8a8PaaaP", // ERROR tone + "MFT200e8a8a", // NotifyPositive tone + "MFT200e8e", // NotifyNeutral tone + "MFT200e8c8e8c8e8c8", // NotifyNegative tone + "MFT90O3C16.C32C16.C32C16.C32G16.E32G16.E32G16.E32C16.C32C16.C32C16.C32G16.E32G16.E32G16.E32C4", // charge! + "MFT60O3C32O2A32F16F16F32G32A32A+32O3C16C16C16O2A16", // dixie + "MFT90O2C16C16C16F8.A8C16C16C16F8.A4P16P8", // cucuracha + "MNT150L8O2GGABGBADGGABL4GL8F+", // yankee + "MFT200O3C4.O2A4.G4.F4.D8E8F8D4F8C2.O2G4.O3C4.O2A4.F4.D8E8F8G4A8G2P8", // daisy + "T200O2B4P8B16B16B4P8B16B16B8G+8E8G+8B8G+8B8O3E8" // william tell + "O2B8G+8E8G+8B8G+8B8O3E8O2B4P8B16B16B4P8B16" + "O2B16B4P8B16B16B4P8B16B16B8B16B16B8B8B8B16" + "O2B16B8B8B8B16B16B8B8B8B16B16B8B8B2B2B8P8" + "P4P4P8O1B16B16B8B16B16B8B16B16O2E8F+8G+8" + "O1B16B16B8B16B16O2E8G+16G+16F+8D+8O1B8B16" + "O1B16B8B16B16B8B16B16O2E8F+8G+8E16G+16B4" + "O2B16A16G+16F+16E8G+8E8O3B16B16B8B16B16B8" + "O3B16B16O4E8F+8G+8O3B16B16B8B16B16O4E8G+16" + "O4G+16F+8D+8O3B8B16B16B8B16B16B8B16B16O4E8" + "O4F+8G+8E16G+16B4B16A16G+16F+16E8G+8E8O3G+16" + "O3G+16G+8G+16G+16G+8G+16G+16G+8O4C+8O3G+8" + "O4C+8O3G+8O4C+8O3G+8F+8E8D+8C+8G+16G+16G+8" + "O3G+16G+16G+8G+16G+16G+8O4C+8O3G+8O4C+8O3G+8" + "O4C+8O3B8A+8B8A+8B8G+16G+16G+8G+16G+16G+8" + "O3G+16G+16G+8O4C+8O3G+8O4C+8O3G+8O4C+8O3G+8" + "O3F+8E8D+8C+8G+16G+16G+8G+16G+16G+8G+16G+16" + "O3G+8O4C+8O3G+8O4C+8O3G+8O4C+8O3B8A+8B8O2B16" + "O2B16B8F+16F+16F+8F+16F+16F+8G+8A8F+4A8G+8" + "O2E4G+8F+8F+8F+8O3F+16F+16F+8F+16F+16F+8" + "O3G+8A8F+4A8G+8E4G+8F+8O2B16B16B8O1B16B16" + "O1B8B16B16B8B16B16O2E8F+8G+8O1B16B16B8B16" + "O1B16O2E8G+16G+16F+8D+8O1B8B16B16B8B16B16" + "O1B8B16B16O2E8F+8G+8E16G+16B4B16A16G+16F+16" + "O2E8G+8E8O3B16B16B8B16B16B8B16B16O4E8F+8" + "O4G+8O3B16B16B8B16B16O4E8G+16G+16F+8D+8O3B8" + "O3B16B16B8B16B16B8B16B16O4E8F+8G+8E16G+16" + "O4B4B16A16G+16F+16E8G+8E8O3E64F64G64A64B64" + "O4C64D64E8E16E16E8E8G+4.F+8E8D+8E8C+8O3B16" + "O4C+16O3B16O4C+16O3B16O4C+16D+16E16O3A16" + "O3B16A16B16A16B16O4C+16D+16O3G+16A16G+16" + "O3A16G+16A16B16O4C+16O3F+16G+16F+16G+16F+16" + "O3G+16F+16G+16F+16G+16F+16D+16O2B16O3B16" + "O4C+16D+16E8D+8E8C+8O3B16O4C+16O3B16O4C+16" + "O3B16O4C+16D+16E16O3A16B16A16B16A16B16O4C+16" + "O4D+16O3G+16A16G+16A16G+16A16B16O4C+16O3F+16" + "O3G+16F+16G+16F+16A16F+16E16E8P8C+4C+16O2C16" + "O3C+16O2C16O3D+16C+16O2B16A16A16G+16E16C+16" + "O2C+16C+16C+16C+16E16D+16O1C16G+16G+16G+16" + "O1G+16G+16G+16O2C+16E16G+16O3C+16C+16C+16" + "O3C+16C+16O2C16O3C+16O2C16O3D+16C+16O2B16" + "O2A16A16G+16E16C+16C+16C+16C+16C+16E16D+16" + "O1C16G+16G+16G+16G+16G+16G+16O2C+16E16G+16" + "O3C+16E16D+16C+16D+16O2C16G+16G+16G+16O3G+16" + "O3E16C+16D+16O2C16G+16G+16G+16O3G+16E16C+16" + "O3D+16O2B16G+16G+16A+16G16D+16D+16G+16G16" + "O2G+16G16G+16A16G+16F+16E16O1B16A+16B16O2E16" + "O1B16O2F+16O1B16O2G+16E16D+16E16G+16E16A16" + "O2F+16B16O3G+16F+16E16D+16F+16E16C+16O2B16" + "O3C+16O2B16O3C+16D+16E16F+16G+16O2A16B16" + "O2A16B16O3C+16D+16E16F+16O2G+16A16G+16A16" + "O2C16O3C+16D+16E16O2F+16G+16F+16G+16F+16" + "O2G+16F+16G+16F+16G+16F+16D+16O1B16C16O2C+16" + "O2D+16E16O1B16A+16B16O2E16O1B16O2F+16O1B16" + "O2G+16E16D+16E16G+16E16A16F+16B16O3G+16F+16" + "O3E16D+16F+16E16C+16O2B16O3C+16O2B16O3C+16" + "O3D+16E16F+16G+16O2A16B16A16B16O3C+16D+16" + "O3E16F+16O2G+16A16G+16A16B16O3C+16D+16E16" + "O2F+16O3C+16O2C16O3C+16D+16C+16O2A16F+16" + "O2E16O3E16F+16G+16A16B16O4C+16D+16E8E16E16" + "O4E8E8G+4.F8E8D+8E8C+8O3B16O4C+16O3B16O4C+16" + "O3B16O4C+16D+16E16O3A16B16A16B16A16B16O4C+16" + "O4D+16O3G+16A16G+16A16G+16A16B16O4C+16O3F+16" + "O3G+16F+16G+16F+16G+16F+16G+16F+16G+16F+16" + "O3D+16O2B16O3B16O4C+16D+16E8E16E16E8E8G+4." + "O4F+8E8D+8E8C+8O3B16O4C+16O3B16O4C+16O3B16" + "O4C+16D+16E16O3A16B16A16B16A16B16O4C+16D+16" + "O3G+16A16G+16A16G+16A16B16O4C+16O3F+16G+16" + "O3F+16G+16F+16A16G+16F+16E8O2B8O3E8G+16G+16" + "O3G+8G+16G+16G+8G+16G+16G+8O4C+8O3G+8O4C+8" + "O3G+8O4C+8O3G+8F+8E8D+8C+8G+16G+16G+8G+16" + "O3G+16G+8G+16G+16G+8O4C+8O3G+8O4C+8O3G+8" + "O4C+8O3B8A+8B8A+8B8G+16G+16G+8G+16G+16G+8" + "O3G+16G+16G+8O4C+8O3G+8O4C+8O3G+8O4C+8O3G+8" + "O3F+8E8D+8C+8G+16G+16G+8G+16G+16G+8G+16G+16" + "O3G+8O4C+8O3G+8O4C+8O3G+8O4C+8O3B8A+8B8A+8" + "O3B8O2F+16F+16F+8F+16F+16F+8G+8A8F+4A8G+8" + "O2E4G+8F+8B8O1B8O2F+16F+16F+8F+16F+16F+8" + "O2G+8A8F+4A8G+8E4G+8F+8B16B16B8O1B16B16B8" + "O1B16B16B8B16B16O2E8F+8G+8O1B16B16B8B16B16" + "O2E8G+16G+16F+8D+8O1B8B16B16B8B16B16B8B16" + "O1B16O2E8F+8G+8E16G+16B4B16A16G+16F+16E8" + "O1B8O2E8O3B16B16B8B16B16B8B16B16O4E8F+8G+8" + "O3B16B16B8B16B16O4E8G+16G+16F+8D+8O3B8B16" + "O3B16B8B16B16B8B16B16O4E8F+8G+8O3E16G+16" + "O3B4B16A16G+16F+16E16F+16G+16A16G+16A16B16" + "O4C+16O3B16O4C+16D+16E16D+16E16F+16G+16A16" + "O3B16O4A16O3B16O4A16O3B16O4A16O3B16O4A16" + "O3B16O4A16O3B16O4A16O3B16O4A16O3B16E16F+16" + "O3G+16A16G+16A16B16O4C+16O3B16O4C+16D+16" + "O4E16D+16E16F+16G+16A16O3B16O4A16O3B16O4A16" + "O3B16O4A16O3B16O4A16O3B16O4A16O3B16O4A16" + "O3B16O4A16O3B16P16G+16O4G+16O3G+16P16D+16" + "O4D+16O3D+16P16E16O4E16O3E16P16A16O4A16O3A16" + "P16O3G+16O4G+16O3G+16P16D+16O4D+16O3D+16" + "P16O3E16O4E16O3E16P16A16O4A16O3A16O4G16O3G16" + "O4G16O3G16O4G16O3G16O4G16O3G16O4G8E8C8E8" + "O4G+16O3G+16O4G+16O3G+16O4G+16O3G+16O4G+16" + "O3G+16O4G+8E8O3B8O4E8G+16O3G+16O4G+16O3G+16" + "O4G+16O3G+16O4G+16O3G+16O4G+8F8C+8F8A+16" + "O3A+16O4A+16O3A+16O4A+16O3A+16O4A+16O3A+16" + "O4A+8G8E8G8B8P16A+16P16A16P16G+16P16F+16" + "P16O4E16P16D+16P16C+16P16O3B16P16A+16P16" + "O3A16P16G+16P16F+16P16E16P16D+16P16F+16E16" + "O3F+16G+16A16G+16A16B16O4C+16O3B16O4C+16" + "O4D+16E16D+16E16F+16G+16A16O3B16O4A16O3B16" + "O4A16O3B16O4A16O3B16O4A16O3B16O4A16O3B16" + "O4A16O3B16O4A16O3B16E16F+16G+16A16G+16A16" + "O3B16O4C+16O3B16O4C+16D+16E16D+16E16F+16" + "O4G+16A16O3B16O4A16O3B16O4A16O3B16O4A16O3B16" + "O4A16O3B16O4A16O3B16O4A16O3B16O4A16O3B16" + "P16O3G+16O4G+16O3G+16P16D+16O4D+16O3D+16" + "P16O3E16O4E16O3E16P16A16O4A16O3A16P16G+16" + "O4G+16O3G+16P16D+16O4D+16O3D+16P16E16O4E16" + "O3E16P16A16O4A16O3A16O4G16O3G16O4G16O3G16" + "O4G16O3G16O4G16O3G16O4G8E8C8E8G+16O3G+16" + "O4G+16O3G+16O4G+16O3G+16O4G+16O3G+16O4G+8" + "O4E8O3B8O4E8G+16O3G+16O4G+16O3G+16O4G+16" + "O3G+16O4G+16O3G+16O4G+8F8C+8F8A+16O3A+16" + "O4A+16O3A+16O4A+16O3A+16O4A+16O3A+16O4A+8" + "O4G8E8G8B8P16A+16P16A16P16G+16P16F+16P16" + "O4E16P16D+16P16C+16P16O3B16P16A+16P16A16" + "P16O3G+16P16F+16P16E16P16D+16P16F16E16D+16" + "O3E16D+16E8B16B16B8B16B16B8B16B16O4E8F+8" + "O4G+8O3B16B16B8B16B16B8B16B16O4G+8A8B8P8" + "O4E8F+8G+8P8O3G+8A8B8P8P2O2B16C16O3C+16D16" + "O3D+16E16F16F+16G16G+16A16A+16B16C16O4C+16" + "O4D+16E16D+16F+16D+16E16D+16F+16D+16E16D+16" + "O4F+16D+16E16D+16F+16D+16E16D+16F+16D+16" + "O4E16D+16F+16D+16E16D+16F+16D+16E16D+16F+16" + "O4D+16E8E16O3E16O4E16O3E16O4E16O3E16O4E8" + "O3B16O2B16O3B16O2B16O3B16O2B16O3B8G+16O2G+16" + "O3G+16O2G+16O3G+16O2G+16O3G8E16O2E16O3E16" + "O2E16O3E16O2E16O3E8E16E16E8E8E8O2B16B16B8" + "O2B8B8G+16G+16G+8G+8G+8E16E16E8E8E8O1B8O2E8" + "O1B8O2G+8E8B8G+8O3E8O2B8O3E8O2B8O3G+8E8B8" + "O3G+8O4E4P8E16E16E8E8E8E8E4P8E16E4P8O2E16" + "O2E2P64", +}; + +const unsigned ToneAlarm::_default_ntunes = sizeof(_default_tunes) / sizeof(_default_tunes[0]); + +// semitone offsets from C for the characters 'A'-'G' +const uint8_t ToneAlarm::_note_tab[] = {9, 11, 0, 2, 4, 5, 7}; + +/* + * Driver 'main' command. + */ +extern "C" __EXPORT int tone_alarm_main(int argc, char *argv[]); + + +ToneAlarm::ToneAlarm() : + CDev("tone_alarm", "/dev/tone_alarm"), + _user_tune(nullptr), + _tune(nullptr), + _next(nullptr) +{ + // enable debug() calls + //_debug_enabled = true; +} + +ToneAlarm::~ToneAlarm() +{ +} + +int +ToneAlarm::init() +{ + int ret; + + ret = CDev::init(); + + if (ret != OK) + return ret; + + /* configure the GPIO to the idle state */ + stm32_configgpio(GPIO_TONE_ALARM_IDLE); + + /* clock/power on our timer */ + modifyreg32(STM32_RCC_APB1ENR, 0, TONE_ALARM_CLOCK_ENABLE); + + /* initialise the timer */ + rCR1 = 0; + rCR2 = 0; + rSMCR = 0; + rDIER = 0; + rCCER &= TONE_CCER; /* unlock CCMR* registers */ + rCCMR1 = TONE_CCMR1; + rCCMR2 = TONE_CCMR2; + rCCER = TONE_CCER; + rDCR = 0; + + /* toggle the CC output each time the count passes 1 */ + TONE_rCCR = 1; + + /* default the timer to a prescale value of 1; playing notes will change this */ + rPSC = 0; + + /* make sure the timer is running */ + rCR1 = GTIM_CR1_CEN; + + debug("ready"); + return OK; +} + +unsigned +ToneAlarm::note_to_divisor(unsigned note) +{ + // compute the frequency first (Hz) + float freq = 880.0f * expf(logf(2.0f) * ((int)note - 46) / 12.0f); + + float period = 0.5f / freq; + + // and the divisor, rounded to the nearest integer + unsigned divisor = (period * TONE_ALARM_CLOCK) + 0.5f; + + return divisor; +} + +unsigned +ToneAlarm::note_duration(unsigned &silence, unsigned note_length, unsigned dots) +{ + unsigned whole_note_period = (60 * 1000000 * 4) / _tempo; + + if (note_length == 0) + note_length = 1; + unsigned note_period = whole_note_period / note_length; + + switch (_note_mode) { + case MODE_NORMAL: + silence = note_period / 8; + break; + case MODE_STACCATO: + silence = note_period / 4; + break; + default: + case MODE_LEGATO: + silence = 0; + break; + } + note_period -= silence; + + unsigned dot_extension = note_period / 2; + while (dots--) { + note_period += dot_extension; + dot_extension /= 2; + } + + return note_period; +} + +unsigned +ToneAlarm::rest_duration(unsigned rest_length, unsigned dots) +{ + unsigned whole_note_period = (60 * 1000000 * 4) / _tempo; + + if (rest_length == 0) + rest_length = 1; + + unsigned rest_period = whole_note_period / rest_length; + + unsigned dot_extension = rest_period / 2; + while (dots--) { + rest_period += dot_extension; + dot_extension /= 2; + } + + return rest_period; +} + +void +ToneAlarm::start_note(unsigned note) +{ + // compute the divisor + unsigned divisor = note_to_divisor(note); + + // pick the lowest prescaler value that we can use + // (note that the effective prescale value is 1 greater) + unsigned prescale = divisor / 65536; + + // calculate the timer period for the selected prescaler value + unsigned period = (divisor / (prescale + 1)) - 1; + + rPSC = prescale; // load new prescaler + rARR = period; // load new toggle period + rEGR = GTIM_EGR_UG; // force a reload of the period + rCCER |= TONE_CCER; // enable the output + + // configure the GPIO to enable timer output + stm32_configgpio(GPIO_TONE_ALARM); +} + +void +ToneAlarm::stop_note() +{ + /* stop the current note */ + rCCER &= ~TONE_CCER; + + /* + * Make sure the GPIO is not driving the speaker. + */ + stm32_configgpio(GPIO_TONE_ALARM_IDLE); +} + +void +ToneAlarm::start_tune(const char *tune) +{ + // kill any current playback + hrt_cancel(&_note_call); + + // record the tune + _tune = tune; + _next = tune; + + // initialise player state + _tempo = 120; + _note_length = 4; + _note_mode = MODE_NORMAL; + _octave = 4; + _silence_length = 0; + _repeat = false; // otherwise command-line tunes repeat forever... + + // schedule a callback to start playing + hrt_call_after(&_note_call, 0, (hrt_callout)next_trampoline, this); +} + +void +ToneAlarm::next_note() +{ + // do we have an inter-note gap to wait for? + if (_silence_length > 0) { + stop_note(); + hrt_call_after(&_note_call, (hrt_abstime)_silence_length, (hrt_callout)next_trampoline, this); + _silence_length = 0; + return; + } + + // make sure we still have a tune - may be removed by the write / ioctl handler + if ((_next == nullptr) || (_tune == nullptr)) { + stop_note(); + return; + } + + // parse characters out of the string until we have resolved a note + unsigned note = 0; + unsigned note_length = _note_length; + unsigned duration; + + while (note == 0) { + // we always need at least one character from the string + int c = next_char(); + if (c == 0) + goto tune_end; + _next++; + + switch (c) { + case 'L': // select note length + _note_length = next_number(); + if (_note_length < 1) + goto tune_error; + break; + + case 'O': // select octave + _octave = next_number(); + if (_octave > 6) + _octave = 6; + break; + + case '<': // decrease octave + if (_octave > 0) + _octave--; + break; + + case '>': // increase octave + if (_octave < 6) + _octave++; + break; + + case 'M': // select inter-note gap + c = next_char(); + if (c == 0) + goto tune_error; + _next++; + switch (c) { + case 'N': + _note_mode = MODE_NORMAL; + break; + case 'L': + _note_mode = MODE_LEGATO; + break; + case 'S': + _note_mode = MODE_STACCATO; + break; + case 'F': + _repeat = false; + break; + case 'B': + _repeat = true; + break; + default: + goto tune_error; + } + break; + + case 'P': // pause for a note length + stop_note(); + hrt_call_after(&_note_call, + (hrt_abstime)rest_duration(next_number(), next_dots()), + (hrt_callout)next_trampoline, + this); + return; + + case 'T': { // change tempo + unsigned nt = next_number(); + + if ((nt >= 32) && (nt <= 255)) { + _tempo = nt; + } else { + goto tune_error; + } + break; + } + + case 'N': // play an arbitrary note + note = next_number(); + if (note > 84) + goto tune_error; + if (note == 0) { + // this is a rest - pause for the current note length + hrt_call_after(&_note_call, + (hrt_abstime)rest_duration(_note_length, next_dots()), + (hrt_callout)next_trampoline, + this); + return; + } + break; + + case 'A'...'G': // play a note in the current octave + note = _note_tab[c - 'A'] + (_octave * 12) + 1; + c = next_char(); + switch (c) { + case '#': // up a semitone + case '+': + if (note < 84) + note++; + _next++; + break; + case '-': // down a semitone + if (note > 1) + note--; + _next++; + break; + default: + // 0 / no next char here is OK + break; + } + // shorthand length notation + note_length = next_number(); + if (note_length == 0) + note_length = _note_length; + break; + + default: + goto tune_error; + } + } + + // compute the duration of the note and the following silence (if any) + duration = note_duration(_silence_length, note_length, next_dots()); + + // start playing the note + start_note(note); + + // and arrange a callback when the note should stop + hrt_call_after(&_note_call, (hrt_abstime)duration, (hrt_callout)next_trampoline, this); + return; + + // tune looks bad (unexpected EOF, bad character, etc.) +tune_error: + lowsyslog("tune error\n"); + _repeat = false; // don't loop on error + + // stop (and potentially restart) the tune +tune_end: + stop_note(); + if (_repeat) + start_tune(_tune); + return; +} + +int +ToneAlarm::next_char() +{ + while (isspace(*_next)) { + _next++; + } + return toupper(*_next); +} + +unsigned +ToneAlarm::next_number() +{ + unsigned number = 0; + int c; + + for (;;) { + c = next_char(); + if (!isdigit(c)) + return number; + _next++; + number = (number * 10) + (c - '0'); + } +} + +unsigned +ToneAlarm::next_dots() +{ + unsigned dots = 0; + + while (next_char() == '.') { + _next++; + dots++; + } + return dots; +} + +void +ToneAlarm::next_trampoline(void *arg) +{ + ToneAlarm *ta = (ToneAlarm *)arg; + + ta->next_note(); +} + + +int +ToneAlarm::ioctl(file *filp, int cmd, unsigned long arg) +{ + int result = OK; + + debug("ioctl %i %u", cmd, arg); + +// irqstate_t flags = irqsave(); + + /* decide whether to increase the alarm level to cmd or leave it alone */ + switch (cmd) { + case TONE_SET_ALARM: + debug("TONE_SET_ALARM %u", arg); + + if (arg <= _default_ntunes) { + if (arg == 0) { + // stop the tune + _tune = nullptr; + _next = nullptr; + } else { + // play the selected tune + start_tune(_default_tunes[arg - 1]); + } + } else { + result = -EINVAL; + } + + break; + + default: + result = -ENOTTY; + break; + } + +// irqrestore(flags); + + /* give it to the superclass if we didn't like it */ + if (result == -ENOTTY) + result = CDev::ioctl(filp, cmd, arg); + + return result; +} + +int +ToneAlarm::write(file *filp, const char *buffer, size_t len) +{ + // sanity-check the buffer for length and nul-termination + if (len > _tune_max) + return -EFBIG; + + // if we have an existing user tune, free it + if (_user_tune != nullptr) { + + // if we are playing the user tune, stop + if (_tune == _user_tune) { + _tune = nullptr; + _next = nullptr; + } + + // free the old user tune + free((void *)_user_tune); + _user_tune = nullptr; + } + + // if the new tune is empty, we're done + if (buffer[0] == '\0') + return OK; + + // allocate a copy of the new tune + _user_tune = strndup(buffer, len); + if (_user_tune == nullptr) + return -ENOMEM; + + // and play it + start_tune(_user_tune); + + return len; +} + +/** + * Local functions in support of the shell command. + */ +namespace +{ + +ToneAlarm *g_dev; + +int +play_tune(unsigned tune) +{ + int fd, ret; + + fd = open("/dev/tone_alarm", 0); + + if (fd < 0) + err(1, "/dev/tone_alarm"); + + ret = ioctl(fd, TONE_SET_ALARM, tune); + close(fd); + + if (ret != 0) + err(1, "TONE_SET_ALARM"); + + exit(0); +} + +int +play_string(const char *str) +{ + int fd, ret; + + fd = open("/dev/tone_alarm", O_WRONLY); + + if (fd < 0) + err(1, "/dev/tone_alarm"); + + ret = write(fd, str, strlen(str) + 1); + close(fd); + + if (ret < 0) + err(1, "play tune"); + exit(0); +} + +} // namespace + +int +tone_alarm_main(int argc, char *argv[]) +{ + unsigned tune; + + /* start the driver lazily */ + if (g_dev == nullptr) { + g_dev = new ToneAlarm; + + if (g_dev == nullptr) + errx(1, "couldn't allocate the ToneAlarm driver"); + + if (g_dev->init() != OK) { + delete g_dev; + errx(1, "ToneAlarm init failed"); + } + } + + if ((argc > 1) && !strcmp(argv[1], "start")) + play_tune(1); + + if ((argc > 1) && !strcmp(argv[1], "stop")) + play_tune(0); + + if ((tune = strtol(argv[1], nullptr, 10)) != 0) + play_tune(tune); + + /* if it looks like a PLAY string... */ + if (strlen(argv[1]) > 2) { + const char *str = argv[1]; + if (str[0] == 'M') { + play_string(str); + } + } + + errx(1, "unrecognised command, try 'start', 'stop' or an alarm number"); +} diff --git a/src/modules/px4iofirmware/adc.c b/src/modules/px4iofirmware/adc.c new file mode 100644 index 000000000..670b8d635 --- /dev/null +++ b/src/modules/px4iofirmware/adc.c @@ -0,0 +1,168 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file adc.c + * + * Simple ADC support for PX4IO on STM32. + */ +#include +#include + +#include +#include +#include + +#include +#include + +#define DEBUG +#include "px4io.h" + +/* + * Register accessors. + * For now, no reason not to just use ADC1. + */ +#define REG(_reg) (*(volatile uint32_t *)(STM32_ADC1_BASE + _reg)) + +#define rSR REG(STM32_ADC_SR_OFFSET) +#define rCR1 REG(STM32_ADC_CR1_OFFSET) +#define rCR2 REG(STM32_ADC_CR2_OFFSET) +#define rSMPR1 REG(STM32_ADC_SMPR1_OFFSET) +#define rSMPR2 REG(STM32_ADC_SMPR2_OFFSET) +#define rJOFR1 REG(STM32_ADC_JOFR1_OFFSET) +#define rJOFR2 REG(STM32_ADC_JOFR2_OFFSET) +#define rJOFR3 REG(STM32_ADC_JOFR3_OFFSET) +#define rJOFR4 REG(STM32_ADC_JOFR4_OFFSET) +#define rHTR REG(STM32_ADC_HTR_OFFSET) +#define rLTR REG(STM32_ADC_LTR_OFFSET) +#define rSQR1 REG(STM32_ADC_SQR1_OFFSET) +#define rSQR2 REG(STM32_ADC_SQR2_OFFSET) +#define rSQR3 REG(STM32_ADC_SQR3_OFFSET) +#define rJSQR REG(STM32_ADC_JSQR_OFFSET) +#define rJDR1 REG(STM32_ADC_JDR1_OFFSET) +#define rJDR2 REG(STM32_ADC_JDR2_OFFSET) +#define rJDR3 REG(STM32_ADC_JDR3_OFFSET) +#define rJDR4 REG(STM32_ADC_JDR4_OFFSET) +#define rDR REG(STM32_ADC_DR_OFFSET) + +perf_counter_t adc_perf; + +int +adc_init(void) +{ + adc_perf = perf_alloc(PC_ELAPSED, "adc"); + + /* do calibration if supported */ +#ifdef ADC_CR2_CAL + rCR2 |= ADC_CR2_RSTCAL; + up_udelay(1); + + if (rCR2 & ADC_CR2_RSTCAL) + return -1; + + rCR2 |= ADC_CR2_CAL; + up_udelay(100); + + if (rCR2 & ADC_CR2_CAL) + return -1; + +#endif + + /* arbitrarily configure all channels for 55 cycle sample time */ + rSMPR1 = 0b00000011011011011011011011011011; + rSMPR2 = 0b00011011011011011011011011011011; + + /* XXX for F2/4, might want to select 12-bit mode? */ + rCR1 = 0; + + /* enable the temperature sensor / Vrefint channel if supported*/ + rCR2 = +#ifdef ADC_CR2_TSVREFE + /* enable the temperature sensor in CR2 */ + ADC_CR2_TSVREFE | +#endif + 0; + +#ifdef ADC_CCR_TSVREFE + /* enable temperature sensor in CCR */ + rCCR = ADC_CCR_TSVREFE; +#endif + + /* configure for a single-channel sequence */ + rSQR1 = 0; + rSQR2 = 0; + rSQR3 = 0; /* will be updated with the channel each tick */ + + /* power-cycle the ADC and turn it on */ + rCR2 &= ~ADC_CR2_ADON; + up_udelay(10); + rCR2 |= ADC_CR2_ADON; + up_udelay(10); + rCR2 |= ADC_CR2_ADON; + up_udelay(10); + + return 0; +} + +uint16_t +adc_measure(unsigned channel) +{ + perf_begin(adc_perf); + + /* clear any previous EOC */ + if (rSR & ADC_SR_EOC) + rSR &= ~ADC_SR_EOC; + + /* run a single conversion right now - should take about 60 cycles (a few microseconds) max */ + rSQR3 = channel; + rCR2 |= ADC_CR2_ADON; + + /* wait for the conversion to complete */ + hrt_abstime now = hrt_absolute_time(); + + while (!(rSR & ADC_SR_EOC)) { + + /* never spin forever - this will give a bogus result though */ + if (hrt_elapsed_time(&now) > 1000) { + debug("adc timeout"); + break; + } + } + + /* read the result and clear EOC */ + uint16_t result = rDR; + + perf_end(adc_perf); + return result; +} \ No newline at end of file diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c new file mode 100644 index 000000000..dc36f6c93 --- /dev/null +++ b/src/modules/px4iofirmware/controls.c @@ -0,0 +1,332 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file controls.c + * + * R/C inputs and servo outputs. + */ + +#include +#include + +#include +#include +#include + +#include "px4io.h" + +#define RC_FAILSAFE_TIMEOUT 2000000 /**< two seconds failsafe timeout */ +#define RC_CHANNEL_HIGH_THRESH 5000 +#define RC_CHANNEL_LOW_THRESH -5000 + +static bool ppm_input(uint16_t *values, uint16_t *num_values); + +static perf_counter_t c_gather_dsm; +static perf_counter_t c_gather_sbus; +static perf_counter_t c_gather_ppm; + +void +controls_init(void) +{ + /* DSM input */ + dsm_init("/dev/ttyS0"); + + /* S.bus input */ + sbus_init("/dev/ttyS2"); + + /* default to a 1:1 input map, all enabled */ + for (unsigned i = 0; i < MAX_CONTROL_CHANNELS; i++) { + unsigned base = PX4IO_P_RC_CONFIG_STRIDE * i; + + r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_OPTIONS] = 0; + r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_MIN] = 1000; + r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_CENTER] = 1500; + r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_MAX] = 2000; + r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_DEADZONE] = 30; + r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_ASSIGNMENT] = i; + r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_OPTIONS] = PX4IO_P_RC_CONFIG_OPTIONS_ENABLED; + } + + c_gather_dsm = perf_alloc(PC_ELAPSED, "c_gather_dsm"); + c_gather_sbus = perf_alloc(PC_ELAPSED, "c_gather_sbus"); + c_gather_ppm = perf_alloc(PC_ELAPSED, "c_gather_ppm"); +} + +void +controls_tick() { + + /* + * Gather R/C control inputs from supported sources. + * + * Note that if you're silly enough to connect more than + * one control input source, they're going to fight each + * other. Don't do that. + */ + + perf_begin(c_gather_dsm); + bool dsm_updated = dsm_input(r_raw_rc_values, &r_raw_rc_count); + if (dsm_updated) + r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_DSM; + perf_end(c_gather_dsm); + + perf_begin(c_gather_sbus); + bool sbus_updated = sbus_input(r_raw_rc_values, &r_raw_rc_count); + if (sbus_updated) + r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_SBUS; + perf_end(c_gather_sbus); + + /* + * XXX each S.bus frame will cause a PPM decoder interrupt + * storm (lots of edges). It might be sensible to actually + * disable the PPM decoder completely if we have S.bus signal. + */ + perf_begin(c_gather_ppm); + bool ppm_updated = ppm_input(r_raw_rc_values, &r_raw_rc_count); + if (ppm_updated) + r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_PPM; + perf_end(c_gather_ppm); + + ASSERT(r_raw_rc_count <= MAX_CONTROL_CHANNELS); + + /* + * In some cases we may have received a frame, but input has still + * been lost. + */ + bool rc_input_lost = false; + + /* + * If we received a new frame from any of the RC sources, process it. + */ + if (dsm_updated || sbus_updated || ppm_updated) { + + /* update RC-received timestamp */ + system_state.rc_channels_timestamp = hrt_absolute_time(); + + /* record a bitmask of channels assigned */ + unsigned assigned_channels = 0; + + /* map raw inputs to mapped inputs */ + /* XXX mapping should be atomic relative to protocol */ + for (unsigned i = 0; i < r_raw_rc_count; i++) { + + /* map the input channel */ + uint16_t *conf = &r_page_rc_input_config[i * PX4IO_P_RC_CONFIG_STRIDE]; + + if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) { + + uint16_t raw = r_raw_rc_values[i]; + + int16_t scaled; + + /* + * 1) Constrain to min/max values, as later processing depends on bounds. + */ + if (raw < conf[PX4IO_P_RC_CONFIG_MIN]) + raw = conf[PX4IO_P_RC_CONFIG_MIN]; + if (raw > conf[PX4IO_P_RC_CONFIG_MAX]) + raw = conf[PX4IO_P_RC_CONFIG_MAX]; + + /* + * 2) Scale around the mid point differently for lower and upper range. + * + * This is necessary as they don't share the same endpoints and slope. + * + * First normalize to 0..1 range with correct sign (below or above center), + * then scale to 20000 range (if center is an actual center, -10000..10000, + * if parameters only support half range, scale to 10000 range, e.g. if + * center == min 0..10000, if center == max -10000..0). + * + * As the min and max bounds were enforced in step 1), division by zero + * cannot occur, as for the case of center == min or center == max the if + * statement is mutually exclusive with the arithmetic NaN case. + * + * DO NOT REMOVE OR ALTER STEP 1! + */ + if (raw > (conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE])) { + scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_MAX] - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])); + + } else if (raw < (conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])) { + scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE] - conf[PX4IO_P_RC_CONFIG_MIN])); + + } else { + /* in the configured dead zone, output zero */ + scaled = 0; + } + + /* invert channel if requested */ + if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_REVERSE) + scaled = -scaled; + + /* and update the scaled/mapped version */ + unsigned mapped = conf[PX4IO_P_RC_CONFIG_ASSIGNMENT]; + ASSERT(mapped < MAX_CONTROL_CHANNELS); + + /* invert channel if pitch - pulling the lever down means pitching up by convention */ + if (mapped == 1) /* roll, pitch, yaw, throttle, override is the standard order */ + scaled = -scaled; + + r_rc_values[mapped] = SIGNED_TO_REG(scaled); + assigned_channels |= (1 << mapped); + } + } + + /* set un-assigned controls to zero */ + for (unsigned i = 0; i < MAX_CONTROL_CHANNELS; i++) { + if (!(assigned_channels & (1 << i))) + r_rc_values[i] = 0; + } + + /* + * If we got an update with zero channels, treat it as + * a loss of input. + * + * This might happen if a protocol-based receiver returns an update + * that contains no channels that we have mapped. + */ + if (assigned_channels == 0) { + rc_input_lost = true; + } else { + /* set RC OK flag and clear RC lost alarm */ + r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_OK; + r_status_alarms &= ~PX4IO_P_STATUS_ALARMS_RC_LOST; + } + + /* + * Export the valid channel bitmap + */ + r_rc_valid = assigned_channels; + } + + /* + * If we haven't seen any new control data in 200ms, assume we + * have lost input. + */ + if (hrt_elapsed_time(&system_state.rc_channels_timestamp) > 200000) { + rc_input_lost = true; + + /* clear the input-kind flags here */ + r_status_flags &= ~( + PX4IO_P_STATUS_FLAGS_RC_PPM | + PX4IO_P_STATUS_FLAGS_RC_DSM | + PX4IO_P_STATUS_FLAGS_RC_SBUS); + } + + /* + * Handle losing RC input + */ + if (rc_input_lost) { + + /* Clear the RC input status flag, clear manual override flag */ + r_status_flags &= ~( + PX4IO_P_STATUS_FLAGS_OVERRIDE | + PX4IO_P_STATUS_FLAGS_RC_OK); + + /* Set the RC_LOST alarm */ + r_status_alarms |= PX4IO_P_STATUS_ALARMS_RC_LOST; + + /* Mark the arrays as empty */ + r_raw_rc_count = 0; + r_rc_valid = 0; + } + + /* + * Check for manual override. + * + * The PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK flag must be set, and we + * must have R/C input. + * Override is enabled if either the hardcoded channel / value combination + * is selected, or the AP has requested it. + */ + if ((r_setup_arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) && + (r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK)) { + + bool override = false; + + /* + * Check mapped channel 5 (can be any remote channel, + * depends on RC_MAP_OVER parameter); + * If the value is 'high' then the pilot has + * requested override. + * + */ + if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && (REG_TO_SIGNED(r_rc_values[4]) > RC_CHANNEL_HIGH_THRESH)) + override = true; + + if (override) { + + r_status_flags |= PX4IO_P_STATUS_FLAGS_OVERRIDE; + + /* mix new RC input control values to servos */ + if (dsm_updated || sbus_updated || ppm_updated) + mixer_tick(); + + } else { + r_status_flags &= ~PX4IO_P_STATUS_FLAGS_OVERRIDE; + } + } +} + +static bool +ppm_input(uint16_t *values, uint16_t *num_values) +{ + bool result = false; + + /* avoid racing with PPM updates */ + irqstate_t state = irqsave(); + + /* + * If we have received a new PPM frame within the last 200ms, accept it + * and then invalidate it. + */ + if (hrt_elapsed_time(&ppm_last_valid_decode) < 200000) { + + /* PPM data exists, copy it */ + *num_values = ppm_decoded_channels; + if (*num_values > MAX_CONTROL_CHANNELS) + *num_values = MAX_CONTROL_CHANNELS; + + for (unsigned i = 0; i < *num_values; i++) + values[i] = ppm_buffer[i]; + + /* clear validity */ + ppm_last_valid_decode = 0; + + /* good if we got any channels */ + result = (*num_values > 0); + } + + irqrestore(state); + + return result; +} diff --git a/src/modules/px4iofirmware/dsm.c b/src/modules/px4iofirmware/dsm.c new file mode 100644 index 000000000..ea35e5513 --- /dev/null +++ b/src/modules/px4iofirmware/dsm.c @@ -0,0 +1,356 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file dsm.c + * + * Serial protocol decoder for the Spektrum DSM* family of protocols. + * + * Decodes into the global PPM buffer and updates accordingly. + */ + +#include + +#include +#include +#include + +#include + +#define DEBUG + +#include "px4io.h" + +#define DSM_FRAME_SIZE 16 +#define DSM_FRAME_CHANNELS 7 + +static int dsm_fd = -1; + +static hrt_abstime last_rx_time; +static hrt_abstime last_frame_time; + +static uint8_t frame[DSM_FRAME_SIZE]; + +static unsigned partial_frame_count; +static unsigned channel_shift; + +unsigned dsm_frame_drops; + +static bool dsm_decode_channel(uint16_t raw, unsigned shift, unsigned *channel, unsigned *value); +static void dsm_guess_format(bool reset); +static bool dsm_decode(hrt_abstime now, uint16_t *values, uint16_t *num_values); + +int +dsm_init(const char *device) +{ + if (dsm_fd < 0) + dsm_fd = open(device, O_RDONLY | O_NONBLOCK); + + if (dsm_fd >= 0) { + struct termios t; + + /* 115200bps, no parity, one stop bit */ + tcgetattr(dsm_fd, &t); + cfsetspeed(&t, 115200); + t.c_cflag &= ~(CSTOPB | PARENB); + tcsetattr(dsm_fd, TCSANOW, &t); + + /* initialise the decoder */ + partial_frame_count = 0; + last_rx_time = hrt_absolute_time(); + + /* reset the format detector */ + dsm_guess_format(true); + + debug("DSM: ready"); + + } else { + debug("DSM: open failed"); + } + + return dsm_fd; +} + +bool +dsm_input(uint16_t *values, uint16_t *num_values) +{ + ssize_t ret; + hrt_abstime now; + + /* + * The DSM* protocol doesn't provide any explicit framing, + * so we detect frame boundaries by the inter-frame delay. + * + * The minimum frame spacing is 11ms; with 16 bytes at 115200bps + * frame transmission time is ~1.4ms. + * + * We expect to only be called when bytes arrive for processing, + * and if an interval of more than 5ms passes between calls, + * the first byte we read will be the first byte of a frame. + * + * In the case where byte(s) are dropped from a frame, this also + * provides a degree of protection. Of course, it would be better + * if we didn't drop bytes... + */ + now = hrt_absolute_time(); + + if ((now - last_rx_time) > 5000) { + if (partial_frame_count > 0) { + dsm_frame_drops++; + partial_frame_count = 0; + } + } + + /* + * Fetch bytes, but no more than we would need to complete + * the current frame. + */ + ret = read(dsm_fd, &frame[partial_frame_count], DSM_FRAME_SIZE - partial_frame_count); + + /* if the read failed for any reason, just give up here */ + if (ret < 1) + return false; + + last_rx_time = now; + + /* + * Add bytes to the current frame + */ + partial_frame_count += ret; + + /* + * If we don't have a full frame, return + */ + if (partial_frame_count < DSM_FRAME_SIZE) + return false; + + /* + * Great, it looks like we might have a frame. Go ahead and + * decode it. + */ + partial_frame_count = 0; + return dsm_decode(now, values, num_values); +} + +static bool +dsm_decode_channel(uint16_t raw, unsigned shift, unsigned *channel, unsigned *value) +{ + + if (raw == 0xffff) + return false; + + *channel = (raw >> shift) & 0xf; + + uint16_t data_mask = (1 << shift) - 1; + *value = raw & data_mask; + + //debug("DSM: %d 0x%04x -> %d %d", shift, raw, *channel, *value); + + return true; +} + +static void +dsm_guess_format(bool reset) +{ + static uint32_t cs10; + static uint32_t cs11; + static unsigned samples; + + /* reset the 10/11 bit sniffed channel masks */ + if (reset) { + cs10 = 0; + cs11 = 0; + samples = 0; + channel_shift = 0; + return; + } + + /* scan the channels in the current frame in both 10- and 11-bit mode */ + for (unsigned i = 0; i < DSM_FRAME_CHANNELS; i++) { + + uint8_t *dp = &frame[2 + (2 * i)]; + uint16_t raw = (dp[0] << 8) | dp[1]; + unsigned channel, value; + + /* if the channel decodes, remember the assigned number */ + if (dsm_decode_channel(raw, 10, &channel, &value) && (channel < 31)) + cs10 |= (1 << channel); + + if (dsm_decode_channel(raw, 11, &channel, &value) && (channel < 31)) + cs11 |= (1 << channel); + + /* XXX if we cared, we could look for the phase bit here to decide 1 vs. 2-frame format */ + } + + /* wait until we have seen plenty of frames - 2 should normally be enough */ + if (samples++ < 5) + return; + + /* + * Iterate the set of sensible sniffed channel sets and see whether + * decoding in 10 or 11-bit mode has yielded anything we recognise. + * + * XXX Note that due to what seem to be bugs in the DSM2 high-resolution + * stream, we may want to sniff for longer in some cases when we think we + * are talking to a DSM2 receiver in high-resolution mode (so that we can + * reject it, ideally). + * See e.g. http://git.openpilot.org/cru/OPReview-116 for a discussion + * of this issue. + */ + static uint32_t masks[] = { + 0x3f, /* 6 channels (DX6) */ + 0x7f, /* 7 channels (DX7) */ + 0xff, /* 8 channels (DX8) */ + 0x1ff, /* 9 channels (DX9, etc.) */ + 0x3ff, /* 10 channels (DX10) */ + 0x3fff /* 18 channels (DX10) */ + }; + unsigned votes10 = 0; + unsigned votes11 = 0; + + for (unsigned i = 0; i < (sizeof(masks) / sizeof(masks[0])); i++) { + + if (cs10 == masks[i]) + votes10++; + + if (cs11 == masks[i]) + votes11++; + } + + if ((votes11 == 1) && (votes10 == 0)) { + channel_shift = 11; + debug("DSM: 11-bit format"); + return; + } + + if ((votes10 == 1) && (votes11 == 0)) { + channel_shift = 10; + debug("DSM: 10-bit format"); + return; + } + + /* call ourselves to reset our state ... we have to try again */ + debug("DSM: format detect fail, 10: 0x%08x %d 11: 0x%08x %d", cs10, votes10, cs11, votes11); + dsm_guess_format(true); +} + +static bool +dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values) +{ + + /* + debug("DSM frame %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x %02x%02x", + frame[0], frame[1], frame[2], frame[3], frame[4], frame[5], frame[6], frame[7], + frame[8], frame[9], frame[10], frame[11], frame[12], frame[13], frame[14], frame[15]); + */ + /* + * If we have lost signal for at least a second, reset the + * format guessing heuristic. + */ + if (((frame_time - last_frame_time) > 1000000) && (channel_shift != 0)) + dsm_guess_format(true); + + /* we have received something we think is a frame */ + last_frame_time = frame_time; + + /* if we don't know the frame format, update the guessing state machine */ + if (channel_shift == 0) { + dsm_guess_format(false); + return false; + } + + /* + * The encoding of the first two bytes is uncertain, so we're + * going to ignore them for now. + * + * Each channel is a 16-bit unsigned value containing either a 10- + * or 11-bit channel value and a 4-bit channel number, shifted + * either 10 or 11 bits. The MSB may also be set to indicate the + * second frame in variants of the protocol where more than + * seven channels are being transmitted. + */ + + for (unsigned i = 0; i < DSM_FRAME_CHANNELS; i++) { + + uint8_t *dp = &frame[2 + (2 * i)]; + uint16_t raw = (dp[0] << 8) | dp[1]; + unsigned channel, value; + + if (!dsm_decode_channel(raw, channel_shift, &channel, &value)) + continue; + + /* ignore channels out of range */ + if (channel >= PX4IO_INPUT_CHANNELS) + continue; + + /* update the decoded channel count */ + if (channel >= *num_values) + *num_values = channel + 1; + + /* convert 0-1024 / 0-2048 values to 1000-2000 ppm encoding in a very sloppy fashion */ + if (channel_shift == 11) + value /= 2; + + value += 998; + + /* + * Store the decoded channel into the R/C input buffer, taking into + * account the different ideas about channel assignement that we have. + * + * Specifically, the first four channels in rc_channel_data are roll, pitch, thrust, yaw, + * but the first four channels from the DSM receiver are thrust, roll, pitch, yaw. + */ + switch (channel) { + case 0: + channel = 2; + break; + + case 1: + channel = 0; + break; + + case 2: + channel = 1; + + default: + break; + } + + values[channel] = value; + } + + /* + * XXX Note that we may be in failsafe here; we need to work out how to detect that. + */ + return true; +} diff --git a/src/modules/px4iofirmware/hx_stream.c b/src/modules/px4iofirmware/hx_stream.c new file mode 100644 index 000000000..8d77f14a8 --- /dev/null +++ b/src/modules/px4iofirmware/hx_stream.c @@ -0,0 +1,250 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file hx_stream.c + * + * A simple serial line framing protocol based on HDLC + * with 32-bit CRC protection. + */ + +#include +#include +#include +#include +#include +#include +#include +#include + +#include "perf_counter.h" + +#include "hx_stream.h" + + +struct hx_stream { + uint8_t buf[HX_STREAM_MAX_FRAME + 4]; + unsigned frame_bytes; + bool escaped; + bool txerror; + + int fd; + hx_stream_rx_callback callback; + void *callback_arg; + + perf_counter_t pc_tx_frames; + perf_counter_t pc_rx_frames; + perf_counter_t pc_rx_errors; +}; + +/* + * Protocol magic numbers, straight out of HDLC. + */ +#define FBO 0x7e /**< Frame Boundary Octet */ +#define CEO 0x7c /**< Control Escape Octet */ + +static void hx_tx_raw(hx_stream_t stream, uint8_t c); +static void hx_tx_raw(hx_stream_t stream, uint8_t c); +static int hx_rx_frame(hx_stream_t stream); + +static void +hx_tx_raw(hx_stream_t stream, uint8_t c) +{ + if (write(stream->fd, &c, 1) != 1) + stream->txerror = true; +} + +static void +hx_tx_byte(hx_stream_t stream, uint8_t c) +{ + switch (c) { + case FBO: + case CEO: + hx_tx_raw(stream, CEO); + c ^= 0x20; + break; + } + + hx_tx_raw(stream, c); +} + +static int +hx_rx_frame(hx_stream_t stream) +{ + union { + uint8_t b[4]; + uint32_t w; + } u; + unsigned length = stream->frame_bytes; + + /* reset the stream */ + stream->frame_bytes = 0; + stream->escaped = false; + + /* not a real frame - too short */ + if (length < 4) { + if (length > 1) + perf_count(stream->pc_rx_errors); + + return 0; + } + + length -= 4; + + /* compute expected CRC */ + u.w = crc32(&stream->buf[0], length); + + /* compare computed and actual CRC */ + for (unsigned i = 0; i < 4; i++) { + if (u.b[i] != stream->buf[length + i]) { + perf_count(stream->pc_rx_errors); + return 0; + } + } + + /* frame is good */ + perf_count(stream->pc_rx_frames); + stream->callback(stream->callback_arg, &stream->buf[0], length); + return 1; +} + +hx_stream_t +hx_stream_init(int fd, + hx_stream_rx_callback callback, + void *arg) +{ + hx_stream_t stream; + + stream = (hx_stream_t)malloc(sizeof(struct hx_stream)); + + if (stream != NULL) { + memset(stream, 0, sizeof(struct hx_stream)); + stream->fd = fd; + stream->callback = callback; + stream->callback_arg = arg; + } + + return stream; +} + +void +hx_stream_free(hx_stream_t stream) +{ + /* free perf counters (OK if they are NULL) */ + perf_free(stream->pc_tx_frames); + perf_free(stream->pc_rx_frames); + perf_free(stream->pc_rx_errors); + + free(stream); +} + +void +hx_stream_set_counters(hx_stream_t stream, + perf_counter_t tx_frames, + perf_counter_t rx_frames, + perf_counter_t rx_errors) +{ + stream->pc_tx_frames = tx_frames; + stream->pc_rx_frames = rx_frames; + stream->pc_rx_errors = rx_errors; +} + +int +hx_stream_send(hx_stream_t stream, + const void *data, + size_t count) +{ + union { + uint8_t b[4]; + uint32_t w; + } u; + const uint8_t *p = (const uint8_t *)data; + unsigned resid = count; + + if (resid > HX_STREAM_MAX_FRAME) + return -EINVAL; + + /* start the frame */ + hx_tx_raw(stream, FBO); + + /* transmit the data */ + while (resid--) + hx_tx_byte(stream, *p++); + + /* compute the CRC */ + u.w = crc32(data, count); + + /* send the CRC */ + p = &u.b[0]; + resid = 4; + + while (resid--) + hx_tx_byte(stream, *p++); + + /* and the trailing frame separator */ + hx_tx_raw(stream, FBO); + + /* check for transmit error */ + if (stream->txerror) { + stream->txerror = false; + return -EIO; + } + + perf_count(stream->pc_tx_frames); + return 0; +} + +void +hx_stream_rx(hx_stream_t stream, uint8_t c) +{ + /* frame end? */ + if (c == FBO) { + hx_rx_frame(stream); + return; + } + + /* escaped? */ + if (stream->escaped) { + stream->escaped = false; + c ^= 0x20; + + } else if (c == CEO) { + /* now escaped, ignore the byte */ + stream->escaped = true; + return; + } + + /* save for later */ + if (stream->frame_bytes < sizeof(stream->buf)) + stream->buf[stream->frame_bytes++] = c; +} diff --git a/src/modules/px4iofirmware/hx_stream.h b/src/modules/px4iofirmware/hx_stream.h new file mode 100644 index 000000000..128689953 --- /dev/null +++ b/src/modules/px4iofirmware/hx_stream.h @@ -0,0 +1,122 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file hx_stream.h + * + * A simple serial line framing protocol based on HDLC + * with 32-bit CRC protection. + */ + +#ifndef _SYSTEMLIB_HX_STREAM_H +#define _SYSTEMLIB_HX_STREAM_H + +#include + +#include "perf_counter.h" + +struct hx_stream; +typedef struct hx_stream *hx_stream_t; + +#define HX_STREAM_MAX_FRAME 64 + +typedef void (* hx_stream_rx_callback)(void *arg, const void *data, size_t length); + +__BEGIN_DECLS + +/** + * Allocate a new hx_stream object. + * + * @param fd The file handle over which the protocol will + * communicate. + * @param callback Called when a frame is received. + * @param callback_arg Passed to the callback. + * @return A handle to the stream, or NULL if memory could + * not be allocated. + */ +__EXPORT extern hx_stream_t hx_stream_init(int fd, + hx_stream_rx_callback callback, + void *arg); + +/** + * Free a hx_stream object. + * + * @param stream A handle returned from hx_stream_init. + */ +__EXPORT extern void hx_stream_free(hx_stream_t stream); + +/** + * Set performance counters for the stream. + * + * Any counter may be set to NULL to disable counting that datum. + * + * @param tx_frames Counter for transmitted frames. + * @param rx_frames Counter for received frames. + * @param rx_errors Counter for short and corrupt received frames. + */ +__EXPORT extern void hx_stream_set_counters(hx_stream_t stream, + perf_counter_t tx_frames, + perf_counter_t rx_frames, + perf_counter_t rx_errors); + +/** + * Send a frame. + * + * This function will block until all frame bytes are sent if + * the descriptor passed to hx_stream_init is marked blocking, + * otherwise it will return -1 (but may transmit a + * runt frame at the same time). + * + * @todo Handling of non-blocking streams needs to be better. + * + * @param stream A handle returned from hx_stream_init. + * @param data Pointer to the data to send. + * @param count The number of bytes to send. + * @return Zero on success, -errno on error. + */ +__EXPORT extern int hx_stream_send(hx_stream_t stream, + const void *data, + size_t count); + +/** + * Handle a byte from the stream. + * + * @param stream A handle returned from hx_stream_init. + * @param c The character to process. + */ +__EXPORT extern void hx_stream_rx(hx_stream_t stream, + uint8_t c); + +__END_DECLS + +#endif diff --git a/src/modules/px4iofirmware/i2c.c b/src/modules/px4iofirmware/i2c.c new file mode 100644 index 000000000..4485daa5b --- /dev/null +++ b/src/modules/px4iofirmware/i2c.c @@ -0,0 +1,340 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file i2c.c + * + * I2C communication for the PX4IO module. + */ + +#include + +#include +#include +#include +#include + +//#define DEBUG +#include "px4io.h" + +/* + * I2C register definitions. + */ +#define I2C_BASE STM32_I2C1_BASE + +#define REG(_reg) (*(volatile uint32_t *)(I2C_BASE + _reg)) + +#define rCR1 REG(STM32_I2C_CR1_OFFSET) +#define rCR2 REG(STM32_I2C_CR2_OFFSET) +#define rOAR1 REG(STM32_I2C_OAR1_OFFSET) +#define rOAR2 REG(STM32_I2C_OAR2_OFFSET) +#define rDR REG(STM32_I2C_DR_OFFSET) +#define rSR1 REG(STM32_I2C_SR1_OFFSET) +#define rSR2 REG(STM32_I2C_SR2_OFFSET) +#define rCCR REG(STM32_I2C_CCR_OFFSET) +#define rTRISE REG(STM32_I2C_TRISE_OFFSET) + +static int i2c_interrupt(int irq, void *context); +static void i2c_rx_setup(void); +static void i2c_tx_setup(void); +static void i2c_rx_complete(void); +static void i2c_tx_complete(void); + +static DMA_HANDLE rx_dma; +static DMA_HANDLE tx_dma; + +static uint8_t rx_buf[68]; +static unsigned rx_len; + +static const uint8_t junk_buf[] = { 0xff, 0xff, 0xff, 0xff }; + +static const uint8_t *tx_buf = junk_buf; +static unsigned tx_len = sizeof(junk_buf); +unsigned tx_count; + +static uint8_t selected_page; +static uint8_t selected_offset; + +enum { + DIR_NONE = 0, + DIR_TX = 1, + DIR_RX = 2 +} direction; + +void +i2c_init(void) +{ + debug("i2c init"); + + /* allocate DMA handles and initialise DMA */ + rx_dma = stm32_dmachannel(DMACHAN_I2C1_RX); + i2c_rx_setup(); + tx_dma = stm32_dmachannel(DMACHAN_I2C1_TX); + i2c_tx_setup(); + + /* enable the i2c block clock and reset it */ + modifyreg32(STM32_RCC_APB1ENR, 0, RCC_APB1ENR_I2C1EN); + modifyreg32(STM32_RCC_APB1RSTR, 0, RCC_APB1RSTR_I2C1RST); + modifyreg32(STM32_RCC_APB1RSTR, RCC_APB1RSTR_I2C1RST, 0); + + /* configure the i2c GPIOs */ + stm32_configgpio(GPIO_I2C1_SCL); + stm32_configgpio(GPIO_I2C1_SDA); + + /* soft-reset the block */ + rCR1 |= I2C_CR1_SWRST; + rCR1 = 0; + + /* set for DMA operation */ + rCR2 |= I2C_CR2_ITEVFEN |I2C_CR2_ITERREN | I2C_CR2_DMAEN; + + /* set the frequency value in CR2 */ + rCR2 &= ~I2C_CR2_FREQ_MASK; + rCR2 |= STM32_PCLK1_FREQUENCY / 1000000; + + /* set divisor and risetime for fast mode */ + uint16_t result = STM32_PCLK1_FREQUENCY / (400000 * 25); + if (result < 1) + result = 1; + result = 3; + rCCR &= ~I2C_CCR_CCR_MASK; + rCCR |= I2C_CCR_DUTY | I2C_CCR_FS | result; + rTRISE = (uint16_t)((((STM32_PCLK1_FREQUENCY / 1000000) * 300) / 1000) + 1); + + /* set our device address */ + rOAR1 = 0x1a << 1; + + /* enable event interrupts */ + irq_attach(STM32_IRQ_I2C1EV, i2c_interrupt); + irq_attach(STM32_IRQ_I2C1ER, i2c_interrupt); + up_enable_irq(STM32_IRQ_I2C1EV); + up_enable_irq(STM32_IRQ_I2C1ER); + + /* and enable the I2C port */ + rCR1 |= I2C_CR1_ACK | I2C_CR1_PE; + +#ifdef DEBUG + i2c_dump(); +#endif +} + + +/* + reset the I2C bus + used to recover from lockups + */ +void i2c_reset(void) +{ + rCR1 |= I2C_CR1_SWRST; + rCR1 = 0; + + /* set for DMA operation */ + rCR2 |= I2C_CR2_ITEVFEN |I2C_CR2_ITERREN | I2C_CR2_DMAEN; + + /* set the frequency value in CR2 */ + rCR2 &= ~I2C_CR2_FREQ_MASK; + rCR2 |= STM32_PCLK1_FREQUENCY / 1000000; + + /* set divisor and risetime for fast mode */ + uint16_t result = STM32_PCLK1_FREQUENCY / (400000 * 25); + if (result < 1) + result = 1; + result = 3; + rCCR &= ~I2C_CCR_CCR_MASK; + rCCR |= I2C_CCR_DUTY | I2C_CCR_FS | result; + rTRISE = (uint16_t)((((STM32_PCLK1_FREQUENCY / 1000000) * 300) / 1000) + 1); + + /* set our device address */ + rOAR1 = 0x1a << 1; + + /* and enable the I2C port */ + rCR1 |= I2C_CR1_ACK | I2C_CR1_PE; +} + +static int +i2c_interrupt(int irq, FAR void *context) +{ + uint16_t sr1 = rSR1; + + if (sr1 & (I2C_SR1_STOPF | I2C_SR1_AF | I2C_SR1_ADDR)) { + + if (sr1 & I2C_SR1_STOPF) { + /* write to CR1 to clear STOPF */ + (void)rSR1; /* as recommended, re-read SR1 */ + rCR1 |= I2C_CR1_PE; + } + + /* DMA never stops, so we should do that now */ + switch (direction) { + case DIR_TX: + i2c_tx_complete(); + break; + case DIR_RX: + i2c_rx_complete(); + break; + default: + /* not currently transferring - must be a new txn */ + break; + } + direction = DIR_NONE; + } + + if (sr1 & I2C_SR1_ADDR) { + + /* clear ADDR to ack our selection and get direction */ + (void)rSR1; /* as recommended, re-read SR1 */ + uint16_t sr2 = rSR2; + + if (sr2 & I2C_SR2_TRA) { + /* we are the transmitter */ + + direction = DIR_TX; + + } else { + /* we are the receiver */ + + direction = DIR_RX; + } + } + + /* clear any errors that might need it (this handles AF as well */ + if (sr1 & I2C_SR1_ERRORMASK) + rSR1 = 0; + + return 0; +} + +static void +i2c_rx_setup(void) +{ + /* + * Note that we configure DMA in circular mode; this means that a too-long + * transfer will overwrite the buffer, but that avoids us having to deal with + * bailing out of a transaction while the master is still babbling at us. + */ + rx_len = 0; + stm32_dmasetup(rx_dma, (uintptr_t)&rDR, (uintptr_t)&rx_buf[0], sizeof(rx_buf), + DMA_CCR_CIRC | + DMA_CCR_MINC | + DMA_CCR_PSIZE_32BITS | + DMA_CCR_MSIZE_8BITS | + DMA_CCR_PRIMED); + + stm32_dmastart(rx_dma, NULL, NULL, false); +} + +static void +i2c_rx_complete(void) +{ + rx_len = sizeof(rx_buf) - stm32_dmaresidual(rx_dma); + stm32_dmastop(rx_dma); + + if (rx_len >= 2) { + selected_page = rx_buf[0]; + selected_offset = rx_buf[1]; + + /* work out how many registers are being written */ + unsigned count = (rx_len - 2) / 2; + if (count > 0) { + registers_set(selected_page, selected_offset, (const uint16_t *)&rx_buf[2], count); + } else { + /* no registers written, must be an address cycle */ + uint16_t *regs; + unsigned reg_count; + + /* work out which registers are being addressed */ + int ret = registers_get(selected_page, selected_offset, ®s, ®_count); + if (ret == 0) { + tx_buf = (uint8_t *)regs; + tx_len = reg_count * 2; + } else { + tx_buf = junk_buf; + tx_len = sizeof(junk_buf); + } + + /* disable interrupts while reconfiguring DMA for the selected registers */ + irqstate_t flags = irqsave(); + + stm32_dmastop(tx_dma); + i2c_tx_setup(); + + irqrestore(flags); + } + } + + /* prepare for the next transaction */ + i2c_rx_setup(); +} + +static void +i2c_tx_setup(void) +{ + /* + * Note that we configure DMA in circular mode; this means that a too-long + * transfer will copy the buffer more than once, but that avoids us having + * to deal with bailing out of a transaction while the master is still + * babbling at us. + */ + stm32_dmasetup(tx_dma, (uintptr_t)&rDR, (uintptr_t)&tx_buf[0], tx_len, + DMA_CCR_DIR | + DMA_CCR_CIRC | + DMA_CCR_MINC | + DMA_CCR_PSIZE_8BITS | + DMA_CCR_MSIZE_8BITS | + DMA_CCR_PRIMED); + + stm32_dmastart(tx_dma, NULL, NULL, false); +} + +static void +i2c_tx_complete(void) +{ + tx_count = tx_len - stm32_dmaresidual(tx_dma); + stm32_dmastop(tx_dma); + + /* for debug purposes, save the length of the last transmit as seen by the DMA */ + + /* leave tx_buf/tx_len alone, so that a retry will see the same data */ + + /* prepare for the next transaction */ + i2c_tx_setup(); +} + +void +i2c_dump(void) +{ + debug("CR1 0x%08x CR2 0x%08x", rCR1, rCR2); + debug("OAR1 0x%08x OAR2 0x%08x", rOAR1, rOAR2); + debug("CCR 0x%08x TRISE 0x%08x", rCCR, rTRISE); + debug("SR1 0x%08x SR2 0x%08x", rSR1, rSR2); +} diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp new file mode 100644 index 000000000..f38593d2a --- /dev/null +++ b/src/modules/px4iofirmware/mixer.cpp @@ -0,0 +1,311 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file mixer.cpp + * + * Control channel input/output mixer and failsafe. + */ + +#include +#include + +#include +#include +#include + +#include +#include + +#include + +extern "C" { +//#define DEBUG +#include "px4io.h" +} + +/* + * Maximum interval in us before FMU signal is considered lost + */ +#define FMU_INPUT_DROP_LIMIT_US 200000 + +/* XXX need to move the RC_CHANNEL_FUNCTION out of rc_channels.h and into systemlib */ +#define ROLL 0 +#define PITCH 1 +#define YAW 2 +#define THROTTLE 3 +#define OVERRIDE 4 + +/* current servo arm/disarm state */ +static bool mixer_servos_armed = false; + +/* selected control values and count for mixing */ +enum mixer_source { + MIX_NONE, + MIX_FMU, + MIX_OVERRIDE, + MIX_FAILSAFE +}; +static mixer_source source; + +static int mixer_callback(uintptr_t handle, + uint8_t control_group, + uint8_t control_index, + float &control); + +static MixerGroup mixer_group(mixer_callback, 0); + +void +mixer_tick(void) +{ + /* check that we are receiving fresh data from the FMU */ + if (hrt_elapsed_time(&system_state.fmu_data_received_time) > FMU_INPUT_DROP_LIMIT_US) { + + /* too long without FMU input, time to go to failsafe */ + if (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) { + isr_debug(1, "AP RX timeout"); + } + r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_FMU_OK | PX4IO_P_STATUS_FLAGS_RAW_PWM); + r_status_alarms |= PX4IO_P_STATUS_ALARMS_FMU_LOST; + + } else { + r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK; + r_status_alarms &= ~PX4IO_P_STATUS_ALARMS_FMU_LOST; + } + + source = MIX_FAILSAFE; + + /* + * Decide which set of controls we're using. + */ + if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) || + !(r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) { + + /* don't actually mix anything - we already have raw PWM values or + not a valid mixer. */ + source = MIX_NONE; + + } else { + + if (!(r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) && + (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) { + + /* mix from FMU controls */ + source = MIX_FMU; + } + + if ( (r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) && + (r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && + (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) { + + /* if allowed, mix from RC inputs directly */ + source = MIX_OVERRIDE; + } + } + + /* + * Run the mixers. + */ + if (source == MIX_FAILSAFE) { + + /* copy failsafe values to the servo outputs */ + for (unsigned i = 0; i < IO_SERVO_COUNT; i++) + r_page_servos[i] = r_page_servo_failsafe[i]; + + } else if (source != MIX_NONE) { + + float outputs[IO_SERVO_COUNT]; + unsigned mixed; + + /* mix */ + mixed = mixer_group.mix(&outputs[0], IO_SERVO_COUNT); + + /* scale to PWM and update the servo outputs as required */ + for (unsigned i = 0; i < mixed; i++) { + + /* save actuator values for FMU readback */ + r_page_actuators[i] = FLOAT_TO_REG(outputs[i]); + + /* scale to servo output */ + r_page_servos[i] = (outputs[i] * 500.0f) + 1500; + + } + for (unsigned i = mixed; i < IO_SERVO_COUNT; i++) + r_page_servos[i] = 0; + } + + /* + * Decide whether the servos should be armed right now. + * + * We must be armed, and we must have a PWM source; either raw from + * FMU or from the mixer. + * + * XXX correct behaviour for failsafe may require an additional case + * here. + */ + bool should_arm = ( + /* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) && + /* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) && + /* there is valid input */ (r_status_flags & (PX4IO_P_STATUS_FLAGS_RAW_PWM | PX4IO_P_STATUS_FLAGS_MIXER_OK)) && + /* IO initialised without error */ (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK) && + /* FMU is available or FMU is not available but override is an option */ + ((r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) || (!(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) && (r_setup_arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) )) + ); + + if (should_arm && !mixer_servos_armed) { + /* need to arm, but not armed */ + up_pwm_servo_arm(true); + mixer_servos_armed = true; + + } else if (!should_arm && mixer_servos_armed) { + /* armed but need to disarm */ + up_pwm_servo_arm(false); + mixer_servos_armed = false; + } + + if (mixer_servos_armed) { + /* update the servo outputs. */ + for (unsigned i = 0; i < IO_SERVO_COUNT; i++) + up_pwm_servo_set(i, r_page_servos[i]); + } +} + +static int +mixer_callback(uintptr_t handle, + uint8_t control_group, + uint8_t control_index, + float &control) +{ + if (control_group != 0) + return -1; + + switch (source) { + case MIX_FMU: + if (control_index < PX4IO_CONTROL_CHANNELS) { + control = REG_TO_FLOAT(r_page_controls[control_index]); + break; + } + return -1; + + case MIX_OVERRIDE: + if (r_page_rc_input[PX4IO_P_RC_VALID] & (1 << control_index)) { + control = REG_TO_FLOAT(r_page_rc_input[PX4IO_P_RC_BASE + control_index]); + break; + } + return -1; + + case MIX_FAILSAFE: + case MIX_NONE: + /* XXX we could allow for configuration of per-output failsafe values */ + return -1; + } + + return 0; +} + +/* + * XXX error handling here should be more aggressive; currently it is + * possible to get STATUS_FLAGS_MIXER_OK set even though the mixer has + * not loaded faithfully. + */ + +static char mixer_text[256]; /* large enough for one mixer */ +static unsigned mixer_text_length = 0; + +void +mixer_handle_text(const void *buffer, size_t length) +{ + /* do not allow a mixer change while fully armed */ + if (/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) && + /* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) { + return; + } + + px4io_mixdata *msg = (px4io_mixdata *)buffer; + + isr_debug(2, "mix txt %u", length); + + if (length < sizeof(px4io_mixdata)) + return; + + unsigned text_length = length - sizeof(px4io_mixdata); + + switch (msg->action) { + case F2I_MIXER_ACTION_RESET: + isr_debug(2, "reset"); + + /* FIRST mark the mixer as invalid */ + r_status_flags &= ~PX4IO_P_STATUS_FLAGS_MIXER_OK; + /* THEN actually delete it */ + mixer_group.reset(); + mixer_text_length = 0; + + /* FALLTHROUGH */ + case F2I_MIXER_ACTION_APPEND: + isr_debug(2, "append %d", length); + + /* check for overflow - this is really fatal */ + /* XXX could add just what will fit & try to parse, then repeat... */ + if ((mixer_text_length + text_length + 1) > sizeof(mixer_text)) { + r_status_flags &= ~PX4IO_P_STATUS_FLAGS_MIXER_OK; + return; + } + + /* append mixer text and nul-terminate */ + memcpy(&mixer_text[mixer_text_length], msg->text, text_length); + mixer_text_length += text_length; + mixer_text[mixer_text_length] = '\0'; + isr_debug(2, "buflen %u", mixer_text_length); + + /* process the text buffer, adding new mixers as their descriptions can be parsed */ + unsigned resid = mixer_text_length; + mixer_group.load_from_buf(&mixer_text[0], resid); + + /* if anything was parsed */ + if (resid != mixer_text_length) { + + /* ideally, this should test resid == 0 ? */ + r_status_flags |= PX4IO_P_STATUS_FLAGS_MIXER_OK; + + isr_debug(2, "used %u", mixer_text_length - resid); + + /* copy any leftover text to the base of the buffer for re-use */ + if (resid > 0) + memcpy(&mixer_text[0], &mixer_text[mixer_text_length - resid], resid); + + mixer_text_length = resid; + } + + break; + } +} diff --git a/src/modules/px4iofirmware/module.mk b/src/modules/px4iofirmware/module.mk new file mode 100644 index 000000000..085697fbb --- /dev/null +++ b/src/modules/px4iofirmware/module.mk @@ -0,0 +1,4 @@ + + +SRCS = adc.c controls.c dsm.c i2c.c mixer.cpp px4io.c registers.c safety.c sbus.c \ + up_cxxinitialize.c hx_stream.c perf_counter.c diff --git a/src/modules/px4iofirmware/perf_counter.c b/src/modules/px4iofirmware/perf_counter.c new file mode 100644 index 000000000..879f4715a --- /dev/null +++ b/src/modules/px4iofirmware/perf_counter.c @@ -0,0 +1,317 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file perf_counter.c + * + * @brief Performance measuring tools. + */ + +#include +#include +#include +#include + +#include "perf_counter.h" + +/** + * Header common to all counters. + */ +struct perf_ctr_header { + sq_entry_t link; /**< list linkage */ + enum perf_counter_type type; /**< counter type */ + const char *name; /**< counter name */ +}; + +/** + * PC_EVENT counter. + */ +struct perf_ctr_count { + struct perf_ctr_header hdr; + uint64_t event_count; +}; + +/** + * PC_ELAPSED counter. + */ +struct perf_ctr_elapsed { + struct perf_ctr_header hdr; + uint64_t event_count; + uint64_t time_start; + uint64_t time_total; + uint64_t time_least; + uint64_t time_most; +}; + +/** + * PC_INTERVAL counter. + */ +struct perf_ctr_interval { + struct perf_ctr_header hdr; + uint64_t event_count; + uint64_t time_event; + uint64_t time_first; + uint64_t time_last; + uint64_t time_least; + uint64_t time_most; + +}; + +/** + * List of all known counters. + */ +static sq_queue_t perf_counters; + + +perf_counter_t +perf_alloc(enum perf_counter_type type, const char *name) +{ + perf_counter_t ctr = NULL; + + switch (type) { + case PC_COUNT: + ctr = (perf_counter_t)calloc(sizeof(struct perf_ctr_count), 1); + break; + + case PC_ELAPSED: + ctr = (perf_counter_t)calloc(sizeof(struct perf_ctr_elapsed), 1); + break; + + case PC_INTERVAL: + ctr = (perf_counter_t)calloc(sizeof(struct perf_ctr_interval), 1); + break; + + default: + break; + } + + if (ctr != NULL) { + ctr->type = type; + ctr->name = name; + sq_addfirst(&ctr->link, &perf_counters); + } + + return ctr; +} + +void +perf_free(perf_counter_t handle) +{ + if (handle == NULL) + return; + + sq_rem(&handle->link, &perf_counters); + free(handle); +} + +void +perf_count(perf_counter_t handle) +{ + if (handle == NULL) + return; + + switch (handle->type) { + case PC_COUNT: + ((struct perf_ctr_count *)handle)->event_count++; + break; + + case PC_INTERVAL: { + struct perf_ctr_interval *pci = (struct perf_ctr_interval *)handle; + hrt_abstime now = hrt_absolute_time(); + + switch (pci->event_count) { + case 0: + pci->time_first = now; + break; + case 1: + pci->time_least = now - pci->time_last; + pci->time_most = now - pci->time_last; + break; + default: { + hrt_abstime interval = now - pci->time_last; + if (interval < pci->time_least) + pci->time_least = interval; + if (interval > pci->time_most) + pci->time_most = interval; + break; + } + } + pci->time_last = now; + pci->event_count++; + break; + } + + default: + break; + } +} + +void +perf_begin(perf_counter_t handle) +{ + if (handle == NULL) + return; + + switch (handle->type) { + case PC_ELAPSED: + ((struct perf_ctr_elapsed *)handle)->time_start = hrt_absolute_time(); + break; + + default: + break; + } +} + +void +perf_end(perf_counter_t handle) +{ + if (handle == NULL) + return; + + switch (handle->type) { + case PC_ELAPSED: { + struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle; + hrt_abstime elapsed = hrt_absolute_time() - pce->time_start; + + pce->event_count++; + pce->time_total += elapsed; + + if ((pce->time_least > elapsed) || (pce->time_least == 0)) + pce->time_least = elapsed; + + if (pce->time_most < elapsed) + pce->time_most = elapsed; + } + + default: + break; + } +} + +void +perf_reset(perf_counter_t handle) +{ + if (handle == NULL) + return; + + switch (handle->type) { + case PC_COUNT: + ((struct perf_ctr_count *)handle)->event_count = 0; + break; + + case PC_ELAPSED: { + struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle; + pce->event_count = 0; + pce->time_start = 0; + pce->time_total = 0; + pce->time_least = 0; + pce->time_most = 0; + break; + } + + case PC_INTERVAL: { + struct perf_ctr_interval *pci = (struct perf_ctr_interval *)handle; + pci->event_count = 0; + pci->time_event = 0; + pci->time_first = 0; + pci->time_last = 0; + pci->time_least = 0; + pci->time_most = 0; + break; + } + } +} + +void +perf_print_counter(perf_counter_t handle) +{ + if (handle == NULL) + return; + + switch (handle->type) { + case PC_COUNT: + printf("%s: %llu events\n", + handle->name, + ((struct perf_ctr_count *)handle)->event_count); + break; + + case PC_ELAPSED: { + struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle; + + printf("%s: %llu events, %lluus elapsed, min %lluus max %lluus\n", + handle->name, + pce->event_count, + pce->time_total, + pce->time_least, + pce->time_most); + break; + } + + case PC_INTERVAL: { + struct perf_ctr_interval *pci = (struct perf_ctr_interval *)handle; + + printf("%s: %llu events, %llu avg, min %lluus max %lluus\n", + handle->name, + pci->event_count, + (pci->time_last - pci->time_first) / pci->event_count, + pci->time_least, + pci->time_most); + break; + } + + default: + break; + } +} + +void +perf_print_all(void) +{ + perf_counter_t handle = (perf_counter_t)sq_peek(&perf_counters); + + while (handle != NULL) { + perf_print_counter(handle); + handle = (perf_counter_t)sq_next(&handle->link); + } +} + +void +perf_reset_all(void) +{ + perf_counter_t handle = (perf_counter_t)sq_peek(&perf_counters); + + while (handle != NULL) { + perf_reset(handle); + handle = (perf_counter_t)sq_next(&handle->link); + } +} diff --git a/src/modules/px4iofirmware/perf_counter.h b/src/modules/px4iofirmware/perf_counter.h new file mode 100644 index 000000000..5c2cb15b2 --- /dev/null +++ b/src/modules/px4iofirmware/perf_counter.h @@ -0,0 +1,128 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file perf_counter.h + * Performance measuring tools. + */ + +#ifndef _SYSTEMLIB_PERF_COUNTER_H +#define _SYSTEMLIB_PERF_COUNTER_H value + +/** + * Counter types. + */ +enum perf_counter_type { + PC_COUNT, /**< count the number of times an event occurs */ + PC_ELAPSED, /**< measure the time elapsed performing an event */ + PC_INTERVAL /**< measure the interval between instances of an event */ +}; + +struct perf_ctr_header; +typedef struct perf_ctr_header *perf_counter_t; + +__BEGIN_DECLS + +/** + * Create a new counter. + * + * @param type The type of the new counter. + * @param name The counter name. + * @return Handle for the new counter, or NULL if a counter + * could not be allocated. + */ +__EXPORT extern perf_counter_t perf_alloc(enum perf_counter_type type, const char *name); + +/** + * Free a counter. + * + * @param handle The performance counter's handle. + */ +__EXPORT extern void perf_free(perf_counter_t handle); + +/** + * Count a performance event. + * + * This call only affects counters that take single events; PC_COUNT etc. + * + * @param handle The handle returned from perf_alloc. + */ +__EXPORT extern void perf_count(perf_counter_t handle); + +/** + * Begin a performance event. + * + * This call applies to counters that operate over ranges of time; PC_ELAPSED etc. + * + * @param handle The handle returned from perf_alloc. + */ +__EXPORT extern void perf_begin(perf_counter_t handle); + +/** + * End a performance event. + * + * This call applies to counters that operate over ranges of time; PC_ELAPSED etc. + * + * @param handle The handle returned from perf_alloc. + */ +__EXPORT extern void perf_end(perf_counter_t handle); + +/** + * Reset a performance event. + * + * This call resets performance counter to initial state + * + * @param handle The handle returned from perf_alloc. + */ +__EXPORT extern void perf_reset(perf_counter_t handle); + +/** + * Print one performance counter. + * + * @param handle The counter to print. + */ +__EXPORT extern void perf_print_counter(perf_counter_t handle); + +/** + * Print all of the performance counters. + */ +__EXPORT extern void perf_print_all(void); + +/** + * Reset all of the performance counters. + */ +__EXPORT extern void perf_reset_all(void); + +__END_DECLS + +#endif diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h new file mode 100644 index 000000000..8d8b7e941 --- /dev/null +++ b/src/modules/px4iofirmware/protocol.h @@ -0,0 +1,204 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +/** + * @file protocol.h + * + * PX4IO I2C interface protocol. + * + * Communication is performed via writes to and reads from 16-bit virtual + * registers organised into pages of 255 registers each. + * + * The first two bytes of each write select a page and offset address + * respectively. Subsequent reads and writes increment the offset within + * the page. + * + * Most pages are readable or writable but not both. + * + * Note that some pages may permit offset values greater than 255, which + * can only be achieved by long writes. The offset does not wrap. + * + * Writes to unimplemented registers are ignored. Reads from unimplemented + * registers return undefined values. + * + * As convention, values that would be floating point in other parts of + * the PX4 system are expressed as signed integer values scaled by 10000, + * e.g. control values range from -10000..10000. Use the REG_TO_SIGNED and + * SIGNED_TO_REG macros to convert between register representation and + * the signed version, and REG_TO_FLOAT/FLOAT_TO_REG to convert to float. + * + * Note that the implementation of readable pages prefers registers within + * readable pages to be densely packed. Page numbers do not need to be + * packed. + */ + +#define PX4IO_CONTROL_CHANNELS 8 +#define PX4IO_INPUT_CHANNELS 12 +#define PX4IO_RELAY_CHANNELS 4 + +/* Per C, this is safe for all 2's complement systems */ +#define REG_TO_SIGNED(_reg) ((int16_t)(_reg)) +#define SIGNED_TO_REG(_signed) ((uint16_t)(_signed)) + +#define REG_TO_FLOAT(_reg) ((float)REG_TO_SIGNED(_reg) / 10000.0f) +#define FLOAT_TO_REG(_float) SIGNED_TO_REG((int16_t)((_float) * 10000.0f)) + +/* static configuration page */ +#define PX4IO_PAGE_CONFIG 0 +#define PX4IO_P_CONFIG_PROTOCOL_VERSION 0 /* magic numbers TBD */ +#define PX4IO_P_CONFIG_SOFTWARE_VERSION 1 /* magic numbers TBD */ +#define PX4IO_P_CONFIG_BOOTLOADER_VERSION 2 /* get this how? */ +#define PX4IO_P_CONFIG_MAX_TRANSFER 3 /* maximum I2C transfer size */ +#define PX4IO_P_CONFIG_CONTROL_COUNT 4 /* hardcoded max control count supported */ +#define PX4IO_P_CONFIG_ACTUATOR_COUNT 5 /* hardcoded max actuator output count */ +#define PX4IO_P_CONFIG_RC_INPUT_COUNT 6 /* hardcoded max R/C input count supported */ +#define PX4IO_P_CONFIG_ADC_INPUT_COUNT 7 /* hardcoded max ADC inputs */ +#define PX4IO_P_CONFIG_RELAY_COUNT 8 /* harcoded # of relay outputs */ + +/* dynamic status page */ +#define PX4IO_PAGE_STATUS 1 +#define PX4IO_P_STATUS_FREEMEM 0 +#define PX4IO_P_STATUS_CPULOAD 1 + +#define PX4IO_P_STATUS_FLAGS 2 /* monitoring flags */ +#define PX4IO_P_STATUS_FLAGS_ARMED (1 << 0) /* arm-ok and locally armed */ +#define PX4IO_P_STATUS_FLAGS_OVERRIDE (1 << 1) /* in manual override */ +#define PX4IO_P_STATUS_FLAGS_RC_OK (1 << 2) /* RC input is valid */ +#define PX4IO_P_STATUS_FLAGS_RC_PPM (1 << 3) /* PPM input is valid */ +#define PX4IO_P_STATUS_FLAGS_RC_DSM (1 << 4) /* DSM input is valid */ +#define PX4IO_P_STATUS_FLAGS_RC_SBUS (1 << 5) /* SBUS input is valid */ +#define PX4IO_P_STATUS_FLAGS_FMU_OK (1 << 6) /* controls from FMU are valid */ +#define PX4IO_P_STATUS_FLAGS_RAW_PWM (1 << 7) /* raw PWM from FMU is bypassing the mixer */ +#define PX4IO_P_STATUS_FLAGS_MIXER_OK (1 << 8) /* mixer is OK */ +#define PX4IO_P_STATUS_FLAGS_ARM_SYNC (1 << 9) /* the arming state between IO and FMU is in sync */ +#define PX4IO_P_STATUS_FLAGS_INIT_OK (1 << 10) /* initialisation of the IO completed without error */ + +#define PX4IO_P_STATUS_ALARMS 3 /* alarm flags - alarms latch, write 1 to a bit to clear it */ +#define PX4IO_P_STATUS_ALARMS_VBATT_LOW (1 << 0) /* VBatt is very close to regulator dropout */ +#define PX4IO_P_STATUS_ALARMS_TEMPERATURE (1 << 1) /* board temperature is high */ +#define PX4IO_P_STATUS_ALARMS_SERVO_CURRENT (1 << 2) /* servo current limit was exceeded */ +#define PX4IO_P_STATUS_ALARMS_ACC_CURRENT (1 << 3) /* accessory current limit was exceeded */ +#define PX4IO_P_STATUS_ALARMS_FMU_LOST (1 << 4) /* timed out waiting for controls from FMU */ +#define PX4IO_P_STATUS_ALARMS_RC_LOST (1 << 5) /* timed out waiting for RC input */ +#define PX4IO_P_STATUS_ALARMS_PWM_ERROR (1 << 6) /* PWM configuration or output was bad */ + +#define PX4IO_P_STATUS_VBATT 4 /* battery voltage in mV */ +#define PX4IO_P_STATUS_IBATT 5 /* battery current in cA */ + +/* array of post-mix actuator outputs, -10000..10000 */ +#define PX4IO_PAGE_ACTUATORS 2 /* 0..CONFIG_ACTUATOR_COUNT-1 */ + +/* array of PWM servo output values, microseconds */ +#define PX4IO_PAGE_SERVOS 3 /* 0..CONFIG_ACTUATOR_COUNT-1 */ + +/* array of raw RC input values, microseconds */ +#define PX4IO_PAGE_RAW_RC_INPUT 4 +#define PX4IO_P_RAW_RC_COUNT 0 /* number of valid channels */ +#define PX4IO_P_RAW_RC_BASE 1 /* CONFIG_RC_INPUT_COUNT channels from here */ + +/* array of scaled RC input values, -10000..10000 */ +#define PX4IO_PAGE_RC_INPUT 5 +#define PX4IO_P_RC_VALID 0 /* bitmask of valid controls */ +#define PX4IO_P_RC_BASE 1 /* CONFIG_RC_INPUT_COUNT controls from here */ + +/* array of raw ADC values */ +#define PX4IO_PAGE_RAW_ADC_INPUT 6 /* 0..CONFIG_ADC_INPUT_COUNT-1 */ + +/* PWM servo information */ +#define PX4IO_PAGE_PWM_INFO 7 +#define PX4IO_RATE_MAP_BASE 0 /* 0..CONFIG_ACTUATOR_COUNT bitmaps of PWM rate groups */ + +/* setup page */ +#define PX4IO_PAGE_SETUP 100 +#define PX4IO_P_SETUP_FEATURES 0 + +#define PX4IO_P_SETUP_ARMING 1 /* arming controls */ +#define PX4IO_P_SETUP_ARMING_ARM_OK (1 << 0) /* OK to arm */ +#define PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK (1 << 2) /* OK to switch to manual override via override RC channel */ +#define PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK (1 << 3) /* OK to perform position / vector control (= position lock) */ +#define PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK (1 << 4) /* OK to try in-air restart */ + +#define PX4IO_P_SETUP_PWM_RATES 2 /* bitmask, 0 = low rate, 1 = high rate */ +#define PX4IO_P_SETUP_PWM_DEFAULTRATE 3 /* 'low' PWM frame output rate in Hz */ +#define PX4IO_P_SETUP_PWM_ALTRATE 4 /* 'high' PWM frame output rate in Hz */ +#define PX4IO_P_SETUP_RELAYS 5 /* bitmask of relay/switch outputs, 0 = off, 1 = on */ +#define PX4IO_P_SETUP_VBATT_SCALE 6 /* battery voltage correction factor (float) */ +#define PX4IO_P_SETUP_IBATT_SCALE 7 /* battery current scaling factor (float) */ +#define PX4IO_P_SETUP_IBATT_BIAS 8 /* battery current bias value */ +#define PX4IO_P_SETUP_SET_DEBUG 9 /* debug level for IO board */ + +/* autopilot control values, -10000..10000 */ +#define PX4IO_PAGE_CONTROLS 101 /* 0..CONFIG_CONTROL_COUNT */ + +/* raw text load to the mixer parser - ignores offset */ +#define PX4IO_PAGE_MIXERLOAD 102 + +/* R/C channel config */ +#define PX4IO_PAGE_RC_CONFIG 103 /* R/C input configuration */ +#define PX4IO_P_RC_CONFIG_MIN 0 /* lowest input value */ +#define PX4IO_P_RC_CONFIG_CENTER 1 /* center input value */ +#define PX4IO_P_RC_CONFIG_MAX 2 /* highest input value */ +#define PX4IO_P_RC_CONFIG_DEADZONE 3 /* band around center that is ignored */ +#define PX4IO_P_RC_CONFIG_ASSIGNMENT 4 /* mapped input value */ +#define PX4IO_P_RC_CONFIG_OPTIONS 5 /* channel options bitmask */ +#define PX4IO_P_RC_CONFIG_OPTIONS_ENABLED (1 << 0) +#define PX4IO_P_RC_CONFIG_OPTIONS_REVERSE (1 << 1) +#define PX4IO_P_RC_CONFIG_STRIDE 6 /* spacing between channel config data */ + +/* PWM output - overrides mixer */ +#define PX4IO_PAGE_DIRECT_PWM 104 /* 0..CONFIG_ACTUATOR_COUNT-1 */ + +/* PWM failsafe values - zero disables the output */ +#define PX4IO_PAGE_FAILSAFE_PWM 105 /* 0..CONFIG_ACTUATOR_COUNT-1 */ + +/** + * As-needed mixer data upload. + * + * This message adds text to the mixer text buffer; the text + * buffer is drained as the definitions are consumed. + */ +#pragma pack(push, 1) +struct px4io_mixdata { + uint16_t f2i_mixer_magic; +#define F2I_MIXER_MAGIC 0x6d74 + + uint8_t action; +#define F2I_MIXER_ACTION_RESET 0 +#define F2I_MIXER_ACTION_APPEND 1 + + char text[0]; /* actual text size may vary */ +}; +#pragma pack(pop) + diff --git a/src/modules/px4iofirmware/px4io.c b/src/modules/px4iofirmware/px4io.c new file mode 100644 index 000000000..9de37e118 --- /dev/null +++ b/src/modules/px4iofirmware/px4io.c @@ -0,0 +1,231 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file px4io.c + * Top-level logic for the PX4IO module. + */ + +#include + +#include // required for task_create +#include +#include +#include +#include +#include +#include + +#include +#include + +#include + +#include + +#define DEBUG +#include "px4io.h" + +__EXPORT int user_start(int argc, char *argv[]); + +extern void up_cxxinitialize(void); + +struct sys_state_s system_state; + +static struct hrt_call serial_dma_call; + +/* store i2c reset count XXX this should be a register, together with other error counters */ +volatile uint32_t i2c_loop_resets = 0; + +/* + * a set of debug buffers to allow us to send debug information from ISRs + */ + +static volatile uint32_t msg_counter; +static volatile uint32_t last_msg_counter; +static volatile uint8_t msg_next_out, msg_next_in; + +/* + * WARNING: too large buffers here consume the memory required + * for mixer handling. Do not allocate more than 80 bytes for + * output. + */ +#define NUM_MSG 2 +static char msg[NUM_MSG][40]; + +/* + * add a debug message to be printed on the console + */ +void +isr_debug(uint8_t level, const char *fmt, ...) +{ + if (level > r_page_setup[PX4IO_P_SETUP_SET_DEBUG]) { + return; + } + va_list ap; + va_start(ap, fmt); + vsnprintf(msg[msg_next_in], sizeof(msg[0]), fmt, ap); + va_end(ap); + msg_next_in = (msg_next_in+1) % NUM_MSG; + msg_counter++; +} + +/* + * show all pending debug messages + */ +static void +show_debug_messages(void) +{ + if (msg_counter != last_msg_counter) { + uint32_t n = msg_counter - last_msg_counter; + if (n > NUM_MSG) n = NUM_MSG; + last_msg_counter = msg_counter; + while (n--) { + debug("%s", msg[msg_next_out]); + msg_next_out = (msg_next_out+1) % NUM_MSG; + } + } +} + +int +user_start(int argc, char *argv[]) +{ + /* run C++ ctors before we go any further */ + up_cxxinitialize(); + + /* reset all to zero */ + memset(&system_state, 0, sizeof(system_state)); + + /* configure the high-resolution time/callout interface */ + hrt_init(); + + /* + * Poll at 1ms intervals for received bytes that have not triggered + * a DMA event. + */ + hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL); + + /* print some startup info */ + lowsyslog("\nPX4IO: starting\n"); + + /* default all the LEDs to off while we start */ + LED_AMBER(false); + LED_BLUE(false); + LED_SAFETY(false); + + /* turn on servo power */ + POWER_SERVO(true); + + /* start the safety switch handler */ + safety_init(); + + /* configure the first 8 PWM outputs (i.e. all of them) */ + up_pwm_servo_init(0xff); + + /* initialise the control inputs */ + controls_init(); + + /* start the i2c handler */ + i2c_init(); + + /* add a performance counter for mixing */ + perf_counter_t mixer_perf = perf_alloc(PC_ELAPSED, "mix"); + + /* add a performance counter for controls */ + perf_counter_t controls_perf = perf_alloc(PC_ELAPSED, "controls"); + + /* and one for measuring the loop rate */ + perf_counter_t loop_perf = perf_alloc(PC_INTERVAL, "loop"); + + struct mallinfo minfo = mallinfo(); + lowsyslog("MEM: free %u, largest %u\n", minfo.mxordblk, minfo.fordblks); + +#if 0 + /* not enough memory, lock down */ + if (minfo.mxordblk < 500) { + lowsyslog("ERR: not enough MEM"); + bool phase = false; + + if (phase) { + LED_AMBER(true); + LED_BLUE(false); + } else { + LED_AMBER(false); + LED_BLUE(true); + } + + phase = !phase; + usleep(300000); + } +#endif + + /* + * Run everything in a tight loop. + */ + + uint64_t last_debug_time = 0; + for (;;) { + + /* track the rate at which the loop is running */ + perf_count(loop_perf); + + /* kick the mixer */ + perf_begin(mixer_perf); + mixer_tick(); + perf_end(mixer_perf); + + /* kick the control inputs */ + perf_begin(controls_perf); + controls_tick(); + perf_end(controls_perf); + + /* check for debug activity */ + show_debug_messages(); + + /* post debug state at ~1Hz */ + if (hrt_absolute_time() - last_debug_time > (1000 * 1000)) { + + struct mallinfo minfo = mallinfo(); + + isr_debug(1, "d:%u s=0x%x a=0x%x f=0x%x r=%u m=%u", + (unsigned)r_page_setup[PX4IO_P_SETUP_SET_DEBUG], + (unsigned)r_status_flags, + (unsigned)r_setup_arming, + (unsigned)r_setup_features, + (unsigned)i2c_loop_resets, + (unsigned)minfo.mxordblk); + last_debug_time = hrt_absolute_time(); + } + } +} + diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h new file mode 100644 index 000000000..202e9d9d9 --- /dev/null +++ b/src/modules/px4iofirmware/px4io.h @@ -0,0 +1,188 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file px4io.h + * + * General defines and structures for the PX4IO module firmware. + */ + +#include + +#include +#include + +#include + +#include "protocol.h" + +/* + * Constants and limits. + */ +#define MAX_CONTROL_CHANNELS 12 +#define IO_SERVO_COUNT 8 + +/* + * Debug logging + */ + +#ifdef DEBUG +# include +# define debug(fmt, args...) lowsyslog(fmt "\n", ##args) +#else +# define debug(fmt, args...) do {} while(0) +#endif + +/* + * Registers. + */ +extern uint16_t r_page_status[]; /* PX4IO_PAGE_STATUS */ +extern uint16_t r_page_actuators[]; /* PX4IO_PAGE_ACTUATORS */ +extern uint16_t r_page_servos[]; /* PX4IO_PAGE_SERVOS */ +extern uint16_t r_page_raw_rc_input[]; /* PX4IO_PAGE_RAW_RC_INPUT */ +extern uint16_t r_page_rc_input[]; /* PX4IO_PAGE_RC_INPUT */ +extern uint16_t r_page_adc[]; /* PX4IO_PAGE_RAW_ADC_INPUT */ + +extern volatile uint16_t r_page_setup[]; /* PX4IO_PAGE_SETUP */ +extern volatile uint16_t r_page_controls[]; /* PX4IO_PAGE_CONTROLS */ +extern uint16_t r_page_rc_input_config[]; /* PX4IO_PAGE_RC_INPUT_CONFIG */ +extern uint16_t r_page_servo_failsafe[]; /* PX4IO_PAGE_FAILSAFE_PWM */ + +/* + * Register aliases. + * + * Handy aliases for registers that are widely used. + */ +#define r_status_flags r_page_status[PX4IO_P_STATUS_FLAGS] +#define r_status_alarms r_page_status[PX4IO_P_STATUS_ALARMS] + +#define r_raw_rc_count r_page_raw_rc_input[PX4IO_P_RAW_RC_COUNT] +#define r_raw_rc_values (&r_page_raw_rc_input[PX4IO_P_RAW_RC_BASE]) +#define r_rc_valid r_page_rc_input[PX4IO_P_RC_VALID] +#define r_rc_values (&r_page_rc_input[PX4IO_P_RAW_RC_BASE]) + +#define r_setup_features r_page_setup[PX4IO_P_SETUP_FEATURES] +#define r_setup_arming r_page_setup[PX4IO_P_SETUP_ARMING] +#define r_setup_pwm_rates r_page_setup[PX4IO_P_SETUP_PWM_RATES] +#define r_setup_pwm_defaultrate r_page_setup[PX4IO_P_SETUP_PWM_DEFAULTRATE] +#define r_setup_pwm_altrate r_page_setup[PX4IO_P_SETUP_PWM_ALTRATE] +#define r_setup_relays r_page_setup[PX4IO_P_SETUP_RELAYS] + +#define r_control_values (&r_page_controls[0]) + +/* + * System state structure. + */ +struct sys_state_s { + + volatile uint64_t rc_channels_timestamp; + + /** + * Last FMU receive time, in microseconds since system boot + */ + volatile uint64_t fmu_data_received_time; + +}; + +extern struct sys_state_s system_state; + +/* + * GPIO handling. + */ +#define LED_BLUE(_s) stm32_gpiowrite(GPIO_LED1, !(_s)) +#define LED_AMBER(_s) stm32_gpiowrite(GPIO_LED2, !(_s)) +#define LED_SAFETY(_s) stm32_gpiowrite(GPIO_LED3, !(_s)) + +#define POWER_SERVO(_s) stm32_gpiowrite(GPIO_SERVO_PWR_EN, (_s)) +#define POWER_ACC1(_s) stm32_gpiowrite(GPIO_ACC1_PWR_EN, (_s)) +#define POWER_ACC2(_s) stm32_gpiowrite(GPIO_ACC2_PWR_EN, (_s)) +#define POWER_RELAY1(_s) stm32_gpiowrite(GPIO_RELAY1_EN, (_s)) +#define POWER_RELAY2(_s) stm32_gpiowrite(GPIO_RELAY2_EN, (_s)) + +#define OVERCURRENT_ACC (!stm32_gpioread(GPIO_ACC_OC_DETECT)) +#define OVERCURRENT_SERVO (!stm32_gpioread(GPIO_SERVO_OC_DETECT)) +#define BUTTON_SAFETY stm32_gpioread(GPIO_BTN_SAFETY) + +#define ADC_VBATT 4 +#define ADC_IN5 5 +#define ADC_CHANNEL_COUNT 2 + +/* + * Mixer + */ +extern void mixer_tick(void); +extern void mixer_handle_text(const void *buffer, size_t length); + +/** + * Safety switch/LED. + */ +extern void safety_init(void); + +/** + * FMU communications + */ +extern void i2c_init(void); + +/** + * Register space + */ +extern void registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values); +extern int registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_values); + +/** + * Sensors/misc inputs + */ +extern int adc_init(void); +extern uint16_t adc_measure(unsigned channel); + +/** + * R/C receiver handling. + * + * Input functions return true when they receive an update from the RC controller. + */ +extern void controls_init(void); +extern void controls_tick(void); +extern int dsm_init(const char *device); +extern bool dsm_input(uint16_t *values, uint16_t *num_values); +extern int sbus_init(const char *device); +extern bool sbus_input(uint16_t *values, uint16_t *num_values); + +/** global debug level for isr_debug() */ +extern volatile uint8_t debug_level; + +/* send a debug message to the console */ +extern void isr_debug(uint8_t level, const char *fmt, ...); + +void i2c_dump(void); +void i2c_reset(void); + diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c new file mode 100644 index 000000000..6c09def9e --- /dev/null +++ b/src/modules/px4iofirmware/registers.c @@ -0,0 +1,644 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file registers.c + * + * Implementation of the PX4IO register space. + */ + +#include + +#include +#include + +#include + +#include "px4io.h" +#include "protocol.h" + +static int registers_set_one(uint8_t page, uint8_t offset, uint16_t value); +static void pwm_configure_rates(uint16_t map, uint16_t defaultrate, uint16_t altrate); + +/** + * PAGE 0 + * + * Static configuration parameters. + */ +static const uint16_t r_page_config[] = { + [PX4IO_P_CONFIG_PROTOCOL_VERSION] = 1, /* XXX hardcoded magic number */ + [PX4IO_P_CONFIG_SOFTWARE_VERSION] = 1, /* XXX hardcoded magic number */ + [PX4IO_P_CONFIG_BOOTLOADER_VERSION] = 3, /* XXX hardcoded magic number */ + [PX4IO_P_CONFIG_MAX_TRANSFER] = 64, /* XXX hardcoded magic number */ + [PX4IO_P_CONFIG_CONTROL_COUNT] = PX4IO_CONTROL_CHANNELS, + [PX4IO_P_CONFIG_ACTUATOR_COUNT] = IO_SERVO_COUNT, + [PX4IO_P_CONFIG_RC_INPUT_COUNT] = MAX_CONTROL_CHANNELS, + [PX4IO_P_CONFIG_ADC_INPUT_COUNT] = ADC_CHANNEL_COUNT, + [PX4IO_P_CONFIG_RELAY_COUNT] = PX4IO_RELAY_CHANNELS, +}; + +/** + * PAGE 1 + * + * Status values. + */ +uint16_t r_page_status[] = { + [PX4IO_P_STATUS_FREEMEM] = 0, + [PX4IO_P_STATUS_CPULOAD] = 0, + [PX4IO_P_STATUS_FLAGS] = 0, + [PX4IO_P_STATUS_ALARMS] = 0, + [PX4IO_P_STATUS_VBATT] = 0, + [PX4IO_P_STATUS_IBATT] = 0 +}; + +/** + * PAGE 2 + * + * Post-mixed actuator values. + */ +uint16_t r_page_actuators[IO_SERVO_COUNT]; + +/** + * PAGE 3 + * + * Servo PWM values + */ +uint16_t r_page_servos[IO_SERVO_COUNT]; + +/** + * PAGE 4 + * + * Raw RC input + */ +uint16_t r_page_raw_rc_input[] = +{ + [PX4IO_P_RAW_RC_COUNT] = 0, + [PX4IO_P_RAW_RC_BASE ... (PX4IO_P_RAW_RC_BASE + MAX_CONTROL_CHANNELS)] = 0 +}; + +/** + * PAGE 5 + * + * Scaled/routed RC input + */ +uint16_t r_page_rc_input[] = { + [PX4IO_P_RC_VALID] = 0, + [PX4IO_P_RC_BASE ... (PX4IO_P_RC_BASE + MAX_CONTROL_CHANNELS)] = 0 +}; + +/** + * Scratch page; used for registers that are constructed as-read. + * + * PAGE 6 Raw ADC input. + * PAGE 7 PWM rate maps. + */ +uint16_t r_page_scratch[32]; + +/** + * PAGE 100 + * + * Setup registers + */ +volatile uint16_t r_page_setup[] = +{ + [PX4IO_P_SETUP_FEATURES] = 0, + [PX4IO_P_SETUP_ARMING] = 0, + [PX4IO_P_SETUP_PWM_RATES] = 0, + [PX4IO_P_SETUP_PWM_DEFAULTRATE] = 50, + [PX4IO_P_SETUP_PWM_ALTRATE] = 200, + [PX4IO_P_SETUP_RELAYS] = 0, + [PX4IO_P_SETUP_VBATT_SCALE] = 10000, + [PX4IO_P_SETUP_IBATT_SCALE] = 0, + [PX4IO_P_SETUP_IBATT_BIAS] = 0, + [PX4IO_P_SETUP_SET_DEBUG] = 0, +}; + +#define PX4IO_P_SETUP_FEATURES_VALID (0) +#define PX4IO_P_SETUP_ARMING_VALID (PX4IO_P_SETUP_ARMING_ARM_OK | \ + PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK | \ + PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK) +#define PX4IO_P_SETUP_RATES_VALID ((1 << IO_SERVO_COUNT) - 1) +#define PX4IO_P_SETUP_RELAYS_VALID ((1 << PX4IO_RELAY_CHANNELS) - 1) + +/** + * PAGE 101 + * + * Control values from the FMU. + */ +volatile uint16_t r_page_controls[PX4IO_CONTROL_CHANNELS]; + +/* + * PAGE 102 does not have a buffer. + */ + +/** + * PAGE 103 + * + * R/C channel input configuration. + */ +uint16_t r_page_rc_input_config[MAX_CONTROL_CHANNELS * PX4IO_P_RC_CONFIG_STRIDE]; + +/* valid options */ +#define PX4IO_P_RC_CONFIG_OPTIONS_VALID (PX4IO_P_RC_CONFIG_OPTIONS_REVERSE | PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) + +/* + * PAGE 104 uses r_page_servos. + */ + +/** + * PAGE 105 + * + * Failsafe servo PWM values + */ +uint16_t r_page_servo_failsafe[IO_SERVO_COUNT]; + +void +registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values) +{ + + switch (page) { + + /* handle bulk controls input */ + case PX4IO_PAGE_CONTROLS: + + /* copy channel data */ + while ((offset < PX4IO_CONTROL_CHANNELS) && (num_values > 0)) { + + /* XXX range-check value? */ + r_page_controls[offset] = *values; + + offset++; + num_values--; + values++; + } + + system_state.fmu_data_received_time = hrt_absolute_time(); + r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK; + r_status_alarms &= ~PX4IO_P_STATUS_ALARMS_FMU_LOST; + r_status_flags &= ~PX4IO_P_STATUS_FLAGS_RAW_PWM; + + break; + + /* handle raw PWM input */ + case PX4IO_PAGE_DIRECT_PWM: + + /* copy channel data */ + while ((offset < PX4IO_CONTROL_CHANNELS) && (num_values > 0)) { + + /* XXX range-check value? */ + r_page_servos[offset] = *values; + + offset++; + num_values--; + values++; + } + + system_state.fmu_data_received_time = hrt_absolute_time(); + r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK | PX4IO_P_STATUS_FLAGS_RAW_PWM; + + break; + + /* handle setup for servo failsafe values */ + case PX4IO_PAGE_FAILSAFE_PWM: + + /* copy channel data */ + while ((offset < PX4IO_CONTROL_CHANNELS) && (num_values > 0)) { + + /* XXX range-check value? */ + r_page_servo_failsafe[offset] = *values; + + offset++; + num_values--; + values++; + } + break; + + /* handle text going to the mixer parser */ + case PX4IO_PAGE_MIXERLOAD: + mixer_handle_text(values, num_values * sizeof(*values)); + break; + + default: + /* avoid offset wrap */ + if ((offset + num_values) > 255) + num_values = 255 - offset; + + /* iterate individual registers, set each in turn */ + while (num_values--) { + if (registers_set_one(page, offset, *values)) + break; + offset++; + values++; + } + } +} + +static int +registers_set_one(uint8_t page, uint8_t offset, uint16_t value) +{ + switch (page) { + + case PX4IO_PAGE_STATUS: + switch (offset) { + case PX4IO_P_STATUS_ALARMS: + /* clear bits being written */ + r_status_alarms &= ~value; + break; + + case PX4IO_P_STATUS_FLAGS: + /* + * Allow FMU override of arming state (to allow in-air restores), + * but only if the arming state is not in sync on the IO side. + */ + if (!(r_status_flags & PX4IO_P_STATUS_FLAGS_ARM_SYNC)) { + r_status_flags = value; + } + break; + + default: + /* just ignore writes to other registers in this page */ + break; + } + break; + + case PX4IO_PAGE_SETUP: + switch (offset) { + case PX4IO_P_SETUP_FEATURES: + + value &= PX4IO_P_SETUP_FEATURES_VALID; + r_setup_features = value; + + /* no implemented feature selection at this point */ + + break; + + case PX4IO_P_SETUP_ARMING: + + value &= PX4IO_P_SETUP_ARMING_VALID; + + /* + * Update arming state - disarm if no longer OK. + * This builds on the requirement that the FMU driver + * asks about the FMU arming state on initialization, + * so that an in-air reset of FMU can not lead to a + * lockup of the IO arming state. + */ + if ((r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) && !(value & PX4IO_P_SETUP_ARMING_ARM_OK)) { + r_status_flags &= ~PX4IO_P_STATUS_FLAGS_ARMED; + } + + r_setup_arming = value; + + break; + + case PX4IO_P_SETUP_PWM_RATES: + value &= PX4IO_P_SETUP_RATES_VALID; + pwm_configure_rates(value, r_setup_pwm_defaultrate, r_setup_pwm_altrate); + break; + + case PX4IO_P_SETUP_PWM_DEFAULTRATE: + if (value < 50) + value = 50; + if (value > 400) + value = 400; + pwm_configure_rates(r_setup_pwm_rates, value, r_setup_pwm_altrate); + break; + + case PX4IO_P_SETUP_PWM_ALTRATE: + if (value < 50) + value = 50; + if (value > 400) + value = 400; + pwm_configure_rates(r_setup_pwm_rates, r_setup_pwm_defaultrate, value); + break; + + case PX4IO_P_SETUP_RELAYS: + value &= PX4IO_P_SETUP_RELAYS_VALID; + r_setup_relays = value; + POWER_RELAY1(value & (1 << 0) ? 1 : 0); + POWER_RELAY2(value & (1 << 1) ? 1 : 0); + POWER_ACC1(value & (1 << 2) ? 1 : 0); + POWER_ACC2(value & (1 << 3) ? 1 : 0); + break; + + case PX4IO_P_SETUP_SET_DEBUG: + r_page_setup[PX4IO_P_SETUP_SET_DEBUG] = value; + isr_debug(0, "set debug %u\n", (unsigned)r_page_setup[PX4IO_P_SETUP_SET_DEBUG]); + break; + + default: + return -1; + } + break; + + case PX4IO_PAGE_RC_CONFIG: { + + /* do not allow a RC config change while fully armed */ + if (/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) && + /* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) { + break; + } + + unsigned channel = offset / PX4IO_P_RC_CONFIG_STRIDE; + unsigned index = offset - channel * PX4IO_P_RC_CONFIG_STRIDE; + uint16_t *conf = &r_page_rc_input_config[channel * PX4IO_P_RC_CONFIG_STRIDE]; + + if (channel >= MAX_CONTROL_CHANNELS) + return -1; + + /* disable the channel until we have a chance to sanity-check it */ + conf[PX4IO_P_RC_CONFIG_OPTIONS] &= PX4IO_P_RC_CONFIG_OPTIONS_ENABLED; + + switch (index) { + + case PX4IO_P_RC_CONFIG_MIN: + case PX4IO_P_RC_CONFIG_CENTER: + case PX4IO_P_RC_CONFIG_MAX: + case PX4IO_P_RC_CONFIG_DEADZONE: + case PX4IO_P_RC_CONFIG_ASSIGNMENT: + conf[index] = value; + break; + + case PX4IO_P_RC_CONFIG_OPTIONS: + value &= PX4IO_P_RC_CONFIG_OPTIONS_VALID; + r_status_flags |= PX4IO_P_STATUS_FLAGS_INIT_OK; + + /* set all options except the enabled option */ + conf[index] = value & ~PX4IO_P_RC_CONFIG_OPTIONS_ENABLED; + + /* should the channel be enabled? */ + /* this option is normally set last */ + if (value & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) { + uint8_t count = 0; + + /* assert min..center..max ordering */ + if (conf[PX4IO_P_RC_CONFIG_MIN] < 500) { + count++; + } + if (conf[PX4IO_P_RC_CONFIG_MAX] > 2500) { + count++; + } + if (conf[PX4IO_P_RC_CONFIG_CENTER] < conf[PX4IO_P_RC_CONFIG_MIN]) { + count++; + } + if (conf[PX4IO_P_RC_CONFIG_CENTER] > conf[PX4IO_P_RC_CONFIG_MAX]) { + count++; + } + + /* assert deadzone is sane */ + if (conf[PX4IO_P_RC_CONFIG_DEADZONE] > 500) { + count++; + } + // The following check isn't needed as constraint checks in controls.c will catch this. + //if (conf[PX4IO_P_RC_CONFIG_MIN] > (conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])) { + // count++; + //} + //if (conf[PX4IO_P_RC_CONFIG_MAX] < (conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE])) { + // count++; + //} + if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= MAX_CONTROL_CHANNELS) { + count++; + } + + /* sanity checks pass, enable channel */ + if (count) { + isr_debug(0, "ERROR: %d config error(s) for RC%d.\n", count, (channel + 1)); + r_status_flags &= ~PX4IO_P_STATUS_FLAGS_INIT_OK; + } else { + conf[index] |= PX4IO_P_RC_CONFIG_OPTIONS_ENABLED; + } + } + break; + /* inner switch: case PX4IO_P_RC_CONFIG_OPTIONS */ + + } + break; + /* case PX4IO_RC_PAGE_CONFIG */ + } + + default: + return -1; + } + return 0; +} + +uint8_t last_page; +uint8_t last_offset; + +int +registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_values) +{ +#define SELECT_PAGE(_page_name) \ + do { \ + *values = &_page_name[0]; \ + *num_values = sizeof(_page_name) / sizeof(_page_name[0]); \ + } while(0) + + switch (page) { + + /* + * Handle pages that are updated dynamically at read time. + */ + case PX4IO_PAGE_STATUS: + /* PX4IO_P_STATUS_FREEMEM */ + { + struct mallinfo minfo = mallinfo(); + r_page_status[PX4IO_P_STATUS_FREEMEM] = minfo.fordblks; + } + + /* XXX PX4IO_P_STATUS_CPULOAD */ + + /* PX4IO_P_STATUS_FLAGS maintained externally */ + + /* PX4IO_P_STATUS_ALARMS maintained externally */ + + /* PX4IO_P_STATUS_VBATT */ + { + /* + * Coefficients here derived by measurement of the 5-16V + * range on one unit: + * + * V counts + * 5 1001 + * 6 1219 + * 7 1436 + * 8 1653 + * 9 1870 + * 10 2086 + * 11 2303 + * 12 2522 + * 13 2738 + * 14 2956 + * 15 3172 + * 16 3389 + * + * slope = 0.0046067 + * intercept = 0.3863 + * + * Intercept corrected for best results @ 12V. + */ + unsigned counts = adc_measure(ADC_VBATT); + unsigned mV = (4150 + (counts * 46)) / 10 - 200; + unsigned corrected = (mV * r_page_setup[PX4IO_P_SETUP_VBATT_SCALE]) / 10000; + + r_page_status[PX4IO_P_STATUS_VBATT] = corrected; + } + + /* PX4IO_P_STATUS_IBATT */ + { + unsigned counts = adc_measure(ADC_VBATT); + unsigned scaled = (counts * r_page_setup[PX4IO_P_SETUP_IBATT_SCALE]) / 10000; + int corrected = scaled + REG_TO_SIGNED(r_page_setup[PX4IO_P_SETUP_IBATT_BIAS]); + if (corrected < 0) + corrected = 0; + r_page_status[PX4IO_P_STATUS_IBATT] = corrected; + } + + SELECT_PAGE(r_page_status); + break; + + case PX4IO_PAGE_RAW_ADC_INPUT: + memset(r_page_scratch, 0, sizeof(r_page_scratch)); + r_page_scratch[0] = adc_measure(ADC_VBATT); + r_page_scratch[1] = adc_measure(ADC_IN5); + + SELECT_PAGE(r_page_scratch); + break; + + case PX4IO_PAGE_PWM_INFO: + memset(r_page_scratch, 0, sizeof(r_page_scratch)); + for (unsigned i = 0; i < IO_SERVO_COUNT; i++) + r_page_scratch[PX4IO_RATE_MAP_BASE + i] = up_pwm_servo_get_rate_group(i); + + SELECT_PAGE(r_page_scratch); + break; + + /* + * Pages that are just a straight read of the register state. + */ + + /* status pages */ + case PX4IO_PAGE_CONFIG: + SELECT_PAGE(r_page_config); + break; + case PX4IO_PAGE_ACTUATORS: + SELECT_PAGE(r_page_actuators); + break; + case PX4IO_PAGE_SERVOS: + SELECT_PAGE(r_page_servos); + break; + case PX4IO_PAGE_RAW_RC_INPUT: + SELECT_PAGE(r_page_raw_rc_input); + break; + case PX4IO_PAGE_RC_INPUT: + SELECT_PAGE(r_page_rc_input); + break; + + /* readback of input pages */ + case PX4IO_PAGE_SETUP: + SELECT_PAGE(r_page_setup); + break; + case PX4IO_PAGE_CONTROLS: + SELECT_PAGE(r_page_controls); + break; + case PX4IO_PAGE_RC_CONFIG: + SELECT_PAGE(r_page_rc_input_config); + break; + case PX4IO_PAGE_DIRECT_PWM: + SELECT_PAGE(r_page_servos); + break; + case PX4IO_PAGE_FAILSAFE_PWM: + SELECT_PAGE(r_page_servo_failsafe); + break; + + default: + return -1; + } + +#undef SELECT_PAGE +#undef COPY_PAGE + +last_page = page; +last_offset = offset; + + /* if the offset is at or beyond the end of the page, we have no data */ + if (offset >= *num_values) + return -1; + + /* correct the data pointer and count for the offset */ + *values += offset; + *num_values -= offset; + + return 0; +} + +/* + * Helper function to handle changes to the PWM rate control registers. + */ +static void +pwm_configure_rates(uint16_t map, uint16_t defaultrate, uint16_t altrate) +{ + for (unsigned pass = 0; pass < 2; pass++) { + for (unsigned group = 0; group < IO_SERVO_COUNT; group++) { + + /* get the channel mask for this rate group */ + uint32_t mask = up_pwm_servo_get_rate_group(group); + if (mask == 0) + continue; + + /* all channels in the group must be either default or alt-rate */ + uint32_t alt = map & mask; + + if (pass == 0) { + /* preflight */ + if ((alt != 0) && (alt != mask)) { + /* not a legal map, bail with an alarm */ + r_status_alarms |= PX4IO_P_STATUS_ALARMS_PWM_ERROR; + return; + } + } else { + /* set it - errors here are unexpected */ + if (alt != 0) { + if (up_pwm_servo_set_rate_group_update(group, r_setup_pwm_altrate) != OK) + r_status_alarms |= PX4IO_P_STATUS_ALARMS_PWM_ERROR; + } else { + if (up_pwm_servo_set_rate_group_update(group, r_setup_pwm_defaultrate) != OK) + r_status_alarms |= PX4IO_P_STATUS_ALARMS_PWM_ERROR; + } + } + } + } + r_setup_pwm_rates = map; + r_setup_pwm_defaultrate = defaultrate; + r_setup_pwm_altrate = altrate; +} diff --git a/src/modules/px4iofirmware/safety.c b/src/modules/px4iofirmware/safety.c new file mode 100644 index 000000000..5495d5ae1 --- /dev/null +++ b/src/modules/px4iofirmware/safety.c @@ -0,0 +1,195 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file Safety button logic. + */ + +#include + +#include + +#include + +#include "px4io.h" + +static struct hrt_call arming_call; +static struct hrt_call heartbeat_call; +static struct hrt_call failsafe_call; + +/* + * Count the number of times in a row that we see the arming button + * held down. + */ +static unsigned counter = 0; + +/* + * Define the various LED flash sequences for each system state. + */ +#define LED_PATTERN_SAFE 0xffff /**< always on */ +#define LED_PATTERN_VECTOR_FLIGHT_MODE_OK 0xFFFE /**< always on with short break */ +#define LED_PATTERN_FMU_ARMED 0x4444 /**< slow blinking */ +#define LED_PATTERN_IO_ARMED 0x5555 /**< fast blinking */ +#define LED_PATTERN_IO_FMU_ARMED 0x5050 /**< long off then double blink */ + +static unsigned blink_counter = 0; + +/* + * IMPORTANT: The arming state machine critically + * depends on using the same threshold + * for arming and disarming. Since disarming + * is quite deadly for the system, a similar + * length can be justified. + */ +#define ARM_COUNTER_THRESHOLD 10 + +static bool safety_button_pressed; + +static void safety_check_button(void *arg); +static void heartbeat_blink(void *arg); +static void failsafe_blink(void *arg); + +void +safety_init(void) +{ + /* arrange for the button handler to be called at 10Hz */ + hrt_call_every(&arming_call, 1000, 100000, safety_check_button, NULL); + + /* arrange for the heartbeat handler to be called at 4Hz */ + hrt_call_every(&heartbeat_call, 1000, 250000, heartbeat_blink, NULL); + + /* arrange for the failsafe blinker to be called at 8Hz */ + hrt_call_every(&failsafe_call, 1000, 125000, failsafe_blink, NULL); +} + +static void +safety_check_button(void *arg) +{ + /* + * Debounce the safety button, change state if it has been held for long enough. + * + */ + safety_button_pressed = BUTTON_SAFETY; + + /* + * Keep pressed for a while to arm. + * + * Note that the counting sequence has to be same length + * for arming / disarming in order to end up as proper + * state machine, keep ARM_COUNTER_THRESHOLD the same + * length in all cases of the if/else struct below. + */ + if (safety_button_pressed && !(r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) { + + if (counter < ARM_COUNTER_THRESHOLD) { + counter++; + + } else if (counter == ARM_COUNTER_THRESHOLD) { + /* switch to armed state */ + r_status_flags |= PX4IO_P_STATUS_FLAGS_ARMED; + counter++; + } + + /* Disarm quickly */ + + } else if (safety_button_pressed && (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) { + + if (counter < ARM_COUNTER_THRESHOLD) { + counter++; + + } else if (counter == ARM_COUNTER_THRESHOLD) { + /* change to disarmed state and notify the FMU */ + r_status_flags &= ~PX4IO_P_STATUS_FLAGS_ARMED; + counter++; + } + + } else { + counter = 0; + } + + /* Select the appropriate LED flash pattern depending on the current IO/FMU arm state */ + uint16_t pattern = LED_PATTERN_SAFE; + + if (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) { + if (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) { + pattern = LED_PATTERN_IO_FMU_ARMED; + + } else { + pattern = LED_PATTERN_IO_ARMED; + } + + } else if (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) { + pattern = LED_PATTERN_FMU_ARMED; + + } else if (r_setup_arming & PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK) { + pattern = LED_PATTERN_VECTOR_FLIGHT_MODE_OK; + } + + /* Turn the LED on if we have a 1 at the current bit position */ + LED_SAFETY(pattern & (1 << blink_counter++)); + + if (blink_counter > 15) { + blink_counter = 0; + } +} + +static void +heartbeat_blink(void *arg) +{ + static bool heartbeat = false; + + /* XXX add flags here that need to be frobbed by various loops */ + + LED_BLUE(heartbeat = !heartbeat); +} + +static void +failsafe_blink(void *arg) +{ + /* indicate that a serious initialisation error occured */ + if (!(r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK)) { + LED_AMBER(true); + return; + } + + static bool failsafe = false; + + /* blink the failsafe LED if we don't have FMU input */ + if (!(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK)) { + failsafe = !failsafe; + } else { + failsafe = false; + } + + LED_AMBER(failsafe); +} \ No newline at end of file diff --git a/src/modules/px4iofirmware/sbus.c b/src/modules/px4iofirmware/sbus.c new file mode 100644 index 000000000..073ddeaba --- /dev/null +++ b/src/modules/px4iofirmware/sbus.c @@ -0,0 +1,255 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file sbus.c + * + * Serial protocol decoder for the Futaba S.bus protocol. + */ + +#include + +#include +#include +#include + +#include + +#include + +#define DEBUG +#include "px4io.h" +#include "protocol.h" +#include "debug.h" + +#define SBUS_FRAME_SIZE 25 +#define SBUS_INPUT_CHANNELS 16 + +static int sbus_fd = -1; + +static hrt_abstime last_rx_time; +static hrt_abstime last_frame_time; + +static uint8_t frame[SBUS_FRAME_SIZE]; + +static unsigned partial_frame_count; + +unsigned sbus_frame_drops; + +static bool sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values); + +int +sbus_init(const char *device) +{ + if (sbus_fd < 0) + sbus_fd = open(device, O_RDONLY | O_NONBLOCK); + + if (sbus_fd >= 0) { + struct termios t; + + /* 100000bps, even parity, two stop bits */ + tcgetattr(sbus_fd, &t); + cfsetspeed(&t, 100000); + t.c_cflag |= (CSTOPB | PARENB); + tcsetattr(sbus_fd, TCSANOW, &t); + + /* initialise the decoder */ + partial_frame_count = 0; + last_rx_time = hrt_absolute_time(); + + debug("S.Bus: ready"); + + } else { + debug("S.Bus: open failed"); + } + + return sbus_fd; +} + +bool +sbus_input(uint16_t *values, uint16_t *num_values) +{ + ssize_t ret; + hrt_abstime now; + + /* + * The S.bus protocol doesn't provide reliable framing, + * so we detect frame boundaries by the inter-frame delay. + * + * The minimum frame spacing is 7ms; with 25 bytes at 100000bps + * frame transmission time is ~2ms. + * + * We expect to only be called when bytes arrive for processing, + * and if an interval of more than 3ms passes between calls, + * the first byte we read will be the first byte of a frame. + * + * In the case where byte(s) are dropped from a frame, this also + * provides a degree of protection. Of course, it would be better + * if we didn't drop bytes... + */ + now = hrt_absolute_time(); + + if ((now - last_rx_time) > 3000) { + if (partial_frame_count > 0) { + sbus_frame_drops++; + partial_frame_count = 0; + } + } + + /* + * Fetch bytes, but no more than we would need to complete + * the current frame. + */ + ret = read(sbus_fd, &frame[partial_frame_count], SBUS_FRAME_SIZE - partial_frame_count); + + /* if the read failed for any reason, just give up here */ + if (ret < 1) + return false; + + last_rx_time = now; + + /* + * Add bytes to the current frame + */ + partial_frame_count += ret; + + /* + * If we don't have a full frame, return + */ + if (partial_frame_count < SBUS_FRAME_SIZE) + return false; + + /* + * Great, it looks like we might have a frame. Go ahead and + * decode it. + */ + partial_frame_count = 0; + return sbus_decode(now, values, num_values); +} + +/* + * S.bus decoder matrix. + * + * Each channel value can come from up to 3 input bytes. Each row in the + * matrix describes up to three bytes, and each entry gives: + * + * - byte offset in the data portion of the frame + * - right shift applied to the data byte + * - mask for the data byte + * - left shift applied to the result into the channel value + */ +struct sbus_bit_pick { + uint8_t byte; + uint8_t rshift; + uint8_t mask; + uint8_t lshift; +}; +static const struct sbus_bit_pick sbus_decoder[SBUS_INPUT_CHANNELS][3] = { + /* 0 */ { { 0, 0, 0xff, 0}, { 1, 0, 0x07, 8}, { 0, 0, 0x00, 0} }, + /* 1 */ { { 1, 3, 0x1f, 0}, { 2, 0, 0x3f, 5}, { 0, 0, 0x00, 0} }, + /* 2 */ { { 2, 6, 0x03, 0}, { 3, 0, 0xff, 2}, { 4, 0, 0x01, 10} }, + /* 3 */ { { 4, 1, 0x7f, 0}, { 5, 0, 0x0f, 7}, { 0, 0, 0x00, 0} }, + /* 4 */ { { 5, 4, 0x0f, 0}, { 6, 0, 0x7f, 4}, { 0, 0, 0x00, 0} }, + /* 5 */ { { 6, 7, 0x01, 0}, { 7, 0, 0xff, 1}, { 8, 0, 0x03, 9} }, + /* 6 */ { { 8, 2, 0x3f, 0}, { 9, 0, 0x1f, 6}, { 0, 0, 0x00, 0} }, + /* 7 */ { { 9, 5, 0x07, 0}, {10, 0, 0xff, 3}, { 0, 0, 0x00, 0} }, + /* 8 */ { {11, 0, 0xff, 0}, {12, 0, 0x07, 8}, { 0, 0, 0x00, 0} }, + /* 9 */ { {12, 3, 0x1f, 0}, {13, 0, 0x3f, 5}, { 0, 0, 0x00, 0} }, + /* 10 */ { {13, 6, 0x03, 0}, {14, 0, 0xff, 2}, {15, 0, 0x01, 10} }, + /* 11 */ { {15, 1, 0x7f, 0}, {16, 0, 0x0f, 7}, { 0, 0, 0x00, 0} }, + /* 12 */ { {16, 4, 0x0f, 0}, {17, 0, 0x7f, 4}, { 0, 0, 0x00, 0} }, + /* 13 */ { {17, 7, 0x01, 0}, {18, 0, 0xff, 1}, {19, 0, 0x03, 9} }, + /* 14 */ { {19, 2, 0x3f, 0}, {20, 0, 0x1f, 6}, { 0, 0, 0x00, 0} }, + /* 15 */ { {20, 5, 0x07, 0}, {21, 0, 0xff, 3}, { 0, 0, 0x00, 0} } +}; + +static bool +sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values) +{ + /* check frame boundary markers to avoid out-of-sync cases */ + if ((frame[0] != 0x0f) || (frame[24] != 0x00)) { + sbus_frame_drops++; + return false; + } + + /* if the failsafe or connection lost bit is set, we consider the frame invalid */ + if ((frame[23] & (1 << 2)) && /* signal lost */ + (frame[23] & (1 << 3))) { /* failsafe */ + + /* actively announce signal loss */ + *values = 0; + return false; + } + + /* we have received something we think is a frame */ + last_frame_time = frame_time; + + unsigned chancount = (PX4IO_INPUT_CHANNELS > SBUS_INPUT_CHANNELS) ? + SBUS_INPUT_CHANNELS : PX4IO_INPUT_CHANNELS; + + /* use the decoder matrix to extract channel data */ + for (unsigned channel = 0; channel < chancount; channel++) { + unsigned value = 0; + + for (unsigned pick = 0; pick < 3; pick++) { + const struct sbus_bit_pick *decode = &sbus_decoder[channel][pick]; + + if (decode->mask != 0) { + unsigned piece = frame[1 + decode->byte]; + piece >>= decode->rshift; + piece &= decode->mask; + piece <<= decode->lshift; + + value |= piece; + } + } + + /* convert 0-2048 values to 1000-2000 ppm encoding in a very sloppy fashion */ + values[channel] = (value / 2) + 998; + } + + /* decode switch channels if data fields are wide enough */ + if (PX4IO_INPUT_CHANNELS > 17 && chancount > 15) { + chancount = 18; + + /* channel 17 (index 16) */ + values[16] = (frame[23] & (1 << 0)) * 1000 + 998; + /* channel 18 (index 17) */ + values[17] = (frame[23] & (1 << 1)) * 1000 + 998; + } + + /* note the number of channels decoded */ + *num_values = chancount; + + return true; +} diff --git a/src/modules/px4iofirmware/up_cxxinitialize.c b/src/modules/px4iofirmware/up_cxxinitialize.c new file mode 100644 index 000000000..c78f29570 --- /dev/null +++ b/src/modules/px4iofirmware/up_cxxinitialize.c @@ -0,0 +1,150 @@ +/************************************************************************************ + * configs/stm32f4discovery/src/up_cxxinitialize.c + * arch/arm/src/board/up_cxxinitialize.c + * + * Copyright (C) 2012 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ************************************************************************************/ + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +#include + +#include + +#include + +//#include +//#include "chip.h" + +/************************************************************************************ + * Definitions + ************************************************************************************/ +/* Debug ****************************************************************************/ +/* Non-standard debug that may be enabled just for testing the static constructors */ + +#ifndef CONFIG_DEBUG +# undef CONFIG_DEBUG_CXX +#endif + +#ifdef CONFIG_DEBUG_CXX +# define cxxdbg dbg +# define cxxlldbg lldbg +# ifdef CONFIG_DEBUG_VERBOSE +# define cxxvdbg vdbg +# define cxxllvdbg llvdbg +# else +# define cxxvdbg(x...) +# define cxxllvdbg(x...) +# endif +#else +# define cxxdbg(x...) +# define cxxlldbg(x...) +# define cxxvdbg(x...) +# define cxxllvdbg(x...) +#endif + +/************************************************************************************ + * Private Types + ************************************************************************************/ +/* This type defines one entry in initialization array */ + +typedef void (*initializer_t)(void); + +/************************************************************************************ + * External references + ************************************************************************************/ +/* _sinit and _einit are symbols exported by the linker script that mark the + * beginning and the end of the C++ initialization section. + */ + +extern initializer_t _sinit; +extern initializer_t _einit; + +/* _stext and _etext are symbols exported by the linker script that mark the + * beginning and the end of text. + */ + +extern uint32_t _stext; +extern uint32_t _etext; + +/************************************************************************************ + * Private Functions + ************************************************************************************/ + +/************************************************************************************ + * Public Functions + ************************************************************************************/ + +/**************************************************************************** + * Name: up_cxxinitialize + * + * Description: + * If C++ and C++ static constructors are supported, then this function + * must be provided by board-specific logic in order to perform + * initialization of the static C++ class instances. + * + * This function should then be called in the application-specific + * user_start logic in order to perform the C++ initialization. NOTE + * that no component of the core NuttX RTOS logic is involved; This + * function defintion only provides the 'contract' between application + * specific C++ code and platform-specific toolchain support + * + ***************************************************************************/ + +__EXPORT void up_cxxinitialize(void) +{ + initializer_t *initp; + + cxxdbg("_sinit: %p _einit: %p _stext: %p _etext: %p\n", + &_sinit, &_einit, &_stext, &_etext); + + /* Visit each entry in the initialzation table */ + + for (initp = &_sinit; initp != &_einit; initp++) + { + initializer_t initializer = *initp; + cxxdbg("initp: %p initializer: %p\n", initp, initializer); + + /* Make sure that the address is non-NULL and lies in the text region + * defined by the linker script. Some toolchains may put NULL values + * or counts in the initialization table + */ + + if ((void*)initializer > (void*)&_stext && (void*)initializer < (void*)&_etext) + { + cxxdbg("Calling %p\n", initializer); + initializer(); + } + } +} -- cgit v1.2.3 From 13fc6703862862f4263d8d5d085b7a16b87190e1 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 28 Apr 2013 09:54:11 +0200 Subject: Moved last libs, drivers and headers, cleaned up IO build --- apps/controllib/Makefile | 46 - apps/controllib/block/Block.cpp | 210 - apps/controllib/block/Block.hpp | 131 - apps/controllib/block/BlockParam.cpp | 79 - apps/controllib/block/BlockParam.hpp | 90 - apps/controllib/block/List.hpp | 71 - apps/controllib/block/UOrbPublication.cpp | 39 - apps/controllib/block/UOrbPublication.hpp | 118 - apps/controllib/block/UOrbSubscription.cpp | 51 - apps/controllib/block/UOrbSubscription.hpp | 137 - apps/controllib/blocks.cpp | 486 - apps/controllib/blocks.hpp | 494 - apps/controllib/fixedwing.cpp | 361 - apps/controllib/fixedwing.hpp | 342 - apps/controllib/test_params.c | 22 - apps/drivers/device/Makefile | 38 - apps/drivers/device/cdev.cpp | 398 - apps/drivers/device/device.cpp | 227 - apps/drivers/device/device.h | 447 - apps/drivers/device/i2c.cpp | 204 - apps/drivers/device/i2c.h | 138 - apps/drivers/device/pio.cpp | 74 - apps/drivers/device/spi.cpp | 160 - apps/drivers/device/spi.h | 114 - apps/drivers/drv_accel.h | 121 - apps/drivers/drv_adc.h | 52 - apps/drivers/drv_baro.h | 78 - apps/drivers/drv_blinkm.h | 69 - apps/drivers/drv_gpio.h | 148 - apps/drivers/drv_gps.h | 70 - apps/drivers/drv_gyro.h | 117 - apps/drivers/drv_hrt.h | 149 - apps/drivers/drv_led.h | 65 - apps/drivers/drv_mag.h | 114 - apps/drivers/drv_mixer.h | 118 - apps/drivers/drv_orb_dev.h | 87 - apps/drivers/drv_pwm_output.h | 201 - apps/drivers/drv_range_finder.h | 81 - apps/drivers/drv_rc_input.h | 110 - apps/drivers/drv_sensor.h | 87 - apps/drivers/drv_tone_alarm.h | 128 - apps/drivers/led/Makefile | 38 - apps/drivers/led/led.cpp | 115 - apps/examples/math_demo/Makefile | 42 - apps/examples/math_demo/math_demo.cpp | 105 - .../Source/BasicMathFunctions/arm_abs_f32.c | 159 - .../Source/BasicMathFunctions/arm_abs_q15.c | 173 - .../Source/BasicMathFunctions/arm_abs_q31.c | 125 - .../DSP_Lib/Source/BasicMathFunctions/arm_abs_q7.c | 152 - .../Source/BasicMathFunctions/arm_add_f32.c | 145 - .../Source/BasicMathFunctions/arm_add_q15.c | 135 - .../Source/BasicMathFunctions/arm_add_q31.c | 143 - .../DSP_Lib/Source/BasicMathFunctions/arm_add_q7.c | 129 - .../Source/BasicMathFunctions/arm_dot_prod_f32.c | 125 - .../Source/BasicMathFunctions/arm_dot_prod_q15.c | 135 - .../Source/BasicMathFunctions/arm_dot_prod_q31.c | 138 - .../Source/BasicMathFunctions/arm_dot_prod_q7.c | 154 - .../Source/BasicMathFunctions/arm_mult_f32.c | 172 - .../Source/BasicMathFunctions/arm_mult_q15.c | 152 - .../Source/BasicMathFunctions/arm_mult_q31.c | 143 - .../Source/BasicMathFunctions/arm_mult_q7.c | 128 - 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.../DSP_Lib/Source/BasicMathFunctions/arm_sub_q7.c | 126 - .../Source/CommonTables/arm_common_tables.c | 4689 ------ .../ComplexMathFunctions/arm_cmplx_conj_f32.c | 174 - .../ComplexMathFunctions/arm_cmplx_conj_q15.c | 153 - .../ComplexMathFunctions/arm_cmplx_conj_q31.c | 172 - .../ComplexMathFunctions/arm_cmplx_dot_prod_f32.c | 160 - .../ComplexMathFunctions/arm_cmplx_dot_prod_q15.c | 144 - .../ComplexMathFunctions/arm_cmplx_dot_prod_q31.c | 145 - .../ComplexMathFunctions/arm_cmplx_mag_f32.c | 157 - .../ComplexMathFunctions/arm_cmplx_mag_q15.c | 145 - .../ComplexMathFunctions/arm_cmplx_mag_q31.c | 177 - .../arm_cmplx_mag_squared_f32.c | 207 - .../arm_cmplx_mag_squared_q15.c | 140 - .../arm_cmplx_mag_squared_q31.c | 153 - .../arm_cmplx_mult_cmplx_f32.c | 199 - .../arm_cmplx_mult_cmplx_q15.c | 185 - .../arm_cmplx_mult_cmplx_q31.c | 318 - .../ComplexMathFunctions/arm_cmplx_mult_real_f32.c | 217 - .../ComplexMathFunctions/arm_cmplx_mult_real_q15.c | 195 - .../ComplexMathFunctions/arm_cmplx_mult_real_q31.c | 215 - .../Source/ControllerFunctions/arm_pid_init_f32.c | 79 - .../Source/ControllerFunctions/arm_pid_init_q15.c | 114 - .../Source/ControllerFunctions/arm_pid_init_q31.c | 99 - .../Source/ControllerFunctions/arm_pid_reset_f32.c | 57 - .../Source/ControllerFunctions/arm_pid_reset_q15.c | 56 - .../Source/ControllerFunctions/arm_pid_reset_q31.c | 57 - .../Source/ControllerFunctions/arm_sin_cos_f32.c | 428 - .../Source/ControllerFunctions/arm_sin_cos_q31.c | 324 - .../DSP_Lib/Source/FastMathFunctions/arm_cos_f32.c | 280 - .../DSP_Lib/Source/FastMathFunctions/arm_cos_q15.c | 205 - .../DSP_Lib/Source/FastMathFunctions/arm_cos_q31.c | 239 - .../DSP_Lib/Source/FastMathFunctions/arm_sin_f32.c | 281 - .../DSP_Lib/Source/FastMathFunctions/arm_sin_q15.c | 208 - .../DSP_Lib/Source/FastMathFunctions/arm_sin_q31.c | 240 - .../Source/FastMathFunctions/arm_sqrt_q15.c | 131 - .../Source/FastMathFunctions/arm_sqrt_q31.c | 129 - 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100644 src/modules/uORB/topics/manual_control_setpoint.h create mode 100644 src/modules/uORB/topics/offboard_control_setpoint.h create mode 100644 src/modules/uORB/topics/omnidirectional_flow.h create mode 100644 src/modules/uORB/topics/optical_flow.h create mode 100644 src/modules/uORB/topics/parameter_update.h create mode 100644 src/modules/uORB/topics/rc_channels.h create mode 100644 src/modules/uORB/topics/sensor_combined.h create mode 100644 src/modules/uORB/topics/subsystem_info.h create mode 100755 src/modules/uORB/topics/vehicle_attitude.h create mode 100644 src/modules/uORB/topics/vehicle_attitude_setpoint.h create mode 100644 src/modules/uORB/topics/vehicle_command.h create mode 100644 src/modules/uORB/topics/vehicle_global_position.h create mode 100644 src/modules/uORB/topics/vehicle_global_position_set_triplet.h create mode 100644 src/modules/uORB/topics/vehicle_global_position_setpoint.h create mode 100644 src/modules/uORB/topics/vehicle_gps_position.h create mode 100644 src/modules/uORB/topics/vehicle_local_position.h create mode 100644 src/modules/uORB/topics/vehicle_local_position_setpoint.h create mode 100644 src/modules/uORB/topics/vehicle_rates_setpoint.h create mode 100644 src/modules/uORB/topics/vehicle_status.h create mode 100644 src/modules/uORB/topics/vehicle_vicon_position.h create mode 100644 src/modules/uORB/uORB.cpp create mode 100644 src/modules/uORB/uORB.h (limited to 'src') diff --git a/apps/controllib/Makefile b/apps/controllib/Makefile deleted file mode 100644 index 6749b805f..000000000 --- a/apps/controllib/Makefile +++ /dev/null @@ -1,46 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Control library -# -CSRCS = test_params.c - -CXXSRCS = block/Block.cpp \ - block/BlockParam.cpp \ - block/UOrbPublication.cpp \ - block/UOrbSubscription.cpp \ - blocks.cpp \ - fixedwing.cpp - -include $(APPDIR)/mk/app.mk diff --git a/apps/controllib/block/Block.cpp b/apps/controllib/block/Block.cpp deleted file mode 100644 index 5994d2315..000000000 --- a/apps/controllib/block/Block.cpp +++ /dev/null @@ -1,210 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file Block.cpp - * - * Controller library code - */ - -#include -#include -#include - -#include "Block.hpp" -#include "BlockParam.hpp" -#include "UOrbSubscription.hpp" -#include "UOrbPublication.hpp" - -namespace control -{ - -Block::Block(SuperBlock *parent, const char *name) : - _name(name), - _parent(parent), - _dt(0), - _subscriptions(), - _params() -{ - if (getParent() != NULL) { - getParent()->getChildren().add(this); - } -} - -void Block::getName(char *buf, size_t n) -{ - if (getParent() == NULL) { - strncpy(buf, _name, n); - - } else { - char parentName[blockNameLengthMax]; - getParent()->getName(parentName, n); - - if (!strcmp(_name, "")) { - strncpy(buf, parentName, blockNameLengthMax); - - } else { - snprintf(buf, blockNameLengthMax, "%s_%s", parentName, _name); - } - } -} - -void Block::updateParams() -{ - BlockParamBase *param = getParams().getHead(); - int count = 0; - - while (param != NULL) { - if (count++ > maxParamsPerBlock) { - char name[blockNameLengthMax]; - getName(name, blockNameLengthMax); - printf("exceeded max params for block: %s\n", name); - break; - } - - //printf("updating param: %s\n", param->getName()); - param->update(); - param = param->getSibling(); - } -} - -void Block::updateSubscriptions() -{ - UOrbSubscriptionBase *sub = getSubscriptions().getHead(); - int count = 0; - - while (sub != NULL) { - if (count++ > maxSubscriptionsPerBlock) { - char name[blockNameLengthMax]; - getName(name, blockNameLengthMax); - printf("exceeded max subscriptions for block: %s\n", name); - break; - } - - sub->update(); - sub = sub->getSibling(); - } -} - -void Block::updatePublications() -{ - UOrbPublicationBase *pub = getPublications().getHead(); - int count = 0; - - while (pub != NULL) { - if (count++ > maxPublicationsPerBlock) { - char name[blockNameLengthMax]; - getName(name, blockNameLengthMax); - printf("exceeded max publications for block: %s\n", name); - break; - } - - pub->update(); - pub = pub->getSibling(); - } -} - -void SuperBlock::setDt(float dt) -{ - Block::setDt(dt); - Block *child = getChildren().getHead(); - int count = 0; - - while (child != NULL) { - if (count++ > maxChildrenPerBlock) { - char name[40]; - getName(name, 40); - printf("exceeded max children for block: %s\n", name); - break; - } - - child->setDt(dt); - child = child->getSibling(); - } -} - -void SuperBlock::updateChildParams() -{ - Block *child = getChildren().getHead(); - int count = 0; - - while (child != NULL) { - if (count++ > maxChildrenPerBlock) { - char name[40]; - getName(name, 40); - printf("exceeded max children for block: %s\n", name); - break; - } - - child->updateParams(); - child = child->getSibling(); - } -} - -void SuperBlock::updateChildSubscriptions() -{ - Block *child = getChildren().getHead(); - int count = 0; - - while (child != NULL) { - if (count++ > maxChildrenPerBlock) { - char name[40]; - getName(name, 40); - printf("exceeded max children for block: %s\n", name); - break; - } - - child->updateSubscriptions(); - child = child->getSibling(); - } -} - -void SuperBlock::updateChildPublications() -{ - Block *child = getChildren().getHead(); - int count = 0; - - while (child != NULL) { - if (count++ > maxChildrenPerBlock) { - char name[40]; - getName(name, 40); - printf("exceeded max children for block: %s\n", name); - break; - } - - child->updatePublications(); - child = child->getSibling(); - } -} - -} // namespace control diff --git a/apps/controllib/block/Block.hpp b/apps/controllib/block/Block.hpp deleted file mode 100644 index 258701f27..000000000 --- a/apps/controllib/block/Block.hpp +++ /dev/null @@ -1,131 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file Block.h - * - * Controller library code - */ - -#pragma once - -#include -#include - -#include "List.hpp" - -namespace control -{ - -static const uint16_t maxChildrenPerBlock = 100; -static const uint16_t maxParamsPerBlock = 100; -static const uint16_t maxSubscriptionsPerBlock = 100; -static const uint16_t maxPublicationsPerBlock = 100; -static const uint8_t blockNameLengthMax = 80; - -// forward declaration -class BlockParamBase; -class UOrbSubscriptionBase; -class UOrbPublicationBase; -class SuperBlock; - -/** - */ -class __EXPORT Block : - public ListNode -{ -public: - friend class BlockParamBase; -// methods - Block(SuperBlock *parent, const char *name); - void getName(char *name, size_t n); - virtual ~Block() {}; - virtual void updateParams(); - virtual void updateSubscriptions(); - virtual void updatePublications(); - virtual void setDt(float dt) { _dt = dt; } -// accessors - float getDt() { return _dt; } -protected: -// accessors - SuperBlock *getParent() { return _parent; } - List & getSubscriptions() { return _subscriptions; } - List & getPublications() { return _publications; } - List & getParams() { return _params; } -// attributes - const char *_name; - SuperBlock *_parent; - float _dt; - List _subscriptions; - List _publications; - List _params; -}; - -class __EXPORT SuperBlock : - public Block -{ -public: - friend class Block; -// methods - SuperBlock(SuperBlock *parent, const char *name) : - Block(parent, name), - _children() { - } - virtual ~SuperBlock() {}; - virtual void setDt(float dt); - virtual void updateParams() { - Block::updateParams(); - - if (getChildren().getHead() != NULL) updateChildParams(); - } - virtual void updateSubscriptions() { - Block::updateSubscriptions(); - - if (getChildren().getHead() != NULL) updateChildSubscriptions(); - } - virtual void updatePublications() { - Block::updatePublications(); - - if (getChildren().getHead() != NULL) updateChildPublications(); - } -protected: -// methods - List & getChildren() { return _children; } - void updateChildParams(); - void updateChildSubscriptions(); - void updateChildPublications(); -// attributes - List _children; -}; - -} // namespace control diff --git a/apps/controllib/block/BlockParam.cpp b/apps/controllib/block/BlockParam.cpp deleted file mode 100644 index fd12e365d..000000000 --- a/apps/controllib/block/BlockParam.cpp +++ /dev/null @@ -1,79 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file Blockparam.cpp - * - * Controller library code - */ - -#include -#include -#include - -#include "BlockParam.hpp" - -namespace control -{ - -BlockParamBase::BlockParamBase(Block *parent, const char *name, bool parent_prefix) : - _handle(PARAM_INVALID) -{ - char fullname[blockNameLengthMax]; - - if (parent == NULL) { - strncpy(fullname, name, blockNameLengthMax); - - } else { - char parentName[blockNameLengthMax]; - parent->getName(parentName, blockNameLengthMax); - - if (!strcmp(name, "")) { - strncpy(fullname, parentName, blockNameLengthMax); - - } else if (parent_prefix) { - snprintf(fullname, blockNameLengthMax, "%s_%s", parentName, name); - } else { - strncpy(fullname, name, blockNameLengthMax); - } - - parent->getParams().add(this); - } - - _handle = param_find(fullname); - - if (_handle == PARAM_INVALID) - printf("error finding param: %s\n", fullname); -}; - -} // namespace control diff --git a/apps/controllib/block/BlockParam.hpp b/apps/controllib/block/BlockParam.hpp deleted file mode 100644 index 58a9bfc0d..000000000 --- a/apps/controllib/block/BlockParam.hpp +++ /dev/null @@ -1,90 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file BlockParam.h - * - * Controller library code - */ - -#pragma once - -#include - -#include "Block.hpp" -#include "List.hpp" - -namespace control -{ - -/** - * A base class for block params that enables traversing linked list. - */ -class __EXPORT BlockParamBase : public ListNode -{ -public: - /** - * Instantiate a block param base. - * - * @param parent_prefix Set to true to include the parent name in the parameter name - */ - BlockParamBase(Block *parent, const char *name, bool parent_prefix=true); - virtual ~BlockParamBase() {}; - virtual void update() = 0; - const char *getName() { return param_name(_handle); } -protected: - param_t _handle; -}; - -/** - * Parameters that are tied to blocks for updating and nameing. - */ -template -class __EXPORT BlockParam : public BlockParamBase -{ -public: - BlockParam(Block *block, const char *name, bool parent_prefix=true) : - BlockParamBase(block, name, parent_prefix), - _val() { - update(); - } - T get() { return _val; } - void set(T val) { _val = val; } - void update() { - if (_handle != PARAM_INVALID) param_get(_handle, &_val); - } -protected: - T _val; -}; - -} // namespace control diff --git a/apps/controllib/block/List.hpp b/apps/controllib/block/List.hpp deleted file mode 100644 index 96b0b94d1..000000000 --- a/apps/controllib/block/List.hpp +++ /dev/null @@ -1,71 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file Node.h - * - * A node of a linked list. - */ - -#pragma once - -template -class __EXPORT ListNode -{ -public: - ListNode() : _sibling(NULL) { - } - void setSibling(T sibling) { _sibling = sibling; } - T getSibling() { return _sibling; } - T get() { - return _sibling; - } -protected: - T _sibling; -}; - -template -class __EXPORT List -{ -public: - List() : _head() { - } - void add(T newNode) { - newNode->setSibling(getHead()); - setHead(newNode); - } - T getHead() { return _head; } -private: - void setHead(T &head) { _head = head; } - T _head; -}; diff --git a/apps/controllib/block/UOrbPublication.cpp b/apps/controllib/block/UOrbPublication.cpp deleted file mode 100644 index f69b39d90..000000000 --- a/apps/controllib/block/UOrbPublication.cpp +++ /dev/null @@ -1,39 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file UOrbPublication.cpp - * - */ - -#include "UOrbPublication.hpp" diff --git a/apps/controllib/block/UOrbPublication.hpp b/apps/controllib/block/UOrbPublication.hpp deleted file mode 100644 index a36f4429f..000000000 --- a/apps/controllib/block/UOrbPublication.hpp +++ /dev/null @@ -1,118 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file UOrbPublication.h - * - */ - -#pragma once - -#include -#include "Block.hpp" -#include "List.hpp" - - -namespace control -{ - -class Block; - -/** - * Base publication warapper class, used in list traversal - * of various publications. - */ -class __EXPORT UOrbPublicationBase : public ListNode -{ -public: - - UOrbPublicationBase( - List * list, - const struct orb_metadata *meta) : - _meta(meta), - _handle() { - if (list != NULL) list->add(this); - } - void update() { - orb_publish(getMeta(), getHandle(), getDataVoidPtr()); - } - virtual void *getDataVoidPtr() = 0; - virtual ~UOrbPublicationBase() { - orb_unsubscribe(getHandle()); - } - const struct orb_metadata *getMeta() { return _meta; } - int getHandle() { return _handle; } -protected: - void setHandle(orb_advert_t handle) { _handle = handle; } - const struct orb_metadata *_meta; - orb_advert_t _handle; -}; - -/** - * UOrb Publication wrapper class - */ -template -class UOrbPublication : - public T, // this must be first! - public UOrbPublicationBase -{ -public: - /** - * Constructor - * - * @param list A list interface for adding to list during construction - * @param meta The uORB metadata (usually from the ORB_ID() macro) - * for the topic. - */ - UOrbPublication( - List * list, - const struct orb_metadata *meta) : - T(), // initialize data structure to zero - UOrbPublicationBase(list, meta) { - // It is important that we call T() - // before we publish the data, so we - // call this here instead of the base class - setHandle(orb_advertise(getMeta(), getDataVoidPtr())); - } - virtual ~UOrbPublication() {} - /* - * XXX - * This function gets the T struct, assuming - * the struct is the first base class, this - * should use dynamic cast, but doesn't - * seem to be available - */ - void *getDataVoidPtr() { return (void *)(T *)(this); } -}; - -} // namespace control diff --git a/apps/controllib/block/UOrbSubscription.cpp b/apps/controllib/block/UOrbSubscription.cpp deleted file mode 100644 index 022cadd24..000000000 --- a/apps/controllib/block/UOrbSubscription.cpp +++ /dev/null @@ -1,51 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file UOrbSubscription.cpp - * - */ - -#include "UOrbSubscription.hpp" - -namespace control -{ - -bool __EXPORT UOrbSubscriptionBase::updated() -{ - bool isUpdated = false; - orb_check(_handle, &isUpdated); - return isUpdated; -} - -} // namespace control diff --git a/apps/controllib/block/UOrbSubscription.hpp b/apps/controllib/block/UOrbSubscription.hpp deleted file mode 100644 index 22cc2e114..000000000 --- a/apps/controllib/block/UOrbSubscription.hpp +++ /dev/null @@ -1,137 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file UOrbSubscription.h - * - */ - -#pragma once - -#include -#include "Block.hpp" -#include "List.hpp" - - -namespace control -{ - -class Block; - -/** - * Base subscription warapper class, used in list traversal - * of various subscriptions. - */ -class __EXPORT UOrbSubscriptionBase : - public ListNode -{ -public: -// methods - - /** - * Constructor - * - * @param meta The uORB metadata (usually from the ORB_ID() macro) - * for the topic. - */ - UOrbSubscriptionBase( - List * list, - const struct orb_metadata *meta) : - _meta(meta), - _handle() { - if (list != NULL) list->add(this); - } - bool updated(); - void update() { - if (updated()) { - orb_copy(_meta, _handle, getDataVoidPtr()); - } - } - virtual void *getDataVoidPtr() = 0; - virtual ~UOrbSubscriptionBase() { - orb_unsubscribe(_handle); - } -// accessors - const struct orb_metadata *getMeta() { return _meta; } - int getHandle() { return _handle; } -protected: -// accessors - void setHandle(int handle) { _handle = handle; } -// attributes - const struct orb_metadata *_meta; - int _handle; -}; - -/** - * UOrb Subscription wrapper class - */ -template -class __EXPORT UOrbSubscription : - public T, // this must be first! - public UOrbSubscriptionBase -{ -public: - /** - * Constructor - * - * @param list A list interface for adding to list during construction - * @param meta The uORB metadata (usually from the ORB_ID() macro) - * for the topic. - * @param interval The minimum interval in milliseconds between updates - */ - UOrbSubscription( - List * list, - const struct orb_metadata *meta, unsigned interval) : - T(), // initialize data structure to zero - UOrbSubscriptionBase(list, meta) { - setHandle(orb_subscribe(getMeta())); - orb_set_interval(getHandle(), interval); - } - - /** - * Deconstructor - */ - virtual ~UOrbSubscription() {} - - /* - * XXX - * This function gets the T struct, assuming - * the struct is the first base class, this - * should use dynamic cast, but doesn't - * seem to be available - */ - void *getDataVoidPtr() { return (void *)(T *)(this); } - T getData() { return T(*this); } -}; - -} // namespace control diff --git a/apps/controllib/blocks.cpp b/apps/controllib/blocks.cpp deleted file mode 100644 index c6c374300..000000000 --- a/apps/controllib/blocks.cpp +++ /dev/null @@ -1,486 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file blocks.cpp - * - * Controller library code - */ - -#include -#include - -#include "blocks.hpp" - -namespace control -{ - -int basicBlocksTest() -{ - blockLimitTest(); - blockLimitSymTest(); - blockLowPassTest(); - blockHighPassTest(); - blockIntegralTest(); - blockIntegralTrapTest(); - blockDerivativeTest(); - blockPTest(); - blockPITest(); - blockPDTest(); - blockPIDTest(); - blockOutputTest(); - blockRandUniformTest(); - blockRandGaussTest(); - return 0; -} - -float BlockLimit::update(float input) -{ - if (input > getMax()) { - input = _max.get(); - - } else if (input < getMin()) { - input = getMin(); - } - - return input; -} - -int blockLimitTest() -{ - printf("Test BlockLimit\t\t\t: "); - BlockLimit limit(NULL, "TEST"); - // initial state - ASSERT(equal(1.0f, limit.getMax())); - ASSERT(equal(-1.0f, limit.getMin())); - ASSERT(equal(0.0f, limit.getDt())); - // update - ASSERT(equal(-1.0f, limit.update(-2.0f))); - ASSERT(equal(1.0f, limit.update(2.0f))); - ASSERT(equal(0.0f, limit.update(0.0f))); - printf("PASS\n"); - return 0; -} - -float BlockLimitSym::update(float input) -{ - if (input > getMax()) { - input = _max.get(); - - } else if (input < -getMax()) { - input = -getMax(); - } - - return input; -} - -int blockLimitSymTest() -{ - printf("Test BlockLimitSym\t\t: "); - BlockLimitSym limit(NULL, "TEST"); - // initial state - ASSERT(equal(1.0f, limit.getMax())); - ASSERT(equal(0.0f, limit.getDt())); - // update - ASSERT(equal(-1.0f, limit.update(-2.0f))); - ASSERT(equal(1.0f, limit.update(2.0f))); - ASSERT(equal(0.0f, limit.update(0.0f))); - printf("PASS\n"); - return 0; -} - -float BlockLowPass::update(float input) -{ - float b = 2 * float(M_PI) * getFCut() * getDt(); - float a = b / (1 + b); - setState(a * input + (1 - a)*getState()); - return getState(); -} - -int blockLowPassTest() -{ - printf("Test BlockLowPass\t\t: "); - BlockLowPass lowPass(NULL, "TEST_LP"); - // test initial state - ASSERT(equal(10.0f, lowPass.getFCut())); - ASSERT(equal(0.0f, lowPass.getState())); - ASSERT(equal(0.0f, lowPass.getDt())); - // set dt - lowPass.setDt(0.1f); - ASSERT(equal(0.1f, lowPass.getDt())); - // set state - lowPass.setState(1.0f); - ASSERT(equal(1.0f, lowPass.getState())); - // test update - ASSERT(equal(1.8626974f, lowPass.update(2.0f))); - - // test end condition - for (int i = 0; i < 100; i++) { - lowPass.update(2.0f); - } - - ASSERT(equal(2.0f, lowPass.getState())); - ASSERT(equal(2.0f, lowPass.update(2.0f))); - printf("PASS\n"); - return 0; -}; - -float BlockHighPass::update(float input) -{ - float b = 2 * float(M_PI) * getFCut() * getDt(); - float a = 1 / (1 + b); - setY(a * (getY() + input - getU())); - setU(input); - return getY(); -} - -int blockHighPassTest() -{ - printf("Test BlockHighPass\t\t: "); - BlockHighPass highPass(NULL, "TEST_HP"); - // test initial state - ASSERT(equal(10.0f, highPass.getFCut())); - ASSERT(equal(0.0f, highPass.getU())); - ASSERT(equal(0.0f, highPass.getY())); - ASSERT(equal(0.0f, highPass.getDt())); - // set dt - highPass.setDt(0.1f); - ASSERT(equal(0.1f, highPass.getDt())); - // set state - highPass.setU(1.0f); - ASSERT(equal(1.0f, highPass.getU())); - highPass.setY(1.0f); - ASSERT(equal(1.0f, highPass.getY())); - // test update - ASSERT(equal(0.2746051f, highPass.update(2.0f))); - - // test end condition - for (int i = 0; i < 100; i++) { - highPass.update(2.0f); - } - - ASSERT(equal(0.0f, highPass.getY())); - ASSERT(equal(0.0f, highPass.update(2.0f))); - printf("PASS\n"); - return 0; -} - -float BlockIntegral::update(float input) -{ - // trapezoidal integration - setY(_limit.update(getY() + input * getDt())); - return getY(); -} - -int blockIntegralTest() -{ - printf("Test BlockIntegral\t\t: "); - BlockIntegral integral(NULL, "TEST_I"); - // test initial state - ASSERT(equal(1.0f, integral.getMax())); - ASSERT(equal(0.0f, integral.getDt())); - // set dt - integral.setDt(0.1f); - ASSERT(equal(0.1f, integral.getDt())); - // set Y - integral.setY(0.9f); - ASSERT(equal(0.9f, integral.getY())); - - // test exceed max - for (int i = 0; i < 100; i++) { - integral.update(1.0f); - } - - ASSERT(equal(1.0f, integral.update(1.0f))); - // test exceed min - integral.setY(-0.9f); - ASSERT(equal(-0.9f, integral.getY())); - - for (int i = 0; i < 100; i++) { - integral.update(-1.0f); - } - - ASSERT(equal(-1.0f, integral.update(-1.0f))); - // test update - integral.setY(0.1f); - ASSERT(equal(0.2f, integral.update(1.0))); - ASSERT(equal(0.2f, integral.getY())); - printf("PASS\n"); - return 0; -} - -float BlockIntegralTrap::update(float input) -{ - // trapezoidal integration - setY(_limit.update(getY() + - (getU() + input) / 2.0f * getDt())); - setU(input); - return getY(); -} - -int blockIntegralTrapTest() -{ - printf("Test BlockIntegralTrap\t\t: "); - BlockIntegralTrap integral(NULL, "TEST_I"); - // test initial state - ASSERT(equal(1.0f, integral.getMax())); - ASSERT(equal(0.0f, integral.getDt())); - // set dt - integral.setDt(0.1f); - ASSERT(equal(0.1f, integral.getDt())); - // set U - integral.setU(1.0f); - ASSERT(equal(1.0f, integral.getU())); - // set Y - integral.setY(0.9f); - ASSERT(equal(0.9f, integral.getY())); - - // test exceed max - for (int i = 0; i < 100; i++) { - integral.update(1.0f); - } - - ASSERT(equal(1.0f, integral.update(1.0f))); - // test exceed min - integral.setU(-1.0f); - integral.setY(-0.9f); - ASSERT(equal(-0.9f, integral.getY())); - - for (int i = 0; i < 100; i++) { - integral.update(-1.0f); - } - - ASSERT(equal(-1.0f, integral.update(-1.0f))); - // test update - integral.setU(2.0f); - integral.setY(0.1f); - ASSERT(equal(0.25f, integral.update(1.0))); - ASSERT(equal(0.25f, integral.getY())); - ASSERT(equal(1.0f, integral.getU())); - printf("PASS\n"); - return 0; -} - -float BlockDerivative::update(float input) -{ - float output = _lowPass.update((input - getU()) / getDt()); - setU(input); - return output; -} - -int blockDerivativeTest() -{ - printf("Test BlockDerivative\t\t: "); - BlockDerivative derivative(NULL, "TEST_D"); - // test initial state - ASSERT(equal(0.0f, derivative.getU())); - ASSERT(equal(10.0f, derivative.getLP())); - // set dt - derivative.setDt(0.1f); - ASSERT(equal(0.1f, derivative.getDt())); - // set U - derivative.setU(1.0f); - ASSERT(equal(1.0f, derivative.getU())); - // test update - ASSERT(equal(8.6269744f, derivative.update(2.0f))); - ASSERT(equal(2.0f, derivative.getU())); - printf("PASS\n"); - return 0; -} - -int blockPTest() -{ - printf("Test BlockP\t\t\t: "); - BlockP blockP(NULL, "TEST_P"); - // test initial state - ASSERT(equal(0.2f, blockP.getKP())); - ASSERT(equal(0.0f, blockP.getDt())); - // set dt - blockP.setDt(0.1f); - ASSERT(equal(0.1f, blockP.getDt())); - // test update - ASSERT(equal(0.4f, blockP.update(2.0f))); - printf("PASS\n"); - return 0; -} - -int blockPITest() -{ - printf("Test BlockPI\t\t\t: "); - BlockPI blockPI(NULL, "TEST"); - // test initial state - ASSERT(equal(0.2f, blockPI.getKP())); - ASSERT(equal(0.1f, blockPI.getKI())); - ASSERT(equal(0.0f, blockPI.getDt())); - ASSERT(equal(1.0f, blockPI.getIntegral().getMax())); - // set dt - blockPI.setDt(0.1f); - ASSERT(equal(0.1f, blockPI.getDt())); - // set integral state - blockPI.getIntegral().setY(0.1f); - ASSERT(equal(0.1f, blockPI.getIntegral().getY())); - // test update - // 0.2*2 + 0.1*(2*0.1 + 0.1) = 0.43 - ASSERT(equal(0.43f, blockPI.update(2.0f))); - printf("PASS\n"); - return 0; -} - -int blockPDTest() -{ - printf("Test BlockPD\t\t\t: "); - BlockPD blockPD(NULL, "TEST"); - // test initial state - ASSERT(equal(0.2f, blockPD.getKP())); - ASSERT(equal(0.01f, blockPD.getKD())); - ASSERT(equal(0.0f, blockPD.getDt())); - ASSERT(equal(10.0f, blockPD.getDerivative().getLP())); - // set dt - blockPD.setDt(0.1f); - ASSERT(equal(0.1f, blockPD.getDt())); - // set derivative state - blockPD.getDerivative().setU(1.0f); - ASSERT(equal(1.0f, blockPD.getDerivative().getU())); - // test update - // 0.2*2 + 0.1*(0.1*8.626...) = 0.486269744 - ASSERT(equal(0.486269744f, blockPD.update(2.0f))); - printf("PASS\n"); - return 0; -} - -int blockPIDTest() -{ - printf("Test BlockPID\t\t\t: "); - BlockPID blockPID(NULL, "TEST"); - // test initial state - ASSERT(equal(0.2f, blockPID.getKP())); - ASSERT(equal(0.1f, blockPID.getKI())); - ASSERT(equal(0.01f, blockPID.getKD())); - ASSERT(equal(0.0f, blockPID.getDt())); - ASSERT(equal(10.0f, blockPID.getDerivative().getLP())); - ASSERT(equal(1.0f, blockPID.getIntegral().getMax())); - // set dt - blockPID.setDt(0.1f); - ASSERT(equal(0.1f, blockPID.getDt())); - // set derivative state - blockPID.getDerivative().setU(1.0f); - ASSERT(equal(1.0f, blockPID.getDerivative().getU())); - // set integral state - blockPID.getIntegral().setY(0.1f); - ASSERT(equal(0.1f, blockPID.getIntegral().getY())); - // test update - // 0.2*2 + 0.1*(2*0.1 + 0.1) + 0.1*(0.1*8.626...) = 0.5162697 - ASSERT(equal(0.5162697f, blockPID.update(2.0f))); - printf("PASS\n"); - return 0; -} - -int blockOutputTest() -{ - printf("Test BlockOutput\t\t: "); - BlockOutput blockOutput(NULL, "TEST"); - // test initial state - ASSERT(equal(0.0f, blockOutput.getDt())); - ASSERT(equal(0.5f, blockOutput.get())); - ASSERT(equal(-1.0f, blockOutput.getMin())); - ASSERT(equal(1.0f, blockOutput.getMax())); - // test update below min - blockOutput.update(-2.0f); - ASSERT(equal(-1.0f, blockOutput.get())); - // test update above max - blockOutput.update(2.0f); - ASSERT(equal(1.0f, blockOutput.get())); - // test trim - blockOutput.update(0.0f); - ASSERT(equal(0.5f, blockOutput.get())); - printf("PASS\n"); - return 0; -} - -int blockRandUniformTest() -{ - srand(1234); - printf("Test BlockRandUniform\t\t: "); - BlockRandUniform blockRandUniform(NULL, "TEST"); - // test initial state - ASSERT(equal(0.0f, blockRandUniform.getDt())); - ASSERT(equal(-1.0f, blockRandUniform.getMin())); - ASSERT(equal(1.0f, blockRandUniform.getMax())); - // test update - int n = 10000; - float mean = blockRandUniform.update(); - - // recursive mean algorithm from Knuth - for (int i = 2; i < n + 1; i++) { - float val = blockRandUniform.update(); - mean += (val - mean) / i; - ASSERT(val <= blockRandUniform.getMax()); - ASSERT(val >= blockRandUniform.getMin()); - } - - ASSERT(equal(mean, (blockRandUniform.getMin() + - blockRandUniform.getMax()) / 2, 1e-1)); - printf("PASS\n"); - return 0; -} - -int blockRandGaussTest() -{ - srand(1234); - printf("Test BlockRandGauss\t\t: "); - BlockRandGauss blockRandGauss(NULL, "TEST"); - // test initial state - ASSERT(equal(0.0f, blockRandGauss.getDt())); - ASSERT(equal(1.0f, blockRandGauss.getMean())); - ASSERT(equal(2.0f, blockRandGauss.getStdDev())); - // test update - int n = 10000; - float mean = blockRandGauss.update(); - float sum = 0; - - // recursive mean, stdev algorithm from Knuth - for (int i = 2; i < n + 1; i++) { - float val = blockRandGauss.update(); - float newMean = mean + (val - mean) / i; - sum += (val - mean) * (val - newMean); - mean = newMean; - } - - float stdDev = sqrt(sum / (n - 1)); - ASSERT(equal(mean, blockRandGauss.getMean(), 1e-1)); - ASSERT(equal(stdDev, blockRandGauss.getStdDev(), 1e-1)); - printf("PASS\n"); - return 0; -} - -} // namespace control diff --git a/apps/controllib/blocks.hpp b/apps/controllib/blocks.hpp deleted file mode 100644 index 7a785d12e..000000000 --- a/apps/controllib/blocks.hpp +++ /dev/null @@ -1,494 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file blocks.h - * - * Controller library code - */ - -#pragma once - -#include -#include -#include -#include - -#include "block/Block.hpp" -#include "block/BlockParam.hpp" - -namespace control -{ - -int __EXPORT basicBlocksTest(); - -/** - * A limiter/ saturation. - * The output of update is the input, bounded - * by min/max. - */ -class __EXPORT BlockLimit : public Block -{ -public: -// methods - BlockLimit(SuperBlock *parent, const char *name) : - Block(parent, name), - _min(this, "MIN"), - _max(this, "MAX") - {}; - virtual ~BlockLimit() {}; - float update(float input); -// accessors - float getMin() { return _min.get(); } - float getMax() { return _max.get(); } -protected: -// attributes - BlockParam _min; - BlockParam _max; -}; - -int __EXPORT blockLimitTest(); - -/** - * A symmetric limiter/ saturation. - * Same as limiter but with only a max, is used for - * upper limit of +max, and lower limit of -max - */ -class __EXPORT BlockLimitSym : public Block -{ -public: -// methods - BlockLimitSym(SuperBlock *parent, const char *name) : - Block(parent, name), - _max(this, "MAX") - {}; - virtual ~BlockLimitSym() {}; - float update(float input); -// accessors - float getMax() { return _max.get(); } -protected: -// attributes - BlockParam _max; -}; - -int __EXPORT blockLimitSymTest(); - -/** - * A low pass filter as described here: - * http://en.wikipedia.org/wiki/Low-pass_filter. - */ -class __EXPORT BlockLowPass : public Block -{ -public: -// methods - BlockLowPass(SuperBlock *parent, const char *name) : - Block(parent, name), - _state(0), - _fCut(this, "") // only one parameter, no need to name - {}; - virtual ~BlockLowPass() {}; - float update(float input); -// accessors - float getState() { return _state; } - float getFCut() { return _fCut.get(); } - void setState(float state) { _state = state; } -protected: -// attributes - float _state; - BlockParam _fCut; -}; - -int __EXPORT blockLowPassTest(); - -/** - * A high pass filter as described here: - * http://en.wikipedia.org/wiki/High-pass_filter. - */ -class __EXPORT BlockHighPass : public Block -{ -public: -// methods - BlockHighPass(SuperBlock *parent, const char *name) : - Block(parent, name), - _u(0), - _y(0), - _fCut(this, "") // only one parameter, no need to name - {}; - virtual ~BlockHighPass() {}; - float update(float input); -// accessors - float getU() {return _u;} - float getY() {return _y;} - float getFCut() {return _fCut.get();} - void setU(float u) {_u = u;} - void setY(float y) {_y = y;} -protected: -// attributes - float _u; /**< previous input */ - float _y; /**< previous output */ - BlockParam _fCut; /**< cut-off frequency, Hz */ -}; - -int __EXPORT blockHighPassTest(); - -/** - * A rectangular integrator. - * A limiter is built into the class to bound the - * integral's internal state. This is important - * for windup protection. - * @see Limit - */ -class __EXPORT BlockIntegral: public SuperBlock -{ -public: -// methods - BlockIntegral(SuperBlock *parent, const char *name) : - SuperBlock(parent, name), - _y(0), - _limit(this, "") {}; - virtual ~BlockIntegral() {}; - float update(float input); -// accessors - float getY() {return _y;} - float getMax() {return _limit.getMax();} - void setY(float y) {_y = y;} -protected: -// attributes - float _y; /**< previous output */ - BlockLimitSym _limit; /**< limiter */ -}; - -int __EXPORT blockIntegralTest(); - -/** - * A trapezoidal integrator. - * http://en.wikipedia.org/wiki/Trapezoidal_rule - * A limiter is built into the class to bound the - * integral's internal state. This is important - * for windup protection. - * @see Limit - */ -class __EXPORT BlockIntegralTrap : public SuperBlock -{ -public: -// methods - BlockIntegralTrap(SuperBlock *parent, const char *name) : - SuperBlock(parent, name), - _u(0), - _y(0), - _limit(this, "") {}; - virtual ~BlockIntegralTrap() {}; - float update(float input); -// accessors - float getU() {return _u;} - float getY() {return _y;} - float getMax() {return _limit.getMax();} - void setU(float u) {_u = u;} - void setY(float y) {_y = y;} -protected: -// attributes - float _u; /**< previous input */ - float _y; /**< previous output */ - BlockLimitSym _limit; /**< limiter */ -}; - -int __EXPORT blockIntegralTrapTest(); - -/** - * A simple derivative approximation. - * This uses the previous and current input. - * This has a built in low pass filter. - * @see LowPass - */ -class __EXPORT BlockDerivative : public SuperBlock -{ -public: -// methods - BlockDerivative(SuperBlock *parent, const char *name) : - SuperBlock(parent, name), - _u(0), - _lowPass(this, "LP") - {}; - virtual ~BlockDerivative() {}; - float update(float input); -// accessors - void setU(float u) {_u = u;} - float getU() {return _u;} - float getLP() {return _lowPass.getFCut();} -protected: -// attributes - float _u; /**< previous input */ - BlockLowPass _lowPass; /**< low pass filter */ -}; - -int __EXPORT blockDerivativeTest(); - -/** - * A proportional controller. - * @link http://en.wikipedia.org/wiki/PID_controller - */ -class __EXPORT BlockP: public Block -{ -public: -// methods - BlockP(SuperBlock *parent, const char *name) : - Block(parent, name), - _kP(this, "") // only one param, no need to name - {}; - virtual ~BlockP() {}; - float update(float input) { - return getKP() * input; - } -// accessors - float getKP() { return _kP.get(); } -protected: - BlockParam _kP; -}; - -int __EXPORT blockPTest(); - -/** - * A proportional-integral controller. - * @link http://en.wikipedia.org/wiki/PID_controller - */ -class __EXPORT BlockPI: public SuperBlock -{ -public: -// methods - BlockPI(SuperBlock *parent, const char *name) : - SuperBlock(parent, name), - _integral(this, "I"), - _kP(this, "P"), - _kI(this, "I") - {}; - virtual ~BlockPI() {}; - float update(float input) { - return getKP() * input + - getKI() * getIntegral().update(input); - } -// accessors - float getKP() { return _kP.get(); } - float getKI() { return _kI.get(); } - BlockIntegral &getIntegral() { return _integral; } -private: - BlockIntegral _integral; - BlockParam _kP; - BlockParam _kI; -}; - -int __EXPORT blockPITest(); - -/** - * A proportional-derivative controller. - * @link http://en.wikipedia.org/wiki/PID_controller - */ -class __EXPORT BlockPD: public SuperBlock -{ -public: -// methods - BlockPD(SuperBlock *parent, const char *name) : - SuperBlock(parent, name), - _derivative(this, "D"), - _kP(this, "P"), - _kD(this, "D") - {}; - virtual ~BlockPD() {}; - float update(float input) { - return getKP() * input + - getKD() * getDerivative().update(input); - } -// accessors - float getKP() { return _kP.get(); } - float getKD() { return _kD.get(); } - BlockDerivative &getDerivative() { return _derivative; } -private: - BlockDerivative _derivative; - BlockParam _kP; - BlockParam _kD; -}; - -int __EXPORT blockPDTest(); - -/** - * A proportional-integral-derivative controller. - * @link http://en.wikipedia.org/wiki/PID_controller - */ -class __EXPORT BlockPID: public SuperBlock -{ -public: -// methods - BlockPID(SuperBlock *parent, const char *name) : - SuperBlock(parent, name), - _integral(this, "I"), - _derivative(this, "D"), - _kP(this, "P"), - _kI(this, "I"), - _kD(this, "D") - {}; - virtual ~BlockPID() {}; - float update(float input) { - return getKP() * input + - getKI() * getIntegral().update(input) + - getKD() * getDerivative().update(input); - } -// accessors - float getKP() { return _kP.get(); } - float getKI() { return _kI.get(); } - float getKD() { return _kD.get(); } - BlockIntegral &getIntegral() { return _integral; } - BlockDerivative &getDerivative() { return _derivative; } -private: -// attributes - BlockIntegral _integral; - BlockDerivative _derivative; - BlockParam _kP; - BlockParam _kI; - BlockParam _kD; -}; - -int __EXPORT blockPIDTest(); - -/** - * An output trim/ saturation block - */ -class __EXPORT BlockOutput: public SuperBlock -{ -public: -// methods - BlockOutput(SuperBlock *parent, const char *name) : - SuperBlock(parent, name), - _trim(this, "TRIM"), - _limit(this, ""), - _val(0) { - update(0); - }; - virtual ~BlockOutput() {}; - void update(float input) { - _val = _limit.update(input + getTrim()); - } -// accessors - float getMin() { return _limit.getMin(); } - float getMax() { return _limit.getMax(); } - float getTrim() { return _trim.get(); } - float get() { return _val; } -private: -// attributes - BlockParam _trim; - BlockLimit _limit; - float _val; -}; - -int __EXPORT blockOutputTest(); - -/** - * A uniform random number generator - */ -class __EXPORT BlockRandUniform: public Block -{ -public: -// methods - BlockRandUniform(SuperBlock *parent, - const char *name) : - Block(parent, name), - _min(this, "MIN"), - _max(this, "MAX") { - // seed should be initialized somewhere - // in main program for all calls to rand - // XXX currently in nuttx if you seed to 0, rand breaks - }; - virtual ~BlockRandUniform() {}; - float update() { - static float rand_max = MAX_RAND; - float rand_val = rand(); - float bounds = getMax() - getMin(); - return getMin() + (rand_val * bounds) / rand_max; - } -// accessors - float getMin() { return _min.get(); } - float getMax() { return _max.get(); } -private: -// attributes - BlockParam _min; - BlockParam _max; -}; - -int __EXPORT blockRandUniformTest(); - -class __EXPORT BlockRandGauss: public Block -{ -public: -// methods - BlockRandGauss(SuperBlock *parent, - const char *name) : - Block(parent, name), - _mean(this, "MEAN"), - _stdDev(this, "DEV") { - // seed should be initialized somewhere - // in main program for all calls to rand - // XXX currently in nuttx if you seed to 0, rand breaks - }; - virtual ~BlockRandGauss() {}; - float update() { - static float V1, V2, S; - static int phase = 0; - float X; - - if (phase == 0) { - do { - float U1 = (float)rand() / MAX_RAND; - float U2 = (float)rand() / MAX_RAND; - V1 = 2 * U1 - 1; - V2 = 2 * U2 - 1; - S = V1 * V1 + V2 * V2; - } while (S >= 1 || fabsf(S) < 1e-8f); - - X = V1 * float(sqrt(-2 * float(log(S)) / S)); - - } else - X = V2 * float(sqrt(-2 * float(log(S)) / S)); - - phase = 1 - phase; - return X * getStdDev() + getMean(); - } -// accessors - float getMean() { return _mean.get(); } - float getStdDev() { return _stdDev.get(); } -private: -// attributes - BlockParam _mean; - BlockParam _stdDev; -}; - -int __EXPORT blockRandGaussTest(); - -} // namespace control diff --git a/apps/controllib/fixedwing.cpp b/apps/controllib/fixedwing.cpp deleted file mode 100644 index 1cc28b9dd..000000000 --- a/apps/controllib/fixedwing.cpp +++ /dev/null @@ -1,361 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file fixedwing.cpp - * - * Controller library code - */ - -#include "fixedwing.hpp" - -namespace control -{ - -namespace fixedwing -{ - -BlockYawDamper::BlockYawDamper(SuperBlock *parent, const char *name) : - SuperBlock(parent, name), - _rLowPass(this, "R_LP"), - _rWashout(this, "R_HP"), - _r2Rdr(this, "R2RDR"), - _rudder(0) -{ -} - -BlockYawDamper::~BlockYawDamper() {}; - -void BlockYawDamper::update(float rCmd, float r) -{ - _rudder = _r2Rdr.update(rCmd - - _rWashout.update(_rLowPass.update(r))); -} - -BlockStabilization::BlockStabilization(SuperBlock *parent, const char *name) : - SuperBlock(parent, name), - _yawDamper(this, ""), - _pLowPass(this, "P_LP"), - _qLowPass(this, "Q_LP"), - _p2Ail(this, "P2AIL"), - _q2Elv(this, "Q2ELV"), - _aileron(0), - _elevator(0) -{ -} - -BlockStabilization::~BlockStabilization() {}; - -void BlockStabilization::update(float pCmd, float qCmd, float rCmd, - float p, float q, float r) -{ - _aileron = _p2Ail.update( - pCmd - _pLowPass.update(p)); - _elevator = _q2Elv.update( - qCmd - _qLowPass.update(q)); - _yawDamper.update(rCmd, r); -} - -BlockWaypointGuidance::BlockWaypointGuidance(SuperBlock *parent, const char *name) : - SuperBlock(parent, name), - _xtYawLimit(this, "XT2YAW"), - _xt2Yaw(this, "XT2YAW"), - _psiCmd(0) -{ -} - -BlockWaypointGuidance::~BlockWaypointGuidance() {}; - -void BlockWaypointGuidance::update(vehicle_global_position_s &pos, - vehicle_attitude_s &att, - vehicle_global_position_setpoint_s &posCmd, - vehicle_global_position_setpoint_s &lastPosCmd) -{ - - // heading to waypoint - float psiTrack = get_bearing_to_next_waypoint( - (double)pos.lat / (double)1e7d, - (double)pos.lon / (double)1e7d, - (double)posCmd.lat / (double)1e7d, - (double)posCmd.lon / (double)1e7d); - - // cross track - struct crosstrack_error_s xtrackError; - get_distance_to_line(&xtrackError, - (double)pos.lat / (double)1e7d, - (double)pos.lon / (double)1e7d, - (double)lastPosCmd.lat / (double)1e7d, - (double)lastPosCmd.lon / (double)1e7d, - (double)posCmd.lat / (double)1e7d, - (double)posCmd.lon / (double)1e7d); - - _psiCmd = _wrap_2pi(psiTrack - - _xtYawLimit.update(_xt2Yaw.update(xtrackError.distance))); -} - -BlockUorbEnabledAutopilot::BlockUorbEnabledAutopilot(SuperBlock *parent, const char *name) : - SuperBlock(parent, name), - // subscriptions - _att(&getSubscriptions(), ORB_ID(vehicle_attitude), 20), - _attCmd(&getSubscriptions(), ORB_ID(vehicle_attitude_setpoint), 20), - _ratesCmd(&getSubscriptions(), ORB_ID(vehicle_rates_setpoint), 20), - _pos(&getSubscriptions() , ORB_ID(vehicle_global_position), 20), - _posCmd(&getSubscriptions(), ORB_ID(vehicle_global_position_setpoint), 20), - _manual(&getSubscriptions(), ORB_ID(manual_control_setpoint), 20), - _status(&getSubscriptions(), ORB_ID(vehicle_status), 20), - _param_update(&getSubscriptions(), ORB_ID(parameter_update), 1000), // limit to 1 Hz - // publications - _actuators(&getPublications(), ORB_ID(actuator_controls_0)) -{ -} - -BlockUorbEnabledAutopilot::~BlockUorbEnabledAutopilot() {}; - -BlockMultiModeBacksideAutopilot::BlockMultiModeBacksideAutopilot(SuperBlock *parent, const char *name) : - BlockUorbEnabledAutopilot(parent, name), - _stabilization(this, ""), // no name needed, already unique - - // heading hold - _psi2Phi(this, "PSI2PHI"), - _phi2P(this, "PHI2P"), - _phiLimit(this, "PHI_LIM"), - - // velocity hold - _v2Theta(this, "V2THE"), - _theta2Q(this, "THE2Q"), - _theLimit(this, "THE"), - _vLimit(this, "V"), - - // altitude/roc hold - _h2Thr(this, "H2THR"), - _roc2Thr(this, "ROC2THR"), - - // guidance block - _guide(this, ""), - - // block params - _trimAil(this, "TRIM_ROLL", false), /* general roll trim (full name: TRIM_ROLL) */ - _trimElv(this, "TRIM_PITCH", false), /* general pitch trim */ - _trimRdr(this, "TRIM_YAW", false), /* general yaw trim */ - _trimThr(this, "TRIM_THR", true), /* FWB_ specific throttle trim (full name: FWB_TRIM_THR) */ - - _vCmd(this, "V_CMD"), - _rocMax(this, "ROC_MAX"), - _attPoll(), - _lastPosCmd(), - _timeStamp(0) -{ - _attPoll.fd = _att.getHandle(); - _attPoll.events = POLLIN; -} - -void BlockMultiModeBacksideAutopilot::update() -{ - // wait for a sensor update, check for exit condition every 100 ms - if (poll(&_attPoll, 1, 100) < 0) return; // poll error - - uint64_t newTimeStamp = hrt_absolute_time(); - float dt = (newTimeStamp - _timeStamp) / 1.0e6f; - _timeStamp = newTimeStamp; - - // check for sane values of dt - // to prevent large control responses - if (dt > 1.0f || dt < 0) return; - - // set dt for all child blocks - setDt(dt); - - // store old position command before update if new command sent - if (_posCmd.updated()) { - _lastPosCmd = _posCmd.getData(); - } - - // check for new updates - if (_param_update.updated()) updateParams(); - - // get new information from subscriptions - updateSubscriptions(); - - // default all output to zero unless handled by mode - for (unsigned i = 4; i < NUM_ACTUATOR_CONTROLS; i++) - _actuators.control[i] = 0.0f; - - // only update guidance in auto mode - if (_status.state_machine == SYSTEM_STATE_AUTO) { - // update guidance - _guide.update(_pos, _att, _posCmd, _lastPosCmd); - } - - // XXX handle STABILIZED (loiter on spot) as well - // once the system switches from manual or auto to stabilized - // the setpoint should update to loitering around this position - - // handle autopilot modes - if (_status.state_machine == SYSTEM_STATE_AUTO || - _status.state_machine == SYSTEM_STATE_STABILIZED) { - - // update guidance - _guide.update(_pos, _att, _posCmd, _lastPosCmd); - - // calculate velocity, XXX should be airspeed, but using ground speed for now - float v = sqrtf(_pos.vx * _pos.vx + _pos.vy * _pos.vy + _pos.vz * _pos.vz); - - // altitude hold - float dThrottle = _h2Thr.update(_posCmd.altitude - _pos.alt); - - // heading hold - float psiError = _wrap_pi(_guide.getPsiCmd() - _att.yaw); - float phiCmd = _phiLimit.update(_psi2Phi.update(psiError)); - float pCmd = _phi2P.update(phiCmd - _att.roll); - - // velocity hold - // negative sign because nose over to increase speed - float thetaCmd = _theLimit.update(-_v2Theta.update( - _vLimit.update(_vCmd.get()) - v)); - float qCmd = _theta2Q.update(thetaCmd - _att.pitch); - - // yaw rate cmd - float rCmd = 0; - - // stabilization - _stabilization.update(pCmd, qCmd, rCmd, - _att.rollspeed, _att.pitchspeed, _att.yawspeed); - - // output - _actuators.control[CH_AIL] = _stabilization.getAileron() + _trimAil.get(); - _actuators.control[CH_ELV] = _stabilization.getElevator() + _trimElv.get(); - _actuators.control[CH_RDR] = _stabilization.getRudder() + _trimRdr.get(); - _actuators.control[CH_THR] = dThrottle + _trimThr.get(); - - // XXX limit throttle to manual setting (safety) for now. - // If it turns out to be confusing, it can be removed later once - // a first binary release can be targeted. - // This is not a hack, but a design choice. - - /* do not limit in HIL */ - if (!_status.flag_hil_enabled) { - /* limit to value of manual throttle */ - _actuators.control[CH_THR] = (_actuators.control[CH_THR] < _manual.throttle) ? - _actuators.control[CH_THR] : _manual.throttle; - } - - } else if (_status.state_machine == SYSTEM_STATE_MANUAL) { - - if (_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_DIRECT) { - _actuators.control[CH_AIL] = _manual.roll; - _actuators.control[CH_ELV] = _manual.pitch; - _actuators.control[CH_RDR] = _manual.yaw; - _actuators.control[CH_THR] = _manual.throttle; - - } else if (_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS) { - - // calculate velocity, XXX should be airspeed, but using ground speed for now - float v = sqrtf(_pos.vx * _pos.vx + _pos.vy * _pos.vy + _pos.vz * _pos.vz); - - // pitch channel -> rate of climb - // TODO, might want to put a gain on this, otherwise commanding - // from +1 -> -1 m/s for rate of climb - //float dThrottle = _roc2Thr.update( - //_rocMax.get()*_manual.pitch - _pos.vz); - - // roll channel -> bank angle - float phiCmd = _phiLimit.update(_manual.roll * _phiLimit.getMax()); - float pCmd = _phi2P.update(phiCmd - _att.roll); - - // throttle channel -> velocity - // negative sign because nose over to increase speed - float vCmd = _manual.throttle * (_vLimit.getMax() - _vLimit.getMin()) + _vLimit.getMin(); - float thetaCmd = _theLimit.update(-_v2Theta.update(_vLimit.update(vCmd) - v)); - float qCmd = _theta2Q.update(thetaCmd - _att.pitch); - - // yaw rate cmd - float rCmd = 0; - - // stabilization - _stabilization.update(pCmd, qCmd, rCmd, - _att.rollspeed, _att.pitchspeed, _att.yawspeed); - - // output - _actuators.control[CH_AIL] = _stabilization.getAileron() + _trimAil.get(); - _actuators.control[CH_ELV] = _stabilization.getElevator() + _trimElv.get(); - _actuators.control[CH_RDR] = _stabilization.getRudder() + _trimRdr.get(); - - // currenlty using manual throttle - // XXX if you enable this watch out, vz might be very noisy - //_actuators.control[CH_THR] = dThrottle + _trimThr.get(); - _actuators.control[CH_THR] = _manual.throttle; - - // XXX limit throttle to manual setting (safety) for now. - // If it turns out to be confusing, it can be removed later once - // a first binary release can be targeted. - // This is not a hack, but a design choice. - - /* do not limit in HIL */ - if (!_status.flag_hil_enabled) { - /* limit to value of manual throttle */ - _actuators.control[CH_THR] = (_actuators.control[CH_THR] < _manual.throttle) ? - _actuators.control[CH_THR] : _manual.throttle; - } - } - - // body rates controller, disabled for now - else if (0 /*_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS*/) { - - _stabilization.update(_manual.roll, _manual.pitch, _manual.yaw, - _att.rollspeed, _att.pitchspeed, _att.yawspeed); - - _actuators.control[CH_AIL] = _stabilization.getAileron(); - _actuators.control[CH_ELV] = _stabilization.getElevator(); - _actuators.control[CH_RDR] = _stabilization.getRudder(); - _actuators.control[CH_THR] = _manual.throttle; - } - } - - // update all publications - updatePublications(); -} - -BlockMultiModeBacksideAutopilot::~BlockMultiModeBacksideAutopilot() -{ - // send one last publication when destroyed, setting - // all output to zero - for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) - _actuators.control[i] = 0.0f; - - updatePublications(); -} - -} // namespace fixedwing - -} // namespace control - diff --git a/apps/controllib/fixedwing.hpp b/apps/controllib/fixedwing.hpp deleted file mode 100644 index 281cbb4cb..000000000 --- a/apps/controllib/fixedwing.hpp +++ /dev/null @@ -1,342 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file fixedwing.h - * - * Controller library code - */ - -#pragma once - -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include - -#include -#include - -#include "blocks.hpp" -#include "block/UOrbSubscription.hpp" -#include "block/UOrbPublication.hpp" - -extern "C" { -#include -} - -namespace control -{ - -namespace fixedwing -{ - -/** - * BlockYawDamper - * - * This block has more explations to help new developers - * add their own blocks. It includes a limited explanation - * of some C++ basics. - * - * Block: The generic class describing a typical block as you - * would expect in Simulink or ScicosLab. A block can have - * parameters. It cannot have other blocks. - * - * SuperBlock: A superblock is a block that can have other - * blocks. It has methods that manage the blocks beneath it. - * - * BlockYawDamper inherits from SuperBlock publically, this - * means that any public function in SuperBlock are public within - * BlockYawDamper and may be called from outside the - * class methods. Any protected function within block - * are private to the class and may not be called from - * outside this class. Protected should be preferred - * where possible to public as it is important to - * limit access to the bare minimum to prevent - * accidental errors. - */ -class __EXPORT BlockYawDamper : public SuperBlock -{ -private: - /** - * Declaring other blocks used by this block - * - * In this section we declare all child blocks that - * this block is composed of. They are private - * members so only this block has direct access to - * them. - */ - BlockLowPass _rLowPass; - BlockHighPass _rWashout; - BlockP _r2Rdr; - - /** - * Declaring output values and accessors - * - * If we have any output values for the block we - * declare them here. Output can be directly returned - * through the update function, but outputs should be - * declared here if the information will likely be requested - * again, or if there are multiple outputs. - * - * You should only be able to set outputs from this block, - * so the outputs are declared in the private section. - * A get accessor is provided - * in the public section for other blocks to get the - * value of the output. - */ - float _rudder; -public: - /** - * BlockYawDamper Constructor - * - * The job of the constructor is to initialize all - * parameter in this block and initialize all child - * blocks. Note also, that the output values must be - * initialized here. The order of the members in the - * member initialization list should follow the - * order in which they are declared within the class. - * See the private member declarations above. - * - * Block Construction - * - * All blocks are constructed with their parent block - * and their name. This allows parameters within the - * block to construct a fully qualified name from - * concatenating the two. If the name provided to the - * block is "", then the block will use the parent - * name as it's name. This is useful in cases where - * you have a block that has parameters "MIN", "MAX", - * such as BlockLimit and you do not want an extra name - * to qualify them since the parent block has no "MIN", - * "MAX" parameters. - * - * Block Parameter Construction - * - * Block parameters are named constants, they are - * constructed using: - * BlockParam::BlockParam(Block * parent, const char * name) - * This funciton takes both a parent block and a name. - * The constructore then uses the parent name and the name of - * the paramter to ask the px4 param library if it has any - * parameters with this name. If it does, a handle to the - * parameter is retrieved. - * - * Block/ BlockParam Naming - * - * When desigining new blocks, the naming of the parameters and - * blocks determines the fully qualified name of the parameters - * within the ground station, so it is important to choose - * short, easily understandable names. Again, when a name of - * "" is passed, the parent block name is used as the value to - * prepend to paramters names. - */ - BlockYawDamper(SuperBlock *parent, const char *name); - /** - * Block deconstructor - * - * It is always a good idea to declare a virtual - * deconstructor so that upon calling delete from - * a class derived from this, all of the - * deconstructors all called, the derived class first, and - * then the base class - */ - virtual ~BlockYawDamper(); - - /** - * Block update function - * - * The job of the update function is to compute the output - * values for the block. In a simple block with one output, - * the output may be returned directly. If the output is - * required frequenly by other processses, it might be a - * good idea to declare a member to store the temporary - * variable. - */ - void update(float rCmd, float r); - - /** - * Rudder output value accessor - * - * This is a public accessor function, which means that the - * private value _rudder is returned to anyone calling - * BlockYawDamper::getRudder(). Note thate a setRudder() is - * not provided, this is because the updateParams() call - * for a block provides the mechanism for updating the - * paramter. - */ - float getRudder() { return _rudder; } -}; - -/** - * Stability augmentation system. - * Aircraft Control and Simulation, Stevens and Lewis, pg. 292, 299 - */ -class __EXPORT BlockStabilization : public SuperBlock -{ -private: - BlockYawDamper _yawDamper; - BlockLowPass _pLowPass; - BlockLowPass _qLowPass; - BlockP _p2Ail; - BlockP _q2Elv; - float _aileron; - float _elevator; -public: - BlockStabilization(SuperBlock *parent, const char *name); - virtual ~BlockStabilization(); - void update(float pCmd, float qCmd, float rCmd, - float p, float q, float r); - float getAileron() { return _aileron; } - float getElevator() { return _elevator; } - float getRudder() { return _yawDamper.getRudder(); } -}; - -/** - * Frontside/ Backside Control Systems - * - * Frontside : - * velocity error -> throttle - * altitude error -> elevator - * - * Backside : - * velocity error -> elevator - * altitude error -> throttle - * - * Backside control systems are more resilient at - * slow speeds on the back-side of the power - * required curve/ landing etc. Less performance - * than frontside at high speeds. - */ - -/** - * Waypoint Guidance block - */ -class __EXPORT BlockWaypointGuidance : public SuperBlock -{ -private: - BlockLimitSym _xtYawLimit; - BlockP _xt2Yaw; - float _psiCmd; -public: - BlockWaypointGuidance(SuperBlock *parent, const char *name); - virtual ~BlockWaypointGuidance(); - void update(vehicle_global_position_s &pos, - vehicle_attitude_s &att, - vehicle_global_position_setpoint_s &posCmd, - vehicle_global_position_setpoint_s &lastPosCmd); - float getPsiCmd() { return _psiCmd; } -}; - -/** - * UorbEnabledAutopilot - */ -class __EXPORT BlockUorbEnabledAutopilot : public SuperBlock -{ -protected: - // subscriptions - UOrbSubscription _att; - UOrbSubscription _attCmd; - UOrbSubscription _ratesCmd; - UOrbSubscription _pos; - UOrbSubscription _posCmd; - UOrbSubscription _manual; - UOrbSubscription _status; - UOrbSubscription _param_update; - // publications - UOrbPublication _actuators; -public: - BlockUorbEnabledAutopilot(SuperBlock *parent, const char *name); - virtual ~BlockUorbEnabledAutopilot(); -}; - -/** - * Multi-mode Autopilot - */ -class __EXPORT BlockMultiModeBacksideAutopilot : public BlockUorbEnabledAutopilot -{ -private: - // stabilization - BlockStabilization _stabilization; - - // heading hold - BlockP _psi2Phi; - BlockP _phi2P; - BlockLimitSym _phiLimit; - - // velocity hold - BlockPID _v2Theta; - BlockPID _theta2Q; - BlockLimit _theLimit; - BlockLimit _vLimit; - - // altitude/ roc hold - BlockPID _h2Thr; - BlockPID _roc2Thr; - - // guidance - BlockWaypointGuidance _guide; - - // block params - BlockParam _trimAil; - BlockParam _trimElv; - BlockParam _trimRdr; - BlockParam _trimThr; - BlockParam _vCmd; - BlockParam _rocMax; - - struct pollfd _attPoll; - vehicle_global_position_setpoint_s _lastPosCmd; - enum {CH_AIL, CH_ELV, CH_RDR, CH_THR}; - uint64_t _timeStamp; -public: - BlockMultiModeBacksideAutopilot(SuperBlock *parent, const char *name); - void update(); - virtual ~BlockMultiModeBacksideAutopilot(); -}; - - -} // namespace fixedwing - -} // namespace control - diff --git a/apps/controllib/test_params.c b/apps/controllib/test_params.c deleted file mode 100644 index 7c609cad3..000000000 --- a/apps/controllib/test_params.c +++ /dev/null @@ -1,22 +0,0 @@ -#include -// WARNING: -// do not changes these unless -// you want to recompute the -// answers for all of the unit tests - -PARAM_DEFINE_FLOAT(TEST_MIN, -1.0f); -PARAM_DEFINE_FLOAT(TEST_MAX, 1.0f); -PARAM_DEFINE_FLOAT(TEST_TRIM, 0.5f); -PARAM_DEFINE_FLOAT(TEST_HP, 10.0f); -PARAM_DEFINE_FLOAT(TEST_LP, 10.0f); - -PARAM_DEFINE_FLOAT(TEST_P, 0.2f); - -PARAM_DEFINE_FLOAT(TEST_I, 0.1f); -PARAM_DEFINE_FLOAT(TEST_I_MAX, 1.0f); - -PARAM_DEFINE_FLOAT(TEST_D, 0.01f); -PARAM_DEFINE_FLOAT(TEST_D_LP, 10.0f); - -PARAM_DEFINE_FLOAT(TEST_MEAN, 1.0f); -PARAM_DEFINE_FLOAT(TEST_DEV, 2.0f); diff --git a/apps/drivers/device/Makefile b/apps/drivers/device/Makefile deleted file mode 100644 index f7b1fff88..000000000 --- a/apps/drivers/device/Makefile +++ /dev/null @@ -1,38 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Build the device driver framework. -# - -include $(APPDIR)/mk/app.mk diff --git a/apps/drivers/device/cdev.cpp b/apps/drivers/device/cdev.cpp deleted file mode 100644 index 422321850..000000000 --- a/apps/drivers/device/cdev.cpp +++ /dev/null @@ -1,398 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file cdev.cpp - * - * Character device base class. - */ - -#include "device.h" - -#include -#include - -#include -#include - -#ifdef CONFIG_DISABLE_POLL -# error This driver is not compatible with CONFIG_DISABLE_POLL -#endif - -namespace device -{ - -/* how much to grow the poll waiter set each time it has to be increased */ -static const unsigned pollset_increment = 0; - -/* - * The standard NuttX operation dispatch table can't call C++ member functions - * directly, so we have to bounce them through this dispatch table. - */ -static int cdev_open(struct file *filp); -static int cdev_close(struct file *filp); -static ssize_t cdev_read(struct file *filp, char *buffer, size_t buflen); -static ssize_t cdev_write(struct file *filp, const char *buffer, size_t buflen); -static off_t cdev_seek(struct file *filp, off_t offset, int whence); -static int cdev_ioctl(struct file *filp, int cmd, unsigned long arg); -static int cdev_poll(struct file *filp, struct pollfd *fds, bool setup); - -/** - * Character device indirection table. - * - * Every cdev we register gets the same function table; we use the private data - * field in the inode to store the instance pointer. - * - * Note that we use the GNU extension syntax here because we don't get designated - * initialisers in gcc 4.6. - */ -const struct file_operations CDev::fops = { -open : cdev_open, -close : cdev_close, -read : cdev_read, -write : cdev_write, -seek : cdev_seek, -ioctl : cdev_ioctl, -poll : cdev_poll, -}; - -CDev::CDev(const char *name, - const char *devname, - int irq) : - // base class - Device(name, irq), - // public - // protected - // private - _devname(devname), - _registered(false), - _open_count(0) -{ - for (unsigned i = 0; i < _max_pollwaiters; i++) - _pollset[i] = nullptr; -} - -CDev::~CDev() -{ - if (_registered) - unregister_driver(_devname); -} - -int -CDev::init() -{ - int ret = OK; - - // base class init first - ret = Device::init(); - - if (ret != OK) - goto out; - - // now register the driver - ret = register_driver(_devname, &fops, 0666, (void *)this); - - if (ret != OK) - goto out; - - _registered = true; - -out: - return ret; -} - -/* - * Default implementations of the character device interface - */ -int -CDev::open(struct file *filp) -{ - int ret = OK; - - lock(); - /* increment the open count */ - _open_count++; - - if (_open_count == 1) { - - /* first-open callback may decline the open */ - ret = open_first(filp); - - if (ret != OK) - _open_count--; - } - - unlock(); - - return ret; -} - -int -CDev::open_first(struct file *filp) -{ - return OK; -} - -int -CDev::close(struct file *filp) -{ - int ret = OK; - - lock(); - - if (_open_count > 0) { - /* decrement the open count */ - _open_count--; - - /* callback cannot decline the close */ - if (_open_count == 0) - ret = close_last(filp); - - } else { - ret = -EBADF; - } - - unlock(); - - return ret; -} - -int -CDev::close_last(struct file *filp) -{ - return OK; -} - -ssize_t -CDev::read(struct file *filp, char *buffer, size_t buflen) -{ - return -ENOSYS; -} - -ssize_t -CDev::write(struct file *filp, const char *buffer, size_t buflen) -{ - return -ENOSYS; -} - -off_t -CDev::seek(struct file *filp, off_t offset, int whence) -{ - return -ENOSYS; -} - -int -CDev::ioctl(struct file *filp, int cmd, unsigned long arg) -{ - switch (cmd) { - - /* fetch a pointer to the driver's private data */ - case DIOC_GETPRIV: - *(void **)(uintptr_t)arg = (void *)this; - return OK; - } - - return -ENOTTY; -} - -int -CDev::poll(struct file *filp, struct pollfd *fds, bool setup) -{ - int ret = OK; - - /* - * Lock against pollnotify() (and possibly other callers) - */ - lock(); - - if (setup) { - /* - * Save the file pointer in the pollfd for the subclass' - * benefit. - */ - fds->priv = (void *)filp; - - /* - * Handle setup requests. - */ - ret = store_poll_waiter(fds); - - if (ret == OK) { - - /* - * Check to see whether we should send a poll notification - * immediately. - */ - fds->revents |= fds->events & poll_state(filp); - - /* yes? post the notification */ - if (fds->revents != 0) - sem_post(fds->sem); - } - - } else { - /* - * Handle a teardown request. - */ - ret = remove_poll_waiter(fds); - } - - unlock(); - - return ret; -} - -void -CDev::poll_notify(pollevent_t events) -{ - /* lock against poll() as well as other wakeups */ - irqstate_t state = irqsave(); - - for (unsigned i = 0; i < _max_pollwaiters; i++) - if (nullptr != _pollset[i]) - poll_notify_one(_pollset[i], events); - - irqrestore(state); -} - -void -CDev::poll_notify_one(struct pollfd *fds, pollevent_t events) -{ - /* update the reported event set */ - fds->revents |= fds->events & events; - - /* if the state is now interesting, wake the waiter if it's still asleep */ - /* XXX semcount check here is a vile hack; counting semphores should not be abused as cvars */ - if ((fds->revents != 0) && (fds->sem->semcount <= 0)) - sem_post(fds->sem); -} - -pollevent_t -CDev::poll_state(struct file *filp) -{ - /* by default, no poll events to report */ - return 0; -} - -int -CDev::store_poll_waiter(struct pollfd *fds) -{ - /* - * Look for a free slot. - */ - for (unsigned i = 0; i < _max_pollwaiters; i++) { - if (nullptr == _pollset[i]) { - - /* save the pollfd */ - _pollset[i] = fds; - - return OK; - } - } - - return ENOMEM; -} - -int -CDev::remove_poll_waiter(struct pollfd *fds) -{ - for (unsigned i = 0; i < _max_pollwaiters; i++) { - if (fds == _pollset[i]) { - - _pollset[i] = nullptr; - return OK; - - } - } - - puts("poll: bad fd state"); - return -EINVAL; -} - -static int -cdev_open(struct file *filp) -{ - CDev *cdev = (CDev *)(filp->f_inode->i_private); - - return cdev->open(filp); -} - -static int -cdev_close(struct file *filp) -{ - CDev *cdev = (CDev *)(filp->f_inode->i_private); - - return cdev->close(filp); -} - -static ssize_t -cdev_read(struct file *filp, char *buffer, size_t buflen) -{ - CDev *cdev = (CDev *)(filp->f_inode->i_private); - - return cdev->read(filp, buffer, buflen); -} - -static ssize_t -cdev_write(struct file *filp, const char *buffer, size_t buflen) -{ - CDev *cdev = (CDev *)(filp->f_inode->i_private); - - return cdev->write(filp, buffer, buflen); -} - -static off_t -cdev_seek(struct file *filp, off_t offset, int whence) -{ - CDev *cdev = (CDev *)(filp->f_inode->i_private); - - return cdev->seek(filp, offset, whence); -} - -static int -cdev_ioctl(struct file *filp, int cmd, unsigned long arg) -{ - CDev *cdev = (CDev *)(filp->f_inode->i_private); - - return cdev->ioctl(filp, cmd, arg); -} - -static int -cdev_poll(struct file *filp, struct pollfd *fds, bool setup) -{ - CDev *cdev = (CDev *)(filp->f_inode->i_private); - - return cdev->poll(filp, fds, setup); -} - -} // namespace device \ No newline at end of file diff --git a/apps/drivers/device/device.cpp b/apps/drivers/device/device.cpp deleted file mode 100644 index 04a5222c3..000000000 --- a/apps/drivers/device/device.cpp +++ /dev/null @@ -1,227 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file device.cpp - * - * Fundamental driver base class for the device framework. - */ - -#include "device.h" - -#include -#include -#include - -namespace device -{ - -/** - * Interrupt dispatch table entry. - */ -struct irq_entry { - int irq; - Device *owner; -}; - -static const unsigned irq_nentries = 8; /**< size of the interrupt dispatch table */ -static irq_entry irq_entries[irq_nentries]; /**< interrupt dispatch table (XXX should be a vector) */ - -/** - * Register an interrupt to a specific device. - * - * @param irq The interrupt number to register. - * @param owner The device receiving the interrupt. - * @return OK if the interrupt was registered. - */ -static int register_interrupt(int irq, Device *owner); - -/** - * Unregister an interrupt. - * - * @param irq The previously-registered interrupt to be de-registered. - */ -static void unregister_interrupt(int irq); - -/** - * Handle an interrupt. - * - * @param irq The interrupt being invoked. - * @param context The interrupt register context. - * @return Always returns OK. - */ -static int interrupt(int irq, void *context); - -Device::Device(const char *name, - int irq) : - // public - // protected - _name(name), - _debug_enabled(false), - // private - _irq(irq), - _irq_attached(false) -{ - sem_init(&_lock, 0, 1); -} - -Device::~Device() -{ - sem_destroy(&_lock); - - if (_irq_attached) - unregister_interrupt(_irq); -} - -int -Device::init() -{ - int ret = OK; - - // If assigned an interrupt, connect it - if (_irq) { - /* ensure it's disabled */ - up_disable_irq(_irq); - - /* register */ - ret = register_interrupt(_irq, this); - - if (ret != OK) - goto out; - - _irq_attached = true; - } - -out: - return ret; -} - -void -Device::interrupt_enable() -{ - if (_irq_attached) - up_enable_irq(_irq); -} - -void -Device::interrupt_disable() -{ - if (_irq_attached) - up_disable_irq(_irq); -} - -void -Device::interrupt(void *context) -{ - // default action is to disable the interrupt so we don't get called again - interrupt_disable(); -} - -void -Device::log(const char *fmt, ...) -{ - va_list ap; - - printf("[%s] ", _name); - va_start(ap, fmt); - vprintf(fmt, ap); - va_end(ap); - printf("\n"); - fflush(stdout); -} - -void -Device::debug(const char *fmt, ...) -{ - va_list ap; - - if (_debug_enabled) { - printf("<%s> ", _name); - va_start(ap, fmt); - vprintf(fmt, ap); - va_end(ap); - printf("\n"); - fflush(stdout); - } -} - -static int -register_interrupt(int irq, Device *owner) -{ - int ret = -ENOMEM; - - // look for a slot where we can register the interrupt - for (unsigned i = 0; i < irq_nentries; i++) { - if (irq_entries[i].irq == 0) { - - // great, we could put it here; try attaching it - ret = irq_attach(irq, &interrupt); - - if (ret == OK) { - irq_entries[i].irq = irq; - irq_entries[i].owner = owner; - } - - break; - } - } - - return ret; -} - -static void -unregister_interrupt(int irq) -{ - for (unsigned i = 0; i < irq_nentries; i++) { - if (irq_entries[i].irq == irq) { - irq_entries[i].irq = 0; - irq_entries[i].owner = nullptr; - } - } -} - -static int -interrupt(int irq, void *context) -{ - for (unsigned i = 0; i < irq_nentries; i++) { - if (irq_entries[i].irq == irq) { - irq_entries[i].owner->interrupt(context); - break; - } - } - - return OK; -} - - -} // namespace device \ No newline at end of file diff --git a/apps/drivers/device/device.h b/apps/drivers/device/device.h deleted file mode 100644 index 7d375aab9..000000000 --- a/apps/drivers/device/device.h +++ /dev/null @@ -1,447 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file device.h - * - * Definitions for the generic base classes in the device framework. - */ - -#ifndef _DEVICE_DEVICE_H -#define _DEVICE_DEVICE_H - -/* - * Includes here should only cover the needs of the framework definitions. - */ -#include - -#include -#include -#include -#include -#include - -#include - -/** - * Namespace encapsulating all device framework classes, functions and data. - */ -namespace device __EXPORT -{ - -/** - * Fundamental base class for all device drivers. - * - * This class handles the basic "being a driver" things, including - * interrupt registration and dispatch. - */ -class __EXPORT Device -{ -public: - /** - * Interrupt handler. - */ - virtual void interrupt(void *ctx); /**< interrupt handler */ - -protected: - const char *_name; /**< driver name */ - bool _debug_enabled; /**< if true, debug messages are printed */ - - /** - * Constructor - * - * @param name Driver name - * @param irq Interrupt assigned to the device. - */ - Device(const char *name, - int irq = 0); - ~Device(); - - /** - * Initialise the driver and make it ready for use. - * - * @return OK if the driver initialised OK. - */ - virtual int init(); - - /** - * Enable the device interrupt - */ - void interrupt_enable(); - - /** - * Disable the device interrupt - */ - void interrupt_disable(); - - /** - * Take the driver lock. - * - * Each driver instance has its own lock/semaphore. - * - * Note that we must loop as the wait may be interrupted by a signal. - */ - void lock() { - do {} while (sem_wait(&_lock) != 0); - } - - /** - * Release the driver lock. - */ - void unlock() { - sem_post(&_lock); - } - - /** - * Log a message. - * - * The message is prefixed with the driver name, and followed - * by a newline. - */ - void log(const char *fmt, ...); - - /** - * Print a debug message. - * - * The message is prefixed with the driver name, and followed - * by a newline. - */ - void debug(const char *fmt, ...); - -private: - int _irq; - bool _irq_attached; - sem_t _lock; - - /** disable copy construction for this and all subclasses */ - Device(const Device &); - - /** disable assignment for this and all subclasses */ - Device &operator = (const Device &); - - /** - * Register ourselves as a handler for an interrupt - * - * @param irq The interrupt to claim - * @return OK if the interrupt was registered - */ - int dev_register_interrupt(int irq); - - /** - * Unregister ourselves as a handler for any interrupt - */ - void dev_unregister_interrupt(); - - /** - * Interrupt dispatcher - * - * @param irq The interrupt that has been triggered. - * @param context Pointer to the interrupted context. - */ - static void dev_interrupt(int irq, void *context); -}; - -/** - * Abstract class for any character device - */ -class __EXPORT CDev : public Device -{ -public: - /** - * Constructor - * - * @param name Driver name - * @param devname Device node name - * @param irq Interrupt assigned to the device - */ - CDev(const char *name, const char *devname, int irq = 0); - - /** - * Destructor - */ - ~CDev(); - - virtual int init(); - - /** - * Handle an open of the device. - * - * This function is called for every open of the device. The default - * implementation maintains _open_count and always returns OK. - * - * @param filp Pointer to the NuttX file structure. - * @return OK if the open is allowed, -errno otherwise. - */ - virtual int open(struct file *filp); - - /** - * Handle a close of the device. - * - * This function is called for every close of the device. The default - * implementation maintains _open_count and returns OK as long as it is not zero. - * - * @param filp Pointer to the NuttX file structure. - * @return OK if the close was successful, -errno otherwise. - */ - virtual int close(struct file *filp); - - /** - * Perform a read from the device. - * - * The default implementation returns -ENOSYS. - * - * @param filp Pointer to the NuttX file structure. - * @param buffer Pointer to the buffer into which data should be placed. - * @param buflen The number of bytes to be read. - * @return The number of bytes read or -errno otherwise. - */ - virtual ssize_t read(struct file *filp, char *buffer, size_t buflen); - - /** - * Perform a write to the device. - * - * The default implementation returns -ENOSYS. - * - * @param filp Pointer to the NuttX file structure. - * @param buffer Pointer to the buffer from which data should be read. - * @param buflen The number of bytes to be written. - * @return The number of bytes written or -errno otherwise. - */ - virtual ssize_t write(struct file *filp, const char *buffer, size_t buflen); - - /** - * Perform a logical seek operation on the device. - * - * The default implementation returns -ENOSYS. - * - * @param filp Pointer to the NuttX file structure. - * @param offset The new file position relative to whence. - * @param whence SEEK_OFS, SEEK_CUR or SEEK_END. - * @return The previous offset, or -errno otherwise. - */ - virtual off_t seek(struct file *filp, off_t offset, int whence); - - /** - * Perform an ioctl operation on the device. - * - * The default implementation handles DIOC_GETPRIV, and otherwise - * returns -ENOTTY. Subclasses should call the default implementation - * for any command they do not handle themselves. - * - * @param filp Pointer to the NuttX file structure. - * @param cmd The ioctl command value. - * @param arg The ioctl argument value. - * @return OK on success, or -errno otherwise. - */ - virtual int ioctl(struct file *filp, int cmd, unsigned long arg); - - /** - * Perform a poll setup/teardown operation. - * - * This is handled internally and should not normally be overridden. - * - * @param filp Pointer to the NuttX file structure. - * @param fds Poll descriptor being waited on. - * @param arg True if this is establishing a request, false if - * it is being torn down. - * @return OK on success, or -errno otherwise. - */ - virtual int poll(struct file *filp, struct pollfd *fds, bool setup); - - /** - * Test whether the device is currently open. - * - * This can be used to avoid tearing down a device that is still active. - * - * @return True if the device is currently open. - */ - bool is_open() { return _open_count > 0; } - -protected: - /** - * Pointer to the default cdev file operations table; useful for - * registering clone devices etc. - */ - static const struct file_operations fops; - - /** - * Check the current state of the device for poll events from the - * perspective of the file. - * - * This function is called by the default poll() implementation when - * a poll is set up to determine whether the poll should return immediately. - * - * The default implementation returns no events. - * - * @param filp The file that's interested. - * @return The current set of poll events. - */ - virtual pollevent_t poll_state(struct file *filp); - - /** - * Report new poll events. - * - * This function should be called anytime the state of the device changes - * in a fashion that might be interesting to a poll waiter. - * - * @param events The new event(s) being announced. - */ - virtual void poll_notify(pollevent_t events); - - /** - * Internal implementation of poll_notify. - * - * @param fds A poll waiter to notify. - * @param events The event(s) to send to the waiter. - */ - virtual void poll_notify_one(struct pollfd *fds, pollevent_t events); - - /** - * Notification of the first open. - * - * This function is called when the device open count transitions from zero - * to one. The driver lock is held for the duration of the call. - * - * The default implementation returns OK. - * - * @param filp Pointer to the NuttX file structure. - * @return OK if the open should proceed, -errno otherwise. - */ - virtual int open_first(struct file *filp); - - /** - * Notification of the last close. - * - * This function is called when the device open count transitions from - * one to zero. The driver lock is held for the duration of the call. - * - * The default implementation returns OK. - * - * @param filp Pointer to the NuttX file structure. - * @return OK if the open should return OK, -errno otherwise. - */ - virtual int close_last(struct file *filp); - -private: - static const unsigned _max_pollwaiters = 8; - - const char *_devname; /**< device node name */ - bool _registered; /**< true if device name was registered */ - unsigned _open_count; /**< number of successful opens */ - - struct pollfd *_pollset[_max_pollwaiters]; - - /** - * Store a pollwaiter in a slot where we can find it later. - * - * Expands the pollset as required. Must be called with the driver locked. - * - * @return OK, or -errno on error. - */ - int store_poll_waiter(struct pollfd *fds); - - /** - * Remove a poll waiter. - * - * @return OK, or -errno on error. - */ - int remove_poll_waiter(struct pollfd *fds); -}; - -/** - * Abstract class for character device accessed via PIO - */ -class __EXPORT PIO : public CDev -{ -public: - /** - * Constructor - * - * @param name Driver name - * @param devname Device node name - * @param base Base address of the device PIO area - * @param irq Interrupt assigned to the device (or zero if none) - */ - PIO(const char *name, - const char *devname, - uint32_t base, - int irq = 0); - ~PIO(); - - int init(); - -protected: - - /** - * Read a register - * - * @param offset Register offset in bytes from the base address. - */ - uint32_t reg(uint32_t offset) { - return *(volatile uint32_t *)(_base + offset); - } - - /** - * Write a register - * - * @param offset Register offset in bytes from the base address. - * @param value Value to write. - */ - void reg(uint32_t offset, uint32_t value) { - *(volatile uint32_t *)(_base + offset) = value; - } - - /** - * Modify a register - * - * Note that there is a risk of a race during the read/modify/write cycle - * that must be taken care of by the caller. - * - * @param offset Register offset in bytes from the base address. - * @param clearbits Bits to clear in the register - * @param setbits Bits to set in the register - */ - void modify(uint32_t offset, uint32_t clearbits, uint32_t setbits) { - uint32_t val = reg(offset); - val &= ~clearbits; - val |= setbits; - reg(offset, val); - } - -private: - uint32_t _base; -}; - -} // namespace device - -#endif /* _DEVICE_DEVICE_H */ \ No newline at end of file diff --git a/apps/drivers/device/i2c.cpp b/apps/drivers/device/i2c.cpp deleted file mode 100644 index a416801eb..000000000 --- a/apps/drivers/device/i2c.cpp +++ /dev/null @@ -1,204 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file i2c.cpp - * - * Base class for devices attached via the I2C bus. - * - * @todo Bus frequency changes; currently we do nothing with the value - * that is supplied. Should we just depend on the bus knowing? - */ - -#include "i2c.h" - -namespace device -{ - -I2C::I2C(const char *name, - const char *devname, - int bus, - uint16_t address, - uint32_t frequency, - int irq) : - // base class - CDev(name, devname, irq), - // public - // protected - _retries(0), - // private - _bus(bus), - _address(address), - _frequency(frequency), - _dev(nullptr) -{ -} - -I2C::~I2C() -{ - if (_dev) - up_i2cuninitialize(_dev); -} - -int -I2C::init() -{ - int ret = OK; - - /* attach to the i2c bus */ - _dev = up_i2cinitialize(_bus); - - if (_dev == nullptr) { - debug("failed to init I2C"); - ret = -ENOENT; - goto out; - } - - // call the probe function to check whether the device is present - ret = probe(); - - if (ret != OK) { - debug("probe failed"); - goto out; - } - - // do base class init, which will create device node, etc - ret = CDev::init(); - - if (ret != OK) { - debug("cdev init failed"); - goto out; - } - - // tell the world where we are - log("on I2C bus %d at 0x%02x", _bus, _address); - -out: - return ret; -} - -int -I2C::probe() -{ - // Assume the device is too stupid to be discoverable. - return OK; -} - -int -I2C::transfer(const uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len) -{ - struct i2c_msg_s msgv[2]; - unsigned msgs; - int ret; - unsigned retry_count = 0; - - do { - // debug("transfer out %p/%u in %p/%u", send, send_len, recv, recv_len); - - msgs = 0; - - if (send_len > 0) { - msgv[msgs].addr = _address; - msgv[msgs].flags = 0; - msgv[msgs].buffer = const_cast(send); - msgv[msgs].length = send_len; - msgs++; - } - - if (recv_len > 0) { - msgv[msgs].addr = _address; - msgv[msgs].flags = I2C_M_READ; - msgv[msgs].buffer = recv; - msgv[msgs].length = recv_len; - msgs++; - } - - if (msgs == 0) - return -EINVAL; - - /* - * I2C architecture means there is an unavoidable race here - * if there are any devices on the bus with a different frequency - * preference. Really, this is pointless. - */ - I2C_SETFREQUENCY(_dev, _frequency); - ret = I2C_TRANSFER(_dev, &msgv[0], msgs); - - /* success */ - if (ret == OK) - break; - - /* if we have already retried once, or we are going to give up, then reset the bus */ - if ((retry_count >= 1) || (retry_count >= _retries)) - up_i2creset(_dev); - - } while (retry_count++ < _retries); - - return ret; - -} - -int -I2C::transfer(i2c_msg_s *msgv, unsigned msgs) -{ - int ret; - unsigned retry_count = 0; - - /* force the device address into the message vector */ - for (unsigned i = 0; i < msgs; i++) - msgv[i].addr = _address; - - - do { - /* - * I2C architecture means there is an unavoidable race here - * if there are any devices on the bus with a different frequency - * preference. Really, this is pointless. - */ - I2C_SETFREQUENCY(_dev, _frequency); - ret = I2C_TRANSFER(_dev, msgv, msgs); - - /* success */ - if (ret == OK) - break; - - /* if we have already retried once, or we are going to give up, then reset the bus */ - if ((retry_count >= 1) || (retry_count >= _retries)) - up_i2creset(_dev); - - } while (retry_count++ < _retries); - - return ret; -} - -} // namespace device \ No newline at end of file diff --git a/apps/drivers/device/i2c.h b/apps/drivers/device/i2c.h deleted file mode 100644 index 7daba31be..000000000 --- a/apps/drivers/device/i2c.h +++ /dev/null @@ -1,138 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file i2c.h - * - * Base class for devices connected via I2C. - */ - -#ifndef _DEVICE_I2C_H -#define _DEVICE_I2C_H - -#include "device.h" - -#include - -namespace device __EXPORT -{ - -/** - * Abstract class for character device on I2C - */ -class __EXPORT I2C : public CDev -{ - -protected: - /** - * The number of times a read or write operation will be retried on - * error. - */ - unsigned _retries; - - /** - * The I2C bus number the device is attached to. - */ - int _bus; - - /** - * @ Constructor - * - * @param name Driver name - * @param devname Device node name - * @param bus I2C bus on which the device lives - * @param address I2C bus address, or zero if set_address will be used - * @param frequency I2C bus frequency for the device (currently not used) - * @param irq Interrupt assigned to the device (or zero if none) - */ - I2C(const char *name, - const char *devname, - int bus, - uint16_t address, - uint32_t frequency, - int irq = 0); - ~I2C(); - - virtual int init(); - - /** - * Check for the presence of the device on the bus. - */ - virtual int probe(); - - /** - * Perform an I2C transaction to the device. - * - * At least one of send_len and recv_len must be non-zero. - * - * @param send Pointer to bytes to send. - * @param send_len Number of bytes to send. - * @param recv Pointer to buffer for bytes received. - * @param recv_len Number of bytes to receive. - * @return OK if the transfer was successful, -errno - * otherwise. - */ - int transfer(const uint8_t *send, unsigned send_len, - uint8_t *recv, unsigned recv_len); - - /** - * Perform a multi-part I2C transaction to the device. - * - * @param msgv An I2C message vector. - * @param msgs The number of entries in the message vector. - * @return OK if the transfer was successful, -errno - * otherwise. - */ - int transfer(i2c_msg_s *msgv, unsigned msgs); - - /** - * Change the bus address. - * - * Most often useful during probe() when the driver is testing - * several possible bus addresses. - * - * @param address The new bus address to set. - */ - void set_address(uint16_t address) { - _address = address; - } - -private: - uint16_t _address; - uint32_t _frequency; - struct i2c_dev_s *_dev; -}; - -} // namespace device - -#endif /* _DEVICE_I2C_H */ diff --git a/apps/drivers/device/pio.cpp b/apps/drivers/device/pio.cpp deleted file mode 100644 index f3a805a5e..000000000 --- a/apps/drivers/device/pio.cpp +++ /dev/null @@ -1,74 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file pio.cpp - * - * Base class for devices accessed via PIO to registers. - */ - -#include "device.h" - -namespace device -{ - -PIO::PIO(const char *name, - const char *devname, - uint32_t base, - int irq) : - // base class - CDev(name, devname, irq), - // public - // protected - // private - _base(base) -{ -} - -PIO::~PIO() -{ - // nothing to do here... -} - -int -PIO::init() -{ - int ret = OK; - - // base class init first - ret = CDev::init(); - - return ret; -} - -} // namespace device \ No newline at end of file diff --git a/apps/drivers/device/spi.cpp b/apps/drivers/device/spi.cpp deleted file mode 100644 index 8fffd60cb..000000000 --- a/apps/drivers/device/spi.cpp +++ /dev/null @@ -1,160 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file spi.cpp - * - * Base class for devices connected via SPI. - * - * @todo Work out if caching the mode/frequency would save any time. - * - * @todo A separate bus/device abstraction would allow for mixed interrupt-mode - * and non-interrupt-mode clients to arbitrate for the bus. As things stand, - * a bus shared between clients of both kinds is vulnerable to races between - * the two, where an interrupt-mode client will ignore the lock held by the - * non-interrupt-mode client. - */ - -#include - -#include "spi.h" - -#ifndef CONFIG_SPI_EXCHANGE -# error This driver requires CONFIG_SPI_EXCHANGE -#endif - -namespace device -{ - -SPI::SPI(const char *name, - const char *devname, - int bus, - enum spi_dev_e device, - enum spi_mode_e mode, - uint32_t frequency, - int irq) : - // base class - CDev(name, devname, irq), - // public - // protected - // private - _bus(bus), - _device(device), - _mode(mode), - _frequency(frequency), - _dev(nullptr) -{ -} - -SPI::~SPI() -{ - // XXX no way to let go of the bus... -} - -int -SPI::init() -{ - int ret = OK; - - /* attach to the spi bus */ - if (_dev == nullptr) - _dev = up_spiinitialize(_bus); - - if (_dev == nullptr) { - debug("failed to init SPI"); - ret = -ENOENT; - goto out; - } - - /* deselect device to ensure high to low transition of pin select */ - SPI_SELECT(_dev, _device, false); - - /* call the probe function to check whether the device is present */ - ret = probe(); - - if (ret != OK) { - debug("probe failed"); - goto out; - } - - /* do base class init, which will create the device node, etc. */ - ret = CDev::init(); - - if (ret != OK) { - debug("cdev init failed"); - goto out; - } - - /* tell the workd where we are */ - log("on SPI bus %d at %d", _bus, _device); - -out: - return ret; -} - -int -SPI::probe() -{ - // assume the device is too stupid to be discoverable - return OK; -} - -int -SPI::transfer(uint8_t *send, uint8_t *recv, unsigned len) -{ - - if ((send == nullptr) && (recv == nullptr)) - return -EINVAL; - - /* do common setup */ - if (!up_interrupt_context()) - SPI_LOCK(_dev, true); - - SPI_SETFREQUENCY(_dev, _frequency); - SPI_SETMODE(_dev, _mode); - SPI_SETBITS(_dev, 8); - SPI_SELECT(_dev, _device, true); - - /* do the transfer */ - SPI_EXCHANGE(_dev, send, recv, len); - - /* and clean up */ - SPI_SELECT(_dev, _device, false); - - if (!up_interrupt_context()) - SPI_LOCK(_dev, false); - - return OK; -} - -} // namespace device diff --git a/apps/drivers/device/spi.h b/apps/drivers/device/spi.h deleted file mode 100644 index d2d01efb3..000000000 --- a/apps/drivers/device/spi.h +++ /dev/null @@ -1,114 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file spi.h - * - * Base class for devices connected via SPI. - */ - -#ifndef _DEVICE_SPI_H -#define _DEVICE_SPI_H - -#include "device.h" - -#include - -namespace device __EXPORT -{ - -/** - * Abstract class for character device on SPI - */ -class __EXPORT SPI : public CDev -{ -protected: - /** - * Constructor - * - * @param name Driver name - * @param devname Device node name - * @param bus SPI bus on which the device lives - * @param device Device handle (used by SPI_SELECT) - * @param mode SPI clock/data mode - * @param frequency SPI clock frequency - * @param irq Interrupt assigned to the device (or zero if none) - */ - SPI(const char *name, - const char *devname, - int bus, - enum spi_dev_e device, - enum spi_mode_e mode, - uint32_t frequency, - int irq = 0); - ~SPI(); - - virtual int init(); - - /** - * Check for the presence of the device on the bus. - */ - virtual int probe(); - - /** - * Perform a SPI transfer. - * - * If called from interrupt context, this interface does not lock - * the bus and may interfere with non-interrupt-context callers. - * - * Clients in a mixed interrupt/non-interrupt configuration must - * ensure appropriate interlocking. - * - * At least one of send or recv must be non-null. - * - * @param send Bytes to send to the device, or nullptr if - * no data is to be sent. - * @param recv Buffer for receiving bytes from the device, - * or nullptr if no bytes are to be received. - * @param len Number of bytes to transfer. - * @return OK if the exchange was successful, -errno - * otherwise. - */ - int transfer(uint8_t *send, uint8_t *recv, unsigned len); - -private: - int _bus; - enum spi_dev_e _device; - enum spi_mode_e _mode; - uint32_t _frequency; - struct spi_dev_s *_dev; -}; - -} // namespace device - -#endif /* _DEVICE_SPI_H */ diff --git a/apps/drivers/drv_accel.h b/apps/drivers/drv_accel.h deleted file mode 100644 index 794de584b..000000000 --- a/apps/drivers/drv_accel.h +++ /dev/null @@ -1,121 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file Accelerometer driver interface. - */ - -#ifndef _DRV_ACCEL_H -#define _DRV_ACCEL_H - -#include -#include - -#include "drv_sensor.h" -#include "drv_orb_dev.h" - -#define ACCEL_DEVICE_PATH "/dev/accel" - -/** - * accel report structure. Reads from the device must be in multiples of this - * structure. - */ -struct accel_report { - uint64_t timestamp; - float x; /**< acceleration in the NED X board axis in m/s^2 */ - float y; /**< acceleration in the NED Y board axis in m/s^2 */ - float z; /**< acceleration in the NED Z board axis in m/s^2 */ - float temperature; /**< temperature in degrees celsius */ - float range_m_s2; /**< range in m/s^2 (+- this value) */ - float scaling; - - int16_t x_raw; - int16_t y_raw; - int16_t z_raw; - int16_t temperature_raw; -}; - -/** accel scaling factors; Vout = (Vin * Vscale) + Voffset */ -struct accel_scale { - float x_offset; - float x_scale; - float y_offset; - float y_scale; - float z_offset; - float z_scale; -}; - -/* - * ObjDev tag for raw accelerometer data. - */ -ORB_DECLARE(sensor_accel); - -/* - * ioctl() definitions - * - * Accelerometer drivers also implement the generic sensor driver - * interfaces from drv_sensor.h - */ - -#define _ACCELIOCBASE (0x2100) -#define _ACCELIOC(_n) (_IOC(_ACCELIOCBASE, _n)) - - -/** set the accel internal sample rate to at least (arg) Hz */ -#define ACCELIOCSSAMPLERATE _ACCELIOC(0) - -/** return the accel internal sample rate in Hz */ -#define ACCELIOCGSAMPLERATE _ACCELIOC(1) - -/** set the accel internal lowpass filter to no lower than (arg) Hz */ -#define ACCELIOCSLOWPASS _ACCELIOC(2) - -/** return the accel internal lowpass filter in Hz */ -#define ACCELIOCGLOWPASS _ACCELIOC(3) - -/** set the accel scaling constants to the structure pointed to by (arg) */ -#define ACCELIOCSSCALE _ACCELIOC(5) - -/** get the accel scaling constants into the structure pointed to by (arg) */ -#define ACCELIOCGSCALE _ACCELIOC(6) - -/** set the accel measurement range to handle at least (arg) g */ -#define ACCELIOCSRANGE _ACCELIOC(7) - -/** get the current accel measurement range in g */ -#define ACCELIOCGRANGE _ACCELIOC(8) - -/** get the result of a sensor self-test */ -#define ACCELIOCSELFTEST _ACCELIOC(9) - -#endif /* _DRV_ACCEL_H */ diff --git a/apps/drivers/drv_adc.h b/apps/drivers/drv_adc.h deleted file mode 100644 index 8ec6d1233..000000000 --- a/apps/drivers/drv_adc.h +++ /dev/null @@ -1,52 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file drv_adc.h - * - * ADC driver interface. - * - * This defines additional operations over and above the standard NuttX - * ADC API. - */ - -#pragma once - -#include -#include - -#define ADC_DEVICE_PATH "/dev/adc0" - -/* - * ioctl definitions - */ diff --git a/apps/drivers/drv_baro.h b/apps/drivers/drv_baro.h deleted file mode 100644 index 176f798c0..000000000 --- a/apps/drivers/drv_baro.h +++ /dev/null @@ -1,78 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file Barometric pressure sensor driver interface. - */ - -#ifndef _DRV_BARO_H -#define _DRV_BARO_H - -#include -#include - -#include "drv_sensor.h" -#include "drv_orb_dev.h" - -#define BARO_DEVICE_PATH "/dev/baro" - -/** - * baro report structure. Reads from the device must be in multiples of this - * structure. - */ -struct baro_report { - float pressure; - float altitude; - float temperature; - uint64_t timestamp; -}; - -/* - * ObjDev tag for raw barometer data. - */ -ORB_DECLARE(sensor_baro); - -/* - * ioctl() definitions - */ - -#define _BAROIOCBASE (0x2200) -#define _BAROIOC(_n) (_IOC(_BAROIOCBASE, _n)) - -/** set corrected MSL pressure in pascals */ -#define BAROIOCSMSLPRESSURE _BAROIOC(0) - -/** get current MSL pressure in pascals */ -#define BAROIOCGMSLPRESSURE _BAROIOC(1) - -#endif /* _DRV_BARO_H */ diff --git a/apps/drivers/drv_blinkm.h b/apps/drivers/drv_blinkm.h deleted file mode 100644 index 9c278f6c5..000000000 --- a/apps/drivers/drv_blinkm.h +++ /dev/null @@ -1,69 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file drv_blinkm.h - * - * BlinkM driver API - * - * This could probably become a more generalised API for multi-colour LED - * driver systems, or be merged with the generic LED driver. - */ - -#pragma once - -#include -#include - -#define BLINKM_DEVICE_PATH "/dev/blinkm" - -/* - * ioctl() definitions - */ - -#define _BLINKMIOCBASE (0x2900) -#define _BLINKMIOC(_n) (_IOC(_BLINKMIOCBASE, _n)) - -/** play the named script in *(char *)arg, repeating forever */ -#define BLINKM_PLAY_SCRIPT_NAMED _BLINKMIOC(1) - -/** play the numbered script in (arg), repeating forever */ -#define BLINKM_PLAY_SCRIPT _BLINKMIOC(2) - -/** - * Set the user script; (arg) is a pointer to an array of script lines, - * where each line is an array of four bytes giving , , arg[0-2] - * - * The script is terminated by a zero command. - */ -#define BLINKM_SET_USER_SCRIPT _BLINKMIOC(3) diff --git a/apps/drivers/drv_gpio.h b/apps/drivers/drv_gpio.h deleted file mode 100644 index 92d184326..000000000 --- a/apps/drivers/drv_gpio.h +++ /dev/null @@ -1,148 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file drv_gpio.h - * - * Generic GPIO ioctl interface. - */ - -#ifndef _DRV_GPIO_H -#define _DRV_GPIO_H - -#include - -#ifdef CONFIG_ARCH_BOARD_PX4FMU -/* - * PX4FMU GPIO numbers. - * - * For shared pins, alternate function 1 selects the non-GPIO mode - * (USART2, CAN2, etc.) - */ -# define GPIO_EXT_1 (1<<0) /**< high-power GPIO 1 */ -# define GPIO_EXT_2 (1<<1) /**< high-power GPIO 1 */ -# define GPIO_MULTI_1 (1<<2) /**< USART2 CTS */ -# define GPIO_MULTI_2 (1<<3) /**< USART2 RTS */ -# define GPIO_MULTI_3 (1<<4) /**< USART2 TX */ -# define GPIO_MULTI_4 (1<<5) /**< USART2 RX */ -# define GPIO_CAN_TX (1<<6) /**< CAN2 TX */ -# define GPIO_CAN_RX (1<<7) /**< CAN2 RX */ - -/** - * Default GPIO device - other devices may also support this protocol if - * they also export GPIO-like things. This is always the GPIOs on the - * main board. - */ -# define GPIO_DEVICE_PATH "/dev/px4fmu" - -#endif - -#ifdef CONFIG_ARCH_BOARD_PX4IO -/* - * PX4IO GPIO numbers. - * - * XXX note that these are here for reference/future use; currently - * there is no good way to wire these up without a common STM32 GPIO - * driver, which isn't implemented yet. - */ -/* outputs */ -# define GPIO_ACC1_POWER (1<<0) /**< accessory power 1 */ -# define GPIO_ACC2_POWER (1<<1) /**< accessory power 2 */ -# define GPIO_SERVO_POWER (1<<2) /**< servo power */ -# define GPIO_RELAY1 (1<<3) /**< relay 1 */ -# define GPIO_RELAY2 (1<<4) /**< relay 2 */ -# define GPIO_LED_BLUE (1<<5) /**< blue LED */ -# define GPIO_LED_AMBER (1<<6) /**< amber/red LED */ -# define GPIO_LED_SAFETY (1<<7) /**< safety LED */ - -/* inputs */ -# define GPIO_ACC_OVERCURRENT (1<<8) /**< accessory 1/2 overcurrent detect */ -# define GPIO_SERVO_OVERCURRENT (1<<9) /**< servo overcurrent detect */ -# define GPIO_SAFETY_BUTTON (1<<10) /**< safety button pressed */ - -/** - * Default GPIO device - other devices may also support this protocol if - * they also export GPIO-like things. This is always the GPIOs on the - * main board. - */ -# define GPIO_DEVICE_PATH "/dev/px4io" - -#endif - -#ifndef GPIO_DEVICE_PATH -# error No GPIO support for this board. -#endif - -/* - * IOCTL definitions. - * - * For all ioctls, the (arg) argument is a bitmask of GPIOs to be affected - * by the operation, with the LSB being the lowest-numbered GPIO. - * - * Note that there may be board-specific relationships between GPIOs; - * applications using GPIOs should be aware of this. - */ -#define _GPIOCBASE 0x2700 -#define GPIOC(_x) _IOC(_GPIOCBASE, _x) - -/** reset all board GPIOs to their default state */ -#define GPIO_RESET GPIOC(0) - -/** configure the board GPIOs in (arg) as outputs */ -#define GPIO_SET_OUTPUT GPIOC(1) - -/** configure the board GPIOs in (arg) as inputs */ -#define GPIO_SET_INPUT GPIOC(2) - -/** configure the board GPIOs in (arg) for the first alternate function (if supported) */ -#define GPIO_SET_ALT_1 GPIOC(3) - -/** configure the board GPIO (arg) for the second alternate function (if supported) */ -#define GPIO_SET_ALT_2 GPIOC(4) - -/** configure the board GPIO (arg) for the third alternate function (if supported) */ -#define GPIO_SET_ALT_3 GPIOC(5) - -/** configure the board GPIO (arg) for the fourth alternate function (if supported) */ -#define GPIO_SET_ALT_4 GPIOC(6) - -/** set the GPIOs in (arg) */ -#define GPIO_SET GPIOC(10) - -/** clear the GPIOs in (arg) */ -#define GPIO_CLEAR GPIOC(11) - -/** read all the GPIOs and return their values in *(uint32_t *)arg */ -#define GPIO_GET GPIOC(12) - -#endif /* _DRV_GPIO_H */ \ No newline at end of file diff --git a/apps/drivers/drv_gps.h b/apps/drivers/drv_gps.h deleted file mode 100644 index 1dda8ef0b..000000000 --- a/apps/drivers/drv_gps.h +++ /dev/null @@ -1,70 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file GPS driver interface. - */ - -#ifndef _DRV_GPS_H -#define _DRV_GPS_H - -#include -#include - -#include "drv_sensor.h" -#include "drv_orb_dev.h" - -#define GPS_DEFAULT_UART_PORT "/dev/ttyS3" - -#define GPS_DEVICE_PATH "/dev/gps" - -typedef enum { - GPS_DRIVER_MODE_NONE = 0, - GPS_DRIVER_MODE_UBX, - GPS_DRIVER_MODE_MTK, - GPS_DRIVER_MODE_NMEA, -} gps_driver_mode_t; - - -/* - * ObjDev tag for GPS data. - */ -ORB_DECLARE(gps); - -/* - * ioctl() definitions - */ -#define _GPSIOCBASE (0x2800) //TODO: arbitrary choice... -#define _GPSIOC(_n) (_IOC(_GPSIOCBASE, _n)) - -#endif /* _DRV_GPS_H */ diff --git a/apps/drivers/drv_gyro.h b/apps/drivers/drv_gyro.h deleted file mode 100644 index 1d0fef6fc..000000000 --- a/apps/drivers/drv_gyro.h +++ /dev/null @@ -1,117 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file Gyroscope driver interface. - */ - -#ifndef _DRV_GYRO_H -#define _DRV_GYRO_H - -#include -#include - -#include "drv_sensor.h" -#include "drv_orb_dev.h" - -#define GYRO_DEVICE_PATH "/dev/gyro" - -/** - * gyro report structure. Reads from the device must be in multiples of this - * structure. - */ -struct gyro_report { - uint64_t timestamp; - float x; /**< angular velocity in the NED X board axis in rad/s */ - float y; /**< angular velocity in the NED Y board axis in rad/s */ - float z; /**< angular velocity in the NED Z board axis in rad/s */ - float temperature; /**< temperature in degrees celcius */ - float range_rad_s; - float scaling; - - int16_t x_raw; - int16_t y_raw; - int16_t z_raw; - int16_t temperature_raw; -}; - -/** gyro scaling factors; Vout = (Vin * Vscale) + Voffset */ -struct gyro_scale { - float x_offset; - float x_scale; - float y_offset; - float y_scale; - float z_offset; - float z_scale; -}; - -/* - * ObjDev tag for raw gyro data. - */ -ORB_DECLARE(sensor_gyro); - -/* - * ioctl() definitions - */ - -#define _GYROIOCBASE (0x2300) -#define _GYROIOC(_n) (_IOC(_GYROIOCBASE, _n)) - -/** set the gyro internal sample rate to at least (arg) Hz */ -#define GYROIOCSSAMPLERATE _GYROIOC(0) - -/** return the gyro internal sample rate in Hz */ -#define GYROIOCGSAMPLERATE _GYROIOC(1) - -/** set the gyro internal lowpass filter to no lower than (arg) Hz */ -#define GYROIOCSLOWPASS _GYROIOC(2) - -/** set the gyro internal lowpass filter to no lower than (arg) Hz */ -#define GYROIOCGLOWPASS _GYROIOC(3) - -/** set the gyro scaling constants to (arg) */ -#define GYROIOCSSCALE _GYROIOC(4) - -/** get the gyro scaling constants into (arg) */ -#define GYROIOCGSCALE _GYROIOC(5) - -/** set the gyro measurement range to handle at least (arg) degrees per second */ -#define GYROIOCSRANGE _GYROIOC(6) - -/** get the current gyro measurement range in degrees per second */ -#define GYROIOCGRANGE _GYROIOC(7) - -/** check the status of the sensor */ -#define GYROIOCSELFTEST _GYROIOC(8) - -#endif /* _DRV_GYRO_H */ diff --git a/apps/drivers/drv_hrt.h b/apps/drivers/drv_hrt.h deleted file mode 100644 index 8a99eeca7..000000000 --- a/apps/drivers/drv_hrt.h +++ /dev/null @@ -1,149 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file drv_hrt.h - * - * High-resolution timer with callouts and timekeeping. - */ - -#pragma once - -#include -#include - -#include -#include - -__BEGIN_DECLS - -/* - * Absolute time, in microsecond units. - * - * Absolute time is measured from some arbitrary epoch shortly after - * system startup. It should never wrap or go backwards. - */ -typedef uint64_t hrt_abstime; - -/* - * Callout function type. - * - * Note that callouts run in the timer interrupt context, so - * they are serialised with respect to each other, and must not - * block. - */ -typedef void (* hrt_callout)(void *arg); - -/* - * Callout record. - */ -typedef struct hrt_call { - struct sq_entry_s link; - - hrt_abstime deadline; - hrt_abstime period; - hrt_callout callout; - void *arg; -} *hrt_call_t; - -/* - * Get absolute time. - */ -__EXPORT extern hrt_abstime hrt_absolute_time(void); - -/* - * Convert a timespec to absolute time. - */ -__EXPORT extern hrt_abstime ts_to_abstime(struct timespec *ts); - -/* - * Convert absolute time to a timespec. - */ -__EXPORT extern void abstime_to_ts(struct timespec *ts, hrt_abstime abstime); - -/* - * Compute the delta between a timestamp taken in the past - * and now. - * - * This function is safe to use even if the timestamp is updated - * by an interrupt during execution. - */ -__EXPORT extern hrt_abstime hrt_elapsed_time(const volatile hrt_abstime *then); - -/* - * Store the absolute time in an interrupt-safe fashion. - * - * This function ensures that the timestamp cannot be seen half-written by an interrupt handler. - */ -__EXPORT extern hrt_abstime hrt_store_absolute_time(volatile hrt_abstime *now); - -/* - * Call callout(arg) after delay has elapsed. - * - * If callout is NULL, this can be used to implement a timeout by testing the call - * with hrt_called(). - */ -__EXPORT extern void hrt_call_after(struct hrt_call *entry, hrt_abstime delay, hrt_callout callout, void *arg); - -/* - * Call callout(arg) at absolute time calltime. - */ -__EXPORT extern void hrt_call_at(struct hrt_call *entry, hrt_abstime calltime, hrt_callout callout, void *arg); - -/* - * Call callout(arg) after delay, and then after every interval. - * - * Note thet the interval is timed between scheduled, not actual, call times, so the call rate may - * jitter but should not drift. - */ -__EXPORT extern void hrt_call_every(struct hrt_call *entry, hrt_abstime delay, hrt_abstime interval, hrt_callout callout, void *arg); - -/* - * If this returns true, the entry has been invoked and removed from the callout list, - * or it has never been entered. - * - * Always returns false for repeating callouts. - */ -__EXPORT extern bool hrt_called(struct hrt_call *entry); - -/* - * Remove the entry from the callout list. - */ -__EXPORT extern void hrt_cancel(struct hrt_call *entry); - -/* - * Initialise the HRT. - */ -__EXPORT extern void hrt_init(void); - -__END_DECLS diff --git a/apps/drivers/drv_led.h b/apps/drivers/drv_led.h deleted file mode 100644 index 21044f620..000000000 --- a/apps/drivers/drv_led.h +++ /dev/null @@ -1,65 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file drv_led.h - * - * LED driver API - */ - -#pragma once - -#include -#include - -#define LED_DEVICE_PATH "/dev/led" - -#define _LED_BASE 0x2800 - -/* PX4 LED colour codes */ -#define LED_AMBER 1 -#define LED_RED 1 /* some boards have red rather than amber */ -#define LED_BLUE 0 -#define LED_SAFETY 2 - -#define LED_ON _IOC(_LED_BASE, 0) -#define LED_OFF _IOC(_LED_BASE, 1) - -__BEGIN_DECLS - -/* - * Initialise the LED driver. - */ -__EXPORT extern void drv_led_start(void); - -__END_DECLS diff --git a/apps/drivers/drv_mag.h b/apps/drivers/drv_mag.h deleted file mode 100644 index 9aab995a1..000000000 --- a/apps/drivers/drv_mag.h +++ /dev/null @@ -1,114 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file Magnetometer driver interface. - */ - -#ifndef _DRV_MAG_H -#define _DRV_MAG_H - -#include -#include - -#include "drv_sensor.h" -#include "drv_orb_dev.h" - -#define MAG_DEVICE_PATH "/dev/mag" - -/** - * mag report structure. Reads from the device must be in multiples of this - * structure. - * - * Output values are in gauss. - */ -struct mag_report { - uint64_t timestamp; - float x; - float y; - float z; - float range_ga; - float scaling; - - int16_t x_raw; - int16_t y_raw; - int16_t z_raw; -}; - -/** mag scaling factors; Vout = (Vin * Vscale) + Voffset */ -struct mag_scale { - float x_offset; - float x_scale; - float y_offset; - float y_scale; - float z_offset; - float z_scale; -}; - -/* - * ObjDev tag for raw magnetometer data. - */ -ORB_DECLARE(sensor_mag); - -/* - * ioctl() definitions - */ - -#define _MAGIOCBASE (0x2400) -#define _MAGIOC(_n) (_IOC(_MAGIOCBASE, _n)) - -/** set the mag internal sample rate to at least (arg) Hz */ -#define MAGIOCSSAMPLERATE _MAGIOC(0) - -/** set the mag internal lowpass filter to no lower than (arg) Hz */ -#define MAGIOCSLOWPASS _MAGIOC(1) - -/** set the mag scaling constants to the structure pointed to by (arg) */ -#define MAGIOCSSCALE _MAGIOC(2) - -/** copy the mag scaling constants to the structure pointed to by (arg) */ -#define MAGIOCGSCALE _MAGIOC(3) - -/** set the measurement range to handle (at least) arg Gauss */ -#define MAGIOCSRANGE _MAGIOC(4) - -/** perform self-calibration, update scale factors to canonical units */ -#define MAGIOCCALIBRATE _MAGIOC(5) - -/** excite strap */ -#define MAGIOCEXSTRAP _MAGIOC(6) - -/** perform self test and report status */ -#define MAGIOCSELFTEST _MAGIOC(7) - -#endif /* _DRV_MAG_H */ diff --git a/apps/drivers/drv_mixer.h b/apps/drivers/drv_mixer.h deleted file mode 100644 index 9f43015d9..000000000 --- a/apps/drivers/drv_mixer.h +++ /dev/null @@ -1,118 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file drv_mixer.h - * - * Mixer ioctl interfaces. - * - * Normal workflow is: - * - * - open mixer device - * - add mixer(s) - * loop: - * - mix actuators to array - * - * Each client has its own configuration. - * - * When mixing, outputs are produced by mixers in the order they are - * added. A simple mixer produces one output; a multotor mixer will - * produce several outputs, etc. - */ - -#ifndef _DRV_MIXER_H -#define _DRV_MIXER_H - -#include -#include - -#define MIXER_DEVICE_PATH "/dev/mixer" - -/* - * ioctl() definitions - */ -#define _MIXERIOCBASE (0x2500) -#define _MIXERIOC(_n) (_IOC(_MIXERIOCBASE, _n)) - -/** get the number of mixable outputs */ -#define MIXERIOCGETOUTPUTCOUNT _MIXERIOC(0) - -/** reset (clear) the mixer configuration */ -#define MIXERIOCRESET _MIXERIOC(1) - -/** simple channel scaler */ -struct mixer_scaler_s { - float negative_scale; - float positive_scale; - float offset; - float min_output; - float max_output; -}; - -/** mixer input */ -struct mixer_control_s { - uint8_t control_group; /**< group from which the input reads */ - uint8_t control_index; /**< index within the control group */ - struct mixer_scaler_s scaler; /**< scaling applied to the input before use */ -}; - -/** simple mixer */ -struct mixer_simple_s { - uint8_t control_count; /**< number of inputs */ - struct mixer_scaler_s output_scaler; /**< scaling for the output */ - struct mixer_control_s controls[0]; /**< actual size of the array is set by control_count */ -}; - -#define MIXER_SIMPLE_SIZE(_icount) (sizeof(struct mixer_simple_s) + (_icount) * sizeof(struct mixer_control_s)) - -/** - * add a simple mixer in (struct mixer_simple_s *)arg - */ -#define MIXERIOCADDSIMPLE _MIXERIOC(2) - -/* _MIXERIOC(3) was deprecated */ -/* _MIXERIOC(4) was deprecated */ - -/** - * Add mixer(s) from the buffer in (const char *)arg - */ -#define MIXERIOCLOADBUF _MIXERIOC(5) - -/* - * XXX Thoughts for additional operations: - * - * - get/set output scale, for tuning center/limit values. - * - save/serialise for saving tuned mixers. - */ - -#endif /* _DRV_ACCEL_H */ diff --git a/apps/drivers/drv_orb_dev.h b/apps/drivers/drv_orb_dev.h deleted file mode 100644 index 8495780d5..000000000 --- a/apps/drivers/drv_orb_dev.h +++ /dev/null @@ -1,87 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#ifndef _DRV_UORB_H -#define _DRV_UORB_H - -/** - * @file uORB published object driver. - */ - -#include -#include -#include - -/* XXX for ORB_DECLARE used in many drivers */ -#include "../uORB/uORB.h" - -/* - * ioctl() definitions - */ - -/** path to the uORB control device for pub/sub topics */ -#define TOPIC_MASTER_DEVICE_PATH "/obj/_obj_" - -/** path to the uORB control device for parameter topics */ -#define PARAM_MASTER_DEVICE_PATH "/param/_param_" - -/** maximum ogbject name length */ -#define ORB_MAXNAME 32 - -#define _ORBIOCBASE (0x2600) -#define _ORBIOC(_n) (_IOC(_ORBIOCBASE, _n)) - -/* - * IOCTLs for the uORB control device - */ - -/** Advertise a new topic described by *(uorb_metadata *)arg */ -#define ORBIOCADVERTISE _ORBIOC(0) - -/* - * IOCTLs for individual topics. - */ - -/** Fetch the time at which the topic was last updated into *(uint64_t *)arg */ -#define ORBIOCLASTUPDATE _ORBIOC(10) - -/** Check whether the topic has been updated since it was last read, sets *(bool *)arg */ -#define ORBIOCUPDATED _ORBIOC(11) - -/** Set the minimum interval at which the topic can be seen to be updated for this subscription */ -#define ORBIOCSETINTERVAL _ORBIOC(12) - -/** Get the global advertiser handle for the topic */ -#define ORBIOCGADVERTISER _ORBIOC(13) - -#endif /* _DRV_UORB_H */ diff --git a/apps/drivers/drv_pwm_output.h b/apps/drivers/drv_pwm_output.h deleted file mode 100644 index 07831f20c..000000000 --- a/apps/drivers/drv_pwm_output.h +++ /dev/null @@ -1,201 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file PWM servo output interface. - * - * Servo values can be set with the PWM_SERVO_SET ioctl, by writing a - * pwm_output_values structure to the device, or by publishing to the - * output_pwm ORB topic. - * Writing a value of 0 to a channel suppresses any output for that - * channel. - */ - -#pragma once - -#include -#include - -#include "drv_orb_dev.h" - -__BEGIN_DECLS - -/** - * Path for the default PWM output device. - * - * Note that on systems with more than one PWM output path (e.g. - * PX4FMU with PX4IO connected) there may be other devices that - * respond to this protocol. - */ -#define PWM_OUTPUT_DEVICE_PATH "/dev/pwm_output" - -/** - * Maximum number of PWM output channels supported by the device. - */ -#define PWM_OUTPUT_MAX_CHANNELS 16 - -/** - * Servo output signal type, value is actual servo output pulse - * width in microseconds. - */ -typedef uint16_t servo_position_t; - -/** - * Servo output status structure. - * - * May be published to output_pwm, or written to a PWM output - * device. - */ -struct pwm_output_values { - /** desired pulse widths for each of the supported channels */ - servo_position_t values[PWM_OUTPUT_MAX_CHANNELS]; -}; - -/* - * ORB tag for PWM outputs. - */ -ORB_DECLARE(output_pwm); - -/* - * ioctl() definitions - * - * Note that ioctls and ORB updates should not be mixed, as the - * behaviour of the system in this case is not defined. - */ -#define _PWM_SERVO_BASE 0x2a00 - -/** arm all servo outputs handle by this driver */ -#define PWM_SERVO_ARM _IOC(_PWM_SERVO_BASE, 0) - -/** disarm all servo outputs (stop generating pulses) */ -#define PWM_SERVO_DISARM _IOC(_PWM_SERVO_BASE, 1) - -/** set alternate servo update rate */ -#define PWM_SERVO_SET_UPDATE_RATE _IOC(_PWM_SERVO_BASE, 2) - -/** get the number of servos in *(unsigned *)arg */ -#define PWM_SERVO_GET_COUNT _IOC(_PWM_SERVO_BASE, 3) - -/** selects servo update rates, one bit per servo. 0 = default (50Hz), 1 = alternate */ -#define PWM_SERVO_SELECT_UPDATE_RATE _IOC(_PWM_SERVO_BASE, 4) - -/** set a single servo to a specific value */ -#define PWM_SERVO_SET(_servo) _IOC(_PWM_SERVO_BASE, 0x20 + _servo) - -/** get a single specific servo value */ -#define PWM_SERVO_GET(_servo) _IOC(_PWM_SERVO_BASE, 0x40 + _servo) - -/** get the _n'th rate group's channels; *(uint32_t *)arg returns a bitmap of channels - * whose update rates must be the same. - */ -#define PWM_SERVO_GET_RATEGROUP(_n) _IOC(_PWM_SERVO_BASE, 0x60 + _n) - -/* - * Low-level PWM output interface. - * - * This is the low-level API to the platform-specific PWM driver. - */ - -/** - * Intialise the PWM servo outputs using the specified configuration. - * - * @param channel_mask Bitmask of channels (LSB = channel 0) to enable. - * This allows some of the channels to remain configured - * as GPIOs or as another function. - * @return OK on success. - */ -__EXPORT extern int up_pwm_servo_init(uint32_t channel_mask); - -/** - * De-initialise the PWM servo outputs. - */ -__EXPORT extern void up_pwm_servo_deinit(void); - -/** - * Arm or disarm servo outputs. - * - * When disarmed, servos output no pulse. - * - * @bug This function should, but does not, guarantee that any pulse - * currently in progress is cleanly completed. - * - * @param armed If true, outputs are armed; if false they - * are disarmed. - */ -__EXPORT extern void up_pwm_servo_arm(bool armed); - -/** - * Set the servo update rate for all rate groups. - * - * @param rate The update rate in Hz to set. - * @return OK on success, -ERANGE if an unsupported update rate is set. - */ -__EXPORT extern int up_pwm_servo_set_rate(unsigned rate); - -/** - * Get a bitmap of output channels assigned to a given rate group. - * - * @param group The rate group to query. Rate groups are assigned contiguously - * starting from zero. - * @return A bitmap of channels assigned to the rate group, or zero if - * the group number has no channels. - */ -__EXPORT extern uint32_t up_pwm_servo_get_rate_group(unsigned group); - -/** - * Set the update rate for a given rate group. - * - * @param group The rate group whose update rate will be changed. - * @param rate The update rate in Hz. - * @return OK if the group was adjusted, -ERANGE if an unsupported update rate is set. - */ -__EXPORT extern int up_pwm_servo_set_rate_group_update(unsigned group, unsigned rate); - -/** - * Set the current output value for a channel. - * - * @param channel The channel to set. - * @param value The output pulse width in microseconds. - */ -__EXPORT extern int up_pwm_servo_set(unsigned channel, servo_position_t value); - -/** - * Get the current output value for a channel. - * - * @param channel The channel to read. - * @return The output pulse width in microseconds, or zero if - * outputs are not armed or not configured. - */ -__EXPORT extern servo_position_t up_pwm_servo_get(unsigned channel); - -__END_DECLS diff --git a/apps/drivers/drv_range_finder.h b/apps/drivers/drv_range_finder.h deleted file mode 100644 index 03a82ec5d..000000000 --- a/apps/drivers/drv_range_finder.h +++ /dev/null @@ -1,81 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file Rangefinder driver interface. - */ - -#ifndef _DRV_RANGEFINDER_H -#define _DRV_RANGEFINDER_H - -#include -#include - -#include "drv_sensor.h" -#include "drv_orb_dev.h" - -#define RANGE_FINDER_DEVICE_PATH "/dev/range_finder" - -/** - * range finder report structure. Reads from the device must be in multiples of this - * structure. - */ -struct range_finder_report { - uint64_t timestamp; - float distance; /** in meters */ - uint8_t valid; /** 1 == within sensor range, 0 = outside sensor range */ -}; - -/* - * ObjDev tag for raw range finder data. - */ -ORB_DECLARE(sensor_range_finder); - -/* - * ioctl() definitions - * - * Rangefinder drivers also implement the generic sensor driver - * interfaces from drv_sensor.h - */ - -#define _RANGEFINDERIOCBASE (0x7900) -#define __RANGEFINDERIOC(_n) (_IOC(_RANGEFINDERIOCBASE, _n)) - -/** set the minimum effective distance of the device */ -#define RANGEFINDERIOCSETMINIUMDISTANCE __RANGEFINDERIOC(1) - -/** set the maximum effective distance of the device */ -#define RANGEFINDERIOCSETMAXIUMDISTANCE __RANGEFINDERIOC(2) - - -#endif /* _DRV_RANGEFINDER_H */ diff --git a/apps/drivers/drv_rc_input.h b/apps/drivers/drv_rc_input.h deleted file mode 100644 index 4decc324e..000000000 --- a/apps/drivers/drv_rc_input.h +++ /dev/null @@ -1,110 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file R/C input interface. - * - */ - -#ifndef _DRV_RC_INPUT_H -#define _DRV_RC_INPUT_H - -#include -#include - -#include "drv_orb_dev.h" - -/** - * Path for the default R/C input device. - * - * Note that on systems with more than one R/C input path (e.g. - * PX4FMU with PX4IO connected) there may be other devices that - * respond to this protocol. - * - * Input data may be obtained by subscribing to the input_rc - * object, or by poll/reading from the device. - */ -#define RC_INPUT_DEVICE_PATH "/dev/input_rc" - -/** - * Maximum number of R/C input channels in the system. S.Bus has up to 18 channels. - */ -#define RC_INPUT_MAX_CHANNELS 18 - -/** - * Input signal type, value is a control position from zero to 100 - * percent. - */ -typedef uint16_t rc_input_t; - -enum RC_INPUT_SOURCE { - RC_INPUT_SOURCE_UNKNOWN = 0, - RC_INPUT_SOURCE_PX4FMU_PPM, - RC_INPUT_SOURCE_PX4IO_PPM, - RC_INPUT_SOURCE_PX4IO_SPEKTRUM, - RC_INPUT_SOURCE_PX4IO_SBUS -}; - -/** - * R/C input status structure. - * - * Published to input_rc, may also be published to other names depending - * on the board involved. - */ -struct rc_input_values { - /** decoding time */ - uint64_t timestamp; - - /** number of channels actually being seen */ - uint32_t channel_count; - - /** Input source */ - enum RC_INPUT_SOURCE input_source; - - /** measured pulse widths for each of the supported channels */ - rc_input_t values[RC_INPUT_MAX_CHANNELS]; -}; - -/* - * ObjDev tag for R/C inputs. - */ -ORB_DECLARE(input_rc); - -#define _RC_INPUT_BASE 0x2b00 - -/** Fetch R/C input values into (rc_input_values *)arg */ - -#define RC_INPUT_GET _IOC(_RC_INPUT_BASE, 0) - - -#endif /* _DRV_RC_INPUT_H */ diff --git a/apps/drivers/drv_sensor.h b/apps/drivers/drv_sensor.h deleted file mode 100644 index 3a89cab9d..000000000 --- a/apps/drivers/drv_sensor.h +++ /dev/null @@ -1,87 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file Common sensor API and ioctl definitions. - */ - -#ifndef _DRV_SENSOR_H -#define _DRV_SENSOR_H - -#include -#include - -/* - * ioctl() definitions - * - * Note that a driver may not implement all of these operations, but - * if the operation is implemented it should conform to this API. - */ - -#define _SENSORIOCBASE (0x2000) -#define _SENSORIOC(_n) (_IOC(_SENSORIOCBASE, _n)) - -/** - * Set the driver polling rate to (arg) Hz, or one of the SENSOR_POLLRATE - * constants - */ -#define SENSORIOCSPOLLRATE _SENSORIOC(0) - -/** - * Return the driver's approximate polling rate in Hz, or one of the - * SENSOR_POLLRATE values. - */ -#define SENSORIOCGPOLLRATE _SENSORIOC(1) - -#define SENSOR_POLLRATE_MANUAL 1000000 /**< poll when read */ -#define SENSOR_POLLRATE_EXTERNAL 1000001 /**< poll when device signals ready */ -#define SENSOR_POLLRATE_MAX 1000002 /**< poll at device maximum rate */ -#define SENSOR_POLLRATE_DEFAULT 1000003 /**< poll at driver normal rate */ - -/** - * Set the internal queue depth to (arg) entries, must be at least 1 - * - * This sets the upper bound on the number of readings that can be - * read from the driver. - */ -#define SENSORIOCSQUEUEDEPTH _SENSORIOC(2) - -/** return the internal queue depth */ -#define SENSORIOCGQUEUEDEPTH _SENSORIOC(3) - -/** - * Reset the sensor to its default configuration. - */ -#define SENSORIOCRESET _SENSORIOC(4) - -#endif /* _DRV_SENSOR_H */ \ No newline at end of file diff --git a/apps/drivers/drv_tone_alarm.h b/apps/drivers/drv_tone_alarm.h deleted file mode 100644 index 0c6afc64c..000000000 --- a/apps/drivers/drv_tone_alarm.h +++ /dev/null @@ -1,128 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/* - * Driver for the PX4 audio alarm port, /dev/tone_alarm. - * - * The tone_alarm driver supports a set of predefined "alarm" - * patterns and one user-supplied pattern. Patterns are ordered by - * priority, with a higher-priority pattern interrupting any - * lower-priority pattern that might be playing. - * - * The TONE_SET_ALARM ioctl can be used to select a predefined - * alarm pattern, from 1 - . Selecting pattern zero silences - * the alarm. - * - * To supply a custom pattern, write an array of 1 - tone_note - * structures to /dev/tone_alarm. The custom pattern has a priority - * of zero. - * - * Patterns will normally play once and then silence (if a pattern - * was overridden it will not resume). A pattern may be made to - * repeat by inserting a note with the duration set to - * DURATION_REPEAT. This pattern will loop until either a - * higher-priority pattern is started or pattern zero is requested - * via the ioctl. - */ - -#ifndef DRV_TONE_ALARM_H_ -#define DRV_TONE_ALARM_H_ - -#include - -#define _TONE_ALARM_BASE 0x7400 -#define TONE_SET_ALARM _IOC(_TONE_ALARM_BASE, 1) - -/* structure describing one note in a tone pattern */ -struct tone_note { - uint8_t pitch; - uint8_t duration; /* duration in multiples of 10ms */ -#define DURATION_END 0 /* ends the pattern */ -#define DURATION_REPEAT 255 /* resets the note counter to zero */ -}; - -enum tone_pitch { - TONE_NOTE_E4, /* E4 */ - TONE_NOTE_F4, /* F4 */ - TONE_NOTE_F4S, /* F#4/Gb4 */ - TONE_NOTE_G4, /* G4 */ - TONE_NOTE_G4S, /* G#4/Ab4 */ - TONE_NOTE_A4, /* A4 */ - TONE_NOTE_A4S, /* A#4/Bb4 */ - TONE_NOTE_B4, /* B4 */ - TONE_NOTE_C5, /* C5 */ - TONE_NOTE_C5S, /* C#5/Db5 */ - TONE_NOTE_D5, /* D5 */ - TONE_NOTE_D5S, /* D#5/Eb5 */ - TONE_NOTE_E5, /* E5 */ - TONE_NOTE_F5, /* F5 */ - TONE_NOTE_F5S, /* F#5/Gb5 */ - TONE_NOTE_G5, /* G5 */ - TONE_NOTE_G5S, /* G#5/Ab5 */ - TONE_NOTE_A5, /* A5 */ - TONE_NOTE_A5S, /* A#5/Bb5 */ - TONE_NOTE_B5, /* B5 */ - TONE_NOTE_C6, /* C6 */ - TONE_NOTE_C6S, /* C#6/Db6 */ - TONE_NOTE_D6, /* D6 */ - TONE_NOTE_D6S, /* D#6/Eb6 */ - TONE_NOTE_E6, /* E6 */ - TONE_NOTE_F6, /* F6 */ - TONE_NOTE_F6S, /* F#6/Gb6 */ - TONE_NOTE_G6, /* G6 */ - TONE_NOTE_G6S, /* G#6/Ab6 */ - TONE_NOTE_A6, /* A6 */ - TONE_NOTE_A6S, /* A#6/Bb6 */ - TONE_NOTE_B6, /* B6 */ - TONE_NOTE_C7, /* C7 */ - TONE_NOTE_C7S, /* C#7/Db7 */ - TONE_NOTE_D7, /* D7 */ - TONE_NOTE_D7S, /* D#7/Eb7 */ - TONE_NOTE_E7, /* E7 */ - TONE_NOTE_F7, /* F7 */ - TONE_NOTE_F7S, /* F#7/Gb7 */ - TONE_NOTE_G7, /* G7 */ - TONE_NOTE_G7S, /* G#7/Ab7 */ - TONE_NOTE_A7, /* A7 */ - TONE_NOTE_A7S, /* A#7/Bb7 */ - TONE_NOTE_B7, /* B7 */ - TONE_NOTE_C8, /* C8 */ - TONE_NOTE_C8S, /* C#8/Db8 */ - TONE_NOTE_D8, /* D8 */ - TONE_NOTE_D8S, /* D#8/Eb8 */ - - TONE_NOTE_SILENCE, - TONE_NOTE_MAX -}; - -#endif /* DRV_TONE_ALARM_H_ */ diff --git a/apps/drivers/led/Makefile b/apps/drivers/led/Makefile deleted file mode 100644 index 7de188259..000000000 --- a/apps/drivers/led/Makefile +++ /dev/null @@ -1,38 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Makefile to build the LED driver. -# - -include $(APPDIR)/mk/app.mk diff --git a/apps/drivers/led/led.cpp b/apps/drivers/led/led.cpp deleted file mode 100644 index c7c45525e..000000000 --- a/apps/drivers/led/led.cpp +++ /dev/null @@ -1,115 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file led.cpp - * - * LED driver. - */ - -#include -#include -#include - -/* Ideally we'd be able to get these from up_internal.h */ -//#include -__BEGIN_DECLS -extern void up_ledinit(); -extern void up_ledon(int led); -extern void up_ledoff(int led); -__END_DECLS - -class LED : device::CDev -{ -public: - LED(); - virtual ~LED(); - - virtual int init(); - virtual int ioctl(struct file *filp, int cmd, unsigned long arg); -}; - -LED::LED() : - CDev("led", LED_DEVICE_PATH) -{ - // force immediate init/device registration - init(); -} - -LED::~LED() -{ -} - -int -LED::init() -{ - CDev::init(); - up_ledinit(); - - return 0; -} - -int -LED::ioctl(struct file *filp, int cmd, unsigned long arg) -{ - int result = OK; - - switch (cmd) { - case LED_ON: - up_ledon(arg); - break; - - case LED_OFF: - up_ledoff(arg); - break; - - default: - result = CDev::ioctl(filp, cmd, arg); - } - return result; -} - -namespace -{ -LED *gLED; -} - -void -drv_led_start() -{ - if (gLED == nullptr) { - gLED = new LED; - if (gLED != nullptr) - gLED->init(); - } -} \ No newline at end of file diff --git a/apps/examples/math_demo/Makefile b/apps/examples/math_demo/Makefile deleted file mode 100644 index a1105899a..000000000 --- a/apps/examples/math_demo/Makefile +++ /dev/null @@ -1,42 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# -# Basic example application -# - -APPNAME = math_demo -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 8192 - -include $(APPDIR)/mk/app.mk diff --git a/apps/examples/math_demo/math_demo.cpp b/apps/examples/math_demo/math_demo.cpp deleted file mode 100644 index a9c556748..000000000 --- a/apps/examples/math_demo/math_demo.cpp +++ /dev/null @@ -1,105 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Example User - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file math_demo.cpp - * Demonstration of math library - */ - -#include -#include -#include -#include -#include -#include -#include - -/** - * Management function. - */ -extern "C" __EXPORT int math_demo_main(int argc, char *argv[]); - -/** - * Test function - */ -void test(); - -/** - * Print the correct usage. - */ -static void usage(const char *reason); - -static void -usage(const char *reason) -{ - if (reason) - fprintf(stderr, "%s\n", reason); - fprintf(stderr, "usage: math_demo {test}\n\n"); - exit(1); -} - -/** - * The deamon app only briefly exists to start - * the background job. The stack size assigned in the - * Makefile does only apply to this management task. - * - * The actual stack size should be set in the call - * to task_create(). - */ -int math_demo_main(int argc, char *argv[]) -{ - - if (argc < 1) - usage("missing command"); - - if (!strcmp(argv[1], "test")) { - test(); - exit(0); - } - - usage("unrecognized command"); - exit(1); -} - -void test() -{ - printf("beginning math lib test\n"); - using namespace math; - vectorTest(); - matrixTest(); - vector3Test(); - eulerAnglesTest(); - quaternionTest(); - dcmTest(); -} diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_f32.c deleted file mode 100644 index 7070274da..000000000 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_f32.c +++ /dev/null @@ -1,159 +0,0 @@ -/* ---------------------------------------------------------------------- -* Copyright (C) 2010 ARM Limited. All rights reserved. -* -* $Date: 15. February 2012 -* $Revision: V1.1.0 -* -* Project: CMSIS DSP Library -* Title: arm_abs_f32.c -* -* Description: Vector absolute value. -* -* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 -* -* Version 1.1.0 2012/02/15 -* Updated with more optimizations, bug fixes and minor API changes. -* -* Version 1.0.10 2011/7/15 -* Big Endian support added and Merged M0 and M3/M4 Source code. -* -* Version 1.0.3 2010/11/29 -* Re-organized the CMSIS folders and updated documentation. -* -* Version 1.0.2 2010/11/11 -* Documentation updated. -* -* Version 1.0.1 2010/10/05 -* Production release and review comments incorporated. -* -* Version 1.0.0 2010/09/20 -* Production release and review comments incorporated. -* -* Version 0.0.7 2010/06/10 -* Misra-C changes done -* ---------------------------------------------------------------------------- */ - -#include "arm_math.h" -#include - -/** - * @ingroup groupMath - */ - -/** - * @defgroup BasicAbs Vector Absolute Value - * - * Computes the absolute value of a vector on an element-by-element basis. - * - * 
        
- *     pDst[n] = abs(pSrcA[n]),   0 <= n < blockSize.        
- *
- * - * The operation can be done in-place by setting the input and output pointers to the same buffer. - * There are separate functions for floating-point, Q7, Q15, and Q31 data types. - */ - -/** - * @addtogroup BasicAbs - * @{ - */ - -/** - * @brief Floating-point vector absolute value. - * @param[in] *pSrc points to the input buffer - * @param[out] *pDst points to the output buffer - * @param[in] blockSize number of samples in each vector - * @return none. - */ - -void arm_abs_f32( - float32_t * pSrc, - float32_t * pDst, - uint32_t blockSize) -{ - uint32_t blkCnt; /* loop counter */ - -#ifndef ARM_MATH_CM0 - - /* Run the below code for Cortex-M4 and Cortex-M3 */ - float32_t in1, in2, in3, in4; /* temporary variables */ - - /*loop Unrolling */ - blkCnt = blockSize >> 2u; - - /* First part of the processing with loop unrolling. Compute 4 outputs at a time. - ** a second loop below computes the remaining 1 to 3 samples. */ - while(blkCnt > 0u) - { - /* C = |A| */ - /* Calculate absolute and then store the results in the destination buffer. */ - /* read sample from source */ - in1 = *pSrc; - in2 = *(pSrc + 1); - in3 = *(pSrc + 2); - - /* find absolute value */ - in1 = fabsf(in1); - - /* read sample from source */ - in4 = *(pSrc + 3); - - /* find absolute value */ - in2 = fabsf(in2); - - /* read sample from source */ - *pDst = in1; - - /* find absolute value */ - in3 = fabsf(in3); - - /* find absolute value */ - in4 = fabsf(in4); - - /* store result to destination */ - *(pDst + 1) = in2; - - /* store result to destination */ - *(pDst + 2) = in3; - - /* store result to destination */ - *(pDst + 3) = in4; - - - /* Update source pointer to process next sampels */ - pSrc += 4u; - - /* Update destination pointer to process next sampels */ - pDst += 4u; - - /* Decrement the loop counter */ - blkCnt--; - } - - /* If the blockSize is not a multiple of 4, compute any remaining output samples here. - ** No loop unrolling is used. */ - blkCnt = blockSize % 0x4u; - -#else - - /* Run the below code for Cortex-M0 */ - - /* Initialize blkCnt with number of samples */ - blkCnt = blockSize; - -#endif /* #ifndef ARM_MATH_CM0 */ - - while(blkCnt > 0u) - { - /* C = |A| */ - /* Calculate absolute and then store the results in the destination buffer. */ - *pDst++ = fabsf(*pSrc++); - - /* Decrement the loop counter */ - blkCnt--; - } -} - -/** - * @} end of BasicAbs group - */ diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q15.c deleted file mode 100644 index 6d6a4b6d8..000000000 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q15.c +++ /dev/null @@ -1,173 +0,0 @@ -/* ---------------------------------------------------------------------- -* Copyright (C) 2010 ARM Limited. All rights reserved. -* -* $Date: 15. February 2012 -* $Revision: V1.1.0 -* -* Project: CMSIS DSP Library -* Title: arm_abs_q15.c -* -* Description: Q15 vector absolute value. -* -* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 -* -* Version 1.1.0 2012/02/15 -* Updated with more optimizations, bug fixes and minor API changes. -* -* Version 1.0.10 2011/7/15 -* Big Endian support added and Merged M0 and M3/M4 Source code. -* -* Version 1.0.3 2010/11/29 -* Re-organized the CMSIS folders and updated documentation. -* -* Version 1.0.2 2010/11/11 -* Documentation updated. -* -* Version 1.0.1 2010/10/05 -* Production release and review comments incorporated. -* -* Version 1.0.0 2010/09/20 -* Production release and review comments incorporated. -* -* Version 0.0.7 2010/06/10 -* Misra-C changes done -* -------------------------------------------------------------------- */ - -#include "arm_math.h" - -/** - * @ingroup groupMath - */ - -/** - * @addtogroup BasicAbs - * @{ - */ - -/** - * @brief Q15 vector absolute value. - * @param[in] *pSrc points to the input buffer - * @param[out] *pDst points to the output buffer - * @param[in] blockSize number of samples in each vector - * @return none. - * - * Scaling and Overflow Behavior: - * \par - * The function uses saturating arithmetic. - * The Q15 value -1 (0x8000) will be saturated to the maximum allowable positive value 0x7FFF. - */ - -void arm_abs_q15( - q15_t * pSrc, - q15_t * pDst, - uint32_t blockSize) -{ - uint32_t blkCnt; /* loop counter */ - -#ifndef ARM_MATH_CM0 - -/* Run the below code for Cortex-M4 and Cortex-M3 */ - - q15_t in1; /* Input value1 */ - q15_t in2; /* Input value2 */ - - - /*loop Unrolling */ - blkCnt = blockSize >> 2u; - - /* First part of the processing with loop unrolling. Compute 4 outputs at a time. - ** a second loop below computes the remaining 1 to 3 samples. */ - while(blkCnt > 0u) - { - /* C = |A| */ - /* Read two inputs */ - in1 = *pSrc++; - in2 = *pSrc++; - - - /* Store the Absolute result in the destination buffer by packing the two values, in a single cycle */ - -#ifndef ARM_MATH_BIG_ENDIAN - - *__SIMD32(pDst)++ = - __PKHBT(((in1 > 0) ? in1 : __QSUB16(0, in1)), - ((in2 > 0) ? in2 : __QSUB16(0, in2)), 16); - -#else - - - *__SIMD32(pDst)++ = - __PKHBT(((in2 > 0) ? in2 : __QSUB16(0, in2)), - ((in1 > 0) ? in1 : __QSUB16(0, in1)), 16); - -#endif /* #ifndef ARM_MATH_BIG_ENDIAN */ - - in1 = *pSrc++; - in2 = *pSrc++; - - -#ifndef ARM_MATH_BIG_ENDIAN - - *__SIMD32(pDst)++ = - __PKHBT(((in1 > 0) ? in1 : __QSUB16(0, in1)), - ((in2 > 0) ? in2 : __QSUB16(0, in2)), 16); - -#else - - - *__SIMD32(pDst)++ = - __PKHBT(((in2 > 0) ? in2 : __QSUB16(0, in2)), - ((in1 > 0) ? in1 : __QSUB16(0, in1)), 16); - -#endif /* #ifndef ARM_MATH_BIG_ENDIAN */ - - /* Decrement the loop counter */ - blkCnt--; - } - - /* If the blockSize is not a multiple of 4, compute any remaining output samples here. - ** No loop unrolling is used. */ - blkCnt = blockSize % 0x4u; - - while(blkCnt > 0u) - { - /* C = |A| */ - /* Read the input */ - in1 = *pSrc++; - - /* Calculate absolute value of input and then store the result in the destination buffer. */ - *pDst++ = (in1 > 0) ? in1 : __QSUB16(0, in1); - - /* Decrement the loop counter */ - blkCnt--; - } - -#else - - /* Run the below code for Cortex-M0 */ - - q15_t in; /* Temporary input variable */ - - /* Initialize blkCnt with number of samples */ - blkCnt = blockSize; - - while(blkCnt > 0u) - { - /* C = |A| */ - /* Read the input */ - in = *pSrc++; - - /* Calculate absolute value of input and then store the result in the destination buffer. */ - *pDst++ = (in > 0) ? in : ((in == (q15_t) 0x8000) ? 0x7fff : -in); - - /* Decrement the loop counter */ - blkCnt--; - } - -#endif /* #ifndef ARM_MATH_CM0 */ - -} - -/** - * @} end of BasicAbs group - */ diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q31.c deleted file mode 100644 index d9e3e7aa3..000000000 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q31.c +++ /dev/null @@ -1,125 +0,0 @@ -/* ---------------------------------------------------------------------- -* Copyright (C) 2010 ARM Limited. All rights reserved. -* -* $Date: 15. February 2012 -* $Revision: V1.1.0 -* -* Project: CMSIS DSP Library -* Title: arm_abs_q31.c -* -* Description: Q31 vector absolute value. -* -* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 -* -* Version 1.1.0 2012/02/15 -* Updated with more optimizations, bug fixes and minor API changes. -* -* Version 1.0.10 2011/7/15 -* Big Endian support added and Merged M0 and M3/M4 Source code. -* -* Version 1.0.3 2010/11/29 -* Re-organized the CMSIS folders and updated documentation. -* -* Version 1.0.2 2010/11/11 -* Documentation updated. -* -* Version 1.0.1 2010/10/05 -* Production release and review comments incorporated. -* -* Version 1.0.0 2010/09/20 -* Production release and review comments incorporated. -* -* Version 0.0.7 2010/06/10 -* Misra-C changes done -* -------------------------------------------------------------------- */ - -#include "arm_math.h" - -/** - * @ingroup groupMath - */ - -/** - * @addtogroup BasicAbs - * @{ - */ - - -/** - * @brief Q31 vector absolute value. - * @param[in] *pSrc points to the input buffer - * @param[out] *pDst points to the output buffer - * @param[in] blockSize number of samples in each vector - * @return none. - * - * Scaling and Overflow Behavior: - * \par - * The function uses saturating arithmetic. - * The Q31 value -1 (0x80000000) will be saturated to the maximum allowable positive value 0x7FFFFFFF. - */ - -void arm_abs_q31( - q31_t * pSrc, - q31_t * pDst, - uint32_t blockSize) -{ - uint32_t blkCnt; /* loop counter */ - q31_t in; /* Input value */ - -#ifndef ARM_MATH_CM0 - - /* Run the below code for Cortex-M4 and Cortex-M3 */ - q31_t in1, in2, in3, in4; - - /*loop Unrolling */ - blkCnt = blockSize >> 2u; - - /* First part of the processing with loop unrolling. Compute 4 outputs at a time. - ** a second loop below computes the remaining 1 to 3 samples. */ - while(blkCnt > 0u) - { - /* C = |A| */ - /* Calculate absolute of input (if -1 then saturated to 0x7fffffff) and then store the results in the destination buffer. */ - in1 = *pSrc++; - in2 = *pSrc++; - in3 = *pSrc++; - in4 = *pSrc++; - - *pDst++ = (in1 > 0) ? in1 : __QSUB(0, in1); - *pDst++ = (in2 > 0) ? in2 : __QSUB(0, in2); - *pDst++ = (in3 > 0) ? in3 : __QSUB(0, in3); - *pDst++ = (in4 > 0) ? in4 : __QSUB(0, in4); - - /* Decrement the loop counter */ - blkCnt--; - } - - /* If the blockSize is not a multiple of 4, compute any remaining output samples here. - ** No loop unrolling is used. */ - blkCnt = blockSize % 0x4u; - -#else - - /* Run the below code for Cortex-M0 */ - - /* Initialize blkCnt with number of samples */ - blkCnt = blockSize; - -#endif /* #ifndef ARM_MATH_CM0 */ - - while(blkCnt > 0u) - { - /* C = |A| */ - /* Calculate absolute value of the input (if -1 then saturated to 0x7fffffff) and then store the results in the destination buffer. */ - in = *pSrc++; - *pDst++ = (in > 0) ? in : ((in == 0x80000000) ? 0x7fffffff : -in); - - /* Decrement the loop counter */ - blkCnt--; - } - -} - -/** - * @} end of BasicAbs group - */ diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q7.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q7.c deleted file mode 100644 index 258ecef2c..000000000 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q7.c +++ /dev/null @@ -1,152 +0,0 @@ -/* ---------------------------------------------------------------------- -* Copyright (C) 2010 ARM Limited. All rights reserved. -* -* $Date: 15. February 2012 -* $Revision: V1.1.0 -* -* Project: CMSIS DSP Library -* Title: arm_abs_q7.c -* -* Description: Q7 vector absolute value. -* -* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 -* -* Version 1.1.0 2012/02/15 -* Updated with more optimizations, bug fixes and minor API changes. -* -* Version 1.0.10 2011/7/15 -* Big Endian support added and Merged M0 and M3/M4 Source code. -* -* Version 1.0.3 2010/11/29 -* Re-organized the CMSIS folders and updated documentation. -* -* Version 1.0.2 2010/11/11 -* Documentation updated. -* -* Version 1.0.1 2010/10/05 -* Production release and review comments incorporated. -* -* Version 1.0.0 2010/09/20 -* Production release and review comments incorporated. -* -* Version 0.0.7 2010/06/10 -* Misra-C changes done -* -------------------------------------------------------------------- */ - -#include "arm_math.h" - -/** - * @ingroup groupMath - */ - -/** - * @addtogroup BasicAbs - * @{ - */ - -/** - * @brief Q7 vector absolute value. - * @param[in] *pSrc points to the input buffer - * @param[out] *pDst points to the output buffer - * @param[in] blockSize number of samples in each vector - * @return none. - * - * \par Conditions for optimum performance - * Input and output buffers should be aligned by 32-bit - * - * - * Scaling and Overflow Behavior: - * \par - * The function uses saturating arithmetic. - * The Q7 value -1 (0x80) will be saturated to the maximum allowable positive value 0x7F. - */ - -void arm_abs_q7( - q7_t * pSrc, - q7_t * pDst, - uint32_t blockSize) -{ - uint32_t blkCnt; /* loop counter */ - q7_t in; /* Input value1 */ - -#ifndef ARM_MATH_CM0 - - /* Run the below code for Cortex-M4 and Cortex-M3 */ - q31_t in1, in2, in3, in4; /* temporary input variables */ - q31_t out1, out2, out3, out4; /* temporary output variables */ - - /*loop Unrolling */ - blkCnt = blockSize >> 2u; - - /* First part of the processing with loop unrolling. Compute 4 outputs at a time. - ** a second loop below computes the remaining 1 to 3 samples. */ - while(blkCnt > 0u) - { - /* C = |A| */ - /* Read inputs */ - in1 = (q31_t) * pSrc; - in2 = (q31_t) * (pSrc + 1); - in3 = (q31_t) * (pSrc + 2); - - /* find absolute value */ - out1 = (in1 > 0) ? in1 : __QSUB8(0, in1); - - /* read input */ - in4 = (q31_t) * (pSrc + 3); - - /* find absolute value */ - out2 = (in2 > 0) ? in2 : __QSUB8(0, in2); - - /* store result to destination */ - *pDst = (q7_t) out1; - - /* find absolute value */ - out3 = (in3 > 0) ? in3 : __QSUB8(0, in3); - - /* find absolute value */ - out4 = (in4 > 0) ? in4 : __QSUB8(0, in4); - - /* store result to destination */ - *(pDst + 1) = (q7_t) out2; - - /* store result to destination */ - *(pDst + 2) = (q7_t) out3; - - /* store result to destination */ - *(pDst + 3) = (q7_t) out4; - - /* update pointers to process next samples */ - pSrc += 4u; - pDst += 4u; - - /* Decrement the loop counter */ - blkCnt--; - } - - /* If the blockSize is not a multiple of 4, compute any remaining output samples here. - ** No loop unrolling is used. */ - blkCnt = blockSize % 0x4u; -#else - - /* Run the below code for Cortex-M0 */ - blkCnt = blockSize; - -#endif // #define ARM_MATH_CM0 - - while(blkCnt > 0u) - { - /* C = |A| */ - /* Read the input */ - in = *pSrc++; - - /* Store the Absolute result in the destination buffer */ - *pDst++ = (in > 0) ? in : ((in == (q7_t) 0x80) ? 0x7f : -in); - - /* Decrement the loop counter */ - blkCnt--; - } -} - -/** - * @} end of BasicAbs group - */ diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_f32.c deleted file mode 100644 index 0961dd1db..000000000 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_f32.c +++ /dev/null @@ -1,145 +0,0 @@ -/* ---------------------------------------------------------------------- -* Copyright (C) 2010 ARM Limited. All rights reserved. -* -* $Date: 15. February 2012 -* $Revision: V1.1.0 -* -* Project: CMSIS DSP Library -* Title: arm_add_f32.c -* -* Description: Floating-point vector addition. -* -* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 -* -* Version 1.1.0 2012/02/15 -* Updated with more optimizations, bug fixes and minor API changes. -* -* Version 1.0.10 2011/7/15 -* Big Endian support added and Merged M0 and M3/M4 Source code. -* -* Version 1.0.3 2010/11/29 -* Re-organized the CMSIS folders and updated documentation. -* -* Version 1.0.2 2010/11/11 -* Documentation updated. -* -* Version 1.0.1 2010/10/05 -* Production release and review comments incorporated. -* -* Version 1.0.0 2010/09/20 -* Production release and review comments incorporated. -* -* Version 0.0.7 2010/06/10 -* Misra-C changes done -* ---------------------------------------------------------------------------- */ - -#include "arm_math.h" - -/** - * @ingroup groupMath - */ - -/** - * @defgroup BasicAdd Vector Addition - * - * Element-by-element addition of two vectors. - * - * 
        
- *     pDst[n] = pSrcA[n] + pSrcB[n],   0 <= n < blockSize.        
- *
- * - * There are separate functions for floating-point, Q7, Q15, and Q31 data types. - */ - -/** - * @addtogroup BasicAdd - * @{ - */ - -/** - * @brief Floating-point vector addition. - * @param[in] *pSrcA points to the first input vector - * @param[in] *pSrcB points to the second input vector - * @param[out] *pDst points to the output vector - * @param[in] blockSize number of samples in each vector - * @return none. - */ - -void arm_add_f32( - float32_t * pSrcA, - float32_t * pSrcB, - float32_t * pDst, - uint32_t blockSize) -{ - uint32_t blkCnt; /* loop counter */ - -#ifndef ARM_MATH_CM0 - -/* Run the below code for Cortex-M4 and Cortex-M3 */ - float32_t inA1, inA2, inA3, inA4; /* temporary input variabels */ - float32_t inB1, inB2, inB3, inB4; /* temporary input variables */ - - /*loop Unrolling */ - blkCnt = blockSize >> 2u; - - /* First part of the processing with loop unrolling. Compute 4 outputs at a time. - ** a second loop below computes the remaining 1 to 3 samples. */ - while(blkCnt > 0u) - { - /* C = A + B */ - /* Add and then store the results in the destination buffer. */ - - /* read four inputs from sourceA and four inputs from sourceB */ - inA1 = *pSrcA; - inB1 = *pSrcB; - inA2 = *(pSrcA + 1); - inB2 = *(pSrcB + 1); - inA3 = *(pSrcA + 2); - inB3 = *(pSrcB + 2); - inA4 = *(pSrcA + 3); - inB4 = *(pSrcB + 3); - - /* C = A + B */ - /* add and store result to destination */ - *pDst = inA1 + inB1; - *(pDst + 1) = inA2 + inB2; - *(pDst + 2) = inA3 + inB3; - *(pDst + 3) = inA4 + inB4; - - /* update pointers to process next samples */ - pSrcA += 4u; - pSrcB += 4u; - pDst += 4u; - - - /* Decrement the loop counter */ - blkCnt--; - } - - /* If the blockSize is not a multiple of 4, compute any remaining output samples here. - ** No loop unrolling is used. */ - blkCnt = blockSize % 0x4u; - -#else - - /* Run the below code for Cortex-M0 */ - - /* Initialize blkCnt with number of samples */ - blkCnt = blockSize; - -#endif /* #ifndef ARM_MATH_CM0 */ - - while(blkCnt > 0u) - { - /* C = A + B */ - /* Add and then store the results in the destination buffer. */ - *pDst++ = (*pSrcA++) + (*pSrcB++); - - /* Decrement the loop counter */ - blkCnt--; - } -} - -/** - * @} end of BasicAdd group - */ diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q15.c deleted file mode 100644 index 788b2ebb2..000000000 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q15.c +++ /dev/null @@ -1,135 +0,0 @@ -/* ---------------------------------------------------------------------- -* Copyright (C) 2010 ARM Limited. All rights reserved. -* -* $Date: 15. February 2012 -* $Revision: V1.1.0 -* -* Project: CMSIS DSP Library -* Title: arm_add_q15.c -* -* Description: Q15 vector addition -* -* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 -* -* Version 1.1.0 2012/02/15 -* Updated with more optimizations, bug fixes and minor API changes. -* -* Version 1.0.10 2011/7/15 -* Big Endian support added and Merged M0 and M3/M4 Source code. -* -* Version 1.0.3 2010/11/29 -* Re-organized the CMSIS folders and updated documentation. -* -* Version 1.0.2 2010/11/11 -* Documentation updated. -* -* Version 1.0.1 2010/10/05 -* Production release and review comments incorporated. -* -* Version 1.0.0 2010/09/20 -* Production release and review comments incorporated. -* -* Version 0.0.7 2010/06/10 -* Misra-C changes done -* -------------------------------------------------------------------- */ - -#include "arm_math.h" - -/** - * @ingroup groupMath - */ - -/** - * @addtogroup BasicAdd - * @{ - */ - -/** - * @brief Q15 vector addition. - * @param[in] *pSrcA points to the first input vector - * @param[in] *pSrcB points to the second input vector - * @param[out] *pDst points to the output vector - * @param[in] blockSize number of samples in each vector - * @return none. - * - * Scaling and Overflow Behavior: - * \par - * The function uses saturating arithmetic. - * Results outside of the allowable Q15 range [0x8000 0x7FFF] will be saturated. - */ - -void arm_add_q15( - q15_t * pSrcA, - q15_t * pSrcB, - q15_t * pDst, - uint32_t blockSize) -{ - uint32_t blkCnt; /* loop counter */ - -#ifndef ARM_MATH_CM0 - -/* Run the below code for Cortex-M4 and Cortex-M3 */ - q31_t inA1, inA2, inB1, inB2; - - /*loop Unrolling */ - blkCnt = blockSize >> 2u; - - /* First part of the processing with loop unrolling. Compute 4 outputs at a time. - ** a second loop below computes the remaining 1 to 3 samples. */ - while(blkCnt > 0u) - { - /* C = A + B */ - /* Add and then store the results in the destination buffer. */ - inA1 = *__SIMD32(pSrcA)++; - inA2 = *__SIMD32(pSrcA)++; - inB1 = *__SIMD32(pSrcB)++; - inB2 = *__SIMD32(pSrcB)++; - - *__SIMD32(pDst)++ = __QADD16(inA1, inB1); - *__SIMD32(pDst)++ = __QADD16(inA2, inB2); - - /* Decrement the loop counter */ - blkCnt--; - } - - /* If the blockSize is not a multiple of 4, compute any remaining output samples here. - ** No loop unrolling is used. */ - blkCnt = blockSize % 0x4u; - - while(blkCnt > 0u) - { - /* C = A + B */ - /* Add and then store the results in the destination buffer. */ - *pDst++ = (q15_t) __QADD16(*pSrcA++, *pSrcB++); - - /* Decrement the loop counter */ - blkCnt--; - } - -#else - - /* Run the below code for Cortex-M0 */ - - - - /* Initialize blkCnt with number of samples */ - blkCnt = blockSize; - - while(blkCnt > 0u) - { - /* C = A + B */ - /* Add and then store the results in the destination buffer. */ - *pDst++ = (q15_t) __SSAT(((q31_t) * pSrcA++ + *pSrcB++), 16); - - /* Decrement the loop counter */ - blkCnt--; - } - -#endif /* #ifndef ARM_MATH_CM0 */ - - -} - -/** - * @} end of BasicAdd group - */ diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q31.c deleted file mode 100644 index c5b18711d..000000000 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q31.c +++ /dev/null @@ -1,143 +0,0 @@ -/* ---------------------------------------------------------------------- -* Copyright (C) 2010 ARM Limited. All rights reserved. -* -* $Date: 15. February 2012 -* $Revision: V1.1.0 -* -* Project: CMSIS DSP Library -* Title: arm_add_q31.c -* -* Description: Q31 vector addition. -* -* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 -* -* Version 1.1.0 2012/02/15 -* Updated with more optimizations, bug fixes and minor API changes. -* -* Version 1.0.10 2011/7/15 -* Big Endian support added and Merged M0 and M3/M4 Source code. -* -* Version 1.0.3 2010/11/29 -* Re-organized the CMSIS folders and updated documentation. -* -* Version 1.0.2 2010/11/11 -* Documentation updated. -* -* Version 1.0.1 2010/10/05 -* Production release and review comments incorporated. -* -* Version 1.0.0 2010/09/20 -* Production release and review comments incorporated. -* -* Version 0.0.7 2010/06/10 -* Misra-C changes done -* -------------------------------------------------------------------- */ - -#include "arm_math.h" - -/** - * @ingroup groupMath - */ - -/** - * @addtogroup BasicAdd - * @{ - */ - - -/** - * @brief Q31 vector addition. - * @param[in] *pSrcA points to the first input vector - * @param[in] *pSrcB points to the second input vector - * @param[out] *pDst points to the output vector - * @param[in] blockSize number of samples in each vector - * @return none. - * - * Scaling and Overflow Behavior: - * \par - * The function uses saturating arithmetic. - * Results outside of the allowable Q31 range[0x80000000 0x7FFFFFFF] will be saturated. - */ - -void arm_add_q31( - q31_t * pSrcA, - q31_t * pSrcB, - q31_t * pDst, - uint32_t blockSize) -{ - uint32_t blkCnt; /* loop counter */ - -#ifndef ARM_MATH_CM0 - -/* Run the below code for Cortex-M4 and Cortex-M3 */ - q31_t inA1, inA2, inA3, inA4; - q31_t inB1, inB2, inB3, inB4; - - /*loop Unrolling */ - blkCnt = blockSize >> 2u; - - /* First part of the processing with loop unrolling. Compute 4 outputs at a time. - ** a second loop below computes the remaining 1 to 3 samples. */ - while(blkCnt > 0u) - { - /* C = A + B */ - /* Add and then store the results in the destination buffer. */ - inA1 = *pSrcA++; - inA2 = *pSrcA++; - inB1 = *pSrcB++; - inB2 = *pSrcB++; - - inA3 = *pSrcA++; - inA4 = *pSrcA++; - inB3 = *pSrcB++; - inB4 = *pSrcB++; - - *pDst++ = __QADD(inA1, inB1); - *pDst++ = __QADD(inA2, inB2); - *pDst++ = __QADD(inA3, inB3); - *pDst++ = __QADD(inA4, inB4); - - /* Decrement the loop counter */ - blkCnt--; - } - - /* If the blockSize is not a multiple of 4, compute any remaining output samples here. - ** No loop unrolling is used. */ - blkCnt = blockSize % 0x4u; - - while(blkCnt > 0u) - { - /* C = A + B */ - /* Add and then store the results in the destination buffer. */ - *pDst++ = __QADD(*pSrcA++, *pSrcB++); - - /* Decrement the loop counter */ - blkCnt--; - } - -#else - - /* Run the below code for Cortex-M0 */ - - - - /* Initialize blkCnt with number of samples */ - blkCnt = blockSize; - - while(blkCnt > 0u) - { - /* C = A + B */ - /* Add and then store the results in the destination buffer. */ - *pDst++ = (q31_t) clip_q63_to_q31((q63_t) * pSrcA++ + *pSrcB++); - - /* Decrement the loop counter */ - blkCnt--; - } - -#endif /* #ifndef ARM_MATH_CM0 */ - -} - -/** - * @} end of BasicAdd group - */ diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q7.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q7.c deleted file mode 100644 index 5407c006f..000000000 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q7.c +++ /dev/null @@ -1,129 +0,0 @@ -/* ---------------------------------------------------------------------- -* Copyright (C) 2010 ARM Limited. All rights reserved. -* -* $Date: 15. February 2012 -* $Revision: V1.1.0 -* -* Project: CMSIS DSP Library -* Title: arm_add_q7.c -* -* Description: Q7 vector addition. -* -* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 -* -* Version 1.1.0 2012/02/15 -* Updated with more optimizations, bug fixes and minor API changes. -* -* Version 1.0.10 2011/7/15 -* Big Endian support added and Merged M0 and M3/M4 Source code. -* -* Version 1.0.3 2010/11/29 -* Re-organized the CMSIS folders and updated documentation. -* -* Version 1.0.2 2010/11/11 -* Documentation updated. -* -* Version 1.0.1 2010/10/05 -* Production release and review comments incorporated. -* -* Version 1.0.0 2010/09/20 -* Production release and review comments incorporated. -* -* Version 0.0.7 2010/06/10 -* Misra-C changes done -* -------------------------------------------------------------------- */ - -#include "arm_math.h" - -/** - * @ingroup groupMath - */ - -/** - * @addtogroup BasicAdd - * @{ - */ - -/** - * @brief Q7 vector addition. - * @param[in] *pSrcA points to the first input vector - * @param[in] *pSrcB points to the second input vector - * @param[out] *pDst points to the output vector - * @param[in] blockSize number of samples in each vector - * @return none. - * - * Scaling and Overflow Behavior: - * \par - * The function uses saturating arithmetic. - * Results outside of the allowable Q7 range [0x80 0x7F] will be saturated. - */ - -void arm_add_q7( - q7_t * pSrcA, - q7_t * pSrcB, - q7_t * pDst, - uint32_t blockSize) -{ - uint32_t blkCnt; /* loop counter */ - -#ifndef ARM_MATH_CM0 - -/* Run the below code for Cortex-M4 and Cortex-M3 */ - - - /*loop Unrolling */ - blkCnt = blockSize >> 2u; - - /* First part of the processing with loop unrolling. Compute 4 outputs at a time. - ** a second loop below computes the remaining 1 to 3 samples. */ - while(blkCnt > 0u) - { - /* C = A + B */ - /* Add and then store the results in the destination buffer. */ - *__SIMD32(pDst)++ = __QADD8(*__SIMD32(pSrcA)++, *__SIMD32(pSrcB)++); - - /* Decrement the loop counter */ - blkCnt--; - } - - /* If the blockSize is not a multiple of 4, compute any remaining output samples here. - ** No loop unrolling is used. */ - blkCnt = blockSize % 0x4u; - - while(blkCnt > 0u) - { - /* C = A + B */ - /* Add and then store the results in the destination buffer. */ - *pDst++ = (q7_t) __SSAT(*pSrcA++ + *pSrcB++, 8); - - /* Decrement the loop counter */ - blkCnt--; - } - -#else - - /* Run the below code for Cortex-M0 */ - - - - /* Initialize blkCnt with number of samples */ - blkCnt = blockSize; - - while(blkCnt > 0u) - { - /* C = A + B */ - /* Add and then store the results in the destination buffer. */ - *pDst++ = (q7_t) __SSAT((q15_t) * pSrcA++ + *pSrcB++, 8); - - /* Decrement the loop counter */ - blkCnt--; - } - -#endif /* #ifndef ARM_MATH_CM0 */ - - -} - -/** - * @} end of BasicAdd group - */ diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_f32.c deleted file mode 100644 index 6f7fbcebf..000000000 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_f32.c +++ /dev/null @@ -1,125 +0,0 @@ -/* ---------------------------------------------------------------------- -* Copyright (C) 2010 ARM Limited. All rights reserved. -* -* $Date: 15. February 2012 -* $Revision: V1.1.0 -* -* Project: CMSIS DSP Library -* Title: arm_dot_prod_f32.c -* -* Description: Floating-point dot product. -* -* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 -* -* Version 1.1.0 2012/02/15 -* Updated with more optimizations, bug fixes and minor API changes. -* -* Version 1.0.10 2011/7/15 -* Big Endian support added and Merged M0 and M3/M4 Source code. -* -* Version 1.0.3 2010/11/29 -* Re-organized the CMSIS folders and updated documentation. -* -* Version 1.0.2 2010/11/11 -* Documentation updated. -* -* Version 1.0.1 2010/10/05 -* Production release and review comments incorporated. -* -* Version 1.0.0 2010/09/20 -* Production release and review comments incorporated. -* -* Version 0.0.7 2010/06/10 -* Misra-C changes done -* ---------------------------------------------------------------------------- */ - -#include "arm_math.h" - -/** - * @ingroup groupMath - */ - -/** - * @defgroup dot_prod Vector Dot Product - * - * Computes the dot product of two vectors. - * The vectors are multiplied element-by-element and then summed. - * There are separate functions for floating-point, Q7, Q15, and Q31 data types. - */ - -/** - * @addtogroup dot_prod - * @{ - */ - -/** - * @brief Dot product of floating-point vectors. - * @param[in] *pSrcA points to the first input vector - * @param[in] *pSrcB points to the second input vector - * @param[in] blockSize number of samples in each vector - * @param[out] *result output result returned here - * @return none. - */ - - -void arm_dot_prod_f32( - float32_t * pSrcA, - float32_t * pSrcB, - uint32_t blockSize, - float32_t * result) -{ - float32_t sum = 0.0f; /* Temporary result storage */ - uint32_t blkCnt; /* loop counter */ - - -#ifndef ARM_MATH_CM0 - -/* Run the below code for Cortex-M4 and Cortex-M3 */ - /*loop Unrolling */ - blkCnt = blockSize >> 2u; - - /* First part of the processing with loop unrolling. Compute 4 outputs at a time. - ** a second loop below computes the remaining 1 to 3 samples. */ - while(blkCnt > 0u) - { - /* C = A[0]* B[0] + A[1]* B[1] + A[2]* B[2] + .....+ A[blockSize-1]* B[blockSize-1] */ - /* Calculate dot product and then store the result in a temporary buffer */ - sum += (*pSrcA++) * (*pSrcB++); - sum += (*pSrcA++) * (*pSrcB++); - sum += (*pSrcA++) * (*pSrcB++); - sum += (*pSrcA++) * (*pSrcB++); - - /* Decrement the loop counter */ - blkCnt--; - } - - /* If the blockSize is not a multiple of 4, compute any remaining output samples here. - ** No loop unrolling is used. */ - blkCnt = blockSize % 0x4u; - -#else - - /* Run the below code for Cortex-M0 */ - - /* Initialize blkCnt with number of samples */ - blkCnt = blockSize; - -#endif /* #ifndef ARM_MATH_CM0 */ - - - while(blkCnt > 0u) - { - /* C = A[0]* B[0] + A[1]* B[1] + A[2]* B[2] + .....+ A[blockSize-1]* B[blockSize-1] */ - /* Calculate dot product and then store the result in a temporary buffer. */ - sum += (*pSrcA++) * (*pSrcB++); - - /* Decrement the loop counter */ - blkCnt--; - } - /* Store the result back in the destination buffer */ - *result = sum; -} - -/** - * @} end of dot_prod group - */ diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q15.c deleted file mode 100644 index 24611a05f..000000000 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q15.c +++ /dev/null @@ -1,135 +0,0 @@ -/* ---------------------------------------------------------------------- -* Copyright (C) 2010 ARM Limited. All rights reserved. -* -* $Date: 15. February 2012 -* $Revision: V1.1.0 -* -* Project: CMSIS DSP Library -* Title: arm_dot_prod_q15.c -* -* Description: Q15 dot product. -* -* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 -* -* Version 1.1.0 2012/02/15 -* Updated with more optimizations, bug fixes and minor API changes. -* -* Version 1.0.10 2011/7/15 -* Big Endian support added and Merged M0 and M3/M4 Source code. -* -* Version 1.0.3 2010/11/29 -* Re-organized the CMSIS folders and updated documentation. -* -* Version 1.0.2 2010/11/11 -* Documentation updated. -* -* Version 1.0.1 2010/10/05 -* Production release and review comments incorporated. -* -* Version 1.0.0 2010/09/20 -* Production release and review comments incorporated. -* -* Version 0.0.7 2010/06/10 -* Misra-C changes done -* -------------------------------------------------------------------- */ - -#include "arm_math.h" - -/** - * @ingroup groupMath - */ - -/** - * @addtogroup dot_prod - * @{ - */ - -/** - * @brief Dot product of Q15 vectors. - * @param[in] *pSrcA points to the first input vector - * @param[in] *pSrcB points to the second input vector - * @param[in] blockSize number of samples in each vector - * @param[out] *result output result returned here - * @return none. - * - * Scaling and Overflow Behavior: - * \par - * The intermediate multiplications are in 1.15 x 1.15 = 2.30 format and these - * results are added to a 64-bit accumulator in 34.30 format. - * Nonsaturating additions are used and given that there are 33 guard bits in the accumulator - * there is no risk of overflow. - * The return result is in 34.30 format. - */ - -void arm_dot_prod_q15( - q15_t * pSrcA, - q15_t * pSrcB, - uint32_t blockSize, - q63_t * result) -{ - q63_t sum = 0; /* Temporary result storage */ - uint32_t blkCnt; /* loop counter */ - -#ifndef ARM_MATH_CM0 - -/* Run the below code for Cortex-M4 and Cortex-M3 */ - - - /*loop Unrolling */ - blkCnt = blockSize >> 2u; - - /* First part of the processing with loop unrolling. Compute 4 outputs at a time. - ** a second loop below computes the remaining 1 to 3 samples. */ - while(blkCnt > 0u) - { - /* C = A[0]* B[0] + A[1]* B[1] + A[2]* B[2] + .....+ A[blockSize-1]* B[blockSize-1] */ - /* Calculate dot product and then store the result in a temporary buffer. */ - sum = __SMLALD(*__SIMD32(pSrcA)++, *__SIMD32(pSrcB)++, sum); - sum = __SMLALD(*__SIMD32(pSrcA)++, *__SIMD32(pSrcB)++, sum); - - /* Decrement the loop counter */ - blkCnt--; - } - - /* If the blockSize is not a multiple of 4, compute any remaining output samples here. - ** No loop unrolling is used. */ - blkCnt = blockSize % 0x4u; - - while(blkCnt > 0u) - { - /* C = A[0]* B[0] + A[1]* B[1] + A[2]* B[2] + .....+ A[blockSize-1]* B[blockSize-1] */ - /* Calculate dot product and then store the results in a temporary buffer. */ - sum = __SMLALD(*pSrcA++, *pSrcB++, sum); - - /* Decrement the loop counter */ - blkCnt--; - } - - -#else - - /* Run the below code for Cortex-M0 */ - - /* Initialize blkCnt with number of samples */ - blkCnt = blockSize; - - while(blkCnt > 0u) - { - /* C = A[0]* B[0] + A[1]* B[1] + A[2]* B[2] + .....+ A[blockSize-1]* B[blockSize-1] */ - /* Calculate dot product and then store the results in a temporary buffer. */ - sum += (q63_t) ((q31_t) * pSrcA++ * *pSrcB++); - - /* Decrement the loop counter */ - blkCnt--; - } - -#endif /* #ifndef ARM_MATH_CM0 */ - - /* Store the result in the destination buffer in 34.30 format */ - *result = sum; - -} - -/** - * @} end of dot_prod group - */ diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q31.c deleted file mode 100644 index 5e4031338..000000000 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q31.c +++ /dev/null @@ -1,138 +0,0 @@ -/* ---------------------------------------------------------------------- -* Copyright (C) 2010 ARM Limited. All rights reserved. -* -* $Date: 15. February 2012 -* $Revision: V1.1.0 -* -* Project: CMSIS DSP Library -* Title: arm_dot_prod_q31.c -* -* Description: Q31 dot product. -* -* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 -* -* Version 1.1.0 2012/02/15 -* Updated with more optimizations, bug fixes and minor API changes. -* -* Version 1.0.10 2011/7/15 -* Big Endian support added and Merged M0 and M3/M4 Source code. -* -* Version 1.0.3 2010/11/29 -* Re-organized the CMSIS folders and updated documentation. -* -* Version 1.0.2 2010/11/11 -* Documentation updated. -* -* Version 1.0.1 2010/10/05 -* Production release and review comments incorporated. -* -* Version 1.0.0 2010/09/20 -* Production release and review comments incorporated. -* -* Version 0.0.7 2010/06/10 -* Misra-C changes done -* -------------------------------------------------------------------- */ - -#include "arm_math.h" - -/** - * @ingroup groupMath - */ - -/** - * @addtogroup dot_prod - * @{ - */ - -/** - * @brief Dot product of Q31 vectors. - * @param[in] *pSrcA points to the first input vector - * @param[in] *pSrcB points to the second input vector - * @param[in] blockSize number of samples in each vector - * @param[out] *result output result returned here - * @return none. - * - * Scaling and Overflow Behavior: - * \par - * The intermediate multiplications are in 1.31 x 1.31 = 2.62 format and these - * are truncated to 2.48 format by discarding the lower 14 bits. - * The 2.48 result is then added without saturation to a 64-bit accumulator in 16.48 format. - * There are 15 guard bits in the accumulator and there is no risk of overflow as long as - * the length of the vectors is less than 2^16 elements. - * The return result is in 16.48 format. - */ - -void arm_dot_prod_q31( - q31_t * pSrcA, - q31_t * pSrcB, - uint32_t blockSize, - q63_t * result) -{ - q63_t sum = 0; /* Temporary result storage */ - uint32_t blkCnt; /* loop counter */ - - -#ifndef ARM_MATH_CM0 - -/* Run the below code for Cortex-M4 and Cortex-M3 */ - q31_t inA1, inA2, inA3, inA4; - q31_t inB1, inB2, inB3, inB4; - - /*loop Unrolling */ - blkCnt = blockSize >> 2u; - - /* First part of the processing with loop unrolling. Compute 4 outputs at a time. - ** a second loop below computes the remaining 1 to 3 samples. */ - while(blkCnt > 0u) - { - /* C = A[0]* B[0] + A[1]* B[1] + A[2]* B[2] + .....+ A[blockSize-1]* B[blockSize-1] */ - /* Calculate dot product and then store the result in a temporary buffer. */ - inA1 = *pSrcA++; - inA2 = *pSrcA++; - inA3 = *pSrcA++; - inA4 = *pSrcA++; - inB1 = *pSrcB++; - inB2 = *pSrcB++; - inB3 = *pSrcB++; - inB4 = *pSrcB++; - - sum += ((q63_t) inA1 * inB1) >> 14u; - sum += ((q63_t) inA2 * inB2) >> 14u; - sum += ((q63_t) inA3 * inB3) >> 14u; - sum += ((q63_t) inA4 * inB4) >> 14u; - - /* Decrement the loop counter */ - blkCnt--; - } - - /* If the blockSize is not a multiple of 4, compute any remaining output samples here. - ** No loop unrolling is used. */ - blkCnt = blockSize % 0x4u; - -#else - - /* Run the below code for Cortex-M0 */ - - /* Initialize blkCnt with number of samples */ - blkCnt = blockSize; - -#endif /* #ifndef ARM_MATH_CM0 */ - - - while(blkCnt > 0u) - { - /* C = A[0]* B[0] + A[1]* B[1] + A[2]* B[2] + .....+ A[blockSize-1]* B[blockSize-1] */ - /* Calculate dot product and then store the result in a temporary buffer. */ - sum += ((q63_t) * pSrcA++ * *pSrcB++) >> 14u; - - /* Decrement the loop counter */ - blkCnt--; - } - - /* Store the result in the destination buffer in 16.48 format */ - *result = sum; -} - -/** - * @} end of dot_prod group - */ diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q7.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q7.c deleted file mode 100644 index ddf2d0c24..000000000 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q7.c +++ /dev/null @@ -1,154 +0,0 @@ -/* ---------------------------------------------------------------------- -* Copyright (C) 2010 ARM Limited. All rights reserved. -* -* $Date: 15. February 2012 -* $Revision: V1.1.0 -* -* Project: CMSIS DSP Library -* Title: arm_dot_prod_q7.c -* -* Description: Q7 dot product. -* -* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 -* -* Version 1.1.0 2012/02/15 -* Updated with more optimizations, bug fixes and minor API changes. -* -* Version 1.0.10 2011/7/15 -* Big Endian support added and Merged M0 and M3/M4 Source code. -* -* Version 1.0.3 2010/11/29 -* Re-organized the CMSIS folders and updated documentation. -* -* Version 1.0.2 2010/11/11 -* Documentation updated. -* -* Version 1.0.1 2010/10/05 -* Production release and review comments incorporated. -* -* Version 1.0.0 2010/09/20 -* Production release and review comments incorporated. -* -* Version 0.0.7 2010/06/10 -* Misra-C changes done -* -------------------------------------------------------------------- */ - -#include "arm_math.h" - -/** - * @ingroup groupMath - */ - -/** - * @addtogroup dot_prod - * @{ - */ - -/** - * @brief Dot product of Q7 vectors. - * @param[in] *pSrcA points to the first input vector - * @param[in] *pSrcB points to the second input vector - * @param[in] blockSize number of samples in each vector - * @param[out] *result output result returned here - * @return none. - * - * Scaling and Overflow Behavior: - * \par - * The intermediate multiplications are in 1.7 x 1.7 = 2.14 format and these - * results are added to an accumulator in 18.14 format. - * Nonsaturating additions are used and there is no danger of wrap around as long as - * the vectors are less than 2^18 elements long. - * The return result is in 18.14 format. - */ - -void arm_dot_prod_q7( - q7_t * pSrcA, - q7_t * pSrcB, - uint32_t blockSize, - q31_t * result) -{ - uint32_t blkCnt; /* loop counter */ - - q31_t sum = 0; /* Temporary variables to store output */ - -#ifndef ARM_MATH_CM0 - -/* Run the below code for Cortex-M4 and Cortex-M3 */ - - q31_t input1, input2; /* Temporary variables to store input */ - q31_t inA1, inA2, inB1, inB2; /* Temporary variables to store input */ - - - - /*loop Unrolling */ - blkCnt = blockSize >> 2u; - - /* First part of the processing with loop unrolling. Compute 4 outputs at a time. - ** a second loop below computes the remaining 1 to 3 samples. */ - while(blkCnt > 0u) - { - /* read 4 samples at a time from sourceA */ - input1 = *__SIMD32(pSrcA)++; - /* read 4 samples at a time from sourceB */ - input2 = *__SIMD32(pSrcB)++; - - /* extract two q7_t samples to q15_t samples */ - inA1 = __SXTB16(__ROR(input1, 8)); - /* extract reminaing two samples */ - inA2 = __SXTB16(input1); - /* extract two q7_t samples to q15_t samples */ - inB1 = __SXTB16(__ROR(input2, 8)); - /* extract reminaing two samples */ - inB2 = __SXTB16(input2); - - /* multiply and accumulate two samples at a time */ - sum = __SMLAD(inA1, inB1, sum); - sum = __SMLAD(inA2, inB2, sum); - - /* Decrement the loop counter */ - blkCnt--; - } - - /* If the blockSize is not a multiple of 4, compute any remaining output samples here. - ** No loop unrolling is used. */ - blkCnt = blockSize % 0x4u; - - while(blkCnt > 0u) - { - /* C = A[0]* B[0] + A[1]* B[1] + A[2]* B[2] + .....+ A[blockSize-1]* B[blockSize-1] */ - /* Dot product and then store the results in a temporary buffer. */ - sum = __SMLAD(*pSrcA++, *pSrcB++, sum); - - /* Decrement the loop counter */ - blkCnt--; - } - -#else - - /* Run the below code for Cortex-M0 */ - - - - /* Initialize blkCnt with number of samples */ - blkCnt = blockSize; - - while(blkCnt > 0u) - { - /* C = A[0]* B[0] + A[1]* B[1] + A[2]* B[2] + .....+ A[blockSize-1]* B[blockSize-1] */ - /* Dot product and then store the results in a temporary buffer. */ - sum += (q31_t) ((q15_t) * pSrcA++ * *pSrcB++); - - /* Decrement the loop counter */ - blkCnt--; - } - -#endif /* #ifndef ARM_MATH_CM0 */ - - - /* Store the result in the destination buffer in 18.14 format */ - *result = sum; -} - -/** - * @} end of dot_prod group - */ diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_f32.c deleted file mode 100644 index 88a458b40..000000000 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_f32.c +++ /dev/null @@ -1,172 +0,0 @@ -/* ---------------------------------------------------------------------- -* Copyright (C) 2010 ARM Limited. All rights reserved. -* -* $Date: 15. February 2012 -* $Revision: V1.1.0 -* -* Project: CMSIS DSP Library -* Title: arm_mult_f32.c -* -* Description: Floating-point vector multiplication. -* -* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 -* -* Version 1.1.0 2012/02/15 -* Updated with more optimizations, bug fixes and minor API changes. -* -* Version 1.0.10 2011/7/15 -* Big Endian support added and Merged M0 and M3/M4 Source code. -* -* Version 1.0.3 2010/11/29 -* Re-organized the CMSIS folders and updated documentation. -* -* Version 1.0.2 2010/11/11 -* Documentation updated. -* -* Version 1.0.1 2010/10/05 -* Production release and review comments incorporated. -* -* Version 1.0.0 2010/09/20 -* Production release and review comments incorporated. -* -* Version 0.0.5 2010/04/26 -* incorporated review comments and updated with latest CMSIS layer -* -* Version 0.0.3 2010/03/10 -* Initial version -* -------------------------------------------------------------------- */ - -#include "arm_math.h" - -/** - * @ingroup groupMath - */ - -/** - * @defgroup BasicMult Vector Multiplication - * - * Element-by-element multiplication of two vectors. - * - * 
        
- *     pDst[n] = pSrcA[n] * pSrcB[n],   0 <= n < blockSize.        
- *
- * - * There are separate functions for floating-point, Q7, Q15, and Q31 data types. - */ - -/** - * @addtogroup BasicMult - * @{ - */ - -/** - * @brief Floating-point vector multiplication. - * @param[in] *pSrcA points to the first input vector - * @param[in] *pSrcB points to the second input vector - * @param[out] *pDst points to the output vector - * @param[in] blockSize number of samples in each vector - * @return none. - */ - -void arm_mult_f32( - float32_t * pSrcA, - float32_t * pSrcB, - float32_t * pDst, - uint32_t blockSize) -{ - uint32_t blkCnt; /* loop counters */ -#ifndef ARM_MATH_CM0 - - /* Run the below code for Cortex-M4 and Cortex-M3 */ - float32_t inA1, inA2, inA3, inA4; /* temporary input variables */ - float32_t inB1, inB2, inB3, inB4; /* temporary input variables */ - float32_t out1, out2, out3, out4; /* temporary output variables */ - - /* loop Unrolling */ - blkCnt = blockSize >> 2u; - - /* First part of the processing with loop unrolling. Compute 4 outputs at a time. - ** a second loop below computes the remaining 1 to 3 samples. */ - while(blkCnt > 0u) - { - /* C = A * B */ - /* Multiply the inputs and store the results in output buffer */ - /* read sample from sourceA */ - inA1 = *pSrcA; - /* read sample from sourceB */ - inB1 = *pSrcB; - /* read sample from sourceA */ - inA2 = *(pSrcA + 1); - /* read sample from sourceB */ - inB2 = *(pSrcB + 1); - - /* out = sourceA * sourceB */ - out1 = inA1 * inB1; - - /* read sample from sourceA */ - inA3 = *(pSrcA + 2); - /* read sample from sourceB */ - inB3 = *(pSrcB + 2); - - /* out = sourceA * sourceB */ - out2 = inA2 * inB2; - - /* read sample from sourceA */ - inA4 = *(pSrcA + 3); - - /* store result to destination buffer */ - *pDst = out1; - - /* read sample from sourceB */ - inB4 = *(pSrcB + 3); - - /* out = sourceA * sourceB */ - out3 = inA3 * inB3; - - /* store result to destination buffer */ - *(pDst + 1) = out2; - - /* out = sourceA * sourceB */ - out4 = inA4 * inB4; - /* store result to destination buffer */ - *(pDst + 2) = out3; - /* store result to destination buffer */ - *(pDst + 3) = out4; - - - /* update pointers to process next samples */ - pSrcA += 4u; - pSrcB += 4u; - pDst += 4u; - - /* Decrement the blockSize loop counter */ - blkCnt--; - } - - /* If the blockSize is not a multiple of 4, compute any remaining output samples here. - ** No loop unrolling is used. */ - blkCnt = blockSize % 0x4u; - -#else - - /* Run the below code for Cortex-M0 */ - - /* Initialize blkCnt with number of samples */ - blkCnt = blockSize; - -#endif /* #ifndef ARM_MATH_CM0 */ - - while(blkCnt > 0u) - { - /* C = A * B */ - /* Multiply the inputs and store the results in output buffer */ - *pDst++ = (*pSrcA++) * (*pSrcB++); - - /* Decrement the blockSize loop counter */ - blkCnt--; - } -} - -/** - * @} end of BasicMult group - */ diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q15.c deleted file mode 100644 index 99d44a4ba..000000000 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q15.c +++ /dev/null @@ -1,152 +0,0 @@ -/* ---------------------------------------------------------------------- -* Copyright (C) 2010 ARM Limited. All rights reserved. -* -* $Date: 15. February 2012 -* $Revision: V1.1.0 -* -* Project: CMSIS DSP Library -* Title: arm_mult_q15.c -* -* Description: Q15 vector multiplication. -* -* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 -* -* Version 1.1.0 2012/02/15 -* Updated with more optimizations, bug fixes and minor API changes. -* -* Version 1.0.10 2011/7/15 -* Big Endian support added and Merged M0 and M3/M4 Source code. -* -* Version 1.0.3 2010/11/29 -* Re-organized the CMSIS folders and updated documentation. -* -* Version 1.0.2 2010/11/11 -* Documentation updated. -* -* Version 1.0.1 2010/10/05 -* Production release and review comments incorporated. -* -* Version 1.0.0 2010/09/20 -* Production release and review comments incorporated. -* -* Version 0.0.5 2010/04/26 -* incorporated review comments and updated with latest CMSIS layer -* -* Version 0.0.3 2010/03/10 -* Initial version -* -------------------------------------------------------------------- */ - -#include "arm_math.h" - -/** - * @ingroup groupMath - */ - -/** - * @addtogroup BasicMult - * @{ - */ - - -/** - * @brief Q15 vector multiplication - * @param[in] *pSrcA points to the first input vector - * @param[in] *pSrcB points to the second input vector - * @param[out] *pDst points to the output vector - * @param[in] blockSize number of samples in each vector - * @return none. - * - * Scaling and Overflow Behavior: - * \par - * The function uses saturating arithmetic. - * Results outside of the allowable Q15 range [0x8000 0x7FFF] will be saturated. - */ - -void arm_mult_q15( - q15_t * pSrcA, - q15_t * pSrcB, - q15_t * pDst, - uint32_t blockSize) -{ - uint32_t blkCnt; /* loop counters */ - -#ifndef ARM_MATH_CM0 - -/* Run the below code for Cortex-M4 and Cortex-M3 */ - q31_t inA1, inA2, inB1, inB2; /* temporary input variables */ - q15_t out1, out2, out3, out4; /* temporary output variables */ - q31_t mul1, mul2, mul3, mul4; /* temporary variables */ - - /* loop Unrolling */ - blkCnt = blockSize >> 2u; - - /* First part of the processing with loop unrolling. Compute 4 outputs at a time. - ** a second loop below computes the remaining 1 to 3 samples. */ - while(blkCnt > 0u) - { - /* read two samples at a time from sourceA */ - inA1 = *__SIMD32(pSrcA)++; - /* read two samples at a time from sourceB */ - inB1 = *__SIMD32(pSrcB)++; - /* read two samples at a time from sourceA */ - inA2 = *__SIMD32(pSrcA)++; - /* read two samples at a time from sourceB */ - inB2 = *__SIMD32(pSrcB)++; - - /* multiply mul = sourceA * sourceB */ - mul1 = (q31_t) ((q15_t) (inA1 >> 16) * (q15_t) (inB1 >> 16)); - mul2 = (q31_t) ((q15_t) inA1 * (q15_t) inB1); - mul3 = (q31_t) ((q15_t) (inA2 >> 16) * (q15_t) (inB2 >> 16)); - mul4 = (q31_t) ((q15_t) inA2 * (q15_t) inB2); - - /* saturate result to 16 bit */ - out1 = (q15_t) __SSAT(mul1 >> 15, 16); - out2 = (q15_t) __SSAT(mul2 >> 15, 16); - out3 = (q15_t) __SSAT(mul3 >> 15, 16); - out4 = (q15_t) __SSAT(mul4 >> 15, 16); - - /* store the result */ -#ifndef ARM_MATH_BIG_ENDIAN - - *__SIMD32(pDst)++ = __PKHBT(out2, out1, 16); - *__SIMD32(pDst)++ = __PKHBT(out4, out3, 16); - -#else - - *__SIMD32(pDst)++ = __PKHBT(out2, out1, 16); - *__SIMD32(pDst)++ = __PKHBT(out4, out3, 16); - -#endif // #ifndef ARM_MATH_BIG_ENDIAN - - /* Decrement the blockSize loop counter */ - blkCnt--; - } - - /* If the blockSize is not a multiple of 4, compute any remaining output samples here. - ** No loop unrolling is used. */ - blkCnt = blockSize % 0x4u; - -#else - - /* Run the below code for Cortex-M0 */ - - /* Initialize blkCnt with number of samples */ - blkCnt = blockSize; - -#endif /* #ifndef ARM_MATH_CM0 */ - - - while(blkCnt > 0u) - { - /* C = A * B */ - /* Multiply the inputs and store the result in the destination buffer */ - *pDst++ = (q15_t) __SSAT((((q31_t) (*pSrcA++) * (*pSrcB++)) >> 15), 16); - - /* Decrement the blockSize loop counter */ - blkCnt--; - } -} - -/** - * @} end of BasicMult group - */ diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q31.c deleted file mode 100644 index 37ec8e25e..000000000 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q31.c +++ /dev/null @@ -1,143 +0,0 @@ -/* ---------------------------------------------------------------------- -* Copyright (C) 2010 ARM Limited. All rights reserved. -* -* $Date: 15. February 2012 -* $Revision: V1.1.0 -* -* Project: CMSIS DSP Library -* Title: arm_mult_q31.c -* -* Description: Q31 vector multiplication. -* -* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 -* -* Version 1.1.0 2012/02/15 -* Updated with more optimizations, bug fixes and minor API changes. -* -* Version 1.0.10 2011/7/15 -* Big Endian support added and Merged M0 and M3/M4 Source code. -* -* Version 1.0.3 2010/11/29 -* Re-organized the CMSIS folders and updated documentation. -* -* Version 1.0.2 2010/11/11 -* Documentation updated. -* -* Version 1.0.1 2010/10/05 -* Production release and review comments incorporated. -* -* Version 1.0.0 2010/09/20 -* Production release and review comments incorporated. -* -* Version 0.0.5 2010/04/26 -* incorporated review comments and updated with latest CMSIS layer -* -* Version 0.0.3 2010/03/10 -* Initial version -* -------------------------------------------------------------------- */ - -#include "arm_math.h" - -/** - * @ingroup groupMath - */ - -/** - * @addtogroup BasicMult - * @{ - */ - -/** - * @brief Q31 vector multiplication. - * @param[in] *pSrcA points to the first input vector - * @param[in] *pSrcB points to the second input vector - * @param[out] *pDst points to the output vector - * @param[in] blockSize number of samples in each vector - * @return none. - * - * Scaling and Overflow Behavior: - * \par - * The function uses saturating arithmetic. - * Results outside of the allowable Q31 range[0x80000000 0x7FFFFFFF] will be saturated. - */ - -void arm_mult_q31( - q31_t * pSrcA, - q31_t * pSrcB, - q31_t * pDst, - uint32_t blockSize) -{ - uint32_t blkCnt; /* loop counters */ - -#ifndef ARM_MATH_CM0 - -/* Run the below code for Cortex-M4 and Cortex-M3 */ - q31_t inA1, inA2, inA3, inA4; /* temporary input variables */ - q31_t inB1, inB2, inB3, inB4; /* temporary input variables */ - q31_t out1, out2, out3, out4; /* temporary output variables */ - - /* loop Unrolling */ - blkCnt = blockSize >> 2u; - - /* First part of the processing with loop unrolling. Compute 4 outputs at a time. - ** a second loop below computes the remaining 1 to 3 samples. */ - while(blkCnt > 0u) - { - /* C = A * B */ - /* Multiply the inputs and then store the results in the destination buffer. */ - inA1 = *pSrcA++; - inA2 = *pSrcA++; - inA3 = *pSrcA++; - inA4 = *pSrcA++; - inB1 = *pSrcB++; - inB2 = *pSrcB++; - inB3 = *pSrcB++; - inB4 = *pSrcB++; - - out1 = ((q63_t) inA1 * inB1) >> 32; - out2 = ((q63_t) inA2 * inB2) >> 32; - out3 = ((q63_t) inA3 * inB3) >> 32; - out4 = ((q63_t) inA4 * inB4) >> 32; - - out1 = __SSAT(out1, 31); - out2 = __SSAT(out2, 31); - out3 = __SSAT(out3, 31); - out4 = __SSAT(out4, 31); - - *pDst++ = out1 << 1u; - *pDst++ = out2 << 1u; - *pDst++ = out3 << 1u; - *pDst++ = out4 << 1u; - - /* Decrement the blockSize loop counter */ - blkCnt--; - } - - /* If the blockSize is not a multiple of 4, compute any remaining output samples here. - ** No loop unrolling is used. */ - blkCnt = blockSize % 0x4u; - -#else - - /* Run the below code for Cortex-M0 */ - - /* Initialize blkCnt with number of samples */ - blkCnt = blockSize; - -#endif /* #ifndef ARM_MATH_CM0 */ - - while(blkCnt > 0u) - { - /* C = A * B */ - /* Multiply the inputs and then store the results in the destination buffer. */ - *pDst++ = - (q31_t) clip_q63_to_q31(((q63_t) (*pSrcA++) * (*pSrcB++)) >> 31); - - /* Decrement the blockSize loop counter */ - blkCnt--; - } -} - -/** - * @} end of BasicMult group - */ diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q7.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q7.c deleted file mode 100644 index 14ee23ea6..000000000 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q7.c +++ /dev/null @@ -1,128 +0,0 @@ -/* ---------------------------------------------------------------------- -* Copyright (C) 2010 ARM Limited. All rights reserved. -* -* $Date: 15. February 2012 -* $Revision: V1.1.0 -* -* Project: CMSIS DSP Library -* Title: arm_mult_q7.c -* -* Description: Q7 vector multiplication. -* -* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 -* -* Version 1.1.0 2012/02/15 -* Updated with more optimizations, bug fixes and minor API changes. -* -* Version 1.0.10 2011/7/15 -* Big Endian support added and Merged M0 and M3/M4 Source code. -* -* Version 1.0.3 2010/11/29 -* Re-organized the CMSIS folders and updated documentation. -* -* Version 1.0.2 2010/11/11 -* Documentation updated. -* -* Version 1.0.1 2010/10/05 -* Production release and review comments incorporated. -* -* Version 1.0.0 2010/09/20 -* Production release and review comments incorporated. -* -* Version 0.0.7 2010/06/10 -* Misra-C changes done -* -* Version 0.0.5 2010/04/26 -* incorporated review comments and updated with latest CMSIS layer -* -* Version 0.0.3 2010/03/10 DP -* Initial version -* -------------------------------------------------------------------- */ - -#include "arm_math.h" - -/** - * @ingroup groupMath - */ - -/** - * @addtogroup BasicMult - * @{ - */ - -/** - * @brief Q7 vector multiplication - * @param[in] *pSrcA points to the first input vector - * @param[in] *pSrcB points to the second input vector - * @param[out] *pDst points to the output vector - * @param[in] blockSize number of samples in each vector - * @return none. - * - * Scaling and Overflow Behavior: - * \par - * The function uses saturating arithmetic. - * Results outside of the allowable Q7 range [0x80 0x7F] will be saturated. - */ - -void arm_mult_q7( - q7_t * pSrcA, - q7_t * pSrcB, - q7_t * pDst, - uint32_t blockSize) -{ - uint32_t blkCnt; /* loop counters */ - -#ifndef ARM_MATH_CM0 - -/* Run the below code for Cortex-M4 and Cortex-M3 */ - q7_t out1, out2, out3, out4; /* Temporary variables to store the product */ - - /* loop Unrolling */ - blkCnt = blockSize >> 2u; - - /* First part of the processing with loop unrolling. Compute 4 outputs at a time. - ** a second loop below computes the remaining 1 to 3 samples. */ - while(blkCnt > 0u) - { - /* C = A * B */ - /* Multiply the inputs and store the results in temporary variables */ - out1 = (q7_t) __SSAT((((q15_t) (*pSrcA++) * (*pSrcB++)) >> 7), 8); - out2 = (q7_t) __SSAT((((q15_t) (*pSrcA++) * (*pSrcB++)) >> 7), 8); - out3 = (q7_t) __SSAT((((q15_t) (*pSrcA++) * (*pSrcB++)) >> 7), 8); - out4 = (q7_t) __SSAT((((q15_t) (*pSrcA++) * (*pSrcB++)) >> 7), 8); - - /* Store the results of 4 inputs in the destination buffer in single cycle by packing */ - *__SIMD32(pDst)++ = __PACKq7(out1, out2, out3, out4); - - /* Decrement the blockSize loop counter */ - blkCnt--; - } - - /* If the blockSize is not a multiple of 4, compute any remaining output samples here. - ** No loop unrolling is used. */ - blkCnt = blockSize % 0x4u; - -#else - - /* Run the below code for Cortex-M0 */ - - /* Initialize blkCnt with number of samples */ - blkCnt = blockSize; - -#endif /* #ifndef ARM_MATH_CM0 */ - - - while(blkCnt > 0u) - { - /* C = A * B */ - /* Multiply the inputs and store the result in the destination buffer */ - *pDst++ = (q7_t) __SSAT((((q15_t) (*pSrcA++) * (*pSrcB++)) >> 7), 8); - - /* Decrement the blockSize loop counter */ - blkCnt--; - } -} - -/** - * @} end of BasicMult group - */ diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_f32.c deleted file mode 100644 index 4f4d423ac..000000000 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_f32.c +++ /dev/null @@ -1,137 +0,0 @@ -/* ---------------------------------------------------------------------- -* Copyright (C) 2010 ARM Limited. All rights reserved. -* -* $Date: 15. February 2012 -* $Revision: V1.1.0 -* -* Project: CMSIS DSP Library -* Title: arm_negate_f32.c -* -* Description: Negates floating-point vectors. -* -* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 -* -* Version 1.1.0 2012/02/15 -* Updated with more optimizations, bug fixes and minor API changes. -* -* Version 1.0.10 2011/7/15 -* Big Endian support added and Merged M0 and M3/M4 Source code. -* -* Version 1.0.3 2010/11/29 -* Re-organized the CMSIS folders and updated documentation. -* -* Version 1.0.2 2010/11/11 -* Documentation updated. -* -* Version 1.0.1 2010/10/05 -* Production release and review comments incorporated. -* -* Version 1.0.0 2010/09/20 -* Production release and review comments incorporated. -* -* Version 0.0.7 2010/06/10 -* Misra-C changes done -* ---------------------------------------------------------------------------- */ - -#include "arm_math.h" - -/** - * @ingroup groupMath - */ - -/** - * @defgroup negate Vector Negate - * - * Negates the elements of a vector. - * - * 
        
- *     pDst[n] = -pSrc[n],   0 <= n < blockSize.        
- *
- */ - -/** - * @addtogroup negate - * @{ - */ - -/** - * @brief Negates the elements of a floating-point vector. - * @param[in] *pSrc points to the input vector - * @param[out] *pDst points to the output vector - * @param[in] blockSize number of samples in the vector - * @return none. - */ - -void arm_negate_f32( - float32_t * pSrc, - float32_t * pDst, - uint32_t blockSize) -{ - uint32_t blkCnt; /* loop counter */ - - -#ifndef ARM_MATH_CM0 - -/* Run the below code for Cortex-M4 and Cortex-M3 */ - float32_t in1, in2, in3, in4; /* temporary variables */ - - /*loop Unrolling */ - blkCnt = blockSize >> 2u; - - /* First part of the processing with loop unrolling. Compute 4 outputs at a time. - ** a second loop below computes the remaining 1 to 3 samples. */ - while(blkCnt > 0u) - { - /* read inputs from source */ - in1 = *pSrc; - in2 = *(pSrc + 1); - in3 = *(pSrc + 2); - in4 = *(pSrc + 3); - - /* negate the input */ - in1 = -in1; - in2 = -in2; - in3 = -in3; - in4 = -in4; - - /* store the result to destination */ - *pDst = in1; - *(pDst + 1) = in2; - *(pDst + 2) = in3; - *(pDst + 3) = in4; - - /* update pointers to process next samples */ - pSrc += 4u; - pDst += 4u; - - /* Decrement the loop counter */ - blkCnt--; - } - - /* If the blockSize is not a multiple of 4, compute any remaining output samples here. - ** No loop unrolling is used. */ - blkCnt = blockSize % 0x4u; - -#else - - /* Run the below code for Cortex-M0 */ - - /* Initialize blkCnt with number of samples */ - blkCnt = blockSize; - -#endif /* #ifndef ARM_MATH_CM0 */ - - while(blkCnt > 0u) - { - /* C = -A */ - /* Negate and then store the results in the destination buffer. */ - *pDst++ = -*pSrc++; - - /* Decrement the loop counter */ - blkCnt--; - } -} - -/** - * @} end of negate group - */ diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q15.c deleted file mode 100644 index 21d58d1a4..000000000 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q15.c +++ /dev/null @@ -1,137 +0,0 @@ -/* ---------------------------------------------------------------------- -* Copyright (C) 2010 ARM Limited. All rights reserved. -* -* $Date: 15. February 2012 -* $Revision: V1.1.0 -* -* Project: CMSIS DSP Library -* Title: arm_negate_q15.c -* -* Description: Negates Q15 vectors. -* -* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 -* -* Version 1.1.0 2012/02/15 -* Updated with more optimizations, bug fixes and minor API changes. -* -* Version 1.0.10 2011/7/15 -* Big Endian support added and Merged M0 and M3/M4 Source code. -* -* Version 1.0.3 2010/11/29 -* Re-organized the CMSIS folders and updated documentation. -* -* Version 1.0.2 2010/11/11 -* Documentation updated. -* -* Version 1.0.1 2010/10/05 -* Production release and review comments incorporated. -* -* Version 1.0.0 2010/09/20 -* Production release and review comments incorporated. -* -* Version 0.0.7 2010/06/10 -* Misra-C changes done -* -------------------------------------------------------------------- */ -#include "arm_math.h" - -/** - * @ingroup groupMath - */ - -/** - * @addtogroup negate - * @{ - */ - -/** - * @brief Negates the elements of a Q15 vector. - * @param[in] *pSrc points to the input vector - * @param[out] *pDst points to the output vector - * @param[in] blockSize number of samples in the vector - * @return none. - * - * \par Conditions for optimum performance - * Input and output buffers should be aligned by 32-bit - * - * - * Scaling and Overflow Behavior: - * \par - * The function uses saturating arithmetic. - * The Q15 value -1 (0x8000) will be saturated to the maximum allowable positive value 0x7FFF. - */ - -void arm_negate_q15( - q15_t * pSrc, - q15_t * pDst, - uint32_t blockSize) -{ - uint32_t blkCnt; /* loop counter */ - q15_t in; - -#ifndef ARM_MATH_CM0 - -/* Run the below code for Cortex-M4 and Cortex-M3 */ - - q31_t in1, in2; /* Temporary variables */ - - - /*loop Unrolling */ - blkCnt = blockSize >> 2u; - - /* First part of the processing with loop unrolling. Compute 4 outputs at a time. - ** a second loop below computes the remaining 1 to 3 samples. */ - while(blkCnt > 0u) - { - /* C = -A */ - /* Read two inputs at a time */ - in1 = _SIMD32_OFFSET(pSrc); - in2 = _SIMD32_OFFSET(pSrc + 2); - - /* negate two samples at a time */ - in1 = __QSUB16(0, in1); - - /* negate two samples at a time */ - in2 = __QSUB16(0, in2); - - /* store the result to destination 2 samples at a time */ - _SIMD32_OFFSET(pDst) = in1; - /* store the result to destination 2 samples at a time */ - _SIMD32_OFFSET(pDst + 2) = in2; - - - /* update pointers to process next samples */ - pSrc += 4u; - pDst += 4u; - - /* Decrement the loop counter */ - blkCnt--; - } - - /* If the blockSize is not a multiple of 4, compute any remaining output samples here. - ** No loop unrolling is used. */ - blkCnt = blockSize % 0x4u; - -#else - - /* Run the below code for Cortex-M0 */ - - /* Initialize blkCnt with number of samples */ - blkCnt = blockSize; - -#endif /* #ifndef ARM_MATH_CM0 */ - - while(blkCnt > 0u) - { - /* C = -A */ - /* Negate and then store the result in the destination buffer. */ - in = *pSrc++; - *pDst++ = (in == (q15_t) 0x8000) ? 0x7fff : -in; - - /* Decrement the loop counter */ - blkCnt--; - } -} - -/** - * @} end of negate group - */ diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q31.c deleted file mode 100644 index fc28c3621..000000000 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q31.c +++ /dev/null @@ -1,124 +0,0 @@ -/* ---------------------------------------------------------------------- -* Copyright (C) 2010 ARM Limited. All rights reserved. -* -* $Date: 15. February 2012 -* $Revision: V1.1.0 -* -* Project: CMSIS DSP Library -* Title: arm_negate_q31.c -* -* Description: Negates Q31 vectors. -* -* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 -* -* Version 1.1.0 2012/02/15 -* Updated with more optimizations, bug fixes and minor API changes. -* -* Version 1.0.10 2011/7/15 -* Big Endian support added and Merged M0 and M3/M4 Source code. -* -* Version 1.0.3 2010/11/29 -* Re-organized the CMSIS folders and updated documentation. -* -* Version 1.0.2 2010/11/11 -* Documentation updated. -* -* Version 1.0.1 2010/10/05 -* Production release and review comments incorporated. -* -* Version 1.0.0 2010/09/20 -* Production release and review comments incorporated. -* -* Version 0.0.7 2010/06/10 -* Misra-C changes done -* -------------------------------------------------------------------- */ - -#include "arm_math.h" - -/** - * @ingroup groupMath - */ - -/** - * @addtogroup negate - * @{ - */ - -/** - * @brief Negates the elements of a Q31 vector. - * @param[in] *pSrc points to the input vector - * @param[out] *pDst points to the output vector - * @param[in] blockSize number of samples in the vector - * @return none. - * - * Scaling and Overflow Behavior: - * \par - * The function uses saturating arithmetic. - * The Q31 value -1 (0x80000000) will be saturated to the maximum allowable positive value 0x7FFFFFFF. - */ - -void arm_negate_q31( - q31_t * pSrc, - q31_t * pDst, - uint32_t blockSize) -{ - q31_t in; /* Temporary variable */ - uint32_t blkCnt; /* loop counter */ - -#ifndef ARM_MATH_CM0 - -/* Run the below code for Cortex-M4 and Cortex-M3 */ - q31_t in1, in2, in3, in4; - - /*loop Unrolling */ - blkCnt = blockSize >> 2u; - - /* First part of the processing with loop unrolling. Compute 4 outputs at a time. - ** a second loop below computes the remaining 1 to 3 samples. */ - while(blkCnt > 0u) - { - /* C = -A */ - /* Negate and then store the results in the destination buffer. */ - in1 = *pSrc++; - in2 = *pSrc++; - in3 = *pSrc++; - in4 = *pSrc++; - - *pDst++ = __QSUB(0, in1); - *pDst++ = __QSUB(0, in2); - *pDst++ = __QSUB(0, in3); - *pDst++ = __QSUB(0, in4); - - /* Decrement the loop counter */ - blkCnt--; - } - - /* If the blockSize is not a multiple of 4, compute any remaining output samples here. - ** No loop unrolling is used. */ - blkCnt = blockSize % 0x4u; - -#else - - /* Run the below code for Cortex-M0 */ - - /* Initialize blkCnt with number of samples */ - blkCnt = blockSize; - -#endif /* #ifndef ARM_MATH_CM0 */ - - - while(blkCnt > 0u) - { - /* C = -A */ - /* Negate and then store the result in the destination buffer. */ - in = *pSrc++; - *pDst++ = (in == 0x80000000) ? 0x7fffffff : -in; - - /* Decrement the loop counter */ - blkCnt--; - } -} - -/** - * @} end of negate group - */ diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q7.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q7.c deleted file mode 100644 index 601fb7393..000000000 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q7.c +++ /dev/null @@ -1,120 +0,0 @@ -/* ---------------------------------------------------------------------- -* Copyright (C) 2010 ARM Limited. All rights reserved. -* -* $Date: 15. February 2012 -* $Revision: V1.1.0 -* -* Project: CMSIS DSP Library -* Title: arm_negate_q7.c -* -* Description: Negates Q7 vectors. -* -* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 -* -* Version 1.1.0 2012/02/15 -* Updated with more optimizations, bug fixes and minor API changes. -* -* Version 1.0.10 2011/7/15 -* Big Endian support added and Merged M0 and M3/M4 Source code. -* -* Version 1.0.3 2010/11/29 -* Re-organized the CMSIS folders and updated documentation. -* -* Version 1.0.2 2010/11/11 -* Documentation updated. -* -* Version 1.0.1 2010/10/05 -* Production release and review comments incorporated. -* -* Version 1.0.0 2010/09/20 -* Production release and review comments incorporated. -* -* Version 0.0.7 2010/06/10 -* Misra-C changes done -* -------------------------------------------------------------------- */ - -#include "arm_math.h" - -/** - * @ingroup groupMath - */ - -/** - * @addtogroup negate - * @{ - */ - -/** - * @brief Negates the elements of a Q7 vector. - * @param[in] *pSrc points to the input vector - * @param[out] *pDst points to the output vector - * @param[in] blockSize number of samples in the vector - * @return none. - * - * Scaling and Overflow Behavior: - * \par - * The function uses saturating arithmetic. - * The Q7 value -1 (0x80) will be saturated to the maximum allowable positive value 0x7F. - */ - -void arm_negate_q7( - q7_t * pSrc, - q7_t * pDst, - uint32_t blockSize) -{ - uint32_t blkCnt; /* loop counter */ - q7_t in; - -#ifndef ARM_MATH_CM0 - -/* Run the below code for Cortex-M4 and Cortex-M3 */ - q31_t input; /* Input values1-4 */ - q31_t zero = 0x00000000; - - - /*loop Unrolling */ - blkCnt = blockSize >> 2u; - - /* First part of the processing with loop unrolling. Compute 4 outputs at a time. - ** a second loop below computes the remaining 1 to 3 samples. */ - while(blkCnt > 0u) - { - /* C = -A */ - /* Read four inputs */ - input = *__SIMD32(pSrc)++; - - /* Store the Negated results in the destination buffer in a single cycle by packing the results */ - *__SIMD32(pDst)++ = __QSUB8(zero, input); - - /* Decrement the loop counter */ - blkCnt--; - } - - /* If the blockSize is not a multiple of 4, compute any remaining output samples here. - ** No loop unrolling is used. */ - blkCnt = blockSize % 0x4u; - -#else - - /* Run the below code for Cortex-M0 */ - - /* Initialize blkCnt with number of samples */ - blkCnt = blockSize; - -#endif /* #ifndef ARM_MATH_CM0 */ - - while(blkCnt > 0u) - { - /* C = -A */ - /* Negate and then store the results in the destination buffer. */ \ - in = *pSrc++; - *pDst++ = (in == (q7_t) 0x80) ? 0x7f : -in; - - /* Decrement the loop counter */ - blkCnt--; - } -} - -/** - * @} end of negate group - */ diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_f32.c deleted file mode 100644 index 4bdf06ee8..000000000 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_f32.c +++ /dev/null @@ -1,158 +0,0 @@ -/* ---------------------------------------------------------------------- -* Copyright (C) 2010 ARM Limited. All rights reserved. -* -* $Date: 15. February 2012 -* $Revision: V1.1.0 -* -* Project: CMSIS DSP Library -* Title: arm_offset_f32.c -* -* Description: Floating-point vector offset. -* -* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 -* -* Version 1.1.0 2012/02/15 -* Updated with more optimizations, bug fixes and minor API changes. -* -* Version 1.0.10 2011/7/15 -* Big Endian support added and Merged M0 and M3/M4 Source code. -* -* Version 1.0.3 2010/11/29 -* Re-organized the CMSIS folders and updated documentation. -* -* Version 1.0.2 2010/11/11 -* Documentation updated. -* -* Version 1.0.1 2010/10/05 -* Production release and review comments incorporated. -* -* Version 1.0.0 2010/09/20 -* Production release and review comments incorporated. -* -* Version 0.0.7 2010/06/10 -* Misra-C changes done -* ---------------------------------------------------------------------------- */ -#include "arm_math.h" - -/** - * @ingroup groupMath - */ - -/** - * @defgroup offset Vector Offset - * - * Adds a constant offset to each element of a vector. - * - * 
        
- *     pDst[n] = pSrc[n] + offset,   0 <= n < blockSize.        
- *
- * - * There are separate functions for floating-point, Q7, Q15, and Q31 data types. - */ - -/** - * @addtogroup offset - * @{ - */ - -/** - * @brief Adds a constant offset to a floating-point vector. - * @param[in] *pSrc points to the input vector - * @param[in] offset is the offset to be added - * @param[out] *pDst points to the output vector - * @param[in] blockSize number of samples in the vector - * @return none. - */ - - -void arm_offset_f32( - float32_t * pSrc, - float32_t offset, - float32_t * pDst, - uint32_t blockSize) -{ - uint32_t blkCnt; /* loop counter */ - -#ifndef ARM_MATH_CM0 - -/* Run the below code for Cortex-M4 and Cortex-M3 */ - float32_t in1, in2, in3, in4; - - /*loop Unrolling */ - blkCnt = blockSize >> 2u; - - /* First part of the processing with loop unrolling. Compute 4 outputs at a time. - ** a second loop below computes the remaining 1 to 3 samples. */ - while(blkCnt > 0u) - { - /* C = A + offset */ - /* Add offset and then store the results in the destination buffer. */ - /* read samples from source */ - in1 = *pSrc; - in2 = *(pSrc + 1); - - /* add offset to input */ - in1 = in1 + offset; - - /* read samples from source */ - in3 = *(pSrc + 2); - - /* add offset to input */ - in2 = in2 + offset; - - /* read samples from source */ - in4 = *(pSrc + 3); - - /* add offset to input */ - in3 = in3 + offset; - - /* store result to destination */ - *pDst = in1; - - /* add offset to input */ - in4 = in4 + offset; - - /* store result to destination */ - *(pDst + 1) = in2; - - /* store result to destination */ - *(pDst + 2) = in3; - - /* store result to destination */ - *(pDst + 3) = in4; - - /* update pointers to process next samples */ - pSrc += 4u; - pDst += 4u; - - /* Decrement the loop counter */ - blkCnt--; - } - - /* If the blockSize is not a multiple of 4, compute any remaining output samples here. - ** No loop unrolling is used. */ - blkCnt = blockSize % 0x4u; - -#else - - /* Run the below code for Cortex-M0 */ - - /* Initialize blkCnt with number of samples */ - blkCnt = blockSize; - -#endif /* #ifndef ARM_MATH_CM0 */ - - while(blkCnt > 0u) - { - /* C = A + offset */ - /* Add offset and then store the result in the destination buffer. */ - *pDst++ = (*pSrc++) + offset; - - /* Decrement the loop counter */ - blkCnt--; - } -} - -/** - * @} end of offset group - */ diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q15.c deleted file mode 100644 index f8158f066..000000000 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q15.c +++ /dev/null @@ -1,131 +0,0 @@ -/* ---------------------------------------------------------------------- -* Copyright (C) 2010 ARM Limited. All rights reserved. -* -* $Date: 15. February 2012 -* $Revision: V1.1.0 -* -* Project: CMSIS DSP Library -* Title: arm_offset_q15.c -* -* Description: Q15 vector offset. -* -* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 -* -* Version 1.1.0 2012/02/15 -* Updated with more optimizations, bug fixes and minor API changes. -* -* Version 1.0.10 2011/7/15 -* Big Endian support added and Merged M0 and M3/M4 Source code. -* -* Version 1.0.3 2010/11/29 -* Re-organized the CMSIS folders and updated documentation. -* -* Version 1.0.2 2010/11/11 -* Documentation updated. -* -* Version 1.0.1 2010/10/05 -* Production release and review comments incorporated. -* -* Version 1.0.0 2010/09/20 -* Production release and review comments incorporated. -* -* Version 0.0.7 2010/06/10 -* Misra-C changes done -* -------------------------------------------------------------------- */ - -#include "arm_math.h" - -/** - * @ingroup groupMath - */ - -/** - * @addtogroup offset - * @{ - */ - -/** - * @brief Adds a constant offset to a Q15 vector. - * @param[in] *pSrc points to the input vector - * @param[in] offset is the offset to be added - * @param[out] *pDst points to the output vector - * @param[in] blockSize number of samples in the vector - * @return none. - * - * Scaling and Overflow Behavior: - * \par - * The function uses saturating arithmetic. - * Results outside of the allowable Q15 range [0x8000 0x7FFF] are saturated. - */ - -void arm_offset_q15( - q15_t * pSrc, - q15_t offset, - q15_t * pDst, - uint32_t blockSize) -{ - uint32_t blkCnt; /* loop counter */ - -#ifndef ARM_MATH_CM0 - -/* Run the below code for Cortex-M4 and Cortex-M3 */ - q31_t offset_packed; /* Offset packed to 32 bit */ - - - /*loop Unrolling */ - blkCnt = blockSize >> 2u; - - /* Offset is packed to 32 bit in order to use SIMD32 for addition */ - offset_packed = __PKHBT(offset, offset, 16); - - /* First part of the processing with loop unrolling. Compute 4 outputs at a time. - ** a second loop below computes the remaining 1 to 3 samples. */ - while(blkCnt > 0u) - { - /* C = A + offset */ - /* Add offset and then store the results in the destination buffer, 2 samples at a time. */ - *__SIMD32(pDst)++ = __QADD16(*__SIMD32(pSrc)++, offset_packed); - *__SIMD32(pDst)++ = __QADD16(*__SIMD32(pSrc)++, offset_packed); - - /* Decrement the loop counter */ - blkCnt--; - } - - /* If the blockSize is not a multiple of 4, compute any remaining output samples here. - ** No loop unrolling is used. */ - blkCnt = blockSize % 0x4u; - - while(blkCnt > 0u) - { - /* C = A + offset */ - /* Add offset and then store the results in the destination buffer. */ - *pDst++ = (q15_t) __QADD16(*pSrc++, offset); - - /* Decrement the loop counter */ - blkCnt--; - } - -#else - - /* Run the below code for Cortex-M0 */ - - /* Initialize blkCnt with number of samples */ - blkCnt = blockSize; - - while(blkCnt > 0u) - { - /* C = A + offset */ - /* Add offset and then store the results in the destination buffer. */ - *pDst++ = (q15_t) __SSAT(((q31_t) * pSrc++ + offset), 16); - - /* Decrement the loop counter */ - blkCnt--; - } - -#endif /* #ifndef ARM_MATH_CM0 */ - -} - -/** - * @} end of offset group - */ diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q31.c deleted file mode 100644 index 8b03ee372..000000000 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q31.c +++ /dev/null @@ -1,135 +0,0 @@ -/* ---------------------------------------------------------------------- -* Copyright (C) 2010 ARM Limited. All rights reserved. -* -* $Date: 15. February 2012 -* $Revision: V1.1.0 -* -* Project: CMSIS DSP Library -* Title: arm_offset_q31.c -* -* Description: Q31 vector offset. -* -* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 -* -* Version 1.1.0 2012/02/15 -* Updated with more optimizations, bug fixes and minor API changes. -* -* Version 1.0.10 2011/7/15 -* Big Endian support added and Merged M0 and M3/M4 Source code. -* -* Version 1.0.3 2010/11/29 -* Re-organized the CMSIS folders and updated documentation. -* -* Version 1.0.2 2010/11/11 -* Documentation updated. -* -* Version 1.0.1 2010/10/05 -* Production release and review comments incorporated. -* -* Version 1.0.0 2010/09/20 -* Production release and review comments incorporated. -* -* Version 0.0.7 2010/06/10 -* Misra-C changes done -* -------------------------------------------------------------------- */ - -#include "arm_math.h" - -/** - * @ingroup groupMath - */ - -/** - * @addtogroup offset - * @{ - */ - -/** - * @brief Adds a constant offset to a Q31 vector. - * @param[in] *pSrc points to the input vector - * @param[in] offset is the offset to be added - * @param[out] *pDst points to the output vector - * @param[in] blockSize number of samples in the vector - * @return none. - * - * Scaling and Overflow Behavior: - * \par - * The function uses saturating arithmetic. - * Results outside of the allowable Q31 range [0x80000000 0x7FFFFFFF] are saturated. - */ - -void arm_offset_q31( - q31_t * pSrc, - q31_t offset, - q31_t * pDst, - uint32_t blockSize) -{ - uint32_t blkCnt; /* loop counter */ - -#ifndef ARM_MATH_CM0 - -/* Run the below code for Cortex-M4 and Cortex-M3 */ - q31_t in1, in2, in3, in4; - - - /*loop Unrolling */ - blkCnt = blockSize >> 2u; - - /* First part of the processing with loop unrolling. Compute 4 outputs at a time. - ** a second loop below computes the remaining 1 to 3 samples. */ - while(blkCnt > 0u) - { - /* C = A + offset */ - /* Add offset and then store the results in the destination buffer. */ - in1 = *pSrc++; - in2 = *pSrc++; - in3 = *pSrc++; - in4 = *pSrc++; - - *pDst++ = __QADD(in1, offset); - *pDst++ = __QADD(in2, offset); - *pDst++ = __QADD(in3, offset); - *pDst++ = __QADD(in4, offset); - - /* Decrement the loop counter */ - blkCnt--; - } - - /* If the blockSize is not a multiple of 4, compute any remaining output samples here. - ** No loop unrolling is used. */ - blkCnt = blockSize % 0x4u; - - while(blkCnt > 0u) - { - /* C = A + offset */ - /* Add offset and then store the result in the destination buffer. */ - *pDst++ = __QADD(*pSrc++, offset); - - /* Decrement the loop counter */ - blkCnt--; - } - -#else - - /* Run the below code for Cortex-M0 */ - - /* Initialize blkCnt with number of samples */ - blkCnt = blockSize; - - while(blkCnt > 0u) - { - /* C = A + offset */ - /* Add offset and then store the result in the destination buffer. */ - *pDst++ = (q31_t) clip_q63_to_q31((q63_t) * pSrc++ + offset); - - /* Decrement the loop counter */ - blkCnt--; - } - -#endif /* #ifndef ARM_MATH_CM0 */ - -} - -/** - * @} end of offset group - */ diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q7.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q7.c deleted file mode 100644 index 56643816f..000000000 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q7.c +++ /dev/null @@ -1,130 +0,0 @@ -/* ---------------------------------------------------------------------- -* Copyright (C) 2010 ARM Limited. All rights reserved. -* -* $Date: 15. February 2012 -* $Revision: V1.1.0 -* -* Project: CMSIS DSP Library -* Title: arm_offset_q7.c -* -* Description: Q7 vector offset. -* -* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 -* -* Version 1.1.0 2012/02/15 -* Updated with more optimizations, bug fixes and minor API changes. -* -* Version 1.0.10 2011/7/15 -* Big Endian support added and Merged M0 and M3/M4 Source code. -* -* Version 1.0.3 2010/11/29 -* Re-organized the CMSIS folders and updated documentation. -* -* Version 1.0.2 2010/11/11 -* Documentation updated. -* -* Version 1.0.1 2010/10/05 -* Production release and review comments incorporated. -* -* Version 1.0.0 2010/09/20 -* Production release and review comments incorporated. -* -* Version 0.0.7 2010/06/10 -* Misra-C changes done -* -------------------------------------------------------------------- */ - -#include "arm_math.h" - -/** - * @ingroup groupMath - */ - -/** - * @addtogroup offset - * @{ - */ - -/** - * @brief Adds a constant offset to a Q7 vector. - * @param[in] *pSrc points to the input vector - * @param[in] offset is the offset to be added - * @param[out] *pDst points to the output vector - * @param[in] blockSize number of samples in the vector - * @return none. - * - * Scaling and Overflow Behavior: - * \par - * The function uses saturating arithmetic. - * Results outside of the allowable Q7 range [0x80 0x7F] are saturated. - */ - -void arm_offset_q7( - q7_t * pSrc, - q7_t offset, - q7_t * pDst, - uint32_t blockSize) -{ - uint32_t blkCnt; /* loop counter */ - -#ifndef ARM_MATH_CM0 - -/* Run the below code for Cortex-M4 and Cortex-M3 */ - q31_t offset_packed; /* Offset packed to 32 bit */ - - - /*loop Unrolling */ - blkCnt = blockSize >> 2u; - - /* Offset is packed to 32 bit in order to use SIMD32 for addition */ - offset_packed = __PACKq7(offset, offset, offset, offset); - - /* First part of the processing with loop unrolling. Compute 4 outputs at a time. - ** a second loop below computes the remaining 1 to 3 samples. */ - while(blkCnt > 0u) - { - /* C = A + offset */ - /* Add offset and then store the results in the destination bufferfor 4 samples at a time. */ - *__SIMD32(pDst)++ = __QADD8(*__SIMD32(pSrc)++, offset_packed); - - /* Decrement the loop counter */ - blkCnt--; - } - - /* If the blockSize is not a multiple of 4, compute any remaining output samples here. - ** No loop unrolling is used. */ - blkCnt = blockSize % 0x4u; - - while(blkCnt > 0u) - { - /* C = A + offset */ - /* Add offset and then store the result in the destination buffer. */ - *pDst++ = (q7_t) __SSAT(*pSrc++ + offset, 8); - - /* Decrement the loop counter */ - blkCnt--; - } - -#else - - /* Run the below code for Cortex-M0 */ - - /* Initialize blkCnt with number of samples */ - blkCnt = blockSize; - - while(blkCnt > 0u) - { - /* C = A + offset */ - /* Add offset and then store the result in the destination buffer. */ - *pDst++ = (q7_t) __SSAT((q15_t) * pSrc++ + offset, 8); - - /* Decrement the loop counter */ - blkCnt--; - } - -#endif /* #ifndef ARM_MATH_CM0 */ - -} - -/** - * @} end of offset group - */ diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_f32.c deleted file mode 100644 index b77144a3e..000000000 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_f32.c +++ /dev/null @@ -1,161 +0,0 @@ -/* ---------------------------------------------------------------------- -* Copyright (C) 2010 ARM Limited. All rights reserved. -* -* $Date: 15. February 2012 -* $Revision: V1.1.0 -* -* Project: CMSIS DSP Library -* Title: arm_scale_f32.c -* -* Description: Multiplies a floating-point vector by a scalar. -* -* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 -* -* Version 1.1.0 2012/02/15 -* Updated with more optimizations, bug fixes and minor API changes. -* -* Version 1.0.10 2011/7/15 -* Big Endian support added and Merged M0 and M3/M4 Source code. -* -* Version 1.0.3 2010/11/29 -* Re-organized the CMSIS folders and updated documentation. -* -* Version 1.0.2 2010/11/11 -* Documentation updated. -* -* Version 1.0.1 2010/10/05 -* Production release and review comments incorporated. -* -* Version 1.0.0 2010/09/20 -* Production release and review comments incorporated -* -* Version 0.0.7 2010/06/10 -* Misra-C changes done -* ---------------------------------------------------------------------------- */ - -#include "arm_math.h" - -/** - * @ingroup groupMath - */ - -/** - * @defgroup scale Vector Scale - * - * Multiply a vector by a scalar value. For floating-point data, the algorithm used is: - * - * 
        
- *     pDst[n] = pSrc[n] * scale,   0 <= n < blockSize.        
- *
- * - * In the fixed-point Q7, Q15, and Q31 functions, scale is represented by - * a fractional multiplication scaleFract and an arithmetic shift shift. - * The shift allows the gain of the scaling operation to exceed 1.0. - * The algorithm used with fixed-point data is: - * - * 
        
- *     pDst[n] = (pSrc[n] * scaleFract) << shift,   0 <= n < blockSize.        
- *
- * - * The overall scale factor applied to the fixed-point data is - * 
        
- *     scale = scaleFract * 2^shift.        
- *
- */ - -/** - * @addtogroup scale - * @{ - */ - -/** - * @brief Multiplies a floating-point vector by a scalar. - * @param[in] *pSrc points to the input vector - * @param[in] scale scale factor to be applied - * @param[out] *pDst points to the output vector - * @param[in] blockSize number of samples in the vector - * @return none. - */ - - -void arm_scale_f32( - float32_t * pSrc, - float32_t scale, - float32_t * pDst, - uint32_t blockSize) -{ - uint32_t blkCnt; /* loop counter */ -#ifndef ARM_MATH_CM0 - -/* Run the below code for Cortex-M4 and Cortex-M3 */ - float32_t in1, in2, in3, in4; /* temporary variabels */ - - /*loop Unrolling */ - blkCnt = blockSize >> 2u; - - /* First part of the processing with loop unrolling. Compute 4 outputs at a time. - ** a second loop below computes the remaining 1 to 3 samples. */ - while(blkCnt > 0u) - { - /* C = A * scale */ - /* Scale the input and then store the results in the destination buffer. */ - /* read input samples from source */ - in1 = *pSrc; - in2 = *(pSrc + 1); - - /* multiply with scaling factor */ - in1 = in1 * scale; - - /* read input sample from source */ - in3 = *(pSrc + 2); - - /* multiply with scaling factor */ - in2 = in2 * scale; - - /* read input sample from source */ - in4 = *(pSrc + 3); - - /* multiply with scaling factor */ - in3 = in3 * scale; - in4 = in4 * scale; - /* store the result to destination */ - *pDst = in1; - *(pDst + 1) = in2; - *(pDst + 2) = in3; - *(pDst + 3) = in4; - - /* update pointers to process next samples */ - pSrc += 4u; - pDst += 4u; - - /* Decrement the loop counter */ - blkCnt--; - } - - /* If the blockSize is not a multiple of 4, compute any remaining output samples here. - ** No loop unrolling is used. */ - blkCnt = blockSize % 0x4u; - -#else - - /* Run the below code for Cortex-M0 */ - - /* Initialize blkCnt with number of samples */ - blkCnt = blockSize; - -#endif /* #ifndef ARM_MATH_CM0 */ - - while(blkCnt > 0u) - { - /* C = A * scale */ - /* Scale the input and then store the result in the destination buffer. */ - *pDst++ = (*pSrc++) * scale; - - /* Decrement the loop counter */ - blkCnt--; - } -} - -/** - * @} end of scale group - */ diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q15.c deleted file mode 100644 index 9e79202fe..000000000 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q15.c +++ /dev/null @@ -1,157 +0,0 @@ -/* ---------------------------------------------------------------------- -* Copyright (C) 2010 ARM Limited. All rights reserved. -* -* $Date: 15. February 2012 -* $Revision: V1.1.0 -* -* Project: CMSIS DSP Library -* Title: arm_scale_q15.c -* -* Description: Multiplies a Q15 vector by a scalar. -* -* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 -* -* Version 1.1.0 2012/02/15 -* Updated with more optimizations, bug fixes and minor API changes. -* -* Version 1.0.10 2011/7/15 -* Big Endian support added and Merged M0 and M3/M4 Source code. -* -* Version 1.0.3 2010/11/29 -* Re-organized the CMSIS folders and updated documentation. -* -* Version 1.0.2 2010/11/11 -* Documentation updated. -* -* Version 1.0.1 2010/10/05 -* Production release and review comments incorporated. -* -* Version 1.0.0 2010/09/20 -* Production release and review comments incorporated -* -* Version 0.0.7 2010/06/10 -* Misra-C changes done -* -------------------------------------------------------------------- */ - -#include "arm_math.h" - -/** - * @ingroup groupMath - */ - -/** - * @addtogroup scale - * @{ - */ - -/** - * @brief Multiplies a Q15 vector by a scalar. - * @param[in] *pSrc points to the input vector - * @param[in] scaleFract fractional portion of the scale value - * @param[in] shift number of bits to shift the result by - * @param[out] *pDst points to the output vector - * @param[in] blockSize number of samples in the vector - * @return none. - * - * Scaling and Overflow Behavior: - * \par - * The input data *pSrc and scaleFract are in 1.15 format. - * These are multiplied to yield a 2.30 intermediate result and this is shifted with saturation to 1.15 format. - */ - - -void arm_scale_q15( - q15_t * pSrc, - q15_t scaleFract, - int8_t shift, - q15_t * pDst, - uint32_t blockSize) -{ - int8_t kShift = 15 - shift; /* shift to apply after scaling */ - uint32_t blkCnt; /* loop counter */ - -#ifndef ARM_MATH_CM0 - -/* Run the below code for Cortex-M4 and Cortex-M3 */ - q15_t in1, in2, in3, in4; - q31_t inA1, inA2; /* Temporary variables */ - q31_t out1, out2, out3, out4; - - - /*loop Unrolling */ - blkCnt = blockSize >> 2u; - - /* First part of the processing with loop unrolling. Compute 4 outputs at a time. - ** a second loop below computes the remaining 1 to 3 samples. */ - while(blkCnt > 0u) - { - /* Reading 2 inputs from memory */ - inA1 = *__SIMD32(pSrc)++; - inA2 = *__SIMD32(pSrc)++; - - /* C = A * scale */ - /* Scale the inputs and then store the 2 results in the destination buffer - * in single cycle by packing the outputs */ - out1 = (q31_t) ((q15_t) (inA1 >> 16) * scaleFract); - out2 = (q31_t) ((q15_t) inA1 * scaleFract); - out3 = (q31_t) ((q15_t) (inA2 >> 16) * scaleFract); - out4 = (q31_t) ((q15_t) inA2 * scaleFract); - - /* apply shifting */ - out1 = out1 >> kShift; - out2 = out2 >> kShift; - out3 = out3 >> kShift; - out4 = out4 >> kShift; - - /* saturate the output */ - in1 = (q15_t) (__SSAT(out1, 16)); - in2 = (q15_t) (__SSAT(out2, 16)); - in3 = (q15_t) (__SSAT(out3, 16)); - in4 = (q15_t) (__SSAT(out4, 16)); - - /* store the result to destination */ - *__SIMD32(pDst)++ = __PKHBT(in2, in1, 16); - *__SIMD32(pDst)++ = __PKHBT(in4, in3, 16); - - /* Decrement the loop counter */ - blkCnt--; - } - - /* If the blockSize is not a multiple of 4, compute any remaining output samples here. - ** No loop unrolling is used. */ - blkCnt = blockSize % 0x4u; - - while(blkCnt > 0u) - { - /* C = A * scale */ - /* Scale the input and then store the result in the destination buffer. */ - *pDst++ = (q15_t) (__SSAT(((*pSrc++) * scaleFract) >> kShift, 16)); - - /* Decrement the loop counter */ - blkCnt--; - } - -#else - - /* Run the below code for Cortex-M0 */ - - /* Initialize blkCnt with number of samples */ - blkCnt = blockSize; - - while(blkCnt > 0u) - { - /* C = A * scale */ - /* Scale the input and then store the result in the destination buffer. */ - *pDst++ = (q15_t) (__SSAT(((q31_t) * pSrc++ * scaleFract) >> kShift, 16)); - - /* Decrement the loop counter */ - blkCnt--; - } - -#endif /* #ifndef ARM_MATH_CM0 */ - -} - -/** - * @} end of scale group - */ diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q31.c deleted file mode 100644 index 8e9b50e72..000000000 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q31.c +++ /dev/null @@ -1,221 +0,0 @@ -/* ---------------------------------------------------------------------- -* Copyright (C) 2010 ARM Limited. All rights reserved. -* -* $Date: 15. February 2012 -* $Revision: V1.1.0 -* -* Project: CMSIS DSP Library -* Title: arm_scale_q31.c -* -* Description: Multiplies a Q31 vector by a scalar. -* -* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 -* -* Version 1.1.0 2012/02/15 -* Updated with more optimizations, bug fixes and minor API changes. -* -* Version 1.0.10 2011/7/15 -* Big Endian support added and Merged M0 and M3/M4 Source code. -* -* Version 1.0.3 2010/11/29 -* Re-organized the CMSIS folders and updated documentation. -* -* Version 1.0.2 2010/11/11 -* Documentation updated. -* -* Version 1.0.1 2010/10/05 -* Production release and review comments incorporated. -* -* Version 1.0.0 2010/09/20 -* Production release and review comments incorporated -* -* Version 0.0.7 2010/06/10 -* Misra-C changes done -* -------------------------------------------------------------------- */ - -#include "arm_math.h" - -/** - * @ingroup groupMath - */ - -/** - * @addtogroup scale - * @{ - */ - -/** - * @brief Multiplies a Q31 vector by a scalar. - * @param[in] *pSrc points to the input vector - * @param[in] scaleFract fractional portion of the scale value - * @param[in] shift number of bits to shift the result by - * @param[out] *pDst points to the output vector - * @param[in] blockSize number of samples in the vector - * @return none. - * - * Scaling and Overflow Behavior: - * \par - * The input data *pSrc and scaleFract are in 1.31 format. - * These are multiplied to yield a 2.62 intermediate result and this is shifted with saturation to 1.31 format. - */ - -void arm_scale_q31( - q31_t * pSrc, - q31_t scaleFract, - int8_t shift, - q31_t * pDst, - uint32_t blockSize) -{ - int8_t kShift = shift + 1; /* Shift to apply after scaling */ - int8_t sign = (kShift & 0x80); - uint32_t blkCnt; /* loop counter */ - q31_t in, out; - -#ifndef ARM_MATH_CM0 - -/* Run the below code for Cortex-M4 and Cortex-M3 */ - - q31_t in1, in2, in3, in4; /* temporary input variables */ - q31_t out1, out2, out3, out4; /* temporary output variabels */ - - - /*loop Unrolling */ - blkCnt = blockSize >> 2u; - - if(sign == 0u) - { - /* First part of the processing with loop unrolling. Compute 4 outputs at a time. - ** a second loop below computes the remaining 1 to 3 samples. */ - while(blkCnt > 0u) - { - /* read four inputs from source */ - in1 = *pSrc; - in2 = *(pSrc + 1); - in3 = *(pSrc + 2); - in4 = *(pSrc + 3); - - /* multiply input with scaler value */ - in1 = ((q63_t) in1 * scaleFract) >> 32; - in2 = ((q63_t) in2 * scaleFract) >> 32; - in3 = ((q63_t) in3 * scaleFract) >> 32; - in4 = ((q63_t) in4 * scaleFract) >> 32; - - /* apply shifting */ - out1 = in1 << kShift; - out2 = in2 << kShift; - - /* saturate the results. */ - if(in1 != (out1 >> kShift)) - out1 = 0x7FFFFFFF ^ (in1 >> 31); - - if(in2 != (out2 >> kShift)) - out2 = 0x7FFFFFFF ^ (in2 >> 31); - - out3 = in3 << kShift; - out4 = in4 << kShift; - - *pDst = out1; - *(pDst + 1) = out2; - - if(in3 != (out3 >> kShift)) - out3 = 0x7FFFFFFF ^ (in3 >> 31); - - if(in4 != (out4 >> kShift)) - out4 = 0x7FFFFFFF ^ (in4 >> 31); - - /* Store result destination */ - *(pDst + 2) = out3; - *(pDst + 3) = out4; - - /* Update pointers to process next sampels */ - pSrc += 4u; - pDst += 4u; - - /* Decrement the loop counter */ - blkCnt--; - } - - } - else - { - kShift = -kShift; - - /* First part of the processing with loop unrolling. Compute 4 outputs at a time. - ** a second loop below computes the remaining 1 to 3 samples. */ - while(blkCnt > 0u) - { - /* read four inputs from source */ - in1 = *pSrc; - in2 = *(pSrc + 1); - in3 = *(pSrc + 2); - in4 = *(pSrc + 3); - - /* multiply input with scaler value */ - in1 = ((q63_t) in1 * scaleFract) >> 32; - in2 = ((q63_t) in2 * scaleFract) >> 32; - in3 = ((q63_t) in3 * scaleFract) >> 32; - in4 = ((q63_t) in4 * scaleFract) >> 32; - - /* apply shifting */ - out1 = in1 >> kShift; - out2 = in2 >> kShift; - - out3 = in3 >> kShift; - out4 = in4 >> kShift; - - /* Store result destination */ - *pDst = out1; - *(pDst + 1) = out2; - - *(pDst + 2) = out3; - *(pDst + 3) = out4; - - /* Update pointers to process next sampels */ - pSrc += 4u; - pDst += 4u; - - /* Decrement the loop counter */ - blkCnt--; - } - } - /* If the blockSize is not a multiple of 4, compute any remaining output samples here. - ** No loop unrolling is used. */ - blkCnt = blockSize % 0x4u; - -#else - - /* Run the below code for Cortex-M0 */ - - /* Initialize blkCnt with number of samples */ - blkCnt = blockSize; - -#endif /* #ifndef ARM_MATH_CM0 */ - - while(blkCnt > 0u) - { - /* C = A * scale */ - /* Scale the input and then store the result in the destination buffer. */ - in = *pSrc++; - in = ((q63_t) in * scaleFract) >> 32; - - if(sign == 0) - { - out = in << kShift; - if(in != (out >> kShift)) - out = 0x7FFFFFFF ^ (in >> 31); - } - else - { - out = in >> kShift; - } - - *pDst++ = out; - - /* Decrement the loop counter */ - blkCnt--; - } -} - -/** - * @} end of scale group - */ diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q7.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q7.c deleted file mode 100644 index 76c35e656..000000000 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q7.c +++ /dev/null @@ -1,144 +0,0 @@ -/* ---------------------------------------------------------------------- -* Copyright (C) 2010 ARM Limited. All rights reserved. -* -* $Date: 15. February 2012 -* $Revision: V1.1.0 -* -* Project: CMSIS DSP Library -* Title: arm_scale_q7.c -* -* Description: Multiplies a Q7 vector by a scalar. -* -* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 -* -* Version 1.1.0 2012/02/15 -* Updated with more optimizations, bug fixes and minor API changes. -* -* Version 1.0.10 2011/7/15 -* Big Endian support added and Merged M0 and M3/M4 Source code. -* -* Version 1.0.3 2010/11/29 -* Re-organized the CMSIS folders and updated documentation. -* -* Version 1.0.2 2010/11/11 -* Documentation updated. -* -* Version 1.0.1 2010/10/05 -* Production release and review comments incorporated. -* -* Version 1.0.0 2010/09/20 -* Production release and review comments incorporated -* -* Version 0.0.7 2010/06/10 -* Misra-C changes done -* -------------------------------------------------------------------- */ - -#include "arm_math.h" - -/** - * @ingroup groupMath - */ - -/** - * @addtogroup scale - * @{ - */ - -/** - * @brief Multiplies a Q7 vector by a scalar. - * @param[in] *pSrc points to the input vector - * @param[in] scaleFract fractional portion of the scale value - * @param[in] shift number of bits to shift the result by - * @param[out] *pDst points to the output vector - * @param[in] blockSize number of samples in the vector - * @return none. - * - * Scaling and Overflow Behavior: - * \par - * The input data *pSrc and scaleFract are in 1.7 format. - * These are multiplied to yield a 2.14 intermediate result and this is shifted with saturation to 1.7 format. - */ - -void arm_scale_q7( - q7_t * pSrc, - q7_t scaleFract, - int8_t shift, - q7_t * pDst, - uint32_t blockSize) -{ - int8_t kShift = 7 - shift; /* shift to apply after scaling */ - uint32_t blkCnt; /* loop counter */ - -#ifndef ARM_MATH_CM0 - -/* Run the below code for Cortex-M4 and Cortex-M3 */ - q7_t in1, in2, in3, in4, out1, out2, out3, out4; /* Temporary variables to store input & output */ - - - /*loop Unrolling */ - blkCnt = blockSize >> 2u; - - - /* First part of the processing with loop unrolling. Compute 4 outputs at a time. - ** a second loop below computes the remaining 1 to 3 samples. */ - while(blkCnt > 0u) - { - /* Reading 4 inputs from memory */ - in1 = *pSrc++; - in2 = *pSrc++; - in3 = *pSrc++; - in4 = *pSrc++; - - /* C = A * scale */ - /* Scale the inputs and then store the results in the temporary variables. */ - out1 = (q7_t) (__SSAT(((in1) * scaleFract) >> kShift, 8)); - out2 = (q7_t) (__SSAT(((in2) * scaleFract) >> kShift, 8)); - out3 = (q7_t) (__SSAT(((in3) * scaleFract) >> kShift, 8)); - out4 = (q7_t) (__SSAT(((in4) * scaleFract) >> kShift, 8)); - - /* Packing the individual outputs into 32bit and storing in - * destination buffer in single write */ - *__SIMD32(pDst)++ = __PACKq7(out1, out2, out3, out4); - - /* Decrement the loop counter */ - blkCnt--; - } - - /* If the blockSize is not a multiple of 4, compute any remaining output samples here. - ** No loop unrolling is used. */ - blkCnt = blockSize % 0x4u; - - while(blkCnt > 0u) - { - /* C = A * scale */ - /* Scale the input and then store the result in the destination buffer. */ - *pDst++ = (q7_t) (__SSAT(((*pSrc++) * scaleFract) >> kShift, 8)); - - /* Decrement the loop counter */ - blkCnt--; - } - -#else - - /* Run the below code for Cortex-M0 */ - - /* Initialize blkCnt with number of samples */ - blkCnt = blockSize; - - while(blkCnt > 0u) - { - /* C = A * scale */ - /* Scale the input and then store the result in the destination buffer. */ - *pDst++ = (q7_t) (__SSAT((((q15_t) * pSrc++ * scaleFract) >> kShift), 8)); - - /* Decrement the loop counter */ - blkCnt--; - } - -#endif /* #ifndef ARM_MATH_CM0 */ - -} - -/** - * @} end of scale group - */ diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_shift_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_shift_q15.c deleted file mode 100644 index b8301e63d..000000000 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_shift_q15.c +++ /dev/null @@ -1,243 +0,0 @@ -/* ---------------------------------------------------------------------- -* Copyright (C) 2010 ARM Limited. All rights reserved. -* -* $Date: 15. February 2012 -* $Revision: V1.1.0 -* -* Project: CMSIS DSP Library -* Title: arm_shift_q15.c -* -* Description: Shifts the elements of a Q15 vector by a specified number of bits. -* -* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 -* -* Version 1.1.0 2012/02/15 -* Updated with more optimizations, bug fixes and minor API changes. -* -* Version 1.0.10 2011/7/15 -* Big Endian support added and Merged M0 and M3/M4 Source code. -* -* Version 1.0.3 2010/11/29 -* Re-organized the CMSIS folders and updated documentation. -* -* Version 1.0.2 2010/11/11 -* Documentation updated. -* -* Version 1.0.1 2010/10/05 -* Production release and review comments incorporated. -* -* Version 1.0.0 2010/09/20 -* Production release and review comments incorporated. -* -* Version 0.0.7 2010/06/10 -* Misra-C changes done -* -------------------------------------------------------------------- */ - -#include "arm_math.h" - -/** - * @ingroup groupMath - */ - -/** - * @addtogroup shift - * @{ - */ - -/** - * @brief Shifts the elements of a Q15 vector a specified number of bits. - * @param[in] *pSrc points to the input vector - * @param[in] shiftBits number of bits to shift. A positive value shifts left; a negative value shifts right. - * @param[out] *pDst points to the output vector - * @param[in] blockSize number of samples in the vector - * @return none. - * - * Scaling and Overflow Behavior: - * \par - * The function uses saturating arithmetic. - * Results outside of the allowable Q15 range [0x8000 0x7FFF] will be saturated. - */ - -void arm_shift_q15( - q15_t * pSrc, - int8_t shiftBits, - q15_t * pDst, - uint32_t blockSize) -{ - uint32_t blkCnt; /* loop counter */ - uint8_t sign; /* Sign of shiftBits */ - -#ifndef ARM_MATH_CM0 - -/* Run the below code for Cortex-M4 and Cortex-M3 */ - - q15_t in1, in2; /* Temporary variables */ - - - /*loop Unrolling */ - blkCnt = blockSize >> 2u; - - /* Getting the sign of shiftBits */ - sign = (shiftBits & 0x80); - - /* If the shift value is positive then do right shift else left shift */ - if(sign == 0u) - { - /* First part of the processing with loop unrolling. Compute 4 outputs at a time. - ** a second loop below computes the remaining 1 to 3 samples. */ - while(blkCnt > 0u) - { - /* Read 2 inputs */ - in1 = *pSrc++; - in2 = *pSrc++; - /* C = A << shiftBits */ - /* Shift the inputs and then store the results in the destination buffer. */ -#ifndef ARM_MATH_BIG_ENDIAN - - *__SIMD32(pDst)++ = __PKHBT(__SSAT((in1 << shiftBits), 16), - __SSAT((in2 << shiftBits), 16), 16); - -#else - - *__SIMD32(pDst)++ = __PKHBT(__SSAT((in2 << shiftBits), 16), - __SSAT((in1 << shiftBits), 16), 16); - -#endif /* #ifndef ARM_MATH_BIG_ENDIAN */ - - in1 = *pSrc++; - in2 = *pSrc++; - -#ifndef ARM_MATH_BIG_ENDIAN - - *__SIMD32(pDst)++ = __PKHBT(__SSAT((in1 << shiftBits), 16), - __SSAT((in2 << shiftBits), 16), 16); - -#else - - *__SIMD32(pDst)++ = __PKHBT(__SSAT((in2 << shiftBits), 16), - __SSAT((in1 << shiftBits), 16), 16); - -#endif /* #ifndef ARM_MATH_BIG_ENDIAN */ - - /* Decrement the loop counter */ - blkCnt--; - } - - /* If the blockSize is not a multiple of 4, compute any remaining output samples here. - ** No loop unrolling is used. */ - blkCnt = blockSize % 0x4u; - - while(blkCnt > 0u) - { - /* C = A << shiftBits */ - /* Shift and then store the results in the destination buffer. */ - *pDst++ = __SSAT((*pSrc++ << shiftBits), 16); - - /* Decrement the loop counter */ - blkCnt--; - } - } - else - { - /* First part of the processing with loop unrolling. Compute 4 outputs at a time. - ** a second loop below computes the remaining 1 to 3 samples. */ - while(blkCnt > 0u) - { - /* Read 2 inputs */ - in1 = *pSrc++; - in2 = *pSrc++; - - /* C = A >> shiftBits */ - /* Shift the inputs and then store the results in the destination buffer. */ -#ifndef ARM_MATH_BIG_ENDIAN - - *__SIMD32(pDst)++ = __PKHBT((in1 >> -shiftBits), - (in2 >> -shiftBits), 16); - -#else - - *__SIMD32(pDst)++ = __PKHBT((in2 >> -shiftBits), - (in1 >> -shiftBits), 16); - -#endif /* #ifndef ARM_MATH_BIG_ENDIAN */ - - in1 = *pSrc++; - in2 = *pSrc++; - -#ifndef ARM_MATH_BIG_ENDIAN - - *__SIMD32(pDst)++ = __PKHBT((in1 >> -shiftBits), - (in2 >> -shiftBits), 16); - -#else - - *__SIMD32(pDst)++ = __PKHBT((in2 >> -shiftBits), - (in1 >> -shiftBits), 16); - -#endif /* #ifndef ARM_MATH_BIG_ENDIAN */ - - /* Decrement the loop counter */ - blkCnt--; - } - - /* If the blockSize is not a multiple of 4, compute any remaining output samples here. - ** No loop unrolling is used. */ - blkCnt = blockSize % 0x4u; - - while(blkCnt > 0u) - { - /* C = A >> shiftBits */ - /* Shift the inputs and then store the results in the destination buffer. */ - *pDst++ = (*pSrc++ >> -shiftBits); - - /* Decrement the loop counter */ - blkCnt--; - } - } - -#else - - /* Run the below code for Cortex-M0 */ - - /* Getting the sign of shiftBits */ - sign = (shiftBits & 0x80); - - /* If the shift value is positive then do right shift else left shift */ - if(sign == 0u) - { - /* Initialize blkCnt with number of samples */ - blkCnt = blockSize; - - while(blkCnt > 0u) - { - /* C = A << shiftBits */ - /* Shift and then store the results in the destination buffer. */ - *pDst++ = __SSAT(((q31_t) * pSrc++ << shiftBits), 16); - - /* Decrement the loop counter */ - blkCnt--; - } - } - else - { - /* Initialize blkCnt with number of samples */ - blkCnt = blockSize; - - while(blkCnt > 0u) - { - /* C = A >> shiftBits */ - /* Shift the inputs and then store the results in the destination buffer. */ - *pDst++ = (*pSrc++ >> -shiftBits); - - /* Decrement the loop counter */ - blkCnt--; - } - } - -#endif /* #ifndef ARM_MATH_CM0 */ - -} - -/** - * @} end of shift group - */ diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_shift_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_shift_q31.c deleted file mode 100644 index 561225a89..000000000 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_shift_q31.c +++ /dev/null @@ -1,195 +0,0 @@ -/* ---------------------------------------------------------------------- -* Copyright (C) 2010 ARM Limited. All rights reserved. -* -* $Date: 15. February 2012 -* $Revision: V1.1.0 -* -* Project: CMSIS DSP Library -* Title: arm_shift_q31.c -* -* Description: Shifts the elements of a Q31 vector by a specified number of bits. -* -* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 -* -* Version 1.1.0 2012/02/15 -* Updated with more optimizations, bug fixes and minor API changes. -* -* Version 1.0.10 2011/7/15 -* Big Endian support added and Merged M0 and M3/M4 Source code. -* -* Version 1.0.3 2010/11/29 -* Re-organized the CMSIS folders and updated documentation. -* -* Version 1.0.2 2010/11/11 -* Documentation updated. -* -* Version 1.0.1 2010/10/05 -* Production release and review comments incorporated. -* -* Version 1.0.0 2010/09/20 -* Production release and review comments incorporated. -* -* Version 0.0.7 2010/06/10 -* Misra-C changes done -* -------------------------------------------------------------------- */ - -#include "arm_math.h" - -/** - * @ingroup groupMath - */ -/** - * @defgroup shift Vector Shift - * - * Shifts the elements of a fixed-point vector by a specified number of bits. - * There are separate functions for Q7, Q15, and Q31 data types. - * The underlying algorithm used is: - * - * 
        
- *     pDst[n] = pSrc[n] << shift,   0 <= n < blockSize.        
- *
- * - * If shift is positive then the elements of the vector are shifted to the left. - * If shift is negative then the elements of the vector are shifted to the right. - */ - -/** - * @addtogroup shift - * @{ - */ - -/** - * @brief Shifts the elements of a Q31 vector a specified number of bits. - * @param[in] *pSrc points to the input vector - * @param[in] shiftBits number of bits to shift. A positive value shifts left; a negative value shifts right. - * @param[out] *pDst points to the output vector - * @param[in] blockSize number of samples in the vector - * @return none. - * - * - * Scaling and Overflow Behavior: - * \par - * The function uses saturating arithmetic. - * Results outside of the allowable Q31 range [0x80000000 0x7FFFFFFF] will be saturated. - */ - -void arm_shift_q31( - q31_t * pSrc, - int8_t shiftBits, - q31_t * pDst, - uint32_t blockSize) -{ - uint32_t blkCnt; /* loop counter */ - uint8_t sign = (shiftBits & 0x80); /* Sign of shiftBits */ - -#ifndef ARM_MATH_CM0 - - q31_t in1, in2, in3, in4; /* Temporary input variables */ - q31_t out1, out2, out3, out4; /* Temporary output variables */ - - /*loop Unrolling */ - blkCnt = blockSize >> 2u; - - - if(sign == 0u) - { - /* First part of the processing with loop unrolling. Compute 4 outputs at a time. - ** a second loop below computes the remaining 1 to 3 samples. */ - while(blkCnt > 0u) - { - /* C = A << shiftBits */ - /* Shift the input and then store the results in the destination buffer. */ - in1 = *pSrc; - in2 = *(pSrc + 1); - out1 = in1 << shiftBits; - in3 = *(pSrc + 2); - out2 = in2 << shiftBits; - in4 = *(pSrc + 3); - if(in1 != (out1 >> shiftBits)) - out1 = 0x7FFFFFFF ^ (in1 >> 31); - - if(in2 != (out2 >> shiftBits)) - out2 = 0x7FFFFFFF ^ (in2 >> 31); - - *pDst = out1; - out3 = in3 << shiftBits; - *(pDst + 1) = out2; - out4 = in4 << shiftBits; - - if(in3 != (out3 >> shiftBits)) - out3 = 0x7FFFFFFF ^ (in3 >> 31); - - if(in4 != (out4 >> shiftBits)) - out4 = 0x7FFFFFFF ^ (in4 >> 31); - - *(pDst + 2) = out3; - *(pDst + 3) = out4; - - /* Update destination pointer to process next sampels */ - pSrc += 4u; - pDst += 4u; - - /* Decrement the loop counter */ - blkCnt--; - } - } - else - { - - /* First part of the processing with loop unrolling. Compute 4 outputs at a time. - ** a second loop below computes the remaining 1 to 3 samples. */ - while(blkCnt > 0u) - { - /* C = A >> shiftBits */ - /* Shift the input and then store the results in the destination buffer. */ - in1 = *pSrc; - in2 = *(pSrc + 1); - in3 = *(pSrc + 2); - in4 = *(pSrc + 3); - - *pDst = (in1 >> -shiftBits); - *(pDst + 1) = (in2 >> -shiftBits); - *(pDst + 2) = (in3 >> -shiftBits); - *(pDst + 3) = (in4 >> -shiftBits); - - - pSrc += 4u; - pDst += 4u; - - blkCnt--; - } - - } - - /* If the blockSize is not a multiple of 4, compute any remaining output samples here. - ** No loop unrolling is used. */ - blkCnt = blockSize % 0x4u; - -#else - - /* Run the below code for Cortex-M0 */ - - - /* Initialize blkCnt with number of samples */ - blkCnt = blockSize; - -#endif /* #ifndef ARM_MATH_CM0 */ - - - while(blkCnt > 0u) - { - /* C = A (>> or <<) shiftBits */ - /* Shift the input and then store the result in the destination buffer. */ - *pDst++ = (sign == 0u) ? clip_q63_to_q31((q63_t) * pSrc++ << shiftBits) : - (*pSrc++ >> -shiftBits); - - /* Decrement the loop counter */ - blkCnt--; - } - - -} - -/** - * @} end of shift group - */ diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_shift_q7.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_shift_q7.c deleted file mode 100644 index 6dfd25f65..000000000 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_shift_q7.c +++ /dev/null @@ -1,215 +0,0 @@ -/* ---------------------------------------------------------------------- -* Copyright (C) 2010 ARM Limited. All rights reserved. -* -* $Date: 15. February 2012 -* $Revision: V1.1.0 -* -* Project: CMSIS DSP Library -* Title: arm_shift_q7.c -* -* Description: Processing function for the Q7 Shifting -* -* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 -* -* Version 1.1.0 2012/02/15 -* Updated with more optimizations, bug fixes and minor API changes. -* -* Version 1.0.10 2011/7/15 -* Big Endian support added and Merged M0 and M3/M4 Source code. -* -* Version 1.0.3 2010/11/29 -* Re-organized the CMSIS folders and updated documentation. -* -* Version 1.0.2 2010/11/11 -* Documentation updated. -* -* Version 1.0.1 2010/10/05 -* Production release and review comments incorporated. -* -* Version 1.0.0 2010/09/20 -* Production release and review comments incorporated. -* -* Version 0.0.7 2010/06/10 -* Misra-C changes done -* -------------------------------------------------------------------- */ - -#include "arm_math.h" - -/** - * @ingroup groupMath - */ - -/** - * @addtogroup shift - * @{ - */ - - -/** - * @brief Shifts the elements of a Q7 vector a specified number of bits. - * @param[in] *pSrc points to the input vector - * @param[in] shiftBits number of bits to shift. A positive value shifts left; a negative value shifts right. - * @param[out] *pDst points to the output vector - * @param[in] blockSize number of samples in the vector - * @return none. - * - * \par Conditions for optimum performance - * Input and output buffers should be aligned by 32-bit - * - * - * Scaling and Overflow Behavior: - * \par - * The function uses saturating arithmetic. - * Results outside of the allowable Q7 range [0x8 0x7F] will be saturated. - */ - -void arm_shift_q7( - q7_t * pSrc, - int8_t shiftBits, - q7_t * pDst, - uint32_t blockSize) -{ - uint32_t blkCnt; /* loop counter */ - uint8_t sign; /* Sign of shiftBits */ - -#ifndef ARM_MATH_CM0 - -/* Run the below code for Cortex-M4 and Cortex-M3 */ - q7_t in1; /* Input value1 */ - q7_t in2; /* Input value2 */ - q7_t in3; /* Input value3 */ - q7_t in4; /* Input value4 */ - - - /*loop Unrolling */ - blkCnt = blockSize >> 2u; - - /* Getting the sign of shiftBits */ - sign = (shiftBits & 0x80); - - /* If the shift value is positive then do right shift else left shift */ - if(sign == 0u) - { - /* First part of the processing with loop unrolling. Compute 4 outputs at a time. - ** a second loop below computes the remaining 1 to 3 samples. */ - while(blkCnt > 0u) - { - /* C = A << shiftBits */ - /* Read 4 inputs */ - in1 = *pSrc; - in2 = *(pSrc + 1); - in3 = *(pSrc + 2); - in4 = *(pSrc + 3); - - /* Store the Shifted result in the destination buffer in single cycle by packing the outputs */ - *__SIMD32(pDst)++ = __PACKq7(__SSAT((in1 << shiftBits), 8), - __SSAT((in2 << shiftBits), 8), - __SSAT((in3 << shiftBits), 8), - __SSAT((in4 << shiftBits), 8)); - /* Update source pointer to process next sampels */ - pSrc += 4u; - - /* Decrement the loop counter */ - blkCnt--; - } - - /* If the blockSize is not a multiple of 4, compute any remaining output samples here. - ** No loop unrolling is used. */ - blkCnt = blockSize % 0x4u; - - while(blkCnt > 0u) - { - /* C = A << shiftBits */ - /* Shift the input and then store the result in the destination buffer. */ - *pDst++ = (q7_t) __SSAT((*pSrc++ << shiftBits), 8); - - /* Decrement the loop counter */ - blkCnt--; - } - } - else - { - shiftBits = -shiftBits; - /* First part of the processing with loop unrolling. Compute 4 outputs at a time. - ** a second loop below computes the remaining 1 to 3 samples. */ - while(blkCnt > 0u) - { - /* C = A >> shiftBits */ - /* Read 4 inputs */ - in1 = *pSrc; - in2 = *(pSrc + 1); - in3 = *(pSrc + 2); - in4 = *(pSrc + 3); - - /* Store the Shifted result in the destination buffer in single cycle by packing the outputs */ - *__SIMD32(pDst)++ = __PACKq7((in1 >> shiftBits), (in2 >> shiftBits), - (in3 >> shiftBits), (in4 >> shiftBits)); - - - pSrc += 4u; - - /* Decrement the loop counter */ - blkCnt--; - } - - /* If the blockSize is not a multiple of 4, compute any remaining output samples here. - ** No loop unrolling is used. */ - blkCnt = blockSize % 0x4u; - - while(blkCnt > 0u) - { - /* C = A >> shiftBits */ - /* Shift the input and then store the result in the destination buffer. */ - in1 = *pSrc++; - *pDst++ = (in1 >> shiftBits); - - /* Decrement the loop counter */ - blkCnt--; - } - } - -#else - - /* Run the below code for Cortex-M0 */ - - /* Getting the sign of shiftBits */ - sign = (shiftBits & 0x80); - - /* If the shift value is positive then do right shift else left shift */ - if(sign == 0u) - { - /* Initialize blkCnt with number of samples */ - blkCnt = blockSize; - - while(blkCnt > 0u) - { - /* C = A << shiftBits */ - /* Shift the input and then store the result in the destination buffer. */ - *pDst++ = (q7_t) __SSAT(((q15_t) * pSrc++ << shiftBits), 8); - - /* Decrement the loop counter */ - blkCnt--; - } - } - else - { - /* Initialize blkCnt with number of samples */ - blkCnt = blockSize; - - while(blkCnt > 0u) - { - /* C = A >> shiftBits */ - /* Shift the input and then store the result in the destination buffer. */ - *pDst++ = (*pSrc++ >> -shiftBits); - - /* Decrement the loop counter */ - blkCnt--; - } - } - -#endif /* #ifndef ARM_MATH_CM0 */ -} - -/** - * @} end of shift group - */ diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_f32.c deleted file mode 100644 index 4a660db49..000000000 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_f32.c +++ /dev/null @@ -1,145 +0,0 @@ -/* ---------------------------------------------------------------------- -* Copyright (C) 2010 ARM Limited. All rights reserved. -* -* $Date: 15. February 2012 -* $Revision: V1.1.0 -* -* Project: CMSIS DSP Library -* Title: arm_sub_f32.c -* -* Description: Floating-point vector subtraction. -* -* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 -* -* Version 1.1.0 2012/02/15 -* Updated with more optimizations, bug fixes and minor API changes. -* -* Version 1.0.10 2011/7/15 -* Big Endian support added and Merged M0 and M3/M4 Source code. -* -* Version 1.0.3 2010/11/29 -* Re-organized the CMSIS folders and updated documentation. -* -* Version 1.0.2 2010/11/11 -* Documentation updated. -* -* Version 1.0.1 2010/10/05 -* Production release and review comments incorporated. -* -* Version 1.0.0 2010/09/20 -* Production release and review comments incorporated. -* -* Version 0.0.7 2010/06/10 -* Misra-C changes done -* ---------------------------------------------------------------------------- */ - -#include "arm_math.h" - -/** - * @ingroup groupMath - */ - -/** - * @defgroup BasicSub Vector Subtraction - * - * Element-by-element subtraction of two vectors. - * - * 
        
- *     pDst[n] = pSrcA[n] - pSrcB[n],   0 <= n < blockSize.        
- *
- * - * There are separate functions for floating-point, Q7, Q15, and Q31 data types. - */ - -/** - * @addtogroup BasicSub - * @{ - */ - - -/** - * @brief Floating-point vector subtraction. - * @param[in] *pSrcA points to the first input vector - * @param[in] *pSrcB points to the second input vector - * @param[out] *pDst points to the output vector - * @param[in] blockSize number of samples in each vector - * @return none. - */ - -void arm_sub_f32( - float32_t * pSrcA, - float32_t * pSrcB, - float32_t * pDst, - uint32_t blockSize) -{ - uint32_t blkCnt; /* loop counter */ - -#ifndef ARM_MATH_CM0 - -/* Run the below code for Cortex-M4 and Cortex-M3 */ - float32_t inA1, inA2, inA3, inA4; /* temporary variables */ - float32_t inB1, inB2, inB3, inB4; /* temporary variables */ - - /*loop Unrolling */ - blkCnt = blockSize >> 2u; - - /* First part of the processing with loop unrolling. Compute 4 outputs at a time. - ** a second loop below computes the remaining 1 to 3 samples. */ - while(blkCnt > 0u) - { - /* C = A - B */ - /* Subtract and then store the results in the destination buffer. */ - /* Read 4 input samples from sourceA and sourceB */ - inA1 = *pSrcA; - inB1 = *pSrcB; - inA2 = *(pSrcA + 1); - inB2 = *(pSrcB + 1); - inA3 = *(pSrcA + 2); - inB3 = *(pSrcB + 2); - inA4 = *(pSrcA + 3); - inB4 = *(pSrcB + 3); - - /* dst = srcA - srcB */ - /* subtract and store the result */ - *pDst = inA1 - inB1; - *(pDst + 1) = inA2 - inB2; - *(pDst + 2) = inA3 - inB3; - *(pDst + 3) = inA4 - inB4; - - - /* Update pointers to process next sampels */ - pSrcA += 4u; - pSrcB += 4u; - pDst += 4u; - - /* Decrement the loop counter */ - blkCnt--; - } - - /* If the blockSize is not a multiple of 4, compute any remaining output samples here. - ** No loop unrolling is used. */ - blkCnt = blockSize % 0x4u; - -#else - - /* Run the below code for Cortex-M0 */ - - /* Initialize blkCnt with number of samples */ - blkCnt = blockSize; - -#endif /* #ifndef ARM_MATH_CM0 */ - - while(blkCnt > 0u) - { - /* C = A - B */ - /* Subtract and then store the results in the destination buffer. */ - *pDst++ = (*pSrcA++) - (*pSrcB++); - - /* Decrement the loop counter */ - blkCnt--; - } -} - -/** - * @} end of BasicSub group - */ diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_q15.c deleted file mode 100644 index d8cc12220..000000000 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_q15.c +++ /dev/null @@ -1,135 +0,0 @@ -/* ---------------------------------------------------------------------- -* Copyright (C) 2010 ARM Limited. All rights reserved. -* -* $Date: 15. February 2012 -* $Revision: V1.1.0 -* -* Project: CMSIS DSP Library -* Title: arm_sub_q15.c -* -* Description: Q15 vector subtraction. -* -* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 -* -* Version 1.1.0 2012/02/15 -* Updated with more optimizations, bug fixes and minor API changes. -* -* Version 1.0.10 2011/7/15 -* Big Endian support added and Merged M0 and M3/M4 Source code. -* -* Version 1.0.3 2010/11/29 -* Re-organized the CMSIS folders and updated documentation. -* -* Version 1.0.2 2010/11/11 -* Documentation updated. -* -* Version 1.0.1 2010/10/05 -* Production release and review comments incorporated. -* -* Version 1.0.0 2010/09/20 -* Production release and review comments incorporated. -* -* Version 0.0.7 2010/06/10 -* Misra-C changes done -* -------------------------------------------------------------------- */ - -#include "arm_math.h" - -/** - * @ingroup groupMath - */ - -/** - * @addtogroup BasicSub - * @{ - */ - -/** - * @brief Q15 vector subtraction. - * @param[in] *pSrcA points to the first input vector - * @param[in] *pSrcB points to the second input vector - * @param[out] *pDst points to the output vector - * @param[in] blockSize number of samples in each vector - * @return none. - * - * Scaling and Overflow Behavior: - * \par - * The function uses saturating arithmetic. - * Results outside of the allowable Q15 range [0x8000 0x7FFF] will be saturated. - */ - -void arm_sub_q15( - q15_t * pSrcA, - q15_t * pSrcB, - q15_t * pDst, - uint32_t blockSize) -{ - uint32_t blkCnt; /* loop counter */ - - -#ifndef ARM_MATH_CM0 - -/* Run the below code for Cortex-M4 and Cortex-M3 */ - q31_t inA1, inA2; - q31_t inB1, inB2; - - /*loop Unrolling */ - blkCnt = blockSize >> 2u; - - /* First part of the processing with loop unrolling. Compute 4 outputs at a time. - ** a second loop below computes the remaining 1 to 3 samples. */ - while(blkCnt > 0u) - { - /* C = A - B */ - /* Subtract and then store the results in the destination buffer two samples at a time. */ - inA1 = *__SIMD32(pSrcA)++; - inA2 = *__SIMD32(pSrcA)++; - inB1 = *__SIMD32(pSrcB)++; - inB2 = *__SIMD32(pSrcB)++; - - *__SIMD32(pDst)++ = __QSUB16(inA1, inB1); - *__SIMD32(pDst)++ = __QSUB16(inA2, inB2); - - /* Decrement the loop counter */ - blkCnt--; - } - - /* If the blockSize is not a multiple of 4, compute any remaining output samples here. - ** No loop unrolling is used. */ - blkCnt = blockSize % 0x4u; - - while(blkCnt > 0u) - { - /* C = A - B */ - /* Subtract and then store the result in the destination buffer. */ - *pDst++ = (q15_t) __QSUB16(*pSrcA++, *pSrcB++); - - /* Decrement the loop counter */ - blkCnt--; - } - -#else - - /* Run the below code for Cortex-M0 */ - - /* Initialize blkCnt with number of samples */ - blkCnt = blockSize; - - while(blkCnt > 0u) - { - /* C = A - B */ - /* Subtract and then store the result in the destination buffer. */ - *pDst++ = (q15_t) __SSAT(((q31_t) * pSrcA++ - *pSrcB++), 16); - - /* Decrement the loop counter */ - blkCnt--; - } - -#endif /* #ifndef ARM_MATH_CM0 */ - - -} - -/** - * @} end of BasicSub group - */ diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_q31.c deleted file mode 100644 index 34642f32e..000000000 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_q31.c +++ /dev/null @@ -1,141 +0,0 @@ -/* ---------------------------------------------------------------------- -* Copyright (C) 2010 ARM Limited. All rights reserved. -* -* $Date: 15. February 2012 -* $Revision: V1.1.0 -* -* Project: CMSIS DSP Library -* Title: arm_sub_q31.c -* -* Description: Q31 vector subtraction. -* -* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 -* -* Version 1.1.0 2012/02/15 -* Updated with more optimizations, bug fixes and minor API changes. -* -* Version 1.0.10 2011/7/15 -* Big Endian support added and Merged M0 and M3/M4 Source code. -* -* Version 1.0.3 2010/11/29 -* Re-organized the CMSIS folders and updated documentation. -* -* Version 1.0.2 2010/11/11 -* Documentation updated. -* -* Version 1.0.1 2010/10/05 -* Production release and review comments incorporated. -* -* Version 1.0.0 2010/09/20 -* Production release and review comments incorporated. -* -* Version 0.0.7 2010/06/10 -* Misra-C changes done -* -------------------------------------------------------------------- */ - -#include "arm_math.h" - -/** - * @ingroup groupMath - */ - -/** - * @addtogroup BasicSub - * @{ - */ - -/** - * @brief Q31 vector subtraction. - * @param[in] *pSrcA points to the first input vector - * @param[in] *pSrcB points to the second input vector - * @param[out] *pDst points to the output vector - * @param[in] blockSize number of samples in each vector - * @return none. - * - * Scaling and Overflow Behavior: - * \par - * The function uses saturating arithmetic. - * Results outside of the allowable Q31 range [0x80000000 0x7FFFFFFF] will be saturated. - */ - -void arm_sub_q31( - q31_t * pSrcA, - q31_t * pSrcB, - q31_t * pDst, - uint32_t blockSize) -{ - uint32_t blkCnt; /* loop counter */ - - -#ifndef ARM_MATH_CM0 - -/* Run the below code for Cortex-M4 and Cortex-M3 */ - q31_t inA1, inA2, inA3, inA4; - q31_t inB1, inB2, inB3, inB4; - - /*loop Unrolling */ - blkCnt = blockSize >> 2u; - - /* First part of the processing with loop unrolling. Compute 4 outputs at a time. - ** a second loop below computes the remaining 1 to 3 samples. */ - while(blkCnt > 0u) - { - /* C = A - B */ - /* Subtract and then store the results in the destination buffer. */ - inA1 = *pSrcA++; - inA2 = *pSrcA++; - inB1 = *pSrcB++; - inB2 = *pSrcB++; - - inA3 = *pSrcA++; - inA4 = *pSrcA++; - inB3 = *pSrcB++; - inB4 = *pSrcB++; - - *pDst++ = __QSUB(inA1, inB1); - *pDst++ = __QSUB(inA2, inB2); - *pDst++ = __QSUB(inA3, inB3); - *pDst++ = __QSUB(inA4, inB4); - - /* Decrement the loop counter */ - blkCnt--; - } - - /* If the blockSize is not a multiple of 4, compute any remaining output samples here. - ** No loop unrolling is used. */ - blkCnt = blockSize % 0x4u; - - while(blkCnt > 0u) - { - /* C = A - B */ - /* Subtract and then store the result in the destination buffer. */ - *pDst++ = __QSUB(*pSrcA++, *pSrcB++); - - /* Decrement the loop counter */ - blkCnt--; - } - -#else - - /* Run the below code for Cortex-M0 */ - - /* Initialize blkCnt with number of samples */ - blkCnt = blockSize; - - while(blkCnt > 0u) - { - /* C = A - B */ - /* Subtract and then store the result in the destination buffer. */ - *pDst++ = (q31_t) clip_q63_to_q31((q63_t) * pSrcA++ - *pSrcB++); - - /* Decrement the loop counter */ - blkCnt--; - } - -#endif /* #ifndef ARM_MATH_CM0 */ - -} - -/** - * @} end of BasicSub group - */ diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_q7.c b/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_q7.c deleted file mode 100644 index adbc7d0c0..000000000 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_q7.c +++ /dev/null @@ -1,126 +0,0 @@ -/* ---------------------------------------------------------------------- -* Copyright (C) 2010 ARM Limited. All rights reserved. -* -* $Date: 15. February 2012 -* $Revision: V1.1.0 -* -* Project: CMSIS DSP Library -* Title: arm_sub_q7.c -* -* Description: Q7 vector subtraction. -* -* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 -* -* Version 1.1.0 2012/02/15 -* Updated with more optimizations, bug fixes and minor API changes. -* -* Version 1.0.10 2011/7/15 -* Big Endian support added and Merged M0 and M3/M4 Source code. -* -* Version 1.0.3 2010/11/29 -* Re-organized the CMSIS folders and updated documentation. -* -* Version 1.0.2 2010/11/11 -* Documentation updated. -* -* Version 1.0.1 2010/10/05 -* Production release and review comments incorporated. -* -* Version 1.0.0 2010/09/20 -* Production release and review comments incorporated. -* -* Version 0.0.7 2010/06/10 -* Misra-C changes done -* -------------------------------------------------------------------- */ - -#include "arm_math.h" - -/** - * @ingroup groupMath - */ - -/** - * @addtogroup BasicSub - * @{ - */ - -/** - * @brief Q7 vector subtraction. - * @param[in] *pSrcA points to the first input vector - * @param[in] *pSrcB points to the second input vector - * @param[out] *pDst points to the output vector - * @param[in] blockSize number of samples in each vector - * @return none. - * - * Scaling and Overflow Behavior: - * \par - * The function uses saturating arithmetic. - * Results outside of the allowable Q7 range [0x80 0x7F] will be saturated. - */ - -void arm_sub_q7( - q7_t * pSrcA, - q7_t * pSrcB, - q7_t * pDst, - uint32_t blockSize) -{ - uint32_t blkCnt; /* loop counter */ - -#ifndef ARM_MATH_CM0 - -/* Run the below code for Cortex-M4 and Cortex-M3 */ - - /*loop Unrolling */ - blkCnt = blockSize >> 2u; - - /* First part of the processing with loop unrolling. Compute 4 outputs at a time. - ** a second loop below computes the remaining 1 to 3 samples. */ - while(blkCnt > 0u) - { - /* C = A - B */ - /* Subtract and then store the results in the destination buffer 4 samples at a time. */ - *__SIMD32(pDst)++ = __QSUB8(*__SIMD32(pSrcA)++, *__SIMD32(pSrcB)++); - - /* Decrement the loop counter */ - blkCnt--; - } - - /* If the blockSize is not a multiple of 4, compute any remaining output samples here. - ** No loop unrolling is used. */ - blkCnt = blockSize % 0x4u; - - while(blkCnt > 0u) - { - /* C = A - B */ - /* Subtract and then store the result in the destination buffer. */ - *pDst++ = __SSAT(*pSrcA++ - *pSrcB++, 8); - - /* Decrement the loop counter */ - blkCnt--; - } - -#else - - /* Run the below code for Cortex-M0 */ - - /* Initialize blkCnt with number of samples */ - blkCnt = blockSize; - - while(blkCnt > 0u) - { - /* C = A - B */ - /* Subtract and then store the result in the destination buffer. */ - *pDst++ = (q7_t) __SSAT((q15_t) * pSrcA++ - *pSrcB++, 8); - - /* Decrement the loop counter */ - blkCnt--; - } - -#endif /* #ifndef ARM_MATH_CM0 */ - - -} - -/** - * @} end of BasicSub group - */ diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/CommonTables/arm_common_tables.c b/apps/mathlib/CMSIS/DSP_Lib/Source/CommonTables/arm_common_tables.c deleted file mode 100644 index bf7ab3bed..000000000 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/CommonTables/arm_common_tables.c +++ /dev/null @@ -1,4689 +0,0 @@ -/* ---------------------------------------------------------------------- -* Copyright (C) 2010 ARM Limited. All rights reserved. -* -* $Date: 15. February 2012 -* $Revision: V1.1.0 -* -* Project: CMSIS DSP Library -* Title: arm_common_tables.c -* -* Description: This file has common tables like fft twiddle factors, Bitreverse, reciprocal etc which are used across different functions -* -* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 -* -* Version 1.1.0 2012/02/15 -* Updated with more optimizations, bug fixes and minor API changes. -* -* Version 1.0.10 2011/7/15 -* Big Endian support added and Merged M0 and M3/M4 Source code. -* -* Version 1.0.3 2010/11/29 -* Re-organized the CMSIS folders and updated documentation. -* -* Version 1.0.2 2010/11/11 -* Documentation updated. -* -* Version 1.0.1 2010/10/05 -* Production release and review comments incorporated. -* -* Version 1.0.0 2010/09/20 -* Production release and review comments incorporated. -* -------------------------------------------------------------------- */ - - -#include "arm_math.h" -#include "arm_common_tables.h" - -/** - * @ingroup groupTransforms - */ - -/** - * @addtogroup CFFT_CIFFT Complex FFT Tables - * @{ - */ - -/** -* \par -* Pseudo code for Generation of Bit reversal Table is -* \par -* 
for(l=1;l <= N/4;l++)    
-* {    
-*   for(i=0;i> 1;    
-*  }
-* \par -* where N = 4096 logN2 = 12 -* \par -* N is the maximum FFT Size supported -*/ - -/* -* @brief Table for bit reversal process -*/ -const uint16_t armBitRevTable[1024] = { - 0x400, 0x200, 0x600, 0x100, 0x500, 0x300, 0x700, - 0x80, 0x480, 0x280, 0x680, 0x180, 0x580, 0x380, - 0x780, 0x40, 0x440, 0x240, 0x640, 0x140, 0x540, - 0x340, 0x740, 0xc0, 0x4c0, 0x2c0, 0x6c0, 0x1c0, - 0x5c0, 0x3c0, 0x7c0, 0x20, 0x420, 0x220, 0x620, - 0x120, 0x520, 0x320, 0x720, 0xa0, 0x4a0, 0x2a0, - 0x6a0, 0x1a0, 0x5a0, 0x3a0, 0x7a0, 0x60, 0x460, - 0x260, 0x660, 0x160, 0x560, 0x360, 0x760, 0xe0, - 0x4e0, 0x2e0, 0x6e0, 0x1e0, 0x5e0, 0x3e0, 0x7e0, - 0x10, 0x410, 0x210, 0x610, 0x110, 0x510, 0x310, - 0x710, 0x90, 0x490, 0x290, 0x690, 0x190, 0x590, - 0x390, 0x790, 0x50, 0x450, 0x250, 0x650, 0x150, - 0x550, 0x350, 0x750, 0xd0, 0x4d0, 0x2d0, 0x6d0, - 0x1d0, 0x5d0, 0x3d0, 0x7d0, 0x30, 0x430, 0x230, - 0x630, 0x130, 0x530, 0x330, 0x730, 0xb0, 0x4b0, - 0x2b0, 0x6b0, 0x1b0, 0x5b0, 0x3b0, 0x7b0, 0x70, - 0x470, 0x270, 0x670, 0x170, 0x570, 0x370, 0x770, - 0xf0, 0x4f0, 0x2f0, 0x6f0, 0x1f0, 0x5f0, 0x3f0, - 0x7f0, 0x8, 0x408, 0x208, 0x608, 0x108, 0x508, - 0x308, 0x708, 0x88, 0x488, 0x288, 0x688, 0x188, - 0x588, 0x388, 0x788, 0x48, 0x448, 0x248, 0x648, - 0x148, 0x548, 0x348, 0x748, 0xc8, 0x4c8, 0x2c8, - 0x6c8, 0x1c8, 0x5c8, 0x3c8, 0x7c8, 0x28, 0x428, - 0x228, 0x628, 0x128, 0x528, 0x328, 0x728, 0xa8, - 0x4a8, 0x2a8, 0x6a8, 0x1a8, 0x5a8, 0x3a8, 0x7a8, - 0x68, 0x468, 0x268, 0x668, 0x168, 0x568, 0x368, - 0x768, 0xe8, 0x4e8, 0x2e8, 0x6e8, 0x1e8, 0x5e8, - 0x3e8, 0x7e8, 0x18, 0x418, 0x218, 0x618, 0x118, - 0x518, 0x318, 0x718, 0x98, 0x498, 0x298, 0x698, - 0x198, 0x598, 0x398, 0x798, 0x58, 0x458, 0x258, - 0x658, 0x158, 0x558, 0x358, 0x758, 0xd8, 0x4d8, - 0x2d8, 0x6d8, 0x1d8, 0x5d8, 0x3d8, 0x7d8, 0x38, - 0x438, 0x238, 0x638, 0x138, 0x538, 0x338, 0x738, - 0xb8, 0x4b8, 0x2b8, 0x6b8, 0x1b8, 0x5b8, 0x3b8, - 0x7b8, 0x78, 0x478, 0x278, 0x678, 0x178, 0x578, - 0x378, 0x778, 0xf8, 0x4f8, 0x2f8, 0x6f8, 0x1f8, - 0x5f8, 0x3f8, 0x7f8, 0x4, 0x404, 0x204, 0x604, - 0x104, 0x504, 0x304, 0x704, 0x84, 0x484, 0x284, - 0x684, 0x184, 0x584, 0x384, 0x784, 0x44, 0x444, - 0x244, 0x644, 0x144, 0x544, 0x344, 0x744, 0xc4, - 0x4c4, 0x2c4, 0x6c4, 0x1c4, 0x5c4, 0x3c4, 0x7c4, - 0x24, 0x424, 0x224, 0x624, 0x124, 0x524, 0x324, - 0x724, 0xa4, 0x4a4, 0x2a4, 0x6a4, 0x1a4, 0x5a4, - 0x3a4, 0x7a4, 0x64, 0x464, 0x264, 0x664, 0x164, - 0x564, 0x364, 0x764, 0xe4, 0x4e4, 0x2e4, 0x6e4, - 0x1e4, 0x5e4, 0x3e4, 0x7e4, 0x14, 0x414, 0x214, - 0x614, 0x114, 0x514, 0x314, 0x714, 0x94, 0x494, - 0x294, 0x694, 0x194, 0x594, 0x394, 0x794, 0x54, - 0x454, 0x254, 0x654, 0x154, 0x554, 0x354, 0x754, - 0xd4, 0x4d4, 0x2d4, 0x6d4, 0x1d4, 0x5d4, 0x3d4, - 0x7d4, 0x34, 0x434, 0x234, 0x634, 0x134, 0x534, - 0x334, 0x734, 0xb4, 0x4b4, 0x2b4, 0x6b4, 0x1b4, - 0x5b4, 0x3b4, 0x7b4, 0x74, 0x474, 0x274, 0x674, - 0x174, 0x574, 0x374, 0x774, 0xf4, 0x4f4, 0x2f4, - 0x6f4, 0x1f4, 0x5f4, 0x3f4, 0x7f4, 0xc, 0x40c, - 0x20c, 0x60c, 0x10c, 0x50c, 0x30c, 0x70c, 0x8c, - 0x48c, 0x28c, 0x68c, 0x18c, 0x58c, 0x38c, 0x78c, - 0x4c, 0x44c, 0x24c, 0x64c, 0x14c, 0x54c, 0x34c, - 0x74c, 0xcc, 0x4cc, 0x2cc, 0x6cc, 0x1cc, 0x5cc, - 0x3cc, 0x7cc, 0x2c, 0x42c, 0x22c, 0x62c, 0x12c, - 0x52c, 0x32c, 0x72c, 0xac, 0x4ac, 0x2ac, 0x6ac, - 0x1ac, 0x5ac, 0x3ac, 0x7ac, 0x6c, 0x46c, 0x26c, - 0x66c, 0x16c, 0x56c, 0x36c, 0x76c, 0xec, 0x4ec, - 0x2ec, 0x6ec, 0x1ec, 0x5ec, 0x3ec, 0x7ec, 0x1c, - 0x41c, 0x21c, 0x61c, 0x11c, 0x51c, 0x31c, 0x71c, - 0x9c, 0x49c, 0x29c, 0x69c, 0x19c, 0x59c, 0x39c, - 0x79c, 0x5c, 0x45c, 0x25c, 0x65c, 0x15c, 0x55c, - 0x35c, 0x75c, 0xdc, 0x4dc, 0x2dc, 0x6dc, 0x1dc, - 0x5dc, 0x3dc, 0x7dc, 0x3c, 0x43c, 0x23c, 0x63c, - 0x13c, 0x53c, 0x33c, 0x73c, 0xbc, 0x4bc, 0x2bc, - 0x6bc, 0x1bc, 0x5bc, 0x3bc, 0x7bc, 0x7c, 0x47c, - 0x27c, 0x67c, 0x17c, 0x57c, 0x37c, 0x77c, 0xfc, - 0x4fc, 0x2fc, 0x6fc, 0x1fc, 0x5fc, 0x3fc, 0x7fc, - 0x2, 0x402, 0x202, 0x602, 0x102, 0x502, 0x302, - 0x702, 0x82, 0x482, 0x282, 0x682, 0x182, 0x582, - 0x382, 0x782, 0x42, 0x442, 0x242, 0x642, 0x142, - 0x542, 0x342, 0x742, 0xc2, 0x4c2, 0x2c2, 0x6c2, - 0x1c2, 0x5c2, 0x3c2, 0x7c2, 0x22, 0x422, 0x222, - 0x622, 0x122, 0x522, 0x322, 0x722, 0xa2, 0x4a2, - 0x2a2, 0x6a2, 0x1a2, 0x5a2, 0x3a2, 0x7a2, 0x62, - 0x462, 0x262, 0x662, 0x162, 0x562, 0x362, 0x762, - 0xe2, 0x4e2, 0x2e2, 0x6e2, 0x1e2, 0x5e2, 0x3e2, - 0x7e2, 0x12, 0x412, 0x212, 0x612, 0x112, 0x512, - 0x312, 0x712, 0x92, 0x492, 0x292, 0x692, 0x192, - 0x592, 0x392, 0x792, 0x52, 0x452, 0x252, 0x652, - 0x152, 0x552, 0x352, 0x752, 0xd2, 0x4d2, 0x2d2, - 0x6d2, 0x1d2, 0x5d2, 0x3d2, 0x7d2, 0x32, 0x432, - 0x232, 0x632, 0x132, 0x532, 0x332, 0x732, 0xb2, - 0x4b2, 0x2b2, 0x6b2, 0x1b2, 0x5b2, 0x3b2, 0x7b2, - 0x72, 0x472, 0x272, 0x672, 0x172, 0x572, 0x372, - 0x772, 0xf2, 0x4f2, 0x2f2, 0x6f2, 0x1f2, 0x5f2, - 0x3f2, 0x7f2, 0xa, 0x40a, 0x20a, 0x60a, 0x10a, - 0x50a, 0x30a, 0x70a, 0x8a, 0x48a, 0x28a, 0x68a, - 0x18a, 0x58a, 0x38a, 0x78a, 0x4a, 0x44a, 0x24a, - 0x64a, 0x14a, 0x54a, 0x34a, 0x74a, 0xca, 0x4ca, - 0x2ca, 0x6ca, 0x1ca, 0x5ca, 0x3ca, 0x7ca, 0x2a, - 0x42a, 0x22a, 0x62a, 0x12a, 0x52a, 0x32a, 0x72a, - 0xaa, 0x4aa, 0x2aa, 0x6aa, 0x1aa, 0x5aa, 0x3aa, - 0x7aa, 0x6a, 0x46a, 0x26a, 0x66a, 0x16a, 0x56a, - 0x36a, 0x76a, 0xea, 0x4ea, 0x2ea, 0x6ea, 0x1ea, - 0x5ea, 0x3ea, 0x7ea, 0x1a, 0x41a, 0x21a, 0x61a, - 0x11a, 0x51a, 0x31a, 0x71a, 0x9a, 0x49a, 0x29a, - 0x69a, 0x19a, 0x59a, 0x39a, 0x79a, 0x5a, 0x45a, - 0x25a, 0x65a, 0x15a, 0x55a, 0x35a, 0x75a, 0xda, - 0x4da, 0x2da, 0x6da, 0x1da, 0x5da, 0x3da, 0x7da, - 0x3a, 0x43a, 0x23a, 0x63a, 0x13a, 0x53a, 0x33a, - 0x73a, 0xba, 0x4ba, 0x2ba, 0x6ba, 0x1ba, 0x5ba, - 0x3ba, 0x7ba, 0x7a, 0x47a, 0x27a, 0x67a, 0x17a, - 0x57a, 0x37a, 0x77a, 0xfa, 0x4fa, 0x2fa, 0x6fa, - 0x1fa, 0x5fa, 0x3fa, 0x7fa, 0x6, 0x406, 0x206, - 0x606, 0x106, 0x506, 0x306, 0x706, 0x86, 0x486, - 0x286, 0x686, 0x186, 0x586, 0x386, 0x786, 0x46, - 0x446, 0x246, 0x646, 0x146, 0x546, 0x346, 0x746, - 0xc6, 0x4c6, 0x2c6, 0x6c6, 0x1c6, 0x5c6, 0x3c6, - 0x7c6, 0x26, 0x426, 0x226, 0x626, 0x126, 0x526, - 0x326, 0x726, 0xa6, 0x4a6, 0x2a6, 0x6a6, 0x1a6, - 0x5a6, 0x3a6, 0x7a6, 0x66, 0x466, 0x266, 0x666, - 0x166, 0x566, 0x366, 0x766, 0xe6, 0x4e6, 0x2e6, - 0x6e6, 0x1e6, 0x5e6, 0x3e6, 0x7e6, 0x16, 0x416, - 0x216, 0x616, 0x116, 0x516, 0x316, 0x716, 0x96, - 0x496, 0x296, 0x696, 0x196, 0x596, 0x396, 0x796, - 0x56, 0x456, 0x256, 0x656, 0x156, 0x556, 0x356, - 0x756, 0xd6, 0x4d6, 0x2d6, 0x6d6, 0x1d6, 0x5d6, - 0x3d6, 0x7d6, 0x36, 0x436, 0x236, 0x636, 0x136, - 0x536, 0x336, 0x736, 0xb6, 0x4b6, 0x2b6, 0x6b6, - 0x1b6, 0x5b6, 0x3b6, 0x7b6, 0x76, 0x476, 0x276, - 0x676, 0x176, 0x576, 0x376, 0x776, 0xf6, 0x4f6, - 0x2f6, 0x6f6, 0x1f6, 0x5f6, 0x3f6, 0x7f6, 0xe, - 0x40e, 0x20e, 0x60e, 0x10e, 0x50e, 0x30e, 0x70e, - 0x8e, 0x48e, 0x28e, 0x68e, 0x18e, 0x58e, 0x38e, - 0x78e, 0x4e, 0x44e, 0x24e, 0x64e, 0x14e, 0x54e, - 0x34e, 0x74e, 0xce, 0x4ce, 0x2ce, 0x6ce, 0x1ce, - 0x5ce, 0x3ce, 0x7ce, 0x2e, 0x42e, 0x22e, 0x62e, - 0x12e, 0x52e, 0x32e, 0x72e, 0xae, 0x4ae, 0x2ae, - 0x6ae, 0x1ae, 0x5ae, 0x3ae, 0x7ae, 0x6e, 0x46e, - 0x26e, 0x66e, 0x16e, 0x56e, 0x36e, 0x76e, 0xee, - 0x4ee, 0x2ee, 0x6ee, 0x1ee, 0x5ee, 0x3ee, 0x7ee, - 0x1e, 0x41e, 0x21e, 0x61e, 0x11e, 0x51e, 0x31e, - 0x71e, 0x9e, 0x49e, 0x29e, 0x69e, 0x19e, 0x59e, - 0x39e, 0x79e, 0x5e, 0x45e, 0x25e, 0x65e, 0x15e, - 0x55e, 0x35e, 0x75e, 0xde, 0x4de, 0x2de, 0x6de, - 0x1de, 0x5de, 0x3de, 0x7de, 0x3e, 0x43e, 0x23e, - 0x63e, 0x13e, 0x53e, 0x33e, 0x73e, 0xbe, 0x4be, - 0x2be, 0x6be, 0x1be, 0x5be, 0x3be, 0x7be, 0x7e, - 0x47e, 0x27e, 0x67e, 0x17e, 0x57e, 0x37e, 0x77e, - 0xfe, 0x4fe, 0x2fe, 0x6fe, 0x1fe, 0x5fe, 0x3fe, - 0x7fe, 0x1 -}; - - -/* -* @brief Floating-point Twiddle factors Table Generation -*/ - - -/** -* \par -* Example code for Floating-point Twiddle factors Generation: -* \par -* 
for(i = 0; i< 3N/4; i++)    
-* {    
-*	twiddleCoef[2*i]= cos(i * 2*PI/(float)N);    
-*	twiddleCoef[2*i+1]= sin(i * 2*PI/(float)N);    
-* }
-* \par -* where N = 4096 and PI = 3.14159265358979 -* \par -* Cos and Sin values are in interleaved fashion -* -*/ -const float32_t twiddleCoef[6144] = { - 1.000000000000000000f, 0.000000000000000000f, 0.999998823451701880f, - 0.001533980186284766f, 0.999995293809576190f, 0.003067956762965976f, - 0.999989411081928400f, 0.004601926120448571f, 0.999981175282601110f, - 0.006135884649154475f, 0.999970586430974140f, 0.007669828739531097f, - 0.999957644551963900f, 0.009203754782059819f, 0.999942349676023910f, - 0.010737659167264491f, 0.999924701839144500f, 0.012271538285719925f, - 0.999904701082852900f, 0.013805388528060391f, 0.999882347454212560f, - 0.015339206284988100f, 0.999857641005823860f, 0.016872987947281710f, - 0.999830581795823400f, 0.018406729905804820f, 0.999801169887884260f, - 0.019940428551514441f, 0.999769405351215280f, 0.021474080275469508f, - 0.999735288260561680f, 0.023007681468839369f, 0.999698818696204250f, - 0.024541228522912288f, 0.999659996743959220f, 0.026074717829103901f, - 0.999618822495178640f, 0.027608145778965740f, 0.999575296046749220f, - 0.029141508764193722f, 0.999529417501093140f, 0.030674803176636626f, - 0.999481186966166950f, 0.032208025408304586f, 0.999430604555461730f, - 0.033741171851377580f, 0.999377670388002850f, 0.035274238898213947f, - 0.999322384588349540f, 0.036807222941358832f, 0.999264747286594420f, - 0.038340120373552694f, 0.999204758618363890f, 0.039872927587739811f, - 0.999142418724816910f, 0.041405640977076739f, 0.999077727752645360f, - 0.042938256934940820f, 0.999010685854073380f, 0.044470771854938668f, - 0.998941293186856870f, 0.046003182130914623f, 0.998869549914283560f, - 0.047535484156959303f, 0.998795456205172410f, 0.049067674327418015f, - 0.998719012233872940f, 0.050599749036899282f, 0.998640218180265270f, - 0.052131704680283324f, 0.998559074229759310f, 0.053663537652730520f, - 0.998475580573294770f, 0.055195244349689934f, 0.998389737407340160f, - 0.056726821166907748f, 0.998301544933892890f, 0.058258264500435752f, - 0.998211003360478190f, 0.059789570746639868f, 0.998118112900149180f, - 0.061320736302208578f, 0.998022873771486240f, 0.062851757564161406f, - 0.997925286198596000f, 0.064382630929857465f, 0.997825350411111640f, - 0.065913352797003805f, 0.997723066644191640f, 0.067443919563664051f, - 0.997618435138519550f, 0.068974327628266746f, 0.997511456140303450f, - 0.070504573389613856f, 0.997402129901275300f, 0.072034653246889332f, - 0.997290456678690210f, 0.073564563599667426f, 0.997176436735326190f, - 0.075094300847921305f, 0.997060070339482960f, 0.076623861392031492f, - 0.996941357764982160f, 0.078153241632794232f, 0.996820299291165670f, - 0.079682437971430126f, 0.996696895202896060f, 0.081211446809592441f, - 0.996571145790554840f, 0.082740264549375692f, 0.996443051350042630f, - 0.084268887593324071f, 0.996312612182778000f, 0.085797312344439894f, - 0.996179828595696980f, 0.087325535206192059f, 0.996044700901251970f, - 0.088853552582524600f, 0.995907229417411720f, 0.090381360877864983f, - 0.995767414467659820f, 0.091908956497132724f, 0.995625256380994310f, - 0.093436335845747787f, 0.995480755491926940f, 0.094963495329638992f, - 0.995333912140482280f, 0.096490431355252593f, 0.995184726672196930f, - 0.098017140329560604f, 0.995033199438118630f, 0.099543618660069319f, - 0.994879330794805620f, 0.101069862754827820f, 0.994723121104325700f, - 0.102595869022436280f, 0.994564570734255420f, 0.104121633872054590f, - 0.994403680057679100f, 0.105647153713410620f, 0.994240449453187900f, - 0.107172424956808840f, 0.994074879304879370f, 0.108697444013138720f, - 0.993906970002356060f, 0.110222207293883060f, 0.993736721940724600f, - 0.111746711211126590f, 0.993564135520595300f, 0.113270952177564350f, - 0.993389211148080650f, 0.114794926606510080f, 0.993211949234794500f, - 0.116318630911904750f, 0.993032350197851410f, 0.117842061508324980f, - 0.992850414459865100f, 0.119365214810991350f, 0.992666142448948020f, - 0.120888087235777080f, 0.992479534598709970f, 0.122410675199216200f, - 0.992290591348257370f, 0.123932975118512160f, 0.992099313142191800f, - 0.125454983411546230f, 0.991905700430609330f, 0.126976696496885870f, - 0.991709753669099530f, 0.128498110793793170f, 0.991511473318743900f, - 0.130019222722233350f, 0.991310859846115440f, 0.131540028702883120f, - 0.991107913723276890f, 0.133060525157139060f, 0.990902635427780010f, - 0.134580708507126170f, 0.990695025442664630f, 0.136100575175706200f, - 0.990485084256457090f, 0.137620121586486040f, 0.990272812363169110f, - 0.139139344163826200f, 0.990058210262297120f, 0.140658239332849210f, - 0.989841278458820530f, 0.142176803519448030f, 0.989622017463200890f, - 0.143695033150294470f, 0.989400427791380380f, 0.145212924652847460f, - 0.989176509964781010f, 0.146730474455361750f, 0.988950264510302990f, - 0.148247678986896030f, 0.988721691960323780f, 0.149764534677321510f, - 0.988490792852696590f, 0.151281037957330220f, 0.988257567730749460f, - 0.152797185258443440f, 0.988022017143283530f, 0.154312973013020100f, - 0.987784141644572180f, 0.155828397654265230f, 0.987543941794359230f, - 0.157343455616238250f, 0.987301418157858430f, 0.158858143333861450f, - 0.987056571305750970f, 0.160372457242928280f, 0.986809401814185530f, - 0.161886393780111830f, 0.986559910264775410f, 0.163399949382973230f, - 0.986308097244598670f, 0.164913120489969890f, 0.986053963346195440f, - 0.166425903540464100f, 0.985797509167567480f, 0.167938294974731170f, - 0.985538735312176060f, 0.169450291233967960f, 0.985277642388941220f, - 0.170961888760301220f, 0.985014231012239840f, 0.172473083996795950f, - 0.984748501801904210f, 0.173983873387463820f, 0.984480455383220930f, - 0.175494253377271430f, 0.984210092386929030f, 0.177004220412148750f, - 0.983937413449218920f, 0.178513770938997510f, 0.983662419211730250f, - 0.180022901405699510f, 0.983385110321551180f, 0.181531608261124970f, - 0.983105487431216290f, 0.183039887955140950f, 0.982823551198705240f, - 0.184547736938619620f, 0.982539302287441240f, 0.186055151663446630f, - 0.982252741366289370f, 0.187562128582529600f, 0.981963869109555240f, - 0.189068664149806190f, 0.981672686196983110f, 0.190574754820252740f, - 0.981379193313754560f, 0.192080397049892440f, 0.981083391150486710f, - 0.193585587295803610f, 0.980785280403230430f, 0.195090322016128250f, - 0.980484861773469380f, 0.196594597670080220f, 0.980182135968117430f, - 0.198098410717953560f, 0.979877103699517640f, 0.199601757621130970f, - 0.979569765685440520f, 0.201104634842091900f, 0.979260122649082020f, - 0.202607038844421130f, 0.978948175319062200f, 0.204108966092816870f, - 0.978633924429423210f, 0.205610413053099240f, 0.978317370719627650f, - 0.207111376192218560f, 0.977998514934557140f, 0.208611851978263490f, - 0.977677357824509930f, 0.210111836880469610f, 0.977353900145199960f, - 0.211611327369227550f, 0.977028142657754390f, 0.213110319916091360f, - 0.976700086128711840f, 0.214608810993786760f, 0.976369731330021140f, - 0.216106797076219520f, 0.976037079039039020f, 0.217604274638483640f, - 0.975702130038528570f, 0.219101240156869800f, 0.975364885116656980f, - 0.220597690108873510f, 0.975025345066994120f, 0.222093620973203510f, - 0.974683510688510670f, 0.223589029229789990f, 0.974339382785575860f, - 0.225083911359792830f, 0.973992962167955830f, 0.226578263845610000f, - 0.973644249650811980f, 0.228072083170885730f, 0.973293246054698250f, - 0.229565365820518870f, 0.972939952205560180f, 0.231058108280671110f, - 0.972584368934732210f, 0.232550307038775240f, 0.972226497078936270f, - 0.234041958583543430f, 0.971866337480279400f, 0.235533059404975490f, - 0.971503890986251780f, 0.237023605994367200f, 0.971139158449725090f, - 0.238513594844318420f, 0.970772140728950350f, 0.240003022448741500f, - 0.970402838687555500f, 0.241491885302869330f, 0.970031253194543970f, - 0.242980179903263870f, 0.969657385124292450f, 0.244467902747824150f, - 0.969281235356548530f, 0.245955050335794590f, 0.968902804776428870f, - 0.247441619167773270f, 0.968522094274417380f, 0.248927605745720150f, - 0.968139104746362440f, 0.250413006572965220f, 0.967753837093475510f, - 0.251897818154216970f, 0.967366292222328510f, 0.253382036995570160f, - 0.966976471044852070f, 0.254865659604514570f, 0.966584374478333120f, - 0.256348682489942910f, 0.966190003445412500f, 0.257831102162158990f, - 0.965793358874083680f, 0.259312915132886230f, 0.965394441697689400f, - 0.260794117915275510f, 0.964993252854920320f, 0.262274707023913590f, - 0.964589793289812760f, 0.263754678974831350f, 0.964184063951745830f, - 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-0.999204758618363890f, -0.038340120373552472f, -0.999264747286594420f, - -0.036807222941359331f, -0.999322384588349430f, -0.035274238898214294f, - -0.999377670388002850f, -0.033741171851377760f, -0.999430604555461730f, - -0.032208025408304600f, -0.999481186966166950f, -0.030674803176636484f, - -0.999529417501093140f, -0.029141508764194309f, -0.999575296046749220f, - -0.027608145778966163f, -0.999618822495178640f, -0.026074717829104161f, - -0.999659996743959220f, -0.024541228522912389f, -0.999698818696204250f, - -0.023007681468839310f, -0.999735288260561680f, -0.021474080275469286f, - -0.999769405351215280f, -0.019940428551514944f, -0.999801169887884260f, - -0.018406729905805164f, -0.999830581795823400f, -0.016872987947281894f, - -0.999857641005823860f, -0.015339206284988121f, -0.999882347454212560f, - -0.013805388528060250f, -0.999904701082852900f, -0.012271538285720512f, - -0.999924701839144500f, -0.010737659167264916f, -0.999942349676023910f, - -0.009203754782060083f, -0.999957644551963900f, -0.007669828739531199f, - -0.999970586430974140f, -0.006135884649154416f, -0.999981175282601110f, - -0.004601926120448350f, -0.999989411081928400f, -0.003067956762966483f, - -0.999995293809576190f, -0.001533980186285111f, -0.999998823451701880f, -}; - -/* -* @brief Q31 Twiddle factors Table -*/ - -/** -* \par -* Example code for Q31 Twiddle factors Generation:: -* \par -* 
for(i = 0; i< 3N/4; i++)    
-* {    
-*    twiddleCoefQ31[2*i]= cos(i * 2*PI/(float)N);    
-*    twiddleCoefQ31[2*i+1]= sin(i * 2*PI/(float)N);    
-* }
-* \par -* where N = 4096 and PI = 3.14159265358979 -* \par -* Cos and Sin values are interleaved fashion -* \par -* Convert Floating point to Q31(Fixed point 1.31): -* round(twiddleCoefQ31(i) * pow(2, 31)) -* -*/ - -const q31_t twiddleCoefQ31[6144] = { - 0x7fffffff, 0x0, 0x7ffff621, 0x3243f5, 0x7fffd886, 0x6487e3, 0x7fffa72c, - 0x96cbc1, - 0x7fff6216, 0xc90f88, 0x7fff0943, 0xfb5330, 0x7ffe9cb2, 0x12d96b1, - 0x7ffe1c65, 0x15fda03, - 0x7ffd885a, 0x1921d20, 0x7ffce093, 0x1c45ffe, 0x7ffc250f, 0x1f6a297, - 0x7ffb55ce, 0x228e4e2, - 0x7ffa72d1, 0x25b26d7, 0x7ff97c18, 0x28d6870, 0x7ff871a2, 0x2bfa9a4, - 0x7ff75370, 0x2f1ea6c, - 0x7ff62182, 0x3242abf, 0x7ff4dbd9, 0x3566a96, 0x7ff38274, 0x388a9ea, - 0x7ff21553, 0x3bae8b2, - 0x7ff09478, 0x3ed26e6, 0x7feeffe1, 0x41f6480, 0x7fed5791, 0x451a177, - 0x7feb9b85, 0x483ddc3, - 0x7fe9cbc0, 0x4b6195d, 0x7fe7e841, 0x4e8543e, 0x7fe5f108, 0x51a8e5c, - 0x7fe3e616, 0x54cc7b1, - 0x7fe1c76b, 0x57f0035, 0x7fdf9508, 0x5b137df, 0x7fdd4eec, 0x5e36ea9, - 0x7fdaf519, 0x615a48b, - 0x7fd8878e, 0x647d97c, 0x7fd6064c, 0x67a0d76, 0x7fd37153, 0x6ac406f, - 0x7fd0c8a3, 0x6de7262, - 0x7fce0c3e, 0x710a345, 0x7fcb3c23, 0x742d311, 0x7fc85854, 0x77501be, - 0x7fc560cf, 0x7a72f45, - 0x7fc25596, 0x7d95b9e, 0x7fbf36aa, 0x80b86c2, 0x7fbc040a, 0x83db0a7, - 0x7fb8bdb8, 0x86fd947, - 0x7fb563b3, 0x8a2009a, 0x7fb1f5fc, 0x8d42699, 0x7fae7495, 0x9064b3a, - 0x7faadf7c, 0x9386e78, - 0x7fa736b4, 0x96a9049, 0x7fa37a3c, 0x99cb0a7, 0x7f9faa15, 0x9cecf89, - 0x7f9bc640, 0xa00ece8, - 0x7f97cebd, 0xa3308bd, 0x7f93c38c, 0xa6522fe, 0x7f8fa4b0, 0xa973ba5, - 0x7f8b7227, 0xac952aa, - 0x7f872bf3, 0xafb6805, 0x7f82d214, 0xb2d7baf, 0x7f7e648c, 0xb5f8d9f, - 0x7f79e35a, 0xb919dcf, - 0x7f754e80, 0xbc3ac35, 0x7f70a5fe, 0xbf5b8cb, 0x7f6be9d4, 0xc27c389, - 0x7f671a05, 0xc59cc68, - 0x7f62368f, 0xc8bd35e, 0x7f5d3f75, 0xcbdd865, 0x7f5834b7, 0xcefdb76, - 0x7f531655, 0xd21dc87, - 0x7f4de451, 0xd53db92, 0x7f489eaa, 0xd85d88f, 0x7f434563, 0xdb7d376, - 0x7f3dd87c, 0xde9cc40, - 0x7f3857f6, 0xe1bc2e4, 0x7f32c3d1, 0xe4db75b, 0x7f2d1c0e, 0xe7fa99e, - 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0xddabec08, 0x84b06df2, - 0xdddc5b3b, 0x84a2fc62, 0xde0ccfb1, 0x84959dd9, 0xde3d4964, 0x84885258, - 0xde6dc84b, 0x847b19e1, - 0xde9e4c60, 0x846df477, 0xdeced59b, 0x8460e21a, 0xdeff63f4, 0x8453e2cf, - 0xdf2ff764, 0x8446f695, - 0xdf608fe4, 0x843a1d70, 0xdf912d6b, 0x842d5762, 0xdfc1cff3, 0x8420a46c, - 0xdff27773, 0x84140490, - 0xe02323e5, 0x840777d0, 0xe053d541, 0x83fafe2e, 0xe0848b7f, 0x83ee97ad, - 0xe0b54698, 0x83e2444d, - 0xe0e60685, 0x83d60412, 0xe116cb3d, 0x83c9d6fc, 0xe14794ba, 0x83bdbd0e, - 0xe17862f3, 0x83b1b649, - 0xe1a935e2, 0x83a5c2b0, 0xe1da0d7e, 0x8399e244, 0xe20ae9c1, 0x838e1507, - 0xe23bcaa2, 0x83825afb, - 0xe26cb01b, 0x8376b422, 0xe29d9a23, 0x836b207d, 0xe2ce88b3, 0x835fa00f, - 0xe2ff7bc3, 0x835432d8, - 0xe330734d, 0x8348d8dc, 0xe3616f48, 0x833d921b, 0xe3926fad, 0x83325e97, - 0xe3c37474, 0x83273e52, - 0xe3f47d96, 0x831c314e, 0xe4258b0a, 0x8311378d, 0xe4569ccb, 0x83065110, - 0xe487b2d0, 0x82fb7dd8, - 0xe4b8cd11, 0x82f0bde8, 0xe4e9eb87, 0x82e61141, 0xe51b0e2a, 0x82db77e5, - 0xe54c34f3, 0x82d0f1d5, - 0xe57d5fda, 0x82c67f14, 0xe5ae8ed8, 0x82bc1fa2, 0xe5dfc1e5, 0x82b1d381, - 0xe610f8f9, 0x82a79ab3, - 0xe642340d, 0x829d753a, 0xe6737319, 0x82936317, 0xe6a4b616, 0x8289644b, - 0xe6d5fcfc, 0x827f78d8, - 0xe70747c4, 0x8275a0c0, 0xe7389665, 0x826bdc04, 0xe769e8d8, 0x82622aa6, - 0xe79b3f16, 0x82588ca7, - 0xe7cc9917, 0x824f0208, 0xe7fdf6d4, 0x82458acc, 0xe82f5844, 0x823c26f3, - 0xe860bd61, 0x8232d67f, - 0xe8922622, 0x82299971, 0xe8c39280, 0x82206fcc, 0xe8f50273, 0x82175990, - 0xe92675f4, 0x820e56be, - 0xe957ecfb, 0x82056758, 0xe9896781, 0x81fc8b60, 0xe9bae57d, 0x81f3c2d7, - 0xe9ec66e8, 0x81eb0dbe, - 0xea1debbb, 0x81e26c16, 0xea4f73ee, 0x81d9dde1, 0xea80ff7a, 0x81d16321, - 0xeab28e56, 0x81c8fbd6, - 0xeae4207a, 0x81c0a801, 0xeb15b5e1, 0x81b867a5, 0xeb474e81, 0x81b03ac2, - 0xeb78ea52, 0x81a82159, - 0xebaa894f, 0x81a01b6d, 0xebdc2b6e, 0x819828fd, 0xec0dd0a8, 0x81904a0c, - 0xec3f78f6, 0x81887e9a, - 0xec71244f, 0x8180c6a9, 0xeca2d2ad, 0x8179223a, 0xecd48407, 0x8171914e, - 0xed063856, 0x816a13e6, - 0xed37ef91, 0x8162aa04, 0xed69a9b3, 0x815b53a8, 0xed9b66b2, 0x815410d4, - 0xedcd2687, 0x814ce188, - 0xedfee92b, 0x8145c5c7, 0xee30ae96, 0x813ebd90, 0xee6276bf, 0x8137c8e6, - 0xee9441a0, 0x8130e7c9, - 0xeec60f31, 0x812a1a3a, 0xeef7df6a, 0x8123603a, 0xef29b243, 0x811cb9ca, - 0xef5b87b5, 0x811626ec, - 0xef8d5fb8, 0x810fa7a0, 0xefbf3a45, 0x81093be8, 0xeff11753, 0x8102e3c4, - 0xf022f6da, 0x80fc9f35, - 0xf054d8d5, 0x80f66e3c, 0xf086bd39, 0x80f050db, 0xf0b8a401, 0x80ea4712, - 0xf0ea8d24, 0x80e450e2, - 0xf11c789a, 0x80de6e4c, 0xf14e665c, 0x80d89f51, 0xf1805662, 0x80d2e3f2, - 0xf1b248a5, 0x80cd3c2f, - 0xf1e43d1c, 0x80c7a80a, 0xf21633c0, 0x80c22784, 0xf2482c8a, 0x80bcba9d, - 0xf27a2771, 0x80b76156, - 0xf2ac246e, 0x80b21baf, 0xf2de2379, 0x80ace9ab, 0xf310248a, 0x80a7cb49, - 0xf342279b, 0x80a2c08b, - 0xf3742ca2, 0x809dc971, 0xf3a63398, 0x8098e5fb, 0xf3d83c77, 0x8094162c, - 0xf40a4735, 0x808f5a02, - 0xf43c53cb, 0x808ab180, 0xf46e6231, 0x80861ca6, 0xf4a07261, 0x80819b74, - 0xf4d28451, 0x807d2dec, - 0xf50497fb, 0x8078d40d, 0xf536ad56, 0x80748dd9, 0xf568c45b, 0x80705b50, - 0xf59add02, 0x806c3c74, - 0xf5ccf743, 0x80683143, 0xf5ff1318, 0x806439c0, 0xf6313077, 0x806055eb, - 0xf6634f59, 0x805c85c4, - 0xf6956fb7, 0x8058c94c, 0xf6c79188, 0x80552084, 0xf6f9b4c6, 0x80518b6b, - 0xf72bd967, 0x804e0a04, - 0xf75dff66, 0x804a9c4d, 0xf79026b9, 0x80474248, 0xf7c24f59, 0x8043fbf6, - 0xf7f4793e, 0x8040c956, - 0xf826a462, 0x803daa6a, 0xf858d0bb, 0x803a9f31, 0xf88afe42, 0x8037a7ac, - 0xf8bd2cef, 0x8034c3dd, - 0xf8ef5cbb, 0x8031f3c2, 0xf9218d9e, 0x802f375d, 0xf953bf91, 0x802c8ead, - 0xf985f28a, 0x8029f9b4, - 0xf9b82684, 0x80277872, 0xf9ea5b75, 0x80250ae7, 0xfa1c9157, 0x8022b114, - 0xfa4ec821, 0x80206af8, - 0xfa80ffcb, 0x801e3895, 0xfab3384f, 0x801c19ea, 0xfae571a4, 0x801a0ef8, - 0xfb17abc2, 0x801817bf, - 0xfb49e6a3, 0x80163440, 0xfb7c223d, 0x8014647b, 0xfbae5e89, 0x8012a86f, - 0xfbe09b80, 0x8011001f, - 0xfc12d91a, 0x800f6b88, 0xfc45174e, 0x800deaad, 0xfc775616, 0x800c7d8c, - 0xfca9956a, 0x800b2427, - 0xfcdbd541, 0x8009de7e, 0xfd0e1594, 0x8008ac90, 0xfd40565c, 0x80078e5e, - 0xfd729790, 0x800683e8, - 0xfda4d929, 0x80058d2f, 0xfdd71b1e, 0x8004aa32, 0xfe095d69, 0x8003daf1, - 0xfe3ba002, 0x80031f6d, - 0xfe6de2e0, 0x800277a6, 0xfea025fd, 0x8001e39b, 0xfed2694f, 0x8001634e, - 0xff04acd0, 0x8000f6bd, - 0xff36f078, 0x80009dea, 0xff69343f, 0x800058d4, 0xff9b781d, 0x8000277a, - 0xffcdbc0b, 0x800009df, - -}; - - -/* -* @brief Q15 Twiddle factors Table -*/ - -/** -* \par -* Example code for Q15 Twiddle factors Generation:: -* \par -* 
for(i = 0; i< 3N/4; i++)    
-* {    
-*	twiddleCoefQ15[2*i]= cos(i * 2*PI/(float)N);    
-*	twiddleCoefQ15[2*i+1]= sin(i * 2*PI/(float)N);    
-* }
-* \par -* where N = 4096 and PI = 3.14159265358979 -* \par -* Cos and Sin values are interleaved fashion -* \par -* Convert Floating point to Q15(Fixed point 1.15): -* round(twiddleCoefQ15(i) * pow(2, 15)) -* -*/ - -const q15_t ALIGN4 twiddleCoefQ15[6144] = { - - 0x7fff, 0x0, 0x7fff, 0x32, 0x7fff, 0x65, 0x7fff, 0x97, - 0x7fff, 0xc9, 0x7fff, 0xfb, 0x7fff, 0x12e, 0x7ffe, 0x160, - 0x7ffe, 0x192, 0x7ffd, 0x1c4, 0x7ffc, 0x1f7, 0x7ffb, 0x229, - 0x7ffa, 0x25b, 0x7ff9, 0x28d, 0x7ff8, 0x2c0, 0x7ff7, 0x2f2, - 0x7ff6, 0x324, 0x7ff5, 0x356, 0x7ff4, 0x389, 0x7ff2, 0x3bb, - 0x7ff1, 0x3ed, 0x7fef, 0x41f, 0x7fed, 0x452, 0x7fec, 0x484, - 0x7fea, 0x4b6, 0x7fe8, 0x4e8, 0x7fe6, 0x51b, 0x7fe4, 0x54d, - 0x7fe2, 0x57f, 0x7fe0, 0x5b1, 0x7fdd, 0x5e3, 0x7fdb, 0x616, - 0x7fd9, 0x648, 0x7fd6, 0x67a, 0x7fd3, 0x6ac, 0x7fd1, 0x6de, - 0x7fce, 0x711, 0x7fcb, 0x743, 0x7fc8, 0x775, 0x7fc5, 0x7a7, - 0x7fc2, 0x7d9, 0x7fbf, 0x80c, 0x7fbc, 0x83e, 0x7fb9, 0x870, - 0x7fb5, 0x8a2, 0x7fb2, 0x8d4, 0x7fae, 0x906, 0x7fab, 0x938, - 0x7fa7, 0x96b, 0x7fa3, 0x99d, 0x7fa0, 0x9cf, 0x7f9c, 0xa01, - 0x7f98, 0xa33, 0x7f94, 0xa65, 0x7f90, 0xa97, 0x7f8b, 0xac9, - 0x7f87, 0xafb, 0x7f83, 0xb2d, 0x7f7e, 0xb60, 0x7f7a, 0xb92, - 0x7f75, 0xbc4, 0x7f71, 0xbf6, 0x7f6c, 0xc28, 0x7f67, 0xc5a, - 0x7f62, 0xc8c, 0x7f5d, 0xcbe, 0x7f58, 0xcf0, 0x7f53, 0xd22, - 0x7f4e, 0xd54, 0x7f49, 0xd86, 0x7f43, 0xdb8, 0x7f3e, 0xdea, - 0x7f38, 0xe1c, 0x7f33, 0xe4e, 0x7f2d, 0xe80, 0x7f27, 0xeb2, - 0x7f22, 0xee4, 0x7f1c, 0xf15, 0x7f16, 0xf47, 0x7f10, 0xf79, - 0x7f0a, 0xfab, 0x7f03, 0xfdd, 0x7efd, 0x100f, 0x7ef7, 0x1041, - 0x7ef0, 0x1073, 0x7eea, 0x10a4, 0x7ee3, 0x10d6, 0x7edd, 0x1108, - 0x7ed6, 0x113a, 0x7ecf, 0x116c, 0x7ec8, 0x119e, 0x7ec1, 0x11cf, - 0x7eba, 0x1201, 0x7eb3, 0x1233, 0x7eac, 0x1265, 0x7ea5, 0x1296, - 0x7e9d, 0x12c8, 0x7e96, 0x12fa, 0x7e8e, 0x132b, 0x7e87, 0x135d, - 0x7e7f, 0x138f, 0x7e78, 0x13c1, 0x7e70, 0x13f2, 0x7e68, 0x1424, - 0x7e60, 0x1455, 0x7e58, 0x1487, 0x7e50, 0x14b9, 0x7e48, 0x14ea, - 0x7e3f, 0x151c, 0x7e37, 0x154d, 0x7e2f, 0x157f, 0x7e26, 0x15b1, - 0x7e1e, 0x15e2, 0x7e15, 0x1614, 0x7e0c, 0x1645, 0x7e03, 0x1677, - 0x7dfb, 0x16a8, 0x7df2, 0x16da, 0x7de9, 0x170b, 0x7de0, 0x173c, - 0x7dd6, 0x176e, 0x7dcd, 0x179f, 0x7dc4, 0x17d1, 0x7dba, 0x1802, - 0x7db1, 0x1833, 0x7da7, 0x1865, 0x7d9e, 0x1896, 0x7d94, 0x18c7, - 0x7d8a, 0x18f9, 0x7d81, 0x192a, 0x7d77, 0x195b, 0x7d6d, 0x198d, - 0x7d63, 0x19be, 0x7d58, 0x19ef, 0x7d4e, 0x1a20, 0x7d44, 0x1a51, - 0x7d3a, 0x1a83, 0x7d2f, 0x1ab4, 0x7d25, 0x1ae5, 0x7d1a, 0x1b16, - 0x7d0f, 0x1b47, 0x7d05, 0x1b78, 0x7cfa, 0x1ba9, 0x7cef, 0x1bda, - 0x7ce4, 0x1c0c, 0x7cd9, 0x1c3d, 0x7cce, 0x1c6e, 0x7cc2, 0x1c9f, - 0x7cb7, 0x1cd0, 0x7cac, 0x1d01, 0x7ca0, 0x1d31, 0x7c95, 0x1d62, - 0x7c89, 0x1d93, 0x7c7e, 0x1dc4, 0x7c72, 0x1df5, 0x7c66, 0x1e26, - 0x7c5a, 0x1e57, 0x7c4e, 0x1e88, 0x7c42, 0x1eb8, 0x7c36, 0x1ee9, - 0x7c2a, 0x1f1a, 0x7c1e, 0x1f4b, 0x7c11, 0x1f7b, 0x7c05, 0x1fac, - 0x7bf9, 0x1fdd, 0x7bec, 0x200e, 0x7bdf, 0x203e, 0x7bd3, 0x206f, - 0x7bc6, 0x209f, 0x7bb9, 0x20d0, 0x7bac, 0x2101, 0x7b9f, 0x2131, - 0x7b92, 0x2162, 0x7b85, 0x2192, 0x7b78, 0x21c3, 0x7b6a, 0x21f3, - 0x7b5d, 0x2224, 0x7b50, 0x2254, 0x7b42, 0x2284, 0x7b34, 0x22b5, - 0x7b27, 0x22e5, 0x7b19, 0x2316, 0x7b0b, 0x2346, 0x7afd, 0x2376, - 0x7aef, 0x23a7, 0x7ae1, 0x23d7, 0x7ad3, 0x2407, 0x7ac5, 0x2437, - 0x7ab7, 0x2467, 0x7aa8, 0x2498, 0x7a9a, 0x24c8, 0x7a8c, 0x24f8, - 0x7a7d, 0x2528, 0x7a6e, 0x2558, 0x7a60, 0x2588, 0x7a51, 0x25b8, - 0x7a42, 0x25e8, 0x7a33, 0x2618, 0x7a24, 0x2648, 0x7a15, 0x2678, - 0x7a06, 0x26a8, 0x79f7, 0x26d8, 0x79e7, 0x2708, 0x79d8, 0x2738, - 0x79c9, 0x2768, 0x79b9, 0x2797, 0x79aa, 0x27c7, 0x799a, 0x27f7, - 0x798a, 0x2827, 0x797a, 0x2856, 0x796a, 0x2886, 0x795b, 0x28b6, - 0x794a, 0x28e5, 0x793a, 0x2915, 0x792a, 0x2945, 0x791a, 0x2974, - 0x790a, 0x29a4, 0x78f9, 0x29d3, 0x78e9, 0x2a03, 0x78d8, 0x2a32, - 0x78c8, 0x2a62, 0x78b7, 0x2a91, 0x78a6, 0x2ac1, 0x7895, 0x2af0, - 0x7885, 0x2b1f, 0x7874, 0x2b4f, 0x7863, 0x2b7e, 0x7851, 0x2bad, - 0x7840, 0x2bdc, 0x782f, 0x2c0c, 0x781e, 0x2c3b, 0x780c, 0x2c6a, - 0x77fb, 0x2c99, 0x77e9, 0x2cc8, 0x77d8, 0x2cf7, 0x77c6, 0x2d26, - 0x77b4, 0x2d55, 0x77a2, 0x2d84, 0x7790, 0x2db3, 0x777e, 0x2de2, - 0x776c, 0x2e11, 0x775a, 0x2e40, 0x7748, 0x2e6f, 0x7736, 0x2e9e, - 0x7723, 0x2ecc, 0x7711, 0x2efb, 0x76fe, 0x2f2a, 0x76ec, 0x2f59, - 0x76d9, 0x2f87, 0x76c7, 0x2fb6, 0x76b4, 0x2fe5, 0x76a1, 0x3013, - 0x768e, 0x3042, 0x767b, 0x3070, 0x7668, 0x309f, 0x7655, 0x30cd, - 0x7642, 0x30fc, 0x762e, 0x312a, 0x761b, 0x3159, 0x7608, 0x3187, - 0x75f4, 0x31b5, 0x75e1, 0x31e4, 0x75cd, 0x3212, 0x75b9, 0x3240, - 0x75a6, 0x326e, 0x7592, 0x329d, 0x757e, 0x32cb, 0x756a, 0x32f9, - 0x7556, 0x3327, 0x7542, 0x3355, 0x752d, 0x3383, 0x7519, 0x33b1, - 0x7505, 0x33df, 0x74f0, 0x340d, 0x74dc, 0x343b, 0x74c7, 0x3469, - 0x74b3, 0x3497, 0x749e, 0x34c4, 0x7489, 0x34f2, 0x7475, 0x3520, - 0x7460, 0x354e, 0x744b, 0x357b, 0x7436, 0x35a9, 0x7421, 0x35d7, - 0x740b, 0x3604, 0x73f6, 0x3632, 0x73e1, 0x365f, 0x73cb, 0x368d, - 0x73b6, 0x36ba, 0x73a0, 0x36e8, 0x738b, 0x3715, 0x7375, 0x3742, - 0x735f, 0x3770, 0x734a, 0x379d, 0x7334, 0x37ca, 0x731e, 0x37f7, - 0x7308, 0x3825, 0x72f2, 0x3852, 0x72dc, 0x387f, 0x72c5, 0x38ac, - 0x72af, 0x38d9, 0x7299, 0x3906, 0x7282, 0x3933, 0x726c, 0x3960, - 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0xb796, 0x9674, 0xb7c0, 0x9657, 0xb7e9, 0x963b, 0xb813, 0x961f, - 0xb83c, 0x9603, 0xb866, 0x95e6, 0xb890, 0x95ca, 0xb8b9, 0x95ae, - 0xb8e3, 0x9592, 0xb90d, 0x9577, 0xb937, 0x955b, 0xb961, 0x953f, - 0xb98b, 0x9523, 0xb9b5, 0x9508, 0xb9df, 0x94ec, 0xba09, 0x94d0, - 0xba33, 0x94b5, 0xba5d, 0x949a, 0xba87, 0x947e, 0xbab1, 0x9463, - 0xbadc, 0x9448, 0xbb06, 0x942d, 0xbb30, 0x9412, 0xbb5b, 0x93f7, - 0xbb85, 0x93dc, 0xbbb0, 0x93c1, 0xbbda, 0x93a6, 0xbc05, 0x938b, - 0xbc2f, 0x9371, 0xbc5a, 0x9356, 0xbc85, 0x933c, 0xbcaf, 0x9321, - 0xbcda, 0x9307, 0xbd05, 0x92ec, 0xbd30, 0x92d2, 0xbd5b, 0x92b8, - 0xbd86, 0x929e, 0xbdb1, 0x9284, 0xbddc, 0x926a, 0xbe07, 0x9250, - 0xbe32, 0x9236, 0xbe5d, 0x921c, 0xbe88, 0x9202, 0xbeb3, 0x91e9, - 0xbedf, 0x91cf, 0xbf0a, 0x91b6, 0xbf35, 0x919c, 0xbf61, 0x9183, - 0xbf8c, 0x9169, 0xbfb8, 0x9150, 0xbfe3, 0x9137, 0xc00f, 0x911e, - 0xc03a, 0x9105, 0xc066, 0x90ec, 0xc091, 0x90d3, 0xc0bd, 0x90ba, - 0xc0e9, 0x90a1, 0xc114, 0x9088, 0xc140, 0x9070, 0xc16c, 0x9057, - 0xc198, 0x903e, 0xc1c4, 0x9026, 0xc1f0, 0x900e, 0xc21c, 0x8ff5, - 0xc248, 0x8fdd, 0xc274, 0x8fc5, 0xc2a0, 0x8fad, 0xc2cc, 0x8f95, - 0xc2f8, 0x8f7d, 0xc324, 0x8f65, 0xc351, 0x8f4d, 0xc37d, 0x8f35, - 0xc3a9, 0x8f1d, 0xc3d6, 0x8f06, 0xc402, 0x8eee, 0xc42e, 0x8ed6, - 0xc45b, 0x8ebf, 0xc487, 0x8ea8, 0xc4b4, 0x8e90, 0xc4e0, 0x8e79, - 0xc50d, 0x8e62, 0xc53a, 0x8e4b, 0xc566, 0x8e34, 0xc593, 0x8e1d, - 0xc5c0, 0x8e06, 0xc5ed, 0x8def, 0xc619, 0x8dd8, 0xc646, 0x8dc1, - 0xc673, 0x8dab, 0xc6a0, 0x8d94, 0xc6cd, 0x8d7e, 0xc6fa, 0x8d67, - 0xc727, 0x8d51, 0xc754, 0x8d3b, 0xc781, 0x8d24, 0xc7ae, 0x8d0e, - 0xc7db, 0x8cf8, 0xc809, 0x8ce2, 0xc836, 0x8ccc, 0xc863, 0x8cb6, - 0xc890, 0x8ca1, 0xc8be, 0x8c8b, 0xc8eb, 0x8c75, 0xc918, 0x8c60, - 0xc946, 0x8c4a, 0xc973, 0x8c35, 0xc9a1, 0x8c1f, 0xc9ce, 0x8c0a, - 0xc9fc, 0x8bf5, 0xca29, 0x8bdf, 0xca57, 0x8bca, 0xca85, 0x8bb5, - 0xcab2, 0x8ba0, 0xcae0, 0x8b8b, 0xcb0e, 0x8b77, 0xcb3c, 0x8b62, - 0xcb69, 0x8b4d, 0xcb97, 0x8b39, 0xcbc5, 0x8b24, 0xcbf3, 0x8b10, - 0xcc21, 0x8afb, 0xcc4f, 0x8ae7, 0xcc7d, 0x8ad3, 0xccab, 0x8abe, - 0xccd9, 0x8aaa, 0xcd07, 0x8a96, 0xcd35, 0x8a82, 0xcd63, 0x8a6e, - 0xcd92, 0x8a5a, 0xcdc0, 0x8a47, 0xcdee, 0x8a33, 0xce1c, 0x8a1f, - 0xce4b, 0x8a0c, 0xce79, 0x89f8, 0xcea7, 0x89e5, 0xced6, 0x89d2, - 0xcf04, 0x89be, 0xcf33, 0x89ab, 0xcf61, 0x8998, 0xcf90, 0x8985, - 0xcfbe, 0x8972, 0xcfed, 0x895f, 0xd01b, 0x894c, 0xd04a, 0x8939, - 0xd079, 0x8927, 0xd0a7, 0x8914, 0xd0d6, 0x8902, 0xd105, 0x88ef, - 0xd134, 0x88dd, 0xd162, 0x88ca, 0xd191, 0x88b8, 0xd1c0, 0x88a6, - 0xd1ef, 0x8894, 0xd21e, 0x8882, 0xd24d, 0x8870, 0xd27c, 0x885e, - 0xd2ab, 0x884c, 0xd2da, 0x883a, 0xd309, 0x8828, 0xd338, 0x8817, - 0xd367, 0x8805, 0xd396, 0x87f4, 0xd3c5, 0x87e2, 0xd3f4, 0x87d1, - 0xd424, 0x87c0, 0xd453, 0x87af, 0xd482, 0x879d, 0xd4b1, 0x878c, - 0xd4e1, 0x877b, 0xd510, 0x876b, 0xd53f, 0x875a, 0xd56f, 0x8749, - 0xd59e, 0x8738, 0xd5ce, 0x8728, 0xd5fd, 0x8717, 0xd62d, 0x8707, - 0xd65c, 0x86f6, 0xd68c, 0x86e6, 0xd6bb, 0x86d6, 0xd6eb, 0x86c6, - 0xd71b, 0x86b6, 0xd74a, 0x86a5, 0xd77a, 0x8696, 0xd7aa, 0x8686, - 0xd7d9, 0x8676, 0xd809, 0x8666, 0xd839, 0x8656, 0xd869, 0x8647, - 0xd898, 0x8637, 0xd8c8, 0x8628, 0xd8f8, 0x8619, 0xd928, 0x8609, - 0xd958, 0x85fa, 0xd988, 0x85eb, 0xd9b8, 0x85dc, 0xd9e8, 0x85cd, - 0xda18, 0x85be, 0xda48, 0x85af, 0xda78, 0x85a0, 0xdaa8, 0x8592, - 0xdad8, 0x8583, 0xdb08, 0x8574, 0xdb38, 0x8566, 0xdb68, 0x8558, - 0xdb99, 0x8549, 0xdbc9, 0x853b, 0xdbf9, 0x852d, 0xdc29, 0x851f, - 0xdc59, 0x8511, 0xdc8a, 0x8503, 0xdcba, 0x84f5, 0xdcea, 0x84e7, - 0xdd1b, 0x84d9, 0xdd4b, 0x84cc, 0xdd7c, 0x84be, 0xddac, 0x84b0, - 0xdddc, 0x84a3, 0xde0d, 0x8496, 0xde3d, 0x8488, 0xde6e, 0x847b, - 0xde9e, 0x846e, 0xdecf, 0x8461, 0xdeff, 0x8454, 0xdf30, 0x8447, - 0xdf61, 0x843a, 0xdf91, 0x842d, 0xdfc2, 0x8421, 0xdff2, 0x8414, - 0xe023, 0x8407, 0xe054, 0x83fb, 0xe085, 0x83ef, 0xe0b5, 0x83e2, - 0xe0e6, 0x83d6, 0xe117, 0x83ca, 0xe148, 0x83be, 0xe178, 0x83b2, - 0xe1a9, 0x83a6, 0xe1da, 0x839a, 0xe20b, 0x838e, 0xe23c, 0x8382, - 0xe26d, 0x8377, 0xe29e, 0x836b, 0xe2cf, 0x8360, 0xe2ff, 0x8354, - 0xe330, 0x8349, 0xe361, 0x833e, 0xe392, 0x8332, 0xe3c3, 0x8327, - 0xe3f4, 0x831c, 0xe426, 0x8311, 0xe457, 0x8306, 0xe488, 0x82fb, - 0xe4b9, 0x82f1, 0xe4ea, 0x82e6, 0xe51b, 0x82db, 0xe54c, 0x82d1, - 0xe57d, 0x82c6, 0xe5af, 0x82bc, 0xe5e0, 0x82b2, 0xe611, 0x82a8, - 0xe642, 0x829d, 0xe673, 0x8293, 0xe6a5, 0x8289, 0xe6d6, 0x827f, - 0xe707, 0x8276, 0xe739, 0x826c, 0xe76a, 0x8262, 0xe79b, 0x8259, - 0xe7cd, 0x824f, 0xe7fe, 0x8246, 0xe82f, 0x823c, 0xe861, 0x8233, - 0xe892, 0x822a, 0xe8c4, 0x8220, 0xe8f5, 0x8217, 0xe926, 0x820e, - 0xe958, 0x8205, 0xe989, 0x81fd, 0xe9bb, 0x81f4, 0xe9ec, 0x81eb, - 0xea1e, 0x81e2, 0xea4f, 0x81da, 0xea81, 0x81d1, 0xeab3, 0x81c9, - 0xeae4, 0x81c1, 0xeb16, 0x81b8, 0xeb47, 0x81b0, 0xeb79, 0x81a8, - 0xebab, 0x81a0, 0xebdc, 0x8198, 0xec0e, 0x8190, 0xec3f, 0x8188, - 0xec71, 0x8181, 0xeca3, 0x8179, 0xecd5, 0x8172, 0xed06, 0x816a, - 0xed38, 0x8163, 0xed6a, 0x815b, 0xed9b, 0x8154, 0xedcd, 0x814d, - 0xedff, 0x8146, 0xee31, 0x813f, 0xee62, 0x8138, 0xee94, 0x8131, - 0xeec6, 0x812a, 0xeef8, 0x8123, 0xef2a, 0x811d, 0xef5c, 0x8116, - 0xef8d, 0x8110, 0xefbf, 0x8109, 0xeff1, 0x8103, 0xf023, 0x80fd, - 0xf055, 0x80f6, 0xf087, 0x80f0, 0xf0b9, 0x80ea, 0xf0eb, 0x80e4, - 0xf11c, 0x80de, 0xf14e, 0x80d9, 0xf180, 0x80d3, 0xf1b2, 0x80cd, - 0xf1e4, 0x80c8, 0xf216, 0x80c2, 0xf248, 0x80bd, 0xf27a, 0x80b7, - 0xf2ac, 0x80b2, 0xf2de, 0x80ad, 0xf310, 0x80a8, 0xf342, 0x80a3, - 0xf374, 0x809e, 0xf3a6, 0x8099, 0xf3d8, 0x8094, 0xf40a, 0x808f, - 0xf43c, 0x808b, 0xf46e, 0x8086, 0xf4a0, 0x8082, 0xf4d3, 0x807d, - 0xf505, 0x8079, 0xf537, 0x8075, 0xf569, 0x8070, 0xf59b, 0x806c, - 0xf5cd, 0x8068, 0xf5ff, 0x8064, 0xf631, 0x8060, 0xf663, 0x805d, - 0xf695, 0x8059, 0xf6c8, 0x8055, 0xf6fa, 0x8052, 0xf72c, 0x804e, - 0xf75e, 0x804b, 0xf790, 0x8047, 0xf7c2, 0x8044, 0xf7f4, 0x8041, - 0xf827, 0x803e, 0xf859, 0x803b, 0xf88b, 0x8038, 0xf8bd, 0x8035, - 0xf8ef, 0x8032, 0xf922, 0x802f, 0xf954, 0x802d, 0xf986, 0x802a, - 0xf9b8, 0x8027, 0xf9ea, 0x8025, 0xfa1d, 0x8023, 0xfa4f, 0x8020, - 0xfa81, 0x801e, 0xfab3, 0x801c, 0xfae5, 0x801a, 0xfb18, 0x8018, - 0xfb4a, 0x8016, 0xfb7c, 0x8014, 0xfbae, 0x8013, 0xfbe1, 0x8011, - 0xfc13, 0x800f, 0xfc45, 0x800e, 0xfc77, 0x800c, 0xfcaa, 0x800b, - 0xfcdc, 0x800a, 0xfd0e, 0x8009, 0xfd40, 0x8008, 0xfd73, 0x8007, - 0xfda5, 0x8006, 0xfdd7, 0x8005, 0xfe09, 0x8004, 0xfe3c, 0x8003, - 0xfe6e, 0x8002, 0xfea0, 0x8002, 0xfed2, 0x8001, 0xff05, 0x8001, - 0xff37, 0x8001, 0xff69, 0x8000, 0xff9b, 0x8000, 0xffce, 0x8000, -}; - -/** - * @} end of CFFT_CIFFT group - */ - -/* -* @brief Q15 table for reciprocal -*/ -const q15_t ALIGN4 armRecipTableQ15[64] = { - 0x7F03, 0x7D13, 0x7B31, 0x795E, 0x7798, 0x75E0, - 0x7434, 0x7294, 0x70FF, 0x6F76, 0x6DF6, 0x6C82, - 0x6B16, 0x69B5, 0x685C, 0x670C, 0x65C4, 0x6484, - 0x634C, 0x621C, 0x60F3, 0x5FD0, 0x5EB5, 0x5DA0, - 0x5C91, 0x5B88, 0x5A85, 0x5988, 0x5890, 0x579E, - 0x56B0, 0x55C8, 0x54E4, 0x5405, 0x532B, 0x5255, - 0x5183, 0x50B6, 0x4FEC, 0x4F26, 0x4E64, 0x4DA6, - 0x4CEC, 0x4C34, 0x4B81, 0x4AD0, 0x4A23, 0x4978, - 0x48D1, 0x482D, 0x478C, 0x46ED, 0x4651, 0x45B8, - 0x4521, 0x448D, 0x43FC, 0x436C, 0x42DF, 0x4255, - 0x41CC, 0x4146, 0x40C2, 0x4040 -}; - -/* -* @brief Q31 table for reciprocal -*/ -const q31_t armRecipTableQ31[64] = { - 0x7F03F03F, 0x7D137420, 0x7B31E739, 0x795E9F94, 0x7798FD29, 0x75E06928, - 0x7434554D, 0x72943B4B, 0x70FF9C40, 0x6F760031, 0x6DF6F593, 0x6C8210E3, - 0x6B16EC3A, 0x69B526F6, 0x685C655F, 0x670C505D, 0x65C4952D, 0x6484E519, - 0x634CF53E, 0x621C7E4F, 0x60F33C61, 0x5FD0EEB3, 0x5EB55785, 0x5DA03BEB, - 0x5C9163A1, 0x5B8898E6, 0x5A85A85A, 0x598860DF, 0x58909373, 0x579E1318, - 0x56B0B4B8, 0x55C84F0B, 0x54E4BA80, 0x5405D124, 0x532B6E8F, 0x52556FD0, - 0x5183B35A, 0x50B618F3, 0x4FEC81A2, 0x4F26CFA2, 0x4E64E64E, 0x4DA6AA1D, - 0x4CEC008B, 0x4C34D010, 0x4B810016, 0x4AD078EF, 0x4A2323C4, 0x4978EA96, - 0x48D1B827, 0x482D77FE, 0x478C1657, 0x46ED801D, 0x4651A2E5, 0x45B86CE2, - 0x4521CCE1, 0x448DB244, 0x43FC0CFA, 0x436CCD78, 0x42DFE4B4, 0x42554426, - 0x41CCDDB6, 0x4146A3C6, 0x40C28923, 0x40408102 -}; diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_f32.c deleted file mode 100644 index 31bbaa7a8..000000000 --- a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_f32.c +++ /dev/null @@ -1,174 +0,0 @@ -/* ---------------------------------------------------------------------- -* Copyright (C) 2010 ARM Limited. All rights reserved. -* -* $Date: 15. February 2012 -* $Revision: V1.1.0 -* -* Project: CMSIS DSP Library -* Title: arm_cmplx_conj_f32.c -* -* Description: Floating-point complex conjugate. -* -* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 -* -* Version 1.1.0 2012/02/15 -* Updated with more optimizations, bug fixes and minor API changes. -* -* Version 1.0.10 2011/7/15 -* Big Endian support added and Merged M0 and M3/M4 Source code. -* -* Version 1.0.3 2010/11/29 -* Re-organized the CMSIS folders and updated documentation. -* -* Version 1.0.2 2010/11/11 -* Documentation updated. -* -* Version 1.0.1 2010/10/05 -* Production release and review comments incorporated. -* -* Version 1.0.0 2010/09/20 -* Production release and review comments incorporated. -* ---------------------------------------------------------------------------- */ -#include "arm_math.h" - -/** - * @ingroup groupCmplxMath - */ - -/** - * @defgroup cmplx_conj Complex Conjugate - * - * Conjugates the elements of a complex data vector. - * - * The pSrc points to the source data and - * pDst points to the where the result should be written. - * numSamples specifies the number of complex samples - * and the data in each array is stored in an interleaved fashion - * (real, imag, real, imag, ...). - * Each array has a total of 2*numSamples values. - * The underlying algorithm is used: - * - * 
        
- * for(n=0; n        
- *        
- * There are separate functions for floating-point, Q15, and Q31 data types.        
- */
-
-/**        
- * @addtogroup cmplx_conj        
- * @{        
- */
-
-/**        
- * @brief  Floating-point complex conjugate.        
- * @param  *pSrc points to the input vector        
- * @param  *pDst points to the output vector        
- * @param  numSamples number of complex samples in each vector        
- * @return none.        
- */
-
-void arm_cmplx_conj_f32(
-  float32_t * pSrc,
-  float32_t * pDst,
-  uint32_t numSamples)
-{
-  uint32_t blkCnt;                               /* loop counter */
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-  float32_t inR1, inR2, inR3, inR4;
-  float32_t inI1, inI2, inI3, inI4;
-
-  /*loop Unrolling */
-  blkCnt = numSamples >> 2u;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.        
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-    /* C[0]+jC[1] = A[0]+ j (-1) A[1] */
-    /* Calculate Complex Conjugate and then store the results in the destination buffer. */
-    /* read real input samples */
-    inR1 = pSrc[0];
-    /* store real samples to destination */
-    pDst[0] = inR1;
-    inR2 = pSrc[2];
-    pDst[2] = inR2;
-    inR3 = pSrc[4];
-    pDst[4] = inR3;
-    inR4 = pSrc[6];
-    pDst[6] = inR4;
-
-    /* read imaginary input samples */
-    inI1 = pSrc[1];
-    inI2 = pSrc[3];
-
-    /* conjugate input */
-    inI1 = -inI1;
-
-    /* read imaginary input samples */
-    inI3 = pSrc[5];
-
-    /* conjugate input */
-    inI2 = -inI2;
-
-    /* read imaginary input samples */
-    inI4 = pSrc[7];
-
-    /* conjugate input */
-    inI3 = -inI3;
-
-    /* store imaginary samples to destination */
-    pDst[1] = inI1;
-    pDst[3] = inI2;
-
-    /* conjugate input */
-    inI4 = -inI4;
-
-    /* store imaginary samples to destination */
-    pDst[5] = inI3;
-
-    /* increment source pointer by 8 to process next sampels */
-    pSrc += 8u;
-
-    /* store imaginary sample to destination */
-    pDst[7] = inI4;
-
-    /* increment destination pointer by 8 to store next samples */
-    pDst += 8u;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.        
-   ** No loop unrolling is used. */
-  blkCnt = numSamples % 0x4u;
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-  blkCnt = numSamples;
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-  while(blkCnt > 0u)
-  {
-    /* realOut + j (imagOut) = realIn + j (-1) imagIn */
-    /* Calculate Complex Conjugate and then store the results in the destination buffer. */
-    *pDst++ = *pSrc++;
-    *pDst++ = -*pSrc++;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-}
-
-/**        
- * @} end of cmplx_conj group        
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q15.c
deleted file mode 100644
index c5a370315..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q15.c
+++ /dev/null
@@ -1,153 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_cmplx_conj_q15.c    
-*    
-* Description:	Q15 complex conjugate.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* ---------------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupCmplxMath    
- */
-
-/**    
- * @addtogroup cmplx_conj    
- * @{    
- */
-
-/**    
- * @brief  Q15 complex conjugate.    
- * @param  *pSrc points to the input vector    
- * @param  *pDst points to the output vector    
- * @param  numSamples number of complex samples in each vector    
- * @return none.    
- *    
- * Scaling and Overflow Behavior:    
- * \par    
- * The function uses saturating arithmetic.    
- * The Q15 value -1 (0x8000) will be saturated to the maximum allowable positive value 0x7FFF.    
- */
-
-void arm_cmplx_conj_q15(
-  q15_t * pSrc,
-  q15_t * pDst,
-  uint32_t numSamples)
-{
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-  uint32_t blkCnt;                               /* loop counter */
-  q31_t in1, in2, in3, in4;
-  q31_t zero = 0;
-
-  /*loop Unrolling */
-  blkCnt = numSamples >> 2u;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-    /* C[0]+jC[1] = A[0]+ j (-1) A[1] */
-    /* Calculate Complex Conjugate and then store the results in the destination buffer. */
-    in1 = *__SIMD32(pSrc)++;
-    in2 = *__SIMD32(pSrc)++;
-    in3 = *__SIMD32(pSrc)++;
-    in4 = *__SIMD32(pSrc)++;
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-    in1 = __QASX(zero, in1);
-    in2 = __QASX(zero, in2);
-    in3 = __QASX(zero, in3);
-    in4 = __QASX(zero, in4);
-
-#else
-
-    in1 = __QSAX(zero, in1);
-    in2 = __QSAX(zero, in2);
-    in3 = __QSAX(zero, in3);
-    in4 = __QSAX(zero, in4);
-
-#endif //       #ifndef ARM_MATH_BIG_ENDIAN
-
-    in1 = ((uint32_t) in1 >> 16) | ((uint32_t) in1 << 16);
-    in2 = ((uint32_t) in2 >> 16) | ((uint32_t) in2 << 16);
-    in3 = ((uint32_t) in3 >> 16) | ((uint32_t) in3 << 16);
-    in4 = ((uint32_t) in4 >> 16) | ((uint32_t) in4 << 16);
-
-    *__SIMD32(pDst)++ = in1;
-    *__SIMD32(pDst)++ = in2;
-    *__SIMD32(pDst)++ = in3;
-    *__SIMD32(pDst)++ = in4;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.    
-   ** No loop unrolling is used. */
-  blkCnt = numSamples % 0x4u;
-
-  while(blkCnt > 0u)
-  {
-    /* C[0]+jC[1] = A[0]+ j (-1) A[1] */
-    /* Calculate Complex Conjugate and then store the results in the destination buffer. */
-    *pDst++ = *pSrc++;
-    *pDst++ = __SSAT(-*pSrc++, 16);
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-#else
-
-  q15_t in;
-
-  /* Run the below code for Cortex-M0 */
-
-  while(numSamples > 0u)
-  {
-    /* realOut + j (imagOut) = realIn+ j (-1) imagIn */
-    /* Calculate Complex Conjugate and then store the results in the destination buffer. */
-    *pDst++ = *pSrc++;
-    in = *pSrc++;
-    *pDst++ = (in == (q15_t) 0x8000) ? 0x7fff : -in;
-
-    /* Decrement the loop counter */
-    numSamples--;
-  }
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-}
-
-/**    
- * @} end of cmplx_conj group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q31.c
deleted file mode 100644
index 7475962d5..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q31.c
+++ /dev/null
@@ -1,172 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_cmplx_conj_q31.c    
-*    
-* Description:	Q31 complex conjugate.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* ---------------------------------------------------------------------------- */
-#include "arm_math.h"
-
-/**        
- * @ingroup groupCmplxMath        
- */
-
-/**        
- * @addtogroup cmplx_conj        
- * @{        
- */
-
-/**        
- * @brief  Q31 complex conjugate.        
- * @param  *pSrc points to the input vector        
- * @param  *pDst points to the output vector        
- * @param  numSamples number of complex samples in each vector        
- * @return none.        
- *        
- * Scaling and Overflow Behavior:        
- * \par        
- * The function uses saturating arithmetic.        
- * The Q31 value -1 (0x80000000) will be saturated to the maximum allowable positive value 0x7FFFFFFF.        
- */
-
-void arm_cmplx_conj_q31(
-  q31_t * pSrc,
-  q31_t * pDst,
-  uint32_t numSamples)
-{
-  uint32_t blkCnt;                               /* loop counter */
-  q31_t in;                                      /* Input value */
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-  q31_t inR1, inR2, inR3, inR4;                  /* Temporary real variables */
-  q31_t inI1, inI2, inI3, inI4;                  /* Temporary imaginary variables */
-
-  /*loop Unrolling */
-  blkCnt = numSamples >> 2u;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.        
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-    /* C[0]+jC[1] = A[0]+ j (-1) A[1] */
-    /* Calculate Complex Conjugate and then store the results in the destination buffer. */
-    /* Saturated to 0x7fffffff if the input is -1(0x80000000) */
-    /* read real input sample */
-    inR1 = pSrc[0];
-    /* store real input sample */
-    pDst[0] = inR1;
-
-    /* read imaginary input sample */
-    inI1 = pSrc[1];
-
-    /* read real input sample */
-    inR2 = pSrc[2];
-    /* store real input sample */
-    pDst[2] = inR2;
-
-    /* read imaginary input sample */
-    inI2 = pSrc[3];
-
-    /* negate imaginary input sample */
-    inI1 = __QSUB(0, inI1);
-
-    /* read real input sample */
-    inR3 = pSrc[4];
-    /* store real input sample */
-    pDst[4] = inR3;
-
-    /* read imaginary input sample */
-    inI3 = pSrc[5];
-
-    /* negate imaginary input sample */
-    inI2 = __QSUB(0, inI2);
-
-    /* read real input sample */
-    inR4 = pSrc[6];
-    /* store real input sample */
-    pDst[6] = inR4;
-
-    /* negate imaginary input sample */
-    inI3 = __QSUB(0, inI3);
-
-    /* store imaginary input sample */
-    inI4 = pSrc[7];
-
-    /* store imaginary input samples */
-    pDst[1] = inI1;
-
-    /* negate imaginary input sample */
-    inI4 = __QSUB(0, inI4);
-
-    /* store imaginary input samples */
-    pDst[3] = inI2;
-
-    /* increment source pointer by 8 to proecess next samples */
-    pSrc += 8u;
-
-    /* store imaginary input samples */
-    pDst[5] = inI3;
-    pDst[7] = inI4;
-
-    /* increment destination pointer by 8 to process next samples */
-    pDst += 8u;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.        
-   ** No loop unrolling is used. */
-  blkCnt = numSamples % 0x4u;
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-  blkCnt = numSamples;
-
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-  while(blkCnt > 0u)
-  {
-    /* C[0]+jC[1] = A[0]+ j (-1) A[1] */
-    /* Calculate Complex Conjugate and then store the results in the destination buffer. */
-    /* Saturated to 0x7fffffff if the input is -1(0x80000000) */
-    *pDst++ = *pSrc++;
-    in = *pSrc++;
-    *pDst++ = (in == 0x80000000) ? 0x7fffffff : -in;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-}
-
-/**        
- * @} end of cmplx_conj group        
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_f32.c
deleted file mode 100644
index 4f265d690..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_f32.c
+++ /dev/null
@@ -1,160 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_cmplx_dot_prod_f32.c    
-*    
-* Description:	Floating-point complex dot product    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* ---------------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupCmplxMath    
- */
-
-/**    
- * @defgroup cmplx_dot_prod Complex Dot Product    
- *    
- * Computes the dot product of two complex vectors.    
- * The vectors are multiplied element-by-element and then summed.    
- *   
- * The pSrcA points to the first complex input vector and    
- * pSrcB points to the second complex input vector.    
- * numSamples specifies the number of complex samples    
- * and the data in each array is stored in an interleaved fashion    
- * (real, imag, real, imag, ...).    
- * Each array has a total of 2*numSamples values.    
- *    
- * The underlying algorithm is used:    
- * 
    
- * realResult=0;    
- * imagResult=0;    
- * for(n=0; n    
- *    
- * There are separate functions for floating-point, Q15, and Q31 data types.    
- */
-
-/**    
- * @addtogroup cmplx_dot_prod    
- * @{    
- */
-
-/**    
- * @brief  Floating-point complex dot product    
- * @param  *pSrcA points to the first input vector    
- * @param  *pSrcB points to the second input vector    
- * @param  numSamples number of complex samples in each vector    
- * @param  *realResult real part of the result returned here    
- * @param  *imagResult imaginary part of the result returned here    
- * @return none.    
- */
-
-void arm_cmplx_dot_prod_f32(
-  float32_t * pSrcA,
-  float32_t * pSrcB,
-  uint32_t numSamples,
-  float32_t * realResult,
-  float32_t * imagResult)
-{
-  float32_t real_sum = 0.0f, imag_sum = 0.0f;    /* Temporary result storage */
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-  uint32_t blkCnt;                               /* loop counter */
-
-  /*loop Unrolling */
-  blkCnt = numSamples >> 2u;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-    /* CReal = A[0]* B[0] + A[2]* B[2] + A[4]* B[4] + .....+ A[numSamples-2]* B[numSamples-2] */
-    real_sum += (*pSrcA++) * (*pSrcB++);
-    /* CImag = A[1]* B[1] + A[3]* B[3] + A[5]* B[5] + .....+ A[numSamples-1]* B[numSamples-1] */
-    imag_sum += (*pSrcA++) * (*pSrcB++);
-
-    real_sum += (*pSrcA++) * (*pSrcB++);
-    imag_sum += (*pSrcA++) * (*pSrcB++);
-
-    real_sum += (*pSrcA++) * (*pSrcB++);
-    imag_sum += (*pSrcA++) * (*pSrcB++);
-
-    real_sum += (*pSrcA++) * (*pSrcB++);
-    imag_sum += (*pSrcA++) * (*pSrcB++);
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.    
-   ** No loop unrolling is used. */
-  blkCnt = numSamples % 0x4u;
-
-  while(blkCnt > 0u)
-  {
-    /* CReal = A[0]* B[0] + A[2]* B[2] + A[4]* B[4] + .....+ A[numSamples-2]* B[numSamples-2] */
-    real_sum += (*pSrcA++) * (*pSrcB++);
-    /* CImag = A[1]* B[1] + A[3]* B[3] + A[5]* B[5] + .....+ A[numSamples-1]* B[numSamples-1] */
-    imag_sum += (*pSrcA++) * (*pSrcB++);
-
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  while(numSamples > 0u)
-  {
-    /* CReal = A[0]* B[0] + A[2]* B[2] + A[4]* B[4] + .....+ A[numSamples-2]* B[numSamples-2] */
-    real_sum += (*pSrcA++) * (*pSrcB++);
-    /* CImag = A[1]* B[1] + A[3]* B[3] + A[5]* B[5] + .....+ A[numSamples-1]* B[numSamples-1] */
-    imag_sum += (*pSrcA++) * (*pSrcB++);
-
-
-    /* Decrement the loop counter */
-    numSamples--;
-  }
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-  /* Store the real and imaginary results in the destination buffers */
-  *realResult = real_sum;
-  *imagResult = imag_sum;
-}
-
-/**    
- * @} end of cmplx_dot_prod group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q15.c
deleted file mode 100644
index 33df820a5..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q15.c
+++ /dev/null
@@ -1,144 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_cmplx_dot_prod_q15.c    
-*    
-* Description:	Processing function for the Q15 Complex Dot product    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupCmplxMath    
- */
-
-/**    
- * @addtogroup cmplx_dot_prod    
- * @{    
- */
-
-/**    
- * @brief  Q15 complex dot product    
- * @param  *pSrcA points to the first input vector    
- * @param  *pSrcB points to the second input vector    
- * @param  numSamples number of complex samples in each vector    
- * @param  *realResult real part of the result returned here    
- * @param  *imagResult imaginary part of the result returned here    
- * @return none.    
- *    
- * Scaling and Overflow Behavior:    
- * \par    
- * The function is implemented using an internal 64-bit accumulator.    
- * The intermediate 1.15 by 1.15 multiplications are performed with full precision and yield a 2.30 result.    
- * These are accumulated in a 64-bit accumulator with 34.30 precision.    
- * As a final step, the accumulators are converted to 8.24 format.    
- * The return results realResult and imagResult are in 8.24 format.    
- */
-
-void arm_cmplx_dot_prod_q15(
-  q15_t * pSrcA,
-  q15_t * pSrcB,
-  uint32_t numSamples,
-  q31_t * realResult,
-  q31_t * imagResult)
-{
-  q63_t real_sum = 0, imag_sum = 0;              /* Temporary result storage */
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-  uint32_t blkCnt;                               /* loop counter */
-
-
-  /*loop Unrolling */
-  blkCnt = numSamples >> 2u;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-    /* CReal = A[0]* B[0] + A[2]* B[2] + A[4]* B[4] + .....+ A[numSamples-2]* B[numSamples-2] */
-    real_sum += ((q31_t) * pSrcA++ * *pSrcB++);
-
-    /* CImag = A[1]* B[1] + A[3]* B[3] + A[5]* B[5] + .....+ A[numSamples-1]* B[numSamples-1] */
-    imag_sum += ((q31_t) * pSrcA++ * *pSrcB++);
-
-    real_sum += ((q31_t) * pSrcA++ * *pSrcB++);
-    imag_sum += ((q31_t) * pSrcA++ * *pSrcB++);
-
-    real_sum += ((q31_t) * pSrcA++ * *pSrcB++);
-    imag_sum += ((q31_t) * pSrcA++ * *pSrcB++);
-
-    real_sum += ((q31_t) * pSrcA++ * *pSrcB++);
-    imag_sum += ((q31_t) * pSrcA++ * *pSrcB++);
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.    
-   ** No loop unrolling is used. */
-  blkCnt = numSamples % 0x4u;
-
-  while(blkCnt > 0u)
-  {
-    /* CReal = A[0]* B[0] + A[2]* B[2] + A[4]* B[4] + .....+ A[numSamples-2]* B[numSamples-2] */
-    real_sum += ((q31_t) * pSrcA++ * *pSrcB++);
-    /* CImag = A[1]* B[1] + A[3]* B[3] + A[5]* B[5] + .....+ A[numSamples-1]* B[numSamples-1] */
-    imag_sum += ((q31_t) * pSrcA++ * *pSrcB++);
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  while(numSamples > 0u)
-  {
-    /* CReal = A[0]* B[0] + A[2]* B[2] + A[4]* B[4] + .....+ A[numSamples-2]* B[numSamples-2] */
-    real_sum += ((q31_t) * pSrcA++ * *pSrcB++);
-    /* CImag = A[1]* B[1] + A[3]* B[3] + A[5]* B[5] + .....+ A[numSamples-1]* B[numSamples-1] */
-    imag_sum += ((q31_t) * pSrcA++ * *pSrcB++);
-
-    /* Decrement the loop counter */
-    numSamples--;
-  }
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-  /* Store the real and imaginary results in 8.24 format  */
-  /* Convert real data in 34.30 to 8.24 by 6 right shifts */
-  *realResult = (q31_t) (real_sum) >> 6;
-  /* Convert imaginary data in 34.30 to 8.24 by 6 right shifts */
-  *imagResult = (q31_t) (imag_sum) >> 6;
-}
-
-/**    
- * @} end of cmplx_dot_prod group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q31.c
deleted file mode 100644
index d371dff8b..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q31.c
+++ /dev/null
@@ -1,145 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_cmplx_dot_prod_q31.c    
-*    
-* Description:	Q31 complex dot product    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupCmplxMath    
- */
-
-/**    
- * @addtogroup cmplx_dot_prod    
- * @{    
- */
-
-/**    
- * @brief  Q31 complex dot product    
- * @param  *pSrcA points to the first input vector    
- * @param  *pSrcB points to the second input vector    
- * @param  numSamples number of complex samples in each vector    
- * @param  *realResult real part of the result returned here    
- * @param  *imagResult imaginary part of the result returned here    
- * @return none.    
- *    
- * Scaling and Overflow Behavior:    
- * \par    
- * The function is implemented using an internal 64-bit accumulator.    
- * The intermediate 1.31 by 1.31 multiplications are performed with 64-bit precision and then shifted to 16.48 format.    
- * The internal real and imaginary accumulators are in 16.48 format and provide 15 guard bits.    
- * Additions are nonsaturating and no overflow will occur as long as numSamples is less than 32768.    
- * The return results realResult and imagResult are in 16.48 format.    
- * Input down scaling is not required.    
- */
-
-void arm_cmplx_dot_prod_q31(
-  q31_t * pSrcA,
-  q31_t * pSrcB,
-  uint32_t numSamples,
-  q63_t * realResult,
-  q63_t * imagResult)
-{
-  q63_t real_sum = 0, imag_sum = 0;              /* Temporary result storage */
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-  uint32_t blkCnt;                               /* loop counter */
-
-
-  /*loop Unrolling */
-  blkCnt = numSamples >> 2u;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-    /* CReal = A[0]* B[0] + A[2]* B[2] + A[4]* B[4] + .....+ A[numSamples-2]* B[numSamples-2] */
-    /* Convert real data in 2.62 to 16.48 by 14 right shifts */
-    real_sum += (q63_t) * pSrcA++ * (*pSrcB++) >> 14;
-    /* CImag = A[1]* B[1] + A[3]* B[3] + A[5]* B[5] + .....+ A[numSamples-1]* B[numSamples-1] */
-    /* Convert imag data in 2.62 to 16.48 by 14 right shifts */
-    imag_sum += (q63_t) * pSrcA++ * (*pSrcB++) >> 14;
-
-    real_sum += (q63_t) * pSrcA++ * (*pSrcB++) >> 14;
-    imag_sum += (q63_t) * pSrcA++ * (*pSrcB++) >> 14;
-
-    real_sum += (q63_t) * pSrcA++ * (*pSrcB++) >> 14;
-    imag_sum += (q63_t) * pSrcA++ * (*pSrcB++) >> 14;
-
-    real_sum += (q63_t) * pSrcA++ * (*pSrcB++) >> 14;
-    imag_sum += (q63_t) * pSrcA++ * (*pSrcB++) >> 14;
-
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the numSamples  is not a multiple of 4, compute any remaining output samples here.    
-   ** No loop unrolling is used. */
-  blkCnt = numSamples % 0x4u;
-
-  while(blkCnt > 0u)
-  {
-    /* CReal = A[0]* B[0] + A[2]* B[2] + A[4]* B[4] + .....+ A[numSamples-2]* B[numSamples-2] */
-    real_sum += (q63_t) * pSrcA++ * (*pSrcB++) >> 14;
-    /* CImag = A[1]* B[1] + A[3]* B[3] + A[5]* B[5] + .....+ A[numSamples-1]* B[numSamples-1] */
-    imag_sum += (q63_t) * pSrcA++ * (*pSrcB++) >> 14;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  while(numSamples > 0u)
-  {
-    /* outReal = realA[0]* realB[0] + realA[2]* realB[2] + realA[4]* realB[4] + .....+ realA[numSamples-2]* realB[numSamples-2] */
-    real_sum += (q63_t) * pSrcA++ * (*pSrcB++) >> 14;
-    /* outImag = imagA[1]* imagB[1] + imagA[3]* imagB[3] + imagA[5]* imagB[5] + .....+ imagA[numSamples-1]* imagB[numSamples-1] */
-    imag_sum += (q63_t) * pSrcA++ * (*pSrcB++) >> 14;
-
-    /* Decrement the loop counter */
-    numSamples--;
-  }
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-  /* Store the real and imaginary results in 16.48 format  */
-  *realResult = real_sum;
-  *imagResult = imag_sum;
-}
-
-/**    
- * @} end of cmplx_dot_prod group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_f32.c
deleted file mode 100644
index 59bbc2742..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_f32.c
+++ /dev/null
@@ -1,157 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_cmplx_mag_f32.c    
-*    
-* Description:	Floating-point complex magnitude.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* ---------------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupCmplxMath    
- */
-
-/**    
- * @defgroup cmplx_mag Complex Magnitude    
- *    
- * Computes the magnitude of the elements of a complex data vector.    
- *   
- * The pSrc points to the source data and    
- * pDst points to the where the result should be written.    
- * numSamples specifies the number of complex samples    
- * in the input array and the data is stored in an interleaved fashion    
- * (real, imag, real, imag, ...).    
- * The input array has a total of 2*numSamples values;    
- * the output array has a total of numSamples values.    
- * The underlying algorithm is used:    
- *    
- * 
    
- * for(n=0; n    
- *    
- * There are separate functions for floating-point, Q15, and Q31 data types.    
- */
-
-/**    
- * @addtogroup cmplx_mag    
- * @{    
- */
-/**    
- * @brief Floating-point complex magnitude.    
- * @param[in]       *pSrc points to complex input buffer    
- * @param[out]      *pDst points to real output buffer    
- * @param[in]       numSamples number of complex samples in the input vector    
- * @return none.    
- *    
- */
-
-
-void arm_cmplx_mag_f32(
-  float32_t * pSrc,
-  float32_t * pDst,
-  uint32_t numSamples)
-{
-  float32_t realIn, imagIn;                      /* Temporary variables to hold input values */
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-  uint32_t blkCnt;                               /* loop counter */
-
-  /*loop Unrolling */
-  blkCnt = numSamples >> 2u;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-
-    /* C[0] = sqrt(A[0] * A[0] + A[1] * A[1]) */
-    realIn = *pSrc++;
-    imagIn = *pSrc++;
-    /* store the result in the destination buffer. */
-    arm_sqrt_f32((realIn * realIn) + (imagIn * imagIn), pDst++);
-
-    realIn = *pSrc++;
-    imagIn = *pSrc++;
-    arm_sqrt_f32((realIn * realIn) + (imagIn * imagIn), pDst++);
-
-    realIn = *pSrc++;
-    imagIn = *pSrc++;
-    arm_sqrt_f32((realIn * realIn) + (imagIn * imagIn), pDst++);
-
-    realIn = *pSrc++;
-    imagIn = *pSrc++;
-    arm_sqrt_f32((realIn * realIn) + (imagIn * imagIn), pDst++);
-
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.    
-   ** No loop unrolling is used. */
-  blkCnt = numSamples % 0x4u;
-
-  while(blkCnt > 0u)
-  {
-    /* C[0] = sqrt(A[0] * A[0] + A[1] * A[1]) */
-    realIn = *pSrc++;
-    imagIn = *pSrc++;
-    /* store the result in the destination buffer. */
-    arm_sqrt_f32((realIn * realIn) + (imagIn * imagIn), pDst++);
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  while(numSamples > 0u)
-  {
-    /* out = sqrt((real * real) + (imag * imag)) */
-    realIn = *pSrc++;
-    imagIn = *pSrc++;
-    /* store the result in the destination buffer. */
-    arm_sqrt_f32((realIn * realIn) + (imagIn * imagIn), pDst++);
-
-    /* Decrement the loop counter */
-    numSamples--;
-  }
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-}
-
-/**    
- * @} end of cmplx_mag group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q15.c
deleted file mode 100644
index 122ca8bc1..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q15.c
+++ /dev/null
@@ -1,145 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_cmplx_mag_q15.c    
-*    
-* Description:	Q15 complex magnitude.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* ---------------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupCmplxMath    
- */
-
-/**    
- * @addtogroup cmplx_mag    
- * @{    
- */
-
-
-/**    
- * @brief  Q15 complex magnitude    
- * @param  *pSrc points to the complex input vector    
- * @param  *pDst points to the real output vector    
- * @param  numSamples number of complex samples in the input vector    
- * @return none.    
- *    
- * Scaling and Overflow Behavior:    
- * \par    
- * The function implements 1.15 by 1.15 multiplications and finally output is converted into 2.14 format.    
- */
-
-void arm_cmplx_mag_q15(
-  q15_t * pSrc,
-  q15_t * pDst,
-  uint32_t numSamples)
-{
-  q31_t acc0, acc1;                              /* Accumulators */
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-  uint32_t blkCnt;                               /* loop counter */
-  q31_t in1, in2, in3, in4;
-  q31_t acc2, acc3;
-
-
-  /*loop Unrolling */
-  blkCnt = numSamples >> 2u;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-
-    /* C[0] = sqrt(A[0] * A[0] + A[1] * A[1]) */
-    in1 = *__SIMD32(pSrc)++;
-    in2 = *__SIMD32(pSrc)++;
-    in3 = *__SIMD32(pSrc)++;
-    in4 = *__SIMD32(pSrc)++;
-
-    acc0 = __SMUAD(in1, in1);
-    acc1 = __SMUAD(in2, in2);
-    acc2 = __SMUAD(in3, in3);
-    acc3 = __SMUAD(in4, in4);
-
-    /* store the result in 2.14 format in the destination buffer. */
-    arm_sqrt_q15((q15_t) ((acc0) >> 17), pDst++);
-    arm_sqrt_q15((q15_t) ((acc1) >> 17), pDst++);
-    arm_sqrt_q15((q15_t) ((acc2) >> 17), pDst++);
-    arm_sqrt_q15((q15_t) ((acc3) >> 17), pDst++);
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.    
-   ** No loop unrolling is used. */
-  blkCnt = numSamples % 0x4u;
-
-  while(blkCnt > 0u)
-  {
-    /* C[0] = sqrt(A[0] * A[0] + A[1] * A[1]) */
-    in1 = *__SIMD32(pSrc)++;
-    acc0 = __SMUAD(in1, in1);
-
-    /* store the result in 2.14 format in the destination buffer. */
-    arm_sqrt_q15((q15_t) (acc0 >> 17), pDst++);
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-  q15_t real, imag;                              /* Temporary variables to hold input values */
-
-  while(numSamples > 0u)
-  {
-    /* out = sqrt(real * real + imag * imag) */
-    real = *pSrc++;
-    imag = *pSrc++;
-
-    acc0 = (real * real);
-    acc1 = (imag * imag);
-
-    /* store the result in 2.14 format in the destination buffer. */
-    arm_sqrt_q15((q15_t) (((q63_t) acc0 + acc1) >> 17), pDst++);
-
-    /* Decrement the loop counter */
-    numSamples--;
-  }
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-}
-
-/**    
- * @} end of cmplx_mag group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q31.c
deleted file mode 100644
index 59384f5dc..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q31.c
+++ /dev/null
@@ -1,177 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_cmplx_mag_q31.c    
-*    
-* Description:	Q31 complex magnitude    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* ---------------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**        
- * @ingroup groupCmplxMath        
- */
-
-/**        
- * @addtogroup cmplx_mag        
- * @{        
- */
-
-/**        
- * @brief  Q31 complex magnitude        
- * @param  *pSrc points to the complex input vector        
- * @param  *pDst points to the real output vector        
- * @param  numSamples number of complex samples in the input vector        
- * @return none.        
- *        
- * Scaling and Overflow Behavior:        
- * \par        
- * The function implements 1.31 by 1.31 multiplications and finally output is converted into 2.30 format.        
- * Input down scaling is not required.        
- */
-
-void arm_cmplx_mag_q31(
-  q31_t * pSrc,
-  q31_t * pDst,
-  uint32_t numSamples)
-{
-  q31_t real, imag;                              /* Temporary variables to hold input values */
-  q31_t acc0, acc1;                              /* Accumulators */
-  uint32_t blkCnt;                               /* loop counter */
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-  q31_t real1, real2, imag1, imag2;              /* Temporary variables to hold input values */
-  q31_t out1, out2, out3, out4;                  /* Accumulators */
-  q63_t mul1, mul2, mul3, mul4;                  /* Temporary variables */
-
-
-  /*loop Unrolling */
-  blkCnt = numSamples >> 2u;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.        
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-    /* read complex input from source buffer */
-    real1 = pSrc[0];
-    imag1 = pSrc[1];
-    real2 = pSrc[2];
-    imag2 = pSrc[3];
-
-    /* calculate power of input values */
-    mul1 = (q63_t) real1 *real1;
-    mul2 = (q63_t) imag1 *imag1;
-    mul3 = (q63_t) real2 *real2;
-    mul4 = (q63_t) imag2 *imag2;
-
-    /* get the result to 3.29 format */
-    out1 = (q31_t) (mul1 >> 33);
-    out2 = (q31_t) (mul2 >> 33);
-    out3 = (q31_t) (mul3 >> 33);
-    out4 = (q31_t) (mul4 >> 33);
-
-    /* add real and imaginary accumulators */
-    out1 = out1 + out2;
-    out3 = out3 + out4;
-
-    /* read complex input from source buffer */
-    real1 = pSrc[4];
-    imag1 = pSrc[5];
-    real2 = pSrc[6];
-    imag2 = pSrc[7];
-
-    /* calculate square root */
-    arm_sqrt_q31(out1, &pDst[0]);
-
-    /* calculate power of input values */
-    mul1 = (q63_t) real1 *real1;
-
-    /* calculate square root */
-    arm_sqrt_q31(out3, &pDst[1]);
-
-    /* calculate power of input values */
-    mul2 = (q63_t) imag1 *imag1;
-    mul3 = (q63_t) real2 *real2;
-    mul4 = (q63_t) imag2 *imag2;
-
-    /* get the result to 3.29 format */
-    out1 = (q31_t) (mul1 >> 33);
-    out2 = (q31_t) (mul2 >> 33);
-    out3 = (q31_t) (mul3 >> 33);
-    out4 = (q31_t) (mul4 >> 33);
-
-    /* add real and imaginary accumulators */
-    out1 = out1 + out2;
-    out3 = out3 + out4;
-
-    /* calculate square root */
-    arm_sqrt_q31(out1, &pDst[2]);
-
-    /* increment destination by 8 to process next samples */
-    pSrc += 8u;
-
-    /* calculate square root */
-    arm_sqrt_q31(out3, &pDst[3]);
-
-    /* increment destination by 4 to process next samples */
-    pDst += 4u;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.        
-   ** No loop unrolling is used. */
-  blkCnt = numSamples % 0x4u;
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-  blkCnt = numSamples;
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-  while(blkCnt > 0u)
-  {
-    /* C[0] = sqrt(A[0] * A[0] + A[1] * A[1]) */
-    real = *pSrc++;
-    imag = *pSrc++;
-    acc0 = (q31_t) (((q63_t) real * real) >> 33);
-    acc1 = (q31_t) (((q63_t) imag * imag) >> 33);
-    /* store the result in 2.30 format in the destination buffer. */
-    arm_sqrt_q31(acc0 + acc1, pDst++);
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-}
-
-/**        
- * @} end of cmplx_mag group        
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_f32.c
deleted file mode 100644
index 7350fd1c9..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_f32.c
+++ /dev/null
@@ -1,207 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_cmplx_mag_squared_f32.c    
-*    
-* Description:	Floating-point complex magnitude squared.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* ---------------------------------------------------------------------------- */
-#include "arm_math.h"
-
-/**        
- * @ingroup groupCmplxMath        
- */
-
-/**        
- * @defgroup cmplx_mag_squared Complex Magnitude Squared        
- *        
- * Computes the magnitude squared of the elements of a complex data vector.        
- *       
- * The pSrc points to the source data and        
- * pDst points to the where the result should be written.        
- * numSamples specifies the number of complex samples        
- * in the input array and the data is stored in an interleaved fashion        
- * (real, imag, real, imag, ...).        
- * The input array has a total of 2*numSamples values;        
- * the output array has a total of numSamples values.        
- *        
- * The underlying algorithm is used:        
- *        
- * 
        
- * for(n=0; n        
- *        
- * There are separate functions for floating-point, Q15, and Q31 data types.        
- */
-
-/**        
- * @addtogroup cmplx_mag_squared        
- * @{        
- */
-
-
-/**        
- * @brief  Floating-point complex magnitude squared        
- * @param[in]  *pSrc points to the complex input vector        
- * @param[out]  *pDst points to the real output vector        
- * @param[in]  numSamples number of complex samples in the input vector        
- * @return none.        
- */
-
-void arm_cmplx_mag_squared_f32(
-  float32_t * pSrc,
-  float32_t * pDst,
-  uint32_t numSamples)
-{
-  float32_t real, imag;                          /* Temporary variables to store real and imaginary values */
-  uint32_t blkCnt;                               /* loop counter */
-
-#ifndef ARM_MATH_CM0
-  float32_t real1, real2, real3, real4;          /* Temporary variables to hold real values */
-  float32_t imag1, imag2, imag3, imag4;          /* Temporary variables to hold imaginary values */
-  float32_t mul1, mul2, mul3, mul4;              /* Temporary variables */
-  float32_t mul5, mul6, mul7, mul8;              /* Temporary variables */
-  float32_t out1, out2, out3, out4;              /* Temporary variables to hold output values */
-
-  /*loop Unrolling */
-  blkCnt = numSamples >> 2u;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.        
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-    /* C[0] = (A[0] * A[0] + A[1] * A[1]) */
-    /* read real input sample from source buffer */
-    real1 = pSrc[0];
-    /* read imaginary input sample from source buffer */
-    imag1 = pSrc[1];
-
-    /* calculate power of real value */
-    mul1 = real1 * real1;
-
-    /* read real input sample from source buffer */
-    real2 = pSrc[2];
-
-    /* calculate power of imaginary value */
-    mul2 = imag1 * imag1;
-
-    /* read imaginary input sample from source buffer */
-    imag2 = pSrc[3];
-
-    /* calculate power of real value */
-    mul3 = real2 * real2;
-
-    /* read real input sample from source buffer */
-    real3 = pSrc[4];
-
-    /* calculate power of imaginary value */
-    mul4 = imag2 * imag2;
-
-    /* read imaginary input sample from source buffer */
-    imag3 = pSrc[5];
-
-    /* calculate power of real value */
-    mul5 = real3 * real3;
-    /* calculate power of imaginary value */
-    mul6 = imag3 * imag3;
-
-    /* read real input sample from source buffer */
-    real4 = pSrc[6];
-
-    /* accumulate real and imaginary powers */
-    out1 = mul1 + mul2;
-
-    /* read imaginary input sample from source buffer */
-    imag4 = pSrc[7];
-
-    /* accumulate real and imaginary powers */
-    out2 = mul3 + mul4;
-
-    /* calculate power of real value */
-    mul7 = real4 * real4;
-    /* calculate power of imaginary value */
-    mul8 = imag4 * imag4;
-
-    /* store output to destination */
-    pDst[0] = out1;
-
-    /* accumulate real and imaginary powers */
-    out3 = mul5 + mul6;
-
-    /* store output to destination */
-    pDst[1] = out2;
-
-    /* accumulate real and imaginary powers */
-    out4 = mul7 + mul8;
-
-    /* store output to destination */
-    pDst[2] = out3;
-
-    /* increment destination pointer by 8 to process next samples */
-    pSrc += 8u;
-
-    /* store output to destination */
-    pDst[3] = out4;
-
-    /* increment destination pointer by 4 to process next samples */
-    pDst += 4u;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.        
-   ** No loop unrolling is used. */
-  blkCnt = numSamples % 0x4u;
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  blkCnt = numSamples;
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-  while(blkCnt > 0u)
-  {
-    /* C[0] = (A[0] * A[0] + A[1] * A[1]) */
-    real = *pSrc++;
-    imag = *pSrc++;
-
-    /* out = (real * real) + (imag * imag) */
-    /* store the result in the destination buffer. */
-    *pDst++ = (real * real) + (imag * imag);
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-}
-
-/**        
- * @} end of cmplx_mag_squared group        
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q15.c
deleted file mode 100644
index 623229b8f..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q15.c
+++ /dev/null
@@ -1,140 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_cmplx_mag_squared_q15.c    
-*    
-* Description:	Q15 complex magnitude squared.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* ---------------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupCmplxMath    
- */
-
-/**    
- * @addtogroup cmplx_mag_squared    
- * @{    
- */
-
-/**    
- * @brief  Q15 complex magnitude squared    
- * @param  *pSrc points to the complex input vector    
- * @param  *pDst points to the real output vector    
- * @param  numSamples number of complex samples in the input vector    
- * @return none.    
- *    
- * Scaling and Overflow Behavior:    
- * \par    
- * The function implements 1.15 by 1.15 multiplications and finally output is converted into 3.13 format.    
- */
-
-void arm_cmplx_mag_squared_q15(
-  q15_t * pSrc,
-  q15_t * pDst,
-  uint32_t numSamples)
-{
-  q31_t acc0, acc1;                              /* Accumulators */
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-  uint32_t blkCnt;                               /* loop counter */
-  q31_t in1, in2, in3, in4;
-  q31_t acc2, acc3;
-
-  /*loop Unrolling */
-  blkCnt = numSamples >> 2u;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-    /* C[0] = (A[0] * A[0] + A[1] * A[1]) */
-    in1 = *__SIMD32(pSrc)++;
-    in2 = *__SIMD32(pSrc)++;
-    in3 = *__SIMD32(pSrc)++;
-    in4 = *__SIMD32(pSrc)++;
-
-    acc0 = __SMUAD(in1, in1);
-    acc1 = __SMUAD(in2, in2);
-    acc2 = __SMUAD(in3, in3);
-    acc3 = __SMUAD(in4, in4);
-
-    /* store the result in 3.13 format in the destination buffer. */
-    *pDst++ = (q15_t) (acc0 >> 17);
-    *pDst++ = (q15_t) (acc1 >> 17);
-    *pDst++ = (q15_t) (acc2 >> 17);
-    *pDst++ = (q15_t) (acc3 >> 17);
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.    
-   ** No loop unrolling is used. */
-  blkCnt = numSamples % 0x4u;
-
-  while(blkCnt > 0u)
-  {
-    /* C[0] = (A[0] * A[0] + A[1] * A[1]) */
-    in1 = *__SIMD32(pSrc)++;
-    acc0 = __SMUAD(in1, in1);
-
-    /* store the result in 3.13 format in the destination buffer. */
-    *pDst++ = (q15_t) (acc0 >> 17);
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-  q15_t real, imag;                              /* Temporary variables to store real and imaginary values */
-
-  while(numSamples > 0u)
-  {
-    /* out = ((real * real) + (imag * imag)) */
-    real = *pSrc++;
-    imag = *pSrc++;
-    acc0 = (real * real);
-    acc1 = (imag * imag);
-    /* store the result in 3.13 format in the destination buffer. */
-    *pDst++ = (q15_t) (((q63_t) acc0 + acc1) >> 17);
-
-    /* Decrement the loop counter */
-    numSamples--;
-  }
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-}
-
-/**    
- * @} end of cmplx_mag_squared group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q31.c
deleted file mode 100644
index d45ccfab2..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q31.c
+++ /dev/null
@@ -1,153 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_cmplx_mag_squared_q31.c    
-*    
-* Description:	Q31 complex magnitude squared.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* ---------------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupCmplxMath    
- */
-
-/**    
- * @addtogroup cmplx_mag_squared    
- * @{    
- */
-
-
-/**    
- * @brief  Q31 complex magnitude squared    
- * @param  *pSrc points to the complex input vector    
- * @param  *pDst points to the real output vector    
- * @param  numSamples number of complex samples in the input vector    
- * @return none.    
- *    
- * Scaling and Overflow Behavior:    
- * \par    
- * The function implements 1.31 by 1.31 multiplications and finally output is converted into 3.29 format.    
- * Input down scaling is not required.    
- */
-
-void arm_cmplx_mag_squared_q31(
-  q31_t * pSrc,
-  q31_t * pDst,
-  uint32_t numSamples)
-{
-  q31_t real, imag;                              /* Temporary variables to store real and imaginary values */
-  q31_t acc0, acc1;                              /* Accumulators */
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-  uint32_t blkCnt;                               /* loop counter */
-
-  /* loop Unrolling */
-  blkCnt = numSamples >> 2u;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-    /* C[0] = (A[0] * A[0] + A[1] * A[1]) */
-    real = *pSrc++;
-    imag = *pSrc++;
-    acc0 = (q31_t) (((q63_t) real * real) >> 33);
-    acc1 = (q31_t) (((q63_t) imag * imag) >> 33);
-    /* store the result in 3.29 format in the destination buffer. */
-    *pDst++ = acc0 + acc1;
-
-    real = *pSrc++;
-    imag = *pSrc++;
-    acc0 = (q31_t) (((q63_t) real * real) >> 33);
-    acc1 = (q31_t) (((q63_t) imag * imag) >> 33);
-    /* store the result in 3.29 format in the destination buffer. */
-    *pDst++ = acc0 + acc1;
-
-    real = *pSrc++;
-    imag = *pSrc++;
-    acc0 = (q31_t) (((q63_t) real * real) >> 33);
-    acc1 = (q31_t) (((q63_t) imag * imag) >> 33);
-    /* store the result in 3.29 format in the destination buffer. */
-    *pDst++ = acc0 + acc1;
-
-    real = *pSrc++;
-    imag = *pSrc++;
-    acc0 = (q31_t) (((q63_t) real * real) >> 33);
-    acc1 = (q31_t) (((q63_t) imag * imag) >> 33);
-    /* store the result in 3.29 format in the destination buffer. */
-    *pDst++ = acc0 + acc1;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.    
-   ** No loop unrolling is used. */
-  blkCnt = numSamples % 0x4u;
-
-  while(blkCnt > 0u)
-  {
-    /* C[0] = (A[0] * A[0] + A[1] * A[1]) */
-    real = *pSrc++;
-    imag = *pSrc++;
-    acc0 = (q31_t) (((q63_t) real * real) >> 33);
-    acc1 = (q31_t) (((q63_t) imag * imag) >> 33);
-    /* store the result in 3.29 format in the destination buffer. */
-    *pDst++ = acc0 + acc1;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  while(numSamples > 0u)
-  {
-    /* out = ((real * real) + (imag * imag)) */
-    real = *pSrc++;
-    imag = *pSrc++;
-    acc0 = (q31_t) (((q63_t) real * real) >> 33);
-    acc1 = (q31_t) (((q63_t) imag * imag) >> 33);
-    /* store the result in 3.29 format in the destination buffer. */
-    *pDst++ = acc0 + acc1;
-
-    /* Decrement the loop counter */
-    numSamples--;
-  }
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-}
-
-/**    
- * @} end of cmplx_mag_squared group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_f32.c
deleted file mode 100644
index 2ec9ee862..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_f32.c
+++ /dev/null
@@ -1,199 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_cmplx_mult_cmplx_f32.c    
-*    
-* Description:	Floating-point complex-by-complex multiplication    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* -------------------------------------------------------------------- */
-#include "arm_math.h"
-
-/**        
- * @ingroup groupCmplxMath        
- */
-
-/**        
- * @defgroup CmplxByCmplxMult Complex-by-Complex Multiplication        
- *        
- * Multiplies a complex vector by another complex vector and generates a complex result.        
- * The data in the complex arrays is stored in an interleaved fashion        
- * (real, imag, real, imag, ...).        
- * The parameter numSamples represents the number of complex        
- * samples processed.  The complex arrays have a total of 2*numSamples        
- * real values.        
- *        
- * The underlying algorithm is used:        
- *        
- * 
        
- * for(n=0; n        
- *        
- * There are separate functions for floating-point, Q15, and Q31 data types.        
- */
-
-/**        
- * @addtogroup CmplxByCmplxMult        
- * @{        
- */
-
-
-/**        
- * @brief  Floating-point complex-by-complex multiplication        
- * @param[in]  *pSrcA points to the first input vector        
- * @param[in]  *pSrcB points to the second input vector        
- * @param[out]  *pDst  points to the output vector        
- * @param[in]  numSamples number of complex samples in each vector        
- * @return none.        
- */
-
-void arm_cmplx_mult_cmplx_f32(
-  float32_t * pSrcA,
-  float32_t * pSrcB,
-  float32_t * pDst,
-  uint32_t numSamples)
-{
-  float32_t a1, b1, c1, d1;                      /* Temporary variables to store real and imaginary values */
-  uint32_t blkCnt;                               /* loop counters */
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-  float32_t a2, b2, c2, d2;                      /* Temporary variables to store real and imaginary values */
-  float32_t acc1, acc2, acc3, acc4;
-
-
-  /* loop Unrolling */
-  blkCnt = numSamples >> 2u;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.        
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-    /* C[2 * i] = A[2 * i] * B[2 * i] - A[2 * i + 1] * B[2 * i + 1].  */
-    /* C[2 * i + 1] = A[2 * i] * B[2 * i + 1] + A[2 * i + 1] * B[2 * i].  */
-    a1 = *pSrcA;                /* A[2 * i] */
-    c1 = *pSrcB;                /* B[2 * i] */
-
-    b1 = *(pSrcA + 1);          /* A[2 * i + 1] */
-    acc1 = a1 * c1;             /* acc1 = A[2 * i] * B[2 * i] */
-
-    a2 = *(pSrcA + 2);          /* A[2 * i + 2] */
-    acc2 = (b1 * c1);           /* acc2 = A[2 * i + 1] * B[2 * i] */
-
-    d1 = *(pSrcB + 1);          /* B[2 * i + 1] */
-    c2 = *(pSrcB + 2);          /* B[2 * i + 2] */
-    acc1 -= b1 * d1;            /* acc1 =      A[2 * i] * B[2 * i] - A[2 * i + 1] * B[2 * i + 1] */
-
-    d2 = *(pSrcB + 3);          /* B[2 * i + 3] */
-    acc3 = a2 * c2;             /* acc3 =       A[2 * i + 2] * B[2 * i + 2] */
-
-    b2 = *(pSrcA + 3);          /* A[2 * i + 3] */
-    acc2 += (a1 * d1);          /* acc2 =      A[2 * i + 1] * B[2 * i] + A[2 * i] * B[2 * i + 1] */
-
-    a1 = *(pSrcA + 4);          /* A[2 * i + 4] */
-    acc4 = (a2 * d2);           /* acc4 =   A[2 * i + 2] * B[2 * i + 3] */
-
-    c1 = *(pSrcB + 4);          /* B[2 * i + 4] */
-    acc3 -= (b2 * d2);          /* acc3 =       A[2 * i + 2] * B[2 * i + 2] - A[2 * i + 3] * B[2 * i + 3] */
-    *pDst = acc1;               /* C[2 * i] = A[2 * i] * B[2 * i] - A[2 * i + 1] * B[2 * i + 1] */
-
-    b1 = *(pSrcA + 5);          /* A[2 * i + 5] */
-    acc4 += b2 * c2;            /* acc4 =   A[2 * i + 2] * B[2 * i + 3] + A[2 * i + 3] * B[2 * i + 2] */
-
-    *(pDst + 1) = acc2;         /* C[2 * i + 1] = A[2 * i + 1] * B[2 * i] + A[2 * i] * B[2 * i + 1]  */
-    acc1 = (a1 * c1);
-
-    d1 = *(pSrcB + 5);
-    acc2 = (b1 * c1);
-
-    *(pDst + 2) = acc3;
-    *(pDst + 3) = acc4;
-
-    a2 = *(pSrcA + 6);
-    acc1 -= (b1 * d1);
-
-    c2 = *(pSrcB + 6);
-    acc2 += (a1 * d1);
-
-    b2 = *(pSrcA + 7);
-    acc3 = (a2 * c2);
-
-    d2 = *(pSrcB + 7);
-    acc4 = (b2 * c2);
-
-    *(pDst + 4) = acc1;
-    pSrcA += 8u;
-
-    acc3 -= (b2 * d2);
-    acc4 += (a2 * d2);
-
-    *(pDst + 5) = acc2;
-    pSrcB += 8u;
-
-    *(pDst + 6) = acc3;
-    *(pDst + 7) = acc4;
-
-    pDst += 8u;
-
-    /* Decrement the numSamples loop counter */
-    blkCnt--;
-  }
-
-  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.        
-   ** No loop unrolling is used. */
-  blkCnt = numSamples % 0x4u;
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-  blkCnt = numSamples;
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-  while(blkCnt > 0u)
-  {
-    /* C[2 * i] = A[2 * i] * B[2 * i] - A[2 * i + 1] * B[2 * i + 1].  */
-    /* C[2 * i + 1] = A[2 * i] * B[2 * i + 1] + A[2 * i + 1] * B[2 * i].  */
-    a1 = *pSrcA++;
-    b1 = *pSrcA++;
-    c1 = *pSrcB++;
-    d1 = *pSrcB++;
-
-    /* store the result in the destination buffer. */
-    *pDst++ = (a1 * c1) - (b1 * d1);
-    *pDst++ = (a1 * d1) + (b1 * c1);
-
-    /* Decrement the numSamples loop counter */
-    blkCnt--;
-  }
-}
-
-/**        
- * @} end of CmplxByCmplxMult group        
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q15.c
deleted file mode 100644
index 0219aea48..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q15.c
+++ /dev/null
@@ -1,185 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_cmplx_mult_cmplx_q15.c    
-*    
-* Description:	Q15 complex-by-complex multiplication    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupCmplxMath    
- */
-
-/**    
- * @addtogroup CmplxByCmplxMult    
- * @{    
- */
-
-/**    
- * @brief  Q15 complex-by-complex multiplication    
- * @param[in]  *pSrcA points to the first input vector    
- * @param[in]  *pSrcB points to the second input vector    
- * @param[out]  *pDst  points to the output vector    
- * @param[in]  numSamples number of complex samples in each vector    
- * @return none.    
- *    
- * Scaling and Overflow Behavior:    
- * \par    
- * The function implements 1.15 by 1.15 multiplications and finally output is converted into 3.13 format.    
- */
-
-void arm_cmplx_mult_cmplx_q15(
-  q15_t * pSrcA,
-  q15_t * pSrcB,
-  q15_t * pDst,
-  uint32_t numSamples)
-{
-  q15_t a, b, c, d;                              /* Temporary variables to store real and imaginary values */
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-  uint32_t blkCnt;                               /* loop counters */
-
-  /* loop Unrolling */
-  blkCnt = numSamples >> 2u;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-    /* C[2 * i] = A[2 * i] * B[2 * i] - A[2 * i + 1] * B[2 * i + 1].  */
-    /* C[2 * i + 1] = A[2 * i] * B[2 * i + 1] + A[2 * i + 1] * B[2 * i].  */
-    a = *pSrcA++;
-    b = *pSrcA++;
-    c = *pSrcB++;
-    d = *pSrcB++;
-
-    /* store the result in 3.13 format in the destination buffer. */
-    *pDst++ =
-      (q15_t) (q31_t) (((q31_t) a * c) >> 17) - (((q31_t) b * d) >> 17);
-    /* store the result in 3.13 format in the destination buffer. */
-    *pDst++ =
-      (q15_t) (q31_t) (((q31_t) a * d) >> 17) + (((q31_t) b * c) >> 17);
-
-    a = *pSrcA++;
-    b = *pSrcA++;
-    c = *pSrcB++;
-    d = *pSrcB++;
-
-    /* store the result in 3.13 format in the destination buffer. */
-    *pDst++ =
-      (q15_t) (q31_t) (((q31_t) a * c) >> 17) - (((q31_t) b * d) >> 17);
-    /* store the result in 3.13 format in the destination buffer. */
-    *pDst++ =
-      (q15_t) (q31_t) (((q31_t) a * d) >> 17) + (((q31_t) b * c) >> 17);
-
-    a = *pSrcA++;
-    b = *pSrcA++;
-    c = *pSrcB++;
-    d = *pSrcB++;
-
-    /* store the result in 3.13 format in the destination buffer. */
-    *pDst++ =
-      (q15_t) (q31_t) (((q31_t) a * c) >> 17) - (((q31_t) b * d) >> 17);
-    /* store the result in 3.13 format in the destination buffer. */
-    *pDst++ =
-      (q15_t) (q31_t) (((q31_t) a * d) >> 17) + (((q31_t) b * c) >> 17);
-
-    a = *pSrcA++;
-    b = *pSrcA++;
-    c = *pSrcB++;
-    d = *pSrcB++;
-
-    /* store the result in 3.13 format in the destination buffer. */
-    *pDst++ =
-      (q15_t) (q31_t) (((q31_t) a * c) >> 17) - (((q31_t) b * d) >> 17);
-    /* store the result in 3.13 format in the destination buffer. */
-    *pDst++ =
-      (q15_t) (q31_t) (((q31_t) a * d) >> 17) + (((q31_t) b * c) >> 17);
-
-    /* Decrement the blockSize loop counter */
-    blkCnt--;
-  }
-
-  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
-   ** No loop unrolling is used. */
-  blkCnt = numSamples % 0x4u;
-
-  while(blkCnt > 0u)
-  {
-    /* C[2 * i] = A[2 * i] * B[2 * i] - A[2 * i + 1] * B[2 * i + 1].  */
-    /* C[2 * i + 1] = A[2 * i] * B[2 * i + 1] + A[2 * i + 1] * B[2 * i].  */
-    a = *pSrcA++;
-    b = *pSrcA++;
-    c = *pSrcB++;
-    d = *pSrcB++;
-
-    /* store the result in 3.13 format in the destination buffer. */
-    *pDst++ =
-      (q15_t) (q31_t) (((q31_t) a * c) >> 17) - (((q31_t) b * d) >> 17);
-    /* store the result in 3.13 format in the destination buffer. */
-    *pDst++ =
-      (q15_t) (q31_t) (((q31_t) a * d) >> 17) + (((q31_t) b * c) >> 17);
-
-    /* Decrement the blockSize loop counter */
-    blkCnt--;
-  }
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  while(numSamples > 0u)
-  {
-    /* C[2 * i] = A[2 * i] * B[2 * i] - A[2 * i + 1] * B[2 * i + 1].  */
-    /* C[2 * i + 1] = A[2 * i] * B[2 * i + 1] + A[2 * i + 1] * B[2 * i].  */
-    a = *pSrcA++;
-    b = *pSrcA++;
-    c = *pSrcB++;
-    d = *pSrcB++;
-
-    /* store the result in 3.13 format in the destination buffer. */
-    *pDst++ =
-      (q15_t) (q31_t) (((q31_t) a * c) >> 17) - (((q31_t) b * d) >> 17);
-    /* store the result in 3.13 format in the destination buffer. */
-    *pDst++ =
-      (q15_t) (q31_t) (((q31_t) a * d) >> 17) + (((q31_t) b * c) >> 17);
-
-    /* Decrement the blockSize loop counter */
-    numSamples--;
-  }
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-}
-
-/**    
- * @} end of CmplxByCmplxMult group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q31.c
deleted file mode 100644
index 13fc060a2..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q31.c
+++ /dev/null
@@ -1,318 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_cmplx_mult_cmplx_q31.c    
-*    
-* Description:	Q31 complex-by-complex multiplication    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupCmplxMath    
- */
-
-/**    
- * @addtogroup CmplxByCmplxMult    
- * @{    
- */
-
-
-/**    
- * @brief  Q31 complex-by-complex multiplication    
- * @param[in]  *pSrcA points to the first input vector    
- * @param[in]  *pSrcB points to the second input vector    
- * @param[out]  *pDst  points to the output vector    
- * @param[in]  numSamples number of complex samples in each vector    
- * @return none.    
- *    
- * Scaling and Overflow Behavior:    
- * \par    
- * The function implements 1.31 by 1.31 multiplications and finally output is converted into 3.29 format.    
- * Input down scaling is not required.    
- */
-
-void arm_cmplx_mult_cmplx_q31(
-  q31_t * pSrcA,
-  q31_t * pSrcB,
-  q31_t * pDst,
-  uint32_t numSamples)
-{
-  q31_t a, b, c, d;                              /* Temporary variables to store real and imaginary values */
-  uint32_t blkCnt;                               /* loop counters */
-  q31_t mul1, mul2, mul3, mul4;
-  q31_t out1, out2;
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  /* loop Unrolling */
-  blkCnt = numSamples >> 2u;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-    /* C[2 * i] = A[2 * i] * B[2 * i] - A[2 * i + 1] * B[2 * i + 1].  */
-    /* C[2 * i + 1] = A[2 * i] * B[2 * i + 1] + A[2 * i + 1] * B[2 * i].  */
-    a = *pSrcA++;
-    b = *pSrcA++;
-    c = *pSrcB++;
-    d = *pSrcB++;
-
-    mul1 = (q31_t) (((q63_t) a * c) >> 32);
-    mul2 = (q31_t) (((q63_t) b * d) >> 32);
-    mul3 = (q31_t) (((q63_t) a * d) >> 32);
-    mul4 = (q31_t) (((q63_t) b * c) >> 32);
-
-    mul1 = (mul1 >> 1);
-    mul2 = (mul2 >> 1);
-    mul3 = (mul3 >> 1);
-    mul4 = (mul4 >> 1);
-
-    out1 = mul1 - mul2;
-    out2 = mul3 + mul4;
-
-    /* store the real result in 3.29 format in the destination buffer. */
-    *pDst++ = out1;
-    /* store the imag result in 3.29 format in the destination buffer. */
-    *pDst++ = out2;
-
-    a = *pSrcA++;
-    b = *pSrcA++;
-    c = *pSrcB++;
-    d = *pSrcB++;
-
-    mul1 = (q31_t) (((q63_t) a * c) >> 32);
-    mul2 = (q31_t) (((q63_t) b * d) >> 32);
-    mul3 = (q31_t) (((q63_t) a * d) >> 32);
-    mul4 = (q31_t) (((q63_t) b * c) >> 32);
-
-    mul1 = (mul1 >> 1);
-    mul2 = (mul2 >> 1);
-    mul3 = (mul3 >> 1);
-    mul4 = (mul4 >> 1);
-
-    out1 = mul1 - mul2;
-    out2 = mul3 + mul4;
-
-    /* store the real result in 3.29 format in the destination buffer. */
-    *pDst++ = out1;
-    /* store the imag result in 3.29 format in the destination buffer. */
-    *pDst++ = out2;
-
-    a = *pSrcA++;
-    b = *pSrcA++;
-    c = *pSrcB++;
-    d = *pSrcB++;
-
-    mul1 = (q31_t) (((q63_t) a * c) >> 32);
-    mul2 = (q31_t) (((q63_t) b * d) >> 32);
-    mul3 = (q31_t) (((q63_t) a * d) >> 32);
-    mul4 = (q31_t) (((q63_t) b * c) >> 32);
-
-    mul1 = (mul1 >> 1);
-    mul2 = (mul2 >> 1);
-    mul3 = (mul3 >> 1);
-    mul4 = (mul4 >> 1);
-
-    out1 = mul1 - mul2;
-    out2 = mul3 + mul4;
-
-    /* store the real result in 3.29 format in the destination buffer. */
-    *pDst++ = out1;
-    /* store the imag result in 3.29 format in the destination buffer. */
-    *pDst++ = out2;
-
-    a = *pSrcA++;
-    b = *pSrcA++;
-    c = *pSrcB++;
-    d = *pSrcB++;
-
-    mul1 = (q31_t) (((q63_t) a * c) >> 32);
-    mul2 = (q31_t) (((q63_t) b * d) >> 32);
-    mul3 = (q31_t) (((q63_t) a * d) >> 32);
-    mul4 = (q31_t) (((q63_t) b * c) >> 32);
-
-    mul1 = (mul1 >> 1);
-    mul2 = (mul2 >> 1);
-    mul3 = (mul3 >> 1);
-    mul4 = (mul4 >> 1);
-
-    out1 = mul1 - mul2;
-    out2 = mul3 + mul4;
-
-    /* store the real result in 3.29 format in the destination buffer. */
-    *pDst++ = out1;
-    /* store the imag result in 3.29 format in the destination buffer. */
-    *pDst++ = out2;
-
-    /* Decrement the blockSize loop counter */
-    blkCnt--;
-  }
-
-  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
-   ** No loop unrolling is used. */
-  blkCnt = numSamples % 0x4u;
-
-  while(blkCnt > 0u)
-  {
-    /* C[2 * i] = A[2 * i] * B[2 * i] - A[2 * i + 1] * B[2 * i + 1].  */
-    /* C[2 * i + 1] = A[2 * i] * B[2 * i + 1] + A[2 * i + 1] * B[2 * i].  */
-    a = *pSrcA++;
-    b = *pSrcA++;
-    c = *pSrcB++;
-    d = *pSrcB++;
-
-    mul1 = (q31_t) (((q63_t) a * c) >> 32);
-    mul2 = (q31_t) (((q63_t) b * d) >> 32);
-    mul3 = (q31_t) (((q63_t) a * d) >> 32);
-    mul4 = (q31_t) (((q63_t) b * c) >> 32);
-
-    mul1 = (mul1 >> 1);
-    mul2 = (mul2 >> 1);
-    mul3 = (mul3 >> 1);
-    mul4 = (mul4 >> 1);
-
-    out1 = mul1 - mul2;
-    out2 = mul3 + mul4;
-
-    /* store the real result in 3.29 format in the destination buffer. */
-    *pDst++ = out1;
-    /* store the imag result in 3.29 format in the destination buffer. */
-    *pDst++ = out2;
-
-    /* Decrement the blockSize loop counter */
-    blkCnt--;
-  }
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  /* loop Unrolling */
-  blkCnt = numSamples >> 1u;
-
-  /* First part of the processing with loop unrolling.  Compute 2 outputs at a time.     
-   ** a second loop below computes the remaining 1 sample. */
-  while(blkCnt > 0u)
-  {
-    /* C[2 * i] = A[2 * i] * B[2 * i] - A[2 * i + 1] * B[2 * i + 1].  */
-    /* C[2 * i + 1] = A[2 * i] * B[2 * i + 1] + A[2 * i + 1] * B[2 * i].  */
-    a = *pSrcA++;
-    b = *pSrcA++;
-    c = *pSrcB++;
-    d = *pSrcB++;
-
-    mul1 = (q31_t) (((q63_t) a * c) >> 32);
-    mul2 = (q31_t) (((q63_t) b * d) >> 32);
-    mul3 = (q31_t) (((q63_t) a * d) >> 32);
-    mul4 = (q31_t) (((q63_t) b * c) >> 32);
-
-    mul1 = (mul1 >> 1);
-    mul2 = (mul2 >> 1);
-    mul3 = (mul3 >> 1);
-    mul4 = (mul4 >> 1);
-
-    out1 = mul1 - mul2;
-    out2 = mul3 + mul4;
-
-    /* store the real result in 3.29 format in the destination buffer. */
-    *pDst++ = out1;
-    /* store the imag result in 3.29 format in the destination buffer. */
-    *pDst++ = out2;
-
-    a = *pSrcA++;
-    b = *pSrcA++;
-    c = *pSrcB++;
-    d = *pSrcB++;
-
-    mul1 = (q31_t) (((q63_t) a * c) >> 32);
-    mul2 = (q31_t) (((q63_t) b * d) >> 32);
-    mul3 = (q31_t) (((q63_t) a * d) >> 32);
-    mul4 = (q31_t) (((q63_t) b * c) >> 32);
-
-    mul1 = (mul1 >> 1);
-    mul2 = (mul2 >> 1);
-    mul3 = (mul3 >> 1);
-    mul4 = (mul4 >> 1);
-
-    out1 = mul1 - mul2;
-    out2 = mul3 + mul4;
-
-    /* store the real result in 3.29 format in the destination buffer. */
-    *pDst++ = out1;
-    /* store the imag result in 3.29 format in the destination buffer. */
-    *pDst++ = out2;
-
-    /* Decrement the blockSize loop counter */
-    blkCnt--;
-  }
-
-  /* If the blockSize is not a multiple of 2, compute any remaining output samples here.     
-   ** No loop unrolling is used. */
-  blkCnt = numSamples % 0x2u;
-
-  while(blkCnt > 0u)
-  {
-    /* C[2 * i] = A[2 * i] * B[2 * i] - A[2 * i + 1] * B[2 * i + 1].  */
-    /* C[2 * i + 1] = A[2 * i] * B[2 * i + 1] + A[2 * i + 1] * B[2 * i].  */
-    a = *pSrcA++;
-    b = *pSrcA++;
-    c = *pSrcB++;
-    d = *pSrcB++;
-
-    mul1 = (q31_t) (((q63_t) a * c) >> 32);
-    mul2 = (q31_t) (((q63_t) b * d) >> 32);
-    mul3 = (q31_t) (((q63_t) a * d) >> 32);
-    mul4 = (q31_t) (((q63_t) b * c) >> 32);
-
-    mul1 = (mul1 >> 1);
-    mul2 = (mul2 >> 1);
-    mul3 = (mul3 >> 1);
-    mul4 = (mul4 >> 1);
-
-    out1 = mul1 - mul2;
-    out2 = mul3 + mul4;
-
-    /* store the real result in 3.29 format in the destination buffer. */
-    *pDst++ = out1;
-    /* store the imag result in 3.29 format in the destination buffer. */
-    *pDst++ = out2;
-
-    /* Decrement the blockSize loop counter */
-    blkCnt--;
-  }
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-}
-
-/**    
- * @} end of CmplxByCmplxMult group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_f32.c
deleted file mode 100644
index 7a5bdf9cd..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_f32.c
+++ /dev/null
@@ -1,217 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_cmplx_mult_real_f32.c    
-*    
-* Description:	Floating-point complex by real multiplication    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**        
- * @ingroup groupCmplxMath        
- */
-
-/**        
- * @defgroup CmplxByRealMult Complex-by-Real Multiplication        
- *        
- * Multiplies a complex vector by a real vector and generates a complex result.        
- * The data in the complex arrays is stored in an interleaved fashion        
- * (real, imag, real, imag, ...).        
- * The parameter numSamples represents the number of complex        
- * samples processed.  The complex arrays have a total of 2*numSamples        
- * real values while the real array has a total of numSamples        
- * real values.        
- *        
- * The underlying algorithm is used:        
- *        
- * 
        
- * for(n=0; n        
- *        
- * There are separate functions for floating-point, Q15, and Q31 data types.        
- */
-
-/**        
- * @addtogroup CmplxByRealMult        
- * @{        
- */
-
-
-/**        
- * @brief  Floating-point complex-by-real multiplication        
- * @param[in]  *pSrcCmplx points to the complex input vector        
- * @param[in]  *pSrcReal points to the real input vector        
- * @param[out]  *pCmplxDst points to the complex output vector        
- * @param[in]  numSamples number of samples in each vector        
- * @return none.        
- */
-
-void arm_cmplx_mult_real_f32(
-  float32_t * pSrcCmplx,
-  float32_t * pSrcReal,
-  float32_t * pCmplxDst,
-  uint32_t numSamples)
-{
-  float32_t in;                                  /* Temporary variable to store input value */
-  uint32_t blkCnt;                               /* loop counters */
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-  float32_t inA1, inA2, inA3, inA4;              /* Temporary variables to hold input data */
-  float32_t inA5, inA6, inA7, inA8;              /* Temporary variables to hold input data */
-  float32_t inB1, inB2, inB3, inB4;              /* Temporary variables to hold input data */
-  float32_t out1, out2, out3, out4;              /* Temporary variables to hold output data */
-  float32_t out5, out6, out7, out8;              /* Temporary variables to hold output data */
-
-  /* loop Unrolling */
-  blkCnt = numSamples >> 2u;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.        
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-    /* C[2 * i] = A[2 * i] * B[i].            */
-    /* C[2 * i + 1] = A[2 * i + 1] * B[i].        */
-    /* read input from complex input buffer */
-    inA1 = pSrcCmplx[0];
-    inA2 = pSrcCmplx[1];
-    /* read input from real input buffer */
-    inB1 = pSrcReal[0];
-
-    /* read input from complex input buffer */
-    inA3 = pSrcCmplx[2];
-
-    /* multiply complex buffer real input with real buffer input */
-    out1 = inA1 * inB1;
-
-    /* read input from complex input buffer */
-    inA4 = pSrcCmplx[3];
-
-    /* multiply complex buffer imaginary input with real buffer input */
-    out2 = inA2 * inB1;
-
-    /* read input from real input buffer */
-    inB2 = pSrcReal[1];
-    /* read input from complex input buffer */
-    inA5 = pSrcCmplx[4];
-
-    /* multiply complex buffer real input with real buffer input */
-    out3 = inA3 * inB2;
-
-    /* read input from complex input buffer */
-    inA6 = pSrcCmplx[5];
-    /* read input from real input buffer */
-    inB3 = pSrcReal[2];
-
-    /* multiply complex buffer imaginary input with real buffer input */
-    out4 = inA4 * inB2;
-
-    /* read input from complex input buffer */
-    inA7 = pSrcCmplx[6];
-
-    /* multiply complex buffer real input with real buffer input */
-    out5 = inA5 * inB3;
-
-    /* read input from complex input buffer */
-    inA8 = pSrcCmplx[7];
-
-    /* multiply complex buffer imaginary input with real buffer input */
-    out6 = inA6 * inB3;
-
-    /* read input from real input buffer */
-    inB4 = pSrcReal[3];
-
-    /* store result to destination bufer */
-    pCmplxDst[0] = out1;
-
-    /* multiply complex buffer real input with real buffer input */
-    out7 = inA7 * inB4;
-
-    /* store result to destination bufer */
-    pCmplxDst[1] = out2;
-
-    /* multiply complex buffer imaginary input with real buffer input */
-    out8 = inA8 * inB4;
-
-    /* store result to destination bufer */
-    pCmplxDst[2] = out3;
-    pCmplxDst[3] = out4;
-    pCmplxDst[4] = out5;
-
-    /* incremnet complex input buffer by 8 to process next samples */
-    pSrcCmplx += 8u;
-
-    /* store result to destination bufer */
-    pCmplxDst[5] = out6;
-
-    /* increment real input buffer by 4 to process next samples */
-    pSrcReal += 4u;
-
-    /* store result to destination bufer */
-    pCmplxDst[6] = out7;
-    pCmplxDst[7] = out8;
-
-    /* increment destination buffer by 8 to process next sampels */
-    pCmplxDst += 8u;
-
-    /* Decrement the numSamples loop counter */
-    blkCnt--;
-  }
-
-  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.        
-   ** No loop unrolling is used. */
-  blkCnt = numSamples % 0x4u;
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-  blkCnt = numSamples;
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-  while(blkCnt > 0u)
-  {
-    /* C[2 * i] = A[2 * i] * B[i].            */
-    /* C[2 * i + 1] = A[2 * i + 1] * B[i].        */
-    in = *pSrcReal++;
-    /* store the result in the destination buffer. */
-    *pCmplxDst++ = (*pSrcCmplx++) * (in);
-    *pCmplxDst++ = (*pSrcCmplx++) * (in);
-
-    /* Decrement the numSamples loop counter */
-    blkCnt--;
-  }
-}
-
-/**        
- * @} end of CmplxByRealMult group        
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_q15.c
deleted file mode 100644
index a44158c4f..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_q15.c
+++ /dev/null
@@ -1,195 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_cmplx_mult_real_q15.c    
-*    
-* Description:	Q15 complex by real multiplication    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupCmplxMath    
- */
-
-/**    
- * @addtogroup CmplxByRealMult    
- * @{    
- */
-
-
-/**    
- * @brief  Q15 complex-by-real multiplication    
- * @param[in]  *pSrcCmplx points to the complex input vector    
- * @param[in]  *pSrcReal points to the real input vector    
- * @param[out]  *pCmplxDst points to the complex output vector    
- * @param[in]  numSamples number of samples in each vector    
- * @return none.    
- *    
- * Scaling and Overflow Behavior:    
- * \par    
- * The function uses saturating arithmetic.    
- * Results outside of the allowable Q15 range [0x8000 0x7FFF] will be saturated.    
- */
-
-void arm_cmplx_mult_real_q15(
-  q15_t * pSrcCmplx,
-  q15_t * pSrcReal,
-  q15_t * pCmplxDst,
-  uint32_t numSamples)
-{
-  q15_t in;                                      /* Temporary variable to store input value */
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-  uint32_t blkCnt;                               /* loop counters */
-  q31_t inA1, inA2;                              /* Temporary variables to hold input data */
-  q31_t inB1;                                    /* Temporary variables to hold input data */
-  q15_t out1, out2, out3, out4;                  /* Temporary variables to hold output data */
-  q31_t mul1, mul2, mul3, mul4;                  /* Temporary variables to hold intermediate data */
-
-  /* loop Unrolling */
-  blkCnt = numSamples >> 2u;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-    /* C[2 * i] = A[2 * i] * B[i].            */
-    /* C[2 * i + 1] = A[2 * i + 1] * B[i].        */
-    /* read complex number both real and imaginary from complex input buffer */
-    inA1 = *__SIMD32(pSrcCmplx)++;
-    /* read two real values at a time from real input buffer */
-    inB1 = *__SIMD32(pSrcReal)++;
-    /* read complex number both real and imaginary from complex input buffer */
-    inA2 = *__SIMD32(pSrcCmplx)++;
-
-    /* multiply complex number with real numbers */
-#ifndef ARM_MATH_BIG_ENDIAN
-
-    mul1 = (q31_t) ((q15_t) (inA1) * (q15_t) (inB1));
-    mul2 = (q31_t) ((q15_t) (inA1 >> 16) * (q15_t) (inB1));
-    mul3 = (q31_t) ((q15_t) (inA2) * (q15_t) (inB1 >> 16));
-    mul4 = (q31_t) ((q15_t) (inA2 >> 16) * (q15_t) (inB1 >> 16));
-
-#else
-
-    mul2 = (q31_t) ((q15_t) (inA1 >> 16) * (q15_t) (inB1 >> 16));
-    mul1 = (q31_t) ((q15_t) inA1 * (q15_t) (inB1 >> 16));
-    mul4 = (q31_t) ((q15_t) (inA2 >> 16) * (q15_t) inB1);
-    mul3 = (q31_t) ((q15_t) inA2 * (q15_t) inB1);
-
-#endif //      #ifndef ARM_MATH_BIG_ENDIAN
-
-    /* saturate the result */
-    out1 = (q15_t) __SSAT(mul1 >> 15u, 16);
-    out2 = (q15_t) __SSAT(mul2 >> 15u, 16);
-    out3 = (q15_t) __SSAT(mul3 >> 15u, 16);
-    out4 = (q15_t) __SSAT(mul4 >> 15u, 16);
-
-    /* pack real and imaginary outputs and store them to destination */
-    *__SIMD32(pCmplxDst)++ = __PKHBT(out1, out2, 16);
-    *__SIMD32(pCmplxDst)++ = __PKHBT(out3, out4, 16);
-
-    inA1 = *__SIMD32(pSrcCmplx)++;
-    inB1 = *__SIMD32(pSrcReal)++;
-    inA2 = *__SIMD32(pSrcCmplx)++;
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-    mul1 = (q31_t) ((q15_t) (inA1) * (q15_t) (inB1));
-    mul2 = (q31_t) ((q15_t) (inA1 >> 16) * (q15_t) (inB1));
-    mul3 = (q31_t) ((q15_t) (inA2) * (q15_t) (inB1 >> 16));
-    mul4 = (q31_t) ((q15_t) (inA2 >> 16) * (q15_t) (inB1 >> 16));
-
-#else
-
-    mul2 = (q31_t) ((q15_t) (inA1 >> 16) * (q15_t) (inB1 >> 16));
-    mul1 = (q31_t) ((q15_t) inA1 * (q15_t) (inB1 >> 16));
-    mul4 = (q31_t) ((q15_t) (inA2 >> 16) * (q15_t) inB1);
-    mul3 = (q31_t) ((q15_t) inA2 * (q15_t) inB1);
-
-#endif //      #ifndef ARM_MATH_BIG_ENDIAN
-
-    out1 = (q15_t) __SSAT(mul1 >> 15u, 16);
-    out2 = (q15_t) __SSAT(mul2 >> 15u, 16);
-    out3 = (q15_t) __SSAT(mul3 >> 15u, 16);
-    out4 = (q15_t) __SSAT(mul4 >> 15u, 16);
-
-    *__SIMD32(pCmplxDst)++ = __PKHBT(out1, out2, 16);
-    *__SIMD32(pCmplxDst)++ = __PKHBT(out3, out4, 16);
-
-    /* Decrement the numSamples loop counter */
-    blkCnt--;
-  }
-
-  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.    
-   ** No loop unrolling is used. */
-  blkCnt = numSamples % 0x4u;
-
-  while(blkCnt > 0u)
-  {
-    /* C[2 * i] = A[2 * i] * B[i].            */
-    /* C[2 * i + 1] = A[2 * i + 1] * B[i].        */
-    in = *pSrcReal++;
-    /* store the result in the destination buffer. */
-    *pCmplxDst++ =
-      (q15_t) __SSAT((((q31_t) (*pSrcCmplx++) * (in)) >> 15), 16);
-    *pCmplxDst++ =
-      (q15_t) __SSAT((((q31_t) (*pSrcCmplx++) * (in)) >> 15), 16);
-
-    /* Decrement the numSamples loop counter */
-    blkCnt--;
-  }
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  while(numSamples > 0u)
-  {
-    /* realOut = realA * realB.            */
-    /* imagOut = imagA * realB.                */
-    in = *pSrcReal++;
-    /* store the result in the destination buffer. */
-    *pCmplxDst++ =
-      (q15_t) __SSAT((((q31_t) (*pSrcCmplx++) * (in)) >> 15), 16);
-    *pCmplxDst++ =
-      (q15_t) __SSAT((((q31_t) (*pSrcCmplx++) * (in)) >> 15), 16);
-
-    /* Decrement the numSamples loop counter */
-    numSamples--;
-  }
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-}
-
-/**    
- * @} end of CmplxByRealMult group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_q31.c
deleted file mode 100644
index b286acdb6..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_q31.c
+++ /dev/null
@@ -1,215 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_cmplx_mult_real_q31.c    
-*    
-* Description:	Q31 complex by real multiplication    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupCmplxMath    
- */
-
-/**    
- * @addtogroup CmplxByRealMult    
- * @{    
- */
-
-
-/**    
- * @brief  Q31 complex-by-real multiplication    
- * @param[in]  *pSrcCmplx points to the complex input vector    
- * @param[in]  *pSrcReal points to the real input vector    
- * @param[out]  *pCmplxDst points to the complex output vector    
- * @param[in]  numSamples number of samples in each vector    
- * @return none.    
- *    
- * Scaling and Overflow Behavior:    
- * \par    
- * The function uses saturating arithmetic.    
- * Results outside of the allowable Q31 range[0x80000000 0x7FFFFFFF] will be saturated.    
- */
-
-void arm_cmplx_mult_real_q31(
-  q31_t * pSrcCmplx,
-  q31_t * pSrcReal,
-  q31_t * pCmplxDst,
-  uint32_t numSamples)
-{
-  q31_t inA1;                                    /* Temporary variable to store input value */
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-  uint32_t blkCnt;                               /* loop counters */
-  q31_t inA2, inA3, inA4;                        /* Temporary variables to hold input data */
-  q31_t inB1, inB2;                              /* Temporary variabels to hold input data */
-  q31_t out1, out2, out3, out4;                  /* Temporary variables to hold output data */
-
-  /* loop Unrolling */
-  blkCnt = numSamples >> 2u;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-    /* C[2 * i] = A[2 * i] * B[i].            */
-    /* C[2 * i + 1] = A[2 * i + 1] * B[i].        */
-    /* read real input from complex input buffer */
-    inA1 = *pSrcCmplx++;
-    inA2 = *pSrcCmplx++;
-    /* read input from real input bufer */
-    inB1 = *pSrcReal++;
-    inB2 = *pSrcReal++;
-    /* read imaginary input from complex input buffer */
-    inA3 = *pSrcCmplx++;
-    inA4 = *pSrcCmplx++;
-
-    /* multiply complex input with real input */
-    out1 = ((q63_t) inA1 * inB1) >> 32;
-    out2 = ((q63_t) inA2 * inB1) >> 32;
-    out3 = ((q63_t) inA3 * inB2) >> 32;
-    out4 = ((q63_t) inA4 * inB2) >> 32;
-
-    /* sature the result */
-    out1 = __SSAT(out1, 31);
-    out2 = __SSAT(out2, 31);
-    out3 = __SSAT(out3, 31);
-    out4 = __SSAT(out4, 31);
-
-    /* get result in 1.31 format */
-    out1 = out1 << 1;
-    out2 = out2 << 1;
-    out3 = out3 << 1;
-    out4 = out4 << 1;
-
-    /* store the result to destination buffer */
-    *pCmplxDst++ = out1;
-    *pCmplxDst++ = out2;
-    *pCmplxDst++ = out3;
-    *pCmplxDst++ = out4;
-
-    /* read real input from complex input buffer */
-    inA1 = *pSrcCmplx++;
-    inA2 = *pSrcCmplx++;
-    /* read input from real input bufer */
-    inB1 = *pSrcReal++;
-    inB2 = *pSrcReal++;
-    /* read imaginary input from complex input buffer */
-    inA3 = *pSrcCmplx++;
-    inA4 = *pSrcCmplx++;
-
-    /* multiply complex input with real input */
-    out1 = ((q63_t) inA1 * inB1) >> 32;
-    out2 = ((q63_t) inA2 * inB1) >> 32;
-    out3 = ((q63_t) inA3 * inB2) >> 32;
-    out4 = ((q63_t) inA4 * inB2) >> 32;
-
-    /* sature the result */
-    out1 = __SSAT(out1, 31);
-    out2 = __SSAT(out2, 31);
-    out3 = __SSAT(out3, 31);
-    out4 = __SSAT(out4, 31);
-
-    /* get result in 1.31 format */
-    out1 = out1 << 1;
-    out2 = out2 << 1;
-    out3 = out3 << 1;
-    out4 = out4 << 1;
-
-    /* store the result to destination buffer */
-    *pCmplxDst++ = out1;
-    *pCmplxDst++ = out2;
-    *pCmplxDst++ = out3;
-    *pCmplxDst++ = out4;
-
-    /* Decrement the numSamples loop counter */
-    blkCnt--;
-  }
-
-  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.    
-   ** No loop unrolling is used. */
-  blkCnt = numSamples % 0x4u;
-
-  while(blkCnt > 0u)
-  {
-    /* C[2 * i] = A[2 * i] * B[i].            */
-    /* C[2 * i + 1] = A[2 * i + 1] * B[i].        */
-    /* read real input from complex input buffer */
-    inA1 = *pSrcCmplx++;
-    inA2 = *pSrcCmplx++;
-    /* read input from real input bufer */
-    inB1 = *pSrcReal++;
-
-    /* multiply complex input with real input */
-    out1 = ((q63_t) inA1 * inB1) >> 32;
-    out2 = ((q63_t) inA2 * inB1) >> 32;
-
-    /* sature the result */
-    out1 = __SSAT(out1, 31);
-    out2 = __SSAT(out2, 31);
-
-    /* get result in 1.31 format */
-    out1 = out1 << 1;
-    out2 = out2 << 1;
-
-    /* store the result to destination buffer */
-    *pCmplxDst++ = out1;
-    *pCmplxDst++ = out2;
-
-    /* Decrement the numSamples loop counter */
-    blkCnt--;
-  }
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  while(numSamples > 0u)
-  {
-    /* realOut = realA * realB.            */
-    /* imagReal = imagA * realB.               */
-    inA1 = *pSrcReal++;
-    /* store the result in the destination buffer. */
-    *pCmplxDst++ =
-      (q31_t) clip_q63_to_q31(((q63_t) * pSrcCmplx++ * inA1) >> 31);
-    *pCmplxDst++ =
-      (q31_t) clip_q63_to_q31(((q63_t) * pSrcCmplx++ * inA1) >> 31);
-
-    /* Decrement the numSamples loop counter */
-    numSamples--;
-  }
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-}
-
-/**    
- * @} end of CmplxByRealMult group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_f32.c
deleted file mode 100644
index 37e48f609..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_f32.c
+++ /dev/null
@@ -1,79 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_pid_init_f32.c    
-*    
-* Description:	Floating-point PID Control initialization function    
-*				   
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* ------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
- /**    
- * @addtogroup PID    
- * @{    
- */
-
-/**    
- * @brief  Initialization function for the floating-point PID Control.   
- * @param[in,out] *S points to an instance of the PID structure.   
- * @param[in]     resetStateFlag  flag to reset the state. 0 = no change in state & 1 = reset the state.   
- * @return none.   
- * \par Description:   
- * \par    
- * The resetStateFlag specifies whether to set state to zero or not. \n   
- * The function computes the structure fields: A0, A1 A2    
- * using the proportional gain( \c Kp), integral gain( \c Ki) and derivative gain( \c Kd)    
- * also sets the state variables to all zeros.    
- */
-
-void arm_pid_init_f32(
-  arm_pid_instance_f32 * S,
-  int32_t resetStateFlag)
-{
-
-  /* Derived coefficient A0 */
-  S->A0 = S->Kp + S->Ki + S->Kd;
-
-  /* Derived coefficient A1 */
-  S->A1 = (-S->Kp) - ((float32_t) 2.0 * S->Kd);
-
-  /* Derived coefficient A2 */
-  S->A2 = S->Kd;
-
-  /* Check whether state needs reset or not */
-  if(resetStateFlag)
-  {
-    /* Clear the state buffer.  The size will be always 3 samples */
-    memset(S->state, 0, 3u * sizeof(float32_t));
-  }
-
-}
-
-/**    
- * @} end of PID group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q15.c
deleted file mode 100644
index 1816bc9aa..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q15.c
+++ /dev/null
@@ -1,114 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_pid_init_q15.c    
-*    
-* Description:	Q15 PID Control initialization function    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
- /**    
- * @addtogroup PID    
- * @{    
- */
-
-/**    
- * @details    
- * @param[in,out] *S points to an instance of the Q15 PID structure.    
- * @param[in]     resetStateFlag  flag to reset the state. 0 = no change in state 1 = reset the state.    
- * @return none.    
- * \par Description:   
- * \par    
- * The resetStateFlag specifies whether to set state to zero or not. \n   
- * The function computes the structure fields: A0, A1 A2    
- * using the proportional gain( \c Kp), integral gain( \c Ki) and derivative gain( \c Kd)    
- * also sets the state variables to all zeros.    
- */
-
-void arm_pid_init_q15(
-  arm_pid_instance_q15 * S,
-  int32_t resetStateFlag)
-{
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  /* Derived coefficient A0 */
-  S->A0 = __QADD16(__QADD16(S->Kp, S->Ki), S->Kd);
-
-  /* Derived coefficients and pack into A1 */
-
-#ifndef  ARM_MATH_BIG_ENDIAN
-
-  S->A1 = __PKHBT(-__QADD16(__QADD16(S->Kd, S->Kd), S->Kp), S->Kd, 16);
-
-#else
-
-  S->A1 = __PKHBT(S->Kd, -__QADD16(__QADD16(S->Kd, S->Kd), S->Kp), 16);
-
-#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
-
-  /* Check whether state needs reset or not */
-  if(resetStateFlag)
-  {
-    /* Clear the state buffer.  The size will be always 3 samples */
-    memset(S->state, 0, 3u * sizeof(q15_t));
-  }
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  q31_t temp;                                    /*to store the sum */
-
-  /* Derived coefficient A0 */
-  temp = S->Kp + S->Ki + S->Kd;
-  S->A0 = (q15_t) __SSAT(temp, 16);
-
-  /* Derived coefficients and pack into A1 */
-  temp = -(S->Kd + S->Kd + S->Kp);
-  S->A1 = (q15_t) __SSAT(temp, 16);
-  S->A2 = S->Kd;
-
-
-
-  /* Check whether state needs reset or not */
-  if(resetStateFlag)
-  {
-    /* Clear the state buffer.  The size will be always 3 samples */
-    memset(S->state, 0, 3u * sizeof(q15_t));
-  }
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-}
-
-/**    
- * @} end of PID group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q31.c
deleted file mode 100644
index da40ce973..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q31.c
+++ /dev/null
@@ -1,99 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_pid_init_q31.c    
-*    
-* Description:	Q31 PID Control initialization function     
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* ------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
- /**    
- * @addtogroup PID    
- * @{    
- */
-
-/**    
- * @brief  Initialization function for the Q31 PID Control.   
- * @param[in,out] *S points to an instance of the Q31 PID structure.   
- * @param[in]     resetStateFlag  flag to reset the state. 0 = no change in state 1 = reset the state.   
- * @return none.    
- * \par Description:   
- * \par    
- * The resetStateFlag specifies whether to set state to zero or not. \n   
- * The function computes the structure fields: A0, A1 A2    
- * using the proportional gain( \c Kp), integral gain( \c Ki) and derivative gain( \c Kd)    
- * also sets the state variables to all zeros.    
- */
-
-void arm_pid_init_q31(
-  arm_pid_instance_q31 * S,
-  int32_t resetStateFlag)
-{
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  /* Derived coefficient A0 */
-  S->A0 = __QADD(__QADD(S->Kp, S->Ki), S->Kd);
-
-  /* Derived coefficient A1 */
-  S->A1 = -__QADD(__QADD(S->Kd, S->Kd), S->Kp);
-
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  q31_t temp;
-
-  /* Derived coefficient A0 */
-  temp = clip_q63_to_q31((q63_t) S->Kp + S->Ki);
-  S->A0 = clip_q63_to_q31((q63_t) temp + S->Kd);
-
-  /* Derived coefficient A1 */
-  temp = clip_q63_to_q31((q63_t) S->Kd + S->Kd);
-  S->A1 = -clip_q63_to_q31((q63_t) temp + S->Kp);
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-  /* Derived coefficient A2 */
-  S->A2 = S->Kd;
-
-  /* Check whether state needs reset or not */
-  if(resetStateFlag)
-  {
-    /* Clear the state buffer.  The size will be always 3 samples */
-    memset(S->state, 0, 3u * sizeof(q31_t));
-  }
-
-}
-
-/**    
- * @} end of PID group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_f32.c
deleted file mode 100644
index 491ad5268..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_f32.c
+++ /dev/null
@@ -1,57 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_pid_reset_f32.c    
-*    
-* Description:	Floating-point PID Control reset function   
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* ------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
- /**    
- * @addtogroup PID    
- * @{    
- */
-
-/**    
-* @brief  Reset function for the floating-point PID Control.   
-* @param[in] *S	Instance pointer of PID control data structure.   
-* @return none.    
-* \par Description:   
-* The function resets the state buffer to zeros.    
-*/
-void arm_pid_reset_f32(
-  arm_pid_instance_f32 * S)
-{
-
-  /* Clear the state buffer.  The size will be always 3 samples */
-  memset(S->state, 0, 3u * sizeof(float32_t));
-}
-
-/**    
- * @} end of PID group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q15.c
deleted file mode 100644
index dc0078746..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q15.c
+++ /dev/null
@@ -1,56 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_pid_reset_q15.c    
-*    
-* Description:	Q15 PID Control reset function   
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
- /**    
- * @addtogroup PID    
- * @{    
- */
-
-/**    
-* @brief  Reset function for the Q15 PID Control.   
-* @param[in] *S		Instance pointer of PID control data structure.   
-* @return none.    
-* \par Description:   
-* The function resets the state buffer to zeros.    
-*/
-void arm_pid_reset_q15(
-  arm_pid_instance_q15 * S)
-{
-  /* Reset state to zero, The size will be always 3 samples */
-  memset(S->state, 0, 3u * sizeof(q15_t));
-}
-
-/**    
- * @} end of PID group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q31.c
deleted file mode 100644
index b1ff753af..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q31.c
+++ /dev/null
@@ -1,57 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_pid_reset_q31.c    
-*    
-* Description:	Q31 PID Control reset function   
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* ------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
- /**    
- * @addtogroup PID    
- * @{    
- */
-
-/**    
-* @brief  Reset function for the Q31 PID Control.   
-* @param[in] *S	Instance pointer of PID control data structure.   
-* @return none.    
-* \par Description:   
-* The function resets the state buffer to zeros.    
-*/
-void arm_pid_reset_q31(
-  arm_pid_instance_q31 * S)
-{
-
-  /* Clear the state buffer.  The size will be always 3 samples */
-  memset(S->state, 0, 3u * sizeof(q31_t));
-}
-
-/**    
- * @} end of PID group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_f32.c
deleted file mode 100644
index 1679a780c..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_f32.c
+++ /dev/null
@@ -1,428 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_sin_cos_f32.c    
-*    
-* Description:	Sine and Cosine calculation for floating-point values.   
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupController    
- */
-
-/**    
- * @defgroup SinCos Sine Cosine   
- *    
- * Computes the trigonometric sine and cosine values using a combination of table lookup   
- * and linear interpolation.     
- * There are separate functions for Q31 and floating-point data types.   
- * The input to the floating-point version is in degrees while the   
- * fixed-point Q31 have a scaled input with the range   
- * [-1 0.9999] mapping to [-180 179] degrees.   
- *   
- * The implementation is based on table lookup using 360 values together with linear interpolation.   
- * The steps used are:   
- *  -# Calculation of the nearest integer table index.   
- *  -# Compute the fractional portion (fract) of the input.   
- *  -# Fetch the value corresponding to \c index from sine table to \c y0 and also value from \c index+1 to \c y1.      
- *  -# Sine value is computed as  *psinVal = y0 + (fract * (y1 - y0)).    
- *  -# Fetch the value corresponding to \c index from cosine table to \c y0 and also value from \c index+1 to \c y1.      
- *  -# Cosine value is computed as  *pcosVal = y0 + (fract * (y1 - y0)).    
- */
-
- /**    
- * @addtogroup SinCos    
- * @{    
- */
-
-
-/**    
-* \par    
-* Cosine Table is generated from following loop    
-* 
for(i = 0; i < 360; i++)    
-* {    
-*    cosTable[i]= cos((i-180) * PI/180.0);    
-* } 
   
-*/
-
-static const float32_t cosTable[360] = {
-  -0.999847695156391270f, -0.999390827019095760f, -0.998629534754573830f,
-  -0.997564050259824200f, -0.996194698091745550f, -0.994521895368273290f,
-  -0.992546151641321980f, -0.990268068741570250f,
-  -0.987688340595137660f, -0.984807753012208020f, -0.981627183447663980f,
-  -0.978147600733805690f, -0.974370064785235250f, -0.970295726275996470f,
-  -0.965925826289068200f, -0.961261695938318670f,
-  -0.956304755963035440f, -0.951056516295153530f, -0.945518575599316740f,
-  -0.939692620785908320f, -0.933580426497201740f, -0.927183854566787310f,
-  -0.920504853452440150f, -0.913545457642600760f,
-  -0.906307787036649940f, -0.898794046299167040f, -0.891006524188367790f,
-  -0.882947592858926770f, -0.874619707139395740f, -0.866025403784438710f,
-  -0.857167300702112220f, -0.848048096156425960f,
-  -0.838670567945424160f, -0.829037572555041620f, -0.819152044288991580f,
-  -0.809016994374947340f, -0.798635510047292940f, -0.788010753606721900f,
-  -0.777145961456970680f, -0.766044443118977900f,
-  -0.754709580222772010f, -0.743144825477394130f, -0.731353701619170460f,
-  -0.719339800338651300f, -0.707106781186547460f, -0.694658370458997030f,
-  -0.681998360062498370f, -0.669130606358858240f,
-  -0.656059028990507500f, -0.642787609686539360f, -0.629320391049837280f,
-  -0.615661475325658290f, -0.601815023152048380f, -0.587785252292473030f,
-  -0.573576436351045830f, -0.559192903470746680f,
-  -0.544639035015027080f, -0.529919264233204790f, -0.515038074910054270f,
-  -0.499999999999999780f, -0.484809620246337000f, -0.469471562785890530f,
-  -0.453990499739546750f, -0.438371146789077510f,
-  -0.422618261740699330f, -0.406736643075800100f, -0.390731128489273600f,
-  -0.374606593415912070f, -0.358367949545300270f, -0.342020143325668710f,
-  -0.325568154457156420f, -0.309016994374947340f,
-  -0.292371704722736660f, -0.275637355816999050f, -0.258819045102520850f,
-  -0.241921895599667790f, -0.224951054343864810f, -0.207911690817759120f,
-  -0.190808995376544800f, -0.173648177666930300f,
-  -0.156434465040231040f, -0.139173100960065350f, -0.121869343405147370f,
-  -0.104528463267653330f, -0.087155742747658235f, -0.069756473744125330f,
-  -0.052335956242943620f, -0.034899496702500733f,
-  -0.017452406437283477f, 0.000000000000000061f, 0.017452406437283376f,
-  0.034899496702501080f, 0.052335956242943966f, 0.069756473744125455f,
-  0.087155742747658138f, 0.104528463267653460f,
-  0.121869343405147490f, 0.139173100960065690f, 0.156434465040230920f,
-  0.173648177666930410f, 0.190808995376544920f, 0.207911690817759450f,
-  0.224951054343864920f, 0.241921895599667900f,
-  0.258819045102520740f, 0.275637355816999160f, 0.292371704722736770f,
-  0.309016994374947450f, 0.325568154457156760f, 0.342020143325668820f,
-  0.358367949545300380f, 0.374606593415911960f,
-  0.390731128489273940f, 0.406736643075800210f, 0.422618261740699440f,
-  0.438371146789077460f, 0.453990499739546860f, 0.469471562785890860f,
-  0.484809620246337110f, 0.500000000000000110f,
-  0.515038074910054380f, 0.529919264233204900f, 0.544639035015027200f,
-  0.559192903470746790f, 0.573576436351046050f, 0.587785252292473140f,
-  0.601815023152048270f, 0.615661475325658290f,
-  0.629320391049837500f, 0.642787609686539360f, 0.656059028990507280f,
-  0.669130606358858240f, 0.681998360062498480f, 0.694658370458997370f,
-  0.707106781186547570f, 0.719339800338651190f,
-  0.731353701619170570f, 0.743144825477394240f, 0.754709580222772010f,
-  0.766044443118978010f, 0.777145961456970900f, 0.788010753606722010f,
-  0.798635510047292830f, 0.809016994374947450f,
-  0.819152044288991800f, 0.829037572555041620f, 0.838670567945424050f,
-  0.848048096156425960f, 0.857167300702112330f, 0.866025403784438710f,
-  0.874619707139395740f, 0.882947592858926990f,
-  0.891006524188367900f, 0.898794046299167040f, 0.906307787036649940f,
-  0.913545457642600870f, 0.920504853452440370f, 0.927183854566787420f,
-  0.933580426497201740f, 0.939692620785908430f,
-  0.945518575599316850f, 0.951056516295153530f, 0.956304755963035440f,
-  0.961261695938318890f, 0.965925826289068310f, 0.970295726275996470f,
-  0.974370064785235250f, 0.978147600733805690f,
-  0.981627183447663980f, 0.984807753012208020f, 0.987688340595137770f,
-  0.990268068741570360f, 0.992546151641321980f, 0.994521895368273290f,
-  0.996194698091745550f, 0.997564050259824200f,
-  0.998629534754573830f, 0.999390827019095760f, 0.999847695156391270f,
-  1.000000000000000000f, 0.999847695156391270f, 0.999390827019095760f,
-  0.998629534754573830f, 0.997564050259824200f,
-  0.996194698091745550f, 0.994521895368273290f, 0.992546151641321980f,
-  0.990268068741570360f, 0.987688340595137770f, 0.984807753012208020f,
-  0.981627183447663980f, 0.978147600733805690f,
-  0.974370064785235250f, 0.970295726275996470f, 0.965925826289068310f,
-  0.961261695938318890f, 0.956304755963035440f, 0.951056516295153530f,
-  0.945518575599316850f, 0.939692620785908430f,
-  0.933580426497201740f, 0.927183854566787420f, 0.920504853452440370f,
-  0.913545457642600870f, 0.906307787036649940f, 0.898794046299167040f,
-  0.891006524188367900f, 0.882947592858926990f,
-  0.874619707139395740f, 0.866025403784438710f, 0.857167300702112330f,
-  0.848048096156425960f, 0.838670567945424050f, 0.829037572555041620f,
-  0.819152044288991800f, 0.809016994374947450f,
-  0.798635510047292830f, 0.788010753606722010f, 0.777145961456970900f,
-  0.766044443118978010f, 0.754709580222772010f, 0.743144825477394240f,
-  0.731353701619170570f, 0.719339800338651190f,
-  0.707106781186547570f, 0.694658370458997370f, 0.681998360062498480f,
-  0.669130606358858240f, 0.656059028990507280f, 0.642787609686539360f,
-  0.629320391049837500f, 0.615661475325658290f,
-  0.601815023152048270f, 0.587785252292473140f, 0.573576436351046050f,
-  0.559192903470746790f, 0.544639035015027200f, 0.529919264233204900f,
-  0.515038074910054380f, 0.500000000000000110f,
-  0.484809620246337110f, 0.469471562785890860f, 0.453990499739546860f,
-  0.438371146789077460f, 0.422618261740699440f, 0.406736643075800210f,
-  0.390731128489273940f, 0.374606593415911960f,
-  0.358367949545300380f, 0.342020143325668820f, 0.325568154457156760f,
-  0.309016994374947450f, 0.292371704722736770f, 0.275637355816999160f,
-  0.258819045102520740f, 0.241921895599667900f,
-  0.224951054343864920f, 0.207911690817759450f, 0.190808995376544920f,
-  0.173648177666930410f, 0.156434465040230920f, 0.139173100960065690f,
-  0.121869343405147490f, 0.104528463267653460f,
-  0.087155742747658138f, 0.069756473744125455f, 0.052335956242943966f,
-  0.034899496702501080f, 0.017452406437283376f, 0.000000000000000061f,
-  -0.017452406437283477f, -0.034899496702500733f,
-  -0.052335956242943620f, -0.069756473744125330f, -0.087155742747658235f,
-  -0.104528463267653330f, -0.121869343405147370f, -0.139173100960065350f,
-  -0.156434465040231040f, -0.173648177666930300f,
-  -0.190808995376544800f, -0.207911690817759120f, -0.224951054343864810f,
-  -0.241921895599667790f, -0.258819045102520850f, -0.275637355816999050f,
-  -0.292371704722736660f, -0.309016994374947340f,
-  -0.325568154457156420f, -0.342020143325668710f, -0.358367949545300270f,
-  -0.374606593415912070f, -0.390731128489273600f, -0.406736643075800100f,
-  -0.422618261740699330f, -0.438371146789077510f,
-  -0.453990499739546750f, -0.469471562785890530f, -0.484809620246337000f,
-  -0.499999999999999780f, -0.515038074910054270f, -0.529919264233204790f,
-  -0.544639035015027080f, -0.559192903470746680f,
-  -0.573576436351045830f, -0.587785252292473030f, -0.601815023152048380f,
-  -0.615661475325658290f, -0.629320391049837280f, -0.642787609686539360f,
-  -0.656059028990507500f, -0.669130606358858240f,
-  -0.681998360062498370f, -0.694658370458997030f, -0.707106781186547460f,
-  -0.719339800338651300f, -0.731353701619170460f, -0.743144825477394130f,
-  -0.754709580222772010f, -0.766044443118977900f,
-  -0.777145961456970680f, -0.788010753606721900f, -0.798635510047292940f,
-  -0.809016994374947340f, -0.819152044288991580f, -0.829037572555041620f,
-  -0.838670567945424160f, -0.848048096156425960f,
-  -0.857167300702112220f, -0.866025403784438710f, -0.874619707139395740f,
-  -0.882947592858926770f, -0.891006524188367790f, -0.898794046299167040f,
-  -0.906307787036649940f, -0.913545457642600760f,
-  -0.920504853452440150f, -0.927183854566787310f, -0.933580426497201740f,
-  -0.939692620785908320f, -0.945518575599316740f, -0.951056516295153530f,
-  -0.956304755963035440f, -0.961261695938318670f,
-  -0.965925826289068200f, -0.970295726275996470f, -0.974370064785235250f,
-  -0.978147600733805690f, -0.981627183447663980f, -0.984807753012208020f,
-  -0.987688340595137660f, -0.990268068741570250f,
-  -0.992546151641321980f, -0.994521895368273290f, -0.996194698091745550f,
-  -0.997564050259824200f, -0.998629534754573830f, -0.999390827019095760f,
-  -0.999847695156391270f, -1.000000000000000000f
-};
-
-/**    
-* \par    
-* Sine Table is generated from following loop    
-* 
for(i = 0; i < 360; i++)    
-* {    
-*    sinTable[i]= sin((i-180) * PI/180.0);    
-* } 
    
-*/
-
-
-static const float32_t sinTable[360] = {
-  -0.017452406437283439f, -0.034899496702500699f, -0.052335956242943807f,
-  -0.069756473744125524f, -0.087155742747658638f, -0.104528463267653730f,
-  -0.121869343405147550f, -0.139173100960065740f,
-  -0.156434465040230980f, -0.173648177666930280f, -0.190808995376544970f,
-  -0.207911690817759310f, -0.224951054343864780f, -0.241921895599667730f,
-  -0.258819045102521020f, -0.275637355816999660f,
-  -0.292371704722737050f, -0.309016994374947510f, -0.325568154457156980f,
-  -0.342020143325668880f, -0.358367949545300210f, -0.374606593415912240f,
-  -0.390731128489274160f, -0.406736643075800430f,
-  -0.422618261740699500f, -0.438371146789077290f, -0.453990499739546860f,
-  -0.469471562785891080f, -0.484809620246337170f, -0.499999999999999940f,
-  -0.515038074910054380f, -0.529919264233204900f,
-  -0.544639035015026860f, -0.559192903470746900f, -0.573576436351046380f,
-  -0.587785252292473250f, -0.601815023152048160f, -0.615661475325658400f,
-  -0.629320391049837720f, -0.642787609686539470f,
-  -0.656059028990507280f, -0.669130606358858350f, -0.681998360062498590f,
-  -0.694658370458997140f, -0.707106781186547570f, -0.719339800338651410f,
-  -0.731353701619170570f, -0.743144825477394240f,
-  -0.754709580222771790f, -0.766044443118978010f, -0.777145961456971010f,
-  -0.788010753606722010f, -0.798635510047292720f, -0.809016994374947450f,
-  -0.819152044288992020f, -0.829037572555041740f,
-  -0.838670567945424050f, -0.848048096156426070f, -0.857167300702112330f,
-  -0.866025403784438710f, -0.874619707139395850f, -0.882947592858927100f,
-  -0.891006524188367900f, -0.898794046299166930f,
-  -0.906307787036650050f, -0.913545457642600980f, -0.920504853452440370f,
-  -0.927183854566787420f, -0.933580426497201740f, -0.939692620785908430f,
-  -0.945518575599316850f, -0.951056516295153640f,
-  -0.956304755963035550f, -0.961261695938318890f, -0.965925826289068310f,
-  -0.970295726275996470f, -0.974370064785235250f, -0.978147600733805690f,
-  -0.981627183447663980f, -0.984807753012208020f,
-  -0.987688340595137660f, -0.990268068741570360f, -0.992546151641322090f,
-  -0.994521895368273400f, -0.996194698091745550f, -0.997564050259824200f,
-  -0.998629534754573830f, -0.999390827019095760f,
-  -0.999847695156391270f, -1.000000000000000000f, -0.999847695156391270f,
-  -0.999390827019095760f, -0.998629534754573830f, -0.997564050259824200f,
-  -0.996194698091745550f, -0.994521895368273290f,
-  -0.992546151641321980f, -0.990268068741570250f, -0.987688340595137770f,
-  -0.984807753012208020f, -0.981627183447663980f, -0.978147600733805580f,
-  -0.974370064785235250f, -0.970295726275996470f,
-  -0.965925826289068310f, -0.961261695938318890f, -0.956304755963035440f,
-  -0.951056516295153530f, -0.945518575599316740f, -0.939692620785908320f,
-  -0.933580426497201740f, -0.927183854566787420f,
-  -0.920504853452440260f, -0.913545457642600870f, -0.906307787036649940f,
-  -0.898794046299167040f, -0.891006524188367790f, -0.882947592858926880f,
-  -0.874619707139395740f, -0.866025403784438600f,
-  -0.857167300702112220f, -0.848048096156426070f, -0.838670567945423940f,
-  -0.829037572555041740f, -0.819152044288991800f, -0.809016994374947450f,
-  -0.798635510047292830f, -0.788010753606722010f,
-  -0.777145961456970790f, -0.766044443118978010f, -0.754709580222772010f,
-  -0.743144825477394240f, -0.731353701619170460f, -0.719339800338651080f,
-  -0.707106781186547460f, -0.694658370458997250f,
-  -0.681998360062498480f, -0.669130606358858240f, -0.656059028990507160f,
-  -0.642787609686539250f, -0.629320391049837390f, -0.615661475325658180f,
-  -0.601815023152048270f, -0.587785252292473140f,
-  -0.573576436351046050f, -0.559192903470746900f, -0.544639035015027080f,
-  -0.529919264233204900f, -0.515038074910054160f, -0.499999999999999940f,
-  -0.484809620246337060f, -0.469471562785890810f,
-  -0.453990499739546750f, -0.438371146789077400f, -0.422618261740699440f,
-  -0.406736643075800150f, -0.390731128489273720f, -0.374606593415912010f,
-  -0.358367949545300270f, -0.342020143325668710f,
-  -0.325568154457156640f, -0.309016994374947400f, -0.292371704722736770f,
-  -0.275637355816999160f, -0.258819045102520740f, -0.241921895599667730f,
-  -0.224951054343865000f, -0.207911690817759310f,
-  -0.190808995376544800f, -0.173648177666930330f, -0.156434465040230870f,
-  -0.139173100960065440f, -0.121869343405147480f, -0.104528463267653460f,
-  -0.087155742747658166f, -0.069756473744125302f,
-  -0.052335956242943828f, -0.034899496702500969f, -0.017452406437283512f,
-  0.000000000000000000f, 0.017452406437283512f, 0.034899496702500969f,
-  0.052335956242943828f, 0.069756473744125302f,
-  0.087155742747658166f, 0.104528463267653460f, 0.121869343405147480f,
-  0.139173100960065440f, 0.156434465040230870f, 0.173648177666930330f,
-  0.190808995376544800f, 0.207911690817759310f,
-  0.224951054343865000f, 0.241921895599667730f, 0.258819045102520740f,
-  0.275637355816999160f, 0.292371704722736770f, 0.309016994374947400f,
-  0.325568154457156640f, 0.342020143325668710f,
-  0.358367949545300270f, 0.374606593415912010f, 0.390731128489273720f,
-  0.406736643075800150f, 0.422618261740699440f, 0.438371146789077400f,
-  0.453990499739546750f, 0.469471562785890810f,
-  0.484809620246337060f, 0.499999999999999940f, 0.515038074910054160f,
-  0.529919264233204900f, 0.544639035015027080f, 0.559192903470746900f,
-  0.573576436351046050f, 0.587785252292473140f,
-  0.601815023152048270f, 0.615661475325658180f, 0.629320391049837390f,
-  0.642787609686539250f, 0.656059028990507160f, 0.669130606358858240f,
-  0.681998360062498480f, 0.694658370458997250f,
-  0.707106781186547460f, 0.719339800338651080f, 0.731353701619170460f,
-  0.743144825477394240f, 0.754709580222772010f, 0.766044443118978010f,
-  0.777145961456970790f, 0.788010753606722010f,
-  0.798635510047292830f, 0.809016994374947450f, 0.819152044288991800f,
-  0.829037572555041740f, 0.838670567945423940f, 0.848048096156426070f,
-  0.857167300702112220f, 0.866025403784438600f,
-  0.874619707139395740f, 0.882947592858926880f, 0.891006524188367790f,
-  0.898794046299167040f, 0.906307787036649940f, 0.913545457642600870f,
-  0.920504853452440260f, 0.927183854566787420f,
-  0.933580426497201740f, 0.939692620785908320f, 0.945518575599316740f,
-  0.951056516295153530f, 0.956304755963035440f, 0.961261695938318890f,
-  0.965925826289068310f, 0.970295726275996470f,
-  0.974370064785235250f, 0.978147600733805580f, 0.981627183447663980f,
-  0.984807753012208020f, 0.987688340595137770f, 0.990268068741570250f,
-  0.992546151641321980f, 0.994521895368273290f,
-  0.996194698091745550f, 0.997564050259824200f, 0.998629534754573830f,
-  0.999390827019095760f, 0.999847695156391270f, 1.000000000000000000f,
-  0.999847695156391270f, 0.999390827019095760f,
-  0.998629534754573830f, 0.997564050259824200f, 0.996194698091745550f,
-  0.994521895368273400f, 0.992546151641322090f, 0.990268068741570360f,
-  0.987688340595137660f, 0.984807753012208020f,
-  0.981627183447663980f, 0.978147600733805690f, 0.974370064785235250f,
-  0.970295726275996470f, 0.965925826289068310f, 0.961261695938318890f,
-  0.956304755963035550f, 0.951056516295153640f,
-  0.945518575599316850f, 0.939692620785908430f, 0.933580426497201740f,
-  0.927183854566787420f, 0.920504853452440370f, 0.913545457642600980f,
-  0.906307787036650050f, 0.898794046299166930f,
-  0.891006524188367900f, 0.882947592858927100f, 0.874619707139395850f,
-  0.866025403784438710f, 0.857167300702112330f, 0.848048096156426070f,
-  0.838670567945424050f, 0.829037572555041740f,
-  0.819152044288992020f, 0.809016994374947450f, 0.798635510047292720f,
-  0.788010753606722010f, 0.777145961456971010f, 0.766044443118978010f,
-  0.754709580222771790f, 0.743144825477394240f,
-  0.731353701619170570f, 0.719339800338651410f, 0.707106781186547570f,
-  0.694658370458997140f, 0.681998360062498590f, 0.669130606358858350f,
-  0.656059028990507280f, 0.642787609686539470f,
-  0.629320391049837720f, 0.615661475325658400f, 0.601815023152048160f,
-  0.587785252292473250f, 0.573576436351046380f, 0.559192903470746900f,
-  0.544639035015026860f, 0.529919264233204900f,
-  0.515038074910054380f, 0.499999999999999940f, 0.484809620246337170f,
-  0.469471562785891080f, 0.453990499739546860f, 0.438371146789077290f,
-  0.422618261740699500f, 0.406736643075800430f,
-  0.390731128489274160f, 0.374606593415912240f, 0.358367949545300210f,
-  0.342020143325668880f, 0.325568154457156980f, 0.309016994374947510f,
-  0.292371704722737050f, 0.275637355816999660f,
-  0.258819045102521020f, 0.241921895599667730f, 0.224951054343864780f,
-  0.207911690817759310f, 0.190808995376544970f, 0.173648177666930280f,
-  0.156434465040230980f, 0.139173100960065740f,
-  0.121869343405147550f, 0.104528463267653730f, 0.087155742747658638f,
-  0.069756473744125524f, 0.052335956242943807f, 0.034899496702500699f,
-  0.017452406437283439f, 0.000000000000000122f
-};
-
-
-/**    
- * @brief  Floating-point sin_cos function.   
- * @param[in]  theta    input value in degrees    
- * @param[out] *pSinVal points to the processed sine output.    
- * @param[out] *pCosVal points to the processed cos output.    
- * @return none.   
- */
-
-
-void arm_sin_cos_f32(
-  float32_t theta,
-  float32_t * pSinVal,
-  float32_t * pCosVal)
-{
-  int32_t i;                                     /* Index for reading nearwst output values */
-  float32_t x1 = -179.0f;                        /* Initial input value */
-  float32_t y0, y1;                              /* nearest output values */
-  float32_t y2, y3;
-  float32_t fract;                               /* fractional part of input */
-
-  /* Calculation of fractional part */
-  if(theta > 0.0f)
-  {
-    fract = theta - (float32_t) ((int32_t) theta);
-  }
-  else
-  {
-    fract = (theta - (float32_t) ((int32_t) theta)) + 1.0f;
-  }
-
-  /* index calculation for reading nearest output values */
-  i = (uint32_t) (theta - x1);
-
-  /* Checking min and max index of table */
-  if(i < 0)
-  {
-    i = 0;
-  }
-  else if(i >= 359)
-  {
-    i = 358;
-  }
-
-  /* reading nearest sine output values */
-  y0 = sinTable[i];
-  y1 = sinTable[i + 1u];
-
-  /* reading nearest cosine output values */
-  y2 = cosTable[i];
-  y3 = cosTable[i + 1u];
-
-  y1 = y1 - y0;
-  y3 = y3 - y2;
-
-  y1 = fract * y1;
-  y3 = fract * y3;
-
-  /* Calculation of sine value */
-  *pSinVal = y0 + y1;
-
-  /* Calculation of cosine value */
-  *pCosVal = y2 + y3;
-
-}
-
-/**    
- * @} end of SinCos group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_q31.c
deleted file mode 100644
index e22d25e53..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_q31.c
+++ /dev/null
@@ -1,324 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_sin_cos_q31.c    
-*    
-* Description:	Cosine & Sine calculation for Q31 values.   
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupController    
- */
-
- /**    
- * @addtogroup SinCos    
- * @{    
- */
-
-/**    
-* \par    
-* Sine Table is generated from following loop    
-* 
for(i = 0; i < 360; i++)    
-* {    
-*    sinTable[i]= sin((i-180) * PI/180.0);    
-* } 
   
-* Convert above coefficients to fixed point 1.31 format.    
-*/
-
-static const int32_t sinTableQ31[360] = {
-
-  0x0, 0xfdc41e9b, 0xfb8869ce, 0xf94d0e2e, 0xf7123849, 0xf4d814a4, 0xf29ecfb2,
-  0xf06695da,
-  0xee2f9369, 0xebf9f498, 0xe9c5e582, 0xe7939223, 0xe5632654, 0xe334cdc9,
-  0xe108b40d, 0xdedf047d,
-  0xdcb7ea46, 0xda939061, 0xd8722192, 0xd653c860, 0xd438af17, 0xd220ffc0,
-  0xd00ce422, 0xcdfc85bb,
-  0xcbf00dbe, 0xc9e7a512, 0xc7e3744b, 0xc5e3a3a9, 0xc3e85b18, 0xc1f1c224,
-  0xc0000000, 0xbe133b7c,
-  0xbc2b9b05, 0xba4944a2, 0xb86c5df0, 0xb6950c1e, 0xb4c373ee, 0xb2f7b9af,
-  0xb1320139, 0xaf726def,
-  0xadb922b7, 0xac0641fb, 0xaa59eda4, 0xa8b4471a, 0xa7156f3c, 0xa57d8666,
-  0xa3ecac65, 0xa263007d,
-  0xa0e0a15f, 0x9f65ad2d, 0x9df24175, 0x9c867b2c, 0x9b2276b0, 0x99c64fc5,
-  0x98722192, 0x9726069c,
-  0x95e218c9, 0x94a6715d, 0x937328f5, 0x92485786, 0x9126145f, 0x900c7621,
-  0x8efb92c2, 0x8df37f8b,
-  0x8cf45113, 0x8bfe1b3f, 0x8b10f144, 0x8a2ce59f, 0x89520a1a, 0x88806fc4,
-  0x87b826f7, 0x86f93f50,
-  0x8643c7b3, 0x8597ce46, 0x84f56073, 0x845c8ae3, 0x83cd5982, 0x8347d77b,
-  0x82cc0f36, 0x825a0a5b,
-  0x81f1d1ce, 0x81936daf, 0x813ee55b, 0x80f43f69, 0x80b381ac, 0x807cb130,
-  0x804fd23a, 0x802ce84c,
-  0x8013f61d, 0x8004fda0, 0x80000000, 0x8004fda0, 0x8013f61d, 0x802ce84c,
-  0x804fd23a, 0x807cb130,
-  0x80b381ac, 0x80f43f69, 0x813ee55b, 0x81936daf, 0x81f1d1ce, 0x825a0a5b,
-  0x82cc0f36, 0x8347d77b,
-  0x83cd5982, 0x845c8ae3, 0x84f56073, 0x8597ce46, 0x8643c7b3, 0x86f93f50,
-  0x87b826f7, 0x88806fc4,
-  0x89520a1a, 0x8a2ce59f, 0x8b10f144, 0x8bfe1b3f, 0x8cf45113, 0x8df37f8b,
-  0x8efb92c2, 0x900c7621,
-  0x9126145f, 0x92485786, 0x937328f5, 0x94a6715d, 0x95e218c9, 0x9726069c,
-  0x98722192, 0x99c64fc5,
-  0x9b2276b0, 0x9c867b2c, 0x9df24175, 0x9f65ad2d, 0xa0e0a15f, 0xa263007d,
-  0xa3ecac65, 0xa57d8666,
-  0xa7156f3c, 0xa8b4471a, 0xaa59eda4, 0xac0641fb, 0xadb922b7, 0xaf726def,
-  0xb1320139, 0xb2f7b9af,
-  0xb4c373ee, 0xb6950c1e, 0xb86c5df0, 0xba4944a2, 0xbc2b9b05, 0xbe133b7c,
-  0xc0000000, 0xc1f1c224,
-  0xc3e85b18, 0xc5e3a3a9, 0xc7e3744b, 0xc9e7a512, 0xcbf00dbe, 0xcdfc85bb,
-  0xd00ce422, 0xd220ffc0,
-  0xd438af17, 0xd653c860, 0xd8722192, 0xda939061, 0xdcb7ea46, 0xdedf047d,
-  0xe108b40d, 0xe334cdc9,
-  0xe5632654, 0xe7939223, 0xe9c5e582, 0xebf9f498, 0xee2f9369, 0xf06695da,
-  0xf29ecfb2, 0xf4d814a4,
-  0xf7123849, 0xf94d0e2e, 0xfb8869ce, 0xfdc41e9b, 0x0, 0x23be165, 0x4779632,
-  0x6b2f1d2,
-  0x8edc7b7, 0xb27eb5c, 0xd61304e, 0xf996a26, 0x11d06c97, 0x14060b68,
-  0x163a1a7e, 0x186c6ddd,
-  0x1a9cd9ac, 0x1ccb3237, 0x1ef74bf3, 0x2120fb83, 0x234815ba, 0x256c6f9f,
-  0x278dde6e, 0x29ac37a0,
-  0x2bc750e9, 0x2ddf0040, 0x2ff31bde, 0x32037a45, 0x340ff242, 0x36185aee,
-  0x381c8bb5, 0x3a1c5c57,
-  0x3c17a4e8, 0x3e0e3ddc, 0x40000000, 0x41ecc484, 0x43d464fb, 0x45b6bb5e,
-  0x4793a210, 0x496af3e2,
-  0x4b3c8c12, 0x4d084651, 0x4ecdfec7, 0x508d9211, 0x5246dd49, 0x53f9be05,
-  0x55a6125c, 0x574bb8e6,
-  0x58ea90c4, 0x5a82799a, 0x5c13539b, 0x5d9cff83, 0x5f1f5ea1, 0x609a52d3,
-  0x620dbe8b, 0x637984d4,
-  0x64dd8950, 0x6639b03b, 0x678dde6e, 0x68d9f964, 0x6a1de737, 0x6b598ea3,
-  0x6c8cd70b, 0x6db7a87a,
-  0x6ed9eba1, 0x6ff389df, 0x71046d3e, 0x720c8075, 0x730baeed, 0x7401e4c1,
-  0x74ef0ebc, 0x75d31a61,
-  0x76adf5e6, 0x777f903c, 0x7847d909, 0x7906c0b0, 0x79bc384d, 0x7a6831ba,
-  0x7b0a9f8d, 0x7ba3751d,
-  0x7c32a67e, 0x7cb82885, 0x7d33f0ca, 0x7da5f5a5, 0x7e0e2e32, 0x7e6c9251,
-  0x7ec11aa5, 0x7f0bc097,
-  0x7f4c7e54, 0x7f834ed0, 0x7fb02dc6, 0x7fd317b4, 0x7fec09e3, 0x7ffb0260,
-  0x7fffffff, 0x7ffb0260,
-  0x7fec09e3, 0x7fd317b4, 0x7fb02dc6, 0x7f834ed0, 0x7f4c7e54, 0x7f0bc097,
-  0x7ec11aa5, 0x7e6c9251,
-  0x7e0e2e32, 0x7da5f5a5, 0x7d33f0ca, 0x7cb82885, 0x7c32a67e, 0x7ba3751d,
-  0x7b0a9f8d, 0x7a6831ba,
-  0x79bc384d, 0x7906c0b0, 0x7847d909, 0x777f903c, 0x76adf5e6, 0x75d31a61,
-  0x74ef0ebc, 0x7401e4c1,
-  0x730baeed, 0x720c8075, 0x71046d3e, 0x6ff389df, 0x6ed9eba1, 0x6db7a87a,
-  0x6c8cd70b, 0x6b598ea3,
-  0x6a1de737, 0x68d9f964, 0x678dde6e, 0x6639b03b, 0x64dd8950, 0x637984d4,
-  0x620dbe8b, 0x609a52d3,
-  0x5f1f5ea1, 0x5d9cff83, 0x5c13539b, 0x5a82799a, 0x58ea90c4, 0x574bb8e6,
-  0x55a6125c, 0x53f9be05,
-  0x5246dd49, 0x508d9211, 0x4ecdfec7, 0x4d084651, 0x4b3c8c12, 0x496af3e2,
-  0x4793a210, 0x45b6bb5e,
-  0x43d464fb, 0x41ecc484, 0x40000000, 0x3e0e3ddc, 0x3c17a4e8, 0x3a1c5c57,
-  0x381c8bb5, 0x36185aee,
-  0x340ff242, 0x32037a45, 0x2ff31bde, 0x2ddf0040, 0x2bc750e9, 0x29ac37a0,
-  0x278dde6e, 0x256c6f9f,
-  0x234815ba, 0x2120fb83, 0x1ef74bf3, 0x1ccb3237, 0x1a9cd9ac, 0x186c6ddd,
-  0x163a1a7e, 0x14060b68,
-  0x11d06c97, 0xf996a26, 0xd61304e, 0xb27eb5c, 0x8edc7b7, 0x6b2f1d2,
-  0x4779632, 0x23be165,
-
-
-};
-
-/**    
-* \par    
-* Cosine Table is generated from following loop    
-* 
for(i = 0; i < 360; i++)    
-* {    
-*    cosTable[i]= cos((i-180) * PI/180.0);    
-* } 
   
-* \par    
-* Convert above coefficients to fixed point 1.31 format.    
-*/
-static const int32_t cosTableQ31[360] = {
-  0x80000000, 0x8004fda0, 0x8013f61d, 0x802ce84c, 0x804fd23a, 0x807cb130,
-  0x80b381ac, 0x80f43f69,
-  0x813ee55b, 0x81936daf, 0x81f1d1ce, 0x825a0a5b, 0x82cc0f36, 0x8347d77b,
-  0x83cd5982, 0x845c8ae3,
-  0x84f56073, 0x8597ce46, 0x8643c7b3, 0x86f93f50, 0x87b826f7, 0x88806fc4,
-  0x89520a1a, 0x8a2ce59f,
-  0x8b10f144, 0x8bfe1b3f, 0x8cf45113, 0x8df37f8b, 0x8efb92c2, 0x900c7621,
-  0x9126145f, 0x92485786,
-  0x937328f5, 0x94a6715d, 0x95e218c9, 0x9726069c, 0x98722192, 0x99c64fc5,
-  0x9b2276b0, 0x9c867b2c,
-  0x9df24175, 0x9f65ad2d, 0xa0e0a15f, 0xa263007d, 0xa3ecac65, 0xa57d8666,
-  0xa7156f3c, 0xa8b4471a,
-  0xaa59eda4, 0xac0641fb, 0xadb922b7, 0xaf726def, 0xb1320139, 0xb2f7b9af,
-  0xb4c373ee, 0xb6950c1e,
-  0xb86c5df0, 0xba4944a2, 0xbc2b9b05, 0xbe133b7c, 0xc0000000, 0xc1f1c224,
-  0xc3e85b18, 0xc5e3a3a9,
-  0xc7e3744b, 0xc9e7a512, 0xcbf00dbe, 0xcdfc85bb, 0xd00ce422, 0xd220ffc0,
-  0xd438af17, 0xd653c860,
-  0xd8722192, 0xda939061, 0xdcb7ea46, 0xdedf047d, 0xe108b40d, 0xe334cdc9,
-  0xe5632654, 0xe7939223,
-  0xe9c5e582, 0xebf9f498, 0xee2f9369, 0xf06695da, 0xf29ecfb2, 0xf4d814a4,
-  0xf7123849, 0xf94d0e2e,
-  0xfb8869ce, 0xfdc41e9b, 0x0, 0x23be165, 0x4779632, 0x6b2f1d2, 0x8edc7b7,
-  0xb27eb5c,
-  0xd61304e, 0xf996a26, 0x11d06c97, 0x14060b68, 0x163a1a7e, 0x186c6ddd,
-  0x1a9cd9ac, 0x1ccb3237,
-  0x1ef74bf3, 0x2120fb83, 0x234815ba, 0x256c6f9f, 0x278dde6e, 0x29ac37a0,
-  0x2bc750e9, 0x2ddf0040,
-  0x2ff31bde, 0x32037a45, 0x340ff242, 0x36185aee, 0x381c8bb5, 0x3a1c5c57,
-  0x3c17a4e8, 0x3e0e3ddc,
-  0x40000000, 0x41ecc484, 0x43d464fb, 0x45b6bb5e, 0x4793a210, 0x496af3e2,
-  0x4b3c8c12, 0x4d084651,
-  0x4ecdfec7, 0x508d9211, 0x5246dd49, 0x53f9be05, 0x55a6125c, 0x574bb8e6,
-  0x58ea90c4, 0x5a82799a,
-  0x5c13539b, 0x5d9cff83, 0x5f1f5ea1, 0x609a52d3, 0x620dbe8b, 0x637984d4,
-  0x64dd8950, 0x6639b03b,
-  0x678dde6e, 0x68d9f964, 0x6a1de737, 0x6b598ea3, 0x6c8cd70b, 0x6db7a87a,
-  0x6ed9eba1, 0x6ff389df,
-  0x71046d3e, 0x720c8075, 0x730baeed, 0x7401e4c1, 0x74ef0ebc, 0x75d31a61,
-  0x76adf5e6, 0x777f903c,
-  0x7847d909, 0x7906c0b0, 0x79bc384d, 0x7a6831ba, 0x7b0a9f8d, 0x7ba3751d,
-  0x7c32a67e, 0x7cb82885,
-  0x7d33f0ca, 0x7da5f5a5, 0x7e0e2e32, 0x7e6c9251, 0x7ec11aa5, 0x7f0bc097,
-  0x7f4c7e54, 0x7f834ed0,
-  0x7fb02dc6, 0x7fd317b4, 0x7fec09e3, 0x7ffb0260, 0x7fffffff, 0x7ffb0260,
-  0x7fec09e3, 0x7fd317b4,
-  0x7fb02dc6, 0x7f834ed0, 0x7f4c7e54, 0x7f0bc097, 0x7ec11aa5, 0x7e6c9251,
-  0x7e0e2e32, 0x7da5f5a5,
-  0x7d33f0ca, 0x7cb82885, 0x7c32a67e, 0x7ba3751d, 0x7b0a9f8d, 0x7a6831ba,
-  0x79bc384d, 0x7906c0b0,
-  0x7847d909, 0x777f903c, 0x76adf5e6, 0x75d31a61, 0x74ef0ebc, 0x7401e4c1,
-  0x730baeed, 0x720c8075,
-  0x71046d3e, 0x6ff389df, 0x6ed9eba1, 0x6db7a87a, 0x6c8cd70b, 0x6b598ea3,
-  0x6a1de737, 0x68d9f964,
-  0x678dde6e, 0x6639b03b, 0x64dd8950, 0x637984d4, 0x620dbe8b, 0x609a52d3,
-  0x5f1f5ea1, 0x5d9cff83,
-  0x5c13539b, 0x5a82799a, 0x58ea90c4, 0x574bb8e6, 0x55a6125c, 0x53f9be05,
-  0x5246dd49, 0x508d9211,
-  0x4ecdfec7, 0x4d084651, 0x4b3c8c12, 0x496af3e2, 0x4793a210, 0x45b6bb5e,
-  0x43d464fb, 0x41ecc484,
-  0x40000000, 0x3e0e3ddc, 0x3c17a4e8, 0x3a1c5c57, 0x381c8bb5, 0x36185aee,
-  0x340ff242, 0x32037a45,
-  0x2ff31bde, 0x2ddf0040, 0x2bc750e9, 0x29ac37a0, 0x278dde6e, 0x256c6f9f,
-  0x234815ba, 0x2120fb83,
-  0x1ef74bf3, 0x1ccb3237, 0x1a9cd9ac, 0x186c6ddd, 0x163a1a7e, 0x14060b68,
-  0x11d06c97, 0xf996a26,
-  0xd61304e, 0xb27eb5c, 0x8edc7b7, 0x6b2f1d2, 0x4779632, 0x23be165, 0x0,
-  0xfdc41e9b,
-  0xfb8869ce, 0xf94d0e2e, 0xf7123849, 0xf4d814a4, 0xf29ecfb2, 0xf06695da,
-  0xee2f9369, 0xebf9f498,
-  0xe9c5e582, 0xe7939223, 0xe5632654, 0xe334cdc9, 0xe108b40d, 0xdedf047d,
-  0xdcb7ea46, 0xda939061,
-  0xd8722192, 0xd653c860, 0xd438af17, 0xd220ffc0, 0xd00ce422, 0xcdfc85bb,
-  0xcbf00dbe, 0xc9e7a512,
-  0xc7e3744b, 0xc5e3a3a9, 0xc3e85b18, 0xc1f1c224, 0xc0000000, 0xbe133b7c,
-  0xbc2b9b05, 0xba4944a2,
-  0xb86c5df0, 0xb6950c1e, 0xb4c373ee, 0xb2f7b9af, 0xb1320139, 0xaf726def,
-  0xadb922b7, 0xac0641fb,
-  0xaa59eda4, 0xa8b4471a, 0xa7156f3c, 0xa57d8666, 0xa3ecac65, 0xa263007d,
-  0xa0e0a15f, 0x9f65ad2d,
-  0x9df24175, 0x9c867b2c, 0x9b2276b0, 0x99c64fc5, 0x98722192, 0x9726069c,
-  0x95e218c9, 0x94a6715d,
-  0x937328f5, 0x92485786, 0x9126145f, 0x900c7621, 0x8efb92c2, 0x8df37f8b,
-  0x8cf45113, 0x8bfe1b3f,
-  0x8b10f144, 0x8a2ce59f, 0x89520a1a, 0x88806fc4, 0x87b826f7, 0x86f93f50,
-  0x8643c7b3, 0x8597ce46,
-  0x84f56073, 0x845c8ae3, 0x83cd5982, 0x8347d77b, 0x82cc0f36, 0x825a0a5b,
-  0x81f1d1ce, 0x81936daf,
-  0x813ee55b, 0x80f43f69, 0x80b381ac, 0x807cb130, 0x804fd23a, 0x802ce84c,
-  0x8013f61d, 0x8004fda0,
-
-};
-
-
-/**    
- * @brief  Q31 sin_cos function.   
- * @param[in]  theta    scaled input value in degrees    
- * @param[out] *pSinVal points to the processed sine output.    
- * @param[out] *pCosVal points to the processed cosine output.    
- * @return none.   
- *    
- * The Q31 input value is in the range [-1 0.999999] and is mapped to a degree value in the range [-180 179].   
- *    
- */
-
-
-void arm_sin_cos_q31(
-  q31_t theta,
-  q31_t * pSinVal,
-  q31_t * pCosVal)
-{
-  q31_t x0;                                      /* Nearest input value */
-  q31_t y0, y1;                                  /* Nearest output values */
-  q31_t xSpacing = INPUT_SPACING;                /* Spaing between inputs */
-  int32_t i;                                     /* Index */
-  q31_t oneByXSpacing;                           /* 1/ xSpacing value */
-  q31_t out;                                     /* temporary variable */
-  uint32_t sign_bits;                            /* No.of sign bits */
-  uint32_t firstX = 0x80000000;                  /* First X value */
-
-  /* Calculation of index */
-  i = ((uint32_t) theta - firstX) / (uint32_t) xSpacing;
-
-  /* Checking min and max index of table */
-  if(i < 0)
-  {
-    i = 0;
-  }
-  else if(i >= 359)
-  {
-    i = 358;
-  }
-
-  /* Calculation of first nearest input value */
-  x0 = (q31_t) firstX + ((q31_t) i * xSpacing);
-
-  /* Reading nearest sine output values from table */
-  y0 = sinTableQ31[i];
-  y1 = sinTableQ31[i + 1u];
-
-  /* Calculation of 1/(x1-x0) */
-  /* (x1-x0) is xSpacing which is fixed value */
-  sign_bits = 8u;
-  oneByXSpacing = 0x5A000000;
-
-  /* Calculation of (theta - x0)/(x1-x0) */
-  out =
-    (((q31_t) (((q63_t) (theta - x0) * oneByXSpacing) >> 32)) << sign_bits);
-
-  /* Calculation of y0 + (y1 - y0) * ((theta - x0)/(x1-x0)) */
-  *pSinVal = __QADD(y0, ((q31_t) (((q63_t) (y1 - y0) * out) >> 30)));
-
-  /* Reading nearest cosine output values from table */
-  y0 = cosTableQ31[i];
-  y1 = cosTableQ31[i + 1u];
-
-  /* Calculation of y0 + (y1 - y0) * ((theta - x0)/(x1-x0)) */
-  *pCosVal = __QADD(y0, ((q31_t) (((q63_t) (y1 - y0) * out) >> 30)));
-
-}
-
-/**    
- * @} end of SinCos group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_cos_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_cos_f32.c
deleted file mode 100644
index bee758bff..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_cos_f32.c
+++ /dev/null
@@ -1,280 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_cos_f32.c    
-*    
-* Description:	Fast cosine calculation for floating-point values.   
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-/**    
- * @ingroup groupFastMath    
- */
-
-/**    
- * @defgroup cos Cosine    
- *    
- * Computes the trigonometric cosine function using a combination of table lookup   
- * and cubic interpolation.  There are separate functions for   
- * Q15, Q31, and floating-point data types.   
- * The input to the floating-point version is in radians while the   
- * fixed-point Q15 and Q31 have a scaled input with the range   
- * [0 +0.9999] mapping to [0 2*pi), Where range excludes 2*pi.   
- *   
- * The implementation is based on table lookup using 256 values together with cubic interpolation.   
- * The steps used are:   
- *  -# Calculation of the nearest integer table index   
- *  -# Fetch the four table values a, b, c, and d     
- *  -# Compute the fractional portion (fract) of the table index.   
- *  -# Calculation of wa, wb, wc, wd    
- *  -# The final result equals a*wa + b*wb + c*wc + d*wd   
- *   
- * where   
- * 
    
- *    a=Table[index-1];    
- *    b=Table[index+0];    
- *    c=Table[index+1];    
- *    d=Table[index+2];    
- * 
   
- * and   
- * 
    
- *    wa=-(1/6)*fract.^3 + (1/2)*fract.^2 - (1/3)*fract;    
- *    wb=(1/2)*fract.^3 - fract.^2 - (1/2)*fract + 1;    
- *    wc=-(1/2)*fract.^3+(1/2)*fract.^2+fract;    
- *    wd=(1/6)*fract.^3 - (1/6)*fract;    
- * 
    
- */
-
- /**    
- * @addtogroup cos    
- * @{    
- */
-
-
-/**    
-* \par    
-* Example code for Generation of Cos Table:   
-* tableSize = 256;    
-* 
for(n = -1; n < (tableSize + 2); n++)    
-* {    
-*	cosTable[n+1]= cos(2*pi*n/tableSize);    
-* } 
    
-* where pi value is  3.14159265358979    
-*/
-
-static const float32_t cosTable[260] = {
-  0.999698817729949950f, 1.000000000000000000f, 0.999698817729949950f,
-  0.998795449733734130f, 0.997290432453155520f, 0.995184719562530520f,
-  0.992479562759399410f, 0.989176511764526370f,
-  0.985277652740478520f, 0.980785250663757320f, 0.975702106952667240f,
-  0.970031261444091800f, 0.963776051998138430f, 0.956940352916717530f,
-  0.949528157711029050f, 0.941544055938720700f,
-  0.932992815971374510f, 0.923879504203796390f, 0.914209783077239990f,
-  0.903989315032958980f, 0.893224298954010010f, 0.881921291351318360f,
-  0.870086967945098880f, 0.857728600502014160f,
-  0.844853579998016360f, 0.831469595432281490f, 0.817584812641143800f,
-  0.803207516670227050f, 0.788346409797668460f, 0.773010432720184330f,
-  0.757208824157714840f, 0.740951120853424070f,
-  0.724247097969055180f, 0.707106769084930420f, 0.689540565013885500f,
-  0.671558976173400880f, 0.653172850608825680f, 0.634393274784088130f,
-  0.615231573581695560f, 0.595699310302734380f,
-  0.575808167457580570f, 0.555570244789123540f, 0.534997642040252690f,
-  0.514102756977081300f, 0.492898195981979370f, 0.471396744251251220f,
-  0.449611335992813110f, 0.427555084228515630f,
-  0.405241310596466060f, 0.382683426141738890f, 0.359895050525665280f,
-  0.336889863014221190f, 0.313681751489639280f, 0.290284663438797000f,
-  0.266712754964828490f, 0.242980182170867920f,
-  0.219101235270500180f, 0.195090323686599730f, 0.170961886644363400f,
-  0.146730467677116390f, 0.122410677373409270f, 0.098017141222953796f,
-  0.073564566671848297f, 0.049067676067352295f,
-  0.024541229009628296f, 0.000000000000000061f, -0.024541229009628296f,
-  -0.049067676067352295f, -0.073564566671848297f, -0.098017141222953796f,
-  -0.122410677373409270f, -0.146730467677116390f,
-  -0.170961886644363400f, -0.195090323686599730f, -0.219101235270500180f,
-  -0.242980182170867920f, -0.266712754964828490f, -0.290284663438797000f,
-  -0.313681751489639280f, -0.336889863014221190f,
-  -0.359895050525665280f, -0.382683426141738890f, -0.405241310596466060f,
-  -0.427555084228515630f, -0.449611335992813110f, -0.471396744251251220f,
-  -0.492898195981979370f, -0.514102756977081300f,
-  -0.534997642040252690f, -0.555570244789123540f, -0.575808167457580570f,
-  -0.595699310302734380f, -0.615231573581695560f, -0.634393274784088130f,
-  -0.653172850608825680f, -0.671558976173400880f,
-  -0.689540565013885500f, -0.707106769084930420f, -0.724247097969055180f,
-  -0.740951120853424070f, -0.757208824157714840f, -0.773010432720184330f,
-  -0.788346409797668460f, -0.803207516670227050f,
-  -0.817584812641143800f, -0.831469595432281490f, -0.844853579998016360f,
-  -0.857728600502014160f, -0.870086967945098880f, -0.881921291351318360f,
-  -0.893224298954010010f, -0.903989315032958980f,
-  -0.914209783077239990f, -0.923879504203796390f, -0.932992815971374510f,
-  -0.941544055938720700f, -0.949528157711029050f, -0.956940352916717530f,
-  -0.963776051998138430f, -0.970031261444091800f,
-  -0.975702106952667240f, -0.980785250663757320f, -0.985277652740478520f,
-  -0.989176511764526370f, -0.992479562759399410f, -0.995184719562530520f,
-  -0.997290432453155520f, -0.998795449733734130f,
-  -0.999698817729949950f, -1.000000000000000000f, -0.999698817729949950f,
-  -0.998795449733734130f, -0.997290432453155520f, -0.995184719562530520f,
-  -0.992479562759399410f, -0.989176511764526370f,
-  -0.985277652740478520f, -0.980785250663757320f, -0.975702106952667240f,
-  -0.970031261444091800f, -0.963776051998138430f, -0.956940352916717530f,
-  -0.949528157711029050f, -0.941544055938720700f,
-  -0.932992815971374510f, -0.923879504203796390f, -0.914209783077239990f,
-  -0.903989315032958980f, -0.893224298954010010f, -0.881921291351318360f,
-  -0.870086967945098880f, -0.857728600502014160f,
-  -0.844853579998016360f, -0.831469595432281490f, -0.817584812641143800f,
-  -0.803207516670227050f, -0.788346409797668460f, -0.773010432720184330f,
-  -0.757208824157714840f, -0.740951120853424070f,
-  -0.724247097969055180f, -0.707106769084930420f, -0.689540565013885500f,
-  -0.671558976173400880f, -0.653172850608825680f, -0.634393274784088130f,
-  -0.615231573581695560f, -0.595699310302734380f,
-  -0.575808167457580570f, -0.555570244789123540f, -0.534997642040252690f,
-  -0.514102756977081300f, -0.492898195981979370f, -0.471396744251251220f,
-  -0.449611335992813110f, -0.427555084228515630f,
-  -0.405241310596466060f, -0.382683426141738890f, -0.359895050525665280f,
-  -0.336889863014221190f, -0.313681751489639280f, -0.290284663438797000f,
-  -0.266712754964828490f, -0.242980182170867920f,
-  -0.219101235270500180f, -0.195090323686599730f, -0.170961886644363400f,
-  -0.146730467677116390f, -0.122410677373409270f, -0.098017141222953796f,
-  -0.073564566671848297f, -0.049067676067352295f,
-  -0.024541229009628296f, -0.000000000000000184f, 0.024541229009628296f,
-  0.049067676067352295f, 0.073564566671848297f, 0.098017141222953796f,
-  0.122410677373409270f, 0.146730467677116390f,
-  0.170961886644363400f, 0.195090323686599730f, 0.219101235270500180f,
-  0.242980182170867920f, 0.266712754964828490f, 0.290284663438797000f,
-  0.313681751489639280f, 0.336889863014221190f,
-  0.359895050525665280f, 0.382683426141738890f, 0.405241310596466060f,
-  0.427555084228515630f, 0.449611335992813110f, 0.471396744251251220f,
-  0.492898195981979370f, 0.514102756977081300f,
-  0.534997642040252690f, 0.555570244789123540f, 0.575808167457580570f,
-  0.595699310302734380f, 0.615231573581695560f, 0.634393274784088130f,
-  0.653172850608825680f, 0.671558976173400880f,
-  0.689540565013885500f, 0.707106769084930420f, 0.724247097969055180f,
-  0.740951120853424070f, 0.757208824157714840f, 0.773010432720184330f,
-  0.788346409797668460f, 0.803207516670227050f,
-  0.817584812641143800f, 0.831469595432281490f, 0.844853579998016360f,
-  0.857728600502014160f, 0.870086967945098880f, 0.881921291351318360f,
-  0.893224298954010010f, 0.903989315032958980f,
-  0.914209783077239990f, 0.923879504203796390f, 0.932992815971374510f,
-  0.941544055938720700f, 0.949528157711029050f, 0.956940352916717530f,
-  0.963776051998138430f, 0.970031261444091800f,
-  0.975702106952667240f, 0.980785250663757320f, 0.985277652740478520f,
-  0.989176511764526370f, 0.992479562759399410f, 0.995184719562530520f,
-  0.997290432453155520f, 0.998795449733734130f,
-  0.999698817729949950f, 1.000000000000000000f, 0.999698817729949950f,
-  0.998795449733734130f
-};
-
-/**   
- * @brief  Fast approximation to the trigonometric cosine function for floating-point data.   
- * @param[in] x input value in radians.   
- * @return cos(x).   
- */
-
-
-float32_t arm_cos_f32(
-  float32_t x)
-{
-  float32_t cosVal, fract, in;
-  int32_t index;
-  uint32_t tableSize = (uint32_t) TABLE_SIZE;
-  float32_t wa, wb, wc, wd;
-  float32_t a, b, c, d;
-  float32_t *tablePtr;
-  int32_t n;
-  float32_t fractsq, fractby2, fractby6, fractby3, fractsqby2;
-  float32_t oneminusfractby2;
-  float32_t frby2xfrsq, frby6xfrsq;
-
-  /* input x is in radians */
-  /* Scale the input to [0 1] range from [0 2*PI] , divide input by 2*pi */
-  in = x * 0.159154943092f;
-
-  /* Calculation of floor value of input */
-  n = (int32_t) in;
-
-  /* Make negative values towards -infinity */
-  if(x < 0.0f)
-  {
-    n = n - 1;
-  }
-
-  /* Map input value to [0 1] */
-  in = in - (float32_t) n;
-
-  /* Calculation of index of the table */
-  index = (uint32_t) (tableSize * in);
-
-  /* fractional value calculation */
-  fract = ((float32_t) tableSize * in) - (float32_t) index;
-
-  /* Checking min and max index of table */
-  if(index < 0)
-  {
-    index = 0;
-  }
-  else if(index > 256)
-  {
-    index = 256;
-  }
-
-  /* Initialise table pointer */
-  tablePtr = (float32_t *) & cosTable[index];
-
-  /* Read four nearest values of input value from the cos table */
-  a = tablePtr[0];
-  b = tablePtr[1];
-  c = tablePtr[2];
-  d = tablePtr[3];
-
-  /* Cubic interpolation process */
-  fractsq = fract * fract;
-  fractby2 = fract * 0.5f;
-  fractby6 = fract * 0.166666667f;
-  fractby3 = fract * 0.3333333333333f;
-  fractsqby2 = fractsq * 0.5f;
-  frby2xfrsq = (fractby2) * fractsq;
-  frby6xfrsq = (fractby6) * fractsq;
-  oneminusfractby2 = 1.0f - fractby2;
-  wb = fractsqby2 - fractby3;
-  wc = (fractsqby2 + fract);
-  wa = wb - frby6xfrsq;
-  wb = frby2xfrsq - fractsq;
-  cosVal = wa * a;
-  wc = wc - frby2xfrsq;
-  wd = (frby6xfrsq) - fractby6;
-  wb = wb + oneminusfractby2;
-
-  /* Calculate cos value */
-  cosVal = (cosVal + (b * wb)) + ((c * wc) + (d * wd));
-
-  /* Return the output value */
-  return (cosVal);
-
-}
-
-/**    
- * @} end of cos group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_cos_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_cos_q15.c
deleted file mode 100644
index 0edf68b89..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_cos_q15.c
+++ /dev/null
@@ -1,205 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_cos_q15.c    
-*    
-* Description:	Fast cosine calculation for Q15 values.   
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFastMath    
- */
-
- /**    
- * @addtogroup cos    
- * @{    
- */
-
-/**   
-* \par    
-* Table Values are in Q15(1.15 Fixed point format) and generation is done in three steps    
-* \par    
-* First Generate cos values in floating point:    
-* tableSize = 256;     
-* 
for(n = -1; n < (tableSize + 1); n++)    
-* {    
-*	cosTable[n+1]= cos(2*pi*n/tableSize);    
-* }
   
-* where pi value is  3.14159265358979    
-* \par    
-* Secondly Convert Floating point to Q15(Fixed point):    
-*	(cosTable[i] * pow(2, 15))    
-* \par    
-* Finally Rounding to nearest integer is done    
-* 	cosTable[i] += (cosTable[i] > 0 ? 0.5 :-0.5);    
-*/
-
-static const q15_t cosTableQ15[259] = {
-  0x7ff6, 0x7fff, 0x7ff6, 0x7fd9, 0x7fa7, 0x7f62, 0x7f0a, 0x7e9d,
-  0x7e1e, 0x7d8a, 0x7ce4, 0x7c2a, 0x7b5d, 0x7a7d, 0x798a, 0x7885,
-  0x776c, 0x7642, 0x7505, 0x73b6, 0x7255, 0x70e3, 0x6f5f, 0x6dca,
-  0x6c24, 0x6a6e, 0x68a7, 0x66d0, 0x64e9, 0x62f2, 0x60ec, 0x5ed7,
-  0x5cb4, 0x5a82, 0x5843, 0x55f6, 0x539b, 0x5134, 0x4ec0, 0x4c40,
-  0x49b4, 0x471d, 0x447b, 0x41ce, 0x3f17, 0x3c57, 0x398d, 0x36ba,
-  0x33df, 0x30fc, 0x2e11, 0x2b1f, 0x2827, 0x2528, 0x2224, 0x1f1a,
-  0x1c0c, 0x18f9, 0x15e2, 0x12c8, 0xfab, 0xc8c, 0x96b, 0x648,
-  0x324, 0x0, 0xfcdc, 0xf9b8, 0xf695, 0xf374, 0xf055, 0xed38,
-  0xea1e, 0xe707, 0xe3f4, 0xe0e6, 0xdddc, 0xdad8, 0xd7d9, 0xd4e1,
-  0xd1ef, 0xcf04, 0xcc21, 0xc946, 0xc673, 0xc3a9, 0xc0e9, 0xbe32,
-  0xbb85, 0xb8e3, 0xb64c, 0xb3c0, 0xb140, 0xaecc, 0xac65, 0xaa0a,
-  0xa7bd, 0xa57e, 0xa34c, 0xa129, 0x9f14, 0x9d0e, 0x9b17, 0x9930,
-  0x9759, 0x9592, 0x93dc, 0x9236, 0x90a1, 0x8f1d, 0x8dab, 0x8c4a,
-  0x8afb, 0x89be, 0x8894, 0x877b, 0x8676, 0x8583, 0x84a3, 0x83d6,
-  0x831c, 0x8276, 0x81e2, 0x8163, 0x80f6, 0x809e, 0x8059, 0x8027,
-  0x800a, 0x8000, 0x800a, 0x8027, 0x8059, 0x809e, 0x80f6, 0x8163,
-  0x81e2, 0x8276, 0x831c, 0x83d6, 0x84a3, 0x8583, 0x8676, 0x877b,
-  0x8894, 0x89be, 0x8afb, 0x8c4a, 0x8dab, 0x8f1d, 0x90a1, 0x9236,
-  0x93dc, 0x9592, 0x9759, 0x9930, 0x9b17, 0x9d0e, 0x9f14, 0xa129,
-  0xa34c, 0xa57e, 0xa7bd, 0xaa0a, 0xac65, 0xaecc, 0xb140, 0xb3c0,
-  0xb64c, 0xb8e3, 0xbb85, 0xbe32, 0xc0e9, 0xc3a9, 0xc673, 0xc946,
-  0xcc21, 0xcf04, 0xd1ef, 0xd4e1, 0xd7d9, 0xdad8, 0xdddc, 0xe0e6,
-  0xe3f4, 0xe707, 0xea1e, 0xed38, 0xf055, 0xf374, 0xf695, 0xf9b8,
-  0xfcdc, 0x0, 0x324, 0x648, 0x96b, 0xc8c, 0xfab, 0x12c8,
-  0x15e2, 0x18f9, 0x1c0c, 0x1f1a, 0x2224, 0x2528, 0x2827, 0x2b1f,
-  0x2e11, 0x30fc, 0x33df, 0x36ba, 0x398d, 0x3c57, 0x3f17, 0x41ce,
-  0x447b, 0x471d, 0x49b4, 0x4c40, 0x4ec0, 0x5134, 0x539b, 0x55f6,
-  0x5843, 0x5a82, 0x5cb4, 0x5ed7, 0x60ec, 0x62f2, 0x64e9, 0x66d0,
-  0x68a7, 0x6a6e, 0x6c24, 0x6dca, 0x6f5f, 0x70e3, 0x7255, 0x73b6,
-  0x7505, 0x7642, 0x776c, 0x7885, 0x798a, 0x7a7d, 0x7b5d, 0x7c2a,
-  0x7ce4, 0x7d8a, 0x7e1e, 0x7e9d, 0x7f0a, 0x7f62, 0x7fa7, 0x7fd9,
-  0x7ff6, 0x7fff, 0x7ff6
-};
-
-
-/**   
- * @brief Fast approximation to the trigonometric cosine function for Q15 data.   
- * @param[in] x Scaled input value in radians.   
- * @return  cos(x).   
- *   
- * The Q15 input value is in the range [0 +0.9999] and is mapped to a radian value in the range [0 2*pi), Here range excludes 2*pi.   
- */
-
-q15_t arm_cos_q15(
-  q15_t x)
-{
-  q31_t cosVal;                                  /* Temporary variable for output */
-  q15_t *tablePtr;                               /* Pointer to table */
-  q15_t in, in2;                                 /* Temporary variables for input */
-  q31_t wa, wb, wc, wd;                          /* Cubic interpolation coefficients */
-  q15_t a, b, c, d;                              /* Four nearest output values */
-  q15_t fract, fractCube, fractSquare;           /* Variables for fractional value */
-  q15_t oneBy6 = 0x1555;                         /* Fixed point value of 1/6 */
-  q15_t tableSpacing = TABLE_SPACING_Q15;        /* Table spacing */
-  int32_t index;                                 /* Index variable */
-
-  in = x;
-
-  /* Calculate the nearest index */
-  index = (int32_t) in / tableSpacing;
-
-  /* Calculate the nearest value of input */
-  in2 = (q15_t) index *tableSpacing;
-
-  /* Calculation of fractional value */
-  fract = (in - in2) << 8;
-
-  /* fractSquare = fract * fract */
-  fractSquare = (q15_t) ((fract * fract) >> 15);
-
-  /* fractCube = fract * fract * fract */
-  fractCube = (q15_t) ((fractSquare * fract) >> 15);
-
-  /* Checking min and max index of table */
-  if(index < 0)
-  {
-    index = 0;
-  }
-  else if(index > 256)
-  {
-    index = 256;
-  }
-
-  /* Initialise table pointer */
-  tablePtr = (q15_t *) & cosTableQ15[index];
-
-  /* Cubic interpolation process */
-  /* Calculation of wa */
-  /* wa = -(oneBy6)*fractCube + (fractSquare >> 1u) - (0x2AAA)*fract; */
-  wa = (q31_t) oneBy6 *fractCube;
-  wa += (q31_t) 0x2AAA *fract;
-  wa = -(wa >> 15);
-  wa += (fractSquare >> 1u);
-
-  /* Read first nearest value of output from the cos table */
-  a = *tablePtr++;
-
-  /* cosVal = a * wa */
-  cosVal = a * wa;
-
-  /* Calculation of wb */
-  wb = (((fractCube >> 1u) - fractSquare) - (fract >> 1u)) + 0x7FFF;
-
-  /* Read second nearest value of output from the cos table */
-  b = *tablePtr++;
-
-  /*      cosVal += b*wb */
-  cosVal += b * wb;
-
-  /* Calculation of wc */
-  wc = -(q31_t) fractCube + fractSquare;
-  wc = (wc >> 1u) + fract;
-
-  /* Read third nearest value of output from the cos table */
-  c = *tablePtr++;
-
-  /* cosVal += c*wc */
-  cosVal += c * wc;
-
-  /* Calculation of wd */
-  /* wd = (oneBy6)*fractCube - (oneBy6)*fract; */
-  fractCube = fractCube - fract;
-  wd = ((q15_t) (((q31_t) oneBy6 * fractCube) >> 15));
-
-  /* Read fourth nearest value of output from the cos table */
-  d = *tablePtr++;
-
-  /* cosVal += d*wd; */
-  cosVal += d * wd;
-
-  /* Convert output value in 1.15(q15) format and saturate */
-  cosVal = __SSAT((cosVal >> 15), 16);
-
-  /* Return the output value in 1.15(q15) format */
-  return ((q15_t) cosVal);
-
-}
-
-/**    
- * @} end of cos group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_cos_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_cos_q31.c
deleted file mode 100644
index 1326215fe..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_cos_q31.c
+++ /dev/null
@@ -1,239 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_cos_q31.c    
-*    
-* Description:	Fast cosine calculation for Q31 values.   
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFastMath    
- */
-
- /**    
- * @addtogroup cos    
- * @{    
- */
-
-/**    
- * \par    
- * Table Values are in Q31(1.31 Fixed point format) and generation is done in three steps    
- * First Generate cos values in floating point:    
- * tableSize = 256;      
- * 
for(n = -1; n < (tableSize + 1); n++)    
- * {    
- *	cosTable[n+1]= cos(2*pi*n/tableSize);    
- * } 
     
- * where pi value is  3.14159265358979    
- * \par    
- * Secondly Convert Floating point to Q31(Fixed point):    
- *	(cosTable[i] * pow(2, 31))    
- * \par    
- * Finally Rounding to nearest integer is done    
- * 	cosTable[i] += (cosTable[i] > 0 ? 0.5 :-0.5);    
- */
-
-
-static const q31_t cosTableQ31[259] = {
-  0x7ff62182, 0x7fffffff, 0x7ff62182, 0x7fd8878e, 0x7fa736b4, 0x7f62368f,
-  0x7f0991c4, 0x7e9d55fc,
-  0x7e1d93ea, 0x7d8a5f40, 0x7ce3ceb2, 0x7c29fbee, 0x7b5d039e, 0x7a7d055b,
-  0x798a23b1, 0x78848414,
-  0x776c4edb, 0x7641af3d, 0x7504d345, 0x73b5ebd1, 0x72552c85, 0x70e2cbc6,
-  0x6f5f02b2, 0x6dca0d14,
-  0x6c242960, 0x6a6d98a4, 0x68a69e81, 0x66cf8120, 0x64e88926, 0x62f201ac,
-  0x60ec3830, 0x5ed77c8a,
-  0x5cb420e0, 0x5a82799a, 0x5842dd54, 0x55f5a4d2, 0x539b2af0, 0x5133cc94,
-  0x4ebfe8a5, 0x4c3fdff4,
-  0x49b41533, 0x471cece7, 0x447acd50, 0x41ce1e65, 0x3f1749b8, 0x3c56ba70,
-  0x398cdd32, 0x36ba2014,
-  0x33def287, 0x30fbc54d, 0x2e110a62, 0x2b1f34eb, 0x2826b928, 0x25280c5e,
-  0x2223a4c5, 0x1f19f97b,
-  0x1c0b826a, 0x18f8b83c, 0x15e21445, 0x12c8106f, 0xfab272b, 0xc8bd35e,
-  0x96a9049, 0x647d97c,
-  0x3242abf, 0x0, 0xfcdbd541, 0xf9b82684, 0xf6956fb7, 0xf3742ca2, 0xf054d8d5,
-  0xed37ef91,
-  0xea1debbb, 0xe70747c4, 0xe3f47d96, 0xe0e60685, 0xdddc5b3b, 0xdad7f3a2,
-  0xd7d946d8, 0xd4e0cb15,
-  0xd1eef59e, 0xcf043ab3, 0xcc210d79, 0xc945dfec, 0xc67322ce, 0xc3a94590,
-  0xc0e8b648, 0xbe31e19b,
-  0xbb8532b0, 0xb8e31319, 0xb64beacd, 0xb3c0200c, 0xb140175b, 0xaecc336c,
-  0xac64d510, 0xaa0a5b2e,
-  0xa7bd22ac, 0xa57d8666, 0xa34bdf20, 0xa1288376, 0x9f13c7d0, 0x9d0dfe54,
-  0x9b1776da, 0x99307ee0,
-  0x9759617f, 0x9592675c, 0x93dbd6a0, 0x9235f2ec, 0x90a0fd4e, 0x8f1d343a,
-  0x8daad37b, 0x8c4a142f,
-  0x8afb2cbb, 0x89be50c3, 0x8893b125, 0x877b7bec, 0x8675dc4f, 0x8582faa5,
-  0x84a2fc62, 0x83d60412,
-  0x831c314e, 0x8275a0c0, 0x81e26c16, 0x8162aa04, 0x80f66e3c, 0x809dc971,
-  0x8058c94c, 0x80277872,
-  0x8009de7e, 0x80000000, 0x8009de7e, 0x80277872, 0x8058c94c, 0x809dc971,
-  0x80f66e3c, 0x8162aa04,
-  0x81e26c16, 0x8275a0c0, 0x831c314e, 0x83d60412, 0x84a2fc62, 0x8582faa5,
-  0x8675dc4f, 0x877b7bec,
-  0x8893b125, 0x89be50c3, 0x8afb2cbb, 0x8c4a142f, 0x8daad37b, 0x8f1d343a,
-  0x90a0fd4e, 0x9235f2ec,
-  0x93dbd6a0, 0x9592675c, 0x9759617f, 0x99307ee0, 0x9b1776da, 0x9d0dfe54,
-  0x9f13c7d0, 0xa1288376,
-  0xa34bdf20, 0xa57d8666, 0xa7bd22ac, 0xaa0a5b2e, 0xac64d510, 0xaecc336c,
-  0xb140175b, 0xb3c0200c,
-  0xb64beacd, 0xb8e31319, 0xbb8532b0, 0xbe31e19b, 0xc0e8b648, 0xc3a94590,
-  0xc67322ce, 0xc945dfec,
-  0xcc210d79, 0xcf043ab3, 0xd1eef59e, 0xd4e0cb15, 0xd7d946d8, 0xdad7f3a2,
-  0xdddc5b3b, 0xe0e60685,
-  0xe3f47d96, 0xe70747c4, 0xea1debbb, 0xed37ef91, 0xf054d8d5, 0xf3742ca2,
-  0xf6956fb7, 0xf9b82684,
-  0xfcdbd541, 0x0, 0x3242abf, 0x647d97c, 0x96a9049, 0xc8bd35e, 0xfab272b,
-  0x12c8106f,
-  0x15e21445, 0x18f8b83c, 0x1c0b826a, 0x1f19f97b, 0x2223a4c5, 0x25280c5e,
-  0x2826b928, 0x2b1f34eb,
-  0x2e110a62, 0x30fbc54d, 0x33def287, 0x36ba2014, 0x398cdd32, 0x3c56ba70,
-  0x3f1749b8, 0x41ce1e65,
-  0x447acd50, 0x471cece7, 0x49b41533, 0x4c3fdff4, 0x4ebfe8a5, 0x5133cc94,
-  0x539b2af0, 0x55f5a4d2,
-  0x5842dd54, 0x5a82799a, 0x5cb420e0, 0x5ed77c8a, 0x60ec3830, 0x62f201ac,
-  0x64e88926, 0x66cf8120,
-  0x68a69e81, 0x6a6d98a4, 0x6c242960, 0x6dca0d14, 0x6f5f02b2, 0x70e2cbc6,
-  0x72552c85, 0x73b5ebd1,
-  0x7504d345, 0x7641af3d, 0x776c4edb, 0x78848414, 0x798a23b1, 0x7a7d055b,
-  0x7b5d039e, 0x7c29fbee,
-  0x7ce3ceb2, 0x7d8a5f40, 0x7e1d93ea, 0x7e9d55fc, 0x7f0991c4, 0x7f62368f,
-  0x7fa736b4, 0x7fd8878e,
-  0x7ff62182, 0x7fffffff, 0x7ff62182
-};
-
-/**   
- * @brief Fast approximation to the trigonometric cosine function for Q31 data.   
- * @param[in] x Scaled input value in radians.   
- * @return  cos(x).   
- *   
- * The Q31 input value is in the range [0 +0.9999] and is mapped to a radian value in the range [0 2*pi), Here range excludes 2*pi.   
- */
-
-q31_t arm_cos_q31(
-  q31_t x)
-{
-  q31_t cosVal, in, in2;                         /* Temporary variables for input, output */
-  q31_t wa, wb, wc, wd;                          /* Cubic interpolation coefficients */
-  q31_t a, b, c, d;                              /* Four nearest output values */
-  q31_t *tablePtr;                               /* Pointer to table */
-  q31_t fract, fractCube, fractSquare;           /* Temporary values for fractional values */
-  q31_t oneBy6 = 0x15555555;                     /* Fixed point value of 1/6 */
-  q31_t tableSpacing = TABLE_SPACING_Q31;        /* Table spacing */
-  q31_t temp;                                    /* Temporary variable for intermediate process */
-  int32_t index;                                 /* Index variable */
-
-  in = x;
-
-  /* Calculate the nearest index */
-  index = in / tableSpacing;
-
-  /* Calculate the nearest value of input */
-  in2 = ((q31_t) index) * tableSpacing;
-
-  /* Calculation of fractional value */
-  fract = (in - in2) << 8;
-
-  /* fractSquare = fract * fract */
-  fractSquare = ((q31_t) (((q63_t) fract * fract) >> 32));
-  fractSquare = fractSquare << 1;
-
-  /* fractCube = fract * fract * fract */
-  fractCube = ((q31_t) (((q63_t) fractSquare * fract) >> 32));
-  fractCube = fractCube << 1;
-
-  /* Checking min and max index of table */
-  if(index < 0)
-  {
-    index = 0;
-  }
-  else if(index > 256)
-  {
-    index = 256;
-  }
-
-  /* Initialise table pointer */
-  tablePtr = (q31_t *) & cosTableQ31[index];
-
-  /* Cubic interpolation process */
-  /* Calculation of wa */
-  /* wa = -(oneBy6)*fractCube + (fractSquare >> 1u) - (0x2AAAAAAA)*fract; */
-  wa = ((q31_t) (((q63_t) oneBy6 * fractCube) >> 32));
-  temp = 0x2AAAAAAA;
-  wa = (q31_t) ((((q63_t) wa << 32) + ((q63_t) temp * fract)) >> 32);
-  wa = -(wa << 1u);
-  wa += (fractSquare >> 1u);
-
-  /* Read first nearest value of output from the cos table */
-  a = *tablePtr++;
-
-  /* cosVal = a*wa */
-  cosVal = ((q31_t) (((q63_t) a * wa) >> 32));
-
-  /* q31(1.31) Fixed point value of 1 */
-  temp = 0x7FFFFFFF;
-
-  /* Calculation of wb */
-  wb = ((fractCube >> 1u) - (fractSquare + (fract >> 1u))) + temp;
-  /* Read second nearest value of output from the cos table */
-  b = *tablePtr++;
-
-  /*      cosVal += b*wb */
-  cosVal = (q31_t) ((((q63_t) cosVal << 32) + ((q63_t) b * (wb))) >> 32);
-
-  /* Calculation of wc */
-  wc = -fractCube + fractSquare;
-  wc = (wc >> 1u) + fract;
-  /* Read third nearest values of output value from the cos table */
-  c = *tablePtr++;
-
-  /*      cosVal += c*wc */
-  cosVal = (q31_t) ((((q63_t) cosVal << 32) + ((q63_t) c * (wc))) >> 32);
-
-  /* Calculation of wd */
-  /* wd = (oneBy6)*fractCube - (oneBy6)*fract; */
-  fractCube = fractCube - fract;
-  wd = ((q31_t) (((q63_t) oneBy6 * fractCube) >> 32));
-  wd = (wd << 1u);
-
-  /* Read fourth nearest value of output from the cos table */
-  d = *tablePtr++;
-
-  /* cosVal += d*wd; */
-  cosVal = (q31_t) ((((q63_t) cosVal << 32) + ((q63_t) d * (wd))) >> 32);
-
-
-  /* convert cosVal in 2.30 format to 1.31 format */
-  return (__QADD(cosVal, cosVal));
-
-}
-
-/**    
- * @} end of cos group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sin_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sin_f32.c
deleted file mode 100644
index bfe58d5c8..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sin_f32.c
+++ /dev/null
@@ -1,281 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_sin_f32.c    
-*    
-* Description:	Fast sine calculation for floating-point values.   
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFastMath    
- */
-
-/**    
- * @defgroup sin Sine    
- *    
- * Computes the trigonometric sine function using a combination of table lookup   
- * and cubic interpolation.  There are separate functions for   
- * Q15, Q31, and floating-point data types.   
- * The input to the floating-point version is in radians while the   
- * fixed-point Q15 and Q31 have a scaled input with the range   
- * [0 +0.9999] mapping to [0 2*pi), Where range excludes 2*pi.   
- *   
- * The implementation is based on table lookup using 256 values together with cubic interpolation.   
- * The steps used are:   
- *  -# Calculation of the nearest integer table index   
- *  -# Fetch the four table values a, b, c, and d     
- *  -# Compute the fractional portion (fract) of the table index.   
- *  -# Calculation of wa, wb, wc, wd    
- *  -# The final result equals a*wa + b*wb + c*wc + d*wd   
- *   
- * where   
- * 
    
- *    a=Table[index-1];    
- *    b=Table[index+0];    
- *    c=Table[index+1];    
- *    d=Table[index+2];    
- * 
   
- * and   
- * 
    
- *    wa=-(1/6)*fract.^3 + (1/2)*fract.^2 - (1/3)*fract;    
- *    wb=(1/2)*fract.^3 - fract.^2 - (1/2)*fract + 1;    
- *    wc=-(1/2)*fract.^3+(1/2)*fract.^2+fract;    
- *    wd=(1/6)*fract.^3 - (1/6)*fract;    
- * 
    
- */
-
-/**    
- * @addtogroup sin    
- * @{    
- */
-
-
-/**   
- * \par    
- * Example code for Generation of Floating-point Sin Table:   
- * tableSize = 256;    
- * 
for(n = -1; n < (tableSize + 1); n++)    
- * {    
- *	sinTable[n+1]=sin(2*pi*n/tableSize);    
- * }
    
- * \par    
- * where pi value is  3.14159265358979    
- */
-
-static const float32_t sinTable[259] = {
-  -0.024541229009628296f, 0.000000000000000000f, 0.024541229009628296f,
-  0.049067676067352295f, 0.073564566671848297f, 0.098017141222953796f,
-  0.122410677373409270f, 0.146730467677116390f,
-  0.170961886644363400f, 0.195090323686599730f, 0.219101235270500180f,
-  0.242980182170867920f, 0.266712754964828490f, 0.290284663438797000f,
-  0.313681751489639280f, 0.336889863014221190f,
-  0.359895050525665280f, 0.382683426141738890f, 0.405241310596466060f,
-  0.427555084228515630f, 0.449611335992813110f, 0.471396744251251220f,
-  0.492898195981979370f, 0.514102756977081300f,
-  0.534997642040252690f, 0.555570244789123540f, 0.575808167457580570f,
-  0.595699310302734380f, 0.615231573581695560f, 0.634393274784088130f,
-  0.653172850608825680f, 0.671558976173400880f,
-  0.689540565013885500f, 0.707106769084930420f, 0.724247097969055180f,
-  0.740951120853424070f, 0.757208824157714840f, 0.773010432720184330f,
-  0.788346409797668460f, 0.803207516670227050f,
-  0.817584812641143800f, 0.831469595432281490f, 0.844853579998016360f,
-  0.857728600502014160f, 0.870086967945098880f, 0.881921291351318360f,
-  0.893224298954010010f, 0.903989315032958980f,
-  0.914209783077239990f, 0.923879504203796390f, 0.932992815971374510f,
-  0.941544055938720700f, 0.949528157711029050f, 0.956940352916717530f,
-  0.963776051998138430f, 0.970031261444091800f,
-  0.975702106952667240f, 0.980785250663757320f, 0.985277652740478520f,
-  0.989176511764526370f, 0.992479562759399410f, 0.995184719562530520f,
-  0.997290432453155520f, 0.998795449733734130f,
-  0.999698817729949950f, 1.000000000000000000f, 0.999698817729949950f,
-  0.998795449733734130f, 0.997290432453155520f, 0.995184719562530520f,
-  0.992479562759399410f, 0.989176511764526370f,
-  0.985277652740478520f, 0.980785250663757320f, 0.975702106952667240f,
-  0.970031261444091800f, 0.963776051998138430f, 0.956940352916717530f,
-  0.949528157711029050f, 0.941544055938720700f,
-  0.932992815971374510f, 0.923879504203796390f, 0.914209783077239990f,
-  0.903989315032958980f, 0.893224298954010010f, 0.881921291351318360f,
-  0.870086967945098880f, 0.857728600502014160f,
-  0.844853579998016360f, 0.831469595432281490f, 0.817584812641143800f,
-  0.803207516670227050f, 0.788346409797668460f, 0.773010432720184330f,
-  0.757208824157714840f, 0.740951120853424070f,
-  0.724247097969055180f, 0.707106769084930420f, 0.689540565013885500f,
-  0.671558976173400880f, 0.653172850608825680f, 0.634393274784088130f,
-  0.615231573581695560f, 0.595699310302734380f,
-  0.575808167457580570f, 0.555570244789123540f, 0.534997642040252690f,
-  0.514102756977081300f, 0.492898195981979370f, 0.471396744251251220f,
-  0.449611335992813110f, 0.427555084228515630f,
-  0.405241310596466060f, 0.382683426141738890f, 0.359895050525665280f,
-  0.336889863014221190f, 0.313681751489639280f, 0.290284663438797000f,
-  0.266712754964828490f, 0.242980182170867920f,
-  0.219101235270500180f, 0.195090323686599730f, 0.170961886644363400f,
-  0.146730467677116390f, 0.122410677373409270f, 0.098017141222953796f,
-  0.073564566671848297f, 0.049067676067352295f,
-  0.024541229009628296f, 0.000000000000000122f, -0.024541229009628296f,
-  -0.049067676067352295f, -0.073564566671848297f, -0.098017141222953796f,
-  -0.122410677373409270f, -0.146730467677116390f,
-  -0.170961886644363400f, -0.195090323686599730f, -0.219101235270500180f,
-  -0.242980182170867920f, -0.266712754964828490f, -0.290284663438797000f,
-  -0.313681751489639280f, -0.336889863014221190f,
-  -0.359895050525665280f, -0.382683426141738890f, -0.405241310596466060f,
-  -0.427555084228515630f, -0.449611335992813110f, -0.471396744251251220f,
-  -0.492898195981979370f, -0.514102756977081300f,
-  -0.534997642040252690f, -0.555570244789123540f, -0.575808167457580570f,
-  -0.595699310302734380f, -0.615231573581695560f, -0.634393274784088130f,
-  -0.653172850608825680f, -0.671558976173400880f,
-  -0.689540565013885500f, -0.707106769084930420f, -0.724247097969055180f,
-  -0.740951120853424070f, -0.757208824157714840f, -0.773010432720184330f,
-  -0.788346409797668460f, -0.803207516670227050f,
-  -0.817584812641143800f, -0.831469595432281490f, -0.844853579998016360f,
-  -0.857728600502014160f, -0.870086967945098880f, -0.881921291351318360f,
-  -0.893224298954010010f, -0.903989315032958980f,
-  -0.914209783077239990f, -0.923879504203796390f, -0.932992815971374510f,
-  -0.941544055938720700f, -0.949528157711029050f, -0.956940352916717530f,
-  -0.963776051998138430f, -0.970031261444091800f,
-  -0.975702106952667240f, -0.980785250663757320f, -0.985277652740478520f,
-  -0.989176511764526370f, -0.992479562759399410f, -0.995184719562530520f,
-  -0.997290432453155520f, -0.998795449733734130f,
-  -0.999698817729949950f, -1.000000000000000000f, -0.999698817729949950f,
-  -0.998795449733734130f, -0.997290432453155520f, -0.995184719562530520f,
-  -0.992479562759399410f, -0.989176511764526370f,
-  -0.985277652740478520f, -0.980785250663757320f, -0.975702106952667240f,
-  -0.970031261444091800f, -0.963776051998138430f, -0.956940352916717530f,
-  -0.949528157711029050f, -0.941544055938720700f,
-  -0.932992815971374510f, -0.923879504203796390f, -0.914209783077239990f,
-  -0.903989315032958980f, -0.893224298954010010f, -0.881921291351318360f,
-  -0.870086967945098880f, -0.857728600502014160f,
-  -0.844853579998016360f, -0.831469595432281490f, -0.817584812641143800f,
-  -0.803207516670227050f, -0.788346409797668460f, -0.773010432720184330f,
-  -0.757208824157714840f, -0.740951120853424070f,
-  -0.724247097969055180f, -0.707106769084930420f, -0.689540565013885500f,
-  -0.671558976173400880f, -0.653172850608825680f, -0.634393274784088130f,
-  -0.615231573581695560f, -0.595699310302734380f,
-  -0.575808167457580570f, -0.555570244789123540f, -0.534997642040252690f,
-  -0.514102756977081300f, -0.492898195981979370f, -0.471396744251251220f,
-  -0.449611335992813110f, -0.427555084228515630f,
-  -0.405241310596466060f, -0.382683426141738890f, -0.359895050525665280f,
-  -0.336889863014221190f, -0.313681751489639280f, -0.290284663438797000f,
-  -0.266712754964828490f, -0.242980182170867920f,
-  -0.219101235270500180f, -0.195090323686599730f, -0.170961886644363400f,
-  -0.146730467677116390f, -0.122410677373409270f, -0.098017141222953796f,
-  -0.073564566671848297f, -0.049067676067352295f,
-  -0.024541229009628296f, -0.000000000000000245f, 0.024541229009628296f
-};
-
-
-/**   
- * @brief  Fast approximation to the trigonometric sine function for floating-point data.   
- * @param[in] x input value in radians.   
- * @return  sin(x).   
- */
-
-float32_t arm_sin_f32(
-  float32_t x)
-{
-  float32_t sinVal, fract, in;                   /* Temporary variables for input, output */
-  int32_t index;                                 /* Index variable */
-  uint32_t tableSize = (uint32_t) TABLE_SIZE;    /* Initialise tablesize */
-  float32_t wa, wb, wc, wd;                      /* Cubic interpolation coefficients */
-  float32_t a, b, c, d;                          /* Four nearest output values */
-  float32_t *tablePtr;                           /* Pointer to table */
-  int32_t n;
-  float32_t fractsq, fractby2, fractby6, fractby3, fractsqby2;
-  float32_t oneminusfractby2;
-  float32_t frby2xfrsq, frby6xfrsq;
-
-  /* input x is in radians */
-  /* Scale the input to [0 1] range from [0 2*PI] , divide input by 2*pi */
-  in = x * 0.159154943092f;
-
-  /* Calculation of floor value of input */
-  n = (int32_t) in;
-
-  /* Make negative values towards -infinity */
-  if(x < 0.0f)
-  {
-    n = n - 1;
-  }
-
-  /* Map input value to [0 1] */
-  in = in - (float32_t) n;
-
-  /* Calculation of index of the table */
-  index = (uint32_t) (tableSize * in);
-
-  /* fractional value calculation */
-  fract = ((float32_t) tableSize * in) - (float32_t) index;
-
-  /* Checking min and max index of table */
-  if(index < 0)
-  {
-    index = 0;
-  }
-  else if(index > 256)
-  {
-    index = 256;
-  }
-
-  /* Initialise table pointer */
-  tablePtr = (float32_t *) & sinTable[index];
-
-  /* Read four nearest values of input value from the sin table */
-  a = tablePtr[0];
-  b = tablePtr[1];
-  c = tablePtr[2];
-  d = tablePtr[3];
-
-  /* Cubic interpolation process */
-  fractsq = fract * fract;
-  fractby2 = fract * 0.5f;
-  fractby6 = fract * 0.166666667f;
-  fractby3 = fract * 0.3333333333333f;
-  fractsqby2 = fractsq * 0.5f;
-  frby2xfrsq = (fractby2) * fractsq;
-  frby6xfrsq = (fractby6) * fractsq;
-  oneminusfractby2 = 1.0f - fractby2;
-  wb = fractsqby2 - fractby3;
-  wc = (fractsqby2 + fract);
-  wa = wb - frby6xfrsq;
-  wb = frby2xfrsq - fractsq;
-  sinVal = wa * a;
-  wc = wc - frby2xfrsq;
-  wd = (frby6xfrsq) - fractby6;
-  wb = wb + oneminusfractby2;
-
-  /* Calculate sin value */
-  sinVal = (sinVal + (b * wb)) + ((c * wc) + (d * wd));
-
-  /* Return the output value */
-  return (sinVal);
-
-}
-
-/**    
- * @} end of sin group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sin_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sin_q15.c
deleted file mode 100644
index b53ca3ecc..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sin_q15.c
+++ /dev/null
@@ -1,208 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_sin_q15.c    
-*    
-* Description:	Fast sine calculation for Q15 values.   
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFastMath    
- */
-
- /**    
- * @addtogroup sin    
- * @{    
- */
-
-
-/**    
- * \par    
- * Example code for Generation of Q15 Sin Table:   
- * \par    
- * 
tableSize = 256;    
- * for(n = -1; n < (tableSize + 1); n++)    
- * {    
- *	sinTable[n+1]=sin(2*pi*n/tableSize);    
- * } 
    
- * where pi value is  3.14159265358979    
- * \par    
- * Convert Floating point to Q15(Fixed point):    
- *	(sinTable[i] * pow(2, 15))    
- * \par    
- * rounding to nearest integer is done    
- * 	sinTable[i] += (sinTable[i] > 0 ? 0.5 :-0.5);    
- */
-
-
-static const q15_t sinTableQ15[259] = {
-  0xfcdc, 0x0, 0x324, 0x648, 0x96b, 0xc8c, 0xfab, 0x12c8,
-  0x15e2, 0x18f9, 0x1c0c, 0x1f1a, 0x2224, 0x2528, 0x2827, 0x2b1f,
-  0x2e11, 0x30fc, 0x33df, 0x36ba, 0x398d, 0x3c57, 0x3f17, 0x41ce,
-  0x447b, 0x471d, 0x49b4, 0x4c40, 0x4ec0, 0x5134, 0x539b, 0x55f6,
-  0x5843, 0x5a82, 0x5cb4, 0x5ed7, 0x60ec, 0x62f2, 0x64e9, 0x66d0,
-  0x68a7, 0x6a6e, 0x6c24, 0x6dca, 0x6f5f, 0x70e3, 0x7255, 0x73b6,
-  0x7505, 0x7642, 0x776c, 0x7885, 0x798a, 0x7a7d, 0x7b5d, 0x7c2a,
-  0x7ce4, 0x7d8a, 0x7e1e, 0x7e9d, 0x7f0a, 0x7f62, 0x7fa7, 0x7fd9,
-  0x7ff6, 0x7fff, 0x7ff6, 0x7fd9, 0x7fa7, 0x7f62, 0x7f0a, 0x7e9d,
-  0x7e1e, 0x7d8a, 0x7ce4, 0x7c2a, 0x7b5d, 0x7a7d, 0x798a, 0x7885,
-  0x776c, 0x7642, 0x7505, 0x73b6, 0x7255, 0x70e3, 0x6f5f, 0x6dca,
-  0x6c24, 0x6a6e, 0x68a7, 0x66d0, 0x64e9, 0x62f2, 0x60ec, 0x5ed7,
-  0x5cb4, 0x5a82, 0x5843, 0x55f6, 0x539b, 0x5134, 0x4ec0, 0x4c40,
-  0x49b4, 0x471d, 0x447b, 0x41ce, 0x3f17, 0x3c57, 0x398d, 0x36ba,
-  0x33df, 0x30fc, 0x2e11, 0x2b1f, 0x2827, 0x2528, 0x2224, 0x1f1a,
-  0x1c0c, 0x18f9, 0x15e2, 0x12c8, 0xfab, 0xc8c, 0x96b, 0x648,
-  0x324, 0x0, 0xfcdc, 0xf9b8, 0xf695, 0xf374, 0xf055, 0xed38,
-  0xea1e, 0xe707, 0xe3f4, 0xe0e6, 0xdddc, 0xdad8, 0xd7d9, 0xd4e1,
-  0xd1ef, 0xcf04, 0xcc21, 0xc946, 0xc673, 0xc3a9, 0xc0e9, 0xbe32,
-  0xbb85, 0xb8e3, 0xb64c, 0xb3c0, 0xb140, 0xaecc, 0xac65, 0xaa0a,
-  0xa7bd, 0xa57e, 0xa34c, 0xa129, 0x9f14, 0x9d0e, 0x9b17, 0x9930,
-  0x9759, 0x9592, 0x93dc, 0x9236, 0x90a1, 0x8f1d, 0x8dab, 0x8c4a,
-  0x8afb, 0x89be, 0x8894, 0x877b, 0x8676, 0x8583, 0x84a3, 0x83d6,
-  0x831c, 0x8276, 0x81e2, 0x8163, 0x80f6, 0x809e, 0x8059, 0x8027,
-  0x800a, 0x8000, 0x800a, 0x8027, 0x8059, 0x809e, 0x80f6, 0x8163,
-  0x81e2, 0x8276, 0x831c, 0x83d6, 0x84a3, 0x8583, 0x8676, 0x877b,
-  0x8894, 0x89be, 0x8afb, 0x8c4a, 0x8dab, 0x8f1d, 0x90a1, 0x9236,
-  0x93dc, 0x9592, 0x9759, 0x9930, 0x9b17, 0x9d0e, 0x9f14, 0xa129,
-  0xa34c, 0xa57e, 0xa7bd, 0xaa0a, 0xac65, 0xaecc, 0xb140, 0xb3c0,
-  0xb64c, 0xb8e3, 0xbb85, 0xbe32, 0xc0e9, 0xc3a9, 0xc673, 0xc946,
-  0xcc21, 0xcf04, 0xd1ef, 0xd4e1, 0xd7d9, 0xdad8, 0xdddc, 0xe0e6,
-  0xe3f4, 0xe707, 0xea1e, 0xed38, 0xf055, 0xf374, 0xf695, 0xf9b8,
-  0xfcdc, 0x0, 0x324
-};
-
-
-/**   
- * @brief Fast approximation to the trigonometric sine function for Q15 data.   
- * @param[in] x Scaled input value in radians.   
- * @return  sin(x).   
- *   
- * The Q15 input value is in the range [0 +0.9999] and is mapped to a radian value in the range [0 2*pi), Here range excludes 2*pi.   
- */
-
-q15_t arm_sin_q15(
-  q15_t x)
-{
-  q31_t sinVal;                                  /* Temporary variables output */
-  q15_t *tablePtr;                               /* Pointer to table */
-  q15_t fract, in, in2;                          /* Temporary variables for input, output */
-  q31_t wa, wb, wc, wd;                          /* Cubic interpolation coefficients */
-  q15_t a, b, c, d;                              /* Four nearest output values */
-  q15_t fractCube, fractSquare;                  /* Temporary values for fractional value */
-  q15_t oneBy6 = 0x1555;                         /* Fixed point value of 1/6 */
-  q15_t tableSpacing = TABLE_SPACING_Q15;        /* Table spacing */
-  int32_t index;                                 /* Index variable */
-
-  in = x;
-
-  /* Calculate the nearest index */
-  index = (int32_t) in / tableSpacing;
-
-  /* Calculate the nearest value of input */
-  in2 = (q15_t) ((index) * tableSpacing);
-
-  /* Calculation of fractional value */
-  fract = (in - in2) << 8;
-
-  /* fractSquare = fract * fract */
-  fractSquare = (q15_t) ((fract * fract) >> 15);
-
-  /* fractCube = fract * fract * fract */
-  fractCube = (q15_t) ((fractSquare * fract) >> 15);
-
-  /* Checking min and max index of table */
-  if(index < 0)
-  {
-    index = 0;
-  }
-  else if(index > 256)
-  {
-    index = 256;
-  }
-
-  /* Initialise table pointer */
-  tablePtr = (q15_t *) & sinTableQ15[index];
-
-  /* Cubic interpolation process */
-  /* Calculation of wa */
-  /* wa = -(oneBy6)*fractCube + (fractSquare >> 1u) - (0x2AAA)*fract; */
-  wa = (q31_t) oneBy6 *fractCube;
-  wa += (q31_t) 0x2AAA *fract;
-  wa = -(wa >> 15);
-  wa += ((q31_t) fractSquare >> 1u);
-
-  /* Read first nearest value of output from the sin table */
-  a = *tablePtr++;
-
-  /* sinVal = a * wa */
-  sinVal = a * wa;
-
-  /* Calculation of wb */
-  wb = (((q31_t) fractCube >> 1u) - (q31_t) fractSquare) -
-    (((q31_t) fract >> 1u) - 0x7FFF);
-
-  /* Read second nearest value of output from the sin table */
-  b = *tablePtr++;
-
-  /*      sinVal += b*wb */
-  sinVal += b * wb;
-
-
-  /* Calculation of wc */
-  wc = -(q31_t) fractCube + fractSquare;
-  wc = (wc >> 1u) + fract;
-
-  /* Read third nearest value of output from the sin table */
-  c = *tablePtr++;
-
-  /* sinVal += c*wc */
-  sinVal += c * wc;
-
-  /* Calculation of wd */
-  /* wd = (oneBy6)*fractCube - (oneBy6)*fract; */
-  fractCube = fractCube - fract;
-  wd = ((q15_t) (((q31_t) oneBy6 * fractCube) >> 15));
-
-  /* Read fourth nearest value of output from the sin table */
-  d = *tablePtr++;
-
-  /* sinVal += d*wd; */
-  sinVal += d * wd;
-
-  /* Convert output value in 1.15(q15) format and saturate */
-  sinVal = __SSAT((sinVal >> 15), 16);
-
-  /* Return the output value in 1.15(q15) format */
-  return ((q15_t) sinVal);
-
-}
-
-/**    
- * @} end of sin group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sin_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sin_q31.c
deleted file mode 100644
index 336796b5c..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sin_q31.c
+++ /dev/null
@@ -1,240 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_sin_q31.c    
-*    
-* Description:	Fast sine calculation for Q31 values.   
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFastMath    
- */
-
- /**    
- * @addtogroup sin    
- * @{    
- */
-
-/**   
- * \par    
- * Tables generated are in Q31(1.31 Fixed point format)    
- * Generation of sin values in floating point:    
- * 
tableSize = 256;      
- * for(n = -1; n < (tableSize + 1); n++)    
- * {    
- *	sinTable[n+1]= sin(2*pi*n/tableSize);    
- * } 
    
- * where pi value is  3.14159265358979    
- * \par    
- * Convert Floating point to Q31(Fixed point):    
- *	(sinTable[i] * pow(2, 31))    
- * \par    
- * rounding to nearest integer is done    
- * 	sinTable[i] += (sinTable[i] > 0 ? 0.5 :-0.5);    
- */
-
-static const q31_t sinTableQ31[259] = {
-  0xfcdbd541, 0x0, 0x3242abf, 0x647d97c, 0x96a9049, 0xc8bd35e, 0xfab272b,
-  0x12c8106f,
-  0x15e21445, 0x18f8b83c, 0x1c0b826a, 0x1f19f97b, 0x2223a4c5, 0x25280c5e,
-  0x2826b928, 0x2b1f34eb,
-  0x2e110a62, 0x30fbc54d, 0x33def287, 0x36ba2014, 0x398cdd32, 0x3c56ba70,
-  0x3f1749b8, 0x41ce1e65,
-  0x447acd50, 0x471cece7, 0x49b41533, 0x4c3fdff4, 0x4ebfe8a5, 0x5133cc94,
-  0x539b2af0, 0x55f5a4d2,
-  0x5842dd54, 0x5a82799a, 0x5cb420e0, 0x5ed77c8a, 0x60ec3830, 0x62f201ac,
-  0x64e88926, 0x66cf8120,
-  0x68a69e81, 0x6a6d98a4, 0x6c242960, 0x6dca0d14, 0x6f5f02b2, 0x70e2cbc6,
-  0x72552c85, 0x73b5ebd1,
-  0x7504d345, 0x7641af3d, 0x776c4edb, 0x78848414, 0x798a23b1, 0x7a7d055b,
-  0x7b5d039e, 0x7c29fbee,
-  0x7ce3ceb2, 0x7d8a5f40, 0x7e1d93ea, 0x7e9d55fc, 0x7f0991c4, 0x7f62368f,
-  0x7fa736b4, 0x7fd8878e,
-  0x7ff62182, 0x7fffffff, 0x7ff62182, 0x7fd8878e, 0x7fa736b4, 0x7f62368f,
-  0x7f0991c4, 0x7e9d55fc,
-  0x7e1d93ea, 0x7d8a5f40, 0x7ce3ceb2, 0x7c29fbee, 0x7b5d039e, 0x7a7d055b,
-  0x798a23b1, 0x78848414,
-  0x776c4edb, 0x7641af3d, 0x7504d345, 0x73b5ebd1, 0x72552c85, 0x70e2cbc6,
-  0x6f5f02b2, 0x6dca0d14,
-  0x6c242960, 0x6a6d98a4, 0x68a69e81, 0x66cf8120, 0x64e88926, 0x62f201ac,
-  0x60ec3830, 0x5ed77c8a,
-  0x5cb420e0, 0x5a82799a, 0x5842dd54, 0x55f5a4d2, 0x539b2af0, 0x5133cc94,
-  0x4ebfe8a5, 0x4c3fdff4,
-  0x49b41533, 0x471cece7, 0x447acd50, 0x41ce1e65, 0x3f1749b8, 0x3c56ba70,
-  0x398cdd32, 0x36ba2014,
-  0x33def287, 0x30fbc54d, 0x2e110a62, 0x2b1f34eb, 0x2826b928, 0x25280c5e,
-  0x2223a4c5, 0x1f19f97b,
-  0x1c0b826a, 0x18f8b83c, 0x15e21445, 0x12c8106f, 0xfab272b, 0xc8bd35e,
-  0x96a9049, 0x647d97c,
-  0x3242abf, 0x0, 0xfcdbd541, 0xf9b82684, 0xf6956fb7, 0xf3742ca2, 0xf054d8d5,
-  0xed37ef91,
-  0xea1debbb, 0xe70747c4, 0xe3f47d96, 0xe0e60685, 0xdddc5b3b, 0xdad7f3a2,
-  0xd7d946d8, 0xd4e0cb15,
-  0xd1eef59e, 0xcf043ab3, 0xcc210d79, 0xc945dfec, 0xc67322ce, 0xc3a94590,
-  0xc0e8b648, 0xbe31e19b,
-  0xbb8532b0, 0xb8e31319, 0xb64beacd, 0xb3c0200c, 0xb140175b, 0xaecc336c,
-  0xac64d510, 0xaa0a5b2e,
-  0xa7bd22ac, 0xa57d8666, 0xa34bdf20, 0xa1288376, 0x9f13c7d0, 0x9d0dfe54,
-  0x9b1776da, 0x99307ee0,
-  0x9759617f, 0x9592675c, 0x93dbd6a0, 0x9235f2ec, 0x90a0fd4e, 0x8f1d343a,
-  0x8daad37b, 0x8c4a142f,
-  0x8afb2cbb, 0x89be50c3, 0x8893b125, 0x877b7bec, 0x8675dc4f, 0x8582faa5,
-  0x84a2fc62, 0x83d60412,
-  0x831c314e, 0x8275a0c0, 0x81e26c16, 0x8162aa04, 0x80f66e3c, 0x809dc971,
-  0x8058c94c, 0x80277872,
-  0x8009de7e, 0x80000000, 0x8009de7e, 0x80277872, 0x8058c94c, 0x809dc971,
-  0x80f66e3c, 0x8162aa04,
-  0x81e26c16, 0x8275a0c0, 0x831c314e, 0x83d60412, 0x84a2fc62, 0x8582faa5,
-  0x8675dc4f, 0x877b7bec,
-  0x8893b125, 0x89be50c3, 0x8afb2cbb, 0x8c4a142f, 0x8daad37b, 0x8f1d343a,
-  0x90a0fd4e, 0x9235f2ec,
-  0x93dbd6a0, 0x9592675c, 0x9759617f, 0x99307ee0, 0x9b1776da, 0x9d0dfe54,
-  0x9f13c7d0, 0xa1288376,
-  0xa34bdf20, 0xa57d8666, 0xa7bd22ac, 0xaa0a5b2e, 0xac64d510, 0xaecc336c,
-  0xb140175b, 0xb3c0200c,
-  0xb64beacd, 0xb8e31319, 0xbb8532b0, 0xbe31e19b, 0xc0e8b648, 0xc3a94590,
-  0xc67322ce, 0xc945dfec,
-  0xcc210d79, 0xcf043ab3, 0xd1eef59e, 0xd4e0cb15, 0xd7d946d8, 0xdad7f3a2,
-  0xdddc5b3b, 0xe0e60685,
-  0xe3f47d96, 0xe70747c4, 0xea1debbb, 0xed37ef91, 0xf054d8d5, 0xf3742ca2,
-  0xf6956fb7, 0xf9b82684,
-  0xfcdbd541, 0x0, 0x3242abf
-};
-
-
-/**   
- * @brief Fast approximation to the trigonometric sine function for Q31 data.   
- * @param[in] x Scaled input value in radians.   
- * @return  sin(x).   
- *   
- * The Q31 input value is in the range [0 +0.9999] and is mapped to a radian value in the range [0 2*pi), Here range excludes 2*pi.   
- */
-
-q31_t arm_sin_q31(
-  q31_t x)
-{
-  q31_t sinVal, in, in2;                         /* Temporary variables for input, output */
-  int32_t index;                                 /* Index variables */
-  q31_t wa, wb, wc, wd;                          /* Cubic interpolation coefficients */
-  q31_t a, b, c, d;                              /* Four nearest output values */
-  q31_t *tablePtr;                               /* Pointer to table */
-  q31_t fract, fractCube, fractSquare;           /* Temporary values for fractional values */
-  q31_t oneBy6 = 0x15555555;                     /* Fixed point value of 1/6 */
-  q31_t tableSpacing = TABLE_SPACING_Q31;        /* Table spacing */
-  q31_t temp;                                    /* Temporary variable for intermediate process */
-
-  in = x;
-
-  /* Calculate the nearest index */
-  index = (uint32_t) in / (uint32_t) tableSpacing;
-
-  /* Calculate the nearest value of input */
-  in2 = (q31_t) index *tableSpacing;
-
-  /* Calculation of fractional value */
-  fract = (in - in2) << 8;
-
-  /* fractSquare = fract * fract */
-  fractSquare = ((q31_t) (((q63_t) fract * fract) >> 32));
-  fractSquare = fractSquare << 1;
-
-  /* fractCube = fract * fract * fract */
-  fractCube = ((q31_t) (((q63_t) fractSquare * fract) >> 32));
-  fractCube = fractCube << 1;
-
-  /* Checking min and max index of table */
-  if(index < 0)
-  {
-    index = 0;
-  }
-  else if(index > 256)
-  {
-    index = 256;
-  }
-
-  /* Initialise table pointer */
-  tablePtr = (q31_t *) & sinTableQ31[index];
-
-  /* Cubic interpolation process */
-  /* Calculation of wa */
-  /* wa = -(oneBy6)*fractCube + (fractSquare >> 1u) - (0x2AAAAAAA)*fract; */
-  wa = ((q31_t) (((q63_t) oneBy6 * fractCube) >> 32));
-  temp = 0x2AAAAAAA;
-  wa = (q31_t) ((((q63_t) wa << 32) + ((q63_t) temp * fract)) >> 32);
-  wa = -(wa << 1u);
-  wa += (fractSquare >> 1u);
-
-  /* Read first nearest value of output from the sin table */
-  a = *tablePtr++;
-
-  /* sinVal = a*wa */
-  sinVal = ((q31_t) (((q63_t) a * wa) >> 32));
-
-  /* q31(1.31) Fixed point value of 1 */
-  temp = 0x7FFFFFFF;
-
-  /* Calculation of wb */
-  wb = ((fractCube >> 1u) - (fractSquare + (fract >> 1u))) + temp;
-
-  /* Read second nearest value of output from the sin table */
-  b = *tablePtr++;
-
-  /*  sinVal += b*wb */
-  sinVal = (q31_t) ((((q63_t) sinVal << 32) + (q63_t) b * (wb)) >> 32);
-
-  /* Calculation of wc */
-  wc = -fractCube + fractSquare;
-  wc = (wc >> 1u) + fract;
-
-  /* Read third nearest value of output from the sin table */
-  c = *tablePtr++;
-
-  /*      sinVal += c*wc */
-  sinVal = (q31_t) ((((q63_t) sinVal << 32) + ((q63_t) c * wc)) >> 32);
-
-  /* Calculation of wd */
-  /* wd = (oneBy6) * fractCube - (oneBy6) * fract; */
-  fractCube = fractCube - fract;
-  wd = ((q31_t) (((q63_t) oneBy6 * fractCube) >> 32));
-  wd = (wd << 1u);
-
-  /* Read fourth nearest value of output from the sin table */
-  d = *tablePtr++;
-
-  /* sinVal += d*wd; */
-  sinVal = (q31_t) ((((q63_t) sinVal << 32) + ((q63_t) d * wd)) >> 32);
-
-  /* convert sinVal in 2.30 format to 1.31 format */
-  return (__QADD(sinVal, sinVal));
-
-}
-
-/**    
- * @} end of sin group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q15.c
deleted file mode 100644
index 0a6d6a53a..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q15.c
+++ /dev/null
@@ -1,131 +0,0 @@
-/* ----------------------------------------------------------------------     
-* Copyright (C) 2011 ARM Limited. All rights reserved.  
-*     
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*     
-* Project:      CMSIS DSP Library  
-* Title:		arm_sqrt_q15.c     
-*     
-* Description:	Q15 square root function.    
-*     
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-* 
-* Version 1.0.0 2011/03/08 
-*     Alpha release. 
-* 
-* Version 1.0.1 2011/09/30 
-*     Beta release.  
-*     
-* -------------------------------------------------------------------- */
-#include "arm_math.h"
-#include "arm_common_tables.h"
-
-
-/**     
- * @ingroup groupFastMath     
- */
-
-/**     
- * @addtogroup SQRT     
- * @{     
- */
-
-  /**    
-   * @brief  Q15 square root function.    
-   * @param[in]   in     input value.  The range of the input value is [0 +1) or 0x0000 to 0x7FFF.    
-   * @param[out]  *pOut  square root of input value.    
-   * @return The function returns ARM_MATH_SUCCESS if input value is positive value or ARM_MATH_ARGUMENT_ERROR if    
-   * in is negative value and returns zero output for negative values.    
-   */
-
-arm_status arm_sqrt_q15(
-  q15_t in,
-  q15_t * pOut)
-{
-  q15_t number, temp1, var1, signBits1, half;
-  q31_t bits_val1;
-  float32_t temp_float1;
-
-  number = in;
-
-  /* If the input is a positive number then compute the signBits. */
-  if(number > 0)
-  {
-    signBits1 = __CLZ(number) - 17;
-
-    /* Shift by the number of signBits1 */
-    if((signBits1 % 2) == 0)
-    {
-      number = number << signBits1;
-    }
-    else
-    {
-      number = number << (signBits1 - 1);
-    }
-
-    /* Calculate half value of the number */
-    half = number >> 1;
-    /* Store the number for later use */
-    temp1 = number;
-
-    /*Convert to float */
-    temp_float1 = number * 3.051757812500000e-005f;
-    /*Store as integer */
-    bits_val1 = *(int *) &temp_float1;
-    /* Subtract the shifted value from the magic number to give intial guess */
-    bits_val1 = 0x5f3759df - (bits_val1 >> 1);  // gives initial guess  
-    /* Store as float */
-    temp_float1 = *(float *) &bits_val1;
-    /* Convert to integer format */
-    var1 = (q31_t) (temp_float1 * 16384);
-
-    /* 1st iteration */
-    var1 = ((q15_t) ((q31_t) var1 * (0x3000 -
-                                     ((q15_t)
-                                      ((((q15_t)
-                                         (((q31_t) var1 * var1) >> 15)) *
-                                        (q31_t) half) >> 15))) >> 15)) << 2;
-    /* 2nd iteration */
-    var1 = ((q15_t) ((q31_t) var1 * (0x3000 -
-                                     ((q15_t)
-                                      ((((q15_t)
-                                         (((q31_t) var1 * var1) >> 15)) *
-                                        (q31_t) half) >> 15))) >> 15)) << 2;
-    /* 3rd iteration */
-    var1 = ((q15_t) ((q31_t) var1 * (0x3000 -
-                                     ((q15_t)
-                                      ((((q15_t)
-                                         (((q31_t) var1 * var1) >> 15)) *
-                                        (q31_t) half) >> 15))) >> 15)) << 2;
-
-    /* Multiply the inverse square root with the original value */
-    var1 = ((q15_t) (((q31_t) temp1 * var1) >> 15)) << 1;
-
-    /* Shift the output down accordingly */
-    if((signBits1 % 2) == 0)
-    {
-      var1 = var1 >> (signBits1 / 2);
-    }
-    else
-    {
-      var1 = var1 >> ((signBits1 - 1) / 2);
-    }
-    *pOut = var1;
-
-    return (ARM_MATH_SUCCESS);
-  }
-  /* If the number is a negative number then store zero as its square root value */
-  else
-  {
-    *pOut = 0;
-    return (ARM_MATH_ARGUMENT_ERROR);
-  }
-}
-
-/**     
- * @} end of SQRT group     
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q31.c
deleted file mode 100644
index 2a3b7ac18..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q31.c
+++ /dev/null
@@ -1,129 +0,0 @@
-/* ----------------------------------------------------------------------     
-* Copyright (C) 2011 ARM Limited. All rights reserved.  
-*     
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*     
-* Project:      CMSIS DSP Library  
-* Title:		arm_sqrt_q31.c     
-*     
-* Description:	Q31 square root function.    
-*     
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-* 
-* Version 1.0.0 2011/03/08 
-*     Alpha release. 
-* 
-* Version 1.0.1 2011/09/30 
-*     Beta release.  
-*     
-* -------------------------------------------------------------------- */
-#include "arm_math.h"
-#include "arm_common_tables.h"
-
-/**     
- * @ingroup groupFastMath     
- */
-
-/**     
- * @addtogroup SQRT     
- * @{     
- */
-
-/**    
- * @brief Q31 square root function.    
- * @param[in]   in    input value.  The range of the input value is [0 +1) or 0x00000000 to 0x7FFFFFFF.    
- * @param[out]  *pOut square root of input value.    
- * @return The function returns ARM_MATH_SUCCESS if input value is positive value or ARM_MATH_ARGUMENT_ERROR if    
- * in is negative value and returns zero output for negative values.    
- */
-
-arm_status arm_sqrt_q31(
-  q31_t in,
-  q31_t * pOut)
-{
-  q31_t number, temp1, bits_val1, var1, signBits1, half;
-  float32_t temp_float1;
-
-  number = in;
-
-  /* If the input is a positive number then compute the signBits. */
-  if(number > 0)
-  {
-    signBits1 = __CLZ(number) - 1;
-
-    /* Shift by the number of signBits1 */
-    if((signBits1 % 2) == 0)
-    {
-      number = number << signBits1;
-    }
-    else
-    {
-      number = number << (signBits1 - 1);
-    }
-
-    /* Calculate half value of the number */
-    half = number >> 1;
-    /* Store the number for later use */
-    temp1 = number;
-
-    /*Convert to float */
-    temp_float1 = number * 4.6566128731e-010f;
-    /*Store as integer */
-    bits_val1 = *(int *) &temp_float1;
-    /* Subtract the shifted value from the magic number to give intial guess */
-    bits_val1 = 0x5f3759df - (bits_val1 >> 1);  // gives initial guess  
-    /* Store as float */
-    temp_float1 = *(float *) &bits_val1;
-    /* Convert to integer format */
-    var1 = (q31_t) (temp_float1 * 1073741824);
-
-    /* 1st iteration */
-    var1 = ((q31_t) ((q63_t) var1 * (0x30000000 -
-                                     ((q31_t)
-                                      ((((q31_t)
-                                         (((q63_t) var1 * var1) >> 31)) *
-                                        (q63_t) half) >> 31))) >> 31)) << 2;
-    /* 2nd iteration */
-    var1 = ((q31_t) ((q63_t) var1 * (0x30000000 -
-                                     ((q31_t)
-                                      ((((q31_t)
-                                         (((q63_t) var1 * var1) >> 31)) *
-                                        (q63_t) half) >> 31))) >> 31)) << 2;
-    /* 3rd iteration */
-    var1 = ((q31_t) ((q63_t) var1 * (0x30000000 -
-                                     ((q31_t)
-                                      ((((q31_t)
-                                         (((q63_t) var1 * var1) >> 31)) *
-                                        (q63_t) half) >> 31))) >> 31)) << 2;
-
-    /* Multiply the inverse square root with the original value */
-    var1 = ((q31_t) (((q63_t) temp1 * var1) >> 31)) << 1;
-
-    /* Shift the output down accordingly */
-    if((signBits1 % 2) == 0)
-    {
-      var1 = var1 >> (signBits1 / 2);
-    }
-    else
-    {
-      var1 = var1 >> ((signBits1 - 1) / 2);
-    }
-    *pOut = var1;
-
-    return (ARM_MATH_SUCCESS);
-  }
-  /* If the number is a negative number then store zero as its square root value */
-  else
-  {
-    *pOut = 0;
-    return (ARM_MATH_ARGUMENT_ERROR);
-  }
-}
-
-/**     
- * @} end of SQRT group     
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_init_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_init_q31.c
deleted file mode 100644
index a6745c0cd..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_init_q31.c
+++ /dev/null
@@ -1,105 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_biquad_cascade_df1_32x64_init_q31.c    
-*    
-* Description:	High precision Q31 Biquad cascade filter initialization function.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup BiquadCascadeDF1_32x64    
- * @{    
- */
-
-/**    
- * @details    
- *    
- * @param[in,out] *S           	points to an instance of the high precision Q31 Biquad cascade filter structure.    
- * @param[in]     numStages     number of 2nd order stages in the filter.    
- * @param[in]     *pCoeffs      points to the filter coefficients.    
- * @param[in]     *pState       points to the state buffer.    
- * @param[in]     postShift     Shift to be applied after the accumulator.  Varies according to the coefficients format.    
- * @return        none    
- *    
- * Coefficient and State Ordering:    
- *    
- * \par    
- * The coefficients are stored in the array pCoeffs in the following order:    
- * 
    
- *     {b10, b11, b12, a11, a12, b20, b21, b22, a21, a22, ...}    
- * 
    
- * where b1x and a1x are the coefficients for the first stage,    
- * b2x and a2x are the coefficients for the second stage,    
- * and so on.  The pCoeffs array contains a total of 5*numStages values.    
- *    
- * \par    
- * The pState points to state variables array and size of each state variable is 1.63 format.    
- * Each Biquad stage has 4 state variables x[n-1], x[n-2], y[n-1], and y[n-2].    
- * The state variables are arranged in the state array as:    
- * 
    
- *     {x[n-1], x[n-2], y[n-1], y[n-2]}    
- * 
    
- * The 4 state variables for stage 1 are first, then the 4 state variables for stage 2, and so on.    
- * The state array has a total length of 4*numStages values.    
- * The state variables are updated after each block of data is processed; the coefficients are untouched.    
- */
-
-void arm_biquad_cas_df1_32x64_init_q31(
-  arm_biquad_cas_df1_32x64_ins_q31 * S,
-  uint8_t numStages,
-  q31_t * pCoeffs,
-  q63_t * pState,
-  uint8_t postShift)
-{
-  /* Assign filter stages */
-  S->numStages = numStages;
-
-  /* Assign postShift to be applied to the output */
-  S->postShift = postShift;
-
-  /* Assign coefficient pointer */
-  S->pCoeffs = pCoeffs;
-
-  /* Clear state buffer and size is always 4 * numStages */
-  memset(pState, 0, (4u * (uint32_t) numStages) * sizeof(q63_t));
-
-  /* Assign state pointer */
-  S->pState = pState;
-}
-
-/**    
- * @} end of BiquadCascadeDF1_32x64 group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_q31.c
deleted file mode 100644
index 82d6164ee..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_q31.c
+++ /dev/null
@@ -1,553 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_biquad_cascade_df1_32x64_q31.c    
-*    
-* Description:	High precision Q31 Biquad cascade filter processing function    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @defgroup BiquadCascadeDF1_32x64 High Precision Q31 Biquad Cascade Filter    
- *    
- * This function implements a high precision Biquad cascade filter which operates on    
- * Q31 data values.  The filter coefficients are in 1.31 format and the state variables    
- * are in 1.63 format.  The double precision state variables reduce quantization noise    
- * in the filter and provide a cleaner output.    
- * These filters are particularly useful when implementing filters in which the    
- * singularities are close to the unit circle.  This is common for low pass or high    
- * pass filters with very low cutoff frequencies.    
- *    
- * The function operates on blocks of input and output data    
- * and each call to the function processes blockSize samples through    
- * the filter. pSrc and pDst points to input and output arrays    
- * containing blockSize Q31 values.    
- *    
- * \par Algorithm    
- * Each Biquad stage implements a second order filter using the difference equation:    
- * 
    
- *     y[n] = b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2]    
- * 
    
- * A Direct Form I algorithm is used with 5 coefficients and 4 state variables per stage.    
- * \image html Biquad.gif "Single Biquad filter stage"    
- * Coefficients b0, b1, and b2  multiply the input signal x[n] and are referred to as the feedforward coefficients.    
- * Coefficients a1 and a2 multiply the output signal y[n] and are referred to as the feedback coefficients.    
- * Pay careful attention to the sign of the feedback coefficients.    
- * Some design tools use the difference equation    
- * 
    
- *     y[n] = b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] - a1 * y[n-1] - a2 * y[n-2]    
- * 
    
- * In this case the feedback coefficients a1 and a2 must be negated when used with the CMSIS DSP Library.    
- *    
- * \par    
- * Higher order filters are realized as a cascade of second order sections.    
- * numStages refers to the number of second order stages used.    
- * For example, an 8th order filter would be realized with numStages=4 second order stages.    
- * \image html BiquadCascade.gif "8th order filter using a cascade of Biquad stages"    
- * A 9th order filter would be realized with numStages=5 second order stages with the coefficients for one of the stages configured as a first order filter (b2=0 and a2=0).    
- *    
- * \par    
- * The pState points to state variables array .    
- * Each Biquad stage has 4 state variables x[n-1], x[n-2], y[n-1], and y[n-2] and each state variable in 1.63 format to improve precision.    
- * The state variables are arranged in the array as:    
- * 
    
- *     {x[n-1], x[n-2], y[n-1], y[n-2]}    
- * 
    
- *    
- * \par    
- * The 4 state variables for stage 1 are first, then the 4 state variables for stage 2, and so on.    
- * The state array has a total length of 4*numStages values of data in 1.63 format.    
- * The state variables are updated after each block of data is processed; the coefficients are untouched.    
- *    
- * \par Instance Structure    
- * The coefficients and state variables for a filter are stored together in an instance data structure.    
- * A separate instance structure must be defined for each filter.    
- * Coefficient arrays may be shared among several instances while state variable arrays cannot be shared.    
- *    
- * \par Init Function    
- * There is also an associated initialization function which performs the following operations:    
- * - Sets the values of the internal structure fields.    
- * - Zeros out the values in the state buffer.    
- * \par    
- * Use of the initialization function is optional.    
- * However, if the initialization function is used, then the instance structure cannot be placed into a const data section.    
- * To place an instance structure into a const data section, the instance structure must be manually initialized.    
- * Set the values in the state buffer to zeros before static initialization.    
- * For example, to statically initialize the filter instance structure use    
- * 
    
- *     arm_biquad_cas_df1_32x64_ins_q31 S1 = {numStages, pState, pCoeffs, postShift};    
- * 
    
- * where numStages is the number of Biquad stages in the filter; pState is the address of the state buffer;    
- * pCoeffs is the address of the coefficient buffer; postShift shift to be applied which is described in detail below.    
- * \par Fixed-Point Behavior    
- * Care must be taken while using Biquad Cascade 32x64 filter function.    
- * Following issues must be considered:    
- * - Scaling of coefficients    
- * - Filter gain    
- * - Overflow and saturation    
- *    
- * \par    
- * Filter coefficients are represented as fractional values and    
- * restricted to lie in the range [-1 +1).    
- * The processing function has an additional scaling parameter postShift    
- * which allows the filter coefficients to exceed the range [+1 -1).    
- * At the output of the filter's accumulator is a shift register which shifts the result by postShift bits.    
- * \image html BiquadPostshift.gif "Fixed-point Biquad with shift by postShift bits after accumulator"    
- * This essentially scales the filter coefficients by 2^postShift.    
- * For example, to realize the coefficients    
- * 
    
- *    {1.5, -0.8, 1.2, 1.6, -0.9}    
- * 
    
- * set the Coefficient array to:    
- * 
    
- *    {0.75, -0.4, 0.6, 0.8, -0.45}    
- * 
    
- * and set postShift=1    
- *    
- * \par    
- * The second thing to keep in mind is the gain through the filter.    
- * The frequency response of a Biquad filter is a function of its coefficients.    
- * It is possible for the gain through the filter to exceed 1.0 meaning that the filter increases the amplitude of certain frequencies.    
- * This means that an input signal with amplitude < 1.0 may result in an output > 1.0 and these are saturated or overflowed based on the implementation of the filter.    
- * To avoid this behavior the filter needs to be scaled down such that its peak gain < 1.0 or the input signal must be scaled down so that the combination of input and filter are never overflowed.    
- *    
- * \par    
- * The third item to consider is the overflow and saturation behavior of the fixed-point Q31 version.    
- * This is described in the function specific documentation below.    
- */
-
-/**    
- * @addtogroup BiquadCascadeDF1_32x64    
- * @{    
- */
-
-/**    
- * @details    
-    
- * @param[in]  *S points to an instance of the high precision Q31 Biquad cascade filter.    
- * @param[in]  *pSrc points to the block of input data.    
- * @param[out] *pDst points to the block of output data.    
- * @param[in]  blockSize number of samples to process.    
- * @return none.    
- *    
- * \par    
- * The function is implemented using an internal 64-bit accumulator.    
- * The accumulator has a 2.62 format and maintains full precision of the intermediate multiplication results but provides only a single guard bit.    
- * Thus, if the accumulator result overflows it wraps around rather than clip.    
- * In order to avoid overflows completely the input signal must be scaled down by 2 bits and lie in the range [-0.25 +0.25).    
- * After all 5 multiply-accumulates are performed, the 2.62 accumulator is shifted by postShift bits and the result truncated to    
- * 1.31 format by discarding the low 32 bits.    
- *    
- * \par    
- * Two related functions are provided in the CMSIS DSP library.    
- * arm_biquad_cascade_df1_q31() implements a Biquad cascade with 32-bit coefficients and state variables with a Q63 accumulator.    
- * arm_biquad_cascade_df1_fast_q31() implements a Biquad cascade with 32-bit coefficients and state variables with a Q31 accumulator.    
- */
-
-void arm_biquad_cas_df1_32x64_q31(
-  const arm_biquad_cas_df1_32x64_ins_q31 * S,
-  q31_t * pSrc,
-  q31_t * pDst,
-  uint32_t blockSize)
-{
-  q31_t *pIn = pSrc;                             /*  input pointer initialization  */
-  q31_t *pOut = pDst;                            /*  output pointer initialization */
-  q63_t *pState = S->pState;                     /*  state pointer initialization  */
-  q31_t *pCoeffs = S->pCoeffs;                   /*  coeff pointer initialization  */
-  q63_t acc;                                     /*  accumulator                   */
-  q31_t Xn1, Xn2;                                /*  Input Filter state variables        */
-  q63_t Yn1, Yn2;                                /*  Output Filter state variables        */
-  q31_t b0, b1, b2, a1, a2;                      /*  Filter coefficients           */
-  q31_t Xn;                                      /*  temporary input               */
-  int32_t shift = (int32_t) S->postShift + 1;    /*  Shift to be applied to the output */
-  uint32_t sample, stage = S->numStages;         /*  loop counters                     */
-  q31_t acc_l, acc_h;                            /*  temporary output               */
-  uint32_t uShift = ((uint32_t) S->postShift + 1u);
-  uint32_t lShift = 32u - uShift;                /*  Shift to be applied to the output */
-
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  do
-  {
-    /* Reading the coefficients */
-    b0 = *pCoeffs++;
-    b1 = *pCoeffs++;
-    b2 = *pCoeffs++;
-    a1 = *pCoeffs++;
-    a2 = *pCoeffs++;
-
-    /* Reading the state values */
-    Xn1 = (q31_t) (pState[0]);
-    Xn2 = (q31_t) (pState[1]);
-    Yn1 = pState[2];
-    Yn2 = pState[3];
-
-    /* Apply loop unrolling and compute 4 output values simultaneously. */
-    /* The variable acc hold output value that is being computed and    
-     * stored in the destination buffer    
-     * acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2]    
-     */
-
-    sample = blockSize >> 2u;
-
-    /* First part of the processing with loop unrolling. Compute 4 outputs at a time.    
-     ** a second loop below computes the remaining 1 to 3 samples. */
-    while(sample > 0u)
-    {
-      /* Read the input */
-      Xn = *pIn++;
-
-      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
-
-      /* acc =  b0 * x[n] */
-      acc = (q63_t) Xn *b0;
-
-      /* acc +=  b1 * x[n-1] */
-      acc += (q63_t) Xn1 *b1;
-
-      /* acc +=  b[2] * x[n-2] */
-      acc += (q63_t) Xn2 *b2;
-
-      /* acc +=  a1 * y[n-1] */
-      acc += mult32x64(Yn1, a1);
-
-      /* acc +=  a2 * y[n-2] */
-      acc += mult32x64(Yn2, a2);
-
-      /* The result is converted to 1.63 , Yn2 variable is reused */
-      Yn2 = acc << shift;
-
-      /* Calc lower part of acc */
-      acc_l = acc & 0xffffffff;
-
-      /* Calc upper part of acc */
-      acc_h = (acc >> 32) & 0xffffffff;
-
-      /* Apply shift for lower part of acc and upper part of acc */
-      acc_h = (uint32_t) acc_l >> lShift | acc_h << uShift;
-
-      /* Store the output in the destination buffer in 1.31 format. */
-      *pOut = acc_h;
-
-      /* Read the second input into Xn2, to reuse the value */
-      Xn2 = *pIn++;
-
-      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
-
-      /* acc +=  b1 * x[n-1] */
-      acc = (q63_t) Xn *b1;
-
-      /* acc =  b0 * x[n] */
-      acc += (q63_t) Xn2 *b0;
-
-      /* acc +=  b[2] * x[n-2] */
-      acc += (q63_t) Xn1 *b2;
-
-      /* acc +=  a1 * y[n-1] */
-      acc += mult32x64(Yn2, a1);
-
-      /* acc +=  a2 * y[n-2] */
-      acc += mult32x64(Yn1, a2);
-
-      /* The result is converted to 1.63, Yn1 variable is reused */
-      Yn1 = acc << shift;
-
-      /* Calc lower part of acc */
-      acc_l = acc & 0xffffffff;
-
-      /* Calc upper part of acc */
-      acc_h = (acc >> 32) & 0xffffffff;
-
-      /* Apply shift for lower part of acc and upper part of acc */
-      acc_h = (uint32_t) acc_l >> lShift | acc_h << uShift;
-
-      /* Read the third input into Xn1, to reuse the value */
-      Xn1 = *pIn++;
-
-      /* The result is converted to 1.31 */
-      /* Store the output in the destination buffer. */
-      *(pOut + 1u) = acc_h;
-
-      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
-
-      /* acc =  b0 * x[n] */
-      acc = (q63_t) Xn1 *b0;
-
-      /* acc +=  b1 * x[n-1] */
-      acc += (q63_t) Xn2 *b1;
-
-      /* acc +=  b[2] * x[n-2] */
-      acc += (q63_t) Xn *b2;
-
-      /* acc +=  a1 * y[n-1] */
-      acc += mult32x64(Yn1, a1);
-
-      /* acc +=  a2 * y[n-2] */
-      acc += mult32x64(Yn2, a2);
-
-      /* The result is converted to 1.63, Yn2 variable is reused  */
-      Yn2 = acc << shift;
-
-      /* Calc lower part of acc */
-      acc_l = acc & 0xffffffff;
-
-      /* Calc upper part of acc */
-      acc_h = (acc >> 32) & 0xffffffff;
-
-      /* Apply shift for lower part of acc and upper part of acc */
-      acc_h = (uint32_t) acc_l >> lShift | acc_h << uShift;
-
-      /* Store the output in the destination buffer in 1.31 format. */
-      *(pOut + 2u) = acc_h;
-
-      /* Read the fourth input into Xn, to reuse the value */
-      Xn = *pIn++;
-
-      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
-      /* acc =  b0 * x[n] */
-      acc = (q63_t) Xn *b0;
-
-      /* acc +=  b1 * x[n-1] */
-      acc += (q63_t) Xn1 *b1;
-
-      /* acc +=  b[2] * x[n-2] */
-      acc += (q63_t) Xn2 *b2;
-
-      /* acc +=  a1 * y[n-1] */
-      acc += mult32x64(Yn2, a1);
-
-      /* acc +=  a2 * y[n-2] */
-      acc += mult32x64(Yn1, a2);
-
-      /* The result is converted to 1.63, Yn1 variable is reused  */
-      Yn1 = acc << shift;
-
-      /* Calc lower part of acc */
-      acc_l = acc & 0xffffffff;
-
-      /* Calc upper part of acc */
-      acc_h = (acc >> 32) & 0xffffffff;
-
-      /* Apply shift for lower part of acc and upper part of acc */
-      acc_h = (uint32_t) acc_l >> lShift | acc_h << uShift;
-
-      /* Store the output in the destination buffer in 1.31 format. */
-      *(pOut + 3u) = acc_h;
-
-      /* Every time after the output is computed state should be updated. */
-      /* The states should be updated as:  */
-      /* Xn2 = Xn1    */
-      /* Xn1 = Xn     */
-      /* Yn2 = Yn1    */
-      /* Yn1 = acc    */
-      Xn2 = Xn1;
-      Xn1 = Xn;
-
-      /* update output pointer */
-      pOut += 4u;
-
-      /* decrement the loop counter */
-      sample--;
-    }
-
-    /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
-     ** No loop unrolling is used. */
-    sample = (blockSize & 0x3u);
-
-    while(sample > 0u)
-    {
-      /* Read the input */
-      Xn = *pIn++;
-
-      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
-
-      /* acc =  b0 * x[n] */
-      acc = (q63_t) Xn *b0;
-      /* acc +=  b1 * x[n-1] */
-      acc += (q63_t) Xn1 *b1;
-      /* acc +=  b[2] * x[n-2] */
-      acc += (q63_t) Xn2 *b2;
-      /* acc +=  a1 * y[n-1] */
-      acc += mult32x64(Yn1, a1);
-      /* acc +=  a2 * y[n-2] */
-      acc += mult32x64(Yn2, a2);
-
-      /* Every time after the output is computed state should be updated. */
-      /* The states should be updated as:  */
-      /* Xn2 = Xn1    */
-      /* Xn1 = Xn     */
-      /* Yn2 = Yn1    */
-      /* Yn1 = acc    */
-      Xn2 = Xn1;
-      Xn1 = Xn;
-      Yn2 = Yn1;
-      /* The result is converted to 1.63, Yn1 variable is reused  */
-      Yn1 = acc << shift;
-
-      /* Calc lower part of acc */
-      acc_l = acc & 0xffffffff;
-
-      /* Calc upper part of acc */
-      acc_h = (acc >> 32) & 0xffffffff;
-
-      /* Apply shift for lower part of acc and upper part of acc */
-      acc_h = (uint32_t) acc_l >> lShift | acc_h << uShift;
-
-      /* Store the output in the destination buffer in 1.31 format. */
-      *pOut++ = acc_h;
-      //Yn1 = acc << shift; 
-
-      /* Store the output in the destination buffer in 1.31 format. */
-//      *pOut++ = (q31_t) (acc >> (32 - shift)); 
-
-      /* decrement the loop counter */
-      sample--;
-    }
-
-    /*  The first stage output is given as input to the second stage. */
-    pIn = pDst;
-
-    /* Reset to destination buffer working pointer */
-    pOut = pDst;
-
-    /*  Store the updated state variables back into the pState array */
-    /*  Store the updated state variables back into the pState array */
-    *pState++ = (q63_t) Xn1;
-    *pState++ = (q63_t) Xn2;
-    *pState++ = Yn1;
-    *pState++ = Yn2;
-
-  } while(--stage);
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  do
-  {
-    /* Reading the coefficients */
-    b0 = *pCoeffs++;
-    b1 = *pCoeffs++;
-    b2 = *pCoeffs++;
-    a1 = *pCoeffs++;
-    a2 = *pCoeffs++;
-
-    /* Reading the state values */
-    Xn1 = pState[0];
-    Xn2 = pState[1];
-    Yn1 = pState[2];
-    Yn2 = pState[3];
-
-    /* The variable acc hold output value that is being computed and        
-     * stored in the destination buffer            
-     * acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2]            
-     */
-
-    sample = blockSize;
-
-    while(sample > 0u)
-    {
-      /* Read the input */
-      Xn = *pIn++;
-
-      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
-      /* acc =  b0 * x[n] */
-      acc = (q63_t) Xn *b0;
-      /* acc +=  b1 * x[n-1] */
-      acc += (q63_t) Xn1 *b1;
-      /* acc +=  b[2] * x[n-2] */
-      acc += (q63_t) Xn2 *b2;
-      /* acc +=  a1 * y[n-1] */
-      acc += mult32x64(Yn1, a1);
-      /* acc +=  a2 * y[n-2] */
-      acc += mult32x64(Yn2, a2);
-
-      /* Every time after the output is computed state should be updated. */
-      /* The states should be updated as:  */
-      /* Xn2 = Xn1    */
-      /* Xn1 = Xn     */
-      /* Yn2 = Yn1    */
-      /* Yn1 = acc    */
-      Xn2 = Xn1;
-      Xn1 = Xn;
-      Yn2 = Yn1;
-
-      /* The result is converted to 1.63, Yn1 variable is reused  */
-      Yn1 = acc << shift;
-
-      /* Calc lower part of acc */
-      acc_l = acc & 0xffffffff;
-
-      /* Calc upper part of acc */
-      acc_h = (acc >> 32) & 0xffffffff;
-
-      /* Apply shift for lower part of acc and upper part of acc */
-      acc_h = (uint32_t) acc_l >> lShift | acc_h << uShift;
-
-      /* Store the output in the destination buffer in 1.31 format. */
-      *pOut++ = acc_h;
-
-      //Yn1 = acc << shift; 
-
-      /* Store the output in the destination buffer in 1.31 format. */
-      //*pOut++ = (q31_t) (acc >> (32 - shift)); 
-
-      /* decrement the loop counter */
-      sample--;
-    }
-
-    /*  The first stage output is given as input to the second stage. */
-    pIn = pDst;
-
-    /* Reset to destination buffer working pointer */
-    pOut = pDst;
-
-    /*  Store the updated state variables back into the pState array */
-    *pState++ = (q63_t) Xn1;
-    *pState++ = (q63_t) Xn2;
-    *pState++ = Yn1;
-    *pState++ = Yn2;
-
-  } while(--stage);
-
-#endif /*    #ifndef ARM_MATH_CM0     */
-}
-
-  /**    
-   * @} end of BiquadCascadeDF1_32x64 group    
-   */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_f32.c
deleted file mode 100644
index ee20dfeec..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_f32.c
+++ /dev/null
@@ -1,421 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_biquad_cascade_df1_f32.c    
-*    
-* Description:	Processing function for the    
-*               floating-point Biquad cascade DirectFormI(DF1) filter.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-*    
-* Version 0.0.5  2010/04/26     
-* 	 incorporated review comments and updated with latest CMSIS layer    
-*    
-* Version 0.0.3  2010/03/10     
-*    Initial version    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @defgroup BiquadCascadeDF1 Biquad Cascade IIR Filters Using Direct Form I Structure    
- *    
- * This set of functions implements arbitrary order recursive (IIR) filters.    
- * The filters are implemented as a cascade of second order Biquad sections.    
- * The functions support Q15, Q31 and floating-point data types.  
- * Fast version of Q15 and Q31 also supported on CortexM4 and Cortex-M3.    
- *    
- * The functions operate on blocks of input and output data and each call to the function    
- * processes blockSize samples through the filter.    
- * pSrc points to the array of input data and    
- * pDst points to the array of output data.    
- * Both arrays contain blockSize values.    
- *    
- * \par Algorithm    
- * Each Biquad stage implements a second order filter using the difference equation:    
- * 
    
- *     y[n] = b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2]    
- * 
    
- * A Direct Form I algorithm is used with 5 coefficients and 4 state variables per stage.    
- * \image html Biquad.gif "Single Biquad filter stage"    
- * Coefficients b0, b1 and b2  multiply the input signal x[n] and are referred to as the feedforward coefficients.    
- * Coefficients a1 and a2 multiply the output signal y[n] and are referred to as the feedback coefficients.    
- * Pay careful attention to the sign of the feedback coefficients.    
- * Some design tools use the difference equation    
- * 
    
- *     y[n] = b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] - a1 * y[n-1] - a2 * y[n-2]    
- * 
    
- * In this case the feedback coefficients a1 and a2 must be negated when used with the CMSIS DSP Library.    
- *    
- * \par    
- * Higher order filters are realized as a cascade of second order sections.    
- * numStages refers to the number of second order stages used.    
- * For example, an 8th order filter would be realized with numStages=4 second order stages.    
- * \image html BiquadCascade.gif "8th order filter using a cascade of Biquad stages"    
- * A 9th order filter would be realized with numStages=5 second order stages with the coefficients for one of the stages configured as a first order filter (b2=0 and a2=0).    
- *    
- * \par    
- * The pState points to state variables array.    
- * Each Biquad stage has 4 state variables x[n-1], x[n-2], y[n-1], and y[n-2].    
- * The state variables are arranged in the pState array as:    
- * 
    
- *     {x[n-1], x[n-2], y[n-1], y[n-2]}    
- * 
    
- *    
- * \par    
- * The 4 state variables for stage 1 are first, then the 4 state variables for stage 2, and so on.    
- * The state array has a total length of 4*numStages values.    
- * The state variables are updated after each block of data is processed, the coefficients are untouched.    
- *    
- * \par Instance Structure    
- * The coefficients and state variables for a filter are stored together in an instance data structure.    
- * A separate instance structure must be defined for each filter.    
- * Coefficient arrays may be shared among several instances while state variable arrays cannot be shared.    
- * There are separate instance structure declarations for each of the 3 supported data types.    
- *    
- * \par Init Functions    
- * There is also an associated initialization function for each data type.    
- * The initialization function performs following operations:    
- * - Sets the values of the internal structure fields.    
- * - Zeros out the values in the state buffer.    
- *    
- * \par    
- * Use of the initialization function is optional.    
- * However, if the initialization function is used, then the instance structure cannot be placed into a const data section.    
- * To place an instance structure into a const data section, the instance structure must be manually initialized.    
- * Set the values in the state buffer to zeros before static initialization.    
- * The code below statically initializes each of the 3 different data type filter instance structures    
- * 
    
- *     arm_biquad_casd_df1_inst_f32 S1 = {numStages, pState, pCoeffs};    
- *     arm_biquad_casd_df1_inst_q15 S2 = {numStages, pState, pCoeffs, postShift};    
- *     arm_biquad_casd_df1_inst_q31 S3 = {numStages, pState, pCoeffs, postShift};    
- * 
    
- * where numStages is the number of Biquad stages in the filter; pState is the address of the state buffer;    
- * pCoeffs is the address of the coefficient buffer; postShift shift to be applied.    
- *    
- * \par Fixed-Point Behavior    
- * Care must be taken when using the Q15 and Q31 versions of the Biquad Cascade filter functions.    
- * Following issues must be considered:    
- * - Scaling of coefficients    
- * - Filter gain    
- * - Overflow and saturation    
- *    
- * \par    
- * Scaling of coefficients:     
- * Filter coefficients are represented as fractional values and    
- * coefficients are restricted to lie in the range [-1 +1).    
- * The fixed-point functions have an additional scaling parameter postShift    
- * which allow the filter coefficients to exceed the range [+1 -1).    
- * At the output of the filter's accumulator is a shift register which shifts the result by postShift bits.    
- * \image html BiquadPostshift.gif "Fixed-point Biquad with shift by postShift bits after accumulator"    
- * This essentially scales the filter coefficients by 2^postShift.    
- * For example, to realize the coefficients    
- * 
    
- *    {1.5, -0.8, 1.2, 1.6, -0.9}    
- * 
    
- * set the pCoeffs array to:    
- * 
    
- *    {0.75, -0.4, 0.6, 0.8, -0.45}    
- * 
    
- * and set postShift=1    
- *    
- * \par    
- * Filter gain:     
- * The frequency response of a Biquad filter is a function of its coefficients.    
- * It is possible for the gain through the filter to exceed 1.0 meaning that the filter increases the amplitude of certain frequencies.    
- * This means that an input signal with amplitude < 1.0 may result in an output > 1.0 and these are saturated or overflowed based on the implementation of the filter.    
- * To avoid this behavior the filter needs to be scaled down such that its peak gain < 1.0 or the input signal must be scaled down so that the combination of input and filter are never overflowed.    
- *    
- * \par    
- * Overflow and saturation:     
- * For Q15 and Q31 versions, it is described separately as part of the function specific documentation below.    
- */
-
-/**    
- * @addtogroup BiquadCascadeDF1    
- * @{    
- */
-
-/**    
- * @param[in]  *S         points to an instance of the floating-point Biquad cascade structure.    
- * @param[in]  *pSrc      points to the block of input data.    
- * @param[out] *pDst      points to the block of output data.    
- * @param[in]  blockSize  number of samples to process per call.    
- * @return     none.    
- *    
- */
-
-void arm_biquad_cascade_df1_f32(
-  const arm_biquad_casd_df1_inst_f32 * S,
-  float32_t * pSrc,
-  float32_t * pDst,
-  uint32_t blockSize)
-{
-  float32_t *pIn = pSrc;                         /*  source pointer            */
-  float32_t *pOut = pDst;                        /*  destination pointer       */
-  float32_t *pState = S->pState;                 /*  pState pointer            */
-  float32_t *pCoeffs = S->pCoeffs;               /*  coefficient pointer       */
-  float32_t acc;                                 /*  Simulates the accumulator */
-  float32_t b0, b1, b2, a1, a2;                  /*  Filter coefficients       */
-  float32_t Xn1, Xn2, Yn1, Yn2;                  /*  Filter pState variables   */
-  float32_t Xn;                                  /*  temporary input           */
-  uint32_t sample, stage = S->numStages;         /*  loop counters             */
-
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  do
-  {
-    /* Reading the coefficients */
-    b0 = *pCoeffs++;
-    b1 = *pCoeffs++;
-    b2 = *pCoeffs++;
-    a1 = *pCoeffs++;
-    a2 = *pCoeffs++;
-
-    /* Reading the pState values */
-    Xn1 = pState[0];
-    Xn2 = pState[1];
-    Yn1 = pState[2];
-    Yn2 = pState[3];
-
-    /* Apply loop unrolling and compute 4 output values simultaneously. */
-    /*      The variable acc hold output values that are being computed:    
-     *    
-     *    acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1]   + a2 * y[n-2]    
-     *    acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1]   + a2 * y[n-2]    
-     *    acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1]   + a2 * y[n-2]    
-     *    acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1]   + a2 * y[n-2]    
-     */
-
-    sample = blockSize >> 2u;
-
-    /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-     ** a second loop below computes the remaining 1 to 3 samples. */
-    while(sample > 0u)
-    {
-      /* Read the first input */
-      Xn = *pIn++;
-
-      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
-      Yn2 = (b0 * Xn) + (b1 * Xn1) + (b2 * Xn2) + (a1 * Yn1) + (a2 * Yn2);
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut++ = Yn2;
-
-      /* Every time after the output is computed state should be updated. */
-      /* The states should be updated as:  */
-      /* Xn2 = Xn1    */
-      /* Xn1 = Xn     */
-      /* Yn2 = Yn1    */
-      /* Yn1 = acc   */
-
-      /* Read the second input */
-      Xn2 = *pIn++;
-
-      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
-      Yn1 = (b0 * Xn2) + (b1 * Xn) + (b2 * Xn1) + (a1 * Yn2) + (a2 * Yn1);
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut++ = Yn1;
-
-      /* Every time after the output is computed state should be updated. */
-      /* The states should be updated as:  */
-      /* Xn2 = Xn1    */
-      /* Xn1 = Xn     */
-      /* Yn2 = Yn1    */
-      /* Yn1 = acc   */
-
-      /* Read the third input */
-      Xn1 = *pIn++;
-
-      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
-      Yn2 = (b0 * Xn1) + (b1 * Xn2) + (b2 * Xn) + (a1 * Yn1) + (a2 * Yn2);
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut++ = Yn2;
-
-      /* Every time after the output is computed state should be updated. */
-      /* The states should be updated as: */
-      /* Xn2 = Xn1    */
-      /* Xn1 = Xn     */
-      /* Yn2 = Yn1    */
-      /* Yn1 = acc   */
-
-      /* Read the forth input */
-      Xn = *pIn++;
-
-      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
-      Yn1 = (b0 * Xn) + (b1 * Xn1) + (b2 * Xn2) + (a1 * Yn2) + (a2 * Yn1);
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut++ = Yn1;
-
-      /* Every time after the output is computed state should be updated. */
-      /* The states should be updated as:  */
-      /* Xn2 = Xn1    */
-      /* Xn1 = Xn     */
-      /* Yn2 = Yn1    */
-      /* Yn1 = acc   */
-      Xn2 = Xn1;
-      Xn1 = Xn;
-
-      /* decrement the loop counter */
-      sample--;
-
-    }
-
-    /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
-     ** No loop unrolling is used. */
-    sample = blockSize & 0x3u;
-
-    while(sample > 0u)
-    {
-      /* Read the input */
-      Xn = *pIn++;
-
-      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
-      acc = (b0 * Xn) + (b1 * Xn1) + (b2 * Xn2) + (a1 * Yn1) + (a2 * Yn2);
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut++ = acc;
-
-      /* Every time after the output is computed state should be updated. */
-      /* The states should be updated as:    */
-      /* Xn2 = Xn1    */
-      /* Xn1 = Xn     */
-      /* Yn2 = Yn1    */
-      /* Yn1 = acc   */
-      Xn2 = Xn1;
-      Xn1 = Xn;
-      Yn2 = Yn1;
-      Yn1 = acc;
-
-      /* decrement the loop counter */
-      sample--;
-
-    }
-
-    /*  Store the updated state variables back into the pState array */
-    *pState++ = Xn1;
-    *pState++ = Xn2;
-    *pState++ = Yn1;
-    *pState++ = Yn2;
-
-    /*  The first stage goes from the input buffer to the output buffer. */
-    /*  Subsequent numStages  occur in-place in the output buffer */
-    pIn = pDst;
-
-    /* Reset the output pointer */
-    pOut = pDst;
-
-    /* decrement the loop counter */
-    stage--;
-
-  } while(stage > 0u);
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  do
-  {
-    /* Reading the coefficients */
-    b0 = *pCoeffs++;
-    b1 = *pCoeffs++;
-    b2 = *pCoeffs++;
-    a1 = *pCoeffs++;
-    a2 = *pCoeffs++;
-
-    /* Reading the pState values */
-    Xn1 = pState[0];
-    Xn2 = pState[1];
-    Yn1 = pState[2];
-    Yn2 = pState[3];
-
-    /*      The variables acc holds the output value that is computed:        
-     *    acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1]   + a2 * y[n-2]        
-     */
-
-    sample = blockSize;
-
-    while(sample > 0u)
-    {
-      /* Read the input */
-      Xn = *pIn++;
-
-      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
-      acc = (b0 * Xn) + (b1 * Xn1) + (b2 * Xn2) + (a1 * Yn1) + (a2 * Yn2);
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut++ = acc;
-
-      /* Every time after the output is computed state should be updated. */
-      /* The states should be updated as:    */
-      /* Xn2 = Xn1    */
-      /* Xn1 = Xn     */
-      /* Yn2 = Yn1    */
-      /* Yn1 = acc   */
-      Xn2 = Xn1;
-      Xn1 = Xn;
-      Yn2 = Yn1;
-      Yn1 = acc;
-
-      /* decrement the loop counter */
-      sample--;
-    }
-
-    /*  Store the updated state variables back into the pState array */
-    *pState++ = Xn1;
-    *pState++ = Xn2;
-    *pState++ = Yn1;
-    *pState++ = Yn2;
-
-    /*  The first stage goes from the input buffer to the output buffer. */
-    /*  Subsequent numStages  occur in-place in the output buffer */
-    pIn = pDst;
-
-    /* Reset the output pointer */
-    pOut = pDst;
-
-    /* decrement the loop counter */
-    stage--;
-
-  } while(stage > 0u);
-
-#endif /*   #ifndef ARM_MATH_CM0         */
-
-}
-
-
-  /**    
-   * @} end of BiquadCascadeDF1 group    
-   */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q15.c
deleted file mode 100644
index 29afffa03..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q15.c
+++ /dev/null
@@ -1,283 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_biquad_cascade_df1_fast_q15.c    
-*    
-* Description:	Fast processing function for the    
-*				Q15 Biquad cascade filter.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-*    
-* Version 0.0.9  2010/08/16     
-*    Initial version    
-*    
-*    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup BiquadCascadeDF1    
- * @{    
- */
-
-/**    
- * @details    
- * @param[in]  *S points to an instance of the Q15 Biquad cascade structure.    
- * @param[in]  *pSrc points to the block of input data.    
- * @param[out] *pDst points to the block of output data.    
- * @param[in]  blockSize number of samples to process per call.    
- * @return none.    
- *    
- * Scaling and Overflow Behavior:    
- * \par    
- * This fast version uses a 32-bit accumulator with 2.30 format.    
- * The accumulator maintains full precision of the intermediate multiplication results but provides only a single guard bit.    
- * Thus, if the accumulator result overflows it wraps around and distorts the result.    
- * In order to avoid overflows completely the input signal must be scaled down by two bits and lie in the range [-0.25 +0.25).    
- * The 2.30 accumulator is then shifted by postShift bits and the result truncated to 1.15 format by discarding the low 16 bits.    
- *    
- * \par    
- * Refer to the function arm_biquad_cascade_df1_q15() for a slower implementation of this function which uses 64-bit accumulation to avoid wrap around distortion.  Both the slow and the fast versions use the same instance structure.    
- * Use the function arm_biquad_cascade_df1_init_q15() to initialize the filter structure.    
- *    
- */
-
-void arm_biquad_cascade_df1_fast_q15(
-  const arm_biquad_casd_df1_inst_q15 * S,
-  q15_t * pSrc,
-  q15_t * pDst,
-  uint32_t blockSize)
-{
-  q15_t *pIn = pSrc;                             /*  Source pointer                               */
-  q15_t *pOut = pDst;                            /*  Destination pointer                          */
-  q31_t in;                                      /*  Temporary variable to hold input value       */
-  q31_t out;                                     /*  Temporary variable to hold output value      */
-  q31_t b0;                                      /*  Temporary variable to hold bo value          */
-  q31_t b1, a1;                                  /*  Filter coefficients                          */
-  q31_t state_in, state_out;                     /*  Filter state variables                       */
-  q31_t acc;                                     /*  Accumulator                                  */
-  int32_t shift = (int32_t) (15 - S->postShift); /*  Post shift                                   */
-  q15_t *pState = S->pState;                     /*  State pointer                                */
-  q15_t *pCoeffs = S->pCoeffs;                   /*  Coefficient pointer                          */
-  uint32_t sample, stage = S->numStages;         /*  Stage loop counter                           */
-
-
-
-  do
-  {
-
-    /* Read the b0 and 0 coefficients using SIMD  */
-    b0 = *__SIMD32(pCoeffs)++;
-
-    /* Read the b1 and b2 coefficients using SIMD */
-    b1 = *__SIMD32(pCoeffs)++;
-
-    /* Read the a1 and a2 coefficients using SIMD */
-    a1 = *__SIMD32(pCoeffs)++;
-
-    /* Read the input state values from the state buffer:  x[n-1], x[n-2] */
-    state_in = *__SIMD32(pState)++;
-
-    /* Read the output state values from the state buffer:  y[n-1], y[n-2] */
-    state_out = *__SIMD32(pState)--;
-
-    /* Apply loop unrolling and compute 2 output values simultaneously. */
-    /*      The variable acc hold output values that are being computed:       
-     *    
-     *    acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2]       
-     *    acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2]       
-     */
-    sample = blockSize >> 1u;
-
-    /* First part of the processing with loop unrolling.  Compute 2 outputs at a time.    
-     ** a second loop below computes the remaining 1 sample. */
-    while(sample > 0u)
-    {
-
-      /* Read the input */
-      in = *__SIMD32(pIn)++;
-
-      /* out =  b0 * x[n] + 0 * 0 */
-      out = __SMUAD(b0, in);
-      /* acc =  b1 * x[n-1] + acc +=  b2 * x[n-2] + out */
-      acc = __SMLAD(b1, state_in, out);
-      /* acc +=  a1 * y[n-1] + acc +=  a2 * y[n-2] */
-      acc = __SMLAD(a1, state_out, acc);
-
-      /* The result is converted from 3.29 to 1.31 and then saturation is applied */
-      out = __SSAT((acc >> shift), 16);
-
-      /* Every time after the output is computed state should be updated. */
-      /* The states should be updated as:  */
-      /* Xn2 = Xn1    */
-      /* Xn1 = Xn     */
-      /* Yn2 = Yn1    */
-      /* Yn1 = acc   */
-      /* x[n-N], x[n-N-1] are packed together to make state_in of type q31 */
-      /* y[n-N], y[n-N-1] are packed together to make state_out of type q31 */
-
-#ifndef  ARM_MATH_BIG_ENDIAN
-
-      state_in = __PKHBT(in, state_in, 16);
-      state_out = __PKHBT(out, state_out, 16);
-
-#else
-
-      state_in = __PKHBT(state_in >> 16, (in >> 16), 16);
-      state_out = __PKHBT(state_out >> 16, (out), 16);
-
-#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
-
-      /* out =  b0 * x[n] + 0 * 0 */
-      out = __SMUADX(b0, in);
-      /* acc0 =  b1 * x[n-1] , acc0 +=  b2 * x[n-2] + out */
-      acc = __SMLAD(b1, state_in, out);
-      /* acc +=  a1 * y[n-1] + acc +=  a2 * y[n-2] */
-      acc = __SMLAD(a1, state_out, acc);
-
-      /* The result is converted from 3.29 to 1.31 and then saturation is applied */
-      out = __SSAT((acc >> shift), 16);
-
-
-      /* Store the output in the destination buffer. */
-
-#ifndef  ARM_MATH_BIG_ENDIAN
-
-      *__SIMD32(pOut)++ = __PKHBT(state_out, out, 16);
-
-#else
-
-      *__SIMD32(pOut)++ = __PKHBT(out, state_out >> 16, 16);
-
-#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
-
-      /* Every time after the output is computed state should be updated. */
-      /* The states should be updated as:  */
-      /* Xn2 = Xn1    */
-      /* Xn1 = Xn     */
-      /* Yn2 = Yn1    */
-      /* Yn1 = acc   */
-      /* x[n-N], x[n-N-1] are packed together to make state_in of type q31 */
-      /* y[n-N], y[n-N-1] are packed together to make state_out of type q31 */
-
-#ifndef  ARM_MATH_BIG_ENDIAN
-
-      state_in = __PKHBT(in >> 16, state_in, 16);
-      state_out = __PKHBT(out, state_out, 16);
-
-#else
-
-      state_in = __PKHBT(state_in >> 16, in, 16);
-      state_out = __PKHBT(state_out >> 16, out, 16);
-
-#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
-
-
-      /* Decrement the loop counter */
-      sample--;
-
-    }
-
-    /* If the blockSize is not a multiple of 2, compute any remaining output samples here.    
-     ** No loop unrolling is used. */
-
-    if((blockSize & 0x1u) != 0u)
-    {
-      /* Read the input */
-      in = *pIn++;
-
-      /* out =  b0 * x[n] + 0 * 0 */
-
-#ifndef  ARM_MATH_BIG_ENDIAN
-
-      out = __SMUAD(b0, in);
-
-#else
-
-      out = __SMUADX(b0, in);
-
-#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
-
-      /* acc =  b1 * x[n-1], acc +=  b2 * x[n-2] + out */
-      acc = __SMLAD(b1, state_in, out);
-      /* acc +=  a1 * y[n-1] + acc +=  a2 * y[n-2] */
-      acc = __SMLAD(a1, state_out, acc);
-
-      /* The result is converted from 3.29 to 1.31 and then saturation is applied */
-      out = __SSAT((acc >> shift), 16);
-
-      /* Store the output in the destination buffer. */
-      *pOut++ = (q15_t) out;
-
-      /* Every time after the output is computed state should be updated. */
-      /* The states should be updated as:  */
-      /* Xn2 = Xn1    */
-      /* Xn1 = Xn     */
-      /* Yn2 = Yn1    */
-      /* Yn1 = acc   */
-      /* x[n-N], x[n-N-1] are packed together to make state_in of type q31 */
-      /* y[n-N], y[n-N-1] are packed together to make state_out of type q31 */
-
-#ifndef  ARM_MATH_BIG_ENDIAN
-
-      state_in = __PKHBT(in, state_in, 16);
-      state_out = __PKHBT(out, state_out, 16);
-
-#else
-
-      state_in = __PKHBT(state_in >> 16, in, 16);
-      state_out = __PKHBT(state_out >> 16, out, 16);
-
-#endif /*   #ifndef  ARM_MATH_BIG_ENDIAN    */
-
-    }
-
-    /*  The first stage goes from the input buffer to the output buffer.  */
-    /*  Subsequent (numStages - 1) occur in-place in the output buffer  */
-    pIn = pDst;
-
-    /* Reset the output pointer */
-    pOut = pDst;
-
-    /*  Store the updated state variables back into the state array */
-    *__SIMD32(pState)++ = state_in;
-    *__SIMD32(pState)++ = state_out;
-
-
-    /* Decrement the loop counter */
-    stage--;
-
-  } while(stage > 0u);
-}
-
-
-/**    
- * @} end of BiquadCascadeDF1 group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q31.c
deleted file mode 100644
index 0a479fe6b..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q31.c
+++ /dev/null
@@ -1,275 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_biquad_cascade_df1_fast_q31.c    
-*    
-* Description:	Processing function for the    
-*				Q31 Fast Biquad cascade DirectFormI(DF1) filter.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-*    
-* Version 0.0.9  2010/08/27     
-*    Initial version    
-*    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup BiquadCascadeDF1    
- * @{    
- */
-
-/**    
- * @details    
- *    
- * @param[in]  *S        points to an instance of the Q31 Biquad cascade structure.    
- * @param[in]  *pSrc     points to the block of input data.    
- * @param[out] *pDst     points to the block of output data.    
- * @param[in]  blockSize number of samples to process per call.    
- * @return 	   none.    
- *    
- * Scaling and Overflow Behavior:    
- * \par    
- * This function is optimized for speed at the expense of fixed-point precision and overflow protection.    
- * The result of each 1.31 x 1.31 multiplication is truncated to 2.30 format.    
- * These intermediate results are added to a 2.30 accumulator.    
- * Finally, the accumulator is saturated and converted to a 1.31 result.    
- * The fast version has the same overflow behavior as the standard version and provides less precision since it discards the low 32 bits of each multiplication result.    
- * In order to avoid overflows completely the input signal must be scaled down by two bits and lie in the range [-0.25 +0.25). Use the intialization function    
- * arm_biquad_cascade_df1_init_q31() to initialize filter structure.    
- *    
- * \par    
- * Refer to the function arm_biquad_cascade_df1_q31() for a slower implementation of this function which uses 64-bit accumulation to provide higher precision.  Both the slow and the fast versions use the same instance structure.    
- * Use the function arm_biquad_cascade_df1_init_q31() to initialize the filter structure.    
- */
-
-void arm_biquad_cascade_df1_fast_q31(
-  const arm_biquad_casd_df1_inst_q31 * S,
-  q31_t * pSrc,
-  q31_t * pDst,
-  uint32_t blockSize)
-{
-  q31_t acc;                                     /*  accumulator                   */
-  q31_t Xn1, Xn2, Yn1, Yn2;                      /*  Filter state variables        */
-  q31_t b0, b1, b2, a1, a2;                      /*  Filter coefficients           */
-  q31_t *pIn = pSrc;                             /*  input pointer initialization  */
-  q31_t *pOut = pDst;                            /*  output pointer initialization */
-  q31_t *pState = S->pState;                     /*  pState pointer initialization */
-  q31_t *pCoeffs = S->pCoeffs;                   /*  coeff pointer initialization  */
-  q31_t Xn;                                      /*  temporary input               */
-  int32_t shift = (int32_t) S->postShift + 1;    /*  Shift to be applied to the output */
-  uint32_t sample, stage = S->numStages;         /*  loop counters                     */
-
-
-  do
-  {
-    /* Reading the coefficients */
-    b0 = *pCoeffs++;
-    b1 = *pCoeffs++;
-    b2 = *pCoeffs++;
-    a1 = *pCoeffs++;
-    a2 = *pCoeffs++;
-
-    /* Reading the state values */
-    Xn1 = pState[0];
-    Xn2 = pState[1];
-    Yn1 = pState[2];
-    Yn2 = pState[3];
-
-    /* Apply loop unrolling and compute 4 output values simultaneously. */
-    /*      The variables acc ... acc3 hold output values that are being computed:       
-     *       
-     *    acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2]       
-     */
-
-    sample = blockSize >> 2u;
-
-    /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.       
-     ** a second loop below computes the remaining 1 to 3 samples. */
-    while(sample > 0u)
-    {
-      /* Read the input */
-      Xn = *pIn;
-
-      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
-      /* acc =  b0 * x[n] */
-      acc = (q31_t) (((q63_t) b1 * Xn1) >> 32);
-      /* acc +=  b1 * x[n-1] */
-      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) b0 * (Xn))) >> 32);
-      /* acc +=  b[2] * x[n-2] */
-      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) b2 * (Xn2))) >> 32);
-      /* acc +=  a1 * y[n-1] */
-      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) a1 * (Yn1))) >> 32);
-      /* acc +=  a2 * y[n-2] */
-      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) a2 * (Yn2))) >> 32);
-
-      /* The result is converted to 1.31 , Yn2 variable is reused */
-      Yn2 = acc << shift;
-
-      /* Read the second input */
-      Xn2 = *(pIn + 1u);
-
-      /* Store the output in the destination buffer. */
-      *pOut = Yn2;
-
-      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
-      /* acc =  b0 * x[n] */
-      acc = (q31_t) (((q63_t) b0 * (Xn2)) >> 32);
-      /* acc +=  b1 * x[n-1] */
-      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) b1 * (Xn))) >> 32);
-      /* acc +=  b[2] * x[n-2] */
-      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) b2 * (Xn1))) >> 32);
-      /* acc +=  a1 * y[n-1] */
-      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) a1 * (Yn2))) >> 32);
-      /* acc +=  a2 * y[n-2] */
-      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) a2 * (Yn1))) >> 32);
-
-      /* The result is converted to 1.31, Yn1 variable is reused  */
-      Yn1 = acc << shift;
-
-      /* Read the third input  */
-      Xn1 = *(pIn + 2u);
-
-      /* Store the output in the destination buffer. */
-      *(pOut + 1u) = Yn1;
-
-      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
-      /* acc =  b0 * x[n] */
-      acc = (q31_t) (((q63_t) b0 * (Xn1)) >> 32);
-      /* acc +=  b1 * x[n-1] */
-      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) b1 * (Xn2))) >> 32);
-      /* acc +=  b[2] * x[n-2] */
-      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) b2 * (Xn))) >> 32);
-      /* acc +=  a1 * y[n-1] */
-      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) a1 * (Yn1))) >> 32);
-      /* acc +=  a2 * y[n-2] */
-      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) a2 * (Yn2))) >> 32);
-
-      /* The result is converted to 1.31, Yn2 variable is reused  */
-      Yn2 = acc << shift;
-
-      /* Read the forth input */
-      Xn = *(pIn + 3u);
-
-      /* Store the output in the destination buffer. */
-      *(pOut + 2u) = Yn2;
-      pIn += 4u;
-
-      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
-      /* acc =  b0 * x[n] */
-      acc = (q31_t) (((q63_t) b0 * (Xn)) >> 32);
-      /* acc +=  b1 * x[n-1] */
-      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) b1 * (Xn1))) >> 32);
-      /* acc +=  b[2] * x[n-2] */
-      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) b2 * (Xn2))) >> 32);
-      /* acc +=  a1 * y[n-1] */
-      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) a1 * (Yn2))) >> 32);
-      /* acc +=  a2 * y[n-2] */
-      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) a2 * (Yn1))) >> 32);
-
-      /* Every time after the output is computed state should be updated. */
-      /* The states should be updated as:  */
-      /* Xn2 = Xn1    */
-      Xn2 = Xn1;
-
-      /* The result is converted to 1.31, Yn1 variable is reused  */
-      Yn1 = acc << shift;
-
-      /* Xn1 = Xn     */
-      Xn1 = Xn;
-
-      /* Store the output in the destination buffer. */
-      *(pOut + 3u) = Yn1;
-      pOut += 4u;
-
-      /* decrement the loop counter */
-      sample--;
-    }
-
-    /* If the blockSize is not a multiple of 4, compute any remaining output samples here.       
-     ** No loop unrolling is used. */
-    sample = (blockSize & 0x3u);
-
-    while(sample > 0u)
-    {
-      /* Read the input */
-      Xn = *pIn++;
-
-      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
-      /* acc =  b0 * x[n] */
-      acc = (q31_t) (((q63_t) b0 * (Xn)) >> 32);
-      /* acc +=  b1 * x[n-1] */
-      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) b1 * (Xn1))) >> 32);
-      /* acc +=  b[2] * x[n-2] */
-      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) b2 * (Xn2))) >> 32);
-      /* acc +=  a1 * y[n-1] */
-      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) a1 * (Yn1))) >> 32);
-      /* acc +=  a2 * y[n-2] */
-      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) a2 * (Yn2))) >> 32);
-      /* The result is converted to 1.31  */
-      acc = acc << shift;
-
-      /* Every time after the output is computed state should be updated. */
-      /* The states should be updated as:  */
-      /* Xn2 = Xn1    */
-      /* Xn1 = Xn     */
-      /* Yn2 = Yn1    */
-      /* Yn1 = acc    */
-      Xn2 = Xn1;
-      Xn1 = Xn;
-      Yn2 = Yn1;
-      Yn1 = acc;
-
-      /* Store the output in the destination buffer. */
-      *pOut++ = acc;
-
-      /* decrement the loop counter */
-      sample--;
-    }
-
-    /*  The first stage goes from the input buffer to the output buffer. */
-    /*  Subsequent stages occur in-place in the output buffer */
-    pIn = pDst;
-
-    /* Reset to destination pointer */
-    pOut = pDst;
-
-    /*  Store the updated state variables back into the pState array */
-    *pState++ = Xn1;
-    *pState++ = Xn2;
-    *pState++ = Yn1;
-    *pState++ = Yn2;
-
-  } while(--stage);
-}
-
-/**    
-  * @} end of BiquadCascadeDF1 group    
-  */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_f32.c
deleted file mode 100644
index d50b69f3c..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_f32.c
+++ /dev/null
@@ -1,107 +0,0 @@
-/*-----------------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:        arm_biquad_cascade_df1_init_f32.c    
-*    
-* Description:  floating-point Biquad cascade DirectFormI(DF1) filter initialization function.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-*    
-* Version 0.0.5  2010/04/26     
-* 	 incorporated review comments and updated with latest CMSIS layer    
-*    
-* Version 0.0.3  2010/03/10     
-*    Initial version    
-* ---------------------------------------------------------------------------*/
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup BiquadCascadeDF1    
- * @{    
- */
-
-/**    
- * @details    
- * @brief  Initialization function for the floating-point Biquad cascade filter.    
- * @param[in,out] *S           points to an instance of the floating-point Biquad cascade structure.    
- * @param[in]     numStages    number of 2nd order stages in the filter.    
- * @param[in]     *pCoeffs     points to the filter coefficients array.    
- * @param[in]     *pState      points to the state array.    
- * @return        none    
- *    
- *    
- * Coefficient and State Ordering:    
- *    
- * \par    
- * The coefficients are stored in the array pCoeffs in the following order:    
- * 
    
- *     {b10, b11, b12, a11, a12, b20, b21, b22, a21, a22, ...}    
- * 
    
- *    
- * \par    
- * where b1x and a1x are the coefficients for the first stage,    
- * b2x and a2x are the coefficients for the second stage,    
- * and so on.  The pCoeffs array contains a total of 5*numStages values.    
- *    
- * \par    
- * The pState is a pointer to state array.    
- * Each Biquad stage has 4 state variables x[n-1], x[n-2], y[n-1], and y[n-2].    
- * The state variables are arranged in the pState array as:    
- * 
    
- *     {x[n-1], x[n-2], y[n-1], y[n-2]}    
- * 
    
- * The 4 state variables for stage 1 are first, then the 4 state variables for stage 2, and so on.    
- * The state array has a total length of 4*numStages values.    
- * The state variables are updated after each block of data is processed; the coefficients are untouched.    
- *    
- */
-
-void arm_biquad_cascade_df1_init_f32(
-  arm_biquad_casd_df1_inst_f32 * S,
-  uint8_t numStages,
-  float32_t * pCoeffs,
-  float32_t * pState)
-{
-  /* Assign filter stages */
-  S->numStages = numStages;
-
-  /* Assign coefficient pointer */
-  S->pCoeffs = pCoeffs;
-
-  /* Clear state buffer and size is always 4 * numStages */
-  memset(pState, 0, (4u * (uint32_t) numStages) * sizeof(float32_t));
-
-  /* Assign state pointer */
-  S->pState = pState;
-}
-
-/**    
- * @} end of BiquadCascadeDF1 group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q15.c
deleted file mode 100644
index d5fda28ac..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q15.c
+++ /dev/null
@@ -1,109 +0,0 @@
-/*-----------------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:        arm_biquad_cascade_df1_init_q15.c    
-*    
-* Description:  Q15 Biquad cascade DirectFormI(DF1) filter initialization function.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-*    
-* Version 0.0.5  2010/04/26     
-* 	 incorporated review comments and updated with latest CMSIS layer    
-*    
-* Version 0.0.3  2010/03/10     
-*    Initial version    
-* ---------------------------------------------------------------------------*/
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup BiquadCascadeDF1    
- * @{    
- */
-
-/**    
- * @details    
- *    
- * @param[in,out] *S           points to an instance of the Q15 Biquad cascade structure.    
- * @param[in]     numStages    number of 2nd order stages in the filter.    
- * @param[in]     *pCoeffs     points to the filter coefficients.    
- * @param[in]     *pState      points to the state buffer.    
- * @param[in]     postShift    Shift to be applied to the accumulator result. Varies according to the coefficients format    
- * @return        none    
- *    
- * Coefficient and State Ordering:    
- *    
- * \par    
- * The coefficients are stored in the array pCoeffs in the following order:    
- * 
    
- *     {b10, 0, b11, b12, a11, a12, b20, 0, b21, b22, a21, a22, ...}    
- * 
    
- * where b1x and a1x are the coefficients for the first stage,    
- * b2x and a2x are the coefficients for the second stage,    
- * and so on.  The pCoeffs array contains a total of 6*numStages values.    
- * The zero coefficient between b1 and b2 facilities  use of 16-bit SIMD instructions on the Cortex-M4.    
- *    
- * \par    
- * The state variables are stored in the array pState.    
- * Each Biquad stage has 4 state variables x[n-1], x[n-2], y[n-1], and y[n-2].    
- * The state variables are arranged in the pState array as:    
- * 
    
- *     {x[n-1], x[n-2], y[n-1], y[n-2]}    
- * 
    
- * The 4 state variables for stage 1 are first, then the 4 state variables for stage 2, and so on.    
- * The state array has a total length of 4*numStages values.    
- * The state variables are updated after each block of data is processed; the coefficients are untouched.    
- */
-
-void arm_biquad_cascade_df1_init_q15(
-  arm_biquad_casd_df1_inst_q15 * S,
-  uint8_t numStages,
-  q15_t * pCoeffs,
-  q15_t * pState,
-  int8_t postShift)
-{
-  /* Assign filter stages */
-  S->numStages = numStages;
-
-  /* Assign postShift to be applied to the output */
-  S->postShift = postShift;
-
-  /* Assign coefficient pointer */
-  S->pCoeffs = pCoeffs;
-
-  /* Clear state buffer and size is always 4 * numStages */
-  memset(pState, 0, (4u * (uint32_t) numStages) * sizeof(q15_t));
-
-  /* Assign state pointer */
-  S->pState = pState;
-}
-
-/**    
- * @} end of BiquadCascadeDF1 group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q31.c
deleted file mode 100644
index dbbb8aa2b..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q31.c
+++ /dev/null
@@ -1,109 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_biquad_cascade_df1_init_q31.c    
-*    
-* Description:	Q31 Biquad cascade DirectFormI(DF1) filter initialization function.    
-*    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-*    
-* Version 0.0.5  2010/04/26     
-* 	 incorporated review comments and updated with latest CMSIS layer    
-*    
-* Version 0.0.3  2010/03/10     
-*    Initial version    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup BiquadCascadeDF1    
- * @{    
- */
-
-/**    
- * @details    
- *    
- * @param[in,out] *S           points to an instance of the Q31 Biquad cascade structure.    
- * @param[in]     numStages    number of 2nd order stages in the filter.    
- * @param[in]     *pCoeffs     points to the filter coefficients buffer.    
- * @param[in]     *pState      points to the state buffer.    
- * @param[in]     postShift    Shift to be applied after the accumulator.  Varies according to the coefficients format    
- * @return        none    
- *    
- * Coefficient and State Ordering:    
- *    
- * \par    
- * The coefficients are stored in the array pCoeffs in the following order:    
- * 
    
- *     {b10, b11, b12, a11, a12, b20, b21, b22, a21, a22, ...}    
- * 
    
- * where b1x and a1x are the coefficients for the first stage,    
- * b2x and a2x are the coefficients for the second stage,    
- * and so on.  The pCoeffs array contains a total of 5*numStages values.    
- *    
- * \par    
- * The pState points to state variables array.    
- * Each Biquad stage has 4 state variables x[n-1], x[n-2], y[n-1], and y[n-2].    
- * The state variables are arranged in the pState array as:    
- * 
    
- *     {x[n-1], x[n-2], y[n-1], y[n-2]}    
- * 
    
- * The 4 state variables for stage 1 are first, then the 4 state variables for stage 2, and so on.    
- * The state array has a total length of 4*numStages values.    
- * The state variables are updated after each block of data is processed; the coefficients are untouched.    
- */
-
-void arm_biquad_cascade_df1_init_q31(
-  arm_biquad_casd_df1_inst_q31 * S,
-  uint8_t numStages,
-  q31_t * pCoeffs,
-  q31_t * pState,
-  int8_t postShift)
-{
-  /* Assign filter stages */
-  S->numStages = numStages;
-
-  /* Assign postShift to be applied to the output */
-  S->postShift = postShift;
-
-  /* Assign coefficient pointer */
-  S->pCoeffs = pCoeffs;
-
-  /* Clear state buffer and size is always 4 * numStages */
-  memset(pState, 0, (4u * (uint32_t) numStages) * sizeof(q31_t));
-
-  /* Assign state pointer */
-  S->pState = pState;
-}
-
-/**    
- * @} end of BiquadCascadeDF1 group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_q15.c
deleted file mode 100644
index 484cd85e8..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_q15.c
+++ /dev/null
@@ -1,408 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_biquad_cascade_df1_q15.c    
-*    
-* Description:	Processing function for the    
-*				Q15 Biquad cascade DirectFormI(DF1) filter.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-*    
-* Version 0.0.5  2010/04/26     
-* 	 incorporated review comments and updated with latest CMSIS layer    
-*    
-* Version 0.0.3  2010/03/10     
-*    Initial version    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup BiquadCascadeDF1    
- * @{    
- */
-
-/**    
- * @brief Processing function for the Q15 Biquad cascade filter.    
- * @param[in]  *S points to an instance of the Q15 Biquad cascade structure.    
- * @param[in]  *pSrc points to the block of input data.    
- * @param[out] *pDst points to the location where the output result is written.    
- * @param[in]  blockSize number of samples to process per call.    
- * @return none.    
- *    
- *    
- * Scaling and Overflow Behavior:    
- * \par    
- * The function is implemented using a 64-bit internal accumulator.    
- * Both coefficients and state variables are represented in 1.15 format and multiplications yield a 2.30 result.    
- * The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format.    
- * There is no risk of internal overflow with this approach and the full precision of intermediate multiplications is preserved.    
- * The accumulator is then shifted by postShift bits to truncate the result to 1.15 format by discarding the low 16 bits.    
- * Finally, the result is saturated to 1.15 format.    
- *    
- * \par    
- * Refer to the function arm_biquad_cascade_df1_fast_q15() for a faster but less precise implementation of this filter for Cortex-M3 and Cortex-M4.    
- */
-
-void arm_biquad_cascade_df1_q15(
-  const arm_biquad_casd_df1_inst_q15 * S,
-  q15_t * pSrc,
-  q15_t * pDst,
-  uint32_t blockSize)
-{
-
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  q15_t *pIn = pSrc;                             /*  Source pointer                               */
-  q15_t *pOut = pDst;                            /*  Destination pointer                          */
-  q31_t in;                                      /*  Temporary variable to hold input value       */
-  q31_t out;                                     /*  Temporary variable to hold output value      */
-  q31_t b0;                                      /*  Temporary variable to hold bo value          */
-  q31_t b1, a1;                                  /*  Filter coefficients                          */
-  q31_t state_in, state_out;                     /*  Filter state variables                       */
-  q31_t acc_l, acc_h;
-  q63_t acc;                                     /*  Accumulator                                  */
-  int32_t lShift = (15 - (int32_t) S->postShift);       /*  Post shift                                   */
-  q15_t *pState = S->pState;                     /*  State pointer                                */
-  q15_t *pCoeffs = S->pCoeffs;                   /*  Coefficient pointer                          */
-  uint32_t sample, stage = (uint32_t) S->numStages;     /*  Stage loop counter                           */
-  int32_t uShift = (32 - lShift);
-
-  do
-  {
-    /* Read the b0 and 0 coefficients using SIMD  */
-    b0 = *__SIMD32(pCoeffs)++;
-
-    /* Read the b1 and b2 coefficients using SIMD */
-    b1 = *__SIMD32(pCoeffs)++;
-
-    /* Read the a1 and a2 coefficients using SIMD */
-    a1 = *__SIMD32(pCoeffs)++;
-
-    /* Read the input state values from the state buffer:  x[n-1], x[n-2] */
-    state_in = *__SIMD32(pState)++;
-
-    /* Read the output state values from the state buffer:  y[n-1], y[n-2] */
-    state_out = *__SIMD32(pState)--;
-
-    /* Apply loop unrolling and compute 2 output values simultaneously. */
-    /*      The variable acc hold output values that are being computed:    
-     *    
-     *    acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2]    
-     *    acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2]    
-     */
-    sample = blockSize >> 1u;
-
-    /* First part of the processing with loop unrolling.  Compute 2 outputs at a time.    
-     ** a second loop below computes the remaining 1 sample. */
-    while(sample > 0u)
-    {
-
-      /* Read the input */
-      in = *__SIMD32(pIn)++;
-
-      /* out =  b0 * x[n] + 0 * 0 */
-      out = __SMUAD(b0, in);
-
-      /* acc +=  b1 * x[n-1] +  b2 * x[n-2] + out */
-      acc = __SMLALD(b1, state_in, out);
-      /* acc +=  a1 * y[n-1] +  a2 * y[n-2] */
-      acc = __SMLALD(a1, state_out, acc);
-
-      /* The result is converted from 3.29 to 1.31 if postShift = 1, and then saturation is applied */
-      /* Calc lower part of acc */
-      acc_l = acc & 0xffffffff;
-
-      /* Calc upper part of acc */
-      acc_h = (acc >> 32) & 0xffffffff;
-
-      /* Apply shift for lower part of acc and upper part of acc */
-      out = (uint32_t) acc_l >> lShift | acc_h << uShift;
-
-      out = __SSAT(out, 16);
-
-      /* Every time after the output is computed state should be updated. */
-      /* The states should be updated as:  */
-      /* Xn2 = Xn1    */
-      /* Xn1 = Xn     */
-      /* Yn2 = Yn1    */
-      /* Yn1 = acc   */
-      /* x[n-N], x[n-N-1] are packed together to make state_in of type q31 */
-      /* y[n-N], y[n-N-1] are packed together to make state_out of type q31 */
-
-#ifndef  ARM_MATH_BIG_ENDIAN
-
-      state_in = __PKHBT(in, state_in, 16);
-      state_out = __PKHBT(out, state_out, 16);
-
-#else
-
-      state_in = __PKHBT(state_in >> 16, (in >> 16), 16);
-      state_out = __PKHBT(state_out >> 16, (out), 16);
-
-#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
-
-      /* out =  b0 * x[n] + 0 * 0 */
-      out = __SMUADX(b0, in);
-      /* acc +=  b1 * x[n-1] +  b2 * x[n-2] + out */
-      acc = __SMLALD(b1, state_in, out);
-      /* acc +=  a1 * y[n-1] + a2 * y[n-2] */
-      acc = __SMLALD(a1, state_out, acc);
-
-      /* The result is converted from 3.29 to 1.31 if postShift = 1, and then saturation is applied */
-      /* Calc lower part of acc */
-      acc_l = acc & 0xffffffff;
-
-      /* Calc upper part of acc */
-      acc_h = (acc >> 32) & 0xffffffff;
-
-      /* Apply shift for lower part of acc and upper part of acc */
-      out = (uint32_t) acc_l >> lShift | acc_h << uShift;
-
-      out = __SSAT(out, 16);
-
-      /* Store the output in the destination buffer. */
-
-#ifndef  ARM_MATH_BIG_ENDIAN
-
-      *__SIMD32(pOut)++ = __PKHBT(state_out, out, 16);
-
-#else
-
-      *__SIMD32(pOut)++ = __PKHBT(out, state_out >> 16, 16);
-
-#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
-
-      /* Every time after the output is computed state should be updated. */
-      /* The states should be updated as:  */
-      /* Xn2 = Xn1    */
-      /* Xn1 = Xn     */
-      /* Yn2 = Yn1    */
-      /* Yn1 = acc   */
-      /* x[n-N], x[n-N-1] are packed together to make state_in of type q31 */
-      /* y[n-N], y[n-N-1] are packed together to make state_out of type q31 */
-#ifndef  ARM_MATH_BIG_ENDIAN
-
-      state_in = __PKHBT(in >> 16, state_in, 16);
-      state_out = __PKHBT(out, state_out, 16);
-
-#else
-
-      state_in = __PKHBT(state_in >> 16, in, 16);
-      state_out = __PKHBT(state_out >> 16, out, 16);
-
-#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
-
-
-      /* Decrement the loop counter */
-      sample--;
-
-    }
-
-    /* If the blockSize is not a multiple of 2, compute any remaining output samples here.    
-     ** No loop unrolling is used. */
-
-    if((blockSize & 0x1u) != 0u)
-    {
-      /* Read the input */
-      in = *pIn++;
-
-      /* out =  b0 * x[n] + 0 * 0 */
-
-#ifndef  ARM_MATH_BIG_ENDIAN
-
-      out = __SMUAD(b0, in);
-
-#else
-
-      out = __SMUADX(b0, in);
-
-#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
-
-      /* acc =  b1 * x[n-1] + b2 * x[n-2] + out */
-      acc = __SMLALD(b1, state_in, out);
-      /* acc +=  a1 * y[n-1] + a2 * y[n-2] */
-      acc = __SMLALD(a1, state_out, acc);
-
-      /* The result is converted from 3.29 to 1.31 if postShift = 1, and then saturation is applied */
-      /* Calc lower part of acc */
-      acc_l = acc & 0xffffffff;
-
-      /* Calc upper part of acc */
-      acc_h = (acc >> 32) & 0xffffffff;
-
-      /* Apply shift for lower part of acc and upper part of acc */
-      out = (uint32_t) acc_l >> lShift | acc_h << uShift;
-
-      out = __SSAT(out, 16);
-
-      /* Store the output in the destination buffer. */
-      *pOut++ = (q15_t) out;
-
-      /* Every time after the output is computed state should be updated. */
-      /* The states should be updated as:  */
-      /* Xn2 = Xn1    */
-      /* Xn1 = Xn     */
-      /* Yn2 = Yn1    */
-      /* Yn1 = acc   */
-      /* x[n-N], x[n-N-1] are packed together to make state_in of type q31 */
-      /* y[n-N], y[n-N-1] are packed together to make state_out of type q31 */
-
-#ifndef  ARM_MATH_BIG_ENDIAN
-
-      state_in = __PKHBT(in, state_in, 16);
-      state_out = __PKHBT(out, state_out, 16);
-
-#else
-
-      state_in = __PKHBT(state_in >> 16, in, 16);
-      state_out = __PKHBT(state_out >> 16, out, 16);
-
-#endif /*   #ifndef  ARM_MATH_BIG_ENDIAN    */
-
-    }
-
-    /*  The first stage goes from the input wire to the output wire.  */
-    /*  Subsequent numStages occur in-place in the output wire  */
-    pIn = pDst;
-
-    /* Reset the output pointer */
-    pOut = pDst;
-
-    /*  Store the updated state variables back into the state array */
-    *__SIMD32(pState)++ = state_in;
-    *__SIMD32(pState)++ = state_out;
-
-
-    /* Decrement the loop counter */
-    stage--;
-
-  } while(stage > 0u);
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  q15_t *pIn = pSrc;                             /*  Source pointer                               */
-  q15_t *pOut = pDst;                            /*  Destination pointer                          */
-  q15_t b0, b1, b2, a1, a2;                      /*  Filter coefficients           */
-  q15_t Xn1, Xn2, Yn1, Yn2;                      /*  Filter state variables        */
-  q15_t Xn;                                      /*  temporary input               */
-  q63_t acc;                                     /*  Accumulator                                  */
-  int32_t shift = (15 - (int32_t) S->postShift); /*  Post shift                                   */
-  q15_t *pState = S->pState;                     /*  State pointer                                */
-  q15_t *pCoeffs = S->pCoeffs;                   /*  Coefficient pointer                          */
-  uint32_t sample, stage = (uint32_t) S->numStages;     /*  Stage loop counter                           */
-
-  do
-  {
-    /* Reading the coefficients */
-    b0 = *pCoeffs++;
-    b1 = *pCoeffs++;
-    b2 = *pCoeffs++;
-    a1 = *pCoeffs++;
-    a2 = *pCoeffs++;
-
-    /* Reading the state values */
-    Xn1 = pState[0];
-    Xn2 = pState[1];
-    Yn1 = pState[2];
-    Yn2 = pState[3];
-
-    /*      The variables acc holds the output value that is computed:         
-     *    acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2]         
-     */
-
-    sample = blockSize;
-
-    while(sample > 0u)
-    {
-      /* Read the input */
-      Xn = *pIn++;
-
-      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
-      /* acc =  b0 * x[n] */
-      acc = (q31_t) b0 *Xn;
-
-      /* acc +=  b1 * x[n-1] */
-      acc += (q31_t) b1 *Xn1;
-      /* acc +=  b[2] * x[n-2] */
-      acc += (q31_t) b2 *Xn2;
-      /* acc +=  a1 * y[n-1] */
-      acc += (q31_t) a1 *Yn1;
-      /* acc +=  a2 * y[n-2] */
-      acc += (q31_t) a2 *Yn2;
-
-      /* The result is converted to 1.31  */
-      acc = __SSAT((acc >> shift), 16);
-
-      /* Every time after the output is computed state should be updated. */
-      /* The states should be updated as:  */
-      /* Xn2 = Xn1    */
-      /* Xn1 = Xn     */
-      /* Yn2 = Yn1    */
-      /* Yn1 = acc    */
-      Xn2 = Xn1;
-      Xn1 = Xn;
-      Yn2 = Yn1;
-      Yn1 = (q15_t) acc;
-
-      /* Store the output in the destination buffer. */
-      *pOut++ = (q15_t) acc;
-
-      /* decrement the loop counter */
-      sample--;
-    }
-
-    /*  The first stage goes from the input buffer to the output buffer. */
-    /*  Subsequent stages occur in-place in the output buffer */
-    pIn = pDst;
-
-    /* Reset to destination pointer */
-    pOut = pDst;
-
-    /*  Store the updated state variables back into the pState array */
-    *pState++ = Xn1;
-    *pState++ = Xn2;
-    *pState++ = Yn1;
-    *pState++ = Yn2;
-
-  } while(--stage);
-
-#endif /*     #ifndef ARM_MATH_CM0 */
-
-}
-
-
-/**    
- * @} end of BiquadCascadeDF1 group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_q31.c
deleted file mode 100644
index 5626bdd1c..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_q31.c
+++ /dev/null
@@ -1,400 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_biquad_cascade_df1_q31.c    
-*    
-* Description:	Processing function for the    
-*				Q31 Biquad cascade filter    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-*    
-* Version 0.0.5  2010/04/26     
-* 	 incorporated review comments and updated with latest CMSIS layer    
-*    
-* Version 0.0.3  2010/03/10     
-*    Initial version    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup BiquadCascadeDF1    
- * @{    
- */
-
-/**    
- * @brief Processing function for the Q31 Biquad cascade filter.    
- * @param[in]  *S         points to an instance of the Q31 Biquad cascade structure.    
- * @param[in]  *pSrc      points to the block of input data.    
- * @param[out] *pDst      points to the block of output data.    
- * @param[in]  blockSize  number of samples to process per call.    
- * @return none.    
- *    
- * Scaling and Overflow Behavior:    
- * \par    
- * The function is implemented using an internal 64-bit accumulator.    
- * The accumulator has a 2.62 format and maintains full precision of the intermediate multiplication results but provides only a single guard bit.    
- * Thus, if the accumulator result overflows it wraps around rather than clip.    
- * In order to avoid overflows completely the input signal must be scaled down by 2 bits and lie in the range [-0.25 +0.25).    
- * After all 5 multiply-accumulates are performed, the 2.62 accumulator is shifted by postShift bits and the result truncated to    
- * 1.31 format by discarding the low 32 bits.    
- *    
- * \par    
- * Refer to the function arm_biquad_cascade_df1_fast_q31() for a faster but less precise implementation of this filter for Cortex-M3 and Cortex-M4.    
- */
-
-void arm_biquad_cascade_df1_q31(
-  const arm_biquad_casd_df1_inst_q31 * S,
-  q31_t * pSrc,
-  q31_t * pDst,
-  uint32_t blockSize)
-{
-  q63_t acc;                                     /*  accumulator                   */
-  uint32_t uShift = ((uint32_t) S->postShift + 1u);
-  uint32_t lShift = 32u - uShift;                /*  Shift to be applied to the output */
-  q31_t *pIn = pSrc;                             /*  input pointer initialization  */
-  q31_t *pOut = pDst;                            /*  output pointer initialization */
-  q31_t *pState = S->pState;                     /*  pState pointer initialization */
-  q31_t *pCoeffs = S->pCoeffs;                   /*  coeff pointer initialization  */
-  q31_t Xn1, Xn2, Yn1, Yn2;                      /*  Filter state variables        */
-  q31_t b0, b1, b2, a1, a2;                      /*  Filter coefficients           */
-  q31_t Xn;                                      /*  temporary input               */
-  uint32_t sample, stage = S->numStages;         /*  loop counters                     */
-
-
-#ifndef ARM_MATH_CM0
-
-  q31_t acc_l, acc_h;                            /*  temporary output variables    */
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  do
-  {
-    /* Reading the coefficients */
-    b0 = *pCoeffs++;
-    b1 = *pCoeffs++;
-    b2 = *pCoeffs++;
-    a1 = *pCoeffs++;
-    a2 = *pCoeffs++;
-
-    /* Reading the state values */
-    Xn1 = pState[0];
-    Xn2 = pState[1];
-    Yn1 = pState[2];
-    Yn2 = pState[3];
-
-    /* Apply loop unrolling and compute 4 output values simultaneously. */
-    /*      The variable acc hold output values that are being computed:    
-     *    
-     *    acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2]    
-     */
-
-    sample = blockSize >> 2u;
-
-    /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-     ** a second loop below computes the remaining 1 to 3 samples. */
-    while(sample > 0u)
-    {
-      /* Read the input */
-      Xn = *pIn++;
-
-      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
-
-      /* acc =  b0 * x[n] */
-      acc = (q63_t) b0 *Xn;
-      /* acc +=  b1 * x[n-1] */
-      acc += (q63_t) b1 *Xn1;
-      /* acc +=  b[2] * x[n-2] */
-      acc += (q63_t) b2 *Xn2;
-      /* acc +=  a1 * y[n-1] */
-      acc += (q63_t) a1 *Yn1;
-      /* acc +=  a2 * y[n-2] */
-      acc += (q63_t) a2 *Yn2;
-
-      /* The result is converted to 1.31 , Yn2 variable is reused */
-
-      /* Calc lower part of acc */
-      acc_l = acc & 0xffffffff;
-
-      /* Calc upper part of acc */
-      acc_h = (acc >> 32) & 0xffffffff;
-
-      /* Apply shift for lower part of acc and upper part of acc */
-      Yn2 = (uint32_t) acc_l >> lShift | acc_h << uShift;
-
-      /* Store the output in the destination buffer. */
-      *pOut++ = Yn2;
-
-      /* Read the second input */
-      Xn2 = *pIn++;
-
-      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
-
-      /* acc =  b0 * x[n] */
-      acc = (q63_t) b0 *Xn2;
-      /* acc +=  b1 * x[n-1] */
-      acc += (q63_t) b1 *Xn;
-      /* acc +=  b[2] * x[n-2] */
-      acc += (q63_t) b2 *Xn1;
-      /* acc +=  a1 * y[n-1] */
-      acc += (q63_t) a1 *Yn2;
-      /* acc +=  a2 * y[n-2] */
-      acc += (q63_t) a2 *Yn1;
-
-
-      /* The result is converted to 1.31, Yn1 variable is reused  */
-
-      /* Calc lower part of acc */
-      acc_l = acc & 0xffffffff;
-
-      /* Calc upper part of acc */
-      acc_h = (acc >> 32) & 0xffffffff;
-
-
-      /* Apply shift for lower part of acc and upper part of acc */
-      Yn1 = (uint32_t) acc_l >> lShift | acc_h << uShift;
-
-      /* Store the output in the destination buffer. */
-      *pOut++ = Yn1;
-
-      /* Read the third input  */
-      Xn1 = *pIn++;
-
-      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
-
-      /* acc =  b0 * x[n] */
-      acc = (q63_t) b0 *Xn1;
-      /* acc +=  b1 * x[n-1] */
-      acc += (q63_t) b1 *Xn2;
-      /* acc +=  b[2] * x[n-2] */
-      acc += (q63_t) b2 *Xn;
-      /* acc +=  a1 * y[n-1] */
-      acc += (q63_t) a1 *Yn1;
-      /* acc +=  a2 * y[n-2] */
-      acc += (q63_t) a2 *Yn2;
-
-      /* The result is converted to 1.31, Yn2 variable is reused  */
-      /* Calc lower part of acc */
-      acc_l = acc & 0xffffffff;
-
-      /* Calc upper part of acc */
-      acc_h = (acc >> 32) & 0xffffffff;
-
-
-      /* Apply shift for lower part of acc and upper part of acc */
-      Yn2 = (uint32_t) acc_l >> lShift | acc_h << uShift;
-
-      /* Store the output in the destination buffer. */
-      *pOut++ = Yn2;
-
-      /* Read the forth input */
-      Xn = *pIn++;
-
-      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
-
-      /* acc =  b0 * x[n] */
-      acc = (q63_t) b0 *Xn;
-      /* acc +=  b1 * x[n-1] */
-      acc += (q63_t) b1 *Xn1;
-      /* acc +=  b[2] * x[n-2] */
-      acc += (q63_t) b2 *Xn2;
-      /* acc +=  a1 * y[n-1] */
-      acc += (q63_t) a1 *Yn2;
-      /* acc +=  a2 * y[n-2] */
-      acc += (q63_t) a2 *Yn1;
-
-      /* The result is converted to 1.31, Yn1 variable is reused  */
-      /* Calc lower part of acc */
-      acc_l = acc & 0xffffffff;
-
-      /* Calc upper part of acc */
-      acc_h = (acc >> 32) & 0xffffffff;
-
-      /* Apply shift for lower part of acc and upper part of acc */
-      Yn1 = (uint32_t) acc_l >> lShift | acc_h << uShift;
-
-      /* Every time after the output is computed state should be updated. */
-      /* The states should be updated as:  */
-      /* Xn2 = Xn1    */
-      /* Xn1 = Xn     */
-      /* Yn2 = Yn1    */
-      /* Yn1 = acc    */
-      Xn2 = Xn1;
-      Xn1 = Xn;
-
-      /* Store the output in the destination buffer. */
-      *pOut++ = Yn1;
-
-      /* decrement the loop counter */
-      sample--;
-    }
-
-    /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
-     ** No loop unrolling is used. */
-    sample = (blockSize & 0x3u);
-
-    while(sample > 0u)
-    {
-      /* Read the input */
-      Xn = *pIn++;
-
-      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
-
-      /* acc =  b0 * x[n] */
-      acc = (q63_t) b0 *Xn;
-      /* acc +=  b1 * x[n-1] */
-      acc += (q63_t) b1 *Xn1;
-      /* acc +=  b[2] * x[n-2] */
-      acc += (q63_t) b2 *Xn2;
-      /* acc +=  a1 * y[n-1] */
-      acc += (q63_t) a1 *Yn1;
-      /* acc +=  a2 * y[n-2] */
-      acc += (q63_t) a2 *Yn2;
-
-      /* The result is converted to 1.31  */
-      acc = acc >> lShift;
-
-      /* Every time after the output is computed state should be updated. */
-      /* The states should be updated as:  */
-      /* Xn2 = Xn1    */
-      /* Xn1 = Xn     */
-      /* Yn2 = Yn1    */
-      /* Yn1 = acc    */
-      Xn2 = Xn1;
-      Xn1 = Xn;
-      Yn2 = Yn1;
-      Yn1 = (q31_t) acc;
-
-      /* Store the output in the destination buffer. */
-      *pOut++ = (q31_t) acc;
-
-      /* decrement the loop counter */
-      sample--;
-    }
-
-    /*  The first stage goes from the input buffer to the output buffer. */
-    /*  Subsequent stages occur in-place in the output buffer */
-    pIn = pDst;
-
-    /* Reset to destination pointer */
-    pOut = pDst;
-
-    /*  Store the updated state variables back into the pState array */
-    *pState++ = Xn1;
-    *pState++ = Xn2;
-    *pState++ = Yn1;
-    *pState++ = Yn2;
-
-  } while(--stage);
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  do
-  {
-    /* Reading the coefficients */
-    b0 = *pCoeffs++;
-    b1 = *pCoeffs++;
-    b2 = *pCoeffs++;
-    a1 = *pCoeffs++;
-    a2 = *pCoeffs++;
-
-    /* Reading the state values */
-    Xn1 = pState[0];
-    Xn2 = pState[1];
-    Yn1 = pState[2];
-    Yn2 = pState[3];
-
-    /*      The variables acc holds the output value that is computed:         
-     *    acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2]         
-     */
-
-    sample = blockSize;
-
-    while(sample > 0u)
-    {
-      /* Read the input */
-      Xn = *pIn++;
-
-      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
-      /* acc =  b0 * x[n] */
-      acc = (q63_t) b0 *Xn;
-
-      /* acc +=  b1 * x[n-1] */
-      acc += (q63_t) b1 *Xn1;
-      /* acc +=  b[2] * x[n-2] */
-      acc += (q63_t) b2 *Xn2;
-      /* acc +=  a1 * y[n-1] */
-      acc += (q63_t) a1 *Yn1;
-      /* acc +=  a2 * y[n-2] */
-      acc += (q63_t) a2 *Yn2;
-
-      /* The result is converted to 1.31  */
-      acc = acc >> lShift;
-
-      /* Every time after the output is computed state should be updated. */
-      /* The states should be updated as:  */
-      /* Xn2 = Xn1    */
-      /* Xn1 = Xn     */
-      /* Yn2 = Yn1    */
-      /* Yn1 = acc    */
-      Xn2 = Xn1;
-      Xn1 = Xn;
-      Yn2 = Yn1;
-      Yn1 = (q31_t) acc;
-
-      /* Store the output in the destination buffer. */
-      *pOut++ = (q31_t) acc;
-
-      /* decrement the loop counter */
-      sample--;
-    }
-
-    /*  The first stage goes from the input buffer to the output buffer. */
-    /*  Subsequent stages occur in-place in the output buffer */
-    pIn = pDst;
-
-    /* Reset to destination pointer */
-    pOut = pDst;
-
-    /*  Store the updated state variables back into the pState array */
-    *pState++ = Xn1;
-    *pState++ = Xn2;
-    *pState++ = Yn1;
-    *pState++ = Yn2;
-
-  } while(--stage);
-
-#endif /*  #ifndef ARM_MATH_CM0 */
-}
-
-/**    
-  * @} end of BiquadCascadeDF1 group    
-  */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_f32.c
deleted file mode 100644
index a8cb0c98c..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_f32.c
+++ /dev/null
@@ -1,377 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_biquad_cascade_df2T_f32.c    
-*    
-* Description:  Processing function for the floating-point transposed    
-*               direct form II Biquad cascade filter.   
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**       
- * @ingroup groupFilters       
- */
-
-/**       
- * @defgroup BiquadCascadeDF2T Biquad Cascade IIR Filters Using a Direct Form II Transposed Structure       
- *       
- * This set of functions implements arbitrary order recursive (IIR) filters using a transposed direct form II structure.       
- * The filters are implemented as a cascade of second order Biquad sections.       
- * These functions provide a slight memory savings as compared to the direct form I Biquad filter functions.      
- * Only floating-point data is supported.       
- *       
- * This function operate on blocks of input and output data and each call to the function       
- * processes blockSize samples through the filter.       
- * pSrc points to the array of input data and       
- * pDst points to the array of output data.       
- * Both arrays contain blockSize values.       
- *       
- * \par Algorithm       
- * Each Biquad stage implements a second order filter using the difference equation:       
- * 
       
- *    y[n] = b0 * x[n] + d1       
- *    d1 = b1 * x[n] + a1 * y[n] + d2       
- *    d2 = b2 * x[n] + a2 * y[n]       
- * 
       
- * where d1 and d2 represent the two state values.       
- *       
- * \par       
- * A Biquad filter using a transposed Direct Form II structure is shown below.       
- * \image html BiquadDF2Transposed.gif "Single transposed Direct Form II Biquad"       
- * Coefficients b0, b1, and b2  multiply the input signal x[n] and are referred to as the feedforward coefficients.       
- * Coefficients a1 and a2 multiply the output signal y[n] and are referred to as the feedback coefficients.       
- * Pay careful attention to the sign of the feedback coefficients.       
- * Some design tools flip the sign of the feedback coefficients:       
- * 
       
- *    y[n] = b0 * x[n] + d1;       
- *    d1 = b1 * x[n] - a1 * y[n] + d2;       
- *    d2 = b2 * x[n] - a2 * y[n];       
- * 
       
- * In this case the feedback coefficients a1 and a2 must be negated when used with the CMSIS DSP Library.       
- *       
- * \par       
- * Higher order filters are realized as a cascade of second order sections.       
- * numStages refers to the number of second order stages used.       
- * For example, an 8th order filter would be realized with numStages=4 second order stages.       
- * A 9th order filter would be realized with numStages=5 second order stages with the       
- * coefficients for one of the stages configured as a first order filter (b2=0 and a2=0).       
- *       
- * \par       
- * pState points to the state variable array.       
- * Each Biquad stage has 2 state variables d1 and d2.       
- * The state variables are arranged in the pState array as:       
- * 
       
- *     {d11, d12, d21, d22, ...}       
- * 
       
- * where d1x refers to the state variables for the first Biquad and       
- * d2x refers to the state variables for the second Biquad.       
- * The state array has a total length of 2*numStages values.       
- * The state variables are updated after each block of data is processed; the coefficients are untouched.       
- *       
- * \par       
- * The CMSIS library contains Biquad filters in both Direct Form I and transposed Direct Form II.    
- * The advantage of the Direct Form I structure is that it is numerically more robust for fixed-point data types.    
- * That is why the Direct Form I structure supports Q15 and Q31 data types.    
- * The transposed Direct Form II structure, on the other hand, requires a wide dynamic range for the state variables d1 and d2.    
- * Because of this, the CMSIS library only has a floating-point version of the Direct Form II Biquad.    
- * The advantage of the Direct Form II Biquad is that it requires half the number of state variables, 2 rather than 4, per Biquad stage.    
- *       
- * \par Instance Structure       
- * The coefficients and state variables for a filter are stored together in an instance data structure.       
- * A separate instance structure must be defined for each filter.       
- * Coefficient arrays may be shared among several instances while state variable arrays cannot be shared.       
- *       
- * \par Init Functions       
- * There is also an associated initialization function.      
- * The initialization function performs following operations:       
- * - Sets the values of the internal structure fields.       
- * - Zeros out the values in the state buffer.       
- *       
- * \par       
- * Use of the initialization function is optional.       
- * However, if the initialization function is used, then the instance structure cannot be placed into a const data section.       
- * To place an instance structure into a const data section, the instance structure must be manually initialized.       
- * Set the values in the state buffer to zeros before static initialization.       
- * For example, to statically initialize the instance structure use       
- * 
       
- *     arm_biquad_cascade_df2T_instance_f32 S1 = {numStages, pState, pCoeffs};       
- * 
       
- * where numStages is the number of Biquad stages in the filter; pState is the address of the state buffer.       
- * pCoeffs is the address of the coefficient buffer;        
- *       
- */
-
-/**       
- * @addtogroup BiquadCascadeDF2T       
- * @{       
- */
-
-/**      
- * @brief Processing function for the floating-point transposed direct form II Biquad cascade filter.      
- * @param[in]  *S        points to an instance of the filter data structure.      
- * @param[in]  *pSrc     points to the block of input data.      
- * @param[out] *pDst     points to the block of output data      
- * @param[in]  blockSize number of samples to process.      
- * @return none.      
- */
-
-void arm_biquad_cascade_df2T_f32(
-  const arm_biquad_cascade_df2T_instance_f32 * S,
-  float32_t * pSrc,
-  float32_t * pDst,
-  uint32_t blockSize)
-{
-
-  float32_t *pIn = pSrc;                         /*  source pointer            */
-  float32_t *pOut = pDst;                        /*  destination pointer       */
-  float32_t *pState = S->pState;                 /*  State pointer             */
-  float32_t *pCoeffs = S->pCoeffs;               /*  coefficient pointer       */
-  float32_t acc0;                                /*  accumulator               */
-  float32_t b0, b1, b2, a1, a2;                  /*  Filter coefficients       */
-  float32_t Xn;                                  /*  temporary input           */
-  float32_t d1, d2;                              /*  state variables           */
-  uint32_t sample, stage = S->numStages;         /*  loop counters             */
-
-#ifndef ARM_MATH_CM0
-
-  float32_t Xn1, Xn2;                            /*  Input State variables     */
-  float32_t acc1;                                /*  accumulator               */
-
-
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-  do
-  {
-    /* Reading the coefficients */
-    b0 = *pCoeffs++;
-    b1 = *pCoeffs++;
-    b2 = *pCoeffs++;
-    a1 = *pCoeffs++;
-    a2 = *pCoeffs++;
-
-    /*Reading the state values */
-    d1 = pState[0];
-    d2 = pState[1];
-
-    /* Apply loop unrolling and compute 4 output values simultaneously. */
-    sample = blockSize >> 2u;
-
-    /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.       
-     ** a second loop below computes the remaining 1 to 3 samples. */
-    while(sample > 0u)
-    {
-
-      /* y[n] = b0 * x[n] + d1 */
-      /* d1 = b1 * x[n] + a1 * y[n] + d2 */
-      /* d2 = b2 * x[n] + a2 * y[n] */
-
-      /* Read the first input */
-      Xn1 = *pIn++;
-
-      /* y[n] = b0 * x[n] + d1 */
-      acc0 = (b0 * Xn1) + d1;
-
-      /* d1 = b1 * x[n] + d2 */
-      d1 = (b1 * Xn1) + d2;
-
-      /* d2 = b2 * x[n] */
-      d2 = (b2 * Xn1);
-
-      /* Read the second input */
-      Xn2 = *pIn++;
-
-      /* d1 = b1 * x[n] + a1 * y[n] */
-      d1 = (a1 * acc0) + d1;
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut++ = acc0;
-
-      d2 = (a2 * acc0) + d2;
-
-      /* y[n] = b0 * x[n] + d1 */
-      acc1 = (b0 * Xn2) + d1;
-
-      /* Read the third input */
-      Xn1 = *pIn++;
-
-      d1 = (b1 * Xn2) + d2;
-
-      d2 = (b2 * Xn2);
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut++ = acc1;
-
-      d1 = (a1 * acc1) + d1;
-
-      d2 = (a2 * acc1) + d2;
-
-      /* y[n] = b0 * x[n] + d1 */
-      acc0 = (b0 * Xn1) + d1;
-
-      d1 = (b1 * Xn1) + d2;
-
-      d2 = (b2 * Xn1);
-
-      /* Read the fourth input */
-      Xn2 = *pIn++;
-
-      d1 = (a1 * acc0) + d1;
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut++ = acc0;
-
-      d2 = (a2 * acc0) + d2;
-
-      /* y[n] = b0 * x[n] + d1 */
-      acc1 = (b0 * Xn2) + d1;
-
-      d1 = (b1 * Xn2) + d2;
-
-      d2 = (b2 * Xn2);
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut++ = acc1;
-
-      d1 = (a1 * acc1) + d1;
-
-      d2 = (a2 * acc1) + d2;
-
-      /* decrement the loop counter */
-      sample--;
-
-    }
-
-    /* If the blockSize is not a multiple of 4, compute any remaining output samples here.       
-     ** No loop unrolling is used. */
-    sample = blockSize & 0x3u;
-
-    while(sample > 0u)
-    {
-      /* Read the input */
-      Xn = *pIn++;
-
-      /* y[n] = b0 * x[n] + d1 */
-      acc0 = (b0 * Xn) + d1;
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut++ = acc0;
-
-      /* Every time after the output is computed state should be updated. */
-      /* d1 = b1 * x[n] + a1 * y[n] + d2 */
-      d1 = ((b1 * Xn) + (a1 * acc0)) + d2;
-
-      /* d2 = b2 * x[n] + a2 * y[n] */
-      d2 = (b2 * Xn) + (a2 * acc0);
-
-      /* decrement the loop counter */
-      sample--;
-    }
-
-    /* Store the updated state variables back into the state array */
-    *pState++ = d1;
-    *pState++ = d2;
-
-    /* The current stage input is given as the output to the next stage */
-    pIn = pDst;
-
-    /*Reset the output working pointer */
-    pOut = pDst;
-
-    /* decrement the loop counter */
-    stage--;
-
-  } while(stage > 0u);
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  do
-  {
-    /* Reading the coefficients */
-    b0 = *pCoeffs++;
-    b1 = *pCoeffs++;
-    b2 = *pCoeffs++;
-    a1 = *pCoeffs++;
-    a2 = *pCoeffs++;
-
-    /*Reading the state values */
-    d1 = pState[0];
-    d2 = pState[1];
-
-
-    sample = blockSize;
-
-    while(sample > 0u)
-    {
-      /* Read the input */
-      Xn = *pIn++;
-
-      /* y[n] = b0 * x[n] + d1 */
-      acc0 = (b0 * Xn) + d1;
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut++ = acc0;
-
-      /* Every time after the output is computed state should be updated. */
-      /* d1 = b1 * x[n] + a1 * y[n] + d2 */
-      d1 = ((b1 * Xn) + (a1 * acc0)) + d2;
-
-      /* d2 = b2 * x[n] + a2 * y[n] */
-      d2 = (b2 * Xn) + (a2 * acc0);
-
-      /* decrement the loop counter */
-      sample--;
-    }
-
-    /* Store the updated state variables back into the state array */
-    *pState++ = d1;
-    *pState++ = d2;
-
-    /* The current stage input is given as the output to the next stage */
-    pIn = pDst;
-
-    /*Reset the output working pointer */
-    pOut = pDst;
-
-    /* decrement the loop counter */
-    stage--;
-
-  } while(stage > 0u);
-
-#endif /*  #ifndef ARM_MATH_CM0         */
-
-}
-
-
-  /**       
-   * @} end of BiquadCascadeDF2T group       
-   */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_init_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_init_f32.c
deleted file mode 100644
index e4225d008..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_init_f32.c
+++ /dev/null
@@ -1,97 +0,0 @@
-/*-----------------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:        arm_biquad_cascade_df2T_init_f32.c    
-*    
-* Description:  Initialization function for the floating-point transposed   
-*               direct form II Biquad cascade filter.   
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* ---------------------------------------------------------------------------*/
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup BiquadCascadeDF2T    
- * @{    
- */
-
-/**   
- * @brief  Initialization function for the floating-point transposed direct form II Biquad cascade filter.   
- * @param[in,out] *S           points to an instance of the filter data structure.   
- * @param[in]     numStages    number of 2nd order stages in the filter.   
- * @param[in]     *pCoeffs     points to the filter coefficients.   
- * @param[in]     *pState      points to the state buffer.   
- * @return        none   
- *    
- * Coefficient and State Ordering:    
- * \par    
- * The coefficients are stored in the array pCoeffs in the following order:    
- * 
    
- *     {b10, b11, b12, a11, a12, b20, b21, b22, a21, a22, ...}    
- * 
    
- *    
- * \par    
- * where b1x and a1x are the coefficients for the first stage,    
- * b2x and a2x are the coefficients for the second stage,    
- * and so on.  The pCoeffs array contains a total of 5*numStages values.    
- *    
- * \par    
- * The pState is a pointer to state array.    
- * Each Biquad stage has 2 state variables d1, and d2.    
- * The 2 state variables for stage 1 are first, then the 2 state variables for stage 2, and so on.    
- * The state array has a total length of 2*numStages values.    
- * The state variables are updated after each block of data is processed; the coefficients are untouched.    
- */
-
-void arm_biquad_cascade_df2T_init_f32(
-  arm_biquad_cascade_df2T_instance_f32 * S,
-  uint8_t numStages,
-  float32_t * pCoeffs,
-  float32_t * pState)
-{
-  /* Assign filter stages */
-  S->numStages = numStages;
-
-  /* Assign coefficient pointer */
-  S->pCoeffs = pCoeffs;
-
-  /* Clear state buffer and size is always 2 * numStages */
-  memset(pState, 0, (2u * (uint32_t) numStages) * sizeof(float32_t));
-
-  /* Assign state pointer */
-  S->pState = pState;
-}
-
-/**    
- * @} end of BiquadCascadeDF2T group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_f32.c
deleted file mode 100644
index 48dd45f2b..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_f32.c
+++ /dev/null
@@ -1,646 +0,0 @@
-/* ----------------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_conv_f32.c    
-*    
-* Description:	Convolution of floating-point sequences.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*  
-* Version 1.0.11 2011/10/18  
-*    Bug Fix in conv, correlation, partial convolution.  
-* 
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-*    
-* -------------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @defgroup Conv Convolution    
- *    
- * Convolution is a mathematical operation that operates on two finite length vectors to generate a finite length output vector.    
- * Convolution is similar to correlation and is frequently used in filtering and data analysis.    
- * The CMSIS DSP library contains functions for convolving Q7, Q15, Q31, and floating-point data types.    
- * The library also provides fast versions of the Q15 and Q31 functions on Cortex-M4 and Cortex-M3.    
- *    
- * \par Algorithm    
- * Let a[n] and b[n] be sequences of length srcALen and srcBLen samples respectively.    
- * Then the convolution    
- *    
- * 
    
- *                   c[n] = a[n] * b[n]    
- * 
    
- *    
- * \par    
- * is defined as    
- * \image html ConvolutionEquation.gif    
- * \par    
- * Note that c[n] is of length srcALen + srcBLen - 1 and is defined over the interval n=0, 1, 2, ..., srcALen + srcBLen - 2.    
- * pSrcA points to the first input vector of length srcALen and    
- * pSrcB points to the second input vector of length srcBLen.    
- * The output result is written to pDst and the calling function must allocate srcALen+srcBLen-1 words for the result.    
- *    
- * \par    
- * Conceptually, when two signals a[n] and b[n] are convolved,    
- * the signal b[n] slides over a[n].    
- * For each offset \c n, the overlapping portions of a[n] and b[n] are multiplied and summed together.    
- *    
- * \par    
- * Note that convolution is a commutative operation:    
- *    
- * 
    
- *                   a[n] * b[n] = b[n] * a[n].    
- * 
    
- *    
- * \par    
- * This means that switching the A and B arguments to the convolution functions has no effect.    
- *    
- * Fixed-Point Behavior    
- *    
- * \par    
- * Convolution requires summing up a large number of intermediate products.    
- * As such, the Q7, Q15, and Q31 functions run a risk of overflow and saturation.    
- * Refer to the function specific documentation below for further details of the particular algorithm used.    
- *
- *
- * Fast Versions
- *
- * \par 
- * Fast versions are supported for Q31 and Q15.  Cycles for Fast versions are less compared to Q31 and Q15 of conv and the design requires
- * the input signals should be scaled down to avoid intermediate overflows.   
- *
- *
- * Opt Versions
- *
- * \par 
- * Opt versions are supported for Q15 and Q7.  Design uses internal scratch buffer for getting good optimisation.
- * These versions are optimised in cycles and consumes more memory(Scratch memory) compared to Q15 and Q7 versions 
- */
-
-/**    
- * @addtogroup Conv    
- * @{    
- */
-
-/**    
- * @brief Convolution of floating-point sequences.    
- * @param[in] *pSrcA points to the first input sequence.    
- * @param[in] srcALen length of the first input sequence.    
- * @param[in] *pSrcB points to the second input sequence.    
- * @param[in] srcBLen length of the second input sequence.    
- * @param[out] *pDst points to the location where the output result is written.  Length srcALen+srcBLen-1.    
- * @return none.    
- */
-
-void arm_conv_f32(
-  float32_t * pSrcA,
-  uint32_t srcALen,
-  float32_t * pSrcB,
-  uint32_t srcBLen,
-  float32_t * pDst)
-{
-
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  float32_t *pIn1;                               /* inputA pointer */
-  float32_t *pIn2;                               /* inputB pointer */
-  float32_t *pOut = pDst;                        /* output pointer */
-  float32_t *px;                                 /* Intermediate inputA pointer */
-  float32_t *py;                                 /* Intermediate inputB pointer */
-  float32_t *pSrc1, *pSrc2;                      /* Intermediate pointers */
-  float32_t sum, acc0, acc1, acc2, acc3;         /* Accumulator */
-  float32_t x0, x1, x2, x3, c0;                  /* Temporary variables to hold state and coefficient values */
-  uint32_t j, k, count, blkCnt, blockSize1, blockSize2, blockSize3;     /* loop counters */
-
-  /* The algorithm implementation is based on the lengths of the inputs. */
-  /* srcB is always made to slide across srcA. */
-  /* So srcBLen is always considered as shorter or equal to srcALen */
-  if(srcALen >= srcBLen)
-  {
-    /* Initialization of inputA pointer */
-    pIn1 = pSrcA;
-
-    /* Initialization of inputB pointer */
-    pIn2 = pSrcB;
-  }
-  else
-  {
-    /* Initialization of inputA pointer */
-    pIn1 = pSrcB;
-
-    /* Initialization of inputB pointer */
-    pIn2 = pSrcA;
-
-    /* srcBLen is always considered as shorter or equal to srcALen */
-    j = srcBLen;
-    srcBLen = srcALen;
-    srcALen = j;
-  }
-
-  /* conv(x,y) at n = x[n] * y[0] + x[n-1] * y[1] + x[n-2] * y[2] + ...+ x[n-N+1] * y[N -1] */
-  /* The function is internally    
-   * divided into three stages according to the number of multiplications that has to be    
-   * taken place between inputA samples and inputB samples. In the first stage of the    
-   * algorithm, the multiplications increase by one for every iteration.    
-   * In the second stage of the algorithm, srcBLen number of multiplications are done.    
-   * In the third stage of the algorithm, the multiplications decrease by one    
-   * for every iteration. */
-
-  /* The algorithm is implemented in three stages.    
-     The loop counters of each stage is initiated here. */
-  blockSize1 = srcBLen - 1u;
-  blockSize2 = srcALen - (srcBLen - 1u);
-  blockSize3 = blockSize1;
-
-  /* --------------------------    
-   * initializations of stage1    
-   * -------------------------*/
-
-  /* sum = x[0] * y[0]    
-   * sum = x[0] * y[1] + x[1] * y[0]    
-   * ....    
-   * sum = x[0] * y[srcBlen - 1] + x[1] * y[srcBlen - 2] +...+ x[srcBLen - 1] * y[0]    
-   */
-
-  /* In this stage the MAC operations are increased by 1 for every iteration.    
-     The count variable holds the number of MAC operations performed */
-  count = 1u;
-
-  /* Working pointer of inputA */
-  px = pIn1;
-
-  /* Working pointer of inputB */
-  py = pIn2;
-
-
-  /* ------------------------    
-   * Stage1 process    
-   * ----------------------*/
-
-  /* The first stage starts here */
-  while(blockSize1 > 0u)
-  {
-    /* Accumulator is made zero for every iteration */
-    sum = 0.0f;
-
-    /* Apply loop unrolling and compute 4 MACs simultaneously. */
-    k = count >> 2u;
-
-    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
-     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-    while(k > 0u)
-    {
-      /* x[0] * y[srcBLen - 1] */
-      sum += *px++ * *py--;
-
-      /* x[1] * y[srcBLen - 2] */
-      sum += *px++ * *py--;
-
-      /* x[2] * y[srcBLen - 3] */
-      sum += *px++ * *py--;
-
-      /* x[3] * y[srcBLen - 4] */
-      sum += *px++ * *py--;
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* If the count is not a multiple of 4, compute any remaining MACs here.    
-     ** No loop unrolling is used. */
-    k = count % 0x4u;
-
-    while(k > 0u)
-    {
-      /* Perform the multiply-accumulate */
-      sum += *px++ * *py--;
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* Store the result in the accumulator in the destination buffer. */
-    *pOut++ = sum;
-
-    /* Update the inputA and inputB pointers for next MAC calculation */
-    py = pIn2 + count;
-    px = pIn1;
-
-    /* Increment the MAC count */
-    count++;
-
-    /* Decrement the loop counter */
-    blockSize1--;
-  }
-
-  /* --------------------------    
-   * Initializations of stage2    
-   * ------------------------*/
-
-  /* sum = x[0] * y[srcBLen-1] + x[1] * y[srcBLen-2] +...+ x[srcBLen-1] * y[0]    
-   * sum = x[1] * y[srcBLen-1] + x[2] * y[srcBLen-2] +...+ x[srcBLen] * y[0]    
-   * ....    
-   * sum = x[srcALen-srcBLen-2] * y[srcBLen-1] + x[srcALen] * y[srcBLen-2] +...+ x[srcALen-1] * y[0]    
-   */
-
-  /* Working pointer of inputA */
-  px = pIn1;
-
-  /* Working pointer of inputB */
-  pSrc2 = pIn2 + (srcBLen - 1u);
-  py = pSrc2;
-
-  /* count is index by which the pointer pIn1 to be incremented */
-  count = 0u;
-
-  /* -------------------    
-   * Stage2 process    
-   * ------------------*/
-
-  /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.    
-   * So, to loop unroll over blockSize2,    
-   * srcBLen should be greater than or equal to 4 */
-  if(srcBLen >= 4u)
-  {
-    /* Loop unroll over blockSize2, by 4 */
-    blkCnt = blockSize2 >> 2u;
-
-    while(blkCnt > 0u)
-    {
-      /* Set all accumulators to zero */
-      acc0 = 0.0f;
-      acc1 = 0.0f;
-      acc2 = 0.0f;
-      acc3 = 0.0f;
-
-      /* read x[0], x[1], x[2] samples */
-      x0 = *(px++);
-      x1 = *(px++);
-      x2 = *(px++);
-
-      /* Apply loop unrolling and compute 4 MACs simultaneously. */
-      k = srcBLen >> 2u;
-
-      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
-       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-      do
-      {
-        /* Read y[srcBLen - 1] sample */
-        c0 = *(py--);
-
-        /* Read x[3] sample */
-        x3 = *(px);
-
-        /* Perform the multiply-accumulate */
-        /* acc0 +=  x[0] * y[srcBLen - 1] */
-        acc0 += x0 * c0;
-
-        /* acc1 +=  x[1] * y[srcBLen - 1] */
-        acc1 += x1 * c0;
-
-        /* acc2 +=  x[2] * y[srcBLen - 1] */
-        acc2 += x2 * c0;
-
-        /* acc3 +=  x[3] * y[srcBLen - 1] */
-        acc3 += x3 * c0;
-
-        /* Read y[srcBLen - 2] sample */
-        c0 = *(py--);
-
-        /* Read x[4] sample */
-        x0 = *(px + 1u);
-
-        /* Perform the multiply-accumulate */
-        /* acc0 +=  x[1] * y[srcBLen - 2] */
-        acc0 += x1 * c0;
-        /* acc1 +=  x[2] * y[srcBLen - 2] */
-        acc1 += x2 * c0;
-        /* acc2 +=  x[3] * y[srcBLen - 2] */
-        acc2 += x3 * c0;
-        /* acc3 +=  x[4] * y[srcBLen - 2] */
-        acc3 += x0 * c0;
-
-        /* Read y[srcBLen - 3] sample */
-        c0 = *(py--);
-
-        /* Read x[5] sample */
-        x1 = *(px + 2u);
-
-        /* Perform the multiply-accumulates */
-        /* acc0 +=  x[2] * y[srcBLen - 3] */
-        acc0 += x2 * c0;
-        /* acc1 +=  x[3] * y[srcBLen - 2] */
-        acc1 += x3 * c0;
-        /* acc2 +=  x[4] * y[srcBLen - 2] */
-        acc2 += x0 * c0;
-        /* acc3 +=  x[5] * y[srcBLen - 2] */
-        acc3 += x1 * c0;
-
-        /* Read y[srcBLen - 4] sample */
-        c0 = *(py--);
-
-        /* Read x[6] sample */
-        x2 = *(px + 3u);
-        px += 4u;
-
-        /* Perform the multiply-accumulates */
-        /* acc0 +=  x[3] * y[srcBLen - 4] */
-        acc0 += x3 * c0;
-        /* acc1 +=  x[4] * y[srcBLen - 4] */
-        acc1 += x0 * c0;
-        /* acc2 +=  x[5] * y[srcBLen - 4] */
-        acc2 += x1 * c0;
-        /* acc3 +=  x[6] * y[srcBLen - 4] */
-        acc3 += x2 * c0;
-
-
-      } while(--k);
-
-      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.    
-       ** No loop unrolling is used. */
-      k = srcBLen % 0x4u;
-
-      while(k > 0u)
-      {
-        /* Read y[srcBLen - 5] sample */
-        c0 = *(py--);
-
-        /* Read x[7] sample */
-        x3 = *(px++);
-
-        /* Perform the multiply-accumulates */
-        /* acc0 +=  x[4] * y[srcBLen - 5] */
-        acc0 += x0 * c0;
-        /* acc1 +=  x[5] * y[srcBLen - 5] */
-        acc1 += x1 * c0;
-        /* acc2 +=  x[6] * y[srcBLen - 5] */
-        acc2 += x2 * c0;
-        /* acc3 +=  x[7] * y[srcBLen - 5] */
-        acc3 += x3 * c0;
-
-        /* Reuse the present samples for the next MAC */
-        x0 = x1;
-        x1 = x2;
-        x2 = x3;
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut++ = acc0;
-      *pOut++ = acc1;
-      *pOut++ = acc2;
-      *pOut++ = acc3;
-
-      /* Increment the pointer pIn1 index, count by 4 */
-      count += 4u;
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      px = pIn1 + count;
-      py = pSrc2;
-
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-
-
-    /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.    
-     ** No loop unrolling is used. */
-    blkCnt = blockSize2 % 0x4u;
-
-    while(blkCnt > 0u)
-    {
-      /* Accumulator is made zero for every iteration */
-      sum = 0.0f;
-
-      /* Apply loop unrolling and compute 4 MACs simultaneously. */
-      k = srcBLen >> 2u;
-
-      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
-       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulates */
-        sum += *px++ * *py--;
-        sum += *px++ * *py--;
-        sum += *px++ * *py--;
-        sum += *px++ * *py--;
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.    
-       ** No loop unrolling is used. */
-      k = srcBLen % 0x4u;
-
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulate */
-        sum += *px++ * *py--;
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut++ = sum;
-
-      /* Increment the MAC count */
-      count++;
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      px = pIn1 + count;
-      py = pSrc2;
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-  }
-  else
-  {
-    /* If the srcBLen is not a multiple of 4,    
-     * the blockSize2 loop cannot be unrolled by 4 */
-    blkCnt = blockSize2;
-
-    while(blkCnt > 0u)
-    {
-      /* Accumulator is made zero for every iteration */
-      sum = 0.0f;
-
-      /* srcBLen number of MACS should be performed */
-      k = srcBLen;
-
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulate */
-        sum += *px++ * *py--;
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut++ = sum;
-
-      /* Increment the MAC count */
-      count++;
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      px = pIn1 + count;
-      py = pSrc2;
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-  }
-
-
-  /* --------------------------    
-   * Initializations of stage3    
-   * -------------------------*/
-
-  /* sum += x[srcALen-srcBLen+1] * y[srcBLen-1] + x[srcALen-srcBLen+2] * y[srcBLen-2] +...+ x[srcALen-1] * y[1]    
-   * sum += x[srcALen-srcBLen+2] * y[srcBLen-1] + x[srcALen-srcBLen+3] * y[srcBLen-2] +...+ x[srcALen-1] * y[2]    
-   * ....    
-   * sum +=  x[srcALen-2] * y[srcBLen-1] + x[srcALen-1] * y[srcBLen-2]    
-   * sum +=  x[srcALen-1] * y[srcBLen-1]    
-   */
-
-  /* In this stage the MAC operations are decreased by 1 for every iteration.    
-     The blockSize3 variable holds the number of MAC operations performed */
-
-  /* Working pointer of inputA */
-  pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);
-  px = pSrc1;
-
-  /* Working pointer of inputB */
-  pSrc2 = pIn2 + (srcBLen - 1u);
-  py = pSrc2;
-
-  /* -------------------    
-   * Stage3 process    
-   * ------------------*/
-
-  while(blockSize3 > 0u)
-  {
-    /* Accumulator is made zero for every iteration */
-    sum = 0.0f;
-
-    /* Apply loop unrolling and compute 4 MACs simultaneously. */
-    k = blockSize3 >> 2u;
-
-    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
-     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-    while(k > 0u)
-    {
-      /* sum += x[srcALen - srcBLen + 1] * y[srcBLen - 1] */
-      sum += *px++ * *py--;
-
-      /* sum += x[srcALen - srcBLen + 2] * y[srcBLen - 2] */
-      sum += *px++ * *py--;
-
-      /* sum += x[srcALen - srcBLen + 3] * y[srcBLen - 3] */
-      sum += *px++ * *py--;
-
-      /* sum += x[srcALen - srcBLen + 4] * y[srcBLen - 4] */
-      sum += *px++ * *py--;
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* If the blockSize3 is not a multiple of 4, compute any remaining MACs here.    
-     ** No loop unrolling is used. */
-    k = blockSize3 % 0x4u;
-
-    while(k > 0u)
-    {
-      /* Perform the multiply-accumulates */
-      /* sum +=  x[srcALen-1] * y[srcBLen-1] */
-      sum += *px++ * *py--;
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* Store the result in the accumulator in the destination buffer. */
-    *pOut++ = sum;
-
-    /* Update the inputA and inputB pointers for next MAC calculation */
-    px = ++pSrc1;
-    py = pSrc2;
-
-    /* Decrement the loop counter */
-    blockSize3--;
-  }
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  float32_t *pIn1 = pSrcA;                       /* inputA pointer */
-  float32_t *pIn2 = pSrcB;                       /* inputB pointer */
-  float32_t sum;                                 /* Accumulator */
-  uint32_t i, j;                                 /* loop counters */
-
-  /* Loop to calculate convolution for output length number of times */
-  for (i = 0u; i < ((srcALen + srcBLen) - 1u); i++)
-  {
-    /* Initialize sum with zero to carry out MAC operations */
-    sum = 0.0f;
-
-    /* Loop to perform MAC operations according to convolution equation */
-    for (j = 0u; j <= i; j++)
-    {
-      /* Check the array limitations */
-      if((((i - j) < srcBLen) && (j < srcALen)))
-      {
-        /* z[i] += x[i-j] * y[j] */
-        sum += pIn1[j] * pIn2[i - j];
-      }
-    }
-    /* Store the output in the destination buffer */
-    pDst[i] = sum;
-  }
-
-#endif /*   #ifndef ARM_MATH_CM0        */
-
-}
-
-/**    
- * @} end of Conv group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_opt_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_opt_q15.c
deleted file mode 100644
index 3e85a25ba..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_opt_q15.c
+++ /dev/null
@@ -1,538 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_conv_fast_opt_q15.c    
-*    
-* Description:	Fast Q15 Convolution.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*  
-* Version 1.0.11 2011/10/18  
-*    Bug Fix in conv, correlation, partial convolution.  
-* 
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup Conv    
- * @{    
- */
-
-/**    
- * @brief Convolution of Q15 sequences (fast version) for Cortex-M3 and Cortex-M4.    
- * @param[in] *pSrcA points to the first input sequence.    
- * @param[in] srcALen length of the first input sequence.    
- * @param[in] *pSrcB points to the second input sequence.    
- * @param[in] srcBLen length of the second input sequence.    
- * @param[out] *pDst points to the location where the output result is written.  Length srcALen+srcBLen-1.    
- * @param[in]  *pScratch1 points to scratch buffer of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2.   
- * @param[in]  *pScratch2 points to scratch buffer of size min(srcALen, srcBLen).   
- * @return none.    
- *    
- * \par Restrictions    
- *  If the silicon does not support unaligned memory access enable the macro UNALIGNED_SUPPORT_DISABLE    
- *	In this case input, output, scratch1 and scratch2 buffers should be aligned by 32-bit    
- *     
- * Scaling and Overflow Behavior:    
- *    
- * \par    
- * This fast version uses a 32-bit accumulator with 2.30 format.    
- * The accumulator maintains full precision of the intermediate multiplication results    
- * but provides only a single guard bit. There is no saturation on intermediate additions.    
- * Thus, if the accumulator overflows it wraps around and distorts the result.    
- * The input signals should be scaled down to avoid intermediate overflows.    
- * Scale down the inputs by log2(min(srcALen, srcBLen)) (log2 is read as log to the base 2) times to avoid overflows,    
- * as maximum of min(srcALen, srcBLen) number of additions are carried internally.    
- * The 2.30 accumulator is right shifted by 15 bits and then saturated to 1.15 format to yield the final result.    
- *    
- * \par    
- * See arm_conv_q15() for a slower implementation of this function which uses 64-bit accumulation to avoid wrap around distortion.    
- */
-
-void arm_conv_fast_opt_q15(
-  q15_t * pSrcA,
-  uint32_t srcALen,
-  q15_t * pSrcB,
-  uint32_t srcBLen,
-  q15_t * pDst,
-  q15_t * pScratch1,
-  q15_t * pScratch2)
-{
-  q31_t acc0, acc1, acc2, acc3;                  /* Accumulators */
-  q31_t x1, x2, x3;                              /* Temporary variables to hold state and coefficient values */
-  q31_t y1, y2;                                  /* State variables */
-  q15_t *pOut = pDst;                            /* output pointer */
-  q15_t *pScr1 = pScratch1;                      /* Temporary pointer for scratch1 */
-  q15_t *pScr2 = pScratch2;                      /* Temporary pointer for scratch1 */
-  q15_t *pIn1;                                   /* inputA pointer */
-  q15_t *pIn2;                                   /* inputB pointer */
-  q15_t *px;                                     /* Intermediate inputA pointer  */
-  q15_t *py;                                     /* Intermediate inputB pointer  */
-  uint32_t j, k, blkCnt;                         /* loop counter */
-  uint32_t tapCnt;                               /* loop count */
-#ifdef UNALIGNED_SUPPORT_DISABLE
-
-  q15_t a, b;
-
-#endif	/*	#ifdef UNALIGNED_SUPPORT_DISABLE	*/
-
-  /* The algorithm implementation is based on the lengths of the inputs. */
-  /* srcB is always made to slide across srcA. */
-  /* So srcBLen is always considered as shorter or equal to srcALen */
-  if(srcALen >= srcBLen)
-  {
-    /* Initialization of inputA pointer */
-    pIn1 = pSrcA;
-
-    /* Initialization of inputB pointer */
-    pIn2 = pSrcB;
-  }
-  else
-  {
-    /* Initialization of inputA pointer */
-    pIn1 = pSrcB;
-
-    /* Initialization of inputB pointer */
-    pIn2 = pSrcA;
-
-    /* srcBLen is always considered as shorter or equal to srcALen */
-    j = srcBLen;
-    srcBLen = srcALen;
-    srcALen = j;
-  }
-
-  /* Pointer to take end of scratch2 buffer */
-  pScr2 = pScratch2 + srcBLen - 1;
-
-  /* points to smaller length sequence */
-  px = pIn2;
-
-  /* Apply loop unrolling and do 4 Copies simultaneously. */
-  k = srcBLen >> 2u;
-
-  /* First part of the processing with loop unrolling copies 4 data points at a time.       
-   ** a second loop below copies for the remaining 1 to 3 samples. */
-
-  /* Copy smaller length input sequence in reverse order into second scratch buffer */
-  while(k > 0u)
-  {
-    /* copy second buffer in reversal manner */
-    *pScr2-- = *px++;
-    *pScr2-- = *px++;
-    *pScr2-- = *px++;
-    *pScr2-- = *px++;
-
-    /* Decrement the loop counter */
-    k--;
-  }
-
-  /* If the count is not a multiple of 4, copy remaining samples here.       
-   ** No loop unrolling is used. */
-  k = srcBLen % 0x4u;
-
-  while(k > 0u)
-  {
-    /* copy second buffer in reversal manner for remaining samples */
-    *pScr2-- = *px++;
-
-    /* Decrement the loop counter */
-    k--;
-  }
-
-  /* Initialze temporary scratch pointer */
-  pScr1 = pScratch1;
-
-  /* Assuming scratch1 buffer is aligned by 32-bit */
-  /* Fill (srcBLen - 1u) zeros in scratch1 buffer */
-  arm_fill_q15(0, pScr1, (srcBLen - 1u));
-
-  /* Update temporary scratch pointer */
-  pScr1 += (srcBLen - 1u);
-
-  /* Copy bigger length sequence(srcALen) samples in scratch1 buffer */
-
-#ifndef UNALIGNED_SUPPORT_DISABLE
-
-  /* Copy (srcALen) samples in scratch buffer */
-  arm_copy_q15(pIn1, pScr1, srcALen);
-
-  /* Update pointers */
-  pScr1 += srcALen;
-
-#else
-
-  /* Apply loop unrolling and do 4 Copies simultaneously. */
-  k = srcALen >> 2u;
-
-  /* First part of the processing with loop unrolling copies 4 data points at a time.       
-   ** a second loop below copies for the remaining 1 to 3 samples. */
-  while(k > 0u)
-  {
-    /* copy second buffer in reversal manner */
-    *pScr1++ = *pIn1++;
-    *pScr1++ = *pIn1++;
-    *pScr1++ = *pIn1++;
-    *pScr1++ = *pIn1++;
-
-    /* Decrement the loop counter */
-    k--;
-  }
-
-  /* If the count is not a multiple of 4, copy remaining samples here.       
-   ** No loop unrolling is used. */
-  k = srcALen % 0x4u;
-
-  while(k > 0u)
-  {
-    /* copy second buffer in reversal manner for remaining samples */
-    *pScr1++ = *pIn1++;
-
-    /* Decrement the loop counter */
-    k--;
-  }
-
-#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
-
-
-#ifndef UNALIGNED_SUPPORT_DISABLE
-
-  /* Fill (srcBLen - 1u) zeros at end of scratch buffer */
-  arm_fill_q15(0, pScr1, (srcBLen - 1u));
-
-  /* Update pointer */
-  pScr1 += (srcBLen - 1u);
-
-#else
-
-  /* Apply loop unrolling and do 4 Copies simultaneously. */
-  k = (srcBLen - 1u) >> 2u;
-
-  /* First part of the processing with loop unrolling copies 4 data points at a time.       
-   ** a second loop below copies for the remaining 1 to 3 samples. */
-  while(k > 0u)
-  {
-    /* copy second buffer in reversal manner */
-    *pScr1++ = 0;
-    *pScr1++ = 0;
-    *pScr1++ = 0;
-    *pScr1++ = 0;
-
-    /* Decrement the loop counter */
-    k--;
-  }
-
-  /* If the count is not a multiple of 4, copy remaining samples here.       
-   ** No loop unrolling is used. */
-  k = (srcBLen - 1u) % 0x4u;
-
-  while(k > 0u)
-  {
-    /* copy second buffer in reversal manner for remaining samples */
-    *pScr1++ = 0;
-
-    /* Decrement the loop counter */
-    k--;
-  }
-
-#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
-
-  /* Temporary pointer for scratch2 */
-  py = pScratch2;
-
-
-  /* Initialization of pIn2 pointer */
-  pIn2 = py;
-
-  /* First part of the processing with loop unrolling process 4 data points at a time.       
-   ** a second loop below process for the remaining 1 to 3 samples. */
-
-  /* Actual convolution process starts here */
-  blkCnt = (srcALen + srcBLen - 1u) >> 2;
-
-  while(blkCnt > 0)
-  {
-    /* Initialze temporary scratch pointer as scratch1 */
-    pScr1 = pScratch1;
-
-    /* Clear Accumlators */
-    acc0 = 0;
-    acc1 = 0;
-    acc2 = 0;
-    acc3 = 0;
-
-    /* Read two samples from scratch1 buffer */
-    x1 = *__SIMD32(pScr1)++;
-
-    /* Read next two samples from scratch1 buffer */
-    x2 = *__SIMD32(pScr1)++;
-
-    tapCnt = (srcBLen) >> 2u;
-
-    while(tapCnt > 0u)
-    {
-
-#ifndef UNALIGNED_SUPPORT_DISABLE
-
-      /* Read four samples from smaller buffer */
-      y1 = _SIMD32_OFFSET(pIn2);
-      y2 = _SIMD32_OFFSET(pIn2 + 2u);
-
-      /* multiply and accumlate */
-      acc0 = __SMLAD(x1, y1, acc0);
-      acc2 = __SMLAD(x2, y1, acc2);
-
-      /* pack input data */
-#ifndef ARM_MATH_BIG_ENDIAN
-      x3 = __PKHBT(x2, x1, 0);
-#else
-      x3 = __PKHBT(x1, x2, 0);
-#endif
-
-      /* multiply and accumlate */
-      acc1 = __SMLADX(x3, y1, acc1);
-
-      /* Read next two samples from scratch1 buffer */
-      x1 = _SIMD32_OFFSET(pScr1);
-
-      /* multiply and accumlate */
-      acc0 = __SMLAD(x2, y2, acc0);
-      acc2 = __SMLAD(x1, y2, acc2);
-
-      /* pack input data */
-#ifndef ARM_MATH_BIG_ENDIAN
-      x3 = __PKHBT(x1, x2, 0);
-#else
-      x3 = __PKHBT(x2, x1, 0);
-#endif
-
-      acc3 = __SMLADX(x3, y1, acc3);
-      acc1 = __SMLADX(x3, y2, acc1);
-
-      x2 = _SIMD32_OFFSET(pScr1 + 2u);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-      x3 = __PKHBT(x2, x1, 0);
-#else
-      x3 = __PKHBT(x1, x2, 0);
-#endif
-
-      acc3 = __SMLADX(x3, y2, acc3);
-
-#else	 
-
-      /* Read four samples from smaller buffer */
-	  a = *pIn2;
-	  b = *(pIn2 + 1);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-      y1 = __PKHBT(a, b, 16);
-#else
-      y1 = __PKHBT(b, a, 16);
-#endif
-	  
-	  a = *(pIn2 + 2);
-	  b = *(pIn2 + 3);
-#ifndef ARM_MATH_BIG_ENDIAN
-      y2 = __PKHBT(a, b, 16);
-#else
-      y2 = __PKHBT(b, a, 16);
-#endif				
-
-      acc0 = __SMLAD(x1, y1, acc0);
-
-      acc2 = __SMLAD(x2, y1, acc2);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-      x3 = __PKHBT(x2, x1, 0);
-#else
-      x3 = __PKHBT(x1, x2, 0);
-#endif
-
-      acc1 = __SMLADX(x3, y1, acc1);
-
-	  a = *pScr1;
-	  b = *(pScr1 + 1);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-      x1 = __PKHBT(a, b, 16);
-#else
-      x1 = __PKHBT(b, a, 16);
-#endif
-
-      acc0 = __SMLAD(x2, y2, acc0);
-
-      acc2 = __SMLAD(x1, y2, acc2);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-      x3 = __PKHBT(x1, x2, 0);
-#else
-      x3 = __PKHBT(x2, x1, 0);
-#endif
-
-      acc3 = __SMLADX(x3, y1, acc3);
-
-      acc1 = __SMLADX(x3, y2, acc1);
-
-	  a = *(pScr1 + 2);
-	  b = *(pScr1 + 3);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-      x2 = __PKHBT(a, b, 16);
-#else
-      x2 = __PKHBT(b, a, 16);
-#endif
-
-#ifndef ARM_MATH_BIG_ENDIAN
-      x3 = __PKHBT(x2, x1, 0);
-#else
-      x3 = __PKHBT(x1, x2, 0);
-#endif
-
-      acc3 = __SMLADX(x3, y2, acc3);
-
-#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
-
-      /* update scratch pointers */
-      pIn2 += 4u;
-      pScr1 += 4u;
-
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* Update scratch pointer for remaining samples of smaller length sequence */
-    pScr1 -= 4u;
-
-    /* apply same above for remaining samples of smaller length sequence */
-    tapCnt = (srcBLen) & 3u;
-
-    while(tapCnt > 0u)
-    {
-
-      /* accumlate the results */
-      acc0 += (*pScr1++ * *pIn2);
-      acc1 += (*pScr1++ * *pIn2);
-      acc2 += (*pScr1++ * *pIn2);
-      acc3 += (*pScr1++ * *pIn2++);
-
-      pScr1 -= 3u;
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    blkCnt--;
-
-
-    /* Store the results in the accumulators in the destination buffer. */
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-    *__SIMD32(pOut)++ =
-      __PKHBT(__SSAT((acc0 >> 15), 16), __SSAT((acc1 >> 15), 16), 16);
-
-    *__SIMD32(pOut)++ =
-      __PKHBT(__SSAT((acc2 >> 15), 16), __SSAT((acc3 >> 15), 16), 16);
-
-
-#else
-
-    *__SIMD32(pOut)++ =
-      __PKHBT(__SSAT((acc1 >> 15), 16), __SSAT((acc0 >> 15), 16), 16);
-
-    *__SIMD32(pOut)++ =
-      __PKHBT(__SSAT((acc3 >> 15), 16), __SSAT((acc2 >> 15), 16), 16);
-
-
-
-#endif /*      #ifndef ARM_MATH_BIG_ENDIAN       */
-
-    /* Initialization of inputB pointer */
-    pIn2 = py;
-
-    pScratch1 += 4u;
-
-  }
-
-
-  blkCnt = (srcALen + srcBLen - 1u) & 0x3;
-
-  /* Calculate convolution for remaining samples of Bigger length sequence */
-  while(blkCnt > 0)
-  {
-    /* Initialze temporary scratch pointer as scratch1 */
-    pScr1 = pScratch1;
-
-    /* Clear Accumlators */
-    acc0 = 0;
-
-    tapCnt = (srcBLen) >> 1u;
-
-    while(tapCnt > 0u)
-    {
-
-      acc0 += (*pScr1++ * *pIn2++);
-      acc0 += (*pScr1++ * *pIn2++);
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    tapCnt = (srcBLen) & 1u;
-
-    /* apply same above for remaining samples of smaller length sequence */
-    while(tapCnt > 0u)
-    {
-
-      /* accumlate the results */
-      acc0 += (*pScr1++ * *pIn2++);
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    blkCnt--;
-
-    /* The result is in 2.30 format.  Convert to 1.15 with saturation.       
-     ** Then store the output in the destination buffer. */
-    *pOut++ = (q15_t) (__SSAT((acc0 >> 15), 16));
-
-    /* Initialization of inputB pointer */
-    pIn2 = py;
-
-    pScratch1 += 1u;
-
-  }
-
-}
-
-/**    
- * @} end of Conv group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_q15.c
deleted file mode 100644
index e21be3523..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_q15.c
+++ /dev/null
@@ -1,1405 +0,0 @@
-/* ----------------------------------------------------------------------   
-* Copyright (C) 2010 ARM Limited. All rights reserved.   
-*   
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*   
-* Project: 	    CMSIS DSP Library   
-* Title:		arm_conv_fast_q15.c   
-*   
-* Description:	Fast Q15 Convolution.   
-*   
-* Target Processor: Cortex-M4/Cortex-M3
-* 
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-* 
-* Version 1.0.11 2011/10/18 
-*    Bug Fix in conv, correlation, partial convolution. 
-*
-* Version 1.0.10 2011/7/15 
-*    Big Endian support added and Merged M0 and M3/M4 Source code.  
-*   
-* Version 1.0.3 2010/11/29  
-*    Re-organized the CMSIS folders and updated documentation.   
-*    
-* Version 1.0.2 2010/11/11   
-*    Documentation updated.    
-*   
-* Version 1.0.1 2010/10/05    
-*    Production release and review comments incorporated.   
-*   
-* Version 1.0.0 2010/09/20    
-*    Production release and review comments incorporated.   
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**   
- * @ingroup groupFilters   
- */
-
-/**   
- * @addtogroup Conv   
- * @{   
- */
-
-/**   
- * @brief Convolution of Q15 sequences (fast version) for Cortex-M3 and Cortex-M4.   
- * @param[in] *pSrcA points to the first input sequence.   
- * @param[in] srcALen length of the first input sequence.   
- * @param[in] *pSrcB points to the second input sequence.   
- * @param[in] srcBLen length of the second input sequence.   
- * @param[out] *pDst points to the location where the output result is written.  Length srcALen+srcBLen-1.   
- * @return none.   
- *   
- * Scaling and Overflow Behavior:   
- *   
- * \par   
- * This fast version uses a 32-bit accumulator with 2.30 format.   
- * The accumulator maintains full precision of the intermediate multiplication results   
- * but provides only a single guard bit. There is no saturation on intermediate additions.   
- * Thus, if the accumulator overflows it wraps around and distorts the result.   
- * The input signals should be scaled down to avoid intermediate overflows.   
- * Scale down the inputs by log2(min(srcALen, srcBLen)) (log2 is read as log to the base 2) times to avoid overflows,   
- * as maximum of min(srcALen, srcBLen) number of additions are carried internally.   
- * The 2.30 accumulator is right shifted by 15 bits and then saturated to 1.15 format to yield the final result.   
- *   
- * \par   
- * See arm_conv_q15() for a slower implementation of this function which uses 64-bit accumulation to avoid wrap around distortion.   
- */
-
-void arm_conv_fast_q15(
-  q15_t * pSrcA,
-  uint32_t srcALen,
-  q15_t * pSrcB,
-  uint32_t srcBLen,
-  q15_t * pDst)
-{
-#ifndef UNALIGNED_SUPPORT_DISABLE
-  q15_t *pIn1;                                   /* inputA pointer */
-  q15_t *pIn2;                                   /* inputB pointer */
-  q15_t *pOut = pDst;                            /* output pointer */
-  q31_t sum, acc0, acc1, acc2, acc3;             /* Accumulator */
-  q15_t *px;                                     /* Intermediate inputA pointer  */
-  q15_t *py;                                     /* Intermediate inputB pointer  */
-  q15_t *pSrc1, *pSrc2;                          /* Intermediate pointers */
-  q31_t x0, x1, x2, x3, c0;                      /* Temporary variables to hold state and coefficient values */
-  uint32_t blockSize1, blockSize2, blockSize3, j, k, count, blkCnt;     /* loop counter */
-
-  /* The algorithm implementation is based on the lengths of the inputs. */
-  /* srcB is always made to slide across srcA. */
-  /* So srcBLen is always considered as shorter or equal to srcALen */
-  if(srcALen >= srcBLen)
-  {
-    /* Initialization of inputA pointer */
-    pIn1 = pSrcA;
-
-    /* Initialization of inputB pointer */
-    pIn2 = pSrcB;
-  }
-  else
-  {
-    /* Initialization of inputA pointer */
-    pIn1 = pSrcB;
-
-    /* Initialization of inputB pointer */
-    pIn2 = pSrcA;
-
-    /* srcBLen is always considered as shorter or equal to srcALen */
-    j = srcBLen;
-    srcBLen = srcALen;
-    srcALen = j;
-  }
-
-  /* conv(x,y) at n = x[n] * y[0] + x[n-1] * y[1] + x[n-2] * y[2] + ...+ x[n-N+1] * y[N -1] */
-  /* The function is internally   
-   * divided into three stages according to the number of multiplications that has to be   
-   * taken place between inputA samples and inputB samples. In the first stage of the   
-   * algorithm, the multiplications increase by one for every iteration.   
-   * In the second stage of the algorithm, srcBLen number of multiplications are done.   
-   * In the third stage of the algorithm, the multiplications decrease by one   
-   * for every iteration. */
-
-  /* The algorithm is implemented in three stages.   
-     The loop counters of each stage is initiated here. */
-  blockSize1 = srcBLen - 1u;
-  blockSize2 = srcALen - (srcBLen - 1u);
-  blockSize3 = blockSize1;
-
-  /* --------------------------   
-   * Initializations of stage1   
-   * -------------------------*/
-
-  /* sum = x[0] * y[0]   
-   * sum = x[0] * y[1] + x[1] * y[0]   
-   * ....   
-   * sum = x[0] * y[srcBlen - 1] + x[1] * y[srcBlen - 2] +...+ x[srcBLen - 1] * y[0]   
-   */
-
-  /* In this stage the MAC operations are increased by 1 for every iteration.   
-     The count variable holds the number of MAC operations performed */
-  count = 1u;
-
-  /* Working pointer of inputA */
-  px = pIn1;
-
-  /* Working pointer of inputB */
-  py = pIn2;
-
-
-  /* ------------------------   
-   * Stage1 process   
-   * ----------------------*/
-
-  /* For loop unrolling by 4, this stage is divided into two. */
-  /* First part of this stage computes the MAC operations less than 4 */
-  /* Second part of this stage computes the MAC operations greater than or equal to 4 */
-
-  /* The first part of the stage starts here */
-  while((count < 4u) && (blockSize1 > 0u))
-  {
-    /* Accumulator is made zero for every iteration */
-    sum = 0;
-
-    /* Loop over number of MAC operations between   
-     * inputA samples and inputB samples */
-    k = count;
-
-    while(k > 0u)
-    {
-      /* Perform the multiply-accumulates */
-      sum = __SMLAD(*px++, *py--, sum);
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* Store the result in the accumulator in the destination buffer. */
-    *pOut++ = (q15_t) (sum >> 15);
-
-    /* Update the inputA and inputB pointers for next MAC calculation */
-    py = pIn2 + count;
-    px = pIn1;
-
-    /* Increment the MAC count */
-    count++;
-
-    /* Decrement the loop counter */
-    blockSize1--;
-  }
-
-  /* The second part of the stage starts here */
-  /* The internal loop, over count, is unrolled by 4 */
-  /* To, read the last two inputB samples using SIMD:   
-   * y[srcBLen] and y[srcBLen-1] coefficients, py is decremented by 1 */
-  py = py - 1;
-
-  while(blockSize1 > 0u)
-  {
-    /* Accumulator is made zero for every iteration */
-    sum = 0;
-
-    /* Apply loop unrolling and compute 4 MACs simultaneously. */
-    k = count >> 2u;
-
-    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
-     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-    while(k > 0u)
-    {
-      /* Perform the multiply-accumulates */
-      /* x[0], x[1] are multiplied with y[srcBLen - 1], y[srcBLen - 2] respectively */
-      sum = __SMLADX(*__SIMD32(px)++, *__SIMD32(py)--, sum);
-      /* x[2], x[3] are multiplied with y[srcBLen - 3], y[srcBLen - 4] respectively */
-      sum = __SMLADX(*__SIMD32(px)++, *__SIMD32(py)--, sum);
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* For the next MAC operations, the pointer py is used without SIMD   
-     * So, py is incremented by 1 */
-    py = py + 1u;
-
-    /* If the count is not a multiple of 4, compute any remaining MACs here.   
-     ** No loop unrolling is used. */
-    k = count % 0x4u;
-
-    while(k > 0u)
-    {
-      /* Perform the multiply-accumulates */
-      sum = __SMLAD(*px++, *py--, sum);
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* Store the result in the accumulator in the destination buffer. */
-    *pOut++ = (q15_t) (sum >> 15);
-
-    /* Update the inputA and inputB pointers for next MAC calculation */
-    py = pIn2 + (count - 1u);
-    px = pIn1;
-
-    /* Increment the MAC count */
-    count++;
-
-    /* Decrement the loop counter */
-    blockSize1--;
-  }
-
-  /* --------------------------   
-   * Initializations of stage2   
-   * ------------------------*/
-
-  /* sum = x[0] * y[srcBLen-1] + x[1] * y[srcBLen-2] +...+ x[srcBLen-1] * y[0]   
-   * sum = x[1] * y[srcBLen-1] + x[2] * y[srcBLen-2] +...+ x[srcBLen] * y[0]   
-   * ....   
-   * sum = x[srcALen-srcBLen-2] * y[srcBLen-1] + x[srcALen] * y[srcBLen-2] +...+ x[srcALen-1] * y[0]   
-   */
-
-  /* Working pointer of inputA */
-  px = pIn1;
-
-  /* Working pointer of inputB */
-  pSrc2 = pIn2 + (srcBLen - 1u);
-  py = pSrc2;
-
-  /* count is the index by which the pointer pIn1 to be incremented */
-  count = 0u;
-
-
-  /* --------------------   
-   * Stage2 process   
-   * -------------------*/
-
-  /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.   
-   * So, to loop unroll over blockSize2,   
-   * srcBLen should be greater than or equal to 4 */
-  if(srcBLen >= 4u)
-  {
-    /* Loop unroll over blockSize2, by 4 */
-    blkCnt = blockSize2 >> 2u;
-
-    while(blkCnt > 0u)
-    {
-      py = py - 1u;
-
-      /* Set all accumulators to zero */
-      acc0 = 0;
-      acc1 = 0;
-      acc2 = 0;
-      acc3 = 0;
-
-
-      /* read x[0], x[1] samples */
-      x0 = *__SIMD32(px);
-      /* read x[1], x[2] samples */
-      x1 = _SIMD32_OFFSET(px+1);
-	  px+= 2u;
-
-
-      /* Apply loop unrolling and compute 4 MACs simultaneously. */
-      k = srcBLen >> 2u;
-
-      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
-       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-      do
-      {
-        /* Read the last two inputB samples using SIMD:   
-         * y[srcBLen - 1] and y[srcBLen - 2] */
-        c0 = *__SIMD32(py)--;
-
-        /* acc0 +=  x[0] * y[srcBLen - 1] + x[1] * y[srcBLen - 2] */
-        acc0 = __SMLADX(x0, c0, acc0);
-
-        /* acc1 +=  x[1] * y[srcBLen - 1] + x[2] * y[srcBLen - 2] */
-        acc1 = __SMLADX(x1, c0, acc1);
-
-        /* Read x[2], x[3] */
-        x2 = *__SIMD32(px);
-
-        /* Read x[3], x[4] */
-        x3 = _SIMD32_OFFSET(px+1);
-
-        /* acc2 +=  x[2] * y[srcBLen - 1] + x[3] * y[srcBLen - 2] */
-        acc2 = __SMLADX(x2, c0, acc2);
-
-        /* acc3 +=  x[3] * y[srcBLen - 1] + x[4] * y[srcBLen - 2] */
-        acc3 = __SMLADX(x3, c0, acc3);
-
-        /* Read y[srcBLen - 3] and y[srcBLen - 4] */
-        c0 = *__SIMD32(py)--;
-
-        /* acc0 +=  x[2] * y[srcBLen - 3] + x[3] * y[srcBLen - 4] */
-        acc0 = __SMLADX(x2, c0, acc0);
-
-        /* acc1 +=  x[3] * y[srcBLen - 3] + x[4] * y[srcBLen - 4] */
-        acc1 = __SMLADX(x3, c0, acc1);
-
-        /* Read x[4], x[5] */
-        x0 = _SIMD32_OFFSET(px+2);
-
-        /* Read x[5], x[6] */
-        x1 = _SIMD32_OFFSET(px+3);
-		px += 4u;
-
-        /* acc2 +=  x[4] * y[srcBLen - 3] + x[5] * y[srcBLen - 4] */
-        acc2 = __SMLADX(x0, c0, acc2);
-
-        /* acc3 +=  x[5] * y[srcBLen - 3] + x[6] * y[srcBLen - 4] */
-        acc3 = __SMLADX(x1, c0, acc3);
-
-      } while(--k);
-
-      /* For the next MAC operations, SIMD is not used   
-       * So, the 16 bit pointer if inputB, py is updated */
-
-      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
-       ** No loop unrolling is used. */
-      k = srcBLen % 0x4u;
-
-      if(k == 1u)
-      {
-        /* Read y[srcBLen - 5] */
-        c0 = *(py+1);
-
-#ifdef  ARM_MATH_BIG_ENDIAN
-
-        c0 = c0 << 16u;
-
-#else
-
-        c0 = c0 & 0x0000FFFF;
-
-#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */
-
-        /* Read x[7] */
-        x3 = *__SIMD32(px);
-		px++;
-
-        /* Perform the multiply-accumulates */
-        acc0 = __SMLAD(x0, c0, acc0);
-        acc1 = __SMLAD(x1, c0, acc1);
-        acc2 = __SMLADX(x1, c0, acc2);
-        acc3 = __SMLADX(x3, c0, acc3);
-      }
-
-      if(k == 2u)
-      {
-        /* Read y[srcBLen - 5], y[srcBLen - 6] */
-        c0 = _SIMD32_OFFSET(py);
-
-        /* Read x[7], x[8] */
-        x3 = *__SIMD32(px);
-
-        /* Read x[9] */
-        x2 = _SIMD32_OFFSET(px+1);
-		px += 2u;
-
-        /* Perform the multiply-accumulates */
-        acc0 = __SMLADX(x0, c0, acc0);
-        acc1 = __SMLADX(x1, c0, acc1);
-        acc2 = __SMLADX(x3, c0, acc2);
-        acc3 = __SMLADX(x2, c0, acc3);
-      }
-
-      if(k == 3u)
-      {
-        /* Read y[srcBLen - 5], y[srcBLen - 6] */
-        c0 = _SIMD32_OFFSET(py);
-
-        /* Read x[7], x[8] */
-        x3 = *__SIMD32(px);
-
-        /* Read x[9] */
-        x2 = _SIMD32_OFFSET(px+1);
-
-        /* Perform the multiply-accumulates */
-        acc0 = __SMLADX(x0, c0, acc0);
-        acc1 = __SMLADX(x1, c0, acc1);
-        acc2 = __SMLADX(x3, c0, acc2);
-        acc3 = __SMLADX(x2, c0, acc3);
-
-        /* Read y[srcBLen - 7] */
-		c0 = *(py-1);
-#ifdef  ARM_MATH_BIG_ENDIAN
-
-        c0 = c0 << 16u;
-#else
-
-        c0 = c0 & 0x0000FFFF;
-#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */
-
-        /* Read x[10] */
-        x3 =  _SIMD32_OFFSET(px+2);
-		px += 3u;
-
-        /* Perform the multiply-accumulates */
-        acc0 = __SMLADX(x1, c0, acc0);
-        acc1 = __SMLAD(x2, c0, acc1);
-        acc2 = __SMLADX(x2, c0, acc2);
-        acc3 = __SMLADX(x3, c0, acc3);
-      }
-
-      /* Store the results in the accumulators in the destination buffer. */
-#ifndef ARM_MATH_BIG_ENDIAN
-
-      *__SIMD32(pOut)++ = __PKHBT((acc0 >> 15), (acc1 >> 15), 16);
-      *__SIMD32(pOut)++ = __PKHBT((acc2 >> 15), (acc3 >> 15), 16);
-
-#else
-
-      *__SIMD32(pOut)++ = __PKHBT((acc1 >> 15), (acc0 >> 15), 16);
-      *__SIMD32(pOut)++ = __PKHBT((acc3 >> 15), (acc2 >> 15), 16);
-
-#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
-
-      /* Increment the pointer pIn1 index, count by 4 */
-      count += 4u;
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      px = pIn1 + count;
-      py = pSrc2;
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-
-    /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.   
-     ** No loop unrolling is used. */
-    blkCnt = blockSize2 % 0x4u;
-
-    while(blkCnt > 0u)
-    {
-      /* Accumulator is made zero for every iteration */
-      sum = 0;
-
-      /* Apply loop unrolling and compute 4 MACs simultaneously. */
-      k = srcBLen >> 2u;
-
-      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
-       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulates */
-        sum += ((q31_t) * px++ * *py--);
-        sum += ((q31_t) * px++ * *py--);
-        sum += ((q31_t) * px++ * *py--);
-        sum += ((q31_t) * px++ * *py--);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
-       ** No loop unrolling is used. */
-      k = srcBLen % 0x4u;
-
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulates */
-        sum += ((q31_t) * px++ * *py--);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut++ = (q15_t) (sum >> 15);
-
-      /* Increment the pointer pIn1 index, count by 1 */
-      count++;
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      px = pIn1 + count;
-      py = pSrc2;
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-  }
-  else
-  {
-    /* If the srcBLen is not a multiple of 4,   
-     * the blockSize2 loop cannot be unrolled by 4 */
-    blkCnt = blockSize2;
-
-    while(blkCnt > 0u)
-    {
-      /* Accumulator is made zero for every iteration */
-      sum = 0;
-
-      /* srcBLen number of MACS should be performed */
-      k = srcBLen;
-
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulate */
-        sum += ((q31_t) * px++ * *py--);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut++ = (q15_t) (sum >> 15);
-
-      /* Increment the MAC count */
-      count++;
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      px = pIn1 + count;
-      py = pSrc2;
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-  }
-
-
-  /* --------------------------   
-   * Initializations of stage3   
-   * -------------------------*/
-
-  /* sum += x[srcALen-srcBLen+1] * y[srcBLen-1] + x[srcALen-srcBLen+2] * y[srcBLen-2] +...+ x[srcALen-1] * y[1]   
-   * sum += x[srcALen-srcBLen+2] * y[srcBLen-1] + x[srcALen-srcBLen+3] * y[srcBLen-2] +...+ x[srcALen-1] * y[2]   
-   * ....   
-   * sum +=  x[srcALen-2] * y[srcBLen-1] + x[srcALen-1] * y[srcBLen-2]   
-   * sum +=  x[srcALen-1] * y[srcBLen-1]   
-   */
-
-  /* In this stage the MAC operations are decreased by 1 for every iteration.   
-     The blockSize3 variable holds the number of MAC operations performed */
-
-  /* Working pointer of inputA */
-  pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);
-  px = pSrc1;
-
-  /* Working pointer of inputB */
-  pSrc2 = pIn2 + (srcBLen - 1u);
-  pIn2 = pSrc2 - 1u;
-  py = pIn2;
-
-  /* -------------------   
-   * Stage3 process   
-   * ------------------*/
-
-  /* For loop unrolling by 4, this stage is divided into two. */
-  /* First part of this stage computes the MAC operations greater than 4 */
-  /* Second part of this stage computes the MAC operations less than or equal to 4 */
-
-  /* The first part of the stage starts here */
-  j = blockSize3 >> 2u;
-
-  while((j > 0u) && (blockSize3 > 0u))
-  {
-    /* Accumulator is made zero for every iteration */
-    sum = 0;
-
-    /* Apply loop unrolling and compute 4 MACs simultaneously. */
-    k = blockSize3 >> 2u;
-
-    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
-     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-    while(k > 0u)
-    {
-      /* x[srcALen - srcBLen + 1], x[srcALen - srcBLen + 2] are multiplied   
-       * with y[srcBLen - 1], y[srcBLen - 2] respectively */
-      sum = __SMLADX(*__SIMD32(px)++, *__SIMD32(py)--, sum);
-      /* x[srcALen - srcBLen + 3], x[srcALen - srcBLen + 4] are multiplied   
-       * with y[srcBLen - 3], y[srcBLen - 4] respectively */
-      sum = __SMLADX(*__SIMD32(px)++, *__SIMD32(py)--, sum);
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* For the next MAC operations, the pointer py is used without SIMD   
-     * So, py is incremented by 1 */
-    py = py + 1u;
-
-    /* If the blockSize3 is not a multiple of 4, compute any remaining MACs here.   
-     ** No loop unrolling is used. */
-    k = blockSize3 % 0x4u;
-
-    while(k > 0u)
-    {
-      /* sum += x[srcALen - srcBLen + 5] * y[srcBLen - 5] */
-      sum = __SMLAD(*px++, *py--, sum);
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* Store the result in the accumulator in the destination buffer. */
-    *pOut++ = (q15_t) (sum >> 15);
-
-    /* Update the inputA and inputB pointers for next MAC calculation */
-    px = ++pSrc1;
-    py = pIn2;
-
-    /* Decrement the loop counter */
-    blockSize3--;
-
-    j--;
-  }
-
-  /* The second part of the stage starts here */
-  /* SIMD is not used for the next MAC operations,   
-   * so pointer py is updated to read only one sample at a time */
-  py = py + 1u;
-
-  while(blockSize3 > 0u)
-  {
-    /* Accumulator is made zero for every iteration */
-    sum = 0;
-
-    /* Apply loop unrolling and compute 4 MACs simultaneously. */
-    k = blockSize3;
-
-    while(k > 0u)
-    {
-      /* Perform the multiply-accumulates */
-      /* sum +=  x[srcALen-1] * y[srcBLen-1] */
-      sum = __SMLAD(*px++, *py--, sum);
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* Store the result in the accumulator in the destination buffer. */
-    *pOut++ = (q15_t) (sum >> 15);
-
-    /* Update the inputA and inputB pointers for next MAC calculation */
-    px = ++pSrc1;
-    py = pSrc2;
-
-    /* Decrement the loop counter */
-    blockSize3--;
-  }
-
-#else
-  q15_t *pIn1;                                   /* inputA pointer */
-  q15_t *pIn2;                                   /* inputB pointer */
-  q15_t *pOut = pDst;                            /* output pointer */
-  q31_t sum, acc0, acc1, acc2, acc3;             /* Accumulator */
-  q15_t *px;                                     /* Intermediate inputA pointer  */
-  q15_t *py;                                     /* Intermediate inputB pointer  */
-  q15_t *pSrc1, *pSrc2;                          /* Intermediate pointers */
-  q31_t x0, x1, x2, x3, c0;                      /* Temporary variables to hold state and coefficient values */
-  uint32_t blockSize1, blockSize2, blockSize3, j, k, count, blkCnt;     /* loop counter */
-  q15_t a, b;
-
-  /* The algorithm implementation is based on the lengths of the inputs. */
-  /* srcB is always made to slide across srcA. */
-  /* So srcBLen is always considered as shorter or equal to srcALen */
-  if(srcALen >= srcBLen)
-  {
-    /* Initialization of inputA pointer */
-    pIn1 = pSrcA;
-
-    /* Initialization of inputB pointer */
-    pIn2 = pSrcB;
-  }
-  else
-  {
-    /* Initialization of inputA pointer */
-    pIn1 = pSrcB;
-
-    /* Initialization of inputB pointer */
-    pIn2 = pSrcA;
-
-    /* srcBLen is always considered as shorter or equal to srcALen */
-    j = srcBLen;
-    srcBLen = srcALen;
-    srcALen = j;
-  }
-
-  /* conv(x,y) at n = x[n] * y[0] + x[n-1] * y[1] + x[n-2] * y[2] + ...+ x[n-N+1] * y[N -1] */
-  /* The function is internally   
-   * divided into three stages according to the number of multiplications that has to be   
-   * taken place between inputA samples and inputB samples. In the first stage of the   
-   * algorithm, the multiplications increase by one for every iteration.   
-   * In the second stage of the algorithm, srcBLen number of multiplications are done.   
-   * In the third stage of the algorithm, the multiplications decrease by one   
-   * for every iteration. */
-
-  /* The algorithm is implemented in three stages.   
-     The loop counters of each stage is initiated here. */
-  blockSize1 = srcBLen - 1u;
-  blockSize2 = srcALen - (srcBLen - 1u);
-  blockSize3 = blockSize1;
-
-  /* --------------------------   
-   * Initializations of stage1   
-   * -------------------------*/
-
-  /* sum = x[0] * y[0]   
-   * sum = x[0] * y[1] + x[1] * y[0]   
-   * ....   
-   * sum = x[0] * y[srcBlen - 1] + x[1] * y[srcBlen - 2] +...+ x[srcBLen - 1] * y[0]   
-   */
-
-  /* In this stage the MAC operations are increased by 1 for every iteration.   
-     The count variable holds the number of MAC operations performed */
-  count = 1u;
-
-  /* Working pointer of inputA */
-  px = pIn1;
-
-  /* Working pointer of inputB */
-  py = pIn2;
-
-
-  /* ------------------------   
-   * Stage1 process   
-   * ----------------------*/
-
-  /* For loop unrolling by 4, this stage is divided into two. */
-  /* First part of this stage computes the MAC operations less than 4 */
-  /* Second part of this stage computes the MAC operations greater than or equal to 4 */
-
-  /* The first part of the stage starts here */
-  while((count < 4u) && (blockSize1 > 0u))
-  {
-    /* Accumulator is made zero for every iteration */
-    sum = 0;
-
-    /* Loop over number of MAC operations between   
-     * inputA samples and inputB samples */
-    k = count;
-
-    while(k > 0u)
-    {
-      /* Perform the multiply-accumulates */
-      sum += ((q31_t) * px++ * *py--);
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* Store the result in the accumulator in the destination buffer. */
-    *pOut++ = (q15_t) (sum >> 15);
-
-    /* Update the inputA and inputB pointers for next MAC calculation */
-    py = pIn2 + count;
-    px = pIn1;
-
-    /* Increment the MAC count */
-    count++;
-
-    /* Decrement the loop counter */
-    blockSize1--;
-  }
-
-  /* The second part of the stage starts here */
-  /* The internal loop, over count, is unrolled by 4 */
-  /* To, read the last two inputB samples using SIMD:   
-   * y[srcBLen] and y[srcBLen-1] coefficients, py is decremented by 1 */
-  py = py - 1;
-
-  while(blockSize1 > 0u)
-  {
-    /* Accumulator is made zero for every iteration */
-    sum = 0;
-
-    /* Apply loop unrolling and compute 4 MACs simultaneously. */
-    k = count >> 2u;
-
-    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
-     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-	py++;
-
-    while(k > 0u)
-    {
-      /* Perform the multiply-accumulates */
-        sum += ((q31_t) * px++ * *py--);
-        sum += ((q31_t) * px++ * *py--);
-        sum += ((q31_t) * px++ * *py--);
-        sum += ((q31_t) * px++ * *py--);
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* If the count is not a multiple of 4, compute any remaining MACs here.   
-     ** No loop unrolling is used. */
-    k = count % 0x4u;
-
-    while(k > 0u)
-    {
-      /* Perform the multiply-accumulates */
-      sum += ((q31_t) * px++ * *py--);
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* Store the result in the accumulator in the destination buffer. */
-    *pOut++ = (q15_t) (sum >> 15);
-
-    /* Update the inputA and inputB pointers for next MAC calculation */
-    py = pIn2 + (count - 1u);
-    px = pIn1;
-
-    /* Increment the MAC count */
-    count++;
-
-    /* Decrement the loop counter */
-    blockSize1--;
-  }
-
-  /* --------------------------   
-   * Initializations of stage2   
-   * ------------------------*/
-
-  /* sum = x[0] * y[srcBLen-1] + x[1] * y[srcBLen-2] +...+ x[srcBLen-1] * y[0]   
-   * sum = x[1] * y[srcBLen-1] + x[2] * y[srcBLen-2] +...+ x[srcBLen] * y[0]   
-   * ....   
-   * sum = x[srcALen-srcBLen-2] * y[srcBLen-1] + x[srcALen] * y[srcBLen-2] +...+ x[srcALen-1] * y[0]   
-   */
-
-  /* Working pointer of inputA */
-  px = pIn1;
-
-  /* Working pointer of inputB */
-  pSrc2 = pIn2 + (srcBLen - 1u);
-  py = pSrc2;
-
-  /* count is the index by which the pointer pIn1 to be incremented */
-  count = 0u;
-
-
-  /* --------------------   
-   * Stage2 process   
-   * -------------------*/
-
-  /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.   
-   * So, to loop unroll over blockSize2,   
-   * srcBLen should be greater than or equal to 4 */
-  if(srcBLen >= 4u)
-  {
-    /* Loop unroll over blockSize2, by 4 */
-    blkCnt = blockSize2 >> 2u;
-
-    while(blkCnt > 0u)
-    {
-      py = py - 1u;
-
-      /* Set all accumulators to zero */
-      acc0 = 0;
-      acc1 = 0;
-      acc2 = 0;
-      acc3 = 0;	  
-
-      /* read x[0], x[1] samples */
-	  a = *px++;
-	  b = *px++;
-
-#ifndef ARM_MATH_BIG_ENDIAN
-	
-	  x0 = __PKHBT(a, b, 16);
-	  a = *px;
-	  x1 = __PKHBT(b, a, 16);
-
-#else
-
-	  x0 = __PKHBT(b, a, 16);
-	  a = *px;
-	  x1 = __PKHBT(a, b, 16);
-
-#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	   */
-
-      /* Apply loop unrolling and compute 4 MACs simultaneously. */
-      k = srcBLen >> 2u;
-
-      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
-       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-      do
-      {
-        /* Read the last two inputB samples using SIMD:   
-         * y[srcBLen - 1] and y[srcBLen - 2] */
-		a = *py;
-		b = *(py+1);
-		py -= 2;
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-		c0 = __PKHBT(a, b, 16);
-
-#else
-
- 		c0 = __PKHBT(b, a, 16);;
-
-#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/
-
-        /* acc0 +=  x[0] * y[srcBLen - 1] + x[1] * y[srcBLen - 2] */
-        acc0 = __SMLADX(x0, c0, acc0);
-
-        /* acc1 +=  x[1] * y[srcBLen - 1] + x[2] * y[srcBLen - 2] */
-        acc1 = __SMLADX(x1, c0, acc1);
-
-	  a = *px;
-	  b = *(px + 1);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-	
-	  x2 = __PKHBT(a, b, 16);
-	  a = *(px + 2);
-	  x3 = __PKHBT(b, a, 16);
-
-#else
-
-	  x2 = __PKHBT(b, a, 16);
-	  a = *(px + 2);
-	  x3 = __PKHBT(a, b, 16);
-
-#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	   */
-
-        /* acc2 +=  x[2] * y[srcBLen - 1] + x[3] * y[srcBLen - 2] */
-        acc2 = __SMLADX(x2, c0, acc2);
-
-        /* acc3 +=  x[3] * y[srcBLen - 1] + x[4] * y[srcBLen - 2] */
-        acc3 = __SMLADX(x3, c0, acc3);
-
-        /* Read y[srcBLen - 3] and y[srcBLen - 4] */
-		a = *py;
-		b = *(py+1);
-		py -= 2;
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-		c0 = __PKHBT(a, b, 16);
-
-#else
-
- 		c0 = __PKHBT(b, a, 16);;
-
-#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/
-
-        /* acc0 +=  x[2] * y[srcBLen - 3] + x[3] * y[srcBLen - 4] */
-        acc0 = __SMLADX(x2, c0, acc0);
-
-        /* acc1 +=  x[3] * y[srcBLen - 3] + x[4] * y[srcBLen - 4] */
-        acc1 = __SMLADX(x3, c0, acc1);
-
-        /* Read x[4], x[5], x[6] */
-	  a = *(px + 2);
-	  b = *(px + 3);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-	
-	  x0 = __PKHBT(a, b, 16);
-	  a = *(px + 4);
-	  x1 = __PKHBT(b, a, 16);
-
-#else
-
-	  x0 = __PKHBT(b, a, 16);
-	  a = *(px + 4);
-	  x1 = __PKHBT(a, b, 16);
-
-#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	   */
-
-		px += 4u;
-
-        /* acc2 +=  x[4] * y[srcBLen - 3] + x[5] * y[srcBLen - 4] */
-        acc2 = __SMLADX(x0, c0, acc2);
-
-        /* acc3 +=  x[5] * y[srcBLen - 3] + x[6] * y[srcBLen - 4] */
-        acc3 = __SMLADX(x1, c0, acc3);
-
-      } while(--k);
-
-      /* For the next MAC operations, SIMD is not used   
-       * So, the 16 bit pointer if inputB, py is updated */
-
-      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
-       ** No loop unrolling is used. */
-      k = srcBLen % 0x4u;
-
-      if(k == 1u)
-      {
-        /* Read y[srcBLen - 5] */
-        c0 = *(py+1);
-
-#ifdef  ARM_MATH_BIG_ENDIAN
-
-        c0 = c0 << 16u;
-
-#else
-
-        c0 = c0 & 0x0000FFFF;
-
-#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */
-
-        /* Read x[7] */
-		a = *px;
-		b = *(px+1);
-		px++;
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-		x3 = __PKHBT(a, b, 16);
-
-#else
-
- 		x3 = __PKHBT(b, a, 16);;
-
-#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/
-
-
-        /* Perform the multiply-accumulates */
-        acc0 = __SMLAD(x0, c0, acc0);
-        acc1 = __SMLAD(x1, c0, acc1);
-        acc2 = __SMLADX(x1, c0, acc2);
-        acc3 = __SMLADX(x3, c0, acc3);
-      }
-
-      if(k == 2u)
-      {
-        /* Read y[srcBLen - 5], y[srcBLen - 6] */
-		a = *py;
-		b = *(py+1);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-		c0 = __PKHBT(a, b, 16);
-
-#else
-
- 		c0 = __PKHBT(b, a, 16);;
-
-#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/
-
-        /* Read x[7], x[8], x[9] */
-	  a = *px;
-	  b = *(px + 1);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-	
-	  x3 = __PKHBT(a, b, 16);
-	  a = *(px + 2);
-	  x2 = __PKHBT(b, a, 16);
-
-#else
-
-	  x3 = __PKHBT(b, a, 16);
-	  a = *(px + 2);
-	  x2 = __PKHBT(a, b, 16);
-
-#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	   */
-		px += 2u;
-
-        /* Perform the multiply-accumulates */
-        acc0 = __SMLADX(x0, c0, acc0);
-        acc1 = __SMLADX(x1, c0, acc1);
-        acc2 = __SMLADX(x3, c0, acc2);
-        acc3 = __SMLADX(x2, c0, acc3);
-      }
-
-      if(k == 3u)
-      {
-        /* Read y[srcBLen - 5], y[srcBLen - 6] */
-		a = *py;
-		b = *(py+1);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-		c0 = __PKHBT(a, b, 16);
-
-#else
-
- 		c0 = __PKHBT(b, a, 16);;
-
-#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/
-
-        /* Read x[7], x[8], x[9] */
-	  a = *px;
-	  b = *(px + 1);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-	
-	  x3 = __PKHBT(a, b, 16);
-	  a = *(px + 2);
-	  x2 = __PKHBT(b, a, 16);
-
-#else
-
-	  x3 = __PKHBT(b, a, 16);
-	  a = *(px + 2);
-	  x2 = __PKHBT(a, b, 16);
-
-#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	   */
-
-        /* Perform the multiply-accumulates */
-        acc0 = __SMLADX(x0, c0, acc0);
-        acc1 = __SMLADX(x1, c0, acc1);
-        acc2 = __SMLADX(x3, c0, acc2);
-        acc3 = __SMLADX(x2, c0, acc3);
-
-        /* Read y[srcBLen - 7] */
-		c0 = *(py-1);
-#ifdef  ARM_MATH_BIG_ENDIAN
-
-        c0 = c0 << 16u;
-#else
-
-        c0 = c0 & 0x0000FFFF;
-#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */
-
-        /* Read x[10] */
-		a = *(px+2);
-		b = *(px+3);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-		x3 = __PKHBT(a, b, 16);
-
-#else
-
- 		x3 = __PKHBT(b, a, 16);;
-
-#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/
-
-		px += 3u;
-
-        /* Perform the multiply-accumulates */
-        acc0 = __SMLADX(x1, c0, acc0);
-        acc1 = __SMLAD(x2, c0, acc1);
-        acc2 = __SMLADX(x2, c0, acc2);
-        acc3 = __SMLADX(x3, c0, acc3);
-      }
-
-      /* Store the results in the accumulators in the destination buffer. */
-	  *pOut++ = (q15_t)(acc0 >> 15);
-	  *pOut++ = (q15_t)(acc1 >> 15);
-	  *pOut++ = (q15_t)(acc2 >> 15);
-	  *pOut++ = (q15_t)(acc3 >> 15);
-
-      /* Increment the pointer pIn1 index, count by 4 */
-      count += 4u;
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      px = pIn1 + count;
-      py = pSrc2;
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-
-    /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.   
-     ** No loop unrolling is used. */
-    blkCnt = blockSize2 % 0x4u;
-
-    while(blkCnt > 0u)
-    {
-      /* Accumulator is made zero for every iteration */
-      sum = 0;
-
-      /* Apply loop unrolling and compute 4 MACs simultaneously. */
-      k = srcBLen >> 2u;
-
-      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
-       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulates */
-        sum += ((q31_t) * px++ * *py--);
-        sum += ((q31_t) * px++ * *py--);
-        sum += ((q31_t) * px++ * *py--);
-        sum += ((q31_t) * px++ * *py--);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
-       ** No loop unrolling is used. */
-      k = srcBLen % 0x4u;
-
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulates */
-        sum += ((q31_t) * px++ * *py--);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut++ = (q15_t) (sum >> 15);
-
-      /* Increment the pointer pIn1 index, count by 1 */
-      count++;
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      px = pIn1 + count;
-      py = pSrc2;
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-  }
-  else
-  {
-    /* If the srcBLen is not a multiple of 4,   
-     * the blockSize2 loop cannot be unrolled by 4 */
-    blkCnt = blockSize2;
-
-    while(blkCnt > 0u)
-    {
-      /* Accumulator is made zero for every iteration */
-      sum = 0;
-
-      /* srcBLen number of MACS should be performed */
-      k = srcBLen;
-
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulate */
-        sum += ((q31_t) * px++ * *py--);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut++ = (q15_t) (sum >> 15);
-
-      /* Increment the MAC count */
-      count++;
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      px = pIn1 + count;
-      py = pSrc2;
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-  }
-
-
-  /* --------------------------   
-   * Initializations of stage3   
-   * -------------------------*/
-
-  /* sum += x[srcALen-srcBLen+1] * y[srcBLen-1] + x[srcALen-srcBLen+2] * y[srcBLen-2] +...+ x[srcALen-1] * y[1]   
-   * sum += x[srcALen-srcBLen+2] * y[srcBLen-1] + x[srcALen-srcBLen+3] * y[srcBLen-2] +...+ x[srcALen-1] * y[2]   
-   * ....   
-   * sum +=  x[srcALen-2] * y[srcBLen-1] + x[srcALen-1] * y[srcBLen-2]   
-   * sum +=  x[srcALen-1] * y[srcBLen-1]   
-   */
-
-  /* In this stage the MAC operations are decreased by 1 for every iteration.   
-     The blockSize3 variable holds the number of MAC operations performed */
-
-  /* Working pointer of inputA */
-  pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);
-  px = pSrc1;
-
-  /* Working pointer of inputB */
-  pSrc2 = pIn2 + (srcBLen - 1u);
-  pIn2 = pSrc2 - 1u;
-  py = pIn2;
-
-  /* -------------------   
-   * Stage3 process   
-   * ------------------*/
-
-  /* For loop unrolling by 4, this stage is divided into two. */
-  /* First part of this stage computes the MAC operations greater than 4 */
-  /* Second part of this stage computes the MAC operations less than or equal to 4 */
-
-  /* The first part of the stage starts here */
-  j = blockSize3 >> 2u;
-
-  while((j > 0u) && (blockSize3 > 0u))
-  {
-    /* Accumulator is made zero for every iteration */
-    sum = 0;
-
-    /* Apply loop unrolling and compute 4 MACs simultaneously. */
-    k = blockSize3 >> 2u;
-
-    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
-     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-	py++;
-
-    while(k > 0u)
-    {	
-        sum += ((q31_t) * px++ * *py--);
-        sum += ((q31_t) * px++ * *py--);
-        sum += ((q31_t) * px++ * *py--);
-        sum += ((q31_t) * px++ * *py--);
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* If the blockSize3 is not a multiple of 4, compute any remaining MACs here.   
-     ** No loop unrolling is used. */
-    k = blockSize3 % 0x4u;
-
-    while(k > 0u)
-    {
-      /* sum += x[srcALen - srcBLen + 5] * y[srcBLen - 5] */
-        sum += ((q31_t) * px++ * *py--);
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* Store the result in the accumulator in the destination buffer. */
-    *pOut++ = (q15_t) (sum >> 15);
-
-    /* Update the inputA and inputB pointers for next MAC calculation */
-    px = ++pSrc1;
-    py = pIn2;
-
-    /* Decrement the loop counter */
-    blockSize3--;
-
-    j--;
-  }
-
-  /* The second part of the stage starts here */
-  /* SIMD is not used for the next MAC operations,   
-   * so pointer py is updated to read only one sample at a time */
-  py = py + 1u;
-
-  while(blockSize3 > 0u)
-  {
-    /* Accumulator is made zero for every iteration */
-    sum = 0;
-
-    /* Apply loop unrolling and compute 4 MACs simultaneously. */
-    k = blockSize3;
-
-    while(k > 0u)
-    {
-      /* Perform the multiply-accumulates */
-      /* sum +=  x[srcALen-1] * y[srcBLen-1] */
-        sum += ((q31_t) * px++ * *py--);
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* Store the result in the accumulator in the destination buffer. */
-    *pOut++ = (q15_t) (sum >> 15);
-
-    /* Update the inputA and inputB pointers for next MAC calculation */
-    px = ++pSrc1;
-    py = pSrc2;
-
-    /* Decrement the loop counter */
-    blockSize3--;
-  }
-
-#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
-}
-
-/**   
- * @} end of Conv group   
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_q31.c
deleted file mode 100644
index e675c11ce..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_q31.c
+++ /dev/null
@@ -1,572 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_conv_fast_q31.c    
-*    
-* Description:	Q31 Convolution (fast version).    
-*    
-* Target Processor: Cortex-M4/Cortex-M3
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*  
-* Version 1.0.11 2011/10/18  
-*    Bug Fix in conv, correlation, partial convolution.  
-* 
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup Conv    
- * @{    
- */
-
-/**    
- * @param[in] *pSrcA points to the first input sequence.    
- * @param[in] srcALen length of the first input sequence.    
- * @param[in] *pSrcB points to the second input sequence.    
- * @param[in] srcBLen length of the second input sequence.    
- * @param[out] *pDst points to the location where the output result is written.  Length srcALen+srcBLen-1.    
- * @return none.    
- *    
- * @details    
- * Scaling and Overflow Behavior:    
- *    
- * \par    
- * This function is optimized for speed at the expense of fixed-point precision and overflow protection.    
- * The result of each 1.31 x 1.31 multiplication is truncated to 2.30 format.    
- * These intermediate results are accumulated in a 32-bit register in 2.30 format.    
- * Finally, the accumulator is saturated and converted to a 1.31 result.    
- *    
- * \par    
- * The fast version has the same overflow behavior as the standard version but provides less precision since it discards the low 32 bits of each multiplication result.    
- * In order to avoid overflows completely the input signals must be scaled down.    
- * Scale down the inputs by log2(min(srcALen, srcBLen)) (log2 is read as log to the base 2) times to avoid overflows,    
- * as maximum of min(srcALen, srcBLen) number of additions are carried internally.    
- *    
- * \par    
- * See arm_conv_q31() for a slower implementation of this function which uses 64-bit accumulation to provide higher precision.    
- */
-
-void arm_conv_fast_q31(
-  q31_t * pSrcA,
-  uint32_t srcALen,
-  q31_t * pSrcB,
-  uint32_t srcBLen,
-  q31_t * pDst)
-{
-  q31_t *pIn1;                                   /* inputA pointer */
-  q31_t *pIn2;                                   /* inputB pointer */
-  q31_t *pOut = pDst;                            /* output pointer */
-  q31_t *px;                                     /* Intermediate inputA pointer  */
-  q31_t *py;                                     /* Intermediate inputB pointer  */
-  q31_t *pSrc1, *pSrc2;                          /* Intermediate pointers */
-  q31_t sum, acc0, acc1, acc2, acc3;             /* Accumulator */
-  q31_t x0, x1, x2, x3, c0;                      /* Temporary variables to hold state and coefficient values */
-  uint32_t j, k, count, blkCnt, blockSize1, blockSize2, blockSize3;     /* loop counter */
-
-  /* The algorithm implementation is based on the lengths of the inputs. */
-  /* srcB is always made to slide across srcA. */
-  /* So srcBLen is always considered as shorter or equal to srcALen */
-  if(srcALen >= srcBLen)
-  {
-    /* Initialization of inputA pointer */
-    pIn1 = pSrcA;
-
-    /* Initialization of inputB pointer */
-    pIn2 = pSrcB;
-  }
-  else
-  {
-    /* Initialization of inputA pointer */
-    pIn1 = pSrcB;
-
-    /* Initialization of inputB pointer */
-    pIn2 = pSrcA;
-
-    /* srcBLen is always considered as shorter or equal to srcALen */
-    j = srcBLen;
-    srcBLen = srcALen;
-    srcALen = j;
-  }
-
-  /* conv(x,y) at n = x[n] * y[0] + x[n-1] * y[1] + x[n-2] * y[2] + ...+ x[n-N+1] * y[N -1] */
-  /* The function is internally    
-   * divided into three stages according to the number of multiplications that has to be    
-   * taken place between inputA samples and inputB samples. In the first stage of the    
-   * algorithm, the multiplications increase by one for every iteration.    
-   * In the second stage of the algorithm, srcBLen number of multiplications are done.    
-   * In the third stage of the algorithm, the multiplications decrease by one    
-   * for every iteration. */
-
-  /* The algorithm is implemented in three stages.    
-     The loop counters of each stage is initiated here. */
-  blockSize1 = srcBLen - 1u;
-  blockSize2 = srcALen - (srcBLen - 1u);
-  blockSize3 = blockSize1;
-
-  /* --------------------------    
-   * Initializations of stage1    
-   * -------------------------*/
-
-  /* sum = x[0] * y[0]    
-   * sum = x[0] * y[1] + x[1] * y[0]    
-   * ....    
-   * sum = x[0] * y[srcBlen - 1] + x[1] * y[srcBlen - 2] +...+ x[srcBLen - 1] * y[0]    
-   */
-
-  /* In this stage the MAC operations are increased by 1 for every iteration.    
-     The count variable holds the number of MAC operations performed */
-  count = 1u;
-
-  /* Working pointer of inputA */
-  px = pIn1;
-
-  /* Working pointer of inputB */
-  py = pIn2;
-
-
-  /* ------------------------    
-   * Stage1 process    
-   * ----------------------*/
-
-  /* The first stage starts here */
-  while(blockSize1 > 0u)
-  {
-    /* Accumulator is made zero for every iteration */
-    sum = 0;
-
-    /* Apply loop unrolling and compute 4 MACs simultaneously. */
-    k = count >> 2u;
-
-    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
-     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-    while(k > 0u)
-    {
-      /* x[0] * y[srcBLen - 1] */
-      sum = (q31_t) ((((q63_t) sum << 32) +
-                      ((q63_t) * px++ * (*py--))) >> 32);
-
-      /* x[1] * y[srcBLen - 2] */
-      sum = (q31_t) ((((q63_t) sum << 32) +
-                      ((q63_t) * px++ * (*py--))) >> 32);
-
-      /* x[2] * y[srcBLen - 3] */
-      sum = (q31_t) ((((q63_t) sum << 32) +
-                      ((q63_t) * px++ * (*py--))) >> 32);
-
-      /* x[3] * y[srcBLen - 4] */
-      sum = (q31_t) ((((q63_t) sum << 32) +
-                      ((q63_t) * px++ * (*py--))) >> 32);
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* If the count is not a multiple of 4, compute any remaining MACs here.    
-     ** No loop unrolling is used. */
-    k = count % 0x4u;
-
-    while(k > 0u)
-    {
-      /* Perform the multiply-accumulate */
-      sum = (q31_t) ((((q63_t) sum << 32) +
-                      ((q63_t) * px++ * (*py--))) >> 32);
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* Store the result in the accumulator in the destination buffer. */
-    *pOut++ = sum << 1;
-
-    /* Update the inputA and inputB pointers for next MAC calculation */
-    py = pIn2 + count;
-    px = pIn1;
-
-    /* Increment the MAC count */
-    count++;
-
-    /* Decrement the loop counter */
-    blockSize1--;
-  }
-
-  /* --------------------------    
-   * Initializations of stage2    
-   * ------------------------*/
-
-  /* sum = x[0] * y[srcBLen-1] + x[1] * y[srcBLen-2] +...+ x[srcBLen-1] * y[0]    
-   * sum = x[1] * y[srcBLen-1] + x[2] * y[srcBLen-2] +...+ x[srcBLen] * y[0]    
-   * ....    
-   * sum = x[srcALen-srcBLen-2] * y[srcBLen-1] + x[srcALen] * y[srcBLen-2] +...+ x[srcALen-1] * y[0]    
-   */
-
-  /* Working pointer of inputA */
-  px = pIn1;
-
-  /* Working pointer of inputB */
-  pSrc2 = pIn2 + (srcBLen - 1u);
-  py = pSrc2;
-
-  /* count is index by which the pointer pIn1 to be incremented */
-  count = 0u;
-
-  /* -------------------    
-   * Stage2 process    
-   * ------------------*/
-
-  /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.    
-   * So, to loop unroll over blockSize2,    
-   * srcBLen should be greater than or equal to 4 */
-  if(srcBLen >= 4u)
-  {
-    /* Loop unroll over blockSize2, by 4 */
-    blkCnt = blockSize2 >> 2u;
-
-    while(blkCnt > 0u)
-    {
-      /* Set all accumulators to zero */
-      acc0 = 0;
-      acc1 = 0;
-      acc2 = 0;
-      acc3 = 0;
-
-      /* read x[0], x[1], x[2] samples */
-      x0 = *(px++);
-      x1 = *(px++);
-      x2 = *(px++);
-
-      /* Apply loop unrolling and compute 4 MACs simultaneously. */
-      k = srcBLen >> 2u;
-
-      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
-       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-      do
-      {
-        /* Read y[srcBLen - 1] sample */
-        c0 = *(py--);
-
-        /* Read x[3] sample */
-        x3 = *(px++);
-
-        /* Perform the multiply-accumulates */
-        /* acc0 +=  x[0] * y[srcBLen - 1] */
-        acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x0 * c0)) >> 32);
-
-        /* acc1 +=  x[1] * y[srcBLen - 1] */
-        acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x1 * c0)) >> 32);
-
-        /* acc2 +=  x[2] * y[srcBLen - 1] */
-        acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x2 * c0)) >> 32);
-
-        /* acc3 +=  x[3] * y[srcBLen - 1] */
-        acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x3 * c0)) >> 32);
-
-        /* Read y[srcBLen - 2] sample */
-        c0 = *(py--);
-
-        /* Read x[4] sample */
-        x0 = *(px++);
-
-        /* Perform the multiply-accumulate */
-        /* acc0 +=  x[1] * y[srcBLen - 2] */
-        acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x1 * c0)) >> 32);
-        /* acc1 +=  x[2] * y[srcBLen - 2] */
-        acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x2 * c0)) >> 32);
-        /* acc2 +=  x[3] * y[srcBLen - 2] */
-        acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x3 * c0)) >> 32);
-        /* acc3 +=  x[4] * y[srcBLen - 2] */
-        acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x0 * c0)) >> 32);
-
-        /* Read y[srcBLen - 3] sample */
-        c0 = *(py--);
-
-        /* Read x[5] sample */
-        x1 = *(px++);
-
-        /* Perform the multiply-accumulates */
-        /* acc0 +=  x[2] * y[srcBLen - 3] */
-        acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x2 * c0)) >> 32);
-        /* acc1 +=  x[3] * y[srcBLen - 3] */
-        acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x3 * c0)) >> 32);
-        /* acc2 +=  x[4] * y[srcBLen - 3] */
-        acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x0 * c0)) >> 32);
-        /* acc3 +=  x[5] * y[srcBLen - 3] */
-        acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x1 * c0)) >> 32);
-
-        /* Read y[srcBLen - 4] sample */
-        c0 = *(py--);
-
-        /* Read x[6] sample */
-        x2 = *(px++);
-
-        /* Perform the multiply-accumulates */
-        /* acc0 +=  x[3] * y[srcBLen - 4] */
-        acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x3 * c0)) >> 32);
-        /* acc1 +=  x[4] * y[srcBLen - 4] */
-        acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x0 * c0)) >> 32);
-        /* acc2 +=  x[5] * y[srcBLen - 4] */
-        acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x1 * c0)) >> 32);
-        /* acc3 +=  x[6] * y[srcBLen - 4] */
-        acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x2 * c0)) >> 32);
-
-
-      } while(--k);
-
-      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.    
-       ** No loop unrolling is used. */
-      k = srcBLen % 0x4u;
-
-      while(k > 0u)
-      {
-        /* Read y[srcBLen - 5] sample */
-        c0 = *(py--);
-
-        /* Read x[7] sample */
-        x3 = *(px++);
-
-        /* Perform the multiply-accumulates */
-        /* acc0 +=  x[4] * y[srcBLen - 5] */
-        acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x0 * c0)) >> 32);
-        /* acc1 +=  x[5] * y[srcBLen - 5] */
-        acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x1 * c0)) >> 32);
-        /* acc2 +=  x[6] * y[srcBLen - 5] */
-        acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x2 * c0)) >> 32);
-        /* acc3 +=  x[7] * y[srcBLen - 5] */
-        acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x3 * c0)) >> 32);
-
-        /* Reuse the present samples for the next MAC */
-        x0 = x1;
-        x1 = x2;
-        x2 = x3;
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* Store the results in the accumulators in the destination buffer. */
-      *pOut++ = (q31_t) (acc0 << 1);
-      *pOut++ = (q31_t) (acc1 << 1);
-      *pOut++ = (q31_t) (acc2 << 1);
-      *pOut++ = (q31_t) (acc3 << 1);
-
-      /* Increment the pointer pIn1 index, count by 4 */
-      count += 4u;
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      px = pIn1 + count;
-      py = pSrc2;
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-
-    /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.    
-     ** No loop unrolling is used. */
-    blkCnt = blockSize2 % 0x4u;
-
-    while(blkCnt > 0u)
-    {
-      /* Accumulator is made zero for every iteration */
-      sum = 0;
-
-      /* Apply loop unrolling and compute 4 MACs simultaneously. */
-      k = srcBLen >> 2u;
-
-      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
-       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulates */
-        sum = (q31_t) ((((q63_t) sum << 32) +
-                        ((q63_t) * px++ * (*py--))) >> 32);
-        sum = (q31_t) ((((q63_t) sum << 32) +
-                        ((q63_t) * px++ * (*py--))) >> 32);
-        sum = (q31_t) ((((q63_t) sum << 32) +
-                        ((q63_t) * px++ * (*py--))) >> 32);
-        sum = (q31_t) ((((q63_t) sum << 32) +
-                        ((q63_t) * px++ * (*py--))) >> 32);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.    
-       ** No loop unrolling is used. */
-      k = srcBLen % 0x4u;
-
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulate */
-        sum = (q31_t) ((((q63_t) sum << 32) +
-                        ((q63_t) * px++ * (*py--))) >> 32);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut++ = sum << 1;
-
-      /* Increment the MAC count */
-      count++;
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      px = pIn1 + count;
-      py = pSrc2;
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-  }
-  else
-  {
-    /* If the srcBLen is not a multiple of 4,    
-     * the blockSize2 loop cannot be unrolled by 4 */
-    blkCnt = blockSize2;
-
-    while(blkCnt > 0u)
-    {
-      /* Accumulator is made zero for every iteration */
-      sum = 0;
-
-      /* srcBLen number of MACS should be performed */
-      k = srcBLen;
-
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulate */
-        sum = (q31_t) ((((q63_t) sum << 32) +
-                        ((q63_t) * px++ * (*py--))) >> 32);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut++ = sum << 1;
-
-      /* Increment the MAC count */
-      count++;
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      px = pIn1 + count;
-      py = pSrc2;
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-  }
-
-
-  /* --------------------------    
-   * Initializations of stage3    
-   * -------------------------*/
-
-  /* sum += x[srcALen-srcBLen+1] * y[srcBLen-1] + x[srcALen-srcBLen+2] * y[srcBLen-2] +...+ x[srcALen-1] * y[1]    
-   * sum += x[srcALen-srcBLen+2] * y[srcBLen-1] + x[srcALen-srcBLen+3] * y[srcBLen-2] +...+ x[srcALen-1] * y[2]    
-   * ....    
-   * sum +=  x[srcALen-2] * y[srcBLen-1] + x[srcALen-1] * y[srcBLen-2]    
-   * sum +=  x[srcALen-1] * y[srcBLen-1]    
-   */
-
-  /* In this stage the MAC operations are decreased by 1 for every iteration.    
-     The blockSize3 variable holds the number of MAC operations performed */
-
-  /* Working pointer of inputA */
-  pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);
-  px = pSrc1;
-
-  /* Working pointer of inputB */
-  pSrc2 = pIn2 + (srcBLen - 1u);
-  py = pSrc2;
-
-  /* -------------------    
-   * Stage3 process    
-   * ------------------*/
-
-  while(blockSize3 > 0u)
-  {
-    /* Accumulator is made zero for every iteration */
-    sum = 0;
-
-    /* Apply loop unrolling and compute 4 MACs simultaneously. */
-    k = blockSize3 >> 2u;
-
-    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
-     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-    while(k > 0u)
-    {
-      /* sum += x[srcALen - srcBLen + 1] * y[srcBLen - 1] */
-      sum = (q31_t) ((((q63_t) sum << 32) +
-                      ((q63_t) * px++ * (*py--))) >> 32);
-
-      /* sum += x[srcALen - srcBLen + 2] * y[srcBLen - 2] */
-      sum = (q31_t) ((((q63_t) sum << 32) +
-                      ((q63_t) * px++ * (*py--))) >> 32);
-
-      /* sum += x[srcALen - srcBLen + 3] * y[srcBLen - 3] */
-      sum = (q31_t) ((((q63_t) sum << 32) +
-                      ((q63_t) * px++ * (*py--))) >> 32);
-
-      /* sum += x[srcALen - srcBLen + 4] * y[srcBLen - 4] */
-      sum = (q31_t) ((((q63_t) sum << 32) +
-                      ((q63_t) * px++ * (*py--))) >> 32);
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* If the blockSize3 is not a multiple of 4, compute any remaining MACs here.    
-     ** No loop unrolling is used. */
-    k = blockSize3 % 0x4u;
-
-    while(k > 0u)
-    {
-      /* Perform the multiply-accumulate */
-      sum = (q31_t) ((((q63_t) sum << 32) +
-                      ((q63_t) * px++ * (*py--))) >> 32);
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* Store the result in the accumulator in the destination buffer. */
-    *pOut++ = sum << 1;
-
-    /* Update the inputA and inputB pointers for next MAC calculation */
-    px = ++pSrc1;
-    py = pSrc2;
-
-    /* Decrement the loop counter */
-    blockSize3--;
-  }
-
-}
-
-/**    
- * @} end of Conv group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_opt_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_opt_q15.c
deleted file mode 100644
index 70b4125d9..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_opt_q15.c
+++ /dev/null
@@ -1,544 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_conv_opt_q15.c    
-*    
-* Description:	Convolution of Q15 sequences.      
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.11 2011/10/18  
-*    Bug Fix in conv, correlation, partial convolution.  
-* 
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-*    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup Conv    
- * @{    
- */
-
-/**    
- * @brief Convolution of Q15 sequences.    
- * @param[in] *pSrcA points to the first input sequence.    
- * @param[in] srcALen length of the first input sequence.    
- * @param[in] *pSrcB points to the second input sequence.    
- * @param[in] srcBLen length of the second input sequence.    
- * @param[out] *pDst points to the location where the output result is written.  Length srcALen+srcBLen-1.    
- * @param[in]  *pScratch1 points to scratch buffer of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2.    
- * @param[in]  *pScratch2 points to scratch buffer of size min(srcALen, srcBLen).    
- * @return none.    
- *    
- * \par Restrictions    
- *  If the silicon does not support unaligned memory access enable the macro UNALIGNED_SUPPORT_DISABLE    
- *	In this case input, output, scratch1 and scratch2 buffers should be aligned by 32-bit    
- *    
- *       
- * @details    
- * Scaling and Overflow Behavior:    
- *    
- * \par    
- * The function is implemented using a 64-bit internal accumulator.    
- * Both inputs are in 1.15 format and multiplications yield a 2.30 result.    
- * The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format.    
- * This approach provides 33 guard bits and there is no risk of overflow.    
- * The 34.30 result is then truncated to 34.15 format by discarding the low 15 bits and then saturated to 1.15 format.    
- *  
- *   
- * \par    
- * Refer to arm_conv_fast_q15() for a faster but less precise version of this function for Cortex-M3 and Cortex-M4.     
- * 
- *  
- */
-
-void arm_conv_opt_q15(
-  q15_t * pSrcA,
-  uint32_t srcALen,
-  q15_t * pSrcB,
-  uint32_t srcBLen,
-  q15_t * pDst,
-  q15_t * pScratch1,
-  q15_t * pScratch2)
-{
-  q63_t acc0, acc1, acc2, acc3;                  /* Accumulator */
-  q31_t x1, x2, x3;                              /* Temporary variables to hold state and coefficient values */
-  q31_t y1, y2;                                  /* State variables */
-  q15_t *pOut = pDst;                            /* output pointer */
-  q15_t *pScr1 = pScratch1;                      /* Temporary pointer for scratch1 */
-  q15_t *pScr2 = pScratch2;                      /* Temporary pointer for scratch1 */
-  q15_t *pIn1;                                   /* inputA pointer */
-  q15_t *pIn2;                                   /* inputB pointer */
-  q15_t *px;                                     /* Intermediate inputA pointer  */
-  q15_t *py;                                     /* Intermediate inputB pointer  */
-  uint32_t j, k, blkCnt;                         /* loop counter */
-  uint32_t tapCnt;                               /* loop count */
-#ifdef UNALIGNED_SUPPORT_DISABLE
-
-  q15_t a, b;
-
-#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
-
-  /* The algorithm implementation is based on the lengths of the inputs. */
-  /* srcB is always made to slide across srcA. */
-  /* So srcBLen is always considered as shorter or equal to srcALen */
-  if(srcALen >= srcBLen)
-  {
-    /* Initialization of inputA pointer */
-    pIn1 = pSrcA;
-
-    /* Initialization of inputB pointer */
-    pIn2 = pSrcB;
-
-  }
-  else
-  {
-    /* Initialization of inputA pointer */
-    pIn1 = pSrcB;
-
-    /* Initialization of inputB pointer */
-    pIn2 = pSrcA;
-
-    /* srcBLen is always considered as shorter or equal to srcALen */
-    j = srcBLen;
-    srcBLen = srcALen;
-    srcALen = j;
-  }
-
-  /* pointer to take end of scratch2 buffer */
-  pScr2 = pScratch2 + srcBLen - 1;
-
-  /* points to smaller length sequence */
-  px = pIn2;
-
-  /* Apply loop unrolling and do 4 Copies simultaneously. */
-  k = srcBLen >> 2u;
-
-  /* First part of the processing with loop unrolling copies 4 data points at a time.       
-   ** a second loop below copies for the remaining 1 to 3 samples. */
-  /* Copy smaller length input sequence in reverse order into second scratch buffer */
-  while(k > 0u)
-  {
-    /* copy second buffer in reversal manner */
-    *pScr2-- = *px++;
-    *pScr2-- = *px++;
-    *pScr2-- = *px++;
-    *pScr2-- = *px++;
-
-    /* Decrement the loop counter */
-    k--;
-  }
-
-  /* If the count is not a multiple of 4, copy remaining samples here.       
-   ** No loop unrolling is used. */
-  k = srcBLen % 0x4u;
-
-  while(k > 0u)
-  {
-    /* copy second buffer in reversal manner for remaining samples */
-    *pScr2-- = *px++;
-
-    /* Decrement the loop counter */
-    k--;
-  }
-
-  /* Initialze temporary scratch pointer */
-  pScr1 = pScratch1;
-
-  /* Assuming scratch1 buffer is aligned by 32-bit */
-  /* Fill (srcBLen - 1u) zeros in scratch buffer */
-  arm_fill_q15(0, pScr1, (srcBLen - 1u));
-
-  /* Update temporary scratch pointer */
-  pScr1 += (srcBLen - 1u);
-
-  /* Copy bigger length sequence(srcALen) samples in scratch1 buffer */
-
-#ifndef UNALIGNED_SUPPORT_DISABLE
-
-  /* Copy (srcALen) samples in scratch buffer */
-  arm_copy_q15(pIn1, pScr1, srcALen);
-
-  /* Update pointers */
-  pScr1 += srcALen;
-
-#else
-
-  /* Apply loop unrolling and do 4 Copies simultaneously. */
-  k = srcALen >> 2u;
-
-  /* First part of the processing with loop unrolling copies 4 data points at a time.       
-   ** a second loop below copies for the remaining 1 to 3 samples. */
-  while(k > 0u)
-  {
-    /* copy second buffer in reversal manner */
-    *pScr1++ = *pIn1++;
-    *pScr1++ = *pIn1++;
-    *pScr1++ = *pIn1++;
-    *pScr1++ = *pIn1++;
-
-    /* Decrement the loop counter */
-    k--;
-  }
-
-  /* If the count is not a multiple of 4, copy remaining samples here.       
-   ** No loop unrolling is used. */
-  k = srcALen % 0x4u;
-
-  while(k > 0u)
-  {
-    /* copy second buffer in reversal manner for remaining samples */
-    *pScr1++ = *pIn1++;
-
-    /* Decrement the loop counter */
-    k--;
-  }
-
-#endif
-
-
-#ifndef UNALIGNED_SUPPORT_DISABLE
-
-  /* Fill (srcBLen - 1u) zeros at end of scratch buffer */
-  arm_fill_q15(0, pScr1, (srcBLen - 1u));
-
-  /* Update pointer */
-  pScr1 += (srcBLen - 1u);
-
-#else
-
-  /* Apply loop unrolling and do 4 Copies simultaneously. */
-  k = (srcBLen - 1u) >> 2u;
-
-  /* First part of the processing with loop unrolling copies 4 data points at a time.       
-   ** a second loop below copies for the remaining 1 to 3 samples. */
-  while(k > 0u)
-  {
-    /* copy second buffer in reversal manner */
-    *pScr1++ = 0;
-    *pScr1++ = 0;
-    *pScr1++ = 0;
-    *pScr1++ = 0;
-
-    /* Decrement the loop counter */
-    k--;
-  }
-
-  /* If the count is not a multiple of 4, copy remaining samples here.       
-   ** No loop unrolling is used. */
-  k = (srcBLen - 1u) % 0x4u;
-
-  while(k > 0u)
-  {
-    /* copy second buffer in reversal manner for remaining samples */
-    *pScr1++ = 0;
-
-    /* Decrement the loop counter */
-    k--;
-  }
-
-#endif
-
-  /* Temporary pointer for scratch2 */
-  py = pScratch2;
-
-
-  /* Initialization of pIn2 pointer */
-  pIn2 = py;
-
-  /* First part of the processing with loop unrolling process 4 data points at a time.       
-   ** a second loop below process for the remaining 1 to 3 samples. */
-
-  /* Actual convolution process starts here */
-  blkCnt = (srcALen + srcBLen - 1u) >> 2;
-
-  while(blkCnt > 0)
-  {
-    /* Initialze temporary scratch pointer as scratch1 */
-    pScr1 = pScratch1;
-
-    /* Clear Accumlators */
-    acc0 = 0;
-    acc1 = 0;
-    acc2 = 0;
-    acc3 = 0;
-
-    /* Read two samples from scratch1 buffer */
-    x1 = *__SIMD32(pScr1)++;
-
-    /* Read next two samples from scratch1 buffer */
-    x2 = *__SIMD32(pScr1)++;
-
-    tapCnt = (srcBLen) >> 2u;
-
-    while(tapCnt > 0u)
-    {
-
-#ifndef UNALIGNED_SUPPORT_DISABLE
-
-      /* Read four samples from smaller buffer */
-      y1 = _SIMD32_OFFSET(pIn2);
-      y2 = _SIMD32_OFFSET(pIn2 + 2u);
-
-      /* multiply and accumlate */
-      acc0 = __SMLALD(x1, y1, acc0);
-      acc2 = __SMLALD(x2, y1, acc2);
-
-      /* pack input data */
-#ifndef ARM_MATH_BIG_ENDIAN
-      x3 = __PKHBT(x2, x1, 0);
-#else
-      x3 = __PKHBT(x1, x2, 0);
-#endif
-
-      /* multiply and accumlate */
-      acc1 = __SMLALDX(x3, y1, acc1);
-
-      /* Read next two samples from scratch1 buffer */
-      x1 = _SIMD32_OFFSET(pScr1);
-
-      /* multiply and accumlate */
-      acc0 = __SMLALD(x2, y2, acc0);
-      acc2 = __SMLALD(x1, y2, acc2);
-
-      /* pack input data */
-#ifndef ARM_MATH_BIG_ENDIAN
-      x3 = __PKHBT(x1, x2, 0);
-#else
-      x3 = __PKHBT(x2, x1, 0);
-#endif
-
-      acc3 = __SMLALDX(x3, y1, acc3);
-      acc1 = __SMLALDX(x3, y2, acc1);
-
-      x2 = _SIMD32_OFFSET(pScr1 + 2u);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-      x3 = __PKHBT(x2, x1, 0);
-#else
-      x3 = __PKHBT(x1, x2, 0);
-#endif
-
-      acc3 = __SMLALDX(x3, y2, acc3);
-
-#else	 
-
-      /* Read four samples from smaller buffer */
-	  a = *pIn2;
-	  b = *(pIn2 + 1);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-      y1 = __PKHBT(a, b, 16);
-#else
-      y1 = __PKHBT(b, a, 16);
-#endif
-	  
-	  a = *(pIn2 + 2);
-	  b = *(pIn2 + 3);
-#ifndef ARM_MATH_BIG_ENDIAN
-      y2 = __PKHBT(a, b, 16);
-#else
-      y2 = __PKHBT(b, a, 16);
-#endif				
-
-      acc0 = __SMLALD(x1, y1, acc0);
-
-      acc2 = __SMLALD(x2, y1, acc2);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-      x3 = __PKHBT(x2, x1, 0);
-#else
-      x3 = __PKHBT(x1, x2, 0);
-#endif
-
-      acc1 = __SMLALDX(x3, y1, acc1);
-
-	  a = *pScr1;
-	  b = *(pScr1 + 1);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-      x1 = __PKHBT(a, b, 16);
-#else
-      x1 = __PKHBT(b, a, 16);
-#endif
-
-      acc0 = __SMLALD(x2, y2, acc0);
-
-      acc2 = __SMLALD(x1, y2, acc2);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-      x3 = __PKHBT(x1, x2, 0);
-#else
-      x3 = __PKHBT(x2, x1, 0);
-#endif
-
-      acc3 = __SMLALDX(x3, y1, acc3);
-
-      acc1 = __SMLALDX(x3, y2, acc1);
-
-	  a = *(pScr1 + 2);
-	  b = *(pScr1 + 3);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-      x2 = __PKHBT(a, b, 16);
-#else
-      x2 = __PKHBT(b, a, 16);
-#endif
-
-#ifndef ARM_MATH_BIG_ENDIAN
-      x3 = __PKHBT(x2, x1, 0);
-#else
-      x3 = __PKHBT(x1, x2, 0);
-#endif
-
-      acc3 = __SMLALDX(x3, y2, acc3);
-
-#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
-
-      pIn2 += 4u;
-      pScr1 += 4u;
-
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* Update scratch pointer for remaining samples of smaller length sequence */
-    pScr1 -= 4u;
-
-    /* apply same above for remaining samples of smaller length sequence */
-    tapCnt = (srcBLen) & 3u;
-
-    while(tapCnt > 0u)
-    {
-
-      /* accumlate the results */
-      acc0 += (*pScr1++ * *pIn2);
-      acc1 += (*pScr1++ * *pIn2);
-      acc2 += (*pScr1++ * *pIn2);
-      acc3 += (*pScr1++ * *pIn2++);
-
-      pScr1 -= 3u;
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    blkCnt--;
-
-
-    /* Store the results in the accumulators in the destination buffer. */
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-    *__SIMD32(pOut)++ =
-      __PKHBT(__SSAT((acc0 >> 15), 16), __SSAT((acc1 >> 15), 16), 16);
-
-    *__SIMD32(pOut)++ =
-      __PKHBT(__SSAT((acc2 >> 15), 16), __SSAT((acc3 >> 15), 16), 16);
-
-#else
-
-    *__SIMD32(pOut)++ =
-      __PKHBT(__SSAT((acc1 >> 15), 16), __SSAT((acc0 >> 15), 16), 16);
-
-    *__SIMD32(pOut)++ =
-      __PKHBT(__SSAT((acc3 >> 15), 16), __SSAT((acc2 >> 15), 16), 16);
-
-
-#endif /*      #ifndef ARM_MATH_BIG_ENDIAN       */
-
-    /* Initialization of inputB pointer */
-    pIn2 = py;
-
-    pScratch1 += 4u;
-
-  }
-
-
-  blkCnt = (srcALen + srcBLen - 1u) & 0x3;
-
-  /* Calculate convolution for remaining samples of Bigger length sequence */
-  while(blkCnt > 0)
-  {
-    /* Initialze temporary scratch pointer as scratch1 */
-    pScr1 = pScratch1;
-
-    /* Clear Accumlators */
-    acc0 = 0;
-
-    tapCnt = (srcBLen) >> 1u;
-
-    while(tapCnt > 0u)
-    {
-
-      /* Read next two samples from scratch1 buffer */
-      acc0 += (*pScr1++ * *pIn2++);
-      acc0 += (*pScr1++ * *pIn2++);
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    tapCnt = (srcBLen) & 1u;
-
-    /* apply same above for remaining samples of smaller length sequence */
-    while(tapCnt > 0u)
-    {
-
-      /* accumlate the results */
-      acc0 += (*pScr1++ * *pIn2++);
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    blkCnt--;
-
-    /* The result is in 2.30 format.  Convert to 1.15 with saturation.       
-     ** Then store the output in the destination buffer. */
-    *pOut++ = (q15_t) (__SSAT((acc0 >> 15), 16));
-
-
-    /* Initialization of inputB pointer */
-    pIn2 = py;
-
-    pScratch1 += 1u;
-
-  }
-
-}
-
-
-/**    
- * @} end of Conv group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_opt_q7.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_opt_q7.c
deleted file mode 100644
index 7fe9f55cf..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_opt_q7.c
+++ /dev/null
@@ -1,434 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_conv_opt_q7.c    
-*    
-* Description:	Convolution of Q7 sequences.  
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*  
-* Version 1.0.11 2011/10/18  
-*    Bug Fix in conv, correlation, partial convolution.  
-* 
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-*    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup Conv    
- * @{    
- */
-
-/**    
- * @brief Convolution of Q7 sequences.    
- * @param[in] *pSrcA points to the first input sequence.    
- * @param[in] srcALen length of the first input sequence.    
- * @param[in] *pSrcB points to the second input sequence.    
- * @param[in] srcBLen length of the second input sequence.    
- * @param[out] *pDst points to the location where the output result is written.  Length srcALen+srcBLen-1.    
- * @param[in]  *pScratch1 points to scratch buffer(of type q15_t) of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2.   
- * @param[in]  *pScratch2 points to scratch buffer (of type q15_t) of size min(srcALen, srcBLen).   
- * @return none.    
- *    
- * \par Restrictions    
- *  If the silicon does not support unaligned memory access enable the macro UNALIGNED_SUPPORT_DISABLE    
- *	In this case input, output, scratch1 and scratch2 buffers should be aligned by 32-bit     
- *       
- * @details    
- * Scaling and Overflow Behavior:    
- *    
- * \par    
- * The function is implemented using a 32-bit internal accumulator.    
- * Both the inputs are represented in 1.7 format and multiplications yield a 2.14 result.    
- * The 2.14 intermediate results are accumulated in a 32-bit accumulator in 18.14 format.    
- * This approach provides 17 guard bits and there is no risk of overflow as long as max(srcALen, srcBLen)<131072.    
- * The 18.14 result is then truncated to 18.7 format by discarding the low 7 bits and then saturated to 1.7 format.    
- *
- */
-
-void arm_conv_opt_q7(
-  q7_t * pSrcA,
-  uint32_t srcALen,
-  q7_t * pSrcB,
-  uint32_t srcBLen,
-  q7_t * pDst,
-  q15_t * pScratch1,
-  q15_t * pScratch2)
-{
-
-  q15_t *pScr2, *pScr1;                          /* Intermediate pointers for scratch pointers */
-  q15_t x4;                                      /* Temporary input variable */
-  q7_t *pIn1, *pIn2;                             /* inputA and inputB pointer */
-  uint32_t j, k, blkCnt, tapCnt;                 /* loop counter */
-  q7_t *px;                                      /* Temporary input1 pointer */
-  q15_t *py;                                     /* Temporary input2 pointer */
-  q31_t acc0, acc1, acc2, acc3;                  /* Accumulator */
-  q31_t x1, x2, x3, y1;                          /* Temporary input variables */
-  q7_t *pOut = pDst;                             /* output pointer */
-  q7_t out0, out1, out2, out3;                   /* temporary variables */
-
-  /* The algorithm implementation is based on the lengths of the inputs. */
-  /* srcB is always made to slide across srcA. */
-  /* So srcBLen is always considered as shorter or equal to srcALen */
-  if(srcALen >= srcBLen)
-  {
-    /* Initialization of inputA pointer */
-    pIn1 = pSrcA;
-
-    /* Initialization of inputB pointer */
-    pIn2 = pSrcB;
-  }
-  else
-  {
-    /* Initialization of inputA pointer */
-    pIn1 = pSrcB;
-
-    /* Initialization of inputB pointer */
-    pIn2 = pSrcA;
-
-    /* srcBLen is always considered as shorter or equal to srcALen */
-    j = srcBLen;
-    srcBLen = srcALen;
-    srcALen = j;
-  }
-
-  /* pointer to take end of scratch2 buffer */
-  pScr2 = pScratch2;
-
-  /* points to smaller length sequence */
-  px = pIn2 + srcBLen - 1;
-
-  /* Apply loop unrolling and do 4 Copies simultaneously. */
-  k = srcBLen >> 2u;
-
-  /* First part of the processing with loop unrolling copies 4 data points at a time.       
-   ** a second loop below copies for the remaining 1 to 3 samples. */
-  while(k > 0u)
-  {
-    /* copy second buffer in reversal manner */
-    x4 = (q15_t) * px--;
-    *pScr2++ = x4;
-    x4 = (q15_t) * px--;
-    *pScr2++ = x4;
-    x4 = (q15_t) * px--;
-    *pScr2++ = x4;
-    x4 = (q15_t) * px--;
-    *pScr2++ = x4;
-
-    /* Decrement the loop counter */
-    k--;
-  }
-
-  /* If the count is not a multiple of 4, copy remaining samples here.       
-   ** No loop unrolling is used. */
-  k = srcBLen % 0x4u;
-
-  while(k > 0u)
-  {
-    /* copy second buffer in reversal manner for remaining samples */
-    x4 = (q15_t) * px--;
-    *pScr2++ = x4;
-
-    /* Decrement the loop counter */
-    k--;
-  }
-
-  /* Initialze temporary scratch pointer */
-  pScr1 = pScratch1;
-
-  /* Fill (srcBLen - 1u) zeros in scratch buffer */
-  arm_fill_q15(0, pScr1, (srcBLen - 1u));
-
-  /* Update temporary scratch pointer */
-  pScr1 += (srcBLen - 1u);
-
-  /* Copy (srcALen) samples in scratch buffer */
-  /* Apply loop unrolling and do 4 Copies simultaneously. */
-  k = srcALen >> 2u;
-
-  /* First part of the processing with loop unrolling copies 4 data points at a time.       
-   ** a second loop below copies for the remaining 1 to 3 samples. */
-  while(k > 0u)
-  {
-    /* copy second buffer in reversal manner */
-    x4 = (q15_t) * pIn1++;
-    *pScr1++ = x4;
-    x4 = (q15_t) * pIn1++;
-    *pScr1++ = x4;
-    x4 = (q15_t) * pIn1++;
-    *pScr1++ = x4;
-    x4 = (q15_t) * pIn1++;
-    *pScr1++ = x4;
-
-    /* Decrement the loop counter */
-    k--;
-  }
-
-  /* If the count is not a multiple of 4, copy remaining samples here.       
-   ** No loop unrolling is used. */
-  k = srcALen % 0x4u;
-
-  while(k > 0u)
-  {
-    /* copy second buffer in reversal manner for remaining samples */
-    x4 = (q15_t) * pIn1++;
-    *pScr1++ = x4;
-
-    /* Decrement the loop counter */
-    k--;
-  }
-
-#ifndef UNALIGNED_SUPPORT_DISABLE
-
-  /* Fill (srcBLen - 1u) zeros at end of scratch buffer */
-  arm_fill_q15(0, pScr1, (srcBLen - 1u));
-
-  /* Update pointer */
-  pScr1 += (srcBLen - 1u);
-
-#else
-
-  /* Apply loop unrolling and do 4 Copies simultaneously. */
-  k = (srcBLen - 1u) >> 2u;
-
-  /* First part of the processing with loop unrolling copies 4 data points at a time.       
-   ** a second loop below copies for the remaining 1 to 3 samples. */
-  while(k > 0u)
-  {
-    /* copy second buffer in reversal manner */
-    *pScr1++ = 0;
-    *pScr1++ = 0;
-    *pScr1++ = 0;
-    *pScr1++ = 0;
-
-    /* Decrement the loop counter */
-    k--;
-  }
-
-  /* If the count is not a multiple of 4, copy remaining samples here.       
-   ** No loop unrolling is used. */
-  k = (srcBLen - 1u) % 0x4u;
-
-  while(k > 0u)
-  {
-    /* copy second buffer in reversal manner for remaining samples */
-    *pScr1++ = 0;
-
-    /* Decrement the loop counter */
-    k--;
-  }
-
-#endif
-
-  /* Temporary pointer for scratch2 */
-  py = pScratch2;
-
-  /* Initialization of pIn2 pointer */
-  pIn2 = (q7_t *) py;
-
-  pScr2 = py;
-
-  /* Actual convolution process starts here */
-  blkCnt = (srcALen + srcBLen - 1u) >> 2;
-
-  while(blkCnt > 0)
-  {
-    /* Initialze temporary scratch pointer as scratch1 */
-    pScr1 = pScratch1;
-
-    /* Clear Accumlators */
-    acc0 = 0;
-    acc1 = 0;
-    acc2 = 0;
-    acc3 = 0;
-
-    /* Read two samples from scratch1 buffer */
-    x1 = *__SIMD32(pScr1)++;
-
-    /* Read next two samples from scratch1 buffer */
-    x2 = *__SIMD32(pScr1)++;
-
-    tapCnt = (srcBLen) >> 2u;
-
-    while(tapCnt > 0u)
-    {
-
-      /* Read four samples from smaller buffer */
-      y1 = _SIMD32_OFFSET(pScr2);
-
-      /* multiply and accumlate */
-      acc0 = __SMLAD(x1, y1, acc0);
-      acc2 = __SMLAD(x2, y1, acc2);
-
-      /* pack input data */
-#ifndef ARM_MATH_BIG_ENDIAN
-      x3 = __PKHBT(x2, x1, 0);
-#else
-      x3 = __PKHBT(x1, x2, 0);
-#endif
-
-      /* multiply and accumlate */
-      acc1 = __SMLADX(x3, y1, acc1);
-
-      /* Read next two samples from scratch1 buffer */
-      x1 = *__SIMD32(pScr1)++;
-
-      /* pack input data */
-#ifndef ARM_MATH_BIG_ENDIAN
-      x3 = __PKHBT(x1, x2, 0);
-#else
-      x3 = __PKHBT(x2, x1, 0);
-#endif
-
-      acc3 = __SMLADX(x3, y1, acc3);
-
-      /* Read four samples from smaller buffer */
-      y1 = _SIMD32_OFFSET(pScr2 + 2u);
-
-      acc0 = __SMLAD(x2, y1, acc0);
-
-      acc2 = __SMLAD(x1, y1, acc2);
-
-      acc1 = __SMLADX(x3, y1, acc1);
-
-      x2 = *__SIMD32(pScr1)++;
-
-#ifndef ARM_MATH_BIG_ENDIAN
-      x3 = __PKHBT(x2, x1, 0);
-#else
-      x3 = __PKHBT(x1, x2, 0);
-#endif
-
-      acc3 = __SMLADX(x3, y1, acc3);
-
-      pScr2 += 4u;
-
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-
-
-    /* Update scratch pointer for remaining samples of smaller length sequence */
-    pScr1 -= 4u;
-
-
-    /* apply same above for remaining samples of smaller length sequence */
-    tapCnt = (srcBLen) & 3u;
-
-    while(tapCnt > 0u)
-    {
-
-      /* accumlate the results */
-      acc0 += (*pScr1++ * *pScr2);
-      acc1 += (*pScr1++ * *pScr2);
-      acc2 += (*pScr1++ * *pScr2);
-      acc3 += (*pScr1++ * *pScr2++);
-
-      pScr1 -= 3u;
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    blkCnt--;
-
-    /* Store the result in the accumulator in the destination buffer. */
-    out0 = (q7_t) (__SSAT(acc0 >> 7u, 8));
-    out1 = (q7_t) (__SSAT(acc1 >> 7u, 8));
-    out2 = (q7_t) (__SSAT(acc2 >> 7u, 8));
-    out3 = (q7_t) (__SSAT(acc3 >> 7u, 8));
-
-    *__SIMD32(pOut)++ = __PACKq7(out0, out1, out2, out3);
-
-    /* Initialization of inputB pointer */
-    pScr2 = py;
-
-    pScratch1 += 4u;
-
-  }
-
-
-  blkCnt = (srcALen + srcBLen - 1u) & 0x3;
-
-  /* Calculate convolution for remaining samples of Bigger length sequence */
-  while(blkCnt > 0)
-  {
-    /* Initialze temporary scratch pointer as scratch1 */
-    pScr1 = pScratch1;
-
-    /* Clear Accumlators */
-    acc0 = 0;
-
-    tapCnt = (srcBLen) >> 1u;
-
-    while(tapCnt > 0u)
-    {
-      acc0 += (*pScr1++ * *pScr2++);
-      acc0 += (*pScr1++ * *pScr2++);
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    tapCnt = (srcBLen) & 1u;
-
-    /* apply same above for remaining samples of smaller length sequence */
-    while(tapCnt > 0u)
-    {
-
-      /* accumlate the results */
-      acc0 += (*pScr1++ * *pScr2++);
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    blkCnt--;
-
-    /* Store the result in the accumulator in the destination buffer. */
-    *pOut++ = (q7_t) (__SSAT(acc0 >> 7u, 8));
-
-    /* Initialization of inputB pointer */
-    pScr2 = py;
-
-    pScratch1 += 1u;
-
-  }
-
-}
-
-
-/**    
- * @} end of Conv group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_f32.c
deleted file mode 100644
index 58f572735..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_f32.c
+++ /dev/null
@@ -1,661 +0,0 @@
-/* ----------------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_conv_partial_f32.c    
-*    
-* Description:	Partial convolution of floating-point sequences.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-* 
-* Version 1.0.11 2011/10/18  
-*    Bug Fix in conv, correlation, partial convolution.  
-* 
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-*    
-* -------------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @defgroup PartialConv Partial Convolution    
- *    
- * Partial Convolution is equivalent to Convolution except that a subset of the output samples is generated.    
- * Each function has two additional arguments.    
- * firstIndex specifies the starting index of the subset of output samples.    
- * numPoints is the number of output samples to compute.    
- * The function computes the output in the range    
- * [firstIndex, ..., firstIndex+numPoints-1].    
- * The output array pDst contains numPoints values.    
- *    
- * The allowable range of output indices is [0 srcALen+srcBLen-2].    
- * If the requested subset does not fall in this range then the functions return ARM_MATH_ARGUMENT_ERROR.    
- * Otherwise the functions return ARM_MATH_SUCCESS.    
- * \note Refer arm_conv_f32() for details on fixed point behavior.   
- *
- * 
- * Fast Versions
- *
- * \par 
- * Fast versions are supported for Q31 and Q15 of partial convolution.  Cycles for Fast versions are less compared to Q31 and Q15 of partial conv and the design requires
- * the input signals should be scaled down to avoid intermediate overflows.   
- *
- *
- * Opt Versions
- *
- * \par 
- * Opt versions are supported for Q15 and Q7.  Design uses internal scratch buffer for getting good optimisation.
- * These versions are optimised in cycles and consumes more memory(Scratch memory) compared to Q15 and Q7 versions of partial convolution
- */
-
-/**    
- * @addtogroup PartialConv    
- * @{    
- */
-
-/**    
- * @brief Partial convolution of floating-point sequences.    
- * @param[in]       *pSrcA points to the first input sequence.    
- * @param[in]       srcALen length of the first input sequence.    
- * @param[in]       *pSrcB points to the second input sequence.    
- * @param[in]       srcBLen length of the second input sequence.    
- * @param[out]      *pDst points to the location where the output result is written.    
- * @param[in]       firstIndex is the first output sample to start with.    
- * @param[in]       numPoints is the number of output points to be computed.    
- * @return  Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].    
- */
-
-arm_status arm_conv_partial_f32(
-  float32_t * pSrcA,
-  uint32_t srcALen,
-  float32_t * pSrcB,
-  uint32_t srcBLen,
-  float32_t * pDst,
-  uint32_t firstIndex,
-  uint32_t numPoints)
-{
-
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  float32_t *pIn1 = pSrcA;                       /* inputA pointer */
-  float32_t *pIn2 = pSrcB;                       /* inputB pointer */
-  float32_t *pOut = pDst;                        /* output pointer */
-  float32_t *px;                                 /* Intermediate inputA pointer */
-  float32_t *py;                                 /* Intermediate inputB pointer */
-  float32_t *pSrc1, *pSrc2;                      /* Intermediate pointers */
-  float32_t sum, acc0, acc1, acc2, acc3;         /* Accumulator */
-  float32_t x0, x1, x2, x3, c0;                  /* Temporary variables to hold state and coefficient values */
-  uint32_t j, k, count = 0u, blkCnt, check;
-  int32_t blockSize1, blockSize2, blockSize3;    /* loop counters */
-  arm_status status;                             /* status of Partial convolution */
-
-
-  /* Check for range of output samples to be calculated */
-  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))
-  {
-    /* Set status as ARM_MATH_ARGUMENT_ERROR */
-    status = ARM_MATH_ARGUMENT_ERROR;
-  }
-  else
-  {
-
-    /* The algorithm implementation is based on the lengths of the inputs. */
-    /* srcB is always made to slide across srcA. */
-    /* So srcBLen is always considered as shorter or equal to srcALen */
-    if(srcALen >= srcBLen)
-    {
-      /* Initialization of inputA pointer */
-      pIn1 = pSrcA;
-
-      /* Initialization of inputB pointer */
-      pIn2 = pSrcB;
-    }
-    else
-    {
-      /* Initialization of inputA pointer */
-      pIn1 = pSrcB;
-
-      /* Initialization of inputB pointer */
-      pIn2 = pSrcA;
-
-      /* srcBLen is always considered as shorter or equal to srcALen */
-      j = srcBLen;
-      srcBLen = srcALen;
-      srcALen = j;
-    }
-
-    /* Conditions to check which loopCounter holds    
-     * the first and last indices of the output samples to be calculated. */
-    check = firstIndex + numPoints;
-    blockSize3 = (int32_t) check - (int32_t) srcALen;
-    blockSize3 = (blockSize3 > 0) ? blockSize3 : 0;
-    blockSize1 = ((int32_t) srcBLen - 1) - (int32_t) firstIndex;
-    blockSize1 = (blockSize1 > 0) ? ((check > (srcBLen - 1u)) ? blockSize1 :
-                                     (int32_t) numPoints) : 0;
-    blockSize2 = ((int32_t) check - blockSize3) -
-      (blockSize1 + (int32_t) firstIndex);
-    blockSize2 = (blockSize2 > 0) ? blockSize2 : 0;
-
-    /* conv(x,y) at n = x[n] * y[0] + x[n-1] * y[1] + x[n-2] * y[2] + ...+ x[n-N+1] * y[N -1] */
-    /* The function is internally    
-     * divided into three stages according to the number of multiplications that has to be    
-     * taken place between inputA samples and inputB samples. In the first stage of the    
-     * algorithm, the multiplications increase by one for every iteration.    
-     * In the second stage of the algorithm, srcBLen number of multiplications are done.    
-     * In the third stage of the algorithm, the multiplications decrease by one    
-     * for every iteration. */
-
-    /* Set the output pointer to point to the firstIndex    
-     * of the output sample to be calculated. */
-    pOut = pDst + firstIndex;
-
-    /* --------------------------    
-     * Initializations of stage1    
-     * -------------------------*/
-
-    /* sum = x[0] * y[0]    
-     * sum = x[0] * y[1] + x[1] * y[0]    
-     * ....    
-     * sum = x[0] * y[srcBlen - 1] + x[1] * y[srcBlen - 2] +...+ x[srcBLen - 1] * y[0]    
-     */
-
-    /* In this stage the MAC operations are increased by 1 for every iteration.    
-       The count variable holds the number of MAC operations performed.    
-       Since the partial convolution starts from from firstIndex    
-       Number of Macs to be performed is firstIndex + 1 */
-    count = 1u + firstIndex;
-
-    /* Working pointer of inputA */
-    px = pIn1;
-
-    /* Working pointer of inputB */
-    pSrc1 = pIn2 + firstIndex;
-    py = pSrc1;
-
-    /* ------------------------    
-     * Stage1 process    
-     * ----------------------*/
-
-    /* The first stage starts here */
-    while(blockSize1 > 0)
-    {
-      /* Accumulator is made zero for every iteration */
-      sum = 0.0f;
-
-      /* Apply loop unrolling and compute 4 MACs simultaneously. */
-      k = count >> 2u;
-
-      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
-       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-      while(k > 0u)
-      {
-        /* x[0] * y[srcBLen - 1] */
-        sum += *px++ * *py--;
-
-        /* x[1] * y[srcBLen - 2] */
-        sum += *px++ * *py--;
-
-        /* x[2] * y[srcBLen - 3] */
-        sum += *px++ * *py--;
-
-        /* x[3] * y[srcBLen - 4] */
-        sum += *px++ * *py--;
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* If the count is not a multiple of 4, compute any remaining MACs here.    
-       ** No loop unrolling is used. */
-      k = count % 0x4u;
-
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulates */
-        sum += *px++ * *py--;
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut++ = sum;
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      py = ++pSrc1;
-      px = pIn1;
-
-      /* Increment the MAC count */
-      count++;
-
-      /* Decrement the loop counter */
-      blockSize1--;
-    }
-
-    /* --------------------------    
-     * Initializations of stage2    
-     * ------------------------*/
-
-    /* sum = x[0] * y[srcBLen-1] + x[1] * y[srcBLen-2] +...+ x[srcBLen-1] * y[0]    
-     * sum = x[1] * y[srcBLen-1] + x[2] * y[srcBLen-2] +...+ x[srcBLen] * y[0]    
-     * ....    
-     * sum = x[srcALen-srcBLen-2] * y[srcBLen-1] + x[srcALen] * y[srcBLen-2] +...+ x[srcALen-1] * y[0]    
-     */
-
-    /* Working pointer of inputA */
-    px = pIn1;
-
-    /* Working pointer of inputB */
-    pSrc2 = pIn2 + (srcBLen - 1u);
-    py = pSrc2;
-
-    /* count is index by which the pointer pIn1 to be incremented */
-    count = 0u;
-
-    /* -------------------    
-     * Stage2 process    
-     * ------------------*/
-
-    /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.    
-     * So, to loop unroll over blockSize2,    
-     * srcBLen should be greater than or equal to 4 */
-    if(srcBLen >= 4u)
-    {
-      /* Loop unroll over blockSize2, by 4 */
-      blkCnt = ((uint32_t) blockSize2 >> 2u);
-
-      while(blkCnt > 0u)
-      {
-        /* Set all accumulators to zero */
-        acc0 = 0.0f;
-        acc1 = 0.0f;
-        acc2 = 0.0f;
-        acc3 = 0.0f;
-
-        /* read x[0], x[1], x[2] samples */
-        x0 = *(px++);
-        x1 = *(px++);
-        x2 = *(px++);
-
-        /* Apply loop unrolling and compute 4 MACs simultaneously. */
-        k = srcBLen >> 2u;
-
-        /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
-         ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-        do
-        {
-          /* Read y[srcBLen - 1] sample */
-          c0 = *(py--);
-
-          /* Read x[3] sample */
-          x3 = *(px++);
-
-          /* Perform the multiply-accumulate */
-          /* acc0 +=  x[0] * y[srcBLen - 1] */
-          acc0 += x0 * c0;
-
-          /* acc1 +=  x[1] * y[srcBLen - 1] */
-          acc1 += x1 * c0;
-
-          /* acc2 +=  x[2] * y[srcBLen - 1] */
-          acc2 += x2 * c0;
-
-          /* acc3 +=  x[3] * y[srcBLen - 1] */
-          acc3 += x3 * c0;
-
-          /* Read y[srcBLen - 2] sample */
-          c0 = *(py--);
-
-          /* Read x[4] sample */
-          x0 = *(px++);
-
-          /* Perform the multiply-accumulate */
-          /* acc0 +=  x[1] * y[srcBLen - 2] */
-          acc0 += x1 * c0;
-          /* acc1 +=  x[2] * y[srcBLen - 2] */
-          acc1 += x2 * c0;
-          /* acc2 +=  x[3] * y[srcBLen - 2] */
-          acc2 += x3 * c0;
-          /* acc3 +=  x[4] * y[srcBLen - 2] */
-          acc3 += x0 * c0;
-
-          /* Read y[srcBLen - 3] sample */
-          c0 = *(py--);
-
-          /* Read x[5] sample */
-          x1 = *(px++);
-
-          /* Perform the multiply-accumulates */
-          /* acc0 +=  x[2] * y[srcBLen - 3] */
-          acc0 += x2 * c0;
-          /* acc1 +=  x[3] * y[srcBLen - 2] */
-          acc1 += x3 * c0;
-          /* acc2 +=  x[4] * y[srcBLen - 2] */
-          acc2 += x0 * c0;
-          /* acc3 +=  x[5] * y[srcBLen - 2] */
-          acc3 += x1 * c0;
-
-          /* Read y[srcBLen - 4] sample */
-          c0 = *(py--);
-
-          /* Read x[6] sample */
-          x2 = *(px++);
-
-          /* Perform the multiply-accumulates */
-          /* acc0 +=  x[3] * y[srcBLen - 4] */
-          acc0 += x3 * c0;
-          /* acc1 +=  x[4] * y[srcBLen - 4] */
-          acc1 += x0 * c0;
-          /* acc2 +=  x[5] * y[srcBLen - 4] */
-          acc2 += x1 * c0;
-          /* acc3 +=  x[6] * y[srcBLen - 4] */
-          acc3 += x2 * c0;
-
-
-        } while(--k);
-
-        /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.    
-         ** No loop unrolling is used. */
-        k = srcBLen % 0x4u;
-
-        while(k > 0u)
-        {
-          /* Read y[srcBLen - 5] sample */
-          c0 = *(py--);
-
-          /* Read x[7] sample */
-          x3 = *(px++);
-
-          /* Perform the multiply-accumulates */
-          /* acc0 +=  x[4] * y[srcBLen - 5] */
-          acc0 += x0 * c0;
-          /* acc1 +=  x[5] * y[srcBLen - 5] */
-          acc1 += x1 * c0;
-          /* acc2 +=  x[6] * y[srcBLen - 5] */
-          acc2 += x2 * c0;
-          /* acc3 +=  x[7] * y[srcBLen - 5] */
-          acc3 += x3 * c0;
-
-          /* Reuse the present samples for the next MAC */
-          x0 = x1;
-          x1 = x2;
-          x2 = x3;
-
-          /* Decrement the loop counter */
-          k--;
-        }
-
-        /* Store the result in the accumulator in the destination buffer. */
-        *pOut++ = acc0;
-        *pOut++ = acc1;
-        *pOut++ = acc2;
-        *pOut++ = acc3;
-
-        /* Increment the pointer pIn1 index, count by 1 */
-        count += 4u;
-
-        /* Update the inputA and inputB pointers for next MAC calculation */
-        px = pIn1 + count;
-        py = pSrc2;
-
-        /* Decrement the loop counter */
-        blkCnt--;
-      }
-
-      /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.    
-       ** No loop unrolling is used. */
-      blkCnt = (uint32_t) blockSize2 % 0x4u;
-
-      while(blkCnt > 0u)
-      {
-        /* Accumulator is made zero for every iteration */
-        sum = 0.0f;
-
-        /* Apply loop unrolling and compute 4 MACs simultaneously. */
-        k = srcBLen >> 2u;
-
-        /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
-         ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-        while(k > 0u)
-        {
-          /* Perform the multiply-accumulates */
-          sum += *px++ * *py--;
-          sum += *px++ * *py--;
-          sum += *px++ * *py--;
-          sum += *px++ * *py--;
-
-          /* Decrement the loop counter */
-          k--;
-        }
-
-        /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.    
-         ** No loop unrolling is used. */
-        k = srcBLen % 0x4u;
-
-        while(k > 0u)
-        {
-          /* Perform the multiply-accumulate */
-          sum += *px++ * *py--;
-
-          /* Decrement the loop counter */
-          k--;
-        }
-
-        /* Store the result in the accumulator in the destination buffer. */
-        *pOut++ = sum;
-
-        /* Increment the MAC count */
-        count++;
-
-        /* Update the inputA and inputB pointers for next MAC calculation */
-        px = pIn1 + count;
-        py = pSrc2;
-
-        /* Decrement the loop counter */
-        blkCnt--;
-      }
-    }
-    else
-    {
-      /* If the srcBLen is not a multiple of 4,    
-       * the blockSize2 loop cannot be unrolled by 4 */
-      blkCnt = (uint32_t) blockSize2;
-
-      while(blkCnt > 0u)
-      {
-        /* Accumulator is made zero for every iteration */
-        sum = 0.0f;
-
-        /* srcBLen number of MACS should be performed */
-        k = srcBLen;
-
-        while(k > 0u)
-        {
-          /* Perform the multiply-accumulate */
-          sum += *px++ * *py--;
-
-          /* Decrement the loop counter */
-          k--;
-        }
-
-        /* Store the result in the accumulator in the destination buffer. */
-        *pOut++ = sum;
-
-        /* Increment the MAC count */
-        count++;
-
-        /* Update the inputA and inputB pointers for next MAC calculation */
-        px = pIn1 + count;
-        py = pSrc2;
-
-        /* Decrement the loop counter */
-        blkCnt--;
-      }
-    }
-
-
-    /* --------------------------    
-     * Initializations of stage3    
-     * -------------------------*/
-
-    /* sum += x[srcALen-srcBLen+1] * y[srcBLen-1] + x[srcALen-srcBLen+2] * y[srcBLen-2] +...+ x[srcALen-1] * y[1]    
-     * sum += x[srcALen-srcBLen+2] * y[srcBLen-1] + x[srcALen-srcBLen+3] * y[srcBLen-2] +...+ x[srcALen-1] * y[2]    
-     * ....    
-     * sum +=  x[srcALen-2] * y[srcBLen-1] + x[srcALen-1] * y[srcBLen-2]    
-     * sum +=  x[srcALen-1] * y[srcBLen-1]    
-     */
-
-    /* In this stage the MAC operations are decreased by 1 for every iteration.    
-       The count variable holds the number of MAC operations performed */
-    count = srcBLen - 1u;
-
-    /* Working pointer of inputA */
-    pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);
-    px = pSrc1;
-
-    /* Working pointer of inputB */
-    pSrc2 = pIn2 + (srcBLen - 1u);
-    py = pSrc2;
-
-    while(blockSize3 > 0)
-    {
-      /* Accumulator is made zero for every iteration */
-      sum = 0.0f;
-
-      /* Apply loop unrolling and compute 4 MACs simultaneously. */
-      k = count >> 2u;
-
-      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
-       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-      while(k > 0u)
-      {
-        /* sum += x[srcALen - srcBLen + 1] * y[srcBLen - 1] */
-        sum += *px++ * *py--;
-
-        /* sum += x[srcALen - srcBLen + 2] * y[srcBLen - 2] */
-        sum += *px++ * *py--;
-
-        /* sum += x[srcALen - srcBLen + 3] * y[srcBLen - 3] */
-        sum += *px++ * *py--;
-
-        /* sum += x[srcALen - srcBLen + 4] * y[srcBLen - 4] */
-        sum += *px++ * *py--;
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* If the count is not a multiple of 4, compute any remaining MACs here.    
-       ** No loop unrolling is used. */
-      k = count % 0x4u;
-
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulates */
-        /* sum +=  x[srcALen-1] * y[srcBLen-1] */
-        sum += *px++ * *py--;
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut++ = sum;
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      px = ++pSrc1;
-      py = pSrc2;
-
-      /* Decrement the MAC count */
-      count--;
-
-      /* Decrement the loop counter */
-      blockSize3--;
-
-    }
-
-    /* set status as ARM_MATH_SUCCESS */
-    status = ARM_MATH_SUCCESS;
-  }
-
-  /* Return to application */
-  return (status);
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  float32_t *pIn1 = pSrcA;                       /* inputA pointer */
-  float32_t *pIn2 = pSrcB;                       /* inputB pointer */
-  float32_t sum;                                 /* Accumulator */
-  uint32_t i, j;                                 /* loop counters */
-  arm_status status;                             /* status of Partial convolution */
-
-  /* Check for range of output samples to be calculated */
-  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))
-  {
-    /* Set status as ARM_ARGUMENT_ERROR */
-    status = ARM_MATH_ARGUMENT_ERROR;
-  }
-  else
-  {
-    /* Loop to calculate convolution for output length number of values */
-    for (i = firstIndex; i <= (firstIndex + numPoints - 1); i++)
-    {
-      /* Initialize sum with zero to carry on MAC operations */
-      sum = 0.0f;
-
-      /* Loop to perform MAC operations according to convolution equation */
-      for (j = 0u; j <= i; j++)
-      {
-        /* Check the array limitations for inputs */
-        if((((i - j) < srcBLen) && (j < srcALen)))
-        {
-          /* z[i] += x[i-j] * y[j] */
-          sum += pIn1[j] * pIn2[i - j];
-        }
-      }
-      /* Store the output in the destination buffer */
-      pDst[i] = sum;
-    }
-    /* set status as ARM_SUCCESS as there are no argument errors */
-    status = ARM_MATH_SUCCESS;
-  }
-  return (status);
-
-#endif /*   #ifndef ARM_MATH_CM0 */
-
-}
-
-/**    
- * @} end of PartialConv group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_opt_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_opt_q15.c
deleted file mode 100644
index 25b3ba8c3..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_opt_q15.c
+++ /dev/null
@@ -1,763 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_conv_partial_fast_opt_q15.c    
-*    
-* Description:	Fast Q15 Partial convolution.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-* 
-* Version 1.0.11 2011/10/18  
-*    Bug Fix in conv, correlation, partial convolution.  
-* 
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup PartialConv    
- * @{    
- */
-
-/**    
- * @brief Partial convolution of Q15 sequences (fast version) for Cortex-M3 and Cortex-M4.    
- * @param[in]       *pSrcA points to the first input sequence.    
- * @param[in]       srcALen length of the first input sequence.    
- * @param[in]       *pSrcB points to the second input sequence.    
- * @param[in]       srcBLen length of the second input sequence.    
- * @param[out]      *pDst points to the location where the output result is written.    
- * @param[in]       firstIndex is the first output sample to start with.    
- * @param[in]       numPoints is the number of output points to be computed.    
- * @param[in]       *pScratch1 points to scratch buffer of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2.   
- * @param[in]       *pScratch2 points to scratch buffer of size min(srcALen, srcBLen).   
- * @return Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].    
- *    
- * See arm_conv_partial_q15() for a slower implementation of this function which uses a 64-bit accumulator to avoid wrap around distortion.    
- *    
- * \par Restrictions    
- *  If the silicon does not support unaligned memory access enable the macro UNALIGNED_SUPPORT_DISABLE    
- *	In this case input, output, scratch1 and scratch2 buffers should be aligned by 32-bit    
- *     
- */
-
-#ifndef UNALIGNED_SUPPORT_DISABLE
-
-arm_status arm_conv_partial_fast_opt_q15(
-  q15_t * pSrcA,
-  uint32_t srcALen,
-  q15_t * pSrcB,
-  uint32_t srcBLen,
-  q15_t * pDst,
-  uint32_t firstIndex,
-  uint32_t numPoints,
-  q15_t * pScratch1,
-  q15_t * pScratch2)
-{
-
-  q15_t *pOut = pDst;                            /* output pointer */
-  q15_t *pScr1 = pScratch1;                      /* Temporary pointer for scratch1 */
-  q15_t *pScr2 = pScratch2;                      /* Temporary pointer for scratch1 */
-  q31_t acc0, acc1, acc2, acc3;                  /* Accumulator */
-  q31_t x1, x2, x3;                              /* Temporary variables to hold state and coefficient values */
-  q31_t y1, y2;                                  /* State variables */
-  q15_t *pIn1;                                   /* inputA pointer */
-  q15_t *pIn2;                                   /* inputB pointer */
-  q15_t *px;                                     /* Intermediate inputA pointer  */
-  q15_t *py;                                     /* Intermediate inputB pointer  */
-  uint32_t j, k, blkCnt;                         /* loop counter */
-  arm_status status;
-
-  uint32_t tapCnt;                               /* loop count */
-
-  /* Check for range of output samples to be calculated */
-  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))
-  {
-    /* Set status as ARM_MATH_ARGUMENT_ERROR */
-    status = ARM_MATH_ARGUMENT_ERROR;
-  }
-  else
-  {
-
-    /* The algorithm implementation is based on the lengths of the inputs. */
-    /* srcB is always made to slide across srcA. */
-    /* So srcBLen is always considered as shorter or equal to srcALen */
-    if(srcALen >= srcBLen)
-    {
-      /* Initialization of inputA pointer */
-      pIn1 = pSrcA;
-
-      /* Initialization of inputB pointer */
-      pIn2 = pSrcB;
-    }
-    else
-    {
-      /* Initialization of inputA pointer */
-      pIn1 = pSrcB;
-
-      /* Initialization of inputB pointer */
-      pIn2 = pSrcA;
-
-      /* srcBLen is always considered as shorter or equal to srcALen */
-      j = srcBLen;
-      srcBLen = srcALen;
-      srcALen = j;
-    }
-
-    /* Temporary pointer for scratch2 */
-    py = pScratch2;
-
-    /* pointer to take end of scratch2 buffer */
-    pScr2 = pScratch2 + srcBLen - 1;
-
-    /* points to smaller length sequence */
-    px = pIn2;
-
-    /* Apply loop unrolling and do 4 Copies simultaneously. */
-    k = srcBLen >> 2u;
-
-    /* First part of the processing with loop unrolling copies 4 data points at a time.       
-     ** a second loop below copies for the remaining 1 to 3 samples. */
-
-    /* Copy smaller length input sequence in reverse order into second scratch buffer */
-    while(k > 0u)
-    {
-      /* copy second buffer in reversal manner */
-      *pScr2-- = *px++;
-      *pScr2-- = *px++;
-      *pScr2-- = *px++;
-      *pScr2-- = *px++;
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* If the count is not a multiple of 4, copy remaining samples here.       
-     ** No loop unrolling is used. */
-    k = srcBLen % 0x4u;
-
-    while(k > 0u)
-    {
-      /* copy second buffer in reversal manner for remaining samples */
-      *pScr2-- = *px++;
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* Initialze temporary scratch pointer */
-    pScr1 = pScratch1;
-
-    /* Assuming scratch1 buffer is aligned by 32-bit */
-    /* Fill (srcBLen - 1u) zeros in scratch buffer */
-    arm_fill_q15(0, pScr1, (srcBLen - 1u));
-
-    /* Update temporary scratch pointer */
-    pScr1 += (srcBLen - 1u);
-
-    /* Copy bigger length sequence(srcALen) samples in scratch1 buffer */
-
-    /* Copy (srcALen) samples in scratch buffer */
-    arm_copy_q15(pIn1, pScr1, srcALen);
-
-    /* Update pointers */
-    pScr1 += srcALen;
-
-    /* Fill (srcBLen - 1u) zeros at end of scratch buffer */
-    arm_fill_q15(0, pScr1, (srcBLen - 1u));
-
-    /* Update pointer */
-    pScr1 += (srcBLen - 1u);
-
-    /* Initialization of pIn2 pointer */
-    pIn2 = py;
-
-    pScratch1 += firstIndex;
-
-    pOut = pDst + firstIndex;
-
-    /* First part of the processing with loop unrolling process 4 data points at a time.       
-     ** a second loop below process for the remaining 1 to 3 samples. */
-
-    /* Actual convolution process starts here */
-    blkCnt = (numPoints) >> 2;
-
-    while(blkCnt > 0)
-    {
-      /* Initialze temporary scratch pointer as scratch1 */
-      pScr1 = pScratch1;
-
-      /* Clear Accumlators */
-      acc0 = 0;
-      acc1 = 0;
-      acc2 = 0;
-      acc3 = 0;
-
-      /* Read two samples from scratch1 buffer */
-      x1 = *__SIMD32(pScr1)++;
-
-      /* Read next two samples from scratch1 buffer */
-      x2 = *__SIMD32(pScr1)++;
-
-      tapCnt = (srcBLen) >> 2u;
-
-      while(tapCnt > 0u)
-      {
-
-        /* Read four samples from smaller buffer */
-        y1 = _SIMD32_OFFSET(pIn2);
-        y2 = _SIMD32_OFFSET(pIn2 + 2u);
-
-        /* multiply and accumlate */
-        acc0 = __SMLAD(x1, y1, acc0);
-        acc2 = __SMLAD(x2, y1, acc2);
-
-        /* pack input data */
-#ifndef ARM_MATH_BIG_ENDIAN
-        x3 = __PKHBT(x2, x1, 0);
-#else
-        x3 = __PKHBT(x1, x2, 0);
-#endif
-
-        /* multiply and accumlate */
-        acc1 = __SMLADX(x3, y1, acc1);
-
-        /* Read next two samples from scratch1 buffer */
-        x1 = _SIMD32_OFFSET(pScr1);
-
-        /* multiply and accumlate */
-        acc0 = __SMLAD(x2, y2, acc0);
-
-        acc2 = __SMLAD(x1, y2, acc2);
-
-        /* pack input data */
-#ifndef ARM_MATH_BIG_ENDIAN
-        x3 = __PKHBT(x1, x2, 0);
-#else
-        x3 = __PKHBT(x2, x1, 0);
-#endif
-
-        acc3 = __SMLADX(x3, y1, acc3);
-        acc1 = __SMLADX(x3, y2, acc1);
-
-        x2 = _SIMD32_OFFSET(pScr1 + 2u);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-        x3 = __PKHBT(x2, x1, 0);
-#else
-        x3 = __PKHBT(x1, x2, 0);
-#endif
-
-        acc3 = __SMLADX(x3, y2, acc3);
-
-        /* update scratch pointers */
-        pIn2 += 4u;
-        pScr1 += 4u;
-
-
-        /* Decrement the loop counter */
-        tapCnt--;
-      }
-
-      /* Update scratch pointer for remaining samples of smaller length sequence */
-      pScr1 -= 4u;
-
-      /* apply same above for remaining samples of smaller length sequence */
-      tapCnt = (srcBLen) & 3u;
-
-      while(tapCnt > 0u)
-      {
-
-        /* accumlate the results */
-        acc0 += (*pScr1++ * *pIn2);
-        acc1 += (*pScr1++ * *pIn2);
-        acc2 += (*pScr1++ * *pIn2);
-        acc3 += (*pScr1++ * *pIn2++);
-
-        pScr1 -= 3u;
-
-        /* Decrement the loop counter */
-        tapCnt--;
-      }
-
-      blkCnt--;
-
-
-      /* Store the results in the accumulators in the destination buffer. */
-
-#ifndef  ARM_MATH_BIG_ENDIAN
-
-      *__SIMD32(pOut)++ =
-        __PKHBT(__SSAT((acc0 >> 15), 16), __SSAT((acc1 >> 15), 16), 16);
-      *__SIMD32(pOut)++ =
-        __PKHBT(__SSAT((acc2 >> 15), 16), __SSAT((acc3 >> 15), 16), 16);
-
-#else
-
-      *__SIMD32(pOut)++ =
-        __PKHBT(__SSAT((acc1 >> 15), 16), __SSAT((acc0 >> 15), 16), 16);
-      *__SIMD32(pOut)++ =
-        __PKHBT(__SSAT((acc3 >> 15), 16), __SSAT((acc2 >> 15), 16), 16);
-
-#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
-
-      /* Initialization of inputB pointer */
-      pIn2 = py;
-
-      pScratch1 += 4u;
-
-    }
-
-
-    blkCnt = numPoints & 0x3;
-
-    /* Calculate convolution for remaining samples of Bigger length sequence */
-    while(blkCnt > 0)
-    {
-      /* Initialze temporary scratch pointer as scratch1 */
-      pScr1 = pScratch1;
-
-      /* Clear Accumlators */
-      acc0 = 0;
-
-      tapCnt = (srcBLen) >> 1u;
-
-      while(tapCnt > 0u)
-      {
-
-        /* Read next two samples from scratch1 buffer */
-        x1 = *__SIMD32(pScr1)++;
-
-        /* Read two samples from smaller buffer */
-        y1 = *__SIMD32(pIn2)++;
-
-        acc0 = __SMLAD(x1, y1, acc0);
-
-        /* Decrement the loop counter */
-        tapCnt--;
-      }
-
-      tapCnt = (srcBLen) & 1u;
-
-      /* apply same above for remaining samples of smaller length sequence */
-      while(tapCnt > 0u)
-      {
-
-        /* accumlate the results */
-        acc0 += (*pScr1++ * *pIn2++);
-
-        /* Decrement the loop counter */
-        tapCnt--;
-      }
-
-      blkCnt--;
-
-      /* The result is in 2.30 format.  Convert to 1.15 with saturation.       
-       ** Then store the output in the destination buffer. */
-      *pOut++ = (q15_t) (__SSAT((acc0 >> 15), 16));
-
-      /* Initialization of inputB pointer */
-      pIn2 = py;
-
-      pScratch1 += 1u;
-
-    }
-    /* set status as ARM_MATH_SUCCESS */
-    status = ARM_MATH_SUCCESS;
-  }
-  /* Return to application */
-  return (status);
-}
-
-#else
-
-arm_status arm_conv_partial_fast_opt_q15(
-  q15_t * pSrcA,
-  uint32_t srcALen,
-  q15_t * pSrcB,
-  uint32_t srcBLen,
-  q15_t * pDst,
-  uint32_t firstIndex,
-  uint32_t numPoints,
-  q15_t * pScratch1,
-  q15_t * pScratch2)
-{
-
-  q15_t *pOut = pDst;                            /* output pointer */
-  q15_t *pScr1 = pScratch1;                      /* Temporary pointer for scratch1 */
-  q15_t *pScr2 = pScratch2;                      /* Temporary pointer for scratch1 */
-  q31_t acc0, acc1, acc2, acc3;                  /* Accumulator */
-  q15_t *pIn1;                                   /* inputA pointer */
-  q15_t *pIn2;                                   /* inputB pointer */
-  q15_t *px;                                     /* Intermediate inputA pointer  */
-  q15_t *py;                                     /* Intermediate inputB pointer  */
-  uint32_t j, k, blkCnt;                         /* loop counter */
-  arm_status status;                             /* Status variable */
-  uint32_t tapCnt;                               /* loop count */
-  q15_t x10, x11, x20, x21;                      /* Temporary variables to hold srcA buffer */
-  q15_t y10, y11;                                /* Temporary variables to hold srcB buffer */
-
-
-  /* Check for range of output samples to be calculated */
-  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))
-  {
-    /* Set status as ARM_MATH_ARGUMENT_ERROR */
-    status = ARM_MATH_ARGUMENT_ERROR;
-  }
-  else
-  {
-
-    /* The algorithm implementation is based on the lengths of the inputs. */
-    /* srcB is always made to slide across srcA. */
-    /* So srcBLen is always considered as shorter or equal to srcALen */
-    if(srcALen >= srcBLen)
-    {
-      /* Initialization of inputA pointer */
-      pIn1 = pSrcA;
-
-      /* Initialization of inputB pointer */
-      pIn2 = pSrcB;
-    }
-    else
-    {
-      /* Initialization of inputA pointer */
-      pIn1 = pSrcB;
-
-      /* Initialization of inputB pointer */
-      pIn2 = pSrcA;
-
-      /* srcBLen is always considered as shorter or equal to srcALen */
-      j = srcBLen;
-      srcBLen = srcALen;
-      srcALen = j;
-    }
-
-    /* Temporary pointer for scratch2 */
-    py = pScratch2;
-
-    /* pointer to take end of scratch2 buffer */
-    pScr2 = pScratch2 + srcBLen - 1;
-
-    /* points to smaller length sequence */
-    px = pIn2;
-
-    /* Apply loop unrolling and do 4 Copies simultaneously. */
-    k = srcBLen >> 2u;
-
-    /* First part of the processing with loop unrolling copies 4 data points at a time.       
-     ** a second loop below copies for the remaining 1 to 3 samples. */
-    while(k > 0u)
-    {
-      /* copy second buffer in reversal manner */
-      *pScr2-- = *px++;
-      *pScr2-- = *px++;
-      *pScr2-- = *px++;
-      *pScr2-- = *px++;
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* If the count is not a multiple of 4, copy remaining samples here.       
-     ** No loop unrolling is used. */
-    k = srcBLen % 0x4u;
-
-    while(k > 0u)
-    {
-      /* copy second buffer in reversal manner for remaining samples */
-      *pScr2-- = *px++;
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* Initialze temporary scratch pointer */
-    pScr1 = pScratch1;
-
-    /* Fill (srcBLen - 1u) zeros in scratch buffer */
-    arm_fill_q15(0, pScr1, (srcBLen - 1u));
-
-    /* Update temporary scratch pointer */
-    pScr1 += (srcBLen - 1u);
-
-    /* Copy bigger length sequence(srcALen) samples in scratch1 buffer */
-
-
-    /* Apply loop unrolling and do 4 Copies simultaneously. */
-    k = srcALen >> 2u;
-
-    /* First part of the processing with loop unrolling copies 4 data points at a time.       
-     ** a second loop below copies for the remaining 1 to 3 samples. */
-    while(k > 0u)
-    {
-      /* copy second buffer in reversal manner */
-      *pScr1++ = *pIn1++;
-      *pScr1++ = *pIn1++;
-      *pScr1++ = *pIn1++;
-      *pScr1++ = *pIn1++;
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* If the count is not a multiple of 4, copy remaining samples here.       
-     ** No loop unrolling is used. */
-    k = srcALen % 0x4u;
-
-    while(k > 0u)
-    {
-      /* copy second buffer in reversal manner for remaining samples */
-      *pScr1++ = *pIn1++;
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-
-    /* Apply loop unrolling and do 4 Copies simultaneously. */
-    k = (srcBLen - 1u) >> 2u;
-
-    /* First part of the processing with loop unrolling copies 4 data points at a time.       
-     ** a second loop below copies for the remaining 1 to 3 samples. */
-    while(k > 0u)
-    {
-      /* copy second buffer in reversal manner */
-      *pScr1++ = 0;
-      *pScr1++ = 0;
-      *pScr1++ = 0;
-      *pScr1++ = 0;
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* If the count is not a multiple of 4, copy remaining samples here.       
-     ** No loop unrolling is used. */
-    k = (srcBLen - 1u) % 0x4u;
-
-    while(k > 0u)
-    {
-      /* copy second buffer in reversal manner for remaining samples */
-      *pScr1++ = 0;
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-
-    /* Initialization of pIn2 pointer */
-    pIn2 = py;
-
-    pScratch1 += firstIndex;
-
-    pOut = pDst + firstIndex;
-
-    /* Actual convolution process starts here */
-    blkCnt = (numPoints) >> 2;
-
-    while(blkCnt > 0)
-    {
-      /* Initialze temporary scratch pointer as scratch1 */
-      pScr1 = pScratch1;
-
-      /* Clear Accumlators */
-      acc0 = 0;
-      acc1 = 0;
-      acc2 = 0;
-      acc3 = 0;
-
-      /* Read two samples from scratch1 buffer */
-      x10 = *pScr1++;
-      x11 = *pScr1++;
-
-      /* Read next two samples from scratch1 buffer */
-      x20 = *pScr1++;
-      x21 = *pScr1++;
-
-      tapCnt = (srcBLen) >> 2u;
-
-      while(tapCnt > 0u)
-      {
-
-        /* Read two samples from smaller buffer */
-        y10 = *pIn2;
-        y11 = *(pIn2 + 1u);
-
-        /* multiply and accumlate */
-        acc0 += (q31_t) x10 *y10;
-        acc0 += (q31_t) x11 *y11;
-        acc2 += (q31_t) x20 *y10;
-        acc2 += (q31_t) x21 *y11;
-
-        /* multiply and accumlate */
-        acc1 += (q31_t) x11 *y10;
-        acc1 += (q31_t) x20 *y11;
-
-        /* Read next two samples from scratch1 buffer */
-        x10 = *pScr1;
-        x11 = *(pScr1 + 1u);
-
-        /* multiply and accumlate */
-        acc3 += (q31_t) x21 *y10;
-        acc3 += (q31_t) x10 *y11;
-
-        /* Read next two samples from scratch2 buffer */
-        y10 = *(pIn2 + 2u);
-        y11 = *(pIn2 + 3u);
-
-        /* multiply and accumlate */
-        acc0 += (q31_t) x20 *y10;
-        acc0 += (q31_t) x21 *y11;
-        acc2 += (q31_t) x10 *y10;
-        acc2 += (q31_t) x11 *y11;
-        acc1 += (q31_t) x21 *y10;
-        acc1 += (q31_t) x10 *y11;
-
-        /* Read next two samples from scratch1 buffer */
-        x20 = *(pScr1 + 2);
-        x21 = *(pScr1 + 3);
-
-        /* multiply and accumlate */
-        acc3 += (q31_t) x11 *y10;
-        acc3 += (q31_t) x20 *y11;
-
-        /* update scratch pointers */
-        pIn2 += 4u;
-        pScr1 += 4u;
-
-        /* Decrement the loop counter */
-        tapCnt--;
-      }
-
-      /* Update scratch pointer for remaining samples of smaller length sequence */
-      pScr1 -= 4u;
-
-      /* apply same above for remaining samples of smaller length sequence */
-      tapCnt = (srcBLen) & 3u;
-
-      while(tapCnt > 0u)
-      {
-        /* accumlate the results */
-        acc0 += (*pScr1++ * *pIn2);
-        acc1 += (*pScr1++ * *pIn2);
-        acc2 += (*pScr1++ * *pIn2);
-        acc3 += (*pScr1++ * *pIn2++);
-
-        pScr1 -= 3u;
-
-        /* Decrement the loop counter */
-        tapCnt--;
-      }
-
-      blkCnt--;
-
-
-      /* Store the results in the accumulators in the destination buffer. */
-      *pOut++ = __SSAT((acc0 >> 15), 16);
-      *pOut++ = __SSAT((acc1 >> 15), 16);
-      *pOut++ = __SSAT((acc2 >> 15), 16);
-      *pOut++ = __SSAT((acc3 >> 15), 16);
-
-      /* Initialization of inputB pointer */
-      pIn2 = py;
-
-      pScratch1 += 4u;
-
-    }
-
-
-    blkCnt = numPoints & 0x3;
-
-    /* Calculate convolution for remaining samples of Bigger length sequence */
-    while(blkCnt > 0)
-    {
-      /* Initialze temporary scratch pointer as scratch1 */
-      pScr1 = pScratch1;
-
-      /* Clear Accumlators */
-      acc0 = 0;
-
-      tapCnt = (srcBLen) >> 1u;
-
-      while(tapCnt > 0u)
-      {
-
-        /* Read next two samples from scratch1 buffer */
-        x10 = *pScr1++;
-        x11 = *pScr1++;
-
-        /* Read two samples from smaller buffer */
-        y10 = *pIn2++;
-        y11 = *pIn2++;
-
-        /* multiply and accumlate */
-        acc0 += (q31_t) x10 *y10;
-        acc0 += (q31_t) x11 *y11;
-
-        /* Decrement the loop counter */
-        tapCnt--;
-      }
-
-      tapCnt = (srcBLen) & 1u;
-
-      /* apply same above for remaining samples of smaller length sequence */
-      while(tapCnt > 0u)
-      {
-
-        /* accumlate the results */
-        acc0 += (*pScr1++ * *pIn2++);
-
-        /* Decrement the loop counter */
-        tapCnt--;
-      }
-
-      blkCnt--;
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut++ = (q15_t) (__SSAT((acc0 >> 15), 16));
-
-      /* Initialization of inputB pointer */
-      pIn2 = py;
-
-      pScratch1 += 1u;
-
-    }
-
-    /* set status as ARM_MATH_SUCCESS */
-    status = ARM_MATH_SUCCESS;
-
-  }
-
-  /* Return to application */
-  return (status);
-}
-
-#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
-
-/**    
- * @} end of PartialConv group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_q15.c
deleted file mode 100644
index 98216bb6a..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_q15.c
+++ /dev/null
@@ -1,1473 +0,0 @@
-/* ----------------------------------------------------------------------   
-* Copyright (C) 2010 ARM Limited. All rights reserved.   
-*   
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*   
-* Project: 	    CMSIS DSP Library   
-* Title:		arm_conv_partial_fast_q15.c   
-*   
-* Description:	Fast Q15 Partial convolution.   
-*   
-* Target Processor: Cortex-M4/Cortex-M3
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-* 
-* Version 1.0.11 2011/10/18 
-*    Bug Fix in conv, correlation, partial convolution. 
-*
-* Version 1.0.10 2011/7/15 
-*    Big Endian support added and Merged M0 and M3/M4 Source code.  
-*   
-* Version 1.0.3 2010/11/29  
-*    Re-organized the CMSIS folders and updated documentation.   
-*    
-* Version 1.0.2 2010/11/11   
-*    Documentation updated.    
-*   
-* Version 1.0.1 2010/10/05    
-*    Production release and review comments incorporated.   
-*   
-* Version 1.0.0 2010/09/20    
-*    Production release and review comments incorporated.   
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**   
- * @ingroup groupFilters   
- */
-
-/**   
- * @addtogroup PartialConv   
- * @{   
- */
-
-/**   
- * @brief Partial convolution of Q15 sequences (fast version) for Cortex-M3 and Cortex-M4.   
- * @param[in]       *pSrcA points to the first input sequence.   
- * @param[in]       srcALen length of the first input sequence.   
- * @param[in]       *pSrcB points to the second input sequence.   
- * @param[in]       srcBLen length of the second input sequence.   
- * @param[out]      *pDst points to the location where the output result is written.   
- * @param[in]       firstIndex is the first output sample to start with.   
- * @param[in]       numPoints is the number of output points to be computed.   
- * @return Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].   
- *   
- * See arm_conv_partial_q15() for a slower implementation of this function which uses a 64-bit accumulator to avoid wrap around distortion.   
- */
-
-
-arm_status arm_conv_partial_fast_q15(
-  q15_t * pSrcA,
-  uint32_t srcALen,
-  q15_t * pSrcB,
-  uint32_t srcBLen,
-  q15_t * pDst,
-  uint32_t firstIndex,
-  uint32_t numPoints)
-{
-#ifndef UNALIGNED_SUPPORT_DISABLE
-
-  q15_t *pIn1;                                   /* inputA pointer               */
-  q15_t *pIn2;                                   /* inputB pointer               */
-  q15_t *pOut = pDst;                            /* output pointer               */
-  q31_t sum, acc0, acc1, acc2, acc3;             /* Accumulator                  */
-  q15_t *px;                                     /* Intermediate inputA pointer  */
-  q15_t *py;                                     /* Intermediate inputB pointer  */
-  q15_t *pSrc1, *pSrc2;                          /* Intermediate pointers        */
-  q31_t x0, x1, x2, x3, c0;
-  uint32_t j, k, count, check, blkCnt;
-  int32_t blockSize1, blockSize2, blockSize3;    /* loop counters                 */
-  arm_status status;                             /* status of Partial convolution */
-
-  /* Check for range of output samples to be calculated */
-  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))
-  {
-    /* Set status as ARM_MATH_ARGUMENT_ERROR */
-    status = ARM_MATH_ARGUMENT_ERROR;
-  }
-  else
-  {
-
-    /* The algorithm implementation is based on the lengths of the inputs. */
-    /* srcB is always made to slide across srcA. */
-    /* So srcBLen is always considered as shorter or equal to srcALen */
-    if(srcALen >=srcBLen)
-    {
-      /* Initialization of inputA pointer */
-      pIn1 = pSrcA;
-
-      /* Initialization of inputB pointer */
-      pIn2 = pSrcB;
-    }
-    else
-    {
-      /* Initialization of inputA pointer */
-      pIn1 = pSrcB;
-
-      /* Initialization of inputB pointer */
-      pIn2 = pSrcA;
-
-      /* srcBLen is always considered as shorter or equal to srcALen */
-      j = srcBLen;
-      srcBLen = srcALen;
-      srcALen = j;
-    }
-
-    /* Conditions to check which loopCounter holds   
-     * the first and last indices of the output samples to be calculated. */
-    check = firstIndex + numPoints;
-    blockSize3 = ((int32_t) check - (int32_t) srcALen);
-    blockSize3 = (blockSize3 > 0) ? blockSize3 : 0;
-    blockSize1 = (((int32_t) srcBLen - 1) - (int32_t) firstIndex);
-    blockSize1 = (blockSize1 > 0) ? ((check > (srcBLen - 1u)) ? blockSize1 :
-                                     (int32_t) numPoints) : 0;
-    blockSize2 = (int32_t) check - ((blockSize3 + blockSize1) +
-                                    (int32_t) firstIndex);
-    blockSize2 = (blockSize2 > 0) ? blockSize2 : 0;
-
-    /* conv(x,y) at n = x[n] * y[0] + x[n-1] * y[1] + x[n-2] * y[2] + ...+ x[n-N+1] * y[N -1] */
-    /* The function is internally   
-     * divided into three stages according to the number of multiplications that has to be   
-     * taken place between inputA samples and inputB samples. In the first stage of the   
-     * algorithm, the multiplications increase by one for every iteration.   
-     * In the second stage of the algorithm, srcBLen number of multiplications are done.   
-     * In the third stage of the algorithm, the multiplications decrease by one   
-     * for every iteration. */
-
-    /* Set the output pointer to point to the firstIndex   
-     * of the output sample to be calculated. */
-    pOut = pDst + firstIndex;
-
-    /* --------------------------   
-     * Initializations of stage1   
-     * -------------------------*/
-
-    /* sum = x[0] * y[0]   
-     * sum = x[0] * y[1] + x[1] * y[0]   
-     * ....   
-     * sum = x[0] * y[srcBlen - 1] + x[1] * y[srcBlen - 2] +...+ x[srcBLen - 1] * y[0]   
-     */
-
-    /* In this stage the MAC operations are increased by 1 for every iteration.   
-       The count variable holds the number of MAC operations performed.   
-       Since the partial convolution starts from firstIndex   
-       Number of Macs to be performed is firstIndex + 1 */
-    count = 1u + firstIndex;
-
-    /* Working pointer of inputA */
-    px = pIn1;
-
-    /* Working pointer of inputB */
-    pSrc2 = pIn2 + firstIndex;
-    py = pSrc2;
-
-    /* ------------------------   
-     * Stage1 process   
-     * ----------------------*/
-
-    /* For loop unrolling by 4, this stage is divided into two. */
-    /* First part of this stage computes the MAC operations less than 4 */
-    /* Second part of this stage computes the MAC operations greater than or equal to 4 */
-
-    /* The first part of the stage starts here */
-    while((count < 4u) && (blockSize1 > 0))
-    {
-      /* Accumulator is made zero for every iteration */
-      sum = 0;
-
-      /* Loop over number of MAC operations between   
-       * inputA samples and inputB samples */
-      k = count;
-
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulates */
-        sum = __SMLAD(*px++, *py--, sum);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut++ = (q15_t) (sum >> 15);
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      py = ++pSrc2;
-      px = pIn1;
-
-      /* Increment the MAC count */
-      count++;
-
-      /* Decrement the loop counter */
-      blockSize1--;
-    }
-
-    /* The second part of the stage starts here */
-    /* The internal loop, over count, is unrolled by 4 */
-    /* To, read the last two inputB samples using SIMD:   
-     * y[srcBLen] and y[srcBLen-1] coefficients, py is decremented by 1 */
-    py = py - 1;
-
-    while(blockSize1 > 0)
-    {
-      /* Accumulator is made zero for every iteration */
-      sum = 0;
-
-      /* Apply loop unrolling and compute 4 MACs simultaneously. */
-      k = count >> 2u;
-
-      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
-       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulates */
-        /* x[0], x[1] are multiplied with y[srcBLen - 1], y[srcBLen - 2] respectively */
-        sum = __SMLADX(*__SIMD32(px)++, *__SIMD32(py)--, sum);
-        /* x[2], x[3] are multiplied with y[srcBLen - 3], y[srcBLen - 4] respectively */
-        sum = __SMLADX(*__SIMD32(px)++, *__SIMD32(py)--, sum);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* For the next MAC operations, the pointer py is used without SIMD   
-       * So, py is incremented by 1 */
-      py = py + 1u;
-
-      /* If the count is not a multiple of 4, compute any remaining MACs here.   
-       ** No loop unrolling is used. */
-      k = count % 0x4u;
-
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulates */
-        sum = __SMLAD(*px++, *py--, sum);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut++ = (q15_t) (sum >> 15);
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      py = ++pSrc2 - 1u;
-      px = pIn1;
-
-      /* Increment the MAC count */
-      count++;
-
-      /* Decrement the loop counter */
-      blockSize1--;
-    }
-
-    /* --------------------------   
-     * Initializations of stage2   
-     * ------------------------*/
-
-    /* sum = x[0] * y[srcBLen-1] + x[1] * y[srcBLen-2] +...+ x[srcBLen-1] * y[0]   
-     * sum = x[1] * y[srcBLen-1] + x[2] * y[srcBLen-2] +...+ x[srcBLen] * y[0]   
-     * ....   
-     * sum = x[srcALen-srcBLen-2] * y[srcBLen-1] + x[srcALen] * y[srcBLen-2] +...+ x[srcALen-1] * y[0]   
-     */
-
-    /* Working pointer of inputA */
-    px = pIn1;
-
-    /* Working pointer of inputB */
-    pSrc2 = pIn2 + (srcBLen - 1u);
-    py = pSrc2;
-
-    /* count is the index by which the pointer pIn1 to be incremented */
-    count = 0u;
-
-
-    /* --------------------   
-     * Stage2 process   
-     * -------------------*/
-
-    /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.   
-     * So, to loop unroll over blockSize2,   
-     * srcBLen should be greater than or equal to 4 */
-    if(srcBLen >= 4u)
-    {
-      /* Loop unroll over blockSize2, by 4 */
-      blkCnt = ((uint32_t) blockSize2 >> 2u);
-
-      while(blkCnt > 0u)
-      {
-      py = py - 1u;
-
-        /* Set all accumulators to zero */
-        acc0 = 0;
-        acc1 = 0;
-        acc2 = 0;
-        acc3 = 0;
-
-
-        /* read x[0], x[1] samples */
-      x0 = *__SIMD32(px);
-        /* read x[1], x[2] samples */
-      x1 = _SIMD32_OFFSET(px+1);
-	  px+= 2u;
-
-
-        /* Apply loop unrolling and compute 4 MACs simultaneously. */
-        k = srcBLen >> 2u;
-
-        /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
-         ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-        do
-        {
-          /* Read the last two inputB samples using SIMD:   
-           * y[srcBLen - 1] and y[srcBLen - 2] */
-        c0 = *__SIMD32(py)--;
-
-          /* acc0 +=  x[0] * y[srcBLen - 1] + x[1] * y[srcBLen - 2] */
-          acc0 = __SMLADX(x0, c0, acc0);
-
-          /* acc1 +=  x[1] * y[srcBLen - 1] + x[2] * y[srcBLen - 2] */
-          acc1 = __SMLADX(x1, c0, acc1);
-
-          /* Read x[2], x[3] */
-        x2 = *__SIMD32(px);
-
-          /* Read x[3], x[4] */
-        x3 = _SIMD32_OFFSET(px+1);
-
-          /* acc2 +=  x[2] * y[srcBLen - 1] + x[3] * y[srcBLen - 2] */
-          acc2 = __SMLADX(x2, c0, acc2);
-
-          /* acc3 +=  x[3] * y[srcBLen - 1] + x[4] * y[srcBLen - 2] */
-          acc3 = __SMLADX(x3, c0, acc3);
-
-          /* Read y[srcBLen - 3] and y[srcBLen - 4] */
-        c0 = *__SIMD32(py)--;
-
-          /* acc0 +=  x[2] * y[srcBLen - 3] + x[3] * y[srcBLen - 4] */
-          acc0 = __SMLADX(x2, c0, acc0);
-
-          /* acc1 +=  x[3] * y[srcBLen - 3] + x[4] * y[srcBLen - 4] */
-          acc1 = __SMLADX(x3, c0, acc1);
-
-          /* Read x[4], x[5] */
-        x0 = _SIMD32_OFFSET(px+2);
-
-          /* Read x[5], x[6] */
-        x1 = _SIMD32_OFFSET(px+3);
-		px += 4u;
-
-          /* acc2 +=  x[4] * y[srcBLen - 3] + x[5] * y[srcBLen - 4] */
-          acc2 = __SMLADX(x0, c0, acc2);
-
-          /* acc3 +=  x[5] * y[srcBLen - 3] + x[6] * y[srcBLen - 4] */
-          acc3 = __SMLADX(x1, c0, acc3);
-
-        } while(--k);
-
-        /* For the next MAC operations, SIMD is not used   
-         * So, the 16 bit pointer if inputB, py is updated */
-
-        /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
-         ** No loop unrolling is used. */
-        k = srcBLen % 0x4u;
-
-        if(k == 1u)
-        {
-          /* Read y[srcBLen - 5] */
-        c0 = *(py+1);
-#ifdef  ARM_MATH_BIG_ENDIAN
-
-        c0 = c0 << 16u;
-
-#else
-
-        c0 = c0 & 0x0000FFFF;
-
-#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */
-
-          /* Read x[7] */
-        x3 = *__SIMD32(px);
-		px++;
-
-          /* Perform the multiply-accumulates */
-          acc0 = __SMLAD(x0, c0, acc0);
-          acc1 = __SMLAD(x1, c0, acc1);
-          acc2 = __SMLADX(x1, c0, acc2);
-          acc3 = __SMLADX(x3, c0, acc3);
-        }
-
-        if(k == 2u)
-        {
-          /* Read y[srcBLen - 5], y[srcBLen - 6] */
-        c0 = _SIMD32_OFFSET(py);
-
-          /* Read x[7], x[8] */
-        x3 = *__SIMD32(px);
-
-        /* Read x[9] */
-        x2 = _SIMD32_OFFSET(px+1);
-		px += 2u;
-
-          /* Perform the multiply-accumulates */
-          acc0 = __SMLADX(x0, c0, acc0);
-          acc1 = __SMLADX(x1, c0, acc1);
-          acc2 = __SMLADX(x3, c0, acc2);
-          acc3 = __SMLADX(x2, c0, acc3);
-        }
-
-        if(k == 3u)
-        {
-          /* Read y[srcBLen - 5], y[srcBLen - 6] */
-        c0 = _SIMD32_OFFSET(py);
-
-          /* Read x[7], x[8] */
-        x3 = *__SIMD32(px);
-
-          /* Read x[9] */
-        x2 = _SIMD32_OFFSET(px+1);
-
-          /* Perform the multiply-accumulates */
-          acc0 = __SMLADX(x0, c0, acc0);
-          acc1 = __SMLADX(x1, c0, acc1);
-          acc2 = __SMLADX(x3, c0, acc2);
-          acc3 = __SMLADX(x2, c0, acc3);
-
-		c0 = *(py-1);
-#ifdef  ARM_MATH_BIG_ENDIAN
-
-        c0 = c0 << 16u;
-#else
-
-        c0 = c0 & 0x0000FFFF;
-#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */
-
-          /* Read x[10] */
-        x3 =  _SIMD32_OFFSET(px+2);
-		px += 3u;
-
-          /* Perform the multiply-accumulates */
-          acc0 = __SMLADX(x1, c0, acc0);
-          acc1 = __SMLAD(x2, c0, acc1);
-          acc2 = __SMLADX(x2, c0, acc2);
-          acc3 = __SMLADX(x3, c0, acc3);
-        }
-
-        /* Store the results in the accumulators in the destination buffer. */
-#ifndef ARM_MATH_BIG_ENDIAN
-
-        *__SIMD32(pOut)++ = __PKHBT(acc0 >> 15, acc1 >> 15, 16);
-        *__SIMD32(pOut)++ = __PKHBT(acc2 >> 15, acc3 >> 15, 16);
-
-#else
-
-        *__SIMD32(pOut)++ = __PKHBT(acc1 >> 15, acc0 >> 15, 16);
-        *__SIMD32(pOut)++ = __PKHBT(acc3 >> 15, acc2 >> 15, 16);
-
-#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
-
-        /* Increment the pointer pIn1 index, count by 4 */
-        count += 4u;
-
-        /* Update the inputA and inputB pointers for next MAC calculation */
-        px = pIn1 + count;
-        py = pSrc2;
-
-        /* Decrement the loop counter */
-        blkCnt--;
-      }
-
-      /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.   
-       ** No loop unrolling is used. */
-      blkCnt = (uint32_t) blockSize2 % 0x4u;
-
-      while(blkCnt > 0u)
-      {
-        /* Accumulator is made zero for every iteration */
-        sum = 0;
-
-        /* Apply loop unrolling and compute 4 MACs simultaneously. */
-        k = srcBLen >> 2u;
-
-        /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
-         ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-        while(k > 0u)
-        {
-          /* Perform the multiply-accumulates */
-          sum += ((q31_t) * px++ * *py--);
-          sum += ((q31_t) * px++ * *py--);
-          sum += ((q31_t) * px++ * *py--);
-          sum += ((q31_t) * px++ * *py--);
-
-          /* Decrement the loop counter */
-          k--;
-        }
-
-        /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
-         ** No loop unrolling is used. */
-        k = srcBLen % 0x4u;
-
-        while(k > 0u)
-        {
-          /* Perform the multiply-accumulates */
-          sum += ((q31_t) * px++ * *py--);
-
-          /* Decrement the loop counter */
-          k--;
-        }
-
-        /* Store the result in the accumulator in the destination buffer. */
-        *pOut++ = (q15_t) (sum >> 15);
-
-        /* Increment the pointer pIn1 index, count by 1 */
-        count++;
-
-        /* Update the inputA and inputB pointers for next MAC calculation */
-        px = pIn1 + count;
-        py = pSrc2;
-
-        /* Decrement the loop counter */
-        blkCnt--;
-      }
-    }
-    else
-    {
-      /* If the srcBLen is not a multiple of 4,   
-       * the blockSize2 loop cannot be unrolled by 4 */
-      blkCnt = (uint32_t) blockSize2;
-
-      while(blkCnt > 0u)
-      {
-        /* Accumulator is made zero for every iteration */
-        sum = 0;
-
-        /* srcBLen number of MACS should be performed */
-        k = srcBLen;
-
-        while(k > 0u)
-        {
-          /* Perform the multiply-accumulate */
-          sum += ((q31_t) * px++ * *py--);
-
-          /* Decrement the loop counter */
-          k--;
-        }
-
-        /* Store the result in the accumulator in the destination buffer. */
-        *pOut++ = (q15_t) (sum >> 15);
-
-        /* Increment the MAC count */
-        count++;
-
-        /* Update the inputA and inputB pointers for next MAC calculation */
-        px = pIn1 + count;
-        py = pSrc2;
-
-        /* Decrement the loop counter */
-        blkCnt--;
-      }
-    }
-
-
-    /* --------------------------   
-     * Initializations of stage3   
-     * -------------------------*/
-
-    /* sum += x[srcALen-srcBLen+1] * y[srcBLen-1] + x[srcALen-srcBLen+2] * y[srcBLen-2] +...+ x[srcALen-1] * y[1]   
-     * sum += x[srcALen-srcBLen+2] * y[srcBLen-1] + x[srcALen-srcBLen+3] * y[srcBLen-2] +...+ x[srcALen-1] * y[2]   
-     * ....   
-     * sum +=  x[srcALen-2] * y[srcBLen-1] + x[srcALen-1] * y[srcBLen-2]   
-     * sum +=  x[srcALen-1] * y[srcBLen-1]   
-     */
-
-    /* In this stage the MAC operations are decreased by 1 for every iteration.   
-       The count variable holds the number of MAC operations performed */
-    count = srcBLen - 1u;
-
-    /* Working pointer of inputA */
-    pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);
-    px = pSrc1;
-
-    /* Working pointer of inputB */
-    pSrc2 = pIn2 + (srcBLen - 1u);
-    pIn2 = pSrc2 - 1u;
-    py = pIn2;
-
-    /* -------------------   
-     * Stage3 process   
-     * ------------------*/
-
-    /* For loop unrolling by 4, this stage is divided into two. */
-    /* First part of this stage computes the MAC operations greater than 4 */
-    /* Second part of this stage computes the MAC operations less than or equal to 4 */
-
-    /* The first part of the stage starts here */
-    j = count >> 2u;
-
-    while((j > 0u) && (blockSize3 > 0))
-    {
-      /* Accumulator is made zero for every iteration */
-      sum = 0;
-
-      /* Apply loop unrolling and compute 4 MACs simultaneously. */
-      k = count >> 2u;
-
-      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
-       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-      while(k > 0u)
-      {
-        /* x[srcALen - srcBLen + 1], x[srcALen - srcBLen + 2] are multiplied   
-         * with y[srcBLen - 1], y[srcBLen - 2] respectively */
-        sum = __SMLADX(*__SIMD32(px)++, *__SIMD32(py)--, sum);
-        /* x[srcALen - srcBLen + 3], x[srcALen - srcBLen + 4] are multiplied   
-         * with y[srcBLen - 3], y[srcBLen - 4] respectively */
-        sum = __SMLADX(*__SIMD32(px)++, *__SIMD32(py)--, sum);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* For the next MAC operations, the pointer py is used without SIMD   
-       * So, py is incremented by 1 */
-      py = py + 1u;
-
-      /* If the count is not a multiple of 4, compute any remaining MACs here.   
-       ** No loop unrolling is used. */
-      k = count % 0x4u;
-
-      while(k > 0u)
-      {
-        /* sum += x[srcALen - srcBLen + 5] * y[srcBLen - 5] */
-        sum = __SMLAD(*px++, *py--, sum);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut++ = (q15_t) (sum >> 15);
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      px = ++pSrc1;
-      py = pIn2;
-
-      /* Decrement the MAC count */
-      count--;
-
-      /* Decrement the loop counter */
-      blockSize3--;
-
-      j--;
-    }
-
-    /* The second part of the stage starts here */
-    /* SIMD is not used for the next MAC operations,   
-     * so pointer py is updated to read only one sample at a time */
-    py = py + 1u;
-
-    while(blockSize3 > 0)
-    {
-      /* Accumulator is made zero for every iteration */
-      sum = 0;
-
-      /* Apply loop unrolling and compute 4 MACs simultaneously. */
-      k = count;
-
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulates */
-        /* sum +=  x[srcALen-1] * y[srcBLen-1] */
-        sum = __SMLAD(*px++, *py--, sum);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut++ = (q15_t) (sum >> 15);
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      px = ++pSrc1;
-      py = pSrc2;
-
-      /* Decrement the MAC count */
-      count--;
-
-      /* Decrement the loop counter */
-      blockSize3--;
-    }
-
-    /* set status as ARM_MATH_SUCCESS */
-    status = ARM_MATH_SUCCESS;
-  }
-
-  /* Return to application */
-  return (status);
-
-#else
-
-  q15_t *pIn1;                                   /* inputA pointer               */
-  q15_t *pIn2;                                   /* inputB pointer               */
-  q15_t *pOut = pDst;                            /* output pointer               */
-  q31_t sum, acc0, acc1, acc2, acc3;             /* Accumulator                  */
-  q15_t *px;                                     /* Intermediate inputA pointer  */
-  q15_t *py;                                     /* Intermediate inputB pointer  */
-  q15_t *pSrc1, *pSrc2;                          /* Intermediate pointers        */
-  q31_t x0, x1, x2, x3, c0;
-  uint32_t j, k, count, check, blkCnt;
-  int32_t blockSize1, blockSize2, blockSize3;    /* loop counters                 */
-  arm_status status;                             /* status of Partial convolution */
-  q15_t a, b;
-
-  /* Check for range of output samples to be calculated */
-  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))
-  {
-    /* Set status as ARM_MATH_ARGUMENT_ERROR */
-    status = ARM_MATH_ARGUMENT_ERROR;
-  }
-  else
-  {
-
-    /* The algorithm implementation is based on the lengths of the inputs. */
-    /* srcB is always made to slide across srcA. */
-    /* So srcBLen is always considered as shorter or equal to srcALen */
-    if(srcALen >=srcBLen)
-    {
-      /* Initialization of inputA pointer */
-      pIn1 = pSrcA;
-
-      /* Initialization of inputB pointer */
-      pIn2 = pSrcB;
-    }
-    else
-    {
-      /* Initialization of inputA pointer */
-      pIn1 = pSrcB;
-
-      /* Initialization of inputB pointer */
-      pIn2 = pSrcA;
-
-      /* srcBLen is always considered as shorter or equal to srcALen */
-      j = srcBLen;
-      srcBLen = srcALen;
-      srcALen = j;
-    }
-
-    /* Conditions to check which loopCounter holds   
-     * the first and last indices of the output samples to be calculated. */
-    check = firstIndex + numPoints;
-    blockSize3 = ((int32_t) check - (int32_t) srcALen);
-    blockSize3 = (blockSize3 > 0) ? blockSize3 : 0;
-    blockSize1 = (((int32_t) srcBLen - 1) - (int32_t) firstIndex);
-    blockSize1 = (blockSize1 > 0) ? ((check > (srcBLen - 1u)) ? blockSize1 :
-                                     (int32_t) numPoints) : 0;
-    blockSize2 = (int32_t) check - ((blockSize3 + blockSize1) +
-                                    (int32_t) firstIndex);
-    blockSize2 = (blockSize2 > 0) ? blockSize2 : 0;
-
-    /* conv(x,y) at n = x[n] * y[0] + x[n-1] * y[1] + x[n-2] * y[2] + ...+ x[n-N+1] * y[N -1] */
-    /* The function is internally   
-     * divided into three stages according to the number of multiplications that has to be   
-     * taken place between inputA samples and inputB samples. In the first stage of the   
-     * algorithm, the multiplications increase by one for every iteration.   
-     * In the second stage of the algorithm, srcBLen number of multiplications are done.   
-     * In the third stage of the algorithm, the multiplications decrease by one   
-     * for every iteration. */
-
-    /* Set the output pointer to point to the firstIndex   
-     * of the output sample to be calculated. */
-    pOut = pDst + firstIndex;
-
-    /* --------------------------   
-     * Initializations of stage1   
-     * -------------------------*/
-
-    /* sum = x[0] * y[0]   
-     * sum = x[0] * y[1] + x[1] * y[0]   
-     * ....   
-     * sum = x[0] * y[srcBlen - 1] + x[1] * y[srcBlen - 2] +...+ x[srcBLen - 1] * y[0]   
-     */
-
-    /* In this stage the MAC operations are increased by 1 for every iteration.   
-       The count variable holds the number of MAC operations performed.   
-       Since the partial convolution starts from firstIndex   
-       Number of Macs to be performed is firstIndex + 1 */
-    count = 1u + firstIndex;
-
-    /* Working pointer of inputA */
-    px = pIn1;
-
-    /* Working pointer of inputB */
-    pSrc2 = pIn2 + firstIndex;
-    py = pSrc2;
-
-    /* ------------------------   
-     * Stage1 process   
-     * ----------------------*/
-
-    /* For loop unrolling by 4, this stage is divided into two. */
-    /* First part of this stage computes the MAC operations less than 4 */
-    /* Second part of this stage computes the MAC operations greater than or equal to 4 */
-
-    /* The first part of the stage starts here */
-  while((count < 4u) && (blockSize1 > 0u))
-    {
-      /* Accumulator is made zero for every iteration */
-      sum = 0;
-
-      /* Loop over number of MAC operations between   
-       * inputA samples and inputB samples */
-      k = count;
-
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulates */
-      sum += ((q31_t) * px++ * *py--);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut++ = (q15_t) (sum >> 15);
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      py = ++pSrc2;
-      px = pIn1;
-
-      /* Increment the MAC count */
-      count++;
-
-      /* Decrement the loop counter */
-      blockSize1--;
-    }
-
-    /* The second part of the stage starts here */
-    /* The internal loop, over count, is unrolled by 4 */
-    /* To, read the last two inputB samples using SIMD:   
-     * y[srcBLen] and y[srcBLen-1] coefficients, py is decremented by 1 */
-    py = py - 1;
-
-  while(blockSize1 > 0u)
-    {
-      /* Accumulator is made zero for every iteration */
-      sum = 0;
-
-      /* Apply loop unrolling and compute 4 MACs simultaneously. */
-      k = count >> 2u;
-
-      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
-       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-	py++;
-
-    while(k > 0u)
-    {
-      /* Perform the multiply-accumulates */
-        sum += ((q31_t) * px++ * *py--);
-        sum += ((q31_t) * px++ * *py--);
-        sum += ((q31_t) * px++ * *py--);
-        sum += ((q31_t) * px++ * *py--);
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-      /* If the count is not a multiple of 4, compute any remaining MACs here.   
-       ** No loop unrolling is used. */
-      k = count % 0x4u;
-
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulates */
-      sum += ((q31_t) * px++ * *py--);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut++ = (q15_t) (sum >> 15);
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      py = ++pSrc2 - 1u;
-      px = pIn1;
-
-      /* Increment the MAC count */
-      count++;
-
-      /* Decrement the loop counter */
-      blockSize1--;
-    }
-
-    /* --------------------------   
-     * Initializations of stage2   
-     * ------------------------*/
-
-    /* sum = x[0] * y[srcBLen-1] + x[1] * y[srcBLen-2] +...+ x[srcBLen-1] * y[0]   
-     * sum = x[1] * y[srcBLen-1] + x[2] * y[srcBLen-2] +...+ x[srcBLen] * y[0]   
-     * ....   
-     * sum = x[srcALen-srcBLen-2] * y[srcBLen-1] + x[srcALen] * y[srcBLen-2] +...+ x[srcALen-1] * y[0]   
-     */
-
-    /* Working pointer of inputA */
-    px = pIn1;
-
-    /* Working pointer of inputB */
-    pSrc2 = pIn2 + (srcBLen - 1u);
-    py = pSrc2;
-
-    /* count is the index by which the pointer pIn1 to be incremented */
-    count = 0u;
-
-
-    /* --------------------   
-     * Stage2 process   
-     * -------------------*/
-
-    /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.   
-     * So, to loop unroll over blockSize2,   
-     * srcBLen should be greater than or equal to 4 */
-    if(srcBLen >= 4u)
-    {
-      /* Loop unroll over blockSize2, by 4 */
-      blkCnt = ((uint32_t) blockSize2 >> 2u);
-
-      while(blkCnt > 0u)
-      {
-      py = py - 1u;
-
-        /* Set all accumulators to zero */
-        acc0 = 0;
-        acc1 = 0;
-        acc2 = 0;
-        acc3 = 0;
-
-      /* read x[0], x[1] samples */
-	  a = *px++;
-	  b = *px++;
-
-#ifndef ARM_MATH_BIG_ENDIAN
-	
-	  x0 = __PKHBT(a, b, 16);
-	  a = *px;
-	  x1 = __PKHBT(b, a, 16);
-
-#else
-
-	  x0 = __PKHBT(b, a, 16);
-	  a = *px;
-	  x1 = __PKHBT(a, b, 16);
-
-#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	   */
-
-      /* Apply loop unrolling and compute 4 MACs simultaneously. */
-      k = srcBLen >> 2u;
-
-      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
-       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-      do
-      {
-        /* Read the last two inputB samples using SIMD:   
-         * y[srcBLen - 1] and y[srcBLen - 2] */
-		a = *py;
-		b = *(py+1);
-		py -= 2;
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-		c0 = __PKHBT(a, b, 16);
-
-#else
-
- 		c0 = __PKHBT(b, a, 16);;
-
-#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/
-
-        /* acc0 +=  x[0] * y[srcBLen - 1] + x[1] * y[srcBLen - 2] */
-        acc0 = __SMLADX(x0, c0, acc0);
-
-        /* acc1 +=  x[1] * y[srcBLen - 1] + x[2] * y[srcBLen - 2] */
-        acc1 = __SMLADX(x1, c0, acc1);
-
-	  a = *px;
-	  b = *(px + 1);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-	
-	  x2 = __PKHBT(a, b, 16);
-	  a = *(px + 2);
-	  x3 = __PKHBT(b, a, 16);
-
-#else
-
-	  x2 = __PKHBT(b, a, 16);
-	  a = *(px + 2);
-	  x3 = __PKHBT(a, b, 16);
-
-#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	   */
-
-        /* acc2 +=  x[2] * y[srcBLen - 1] + x[3] * y[srcBLen - 2] */
-        acc2 = __SMLADX(x2, c0, acc2);
-
-        /* acc3 +=  x[3] * y[srcBLen - 1] + x[4] * y[srcBLen - 2] */
-        acc3 = __SMLADX(x3, c0, acc3);
-
-        /* Read y[srcBLen - 3] and y[srcBLen - 4] */
-		a = *py;
-		b = *(py+1);
-		py -= 2;
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-		c0 = __PKHBT(a, b, 16);
-
-#else
-
- 		c0 = __PKHBT(b, a, 16);;
-
-#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/
-
-        /* acc0 +=  x[2] * y[srcBLen - 3] + x[3] * y[srcBLen - 4] */
-        acc0 = __SMLADX(x2, c0, acc0);
-
-        /* acc1 +=  x[3] * y[srcBLen - 3] + x[4] * y[srcBLen - 4] */
-        acc1 = __SMLADX(x3, c0, acc1);
-
-        /* Read x[4], x[5], x[6] */
-	  a = *(px + 2);
-	  b = *(px + 3);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-	
-	  x0 = __PKHBT(a, b, 16);
-	  a = *(px + 4);
-	  x1 = __PKHBT(b, a, 16);
-
-#else
-
-	  x0 = __PKHBT(b, a, 16);
-	  a = *(px + 4);
-	  x1 = __PKHBT(a, b, 16);
-
-#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	   */
-
-		px += 4u;
-
-        /* acc2 +=  x[4] * y[srcBLen - 3] + x[5] * y[srcBLen - 4] */
-        acc2 = __SMLADX(x0, c0, acc2);
-
-        /* acc3 +=  x[5] * y[srcBLen - 3] + x[6] * y[srcBLen - 4] */
-        acc3 = __SMLADX(x1, c0, acc3);
-
-      } while(--k);
-
-      /* For the next MAC operations, SIMD is not used   
-       * So, the 16 bit pointer if inputB, py is updated */
-
-      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
-       ** No loop unrolling is used. */
-      k = srcBLen % 0x4u;
-
-      if(k == 1u)
-      {
-        /* Read y[srcBLen - 5] */
-        c0 = *(py+1);
-
-#ifdef  ARM_MATH_BIG_ENDIAN
-
-        c0 = c0 << 16u;
-
-#else
-
-        c0 = c0 & 0x0000FFFF;
-
-#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */
-
-        /* Read x[7] */
-		a = *px;
-		b = *(px+1);
-		px++;
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-		x3 = __PKHBT(a, b, 16);
-
-#else
-
- 		x3 = __PKHBT(b, a, 16);;
-
-#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/
-
-
-        /* Perform the multiply-accumulates */
-        acc0 = __SMLAD(x0, c0, acc0);
-        acc1 = __SMLAD(x1, c0, acc1);
-        acc2 = __SMLADX(x1, c0, acc2);
-        acc3 = __SMLADX(x3, c0, acc3);
-      }
-
-      if(k == 2u)
-      {
-        /* Read y[srcBLen - 5], y[srcBLen - 6] */
-		a = *py;
-		b = *(py+1);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-		c0 = __PKHBT(a, b, 16);
-
-#else
-
- 		c0 = __PKHBT(b, a, 16);;
-
-#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/
-
-        /* Read x[7], x[8], x[9] */
-	  a = *px;
-	  b = *(px + 1);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-	
-	  x3 = __PKHBT(a, b, 16);
-	  a = *(px + 2);
-	  x2 = __PKHBT(b, a, 16);
-
-#else
-
-	  x3 = __PKHBT(b, a, 16);
-	  a = *(px + 2);
-	  x2 = __PKHBT(a, b, 16);
-
-#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	   */
-		px += 2u;
-
-        /* Perform the multiply-accumulates */
-        acc0 = __SMLADX(x0, c0, acc0);
-        acc1 = __SMLADX(x1, c0, acc1);
-        acc2 = __SMLADX(x3, c0, acc2);
-        acc3 = __SMLADX(x2, c0, acc3);
-      }
-
-      if(k == 3u)
-      {
-        /* Read y[srcBLen - 5], y[srcBLen - 6] */
-		a = *py;
-		b = *(py+1);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-		c0 = __PKHBT(a, b, 16);
-
-#else
-
- 		c0 = __PKHBT(b, a, 16);;
-
-#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/
-
-        /* Read x[7], x[8], x[9] */
-	  a = *px;
-	  b = *(px + 1);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-	
-	  x3 = __PKHBT(a, b, 16);
-	  a = *(px + 2);
-	  x2 = __PKHBT(b, a, 16);
-
-#else
-
-	  x3 = __PKHBT(b, a, 16);
-	  a = *(px + 2);
-	  x2 = __PKHBT(a, b, 16);
-
-#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	   */
-
-        /* Perform the multiply-accumulates */
-        acc0 = __SMLADX(x0, c0, acc0);
-        acc1 = __SMLADX(x1, c0, acc1);
-        acc2 = __SMLADX(x3, c0, acc2);
-        acc3 = __SMLADX(x2, c0, acc3);
-
-        /* Read y[srcBLen - 7] */
-		c0 = *(py-1);
-#ifdef  ARM_MATH_BIG_ENDIAN
-
-        c0 = c0 << 16u;
-#else
-
-        c0 = c0 & 0x0000FFFF;
-#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */
-
-        /* Read x[10] */
-		a = *(px+2);
-		b = *(px+3);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-		x3 = __PKHBT(a, b, 16);
-
-#else
-
- 		x3 = __PKHBT(b, a, 16);;
-
-#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/
-
-		px += 3u;
-
-        /* Perform the multiply-accumulates */
-        acc0 = __SMLADX(x1, c0, acc0);
-        acc1 = __SMLAD(x2, c0, acc1);
-        acc2 = __SMLADX(x2, c0, acc2);
-        acc3 = __SMLADX(x3, c0, acc3);
-      }
-
-      /* Store the results in the accumulators in the destination buffer. */
-	  *pOut++ = (q15_t)(acc0 >> 15);
-	  *pOut++ = (q15_t)(acc1 >> 15);
-	  *pOut++ = (q15_t)(acc2 >> 15);
-	  *pOut++ = (q15_t)(acc3 >> 15);
-
-        /* Increment the pointer pIn1 index, count by 4 */
-        count += 4u;
-
-        /* Update the inputA and inputB pointers for next MAC calculation */
-        px = pIn1 + count;
-        py = pSrc2;
-
-        /* Decrement the loop counter */
-        blkCnt--;
-      }
-
-      /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.   
-       ** No loop unrolling is used. */
-      blkCnt = (uint32_t) blockSize2 % 0x4u;
-
-      while(blkCnt > 0u)
-      {
-        /* Accumulator is made zero for every iteration */
-        sum = 0;
-
-        /* Apply loop unrolling and compute 4 MACs simultaneously. */
-        k = srcBLen >> 2u;
-
-        /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
-         ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-        while(k > 0u)
-        {
-          /* Perform the multiply-accumulates */
-          sum += ((q31_t) * px++ * *py--);
-          sum += ((q31_t) * px++ * *py--);
-          sum += ((q31_t) * px++ * *py--);
-          sum += ((q31_t) * px++ * *py--);
-
-          /* Decrement the loop counter */
-          k--;
-        }
-
-        /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
-         ** No loop unrolling is used. */
-        k = srcBLen % 0x4u;
-
-        while(k > 0u)
-        {
-          /* Perform the multiply-accumulates */
-          sum += ((q31_t) * px++ * *py--);
-
-          /* Decrement the loop counter */
-          k--;
-        }
-
-        /* Store the result in the accumulator in the destination buffer. */
-        *pOut++ = (q15_t) (sum >> 15);
-
-        /* Increment the pointer pIn1 index, count by 1 */
-        count++;
-
-        /* Update the inputA and inputB pointers for next MAC calculation */
-        px = pIn1 + count;
-        py = pSrc2;
-
-        /* Decrement the loop counter */
-        blkCnt--;
-      }
-    }
-    else
-    {
-      /* If the srcBLen is not a multiple of 4,   
-       * the blockSize2 loop cannot be unrolled by 4 */
-      blkCnt = (uint32_t) blockSize2;
-
-      while(blkCnt > 0u)
-      {
-        /* Accumulator is made zero for every iteration */
-        sum = 0;
-
-        /* srcBLen number of MACS should be performed */
-        k = srcBLen;
-
-        while(k > 0u)
-        {
-          /* Perform the multiply-accumulate */
-          sum += ((q31_t) * px++ * *py--);
-
-          /* Decrement the loop counter */
-          k--;
-        }
-
-        /* Store the result in the accumulator in the destination buffer. */
-        *pOut++ = (q15_t) (sum >> 15);
-
-        /* Increment the MAC count */
-        count++;
-
-        /* Update the inputA and inputB pointers for next MAC calculation */
-        px = pIn1 + count;
-        py = pSrc2;
-
-        /* Decrement the loop counter */
-        blkCnt--;
-      }
-    }
-
-
-    /* --------------------------   
-     * Initializations of stage3   
-     * -------------------------*/
-
-    /* sum += x[srcALen-srcBLen+1] * y[srcBLen-1] + x[srcALen-srcBLen+2] * y[srcBLen-2] +...+ x[srcALen-1] * y[1]   
-     * sum += x[srcALen-srcBLen+2] * y[srcBLen-1] + x[srcALen-srcBLen+3] * y[srcBLen-2] +...+ x[srcALen-1] * y[2]   
-     * ....   
-     * sum +=  x[srcALen-2] * y[srcBLen-1] + x[srcALen-1] * y[srcBLen-2]   
-     * sum +=  x[srcALen-1] * y[srcBLen-1]   
-     */
-
-    /* In this stage the MAC operations are decreased by 1 for every iteration.   
-       The count variable holds the number of MAC operations performed */
-    count = srcBLen - 1u;
-
-    /* Working pointer of inputA */
-    pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);
-    px = pSrc1;
-
-    /* Working pointer of inputB */
-    pSrc2 = pIn2 + (srcBLen - 1u);
-    pIn2 = pSrc2 - 1u;
-    py = pIn2;
-
-    /* -------------------   
-     * Stage3 process   
-     * ------------------*/
-
-    /* For loop unrolling by 4, this stage is divided into two. */
-    /* First part of this stage computes the MAC operations greater than 4 */
-    /* Second part of this stage computes the MAC operations less than or equal to 4 */
-
-    /* The first part of the stage starts here */
-    j = count >> 2u;
-
-    while((j > 0u) && (blockSize3 > 0))
-    {
-      /* Accumulator is made zero for every iteration */
-      sum = 0;
-
-      /* Apply loop unrolling and compute 4 MACs simultaneously. */
-      k = count >> 2u;
-
-      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
-       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-	py++;
-
-    while(k > 0u)
-    {	
-      /* Perform the multiply-accumulates */
-        sum += ((q31_t) * px++ * *py--);
-        sum += ((q31_t) * px++ * *py--);
-        sum += ((q31_t) * px++ * *py--);
-        sum += ((q31_t) * px++ * *py--);
-      /* Decrement the loop counter */
-      k--;
-    }
-
-
-      /* If the count is not a multiple of 4, compute any remaining MACs here.   
-       ** No loop unrolling is used. */
-      k = count % 0x4u;
-
-      while(k > 0u)
-      {
-      /* Perform the multiply-accumulates */
-        sum += ((q31_t) * px++ * *py--);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut++ = (q15_t) (sum >> 15);
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      px = ++pSrc1;
-      py = pIn2;
-
-      /* Decrement the MAC count */
-      count--;
-
-      /* Decrement the loop counter */
-      blockSize3--;
-
-      j--;
-    }
-
-    /* The second part of the stage starts here */
-    /* SIMD is not used for the next MAC operations,   
-     * so pointer py is updated to read only one sample at a time */
-    py = py + 1u;
-
-  while(blockSize3 > 0u)
-    {
-      /* Accumulator is made zero for every iteration */
-      sum = 0;
-
-      /* Apply loop unrolling and compute 4 MACs simultaneously. */
-      k = count;
-
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulates */
-        /* sum +=  x[srcALen-1] * y[srcBLen-1] */
-        sum += ((q31_t) * px++ * *py--);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut++ = (q15_t) (sum >> 15);
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      px = ++pSrc1;
-      py = pSrc2;
-
-      /* Decrement the MAC count */
-      count--;
-
-      /* Decrement the loop counter */
-      blockSize3--;
-    }
-
-    /* set status as ARM_MATH_SUCCESS */
-    status = ARM_MATH_SUCCESS;
-  }
-
-  /* Return to application */
-  return (status);
-
-#endif /*     #ifndef UNALIGNED_SUPPORT_DISABLE      */
-}
-
-/**   
- * @} end of PartialConv group   
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_q31.c
deleted file mode 100644
index 17902f593..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_q31.c
+++ /dev/null
@@ -1,599 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_conv_partial_fast_q31.c    
-*    
-* Description:	Fast Q31 Partial convolution.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.11 2011/10/18  
-*    Bug Fix in conv, correlation, partial convolution.  
-* 
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup PartialConv    
- * @{    
- */
-
-/**    
- * @brief Partial convolution of Q31 sequences (fast version) for Cortex-M3 and Cortex-M4.    
- * @param[in]       *pSrcA points to the first input sequence.    
- * @param[in]       srcALen length of the first input sequence.    
- * @param[in]       *pSrcB points to the second input sequence.    
- * @param[in]       srcBLen length of the second input sequence.    
- * @param[out]      *pDst points to the location where the output result is written.    
- * @param[in]       firstIndex is the first output sample to start with.    
- * @param[in]       numPoints is the number of output points to be computed.    
- * @return Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].    
- *    
- * \par    
- * See arm_conv_partial_q31() for a slower implementation of this function which uses a 64-bit accumulator to provide higher precision.    
- */
-
-arm_status arm_conv_partial_fast_q31(
-  q31_t * pSrcA,
-  uint32_t srcALen,
-  q31_t * pSrcB,
-  uint32_t srcBLen,
-  q31_t * pDst,
-  uint32_t firstIndex,
-  uint32_t numPoints)
-{
-  q31_t *pIn1;                                   /* inputA pointer               */
-  q31_t *pIn2;                                   /* inputB pointer               */
-  q31_t *pOut = pDst;                            /* output pointer               */
-  q31_t *px;                                     /* Intermediate inputA pointer  */
-  q31_t *py;                                     /* Intermediate inputB pointer  */
-  q31_t *pSrc1, *pSrc2;                          /* Intermediate pointers        */
-  q31_t sum, acc0, acc1, acc2, acc3;             /* Accumulators                  */
-  q31_t x0, x1, x2, x3, c0;
-  uint32_t j, k, count, check, blkCnt;
-  int32_t blockSize1, blockSize2, blockSize3;    /* loop counters                 */
-  arm_status status;                             /* status of Partial convolution */
-
-
-  /* Check for range of output samples to be calculated */
-  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))
-  {
-    /* Set status as ARM_MATH_ARGUMENT_ERROR */
-    status = ARM_MATH_ARGUMENT_ERROR;
-  }
-  else
-  {
-
-    /* The algorithm implementation is based on the lengths of the inputs. */
-    /* srcB is always made to slide across srcA. */
-    /* So srcBLen is always considered as shorter or equal to srcALen */
-    if(srcALen >= srcBLen)
-    {
-      /* Initialization of inputA pointer */
-      pIn1 = pSrcA;
-
-      /* Initialization of inputB pointer */
-      pIn2 = pSrcB;
-    }
-    else
-    {
-      /* Initialization of inputA pointer */
-      pIn1 = pSrcB;
-
-      /* Initialization of inputB pointer */
-      pIn2 = pSrcA;
-
-      /* srcBLen is always considered as shorter or equal to srcALen */
-      j = srcBLen;
-      srcBLen = srcALen;
-      srcALen = j;
-    }
-
-    /* Conditions to check which loopCounter holds    
-     * the first and last indices of the output samples to be calculated. */
-    check = firstIndex + numPoints;
-    blockSize3 = ((int32_t) check - (int32_t) srcALen);
-    blockSize3 = (blockSize3 > 0) ? blockSize3 : 0;
-    blockSize1 = (((int32_t) srcBLen - 1) - (int32_t) firstIndex);
-    blockSize1 = (blockSize1 > 0) ? ((check > (srcBLen - 1u)) ? blockSize1 :
-                                     (int32_t) numPoints) : 0;
-    blockSize2 = (int32_t) check - ((blockSize3 + blockSize1) +
-                                    (int32_t) firstIndex);
-    blockSize2 = (blockSize2 > 0) ? blockSize2 : 0;
-
-    /* conv(x,y) at n = x[n] * y[0] + x[n-1] * y[1] + x[n-2] * y[2] + ...+ x[n-N+1] * y[N -1] */
-    /* The function is internally    
-     * divided into three stages according to the number of multiplications that has to be    
-     * taken place between inputA samples and inputB samples. In the first stage of the    
-     * algorithm, the multiplications increase by one for every iteration.    
-     * In the second stage of the algorithm, srcBLen number of multiplications are done.    
-     * In the third stage of the algorithm, the multiplications decrease by one    
-     * for every iteration. */
-
-    /* Set the output pointer to point to the firstIndex    
-     * of the output sample to be calculated. */
-    pOut = pDst + firstIndex;
-
-    /* --------------------------    
-     * Initializations of stage1    
-     * -------------------------*/
-
-    /* sum = x[0] * y[0]    
-     * sum = x[0] * y[1] + x[1] * y[0]    
-     * ....    
-     * sum = x[0] * y[srcBlen - 1] + x[1] * y[srcBlen - 2] +...+ x[srcBLen - 1] * y[0]    
-     */
-
-    /* In this stage the MAC operations are increased by 1 for every iteration.    
-       The count variable holds the number of MAC operations performed.    
-       Since the partial convolution starts from firstIndex    
-       Number of Macs to be performed is firstIndex + 1 */
-    count = 1u + firstIndex;
-
-    /* Working pointer of inputA */
-    px = pIn1;
-
-    /* Working pointer of inputB */
-    pSrc2 = pIn2 + firstIndex;
-    py = pSrc2;
-
-    /* ------------------------    
-     * Stage1 process    
-     * ----------------------*/
-
-    /* The first loop starts here */
-    while(blockSize1 > 0)
-    {
-      /* Accumulator is made zero for every iteration */
-      sum = 0;
-
-      /* Apply loop unrolling and compute 4 MACs simultaneously. */
-      k = count >> 2u;
-
-      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
-       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-      while(k > 0u)
-      {
-        /* x[0] * y[srcBLen - 1] */
-        sum = (q31_t) ((((q63_t) sum << 32) +
-                        ((q63_t) * px++ * (*py--))) >> 32);
-
-        /* x[1] * y[srcBLen - 2] */
-        sum = (q31_t) ((((q63_t) sum << 32) +
-                        ((q63_t) * px++ * (*py--))) >> 32);
-
-        /* x[2] * y[srcBLen - 3] */
-        sum = (q31_t) ((((q63_t) sum << 32) +
-                        ((q63_t) * px++ * (*py--))) >> 32);
-
-        /* x[3] * y[srcBLen - 4] */
-        sum = (q31_t) ((((q63_t) sum << 32) +
-                        ((q63_t) * px++ * (*py--))) >> 32);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* If the count is not a multiple of 4, compute any remaining MACs here.    
-       ** No loop unrolling is used. */
-      k = count % 0x4u;
-
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulates */
-        sum = (q31_t) ((((q63_t) sum << 32) +
-                        ((q63_t) * px++ * (*py--))) >> 32);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut++ = sum << 1;
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      py = ++pSrc2;
-      px = pIn1;
-
-      /* Increment the MAC count */
-      count++;
-
-      /* Decrement the loop counter */
-      blockSize1--;
-    }
-
-    /* --------------------------    
-     * Initializations of stage2    
-     * ------------------------*/
-
-    /* sum = x[0] * y[srcBLen-1] + x[1] * y[srcBLen-2] +...+ x[srcBLen-1] * y[0]    
-     * sum = x[1] * y[srcBLen-1] + x[2] * y[srcBLen-2] +...+ x[srcBLen] * y[0]    
-     * ....    
-     * sum = x[srcALen-srcBLen-2] * y[srcBLen-1] + x[srcALen] * y[srcBLen-2] +...+ x[srcALen-1] * y[0]    
-     */
-
-    /* Working pointer of inputA */
-    px = pIn1;
-
-    /* Working pointer of inputB */
-    pSrc2 = pIn2 + (srcBLen - 1u);
-    py = pSrc2;
-
-    /* count is index by which the pointer pIn1 to be incremented */
-    count = 0u;
-
-    /* -------------------    
-     * Stage2 process    
-     * ------------------*/
-
-    /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.    
-     * So, to loop unroll over blockSize2,    
-     * srcBLen should be greater than or equal to 4 */
-    if(srcBLen >= 4u)
-    {
-      /* Loop unroll over blockSize2 */
-      blkCnt = ((uint32_t) blockSize2 >> 2u);
-
-      while(blkCnt > 0u)
-      {
-        /* Set all accumulators to zero */
-        acc0 = 0;
-        acc1 = 0;
-        acc2 = 0;
-        acc3 = 0;
-
-        /* read x[0], x[1], x[2] samples */
-        x0 = *(px++);
-        x1 = *(px++);
-        x2 = *(px++);
-
-        /* Apply loop unrolling and compute 4 MACs simultaneously. */
-        k = srcBLen >> 2u;
-
-        /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
-         ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-        do
-        {
-          /* Read y[srcBLen - 1] sample */
-          c0 = *(py--);
-
-          /* Read x[3] sample */
-          x3 = *(px++);
-
-          /* Perform the multiply-accumulate */
-          /* acc0 +=  x[0] * y[srcBLen - 1] */
-          acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x0 * c0)) >> 32);
-
-          /* acc1 +=  x[1] * y[srcBLen - 1] */
-          acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x1 * c0)) >> 32);
-
-          /* acc2 +=  x[2] * y[srcBLen - 1] */
-          acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x2 * c0)) >> 32);
-
-          /* acc3 +=  x[3] * y[srcBLen - 1] */
-          acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x3 * c0)) >> 32);
-
-          /* Read y[srcBLen - 2] sample */
-          c0 = *(py--);
-
-          /* Read x[4] sample */
-          x0 = *(px++);
-
-          /* Perform the multiply-accumulate */
-          /* acc0 +=  x[1] * y[srcBLen - 2] */
-          acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x1 * c0)) >> 32);
-          /* acc1 +=  x[2] * y[srcBLen - 2] */
-          acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x2 * c0)) >> 32);
-          /* acc2 +=  x[3] * y[srcBLen - 2] */
-          acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x3 * c0)) >> 32);
-          /* acc3 +=  x[4] * y[srcBLen - 2] */
-          acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x0 * c0)) >> 32);
-
-          /* Read y[srcBLen - 3] sample */
-          c0 = *(py--);
-
-          /* Read x[5] sample */
-          x1 = *(px++);
-
-          /* Perform the multiply-accumulates */
-          /* acc0 +=  x[2] * y[srcBLen - 3] */
-          acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x2 * c0)) >> 32);
-          /* acc1 +=  x[3] * y[srcBLen - 2] */
-          acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x3 * c0)) >> 32);
-          /* acc2 +=  x[4] * y[srcBLen - 2] */
-          acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x0 * c0)) >> 32);
-          /* acc3 +=  x[5] * y[srcBLen - 2] */
-          acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x1 * c0)) >> 32);
-
-          /* Read y[srcBLen - 4] sample */
-          c0 = *(py--);
-
-          /* Read x[6] sample */
-          x2 = *(px++);
-
-          /* Perform the multiply-accumulates */
-          /* acc0 +=  x[3] * y[srcBLen - 4] */
-          acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x3 * c0)) >> 32);
-          /* acc1 +=  x[4] * y[srcBLen - 4] */
-          acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x0 * c0)) >> 32);
-          /* acc2 +=  x[5] * y[srcBLen - 4] */
-          acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x1 * c0)) >> 32);
-          /* acc3 +=  x[6] * y[srcBLen - 4] */
-          acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x2 * c0)) >> 32);
-
-
-        } while(--k);
-
-        /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.    
-         ** No loop unrolling is used. */
-        k = srcBLen % 0x4u;
-
-        while(k > 0u)
-        {
-          /* Read y[srcBLen - 5] sample */
-          c0 = *(py--);
-
-          /* Read x[7] sample */
-          x3 = *(px++);
-
-          /* Perform the multiply-accumulates */
-          /* acc0 +=  x[4] * y[srcBLen - 5] */
-          acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x0 * c0)) >> 32);
-          /* acc1 +=  x[5] * y[srcBLen - 5] */
-          acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x1 * c0)) >> 32);
-          /* acc2 +=  x[6] * y[srcBLen - 5] */
-          acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x2 * c0)) >> 32);
-          /* acc3 +=  x[7] * y[srcBLen - 5] */
-          acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x3 * c0)) >> 32);
-
-          /* Reuse the present samples for the next MAC */
-          x0 = x1;
-          x1 = x2;
-          x2 = x3;
-
-          /* Decrement the loop counter */
-          k--;
-        }
-
-        /* Store the result in the accumulator in the destination buffer. */
-        *pOut++ = (q31_t) (acc0 << 1);
-        *pOut++ = (q31_t) (acc1 << 1);
-        *pOut++ = (q31_t) (acc2 << 1);
-        *pOut++ = (q31_t) (acc3 << 1);
-
-        /* Increment the pointer pIn1 index, count by 4 */
-        count += 4u;
-
-        /* Update the inputA and inputB pointers for next MAC calculation */
-        px = pIn1 + count;
-        py = pSrc2;
-
-        /* Decrement the loop counter */
-        blkCnt--;
-      }
-
-      /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.    
-       ** No loop unrolling is used. */
-      blkCnt = (uint32_t) blockSize2 % 0x4u;
-
-      while(blkCnt > 0u)
-      {
-        /* Accumulator is made zero for every iteration */
-        sum = 0;
-
-        /* Apply loop unrolling and compute 4 MACs simultaneously. */
-        k = srcBLen >> 2u;
-
-        /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
-         ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-        while(k > 0u)
-        {
-          /* Perform the multiply-accumulates */
-          sum = (q31_t) ((((q63_t) sum << 32) +
-                          ((q63_t) * px++ * (*py--))) >> 32);
-          sum = (q31_t) ((((q63_t) sum << 32) +
-                          ((q63_t) * px++ * (*py--))) >> 32);
-          sum = (q31_t) ((((q63_t) sum << 32) +
-                          ((q63_t) * px++ * (*py--))) >> 32);
-          sum = (q31_t) ((((q63_t) sum << 32) +
-                          ((q63_t) * px++ * (*py--))) >> 32);
-
-          /* Decrement the loop counter */
-          k--;
-        }
-
-        /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.    
-         ** No loop unrolling is used. */
-        k = srcBLen % 0x4u;
-
-        while(k > 0u)
-        {
-          /* Perform the multiply-accumulate */
-          sum = (q31_t) ((((q63_t) sum << 32) +
-                          ((q63_t) * px++ * (*py--))) >> 32);
-
-          /* Decrement the loop counter */
-          k--;
-        }
-
-        /* Store the result in the accumulator in the destination buffer. */
-        *pOut++ = sum << 1;
-
-        /* Increment the MAC count */
-        count++;
-
-        /* Update the inputA and inputB pointers for next MAC calculation */
-        px = pIn1 + count;
-        py = pSrc2;
-
-        /* Decrement the loop counter */
-        blkCnt--;
-      }
-    }
-    else
-    {
-      /* If the srcBLen is not a multiple of 4,    
-       * the blockSize2 loop cannot be unrolled by 4 */
-      blkCnt = (uint32_t) blockSize2;
-
-      while(blkCnt > 0u)
-      {
-        /* Accumulator is made zero for every iteration */
-        sum = 0;
-
-        /* srcBLen number of MACS should be performed */
-        k = srcBLen;
-
-        while(k > 0u)
-        {
-          /* Perform the multiply-accumulate */
-          sum = (q31_t) ((((q63_t) sum << 32) +
-                          ((q63_t) * px++ * (*py--))) >> 32);
-
-          /* Decrement the loop counter */
-          k--;
-        }
-
-        /* Store the result in the accumulator in the destination buffer. */
-        *pOut++ = sum << 1;
-
-        /* Increment the MAC count */
-        count++;
-
-        /* Update the inputA and inputB pointers for next MAC calculation */
-        px = pIn1 + count;
-        py = pSrc2;
-
-        /* Decrement the loop counter */
-        blkCnt--;
-      }
-    }
-
-
-    /* --------------------------    
-     * Initializations of stage3    
-     * -------------------------*/
-
-    /* sum += x[srcALen-srcBLen+1] * y[srcBLen-1] + x[srcALen-srcBLen+2] * y[srcBLen-2] +...+ x[srcALen-1] * y[1]    
-     * sum += x[srcALen-srcBLen+2] * y[srcBLen-1] + x[srcALen-srcBLen+3] * y[srcBLen-2] +...+ x[srcALen-1] * y[2]    
-     * ....    
-     * sum +=  x[srcALen-2] * y[srcBLen-1] + x[srcALen-1] * y[srcBLen-2]    
-     * sum +=  x[srcALen-1] * y[srcBLen-1]    
-     */
-
-    /* In this stage the MAC operations are decreased by 1 for every iteration.    
-       The count variable holds the number of MAC operations performed */
-    count = srcBLen - 1u;
-
-    /* Working pointer of inputA */
-    pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);
-    px = pSrc1;
-
-    /* Working pointer of inputB */
-    pSrc2 = pIn2 + (srcBLen - 1u);
-    py = pSrc2;
-
-    /* -------------------    
-     * Stage3 process    
-     * ------------------*/
-
-    while(blockSize3 > 0)
-    {
-      /* Accumulator is made zero for every iteration */
-      sum = 0;
-
-      /* Apply loop unrolling and compute 4 MACs simultaneously. */
-      k = count >> 2u;
-
-      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
-       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-      while(k > 0u)
-      {
-        /* sum += x[srcALen - srcBLen + 1] * y[srcBLen - 1] */
-        sum = (q31_t) ((((q63_t) sum << 32) +
-                        ((q63_t) * px++ * (*py--))) >> 32);
-
-        /* sum += x[srcALen - srcBLen + 2] * y[srcBLen - 2] */
-        sum = (q31_t) ((((q63_t) sum << 32) +
-                        ((q63_t) * px++ * (*py--))) >> 32);
-
-        /* sum += x[srcALen - srcBLen + 3] * y[srcBLen - 3] */
-        sum = (q31_t) ((((q63_t) sum << 32) +
-                        ((q63_t) * px++ * (*py--))) >> 32);
-
-        /* sum += x[srcALen - srcBLen + 4] * y[srcBLen - 4] */
-        sum = (q31_t) ((((q63_t) sum << 32) +
-                        ((q63_t) * px++ * (*py--))) >> 32);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* If the count is not a multiple of 4, compute any remaining MACs here.    
-       ** No loop unrolling is used. */
-      k = count % 0x4u;
-
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulates */
-        /* sum +=  x[srcALen-1] * y[srcBLen-1] */
-        sum = (q31_t) ((((q63_t) sum << 32) +
-                        ((q63_t) * px++ * (*py--))) >> 32);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut++ = sum << 1;
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      px = ++pSrc1;
-      py = pSrc2;
-
-      /* Decrement the MAC count */
-      count--;
-
-      /* Decrement the loop counter */
-      blockSize3--;
-
-    }
-
-    /* set status as ARM_MATH_SUCCESS */
-    status = ARM_MATH_SUCCESS;
-  }
-
-  /* Return to application */
-  return (status);
-
-}
-
-/**    
- * @} end of PartialConv group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_opt_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_opt_q15.c
deleted file mode 100644
index fe14f9fd3..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_opt_q15.c
+++ /dev/null
@@ -1,764 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_conv_partial_opt_q15.c    
-*    
-* Description:	Partial convolution of Q15 sequences.   
-*    
-* Target Processor: Cortex-M4/Cortex-M3
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*  
-* Version 1.0.11 2011/10/18  
-*    Bug Fix in conv, correlation, partial convolution.  
-* 
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-*    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup PartialConv    
- * @{    
- */
-
-/**    
- * @brief Partial convolution of Q15 sequences.    
- * @param[in]       *pSrcA points to the first input sequence.    
- * @param[in]       srcALen length of the first input sequence.    
- * @param[in]       *pSrcB points to the second input sequence.    
- * @param[in]       srcBLen length of the second input sequence.    
- * @param[out]      *pDst points to the location where the output result is written.    
- * @param[in]       firstIndex is the first output sample to start with.    
- * @param[in]       numPoints is the number of output points to be computed.    
- * @param[in]       *pScratch1 points to scratch buffer of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2.   
- * @param[in]       *pScratch2 points to scratch buffer of size min(srcALen, srcBLen).   
- * @return  Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].    
- *    
- * \par Restrictions    
- *  If the silicon does not support unaligned memory access enable the macro UNALIGNED_SUPPORT_DISABLE    
- *	In this case input, output, state buffers should be aligned by 32-bit    
- *    
- * Refer to arm_conv_partial_fast_q15() for a faster but less precise version of this function for Cortex-M3 and Cortex-M4.   
- *  
- * 
- */
-
-#ifndef UNALIGNED_SUPPORT_DISABLE
-
-arm_status arm_conv_partial_opt_q15(
-  q15_t * pSrcA,
-  uint32_t srcALen,
-  q15_t * pSrcB,
-  uint32_t srcBLen,
-  q15_t * pDst,
-  uint32_t firstIndex,
-  uint32_t numPoints,
-  q15_t * pScratch1,
-  q15_t * pScratch2)
-{
-
-  q15_t *pOut = pDst;                            /* output pointer */
-  q15_t *pScr1 = pScratch1;                      /* Temporary pointer for scratch1 */
-  q15_t *pScr2 = pScratch2;                      /* Temporary pointer for scratch1 */
-  q63_t acc0, acc1, acc2, acc3;                  /* Accumulator */
-  q31_t x1, x2, x3;                              /* Temporary variables to hold state and coefficient values */
-  q31_t y1, y2;                                  /* State variables */
-  q15_t *pIn1;                                   /* inputA pointer */
-  q15_t *pIn2;                                   /* inputB pointer */
-  q15_t *px;                                     /* Intermediate inputA pointer  */
-  q15_t *py;                                     /* Intermediate inputB pointer  */
-  uint32_t j, k, blkCnt;                         /* loop counter */
-  arm_status status;                             /* Status variable */
-  uint32_t tapCnt;                               /* loop count */
-
-  /* Check for range of output samples to be calculated */
-  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))
-  {
-    /* Set status as ARM_MATH_ARGUMENT_ERROR */
-    status = ARM_MATH_ARGUMENT_ERROR;
-  }
-  else
-  {
-
-    /* The algorithm implementation is based on the lengths of the inputs. */
-    /* srcB is always made to slide across srcA. */
-    /* So srcBLen is always considered as shorter or equal to srcALen */
-    if(srcALen >= srcBLen)
-    {
-      /* Initialization of inputA pointer */
-      pIn1 = pSrcA;
-
-      /* Initialization of inputB pointer */
-      pIn2 = pSrcB;
-    }
-    else
-    {
-      /* Initialization of inputA pointer */
-      pIn1 = pSrcB;
-
-      /* Initialization of inputB pointer */
-      pIn2 = pSrcA;
-
-      /* srcBLen is always considered as shorter or equal to srcALen */
-      j = srcBLen;
-      srcBLen = srcALen;
-      srcALen = j;
-    }
-
-    /* Temporary pointer for scratch2 */
-    py = pScratch2;
-
-    /* pointer to take end of scratch2 buffer */
-    pScr2 = pScratch2 + srcBLen - 1;
-
-    /* points to smaller length sequence */
-    px = pIn2;
-
-    /* Apply loop unrolling and do 4 Copies simultaneously. */
-    k = srcBLen >> 2u;
-
-    /* First part of the processing with loop unrolling copies 4 data points at a time.       
-     ** a second loop below copies for the remaining 1 to 3 samples. */
-    while(k > 0u)
-    {
-      /* copy second buffer in reversal manner */
-      *pScr2-- = *px++;
-      *pScr2-- = *px++;
-      *pScr2-- = *px++;
-      *pScr2-- = *px++;
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* If the count is not a multiple of 4, copy remaining samples here.       
-     ** No loop unrolling is used. */
-    k = srcBLen % 0x4u;
-
-    while(k > 0u)
-    {
-      /* copy second buffer in reversal manner for remaining samples */
-      *pScr2-- = *px++;
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* Initialze temporary scratch pointer */
-    pScr1 = pScratch1;
-
-    /* Fill (srcBLen - 1u) zeros in scratch buffer */
-    arm_fill_q15(0, pScr1, (srcBLen - 1u));
-
-    /* Update temporary scratch pointer */
-    pScr1 += (srcBLen - 1u);
-
-    /* Copy bigger length sequence(srcALen) samples in scratch1 buffer */
-
-    /* Copy (srcALen) samples in scratch buffer */
-    arm_copy_q15(pIn1, pScr1, srcALen);
-
-    /* Update pointers */
-    pScr1 += srcALen;
-
-    /* Fill (srcBLen - 1u) zeros at end of scratch buffer */
-    arm_fill_q15(0, pScr1, (srcBLen - 1u));
-
-    /* Update pointer */
-    pScr1 += (srcBLen - 1u);
-
-    /* Initialization of pIn2 pointer */
-    pIn2 = py;
-
-    pScratch1 += firstIndex;
-
-    pOut = pDst + firstIndex;
-
-    /* Actual convolution process starts here */
-    blkCnt = (numPoints) >> 2;
-
-    while(blkCnt > 0)
-    {
-      /* Initialze temporary scratch pointer as scratch1 */
-      pScr1 = pScratch1;
-
-      /* Clear Accumlators */
-      acc0 = 0;
-      acc1 = 0;
-      acc2 = 0;
-      acc3 = 0;
-
-      /* Read two samples from scratch1 buffer */
-      x1 = *__SIMD32(pScr1)++;
-
-      /* Read next two samples from scratch1 buffer */
-      x2 = *__SIMD32(pScr1)++;
-
-      tapCnt = (srcBLen) >> 2u;
-
-      while(tapCnt > 0u)
-      {
-
-        /* Read four samples from smaller buffer */
-        y1 = _SIMD32_OFFSET(pIn2);
-        y2 = _SIMD32_OFFSET(pIn2 + 2u);
-
-        /* multiply and accumlate */
-        acc0 = __SMLALD(x1, y1, acc0);
-        acc2 = __SMLALD(x2, y1, acc2);
-
-        /* pack input data */
-#ifndef ARM_MATH_BIG_ENDIAN
-        x3 = __PKHBT(x2, x1, 0);
-#else
-        x3 = __PKHBT(x1, x2, 0);
-#endif
-
-        /* multiply and accumlate */
-        acc1 = __SMLALDX(x3, y1, acc1);
-
-        /* Read next two samples from scratch1 buffer */
-        x1 = _SIMD32_OFFSET(pScr1);
-
-        /* multiply and accumlate */
-        acc0 = __SMLALD(x2, y2, acc0);
-        acc2 = __SMLALD(x1, y2, acc2);
-
-        /* pack input data */
-#ifndef ARM_MATH_BIG_ENDIAN
-        x3 = __PKHBT(x1, x2, 0);
-#else
-        x3 = __PKHBT(x2, x1, 0);
-#endif
-
-        acc3 = __SMLALDX(x3, y1, acc3);
-        acc1 = __SMLALDX(x3, y2, acc1);
-
-        x2 = _SIMD32_OFFSET(pScr1 + 2u);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-        x3 = __PKHBT(x2, x1, 0);
-#else
-        x3 = __PKHBT(x1, x2, 0);
-#endif
-
-        acc3 = __SMLALDX(x3, y2, acc3);
-
-        /* update scratch pointers */
-        pIn2 += 4u;
-        pScr1 += 4u;
-
-
-        /* Decrement the loop counter */
-        tapCnt--;
-      }
-
-      /* Update scratch pointer for remaining samples of smaller length sequence */
-      pScr1 -= 4u;
-
-      /* apply same above for remaining samples of smaller length sequence */
-      tapCnt = (srcBLen) & 3u;
-
-      while(tapCnt > 0u)
-      {
-        /* accumlate the results */
-        acc0 += (*pScr1++ * *pIn2);
-        acc1 += (*pScr1++ * *pIn2);
-        acc2 += (*pScr1++ * *pIn2);
-        acc3 += (*pScr1++ * *pIn2++);
-
-        pScr1 -= 3u;
-
-        /* Decrement the loop counter */
-        tapCnt--;
-      }
-
-      blkCnt--;
-
-
-      /* Store the results in the accumulators in the destination buffer. */
-
-#ifndef  ARM_MATH_BIG_ENDIAN
-
-      *__SIMD32(pOut)++ =
-        __PKHBT(__SSAT((acc0 >> 15), 16), __SSAT((acc1 >> 15), 16), 16);
-      *__SIMD32(pOut)++ =
-        __PKHBT(__SSAT((acc2 >> 15), 16), __SSAT((acc3 >> 15), 16), 16);
-
-#else
-
-      *__SIMD32(pOut)++ =
-        __PKHBT(__SSAT((acc1 >> 15), 16), __SSAT((acc0 >> 15), 16), 16);
-      *__SIMD32(pOut)++ =
-        __PKHBT(__SSAT((acc3 >> 15), 16), __SSAT((acc2 >> 15), 16), 16);
-
-#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
-
-      /* Initialization of inputB pointer */
-      pIn2 = py;
-
-      pScratch1 += 4u;
-
-    }
-
-
-    blkCnt = numPoints & 0x3;
-
-    /* Calculate convolution for remaining samples of Bigger length sequence */
-    while(blkCnt > 0)
-    {
-      /* Initialze temporary scratch pointer as scratch1 */
-      pScr1 = pScratch1;
-
-      /* Clear Accumlators */
-      acc0 = 0;
-
-      tapCnt = (srcBLen) >> 1u;
-
-      while(tapCnt > 0u)
-      {
-
-        /* Read next two samples from scratch1 buffer */
-        x1 = *__SIMD32(pScr1)++;
-
-        /* Read two samples from smaller buffer */
-        y1 = *__SIMD32(pIn2)++;
-
-        acc0 = __SMLALD(x1, y1, acc0);
-
-        /* Decrement the loop counter */
-        tapCnt--;
-      }
-
-      tapCnt = (srcBLen) & 1u;
-
-      /* apply same above for remaining samples of smaller length sequence */
-      while(tapCnt > 0u)
-      {
-
-        /* accumlate the results */
-        acc0 += (*pScr1++ * *pIn2++);
-
-        /* Decrement the loop counter */
-        tapCnt--;
-      }
-
-      blkCnt--;
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut++ = (q15_t) (__SSAT((acc0 >> 15), 16));
-
-      /* Initialization of inputB pointer */
-      pIn2 = py;
-
-      pScratch1 += 1u;
-
-    }
-
-    /* set status as ARM_MATH_SUCCESS */
-    status = ARM_MATH_SUCCESS;
-
-  }
-
-  /* Return to application */
-  return (status);
-}
-
-#else
-
-arm_status arm_conv_partial_opt_q15(
-  q15_t * pSrcA,
-  uint32_t srcALen,
-  q15_t * pSrcB,
-  uint32_t srcBLen,
-  q15_t * pDst,
-  uint32_t firstIndex,
-  uint32_t numPoints,
-  q15_t * pScratch1,
-  q15_t * pScratch2)
-{
-
-  q15_t *pOut = pDst;                            /* output pointer */
-  q15_t *pScr1 = pScratch1;                      /* Temporary pointer for scratch1 */
-  q15_t *pScr2 = pScratch2;                      /* Temporary pointer for scratch1 */
-  q63_t acc0, acc1, acc2, acc3;                  /* Accumulator */
-  q15_t *pIn1;                                   /* inputA pointer */
-  q15_t *pIn2;                                   /* inputB pointer */
-  q15_t *px;                                     /* Intermediate inputA pointer  */
-  q15_t *py;                                     /* Intermediate inputB pointer  */
-  uint32_t j, k, blkCnt;                         /* loop counter */
-  arm_status status;                             /* Status variable */
-  uint32_t tapCnt;                               /* loop count */
-  q15_t x10, x11, x20, x21;                      /* Temporary variables to hold srcA buffer */
-  q15_t y10, y11;                                /* Temporary variables to hold srcB buffer */
-
-
-  /* Check for range of output samples to be calculated */
-  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))
-  {
-    /* Set status as ARM_MATH_ARGUMENT_ERROR */
-    status = ARM_MATH_ARGUMENT_ERROR;
-  }
-  else
-  {
-
-    /* The algorithm implementation is based on the lengths of the inputs. */
-    /* srcB is always made to slide across srcA. */
-    /* So srcBLen is always considered as shorter or equal to srcALen */
-    if(srcALen >= srcBLen)
-    {
-      /* Initialization of inputA pointer */
-      pIn1 = pSrcA;
-
-      /* Initialization of inputB pointer */
-      pIn2 = pSrcB;
-    }
-    else
-    {
-      /* Initialization of inputA pointer */
-      pIn1 = pSrcB;
-
-      /* Initialization of inputB pointer */
-      pIn2 = pSrcA;
-
-      /* srcBLen is always considered as shorter or equal to srcALen */
-      j = srcBLen;
-      srcBLen = srcALen;
-      srcALen = j;
-    }
-
-    /* Temporary pointer for scratch2 */
-    py = pScratch2;
-
-    /* pointer to take end of scratch2 buffer */
-    pScr2 = pScratch2 + srcBLen - 1;
-
-    /* points to smaller length sequence */
-    px = pIn2;
-
-    /* Apply loop unrolling and do 4 Copies simultaneously. */
-    k = srcBLen >> 2u;
-
-    /* First part of the processing with loop unrolling copies 4 data points at a time.       
-     ** a second loop below copies for the remaining 1 to 3 samples. */
-    while(k > 0u)
-    {
-      /* copy second buffer in reversal manner */
-      *pScr2-- = *px++;
-      *pScr2-- = *px++;
-      *pScr2-- = *px++;
-      *pScr2-- = *px++;
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* If the count is not a multiple of 4, copy remaining samples here.       
-     ** No loop unrolling is used. */
-    k = srcBLen % 0x4u;
-
-    while(k > 0u)
-    {
-      /* copy second buffer in reversal manner for remaining samples */
-      *pScr2-- = *px++;
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* Initialze temporary scratch pointer */
-    pScr1 = pScratch1;
-
-    /* Fill (srcBLen - 1u) zeros in scratch buffer */
-    arm_fill_q15(0, pScr1, (srcBLen - 1u));
-
-    /* Update temporary scratch pointer */
-    pScr1 += (srcBLen - 1u);
-
-    /* Copy bigger length sequence(srcALen) samples in scratch1 buffer */
-
-
-    /* Apply loop unrolling and do 4 Copies simultaneously. */
-    k = srcALen >> 2u;
-
-    /* First part of the processing with loop unrolling copies 4 data points at a time.       
-     ** a second loop below copies for the remaining 1 to 3 samples. */
-    while(k > 0u)
-    {
-      /* copy second buffer in reversal manner */
-      *pScr1++ = *pIn1++;
-      *pScr1++ = *pIn1++;
-      *pScr1++ = *pIn1++;
-      *pScr1++ = *pIn1++;
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* If the count is not a multiple of 4, copy remaining samples here.       
-     ** No loop unrolling is used. */
-    k = srcALen % 0x4u;
-
-    while(k > 0u)
-    {
-      /* copy second buffer in reversal manner for remaining samples */
-      *pScr1++ = *pIn1++;
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-
-    /* Apply loop unrolling and do 4 Copies simultaneously. */
-    k = (srcBLen - 1u) >> 2u;
-
-    /* First part of the processing with loop unrolling copies 4 data points at a time.       
-     ** a second loop below copies for the remaining 1 to 3 samples. */
-    while(k > 0u)
-    {
-      /* copy second buffer in reversal manner */
-      *pScr1++ = 0;
-      *pScr1++ = 0;
-      *pScr1++ = 0;
-      *pScr1++ = 0;
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* If the count is not a multiple of 4, copy remaining samples here.       
-     ** No loop unrolling is used. */
-    k = (srcBLen - 1u) % 0x4u;
-
-    while(k > 0u)
-    {
-      /* copy second buffer in reversal manner for remaining samples */
-      *pScr1++ = 0;
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-
-    /* Initialization of pIn2 pointer */
-    pIn2 = py;
-
-    pScratch1 += firstIndex;
-
-    pOut = pDst + firstIndex;
-
-    /* Actual convolution process starts here */
-    blkCnt = (numPoints) >> 2;
-
-    while(blkCnt > 0)
-    {
-      /* Initialze temporary scratch pointer as scratch1 */
-      pScr1 = pScratch1;
-
-      /* Clear Accumlators */
-      acc0 = 0;
-      acc1 = 0;
-      acc2 = 0;
-      acc3 = 0;
-
-      /* Read two samples from scratch1 buffer */
-      x10 = *pScr1++;
-      x11 = *pScr1++;
-
-      /* Read next two samples from scratch1 buffer */
-      x20 = *pScr1++;
-      x21 = *pScr1++;
-
-      tapCnt = (srcBLen) >> 2u;
-
-      while(tapCnt > 0u)
-      {
-
-        /* Read two samples from smaller buffer */
-        y10 = *pIn2;
-        y11 = *(pIn2 + 1u);
-
-        /* multiply and accumlate */
-        acc0 += (q63_t) x10 *y10;
-        acc0 += (q63_t) x11 *y11;
-        acc2 += (q63_t) x20 *y10;
-        acc2 += (q63_t) x21 *y11;
-
-        /* multiply and accumlate */
-        acc1 += (q63_t) x11 *y10;
-        acc1 += (q63_t) x20 *y11;
-
-        /* Read next two samples from scratch1 buffer */
-        x10 = *pScr1;
-        x11 = *(pScr1 + 1u);
-
-        /* multiply and accumlate */
-        acc3 += (q63_t) x21 *y10;
-        acc3 += (q63_t) x10 *y11;
-
-        /* Read next two samples from scratch2 buffer */
-        y10 = *(pIn2 + 2u);
-        y11 = *(pIn2 + 3u);
-
-        /* multiply and accumlate */
-        acc0 += (q63_t) x20 *y10;
-        acc0 += (q63_t) x21 *y11;
-        acc2 += (q63_t) x10 *y10;
-        acc2 += (q63_t) x11 *y11;
-        acc1 += (q63_t) x21 *y10;
-        acc1 += (q63_t) x10 *y11;
-
-        /* Read next two samples from scratch1 buffer */
-        x20 = *(pScr1 + 2);
-        x21 = *(pScr1 + 3);
-
-        /* multiply and accumlate */
-        acc3 += (q63_t) x11 *y10;
-        acc3 += (q63_t) x20 *y11;
-
-        /* update scratch pointers */
-        pIn2 += 4u;
-        pScr1 += 4u;
-
-        /* Decrement the loop counter */
-        tapCnt--;
-      }
-
-      /* Update scratch pointer for remaining samples of smaller length sequence */
-      pScr1 -= 4u;
-
-      /* apply same above for remaining samples of smaller length sequence */
-      tapCnt = (srcBLen) & 3u;
-
-      while(tapCnt > 0u)
-      {
-        /* accumlate the results */
-        acc0 += (*pScr1++ * *pIn2);
-        acc1 += (*pScr1++ * *pIn2);
-        acc2 += (*pScr1++ * *pIn2);
-        acc3 += (*pScr1++ * *pIn2++);
-
-        pScr1 -= 3u;
-
-        /* Decrement the loop counter */
-        tapCnt--;
-      }
-
-      blkCnt--;
-
-
-      /* Store the results in the accumulators in the destination buffer. */
-      *pOut++ = __SSAT((acc0 >> 15), 16);
-      *pOut++ = __SSAT((acc1 >> 15), 16);
-      *pOut++ = __SSAT((acc2 >> 15), 16);
-      *pOut++ = __SSAT((acc3 >> 15), 16);
-
-
-      /* Initialization of inputB pointer */
-      pIn2 = py;
-
-      pScratch1 += 4u;
-
-    }
-
-
-    blkCnt = numPoints & 0x3;
-
-    /* Calculate convolution for remaining samples of Bigger length sequence */
-    while(blkCnt > 0)
-    {
-      /* Initialze temporary scratch pointer as scratch1 */
-      pScr1 = pScratch1;
-
-      /* Clear Accumlators */
-      acc0 = 0;
-
-      tapCnt = (srcBLen) >> 1u;
-
-      while(tapCnt > 0u)
-      {
-
-        /* Read next two samples from scratch1 buffer */
-        x10 = *pScr1++;
-        x11 = *pScr1++;
-
-        /* Read two samples from smaller buffer */
-        y10 = *pIn2++;
-        y11 = *pIn2++;
-
-        /* multiply and accumlate */
-        acc0 += (q63_t) x10 *y10;
-        acc0 += (q63_t) x11 *y11;
-
-        /* Decrement the loop counter */
-        tapCnt--;
-      }
-
-      tapCnt = (srcBLen) & 1u;
-
-      /* apply same above for remaining samples of smaller length sequence */
-      while(tapCnt > 0u)
-      {
-
-        /* accumlate the results */
-        acc0 += (*pScr1++ * *pIn2++);
-
-        /* Decrement the loop counter */
-        tapCnt--;
-      }
-
-      blkCnt--;
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut++ = (q15_t) (__SSAT((acc0 >> 15), 16));
-
-
-      /* Initialization of inputB pointer */
-      pIn2 = py;
-
-      pScratch1 += 1u;
-
-    }
-
-    /* set status as ARM_MATH_SUCCESS */
-    status = ARM_MATH_SUCCESS;
-
-  }
-
-  /* Return to application */
-  return (status);
-}
-
-#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
-
-
-/**    
- * @} end of PartialConv group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_opt_q7.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_opt_q7.c
deleted file mode 100644
index 513d89d87..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_opt_q7.c
+++ /dev/null
@@ -1,806 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_conv_partial_opt_q7.c    
-*    
-* Description:	Partial convolution of Q7 sequences.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*  
-* Version 1.0.11 2011/10/18  
-*    Bug Fix in conv, correlation, partial convolution.  
-* 
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-*    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup PartialConv    
- * @{    
- */
-
-/**    
- * @brief Partial convolution of Q7 sequences.    
- * @param[in]       *pSrcA points to the first input sequence.    
- * @param[in]       srcALen length of the first input sequence.    
- * @param[in]       *pSrcB points to the second input sequence.    
- * @param[in]       srcBLen length of the second input sequence.    
- * @param[out]      *pDst points to the location where the output result is written.    
- * @param[in]       firstIndex is the first output sample to start with.    
- * @param[in]       numPoints is the number of output points to be computed.    
- * @param[in]      *pScratch1 points to scratch buffer(of type q15_t) of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2.    
- * @param[in]      *pScratch2 points to scratch buffer (of type q15_t) of size min(srcALen, srcBLen).    
- * @return  Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].    
- *    
- * \par Restrictions    
- *  If the silicon does not support unaligned memory access enable the macro UNALIGNED_SUPPORT_DISABLE    
- *	In this case input, output, scratch1 and scratch2 buffers should be aligned by 32-bit   
- * 
- *
- * 
- */
-
-
-#ifndef UNALIGNED_SUPPORT_DISABLE
-
-arm_status arm_conv_partial_opt_q7(
-  q7_t * pSrcA,
-  uint32_t srcALen,
-  q7_t * pSrcB,
-  uint32_t srcBLen,
-  q7_t * pDst,
-  uint32_t firstIndex,
-  uint32_t numPoints,
-  q15_t * pScratch1,
-  q15_t * pScratch2)
-{
-
-  q15_t *pScr2, *pScr1;                          /* Intermediate pointers for scratch pointers */
-  q15_t x4;                                      /* Temporary input variable */
-  q7_t *pIn1, *pIn2;                             /* inputA and inputB pointer */
-  uint32_t j, k, blkCnt, tapCnt;                 /* loop counter */
-  q7_t *px;                                      /* Temporary input1 pointer */
-  q15_t *py;                                     /* Temporary input2 pointer */
-  q31_t acc0, acc1, acc2, acc3;                  /* Accumulator */
-  q31_t x1, x2, x3, y1;                          /* Temporary input variables */
-  arm_status status;
-  q7_t *pOut = pDst;                             /* output pointer */
-  q7_t out0, out1, out2, out3;                   /* temporary variables */
-
-  /* Check for range of output samples to be calculated */
-  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))
-  {
-    /* Set status as ARM_MATH_ARGUMENT_ERROR */
-    status = ARM_MATH_ARGUMENT_ERROR;
-  }
-  else
-  {
-
-    /* The algorithm implementation is based on the lengths of the inputs. */
-    /* srcB is always made to slide across srcA. */
-    /* So srcBLen is always considered as shorter or equal to srcALen */
-    if(srcALen >= srcBLen)
-    {
-      /* Initialization of inputA pointer */
-      pIn1 = pSrcA;
-
-      /* Initialization of inputB pointer */
-      pIn2 = pSrcB;
-    }
-    else
-    {
-      /* Initialization of inputA pointer */
-      pIn1 = pSrcB;
-
-      /* Initialization of inputB pointer */
-      pIn2 = pSrcA;
-
-      /* srcBLen is always considered as shorter or equal to srcALen */
-      j = srcBLen;
-      srcBLen = srcALen;
-      srcALen = j;
-    }
-
-    /* pointer to take end of scratch2 buffer */
-    pScr2 = pScratch2;
-
-    /* points to smaller length sequence */
-    px = pIn2 + srcBLen - 1;
-
-    /* Apply loop unrolling and do 4 Copies simultaneously. */
-    k = srcBLen >> 2u;
-
-    /* First part of the processing with loop unrolling copies 4 data points at a time.       
-     ** a second loop below copies for the remaining 1 to 3 samples. */
-    while(k > 0u)
-    {
-      /* copy second buffer in reversal manner */
-      x4 = (q15_t) * px--;
-      *pScr2++ = x4;
-      x4 = (q15_t) * px--;
-      *pScr2++ = x4;
-      x4 = (q15_t) * px--;
-      *pScr2++ = x4;
-      x4 = (q15_t) * px--;
-      *pScr2++ = x4;
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* If the count is not a multiple of 4, copy remaining samples here.       
-     ** No loop unrolling is used. */
-    k = srcBLen % 0x4u;
-
-    while(k > 0u)
-    {
-      /* copy second buffer in reversal manner for remaining samples */
-      x4 = (q15_t) * px--;
-      *pScr2++ = x4;
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* Initialze temporary scratch pointer */
-    pScr1 = pScratch1;
-
-    /* Fill (srcBLen - 1u) zeros in scratch buffer */
-    arm_fill_q15(0, pScr1, (srcBLen - 1u));
-
-    /* Update temporary scratch pointer */
-    pScr1 += (srcBLen - 1u);
-
-    /* Copy (srcALen) samples in scratch buffer */
-    /* Apply loop unrolling and do 4 Copies simultaneously. */
-    k = srcALen >> 2u;
-
-    /* First part of the processing with loop unrolling copies 4 data points at a time.       
-     ** a second loop below copies for the remaining 1 to 3 samples. */
-    while(k > 0u)
-    {
-      /* copy second buffer in reversal manner */
-      x4 = (q15_t) * pIn1++;
-      *pScr1++ = x4;
-      x4 = (q15_t) * pIn1++;
-      *pScr1++ = x4;
-      x4 = (q15_t) * pIn1++;
-      *pScr1++ = x4;
-      x4 = (q15_t) * pIn1++;
-      *pScr1++ = x4;
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* If the count is not a multiple of 4, copy remaining samples here.       
-     ** No loop unrolling is used. */
-    k = srcALen % 0x4u;
-
-    while(k > 0u)
-    {
-      /* copy second buffer in reversal manner for remaining samples */
-      x4 = (q15_t) * pIn1++;
-      *pScr1++ = x4;
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* Fill (srcBLen - 1u) zeros at end of scratch buffer */
-    arm_fill_q15(0, pScr1, (srcBLen - 1u));
-
-    /* Update pointer */
-    pScr1 += (srcBLen - 1u);
-
-
-    /* Temporary pointer for scratch2 */
-    py = pScratch2;
-
-    /* Initialization of pIn2 pointer */
-    pIn2 = (q7_t *) py;
-
-    pScr2 = py;
-
-    pOut = pDst + firstIndex;
-
-    pScratch1 += firstIndex;
-
-    /* Actual convolution process starts here */
-    blkCnt = (numPoints) >> 2;
-
-
-    while(blkCnt > 0)
-    {
-      /* Initialze temporary scratch pointer as scratch1 */
-      pScr1 = pScratch1;
-
-      /* Clear Accumlators */
-      acc0 = 0;
-      acc1 = 0;
-      acc2 = 0;
-      acc3 = 0;
-
-      /* Read two samples from scratch1 buffer */
-      x1 = *__SIMD32(pScr1)++;
-
-      /* Read next two samples from scratch1 buffer */
-      x2 = *__SIMD32(pScr1)++;
-
-      tapCnt = (srcBLen) >> 2u;
-
-      while(tapCnt > 0u)
-      {
-
-        /* Read four samples from smaller buffer */
-        y1 = _SIMD32_OFFSET(pScr2);
-
-        /* multiply and accumlate */
-        acc0 = __SMLAD(x1, y1, acc0);
-        acc2 = __SMLAD(x2, y1, acc2);
-
-        /* pack input data */
-#ifndef ARM_MATH_BIG_ENDIAN
-        x3 = __PKHBT(x2, x1, 0);
-#else
-        x3 = __PKHBT(x1, x2, 0);
-#endif
-
-        /* multiply and accumlate */
-        acc1 = __SMLADX(x3, y1, acc1);
-
-        /* Read next two samples from scratch1 buffer */
-        x1 = *__SIMD32(pScr1)++;
-
-        /* pack input data */
-#ifndef ARM_MATH_BIG_ENDIAN
-        x3 = __PKHBT(x1, x2, 0);
-#else
-        x3 = __PKHBT(x2, x1, 0);
-#endif
-
-        acc3 = __SMLADX(x3, y1, acc3);
-
-        /* Read four samples from smaller buffer */
-        y1 = _SIMD32_OFFSET(pScr2 + 2u);
-
-        acc0 = __SMLAD(x2, y1, acc0);
-
-        acc2 = __SMLAD(x1, y1, acc2);
-
-        acc1 = __SMLADX(x3, y1, acc1);
-
-        x2 = *__SIMD32(pScr1)++;
-
-#ifndef ARM_MATH_BIG_ENDIAN
-        x3 = __PKHBT(x2, x1, 0);
-#else
-        x3 = __PKHBT(x1, x2, 0);
-#endif
-
-        acc3 = __SMLADX(x3, y1, acc3);
-
-        pScr2 += 4u;
-
-
-        /* Decrement the loop counter */
-        tapCnt--;
-      }
-
-
-
-      /* Update scratch pointer for remaining samples of smaller length sequence */
-      pScr1 -= 4u;
-
-
-      /* apply same above for remaining samples of smaller length sequence */
-      tapCnt = (srcBLen) & 3u;
-
-      while(tapCnt > 0u)
-      {
-
-        /* accumlate the results */
-        acc0 += (*pScr1++ * *pScr2);
-        acc1 += (*pScr1++ * *pScr2);
-        acc2 += (*pScr1++ * *pScr2);
-        acc3 += (*pScr1++ * *pScr2++);
-
-        pScr1 -= 3u;
-
-        /* Decrement the loop counter */
-        tapCnt--;
-      }
-
-      blkCnt--;
-
-      /* Store the result in the accumulator in the destination buffer. */
-      out0 = (q7_t) (__SSAT(acc0 >> 7u, 8));
-      out1 = (q7_t) (__SSAT(acc1 >> 7u, 8));
-      out2 = (q7_t) (__SSAT(acc2 >> 7u, 8));
-      out3 = (q7_t) (__SSAT(acc3 >> 7u, 8));
-
-      *__SIMD32(pOut)++ = __PACKq7(out0, out1, out2, out3);
-
-      /* Initialization of inputB pointer */
-      pScr2 = py;
-
-      pScratch1 += 4u;
-
-    }
-
-    blkCnt = (numPoints) & 0x3;
-
-    /* Calculate convolution for remaining samples of Bigger length sequence */
-    while(blkCnt > 0)
-    {
-      /* Initialze temporary scratch pointer as scratch1 */
-      pScr1 = pScratch1;
-
-      /* Clear Accumlators */
-      acc0 = 0;
-
-      tapCnt = (srcBLen) >> 1u;
-
-      while(tapCnt > 0u)
-      {
-
-        /* Read next two samples from scratch1 buffer */
-        x1 = *__SIMD32(pScr1)++;
-
-        /* Read two samples from smaller buffer */
-        y1 = *__SIMD32(pScr2)++;
-
-        acc0 = __SMLAD(x1, y1, acc0);
-
-        /* Decrement the loop counter */
-        tapCnt--;
-      }
-
-      tapCnt = (srcBLen) & 1u;
-
-      /* apply same above for remaining samples of smaller length sequence */
-      while(tapCnt > 0u)
-      {
-
-        /* accumlate the results */
-        acc0 += (*pScr1++ * *pScr2++);
-
-        /* Decrement the loop counter */
-        tapCnt--;
-      }
-
-      blkCnt--;
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut++ = (q7_t) (__SSAT(acc0 >> 7u, 8));
-
-      /* Initialization of inputB pointer */
-      pScr2 = py;
-
-      pScratch1 += 1u;
-
-    }
-
-    /* set status as ARM_MATH_SUCCESS */
-    status = ARM_MATH_SUCCESS;
-
-
-  }
-
-  return (status);
-
-}
-
-#else
-
-arm_status arm_conv_partial_opt_q7(
-  q7_t * pSrcA,
-  uint32_t srcALen,
-  q7_t * pSrcB,
-  uint32_t srcBLen,
-  q7_t * pDst,
-  uint32_t firstIndex,
-  uint32_t numPoints,
-  q15_t * pScratch1,
-  q15_t * pScratch2)
-{
-
-  q15_t *pScr2, *pScr1;                          /* Intermediate pointers for scratch pointers */
-  q15_t x4;                                      /* Temporary input variable */
-  q7_t *pIn1, *pIn2;                             /* inputA and inputB pointer */
-  uint32_t j, k, blkCnt, tapCnt;                 /* loop counter */
-  q7_t *px;                                      /* Temporary input1 pointer */
-  q15_t *py;                                     /* Temporary input2 pointer */
-  q31_t acc0, acc1, acc2, acc3;                  /* Accumulator */
-  arm_status status;
-  q7_t *pOut = pDst;                             /* output pointer */
-  q15_t x10, x11, x20, x21;                      /* Temporary input variables */
-  q15_t y10, y11;                                /* Temporary input variables */
-  q7_t out0, out1, out2, out3;                   /* temporary variables */
-
-  /* Check for range of output samples to be calculated */
-  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))
-  {
-    /* Set status as ARM_MATH_ARGUMENT_ERROR */
-    status = ARM_MATH_ARGUMENT_ERROR;
-  }
-  else
-  {
-
-    /* The algorithm implementation is based on the lengths of the inputs. */
-    /* srcB is always made to slide across srcA. */
-    /* So srcBLen is always considered as shorter or equal to srcALen */
-    if(srcALen >= srcBLen)
-    {
-      /* Initialization of inputA pointer */
-      pIn1 = pSrcA;
-
-      /* Initialization of inputB pointer */
-      pIn2 = pSrcB;
-    }
-    else
-    {
-      /* Initialization of inputA pointer */
-      pIn1 = pSrcB;
-
-      /* Initialization of inputB pointer */
-      pIn2 = pSrcA;
-
-      /* srcBLen is always considered as shorter or equal to srcALen */
-      j = srcBLen;
-      srcBLen = srcALen;
-      srcALen = j;
-    }
-
-    /* pointer to take end of scratch2 buffer */
-    pScr2 = pScratch2;
-
-    /* points to smaller length sequence */
-    px = pIn2 + srcBLen - 1;
-
-    /* Apply loop unrolling and do 4 Copies simultaneously. */
-    k = srcBLen >> 2u;
-
-    /* First part of the processing with loop unrolling copies 4 data points at a time.       
-     ** a second loop below copies for the remaining 1 to 3 samples. */
-    while(k > 0u)
-    {
-      /* copy second buffer in reversal manner */
-      x4 = (q15_t) * px--;
-      *pScr2++ = x4;
-      x4 = (q15_t) * px--;
-      *pScr2++ = x4;
-      x4 = (q15_t) * px--;
-      *pScr2++ = x4;
-      x4 = (q15_t) * px--;
-      *pScr2++ = x4;
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* If the count is not a multiple of 4, copy remaining samples here.       
-     ** No loop unrolling is used. */
-    k = srcBLen % 0x4u;
-
-    while(k > 0u)
-    {
-      /* copy second buffer in reversal manner for remaining samples */
-      x4 = (q15_t) * px--;
-      *pScr2++ = x4;
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* Initialze temporary scratch pointer */
-    pScr1 = pScratch1;
-
-    /* Fill (srcBLen - 1u) zeros in scratch buffer */
-    arm_fill_q15(0, pScr1, (srcBLen - 1u));
-
-    /* Update temporary scratch pointer */
-    pScr1 += (srcBLen - 1u);
-
-    /* Copy (srcALen) samples in scratch buffer */
-    /* Apply loop unrolling and do 4 Copies simultaneously. */
-    k = srcALen >> 2u;
-
-    /* First part of the processing with loop unrolling copies 4 data points at a time.       
-     ** a second loop below copies for the remaining 1 to 3 samples. */
-    while(k > 0u)
-    {
-      /* copy second buffer in reversal manner */
-      x4 = (q15_t) * pIn1++;
-      *pScr1++ = x4;
-      x4 = (q15_t) * pIn1++;
-      *pScr1++ = x4;
-      x4 = (q15_t) * pIn1++;
-      *pScr1++ = x4;
-      x4 = (q15_t) * pIn1++;
-      *pScr1++ = x4;
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* If the count is not a multiple of 4, copy remaining samples here.       
-     ** No loop unrolling is used. */
-    k = srcALen % 0x4u;
-
-    while(k > 0u)
-    {
-      /* copy second buffer in reversal manner for remaining samples */
-      x4 = (q15_t) * pIn1++;
-      *pScr1++ = x4;
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* Apply loop unrolling and do 4 Copies simultaneously. */
-    k = (srcBLen - 1u) >> 2u;
-
-    /* First part of the processing with loop unrolling copies 4 data points at a time.       
-     ** a second loop below copies for the remaining 1 to 3 samples. */
-    while(k > 0u)
-    {
-      /* copy second buffer in reversal manner */
-      *pScr1++ = 0;
-      *pScr1++ = 0;
-      *pScr1++ = 0;
-      *pScr1++ = 0;
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* If the count is not a multiple of 4, copy remaining samples here.       
-     ** No loop unrolling is used. */
-    k = (srcBLen - 1u) % 0x4u;
-
-    while(k > 0u)
-    {
-      /* copy second buffer in reversal manner for remaining samples */
-      *pScr1++ = 0;
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-
-    /* Temporary pointer for scratch2 */
-    py = pScratch2;
-
-    /* Initialization of pIn2 pointer */
-    pIn2 = (q7_t *) py;
-
-    pScr2 = py;
-
-    pOut = pDst + firstIndex;
-
-    pScratch1 += firstIndex;
-
-    /* Actual convolution process starts here */
-    blkCnt = (numPoints) >> 2;
-
-
-    while(blkCnt > 0)
-    {
-      /* Initialze temporary scratch pointer as scratch1 */
-      pScr1 = pScratch1;
-
-      /* Clear Accumlators */
-      acc0 = 0;
-      acc1 = 0;
-      acc2 = 0;
-      acc3 = 0;
-
-      /* Read two samples from scratch1 buffer */
-      x10 = *pScr1++;
-      x11 = *pScr1++;
-
-      /* Read next two samples from scratch1 buffer */
-      x20 = *pScr1++;
-      x21 = *pScr1++;
-
-      tapCnt = (srcBLen) >> 2u;
-
-      while(tapCnt > 0u)
-      {
-
-        /* Read four samples from smaller buffer */
-        y10 = *pScr2;
-        y11 = *(pScr2 + 1u);
-
-        /* multiply and accumlate */
-        acc0 += (q31_t) x10 *y10;
-        acc0 += (q31_t) x11 *y11;
-        acc2 += (q31_t) x20 *y10;
-        acc2 += (q31_t) x21 *y11;
-
-
-        acc1 += (q31_t) x11 *y10;
-        acc1 += (q31_t) x20 *y11;
-
-        /* Read next two samples from scratch1 buffer */
-        x10 = *pScr1;
-        x11 = *(pScr1 + 1u);
-
-        /* multiply and accumlate */
-        acc3 += (q31_t) x21 *y10;
-        acc3 += (q31_t) x10 *y11;
-
-        /* Read next two samples from scratch2 buffer */
-        y10 = *(pScr2 + 2u);
-        y11 = *(pScr2 + 3u);
-
-        /* multiply and accumlate */
-        acc0 += (q31_t) x20 *y10;
-        acc0 += (q31_t) x21 *y11;
-        acc2 += (q31_t) x10 *y10;
-        acc2 += (q31_t) x11 *y11;
-        acc1 += (q31_t) x21 *y10;
-        acc1 += (q31_t) x10 *y11;
-
-        /* Read next two samples from scratch1 buffer */
-        x20 = *(pScr1 + 2);
-        x21 = *(pScr1 + 3);
-
-        /* multiply and accumlate */
-        acc3 += (q31_t) x11 *y10;
-        acc3 += (q31_t) x20 *y11;
-
-        /* update scratch pointers */
-
-        pScr1 += 4u;
-        pScr2 += 4u;
-
-        /* Decrement the loop counter */
-        tapCnt--;
-      }
-
-
-
-      /* Update scratch pointer for remaining samples of smaller length sequence */
-      pScr1 -= 4u;
-
-
-      /* apply same above for remaining samples of smaller length sequence */
-      tapCnt = (srcBLen) & 3u;
-
-      while(tapCnt > 0u)
-      {
-
-        /* accumlate the results */
-        acc0 += (*pScr1++ * *pScr2);
-        acc1 += (*pScr1++ * *pScr2);
-        acc2 += (*pScr1++ * *pScr2);
-        acc3 += (*pScr1++ * *pScr2++);
-
-        pScr1 -= 3u;
-
-        /* Decrement the loop counter */
-        tapCnt--;
-      }
-
-      blkCnt--;
-
-      /* Store the result in the accumulator in the destination buffer. */
-      out0 = (q7_t) (__SSAT(acc0 >> 7u, 8));
-      out1 = (q7_t) (__SSAT(acc1 >> 7u, 8));
-      out2 = (q7_t) (__SSAT(acc2 >> 7u, 8));
-      out3 = (q7_t) (__SSAT(acc3 >> 7u, 8));
-
-
-      *__SIMD32(pOut)++ = __PACKq7(out0, out1, out2, out3);
-
-      /* Initialization of inputB pointer */
-      pScr2 = py;
-
-      pScratch1 += 4u;
-
-    }
-
-    blkCnt = (numPoints) & 0x3;
-
-    /* Calculate convolution for remaining samples of Bigger length sequence */
-    while(blkCnt > 0)
-    {
-      /* Initialze temporary scratch pointer as scratch1 */
-      pScr1 = pScratch1;
-
-      /* Clear Accumlators */
-      acc0 = 0;
-
-      tapCnt = (srcBLen) >> 1u;
-
-      while(tapCnt > 0u)
-      {
-
-        /* Read next two samples from scratch1 buffer */
-        x10 = *pScr1++;
-        x11 = *pScr1++;
-
-        /* Read two samples from smaller buffer */
-        y10 = *pScr2++;
-        y11 = *pScr2++;
-
-        /* multiply and accumlate */
-        acc0 += (q31_t) x10 *y10;
-        acc0 += (q31_t) x11 *y11;
-
-        /* Decrement the loop counter */
-        tapCnt--;
-      }
-
-      tapCnt = (srcBLen) & 1u;
-
-      /* apply same above for remaining samples of smaller length sequence */
-      while(tapCnt > 0u)
-      {
-
-        /* accumlate the results */
-        acc0 += (*pScr1++ * *pScr2++);
-
-        /* Decrement the loop counter */
-        tapCnt--;
-      }
-
-      blkCnt--;
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut++ = (q7_t) (__SSAT(acc0 >> 7u, 8));
-
-      /* Initialization of inputB pointer */
-      pScr2 = py;
-
-      pScratch1 += 1u;
-
-    }
-
-    /* set status as ARM_MATH_SUCCESS */
-    status = ARM_MATH_SUCCESS;
-
-  }
-
-  return (status);
-
-}
-
-#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
-
-
-
-/**    
- * @} end of PartialConv group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q15.c
deleted file mode 100644
index 8c7ed5f86..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q15.c
+++ /dev/null
@@ -1,778 +0,0 @@
-/* ----------------------------------------------------------------------   
-* Copyright (C) 2010 ARM Limited. All rights reserved.   
-*   
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*   
-* Project: 	    CMSIS DSP Library   
-* Title:		arm_conv_partial_q15.c   
-*   
-* Description:	Partial convolution of Q15 sequences.  
-*   
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-* 
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*  
-* Version 1.0.11 2011/10/18 
-*    Bug Fix in conv, correlation, partial convolution. 
-*
-* Version 1.0.10 2011/7/15 
-*    Big Endian support added and Merged M0 and M3/M4 Source code.  
-*   
-* Version 1.0.3 2010/11/29  
-*    Re-organized the CMSIS folders and updated documentation.   
-*    
-* Version 1.0.2 2010/11/11   
-*    Documentation updated.    
-*   
-* Version 1.0.1 2010/10/05    
-*    Production release and review comments incorporated.   
-*   
-* Version 1.0.0 2010/09/20    
-*    Production release and review comments incorporated   
-*   
-* Version 0.0.7  2010/06/10    
-*    Misra-C changes done   
-*   
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**   
- * @ingroup groupFilters   
- */
-
-/**   
- * @addtogroup PartialConv   
- * @{   
- */
-
-/**   
- * @brief Partial convolution of Q15 sequences.   
- * @param[in]       *pSrcA points to the first input sequence.   
- * @param[in]       srcALen length of the first input sequence.   
- * @param[in]       *pSrcB points to the second input sequence.   
- * @param[in]       srcBLen length of the second input sequence.   
- * @param[out]      *pDst points to the location where the output result is written.   
- * @param[in]       firstIndex is the first output sample to start with.   
- * @param[in]       numPoints is the number of output points to be computed.   
- * @return  Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].   
- *   
- * Refer to arm_conv_partial_fast_q15() for a faster but less precise version of this function for Cortex-M3 and Cortex-M4.  
- * 
- * \par    
- * Refer the function arm_conv_partial_opt_q15() for a faster implementation of this function using scratch buffers.
- * 
- */
-
-
-arm_status arm_conv_partial_q15(
-  q15_t * pSrcA,
-  uint32_t srcALen,
-  q15_t * pSrcB,
-  uint32_t srcBLen,
-  q15_t * pDst,
-  uint32_t firstIndex,
-  uint32_t numPoints)
-{
-
-#if (defined(ARM_MATH_CM4) || defined(ARM_MATH_CM3)) && !defined(UNALIGNED_SUPPORT_DISABLE)
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  q15_t *pIn1;                                   /* inputA pointer               */
-  q15_t *pIn2;                                   /* inputB pointer               */
-  q15_t *pOut = pDst;                            /* output pointer               */
-  q63_t sum, acc0, acc1, acc2, acc3;             /* Accumulator                  */
-  q15_t *px;                                     /* Intermediate inputA pointer  */
-  q15_t *py;                                     /* Intermediate inputB pointer  */
-  q15_t *pSrc1, *pSrc2;                          /* Intermediate pointers        */
-  q31_t x0, x1, x2, x3, c0;                      /* Temporary input variables */
-  uint32_t j, k, count, check, blkCnt;
-  int32_t blockSize1, blockSize2, blockSize3;    /* loop counter                 */
-  arm_status status;                             /* status of Partial convolution */
-
-  /* Check for range of output samples to be calculated */
-  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))
-  {
-    /* Set status as ARM_MATH_ARGUMENT_ERROR */
-    status = ARM_MATH_ARGUMENT_ERROR;
-  }
-  else
-  {
-
-    /* The algorithm implementation is based on the lengths of the inputs. */
-    /* srcB is always made to slide across srcA. */
-    /* So srcBLen is always considered as shorter or equal to srcALen */
-    if(srcALen >= srcBLen)
-    {
-      /* Initialization of inputA pointer */
-      pIn1 = pSrcA;
-
-      /* Initialization of inputB pointer */
-      pIn2 = pSrcB;
-    }
-    else
-    {
-      /* Initialization of inputA pointer */
-      pIn1 = pSrcB;
-
-      /* Initialization of inputB pointer */
-      pIn2 = pSrcA;
-
-      /* srcBLen is always considered as shorter or equal to srcALen */
-      j = srcBLen;
-      srcBLen = srcALen;
-      srcALen = j;
-    }
-
-    /* Conditions to check which loopCounter holds   
-     * the first and last indices of the output samples to be calculated. */
-    check = firstIndex + numPoints;
-    blockSize3 = ((int32_t) check - (int32_t) srcALen);
-    blockSize3 = (blockSize3 > 0) ? blockSize3 : 0;
-    blockSize1 = (((int32_t) srcBLen - 1) - (int32_t) firstIndex);
-    blockSize1 = (blockSize1 > 0) ? ((check > (srcBLen - 1u)) ? blockSize1 :
-                                     (int32_t) numPoints) : 0;
-    blockSize2 = (int32_t) check - ((blockSize3 + blockSize1) +
-                                    (int32_t) firstIndex);
-    blockSize2 = (blockSize2 > 0) ? blockSize2 : 0;
-
-    /* conv(x,y) at n = x[n] * y[0] + x[n-1] * y[1] + x[n-2] * y[2] + ...+ x[n-N+1] * y[N -1] */
-    /* The function is internally   
-     * divided into three stages according to the number of multiplications that has to be   
-     * taken place between inputA samples and inputB samples. In the first stage of the   
-     * algorithm, the multiplications increase by one for every iteration.   
-     * In the second stage of the algorithm, srcBLen number of multiplications are done.   
-     * In the third stage of the algorithm, the multiplications decrease by one   
-     * for every iteration. */
-
-    /* Set the output pointer to point to the firstIndex   
-     * of the output sample to be calculated. */
-    pOut = pDst + firstIndex;
-
-    /* --------------------------   
-     * Initializations of stage1   
-     * -------------------------*/
-
-    /* sum = x[0] * y[0]   
-     * sum = x[0] * y[1] + x[1] * y[0]   
-     * ....   
-     * sum = x[0] * y[srcBlen - 1] + x[1] * y[srcBlen - 2] +...+ x[srcBLen - 1] * y[0]   
-     */
-
-    /* In this stage the MAC operations are increased by 1 for every iteration.   
-       The count variable holds the number of MAC operations performed.   
-       Since the partial convolution starts from firstIndex   
-       Number of Macs to be performed is firstIndex + 1 */
-    count = 1u + firstIndex;
-
-    /* Working pointer of inputA */
-    px = pIn1;
-
-    /* Working pointer of inputB */
-    pSrc2 = pIn2 + firstIndex;
-    py = pSrc2;
-
-    /* ------------------------   
-     * Stage1 process   
-     * ----------------------*/
-
-    /* For loop unrolling by 4, this stage is divided into two. */
-    /* First part of this stage computes the MAC operations less than 4 */
-    /* Second part of this stage computes the MAC operations greater than or equal to 4 */
-
-    /* The first part of the stage starts here */
-    while((count < 4u) && (blockSize1 > 0))
-    {
-      /* Accumulator is made zero for every iteration */
-      sum = 0;
-
-      /* Loop over number of MAC operations between   
-       * inputA samples and inputB samples */
-      k = count;
-
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulates */
-        sum = __SMLALD(*px++, *py--, sum);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut++ = (q15_t) (__SSAT((sum >> 15), 16));
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      py = ++pSrc2;
-      px = pIn1;
-
-      /* Increment the MAC count */
-      count++;
-
-      /* Decrement the loop counter */
-      blockSize1--;
-    }
-
-    /* The second part of the stage starts here */
-    /* The internal loop, over count, is unrolled by 4 */
-    /* To, read the last two inputB samples using SIMD:   
-     * y[srcBLen] and y[srcBLen-1] coefficients, py is decremented by 1 */
-    py = py - 1;
-
-    while(blockSize1 > 0)
-    {
-      /* Accumulator is made zero for every iteration */
-      sum = 0;
-
-      /* Apply loop unrolling and compute 4 MACs simultaneously. */
-      k = count >> 2u;
-
-      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
-       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulates */
-        /* x[0], x[1] are multiplied with y[srcBLen - 1], y[srcBLen - 2] respectively */
-        sum = __SMLALDX(*__SIMD32(px)++, *__SIMD32(py)--, sum);
-        /* x[2], x[3] are multiplied with y[srcBLen - 3], y[srcBLen - 4] respectively */
-        sum = __SMLALDX(*__SIMD32(px)++, *__SIMD32(py)--, sum);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* For the next MAC operations, the pointer py is used without SIMD   
-       * So, py is incremented by 1 */
-      py = py + 1u;
-
-      /* If the count is not a multiple of 4, compute any remaining MACs here.   
-       ** No loop unrolling is used. */
-      k = count % 0x4u;
-
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulates */
-        sum = __SMLALD(*px++, *py--, sum);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut++ = (q15_t) (__SSAT((sum >> 15), 16));
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      py = ++pSrc2 - 1u;
-      px = pIn1;
-
-      /* Increment the MAC count */
-      count++;
-
-      /* Decrement the loop counter */
-      blockSize1--;
-    }
-
-    /* --------------------------   
-     * Initializations of stage2   
-     * ------------------------*/
-
-    /* sum = x[0] * y[srcBLen-1] + x[1] * y[srcBLen-2] +...+ x[srcBLen-1] * y[0]   
-     * sum = x[1] * y[srcBLen-1] + x[2] * y[srcBLen-2] +...+ x[srcBLen] * y[0]   
-     * ....   
-     * sum = x[srcALen-srcBLen-2] * y[srcBLen-1] + x[srcALen] * y[srcBLen-2] +...+ x[srcALen-1] * y[0]   
-     */
-
-    /* Working pointer of inputA */
-    px = pIn1;
-
-    /* Working pointer of inputB */
-    pSrc2 = pIn2 + (srcBLen - 1u);
-    py = pSrc2;
-
-  /* count is the index by which the pointer pIn1 to be incremented */
-  count = 0u;
-
-
-  /* --------------------   
-   * Stage2 process   
-   * -------------------*/
-
-  /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.   
-   * So, to loop unroll over blockSize2,   
-   * srcBLen should be greater than or equal to 4 */
-  if(srcBLen >= 4u)
-  {
-    /* Loop unroll over blockSize2, by 4 */
-    blkCnt = blockSize2 >> 2u;
-
-    while(blkCnt > 0u)
-    {
-      py = py - 1u;
-
-      /* Set all accumulators to zero */
-      acc0 = 0;
-      acc1 = 0;
-      acc2 = 0;
-      acc3 = 0;
-
-
-      /* read x[0], x[1] samples */
-      x0 = *__SIMD32(px);
-      /* read x[1], x[2] samples */
-      x1 = _SIMD32_OFFSET(px+1);
-	  px+= 2u;
-
-
-      /* Apply loop unrolling and compute 4 MACs simultaneously. */
-      k = srcBLen >> 2u;
-
-      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
-       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-      do
-      {
-        /* Read the last two inputB samples using SIMD:   
-         * y[srcBLen - 1] and y[srcBLen - 2] */
-        c0 = *__SIMD32(py)--;
-
-        /* acc0 +=  x[0] * y[srcBLen - 1] + x[1] * y[srcBLen - 2] */
-        acc0 = __SMLALDX(x0, c0, acc0);
-
-        /* acc1 +=  x[1] * y[srcBLen - 1] + x[2] * y[srcBLen - 2] */
-        acc1 = __SMLALDX(x1, c0, acc1);
-
-        /* Read x[2], x[3] */
-        x2 = *__SIMD32(px);
-
-        /* Read x[3], x[4] */
-        x3 = _SIMD32_OFFSET(px+1);
-
-        /* acc2 +=  x[2] * y[srcBLen - 1] + x[3] * y[srcBLen - 2] */
-        acc2 = __SMLALDX(x2, c0, acc2);
-
-        /* acc3 +=  x[3] * y[srcBLen - 1] + x[4] * y[srcBLen - 2] */
-        acc3 = __SMLALDX(x3, c0, acc3);
-
-        /* Read y[srcBLen - 3] and y[srcBLen - 4] */
-        c0 = *__SIMD32(py)--;
-
-        /* acc0 +=  x[2] * y[srcBLen - 3] + x[3] * y[srcBLen - 4] */
-        acc0 = __SMLALDX(x2, c0, acc0);
-
-        /* acc1 +=  x[3] * y[srcBLen - 3] + x[4] * y[srcBLen - 4] */
-        acc1 = __SMLALDX(x3, c0, acc1);
-
-        /* Read x[4], x[5] */
-        x0 = _SIMD32_OFFSET(px+2);
-
-        /* Read x[5], x[6] */
-        x1 = _SIMD32_OFFSET(px+3);
-		px += 4u;
-
-        /* acc2 +=  x[4] * y[srcBLen - 3] + x[5] * y[srcBLen - 4] */
-        acc2 = __SMLALDX(x0, c0, acc2);
-
-        /* acc3 +=  x[5] * y[srcBLen - 3] + x[6] * y[srcBLen - 4] */
-        acc3 = __SMLALDX(x1, c0, acc3);
-
-      } while(--k);
-
-      /* For the next MAC operations, SIMD is not used   
-       * So, the 16 bit pointer if inputB, py is updated */
-
-      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
-       ** No loop unrolling is used. */
-      k = srcBLen % 0x4u;
-
-      if(k == 1u)
-      {
-        /* Read y[srcBLen - 5] */
-        c0 = *(py+1);
-
-#ifdef  ARM_MATH_BIG_ENDIAN
-
-        c0 = c0 << 16u;
-
-#else
-
-        c0 = c0 & 0x0000FFFF;
-
-#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */
-
-        /* Read x[7] */
-        x3 = *__SIMD32(px);
-		px++;
-
-        /* Perform the multiply-accumulates */
-        acc0 = __SMLALD(x0, c0, acc0);
-        acc1 = __SMLALD(x1, c0, acc1);
-        acc2 = __SMLALDX(x1, c0, acc2);
-        acc3 = __SMLALDX(x3, c0, acc3);
-      }
-
-      if(k == 2u)
-      {
-        /* Read y[srcBLen - 5], y[srcBLen - 6] */
-        c0 = _SIMD32_OFFSET(py);
-
-        /* Read x[7], x[8] */
-        x3 = *__SIMD32(px);
-
-        /* Read x[9] */
-        x2 = _SIMD32_OFFSET(px+1);
-		px += 2u;
-
-        /* Perform the multiply-accumulates */
-        acc0 = __SMLALDX(x0, c0, acc0);
-        acc1 = __SMLALDX(x1, c0, acc1);
-        acc2 = __SMLALDX(x3, c0, acc2);
-        acc3 = __SMLALDX(x2, c0, acc3);
-      }
-
-      if(k == 3u)
-      {
-        /* Read y[srcBLen - 5], y[srcBLen - 6] */
-        c0 = _SIMD32_OFFSET(py);
-
-        /* Read x[7], x[8] */
-        x3 = *__SIMD32(px);
-
-        /* Read x[9] */
-        x2 = _SIMD32_OFFSET(px+1);
-
-        /* Perform the multiply-accumulates */
-        acc0 = __SMLALDX(x0, c0, acc0);
-        acc1 = __SMLALDX(x1, c0, acc1);
-        acc2 = __SMLALDX(x3, c0, acc2);
-        acc3 = __SMLALDX(x2, c0, acc3);
-
-		c0 = *(py-1);
-
-#ifdef  ARM_MATH_BIG_ENDIAN
-
-        c0 = c0 << 16u;
-#else
-
-        c0 = c0 & 0x0000FFFF;
-#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */
-
-        /* Read x[10] */
-        x3 =  _SIMD32_OFFSET(px+2);
-		px += 3u;
-
-        /* Perform the multiply-accumulates */
-        acc0 = __SMLALDX(x1, c0, acc0);
-        acc1 = __SMLALD(x2, c0, acc1);
-        acc2 = __SMLALDX(x2, c0, acc2);
-        acc3 = __SMLALDX(x3, c0, acc3);
-      }
-
-
-      /* Store the results in the accumulators in the destination buffer. */
-
-#ifndef  ARM_MATH_BIG_ENDIAN
-
-      *__SIMD32(pOut)++ =
-        __PKHBT(__SSAT((acc0 >> 15), 16), __SSAT((acc1 >> 15), 16), 16);
-      *__SIMD32(pOut)++ =
-        __PKHBT(__SSAT((acc2 >> 15), 16), __SSAT((acc3 >> 15), 16), 16);
-
-#else
-
-      *__SIMD32(pOut)++ =
-        __PKHBT(__SSAT((acc1 >> 15), 16), __SSAT((acc0 >> 15), 16), 16);
-      *__SIMD32(pOut)++ =
-        __PKHBT(__SSAT((acc3 >> 15), 16), __SSAT((acc2 >> 15), 16), 16);
-
-#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
-
-      /* Increment the pointer pIn1 index, count by 4 */
-      count += 4u;
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      px = pIn1 + count;
-      py = pSrc2;
-
-        /* Decrement the loop counter */
-        blkCnt--;
-      }
-
-      /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.   
-       ** No loop unrolling is used. */
-      blkCnt = (uint32_t) blockSize2 % 0x4u;
-  	  
-      while(blkCnt > 0u)
-      {
-        /* Accumulator is made zero for every iteration */
-        sum = 0;
-
-        /* Apply loop unrolling and compute 4 MACs simultaneously. */
-        k = srcBLen >> 2u;
-
-        /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
-         ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-        while(k > 0u)
-        {
-          /* Perform the multiply-accumulates */
-          sum += (q63_t) ((q31_t) * px++ * *py--);
-          sum += (q63_t) ((q31_t) * px++ * *py--);
-          sum += (q63_t) ((q31_t) * px++ * *py--);
-          sum += (q63_t) ((q31_t) * px++ * *py--);
-
-          /* Decrement the loop counter */
-          k--;
-        }
-
-        /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
-         ** No loop unrolling is used. */
-        k = srcBLen % 0x4u;
-
-        while(k > 0u)
-        {
-          /* Perform the multiply-accumulates */
-          sum += (q63_t) ((q31_t) * px++ * *py--);
-
-          /* Decrement the loop counter */
-          k--;
-        }
-
-        /* Store the result in the accumulator in the destination buffer. */
-        *pOut++ = (q15_t) (__SSAT(sum >> 15, 16));
-
-        /* Increment the pointer pIn1 index, count by 1 */
-        count++;
-
-        /* Update the inputA and inputB pointers for next MAC calculation */
-        px = pIn1 + count;
-        py = pSrc2;
-
-        /* Decrement the loop counter */
-        blkCnt--;
-      }
-    }
-    else
-    {
-      /* If the srcBLen is not a multiple of 4,   
-       * the blockSize2 loop cannot be unrolled by 4 */
-      blkCnt = (uint32_t) blockSize2;
-
-      while(blkCnt > 0u)
-      {
-        /* Accumulator is made zero for every iteration */
-        sum = 0;
-
-        /* srcBLen number of MACS should be performed */
-        k = srcBLen;
-
-        while(k > 0u)
-        {
-          /* Perform the multiply-accumulate */
-          sum += (q63_t) ((q31_t) * px++ * *py--);
-
-          /* Decrement the loop counter */
-          k--;
-        }
-
-        /* Store the result in the accumulator in the destination buffer. */
-        *pOut++ = (q15_t) (__SSAT(sum >> 15, 16));
-
-        /* Increment the MAC count */
-        count++;
-
-        /* Update the inputA and inputB pointers for next MAC calculation */
-        px = pIn1 + count;
-        py = pSrc2;
-  
-        /* Decrement the loop counter */
-        blkCnt--;
-      }
-    }
-
-
-    /* --------------------------   
-     * Initializations of stage3   
-     * -------------------------*/
-
-    /* sum += x[srcALen-srcBLen+1] * y[srcBLen-1] + x[srcALen-srcBLen+2] * y[srcBLen-2] +...+ x[srcALen-1] * y[1]   
-     * sum += x[srcALen-srcBLen+2] * y[srcBLen-1] + x[srcALen-srcBLen+3] * y[srcBLen-2] +...+ x[srcALen-1] * y[2]   
-     * ....   
-     * sum +=  x[srcALen-2] * y[srcBLen-1] + x[srcALen-1] * y[srcBLen-2]   
-     * sum +=  x[srcALen-1] * y[srcBLen-1]   
-     */
-
-    /* In this stage the MAC operations are decreased by 1 for every iteration.   
-       The count variable holds the number of MAC operations performed */
-    count = srcBLen - 1u;
-
-    /* Working pointer of inputA */
-    pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);
-    px = pSrc1;
-
-    /* Working pointer of inputB */
-    pSrc2 = pIn2 + (srcBLen - 1u);
-    pIn2 = pSrc2 - 1u;
-    py = pIn2;
-
-    /* -------------------   
-     * Stage3 process   
-     * ------------------*/
-
-    /* For loop unrolling by 4, this stage is divided into two. */
-    /* First part of this stage computes the MAC operations greater than 4 */
-    /* Second part of this stage computes the MAC operations less than or equal to 4 */
-
-    /* The first part of the stage starts here */
-    j = count >> 2u;
-
-    while((j > 0u) && (blockSize3 > 0))
-    {
-      /* Accumulator is made zero for every iteration */
-      sum = 0;
-
-      /* Apply loop unrolling and compute 4 MACs simultaneously. */
-      k = count >> 2u;
-
-      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
-       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-      while(k > 0u)
-      {
-        /* x[srcALen - srcBLen + 1], x[srcALen - srcBLen + 2] are multiplied   
-         * with y[srcBLen - 1], y[srcBLen - 2] respectively */
-        sum = __SMLALDX(*__SIMD32(px)++, *__SIMD32(py)--, sum);
-        /* x[srcALen - srcBLen + 3], x[srcALen - srcBLen + 4] are multiplied   
-         * with y[srcBLen - 3], y[srcBLen - 4] respectively */
-        sum = __SMLALDX(*__SIMD32(px)++, *__SIMD32(py)--, sum);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* For the next MAC operations, the pointer py is used without SIMD   
-       * So, py is incremented by 1 */
-      py = py + 1u;
-
-      /* If the count is not a multiple of 4, compute any remaining MACs here.   
-       ** No loop unrolling is used. */
-      k = count % 0x4u;
-
-      while(k > 0u)
-      {
-        /* sum += x[srcALen - srcBLen + 5] * y[srcBLen - 5] */
-        sum = __SMLALD(*px++, *py--, sum);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut++ = (q15_t) (__SSAT((sum >> 15), 16));
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      px = ++pSrc1;
-      py = pIn2;
-
-      /* Decrement the MAC count */
-      count--;
-
-      /* Decrement the loop counter */
-      blockSize3--;
-
-      j--;
-    }
-
-    /* The second part of the stage starts here */
-    /* SIMD is not used for the next MAC operations,   
-     * so pointer py is updated to read only one sample at a time */
-    py = py + 1u;
-
-    while(blockSize3 > 0)
-    {
-      /* Accumulator is made zero for every iteration */
-      sum = 0;
-
-      /* Apply loop unrolling and compute 4 MACs simultaneously. */
-      k = count;
-
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulates */
-        /* sum +=  x[srcALen-1] * y[srcBLen-1] */
-        sum = __SMLALD(*px++, *py--, sum);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut++ = (q15_t) (__SSAT((sum >> 15), 16));
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      px = ++pSrc1;
-      py = pSrc2;
-
-      /* Decrement the MAC count */
-      count--;
-
-      /* Decrement the loop counter */
-      blockSize3--;
-    }
-
-    /* set status as ARM_MATH_SUCCESS */
-    status = ARM_MATH_SUCCESS;
-  }
-
-  /* Return to application */
-  return (status);
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  q15_t *pIn1 = pSrcA;                           /* inputA pointer */
-  q15_t *pIn2 = pSrcB;                           /* inputB pointer */
-  q63_t sum;                                     /* Accumulator */
-  uint32_t i, j;                                 /* loop counters */
-  arm_status status;                             /* status of Partial convolution */
-
-  /* Check for range of output samples to be calculated */
-  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))
-  {
-    /* Set status as ARM_ARGUMENT_ERROR */
-    status = ARM_MATH_ARGUMENT_ERROR;
-  }
-  else
-  {
-    /* Loop to calculate convolution for output length number of values */
-    for (i = firstIndex; i <= (firstIndex + numPoints - 1); i++)
-    {
-      /* Initialize sum with zero to carry on MAC operations */
-      sum = 0;
-
-      /* Loop to perform MAC operations according to convolution equation */
-      for (j = 0; j <= i; j++)
-      {
-        /* Check the array limitations */
-        if(((i - j) < srcBLen) && (j < srcALen))
-        {
-          /* z[i] += x[i-j] * y[j] */
-          sum += ((q31_t) pIn1[j] * (pIn2[i - j]));
-        }
-      }
-
-      /* Store the output in the destination buffer */
-      pDst[i] = (q15_t) __SSAT((sum >> 15u), 16u);
-    }
-    /* set status as ARM_SUCCESS as there are no argument errors */
-    status = ARM_MATH_SUCCESS;
-  }
-  return (status);
-
-#endif /* #if (defined(ARM_MATH_CM4) || defined(ARM_MATH_CM3)) && !defined(UNALIGNED_SUPPORT_DISABLE)  */
-
-}
-
-/**   
- * @} end of PartialConv group   
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q31.c
deleted file mode 100644
index 16a060648..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q31.c
+++ /dev/null
@@ -1,599 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_conv_partial_q31.c    
-*    
-* Description:	Partial convolution of Q31 sequences.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*  
-* Version 1.0.11 2011/10/18  
-*    Bug Fix in conv, correlation, partial convolution.  
-* 
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-*    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup PartialConv    
- * @{    
- */
-
-/**    
- * @brief Partial convolution of Q31 sequences.    
- * @param[in]       *pSrcA points to the first input sequence.    
- * @param[in]       srcALen length of the first input sequence.    
- * @param[in]       *pSrcB points to the second input sequence.    
- * @param[in]       srcBLen length of the second input sequence.    
- * @param[out]      *pDst points to the location where the output result is written.    
- * @param[in]       firstIndex is the first output sample to start with.    
- * @param[in]       numPoints is the number of output points to be computed.    
- * @return Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].    
- *    
- * See arm_conv_partial_fast_q31() for a faster but less precise implementation of this function for Cortex-M3 and Cortex-M4.    
- */
-
-arm_status arm_conv_partial_q31(
-  q31_t * pSrcA,
-  uint32_t srcALen,
-  q31_t * pSrcB,
-  uint32_t srcBLen,
-  q31_t * pDst,
-  uint32_t firstIndex,
-  uint32_t numPoints)
-{
-
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  q31_t *pIn1;                                   /* inputA pointer               */
-  q31_t *pIn2;                                   /* inputB pointer               */
-  q31_t *pOut = pDst;                            /* output pointer               */
-  q31_t *px;                                     /* Intermediate inputA pointer  */
-  q31_t *py;                                     /* Intermediate inputB pointer  */
-  q31_t *pSrc1, *pSrc2;                          /* Intermediate pointers        */
-  q63_t sum, acc0, acc1, acc2;                   /* Accumulator                  */
-  q31_t x0, x1, x2, c0;
-  uint32_t j, k, count, check, blkCnt;
-  int32_t blockSize1, blockSize2, blockSize3;    /* loop counter                 */
-  arm_status status;                             /* status of Partial convolution */
-
-
-  /* Check for range of output samples to be calculated */
-  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))
-  {
-    /* Set status as ARM_MATH_ARGUMENT_ERROR */
-    status = ARM_MATH_ARGUMENT_ERROR;
-  }
-  else
-  {
-
-    /* The algorithm implementation is based on the lengths of the inputs. */
-    /* srcB is always made to slide across srcA. */
-    /* So srcBLen is always considered as shorter or equal to srcALen */
-    if(srcALen >= srcBLen)
-    {
-      /* Initialization of inputA pointer */
-      pIn1 = pSrcA;
-
-      /* Initialization of inputB pointer */
-      pIn2 = pSrcB;
-    }
-    else
-    {
-      /* Initialization of inputA pointer */
-      pIn1 = pSrcB;
-
-      /* Initialization of inputB pointer */
-      pIn2 = pSrcA;
-
-      /* srcBLen is always considered as shorter or equal to srcALen */
-      j = srcBLen;
-      srcBLen = srcALen;
-      srcALen = j;
-    }
-
-    /* Conditions to check which loopCounter holds    
-     * the first and last indices of the output samples to be calculated. */
-    check = firstIndex + numPoints;
-    blockSize3 = ((int32_t) check - (int32_t) srcALen);
-    blockSize3 = (blockSize3 > 0) ? blockSize3 : 0;
-    blockSize1 = (((int32_t) srcBLen - 1) - (int32_t) firstIndex);
-    blockSize1 = (blockSize1 > 0) ? ((check > (srcBLen - 1u)) ? blockSize1 :
-                                     (int32_t) numPoints) : 0;
-    blockSize2 = (int32_t) check - ((blockSize3 + blockSize1) +
-                                    (int32_t) firstIndex);
-    blockSize2 = (blockSize2 > 0) ? blockSize2 : 0;
-
-    /* conv(x,y) at n = x[n] * y[0] + x[n-1] * y[1] + x[n-2] * y[2] + ...+ x[n-N+1] * y[N -1] */
-    /* The function is internally    
-     * divided into three stages according to the number of multiplications that has to be    
-     * taken place between inputA samples and inputB samples. In the first stage of the    
-     * algorithm, the multiplications increase by one for every iteration.    
-     * In the second stage of the algorithm, srcBLen number of multiplications are done.    
-     * In the third stage of the algorithm, the multiplications decrease by one    
-     * for every iteration. */
-
-    /* Set the output pointer to point to the firstIndex    
-     * of the output sample to be calculated. */
-    pOut = pDst + firstIndex;
-
-    /* --------------------------    
-     * Initializations of stage1    
-     * -------------------------*/
-
-    /* sum = x[0] * y[0]    
-     * sum = x[0] * y[1] + x[1] * y[0]    
-     * ....    
-     * sum = x[0] * y[srcBlen - 1] + x[1] * y[srcBlen - 2] +...+ x[srcBLen - 1] * y[0]    
-     */
-
-    /* In this stage the MAC operations are increased by 1 for every iteration.    
-       The count variable holds the number of MAC operations performed.    
-       Since the partial convolution starts from firstIndex    
-       Number of Macs to be performed is firstIndex + 1 */
-    count = 1u + firstIndex;
-
-    /* Working pointer of inputA */
-    px = pIn1;
-
-    /* Working pointer of inputB */
-    pSrc2 = pIn2 + firstIndex;
-    py = pSrc2;
-
-    /* ------------------------    
-     * Stage1 process    
-     * ----------------------*/
-
-    /* The first loop starts here */
-    while(blockSize1 > 0)
-    {
-      /* Accumulator is made zero for every iteration */
-      sum = 0;
-
-      /* Apply loop unrolling and compute 4 MACs simultaneously. */
-      k = count >> 2u;
-
-      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
-       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-      while(k > 0u)
-      {
-        /* x[0] * y[srcBLen - 1] */
-        sum += (q63_t) * px++ * (*py--);
-        /* x[1] * y[srcBLen - 2] */
-        sum += (q63_t) * px++ * (*py--);
-        /* x[2] * y[srcBLen - 3] */
-        sum += (q63_t) * px++ * (*py--);
-        /* x[3] * y[srcBLen - 4] */
-        sum += (q63_t) * px++ * (*py--);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* If the count is not a multiple of 4, compute any remaining MACs here.    
-       ** No loop unrolling is used. */
-      k = count % 0x4u;
-
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulate */
-        sum += (q63_t) * px++ * (*py--);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut++ = (q31_t) (sum >> 31);
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      py = ++pSrc2;
-      px = pIn1;
-
-      /* Increment the MAC count */
-      count++;
-
-      /* Decrement the loop counter */
-      blockSize1--;
-    }
-
-    /* --------------------------    
-     * Initializations of stage2    
-     * ------------------------*/
-
-    /* sum = x[0] * y[srcBLen-1] + x[1] * y[srcBLen-2] +...+ x[srcBLen-1] * y[0]    
-     * sum = x[1] * y[srcBLen-1] + x[2] * y[srcBLen-2] +...+ x[srcBLen] * y[0]    
-     * ....    
-     * sum = x[srcALen-srcBLen-2] * y[srcBLen-1] + x[srcALen] * y[srcBLen-2] +...+ x[srcALen-1] * y[0]    
-     */
-
-    /* Working pointer of inputA */
-    px = pIn1;
-
-    /* Working pointer of inputB */
-    pSrc2 = pIn2 + (srcBLen - 1u);
-    py = pSrc2;
-
-    /* count is index by which the pointer pIn1 to be incremented */
-    count = 0u;
-
-    /* -------------------    
-     * Stage2 process    
-     * ------------------*/
-
-    /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.    
-     * So, to loop unroll over blockSize2,    
-     * srcBLen should be greater than or equal to 4 */
-    if(srcBLen >= 4u)
-    {
-      /* Loop unroll over blkCnt */
-
-      blkCnt = blockSize2 / 3;
-      while(blkCnt > 0u)
-      {
-        /* Set all accumulators to zero */
-        acc0 = 0;
-        acc1 = 0;
-        acc2 = 0;
-
-        /* read x[0], x[1] samples */
-        x0 = *(px++);
-        x1 = *(px++);
-
-        /* Apply loop unrolling and compute 3 MACs simultaneously. */
-        k = srcBLen / 3;
-
-        /* First part of the processing with loop unrolling.  Compute 3 MACs at a time.        
-         ** a second loop below computes MACs for the remaining 1 to 2 samples. */
-        do
-        {
-          /* Read y[srcBLen - 1] sample */
-          c0 = *(py);
-
-          /* Read x[2] sample */
-          x2 = *(px);
-
-          /* Perform the multiply-accumulates */
-          /* acc0 +=  x[0] * y[srcBLen - 1] */
-          acc0 += (q63_t) x0 *c0;
-          /* acc1 +=  x[1] * y[srcBLen - 1] */
-          acc1 += (q63_t) x1 *c0;
-          /* acc2 +=  x[2] * y[srcBLen - 1] */
-          acc2 += (q63_t) x2 *c0;
-
-          /* Read y[srcBLen - 2] sample */
-          c0 = *(py - 1u);
-
-          /* Read x[3] sample */
-          x0 = *(px + 1u);
-
-          /* Perform the multiply-accumulate */
-          /* acc0 +=  x[1] * y[srcBLen - 2] */
-          acc0 += (q63_t) x1 *c0;
-          /* acc1 +=  x[2] * y[srcBLen - 2] */
-          acc1 += (q63_t) x2 *c0;
-          /* acc2 +=  x[3] * y[srcBLen - 2] */
-          acc2 += (q63_t) x0 *c0;
-
-          /* Read y[srcBLen - 3] sample */
-          c0 = *(py - 2u);
-
-          /* Read x[4] sample */
-          x1 = *(px + 2u);
-
-          /* Perform the multiply-accumulates */
-          /* acc0 +=  x[2] * y[srcBLen - 3] */
-          acc0 += (q63_t) x2 *c0;
-          /* acc1 +=  x[3] * y[srcBLen - 2] */
-          acc1 += (q63_t) x0 *c0;
-          /* acc2 +=  x[4] * y[srcBLen - 2] */
-          acc2 += (q63_t) x1 *c0;
-
-
-          px += 3u;
-
-          py -= 3u;
-
-        } while(--k);
-
-        /* If the srcBLen is not a multiple of 3, compute any remaining MACs here.        
-         ** No loop unrolling is used. */
-        k = srcBLen - (3 * (srcBLen / 3));
-
-        while(k > 0u)
-        {
-          /* Read y[srcBLen - 5] sample */
-          c0 = *(py--);
-
-          /* Read x[7] sample */
-          x2 = *(px++);
-
-          /* Perform the multiply-accumulates */
-          /* acc0 +=  x[4] * y[srcBLen - 5] */
-          acc0 += (q63_t) x0 *c0;
-          /* acc1 +=  x[5] * y[srcBLen - 5] */
-          acc1 += (q63_t) x1 *c0;
-          /* acc2 +=  x[6] * y[srcBLen - 5] */
-          acc2 += (q63_t) x2 *c0;
-
-          /* Reuse the present samples for the next MAC */
-          x0 = x1;
-          x1 = x2;
-
-          /* Decrement the loop counter */
-          k--;
-        }
-
-        /* Store the result in the accumulator in the destination buffer. */
-        *pOut++ = (q31_t) (acc0 >> 31);
-        *pOut++ = (q31_t) (acc1 >> 31);
-        *pOut++ = (q31_t) (acc2 >> 31);
-
-        /* Increment the pointer pIn1 index, count by 3 */
-        count += 3u;
-
-        /* Update the inputA and inputB pointers for next MAC calculation */
-        px = pIn1 + count;
-        py = pSrc2;
-
-        /* Decrement the loop counter */
-        blkCnt--;
-      }
-
-      /* If the blockSize2 is not a multiple of 3, compute any remaining output samples here.        
-       ** No loop unrolling is used. */
-      blkCnt = blockSize2 - 3 * (blockSize2 / 3);
-
-      while(blkCnt > 0u)
-      {
-        /* Accumulator is made zero for every iteration */
-        sum = 0;
-
-        /* Apply loop unrolling and compute 4 MACs simultaneously. */
-        k = srcBLen >> 2u;
-
-        /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
-         ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-        while(k > 0u)
-        {
-          /* Perform the multiply-accumulates */
-          sum += (q63_t) * px++ * (*py--);
-          sum += (q63_t) * px++ * (*py--);
-          sum += (q63_t) * px++ * (*py--);
-          sum += (q63_t) * px++ * (*py--);
-
-          /* Decrement the loop counter */
-          k--;
-        }
-
-        /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.    
-         ** No loop unrolling is used. */
-        k = srcBLen % 0x4u;
-
-        while(k > 0u)
-        {
-          /* Perform the multiply-accumulate */
-          sum += (q63_t) * px++ * (*py--);
-
-          /* Decrement the loop counter */
-          k--;
-        }
-
-        /* Store the result in the accumulator in the destination buffer. */
-        *pOut++ = (q31_t) (sum >> 31);
-
-        /* Increment the MAC count */
-        count++;
-
-        /* Update the inputA and inputB pointers for next MAC calculation */
-        px = pIn1 + count;
-        py = pSrc2;
-
-        /* Decrement the loop counter */
-        blkCnt--;
-      }
-    }
-    else
-    {
-      /* If the srcBLen is not a multiple of 4,    
-       * the blockSize2 loop cannot be unrolled by 4 */
-      blkCnt = (uint32_t) blockSize2;
-
-      while(blkCnt > 0u)
-      {
-        /* Accumulator is made zero for every iteration */
-        sum = 0;
-
-        /* srcBLen number of MACS should be performed */
-        k = srcBLen;
-
-        while(k > 0u)
-        {
-          /* Perform the multiply-accumulate */
-          sum += (q63_t) * px++ * (*py--);
-
-          /* Decrement the loop counter */
-          k--;
-        }
-
-        /* Store the result in the accumulator in the destination buffer. */
-        *pOut++ = (q31_t) (sum >> 31);
-
-        /* Increment the MAC count */
-        count++;
-
-        /* Update the inputA and inputB pointers for next MAC calculation */
-        px = pIn1 + count;
-        py = pSrc2;
-
-        /* Decrement the loop counter */
-        blkCnt--;
-      }
-    }
-
-
-    /* --------------------------    
-     * Initializations of stage3    
-     * -------------------------*/
-
-    /* sum += x[srcALen-srcBLen+1] * y[srcBLen-1] + x[srcALen-srcBLen+2] * y[srcBLen-2] +...+ x[srcALen-1] * y[1]    
-     * sum += x[srcALen-srcBLen+2] * y[srcBLen-1] + x[srcALen-srcBLen+3] * y[srcBLen-2] +...+ x[srcALen-1] * y[2]    
-     * ....    
-     * sum +=  x[srcALen-2] * y[srcBLen-1] + x[srcALen-1] * y[srcBLen-2]    
-     * sum +=  x[srcALen-1] * y[srcBLen-1]    
-     */
-
-    /* In this stage the MAC operations are decreased by 1 for every iteration.    
-       The blockSize3 variable holds the number of MAC operations performed */
-    count = srcBLen - 1u;
-
-    /* Working pointer of inputA */
-    pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);
-    px = pSrc1;
-
-    /* Working pointer of inputB */
-    pSrc2 = pIn2 + (srcBLen - 1u);
-    py = pSrc2;
-
-    /* -------------------    
-     * Stage3 process    
-     * ------------------*/
-
-    while(blockSize3 > 0)
-    {
-      /* Accumulator is made zero for every iteration */
-      sum = 0;
-
-      /* Apply loop unrolling and compute 4 MACs simultaneously. */
-      k = count >> 2u;
-
-      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
-       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-      while(k > 0u)
-      {
-        sum += (q63_t) * px++ * (*py--);
-        sum += (q63_t) * px++ * (*py--);
-        sum += (q63_t) * px++ * (*py--);
-        sum += (q63_t) * px++ * (*py--);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* If the blockSize3 is not a multiple of 4, compute any remaining MACs here.    
-       ** No loop unrolling is used. */
-      k = count % 0x4u;
-
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulate */
-        sum += (q63_t) * px++ * (*py--);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut++ = (q31_t) (sum >> 31);
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      px = ++pSrc1;
-      py = pSrc2;
-
-      /* Decrement the MAC count */
-      count--;
-
-      /* Decrement the loop counter */
-      blockSize3--;
-
-    }
-
-    /* set status as ARM_MATH_SUCCESS */
-    status = ARM_MATH_SUCCESS;
-  }
-
-  /* Return to application */
-  return (status);
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  q31_t *pIn1 = pSrcA;                           /* inputA pointer */
-  q31_t *pIn2 = pSrcB;                           /* inputB pointer */
-  q63_t sum;                                     /* Accumulator */
-  uint32_t i, j;                                 /* loop counters */
-  arm_status status;                             /* status of Partial convolution */
-
-  /* Check for range of output samples to be calculated */
-  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))
-  {
-    /* Set status as ARM_ARGUMENT_ERROR */
-    status = ARM_MATH_ARGUMENT_ERROR;
-  }
-  else
-  {
-    /* Loop to calculate convolution for output length number of values */
-    for (i = firstIndex; i <= (firstIndex + numPoints - 1); i++)
-    {
-      /* Initialize sum with zero to carry on MAC operations */
-      sum = 0;
-
-      /* Loop to perform MAC operations according to convolution equation */
-      for (j = 0; j <= i; j++)
-      {
-        /* Check the array limitations */
-        if(((i - j) < srcBLen) && (j < srcALen))
-        {
-          /* z[i] += x[i-j] * y[j] */
-          sum += ((q63_t) pIn1[j] * (pIn2[i - j]));
-        }
-      }
-
-      /* Store the output in the destination buffer */
-      pDst[i] = (q31_t) (sum >> 31u);
-    }
-    /* set status as ARM_SUCCESS as there are no argument errors */
-    status = ARM_MATH_SUCCESS;
-  }
-  return (status);
-
-#endif /*    #ifndef ARM_MATH_CM0      */
-
-}
-
-/**    
- * @} end of PartialConv group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q7.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q7.c
deleted file mode 100644
index ed205838e..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q7.c
+++ /dev/null
@@ -1,733 +0,0 @@
-/* ----------------------------------------------------------------------   
-* Copyright (C) 2010 ARM Limited. All rights reserved.   
-*   
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*   
-* Project: 	    CMSIS DSP Library   
-* Title:		arm_conv_partial_q7.c   
-*   
-* Description:	Partial convolution of Q7 sequences.   
-*   
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*  
-* Version 1.0.11 2011/10/18 
-*    Bug Fix in conv, correlation, partial convolution. 
-*
-* Version 1.0.10 2011/7/15 
-*    Big Endian support added and Merged M0 and M3/M4 Source code.  
-*   
-* Version 1.0.3 2010/11/29  
-*    Re-organized the CMSIS folders and updated documentation.   
-*    
-* Version 1.0.2 2010/11/11   
-*    Documentation updated.    
-*   
-* Version 1.0.1 2010/10/05    
-*    Production release and review comments incorporated.   
-*   
-* Version 1.0.0 2010/09/20    
-*    Production release and review comments incorporated   
-*   
-* Version 0.0.7  2010/06/10    
-*    Misra-C changes done   
-*   
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**   
- * @ingroup groupFilters   
- */
-
-/**   
- * @addtogroup PartialConv   
- * @{   
- */
-
-/**   
- * @brief Partial convolution of Q7 sequences.   
- * @param[in]       *pSrcA points to the first input sequence.   
- * @param[in]       srcALen length of the first input sequence.   
- * @param[in]       *pSrcB points to the second input sequence.   
- * @param[in]       srcBLen length of the second input sequence.   
- * @param[out]      *pDst points to the location where the output result is written.   
- * @param[in]       firstIndex is the first output sample to start with.   
- * @param[in]       numPoints is the number of output points to be computed.   
- * @return  Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].   
- *  
- * \par    
- * Refer the function arm_conv_partial_opt_q7() for a faster implementation of this function.
- *  
- */
-
-arm_status arm_conv_partial_q7(
-  q7_t * pSrcA,
-  uint32_t srcALen,
-  q7_t * pSrcB,
-  uint32_t srcBLen,
-  q7_t * pDst,
-  uint32_t firstIndex,
-  uint32_t numPoints)
-{
-
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  q7_t *pIn1;                                    /* inputA pointer */
-  q7_t *pIn2;                                    /* inputB pointer */
-  q7_t *pOut = pDst;                             /* output pointer */
-  q7_t *px;                                      /* Intermediate inputA pointer */
-  q7_t *py;                                      /* Intermediate inputB pointer */
-  q7_t *pSrc1, *pSrc2;                           /* Intermediate pointers */
-  q31_t sum, acc0, acc1, acc2, acc3;             /* Accumulator */
-  q31_t input1, input2;
-  q15_t in1, in2;
-  q7_t x0, x1, x2, x3, c0, c1;
-  uint32_t j, k, count, check, blkCnt;
-  int32_t blockSize1, blockSize2, blockSize3;    /* loop counter */
-  arm_status status;
-
-
-  /* Check for range of output samples to be calculated */
-  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))
-  {
-    /* Set status as ARM_MATH_ARGUMENT_ERROR */
-    status = ARM_MATH_ARGUMENT_ERROR;
-  }
-  else
-  {
-
-    /* The algorithm implementation is based on the lengths of the inputs. */
-    /* srcB is always made to slide across srcA. */
-    /* So srcBLen is always considered as shorter or equal to srcALen */
-    if(srcALen >= srcBLen)
-    {
-      /* Initialization of inputA pointer */
-      pIn1 = pSrcA;
-
-      /* Initialization of inputB pointer */
-      pIn2 = pSrcB;
-    }
-    else
-    {
-      /* Initialization of inputA pointer */
-      pIn1 = pSrcB;
-
-      /* Initialization of inputB pointer */
-      pIn2 = pSrcA;
-
-      /* srcBLen is always considered as shorter or equal to srcALen */
-      j = srcBLen;
-      srcBLen = srcALen;
-      srcALen = j;
-    }
-
-    /* Conditions to check which loopCounter holds   
-     * the first and last indices of the output samples to be calculated. */
-    check = firstIndex + numPoints;
-    blockSize3 = ((int32_t) check - (int32_t) srcALen);
-    blockSize3 = (blockSize3 > 0) ? blockSize3 : 0;
-    blockSize1 = (((int32_t) srcBLen - 1) - (int32_t) firstIndex);
-    blockSize1 = (blockSize1 > 0) ? ((check > (srcBLen - 1u)) ? blockSize1 :
-                                     (int32_t) numPoints) : 0;
-    blockSize2 = (int32_t) check - ((blockSize3 + blockSize1) +
-                                    (int32_t) firstIndex);
-    blockSize2 = (blockSize2 > 0) ? blockSize2 : 0;
-
-    /* conv(x,y) at n = x[n] * y[0] + x[n-1] * y[1] + x[n-2] * y[2] + ...+ x[n-N+1] * y[N -1] */
-    /* The function is internally   
-     * divided into three stages according to the number of multiplications that has to be   
-     * taken place between inputA samples and inputB samples. In the first stage of the   
-     * algorithm, the multiplications increase by one for every iteration.   
-     * In the second stage of the algorithm, srcBLen number of multiplications are done.   
-     * In the third stage of the algorithm, the multiplications decrease by one   
-     * for every iteration. */
-
-    /* Set the output pointer to point to the firstIndex   
-     * of the output sample to be calculated. */
-    pOut = pDst + firstIndex;
-
-    /* --------------------------   
-     * Initializations of stage1   
-     * -------------------------*/
-
-    /* sum = x[0] * y[0]   
-     * sum = x[0] * y[1] + x[1] * y[0]   
-     * ....   
-     * sum = x[0] * y[srcBlen - 1] + x[1] * y[srcBlen - 2] +...+ x[srcBLen - 1] * y[0]   
-     */
-
-    /* In this stage the MAC operations are increased by 1 for every iteration.   
-       The count variable holds the number of MAC operations performed.   
-       Since the partial convolution starts from from firstIndex   
-       Number of Macs to be performed is firstIndex + 1 */
-    count = 1u + firstIndex;
-
-    /* Working pointer of inputA */
-    px = pIn1;
-
-    /* Working pointer of inputB */
-    pSrc2 = pIn2 + firstIndex;
-    py = pSrc2;
-
-    /* ------------------------   
-     * Stage1 process   
-     * ----------------------*/
-
-    /* The first stage starts here */
-    while(blockSize1 > 0)
-    {
-      /* Accumulator is made zero for every iteration */
-      sum = 0;
-
-      /* Apply loop unrolling and compute 4 MACs simultaneously. */
-      k = count >> 2u;
-
-      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
-       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-      while(k > 0u)
-      {
-        /* x[0] , x[1] */
-        in1 = (q15_t) * px++;
-        in2 = (q15_t) * px++;
-        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
-
-        /* y[srcBLen - 1] , y[srcBLen - 2] */
-        in1 = (q15_t) * py--;
-        in2 = (q15_t) * py--;
-        input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
-
-        /* x[0] * y[srcBLen - 1] */
-        /* x[1] * y[srcBLen - 2] */
-        sum = __SMLAD(input1, input2, sum);
-
-        /* x[2] , x[3] */
-        in1 = (q15_t) * px++;
-        in2 = (q15_t) * px++;
-        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
-
-        /* y[srcBLen - 3] , y[srcBLen - 4] */
-        in1 = (q15_t) * py--;
-        in2 = (q15_t) * py--;
-        input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
-
-        /* x[2] * y[srcBLen - 3] */
-        /* x[3] * y[srcBLen - 4] */
-        sum = __SMLAD(input1, input2, sum);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* If the count is not a multiple of 4, compute any remaining MACs here.   
-       ** No loop unrolling is used. */
-      k = count % 0x4u;
-
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulates */
-        sum += ((q31_t) * px++ * *py--);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut++ = (q7_t) (__SSAT(sum >> 7, 8));
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      py = ++pSrc2;
-      px = pIn1;
-
-      /* Increment the MAC count */
-      count++;
-
-      /* Decrement the loop counter */
-      blockSize1--;
-    }
-
-    /* --------------------------   
-     * Initializations of stage2   
-     * ------------------------*/
-
-    /* sum = x[0] * y[srcBLen-1] + x[1] * y[srcBLen-2] +...+ x[srcBLen-1] * y[0]   
-     * sum = x[1] * y[srcBLen-1] + x[2] * y[srcBLen-2] +...+ x[srcBLen] * y[0]   
-     * ....   
-     * sum = x[srcALen-srcBLen-2] * y[srcBLen-1] + x[srcALen] * y[srcBLen-2] +...+ x[srcALen-1] * y[0]   
-     */
-
-    /* Working pointer of inputA */
-    px = pIn1;
-
-    /* Working pointer of inputB */
-    pSrc2 = pIn2 + (srcBLen - 1u);
-    py = pSrc2;
-
-    /* count is index by which the pointer pIn1 to be incremented */
-    count = 0u;
-
-    /* -------------------   
-     * Stage2 process   
-     * ------------------*/
-
-    /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.   
-     * So, to loop unroll over blockSize2,   
-     * srcBLen should be greater than or equal to 4 */
-    if(srcBLen >= 4u)
-    {
-      /* Loop unroll over blockSize2, by 4 */
-      blkCnt = ((uint32_t) blockSize2 >> 2u);
-
-      while(blkCnt > 0u)
-      {
-        /* Set all accumulators to zero */
-        acc0 = 0;
-        acc1 = 0;
-        acc2 = 0;
-        acc3 = 0;
-
-        /* read x[0], x[1], x[2] samples */
-        x0 = *(px++);
-        x1 = *(px++);
-        x2 = *(px++);
-
-        /* Apply loop unrolling and compute 4 MACs simultaneously. */
-        k = srcBLen >> 2u;
-
-        /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
-         ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-        do
-        {
-          /* Read y[srcBLen - 1] sample */
-          c0 = *(py--);
-          /* Read y[srcBLen - 2] sample */
-          c1 = *(py--);
-
-          /* Read x[3] sample */
-          x3 = *(px++);
-
-          /* x[0] and x[1] are packed */
-          in1 = (q15_t) x0;
-          in2 = (q15_t) x1;
-
-          input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
-
-          /* y[srcBLen - 1]   and y[srcBLen - 2] are packed */
-          in1 = (q15_t) c0;
-          in2 = (q15_t) c1;
-
-          input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
-
-          /* acc0 += x[0] * y[srcBLen - 1] + x[1] * y[srcBLen - 2]  */
-          acc0 = __SMLAD(input1, input2, acc0);
-
-          /* x[1] and x[2] are packed */
-          in1 = (q15_t) x1;
-          in2 = (q15_t) x2;
-
-          input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
-
-          /* acc1 += x[1] * y[srcBLen - 1] + x[2] * y[srcBLen - 2]  */
-          acc1 = __SMLAD(input1, input2, acc1);
-
-          /* x[2] and x[3] are packed */
-          in1 = (q15_t) x2;
-          in2 = (q15_t) x3;
-
-          input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
-
-          /* acc2 += x[2] * y[srcBLen - 1] + x[3] * y[srcBLen - 2]  */
-          acc2 = __SMLAD(input1, input2, acc2);
-
-          /* Read x[4] sample */
-          x0 = *(px++);
-
-          /* x[3] and x[4] are packed */
-          in1 = (q15_t) x3;
-          in2 = (q15_t) x0;
-
-          input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
-
-          /* acc3 += x[3] * y[srcBLen - 1] + x[4] * y[srcBLen - 2]  */
-          acc3 = __SMLAD(input1, input2, acc3);
-
-          /* Read y[srcBLen - 3] sample */
-          c0 = *(py--);
-          /* Read y[srcBLen - 4] sample */
-          c1 = *(py--);
-
-          /* Read x[5] sample */
-          x1 = *(px++);
-
-          /* x[2] and x[3] are packed */
-          in1 = (q15_t) x2;
-          in2 = (q15_t) x3;
-
-          input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
-
-          /* y[srcBLen - 3] and y[srcBLen - 4] are packed */
-          in1 = (q15_t) c0;
-          in2 = (q15_t) c1;
-
-          input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
-
-          /* acc0 += x[2] * y[srcBLen - 3] + x[3] * y[srcBLen - 4]  */
-          acc0 = __SMLAD(input1, input2, acc0);
-
-          /* x[3] and x[4] are packed */
-          in1 = (q15_t) x3;
-          in2 = (q15_t) x0;
-
-          input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
-
-          /* acc1 += x[3] * y[srcBLen - 3] + x[4] * y[srcBLen - 4]  */
-          acc1 = __SMLAD(input1, input2, acc1);
-
-          /* x[4] and x[5] are packed */
-          in1 = (q15_t) x0;
-          in2 = (q15_t) x1;
-
-          input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
-
-          /* acc2 += x[4] * y[srcBLen - 3] + x[5] * y[srcBLen - 4]  */
-          acc2 = __SMLAD(input1, input2, acc2);
-
-          /* Read x[6] sample */
-          x2 = *(px++);
-
-          /* x[5] and x[6] are packed */
-          in1 = (q15_t) x1;
-          in2 = (q15_t) x2;
-
-          input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
-
-          /* acc3 += x[5] * y[srcBLen - 3] + x[6] * y[srcBLen - 4]  */
-          acc3 = __SMLAD(input1, input2, acc3);
-
-        } while(--k);
-
-        /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
-         ** No loop unrolling is used. */
-        k = srcBLen % 0x4u;
-
-        while(k > 0u)
-        {
-          /* Read y[srcBLen - 5] sample */
-          c0 = *(py--);
-
-          /* Read x[7] sample */
-          x3 = *(px++);
-
-          /* Perform the multiply-accumulates */
-          /* acc0 +=  x[4] * y[srcBLen - 5] */
-          acc0 += ((q31_t) x0 * c0);
-          /* acc1 +=  x[5] * y[srcBLen - 5] */
-          acc1 += ((q31_t) x1 * c0);
-          /* acc2 +=  x[6] * y[srcBLen - 5] */
-          acc2 += ((q31_t) x2 * c0);
-          /* acc3 +=  x[7] * y[srcBLen - 5] */
-          acc3 += ((q31_t) x3 * c0);
-
-          /* Reuse the present samples for the next MAC */
-          x0 = x1;
-          x1 = x2;
-          x2 = x3;
-
-          /* Decrement the loop counter */
-          k--;
-        }
-
-        /* Store the result in the accumulator in the destination buffer. */
-        *pOut++ = (q7_t) (__SSAT(acc0 >> 7, 8));
-        *pOut++ = (q7_t) (__SSAT(acc1 >> 7, 8));
-        *pOut++ = (q7_t) (__SSAT(acc2 >> 7, 8));
-        *pOut++ = (q7_t) (__SSAT(acc3 >> 7, 8));
-
-        /* Increment the pointer pIn1 index, count by 4 */
-        count += 4u;
-
-        /* Update the inputA and inputB pointers for next MAC calculation */
-        px = pIn1 + count;
-        py = pSrc2;
-
-
-        /* Decrement the loop counter */
-        blkCnt--;
-      }
-
-      /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.   
-       ** No loop unrolling is used. */
-      blkCnt = (uint32_t) blockSize2 % 0x4u;
-
-      while(blkCnt > 0u)
-      {
-        /* Accumulator is made zero for every iteration */
-        sum = 0;
-
-        /* Apply loop unrolling and compute 4 MACs simultaneously. */
-        k = srcBLen >> 2u;
-
-        /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
-         ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-        while(k > 0u)
-        {
-
-          /* Reading two inputs of SrcA buffer and packing */
-          in1 = (q15_t) * px++;
-          in2 = (q15_t) * px++;
-          input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
-
-          /* Reading two inputs of SrcB buffer and packing */
-          in1 = (q15_t) * py--;
-          in2 = (q15_t) * py--;
-          input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
-
-          /* Perform the multiply-accumulates */
-          sum = __SMLAD(input1, input2, sum);
-
-          /* Reading two inputs of SrcA buffer and packing */
-          in1 = (q15_t) * px++;
-          in2 = (q15_t) * px++;
-          input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
-
-          /* Reading two inputs of SrcB buffer and packing */
-          in1 = (q15_t) * py--;
-          in2 = (q15_t) * py--;
-          input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
-
-          /* Perform the multiply-accumulates */
-          sum = __SMLAD(input1, input2, sum);
-
-          /* Decrement the loop counter */
-          k--;
-        }
-
-        /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
-         ** No loop unrolling is used. */
-        k = srcBLen % 0x4u;
-
-        while(k > 0u)
-        {
-          /* Perform the multiply-accumulates */
-          sum += ((q31_t) * px++ * *py--);
-
-          /* Decrement the loop counter */
-          k--;
-        }
-
-        /* Store the result in the accumulator in the destination buffer. */
-        *pOut++ = (q7_t) (__SSAT(sum >> 7, 8));
-
-        /* Increment the pointer pIn1 index, count by 1 */
- 	    count++;
-
-        /* Update the inputA and inputB pointers for next MAC calculation */
-      	px = pIn1 + count;
-        py = pSrc2;	
-
-        /* Decrement the loop counter */
-        blkCnt--;
-      }
-    }
-    else
-    {
-      /* If the srcBLen is not a multiple of 4,   
-       * the blockSize2 loop cannot be unrolled by 4 */
-      blkCnt = (uint32_t) blockSize2;
-
-      while(blkCnt > 0u)
-      {
-        /* Accumulator is made zero for every iteration */
-        sum = 0;
-
-        /* srcBLen number of MACS should be performed */
-        k = srcBLen;
-
-        while(k > 0u)
-        {
-          /* Perform the multiply-accumulate */
-          sum += ((q31_t) * px++ * *py--);
-
-          /* Decrement the loop counter */
-          k--;
-        }
-
-        /* Store the result in the accumulator in the destination buffer. */
-        *pOut++ = (q7_t) (__SSAT(sum >> 7, 8));
-
-        /* Increment the MAC count */
-        count++;
-
-        /* Update the inputA and inputB pointers for next MAC calculation */
-        px = pIn1 + count;
-        py = pSrc2;
-
-        /* Decrement the loop counter */
-        blkCnt--;
-      }
-    }
-
-
-    /* --------------------------   
-     * Initializations of stage3   
-     * -------------------------*/
-
-    /* sum += x[srcALen-srcBLen+1] * y[srcBLen-1] + x[srcALen-srcBLen+2] * y[srcBLen-2] +...+ x[srcALen-1] * y[1]   
-     * sum += x[srcALen-srcBLen+2] * y[srcBLen-1] + x[srcALen-srcBLen+3] * y[srcBLen-2] +...+ x[srcALen-1] * y[2]   
-     * ....   
-     * sum +=  x[srcALen-2] * y[srcBLen-1] + x[srcALen-1] * y[srcBLen-2]   
-     * sum +=  x[srcALen-1] * y[srcBLen-1]   
-     */
-
-    /* In this stage the MAC operations are decreased by 1 for every iteration.   
-       The count variable holds the number of MAC operations performed */
-    count = srcBLen - 1u;
-
-    /* Working pointer of inputA */
-    pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);
-    px = pSrc1;
-
-    /* Working pointer of inputB */
-    pSrc2 = pIn2 + (srcBLen - 1u);
-    py = pSrc2;
-
-    /* -------------------   
-     * Stage3 process   
-     * ------------------*/
-
-    while(blockSize3 > 0)
-    {
-      /* Accumulator is made zero for every iteration */
-      sum = 0;
-
-      /* Apply loop unrolling and compute 4 MACs simultaneously. */
-      k = count >> 2u;
-
-      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
-       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-      while(k > 0u)
-      {
-        /* Reading two inputs, x[srcALen - srcBLen + 1] and x[srcALen - srcBLen + 2] of SrcA buffer and packing */
-        in1 = (q15_t) * px++;
-        in2 = (q15_t) * px++;
-        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
-
-        /* Reading two inputs, y[srcBLen - 1] and y[srcBLen - 2] of SrcB buffer and packing */
-        in1 = (q15_t) * py--;
-        in2 = (q15_t) * py--;
-        input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
-
-        /* sum += x[srcALen - srcBLen + 1] * y[srcBLen - 1] */
-        /* sum += x[srcALen - srcBLen + 2] * y[srcBLen - 2] */
-        sum = __SMLAD(input1, input2, sum);
-
-        /* Reading two inputs, x[srcALen - srcBLen + 3] and x[srcALen - srcBLen + 4] of SrcA buffer and packing */
-        in1 = (q15_t) * px++;
-        in2 = (q15_t) * px++;
-        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
-
-        /* Reading two inputs, y[srcBLen - 3] and y[srcBLen - 4] of SrcB buffer and packing */
-        in1 = (q15_t) * py--;
-        in2 = (q15_t) * py--;
-        input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
-
-        /* sum += x[srcALen - srcBLen + 3] * y[srcBLen - 3] */
-        /* sum += x[srcALen - srcBLen + 4] * y[srcBLen - 4] */
-        sum = __SMLAD(input1, input2, sum);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* If the count is not a multiple of 4, compute any remaining MACs here.   
-       ** No loop unrolling is used. */
-      k = count % 0x4u;
-
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulates */
-        /* sum +=  x[srcALen-1] * y[srcBLen-1] */
-        sum += ((q31_t) * px++ * *py--);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut++ = (q7_t) (__SSAT(sum >> 7, 8));
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      px = ++pSrc1;
-      py = pSrc2;
-
-      /* Decrement the MAC count */
-      count--;
-
-      /* Decrement the loop counter */
-      blockSize3--;
-
-    }
-
-    /* set status as ARM_MATH_SUCCESS */
-    status = ARM_MATH_SUCCESS;
-  }
-
-  /* Return to application */
-  return (status);
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  q7_t *pIn1 = pSrcA;                            /* inputA pointer */
-  q7_t *pIn2 = pSrcB;                            /* inputB pointer */
-  q31_t sum;                                     /* Accumulator */
-  uint32_t i, j;                                 /* loop counters */
-  arm_status status;                             /* status of Partial convolution */
-
-  /* Check for range of output samples to be calculated */
-  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))
-  {
-    /* Set status as ARM_ARGUMENT_ERROR */
-    status = ARM_MATH_ARGUMENT_ERROR;
-  }
-  else
-  {
-    /* Loop to calculate convolution for output length number of values */
-    for (i = firstIndex; i <= (firstIndex + numPoints - 1); i++)
-    {
-      /* Initialize sum with zero to carry on MAC operations */
-      sum = 0;
-
-      /* Loop to perform MAC operations according to convolution equation */
-      for (j = 0; j <= i; j++)
-      {
-        /* Check the array limitations */
-        if(((i - j) < srcBLen) && (j < srcALen))
-        {
-          /* z[i] += x[i-j] * y[j] */
-          sum += ((q15_t) pIn1[j] * (pIn2[i - j]));
-        }
-      }
-
-      /* Store the output in the destination buffer */
-      pDst[i] = (q7_t) __SSAT((sum >> 7u), 8u);
-    }
-    /* set status as ARM_SUCCESS as there are no argument errors */
-    status = ARM_MATH_SUCCESS;
-  }
-  return (status);
-
-#endif /*  #ifndef ARM_MATH_CM0 */
-
-}
-
-/**   
- * @} end of PartialConv group   
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_q15.c
deleted file mode 100644
index 1907719e7..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_q15.c
+++ /dev/null
@@ -1,733 +0,0 @@
-/* ----------------------------------------------------------------------   
-* Copyright (C) 2010 ARM Limited. All rights reserved.   
-*   
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*   
-* Project: 	    CMSIS DSP Library   
-* Title:		arm_conv_q15.c   
-*   
-* Description:	Convolution of Q15 sequences.     
-*   
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.11 2011/10/18 
-*    Bug Fix in conv, correlation, partial convolution. 
-*
-* Version 1.0.10 2011/7/15 
-*    Big Endian support added and Merged M0 and M3/M4 Source code.  
-*   
-* Version 1.0.3 2010/11/29  
-*    Re-organized the CMSIS folders and updated documentation.   
-*    
-* Version 1.0.2 2010/11/11   
-*    Documentation updated.    
-*   
-* Version 1.0.1 2010/10/05    
-*    Production release and review comments incorporated.   
-*   
-* Version 1.0.0 2010/09/20    
-*    Production release and review comments incorporated   
-*   
-* Version 0.0.7  2010/06/10    
-*    Misra-C changes done   
-*   
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**   
- * @ingroup groupFilters   
- */
-
-/**   
- * @addtogroup Conv   
- * @{   
- */
-
-/**   
- * @brief Convolution of Q15 sequences.   
- * @param[in] *pSrcA points to the first input sequence.   
- * @param[in] srcALen length of the first input sequence.   
- * @param[in] *pSrcB points to the second input sequence.   
- * @param[in] srcBLen length of the second input sequence.   
- * @param[out] *pDst points to the location where the output result is written.  Length srcALen+srcBLen-1.   
- * @return none.   
- *   
- * @details   
- * Scaling and Overflow Behavior:   
- *   
- * \par   
- * The function is implemented using a 64-bit internal accumulator.   
- * Both inputs are in 1.15 format and multiplications yield a 2.30 result.   
- * The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format.   
- * This approach provides 33 guard bits and there is no risk of overflow.   
- * The 34.30 result is then truncated to 34.15 format by discarding the low 15 bits and then saturated to 1.15 format.   
- *   
- * \par   
- * Refer to arm_conv_fast_q15() for a faster but less precise version of this function for Cortex-M3 and Cortex-M4. 
- *
- * \par    
- * Refer the function arm_conv_opt_q15() for a faster implementation of this function using scratch buffers.
- *  
- */
-
-void arm_conv_q15(
-  q15_t * pSrcA,
-  uint32_t srcALen,
-  q15_t * pSrcB,
-  uint32_t srcBLen,
-  q15_t * pDst)
-{
-
-#if (defined(ARM_MATH_CM4) || defined(ARM_MATH_CM3)) && !defined(UNALIGNED_SUPPORT_DISABLE)
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  q15_t *pIn1;                                   /* inputA pointer */
-  q15_t *pIn2;                                   /* inputB pointer */
-  q15_t *pOut = pDst;                            /* output pointer */
-  q63_t sum, acc0, acc1, acc2, acc3;             /* Accumulator */
-  q15_t *px;                                     /* Intermediate inputA pointer  */
-  q15_t *py;                                     /* Intermediate inputB pointer  */
-  q15_t *pSrc1, *pSrc2;                          /* Intermediate pointers */
-  q31_t x0, x1, x2, x3, c0;                      /* Temporary variables to hold state and coefficient values */
-  uint32_t blockSize1, blockSize2, blockSize3, j, k, count, blkCnt;     /* loop counter */
-
-  /* The algorithm implementation is based on the lengths of the inputs. */
-  /* srcB is always made to slide across srcA. */
-  /* So srcBLen is always considered as shorter or equal to srcALen */
-  if(srcALen >= srcBLen)
-  {
-    /* Initialization of inputA pointer */
-    pIn1 = pSrcA;
-
-    /* Initialization of inputB pointer */
-    pIn2 = pSrcB;
-  }
-  else
-  {
-    /* Initialization of inputA pointer */
-    pIn1 = pSrcB;
-
-    /* Initialization of inputB pointer */
-    pIn2 = pSrcA;
-
-    /* srcBLen is always considered as shorter or equal to srcALen */
-    j = srcBLen;
-    srcBLen = srcALen;
-    srcALen = j;
-  }
-
-  /* conv(x,y) at n = x[n] * y[0] + x[n-1] * y[1] + x[n-2] * y[2] + ...+ x[n-N+1] * y[N -1] */
-  /* The function is internally   
-   * divided into three stages according to the number of multiplications that has to be   
-   * taken place between inputA samples and inputB samples. In the first stage of the   
-   * algorithm, the multiplications increase by one for every iteration.   
-   * In the second stage of the algorithm, srcBLen number of multiplications are done.   
-   * In the third stage of the algorithm, the multiplications decrease by one   
-   * for every iteration. */
-
-  /* The algorithm is implemented in three stages.   
-     The loop counters of each stage is initiated here. */
-  blockSize1 = srcBLen - 1u;
-  blockSize2 = srcALen - (srcBLen - 1u);
-
-  /* --------------------------   
-   * Initializations of stage1   
-   * -------------------------*/
-
-  /* sum = x[0] * y[0]   
-   * sum = x[0] * y[1] + x[1] * y[0]   
-   * ....   
-   * sum = x[0] * y[srcBlen - 1] + x[1] * y[srcBlen - 2] +...+ x[srcBLen - 1] * y[0]   
-   */
-
-  /* In this stage the MAC operations are increased by 1 for every iteration.   
-     The count variable holds the number of MAC operations performed */
-  count = 1u;
-
-  /* Working pointer of inputA */
-  px = pIn1;
-
-  /* Working pointer of inputB */
-  py = pIn2;
-
-
-  /* ------------------------   
-   * Stage1 process   
-   * ----------------------*/
-
-  /* For loop unrolling by 4, this stage is divided into two. */
-  /* First part of this stage computes the MAC operations less than 4 */
-  /* Second part of this stage computes the MAC operations greater than or equal to 4 */
-
-  /* The first part of the stage starts here */
-  while((count < 4u) && (blockSize1 > 0u))
-  {
-    /* Accumulator is made zero for every iteration */
-    sum = 0;
-
-    /* Loop over number of MAC operations between   
-     * inputA samples and inputB samples */
-    k = count;
-
-    while(k > 0u)
-    {
-      /* Perform the multiply-accumulates */
-      sum = __SMLALD(*px++, *py--, sum);
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* Store the result in the accumulator in the destination buffer. */
-    *pOut++ = (q15_t) (__SSAT((sum >> 15), 16));
-
-    /* Update the inputA and inputB pointers for next MAC calculation */
-    py = pIn2 + count;
-    px = pIn1;
-
-    /* Increment the MAC count */
-    count++;
-
-    /* Decrement the loop counter */
-    blockSize1--;
-  }
-
-  /* The second part of the stage starts here */
-  /* The internal loop, over count, is unrolled by 4 */
-  /* To, read the last two inputB samples using SIMD:   
-   * y[srcBLen] and y[srcBLen-1] coefficients, py is decremented by 1 */
-  py = py - 1;
-
-  while(blockSize1 > 0u)
-  {
-    /* Accumulator is made zero for every iteration */
-    sum = 0;
-
-    /* Apply loop unrolling and compute 4 MACs simultaneously. */
-    k = count >> 2u;
-
-    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
-     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-    while(k > 0u)
-    {
-      /* Perform the multiply-accumulates */
-      /* x[0], x[1] are multiplied with y[srcBLen - 1], y[srcBLen - 2] respectively */
-      sum = __SMLALDX(*__SIMD32(px)++, *__SIMD32(py)--, sum);
-      /* x[2], x[3] are multiplied with y[srcBLen - 3], y[srcBLen - 4] respectively */
-      sum = __SMLALDX(*__SIMD32(px)++, *__SIMD32(py)--, sum);
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* For the next MAC operations, the pointer py is used without SIMD   
-     * So, py is incremented by 1 */
-    py = py + 1u;
-
-    /* If the count is not a multiple of 4, compute any remaining MACs here.   
-     ** No loop unrolling is used. */
-    k = count % 0x4u;
-
-    while(k > 0u)
-    {
-      /* Perform the multiply-accumulates */
-      sum = __SMLALD(*px++, *py--, sum);
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* Store the result in the accumulator in the destination buffer. */
-    *pOut++ = (q15_t) (__SSAT((sum >> 15), 16));
-
-    /* Update the inputA and inputB pointers for next MAC calculation */
-    py = pIn2 + (count - 1u);
-    px = pIn1;
-
-    /* Increment the MAC count */
-    count++;
-
-    /* Decrement the loop counter */
-    blockSize1--;
-  }
-
-  /* --------------------------   
-   * Initializations of stage2   
-   * ------------------------*/
-
-  /* sum = x[0] * y[srcBLen-1] + x[1] * y[srcBLen-2] +...+ x[srcBLen-1] * y[0]   
-   * sum = x[1] * y[srcBLen-1] + x[2] * y[srcBLen-2] +...+ x[srcBLen] * y[0]   
-   * ....   
-   * sum = x[srcALen-srcBLen-2] * y[srcBLen-1] + x[srcALen] * y[srcBLen-2] +...+ x[srcALen-1] * y[0]   
-   */
-
-  /* Working pointer of inputA */
-  px = pIn1;
-
-  /* Working pointer of inputB */
-  pSrc2 = pIn2 + (srcBLen - 1u);
-  py = pSrc2;
-
-  /* count is the index by which the pointer pIn1 to be incremented */
-  count = 0u;
-
-
-  /* --------------------   
-   * Stage2 process   
-   * -------------------*/
-
-  /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.   
-   * So, to loop unroll over blockSize2,   
-   * srcBLen should be greater than or equal to 4 */
-  if(srcBLen >= 4u)
-  {
-    /* Loop unroll over blockSize2, by 4 */
-    blkCnt = blockSize2 >> 2u;
-
-    while(blkCnt > 0u)
-    {
-      py = py - 1u;
-
-      /* Set all accumulators to zero */
-      acc0 = 0;
-      acc1 = 0;
-      acc2 = 0;
-      acc3 = 0;
-
-
-      /* read x[0], x[1] samples */
-      x0 = *__SIMD32(px);
-      /* read x[1], x[2] samples */
-      x1 = _SIMD32_OFFSET(px+1);
-	  px+= 2u;
-
-
-      /* Apply loop unrolling and compute 4 MACs simultaneously. */
-      k = srcBLen >> 2u;
-
-      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
-       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-      do
-      {
-        /* Read the last two inputB samples using SIMD:   
-         * y[srcBLen - 1] and y[srcBLen - 2] */
-        c0 = *__SIMD32(py)--;
-
-        /* acc0 +=  x[0] * y[srcBLen - 1] + x[1] * y[srcBLen - 2] */
-        acc0 = __SMLALDX(x0, c0, acc0);
-
-        /* acc1 +=  x[1] * y[srcBLen - 1] + x[2] * y[srcBLen - 2] */
-        acc1 = __SMLALDX(x1, c0, acc1);
-
-        /* Read x[2], x[3] */
-        x2 = *__SIMD32(px);
-
-        /* Read x[3], x[4] */
-        x3 = _SIMD32_OFFSET(px+1);
-
-        /* acc2 +=  x[2] * y[srcBLen - 1] + x[3] * y[srcBLen - 2] */
-        acc2 = __SMLALDX(x2, c0, acc2);
-
-        /* acc3 +=  x[3] * y[srcBLen - 1] + x[4] * y[srcBLen - 2] */
-        acc3 = __SMLALDX(x3, c0, acc3);
-
-        /* Read y[srcBLen - 3] and y[srcBLen - 4] */
-        c0 = *__SIMD32(py)--;
-
-        /* acc0 +=  x[2] * y[srcBLen - 3] + x[3] * y[srcBLen - 4] */
-        acc0 = __SMLALDX(x2, c0, acc0);
-
-        /* acc1 +=  x[3] * y[srcBLen - 3] + x[4] * y[srcBLen - 4] */
-        acc1 = __SMLALDX(x3, c0, acc1);
-
-        /* Read x[4], x[5] */
-        x0 = _SIMD32_OFFSET(px+2);
-
-        /* Read x[5], x[6] */
-        x1 = _SIMD32_OFFSET(px+3);
-		px += 4u;
-
-        /* acc2 +=  x[4] * y[srcBLen - 3] + x[5] * y[srcBLen - 4] */
-        acc2 = __SMLALDX(x0, c0, acc2);
-
-        /* acc3 +=  x[5] * y[srcBLen - 3] + x[6] * y[srcBLen - 4] */
-        acc3 = __SMLALDX(x1, c0, acc3);
-
-      } while(--k);
-
-      /* For the next MAC operations, SIMD is not used   
-       * So, the 16 bit pointer if inputB, py is updated */
-
-      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
-       ** No loop unrolling is used. */
-      k = srcBLen % 0x4u;
-
-      if(k == 1u)
-      {
-        /* Read y[srcBLen - 5] */
-        c0 = *(py+1);
-
-#ifdef  ARM_MATH_BIG_ENDIAN
-
-        c0 = c0 << 16u;
-
-#else
-
-        c0 = c0 & 0x0000FFFF;
-
-#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */
-        /* Read x[7] */
-        x3 = *__SIMD32(px);
-		px++;
-
-        /* Perform the multiply-accumulates */
-        acc0 = __SMLALD(x0, c0, acc0);
-        acc1 = __SMLALD(x1, c0, acc1);
-        acc2 = __SMLALDX(x1, c0, acc2);
-        acc3 = __SMLALDX(x3, c0, acc3);
-      }
-
-      if(k == 2u)
-      {
-        /* Read y[srcBLen - 5], y[srcBLen - 6] */
-        c0 = _SIMD32_OFFSET(py);
-
-        /* Read x[7], x[8] */
-        x3 = *__SIMD32(px);
-
-        /* Read x[9] */
-        x2 = _SIMD32_OFFSET(px+1);
-		px += 2u;
-
-        /* Perform the multiply-accumulates */
-        acc0 = __SMLALDX(x0, c0, acc0);
-        acc1 = __SMLALDX(x1, c0, acc1);
-        acc2 = __SMLALDX(x3, c0, acc2);
-        acc3 = __SMLALDX(x2, c0, acc3);
-      }
-
-      if(k == 3u)
-      {
-        /* Read y[srcBLen - 5], y[srcBLen - 6] */
-        c0 = _SIMD32_OFFSET(py);
-
-        /* Read x[7], x[8] */
-        x3 = *__SIMD32(px);
-
-        /* Read x[9] */
-        x2 = _SIMD32_OFFSET(px+1);
-
-        /* Perform the multiply-accumulates */
-        acc0 = __SMLALDX(x0, c0, acc0);
-        acc1 = __SMLALDX(x1, c0, acc1);
-        acc2 = __SMLALDX(x3, c0, acc2);
-        acc3 = __SMLALDX(x2, c0, acc3);
-
-		c0 = *(py-1);
-
-#ifdef  ARM_MATH_BIG_ENDIAN
-
-        c0 = c0 << 16u;
-#else
-
-        c0 = c0 & 0x0000FFFF;
-#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */
-        /* Read x[10] */
-        x3 =  _SIMD32_OFFSET(px+2);
-		px += 3u;
-
-        /* Perform the multiply-accumulates */
-        acc0 = __SMLALDX(x1, c0, acc0);
-        acc1 = __SMLALD(x2, c0, acc1);
-        acc2 = __SMLALDX(x2, c0, acc2);
-        acc3 = __SMLALDX(x3, c0, acc3);
-      }
-
-
-      /* Store the results in the accumulators in the destination buffer. */
-
-#ifndef  ARM_MATH_BIG_ENDIAN
-
-      *__SIMD32(pOut)++ =
-        __PKHBT(__SSAT((acc0 >> 15), 16), __SSAT((acc1 >> 15), 16), 16);
-      *__SIMD32(pOut)++ =
-        __PKHBT(__SSAT((acc2 >> 15), 16), __SSAT((acc3 >> 15), 16), 16);
-
-#else
-
-      *__SIMD32(pOut)++ =
-        __PKHBT(__SSAT((acc1 >> 15), 16), __SSAT((acc0 >> 15), 16), 16);
-      *__SIMD32(pOut)++ =
-        __PKHBT(__SSAT((acc3 >> 15), 16), __SSAT((acc2 >> 15), 16), 16);
-
-#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
-
-      /* Increment the pointer pIn1 index, count by 4 */
-      count += 4u;
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      px = pIn1 + count;
-      py = pSrc2;
-
-       /* Decrement the loop counter */
-      blkCnt--;
-    }
-
-    /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.   
-     ** No loop unrolling is used. */
-    blkCnt = blockSize2 % 0x4u;
-
-    while(blkCnt > 0u)
-    {
-      /* Accumulator is made zero for every iteration */
-      sum = 0;
-
-      /* Apply loop unrolling and compute 4 MACs simultaneously. */
-      k = srcBLen >> 2u;
-
-      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
-       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulates */
-        sum += (q63_t) ((q31_t) * px++ * *py--);
-        sum += (q63_t) ((q31_t) * px++ * *py--);
-        sum += (q63_t) ((q31_t) * px++ * *py--);
-        sum += (q63_t) ((q31_t) * px++ * *py--);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
-       ** No loop unrolling is used. */
-      k = srcBLen % 0x4u;
-
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulates */
-        sum += (q63_t) ((q31_t) * px++ * *py--);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut++ = (q15_t) (__SSAT(sum >> 15, 16));
-
-      /* Increment the pointer pIn1 index, count by 1 */
-      count++;
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      px = pIn1 + count;
-      py = pSrc2;
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-  }
-  else
-  {
-    /* If the srcBLen is not a multiple of 4,   
-     * the blockSize2 loop cannot be unrolled by 4 */
-    blkCnt = blockSize2;
-
-    while(blkCnt > 0u)
-    {
-      /* Accumulator is made zero for every iteration */
-      sum = 0;
-
-      /* srcBLen number of MACS should be performed */
-      k = srcBLen;
-
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulate */
-        sum += (q63_t) ((q31_t) * px++ * *py--);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut++ = (q15_t) (__SSAT(sum >> 15, 16));
-
-      /* Increment the MAC count */
-      count++;
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      px = pIn1 + count;
-      py = pSrc2;
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-  }
-
-
-  /* --------------------------   
-   * Initializations of stage3   
-   * -------------------------*/
-
-  /* sum += x[srcALen-srcBLen+1] * y[srcBLen-1] + x[srcALen-srcBLen+2] * y[srcBLen-2] +...+ x[srcALen-1] * y[1]   
-   * sum += x[srcALen-srcBLen+2] * y[srcBLen-1] + x[srcALen-srcBLen+3] * y[srcBLen-2] +...+ x[srcALen-1] * y[2]   
-   * ....   
-   * sum +=  x[srcALen-2] * y[srcBLen-1] + x[srcALen-1] * y[srcBLen-2]   
-   * sum +=  x[srcALen-1] * y[srcBLen-1]   
-   */
-
-  /* In this stage the MAC operations are decreased by 1 for every iteration.   
-     The blockSize3 variable holds the number of MAC operations performed */
-
-  blockSize3 = srcBLen - 1u;
-
-  /* Working pointer of inputA */
-  pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);
-  px = pSrc1;
-
-  /* Working pointer of inputB */
-  pSrc2 = pIn2 + (srcBLen - 1u);
-  pIn2 = pSrc2 - 1u;
-  py = pIn2;
-
-  /* -------------------   
-   * Stage3 process   
-   * ------------------*/
-
-  /* For loop unrolling by 4, this stage is divided into two. */
-  /* First part of this stage computes the MAC operations greater than 4 */
-  /* Second part of this stage computes the MAC operations less than or equal to 4 */
-
-  /* The first part of the stage starts here */
-  j = blockSize3 >> 2u;
-
-  while((j > 0u) && (blockSize3 > 0u))
-  {
-    /* Accumulator is made zero for every iteration */
-    sum = 0;
-
-    /* Apply loop unrolling and compute 4 MACs simultaneously. */
-    k = blockSize3 >> 2u;
-
-    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
-     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-    while(k > 0u)
-    {
-      /* x[srcALen - srcBLen + 1], x[srcALen - srcBLen + 2] are multiplied   
-       * with y[srcBLen - 1], y[srcBLen - 2] respectively */
-      sum = __SMLALDX(*__SIMD32(px)++, *__SIMD32(py)--, sum);
-      /* x[srcALen - srcBLen + 3], x[srcALen - srcBLen + 4] are multiplied   
-       * with y[srcBLen - 3], y[srcBLen - 4] respectively */
-      sum = __SMLALDX(*__SIMD32(px)++, *__SIMD32(py)--, sum);
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* For the next MAC operations, the pointer py is used without SIMD   
-     * So, py is incremented by 1 */
-    py = py + 1u;
-
-    /* If the blockSize3 is not a multiple of 4, compute any remaining MACs here.   
-     ** No loop unrolling is used. */
-    k = blockSize3 % 0x4u;
-
-    while(k > 0u)
-    {
-      /* sum += x[srcALen - srcBLen + 5] * y[srcBLen - 5] */
-      sum = __SMLALD(*px++, *py--, sum);
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* Store the result in the accumulator in the destination buffer. */
-    *pOut++ = (q15_t) (__SSAT((sum >> 15), 16));
-
-    /* Update the inputA and inputB pointers for next MAC calculation */
-    px = ++pSrc1;
-    py = pIn2;
-
-    /* Decrement the loop counter */
-    blockSize3--;
-
-    j--;
-  }
-
-  /* The second part of the stage starts here */
-  /* SIMD is not used for the next MAC operations,   
-   * so pointer py is updated to read only one sample at a time */
-  py = py + 1u;
-
-  while(blockSize3 > 0u)
-  {
-    /* Accumulator is made zero for every iteration */
-    sum = 0;
-
-    /* Apply loop unrolling and compute 4 MACs simultaneously. */
-    k = blockSize3;
-
-    while(k > 0u)
-    {
-      /* Perform the multiply-accumulates */
-      /* sum +=  x[srcALen-1] * y[srcBLen-1] */
-      sum = __SMLALD(*px++, *py--, sum);
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* Store the result in the accumulator in the destination buffer. */
-    *pOut++ = (q15_t) (__SSAT((sum >> 15), 16));
-
-    /* Update the inputA and inputB pointers for next MAC calculation */
-    px = ++pSrc1;
-    py = pSrc2;
-
-    /* Decrement the loop counter */
-    blockSize3--;
-  }
-
-#else
-
-/* Run the below code for Cortex-M0 */
-
-  q15_t *pIn1 = pSrcA;                           /* input pointer */
-  q15_t *pIn2 = pSrcB;                           /* coefficient pointer */
-  q63_t sum;                                     /* Accumulator */
-  uint32_t i, j;                                 /* loop counter */
-
-  /* Loop to calculate output of convolution for output length number of times */
-  for (i = 0; i < (srcALen + srcBLen - 1); i++)
-  {
-    /* Initialize sum with zero to carry on MAC operations */
-    sum = 0;
-
-    /* Loop to perform MAC operations according to convolution equation */
-    for (j = 0; j <= i; j++)
-    {
-      /* Check the array limitations */
-      if(((i - j) < srcBLen) && (j < srcALen))
-      {
-        /* z[i] += x[i-j] * y[j] */
-        sum += (q31_t) pIn1[j] * (pIn2[i - j]);
-      }
-    }
-
-    /* Store the output in the destination buffer */
-    pDst[i] = (q15_t) __SSAT((sum >> 15u), 16u);
-  }
-
-#endif /*  #if (defined(ARM_MATH_CM4) || defined(ARM_MATH_CM3)) && !defined(UNALIGNED_SUPPORT_DISABLE)*/
-
-}
-
-/**   
- * @} end of Conv group   
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_q31.c
deleted file mode 100644
index 769b95abb..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_q31.c
+++ /dev/null
@@ -1,564 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_conv_q31.c    
-*    
-* Description:	Convolution of Q31 sequences.  
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-* 
-* Version 1.0.11 2011/10/18  
-*    Bug Fix in conv, correlation, partial convolution.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-*    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup Conv    
- * @{    
- */
-
-/**    
- * @brief Convolution of Q31 sequences.    
- * @param[in] *pSrcA points to the first input sequence.    
- * @param[in] srcALen length of the first input sequence.    
- * @param[in] *pSrcB points to the second input sequence.    
- * @param[in] srcBLen length of the second input sequence.    
- * @param[out] *pDst points to the location where the output result is written.  Length srcALen+srcBLen-1.    
- * @return none.    
- *    
- * @details    
- * Scaling and Overflow Behavior:    
- *    
- * \par    
- * The function is implemented using an internal 64-bit accumulator.    
- * The accumulator has a 2.62 format and maintains full precision of the intermediate multiplication results but provides only a single guard bit.    
- * There is no saturation on intermediate additions.    
- * Thus, if the accumulator overflows it wraps around and distorts the result.    
- * The input signals should be scaled down to avoid intermediate overflows.    
- * Scale down the inputs by log2(min(srcALen, srcBLen)) (log2 is read as log to the base 2) times to avoid overflows,    
- * as maximum of min(srcALen, srcBLen) number of additions are carried internally.    
- * The 2.62 accumulator is right shifted by 31 bits and saturated to 1.31 format to yield the final result.    
- *    
- * \par    
- * See arm_conv_fast_q31() for a faster but less precise implementation of this function for Cortex-M3 and Cortex-M4.    
- */
-
-void arm_conv_q31(
-  q31_t * pSrcA,
-  uint32_t srcALen,
-  q31_t * pSrcB,
-  uint32_t srcBLen,
-  q31_t * pDst)
-{
-
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  q31_t *pIn1;                                   /* inputA pointer */
-  q31_t *pIn2;                                   /* inputB pointer */
-  q31_t *pOut = pDst;                            /* output pointer */
-  q31_t *px;                                     /* Intermediate inputA pointer  */
-  q31_t *py;                                     /* Intermediate inputB pointer  */
-  q31_t *pSrc1, *pSrc2;                          /* Intermediate pointers */
-  q63_t sum;                                     /* Accumulator */
-  q63_t acc0, acc1, acc2;                        /* Accumulator */
-  q31_t x0, x1, x2, c0;                          /* Temporary variables to hold state and coefficient values */
-  uint32_t j, k, count, blkCnt, blockSize1, blockSize2, blockSize3;     /* loop counter */
-
-  /* The algorithm implementation is based on the lengths of the inputs. */
-  /* srcB is always made to slide across srcA. */
-  /* So srcBLen is always considered as shorter or equal to srcALen */
-  if(srcALen >= srcBLen)
-  {
-    /* Initialization of inputA pointer */
-    pIn1 = pSrcA;
-
-    /* Initialization of inputB pointer */
-    pIn2 = pSrcB;
-  }
-  else
-  {
-    /* Initialization of inputA pointer */
-    pIn1 = (q31_t *) pSrcB;
-
-    /* Initialization of inputB pointer */
-    pIn2 = (q31_t *) pSrcA;
-
-    /* srcBLen is always considered as shorter or equal to srcALen */
-    j = srcBLen;
-    srcBLen = srcALen;
-    srcALen = j;
-  }
-
-  /* conv(x,y) at n = x[n] * y[0] + x[n-1] * y[1] + x[n-2] * y[2] + ...+ x[n-N+1] * y[N -1] */
-  /* The function is internally    
-   * divided into three stages according to the number of multiplications that has to be    
-   * taken place between inputA samples and inputB samples. In the first stage of the    
-   * algorithm, the multiplications increase by one for every iteration.    
-   * In the second stage of the algorithm, srcBLen number of multiplications are done.    
-   * In the third stage of the algorithm, the multiplications decrease by one    
-   * for every iteration. */
-
-  /* The algorithm is implemented in three stages.    
-     The loop counters of each stage is initiated here. */
-  blockSize1 = srcBLen - 1u;
-  blockSize2 = srcALen - (srcBLen - 1u);
-  blockSize3 = blockSize1;
-
-  /* --------------------------    
-   * Initializations of stage1    
-   * -------------------------*/
-
-  /* sum = x[0] * y[0]    
-   * sum = x[0] * y[1] + x[1] * y[0]    
-   * ....    
-   * sum = x[0] * y[srcBlen - 1] + x[1] * y[srcBlen - 2] +...+ x[srcBLen - 1] * y[0]    
-   */
-
-  /* In this stage the MAC operations are increased by 1 for every iteration.    
-     The count variable holds the number of MAC operations performed */
-  count = 1u;
-
-  /* Working pointer of inputA */
-  px = pIn1;
-
-  /* Working pointer of inputB */
-  py = pIn2;
-
-
-  /* ------------------------    
-   * Stage1 process    
-   * ----------------------*/
-
-  /* The first stage starts here */
-  while(blockSize1 > 0u)
-  {
-    /* Accumulator is made zero for every iteration */
-    sum = 0;
-
-    /* Apply loop unrolling and compute 4 MACs simultaneously. */
-    k = count >> 2u;
-
-    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
-     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-    while(k > 0u)
-    {
-      /* x[0] * y[srcBLen - 1] */
-      sum += (q63_t) * px++ * (*py--);
-      /* x[1] * y[srcBLen - 2] */
-      sum += (q63_t) * px++ * (*py--);
-      /* x[2] * y[srcBLen - 3] */
-      sum += (q63_t) * px++ * (*py--);
-      /* x[3] * y[srcBLen - 4] */
-      sum += (q63_t) * px++ * (*py--);
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* If the count is not a multiple of 4, compute any remaining MACs here.    
-     ** No loop unrolling is used. */
-    k = count % 0x4u;
-
-    while(k > 0u)
-    {
-      /* Perform the multiply-accumulate */
-      sum += (q63_t) * px++ * (*py--);
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* Store the result in the accumulator in the destination buffer. */
-    *pOut++ = (q31_t) (sum >> 31);
-
-    /* Update the inputA and inputB pointers for next MAC calculation */
-    py = pIn2 + count;
-    px = pIn1;
-
-    /* Increment the MAC count */
-    count++;
-
-    /* Decrement the loop counter */
-    blockSize1--;
-  }
-
-  /* --------------------------    
-   * Initializations of stage2    
-   * ------------------------*/
-
-  /* sum = x[0] * y[srcBLen-1] + x[1] * y[srcBLen-2] +...+ x[srcBLen-1] * y[0]    
-   * sum = x[1] * y[srcBLen-1] + x[2] * y[srcBLen-2] +...+ x[srcBLen] * y[0]    
-   * ....    
-   * sum = x[srcALen-srcBLen-2] * y[srcBLen-1] + x[srcALen] * y[srcBLen-2] +...+ x[srcALen-1] * y[0]    
-   */
-
-  /* Working pointer of inputA */
-  px = pIn1;
-
-  /* Working pointer of inputB */
-  pSrc2 = pIn2 + (srcBLen - 1u);
-  py = pSrc2;
-
-  /* count is index by which the pointer pIn1 to be incremented */
-  count = 0u;
-
-  /* -------------------    
-   * Stage2 process    
-   * ------------------*/
-
-  /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.    
-   * So, to loop unroll over blockSize2,    
-   * srcBLen should be greater than or equal to 4 */
-  if(srcBLen >= 4u)
-  {
-    /* Loop unroll by 3 */
-    blkCnt = blockSize2 / 3;
-
-    while(blkCnt > 0u)
-    {
-      /* Set all accumulators to zero */
-      acc0 = 0;
-      acc1 = 0;
-      acc2 = 0;
-
-      /* read x[0], x[1], x[2] samples */
-      x0 = *(px++);
-      x1 = *(px++);
-
-      /* Apply loop unrolling and compute 3 MACs simultaneously. */
-      k = srcBLen / 3;
-
-      /* First part of the processing with loop unrolling.  Compute 3 MACs at a time.        
-       ** a second loop below computes MACs for the remaining 1 to 2 samples. */
-      do
-      {
-        /* Read y[srcBLen - 1] sample */
-        c0 = *(py);
-
-        /* Read x[3] sample */
-        x2 = *(px);
-
-        /* Perform the multiply-accumulates */
-        /* acc0 +=  x[0] * y[srcBLen - 1] */
-        acc0 += ((q63_t) x0 * c0);
-        /* acc1 +=  x[1] * y[srcBLen - 1] */
-        acc1 += ((q63_t) x1 * c0);
-        /* acc2 +=  x[2] * y[srcBLen - 1] */
-        acc2 += ((q63_t) x2 * c0);
-
-        /* Read y[srcBLen - 2] sample */
-        c0 = *(py - 1u);
-
-        /* Read x[4] sample */
-        x0 = *(px + 1u);
-
-        /* Perform the multiply-accumulate */
-        /* acc0 +=  x[1] * y[srcBLen - 2] */
-        acc0 += ((q63_t) x1 * c0);
-        /* acc1 +=  x[2] * y[srcBLen - 2] */
-        acc1 += ((q63_t) x2 * c0);
-        /* acc2 +=  x[3] * y[srcBLen - 2] */
-        acc2 += ((q63_t) x0 * c0);
-
-        /* Read y[srcBLen - 3] sample */
-        c0 = *(py - 2u);
-
-        /* Read x[5] sample */
-        x1 = *(px + 2u);
-
-        /* Perform the multiply-accumulates */
-        /* acc0 +=  x[2] * y[srcBLen - 3] */
-        acc0 += ((q63_t) x2 * c0);
-        /* acc1 +=  x[3] * y[srcBLen - 2] */
-        acc1 += ((q63_t) x0 * c0);
-        /* acc2 +=  x[4] * y[srcBLen - 2] */
-        acc2 += ((q63_t) x1 * c0);
-
-        /* update scratch pointers */
-        px += 3u;
-        py -= 3u;
-
-      } while(--k);
-
-      /* If the srcBLen is not a multiple of 3, compute any remaining MACs here.        
-       ** No loop unrolling is used. */
-      k = srcBLen - (3 * (srcBLen / 3));
-
-      while(k > 0u)
-      {
-        /* Read y[srcBLen - 5] sample */
-        c0 = *(py--);
-
-        /* Read x[7] sample */
-        x2 = *(px++);
-
-        /* Perform the multiply-accumulates */
-        /* acc0 +=  x[4] * y[srcBLen - 5] */
-        acc0 += ((q63_t) x0 * c0);
-        /* acc1 +=  x[5] * y[srcBLen - 5] */
-        acc1 += ((q63_t) x1 * c0);
-        /* acc2 +=  x[6] * y[srcBLen - 5] */
-        acc2 += ((q63_t) x2 * c0);
-
-        /* Reuse the present samples for the next MAC */
-        x0 = x1;
-        x1 = x2;
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* Store the results in the accumulators in the destination buffer. */
-      *pOut++ = (q31_t) (acc0 >> 31);
-      *pOut++ = (q31_t) (acc1 >> 31);
-      *pOut++ = (q31_t) (acc2 >> 31);
-
-      /* Increment the pointer pIn1 index, count by 3 */
-      count += 3u;
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      px = pIn1 + count;
-      py = pSrc2;
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-
-    /* If the blockSize2 is not a multiple of 3, compute any remaining output samples here.        
-     ** No loop unrolling is used. */
-    blkCnt = blockSize2 - 3 * (blockSize2 / 3);
-
-    while(blkCnt > 0u)
-    {
-      /* Accumulator is made zero for every iteration */
-      sum = 0;
-
-      /* Apply loop unrolling and compute 4 MACs simultaneously. */
-      k = srcBLen >> 2u;
-
-      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
-       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulates */
-        sum += (q63_t) * px++ * (*py--);
-        sum += (q63_t) * px++ * (*py--);
-        sum += (q63_t) * px++ * (*py--);
-        sum += (q63_t) * px++ * (*py--);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.    
-       ** No loop unrolling is used. */
-      k = srcBLen % 0x4u;
-
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulate */
-        sum += (q63_t) * px++ * (*py--);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut++ = (q31_t) (sum >> 31);
-
-      /* Increment the MAC count */
-      count++;
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      px = pIn1 + count;
-      py = pSrc2;
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-  }
-  else
-  {
-    /* If the srcBLen is not a multiple of 4,    
-     * the blockSize2 loop cannot be unrolled by 4 */
-    blkCnt = blockSize2;
-
-    while(blkCnt > 0u)
-    {
-      /* Accumulator is made zero for every iteration */
-      sum = 0;
-
-      /* srcBLen number of MACS should be performed */
-      k = srcBLen;
-
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulate */
-        sum += (q63_t) * px++ * (*py--);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut++ = (q31_t) (sum >> 31);
-
-      /* Increment the MAC count */
-      count++;
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      px = pIn1 + count;
-      py = pSrc2;
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-  }
-
-
-  /* --------------------------    
-   * Initializations of stage3    
-   * -------------------------*/
-
-  /* sum += x[srcALen-srcBLen+1] * y[srcBLen-1] + x[srcALen-srcBLen+2] * y[srcBLen-2] +...+ x[srcALen-1] * y[1]    
-   * sum += x[srcALen-srcBLen+2] * y[srcBLen-1] + x[srcALen-srcBLen+3] * y[srcBLen-2] +...+ x[srcALen-1] * y[2]    
-   * ....    
-   * sum +=  x[srcALen-2] * y[srcBLen-1] + x[srcALen-1] * y[srcBLen-2]    
-   * sum +=  x[srcALen-1] * y[srcBLen-1]    
-   */
-
-  /* In this stage the MAC operations are decreased by 1 for every iteration.    
-     The blockSize3 variable holds the number of MAC operations performed */
-
-  /* Working pointer of inputA */
-  pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);
-  px = pSrc1;
-
-  /* Working pointer of inputB */
-  pSrc2 = pIn2 + (srcBLen - 1u);
-  py = pSrc2;
-
-  /* -------------------    
-   * Stage3 process    
-   * ------------------*/
-
-  while(blockSize3 > 0u)
-  {
-    /* Accumulator is made zero for every iteration */
-    sum = 0;
-
-    /* Apply loop unrolling and compute 4 MACs simultaneously. */
-    k = blockSize3 >> 2u;
-
-    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
-     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-    while(k > 0u)
-    {
-      /* sum += x[srcALen - srcBLen + 1] * y[srcBLen - 1] */
-      sum += (q63_t) * px++ * (*py--);
-      /* sum += x[srcALen - srcBLen + 2] * y[srcBLen - 2] */
-      sum += (q63_t) * px++ * (*py--);
-      /* sum += x[srcALen - srcBLen + 3] * y[srcBLen - 3] */
-      sum += (q63_t) * px++ * (*py--);
-      /* sum += x[srcALen - srcBLen + 4] * y[srcBLen - 4] */
-      sum += (q63_t) * px++ * (*py--);
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* If the blockSize3 is not a multiple of 4, compute any remaining MACs here.    
-     ** No loop unrolling is used. */
-    k = blockSize3 % 0x4u;
-
-    while(k > 0u)
-    {
-      /* Perform the multiply-accumulate */
-      sum += (q63_t) * px++ * (*py--);
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* Store the result in the accumulator in the destination buffer. */
-    *pOut++ = (q31_t) (sum >> 31);
-
-    /* Update the inputA and inputB pointers for next MAC calculation */
-    px = ++pSrc1;
-    py = pSrc2;
-
-    /* Decrement the loop counter */
-    blockSize3--;
-  }
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  q31_t *pIn1 = pSrcA;                           /* input pointer */
-  q31_t *pIn2 = pSrcB;                           /* coefficient pointer */
-  q63_t sum;                                     /* Accumulator */
-  uint32_t i, j;                                 /* loop counter */
-
-  /* Loop to calculate output of convolution for output length number of times */
-  for (i = 0; i < (srcALen + srcBLen - 1); i++)
-  {
-    /* Initialize sum with zero to carry on MAC operations */
-    sum = 0;
-
-    /* Loop to perform MAC operations according to convolution equation */
-    for (j = 0; j <= i; j++)
-    {
-      /* Check the array limitations */
-      if(((i - j) < srcBLen) && (j < srcALen))
-      {
-        /* z[i] += x[i-j] * y[j] */
-        sum += ((q63_t) pIn1[j] * (pIn2[i - j]));
-      }
-    }
-
-    /* Store the output in the destination buffer */
-    pDst[i] = (q31_t) (sum >> 31u);
-  }
-
-#endif /*     #ifndef ARM_MATH_CM0 */
-
-}
-
-/**    
- * @} end of Conv group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_q7.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_q7.c
deleted file mode 100644
index eb78fd533..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_q7.c
+++ /dev/null
@@ -1,689 +0,0 @@
-/* ----------------------------------------------------------------------   
-* Copyright (C) 2010 ARM Limited. All rights reserved.   
-*   
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*   
-* Project: 	    CMSIS DSP Library   
-* Title:		arm_conv_q7.c   
-*   
-* Description:	Convolution of Q7 sequences. 
-*   
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*  
-* Version 1.0.11 2011/10/18 
-*    Bug Fix in conv, correlation, partial convolution. 
-*
-* Version 1.0.10 2011/7/15 
-*    Big Endian support added and Merged M0 and M3/M4 Source code.  
-*   
-* Version 1.0.3 2010/11/29  
-*    Re-organized the CMSIS folders and updated documentation.   
-*    
-* Version 1.0.2 2010/11/11   
-*    Documentation updated.    
-*   
-* Version 1.0.1 2010/10/05    
-*    Production release and review comments incorporated.   
-*   
-* Version 1.0.0 2010/09/20    
-*    Production release and review comments incorporated   
-*   
-* Version 0.0.7  2010/06/10    
-*    Misra-C changes done   
-*   
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**   
- * @ingroup groupFilters   
- */
-
-/**   
- * @addtogroup Conv   
- * @{   
- */
-
-/**   
- * @brief Convolution of Q7 sequences.   
- * @param[in] *pSrcA points to the first input sequence.   
- * @param[in] srcALen length of the first input sequence.   
- * @param[in] *pSrcB points to the second input sequence.   
- * @param[in] srcBLen length of the second input sequence.   
- * @param[out] *pDst points to the location where the output result is written.  Length srcALen+srcBLen-1.   
- * @return none.   
- *   
- * @details   
- * Scaling and Overflow Behavior:   
- *   
- * \par   
- * The function is implemented using a 32-bit internal accumulator.   
- * Both the inputs are represented in 1.7 format and multiplications yield a 2.14 result.   
- * The 2.14 intermediate results are accumulated in a 32-bit accumulator in 18.14 format.   
- * This approach provides 17 guard bits and there is no risk of overflow as long as max(srcALen, srcBLen)<131072.   
- * The 18.14 result is then truncated to 18.7 format by discarding the low 7 bits and then saturated to 1.7 format.   
- *
- * \par    
- * Refer the function arm_conv_opt_q7() for a faster implementation of this function.
- * 
- */
-
-void arm_conv_q7(
-  q7_t * pSrcA,
-  uint32_t srcALen,
-  q7_t * pSrcB,
-  uint32_t srcBLen,
-  q7_t * pDst)
-{
-
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  q7_t *pIn1;                                    /* inputA pointer */
-  q7_t *pIn2;                                    /* inputB pointer */
-  q7_t *pOut = pDst;                             /* output pointer */
-  q7_t *px;                                      /* Intermediate inputA pointer */
-  q7_t *py;                                      /* Intermediate inputB pointer */
-  q7_t *pSrc1, *pSrc2;                           /* Intermediate pointers */
-  q7_t x0, x1, x2, x3, c0, c1;                   /* Temporary variables to hold state and coefficient values */
-  q31_t sum, acc0, acc1, acc2, acc3;             /* Accumulator */
-  q31_t input1, input2;                          /* Temporary input variables */
-  q15_t in1, in2;                                /* Temporary input variables */
-  uint32_t j, k, count, blkCnt, blockSize1, blockSize2, blockSize3;     /* loop counter */
-
-  /* The algorithm implementation is based on the lengths of the inputs. */
-  /* srcB is always made to slide across srcA. */
-  /* So srcBLen is always considered as shorter or equal to srcALen */
-  if(srcALen >= srcBLen)
-  {
-    /* Initialization of inputA pointer */
-    pIn1 = pSrcA;
-
-    /* Initialization of inputB pointer */
-    pIn2 = pSrcB;
-  }
-  else
-  {
-    /* Initialization of inputA pointer */
-    pIn1 = pSrcB;
-
-    /* Initialization of inputB pointer */
-    pIn2 = pSrcA;
-
-    /* srcBLen is always considered as shorter or equal to srcALen */
-    j = srcBLen;
-    srcBLen = srcALen;
-    srcALen = j;
-  }
-
-  /* conv(x,y) at n = x[n] * y[0] + x[n-1] * y[1] + x[n-2] * y[2] + ...+ x[n-N+1] * y[N -1] */
-  /* The function is internally   
-   * divided into three stages according to the number of multiplications that has to be   
-   * taken place between inputA samples and inputB samples. In the first stage of the   
-   * algorithm, the multiplications increase by one for every iteration.   
-   * In the second stage of the algorithm, srcBLen number of multiplications are done.   
-   * In the third stage of the algorithm, the multiplications decrease by one   
-   * for every iteration. */
-
-  /* The algorithm is implemented in three stages.   
-     The loop counters of each stage is initiated here. */
-  blockSize1 = srcBLen - 1u;
-  blockSize2 = (srcALen - srcBLen) + 1u;
-  blockSize3 = blockSize1;
-
-  /* --------------------------   
-   * Initializations of stage1   
-   * -------------------------*/
-
-  /* sum = x[0] * y[0]   
-   * sum = x[0] * y[1] + x[1] * y[0]   
-   * ....   
-   * sum = x[0] * y[srcBlen - 1] + x[1] * y[srcBlen - 2] +...+ x[srcBLen - 1] * y[0]   
-   */
-
-  /* In this stage the MAC operations are increased by 1 for every iteration.   
-     The count variable holds the number of MAC operations performed */
-  count = 1u;
-
-  /* Working pointer of inputA */
-  px = pIn1;
-
-  /* Working pointer of inputB */
-  py = pIn2;
-
-
-  /* ------------------------   
-   * Stage1 process   
-   * ----------------------*/
-
-  /* The first stage starts here */
-  while(blockSize1 > 0u)
-  {
-    /* Accumulator is made zero for every iteration */
-    sum = 0;
-
-    /* Apply loop unrolling and compute 4 MACs simultaneously. */
-    k = count >> 2u;
-
-    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
-     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-    while(k > 0u)
-    {
-      /* x[0] , x[1] */
-      in1 = (q15_t) * px++;
-      in2 = (q15_t) * px++;
-      input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
-
-      /* y[srcBLen - 1] , y[srcBLen - 2] */
-      in1 = (q15_t) * py--;
-      in2 = (q15_t) * py--;
-      input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
-
-      /* x[0] * y[srcBLen - 1] */
-      /* x[1] * y[srcBLen - 2] */
-      sum = __SMLAD(input1, input2, sum);
-
-      /* x[2] , x[3] */
-      in1 = (q15_t) * px++;
-      in2 = (q15_t) * px++;
-      input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
-
-      /* y[srcBLen - 3] , y[srcBLen - 4] */
-      in1 = (q15_t) * py--;
-      in2 = (q15_t) * py--;
-      input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
-
-      /* x[2] * y[srcBLen - 3] */
-      /* x[3] * y[srcBLen - 4] */
-      sum = __SMLAD(input1, input2, sum);
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* If the count is not a multiple of 4, compute any remaining MACs here.   
-     ** No loop unrolling is used. */
-    k = count % 0x4u;
-
-    while(k > 0u)
-    {
-      /* Perform the multiply-accumulates */
-      sum += ((q15_t) * px++ * *py--);
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* Store the result in the accumulator in the destination buffer. */
-    *pOut++ = (q7_t) (__SSAT(sum >> 7u, 8));
-
-    /* Update the inputA and inputB pointers for next MAC calculation */
-    py = pIn2 + count;
-    px = pIn1;
-
-    /* Increment the MAC count */
-    count++;
-
-    /* Decrement the loop counter */
-    blockSize1--;
-  }
-
-  /* --------------------------   
-   * Initializations of stage2   
-   * ------------------------*/
-
-  /* sum = x[0] * y[srcBLen-1] + x[1] * y[srcBLen-2] +...+ x[srcBLen-1] * y[0]   
-   * sum = x[1] * y[srcBLen-1] + x[2] * y[srcBLen-2] +...+ x[srcBLen] * y[0]   
-   * ....   
-   * sum = x[srcALen-srcBLen-2] * y[srcBLen-1] + x[srcALen] * y[srcBLen-2] +...+ x[srcALen-1] * y[0]   
-   */
-
-  /* Working pointer of inputA */
-  px = pIn1;
-
-  /* Working pointer of inputB */
-  pSrc2 = pIn2 + (srcBLen - 1u);
-  py = pSrc2;
-
-  /* count is index by which the pointer pIn1 to be incremented */
-  count = 0u;
-
-  /* -------------------   
-   * Stage2 process   
-   * ------------------*/
-
-  /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.   
-   * So, to loop unroll over blockSize2,   
-   * srcBLen should be greater than or equal to 4 */
-  if(srcBLen >= 4u)
-  {
-    /* Loop unroll over blockSize2, by 4 */
-    blkCnt = blockSize2 >> 2u;
-
-    while(blkCnt > 0u)
-    {
-      /* Set all accumulators to zero */
-      acc0 = 0;
-      acc1 = 0;
-      acc2 = 0;
-      acc3 = 0;
-
-      /* read x[0], x[1], x[2] samples */
-      x0 = *(px++);
-      x1 = *(px++);
-      x2 = *(px++);
-
-      /* Apply loop unrolling and compute 4 MACs simultaneously. */
-      k = srcBLen >> 2u;
-
-      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
-       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-      do
-      {
-        /* Read y[srcBLen - 1] sample */
-        c0 = *(py--);
-        /* Read y[srcBLen - 2] sample */
-        c1 = *(py--);
-
-        /* Read x[3] sample */
-        x3 = *(px++);
-
-        /* x[0] and x[1] are packed */
-        in1 = (q15_t) x0;
-        in2 = (q15_t) x1;
-
-        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
-
-        /* y[srcBLen - 1]   and y[srcBLen - 2] are packed */
-        in1 = (q15_t) c0;
-        in2 = (q15_t) c1;
-
-        input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
-
-        /* acc0 += x[0] * y[srcBLen - 1] + x[1] * y[srcBLen - 2]  */
-        acc0 = __SMLAD(input1, input2, acc0);
-
-        /* x[1] and x[2] are packed */
-        in1 = (q15_t) x1;
-        in2 = (q15_t) x2;
-
-        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
-
-        /* acc1 += x[1] * y[srcBLen - 1] + x[2] * y[srcBLen - 2]  */
-        acc1 = __SMLAD(input1, input2, acc1);
-
-        /* x[2] and x[3] are packed */
-        in1 = (q15_t) x2;
-        in2 = (q15_t) x3;
-
-        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
-
-        /* acc2 += x[2] * y[srcBLen - 1] + x[3] * y[srcBLen - 2]  */
-        acc2 = __SMLAD(input1, input2, acc2);
-
-        /* Read x[4] sample */
-        x0 = *(px++);
-
-        /* x[3] and x[4] are packed */
-        in1 = (q15_t) x3;
-        in2 = (q15_t) x0;
-
-        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
-
-        /* acc3 += x[3] * y[srcBLen - 1] + x[4] * y[srcBLen - 2]  */
-        acc3 = __SMLAD(input1, input2, acc3);
-
-        /* Read y[srcBLen - 3] sample */
-        c0 = *(py--);
-        /* Read y[srcBLen - 4] sample */
-        c1 = *(py--);
-
-        /* Read x[5] sample */
-        x1 = *(px++);
-
-        /* x[2] and x[3] are packed */
-        in1 = (q15_t) x2;
-        in2 = (q15_t) x3;
-
-        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
-
-        /* y[srcBLen - 3] and y[srcBLen - 4] are packed */
-        in1 = (q15_t) c0;
-        in2 = (q15_t) c1;
-
-        input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
-
-        /* acc0 += x[2] * y[srcBLen - 3] + x[3] * y[srcBLen - 4]  */
-        acc0 = __SMLAD(input1, input2, acc0);
-
-        /* x[3] and x[4] are packed */
-        in1 = (q15_t) x3;
-        in2 = (q15_t) x0;
-
-        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
-
-        /* acc1 += x[3] * y[srcBLen - 3] + x[4] * y[srcBLen - 4]  */
-        acc1 = __SMLAD(input1, input2, acc1);
-
-        /* x[4] and x[5] are packed */
-        in1 = (q15_t) x0;
-        in2 = (q15_t) x1;
-
-        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
-
-        /* acc2 += x[4] * y[srcBLen - 3] + x[5] * y[srcBLen - 4]  */
-        acc2 = __SMLAD(input1, input2, acc2);
-
-        /* Read x[6] sample */
-        x2 = *(px++);
-
-        /* x[5] and x[6] are packed */
-        in1 = (q15_t) x1;
-        in2 = (q15_t) x2;
-
-        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
-
-        /* acc3 += x[5] * y[srcBLen - 3] + x[6] * y[srcBLen - 4]  */
-        acc3 = __SMLAD(input1, input2, acc3);
-
-      } while(--k);
-
-      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
-       ** No loop unrolling is used. */
-      k = srcBLen % 0x4u;
-
-      while(k > 0u)
-      {
-        /* Read y[srcBLen - 5] sample */
-        c0 = *(py--);
-
-        /* Read x[7] sample */
-        x3 = *(px++);
-
-        /* Perform the multiply-accumulates */
-        /* acc0 +=  x[4] * y[srcBLen - 5] */
-        acc0 += ((q15_t) x0 * c0);
-        /* acc1 +=  x[5] * y[srcBLen - 5] */
-        acc1 += ((q15_t) x1 * c0);
-        /* acc2 +=  x[6] * y[srcBLen - 5] */
-        acc2 += ((q15_t) x2 * c0);
-        /* acc3 +=  x[7] * y[srcBLen - 5] */
-        acc3 += ((q15_t) x3 * c0);
-
-        /* Reuse the present samples for the next MAC */
-        x0 = x1;
-        x1 = x2;
-        x2 = x3;
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut++ = (q7_t) (__SSAT(acc0 >> 7u, 8));
-      *pOut++ = (q7_t) (__SSAT(acc1 >> 7u, 8));
-      *pOut++ = (q7_t) (__SSAT(acc2 >> 7u, 8));
-      *pOut++ = (q7_t) (__SSAT(acc3 >> 7u, 8));
-
-      /* Increment the pointer pIn1 index, count by 4 */
-      count += 4u;
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      px = pIn1 + count;
-      py = pSrc2;
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-
-    /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.   
-     ** No loop unrolling is used. */
-    blkCnt = blockSize2 % 0x4u;
-
-    while(blkCnt > 0u)
-    {
-      /* Accumulator is made zero for every iteration */
-      sum = 0;
-
-      /* Apply loop unrolling and compute 4 MACs simultaneously. */
-      k = srcBLen >> 2u;
-
-      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
-       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-      while(k > 0u)
-      {
-
-        /* Reading two inputs of SrcA buffer and packing */
-        in1 = (q15_t) * px++;
-        in2 = (q15_t) * px++;
-        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
-
-        /* Reading two inputs of SrcB buffer and packing */
-        in1 = (q15_t) * py--;
-        in2 = (q15_t) * py--;
-        input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
-
-        /* Perform the multiply-accumulates */
-        sum = __SMLAD(input1, input2, sum);
-
-        /* Reading two inputs of SrcA buffer and packing */
-        in1 = (q15_t) * px++;
-        in2 = (q15_t) * px++;
-        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
-
-        /* Reading two inputs of SrcB buffer and packing */
-        in1 = (q15_t) * py--;
-        in2 = (q15_t) * py--;
-        input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
-
-        /* Perform the multiply-accumulates */
-        sum = __SMLAD(input1, input2, sum);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
-       ** No loop unrolling is used. */
-      k = srcBLen % 0x4u;
-
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulates */
-        sum += ((q15_t) * px++ * *py--);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut++ = (q7_t) (__SSAT(sum >> 7u, 8));
-
-      /* Increment the pointer pIn1 index, count by 1 */
-      count++;
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      px = pIn1 + count;
-      py = pSrc2;
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-  }
-  else
-  {
-    /* If the srcBLen is not a multiple of 4,   
-     * the blockSize2 loop cannot be unrolled by 4 */
-    blkCnt = blockSize2;
-
-    while(blkCnt > 0u)
-    {
-      /* Accumulator is made zero for every iteration */
-      sum = 0;
-
-      /* srcBLen number of MACS should be performed */
-      k = srcBLen;
-
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulate */
-        sum += ((q15_t) * px++ * *py--);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut++ = (q7_t) (__SSAT(sum >> 7u, 8));
-
-      /* Increment the MAC count */
-      count++;
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      px = pIn1 + count;
-      py = pSrc2;
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-  }
-
-
-  /* --------------------------   
-   * Initializations of stage3   
-   * -------------------------*/
-
-  /* sum += x[srcALen-srcBLen+1] * y[srcBLen-1] + x[srcALen-srcBLen+2] * y[srcBLen-2] +...+ x[srcALen-1] * y[1]   
-   * sum += x[srcALen-srcBLen+2] * y[srcBLen-1] + x[srcALen-srcBLen+3] * y[srcBLen-2] +...+ x[srcALen-1] * y[2]   
-   * ....   
-   * sum +=  x[srcALen-2] * y[srcBLen-1] + x[srcALen-1] * y[srcBLen-2]   
-   * sum +=  x[srcALen-1] * y[srcBLen-1]   
-   */
-
-  /* In this stage the MAC operations are decreased by 1 for every iteration.   
-     The blockSize3 variable holds the number of MAC operations performed */
-
-  /* Working pointer of inputA */
-  pSrc1 = pIn1 + (srcALen - (srcBLen - 1u));
-  px = pSrc1;
-
-  /* Working pointer of inputB */
-  pSrc2 = pIn2 + (srcBLen - 1u);
-  py = pSrc2;
-
-  /* -------------------   
-   * Stage3 process   
-   * ------------------*/
-
-  while(blockSize3 > 0u)
-  {
-    /* Accumulator is made zero for every iteration */
-    sum = 0;
-
-    /* Apply loop unrolling and compute 4 MACs simultaneously. */
-    k = blockSize3 >> 2u;
-
-    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
-     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-    while(k > 0u)
-    {
-      /* Reading two inputs, x[srcALen - srcBLen + 1] and x[srcALen - srcBLen + 2] of SrcA buffer and packing */
-      in1 = (q15_t) * px++;
-      in2 = (q15_t) * px++;
-      input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
-
-      /* Reading two inputs, y[srcBLen - 1] and y[srcBLen - 2] of SrcB buffer and packing */
-      in1 = (q15_t) * py--;
-      in2 = (q15_t) * py--;
-      input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
-
-      /* sum += x[srcALen - srcBLen + 1] * y[srcBLen - 1] */
-      /* sum += x[srcALen - srcBLen + 2] * y[srcBLen - 2] */
-      sum = __SMLAD(input1, input2, sum);
-
-      /* Reading two inputs, x[srcALen - srcBLen + 3] and x[srcALen - srcBLen + 4] of SrcA buffer and packing */
-      in1 = (q15_t) * px++;
-      in2 = (q15_t) * px++;
-      input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
-
-      /* Reading two inputs, y[srcBLen - 3] and y[srcBLen - 4] of SrcB buffer and packing */
-      in1 = (q15_t) * py--;
-      in2 = (q15_t) * py--;
-      input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
-
-      /* sum += x[srcALen - srcBLen + 3] * y[srcBLen - 3] */
-      /* sum += x[srcALen - srcBLen + 4] * y[srcBLen - 4] */
-      sum = __SMLAD(input1, input2, sum);
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* If the blockSize3 is not a multiple of 4, compute any remaining MACs here.   
-     ** No loop unrolling is used. */
-    k = blockSize3 % 0x4u;
-
-    while(k > 0u)
-    {
-      /* Perform the multiply-accumulates */
-      sum += ((q15_t) * px++ * *py--);
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* Store the result in the accumulator in the destination buffer. */
-    *pOut++ = (q7_t) (__SSAT(sum >> 7u, 8));
-
-    /* Update the inputA and inputB pointers for next MAC calculation */
-    px = ++pSrc1;
-    py = pSrc2;
-
-    /* Decrement the loop counter */
-    blockSize3--;
-  }
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  q7_t *pIn1 = pSrcA;                            /* input pointer */
-  q7_t *pIn2 = pSrcB;                            /* coefficient pointer */
-  q31_t sum;                                     /* Accumulator */
-  uint32_t i, j;                                 /* loop counter */
-
-  /* Loop to calculate output of convolution for output length number of times */
-  for (i = 0; i < (srcALen + srcBLen - 1); i++)
-  {
-    /* Initialize sum with zero to carry on MAC operations */
-    sum = 0;
-
-    /* Loop to perform MAC operations according to convolution equation */
-    for (j = 0; j <= i; j++)
-    {
-      /* Check the array limitations */
-      if(((i - j) < srcBLen) && (j < srcALen))
-      {
-        /* z[i] += x[i-j] * y[j] */
-        sum += (q15_t) pIn1[j] * (pIn2[i - j]);
-      }
-    }
-
-    /* Store the output in the destination buffer */
-    pDst[i] = (q7_t) __SSAT((sum >> 7u), 8u);
-  }
-
-#endif /*   #ifndef ARM_MATH_CM0        */
-
-}
-
-/**   
- * @} end of Conv group   
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_f32.c
deleted file mode 100644
index 6a99eafc1..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_f32.c
+++ /dev/null
@@ -1,738 +0,0 @@
-/* ----------------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_correlate_f32.c    
-*    
-* Description:	 Correlation of floating-point sequences.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-* 
-* Version 1.0.11 2011/10/18  
-*    Bug Fix in conv, correlation, partial convolution.  
-* 
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-*    
-* -------------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @defgroup Corr Correlation    
- *    
- * Correlation is a mathematical operation that is similar to convolution.    
- * As with convolution, correlation uses two signals to produce a third signal.    
- * The underlying algorithms in correlation and convolution are identical except that one of the inputs is flipped in convolution.    
- * Correlation is commonly used to measure the similarity between two signals.    
- * It has applications in pattern recognition, cryptanalysis, and searching.    
- * The CMSIS library provides correlation functions for Q7, Q15, Q31 and floating-point data types.    
- * Fast versions of the Q15 and Q31 functions are also provided.    
- *    
- * \par Algorithm    
- * Let a[n] and b[n] be sequences of length srcALen and srcBLen samples respectively.    
- * The convolution of the two signals is denoted by    
- * 
    
- *                   c[n] = a[n] * b[n]    
- * 
    
- * In correlation, one of the signals is flipped in time    
- * 
    
- *                   c[n] = a[n] * b[-n]    
- * 
    
- *    
- * \par    
- * and this is mathematically defined as    
- * \image html CorrelateEquation.gif    
- * \par    
- * The pSrcA points to the first input vector of length srcALen and pSrcB points to the second input vector of length srcBLen.    
- * The result c[n] is of length 2 * max(srcALen, srcBLen) - 1 and is defined over the interval n=0, 1, 2, ..., (2 * max(srcALen, srcBLen) - 2).    
- * The output result is written to pDst and the calling function must allocate 2 * max(srcALen, srcBLen) - 1 words for the result.    
- *    
- * Note   
- * \par  
- * The pDst should be initialized to all zeros before being used.  
- *  
- * Fixed-Point Behavior    
- * \par    
- * Correlation requires summing up a large number of intermediate products.    
- * As such, the Q7, Q15, and Q31 functions run a risk of overflow and saturation.    
- * Refer to the function specific documentation below for further details of the particular algorithm used.    
- *
- *
- * Fast Versions
- *
- * \par 
- * Fast versions are supported for Q31 and Q15.  Cycles for Fast versions are less compared to Q31 and Q15 of correlate and the design requires
- * the input signals should be scaled down to avoid intermediate overflows.   
- *
- *
- * Opt Versions
- *
- * \par 
- * Opt versions are supported for Q15 and Q7.  Design uses internal scratch buffer for getting good optimisation.
- * These versions are optimised in cycles and consumes more memory(Scratch memory) compared to Q15 and Q7 versions of correlate 
- */
-
-/**    
- * @addtogroup Corr    
- * @{    
- */
-/**    
- * @brief Correlation of floating-point sequences.    
- * @param[in]  *pSrcA points to the first input sequence.    
- * @param[in]  srcALen length of the first input sequence.    
- * @param[in]  *pSrcB points to the second input sequence.    
- * @param[in]  srcBLen length of the second input sequence.    
- * @param[out] *pDst points to the location where the output result is written.  Length 2 * max(srcALen, srcBLen) - 1.    
- * @return none.    
- */
-
-void arm_correlate_f32(
-  float32_t * pSrcA,
-  uint32_t srcALen,
-  float32_t * pSrcB,
-  uint32_t srcBLen,
-  float32_t * pDst)
-{
-
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  float32_t *pIn1;                               /* inputA pointer */
-  float32_t *pIn2;                               /* inputB pointer */
-  float32_t *pOut = pDst;                        /* output pointer */
-  float32_t *px;                                 /* Intermediate inputA pointer */
-  float32_t *py;                                 /* Intermediate inputB pointer */
-  float32_t *pSrc1;                              /* Intermediate pointers */
-  float32_t sum, acc0, acc1, acc2, acc3;         /* Accumulators */
-  float32_t x0, x1, x2, x3, c0;                  /* temporary variables for holding input and coefficient values */
-  uint32_t j, k = 0u, count, blkCnt, outBlockSize, blockSize1, blockSize2, blockSize3;  /* loop counters */
-  int32_t inc = 1;                               /* Destination address modifier */
-
-
-  /* The algorithm implementation is based on the lengths of the inputs. */
-  /* srcB is always made to slide across srcA. */
-  /* So srcBLen is always considered as shorter or equal to srcALen */
-  /* But CORR(x, y) is reverse of CORR(y, x) */
-  /* So, when srcBLen > srcALen, output pointer is made to point to the end of the output buffer */
-  /* and the destination pointer modifier, inc is set to -1 */
-  /* If srcALen > srcBLen, zero pad has to be done to srcB to make the two inputs of same length */
-  /* But to improve the performance,    
-   * we include zeroes in the output instead of zero padding either of the the inputs*/
-  /* If srcALen > srcBLen,    
-   * (srcALen - srcBLen) zeroes has to included in the starting of the output buffer */
-  /* If srcALen < srcBLen,    
-   * (srcALen - srcBLen) zeroes has to included in the ending of the output buffer */
-  if(srcALen >= srcBLen)
-  {
-    /* Initialization of inputA pointer */
-    pIn1 = pSrcA;
-
-    /* Initialization of inputB pointer */
-    pIn2 = pSrcB;
-
-    /* Number of output samples is calculated */
-    outBlockSize = (2u * srcALen) - 1u;
-
-    /* When srcALen > srcBLen, zero padding has to be done to srcB    
-     * to make their lengths equal.    
-     * Instead, (outBlockSize - (srcALen + srcBLen - 1))    
-     * number of output samples are made zero */
-    j = outBlockSize - (srcALen + (srcBLen - 1u));
-
-    /* Updating the pointer position to non zero value */
-    pOut += j;
-
-    //while(j > 0u)   
-    //{   
-    //  /* Zero is stored in the destination buffer */   
-    //  *pOut++ = 0.0f;   
-
-    //  /* Decrement the loop counter */   
-    //  j--;   
-    //}   
-
-  }
-  else
-  {
-    /* Initialization of inputA pointer */
-    pIn1 = pSrcB;
-
-    /* Initialization of inputB pointer */
-    pIn2 = pSrcA;
-
-    /* srcBLen is always considered as shorter or equal to srcALen */
-    j = srcBLen;
-    srcBLen = srcALen;
-    srcALen = j;
-
-    /* CORR(x, y) = Reverse order(CORR(y, x)) */
-    /* Hence set the destination pointer to point to the last output sample */
-    pOut = pDst + ((srcALen + srcBLen) - 2u);
-
-    /* Destination address modifier is set to -1 */
-    inc = -1;
-
-  }
-
-  /* The function is internally    
-   * divided into three parts according to the number of multiplications that has to be    
-   * taken place between inputA samples and inputB samples. In the first part of the    
-   * algorithm, the multiplications increase by one for every iteration.    
-   * In the second part of the algorithm, srcBLen number of multiplications are done.    
-   * In the third part of the algorithm, the multiplications decrease by one    
-   * for every iteration.*/
-  /* The algorithm is implemented in three stages.    
-   * The loop counters of each stage is initiated here. */
-  blockSize1 = srcBLen - 1u;
-  blockSize2 = srcALen - (srcBLen - 1u);
-  blockSize3 = blockSize1;
-
-  /* --------------------------    
-   * Initializations of stage1    
-   * -------------------------*/
-
-  /* sum = x[0] * y[srcBlen - 1]    
-   * sum = x[0] * y[srcBlen-2] + x[1] * y[srcBlen - 1]    
-   * ....    
-   * sum = x[0] * y[0] + x[1] * y[1] +...+ x[srcBLen - 1] * y[srcBLen - 1]    
-   */
-
-  /* In this stage the MAC operations are increased by 1 for every iteration.    
-     The count variable holds the number of MAC operations performed */
-  count = 1u;
-
-  /* Working pointer of inputA */
-  px = pIn1;
-
-  /* Working pointer of inputB */
-  pSrc1 = pIn2 + (srcBLen - 1u);
-  py = pSrc1;
-
-  /* ------------------------    
-   * Stage1 process    
-   * ----------------------*/
-
-  /* The first stage starts here */
-  while(blockSize1 > 0u)
-  {
-    /* Accumulator is made zero for every iteration */
-    sum = 0.0f;
-
-    /* Apply loop unrolling and compute 4 MACs simultaneously. */
-    k = count >> 2u;
-
-    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
-     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-    while(k > 0u)
-    {
-      /* x[0] * y[srcBLen - 4] */
-      sum += *px++ * *py++;
-      /* x[1] * y[srcBLen - 3] */
-      sum += *px++ * *py++;
-      /* x[2] * y[srcBLen - 2] */
-      sum += *px++ * *py++;
-      /* x[3] * y[srcBLen - 1] */
-      sum += *px++ * *py++;
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* If the count is not a multiple of 4, compute any remaining MACs here.    
-     ** No loop unrolling is used. */
-    k = count % 0x4u;
-
-    while(k > 0u)
-    {
-      /* Perform the multiply-accumulate */
-      /* x[0] * y[srcBLen - 1] */
-      sum += *px++ * *py++;
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* Store the result in the accumulator in the destination buffer. */
-    *pOut = sum;
-    /* Destination pointer is updated according to the address modifier, inc */
-    pOut += inc;
-
-    /* Update the inputA and inputB pointers for next MAC calculation */
-    py = pSrc1 - count;
-    px = pIn1;
-
-    /* Increment the MAC count */
-    count++;
-
-    /* Decrement the loop counter */
-    blockSize1--;
-  }
-
-  /* --------------------------    
-   * Initializations of stage2    
-   * ------------------------*/
-
-  /* sum = x[0] * y[0] + x[1] * y[1] +...+ x[srcBLen-1] * y[srcBLen-1]    
-   * sum = x[1] * y[0] + x[2] * y[1] +...+ x[srcBLen] * y[srcBLen-1]    
-   * ....    
-   * sum = x[srcALen-srcBLen-2] * y[0] + x[srcALen-srcBLen-1] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]    
-   */
-
-  /* Working pointer of inputA */
-  px = pIn1;
-
-  /* Working pointer of inputB */
-  py = pIn2;
-
-  /* count is index by which the pointer pIn1 to be incremented */
-  count = 0u;
-
-  /* -------------------    
-   * Stage2 process    
-   * ------------------*/
-
-  /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.    
-   * So, to loop unroll over blockSize2,    
-   * srcBLen should be greater than or equal to 4, to loop unroll the srcBLen loop */
-  if(srcBLen >= 4u)
-  {
-    /* Loop unroll over blockSize2, by 4 */
-    blkCnt = blockSize2 >> 2u;
-
-    while(blkCnt > 0u)
-    {
-      /* Set all accumulators to zero */
-      acc0 = 0.0f;
-      acc1 = 0.0f;
-      acc2 = 0.0f;
-      acc3 = 0.0f;
-
-      /* read x[0], x[1], x[2] samples */
-      x0 = *(px++);
-      x1 = *(px++);
-      x2 = *(px++);
-
-      /* Apply loop unrolling and compute 4 MACs simultaneously. */
-      k = srcBLen >> 2u;
-
-      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
-       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-      do
-      {
-        /* Read y[0] sample */
-        c0 = *(py++);
-
-        /* Read x[3] sample */
-        x3 = *(px++);
-
-        /* Perform the multiply-accumulate */
-        /* acc0 +=  x[0] * y[0] */
-        acc0 += x0 * c0;
-        /* acc1 +=  x[1] * y[0] */
-        acc1 += x1 * c0;
-        /* acc2 +=  x[2] * y[0] */
-        acc2 += x2 * c0;
-        /* acc3 +=  x[3] * y[0] */
-        acc3 += x3 * c0;
-
-        /* Read y[1] sample */
-        c0 = *(py++);
-
-        /* Read x[4] sample */
-        x0 = *(px++);
-
-        /* Perform the multiply-accumulate */
-        /* acc0 +=  x[1] * y[1] */
-        acc0 += x1 * c0;
-        /* acc1 +=  x[2] * y[1] */
-        acc1 += x2 * c0;
-        /* acc2 +=  x[3] * y[1] */
-        acc2 += x3 * c0;
-        /* acc3 +=  x[4] * y[1] */
-        acc3 += x0 * c0;
-
-        /* Read y[2] sample */
-        c0 = *(py++);
-
-        /* Read x[5] sample */
-        x1 = *(px++);
-
-        /* Perform the multiply-accumulates */
-        /* acc0 +=  x[2] * y[2] */
-        acc0 += x2 * c0;
-        /* acc1 +=  x[3] * y[2] */
-        acc1 += x3 * c0;
-        /* acc2 +=  x[4] * y[2] */
-        acc2 += x0 * c0;
-        /* acc3 +=  x[5] * y[2] */
-        acc3 += x1 * c0;
-
-        /* Read y[3] sample */
-        c0 = *(py++);
-
-        /* Read x[6] sample */
-        x2 = *(px++);
-
-        /* Perform the multiply-accumulates */
-        /* acc0 +=  x[3] * y[3] */
-        acc0 += x3 * c0;
-        /* acc1 +=  x[4] * y[3] */
-        acc1 += x0 * c0;
-        /* acc2 +=  x[5] * y[3] */
-        acc2 += x1 * c0;
-        /* acc3 +=  x[6] * y[3] */
-        acc3 += x2 * c0;
-
-
-      } while(--k);
-
-      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.    
-       ** No loop unrolling is used. */
-      k = srcBLen % 0x4u;
-
-      while(k > 0u)
-      {
-        /* Read y[4] sample */
-        c0 = *(py++);
-
-        /* Read x[7] sample */
-        x3 = *(px++);
-
-        /* Perform the multiply-accumulates */
-        /* acc0 +=  x[4] * y[4] */
-        acc0 += x0 * c0;
-        /* acc1 +=  x[5] * y[4] */
-        acc1 += x1 * c0;
-        /* acc2 +=  x[6] * y[4] */
-        acc2 += x2 * c0;
-        /* acc3 +=  x[7] * y[4] */
-        acc3 += x3 * c0;
-
-        /* Reuse the present samples for the next MAC */
-        x0 = x1;
-        x1 = x2;
-        x2 = x3;
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut = acc0;
-      /* Destination pointer is updated according to the address modifier, inc */
-      pOut += inc;
-
-      *pOut = acc1;
-      pOut += inc;
-
-      *pOut = acc2;
-      pOut += inc;
-
-      *pOut = acc3;
-      pOut += inc;
-
-      /* Increment the pointer pIn1 index, count by 4 */
-      count += 4u;
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      px = pIn1 + count;
-      py = pIn2;
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-
-    /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.    
-     ** No loop unrolling is used. */
-    blkCnt = blockSize2 % 0x4u;
-
-    while(blkCnt > 0u)
-    {
-      /* Accumulator is made zero for every iteration */
-      sum = 0.0f;
-
-      /* Apply loop unrolling and compute 4 MACs simultaneously. */
-      k = srcBLen >> 2u;
-
-      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
-       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulates */
-        sum += *px++ * *py++;
-        sum += *px++ * *py++;
-        sum += *px++ * *py++;
-        sum += *px++ * *py++;
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.    
-       ** No loop unrolling is used. */
-      k = srcBLen % 0x4u;
-
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulate */
-        sum += *px++ * *py++;
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut = sum;
-      /* Destination pointer is updated according to the address modifier, inc */
-      pOut += inc;
-
-      /* Increment the pointer pIn1 index, count by 1 */
-      count++;
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      px = pIn1 + count;
-      py = pIn2;
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-  }
-  else
-  {
-    /* If the srcBLen is not a multiple of 4,    
-     * the blockSize2 loop cannot be unrolled by 4 */
-    blkCnt = blockSize2;
-
-    while(blkCnt > 0u)
-    {
-      /* Accumulator is made zero for every iteration */
-      sum = 0.0f;
-
-      /* Loop over srcBLen */
-      k = srcBLen;
-
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulate */
-        sum += *px++ * *py++;
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut = sum;
-      /* Destination pointer is updated according to the address modifier, inc */
-      pOut += inc;
-
-      /* Increment the pointer pIn1 index, count by 1 */
-      count++;
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      px = pIn1 + count;
-      py = pIn2;
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-  }
-
-  /* --------------------------    
-   * Initializations of stage3    
-   * -------------------------*/
-
-  /* sum += x[srcALen-srcBLen+1] * y[0] + x[srcALen-srcBLen+2] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]    
-   * sum += x[srcALen-srcBLen+2] * y[0] + x[srcALen-srcBLen+3] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]    
-   * ....    
-   * sum +=  x[srcALen-2] * y[0] + x[srcALen-1] * y[1]    
-   * sum +=  x[srcALen-1] * y[0]    
-   */
-
-  /* In this stage the MAC operations are decreased by 1 for every iteration.    
-     The count variable holds the number of MAC operations performed */
-  count = srcBLen - 1u;
-
-  /* Working pointer of inputA */
-  pSrc1 = pIn1 + (srcALen - (srcBLen - 1u));
-  px = pSrc1;
-
-  /* Working pointer of inputB */
-  py = pIn2;
-
-  /* -------------------    
-   * Stage3 process    
-   * ------------------*/
-
-  while(blockSize3 > 0u)
-  {
-    /* Accumulator is made zero for every iteration */
-    sum = 0.0f;
-
-    /* Apply loop unrolling and compute 4 MACs simultaneously. */
-    k = count >> 2u;
-
-    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
-     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-    while(k > 0u)
-    {
-      /* Perform the multiply-accumulates */
-      /* sum += x[srcALen - srcBLen + 4] * y[3] */
-      sum += *px++ * *py++;
-      /* sum += x[srcALen - srcBLen + 3] * y[2] */
-      sum += *px++ * *py++;
-      /* sum += x[srcALen - srcBLen + 2] * y[1] */
-      sum += *px++ * *py++;
-      /* sum += x[srcALen - srcBLen + 1] * y[0] */
-      sum += *px++ * *py++;
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* If the count is not a multiple of 4, compute any remaining MACs here.    
-     ** No loop unrolling is used. */
-    k = count % 0x4u;
-
-    while(k > 0u)
-    {
-      /* Perform the multiply-accumulates */
-      sum += *px++ * *py++;
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* Store the result in the accumulator in the destination buffer. */
-    *pOut = sum;
-    /* Destination pointer is updated according to the address modifier, inc */
-    pOut += inc;
-
-    /* Update the inputA and inputB pointers for next MAC calculation */
-    px = ++pSrc1;
-    py = pIn2;
-
-    /* Decrement the MAC count */
-    count--;
-
-    /* Decrement the loop counter */
-    blockSize3--;
-  }
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  float32_t *pIn1 = pSrcA;                       /* inputA pointer */
-  float32_t *pIn2 = pSrcB + (srcBLen - 1u);      /* inputB pointer */
-  float32_t sum;                                 /* Accumulator */
-  uint32_t i = 0u, j;                            /* loop counters */
-  uint32_t inv = 0u;                             /* Reverse order flag */
-  uint32_t tot = 0u;                             /* Length */
-
-  /* The algorithm implementation is based on the lengths of the inputs. */
-  /* srcB is always made to slide across srcA. */
-  /* So srcBLen is always considered as shorter or equal to srcALen */
-  /* But CORR(x, y) is reverse of CORR(y, x) */
-  /* So, when srcBLen > srcALen, output pointer is made to point to the end of the output buffer */
-  /* and a varaible, inv is set to 1 */
-  /* If lengths are not equal then zero pad has to be done to  make the two    
-   * inputs of same length. But to improve the performance, we include zeroes    
-   * in the output instead of zero padding either of the the inputs*/
-  /* If srcALen > srcBLen, (srcALen - srcBLen) zeroes has to included in the    
-   * starting of the output buffer */
-  /* If srcALen < srcBLen, (srcALen - srcBLen) zeroes has to included in the   
-   * ending of the output buffer */
-  /* Once the zero padding is done the remaining of the output is calcualted   
-   * using convolution but with the shorter signal time shifted. */
-
-  /* Calculate the length of the remaining sequence */
-  tot = ((srcALen + srcBLen) - 2u);
-
-  if(srcALen > srcBLen)
-  {
-    /* Calculating the number of zeros to be padded to the output */
-    j = srcALen - srcBLen;
-
-    /* Initialise the pointer after zero padding */
-    pDst += j;
-  }
-
-  else if(srcALen < srcBLen)
-  {
-    /* Initialization to inputB pointer */
-    pIn1 = pSrcB;
-
-    /* Initialization to the end of inputA pointer */
-    pIn2 = pSrcA + (srcALen - 1u);
-
-    /* Initialisation of the pointer after zero padding */
-    pDst = pDst + tot;
-
-    /* Swapping the lengths */
-    j = srcALen;
-    srcALen = srcBLen;
-    srcBLen = j;
-
-    /* Setting the reverse flag */
-    inv = 1;
-
-  }
-
-  /* Loop to calculate convolution for output length number of times */
-  for (i = 0u; i <= tot; i++)
-  {
-    /* Initialize sum with zero to carry on MAC operations */
-    sum = 0.0f;
-
-    /* Loop to perform MAC operations according to convolution equation */
-    for (j = 0u; j <= i; j++)
-    {
-      /* Check the array limitations */
-      if((((i - j) < srcBLen) && (j < srcALen)))
-      {
-        /* z[i] += x[i-j] * y[j] */
-        sum += pIn1[j] * pIn2[-((int32_t) i - j)];
-      }
-    }
-    /* Store the output in the destination buffer */
-    if(inv == 1)
-      *pDst-- = sum;
-    else
-      *pDst++ = sum;
-  }
-
-#endif /*   #ifndef ARM_MATH_CM0 */
-
-}
-
-/**    
- * @} end of Corr group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_opt_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_opt_q15.c
deleted file mode 100644
index a99225a2f..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_opt_q15.c
+++ /dev/null
@@ -1,507 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_correlate_fast_opt_q15.c    
-*    
-* Description:	Fast Q15 Correlation.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-* 
-* Version 1.0.11 2011/10/18  
-*    Bug Fix in conv, correlation, partial convolution.  
-* 
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup Corr    
- * @{    
- */
-
-/**    
- * @brief Correlation of Q15 sequences (fast version) for Cortex-M3 and Cortex-M4.    
- * @param[in] *pSrcA points to the first input sequence.    
- * @param[in] srcALen length of the first input sequence.    
- * @param[in] *pSrcB points to the second input sequence.    
- * @param[in] srcBLen length of the second input sequence.    
- * @param[out] *pDst points to the location where the output result is written.  Length 2 * max(srcALen, srcBLen) - 1.    
- * @param[in]  *pScratch points to scratch buffer of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2.   
- * @return none.    
- *    
- *    
- * \par Restrictions    
- *  If the silicon does not support unaligned memory access enable the macro UNALIGNED_SUPPORT_DISABLE    
- *	In this case input, output, scratch buffers should be aligned by 32-bit    
- *    
- *     
- * Scaling and Overflow Behavior:    
- *    
- * \par    
- * This fast version uses a 32-bit accumulator with 2.30 format.    
- * The accumulator maintains full precision of the intermediate multiplication results but provides only a single guard bit.    
- * There is no saturation on intermediate additions.    
- * Thus, if the accumulator overflows it wraps around and distorts the result.    
- * The input signals should be scaled down to avoid intermediate overflows.    
- * Scale down one of the inputs by 1/min(srcALen, srcBLen) to avoid overflow since a    
- * maximum of min(srcALen, srcBLen) number of additions is carried internally.    
- * The 2.30 accumulator is right shifted by 15 bits and then saturated to 1.15 format to yield the final result.    
- *    
- * \par    
- * See arm_correlate_q15() for a slower implementation of this function which uses a 64-bit accumulator to avoid wrap around distortion.    
- */
-
-void arm_correlate_fast_opt_q15(
-  q15_t * pSrcA,
-  uint32_t srcALen,
-  q15_t * pSrcB,
-  uint32_t srcBLen,
-  q15_t * pDst,
-  q15_t * pScratch)
-{
-  q15_t *pIn1;                                   /* inputA pointer               */
-  q15_t *pIn2;                                   /* inputB pointer               */
-  q31_t acc0, acc1, acc2, acc3;                  /* Accumulators                  */
-  q15_t *py;                                     /* Intermediate inputB pointer  */
-  q31_t x1, x2, x3;                              /* temporary variables for holding input and coefficient values */
-  uint32_t j, blkCnt, outBlockSize;              /* loop counter                 */
-  int32_t inc = 1;                               /* Destination address modifier */
-  uint32_t tapCnt;
-  q31_t y1, y2;
-  q15_t *pScr;                                   /* Intermediate pointers        */
-  q15_t *pOut = pDst;                            /* output pointer               */
-#ifdef UNALIGNED_SUPPORT_DISABLE
-
-  q15_t a, b;
-
-#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
-
-  /* The algorithm implementation is based on the lengths of the inputs. */
-  /* srcB is always made to slide across srcA. */
-  /* So srcBLen is always considered as shorter or equal to srcALen */
-  /* But CORR(x, y) is reverse of CORR(y, x) */
-  /* So, when srcBLen > srcALen, output pointer is made to point to the end of the output buffer */
-  /* and the destination pointer modifier, inc is set to -1 */
-  /* If srcALen > srcBLen, zero pad has to be done to srcB to make the two inputs of same length */
-  /* But to improve the performance,        
-   * we include zeroes in the output instead of zero padding either of the the inputs*/
-  /* If srcALen > srcBLen,        
-   * (srcALen - srcBLen) zeroes has to included in the starting of the output buffer */
-  /* If srcALen < srcBLen,        
-   * (srcALen - srcBLen) zeroes has to included in the ending of the output buffer */
-  if(srcALen >= srcBLen)
-  {
-    /* Initialization of inputA pointer */
-    pIn1 = (pSrcA);
-
-    /* Initialization of inputB pointer */
-    pIn2 = (pSrcB);
-
-    /* Number of output samples is calculated */
-    outBlockSize = (2u * srcALen) - 1u;
-
-    /* When srcALen > srcBLen, zero padding is done to srcB        
-     * to make their lengths equal.        
-     * Instead, (outBlockSize - (srcALen + srcBLen - 1))        
-     * number of output samples are made zero */
-    j = outBlockSize - (srcALen + (srcBLen - 1u));
-
-    /* Updating the pointer position to non zero value */
-    pOut += j;
-
-  }
-  else
-  {
-    /* Initialization of inputA pointer */
-    pIn1 = (pSrcB);
-
-    /* Initialization of inputB pointer */
-    pIn2 = (pSrcA);
-
-    /* srcBLen is always considered as shorter or equal to srcALen */
-    j = srcBLen;
-    srcBLen = srcALen;
-    srcALen = j;
-
-    /* CORR(x, y) = Reverse order(CORR(y, x)) */
-    /* Hence set the destination pointer to point to the last output sample */
-    pOut = pDst + ((srcALen + srcBLen) - 2u);
-
-    /* Destination address modifier is set to -1 */
-    inc = -1;
-
-  }
-
-  pScr = pScratch;
-
-  /* Fill (srcBLen - 1u) zeros in scratch buffer */
-  arm_fill_q15(0, pScr, (srcBLen - 1u));
-
-  /* Update temporary scratch pointer */
-  pScr += (srcBLen - 1u);
-
-#ifndef UNALIGNED_SUPPORT_DISABLE
-
-  /* Copy (srcALen) samples in scratch buffer */
-  arm_copy_q15(pIn1, pScr, srcALen);
-
-  /* Update pointers */
-  pScr += srcALen;
-
-#else
-
-  /* Apply loop unrolling and do 4 Copies simultaneously. */
-  j = srcALen >> 2u;
-
-  /* First part of the processing with loop unrolling copies 4 data points at a time.       
-   ** a second loop below copies for the remaining 1 to 3 samples. */
-  while(j > 0u)
-  {
-    /* copy second buffer in reversal manner */
-    *pScr++ = *pIn1++;
-    *pScr++ = *pIn1++;
-    *pScr++ = *pIn1++;
-    *pScr++ = *pIn1++;
-
-    /* Decrement the loop counter */
-    j--;
-  }
-
-  /* If the count is not a multiple of 4, copy remaining samples here.       
-   ** No loop unrolling is used. */
-  j = srcALen % 0x4u;
-
-  while(j > 0u)
-  {
-    /* copy second buffer in reversal manner for remaining samples */
-    *pScr++ = *pIn1++;
-
-    /* Decrement the loop counter */
-    j--;
-  }
-
-#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
-
-#ifndef UNALIGNED_SUPPORT_DISABLE
-
-  /* Fill (srcBLen - 1u) zeros at end of scratch buffer */
-  arm_fill_q15(0, pScr, (srcBLen - 1u));
-
-  /* Update pointer */
-  pScr += (srcBLen - 1u);
-
-#else
-
-/* Apply loop unrolling and do 4 Copies simultaneously. */
-  j = (srcBLen - 1u) >> 2u;
-
-  /* First part of the processing with loop unrolling copies 4 data points at a time.       
-   ** a second loop below copies for the remaining 1 to 3 samples. */
-  while(j > 0u)
-  {
-    /* copy second buffer in reversal manner */
-    *pScr++ = 0;
-    *pScr++ = 0;
-    *pScr++ = 0;
-    *pScr++ = 0;
-
-    /* Decrement the loop counter */
-    j--;
-  }
-
-  /* If the count is not a multiple of 4, copy remaining samples here.       
-   ** No loop unrolling is used. */
-  j = (srcBLen - 1u) % 0x4u;
-
-  while(j > 0u)
-  {
-    /* copy second buffer in reversal manner for remaining samples */
-    *pScr++ = 0;
-
-    /* Decrement the loop counter */
-    j--;
-  }
-
-#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
-
-  /* Temporary pointer for scratch2 */
-  py = pIn2;
-
-
-  /* Actual correlation process starts here */
-  blkCnt = (srcALen + srcBLen - 1u) >> 2;
-
-  while(blkCnt > 0)
-  {
-    /* Initialze temporary scratch pointer as scratch1 */
-    pScr = pScratch;
-
-    /* Clear Accumlators */
-    acc0 = 0;
-    acc1 = 0;
-    acc2 = 0;
-    acc3 = 0;
-
-    /* Read four samples from scratch1 buffer */
-    x1 = *__SIMD32(pScr)++;
-
-    /* Read next four samples from scratch1 buffer */
-    x2 = *__SIMD32(pScr)++;
-
-    tapCnt = (srcBLen) >> 2u;
-
-    while(tapCnt > 0u)
-    {
-
-#ifndef UNALIGNED_SUPPORT_DISABLE
-
-      /* Read four samples from smaller buffer */
-      y1 = _SIMD32_OFFSET(pIn2);
-      y2 = _SIMD32_OFFSET(pIn2 + 2u);
-
-      acc0 = __SMLAD(x1, y1, acc0);
-
-      acc2 = __SMLAD(x2, y1, acc2);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-      x3 = __PKHBT(x2, x1, 0);
-#else
-      x3 = __PKHBT(x1, x2, 0);
-#endif
-
-      acc1 = __SMLADX(x3, y1, acc1);
-
-      x1 = _SIMD32_OFFSET(pScr);
-
-      acc0 = __SMLAD(x2, y2, acc0);
-
-      acc2 = __SMLAD(x1, y2, acc2);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-      x3 = __PKHBT(x1, x2, 0);
-#else
-      x3 = __PKHBT(x2, x1, 0);
-#endif
-
-      acc3 = __SMLADX(x3, y1, acc3);
-
-      acc1 = __SMLADX(x3, y2, acc1);
-
-      x2 = _SIMD32_OFFSET(pScr + 2u);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-      x3 = __PKHBT(x2, x1, 0);
-#else
-      x3 = __PKHBT(x1, x2, 0);
-#endif
-
-      acc3 = __SMLADX(x3, y2, acc3);
-#else	 
-
-      /* Read four samples from smaller buffer */
-	  a = *pIn2;
-	  b = *(pIn2 + 1);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-      y1 = __PKHBT(a, b, 16);
-#else
-      y1 = __PKHBT(b, a, 16);
-#endif
-	  
-	  a = *(pIn2 + 2);
-	  b = *(pIn2 + 3);
-#ifndef ARM_MATH_BIG_ENDIAN
-      y2 = __PKHBT(a, b, 16);
-#else
-      y2 = __PKHBT(b, a, 16);
-#endif				
-
-      acc0 = __SMLAD(x1, y1, acc0);
-
-      acc2 = __SMLAD(x2, y1, acc2);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-      x3 = __PKHBT(x2, x1, 0);
-#else
-      x3 = __PKHBT(x1, x2, 0);
-#endif
-
-      acc1 = __SMLADX(x3, y1, acc1);
-
-	  a = *pScr;
-	  b = *(pScr + 1);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-      x1 = __PKHBT(a, b, 16);
-#else
-      x1 = __PKHBT(b, a, 16);
-#endif
-
-      acc0 = __SMLAD(x2, y2, acc0);
-
-      acc2 = __SMLAD(x1, y2, acc2);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-      x3 = __PKHBT(x1, x2, 0);
-#else
-      x3 = __PKHBT(x2, x1, 0);
-#endif
-
-      acc3 = __SMLADX(x3, y1, acc3);
-
-      acc1 = __SMLADX(x3, y2, acc1);
-
-	  a = *(pScr + 2);
-	  b = *(pScr + 3);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-      x2 = __PKHBT(a, b, 16);
-#else
-      x2 = __PKHBT(b, a, 16);
-#endif
-
-#ifndef ARM_MATH_BIG_ENDIAN
-      x3 = __PKHBT(x2, x1, 0);
-#else
-      x3 = __PKHBT(x1, x2, 0);
-#endif
-
-      acc3 = __SMLADX(x3, y2, acc3);
-
-#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
-
-      pIn2 += 4u;
-
-      pScr += 4u;
-
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-
-
-    /* Update scratch pointer for remaining samples of smaller length sequence */
-    pScr -= 4u;
-
-
-    /* apply same above for remaining samples of smaller length sequence */
-    tapCnt = (srcBLen) & 3u;
-
-    while(tapCnt > 0u)
-    {
-
-      /* accumlate the results */
-      acc0 += (*pScr++ * *pIn2);
-      acc1 += (*pScr++ * *pIn2);
-      acc2 += (*pScr++ * *pIn2);
-      acc3 += (*pScr++ * *pIn2++);
-
-      pScr -= 3u;
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    blkCnt--;
-
-
-    /* Store the results in the accumulators in the destination buffer. */
-    *pOut = (__SSAT(acc0 >> 15u, 16));
-    pOut += inc;
-    *pOut = (__SSAT(acc1 >> 15u, 16));
-    pOut += inc;
-    *pOut = (__SSAT(acc2 >> 15u, 16));
-    pOut += inc;
-    *pOut = (__SSAT(acc3 >> 15u, 16));
-    pOut += inc;
-
-
-    /* Initialization of inputB pointer */
-    pIn2 = py;
-
-    pScratch += 4u;
-
-  }
-
-
-  blkCnt = (srcALen + srcBLen - 1u) & 0x3;
-
-  /* Calculate correlation for remaining samples of Bigger length sequence */
-  while(blkCnt > 0)
-  {
-    /* Initialze temporary scratch pointer as scratch1 */
-    pScr = pScratch;
-
-    /* Clear Accumlators */
-    acc0 = 0;
-
-    tapCnt = (srcBLen) >> 1u;
-
-    while(tapCnt > 0u)
-    {
-
-      acc0 += (*pScr++ * *pIn2++);
-      acc0 += (*pScr++ * *pIn2++);
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    tapCnt = (srcBLen) & 1u;
-
-    /* apply same above for remaining samples of smaller length sequence */
-    while(tapCnt > 0u)
-    {
-
-      /* accumlate the results */
-      acc0 += (*pScr++ * *pIn2++);
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    blkCnt--;
-
-    /* Store the result in the accumulator in the destination buffer. */
-
-    *pOut = (q15_t) (__SSAT((acc0 >> 15), 16));
-
-    pOut += inc;
-
-    /* Initialization of inputB pointer */
-    pIn2 = py;
-
-    pScratch += 1u;
-
-  }
-}
-
-/**    
- * @} end of Corr group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q15.c
deleted file mode 100644
index 0c79bc896..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q15.c
+++ /dev/null
@@ -1,1314 +0,0 @@
-/* ----------------------------------------------------------------------   
-* Copyright (C) 2010 ARM Limited. All rights reserved.   
-*   
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*   
-* Project: 	    CMSIS DSP Library   
-* Title:		arm_correlate_fast_q15.c   
-*   
-* Description:	Fast Q15 Correlation.   
-*   
-* Target Processor: Cortex-M4/Cortex-M3
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-* 
-* Version 1.0.11 2011/10/18 
-*    Bug Fix in conv, correlation, partial convolution. 
-*
-* Version 1.0.10 2011/7/15 
-*    Big Endian support added and Merged M0 and M3/M4 Source code.  
-*   
-* Version 1.0.3 2010/11/29  
-*    Re-organized the CMSIS folders and updated documentation.   
-*    
-* Version 1.0.2 2010/11/11   
-*    Documentation updated.    
-*   
-* Version 1.0.1 2010/10/05    
-*    Production release and review comments incorporated.   
-*   
-* Version 1.0.0 2010/09/20    
-*    Production release and review comments incorporated.   
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**   
- * @ingroup groupFilters   
- */
-
-/**   
- * @addtogroup Corr   
- * @{   
- */
-
-/**   
- * @brief Correlation of Q15 sequences (fast version) for Cortex-M3 and Cortex-M4.   
- * @param[in] *pSrcA points to the first input sequence.   
- * @param[in] srcALen length of the first input sequence.   
- * @param[in] *pSrcB points to the second input sequence.   
- * @param[in] srcBLen length of the second input sequence.   
- * @param[out] *pDst points to the location where the output result is written.  Length 2 * max(srcALen, srcBLen) - 1.   
- * @return none.   
- *   
- * Scaling and Overflow Behavior:   
- *   
- * \par   
- * This fast version uses a 32-bit accumulator with 2.30 format.   
- * The accumulator maintains full precision of the intermediate multiplication results but provides only a single guard bit.   
- * There is no saturation on intermediate additions.   
- * Thus, if the accumulator overflows it wraps around and distorts the result.   
- * The input signals should be scaled down to avoid intermediate overflows.   
- * Scale down one of the inputs by 1/min(srcALen, srcBLen) to avoid overflow since a   
- * maximum of min(srcALen, srcBLen) number of additions is carried internally.   
- * The 2.30 accumulator is right shifted by 15 bits and then saturated to 1.15 format to yield the final result.   
- *   
- * \par   
- * See arm_correlate_q15() for a slower implementation of this function which uses a 64-bit accumulator to avoid wrap around distortion.   
- */
-
-void arm_correlate_fast_q15(
-  q15_t * pSrcA,
-  uint32_t srcALen,
-  q15_t * pSrcB,
-  uint32_t srcBLen,
-  q15_t * pDst)
-{
-#ifndef UNALIGNED_SUPPORT_DISABLE
-
-  q15_t *pIn1;                                   /* inputA pointer               */
-  q15_t *pIn2;                                   /* inputB pointer               */
-  q15_t *pOut = pDst;                            /* output pointer               */
-  q31_t sum, acc0, acc1, acc2, acc3;             /* Accumulators                  */
-  q15_t *px;                                     /* Intermediate inputA pointer  */
-  q15_t *py;                                     /* Intermediate inputB pointer  */
-  q15_t *pSrc1;                                  /* Intermediate pointers        */
-  q31_t x0, x1, x2, x3, c0;                      /* temporary variables for holding input and coefficient values */
-  uint32_t j, k = 0u, count, blkCnt, outBlockSize, blockSize1, blockSize2, blockSize3;  /* loop counter                 */
-  int32_t inc = 1;                               /* Destination address modifier */
-
-
-  /* The algorithm implementation is based on the lengths of the inputs. */
-  /* srcB is always made to slide across srcA. */
-  /* So srcBLen is always considered as shorter or equal to srcALen */
-  /* But CORR(x, y) is reverse of CORR(y, x) */
-  /* So, when srcBLen > srcALen, output pointer is made to point to the end of the output buffer */
-  /* and the destination pointer modifier, inc is set to -1 */
-  /* If srcALen > srcBLen, zero pad has to be done to srcB to make the two inputs of same length */
-  /* But to improve the performance,   
-   * we include zeroes in the output instead of zero padding either of the the inputs*/
-  /* If srcALen > srcBLen,   
-   * (srcALen - srcBLen) zeroes has to included in the starting of the output buffer */
-  /* If srcALen < srcBLen,   
-   * (srcALen - srcBLen) zeroes has to included in the ending of the output buffer */
-  if(srcALen >= srcBLen)
-  {
-    /* Initialization of inputA pointer */
-    pIn1 = (pSrcA);
-
-    /* Initialization of inputB pointer */
-    pIn2 = (pSrcB);
-
-    /* Number of output samples is calculated */
-    outBlockSize = (2u * srcALen) - 1u;
-
-    /* When srcALen > srcBLen, zero padding is done to srcB   
-     * to make their lengths equal.   
-     * Instead, (outBlockSize - (srcALen + srcBLen - 1))   
-     * number of output samples are made zero */
-    j = outBlockSize - (srcALen + (srcBLen - 1u));
-
-    /* Updating the pointer position to non zero value */
-    pOut += j;
-
-  }
-  else
-  {
-    /* Initialization of inputA pointer */
-    pIn1 = (pSrcB);
-
-    /* Initialization of inputB pointer */
-    pIn2 = (pSrcA);
-
-    /* srcBLen is always considered as shorter or equal to srcALen */
-    j = srcBLen;
-    srcBLen = srcALen;
-    srcALen = j;
-
-    /* CORR(x, y) = Reverse order(CORR(y, x)) */
-    /* Hence set the destination pointer to point to the last output sample */
-    pOut = pDst + ((srcALen + srcBLen) - 2u);
-
-    /* Destination address modifier is set to -1 */
-    inc = -1;
-
-  }
-
-  /* The function is internally   
-   * divided into three parts according to the number of multiplications that has to be   
-   * taken place between inputA samples and inputB samples. In the first part of the   
-   * algorithm, the multiplications increase by one for every iteration.   
-   * In the second part of the algorithm, srcBLen number of multiplications are done.   
-   * In the third part of the algorithm, the multiplications decrease by one   
-   * for every iteration.*/
-  /* The algorithm is implemented in three stages.   
-   * The loop counters of each stage is initiated here. */
-  blockSize1 = srcBLen - 1u;
-  blockSize2 = srcALen - (srcBLen - 1u);
-  blockSize3 = blockSize1;
-
-  /* --------------------------   
-   * Initializations of stage1   
-   * -------------------------*/
-
-  /* sum = x[0] * y[srcBlen - 1]   
-   * sum = x[0] * y[srcBlen - 2] + x[1] * y[srcBlen - 1]   
-   * ....   
-   * sum = x[0] * y[0] + x[1] * y[1] +...+ x[srcBLen - 1] * y[srcBLen - 1]   
-   */
-
-  /* In this stage the MAC operations are increased by 1 for every iteration.   
-     The count variable holds the number of MAC operations performed */
-  count = 1u;
-
-  /* Working pointer of inputA */
-  px = pIn1;
-
-  /* Working pointer of inputB */
-  pSrc1 = pIn2 + (srcBLen - 1u);
-  py = pSrc1;
-
-  /* ------------------------   
-   * Stage1 process   
-   * ----------------------*/
-
-  /* The first loop starts here */
-  while(blockSize1 > 0u)
-  {
-    /* Accumulator is made zero for every iteration */
-    sum = 0;
-
-    /* Apply loop unrolling and compute 4 MACs simultaneously. */
-    k = count >> 2;
-
-    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
-     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-    while(k > 0u)
-    {
-      /* x[0] * y[srcBLen - 4] , x[1] * y[srcBLen - 3] */
-      sum = __SMLAD(*__SIMD32(px)++, *__SIMD32(py)++, sum);
-      /* x[3] * y[srcBLen - 1] , x[2] * y[srcBLen - 2] */
-      sum = __SMLAD(*__SIMD32(px)++, *__SIMD32(py)++, sum);
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* If the count is not a multiple of 4, compute any remaining MACs here.   
-     ** No loop unrolling is used. */
-    k = count % 0x4u;
-
-    while(k > 0u)
-    {
-      /* Perform the multiply-accumulates */
-      /* x[0] * y[srcBLen - 1] */
-      sum = __SMLAD(*px++, *py++, sum);
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* Store the result in the accumulator in the destination buffer. */
-    *pOut = (q15_t) (sum >> 15);
-    /* Destination pointer is updated according to the address modifier, inc */
-    pOut += inc;
-
-    /* Update the inputA and inputB pointers for next MAC calculation */
-    py = pSrc1 - count;
-    px = pIn1;
-
-    /* Increment the MAC count */
-    count++;
-
-    /* Decrement the loop counter */
-    blockSize1--;
-  }
-
-  /* --------------------------   
-   * Initializations of stage2   
-   * ------------------------*/
-
-  /* sum = x[0] * y[0] + x[1] * y[1] +...+ x[srcBLen-1] * y[srcBLen-1]   
-   * sum = x[1] * y[0] + x[2] * y[1] +...+ x[srcBLen] * y[srcBLen-1]   
-   * ....   
-   * sum = x[srcALen-srcBLen-2] * y[0] + x[srcALen-srcBLen-1] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]   
-   */
-
-  /* Working pointer of inputA */
-  px = pIn1;
-
-  /* Working pointer of inputB */
-  py = pIn2;
-
-  /* count is index by which the pointer pIn1 to be incremented */
-  count = 0u;
-
-  /* -------------------   
-   * Stage2 process   
-   * ------------------*/
-
-  /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.   
-   * So, to loop unroll over blockSize2,   
-   * srcBLen should be greater than or equal to 4, to loop unroll the srcBLen loop */
-  if(srcBLen >= 4u)
-  {
-    /* Loop unroll over blockSize2, by 4 */
-    blkCnt = blockSize2 >> 2u;
-
-    while(blkCnt > 0u)
-    {
-      /* Set all accumulators to zero */
-      acc0 = 0;
-      acc1 = 0;
-      acc2 = 0;
-      acc3 = 0;
-
-      /* read x[0], x[1] samples */
-      x0 = *__SIMD32(px);
-      /* read x[1], x[2] samples */
-      x1 = _SIMD32_OFFSET(px + 1);
-	  px += 2u;
-
-      /* Apply loop unrolling and compute 4 MACs simultaneously. */
-      k = srcBLen >> 2u;
-
-      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
-       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-      do
-      {
-        /* Read the first two inputB samples using SIMD:   
-         * y[0] and y[1] */
-        c0 = *__SIMD32(py)++;
-
-        /* acc0 +=  x[0] * y[0] + x[1] * y[1] */
-        acc0 = __SMLAD(x0, c0, acc0);
-
-        /* acc1 +=  x[1] * y[0] + x[2] * y[1] */
-        acc1 = __SMLAD(x1, c0, acc1);
-
-        /* Read x[2], x[3] */
-        x2 = *__SIMD32(px);
-
-        /* Read x[3], x[4] */
-        x3 = _SIMD32_OFFSET(px + 1);
-
-        /* acc2 +=  x[2] * y[0] + x[3] * y[1] */
-        acc2 = __SMLAD(x2, c0, acc2);
-
-        /* acc3 +=  x[3] * y[0] + x[4] * y[1] */
-        acc3 = __SMLAD(x3, c0, acc3);
-
-        /* Read y[2] and y[3] */
-        c0 = *__SIMD32(py)++;
-
-        /* acc0 +=  x[2] * y[2] + x[3] * y[3] */
-        acc0 = __SMLAD(x2, c0, acc0);
-
-        /* acc1 +=  x[3] * y[2] + x[4] * y[3] */
-        acc1 = __SMLAD(x3, c0, acc1);
-
-        /* Read x[4], x[5] */
-        x0 = _SIMD32_OFFSET(px + 2);
-
-        /* Read x[5], x[6] */
-        x1 = _SIMD32_OFFSET(px + 3);
-		px += 4u;
-
-        /* acc2 +=  x[4] * y[2] + x[5] * y[3] */
-        acc2 = __SMLAD(x0, c0, acc2);
-
-        /* acc3 +=  x[5] * y[2] + x[6] * y[3] */
-        acc3 = __SMLAD(x1, c0, acc3);
-
-      } while(--k);
-
-      /* For the next MAC operations, SIMD is not used   
-       * So, the 16 bit pointer if inputB, py is updated */
-
-      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
-       ** No loop unrolling is used. */
-      k = srcBLen % 0x4u;
-
-      if(k == 1u)
-      {
-        /* Read y[4] */
-        c0 = *py;
-#ifdef  ARM_MATH_BIG_ENDIAN
-
-        c0 = c0 << 16u;
-
-#else
-
-        c0 = c0 & 0x0000FFFF;
-
-#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */
-
-        /* Read x[7] */
-        x3 = *__SIMD32(px);
-		px++;
-
-        /* Perform the multiply-accumulates */
-        acc0 = __SMLAD(x0, c0, acc0);
-        acc1 = __SMLAD(x1, c0, acc1);
-        acc2 = __SMLADX(x1, c0, acc2);
-        acc3 = __SMLADX(x3, c0, acc3);
-      }
-
-      if(k == 2u)
-      {
-        /* Read y[4], y[5] */
-        c0 = *__SIMD32(py);
-
-        /* Read x[7], x[8] */
-        x3 = *__SIMD32(px);
-
-        /* Read x[9] */
-        x2 = _SIMD32_OFFSET(px + 1);
-		px += 2u;
-
-        /* Perform the multiply-accumulates */
-        acc0 = __SMLAD(x0, c0, acc0);
-        acc1 = __SMLAD(x1, c0, acc1);
-        acc2 = __SMLAD(x3, c0, acc2);
-        acc3 = __SMLAD(x2, c0, acc3);
-      }
-
-      if(k == 3u)
-      {
-        /* Read y[4], y[5] */
-        c0 = *__SIMD32(py)++;
-
-        /* Read x[7], x[8] */
-        x3 = *__SIMD32(px);
-
-        /* Read x[9] */
-        x2 = _SIMD32_OFFSET(px + 1);
-
-        /* Perform the multiply-accumulates */
-        acc0 = __SMLAD(x0, c0, acc0);
-        acc1 = __SMLAD(x1, c0, acc1);
-        acc2 = __SMLAD(x3, c0, acc2);
-        acc3 = __SMLAD(x2, c0, acc3);
-
-        c0 = (*py);
-        /* Read y[6] */
-#ifdef  ARM_MATH_BIG_ENDIAN
-
-        c0 = c0 << 16u;
-#else
-
-        c0 = c0 & 0x0000FFFF;
-#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */
-
-        /* Read x[10] */
-        x3 = _SIMD32_OFFSET(px + 2);
-		px += 3u;
-
-        /* Perform the multiply-accumulates */
-        acc0 = __SMLADX(x1, c0, acc0);
-        acc1 = __SMLAD(x2, c0, acc1);
-        acc2 = __SMLADX(x2, c0, acc2);
-        acc3 = __SMLADX(x3, c0, acc3);
-      }
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut = (q15_t) (acc0 >> 15);
-      /* Destination pointer is updated according to the address modifier, inc */
-      pOut += inc;
-
-      *pOut = (q15_t) (acc1 >> 15);
-      pOut += inc;
-
-      *pOut = (q15_t) (acc2 >> 15);
-      pOut += inc;
-
-      *pOut = (q15_t) (acc3 >> 15);
-      pOut += inc;
-
-      /* Increment the pointer pIn1 index, count by 1 */
-      count += 4u;
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      px = pIn1 + count;
-      py = pIn2;
-
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-
-    /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.   
-     ** No loop unrolling is used. */
-    blkCnt = blockSize2 % 0x4u;
-
-    while(blkCnt > 0u)
-    {
-      /* Accumulator is made zero for every iteration */
-      sum = 0;
-
-      /* Apply loop unrolling and compute 4 MACs simultaneously. */
-      k = srcBLen >> 2u;
-
-      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
-       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulates */
-        sum += ((q31_t) * px++ * *py++);
-        sum += ((q31_t) * px++ * *py++);
-        sum += ((q31_t) * px++ * *py++);
-        sum += ((q31_t) * px++ * *py++);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
-       ** No loop unrolling is used. */
-      k = srcBLen % 0x4u;
-
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulates */
-        sum += ((q31_t) * px++ * *py++);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut = (q15_t) (sum >> 15);
-      /* Destination pointer is updated according to the address modifier, inc */
-      pOut += inc;
-
-      /* Increment the pointer pIn1 index, count by 1 */
-      count++;
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      px = pIn1 + count;
-      py = pIn2;
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-  }
-  else
-  {
-    /* If the srcBLen is not a multiple of 4,   
-     * the blockSize2 loop cannot be unrolled by 4 */
-    blkCnt = blockSize2;
-
-    while(blkCnt > 0u)
-    {
-      /* Accumulator is made zero for every iteration */
-      sum = 0;
-
-      /* Loop over srcBLen */
-      k = srcBLen;
-
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulate */
-        sum += ((q31_t) * px++ * *py++);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut = (q15_t) (sum >> 15);
-      /* Destination pointer is updated according to the address modifier, inc */
-      pOut += inc;
-
-      /* Increment the MAC count */
-      count++;
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      px = pIn1 + count;
-      py = pIn2;
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-  }
-
-  /* --------------------------   
-   * Initializations of stage3   
-   * -------------------------*/
-
-  /* sum += x[srcALen-srcBLen+1] * y[0] + x[srcALen-srcBLen+2] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]   
-   * sum += x[srcALen-srcBLen+2] * y[0] + x[srcALen-srcBLen+3] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]   
-   * ....   
-   * sum +=  x[srcALen-2] * y[0] + x[srcALen-1] * y[1]   
-   * sum +=  x[srcALen-1] * y[0]   
-   */
-
-  /* In this stage the MAC operations are decreased by 1 for every iteration.   
-     The count variable holds the number of MAC operations performed */
-  count = srcBLen - 1u;
-
-  /* Working pointer of inputA */
-  pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);
-  px = pSrc1;
-
-  /* Working pointer of inputB */
-  py = pIn2;
-
-  /* -------------------   
-   * Stage3 process   
-   * ------------------*/
-
-  while(blockSize3 > 0u)
-  {
-    /* Accumulator is made zero for every iteration */
-    sum = 0;
-
-    /* Apply loop unrolling and compute 4 MACs simultaneously. */
-    k = count >> 2u;
-
-    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
-     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-    while(k > 0u)
-    {
-      /* Perform the multiply-accumulates */
-      /* sum += x[srcALen - srcBLen + 4] * y[3] , sum += x[srcALen - srcBLen + 3] * y[2] */
-      sum = __SMLAD(*__SIMD32(px)++, *__SIMD32(py)++, sum);
-      /* sum += x[srcALen - srcBLen + 2] * y[1] , sum += x[srcALen - srcBLen + 1] * y[0] */
-      sum = __SMLAD(*__SIMD32(px)++, *__SIMD32(py)++, sum);
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* If the count is not a multiple of 4, compute any remaining MACs here.   
-     ** No loop unrolling is used. */
-    k = count % 0x4u;
-
-    while(k > 0u)
-    {
-      /* Perform the multiply-accumulates */
-      sum = __SMLAD(*px++, *py++, sum);
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* Store the result in the accumulator in the destination buffer. */
-    *pOut = (q15_t) (sum >> 15);
-    /* Destination pointer is updated according to the address modifier, inc */
-    pOut += inc;
-
-    /* Update the inputA and inputB pointers for next MAC calculation */
-    px = ++pSrc1;
-    py = pIn2;
-
-    /* Decrement the MAC count */
-    count--;
-
-    /* Decrement the loop counter */
-    blockSize3--;
-  }
-
-#else
-
-  q15_t *pIn1;                                   /* inputA pointer               */
-  q15_t *pIn2;                                   /* inputB pointer               */
-  q15_t *pOut = pDst;                            /* output pointer               */
-  q31_t sum, acc0, acc1, acc2, acc3;             /* Accumulators                  */
-  q15_t *px;                                     /* Intermediate inputA pointer  */
-  q15_t *py;                                     /* Intermediate inputB pointer  */
-  q15_t *pSrc1;                                  /* Intermediate pointers        */
-  q31_t x0, x1, x2, x3, c0;                      /* temporary variables for holding input and coefficient values */
-  uint32_t j, k = 0u, count, blkCnt, outBlockSize, blockSize1, blockSize2, blockSize3;  /* loop counter                 */
-  int32_t inc = 1;                               /* Destination address modifier */
-  q15_t a, b;
-
-
-  /* The algorithm implementation is based on the lengths of the inputs. */
-  /* srcB is always made to slide across srcA. */
-  /* So srcBLen is always considered as shorter or equal to srcALen */
-  /* But CORR(x, y) is reverse of CORR(y, x) */
-  /* So, when srcBLen > srcALen, output pointer is made to point to the end of the output buffer */
-  /* and the destination pointer modifier, inc is set to -1 */
-  /* If srcALen > srcBLen, zero pad has to be done to srcB to make the two inputs of same length */
-  /* But to improve the performance,   
-   * we include zeroes in the output instead of zero padding either of the the inputs*/
-  /* If srcALen > srcBLen,   
-   * (srcALen - srcBLen) zeroes has to included in the starting of the output buffer */
-  /* If srcALen < srcBLen,   
-   * (srcALen - srcBLen) zeroes has to included in the ending of the output buffer */
-  if(srcALen >= srcBLen)
-  {
-    /* Initialization of inputA pointer */
-    pIn1 = (pSrcA);
-
-    /* Initialization of inputB pointer */
-    pIn2 = (pSrcB);
-
-    /* Number of output samples is calculated */
-    outBlockSize = (2u * srcALen) - 1u;
-
-    /* When srcALen > srcBLen, zero padding is done to srcB   
-     * to make their lengths equal.   
-     * Instead, (outBlockSize - (srcALen + srcBLen - 1))   
-     * number of output samples are made zero */
-    j = outBlockSize - (srcALen + (srcBLen - 1u));
-
-    /* Updating the pointer position to non zero value */
-    pOut += j;
-
-  }
-  else
-  {
-    /* Initialization of inputA pointer */
-    pIn1 = (pSrcB);
-
-    /* Initialization of inputB pointer */
-    pIn2 = (pSrcA);
-
-    /* srcBLen is always considered as shorter or equal to srcALen */
-    j = srcBLen;
-    srcBLen = srcALen;
-    srcALen = j;
-
-    /* CORR(x, y) = Reverse order(CORR(y, x)) */
-    /* Hence set the destination pointer to point to the last output sample */
-    pOut = pDst + ((srcALen + srcBLen) - 2u);
-
-    /* Destination address modifier is set to -1 */
-    inc = -1;
-
-  }
-
-  /* The function is internally   
-   * divided into three parts according to the number of multiplications that has to be   
-   * taken place between inputA samples and inputB samples. In the first part of the   
-   * algorithm, the multiplications increase by one for every iteration.   
-   * In the second part of the algorithm, srcBLen number of multiplications are done.   
-   * In the third part of the algorithm, the multiplications decrease by one   
-   * for every iteration.*/
-  /* The algorithm is implemented in three stages.   
-   * The loop counters of each stage is initiated here. */
-  blockSize1 = srcBLen - 1u;
-  blockSize2 = srcALen - (srcBLen - 1u);
-  blockSize3 = blockSize1;
-
-  /* --------------------------   
-   * Initializations of stage1   
-   * -------------------------*/
-
-  /* sum = x[0] * y[srcBlen - 1]   
-   * sum = x[0] * y[srcBlen - 2] + x[1] * y[srcBlen - 1]   
-   * ....   
-   * sum = x[0] * y[0] + x[1] * y[1] +...+ x[srcBLen - 1] * y[srcBLen - 1]   
-   */
-
-  /* In this stage the MAC operations are increased by 1 for every iteration.   
-     The count variable holds the number of MAC operations performed */
-  count = 1u;
-
-  /* Working pointer of inputA */
-  px = pIn1;
-
-  /* Working pointer of inputB */
-  pSrc1 = pIn2 + (srcBLen - 1u);
-  py = pSrc1;
-
-  /* ------------------------   
-   * Stage1 process   
-   * ----------------------*/
-
-  /* The first loop starts here */
-  while(blockSize1 > 0u)
-  {
-    /* Accumulator is made zero for every iteration */
-    sum = 0;
-
-    /* Apply loop unrolling and compute 4 MACs simultaneously. */
-    k = count >> 2;
-
-    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
-     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-    while(k > 0u)
-    {
-      /* x[0] * y[srcBLen - 4] , x[1] * y[srcBLen - 3] */
-        sum += ((q31_t) * px++ * *py++);
-        sum += ((q31_t) * px++ * *py++);
-        sum += ((q31_t) * px++ * *py++);
-        sum += ((q31_t) * px++ * *py++);
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* If the count is not a multiple of 4, compute any remaining MACs here.   
-     ** No loop unrolling is used. */
-    k = count % 0x4u;
-
-    while(k > 0u)
-    {
-      /* Perform the multiply-accumulates */
-      /* x[0] * y[srcBLen - 1] */
-        sum += ((q31_t) * px++ * *py++);
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* Store the result in the accumulator in the destination buffer. */
-    *pOut = (q15_t) (sum >> 15);
-    /* Destination pointer is updated according to the address modifier, inc */
-    pOut += inc;
-
-    /* Update the inputA and inputB pointers for next MAC calculation */
-    py = pSrc1 - count;
-    px = pIn1;
-
-    /* Increment the MAC count */
-    count++;
-
-    /* Decrement the loop counter */
-    blockSize1--;
-  }
-
-  /* --------------------------   
-   * Initializations of stage2   
-   * ------------------------*/
-
-  /* sum = x[0] * y[0] + x[1] * y[1] +...+ x[srcBLen-1] * y[srcBLen-1]   
-   * sum = x[1] * y[0] + x[2] * y[1] +...+ x[srcBLen] * y[srcBLen-1]   
-   * ....   
-   * sum = x[srcALen-srcBLen-2] * y[0] + x[srcALen-srcBLen-1] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]   
-   */
-
-  /* Working pointer of inputA */
-  px = pIn1;
-
-  /* Working pointer of inputB */
-  py = pIn2;
-
-  /* count is index by which the pointer pIn1 to be incremented */
-  count = 0u;
-
-  /* -------------------   
-   * Stage2 process   
-   * ------------------*/
-
-  /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.   
-   * So, to loop unroll over blockSize2,   
-   * srcBLen should be greater than or equal to 4, to loop unroll the srcBLen loop */
-  if(srcBLen >= 4u)
-  {
-    /* Loop unroll over blockSize2, by 4 */
-    blkCnt = blockSize2 >> 2u;
-
-    while(blkCnt > 0u)
-    {
-      /* Set all accumulators to zero */
-      acc0 = 0;
-      acc1 = 0;
-      acc2 = 0;
-      acc3 = 0;
-
-      /* read x[0], x[1], x[2] samples */
-	  a = *px;
-	  b = *(px + 1);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-	  x0 = __PKHBT(a, b, 16);
-	  a = *(px + 2);
-	  x1 = __PKHBT(b, a, 16);
-
-#else
-
-	  x0 = __PKHBT(b, a, 16);
-	  a = *(px + 2);
-	  x1 = __PKHBT(a, b, 16);
-
-#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/
-
-	  px += 2u;
-
-      /* Apply loop unrolling and compute 4 MACs simultaneously. */
-      k = srcBLen >> 2u;
-
-      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
-       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-      do
-      {
-        /* Read the first two inputB samples using SIMD:   
-         * y[0] and y[1] */
-		  a = *py;
-		  b = *(py + 1);
-	
-#ifndef ARM_MATH_BIG_ENDIAN
-	
-		  c0 = __PKHBT(a, b, 16);
-	
-#else
-	
-		  c0 = __PKHBT(b, a, 16);
-	
-#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/
-
-        /* acc0 +=  x[0] * y[0] + x[1] * y[1] */
-        acc0 = __SMLAD(x0, c0, acc0);
-
-        /* acc1 +=  x[1] * y[0] + x[2] * y[1] */
-        acc1 = __SMLAD(x1, c0, acc1);
-
-        /* Read x[2], x[3], x[4] */
-	  	a = *px;
-	  	b = *(px + 1);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-	  	x2 = __PKHBT(a, b, 16);
-	  	a = *(px + 2);
-	  	x3 = __PKHBT(b, a, 16);
-
-#else
-
-	  	x2 = __PKHBT(b, a, 16);
-	  	a = *(px + 2);
-	  	x3 = __PKHBT(a, b, 16);
-
-#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/
-
-        /* acc2 +=  x[2] * y[0] + x[3] * y[1] */
-        acc2 = __SMLAD(x2, c0, acc2);
-
-        /* acc3 +=  x[3] * y[0] + x[4] * y[1] */
-        acc3 = __SMLAD(x3, c0, acc3);
-
-        /* Read y[2] and y[3] */
-		  a = *(py + 2);
-		  b = *(py + 3);
-
-		  py += 4u;
-	
-#ifndef ARM_MATH_BIG_ENDIAN
-	
-		  c0 = __PKHBT(a, b, 16);
-	
-#else
-	
-		  c0 = __PKHBT(b, a, 16);
-	
-#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/
-
-        /* acc0 +=  x[2] * y[2] + x[3] * y[3] */
-        acc0 = __SMLAD(x2, c0, acc0);
-
-        /* acc1 +=  x[3] * y[2] + x[4] * y[3] */
-        acc1 = __SMLAD(x3, c0, acc1);
-
-        /* Read x[4], x[5], x[6] */
-	  	a = *(px + 2);
-	  	b = *(px + 3);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-	  	x0 = __PKHBT(a, b, 16);
-	  	a = *(px + 4);
-	  	x1 = __PKHBT(b, a, 16);
-
-#else
-
-	  	x0 = __PKHBT(b, a, 16);
-	  	a = *(px + 4);
-	  	x1 = __PKHBT(a, b, 16);
-
-#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/
-
-		px += 4u;
-
-        /* acc2 +=  x[4] * y[2] + x[5] * y[3] */
-        acc2 = __SMLAD(x0, c0, acc2);
-
-        /* acc3 +=  x[5] * y[2] + x[6] * y[3] */
-        acc3 = __SMLAD(x1, c0, acc3);
-
-      } while(--k);
-
-      /* For the next MAC operations, SIMD is not used   
-       * So, the 16 bit pointer if inputB, py is updated */
-
-      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
-       ** No loop unrolling is used. */
-      k = srcBLen % 0x4u;
-
-      if(k == 1u)
-      {
-        /* Read y[4] */
-        c0 = *py;
-#ifdef  ARM_MATH_BIG_ENDIAN
-
-        c0 = c0 << 16u;
-
-#else
-
-        c0 = c0 & 0x0000FFFF;
-
-#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */
-
-        /* Read x[7] */
-		a = *px;
-		b = *(px + 1);
-
-		px++;;
-	
-#ifndef ARM_MATH_BIG_ENDIAN
-	
-		x3 = __PKHBT(a, b, 16);
-	
-#else
-	
-		x3 = __PKHBT(b, a, 16);
-	
-#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/
-
-		px++;
-
-        /* Perform the multiply-accumulates */
-        acc0 = __SMLAD(x0, c0, acc0);
-        acc1 = __SMLAD(x1, c0, acc1);
-        acc2 = __SMLADX(x1, c0, acc2);
-        acc3 = __SMLADX(x3, c0, acc3);
-      }
-
-      if(k == 2u)
-      {
-        /* Read y[4], y[5] */
-		  a = *py;
-		  b = *(py + 1);
-	
-#ifndef ARM_MATH_BIG_ENDIAN
-	
-		  c0 = __PKHBT(a, b, 16);
-	
-#else
-	
-		  c0 = __PKHBT(b, a, 16);
-	
-#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/
-
-        /* Read x[7], x[8], x[9] */
-	  	a = *px;
-	  	b = *(px + 1);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-	  	x3 = __PKHBT(a, b, 16);
-	  	a = *(px + 2);
-	  	x2 = __PKHBT(b, a, 16);
-
-#else
-
-	  	x3 = __PKHBT(b, a, 16);
-	  	a = *(px + 2);
-	  	x2 = __PKHBT(a, b, 16);
-
-#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/
-
-		px += 2u;
-
-        /* Perform the multiply-accumulates */
-        acc0 = __SMLAD(x0, c0, acc0);
-        acc1 = __SMLAD(x1, c0, acc1);
-        acc2 = __SMLAD(x3, c0, acc2);
-        acc3 = __SMLAD(x2, c0, acc3);
-      }
-
-      if(k == 3u)
-      {
-        /* Read y[4], y[5] */
-		  a = *py;
-		  b = *(py + 1);
-	
-#ifndef ARM_MATH_BIG_ENDIAN
-	
-		  c0 = __PKHBT(a, b, 16);
-	
-#else
-	
-		  c0 = __PKHBT(b, a, 16);
-	
-#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/
-
-		py += 2u;
-
-        /* Read x[7], x[8], x[9] */
-	  	a = *px;
-	  	b = *(px + 1);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-	  	x3 = __PKHBT(a, b, 16);
-	  	a = *(px + 2);
-	  	x2 = __PKHBT(b, a, 16);
-
-#else
-
-	  	x3 = __PKHBT(b, a, 16);
-	  	a = *(px + 2);
-	  	x2 = __PKHBT(a, b, 16);
-
-#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/
-
-        /* Perform the multiply-accumulates */
-        acc0 = __SMLAD(x0, c0, acc0);
-        acc1 = __SMLAD(x1, c0, acc1);
-        acc2 = __SMLAD(x3, c0, acc2);
-        acc3 = __SMLAD(x2, c0, acc3);
-
-        c0 = (*py);
-        /* Read y[6] */
-#ifdef  ARM_MATH_BIG_ENDIAN
-
-        c0 = c0 << 16u;
-#else
-
-        c0 = c0 & 0x0000FFFF;
-#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */
-
-        /* Read x[10] */
-		b = *(px + 3);
-	
-#ifndef ARM_MATH_BIG_ENDIAN
-	
-		x3 = __PKHBT(a, b, 16);
-	
-#else
-	
-		x3 = __PKHBT(b, a, 16);
-	
-#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/
-
-		px += 3u;
-
-        /* Perform the multiply-accumulates */
-        acc0 = __SMLADX(x1, c0, acc0);
-        acc1 = __SMLAD(x2, c0, acc1);
-        acc2 = __SMLADX(x2, c0, acc2);
-        acc3 = __SMLADX(x3, c0, acc3);
-      }
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut = (q15_t) (acc0 >> 15);
-      /* Destination pointer is updated according to the address modifier, inc */
-      pOut += inc;
-
-      *pOut = (q15_t) (acc1 >> 15);
-      pOut += inc;
-
-      *pOut = (q15_t) (acc2 >> 15);
-      pOut += inc;
-
-      *pOut = (q15_t) (acc3 >> 15);
-      pOut += inc;
-
-      /* Increment the pointer pIn1 index, count by 1 */
-      count += 4u;
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      px = pIn1 + count;
-      py = pIn2;
-
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-
-    /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.   
-     ** No loop unrolling is used. */
-    blkCnt = blockSize2 % 0x4u;
-
-    while(blkCnt > 0u)
-    {
-      /* Accumulator is made zero for every iteration */
-      sum = 0;
-
-      /* Apply loop unrolling and compute 4 MACs simultaneously. */
-      k = srcBLen >> 2u;
-
-      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
-       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulates */
-        sum += ((q31_t) * px++ * *py++);
-        sum += ((q31_t) * px++ * *py++);
-        sum += ((q31_t) * px++ * *py++);
-        sum += ((q31_t) * px++ * *py++);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
-       ** No loop unrolling is used. */
-      k = srcBLen % 0x4u;
-
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulates */
-        sum += ((q31_t) * px++ * *py++);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut = (q15_t) (sum >> 15);
-      /* Destination pointer is updated according to the address modifier, inc */
-      pOut += inc;
-
-      /* Increment the pointer pIn1 index, count by 1 */
-      count++;
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      px = pIn1 + count;
-      py = pIn2;
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-  }
-  else
-  {
-    /* If the srcBLen is not a multiple of 4,   
-     * the blockSize2 loop cannot be unrolled by 4 */
-    blkCnt = blockSize2;
-
-    while(blkCnt > 0u)
-    {
-      /* Accumulator is made zero for every iteration */
-      sum = 0;
-
-      /* Loop over srcBLen */
-      k = srcBLen;
-
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulate */
-        sum += ((q31_t) * px++ * *py++);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut = (q15_t) (sum >> 15);
-      /* Destination pointer is updated according to the address modifier, inc */
-      pOut += inc;
-
-      /* Increment the MAC count */
-      count++;
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      px = pIn1 + count;
-      py = pIn2;
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-  }
-
-  /* --------------------------   
-   * Initializations of stage3   
-   * -------------------------*/
-
-  /* sum += x[srcALen-srcBLen+1] * y[0] + x[srcALen-srcBLen+2] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]   
-   * sum += x[srcALen-srcBLen+2] * y[0] + x[srcALen-srcBLen+3] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]   
-   * ....   
-   * sum +=  x[srcALen-2] * y[0] + x[srcALen-1] * y[1]   
-   * sum +=  x[srcALen-1] * y[0]   
-   */
-
-  /* In this stage the MAC operations are decreased by 1 for every iteration.   
-     The count variable holds the number of MAC operations performed */
-  count = srcBLen - 1u;
-
-  /* Working pointer of inputA */
-  pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);
-  px = pSrc1;
-
-  /* Working pointer of inputB */
-  py = pIn2;
-
-  /* -------------------   
-   * Stage3 process   
-   * ------------------*/
-
-  while(blockSize3 > 0u)
-  {
-    /* Accumulator is made zero for every iteration */
-    sum = 0;
-
-    /* Apply loop unrolling and compute 4 MACs simultaneously. */
-    k = count >> 2u;
-
-    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
-     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-    while(k > 0u)
-    {
-      /* Perform the multiply-accumulates */
-        sum += ((q31_t) * px++ * *py++);
-        sum += ((q31_t) * px++ * *py++);
-        sum += ((q31_t) * px++ * *py++);
-        sum += ((q31_t) * px++ * *py++);
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* If the count is not a multiple of 4, compute any remaining MACs here.   
-     ** No loop unrolling is used. */
-    k = count % 0x4u;
-
-    while(k > 0u)
-    {
-      /* Perform the multiply-accumulates */
-        sum += ((q31_t) * px++ * *py++);
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* Store the result in the accumulator in the destination buffer. */
-    *pOut = (q15_t) (sum >> 15);
-    /* Destination pointer is updated according to the address modifier, inc */
-    pOut += inc;
-
-    /* Update the inputA and inputB pointers for next MAC calculation */
-    px = ++pSrc1;
-    py = pIn2;
-
-    /* Decrement the MAC count */
-    count--;
-
-    /* Decrement the loop counter */
-    blockSize3--;
-  }
-
-#endif /*   #ifndef UNALIGNED_SUPPORT_DISABLE */
-
-}
-
-/**   
- * @} end of Corr group   
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q31.c
deleted file mode 100644
index 628fd3ea5..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q31.c
+++ /dev/null
@@ -1,607 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_correlate_fast_q31.c    
-*    
-* Description:	Fast Q31 Correlation.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-* 
-* Version 1.0.11 2011/10/18  
-*    Bug Fix in conv, correlation, partial convolution.  
-* 
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup Corr    
- * @{    
- */
-
-/**    
- * @brief Correlation of Q31 sequences (fast version) for Cortex-M3 and Cortex-M4.    
- * @param[in] *pSrcA points to the first input sequence.    
- * @param[in] srcALen length of the first input sequence.    
- * @param[in] *pSrcB points to the second input sequence.    
- * @param[in] srcBLen length of the second input sequence.    
- * @param[out] *pDst points to the location where the output result is written.  Length 2 * max(srcALen, srcBLen) - 1.    
- * @return none.    
- *    
- * @details    
- * Scaling and Overflow Behavior:    
- *    
- * \par    
- * This function is optimized for speed at the expense of fixed-point precision and overflow protection.    
- * The result of each 1.31 x 1.31 multiplication is truncated to 2.30 format.    
- * These intermediate results are accumulated in a 32-bit register in 2.30 format.    
- * Finally, the accumulator is saturated and converted to a 1.31 result.    
- *    
- * \par    
- * The fast version has the same overflow behavior as the standard version but provides less precision since it discards the low 32 bits of each multiplication result.    
- * In order to avoid overflows completely the input signals must be scaled down.    
- * The input signals should be scaled down to avoid intermediate overflows.    
- * Scale down one of the inputs by 1/min(srcALen, srcBLen)to avoid overflows since a    
- * maximum of min(srcALen, srcBLen) number of additions is carried internally.    
- *    
- * \par    
- * See arm_correlate_q31() for a slower implementation of this function which uses 64-bit accumulation to provide higher precision.    
- */
-
-void arm_correlate_fast_q31(
-  q31_t * pSrcA,
-  uint32_t srcALen,
-  q31_t * pSrcB,
-  uint32_t srcBLen,
-  q31_t * pDst)
-{
-  q31_t *pIn1;                                   /* inputA pointer               */
-  q31_t *pIn2;                                   /* inputB pointer               */
-  q31_t *pOut = pDst;                            /* output pointer               */
-  q31_t *px;                                     /* Intermediate inputA pointer  */
-  q31_t *py;                                     /* Intermediate inputB pointer  */
-  q31_t *pSrc1;                                  /* Intermediate pointers        */
-  q31_t sum, acc0, acc1, acc2, acc3;             /* Accumulators                  */
-  q31_t x0, x1, x2, x3, c0;                      /* temporary variables for holding input and coefficient values */
-  uint32_t j, k = 0u, count, blkCnt, outBlockSize, blockSize1, blockSize2, blockSize3;  /* loop counter                 */
-  int32_t inc = 1;                               /* Destination address modifier */
-
-
-  /* The algorithm implementation is based on the lengths of the inputs. */
-  /* srcB is always made to slide across srcA. */
-  /* So srcBLen is always considered as shorter or equal to srcALen */
-  if(srcALen >= srcBLen)
-  {
-    /* Initialization of inputA pointer */
-    pIn1 = (pSrcA);
-
-    /* Initialization of inputB pointer */
-    pIn2 = (pSrcB);
-
-    /* Number of output samples is calculated */
-    outBlockSize = (2u * srcALen) - 1u;
-
-    /* When srcALen > srcBLen, zero padding is done to srcB    
-     * to make their lengths equal.    
-     * Instead, (outBlockSize - (srcALen + srcBLen - 1))    
-     * number of output samples are made zero */
-    j = outBlockSize - (srcALen + (srcBLen - 1u));
-
-    /* Updating the pointer position to non zero value */
-    pOut += j;
-
-  }
-  else
-  {
-    /* Initialization of inputA pointer */
-    pIn1 = (pSrcB);
-
-    /* Initialization of inputB pointer */
-    pIn2 = (pSrcA);
-
-    /* srcBLen is always considered as shorter or equal to srcALen */
-    j = srcBLen;
-    srcBLen = srcALen;
-    srcALen = j;
-
-    /* CORR(x, y) = Reverse order(CORR(y, x)) */
-    /* Hence set the destination pointer to point to the last output sample */
-    pOut = pDst + ((srcALen + srcBLen) - 2u);
-
-    /* Destination address modifier is set to -1 */
-    inc = -1;
-
-  }
-
-  /* The function is internally    
-   * divided into three parts according to the number of multiplications that has to be    
-   * taken place between inputA samples and inputB samples. In the first part of the    
-   * algorithm, the multiplications increase by one for every iteration.    
-   * In the second part of the algorithm, srcBLen number of multiplications are done.    
-   * In the third part of the algorithm, the multiplications decrease by one    
-   * for every iteration.*/
-  /* The algorithm is implemented in three stages.    
-   * The loop counters of each stage is initiated here. */
-  blockSize1 = srcBLen - 1u;
-  blockSize2 = srcALen - (srcBLen - 1u);
-  blockSize3 = blockSize1;
-
-  /* --------------------------    
-   * Initializations of stage1    
-   * -------------------------*/
-
-  /* sum = x[0] * y[srcBlen - 1]    
-   * sum = x[0] * y[srcBlen - 2] + x[1] * y[srcBlen - 1]    
-   * ....    
-   * sum = x[0] * y[0] + x[1] * y[1] +...+ x[srcBLen - 1] * y[srcBLen - 1]    
-   */
-
-  /* In this stage the MAC operations are increased by 1 for every iteration.    
-     The count variable holds the number of MAC operations performed */
-  count = 1u;
-
-  /* Working pointer of inputA */
-  px = pIn1;
-
-  /* Working pointer of inputB */
-  pSrc1 = pIn2 + (srcBLen - 1u);
-  py = pSrc1;
-
-  /* ------------------------    
-   * Stage1 process    
-   * ----------------------*/
-
-  /* The first stage starts here */
-  while(blockSize1 > 0u)
-  {
-    /* Accumulator is made zero for every iteration */
-    sum = 0;
-
-    /* Apply loop unrolling and compute 4 MACs simultaneously. */
-    k = count >> 2;
-
-    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
-     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-    while(k > 0u)
-    {
-      /* x[0] * y[srcBLen - 4] */
-      sum = (q31_t) ((((q63_t) sum << 32) +
-                      ((q63_t) * px++ * (*py++))) >> 32);
-      /* x[1] * y[srcBLen - 3] */
-      sum = (q31_t) ((((q63_t) sum << 32) +
-                      ((q63_t) * px++ * (*py++))) >> 32);
-      /* x[2] * y[srcBLen - 2] */
-      sum = (q31_t) ((((q63_t) sum << 32) +
-                      ((q63_t) * px++ * (*py++))) >> 32);
-      /* x[3] * y[srcBLen - 1] */
-      sum = (q31_t) ((((q63_t) sum << 32) +
-                      ((q63_t) * px++ * (*py++))) >> 32);
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* If the count is not a multiple of 4, compute any remaining MACs here.    
-     ** No loop unrolling is used. */
-    k = count % 0x4u;
-
-    while(k > 0u)
-    {
-      /* Perform the multiply-accumulates */
-      /* x[0] * y[srcBLen - 1] */
-      sum = (q31_t) ((((q63_t) sum << 32) +
-                      ((q63_t) * px++ * (*py++))) >> 32);
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* Store the result in the accumulator in the destination buffer. */
-    *pOut = sum << 1;
-    /* Destination pointer is updated according to the address modifier, inc */
-    pOut += inc;
-
-    /* Update the inputA and inputB pointers for next MAC calculation */
-    py = pSrc1 - count;
-    px = pIn1;
-
-    /* Increment the MAC count */
-    count++;
-
-    /* Decrement the loop counter */
-    blockSize1--;
-  }
-
-  /* --------------------------    
-   * Initializations of stage2    
-   * ------------------------*/
-
-  /* sum = x[0] * y[0] + x[1] * y[1] +...+ x[srcBLen-1] * y[srcBLen-1]    
-   * sum = x[1] * y[0] + x[2] * y[1] +...+ x[srcBLen] * y[srcBLen-1]    
-   * ....    
-   * sum = x[srcALen-srcBLen-2] * y[0] + x[srcALen-srcBLen-1] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]    
-   */
-
-  /* Working pointer of inputA */
-  px = pIn1;
-
-  /* Working pointer of inputB */
-  py = pIn2;
-
-  /* count is index by which the pointer pIn1 to be incremented */
-  count = 0u;
-
-  /* -------------------    
-   * Stage2 process    
-   * ------------------*/
-
-  /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.    
-   * So, to loop unroll over blockSize2,    
-   * srcBLen should be greater than or equal to 4 */
-  if(srcBLen >= 4u)
-  {
-    /* Loop unroll over blockSize2, by 4 */
-    blkCnt = blockSize2 >> 2u;
-
-    while(blkCnt > 0u)
-    {
-      /* Set all accumulators to zero */
-      acc0 = 0;
-      acc1 = 0;
-      acc2 = 0;
-      acc3 = 0;
-
-      /* read x[0], x[1], x[2] samples */
-      x0 = *(px++);
-      x1 = *(px++);
-      x2 = *(px++);
-
-      /* Apply loop unrolling and compute 4 MACs simultaneously. */
-      k = srcBLen >> 2u;
-
-      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
-       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-      do
-      {
-        /* Read y[0] sample */
-        c0 = *(py++);
-
-        /* Read x[3] sample */
-        x3 = *(px++);
-
-        /* Perform the multiply-accumulate */
-        /* acc0 +=  x[0] * y[0] */
-        acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x0 * c0)) >> 32);
-        /* acc1 +=  x[1] * y[0] */
-        acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x1 * c0)) >> 32);
-        /* acc2 +=  x[2] * y[0] */
-        acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x2 * c0)) >> 32);
-        /* acc3 +=  x[3] * y[0] */
-        acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x3 * c0)) >> 32);
-
-        /* Read y[1] sample */
-        c0 = *(py++);
-
-        /* Read x[4] sample */
-        x0 = *(px++);
-
-        /* Perform the multiply-accumulates */
-        /* acc0 +=  x[1] * y[1] */
-        acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x1 * c0)) >> 32);
-        /* acc1 +=  x[2] * y[1] */
-        acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x2 * c0)) >> 32);
-        /* acc2 +=  x[3] * y[1] */
-        acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x3 * c0)) >> 32);
-        /* acc3 +=  x[4] * y[1] */
-        acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x0 * c0)) >> 32);
-
-        /* Read y[2] sample */
-        c0 = *(py++);
-
-        /* Read x[5] sample */
-        x1 = *(px++);
-
-        /* Perform the multiply-accumulates */
-        /* acc0 +=  x[2] * y[2] */
-        acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x2 * c0)) >> 32);
-        /* acc1 +=  x[3] * y[2] */
-        acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x3 * c0)) >> 32);
-        /* acc2 +=  x[4] * y[2] */
-        acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x0 * c0)) >> 32);
-        /* acc3 +=  x[5] * y[2] */
-        acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x1 * c0)) >> 32);
-
-        /* Read y[3] sample */
-        c0 = *(py++);
-
-        /* Read x[6] sample */
-        x2 = *(px++);
-
-        /* Perform the multiply-accumulates */
-        /* acc0 +=  x[3] * y[3] */
-        acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x3 * c0)) >> 32);
-        /* acc1 +=  x[4] * y[3] */
-        acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x0 * c0)) >> 32);
-        /* acc2 +=  x[5] * y[3] */
-        acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x1 * c0)) >> 32);
-        /* acc3 +=  x[6] * y[3] */
-        acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x2 * c0)) >> 32);
-
-
-      } while(--k);
-
-      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.    
-       ** No loop unrolling is used. */
-      k = srcBLen % 0x4u;
-
-      while(k > 0u)
-      {
-        /* Read y[4] sample */
-        c0 = *(py++);
-
-        /* Read x[7] sample */
-        x3 = *(px++);
-
-        /* Perform the multiply-accumulates */
-        /* acc0 +=  x[4] * y[4] */
-        acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x0 * c0)) >> 32);
-        /* acc1 +=  x[5] * y[4] */
-        acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x1 * c0)) >> 32);
-        /* acc2 +=  x[6] * y[4] */
-        acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x2 * c0)) >> 32);
-        /* acc3 +=  x[7] * y[4] */
-        acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x3 * c0)) >> 32);
-
-        /* Reuse the present samples for the next MAC */
-        x0 = x1;
-        x1 = x2;
-        x2 = x3;
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut = (q31_t) (acc0 << 1);
-      /* Destination pointer is updated according to the address modifier, inc */
-      pOut += inc;
-
-      *pOut = (q31_t) (acc1 << 1);
-      pOut += inc;
-
-      *pOut = (q31_t) (acc2 << 1);
-      pOut += inc;
-
-      *pOut = (q31_t) (acc3 << 1);
-      pOut += inc;
-
-      /* Increment the pointer pIn1 index, count by 4 */
-      count += 4u;
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      px = pIn1 + count;
-      py = pIn2;
-
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-
-    /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.    
-     ** No loop unrolling is used. */
-    blkCnt = blockSize2 % 0x4u;
-
-    while(blkCnt > 0u)
-    {
-      /* Accumulator is made zero for every iteration */
-      sum = 0;
-
-      /* Apply loop unrolling and compute 4 MACs simultaneously. */
-      k = srcBLen >> 2u;
-
-      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
-       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulates */
-        sum = (q31_t) ((((q63_t) sum << 32) +
-                        ((q63_t) * px++ * (*py++))) >> 32);
-        sum = (q31_t) ((((q63_t) sum << 32) +
-                        ((q63_t) * px++ * (*py++))) >> 32);
-        sum = (q31_t) ((((q63_t) sum << 32) +
-                        ((q63_t) * px++ * (*py++))) >> 32);
-        sum = (q31_t) ((((q63_t) sum << 32) +
-                        ((q63_t) * px++ * (*py++))) >> 32);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.    
-       ** No loop unrolling is used. */
-      k = srcBLen % 0x4u;
-
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulate */
-        sum = (q31_t) ((((q63_t) sum << 32) +
-                        ((q63_t) * px++ * (*py++))) >> 32);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut = sum << 1;
-      /* Destination pointer is updated according to the address modifier, inc */
-      pOut += inc;
-
-      /* Increment the MAC count */
-      count++;
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      px = pIn1 + count;
-      py = pIn2;
-
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-  }
-  else
-  {
-    /* If the srcBLen is not a multiple of 4,    
-     * the blockSize2 loop cannot be unrolled by 4 */
-    blkCnt = blockSize2;
-
-    while(blkCnt > 0u)
-    {
-      /* Accumulator is made zero for every iteration */
-      sum = 0;
-
-      /* Loop over srcBLen */
-      k = srcBLen;
-
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulate */
-        sum = (q31_t) ((((q63_t) sum << 32) +
-                        ((q63_t) * px++ * (*py++))) >> 32);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut = sum << 1;
-      /* Destination pointer is updated according to the address modifier, inc */
-      pOut += inc;
-
-      /* Increment the MAC count */
-      count++;
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      px = pIn1 + count;
-      py = pIn2;
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-  }
-
-  /* --------------------------    
-   * Initializations of stage3    
-   * -------------------------*/
-
-  /* sum += x[srcALen-srcBLen+1] * y[0] + x[srcALen-srcBLen+2] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]    
-   * sum += x[srcALen-srcBLen+2] * y[0] + x[srcALen-srcBLen+3] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]    
-   * ....    
-   * sum +=  x[srcALen-2] * y[0] + x[srcALen-1] * y[1]    
-   * sum +=  x[srcALen-1] * y[0]    
-   */
-
-  /* In this stage the MAC operations are decreased by 1 for every iteration.    
-     The count variable holds the number of MAC operations performed */
-  count = srcBLen - 1u;
-
-  /* Working pointer of inputA */
-  pSrc1 = ((pIn1 + srcALen) - srcBLen) + 1u;
-  px = pSrc1;
-
-  /* Working pointer of inputB */
-  py = pIn2;
-
-  /* -------------------    
-   * Stage3 process    
-   * ------------------*/
-
-  while(blockSize3 > 0u)
-  {
-    /* Accumulator is made zero for every iteration */
-    sum = 0;
-
-    /* Apply loop unrolling and compute 4 MACs simultaneously. */
-    k = count >> 2u;
-
-    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
-     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-    while(k > 0u)
-    {
-      /* Perform the multiply-accumulates */
-      /* sum += x[srcALen - srcBLen + 4] * y[3] */
-      sum = (q31_t) ((((q63_t) sum << 32) +
-                      ((q63_t) * px++ * (*py++))) >> 32);
-      /* sum += x[srcALen - srcBLen + 3] * y[2] */
-      sum = (q31_t) ((((q63_t) sum << 32) +
-                      ((q63_t) * px++ * (*py++))) >> 32);
-      /* sum += x[srcALen - srcBLen + 2] * y[1] */
-      sum = (q31_t) ((((q63_t) sum << 32) +
-                      ((q63_t) * px++ * (*py++))) >> 32);
-      /* sum += x[srcALen - srcBLen + 1] * y[0] */
-      sum = (q31_t) ((((q63_t) sum << 32) +
-                      ((q63_t) * px++ * (*py++))) >> 32);
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* If the count is not a multiple of 4, compute any remaining MACs here.    
-     ** No loop unrolling is used. */
-    k = count % 0x4u;
-
-    while(k > 0u)
-    {
-      /* Perform the multiply-accumulates */
-      sum = (q31_t) ((((q63_t) sum << 32) +
-                      ((q63_t) * px++ * (*py++))) >> 32);
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* Store the result in the accumulator in the destination buffer. */
-    *pOut = sum << 1;
-    /* Destination pointer is updated according to the address modifier, inc */
-    pOut += inc;
-
-    /* Update the inputA and inputB pointers for next MAC calculation */
-    px = ++pSrc1;
-    py = pIn2;
-
-    /* Decrement the MAC count */
-    count--;
-
-    /* Decrement the loop counter */
-    blockSize3--;
-  }
-
-}
-
-/**    
- * @} end of Corr group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_opt_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_opt_q15.c
deleted file mode 100644
index cc33b54f5..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_opt_q15.c
+++ /dev/null
@@ -1,512 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_correlate_opt_q15.c    
-*    
-* Description:	Correlation of Q15 sequences.  
-*    
-* Target Processor: Cortex-M4/Cortex-M3
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-* 
-* Version 1.0.11 2011/10/18  
-*    Bug Fix in conv, correlation, partial convolution.  
-* 
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-*    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup Corr    
- * @{    
- */
-
-/**    
- * @brief Correlation of Q15 sequences.  
- * @param[in] *pSrcA points to the first input sequence.    
- * @param[in] srcALen length of the first input sequence.    
- * @param[in] *pSrcB points to the second input sequence.    
- * @param[in] srcBLen length of the second input sequence.    
- * @param[out] *pDst points to the location where the output result is written.  Length 2 * max(srcALen, srcBLen) - 1.    
- * @param[in]  *pScratch points to scratch buffer of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2.    
- * @return none.    
- *    
- * \par Restrictions    
- *  If the silicon does not support unaligned memory access enable the macro UNALIGNED_SUPPORT_DISABLE    
- *	In this case input, output, scratch buffers should be aligned by 32-bit    
- *     
- * @details    
- * Scaling and Overflow Behavior:    
- *    
- * \par    
- * The function is implemented using a 64-bit internal accumulator.    
- * Both inputs are in 1.15 format and multiplications yield a 2.30 result.    
- * The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format.    
- * This approach provides 33 guard bits and there is no risk of overflow.    
- * The 34.30 result is then truncated to 34.15 format by discarding the low 15 bits and then saturated to 1.15 format.    
- *    
- * \par    
- * Refer to arm_correlate_fast_q15() for a faster but less precise version of this function for Cortex-M3 and Cortex-M4.   
- *  
- * 
- */
-
-
-void arm_correlate_opt_q15(
-  q15_t * pSrcA,
-  uint32_t srcALen,
-  q15_t * pSrcB,
-  uint32_t srcBLen,
-  q15_t * pDst,
-  q15_t * pScratch)
-{
-  q15_t *pIn1;                                   /* inputA pointer               */
-  q15_t *pIn2;                                   /* inputB pointer               */
-  q63_t acc0, acc1, acc2, acc3;                  /* Accumulators                  */
-  q15_t *py;                                     /* Intermediate inputB pointer  */
-  q31_t x1, x2, x3;                              /* temporary variables for holding input1 and input2 values */
-  uint32_t j, blkCnt, outBlockSize;              /* loop counter                 */
-  int32_t inc = 1;                               /* output pointer increment     */
-  uint32_t tapCnt;
-  q31_t y1, y2;
-  q15_t *pScr;                                   /* Intermediate pointers        */
-  q15_t *pOut = pDst;                            /* output pointer               */
-#ifdef UNALIGNED_SUPPORT_DISABLE
-
-  q15_t a, b;
-
-#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
-
-  /* The algorithm implementation is based on the lengths of the inputs. */
-  /* srcB is always made to slide across srcA. */
-  /* So srcBLen is always considered as shorter or equal to srcALen */
-  /* But CORR(x, y) is reverse of CORR(y, x) */
-  /* So, when srcBLen > srcALen, output pointer is made to point to the end of the output buffer */
-  /* and the destination pointer modifier, inc is set to -1 */
-  /* If srcALen > srcBLen, zero pad has to be done to srcB to make the two inputs of same length */
-  /* But to improve the performance,        
-   * we include zeroes in the output instead of zero padding either of the the inputs*/
-  /* If srcALen > srcBLen,        
-   * (srcALen - srcBLen) zeroes has to included in the starting of the output buffer */
-  /* If srcALen < srcBLen,        
-   * (srcALen - srcBLen) zeroes has to included in the ending of the output buffer */
-  if(srcALen >= srcBLen)
-  {
-    /* Initialization of inputA pointer */
-    pIn1 = (pSrcA);
-
-    /* Initialization of inputB pointer */
-    pIn2 = (pSrcB);
-
-    /* Number of output samples is calculated */
-    outBlockSize = (2u * srcALen) - 1u;
-
-    /* When srcALen > srcBLen, zero padding is done to srcB        
-     * to make their lengths equal.        
-     * Instead, (outBlockSize - (srcALen + srcBLen - 1))        
-     * number of output samples are made zero */
-    j = outBlockSize - (srcALen + (srcBLen - 1u));
-
-    /* Updating the pointer position to non zero value */
-    pOut += j;
-
-  }
-  else
-  {
-    /* Initialization of inputA pointer */
-    pIn1 = (pSrcB);
-
-    /* Initialization of inputB pointer */
-    pIn2 = (pSrcA);
-
-    /* srcBLen is always considered as shorter or equal to srcALen */
-    j = srcBLen;
-    srcBLen = srcALen;
-    srcALen = j;
-
-    /* CORR(x, y) = Reverse order(CORR(y, x)) */
-    /* Hence set the destination pointer to point to the last output sample */
-    pOut = pDst + ((srcALen + srcBLen) - 2u);
-
-    /* Destination address modifier is set to -1 */
-    inc = -1;
-
-  }
-
-  pScr = pScratch;
-
-  /* Fill (srcBLen - 1u) zeros in scratch buffer */
-  arm_fill_q15(0, pScr, (srcBLen - 1u));
-
-  /* Update temporary scratch pointer */
-  pScr += (srcBLen - 1u);
-
-#ifndef UNALIGNED_SUPPORT_DISABLE
-
-  /* Copy (srcALen) samples in scratch buffer */
-  arm_copy_q15(pIn1, pScr, srcALen);
-
-  /* Update pointers */
-  //pIn1 += srcALen;    
-  pScr += srcALen;
-
-#else
-
-  /* Apply loop unrolling and do 4 Copies simultaneously. */
-  j = srcALen >> 2u;
-
-  /* First part of the processing with loop unrolling copies 4 data points at a time.       
-   ** a second loop below copies for the remaining 1 to 3 samples. */
-  while(j > 0u)
-  {
-    /* copy second buffer in reversal manner */
-    *pScr++ = *pIn1++;
-    *pScr++ = *pIn1++;
-    *pScr++ = *pIn1++;
-    *pScr++ = *pIn1++;
-
-    /* Decrement the loop counter */
-    j--;
-  }
-
-  /* If the count is not a multiple of 4, copy remaining samples here.       
-   ** No loop unrolling is used. */
-  j = srcALen % 0x4u;
-
-  while(j > 0u)
-  {
-    /* copy second buffer in reversal manner for remaining samples */
-    *pScr++ = *pIn1++;
-
-    /* Decrement the loop counter */
-    j--;
-  }
-
-#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
-
-#ifndef UNALIGNED_SUPPORT_DISABLE
-
-  /* Fill (srcBLen - 1u) zeros at end of scratch buffer */
-  arm_fill_q15(0, pScr, (srcBLen - 1u));
-
-  /* Update pointer */
-  pScr += (srcBLen - 1u);
-
-#else
-
-/* Apply loop unrolling and do 4 Copies simultaneously. */
-  j = (srcBLen - 1u) >> 2u;
-
-  /* First part of the processing with loop unrolling copies 4 data points at a time.       
-   ** a second loop below copies for the remaining 1 to 3 samples. */
-  while(j > 0u)
-  {
-    /* copy second buffer in reversal manner */
-    *pScr++ = 0;
-    *pScr++ = 0;
-    *pScr++ = 0;
-    *pScr++ = 0;
-
-    /* Decrement the loop counter */
-    j--;
-  }
-
-  /* If the count is not a multiple of 4, copy remaining samples here.       
-   ** No loop unrolling is used. */
-  j = (srcBLen - 1u) % 0x4u;
-
-  while(j > 0u)
-  {
-    /* copy second buffer in reversal manner for remaining samples */
-    *pScr++ = 0;
-
-    /* Decrement the loop counter */
-    j--;
-  }
-
-#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
-
-  /* Temporary pointer for scratch2 */
-  py = pIn2;
-
-
-  /* Actual correlation process starts here */
-  blkCnt = (srcALen + srcBLen - 1u) >> 2;
-
-  while(blkCnt > 0)
-  {
-    /* Initialze temporary scratch pointer as scratch1 */
-    pScr = pScratch;
-
-    /* Clear Accumlators */
-    acc0 = 0;
-    acc1 = 0;
-    acc2 = 0;
-    acc3 = 0;
-
-    /* Read four samples from scratch1 buffer */
-    x1 = *__SIMD32(pScr)++;
-
-    /* Read next four samples from scratch1 buffer */
-    x2 = *__SIMD32(pScr)++;
-
-    tapCnt = (srcBLen) >> 2u;
-
-    while(tapCnt > 0u)
-    {
-
-#ifndef UNALIGNED_SUPPORT_DISABLE
-
-      /* Read four samples from smaller buffer */
-      y1 = _SIMD32_OFFSET(pIn2);
-      y2 = _SIMD32_OFFSET(pIn2 + 2u);
-
-      acc0 = __SMLALD(x1, y1, acc0);
-
-      acc2 = __SMLALD(x2, y1, acc2);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-      x3 = __PKHBT(x2, x1, 0);
-#else
-      x3 = __PKHBT(x1, x2, 0);
-#endif
-
-      acc1 = __SMLALDX(x3, y1, acc1);
-
-      x1 = _SIMD32_OFFSET(pScr);
-
-      acc0 = __SMLALD(x2, y2, acc0);
-
-      acc2 = __SMLALD(x1, y2, acc2);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-      x3 = __PKHBT(x1, x2, 0);
-#else
-      x3 = __PKHBT(x2, x1, 0);
-#endif
-
-      acc3 = __SMLALDX(x3, y1, acc3);
-
-      acc1 = __SMLALDX(x3, y2, acc1);
-
-      x2 = _SIMD32_OFFSET(pScr + 2u);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-      x3 = __PKHBT(x2, x1, 0);
-#else
-      x3 = __PKHBT(x1, x2, 0);
-#endif
-
-      acc3 = __SMLALDX(x3, y2, acc3);
-
-#else	 
-
-      /* Read four samples from smaller buffer */
-	  a = *pIn2;
-	  b = *(pIn2 + 1);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-      y1 = __PKHBT(a, b, 16);
-#else
-      y1 = __PKHBT(b, a, 16);
-#endif
-	  
-	  a = *(pIn2 + 2);
-	  b = *(pIn2 + 3);
-#ifndef ARM_MATH_BIG_ENDIAN
-      y2 = __PKHBT(a, b, 16);
-#else
-      y2 = __PKHBT(b, a, 16);
-#endif				
-
-      acc0 = __SMLALD(x1, y1, acc0);
-
-      acc2 = __SMLALD(x2, y1, acc2);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-      x3 = __PKHBT(x2, x1, 0);
-#else
-      x3 = __PKHBT(x1, x2, 0);
-#endif
-
-      acc1 = __SMLALDX(x3, y1, acc1);
-
-	  a = *pScr;
-	  b = *(pScr + 1);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-      x1 = __PKHBT(a, b, 16);
-#else
-      x1 = __PKHBT(b, a, 16);
-#endif
-
-      acc0 = __SMLALD(x2, y2, acc0);
-
-      acc2 = __SMLALD(x1, y2, acc2);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-      x3 = __PKHBT(x1, x2, 0);
-#else
-      x3 = __PKHBT(x2, x1, 0);
-#endif
-
-      acc3 = __SMLALDX(x3, y1, acc3);
-
-      acc1 = __SMLALDX(x3, y2, acc1);
-
-	  a = *(pScr + 2);
-	  b = *(pScr + 3);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-      x2 = __PKHBT(a, b, 16);
-#else
-      x2 = __PKHBT(b, a, 16);
-#endif
-
-#ifndef ARM_MATH_BIG_ENDIAN
-      x3 = __PKHBT(x2, x1, 0);
-#else
-      x3 = __PKHBT(x1, x2, 0);
-#endif
-
-      acc3 = __SMLALDX(x3, y2, acc3);
-
-#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
-
-      pIn2 += 4u;
-
-      pScr += 4u;
-
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-
-
-    /* Update scratch pointer for remaining samples of smaller length sequence */
-    pScr -= 4u;
-
-
-    /* apply same above for remaining samples of smaller length sequence */
-    tapCnt = (srcBLen) & 3u;
-
-    while(tapCnt > 0u)
-    {
-
-      /* accumlate the results */
-      acc0 += (*pScr++ * *pIn2);
-      acc1 += (*pScr++ * *pIn2);
-      acc2 += (*pScr++ * *pIn2);
-      acc3 += (*pScr++ * *pIn2++);
-
-      pScr -= 3u;
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    blkCnt--;
-
-
-    /* Store the results in the accumulators in the destination buffer. */
-    *pOut = (__SSAT(acc0 >> 15u, 16));
-    pOut += inc;
-    *pOut = (__SSAT(acc1 >> 15u, 16));
-    pOut += inc;
-    *pOut = (__SSAT(acc2 >> 15u, 16));
-    pOut += inc;
-    *pOut = (__SSAT(acc3 >> 15u, 16));
-    pOut += inc;
-
-    /* Initialization of inputB pointer */
-    pIn2 = py;
-
-    pScratch += 4u;
-
-  }
-
-
-  blkCnt = (srcALen + srcBLen - 1u) & 0x3;
-
-  /* Calculate correlation for remaining samples of Bigger length sequence */
-  while(blkCnt > 0)
-  {
-    /* Initialze temporary scratch pointer as scratch1 */
-    pScr = pScratch;
-
-    /* Clear Accumlators */
-    acc0 = 0;
-
-    tapCnt = (srcBLen) >> 1u;
-
-    while(tapCnt > 0u)
-    {
-
-      acc0 += (*pScr++ * *pIn2++);
-      acc0 += (*pScr++ * *pIn2++);
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    tapCnt = (srcBLen) & 1u;
-
-    /* apply same above for remaining samples of smaller length sequence */
-    while(tapCnt > 0u)
-    {
-
-      /* accumlate the results */
-      acc0 += (*pScr++ * *pIn2++);
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    blkCnt--;
-
-    /* Store the result in the accumulator in the destination buffer. */
-    *pOut = (q15_t) (__SSAT((acc0 >> 15), 16));
-
-    pOut += inc;
-
-    /* Initialization of inputB pointer */
-    pIn2 = py;
-
-    pScratch += 1u;
-
-  }
-
-
-}
-
-/**    
- * @} end of Corr group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_opt_q7.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_opt_q7.c
deleted file mode 100644
index 6749b01b3..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_opt_q7.c
+++ /dev/null
@@ -1,463 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_correlate_opt_q7.c    
-*    
-* Description:	Correlation of Q7 sequences.  
-*    
-* Target Processor: Cortex-M4/Cortex-M3
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-* 
-* Version 1.0.11 2011/10/18  
-*    Bug Fix in conv, correlation, partial convolution.  
-* 
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-*    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup Corr    
- * @{    
- */
-
-/**    
- * @brief Correlation of Q7 sequences.    
- * @param[in] *pSrcA points to the first input sequence.    
- * @param[in] srcALen length of the first input sequence.    
- * @param[in] *pSrcB points to the second input sequence.    
- * @param[in] srcBLen length of the second input sequence.    
- * @param[out] *pDst points to the location where the output result is written.  Length 2 * max(srcALen, srcBLen) - 1.    
- * @param[in]  *pScratch1 points to scratch buffer(of type q15_t) of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2.    
- * @param[in]  *pScratch2 points to scratch buffer (of type q15_t) of size min(srcALen, srcBLen).    
- * @return none.    
- *    
- *    
- * \par Restrictions    
- *  If the silicon does not support unaligned memory access enable the macro UNALIGNED_SUPPORT_DISABLE    
- *	In this case input, output, scratch1 and scratch2 buffers should be aligned by 32-bit     
- *        
- * @details    
- * Scaling and Overflow Behavior:    
- *    
- * \par    
- * The function is implemented using a 32-bit internal accumulator.    
- * Both the inputs are represented in 1.7 format and multiplications yield a 2.14 result.    
- * The 2.14 intermediate results are accumulated in a 32-bit accumulator in 18.14 format.    
- * This approach provides 17 guard bits and there is no risk of overflow as long as max(srcALen, srcBLen)<131072.    
- * The 18.14 result is then truncated to 18.7 format by discarding the low 7 bits and saturated to 1.7 format.  
- *  
- * 
- */
-
-
-
-void arm_correlate_opt_q7(
-  q7_t * pSrcA,
-  uint32_t srcALen,
-  q7_t * pSrcB,
-  uint32_t srcBLen,
-  q7_t * pDst,
-  q15_t * pScratch1,
-  q15_t * pScratch2)
-{
-  q7_t *pOut = pDst;                             /* output pointer                */
-  q15_t *pScr1 = pScratch1;                      /* Temporary pointer for scratch */
-  q15_t *pScr2 = pScratch2;                      /* Temporary pointer for scratch */
-  q7_t *pIn1;                                    /* inputA pointer                */
-  q7_t *pIn2;                                    /* inputB pointer                */
-  q15_t *py;                                     /* Intermediate inputB pointer   */
-  q31_t acc0, acc1, acc2, acc3;                  /* Accumulators                  */
-  uint32_t j, k = 0u, blkCnt;                    /* loop counter                  */
-  int32_t inc = 1;                               /* output pointer increment          */
-  uint32_t outBlockSize;                         /* loop counter                  */
-  q15_t x4;                                      /* Temporary input variable      */
-  uint32_t tapCnt;                               /* loop counter                  */
-  q31_t x1, x2, x3, y1;                          /* Temporary input variables     */
-
-  /* The algorithm implementation is based on the lengths of the inputs. */
-  /* srcB is always made to slide across srcA. */
-  /* So srcBLen is always considered as shorter or equal to srcALen */
-  /* But CORR(x, y) is reverse of CORR(y, x) */
-  /* So, when srcBLen > srcALen, output pointer is made to point to the end of the output buffer */
-  /* and the destination pointer modifier, inc is set to -1 */
-  /* If srcALen > srcBLen, zero pad has to be done to srcB to make the two inputs of same length */
-  /* But to improve the performance,        
-   * we include zeroes in the output instead of zero padding either of the the inputs*/
-  /* If srcALen > srcBLen,        
-   * (srcALen - srcBLen) zeroes has to included in the starting of the output buffer */
-  /* If srcALen < srcBLen,        
-   * (srcALen - srcBLen) zeroes has to included in the ending of the output buffer */
-  if(srcALen >= srcBLen)
-  {
-    /* Initialization of inputA pointer */
-    pIn1 = (pSrcA);
-
-    /* Initialization of inputB pointer */
-    pIn2 = (pSrcB);
-
-    /* Number of output samples is calculated */
-    outBlockSize = (2u * srcALen) - 1u;
-
-    /* When srcALen > srcBLen, zero padding is done to srcB        
-     * to make their lengths equal.        
-     * Instead, (outBlockSize - (srcALen + srcBLen - 1))        
-     * number of output samples are made zero */
-    j = outBlockSize - (srcALen + (srcBLen - 1u));
-
-    /* Updating the pointer position to non zero value */
-    pOut += j;
-
-  }
-  else
-  {
-    /* Initialization of inputA pointer */
-    pIn1 = (pSrcB);
-
-    /* Initialization of inputB pointer */
-    pIn2 = (pSrcA);
-
-    /* srcBLen is always considered as shorter or equal to srcALen */
-    j = srcBLen;
-    srcBLen = srcALen;
-    srcALen = j;
-
-    /* CORR(x, y) = Reverse order(CORR(y, x)) */
-    /* Hence set the destination pointer to point to the last output sample */
-    pOut = pDst + ((srcALen + srcBLen) - 2u);
-
-    /* Destination address modifier is set to -1 */
-    inc = -1;
-
-  }
-
-
-  /* Copy (srcBLen) samples in scratch buffer */
-  k = srcBLen >> 2u;
-
-  /* First part of the processing with loop unrolling copies 4 data points at a time.       
-   ** a second loop below copies for the remaining 1 to 3 samples. */
-  while(k > 0u)
-  {
-    /* copy second buffer in reversal manner */
-    x4 = (q15_t) * pIn2++;
-    *pScr2++ = x4;
-    x4 = (q15_t) * pIn2++;
-    *pScr2++ = x4;
-    x4 = (q15_t) * pIn2++;
-    *pScr2++ = x4;
-    x4 = (q15_t) * pIn2++;
-    *pScr2++ = x4;
-
-    /* Decrement the loop counter */
-    k--;
-  }
-
-  /* If the count is not a multiple of 4, copy remaining samples here.       
-   ** No loop unrolling is used. */
-  k = srcBLen % 0x4u;
-
-  while(k > 0u)
-  {
-    /* copy second buffer in reversal manner for remaining samples */
-    x4 = (q15_t) * pIn2++;
-    *pScr2++ = x4;
-
-    /* Decrement the loop counter */
-    k--;
-  }
-
-  /* Fill (srcBLen - 1u) zeros in scratch buffer */
-  arm_fill_q15(0, pScr1, (srcBLen - 1u));
-
-  /* Update temporary scratch pointer */
-  pScr1 += (srcBLen - 1u);
-
-  /* Copy (srcALen) samples in scratch buffer */
-  k = srcALen >> 2u;
-
-  /* First part of the processing with loop unrolling copies 4 data points at a time.       
-   ** a second loop below copies for the remaining 1 to 3 samples. */
-  while(k > 0u)
-  {
-    /* copy second buffer in reversal manner */
-    x4 = (q15_t) * pIn1++;
-    *pScr1++ = x4;
-    x4 = (q15_t) * pIn1++;
-    *pScr1++ = x4;
-    x4 = (q15_t) * pIn1++;
-    *pScr1++ = x4;
-    x4 = (q15_t) * pIn1++;
-    *pScr1++ = x4;
-
-    /* Decrement the loop counter */
-    k--;
-  }
-
-  /* If the count is not a multiple of 4, copy remaining samples here.       
-   ** No loop unrolling is used. */
-  k = srcALen % 0x4u;
-
-  while(k > 0u)
-  {
-    /* copy second buffer in reversal manner for remaining samples */
-    x4 = (q15_t) * pIn1++;
-    *pScr1++ = x4;
-
-    /* Decrement the loop counter */
-    k--;
-  }
-
-#ifndef UNALIGNED_SUPPORT_DISABLE
-
-  /* Fill (srcBLen - 1u) zeros at end of scratch buffer */
-  arm_fill_q15(0, pScr1, (srcBLen - 1u));
-
-  /* Update pointer */
-  pScr1 += (srcBLen - 1u);
-
-#else
-
-/* Apply loop unrolling and do 4 Copies simultaneously. */
-  k = (srcBLen - 1u) >> 2u;
-
-  /* First part of the processing with loop unrolling copies 4 data points at a time.       
-   ** a second loop below copies for the remaining 1 to 3 samples. */
-  while(k > 0u)
-  {
-    /* copy second buffer in reversal manner */
-    *pScr1++ = 0;
-    *pScr1++ = 0;
-    *pScr1++ = 0;
-    *pScr1++ = 0;
-
-    /* Decrement the loop counter */
-    k--;
-  }
-
-  /* If the count is not a multiple of 4, copy remaining samples here.       
-   ** No loop unrolling is used. */
-  k = (srcBLen - 1u) % 0x4u;
-
-  while(k > 0u)
-  {
-    /* copy second buffer in reversal manner for remaining samples */
-    *pScr1++ = 0;
-
-    /* Decrement the loop counter */
-    k--;
-  }
-
-#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
-
-  /* Temporary pointer for second sequence */
-  py = pScratch2;
-
-  /* Initialization of pScr2 pointer */
-  pScr2 = pScratch2;
-
-  /* Actual correlation process starts here */
-  blkCnt = (srcALen + srcBLen - 1u) >> 2;
-
-  while(blkCnt > 0)
-  {
-    /* Initialze temporary scratch pointer as scratch1 */
-    pScr1 = pScratch1;
-
-    /* Clear Accumlators */
-    acc0 = 0;
-    acc1 = 0;
-    acc2 = 0;
-    acc3 = 0;
-
-    /* Read two samples from scratch1 buffer */
-    x1 = *__SIMD32(pScr1)++;
-
-    /* Read next two samples from scratch1 buffer */
-    x2 = *__SIMD32(pScr1)++;
-
-    tapCnt = (srcBLen) >> 2u;
-
-    while(tapCnt > 0u)
-    {
-
-      /* Read four samples from smaller buffer */
-      y1 = _SIMD32_OFFSET(pScr2);
-
-      /* multiply and accumlate */
-      acc0 = __SMLAD(x1, y1, acc0);
-      acc2 = __SMLAD(x2, y1, acc2);
-
-      /* pack input data */
-#ifndef ARM_MATH_BIG_ENDIAN
-      x3 = __PKHBT(x2, x1, 0);
-#else
-      x3 = __PKHBT(x1, x2, 0);
-#endif
-
-      /* multiply and accumlate */
-      acc1 = __SMLADX(x3, y1, acc1);
-
-      /* Read next two samples from scratch1 buffer */
-      x1 = *__SIMD32(pScr1)++;
-
-      /* pack input data */
-#ifndef ARM_MATH_BIG_ENDIAN
-      x3 = __PKHBT(x1, x2, 0);
-#else
-      x3 = __PKHBT(x2, x1, 0);
-#endif
-
-      acc3 = __SMLADX(x3, y1, acc3);
-
-      /* Read four samples from smaller buffer */
-      y1 = _SIMD32_OFFSET(pScr2 + 2u);
-
-      acc0 = __SMLAD(x2, y1, acc0);
-
-      acc2 = __SMLAD(x1, y1, acc2);
-
-      acc1 = __SMLADX(x3, y1, acc1);
-
-      x2 = *__SIMD32(pScr1)++;
-
-#ifndef ARM_MATH_BIG_ENDIAN
-      x3 = __PKHBT(x2, x1, 0);
-#else
-      x3 = __PKHBT(x1, x2, 0);
-#endif
-
-      acc3 = __SMLADX(x3, y1, acc3);
-
-      pScr2 += 4u;
-
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-
-
-    /* Update scratch pointer for remaining samples of smaller length sequence */
-    pScr1 -= 4u;
-
-
-    /* apply same above for remaining samples of smaller length sequence */
-    tapCnt = (srcBLen) & 3u;
-
-    while(tapCnt > 0u)
-    {
-
-      /* accumlate the results */
-      acc0 += (*pScr1++ * *pScr2);
-      acc1 += (*pScr1++ * *pScr2);
-      acc2 += (*pScr1++ * *pScr2);
-      acc3 += (*pScr1++ * *pScr2++);
-
-      pScr1 -= 3u;
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    blkCnt--;
-
-    /* Store the result in the accumulator in the destination buffer. */
-    *pOut = (q7_t) (__SSAT(acc0 >> 7u, 8));
-    pOut += inc;
-    *pOut = (q7_t) (__SSAT(acc1 >> 7u, 8));
-    pOut += inc;
-    *pOut = (q7_t) (__SSAT(acc2 >> 7u, 8));
-    pOut += inc;
-    *pOut = (q7_t) (__SSAT(acc3 >> 7u, 8));
-    pOut += inc;
-
-    /* Initialization of inputB pointer */
-    pScr2 = py;
-
-    pScratch1 += 4u;
-
-  }
-
-
-  blkCnt = (srcALen + srcBLen - 1u) & 0x3;
-
-  /* Calculate correlation for remaining samples of Bigger length sequence */
-  while(blkCnt > 0)
-  {
-    /* Initialze temporary scratch pointer as scratch1 */
-    pScr1 = pScratch1;
-
-    /* Clear Accumlators */
-    acc0 = 0;
-
-    tapCnt = (srcBLen) >> 1u;
-
-    while(tapCnt > 0u)
-    {
-      acc0 += (*pScr1++ * *pScr2++);
-      acc0 += (*pScr1++ * *pScr2++);
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    tapCnt = (srcBLen) & 1u;
-
-    /* apply same above for remaining samples of smaller length sequence */
-    while(tapCnt > 0u)
-    {
-
-      /* accumlate the results */
-      acc0 += (*pScr1++ * *pScr2++);
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    blkCnt--;
-
-    /* Store the result in the accumulator in the destination buffer. */
-    *pOut = (q7_t) (__SSAT(acc0 >> 7u, 8));
-
-    pOut += inc;
-
-    /* Initialization of inputB pointer */
-    pScr2 = py;
-
-    pScratch1 += 1u;
-
-  }
-
-}
-
-/**    
- * @} end of Corr group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_q15.c
deleted file mode 100644
index fc4134b7b..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_q15.c
+++ /dev/null
@@ -1,718 +0,0 @@
-/* ----------------------------------------------------------------------   
-* Copyright (C) 2010 ARM Limited. All rights reserved.   
-*   
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*   
-* Project: 	    CMSIS DSP Library   
-* Title:		arm_correlate_q15.c   
-*   
-* Description:	Correlation of Q15 sequences. 
-*   
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*
-* Version 1.0.11 2011/10/18 
-*    Bug Fix in conv, correlation, partial convolution. 
-*
-* Version 1.0.10 2011/7/15 
-*    Big Endian support added and Merged M0 and M3/M4 Source code.  
-*   
-* Version 1.0.3 2010/11/29  
-*    Re-organized the CMSIS folders and updated documentation.   
-*    
-* Version 1.0.2 2010/11/11   
-*    Documentation updated.    
-*   
-* Version 1.0.1 2010/10/05    
-*    Production release and review comments incorporated.   
-*   
-* Version 1.0.0 2010/09/20    
-*    Production release and review comments incorporated   
-*   
-* Version 0.0.7  2010/06/10    
-*    Misra-C changes done   
-*   
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**   
- * @ingroup groupFilters   
- */
-
-/**   
- * @addtogroup Corr   
- * @{   
- */
-
-/**   
- * @brief Correlation of Q15 sequences. 
- * @param[in] *pSrcA points to the first input sequence.   
- * @param[in] srcALen length of the first input sequence.   
- * @param[in] *pSrcB points to the second input sequence.   
- * @param[in] srcBLen length of the second input sequence.   
- * @param[out] *pDst points to the location where the output result is written.  Length 2 * max(srcALen, srcBLen) - 1.   
- * @return none.   
- *   
- * @details   
- * Scaling and Overflow Behavior:   
- *   
- * \par   
- * The function is implemented using a 64-bit internal accumulator.   
- * Both inputs are in 1.15 format and multiplications yield a 2.30 result.   
- * The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format.   
- * This approach provides 33 guard bits and there is no risk of overflow.   
- * The 34.30 result is then truncated to 34.15 format by discarding the low 15 bits and then saturated to 1.15 format.   
- *   
- * \par   
- * Refer to arm_correlate_fast_q15() for a faster but less precise version of this function for Cortex-M3 and Cortex-M4. 
- *
- * \par    
- * Refer the function arm_correlate_opt_q15() for a faster implementation of this function using scratch buffers.
- * 
- */
-
-void arm_correlate_q15(
-  q15_t * pSrcA,
-  uint32_t srcALen,
-  q15_t * pSrcB,
-  uint32_t srcBLen,
-  q15_t * pDst)
-{
-
-#if (defined(ARM_MATH_CM4) || defined(ARM_MATH_CM3)) && !defined(UNALIGNED_SUPPORT_DISABLE)
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  q15_t *pIn1;                                   /* inputA pointer               */
-  q15_t *pIn2;                                   /* inputB pointer               */
-  q15_t *pOut = pDst;                            /* output pointer               */
-  q63_t sum, acc0, acc1, acc2, acc3;             /* Accumulators                  */
-  q15_t *px;                                     /* Intermediate inputA pointer  */
-  q15_t *py;                                     /* Intermediate inputB pointer  */
-  q15_t *pSrc1;                                  /* Intermediate pointers        */
-  q31_t x0, x1, x2, x3, c0;                      /* temporary variables for holding input and coefficient values */
-  uint32_t j, k = 0u, count, blkCnt, outBlockSize, blockSize1, blockSize2, blockSize3;  /* loop counter                 */
-  int32_t inc = 1;                               /* Destination address modifier */
-
-
-  /* The algorithm implementation is based on the lengths of the inputs. */
-  /* srcB is always made to slide across srcA. */
-  /* So srcBLen is always considered as shorter or equal to srcALen */
-  /* But CORR(x, y) is reverse of CORR(y, x) */
-  /* So, when srcBLen > srcALen, output pointer is made to point to the end of the output buffer */
-  /* and the destination pointer modifier, inc is set to -1 */
-  /* If srcALen > srcBLen, zero pad has to be done to srcB to make the two inputs of same length */
-  /* But to improve the performance,   
-   * we include zeroes in the output instead of zero padding either of the the inputs*/
-  /* If srcALen > srcBLen,   
-   * (srcALen - srcBLen) zeroes has to included in the starting of the output buffer */
-  /* If srcALen < srcBLen,   
-   * (srcALen - srcBLen) zeroes has to included in the ending of the output buffer */
-  if(srcALen >= srcBLen)
-  {
-    /* Initialization of inputA pointer */
-    pIn1 = (pSrcA);
-
-    /* Initialization of inputB pointer */
-    pIn2 = (pSrcB);
-
-    /* Number of output samples is calculated */
-    outBlockSize = (2u * srcALen) - 1u;
-
-    /* When srcALen > srcBLen, zero padding is done to srcB   
-     * to make their lengths equal.   
-     * Instead, (outBlockSize - (srcALen + srcBLen - 1))   
-     * number of output samples are made zero */
-    j = outBlockSize - (srcALen + (srcBLen - 1u));
-
-    /* Updating the pointer position to non zero value */
-    pOut += j;
-
-  }
-  else
-  {
-    /* Initialization of inputA pointer */
-    pIn1 = (pSrcB);
-
-    /* Initialization of inputB pointer */
-    pIn2 = (pSrcA);
-
-    /* srcBLen is always considered as shorter or equal to srcALen */
-    j = srcBLen;
-    srcBLen = srcALen;
-    srcALen = j;
-
-    /* CORR(x, y) = Reverse order(CORR(y, x)) */
-    /* Hence set the destination pointer to point to the last output sample */
-    pOut = pDst + ((srcALen + srcBLen) - 2u);
-
-    /* Destination address modifier is set to -1 */
-    inc = -1;
-
-  }
-
-  /* The function is internally   
-   * divided into three parts according to the number of multiplications that has to be   
-   * taken place between inputA samples and inputB samples. In the first part of the   
-   * algorithm, the multiplications increase by one for every iteration.   
-   * In the second part of the algorithm, srcBLen number of multiplications are done.   
-   * In the third part of the algorithm, the multiplications decrease by one   
-   * for every iteration.*/
-  /* The algorithm is implemented in three stages.   
-   * The loop counters of each stage is initiated here. */
-  blockSize1 = srcBLen - 1u;
-  blockSize2 = srcALen - (srcBLen - 1u);
-  blockSize3 = blockSize1;
-
-  /* --------------------------   
-   * Initializations of stage1   
-   * -------------------------*/
-
-  /* sum = x[0] * y[srcBlen - 1]   
-   * sum = x[0] * y[srcBlen - 2] + x[1] * y[srcBlen - 1]   
-   * ....   
-   * sum = x[0] * y[0] + x[1] * y[1] +...+ x[srcBLen - 1] * y[srcBLen - 1]   
-   */
-
-  /* In this stage the MAC operations are increased by 1 for every iteration.   
-     The count variable holds the number of MAC operations performed */
-  count = 1u;
-
-  /* Working pointer of inputA */
-  px = pIn1;
-
-  /* Working pointer of inputB */
-  pSrc1 = pIn2 + (srcBLen - 1u);
-  py = pSrc1;
-
-  /* ------------------------   
-   * Stage1 process   
-   * ----------------------*/
-
-  /* The first loop starts here */
-  while(blockSize1 > 0u)
-  {
-    /* Accumulator is made zero for every iteration */
-    sum = 0;
-
-    /* Apply loop unrolling and compute 4 MACs simultaneously. */
-    k = count >> 2;
-
-    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
-     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-    while(k > 0u)
-    {
-      /* x[0] * y[srcBLen - 4] , x[1] * y[srcBLen - 3] */
-      sum = __SMLALD(*__SIMD32(px)++, *__SIMD32(py)++, sum);
-      /* x[3] * y[srcBLen - 1] , x[2] * y[srcBLen - 2] */
-      sum = __SMLALD(*__SIMD32(px)++, *__SIMD32(py)++, sum);
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* If the count is not a multiple of 4, compute any remaining MACs here.   
-     ** No loop unrolling is used. */
-    k = count % 0x4u;
-
-    while(k > 0u)
-    {
-      /* Perform the multiply-accumulates */
-      /* x[0] * y[srcBLen - 1] */
-      sum = __SMLALD(*px++, *py++, sum);
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* Store the result in the accumulator in the destination buffer. */
-    *pOut = (q15_t) (__SSAT((sum >> 15), 16));
-    /* Destination pointer is updated according to the address modifier, inc */
-    pOut += inc;
-
-    /* Update the inputA and inputB pointers for next MAC calculation */
-    py = pSrc1 - count;
-    px = pIn1;
-
-    /* Increment the MAC count */
-    count++;
-
-    /* Decrement the loop counter */
-    blockSize1--;
-  }
-
-  /* --------------------------   
-   * Initializations of stage2   
-   * ------------------------*/
-
-  /* sum = x[0] * y[0] + x[1] * y[1] +...+ x[srcBLen-1] * y[srcBLen-1]   
-   * sum = x[1] * y[0] + x[2] * y[1] +...+ x[srcBLen] * y[srcBLen-1]   
-   * ....   
-   * sum = x[srcALen-srcBLen-2] * y[0] + x[srcALen-srcBLen-1] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]   
-   */
-
-  /* Working pointer of inputA */
-  px = pIn1;
-
-  /* Working pointer of inputB */
-  py = pIn2;
-
-  /* count is index by which the pointer pIn1 to be incremented */
-  count = 0u;
-
-  /* -------------------   
-   * Stage2 process   
-   * ------------------*/
-
-  /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.   
-   * So, to loop unroll over blockSize2,   
-   * srcBLen should be greater than or equal to 4, to loop unroll the srcBLen loop */
-  if(srcBLen >= 4u)
-  {
-    /* Loop unroll over blockSize2, by 4 */
-    blkCnt = blockSize2 >> 2u;
-
-    while(blkCnt > 0u)
-    {
-      /* Set all accumulators to zero */
-      acc0 = 0;
-      acc1 = 0;
-      acc2 = 0;
-      acc3 = 0;
-
-      /* read x[0], x[1] samples */
-      x0 = *__SIMD32(px);
-      /* read x[1], x[2] samples */
-      x1 = _SIMD32_OFFSET(px + 1);
-	  px += 2u;
-
-      /* Apply loop unrolling and compute 4 MACs simultaneously. */
-      k = srcBLen >> 2u;
-
-      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
-       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-      do
-      {
-        /* Read the first two inputB samples using SIMD:   
-         * y[0] and y[1] */
-        c0 = *__SIMD32(py)++;
-
-        /* acc0 +=  x[0] * y[0] + x[1] * y[1] */
-        acc0 = __SMLALD(x0, c0, acc0);
-
-        /* acc1 +=  x[1] * y[0] + x[2] * y[1] */
-        acc1 = __SMLALD(x1, c0, acc1);
-
-        /* Read x[2], x[3] */
-        x2 = *__SIMD32(px);
-
-        /* Read x[3], x[4] */
-        x3 = _SIMD32_OFFSET(px + 1);
-
-        /* acc2 +=  x[2] * y[0] + x[3] * y[1] */
-        acc2 = __SMLALD(x2, c0, acc2);
-
-        /* acc3 +=  x[3] * y[0] + x[4] * y[1] */
-        acc3 = __SMLALD(x3, c0, acc3);
-
-        /* Read y[2] and y[3] */
-        c0 = *__SIMD32(py)++;
-
-        /* acc0 +=  x[2] * y[2] + x[3] * y[3] */
-        acc0 = __SMLALD(x2, c0, acc0);
-
-        /* acc1 +=  x[3] * y[2] + x[4] * y[3] */
-        acc1 = __SMLALD(x3, c0, acc1);
-
-        /* Read x[4], x[5] */
-        x0 = _SIMD32_OFFSET(px + 2);
-
-        /* Read x[5], x[6] */
-        x1 = _SIMD32_OFFSET(px + 3);
-
-		px += 4u;
-
-        /* acc2 +=  x[4] * y[2] + x[5] * y[3] */
-        acc2 = __SMLALD(x0, c0, acc2);
-
-        /* acc3 +=  x[5] * y[2] + x[6] * y[3] */
-        acc3 = __SMLALD(x1, c0, acc3);
-
-      } while(--k);
-
-      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
-       ** No loop unrolling is used. */
-      k = srcBLen % 0x4u;
-
-      if(k == 1u)
-      {
-        /* Read y[4] */
-        c0 = *py;
-#ifdef  ARM_MATH_BIG_ENDIAN
-
-        c0 = c0 << 16u;
-
-#else
-
-        c0 = c0 & 0x0000FFFF;
-
-#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */
-        /* Read x[7] */
-        x3 = *__SIMD32(px);
-		px++;
-
-        /* Perform the multiply-accumulates */
-        acc0 = __SMLALD(x0, c0, acc0);
-        acc1 = __SMLALD(x1, c0, acc1);
-        acc2 = __SMLALDX(x1, c0, acc2);
-        acc3 = __SMLALDX(x3, c0, acc3);
-      }
-
-      if(k == 2u)
-      {
-        /* Read y[4], y[5] */
-        c0 = *__SIMD32(py);
-
-        /* Read x[7], x[8] */
-        x3 = *__SIMD32(px);
-
-        /* Read x[9] */
-        x2 = _SIMD32_OFFSET(px + 1);
-		px += 2u;
-
-        /* Perform the multiply-accumulates */
-        acc0 = __SMLALD(x0, c0, acc0);
-        acc1 = __SMLALD(x1, c0, acc1);
-        acc2 = __SMLALD(x3, c0, acc2);
-        acc3 = __SMLALD(x2, c0, acc3);
-      }
-
-      if(k == 3u)
-      {
-        /* Read y[4], y[5] */
-        c0 = *__SIMD32(py)++;
-
-        /* Read x[7], x[8] */
-        x3 = *__SIMD32(px);
-
-        /* Read x[9] */
-        x2 = _SIMD32_OFFSET(px + 1);
-
-        /* Perform the multiply-accumulates */
-        acc0 = __SMLALD(x0, c0, acc0);
-        acc1 = __SMLALD(x1, c0, acc1);
-        acc2 = __SMLALD(x3, c0, acc2);
-        acc3 = __SMLALD(x2, c0, acc3);
-
-        c0 = (*py);
-
-        /* Read y[6] */
-#ifdef  ARM_MATH_BIG_ENDIAN
-
-        c0 = c0 << 16u;
-#else
-
-        c0 = c0 & 0x0000FFFF;
-#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */
-        /* Read x[10] */
-        x3 = _SIMD32_OFFSET(px + 2);
-		px += 3u;
-
-        /* Perform the multiply-accumulates */
-        acc0 = __SMLALDX(x1, c0, acc0);
-        acc1 = __SMLALD(x2, c0, acc1);
-        acc2 = __SMLALDX(x2, c0, acc2);
-        acc3 = __SMLALDX(x3, c0, acc3);
-      }
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut = (q15_t) (__SSAT(acc0 >> 15, 16));
-      /* Destination pointer is updated according to the address modifier, inc */
-      pOut += inc;
-
-      *pOut = (q15_t) (__SSAT(acc1 >> 15, 16));
-      pOut += inc;
-
-      *pOut = (q15_t) (__SSAT(acc2 >> 15, 16));
-      pOut += inc;
-
-      *pOut = (q15_t) (__SSAT(acc3 >> 15, 16));
-      pOut += inc;
-
-      /* Increment the count by 4 as 4 output values are computed */
-      count += 4u;
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      px = pIn1 + count;
-      py = pIn2;
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-
-    /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.   
-     ** No loop unrolling is used. */
-    blkCnt = blockSize2 % 0x4u;
-
-    while(blkCnt > 0u)
-    {
-      /* Accumulator is made zero for every iteration */
-      sum = 0;
-
-      /* Apply loop unrolling and compute 4 MACs simultaneously. */
-      k = srcBLen >> 2u;
-
-      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
-       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulates */
-        sum += ((q63_t) * px++ * *py++);
-        sum += ((q63_t) * px++ * *py++);
-        sum += ((q63_t) * px++ * *py++);
-        sum += ((q63_t) * px++ * *py++);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
-       ** No loop unrolling is used. */
-      k = srcBLen % 0x4u;
-
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulates */
-        sum += ((q63_t) * px++ * *py++);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut = (q15_t) (__SSAT(sum >> 15, 16));
-      /* Destination pointer is updated according to the address modifier, inc */
-      pOut += inc;
-
-      /* Increment count by 1, as one output value is computed */
-      count++;
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      px = pIn1 + count;
-      py = pIn2;
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-  }
-  else
-  {
-    /* If the srcBLen is not a multiple of 4,   
-     * the blockSize2 loop cannot be unrolled by 4 */
-    blkCnt = blockSize2;
-
-    while(blkCnt > 0u)
-    {
-      /* Accumulator is made zero for every iteration */
-      sum = 0;
-
-      /* Loop over srcBLen */
-      k = srcBLen;
-
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulate */
-        sum += ((q63_t) * px++ * *py++);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut = (q15_t) (__SSAT(sum >> 15, 16));
-      /* Destination pointer is updated according to the address modifier, inc */
-      pOut += inc;
-
-      /* Increment the MAC count */
-      count++;
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      px = pIn1 + count;
-      py = pIn2;
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-  }
-
-  /* --------------------------   
-   * Initializations of stage3   
-   * -------------------------*/
-
-  /* sum += x[srcALen-srcBLen+1] * y[0] + x[srcALen-srcBLen+2] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]   
-   * sum += x[srcALen-srcBLen+2] * y[0] + x[srcALen-srcBLen+3] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]   
-   * ....   
-   * sum +=  x[srcALen-2] * y[0] + x[srcALen-1] * y[1]   
-   * sum +=  x[srcALen-1] * y[0]   
-   */
-
-  /* In this stage the MAC operations are decreased by 1 for every iteration.   
-     The count variable holds the number of MAC operations performed */
-  count = srcBLen - 1u;
-
-  /* Working pointer of inputA */
-  pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);
-  px = pSrc1;
-
-  /* Working pointer of inputB */
-  py = pIn2;
-
-  /* -------------------   
-   * Stage3 process   
-   * ------------------*/
-
-  while(blockSize3 > 0u)
-  {
-    /* Accumulator is made zero for every iteration */
-    sum = 0;
-
-    /* Apply loop unrolling and compute 4 MACs simultaneously. */
-    k = count >> 2u;
-
-    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
-     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-    while(k > 0u)
-    {
-      /* Perform the multiply-accumulates */
-      /* sum += x[srcALen - srcBLen + 4] * y[3] , sum += x[srcALen - srcBLen + 3] * y[2] */
-      sum = __SMLALD(*__SIMD32(px)++, *__SIMD32(py)++, sum);
-      /* sum += x[srcALen - srcBLen + 2] * y[1] , sum += x[srcALen - srcBLen + 1] * y[0] */
-      sum = __SMLALD(*__SIMD32(px)++, *__SIMD32(py)++, sum);
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* If the count is not a multiple of 4, compute any remaining MACs here.   
-     ** No loop unrolling is used. */
-    k = count % 0x4u;
-
-    while(k > 0u)
-    {
-      /* Perform the multiply-accumulates */
-      sum = __SMLALD(*px++, *py++, sum);
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* Store the result in the accumulator in the destination buffer. */
-    *pOut = (q15_t) (__SSAT((sum >> 15), 16));
-    /* Destination pointer is updated according to the address modifier, inc */
-    pOut += inc;
-
-    /* Update the inputA and inputB pointers for next MAC calculation */
-    px = ++pSrc1;
-    py = pIn2;
-
-    /* Decrement the MAC count */
-    count--;
-
-    /* Decrement the loop counter */
-    blockSize3--;
-  }
-
-#else
-
-/* Run the below code for Cortex-M0 */
-
-  q15_t *pIn1 = pSrcA;                           /* inputA pointer               */
-  q15_t *pIn2 = pSrcB + (srcBLen - 1u);          /* inputB pointer               */
-  q63_t sum;                                     /* Accumulators                  */
-  uint32_t i = 0u, j;                            /* loop counters */
-  uint32_t inv = 0u;                             /* Reverse order flag */
-  uint32_t tot = 0u;                             /* Length */
-
-  /* The algorithm implementation is based on the lengths of the inputs. */
-  /* srcB is always made to slide across srcA. */
-  /* So srcBLen is always considered as shorter or equal to srcALen */
-  /* But CORR(x, y) is reverse of CORR(y, x) */
-  /* So, when srcBLen > srcALen, output pointer is made to point to the end of the output buffer */
-  /* and a varaible, inv is set to 1 */
-  /* If lengths are not equal then zero pad has to be done to  make the two   
-   * inputs of same length. But to improve the performance, we include zeroes   
-   * in the output instead of zero padding either of the the inputs*/
-  /* If srcALen > srcBLen, (srcALen - srcBLen) zeroes has to included in the   
-   * starting of the output buffer */
-  /* If srcALen < srcBLen, (srcALen - srcBLen) zeroes has to included in the  
-   * ending of the output buffer */
-  /* Once the zero padding is done the remaining of the output is calcualted  
-   * using convolution but with the shorter signal time shifted. */
-
-  /* Calculate the length of the remaining sequence */
-  tot = ((srcALen + srcBLen) - 2u);
-
-  if(srcALen > srcBLen)
-  {
-    /* Calculating the number of zeros to be padded to the output */
-    j = srcALen - srcBLen;
-
-    /* Initialise the pointer after zero padding */
-    pDst += j;
-  }
-
-  else if(srcALen < srcBLen)
-  {
-    /* Initialization to inputB pointer */
-    pIn1 = pSrcB;
-
-    /* Initialization to the end of inputA pointer */
-    pIn2 = pSrcA + (srcALen - 1u);
-
-    /* Initialisation of the pointer after zero padding */
-    pDst = pDst + tot;
-
-    /* Swapping the lengths */
-    j = srcALen;
-    srcALen = srcBLen;
-    srcBLen = j;
-
-    /* Setting the reverse flag */
-    inv = 1;
-
-  }
-
-  /* Loop to calculate convolution for output length number of times */
-  for (i = 0u; i <= tot; i++)
-  {
-    /* Initialize sum with zero to carry on MAC operations */
-    sum = 0;
-
-    /* Loop to perform MAC operations according to convolution equation */
-    for (j = 0u; j <= i; j++)
-    {
-      /* Check the array limitations */
-      if((((i - j) < srcBLen) && (j < srcALen)))
-      {
-        /* z[i] += x[i-j] * y[j] */
-        sum += ((q31_t) pIn1[j] * pIn2[-((int32_t) i - j)]);
-      }
-    }
-    /* Store the output in the destination buffer */
-    if(inv == 1)
-      *pDst-- = (q15_t) __SSAT((sum >> 15u), 16u);
-    else
-      *pDst++ = (q15_t) __SSAT((sum >> 15u), 16u);
-  }
-
-#endif /*#if (defined(ARM_MATH_CM4) || defined(ARM_MATH_CM3)) && !defined(UNALIGNED_SUPPORT_DISABLE) */
-
-}
-
-/**   
- * @} end of Corr group   
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_q31.c
deleted file mode 100644
index c81f8600d..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_q31.c
+++ /dev/null
@@ -1,664 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_correlate_q31.c    
-*    
-* Description:	Correlation of Q31 sequences.  
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.11 2011/10/18  
-*    Bug Fix in conv, correlation, partial convolution.  
-* 
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-*    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup Corr    
- * @{    
- */
-
-/**    
- * @brief Correlation of Q31 sequences.    
- * @param[in] *pSrcA points to the first input sequence.    
- * @param[in] srcALen length of the first input sequence.    
- * @param[in] *pSrcB points to the second input sequence.    
- * @param[in] srcBLen length of the second input sequence.    
- * @param[out] *pDst points to the location where the output result is written.  Length 2 * max(srcALen, srcBLen) - 1.    
- * @return none.    
- *    
- * @details    
- * Scaling and Overflow Behavior:    
- *    
- * \par    
- * The function is implemented using an internal 64-bit accumulator.    
- * The accumulator has a 2.62 format and maintains full precision of the intermediate multiplication results but provides only a single guard bit.    
- * There is no saturation on intermediate additions.    
- * Thus, if the accumulator overflows it wraps around and distorts the result.    
- * The input signals should be scaled down to avoid intermediate overflows.    
- * Scale down one of the inputs by 1/min(srcALen, srcBLen)to avoid overflows since a    
- * maximum of min(srcALen, srcBLen) number of additions is carried internally.    
- * The 2.62 accumulator is right shifted by 31 bits and saturated to 1.31 format to yield the final result.    
- *    
- * \par    
- * See arm_correlate_fast_q31() for a faster but less precise implementation of this function for Cortex-M3 and Cortex-M4.    
- */
-
-void arm_correlate_q31(
-  q31_t * pSrcA,
-  uint32_t srcALen,
-  q31_t * pSrcB,
-  uint32_t srcBLen,
-  q31_t * pDst)
-{
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  q31_t *pIn1;                                   /* inputA pointer               */
-  q31_t *pIn2;                                   /* inputB pointer               */
-  q31_t *pOut = pDst;                            /* output pointer               */
-  q31_t *px;                                     /* Intermediate inputA pointer  */
-  q31_t *py;                                     /* Intermediate inputB pointer  */
-  q31_t *pSrc1;                                  /* Intermediate pointers        */
-  q63_t sum, acc0, acc1, acc2;                   /* Accumulators                  */
-  q31_t x0, x1, x2, c0;                          /* temporary variables for holding input and coefficient values */
-  uint32_t j, k = 0u, count, blkCnt, outBlockSize, blockSize1, blockSize2, blockSize3;  /* loop counter                 */
-  int32_t inc = 1;                               /* Destination address modifier */
-
-
-  /* The algorithm implementation is based on the lengths of the inputs. */
-  /* srcB is always made to slide across srcA. */
-  /* So srcBLen is always considered as shorter or equal to srcALen */
-  /* But CORR(x, y) is reverse of CORR(y, x) */
-  /* So, when srcBLen > srcALen, output pointer is made to point to the end of the output buffer */
-  /* and the destination pointer modifier, inc is set to -1 */
-  /* If srcALen > srcBLen, zero pad has to be done to srcB to make the two inputs of same length */
-  /* But to improve the performance,    
-   * we include zeroes in the output instead of zero padding either of the the inputs*/
-  /* If srcALen > srcBLen,    
-   * (srcALen - srcBLen) zeroes has to included in the starting of the output buffer */
-  /* If srcALen < srcBLen,    
-   * (srcALen - srcBLen) zeroes has to included in the ending of the output buffer */
-  if(srcALen >= srcBLen)
-  {
-    /* Initialization of inputA pointer */
-    pIn1 = (pSrcA);
-
-    /* Initialization of inputB pointer */
-    pIn2 = (pSrcB);
-
-    /* Number of output samples is calculated */
-    outBlockSize = (2u * srcALen) - 1u;
-
-    /* When srcALen > srcBLen, zero padding is done to srcB    
-     * to make their lengths equal.    
-     * Instead, (outBlockSize - (srcALen + srcBLen - 1))    
-     * number of output samples are made zero */
-    j = outBlockSize - (srcALen + (srcBLen - 1u));
-
-    /* Updating the pointer position to non zero value */
-    pOut += j;
-
-  }
-  else
-  {
-    /* Initialization of inputA pointer */
-    pIn1 = (pSrcB);
-
-    /* Initialization of inputB pointer */
-    pIn2 = (pSrcA);
-
-    /* srcBLen is always considered as shorter or equal to srcALen */
-    j = srcBLen;
-    srcBLen = srcALen;
-    srcALen = j;
-
-    /* CORR(x, y) = Reverse order(CORR(y, x)) */
-    /* Hence set the destination pointer to point to the last output sample */
-    pOut = pDst + ((srcALen + srcBLen) - 2u);
-
-    /* Destination address modifier is set to -1 */
-    inc = -1;
-
-  }
-
-  /* The function is internally    
-   * divided into three parts according to the number of multiplications that has to be    
-   * taken place between inputA samples and inputB samples. In the first part of the    
-   * algorithm, the multiplications increase by one for every iteration.    
-   * In the second part of the algorithm, srcBLen number of multiplications are done.    
-   * In the third part of the algorithm, the multiplications decrease by one    
-   * for every iteration.*/
-  /* The algorithm is implemented in three stages.    
-   * The loop counters of each stage is initiated here. */
-  blockSize1 = srcBLen - 1u;
-  blockSize2 = srcALen - (srcBLen - 1u);
-  blockSize3 = blockSize1;
-
-  /* --------------------------    
-   * Initializations of stage1    
-   * -------------------------*/
-
-  /* sum = x[0] * y[srcBlen - 1]    
-   * sum = x[0] * y[srcBlen - 2] + x[1] * y[srcBlen - 1]    
-   * ....    
-   * sum = x[0] * y[0] + x[1] * y[1] +...+ x[srcBLen - 1] * y[srcBLen - 1]    
-   */
-
-  /* In this stage the MAC operations are increased by 1 for every iteration.    
-     The count variable holds the number of MAC operations performed */
-  count = 1u;
-
-  /* Working pointer of inputA */
-  px = pIn1;
-
-  /* Working pointer of inputB */
-  pSrc1 = pIn2 + (srcBLen - 1u);
-  py = pSrc1;
-
-  /* ------------------------    
-   * Stage1 process    
-   * ----------------------*/
-
-  /* The first stage starts here */
-  while(blockSize1 > 0u)
-  {
-    /* Accumulator is made zero for every iteration */
-    sum = 0;
-
-    /* Apply loop unrolling and compute 4 MACs simultaneously. */
-    k = count >> 2;
-
-    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
-     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-    while(k > 0u)
-    {
-      /* x[0] * y[srcBLen - 4] */
-      sum += (q63_t) * px++ * (*py++);
-      /* x[1] * y[srcBLen - 3] */
-      sum += (q63_t) * px++ * (*py++);
-      /* x[2] * y[srcBLen - 2] */
-      sum += (q63_t) * px++ * (*py++);
-      /* x[3] * y[srcBLen - 1] */
-      sum += (q63_t) * px++ * (*py++);
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* If the count is not a multiple of 4, compute any remaining MACs here.    
-     ** No loop unrolling is used. */
-    k = count % 0x4u;
-
-    while(k > 0u)
-    {
-      /* Perform the multiply-accumulates */
-      /* x[0] * y[srcBLen - 1] */
-      sum += (q63_t) * px++ * (*py++);
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* Store the result in the accumulator in the destination buffer. */
-    *pOut = (q31_t) (sum >> 31);
-    /* Destination pointer is updated according to the address modifier, inc */
-    pOut += inc;
-
-    /* Update the inputA and inputB pointers for next MAC calculation */
-    py = pSrc1 - count;
-    px = pIn1;
-
-    /* Increment the MAC count */
-    count++;
-
-    /* Decrement the loop counter */
-    blockSize1--;
-  }
-
-  /* --------------------------    
-   * Initializations of stage2    
-   * ------------------------*/
-
-  /* sum = x[0] * y[0] + x[1] * y[1] +...+ x[srcBLen-1] * y[srcBLen-1]    
-   * sum = x[1] * y[0] + x[2] * y[1] +...+ x[srcBLen] * y[srcBLen-1]    
-   * ....    
-   * sum = x[srcALen-srcBLen-2] * y[0] + x[srcALen-srcBLen-1] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]    
-   */
-
-  /* Working pointer of inputA */
-  px = pIn1;
-
-  /* Working pointer of inputB */
-  py = pIn2;
-
-  /* count is index by which the pointer pIn1 to be incremented */
-  count = 0u;
-
-  /* -------------------    
-   * Stage2 process    
-   * ------------------*/
-
-  /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.    
-   * So, to loop unroll over blockSize2,    
-   * srcBLen should be greater than or equal to 4 */
-  if(srcBLen >= 4u)
-  {
-    /* Loop unroll by 3 */
-    blkCnt = blockSize2 / 3;
-
-    while(blkCnt > 0u)
-    {
-      /* Set all accumulators to zero */
-      acc0 = 0;
-      acc1 = 0;
-      acc2 = 0;
-
-      /* read x[0], x[1] samples */
-      x0 = *(px++);
-      x1 = *(px++);
-
-      /* Apply loop unrolling and compute 3 MACs simultaneously. */
-      k = srcBLen / 3;
-
-      /* First part of the processing with loop unrolling.  Compute 3 MACs at a time.        
-       ** a second loop below computes MACs for the remaining 1 to 2 samples. */
-      do
-      {
-        /* Read y[0] sample */
-        c0 = *(py);
-
-        /* Read x[2] sample */
-        x2 = *(px);
-
-        /* Perform the multiply-accumulate */
-        /* acc0 +=  x[0] * y[0] */
-        acc0 += ((q63_t) x0 * c0);
-        /* acc1 +=  x[1] * y[0] */
-        acc1 += ((q63_t) x1 * c0);
-        /* acc2 +=  x[2] * y[0] */
-        acc2 += ((q63_t) x2 * c0);
-
-        /* Read y[1] sample */
-        c0 = *(py + 1u);
-
-        /* Read x[3] sample */
-        x0 = *(px + 1u);
-
-        /* Perform the multiply-accumulates */
-        /* acc0 +=  x[1] * y[1] */
-        acc0 += ((q63_t) x1 * c0);
-        /* acc1 +=  x[2] * y[1] */
-        acc1 += ((q63_t) x2 * c0);
-        /* acc2 +=  x[3] * y[1] */
-        acc2 += ((q63_t) x0 * c0);
-
-        /* Read y[2] sample */
-        c0 = *(py + 2u);
-
-        /* Read x[4] sample */
-        x1 = *(px + 2u);
-
-        /* Perform the multiply-accumulates */
-        /* acc0 +=  x[2] * y[2] */
-        acc0 += ((q63_t) x2 * c0);
-        /* acc1 +=  x[3] * y[2] */
-        acc1 += ((q63_t) x0 * c0);
-        /* acc2 +=  x[4] * y[2] */
-        acc2 += ((q63_t) x1 * c0);
-
-        /* update scratch pointers */
-        px += 3u;
-        py += 3u;
-
-      } while(--k);
-
-      /* If the srcBLen is not a multiple of 3, compute any remaining MACs here.        
-       ** No loop unrolling is used. */
-      k = srcBLen - (3 * (srcBLen / 3));
-
-      while(k > 0u)
-      {
-        /* Read y[4] sample */
-        c0 = *(py++);
-
-        /* Read x[7] sample */
-        x2 = *(px++);
-
-        /* Perform the multiply-accumulates */
-        /* acc0 +=  x[4] * y[4] */
-        acc0 += ((q63_t) x0 * c0);
-        /* acc1 +=  x[5] * y[4] */
-        acc1 += ((q63_t) x1 * c0);
-        /* acc2 +=  x[6] * y[4] */
-        acc2 += ((q63_t) x2 * c0);
-
-        /* Reuse the present samples for the next MAC */
-        x0 = x1;
-        x1 = x2;
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut = (q31_t) (acc0 >> 31);
-      /* Destination pointer is updated according to the address modifier, inc */
-      pOut += inc;
-
-      *pOut = (q31_t) (acc1 >> 31);
-      pOut += inc;
-
-      *pOut = (q31_t) (acc2 >> 31);
-      pOut += inc;
-
-      /* Increment the pointer pIn1 index, count by 3 */
-      count += 3u;
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      px = pIn1 + count;
-      py = pIn2;
-
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-
-    /* If the blockSize2 is not a multiple of 3, compute any remaining output samples here.        
-     ** No loop unrolling is used. */
-    blkCnt = blockSize2 - 3 * (blockSize2 / 3);
-
-    while(blkCnt > 0u)
-    {
-      /* Accumulator is made zero for every iteration */
-      sum = 0;
-
-      /* Apply loop unrolling and compute 4 MACs simultaneously. */
-      k = srcBLen >> 2u;
-
-      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
-       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulates */
-        sum += (q63_t) * px++ * (*py++);
-        sum += (q63_t) * px++ * (*py++);
-        sum += (q63_t) * px++ * (*py++);
-        sum += (q63_t) * px++ * (*py++);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.    
-       ** No loop unrolling is used. */
-      k = srcBLen % 0x4u;
-
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulate */
-        sum += (q63_t) * px++ * (*py++);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut = (q31_t) (sum >> 31);
-      /* Destination pointer is updated according to the address modifier, inc */
-      pOut += inc;
-
-      /* Increment the MAC count */
-      count++;
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      px = pIn1 + count;
-      py = pIn2;
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-  }
-  else
-  {
-    /* If the srcBLen is not a multiple of 4,    
-     * the blockSize2 loop cannot be unrolled by 4 */
-    blkCnt = blockSize2;
-
-    while(blkCnt > 0u)
-    {
-      /* Accumulator is made zero for every iteration */
-      sum = 0;
-
-      /* Loop over srcBLen */
-      k = srcBLen;
-
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulate */
-        sum += (q63_t) * px++ * (*py++);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut = (q31_t) (sum >> 31);
-      /* Destination pointer is updated according to the address modifier, inc */
-      pOut += inc;
-
-      /* Increment the MAC count */
-      count++;
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      px = pIn1 + count;
-      py = pIn2;
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-  }
-
-  /* --------------------------    
-   * Initializations of stage3    
-   * -------------------------*/
-
-  /* sum += x[srcALen-srcBLen+1] * y[0] + x[srcALen-srcBLen+2] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]    
-   * sum += x[srcALen-srcBLen+2] * y[0] + x[srcALen-srcBLen+3] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]    
-   * ....    
-   * sum +=  x[srcALen-2] * y[0] + x[srcALen-1] * y[1]    
-   * sum +=  x[srcALen-1] * y[0]    
-   */
-
-  /* In this stage the MAC operations are decreased by 1 for every iteration.    
-     The count variable holds the number of MAC operations performed */
-  count = srcBLen - 1u;
-
-  /* Working pointer of inputA */
-  pSrc1 = pIn1 + (srcALen - (srcBLen - 1u));
-  px = pSrc1;
-
-  /* Working pointer of inputB */
-  py = pIn2;
-
-  /* -------------------    
-   * Stage3 process    
-   * ------------------*/
-
-  while(blockSize3 > 0u)
-  {
-    /* Accumulator is made zero for every iteration */
-    sum = 0;
-
-    /* Apply loop unrolling and compute 4 MACs simultaneously. */
-    k = count >> 2u;
-
-    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
-     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-    while(k > 0u)
-    {
-      /* Perform the multiply-accumulates */
-      /* sum += x[srcALen - srcBLen + 4] * y[3] */
-      sum += (q63_t) * px++ * (*py++);
-      /* sum += x[srcALen - srcBLen + 3] * y[2] */
-      sum += (q63_t) * px++ * (*py++);
-      /* sum += x[srcALen - srcBLen + 2] * y[1] */
-      sum += (q63_t) * px++ * (*py++);
-      /* sum += x[srcALen - srcBLen + 1] * y[0] */
-      sum += (q63_t) * px++ * (*py++);
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* If the count is not a multiple of 4, compute any remaining MACs here.    
-     ** No loop unrolling is used. */
-    k = count % 0x4u;
-
-    while(k > 0u)
-    {
-      /* Perform the multiply-accumulates */
-      sum += (q63_t) * px++ * (*py++);
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* Store the result in the accumulator in the destination buffer. */
-    *pOut = (q31_t) (sum >> 31);
-    /* Destination pointer is updated according to the address modifier, inc */
-    pOut += inc;
-
-    /* Update the inputA and inputB pointers for next MAC calculation */
-    px = ++pSrc1;
-    py = pIn2;
-
-    /* Decrement the MAC count */
-    count--;
-
-    /* Decrement the loop counter */
-    blockSize3--;
-  }
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  q31_t *pIn1 = pSrcA;                           /* inputA pointer               */
-  q31_t *pIn2 = pSrcB + (srcBLen - 1u);          /* inputB pointer               */
-  q63_t sum;                                     /* Accumulators                  */
-  uint32_t i = 0u, j;                            /* loop counters */
-  uint32_t inv = 0u;                             /* Reverse order flag */
-  uint32_t tot = 0u;                             /* Length */
-
-  /* The algorithm implementation is based on the lengths of the inputs. */
-  /* srcB is always made to slide across srcA. */
-  /* So srcBLen is always considered as shorter or equal to srcALen */
-  /* But CORR(x, y) is reverse of CORR(y, x) */
-  /* So, when srcBLen > srcALen, output pointer is made to point to the end of the output buffer */
-  /* and a varaible, inv is set to 1 */
-  /* If lengths are not equal then zero pad has to be done to  make the two    
-   * inputs of same length. But to improve the performance, we include zeroes    
-   * in the output instead of zero padding either of the the inputs*/
-  /* If srcALen > srcBLen, (srcALen - srcBLen) zeroes has to included in the    
-   * starting of the output buffer */
-  /* If srcALen < srcBLen, (srcALen - srcBLen) zeroes has to included in the   
-   * ending of the output buffer */
-  /* Once the zero padding is done the remaining of the output is calcualted   
-   * using correlation but with the shorter signal time shifted. */
-
-  /* Calculate the length of the remaining sequence */
-  tot = ((srcALen + srcBLen) - 2u);
-
-  if(srcALen > srcBLen)
-  {
-    /* Calculating the number of zeros to be padded to the output */
-    j = srcALen - srcBLen;
-
-    /* Initialise the pointer after zero padding */
-    pDst += j;
-  }
-
-  else if(srcALen < srcBLen)
-  {
-    /* Initialization to inputB pointer */
-    pIn1 = pSrcB;
-
-    /* Initialization to the end of inputA pointer */
-    pIn2 = pSrcA + (srcALen - 1u);
-
-    /* Initialisation of the pointer after zero padding */
-    pDst = pDst + tot;
-
-    /* Swapping the lengths */
-    j = srcALen;
-    srcALen = srcBLen;
-    srcBLen = j;
-
-    /* Setting the reverse flag */
-    inv = 1;
-
-  }
-
-  /* Loop to calculate correlation for output length number of times */
-  for (i = 0u; i <= tot; i++)
-  {
-    /* Initialize sum with zero to carry on MAC operations */
-    sum = 0;
-
-    /* Loop to perform MAC operations according to correlation equation */
-    for (j = 0u; j <= i; j++)
-    {
-      /* Check the array limitations */
-      if((((i - j) < srcBLen) && (j < srcALen)))
-      {
-        /* z[i] += x[i-j] * y[j] */
-        sum += ((q63_t) pIn1[j] * pIn2[-((int32_t) i - j)]);
-      }
-    }
-    /* Store the output in the destination buffer */
-    if(inv == 1)
-      *pDst-- = (q31_t) (sum >> 31u);
-    else
-      *pDst++ = (q31_t) (sum >> 31u);
-  }
-
-#endif /*   #ifndef ARM_MATH_CM0 */
-
-}
-
-/**    
- * @} end of Corr group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_q7.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_q7.c
deleted file mode 100644
index e03e4997b..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_q7.c
+++ /dev/null
@@ -1,789 +0,0 @@
-/* ----------------------------------------------------------------------   
-* Copyright (C) 2010 ARM Limited. All rights reserved.   
-*   
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*   
-* Project: 	    CMSIS DSP Library   
-* Title:		arm_correlate_q7.c   
-*   
-* Description:	Correlation of Q7 sequences. 
-*   
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*
-* Version 1.0.11 2011/10/18 
-*    Bug Fix in conv, correlation, partial convolution. 
-*
-* Version 1.0.10 2011/7/15 
-*    Big Endian support added and Merged M0 and M3/M4 Source code.  
-*   
-* Version 1.0.3 2010/11/29  
-*    Re-organized the CMSIS folders and updated documentation.   
-*    
-* Version 1.0.2 2010/11/11   
-*    Documentation updated.    
-*   
-* Version 1.0.1 2010/10/05    
-*    Production release and review comments incorporated.   
-*   
-* Version 1.0.0 2010/09/20    
-*    Production release and review comments incorporated   
-*   
-* Version 0.0.7  2010/06/10    
-*    Misra-C changes done   
-*   
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**   
- * @ingroup groupFilters   
- */
-
-/**   
- * @addtogroup Corr   
- * @{   
- */
-
-/**   
- * @brief Correlation of Q7 sequences.   
- * @param[in] *pSrcA points to the first input sequence.   
- * @param[in] srcALen length of the first input sequence.   
- * @param[in] *pSrcB points to the second input sequence.   
- * @param[in] srcBLen length of the second input sequence.   
- * @param[out] *pDst points to the location where the output result is written.  Length 2 * max(srcALen, srcBLen) - 1.   
- * @return none.   
- *   
- * @details   
- * Scaling and Overflow Behavior:   
- *   
- * \par   
- * The function is implemented using a 32-bit internal accumulator.   
- * Both the inputs are represented in 1.7 format and multiplications yield a 2.14 result.   
- * The 2.14 intermediate results are accumulated in a 32-bit accumulator in 18.14 format.   
- * This approach provides 17 guard bits and there is no risk of overflow as long as max(srcALen, srcBLen)<131072.   
- * The 18.14 result is then truncated to 18.7 format by discarding the low 7 bits and saturated to 1.7 format.   
- *
- * \par    
- * Refer the function arm_correlate_opt_q7() for a faster implementation of this function.
- * 
- */
-
-void arm_correlate_q7(
-  q7_t * pSrcA,
-  uint32_t srcALen,
-  q7_t * pSrcB,
-  uint32_t srcBLen,
-  q7_t * pDst)
-{
-
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  q7_t *pIn1;                                    /* inputA pointer               */
-  q7_t *pIn2;                                    /* inputB pointer               */
-  q7_t *pOut = pDst;                             /* output pointer               */
-  q7_t *px;                                      /* Intermediate inputA pointer  */
-  q7_t *py;                                      /* Intermediate inputB pointer  */
-  q7_t *pSrc1;                                   /* Intermediate pointers        */
-  q31_t sum, acc0, acc1, acc2, acc3;             /* Accumulators                  */
-  q31_t input1, input2;                          /* temporary variables */
-  q15_t in1, in2;                                /* temporary variables */
-  q7_t x0, x1, x2, x3, c0, c1;                   /* temporary variables for holding input and coefficient values */
-  uint32_t j, k = 0u, count, blkCnt, outBlockSize, blockSize1, blockSize2, blockSize3;  /* loop counter                 */
-  int32_t inc = 1;
-
-
-  /* The algorithm implementation is based on the lengths of the inputs. */
-  /* srcB is always made to slide across srcA. */
-  /* So srcBLen is always considered as shorter or equal to srcALen */
-  /* But CORR(x, y) is reverse of CORR(y, x) */
-  /* So, when srcBLen > srcALen, output pointer is made to point to the end of the output buffer */
-  /* and the destination pointer modifier, inc is set to -1 */
-  /* If srcALen > srcBLen, zero pad has to be done to srcB to make the two inputs of same length */
-  /* But to improve the performance,   
-   * we include zeroes in the output instead of zero padding either of the the inputs*/
-  /* If srcALen > srcBLen,   
-   * (srcALen - srcBLen) zeroes has to included in the starting of the output buffer */
-  /* If srcALen < srcBLen,   
-   * (srcALen - srcBLen) zeroes has to included in the ending of the output buffer */
-  if(srcALen >= srcBLen)
-  {
-    /* Initialization of inputA pointer */
-    pIn1 = (pSrcA);
-
-    /* Initialization of inputB pointer */
-    pIn2 = (pSrcB);
-
-    /* Number of output samples is calculated */
-    outBlockSize = (2u * srcALen) - 1u;
-
-    /* When srcALen > srcBLen, zero padding is done to srcB   
-     * to make their lengths equal.   
-     * Instead, (outBlockSize - (srcALen + srcBLen - 1))   
-     * number of output samples are made zero */
-    j = outBlockSize - (srcALen + (srcBLen - 1u));
-
-    /* Updating the pointer position to non zero value */
-    pOut += j;
-
-  }
-  else
-  {
-    /* Initialization of inputA pointer */
-    pIn1 = (pSrcB);
-
-    /* Initialization of inputB pointer */
-    pIn2 = (pSrcA);
-
-    /* srcBLen is always considered as shorter or equal to srcALen */
-    j = srcBLen;
-    srcBLen = srcALen;
-    srcALen = j;
-
-    /* CORR(x, y) = Reverse order(CORR(y, x)) */
-    /* Hence set the destination pointer to point to the last output sample */
-    pOut = pDst + ((srcALen + srcBLen) - 2u);
-
-    /* Destination address modifier is set to -1 */
-    inc = -1;
-
-  }
-
-  /* The function is internally   
-   * divided into three parts according to the number of multiplications that has to be   
-   * taken place between inputA samples and inputB samples. In the first part of the   
-   * algorithm, the multiplications increase by one for every iteration.   
-   * In the second part of the algorithm, srcBLen number of multiplications are done.   
-   * In the third part of the algorithm, the multiplications decrease by one   
-   * for every iteration.*/
-  /* The algorithm is implemented in three stages.   
-   * The loop counters of each stage is initiated here. */
-  blockSize1 = srcBLen - 1u;
-  blockSize2 = srcALen - (srcBLen - 1u);
-  blockSize3 = blockSize1;
-
-  /* --------------------------   
-   * Initializations of stage1   
-   * -------------------------*/
-
-  /* sum = x[0] * y[srcBlen - 1]   
-   * sum = x[0] * y[srcBlen - 2] + x[1] * y[srcBlen - 1]   
-   * ....   
-   * sum = x[0] * y[0] + x[1] * y[1] +...+ x[srcBLen - 1] * y[srcBLen - 1]   
-   */
-
-  /* In this stage the MAC operations are increased by 1 for every iteration.   
-     The count variable holds the number of MAC operations performed */
-  count = 1u;
-
-  /* Working pointer of inputA */
-  px = pIn1;
-
-  /* Working pointer of inputB */
-  pSrc1 = pIn2 + (srcBLen - 1u);
-  py = pSrc1;
-
-  /* ------------------------   
-   * Stage1 process   
-   * ----------------------*/
-
-  /* The first stage starts here */
-  while(blockSize1 > 0u)
-  {
-    /* Accumulator is made zero for every iteration */
-    sum = 0;
-
-    /* Apply loop unrolling and compute 4 MACs simultaneously. */
-    k = count >> 2;
-
-    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
-     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-    while(k > 0u)
-    {
-      /* x[0] , x[1] */
-      in1 = (q15_t) * px++;
-      in2 = (q15_t) * px++;
-      input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
-
-      /* y[srcBLen - 4] , y[srcBLen - 3] */
-      in1 = (q15_t) * py++;
-      in2 = (q15_t) * py++;
-      input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
-
-      /* x[0] * y[srcBLen - 4] */
-      /* x[1] * y[srcBLen - 3] */
-      sum = __SMLAD(input1, input2, sum);
-
-      /* x[2] , x[3] */
-      in1 = (q15_t) * px++;
-      in2 = (q15_t) * px++;
-      input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
-
-      /* y[srcBLen - 2] , y[srcBLen - 1] */
-      in1 = (q15_t) * py++;
-      in2 = (q15_t) * py++;
-      input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
-
-      /* x[2] * y[srcBLen - 2] */
-      /* x[3] * y[srcBLen - 1] */
-      sum = __SMLAD(input1, input2, sum);
-
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* If the count is not a multiple of 4, compute any remaining MACs here.   
-     ** No loop unrolling is used. */
-    k = count % 0x4u;
-
-    while(k > 0u)
-    {
-      /* Perform the multiply-accumulates */
-      /* x[0] * y[srcBLen - 1] */
-      sum += (q31_t) ((q15_t) * px++ * *py++);
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* Store the result in the accumulator in the destination buffer. */
-    *pOut = (q7_t) (__SSAT(sum >> 7, 8));
-    /* Destination pointer is updated according to the address modifier, inc */
-    pOut += inc;
-
-    /* Update the inputA and inputB pointers for next MAC calculation */
-    py = pSrc1 - count;
-    px = pIn1;
-
-    /* Increment the MAC count */
-    count++;
-
-    /* Decrement the loop counter */
-    blockSize1--;
-  }
-
-  /* --------------------------   
-   * Initializations of stage2   
-   * ------------------------*/
-
-  /* sum = x[0] * y[0] + x[1] * y[1] +...+ x[srcBLen-1] * y[srcBLen-1]   
-   * sum = x[1] * y[0] + x[2] * y[1] +...+ x[srcBLen] * y[srcBLen-1]   
-   * ....   
-   * sum = x[srcALen-srcBLen-2] * y[0] + x[srcALen-srcBLen-1] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]   
-   */
-
-  /* Working pointer of inputA */
-  px = pIn1;
-
-  /* Working pointer of inputB */
-  py = pIn2;
-
-  /* count is index by which the pointer pIn1 to be incremented */
-  count = 0u;
-
-  /* -------------------   
-   * Stage2 process   
-   * ------------------*/
-
-  /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.   
-   * So, to loop unroll over blockSize2,   
-   * srcBLen should be greater than or equal to 4 */
-  if(srcBLen >= 4u)
-  {
-    /* Loop unroll over blockSize2, by 4 */
-    blkCnt = blockSize2 >> 2u;
-
-    while(blkCnt > 0u)
-    {
-      /* Set all accumulators to zero */
-      acc0 = 0;
-      acc1 = 0;
-      acc2 = 0;
-      acc3 = 0;
-
-      /* read x[0], x[1], x[2] samples */
-      x0 = *px++;
-      x1 = *px++;
-      x2 = *px++;
-
-      /* Apply loop unrolling and compute 4 MACs simultaneously. */
-      k = srcBLen >> 2u;
-
-      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
-       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-      do
-      {
-        /* Read y[0] sample */
-        c0 = *py++;
-        /* Read y[1] sample */
-        c1 = *py++;
-
-        /* Read x[3] sample */
-        x3 = *px++;
-
-        /* x[0] and x[1] are packed */
-        in1 = (q15_t) x0;
-        in2 = (q15_t) x1;
-
-        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
-
-        /* y[0] and y[1] are packed */
-        in1 = (q15_t) c0;
-        in2 = (q15_t) c1;
-
-        input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
-
-        /* acc0 += x[0] * y[0] + x[1] * y[1]  */
-        acc0 = __SMLAD(input1, input2, acc0);
-
-        /* x[1] and x[2] are packed */
-        in1 = (q15_t) x1;
-        in2 = (q15_t) x2;
-
-        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
-
-        /* acc1 += x[1] * y[0] + x[2] * y[1] */
-        acc1 = __SMLAD(input1, input2, acc1);
-
-        /* x[2] and x[3] are packed */
-        in1 = (q15_t) x2;
-        in2 = (q15_t) x3;
-
-        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
-
-        /* acc2 += x[2] * y[0] + x[3] * y[1]  */
-        acc2 = __SMLAD(input1, input2, acc2);
-
-        /* Read x[4] sample */
-        x0 = *(px++);
-
-        /* x[3] and x[4] are packed */
-        in1 = (q15_t) x3;
-        in2 = (q15_t) x0;
-
-        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
-
-        /* acc3 += x[3] * y[0] + x[4] * y[1]  */
-        acc3 = __SMLAD(input1, input2, acc3);
-
-        /* Read y[2] sample */
-        c0 = *py++;
-        /* Read y[3] sample */
-        c1 = *py++;
-
-        /* Read x[5] sample */
-        x1 = *px++;
-
-        /* x[2] and x[3] are packed */
-        in1 = (q15_t) x2;
-        in2 = (q15_t) x3;
-
-        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
-
-        /* y[2] and y[3] are packed */
-        in1 = (q15_t) c0;
-        in2 = (q15_t) c1;
-
-        input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
-
-        /* acc0 += x[2] * y[2] + x[3] * y[3]  */
-        acc0 = __SMLAD(input1, input2, acc0);
-
-        /* x[3] and x[4] are packed */
-        in1 = (q15_t) x3;
-        in2 = (q15_t) x0;
-
-        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
-
-        /* acc1 += x[3] * y[2] + x[4] * y[3]  */
-        acc1 = __SMLAD(input1, input2, acc1);
-
-        /* x[4] and x[5] are packed */
-        in1 = (q15_t) x0;
-        in2 = (q15_t) x1;
-
-        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
-
-        /* acc2 += x[4] * y[2] + x[5] * y[3]  */
-        acc2 = __SMLAD(input1, input2, acc2);
-
-        /* Read x[6] sample */
-        x2 = *px++;
-
-        /* x[5] and x[6] are packed */
-        in1 = (q15_t) x1;
-        in2 = (q15_t) x2;
-
-        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
-
-        /* acc3 += x[5] * y[2] + x[6] * y[3]  */
-        acc3 = __SMLAD(input1, input2, acc3);
-
-      } while(--k);
-
-      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
-       ** No loop unrolling is used. */
-      k = srcBLen % 0x4u;
-
-      while(k > 0u)
-      {
-        /* Read y[4] sample */
-        c0 = *py++;
-
-        /* Read x[7] sample */
-        x3 = *px++;
-
-        /* Perform the multiply-accumulates */
-        /* acc0 +=  x[4] * y[4] */
-        acc0 += ((q15_t) x0 * c0);
-        /* acc1 +=  x[5] * y[4] */
-        acc1 += ((q15_t) x1 * c0);
-        /* acc2 +=  x[6] * y[4] */
-        acc2 += ((q15_t) x2 * c0);
-        /* acc3 +=  x[7] * y[4] */
-        acc3 += ((q15_t) x3 * c0);
-
-        /* Reuse the present samples for the next MAC */
-        x0 = x1;
-        x1 = x2;
-        x2 = x3;
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut = (q7_t) (__SSAT(acc0 >> 7, 8));
-      /* Destination pointer is updated according to the address modifier, inc */
-      pOut += inc;
-
-      *pOut = (q7_t) (__SSAT(acc1 >> 7, 8));
-      pOut += inc;
-
-      *pOut = (q7_t) (__SSAT(acc2 >> 7, 8));
-      pOut += inc;
-
-      *pOut = (q7_t) (__SSAT(acc3 >> 7, 8));
-      pOut += inc;
-
-	  count += 4u;
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      px = pIn1 + count;
-      py = pIn2;
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-
-    /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.   
-     ** No loop unrolling is used. */
-    blkCnt = blockSize2 % 0x4u;
-
-    while(blkCnt > 0u)
-    {
-      /* Accumulator is made zero for every iteration */
-      sum = 0;
-
-      /* Apply loop unrolling and compute 4 MACs simultaneously. */
-      k = srcBLen >> 2u;
-
-      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
-       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-      while(k > 0u)
-      {
-        /* Reading two inputs of SrcA buffer and packing */
-        in1 = (q15_t) * px++;
-        in2 = (q15_t) * px++;
-        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
-
-        /* Reading two inputs of SrcB buffer and packing */
-        in1 = (q15_t) * py++;
-        in2 = (q15_t) * py++;
-        input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
-
-        /* Perform the multiply-accumulates */
-        sum = __SMLAD(input1, input2, sum);
-
-        /* Reading two inputs of SrcA buffer and packing */
-        in1 = (q15_t) * px++;
-        in2 = (q15_t) * px++;
-        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
-
-        /* Reading two inputs of SrcB buffer and packing */
-        in1 = (q15_t) * py++;
-        in2 = (q15_t) * py++;
-        input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
-
-        /* Perform the multiply-accumulates */
-        sum = __SMLAD(input1, input2, sum);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
-       ** No loop unrolling is used. */
-      k = srcBLen % 0x4u;
-
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulates */
-        sum += ((q15_t) * px++ * *py++);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut = (q7_t) (__SSAT(sum >> 7, 8));
-      /* Destination pointer is updated according to the address modifier, inc */
-      pOut += inc;
-
-      /* Increment the pointer pIn1 index, count by 1 */
-	  count++;
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      px = pIn1 + count;
-      py = pIn2;
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-  }
-  else
-  {
-    /* If the srcBLen is not a multiple of 4,   
-     * the blockSize2 loop cannot be unrolled by 4 */
-    blkCnt = blockSize2;
-
-    while(blkCnt > 0u)
-    {
-      /* Accumulator is made zero for every iteration */
-      sum = 0;
-
-      /* Loop over srcBLen */
-      k = srcBLen;
-
-      while(k > 0u)
-      {
-        /* Perform the multiply-accumulate */
-        sum += ((q15_t) * px++ * *py++);
-
-        /* Decrement the loop counter */
-        k--;
-      }
-
-      /* Store the result in the accumulator in the destination buffer. */
-      *pOut = (q7_t) (__SSAT(sum >> 7, 8));
-      /* Destination pointer is updated according to the address modifier, inc */
-      pOut += inc;
-
-      /* Increment the MAC count */
-      count++;
-
-      /* Update the inputA and inputB pointers for next MAC calculation */
-      px = pIn1 + count;
-      py = pIn2;
-
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-  }
-
-  /* --------------------------   
-   * Initializations of stage3   
-   * -------------------------*/
-
-  /* sum += x[srcALen-srcBLen+1] * y[0] + x[srcALen-srcBLen+2] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]   
-   * sum += x[srcALen-srcBLen+2] * y[0] + x[srcALen-srcBLen+3] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]   
-   * ....   
-   * sum +=  x[srcALen-2] * y[0] + x[srcALen-1] * y[1]   
-   * sum +=  x[srcALen-1] * y[0]   
-   */
-
-  /* In this stage the MAC operations are decreased by 1 for every iteration.   
-     The count variable holds the number of MAC operations performed */
-  count = srcBLen - 1u;
-
-  /* Working pointer of inputA */
-  pSrc1 = pIn1 + (srcALen - (srcBLen - 1u));
-  px = pSrc1;
-
-  /* Working pointer of inputB */
-  py = pIn2;
-
-  /* -------------------   
-   * Stage3 process   
-   * ------------------*/
-
-  while(blockSize3 > 0u)
-  {
-    /* Accumulator is made zero for every iteration */
-    sum = 0;
-
-    /* Apply loop unrolling and compute 4 MACs simultaneously. */
-    k = count >> 2u;
-
-    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
-     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
-    while(k > 0u)
-    {
-      /* x[srcALen - srcBLen + 1] , x[srcALen - srcBLen + 2]  */
-      in1 = (q15_t) * px++;
-      in2 = (q15_t) * px++;
-      input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
-
-      /* y[0] , y[1] */
-      in1 = (q15_t) * py++;
-      in2 = (q15_t) * py++;
-      input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
-
-      /* sum += x[srcALen - srcBLen + 1] * y[0] */
-      /* sum += x[srcALen - srcBLen + 2] * y[1] */
-      sum = __SMLAD(input1, input2, sum);
-
-      /* x[srcALen - srcBLen + 3] , x[srcALen - srcBLen + 4] */
-      in1 = (q15_t) * px++;
-      in2 = (q15_t) * px++;
-      input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
-
-      /* y[2] , y[3] */
-      in1 = (q15_t) * py++;
-      in2 = (q15_t) * py++;
-      input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
-
-      /* sum += x[srcALen - srcBLen + 3] * y[2] */
-      /* sum += x[srcALen - srcBLen + 4] * y[3] */
-      sum = __SMLAD(input1, input2, sum);
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* If the count is not a multiple of 4, compute any remaining MACs here.   
-     ** No loop unrolling is used. */
-    k = count % 0x4u;
-
-    while(k > 0u)
-    {
-      /* Perform the multiply-accumulates */
-      sum += ((q15_t) * px++ * *py++);
-
-      /* Decrement the loop counter */
-      k--;
-    }
-
-    /* Store the result in the accumulator in the destination buffer. */
-    *pOut = (q7_t) (__SSAT(sum >> 7, 8));
-    /* Destination pointer is updated according to the address modifier, inc */
-    pOut += inc;
-
-    /* Update the inputA and inputB pointers for next MAC calculation */
-    px = ++pSrc1;
-    py = pIn2;
-
-    /* Decrement the MAC count */
-    count--;
-
-    /* Decrement the loop counter */
-    blockSize3--;
-  }
-
-#else
-
-/* Run the below code for Cortex-M0 */
-
-  q7_t *pIn1 = pSrcA;                            /* inputA pointer */
-  q7_t *pIn2 = pSrcB + (srcBLen - 1u);           /* inputB pointer */
-  q31_t sum;                                     /* Accumulator */
-  uint32_t i = 0u, j;                            /* loop counters */
-  uint32_t inv = 0u;                             /* Reverse order flag */
-  uint32_t tot = 0u;                             /* Length */
-
-  /* The algorithm implementation is based on the lengths of the inputs. */
-  /* srcB is always made to slide across srcA. */
-  /* So srcBLen is always considered as shorter or equal to srcALen */
-  /* But CORR(x, y) is reverse of CORR(y, x) */
-  /* So, when srcBLen > srcALen, output pointer is made to point to the end of the output buffer */
-  /* and a varaible, inv is set to 1 */
-  /* If lengths are not equal then zero pad has to be done to  make the two   
-   * inputs of same length. But to improve the performance, we include zeroes   
-   * in the output instead of zero padding either of the the inputs*/
-  /* If srcALen > srcBLen, (srcALen - srcBLen) zeroes has to included in the   
-   * starting of the output buffer */
-  /* If srcALen < srcBLen, (srcALen - srcBLen) zeroes has to included in the  
-   * ending of the output buffer */
-  /* Once the zero padding is done the remaining of the output is calcualted  
-   * using convolution but with the shorter signal time shifted. */
-
-  /* Calculate the length of the remaining sequence */
-  tot = ((srcALen + srcBLen) - 2u);
-
-  if(srcALen > srcBLen)
-  {
-    /* Calculating the number of zeros to be padded to the output */
-    j = srcALen - srcBLen;
-
-    /* Initialise the pointer after zero padding */
-    pDst += j;
-  }
-
-  else if(srcALen < srcBLen)
-  {
-    /* Initialization to inputB pointer */
-    pIn1 = pSrcB;
-
-    /* Initialization to the end of inputA pointer */
-    pIn2 = pSrcA + (srcALen - 1u);
-
-    /* Initialisation of the pointer after zero padding */
-    pDst = pDst + tot;
-
-    /* Swapping the lengths */
-    j = srcALen;
-    srcALen = srcBLen;
-    srcBLen = j;
-
-    /* Setting the reverse flag */
-    inv = 1;
-
-  }
-
-  /* Loop to calculate convolution for output length number of times */
-  for (i = 0u; i <= tot; i++)
-  {
-    /* Initialize sum with zero to carry on MAC operations */
-    sum = 0;
-
-    /* Loop to perform MAC operations according to convolution equation */
-    for (j = 0u; j <= i; j++)
-    {
-      /* Check the array limitations */
-      if((((i - j) < srcBLen) && (j < srcALen)))
-      {
-        /* z[i] += x[i-j] * y[j] */
-        sum += ((q15_t) pIn1[j] * pIn2[-((int32_t) i - j)]);
-      }
-    }
-    /* Store the output in the destination buffer */
-    if(inv == 1)
-      *pDst-- = (q7_t) __SSAT((sum >> 7u), 8u);
-    else
-      *pDst++ = (q7_t) __SSAT((sum >> 7u), 8u);
-  }
-
-#endif /*   #ifndef ARM_MATH_CM0 */
-
-}
-
-/**   
- * @} end of Corr group   
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_f32.c
deleted file mode 100644
index 1546f407d..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_f32.c
+++ /dev/null
@@ -1,518 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_fir_decimate_f32.c    
-*    
-* Description:	FIR decimation for floating-point sequences.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-*    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @defgroup FIR_decimate Finite Impulse Response (FIR) Decimator    
- *    
- * These functions combine an FIR filter together with a decimator.    
- * They are used in multirate systems for reducing the sample rate of a signal without introducing aliasing distortion.    
- * Conceptually, the functions are equivalent to the block diagram below:    
- * \image html FIRDecimator.gif "Components included in the FIR Decimator functions"    
- * When decimating by a factor of M, the signal should be prefiltered by a lowpass filter with a normalized    
- * cutoff frequency of 1/M in order to prevent aliasing distortion.    
- * The user of the function is responsible for providing the filter coefficients.    
- *    
- * The FIR decimator functions provided in the CMSIS DSP Library combine the FIR filter and the decimator in an efficient manner.    
- * Instead of calculating all of the FIR filter outputs and discarding M-1 out of every M, only the    
- * samples output by the decimator are computed.    
- * The functions operate on blocks of input and output data.    
- * pSrc points to an array of blockSize input values and    
- * pDst points to an array of blockSize/M output values.    
- * In order to have an integer number of output samples blockSize    
- * must always be a multiple of the decimation factor M.    
- *    
- * The library provides separate functions for Q15, Q31 and floating-point data types.    
- *    
- * \par Algorithm:    
- * The FIR portion of the algorithm uses the standard form filter:    
- * 
    
- *    y[n] = b[0] * x[n] + b[1] * x[n-1] + b[2] * x[n-2] + ...+ b[numTaps-1] * x[n-numTaps+1]    
- * 
    
- * where, b[n] are the filter coefficients.    
- * \par   
- * The pCoeffs points to a coefficient array of size numTaps.    
- * Coefficients are stored in time reversed order.    
- * \par    
- * 
    
- *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}    
- * 
    
- * \par    
- * pState points to a state array of size numTaps + blockSize - 1.    
- * Samples in the state buffer are stored in the order:    
- * \par    
- * 
    
- *    {x[n-numTaps+1], x[n-numTaps], x[n-numTaps-1], x[n-numTaps-2]....x[0], x[1], ..., x[blockSize-1]}    
- * 
    
- * The state variables are updated after each block of data is processed, the coefficients are untouched.    
- *    
- * \par Instance Structure    
- * The coefficients and state variables for a filter are stored together in an instance data structure.    
- * A separate instance structure must be defined for each filter.    
- * Coefficient arrays may be shared among several instances while state variable array should be allocated separately.    
- * There are separate instance structure declarations for each of the 3 supported data types.    
- *    
- * \par Initialization Functions    
- * There is also an associated initialization function for each data type.    
- * The initialization function performs the following operations:    
- * - Sets the values of the internal structure fields.    
- * - Zeros out the values in the state buffer.    
- * - Checks to make sure that the size of the input is a multiple of the decimation factor.    
- *    
- * \par    
- * Use of the initialization function is optional.    
- * However, if the initialization function is used, then the instance structure cannot be placed into a const data section.    
- * To place an instance structure into a const data section, the instance structure must be manually initialized.    
- * The code below statically initializes each of the 3 different data type filter instance structures    
- * 
    
- *arm_fir_decimate_instance_f32 S = {M, numTaps, pCoeffs, pState};    
- *arm_fir_decimate_instance_q31 S = {M, numTaps, pCoeffs, pState};    
- *arm_fir_decimate_instance_q15 S = {M, numTaps, pCoeffs, pState};    
- * 
    
- * where M is the decimation factor; numTaps is the number of filter coefficients in the filter;    
- * pCoeffs is the address of the coefficient buffer;    
- * pState is the address of the state buffer.    
- * Be sure to set the values in the state buffer to zeros when doing static initialization.    
- *    
- * \par Fixed-Point Behavior    
- * Care must be taken when using the fixed-point versions of the FIR decimate filter functions.    
- * In particular, the overflow and saturation behavior of the accumulator used in each function must be considered.    
- * Refer to the function specific documentation below for usage guidelines.    
- */
-
-/**    
- * @addtogroup FIR_decimate    
- * @{    
- */
-
-  /**    
-   * @brief Processing function for the floating-point FIR decimator.    
-   * @param[in] *S        points to an instance of the floating-point FIR decimator structure.    
-   * @param[in] *pSrc     points to the block of input data.    
-   * @param[out] *pDst    points to the block of output data.    
-   * @param[in] blockSize number of input samples to process per call.    
-   * @return none.    
-   */
-
-void arm_fir_decimate_f32(
-  const arm_fir_decimate_instance_f32 * S,
-  float32_t * pSrc,
-  float32_t * pDst,
-  uint32_t blockSize)
-{
-  float32_t *pState = S->pState;                 /* State pointer */
-  float32_t *pCoeffs = S->pCoeffs;               /* Coefficient pointer */
-  float32_t *pStateCurnt;                        /* Points to the current sample of the state */
-  float32_t *px, *pb;                            /* Temporary pointers for state and coefficient buffers */
-  float32_t sum0;                                /* Accumulator */
-  float32_t x0, c0;                              /* Temporary variables to hold state and coefficient values */
-  uint32_t numTaps = S->numTaps;                 /* Number of filter coefficients in the filter */
-  uint32_t i, tapCnt, blkCnt, outBlockSize = blockSize / S->M;  /* Loop counters */
-
-#ifndef ARM_MATH_CM0
-
-  uint32_t blkCntN4;
-  float32_t *px0, *px1, *px2, *px3;
-  float32_t acc0, acc1, acc2, acc3;
-  float32_t x1, x2, x3;
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  /* S->pState buffer contains previous frame (numTaps - 1) samples */
-  /* pStateCurnt points to the location where the new input data should be written */
-  pStateCurnt = S->pState + (numTaps - 1u);
-
-  /* Total number of output samples to be computed */
-  blkCnt = outBlockSize / 4;
-  blkCntN4 = outBlockSize - (4 * blkCnt);
-
-  while(blkCnt > 0u)
-  {
-    /* Copy 4 * decimation factor number of new input samples into the state buffer */
-    i = 4 * S->M;
-
-    do
-    {
-      *pStateCurnt++ = *pSrc++;
-
-    } while(--i);
-
-    /* Set accumulators to zero */
-    acc0 = 0.0f;
-    acc1 = 0.0f;
-    acc2 = 0.0f;
-    acc3 = 0.0f;
-
-    /* Initialize state pointer for all the samples */
-    px0 = pState;
-    px1 = pState + S->M;
-    px2 = pState + 2 * S->M;
-    px3 = pState + 3 * S->M;
-
-    /* Initialize coeff pointer */
-    pb = pCoeffs;
-
-    /* Loop unrolling.  Process 4 taps at a time. */
-    tapCnt = numTaps >> 2;
-
-    /* Loop over the number of taps.  Unroll by a factor of 4.       
-     ** Repeat until we've computed numTaps-4 coefficients. */
-
-    while(tapCnt > 0u)
-    {
-      /* Read the b[numTaps-1] coefficient */
-      c0 = *(pb++);
-
-      /* Read x[n-numTaps-1] sample for acc0 */
-      x0 = *(px0++);
-      /* Read x[n-numTaps-1] sample for acc1 */
-      x1 = *(px1++);
-      /* Read x[n-numTaps-1] sample for acc2 */
-      x2 = *(px2++);
-      /* Read x[n-numTaps-1] sample for acc3 */
-      x3 = *(px3++);
-
-      /* Perform the multiply-accumulate */
-      acc0 += x0 * c0;
-      acc1 += x1 * c0;
-      acc2 += x2 * c0;
-      acc3 += x3 * c0;
-
-      /* Read the b[numTaps-2] coefficient */
-      c0 = *(pb++);
-
-      /* Read x[n-numTaps-2] sample for acc0, acc1, acc2, acc3 */
-      x0 = *(px0++);
-      x1 = *(px1++);
-      x2 = *(px2++);
-      x3 = *(px3++);
-
-      /* Perform the multiply-accumulate */
-      acc0 += x0 * c0;
-      acc1 += x1 * c0;
-      acc2 += x2 * c0;
-      acc3 += x3 * c0;
-
-      /* Read the b[numTaps-3] coefficient */
-      c0 = *(pb++);
-
-      /* Read x[n-numTaps-3] sample acc0, acc1, acc2, acc3 */
-      x0 = *(px0++);
-      x1 = *(px1++);
-      x2 = *(px2++);
-      x3 = *(px3++);
-
-      /* Perform the multiply-accumulate */
-      acc0 += x0 * c0;
-      acc1 += x1 * c0;
-      acc2 += x2 * c0;
-      acc3 += x3 * c0;
-
-      /* Read the b[numTaps-4] coefficient */
-      c0 = *(pb++);
-
-      /* Read x[n-numTaps-4] sample acc0, acc1, acc2, acc3 */
-      x0 = *(px0++);
-      x1 = *(px1++);
-      x2 = *(px2++);
-      x3 = *(px3++);
-
-      /* Perform the multiply-accumulate */
-      acc0 += x0 * c0;
-      acc1 += x1 * c0;
-      acc2 += x2 * c0;
-      acc3 += x3 * c0;
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
-    tapCnt = numTaps % 0x4u;
-
-    while(tapCnt > 0u)
-    {
-      /* Read coefficients */
-      c0 = *(pb++);
-
-      /* Fetch  state variables for acc0, acc1, acc2, acc3 */
-      x0 = *(px0++);
-      x1 = *(px1++);
-      x2 = *(px2++);
-      x3 = *(px3++);
-
-      /* Perform the multiply-accumulate */
-      acc0 += x0 * c0;
-      acc1 += x1 * c0;
-      acc2 += x2 * c0;
-      acc3 += x3 * c0;
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* Advance the state pointer by the decimation factor       
-     * to process the next group of decimation factor number samples */
-    pState = pState + 4 * S->M;
-
-    /* The result is in the accumulator, store in the destination buffer. */
-    *pDst++ = acc0;
-    *pDst++ = acc1;
-    *pDst++ = acc2;
-    *pDst++ = acc3;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  while(blkCntN4 > 0u)
-  {
-    /* Copy decimation factor number of new input samples into the state buffer */
-    i = S->M;
-
-    do
-    {
-      *pStateCurnt++ = *pSrc++;
-
-    } while(--i);
-
-    /* Set accumulator to zero */
-    sum0 = 0.0f;
-
-    /* Initialize state pointer */
-    px = pState;
-
-    /* Initialize coeff pointer */
-    pb = pCoeffs;
-
-    /* Loop unrolling.  Process 4 taps at a time. */
-    tapCnt = numTaps >> 2;
-
-    /* Loop over the number of taps.  Unroll by a factor of 4.       
-     ** Repeat until we've computed numTaps-4 coefficients. */
-    while(tapCnt > 0u)
-    {
-      /* Read the b[numTaps-1] coefficient */
-      c0 = *(pb++);
-
-      /* Read x[n-numTaps-1] sample */
-      x0 = *(px++);
-
-      /* Perform the multiply-accumulate */
-      sum0 += x0 * c0;
-
-      /* Read the b[numTaps-2] coefficient */
-      c0 = *(pb++);
-
-      /* Read x[n-numTaps-2] sample */
-      x0 = *(px++);
-
-      /* Perform the multiply-accumulate */
-      sum0 += x0 * c0;
-
-      /* Read the b[numTaps-3] coefficient */
-      c0 = *(pb++);
-
-      /* Read x[n-numTaps-3] sample */
-      x0 = *(px++);
-
-      /* Perform the multiply-accumulate */
-      sum0 += x0 * c0;
-
-      /* Read the b[numTaps-4] coefficient */
-      c0 = *(pb++);
-
-      /* Read x[n-numTaps-4] sample */
-      x0 = *(px++);
-
-      /* Perform the multiply-accumulate */
-      sum0 += x0 * c0;
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
-    tapCnt = numTaps % 0x4u;
-
-    while(tapCnt > 0u)
-    {
-      /* Read coefficients */
-      c0 = *(pb++);
-
-      /* Fetch 1 state variable */
-      x0 = *(px++);
-
-      /* Perform the multiply-accumulate */
-      sum0 += x0 * c0;
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* Advance the state pointer by the decimation factor       
-     * to process the next group of decimation factor number samples */
-    pState = pState + S->M;
-
-    /* The result is in the accumulator, store in the destination buffer. */
-    *pDst++ = sum0;
-
-    /* Decrement the loop counter */
-    blkCntN4--;
-  }
-
-  /* Processing is complete.    
-   ** Now copy the last numTaps - 1 samples to the satrt of the state buffer.    
-   ** This prepares the state buffer for the next function call. */
-
-  /* Points to the start of the state buffer */
-  pStateCurnt = S->pState;
-
-  i = (numTaps - 1u) >> 2;
-
-  /* copy data */
-  while(i > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    i--;
-  }
-
-  i = (numTaps - 1u) % 0x04u;
-
-  /* copy data */
-  while(i > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    i--;
-  }
-
-#else
-
-/* Run the below code for Cortex-M0 */
-
-  /* S->pState buffer contains previous frame (numTaps - 1) samples */
-  /* pStateCurnt points to the location where the new input data should be written */
-  pStateCurnt = S->pState + (numTaps - 1u);
-
-  /* Total number of output samples to be computed */
-  blkCnt = outBlockSize;
-
-  while(blkCnt > 0u)
-  {
-    /* Copy decimation factor number of new input samples into the state buffer */
-    i = S->M;
-
-    do
-    {
-      *pStateCurnt++ = *pSrc++;
-
-    } while(--i);
-
-    /* Set accumulator to zero */
-    sum0 = 0.0f;
-
-    /* Initialize state pointer */
-    px = pState;
-
-    /* Initialize coeff pointer */
-    pb = pCoeffs;
-
-    tapCnt = numTaps;
-
-    while(tapCnt > 0u)
-    {
-      /* Read coefficients */
-      c0 = *pb++;
-
-      /* Fetch 1 state variable */
-      x0 = *px++;
-
-      /* Perform the multiply-accumulate */
-      sum0 += x0 * c0;
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* Advance the state pointer by the decimation factor           
-     * to process the next group of decimation factor number samples */
-    pState = pState + S->M;
-
-    /* The result is in the accumulator, store in the destination buffer. */
-    *pDst++ = sum0;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* Processing is complete.         
-   ** Now copy the last numTaps - 1 samples to the start of the state buffer.       
-   ** This prepares the state buffer for the next function call. */
-
-  /* Points to the start of the state buffer */
-  pStateCurnt = S->pState;
-
-  /* Copy numTaps number of values */
-  i = (numTaps - 1u);
-
-  /* copy data */
-  while(i > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    i--;
-  }
-
-#endif /*   #ifndef ARM_MATH_CM0        */
-
-}
-
-/**    
- * @} end of FIR_decimate group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q15.c
deleted file mode 100644
index 96f50e6f2..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q15.c
+++ /dev/null
@@ -1,590 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_fir_decimate_fast_q15.c    
-*    
-* Description:	Fast Q15 FIR Decimator.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup FIR_decimate    
- * @{    
- */
-
-/**    
- * @brief Processing function for the Q15 FIR decimator (fast variant) for Cortex-M3 and Cortex-M4.    
- * @param[in] *S points to an instance of the Q15 FIR decimator structure.    
- * @param[in] *pSrc points to the block of input data.    
- * @param[out] *pDst points to the block of output data    
- * @param[in] blockSize number of input samples to process per call.    
- * @return none    
- *    
- * \par Restrictions   
- *  If the silicon does not support unaligned memory access enable the macro UNALIGNED_SUPPORT_DISABLE   
- *	In this case input, output, state buffers should be aligned by 32-bit   
- *    
- * Scaling and Overflow Behavior:    
- * \par    
- * This fast version uses a 32-bit accumulator with 2.30 format.    
- * The accumulator maintains full precision of the intermediate multiplication results but provides only a single guard bit.    
- * Thus, if the accumulator result overflows it wraps around and distorts the result.    
- * In order to avoid overflows completely the input signal must be scaled down by log2(numTaps) bits (log2 is read as log to the base 2).    
- * The 2.30 accumulator is then truncated to 2.15 format and saturated to yield the 1.15 result.    
- *    
- * \par    
- * Refer to the function arm_fir_decimate_q15() for a slower implementation of this function which uses 64-bit accumulation to avoid wrap around distortion.    
- * Both the slow and the fast versions use the same instance structure.    
- * Use the function arm_fir_decimate_init_q15() to initialize the filter structure.    
- */
-
-#ifndef UNALIGNED_SUPPORT_DISABLE
-
-void arm_fir_decimate_fast_q15(
-  const arm_fir_decimate_instance_q15 * S,
-  q15_t * pSrc,
-  q15_t * pDst,
-  uint32_t blockSize)
-{
-  q15_t *pState = S->pState;                     /* State pointer */
-  q15_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
-  q15_t *pStateCurnt;                            /* Points to the current sample of the state */
-  q15_t *px;                                     /* Temporary pointer for state buffer */
-  q15_t *pb;                                     /* Temporary pointer coefficient buffer */
-  q31_t x0, x1, c0, c1;                          /* Temporary variables to hold state and coefficient values */
-  q31_t sum0;                                    /* Accumulators */
-  q31_t acc0, acc1;
-  q15_t *px0, *px1;
-  uint32_t blkCntN3;
-  uint32_t numTaps = S->numTaps;                 /* Number of taps */
-  uint32_t i, blkCnt, tapCnt, outBlockSize = blockSize / S->M;  /* Loop counters */
-
-
-  /* S->pState buffer contains previous frame (numTaps - 1) samples */
-  /* pStateCurnt points to the location where the new input data should be written */
-  pStateCurnt = S->pState + (numTaps - 1u);
-
-
-  /* Total number of output samples to be computed */
-  blkCnt = outBlockSize / 2;
-  blkCntN3 = outBlockSize - (2 * blkCnt);
-
-
-  while(blkCnt > 0u)
-  {
-    /* Copy decimation factor number of new input samples into the state buffer */
-    i = 2 * S->M;
-
-    do
-    {
-      *pStateCurnt++ = *pSrc++;
-
-    } while(--i);
-
-    /* Set accumulator to zero */
-    acc0 = 0;
-    acc1 = 0;
-
-    /* Initialize state pointer */
-    px0 = pState;
-
-    px1 = pState + S->M;
-
-
-    /* Initialize coeff pointer */
-    pb = pCoeffs;
-
-    /* Loop unrolling.  Process 4 taps at a time. */
-    tapCnt = numTaps >> 2;
-
-    /* Loop over the number of taps.  Unroll by a factor of 4.       
-     ** Repeat until we've computed numTaps-4 coefficients. */
-    while(tapCnt > 0u)
-    {
-      /* Read the Read b[numTaps-1] and b[numTaps-2]  coefficients */
-      c0 = *__SIMD32(pb)++;
-
-      /* Read x[n-numTaps-1] and x[n-numTaps-2]sample */
-      x0 = *__SIMD32(px0)++;
-
-      x1 = *__SIMD32(px1)++;
-
-      /* Perform the multiply-accumulate */
-      acc0 = __SMLAD(x0, c0, acc0);
-
-      acc1 = __SMLAD(x1, c0, acc1);
-
-      /* Read the b[numTaps-3] and b[numTaps-4] coefficient */
-      c0 = *__SIMD32(pb)++;
-
-      /* Read x[n-numTaps-2] and x[n-numTaps-3] sample */
-      x0 = *__SIMD32(px0)++;
-
-      x1 = *__SIMD32(px1)++;
-
-      /* Perform the multiply-accumulate */
-      acc0 = __SMLAD(x0, c0, acc0);
-
-      acc1 = __SMLAD(x1, c0, acc1);
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
-    tapCnt = numTaps % 0x4u;
-
-    while(tapCnt > 0u)
-    {
-      /* Read coefficients */
-      c0 = *pb++;
-
-      /* Fetch 1 state variable */
-      x0 = *px0++;
-
-      x1 = *px1++;
-
-      /* Perform the multiply-accumulate */
-      acc0 = __SMLAD(x0, c0, acc0);
-      acc1 = __SMLAD(x1, c0, acc1);
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* Advance the state pointer by the decimation factor       
-     * to process the next group of decimation factor number samples */
-    pState = pState + S->M * 2;
-
-    /* Store filter output, smlad returns the values in 2.14 format */
-    /* so downsacle by 15 to get output in 1.15 */
-    *pDst++ = (q15_t) (__SSAT((acc0 >> 15), 16));
-    *pDst++ = (q15_t) (__SSAT((acc1 >> 15), 16));
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-
-
-  while(blkCntN3 > 0u)
-  {
-    /* Copy decimation factor number of new input samples into the state buffer */
-    i = S->M;
-
-    do
-    {
-      *pStateCurnt++ = *pSrc++;
-
-    } while(--i);
-
-    /*Set sum to zero */
-    sum0 = 0;
-
-    /* Initialize state pointer */
-    px = pState;
-
-    /* Initialize coeff pointer */
-    pb = pCoeffs;
-
-    /* Loop unrolling.  Process 4 taps at a time. */
-    tapCnt = numTaps >> 2;
-
-    /* Loop over the number of taps.  Unroll by a factor of 4.       
-     ** Repeat until we've computed numTaps-4 coefficients. */
-    while(tapCnt > 0u)
-    {
-      /* Read the Read b[numTaps-1] and b[numTaps-2]  coefficients */
-      c0 = *__SIMD32(pb)++;
-
-      /* Read x[n-numTaps-1] and x[n-numTaps-2]sample */
-      x0 = *__SIMD32(px)++;
-
-      /* Read the b[numTaps-3] and b[numTaps-4] coefficient */
-      c1 = *__SIMD32(pb)++;
-
-      /* Perform the multiply-accumulate */
-      sum0 = __SMLAD(x0, c0, sum0);
-
-      /* Read x[n-numTaps-2] and x[n-numTaps-3] sample */
-      x0 = *__SIMD32(px)++;
-
-      /* Perform the multiply-accumulate */
-      sum0 = __SMLAD(x0, c1, sum0);
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
-    tapCnt = numTaps % 0x4u;
-
-    while(tapCnt > 0u)
-    {
-      /* Read coefficients */
-      c0 = *pb++;
-
-      /* Fetch 1 state variable */
-      x0 = *px++;
-
-      /* Perform the multiply-accumulate */
-      sum0 = __SMLAD(x0, c0, sum0);
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* Advance the state pointer by the decimation factor       
-     * to process the next group of decimation factor number samples */
-    pState = pState + S->M;
-
-    /* Store filter output, smlad returns the values in 2.14 format */
-    /* so downsacle by 15 to get output in 1.15 */
-    *pDst++ = (q15_t) (__SSAT((sum0 >> 15), 16));
-
-    /* Decrement the loop counter */
-    blkCntN3--;
-  }
-
-  /* Processing is complete.       
-   ** Now copy the last numTaps - 1 samples to the satrt of the state buffer.       
-   ** This prepares the state buffer for the next function call. */
-
-  /* Points to the start of the state buffer */
-  pStateCurnt = S->pState;
-
-  i = (numTaps - 1u) >> 2u;
-
-  /* copy data */
-  while(i > 0u)
-  {
-    *__SIMD32(pStateCurnt)++ = *__SIMD32(pState)++;
-    *__SIMD32(pStateCurnt)++ = *__SIMD32(pState)++;
-
-    /* Decrement the loop counter */
-    i--;
-  }
-
-  i = (numTaps - 1u) % 0x04u;
-
-  /* copy data */
-  while(i > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    i--;
-  }
-}
-
-#else
-
-
-void arm_fir_decimate_fast_q15(
-  const arm_fir_decimate_instance_q15 * S,
-  q15_t * pSrc,
-  q15_t * pDst,
-  uint32_t blockSize)
-{
-  q15_t *pState = S->pState;                     /* State pointer */
-  q15_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
-  q15_t *pStateCurnt;                            /* Points to the current sample of the state */
-  q15_t *px;                                     /* Temporary pointer for state buffer */
-  q15_t *pb;                                     /* Temporary pointer coefficient buffer */
-  q15_t x0, x1, c0;                              /* Temporary variables to hold state and coefficient values */
-  q31_t sum0;                                    /* Accumulators */
-  q31_t acc0, acc1;
-  q15_t *px0, *px1;
-  uint32_t blkCntN3;
-  uint32_t numTaps = S->numTaps;                 /* Number of taps */
-  uint32_t i, blkCnt, tapCnt, outBlockSize = blockSize / S->M;  /* Loop counters */
-
-
-  /* S->pState buffer contains previous frame (numTaps - 1) samples */
-  /* pStateCurnt points to the location where the new input data should be written */
-  pStateCurnt = S->pState + (numTaps - 1u);
-
-
-  /* Total number of output samples to be computed */
-  blkCnt = outBlockSize / 2;
-  blkCntN3 = outBlockSize - (2 * blkCnt);
-
-  while(blkCnt > 0u)
-  {
-    /* Copy decimation factor number of new input samples into the state buffer */
-    i = 2 * S->M;
-
-    do
-    {
-      *pStateCurnt++ = *pSrc++;
-
-    } while(--i);
-
-    /* Set accumulator to zero */
-    acc0 = 0;
-    acc1 = 0;
-
-    /* Initialize state pointer */
-    px0 = pState;
-
-    px1 = pState + S->M;
-
-
-    /* Initialize coeff pointer */
-    pb = pCoeffs;
-
-    /* Loop unrolling.  Process 4 taps at a time. */
-    tapCnt = numTaps >> 2;
-
-    /* Loop over the number of taps.  Unroll by a factor of 4.       
-     ** Repeat until we've computed numTaps-4 coefficients. */
-    while(tapCnt > 0u)
-    {
-      /* Read the Read b[numTaps-1] coefficients */
-      c0 = *pb++;
-
-      /* Read x[n-numTaps-1] for sample 0 and for sample 1 */
-      x0 = *px0++;
-      x1 = *px1++;
-
-      /* Perform the multiply-accumulate */
-      acc0 += x0 * c0;
-      acc1 += x1 * c0;
-
-      /* Read the b[numTaps-2] coefficient */
-      c0 = *pb++;
-
-      /* Read x[n-numTaps-2] for sample 0 and sample 1 */
-      x0 = *px0++;
-      x1 = *px1++;
-
-      /* Perform the multiply-accumulate */
-      acc0 += x0 * c0;
-      acc1 += x1 * c0;
-
-      /* Read the b[numTaps-3]  coefficients */
-      c0 = *pb++;
-
-      /* Read x[n-numTaps-3] for sample 0 and sample 1 */
-      x0 = *px0++;
-      x1 = *px1++;
-
-      /* Perform the multiply-accumulate */
-      acc0 += x0 * c0;
-      acc1 += x1 * c0;
-
-      /* Read the b[numTaps-4] coefficient */
-      c0 = *pb++;
-
-      /* Read x[n-numTaps-4] for sample 0 and sample 1 */
-      x0 = *px0++;
-      x1 = *px1++;
-
-      /* Perform the multiply-accumulate */
-      acc0 += x0 * c0;
-      acc1 += x1 * c0;
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
-    tapCnt = numTaps % 0x4u;
-
-    while(tapCnt > 0u)
-    {
-      /* Read coefficients */
-      c0 = *pb++;
-
-      /* Fetch 1 state variable */
-      x0 = *px0++;
-      x1 = *px1++;
-
-      /* Perform the multiply-accumulate */
-      acc0 += x0 * c0;
-      acc1 += x1 * c0;
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* Advance the state pointer by the decimation factor       
-     * to process the next group of decimation factor number samples */
-    pState = pState + S->M * 2;
-
-    /* Store filter output, smlad returns the values in 2.14 format */
-    /* so downsacle by 15 to get output in 1.15 */
-
-    *pDst++ = (q15_t) (__SSAT((acc0 >> 15), 16));
-    *pDst++ = (q15_t) (__SSAT((acc1 >> 15), 16));
-
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  while(blkCntN3 > 0u)
-  {
-    /* Copy decimation factor number of new input samples into the state buffer */
-    i = S->M;
-
-    do
-    {
-      *pStateCurnt++ = *pSrc++;
-
-    } while(--i);
-
-    /*Set sum to zero */
-    sum0 = 0;
-
-    /* Initialize state pointer */
-    px = pState;
-
-    /* Initialize coeff pointer */
-    pb = pCoeffs;
-
-    /* Loop unrolling.  Process 4 taps at a time. */
-    tapCnt = numTaps >> 2;
-
-    /* Loop over the number of taps.  Unroll by a factor of 4.       
-     ** Repeat until we've computed numTaps-4 coefficients. */
-    while(tapCnt > 0u)
-    {
-      /* Read the Read b[numTaps-1] coefficients */
-      c0 = *pb++;
-
-      /* Read x[n-numTaps-1] and sample */
-      x0 = *px++;
-
-      /* Perform the multiply-accumulate */
-      sum0 += x0 * c0;
-
-      /* Read the b[numTaps-2] coefficient */
-      c0 = *pb++;
-
-      /* Read x[n-numTaps-2] and  sample */
-      x0 = *px++;
-
-      /* Perform the multiply-accumulate */
-      sum0 += x0 * c0;
-
-      /* Read the b[numTaps-3]  coefficients */
-      c0 = *pb++;
-
-      /* Read x[n-numTaps-3] sample */
-      x0 = *px++;
-
-      /* Perform the multiply-accumulate */
-      sum0 += x0 * c0;
-
-      /* Read the b[numTaps-4] coefficient */
-      c0 = *pb++;
-
-      /* Read x[n-numTaps-4] sample */
-      x0 = *px++;
-
-      /* Perform the multiply-accumulate */
-      sum0 += x0 * c0;
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
-    tapCnt = numTaps % 0x4u;
-
-    while(tapCnt > 0u)
-    {
-      /* Read coefficients */
-      c0 = *pb++;
-
-      /* Fetch 1 state variable */
-      x0 = *px++;
-
-      /* Perform the multiply-accumulate */
-      sum0 += x0 * c0;
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* Advance the state pointer by the decimation factor       
-     * to process the next group of decimation factor number samples */
-    pState = pState + S->M;
-
-    /* Store filter output, smlad returns the values in 2.14 format */
-    /* so downsacle by 15 to get output in 1.15 */
-    *pDst++ = (q15_t) (__SSAT((sum0 >> 15), 16));
-
-    /* Decrement the loop counter */
-    blkCntN3--;
-  }
-
-  /* Processing is complete.       
-   ** Now copy the last numTaps - 1 samples to the satrt of the state buffer.       
-   ** This prepares the state buffer for the next function call. */
-
-  /* Points to the start of the state buffer */
-  pStateCurnt = S->pState;
-
-  i = (numTaps - 1u) >> 2u;
-
-  /* copy data */
-  while(i > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    i--;
-  }
-
-  i = (numTaps - 1u) % 0x04u;
-
-  /* copy data */
-  while(i > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    i--;
-  }
-}
-
-
-#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
-
-/**    
- * @} end of FIR_decimate group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q31.c
deleted file mode 100644
index a43fd0b4c..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q31.c
+++ /dev/null
@@ -1,343 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_fir_decimate_fast_q31.c    
-*    
-* Description:	Fast Q31 FIR Decimator.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup FIR_decimate    
- * @{    
- */
-
-/**    
- * @brief Processing function for the Q31 FIR decimator (fast variant) for Cortex-M3 and Cortex-M4.    
- * @param[in] *S points to an instance of the Q31 FIR decimator structure.    
- * @param[in] *pSrc points to the block of input data.    
- * @param[out] *pDst points to the block of output data    
- * @param[in] blockSize number of input samples to process per call.    
- * @return none    
- *    
- * Scaling and Overflow Behavior:    
- *    
- * \par    
- * This function is optimized for speed at the expense of fixed-point precision and overflow protection.    
- * The result of each 1.31 x 1.31 multiplication is truncated to 2.30 format.    
- * These intermediate results are added to a 2.30 accumulator.    
- * Finally, the accumulator is saturated and converted to a 1.31 result.    
- * The fast version has the same overflow behavior as the standard version and provides less precision since it discards the low 32 bits of each multiplication result.    
- * In order to avoid overflows completely the input signal must be scaled down by log2(numTaps) bits (where log2 is read as log to the base 2).    
- *    
- * \par    
- * Refer to the function arm_fir_decimate_q31() for a slower implementation of this function which uses a 64-bit accumulator to provide higher precision.    
- * Both the slow and the fast versions use the same instance structure.    
- * Use the function arm_fir_decimate_init_q31() to initialize the filter structure.    
- */
-
-void arm_fir_decimate_fast_q31(
-  arm_fir_decimate_instance_q31 * S,
-  q31_t * pSrc,
-  q31_t * pDst,
-  uint32_t blockSize)
-{
-  q31_t *pState = S->pState;                     /* State pointer */
-  q31_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
-  q31_t *pStateCurnt;                            /* Points to the current sample of the state */
-  q31_t x0, c0;                                  /* Temporary variables to hold state and coefficient values */
-  q31_t *px;                                     /* Temporary pointers for state buffer */
-  q31_t *pb;                                     /* Temporary pointers for coefficient buffer */
-  q31_t sum0;                                    /* Accumulator */
-  uint32_t numTaps = S->numTaps;                 /* Number of taps */
-  uint32_t i, tapCnt, blkCnt, outBlockSize = blockSize / S->M;  /* Loop counters */
-  uint32_t blkCntN2;
-  q31_t x1;
-  q31_t acc0, acc1;
-  q31_t *px0, *px1;
-
-  /* S->pState buffer contains previous frame (numTaps - 1) samples */
-  /* pStateCurnt points to the location where the new input data should be written */
-  pStateCurnt = S->pState + (numTaps - 1u);
-
-  /* Total number of output samples to be computed */
-
-  blkCnt = outBlockSize / 2;
-  blkCntN2 = outBlockSize - (2 * blkCnt);
-
-  while(blkCnt > 0u)
-  {
-    /* Copy decimation factor number of new input samples into the state buffer */
-    i = 2 * S->M;
-
-    do
-    {
-      *pStateCurnt++ = *pSrc++;
-
-    } while(--i);
-
-    /* Set accumulator to zero */
-    acc0 = 0;
-    acc1 = 0;
-
-    /* Initialize state pointer */
-    px0 = pState;
-    px1 = pState + S->M;
-
-    /* Initialize coeff pointer */
-    pb = pCoeffs;
-
-    /* Loop unrolling.  Process 4 taps at a time. */
-    tapCnt = numTaps >> 2;
-
-    /* Loop over the number of taps.  Unroll by a factor of 4.       
-     ** Repeat until we've computed numTaps-4 coefficients. */
-    while(tapCnt > 0u)
-    {
-      /* Read the b[numTaps-1] coefficient */
-      c0 = *(pb);
-
-      /* Read x[n-numTaps-1] for sample 0 sample 1 */
-      x0 = *(px0);
-      x1 = *(px1);
-
-      /* Perform the multiply-accumulate */
-      acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x0 * c0)) >> 32);
-      acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x1 * c0)) >> 32);
-
-      /* Read the b[numTaps-2] coefficient */
-      c0 = *(pb + 1u);
-
-      /* Read x[n-numTaps-2]  for sample 0 sample 1  */
-      x0 = *(px0 + 1u);
-      x1 = *(px1 + 1u);
-
-      /* Perform the multiply-accumulate */
-      acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x0 * c0)) >> 32);
-      acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x1 * c0)) >> 32);
-
-      /* Read the b[numTaps-3] coefficient */
-      c0 = *(pb + 2u);
-
-      /* Read x[n-numTaps-3]  for sample 0 sample 1 */
-      x0 = *(px0 + 2u);
-      x1 = *(px1 + 2u);
-      pb += 4u;
-
-      /* Perform the multiply-accumulate */
-      acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x0 * c0)) >> 32);
-      acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x1 * c0)) >> 32);
-
-      /* Read the b[numTaps-4] coefficient */
-      c0 = *(pb - 1u);
-
-      /* Read x[n-numTaps-4] for sample 0 sample 1 */
-      x0 = *(px0 + 3u);
-      x1 = *(px1 + 3u);
-
-
-      /* Perform the multiply-accumulate */
-      acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x0 * c0)) >> 32);
-      acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x1 * c0)) >> 32);
-
-      /* update state pointers */
-      px0 += 4u;
-      px1 += 4u;
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
-    tapCnt = numTaps % 0x4u;
-
-    while(tapCnt > 0u)
-    {
-      /* Read coefficients */
-      c0 = *(pb++);
-
-      /* Fetch 1 state variable */
-      x0 = *(px0++);
-      x1 = *(px1++);
-
-      /* Perform the multiply-accumulate */
-      acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x0 * c0)) >> 32);
-      acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x1 * c0)) >> 32);
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* Advance the state pointer by the decimation factor       
-     * to process the next group of decimation factor number samples */
-    pState = pState + S->M * 2;
-
-    /* The result is in the accumulator, store in the destination buffer. */
-    *pDst++ = (q31_t) (acc0 << 1);
-    *pDst++ = (q31_t) (acc1 << 1);
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  while(blkCntN2 > 0u)
-  {
-    /* Copy decimation factor number of new input samples into the state buffer */
-    i = S->M;
-
-    do
-    {
-      *pStateCurnt++ = *pSrc++;
-
-    } while(--i);
-
-    /* Set accumulator to zero */
-    sum0 = 0;
-
-    /* Initialize state pointer */
-    px = pState;
-
-    /* Initialize coeff pointer */
-    pb = pCoeffs;
-
-    /* Loop unrolling.  Process 4 taps at a time. */
-    tapCnt = numTaps >> 2;
-
-    /* Loop over the number of taps.  Unroll by a factor of 4.       
-     ** Repeat until we've computed numTaps-4 coefficients. */
-    while(tapCnt > 0u)
-    {
-      /* Read the b[numTaps-1] coefficient */
-      c0 = *(pb++);
-
-      /* Read x[n-numTaps-1] sample */
-      x0 = *(px++);
-
-      /* Perform the multiply-accumulate */
-      sum0 = (q31_t) ((((q63_t) sum0 << 32) + ((q63_t) x0 * c0)) >> 32);
-
-      /* Read the b[numTaps-2] coefficient */
-      c0 = *(pb++);
-
-      /* Read x[n-numTaps-2] sample */
-      x0 = *(px++);
-
-      /* Perform the multiply-accumulate */
-      sum0 = (q31_t) ((((q63_t) sum0 << 32) + ((q63_t) x0 * c0)) >> 32);
-
-      /* Read the b[numTaps-3] coefficient */
-      c0 = *(pb++);
-
-      /* Read x[n-numTaps-3] sample */
-      x0 = *(px++);
-
-      /* Perform the multiply-accumulate */
-      sum0 = (q31_t) ((((q63_t) sum0 << 32) + ((q63_t) x0 * c0)) >> 32);
-
-      /* Read the b[numTaps-4] coefficient */
-      c0 = *(pb++);
-
-      /* Read x[n-numTaps-4] sample */
-      x0 = *(px++);
-
-      /* Perform the multiply-accumulate */
-      sum0 = (q31_t) ((((q63_t) sum0 << 32) + ((q63_t) x0 * c0)) >> 32);
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
-    tapCnt = numTaps % 0x4u;
-
-    while(tapCnt > 0u)
-    {
-      /* Read coefficients */
-      c0 = *(pb++);
-
-      /* Fetch 1 state variable */
-      x0 = *(px++);
-
-      /* Perform the multiply-accumulate */
-      sum0 = (q31_t) ((((q63_t) sum0 << 32) + ((q63_t) x0 * c0)) >> 32);
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* Advance the state pointer by the decimation factor       
-     * to process the next group of decimation factor number samples */
-    pState = pState + S->M;
-
-    /* The result is in the accumulator, store in the destination buffer. */
-    *pDst++ = (q31_t) (sum0 << 1);
-
-    /* Decrement the loop counter */
-    blkCntN2--;
-  }
-
-  /* Processing is complete.       
-   ** Now copy the last numTaps - 1 samples to the satrt of the state buffer.       
-   ** This prepares the state buffer for the next function call. */
-
-  /* Points to the start of the state buffer */
-  pStateCurnt = S->pState;
-
-  i = (numTaps - 1u) >> 2u;
-
-  /* copy data */
-  while(i > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    i--;
-  }
-
-  i = (numTaps - 1u) % 0x04u;
-
-  /* copy data */
-  while(i > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    i--;
-  }
-}
-
-/**    
- * @} end of FIR_decimate group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_f32.c
deleted file mode 100644
index b655a6be6..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_f32.c
+++ /dev/null
@@ -1,112 +0,0 @@
-/*-----------------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:        arm_fir_decimate_init_f32.c    
-*    
-* Description:  Floating-point FIR Decimator initialization function.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* ---------------------------------------------------------------------------*/
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup FIR_decimate    
- * @{    
- */
-
-/**    
- * @brief  Initialization function for the floating-point FIR decimator.    
- * @param[in,out] *S points to an instance of the floating-point FIR decimator structure.    
- * @param[in] numTaps  number of coefficients in the filter.    
- * @param[in] M  decimation factor.    
- * @param[in] *pCoeffs points to the filter coefficients.    
- * @param[in] *pState points to the state buffer.    
- * @param[in] blockSize number of input samples to process per call.    
- * @return    The function returns ARM_MATH_SUCCESS if initialization was successful or ARM_MATH_LENGTH_ERROR if    
- * blockSize is not a multiple of M.    
- *    
- * Description:    
- * \par    
- * pCoeffs points to the array of filter coefficients stored in time reversed order:    
- * 
    
- *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}    
- * 
    
- * \par    
- * pState points to the array of state variables.    
- * pState is of length numTaps+blockSize-1 words where blockSize is the number of input samples passed to arm_fir_decimate_f32().    
- * M is the decimation factor.    
- */
-
-arm_status arm_fir_decimate_init_f32(
-  arm_fir_decimate_instance_f32 * S,
-  uint16_t numTaps,
-  uint8_t M,
-  float32_t * pCoeffs,
-  float32_t * pState,
-  uint32_t blockSize)
-{
-  arm_status status;
-
-  /* The size of the input block must be a multiple of the decimation factor */
-  if((blockSize % M) != 0u)
-  {
-    /* Set status as ARM_MATH_LENGTH_ERROR */
-    status = ARM_MATH_LENGTH_ERROR;
-  }
-  else
-  {
-    /* Assign filter taps */
-    S->numTaps = numTaps;
-
-    /* Assign coefficient pointer */
-    S->pCoeffs = pCoeffs;
-
-    /* Clear state buffer and size is always (blockSize + numTaps - 1) */
-    memset(pState, 0, (numTaps + (blockSize - 1u)) * sizeof(float32_t));
-
-    /* Assign state pointer */
-    S->pState = pState;
-
-    /* Assign Decimation Factor */
-    S->M = M;
-
-    status = ARM_MATH_SUCCESS;
-  }
-
-  return (status);
-
-}
-
-/**    
- * @} end of FIR_decimate group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q15.c
deleted file mode 100644
index 1a1fee8a2..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q15.c
+++ /dev/null
@@ -1,114 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:        arm_fir_decimate_init_q15.c    
-*    
-* Description:  Initialization function for the Q15 FIR Decimator.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* ------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup FIR_decimate    
- * @{    
- */
-
-/**    
- * @brief  Initialization function for the Q15 FIR decimator.    
- * @param[in,out] *S points to an instance of the Q15 FIR decimator structure.    
- * @param[in] numTaps  number of coefficients in the filter.    
- * @param[in] M  decimation factor.    
- * @param[in] *pCoeffs points to the filter coefficients.    
- * @param[in] *pState points to the state buffer.    
- * @param[in] blockSize number of input samples to process per call.    
- * @return    The function returns ARM_MATH_SUCCESS if initialization was successful or ARM_MATH_LENGTH_ERROR if    
- * blockSize is not a multiple of M.    
- *    
- * Description:    
- * \par    
- * pCoeffs points to the array of filter coefficients stored in time reversed order:    
- * 
    
- *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}    
- * 
    
- * \par    
- * pState points to the array of state variables.    
- * pState is of length numTaps+blockSize-1 words where blockSize is the number of input samples    
- * to the call arm_fir_decimate_q15().    
- * M is the decimation factor.    
- */
-
-arm_status arm_fir_decimate_init_q15(
-  arm_fir_decimate_instance_q15 * S,
-  uint16_t numTaps,
-  uint8_t M,
-  q15_t * pCoeffs,
-  q15_t * pState,
-  uint32_t blockSize)
-{
-
-  arm_status status;
-
-  /* The size of the input block must be a multiple of the decimation factor */
-  if((blockSize % M) != 0u)
-  {
-    /* Set status as ARM_MATH_LENGTH_ERROR */
-    status = ARM_MATH_LENGTH_ERROR;
-  }
-  else
-  {
-    /* Assign filter taps */
-    S->numTaps = numTaps;
-
-    /* Assign coefficient pointer */
-    S->pCoeffs = pCoeffs;
-
-    /* Clear the state buffer.  The size of buffer is always (blockSize + numTaps - 1) */
-    memset(pState, 0, (numTaps + (blockSize - 1u)) * sizeof(q15_t));
-
-    /* Assign state pointer */
-    S->pState = pState;
-
-    /* Assign Decimation factor */
-    S->M = M;
-
-    status = ARM_MATH_SUCCESS;
-  }
-
-  return (status);
-
-}
-
-/**    
- * @} end of FIR_decimate group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q31.c
deleted file mode 100644
index e2ac8165e..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q31.c
+++ /dev/null
@@ -1,112 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:        arm_fir_decimate_init_q31.c    
-*    
-* Description:  Initialization function for Q31 FIR Decimation filter.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* ------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup FIR_decimate    
- * @{    
- */
-
-/**    
- * @brief  Initialization function for the Q31 FIR decimator.    
- * @param[in,out] *S points to an instance of the Q31 FIR decimator structure.    
- * @param[in] numTaps  number of coefficients in the filter.    
- * @param[in] M  decimation factor.    
- * @param[in] *pCoeffs points to the filter coefficients.    
- * @param[in] *pState points to the state buffer.    
- * @param[in] blockSize number of input samples to process per call.    
- * @return    The function returns ARM_MATH_SUCCESS if initialization was successful or ARM_MATH_LENGTH_ERROR if    
- * blockSize is not a multiple of M.    
- *    
- * Description:    
- * \par    
- * pCoeffs points to the array of filter coefficients stored in time reversed order:    
- * 
    
- *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}    
- * 
    
- * \par    
- * pState points to the array of state variables.    
- * pState is of length numTaps+blockSize-1 words where blockSize is the number of input samples passed to arm_fir_decimate_q31().    
- * M is the decimation factor.    
- */
-
-arm_status arm_fir_decimate_init_q31(
-  arm_fir_decimate_instance_q31 * S,
-  uint16_t numTaps,
-  uint8_t M,
-  q31_t * pCoeffs,
-  q31_t * pState,
-  uint32_t blockSize)
-{
-  arm_status status;
-
-  /* The size of the input block must be a multiple of the decimation factor */
-  if((blockSize % M) != 0u)
-  {
-    /* Set status as ARM_MATH_LENGTH_ERROR */
-    status = ARM_MATH_LENGTH_ERROR;
-  }
-  else
-  {
-    /* Assign filter taps */
-    S->numTaps = numTaps;
-
-    /* Assign coefficient pointer */
-    S->pCoeffs = pCoeffs;
-
-    /* Clear the state buffer.  The size is always (blockSize + numTaps - 1) */
-    memset(pState, 0, (numTaps + (blockSize - 1)) * sizeof(q31_t));
-
-    /* Assign state pointer */
-    S->pState = pState;
-
-    /* Assign Decimation factor */
-    S->M = M;
-
-    status = ARM_MATH_SUCCESS;
-  }
-
-  return (status);
-
-}
-
-/**    
- * @} end of FIR_decimate group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q15.c
deleted file mode 100644
index 28b5f13dd..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q15.c
+++ /dev/null
@@ -1,691 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_fir_decimate_q15.c    
-*    
-* Description:	Q15 FIR Decimator.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup FIR_decimate    
- * @{    
- */
-
-/**    
- * @brief Processing function for the Q15 FIR decimator.    
- * @param[in] *S points to an instance of the Q15 FIR decimator structure.    
- * @param[in] *pSrc points to the block of input data.    
- * @param[out] *pDst points to the location where the output result is written.    
- * @param[in] blockSize number of input samples to process per call.    
- * @return none.    
- *    
- * Scaling and Overflow Behavior:    
- * \par    
- * The function is implemented using a 64-bit internal accumulator.    
- * Both coefficients and state variables are represented in 1.15 format and multiplications yield a 2.30 result.    
- * The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format.    
- * There is no risk of internal overflow with this approach and the full precision of intermediate multiplications is preserved.    
- * After all additions have been performed, the accumulator is truncated to 34.15 format by discarding low 15 bits.    
- * Lastly, the accumulator is saturated to yield a result in 1.15 format.    
- *    
- * \par    
- * Refer to the function arm_fir_decimate_fast_q15() for a faster but less precise implementation of this function for Cortex-M3 and Cortex-M4.    
- */
-
-#ifndef ARM_MATH_CM0
-
-#ifndef UNALIGNED_SUPPORT_DISABLE
-
-void arm_fir_decimate_q15(
-  const arm_fir_decimate_instance_q15 * S,
-  q15_t * pSrc,
-  q15_t * pDst,
-  uint32_t blockSize)
-{
-  q15_t *pState = S->pState;                     /* State pointer */
-  q15_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
-  q15_t *pStateCurnt;                            /* Points to the current sample of the state */
-  q15_t *px;                                     /* Temporary pointer for state buffer */
-  q15_t *pb;                                     /* Temporary pointer coefficient buffer */
-  q31_t x0, x1, c0, c1;                          /* Temporary variables to hold state and coefficient values */
-  q63_t sum0;                                    /* Accumulators */
-  q63_t acc0, acc1;
-  q15_t *px0, *px1;
-  uint32_t blkCntN3;
-  uint32_t numTaps = S->numTaps;                 /* Number of taps */
-  uint32_t i, blkCnt, tapCnt, outBlockSize = blockSize / S->M;  /* Loop counters */
-
-
-  /* S->pState buffer contains previous frame (numTaps - 1) samples */
-  /* pStateCurnt points to the location where the new input data should be written */
-  pStateCurnt = S->pState + (numTaps - 1u);
-
-
-  /* Total number of output samples to be computed */
-  blkCnt = outBlockSize / 2;
-  blkCntN3 = outBlockSize - (2 * blkCnt);
-
-
-  while(blkCnt > 0u)
-  {
-    /* Copy decimation factor number of new input samples into the state buffer */
-    i = 2 * S->M;
-
-    do
-    {
-      *pStateCurnt++ = *pSrc++;
-
-    } while(--i);
-
-    /* Set accumulator to zero */
-    acc0 = 0;
-    acc1 = 0;
-
-    /* Initialize state pointer */
-    px0 = pState;
-
-    px1 = pState + S->M;
-
-
-    /* Initialize coeff pointer */
-    pb = pCoeffs;
-
-    /* Loop unrolling.  Process 4 taps at a time. */
-    tapCnt = numTaps >> 2;
-
-    /* Loop over the number of taps.  Unroll by a factor of 4.       
-     ** Repeat until we've computed numTaps-4 coefficients. */
-    while(tapCnt > 0u)
-    {
-      /* Read the Read b[numTaps-1] and b[numTaps-2]  coefficients */
-      c0 = *__SIMD32(pb)++;
-
-      /* Read x[n-numTaps-1] and x[n-numTaps-2]sample */
-      x0 = *__SIMD32(px0)++;
-
-      x1 = *__SIMD32(px1)++;
-
-      /* Perform the multiply-accumulate */
-      acc0 = __SMLALD(x0, c0, acc0);
-
-      acc1 = __SMLALD(x1, c0, acc1);
-
-      /* Read the b[numTaps-3] and b[numTaps-4] coefficient */
-      c0 = *__SIMD32(pb)++;
-
-      /* Read x[n-numTaps-2] and x[n-numTaps-3] sample */
-      x0 = *__SIMD32(px0)++;
-
-      x1 = *__SIMD32(px1)++;
-
-      /* Perform the multiply-accumulate */
-      acc0 = __SMLALD(x0, c0, acc0);
-
-      acc1 = __SMLALD(x1, c0, acc1);
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
-    tapCnt = numTaps % 0x4u;
-
-    while(tapCnt > 0u)
-    {
-      /* Read coefficients */
-      c0 = *pb++;
-
-      /* Fetch 1 state variable */
-      x0 = *px0++;
-
-      x1 = *px1++;
-
-      /* Perform the multiply-accumulate */
-      acc0 = __SMLALD(x0, c0, acc0);
-      acc1 = __SMLALD(x1, c0, acc1);
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* Advance the state pointer by the decimation factor       
-     * to process the next group of decimation factor number samples */
-    pState = pState + S->M * 2;
-
-    /* Store filter output, smlad returns the values in 2.14 format */
-    /* so downsacle by 15 to get output in 1.15 */
-    *pDst++ = (q15_t) (__SSAT((acc0 >> 15), 16));
-    *pDst++ = (q15_t) (__SSAT((acc1 >> 15), 16));
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-
-
-  while(blkCntN3 > 0u)
-  {
-    /* Copy decimation factor number of new input samples into the state buffer */
-    i = S->M;
-
-    do
-    {
-      *pStateCurnt++ = *pSrc++;
-
-    } while(--i);
-
-    /*Set sum to zero */
-    sum0 = 0;
-
-    /* Initialize state pointer */
-    px = pState;
-
-    /* Initialize coeff pointer */
-    pb = pCoeffs;
-
-    /* Loop unrolling.  Process 4 taps at a time. */
-    tapCnt = numTaps >> 2;
-
-    /* Loop over the number of taps.  Unroll by a factor of 4.       
-     ** Repeat until we've computed numTaps-4 coefficients. */
-    while(tapCnt > 0u)
-    {
-      /* Read the Read b[numTaps-1] and b[numTaps-2]  coefficients */
-      c0 = *__SIMD32(pb)++;
-
-      /* Read x[n-numTaps-1] and x[n-numTaps-2]sample */
-      x0 = *__SIMD32(px)++;
-
-      /* Read the b[numTaps-3] and b[numTaps-4] coefficient */
-      c1 = *__SIMD32(pb)++;
-
-      /* Perform the multiply-accumulate */
-      sum0 = __SMLALD(x0, c0, sum0);
-
-      /* Read x[n-numTaps-2] and x[n-numTaps-3] sample */
-      x0 = *__SIMD32(px)++;
-
-      /* Perform the multiply-accumulate */
-      sum0 = __SMLALD(x0, c1, sum0);
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
-    tapCnt = numTaps % 0x4u;
-
-    while(tapCnt > 0u)
-    {
-      /* Read coefficients */
-      c0 = *pb++;
-
-      /* Fetch 1 state variable */
-      x0 = *px++;
-
-      /* Perform the multiply-accumulate */
-      sum0 = __SMLALD(x0, c0, sum0);
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* Advance the state pointer by the decimation factor       
-     * to process the next group of decimation factor number samples */
-    pState = pState + S->M;
-
-    /* Store filter output, smlad returns the values in 2.14 format */
-    /* so downsacle by 15 to get output in 1.15 */
-    *pDst++ = (q15_t) (__SSAT((sum0 >> 15), 16));
-
-    /* Decrement the loop counter */
-    blkCntN3--;
-  }
-
-  /* Processing is complete.       
-   ** Now copy the last numTaps - 1 samples to the satrt of the state buffer.       
-   ** This prepares the state buffer for the next function call. */
-
-  /* Points to the start of the state buffer */
-  pStateCurnt = S->pState;
-
-  i = (numTaps - 1u) >> 2u;
-
-  /* copy data */
-  while(i > 0u)
-  {
-    *__SIMD32(pStateCurnt)++ = *__SIMD32(pState)++;
-    *__SIMD32(pStateCurnt)++ = *__SIMD32(pState)++;
-
-    /* Decrement the loop counter */
-    i--;
-  }
-
-  i = (numTaps - 1u) % 0x04u;
-
-  /* copy data */
-  while(i > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    i--;
-  }
-}
-
-#else
-
-
-void arm_fir_decimate_q15(
-  const arm_fir_decimate_instance_q15 * S,
-  q15_t * pSrc,
-  q15_t * pDst,
-  uint32_t blockSize)
-{
-  q15_t *pState = S->pState;                     /* State pointer */
-  q15_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
-  q15_t *pStateCurnt;                            /* Points to the current sample of the state */
-  q15_t *px;                                     /* Temporary pointer for state buffer */
-  q15_t *pb;                                     /* Temporary pointer coefficient buffer */
-  q15_t x0, x1, c0;                              /* Temporary variables to hold state and coefficient values */
-  q63_t sum0;                                    /* Accumulators */
-  q63_t acc0, acc1;
-  q15_t *px0, *px1;
-  uint32_t blkCntN3;
-  uint32_t numTaps = S->numTaps;                 /* Number of taps */
-  uint32_t i, blkCnt, tapCnt, outBlockSize = blockSize / S->M;  /* Loop counters */
-
-
-  /* S->pState buffer contains previous frame (numTaps - 1) samples */
-  /* pStateCurnt points to the location where the new input data should be written */
-  pStateCurnt = S->pState + (numTaps - 1u);
-
-
-  /* Total number of output samples to be computed */
-  blkCnt = outBlockSize / 2;
-  blkCntN3 = outBlockSize - (2 * blkCnt);
-
-  while(blkCnt > 0u)
-  {
-    /* Copy decimation factor number of new input samples into the state buffer */
-    i = 2 * S->M;
-
-    do
-    {
-      *pStateCurnt++ = *pSrc++;
-
-    } while(--i);
-
-    /* Set accumulator to zero */
-    acc0 = 0;
-    acc1 = 0;
-
-    /* Initialize state pointer */
-    px0 = pState;
-
-    px1 = pState + S->M;
-
-
-    /* Initialize coeff pointer */
-    pb = pCoeffs;
-
-    /* Loop unrolling.  Process 4 taps at a time. */
-    tapCnt = numTaps >> 2;
-
-    /* Loop over the number of taps.  Unroll by a factor of 4.       
-     ** Repeat until we've computed numTaps-4 coefficients. */
-    while(tapCnt > 0u)
-    {
-      /* Read the Read b[numTaps-1] coefficients */
-      c0 = *pb++;
-
-      /* Read x[n-numTaps-1] for sample 0 and for sample 1 */
-      x0 = *px0++;
-      x1 = *px1++;
-
-      /* Perform the multiply-accumulate */
-      acc0 += x0 * c0;
-      acc1 += x1 * c0;
-
-      /* Read the b[numTaps-2] coefficient */
-      c0 = *pb++;
-
-      /* Read x[n-numTaps-2] for sample 0 and sample 1 */
-      x0 = *px0++;
-      x1 = *px1++;
-
-      /* Perform the multiply-accumulate */
-      acc0 += x0 * c0;
-      acc1 += x1 * c0;
-
-      /* Read the b[numTaps-3] coefficients */
-      c0 = *pb++;
-
-      /* Read x[n-numTaps-3] for sample 0 and sample 1 */
-      x0 = *px0++;
-      x1 = *px1++;
-
-      /* Perform the multiply-accumulate */
-      acc0 += x0 * c0;
-      acc1 += x1 * c0;
-
-      /* Read the b[numTaps-4] coefficient */
-      c0 = *pb++;
-
-      /* Read x[n-numTaps-4] for sample 0 and sample 1 */
-      x0 = *px0++;
-      x1 = *px1++;
-
-      /* Perform the multiply-accumulate */
-      acc0 += x0 * c0;
-      acc1 += x1 * c0;
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
-    tapCnt = numTaps % 0x4u;
-
-    while(tapCnt > 0u)
-    {
-      /* Read coefficients */
-      c0 = *pb++;
-
-      /* Fetch 1 state variable */
-      x0 = *px0++;
-      x1 = *px1++;
-
-      /* Perform the multiply-accumulate */
-      acc0 += x0 * c0;
-      acc1 += x1 * c0;
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* Advance the state pointer by the decimation factor       
-     * to process the next group of decimation factor number samples */
-    pState = pState + S->M * 2;
-
-    /* Store filter output, smlad returns the values in 2.14 format */
-    /* so downsacle by 15 to get output in 1.15 */
-
-    *pDst++ = (q15_t) (__SSAT((acc0 >> 15), 16));
-    *pDst++ = (q15_t) (__SSAT((acc1 >> 15), 16));
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  while(blkCntN3 > 0u)
-  {
-    /* Copy decimation factor number of new input samples into the state buffer */
-    i = S->M;
-
-    do
-    {
-      *pStateCurnt++ = *pSrc++;
-
-    } while(--i);
-
-    /*Set sum to zero */
-    sum0 = 0;
-
-    /* Initialize state pointer */
-    px = pState;
-
-    /* Initialize coeff pointer */
-    pb = pCoeffs;
-
-    /* Loop unrolling.  Process 4 taps at a time. */
-    tapCnt = numTaps >> 2;
-
-    /* Loop over the number of taps.  Unroll by a factor of 4.       
-     ** Repeat until we've computed numTaps-4 coefficients. */
-    while(tapCnt > 0u)
-    {
-      /* Read the Read b[numTaps-1] coefficients */
-      c0 = *pb++;
-
-      /* Read x[n-numTaps-1] and sample */
-      x0 = *px++;
-
-      /* Perform the multiply-accumulate */
-      sum0 += x0 * c0;
-
-      /* Read the b[numTaps-2] coefficient */
-      c0 = *pb++;
-
-      /* Read x[n-numTaps-2] and  sample */
-      x0 = *px++;
-
-      /* Perform the multiply-accumulate */
-      sum0 += x0 * c0;
-
-      /* Read the b[numTaps-3]  coefficients */
-      c0 = *pb++;
-
-      /* Read x[n-numTaps-3] sample */
-      x0 = *px++;
-
-      /* Perform the multiply-accumulate */
-      sum0 += x0 * c0;
-
-      /* Read the b[numTaps-4] coefficient */
-      c0 = *pb++;
-
-      /* Read x[n-numTaps-4] sample */
-      x0 = *px++;
-
-      /* Perform the multiply-accumulate */
-      sum0 += x0 * c0;
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
-    tapCnt = numTaps % 0x4u;
-
-    while(tapCnt > 0u)
-    {
-      /* Read coefficients */
-      c0 = *pb++;
-
-      /* Fetch 1 state variable */
-      x0 = *px++;
-
-      /* Perform the multiply-accumulate */
-      sum0 += x0 * c0;
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* Advance the state pointer by the decimation factor       
-     * to process the next group of decimation factor number samples */
-    pState = pState + S->M;
-
-    /* Store filter output, smlad returns the values in 2.14 format */
-    /* so downsacle by 15 to get output in 1.15 */
-    *pDst++ = (q15_t) (__SSAT((sum0 >> 15), 16));
-
-    /* Decrement the loop counter */
-    blkCntN3--;
-  }
-
-  /* Processing is complete.       
-   ** Now copy the last numTaps - 1 samples to the satrt of the state buffer.       
-   ** This prepares the state buffer for the next function call. */
-
-  /* Points to the start of the state buffer */
-  pStateCurnt = S->pState;
-
-  i = (numTaps - 1u) >> 2u;
-
-  /* copy data */
-  while(i > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    i--;
-  }
-
-  i = (numTaps - 1u) % 0x04u;
-
-  /* copy data */
-  while(i > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    i--;
-  }
-}
-
-
-#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
-
-#else
-
-
-void arm_fir_decimate_q15(
-  const arm_fir_decimate_instance_q15 * S,
-  q15_t * pSrc,
-  q15_t * pDst,
-  uint32_t blockSize)
-{
-  q15_t *pState = S->pState;                     /* State pointer */
-  q15_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
-  q15_t *pStateCurnt;                            /* Points to the current sample of the state */
-  q15_t *px;                                     /* Temporary pointer for state buffer */
-  q15_t *pb;                                     /* Temporary pointer coefficient buffer */
-  q31_t x0, c0;                                  /* Temporary variables to hold state and coefficient values */
-  q63_t sum0;                                    /* Accumulators */
-  uint32_t numTaps = S->numTaps;                 /* Number of taps */
-  uint32_t i, blkCnt, tapCnt, outBlockSize = blockSize / S->M;  /* Loop counters */
-
-
-
-/* Run the below code for Cortex-M0 */
-
-  /* S->pState buffer contains previous frame (numTaps - 1) samples */
-  /* pStateCurnt points to the location where the new input data should be written */
-  pStateCurnt = S->pState + (numTaps - 1u);
-
-  /* Total number of output samples to be computed */
-  blkCnt = outBlockSize;
-
-  while(blkCnt > 0u)
-  {
-    /* Copy decimation factor number of new input samples into the state buffer */
-    i = S->M;
-
-    do
-    {
-      *pStateCurnt++ = *pSrc++;
-
-    } while(--i);
-
-    /*Set sum to zero */
-    sum0 = 0;
-
-    /* Initialize state pointer */
-    px = pState;
-
-    /* Initialize coeff pointer */
-    pb = pCoeffs;
-
-    tapCnt = numTaps;
-
-    while(tapCnt > 0u)
-    {
-      /* Read coefficients */
-      c0 = *pb++;
-
-      /* Fetch 1 state variable */
-      x0 = *px++;
-
-      /* Perform the multiply-accumulate */
-      sum0 += (q31_t) x0 *c0;
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* Advance the state pointer by the decimation factor           
-     * to process the next group of decimation factor number samples */
-    pState = pState + S->M;
-
-    /*Store filter output , smlad will return the values in 2.14 format */
-    /* so downsacle by 15 to get output in 1.15 */
-    *pDst++ = (q15_t) (__SSAT((sum0 >> 15), 16));
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* Processing is complete.         
-   ** Now copy the last numTaps - 1 samples to the start of the state buffer.       
-   ** This prepares the state buffer for the next function call. */
-
-  /* Points to the start of the state buffer */
-  pStateCurnt = S->pState;
-
-  i = numTaps - 1u;
-
-  /* copy data */
-  while(i > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    i--;
-  }
-
-
-}
-#endif /*   #ifndef ARM_MATH_CM0 */
-
-
-/**    
- * @} end of FIR_decimate group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q31.c
deleted file mode 100644
index 59c0fed7f..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q31.c
+++ /dev/null
@@ -1,306 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_fir_decimate_q31.c    
-*    
-* Description:	Q31 FIR Decimator.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup FIR_decimate    
- * @{    
- */
-
-/**    
- * @brief Processing function for the Q31 FIR decimator.    
- * @param[in] *S points to an instance of the Q31 FIR decimator structure.    
- * @param[in] *pSrc points to the block of input data.    
- * @param[out] *pDst points to the block of output data    
- * @param[in] blockSize number of input samples to process per call.    
- * @return none    
- *    
- * Scaling and Overflow Behavior:    
- * \par    
- * The function is implemented using an internal 64-bit accumulator.    
- * The accumulator has a 2.62 format and maintains full precision of the intermediate multiplication results but provides only a single guard bit.    
- * Thus, if the accumulator result overflows it wraps around rather than clip.    
- * In order to avoid overflows completely the input signal must be scaled down by log2(numTaps) bits (where log2 is read as log to the base 2).    
- * After all multiply-accumulates are performed, the 2.62 accumulator is truncated to 1.32 format and then saturated to 1.31 format.    
- *    
- * \par    
- * Refer to the function arm_fir_decimate_fast_q31() for a faster but less precise implementation of this function for Cortex-M3 and Cortex-M4.    
- */
-
-void arm_fir_decimate_q31(
-  const arm_fir_decimate_instance_q31 * S,
-  q31_t * pSrc,
-  q31_t * pDst,
-  uint32_t blockSize)
-{
-  q31_t *pState = S->pState;                     /* State pointer */
-  q31_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
-  q31_t *pStateCurnt;                            /* Points to the current sample of the state */
-  q31_t x0, c0;                                  /* Temporary variables to hold state and coefficient values */
-  q31_t *px;                                     /* Temporary pointers for state buffer */
-  q31_t *pb;                                     /* Temporary pointers for coefficient buffer */
-  q63_t sum0;                                    /* Accumulator */
-  uint32_t numTaps = S->numTaps;                 /* Number of taps */
-  uint32_t i, tapCnt, blkCnt, outBlockSize = blockSize / S->M;  /* Loop counters */
-
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  /* S->pState buffer contains previous frame (numTaps - 1) samples */
-  /* pStateCurnt points to the location where the new input data should be written */
-  pStateCurnt = S->pState + (numTaps - 1u);
-
-  /* Total number of output samples to be computed */
-  blkCnt = outBlockSize;
-
-  while(blkCnt > 0u)
-  {
-    /* Copy decimation factor number of new input samples into the state buffer */
-    i = S->M;
-
-    do
-    {
-      *pStateCurnt++ = *pSrc++;
-
-    } while(--i);
-
-    /* Set accumulator to zero */
-    sum0 = 0;
-
-    /* Initialize state pointer */
-    px = pState;
-
-    /* Initialize coeff pointer */
-    pb = pCoeffs;
-
-    /* Loop unrolling.  Process 4 taps at a time. */
-    tapCnt = numTaps >> 2;
-
-    /* Loop over the number of taps.  Unroll by a factor of 4.    
-     ** Repeat until we've computed numTaps-4 coefficients. */
-    while(tapCnt > 0u)
-    {
-      /* Read the b[numTaps-1] coefficient */
-      c0 = *(pb++);
-
-      /* Read x[n-numTaps-1] sample */
-      x0 = *(px++);
-
-      /* Perform the multiply-accumulate */
-      sum0 += (q63_t) x0 *c0;
-
-      /* Read the b[numTaps-2] coefficient */
-      c0 = *(pb++);
-
-      /* Read x[n-numTaps-2] sample */
-      x0 = *(px++);
-
-      /* Perform the multiply-accumulate */
-      sum0 += (q63_t) x0 *c0;
-
-      /* Read the b[numTaps-3] coefficient */
-      c0 = *(pb++);
-
-      /* Read x[n-numTaps-3] sample */
-      x0 = *(px++);
-
-      /* Perform the multiply-accumulate */
-      sum0 += (q63_t) x0 *c0;
-
-      /* Read the b[numTaps-4] coefficient */
-      c0 = *(pb++);
-
-      /* Read x[n-numTaps-4] sample */
-      x0 = *(px++);
-
-      /* Perform the multiply-accumulate */
-      sum0 += (q63_t) x0 *c0;
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
-    tapCnt = numTaps % 0x4u;
-
-    while(tapCnt > 0u)
-    {
-      /* Read coefficients */
-      c0 = *(pb++);
-
-      /* Fetch 1 state variable */
-      x0 = *(px++);
-
-      /* Perform the multiply-accumulate */
-      sum0 += (q63_t) x0 *c0;
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* Advance the state pointer by the decimation factor    
-     * to process the next group of decimation factor number samples */
-    pState = pState + S->M;
-
-    /* The result is in the accumulator, store in the destination buffer. */
-    *pDst++ = (q31_t) (sum0 >> 31);
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* Processing is complete.    
-   ** Now copy the last numTaps - 1 samples to the satrt of the state buffer.    
-   ** This prepares the state buffer for the next function call. */
-
-  /* Points to the start of the state buffer */
-  pStateCurnt = S->pState;
-
-  i = (numTaps - 1u) >> 2u;
-
-  /* copy data */
-  while(i > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    i--;
-  }
-
-  i = (numTaps - 1u) % 0x04u;
-
-  /* copy data */
-  while(i > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    i--;
-  }
-
-#else
-
-/* Run the below code for Cortex-M0 */
-
-  /* S->pState buffer contains previous frame (numTaps - 1) samples */
-  /* pStateCurnt points to the location where the new input data should be written */
-  pStateCurnt = S->pState + (numTaps - 1u);
-
-  /* Total number of output samples to be computed */
-  blkCnt = outBlockSize;
-
-  while(blkCnt > 0u)
-  {
-    /* Copy decimation factor number of new input samples into the state buffer */
-    i = S->M;
-
-    do
-    {
-      *pStateCurnt++ = *pSrc++;
-
-    } while(--i);
-
-    /* Set accumulator to zero */
-    sum0 = 0;
-
-    /* Initialize state pointer */
-    px = pState;
-
-    /* Initialize coeff pointer */
-    pb = pCoeffs;
-
-    tapCnt = numTaps;
-
-    while(tapCnt > 0u)
-    {
-      /* Read coefficients */
-      c0 = *pb++;
-
-      /* Fetch 1 state variable */
-      x0 = *px++;
-
-      /* Perform the multiply-accumulate */
-      sum0 += (q63_t) x0 *c0;
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* Advance the state pointer by the decimation factor           
-     * to process the next group of decimation factor number samples */
-    pState = pState + S->M;
-
-    /* The result is in the accumulator, store in the destination buffer. */
-    *pDst++ = (q31_t) (sum0 >> 31);
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* Processing is complete.         
-   ** Now copy the last numTaps - 1 samples to the start of the state buffer.       
-   ** This prepares the state buffer for the next function call. */
-
-  /* Points to the start of the state buffer */
-  pStateCurnt = S->pState;
-
-  i = numTaps - 1u;
-
-  /* copy data */
-  while(i > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    i--;
-  }
-
-#endif /*   #ifndef ARM_MATH_CM0 */
-
-}
-
-/**    
- * @} end of FIR_decimate group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_f32.c
deleted file mode 100644
index 7f951f86b..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_f32.c
+++ /dev/null
@@ -1,554 +0,0 @@
-/* ----------------------------------------------------------------------  
-* Copyright (C) 2010 ARM Limited. All rights reserved.  
-*  
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*  
-* Project: 	    CMSIS DSP Library  
-* Title:	    arm_fir_f32.c  
-*  
-* Description:	Floating-point FIR filter processing function.  
-*  
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.2 2010/11/11  
-*    Documentation updated.   
-*  
-* Version 1.0.1 2010/10/05   
-*    Production release and review comments incorporated.  
-*  
-* Version 1.0.0 2010/09/20   
-*    Production release and review comments incorporated.  
-*  
-* Version 0.0.5  2010/04/26   
-* 	 incorporated review comments and updated with latest CMSIS layer  
-*  
-* Version 0.0.3  2010/03/10   
-*    Initial version  
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**  
- * @ingroup groupFilters  
- */
-
-/**  
- * @defgroup FIR Finite Impulse Response (FIR) Filters  
- *  
- * This set of functions implements Finite Impulse Response (FIR) filters  
- * for Q7, Q15, Q31, and floating-point data types.  Fast versions of Q15 and Q31 are also provided.  
- * The functions operate on blocks of input and output data and each call to the function processes  
- * blockSize samples through the filter.  pSrc and  
- * pDst points to input and output arrays containing blockSize values.  
- *  
- * \par Algorithm:  
- * The FIR filter algorithm is based upon a sequence of multiply-accumulate (MAC) operations.  
- * Each filter coefficient b[n] is multiplied by a state variable which equals a previous input sample x[n].  
- * 
  
- *    y[n] = b[0] * x[n] + b[1] * x[n-1] + b[2] * x[n-2] + ...+ b[numTaps-1] * x[n-numTaps+1]  
- * 
  
- * \par  
- * \image html FIR.gif "Finite Impulse Response filter"  
- * \par  
- * pCoeffs points to a coefficient array of size numTaps.  
- * Coefficients are stored in time reversed order.  
- * \par  
- * 
  
- *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}  
- * 
  
- * \par  
- * pState points to a state array of size numTaps + blockSize - 1.  
- * Samples in the state buffer are stored in the following order.  
- * \par  
- * 
  
- *    {x[n-numTaps+1], x[n-numTaps], x[n-numTaps-1], x[n-numTaps-2]....x[0], x[1], ..., x[blockSize-1]}  
- * 
  
- * \par  
- * Note that the length of the state buffer exceeds the length of the coefficient array by blockSize-1.  
- * The increased state buffer length allows circular addressing, which is traditionally used in the FIR filters,  
- * to be avoided and yields a significant speed improvement.  
- * The state variables are updated after each block of data is processed; the coefficients are untouched.  
- * \par Instance Structure  
- * The coefficients and state variables for a filter are stored together in an instance data structure.  
- * A separate instance structure must be defined for each filter.  
- * Coefficient arrays may be shared among several instances while state variable arrays cannot be shared.  
- * There are separate instance structure declarations for each of the 4 supported data types.  
- *  
- * \par Initialization Functions  
- * There is also an associated initialization function for each data type.  
- * The initialization function performs the following operations:  
- * - Sets the values of the internal structure fields.  
- * - Zeros out the values in the state buffer.  
- *  
- * \par  
- * Use of the initialization function is optional.  
- * However, if the initialization function is used, then the instance structure cannot be placed into a const data section.  
- * To place an instance structure into a const data section, the instance structure must be manually initialized.  
- * Set the values in the state buffer to zeros before static initialization.  
- * The code below statically initializes each of the 4 different data type filter instance structures  
- * 
  
- *arm_fir_instance_f32 S = {numTaps, pState, pCoeffs};  
- *arm_fir_instance_q31 S = {numTaps, pState, pCoeffs};  
- *arm_fir_instance_q15 S = {numTaps, pState, pCoeffs};  
- *arm_fir_instance_q7 S =  {numTaps, pState, pCoeffs};  
- * 
  
- *  
- * where numTaps is the number of filter coefficients in the filter; pState is the address of the state buffer;  
- * pCoeffs is the address of the coefficient buffer.  
- *  
- * \par Fixed-Point Behavior  
- * Care must be taken when using the fixed-point versions of the FIR filter functions.  
- * In particular, the overflow and saturation behavior of the accumulator used in each function must be considered.  
- * Refer to the function specific documentation below for usage guidelines.  
- */
-
-/**  
- * @addtogroup FIR  
- * @{  
- */
-
-/**  
- *  
- * @param[in]  *S points to an instance of the floating-point FIR filter structure.  
- * @param[in]  *pSrc points to the block of input data.  
- * @param[out] *pDst points to the block of output data.  
- * @param[in]  blockSize number of samples to process per call.  
- * @return     none.  
- *  
- */
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-void arm_fir_f32(
-  const arm_fir_instance_f32 * S,
-  float32_t * pSrc,
-  float32_t * pDst,
-  uint32_t blockSize)
-{
-  float32_t *pState = S->pState;                 /* State pointer */
-  float32_t *pCoeffs = S->pCoeffs;               /* Coefficient pointer */
-  float32_t *pStateCurnt;                        /* Points to the current sample of the state */
-  float32_t *px, *pb;                            /* Temporary pointers for state and coefficient buffers */
-  float32_t acc0, acc1, acc2, acc3, acc4, acc5, acc6, acc7;     /* Accumulators */
-  float32_t x0, x1, x2, x3, x4, x5, x6, x7, c0;  /* Temporary variables to hold state and coefficient values */
-  uint32_t numTaps = S->numTaps;                 /* Number of filter coefficients in the filter */
-  uint32_t i, tapCnt, blkCnt;                    /* Loop counters */
-
-  /* S->pState points to state array which contains previous frame (numTaps - 1) samples */
-  /* pStateCurnt points to the location where the new input data should be written */
-  pStateCurnt = &(S->pState[(numTaps - 1u)]);
-
-  /* Apply loop unrolling and compute 4 output values simultaneously.  
-   * The variables acc0 ... acc3 hold output values that are being computed:  
-   *  
-   *    acc0 =  b[numTaps-1] * x[n-numTaps-1] + b[numTaps-2] * x[n-numTaps-2] + b[numTaps-3] * x[n-numTaps-3] +...+ b[0] * x[0]  
-   *    acc1 =  b[numTaps-1] * x[n-numTaps] +   b[numTaps-2] * x[n-numTaps-1] + b[numTaps-3] * x[n-numTaps-2] +...+ b[0] * x[1]  
-   *    acc2 =  b[numTaps-1] * x[n-numTaps+1] + b[numTaps-2] * x[n-numTaps] +   b[numTaps-3] * x[n-numTaps-1] +...+ b[0] * x[2]  
-   *    acc3 =  b[numTaps-1] * x[n-numTaps+2] + b[numTaps-2] * x[n-numTaps+1] + b[numTaps-3] * x[n-numTaps]   +...+ b[0] * x[3]  
-   */
-  blkCnt = blockSize >> 3;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.  
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-    /* Copy four new input samples into the state buffer */
-    *pStateCurnt++ = *pSrc++;
-    *pStateCurnt++ = *pSrc++;
-    *pStateCurnt++ = *pSrc++;
-    *pStateCurnt++ = *pSrc++;
-    *pStateCurnt++ = *pSrc++;
-    *pStateCurnt++ = *pSrc++;
-    *pStateCurnt++ = *pSrc++;
-    *pStateCurnt++ = *pSrc++;
-
-    /* Set all accumulators to zero */
-    acc0 = 0.0f;
-    acc1 = 0.0f;
-    acc2 = 0.0f;
-    acc3 = 0.0f;
-    acc4 = 0.0f;
-    acc5 = 0.0f;
-    acc6 = 0.0f;
-    acc7 = 0.0f;
-
-    /* Initialize state pointer */
-    px = pState;
-
-    /* Initialize coeff pointer */
-    pb = (pCoeffs);
-
-    /* Read the first three samples from the state buffer:  x[n-numTaps], x[n-numTaps-1], x[n-numTaps-2] */
-    x0 = *px++;
-    x1 = *px++;
-    x2 = *px++;
-    x3 = *px++;
-    x4 = *px++;
-    x5 = *px++;
-    x6 = *px++;
-
-    /* Loop unrolling.  Process 4 taps at a time. */
-    tapCnt = numTaps >> 3u;
-
-    /* Loop over the number of taps.  Unroll by a factor of 4.  
-     ** Repeat until we've computed numTaps-4 coefficients. */
-    while(tapCnt > 0u)
-    {
-      /* Read the b[numTaps-1] coefficient */
-      c0 = *(pb++);
-
-      /* Read x[n-numTaps-3] sample */
-      x7 = *(px++);
-
-      /* acc0 +=  b[numTaps-1] * x[n-numTaps] */
-      acc0 += x0 * c0;
-
-      /* acc1 +=  b[numTaps-1] * x[n-numTaps-1] */
-      acc1 += x1 * c0;
-
-      /* acc2 +=  b[numTaps-1] * x[n-numTaps-2] */
-      acc2 += x2 * c0;
-
-      /* acc3 +=  b[numTaps-1] * x[n-numTaps-3] */
-      acc3 += x3 * c0;
-
-      /* acc4 +=  b[numTaps-1] * x[n-numTaps-4] */
-      acc4 += x4 * c0;
-
-      /* acc1 +=  b[numTaps-1] * x[n-numTaps-5] */
-      acc5 += x5 * c0;
-
-      /* acc2 +=  b[numTaps-1] * x[n-numTaps-6] */
-      acc6 += x6 * c0;
-
-      /* acc3 +=  b[numTaps-1] * x[n-numTaps-7] */
-      acc7 += x7 * c0;
-
-      /* Read the b[numTaps-2] coefficient */
-      c0 = *(pb++);
-
-      /* Read x[n-numTaps-4] sample */
-      x0 = *(px++);
-
-      /* Perform the multiply-accumulate */
-      acc0 += x1 * c0;
-      acc1 += x2 * c0;
-      acc2 += x3 * c0;
-      acc3 += x4 * c0;
-      acc4 += x5 * c0;
-      acc5 += x6 * c0;
-      acc6 += x7 * c0;
-      acc7 += x0 * c0;
-
-      /* Read the b[numTaps-3] coefficient */
-      c0 = *(pb++);
-
-      /* Read x[n-numTaps-5] sample */
-      x1 = *(px++);
-
-      /* Perform the multiply-accumulates */
-      acc0 += x2 * c0;
-      acc1 += x3 * c0;
-      acc2 += x4 * c0;
-      acc3 += x5 * c0;
-      acc4 += x6 * c0;
-      acc5 += x7 * c0;
-      acc6 += x0 * c0;
-      acc7 += x1 * c0;
-
-      /* Read the b[numTaps-4] coefficient */
-      c0 = *(pb++);
-
-      /* Read x[n-numTaps-6] sample */
-      x2 = *(px++);
-
-      /* Perform the multiply-accumulates */
-      acc0 += x3 * c0;
-      acc1 += x4 * c0;
-      acc2 += x5 * c0;
-      acc3 += x6 * c0;
-      acc4 += x7 * c0;
-      acc5 += x0 * c0;
-      acc6 += x1 * c0;
-      acc7 += x2 * c0;
-
-      /* Read the b[numTaps-4] coefficient */
-      c0 = *(pb++);
-
-      /* Read x[n-numTaps-6] sample */
-      x3 = *(px++);
-
-      /* Perform the multiply-accumulates */
-      acc0 += x4 * c0;
-      acc1 += x5 * c0;
-      acc2 += x6 * c0;
-      acc3 += x7 * c0;
-      acc4 += x0 * c0;
-      acc5 += x1 * c0;
-      acc6 += x2 * c0;
-      acc7 += x3 * c0;
-
-      /* Read the b[numTaps-4] coefficient */
-      c0 = *(pb++);
-
-      /* Read x[n-numTaps-6] sample */
-      x4 = *(px++);
-
-      /* Perform the multiply-accumulates */
-      acc0 += x5 * c0;
-      acc1 += x6 * c0;
-      acc2 += x7 * c0;
-      acc3 += x0 * c0;
-      acc4 += x1 * c0;
-      acc5 += x2 * c0;
-      acc6 += x3 * c0;
-      acc7 += x4 * c0;
-
-      /* Read the b[numTaps-4] coefficient */
-      c0 = *(pb++);
-
-      /* Read x[n-numTaps-6] sample */
-      x5 = *(px++);
-
-      /* Perform the multiply-accumulates */
-      acc0 += x6 * c0;
-      acc1 += x7 * c0;
-      acc2 += x0 * c0;
-      acc3 += x1 * c0;
-      acc4 += x2 * c0;
-      acc5 += x3 * c0;
-      acc6 += x4 * c0;
-      acc7 += x5 * c0;
-
-      /* Read the b[numTaps-4] coefficient */
-      c0 = *(pb++);
-
-      /* Read x[n-numTaps-6] sample */
-      x6 = *(px++);
-
-      /* Perform the multiply-accumulates */
-      acc0 += x7 * c0;
-      acc1 += x0 * c0;
-      acc2 += x1 * c0;
-      acc3 += x2 * c0;
-      acc4 += x3 * c0;
-      acc5 += x4 * c0;
-      acc6 += x5 * c0;
-      acc7 += x6 * c0;
-
-      tapCnt--;
-    }
-
-    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
-    tapCnt = numTaps % 0x8u;
-
-    while(tapCnt > 0u)
-    {
-      /* Read coefficients */
-      c0 = *(pb++);
-
-      /* Fetch 1 state variable */
-      x7 = *(px++);
-
-      /* Perform the multiply-accumulates */
-      acc0 += x0 * c0;
-      acc1 += x1 * c0;
-      acc2 += x2 * c0;
-      acc3 += x3 * c0;
-      acc4 += x4 * c0;
-      acc5 += x5 * c0;
-      acc6 += x6 * c0;
-      acc7 += x7 * c0;
-
-      /* Reuse the present sample states for next sample */
-      x0 = x1;
-      x1 = x2;
-      x2 = x3;
-      x3 = x4;
-      x4 = x5;
-      x5 = x6;
-      x6 = x7;
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* Advance the state pointer by 4 to process the next group of 4 samples */
-    pState = pState + 8;
-
-    /* The results in the 4 accumulators, store in the destination buffer. */
-    *pDst++ = acc0;
-    *pDst++ = acc1;
-    *pDst++ = acc2;
-    *pDst++ = acc3;
-    *pDst++ = acc4;
-    *pDst++ = acc5;
-    *pDst++ = acc6;
-    *pDst++ = acc7;
-
-    blkCnt--;
-  }
-
-  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.  
-   ** No loop unrolling is used. */
-  blkCnt = blockSize % 0x8u;
-
-  while(blkCnt > 0u)
-  {
-    /* Copy one sample at a time into state buffer */
-    *pStateCurnt++ = *pSrc++;
-
-    /* Set the accumulator to zero */
-    acc0 = 0.0f;
-
-    /* Initialize state pointer */
-    px = pState;
-
-    /* Initialize Coefficient pointer */
-    pb = (pCoeffs);
-
-    i = numTaps;
-
-    /* Perform the multiply-accumulates */
-    do
-    {
-      acc0 += *px++ * *pb++;
-      i--;
-
-    } while(i > 0u);
-
-    /* The result is store in the destination buffer. */
-    *pDst++ = acc0;
-
-    /* Advance state pointer by 1 for the next sample */
-    pState = pState + 1;
-
-    blkCnt--;
-  }
-
-  /* Processing is complete.  
-   ** Now copy the last numTaps - 1 samples to the satrt of the state buffer.  
-   ** This prepares the state buffer for the next function call. */
-
-  /* Points to the start of the state buffer */
-  pStateCurnt = S->pState;
-
-  tapCnt = (numTaps - 1u) >> 2u;
-
-  /* copy data */
-  while(tapCnt > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    tapCnt--;
-  }
-
-  /* Calculate remaining number of copies */
-  tapCnt = (numTaps - 1u) % 0x4u;
-
-  /* Copy the remaining q31_t data */
-  while(tapCnt > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    tapCnt--;
-  }
-}
-
-#else
-
-void arm_fir_f32(
-  const arm_fir_instance_f32 * S,
-  float32_t * pSrc,
-  float32_t * pDst,
-  uint32_t blockSize)
-{
-  float32_t *pState = S->pState;                 /* State pointer */
-  float32_t *pCoeffs = S->pCoeffs;               /* Coefficient pointer */
-  float32_t *pStateCurnt;                        /* Points to the current sample of the state */
-  float32_t *px, *pb;                            /* Temporary pointers for state and coefficient buffers */
-  uint32_t numTaps = S->numTaps;                 /* Number of filter coefficients in the filter */
-  uint32_t i, tapCnt, blkCnt;                    /* Loop counters */
-
-  /* Run the below code for Cortex-M0 */
-
-  float32_t acc;
-
-  /* S->pState points to state array which contains previous frame (numTaps - 1) samples */
-  /* pStateCurnt points to the location where the new input data should be written */
-  pStateCurnt = &(S->pState[(numTaps - 1u)]);
-
-  /* Initialize blkCnt with blockSize */
-  blkCnt = blockSize;
-
-  while(blkCnt > 0u)
-  {
-    /* Copy one sample at a time into state buffer */
-    *pStateCurnt++ = *pSrc++;
-
-    /* Set the accumulator to zero */
-    acc = 0.0f;
-
-    /* Initialize state pointer */
-    px = pState;
-
-    /* Initialize Coefficient pointer */
-    pb = pCoeffs;
-
-    i = numTaps;
-
-    /* Perform the multiply-accumulates */
-    do
-    {
-      /* acc =  b[numTaps-1] * x[n-numTaps-1] + b[numTaps-2] * x[n-numTaps-2] + b[numTaps-3] * x[n-numTaps-3] +...+ b[0] * x[0] */
-      acc += *px++ * *pb++;
-      i--;
-
-    } while(i > 0u);
-
-    /* The result is store in the destination buffer. */
-    *pDst++ = acc;
-
-    /* Advance state pointer by 1 for the next sample */
-    pState = pState + 1;
-
-    blkCnt--;
-  }
-
-  /* Processing is complete.         
-   ** Now copy the last numTaps - 1 samples to the starting of the state buffer.       
-   ** This prepares the state buffer for the next function call. */
-
-  /* Points to the start of the state buffer */
-  pStateCurnt = S->pState;
-
-  /* Copy numTaps number of values */
-  tapCnt = numTaps - 1u;
-
-  /* Copy data */
-  while(tapCnt > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    tapCnt--;
-  }
-
-}
-
-#endif /*   #ifndef ARM_MATH_CM0 */
-
-/**  
- * @} end of FIR group  
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_fast_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_fast_q15.c
deleted file mode 100644
index 59abff2f5..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_fast_q15.c
+++ /dev/null
@@ -1,341 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:        arm_fir_fast_q15.c    
-*    
-* Description:  Q15 Fast FIR filter processing function.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-*    
-* Version 0.0.9  2010/08/16     
-*    Initial version    
-*    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup FIR    
- * @{    
- */
-
-/**    
- * @param[in] *S points to an instance of the Q15 FIR filter structure.    
- * @param[in] *pSrc points to the block of input data.    
- * @param[out] *pDst points to the block of output data.    
- * @param[in] blockSize number of samples to process per call.    
- * @return none.    
- *    
- * Scaling and Overflow Behavior:    
- * \par    
- * This fast version uses a 32-bit accumulator with 2.30 format.    
- * The accumulator maintains full precision of the intermediate multiplication results but provides only a single guard bit.    
- * Thus, if the accumulator result overflows it wraps around and distorts the result.    
- * In order to avoid overflows completely the input signal must be scaled down by log2(numTaps) bits.    
- * The 2.30 accumulator is then truncated to 2.15 format and saturated to yield the 1.15 result.    
- *    
- * \par    
- * Refer to the function arm_fir_q15() for a slower implementation of this function which uses 64-bit accumulation to avoid wrap around distortion.  Both the slow and the fast versions use the same instance structure.    
- * Use the function arm_fir_init_q15() to initialize the filter structure.    
- */
-
-void arm_fir_fast_q15(
-  const arm_fir_instance_q15 * S,
-  q15_t * pSrc,
-  q15_t * pDst,
-  uint32_t blockSize)
-{
-  q15_t *pState = S->pState;                     /* State pointer */
-  q15_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
-  q15_t *pStateCurnt;                            /* Points to the current sample of the state */
-  q31_t acc0, acc1, acc2, acc3;                  /* Accumulators */
-  q15_t *pb;                                     /* Temporary pointer for coefficient buffer */
-  q15_t *px;                                     /* Temporary q31 pointer for SIMD state buffer accesses */
-  q31_t x0, x1, x2, c0;                          /* Temporary variables to hold SIMD state and coefficient values */
-  uint32_t numTaps = S->numTaps;                 /* Number of taps in the filter */
-  uint32_t tapCnt, blkCnt;                       /* Loop counters */
-
-
-  /* S->pState points to state array which contains previous frame (numTaps - 1) samples */
-  /* pStateCurnt points to the location where the new input data should be written */
-  pStateCurnt = &(S->pState[(numTaps - 1u)]);
-
-  /* Apply loop unrolling and compute 4 output values simultaneously.      
-   * The variables acc0 ... acc3 hold output values that are being computed:      
-   *      
-   *    acc0 =  b[numTaps-1] * x[n-numTaps-1] + b[numTaps-2] * x[n-numTaps-2] + b[numTaps-3] * x[n-numTaps-3] +...+ b[0] * x[0]      
-   *    acc1 =  b[numTaps-1] * x[n-numTaps] +   b[numTaps-2] * x[n-numTaps-1] + b[numTaps-3] * x[n-numTaps-2] +...+ b[0] * x[1]      
-   *    acc2 =  b[numTaps-1] * x[n-numTaps+1] + b[numTaps-2] * x[n-numTaps] +   b[numTaps-3] * x[n-numTaps-1] +...+ b[0] * x[2]      
-   *    acc3 =  b[numTaps-1] * x[n-numTaps+2] + b[numTaps-2] * x[n-numTaps+1] + b[numTaps-3] * x[n-numTaps]   +...+ b[0] * x[3]      
-   */
-
-  blkCnt = blockSize >> 2;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.      
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-    /* Copy four new input samples into the state buffer.      
-     ** Use 32-bit SIMD to move the 16-bit data.  Only requires two copies. */
-    *pStateCurnt++ = *pSrc++;
-    *pStateCurnt++ = *pSrc++;
-    *pStateCurnt++ = *pSrc++;
-    *pStateCurnt++ = *pSrc++;
-
-
-    /* Set all accumulators to zero */
-    acc0 = 0;
-    acc1 = 0;
-    acc2 = 0;
-    acc3 = 0;
-
-    /* Typecast q15_t pointer to q31_t pointer for state reading in q31_t */
-    px = pState;
-
-    /* Typecast q15_t pointer to q31_t pointer for coefficient reading in q31_t */
-    pb = pCoeffs;
-
-    /* Read the first two samples from the state buffer:  x[n-N], x[n-N-1] */
-    x0 = *__SIMD32(px)++;
-
-    /* Read the third and forth samples from the state buffer: x[n-N-2], x[n-N-3] */
-    x2 = *__SIMD32(px)++;
-
-    /* Loop over the number of taps.  Unroll by a factor of 4.      
-     ** Repeat until we've computed numTaps-(numTaps%4) coefficients. */
-    tapCnt = numTaps >> 2;
-
-    while(tapCnt > 0)
-    {
-      /* Read the first two coefficients using SIMD:  b[N] and b[N-1] coefficients */
-      c0 = *__SIMD32(pb)++;
-
-      /* acc0 +=  b[N] * x[n-N] + b[N-1] * x[n-N-1] */
-      acc0 = __SMLAD(x0, c0, acc0);
-
-      /* acc2 +=  b[N] * x[n-N-2] + b[N-1] * x[n-N-3] */
-      acc2 = __SMLAD(x2, c0, acc2);
-
-      /* pack  x[n-N-1] and x[n-N-2] */
-#ifndef ARM_MATH_BIG_ENDIAN
-      x1 = __PKHBT(x2, x0, 0);
-#else
-      x1 = __PKHBT(x0, x2, 0);
-#endif
-
-      /* Read state x[n-N-4], x[n-N-5] */
-      x0 = _SIMD32_OFFSET(px);
-
-      /* acc1 +=  b[N] * x[n-N-1] + b[N-1] * x[n-N-2] */
-      acc1 = __SMLADX(x1, c0, acc1);
-
-      /* pack  x[n-N-3] and x[n-N-4] */
-#ifndef ARM_MATH_BIG_ENDIAN
-      x1 = __PKHBT(x0, x2, 0);
-#else
-      x1 = __PKHBT(x2, x0, 0);
-#endif
-
-      /* acc3 +=  b[N] * x[n-N-3] + b[N-1] * x[n-N-4] */
-      acc3 = __SMLADX(x1, c0, acc3);
-
-      /* Read coefficients b[N-2], b[N-3] */
-      c0 = *__SIMD32(pb)++;
-
-      /* acc0 +=  b[N-2] * x[n-N-2] + b[N-3] * x[n-N-3] */
-      acc0 = __SMLAD(x2, c0, acc0);
-
-      /* Read state x[n-N-6], x[n-N-7] with offset */
-      x2 = _SIMD32_OFFSET(px + 2u);
-
-      /* acc2 +=  b[N-2] * x[n-N-4] + b[N-3] * x[n-N-5] */
-      acc2 = __SMLAD(x0, c0, acc2);
-
-      /* acc1 +=  b[N-2] * x[n-N-3] + b[N-3] * x[n-N-4] */
-      acc1 = __SMLADX(x1, c0, acc1);
-
-      /* pack  x[n-N-5] and x[n-N-6] */
-#ifndef ARM_MATH_BIG_ENDIAN
-      x1 = __PKHBT(x2, x0, 0);
-#else
-      x1 = __PKHBT(x0, x2, 0);
-#endif
-
-      /* acc3 +=  b[N-2] * x[n-N-5] + b[N-3] * x[n-N-6] */
-      acc3 = __SMLADX(x1, c0, acc3);
-
-      /* Update state pointer for next state reading */
-      px += 4u;
-
-      /* Decrement tap count */
-      tapCnt--;
-
-    }
-
-    /* If the filter length is not a multiple of 4, compute the remaining filter taps.       
-     ** This is always be 2 taps since the filter length is even. */
-    if((numTaps & 0x3u) != 0u)
-    {
-
-      /* Read last two coefficients */
-      c0 = *__SIMD32(pb)++;
-
-      /* Perform the multiply-accumulates */
-      acc0 = __SMLAD(x0, c0, acc0);
-      acc2 = __SMLAD(x2, c0, acc2);
-
-      /* pack state variables */
-#ifndef ARM_MATH_BIG_ENDIAN
-      x1 = __PKHBT(x2, x0, 0);
-#else
-      x1 = __PKHBT(x0, x2, 0);
-#endif
-
-      /* Read last state variables */
-      x0 = *__SIMD32(px);
-
-      /* Perform the multiply-accumulates */
-      acc1 = __SMLADX(x1, c0, acc1);
-
-      /* pack state variables */
-#ifndef ARM_MATH_BIG_ENDIAN
-      x1 = __PKHBT(x0, x2, 0);
-#else
-      x1 = __PKHBT(x2, x0, 0);
-#endif
-
-      /* Perform the multiply-accumulates */
-      acc3 = __SMLADX(x1, c0, acc3);
-    }
-
-    /* The results in the 4 accumulators are in 2.30 format.  Convert to 1.15 with saturation.       
-     ** Then store the 4 outputs in the destination buffer. */
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-    *__SIMD32(pDst)++ =
-      __PKHBT(__SSAT((acc0 >> 15), 16), __SSAT((acc1 >> 15), 16), 16);
-
-    *__SIMD32(pDst)++ =
-      __PKHBT(__SSAT((acc2 >> 15), 16), __SSAT((acc3 >> 15), 16), 16);
-
-#else
-
-    *__SIMD32(pDst)++ =
-      __PKHBT(__SSAT((acc1 >> 15), 16), __SSAT((acc0 >> 15), 16), 16);
-
-    *__SIMD32(pDst)++ =
-      __PKHBT(__SSAT((acc3 >> 15), 16), __SSAT((acc2 >> 15), 16), 16);
-
-
-#endif /*      #ifndef ARM_MATH_BIG_ENDIAN       */
-
-    /* Advance the state pointer by 4 to process the next group of 4 samples */
-    pState = pState + 4u;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.      
-   ** No loop unrolling is used. */
-  blkCnt = blockSize % 0x4u;
-  while(blkCnt > 0u)
-  {
-    /* Copy two samples into state buffer */
-    *pStateCurnt++ = *pSrc++;
-
-    /* Set the accumulator to zero */
-    acc0 = 0;
-
-    /* Use SIMD to hold states and coefficients */
-    px = pState;
-    pb = pCoeffs;
-
-    tapCnt = numTaps >> 1u;
-
-    do
-    {
-
-      acc0 += (q31_t) * px++ * *pb++;
-	  acc0 += (q31_t) * px++ * *pb++;
-
-      tapCnt--;
-    }
-    while(tapCnt > 0u);
-
-    /* The result is in 2.30 format.  Convert to 1.15 with saturation.      
-     ** Then store the output in the destination buffer. */
-    *pDst++ = (q15_t) (__SSAT((acc0 >> 15), 16));
-
-    /* Advance state pointer by 1 for the next sample */
-    pState = pState + 1u;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* Processing is complete.      
-   ** Now copy the last numTaps - 1 samples to the satrt of the state buffer.      
-   ** This prepares the state buffer for the next function call. */
-
-  /* Points to the start of the state buffer */
-  pStateCurnt = S->pState;
-
-  /* Calculation of count for copying integer writes */
-  tapCnt = (numTaps - 1u) >> 2;
-
-  while(tapCnt > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-
-    tapCnt--;
-
-  }
-
-  /* Calculation of count for remaining q15_t data */
-  tapCnt = (numTaps - 1u) % 0x4u;
-
-  /* copy remaining data */
-  while(tapCnt > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    tapCnt--;
-  }
-
-}
-
-/**    
- * @} end of FIR group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_fast_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_fast_q31.c
deleted file mode 100644
index e384ff973..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_fast_q31.c
+++ /dev/null
@@ -1,309 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_fir_fast_q31.c    
-*    
-* Description:	Processing function for the Q31 Fast FIR filter.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-*    
-* Version 0.0.9  2010/08/27     
-*    Initial version    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup FIR    
- * @{    
- */
-
-/**    
- * @param[in] *S points to an instance of the Q31 structure.    
- * @param[in] *pSrc points to the block of input data.    
- * @param[out] *pDst points to the block output data.    
- * @param[in] blockSize number of samples to process per call.    
- * @return none.    
- *    
- * Scaling and Overflow Behavior:    
- *    
- * \par    
- * This function is optimized for speed at the expense of fixed-point precision and overflow protection.    
- * The result of each 1.31 x 1.31 multiplication is truncated to 2.30 format.    
- * These intermediate results are added to a 2.30 accumulator.    
- * Finally, the accumulator is saturated and converted to a 1.31 result.    
- * The fast version has the same overflow behavior as the standard version and provides less precision since it discards the low 32 bits of each multiplication result.    
- * In order to avoid overflows completely the input signal must be scaled down by log2(numTaps) bits.    
- *    
- * \par    
- * Refer to the function arm_fir_q31() for a slower implementation of this function which uses a 64-bit accumulator to provide higher precision.  Both the slow and the fast versions use the same instance structure.    
- * Use the function arm_fir_init_q31() to initialize the filter structure.    
- */
-
-void arm_fir_fast_q31(
-  const arm_fir_instance_q31 * S,
-  q31_t * pSrc,
-  q31_t * pDst,
-  uint32_t blockSize)
-{
-  q31_t *pState = S->pState;                     /* State pointer */
-  q31_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
-  q31_t *pStateCurnt;                            /* Points to the current sample of the state */
-  q31_t x0, x1, x2, x3;                          /* Temporary variables to hold state */
-  q31_t c0;                                      /* Temporary variable to hold coefficient value */
-  q31_t *px;                                     /* Temporary pointer for state */
-  q31_t *pb;                                     /* Temporary pointer for coefficient buffer */
-  q31_t acc0, acc1, acc2, acc3;                  /* Accumulators */
-  uint32_t numTaps = S->numTaps;                 /* Number of filter coefficients in the filter */
-  uint32_t i, tapCnt, blkCnt;                    /* Loop counters */
-
-  /* S->pState points to buffer which contains previous frame (numTaps - 1) samples */
-  /* pStateCurnt points to the location where the new input data should be written */
-  pStateCurnt = &(S->pState[(numTaps - 1u)]);
-
-  /* Apply loop unrolling and compute 4 output values simultaneously.    
-   * The variables acc0 ... acc3 hold output values that are being computed:    
-   *    
-   *    acc0 =  b[numTaps-1] * x[n-numTaps-1] + b[numTaps-2] * x[n-numTaps-2] + b[numTaps-3] * x[n-numTaps-3] +...+ b[0] * x[0]    
-   *    acc1 =  b[numTaps-1] * x[n-numTaps] +   b[numTaps-2] * x[n-numTaps-1] + b[numTaps-3] * x[n-numTaps-2] +...+ b[0] * x[1]    
-   *    acc2 =  b[numTaps-1] * x[n-numTaps+1] + b[numTaps-2] * x[n-numTaps] +   b[numTaps-3] * x[n-numTaps-1] +...+ b[0] * x[2]    
-   *    acc3 =  b[numTaps-1] * x[n-numTaps+2] + b[numTaps-2] * x[n-numTaps+1] + b[numTaps-3] * x[n-numTaps]   +...+ b[0] * x[3]    
-   */
-  blkCnt = blockSize >> 2;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-    /* Copy four new input samples into the state buffer */
-    *pStateCurnt++ = *pSrc++;
-    *pStateCurnt++ = *pSrc++;
-    *pStateCurnt++ = *pSrc++;
-    *pStateCurnt++ = *pSrc++;
-
-    /* Set all accumulators to zero */
-    acc0 = 0;
-    acc1 = 0;
-    acc2 = 0;
-    acc3 = 0;
-
-    /* Initialize state pointer */
-    px = pState;
-
-    /* Initialize coefficient pointer */
-    pb = pCoeffs;
-
-    /* Read the first three samples from the state buffer:    
-     *  x[n-numTaps], x[n-numTaps-1], x[n-numTaps-2] */
-    x0 = *(px++);
-    x1 = *(px++);
-    x2 = *(px++);
-
-    /* Loop unrolling.  Process 4 taps at a time. */
-    tapCnt = numTaps >> 2;
-    i = tapCnt;
-
-    while(i > 0u)
-    {
-      /* Read the b[numTaps] coefficient */
-      c0 = *(pb++);
-
-      /* Read x[n-numTaps-3] sample */
-      x3 = *(px++);
-
-      /* acc0 +=  b[numTaps] * x[n-numTaps] */
-      acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x0 * c0)) >> 32);
-
-      /* acc1 +=  b[numTaps] * x[n-numTaps-1] */
-      acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x1 * c0)) >> 32);
-
-      /* acc2 +=  b[numTaps] * x[n-numTaps-2] */
-      acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x2 * c0)) >> 32);
-
-      /* acc3 +=  b[numTaps] * x[n-numTaps-3] */
-      acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x3 * c0)) >> 32);
-
-      /* Read the b[numTaps-1] coefficient */
-      c0 = *(pb++);
-
-      /* Read x[n-numTaps-4] sample */
-      x0 = *(px++);
-
-      /* Perform the multiply-accumulates */
-      acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x1 * c0)) >> 32);
-      acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x2 * c0)) >> 32);
-      acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x3 * c0)) >> 32);
-      acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x0 * c0)) >> 32);
-
-      /* Read the b[numTaps-2] coefficient */
-      c0 = *(pb++);
-
-      /* Read x[n-numTaps-5] sample */
-      x1 = *(px++);
-
-      /* Perform the multiply-accumulates */
-      acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x2 * c0)) >> 32);
-      acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x3 * c0)) >> 32);
-      acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x0 * c0)) >> 32);
-      acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x1 * c0)) >> 32);
-
-      /* Read the b[numTaps-3] coefficients */
-      c0 = *(pb++);
-
-      /* Read x[n-numTaps-6] sample */
-      x2 = *(px++);
-
-      /* Perform the multiply-accumulates */
-      acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x3 * c0)) >> 32);
-      acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x0 * c0)) >> 32);
-      acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x1 * c0)) >> 32);
-      acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x2 * c0)) >> 32);
-      i--;
-    }
-
-    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
-
-    i = numTaps - (tapCnt * 4u);
-    while(i > 0u)
-    {
-      /* Read coefficients */
-      c0 = *(pb++);
-
-      /* Fetch 1 state variable */
-      x3 = *(px++);
-
-      /* Perform the multiply-accumulates */
-      acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x0 * c0)) >> 32);
-      acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x1 * c0)) >> 32);
-      acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x2 * c0)) >> 32);
-      acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x3 * c0)) >> 32);
-
-      /* Reuse the present sample states for next sample */
-      x0 = x1;
-      x1 = x2;
-      x2 = x3;
-
-      /* Decrement the loop counter */
-      i--;
-    }
-
-    /* Advance the state pointer by 4 to process the next group of 4 samples */
-    pState = pState + 4;
-
-    /* The results in the 4 accumulators are in 2.30 format.  Convert to 1.31    
-     ** Then store the 4 outputs in the destination buffer. */
-    *pDst++ = (q31_t) (acc0 << 1);
-    *pDst++ = (q31_t) (acc1 << 1);
-    *pDst++ = (q31_t) (acc2 << 1);
-    *pDst++ = (q31_t) (acc3 << 1);
-
-    /* Decrement the samples loop counter */
-    blkCnt--;
-  }
-
-
-  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
-   ** No loop unrolling is used. */
-  blkCnt = blockSize % 4u;
-
-  while(blkCnt > 0u)
-  {
-    /* Copy one sample at a time into state buffer */
-    *pStateCurnt++ = *pSrc++;
-
-    /* Set the accumulator to zero */
-    acc0 = 0;
-
-    /* Initialize state pointer */
-    px = pState;
-
-    /* Initialize Coefficient pointer */
-    pb = (pCoeffs);
-
-    i = numTaps;
-
-    /* Perform the multiply-accumulates */
-    do
-    {
-      acc0 =
-        (q31_t) ((((q63_t) acc0 << 32) +
-                  ((q63_t) (*px++) * (*(pb++)))) >> 32);
-      i--;
-    } while(i > 0u);
-
-    /* The result is in 2.30 format.  Convert to 1.31    
-     ** Then store the output in the destination buffer. */
-    *pDst++ = (q31_t) (acc0 << 1);
-
-    /* Advance state pointer by 1 for the next sample */
-    pState = pState + 1;
-
-    /* Decrement the samples loop counter */
-    blkCnt--;
-  }
-
-  /* Processing is complete.    
-   ** Now copy the last numTaps - 1 samples to the satrt of the state buffer.    
-   ** This prepares the state buffer for the next function call. */
-
-  /* Points to the start of the state buffer */
-  pStateCurnt = S->pState;
-
-  tapCnt = (numTaps - 1u) >> 2u;
-
-  /* copy data */
-  while(tapCnt > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    tapCnt--;
-  }
-
-  /* Calculate remaining number of copies */
-  tapCnt = (numTaps - 1u) % 0x4u;
-
-  /* Copy the remaining q31_t data */
-  while(tapCnt > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    tapCnt--;
-  }
-
-
-}
-
-/**    
- * @} end of FIR group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_init_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_init_f32.c
deleted file mode 100644
index aaeddf5f6..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_init_f32.c
+++ /dev/null
@@ -1,94 +0,0 @@
-/*-----------------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:        arm_fir_init_f32.c    
-*    
-* Description:  Floating-point FIR filter initialization function.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-*    
-* Version 0.0.5  2010/04/26     
-* 	 incorporated review comments and updated with latest CMSIS layer    
-*    
-* Version 0.0.3  2010/03/10     
-*    Initial version    
-* ---------------------------------------------------------------------------*/
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup FIR    
- * @{    
- */
-
-/**    
- * @details    
- *    
- * @param[in,out] *S points to an instance of the floating-point FIR filter structure.    
- * @param[in] 	  numTaps  Number of filter coefficients in the filter.    
- * @param[in]     *pCoeffs points to the filter coefficients buffer.    
- * @param[in]     *pState points to the state buffer.    
- * @param[in] 	  blockSize number of samples that are processed per call.    
- * @return 		  none.    
- *    
- * Description:    
- * \par    
- * pCoeffs points to the array of filter coefficients stored in time reversed order:    
- * 
    
- *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}    
- * 
    
- * \par    
- * pState points to the array of state variables.    
- * pState is of length numTaps+blockSize-1 samples, where blockSize is the number of input samples processed by each call to arm_fir_f32().    
- */
-
-void arm_fir_init_f32(
-  arm_fir_instance_f32 * S,
-  uint16_t numTaps,
-  float32_t * pCoeffs,
-  float32_t * pState,
-  uint32_t blockSize)
-{
-  /* Assign filter taps */
-  S->numTaps = numTaps;
-
-  /* Assign coefficient pointer */
-  S->pCoeffs = pCoeffs;
-
-  /* Clear state buffer and the size of state buffer is (blockSize + numTaps - 1) */
-  memset(pState, 0, (numTaps + (blockSize - 1u)) * sizeof(float32_t));
-
-  /* Assign state pointer */
-  S->pState = pState;
-
-}
-
-/**    
- * @} end of FIR group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q15.c
deleted file mode 100644
index 02bb33623..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q15.c
+++ /dev/null
@@ -1,152 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:        arm_fir_init_q15.c    
-*    
-* Description:  Q15 FIR filter initialization function.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-*    
-* Version 0.0.5  2010/04/26     
-* 	 incorporated review comments and updated with latest CMSIS layer    
-*    
-* Version 0.0.3  2010/03/10     
-*    Initial version    
-* ------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup FIR    
- * @{    
- */
-
-/**    
- * @param[in,out]  *S points to an instance of the Q15 FIR filter structure.    
- * @param[in] 	   numTaps  Number of filter coefficients in the filter. Must be even and greater than or equal to 4.    
- * @param[in]      *pCoeffs points to the filter coefficients buffer.    
- * @param[in]      *pState points to the state buffer.    
- * @param[in]      blockSize is number of samples processed per call.    
- * @return The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if    
- * numTaps is not greater than or equal to 4 and even.    
- *    
- * Description:    
- * \par    
- * pCoeffs points to the array of filter coefficients stored in time reversed order:    
- * 
    
- *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}    
- * 
    
- * Note that numTaps must be even and greater than or equal to 4.    
- * To implement an odd length filter simply increase numTaps by 1 and set the last coefficient to zero.    
- * For example, to implement a filter with numTaps=3 and coefficients    
- * 
    
- *     {0.3, -0.8, 0.3}    
- * 
    
- * set numTaps=4 and use the coefficients:    
- * 
    
- *     {0.3, -0.8, 0.3, 0}.    
- * 
    
- * Similarly, to implement a two point filter    
- * 
    
- *     {0.3, -0.3}    
- * 
    
- * set numTaps=4 and use the coefficients:    
- * 
    
- *     {0.3, -0.3, 0, 0}.    
- * 
    
- * \par    
- * pState points to the array of state variables.    
- * pState is of length numTaps+blockSize, when running on Cortex-M4 and Cortex-M3  and is of length numTaps+blockSize-1, when running on Cortex-M0 where blockSize is the number of input samples processed by each call to arm_fir_q15().    
- */
-
-arm_status arm_fir_init_q15(
-  arm_fir_instance_q15 * S,
-  uint16_t numTaps,
-  q15_t * pCoeffs,
-  q15_t * pState,
-  uint32_t blockSize)
-{
-  arm_status status;
-
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  /* The Number of filter coefficients in the filter must be even and at least 4 */
-  if(numTaps & 0x1u)
-  {
-    status = ARM_MATH_ARGUMENT_ERROR;
-  }
-  else
-  {
-    /* Assign filter taps */
-    S->numTaps = numTaps;
-
-    /* Assign coefficient pointer */
-    S->pCoeffs = pCoeffs;
-
-    /* Clear the state buffer.  The size is always (blockSize + numTaps ) */
-    memset(pState, 0, (numTaps + (blockSize)) * sizeof(q15_t));
-
-    /* Assign state pointer */
-    S->pState = pState;
-
-    status = ARM_MATH_SUCCESS;
-  }
-
-  return (status);
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  /* Assign filter taps */
-  S->numTaps = numTaps;
-
-  /* Assign coefficient pointer */
-  S->pCoeffs = pCoeffs;
-
-  /* Clear the state buffer.  The size is always (blockSize + numTaps - 1) */
-  memset(pState, 0, (numTaps + (blockSize - 1u)) * sizeof(q15_t));
-
-  /* Assign state pointer */
-  S->pState = pState;
-
-  status = ARM_MATH_SUCCESS;
-
-  return (status);
-
-#endif /*  #ifndef ARM_MATH_CM0 */
-
-}
-
-/**    
- * @} end of FIR group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q31.c
deleted file mode 100644
index 997a78427..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q31.c
+++ /dev/null
@@ -1,94 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_fir_init_q31.c    
-*    
-* Description:	Q31 FIR filter initialization function.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-*    
-* Version 0.0.5  2010/04/26     
-* 	 incorporated review comments and updated with latest CMSIS layer    
-*    
-* Version 0.0.3  2010/03/10     
-*    Initial version    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup FIR    
- * @{    
- */
-
-/**    
- * @details    
- *    
- * @param[in,out] *S points to an instance of the Q31 FIR filter structure.    
- * @param[in] 	  numTaps  Number of filter coefficients in the filter.    
- * @param[in] 	  *pCoeffs points to the filter coefficients buffer.    
- * @param[in] 	  *pState points to the state buffer.    
- * @param[in] 	  blockSize number of samples that are processed per call.    
- * @return        none.    
- *    
- * Description:    
- * \par    
- * pCoeffs points to the array of filter coefficients stored in time reversed order:    
- * 
    
- *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}    
- * 
    
- * \par    
- * pState points to the array of state variables.    
- * pState is of length numTaps+blockSize-1 samples, where blockSize is the number of input samples processed by each call to arm_fir_q31().    
- */
-
-void arm_fir_init_q31(
-  arm_fir_instance_q31 * S,
-  uint16_t numTaps,
-  q31_t * pCoeffs,
-  q31_t * pState,
-  uint32_t blockSize)
-{
-  /* Assign filter taps */
-  S->numTaps = numTaps;
-
-  /* Assign coefficient pointer */
-  S->pCoeffs = pCoeffs;
-
-  /* Clear state buffer and state array size is (blockSize + numTaps - 1) */
-  memset(pState, 0, (blockSize + ((uint32_t) numTaps - 1u)) * sizeof(q31_t));
-
-  /* Assign state pointer */
-  S->pState = pState;
-
-}
-
-/**    
- * @} end of FIR group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q7.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q7.c
deleted file mode 100644
index 65a49a823..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q7.c
+++ /dev/null
@@ -1,92 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:        arm_fir_init_q7.c    
-*    
-* Description:  Q7 FIR filter initialization function.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-*    
-* Version 0.0.5  2010/04/26     
-* 	 incorporated review comments and updated with latest CMSIS layer    
-*    
-* Version 0.0.3  2010/03/10     
-*    Initial version    
-* ------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup FIR    
- * @{    
- */
-/**    
- * @param[in,out] *S points to an instance of the Q7 FIR filter structure.    
- * @param[in] 	  numTaps  Number of filter coefficients in the filter.    
- * @param[in] 	  *pCoeffs points to the filter coefficients buffer.    
- * @param[in]     *pState points to the state buffer.    
- * @param[in]     blockSize number of samples that are processed per call.    
- * @return     	  none    
- *    
- * Description:    
- * \par    
- * pCoeffs points to the array of filter coefficients stored in time reversed order:    
- * 
    
- *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}    
- * 
    
- * \par    
- * pState points to the array of state variables.    
- * pState is of length numTaps+blockSize-1 samples, where blockSize is the number of input samples processed by each call to arm_fir_q7().    
- */
-
-void arm_fir_init_q7(
-  arm_fir_instance_q7 * S,
-  uint16_t numTaps,
-  q7_t * pCoeffs,
-  q7_t * pState,
-  uint32_t blockSize)
-{
-
-  /* Assign filter taps */
-  S->numTaps = numTaps;
-
-  /* Assign coefficient pointer */
-  S->pCoeffs = pCoeffs;
-
-  /* Clear the state buffer.  The size is always (blockSize + numTaps - 1) */
-  memset(pState, 0, (numTaps + (blockSize - 1u)) * sizeof(q7_t));
-
-  /* Assign state pointer */
-  S->pState = pState;
-
-}
-
-/**    
- * @} end of FIR group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_f32.c
deleted file mode 100644
index c966a0ced..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_f32.c
+++ /dev/null
@@ -1,574 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_fir_interpolate_f32.c    
-*    
-* Description:	FIR interpolation for floating-point sequences.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @defgroup FIR_Interpolate Finite Impulse Response (FIR) Interpolator    
- *    
- * These functions combine an upsampler (zero stuffer) and an FIR filter.    
- * They are used in multirate systems for increasing the sample rate of a signal without introducing high frequency images.    
- * Conceptually, the functions are equivalent to the block diagram below:    
- * \image html FIRInterpolator.gif "Components included in the FIR Interpolator functions"    
- * After upsampling by a factor of L, the signal should be filtered by a lowpass filter with a normalized    
- * cutoff frequency of 1/L in order to eliminate high frequency copies of the spectrum.    
- * The user of the function is responsible for providing the filter coefficients.    
- *    
- * The FIR interpolator functions provided in the CMSIS DSP Library combine the upsampler and FIR filter in an efficient manner.    
- * The upsampler inserts L-1 zeros between each sample.    
- * Instead of multiplying by these zero values, the FIR filter is designed to skip them.    
- * This leads to an efficient implementation without any wasted effort.    
- * The functions operate on blocks of input and output data.    
- * pSrc points to an array of blockSize input values and    
- * pDst points to an array of blockSize*L output values.    
- *    
- * The library provides separate functions for Q15, Q31, and floating-point data types.    
- *    
- * \par Algorithm:    
- * The functions use a polyphase filter structure:    
- * 
    
- *    y[n] = b[0] * x[n] + b[L]   * x[n-1] + ... + b[L*(phaseLength-1)] * x[n-phaseLength+1]    
- *    y[n+1] = b[1] * x[n] + b[L+1] * x[n-1] + ... + b[L*(phaseLength-1)+1] * x[n-phaseLength+1]    
- *    ...    
- *    y[n+(L-1)] = b[L-1] * x[n] + b[2*L-1] * x[n-1] + ....+ b[L*(phaseLength-1)+(L-1)] * x[n-phaseLength+1]    
- * 
    
- * This approach is more efficient than straightforward upsample-then-filter algorithms.    
- * With this method the computation is reduced by a factor of 1/L when compared to using a standard FIR filter.    
- * \par    
- * pCoeffs points to a coefficient array of size numTaps.    
- * numTaps must be a multiple of the interpolation factor L and this is checked by the    
- * initialization functions.    
- * Internally, the function divides the FIR filter's impulse response into shorter filters of length    
- * phaseLength=numTaps/L.    
- * Coefficients are stored in time reversed order.    
- * \par    
- * 
    
- *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}    
- * 
    
- * \par    
- * pState points to a state array of size blockSize + phaseLength - 1.    
- * Samples in the state buffer are stored in the order:    
- * \par    
- * 
    
- *    {x[n-phaseLength+1], x[n-phaseLength], x[n-phaseLength-1], x[n-phaseLength-2]....x[0], x[1], ..., x[blockSize-1]}    
- * 
    
- * The state variables are updated after each block of data is processed, the coefficients are untouched.    
- *    
- * \par Instance Structure    
- * The coefficients and state variables for a filter are stored together in an instance data structure.    
- * A separate instance structure must be defined for each filter.    
- * Coefficient arrays may be shared among several instances while state variable array should be allocated separately.    
- * There are separate instance structure declarations for each of the 3 supported data types.    
- *    
- * \par Initialization Functions    
- * There is also an associated initialization function for each data type.    
- * The initialization function performs the following operations:    
- * - Sets the values of the internal structure fields.    
- * - Zeros out the values in the state buffer.    
- * - Checks to make sure that the length of the filter is a multiple of the interpolation factor.    
- *    
- * \par    
- * Use of the initialization function is optional.    
- * However, if the initialization function is used, then the instance structure cannot be placed into a const data section.    
- * To place an instance structure into a const data section, the instance structure must be manually initialized.    
- * The code below statically initializes each of the 3 different data type filter instance structures    
- * 
    
- * arm_fir_interpolate_instance_f32 S = {L, phaseLength, pCoeffs, pState};    
- * arm_fir_interpolate_instance_q31 S = {L, phaseLength, pCoeffs, pState};    
- * arm_fir_interpolate_instance_q15 S = {L, phaseLength, pCoeffs, pState};    
- * 
    
- * where L is the interpolation factor; phaseLength=numTaps/L is the    
- * length of each of the shorter FIR filters used internally,    
- * pCoeffs is the address of the coefficient buffer;    
- * pState is the address of the state buffer.    
- * Be sure to set the values in the state buffer to zeros when doing static initialization.    
- *    
- * \par Fixed-Point Behavior    
- * Care must be taken when using the fixed-point versions of the FIR interpolate filter functions.    
- * In particular, the overflow and saturation behavior of the accumulator used in each function must be considered.    
- * Refer to the function specific documentation below for usage guidelines.    
- */
-
-/**    
- * @addtogroup FIR_Interpolate    
- * @{    
- */
-
-/**    
- * @brief Processing function for the floating-point FIR interpolator.    
- * @param[in] *S        points to an instance of the floating-point FIR interpolator structure.    
- * @param[in] *pSrc     points to the block of input data.    
- * @param[out] *pDst    points to the block of output data.    
- * @param[in] blockSize number of input samples to process per call.    
- * @return none.    
- */
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-void arm_fir_interpolate_f32(
-  const arm_fir_interpolate_instance_f32 * S,
-  float32_t * pSrc,
-  float32_t * pDst,
-  uint32_t blockSize)
-{
-  float32_t *pState = S->pState;                 /* State pointer */
-  float32_t *pCoeffs = S->pCoeffs;               /* Coefficient pointer */
-  float32_t *pStateCurnt;                        /* Points to the current sample of the state */
-  float32_t *ptr1, *ptr2;                        /* Temporary pointers for state and coefficient buffers */
-  float32_t sum0;                                /* Accumulators */
-  float32_t x0, c0;                              /* Temporary variables to hold state and coefficient values */
-  uint32_t i, blkCnt, j;                         /* Loop counters */
-  uint16_t phaseLen = S->phaseLength, tapCnt;    /* Length of each polyphase filter component */
-  float32_t acc0, acc1, acc2, acc3;
-  float32_t x1, x2, x3;
-  uint32_t blkCntN4;
-  float32_t c1, c2, c3;
-
-  /* S->pState buffer contains previous frame (phaseLen - 1) samples */
-  /* pStateCurnt points to the location where the new input data should be written */
-  pStateCurnt = S->pState + (phaseLen - 1u);
-
-  /* Initialise  blkCnt */
-  blkCnt = blockSize / 4;
-  blkCntN4 = blockSize - (4 * blkCnt);
-
-  /* Samples loop unrolled by 4 */
-  while(blkCnt > 0u)
-  {
-    /* Copy new input sample into the state buffer */
-    *pStateCurnt++ = *pSrc++;
-    *pStateCurnt++ = *pSrc++;
-    *pStateCurnt++ = *pSrc++;
-    *pStateCurnt++ = *pSrc++;
-
-    /* Address modifier index of coefficient buffer */
-    j = 1u;
-
-    /* Loop over the Interpolation factor. */
-    i = (S->L);
-
-    while(i > 0u)
-    {
-      /* Set accumulator to zero */
-      acc0 = 0.0f;
-      acc1 = 0.0f;
-      acc2 = 0.0f;
-      acc3 = 0.0f;
-
-      /* Initialize state pointer */
-      ptr1 = pState;
-
-      /* Initialize coefficient pointer */
-      ptr2 = pCoeffs + (S->L - j);
-
-      /* Loop over the polyPhase length. Unroll by a factor of 4.        
-       ** Repeat until we've computed numTaps-(4*S->L) coefficients. */
-      tapCnt = phaseLen >> 2u;
-
-      x0 = *(ptr1++);
-      x1 = *(ptr1++);
-      x2 = *(ptr1++);
-
-      while(tapCnt > 0u)
-      {
-
-        /* Read the input sample */
-        x3 = *(ptr1++);
-
-        /* Read the coefficient */
-        c0 = *(ptr2);
-
-        /* Perform the multiply-accumulate */
-        acc0 += x0 * c0;
-        acc1 += x1 * c0;
-        acc2 += x2 * c0;
-        acc3 += x3 * c0;
-
-        /* Read the coefficient */
-        c1 = *(ptr2 + S->L);
-
-        /* Read the input sample */
-        x0 = *(ptr1++);
-
-        /* Perform the multiply-accumulate */
-        acc0 += x1 * c1;
-        acc1 += x2 * c1;
-        acc2 += x3 * c1;
-        acc3 += x0 * c1;
-
-        /* Read the coefficient */
-        c2 = *(ptr2 + S->L * 2);
-
-        /* Read the input sample */
-        x1 = *(ptr1++);
-
-        /* Perform the multiply-accumulate */
-        acc0 += x2 * c2;
-        acc1 += x3 * c2;
-        acc2 += x0 * c2;
-        acc3 += x1 * c2;
-
-        /* Read the coefficient */
-        c3 = *(ptr2 + S->L * 3);
-
-        /* Read the input sample */
-        x2 = *(ptr1++);
-
-        /* Perform the multiply-accumulate */
-        acc0 += x3 * c3;
-        acc1 += x0 * c3;
-        acc2 += x1 * c3;
-        acc3 += x2 * c3;
-
-
-        /* Upsampling is done by stuffing L-1 zeros between each sample.        
-         * So instead of multiplying zeros with coefficients,        
-         * Increment the coefficient pointer by interpolation factor times. */
-        ptr2 += 4 * S->L;
-
-        /* Decrement the loop counter */
-        tapCnt--;
-      }
-
-      /* If the polyPhase length is not a multiple of 4, compute the remaining filter taps */
-      tapCnt = phaseLen % 0x4u;
-
-      while(tapCnt > 0u)
-      {
-
-        /* Read the input sample */
-        x3 = *(ptr1++);
-
-        /* Read the coefficient */
-        c0 = *(ptr2);
-
-        /* Perform the multiply-accumulate */
-        acc0 += x0 * c0;
-        acc1 += x1 * c0;
-        acc2 += x2 * c0;
-        acc3 += x3 * c0;
-
-        /* Increment the coefficient pointer by interpolation factor times. */
-        ptr2 += S->L;
-
-        /* update states for next sample processing */
-        x0 = x1;
-        x1 = x2;
-        x2 = x3;
-
-        /* Decrement the loop counter */
-        tapCnt--;
-      }
-
-      /* The result is in the accumulator, store in the destination buffer. */
-      *pDst = acc0;
-      *(pDst + S->L) = acc1;
-      *(pDst + 2 * S->L) = acc2;
-      *(pDst + 3 * S->L) = acc3;
-
-      pDst++;
-
-      /* Increment the address modifier index of coefficient buffer */
-      j++;
-
-      /* Decrement the loop counter */
-      i--;
-    }
-
-    /* Advance the state pointer by 1        
-     * to process the next group of interpolation factor number samples */
-    pState = pState + 4;
-
-    pDst += S->L * 3;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.        
-   ** No loop unrolling is used. */
-
-  while(blkCntN4 > 0u)
-  {
-    /* Copy new input sample into the state buffer */
-    *pStateCurnt++ = *pSrc++;
-
-    /* Address modifier index of coefficient buffer */
-    j = 1u;
-
-    /* Loop over the Interpolation factor. */
-    i = S->L;
-    while(i > 0u)
-    {
-      /* Set accumulator to zero */
-      sum0 = 0.0f;
-
-      /* Initialize state pointer */
-      ptr1 = pState;
-
-      /* Initialize coefficient pointer */
-      ptr2 = pCoeffs + (S->L - j);
-
-      /* Loop over the polyPhase length. Unroll by a factor of 4.        
-       ** Repeat until we've computed numTaps-(4*S->L) coefficients. */
-      tapCnt = phaseLen >> 2u;
-      while(tapCnt > 0u)
-      {
-
-        /* Read the coefficient */
-        c0 = *(ptr2);
-
-        /* Upsampling is done by stuffing L-1 zeros between each sample.        
-         * So instead of multiplying zeros with coefficients,        
-         * Increment the coefficient pointer by interpolation factor times. */
-        ptr2 += S->L;
-
-        /* Read the input sample */
-        x0 = *(ptr1++);
-
-        /* Perform the multiply-accumulate */
-        sum0 += x0 * c0;
-
-        /* Read the coefficient */
-        c0 = *(ptr2);
-
-        /* Increment the coefficient pointer by interpolation factor times. */
-        ptr2 += S->L;
-
-        /* Read the input sample */
-        x0 = *(ptr1++);
-
-        /* Perform the multiply-accumulate */
-        sum0 += x0 * c0;
-
-        /* Read the coefficient */
-        c0 = *(ptr2);
-
-        /* Increment the coefficient pointer by interpolation factor times. */
-        ptr2 += S->L;
-
-        /* Read the input sample */
-        x0 = *(ptr1++);
-
-        /* Perform the multiply-accumulate */
-        sum0 += x0 * c0;
-
-        /* Read the coefficient */
-        c0 = *(ptr2);
-
-        /* Increment the coefficient pointer by interpolation factor times. */
-        ptr2 += S->L;
-
-        /* Read the input sample */
-        x0 = *(ptr1++);
-
-        /* Perform the multiply-accumulate */
-        sum0 += x0 * c0;
-
-        /* Decrement the loop counter */
-        tapCnt--;
-      }
-
-      /* If the polyPhase length is not a multiple of 4, compute the remaining filter taps */
-      tapCnt = phaseLen % 0x4u;
-
-      while(tapCnt > 0u)
-      {
-        /* Perform the multiply-accumulate */
-        sum0 += *(ptr1++) * (*ptr2);
-
-        /* Increment the coefficient pointer by interpolation factor times. */
-        ptr2 += S->L;
-
-        /* Decrement the loop counter */
-        tapCnt--;
-      }
-
-      /* The result is in the accumulator, store in the destination buffer. */
-      *pDst++ = sum0;
-
-      /* Increment the address modifier index of coefficient buffer */
-      j++;
-
-      /* Decrement the loop counter */
-      i--;
-    }
-
-    /* Advance the state pointer by 1        
-     * to process the next group of interpolation factor number samples */
-    pState = pState + 1;
-
-    /* Decrement the loop counter */
-    blkCntN4--;
-  }
-
-  /* Processing is complete.        
-   ** Now copy the last phaseLen - 1 samples to the satrt of the state buffer.        
-   ** This prepares the state buffer for the next function call. */
-
-  /* Points to the start of the state buffer */
-  pStateCurnt = S->pState;
-
-  tapCnt = (phaseLen - 1u) >> 2u;
-
-  /* copy data */
-  while(tapCnt > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    tapCnt--;
-  }
-
-  tapCnt = (phaseLen - 1u) % 0x04u;
-
-  /* copy data */
-  while(tapCnt > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    tapCnt--;
-  }
-}
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-void arm_fir_interpolate_f32(
-  const arm_fir_interpolate_instance_f32 * S,
-  float32_t * pSrc,
-  float32_t * pDst,
-  uint32_t blockSize)
-{
-  float32_t *pState = S->pState;                 /* State pointer */
-  float32_t *pCoeffs = S->pCoeffs;               /* Coefficient pointer */
-  float32_t *pStateCurnt;                        /* Points to the current sample of the state */
-  float32_t *ptr1, *ptr2;                        /* Temporary pointers for state and coefficient buffers */
-
-
-  float32_t sum;                                 /* Accumulator */
-  uint32_t i, blkCnt;                            /* Loop counters */
-  uint16_t phaseLen = S->phaseLength, tapCnt;    /* Length of each polyphase filter component */
-
-
-  /* S->pState buffer contains previous frame (phaseLen - 1) samples */
-  /* pStateCurnt points to the location where the new input data should be written */
-  pStateCurnt = S->pState + (phaseLen - 1u);
-
-  /* Total number of intput samples */
-  blkCnt = blockSize;
-
-  /* Loop over the blockSize. */
-  while(blkCnt > 0u)
-  {
-    /* Copy new input sample into the state buffer */
-    *pStateCurnt++ = *pSrc++;
-
-    /* Loop over the Interpolation factor. */
-    i = S->L;
-
-    while(i > 0u)
-    {
-      /* Set accumulator to zero */
-      sum = 0.0f;
-
-      /* Initialize state pointer */
-      ptr1 = pState;
-
-      /* Initialize coefficient pointer */
-      ptr2 = pCoeffs + (i - 1u);
-
-      /* Loop over the polyPhase length */
-      tapCnt = phaseLen;
-
-      while(tapCnt > 0u)
-      {
-        /* Perform the multiply-accumulate */
-        sum += *ptr1++ * *ptr2;
-
-        /* Increment the coefficient pointer by interpolation factor times. */
-        ptr2 += S->L;
-
-        /* Decrement the loop counter */
-        tapCnt--;
-      }
-
-      /* The result is in the accumulator, store in the destination buffer. */
-      *pDst++ = sum;
-
-      /* Decrement the loop counter */
-      i--;
-    }
-
-    /* Advance the state pointer by 1           
-     * to process the next group of interpolation factor number samples */
-    pState = pState + 1;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* Processing is complete.         
-   ** Now copy the last phaseLen - 1 samples to the start of the state buffer.       
-   ** This prepares the state buffer for the next function call. */
-
-  /* Points to the start of the state buffer */
-  pStateCurnt = S->pState;
-
-  tapCnt = phaseLen - 1u;
-
-  while(tapCnt > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    tapCnt--;
-  }
-
-}
-
-#endif /*   #ifndef ARM_MATH_CM0 */
-
-
-
- /**    
-  * @} end of FIR_Interpolate group    
-  */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_f32.c
deleted file mode 100644
index b19347264..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_f32.c
+++ /dev/null
@@ -1,116 +0,0 @@
-/*-----------------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:        arm_fir_interpolate_init_f32.c    
-*    
-* Description:  Floating-point FIR interpolator initialization function    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* ---------------------------------------------------------------------------*/
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup FIR_Interpolate    
- * @{    
- */
-
-/**    
- * @brief  Initialization function for the floating-point FIR interpolator.    
- * @param[in,out] *S        points to an instance of the floating-point FIR interpolator structure.    
- * @param[in]     L         upsample factor.    
- * @param[in]     numTaps   number of filter coefficients in the filter.    
- * @param[in]     *pCoeffs  points to the filter coefficient buffer.    
- * @param[in]     *pState   points to the state buffer.    
- * @param[in]     blockSize number of input samples to process per call.    
- * @return        The function returns ARM_MATH_SUCCESS if initialization was successful or ARM_MATH_LENGTH_ERROR if    
- * the filter length numTaps is not a multiple of the interpolation factor L.    
- *    
- * Description:    
- * \par    
- * pCoeffs points to the array of filter coefficients stored in time reversed order:    
- * 
    
- *    {b[numTaps-1], b[numTaps-2], b[numTaps-2], ..., b[1], b[0]}    
- * 
    
- * The length of the filter numTaps must be a multiple of the interpolation factor L.    
- * \par    
- * pState points to the array of state variables.    
- * pState is of length (numTaps/L)+blockSize-1 words    
- * where blockSize is the number of input samples processed by each call to arm_fir_interpolate_f32().    
- */
-
-arm_status arm_fir_interpolate_init_f32(
-  arm_fir_interpolate_instance_f32 * S,
-  uint8_t L,
-  uint16_t numTaps,
-  float32_t * pCoeffs,
-  float32_t * pState,
-  uint32_t blockSize)
-{
-  arm_status status;
-
-  /* The filter length must be a multiple of the interpolation factor */
-  if((numTaps % L) != 0u)
-  {
-    /* Set status as ARM_MATH_LENGTH_ERROR */
-    status = ARM_MATH_LENGTH_ERROR;
-  }
-  else
-  {
-
-    /* Assign coefficient pointer */
-    S->pCoeffs = pCoeffs;
-
-    /* Assign Interpolation factor */
-    S->L = L;
-
-    /* Assign polyPhaseLength */
-    S->phaseLength = numTaps / L;
-
-    /* Clear state buffer and size of state array is always phaseLength + blockSize - 1 */
-    memset(pState, 0,
-           (blockSize +
-            ((uint32_t) S->phaseLength - 1u)) * sizeof(float32_t));
-
-    /* Assign state pointer */
-    S->pState = pState;
-
-    status = ARM_MATH_SUCCESS;
-  }
-
-  return (status);
-
-}
-
- /**    
-  * @} end of FIR_Interpolate group    
-  */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_q15.c
deleted file mode 100644
index b344fc785..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_q15.c
+++ /dev/null
@@ -1,115 +0,0 @@
-/*-----------------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:        arm_fir_interpolate_init_q15.c    
-*    
-* Description:  Q15 FIR interpolator initialization function    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* ---------------------------------------------------------------------------*/
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup FIR_Interpolate    
- * @{    
- */
-
-/**    
- * @brief  Initialization function for the Q15 FIR interpolator.    
- * @param[in,out] *S        points to an instance of the Q15 FIR interpolator structure.    
- * @param[in]     L         upsample factor.    
- * @param[in]     numTaps   number of filter coefficients in the filter.    
- * @param[in]     *pCoeffs  points to the filter coefficient buffer.    
- * @param[in]     *pState   points to the state buffer.    
- * @param[in]     blockSize number of input samples to process per call.    
- * @return        The function returns ARM_MATH_SUCCESS if initialization was successful or ARM_MATH_LENGTH_ERROR if    
- * the filter length numTaps is not a multiple of the interpolation factor L.    
- *    
- * Description:    
- * \par    
- * pCoeffs points to the array of filter coefficients stored in time reversed order:    
- * 
    
- *    {b[numTaps-1], b[numTaps-2], b[numTaps-2], ..., b[1], b[0]}    
- * 
    
- * The length of the filter numTaps must be a multiple of the interpolation factor L.    
- * \par    
- * pState points to the array of state variables.    
- * pState is of length (numTaps/L)+blockSize-1 words    
- * where blockSize is the number of input samples processed by each call to arm_fir_interpolate_q15().    
- */
-
-arm_status arm_fir_interpolate_init_q15(
-  arm_fir_interpolate_instance_q15 * S,
-  uint8_t L,
-  uint16_t numTaps,
-  q15_t * pCoeffs,
-  q15_t * pState,
-  uint32_t blockSize)
-{
-  arm_status status;
-
-  /* The filter length must be a multiple of the interpolation factor */
-  if((numTaps % L) != 0u)
-  {
-    /* Set status as ARM_MATH_LENGTH_ERROR */
-    status = ARM_MATH_LENGTH_ERROR;
-  }
-  else
-  {
-
-    /* Assign coefficient pointer */
-    S->pCoeffs = pCoeffs;
-
-    /* Assign Interpolation factor */
-    S->L = L;
-
-    /* Assign polyPhaseLength */
-    S->phaseLength = numTaps / L;
-
-    /* Clear state buffer and size of buffer is always phaseLength + blockSize - 1 */
-    memset(pState, 0,
-           (blockSize + ((uint32_t) S->phaseLength - 1u)) * sizeof(q15_t));
-
-    /* Assign state pointer */
-    S->pState = pState;
-
-    status = ARM_MATH_SUCCESS;
-  }
-
-  return (status);
-
-}
-
- /**    
-  * @} end of FIR_Interpolate group    
-  */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_q31.c
deleted file mode 100644
index f0383b8e9..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_q31.c
+++ /dev/null
@@ -1,116 +0,0 @@
-/*-----------------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:        arm_fir_interpolate_init_q31.c    
-*    
-* Description:  Q31 FIR interpolator initialization function    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* ---------------------------------------------------------------------------*/
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup FIR_Interpolate    
- * @{    
- */
-
-
-/**    
- * @brief  Initialization function for the Q31 FIR interpolator.    
- * @param[in,out] *S        points to an instance of the Q31 FIR interpolator structure.    
- * @param[in]     L         upsample factor.    
- * @param[in]     numTaps   number of filter coefficients in the filter.    
- * @param[in]     *pCoeffs  points to the filter coefficient buffer.    
- * @param[in]     *pState   points to the state buffer.    
- * @param[in]     blockSize number of input samples to process per call.    
- * @return        The function returns ARM_MATH_SUCCESS if initialization was successful or ARM_MATH_LENGTH_ERROR if    
- * the filter length numTaps is not a multiple of the interpolation factor L.    
- *    
- * Description:    
- * \par    
- * pCoeffs points to the array of filter coefficients stored in time reversed order:    
- * 
    
- *    {b[numTaps-1], b[numTaps-2], b[numTaps-2], ..., b[1], b[0]}    
- * 
    
- * The length of the filter numTaps must be a multiple of the interpolation factor L.    
- * \par    
- * pState points to the array of state variables.    
- * pState is of length (numTaps/L)+blockSize-1 words    
- * where blockSize is the number of input samples processed by each call to arm_fir_interpolate_q31().    
- */
-
-arm_status arm_fir_interpolate_init_q31(
-  arm_fir_interpolate_instance_q31 * S,
-  uint8_t L,
-  uint16_t numTaps,
-  q31_t * pCoeffs,
-  q31_t * pState,
-  uint32_t blockSize)
-{
-  arm_status status;
-
-  /* The filter length must be a multiple of the interpolation factor */
-  if((numTaps % L) != 0u)
-  {
-    /* Set status as ARM_MATH_LENGTH_ERROR */
-    status = ARM_MATH_LENGTH_ERROR;
-  }
-  else
-  {
-
-    /* Assign coefficient pointer */
-    S->pCoeffs = pCoeffs;
-
-    /* Assign Interpolation factor */
-    S->L = L;
-
-    /* Assign polyPhaseLength */
-    S->phaseLength = numTaps / L;
-
-    /* Clear state buffer and size of buffer is always phaseLength + blockSize - 1 */
-    memset(pState, 0,
-           (blockSize + ((uint32_t) S->phaseLength - 1u)) * sizeof(q31_t));
-
-    /* Assign state pointer */
-    S->pState = pState;
-
-    status = ARM_MATH_SUCCESS;
-  }
-
-  return (status);
-
-}
-
- /**    
-  * @} end of FIR_Interpolate group    
-  */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_q15.c
deleted file mode 100644
index d17d8d803..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_q15.c
+++ /dev/null
@@ -1,503 +0,0 @@
-/*-----------------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_fir_interpolate_q15.c    
-*    
-* Description:	Q15 FIR interpolation.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* ---------------------------------------------------------------------------*/
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup FIR_Interpolate    
- * @{    
- */
-
-/**    
- * @brief Processing function for the Q15 FIR interpolator.    
- * @param[in] *S        points to an instance of the Q15 FIR interpolator structure.    
- * @param[in] *pSrc     points to the block of input data.    
- * @param[out] *pDst    points to the block of output data.    
- * @param[in] blockSize number of input samples to process per call.    
- * @return none.    
- *    
- * Scaling and Overflow Behavior:    
- * \par    
- * The function is implemented using a 64-bit internal accumulator.    
- * Both coefficients and state variables are represented in 1.15 format and multiplications yield a 2.30 result.    
- * The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format.    
- * There is no risk of internal overflow with this approach and the full precision of intermediate multiplications is preserved.    
- * After all additions have been performed, the accumulator is truncated to 34.15 format by discarding low 15 bits.    
- * Lastly, the accumulator is saturated to yield a result in 1.15 format.    
- */
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-void arm_fir_interpolate_q15(
-  const arm_fir_interpolate_instance_q15 * S,
-  q15_t * pSrc,
-  q15_t * pDst,
-  uint32_t blockSize)
-{
-  q15_t *pState = S->pState;                     /* State pointer                                            */
-  q15_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer                                      */
-  q15_t *pStateCurnt;                            /* Points to the current sample of the state                */
-  q15_t *ptr1, *ptr2;                            /* Temporary pointers for state and coefficient buffers     */
-  q63_t sum0;                                    /* Accumulators                                             */
-  q15_t x0, c0;                                  /* Temporary variables to hold state and coefficient values */
-  uint32_t i, blkCnt, j, tapCnt;                 /* Loop counters                                            */
-  uint16_t phaseLen = S->phaseLength;            /* Length of each polyphase filter component */
-  uint32_t blkCntN2;
-  q63_t acc0, acc1;
-  q15_t x1;
-
-  /* S->pState buffer contains previous frame (phaseLen - 1) samples */
-  /* pStateCurnt points to the location where the new input data should be written */
-  pStateCurnt = S->pState + ((q31_t) phaseLen - 1);
-
-  /* Initialise  blkCnt */
-  blkCnt = blockSize / 2;
-  blkCntN2 = blockSize - (2 * blkCnt);
-
-  /* Samples loop unrolled by 2 */
-  while(blkCnt > 0u)
-  {
-    /* Copy new input sample into the state buffer */
-    *pStateCurnt++ = *pSrc++;
-    *pStateCurnt++ = *pSrc++;
-
-    /* Address modifier index of coefficient buffer */
-    j = 1u;
-
-    /* Loop over the Interpolation factor. */
-    i = (S->L);
-
-    while(i > 0u)
-    {
-      /* Set accumulator to zero */
-      acc0 = 0;
-      acc1 = 0;
-
-      /* Initialize state pointer */
-      ptr1 = pState;
-
-      /* Initialize coefficient pointer */
-      ptr2 = pCoeffs + (S->L - j);
-
-      /* Loop over the polyPhase length. Unroll by a factor of 4.        
-       ** Repeat until we've computed numTaps-(4*S->L) coefficients. */
-      tapCnt = phaseLen >> 2u;
-
-      x0 = *(ptr1++);
-
-      while(tapCnt > 0u)
-      {
-
-        /* Read the input sample */
-        x1 = *(ptr1++);
-
-        /* Read the coefficient */
-        c0 = *(ptr2);
-
-        /* Perform the multiply-accumulate */
-        acc0 += (q63_t) x0 *c0;
-        acc1 += (q63_t) x1 *c0;
-
-
-        /* Read the coefficient */
-        c0 = *(ptr2 + S->L);
-
-        /* Read the input sample */
-        x0 = *(ptr1++);
-
-        /* Perform the multiply-accumulate */
-        acc0 += (q63_t) x1 *c0;
-        acc1 += (q63_t) x0 *c0;
-
-
-        /* Read the coefficient */
-        c0 = *(ptr2 + S->L * 2);
-
-        /* Read the input sample */
-        x1 = *(ptr1++);
-
-        /* Perform the multiply-accumulate */
-        acc0 += (q63_t) x0 *c0;
-        acc1 += (q63_t) x1 *c0;
-
-        /* Read the coefficient */
-        c0 = *(ptr2 + S->L * 3);
-
-        /* Read the input sample */
-        x0 = *(ptr1++);
-
-        /* Perform the multiply-accumulate */
-        acc0 += (q63_t) x1 *c0;
-        acc1 += (q63_t) x0 *c0;
-
-
-        /* Upsampling is done by stuffing L-1 zeros between each sample.        
-         * So instead of multiplying zeros with coefficients,        
-         * Increment the coefficient pointer by interpolation factor times. */
-        ptr2 += 4 * S->L;
-
-        /* Decrement the loop counter */
-        tapCnt--;
-      }
-
-      /* If the polyPhase length is not a multiple of 4, compute the remaining filter taps */
-      tapCnt = phaseLen % 0x4u;
-
-      while(tapCnt > 0u)
-      {
-
-        /* Read the input sample */
-        x1 = *(ptr1++);
-
-        /* Read the coefficient */
-        c0 = *(ptr2);
-
-        /* Perform the multiply-accumulate */
-        acc0 += (q63_t) x0 *c0;
-        acc1 += (q63_t) x1 *c0;
-
-        /* Increment the coefficient pointer by interpolation factor times. */
-        ptr2 += S->L;
-
-        /* update states for next sample processing */
-        x0 = x1;
-
-        /* Decrement the loop counter */
-        tapCnt--;
-      }
-
-      /* The result is in the accumulator, store in the destination buffer. */
-      *pDst = (q15_t) (__SSAT((acc0 >> 15), 16));
-      *(pDst + S->L) = (q15_t) (__SSAT((acc1 >> 15), 16));
-
-      pDst++;
-
-      /* Increment the address modifier index of coefficient buffer */
-      j++;
-
-      /* Decrement the loop counter */
-      i--;
-    }
-
-    /* Advance the state pointer by 1        
-     * to process the next group of interpolation factor number samples */
-    pState = pState + 2;
-
-    pDst += S->L;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the blockSize is not a multiple of 2, compute any remaining output samples here.        
-   ** No loop unrolling is used. */
-  blkCnt = blkCntN2;
-
-  /* Loop over the blockSize. */
-  while(blkCnt > 0u)
-  {
-    /* Copy new input sample into the state buffer */
-    *pStateCurnt++ = *pSrc++;
-
-    /* Address modifier index of coefficient buffer */
-    j = 1u;
-
-    /* Loop over the Interpolation factor. */
-    i = S->L;
-    while(i > 0u)
-    {
-      /* Set accumulator to zero */
-      sum0 = 0;
-
-      /* Initialize state pointer */
-      ptr1 = pState;
-
-      /* Initialize coefficient pointer */
-      ptr2 = pCoeffs + (S->L - j);
-
-      /* Loop over the polyPhase length. Unroll by a factor of 4.        
-       ** Repeat until we've computed numTaps-(4*S->L) coefficients. */
-      tapCnt = phaseLen >> 2;
-      while(tapCnt > 0u)
-      {
-
-        /* Read the coefficient */
-        c0 = *(ptr2);
-
-        /* Upsampling is done by stuffing L-1 zeros between each sample.        
-         * So instead of multiplying zeros with coefficients,        
-         * Increment the coefficient pointer by interpolation factor times. */
-        ptr2 += S->L;
-
-        /* Read the input sample */
-        x0 = *(ptr1++);
-
-        /* Perform the multiply-accumulate */
-        sum0 += (q63_t) x0 *c0;
-
-        /* Read the coefficient */
-        c0 = *(ptr2);
-
-        /* Increment the coefficient pointer by interpolation factor times. */
-        ptr2 += S->L;
-
-        /* Read the input sample */
-        x0 = *(ptr1++);
-
-        /* Perform the multiply-accumulate */
-        sum0 += (q63_t) x0 *c0;
-
-        /* Read the coefficient */
-        c0 = *(ptr2);
-
-        /* Increment the coefficient pointer by interpolation factor times. */
-        ptr2 += S->L;
-
-        /* Read the input sample */
-        x0 = *(ptr1++);
-
-        /* Perform the multiply-accumulate */
-        sum0 += (q63_t) x0 *c0;
-
-        /* Read the coefficient */
-        c0 = *(ptr2);
-
-        /* Increment the coefficient pointer by interpolation factor times. */
-        ptr2 += S->L;
-
-        /* Read the input sample */
-        x0 = *(ptr1++);
-
-        /* Perform the multiply-accumulate */
-        sum0 += (q63_t) x0 *c0;
-
-        /* Decrement the loop counter */
-        tapCnt--;
-      }
-
-      /* If the polyPhase length is not a multiple of 4, compute the remaining filter taps */
-      tapCnt = phaseLen & 0x3u;
-
-      while(tapCnt > 0u)
-      {
-        /* Read the coefficient */
-        c0 = *(ptr2);
-
-        /* Increment the coefficient pointer by interpolation factor times. */
-        ptr2 += S->L;
-
-        /* Read the input sample */
-        x0 = *(ptr1++);
-
-        /* Perform the multiply-accumulate */
-        sum0 += (q63_t) x0 *c0;
-
-        /* Decrement the loop counter */
-        tapCnt--;
-      }
-
-      /* The result is in the accumulator, store in the destination buffer. */
-      *pDst++ = (q15_t) (__SSAT((sum0 >> 15), 16));
-
-      j++;
-
-      /* Decrement the loop counter */
-      i--;
-    }
-
-    /* Advance the state pointer by 1        
-     * to process the next group of interpolation factor number samples */
-    pState = pState + 1;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-
-  /* Processing is complete.    
-   ** Now copy the last phaseLen - 1 samples to the satrt of the state buffer.    
-   ** This prepares the state buffer for the next function call. */
-
-  /* Points to the start of the state buffer */
-  pStateCurnt = S->pState;
-
-  i = ((uint32_t) phaseLen - 1u) >> 2u;
-
-  /* copy data */
-  while(i > 0u)
-  {
-#ifndef UNALIGNED_SUPPORT_DISABLE
-
-    *__SIMD32(pStateCurnt)++ = *__SIMD32(pState)++;
-    *__SIMD32(pStateCurnt)++ = *__SIMD32(pState)++;
-
-#else
-
-    *pStateCurnt++ = *pState++;
-	*pStateCurnt++ = *pState++;
-	*pStateCurnt++ = *pState++;
-	*pStateCurnt++ = *pState++;
-	
-#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
-	
-	/* Decrement the loop counter */
-    i--;
-  }
-
-  i = ((uint32_t) phaseLen - 1u) % 0x04u;
-
-  while(i > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    i--;
-  }
-}
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-void arm_fir_interpolate_q15(
-  const arm_fir_interpolate_instance_q15 * S,
-  q15_t * pSrc,
-  q15_t * pDst,
-  uint32_t blockSize)
-{
-  q15_t *pState = S->pState;                     /* State pointer                                            */
-  q15_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer                                      */
-  q15_t *pStateCurnt;                            /* Points to the current sample of the state                */
-  q15_t *ptr1, *ptr2;                            /* Temporary pointers for state and coefficient buffers     */
-  q63_t sum;                                     /* Accumulator */
-  q15_t x0, c0;                                  /* Temporary variables to hold state and coefficient values */
-  uint32_t i, blkCnt, tapCnt;                    /* Loop counters                                            */
-  uint16_t phaseLen = S->phaseLength;            /* Length of each polyphase filter component */
-
-
-  /* S->pState buffer contains previous frame (phaseLen - 1) samples */
-  /* pStateCurnt points to the location where the new input data should be written */
-  pStateCurnt = S->pState + (phaseLen - 1u);
-
-  /* Total number of intput samples */
-  blkCnt = blockSize;
-
-  /* Loop over the blockSize. */
-  while(blkCnt > 0u)
-  {
-    /* Copy new input sample into the state buffer */
-    *pStateCurnt++ = *pSrc++;
-
-    /* Loop over the Interpolation factor. */
-    i = S->L;
-
-    while(i > 0u)
-    {
-      /* Set accumulator to zero */
-      sum = 0;
-
-      /* Initialize state pointer */
-      ptr1 = pState;
-
-      /* Initialize coefficient pointer */
-      ptr2 = pCoeffs + (i - 1u);
-
-      /* Loop over the polyPhase length */
-      tapCnt = (uint32_t) phaseLen;
-
-      while(tapCnt > 0u)
-      {
-        /* Read the coefficient */
-        c0 = *ptr2;
-
-        /* Increment the coefficient pointer by interpolation factor times. */
-        ptr2 += S->L;
-
-        /* Read the input sample */
-        x0 = *ptr1++;
-
-        /* Perform the multiply-accumulate */
-        sum += ((q31_t) x0 * c0);
-
-        /* Decrement the loop counter */
-        tapCnt--;
-      }
-
-      /* Store the result after converting to 1.15 format in the destination buffer */
-      *pDst++ = (q15_t) (__SSAT((sum >> 15), 16));
-
-      /* Decrement the loop counter */
-      i--;
-    }
-
-    /* Advance the state pointer by 1           
-     * to process the next group of interpolation factor number samples */
-    pState = pState + 1;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* Processing is complete.         
-   ** Now copy the last phaseLen - 1 samples to the start of the state buffer.       
-   ** This prepares the state buffer for the next function call. */
-
-  /* Points to the start of the state buffer */
-  pStateCurnt = S->pState;
-
-  i = (uint32_t) phaseLen - 1u;
-
-  while(i > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    i--;
-  }
-
-}
-
-#endif /*   #ifndef ARM_MATH_CM0 */
-
-
- /**    
-  * @} end of FIR_Interpolate group    
-  */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_q31.c
deleted file mode 100644
index 689b4d337..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_q31.c
+++ /dev/null
@@ -1,499 +0,0 @@
-/*-----------------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_fir_interpolate_q31.c    
-*    
-* Description:	Q31 FIR interpolation.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* ---------------------------------------------------------------------------*/
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup FIR_Interpolate    
- * @{    
- */
-
-/**    
- * @brief Processing function for the Q31 FIR interpolator.    
- * @param[in] *S        points to an instance of the Q31 FIR interpolator structure.    
- * @param[in] *pSrc     points to the block of input data.    
- * @param[out] *pDst    points to the block of output data.    
- * @param[in] blockSize number of input samples to process per call.    
- * @return none.    
- *    
- * Scaling and Overflow Behavior:    
- * \par    
- * The function is implemented using an internal 64-bit accumulator.    
- * The accumulator has a 2.62 format and maintains full precision of the intermediate multiplication results but provides only a single guard bit.    
- * Thus, if the accumulator result overflows it wraps around rather than clip.    
- * In order to avoid overflows completely the input signal must be scaled down by 1/(numTaps/L).    
- * since numTaps/L additions occur per output sample.    
- * After all multiply-accumulates are performed, the 2.62 accumulator is truncated to 1.32 format and then saturated to 1.31 format.    
- */
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-void arm_fir_interpolate_q31(
-  const arm_fir_interpolate_instance_q31 * S,
-  q31_t * pSrc,
-  q31_t * pDst,
-  uint32_t blockSize)
-{
-  q31_t *pState = S->pState;                     /* State pointer */
-  q31_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
-  q31_t *pStateCurnt;                            /* Points to the current sample of the state */
-  q31_t *ptr1, *ptr2;                            /* Temporary pointers for state and coefficient buffers */
-  q63_t sum0;                                    /* Accumulators */
-  q31_t x0, c0;                                  /* Temporary variables to hold state and coefficient values */
-  uint32_t i, blkCnt, j;                         /* Loop counters */
-  uint16_t phaseLen = S->phaseLength, tapCnt;    /* Length of each polyphase filter component */
-
-  uint32_t blkCntN2;
-  q63_t acc0, acc1;
-  q31_t x1;
-
-  /* S->pState buffer contains previous frame (phaseLen - 1) samples */
-  /* pStateCurnt points to the location where the new input data should be written */
-  pStateCurnt = S->pState + ((q31_t) phaseLen - 1);
-
-  /* Initialise  blkCnt */
-  blkCnt = blockSize / 2;
-  blkCntN2 = blockSize - (2 * blkCnt);
-
-  /* Samples loop unrolled by 2 */
-  while(blkCnt > 0u)
-  {
-    /* Copy new input sample into the state buffer */
-    *pStateCurnt++ = *pSrc++;
-    *pStateCurnt++ = *pSrc++;
-
-    /* Address modifier index of coefficient buffer */
-    j = 1u;
-
-    /* Loop over the Interpolation factor. */
-    i = (S->L);
-
-    while(i > 0u)
-    {
-      /* Set accumulator to zero */
-      acc0 = 0;
-      acc1 = 0;
-
-      /* Initialize state pointer */
-      ptr1 = pState;
-
-      /* Initialize coefficient pointer */
-      ptr2 = pCoeffs + (S->L - j);
-
-      /* Loop over the polyPhase length. Unroll by a factor of 4.        
-       ** Repeat until we've computed numTaps-(4*S->L) coefficients. */
-      tapCnt = phaseLen >> 2u;
-
-      x0 = *(ptr1++);
-
-      while(tapCnt > 0u)
-      {
-
-        /* Read the input sample */
-        x1 = *(ptr1++);
-
-        /* Read the coefficient */
-        c0 = *(ptr2);
-
-        /* Perform the multiply-accumulate */
-        acc0 += (q63_t) x0 *c0;
-        acc1 += (q63_t) x1 *c0;
-
-
-        /* Read the coefficient */
-        c0 = *(ptr2 + S->L);
-
-        /* Read the input sample */
-        x0 = *(ptr1++);
-
-        /* Perform the multiply-accumulate */
-        acc0 += (q63_t) x1 *c0;
-        acc1 += (q63_t) x0 *c0;
-
-
-        /* Read the coefficient */
-        c0 = *(ptr2 + S->L * 2);
-
-        /* Read the input sample */
-        x1 = *(ptr1++);
-
-        /* Perform the multiply-accumulate */
-        acc0 += (q63_t) x0 *c0;
-        acc1 += (q63_t) x1 *c0;
-
-        /* Read the coefficient */
-        c0 = *(ptr2 + S->L * 3);
-
-        /* Read the input sample */
-        x0 = *(ptr1++);
-
-        /* Perform the multiply-accumulate */
-        acc0 += (q63_t) x1 *c0;
-        acc1 += (q63_t) x0 *c0;
-
-
-        /* Upsampling is done by stuffing L-1 zeros between each sample.        
-         * So instead of multiplying zeros with coefficients,        
-         * Increment the coefficient pointer by interpolation factor times. */
-        ptr2 += 4 * S->L;
-
-        /* Decrement the loop counter */
-        tapCnt--;
-      }
-
-      /* If the polyPhase length is not a multiple of 4, compute the remaining filter taps */
-      tapCnt = phaseLen % 0x4u;
-
-      while(tapCnt > 0u)
-      {
-
-        /* Read the input sample */
-        x1 = *(ptr1++);
-
-        /* Read the coefficient */
-        c0 = *(ptr2);
-
-        /* Perform the multiply-accumulate */
-        acc0 += (q63_t) x0 *c0;
-        acc1 += (q63_t) x1 *c0;
-
-        /* Increment the coefficient pointer by interpolation factor times. */
-        ptr2 += S->L;
-
-        /* update states for next sample processing */
-        x0 = x1;
-
-        /* Decrement the loop counter */
-        tapCnt--;
-      }
-
-      /* The result is in the accumulator, store in the destination buffer. */
-      *pDst = (q31_t) (acc0 >> 31);
-      *(pDst + S->L) = (q31_t) (acc1 >> 31);
-
-
-      pDst++;
-
-      /* Increment the address modifier index of coefficient buffer */
-      j++;
-
-      /* Decrement the loop counter */
-      i--;
-    }
-
-    /* Advance the state pointer by 1        
-     * to process the next group of interpolation factor number samples */
-    pState = pState + 2;
-
-    pDst += S->L;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the blockSize is not a multiple of 2, compute any remaining output samples here.        
-   ** No loop unrolling is used. */
-  blkCnt = blkCntN2;
-
-  /* Loop over the blockSize. */
-  while(blkCnt > 0u)
-  {
-    /* Copy new input sample into the state buffer */
-    *pStateCurnt++ = *pSrc++;
-
-    /* Address modifier index of coefficient buffer */
-    j = 1u;
-
-    /* Loop over the Interpolation factor. */
-    i = S->L;
-    while(i > 0u)
-    {
-      /* Set accumulator to zero */
-      sum0 = 0;
-
-      /* Initialize state pointer */
-      ptr1 = pState;
-
-      /* Initialize coefficient pointer */
-      ptr2 = pCoeffs + (S->L - j);
-
-      /* Loop over the polyPhase length. Unroll by a factor of 4.        
-       ** Repeat until we've computed numTaps-(4*S->L) coefficients. */
-      tapCnt = phaseLen >> 2;
-      while(tapCnt > 0u)
-      {
-
-        /* Read the coefficient */
-        c0 = *(ptr2);
-
-        /* Upsampling is done by stuffing L-1 zeros between each sample.        
-         * So instead of multiplying zeros with coefficients,        
-         * Increment the coefficient pointer by interpolation factor times. */
-        ptr2 += S->L;
-
-        /* Read the input sample */
-        x0 = *(ptr1++);
-
-        /* Perform the multiply-accumulate */
-        sum0 += (q63_t) x0 *c0;
-
-        /* Read the coefficient */
-        c0 = *(ptr2);
-
-        /* Increment the coefficient pointer by interpolation factor times. */
-        ptr2 += S->L;
-
-        /* Read the input sample */
-        x0 = *(ptr1++);
-
-        /* Perform the multiply-accumulate */
-        sum0 += (q63_t) x0 *c0;
-
-        /* Read the coefficient */
-        c0 = *(ptr2);
-
-        /* Increment the coefficient pointer by interpolation factor times. */
-        ptr2 += S->L;
-
-        /* Read the input sample */
-        x0 = *(ptr1++);
-
-        /* Perform the multiply-accumulate */
-        sum0 += (q63_t) x0 *c0;
-
-        /* Read the coefficient */
-        c0 = *(ptr2);
-
-        /* Increment the coefficient pointer by interpolation factor times. */
-        ptr2 += S->L;
-
-        /* Read the input sample */
-        x0 = *(ptr1++);
-
-        /* Perform the multiply-accumulate */
-        sum0 += (q63_t) x0 *c0;
-
-        /* Decrement the loop counter */
-        tapCnt--;
-      }
-
-      /* If the polyPhase length is not a multiple of 4, compute the remaining filter taps */
-      tapCnt = phaseLen & 0x3u;
-
-      while(tapCnt > 0u)
-      {
-        /* Read the coefficient */
-        c0 = *(ptr2);
-
-        /* Increment the coefficient pointer by interpolation factor times. */
-        ptr2 += S->L;
-
-        /* Read the input sample */
-        x0 = *(ptr1++);
-
-        /* Perform the multiply-accumulate */
-        sum0 += (q63_t) x0 *c0;
-
-        /* Decrement the loop counter */
-        tapCnt--;
-      }
-
-      /* The result is in the accumulator, store in the destination buffer. */
-      *pDst++ = (q31_t) (sum0 >> 31);
-
-      /* Increment the address modifier index of coefficient buffer */
-      j++;
-
-      /* Decrement the loop counter */
-      i--;
-    }
-
-    /* Advance the state pointer by 1        
-     * to process the next group of interpolation factor number samples */
-    pState = pState + 1;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* Processing is complete.        
-   ** Now copy the last phaseLen - 1 samples to the satrt of the state buffer.        
-   ** This prepares the state buffer for the next function call. */
-
-  /* Points to the start of the state buffer */
-  pStateCurnt = S->pState;
-
-  tapCnt = (phaseLen - 1u) >> 2u;
-
-  /* copy data */
-  while(tapCnt > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    tapCnt--;
-  }
-
-  tapCnt = (phaseLen - 1u) % 0x04u;
-
-  /* copy data */
-  while(tapCnt > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    tapCnt--;
-  }
-
-}
-
-
-#else
-
-void arm_fir_interpolate_q31(
-  const arm_fir_interpolate_instance_q31 * S,
-  q31_t * pSrc,
-  q31_t * pDst,
-  uint32_t blockSize)
-{
-  q31_t *pState = S->pState;                     /* State pointer */
-  q31_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
-  q31_t *pStateCurnt;                            /* Points to the current sample of the state */
-  q31_t *ptr1, *ptr2;                            /* Temporary pointers for state and coefficient buffers */
-
-  /* Run the below code for Cortex-M0 */
-
-  q63_t sum;                                     /* Accumulator */
-  q31_t x0, c0;                                  /* Temporary variables to hold state and coefficient values */
-  uint32_t i, blkCnt;                            /* Loop counters */
-  uint16_t phaseLen = S->phaseLength, tapCnt;    /* Length of each polyphase filter component */
-
-
-  /* S->pState buffer contains previous frame (phaseLen - 1) samples */
-  /* pStateCurnt points to the location where the new input data should be written */
-  pStateCurnt = S->pState + ((q31_t) phaseLen - 1);
-
-  /* Total number of intput samples */
-  blkCnt = blockSize;
-
-  /* Loop over the blockSize. */
-  while(blkCnt > 0u)
-  {
-    /* Copy new input sample into the state buffer */
-    *pStateCurnt++ = *pSrc++;
-
-    /* Loop over the Interpolation factor. */
-    i = S->L;
-
-    while(i > 0u)
-    {
-      /* Set accumulator to zero */
-      sum = 0;
-
-      /* Initialize state pointer */
-      ptr1 = pState;
-
-      /* Initialize coefficient pointer */
-      ptr2 = pCoeffs + (i - 1u);
-
-      tapCnt = phaseLen;
-
-      while(tapCnt > 0u)
-      {
-        /* Read the coefficient */
-        c0 = *(ptr2);
-
-        /* Increment the coefficient pointer by interpolation factor times. */
-        ptr2 += S->L;
-
-        /* Read the input sample */
-        x0 = *ptr1++;
-
-        /* Perform the multiply-accumulate */
-        sum += (q63_t) x0 *c0;
-
-        /* Decrement the loop counter */
-        tapCnt--;
-      }
-
-      /* The result is in the accumulator, store in the destination buffer. */
-      *pDst++ = (q31_t) (sum >> 31);
-
-      /* Decrement the loop counter */
-      i--;
-    }
-
-    /* Advance the state pointer by 1           
-     * to process the next group of interpolation factor number samples */
-    pState = pState + 1;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* Processing is complete.         
-   ** Now copy the last phaseLen - 1 samples to the satrt of the state buffer.       
-   ** This prepares the state buffer for the next function call. */
-
-  /* Points to the start of the state buffer */
-  pStateCurnt = S->pState;
-
-  tapCnt = phaseLen - 1u;
-
-  /* copy data */
-  while(tapCnt > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    tapCnt--;
-  }
-
-}
-
-#endif /*   #ifndef ARM_MATH_CM0 */
-
- /**    
-  * @} end of FIR_Interpolate group    
-  */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_f32.c
deleted file mode 100644
index 3745ffb6a..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_f32.c
+++ /dev/null
@@ -1,499 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_fir_lattice_f32.c    
-*    
-* Description:	Processing function for the floating-point FIR Lattice filter.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @defgroup FIR_Lattice Finite Impulse Response (FIR) Lattice Filters    
- *    
- * This set of functions implements Finite Impulse Response (FIR) lattice filters    
- * for Q15, Q31 and floating-point data types.  Lattice filters are used in a     
- * variety of adaptive filter applications.  The filter structure is feedforward and    
- * the net impulse response is finite length.    
- * The functions operate on blocks    
- * of input and output data and each call to the function processes    
- * blockSize samples through the filter.  pSrc and    
- * pDst point to input and output arrays containing blockSize values.    
- *    
- * \par Algorithm:    
- * \image html FIRLattice.gif "Finite Impulse Response Lattice filter"    
- * The following difference equation is implemented:    
- * 
    
- *    f0[n] = g0[n] = x[n]    
- *    fm[n] = fm-1[n] + km * gm-1[n-1] for m = 1, 2, ...M    
- *    gm[n] = km * fm-1[n] + gm-1[n-1] for m = 1, 2, ...M    
- *    y[n] = fM[n]    
- * 
    
- * \par    
- * pCoeffs points to tha array of reflection coefficients of size numStages.    
- * Reflection Coefficients are stored in the following order.    
- * \par    
- * 
    
- *    {k1, k2, ..., kM}    
- * 
    
- * where M is number of stages    
- * \par    
- * pState points to a state array of size numStages.    
- * The state variables (g values) hold previous inputs and are stored in the following order.    
- * 
    
- *    {g0[n], g1[n], g2[n] ...gM-1[n]}    
- * 
    
- * The state variables are updated after each block of data is processed; the coefficients are untouched.    
- * \par Instance Structure    
- * The coefficients and state variables for a filter are stored together in an instance data structure.    
- * A separate instance structure must be defined for each filter.    
- * Coefficient arrays may be shared among several instances while state variable arrays cannot be shared.    
- * There are separate instance structure declarations for each of the 3 supported data types.    
- *    
- * \par Initialization Functions    
- * There is also an associated initialization function for each data type.    
- * The initialization function performs the following operations:    
- * - Sets the values of the internal structure fields.    
- * - Zeros out the values in the state buffer.    
- *    
- * \par    
- * Use of the initialization function is optional.    
- * However, if the initialization function is used, then the instance structure cannot be placed into a const data section.    
- * To place an instance structure into a const data section, the instance structure must be manually initialized.    
- * Set the values in the state buffer to zeros and then manually initialize the instance structure as follows:    
- * 
    
- *arm_fir_lattice_instance_f32 S = {numStages, pState, pCoeffs};    
- *arm_fir_lattice_instance_q31 S = {numStages, pState, pCoeffs};    
- *arm_fir_lattice_instance_q15 S = {numStages, pState, pCoeffs};    
- * 
    
- * \par    
- * where numStages is the number of stages in the filter; pState is the address of the state buffer;    
- * pCoeffs is the address of the coefficient buffer.    
- * \par Fixed-Point Behavior    
- * Care must be taken when using the fixed-point versions of the FIR Lattice filter functions.    
- * In particular, the overflow and saturation behavior of the accumulator used in each function must be considered.    
- * Refer to the function specific documentation below for usage guidelines.    
- */
-
-/**    
- * @addtogroup FIR_Lattice    
- * @{    
- */
-
-
-  /**    
-   * @brief Processing function for the floating-point FIR lattice filter.    
-   * @param[in]  *S        points to an instance of the floating-point FIR lattice structure.    
-   * @param[in]  *pSrc     points to the block of input data.    
-   * @param[out] *pDst     points to the block of output data    
-   * @param[in]  blockSize number of samples to process.    
-   * @return none.    
-   */
-
-void arm_fir_lattice_f32(
-  const arm_fir_lattice_instance_f32 * S,
-  float32_t * pSrc,
-  float32_t * pDst,
-  uint32_t blockSize)
-{
-  float32_t *pState;                             /* State pointer */
-  float32_t *pCoeffs = S->pCoeffs;               /* Coefficient pointer */
-  float32_t *px;                                 /* temporary state pointer */
-  float32_t *pk;                                 /* temporary coefficient pointer */
-
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  float32_t fcurr1, fnext1, gcurr1, gnext1;      /* temporary variables for first sample in loop unrolling */
-  float32_t fcurr2, fnext2, gnext2;              /* temporary variables for second sample in loop unrolling */
-  float32_t fcurr3, fnext3, gnext3;              /* temporary variables for third sample in loop unrolling */
-  float32_t fcurr4, fnext4, gnext4;              /* temporary variables for fourth sample in loop unrolling */
-  uint32_t numStages = S->numStages;             /* Number of stages in the filter */
-  uint32_t blkCnt, stageCnt;                     /* temporary variables for counts */
-
-  gcurr1 = 0.0f;
-  pState = &S->pState[0];
-
-  blkCnt = blockSize >> 2;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-     a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-
-    /* Read two samples from input buffer */
-    /* f0(n) = x(n) */
-    fcurr1 = *pSrc++;
-    fcurr2 = *pSrc++;
-
-    /* Initialize coeff pointer */
-    pk = (pCoeffs);
-
-    /* Initialize state pointer */
-    px = pState;
-
-    /* Read g0(n-1) from state */
-    gcurr1 = *px;
-
-    /* Process first sample for first tap */
-    /* f1(n) = f0(n) +  K1 * g0(n-1) */
-    fnext1 = fcurr1 + ((*pk) * gcurr1);
-    /* g1(n) = f0(n) * K1  +  g0(n-1) */
-    gnext1 = (fcurr1 * (*pk)) + gcurr1;
-
-    /* Process second sample for first tap */
-    /* for sample 2 processing */
-    fnext2 = fcurr2 + ((*pk) * fcurr1);
-    gnext2 = (fcurr2 * (*pk)) + fcurr1;
-
-    /* Read next two samples from input buffer */
-    /* f0(n+2) = x(n+2) */
-    fcurr3 = *pSrc++;
-    fcurr4 = *pSrc++;
-
-    /* Copy only last input samples into the state buffer    
-       which will be used for next four samples processing */
-    *px++ = fcurr4;
-
-    /* Process third sample for first tap */
-    fnext3 = fcurr3 + ((*pk) * fcurr2);
-    gnext3 = (fcurr3 * (*pk)) + fcurr2;
-
-    /* Process fourth sample for first tap */
-    fnext4 = fcurr4 + ((*pk) * fcurr3);
-    gnext4 = (fcurr4 * (*pk++)) + fcurr3;
-
-    /* Update of f values for next coefficient set processing */
-    fcurr1 = fnext1;
-    fcurr2 = fnext2;
-    fcurr3 = fnext3;
-    fcurr4 = fnext4;
-
-    /* Loop unrolling.  Process 4 taps at a time . */
-    stageCnt = (numStages - 1u) >> 2u;
-
-    /* Loop over the number of taps.  Unroll by a factor of 4.    
-     ** Repeat until we've computed numStages-3 coefficients. */
-
-    /* Process 2nd, 3rd, 4th and 5th taps ... here */
-    while(stageCnt > 0u)
-    {
-      /* Read g1(n-1), g3(n-1) .... from state */
-      gcurr1 = *px;
-
-      /* save g1(n) in state buffer */
-      *px++ = gnext4;
-
-      /* Process first sample for 2nd, 6th .. tap */
-      /* Sample processing for K2, K6.... */
-      /* f2(n) = f1(n) +  K2 * g1(n-1) */
-      fnext1 = fcurr1 + ((*pk) * gcurr1);
-      /* Process second sample for 2nd, 6th .. tap */
-      /* for sample 2 processing */
-      fnext2 = fcurr2 + ((*pk) * gnext1);
-      /* Process third sample for 2nd, 6th .. tap */
-      fnext3 = fcurr3 + ((*pk) * gnext2);
-      /* Process fourth sample for 2nd, 6th .. tap */
-      fnext4 = fcurr4 + ((*pk) * gnext3);
-
-      /* g2(n) = f1(n) * K2  +  g1(n-1) */
-      /* Calculation of state values for next stage */
-      gnext4 = (fcurr4 * (*pk)) + gnext3;
-      gnext3 = (fcurr3 * (*pk)) + gnext2;
-      gnext2 = (fcurr2 * (*pk)) + gnext1;
-      gnext1 = (fcurr1 * (*pk++)) + gcurr1;
-
-
-      /* Read g2(n-1), g4(n-1) .... from state */
-      gcurr1 = *px;
-
-      /* save g2(n) in state buffer */
-      *px++ = gnext4;
-
-      /* Sample processing for K3, K7.... */
-      /* Process first sample for 3rd, 7th .. tap */
-      /* f3(n) = f2(n) +  K3 * g2(n-1) */
-      fcurr1 = fnext1 + ((*pk) * gcurr1);
-      /* Process second sample for 3rd, 7th .. tap */
-      fcurr2 = fnext2 + ((*pk) * gnext1);
-      /* Process third sample for 3rd, 7th .. tap */
-      fcurr3 = fnext3 + ((*pk) * gnext2);
-      /* Process fourth sample for 3rd, 7th .. tap */
-      fcurr4 = fnext4 + ((*pk) * gnext3);
-
-      /* Calculation of state values for next stage */
-      /* g3(n) = f2(n) * K3  +  g2(n-1) */
-      gnext4 = (fnext4 * (*pk)) + gnext3;
-      gnext3 = (fnext3 * (*pk)) + gnext2;
-      gnext2 = (fnext2 * (*pk)) + gnext1;
-      gnext1 = (fnext1 * (*pk++)) + gcurr1;
-
-
-      /* Read g1(n-1), g3(n-1) .... from state */
-      gcurr1 = *px;
-
-      /* save g3(n) in state buffer */
-      *px++ = gnext4;
-
-      /* Sample processing for K4, K8.... */
-      /* Process first sample for 4th, 8th .. tap */
-      /* f4(n) = f3(n) +  K4 * g3(n-1) */
-      fnext1 = fcurr1 + ((*pk) * gcurr1);
-      /* Process second sample for 4th, 8th .. tap */
-      /* for sample 2 processing */
-      fnext2 = fcurr2 + ((*pk) * gnext1);
-      /* Process third sample for 4th, 8th .. tap */
-      fnext3 = fcurr3 + ((*pk) * gnext2);
-      /* Process fourth sample for 4th, 8th .. tap */
-      fnext4 = fcurr4 + ((*pk) * gnext3);
-
-      /* g4(n) = f3(n) * K4  +  g3(n-1) */
-      /* Calculation of state values for next stage */
-      gnext4 = (fcurr4 * (*pk)) + gnext3;
-      gnext3 = (fcurr3 * (*pk)) + gnext2;
-      gnext2 = (fcurr2 * (*pk)) + gnext1;
-      gnext1 = (fcurr1 * (*pk++)) + gcurr1;
-
-      /* Read g2(n-1), g4(n-1) .... from state */
-      gcurr1 = *px;
-
-      /* save g4(n) in state buffer */
-      *px++ = gnext4;
-
-      /* Sample processing for K5, K9.... */
-      /* Process first sample for 5th, 9th .. tap */
-      /* f5(n) = f4(n) +  K5 * g4(n-1) */
-      fcurr1 = fnext1 + ((*pk) * gcurr1);
-      /* Process second sample for 5th, 9th .. tap */
-      fcurr2 = fnext2 + ((*pk) * gnext1);
-      /* Process third sample for 5th, 9th .. tap */
-      fcurr3 = fnext3 + ((*pk) * gnext2);
-      /* Process fourth sample for 5th, 9th .. tap */
-      fcurr4 = fnext4 + ((*pk) * gnext3);
-
-      /* Calculation of state values for next stage */
-      /* g5(n) = f4(n) * K5  +  g4(n-1) */
-      gnext4 = (fnext4 * (*pk)) + gnext3;
-      gnext3 = (fnext3 * (*pk)) + gnext2;
-      gnext2 = (fnext2 * (*pk)) + gnext1;
-      gnext1 = (fnext1 * (*pk++)) + gcurr1;
-
-      stageCnt--;
-    }
-
-    /* If the (filter length -1) is not a multiple of 4, compute the remaining filter taps */
-    stageCnt = (numStages - 1u) % 0x4u;
-
-    while(stageCnt > 0u)
-    {
-      gcurr1 = *px;
-
-      /* save g value in state buffer */
-      *px++ = gnext4;
-
-      /* Process four samples for last three taps here */
-      fnext1 = fcurr1 + ((*pk) * gcurr1);
-      fnext2 = fcurr2 + ((*pk) * gnext1);
-      fnext3 = fcurr3 + ((*pk) * gnext2);
-      fnext4 = fcurr4 + ((*pk) * gnext3);
-
-      /* g1(n) = f0(n) * K1  +  g0(n-1) */
-      gnext4 = (fcurr4 * (*pk)) + gnext3;
-      gnext3 = (fcurr3 * (*pk)) + gnext2;
-      gnext2 = (fcurr2 * (*pk)) + gnext1;
-      gnext1 = (fcurr1 * (*pk++)) + gcurr1;
-
-      /* Update of f values for next coefficient set processing */
-      fcurr1 = fnext1;
-      fcurr2 = fnext2;
-      fcurr3 = fnext3;
-      fcurr4 = fnext4;
-
-      stageCnt--;
-
-    }
-
-    /* The results in the 4 accumulators, store in the destination buffer. */
-    /* y(n) = fN(n) */
-    *pDst++ = fcurr1;
-    *pDst++ = fcurr2;
-    *pDst++ = fcurr3;
-    *pDst++ = fcurr4;
-
-    blkCnt--;
-  }
-
-  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
-   ** No loop unrolling is used. */
-  blkCnt = blockSize % 0x4u;
-
-  while(blkCnt > 0u)
-  {
-    /* f0(n) = x(n) */
-    fcurr1 = *pSrc++;
-
-    /* Initialize coeff pointer */
-    pk = (pCoeffs);
-
-    /* Initialize state pointer */
-    px = pState;
-
-    /* read g2(n) from state buffer */
-    gcurr1 = *px;
-
-    /* for sample 1 processing */
-    /* f1(n) = f0(n) +  K1 * g0(n-1) */
-    fnext1 = fcurr1 + ((*pk) * gcurr1);
-    /* g1(n) = f0(n) * K1  +  g0(n-1) */
-    gnext1 = (fcurr1 * (*pk++)) + gcurr1;
-
-    /* save g1(n) in state buffer */
-    *px++ = fcurr1;
-
-    /* f1(n) is saved in fcurr1    
-       for next stage processing */
-    fcurr1 = fnext1;
-
-    stageCnt = (numStages - 1u);
-
-    /* stage loop */
-    while(stageCnt > 0u)
-    {
-      /* read g2(n) from state buffer */
-      gcurr1 = *px;
-
-      /* save g1(n) in state buffer */
-      *px++ = gnext1;
-
-      /* Sample processing for K2, K3.... */
-      /* f2(n) = f1(n) +  K2 * g1(n-1) */
-      fnext1 = fcurr1 + ((*pk) * gcurr1);
-      /* g2(n) = f1(n) * K2  +  g1(n-1) */
-      gnext1 = (fcurr1 * (*pk++)) + gcurr1;
-
-      /* f1(n) is saved in fcurr1    
-         for next stage processing */
-      fcurr1 = fnext1;
-
-      stageCnt--;
-
-    }
-
-    /* y(n) = fN(n) */
-    *pDst++ = fcurr1;
-
-    blkCnt--;
-
-  }
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  float32_t fcurr, fnext, gcurr, gnext;          /* temporary variables */
-  uint32_t numStages = S->numStages;             /* Length of the filter */
-  uint32_t blkCnt, stageCnt;                     /* temporary variables for counts */
-
-  pState = &S->pState[0];
-
-  blkCnt = blockSize;
-
-  while(blkCnt > 0u)
-  {
-    /* f0(n) = x(n) */
-    fcurr = *pSrc++;
-
-    /* Initialize coeff pointer */
-    pk = pCoeffs;
-
-    /* Initialize state pointer */
-    px = pState;
-
-    /* read g0(n-1) from state buffer */
-    gcurr = *px;
-
-    /* for sample 1 processing */
-    /* f1(n) = f0(n) +  K1 * g0(n-1) */
-    fnext = fcurr + ((*pk) * gcurr);
-    /* g1(n) = f0(n) * K1  +  g0(n-1) */
-    gnext = (fcurr * (*pk++)) + gcurr;
-
-    /* save f0(n) in state buffer */
-    *px++ = fcurr;
-
-    /* f1(n) is saved in fcurr            
-       for next stage processing */
-    fcurr = fnext;
-
-    stageCnt = (numStages - 1u);
-
-    /* stage loop */
-    while(stageCnt > 0u)
-    {
-      /* read g2(n) from state buffer */
-      gcurr = *px;
-
-      /* save g1(n) in state buffer */
-      *px++ = gnext;
-
-      /* Sample processing for K2, K3.... */
-      /* f2(n) = f1(n) +  K2 * g1(n-1) */
-      fnext = fcurr + ((*pk) * gcurr);
-      /* g2(n) = f1(n) * K2  +  g1(n-1) */
-      gnext = (fcurr * (*pk++)) + gcurr;
-
-      /* f1(n) is saved in fcurr1            
-         for next stage processing */
-      fcurr = fnext;
-
-      stageCnt--;
-
-    }
-
-    /* y(n) = fN(n) */
-    *pDst++ = fcurr;
-
-    blkCnt--;
-
-  }
-
-#endif /*   #ifndef ARM_MATH_CM0 */
-
-}
-
-/**    
- * @} end of FIR_Lattice group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_f32.c
deleted file mode 100644
index a53ae92e2..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_f32.c
+++ /dev/null
@@ -1,78 +0,0 @@
-/*-----------------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:        arm_fir_lattice_init_f32.c    
-*    
-* Description:  Floating-point FIR Lattice filter initialization function.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* ---------------------------------------------------------------------------*/
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup FIR_Lattice    
- * @{    
- */
-
-/**    
- * @brief Initialization function for the floating-point FIR lattice filter.    
- * @param[in] *S points to an instance of the floating-point FIR lattice structure.    
- * @param[in] numStages  number of filter stages.    
- * @param[in] *pCoeffs points to the coefficient buffer.  The array is of length numStages.    
- * @param[in] *pState points to the state buffer.  The array is of length numStages.    
- * @return none.    
- */
-
-void arm_fir_lattice_init_f32(
-  arm_fir_lattice_instance_f32 * S,
-  uint16_t numStages,
-  float32_t * pCoeffs,
-  float32_t * pState)
-{
-  /* Assign filter taps */
-  S->numStages = numStages;
-
-  /* Assign coefficient pointer */
-  S->pCoeffs = pCoeffs;
-
-  /* Clear state buffer and size is always numStages */
-  memset(pState, 0, (numStages) * sizeof(float32_t));
-
-  /* Assign state pointer */
-  S->pState = pState;
-
-}
-
-/**    
- * @} end of FIR_Lattice group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_q15.c
deleted file mode 100644
index 8db498509..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_q15.c
+++ /dev/null
@@ -1,78 +0,0 @@
-/*-----------------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:        arm_fir_lattice_init_q15.c    
-*    
-* Description:  Q15 FIR Lattice filter initialization function.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* ---------------------------------------------------------------------------*/
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup FIR_Lattice    
- * @{    
- */
-
-  /**    
-   * @brief Initialization function for the Q15 FIR lattice filter.    
-   * @param[in] *S points to an instance of the Q15 FIR lattice structure.    
-   * @param[in] numStages  number of filter stages.    
-   * @param[in] *pCoeffs points to the coefficient buffer.  The array is of length numStages.     
-   * @param[in] *pState points to the state buffer.  The array is of length numStages.     
-   * @return none.    
-   */
-
-void arm_fir_lattice_init_q15(
-  arm_fir_lattice_instance_q15 * S,
-  uint16_t numStages,
-  q15_t * pCoeffs,
-  q15_t * pState)
-{
-  /* Assign filter taps */
-  S->numStages = numStages;
-
-  /* Assign coefficient pointer */
-  S->pCoeffs = pCoeffs;
-
-  /* Clear state buffer and size is always numStages */
-  memset(pState, 0, (numStages) * sizeof(q15_t));
-
-  /* Assign state pointer */
-  S->pState = pState;
-
-}
-
-/**    
- * @} end of FIR_Lattice group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_q31.c
deleted file mode 100644
index 035c5e056..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_q31.c
+++ /dev/null
@@ -1,78 +0,0 @@
-/*-----------------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:        arm_fir_lattice_init_q31.c    
-*    
-* Description:  Q31 FIR lattice filter initialization function.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* ---------------------------------------------------------------------------*/
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup FIR_Lattice    
- * @{    
- */
-
-  /**    
-   * @brief Initialization function for the Q31 FIR lattice filter.    
-   * @param[in] *S points to an instance of the Q31 FIR lattice structure.    
-   * @param[in] numStages  number of filter stages.    
-   * @param[in] *pCoeffs points to the coefficient buffer.  The array is of length numStages.    
-   * @param[in] *pState points to the state buffer.   The array is of length numStages.    
-   * @return none.    
-   */
-
-void arm_fir_lattice_init_q31(
-  arm_fir_lattice_instance_q31 * S,
-  uint16_t numStages,
-  q31_t * pCoeffs,
-  q31_t * pState)
-{
-  /* Assign filter taps */
-  S->numStages = numStages;
-
-  /* Assign coefficient pointer */
-  S->pCoeffs = pCoeffs;
-
-  /* Clear state buffer and size is always numStages */
-  memset(pState, 0, (numStages) * sizeof(q31_t));
-
-  /* Assign state pointer */
-  S->pState = pState;
-
-}
-
-/**    
- * @} end of FIR_Lattice group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_q15.c
deleted file mode 100644
index abfb33cf2..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_q15.c
+++ /dev/null
@@ -1,531 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_fir_lattice_q15.c    
-*    
-* Description:	Q15 FIR lattice filter processing function.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup FIR_Lattice    
- * @{    
- */
-
-
-/**    
- * @brief Processing function for the Q15 FIR lattice filter.    
- * @param[in]  *S        points to an instance of the Q15 FIR lattice structure.    
- * @param[in]  *pSrc     points to the block of input data.    
- * @param[out] *pDst     points to the block of output data    
- * @param[in]  blockSize number of samples to process.    
- * @return none.    
- */
-
-void arm_fir_lattice_q15(
-  const arm_fir_lattice_instance_q15 * S,
-  q15_t * pSrc,
-  q15_t * pDst,
-  uint32_t blockSize)
-{
-  q15_t *pState;                                 /* State pointer */
-  q15_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
-  q15_t *px;                                     /* temporary state pointer */
-  q15_t *pk;                                     /* temporary coefficient pointer */
-
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  q31_t fcurnt1, fnext1, gcurnt1 = 0, gnext1;    /* temporary variables for first sample in loop unrolling */
-  q31_t fcurnt2, fnext2, gnext2;                 /* temporary variables for second sample in loop unrolling */
-  q31_t fcurnt3, fnext3, gnext3;                 /* temporary variables for third sample in loop unrolling */
-  q31_t fcurnt4, fnext4, gnext4;                 /* temporary variables for fourth sample in loop unrolling */
-  uint32_t numStages = S->numStages;             /* Number of stages in the filter */
-  uint32_t blkCnt, stageCnt;                     /* temporary variables for counts */
-
-  pState = &S->pState[0];
-
-  blkCnt = blockSize >> 2u;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-
-    /* Read two samples from input buffer */
-    /* f0(n) = x(n) */
-    fcurnt1 = *pSrc++;
-    fcurnt2 = *pSrc++;
-
-    /* Initialize coeff pointer */
-    pk = (pCoeffs);
-
-    /* Initialize state pointer */
-    px = pState;
-
-    /* Read g0(n-1) from state */
-    gcurnt1 = *px;
-
-    /* Process first sample for first tap */
-    /* f1(n) = f0(n) +  K1 * g0(n-1) */
-    fnext1 = (q31_t) ((gcurnt1 * (*pk)) >> 15u) + fcurnt1;
-    fnext1 = __SSAT(fnext1, 16);
-
-    /* g1(n) = f0(n) * K1  +  g0(n-1) */
-    gnext1 = (q31_t) ((fcurnt1 * (*pk)) >> 15u) + gcurnt1;
-    gnext1 = __SSAT(gnext1, 16);
-
-    /* Process second sample for first tap */
-    /* for sample 2 processing */
-    fnext2 = (q31_t) ((fcurnt1 * (*pk)) >> 15u) + fcurnt2;
-    fnext2 = __SSAT(fnext2, 16);
-
-    gnext2 = (q31_t) ((fcurnt2 * (*pk)) >> 15u) + fcurnt1;
-    gnext2 = __SSAT(gnext2, 16);
-
-
-    /* Read next two samples from input buffer */
-    /* f0(n+2) = x(n+2) */
-    fcurnt3 = *pSrc++;
-    fcurnt4 = *pSrc++;
-
-    /* Copy only last input samples into the state buffer    
-       which is used for next four samples processing */
-    *px++ = (q15_t) fcurnt4;
-
-    /* Process third sample for first tap */
-    fnext3 = (q31_t) ((fcurnt2 * (*pk)) >> 15u) + fcurnt3;
-    fnext3 = __SSAT(fnext3, 16);
-    gnext3 = (q31_t) ((fcurnt3 * (*pk)) >> 15u) + fcurnt2;
-    gnext3 = __SSAT(gnext3, 16);
-
-    /* Process fourth sample for first tap */
-    fnext4 = (q31_t) ((fcurnt3 * (*pk)) >> 15u) + fcurnt4;
-    fnext4 = __SSAT(fnext4, 16);
-    gnext4 = (q31_t) ((fcurnt4 * (*pk++)) >> 15u) + fcurnt3;
-    gnext4 = __SSAT(gnext4, 16);
-
-    /* Update of f values for next coefficient set processing */
-    fcurnt1 = fnext1;
-    fcurnt2 = fnext2;
-    fcurnt3 = fnext3;
-    fcurnt4 = fnext4;
-
-
-    /* Loop unrolling.  Process 4 taps at a time . */
-    stageCnt = (numStages - 1u) >> 2;
-
-
-    /* Loop over the number of taps.  Unroll by a factor of 4.    
-     ** Repeat until we've computed numStages-3 coefficients. */
-
-    /* Process 2nd, 3rd, 4th and 5th taps ... here */
-    while(stageCnt > 0u)
-    {
-      /* Read g1(n-1), g3(n-1) .... from state */
-      gcurnt1 = *px;
-
-      /* save g1(n) in state buffer */
-      *px++ = (q15_t) gnext4;
-
-      /* Process first sample for 2nd, 6th .. tap */
-      /* Sample processing for K2, K6.... */
-      /* f1(n) = f0(n) +  K1 * g0(n-1) */
-      fnext1 = (q31_t) ((gcurnt1 * (*pk)) >> 15u) + fcurnt1;
-      fnext1 = __SSAT(fnext1, 16);
-
-
-      /* Process second sample for 2nd, 6th .. tap */
-      /* for sample 2 processing */
-      fnext2 = (q31_t) ((gnext1 * (*pk)) >> 15u) + fcurnt2;
-      fnext2 = __SSAT(fnext2, 16);
-      /* Process third sample for 2nd, 6th .. tap */
-      fnext3 = (q31_t) ((gnext2 * (*pk)) >> 15u) + fcurnt3;
-      fnext3 = __SSAT(fnext3, 16);
-      /* Process fourth sample for 2nd, 6th .. tap */
-      /* fnext4 = fcurnt4 + (*pk) * gnext3; */
-      fnext4 = (q31_t) ((gnext3 * (*pk)) >> 15u) + fcurnt4;
-      fnext4 = __SSAT(fnext4, 16);
-
-      /* g1(n) = f0(n) * K1  +  g0(n-1) */
-      /* Calculation of state values for next stage */
-      gnext4 = (q31_t) ((fcurnt4 * (*pk)) >> 15u) + gnext3;
-      gnext4 = __SSAT(gnext4, 16);
-      gnext3 = (q31_t) ((fcurnt3 * (*pk)) >> 15u) + gnext2;
-      gnext3 = __SSAT(gnext3, 16);
-
-      gnext2 = (q31_t) ((fcurnt2 * (*pk)) >> 15u) + gnext1;
-      gnext2 = __SSAT(gnext2, 16);
-
-      gnext1 = (q31_t) ((fcurnt1 * (*pk++)) >> 15u) + gcurnt1;
-      gnext1 = __SSAT(gnext1, 16);
-
-
-      /* Read g2(n-1), g4(n-1) .... from state */
-      gcurnt1 = *px;
-
-      /* save g1(n) in state buffer */
-      *px++ = (q15_t) gnext4;
-
-      /* Sample processing for K3, K7.... */
-      /* Process first sample for 3rd, 7th .. tap */
-      /* f3(n) = f2(n) +  K3 * g2(n-1) */
-      fcurnt1 = (q31_t) ((gcurnt1 * (*pk)) >> 15u) + fnext1;
-      fcurnt1 = __SSAT(fcurnt1, 16);
-
-      /* Process second sample for 3rd, 7th .. tap */
-      fcurnt2 = (q31_t) ((gnext1 * (*pk)) >> 15u) + fnext2;
-      fcurnt2 = __SSAT(fcurnt2, 16);
-
-      /* Process third sample for 3rd, 7th .. tap */
-      fcurnt3 = (q31_t) ((gnext2 * (*pk)) >> 15u) + fnext3;
-      fcurnt3 = __SSAT(fcurnt3, 16);
-
-      /* Process fourth sample for 3rd, 7th .. tap */
-      fcurnt4 = (q31_t) ((gnext3 * (*pk)) >> 15u) + fnext4;
-      fcurnt4 = __SSAT(fcurnt4, 16);
-
-      /* Calculation of state values for next stage */
-      /* g3(n) = f2(n) * K3  +  g2(n-1) */
-      gnext4 = (q31_t) ((fnext4 * (*pk)) >> 15u) + gnext3;
-      gnext4 = __SSAT(gnext4, 16);
-
-      gnext3 = (q31_t) ((fnext3 * (*pk)) >> 15u) + gnext2;
-      gnext3 = __SSAT(gnext3, 16);
-
-      gnext2 = (q31_t) ((fnext2 * (*pk)) >> 15u) + gnext1;
-      gnext2 = __SSAT(gnext2, 16);
-
-      gnext1 = (q31_t) ((fnext1 * (*pk++)) >> 15u) + gcurnt1;
-      gnext1 = __SSAT(gnext1, 16);
-
-      /* Read g1(n-1), g3(n-1) .... from state */
-      gcurnt1 = *px;
-
-      /* save g1(n) in state buffer */
-      *px++ = (q15_t) gnext4;
-
-      /* Sample processing for K4, K8.... */
-      /* Process first sample for 4th, 8th .. tap */
-      /* f4(n) = f3(n) +  K4 * g3(n-1) */
-      fnext1 = (q31_t) ((gcurnt1 * (*pk)) >> 15u) + fcurnt1;
-      fnext1 = __SSAT(fnext1, 16);
-
-      /* Process second sample for 4th, 8th .. tap */
-      /* for sample 2 processing */
-      fnext2 = (q31_t) ((gnext1 * (*pk)) >> 15u) + fcurnt2;
-      fnext2 = __SSAT(fnext2, 16);
-
-      /* Process third sample for 4th, 8th .. tap */
-      fnext3 = (q31_t) ((gnext2 * (*pk)) >> 15u) + fcurnt3;
-      fnext3 = __SSAT(fnext3, 16);
-
-      /* Process fourth sample for 4th, 8th .. tap */
-      fnext4 = (q31_t) ((gnext3 * (*pk)) >> 15u) + fcurnt4;
-      fnext4 = __SSAT(fnext4, 16);
-
-      /* g4(n) = f3(n) * K4  +  g3(n-1) */
-      /* Calculation of state values for next stage */
-      gnext4 = (q31_t) ((fcurnt4 * (*pk)) >> 15u) + gnext3;
-      gnext4 = __SSAT(gnext4, 16);
-
-      gnext3 = (q31_t) ((fcurnt3 * (*pk)) >> 15u) + gnext2;
-      gnext3 = __SSAT(gnext3, 16);
-
-      gnext2 = (q31_t) ((fcurnt2 * (*pk)) >> 15u) + gnext1;
-      gnext2 = __SSAT(gnext2, 16);
-      gnext1 = (q31_t) ((fcurnt1 * (*pk++)) >> 15u) + gcurnt1;
-      gnext1 = __SSAT(gnext1, 16);
-
-
-      /* Read g2(n-1), g4(n-1) .... from state */
-      gcurnt1 = *px;
-
-      /* save g4(n) in state buffer */
-      *px++ = (q15_t) gnext4;
-
-      /* Sample processing for K5, K9.... */
-      /* Process first sample for 5th, 9th .. tap */
-      /* f5(n) = f4(n) +  K5 * g4(n-1) */
-      fcurnt1 = (q31_t) ((gcurnt1 * (*pk)) >> 15u) + fnext1;
-      fcurnt1 = __SSAT(fcurnt1, 16);
-
-      /* Process second sample for 5th, 9th .. tap */
-      fcurnt2 = (q31_t) ((gnext1 * (*pk)) >> 15u) + fnext2;
-      fcurnt2 = __SSAT(fcurnt2, 16);
-
-      /* Process third sample for 5th, 9th .. tap */
-      fcurnt3 = (q31_t) ((gnext2 * (*pk)) >> 15u) + fnext3;
-      fcurnt3 = __SSAT(fcurnt3, 16);
-
-      /* Process fourth sample for 5th, 9th .. tap */
-      fcurnt4 = (q31_t) ((gnext3 * (*pk)) >> 15u) + fnext4;
-      fcurnt4 = __SSAT(fcurnt4, 16);
-
-      /* Calculation of state values for next stage */
-      /* g5(n) = f4(n) * K5  +  g4(n-1) */
-      gnext4 = (q31_t) ((fnext4 * (*pk)) >> 15u) + gnext3;
-      gnext4 = __SSAT(gnext4, 16);
-      gnext3 = (q31_t) ((fnext3 * (*pk)) >> 15u) + gnext2;
-      gnext3 = __SSAT(gnext3, 16);
-      gnext2 = (q31_t) ((fnext2 * (*pk)) >> 15u) + gnext1;
-      gnext2 = __SSAT(gnext2, 16);
-      gnext1 = (q31_t) ((fnext1 * (*pk++)) >> 15u) + gcurnt1;
-      gnext1 = __SSAT(gnext1, 16);
-
-      stageCnt--;
-    }
-
-    /* If the (filter length -1) is not a multiple of 4, compute the remaining filter taps */
-    stageCnt = (numStages - 1u) % 0x4u;
-
-    while(stageCnt > 0u)
-    {
-      gcurnt1 = *px;
-
-      /* save g value in state buffer */
-      *px++ = (q15_t) gnext4;
-
-      /* Process four samples for last three taps here */
-      fnext1 = (q31_t) ((gcurnt1 * (*pk)) >> 15u) + fcurnt1;
-      fnext1 = __SSAT(fnext1, 16);
-      fnext2 = (q31_t) ((gnext1 * (*pk)) >> 15u) + fcurnt2;
-      fnext2 = __SSAT(fnext2, 16);
-
-      fnext3 = (q31_t) ((gnext2 * (*pk)) >> 15u) + fcurnt3;
-      fnext3 = __SSAT(fnext3, 16);
-
-      fnext4 = (q31_t) ((gnext3 * (*pk)) >> 15u) + fcurnt4;
-      fnext4 = __SSAT(fnext4, 16);
-
-      /* g1(n) = f0(n) * K1  +  g0(n-1) */
-      gnext4 = (q31_t) ((fcurnt4 * (*pk)) >> 15u) + gnext3;
-      gnext4 = __SSAT(gnext4, 16);
-      gnext3 = (q31_t) ((fcurnt3 * (*pk)) >> 15u) + gnext2;
-      gnext3 = __SSAT(gnext3, 16);
-      gnext2 = (q31_t) ((fcurnt2 * (*pk)) >> 15u) + gnext1;
-      gnext2 = __SSAT(gnext2, 16);
-      gnext1 = (q31_t) ((fcurnt1 * (*pk++)) >> 15u) + gcurnt1;
-      gnext1 = __SSAT(gnext1, 16);
-
-      /* Update of f values for next coefficient set processing */
-      fcurnt1 = fnext1;
-      fcurnt2 = fnext2;
-      fcurnt3 = fnext3;
-      fcurnt4 = fnext4;
-
-      stageCnt--;
-
-    }
-
-    /* The results in the 4 accumulators, store in the destination buffer. */
-    /* y(n) = fN(n) */
-
-#ifndef  ARM_MATH_BIG_ENDIAN
-
-    *__SIMD32(pDst)++ = __PKHBT(fcurnt1, fcurnt2, 16);
-    *__SIMD32(pDst)++ = __PKHBT(fcurnt3, fcurnt4, 16);
-
-#else
-
-    *__SIMD32(pDst)++ = __PKHBT(fcurnt2, fcurnt1, 16);
-    *__SIMD32(pDst)++ = __PKHBT(fcurnt4, fcurnt3, 16);
-
-#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
-
-    blkCnt--;
-  }
-
-  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
-   ** No loop unrolling is used. */
-  blkCnt = blockSize % 0x4u;
-
-  while(blkCnt > 0u)
-  {
-    /* f0(n) = x(n) */
-    fcurnt1 = *pSrc++;
-
-    /* Initialize coeff pointer */
-    pk = (pCoeffs);
-
-    /* Initialize state pointer */
-    px = pState;
-
-    /* read g2(n) from state buffer */
-    gcurnt1 = *px;
-
-    /* for sample 1 processing */
-    /* f1(n) = f0(n) +  K1 * g0(n-1) */
-    fnext1 = (((q31_t) gcurnt1 * (*pk)) >> 15u) + fcurnt1;
-    fnext1 = __SSAT(fnext1, 16);
-
-
-    /* g1(n) = f0(n) * K1  +  g0(n-1) */
-    gnext1 = (((q31_t) fcurnt1 * (*pk++)) >> 15u) + gcurnt1;
-    gnext1 = __SSAT(gnext1, 16);
-
-    /* save g1(n) in state buffer */
-    *px++ = (q15_t) fcurnt1;
-
-    /* f1(n) is saved in fcurnt1    
-       for next stage processing */
-    fcurnt1 = fnext1;
-
-    stageCnt = (numStages - 1u);
-
-    /* stage loop */
-    while(stageCnt > 0u)
-    {
-      /* read g2(n) from state buffer */
-      gcurnt1 = *px;
-
-      /* save g1(n) in state buffer */
-      *px++ = (q15_t) gnext1;
-
-      /* Sample processing for K2, K3.... */
-      /* f2(n) = f1(n) +  K2 * g1(n-1) */
-      fnext1 = (((q31_t) gcurnt1 * (*pk)) >> 15u) + fcurnt1;
-      fnext1 = __SSAT(fnext1, 16);
-
-      /* g2(n) = f1(n) * K2  +  g1(n-1) */
-      gnext1 = (((q31_t) fcurnt1 * (*pk++)) >> 15u) + gcurnt1;
-      gnext1 = __SSAT(gnext1, 16);
-
-
-      /* f1(n) is saved in fcurnt1    
-         for next stage processing */
-      fcurnt1 = fnext1;
-
-      stageCnt--;
-
-    }
-
-    /* y(n) = fN(n) */
-    *pDst++ = __SSAT(fcurnt1, 16);
-
-
-    blkCnt--;
-
-  }
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  q31_t fcurnt, fnext, gcurnt, gnext;            /* temporary variables */
-  uint32_t numStages = S->numStages;             /* Length of the filter */
-  uint32_t blkCnt, stageCnt;                     /* temporary variables for counts */
-
-  pState = &S->pState[0];
-
-  blkCnt = blockSize;
-
-  while(blkCnt > 0u)
-  {
-    /* f0(n) = x(n) */
-    fcurnt = *pSrc++;
-
-    /* Initialize coeff pointer */
-    pk = (pCoeffs);
-
-    /* Initialize state pointer */
-    px = pState;
-
-    /* read g0(n-1) from state buffer */
-    gcurnt = *px;
-
-    /* for sample 1 processing */
-    /* f1(n) = f0(n) +  K1 * g0(n-1) */
-    fnext = ((gcurnt * (*pk)) >> 15u) + fcurnt;
-    fnext = __SSAT(fnext, 16);
-
-
-    /* g1(n) = f0(n) * K1  +  g0(n-1) */
-    gnext = ((fcurnt * (*pk++)) >> 15u) + gcurnt;
-    gnext = __SSAT(gnext, 16);
-
-    /* save f0(n) in state buffer */
-    *px++ = (q15_t) fcurnt;
-
-    /* f1(n) is saved in fcurnt            
-       for next stage processing */
-    fcurnt = fnext;
-
-    stageCnt = (numStages - 1u);
-
-    /* stage loop */
-    while(stageCnt > 0u)
-    {
-      /* read g1(n-1) from state buffer */
-      gcurnt = *px;
-
-      /* save g0(n-1) in state buffer */
-      *px++ = (q15_t) gnext;
-
-      /* Sample processing for K2, K3.... */
-      /* f2(n) = f1(n) +  K2 * g1(n-1) */
-      fnext = ((gcurnt * (*pk)) >> 15u) + fcurnt;
-      fnext = __SSAT(fnext, 16);
-
-      /* g2(n) = f1(n) * K2  +  g1(n-1) */
-      gnext = ((fcurnt * (*pk++)) >> 15u) + gcurnt;
-      gnext = __SSAT(gnext, 16);
-
-
-      /* f1(n) is saved in fcurnt            
-         for next stage processing */
-      fcurnt = fnext;
-
-      stageCnt--;
-
-    }
-
-    /* y(n) = fN(n) */
-    *pDst++ = __SSAT(fcurnt, 16);
-
-
-    blkCnt--;
-
-  }
-
-#endif /*   #ifndef ARM_MATH_CM0 */
-
-}
-
-/**    
- * @} end of FIR_Lattice group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_q31.c
deleted file mode 100644
index 9fb46459d..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_q31.c
+++ /dev/null
@@ -1,348 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_fir_lattice_q31.c    
-*    
-* Description:	Q31 FIR lattice filter processing function.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup FIR_Lattice    
- * @{    
- */
-
-
-/**    
- * @brief Processing function for the Q31 FIR lattice filter.    
- * @param[in]  *S        points to an instance of the Q31 FIR lattice structure.    
- * @param[in]  *pSrc     points to the block of input data.    
- * @param[out] *pDst     points to the block of output data    
- * @param[in]  blockSize number of samples to process.    
- * @return none.    
- *    
- * @details    
- * Scaling and Overflow Behavior:    
- * In order to avoid overflows the input signal must be scaled down by 2*log2(numStages) bits.    
- */
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-void arm_fir_lattice_q31(
-  const arm_fir_lattice_instance_q31 * S,
-  q31_t * pSrc,
-  q31_t * pDst,
-  uint32_t blockSize)
-{
-  q31_t *pState;                                 /* State pointer */
-  q31_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
-  q31_t *px;                                     /* temporary state pointer */
-  q31_t *pk;                                     /* temporary coefficient pointer */
-  q31_t fcurr1, fnext1, gcurr1 = 0, gnext1;      /* temporary variables for first sample in loop unrolling */
-  q31_t fcurr2, fnext2, gnext2;                  /* temporary variables for second sample in loop unrolling */
-  uint32_t numStages = S->numStages;             /* Length of the filter */
-  uint32_t blkCnt, stageCnt;                     /* temporary variables for counts */
-  q31_t k;
-
-  pState = &S->pState[0];
-
-  blkCnt = blockSize >> 1u;
-
-  /* First part of the processing with loop unrolling.  Compute 2 outputs at a time.        
-     a second loop below computes the remaining 1 sample. */
-  while(blkCnt > 0u)
-  {
-    /* f0(n) = x(n) */
-    fcurr1 = *pSrc++;
-
-    /* f0(n) = x(n) */
-    fcurr2 = *pSrc++;
-
-    /* Initialize coeff pointer */
-    pk = (pCoeffs);
-
-    /* Initialize state pointer */
-    px = pState;
-
-    /* read g0(n - 1) from state buffer */
-    gcurr1 = *px;
-
-    /* Read the reflection coefficient */
-    k = *pk++;
-
-    /* for sample 1 processing */
-    /* f1(n) = f0(n) +  K1 * g0(n-1) */
-    fnext1 = (q31_t) (((q63_t) gcurr1 * k) >> 32);
-
-    /* g1(n) = f0(n) * K1  +  g0(n-1) */
-    gnext1 = (q31_t) (((q63_t) fcurr1 * (k)) >> 32);
-    fnext1 = fcurr1 + (fnext1 << 1u);
-    gnext1 = gcurr1 + (gnext1 << 1u);
-
-    /* for sample 1 processing */
-    /* f1(n) = f0(n) +  K1 * g0(n-1) */
-    fnext2 = (q31_t) (((q63_t) fcurr1 * k) >> 32);
-
-    /* g1(n) = f0(n) * K1  +  g0(n-1) */
-    gnext2 = (q31_t) (((q63_t) fcurr2 * (k)) >> 32);
-    fnext2 = fcurr2 + (fnext2 << 1u);
-    gnext2 = fcurr1 + (gnext2 << 1u);
-
-    /* save g1(n) in state buffer */
-    *px++ = fcurr2;
-
-    /* f1(n) is saved in fcurr1        
-       for next stage processing */
-    fcurr1 = fnext1;
-    fcurr2 = fnext2;
-
-    stageCnt = (numStages - 1u);
-
-    /* stage loop */
-    while(stageCnt > 0u)
-    {
-
-      /* Read the reflection coefficient */
-      k = *pk++;
-
-      /* read g2(n) from state buffer */
-      gcurr1 = *px;
-
-      /* save g1(n) in state buffer */
-      *px++ = gnext2;
-
-      /* Sample processing for K2, K3.... */
-      /* f2(n) = f1(n) +  K2 * g1(n-1) */
-      fnext1 = (q31_t) (((q63_t) gcurr1 * k) >> 32);
-      fnext2 = (q31_t) (((q63_t) gnext1 * k) >> 32);
-
-      fnext1 = fcurr1 + (fnext1 << 1u);
-      fnext2 = fcurr2 + (fnext2 << 1u);
-
-      /* g2(n) = f1(n) * K2  +  g1(n-1) */
-      gnext2 = (q31_t) (((q63_t) fcurr2 * (k)) >> 32);
-      gnext2 = gnext1 + (gnext2 << 1u);
-
-      /* g2(n) = f1(n) * K2  +  g1(n-1) */
-      gnext1 = (q31_t) (((q63_t) fcurr1 * (k)) >> 32);
-      gnext1 = gcurr1 + (gnext1 << 1u);
-
-      /* f1(n) is saved in fcurr1        
-         for next stage processing */
-      fcurr1 = fnext1;
-      fcurr2 = fnext2;
-
-      stageCnt--;
-
-    }
-
-    /* y(n) = fN(n) */
-    *pDst++ = fcurr1;
-    *pDst++ = fcurr2;
-
-    blkCnt--;
-
-  }
-
-  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.        
-   ** No loop unrolling is used. */
-  blkCnt = blockSize % 0x2u;
-
-  while(blkCnt > 0u)
-  {
-    /* f0(n) = x(n) */
-    fcurr1 = *pSrc++;
-
-    /* Initialize coeff pointer */
-    pk = (pCoeffs);
-
-    /* Initialize state pointer */
-    px = pState;
-
-    /* read g0(n - 1) from state buffer */
-    gcurr1 = *px;
-
-    /* Read the reflection coefficient */
-    k = *pk++;
-
-    /* for sample 1 processing */
-    /* f1(n) = f0(n) +  K1 * g0(n-1) */
-    fnext1 = (q31_t) (((q63_t) gcurr1 * k) >> 32);
-    fnext1 = fcurr1 + (fnext1 << 1u);
-
-    /* g1(n) = f0(n) * K1  +  g0(n-1) */
-    gnext1 = (q31_t) (((q63_t) fcurr1 * (k)) >> 32);
-    gnext1 = gcurr1 + (gnext1 << 1u);
-
-    /* save g1(n) in state buffer */
-    *px++ = fcurr1;
-
-    /* f1(n) is saved in fcurr1        
-       for next stage processing */
-    fcurr1 = fnext1;
-
-    stageCnt = (numStages - 1u);
-
-    /* stage loop */
-    while(stageCnt > 0u)
-    {
-      /* Read the reflection coefficient */
-      k = *pk++;
-
-      /* read g2(n) from state buffer */
-      gcurr1 = *px;
-
-      /* save g1(n) in state buffer */
-      *px++ = gnext1;
-
-      /* Sample processing for K2, K3.... */
-      /* f2(n) = f1(n) +  K2 * g1(n-1) */
-      fnext1 = (q31_t) (((q63_t) gcurr1 * k) >> 32);
-      fnext1 = fcurr1 + (fnext1 << 1u);
-
-      /* g2(n) = f1(n) * K2  +  g1(n-1) */
-      gnext1 = (q31_t) (((q63_t) fcurr1 * (k)) >> 32);
-      gnext1 = gcurr1 + (gnext1 << 1u);
-
-      /* f1(n) is saved in fcurr1        
-         for next stage processing */
-      fcurr1 = fnext1;
-
-      stageCnt--;
-
-    }
-
-
-    /* y(n) = fN(n) */
-    *pDst++ = fcurr1;
-
-    blkCnt--;
-
-  }
-
-
-}
-
-
-#else
-
-/* Run the below code for Cortex-M0 */
-
-void arm_fir_lattice_q31(
-  const arm_fir_lattice_instance_q31 * S,
-  q31_t * pSrc,
-  q31_t * pDst,
-  uint32_t blockSize)
-{
-  q31_t *pState;                                 /* State pointer */
-  q31_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
-  q31_t *px;                                     /* temporary state pointer */
-  q31_t *pk;                                     /* temporary coefficient pointer */
-  q31_t fcurr, fnext, gcurr, gnext;              /* temporary variables */
-  uint32_t numStages = S->numStages;             /* Length of the filter */
-  uint32_t blkCnt, stageCnt;                     /* temporary variables for counts */
-
-  pState = &S->pState[0];
-
-  blkCnt = blockSize;
-
-  while(blkCnt > 0u)
-  {
-    /* f0(n) = x(n) */
-    fcurr = *pSrc++;
-
-    /* Initialize coeff pointer */
-    pk = (pCoeffs);
-
-    /* Initialize state pointer */
-    px = pState;
-
-    /* read g0(n-1) from state buffer */
-    gcurr = *px;
-
-    /* for sample 1 processing */
-    /* f1(n) = f0(n) +  K1 * g0(n-1) */
-    fnext = (q31_t) (((q63_t) gcurr * (*pk)) >> 31) + fcurr;
-    /* g1(n) = f0(n) * K1  +  g0(n-1) */
-    gnext = (q31_t) (((q63_t) fcurr * (*pk++)) >> 31) + gcurr;
-    /* save g1(n) in state buffer */
-    *px++ = fcurr;
-
-    /* f1(n) is saved in fcurr1            
-       for next stage processing */
-    fcurr = fnext;
-
-    stageCnt = (numStages - 1u);
-
-    /* stage loop */
-    while(stageCnt > 0u)
-    {
-      /* read g2(n) from state buffer */
-      gcurr = *px;
-
-      /* save g1(n) in state buffer */
-      *px++ = gnext;
-
-      /* Sample processing for K2, K3.... */
-      /* f2(n) = f1(n) +  K2 * g1(n-1) */
-      fnext = (q31_t) (((q63_t) gcurr * (*pk)) >> 31) + fcurr;
-      /* g2(n) = f1(n) * K2  +  g1(n-1) */
-      gnext = (q31_t) (((q63_t) fcurr * (*pk++)) >> 31) + gcurr;
-
-      /* f1(n) is saved in fcurr1            
-         for next stage processing */
-      fcurr = fnext;
-
-      stageCnt--;
-
-    }
-
-    /* y(n) = fN(n) */
-    *pDst++ = fcurr;
-
-    blkCnt--;
-
-  }
-
-}
-
-#endif /*   #ifndef ARM_MATH_CM0 */
-
-
-/**    
- * @} end of FIR_Lattice group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_q15.c
deleted file mode 100644
index 368014f43..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_q15.c
+++ /dev/null
@@ -1,689 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:        arm_fir_q15.c    
-*    
-* Description:  Q15 FIR filter processing function.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-*    
-* Version 0.0.5  2010/04/26     
-* 	 incorporated review comments and updated with latest CMSIS layer    
-*    
-* Version 0.0.3  2010/03/10     
-*    Initial version    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**       
- * @ingroup groupFilters       
- */
-
-/**       
- * @addtogroup FIR       
- * @{       
- */
-
-/**       
- * @brief Processing function for the Q15 FIR filter.       
- * @param[in] *S points to an instance of the Q15 FIR structure.       
- * @param[in] *pSrc points to the block of input data.       
- * @param[out] *pDst points to the block of output data.       
- * @param[in]  blockSize number of samples to process per call.       
- * @return none.       
- *   
- *   
- * \par Restrictions   
- *  If the silicon does not support unaligned memory access enable the macro UNALIGNED_SUPPORT_DISABLE   
- *	In this case input, output, state buffers should be aligned by 32-bit   
- *   
- * Scaling and Overflow Behavior:       
- * \par       
- * The function is implemented using a 64-bit internal accumulator.       
- * Both coefficients and state variables are represented in 1.15 format and multiplications yield a 2.30 result.       
- * The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format.       
- * There is no risk of internal overflow with this approach and the full precision of intermediate multiplications is preserved.       
- * After all additions have been performed, the accumulator is truncated to 34.15 format by discarding low 15 bits.       
- * Lastly, the accumulator is saturated to yield a result in 1.15 format.       
- *       
- * \par       
- * Refer to the function arm_fir_fast_q15() for a faster but less precise implementation of this function.       
- */
-
-#ifndef ARM_MATH_CM0
-
-/* Run the below code for Cortex-M4 and Cortex-M3 */
-
-#ifndef UNALIGNED_SUPPORT_DISABLE
-
-
-void arm_fir_q15(
-  const arm_fir_instance_q15 * S,
-  q15_t * pSrc,
-  q15_t * pDst,
-  uint32_t blockSize)
-{
-  q15_t *pState = S->pState;                     /* State pointer */
-  q15_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
-  q15_t *pStateCurnt;                            /* Points to the current sample of the state */
-  q15_t *px1;                                    /* Temporary q15 pointer for state buffer */
-  q15_t *pb;                                     /* Temporary pointer for coefficient buffer */
-  q31_t x0, x1, x2, x3, c0;                      /* Temporary variables to hold SIMD state and coefficient values */
-  q63_t acc0, acc1, acc2, acc3;                  /* Accumulators */
-  uint32_t numTaps = S->numTaps;                 /* Number of taps in the filter */
-  uint32_t tapCnt, blkCnt;                       /* Loop counters */
-
-
-  /* S->pState points to state array which contains previous frame (numTaps - 1) samples */
-  /* pStateCurnt points to the location where the new input data should be written */
-  pStateCurnt = &(S->pState[(numTaps - 1u)]);
-
-  /* Apply loop unrolling and compute 4 output values simultaneously.       
-   * The variables acc0 ... acc3 hold output values that are being computed:       
-   *       
-   *    acc0 =  b[numTaps-1] * x[n-numTaps-1] + b[numTaps-2] * x[n-numTaps-2] + b[numTaps-3] * x[n-numTaps-3] +...+ b[0] * x[0]       
-   *    acc1 =  b[numTaps-1] * x[n-numTaps] +   b[numTaps-2] * x[n-numTaps-1] + b[numTaps-3] * x[n-numTaps-2] +...+ b[0] * x[1]       
-   *    acc2 =  b[numTaps-1] * x[n-numTaps+1] + b[numTaps-2] * x[n-numTaps] +   b[numTaps-3] * x[n-numTaps-1] +...+ b[0] * x[2]       
-   *    acc3 =  b[numTaps-1] * x[n-numTaps+2] + b[numTaps-2] * x[n-numTaps+1] + b[numTaps-3] * x[n-numTaps]   +...+ b[0] * x[3]       
-   */
-
-  blkCnt = blockSize >> 2;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.       
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-    /* Copy four new input samples into the state buffer.       
-     ** Use 32-bit SIMD to move the 16-bit data.  Only requires two copies. */
-    *__SIMD32(pStateCurnt)++ = *__SIMD32(pSrc)++;
-    *__SIMD32(pStateCurnt)++ = *__SIMD32(pSrc)++;
-
-    /* Set all accumulators to zero */
-    acc0 = 0;
-    acc1 = 0;
-    acc2 = 0;
-    acc3 = 0;
-
-    /* Initialize state pointer of type q15 */
-    px1 = pState;
-
-    /* Initialize coeff pointer of type q31 */
-    pb = pCoeffs;
-
-    /* Read the first two samples from the state buffer:  x[n-N], x[n-N-1] */
-    x0 = _SIMD32_OFFSET(px1);
-
-    /* Read the third and forth samples from the state buffer: x[n-N-1], x[n-N-2] */
-    x1 = _SIMD32_OFFSET(px1 + 1u);
-
-    px1 += 2u;
-
-    /* Loop over the number of taps.  Unroll by a factor of 4.       
-     ** Repeat until we've computed numTaps-4 coefficients. */
-    tapCnt = numTaps >> 2;
-
-    while(tapCnt > 0u)
-    {
-      /* Read the first two coefficients using SIMD:  b[N] and b[N-1] coefficients */
-      c0 = *__SIMD32(pb)++;
-
-      /* acc0 +=  b[N] * x[n-N] + b[N-1] * x[n-N-1] */
-      acc0 = __SMLALD(x0, c0, acc0);
-
-      /* acc1 +=  b[N] * x[n-N-1] + b[N-1] * x[n-N-2] */
-      acc1 = __SMLALD(x1, c0, acc1);
-
-      /* Read state x[n-N-2], x[n-N-3] */
-      x2 = _SIMD32_OFFSET(px1);
-
-      /* Read state x[n-N-3], x[n-N-4] */
-      x3 = _SIMD32_OFFSET(px1 + 1u);
-
-      /* acc2 +=  b[N] * x[n-N-2] + b[N-1] * x[n-N-3] */
-      acc2 = __SMLALD(x2, c0, acc2);
-
-      /* acc3 +=  b[N] * x[n-N-3] + b[N-1] * x[n-N-4] */
-      acc3 = __SMLALD(x3, c0, acc3);
-
-      /* Read coefficients b[N-2], b[N-3] */
-      c0 = *__SIMD32(pb)++;
-
-      /* acc0 +=  b[N-2] * x[n-N-2] + b[N-3] * x[n-N-3] */
-      acc0 = __SMLALD(x2, c0, acc0);
-
-      /* acc1 +=  b[N-2] * x[n-N-3] + b[N-3] * x[n-N-4] */
-      acc1 = __SMLALD(x3, c0, acc1);
-
-      /* Read state x[n-N-4], x[n-N-5] */
-      x0 = _SIMD32_OFFSET(px1 + 2u);
-
-      /* Read state x[n-N-5], x[n-N-6] */
-      x1 = _SIMD32_OFFSET(px1 + 3u);
-
-      /* acc2 +=  b[N-2] * x[n-N-4] + b[N-3] * x[n-N-5] */
-      acc2 = __SMLALD(x0, c0, acc2);
-
-      /* acc3 +=  b[N-2] * x[n-N-5] + b[N-3] * x[n-N-6] */
-      acc3 = __SMLALD(x1, c0, acc3);
-
-      px1 += 4u;
-
-      tapCnt--;
-
-    }
-
-
-    /* If the filter length is not a multiple of 4, compute the remaining filter taps.       
-     ** This is always be 2 taps since the filter length is even. */
-    if((numTaps & 0x3u) != 0u)
-    {
-      /* Read 2 coefficients */
-      c0 = *__SIMD32(pb)++;
-
-      /* Fetch 4 state variables */
-      x2 = _SIMD32_OFFSET(px1);
-
-      x3 = _SIMD32_OFFSET(px1 + 1u);
-
-      /* Perform the multiply-accumulates */
-      acc0 = __SMLALD(x0, c0, acc0);
-
-      px1 += 2u;
-
-      acc1 = __SMLALD(x1, c0, acc1);
-      acc2 = __SMLALD(x2, c0, acc2);
-      acc3 = __SMLALD(x3, c0, acc3);
-    }
-
-    /* The results in the 4 accumulators are in 2.30 format.  Convert to 1.15 with saturation.       
-     ** Then store the 4 outputs in the destination buffer. */
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-    *__SIMD32(pDst)++ =
-      __PKHBT(__SSAT((acc0 >> 15), 16), __SSAT((acc1 >> 15), 16), 16);
-    *__SIMD32(pDst)++ =
-      __PKHBT(__SSAT((acc2 >> 15), 16), __SSAT((acc3 >> 15), 16), 16);
-
-#else
-
-    *__SIMD32(pDst)++ =
-      __PKHBT(__SSAT((acc1 >> 15), 16), __SSAT((acc0 >> 15), 16), 16);
-    *__SIMD32(pDst)++ =
-      __PKHBT(__SSAT((acc3 >> 15), 16), __SSAT((acc2 >> 15), 16), 16);
-
-#endif /*      #ifndef ARM_MATH_BIG_ENDIAN       */
-
-
-
-    /* Advance the state pointer by 4 to process the next group of 4 samples */
-    pState = pState + 4;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.       
-   ** No loop unrolling is used. */
-  blkCnt = blockSize % 0x4u;
-  while(blkCnt > 0u)
-  {
-    /* Copy two samples into state buffer */
-    *pStateCurnt++ = *pSrc++;
-
-    /* Set the accumulator to zero */
-    acc0 = 0;
-
-    /* Initialize state pointer of type q15 */
-    px1 = pState;
-
-    /* Initialize coeff pointer of type q31 */
-    pb = pCoeffs;
-
-    tapCnt = numTaps >> 1;
-
-    do
-    {
-
-      c0 = *__SIMD32(pb)++;
-      x0 = *__SIMD32(px1)++;
-
-      acc0 = __SMLALD(x0, c0, acc0);
-      tapCnt--;
-    }
-    while(tapCnt > 0u);
-
-    /* The result is in 2.30 format.  Convert to 1.15 with saturation.       
-     ** Then store the output in the destination buffer. */
-    *pDst++ = (q15_t) (__SSAT((acc0 >> 15), 16));
-
-    /* Advance state pointer by 1 for the next sample */
-    pState = pState + 1;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* Processing is complete.       
-   ** Now copy the last numTaps - 1 samples to the satrt of the state buffer.       
-   ** This prepares the state buffer for the next function call. */
-
-  /* Points to the start of the state buffer */
-  pStateCurnt = S->pState;
-
-  /* Calculation of count for copying integer writes */
-  tapCnt = (numTaps - 1u) >> 2;
-
-  while(tapCnt > 0u)
-  {
-
-    /* Copy state values to start of state buffer */
-    *__SIMD32(pStateCurnt)++ = *__SIMD32(pState)++;
-    *__SIMD32(pStateCurnt)++ = *__SIMD32(pState)++;
-
-    tapCnt--;
-
-  }
-
-  /* Calculation of count for remaining q15_t data */
-  tapCnt = (numTaps - 1u) % 0x4u;
-
-  /* copy remaining data */
-  while(tapCnt > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    tapCnt--;
-  }
-}
-
-#else /* UNALIGNED_SUPPORT_DISABLE */
-
-void arm_fir_q15(
-  const arm_fir_instance_q15 * S,
-  q15_t * pSrc,
-  q15_t * pDst,
-  uint32_t blockSize)
-{
-  q15_t *pState = S->pState;                     /* State pointer */
-  q15_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
-  q15_t *pStateCurnt;                            /* Points to the current sample of the state */
-  q63_t acc0, acc1, acc2, acc3;                  /* Accumulators */
-  q15_t *pb;                                     /* Temporary pointer for coefficient buffer */
-  q15_t *px;                                     /* Temporary q31 pointer for SIMD state buffer accesses */
-  q31_t x0, x1, x2, c0;                          /* Temporary variables to hold SIMD state and coefficient values */
-  uint32_t numTaps = S->numTaps;                 /* Number of taps in the filter */
-  uint32_t tapCnt, blkCnt;                       /* Loop counters */
-
-
-  /* S->pState points to state array which contains previous frame (numTaps - 1) samples */
-  /* pStateCurnt points to the location where the new input data should be written */
-  pStateCurnt = &(S->pState[(numTaps - 1u)]);
-
-  /* Apply loop unrolling and compute 4 output values simultaneously.      
-   * The variables acc0 ... acc3 hold output values that are being computed:      
-   *      
-   *    acc0 =  b[numTaps-1] * x[n-numTaps-1] + b[numTaps-2] * x[n-numTaps-2] + b[numTaps-3] * x[n-numTaps-3] +...+ b[0] * x[0]      
-   *    acc1 =  b[numTaps-1] * x[n-numTaps] +   b[numTaps-2] * x[n-numTaps-1] + b[numTaps-3] * x[n-numTaps-2] +...+ b[0] * x[1]      
-   *    acc2 =  b[numTaps-1] * x[n-numTaps+1] + b[numTaps-2] * x[n-numTaps] +   b[numTaps-3] * x[n-numTaps-1] +...+ b[0] * x[2]      
-   *    acc3 =  b[numTaps-1] * x[n-numTaps+2] + b[numTaps-2] * x[n-numTaps+1] + b[numTaps-3] * x[n-numTaps]   +...+ b[0] * x[3]      
-   */
-
-  blkCnt = blockSize >> 2;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.      
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-    /* Copy four new input samples into the state buffer.      
-     ** Use 32-bit SIMD to move the 16-bit data.  Only requires two copies. */
-    *pStateCurnt++ = *pSrc++;
-    *pStateCurnt++ = *pSrc++;
-    *pStateCurnt++ = *pSrc++;
-    *pStateCurnt++ = *pSrc++;
-
-
-    /* Set all accumulators to zero */
-    acc0 = 0;
-    acc1 = 0;
-    acc2 = 0;
-    acc3 = 0;
-
-    /* Typecast q15_t pointer to q31_t pointer for state reading in q31_t */
-    px = pState;
-
-    /* Typecast q15_t pointer to q31_t pointer for coefficient reading in q31_t */
-    pb = pCoeffs;
-
-    /* Read the first two samples from the state buffer:  x[n-N], x[n-N-1] */
-    x0 = *__SIMD32(px)++;
-
-    /* Read the third and forth samples from the state buffer: x[n-N-2], x[n-N-3] */
-    x2 = *__SIMD32(px)++;
-
-    /* Loop over the number of taps.  Unroll by a factor of 4.      
-     ** Repeat until we've computed numTaps-(numTaps%4) coefficients. */
-    tapCnt = numTaps >> 2;
-
-    while(tapCnt > 0)
-    {
-      /* Read the first two coefficients using SIMD:  b[N] and b[N-1] coefficients */
-      c0 = *__SIMD32(pb)++;
-
-      /* acc0 +=  b[N] * x[n-N] + b[N-1] * x[n-N-1] */
-      acc0 = __SMLALD(x0, c0, acc0);
-
-      /* acc2 +=  b[N] * x[n-N-2] + b[N-1] * x[n-N-3] */
-      acc2 = __SMLALD(x2, c0, acc2);
-
-      /* pack  x[n-N-1] and x[n-N-2] */
-#ifndef ARM_MATH_BIG_ENDIAN
-      x1 = __PKHBT(x2, x0, 0);
-#else
-      x1 = __PKHBT(x0, x2, 0);
-#endif
-
-      /* Read state x[n-N-4], x[n-N-5] */
-      x0 = _SIMD32_OFFSET(px);
-
-      /* acc1 +=  b[N] * x[n-N-1] + b[N-1] * x[n-N-2] */
-      acc1 = __SMLALDX(x1, c0, acc1);
-
-      /* pack  x[n-N-3] and x[n-N-4] */
-#ifndef ARM_MATH_BIG_ENDIAN
-      x1 = __PKHBT(x0, x2, 0);
-#else
-      x1 = __PKHBT(x2, x0, 0);
-#endif
-
-      /* acc3 +=  b[N] * x[n-N-3] + b[N-1] * x[n-N-4] */
-      acc3 = __SMLALDX(x1, c0, acc3);
-
-      /* Read coefficients b[N-2], b[N-3] */
-      c0 = *__SIMD32(pb)++;
-
-      /* acc0 +=  b[N-2] * x[n-N-2] + b[N-3] * x[n-N-3] */
-      acc0 = __SMLALD(x2, c0, acc0);
-
-      /* Read state x[n-N-6], x[n-N-7] with offset */
-      x2 = _SIMD32_OFFSET(px + 2u);
-
-      /* acc2 +=  b[N-2] * x[n-N-4] + b[N-3] * x[n-N-5] */
-      acc2 = __SMLALD(x0, c0, acc2);
-
-      /* acc1 +=  b[N-2] * x[n-N-3] + b[N-3] * x[n-N-4] */
-      acc1 = __SMLALDX(x1, c0, acc1);
-
-      /* pack  x[n-N-5] and x[n-N-6] */
-#ifndef ARM_MATH_BIG_ENDIAN
-      x1 = __PKHBT(x2, x0, 0);
-#else
-      x1 = __PKHBT(x0, x2, 0);
-#endif
-
-      /* acc3 +=  b[N-2] * x[n-N-5] + b[N-3] * x[n-N-6] */
-      acc3 = __SMLALDX(x1, c0, acc3);
-
-      /* Update state pointer for next state reading */
-      px += 4u;
-
-      /* Decrement tap count */
-      tapCnt--;
-
-    }
-
-    /* If the filter length is not a multiple of 4, compute the remaining filter taps.       
-     ** This is always be 2 taps since the filter length is even. */
-    if((numTaps & 0x3u) != 0u)
-    {
-
-      /* Read last two coefficients */
-      c0 = *__SIMD32(pb)++;
-
-      /* Perform the multiply-accumulates */
-      acc0 = __SMLALD(x0, c0, acc0);
-      acc2 = __SMLALD(x2, c0, acc2);
-
-      /* pack state variables */
-#ifndef ARM_MATH_BIG_ENDIAN
-      x1 = __PKHBT(x2, x0, 0);
-#else
-      x1 = __PKHBT(x0, x2, 0);
-#endif
-
-      /* Read last state variables */
-      x0 = *__SIMD32(px);
-
-      /* Perform the multiply-accumulates */
-      acc1 = __SMLALDX(x1, c0, acc1);
-
-      /* pack state variables */
-#ifndef ARM_MATH_BIG_ENDIAN
-      x1 = __PKHBT(x0, x2, 0);
-#else
-      x1 = __PKHBT(x2, x0, 0);
-#endif
-
-      /* Perform the multiply-accumulates */
-      acc3 = __SMLALDX(x1, c0, acc3);
-    }
-
-    /* The results in the 4 accumulators are in 2.30 format.  Convert to 1.15 with saturation.       
-     ** Then store the 4 outputs in the destination buffer. */
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-    *__SIMD32(pDst)++ =
-      __PKHBT(__SSAT((acc0 >> 15), 16), __SSAT((acc1 >> 15), 16), 16);
-
-    *__SIMD32(pDst)++ =
-      __PKHBT(__SSAT((acc2 >> 15), 16), __SSAT((acc3 >> 15), 16), 16);
-
-#else
-
-    *__SIMD32(pDst)++ =
-      __PKHBT(__SSAT((acc1 >> 15), 16), __SSAT((acc0 >> 15), 16), 16);
-
-    *__SIMD32(pDst)++ =
-      __PKHBT(__SSAT((acc3 >> 15), 16), __SSAT((acc2 >> 15), 16), 16);
-
-#endif /*      #ifndef ARM_MATH_BIG_ENDIAN       */
-
-    /* Advance the state pointer by 4 to process the next group of 4 samples */
-    pState = pState + 4;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.      
-   ** No loop unrolling is used. */
-  blkCnt = blockSize % 0x4u;
-  while(blkCnt > 0u)
-  {
-    /* Copy two samples into state buffer */
-    *pStateCurnt++ = *pSrc++;
-
-    /* Set the accumulator to zero */
-    acc0 = 0;
-
-    /* Use SIMD to hold states and coefficients */
-    px = pState;
-    pb = pCoeffs;
-
-    tapCnt = numTaps >> 1u;
-
-    do
-    {
-      acc0 += (q31_t) * px++ * *pb++;
-	  acc0 += (q31_t) * px++ * *pb++;
-      tapCnt--;
-    }
-    while(tapCnt > 0u);
-
-    /* The result is in 2.30 format.  Convert to 1.15 with saturation.      
-     ** Then store the output in the destination buffer. */
-    *pDst++ = (q15_t) (__SSAT((acc0 >> 15), 16));
-
-    /* Advance state pointer by 1 for the next sample */
-    pState = pState + 1u;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* Processing is complete.      
-   ** Now copy the last numTaps - 1 samples to the satrt of the state buffer.      
-   ** This prepares the state buffer for the next function call. */
-
-  /* Points to the start of the state buffer */
-  pStateCurnt = S->pState;
-
-  /* Calculation of count for copying integer writes */
-  tapCnt = (numTaps - 1u) >> 2;
-
-  while(tapCnt > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-
-    tapCnt--;
-
-  }
-
-  /* Calculation of count for remaining q15_t data */
-  tapCnt = (numTaps - 1u) % 0x4u;
-
-  /* copy remaining data */
-  while(tapCnt > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    tapCnt--;
-  }
-}
-
-
-#endif /* #ifndef UNALIGNED_SUPPORT_DISABLE */
-
-#else /* ARM_MATH_CM0 */
-
-
-/* Run the below code for Cortex-M0 */
-
-void arm_fir_q15(
-  const arm_fir_instance_q15 * S,
-  q15_t * pSrc,
-  q15_t * pDst,
-  uint32_t blockSize)
-{
-  q15_t *pState = S->pState;                     /* State pointer */
-  q15_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
-  q15_t *pStateCurnt;                            /* Points to the current sample of the state */
-
-
-
-  q15_t *px;                                     /* Temporary pointer for state buffer */
-  q15_t *pb;                                     /* Temporary pointer for coefficient buffer */
-  q63_t acc;                                     /* Accumulator */
-  uint32_t numTaps = S->numTaps;                 /* Number of nTaps in the filter */
-  uint32_t tapCnt, blkCnt;                       /* Loop counters */
-
-  /* S->pState buffer contains previous frame (numTaps - 1) samples */
-  /* pStateCurnt points to the location where the new input data should be written */
-  pStateCurnt = &(S->pState[(numTaps - 1u)]);
-
-  /* Initialize blkCnt with blockSize */
-  blkCnt = blockSize;
-
-  while(blkCnt > 0u)
-  {
-    /* Copy one sample at a time into state buffer */
-    *pStateCurnt++ = *pSrc++;
-
-    /* Set the accumulator to zero */
-    acc = 0;
-
-    /* Initialize state pointer */
-    px = pState;
-
-    /* Initialize Coefficient pointer */
-    pb = pCoeffs;
-
-    tapCnt = numTaps;
-
-    /* Perform the multiply-accumulates */
-    do
-    {
-      /* acc =  b[numTaps-1] * x[n-numTaps-1] + b[numTaps-2] * x[n-numTaps-2] + b[numTaps-3] * x[n-numTaps-3] +...+ b[0] * x[0] */
-      acc += (q31_t) * px++ * *pb++;
-      tapCnt--;
-    } while(tapCnt > 0u);
-
-    /* The result is in 2.30 format.  Convert to 1.15         
-     ** Then store the output in the destination buffer. */
-    *pDst++ = (q15_t) __SSAT((acc >> 15u), 16);
-
-    /* Advance state pointer by 1 for the next sample */
-    pState = pState + 1;
-
-    /* Decrement the samples loop counter */
-    blkCnt--;
-  }
-
-  /* Processing is complete.         
-   ** Now copy the last numTaps - 1 samples to the satrt of the state buffer.       
-   ** This prepares the state buffer for the next function call. */
-
-  /* Points to the start of the state buffer */
-  pStateCurnt = S->pState;
-
-  /* Copy numTaps number of values */
-  tapCnt = (numTaps - 1u);
-
-  /* copy data */
-  while(tapCnt > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    tapCnt--;
-  }
-
-}
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-
-
-
-/**       
- * @} end of FIR group       
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_q31.c
deleted file mode 100644
index b3b84ec51..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_q31.c
+++ /dev/null
@@ -1,363 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_fir_q31.c    
-*    
-* Description:	Q31 FIR filter processing function.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-*    
-* Version 0.0.5  2010/04/26     
-* 	 incorporated review comments and updated with latest CMSIS layer    
-*    
-* Version 0.0.3  2010/03/10     
-*    Initial version    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup FIR    
- * @{    
- */
-
-/**    
- * @param[in] *S points to an instance of the Q31 FIR filter structure.    
- * @param[in] *pSrc points to the block of input data.    
- * @param[out] *pDst points to the block of output data.    
- * @param[in] blockSize number of samples to process per call.    
- * @return none.    
- *    
- * @details    
- * Scaling and Overflow Behavior:    
- * \par    
- * The function is implemented using an internal 64-bit accumulator.    
- * The accumulator has a 2.62 format and maintains full precision of the intermediate multiplication results but provides only a single guard bit.    
- * Thus, if the accumulator result overflows it wraps around rather than clip.    
- * In order to avoid overflows completely the input signal must be scaled down by log2(numTaps) bits.    
- * After all multiply-accumulates are performed, the 2.62 accumulator is right shifted by 31 bits and saturated to 1.31 format to yield the final result.  
- *    
- * \par    
- * Refer to the function arm_fir_fast_q31() for a faster but less precise implementation of this filter for Cortex-M3 and Cortex-M4.    
- */
-
-void arm_fir_q31(
-  const arm_fir_instance_q31 * S,
-  q31_t * pSrc,
-  q31_t * pDst,
-  uint32_t blockSize)
-{
-  q31_t *pState = S->pState;                     /* State pointer */
-  q31_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
-  q31_t *pStateCurnt;                            /* Points to the current sample of the state */
-
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  q31_t x0, x1, x2;                              /* Temporary variables to hold state */
-  q31_t c0;                                      /* Temporary variable to hold coefficient value */
-  q31_t *px;                                     /* Temporary pointer for state */
-  q31_t *pb;                                     /* Temporary pointer for coefficient buffer */
-  q63_t acc0, acc1, acc2;                        /* Accumulators */
-  uint32_t numTaps = S->numTaps;                 /* Number of filter coefficients in the filter */
-  uint32_t i, tapCnt, blkCnt, tapCntN3;          /* Loop counters */
-
-  /* S->pState points to state array which contains previous frame (numTaps - 1) samples */
-  /* pStateCurnt points to the location where the new input data should be written */
-  pStateCurnt = &(S->pState[(numTaps - 1u)]);
-
-  /* Apply loop unrolling and compute 4 output values simultaneously.    
-   * The variables acc0 ... acc3 hold output values that are being computed:    
-   *    
-   *    acc0 =  b[numTaps-1] * x[n-numTaps-1] + b[numTaps-2] * x[n-numTaps-2] + b[numTaps-3] * x[n-numTaps-3] +...+ b[0] * x[0]    
-   *    acc1 =  b[numTaps-1] * x[n-numTaps] +   b[numTaps-2] * x[n-numTaps-1] + b[numTaps-3] * x[n-numTaps-2] +...+ b[0] * x[1]    
-   *    acc2 =  b[numTaps-1] * x[n-numTaps+1] + b[numTaps-2] * x[n-numTaps] +   b[numTaps-3] * x[n-numTaps-1] +...+ b[0] * x[2]    
-   *    acc3 =  b[numTaps-1] * x[n-numTaps+2] + b[numTaps-2] * x[n-numTaps+1] + b[numTaps-3] * x[n-numTaps]   +...+ b[0] * x[3]    
-   */
-  blkCnt = blockSize / 3;
-  blockSize = blockSize - (3 * blkCnt);
-
-  tapCnt = numTaps / 3;
-  tapCntN3 = numTaps - (3 * tapCnt);
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-    /* Copy three new input samples into the state buffer */
-    *pStateCurnt++ = *pSrc++;
-    *pStateCurnt++ = *pSrc++;
-    *pStateCurnt++ = *pSrc++;
-
-    /* Set all accumulators to zero */
-    acc0 = 0;
-    acc1 = 0;
-    acc2 = 0;
-
-    /* Initialize state pointer */
-    px = pState;
-
-    /* Initialize coefficient pointer */
-    pb = pCoeffs;
-
-    /* Read the first two samples from the state buffer:    
-     *  x[n-numTaps], x[n-numTaps-1] */
-    x0 = *(px++);
-    x1 = *(px++);
-
-    /* Loop unrolling.  Process 3 taps at a time. */
-    i = tapCnt;
-
-    while(i > 0u)
-    {
-      /* Read the b[numTaps] coefficient */
-      c0 = *pb;
-
-      /* Read x[n-numTaps-2] sample */
-      x2 = *(px++);
-
-      /* Perform the multiply-accumulates */
-      acc0 += ((q63_t) x0 * c0);
-      acc1 += ((q63_t) x1 * c0);
-      acc2 += ((q63_t) x2 * c0);
-
-      /* Read the coefficient and state */
-      c0 = *(pb + 1u);
-      x0 = *(px++);
-
-      /* Perform the multiply-accumulates */
-      acc0 += ((q63_t) x1 * c0);
-      acc1 += ((q63_t) x2 * c0);
-      acc2 += ((q63_t) x0 * c0);
-
-      /* Read the coefficient and state */
-      c0 = *(pb + 2u);
-      x1 = *(px++);
-
-      /* update coefficient pointer */
-      pb += 3u;
-
-      /* Perform the multiply-accumulates */
-      acc0 += ((q63_t) x2 * c0);
-      acc1 += ((q63_t) x0 * c0);
-      acc2 += ((q63_t) x1 * c0);
-
-      /* Decrement the loop counter */
-      i--;
-    }
-
-    /* If the filter length is not a multiple of 3, compute the remaining filter taps */
-
-    i = tapCntN3;
-
-    while(i > 0u)
-    {
-      /* Read coefficients */
-      c0 = *(pb++);
-
-      /* Fetch 1 state variable */
-      x2 = *(px++);
-
-      /* Perform the multiply-accumulates */
-      acc0 += ((q63_t) x0 * c0);
-      acc1 += ((q63_t) x1 * c0);
-      acc2 += ((q63_t) x2 * c0);
-
-      /* Reuse the present sample states for next sample */
-      x0 = x1;
-      x1 = x2;
-
-      /* Decrement the loop counter */
-      i--;
-    }
-
-    /* Advance the state pointer by 3 to process the next group of 3 samples */
-    pState = pState + 3;
-
-    /* The results in the 3 accumulators are in 2.30 format.  Convert to 1.31    
-     ** Then store the 3 outputs in the destination buffer. */
-    *pDst++ = (q31_t) (acc0 >> 31u);
-    *pDst++ = (q31_t) (acc1 >> 31u);
-    *pDst++ = (q31_t) (acc2 >> 31u);
-
-    /* Decrement the samples loop counter */
-    blkCnt--;
-  }
-
-  /* If the blockSize is not a multiple of 3, compute any remaining output samples here.    
-   ** No loop unrolling is used. */
-
-  while(blockSize > 0u)
-  {
-    /* Copy one sample at a time into state buffer */
-    *pStateCurnt++ = *pSrc++;
-
-    /* Set the accumulator to zero */
-    acc0 = 0;
-
-    /* Initialize state pointer */
-    px = pState;
-
-    /* Initialize Coefficient pointer */
-    pb = (pCoeffs);
-
-    i = numTaps;
-
-    /* Perform the multiply-accumulates */
-    do
-    {
-      acc0 += (q63_t) * (px++) * (*(pb++));
-      i--;
-    } while(i > 0u);
-
-    /* The result is in 2.62 format.  Convert to 1.31    
-     ** Then store the output in the destination buffer. */
-    *pDst++ = (q31_t) (acc0 >> 31u);
-
-    /* Advance state pointer by 1 for the next sample */
-    pState = pState + 1;
-
-    /* Decrement the samples loop counter */
-    blockSize--;
-  }
-
-  /* Processing is complete.    
-   ** Now copy the last numTaps - 1 samples to the satrt of the state buffer.    
-   ** This prepares the state buffer for the next function call. */
-
-  /* Points to the start of the state buffer */
-  pStateCurnt = S->pState;
-
-  tapCnt = (numTaps - 1u) >> 2u;
-
-  /* copy data */
-  while(tapCnt > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    tapCnt--;
-  }
-
-  /* Calculate remaining number of copies */
-  tapCnt = (numTaps - 1u) % 0x4u;
-
-  /* Copy the remaining q31_t data */
-  while(tapCnt > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    tapCnt--;
-  }
-
-#else
-
-/* Run the below code for Cortex-M0 */
-
-  q31_t *px;                                     /* Temporary pointer for state */
-  q31_t *pb;                                     /* Temporary pointer for coefficient buffer */
-  q63_t acc;                                     /* Accumulator */
-  uint32_t numTaps = S->numTaps;                 /* Length of the filter */
-  uint32_t i, tapCnt, blkCnt;                    /* Loop counters */
-
-  /* S->pState buffer contains previous frame (numTaps - 1) samples */
-  /* pStateCurnt points to the location where the new input data should be written */
-  pStateCurnt = &(S->pState[(numTaps - 1u)]);
-
-  /* Initialize blkCnt with blockSize */
-  blkCnt = blockSize;
-
-  while(blkCnt > 0u)
-  {
-    /* Copy one sample at a time into state buffer */
-    *pStateCurnt++ = *pSrc++;
-
-    /* Set the accumulator to zero */
-    acc = 0;
-
-    /* Initialize state pointer */
-    px = pState;
-
-    /* Initialize Coefficient pointer */
-    pb = pCoeffs;
-
-    i = numTaps;
-
-    /* Perform the multiply-accumulates */
-    do
-    {
-      /* acc =  b[numTaps-1] * x[n-numTaps-1] + b[numTaps-2] * x[n-numTaps-2] + b[numTaps-3] * x[n-numTaps-3] +...+ b[0] * x[0] */
-      acc += (q63_t) * px++ * *pb++;
-      i--;
-    } while(i > 0u);
-
-    /* The result is in 2.62 format.  Convert to 1.31         
-     ** Then store the output in the destination buffer. */
-    *pDst++ = (q31_t) (acc >> 31u);
-
-    /* Advance state pointer by 1 for the next sample */
-    pState = pState + 1;
-
-    /* Decrement the samples loop counter */
-    blkCnt--;
-  }
-
-  /* Processing is complete.         
-   ** Now copy the last numTaps - 1 samples to the starting of the state buffer.       
-   ** This prepares the state buffer for the next function call. */
-
-  /* Points to the start of the state buffer */
-  pStateCurnt = S->pState;
-
-  /* Copy numTaps number of values */
-  tapCnt = numTaps - 1u;
-
-  /* Copy the data */
-  while(tapCnt > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    tapCnt--;
-  }
-
-
-#endif /*  #ifndef ARM_MATH_CM0 */
-
-}
-
-/**    
- * @} end of FIR group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_q7.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_q7.c
deleted file mode 100644
index 624afa130..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_q7.c
+++ /dev/null
@@ -1,388 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:        arm_fir_q7.c    
-*    
-* Description:  Q7 FIR filter processing function.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-*    
-* Version 0.0.5  2010/04/26     
-* 	 incorporated review comments and updated with latest CMSIS layer    
-*    
-* Version 0.0.3  2010/03/10     
-*    Initial version    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup FIR    
- * @{    
- */
-
-/**    
- * @param[in]   *S points to an instance of the Q7 FIR filter structure.    
- * @param[in]   *pSrc points to the block of input data.    
- * @param[out]  *pDst points to the block of output data.    
- * @param[in]   blockSize number of samples to process per call.    
- * @return 	none.    
- *    
- * Scaling and Overflow Behavior:    
- * \par    
- * The function is implemented using a 32-bit internal accumulator.    
- * Both coefficients and state variables are represented in 1.7 format and multiplications yield a 2.14 result.    
- * The 2.14 intermediate results are accumulated in a 32-bit accumulator in 18.14 format.    
- * There is no risk of internal overflow with this approach and the full precision of intermediate multiplications is preserved.    
- * The accumulator is converted to 18.7 format by discarding the low 7 bits.    
- * Finally, the result is truncated to 1.7 format.    
- */
-
-void arm_fir_q7(
-  const arm_fir_instance_q7 * S,
-  q7_t * pSrc,
-  q7_t * pDst,
-  uint32_t blockSize)
-{
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  q7_t *pState = S->pState;                      /* State pointer */
-  q7_t *pCoeffs = S->pCoeffs;                    /* Coefficient pointer */
-  q7_t *pStateCurnt;                             /* Points to the current sample of the state */
-  q7_t x0, x1, x2, x3;                           /* Temporary variables to hold state */
-  q7_t c0;                                       /* Temporary variable to hold coefficient value */
-  q7_t *px;                                      /* Temporary pointer for state */
-  q7_t *pb;                                      /* Temporary pointer for coefficient buffer */
-  q31_t acc0, acc1, acc2, acc3;                  /* Accumulators */
-  uint32_t numTaps = S->numTaps;                 /* Number of filter coefficients in the filter */
-  uint32_t i, tapCnt, blkCnt;                    /* Loop counters */
-
-  /* S->pState points to state array which contains previous frame (numTaps - 1) samples */
-  /* pStateCurnt points to the location where the new input data should be written */
-  pStateCurnt = &(S->pState[(numTaps - 1u)]);
-
-  /* Apply loop unrolling and compute 4 output values simultaneously.    
-   * The variables acc0 ... acc3 hold output values that are being computed:    
-   *    
-   *    acc0 =  b[numTaps-1] * x[n-numTaps-1] + b[numTaps-2] * x[n-numTaps-2] + b[numTaps-3] * x[n-numTaps-3] +...+ b[0] * x[0]    
-   *    acc1 =  b[numTaps-1] * x[n-numTaps] +   b[numTaps-2] * x[n-numTaps-1] + b[numTaps-3] * x[n-numTaps-2] +...+ b[0] * x[1]    
-   *    acc2 =  b[numTaps-1] * x[n-numTaps+1] + b[numTaps-2] * x[n-numTaps] +   b[numTaps-3] * x[n-numTaps-1] +...+ b[0] * x[2]    
-   *    acc3 =  b[numTaps-1] * x[n-numTaps+2] + b[numTaps-2] * x[n-numTaps+1] + b[numTaps-3] * x[n-numTaps]   +...+ b[0] * x[3]    
-   */
-  blkCnt = blockSize >> 2;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-    /* Copy four new input samples into the state buffer */
-    *pStateCurnt++ = *pSrc++;
-    *pStateCurnt++ = *pSrc++;
-    *pStateCurnt++ = *pSrc++;
-    *pStateCurnt++ = *pSrc++;
-
-    /* Set all accumulators to zero */
-    acc0 = 0;
-    acc1 = 0;
-    acc2 = 0;
-    acc3 = 0;
-
-    /* Initialize state pointer */
-    px = pState;
-
-    /* Initialize coefficient pointer */
-    pb = pCoeffs;
-
-    /* Read the first three samples from the state buffer:    
-     *  x[n-numTaps], x[n-numTaps-1], x[n-numTaps-2] */
-    x0 = *(px++);
-    x1 = *(px++);
-    x2 = *(px++);
-
-    /* Loop unrolling.  Process 4 taps at a time. */
-    tapCnt = numTaps >> 2;
-    i = tapCnt;
-
-    while(i > 0u)
-    {
-      /* Read the b[numTaps] coefficient */
-      c0 = *(pb++);
-
-      /* Read x[n-numTaps-3] sample */
-      x3 = *(px++);
-
-      /* acc0 +=  b[numTaps] * x[n-numTaps] */
-      acc0 += ((q15_t) x0 * c0);
-
-      /* acc1 +=  b[numTaps] * x[n-numTaps-1] */
-      acc1 += ((q15_t) x1 * c0);
-
-      /* acc2 +=  b[numTaps] * x[n-numTaps-2] */
-      acc2 += ((q15_t) x2 * c0);
-
-      /* acc3 +=  b[numTaps] * x[n-numTaps-3] */
-      acc3 += ((q15_t) x3 * c0);
-
-      /* Read the b[numTaps-1] coefficient */
-      c0 = *(pb++);
-
-      /* Read x[n-numTaps-4] sample */
-      x0 = *(px++);
-
-      /* Perform the multiply-accumulates */
-      acc0 += ((q15_t) x1 * c0);
-      acc1 += ((q15_t) x2 * c0);
-      acc2 += ((q15_t) x3 * c0);
-      acc3 += ((q15_t) x0 * c0);
-
-      /* Read the b[numTaps-2] coefficient */
-      c0 = *(pb++);
-
-      /* Read x[n-numTaps-5] sample */
-      x1 = *(px++);
-
-      /* Perform the multiply-accumulates */
-      acc0 += ((q15_t) x2 * c0);
-      acc1 += ((q15_t) x3 * c0);
-      acc2 += ((q15_t) x0 * c0);
-      acc3 += ((q15_t) x1 * c0);
-      /* Read the b[numTaps-3] coefficients */
-      c0 = *(pb++);
-
-      /* Read x[n-numTaps-6] sample */
-      x2 = *(px++);
-
-      /* Perform the multiply-accumulates */
-      acc0 += ((q15_t) x3 * c0);
-      acc1 += ((q15_t) x0 * c0);
-      acc2 += ((q15_t) x1 * c0);
-      acc3 += ((q15_t) x2 * c0);
-      i--;
-    }
-
-    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
-
-    i = numTaps - (tapCnt * 4u);
-    while(i > 0u)
-    {
-      /* Read coefficients */
-      c0 = *(pb++);
-
-      /* Fetch 1 state variable */
-      x3 = *(px++);
-
-      /* Perform the multiply-accumulates */
-      acc0 += ((q15_t) x0 * c0);
-      acc1 += ((q15_t) x1 * c0);
-      acc2 += ((q15_t) x2 * c0);
-      acc3 += ((q15_t) x3 * c0);
-
-      /* Reuse the present sample states for next sample */
-      x0 = x1;
-      x1 = x2;
-      x2 = x3;
-
-      /* Decrement the loop counter */
-      i--;
-    }
-
-    /* Advance the state pointer by 4 to process the next group of 4 samples */
-    pState = pState + 4;
-
-    /* The results in the 4 accumulators are in 2.62 format.  Convert to 1.31    
-     ** Then store the 4 outputs in the destination buffer. */
-    acc0 = __SSAT((acc0 >> 7u), 8);
-    *pDst++ = acc0;
-    acc1 = __SSAT((acc1 >> 7u), 8);
-    *pDst++ = acc1;
-    acc2 = __SSAT((acc2 >> 7u), 8);
-    *pDst++ = acc2;
-    acc3 = __SSAT((acc3 >> 7u), 8);
-    *pDst++ = acc3;
-
-    /* Decrement the samples loop counter */
-    blkCnt--;
-  }
-
-
-  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
-   ** No loop unrolling is used. */
-  blkCnt = blockSize % 4u;
-
-  while(blkCnt > 0u)
-  {
-    /* Copy one sample at a time into state buffer */
-    *pStateCurnt++ = *pSrc++;
-
-    /* Set the accumulator to zero */
-    acc0 = 0;
-
-    /* Initialize state pointer */
-    px = pState;
-
-    /* Initialize Coefficient pointer */
-    pb = (pCoeffs);
-
-    i = numTaps;
-
-    /* Perform the multiply-accumulates */
-    do
-    {
-      acc0 += (q15_t) * (px++) * (*(pb++));
-      i--;
-    } while(i > 0u);
-
-    /* The result is in 2.14 format.  Convert to 1.7    
-     ** Then store the output in the destination buffer. */
-    *pDst++ = __SSAT((acc0 >> 7u), 8);
-
-    /* Advance state pointer by 1 for the next sample */
-    pState = pState + 1;
-
-    /* Decrement the samples loop counter */
-    blkCnt--;
-  }
-
-  /* Processing is complete.    
-   ** Now copy the last numTaps - 1 samples to the satrt of the state buffer.    
-   ** This prepares the state buffer for the next function call. */
-
-  /* Points to the start of the state buffer */
-  pStateCurnt = S->pState;
-
-  tapCnt = (numTaps - 1u) >> 2u;
-
-  /* copy data */
-  while(tapCnt > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    tapCnt--;
-  }
-
-  /* Calculate remaining number of copies */
-  tapCnt = (numTaps - 1u) % 0x4u;
-
-  /* Copy the remaining q31_t data */
-  while(tapCnt > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    tapCnt--;
-  }
-
-#else
-
-/* Run the below code for Cortex-M0 */
-
-  uint32_t numTaps = S->numTaps;                 /* Number of taps in the filter */
-  uint32_t i, blkCnt;                            /* Loop counters */
-  q7_t *pState = S->pState;                      /* State pointer */
-  q7_t *pCoeffs = S->pCoeffs;                    /* Coefficient pointer */
-  q7_t *px, *pb;                                 /* Temporary pointers to state and coeff */
-  q31_t acc = 0;                                 /* Accumlator */
-  q7_t *pStateCurnt;                             /* Points to the current sample of the state */
-
-
-  /* S->pState points to state array which contains previous frame (numTaps - 1) samples */
-  /* pStateCurnt points to the location where the new input data should be written */
-  pStateCurnt = S->pState + (numTaps - 1u);
-
-  /* Initialize blkCnt with blockSize */
-  blkCnt = blockSize;
-
-  /* Perform filtering upto BlockSize - BlockSize%4  */
-  while(blkCnt > 0u)
-  {
-    /* Copy one sample at a time into state buffer */
-    *pStateCurnt++ = *pSrc++;
-
-    /* Set accumulator to zero */
-    acc = 0;
-
-    /* Initialize state pointer of type q7 */
-    px = pState;
-
-    /* Initialize coeff pointer of type q7 */
-    pb = pCoeffs;
-
-
-    i = numTaps;
-
-    while(i > 0u)
-    {
-      /* acc =  b[numTaps-1] * x[n-numTaps-1] + b[numTaps-2] * x[n-numTaps-2] + b[numTaps-3] * x[n-numTaps-3] +...+ b[0] * x[0] */
-      acc += (q15_t) * px++ * *pb++;
-      i--;
-    }
-
-    /* Store the 1.7 format filter output in destination buffer */
-    *pDst++ = (q7_t) __SSAT((acc >> 7), 8);
-
-    /* Advance the state pointer by 1 to process the next sample */
-    pState = pState + 1;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* Processing is complete.         
-   ** Now copy the last numTaps - 1 samples to the satrt of the state buffer.       
-   ** This prepares the state buffer for the next function call. */
-
-
-  /* Points to the start of the state buffer */
-  pStateCurnt = S->pState;
-
-
-  /* Copy numTaps number of values */
-  i = (numTaps - 1u);
-
-  /* Copy q7_t data */
-  while(i > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-    i--;
-  }
-
-#endif /*   #ifndef ARM_MATH_CM0 */
-
-}
-
-/**    
- * @} end of FIR group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_f32.c
deleted file mode 100644
index e969d5c84..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_f32.c
+++ /dev/null
@@ -1,365 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_fir_sparse_f32.c    
-*    
-* Description:	Floating-point sparse FIR filter processing function.   
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* ------------------------------------------------------------------- */
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @defgroup FIR_Sparse Finite Impulse Response (FIR) Sparse Filters    
- *    
- * This group of functions implements sparse FIR filters.     
- * Sparse FIR filters are equivalent to standard FIR filters except that most of the coefficients are equal to zero.   
- * Sparse filters are used for simulating reflections in communications and audio applications.   
- *   
- * There are separate functions for Q7, Q15, Q31, and floating-point data types.    
- * The functions operate on blocks  of input and output data and each call to the function processes    
- * blockSize samples through the filter.  pSrc and    
- * pDst points to input and output arrays respectively containing blockSize values.    
- *    
- * \par Algorithm:    
- * The sparse filter instant structure contains an array of tap indices pTapDelay which specifies the locations of the non-zero coefficients.   
- * This is in addition to the coefficient array b.   
- * The implementation essentially skips the multiplications by zero and leads to an efficient realization.   
- * 
   
- *     y[n] = b[0] * x[n-pTapDelay[0]] + b[1] * x[n-pTapDelay[1]] + b[2] * x[n-pTapDelay[2]] + ...+ b[numTaps-1] * x[n-pTapDelay[numTaps-1]]    
- * 
    
- * \par    
- * \image html FIRSparse.gif "Sparse FIR filter.  b[n] represents the filter coefficients"   
- * \par    
- * pCoeffs points to a coefficient array of size numTaps;    
- * pTapDelay points to an array of nonzero indices and is also of size numTaps;   
- * pState points to a state array of size maxDelay + blockSize, where   
- * maxDelay is the largest offset value that is ever used in the pTapDelay array.   
- * Some of the processing functions also require temporary working buffers.   
- *   
- * \par Instance Structure    
- * The coefficients and state variables for a filter are stored together in an instance data structure.    
- * A separate instance structure must be defined for each filter.    
- * Coefficient and offset arrays may be shared among several instances while state variable arrays cannot be shared.    
- * There are separate instance structure declarations for each of the 4 supported data types.    
- *    
- * \par Initialization Functions    
- * There is also an associated initialization function for each data type.    
- * The initialization function performs the following operations:    
- * - Sets the values of the internal structure fields.    
- * - Zeros out the values in the state buffer.    
- *    
- * \par    
- * Use of the initialization function is optional.    
- * However, if the initialization function is used, then the instance structure cannot be placed into a const data section.    
- * To place an instance structure into a const data section, the instance structure must be manually initialized.    
- * Set the values in the state buffer to zeros before static initialization.    
- * The code below statically initializes each of the 4 different data type filter instance structures    
- * 
    
- *arm_fir_sparse_instance_f32 S = {numTaps, 0, pState, pCoeffs, maxDelay, pTapDelay};    
- *arm_fir_sparse_instance_q31 S = {numTaps, 0, pState, pCoeffs, maxDelay, pTapDelay};    
- *arm_fir_sparse_instance_q15 S = {numTaps, 0, pState, pCoeffs, maxDelay, pTapDelay};    
- *arm_fir_sparse_instance_q7 S =  {numTaps, 0, pState, pCoeffs, maxDelay, pTapDelay};    
- * 
    
- * \par    
- *    
- * \par Fixed-Point Behavior    
- * Care must be taken when using the fixed-point versions of the sparse FIR filter functions.    
- * In particular, the overflow and saturation behavior of the accumulator used in each function must be considered.    
- * Refer to the function specific documentation below for usage guidelines.    
- */
-
-/**    
- * @addtogroup FIR_Sparse    
- * @{    
- */
-
-/**   
- * @brief Processing function for the floating-point sparse FIR filter.   
- * @param[in]  *S          points to an instance of the floating-point sparse FIR structure.   
- * @param[in]  *pSrc       points to the block of input data.   
- * @param[out] *pDst       points to the block of output data   
- * @param[in]  *pScratchIn points to a temporary buffer of size blockSize.   
- * @param[in]  blockSize   number of input samples to process per call.   
- * @return none.   
- */
-
-void arm_fir_sparse_f32(
-  arm_fir_sparse_instance_f32 * S,
-  float32_t * pSrc,
-  float32_t * pDst,
-  float32_t * pScratchIn,
-  uint32_t blockSize)
-{
-
-  float32_t *pState = S->pState;                 /* State pointer */
-  float32_t *pCoeffs = S->pCoeffs;               /* Coefficient pointer */
-  float32_t *px;                                 /* Scratch buffer pointer */
-  float32_t *py = pState;                        /* Temporary pointers for state buffer */
-  float32_t *pb = pScratchIn;                    /* Temporary pointers for scratch buffer */
-  float32_t *pOut;                               /* Destination pointer */
-  int32_t *pTapDelay = S->pTapDelay;             /* Pointer to the array containing offset of the non-zero tap values. */
-  uint32_t delaySize = S->maxDelay + blockSize;  /* state length */
-  uint16_t numTaps = S->numTaps;                 /* Number of filter coefficients in the filter  */
-  int32_t readIndex;                             /* Read index of the state buffer */
-  uint32_t tapCnt, blkCnt;                       /* loop counters */
-  float32_t coeff = *pCoeffs++;                  /* Read the first coefficient value */
-
-
-
-  /* BlockSize of Input samples are copied into the state buffer */
-  /* StateIndex points to the starting position to write in the state buffer */
-  arm_circularWrite_f32((int32_t *) py, delaySize, &S->stateIndex, 1,
-                        (int32_t *) pSrc, 1, blockSize);
-
-
-  /* Read Index, from where the state buffer should be read, is calculated. */
-  readIndex = ((int32_t) S->stateIndex - (int32_t) blockSize) - *pTapDelay++;
-
-  /* Wraparound of readIndex */
-  if(readIndex < 0)
-  {
-    readIndex += (int32_t) delaySize;
-  }
-
-  /* Working pointer for state buffer is updated */
-  py = pState;
-
-  /* blockSize samples are read from the state buffer */
-  arm_circularRead_f32((int32_t *) py, delaySize, &readIndex, 1,
-                       (int32_t *) pb, (int32_t *) pb, blockSize, 1,
-                       blockSize);
-
-  /* Working pointer for the scratch buffer */
-  px = pb;
-
-  /* Working pointer for destination buffer */
-  pOut = pDst;
-
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  /* Loop over the blockSize. Unroll by a factor of 4.    
-   * Compute 4 Multiplications at a time. */
-  blkCnt = blockSize >> 2u;
-
-  while(blkCnt > 0u)
-  {
-    /* Perform Multiplications and store in destination buffer */
-    *pOut++ = *px++ * coeff;
-    *pOut++ = *px++ * coeff;
-    *pOut++ = *px++ * coeff;
-    *pOut++ = *px++ * coeff;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the blockSize is not a multiple of 4,    
-   * compute the remaining samples */
-  blkCnt = blockSize % 0x4u;
-
-  while(blkCnt > 0u)
-  {
-    /* Perform Multiplications and store in destination buffer */
-    *pOut++ = *px++ * coeff;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* Load the coefficient value and    
-   * increment the coefficient buffer for the next set of state values */
-  coeff = *pCoeffs++;
-
-  /* Read Index, from where the state buffer should be read, is calculated. */
-  readIndex = ((int32_t) S->stateIndex - (int32_t) blockSize) - *pTapDelay++;
-
-  /* Wraparound of readIndex */
-  if(readIndex < 0)
-  {
-    readIndex += (int32_t) delaySize;
-  }
-
-  /* Loop over the number of taps. */
-  tapCnt = (uint32_t) numTaps - 1u;
-
-  while(tapCnt > 0u)
-  {
-
-    /* Working pointer for state buffer is updated */
-    py = pState;
-
-    /* blockSize samples are read from the state buffer */
-    arm_circularRead_f32((int32_t *) py, delaySize, &readIndex, 1,
-                         (int32_t *) pb, (int32_t *) pb, blockSize, 1,
-                         blockSize);
-
-    /* Working pointer for the scratch buffer */
-    px = pb;
-
-    /* Working pointer for destination buffer */
-    pOut = pDst;
-
-    /* Loop over the blockSize. Unroll by a factor of 4.    
-     * Compute 4 MACS at a time. */
-    blkCnt = blockSize >> 2u;
-
-    while(blkCnt > 0u)
-    {
-      /* Perform Multiply-Accumulate */
-      *pOut++ += *px++ * coeff;
-      *pOut++ += *px++ * coeff;
-      *pOut++ += *px++ * coeff;
-      *pOut++ += *px++ * coeff;
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-
-    /* If the blockSize is not a multiple of 4,    
-     * compute the remaining samples */
-    blkCnt = blockSize % 0x4u;
-
-    while(blkCnt > 0u)
-    {
-      /* Perform Multiply-Accumulate */
-      *pOut++ += *px++ * coeff;
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-
-    /* Load the coefficient value and    
-     * increment the coefficient buffer for the next set of state values */
-    coeff = *pCoeffs++;
-
-    /* Read Index, from where the state buffer should be read, is calculated. */
-    readIndex = ((int32_t) S->stateIndex -
-                 (int32_t) blockSize) - *pTapDelay++;
-
-    /* Wraparound of readIndex */
-    if(readIndex < 0)
-    {
-      readIndex += (int32_t) delaySize;
-    }
-
-    /* Decrement the tap loop counter */
-    tapCnt--;
-  }
-
-#else
-
-/* Run the below code for Cortex-M0 */
-
-  blkCnt = blockSize;
-
-  while(blkCnt > 0u)
-  {
-    /* Perform Multiplications and store in destination buffer */
-    *pOut++ = *px++ * coeff;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* Load the coefficient value and           
-   * increment the coefficient buffer for the next set of state values */
-  coeff = *pCoeffs++;
-
-  /* Read Index, from where the state buffer should be read, is calculated. */
-  readIndex = ((int32_t) S->stateIndex - (int32_t) blockSize) - *pTapDelay++;
-
-  /* Wraparound of readIndex */
-  if(readIndex < 0)
-  {
-    readIndex += (int32_t) delaySize;
-  }
-
-  /* Loop over the number of taps. */
-  tapCnt = (uint32_t) numTaps - 1u;
-
-  while(tapCnt > 0u)
-  {
-
-    /* Working pointer for state buffer is updated */
-    py = pState;
-
-    /* blockSize samples are read from the state buffer */
-    arm_circularRead_f32((int32_t *) py, delaySize, &readIndex, 1,
-                         (int32_t *) pb, (int32_t *) pb, blockSize, 1,
-                         blockSize);
-
-    /* Working pointer for the scratch buffer */
-    px = pb;
-
-    /* Working pointer for destination buffer */
-    pOut = pDst;
-
-    blkCnt = blockSize;
-
-    while(blkCnt > 0u)
-    {
-      /* Perform Multiply-Accumulate */
-      *pOut++ += *px++ * coeff;
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-
-    /* Load the coefficient value and           
-     * increment the coefficient buffer for the next set of state values */
-    coeff = *pCoeffs++;
-
-    /* Read Index, from where the state buffer should be read, is calculated. */
-    readIndex =
-      ((int32_t) S->stateIndex - (int32_t) blockSize) - *pTapDelay++;
-
-    /* Wraparound of readIndex */
-    if(readIndex < 0)
-    {
-      readIndex += (int32_t) delaySize;
-    }
-
-    /* Decrement the tap loop counter */
-    tapCnt--;
-  }
-
-#endif /*   #ifndef ARM_MATH_CM0        */
-
-}
-
-/**    
- * @} end of FIR_Sparse group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_f32.c
deleted file mode 100644
index 2934352d0..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_f32.c
+++ /dev/null
@@ -1,102 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:        arm_fir_sparse_init_f32.c    
-*    
-* Description:	Floating-point sparse FIR filter initialization function.   
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* ---------------------------------------------------------------------------*/
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup FIR_Sparse    
- * @{    
- */
-
-/**   
- * @brief  Initialization function for the floating-point sparse FIR filter.   
- * @param[in,out] *S         points to an instance of the floating-point sparse FIR structure.   
- * @param[in]     numTaps    number of nonzero coefficients in the filter.   
- * @param[in]     *pCoeffs   points to the array of filter coefficients.   
- * @param[in]     *pState    points to the state buffer.   
- * @param[in]     *pTapDelay points to the array of offset times.   
- * @param[in]     maxDelay   maximum offset time supported.   
- * @param[in]     blockSize  number of samples that will be processed per block.   
- * @return none   
- *    
- * Description:    
- * \par    
- * pCoeffs holds the filter coefficients and has length numTaps.    
- * pState holds the filter's state variables and must be of length    
- * maxDelay + blockSize, where maxDelay    
- * is the maximum number of delay line values.    
- * blockSize is the    
- * number of samples processed by the arm_fir_sparse_f32() function.    
- */
-
-void arm_fir_sparse_init_f32(
-  arm_fir_sparse_instance_f32 * S,
-  uint16_t numTaps,
-  float32_t * pCoeffs,
-  float32_t * pState,
-  int32_t * pTapDelay,
-  uint16_t maxDelay,
-  uint32_t blockSize)
-{
-  /* Assign filter taps */
-  S->numTaps = numTaps;
-
-  /* Assign coefficient pointer */
-  S->pCoeffs = pCoeffs;
-
-  /* Assign TapDelay pointer */
-  S->pTapDelay = pTapDelay;
-
-  /* Assign MaxDelay */
-  S->maxDelay = maxDelay;
-
-  /* reset the stateIndex to 0 */
-  S->stateIndex = 0u;
-
-  /* Clear state buffer and size is always maxDelay + blockSize */
-  memset(pState, 0, (maxDelay + blockSize) * sizeof(float32_t));
-
-  /* Assign state pointer */
-  S->pState = pState;
-
-}
-
-/**    
- * @} end of FIR_Sparse group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q15.c
deleted file mode 100644
index 47a116e95..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q15.c
+++ /dev/null
@@ -1,102 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:        arm_fir_sparse_init_q15.c    
-*    
-* Description:	Q15 sparse FIR filter initialization function.   
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* ---------------------------------------------------------------------------*/
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup FIR_Sparse    
- * @{    
- */
-
-/**   
- * @brief  Initialization function for the Q15 sparse FIR filter.   
- * @param[in,out] *S         points to an instance of the Q15 sparse FIR structure.   
- * @param[in]     numTaps    number of nonzero coefficients in the filter.   
- * @param[in]     *pCoeffs   points to the array of filter coefficients.   
- * @param[in]     *pState    points to the state buffer.   
- * @param[in]     *pTapDelay points to the array of offset times.   
- * @param[in]     maxDelay   maximum offset time supported.   
- * @param[in]     blockSize  number of samples that will be processed per block.   
- * @return none   
- *    
- * Description:    
- * \par    
- * pCoeffs holds the filter coefficients and has length numTaps.    
- * pState holds the filter's state variables and must be of length    
- * maxDelay + blockSize, where maxDelay    
- * is the maximum number of delay line values.    
- * blockSize is the    
- * number of words processed by arm_fir_sparse_q15() function.    
- */
-
-void arm_fir_sparse_init_q15(
-  arm_fir_sparse_instance_q15 * S,
-  uint16_t numTaps,
-  q15_t * pCoeffs,
-  q15_t * pState,
-  int32_t * pTapDelay,
-  uint16_t maxDelay,
-  uint32_t blockSize)
-{
-  /* Assign filter taps */
-  S->numTaps = numTaps;
-
-  /* Assign coefficient pointer */
-  S->pCoeffs = pCoeffs;
-
-  /* Assign TapDelay pointer */
-  S->pTapDelay = pTapDelay;
-
-  /* Assign MaxDelay */
-  S->maxDelay = maxDelay;
-
-  /* reset the stateIndex to 0 */
-  S->stateIndex = 0u;
-
-  /* Clear state buffer and size is always maxDelay + blockSize */
-  memset(pState, 0, (maxDelay + blockSize) * sizeof(q15_t));
-
-  /* Assign state pointer */
-  S->pState = pState;
-
-}
-
-/**    
- * @} end of FIR_Sparse group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q31.c
deleted file mode 100644
index 360a219b2..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q31.c
+++ /dev/null
@@ -1,101 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:        arm_fir_sparse_init_q31.c    
-*    
-* Description:	Q31 sparse FIR filter initialization function.   
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* ---------------------------------------------------------------------------*/
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup FIR_Sparse    
- * @{    
- */
-
-/**   
- * @brief  Initialization function for the Q31 sparse FIR filter.   
- * @param[in,out] *S         points to an instance of the Q31 sparse FIR structure.   
- * @param[in]     numTaps    number of nonzero coefficients in the filter.   
- * @param[in]     *pCoeffs   points to the array of filter coefficients.   
- * @param[in]     *pState    points to the state buffer.   
- * @param[in]     *pTapDelay points to the array of offset times.   
- * @param[in]     maxDelay   maximum offset time supported.   
- * @param[in]     blockSize  number of samples that will be processed per block.   
- * @return none   
- *    
- * Description:    
- * \par    
- * pCoeffs holds the filter coefficients and has length numTaps.    
- * pState holds the filter's state variables and must be of length    
- * maxDelay + blockSize, where maxDelay    
- * is the maximum number of delay line values.    
- * blockSize is the number of words processed by arm_fir_sparse_q31() function.    
- */
-
-void arm_fir_sparse_init_q31(
-  arm_fir_sparse_instance_q31 * S,
-  uint16_t numTaps,
-  q31_t * pCoeffs,
-  q31_t * pState,
-  int32_t * pTapDelay,
-  uint16_t maxDelay,
-  uint32_t blockSize)
-{
-  /* Assign filter taps */
-  S->numTaps = numTaps;
-
-  /* Assign coefficient pointer */
-  S->pCoeffs = pCoeffs;
-
-  /* Assign TapDelay pointer */
-  S->pTapDelay = pTapDelay;
-
-  /* Assign MaxDelay */
-  S->maxDelay = maxDelay;
-
-  /* reset the stateIndex to 0 */
-  S->stateIndex = 0u;
-
-  /* Clear state buffer and size is always maxDelay + blockSize */
-  memset(pState, 0, (maxDelay + blockSize) * sizeof(q31_t));
-
-  /* Assign state pointer */
-  S->pState = pState;
-
-}
-
-/**    
- * @} end of FIR_Sparse group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q7.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q7.c
deleted file mode 100644
index b400297ca..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q7.c
+++ /dev/null
@@ -1,102 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:        arm_fir_sparse_init_q7.c    
-*    
-* Description:	Q7 sparse FIR filter initialization function.   
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* ---------------------------------------------------------------------------*/
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup FIR_Sparse    
- * @{    
- */
-
-/**   
- * @brief  Initialization function for the Q7 sparse FIR filter.   
- * @param[in,out] *S         points to an instance of the Q7 sparse FIR structure.   
- * @param[in]     numTaps    number of nonzero coefficients in the filter.   
- * @param[in]     *pCoeffs   points to the array of filter coefficients.   
- * @param[in]     *pState    points to the state buffer.   
- * @param[in]     *pTapDelay points to the array of offset times.   
- * @param[in]     maxDelay   maximum offset time supported.   
- * @param[in]     blockSize  number of samples that will be processed per block.   
- * @return none   
- *    
- * Description:    
- * \par    
- * pCoeffs holds the filter coefficients and has length numTaps.    
- * pState holds the filter's state variables and must be of length    
- * maxDelay + blockSize, where maxDelay    
- * is the maximum number of delay line values.    
- * blockSize is the    
- * number of samples processed by the arm_fir_sparse_q7() function.    
- */
-
-void arm_fir_sparse_init_q7(
-  arm_fir_sparse_instance_q7 * S,
-  uint16_t numTaps,
-  q7_t * pCoeffs,
-  q7_t * pState,
-  int32_t * pTapDelay,
-  uint16_t maxDelay,
-  uint32_t blockSize)
-{
-  /* Assign filter taps */
-  S->numTaps = numTaps;
-
-  /* Assign coefficient pointer */
-  S->pCoeffs = pCoeffs;
-
-  /* Assign TapDelay pointer */
-  S->pTapDelay = pTapDelay;
-
-  /* Assign MaxDelay */
-  S->maxDelay = maxDelay;
-
-  /* reset the stateIndex to 0 */
-  S->stateIndex = 0u;
-
-  /* Clear state buffer and size is always maxDelay + blockSize */
-  memset(pState, 0, (maxDelay + blockSize) * sizeof(q7_t));
-
-  /* Assign state pointer */
-  S->pState = pState;
-
-}
-
-/**    
- * @} end of FIR_Sparse group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q15.c
deleted file mode 100644
index 016f83345..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q15.c
+++ /dev/null
@@ -1,406 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_fir_sparse_q15.c    
-*    
-* Description:	Q15 sparse FIR filter processing function.   
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* ------------------------------------------------------------------- */
-#include "arm_math.h"
-
-/**    
- * @addtogroup FIR_Sparse    
- * @{    
- */
-
-/**   
- * @brief Processing function for the Q15 sparse FIR filter.   
- * @param[in]  *S           points to an instance of the Q15 sparse FIR structure.   
- * @param[in]  *pSrc        points to the block of input data.   
- * @param[out] *pDst        points to the block of output data   
- * @param[in]  *pScratchIn  points to a temporary buffer of size blockSize.   
- * @param[in]  *pScratchOut points to a temporary buffer of size blockSize.   
- * @param[in]  blockSize    number of input samples to process per call.   
- * @return none.   
- *    
- * Scaling and Overflow Behavior:    
- * \par    
- * The function is implemented using an internal 32-bit accumulator.   
- * The 1.15 x 1.15 multiplications yield a 2.30 result and these are added to a 2.30 accumulator.   
- * Thus the full precision of the multiplications is maintained but there is only a single guard bit in the accumulator.   
- * If the accumulator result overflows it will wrap around rather than saturate.   
- * After all multiply-accumulates are performed, the 2.30 accumulator is truncated to 2.15 format and then saturated to 1.15 format.    
- * In order to avoid overflows the input signal or coefficients must be scaled down by log2(numTaps) bits.   
- */
-
-
-void arm_fir_sparse_q15(
-  arm_fir_sparse_instance_q15 * S,
-  q15_t * pSrc,
-  q15_t * pDst,
-  q15_t * pScratchIn,
-  q31_t * pScratchOut,
-  uint32_t blockSize)
-{
-
-  q15_t *pState = S->pState;                     /* State pointer */
-  q15_t *pIn = pSrc;                             /* Working pointer for input */
-  q15_t *pOut = pDst;                            /* Working pointer for output */
-  q15_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
-  q15_t *px;                                     /* Temporary pointers for scratch buffer */
-  q15_t *pb = pScratchIn;                        /* Temporary pointers for scratch buffer */
-  q15_t *py = pState;                            /* Temporary pointers for state buffer */
-  int32_t *pTapDelay = S->pTapDelay;             /* Pointer to the array containing offset of the non-zero tap values. */
-  uint32_t delaySize = S->maxDelay + blockSize;  /* state length */
-  uint16_t numTaps = S->numTaps;                 /* Filter order */
-  int32_t readIndex;                             /* Read index of the state buffer */
-  uint32_t tapCnt, blkCnt;                       /* loop counters */
-  q15_t coeff = *pCoeffs++;                      /* Read the first coefficient value */
-  q31_t *pScr2 = pScratchOut;                    /* Working pointer for pScratchOut */
-
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  q31_t in1, in2;                                /* Temporary variables */
-
-
-  /* BlockSize of Input samples are copied into the state buffer */
-  /* StateIndex points to the starting position to write in the state buffer */
-  arm_circularWrite_q15(py, delaySize, &S->stateIndex, 1, pIn, 1, blockSize);
-
-  /* Loop over the number of taps. */
-  tapCnt = numTaps;
-
-  /* Read Index, from where the state buffer should be read, is calculated. */
-  readIndex = (S->stateIndex - blockSize) - *pTapDelay++;
-
-  /* Wraparound of readIndex */
-  if(readIndex < 0)
-  {
-    readIndex += (int32_t) delaySize;
-  }
-
-  /* Working pointer for state buffer is updated */
-  py = pState;
-
-  /* blockSize samples are read from the state buffer */
-  arm_circularRead_q15(py, delaySize, &readIndex, 1,
-                       pb, pb, blockSize, 1, blockSize);
-
-  /* Working pointer for the scratch buffer of state values */
-  px = pb;
-
-  /* Working pointer for scratch buffer of output values */
-  pScratchOut = pScr2;
-
-  /* Loop over the blockSize. Unroll by a factor of 4.    
-   * Compute 4 multiplications at a time. */
-  blkCnt = blockSize >> 2;
-
-  while(blkCnt > 0u)
-  {
-    /* Perform multiplication and store in the scratch buffer */
-    *pScratchOut++ = ((q31_t) * px++ * coeff);
-    *pScratchOut++ = ((q31_t) * px++ * coeff);
-    *pScratchOut++ = ((q31_t) * px++ * coeff);
-    *pScratchOut++ = ((q31_t) * px++ * coeff);
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the blockSize is not a multiple of 4,    
-   * compute the remaining samples */
-  blkCnt = blockSize % 0x4u;
-
-  while(blkCnt > 0u)
-  {
-    /* Perform multiplication and store in the scratch buffer */
-    *pScratchOut++ = ((q31_t) * px++ * coeff);
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* Load the coefficient value and    
-   * increment the coefficient buffer for the next set of state values */
-  coeff = *pCoeffs++;
-
-  /* Read Index, from where the state buffer should be read, is calculated. */
-  readIndex = (S->stateIndex - blockSize) - *pTapDelay++;
-
-  /* Wraparound of readIndex */
-  if(readIndex < 0)
-  {
-    readIndex += (int32_t) delaySize;
-  }
-
-  /* Loop over the number of taps. */
-  tapCnt = (uint32_t) numTaps - 1u;
-
-  while(tapCnt > 0u)
-  {
-    /* Working pointer for state buffer is updated */
-    py = pState;
-
-    /* blockSize samples are read from the state buffer */
-    arm_circularRead_q15(py, delaySize, &readIndex, 1,
-                         pb, pb, blockSize, 1, blockSize);
-
-    /* Working pointer for the scratch buffer of state values */
-    px = pb;
-
-    /* Working pointer for scratch buffer of output values */
-    pScratchOut = pScr2;
-
-    /* Loop over the blockSize. Unroll by a factor of 4.    
-     * Compute 4 MACS at a time. */
-    blkCnt = blockSize >> 2;
-
-    while(blkCnt > 0u)
-    {
-      /* Perform Multiply-Accumulate */
-      *pScratchOut++ += (q31_t) * px++ * coeff;
-      *pScratchOut++ += (q31_t) * px++ * coeff;
-      *pScratchOut++ += (q31_t) * px++ * coeff;
-      *pScratchOut++ += (q31_t) * px++ * coeff;
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-
-    /* If the blockSize is not a multiple of 4,    
-     * compute the remaining samples */
-    blkCnt = blockSize % 0x4u;
-
-    while(blkCnt > 0u)
-    {
-      /* Perform Multiply-Accumulate */
-      *pScratchOut++ += (q31_t) * px++ * coeff;
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-
-    /* Load the coefficient value and    
-     * increment the coefficient buffer for the next set of state values */
-    coeff = *pCoeffs++;
-
-    /* Read Index, from where the state buffer should be read, is calculated. */
-    readIndex = (S->stateIndex - blockSize) - *pTapDelay++;
-
-    /* Wraparound of readIndex */
-    if(readIndex < 0)
-    {
-      readIndex += (int32_t) delaySize;
-    }
-
-    /* Decrement the tap loop counter */
-    tapCnt--;
-  }
-
-  /* All the output values are in pScratchOut buffer.    
-     Convert them into 1.15 format, saturate and store in the destination buffer. */
-  /* Loop over the blockSize. */
-  blkCnt = blockSize >> 2;
-
-  while(blkCnt > 0u)
-  {
-    in1 = *pScr2++;
-    in2 = *pScr2++;
-
-#ifndef  ARM_MATH_BIG_ENDIAN
-
-    *__SIMD32(pOut)++ =
-      __PKHBT((q15_t) __SSAT(in1 >> 15, 16), (q15_t) __SSAT(in2 >> 15, 16),
-              16);
-
-#else
-    *__SIMD32(pOut)++ =
-      __PKHBT((q15_t) __SSAT(in2 >> 15, 16), (q15_t) __SSAT(in1 >> 15, 16),
-              16);
-
-#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
-
-    in1 = *pScr2++;
-
-    in2 = *pScr2++;
-
-#ifndef  ARM_MATH_BIG_ENDIAN
-
-    *__SIMD32(pOut)++ =
-      __PKHBT((q15_t) __SSAT(in1 >> 15, 16), (q15_t) __SSAT(in2 >> 15, 16),
-              16);
-
-#else
-
-    *__SIMD32(pOut)++ =
-      __PKHBT((q15_t) __SSAT(in2 >> 15, 16), (q15_t) __SSAT(in1 >> 15, 16),
-              16);
-
-#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
-
-
-    blkCnt--;
-
-  }
-
-  /* If the blockSize is not a multiple of 4,    
-     remaining samples are processed in the below loop */
-  blkCnt = blockSize % 0x4u;
-
-  while(blkCnt > 0u)
-  {
-    *pOut++ = (q15_t) __SSAT(*pScr2++ >> 15, 16);
-    blkCnt--;
-  }
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  /* BlockSize of Input samples are copied into the state buffer */
-  /* StateIndex points to the starting position to write in the state buffer */
-  arm_circularWrite_q15(py, delaySize, &S->stateIndex, 1, pIn, 1, blockSize);
-
-  /* Loop over the number of taps. */
-  tapCnt = numTaps;
-
-  /* Read Index, from where the state buffer should be read, is calculated. */
-  readIndex = (S->stateIndex - blockSize) - *pTapDelay++;
-
-  /* Wraparound of readIndex */
-  if(readIndex < 0)
-  {
-    readIndex += (int32_t) delaySize;
-  }
-
-  /* Working pointer for state buffer is updated */
-  py = pState;
-
-  /* blockSize samples are read from the state buffer */
-  arm_circularRead_q15(py, delaySize, &readIndex, 1,
-                       pb, pb, blockSize, 1, blockSize);
-
-  /* Working pointer for the scratch buffer of state values */
-  px = pb;
-
-  /* Working pointer for scratch buffer of output values */
-  pScratchOut = pScr2;
-
-  blkCnt = blockSize;
-
-  while(blkCnt > 0u)
-  {
-    /* Perform multiplication and store in the scratch buffer */
-    *pScratchOut++ = ((q31_t) * px++ * coeff);
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* Load the coefficient value and           
-   * increment the coefficient buffer for the next set of state values */
-  coeff = *pCoeffs++;
-
-  /* Read Index, from where the state buffer should be read, is calculated. */
-  readIndex = (S->stateIndex - blockSize) - *pTapDelay++;
-
-  /* Wraparound of readIndex */
-  if(readIndex < 0)
-  {
-    readIndex += (int32_t) delaySize;
-  }
-
-  /* Loop over the number of taps. */
-  tapCnt = (uint32_t) numTaps - 1u;
-
-  while(tapCnt > 0u)
-  {
-    /* Working pointer for state buffer is updated */
-    py = pState;
-
-    /* blockSize samples are read from the state buffer */
-    arm_circularRead_q15(py, delaySize, &readIndex, 1,
-                         pb, pb, blockSize, 1, blockSize);
-
-    /* Working pointer for the scratch buffer of state values */
-    px = pb;
-
-    /* Working pointer for scratch buffer of output values */
-    pScratchOut = pScr2;
-
-    blkCnt = blockSize;
-
-    while(blkCnt > 0u)
-    {
-      /* Perform Multiply-Accumulate */
-      *pScratchOut++ += (q31_t) * px++ * coeff;
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-
-    /* Load the coefficient value and           
-     * increment the coefficient buffer for the next set of state values */
-    coeff = *pCoeffs++;
-
-    /* Read Index, from where the state buffer should be read, is calculated. */
-    readIndex = (S->stateIndex - blockSize) - *pTapDelay++;
-
-    /* Wraparound of readIndex */
-    if(readIndex < 0)
-    {
-      readIndex += (int32_t) delaySize;
-    }
-
-    /* Decrement the tap loop counter */
-    tapCnt--;
-  }
-
-  /* All the output values are in pScratchOut buffer.       
-     Convert them into 1.15 format, saturate and store in the destination buffer. */
-  /* Loop over the blockSize. */
-  blkCnt = blockSize;
-
-  while(blkCnt > 0u)
-  {
-    *pOut++ = (q15_t) __SSAT(*pScr2++ >> 15, 16);
-    blkCnt--;
-  }
-
-#endif /*   #ifndef ARM_MATH_CM0 */
-
-}
-
-/**    
- * @} end of FIR_Sparse group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q31.c
deleted file mode 100644
index 3d2f6d402..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q31.c
+++ /dev/null
@@ -1,370 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_fir_sparse_q31.c    
-*    
-* Description:	Q31 sparse FIR filter processing function.   
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* ------------------------------------------------------------------- */
-#include "arm_math.h"
-
-
-/**    
- * @addtogroup FIR_Sparse    
- * @{    
- */
-
-/**   
- * @brief Processing function for the Q31 sparse FIR filter.   
- * @param[in]  *S          points to an instance of the Q31 sparse FIR structure.   
- * @param[in]  *pSrc       points to the block of input data.   
- * @param[out] *pDst       points to the block of output data   
- * @param[in]  *pScratchIn points to a temporary buffer of size blockSize.   
- * @param[in]  blockSize   number of input samples to process per call.   
- * @return none.   
- *    
- * Scaling and Overflow Behavior:    
- * \par    
- * The function is implemented using an internal 32-bit accumulator.   
- * The 1.31 x 1.31 multiplications are truncated to 2.30 format.   
- * This leads to loss of precision on the intermediate multiplications and provides only a single guard bit.    
- * If the accumulator result overflows, it wraps around rather than saturate.   
- * In order to avoid overflows the input signal or coefficients must be scaled down by log2(numTaps) bits.   
- */
-
-void arm_fir_sparse_q31(
-  arm_fir_sparse_instance_q31 * S,
-  q31_t * pSrc,
-  q31_t * pDst,
-  q31_t * pScratchIn,
-  uint32_t blockSize)
-{
-
-  q31_t *pState = S->pState;                     /* State pointer */
-  q31_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
-  q31_t *px;                                     /* Scratch buffer pointer */
-  q31_t *py = pState;                            /* Temporary pointers for state buffer */
-  q31_t *pb = pScratchIn;                        /* Temporary pointers for scratch buffer */
-  q31_t *pOut;                                   /* Destination pointer */
-  q63_t out;                                     /* Temporary output variable */
-  int32_t *pTapDelay = S->pTapDelay;             /* Pointer to the array containing offset of the non-zero tap values. */
-  uint32_t delaySize = S->maxDelay + blockSize;  /* state length */
-  uint16_t numTaps = S->numTaps;                 /* Filter order */
-  int32_t readIndex;                             /* Read index of the state buffer */
-  uint32_t tapCnt, blkCnt;                       /* loop counters */
-  q31_t coeff = *pCoeffs++;                      /* Read the first coefficient value */
-  q31_t in;
-
-
-  /* BlockSize of Input samples are copied into the state buffer */
-  /* StateIndex points to the starting position to write in the state buffer */
-  arm_circularWrite_f32((int32_t *) py, delaySize, &S->stateIndex, 1,
-                        (int32_t *) pSrc, 1, blockSize);
-
-  /* Read Index, from where the state buffer should be read, is calculated. */
-  readIndex = (int32_t) (S->stateIndex - blockSize) - *pTapDelay++;
-
-  /* Wraparound of readIndex */
-  if(readIndex < 0)
-  {
-    readIndex += (int32_t) delaySize;
-  }
-
-  /* Working pointer for state buffer is updated */
-  py = pState;
-
-  /* blockSize samples are read from the state buffer */
-  arm_circularRead_f32((int32_t *) py, delaySize, &readIndex, 1,
-                       (int32_t *) pb, (int32_t *) pb, blockSize, 1,
-                       blockSize);
-
-  /* Working pointer for the scratch buffer of state values */
-  px = pb;
-
-  /* Working pointer for scratch buffer of output values */
-  pOut = pDst;
-
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  /* Loop over the blockSize. Unroll by a factor of 4.    
-   * Compute 4 Multiplications at a time. */
-  blkCnt = blockSize >> 2;
-
-  while(blkCnt > 0u)
-  {
-    /* Perform Multiplications and store in the destination buffer */
-    *pOut++ = (q31_t) (((q63_t) * px++ * coeff) >> 32);
-    *pOut++ = (q31_t) (((q63_t) * px++ * coeff) >> 32);
-    *pOut++ = (q31_t) (((q63_t) * px++ * coeff) >> 32);
-    *pOut++ = (q31_t) (((q63_t) * px++ * coeff) >> 32);
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the blockSize is not a multiple of 4,    
-   * compute the remaining samples */
-  blkCnt = blockSize % 0x4u;
-
-  while(blkCnt > 0u)
-  {
-    /* Perform Multiplications and store in the destination buffer */
-    *pOut++ = (q31_t) (((q63_t) * px++ * coeff) >> 32);
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* Load the coefficient value and    
-   * increment the coefficient buffer for the next set of state values */
-  coeff = *pCoeffs++;
-
-  /* Read Index, from where the state buffer should be read, is calculated. */
-  readIndex = (int32_t) (S->stateIndex - blockSize) - *pTapDelay++;
-
-  /* Wraparound of readIndex */
-  if(readIndex < 0)
-  {
-    readIndex += (int32_t) delaySize;
-  }
-
-  /* Loop over the number of taps. */
-  tapCnt = (uint32_t) numTaps - 1u;
-
-  while(tapCnt > 0u)
-  {
-    /* Working pointer for state buffer is updated */
-    py = pState;
-
-    /* blockSize samples are read from the state buffer */
-    arm_circularRead_f32((int32_t *) py, delaySize, &readIndex, 1,
-                         (int32_t *) pb, (int32_t *) pb, blockSize, 1,
-                         blockSize);
-
-    /* Working pointer for the scratch buffer of state values */
-    px = pb;
-
-    /* Working pointer for scratch buffer of output values */
-    pOut = pDst;
-
-    /* Loop over the blockSize. Unroll by a factor of 4.    
-     * Compute 4 MACS at a time. */
-    blkCnt = blockSize >> 2;
-
-    while(blkCnt > 0u)
-    {
-      out = *pOut;
-      out += ((q63_t) * px++ * coeff) >> 32;
-      *pOut++ = (q31_t) (out);
-
-      out = *pOut;
-      out += ((q63_t) * px++ * coeff) >> 32;
-      *pOut++ = (q31_t) (out);
-
-      out = *pOut;
-      out += ((q63_t) * px++ * coeff) >> 32;
-      *pOut++ = (q31_t) (out);
-
-      out = *pOut;
-      out += ((q63_t) * px++ * coeff) >> 32;
-      *pOut++ = (q31_t) (out);
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-
-    /* If the blockSize is not a multiple of 4,    
-     * compute the remaining samples */
-    blkCnt = blockSize % 0x4u;
-
-    while(blkCnt > 0u)
-    {
-      /* Perform Multiply-Accumulate */
-      out = *pOut;
-      out += ((q63_t) * px++ * coeff) >> 32;
-      *pOut++ = (q31_t) (out);
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-
-    /* Load the coefficient value and    
-     * increment the coefficient buffer for the next set of state values */
-    coeff = *pCoeffs++;
-
-    /* Read Index, from where the state buffer should be read, is calculated. */
-    readIndex = (int32_t) (S->stateIndex - blockSize) - *pTapDelay++;
-
-    /* Wraparound of readIndex */
-    if(readIndex < 0)
-    {
-      readIndex += (int32_t) delaySize;
-    }
-
-    /* Decrement the tap loop counter */
-    tapCnt--;
-  }
-
-  /* Working output pointer is updated */
-  pOut = pDst;
-
-  /* Output is converted into 1.31 format. */
-  /* Loop over the blockSize. Unroll by a factor of 4.    
-   * process 4 output samples at a time. */
-  blkCnt = blockSize >> 2;
-
-  while(blkCnt > 0u)
-  {
-    in = *pOut << 1;
-    *pOut++ = in;
-    in = *pOut << 1;
-    *pOut++ = in;
-    in = *pOut << 1;
-    *pOut++ = in;
-    in = *pOut << 1;
-    *pOut++ = in;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the blockSize is not a multiple of 4,    
-   * process the remaining output samples */
-  blkCnt = blockSize % 0x4u;
-
-  while(blkCnt > 0u)
-  {
-    in = *pOut << 1;
-    *pOut++ = in;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-  blkCnt = blockSize;
-
-  while(blkCnt > 0u)
-  {
-    /* Perform Multiplications and store in the destination buffer */
-    *pOut++ = (q31_t) (((q63_t) * px++ * coeff) >> 32);
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* Load the coefficient value and           
-   * increment the coefficient buffer for the next set of state values */
-  coeff = *pCoeffs++;
-
-  /* Read Index, from where the state buffer should be read, is calculated. */
-  readIndex = (int32_t) (S->stateIndex - blockSize) - *pTapDelay++;
-
-  /* Wraparound of readIndex */
-  if(readIndex < 0)
-  {
-    readIndex += (int32_t) delaySize;
-  }
-
-  /* Loop over the number of taps. */
-  tapCnt = (uint32_t) numTaps - 1u;
-
-  while(tapCnt > 0u)
-  {
-    /* Working pointer for state buffer is updated */
-    py = pState;
-
-    /* blockSize samples are read from the state buffer */
-    arm_circularRead_f32((int32_t *) py, delaySize, &readIndex, 1,
-                         (int32_t *) pb, (int32_t *) pb, blockSize, 1,
-                         blockSize);
-
-    /* Working pointer for the scratch buffer of state values */
-    px = pb;
-
-    /* Working pointer for scratch buffer of output values */
-    pOut = pDst;
-
-    blkCnt = blockSize;
-
-    while(blkCnt > 0u)
-    {
-      /* Perform Multiply-Accumulate */
-      out = *pOut;
-      out += ((q63_t) * px++ * coeff) >> 32;
-      *pOut++ = (q31_t) (out);
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-
-    /* Load the coefficient value and           
-     * increment the coefficient buffer for the next set of state values */
-    coeff = *pCoeffs++;
-
-    /* Read Index, from where the state buffer should be read, is calculated. */
-    readIndex = (int32_t) (S->stateIndex - blockSize) - *pTapDelay++;
-
-    /* Wraparound of readIndex */
-    if(readIndex < 0)
-    {
-      readIndex += (int32_t) delaySize;
-    }
-
-    /* Decrement the tap loop counter */
-    tapCnt--;
-  }
-
-  /* Working output pointer is updated */
-  pOut = pDst;
-
-  /* Output is converted into 1.31 format. */
-  blkCnt = blockSize;
-
-  while(blkCnt > 0u)
-  {
-    in = *pOut << 1;
-    *pOut++ = in;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-#endif /*   #ifndef ARM_MATH_CM0 */
-
-}
-
-/**    
- * @} end of FIR_Sparse group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q7.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q7.c
deleted file mode 100644
index ace5d0703..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q7.c
+++ /dev/null
@@ -1,398 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_fir_sparse_q7.c    
-*    
-* Description:	Q7 sparse FIR filter processing function.   
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* ------------------------------------------------------------------- */
-#include "arm_math.h"
-
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup FIR_Sparse    
- * @{    
- */
-
-
-/**   
- * @brief Processing function for the Q7 sparse FIR filter.   
- * @param[in]  *S           points to an instance of the Q7 sparse FIR structure.   
- * @param[in]  *pSrc        points to the block of input data.   
- * @param[out] *pDst        points to the block of output data   
- * @param[in]  *pScratchIn  points to a temporary buffer of size blockSize.   
- * @param[in]  *pScratchOut points to a temporary buffer of size blockSize.   
- * @param[in]  blockSize    number of input samples to process per call.   
- * @return none.   
- *    
- * Scaling and Overflow Behavior:    
- * \par    
- * The function is implemented using a 32-bit internal accumulator.    
- * Both coefficients and state variables are represented in 1.7 format and multiplications yield a 2.14 result.    
- * The 2.14 intermediate results are accumulated in a 32-bit accumulator in 18.14 format.    
- * There is no risk of internal overflow with this approach and the full precision of intermediate multiplications is preserved.    
- * The accumulator is then converted to 18.7 format by discarding the low 7 bits.   
- * Finally, the result is truncated to 1.7 format.   
- */
-
-void arm_fir_sparse_q7(
-  arm_fir_sparse_instance_q7 * S,
-  q7_t * pSrc,
-  q7_t * pDst,
-  q7_t * pScratchIn,
-  q31_t * pScratchOut,
-  uint32_t blockSize)
-{
-
-  q7_t *pState = S->pState;                      /* State pointer */
-  q7_t *pCoeffs = S->pCoeffs;                    /* Coefficient pointer */
-  q7_t *px;                                      /* Scratch buffer pointer */
-  q7_t *py = pState;                             /* Temporary pointers for state buffer */
-  q7_t *pb = pScratchIn;                         /* Temporary pointers for scratch buffer */
-  q7_t *pOut = pDst;                             /* Destination pointer */
-  int32_t *pTapDelay = S->pTapDelay;             /* Pointer to the array containing offset of the non-zero tap values. */
-  uint32_t delaySize = S->maxDelay + blockSize;  /* state length */
-  uint16_t numTaps = S->numTaps;                 /* Filter order */
-  int32_t readIndex;                             /* Read index of the state buffer */
-  uint32_t tapCnt, blkCnt;                       /* loop counters */
-  q7_t coeff = *pCoeffs++;                       /* Read the coefficient value */
-  q31_t *pScr2 = pScratchOut;                    /* Working pointer for scratch buffer of output values */
-  q31_t in;
-
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  q7_t in1, in2, in3, in4;
-
-  /* BlockSize of Input samples are copied into the state buffer */
-  /* StateIndex points to the starting position to write in the state buffer */
-  arm_circularWrite_q7(py, (int32_t) delaySize, &S->stateIndex, 1, pSrc, 1,
-                       blockSize);
-
-  /* Loop over the number of taps. */
-  tapCnt = numTaps;
-
-  /* Read Index, from where the state buffer should be read, is calculated. */
-  readIndex = ((int32_t) S->stateIndex - (int32_t) blockSize) - *pTapDelay++;
-
-  /* Wraparound of readIndex */
-  if(readIndex < 0)
-  {
-    readIndex += (int32_t) delaySize;
-  }
-
-  /* Working pointer for state buffer is updated */
-  py = pState;
-
-  /* blockSize samples are read from the state buffer */
-  arm_circularRead_q7(py, (int32_t) delaySize, &readIndex, 1, pb, pb,
-                      (int32_t) blockSize, 1, blockSize);
-
-  /* Working pointer for the scratch buffer of state values */
-  px = pb;
-
-  /* Working pointer for scratch buffer of output values */
-  pScratchOut = pScr2;
-
-  /* Loop over the blockSize. Unroll by a factor of 4.    
-   * Compute 4 multiplications at a time. */
-  blkCnt = blockSize >> 2;
-
-  while(blkCnt > 0u)
-  {
-    /* Perform multiplication and store in the scratch buffer */
-    *pScratchOut++ = ((q31_t) * px++ * coeff);
-    *pScratchOut++ = ((q31_t) * px++ * coeff);
-    *pScratchOut++ = ((q31_t) * px++ * coeff);
-    *pScratchOut++ = ((q31_t) * px++ * coeff);
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the blockSize is not a multiple of 4,    
-   * compute the remaining samples */
-  blkCnt = blockSize % 0x4u;
-
-  while(blkCnt > 0u)
-  {
-    /* Perform multiplication and store in the scratch buffer */
-    *pScratchOut++ = ((q31_t) * px++ * coeff);
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* Load the coefficient value and    
-   * increment the coefficient buffer for the next set of state values */
-  coeff = *pCoeffs++;
-
-  /* Read Index, from where the state buffer should be read, is calculated. */
-  readIndex = ((int32_t) S->stateIndex - (int32_t) blockSize) - *pTapDelay++;
-
-  /* Wraparound of readIndex */
-  if(readIndex < 0)
-  {
-    readIndex += (int32_t) delaySize;
-  }
-
-  /* Loop over the number of taps. */
-  tapCnt = (uint32_t) numTaps - 1u;
-
-  while(tapCnt > 0u)
-  {
-    /* Working pointer for state buffer is updated */
-    py = pState;
-
-    /* blockSize samples are read from the state buffer */
-    arm_circularRead_q7(py, (int32_t) delaySize, &readIndex, 1, pb, pb,
-                        (int32_t) blockSize, 1, blockSize);
-
-    /* Working pointer for the scratch buffer of state values */
-    px = pb;
-
-    /* Working pointer for scratch buffer of output values */
-    pScratchOut = pScr2;
-
-    /* Loop over the blockSize. Unroll by a factor of 4.    
-     * Compute 4 MACS at a time. */
-    blkCnt = blockSize >> 2;
-
-    while(blkCnt > 0u)
-    {
-      /* Perform Multiply-Accumulate */
-      in = *pScratchOut + ((q31_t) * px++ * coeff);
-      *pScratchOut++ = in;
-      in = *pScratchOut + ((q31_t) * px++ * coeff);
-      *pScratchOut++ = in;
-      in = *pScratchOut + ((q31_t) * px++ * coeff);
-      *pScratchOut++ = in;
-      in = *pScratchOut + ((q31_t) * px++ * coeff);
-      *pScratchOut++ = in;
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-
-    /* If the blockSize is not a multiple of 4,    
-     * compute the remaining samples */
-    blkCnt = blockSize % 0x4u;
-
-    while(blkCnt > 0u)
-    {
-      /* Perform Multiply-Accumulate */
-      in = *pScratchOut + ((q31_t) * px++ * coeff);
-      *pScratchOut++ = in;
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-
-    /* Load the coefficient value and    
-     * increment the coefficient buffer for the next set of state values */
-    coeff = *pCoeffs++;
-
-    /* Read Index, from where the state buffer should be read, is calculated. */
-    readIndex = ((int32_t) S->stateIndex -
-                 (int32_t) blockSize) - *pTapDelay++;
-
-    /* Wraparound of readIndex */
-    if(readIndex < 0)
-    {
-      readIndex += (int32_t) delaySize;
-    }
-
-    /* Decrement the tap loop counter */
-    tapCnt--;
-  }
-
-  /* All the output values are in pScratchOut buffer.    
-     Convert them into 1.15 format, saturate and store in the destination buffer. */
-  /* Loop over the blockSize. */
-  blkCnt = blockSize >> 2;
-
-  while(blkCnt > 0u)
-  {
-    in1 = (q7_t) __SSAT(*pScr2++ >> 7, 8);
-    in2 = (q7_t) __SSAT(*pScr2++ >> 7, 8);
-    in3 = (q7_t) __SSAT(*pScr2++ >> 7, 8);
-    in4 = (q7_t) __SSAT(*pScr2++ >> 7, 8);
-
-    *__SIMD32(pOut)++ = __PACKq7(in1, in2, in3, in4);
-
-    /* Decrement the blockSize loop counter */
-    blkCnt--;
-  }
-
-  /* If the blockSize is not a multiple of 4,    
-     remaining samples are processed in the below loop */
-  blkCnt = blockSize % 0x4u;
-
-  while(blkCnt > 0u)
-  {
-    *pOut++ = (q7_t) __SSAT(*pScr2++ >> 7, 8);
-
-    /* Decrement the blockSize loop counter */
-    blkCnt--;
-  }
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  /* BlockSize of Input samples are copied into the state buffer */
-  /* StateIndex points to the starting position to write in the state buffer */
-  arm_circularWrite_q7(py, (int32_t) delaySize, &S->stateIndex, 1, pSrc, 1,
-                       blockSize);
-
-  /* Loop over the number of taps. */
-  tapCnt = numTaps;
-
-  /* Read Index, from where the state buffer should be read, is calculated. */
-  readIndex = ((int32_t) S->stateIndex - (int32_t) blockSize) - *pTapDelay++;
-
-  /* Wraparound of readIndex */
-  if(readIndex < 0)
-  {
-    readIndex += (int32_t) delaySize;
-  }
-
-  /* Working pointer for state buffer is updated */
-  py = pState;
-
-  /* blockSize samples are read from the state buffer */
-  arm_circularRead_q7(py, (int32_t) delaySize, &readIndex, 1, pb, pb,
-                      (int32_t) blockSize, 1, blockSize);
-
-  /* Working pointer for the scratch buffer of state values */
-  px = pb;
-
-  /* Working pointer for scratch buffer of output values */
-  pScratchOut = pScr2;
-
-  /* Loop over the blockSize */
-  blkCnt = blockSize;
-
-  while(blkCnt > 0u)
-  {
-    /* Perform multiplication and store in the scratch buffer */
-    *pScratchOut++ = ((q31_t) * px++ * coeff);
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* Load the coefficient value and           
-   * increment the coefficient buffer for the next set of state values */
-  coeff = *pCoeffs++;
-
-  /* Read Index, from where the state buffer should be read, is calculated. */
-  readIndex = ((int32_t) S->stateIndex - (int32_t) blockSize) - *pTapDelay++;
-
-  /* Wraparound of readIndex */
-  if(readIndex < 0)
-  {
-    readIndex += (int32_t) delaySize;
-  }
-
-  /* Loop over the number of taps. */
-  tapCnt = (uint32_t) numTaps - 1u;
-
-  while(tapCnt > 0u)
-  {
-    /* Working pointer for state buffer is updated */
-    py = pState;
-
-    /* blockSize samples are read from the state buffer */
-    arm_circularRead_q7(py, (int32_t) delaySize, &readIndex, 1, pb, pb,
-                        (int32_t) blockSize, 1, blockSize);
-
-    /* Working pointer for the scratch buffer of state values */
-    px = pb;
-
-    /* Working pointer for scratch buffer of output values */
-    pScratchOut = pScr2;
-
-    /* Loop over the blockSize */
-    blkCnt = blockSize;
-
-    while(blkCnt > 0u)
-    {
-      /* Perform Multiply-Accumulate */
-      in = *pScratchOut + ((q31_t) * px++ * coeff);
-      *pScratchOut++ = in;
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-
-    /* Load the coefficient value and           
-     * increment the coefficient buffer for the next set of state values */
-    coeff = *pCoeffs++;
-
-    /* Read Index, from where the state buffer should be read, is calculated. */
-    readIndex =
-      ((int32_t) S->stateIndex - (int32_t) blockSize) - *pTapDelay++;
-
-    /* Wraparound of readIndex */
-    if(readIndex < 0)
-    {
-      readIndex += (int32_t) delaySize;
-    }
-
-    /* Decrement the tap loop counter */
-    tapCnt--;
-  }
-
-  /* All the output values are in pScratchOut buffer.       
-     Convert them into 1.15 format, saturate and store in the destination buffer. */
-  /* Loop over the blockSize. */
-  blkCnt = blockSize;
-
-  while(blkCnt > 0u)
-  {
-    *pOut++ = (q7_t) __SSAT(*pScr2++ >> 7, 8);
-
-    /* Decrement the blockSize loop counter */
-    blkCnt--;
-  }
-
-#endif /*   #ifndef ARM_MATH_CM0 */
-
-}
-
-/**    
- * @} end of FIR_Sparse group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_f32.c
deleted file mode 100644
index 074605553..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_f32.c
+++ /dev/null
@@ -1,440 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_iir_lattice_f32.c    
-*    
-* Description:	Floating-point IIR Lattice filter processing function.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @defgroup IIR_Lattice Infinite Impulse Response (IIR) Lattice Filters    
- *    
- * This set of functions implements lattice filters    
- * for Q15, Q31 and floating-point data types.  Lattice filters are used in a     
- * variety of adaptive filter applications.  The filter structure has feedforward and    
- * feedback components and the net impulse response is infinite length.    
- * The functions operate on blocks    
- * of input and output data and each call to the function processes    
- * blockSize samples through the filter.  pSrc and    
- * pDst point to input and output arrays containing blockSize values.    
-    
- * \par Algorithm:    
- * \image html IIRLattice.gif "Infinite Impulse Response Lattice filter"    
- * 
    
- *    fN(n)   =  x(n)    
- *    fm-1(n) = fm(n) - km * gm-1(n-1)   for m = N, N-1, ...1    
- *    gm(n)   = km * fm-1(n) + gm-1(n-1) for m = N, N-1, ...1    
- *    y(n)    = vN * gN(n) + vN-1 * gN-1(n) + ...+ v0 * g0(n)    
- * 
    
- * \par    
- * pkCoeffs points to array of reflection coefficients of size numStages.     
- * Reflection coefficients are stored in time-reversed order.    
- * \par    
- * 
    
- *    {kN, kN-1, ....k1}    
- * 
    
- * pvCoeffs points to the array of ladder coefficients of size (numStages+1).     
- * Ladder coefficients are stored in time-reversed order.    
- * \par    
- * 
    
- *    {vN, vN-1, ...v0}    
- * 
    
- * pState points to a state array of size numStages + blockSize.    
- * The state variables shown in the figure above (the g values) are stored in the pState array.    
- * The state variables are updated after each block of data is processed; the coefficients are untouched.    
- * \par Instance Structure    
- * The coefficients and state variables for a filter are stored together in an instance data structure.    
- * A separate instance structure must be defined for each filter.    
- * Coefficient arrays may be shared among several instances while state variable arrays cannot be shared.    
- * There are separate instance structure declarations for each of the 3 supported data types.    
-  *    
- * \par Initialization Functions    
- * There is also an associated initialization function for each data type.    
- * The initialization function performs the following operations:    
- * - Sets the values of the internal structure fields.    
- * - Zeros out the values in the state buffer.    
- *    
- * \par    
- * Use of the initialization function is optional.    
- * However, if the initialization function is used, then the instance structure cannot be placed into a const data section.    
- * To place an instance structure into a const data section, the instance structure must be manually initialized.    
- * Set the values in the state buffer to zeros and then manually initialize the instance structure as follows:    
- * 
    
- *arm_iir_lattice_instance_f32 S = {numStages, pState, pkCoeffs, pvCoeffs};    
- *arm_iir_lattice_instance_q31 S = {numStages, pState, pkCoeffs, pvCoeffs};    
- *arm_iir_lattice_instance_q15 S = {numStages, pState, pkCoeffs, pvCoeffs};    
- * 
    
- * \par    
- * where numStages is the number of stages in the filter; pState points to the state buffer array;    
- * pkCoeffs points to array of the reflection coefficients; pvCoeffs points to the array of ladder coefficients.    
- * \par Fixed-Point Behavior    
- * Care must be taken when using the fixed-point versions of the IIR lattice filter functions.    
- * In particular, the overflow and saturation behavior of the accumulator used in each function must be considered.    
- * Refer to the function specific documentation below for usage guidelines.    
- */
-
-/**    
- * @addtogroup IIR_Lattice    
- * @{    
- */
-
-/**    
- * @brief Processing function for the floating-point IIR lattice filter.    
- * @param[in] *S points to an instance of the floating-point IIR lattice structure.    
- * @param[in] *pSrc points to the block of input data.    
- * @param[out] *pDst points to the block of output data.    
- * @param[in] blockSize number of samples to process.    
- * @return none.    
- */
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-void arm_iir_lattice_f32(
-  const arm_iir_lattice_instance_f32 * S,
-  float32_t * pSrc,
-  float32_t * pDst,
-  uint32_t blockSize)
-{
-  float32_t fnext1, gcurr1, gnext;               /* Temporary variables for lattice stages */
-  float32_t acc;                                 /* Accumlator */
-  uint32_t blkCnt, tapCnt;                       /* temporary variables for counts */
-  float32_t *px1, *px2, *pk, *pv;                /* temporary pointers for state and coef */
-  uint32_t numStages = S->numStages;             /* number of stages */
-  float32_t *pState;                             /* State pointer */
-  float32_t *pStateCurnt;                        /* State current pointer */
-  float32_t k1, k2;
-  float32_t v1, v2, v3, v4;
-  float32_t gcurr2;
-  float32_t fnext2;
-
-  /* initialise loop count */
-  blkCnt = blockSize;
-
-  /* initialise state pointer */
-  pState = &S->pState[0];
-
-  /* Sample processing */
-  while(blkCnt > 0u)
-  {
-    /* Read Sample from input buffer */
-    /* fN(n) = x(n) */
-    fnext2 = *pSrc++;
-
-    /* Initialize Ladder coeff pointer */
-    pv = &S->pvCoeffs[0];
-    /* Initialize Reflection coeff pointer */
-    pk = &S->pkCoeffs[0];
-
-    /* Initialize state read pointer */
-    px1 = pState;
-    /* Initialize state write pointer */
-    px2 = pState;
-
-    /* Set accumulator to zero */
-    acc = 0.0;
-
-    /* Loop unrolling.  Process 4 taps at a time. */
-    tapCnt = (numStages) >> 2;
-
-    while(tapCnt > 0u)
-    {
-      /* Read gN-1(n-1) from state buffer */
-      gcurr1 = *px1;
-
-      /* read reflection coefficient kN */
-      k1 = *pk;
-
-      /* fN-1(n) = fN(n) - kN * gN-1(n-1) */
-      fnext1 = fnext2 - (k1 * gcurr1);
-
-      /* read ladder coefficient vN */
-      v1 = *pv;
-
-      /* read next reflection coefficient kN-1 */
-      k2 = *(pk + 1u);
-
-      /* Read gN-2(n-1) from state buffer */
-      gcurr2 = *(px1 + 1u);
-
-      /* read next ladder coefficient vN-1 */
-      v2 = *(pv + 1u);
-
-      /* fN-2(n) = fN-1(n) - kN-1 * gN-2(n-1) */
-      fnext2 = fnext1 - (k2 * gcurr2);
-
-      /* gN(n)   = kN * fN-1(n) + gN-1(n-1) */
-      gnext = gcurr1 + (k1 * fnext1);
-
-      /* read reflection coefficient kN-2 */
-      k1 = *(pk + 2u);
-
-      /* write gN(n) into state for next sample processing */
-      *px2++ = gnext;
-
-      /* Read gN-3(n-1) from state buffer */
-      gcurr1 = *(px1 + 2u);
-
-      /* y(n) += gN(n) * vN  */
-      acc += (gnext * v1);
-
-      /* fN-3(n) = fN-2(n) - kN-2 * gN-3(n-1) */
-      fnext1 = fnext2 - (k1 * gcurr1);
-
-      /* gN-1(n)   = kN-1 * fN-2(n) + gN-2(n-1) */
-      gnext = gcurr2 + (k2 * fnext2);
-
-      /* Read gN-4(n-1) from state buffer */
-      gcurr2 = *(px1 + 3u);
-
-      /* y(n) += gN-1(n) * vN-1  */
-      acc += (gnext * v2);
-
-      /* read reflection coefficient kN-3 */
-      k2 = *(pk + 3u);
-
-      /* write gN-1(n) into state for next sample processing */
-      *px2++ = gnext;
-
-      /* fN-4(n) = fN-3(n) - kN-3 * gN-4(n-1) */
-      fnext2 = fnext1 - (k2 * gcurr2);
-
-      /* gN-2(n) = kN-2 * fN-3(n) + gN-3(n-1) */
-      gnext = gcurr1 + (k1 * fnext1);
-
-      /* read ladder coefficient vN-2 */
-      v3 = *(pv + 2u);
-
-      /* y(n) += gN-2(n) * vN-2  */
-      acc += (gnext * v3);
-
-      /* write gN-2(n) into state for next sample processing */
-      *px2++ = gnext;
-
-      /* update pointer */
-      pk += 4u;
-
-      /* gN-3(n) = kN-3 * fN-4(n) + gN-4(n-1) */
-      gnext = (fnext2 * k2) + gcurr2;
-
-      /* read next ladder coefficient vN-3 */
-      v4 = *(pv + 3u);
-
-      /* y(n) += gN-4(n) * vN-4  */
-      acc += (gnext * v4);
-
-      /* write gN-3(n) into state for next sample processing */
-      *px2++ = gnext;
-
-      /* update pointers */
-      px1 += 4u;
-      pv += 4u;
-
-      tapCnt--;
-
-    }
-
-    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
-    tapCnt = (numStages) % 0x4u;
-
-    while(tapCnt > 0u)
-    {
-      gcurr1 = *px1++;
-      /* Process sample for last taps */
-      fnext1 = fnext2 - ((*pk) * gcurr1);
-      gnext = (fnext1 * (*pk++)) + gcurr1;
-      /* Output samples for last taps */
-      acc += (gnext * (*pv++));
-      *px2++ = gnext;
-      fnext2 = fnext1;
-
-      tapCnt--;
-
-    }
-
-    /* y(n) += g0(n) * v0 */
-    acc += (fnext2 * (*pv));
-
-    *px2++ = fnext2;
-
-    /* write out into pDst */
-    *pDst++ = acc;
-
-    /* Advance the state pointer by 4 to process the next group of 4 samples */
-    pState = pState + 1u;
-
-    blkCnt--;
-
-  }
-
-  /* Processing is complete. Now copy last S->numStages samples to start of the buffer        
-     for the preperation of next frame process */
-
-  /* Points to the start of the state buffer */
-  pStateCurnt = &S->pState[0];
-  pState = &S->pState[blockSize];
-
-  tapCnt = numStages >> 2u;
-
-  /* copy data */
-  while(tapCnt > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    tapCnt--;
-
-  }
-
-  /* Calculate remaining number of copies */
-  tapCnt = (numStages) % 0x4u;
-
-  /* Copy the remaining q31_t data */
-  while(tapCnt > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    tapCnt--;
-  }
-}
-
-#else
-
-void arm_iir_lattice_f32(
-  const arm_iir_lattice_instance_f32 * S,
-  float32_t * pSrc,
-  float32_t * pDst,
-  uint32_t blockSize)
-{
-  float32_t fcurr, fnext = 0, gcurr, gnext;      /* Temporary variables for lattice stages */
-  float32_t acc;                                 /* Accumlator */
-  uint32_t blkCnt, tapCnt;                       /* temporary variables for counts */
-  float32_t *px1, *px2, *pk, *pv;                /* temporary pointers for state and coef */
-  uint32_t numStages = S->numStages;             /* number of stages */
-  float32_t *pState;                             /* State pointer */
-  float32_t *pStateCurnt;                        /* State current pointer */
-
-
-  /* Run the below code for Cortex-M0 */
-
-  blkCnt = blockSize;
-
-  pState = &S->pState[0];
-
-  /* Sample processing */
-  while(blkCnt > 0u)
-  {
-    /* Read Sample from input buffer */
-    /* fN(n) = x(n) */
-    fcurr = *pSrc++;
-
-    /* Initialize state read pointer */
-    px1 = pState;
-    /* Initialize state write pointer */
-    px2 = pState;
-    /* Set accumulator to zero */
-    acc = 0.0f;
-    /* Initialize Ladder coeff pointer */
-    pv = &S->pvCoeffs[0];
-    /* Initialize Reflection coeff pointer */
-    pk = &S->pkCoeffs[0];
-
-
-    /* Process sample for numStages */
-    tapCnt = numStages;
-
-    while(tapCnt > 0u)
-    {
-      gcurr = *px1++;
-      /* Process sample for last taps */
-      fnext = fcurr - ((*pk) * gcurr);
-      gnext = (fnext * (*pk++)) + gcurr;
-
-      /* Output samples for last taps */
-      acc += (gnext * (*pv++));
-      *px2++ = gnext;
-      fcurr = fnext;
-
-      /* Decrementing loop counter */
-      tapCnt--;
-
-    }
-
-    /* y(n) += g0(n) * v0 */
-    acc += (fnext * (*pv));
-
-    *px2++ = fnext;
-
-    /* write out into pDst */
-    *pDst++ = acc;
-
-    /* Advance the state pointer by 1 to process the next group of samples */
-    pState = pState + 1u;
-    blkCnt--;
-
-  }
-
-  /* Processing is complete. Now copy last S->numStages samples to start of the buffer           
-     for the preperation of next frame process */
-
-  /* Points to the start of the state buffer */
-  pStateCurnt = &S->pState[0];
-  pState = &S->pState[blockSize];
-
-  tapCnt = numStages;
-
-  /* Copy the data */
-  while(tapCnt > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    tapCnt--;
-  }
-
-}
-
-#endif /*   #ifndef ARM_MATH_CM0 */
-
-
-/**    
- * @} end of IIR_Lattice group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_f32.c
deleted file mode 100644
index 89c00c24d..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_f32.c
+++ /dev/null
@@ -1,86 +0,0 @@
-/*-----------------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:        arm_iir_lattice_init_f32.c    
-*    
-* Description:  Floating-point IIR lattice filter initialization function.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* ---------------------------------------------------------------------------*/
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup IIR_Lattice    
- * @{    
- */
-
-/**    
- * @brief Initialization function for the floating-point IIR lattice filter.    
- * @param[in] *S points to an instance of the floating-point IIR lattice structure.    
- * @param[in] numStages number of stages in the filter.    
- * @param[in] *pkCoeffs points to the reflection coefficient buffer.  The array is of length numStages.    
- * @param[in] *pvCoeffs points to the ladder coefficient buffer.  The array is of length numStages+1.    
- * @param[in] *pState points to the state buffer.  The array is of length numStages+blockSize.    
- * @param[in] blockSize number of samples to process.    
- * @return none.    
- */
-
-void arm_iir_lattice_init_f32(
-  arm_iir_lattice_instance_f32 * S,
-  uint16_t numStages,
-  float32_t * pkCoeffs,
-  float32_t * pvCoeffs,
-  float32_t * pState,
-  uint32_t blockSize)
-{
-  /* Assign filter taps */
-  S->numStages = numStages;
-
-  /* Assign reflection coefficient pointer */
-  S->pkCoeffs = pkCoeffs;
-
-  /* Assign ladder coefficient pointer */
-  S->pvCoeffs = pvCoeffs;
-
-  /* Clear state buffer and size is always blockSize + numStages */
-  memset(pState, 0, (numStages + blockSize) * sizeof(float32_t));
-
-  /* Assign state pointer */
-  S->pState = pState;
-
-
-}
-
-  /**    
-   * @} end of IIR_Lattice group    
-   */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_q15.c
deleted file mode 100644
index 7dac99fca..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_q15.c
+++ /dev/null
@@ -1,86 +0,0 @@
-/*-----------------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:        arm_iir_lattice_init_q15.c    
-*    
-* Description:  Q15 IIR lattice filter initialization function.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* ---------------------------------------------------------------------------*/
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup IIR_Lattice    
- * @{    
- */
-
-  /**    
-   * @brief Initialization function for the Q15 IIR lattice filter.    
-   * @param[in] *S points to an instance of the Q15 IIR lattice structure.    
-   * @param[in] numStages  number of stages in the filter.    
-   * @param[in] *pkCoeffs points to reflection coefficient buffer.  The array is of length numStages.    
-   * @param[in] *pvCoeffs points to ladder coefficient buffer.  The array is of length numStages+1.    
-   * @param[in] *pState points to state buffer.  The array is of length numStages+blockSize.    
-   * @param[in] blockSize number of samples to process per call.    
-   * @return none.    
-   */
-
-void arm_iir_lattice_init_q15(
-  arm_iir_lattice_instance_q15 * S,
-  uint16_t numStages,
-  q15_t * pkCoeffs,
-  q15_t * pvCoeffs,
-  q15_t * pState,
-  uint32_t blockSize)
-{
-  /* Assign filter taps */
-  S->numStages = numStages;
-
-  /* Assign reflection coefficient pointer */
-  S->pkCoeffs = pkCoeffs;
-
-  /* Assign ladder coefficient pointer */
-  S->pvCoeffs = pvCoeffs;
-
-  /* Clear state buffer and size is always blockSize + numStages */
-  memset(pState, 0, (numStages + blockSize) * sizeof(q15_t));
-
-  /* Assign state pointer */
-  S->pState = pState;
-
-
-}
-
-/**    
- * @} end of IIR_Lattice group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_q31.c
deleted file mode 100644
index 73b18a597..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_q31.c
+++ /dev/null
@@ -1,86 +0,0 @@
-/*-----------------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:        arm_iir_lattice_init_q31.c    
-*    
-* Description:  Initialization function for the Q31 IIR lattice filter.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* ---------------------------------------------------------------------------*/
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup IIR_Lattice    
- * @{    
- */
-
-  /**    
-   * @brief Initialization function for the Q31 IIR lattice filter.    
-   * @param[in] *S points to an instance of the Q31 IIR lattice structure.    
-   * @param[in] numStages number of stages in the filter.    
-   * @param[in] *pkCoeffs points to the reflection coefficient buffer.  The array is of length numStages.    
-   * @param[in] *pvCoeffs points to the ladder coefficient buffer.  The array is of length numStages+1.    
-   * @param[in] *pState points to the state buffer.  The array is of length numStages+blockSize.    
-   * @param[in] blockSize number of samples to process.    
-   * @return none.    
-   */
-
-void arm_iir_lattice_init_q31(
-  arm_iir_lattice_instance_q31 * S,
-  uint16_t numStages,
-  q31_t * pkCoeffs,
-  q31_t * pvCoeffs,
-  q31_t * pState,
-  uint32_t blockSize)
-{
-  /* Assign filter taps */
-  S->numStages = numStages;
-
-  /* Assign reflection coefficient pointer */
-  S->pkCoeffs = pkCoeffs;
-
-  /* Assign ladder coefficient pointer */
-  S->pvCoeffs = pvCoeffs;
-
-  /* Clear state buffer and size is always blockSize + numStages */
-  memset(pState, 0, (numStages + blockSize) * sizeof(q31_t));
-
-  /* Assign state pointer */
-  S->pState = pState;
-
-
-}
-
-/**    
- * @} end of IIR_Lattice group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_q15.c
deleted file mode 100644
index 5f0f891d1..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_q15.c
+++ /dev/null
@@ -1,457 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_iir_lattice_q15.c    
-*    
-* Description:	Q15 IIR lattice filter processing function.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup IIR_Lattice    
- * @{    
- */
-
-/**    
- * @brief Processing function for the Q15 IIR lattice filter.    
- * @param[in] *S points to an instance of the Q15 IIR lattice structure.    
- * @param[in] *pSrc points to the block of input data.    
- * @param[out] *pDst points to the block of output data.    
- * @param[in] blockSize number of samples to process.    
- * @return none.    
- *    
- * @details    
- * Scaling and Overflow Behavior:    
- * \par    
- * The function is implemented using a 64-bit internal accumulator.    
- * Both coefficients and state variables are represented in 1.15 format and multiplications yield a 2.30 result.    
- * The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format.    
- * There is no risk of internal overflow with this approach and the full precision of intermediate multiplications is preserved.    
- * After all additions have been performed, the accumulator is truncated to 34.15 format by discarding low 15 bits.    
- * Lastly, the accumulator is saturated to yield a result in 1.15 format.    
- */
-
-void arm_iir_lattice_q15(
-  const arm_iir_lattice_instance_q15 * S,
-  q15_t * pSrc,
-  q15_t * pDst,
-  uint32_t blockSize)
-{
-
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  q31_t fcurr, fnext, gcurr = 0, gnext;          /* Temporary variables for lattice stages */
-  q15_t gnext1, gnext2;                          /* Temporary variables for lattice stages */
-  uint32_t stgCnt;                               /* Temporary variables for counts */
-  q63_t acc;                                     /* Accumlator */
-  uint32_t blkCnt, tapCnt;                       /* Temporary variables for counts */
-  q15_t *px1, *px2, *pk, *pv;                    /* temporary pointers for state and coef */
-  uint32_t numStages = S->numStages;             /* number of stages */
-  q15_t *pState;                                 /* State pointer */
-  q15_t *pStateCurnt;                            /* State current pointer */
-  q15_t out;                                     /* Temporary variable for output */
-  q15_t v1, v2;
-  q31_t v;                                       /* Temporary variable for ladder coefficient */
-
-
-  blkCnt = blockSize;
-
-  pState = &S->pState[0];
-
-  /* Sample processing */
-  while(blkCnt > 0u)
-  {
-    /* Read Sample from input buffer */
-    /* fN(n) = x(n) */
-    fcurr = *pSrc++;
-
-    /* Initialize state read pointer */
-    px1 = pState;
-    /* Initialize state write pointer */
-    px2 = pState;
-    /* Set accumulator to zero */
-    acc = 0;
-    /* Initialize Ladder coeff pointer */
-    pv = &S->pvCoeffs[0];
-    /* Initialize Reflection coeff pointer */
-    pk = &S->pkCoeffs[0];
-
-
-    /* Process sample for first tap */
-    gcurr = *px1++;
-    /* fN-1(n) = fN(n) - kN * gN-1(n-1) */
-    fnext = fcurr - (((q31_t) gcurr * (*pk)) >> 15);
-    fnext = __SSAT(fnext, 16);
-    /* gN(n) = kN * fN-1(n) + gN-1(n-1) */
-    gnext = (((q31_t) fnext * (*pk++)) >> 15) + gcurr;
-    gnext = __SSAT(gnext, 16);
-    /* write gN(n) into state for next sample processing */
-    *px2++ = (q15_t) gnext;
-    /* y(n) += gN(n) * vN  */
-    acc += (q31_t) ((gnext * (*pv++)));
-
-
-    /* Update f values for next coefficient processing */
-    fcurr = fnext;
-
-    /* Loop unrolling.  Process 4 taps at a time. */
-    tapCnt = (numStages - 1u) >> 2;
-
-    while(tapCnt > 0u)
-    {
-
-      /* Process sample for 2nd, 6th ...taps */
-      /* Read gN-2(n-1) from state buffer */
-      gcurr = *px1++;
-      /* Process sample for 2nd, 6th .. taps */
-      /* fN-2(n) = fN-1(n) - kN-1 * gN-2(n-1) */
-      fnext = fcurr - (((q31_t) gcurr * (*pk)) >> 15);
-      fnext = __SSAT(fnext, 16);
-      /* gN-1(n) = kN-1 * fN-2(n) + gN-2(n-1) */
-      gnext = (((q31_t) fnext * (*pk++)) >> 15) + gcurr;
-      gnext1 = (q15_t) __SSAT(gnext, 16);
-      /* write gN-1(n) into state */
-      *px2++ = (q15_t) gnext1;
-
-
-      /* Process sample for 3nd, 7th ...taps */
-      /* Read gN-3(n-1) from state */
-      gcurr = *px1++;
-      /* Process sample for 3rd, 7th .. taps */
-      /* fN-3(n) = fN-2(n) - kN-2 * gN-3(n-1) */
-      fcurr = fnext - (((q31_t) gcurr * (*pk)) >> 15);
-      fcurr = __SSAT(fcurr, 16);
-      /* gN-2(n) = kN-2 * fN-3(n) + gN-3(n-1) */
-      gnext = (((q31_t) fcurr * (*pk++)) >> 15) + gcurr;
-      gnext2 = (q15_t) __SSAT(gnext, 16);
-      /* write gN-2(n) into state */
-      *px2++ = (q15_t) gnext2;
-
-      /* Read vN-1 and vN-2 at a time */
-#ifndef UNALIGNED_SUPPORT_DISABLE
-
-      v = *__SIMD32(pv)++;
-
-#else
-
-	  v1 = *pv++;
-	  v2 = *pv++;
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-	  v = __PKHBT(v1, v2, 16);
-
-#else
-
-	  v = __PKHBT(v2, v1, 16);
-
-#endif	/* 	#ifndef ARM_MATH_BIG_ENDIAN		*/
-
-#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE */
-
-
-      /* Pack gN-1(n) and gN-2(n) */
-
-#ifndef  ARM_MATH_BIG_ENDIAN
-
-      gnext = __PKHBT(gnext1, gnext2, 16);
-
-#else
-
-      gnext = __PKHBT(gnext2, gnext1, 16);
-
-#endif /*   #ifndef  ARM_MATH_BIG_ENDIAN    */
-
-      /* y(n) += gN-1(n) * vN-1  */
-      /* process for gN-5(n) * vN-5, gN-9(n) * vN-9 ... */
-      /* y(n) += gN-2(n) * vN-2  */
-      /* process for gN-6(n) * vN-6, gN-10(n) * vN-10 ... */
-      acc = __SMLALD(gnext, v, acc);
-
-
-      /* Process sample for 4th, 8th ...taps */
-      /* Read gN-4(n-1) from state */
-      gcurr = *px1++;
-      /* Process sample for 4th, 8th .. taps */
-      /* fN-4(n) = fN-3(n) - kN-3 * gN-4(n-1) */
-      fnext = fcurr - (((q31_t) gcurr * (*pk)) >> 15);
-      fnext = __SSAT(fnext, 16);
-      /* gN-3(n) = kN-3 * fN-1(n) + gN-1(n-1) */
-      gnext = (((q31_t) fnext * (*pk++)) >> 15) + gcurr;
-      gnext1 = (q15_t) __SSAT(gnext, 16);
-      /* write  gN-3(n) for the next sample process */
-      *px2++ = (q15_t) gnext1;
-
-
-      /* Process sample for 5th, 9th ...taps */
-      /* Read gN-5(n-1) from state */
-      gcurr = *px1++;
-      /* Process sample for 5th, 9th .. taps */
-      /* fN-5(n) = fN-4(n) - kN-4 * gN-5(n-1) */
-      fcurr = fnext - (((q31_t) gcurr * (*pk)) >> 15);
-      fcurr = __SSAT(fcurr, 16);
-      /* gN-4(n) = kN-4 * fN-5(n) + gN-5(n-1) */
-      gnext = (((q31_t) fcurr * (*pk++)) >> 15) + gcurr;
-      gnext2 = (q15_t) __SSAT(gnext, 16);
-      /* write      gN-4(n) for the next sample process */
-      *px2++ = (q15_t) gnext2;
-
-      /* Read vN-3 and vN-4 at a time */
-#ifndef UNALIGNED_SUPPORT_DISABLE
-
-      v = *__SIMD32(pv)++;
-
-#else
-
-	  v1 = *pv++;
-	  v2 = *pv++;
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-	  v = __PKHBT(v1, v2, 16);
-
-#else
-
-	  v = __PKHBT(v2, v1, 16);
-
-#endif	/* #ifndef ARM_MATH_BIG_ENDIAN	 */
-
-#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE */
-
-
-      /* Pack gN-3(n) and gN-4(n) */
-#ifndef  ARM_MATH_BIG_ENDIAN
-
-      gnext = __PKHBT(gnext1, gnext2, 16);
-
-#else
-
-      gnext = __PKHBT(gnext2, gnext1, 16);
-
-#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
-
-      /* y(n) += gN-4(n) * vN-4  */
-      /* process for gN-8(n) * vN-8, gN-12(n) * vN-12 ... */
-      /* y(n) += gN-3(n) * vN-3  */
-      /* process for gN-7(n) * vN-7, gN-11(n) * vN-11 ... */
-      acc = __SMLALD(gnext, v, acc);
-
-      tapCnt--;
-
-    }
-
-    fnext = fcurr;
-
-    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
-    tapCnt = (numStages - 1u) % 0x4u;
-
-    while(tapCnt > 0u)
-    {
-      gcurr = *px1++;
-      /* Process sample for last taps */
-      fnext = fcurr - (((q31_t) gcurr * (*pk)) >> 15);
-      fnext = __SSAT(fnext, 16);
-      gnext = (((q31_t) fnext * (*pk++)) >> 15) + gcurr;
-      gnext = __SSAT(gnext, 16);
-      /* Output samples for last taps */
-      acc += (q31_t) (((q31_t) gnext * (*pv++)));
-      *px2++ = (q15_t) gnext;
-      fcurr = fnext;
-
-      tapCnt--;
-    }
-
-    /* y(n) += g0(n) * v0 */
-    acc += (q31_t) (((q31_t) fnext * (*pv++)));
-
-    out = (q15_t) __SSAT(acc >> 15, 16);
-    *px2++ = (q15_t) fnext;
-
-    /* write out into pDst */
-    *pDst++ = out;
-
-    /* Advance the state pointer by 4 to process the next group of 4 samples */
-    pState = pState + 1u;
-    blkCnt--;
-
-  }
-
-  /* Processing is complete. Now copy last S->numStages samples to start of the buffer    
-     for the preperation of next frame process */
-  /* Points to the start of the state buffer */
-  pStateCurnt = &S->pState[0];
-  pState = &S->pState[blockSize];
-
-  stgCnt = (numStages >> 2u);
-
-  /* copy data */
-  while(stgCnt > 0u)
-  {
-#ifndef UNALIGNED_SUPPORT_DISABLE
-
-    *__SIMD32(pStateCurnt)++ = *__SIMD32(pState)++;
-    *__SIMD32(pStateCurnt)++ = *__SIMD32(pState)++;
-
-#else
-
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-
-#endif /*	#ifndef UNALIGNED_SUPPORT_DISABLE */
-
-    /* Decrement the loop counter */
-    stgCnt--;
-
-  }
-
-  /* Calculation of count for remaining q15_t data */
-  stgCnt = (numStages) % 0x4u;
-
-  /* copy data */
-  while(stgCnt > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    stgCnt--;
-  }
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  q31_t fcurr, fnext = 0, gcurr = 0, gnext;      /* Temporary variables for lattice stages */
-  uint32_t stgCnt;                               /* Temporary variables for counts */
-  q63_t acc;                                     /* Accumlator */
-  uint32_t blkCnt, tapCnt;                       /* Temporary variables for counts */
-  q15_t *px1, *px2, *pk, *pv;                    /* temporary pointers for state and coef */
-  uint32_t numStages = S->numStages;             /* number of stages */
-  q15_t *pState;                                 /* State pointer */
-  q15_t *pStateCurnt;                            /* State current pointer */
-  q15_t out;                                     /* Temporary variable for output */
-
-
-  blkCnt = blockSize;
-
-  pState = &S->pState[0];
-
-  /* Sample processing */
-  while(blkCnt > 0u)
-  {
-    /* Read Sample from input buffer */
-    /* fN(n) = x(n) */
-    fcurr = *pSrc++;
-
-    /* Initialize state read pointer */
-    px1 = pState;
-    /* Initialize state write pointer */
-    px2 = pState;
-    /* Set accumulator to zero */
-    acc = 0;
-    /* Initialize Ladder coeff pointer */
-    pv = &S->pvCoeffs[0];
-    /* Initialize Reflection coeff pointer */
-    pk = &S->pkCoeffs[0];
-
-    tapCnt = numStages;
-
-    while(tapCnt > 0u)
-    {
-      gcurr = *px1++;
-      /* Process sample */
-      /* fN-1(n) = fN(n) - kN * gN-1(n-1) */
-      fnext = fcurr - ((gcurr * (*pk)) >> 15);
-      fnext = __SSAT(fnext, 16);
-      /* gN(n) = kN * fN-1(n) + gN-1(n-1) */
-      gnext = ((fnext * (*pk++)) >> 15) + gcurr;
-      gnext = __SSAT(gnext, 16);
-      /* Output samples */
-      /* y(n) += gN(n) * vN */
-      acc += (q31_t) ((gnext * (*pv++)));
-      /* write gN(n) into state for next sample processing */
-      *px2++ = (q15_t) gnext;
-      /* Update f values for next coefficient processing */
-      fcurr = fnext;
-
-      tapCnt--;
-    }
-
-    /* y(n) += g0(n) * v0 */
-    acc += (q31_t) ((fnext * (*pv++)));
-
-    out = (q15_t) __SSAT(acc >> 15, 16);
-    *px2++ = (q15_t) fnext;
-
-    /* write out into pDst */
-    *pDst++ = out;
-
-    /* Advance the state pointer by 1 to process the next group of samples */
-    pState = pState + 1u;
-    blkCnt--;
-
-  }
-
-  /* Processing is complete. Now copy last S->numStages samples to start of the buffer           
-     for the preperation of next frame process */
-  /* Points to the start of the state buffer */
-  pStateCurnt = &S->pState[0];
-  pState = &S->pState[blockSize];
-
-  stgCnt = numStages;
-
-  /* copy data */
-  while(stgCnt > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    stgCnt--;
-  }
-
-#endif /*   #ifndef ARM_MATH_CM0 */
-
-}
-
-
-
-
-/**    
- * @} end of IIR_Lattice group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_q31.c
deleted file mode 100644
index adfd4dfb5..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_q31.c
+++ /dev/null
@@ -1,345 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_iir_lattice_q31.c    
-*    
-* Description:	Q31 IIR lattice filter processing function.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup IIR_Lattice    
- * @{    
- */
-
-/**    
- * @brief Processing function for the Q31 IIR lattice filter.    
- * @param[in] *S points to an instance of the Q31 IIR lattice structure.    
- * @param[in] *pSrc points to the block of input data.    
- * @param[out] *pDst points to the block of output data.    
- * @param[in] blockSize number of samples to process.    
- * @return none.    
- *    
- * @details    
- * Scaling and Overflow Behavior:    
- * \par    
- * The function is implemented using an internal 64-bit accumulator.    
- * The accumulator has a 2.62 format and maintains full precision of the intermediate multiplication results but provides only a single guard bit.    
- * Thus, if the accumulator result overflows it wraps around rather than clip.    
- * In order to avoid overflows completely the input signal must be scaled down by 2*log2(numStages) bits.    
- * After all multiply-accumulates are performed, the 2.62 accumulator is saturated to 1.32 format and then truncated to 1.31 format.    
- */
-
-void arm_iir_lattice_q31(
-  const arm_iir_lattice_instance_q31 * S,
-  q31_t * pSrc,
-  q31_t * pDst,
-  uint32_t blockSize)
-{
-  q31_t fcurr, fnext = 0, gcurr = 0, gnext;      /* Temporary variables for lattice stages */
-  q63_t acc;                                     /* Accumlator */
-  uint32_t blkCnt, tapCnt;                       /* Temporary variables for counts */
-  q31_t *px1, *px2, *pk, *pv;                    /* Temporary pointers for state and coef */
-  uint32_t numStages = S->numStages;             /* number of stages */
-  q31_t *pState;                                 /* State pointer */
-  q31_t *pStateCurnt;                            /* State current pointer */
-
-  blkCnt = blockSize;
-
-  pState = &S->pState[0];
-
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  /* Sample processing */
-  while(blkCnt > 0u)
-  {
-    /* Read Sample from input buffer */
-    /* fN(n) = x(n) */
-    fcurr = *pSrc++;
-
-    /* Initialize state read pointer */
-    px1 = pState;
-    /* Initialize state write pointer */
-    px2 = pState;
-    /* Set accumulator to zero */
-    acc = 0;
-    /* Initialize Ladder coeff pointer */
-    pv = &S->pvCoeffs[0];
-    /* Initialize Reflection coeff pointer */
-    pk = &S->pkCoeffs[0];
-
-
-    /* Process sample for first tap */
-    gcurr = *px1++;
-    /* fN-1(n) = fN(n) - kN * gN-1(n-1) */
-    fnext = __QSUB(fcurr, (q31_t) (((q63_t) gcurr * (*pk)) >> 31));
-    /* gN(n) = kN * fN-1(n) + gN-1(n-1) */
-    gnext = __QADD(gcurr, (q31_t) (((q63_t) fnext * (*pk++)) >> 31));
-    /* write gN-1(n-1) into state for next sample processing */
-    *px2++ = gnext;
-    /* y(n) += gN(n) * vN  */
-    acc += ((q63_t) gnext * *pv++);
-
-    /* Update f values for next coefficient processing */
-    fcurr = fnext;
-
-    /* Loop unrolling.  Process 4 taps at a time. */
-    tapCnt = (numStages - 1u) >> 2;
-
-    while(tapCnt > 0u)
-    {
-
-      /* Process sample for 2nd, 6th .. taps */
-      /* Read gN-2(n-1) from state buffer */
-      gcurr = *px1++;
-      /* fN-2(n) = fN-1(n) - kN-1 * gN-2(n-1) */
-      fnext = __QSUB(fcurr, (q31_t) (((q63_t) gcurr * (*pk)) >> 31));
-      /* gN-1(n) = kN-1 * fN-2(n) + gN-2(n-1) */
-      gnext = __QADD(gcurr, (q31_t) (((q63_t) fnext * (*pk++)) >> 31));
-      /* y(n) += gN-1(n) * vN-1  */
-      /* process for gN-5(n) * vN-5, gN-9(n) * vN-9 ... */
-      acc += ((q63_t) gnext * *pv++);
-      /* write gN-1(n) into state for next sample processing */
-      *px2++ = gnext;
-
-      /* Process sample for 3nd, 7th ...taps */
-      /* Read gN-3(n-1) from state buffer */
-      gcurr = *px1++;
-      /* Process sample for 3rd, 7th .. taps */
-      /* fN-3(n) = fN-2(n) - kN-2 * gN-3(n-1) */
-      fcurr = __QSUB(fnext, (q31_t) (((q63_t) gcurr * (*pk)) >> 31));
-      /* gN-2(n) = kN-2 * fN-3(n) + gN-3(n-1) */
-      gnext = __QADD(gcurr, (q31_t) (((q63_t) fcurr * (*pk++)) >> 31));
-      /* y(n) += gN-2(n) * vN-2  */
-      /* process for gN-6(n) * vN-6, gN-10(n) * vN-10 ... */
-      acc += ((q63_t) gnext * *pv++);
-      /* write gN-2(n) into state for next sample processing */
-      *px2++ = gnext;
-
-
-      /* Process sample for 4th, 8th ...taps */
-      /* Read gN-4(n-1) from state buffer */
-      gcurr = *px1++;
-      /* Process sample for 4th, 8th .. taps */
-      /* fN-4(n) = fN-3(n) - kN-3 * gN-4(n-1) */
-      fnext = __QSUB(fcurr, (q31_t) (((q63_t) gcurr * (*pk)) >> 31));
-      /* gN-3(n) = kN-3 * fN-4(n) + gN-4(n-1) */
-      gnext = __QADD(gcurr, (q31_t) (((q63_t) fnext * (*pk++)) >> 31));
-      /* y(n) += gN-3(n) * vN-3  */
-      /* process for gN-7(n) * vN-7, gN-11(n) * vN-11 ... */
-      acc += ((q63_t) gnext * *pv++);
-      /* write gN-3(n) into state for next sample processing */
-      *px2++ = gnext;
-
-
-      /* Process sample for 5th, 9th ...taps */
-      /* Read gN-5(n-1) from state buffer */
-      gcurr = *px1++;
-      /* Process sample for 5th, 9th .. taps */
-      /* fN-5(n) = fN-4(n) - kN-4 * gN-1(n-1) */
-      fcurr = __QSUB(fnext, (q31_t) (((q63_t) gcurr * (*pk)) >> 31));
-      /* gN-4(n) = kN-4 * fN-5(n) + gN-5(n-1) */
-      gnext = __QADD(gcurr, (q31_t) (((q63_t) fcurr * (*pk++)) >> 31));
-      /* y(n) += gN-4(n) * vN-4  */
-      /* process for gN-8(n) * vN-8, gN-12(n) * vN-12 ... */
-      acc += ((q63_t) gnext * *pv++);
-      /* write gN-4(n) into state for next sample processing */
-      *px2++ = gnext;
-
-      tapCnt--;
-
-    }
-
-    fnext = fcurr;
-
-    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
-    tapCnt = (numStages - 1u) % 0x4u;
-
-    while(tapCnt > 0u)
-    {
-      gcurr = *px1++;
-      /* Process sample for last taps */
-      fnext = __QSUB(fcurr, (q31_t) (((q63_t) gcurr * (*pk)) >> 31));
-      gnext = __QADD(gcurr, (q31_t) (((q63_t) fnext * (*pk++)) >> 31));
-      /* Output samples for last taps */
-      acc += ((q63_t) gnext * *pv++);
-      *px2++ = gnext;
-      fcurr = fnext;
-
-      tapCnt--;
-
-    }
-
-    /* y(n) += g0(n) * v0 */
-    acc += (q63_t) fnext *(
-  *pv++);
-
-    *px2++ = fnext;
-
-    /* write out into pDst */
-    *pDst++ = (q31_t) (acc >> 31u);
-
-    /* Advance the state pointer by 4 to process the next group of 4 samples */
-    pState = pState + 1u;
-    blkCnt--;
-
-  }
-
-  /* Processing is complete. Now copy last S->numStages samples to start of the buffer    
-     for the preperation of next frame process */
-
-  /* Points to the start of the state buffer */
-  pStateCurnt = &S->pState[0];
-  pState = &S->pState[blockSize];
-
-  tapCnt = numStages >> 2u;
-
-  /* copy data */
-  while(tapCnt > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    tapCnt--;
-
-  }
-
-  /* Calculate remaining number of copies */
-  tapCnt = (numStages) % 0x4u;
-
-  /* Copy the remaining q31_t data */
-  while(tapCnt > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    tapCnt--;
-  };
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-  /* Sample processing */
-  while(blkCnt > 0u)
-  {
-    /* Read Sample from input buffer */
-    /* fN(n) = x(n) */
-    fcurr = *pSrc++;
-
-    /* Initialize state read pointer */
-    px1 = pState;
-    /* Initialize state write pointer */
-    px2 = pState;
-    /* Set accumulator to zero */
-    acc = 0;
-    /* Initialize Ladder coeff pointer */
-    pv = &S->pvCoeffs[0];
-    /* Initialize Reflection coeff pointer */
-    pk = &S->pkCoeffs[0];
-
-    tapCnt = numStages;
-
-    while(tapCnt > 0u)
-    {
-      gcurr = *px1++;
-      /* Process sample */
-      /* fN-1(n) = fN(n) - kN * gN-1(n-1) */
-      fnext =
-        clip_q63_to_q31(((q63_t) fcurr -
-                         ((q31_t) (((q63_t) gcurr * (*pk)) >> 31))));
-      /* gN(n) = kN * fN-1(n) + gN-1(n-1) */
-      gnext =
-        clip_q63_to_q31(((q63_t) gcurr +
-                         ((q31_t) (((q63_t) fnext * (*pk++)) >> 31))));
-      /* Output samples */
-      /* y(n) += gN(n) * vN  */
-      acc += ((q63_t) gnext * *pv++);
-      /* write gN-1(n-1) into state for next sample processing */
-      *px2++ = gnext;
-      /* Update f values for next coefficient processing */
-      fcurr = fnext;
-
-      tapCnt--;
-    }
-
-    /* y(n) += g0(n) * v0 */
-    acc += (q63_t) fnext *(
-  *pv++);
-
-    *px2++ = fnext;
-
-    /* write out into pDst */
-    *pDst++ = (q31_t) (acc >> 31u);
-
-    /* Advance the state pointer by 1 to process the next group of samples */
-    pState = pState + 1u;
-    blkCnt--;
-
-  }
-
-  /* Processing is complete. Now copy last S->numStages samples to start of the buffer           
-     for the preperation of next frame process */
-
-  /* Points to the start of the state buffer */
-  pStateCurnt = &S->pState[0];
-  pState = &S->pState[blockSize];
-
-  tapCnt = numStages;
-
-  /* Copy the remaining q31_t data */
-  while(tapCnt > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    tapCnt--;
-  }
-
-#endif /*   #ifndef ARM_MATH_CM0 */
-
-}
-
-
-
-
-/**    
- * @} end of IIR_Lattice group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_f32.c
deleted file mode 100644
index 90fa8ae1e..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_f32.c
+++ /dev/null
@@ -1,434 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_lms_f32.c    
-*    
-* Description:	Processing function for the floating-point LMS filter.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @defgroup LMS Least Mean Square (LMS) Filters    
- *    
- * LMS filters are a class of adaptive filters that are able to "learn" an unknown transfer functions.    
- * LMS filters use a gradient descent method in which the filter coefficients are updated based on the instantaneous error signal.    
- * Adaptive filters are often used in communication systems, equalizers, and noise removal.    
- * The CMSIS DSP Library contains LMS filter functions that operate on Q15, Q31, and floating-point data types.    
- * The library also contains normalized LMS filters in which the filter coefficient adaptation is indepedent of the level of the input signal.    
- *    
- * An LMS filter consists of two components as shown below.    
- * The first component is a standard transversal or FIR filter.    
- * The second component is a coefficient update mechanism.    
- * The LMS filter has two input signals.    
- * The "input" feeds the FIR filter while the "reference input" corresponds to the desired output of the FIR filter.    
- * That is, the FIR filter coefficients are updated so that the output of the FIR filter matches the reference input.    
- * The filter coefficient update mechanism is based on the difference between the FIR filter output and the reference input.    
- * This "error signal" tends towards zero as the filter adapts.    
- * The LMS processing functions accept the input and reference input signals and generate the filter output and error signal.    
- * \image html LMS.gif "Internal structure of the Least Mean Square filter"    
- *    
- * The functions operate on blocks of data and each call to the function processes    
- * blockSize samples through the filter.    
- * pSrc points to input signal, pRef points to reference signal,    
- * pOut points to output signal and pErr points to error signal.    
- * All arrays contain blockSize values.    
- *    
- * The functions operate on a block-by-block basis.    
- * Internally, the filter coefficients b[n] are updated on a sample-by-sample basis.    
- * The convergence of the LMS filter is slower compared to the normalized LMS algorithm.    
- *    
- * \par Algorithm:    
- * The output signal y[n] is computed by a standard FIR filter:    
- * 
    
- *     y[n] = b[0] * x[n] + b[1] * x[n-1] + b[2] * x[n-2] + ...+ b[numTaps-1] * x[n-numTaps+1]    
- * 
    
- *    
- * \par    
- * The error signal equals the difference between the reference signal d[n] and the filter output:    
- * 
    
- *     e[n] = d[n] - y[n].    
- * 
    
- *    
- * \par    
- * After each sample of the error signal is computed, the filter coefficients b[k] are updated on a sample-by-sample basis:    
- * 
    
- *     b[k] = b[k] + e[n] * mu * x[n-k],  for k=0, 1, ..., numTaps-1    
- * 
    
- * where mu is the step size and controls the rate of coefficient convergence.    
- *\par    
- * In the APIs, pCoeffs points to a coefficient array of size numTaps.    
- * Coefficients are stored in time reversed order.    
- * \par    
- * 
    
- *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}    
- * 
    
- * \par    
- * pState points to a state array of size numTaps + blockSize - 1.    
- * Samples in the state buffer are stored in the order:    
- * \par    
- * 
    
- *    {x[n-numTaps+1], x[n-numTaps], x[n-numTaps-1], x[n-numTaps-2]....x[0], x[1], ..., x[blockSize-1]}    
- * 
    
- * \par    
- * Note that the length of the state buffer exceeds the length of the coefficient array by blockSize-1 samples.    
- * The increased state buffer length allows circular addressing, which is traditionally used in FIR filters,    
- * to be avoided and yields a significant speed improvement.    
- * The state variables are updated after each block of data is processed.    
- * \par Instance Structure    
- * The coefficients and state variables for a filter are stored together in an instance data structure.    
- * A separate instance structure must be defined for each filter and    
- * coefficient and state arrays cannot be shared among instances.    
- * There are separate instance structure declarations for each of the 3 supported data types.    
- *    
- * \par Initialization Functions    
- * There is also an associated initialization function for each data type.    
- * The initialization function performs the following operations:    
- * - Sets the values of the internal structure fields.    
- * - Zeros out the values in the state buffer.    
- * \par    
- * Use of the initialization function is optional.    
- * However, if the initialization function is used, then the instance structure cannot be placed into a const data section.    
- * To place an instance structure into a const data section, the instance structure must be manually initialized.    
- * Set the values in the state buffer to zeros before static initialization.    
- * The code below statically initializes each of the 3 different data type filter instance structures    
- * 
    
- *    arm_lms_instance_f32 S = {numTaps, pState, pCoeffs, mu};    
- *    arm_lms_instance_q31 S = {numTaps, pState, pCoeffs, mu, postShift};    
- *    arm_lms_instance_q15 S = {numTaps, pState, pCoeffs, mu, postShift};    
- * 
    
- * where numTaps is the number of filter coefficients in the filter; pState is the address of the state buffer;    
- * pCoeffs is the address of the coefficient buffer; mu is the step size parameter; and postShift is the shift applied to coefficients.    
- *    
- * \par Fixed-Point Behavior:    
- * Care must be taken when using the Q15 and Q31 versions of the LMS filter.    
- * The following issues must be considered:    
- * - Scaling of coefficients    
- * - Overflow and saturation    
- *    
- * \par Scaling of Coefficients:    
- * Filter coefficients are represented as fractional values and    
- * coefficients are restricted to lie in the range [-1 +1).    
- * The fixed-point functions have an additional scaling parameter postShift.    
- * At the output of the filter's accumulator is a shift register which shifts the result by postShift bits.    
- * This essentially scales the filter coefficients by 2^postShift and    
- * allows the filter coefficients to exceed the range [+1 -1).    
- * The value of postShift is set by the user based on the expected gain through the system being modeled.    
- *    
- * \par Overflow and Saturation:    
- * Overflow and saturation behavior of the fixed-point Q15 and Q31 versions are    
- * described separately as part of the function specific documentation below.    
- */
-
-/**    
- * @addtogroup LMS    
- * @{    
- */
-
-/**           
- * @details           
- * This function operates on floating-point data types.       
- *    
- * @brief Processing function for floating-point LMS filter.    
- * @param[in]  *S points to an instance of the floating-point LMS filter structure.    
- * @param[in]  *pSrc points to the block of input data.    
- * @param[in]  *pRef points to the block of reference data.    
- * @param[out] *pOut points to the block of output data.    
- * @param[out] *pErr points to the block of error data.    
- * @param[in]  blockSize number of samples to process.    
- * @return     none.    
- */
-
-void arm_lms_f32(
-  const arm_lms_instance_f32 * S,
-  float32_t * pSrc,
-  float32_t * pRef,
-  float32_t * pOut,
-  float32_t * pErr,
-  uint32_t blockSize)
-{
-  float32_t *pState = S->pState;                 /* State pointer */
-  float32_t *pCoeffs = S->pCoeffs;               /* Coefficient pointer */
-  float32_t *pStateCurnt;                        /* Points to the current sample of the state */
-  float32_t *px, *pb;                            /* Temporary pointers for state and coefficient buffers */
-  float32_t mu = S->mu;                          /* Adaptive factor */
-  uint32_t numTaps = S->numTaps;                 /* Number of filter coefficients in the filter */
-  uint32_t tapCnt, blkCnt;                       /* Loop counters */
-  float32_t sum, e, d;                           /* accumulator, error, reference data sample */
-  float32_t w = 0.0f;                            /* weight factor */
-
-  e = 0.0f;
-  d = 0.0f;
-
-  /* S->pState points to state array which contains previous frame (numTaps - 1) samples */
-  /* pStateCurnt points to the location where the new input data should be written */
-  pStateCurnt = &(S->pState[(numTaps - 1u)]);
-
-  blkCnt = blockSize;
-
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  while(blkCnt > 0u)
-  {
-    /* Copy the new input sample into the state buffer */
-    *pStateCurnt++ = *pSrc++;
-
-    /* Initialize pState pointer */
-    px = pState;
-
-    /* Initialize coeff pointer */
-    pb = (pCoeffs);
-
-    /* Set the accumulator to zero */
-    sum = 0.0f;
-
-    /* Loop unrolling.  Process 4 taps at a time. */
-    tapCnt = numTaps >> 2;
-
-    while(tapCnt > 0u)
-    {
-      /* Perform the multiply-accumulate */
-      sum += (*px++) * (*pb++);
-      sum += (*px++) * (*pb++);
-      sum += (*px++) * (*pb++);
-      sum += (*px++) * (*pb++);
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
-    tapCnt = numTaps % 0x4u;
-
-    while(tapCnt > 0u)
-    {
-      /* Perform the multiply-accumulate */
-      sum += (*px++) * (*pb++);
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* The result in the accumulator, store in the destination buffer. */
-    *pOut++ = sum;
-
-    /* Compute and store error */
-    d = (float32_t) (*pRef++);
-    e = d - sum;
-    *pErr++ = e;
-
-    /* Calculation of Weighting factor for the updating filter coefficients */
-    w = e * mu;
-
-    /* Initialize pState pointer */
-    px = pState;
-
-    /* Initialize coeff pointer */
-    pb = (pCoeffs);
-
-    /* Loop unrolling.  Process 4 taps at a time. */
-    tapCnt = numTaps >> 2;
-
-    /* Update filter coefficients */
-    while(tapCnt > 0u)
-    {
-      /* Perform the multiply-accumulate */
-      *pb = *pb + (w * (*px++));
-      pb++;
-
-      *pb = *pb + (w * (*px++));
-      pb++;
-
-      *pb = *pb + (w * (*px++));
-      pb++;
-
-      *pb = *pb + (w * (*px++));
-      pb++;
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
-    tapCnt = numTaps % 0x4u;
-
-    while(tapCnt > 0u)
-    {
-      /* Perform the multiply-accumulate */
-      *pb = *pb + (w * (*px++));
-      pb++;
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* Advance state pointer by 1 for the next sample */
-    pState = pState + 1;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-
-  /* Processing is complete. Now copy the last numTaps - 1 samples to the    
-     satrt of the state buffer. This prepares the state buffer for the    
-     next function call. */
-
-  /* Points to the start of the pState buffer */
-  pStateCurnt = S->pState;
-
-  /* Loop unrolling for (numTaps - 1u) samples copy */
-  tapCnt = (numTaps - 1u) >> 2u;
-
-  /* copy data */
-  while(tapCnt > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    tapCnt--;
-  }
-
-  /* Calculate remaining number of copies */
-  tapCnt = (numTaps - 1u) % 0x4u;
-
-  /* Copy the remaining q31_t data */
-  while(tapCnt > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    tapCnt--;
-  }
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  while(blkCnt > 0u)
-  {
-    /* Copy the new input sample into the state buffer */
-    *pStateCurnt++ = *pSrc++;
-
-    /* Initialize pState pointer */
-    px = pState;
-
-    /* Initialize pCoeffs pointer */
-    pb = pCoeffs;
-
-    /* Set the accumulator to zero */
-    sum = 0.0f;
-
-    /* Loop over numTaps number of values */
-    tapCnt = numTaps;
-
-    while(tapCnt > 0u)
-    {
-      /* Perform the multiply-accumulate */
-      sum += (*px++) * (*pb++);
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* The result is stored in the destination buffer. */
-    *pOut++ = sum;
-
-    /* Compute and store error */
-    d = (float32_t) (*pRef++);
-    e = d - sum;
-    *pErr++ = e;
-
-    /* Weighting factor for the LMS version */
-    w = e * mu;
-
-    /* Initialize pState pointer */
-    px = pState;
-
-    /* Initialize pCoeffs pointer */
-    pb = pCoeffs;
-
-    /* Loop over numTaps number of values */
-    tapCnt = numTaps;
-
-    while(tapCnt > 0u)
-    {
-      /* Perform the multiply-accumulate */
-      *pb = *pb + (w * (*px++));
-      pb++;
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* Advance state pointer by 1 for the next sample */
-    pState = pState + 1;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-
-  /* Processing is complete. Now copy the last numTaps - 1 samples to the        
-   * start of the state buffer. This prepares the state buffer for the        
-   * next function call. */
-
-  /* Points to the start of the pState buffer */
-  pStateCurnt = S->pState;
-
-  /*  Copy (numTaps - 1u) samples  */
-  tapCnt = (numTaps - 1u);
-
-  /* Copy the data */
-  while(tapCnt > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    tapCnt--;
-  }
-
-#endif /*   #ifndef ARM_MATH_CM0 */
-
-}
-
-/**    
-   * @} end of LMS group    
-   */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_init_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_init_f32.c
deleted file mode 100644
index a2f51240a..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_init_f32.c
+++ /dev/null
@@ -1,90 +0,0 @@
-/*-----------------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:        arm_lms_init_f32.c    
-*    
-* Description:  Floating-point LMS filter initialization function.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* ---------------------------------------------------------------------------*/
-
-#include "arm_math.h"
-
-/**    
- * @addtogroup LMS    
- * @{    
- */
-
-  /**    
-   * @brief Initialization function for floating-point LMS filter.    
-   * @param[in] *S points to an instance of the floating-point LMS filter structure.    
-   * @param[in] numTaps  number of filter coefficients.    
-   * @param[in] *pCoeffs points to the coefficient buffer.    
-   * @param[in] *pState points to state buffer.    
-   * @param[in] mu step size that controls filter coefficient updates.    
-   * @param[in] blockSize number of samples to process.    
-   * @return none.    
-   */
-
-/**    
- * \par Description:    
- * pCoeffs points to the array of filter coefficients stored in time reversed order:    
- * 
    
- *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}    
- * 
    
- * The initial filter coefficients serve as a starting point for the adaptive filter.    
- * pState points to an array of length numTaps+blockSize-1 samples, where blockSize is the number of input samples processed by each call to arm_lms_f32().    
- */
-
-void arm_lms_init_f32(
-  arm_lms_instance_f32 * S,
-  uint16_t numTaps,
-  float32_t * pCoeffs,
-  float32_t * pState,
-  float32_t mu,
-  uint32_t blockSize)
-{
-  /* Assign filter taps */
-  S->numTaps = numTaps;
-
-  /* Assign coefficient pointer */
-  S->pCoeffs = pCoeffs;
-
-  /* Clear state buffer and size is always blockSize + numTaps */
-  memset(pState, 0, (numTaps + (blockSize - 1)) * sizeof(float32_t));
-
-  /* Assign state pointer */
-  S->pState = pState;
-
-  /* Assign Step size value */
-  S->mu = mu;
-}
-
-/**    
- * @} end of LMS group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_init_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_init_q15.c
deleted file mode 100644
index 8f42949a6..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_init_q15.c
+++ /dev/null
@@ -1,100 +0,0 @@
-/*-----------------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:        arm_lms_init_q15.c    
-*    
-* Description:  Q15 LMS filter initialization function.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* ---------------------------------------------------------------------------*/
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup LMS    
- * @{    
- */
-
-/**    
-* @brief Initialization function for the Q15 LMS filter.    
-* @param[in] *S points to an instance of the Q15 LMS filter structure.    
-* @param[in] numTaps  number of filter coefficients.    
-* @param[in] *pCoeffs points to the coefficient buffer.    
-* @param[in] *pState points to the state buffer.    
-* @param[in] mu step size that controls filter coefficient updates.    
-* @param[in] blockSize number of samples to process.    
-* @param[in] postShift bit shift applied to coefficients.    
-* @return    none.    
-*    
-* \par Description:    
-* pCoeffs points to the array of filter coefficients stored in time reversed order:    
-* 
    
-*    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}    
-* 
    
-* The initial filter coefficients serve as a starting point for the adaptive filter.    
-* pState points to the array of state variables and size of array is    
-* numTaps+blockSize-1 samples, where blockSize is the number of    
-* input samples processed by each call to arm_lms_q15().    
-*/
-
-void arm_lms_init_q15(
-  arm_lms_instance_q15 * S,
-  uint16_t numTaps,
-  q15_t * pCoeffs,
-  q15_t * pState,
-  q15_t mu,
-  uint32_t blockSize,
-  uint32_t postShift)
-{
-  /* Assign filter taps */
-  S->numTaps = numTaps;
-
-  /* Assign coefficient pointer */
-  S->pCoeffs = pCoeffs;
-
-  /* Clear state buffer and size is always blockSize + numTaps - 1 */
-  memset(pState, 0, (numTaps + (blockSize - 1u)) * sizeof(q15_t));
-
-  /* Assign state pointer */
-  S->pState = pState;
-
-  /* Assign Step size value */
-  S->mu = mu;
-
-  /* Assign postShift value to be applied */
-  S->postShift = postShift;
-
-}
-
-/**    
- * @} end of LMS group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_init_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_init_q31.c
deleted file mode 100644
index 58edb659b..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_init_q31.c
+++ /dev/null
@@ -1,100 +0,0 @@
-/*-----------------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:        arm_lms_init_q31.c    
-*    
-* Description:  Q31 LMS filter initialization function.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* ---------------------------------------------------------------------------*/
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup LMS    
- * @{    
- */
-
-  /**    
-   * @brief Initialization function for Q31 LMS filter.    
-   * @param[in] *S points to an instance of the Q31 LMS filter structure.    
-   * @param[in] numTaps  number of filter coefficients.    
-   * @param[in] *pCoeffs points to coefficient buffer.    
-   * @param[in] *pState points to state buffer.    
-   * @param[in] mu step size that controls filter coefficient updates.    
-   * @param[in] blockSize number of samples to process.    
-   * @param[in] postShift bit shift applied to coefficients.    
-   * @return none.    
- *    
- * \par Description:    
- * pCoeffs points to the array of filter coefficients stored in time reversed order:    
- * 
    
- *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}    
- * 
    
- * The initial filter coefficients serve as a starting point for the adaptive filter.    
- * pState points to an array of length numTaps+blockSize-1 samples,    
- * where blockSize is the number of input samples processed by each call to    
- * arm_lms_q31().    
- */
-
-void arm_lms_init_q31(
-  arm_lms_instance_q31 * S,
-  uint16_t numTaps,
-  q31_t * pCoeffs,
-  q31_t * pState,
-  q31_t mu,
-  uint32_t blockSize,
-  uint32_t postShift)
-{
-  /* Assign filter taps */
-  S->numTaps = numTaps;
-
-  /* Assign coefficient pointer */
-  S->pCoeffs = pCoeffs;
-
-  /* Clear state buffer and size is always blockSize + numTaps - 1 */
-  memset(pState, 0, ((uint32_t) numTaps + (blockSize - 1u)) * sizeof(q31_t));
-
-  /* Assign state pointer */
-  S->pState = pState;
-
-  /* Assign Step size value */
-  S->mu = mu;
-
-  /* Assign postShift value to be applied */
-  S->postShift = postShift;
-
-}
-
-/**    
- * @} end of LMS group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_f32.c
deleted file mode 100644
index b2ac45206..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_f32.c
+++ /dev/null
@@ -1,456 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_lms_norm_f32.c    
-*    
-* Description:	Processing function for the floating-point Normalised LMS.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @defgroup LMS_NORM Normalized LMS Filters    
- *    
- * This set of functions implements a commonly used adaptive filter.    
- * It is related to the Least Mean Square (LMS) adaptive filter and includes an additional normalization    
- * factor which increases the adaptation rate of the filter.    
- * The CMSIS DSP Library contains normalized LMS filter functions that operate on Q15, Q31, and floating-point data types.    
- *    
- * A normalized least mean square (NLMS) filter consists of two components as shown below.    
- * The first component is a standard transversal or FIR filter.    
- * The second component is a coefficient update mechanism.    
- * The NLMS filter has two input signals.    
- * The "input" feeds the FIR filter while the "reference input" corresponds to the desired output of the FIR filter.    
- * That is, the FIR filter coefficients are updated so that the output of the FIR filter matches the reference input.    
- * The filter coefficient update mechanism is based on the difference between the FIR filter output and the reference input.    
- * This "error signal" tends towards zero as the filter adapts.    
- * The NLMS processing functions accept the input and reference input signals and generate the filter output and error signal.    
- * \image html LMS.gif "Internal structure of the NLMS adaptive filter"    
- *    
- * The functions operate on blocks of data and each call to the function processes    
- * blockSize samples through the filter.    
- * pSrc points to input signal, pRef points to reference signal,    
- * pOut points to output signal and pErr points to error signal.    
- * All arrays contain blockSize values.    
- *    
- * The functions operate on a block-by-block basis.    
- * Internally, the filter coefficients b[n] are updated on a sample-by-sample basis.    
- * The convergence of the LMS filter is slower compared to the normalized LMS algorithm.    
- *    
- * \par Algorithm:    
- * The output signal y[n] is computed by a standard FIR filter:    
- * 
    
- *     y[n] = b[0] * x[n] + b[1] * x[n-1] + b[2] * x[n-2] + ...+ b[numTaps-1] * x[n-numTaps+1]    
- * 
    
- *    
- * \par    
- * The error signal equals the difference between the reference signal d[n] and the filter output:    
- * 
    
- *     e[n] = d[n] - y[n].    
- * 
    
- *    
- * \par    
- * After each sample of the error signal is computed the instanteous energy of the filter state variables is calculated:    
- * 
    
- *    E = x[n]^2 + x[n-1]^2 + ... + x[n-numTaps+1]^2.    
- * 
    
- * The filter coefficients b[k] are then updated on a sample-by-sample basis:    
- * 
    
- *     b[k] = b[k] + e[n] * (mu/E) * x[n-k],  for k=0, 1, ..., numTaps-1    
- * 
    
- * where mu is the step size and controls the rate of coefficient convergence.    
- *\par    
- * In the APIs, pCoeffs points to a coefficient array of size numTaps.    
- * Coefficients are stored in time reversed order.    
- * \par    
- * 
    
- *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}    
- * 
    
- * \par    
- * pState points to a state array of size numTaps + blockSize - 1.    
- * Samples in the state buffer are stored in the order:    
- * \par    
- * 
    
- *    {x[n-numTaps+1], x[n-numTaps], x[n-numTaps-1], x[n-numTaps-2]....x[0], x[1], ..., x[blockSize-1]}    
- * 
    
- * \par    
- * Note that the length of the state buffer exceeds the length of the coefficient array by blockSize-1 samples.    
- * The increased state buffer length allows circular addressing, which is traditionally used in FIR filters,    
- * to be avoided and yields a significant speed improvement.    
- * The state variables are updated after each block of data is processed.    
- * \par Instance Structure    
- * The coefficients and state variables for a filter are stored together in an instance data structure.    
- * A separate instance structure must be defined for each filter and    
- * coefficient and state arrays cannot be shared among instances.    
- * There are separate instance structure declarations for each of the 3 supported data types.    
- *    
- * \par Initialization Functions    
- * There is also an associated initialization function for each data type.    
- * The initialization function performs the following operations:    
- * - Sets the values of the internal structure fields.    
- * - Zeros out the values in the state buffer.    
- * \par    
- * Instance structure cannot be placed into a const data section and it is recommended to use the initialization function.    
- * \par Fixed-Point Behavior:    
- * Care must be taken when using the Q15 and Q31 versions of the normalised LMS filter.    
- * The following issues must be considered:    
- * - Scaling of coefficients    
- * - Overflow and saturation    
- *    
- * \par Scaling of Coefficients:    
- * Filter coefficients are represented as fractional values and    
- * coefficients are restricted to lie in the range [-1 +1).    
- * The fixed-point functions have an additional scaling parameter postShift.    
- * At the output of the filter's accumulator is a shift register which shifts the result by postShift bits.    
- * This essentially scales the filter coefficients by 2^postShift and    
- * allows the filter coefficients to exceed the range [+1 -1).    
- * The value of postShift is set by the user based on the expected gain through the system being modeled.    
- *    
- * \par Overflow and Saturation:    
- * Overflow and saturation behavior of the fixed-point Q15 and Q31 versions are    
- * described separately as part of the function specific documentation below.    
- */
-
-
-/**    
- * @addtogroup LMS_NORM    
- * @{    
- */
-
-
-  /**    
-   * @brief Processing function for floating-point normalized LMS filter.    
-   * @param[in] *S points to an instance of the floating-point normalized LMS filter structure.    
-   * @param[in] *pSrc points to the block of input data.    
-   * @param[in] *pRef points to the block of reference data.    
-   * @param[out] *pOut points to the block of output data.    
-   * @param[out] *pErr points to the block of error data.    
-   * @param[in] blockSize number of samples to process.    
-   * @return none.    
-   */
-
-void arm_lms_norm_f32(
-  arm_lms_norm_instance_f32 * S,
-  float32_t * pSrc,
-  float32_t * pRef,
-  float32_t * pOut,
-  float32_t * pErr,
-  uint32_t blockSize)
-{
-  float32_t *pState = S->pState;                 /* State pointer */
-  float32_t *pCoeffs = S->pCoeffs;               /* Coefficient pointer */
-  float32_t *pStateCurnt;                        /* Points to the current sample of the state */
-  float32_t *px, *pb;                            /* Temporary pointers for state and coefficient buffers */
-  float32_t mu = S->mu;                          /* Adaptive factor */
-  uint32_t numTaps = S->numTaps;                 /* Number of filter coefficients in the filter */
-  uint32_t tapCnt, blkCnt;                       /* Loop counters */
-  float32_t energy;                              /* Energy of the input */
-  float32_t sum, e, d;                           /* accumulator, error, reference data sample */
-  float32_t w, x0, in;                           /* weight factor, temporary variable to hold input sample and state */
-
-  /* Initializations of error,  difference, Coefficient update */
-  e = 0.0f;
-  d = 0.0f;
-  w = 0.0f;
-
-  energy = S->energy;
-  x0 = S->x0;
-
-  /* S->pState points to buffer which contains previous frame (numTaps - 1) samples */
-  /* pStateCurnt points to the location where the new input data should be written */
-  pStateCurnt = &(S->pState[(numTaps - 1u)]);
-
-  /* Loop over blockSize number of values */
-  blkCnt = blockSize;
-
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  while(blkCnt > 0u)
-  {
-    /* Copy the new input sample into the state buffer */
-    *pStateCurnt++ = *pSrc;
-
-    /* Initialize pState pointer */
-    px = pState;
-
-    /* Initialize coeff pointer */
-    pb = (pCoeffs);
-
-    /* Read the sample from input buffer */
-    in = *pSrc++;
-
-    /* Update the energy calculation */
-    energy -= x0 * x0;
-    energy += in * in;
-
-    /* Set the accumulator to zero */
-    sum = 0.0f;
-
-    /* Loop unrolling.  Process 4 taps at a time. */
-    tapCnt = numTaps >> 2;
-
-    while(tapCnt > 0u)
-    {
-      /* Perform the multiply-accumulate */
-      sum += (*px++) * (*pb++);
-      sum += (*px++) * (*pb++);
-      sum += (*px++) * (*pb++);
-      sum += (*px++) * (*pb++);
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
-    tapCnt = numTaps % 0x4u;
-
-    while(tapCnt > 0u)
-    {
-      /* Perform the multiply-accumulate */
-      sum += (*px++) * (*pb++);
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* The result in the accumulator, store in the destination buffer. */
-    *pOut++ = sum;
-
-    /* Compute and store error */
-    d = (float32_t) (*pRef++);
-    e = d - sum;
-    *pErr++ = e;
-
-    /* Calculation of Weighting factor for updating filter coefficients */
-    /* epsilon value 0.000000119209289f */
-    w = (e * mu) / (energy + 0.000000119209289f);
-
-    /* Initialize pState pointer */
-    px = pState;
-
-    /* Initialize coeff pointer */
-    pb = (pCoeffs);
-
-    /* Loop unrolling.  Process 4 taps at a time. */
-    tapCnt = numTaps >> 2;
-
-    /* Update filter coefficients */
-    while(tapCnt > 0u)
-    {
-      /* Perform the multiply-accumulate */
-      *pb += w * (*px++);
-      pb++;
-
-      *pb += w * (*px++);
-      pb++;
-
-      *pb += w * (*px++);
-      pb++;
-
-      *pb += w * (*px++);
-      pb++;
-
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
-    tapCnt = numTaps % 0x4u;
-
-    while(tapCnt > 0u)
-    {
-      /* Perform the multiply-accumulate */
-      *pb += w * (*px++);
-      pb++;
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    x0 = *pState;
-
-    /* Advance state pointer by 1 for the next sample */
-    pState = pState + 1;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  S->energy = energy;
-  S->x0 = x0;
-
-  /* Processing is complete. Now copy the last numTaps - 1 samples to the    
-     satrt of the state buffer. This prepares the state buffer for the    
-     next function call. */
-
-  /* Points to the start of the pState buffer */
-  pStateCurnt = S->pState;
-
-  /* Loop unrolling for (numTaps - 1u)/4 samples copy */
-  tapCnt = (numTaps - 1u) >> 2u;
-
-  /* copy data */
-  while(tapCnt > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    tapCnt--;
-  }
-
-  /* Calculate remaining number of copies */
-  tapCnt = (numTaps - 1u) % 0x4u;
-
-  /* Copy the remaining q31_t data */
-  while(tapCnt > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    tapCnt--;
-  }
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  while(blkCnt > 0u)
-  {
-    /* Copy the new input sample into the state buffer */
-    *pStateCurnt++ = *pSrc;
-
-    /* Initialize pState pointer */
-    px = pState;
-
-    /* Initialize pCoeffs pointer */
-    pb = pCoeffs;
-
-    /* Read the sample from input buffer */
-    in = *pSrc++;
-
-    /* Update the energy calculation */
-    energy -= x0 * x0;
-    energy += in * in;
-
-    /* Set the accumulator to zero */
-    sum = 0.0f;
-
-    /* Loop over numTaps number of values */
-    tapCnt = numTaps;
-
-    while(tapCnt > 0u)
-    {
-      /* Perform the multiply-accumulate */
-      sum += (*px++) * (*pb++);
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* The result in the accumulator is stored in the destination buffer. */
-    *pOut++ = sum;
-
-    /* Compute and store error */
-    d = (float32_t) (*pRef++);
-    e = d - sum;
-    *pErr++ = e;
-
-    /* Calculation of Weighting factor for updating filter coefficients */
-    /* epsilon value 0.000000119209289f */
-    w = (e * mu) / (energy + 0.000000119209289f);
-
-    /* Initialize pState pointer */
-    px = pState;
-
-    /* Initialize pCcoeffs pointer */
-    pb = pCoeffs;
-
-    /* Loop over numTaps number of values */
-    tapCnt = numTaps;
-
-    while(tapCnt > 0u)
-    {
-      /* Perform the multiply-accumulate */
-      *pb += w * (*px++);
-      pb++;
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    x0 = *pState;
-
-    /* Advance state pointer by 1 for the next sample */
-    pState = pState + 1;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  S->energy = energy;
-  S->x0 = x0;
-
-  /* Processing is complete. Now copy the last numTaps - 1 samples to the        
-     satrt of the state buffer. This prepares the state buffer for the        
-     next function call. */
-
-  /* Points to the start of the pState buffer */
-  pStateCurnt = S->pState;
-
-  /* Copy (numTaps - 1u) samples  */
-  tapCnt = (numTaps - 1u);
-
-  /* Copy the remaining q31_t data */
-  while(tapCnt > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    tapCnt--;
-  }
-
-#endif /*   #ifndef ARM_MATH_CM0 */
-
-}
-
-/**    
-   * @} end of LMS_NORM group    
-   */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_f32.c
deleted file mode 100644
index 3d31cfb25..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_f32.c
+++ /dev/null
@@ -1,100 +0,0 @@
-/*-----------------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:        arm_lms_norm_init_f32.c    
-*    
-* Description:  Floating-point NLMS filter initialization function.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* ---------------------------------------------------------------------------*/
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup LMS_NORM    
- * @{    
- */
-
-  /**    
-   * @brief Initialization function for floating-point normalized LMS filter.    
-   * @param[in] *S points to an instance of the floating-point LMS filter structure.    
-   * @param[in] numTaps  number of filter coefficients.    
-   * @param[in] *pCoeffs points to coefficient buffer.    
-   * @param[in] *pState points to state buffer.    
-   * @param[in] mu step size that controls filter coefficient updates.    
-   * @param[in] blockSize number of samples to process.    
-   * @return none.    
-   *    
- * \par Description:    
- * pCoeffs points to the array of filter coefficients stored in time reversed order:    
- * 
    
- *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}    
- * 
    
- * The initial filter coefficients serve as a starting point for the adaptive filter.    
- * pState points to an array of length numTaps+blockSize-1 samples,    
- * where blockSize is the number of input samples processed by each call to arm_lms_norm_f32().    
- */
-
-void arm_lms_norm_init_f32(
-  arm_lms_norm_instance_f32 * S,
-  uint16_t numTaps,
-  float32_t * pCoeffs,
-  float32_t * pState,
-  float32_t mu,
-  uint32_t blockSize)
-{
-  /* Assign filter taps */
-  S->numTaps = numTaps;
-
-  /* Assign coefficient pointer */
-  S->pCoeffs = pCoeffs;
-
-  /* Clear state buffer and size is always blockSize + numTaps - 1 */
-  memset(pState, 0, (numTaps + (blockSize - 1u)) * sizeof(float32_t));
-
-  /* Assign state pointer */
-  S->pState = pState;
-
-  /* Assign Step size value */
-  S->mu = mu;
-
-  /* Initialise Energy to zero */
-  S->energy = 0.0f;
-
-  /* Initialise x0 to zero */
-  S->x0 = 0.0f;
-
-}
-
-/**    
- * @} end of LMS_NORM group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_q15.c
deleted file mode 100644
index a1cf1b001..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_q15.c
+++ /dev/null
@@ -1,107 +0,0 @@
-/*-----------------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:        arm_lms_norm_init_q15.c    
-*    
-* Description:  Q15 NLMS initialization function.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* ---------------------------------------------------------------------------*/
-
-#include "arm_math.h"
-#include "arm_common_tables.h"
-
-/**    
- * @addtogroup LMS_NORM    
- * @{    
- */
-
-  /**    
-   * @brief Initialization function for Q15 normalized LMS filter.    
-   * @param[in] *S points to an instance of the Q15 normalized LMS filter structure.    
-   * @param[in] numTaps  number of filter coefficients.    
-   * @param[in] *pCoeffs points to coefficient buffer.    
-   * @param[in] *pState points to state buffer.    
-   * @param[in] mu step size that controls filter coefficient updates.    
-   * @param[in] blockSize number of samples to process.    
-   * @param[in] postShift bit shift applied to coefficients.    
-   * @return none.    
- *    
- * Description:    
- * \par    
- * pCoeffs points to the array of filter coefficients stored in time reversed order:    
- * 
    
- *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}    
- * 
    
- * The initial filter coefficients serve as a starting point for the adaptive filter.    
- * pState points to the array of state variables and size of array is    
- * numTaps+blockSize-1 samples, where blockSize is the number of input samples processed    
- * by each call to arm_lms_norm_q15().    
- */
-
-void arm_lms_norm_init_q15(
-  arm_lms_norm_instance_q15 * S,
-  uint16_t numTaps,
-  q15_t * pCoeffs,
-  q15_t * pState,
-  q15_t mu,
-  uint32_t blockSize,
-  uint8_t postShift)
-{
-  /* Assign filter taps */
-  S->numTaps = numTaps;
-
-  /* Assign coefficient pointer */
-  S->pCoeffs = pCoeffs;
-
-  /* Clear state buffer and size is always blockSize + numTaps - 1 */
-  memset(pState, 0, (numTaps + (blockSize - 1u)) * sizeof(q15_t));
-
-  /* Assign post Shift value applied to coefficients */
-  S->postShift = postShift;
-
-  /* Assign state pointer */
-  S->pState = pState;
-
-  /* Assign Step size value */
-  S->mu = mu;
-
-  /* Initialize reciprocal pointer table */
-  S->recipTable = (q15_t *) armRecipTableQ15;
-
-  /* Initialise Energy to zero */
-  S->energy = 0;
-
-  /* Initialise x0 to zero */
-  S->x0 = 0;
-
-}
-
-/**    
- * @} end of LMS_NORM group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_q31.c
deleted file mode 100644
index a2fae7b38..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_q31.c
+++ /dev/null
@@ -1,106 +0,0 @@
-/*-----------------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:        arm_lms_norm_init_q31.c    
-*    
-* Description:  Q31 NLMS initialization function.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* ---------------------------------------------------------------------------*/
-
-#include "arm_math.h"
-#include "arm_common_tables.h"
-
-/**    
- * @addtogroup LMS_NORM    
- * @{    
- */
-
-  /**    
-   * @brief Initialization function for Q31 normalized LMS filter.    
-   * @param[in] *S points to an instance of the Q31 normalized LMS filter structure.    
-   * @param[in] numTaps  number of filter coefficients.    
-   * @param[in] *pCoeffs points to coefficient buffer.    
-   * @param[in] *pState points to state buffer.    
-   * @param[in] mu step size that controls filter coefficient updates.    
-   * @param[in] blockSize number of samples to process.    
-   * @param[in] postShift bit shift applied to coefficients.    
-   * @return none.    
- *    
- * Description:    
- * \par    
- * pCoeffs points to the array of filter coefficients stored in time reversed order:    
- * 
    
- *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}    
- * 
    
- * The initial filter coefficients serve as a starting point for the adaptive filter.    
- * pState points to an array of length numTaps+blockSize-1 samples,    
- * where blockSize is the number of input samples processed by each call to arm_lms_norm_q31().    
- */
-
-void arm_lms_norm_init_q31(
-  arm_lms_norm_instance_q31 * S,
-  uint16_t numTaps,
-  q31_t * pCoeffs,
-  q31_t * pState,
-  q31_t mu,
-  uint32_t blockSize,
-  uint8_t postShift)
-{
-  /* Assign filter taps */
-  S->numTaps = numTaps;
-
-  /* Assign coefficient pointer */
-  S->pCoeffs = pCoeffs;
-
-  /* Clear state buffer and size is always blockSize + numTaps - 1  */
-  memset(pState, 0, (numTaps + (blockSize - 1u)) * sizeof(q31_t));
-
-  /* Assign post Shift value applied to coefficients */
-  S->postShift = postShift;
-
-  /* Assign state pointer */
-  S->pState = pState;
-
-  /* Assign Step size value */
-  S->mu = mu;
-
-  /* Initialize reciprocal pointer table */
-  S->recipTable = (q31_t *) armRecipTableQ31;
-
-  /* Initialise Energy to zero */
-  S->energy = 0;
-
-  /* Initialise x0 to zero */
-  S->x0 = 0;
-
-}
-
-/**    
- * @} end of LMS_NORM group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_q15.c
deleted file mode 100644
index a1229a203..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_q15.c
+++ /dev/null
@@ -1,435 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_lms_norm_q15.c    
-*    
-* Description:	Q15 NLMS filter.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup LMS_NORM    
- * @{    
- */
-
-/**    
-* @brief Processing function for Q15 normalized LMS filter.    
-* @param[in] *S points to an instance of the Q15 normalized LMS filter structure.    
-* @param[in] *pSrc points to the block of input data.    
-* @param[in] *pRef points to the block of reference data.    
-* @param[out] *pOut points to the block of output data.    
-* @param[out] *pErr points to the block of error data.    
-* @param[in] blockSize number of samples to process.    
-* @return none.    
-*    
-* Scaling and Overflow Behavior:     
-* \par     
-* The function is implemented using a 64-bit internal accumulator.     
-* Both coefficients and state variables are represented in 1.15 format and    
-* multiplications yield a 2.30 result. The 2.30 intermediate results are    
-* accumulated in a 64-bit accumulator in 34.30 format.     
-* There is no risk of internal overflow with this approach and the full    
-* precision of intermediate multiplications is preserved. After all additions    
-* have been performed, the accumulator is truncated to 34.15 format by    
-* discarding low 15 bits. Lastly, the accumulator is saturated to yield a    
-* result in 1.15 format.    
-*    
-* \par   
-* 	In this filter, filter coefficients are updated for each sample and the updation of filter cofficients are saturted.    
-*    
- */
-
-void arm_lms_norm_q15(
-  arm_lms_norm_instance_q15 * S,
-  q15_t * pSrc,
-  q15_t * pRef,
-  q15_t * pOut,
-  q15_t * pErr,
-  uint32_t blockSize)
-{
-  q15_t *pState = S->pState;                     /* State pointer */
-  q15_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
-  q15_t *pStateCurnt;                            /* Points to the current sample of the state */
-  q15_t *px, *pb;                                /* Temporary pointers for state and coefficient buffers */
-  q15_t mu = S->mu;                              /* Adaptive factor */
-  uint32_t numTaps = S->numTaps;                 /* Number of filter coefficients in the filter */
-  uint32_t tapCnt, blkCnt;                       /* Loop counters */
-  q31_t energy;                                  /* Energy of the input */
-  q63_t acc;                                     /* Accumulator */
-  q15_t e = 0, d = 0;                            /* error, reference data sample */
-  q15_t w = 0, in;                               /* weight factor and state */
-  q15_t x0;                                      /* temporary variable to hold input sample */
-  //uint32_t shift = (uint32_t) S->postShift + 1u; /* Shift to be applied to the output */ 
-  q15_t errorXmu, oneByEnergy;                   /* Temporary variables to store error and mu product and reciprocal of energy */
-  q15_t postShift;                               /* Post shift to be applied to weight after reciprocal calculation */
-  q31_t coef;                                    /* Teporary variable for coefficient */
-  q31_t acc_l, acc_h;
-  int32_t lShift = (15 - (int32_t) S->postShift);       /*  Post shift  */
-  int32_t uShift = (32 - lShift);
-
-  energy = S->energy;
-  x0 = S->x0;
-
-  /* S->pState points to buffer which contains previous frame (numTaps - 1) samples */
-  /* pStateCurnt points to the location where the new input data should be written */
-  pStateCurnt = &(S->pState[(numTaps - 1u)]);
-
-  /* Loop over blockSize number of values */
-  blkCnt = blockSize;
-
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  while(blkCnt > 0u)
-  {
-    /* Copy the new input sample into the state buffer */
-    *pStateCurnt++ = *pSrc;
-
-    /* Initialize pState pointer */
-    px = pState;
-
-    /* Initialize coeff pointer */
-    pb = (pCoeffs);
-
-    /* Read the sample from input buffer */
-    in = *pSrc++;
-
-    /* Update the energy calculation */
-    energy -= (((q31_t) x0 * (x0)) >> 15);
-    energy += (((q31_t) in * (in)) >> 15);
-
-    /* Set the accumulator to zero */
-    acc = 0;
-
-    /* Loop unrolling.  Process 4 taps at a time. */
-    tapCnt = numTaps >> 2;
-
-    while(tapCnt > 0u)
-    {
-
-      /* Perform the multiply-accumulate */
-#ifndef UNALIGNED_SUPPORT_DISABLE
-
-      acc = __SMLALD(*__SIMD32(px)++, (*__SIMD32(pb)++), acc);
-      acc = __SMLALD(*__SIMD32(px)++, (*__SIMD32(pb)++), acc);
-
-#else
-
-      acc += (((q31_t) * px++ * (*pb++)));
-      acc += (((q31_t) * px++ * (*pb++)));
-      acc += (((q31_t) * px++ * (*pb++)));
-      acc += (((q31_t) * px++ * (*pb++)));
-
-#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
-    tapCnt = numTaps % 0x4u;
-
-    while(tapCnt > 0u)
-    {
-      /* Perform the multiply-accumulate */
-      acc += (((q31_t) * px++ * (*pb++)));
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* Calc lower part of acc */
-    acc_l = acc & 0xffffffff;
-
-    /* Calc upper part of acc */
-    acc_h = (acc >> 32) & 0xffffffff;
-
-    /* Apply shift for lower part of acc and upper part of acc */
-    acc = (uint32_t) acc_l >> lShift | acc_h << uShift;
-
-    /* Converting the result to 1.15 format and saturate the output */
-    acc = __SSAT(acc, 16u);
-
-    /* Store the result from accumulator into the destination buffer. */
-    *pOut++ = (q15_t) acc;
-
-    /* Compute and store error */
-    d = *pRef++;
-    e = d - (q15_t) acc;
-    *pErr++ = e;
-
-    /* Calculation of 1/energy */
-    postShift = arm_recip_q15((q15_t) energy + DELTA_Q15,
-                              &oneByEnergy, S->recipTable);
-
-    /* Calculation of e * mu value */
-    errorXmu = (q15_t) (((q31_t) e * mu) >> 15);
-
-    /* Calculation of (e * mu) * (1/energy) value */
-    acc = (((q31_t) errorXmu * oneByEnergy) >> (15 - postShift));
-
-    /* Weighting factor for the normalized version */
-    w = (q15_t) __SSAT((q31_t) acc, 16);
-
-    /* Initialize pState pointer */
-    px = pState;
-
-    /* Initialize coeff pointer */
-    pb = (pCoeffs);
-
-    /* Loop unrolling.  Process 4 taps at a time. */
-    tapCnt = numTaps >> 2;
-
-    /* Update filter coefficients */
-    while(tapCnt > 0u)
-    {
-      coef = *pb + (((q31_t) w * (*px++)) >> 15);
-      *pb++ = (q15_t) __SSAT((coef), 16);
-      coef = *pb + (((q31_t) w * (*px++)) >> 15);
-      *pb++ = (q15_t) __SSAT((coef), 16);
-      coef = *pb + (((q31_t) w * (*px++)) >> 15);
-      *pb++ = (q15_t) __SSAT((coef), 16);
-      coef = *pb + (((q31_t) w * (*px++)) >> 15);
-      *pb++ = (q15_t) __SSAT((coef), 16);
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
-    tapCnt = numTaps % 0x4u;
-
-    while(tapCnt > 0u)
-    {
-      /* Perform the multiply-accumulate */
-      coef = *pb + (((q31_t) w * (*px++)) >> 15);
-      *pb++ = (q15_t) __SSAT((coef), 16);
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* Read the sample from state buffer */
-    x0 = *pState;
-
-    /* Advance state pointer by 1 for the next sample */
-    pState = pState + 1u;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* Save energy and x0 values for the next frame */
-  S->energy = (q15_t) energy;
-  S->x0 = x0;
-
-  /* Processing is complete. Now copy the last numTaps - 1 samples to the    
-     satrt of the state buffer. This prepares the state buffer for the    
-     next function call. */
-
-  /* Points to the start of the pState buffer */
-  pStateCurnt = S->pState;
-
-  /* Calculation of count for copying integer writes */
-  tapCnt = (numTaps - 1u) >> 2;
-
-  while(tapCnt > 0u)
-  {
-
-#ifndef UNALIGNED_SUPPORT_DISABLE
-
-    *__SIMD32(pStateCurnt)++ = *__SIMD32(pState)++;
-    *__SIMD32(pStateCurnt)++ = *__SIMD32(pState)++;
-
-#else
-
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-
-#endif
-
-    tapCnt--;
-
-  }
-
-  /* Calculation of count for remaining q15_t data */
-  tapCnt = (numTaps - 1u) % 0x4u;
-
-  /* copy data */
-  while(tapCnt > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    tapCnt--;
-  }
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  while(blkCnt > 0u)
-  {
-    /* Copy the new input sample into the state buffer */
-    *pStateCurnt++ = *pSrc;
-
-    /* Initialize pState pointer */
-    px = pState;
-
-    /* Initialize pCoeffs pointer */
-    pb = pCoeffs;
-
-    /* Read the sample from input buffer */
-    in = *pSrc++;
-
-    /* Update the energy calculation */
-    energy -= (((q31_t) x0 * (x0)) >> 15);
-    energy += (((q31_t) in * (in)) >> 15);
-
-    /* Set the accumulator to zero */
-    acc = 0;
-
-    /* Loop over numTaps number of values */
-    tapCnt = numTaps;
-
-    while(tapCnt > 0u)
-    {
-      /* Perform the multiply-accumulate */
-      acc += (((q31_t) * px++ * (*pb++)));
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* Calc lower part of acc */
-    acc_l = acc & 0xffffffff;
-
-    /* Calc upper part of acc */
-    acc_h = (acc >> 32) & 0xffffffff;
-
-    /* Apply shift for lower part of acc and upper part of acc */
-    acc = (uint32_t) acc_l >> lShift | acc_h << uShift;
-
-    /* Converting the result to 1.15 format and saturate the output */
-    acc = __SSAT(acc, 16u);
-
-    /* Converting the result to 1.15 format */
-    //acc = __SSAT((acc >> (16u - shift)), 16u); 
-
-    /* Store the result from accumulator into the destination buffer. */
-    *pOut++ = (q15_t) acc;
-
-    /* Compute and store error */
-    d = *pRef++;
-    e = d - (q15_t) acc;
-    *pErr++ = e;
-
-    /* Calculation of 1/energy */
-    postShift = arm_recip_q15((q15_t) energy + DELTA_Q15,
-                              &oneByEnergy, S->recipTable);
-
-    /* Calculation of e * mu value */
-    errorXmu = (q15_t) (((q31_t) e * mu) >> 15);
-
-    /* Calculation of (e * mu) * (1/energy) value */
-    acc = (((q31_t) errorXmu * oneByEnergy) >> (15 - postShift));
-
-    /* Weighting factor for the normalized version */
-    w = (q15_t) __SSAT((q31_t) acc, 16);
-
-    /* Initialize pState pointer */
-    px = pState;
-
-    /* Initialize coeff pointer */
-    pb = (pCoeffs);
-
-    /* Loop over numTaps number of values */
-    tapCnt = numTaps;
-
-    while(tapCnt > 0u)
-    {
-      /* Perform the multiply-accumulate */
-      coef = *pb + (((q31_t) w * (*px++)) >> 15);
-      *pb++ = (q15_t) __SSAT((coef), 16);
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* Read the sample from state buffer */
-    x0 = *pState;
-
-    /* Advance state pointer by 1 for the next sample */
-    pState = pState + 1u;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* Save energy and x0 values for the next frame */
-  S->energy = (q15_t) energy;
-  S->x0 = x0;
-
-  /* Processing is complete. Now copy the last numTaps - 1 samples to the        
-     satrt of the state buffer. This prepares the state buffer for the        
-     next function call. */
-
-  /* Points to the start of the pState buffer */
-  pStateCurnt = S->pState;
-
-  /* copy (numTaps - 1u) data */
-  tapCnt = (numTaps - 1u);
-
-  /* copy data */
-  while(tapCnt > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    tapCnt--;
-  }
-
-#endif /*   #ifndef ARM_MATH_CM0 */
-
-}
-
-
-/**    
-   * @} end of LMS_NORM group    
-   */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_q31.c
deleted file mode 100644
index 791a8637c..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_q31.c
+++ /dev/null
@@ -1,426 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_lms_norm_q31.c    
-*    
-* Description:	Processing function for the Q31 NLMS filter.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup LMS_NORM    
- * @{    
- */
-
-/**    
-* @brief Processing function for Q31 normalized LMS filter.    
-* @param[in] *S points to an instance of the Q31 normalized LMS filter structure.    
-* @param[in] *pSrc points to the block of input data.    
-* @param[in] *pRef points to the block of reference data.    
-* @param[out] *pOut points to the block of output data.    
-* @param[out] *pErr points to the block of error data.    
-* @param[in] blockSize number of samples to process.    
-* @return none.    
-*    
-* Scaling and Overflow Behavior:     
-* \par     
-* The function is implemented using an internal 64-bit accumulator.     
-* The accumulator has a 2.62 format and maintains full precision of the intermediate   
-* multiplication results but provides only a single guard bit.     
-* Thus, if the accumulator result overflows it wraps around rather than clip.     
-* In order to avoid overflows completely the input signal must be scaled down by    
-* log2(numTaps) bits. The reference signal should not be scaled down.     
-* After all multiply-accumulates are performed, the 2.62 accumulator is shifted    
-* and saturated to 1.31 format to yield the final result.     
-* The output signal and error signal are in 1.31 format.     
-*    
-* \par    
-* 	In this filter, filter coefficients are updated for each sample and the    
-* updation of filter cofficients are saturted.    
-*     
-*/
-
-void arm_lms_norm_q31(
-  arm_lms_norm_instance_q31 * S,
-  q31_t * pSrc,
-  q31_t * pRef,
-  q31_t * pOut,
-  q31_t * pErr,
-  uint32_t blockSize)
-{
-  q31_t *pState = S->pState;                     /* State pointer */
-  q31_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
-  q31_t *pStateCurnt;                            /* Points to the current sample of the state */
-  q31_t *px, *pb;                                /* Temporary pointers for state and coefficient buffers */
-  q31_t mu = S->mu;                              /* Adaptive factor */
-  uint32_t numTaps = S->numTaps;                 /* Number of filter coefficients in the filter */
-  uint32_t tapCnt, blkCnt;                       /* Loop counters */
-  q63_t energy;                                  /* Energy of the input */
-  q63_t acc;                                     /* Accumulator */
-  q31_t e = 0, d = 0;                            /* error, reference data sample */
-  q31_t w = 0, in;                               /* weight factor and state */
-  q31_t x0;                                      /* temporary variable to hold input sample */
-//  uint32_t shift = 32u - ((uint32_t) S->postShift + 1u);        /* Shift to be applied to the output */      
-  q31_t errorXmu, oneByEnergy;                   /* Temporary variables to store error and mu product and reciprocal of energy */
-  q31_t postShift;                               /* Post shift to be applied to weight after reciprocal calculation */
-  q31_t coef;                                    /* Temporary variable for coef */
-  q31_t acc_l, acc_h;                            /*  temporary input */
-  uint32_t uShift = ((uint32_t) S->postShift + 1u);
-  uint32_t lShift = 32u - uShift;                /*  Shift to be applied to the output */
-
-  energy = S->energy;
-  x0 = S->x0;
-
-  /* S->pState points to buffer which contains previous frame (numTaps - 1) samples */
-  /* pStateCurnt points to the location where the new input data should be written */
-  pStateCurnt = &(S->pState[(numTaps - 1u)]);
-
-  /* Loop over blockSize number of values */
-  blkCnt = blockSize;
-
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  while(blkCnt > 0u)
-  {
-
-    /* Copy the new input sample into the state buffer */
-    *pStateCurnt++ = *pSrc;
-
-    /* Initialize pState pointer */
-    px = pState;
-
-    /* Initialize coeff pointer */
-    pb = (pCoeffs);
-
-    /* Read the sample from input buffer */
-    in = *pSrc++;
-
-    /* Update the energy calculation */
-    energy = (q31_t) ((((q63_t) energy << 32) -
-                       (((q63_t) x0 * x0) << 1)) >> 32);
-    energy = (q31_t) (((((q63_t) in * in) << 1) + (energy << 32)) >> 32);
-
-    /* Set the accumulator to zero */
-    acc = 0;
-
-    /* Loop unrolling.  Process 4 taps at a time. */
-    tapCnt = numTaps >> 2;
-
-    while(tapCnt > 0u)
-    {
-      /* Perform the multiply-accumulate */
-      acc += ((q63_t) (*px++)) * (*pb++);
-      acc += ((q63_t) (*px++)) * (*pb++);
-      acc += ((q63_t) (*px++)) * (*pb++);
-      acc += ((q63_t) (*px++)) * (*pb++);
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
-    tapCnt = numTaps % 0x4u;
-
-    while(tapCnt > 0u)
-    {
-      /* Perform the multiply-accumulate */
-      acc += ((q63_t) (*px++)) * (*pb++);
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* Converting the result to 1.31 format */
-    /* Calc lower part of acc */
-    acc_l = acc & 0xffffffff;
-
-    /* Calc upper part of acc */
-    acc_h = (acc >> 32) & 0xffffffff;
-
-    acc = (uint32_t) acc_l >> lShift | acc_h << uShift;
-
-    /* Store the result from accumulator into the destination buffer. */
-    *pOut++ = (q31_t) acc;
-
-    /* Compute and store error */
-    d = *pRef++;
-    e = d - (q31_t) acc;
-    *pErr++ = e;
-
-    /* Calculates the reciprocal of energy */
-    postShift = arm_recip_q31(energy + DELTA_Q31,
-                              &oneByEnergy, &S->recipTable[0]);
-
-    /* Calculation of product of (e * mu) */
-    errorXmu = (q31_t) (((q63_t) e * mu) >> 31);
-
-    /* Weighting factor for the normalized version */
-    w = clip_q63_to_q31(((q63_t) errorXmu * oneByEnergy) >> (31 - postShift));
-
-    /* Initialize pState pointer */
-    px = pState;
-
-    /* Initialize coeff pointer */
-    pb = (pCoeffs);
-
-    /* Loop unrolling.  Process 4 taps at a time. */
-    tapCnt = numTaps >> 2;
-
-    /* Update filter coefficients */
-    while(tapCnt > 0u)
-    {
-      /* Perform the multiply-accumulate */
-
-      /* coef is in 2.30 format */
-      coef = (q31_t) (((q63_t) w * (*px++)) >> (32));
-      /* get coef in 1.31 format by left shifting */
-      *pb = clip_q63_to_q31((q63_t) * pb + (coef << 1u));
-      /* update coefficient buffer to next coefficient */
-      pb++;
-
-      coef = (q31_t) (((q63_t) w * (*px++)) >> (32));
-      *pb = clip_q63_to_q31((q63_t) * pb + (coef << 1u));
-      pb++;
-
-      coef = (q31_t) (((q63_t) w * (*px++)) >> (32));
-      *pb = clip_q63_to_q31((q63_t) * pb + (coef << 1u));
-      pb++;
-
-      coef = (q31_t) (((q63_t) w * (*px++)) >> (32));
-      *pb = clip_q63_to_q31((q63_t) * pb + (coef << 1u));
-      pb++;
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
-    tapCnt = numTaps % 0x4u;
-
-    while(tapCnt > 0u)
-    {
-      /* Perform the multiply-accumulate */
-      coef = (q31_t) (((q63_t) w * (*px++)) >> (32));
-      *pb = clip_q63_to_q31((q63_t) * pb + (coef << 1u));
-      pb++;
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* Read the sample from state buffer */
-    x0 = *pState;
-
-    /* Advance state pointer by 1 for the next sample */
-    pState = pState + 1;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* Save energy and x0 values for the next frame */
-  S->energy = (q31_t) energy;
-  S->x0 = x0;
-
-  /* Processing is complete. Now copy the last numTaps - 1 samples to the    
-     satrt of the state buffer. This prepares the state buffer for the    
-     next function call. */
-
-  /* Points to the start of the pState buffer */
-  pStateCurnt = S->pState;
-
-  /* Loop unrolling for (numTaps - 1u) samples copy */
-  tapCnt = (numTaps - 1u) >> 2u;
-
-  /* copy data */
-  while(tapCnt > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    tapCnt--;
-  }
-
-  /* Calculate remaining number of copies */
-  tapCnt = (numTaps - 1u) % 0x4u;
-
-  /* Copy the remaining q31_t data */
-  while(tapCnt > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    tapCnt--;
-  }
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  while(blkCnt > 0u)
-  {
-
-    /* Copy the new input sample into the state buffer */
-    *pStateCurnt++ = *pSrc;
-
-    /* Initialize pState pointer */
-    px = pState;
-
-    /* Initialize pCoeffs pointer */
-    pb = pCoeffs;
-
-    /* Read the sample from input buffer */
-    in = *pSrc++;
-
-    /* Update the energy calculation */
-    energy =
-      (q31_t) ((((q63_t) energy << 32) - (((q63_t) x0 * x0) << 1)) >> 32);
-    energy = (q31_t) (((((q63_t) in * in) << 1) + (energy << 32)) >> 32);
-
-    /* Set the accumulator to zero */
-    acc = 0;
-
-    /* Loop over numTaps number of values */
-    tapCnt = numTaps;
-
-    while(tapCnt > 0u)
-    {
-      /* Perform the multiply-accumulate */
-      acc += ((q63_t) (*px++)) * (*pb++);
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* Converting the result to 1.31 format */
-    /* Converting the result to 1.31 format */
-    /* Calc lower part of acc */
-    acc_l = acc & 0xffffffff;
-
-    /* Calc upper part of acc */
-    acc_h = (acc >> 32) & 0xffffffff;
-
-    acc = (uint32_t) acc_l >> lShift | acc_h << uShift;
-
-
-    //acc = (q31_t) (acc >> shift); 
-
-    /* Store the result from accumulator into the destination buffer. */
-    *pOut++ = (q31_t) acc;
-
-    /* Compute and store error */
-    d = *pRef++;
-    e = d - (q31_t) acc;
-    *pErr++ = e;
-
-    /* Calculates the reciprocal of energy */
-    postShift =
-      arm_recip_q31(energy + DELTA_Q31, &oneByEnergy, &S->recipTable[0]);
-
-    /* Calculation of product of (e * mu) */
-    errorXmu = (q31_t) (((q63_t) e * mu) >> 31);
-
-    /* Weighting factor for the normalized version */
-    w = clip_q63_to_q31(((q63_t) errorXmu * oneByEnergy) >> (31 - postShift));
-
-    /* Initialize pState pointer */
-    px = pState;
-
-    /* Initialize coeff pointer */
-    pb = (pCoeffs);
-
-    /* Loop over numTaps number of values */
-    tapCnt = numTaps;
-
-    while(tapCnt > 0u)
-    {
-      /* Perform the multiply-accumulate */
-      /* coef is in 2.30 format */
-      coef = (q31_t) (((q63_t) w * (*px++)) >> (32));
-      /* get coef in 1.31 format by left shifting */
-      *pb = clip_q63_to_q31((q63_t) * pb + (coef << 1u));
-      /* update coefficient buffer to next coefficient */
-      pb++;
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* Read the sample from state buffer */
-    x0 = *pState;
-
-    /* Advance state pointer by 1 for the next sample */
-    pState = pState + 1;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* Save energy and x0 values for the next frame */
-  S->energy = (q31_t) energy;
-  S->x0 = x0;
-
-  /* Processing is complete. Now copy the last numTaps - 1 samples to the     
-     start of the state buffer. This prepares the state buffer for the        
-     next function call. */
-
-  /* Points to the start of the pState buffer */
-  pStateCurnt = S->pState;
-
-  /* Loop for (numTaps - 1u) samples copy */
-  tapCnt = (numTaps - 1u);
-
-  /* Copy the remaining q31_t data */
-  while(tapCnt > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    tapCnt--;
-  }
-
-#endif /*   #ifndef ARM_MATH_CM0 */
-
-}
-
-/**    
- * @} end of LMS_NORM group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_q15.c
deleted file mode 100644
index 91237c12d..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_q15.c
+++ /dev/null
@@ -1,374 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_lms_q15.c    
-*    
-* Description:	Processing function for the Q15 LMS filter.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup LMS    
- * @{    
- */
-
- /**    
- * @brief Processing function for Q15 LMS filter.    
- * @param[in] *S points to an instance of the Q15 LMS filter structure.    
- * @param[in] *pSrc points to the block of input data.    
- * @param[in] *pRef points to the block of reference data.    
- * @param[out] *pOut points to the block of output data.    
- * @param[out] *pErr points to the block of error data.    
- * @param[in] blockSize number of samples to process.    
- * @return none.    
- *    
- * \par Scaling and Overflow Behavior:    
- * The function is implemented using a 64-bit internal accumulator.    
- * Both coefficients and state variables are represented in 1.15 format and multiplications yield a 2.30 result.    
- * The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format.    
- * There is no risk of internal overflow with this approach and the full precision of intermediate multiplications is preserved.    
- * After all additions have been performed, the accumulator is truncated to 34.15 format by discarding low 15 bits.    
- * Lastly, the accumulator is saturated to yield a result in 1.15 format.    
- *   
- * \par   
- * 	In this filter, filter coefficients are updated for each sample and the updation of filter cofficients are saturted.   
- *    
- */
-
-void arm_lms_q15(
-  const arm_lms_instance_q15 * S,
-  q15_t * pSrc,
-  q15_t * pRef,
-  q15_t * pOut,
-  q15_t * pErr,
-  uint32_t blockSize)
-{
-  q15_t *pState = S->pState;                     /* State pointer */
-  uint32_t numTaps = S->numTaps;                 /* Number of filter coefficients in the filter */
-  q15_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
-  q15_t *pStateCurnt;                            /* Points to the current sample of the state */
-  q15_t mu = S->mu;                              /* Adaptive factor */
-  q15_t *px;                                     /* Temporary pointer for state */
-  q15_t *pb;                                     /* Temporary pointer for coefficient buffer */
-  uint32_t tapCnt, blkCnt;                       /* Loop counters */
-  q63_t acc;                                     /* Accumulator */
-  q15_t e = 0;                                   /* error of data sample */
-  q15_t alpha;                                   /* Intermediate constant for taps update */
-  q31_t acc_l, acc_h;
-  int32_t lShift = (15 - (int32_t) S->postShift);       /*  Post shift  */
-  int32_t uShift = (32 - lShift);
-
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  q31_t coef;                                    /* Teporary variable for coefficient */
-
-  /* S->pState points to buffer which contains previous frame (numTaps - 1) samples */
-  /* pStateCurnt points to the location where the new input data should be written */
-  pStateCurnt = &(S->pState[(numTaps - 1u)]);
-
-  /* Initializing blkCnt with blockSize */
-  blkCnt = blockSize;
-
-  while(blkCnt > 0u)
-  {
-    /* Copy the new input sample into the state buffer */
-    *pStateCurnt++ = *pSrc++;
-
-    /* Initialize state pointer */
-    px = pState;
-
-    /* Initialize coefficient pointer */
-    pb = pCoeffs;
-
-    /* Set the accumulator to zero */
-    acc = 0;
-
-    /* Loop unrolling.  Process 4 taps at a time. */
-    tapCnt = numTaps >> 2u;
-
-    while(tapCnt > 0u)
-    {
-      /* acc +=  b[N] * x[n-N] + b[N-1] * x[n-N-1] */
-      /* Perform the multiply-accumulate */
-#ifndef UNALIGNED_SUPPORT_DISABLE
-
-      acc = __SMLALD(*__SIMD32(px)++, (*__SIMD32(pb)++), acc);
-      acc = __SMLALD(*__SIMD32(px)++, (*__SIMD32(pb)++), acc);
-
-#else
-
-      acc += (q63_t) (((q31_t) (*px++) * (*pb++)));
-      acc += (q63_t) (((q31_t) (*px++) * (*pb++)));
-      acc += (q63_t) (((q31_t) (*px++) * (*pb++)));
-      acc += (q63_t) (((q31_t) (*px++) * (*pb++)));
-
-
-#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
-    tapCnt = numTaps % 0x4u;
-
-    while(tapCnt > 0u)
-    {
-      /* Perform the multiply-accumulate */
-      acc += (q63_t) (((q31_t) (*px++) * (*pb++)));
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* Calc lower part of acc */
-    acc_l = acc & 0xffffffff;
-
-    /* Calc upper part of acc */
-    acc_h = (acc >> 32) & 0xffffffff;
-
-    /* Apply shift for lower part of acc and upper part of acc */
-    acc = (uint32_t) acc_l >> lShift | acc_h << uShift;
-
-    /* Converting the result to 1.15 format and saturate the output */
-    acc = __SSAT(acc, 16);
-
-    /* Store the result from accumulator into the destination buffer. */
-    *pOut++ = (q15_t) acc;
-
-    /* Compute and store error */
-    e = *pRef++ - (q15_t) acc;
-
-    *pErr++ = (q15_t) e;
-
-    /* Compute alpha i.e. intermediate constant for taps update */
-    alpha = (q15_t) (((q31_t) e * (mu)) >> 15);
-
-    /* Initialize state pointer */
-    /* Advance state pointer by 1 for the next sample */
-    px = pState++;
-
-    /* Initialize coefficient pointer */
-    pb = pCoeffs;
-
-    /* Loop unrolling.  Process 4 taps at a time. */
-    tapCnt = numTaps >> 2u;
-
-    /* Update filter coefficients */
-    while(tapCnt > 0u)
-    {
-      coef = (q31_t) * pb + (((q31_t) alpha * (*px++)) >> 15);
-      *pb++ = (q15_t) __SSAT((coef), 16);
-      coef = (q31_t) * pb + (((q31_t) alpha * (*px++)) >> 15);
-      *pb++ = (q15_t) __SSAT((coef), 16);
-      coef = (q31_t) * pb + (((q31_t) alpha * (*px++)) >> 15);
-      *pb++ = (q15_t) __SSAT((coef), 16);
-      coef = (q31_t) * pb + (((q31_t) alpha * (*px++)) >> 15);
-      *pb++ = (q15_t) __SSAT((coef), 16);
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
-    tapCnt = numTaps % 0x4u;
-
-    while(tapCnt > 0u)
-    {
-      /* Perform the multiply-accumulate */
-      coef = (q31_t) * pb + (((q31_t) alpha * (*px++)) >> 15);
-      *pb++ = (q15_t) __SSAT((coef), 16);
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* Decrement the loop counter */
-    blkCnt--;
-
-  }
-
-  /* Processing is complete. Now copy the last numTaps - 1 samples to the    
-     satrt of the state buffer. This prepares the state buffer for the    
-     next function call. */
-
-  /* Points to the start of the pState buffer */
-  pStateCurnt = S->pState;
-
-  /* Calculation of count for copying integer writes */
-  tapCnt = (numTaps - 1u) >> 2;
-
-  while(tapCnt > 0u)
-  {
-
-#ifndef UNALIGNED_SUPPORT_DISABLE
-
-    *__SIMD32(pStateCurnt)++ = *__SIMD32(pState)++;
-    *__SIMD32(pStateCurnt)++ = *__SIMD32(pState)++;
-#else
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-#endif
-
-    tapCnt--;
-
-  }
-
-  /* Calculation of count for remaining q15_t data */
-  tapCnt = (numTaps - 1u) % 0x4u;
-
-  /* copy data */
-  while(tapCnt > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    tapCnt--;
-  }
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  /* S->pState points to buffer which contains previous frame (numTaps - 1) samples */
-  /* pStateCurnt points to the location where the new input data should be written */
-  pStateCurnt = &(S->pState[(numTaps - 1u)]);
-
-  /* Loop over blockSize number of values */
-  blkCnt = blockSize;
-
-  while(blkCnt > 0u)
-  {
-    /* Copy the new input sample into the state buffer */
-    *pStateCurnt++ = *pSrc++;
-
-    /* Initialize pState pointer */
-    px = pState;
-
-    /* Initialize pCoeffs pointer */
-    pb = pCoeffs;
-
-    /* Set the accumulator to zero */
-    acc = 0;
-
-    /* Loop over numTaps number of values */
-    tapCnt = numTaps;
-
-    while(tapCnt > 0u)
-    {
-      /* Perform the multiply-accumulate */
-      acc += (q63_t) ((q31_t) (*px++) * (*pb++));
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* Calc lower part of acc */
-    acc_l = acc & 0xffffffff;
-
-    /* Calc upper part of acc */
-    acc_h = (acc >> 32) & 0xffffffff;
-
-    /* Apply shift for lower part of acc and upper part of acc */
-    acc = (uint32_t) acc_l >> lShift | acc_h << uShift;
-
-    /* Converting the result to 1.15 format and saturate the output */
-    acc = __SSAT(acc, 16);
-
-    /* Store the result from accumulator into the destination buffer. */
-    *pOut++ = (q15_t) acc;
-
-    /* Compute and store error */
-    e = *pRef++ - (q15_t) acc;
-
-    *pErr++ = (q15_t) e;
-
-    /* Compute alpha i.e. intermediate constant for taps update */
-    alpha = (q15_t) (((q31_t) e * (mu)) >> 15);
-
-    /* Initialize pState pointer */
-    /* Advance state pointer by 1 for the next sample */
-    px = pState++;
-
-    /* Initialize pCoeffs pointer */
-    pb = pCoeffs;
-
-    /* Loop over numTaps number of values */
-    tapCnt = numTaps;
-
-    while(tapCnt > 0u)
-    {
-      /* Perform the multiply-accumulate */
-      *pb++ += (q15_t) (((q31_t) alpha * (*px++)) >> 15);
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* Decrement the loop counter */
-    blkCnt--;
-
-  }
-
-  /* Processing is complete. Now copy the last numTaps - 1 samples to the        
-     start of the state buffer. This prepares the state buffer for the   
-     next function call. */
-
-  /* Points to the start of the pState buffer */
-  pStateCurnt = S->pState;
-
-  /*  Copy (numTaps - 1u) samples  */
-  tapCnt = (numTaps - 1u);
-
-  /* Copy the data */
-  while(tapCnt > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    tapCnt--;
-  }
-
-#endif /*   #ifndef ARM_MATH_CM0 */
-
-}
-
-/**    
-   * @} end of LMS group    
-   */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_q31.c
deleted file mode 100644
index c43d55d1d..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_q31.c
+++ /dev/null
@@ -1,364 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_lms_q31.c    
-*    
-* Description:	Processing function for the Q31 LMS filter.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-/**    
- * @ingroup groupFilters    
- */
-
-/**    
- * @addtogroup LMS    
- * @{    
- */
-
- /**    
- * @brief Processing function for Q31 LMS filter.    
- * @param[in]  *S points to an instance of the Q15 LMS filter structure.    
- * @param[in]  *pSrc points to the block of input data.    
- * @param[in]  *pRef points to the block of reference data.    
- * @param[out] *pOut points to the block of output data.    
- * @param[out] *pErr points to the block of error data.    
- * @param[in]  blockSize number of samples to process.    
- * @return     none.    
- *    
- * \par Scaling and Overflow Behavior:     
- * The function is implemented using an internal 64-bit accumulator.     
- * The accumulator has a 2.62 format and maintains full precision of the intermediate    
- * multiplication results but provides only a single guard bit.     
- * Thus, if the accumulator result overflows it wraps around rather than clips.     
- * In order to avoid overflows completely the input signal must be scaled down by    
- * log2(numTaps) bits.     
- * The reference signal should not be scaled down.     
- * After all multiply-accumulates are performed, the 2.62 accumulator is shifted    
- * and saturated to 1.31 format to yield the final result.     
- * The output signal and error signal are in 1.31 format.     
- *    
- * \par    
- * 	In this filter, filter coefficients are updated for each sample and the updation of filter cofficients are saturted.    
- */
-
-void arm_lms_q31(
-  const arm_lms_instance_q31 * S,
-  q31_t * pSrc,
-  q31_t * pRef,
-  q31_t * pOut,
-  q31_t * pErr,
-  uint32_t blockSize)
-{
-  q31_t *pState = S->pState;                     /* State pointer */
-  uint32_t numTaps = S->numTaps;                 /* Number of filter coefficients in the filter */
-  q31_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
-  q31_t *pStateCurnt;                            /* Points to the current sample of the state */
-  q31_t mu = S->mu;                              /* Adaptive factor */
-  q31_t *px;                                     /* Temporary pointer for state */
-  q31_t *pb;                                     /* Temporary pointer for coefficient buffer */
-  uint32_t tapCnt, blkCnt;                       /* Loop counters */
-  q63_t acc;                                     /* Accumulator */
-  q31_t e = 0;                                   /* error of data sample */
-  q31_t alpha;                                   /* Intermediate constant for taps update */
-  q31_t coef;                                    /* Temporary variable for coef */
-  q31_t acc_l, acc_h;                            /*  temporary input */
-  uint32_t uShift = ((uint32_t) S->postShift + 1u);
-  uint32_t lShift = 32u - uShift;                /*  Shift to be applied to the output */
-
-  /* S->pState points to buffer which contains previous frame (numTaps - 1) samples */
-  /* pStateCurnt points to the location where the new input data should be written */
-  pStateCurnt = &(S->pState[(numTaps - 1u)]);
-
-  /* Initializing blkCnt with blockSize */
-  blkCnt = blockSize;
-
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  while(blkCnt > 0u)
-  {
-    /* Copy the new input sample into the state buffer */
-    *pStateCurnt++ = *pSrc++;
-
-    /* Initialize state pointer */
-    px = pState;
-
-    /* Initialize coefficient pointer */
-    pb = pCoeffs;
-
-    /* Set the accumulator to zero */
-    acc = 0;
-
-    /* Loop unrolling.  Process 4 taps at a time. */
-    tapCnt = numTaps >> 2;
-
-    while(tapCnt > 0u)
-    {
-      /* Perform the multiply-accumulate */
-      /* acc +=  b[N] * x[n-N] */
-      acc += ((q63_t) (*px++)) * (*pb++);
-
-      /* acc +=  b[N-1] * x[n-N-1] */
-      acc += ((q63_t) (*px++)) * (*pb++);
-
-      /* acc +=  b[N-2] * x[n-N-2] */
-      acc += ((q63_t) (*px++)) * (*pb++);
-
-      /* acc +=  b[N-3] * x[n-N-3] */
-      acc += ((q63_t) (*px++)) * (*pb++);
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
-    tapCnt = numTaps % 0x4u;
-
-    while(tapCnt > 0u)
-    {
-      /* Perform the multiply-accumulate */
-      acc += ((q63_t) (*px++)) * (*pb++);
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* Converting the result to 1.31 format */
-    /* Calc lower part of acc */
-    acc_l = acc & 0xffffffff;
-
-    /* Calc upper part of acc */
-    acc_h = (acc >> 32) & 0xffffffff;
-
-    acc = (uint32_t) acc_l >> lShift | acc_h << uShift;
-
-    /* Store the result from accumulator into the destination buffer. */
-    *pOut++ = (q31_t) acc;
-
-    /* Compute and store error */
-    e = *pRef++ - (q31_t) acc;
-
-    *pErr++ = (q31_t) e;
-
-    /* Compute alpha i.e. intermediate constant for taps update */
-    alpha = (q31_t) (((q63_t) e * mu) >> 31);
-
-    /* Initialize state pointer */
-    /* Advance state pointer by 1 for the next sample */
-    px = pState++;
-
-    /* Initialize coefficient pointer */
-    pb = pCoeffs;
-
-    /* Loop unrolling.  Process 4 taps at a time. */
-    tapCnt = numTaps >> 2;
-
-    /* Update filter coefficients */
-    while(tapCnt > 0u)
-    {
-      /* coef is in 2.30 format */
-      coef = (q31_t) (((q63_t) alpha * (*px++)) >> (32));
-      /* get coef in 1.31 format by left shifting */
-      *pb = clip_q63_to_q31((q63_t) * pb + (coef << 1u));
-      /* update coefficient buffer to next coefficient */
-      pb++;
-
-      coef = (q31_t) (((q63_t) alpha * (*px++)) >> (32));
-      *pb = clip_q63_to_q31((q63_t) * pb + (coef << 1u));
-      pb++;
-
-      coef = (q31_t) (((q63_t) alpha * (*px++)) >> (32));
-      *pb = clip_q63_to_q31((q63_t) * pb + (coef << 1u));
-      pb++;
-
-      coef = (q31_t) (((q63_t) alpha * (*px++)) >> (32));
-      *pb = clip_q63_to_q31((q63_t) * pb + (coef << 1u));
-      pb++;
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
-    tapCnt = numTaps % 0x4u;
-
-    while(tapCnt > 0u)
-    {
-      /* Perform the multiply-accumulate */
-      coef = (q31_t) (((q63_t) alpha * (*px++)) >> (32));
-      *pb = clip_q63_to_q31((q63_t) * pb + (coef << 1u));
-      pb++;
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* Processing is complete. Now copy the last numTaps - 1 samples to the    
-     satrt of the state buffer. This prepares the state buffer for the    
-     next function call. */
-
-  /* Points to the start of the pState buffer */
-  pStateCurnt = S->pState;
-
-  /* Loop unrolling for (numTaps - 1u) samples copy */
-  tapCnt = (numTaps - 1u) >> 2u;
-
-  /* copy data */
-  while(tapCnt > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    tapCnt--;
-  }
-
-  /* Calculate remaining number of copies */
-  tapCnt = (numTaps - 1u) % 0x4u;
-
-  /* Copy the remaining q31_t data */
-  while(tapCnt > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    tapCnt--;
-  }
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  while(blkCnt > 0u)
-  {
-    /* Copy the new input sample into the state buffer */
-    *pStateCurnt++ = *pSrc++;
-
-    /* Initialize pState pointer */
-    px = pState;
-
-    /* Initialize pCoeffs pointer */
-    pb = pCoeffs;
-
-    /* Set the accumulator to zero */
-    acc = 0;
-
-    /* Loop over numTaps number of values */
-    tapCnt = numTaps;
-
-    while(tapCnt > 0u)
-    {
-      /* Perform the multiply-accumulate */
-      acc += ((q63_t) (*px++)) * (*pb++);
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* Converting the result to 1.31 format */
-    /* Store the result from accumulator into the destination buffer. */
-    /* Calc lower part of acc */
-    acc_l = acc & 0xffffffff;
-
-    /* Calc upper part of acc */
-    acc_h = (acc >> 32) & 0xffffffff;
-
-    acc = (uint32_t) acc_l >> lShift | acc_h << uShift;
-
-    *pOut++ = (q31_t) acc;
-
-    /* Compute and store error */
-    e = *pRef++ - (q31_t) acc;
-
-    *pErr++ = (q31_t) e;
-
-    /* Weighting factor for the LMS version */
-    alpha = (q31_t) (((q63_t) e * mu) >> 31);
-
-    /* Initialize pState pointer */
-    /* Advance state pointer by 1 for the next sample */
-    px = pState++;
-
-    /* Initialize pCoeffs pointer */
-    pb = pCoeffs;
-
-    /* Loop over numTaps number of values */
-    tapCnt = numTaps;
-
-    while(tapCnt > 0u)
-    {
-      /* Perform the multiply-accumulate */
-      coef = (q31_t) (((q63_t) alpha * (*px++)) >> (32));
-      *pb += (coef << 1u);
-      pb++;
-
-      /* Decrement the loop counter */
-      tapCnt--;
-    }
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* Processing is complete. Now copy the last numTaps - 1 samples to the     
-     start of the state buffer. This prepares the state buffer for the   
-     next function call. */
-
-  /* Points to the start of the pState buffer */
-  pStateCurnt = S->pState;
-
-  /*  Copy (numTaps - 1u) samples  */
-  tapCnt = (numTaps - 1u);
-
-  /* Copy the data */
-  while(tapCnt > 0u)
-  {
-    *pStateCurnt++ = *pState++;
-
-    /* Decrement the loop counter */
-    tapCnt--;
-  }
-
-#endif /*   #ifndef ARM_MATH_CM0 */
-
-}
-
-/**    
-   * @} end of LMS group    
-   */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_add_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_add_f32.c
deleted file mode 100644
index 09099ccb8..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_add_f32.c
+++ /dev/null
@@ -1,206 +0,0 @@
-/* ----------------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:        arm_mat_add_f32.c    
-*    
-* Description:	Floating-point matrix addition    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-*    
-* Version 0.0.5  2010/04/26     
-*    incorporated review comments and updated with latest CMSIS layer    
-*    
-* Version 0.0.3  2010/03/10     
-*    Initial version    
-* -------------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**        
- * @ingroup groupMatrix        
- */
-
-/**        
- * @defgroup MatrixAdd Matrix Addition        
- *        
- * Adds two matrices.        
- * \image html MatrixAddition.gif "Addition of two 3 x 3 matrices"        
- *        
- * The functions check to make sure that        
- * pSrcA, pSrcB, and pDst have the same        
- * number of rows and columns.        
- */
-
-/**        
- * @addtogroup MatrixAdd        
- * @{        
- */
-
-
-/**        
- * @brief Floating-point matrix addition.        
- * @param[in]       *pSrcA points to the first input matrix structure        
- * @param[in]       *pSrcB points to the second input matrix structure        
- * @param[out]      *pDst points to output matrix structure        
- * @return     		The function returns either        
- * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.        
- */
-
-arm_status arm_mat_add_f32(
-  const arm_matrix_instance_f32 * pSrcA,
-  const arm_matrix_instance_f32 * pSrcB,
-  arm_matrix_instance_f32 * pDst)
-{
-  float32_t *pIn1 = pSrcA->pData;                /* input data matrix pointer A  */
-  float32_t *pIn2 = pSrcB->pData;                /* input data matrix pointer B  */
-  float32_t *pOut = pDst->pData;                 /* output data matrix pointer   */
-
-#ifndef ARM_MATH_CM0
-
-  float32_t inA1, inA2, inB1, inB2, out1, out2;  /* temporary variables */
-
-#endif //      #ifndef ARM_MATH_CM0
-
-  uint32_t numSamples;                           /* total number of elements in the matrix  */
-  uint32_t blkCnt;                               /* loop counters */
-  arm_status status;                             /* status of matrix addition */
-
-#ifdef ARM_MATH_MATRIX_CHECK
-  /* Check for matrix mismatch condition */
-  if((pSrcA->numRows != pSrcB->numRows) ||
-     (pSrcA->numCols != pSrcB->numCols) ||
-     (pSrcA->numRows != pDst->numRows) || (pSrcA->numCols != pDst->numCols))
-  {
-    /* Set status as ARM_MATH_SIZE_MISMATCH */
-    status = ARM_MATH_SIZE_MISMATCH;
-  }
-  else
-#endif
-  {
-
-    /* Total number of samples in the input matrix */
-    numSamples = (uint32_t) pSrcA->numRows * pSrcA->numCols;
-
-#ifndef ARM_MATH_CM0
-
-    /* Loop unrolling */
-    blkCnt = numSamples >> 2u;
-
-    /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-     ** a second loop below computes the remaining 1 to 3 samples. */
-    while(blkCnt > 0u)
-    {
-      /* C(m,n) = A(m,n) + B(m,n) */
-      /* Add and then store the results in the destination buffer. */
-      /* Read values from source A */
-      inA1 = pIn1[0];
-
-      /* Read values from source B */
-      inB1 = pIn2[0];
-
-      /* Read values from source A */
-      inA2 = pIn1[1];
-
-      /* out = sourceA + sourceB */
-      out1 = inA1 + inB1;
-
-      /* Read values from source B */
-      inB2 = pIn2[1];
-
-      /* Read values from source A */
-      inA1 = pIn1[2];
-
-      /* out = sourceA + sourceB */
-      out2 = inA2 + inB2;
-
-      /* Read values from source B */
-      inB1 = pIn2[2];
-
-      /* Store result in destination */
-      pOut[0] = out1;
-      pOut[1] = out2;
-
-      /* Read values from source A */
-      inA2 = pIn1[3];
-
-      /* Read values from source B */
-      inB2 = pIn2[3];
-
-      /* out = sourceA + sourceB */
-      out1 = inA1 + inB1;
-
-      /* out = sourceA + sourceB */
-      out2 = inA2 + inB2;
-
-      /* Store result in destination */
-      pOut[2] = out1;
-
-      /* Store result in destination */
-      pOut[3] = out2;
-
-
-      /* update pointers to process next sampels */
-      pIn1 += 4u;
-      pIn2 += 4u;
-      pOut += 4u;
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-
-    /* If the numSamples is not a multiple of 4, compute any remaining output samples here.    
-     ** No loop unrolling is used. */
-    blkCnt = numSamples % 0x4u;
-
-#else
-
-    /* Run the below code for Cortex-M0 */
-
-    /* Initialize blkCnt with number of samples */
-    blkCnt = numSamples;
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-    while(blkCnt > 0u)
-    {
-      /* C(m,n) = A(m,n) + B(m,n) */
-      /* Add and then store the results in the destination buffer. */
-      *pOut++ = (*pIn1++) + (*pIn2++);
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-
-    /* set status as ARM_MATH_SUCCESS */
-    status = ARM_MATH_SUCCESS;
-
-  }
-
-  /* Return to application */
-  return (status);
-}
-
-/**        
- * @} end of MatrixAdd group        
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_add_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_add_q15.c
deleted file mode 100644
index 4bfc87862..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_add_q15.c
+++ /dev/null
@@ -1,161 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_mat_add_q15.c    
-*    
-* Description:	Q15 matrix addition    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-*    
-* Version 0.0.5  2010/04/26     
-*    incorporated review comments and updated with latest CMSIS layer    
-*    
-* Version 0.0.3  2010/03/10     
-*    Initial version    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupMatrix    
- */
-
-/**    
- * @addtogroup MatrixAdd    
- * @{    
- */
-
-/**    
- * @brief Q15 matrix addition.    
- * @param[in]       *pSrcA points to the first input matrix structure    
- * @param[in]       *pSrcB points to the second input matrix structure    
- * @param[out]      *pDst points to output matrix structure    
- * @return     		The function returns either    
- * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.    
- *    
- * Scaling and Overflow Behavior:    
- * \par    
- * The function uses saturating arithmetic.    
- * Results outside of the allowable Q15 range [0x8000 0x7FFF] will be saturated.    
- */
-
-arm_status arm_mat_add_q15(
-  const arm_matrix_instance_q15 * pSrcA,
-  const arm_matrix_instance_q15 * pSrcB,
-  arm_matrix_instance_q15 * pDst)
-{
-  q15_t *pInA = pSrcA->pData;                    /* input data matrix pointer A  */
-  q15_t *pInB = pSrcB->pData;                    /* input data matrix pointer B */
-  q15_t *pOut = pDst->pData;                     /* output data matrix pointer */
-  uint16_t numSamples;                           /* total number of elements in the matrix  */
-  uint32_t blkCnt;                               /* loop counters  */
-  arm_status status;                             /* status of matrix addition  */
-
-#ifdef ARM_MATH_MATRIX_CHECK
-
-
-  /* Check for matrix mismatch condition */
-  if((pSrcA->numRows != pSrcB->numRows) ||
-     (pSrcA->numCols != pSrcB->numCols) ||
-     (pSrcA->numRows != pDst->numRows) || (pSrcA->numCols != pDst->numCols))
-  {
-    /* Set status as ARM_MATH_SIZE_MISMATCH */
-    status = ARM_MATH_SIZE_MISMATCH;
-  }
-  else
-#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */
-
-  {
-    /* Total number of samples in the input matrix */
-    numSamples = (uint16_t) (pSrcA->numRows * pSrcA->numCols);
-
-#ifndef ARM_MATH_CM0
-
-    /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-    /* Loop unrolling */
-    blkCnt = (uint32_t) numSamples >> 2u;
-
-    /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-     ** a second loop below computes the remaining 1 to 3 samples. */
-    while(blkCnt > 0u)
-    {
-      /* C(m,n) = A(m,n) + B(m,n) */
-      /* Add, Saturate and then store the results in the destination buffer. */
-      *__SIMD32(pOut)++ = __QADD16(*__SIMD32(pInA)++, *__SIMD32(pInB)++);
-      *__SIMD32(pOut)++ = __QADD16(*__SIMD32(pInA)++, *__SIMD32(pInB)++);
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-
-    /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
-     ** No loop unrolling is used. */
-    blkCnt = (uint32_t) numSamples % 0x4u;
-
-    /* q15 pointers of input and output are initialized */
-
-    while(blkCnt > 0u)
-    {
-      /* C(m,n) = A(m,n) + B(m,n) */
-      /* Add, Saturate and then store the results in the destination buffer. */
-      *pOut++ = (q15_t) __QADD16(*pInA++, *pInB++);
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-
-#else
-
-    /* Run the below code for Cortex-M0 */
-
-    /* Initialize blkCnt with number of samples */
-    blkCnt = (uint32_t) numSamples;
-
-
-    /* q15 pointers of input and output are initialized */
-    while(blkCnt > 0u)
-    {
-      /* C(m,n) = A(m,n) + B(m,n) */
-      /* Add, Saturate and then store the results in the destination buffer. */
-      *pOut++ = (q15_t) __SSAT(((q31_t) * pInA++ + *pInB++), 16);
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-    /* set status as ARM_MATH_SUCCESS */
-    status = ARM_MATH_SUCCESS;
-  }
-
-  /* Return to application */
-  return (status);
-}
-
-/**    
- * @} end of MatrixAdd group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_add_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_add_q31.c
deleted file mode 100644
index 1f7be21c5..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_add_q31.c
+++ /dev/null
@@ -1,205 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_mat_add_q31.c    
-*    
-* Description:	Q31 matrix addition    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-*    
-* Version 0.0.5  2010/04/26     
-*    incorporated review comments and updated with latest CMSIS layer    
-*    
-* Version 0.0.3  2010/03/10     
-*    Initial version    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**      
- * @ingroup groupMatrix      
- */
-
-/**      
- * @addtogroup MatrixAdd      
- * @{      
- */
-
-/**      
- * @brief Q31 matrix addition.      
- * @param[in]       *pSrcA points to the first input matrix structure      
- * @param[in]       *pSrcB points to the second input matrix structure      
- * @param[out]      *pDst points to output matrix structure      
- * @return     		The function returns either      
- * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.      
- *      
- * Scaling and Overflow Behavior:      
- * \par      
- * The function uses saturating arithmetic.      
- * Results outside of the allowable Q31 range [0x80000000 0x7FFFFFFF] will be saturated.      
- */
-
-arm_status arm_mat_add_q31(
-  const arm_matrix_instance_q31 * pSrcA,
-  const arm_matrix_instance_q31 * pSrcB,
-  arm_matrix_instance_q31 * pDst)
-{
-  q31_t *pIn1 = pSrcA->pData;                    /* input data matrix pointer A */
-  q31_t *pIn2 = pSrcB->pData;                    /* input data matrix pointer B */
-  q31_t *pOut = pDst->pData;                     /* output data matrix pointer */
-  q31_t inA1, inB1;                              /* temporary variables */
-
-#ifndef ARM_MATH_CM0
-
-  q31_t inA2, inB2;                              /* temporary variables */
-  q31_t out1, out2;                              /* temporary variables */
-
-#endif //      #ifndef ARM_MATH_CM0
-
-  uint32_t numSamples;                           /* total number of elements in the matrix  */
-  uint32_t blkCnt;                               /* loop counters */
-  arm_status status;                             /* status of matrix addition */
-
-#ifdef ARM_MATH_MATRIX_CHECK
-  /* Check for matrix mismatch condition */
-  if((pSrcA->numRows != pSrcB->numRows) ||
-     (pSrcA->numCols != pSrcB->numCols) ||
-     (pSrcA->numRows != pDst->numRows) || (pSrcA->numCols != pDst->numCols))
-  {
-    /* Set status as ARM_MATH_SIZE_MISMATCH */
-    status = ARM_MATH_SIZE_MISMATCH;
-  }
-  else
-#endif
-  {
-    /* Total number of samples in the input matrix */
-    numSamples = (uint32_t) pSrcA->numRows * pSrcA->numCols;
-
-#ifndef ARM_MATH_CM0
-
-    /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-    /* Loop Unrolling */
-    blkCnt = numSamples >> 2u;
-
-
-    /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-     ** a second loop below computes the remaining 1 to 3 samples. */
-    while(blkCnt > 0u)
-    {
-      /* C(m,n) = A(m,n) + B(m,n) */
-      /* Add, saturate and then store the results in the destination buffer. */
-      /* Read values from source A */
-      inA1 = pIn1[0];
-
-      /* Read values from source B */
-      inB1 = pIn2[0];
-
-      /* Read values from source A */
-      inA2 = pIn1[1];
-
-      /* Add and saturate */
-      out1 = __QADD(inA1, inB1);
-
-      /* Read values from source B */
-      inB2 = pIn2[1];
-
-      /* Read values from source A */
-      inA1 = pIn1[2];
-
-      /* Add and saturate */
-      out2 = __QADD(inA2, inB2);
-
-      /* Read values from source B */
-      inB1 = pIn2[2];
-
-      /* Store result in destination */
-      pOut[0] = out1;
-      pOut[1] = out2;
-
-      /* Read values from source A */
-      inA2 = pIn1[3];
-
-      /* Read values from source B */
-      inB2 = pIn2[3];
-
-      /* Add and saturate */
-      out1 = __QADD(inA1, inB1);
-      out2 = __QADD(inA2, inB2);
-
-      /* Store result in destination */
-      pOut[2] = out1;
-      pOut[3] = out2;
-
-      /* update pointers to process next sampels */
-      pIn1 += 4u;
-      pIn2 += 4u;
-      pOut += 4u;
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-
-    /* If the numSamples is not a multiple of 4, compute any remaining output samples here.      
-     ** No loop unrolling is used. */
-    blkCnt = numSamples % 0x4u;
-
-#else
-
-    /* Run the below code for Cortex-M0 */
-
-    /* Initialize blkCnt with number of samples */
-    blkCnt = numSamples;
-
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-    while(blkCnt > 0u)
-    {
-      /* C(m,n) = A(m,n) + B(m,n) */
-      /* Add, saturate and then store the results in the destination buffer. */
-      inA1 = *pIn1++;
-      inB1 = *pIn2++;
-
-      inA1 = __QADD(inA1, inB1);
-
-      /* Decrement the loop counter */
-      blkCnt--;
-
-      *pOut++ = inA1;
-
-    }
-
-    /* set status as ARM_MATH_SUCCESS */
-    status = ARM_MATH_SUCCESS;
-  }
-
-  /* Return to application */
-  return (status);
-}
-
-/**      
- * @} end of MatrixAdd group      
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_init_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_init_f32.c
deleted file mode 100644
index 9ffc96ee3..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_init_f32.c
+++ /dev/null
@@ -1,86 +0,0 @@
-/* ----------------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:        arm_mat_init_f32.c    
-*    
-* Description:	Floating-point matrix initialization.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-*    
-* Version 0.0.5  2010/04/26     
-*    incorporated review comments and updated with latest CMSIS layer    
-*    
-* Version 0.0.3  2010/03/10     
-*    Initial version    
-* -------------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupMatrix    
- */
-
-/**    
- * @defgroup MatrixInit Matrix Initialization    
- *    
- * Initializes the underlying matrix data structure.    
- * The functions set the numRows,    
- * numCols, and pData fields    
- * of the matrix data structure.    
- */
-
-/**    
- * @addtogroup MatrixInit    
- * @{    
- */
-
-/**    
-   * @brief  Floating-point matrix initialization.    
-   * @param[in,out] *S             points to an instance of the floating-point matrix structure.    
-   * @param[in]     nRows          number of rows in the matrix.    
-   * @param[in]     nColumns       number of columns in the matrix.    
-   * @param[in]     *pData	   points to the matrix data array.    
-   * @return        none    
-   */
-
-void arm_mat_init_f32(
-  arm_matrix_instance_f32 * S,
-  uint16_t nRows,
-  uint16_t nColumns,
-  float32_t * pData)
-{
-  /* Assign Number of Rows */
-  S->numRows = nRows;
-
-  /* Assign Number of Columns */
-  S->numCols = nColumns;
-
-  /* Assign Data pointer */
-  S->pData = pData;
-}
-
-/**    
- * @} end of MatrixInit group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_init_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_init_q15.c
deleted file mode 100644
index 2bada7fed..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_init_q15.c
+++ /dev/null
@@ -1,78 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:        arm_mat_init_q15.c    
-*    
-* Description:	Q15 matrix initialization.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-*    
-* Version 0.0.5  2010/04/26     
-*    incorporated review comments and updated with latest CMSIS layer    
-*    
-* Version 0.0.3  2010/03/10     
-*    Initial version    
-* -------------------------------------------------------------------------- */
-
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupMatrix    
- */
-
-/**    
- * @addtogroup MatrixInit    
- * @{    
- */
-
-  /**    
-   * @brief  Q15 matrix initialization.    
-   * @param[in,out] *S             points to an instance of the floating-point matrix structure.    
-   * @param[in]     nRows          number of rows in the matrix.    
-   * @param[in]     nColumns       number of columns in the matrix.    
-   * @param[in]     *pData	   points to the matrix data array.    
-   * @return        none    
-   */
-
-void arm_mat_init_q15(
-  arm_matrix_instance_q15 * S,
-  uint16_t nRows,
-  uint16_t nColumns,
-  q15_t * pData)
-{
-  /* Assign Number of Rows */
-  S->numRows = nRows;
-
-  /* Assign Number of Columns */
-  S->numCols = nColumns;
-
-  /* Assign Data pointer */
-  S->pData = pData;
-}
-
-/**    
- * @} end of MatrixInit group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_init_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_init_q31.c
deleted file mode 100644
index 8828c2d2e..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_init_q31.c
+++ /dev/null
@@ -1,82 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:        arm_mat_init_q31.c    
-*    
-* Description:	Q31 matrix initialization.    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-*    
-* Version 0.0.5  2010/04/26     
-*    incorporated review comments and updated with latest CMSIS layer    
-*    
-* Version 0.0.3  2010/03/10     
-*    Initial version    
-* -------------------------------------------------------------------------- */
-
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupMatrix    
- */
-
-/**    
- * @defgroup MatrixInit Matrix Initialization    
- *    
- */
-
-/**    
- * @addtogroup MatrixInit    
- * @{    
- */
-
-  /**    
-   * @brief  Q31 matrix initialization.    
-   * @param[in,out] *S             points to an instance of the floating-point matrix structure.    
-   * @param[in]     nRows          number of rows in the matrix.    
-   * @param[in]     nColumns       number of columns in the matrix.    
-   * @param[in]     *pData	   points to the matrix data array.    
-   * @return        none    
-   */
-
-void arm_mat_init_q31(
-  arm_matrix_instance_q31 * S,
-  uint16_t nRows,
-  uint16_t nColumns,
-  q31_t * pData)
-{
-  /* Assign Number of Rows */
-  S->numRows = nRows;
-
-  /* Assign Number of Columns */
-  S->numCols = nColumns;
-
-  /* Assign Data pointer */
-  S->pData = pData;
-}
-
-/**    
- * @} end of MatrixInit group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_inverse_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_inverse_f32.c
deleted file mode 100644
index f346916e0..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_inverse_f32.c
+++ /dev/null
@@ -1,668 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_mat_inverse_f32.c    
-*    
-* Description:	Floating-point matrix inverse.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupMatrix    
- */
-
-/**    
- * @defgroup MatrixInv Matrix Inverse    
- *    
- * Computes the inverse of a matrix.    
- *    
- * The inverse is defined only if the input matrix is square and non-singular (the determinant    
- * is non-zero). The function checks that the input and output matrices are square and of the    
- * same size.    
- *    
- * Matrix inversion is numerically sensitive and the CMSIS DSP library only supports matrix    
- * inversion of floating-point matrices.    
- *    
- * \par Algorithm    
- * The Gauss-Jordan method is used to find the inverse.    
- * The algorithm performs a sequence of elementary row-operations till it    
- * reduces the input matrix to an identity matrix. Applying the same sequence    
- * of elementary row-operations to an identity matrix yields the inverse matrix.    
- * If the input matrix is singular, then the algorithm terminates and returns error status    
- * ARM_MATH_SINGULAR.    
- * \image html MatrixInverse.gif "Matrix Inverse of a 3 x 3 matrix using Gauss-Jordan Method"    
- */
-
-/**    
- * @addtogroup MatrixInv    
- * @{    
- */
-
-/**    
- * @brief Floating-point matrix inverse.    
- * @param[in]       *pSrc points to input matrix structure    
- * @param[out]      *pDst points to output matrix structure    
- * @return     		The function returns    
- * ARM_MATH_SIZE_MISMATCH if the input matrix is not square or if the size    
- * of the output matrix does not match the size of the input matrix.    
- * If the input matrix is found to be singular (non-invertible), then the function returns    
- * ARM_MATH_SINGULAR.  Otherwise, the function returns ARM_MATH_SUCCESS.    
- */
-
-arm_status arm_mat_inverse_f32(
-  const arm_matrix_instance_f32 * pSrc,
-  arm_matrix_instance_f32 * pDst)
-{
-  float32_t *pIn = pSrc->pData;                  /* input data matrix pointer */
-  float32_t *pOut = pDst->pData;                 /* output data matrix pointer */
-  float32_t *pInT1, *pInT2;                      /* Temporary input data matrix pointer */
-  float32_t *pInT3, *pInT4;                      /* Temporary output data matrix pointer */
-  float32_t *pPivotRowIn, *pPRT_in, *pPivotRowDst, *pPRT_pDst;  /* Temporary input and output data matrix pointer */
-  uint32_t numRows = pSrc->numRows;              /* Number of rows in the matrix  */
-  uint32_t numCols = pSrc->numCols;              /* Number of Cols in the matrix  */
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  float32_t Xchg, in = 0.0f, in1;                /* Temporary input values  */
-  uint32_t i, rowCnt, flag = 0u, j, loopCnt, k, l;      /* loop counters */
-  arm_status status;                             /* status of matrix inverse */
-
-#ifdef ARM_MATH_MATRIX_CHECK
-
-
-  /* Check for matrix mismatch condition */
-  if((pSrc->numRows != pSrc->numCols) || (pDst->numRows != pDst->numCols)
-     || (pSrc->numRows != pDst->numRows))
-  {
-    /* Set status as ARM_MATH_SIZE_MISMATCH */
-    status = ARM_MATH_SIZE_MISMATCH;
-  }
-  else
-#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */
-
-  {
-
-    /*--------------------------------------------------------------------------------------------------------------    
-	 * Matrix Inverse can be solved using elementary row operations.    
-	 *    
-	 *	Gauss-Jordan Method:    
-	 *    
-	 *	   1. First combine the identity matrix and the input matrix separated by a bar to form an    
-	 *        augmented matrix as follows:    
-	 *				        _ 	      	       _         _	       _    
-	 *					   |  a11  a12 | 1   0  |       |  X11 X12  |    
-	 *					   |           |        |   =   |           |    
-	 *					   |_ a21  a22 | 0   1 _|       |_ X21 X21 _|    
-	 *    
-	 *		2. In our implementation, pDst Matrix is used as identity matrix.    
-	 *    
-	 *		3. Begin with the first row. Let i = 1.    
-	 *    
-	 *	    4. Check to see if the pivot for row i is zero.    
-	 *		   The pivot is the element of the main diagonal that is on the current row.    
-	 *		   For instance, if working with row i, then the pivot element is aii.    
-	 *		   If the pivot is zero, exchange that row with a row below it that does not    
-	 *		   contain a zero in column i. If this is not possible, then an inverse    
-	 *		   to that matrix does not exist.    
-	 *    
-	 *	    5. Divide every element of row i by the pivot.    
-	 *    
-	 *	    6. For every row below and  row i, replace that row with the sum of that row and    
-	 *		   a multiple of row i so that each new element in column i below row i is zero.    
-	 *    
-	 *	    7. Move to the next row and column and repeat steps 2 through 5 until you have zeros    
-	 *		   for every element below and above the main diagonal.    
-	 *    
-	 *		8. Now an identical matrix is formed to the left of the bar(input matrix, pSrc).    
-	 *		   Therefore, the matrix to the right of the bar is our solution(pDst matrix, pDst).    
-	 *----------------------------------------------------------------------------------------------------------------*/
-
-    /* Working pointer for destination matrix */
-    pInT2 = pOut;
-
-    /* Loop over the number of rows */
-    rowCnt = numRows;
-
-    /* Making the destination matrix as identity matrix */
-    while(rowCnt > 0u)
-    {
-      /* Writing all zeroes in lower triangle of the destination matrix */
-      j = numRows - rowCnt;
-      while(j > 0u)
-      {
-        *pInT2++ = 0.0f;
-        j--;
-      }
-
-      /* Writing all ones in the diagonal of the destination matrix */
-      *pInT2++ = 1.0f;
-
-      /* Writing all zeroes in upper triangle of the destination matrix */
-      j = rowCnt - 1u;
-      while(j > 0u)
-      {
-        *pInT2++ = 0.0f;
-        j--;
-      }
-
-      /* Decrement the loop counter */
-      rowCnt--;
-    }
-
-    /* Loop over the number of columns of the input matrix.    
-       All the elements in each column are processed by the row operations */
-    loopCnt = numCols;
-
-    /* Index modifier to navigate through the columns */
-    l = 0u;
-
-    while(loopCnt > 0u)
-    {
-      /* Check if the pivot element is zero..    
-       * If it is zero then interchange the row with non zero row below.    
-       * If there is no non zero element to replace in the rows below,    
-       * then the matrix is Singular. */
-
-      /* Working pointer for the input matrix that points    
-       * to the pivot element of the particular row  */
-      pInT1 = pIn + (l * numCols);
-
-      /* Working pointer for the destination matrix that points    
-       * to the pivot element of the particular row  */
-      pInT3 = pOut + (l * numCols);
-
-      /* Temporary variable to hold the pivot value */
-      in = *pInT1;
-
-      /* Destination pointer modifier */
-      k = 1u;
-
-      /* Check if the pivot element is zero */
-      if(*pInT1 == 0.0f)
-      {
-        /* Loop over the number rows present below */
-        i = numRows - (l + 1u);
-
-        while(i > 0u)
-        {
-          /* Update the input and destination pointers */
-          pInT2 = pInT1 + (numCols * l);
-          pInT4 = pInT3 + (numCols * k);
-
-          /* Check if there is a non zero pivot element to    
-           * replace in the rows below */
-          if(*pInT2 != 0.0f)
-          {
-            /* Loop over number of columns    
-             * to the right of the pilot element */
-            j = numCols - l;
-
-            while(j > 0u)
-            {
-              /* Exchange the row elements of the input matrix */
-              Xchg = *pInT2;
-              *pInT2++ = *pInT1;
-              *pInT1++ = Xchg;
-
-              /* Decrement the loop counter */
-              j--;
-            }
-
-            /* Loop over number of columns of the destination matrix */
-            j = numCols;
-
-            while(j > 0u)
-            {
-              /* Exchange the row elements of the destination matrix */
-              Xchg = *pInT4;
-              *pInT4++ = *pInT3;
-              *pInT3++ = Xchg;
-
-              /* Decrement the loop counter */
-              j--;
-            }
-
-            /* Flag to indicate whether exchange is done or not */
-            flag = 1u;
-
-            /* Break after exchange is done */
-            break;
-          }
-
-          /* Update the destination pointer modifier */
-          k++;
-
-          /* Decrement the loop counter */
-          i--;
-        }
-      }
-
-      /* Update the status if the matrix is singular */
-      if((flag != 1u) && (in == 0.0f))
-      {
-        status = ARM_MATH_SINGULAR;
-
-        break;
-      }
-
-      /* Points to the pivot row of input and destination matrices */
-      pPivotRowIn = pIn + (l * numCols);
-      pPivotRowDst = pOut + (l * numCols);
-
-      /* Temporary pointers to the pivot row pointers */
-      pInT1 = pPivotRowIn;
-      pInT2 = pPivotRowDst;
-
-      /* Pivot element of the row */
-      in = *(pIn + (l * numCols));
-
-      /* Loop over number of columns    
-       * to the right of the pilot element */
-      j = (numCols - l);
-
-      while(j > 0u)
-      {
-        /* Divide each element of the row of the input matrix    
-         * by the pivot element */
-        in1 = *pInT1;
-        *pInT1++ = in1 / in;
-
-        /* Decrement the loop counter */
-        j--;
-      }
-
-      /* Loop over number of columns of the destination matrix */
-      j = numCols;
-
-      while(j > 0u)
-      {
-        /* Divide each element of the row of the destination matrix    
-         * by the pivot element */
-        in1 = *pInT2;
-        *pInT2++ = in1 / in;
-
-        /* Decrement the loop counter */
-        j--;
-      }
-
-      /* Replace the rows with the sum of that row and a multiple of row i    
-       * so that each new element in column i above row i is zero.*/
-
-      /* Temporary pointers for input and destination matrices */
-      pInT1 = pIn;
-      pInT2 = pOut;
-
-      /* index used to check for pivot element */
-      i = 0u;
-
-      /* Loop over number of rows */
-      /*  to be replaced by the sum of that row and a multiple of row i */
-      k = numRows;
-
-      while(k > 0u)
-      {
-        /* Check for the pivot element */
-        if(i == l)
-        {
-          /* If the processing element is the pivot element,    
-             only the columns to the right are to be processed */
-          pInT1 += numCols - l;
-
-          pInT2 += numCols;
-        }
-        else
-        {
-          /* Element of the reference row */
-          in = *pInT1;
-
-          /* Working pointers for input and destination pivot rows */
-          pPRT_in = pPivotRowIn;
-          pPRT_pDst = pPivotRowDst;
-
-          /* Loop over the number of columns to the right of the pivot element,    
-             to replace the elements in the input matrix */
-          j = (numCols - l);
-
-          while(j > 0u)
-          {
-            /* Replace the element by the sum of that row    
-               and a multiple of the reference row  */
-            in1 = *pInT1;
-            *pInT1++ = in1 - (in * *pPRT_in++);
-
-            /* Decrement the loop counter */
-            j--;
-          }
-
-          /* Loop over the number of columns to    
-             replace the elements in the destination matrix */
-          j = numCols;
-
-          while(j > 0u)
-          {
-            /* Replace the element by the sum of that row    
-               and a multiple of the reference row  */
-            in1 = *pInT2;
-            *pInT2++ = in1 - (in * *pPRT_pDst++);
-
-            /* Decrement the loop counter */
-            j--;
-          }
-
-        }
-
-        /* Increment the temporary input pointer */
-        pInT1 = pInT1 + l;
-
-        /* Decrement the loop counter */
-        k--;
-
-        /* Increment the pivot index */
-        i++;
-      }
-
-      /* Increment the input pointer */
-      pIn++;
-
-      /* Decrement the loop counter */
-      loopCnt--;
-
-      /* Increment the index modifier */
-      l++;
-    }
-
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  float32_t Xchg, in = 0.0f;                     /* Temporary input values  */
-  uint32_t i, rowCnt, flag = 0u, j, loopCnt, k, l;      /* loop counters */
-  arm_status status;                             /* status of matrix inverse */
-
-#ifdef ARM_MATH_MATRIX_CHECK
-
-  /* Check for matrix mismatch condition */
-  if((pSrc->numRows != pSrc->numCols) || (pDst->numRows != pDst->numCols)
-     || (pSrc->numRows != pDst->numRows))
-  {
-    /* Set status as ARM_MATH_SIZE_MISMATCH */
-    status = ARM_MATH_SIZE_MISMATCH;
-  }
-  else
-#endif /*      #ifdef ARM_MATH_MATRIX_CHECK    */
-  {
-
-    /*--------------------------------------------------------------------------------------------------------------       
-	 * Matrix Inverse can be solved using elementary row operations.        
-	 *        
-	 *	Gauss-Jordan Method:       
-	 *	 	       
-	 *	   1. First combine the identity matrix and the input matrix separated by a bar to form an        
-	 *        augmented matrix as follows:        
-	 *				        _  _	      _	    _	   _   _         _	       _       
-	 *					   |  |  a11  a12  | | | 1   0  |   |       |  X11 X12  |         
-	 *					   |  |            | | |        |   |   =   |           |        
-	 *					   |_ |_ a21  a22 _| | |_0   1 _|  _|       |_ X21 X21 _|       
-	 *					          
-	 *		2. In our implementation, pDst Matrix is used as identity matrix.    
-	 *       
-	 *		3. Begin with the first row. Let i = 1.       
-	 *       
-	 *	    4. Check to see if the pivot for row i is zero.       
-	 *		   The pivot is the element of the main diagonal that is on the current row.       
-	 *		   For instance, if working with row i, then the pivot element is aii.       
-	 *		   If the pivot is zero, exchange that row with a row below it that does not        
-	 *		   contain a zero in column i. If this is not possible, then an inverse        
-	 *		   to that matrix does not exist.       
-	 *	       
-	 *	    5. Divide every element of row i by the pivot.       
-	 *	       
-	 *	    6. For every row below and  row i, replace that row with the sum of that row and        
-	 *		   a multiple of row i so that each new element in column i below row i is zero.       
-	 *	       
-	 *	    7. Move to the next row and column and repeat steps 2 through 5 until you have zeros       
-	 *		   for every element below and above the main diagonal.        
-	 *		   		          
-	 *		8. Now an identical matrix is formed to the left of the bar(input matrix, src).       
-	 *		   Therefore, the matrix to the right of the bar is our solution(dst matrix, dst).         
-	 *----------------------------------------------------------------------------------------------------------------*/
-
-    /* Working pointer for destination matrix */
-    pInT2 = pOut;
-
-    /* Loop over the number of rows */
-    rowCnt = numRows;
-
-    /* Making the destination matrix as identity matrix */
-    while(rowCnt > 0u)
-    {
-      /* Writing all zeroes in lower triangle of the destination matrix */
-      j = numRows - rowCnt;
-      while(j > 0u)
-      {
-        *pInT2++ = 0.0f;
-        j--;
-      }
-
-      /* Writing all ones in the diagonal of the destination matrix */
-      *pInT2++ = 1.0f;
-
-      /* Writing all zeroes in upper triangle of the destination matrix */
-      j = rowCnt - 1u;
-      while(j > 0u)
-      {
-        *pInT2++ = 0.0f;
-        j--;
-      }
-
-      /* Decrement the loop counter */
-      rowCnt--;
-    }
-
-    /* Loop over the number of columns of the input matrix.     
-       All the elements in each column are processed by the row operations */
-    loopCnt = numCols;
-
-    /* Index modifier to navigate through the columns */
-    l = 0u;
-    //for(loopCnt = 0u; loopCnt < numCols; loopCnt++)   
-    while(loopCnt > 0u)
-    {
-      /* Check if the pivot element is zero..    
-       * If it is zero then interchange the row with non zero row below.   
-       * If there is no non zero element to replace in the rows below,   
-       * then the matrix is Singular. */
-
-      /* Working pointer for the input matrix that points     
-       * to the pivot element of the particular row  */
-      pInT1 = pIn + (l * numCols);
-
-      /* Working pointer for the destination matrix that points     
-       * to the pivot element of the particular row  */
-      pInT3 = pOut + (l * numCols);
-
-      /* Temporary variable to hold the pivot value */
-      in = *pInT1;
-
-      /* Destination pointer modifier */
-      k = 1u;
-
-      /* Check if the pivot element is zero */
-      if(*pInT1 == 0.0f)
-      {
-        /* Loop over the number rows present below */
-        for (i = (l + 1u); i < numRows; i++)
-        {
-          /* Update the input and destination pointers */
-          pInT2 = pInT1 + (numCols * l);
-          pInT4 = pInT3 + (numCols * k);
-
-          /* Check if there is a non zero pivot element to     
-           * replace in the rows below */
-          if(*pInT2 != 0.0f)
-          {
-            /* Loop over number of columns     
-             * to the right of the pilot element */
-            for (j = 0u; j < (numCols - l); j++)
-            {
-              /* Exchange the row elements of the input matrix */
-              Xchg = *pInT2;
-              *pInT2++ = *pInT1;
-              *pInT1++ = Xchg;
-            }
-
-            for (j = 0u; j < numCols; j++)
-            {
-              Xchg = *pInT4;
-              *pInT4++ = *pInT3;
-              *pInT3++ = Xchg;
-            }
-
-            /* Flag to indicate whether exchange is done or not */
-            flag = 1u;
-
-            /* Break after exchange is done */
-            break;
-          }
-
-          /* Update the destination pointer modifier */
-          k++;
-        }
-      }
-
-      /* Update the status if the matrix is singular */
-      if((flag != 1u) && (in == 0.0f))
-      {
-        status = ARM_MATH_SINGULAR;
-
-        break;
-      }
-
-      /* Points to the pivot row of input and destination matrices */
-      pPivotRowIn = pIn + (l * numCols);
-      pPivotRowDst = pOut + (l * numCols);
-
-      /* Temporary pointers to the pivot row pointers */
-      pInT1 = pPivotRowIn;
-      pInT2 = pPivotRowDst;
-
-      /* Pivot element of the row */
-      in = *(pIn + (l * numCols));
-
-      /* Loop over number of columns     
-       * to the right of the pilot element */
-      for (j = 0u; j < (numCols - l); j++)
-      {
-        /* Divide each element of the row of the input matrix     
-         * by the pivot element */
-        *pInT1++ = *pInT1 / in;
-      }
-      for (j = 0u; j < numCols; j++)
-      {
-        /* Divide each element of the row of the destination matrix     
-         * by the pivot element */
-        *pInT2++ = *pInT2 / in;
-      }
-
-      /* Replace the rows with the sum of that row and a multiple of row i     
-       * so that each new element in column i above row i is zero.*/
-
-      /* Temporary pointers for input and destination matrices */
-      pInT1 = pIn;
-      pInT2 = pOut;
-
-      for (i = 0u; i < numRows; i++)
-      {
-        /* Check for the pivot element */
-        if(i == l)
-        {
-          /* If the processing element is the pivot element,     
-             only the columns to the right are to be processed */
-          pInT1 += numCols - l;
-          pInT2 += numCols;
-        }
-        else
-        {
-          /* Element of the reference row */
-          in = *pInT1;
-
-          /* Working pointers for input and destination pivot rows */
-          pPRT_in = pPivotRowIn;
-          pPRT_pDst = pPivotRowDst;
-
-          /* Loop over the number of columns to the right of the pivot element,     
-             to replace the elements in the input matrix */
-          for (j = 0u; j < (numCols - l); j++)
-          {
-            /* Replace the element by the sum of that row     
-               and a multiple of the reference row  */
-            *pInT1++ = *pInT1 - (in * *pPRT_in++);
-          }
-          /* Loop over the number of columns to     
-             replace the elements in the destination matrix */
-          for (j = 0u; j < numCols; j++)
-          {
-            /* Replace the element by the sum of that row     
-               and a multiple of the reference row  */
-            *pInT2++ = *pInT2 - (in * *pPRT_pDst++);
-          }
-
-        }
-        /* Increment the temporary input pointer */
-        pInT1 = pInT1 + l;
-      }
-      /* Increment the input pointer */
-      pIn++;
-
-      /* Decrement the loop counter */
-      loopCnt--;
-      /* Increment the index modifier */
-      l++;
-    }
-
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-    /* Set status as ARM_MATH_SUCCESS */
-    status = ARM_MATH_SUCCESS;
-
-    if((flag != 1u) && (in == 0.0f))
-    {
-      status = ARM_MATH_SINGULAR;
-    }
-  }
-  /* Return to application */
-  return (status);
-}
-
-/**    
- * @} end of MatrixInv group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_f32.c
deleted file mode 100644
index a2f513628..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_f32.c
+++ /dev/null
@@ -1,284 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_mat_mult_f32.c    
-*    
-* Description:  Floating-point matrix multiplication.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-*    
-* Version 0.0.5  2010/04/26     
-*    incorporated review comments and updated with latest CMSIS layer    
-*    
-* Version 0.0.3  2010/03/10     
-*    Initial version    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupMatrix    
- */
-
-/**    
- * @defgroup MatrixMult Matrix Multiplication    
- *    
- * Multiplies two matrices.    
- *    
- * \image html MatrixMultiplication.gif "Multiplication of two 3 x 3 matrices"    
-    
- * Matrix multiplication is only defined if the number of columns of the    
- * first matrix equals the number of rows of the second matrix.    
- * Multiplying an M x N matrix with an N x P matrix results    
- * in an M x P matrix.    
- * When matrix size checking is enabled, the functions check: (1) that the inner dimensions of    
- * pSrcA and pSrcB are equal; and (2) that the size of the output    
- * matrix equals the outer dimensions of pSrcA and pSrcB.    
- */
-
-
-/**    
- * @addtogroup MatrixMult    
- * @{    
- */
-
-/**    
- * @brief Floating-point matrix multiplication.    
- * @param[in]       *pSrcA points to the first input matrix structure    
- * @param[in]       *pSrcB points to the second input matrix structure    
- * @param[out]      *pDst points to output matrix structure    
- * @return     		The function returns either    
- * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.    
- */
-
-arm_status arm_mat_mult_f32(
-  const arm_matrix_instance_f32 * pSrcA,
-  const arm_matrix_instance_f32 * pSrcB,
-  arm_matrix_instance_f32 * pDst)
-{
-  float32_t *pIn1 = pSrcA->pData;                /* input data matrix pointer A */
-  float32_t *pIn2 = pSrcB->pData;                /* input data matrix pointer B */
-  float32_t *pInA = pSrcA->pData;                /* input data matrix pointer A  */
-  float32_t *pOut = pDst->pData;                 /* output data matrix pointer */
-  float32_t *px;                                 /* Temporary output data matrix pointer */
-  float32_t sum;                                 /* Accumulator */
-  uint16_t numRowsA = pSrcA->numRows;            /* number of rows of input matrix A */
-  uint16_t numColsB = pSrcB->numCols;            /* number of columns of input matrix B */
-  uint16_t numColsA = pSrcA->numCols;            /* number of columns of input matrix A */
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  float32_t in1, in2, in3, in4;
-  uint16_t col, i = 0u, j, row = numRowsA, colCnt;      /* loop counters */
-  arm_status status;                             /* status of matrix multiplication */
-
-#ifdef ARM_MATH_MATRIX_CHECK
-
-
-  /* Check for matrix mismatch condition */
-  if((pSrcA->numCols != pSrcB->numRows) ||
-     (pSrcA->numRows != pDst->numRows) || (pSrcB->numCols != pDst->numCols))
-  {
-
-    /* Set status as ARM_MATH_SIZE_MISMATCH */
-    status = ARM_MATH_SIZE_MISMATCH;
-  }
-  else
-#endif /*      #ifdef ARM_MATH_MATRIX_CHECK    */
-
-  {
-    /* The following loop performs the dot-product of each row in pSrcA with each column in pSrcB */
-    /* row loop */
-    do
-    {
-      /* Output pointer is set to starting address of the row being processed */
-      px = pOut + i;
-
-      /* For every row wise process, the column loop counter is to be initiated */
-      col = numColsB;
-
-      /* For every row wise process, the pIn2 pointer is set    
-       ** to the starting address of the pSrcB data */
-      pIn2 = pSrcB->pData;
-
-      j = 0u;
-
-      /* column loop */
-      do
-      {
-        /* Set the variable sum, that acts as accumulator, to zero */
-        sum = 0.0f;
-
-        /* Initiate the pointer pIn1 to point to the starting address of the column being processed */
-        pIn1 = pInA;
-
-        /* Apply loop unrolling and compute 4 MACs simultaneously. */
-        colCnt = numColsA >> 2u;
-
-        /* matrix multiplication        */
-        while(colCnt > 0u)
-        {
-          /* c(m,n) = a(1,1)*b(1,1) + a(1,2) * b(2,1) + .... + a(m,p)*b(p,n) */
-          in3 = *pIn2;
-          pIn2 += numColsB;
-          in1 = pIn1[0];
-          in2 = pIn1[1];
-          sum += in1 * in3;
-          in4 = *pIn2;
-          pIn2 += numColsB;
-          sum += in2 * in4;
-
-          in3 = *pIn2;
-          pIn2 += numColsB;
-          in1 = pIn1[2];
-          in2 = pIn1[3];
-          sum += in1 * in3;
-          in4 = *pIn2;
-          pIn2 += numColsB;
-          sum += in2 * in4;
-          pIn1 += 4u;
-
-          /* Decrement the loop count */
-          colCnt--;
-        }
-
-        /* If the columns of pSrcA is not a multiple of 4, compute any remaining MACs here.    
-         ** No loop unrolling is used. */
-        colCnt = numColsA % 0x4u;
-
-        while(colCnt > 0u)
-        {
-          /* c(m,n) = a(1,1)*b(1,1) + a(1,2) * b(2,1) + .... + a(m,p)*b(p,n) */
-          sum += *pIn1++ * (*pIn2);
-          pIn2 += numColsB;
-
-          /* Decrement the loop counter */
-          colCnt--;
-        }
-
-        /* Store the result in the destination buffer */
-        *px++ = sum;
-
-        /* Update the pointer pIn2 to point to the  starting address of the next column */
-        j++;
-        pIn2 = pSrcB->pData + j;
-
-        /* Decrement the column loop counter */
-        col--;
-
-      } while(col > 0u);
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  float32_t *pInB = pSrcB->pData;                /* input data matrix pointer B */
-  uint16_t col, i = 0u, row = numRowsA, colCnt;  /* loop counters */
-  arm_status status;                             /* status of matrix multiplication */
-
-#ifdef ARM_MATH_MATRIX_CHECK
-
-  /* Check for matrix mismatch condition */
-  if((pSrcA->numCols != pSrcB->numRows) ||
-     (pSrcA->numRows != pDst->numRows) || (pSrcB->numCols != pDst->numCols))
-  {
-
-    /* Set status as ARM_MATH_SIZE_MISMATCH */
-    status = ARM_MATH_SIZE_MISMATCH;
-  }
-  else
-#endif /*      #ifdef ARM_MATH_MATRIX_CHECK    */
-
-  {
-    /* The following loop performs the dot-product of each row in pInA with each column in pInB */
-    /* row loop */
-    do
-    {
-      /* Output pointer is set to starting address of the row being processed */
-      px = pOut + i;
-
-      /* For every row wise process, the column loop counter is to be initiated */
-      col = numColsB;
-
-      /* For every row wise process, the pIn2 pointer is set     
-       ** to the starting address of the pSrcB data */
-      pIn2 = pSrcB->pData;
-
-      /* column loop */
-      do
-      {
-        /* Set the variable sum, that acts as accumulator, to zero */
-        sum = 0.0f;
-
-        /* Initialize the pointer pIn1 to point to the starting address of the row being processed */
-        pIn1 = pInA;
-
-        /* Matrix A columns number of MAC operations are to be performed */
-        colCnt = numColsA;
-
-        while(colCnt > 0u)
-        {
-          /* c(m,n) = a(1,1)*b(1,1) + a(1,2) * b(2,1) + .... + a(m,p)*b(p,n) */
-          sum += *pIn1++ * (*pIn2);
-          pIn2 += numColsB;
-
-          /* Decrement the loop counter */
-          colCnt--;
-        }
-
-        /* Store the result in the destination buffer */
-        *px++ = sum;
-
-        /* Decrement the column loop counter */
-        col--;
-
-        /* Update the pointer pIn2 to point to the  starting address of the next column */
-        pIn2 = pInB + (numColsB - col);
-
-      } while(col > 0u);
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-      /* Update the pointer pInA to point to the  starting address of the next row */
-      i = i + numColsB;
-      pInA = pInA + numColsA;
-
-      /* Decrement the row loop counter */
-      row--;
-
-    } while(row > 0u);
-    /* Set status as ARM_MATH_SUCCESS */
-    status = ARM_MATH_SUCCESS;
-  }
-
-  /* Return to application */
-  return (status);
-}
-
-/**    
- * @} end of MatrixMult group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_fast_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_fast_q15.c
deleted file mode 100644
index a88e3cdd1..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_fast_q15.c
+++ /dev/null
@@ -1,361 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_mat_mult_fast_q15.c    
-*    
-* Description:	 Q15 matrix multiplication (fast variant)    
-*    
-* Target Processor: Cortex-M4/Cortex-M3
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupMatrix    
- */
-
-/**    
- * @addtogroup MatrixMult    
- * @{    
- */
-
-
-/**    
- * @brief Q15 matrix multiplication (fast variant) for Cortex-M3 and Cortex-M4    
- * @param[in]       *pSrcA points to the first input matrix structure    
- * @param[in]       *pSrcB points to the second input matrix structure    
- * @param[out]      *pDst points to output matrix structure    
- * @param[in]		*pState points to the array for storing intermediate results    
- * @return     		The function returns either    
- * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.    
- *    
- * @details    
- * Scaling and Overflow Behavior:    
- *    
- * \par    
- * The difference between the function arm_mat_mult_q15() and this fast variant is that    
- * the fast variant use a 32-bit rather than a 64-bit accumulator.    
- * The result of each 1.15 x 1.15 multiplication is truncated to        
- * 2.30 format. These intermediate results are accumulated in a 32-bit register in 2.30        
- * format. Finally, the accumulator is saturated and converted to a 1.15 result.        
- *        
- * \par        
- * The fast version has the same overflow behavior as the standard version but provides        
- * less precision since it discards the low 16 bits of each multiplication result.        
- * In order to avoid overflows completely the input signals must be scaled down.        
- * Scale down one of the input matrices by log2(numColsA) bits to        
- * avoid overflows, as a total of numColsA additions are computed internally for each        
- * output element.        
- *        
- * \par    
- * See arm_mat_mult_q15() for a slower implementation of this function    
- * which uses 64-bit accumulation to provide higher precision.    
- */
-
-arm_status arm_mat_mult_fast_q15(
-  const arm_matrix_instance_q15 * pSrcA,
-  const arm_matrix_instance_q15 * pSrcB,
-  arm_matrix_instance_q15 * pDst,
-  q15_t * pState)
-{
-  q31_t sum;                                     /* accumulator */
-  q15_t *pSrcBT = pState;                        /* input data matrix pointer for transpose */
-  q15_t *pInA = pSrcA->pData;                    /* input data matrix pointer A of Q15 type */
-  q15_t *pInB = pSrcB->pData;                    /* input data matrix pointer B of Q15 type */
-  q15_t *px;                                     /* Temporary output data matrix pointer */
-  uint16_t numRowsA = pSrcA->numRows;            /* number of rows of input matrix A    */
-  uint16_t numColsB = pSrcB->numCols;            /* number of columns of input matrix B */
-  uint16_t numColsA = pSrcA->numCols;            /* number of columns of input matrix A */
-  uint16_t numRowsB = pSrcB->numRows;            /* number of rows of input matrix A    */
-  uint16_t col, i = 0u, row = numRowsB, colCnt;  /* loop counters */
-  arm_status status;                             /* status of matrix multiplication */
-
-#ifndef UNALIGNED_SUPPORT_DISABLE
-
-  q31_t in;                                      /* Temporary variable to hold the input value */
-  q31_t inA1, inA2, inB1, inB2;
-
-#else
-
-  q15_t in;                                      /* Temporary variable to hold the input value */
-  q15_t inA1, inA2, inB1, inB2;
-
-#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
-
-#ifdef ARM_MATH_MATRIX_CHECK
-  /* Check for matrix mismatch condition */
-  if((pSrcA->numCols != pSrcB->numRows) ||
-     (pSrcA->numRows != pDst->numRows) || (pSrcB->numCols != pDst->numCols))
-  {
-    /* Set status as ARM_MATH_SIZE_MISMATCH */
-    status = ARM_MATH_SIZE_MISMATCH;
-  }
-  else
-#endif
-  {
-    /* Matrix transpose */
-    do
-    {
-      /* Apply loop unrolling and exchange the columns with row elements */
-      col = numColsB >> 2;
-
-      /* The pointer px is set to starting address of the column being processed */
-      px = pSrcBT + i;
-
-      /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.        
-       ** a second loop below computes the remaining 1 to 3 samples. */
-      while(col > 0u)
-      {
-#ifndef UNALIGNED_SUPPORT_DISABLE
-        /* Read two elements from the row */
-        in = *__SIMD32(pInB)++;
-
-        /* Unpack and store one element in the destination */
-#ifndef ARM_MATH_BIG_ENDIAN
-
-        *px = (q15_t) in;
-
-#else
-
-        *px = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
-
-#endif /*    #ifndef ARM_MATH_BIG_ENDIAN    */
-
-        /* Update the pointer px to point to the next row of the transposed matrix */
-        px += numRowsB;
-
-        /* Unpack and store the second element in the destination */
-#ifndef ARM_MATH_BIG_ENDIAN
-
-        *px = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
-
-#else
-
-        *px = (q15_t) in;
-
-#endif /*    #ifndef ARM_MATH_BIG_ENDIAN    */
-
-        /* Update the pointer px to point to the next row of the transposed matrix */
-        px += numRowsB;
-
-        /* Read two elements from the row */
-        in = *__SIMD32(pInB)++;
-
-        /* Unpack and store one element in the destination */
-#ifndef ARM_MATH_BIG_ENDIAN
-
-        *px = (q15_t) in;
-
-#else
-
-        *px = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
-
-#endif /*    #ifndef ARM_MATH_BIG_ENDIAN    */
-
-        /* Update the pointer px to point to the next row of the transposed matrix */
-        px += numRowsB;
-
-        /* Unpack and store the second element in the destination */
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-        *px = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
-
-#else
-
-        *px = (q15_t) in;
-
-#endif /*    #ifndef ARM_MATH_BIG_ENDIAN    */
-
-#else
-
-        /* Read one element from the row */
-        in = *pInB++;
-
-        /* Store one element in the destination */
-        *px = in;
- 
-        /* Update the pointer px to point to the next row of the transposed matrix */
-        px += numRowsB;
-
-        /* Read one element from the row */
-        in = *pInB++;
-
-        /* Store one element in the destination */
-        *px = in;
- 
-        /* Update the pointer px to point to the next row of the transposed matrix */
-        px += numRowsB;
-
-        /* Read one element from the row */
-        in = *pInB++;
-
-        /* Store one element in the destination */
-        *px = in;
- 
-        /* Update the pointer px to point to the next row of the transposed matrix */
-        px += numRowsB;
-
-        /* Read one element from the row */
-        in = *pInB++;
-
-        /* Store one element in the destination */
-        *px = in;
-
-#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
-        
-		/* Update the pointer px to point to the next row of the transposed matrix */
-        px += numRowsB;
-
-        /* Decrement the column loop counter */
-        col--;
-      }
-
-      /* If the columns of pSrcB is not a multiple of 4, compute any remaining output samples here.        
-       ** No loop unrolling is used. */
-      col = numColsB % 0x4u;
-
-      while(col > 0u)
-      {
-        /* Read and store the input element in the destination */
-        *px = *pInB++;
-
-        /* Update the pointer px to point to the next row of the transposed matrix */
-        px += numRowsB;
-
-        /* Decrement the column loop counter */
-        col--;
-      }
-
-      i++;
-
-      /* Decrement the row loop counter */
-      row--;
-
-    } while(row > 0u);
-
-    /* Reset the variables for the usage in the following multiplication process */
-    row = numRowsA;
-    i = 0u;
-    px = pDst->pData;
-
-    /* The following loop performs the dot-product of each row in pSrcA with each column in pSrcB */
-    /* row loop */
-    do
-    {
-      /* For every row wise process, the column loop counter is to be initiated */
-      col = numColsB;
-
-      /* For every row wise process, the pIn2 pointer is set        
-       ** to the starting address of the transposed pSrcB data */
-      pInB = pSrcBT;
-
-      /* column loop */
-      do
-      {
-        /* Set the variable sum, that acts as accumulator, to zero */
-        sum = 0;
-
-        /* Apply loop unrolling and compute 2 MACs simultaneously. */
-        colCnt = numColsA >> 2;
-
-        /* Initiate the pointer pIn1 to point to the starting address of the column being processed */
-        pInA = pSrcA->pData + i;
-
-        /* matrix multiplication */
-        while(colCnt > 0u)
-        {
-          /* c(m,n) = a(1,1)*b(1,1) + a(1,2) * b(2,1) + .... + a(m,p)*b(p,n) */
-#ifndef UNALIGNED_SUPPORT_DISABLE
-
-          inA1 = *__SIMD32(pInA)++;
-          inB1 = *__SIMD32(pInB)++;
-          inA2 = *__SIMD32(pInA)++;
-          inB2 = *__SIMD32(pInB)++;
-
-          sum = __SMLAD(inA1, inB1, sum);
-          sum = __SMLAD(inA2, inB2, sum);
-
-#else
-
-          inA1 = *pInA++;
-          inB1 = *pInB++;
-          inA2 = *pInA++;
-          sum += inA1 * inB1;
-          inB2 = *pInB++;
-
-          inA1 = *pInA++;
-          inB1 = *pInB++;
-          sum += inA2 * inB2;
-          inA2 = *pInA++;
-          inB2 = *pInB++;
-
-          sum += inA1 * inB1;
-          sum += inA2 * inB2;
-
-#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
-
-          /* Decrement the loop counter */
-          colCnt--;
-        }
-
-        /* process odd column samples */
-        colCnt = numColsA % 0x4u;
-
-        while(colCnt > 0u)
-        {
-          /* c(m,n) = a(1,1)*b(1,1) + a(1,2) * b(2,1) + .... + a(m,p)*b(p,n) */
-          sum += (q31_t) (*pInA++) * (*pInB++);
-
-          colCnt--;
-        }
-
-        /* Saturate and store the result in the destination buffer */
-        *px = (q15_t) (sum >> 15);
-        px++;
-
-        /* Decrement the column loop counter */
-        col--;
-
-      } while(col > 0u);
-
-      i = i + numColsA;
-
-      /* Decrement the row loop counter */
-      row--;
-
-    } while(row > 0u);
-
-    /* set status as ARM_MATH_SUCCESS */
-    status = ARM_MATH_SUCCESS;
-  }
-
-  /* Return to application */
-  return (status);
-}
-
-/**        
- * @} end of MatrixMult group        
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_fast_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_fast_q31.c
deleted file mode 100644
index 7fdbb1cb8..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_fast_q31.c
+++ /dev/null
@@ -1,218 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_mat_mult_fast_q31.c    
-*    
-* Description:	 Q31 matrix multiplication (fast variant).    
-*    
-* Target Processor: Cortex-M4/Cortex-M3
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupMatrix    
- */
-
-/**    
- * @addtogroup MatrixMult    
- * @{    
- */
-
-/**    
- * @brief Q31 matrix multiplication (fast variant) for Cortex-M3 and Cortex-M4    
- * @param[in]       *pSrcA points to the first input matrix structure    
- * @param[in]       *pSrcB points to the second input matrix structure    
- * @param[out]      *pDst points to output matrix structure    
- * @return     		The function returns either    
- * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.    
- *    
- * @details    
- * Scaling and Overflow Behavior:    
- *    
- * \par    
- * The difference between the function arm_mat_mult_q31() and this fast variant is that    
- * the fast variant use a 32-bit rather than a 64-bit accumulator.    
- * The result of each 1.31 x 1.31 multiplication is truncated to    
- * 2.30 format. These intermediate results are accumulated in a 32-bit register in 2.30    
- * format. Finally, the accumulator is saturated and converted to a 1.31 result.    
- *    
- * \par    
- * The fast version has the same overflow behavior as the standard version but provides    
- * less precision since it discards the low 32 bits of each multiplication result.    
- * In order to avoid overflows completely the input signals must be scaled down.    
- * Scale down one of the input matrices by log2(numColsA) bits to    
- * avoid overflows, as a total of numColsA additions are computed internally for each    
- * output element.    
- *    
- * \par    
- * See arm_mat_mult_q31() for a slower implementation of this function    
- * which uses 64-bit accumulation to provide higher precision.    
- */
-
-arm_status arm_mat_mult_fast_q31(
-  const arm_matrix_instance_q31 * pSrcA,
-  const arm_matrix_instance_q31 * pSrcB,
-  arm_matrix_instance_q31 * pDst)
-{
-  q31_t *pIn1 = pSrcA->pData;                    /* input data matrix pointer A */
-  q31_t *pIn2 = pSrcB->pData;                    /* input data matrix pointer B */
-  q31_t *pInA = pSrcA->pData;                    /* input data matrix pointer A */
-//  q31_t *pSrcB = pSrcB->pData;                    /* input data matrix pointer B */    
-  q31_t *pOut = pDst->pData;                     /* output data matrix pointer */
-  q31_t *px;                                     /* Temporary output data matrix pointer */
-  q31_t sum;                                     /* Accumulator */
-  uint16_t numRowsA = pSrcA->numRows;            /* number of rows of input matrix A    */
-  uint16_t numColsB = pSrcB->numCols;            /* number of columns of input matrix B */
-  uint16_t numColsA = pSrcA->numCols;            /* number of columns of input matrix A */
-  uint16_t col, i = 0u, j, row = numRowsA, colCnt;      /* loop counters */
-  arm_status status;                             /* status of matrix multiplication */
-  q31_t inA1, inA2, inA3, inA4, inB1, inB2, inB3, inB4;
-
-#ifdef ARM_MATH_MATRIX_CHECK
-
-
-  /* Check for matrix mismatch condition */
-  if((pSrcA->numCols != pSrcB->numRows) ||
-     (pSrcA->numRows != pDst->numRows) || (pSrcB->numCols != pDst->numCols))
-  {
-    /* Set status as ARM_MATH_SIZE_MISMATCH */
-    status = ARM_MATH_SIZE_MISMATCH;
-  }
-  else
-#endif /*      #ifdef ARM_MATH_MATRIX_CHECK    */
-
-  {
-    /* The following loop performs the dot-product of each row in pSrcA with each column in pSrcB */
-    /* row loop */
-    do
-    {
-      /* Output pointer is set to starting address of the row being processed */
-      px = pOut + i;
-
-      /* For every row wise process, the column loop counter is to be initiated */
-      col = numColsB;
-
-      /* For every row wise process, the pIn2 pointer is set    
-       ** to the starting address of the pSrcB data */
-      pIn2 = pSrcB->pData;
-
-      j = 0u;
-
-      /* column loop */
-      do
-      {
-        /* Set the variable sum, that acts as accumulator, to zero */
-        sum = 0;
-
-        /* Initiate the pointer pIn1 to point to the starting address of pInA */
-        pIn1 = pInA;
-
-        /* Apply loop unrolling and compute 4 MACs simultaneously. */
-        colCnt = numColsA >> 2;
-
-
-        /* matrix multiplication */
-        while(colCnt > 0u)
-        {
-          /* c(m,n) = a(1,1)*b(1,1) + a(1,2) * b(2,1) + .... + a(m,p)*b(p,n) */
-          /* Perform the multiply-accumulates */
-          inB1 = *pIn2;
-          pIn2 += numColsB;
-
-          inA1 = pIn1[0];
-          inA2 = pIn1[1];
-
-          inB2 = *pIn2;
-          pIn2 += numColsB;
-
-          inB3 = *pIn2;
-          pIn2 += numColsB;
-
-          sum = (q31_t) ((((q63_t) sum << 32) + ((q63_t) inA1 * inB1)) >> 32);
-          sum = (q31_t) ((((q63_t) sum << 32) + ((q63_t) inA2 * inB2)) >> 32);
-
-          inA3 = pIn1[2];
-          inA4 = pIn1[3];
-
-          inB4 = *pIn2;
-          pIn2 += numColsB;
-
-          sum = (q31_t) ((((q63_t) sum << 32) + ((q63_t) inA3 * inB3)) >> 32);
-          sum = (q31_t) ((((q63_t) sum << 32) + ((q63_t) inA4 * inB4)) >> 32);
-
-          pIn1 += 4u;
-
-          /* Decrement the loop counter */
-          colCnt--;
-        }
-
-        /* If the columns of pSrcA is not a multiple of 4, compute any remaining output samples here.    
-         ** No loop unrolling is used. */
-        colCnt = numColsA % 0x4u;
-
-        while(colCnt > 0u)
-        {
-          /* c(m,n) = a(1,1)*b(1,1) + a(1,2) * b(2,1) + .... + a(m,p)*b(p,n) */
-          /* Perform the multiply-accumulates */
-          sum = (q31_t) ((((q63_t) sum << 32) +
-                          ((q63_t) * pIn1++ * (*pIn2))) >> 32);
-          pIn2 += numColsB;
-
-          /* Decrement the loop counter */
-          colCnt--;
-        }
-
-        /* Convert the result from 2.30 to 1.31 format and store in destination buffer */
-        *px++ = sum << 1;
-
-        /* Update the pointer pIn2 to point to the  starting address of the next column */
-        j++;
-        pIn2 = pSrcB->pData + j;
-
-        /* Decrement the column loop counter */
-        col--;
-
-      } while(col > 0u);
-
-      /* Update the pointer pInA to point to the  starting address of the next row */
-      i = i + numColsB;
-      pInA = pInA + numColsA;
-
-      /* Decrement the row loop counter */
-      row--;
-
-    } while(row > 0u);
-
-    /* set status as ARM_MATH_SUCCESS */
-    status = ARM_MATH_SUCCESS;
-  }
-  /* Return to application */
-  return (status);
-}
-
-/**    
- * @} end of MatrixMult group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q15.c
deleted file mode 100644
index b48d204ed..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q15.c
+++ /dev/null
@@ -1,467 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_mat_mult_q15.c    
-*    
-* Description:	 Q15 matrix multiplication.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-*    
-* Version 0.0.5  2010/04/26     
-*    incorporated review comments and updated with latest CMSIS layer    
-*    
-* Version 0.0.3  2010/03/10     
-*    Initial version    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupMatrix    
- */
-
-/**    
- * @addtogroup MatrixMult    
- * @{    
- */
-
-
-/**    
- * @brief Q15 matrix multiplication    
- * @param[in]       *pSrcA points to the first input matrix structure    
- * @param[in]       *pSrcB points to the second input matrix structure    
- * @param[out]      *pDst points to output matrix structure    
- * @param[in]		*pState points to the array for storing intermediate results   
- * @return     		The function returns either    
- * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.    
- *    
- * @details    
- * Scaling and Overflow Behavior:    
- *    
- * \par    
- * The function is implemented using a 64-bit internal accumulator. The inputs to the    
- * multiplications are in 1.15 format and multiplications yield a 2.30 result.    
- * The 2.30 intermediate    
- * results are accumulated in a 64-bit accumulator in 34.30 format. This approach    
- * provides 33 guard bits and there is no risk of overflow. The 34.30 result is then    
- * truncated to 34.15 format by discarding the low 15 bits and then saturated to    
- * 1.15 format.    
- *    
- * \par    
- * Refer to arm_mat_mult_fast_q15() for a faster but less precise version of this function for Cortex-M3 and Cortex-M4.    
- *    
- */
-
-arm_status arm_mat_mult_q15(
-  const arm_matrix_instance_q15 * pSrcA,
-  const arm_matrix_instance_q15 * pSrcB,
-  arm_matrix_instance_q15 * pDst,
-  q15_t * pState)
-{
-  q63_t sum;                                     /* accumulator */
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  q15_t *pSrcBT = pState;                        /* input data matrix pointer for transpose */
-  q15_t *pInA = pSrcA->pData;                    /* input data matrix pointer A of Q15 type */
-  q15_t *pInB = pSrcB->pData;                    /* input data matrix pointer B of Q15 type */
-  q15_t *px;                                     /* Temporary output data matrix pointer */
-  uint16_t numRowsA = pSrcA->numRows;            /* number of rows of input matrix A    */
-  uint16_t numColsB = pSrcB->numCols;            /* number of columns of input matrix B */
-  uint16_t numColsA = pSrcA->numCols;            /* number of columns of input matrix A */
-  uint16_t numRowsB = pSrcB->numRows;            /* number of rows of input matrix A    */
-  uint16_t col, i = 0u, row = numRowsB, colCnt;  /* loop counters */
-  arm_status status;                             /* status of matrix multiplication */
-
-#ifndef UNALIGNED_SUPPORT_DISABLE
-
-  q31_t in;                                      /* Temporary variable to hold the input value */
-  q31_t pSourceA1, pSourceB1, pSourceA2, pSourceB2;
-
-#else
-
-  q15_t in;                                      /* Temporary variable to hold the input value */
-  q15_t inA1, inB1, inA2, inB2;
-
-#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
-
-#ifdef ARM_MATH_MATRIX_CHECK
-  /* Check for matrix mismatch condition */
-  if((pSrcA->numCols != pSrcB->numRows) ||
-     (pSrcA->numRows != pDst->numRows) || (pSrcB->numCols != pDst->numCols))
-  {
-    /* Set status as ARM_MATH_SIZE_MISMATCH */
-    status = ARM_MATH_SIZE_MISMATCH;
-  }
-  else
-#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */
-  {
-    /* Matrix transpose */
-    do
-    {
-      /* Apply loop unrolling and exchange the columns with row elements */
-      col = numColsB >> 2;
-
-      /* The pointer px is set to starting address of the column being processed */
-      px = pSrcBT + i;
-
-      /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.        
-       ** a second loop below computes the remaining 1 to 3 samples. */
-      while(col > 0u)
-      {
-#ifndef UNALIGNED_SUPPORT_DISABLE
-
-        /* Read two elements from the row */
-        in = *__SIMD32(pInB)++;
-
-        /* Unpack and store one element in the destination */
-#ifndef ARM_MATH_BIG_ENDIAN
-
-        *px = (q15_t) in;
-
-#else
-
-        *px = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
-
-#endif /*    #ifndef ARM_MATH_BIG_ENDIAN    */
-
-        /* Update the pointer px to point to the next row of the transposed matrix */
-        px += numRowsB;
-
-        /* Unpack and store the second element in the destination */
-#ifndef ARM_MATH_BIG_ENDIAN
-
-        *px = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
-
-#else
-
-        *px = (q15_t) in;
-
-#endif /*    #ifndef ARM_MATH_BIG_ENDIAN    */
-
-        /* Update the pointer px to point to the next row of the transposed matrix */
-        px += numRowsB;
-
-        /* Read two elements from the row */
-        in = *__SIMD32(pInB)++;
-
-        /* Unpack and store one element in the destination */
-#ifndef ARM_MATH_BIG_ENDIAN
-
-        *px = (q15_t) in;
-
-#else
-
-        *px = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
-
-#endif /*    #ifndef ARM_MATH_BIG_ENDIAN    */
-
-        /* Update the pointer px to point to the next row of the transposed matrix */
-        px += numRowsB;
-
-        /* Unpack and store the second element in the destination */
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-        *px = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
-
-#else
-
-        *px = (q15_t) in;
-
-#endif /*    #ifndef ARM_MATH_BIG_ENDIAN    */
-
-        /* Update the pointer px to point to the next row of the transposed matrix */
-        px += numRowsB;
-
-#else
-
-        /* Read one element from the row */
-        in = *pInB++;
-
-        /* Store one element in the destination */
-        *px = in;
- 
-        /* Update the pointer px to point to the next row of the transposed matrix */
-        px += numRowsB;
-
-        /* Read one element from the row */
-        in = *pInB++;
-
-        /* Store one element in the destination */
-        *px = in;
- 
-        /* Update the pointer px to point to the next row of the transposed matrix */
-        px += numRowsB;
-
-        /* Read one element from the row */
-        in = *pInB++;
-
-        /* Store one element in the destination */
-        *px = in;
- 
-        /* Update the pointer px to point to the next row of the transposed matrix */
-        px += numRowsB;
-
-        /* Read one element from the row */
-        in = *pInB++;
-
-        /* Store one element in the destination */
-        *px = in;
- 
-        /* Update the pointer px to point to the next row of the transposed matrix */
-        px += numRowsB;
-
-#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
-
-       /* Decrement the column loop counter */
-        col--;
-      }
-
-      /* If the columns of pSrcB is not a multiple of 4, compute any remaining output samples here.        
-       ** No loop unrolling is used. */
-      col = numColsB % 0x4u;
-
-      while(col > 0u)
-      {
-        /* Read and store the input element in the destination */
-        *px = *pInB++;
-
-        /* Update the pointer px to point to the next row of the transposed matrix */
-        px += numRowsB;
-
-        /* Decrement the column loop counter */
-        col--;
-      }
-
-      i++;
-
-      /* Decrement the row loop counter */
-      row--;
-
-    } while(row > 0u);
-
-    /* Reset the variables for the usage in the following multiplication process */
-    row = numRowsA;
-    i = 0u;
-    px = pDst->pData;
-
-    /* The following loop performs the dot-product of each row in pSrcA with each column in pSrcB */
-    /* row loop */
-    do
-    {
-      /* For every row wise process, the column loop counter is to be initiated */
-      col = numColsB;
-
-      /* For every row wise process, the pIn2 pointer is set        
-       ** to the starting address of the transposed pSrcB data */
-      pInB = pSrcBT;
-
-      /* column loop */
-      do
-      {
-        /* Set the variable sum, that acts as accumulator, to zero */
-        sum = 0;
-
-        /* Apply loop unrolling and compute 2 MACs simultaneously. */
-        colCnt = numColsA >> 2;
-
-        /* Initiate the pointer pIn1 to point to the starting address of the column being processed */
-        pInA = pSrcA->pData + i;
-
-
-        /* matrix multiplication */
-        while(colCnt > 0u)
-        {
-          /* c(m,n) = a(1,1)*b(1,1) + a(1,2) * b(2,1) + .... + a(m,p)*b(p,n) */
-#ifndef UNALIGNED_SUPPORT_DISABLE
-
-          /* read real and imag values from pSrcA and pSrcB buffer */
-          pSourceA1 = *__SIMD32(pInA)++;
-          pSourceB1 = *__SIMD32(pInB)++;
-
-          pSourceA2 = *__SIMD32(pInA)++;
-          pSourceB2 = *__SIMD32(pInB)++;
-
-          /* Multiply and Accumlates */
-          sum = __SMLALD(pSourceA1, pSourceB1, sum);
-          sum = __SMLALD(pSourceA2, pSourceB2, sum);
-
-#else
-          /* read real and imag values from pSrcA and pSrcB buffer */
-          inA1 = *pInA++;
-          inB1 = *pInB++;
-          inA2 = *pInA++;
-          /* Multiply and Accumlates */
-          sum += inA1 * inB1;
-          inB2 = *pInB++;
-
-          inA1 = *pInA++;
-          inB1 = *pInB++;
-          /* Multiply and Accumlates */
-          sum += inA2 * inB2;
-          inA2 = *pInA++;
-          inB2 = *pInB++;
-
-          /* Multiply and Accumlates */
-          sum += inA1 * inB1;
-          sum += inA2 * inB2;
-
-#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
-
-          /* Decrement the loop counter */
-          colCnt--;
-        }
-
-        /* process remaining column samples */
-        colCnt = numColsA & 3u;
-
-        while(colCnt > 0u)
-        {
-          /* c(m,n) = a(1,1)*b(1,1) + a(1,2) * b(2,1) + .... + a(m,p)*b(p,n) */
-          sum += *pInA++ * *pInB++;
-
-          /* Decrement the loop counter */
-          colCnt--;
-        }
-
-        /* Saturate and store the result in the destination buffer */
-        *px = (q15_t) (__SSAT((sum >> 15), 16));
-        px++;
-
-        /* Decrement the column loop counter */
-        col--;
-
-      } while(col > 0u);
-
-      i = i + numColsA;
-
-      /* Decrement the row loop counter */
-      row--;
-
-    } while(row > 0u);
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  q15_t *pIn1 = pSrcA->pData;                    /* input data matrix pointer A */
-  q15_t *pIn2 = pSrcB->pData;                    /* input data matrix pointer B */
-  q15_t *pInA = pSrcA->pData;                    /* input data matrix pointer A of Q15 type */
-  q15_t *pInB = pSrcB->pData;                    /* input data matrix pointer B of Q15 type */
-  q15_t *pOut = pDst->pData;                     /* output data matrix pointer */
-  q15_t *px;                                     /* Temporary output data matrix pointer */
-  uint16_t numColsB = pSrcB->numCols;            /* number of columns of input matrix B */
-  uint16_t numColsA = pSrcA->numCols;            /* number of columns of input matrix A */
-  uint16_t numRowsA = pSrcA->numRows;            /* number of rows of input matrix A    */
-  uint16_t col, i = 0u, row = numRowsA, colCnt;  /* loop counters */
-  arm_status status;                             /* status of matrix multiplication */
-
-#ifdef ARM_MATH_MATRIX_CHECK
-
-  /* Check for matrix mismatch condition */
-  if((pSrcA->numCols != pSrcB->numRows) ||
-     (pSrcA->numRows != pDst->numRows) || (pSrcB->numCols != pDst->numCols))
-  {
-    /* Set status as ARM_MATH_SIZE_MISMATCH */
-    status = ARM_MATH_SIZE_MISMATCH;
-  }
-  else
-#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */
-
-  {
-    /* The following loop performs the dot-product of each row in pSrcA with each column in pSrcB */
-    /* row loop */
-    do
-    {
-      /* Output pointer is set to starting address of the row being processed */
-      px = pOut + i;
-
-      /* For every row wise process, the column loop counter is to be initiated */
-      col = numColsB;
-
-      /* For every row wise process, the pIn2 pointer is set          
-       ** to the starting address of the pSrcB data */
-      pIn2 = pSrcB->pData;
-
-      /* column loop */
-      do
-      {
-        /* Set the variable sum, that acts as accumulator, to zero */
-        sum = 0;
-
-        /* Initiate the pointer pIn1 to point to the starting address of pSrcA */
-        pIn1 = pInA;
-
-        /* Matrix A columns number of MAC operations are to be performed */
-        colCnt = numColsA;
-
-        /* matrix multiplication */
-        while(colCnt > 0u)
-        {
-          /* c(m,n) = a(1,1)*b(1,1) + a(1,2) * b(2,1) + .... + a(m,p)*b(p,n) */
-          /* Perform the multiply-accumulates */
-          sum += (q31_t) * pIn1++ * *pIn2;
-          pIn2 += numColsB;
-
-          /* Decrement the loop counter */
-          colCnt--;
-        }
-
-        /* Convert the result from 34.30 to 1.15 format and store the saturated value in destination buffer */
-        /* Saturate and store the result in the destination buffer */
-        *px++ = (q15_t) __SSAT((sum >> 15), 16);
-
-        /* Decrement the column loop counter */
-        col--;
-
-        /* Update the pointer pIn2 to point to the  starting address of the next column */
-        pIn2 = pInB + (numColsB - col);
-
-      } while(col > 0u);
-
-      /* Update the pointer pSrcA to point to the  starting address of the next row */
-      i = i + numColsB;
-      pInA = pInA + numColsA;
-
-      /* Decrement the row loop counter */
-      row--;
-
-    } while(row > 0u);
-
-#endif /* #ifndef ARM_MATH_CM0 */
-    /* set status as ARM_MATH_SUCCESS */
-    status = ARM_MATH_SUCCESS;
-  }
-
-  /* Return to application */
-  return (status);
-}
-
-/**        
- * @} end of MatrixMult group        
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q31.c
deleted file mode 100644
index eb7652204..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q31.c
+++ /dev/null
@@ -1,292 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_mat_mult_q31.c    
-*    
-* Description:	 Q31 matrix multiplication.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-*    
-* Version 0.0.5  2010/04/26     
-*    incorporated review comments and updated with latest CMSIS layer    
-*    
-* Version 0.0.3  2010/03/10     
-*    Initial version    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupMatrix    
- */
-
-/**    
- * @addtogroup MatrixMult    
- * @{    
- */
-
-/**    
- * @brief Q31 matrix multiplication    
- * @param[in]       *pSrcA points to the first input matrix structure    
- * @param[in]       *pSrcB points to the second input matrix structure    
- * @param[out]      *pDst points to output matrix structure    
- * @return     		The function returns either    
- * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.    
- *    
- * @details    
- * Scaling and Overflow Behavior:    
- *    
- * \par    
- * The function is implemented using an internal 64-bit accumulator.    
- * The accumulator has a 2.62 format and maintains full precision of the intermediate    
- * multiplication results but provides only a single guard bit. There is no saturation    
- * on intermediate additions. Thus, if the accumulator overflows it wraps around and    
- * distorts the result. The input signals should be scaled down to avoid intermediate    
- * overflows. The input is thus scaled down by log2(numColsA) bits    
- * to avoid overflows, as a total of numColsA additions are performed internally.    
- * The 2.62 accumulator is right shifted by 31 bits and saturated to 1.31 format to yield the final result.    
- *    
- * \par    
- * See arm_mat_mult_fast_q31() for a faster but less precise implementation of this function for Cortex-M3 and Cortex-M4.    
- *    
- */
-
-arm_status arm_mat_mult_q31(
-  const arm_matrix_instance_q31 * pSrcA,
-  const arm_matrix_instance_q31 * pSrcB,
-  arm_matrix_instance_q31 * pDst)
-{
-  q31_t *pIn1 = pSrcA->pData;                    /* input data matrix pointer A */
-  q31_t *pIn2 = pSrcB->pData;                    /* input data matrix pointer B */
-  q31_t *pInA = pSrcA->pData;                    /* input data matrix pointer A */
-  q31_t *pOut = pDst->pData;                     /* output data matrix pointer */
-  q31_t *px;                                     /* Temporary output data matrix pointer */
-  q63_t sum;                                     /* Accumulator */
-  uint16_t numRowsA = pSrcA->numRows;            /* number of rows of input matrix A    */
-  uint16_t numColsB = pSrcB->numCols;            /* number of columns of input matrix B */
-  uint16_t numColsA = pSrcA->numCols;            /* number of columns of input matrix A */
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  uint16_t col, i = 0u, j, row = numRowsA, colCnt;      /* loop counters */
-  arm_status status;                             /* status of matrix multiplication */
-  q31_t a0, a1, a2, a3, b0, b1, b2, b3;
-
-#ifdef ARM_MATH_MATRIX_CHECK
-
-
-  /* Check for matrix mismatch condition */
-  if((pSrcA->numCols != pSrcB->numRows) ||
-     (pSrcA->numRows != pDst->numRows) || (pSrcB->numCols != pDst->numCols))
-  {
-    /* Set status as ARM_MATH_SIZE_MISMATCH */
-    status = ARM_MATH_SIZE_MISMATCH;
-  }
-  else
-#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */
-
-  {
-    /* The following loop performs the dot-product of each row in pSrcA with each column in pSrcB */
-    /* row loop */
-    do
-    {
-      /* Output pointer is set to starting address of the row being processed */
-      px = pOut + i;
-
-      /* For every row wise process, the column loop counter is to be initiated */
-      col = numColsB;
-
-      /* For every row wise process, the pIn2 pointer is set    
-       ** to the starting address of the pSrcB data */
-      pIn2 = pSrcB->pData;
-
-      j = 0u;
-
-      /* column loop */
-      do
-      {
-        /* Set the variable sum, that acts as accumulator, to zero */
-        sum = 0;
-
-        /* Initiate the pointer pIn1 to point to the starting address of pInA */
-        pIn1 = pInA;
-
-        /* Apply loop unrolling and compute 4 MACs simultaneously. */
-        colCnt = numColsA >> 2;
-
-
-        /* matrix multiplication */
-        while(colCnt > 0u)
-        {
-          /* c(m,n) = a(1,1)*b(1,1) + a(1,2) * b(2,1) + .... + a(m,p)*b(p,n) */
-          /* Perform the multiply-accumulates */
-          b0 = *pIn2;
-          pIn2 += numColsB;
-
-          a0 = *pIn1++;
-          a1 = *pIn1++;
-
-          b1 = *pIn2;
-          pIn2 += numColsB;
-          b2 = *pIn2;
-          pIn2 += numColsB;
-
-          sum += (q63_t) a0 *b0;
-          sum += (q63_t) a1 *b1;
-
-          a2 = *pIn1++;
-          a3 = *pIn1++;
-
-          b3 = *pIn2;
-          pIn2 += numColsB;
-
-          sum += (q63_t) a2 *b2;
-          sum += (q63_t) a3 *b3;
-
-          /* Decrement the loop counter */
-          colCnt--;
-        }
-
-        /* If the columns of pSrcA is not a multiple of 4, compute any remaining output samples here.    
-         ** No loop unrolling is used. */
-        colCnt = numColsA % 0x4u;
-
-        while(colCnt > 0u)
-        {
-          /* c(m,n) = a(1,1)*b(1,1) + a(1,2) * b(2,1) + .... + a(m,p)*b(p,n) */
-          /* Perform the multiply-accumulates */
-          sum += (q63_t) * pIn1++ * *pIn2;
-          pIn2 += numColsB;
-
-          /* Decrement the loop counter */
-          colCnt--;
-        }
-
-        /* Convert the result from 2.62 to 1.31 format and store in destination buffer */
-        *px++ = (q31_t) (sum >> 31);
-
-        /* Update the pointer pIn2 to point to the  starting address of the next column */
-        j++;
-        pIn2 = (pSrcB->pData) + j;
-
-        /* Decrement the column loop counter */
-        col--;
-
-      } while(col > 0u);
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  q31_t *pInB = pSrcB->pData;                    /* input data matrix pointer B */
-  uint16_t col, i = 0u, row = numRowsA, colCnt;  /* loop counters */
-  arm_status status;                             /* status of matrix multiplication */
-
-
-#ifdef ARM_MATH_MATRIX_CHECK
-
-  /* Check for matrix mismatch condition */
-  if((pSrcA->numCols != pSrcB->numRows) ||
-     (pSrcA->numRows != pDst->numRows) || (pSrcB->numCols != pDst->numCols))
-  {
-    /* Set status as ARM_MATH_SIZE_MISMATCH */
-    status = ARM_MATH_SIZE_MISMATCH;
-  }
-  else
-#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */
-
-  {
-    /* The following loop performs the dot-product of each row in pSrcA with each column in pSrcB */
-    /* row loop */
-    do
-    {
-      /* Output pointer is set to starting address of the row being processed */
-      px = pOut + i;
-
-      /* For every row wise process, the column loop counter is to be initiated */
-      col = numColsB;
-
-      /* For every row wise process, the pIn2 pointer is set          
-       ** to the starting address of the pSrcB data */
-      pIn2 = pSrcB->pData;
-
-      /* column loop */
-      do
-      {
-        /* Set the variable sum, that acts as accumulator, to zero */
-        sum = 0;
-
-        /* Initiate the pointer pIn1 to point to the starting address of pInA */
-        pIn1 = pInA;
-
-        /* Matrix A columns number of MAC operations are to be performed */
-        colCnt = numColsA;
-
-        /* matrix multiplication */
-        while(colCnt > 0u)
-        {
-          /* c(m,n) = a(1,1)*b(1,1) + a(1,2) * b(2,1) + .... + a(m,p)*b(p,n) */
-          /* Perform the multiply-accumulates */
-          sum += (q63_t) * pIn1++ * *pIn2;
-          pIn2 += numColsB;
-
-          /* Decrement the loop counter */
-          colCnt--;
-        }
-
-        /* Convert the result from 2.62 to 1.31 format and store in destination buffer */
-        *px++ = (q31_t) (sum >> 31);
-
-        /* Decrement the column loop counter */
-        col--;
-
-        /* Update the pointer pIn2 to point to the  starting address of the next column */
-        pIn2 = pInB + (numColsB - col);
-
-      } while(col > 0u);
-
-#endif
-
-      /* Update the pointer pInA to point to the  starting address of the next row */
-      i = i + numColsB;
-      pInA = pInA + numColsA;
-
-      /* Decrement the row loop counter */
-      row--;
-
-    } while(row > 0u);
-
-    /* set status as ARM_MATH_SUCCESS */
-    status = ARM_MATH_SUCCESS;
-  }
-  /* Return to application */
-  return (status);
-}
-
-/**    
- * @} end of MatrixMult group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_f32.c
deleted file mode 100644
index e64cfd1d1..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_f32.c
+++ /dev/null
@@ -1,179 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:        arm_mat_scale_f32.c    
-*    
-* Description:	Multiplies a floating-point matrix by a scalar.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-*    
-* Version 0.0.5  2010/04/26     
-*    incorporated review comments and updated with latest CMSIS layer    
-*    
-* Version 0.0.3  2010/03/10     
-*    Initial version    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**        
- * @ingroup groupMatrix        
- */
-
-/**        
- * @defgroup MatrixScale Matrix Scale        
- *        
- * Multiplies a matrix by a scalar.  This is accomplished by multiplying each element in the        
- * matrix by the scalar.  For example:        
- * \image html MatrixScale.gif "Matrix Scaling of a 3 x 3 matrix"        
- *        
- * The function checks to make sure that the input and output matrices are of the same size.        
- *        
- * In the fixed-point Q15 and Q31 functions, scale is represented by        
- * a fractional multiplication scaleFract and an arithmetic shift shift.        
- * The shift allows the gain of the scaling operation to exceed 1.0.        
- * The overall scale factor applied to the fixed-point data is        
- * 
        
- *     scale = scaleFract * 2^shift.        
- * 
        
- */
-
-/**        
- * @addtogroup MatrixScale        
- * @{        
- */
-
-/**        
- * @brief Floating-point matrix scaling.        
- * @param[in]       *pSrc points to input matrix structure        
- * @param[in]       scale scale factor to be applied         
- * @param[out]      *pDst points to output matrix structure        
- * @return     		The function returns either ARM_MATH_SIZE_MISMATCH         
- * or ARM_MATH_SUCCESS based on the outcome of size checking.        
- *        
- */
-
-arm_status arm_mat_scale_f32(
-  const arm_matrix_instance_f32 * pSrc,
-  float32_t scale,
-  arm_matrix_instance_f32 * pDst)
-{
-  float32_t *pIn = pSrc->pData;                  /* input data matrix pointer */
-  float32_t *pOut = pDst->pData;                 /* output data matrix pointer */
-  uint32_t numSamples;                           /* total number of elements in the matrix */
-  uint32_t blkCnt;                               /* loop counters */
-  arm_status status;                             /* status of matrix scaling     */
-
-#ifndef ARM_MATH_CM0
-
-  float32_t in1, in2, in3, in4;                  /* temporary variables */
-  float32_t out1, out2, out3, out4;              /* temporary variables */
-
-#endif //      #ifndef ARM_MATH_CM0
-
-#ifdef ARM_MATH_MATRIX_CHECK
-  /* Check for matrix mismatch condition */
-  if((pSrc->numRows != pDst->numRows) || (pSrc->numCols != pDst->numCols))
-  {
-    /* Set status as ARM_MATH_SIZE_MISMATCH */
-    status = ARM_MATH_SIZE_MISMATCH;
-  }
-  else
-#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */
-  {
-    /* Total number of samples in the input matrix */
-    numSamples = (uint32_t) pSrc->numRows * pSrc->numCols;
-
-#ifndef ARM_MATH_CM0
-
-    /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-    /* Loop Unrolling */
-    blkCnt = numSamples >> 2;
-
-    /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-     ** a second loop below computes the remaining 1 to 3 samples. */
-    while(blkCnt > 0u)
-    {
-      /* C(m,n) = A(m,n) * scale */
-      /* Scaling and results are stored in the destination buffer. */
-      in1 = pIn[0];
-      in2 = pIn[1];
-      in3 = pIn[2];
-      in4 = pIn[3];
-
-      out1 = in1 * scale;
-      out2 = in2 * scale;
-      out3 = in3 * scale;
-      out4 = in4 * scale;
-
-
-      pOut[0] = out1;
-      pOut[1] = out2;
-      pOut[2] = out3;
-      pOut[3] = out4;
-
-      /* update pointers to process next sampels */
-      pIn += 4u;
-      pOut += 4u;
-
-      /* Decrement the numSamples loop counter */
-      blkCnt--;
-    }
-
-    /* If the numSamples is not a multiple of 4, compute any remaining output samples here.    
-     ** No loop unrolling is used. */
-    blkCnt = numSamples % 0x4u;
-
-#else
-
-    /* Run the below code for Cortex-M0 */
-
-    /* Initialize blkCnt with number of samples */
-    blkCnt = numSamples;
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-    while(blkCnt > 0u)
-    {
-      /* C(m,n) = A(m,n) * scale */
-      /* The results are stored in the destination buffer. */
-      *pOut++ = (*pIn++) * scale;
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-
-    /* Set status as ARM_MATH_SUCCESS */
-    status = ARM_MATH_SUCCESS;
-  }
-
-  /* Return to application */
-  return (status);
-}
-
-/**        
- * @} end of MatrixScale group        
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_q15.c
deleted file mode 100644
index 58011254c..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_q15.c
+++ /dev/null
@@ -1,181 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_mat_scale_q15.c    
-*    
-* Description:	Multiplies a Q15 matrix by a scalar.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-*    
-* Version 0.0.5  2010/04/26     
-*    incorporated review comments and updated with latest CMSIS layer    
-*    
-* Version 0.0.3  2010/03/10     
-*    Initial version    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupMatrix    
- */
-
-/**    
- * @addtogroup MatrixScale    
- * @{    
- */
-
-/**    
- * @brief Q15 matrix scaling.    
- * @param[in]       *pSrc points to input matrix    
- * @param[in]       scaleFract fractional portion of the scale factor    
- * @param[in]       shift number of bits to shift the result by    
- * @param[out]      *pDst points to output matrix structure    
- * @return     		The function returns either    
- * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.    
- *    
- * @details    
- * Scaling and Overflow Behavior:    
- * \par    
- * The input data *pSrc and scaleFract are in 1.15 format.    
- * These are multiplied to yield a 2.30 intermediate result and this is shifted with saturation to 1.15 format.    
- */
-
-arm_status arm_mat_scale_q15(
-  const arm_matrix_instance_q15 * pSrc,
-  q15_t scaleFract,
-  int32_t shift,
-  arm_matrix_instance_q15 * pDst)
-{
-  q15_t *pIn = pSrc->pData;                      /* input data matrix pointer */
-  q15_t *pOut = pDst->pData;                     /* output data matrix pointer */
-  uint32_t numSamples;                           /* total number of elements in the matrix */
-  int32_t totShift = 15 - shift;                 /* total shift to apply after scaling */
-  uint32_t blkCnt;                               /* loop counters */
-  arm_status status;                             /* status of matrix scaling     */
-
-#ifndef ARM_MATH_CM0
-
-  q15_t in1, in2, in3, in4;
-  q31_t out1, out2, out3, out4;
-  q31_t inA1, inA2;
-
-#endif //     #ifndef ARM_MATH_CM0
-
-#ifdef ARM_MATH_MATRIX_CHECK
-  /* Check for matrix mismatch */
-  if((pSrc->numRows != pDst->numRows) || (pSrc->numCols != pDst->numCols))
-  {
-    /* Set status as ARM_MATH_SIZE_MISMATCH */
-    status = ARM_MATH_SIZE_MISMATCH;
-  }
-  else
-#endif //    #ifdef ARM_MATH_MATRIX_CHECK
-  {
-    /* Total number of samples in the input matrix */
-    numSamples = (uint32_t) pSrc->numRows * pSrc->numCols;
-
-#ifndef ARM_MATH_CM0
-
-    /* Run the below code for Cortex-M4 and Cortex-M3 */
-    /* Loop Unrolling */
-    blkCnt = numSamples >> 2;
-
-    /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-     ** a second loop below computes the remaining 1 to 3 samples. */
-    while(blkCnt > 0u)
-    {
-      /* C(m,n) = A(m,n) * k */
-      /* Scale, saturate and then store the results in the destination buffer. */
-      /* Reading 2 inputs from memory */
-      inA1 = _SIMD32_OFFSET(pIn);
-      inA2 = _SIMD32_OFFSET(pIn + 2);
-
-      /* C = A * scale */
-      /* Scale the inputs and then store the 2 results in the destination buffer        
-       * in single cycle by packing the outputs */
-      out1 = (q31_t) ((q15_t) (inA1 >> 16) * scaleFract);
-      out2 = (q31_t) ((q15_t) inA1 * scaleFract);
-      out3 = (q31_t) ((q15_t) (inA2 >> 16) * scaleFract);
-      out4 = (q31_t) ((q15_t) inA2 * scaleFract);
-
-      out1 = out1 >> totShift;
-      inA1 = _SIMD32_OFFSET(pIn + 4);
-      out2 = out2 >> totShift;
-      inA2 = _SIMD32_OFFSET(pIn + 6);
-      out3 = out3 >> totShift;
-      out4 = out4 >> totShift;
-
-      in1 = (q15_t) (__SSAT(out1, 16));
-      in2 = (q15_t) (__SSAT(out2, 16));
-      in3 = (q15_t) (__SSAT(out3, 16));
-      in4 = (q15_t) (__SSAT(out4, 16));
-
-      _SIMD32_OFFSET(pOut) = __PKHBT(in2, in1, 16);
-      _SIMD32_OFFSET(pOut + 2) = __PKHBT(in4, in3, 16);
-
-      /* update pointers to process next sampels */
-      pIn += 4u;
-      pOut += 4u;
-
-
-      /* Decrement the numSamples loop counter */
-      blkCnt--;
-    }
-
-    /* If the numSamples is not a multiple of 4, compute any remaining output samples here.        
-     ** No loop unrolling is used. */
-    blkCnt = numSamples % 0x4u;
-
-#else
-
-    /* Run the below code for Cortex-M0 */
-
-    /* Initialize blkCnt with number of samples */
-    blkCnt = numSamples;
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-    while(blkCnt > 0u)
-    {
-      /* C(m,n) = A(m,n) * k */
-      /* Scale, saturate and then store the results in the destination buffer. */
-      *pOut++ =
-        (q15_t) (__SSAT(((q31_t) (*pIn++) * scaleFract) >> totShift, 16));
-
-      /* Decrement the numSamples loop counter */
-      blkCnt--;
-    }
-    /* Set status as ARM_MATH_SUCCESS */
-    status = ARM_MATH_SUCCESS;
-  }
-
-  /* Return to application */
-  return (status);
-}
-
-/**        
- * @} end of MatrixScale group        
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_q31.c
deleted file mode 100644
index e5e124125..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_q31.c
+++ /dev/null
@@ -1,201 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_mat_scale_q31.c    
-*    
-* Description:	Multiplies a Q31 matrix by a scalar.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-*    
-* Version 0.0.5  2010/04/26     
-*    incorporated review comments and updated with latest CMSIS layer    
-*    
-* Version 0.0.3  2010/03/10     
-*    Initial version    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**        
- * @ingroup groupMatrix        
- */
-
-/**        
- * @addtogroup MatrixScale        
- * @{        
- */
-
-/**        
- * @brief Q31 matrix scaling.        
- * @param[in]       *pSrc points to input matrix        
- * @param[in]       scaleFract fractional portion of the scale factor        
- * @param[in]       shift number of bits to shift the result by        
- * @param[out]      *pDst points to output matrix structure        
- * @return     		The function returns either        
- * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.        
- *        
- * @details        
- * Scaling and Overflow Behavior:        
- * \par        
- * The input data *pSrc and scaleFract are in 1.31 format.        
- * These are multiplied to yield a 2.62 intermediate result and this is shifted with saturation to 1.31 format.        
- */
-
-arm_status arm_mat_scale_q31(
-  const arm_matrix_instance_q31 * pSrc,
-  q31_t scaleFract,
-  int32_t shift,
-  arm_matrix_instance_q31 * pDst)
-{
-  q31_t *pIn = pSrc->pData;                      /* input data matrix pointer */
-  q31_t *pOut = pDst->pData;                     /* output data matrix pointer */
-  uint32_t numSamples;                           /* total number of elements in the matrix */
-  int32_t totShift = shift + 1;                  /* shift to apply after scaling */
-  uint32_t blkCnt;                               /* loop counters  */
-  arm_status status;                             /* status of matrix scaling      */
-  q31_t in1, in2, out1;                          /* temporary variabels */
-
-#ifndef ARM_MATH_CM0
-
-  q31_t in3, in4, out2, out3, out4;              /* temporary variables */
-
-#endif //      #ifndef ARM_MAT_CM0
-
-#ifdef ARM_MATH_MATRIX_CHECK
-  /* Check for matrix mismatch  */
-  if((pSrc->numRows != pDst->numRows) || (pSrc->numCols != pDst->numCols))
-  {
-    /* Set status as ARM_MATH_SIZE_MISMATCH */
-    status = ARM_MATH_SIZE_MISMATCH;
-  }
-  else
-#endif //    #ifdef ARM_MATH_MATRIX_CHECK
-  {
-    /* Total number of samples in the input matrix */
-    numSamples = (uint32_t) pSrc->numRows * pSrc->numCols;
-
-#ifndef ARM_MATH_CM0
-
-    /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-    /* Loop Unrolling */
-    blkCnt = numSamples >> 2u;
-
-    /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-     ** a second loop below computes the remaining 1 to 3 samples. */
-    while(blkCnt > 0u)
-    {
-      /* C(m,n) = A(m,n) * k */
-      /* Read values from input */
-      in1 = *pIn;
-      in2 = *(pIn + 1);
-      in3 = *(pIn + 2);
-      in4 = *(pIn + 3);
-
-      /* multiply input with scaler value */
-      in1 = ((q63_t) in1 * scaleFract) >> 32;
-      in2 = ((q63_t) in2 * scaleFract) >> 32;
-      in3 = ((q63_t) in3 * scaleFract) >> 32;
-      in4 = ((q63_t) in4 * scaleFract) >> 32;
-
-      /* apply shifting */
-      out1 = in1 << totShift;
-      out2 = in2 << totShift;
-
-      /* saturate the results. */
-      if(in1 != (out1 >> totShift))
-        out1 = 0x7FFFFFFF ^ (in1 >> 31);
-
-      if(in2 != (out2 >> totShift))
-        out2 = 0x7FFFFFFF ^ (in2 >> 31);
-
-      out3 = in3 << totShift;
-      out4 = in4 << totShift;
-
-      *pOut = out1;
-      *(pOut + 1) = out2;
-
-      if(in3 != (out3 >> totShift))
-        out3 = 0x7FFFFFFF ^ (in3 >> 31);
-
-      if(in4 != (out4 >> totShift))
-        out4 = 0x7FFFFFFF ^ (in4 >> 31);
-
-
-      *(pOut + 2) = out3;
-      *(pOut + 3) = out4;
-
-      /* update pointers to process next sampels */
-      pIn += 4u;
-      pOut += 4u;
-
-
-      /* Decrement the numSamples loop counter */
-      blkCnt--;
-    }
-
-    /* If the numSamples is not a multiple of 4, compute any remaining output samples here.    
-     ** No loop unrolling is used. */
-    blkCnt = numSamples % 0x4u;
-
-#else
-
-    /* Run the below code for Cortex-M0 */
-
-    /* Initialize blkCnt with number of samples */
-    blkCnt = numSamples;
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-    while(blkCnt > 0u)
-    {
-      /* C(m,n) = A(m,n) * k */
-      /* Scale, saturate and then store the results in the destination buffer. */
-      in1 = *pIn++;
-
-      in2 = ((q63_t) in1 * scaleFract) >> 32;
-
-      out1 = in2 << totShift;
-
-      if(in2 != (out1 >> totShift))
-        out1 = 0x7FFFFFFF ^ (in2 >> 31);
-
-      *pOut++ = out1;
-
-      /* Decrement the numSamples loop counter */
-      blkCnt--;
-    }
-
-    /* Set status as ARM_MATH_SUCCESS */
-    status = ARM_MATH_SUCCESS;
-  }
-
-  /* Return to application */
-  return (status);
-}
-
-/**        
- * @} end of MatrixScale group        
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_f32.c
deleted file mode 100644
index 3544d8e82..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_f32.c
+++ /dev/null
@@ -1,207 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_mat_sub_f32.c    
-*    
-* Description:	Floating-point matrix subtraction.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-*    
-* Version 0.0.5  2010/04/26     
-*    incorporated review comments and updated with latest CMSIS layer    
-*    
-* Version 0.0.3  2010/03/10     
-*    Initial version    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**        
- * @ingroup groupMatrix        
- */
-
-/**        
- * @defgroup MatrixSub Matrix Subtraction        
- *        
- * Subtract two matrices.        
- * \image html MatrixSubtraction.gif "Subraction of two 3 x 3 matrices"        
- *        
- * The functions check to make sure that        
- * pSrcA, pSrcB, and pDst have the same        
- * number of rows and columns.        
- */
-
-/**        
- * @addtogroup MatrixSub        
- * @{        
- */
-
-/**        
- * @brief Floating-point matrix subtraction        
- * @param[in]       *pSrcA points to the first input matrix structure        
- * @param[in]       *pSrcB points to the second input matrix structure        
- * @param[out]      *pDst points to output matrix structure        
- * @return     		The function returns either        
- * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.        
- */
-
-arm_status arm_mat_sub_f32(
-  const arm_matrix_instance_f32 * pSrcA,
-  const arm_matrix_instance_f32 * pSrcB,
-  arm_matrix_instance_f32 * pDst)
-{
-  float32_t *pIn1 = pSrcA->pData;                /* input data matrix pointer A */
-  float32_t *pIn2 = pSrcB->pData;                /* input data matrix pointer B */
-  float32_t *pOut = pDst->pData;                 /* output data matrix pointer  */
-
-#ifndef ARM_MATH_CM0
-
-  float32_t inA1, inA2, inB1, inB2, out1, out2;  /* temporary variables */
-
-#endif //      #ifndef ARM_MATH_CM0
-
-  uint32_t numSamples;                           /* total number of elements in the matrix  */
-  uint32_t blkCnt;                               /* loop counters */
-  arm_status status;                             /* status of matrix subtraction */
-
-#ifdef ARM_MATH_MATRIX_CHECK
-  /* Check for matrix mismatch condition */
-  if((pSrcA->numRows != pSrcB->numRows) ||
-     (pSrcA->numCols != pSrcB->numCols) ||
-     (pSrcA->numRows != pDst->numRows) || (pSrcA->numCols != pDst->numCols))
-  {
-    /* Set status as ARM_MATH_SIZE_MISMATCH */
-    status = ARM_MATH_SIZE_MISMATCH;
-  }
-  else
-#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */
-  {
-    /* Total number of samples in the input matrix */
-    numSamples = (uint32_t) pSrcA->numRows * pSrcA->numCols;
-
-#ifndef ARM_MATH_CM0
-
-    /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-    /* Loop Unrolling */
-    blkCnt = numSamples >> 2u;
-
-    /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-     ** a second loop below computes the remaining 1 to 3 samples. */
-    while(blkCnt > 0u)
-    {
-      /* C(m,n) = A(m,n) - B(m,n) */
-      /* Subtract and then store the results in the destination buffer. */
-      /* Read values from source A */
-      inA1 = pIn1[0];
-
-      /* Read values from source B */
-      inB1 = pIn2[0];
-
-      /* Read values from source A */
-      inA2 = pIn1[1];
-
-      /* out = sourceA - sourceB */
-      out1 = inA1 - inB1;
-
-      /* Read values from source B */
-      inB2 = pIn2[1];
-
-      /* Read values from source A */
-      inA1 = pIn1[2];
-
-      /* out = sourceA - sourceB */
-      out2 = inA2 - inB2;
-
-      /* Read values from source B */
-      inB1 = pIn2[2];
-
-      /* Store result in destination */
-      pOut[0] = out1;
-      pOut[1] = out2;
-
-      /* Read values from source A */
-      inA2 = pIn1[3];
-
-      /* Read values from source B */
-      inB2 = pIn2[3];
-
-      /* out = sourceA - sourceB */
-      out1 = inA1 - inB1;
-
-
-      /* out = sourceA - sourceB */
-      out2 = inA2 - inB2;
-
-      /* Store result in destination */
-      pOut[2] = out1;
-
-      /* Store result in destination */
-      pOut[3] = out2;
-
-
-      /* update pointers to process next sampels */
-      pIn1 += 4u;
-      pIn2 += 4u;
-      pOut += 4u;
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-
-    /* If the numSamples is not a multiple of 4, compute any remaining output samples here.    
-     ** No loop unrolling is used. */
-    blkCnt = numSamples % 0x4u;
-
-#else
-
-    /* Run the below code for Cortex-M0 */
-
-    /* Initialize blkCnt with number of samples */
-    blkCnt = numSamples;
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-    while(blkCnt > 0u)
-    {
-      /* C(m,n) = A(m,n) - B(m,n) */
-      /* Subtract and then store the results in the destination buffer. */
-      *pOut++ = (*pIn1++) - (*pIn2++);
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-
-    /* Set status as ARM_MATH_SUCCESS */
-    status = ARM_MATH_SUCCESS;
-  }
-
-  /* Return to application */
-  return (status);
-}
-
-/**        
- * @} end of MatrixSub group        
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_q15.c
deleted file mode 100644
index 1857fd837..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_q15.c
+++ /dev/null
@@ -1,158 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_mat_sub_q15.c    
-*    
-* Description:	Q15 Matrix subtraction    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-*    
-* Version 0.0.5  2010/04/26     
-*    incorporated review comments and updated with latest CMSIS layer    
-*    
-* Version 0.0.3  2010/03/10     
-*    Initial version    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupMatrix    
- */
-
-/**    
- * @addtogroup MatrixSub    
- * @{    
- */
-
-/**    
- * @brief Q15 matrix subtraction.    
- * @param[in]       *pSrcA points to the first input matrix structure    
- * @param[in]       *pSrcB points to the second input matrix structure    
- * @param[out]      *pDst points to output matrix structure    
- * @return     		The function returns either    
- * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.    
- *    
- * Scaling and Overflow Behavior:    
- * \par    
- * The function uses saturating arithmetic.    
- * Results outside of the allowable Q15 range [0x8000 0x7FFF] will be saturated.    
- */
-
-arm_status arm_mat_sub_q15(
-  const arm_matrix_instance_q15 * pSrcA,
-  const arm_matrix_instance_q15 * pSrcB,
-  arm_matrix_instance_q15 * pDst)
-{
-  q15_t *pInA = pSrcA->pData;                    /* input data matrix pointer A */
-  q15_t *pInB = pSrcB->pData;                    /* input data matrix pointer B */
-  q15_t *pOut = pDst->pData;                     /* output data matrix pointer */
-  uint32_t numSamples;                           /* total number of elements in the matrix */
-  uint32_t blkCnt;                               /* loop counters  */
-  arm_status status;                             /* status of matrix subtraction  */
-
-
-#ifdef ARM_MATH_MATRIX_CHECK
-
-
-  /* Check for matrix mismatch condition */
-  if((pSrcA->numRows != pSrcB->numRows) ||
-     (pSrcA->numCols != pSrcB->numCols) ||
-     (pSrcA->numRows != pDst->numRows) || (pSrcA->numCols != pDst->numCols))
-  {
-    /* Set status as ARM_MATH_SIZE_MISMATCH */
-    status = ARM_MATH_SIZE_MISMATCH;
-  }
-  else
-#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */
-
-  {
-    /* Total number of samples in the input matrix */
-    numSamples = (uint32_t) pSrcA->numRows * pSrcA->numCols;
-
-#ifndef ARM_MATH_CM0
-
-    /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-    /* Apply loop unrolling */
-    blkCnt = numSamples >> 2u;
-
-    /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-     ** a second loop below computes the remaining 1 to 3 samples. */
-    while(blkCnt > 0u)
-    {
-      /* C(m,n) = A(m,n) - B(m,n) */
-      /* Subtract, Saturate and then store the results in the destination buffer. */
-      *__SIMD32(pOut)++ = __QSUB16(*__SIMD32(pInA)++, *__SIMD32(pInB)++);
-      *__SIMD32(pOut)++ = __QSUB16(*__SIMD32(pInA)++, *__SIMD32(pInB)++);
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-
-    /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
-     ** No loop unrolling is used. */
-    blkCnt = numSamples % 0x4u;
-
-    while(blkCnt > 0u)
-    {
-      /* C(m,n) = A(m,n) - B(m,n) */
-      /* Subtract and then store the results in the destination buffer. */
-      *pOut++ = (q15_t) __QSUB16(*pInA++, *pInB++);
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-
-#else
-
-    /* Run the below code for Cortex-M0 */
-
-    /* Initialize blkCnt with number of samples */
-    blkCnt = numSamples;
-
-    while(blkCnt > 0u)
-    {
-      /* C(m,n) = A(m,n) - B(m,n) */
-      /* Subtract and then store the results in the destination buffer. */
-      *pOut++ = (q15_t) __SSAT(((q31_t) * pInA++ - *pInB++), 16);
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-    /* Set status as ARM_MATH_SUCCESS */
-    status = ARM_MATH_SUCCESS;
-  }
-
-  /* Return to application */
-  return (status);
-}
-
-/**    
- * @} end of MatrixSub group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_q31.c
deleted file mode 100644
index 279fd7f7c..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_q31.c
+++ /dev/null
@@ -1,206 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_mat_sub_q31.c    
-*    
-* Description:	Q31 matrix subtraction    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-*    
-* Version 0.0.5  2010/04/26     
-*    incorporated review comments and updated with latest CMSIS layer    
-*    
-* Version 0.0.3  2010/03/10     
-*    Initial version    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**        
- * @ingroup groupMatrix        
- */
-
-/**        
- * @addtogroup MatrixSub        
- * @{        
- */
-
-/**        
- * @brief Q31 matrix subtraction.        
- * @param[in]       *pSrcA points to the first input matrix structure        
- * @param[in]       *pSrcB points to the second input matrix structure        
- * @param[out]      *pDst points to output matrix structure        
- * @return     		The function returns either        
- * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.        
- *        
- * Scaling and Overflow Behavior:        
- * \par        
- * The function uses saturating arithmetic.        
- * Results outside of the allowable Q31 range [0x80000000 0x7FFFFFFF] will be saturated.        
- */
-
-
-arm_status arm_mat_sub_q31(
-  const arm_matrix_instance_q31 * pSrcA,
-  const arm_matrix_instance_q31 * pSrcB,
-  arm_matrix_instance_q31 * pDst)
-{
-  q31_t *pIn1 = pSrcA->pData;                    /* input data matrix pointer A */
-  q31_t *pIn2 = pSrcB->pData;                    /* input data matrix pointer B */
-  q31_t *pOut = pDst->pData;                     /* output data matrix pointer */
-  q31_t inA1, inB1;                              /* temporary variables */
-
-#ifndef ARM_MATH_CM0
-
-  q31_t inA2, inB2;                              /* temporary variables */
-  q31_t out1, out2;                              /* temporary variables */
-
-#endif //      #ifndef ARM_MATH_CM0
-
-  uint32_t numSamples;                           /* total number of elements in the matrix  */
-  uint32_t blkCnt;                               /* loop counters */
-  arm_status status;                             /* status of matrix subtraction */
-
-
-#ifdef ARM_MATH_MATRIX_CHECK
-  /* Check for matrix mismatch condition  */
-  if((pSrcA->numRows != pSrcB->numRows) ||
-     (pSrcA->numCols != pSrcB->numCols) ||
-     (pSrcA->numRows != pDst->numRows) || (pSrcA->numCols != pDst->numCols))
-  {
-    /* Set status as ARM_MATH_SIZE_MISMATCH */
-    status = ARM_MATH_SIZE_MISMATCH;
-  }
-  else
-#endif
-  {
-    /* Total number of samples in the input matrix */
-    numSamples = (uint32_t) pSrcA->numRows * pSrcA->numCols;
-
-#ifndef ARM_MATH_CM0
-
-    /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-    /* Loop Unrolling */
-    blkCnt = numSamples >> 2u;
-
-    /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-     ** a second loop below computes the remaining 1 to 3 samples. */
-    while(blkCnt > 0u)
-    {
-      /* C(m,n) = A(m,n) - B(m,n) */
-      /* Subtract, saturate and then store the results in the destination buffer. */
-      /* Read values from source A */
-      inA1 = pIn1[0];
-
-      /* Read values from source B */
-      inB1 = pIn2[0];
-
-      /* Read values from source A */
-      inA2 = pIn1[1];
-
-      /* Subtract and saturate */
-      out1 = __QSUB(inA1, inB1);
-
-      /* Read values from source B */
-      inB2 = pIn2[1];
-
-      /* Read values from source A */
-      inA1 = pIn1[2];
-
-      /* Subtract and saturate */
-      out2 = __QSUB(inA2, inB2);
-
-      /* Read values from source B */
-      inB1 = pIn2[2];
-
-      /* Store result in destination */
-      pOut[0] = out1;
-      pOut[1] = out2;
-
-      /* Read values from source A */
-      inA2 = pIn1[3];
-
-      /* Read values from source B */
-      inB2 = pIn2[3];
-
-      /* Subtract and saturate */
-      out1 = __QSUB(inA1, inB1);
-
-      /* Subtract and saturate */
-      out2 = __QSUB(inA2, inB2);
-
-      /* Store result in destination */
-      pOut[2] = out1;
-      pOut[3] = out2;
-
-      /* update pointers to process next samples */
-      pIn1 += 4u;
-      pIn2 += 4u;
-      pOut += 4u;
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-
-    /* If the numSamples is not a multiple of 4, compute any remaining output samples here.        
-     ** No loop unrolling is used. */
-    blkCnt = numSamples % 0x4u;
-
-#else
-
-    /* Run the below code for Cortex-M0 */
-
-    /* Initialize blkCnt with number of samples */
-    blkCnt = numSamples;
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-    while(blkCnt > 0u)
-    {
-      /* C(m,n) = A(m,n) - B(m,n) */
-      /* Subtract, saturate and then store the results in the destination buffer. */
-      inA1 = *pIn1++;
-      inB1 = *pIn2++;
-
-      inA1 = __QSUB(inA1, inB1);
-
-      *pOut++ = inA1;
-
-      /* Decrement the loop counter */
-      blkCnt--;
-    }
-
-    /* Set status as ARM_MATH_SUCCESS */
-    status = ARM_MATH_SUCCESS;
-  }
-
-  /* Return to application */
-  return (status);
-}
-
-/**        
- * @} end of MatrixSub group        
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_f32.c
deleted file mode 100644
index 235028f5a..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_f32.c
+++ /dev/null
@@ -1,216 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_mat_trans_f32.c    
-*    
-* Description:	Floating-point matrix transpose.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-*    
-* Version 0.0.5  2010/04/26     
-*    incorporated review comments and updated with latest CMSIS layer    
-*    
-* Version 0.0.3  2010/03/10     
-*    Initial version    
-* -------------------------------------------------------------------- */
-
-/**    
- * @defgroup MatrixTrans Matrix Transpose    
- *    
- * Tranposes a matrix.    
- * Transposing an M x N matrix flips it around the center diagonal and results in an N x M matrix.    
- * \image html MatrixTranspose.gif "Transpose of a 3 x 3 matrix"    
- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupMatrix    
- */
-
-/**    
- * @addtogroup MatrixTrans    
- * @{    
- */
-
-/**    
-  * @brief Floating-point matrix transpose.    
-  * @param[in]  *pSrc points to the input matrix    
-  * @param[out] *pDst points to the output matrix    
-  * @return 	The function returns either  ARM_MATH_SIZE_MISMATCH    
-  * or ARM_MATH_SUCCESS based on the outcome of size checking.    
-  */
-
-
-arm_status arm_mat_trans_f32(
-  const arm_matrix_instance_f32 * pSrc,
-  arm_matrix_instance_f32 * pDst)
-{
-  float32_t *pIn = pSrc->pData;                  /* input data matrix pointer */
-  float32_t *pOut = pDst->pData;                 /* output data matrix pointer */
-  float32_t *px;                                 /* Temporary output data matrix pointer */
-  uint16_t nRows = pSrc->numRows;                /* number of rows */
-  uint16_t nColumns = pSrc->numCols;             /* number of columns */
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  uint16_t blkCnt, i = 0u, row = nRows;          /* loop counters */
-  arm_status status;                             /* status of matrix transpose  */
-
-
-#ifdef ARM_MATH_MATRIX_CHECK
-
-
-  /* Check for matrix mismatch condition */
-  if((pSrc->numRows != pDst->numCols) || (pSrc->numCols != pDst->numRows))
-  {
-    /* Set status as ARM_MATH_SIZE_MISMATCH */
-    status = ARM_MATH_SIZE_MISMATCH;
-  }
-  else
-#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */
-
-  {
-    /* Matrix transpose by exchanging the rows with columns */
-    /* row loop     */
-    do
-    {
-      /* Loop Unrolling */
-      blkCnt = nColumns >> 2;
-
-      /* The pointer px is set to starting address of the column being processed */
-      px = pOut + i;
-
-      /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-       ** a second loop below computes the remaining 1 to 3 samples. */
-      while(blkCnt > 0u)        /* column loop */
-      {
-        /* Read and store the input element in the destination */
-        *px = *pIn++;
-
-        /* Update the pointer px to point to the next row of the transposed matrix */
-        px += nRows;
-
-        /* Read and store the input element in the destination */
-        *px = *pIn++;
-
-        /* Update the pointer px to point to the next row of the transposed matrix */
-        px += nRows;
-
-        /* Read and store the input element in the destination */
-        *px = *pIn++;
-
-        /* Update the pointer px to point to the next row of the transposed matrix */
-        px += nRows;
-
-        /* Read and store the input element in the destination */
-        *px = *pIn++;
-
-        /* Update the pointer px to point to the next row of the transposed matrix */
-        px += nRows;
-
-        /* Decrement the column loop counter */
-        blkCnt--;
-      }
-
-      /* Perform matrix transpose for last 3 samples here. */
-      blkCnt = nColumns % 0x4u;
-
-      while(blkCnt > 0u)
-      {
-        /* Read and store the input element in the destination */
-        *px = *pIn++;
-
-        /* Update the pointer px to point to the next row of the transposed matrix */
-        px += nRows;
-
-        /* Decrement the column loop counter */
-        blkCnt--;
-      }
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  uint16_t col, i = 0u, row = nRows;             /* loop counters */
-  arm_status status;                             /* status of matrix transpose  */
-
-
-#ifdef ARM_MATH_MATRIX_CHECK
-
-  /* Check for matrix mismatch condition */
-  if((pSrc->numRows != pDst->numCols) || (pSrc->numCols != pDst->numRows))
-  {
-    /* Set status as ARM_MATH_SIZE_MISMATCH */
-    status = ARM_MATH_SIZE_MISMATCH;
-  }
-  else
-#endif /*      #ifdef ARM_MATH_MATRIX_CHECK    */
-
-  {
-    /* Matrix transpose by exchanging the rows with columns */
-    /* row loop     */
-    do
-    {
-      /* The pointer px is set to starting address of the column being processed */
-      px = pOut + i;
-
-      /* Initialize column loop counter */
-      col = nColumns;
-
-      while(col > 0u)
-      {
-        /* Read and store the input element in the destination */
-        *px = *pIn++;
-
-        /* Update the pointer px to point to the next row of the transposed matrix */
-        px += nRows;
-
-        /* Decrement the column loop counter */
-        col--;
-      }
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-      i++;
-
-      /* Decrement the row loop counter */
-      row--;
-
-    } while(row > 0u);          /* row loop end  */
-
-    /* Set status as ARM_MATH_SUCCESS */
-    status = ARM_MATH_SUCCESS;
-  }
-
-  /* Return to application */
-  return (status);
-}
-
-/**    
- * @} end of MatrixTrans group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_q15.c
deleted file mode 100644
index be9c78e00..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_q15.c
+++ /dev/null
@@ -1,282 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_mat_trans_q15.c    
-*    
-* Description:	Q15 matrix transpose.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-*    
-* Version 0.0.5  2010/04/26     
-*    incorporated review comments and updated with latest CMSIS layer    
-*    
-* Version 0.0.3  2010/03/10     
-*    Initial version    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupMatrix    
- */
-
-/**    
- * @addtogroup MatrixTrans    
- * @{    
- */
-
-/*    
- * @brief Q15 matrix transpose.    
- * @param[in]  *pSrc points to the input matrix    
- * @param[out] *pDst points to the output matrix    
- * @return 	The function returns either  ARM_MATH_SIZE_MISMATCH    
- * or ARM_MATH_SUCCESS based on the outcome of size checking.    
- */
-
-arm_status arm_mat_trans_q15(
-  const arm_matrix_instance_q15 * pSrc,
-  arm_matrix_instance_q15 * pDst)
-{
-  q15_t *pSrcA = pSrc->pData;                    /* input data matrix pointer */
-  q15_t *pOut = pDst->pData;                     /* output data matrix pointer */
-  uint16_t nRows = pSrc->numRows;                /* number of nRows */
-  uint16_t nColumns = pSrc->numCols;             /* number of nColumns */
-  uint16_t col, row = nRows, i = 0u;             /* row and column loop counters */
-  arm_status status;                             /* status of matrix transpose */
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-#ifndef UNALIGNED_SUPPORT_DISABLE
-
-  q31_t in;                                      /* variable to hold temporary output  */
-
-#else
-
-  q15_t in;
-
-#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
-
-#ifdef ARM_MATH_MATRIX_CHECK
-
-
-  /* Check for matrix mismatch condition */
-  if((pSrc->numRows != pDst->numCols) || (pSrc->numCols != pDst->numRows))
-  {
-    /* Set status as ARM_MATH_SIZE_MISMATCH */
-    status = ARM_MATH_SIZE_MISMATCH;
-  }
-  else
-#endif /*      #ifdef ARM_MATH_MATRIX_CHECK    */
-
-  {
-    /* Matrix transpose by exchanging the rows with columns */
-    /* row loop     */
-    do
-    {
-
-      /* Apply loop unrolling and exchange the columns with row elements */
-      col = nColumns >> 2u;
-
-      /* The pointer pOut is set to starting address of the column being processed */
-      pOut = pDst->pData + i;
-
-      /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-       ** a second loop below computes the remaining 1 to 3 samples. */
-      while(col > 0u)
-      {
-#ifndef UNALIGNED_SUPPORT_DISABLE
-
-        /* Read two elements from the row */
-        in = *__SIMD32(pSrcA)++;
-
-        /* Unpack and store one element in the destination */
-#ifndef ARM_MATH_BIG_ENDIAN
-
-        *pOut = (q15_t) in;
-
-#else
-
-        *pOut = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
-
-#endif /*    #ifndef ARM_MATH_BIG_ENDIAN    */
-
-        /* Update the pointer pOut to point to the next row of the transposed matrix */
-        pOut += nRows;
-
-        /* Unpack and store the second element in the destination */
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-        *pOut = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
-
-#else
-
-        *pOut = (q15_t) in;
-
-#endif /*    #ifndef ARM_MATH_BIG_ENDIAN    */
-
-        /* Update the pointer pOut to point to the next row of the transposed matrix */
-        pOut += nRows;
-
-        /* Read two elements from the row */
-#ifndef ARM_MATH_BIG_ENDIAN
-
-        in = *__SIMD32(pSrcA)++;
-
-#else
-
-        in = *__SIMD32(pSrcA)++;
-
-#endif /*    #ifndef ARM_MATH_BIG_ENDIAN    */
-
-        /* Unpack and store one element in the destination */
-#ifndef ARM_MATH_BIG_ENDIAN
-
-        *pOut = (q15_t) in;
-
-#else
-
-        *pOut = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
-
-#endif /*    #ifndef ARM_MATH_BIG_ENDIAN    */
-
-        /* Update the pointer pOut to point to the next row of the transposed matrix */
-        pOut += nRows;
-
-        /* Unpack and store the second element in the destination */
-#ifndef ARM_MATH_BIG_ENDIAN
-
-        *pOut = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
-
-#else
-
-        *pOut = (q15_t) in;
-
-#endif /*    #ifndef ARM_MATH_BIG_ENDIAN    */
-
-#else	 
-        /* Read one element from the row */
-        in = *pSrcA++;
-
-        /* Store one element in the destination */
-        *pOut = in;
- 
-        /* Update the pointer px to point to the next row of the transposed matrix */
-        pOut += nRows;
-
-        /* Read one element from the row */
-        in = *pSrcA++;
-
-        /* Store one element in the destination */
-        *pOut = in;
- 
-        /* Update the pointer px to point to the next row of the transposed matrix */
-        pOut += nRows;
-
-        /* Read one element from the row */
-        in = *pSrcA++;
-
-        /* Store one element in the destination */
-        *pOut = in;
- 
-        /* Update the pointer px to point to the next row of the transposed matrix */
-        pOut += nRows;
-
-        /* Read one element from the row */
-        in = *pSrcA++;
-
-        /* Store one element in the destination */
-        *pOut = in;
-
-#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
-
-        /* Update the pointer pOut to point to the next row of the transposed matrix */
-        pOut += nRows;
-
-        /* Decrement the column loop counter */
-        col--;
-      }
-
-      /* Perform matrix transpose for last 3 samples here. */
-      col = nColumns % 0x4u;
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-#ifdef ARM_MATH_MATRIX_CHECK
-
-  /* Check for matrix mismatch condition */
-  if((pSrc->numRows != pDst->numCols) || (pSrc->numCols != pDst->numRows))
-  {
-    /* Set status as ARM_MATH_SIZE_MISMATCH */
-    status = ARM_MATH_SIZE_MISMATCH;
-  }
-  else
-#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */
-
-  {
-    /* Matrix transpose by exchanging the rows with columns */
-    /* row loop     */
-    do
-    {
-      /* The pointer pOut is set to starting address of the column being processed */
-      pOut = pDst->pData + i;
-
-      /* Initialize column loop counter */
-      col = nColumns;
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-      while(col > 0u)
-      {
-        /* Read and store the input element in the destination */
-        *pOut = *pSrcA++;
-
-        /* Update the pointer pOut to point to the next row of the transposed matrix */
-        pOut += nRows;
-
-        /* Decrement the column loop counter */
-        col--;
-      }
-
-      i++;
-
-      /* Decrement the row loop counter */
-      row--;
-
-    } while(row > 0u);
-
-    /* set status as ARM_MATH_SUCCESS */
-    status = ARM_MATH_SUCCESS;
-  }
-  /* Return to application */
-  return (status);
-}
-
-/**    
- * @} end of MatrixTrans group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_q31.c
deleted file mode 100644
index 253a923d1..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_q31.c
+++ /dev/null
@@ -1,208 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_mat_trans_q31.c    
-*    
-* Description:	Q31 matrix transpose.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-*    
-* Version 0.0.5  2010/04/26     
-*    incorporated review comments and updated with latest CMSIS layer    
-*    
-* Version 0.0.3  2010/03/10     
-*    Initial version    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupMatrix    
- */
-
-/**    
- * @addtogroup MatrixTrans    
- * @{    
- */
-
-/*    
-  * @brief Q31 matrix transpose.    
-  * @param[in]  *pSrc points to the input matrix    
-  * @param[out] *pDst points to the output matrix    
-  * @return 	The function returns either  ARM_MATH_SIZE_MISMATCH    
-  * or ARM_MATH_SUCCESS based on the outcome of size checking.    
- */
-
-arm_status arm_mat_trans_q31(
-  const arm_matrix_instance_q31 * pSrc,
-  arm_matrix_instance_q31 * pDst)
-{
-  q31_t *pIn = pSrc->pData;                      /* input data matrix pointer  */
-  q31_t *pOut = pDst->pData;                     /* output data matrix pointer  */
-  q31_t *px;                                     /* Temporary output data matrix pointer */
-  uint16_t nRows = pSrc->numRows;                /* number of nRows */
-  uint16_t nColumns = pSrc->numCols;             /* number of nColumns  */
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  uint16_t blkCnt, i = 0u, row = nRows;          /* loop counters */
-  arm_status status;                             /* status of matrix transpose */
-
-
-#ifdef ARM_MATH_MATRIX_CHECK
-
-
-  /* Check for matrix mismatch condition */
-  if((pSrc->numRows != pDst->numCols) || (pSrc->numCols != pDst->numRows))
-  {
-    /* Set status as ARM_MATH_SIZE_MISMATCH */
-    status = ARM_MATH_SIZE_MISMATCH;
-  }
-  else
-#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */
-
-  {
-    /* Matrix transpose by exchanging the rows with columns */
-    /* row loop     */
-    do
-    {
-      /* Apply loop unrolling and exchange the columns with row elements */
-      blkCnt = nColumns >> 2u;
-
-      /* The pointer px is set to starting address of the column being processed */
-      px = pOut + i;
-
-      /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-       ** a second loop below computes the remaining 1 to 3 samples. */
-      while(blkCnt > 0u)
-      {
-        /* Read and store the input element in the destination */
-        *px = *pIn++;
-
-        /* Update the pointer px to point to the next row of the transposed matrix */
-        px += nRows;
-
-        /* Read and store the input element in the destination */
-        *px = *pIn++;
-
-        /* Update the pointer px to point to the next row of the transposed matrix */
-        px += nRows;
-
-        /* Read and store the input element in the destination */
-        *px = *pIn++;
-
-        /* Update the pointer px to point to the next row of the transposed matrix */
-        px += nRows;
-
-        /* Read and store the input element in the destination */
-        *px = *pIn++;
-
-        /* Update the pointer px to point to the next row of the transposed matrix */
-        px += nRows;
-
-        /* Decrement the column loop counter */
-        blkCnt--;
-      }
-
-      /* Perform matrix transpose for last 3 samples here. */
-      blkCnt = nColumns % 0x4u;
-
-      while(blkCnt > 0u)
-      {
-        /* Read and store the input element in the destination */
-        *px = *pIn++;
-
-        /* Update the pointer px to point to the next row of the transposed matrix */
-        px += nRows;
-
-        /* Decrement the column loop counter */
-        blkCnt--;
-      }
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  uint16_t col, i = 0u, row = nRows;             /* loop counters */
-  arm_status status;                             /* status of matrix transpose */
-
-
-#ifdef ARM_MATH_MATRIX_CHECK
-
-  /* Check for matrix mismatch condition */
-  if((pSrc->numRows != pDst->numCols) || (pSrc->numCols != pDst->numRows))
-  {
-    /* Set status as ARM_MATH_SIZE_MISMATCH */
-    status = ARM_MATH_SIZE_MISMATCH;
-  }
-  else
-#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */
-
-  {
-    /* Matrix transpose by exchanging the rows with columns */
-    /* row loop     */
-    do
-    {
-      /* The pointer px is set to starting address of the column being processed */
-      px = pOut + i;
-
-      /* Initialize column loop counter */
-      col = nColumns;
-
-      while(col > 0u)
-      {
-        /* Read and store the input element in the destination */
-        *px = *pIn++;
-
-        /* Update the pointer px to point to the next row of the transposed matrix */
-        px += nRows;
-
-        /* Decrement the column loop counter */
-        col--;
-      }
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-      i++;
-
-      /* Decrement the row loop counter */
-      row--;
-
-    }
-    while(row > 0u);            /* row loop end */
-
-    /* set status as ARM_MATH_SUCCESS */
-    status = ARM_MATH_SUCCESS;
-  }
-
-  /* Return to application */
-  return (status);
-}
-
-/**    
- * @} end of MatrixTrans group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_max_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_max_f32.c
deleted file mode 100644
index afd964885..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_max_f32.c
+++ /dev/null
@@ -1,178 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_max_f32.c    
-*    
-* Description:	Maximum value of a floating-point vector.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* ---------------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupStats    
- */
-
-/**    
- * @defgroup Max Maximum    
- *    
- * Computes the maximum value of an array of data.     
- * The function returns both the maximum value and its position within the array.     
- * There are separate functions for floating-point, Q31, Q15, and Q7 data types.    
- */
-
-/**    
- * @addtogroup Max    
- * @{    
- */
-
-
-/**    
- * @brief Maximum value of a floating-point vector.    
- * @param[in]       *pSrc points to the input vector    
- * @param[in]       blockSize length of the input vector    
- * @param[out]      *pResult maximum value returned here    
- * @param[out]      *pIndex index of maximum value returned here    
- * @return none.    
- */
-
-void arm_max_f32(
-  float32_t * pSrc,
-  uint32_t blockSize,
-  float32_t * pResult,
-  uint32_t * pIndex)
-{
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-  float32_t maxVal1, maxVal2, out;               /* Temporary variables to store the output value. */
-  uint32_t blkCnt, outIndex, count;              /* loop counter */
-
-  /* Initialise the count value. */
-  count = 0u;
-  /* Initialise the index value to zero. */
-  outIndex = 0u;
-  /* Load first input value that act as reference value for comparision */
-  out = *pSrc++;
-
-  /* Loop unrolling */
-  blkCnt = (blockSize - 1u) >> 2u;
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-  while(blkCnt > 0u)
-  {
-    /* Initialize maxVal to the next consecutive values one by one */
-    maxVal1 = *pSrc++;
-
-    maxVal2 = *pSrc++;
-
-    /* compare for the maximum value */
-    if(out < maxVal1)
-    {
-      /* Update the maximum value and its index */
-      out = maxVal1;
-      outIndex = count + 1u;
-    }
-
-    maxVal1 = *pSrc++;
-
-    /* compare for the maximum value */
-    if(out < maxVal2)
-    {
-      /* Update the maximum value and its index */
-      out = maxVal2;
-      outIndex = count + 2u;
-    }
-
-    maxVal2 = *pSrc++;
-
-    /* compare for the maximum value */
-    if(out < maxVal1)
-    {
-      /* Update the maximum value and its index */
-      out = maxVal1;
-      outIndex = count + 3u;
-    }
-
-    /* compare for the maximum value */
-    if(out < maxVal2)
-    {
-      /* Update the maximum value and its index */
-      out = maxVal2;
-      outIndex = count + 4u;
-    }
-
-    count += 4u;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* if (blockSize - 1u) is not multiple of 4 */
-  blkCnt = (blockSize - 1u) % 4u;
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-  float32_t maxVal1, out;                        /* Temporary variables to store the output value. */
-  uint32_t blkCnt, outIndex;                     /* loop counter */
-
-  /* Initialise the index value to zero. */
-  outIndex = 0u;
-  /* Load first input value that act as reference value for comparision */
-  out = *pSrc++;
-
-  blkCnt = (blockSize - 1u);
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-  while(blkCnt > 0u)
-  {
-    /* Initialize maxVal to the next consecutive values one by one */
-    maxVal1 = *pSrc++;
-
-    /* compare for the maximum value */
-    if(out < maxVal1)
-    {
-      /* Update the maximum value and it's index */
-      out = maxVal1;
-      outIndex = blockSize - blkCnt;
-    }
-
-
-    /* Decrement the loop counter */
-    blkCnt--;
-
-  }
-
-  /* Store the maximum value and it's index into destination pointers */
-  *pResult = out;
-  *pIndex = outIndex;
-}
-
-/**    
- * @} end of Max group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_max_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_max_q15.c
deleted file mode 100644
index 939b5236f..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_max_q15.c
+++ /dev/null
@@ -1,168 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_max_q15.c    
-*    
-* Description:	Maximum value of a Q15 vector.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* ---------------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupStats    
- */
-
-/**    
- * @addtogroup Max    
- * @{    
- */
-
-
-/**    
- * @brief Maximum value of a Q15 vector.    
- * @param[in]       *pSrc points to the input vector    
- * @param[in]       blockSize length of the input vector    
- * @param[out]      *pResult maximum value returned here    
- * @param[out]      *pIndex index of maximum value returned here    
- * @return none.    
- */
-
-void arm_max_q15(
-  q15_t * pSrc,
-  uint32_t blockSize,
-  q15_t * pResult,
-  uint32_t * pIndex)
-{
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-  q15_t maxVal1, maxVal2, out;                   /* Temporary variables to store the output value. */
-  uint32_t blkCnt, outIndex, count;              /* loop counter */
-
-  /* Initialise the count value. */
-  count = 0u;
-  /* Initialise the index value to zero. */
-  outIndex = 0u;
-  /* Load first input value that act as reference value for comparision */
-  out = *pSrc++;
-
-  /* Loop unrolling */
-  blkCnt = (blockSize - 1u) >> 2u;
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-  while(blkCnt > 0u)
-  {
-    /* Initialize maxVal to the next consecutive values one by one */
-    maxVal1 = *pSrc++;
-
-    maxVal2 = *pSrc++;
-
-    /* compare for the maximum value */
-    if(out < maxVal1)
-    {
-      /* Update the maximum value and its index */
-      out = maxVal1;
-      outIndex = count + 1u;
-    }
-
-    maxVal1 = *pSrc++;
-
-    /* compare for the maximum value */
-    if(out < maxVal2)
-    {
-      /* Update the maximum value and its index */
-      out = maxVal2;
-      outIndex = count + 2u;
-    }
-
-    maxVal2 = *pSrc++;
-
-    /* compare for the maximum value */
-    if(out < maxVal1)
-    {
-      /* Update the maximum value and its index */
-      out = maxVal1;
-      outIndex = count + 3u;
-    }
-
-    /* compare for the maximum value */
-    if(out < maxVal2)
-    {
-      /* Update the maximum value and its index */
-      out = maxVal2;
-      outIndex = count + 4u;
-    }
-
-    count += 4u;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* if (blockSize - 1u) is not multiple of 4 */
-  blkCnt = (blockSize - 1u) % 4u;
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-  q15_t maxVal1, out;                            /* Temporary variables to store the output value. */
-  uint32_t blkCnt, outIndex;                     /* loop counter */
-
-  blkCnt = (blockSize - 1u);
-
-  /* Initialise the index value to zero. */
-  outIndex = 0u;
-  /* Load first input value that act as reference value for comparision */
-  out = *pSrc++;
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-  while(blkCnt > 0u)
-  {
-    /* Initialize maxVal to the next consecutive values one by one */
-    maxVal1 = *pSrc++;
-
-    /* compare for the maximum value */
-    if(out < maxVal1)
-    {
-      /* Update the maximum value and it's index */
-      out = maxVal1;
-      outIndex = blockSize - blkCnt;
-    }
-    /* Decrement the loop counter */
-    blkCnt--;
-
-  }
-
-  /* Store the maximum value and its index into destination pointers */
-  *pResult = out;
-  *pIndex = outIndex;
-}
-
-/**    
- * @} end of Max group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_max_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_max_q31.c
deleted file mode 100644
index 18e757297..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_max_q31.c
+++ /dev/null
@@ -1,169 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_max_q31.c    
-*    
-* Description:	Maximum value of a Q31 vector.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* ---------------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupStats    
- */
-
-/**    
- * @addtogroup Max    
- * @{    
- */
-
-
-/**    
- * @brief Maximum value of a Q31 vector.    
- * @param[in]       *pSrc points to the input vector    
- * @param[in]       blockSize length of the input vector    
- * @param[out]      *pResult maximum value returned here    
- * @param[out]      *pIndex index of maximum value returned here    
- * @return none.    
- */
-
-void arm_max_q31(
-  q31_t * pSrc,
-  uint32_t blockSize,
-  q31_t * pResult,
-  uint32_t * pIndex)
-{
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-  q31_t maxVal1, maxVal2, out;                   /* Temporary variables to store the output value. */
-  uint32_t blkCnt, outIndex, count;              /* loop counter */
-
-  /* Initialise the count value. */
-  count = 0u;
-  /* Initialise the index value to zero. */
-  outIndex = 0u;
-  /* Load first input value that act as reference value for comparision */
-  out = *pSrc++;
-
-  /* Loop unrolling */
-  blkCnt = (blockSize - 1u) >> 2u;
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-  while(blkCnt > 0u)
-  {
-    /* Initialize maxVal to the next consecutive values one by one */
-    maxVal1 = *pSrc++;
-
-    maxVal2 = *pSrc++;
-
-    /* compare for the maximum value */
-    if(out < maxVal1)
-    {
-      /* Update the maximum value and its index */
-      out = maxVal1;
-      outIndex = count + 1u;
-    }
-
-    maxVal1 = *pSrc++;
-
-    /* compare for the maximum value */
-    if(out < maxVal2)
-    {
-      /* Update the maximum value and its index */
-      out = maxVal2;
-      outIndex = count + 2u;
-    }
-
-    maxVal2 = *pSrc++;
-
-    /* compare for the maximum value */
-    if(out < maxVal1)
-    {
-      /* Update the maximum value and its index */
-      out = maxVal1;
-      outIndex = count + 3u;
-    }
-
-    /* compare for the maximum value */
-    if(out < maxVal2)
-    {
-      /* Update the maximum value and its index */
-      out = maxVal2;
-      outIndex = count + 4u;
-    }
-
-    count += 4u;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* if (blockSize - 1u) is not multiple of 4 */
-  blkCnt = (blockSize - 1u) % 4u;
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-  q31_t maxVal1, out;                            /* Temporary variables to store the output value. */
-  uint32_t blkCnt, outIndex;                     /* loop counter */
-
-  /* Initialise the index value to zero. */
-  outIndex = 0u;
-  /* Load first input value that act as reference value for comparision */
-  out = *pSrc++;
-
-  blkCnt = (blockSize - 1u);
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-  while(blkCnt > 0u)
-  {
-    /* Initialize maxVal to the next consecutive values one by one */
-    maxVal1 = *pSrc++;
-
-    /* compare for the maximum value */
-    if(out < maxVal1)
-    {
-      /* Update the maximum value and it's index */
-      out = maxVal1;
-      outIndex = blockSize - blkCnt;
-    }
-
-    /* Decrement the loop counter */
-    blkCnt--;
-
-  }
-
-  /* Store the maximum value and its index into destination pointers */
-  *pResult = out;
-  *pIndex = outIndex;
-}
-
-/**    
- * @} end of Max group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_max_q7.c b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_max_q7.c
deleted file mode 100644
index 110a8fe5f..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_max_q7.c
+++ /dev/null
@@ -1,169 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_max_q7.c    
-*    
-* Description:	Maximum value of a Q7 vector.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* ---------------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupStats    
- */
-
-/**    
- * @addtogroup Max    
- * @{    
- */
-
-
-/**    
- * @brief Maximum value of a Q7 vector.    
- * @param[in]       *pSrc points to the input vector    
- * @param[in]       blockSize length of the input vector    
- * @param[out]      *pResult maximum value returned here    
- * @param[out]      *pIndex index of maximum value returned here    
-  * @return none.    
- */
-
-void arm_max_q7(
-  q7_t * pSrc,
-  uint32_t blockSize,
-  q7_t * pResult,
-  uint32_t * pIndex)
-{
-#ifndef ARM_MATH_CM0
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  q7_t maxVal1, maxVal2, out;                    /* Temporary variables to store the output value. */
-  uint32_t blkCnt, outIndex, count;              /* loop counter */
-
-  /* Initialise the count value. */
-  count = 0u;
-  /* Initialise the index value to zero. */
-  outIndex = 0u;
-  /* Load first input value that act as reference value for comparision */
-  out = *pSrc++;
-
-  /* Loop unrolling */
-  blkCnt = (blockSize - 1u) >> 2u;
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-  while(blkCnt > 0u)
-  {
-    /* Initialize maxVal to the next consecutive values one by one */
-    maxVal1 = *pSrc++;
-
-    maxVal2 = *pSrc++;
-
-    /* compare for the maximum value */
-    if(out < maxVal1)
-    {
-      /* Update the maximum value and its index */
-      out = maxVal1;
-      outIndex = count + 1u;
-    }
-
-    maxVal1 = *pSrc++;
-
-    /* compare for the maximum value */
-    if(out < maxVal2)
-    {
-      /* Update the maximum value and its index */
-      out = maxVal2;
-      outIndex = count + 2u;
-    }
-
-    maxVal2 = *pSrc++;
-
-    /* compare for the maximum value */
-    if(out < maxVal1)
-    {
-      /* Update the maximum value and its index */
-      out = maxVal1;
-      outIndex = count + 3u;
-    }
-
-    /* compare for the maximum value */
-    if(out < maxVal2)
-    {
-      /* Update the maximum value and its index */
-      out = maxVal2;
-      outIndex = count + 4u;
-    }
-
-    count += 4u;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* if (blockSize - 1u) is not multiple of 4 */
-  blkCnt = (blockSize - 1u) % 4u;
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-  q7_t maxVal1, out;                             /* Temporary variables to store the output value. */
-  uint32_t blkCnt, outIndex;                     /* loop counter */
-
-  /* Initialise the index value to zero. */
-  outIndex = 0u;
-  /* Load first input value that act as reference value for comparision */
-  out = *pSrc++;
-
-  blkCnt = (blockSize - 1u);
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-  while(blkCnt > 0u)
-  {
-    /* Initialize maxVal to the next consecutive values one by one */
-    maxVal1 = *pSrc++;
-
-    /* compare for the maximum value */
-    if(out < maxVal1)
-    {
-      /* Update the maximum value and it's index */
-      out = maxVal1;
-      outIndex = blockSize - blkCnt;
-    }
-    /* Decrement the loop counter */
-    blkCnt--;
-
-  }
-
-  /* Store the maximum value and its index into destination pointers */
-  *pResult = out;
-  *pIndex = outIndex;
-
-}
-
-/**    
- * @} end of Max group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_mean_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_mean_f32.c
deleted file mode 100644
index 7823d746c..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_mean_f32.c
+++ /dev/null
@@ -1,131 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_mean_f32.c    
-*    
-* Description:	Mean value of a floating-point vector.   
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* ---------------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupStats    
- */
-
-/**    
- * @defgroup mean Mean    
- *    
- * Calculates the mean of the input vector. Mean is defined as the average of the elements in the vector.    
- * The underlying algorithm is used:    
- *    
- * 
    
- * 	Result = (pSrc[0] + pSrc[1] + pSrc[2] + ... + pSrc[blockSize-1]) / blockSize;    
- * 
    
- *    
- * There are separate functions for floating-point, Q31, Q15, and Q7 data types.    
- */
-
-/**    
- * @addtogroup mean    
- * @{    
- */
-
-
-/**    
- * @brief Mean value of a floating-point vector.    
- * @param[in]       *pSrc points to the input vector    
- * @param[in]       blockSize length of the input vector    
- * @param[out]      *pResult mean value returned here    
- * @return none.    
- */
-
-
-void arm_mean_f32(
-  float32_t * pSrc,
-  uint32_t blockSize,
-  float32_t * pResult)
-{
-  float32_t sum = 0.0f;                          /* Temporary result storage */
-  uint32_t blkCnt;                               /* loop counter */
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-  float32_t in1, in2, in3, in4;
-
-  /*loop Unrolling */
-  blkCnt = blockSize >> 2u;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-    /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) */
-    in1 = *pSrc++;
-    in2 = *pSrc++;
-    in3 = *pSrc++;
-    in4 = *pSrc++;
-
-    sum += in1;
-    sum += in2;
-    sum += in3;
-    sum += in4;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
-   ** No loop unrolling is used. */
-  blkCnt = blockSize % 0x4u;
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  /* Loop over blockSize number of values */
-  blkCnt = blockSize;
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-  while(blkCnt > 0u)
-  {
-    /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) */
-    sum += *pSrc++;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) / blockSize  */
-  /* Store the result to the destination */
-  *pResult = sum / (float32_t) blockSize;
-}
-
-/**    
- * @} end of mean group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_mean_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_mean_q15.c
deleted file mode 100644
index 49ec1e62e..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_mean_q15.c
+++ /dev/null
@@ -1,125 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_mean_q15.c    
-*    
-* Description:	Mean value of a Q15 vector.   
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupStats    
- */
-
-/**    
- * @addtogroup mean    
- * @{    
- */
-
-/**    
- * @brief Mean value of a Q15 vector.    
- * @param[in]       *pSrc points to the input vector    
- * @param[in]       blockSize length of the input vector    
- * @param[out]      *pResult mean value returned here    
- * @return none.    
- *    
- * @details    
- * Scaling and Overflow Behavior:    
- * \par    
- * The function is implemented using a 32-bit internal accumulator.    
- * The input is represented in 1.15 format and is accumulated in a 32-bit     
- * accumulator in 17.15 format.     
- * There is no risk of internal overflow with this approach, and the     
- * full precision of intermediate result is preserved.     
- * Finally, the accumulator is saturated and truncated to yield a result of 1.15 format.    
- *    
- */
-
-
-void arm_mean_q15(
-  q15_t * pSrc,
-  uint32_t blockSize,
-  q15_t * pResult)
-{
-  q31_t sum = 0;                                 /* Temporary result storage */
-  uint32_t blkCnt;                               /* loop counter */
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-  q31_t in;
-
-  /*loop Unrolling */
-  blkCnt = blockSize >> 2u;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-    /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) */
-    in = *__SIMD32(pSrc)++;
-    sum += ((in << 16) >> 16);
-    sum += (in >> 16);
-    in = *__SIMD32(pSrc)++;
-    sum += ((in << 16) >> 16);
-    sum += (in >> 16);
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
-   ** No loop unrolling is used. */
-  blkCnt = blockSize % 0x4u;
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  /* Loop over blockSize number of values */
-  blkCnt = blockSize;
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-  while(blkCnt > 0u)
-  {
-    /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) */
-    sum += *pSrc++;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) / blockSize  */
-  /* Store the result to the destination */
-  *pResult = (q15_t) (sum / blockSize);
-}
-
-/**    
- * @} end of mean group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_mean_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_mean_q31.c
deleted file mode 100644
index 88a5de299..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_mean_q31.c
+++ /dev/null
@@ -1,128 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_mean_q31.c    
-*    
-* Description:	Mean value of a Q31 vector.   
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupStats    
- */
-
-/**    
- * @addtogroup mean    
- * @{    
- */
-
-/**    
- * @brief Mean value of a Q31 vector.    
- * @param[in]       *pSrc points to the input vector    
- * @param[in]       blockSize length of the input vector    
- * @param[out]      *pResult mean value returned here    
- * @return none.    
- *    
- * @details    
- * Scaling and Overflow Behavior:    
- *\par    
- * The function is implemented using a 64-bit internal accumulator.    
- * The input is represented in 1.31 format and is accumulated in a 64-bit    
- * accumulator in 33.31 format.    
- * There is no risk of internal overflow with this approach, and the     
- * full precision of intermediate result is preserved.     
- * Finally, the accumulator is truncated to yield a result of 1.31 format.    
- *    
- */
-
-
-void arm_mean_q31(
-  q31_t * pSrc,
-  uint32_t blockSize,
-  q31_t * pResult)
-{
-  q63_t sum = 0;                                 /* Temporary result storage */
-  uint32_t blkCnt;                               /* loop counter */
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-  q31_t in1, in2, in3, in4;
-
-  /*loop Unrolling */
-  blkCnt = blockSize >> 2u;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-    /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) */
-    in1 = *pSrc++;
-    in2 = *pSrc++;
-    in3 = *pSrc++;
-    in4 = *pSrc++;
-
-    sum += in1;
-    sum += in2;
-    sum += in3;
-    sum += in4;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
-   ** No loop unrolling is used. */
-  blkCnt = blockSize % 0x4u;
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  /* Loop over blockSize number of values */
-  blkCnt = blockSize;
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-  while(blkCnt > 0u)
-  {
-    /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) */
-    sum += *pSrc++;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) / blockSize  */
-  /* Store the result to the destination */
-  *pResult = (q31_t) (sum / (int32_t) blockSize);
-}
-
-/**    
- * @} end of mean group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_mean_q7.c b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_mean_q7.c
deleted file mode 100644
index a34c011bc..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_mean_q7.c
+++ /dev/null
@@ -1,125 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_mean_q7.c    
-*    
-* Description:	Mean value of a Q7 vector.   
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupStats    
- */
-
-/**    
- * @addtogroup mean    
- * @{    
- */
-
-/**    
- * @brief Mean value of a Q7 vector.    
- * @param[in]       *pSrc points to the input vector    
- * @param[in]       blockSize length of the input vector    
- * @param[out]      *pResult mean value returned here    
- * @return none.    
- *    
- * @details    
- * Scaling and Overflow Behavior:    
- * \par    
- * The function is implemented using a 32-bit internal accumulator.     
- * The input is represented in 1.7 format and is accumulated in a 32-bit    
- * accumulator in 25.7 format.    
- * There is no risk of internal overflow with this approach, and the     
- * full precision of intermediate result is preserved.     
- * Finally, the accumulator is truncated to yield a result of 1.7 format.    
- *    
- */
-
-
-void arm_mean_q7(
-  q7_t * pSrc,
-  uint32_t blockSize,
-  q7_t * pResult)
-{
-  q31_t sum = 0;                                 /* Temporary result storage */
-  uint32_t blkCnt;                               /* loop counter */
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-  q31_t in;
-
-  /*loop Unrolling */
-  blkCnt = blockSize >> 2u;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-    /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) */
-    in = *__SIMD32(pSrc)++;
-
-    sum += ((in << 24) >> 24);
-    sum += ((in << 16) >> 24);
-    sum += ((in << 8) >> 24);
-    sum += (in >> 24);
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
-   ** No loop unrolling is used. */
-  blkCnt = blockSize % 0x4u;
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  /* Loop over blockSize number of values */
-  blkCnt = blockSize;
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-  while(blkCnt > 0u)
-  {
-    /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) */
-    sum += *pSrc++;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) / blockSize  */
-  /* Store the result to the destination */
-  *pResult = (q7_t) (sum / (int32_t) blockSize);
-}
-
-/**    
- * @} end of mean group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_min_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_min_f32.c
deleted file mode 100644
index dc2fdf624..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_min_f32.c
+++ /dev/null
@@ -1,175 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_min_f32.c    
-*    
-* Description:	Minimum value of a floating-point vector.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* ---------------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupStats    
- */
-
-/**    
- * @defgroup Min Minimum    
- *    
- * Computes the minimum value of an array of data.     
- * The function returns both the minimum value and its position within the array.     
- * There are separate functions for floating-point, Q31, Q15, and Q7 data types.    
- */
-
-/**    
- * @addtogroup Min    
- * @{    
- */
-
-
-/**    
- * @brief Minimum value of a floating-point vector.    
- * @param[in]       *pSrc points to the input vector    
- * @param[in]       blockSize length of the input vector    
- * @param[out]      *pResult minimum value returned here    
- * @param[out]      *pIndex index of minimum value returned here    
-  * @return none.    
- *    
- */
-
-void arm_min_f32(
-  float32_t * pSrc,
-  uint32_t blockSize,
-  float32_t * pResult,
-  uint32_t * pIndex)
-{
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  float32_t minVal1, minVal2, out;               /* Temporary variables to store the output value. */
-  uint32_t blkCnt, outIndex, count;              /* loop counter */
-
-  /* Initialise the count value. */
-  count = 0u;
-  /* Initialise the index value to zero. */
-  outIndex = 0u;
-  /* Load first input value that act as reference value for comparision */
-  out = *pSrc++;
-
-  /* Loop unrolling */
-  blkCnt = (blockSize - 1u) >> 2u;
-
-  while(blkCnt > 0)
-  {
-    /* Initialize minVal to the next consecutive values one by one */
-    minVal1 = *pSrc++;
-    minVal2 = *pSrc++;
-
-    /* compare for the minimum value */
-    if(out > minVal1)
-    {
-      /* Update the minimum value and its index */
-      out = minVal1;
-      outIndex = count + 1u;
-    }
-
-    minVal1 = *pSrc++;
-
-    /* compare for the minimum value */
-    if(out > minVal2)
-    {
-      /* Update the minimum value and its index */
-      out = minVal2;
-      outIndex = count + 2u;
-    }
-
-    minVal2 = *pSrc++;
-
-    /* compare for the minimum value */
-    if(out > minVal1)
-    {
-      /* Update the minimum value and its index */
-      out = minVal1;
-      outIndex = count + 3u;
-    }
-
-    /* compare for the minimum value */
-    if(out > minVal2)
-    {
-      /* Update the minimum value and its index */
-      out = minVal2;
-      outIndex = count + 4u;
-    }
-
-    count += 4u;
-
-    blkCnt--;
-  }
-
-  /* if (blockSize - 1u ) is not multiple of 4 */
-  blkCnt = (blockSize - 1u) % 4u;
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-  float32_t minVal1, out;                        /* Temporary variables to store the output value. */
-  uint32_t blkCnt, outIndex;                     /* loop counter */
-
-  /* Initialise the index value to zero. */
-  outIndex = 0u;
-  /* Load first input value that act as reference value for comparision */
-  out = *pSrc++;
-
-  blkCnt = (blockSize - 1u);
-
-#endif //      #ifndef ARM_MATH_CM0
-
-  while(blkCnt > 0)
-  {
-    /* Initialize minVal to the next consecutive values one by one */
-    minVal1 = *pSrc++;
-
-    /* compare for the minimum value */
-    if(out > minVal1)
-    {
-      /* Update the minimum value and it's index */
-      out = minVal1;
-      outIndex = blockSize - blkCnt;
-    }
-
-    blkCnt--;
-
-  }
-
-  /* Store the minimum value and it's index into destination pointers */
-  *pResult = out;
-  *pIndex = outIndex;
-}
-
-/**    
- * @} end of Min group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_min_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_min_q15.c
deleted file mode 100644
index 35b67bb1e..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_min_q15.c
+++ /dev/null
@@ -1,169 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_min_q15.c    
-*    
-* Description:	Minimum value of a Q15 vector.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* ---------------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupStats    
- */
-
-
-/**    
- * @addtogroup Min    
- * @{    
- */
-
-
-/**    
- * @brief Minimum value of a Q15 vector.    
- * @param[in]       *pSrc points to the input vector    
- * @param[in]       blockSize length of the input vector    
- * @param[out]      *pResult minimum value returned here    
- * @param[out]      *pIndex index of minimum value returned here    
- * @return none.    
- *    
- */
-
-void arm_min_q15(
-  q15_t * pSrc,
-  uint32_t blockSize,
-  q15_t * pResult,
-  uint32_t * pIndex)
-{
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-  q15_t minVal1, minVal2, out;                   /* Temporary variables to store the output value. */
-  uint32_t blkCnt, outIndex, count;              /* loop counter */
-
-  /* Initialise the count value. */
-  count = 0u;
-  /* Initialise the index value to zero. */
-  outIndex = 0u;
-  /* Load first input value that act as reference value for comparision */
-  out = *pSrc++;
-
-  /* Loop unrolling */
-  blkCnt = (blockSize - 1u) >> 2u;
-
-  while(blkCnt > 0)
-  {
-    /* Initialize minVal to the next consecutive values one by one */
-    minVal1 = *pSrc++;
-    minVal2 = *pSrc++;
-
-    /* compare for the minimum value */
-    if(out > minVal1)
-    {
-      /* Update the minimum value and its index */
-      out = minVal1;
-      outIndex = count + 1u;
-    }
-
-    minVal1 = *pSrc++;
-
-    /* compare for the minimum value */
-    if(out > minVal2)
-    {
-      /* Update the minimum value and its index */
-      out = minVal2;
-      outIndex = count + 2u;
-    }
-
-    minVal2 = *pSrc++;
-
-    /* compare for the minimum value */
-    if(out > minVal1)
-    {
-      /* Update the minimum value and its index */
-      out = minVal1;
-      outIndex = count + 3u;
-    }
-
-    /* compare for the minimum value */
-    if(out > minVal2)
-    {
-      /* Update the minimum value and its index */
-      out = minVal2;
-      outIndex = count + 4u;
-    }
-
-    count += 4u;
-
-    blkCnt--;
-  }
-
-  /* if (blockSize - 1u ) is not multiple of 4 */
-  blkCnt = (blockSize - 1u) % 4u;
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-  q15_t minVal1, out;                            /* Temporary variables to store the output value. */
-  uint32_t blkCnt, outIndex;                     /* loop counter */
-
-  blkCnt = (blockSize - 1u);
-
-  /* Initialise the index value to zero. */
-  outIndex = 0u;
-  /* Load first input value that act as reference value for comparision */
-  out = *pSrc++;
-
-#endif //      #ifndef ARM_MATH_CM0
-
-  while(blkCnt > 0)
-  {
-    /* Initialize minVal to the next consecutive values one by one */
-    minVal1 = *pSrc++;
-
-    /* compare for the minimum value */
-    if(out > minVal1)
-    {
-      /* Update the minimum value and it's index */
-      out = minVal1;
-      outIndex = blockSize - blkCnt;
-    }
-
-    blkCnt--;
-
-  }
-
-
-
-  /* Store the minimum value and its index into destination pointers */
-  *pResult = out;
-  *pIndex = outIndex;
-}
-
-/**    
- * @} end of Min group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_min_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_min_q31.c
deleted file mode 100644
index 4a9befc75..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_min_q31.c
+++ /dev/null
@@ -1,168 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_min_q31.c    
-*    
-* Description:	Minimum value of a Q31 vector.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* ---------------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupStats    
- */
-
-
-/**    
- * @addtogroup Min    
- * @{    
- */
-
-
-/**    
- * @brief Minimum value of a Q31 vector.    
- * @param[in]       *pSrc points to the input vector    
- * @param[in]       blockSize length of the input vector    
- * @param[out]      *pResult minimum value returned here    
- * @param[out]      *pIndex index of minimum value returned here    
- * @return none.    
- *    
- */
-
-void arm_min_q31(
-  q31_t * pSrc,
-  uint32_t blockSize,
-  q31_t * pResult,
-  uint32_t * pIndex)
-{
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-  q31_t minVal1, minVal2, out;                   /* Temporary variables to store the output value. */
-  uint32_t blkCnt, outIndex, count;              /* loop counter */
-
-  /* Initialise the count value. */
-  count = 0u;
-  /* Initialise the index value to zero. */
-  outIndex = 0u;
-  /* Load first input value that act as reference value for comparision */
-  out = *pSrc++;
-
-
-  /* Loop unrolling */
-  blkCnt = (blockSize - 1u) >> 2u;
-
-  while(blkCnt > 0)
-  {
-    /* Initialize minVal to the next consecutive values one by one */
-    minVal1 = *pSrc++;
-    minVal2 = *pSrc++;
-
-    /* compare for the minimum value */
-    if(out > minVal1)
-    {
-      /* Update the minimum value and its index */
-      out = minVal1;
-      outIndex = count + 1u;
-    }
-
-    minVal1 = *pSrc++;
-
-    /* compare for the minimum value */
-    if(out > minVal2)
-    {
-      /* Update the minimum value and its index */
-      out = minVal2;
-      outIndex = count + 2u;
-    }
-
-    minVal2 = *pSrc++;
-
-    /* compare for the minimum value */
-    if(out > minVal1)
-    {
-      /* Update the minimum value and its index */
-      out = minVal1;
-      outIndex = count + 3u;
-    }
-
-    /* compare for the minimum value */
-    if(out > minVal2)
-    {
-      /* Update the minimum value and its index */
-      out = minVal2;
-      outIndex = count + 4u;
-    }
-
-    count += 4u;
-
-    blkCnt--;
-  }
-
-  /* if (blockSize - 1u ) is not multiple of 4 */
-  blkCnt = (blockSize - 1u) % 4u;
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-  q31_t minVal1, out;                            /* Temporary variables to store the output value. */
-  uint32_t blkCnt, outIndex;                     /* loop counter */
-
-  blkCnt = (blockSize - 1u);
-
-  /* Initialise the index value to zero. */
-  outIndex = 0u;
-  /* Load first input value that act as reference value for comparision */
-  out = *pSrc++;
-
-#endif //      #ifndef ARM_MATH_CM0
-
-  while(blkCnt > 0)
-  {
-    /* Initialize minVal to the next consecutive values one by one */
-    minVal1 = *pSrc++;
-
-    /* compare for the minimum value */
-    if(out > minVal1)
-    {
-      /* Update the minimum value and it's index */
-      out = minVal1;
-      outIndex = blockSize - blkCnt;
-    }
-
-    blkCnt--;
-
-  }
-
-  /* Store the minimum value and its index into destination pointers */
-  *pResult = out;
-  *pIndex = outIndex;
-}
-
-/**    
- * @} end of Min group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_min_q7.c b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_min_q7.c
deleted file mode 100644
index aaf8ad9ff..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_min_q7.c
+++ /dev/null
@@ -1,170 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_min_q7.c    
-*    
-* Description:	Minimum value of a Q7 vector.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* ---------------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupStats    
- */
-
-/**    
- * @addtogroup Min    
- * @{    
- */
-
-
-/**    
- * @brief Minimum value of a Q7 vector.    
- * @param[in]       *pSrc points to the input vector    
- * @param[in]       blockSize length of the input vector    
- * @param[out]      *pResult minimum value returned here    
- * @param[out]      *pIndex index of minimum value returned here    
- * @return none.    
- *    
- */
-
-void arm_min_q7(
-  q7_t * pSrc,
-  uint32_t blockSize,
-  q7_t * pResult,
-  uint32_t * pIndex)
-{
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  q7_t minVal1, minVal2, out;                    /* Temporary variables to store the output value. */
-  uint32_t blkCnt, outIndex, count;              /* loop counter */
-
-  /* Initialise the count value. */
-  count = 0u;
-  /* Initialise the index value to zero. */
-  outIndex = 0u;
-  /* Load first input value that act as reference value for comparision */
-  out = *pSrc++;
-
-  /* Loop unrolling */
-  blkCnt = (blockSize - 1u) >> 2u;
-
-  while(blkCnt > 0)
-  {
-    /* Initialize minVal to the next consecutive values one by one */
-    minVal1 = *pSrc++;
-    minVal2 = *pSrc++;
-
-    /* compare for the minimum value */
-    if(out > minVal1)
-    {
-      /* Update the minimum value and its index */
-      out = minVal1;
-      outIndex = count + 1u;
-    }
-
-    minVal1 = *pSrc++;
-
-    /* compare for the minimum value */
-    if(out > minVal2)
-    {
-      /* Update the minimum value and its index */
-      out = minVal2;
-      outIndex = count + 2u;
-    }
-
-    minVal2 = *pSrc++;
-
-    /* compare for the minimum value */
-    if(out > minVal1)
-    {
-      /* Update the minimum value and its index */
-      out = minVal1;
-      outIndex = count + 3u;
-    }
-
-    /* compare for the minimum value */
-    if(out > minVal2)
-    {
-      /* Update the minimum value and its index */
-      out = minVal2;
-      outIndex = count + 4u;
-    }
-
-    count += 4u;
-
-    blkCnt--;
-  }
-
-  /* if (blockSize - 1u ) is not multiple of 4 */
-  blkCnt = (blockSize - 1u) % 4u;
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  q7_t minVal1, out;                             /* Temporary variables to store the output value. */
-  uint32_t blkCnt, outIndex;                     /* loop counter */
-
-  /* Initialise the index value to zero. */
-  outIndex = 0u;
-  /* Load first input value that act as reference value for comparision */
-  out = *pSrc++;
-
-  blkCnt = (blockSize - 1u);
-
-#endif //      #ifndef ARM_MATH_CM0
-
-  while(blkCnt > 0)
-  {
-    /* Initialize minVal to the next consecutive values one by one */
-    minVal1 = *pSrc++;
-
-    /* compare for the minimum value */
-    if(out > minVal1)
-    {
-      /* Update the minimum value and it's index */
-      out = minVal1;
-      outIndex = blockSize - blkCnt;
-    }
-
-    blkCnt--;
-
-  }
-
-  /* Store the minimum value and its index into destination pointers */
-  *pResult = out;
-  *pIndex = outIndex;
-
-
-}
-
-/**    
- * @} end of Min group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_power_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_power_f32.c
deleted file mode 100644
index 5ee0060d8..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_power_f32.c
+++ /dev/null
@@ -1,138 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_power_f32.c    
-*    
-* Description:	Sum of the squares of the elements of a floating-point vector.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* ---------------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupStats    
- */
-
-/**    
- * @defgroup power Power    
- *    
- * Calculates the sum of the squares of the elements in the input vector.    
- * The underlying algorithm is used:    
- *    
- * 
    
- * 	Result = pSrc[0] * pSrc[0] + pSrc[1] * pSrc[1] + pSrc[2] * pSrc[2] + ... + pSrc[blockSize-1] * pSrc[blockSize-1];    
- * 
    
- *   
- * There are separate functions for floating point, Q31, Q15, and Q7 data types.     
- */
-
-/**    
- * @addtogroup power    
- * @{    
- */
-
-
-/**    
- * @brief Sum of the squares of the elements of a floating-point vector.    
- * @param[in]       *pSrc points to the input vector    
- * @param[in]       blockSize length of the input vector    
- * @param[out]      *pResult sum of the squares value returned here    
- * @return none.    
- *    
- */
-
-
-void arm_power_f32(
-  float32_t * pSrc,
-  uint32_t blockSize,
-  float32_t * pResult)
-{
-  float32_t sum = 0.0f;                          /* accumulator */
-  float32_t in;                                  /* Temporary variable to store input value */
-  uint32_t blkCnt;                               /* loop counter */
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  /*loop Unrolling */
-  blkCnt = blockSize >> 2u;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-    /* C = A[0] * A[0] + A[1] * A[1] + A[2] * A[2] + ... + A[blockSize-1] * A[blockSize-1] */
-    /* Compute Power and then store the result in a temporary variable, sum. */
-    in = *pSrc++;
-    sum += in * in;
-    in = *pSrc++;
-    sum += in * in;
-    in = *pSrc++;
-    sum += in * in;
-    in = *pSrc++;
-    sum += in * in;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
-   ** No loop unrolling is used. */
-  blkCnt = blockSize % 0x4u;
-
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  /* Loop over blockSize number of values */
-  blkCnt = blockSize;
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-
-  while(blkCnt > 0u)
-  {
-    /* C = A[0] * A[0] + A[1] * A[1] + A[2] * A[2] + ... + A[blockSize-1] * A[blockSize-1] */
-    /* compute power and then store the result in a temporary variable, sum. */
-    in = *pSrc++;
-    sum += in * in;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* Store the result to the destination */
-  *pResult = sum;
-}
-
-/**    
- * @} end of power group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_power_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_power_q15.c
deleted file mode 100644
index aed06a17a..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_power_q15.c
+++ /dev/null
@@ -1,144 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_power_q15.c    
-*    
-* Description:	Sum of the squares of the elements of a Q15 vector.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupStats    
- */
-
-/**    
- * @addtogroup power    
- * @{    
- */
-
-/**    
- * @brief Sum of the squares of the elements of a Q15 vector.    
- * @param[in]       *pSrc points to the input vector    
- * @param[in]       blockSize length of the input vector    
- * @param[out]      *pResult sum of the squares value returned here    
- * @return none.    
- *    
- * @details    
- * Scaling and Overflow Behavior:    
- *    
- * \par    
- * The function is implemented using a 64-bit internal accumulator.     
- * The input is represented in 1.15 format.   
- * Intermediate multiplication yields a 2.30 format, and this    
- * result is added without saturation to a 64-bit accumulator in 34.30 format.    
- * With 33 guard bits in the accumulator, there is no risk of overflow, and the    
- * full precision of the intermediate multiplication is preserved.    
- * Finally, the return result is in 34.30 format.     
- *    
- */
-
-void arm_power_q15(
-  q15_t * pSrc,
-  uint32_t blockSize,
-  q63_t * pResult)
-{
-  q63_t sum = 0;                                 /* Temporary result storage */
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  q31_t in32;                                    /* Temporary variable to store input value */
-  q15_t in16;                                    /* Temporary variable to store input value */
-  uint32_t blkCnt;                               /* loop counter */
-
-
-  /* loop Unrolling */
-  blkCnt = blockSize >> 2u;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-    /* C = A[0] * A[0] + A[1] * A[1] + A[2] * A[2] + ... + A[blockSize-1] * A[blockSize-1] */
-    /* Compute Power and then store the result in a temporary variable, sum. */
-    in32 = *__SIMD32(pSrc)++;
-    sum = __SMLALD(in32, in32, sum);
-    in32 = *__SIMD32(pSrc)++;
-    sum = __SMLALD(in32, in32, sum);
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
-   ** No loop unrolling is used. */
-  blkCnt = blockSize % 0x4u;
-
-  while(blkCnt > 0u)
-  {
-    /* C = A[0] * A[0] + A[1] * A[1] + A[2] * A[2] + ... + A[blockSize-1] * A[blockSize-1] */
-    /* Compute Power and then store the result in a temporary variable, sum. */
-    in16 = *pSrc++;
-    sum = __SMLALD(in16, in16, sum);
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  q15_t in;                                      /* Temporary variable to store input value */
-  uint32_t blkCnt;                               /* loop counter */
-
-
-  /* Loop over blockSize number of values */
-  blkCnt = blockSize;
-
-  while(blkCnt > 0u)
-  {
-    /* C = A[0] * A[0] + A[1] * A[1] + A[2] * A[2] + ... + A[blockSize-1] * A[blockSize-1] */
-    /* Compute Power and then store the result in a temporary variable, sum. */
-    in = *pSrc++;
-    sum += ((q31_t) in * in);
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-  /* Store the results in 34.30 format  */
-  *pResult = sum;
-}
-
-/**    
- * @} end of power group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_power_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_power_q31.c
deleted file mode 100644
index 43f03f757..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_power_q31.c
+++ /dev/null
@@ -1,135 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_power_q31.c    
-*    
-* Description:	Sum of the squares of the elements of a Q31 vector.   
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupStats    
- */
-
-/**    
- * @addtogroup power    
- * @{    
- */
-
-/**    
- * @brief Sum of the squares of the elements of a Q31 vector.    
- * @param[in]       *pSrc points to the input vector    
- * @param[in]       blockSize length of the input vector    
- * @param[out]      *pResult sum of the squares value returned here    
- * @return none.    
- *    
- * @details    
- * Scaling and Overflow Behavior:    
- *    
- * \par    
- * The function is implemented using a 64-bit internal accumulator.    
- * The input is represented in 1.31 format.    
- * Intermediate multiplication yields a 2.62 format, and this    
- * result is truncated to 2.48 format by discarding the lower 14 bits.    
- * The 2.48 result is then added without saturation to a 64-bit accumulator in 16.48 format.    
- * With 15 guard bits in the accumulator, there is no risk of overflow, and the    
- * full precision of the intermediate multiplication is preserved.    
- * Finally, the return result is in 16.48 format.     
- *    
- */
-
-void arm_power_q31(
-  q31_t * pSrc,
-  uint32_t blockSize,
-  q63_t * pResult)
-{
-  q63_t sum = 0;                                 /* Temporary result storage */
-  q31_t in;
-  uint32_t blkCnt;                               /* loop counter */
-
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  /*loop Unrolling */
-  blkCnt = blockSize >> 2u;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-    /* C = A[0] * A[0] + A[1] * A[1] + A[2] * A[2] + ... + A[blockSize-1] * A[blockSize-1] */
-    /* Compute Power then shift intermediate results by 14 bits to maintain 16.48 format and then store the result in a temporary variable sum, providing 15 guard bits. */
-    in = *pSrc++;
-    sum += ((q63_t) in * in) >> 14u;
-
-    in = *pSrc++;
-    sum += ((q63_t) in * in) >> 14u;
-
-    in = *pSrc++;
-    sum += ((q63_t) in * in) >> 14u;
-
-    in = *pSrc++;
-    sum += ((q63_t) in * in) >> 14u;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
-   ** No loop unrolling is used. */
-  blkCnt = blockSize % 0x4u;
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  /* Loop over blockSize number of values */
-  blkCnt = blockSize;
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-  while(blkCnt > 0u)
-  {
-    /* C = A[0] * A[0] + A[1] * A[1] + A[2] * A[2] + ... + A[blockSize-1] * A[blockSize-1] */
-    /* Compute Power and then store the result in a temporary variable, sum. */
-    in = *pSrc++;
-    sum += ((q63_t) in * in) >> 14u;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* Store the results in 16.48 format  */
-  *pResult = sum;
-}
-
-/**    
- * @} end of power group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_power_q7.c b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_power_q7.c
deleted file mode 100644
index 5cb99b4c2..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_power_q7.c
+++ /dev/null
@@ -1,133 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_power_q7.c    
-*    
-* Description:	Sum of the squares of the elements of a Q7 vector.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupStats    
- */
-
-/**    
- * @addtogroup power    
- * @{    
- */
-
-/**    
- * @brief Sum of the squares of the elements of a Q7 vector.    
- * @param[in]       *pSrc points to the input vector    
- * @param[in]       blockSize length of the input vector    
- * @param[out]      *pResult sum of the squares value returned here    
- * @return none.    
- *    
- * @details    
- * Scaling and Overflow Behavior:    
- *    
- * \par    
- * The function is implemented using a 32-bit internal accumulator.     
- * The input is represented in 1.7 format.   
- * Intermediate multiplication yields a 2.14 format, and this    
- * result is added without saturation to an accumulator in 18.14 format.    
- * With 17 guard bits in the accumulator, there is no risk of overflow, and the    
- * full precision of the intermediate multiplication is preserved.    
- * Finally, the return result is in 18.14 format.     
- *    
- */
-
-void arm_power_q7(
-  q7_t * pSrc,
-  uint32_t blockSize,
-  q31_t * pResult)
-{
-  q31_t sum = 0;                                 /* Temporary result storage */
-  q7_t in;                                       /* Temporary variable to store input */
-  uint32_t blkCnt;                               /* loop counter */
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  q31_t input1;                                  /* Temporary variable to store packed input */
-  q31_t in1, in2;                                /* Temporary variables to store input */
-
-  /*loop Unrolling */
-  blkCnt = blockSize >> 2u;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-    /* Reading two inputs of pSrc vector and packing */
-    input1 = *__SIMD32(pSrc)++;
-
-    in1 = __SXTB16(__ROR(input1, 8));
-    in2 = __SXTB16(input1);
-
-    /* C = A[0] * A[0] + A[1] * A[1] + A[2] * A[2] + ... + A[blockSize-1] * A[blockSize-1] */
-    /* calculate power and accumulate to accumulator */
-    sum = __SMLAD(in1, in1, sum);
-    sum = __SMLAD(in2, in2, sum);
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
-   ** No loop unrolling is used. */
-  blkCnt = blockSize % 0x4u;
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  /* Loop over blockSize number of values */
-  blkCnt = blockSize;
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-  while(blkCnt > 0u)
-  {
-    /* C = A[0] * A[0] + A[1] * A[1] + A[2] * A[2] + ... + A[blockSize-1] * A[blockSize-1] */
-    /* Compute Power and then store the result in a temporary variable, sum. */
-    in = *pSrc++;
-    sum += ((q15_t) in * in);
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* Store the result in 18.14 format  */
-  *pResult = sum;
-}
-
-/**    
- * @} end of power group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_rms_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_rms_f32.c
deleted file mode 100644
index 573896ed4..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_rms_f32.c
+++ /dev/null
@@ -1,133 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_rms_f32.c    
-*    
-* Description:	Root mean square value of an array of F32 type    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* ---------------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupStats    
- */
-
-/**    
- * @defgroup RMS Root mean square (RMS)    
- *    
- *     
- * Calculates the Root Mean Sqaure of the elements in the input vector.    
- * The underlying algorithm is used:    
- *    
- * 
    
- * 	Result = sqrt(((pSrc[0] * pSrc[0] + pSrc[1] * pSrc[1] + ... + pSrc[blockSize-1] * pSrc[blockSize-1]) / blockSize));    
- * 
    
- *   
- * There are separate functions for floating point, Q31, and Q15 data types.     
- */
-
-/**    
- * @addtogroup RMS    
- * @{    
- */
-
-
-/**    
- * @brief Root Mean Square of the elements of a floating-point vector.    
- * @param[in]       *pSrc points to the input vector    
- * @param[in]       blockSize length of the input vector    
- * @param[out]      *pResult rms value returned here    
- * @return none.    
- *    
- */
-
-void arm_rms_f32(
-  float32_t * pSrc,
-  uint32_t blockSize,
-  float32_t * pResult)
-{
-  float32_t sum = 0.0f;                          /* Accumulator */
-  float32_t in;                                  /* Tempoprary variable to store input value */
-  uint32_t blkCnt;                               /* loop counter */
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  /* loop Unrolling */
-  blkCnt = blockSize >> 2u;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-    /* C = A[0] * A[0] + A[1] * A[1] + A[2] * A[2] + ... + A[blockSize-1] * A[blockSize-1] */
-    /* Compute sum of the squares and then store the result in a temporary variable, sum  */
-    in = *pSrc++;
-    sum += in * in;
-    in = *pSrc++;
-    sum += in * in;
-    in = *pSrc++;
-    sum += in * in;
-    in = *pSrc++;
-    sum += in * in;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
-   ** No loop unrolling is used. */
-  blkCnt = blockSize % 0x4u;
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  /* Loop over blockSize number of values */
-  blkCnt = blockSize;
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-  while(blkCnt > 0u)
-  {
-    /* C = A[0] * A[0] + A[1] * A[1] + A[2] * A[2] + ... + A[blockSize-1] * A[blockSize-1] */
-    /* Compute sum of the squares and then store the results in a temporary variable, sum  */
-    in = *pSrc++;
-    sum += in * in;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* Compute Rms and store the result in the destination */
-  arm_sqrt_f32(sum / (float32_t) blockSize, pResult);
-}
-
-/**    
- * @} end of RMS group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_rms_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_rms_q15.c
deleted file mode 100644
index 491c652e7..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_rms_q15.c
+++ /dev/null
@@ -1,153 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_rms_q15.c    
-*    
-* Description:	Root Mean Square of the elements of a Q15 vector.  
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* ---------------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @addtogroup RMS    
- * @{    
- */
-
-/**    
- * @brief Root Mean Square of the elements of a Q15 vector.    
- * @param[in]       *pSrc points to the input vector    
- * @param[in]       blockSize length of the input vector    
- * @param[out]      *pResult rms value returned here    
- * @return none.    
- *    
- * @details    
- * Scaling and Overflow Behavior:    
- *    
- * \par    
- * The function is implemented using a 64-bit internal accumulator.    
- * The input is represented in 1.15 format.    
- * Intermediate multiplication yields a 2.30 format, and this    
- * result is added without saturation to a 64-bit accumulator in 34.30 format.    
- * With 33 guard bits in the accumulator, there is no risk of overflow, and the    
- * full precision of the intermediate multiplication is preserved.    
- * Finally, the 34.30 result is truncated to 34.15 format by discarding the lower     
- * 15 bits, and then saturated to yield a result in 1.15 format.    
- *    
- */
-
-void arm_rms_q15(
-  q15_t * pSrc,
-  uint32_t blockSize,
-  q15_t * pResult)
-{
-  q63_t sum = 0;                                 /* accumulator */
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  q31_t in;                                      /* temporary variable to store the input value */
-  q15_t in1;                                     /* temporary variable to store the input value */
-  uint32_t blkCnt;                               /* loop counter */
-
-  /* loop Unrolling */
-  blkCnt = blockSize >> 2u;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1]) */
-    /* Compute sum of the squares and then store the results in a temporary variable, sum */
-    in = *__SIMD32(pSrc)++;
-    sum = __SMLALD(in, in, sum);
-    in = *__SIMD32(pSrc)++;
-    sum = __SMLALD(in, in, sum);
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
-   ** No loop unrolling is used. */
-  blkCnt = blockSize % 0x4u;
-
-  while(blkCnt > 0u)
-  {
-    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1]) */
-    /* Compute sum of the squares and then store the results in a temporary variable, sum */
-    in1 = *pSrc++;
-    sum = __SMLALD(in1, in1, sum);
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* Truncating and saturating the accumulator to 1.15 format */
-  sum = __SSAT((q31_t) (sum >> 15), 16);
-
-  in1 = (q15_t) (sum / blockSize);
-
-  /* Store the result in the destination */
-  arm_sqrt_q15(in1, pResult);
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  q15_t in;                                      /* temporary variable to store the input value */
-  uint32_t blkCnt;                               /* loop counter */
-
-  /* Loop over blockSize number of values */
-  blkCnt = blockSize;
-
-  while(blkCnt > 0u)
-  {
-    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1]) */
-    /* Compute sum of the squares and then store the results in a temporary variable, sum */
-    in = *pSrc++;
-    sum += ((q31_t) in * in);
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* Truncating and saturating the accumulator to 1.15 format */
-  sum = __SSAT((q31_t) (sum >> 15), 16);
-
-  in = (q15_t) (sum / blockSize);
-
-  /* Store the result in the destination */
-  arm_sqrt_q15(in, pResult);
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-}
-
-/**    
- * @} end of RMS group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_rms_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_rms_q31.c
deleted file mode 100644
index 54038eb12..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_rms_q31.c
+++ /dev/null
@@ -1,146 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_rms_q31.c    
-*    
-* Description:	Root Mean Square of the elements of a Q31 vector.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* ---------------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**        
- * @addtogroup RMS        
- * @{        
- */
-
-
-/**        
- * @brief Root Mean Square of the elements of a Q31 vector.        
- * @param[in]       *pSrc points to the input vector        
- * @param[in]       blockSize length of the input vector        
- * @param[out]      *pResult rms value returned here        
- * @return none.        
- *        
- * @details        
- * Scaling and Overflow Behavior:        
- *        
- *\par        
- * The function is implemented using an internal 64-bit accumulator.        
- * The input is represented in 1.31 format, and intermediate multiplication        
- * yields a 2.62 format.        
- * The accumulator maintains full precision of the intermediate multiplication results,         
- * but provides only a single guard bit.        
- * There is no saturation on intermediate additions.        
- * If the accumulator overflows, it wraps around and distorts the result.         
- * In order to avoid overflows completely, the input signal must be scaled down by         
- * log2(blockSize) bits, as a total of blockSize additions are performed internally.         
- * Finally, the 2.62 accumulator is right shifted by 31 bits to yield a 1.31 format value.        
- *        
- */
-
-void arm_rms_q31(
-  q31_t * pSrc,
-  uint32_t blockSize,
-  q31_t * pResult)
-{
-  q63_t sum = 0;                                 /* accumulator */
-  q31_t in;                                      /* Temporary variable to store the input */
-  uint32_t blkCnt;                               /* loop counter */
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  q31_t in1, in2, in3, in4;                      /* Temporary input variables */
-
-  /*loop Unrolling */
-  blkCnt = blockSize >> 2u;
-
-  /* First part of the processing with loop unrolling.  Compute 8 outputs at a time.        
-   ** a second loop below computes the remaining 1 to 7 samples. */
-  while(blkCnt > 0u)
-  {
-    /* C = A[0] * A[0] + A[1] * A[1] + A[2] * A[2] + ... + A[blockSize-1] * A[blockSize-1] */
-    /* Compute sum of the squares and then store the result in a temporary variable, sum */
-    /* read two samples from source buffer */
-    in1 = pSrc[0];
-    in2 = pSrc[1];
-
-    /* calculate power and accumulate to accumulator */
-    sum += (q63_t) in1 *in1;
-    sum += (q63_t) in2 *in2;
-
-    /* read two samples from source buffer */
-    in3 = pSrc[2];
-    in4 = pSrc[3];
-
-    /* calculate power and accumulate to accumulator */
-    sum += (q63_t) in3 *in3;
-    sum += (q63_t) in4 *in4;
-
-
-    /* update source buffer to process next samples */
-    pSrc += 4u;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the blockSize is not a multiple of 8, compute any remaining output samples here.        
-   ** No loop unrolling is used. */
-  blkCnt = blockSize % 0x4u;
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-  blkCnt = blockSize;
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-  while(blkCnt > 0u)
-  {
-    /* C = A[0] * A[0] + A[1] * A[1] + A[2] * A[2] + ... + A[blockSize-1] * A[blockSize-1] */
-    /* Compute sum of the squares and then store the results in a temporary variable, sum */
-    in = *pSrc++;
-    sum += (q63_t) in *in;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* Convert data in 2.62 to 1.31 by 31 right shifts and saturate */
-
-  sum = __SSAT(sum >> 31, 31);
-
-
-  /* Compute Rms and store the result in the destination vector */
-  arm_sqrt_q31((q31_t) ((q31_t) sum / (int32_t) blockSize), pResult);
-}
-
-/**        
- * @} end of RMS group        
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_std_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_std_f32.c
deleted file mode 100644
index 6442d5c29..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_std_f32.c
+++ /dev/null
@@ -1,188 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_std_f32.c    
-*    
-* Description:	Standard deviation of the elements of a floating-point vector.  
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* ---------------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupStats    
- */
-
-/**    
- * @defgroup STD Standard deviation    
- *    
- * Calculates the standard deviation of the elements in the input vector.     
- * The underlying algorithm is used:    
- *   
- * 
    
- * 	Result = sqrt((sumOfSquares - sum2 / blockSize) / (blockSize - 1))   
- *   
- *	   where, sumOfSquares = pSrc[0] * pSrc[0] + pSrc[1] * pSrc[1] + ... + pSrc[blockSize-1] * pSrc[blockSize-1]   
- *   
- *	                   sum = pSrc[0] + pSrc[1] + pSrc[2] + ... + pSrc[blockSize-1]   
- * 
   
- *    
- * There are separate functions for floating point, Q31, and Q15 data types.    
- */
-
-/**    
- * @addtogroup STD    
- * @{    
- */
-
-
-/**    
- * @brief Standard deviation of the elements of a floating-point vector.    
- * @param[in]       *pSrc points to the input vector    
- * @param[in]       blockSize length of the input vector    
- * @param[out]      *pResult standard deviation value returned here    
- * @return none.    
- *    
- */
-
-
-void arm_std_f32(
-  float32_t * pSrc,
-  uint32_t blockSize,
-  float32_t * pResult)
-{
-  float32_t sum = 0.0f;                          /* Temporary result storage */
-  float32_t sumOfSquares = 0.0f;                 /* Sum of squares */
-  float32_t in;                                  /* input value */
-  uint32_t blkCnt;                               /* loop counter */
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  float32_t meanOfSquares, mean, squareOfMean;
-
-  /*loop Unrolling */
-  blkCnt = blockSize >> 2u;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1])  */
-    /* Compute Sum of squares of the input samples    
-     * and then store the result in a temporary variable, sum. */
-    in = *pSrc++;
-    sum += in;
-    sumOfSquares += in * in;
-    in = *pSrc++;
-    sum += in;
-    sumOfSquares += in * in;
-    in = *pSrc++;
-    sum += in;
-    sumOfSquares += in * in;
-    in = *pSrc++;
-    sum += in;
-    sumOfSquares += in * in;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
-   ** No loop unrolling is used. */
-  blkCnt = blockSize % 0x4u;
-
-  while(blkCnt > 0u)
-  {
-    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1]) */
-    /* Compute Sum of squares of the input samples    
-     * and then store the result in a temporary variable, sum. */
-    in = *pSrc++;
-    sum += in;
-    sumOfSquares += in * in;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* Compute Mean of squares of the input samples    
-   * and then store the result in a temporary variable, meanOfSquares. */
-  meanOfSquares = sumOfSquares / ((float32_t) blockSize - 1.0f);
-
-  /* Compute mean of all input values */
-  mean = sum / (float32_t) blockSize;
-
-  /* Compute square of mean */
-  squareOfMean = (mean * mean) * (((float32_t) blockSize) /
-                                  ((float32_t) blockSize - 1.0f));
-
-  /* Compute standard deviation and then store the result to the destination */
-  arm_sqrt_f32((meanOfSquares - squareOfMean), pResult);
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  float32_t squareOfSum;                         /* Square of Sum */
-  float32_t var;                                 /* Temporary varaince storage */
-
-  /* Loop over blockSize number of values */
-  blkCnt = blockSize;
-
-  while(blkCnt > 0u)
-  {
-    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1]) */
-    /* Compute Sum of squares of the input samples     
-     * and then store the result in a temporary variable, sumOfSquares. */
-    in = *pSrc++;
-    sumOfSquares += in * in;
-
-    /* C = (A[0] + A[1] + ... + A[blockSize-1]) */
-    /* Compute Sum of the input samples     
-     * and then store the result in a temporary variable, sum. */
-    sum += in;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* Compute the square of sum */
-  squareOfSum = ((sum * sum) / (float32_t) blockSize);
-
-  /* Compute the variance */
-  var = ((sumOfSquares - squareOfSum) / (float32_t) (blockSize - 1.0f));
-
-  /* Compute standard deviation and then store the result to the destination */
-  arm_sqrt_f32(var, pResult);
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-}
-
-/**    
- * @} end of STD group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_std_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_std_q15.c
deleted file mode 100644
index 2d1a49a50..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_std_q15.c
+++ /dev/null
@@ -1,197 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_std_q15.c    
-*    
-* Description:	Standard deviation of an array of Q15 type.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupStats    
- */
-
-/**    
- * @addtogroup STD    
- * @{    
- */
-
-/**    
- * @brief Standard deviation of the elements of a Q15 vector.    
- * @param[in]       *pSrc points to the input vector    
- * @param[in]       blockSize length of the input vector    
- * @param[out]      *pResult standard deviation value returned here    
- * @return none.    
- *    
- * @details    
- * Scaling and Overflow Behavior:    
- *    
- * \par    
- * The function is implemented using a 64-bit internal accumulator.    
- * The input is represented in 1.15 format.   
- * Intermediate multiplication yields a 2.30 format, and this    
- * result is added without saturation to a 64-bit accumulator in 34.30 format.    
- * With 33 guard bits in the accumulator, there is no risk of overflow, and the    
- * full precision of the intermediate multiplication is preserved.    
- * Finally, the 34.30 result is truncated to 34.15 format by discarding the lower     
- * 15 bits, and then saturated to yield a result in 1.15 format.    
- */
-
-void arm_std_q15(
-  q15_t * pSrc,
-  uint32_t blockSize,
-  q15_t * pResult)
-{
-  q31_t sum = 0;                                 /* Accumulator */
-  q31_t meanOfSquares, squareOfMean;             /* square of mean and mean of square */
-  q15_t mean;                                    /* mean */
-  uint32_t blkCnt;                               /* loop counter */
-  q15_t t;                                       /* Temporary variable */
-  q63_t sumOfSquares = 0;                        /* Accumulator */
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  q31_t in;                                      /* input value */
-  q15_t in1;                                     /* input value */
-
-  /*loop Unrolling */
-  blkCnt = blockSize >> 2u;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1])  */
-    /* Compute Sum of squares of the input samples    
-     * and then store the result in a temporary variable, sum. */
-    in = *__SIMD32(pSrc)++;
-    sum += ((in << 16) >> 16);
-    sum += (in >> 16);
-    sumOfSquares = __SMLALD(in, in, sumOfSquares);
-    in = *__SIMD32(pSrc)++;
-    sum += ((in << 16) >> 16);
-    sum += (in >> 16);
-    sumOfSquares = __SMLALD(in, in, sumOfSquares);
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
-   ** No loop unrolling is used. */
-  blkCnt = blockSize % 0x4u;
-
-  while(blkCnt > 0u)
-  {
-    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1]) */
-    /* Compute Sum of squares of the input samples    
-     * and then store the result in a temporary variable, sum. */
-    in1 = *pSrc++;
-    sumOfSquares = __SMLALD(in1, in1, sumOfSquares);
-    sum += in1;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* Compute Mean of squares of the input samples    
-   * and then store the result in a temporary variable, meanOfSquares. */
-  t = (q15_t) ((1.0 / (blockSize - 1)) * 16384LL);
-  sumOfSquares = __SSAT((sumOfSquares >> 15u), 16u);
-
-  meanOfSquares = (q31_t) ((sumOfSquares * t) >> 14u);
-
-  /* Compute mean of all input values */
-  t = (q15_t) ((1.0 / (blockSize * (blockSize - 1))) * 32768LL);
-  mean = (q15_t) __SSAT(sum, 16u);
-
-  /* Compute square of mean */
-  squareOfMean = ((q31_t) mean * mean) >> 15;
-  squareOfMean = (q31_t) (((q63_t) squareOfMean * t) >> 15);
-
-  /* mean of the squares minus the square of the mean. */
-  in1 = (q15_t) (meanOfSquares - squareOfMean);
-
-  /* Compute standard deviation and store the result to the destination */
-  arm_sqrt_q15(in1, pResult);
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-  q15_t in;                                      /* input value */
-
-  /* Loop over blockSize number of values */
-  blkCnt = blockSize;
-
-  while(blkCnt > 0u)
-  {
-    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1]) */
-    /* Compute Sum of squares of the input samples     
-     * and then store the result in a temporary variable, sumOfSquares. */
-    in = *pSrc++;
-    sumOfSquares += (in * in);
-
-    /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) */
-    /* Compute sum of all input values and then store the result in a temporary variable, sum. */
-    sum += in;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* Compute Mean of squares of the input samples     
-   * and then store the result in a temporary variable, meanOfSquares. */
-  t = (q15_t) ((1.0 / (blockSize - 1)) * 16384LL);
-  sumOfSquares = __SSAT((sumOfSquares >> 15u), 16u);
-  meanOfSquares = (q31_t) ((sumOfSquares * t) >> 14u);
-
-  /* Compute mean of all input values */
-  mean = (q15_t) __SSAT(sum, 16u);
-
-  /* Compute square of mean of the input samples   
-   * and then store the result in a temporary variable, squareOfMean.*/
-  t = (q15_t) ((1.0 / (blockSize * (blockSize - 1))) * 32768LL);
-  squareOfMean = ((q31_t) mean * mean) >> 15;
-  squareOfMean = (q31_t) (((q63_t) squareOfMean * t) >> 15);
-
-  /* mean of the squares minus the square of the mean. */
-  in = (q15_t) (meanOfSquares - squareOfMean);
-
-  /* Compute standard deviation and store the result to the destination */
-  arm_sqrt_q15(in, pResult);
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-
-}
-
-/**    
- * @} end of STD group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_std_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_std_q31.c
deleted file mode 100644
index 45bec01a1..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_std_q31.c
+++ /dev/null
@@ -1,184 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_std_q31.c    
-*    
-* Description:	Standard deviation of an array of Q31 type.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupStats    
- */
-
-/**    
- * @addtogroup STD    
- * @{    
- */
-
-
-/**    
- * @brief Standard deviation of the elements of a Q31 vector.    
- * @param[in]       *pSrc points to the input vector    
- * @param[in]       blockSize length of the input vector    
- * @param[out]      *pResult standard deviation value returned here    
- * @return none.    
- * @details    
- * Scaling and Overflow Behavior:    
- *    
- *\par    
- * The function is implemented using an internal 64-bit accumulator.    
- * The input is represented in 1.31 format, and intermediate multiplication    
- * yields a 2.62 format.    
- * The accumulator maintains full precision of the intermediate multiplication results,     
- * but provides only a single guard bit.    
- * There is no saturation on intermediate additions.    
- * If the accumulator overflows it wraps around and distorts the result.    
- * In order to avoid overflows completely the input signal must be scaled down by     
- * log2(blockSize) bits, as a total of blockSize additions are performed internally.     
- * Finally, the 2.62 accumulator is right shifted by 31 bits to yield a 1.31 format value.    
- *    
- */
-
-
-void arm_std_q31(
-  q31_t * pSrc,
-  uint32_t blockSize,
-  q31_t * pResult)
-{
-  q63_t sum = 0;                                 /* Accumulator */
-  q31_t meanOfSquares, squareOfMean;             /* square of mean and mean of square */
-  q31_t mean;                                    /* mean */
-  q31_t in;                                      /* input value */
-  q31_t t;                                       /* Temporary variable */
-  uint32_t blkCnt;                               /* loop counter */
-  q63_t sumOfSquares = 0;                        /* Accumulator */
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  /*loop Unrolling */
-  blkCnt = blockSize >> 2u;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1])  */
-    /* Compute Sum of squares of the input samples    
-     * and then store the result in a temporary variable, sum. */
-    in = *pSrc++;
-    sum += in;
-    sumOfSquares += ((q63_t) (in) * (in));
-    in = *pSrc++;
-    sum += in;
-    sumOfSquares += ((q63_t) (in) * (in));
-    in = *pSrc++;
-    sum += in;
-    sumOfSquares += ((q63_t) (in) * (in));
-    in = *pSrc++;
-    sum += in;
-    sumOfSquares += ((q63_t) (in) * (in));
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
-   ** No loop unrolling is used. */
-  blkCnt = blockSize % 0x4u;
-
-  while(blkCnt > 0u)
-  {
-    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1]) */
-    /* Compute Sum of squares of the input samples    
-     * and then store the result in a temporary variable, sum. */
-    in = *pSrc++;
-    sum += in;
-    sumOfSquares += ((q63_t) (in) * (in));
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  t = (q31_t) ((1.0f / (float32_t) (blockSize - 1u)) * 1073741824.0f);
-
-  /* Compute Mean of squares of the input samples    
-   * and then store the result in a temporary variable, meanOfSquares. */
-  sumOfSquares = (sumOfSquares >> 31);
-  meanOfSquares = (q31_t) ((sumOfSquares * t) >> 30);
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  /* Loop over blockSize number of values */
-  blkCnt = blockSize;
-
-  while(blkCnt > 0u)
-  {
-    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1]) */
-    /* Compute Sum of squares of the input samples     
-     * and then store the result in a temporary variable, sumOfSquares. */
-    in = *pSrc++;
-    sumOfSquares += ((q63_t) (in) * (in));
-
-    /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) */
-    /* Compute sum of all input values and then store the result in a temporary variable, sum. */
-    sum += in;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* Compute Mean of squares of the input samples     
-   * and then store the result in a temporary variable, meanOfSquares. */
-  t = (q31_t) ((1.0f / (float32_t) (blockSize - 1u)) * 1073741824.0f);
-  sumOfSquares = (sumOfSquares >> 31);
-  meanOfSquares = (q31_t) ((sumOfSquares * t) >> 30);
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-  /* Compute mean of all input values */
-  t = (q31_t) ((1.0f / (blockSize * (blockSize - 1u))) * 2147483648.0f);
-  mean = (q31_t) (sum);
-
-  /* Compute square of mean */
-  squareOfMean = (q31_t) (((q63_t) mean * mean) >> 31);
-  squareOfMean = (q31_t) (((q63_t) squareOfMean * t) >> 31);
-
-
-  /* Compute standard deviation and then store the result to the destination */
-  arm_sqrt_q31(meanOfSquares - squareOfMean, pResult);
-
-}
-
-/**    
- * @} end of STD group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_var_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_var_f32.c
deleted file mode 100644
index 2adcfb443..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_var_f32.c
+++ /dev/null
@@ -1,184 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_var_f32.c    
-*    
-* Description:	Variance of the elements of a floating-point vector.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* ---------------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupStats    
- */
-
-/**    
- * @defgroup variance  Variance    
- *    
- * Calculates the variance of the elements in the input vector.    
- * The underlying algorithm is used:    
- *    
- * 
    
- * 	Result = (sumOfSquares - sum2 / blockSize) / (blockSize - 1)   
- *   
- *	   where, sumOfSquares = pSrc[0] * pSrc[0] + pSrc[1] * pSrc[1] + ... + pSrc[blockSize-1] * pSrc[blockSize-1]   
- *   
- *	                   sum = pSrc[0] + pSrc[1] + pSrc[2] + ... + pSrc[blockSize-1]   
- * 
   
- *    
- * There are separate functions for floating point, Q31, and Q15 data types.    
- */
-
-/**    
- * @addtogroup variance    
- * @{    
- */
-
-
-/**    
- * @brief Variance of the elements of a floating-point vector.    
- * @param[in]       *pSrc points to the input vector    
- * @param[in]       blockSize length of the input vector    
- * @param[out]      *pResult variance value returned here    
- * @return none.    
- *    
- */
-
-
-void arm_var_f32(
-  float32_t * pSrc,
-  uint32_t blockSize,
-  float32_t * pResult)
-{
-
-  float32_t sum = 0.0f;                          /* Temporary result storage */
-  float32_t sumOfSquares = 0.0f;                 /* Sum of squares */
-  float32_t in;                                  /* input value */
-  uint32_t blkCnt;                               /* loop counter */
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  float32_t meanOfSquares, mean, squareOfMean;   /* Temporary variables */
-
-  /*loop Unrolling */
-  blkCnt = blockSize >> 2u;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1])  */
-    /* Compute Sum of squares of the input samples    
-     * and then store the result in a temporary variable, sum. */
-    in = *pSrc++;
-    sum += in;
-    sumOfSquares += in * in;
-    in = *pSrc++;
-    sum += in;
-    sumOfSquares += in * in;
-    in = *pSrc++;
-    sum += in;
-    sumOfSquares += in * in;
-    in = *pSrc++;
-    sum += in;
-    sumOfSquares += in * in;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
-   ** No loop unrolling is used. */
-  blkCnt = blockSize % 0x4u;
-
-  while(blkCnt > 0u)
-  {
-    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1]) */
-    /* Compute Sum of squares of the input samples    
-     * and then store the result in a temporary variable, sum. */
-    in = *pSrc++;
-    sum += in;
-    sumOfSquares += in * in;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* Compute Mean of squares of the input samples    
-   * and then store the result in a temporary variable, meanOfSquares. */
-  meanOfSquares = sumOfSquares / ((float32_t) blockSize - 1.0f);
-
-  /* Compute mean of all input values */
-  mean = sum / (float32_t) blockSize;
-
-  /* Compute square of mean */
-  squareOfMean = (mean * mean) * (((float32_t) blockSize) /
-                                  ((float32_t) blockSize - 1.0f));
-
-  /* Compute variance and then store the result to the destination */
-  *pResult = meanOfSquares - squareOfMean;
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-  float32_t squareOfSum;                         /* Square of Sum */
-
-  /* Loop over blockSize number of values */
-  blkCnt = blockSize;
-
-  while(blkCnt > 0u)
-  {
-    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1]) */
-    /* Compute Sum of squares of the input samples     
-     * and then store the result in a temporary variable, sumOfSquares. */
-    in = *pSrc++;
-    sumOfSquares += in * in;
-
-    /* C = (A[0] + A[1] + ... + A[blockSize-1]) */
-    /* Compute Sum of the input samples     
-     * and then store the result in a temporary variable, sum. */
-    sum += in;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* Compute the square of sum */
-  squareOfSum = ((sum * sum) / (float32_t) blockSize);
-
-  /* Compute the variance */
-  *pResult = ((sumOfSquares - squareOfSum) / (float32_t) (blockSize - 1.0f));
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-}
-
-/**    
- * @} end of variance group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_var_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_var_q15.c
deleted file mode 100644
index 08dbc6587..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_var_q15.c
+++ /dev/null
@@ -1,180 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_var_q15.c    
-*    
-* Description:	Variance of an array of Q15 type.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupStats    
- */
-
-/**    
- * @addtogroup variance    
- * @{    
- */
-
-/**    
- * @brief Variance of the elements of a Q15 vector.    
- * @param[in]       *pSrc points to the input vector    
- * @param[in]       blockSize length of the input vector    
- * @param[out]      *pResult variance value returned here    
- * @return none.    
- *    
- * @details    
- * Scaling and Overflow Behavior:    
- *    
- * \par    
- * The function is implemented using a 64-bit internal accumulator.    
- * The input is represented in 1.15 format.   
- * Intermediate multiplication yields a 2.30 format, and this    
- * result is added without saturation to a 64-bit accumulator in 34.30 format.    
- * With 33 guard bits in the accumulator, there is no risk of overflow, and the    
- * full precision of the intermediate multiplication is preserved.    
- * Finally, the 34.30 result is truncated to 34.15 format by discarding the lower     
- * 15 bits, and then saturated to yield a result in 1.15 format.    
- *    
- */
-
-
-void arm_var_q15(
-  q15_t * pSrc,
-  uint32_t blockSize,
-  q31_t * pResult)
-{
-  q31_t sum = 0;                                 /* Accumulator */
-  q31_t meanOfSquares, squareOfMean;             /* Mean of square and square of mean */
-  q15_t mean;                                    /* mean */
-  uint32_t blkCnt;                               /* loop counter */
-  q15_t t;                                       /* Temporary variable */
-  q63_t sumOfSquares = 0;                        /* Accumulator */
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  q31_t in;                                      /* Input variable */
-  q15_t in1;                                     /* Temporary variable */
-
-  /*loop Unrolling */
-  blkCnt = blockSize >> 2u;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1])  */
-    /* Compute Sum of squares of the input samples    
-     * and then store the result in a temporary variable, sum. */
-    in = *__SIMD32(pSrc)++;
-    sum += ((in << 16) >> 16);
-    sum += (in >> 16);
-    sumOfSquares = __SMLALD(in, in, sumOfSquares);
-    in = *__SIMD32(pSrc)++;
-    sum += ((in << 16) >> 16);
-    sum += (in >> 16);
-    sumOfSquares = __SMLALD(in, in, sumOfSquares);
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
-   ** No loop unrolling is used. */
-  blkCnt = blockSize % 0x4u;
-
-  while(blkCnt > 0u)
-  {
-    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1]) */
-    /* Compute Sum of squares of the input samples    
-     * and then store the result in a temporary variable, sum. */
-    in1 = *pSrc++;
-    sum += in1;
-    sumOfSquares = __SMLALD(in1, in1, sumOfSquares);
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* Compute Mean of squares of the input samples    
-   * and then store the result in a temporary variable, meanOfSquares. */
-  t = (q15_t) ((1.0f / (float32_t) (blockSize - 1u)) * 16384);
-  sumOfSquares = __SSAT((sumOfSquares >> 15u), 16u);
-
-  meanOfSquares = (q31_t) ((sumOfSquares * t) >> 14u);
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  q15_t in;                                      /* Temporary variable */
-  /* Loop over blockSize number of values */
-  blkCnt = blockSize;
-
-  while(blkCnt > 0u)
-  {
-    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1]) */
-    /* Compute Sum of squares of the input samples     
-     * and then store the result in a temporary variable, sumOfSquares. */
-    in = *pSrc++;
-    sumOfSquares += (in * in);
-
-    /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) */
-    /* Compute sum of all input values and then store the result in a temporary variable, sum. */
-    sum += in;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* Compute Mean of squares of the input samples     
-   * and then store the result in a temporary variable, meanOfSquares. */
-  t = (q15_t) ((1.0f / (float32_t) (blockSize - 1u)) * 16384);
-  sumOfSquares = __SSAT((sumOfSquares >> 15u), 16u);
-  meanOfSquares = (q31_t) ((sumOfSquares * t) >> 14u);
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-  /* Compute mean of all input values */
-  t = (q15_t) ((1.0f / (float32_t) (blockSize * (blockSize - 1u))) * 32768);
-  mean = __SSAT(sum, 16u);
-
-  /* Compute square of mean */
-  squareOfMean = ((q31_t) mean * mean) >> 15;
-  squareOfMean = (q31_t) (((q63_t) squareOfMean * t) >> 15);
-
-  /* Compute variance and then store the result to the destination */
-  *pResult = (meanOfSquares - squareOfMean);
-
-}
-
-/**    
- * @} end of variance group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_var_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_var_q31.c
deleted file mode 100644
index 13d6c15cb..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_var_q31.c
+++ /dev/null
@@ -1,170 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_var_q31.c    
-*    
-* Description:	Variance of an array of Q31 type.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**        
- * @ingroup groupStats        
- */
-
-/**        
- * @addtogroup variance        
- * @{        
- */
-
-/**        
- * @brief Variance of the elements of a Q31 vector.        
- * @param[in]       *pSrc points to the input vector        
- * @param[in]       blockSize length of the input vector        
- * @param[out]      *pResult variance value returned here        
- * @return none.        
- *        
- * @details        
- * Scaling and Overflow Behavior:        
- *        
- *\par        
- * The function is implemented using an internal 64-bit accumulator.        
- * The input is represented in 1.31 format, and intermediate multiplication        
- * yields a 2.62 format.        
- * The accumulator maintains full precision of the intermediate multiplication results,         
- * but provides only a single guard bit.        
- * There is no saturation on intermediate additions.        
- * If the accumulator overflows it wraps around and distorts the result.        
- * In order to avoid overflows completely the input signal must be scaled down by         
- * log2(blockSize) bits, as a total of blockSize additions are performed internally.         
- * Finally, the 2.62 accumulator is right shifted by 31 bits to yield a 1.31 format value.        
- *        
- */
-
-
-void arm_var_q31(
-  q31_t * pSrc,
-  uint32_t blockSize,
-  q63_t * pResult)
-{
-  q63_t sum = 0, sumSquare = 0;                  /* Accumulator */
-  q31_t meanOfSquares, squareOfMean;             /* square of mean and mean of square */
-  q31_t mean;                                    /* mean */
-  q31_t in;                                      /* input value */
-  q31_t t;                                       /* Temporary variable */
-  uint32_t blkCnt;                               /* loop counter */
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-  q63_t sumSquare1 = 0;                          /* Accumulator */
-  q31_t in1, in2, in3, in4;                      /* Temporary input variables */
-
-  /*loop Unrolling */
-  blkCnt = blockSize >> 2u;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1])  */
-    /* Compute Sum of squares of the input samples        
-     * and then store the result in a temporary variable, sum. */
-    /* read input samples from source buffer */
-    in1 = pSrc[0];
-    in2 = pSrc[1];
-
-    /* calculate sum of inputs */
-    sum += in1;
-    /* calculate sum of squares */
-    sumSquare += ((q63_t) (in1) * (in1));
-    in3 = pSrc[2];
-    sum += in2;
-    sumSquare1 += ((q63_t) (in2) * (in2));
-    in4 = pSrc[3];
-    sum += in3;
-    sumSquare += ((q63_t) (in3) * (in3));
-    sum += in4;
-    sumSquare1 += ((q63_t) (in4) * (in4));
-
-    /* update input pointer to process next samples */
-    pSrc += 4u;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* add two accumulators */
-  sumSquare = sumSquare + sumSquare1;
-
-  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
-   ** No loop unrolling is used. */
-  blkCnt = blockSize % 0x4u;
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-  blkCnt = blockSize;
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-  while(blkCnt > 0u)
-  {
-    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1]) */
-    /* Compute Sum of squares of the input samples        
-     * and then store the result in a temporary variable, sum. */
-    in = *pSrc++;
-    sumSquare += ((q63_t) (in) * (in));
-    sum += in;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  t = (q31_t) ((1.0f / (float32_t) (blockSize - 1u)) * 1073741824.0f);
-
-  /* Compute Mean of squares of the input samples        
-   * and then store the result in a temporary variable, meanOfSquares. */
-  sumSquare = (sumSquare >> 31);
-  meanOfSquares = (q31_t) ((sumSquare * t) >> 30);
-
-  /* Compute mean of all input values */
-  t = (q31_t) ((1.0f / (blockSize * (blockSize - 1u))) * 2147483648.0f);
-  mean = (q31_t) (sum);
-
-  /* Compute square of mean */
-  squareOfMean = (q31_t) (((q63_t) mean * mean) >> 31);
-  squareOfMean = (q31_t) (((q63_t) squareOfMean * t) >> 31);
-
-  /* Compute variance and then store the result to the destination */
-  *pResult = (q63_t) meanOfSquares - squareOfMean;
-
-}
-
-/**        
- * @} end of variance group        
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_copy_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_copy_f32.c
deleted file mode 100644
index 619c1577a..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_copy_f32.c
+++ /dev/null
@@ -1,130 +0,0 @@
-/* ----------------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_copy_f32.c    
-*    
-* Description:	Copies the elements of a floating-point vector.  
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* ---------------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupSupport    
- */
-
-/**    
- * @defgroup copy Vector Copy    
- *    
- * Copies sample by sample from source vector to destination vector.    
- *    
- * 
    
- * 	pDst[n] = pSrc[n];   0 <= n < blockSize.    
- * 
    
- *   
- * There are separate functions for floating point, Q31, Q15, and Q7 data types.     
- */
-
-/**    
- * @addtogroup copy    
- * @{    
- */
-
-/**    
- * @brief Copies the elements of a floating-point vector.     
- * @param[in]       *pSrc points to input vector    
- * @param[out]      *pDst points to output vector    
- * @param[in]       blockSize length of the input vector   
- * @return none.    
- *    
- */
-
-
-void arm_copy_f32(
-  float32_t * pSrc,
-  float32_t * pDst,
-  uint32_t blockSize)
-{
-  uint32_t blkCnt;                               /* loop counter */
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-  float32_t in1, in2, in3, in4;
-
-  /*loop Unrolling */
-  blkCnt = blockSize >> 2u;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-    /* C = A */
-    /* Copy and then store the results in the destination buffer */
-    in1 = *pSrc++;
-    in2 = *pSrc++;
-    in3 = *pSrc++;
-    in4 = *pSrc++;
-
-    *pDst++ = in1;
-    *pDst++ = in2;
-    *pDst++ = in3;
-    *pDst++ = in4;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
-   ** No loop unrolling is used. */
-  blkCnt = blockSize % 0x4u;
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  /* Loop over blockSize number of values */
-  blkCnt = blockSize;
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-  while(blkCnt > 0u)
-  {
-    /* C = A */
-    /* Copy and then store the results in the destination buffer */
-    *pDst++ = *pSrc++;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-}
-
-/**    
- * @} end of BasicCopy group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_copy_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_copy_q15.c
deleted file mode 100644
index 00be9dc0b..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_copy_q15.c
+++ /dev/null
@@ -1,109 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_copy_q15.c    
-*    
-* Description:	Copies the elements of a Q15 vector.   
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupSupport    
- */
-
-/**    
- * @addtogroup copy    
- * @{    
- */
-/**    
- * @brief Copies the elements of a Q15 vector.     
- * @param[in]       *pSrc points to input vector    
- * @param[out]      *pDst points to output vector    
- * @param[in]       blockSize length of the input vector   
- * @return none.    
- *    
- */
-
-void arm_copy_q15(
-  q15_t * pSrc,
-  q15_t * pDst,
-  uint32_t blockSize)
-{
-  uint32_t blkCnt;                               /* loop counter */
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  /*loop Unrolling */
-  blkCnt = blockSize >> 2u;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-    /* C = A */
-    /* Read two inputs */
-    *__SIMD32(pDst)++ = *__SIMD32(pSrc)++;
-    *__SIMD32(pDst)++ = *__SIMD32(pSrc)++;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
-   ** No loop unrolling is used. */
-  blkCnt = blockSize % 0x4u;
-
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  /* Loop over blockSize number of values */
-  blkCnt = blockSize;
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-  while(blkCnt > 0u)
-  {
-    /* C = A */
-    /* Copy and then store the value in the destination buffer */
-    *pDst++ = *pSrc++;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-}
-
-/**    
- * @} end of BasicCopy group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_copy_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_copy_q31.c
deleted file mode 100644
index 7ab0849f6..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_copy_q31.c
+++ /dev/null
@@ -1,118 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_copy_q31.c    
-*    
-* Description:	Copies the elements of a Q31 vector.   
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupSupport    
- */
-
-/**    
- * @addtogroup copy    
- * @{    
- */
-
-/**    
- * @brief Copies the elements of a Q31 vector.     
- * @param[in]       *pSrc points to input vector    
- * @param[out]      *pDst points to output vector    
- * @param[in]       blockSize length of the input vector   
- * @return none.    
- *    
- */
-
-void arm_copy_q31(
-  q31_t * pSrc,
-  q31_t * pDst,
-  uint32_t blockSize)
-{
-  uint32_t blkCnt;                               /* loop counter */
-
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-  q31_t in1, in2, in3, in4;
-
-  /*loop Unrolling */
-  blkCnt = blockSize >> 2u;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-    /* C = A */
-    /* Copy and then store the values in the destination buffer */
-    in1 = *pSrc++;
-    in2 = *pSrc++;
-    in3 = *pSrc++;
-    in4 = *pSrc++;
-
-    *pDst++ = in1;
-    *pDst++ = in2;
-    *pDst++ = in3;
-    *pDst++ = in4;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
-   ** No loop unrolling is used. */
-  blkCnt = blockSize % 0x4u;
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  /* Loop over blockSize number of values */
-  blkCnt = blockSize;
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-  while(blkCnt > 0u)
-  {
-    /* C = A */
-    /* Copy and then store the value in the destination buffer */
-    *pDst++ = *pSrc++;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-}
-
-/**    
- * @} end of BasicCopy group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_copy_q7.c b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_copy_q7.c
deleted file mode 100644
index 425885753..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_copy_q7.c
+++ /dev/null
@@ -1,110 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_copy_q7.c    
-*    
-* Description:	Copies the elements of a Q7 vector.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupSupport    
- */
-
-/**    
- * @addtogroup copy    
- * @{    
- */
-
-/**    
- * @brief Copies the elements of a Q7 vector.    
- * @param[in]       *pSrc points to input vector    
- * @param[out]      *pDst points to output vector    
- * @param[in]       blockSize length of the input vector   
- * @return none.    
- *    
- */
-
-void arm_copy_q7(
-  q7_t * pSrc,
-  q7_t * pDst,
-  uint32_t blockSize)
-{
-  uint32_t blkCnt;                               /* loop counter */
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  /*loop Unrolling */
-  blkCnt = blockSize >> 2u;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-    /* C = A */
-    /* Copy and then store the results in the destination buffer */
-    /* 4 samples are copied and stored at a time using SIMD */
-    *__SIMD32(pDst)++ = *__SIMD32(pSrc)++;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
-   ** No loop unrolling is used. */
-  blkCnt = blockSize % 0x4u;
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  /* Loop over blockSize number of values */
-  blkCnt = blockSize;
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-
-  while(blkCnt > 0u)
-  {
-    /* C = A */
-    /* Copy and then store the results in the destination buffer */
-    *pDst++ = *pSrc++;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-}
-
-/**    
- * @} end of BasicCopy group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_fill_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_fill_f32.c
deleted file mode 100644
index 439e60db0..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_fill_f32.c
+++ /dev/null
@@ -1,129 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_fill_f32.c    
-*    
-* Description:	Fills a constant value into a floating-point vector.   
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* ---------------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupSupport    
- */
-
-/**    
- * @defgroup Fill Vector Fill    
- *    
- * Fills the destination vector with a constant value.    
- *    
- * 
    
- * 	pDst[n] = value;   0 <= n < blockSize.    
- * 
    
- *   
- * There are separate functions for floating point, Q31, Q15, and Q7 data types.     
- */
-
-/**    
- * @addtogroup Fill    
- * @{    
- */
-
-/**    
- * @brief Fills a constant value into a floating-point vector.     
- * @param[in]       value input value to be filled   
- * @param[out]      *pDst points to output vector    
- * @param[in]       blockSize length of the output vector   
- * @return none.    
- *    
- */
-
-
-void arm_fill_f32(
-  float32_t value,
-  float32_t * pDst,
-  uint32_t blockSize)
-{
-  uint32_t blkCnt;                               /* loop counter */
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-  float32_t in1 = value;
-  float32_t in2 = value;
-  float32_t in3 = value;
-  float32_t in4 = value;
-
-  /*loop Unrolling */
-  blkCnt = blockSize >> 2u;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-    /* C = value */
-    /* Fill the value in the destination buffer */
-    *pDst++ = in1;
-    *pDst++ = in2;
-    *pDst++ = in3;
-    *pDst++ = in4;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
-   ** No loop unrolling is used. */
-  blkCnt = blockSize % 0x4u;
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  /* Loop over blockSize number of values */
-  blkCnt = blockSize;
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-
-  while(blkCnt > 0u)
-  {
-    /* C = value */
-    /* Fill the value in the destination buffer */
-    *pDst++ = value;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-}
-
-/**    
- * @} end of Fill group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_fill_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_fill_q15.c
deleted file mode 100644
index 8f60d3b4e..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_fill_q15.c
+++ /dev/null
@@ -1,115 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_fill_q15.c    
-*    
-* Description:	Fills a constant value into a Q15 vector.   
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupSupport    
- */
-
-/**    
- * @addtogroup Fill    
- * @{    
- */
-
-/**    
- * @brief Fills a constant value into a Q15 vector.    
- * @param[in]       value input value to be filled   
- * @param[out]      *pDst points to output vector    
- * @param[in]       blockSize length of the output vector   
- * @return none.    
- *    
- */
-
-void arm_fill_q15(
-  q15_t value,
-  q15_t * pDst,
-  uint32_t blockSize)
-{
-  uint32_t blkCnt;                               /* loop counter */
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  q31_t packedValue;                             /* value packed to 32 bits */
-
-
-  /*loop Unrolling */
-  blkCnt = blockSize >> 2u;
-
-  /* Packing two 16 bit values to 32 bit value in order to use SIMD */
-  packedValue = __PKHBT(value, value, 16u);
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-    /* C = value */
-    /* Fill the value in the destination buffer */
-    *__SIMD32(pDst)++ = packedValue;
-    *__SIMD32(pDst)++ = packedValue;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
-   ** No loop unrolling is used. */
-  blkCnt = blockSize % 0x4u;
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  /* Loop over blockSize number of values */
-  blkCnt = blockSize;
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-  while(blkCnt > 0u)
-  {
-    /* C = value */
-    /* Fill the value in the destination buffer */
-    *pDst++ = value;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-}
-
-/**    
- * @} end of Fill group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_fill_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_fill_q31.c
deleted file mode 100644
index 35565c3cf..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_fill_q31.c
+++ /dev/null
@@ -1,116 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_fill_q31.c    
-*    
-* Description:	Fills a constant value into a Q31 vector.   
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupSupport    
- */
-
-/**    
- * @addtogroup Fill    
- * @{    
- */
-
-/**    
- * @brief Fills a constant value into a Q31 vector.    
- * @param[in]       value input value to be filled   
- * @param[out]      *pDst points to output vector    
- * @param[in]       blockSize length of the output vector   
- * @return none.    
- *    
- */
-
-void arm_fill_q31(
-  q31_t value,
-  q31_t * pDst,
-  uint32_t blockSize)
-{
-  uint32_t blkCnt;                               /* loop counter */
-
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-  q31_t in1 = value;
-  q31_t in2 = value;
-  q31_t in3 = value;
-  q31_t in4 = value;
-
-  /*loop Unrolling */
-  blkCnt = blockSize >> 2u;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-    /* C = value */
-    /* Fill the value in the destination buffer */
-    *pDst++ = in1;
-    *pDst++ = in2;
-    *pDst++ = in3;
-    *pDst++ = in4;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
-   ** No loop unrolling is used. */
-  blkCnt = blockSize % 0x4u;
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  /* Loop over blockSize number of values */
-  blkCnt = blockSize;
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-  while(blkCnt > 0u)
-  {
-    /* C = value */
-    /* Fill the value in the destination buffer */
-    *pDst++ = value;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-}
-
-/**    
- * @} end of Fill group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_fill_q7.c b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_fill_q7.c
deleted file mode 100644
index 481d4c8f7..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_fill_q7.c
+++ /dev/null
@@ -1,113 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_fill_q7.c    
-*    
-* Description:	Fills a constant value into a Q7 vector.   
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupSupport    
- */
-
-/**    
- * @addtogroup Fill    
- * @{    
- */
-
-/**    
- * @brief Fills a constant value into a Q7 vector.    
- * @param[in]       value input value to be filled   
- * @param[out]      *pDst points to output vector    
- * @param[in]       blockSize length of the output vector   
- * @return none.    
- *    
- */
-
-void arm_fill_q7(
-  q7_t value,
-  q7_t * pDst,
-  uint32_t blockSize)
-{
-  uint32_t blkCnt;                               /* loop counter */
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  q31_t packedValue;                             /* value packed to 32 bits */
-
-  /*loop Unrolling */
-  blkCnt = blockSize >> 2u;
-
-  /* Packing four 8 bit values to 32 bit value in order to use SIMD */
-  packedValue = __PACKq7(value, value, value, value);
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-    /* C = value */
-    /* Fill the value in the destination buffer */
-    *__SIMD32(pDst)++ = packedValue;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
-   ** No loop unrolling is used. */
-  blkCnt = blockSize % 0x4u;
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  /* Loop over blockSize number of values */
-  blkCnt = blockSize;
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-  while(blkCnt > 0u)
-  {
-    /* C = value */
-    /* Fill the value in the destination buffer */
-    *pDst++ = value;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-}
-
-/**    
- * @} end of Fill group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_float_to_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_float_to_q15.c
deleted file mode 100644
index 1537b93ab..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_float_to_q15.c
+++ /dev/null
@@ -1,196 +0,0 @@
-/* ----------------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_float_to_q15.c    
-*    
-* Description:	Converts the elements of the floating-point vector to Q15 vector.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* ---------------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupSupport    
- */
-
-/**    
- * @addtogroup float_to_x    
- * @{    
- */
-
-/**    
- * @brief Converts the elements of the floating-point vector to Q15 vector.    
- * @param[in]       *pSrc points to the floating-point input vector    
- * @param[out]      *pDst points to the Q15 output vector   
- * @param[in]       blockSize length of the input vector    
- * @return none.    
- *    
- * \par Description:    
- * \par   
- * The equation used for the conversion process is:    
- * 
    
- * 	pDst[n] = (q15_t)(pSrc[n] * 32768);   0 <= n < blockSize.    
- * 
    
- * \par Scaling and Overflow Behavior:    
- * \par    
- * The function uses saturating arithmetic.    
- * Results outside of the allowable Q15 range [0x8000 0x7FFF] will be saturated.    
- * \note   
- * In order to apply rounding, the library should be rebuilt with the ROUNDING macro     
- * defined in the preprocessor section of project options.     
- *    
- */
-
-
-void arm_float_to_q15(
-  float32_t * pSrc,
-  q15_t * pDst,
-  uint32_t blockSize)
-{
-  float32_t *pIn = pSrc;                         /* Src pointer */
-  uint32_t blkCnt;                               /* loop counter */
-
-#ifdef ARM_MATH_ROUNDING
-
-  float32_t in;
-
-#endif /*      #ifdef ARM_MATH_ROUNDING        */
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  /*loop Unrolling */
-  blkCnt = blockSize >> 2u;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-
-#ifdef ARM_MATH_ROUNDING
-    /* C = A * 32768 */
-    /* convert from float to q15 and then store the results in the destination buffer */
-    in = *pIn++;
-    in = (in * 32768.0f);
-    in += in > 0 ? 0.5 : -0.5;
-    *pDst++ = (q15_t) (__SSAT((q31_t) (in), 16));
-
-    in = *pIn++;
-    in = (in * 32768.0f);
-    in += in > 0 ? 0.5 : -0.5;
-    *pDst++ = (q15_t) (__SSAT((q31_t) (in), 16));
-
-    in = *pIn++;
-    in = (in * 32768.0f);
-    in += in > 0 ? 0.5 : -0.5;
-    *pDst++ = (q15_t) (__SSAT((q31_t) (in), 16));
-
-    in = *pIn++;
-    in = (in * 32768.0f);
-    in += in > 0 ? 0.5 : -0.5;
-    *pDst++ = (q15_t) (__SSAT((q31_t) (in), 16));
-
-#else
-
-    /* C = A * 32768 */
-    /* convert from float to q15 and then store the results in the destination buffer */
-    *pDst++ = (q15_t) __SSAT((q31_t) (*pIn++ * 32768.0f), 16);
-    *pDst++ = (q15_t) __SSAT((q31_t) (*pIn++ * 32768.0f), 16);
-    *pDst++ = (q15_t) __SSAT((q31_t) (*pIn++ * 32768.0f), 16);
-    *pDst++ = (q15_t) __SSAT((q31_t) (*pIn++ * 32768.0f), 16);
-
-#endif /*      #ifdef ARM_MATH_ROUNDING        */
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
-   ** No loop unrolling is used. */
-  blkCnt = blockSize % 0x4u;
-
-  while(blkCnt > 0u)
-  {
-
-#ifdef ARM_MATH_ROUNDING
-    /* C = A * 32768 */
-    /* convert from float to q15 and then store the results in the destination buffer */
-    in = *pIn++;
-    in = (in * 32768.0f);
-    in += in > 0 ? 0.5 : -0.5;
-    *pDst++ = (q15_t) (__SSAT((q31_t) (in), 16));
-
-#else
-
-    /* C = A * 32768 */
-    /* convert from float to q15 and then store the results in the destination buffer */
-    *pDst++ = (q15_t) __SSAT((q31_t) (*pIn++ * 32768.0f), 16);
-
-#endif /*      #ifdef ARM_MATH_ROUNDING        */
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  /* Loop over blockSize number of values */
-  blkCnt = blockSize;
-
-  while(blkCnt > 0u)
-  {
-
-#ifdef ARM_MATH_ROUNDING
-    /* C = A * 32768 */
-    /* convert from float to q15 and then store the results in the destination buffer */
-    in = *pIn++;
-    in = (in * 32768.0f);
-    in += in > 0 ? 0.5f : -0.5f;
-    *pDst++ = (q15_t) (__SSAT((q31_t) (in), 16));
-
-#else
-
-    /* C = A * 32768 */
-    /* convert from float to q15 and then store the results in the destination buffer */
-    *pDst++ = (q15_t) __SSAT((q31_t) (*pIn++ * 32768.0f), 16);
-
-#endif /*      #ifdef ARM_MATH_ROUNDING        */
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-}
-
-/**    
- * @} end of float_to_x group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_float_to_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_float_to_q31.c
deleted file mode 100644
index 3ab52b9ff..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_float_to_q31.c
+++ /dev/null
@@ -1,203 +0,0 @@
-/* ----------------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_float_to_q31.c    
-*    
-* Description:	Converts the elements of the floating-point vector to Q31 vector.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* ---------------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupSupport    
- */
-
-/**    
- * @defgroup float_to_x  Convert 32-bit floating point value    
- */
-
-/**    
- * @addtogroup float_to_x    
- * @{    
- */
-
-/**    
- * @brief Converts the elements of the floating-point vector to Q31 vector.    
- * @param[in]       *pSrc points to the floating-point input vector    
- * @param[out]      *pDst points to the Q31 output vector   
- * @param[in]       blockSize length of the input vector    
- * @return none.    
- *    
- *\par Description:    
- * \par   
- * The equation used for the conversion process is:    
- *   
- * 
    
- * 	pDst[n] = (q31_t)(pSrc[n] * 2147483648);   0 <= n < blockSize.    
- * 
    
- * Scaling and Overflow Behavior:    
- * \par    
- * The function uses saturating arithmetic.    
- * Results outside of the allowable Q31 range[0x80000000 0x7FFFFFFF] will be saturated.    
- *   
- * \note In order to apply rounding, the library should be rebuilt with the ROUNDING macro     
- * defined in the preprocessor section of project options.     
- */
-
-
-void arm_float_to_q31(
-  float32_t * pSrc,
-  q31_t * pDst,
-  uint32_t blockSize)
-{
-  float32_t *pIn = pSrc;                         /* Src pointer */
-  uint32_t blkCnt;                               /* loop counter */
-
-#ifdef ARM_MATH_ROUNDING
-
-  float32_t in;
-
-#endif /*      #ifdef ARM_MATH_ROUNDING        */
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  /*loop Unrolling */
-  blkCnt = blockSize >> 2u;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-
-#ifdef ARM_MATH_ROUNDING
-
-    /* C = A * 32768 */
-    /* convert from float to Q31 and then store the results in the destination buffer */
-    in = *pIn++;
-    in = (in * 2147483648.0f);
-    in += in > 0 ? 0.5 : -0.5;
-    *pDst++ = clip_q63_to_q31((q63_t) (in));
-
-    in = *pIn++;
-    in = (in * 2147483648.0f);
-    in += in > 0 ? 0.5 : -0.5;
-    *pDst++ = clip_q63_to_q31((q63_t) (in));
-
-    in = *pIn++;
-    in = (in * 2147483648.0f);
-    in += in > 0 ? 0.5 : -0.5;
-    *pDst++ = clip_q63_to_q31((q63_t) (in));
-
-    in = *pIn++;
-    in = (in * 2147483648.0f);
-    in += in > 0 ? 0.5 : -0.5;
-    *pDst++ = clip_q63_to_q31((q63_t) (in));
-
-#else
-
-    /* C = A * 2147483648 */
-    /* convert from float to Q31 and then store the results in the destination buffer */
-    *pDst++ = clip_q63_to_q31((q63_t) (*pIn++ * 2147483648.0f));
-    *pDst++ = clip_q63_to_q31((q63_t) (*pIn++ * 2147483648.0f));
-    *pDst++ = clip_q63_to_q31((q63_t) (*pIn++ * 2147483648.0f));
-    *pDst++ = clip_q63_to_q31((q63_t) (*pIn++ * 2147483648.0f));
-
-#endif /*      #ifdef ARM_MATH_ROUNDING        */
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
-   ** No loop unrolling is used. */
-  blkCnt = blockSize % 0x4u;
-
-  while(blkCnt > 0u)
-  {
-
-#ifdef ARM_MATH_ROUNDING
-
-    /* C = A * 2147483648 */
-    /* convert from float to Q31 and then store the results in the destination buffer */
-    in = *pIn++;
-    in = (in * 2147483648.0f);
-    in += in > 0 ? 0.5 : -0.5;
-    *pDst++ = clip_q63_to_q31((q63_t) (in));
-
-#else
-
-    /* C = A * 2147483648 */
-    /* convert from float to Q31 and then store the results in the destination buffer */
-    *pDst++ = clip_q63_to_q31((q63_t) (*pIn++ * 2147483648.0f));
-
-#endif /*      #ifdef ARM_MATH_ROUNDING        */
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  /* Loop over blockSize number of values */
-  blkCnt = blockSize;
-
-  while(blkCnt > 0u)
-  {
-
-#ifdef ARM_MATH_ROUNDING
-
-    /* C = A * 2147483648 */
-    /* convert from float to Q31 and then store the results in the destination buffer */
-    in = *pIn++;
-    in = (in * 2147483648.0f);
-    in += in > 0 ? 0.5f : -0.5f;
-    *pDst++ = clip_q63_to_q31((q63_t) (in));
-
-#else
-
-    /* C = A * 2147483648 */
-    /* convert from float to Q31 and then store the results in the destination buffer */
-    *pDst++ = clip_q63_to_q31((q63_t) (*pIn++ * 2147483648.0f));
-
-#endif /*      #ifdef ARM_MATH_ROUNDING        */
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-}
-
-/**    
- * @} end of float_to_x group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_float_to_q7.c b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_float_to_q7.c
deleted file mode 100644
index dea14c6a1..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_float_to_q7.c
+++ /dev/null
@@ -1,195 +0,0 @@
-/* ----------------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_float_to_q7.c    
-*    
-* Description:	Converts the elements of the floating-point vector to Q7 vector.   
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* ---------------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupSupport    
- */
-
-/**    
- * @addtogroup float_to_x    
- * @{    
- */
-
-/**    
- * @brief Converts the elements of the floating-point vector to Q7 vector.    
- * @param[in]       *pSrc points to the floating-point input vector    
- * @param[out]      *pDst points to the Q7 output vector   
- * @param[in]       blockSize length of the input vector    
- * @return none.    
- *    
- *\par Description:    
- * \par   
- * The equation used for the conversion process is:    
- * 
    
- * 	pDst[n] = (q7_t)(pSrc[n] * 128);   0 <= n < blockSize.    
- * 
    
- * \par Scaling and Overflow Behavior:    
- * \par    
- * The function uses saturating arithmetic.    
- * Results outside of the allowable Q7 range [0x80 0x7F] will be saturated.    
- * \note   
- * In order to apply rounding, the library should be rebuilt with the ROUNDING macro     
- * defined in the preprocessor section of project options.     
- */
-
-
-void arm_float_to_q7(
-  float32_t * pSrc,
-  q7_t * pDst,
-  uint32_t blockSize)
-{
-  float32_t *pIn = pSrc;                         /* Src pointer */
-  uint32_t blkCnt;                               /* loop counter */
-
-#ifdef ARM_MATH_ROUNDING
-
-  float32_t in;
-
-#endif /*      #ifdef ARM_MATH_ROUNDING        */
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  /*loop Unrolling */
-  blkCnt = blockSize >> 2u;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-
-#ifdef ARM_MATH_ROUNDING
-    /* C = A * 128 */
-    /* convert from float to q7 and then store the results in the destination buffer */
-    in = *pIn++;
-    in = (in * 128);
-    in += in > 0 ? 0.5 : -0.5;
-    *pDst++ = (q7_t) (__SSAT((q15_t) (in), 8));
-
-    in = *pIn++;
-    in = (in * 128);
-    in += in > 0 ? 0.5 : -0.5;
-    *pDst++ = (q7_t) (__SSAT((q15_t) (in), 8));
-
-    in = *pIn++;
-    in = (in * 128);
-    in += in > 0 ? 0.5 : -0.5;
-    *pDst++ = (q7_t) (__SSAT((q15_t) (in), 8));
-
-    in = *pIn++;
-    in = (in * 128);
-    in += in > 0 ? 0.5 : -0.5;
-    *pDst++ = (q7_t) (__SSAT((q15_t) (in), 8));
-
-#else
-
-    /* C = A * 128 */
-    /* convert from float to q7 and then store the results in the destination buffer */
-    *pDst++ = __SSAT((q31_t) (*pIn++ * 128.0f), 8);
-    *pDst++ = __SSAT((q31_t) (*pIn++ * 128.0f), 8);
-    *pDst++ = __SSAT((q31_t) (*pIn++ * 128.0f), 8);
-    *pDst++ = __SSAT((q31_t) (*pIn++ * 128.0f), 8);
-
-#endif /*      #ifdef ARM_MATH_ROUNDING        */
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
-   ** No loop unrolling is used. */
-  blkCnt = blockSize % 0x4u;
-
-  while(blkCnt > 0u)
-  {
-
-#ifdef ARM_MATH_ROUNDING
-    /* C = A * 128 */
-    /* convert from float to q7 and then store the results in the destination buffer */
-    in = *pIn++;
-    in = (in * 128);
-    in += in > 0 ? 0.5 : -0.5;
-    *pDst++ = (q7_t) (__SSAT((q15_t) (in), 8));
-
-#else
-
-    /* C = A * 128 */
-    /* convert from float to q7 and then store the results in the destination buffer */
-    *pDst++ = __SSAT((q31_t) (*pIn++ * 128.0f), 8);
-
-#endif /*      #ifdef ARM_MATH_ROUNDING        */
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-
-  /* Loop over blockSize number of values */
-  blkCnt = blockSize;
-
-  while(blkCnt > 0u)
-  {
-#ifdef ARM_MATH_ROUNDING
-    /* C = A * 128 */
-    /* convert from float to q7 and then store the results in the destination buffer */
-    in = *pIn++;
-    in = (in * 128.0f);
-    in += in > 0 ? 0.5f : -0.5f;
-    *pDst++ = (q7_t) (__SSAT((q31_t) (in), 8));
-
-#else
-
-    /* C = A * 128 */
-    /* convert from float to q7 and then store the results in the destination buffer */
-    *pDst++ = (q7_t) __SSAT((q31_t) (*pIn++ * 128.0f), 8);
-
-#endif /*      #ifdef ARM_MATH_ROUNDING        */
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-}
-
-/**    
- * @} end of float_to_x group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q15_to_float.c b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q15_to_float.c
deleted file mode 100644
index ce51e9a39..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q15_to_float.c
+++ /dev/null
@@ -1,126 +0,0 @@
-/* ----------------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_q15_to_float.c    
-*    
-* Description:	Converts the elements of the Q15 vector to floating-point vector.     
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* ---------------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupSupport    
- */
-
-/**    
- * @defgroup q15_to_x  Convert 16-bit Integer value    
- */
-
-/**    
- * @addtogroup q15_to_x    
- * @{    
- */
-
-
-
-
-/**    
- * @brief  Converts the elements of the Q15 vector to floating-point vector.     
- * @param[in]       *pSrc points to the Q15 input vector    
- * @param[out]      *pDst points to the floating-point output vector   
- * @param[in]       blockSize length of the input vector    
- * @return none.    
- *    
- * \par Description:    
- *    
- * The equation used for the conversion process is:    
- *   
- * 
    
- * 	pDst[n] = (float32_t) pSrc[n] / 32768;   0 <= n < blockSize.    
- * 
    
- *   
- */
-
-
-void arm_q15_to_float(
-  q15_t * pSrc,
-  float32_t * pDst,
-  uint32_t blockSize)
-{
-  q15_t *pIn = pSrc;                             /* Src pointer */
-  uint32_t blkCnt;                               /* loop counter */
-
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  /*loop Unrolling */
-  blkCnt = blockSize >> 2u;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-    /* C = (float32_t) A / 32768 */
-    /* convert from q15 to float and then store the results in the destination buffer */
-    *pDst++ = ((float32_t) * pIn++ / 32768.0f);
-    *pDst++ = ((float32_t) * pIn++ / 32768.0f);
-    *pDst++ = ((float32_t) * pIn++ / 32768.0f);
-    *pDst++ = ((float32_t) * pIn++ / 32768.0f);
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
-   ** No loop unrolling is used. */
-  blkCnt = blockSize % 0x4u;
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  /* Loop over blockSize number of values */
-  blkCnt = blockSize;
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-  while(blkCnt > 0u)
-  {
-    /* C = (float32_t) A / 32768 */
-    /* convert from q15 to float and then store the results in the destination buffer */
-    *pDst++ = ((float32_t) * pIn++ / 32768.0f);
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-}
-
-/**    
- * @} end of q15_to_x group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q15_to_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q15_to_q31.c
deleted file mode 100644
index a0f66c29e..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q15_to_q31.c
+++ /dev/null
@@ -1,148 +0,0 @@
-/* ----------------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_q15_to_q31.c    
-*    
-* Description:	Converts the elements of the Q15 vector to Q31 vector.  
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* ---------------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupSupport    
- */
-
-/**    
- * @addtogroup q15_to_x    
- * @{    
- */
-
-/**    
- * @brief Converts the elements of the Q15 vector to Q31 vector.     
- * @param[in]       *pSrc points to the Q15 input vector    
- * @param[out]      *pDst points to the Q31 output vector   
- * @param[in]       blockSize length of the input vector    
- * @return none.    
- *    
- * \par Description:    
- *    
- * The equation used for the conversion process is:   
- *   
- * 
    
- * 	pDst[n] = (q31_t) pSrc[n] << 16;   0 <= n < blockSize.    
- * 
    
- *   
- */
-
-
-void arm_q15_to_q31(
-  q15_t * pSrc,
-  q31_t * pDst,
-  uint32_t blockSize)
-{
-  q15_t *pIn = pSrc;                             /* Src pointer */
-  uint32_t blkCnt;                               /* loop counter */
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-  q31_t in1, in2;
-  q31_t out1, out2, out3, out4;
-
-  /*loop Unrolling */
-  blkCnt = blockSize >> 2u;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-    /* C = (q31_t)A << 16 */
-    /* convert from q15 to q31 and then store the results in the destination buffer */
-    in1 = *__SIMD32(pIn)++;
-    in2 = *__SIMD32(pIn)++;
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-    /* extract lower 16 bits to 32 bit result */
-    out1 = in1 << 16u;
-    /* extract upper 16 bits to 32 bit result */
-    out2 = in1 & 0xFFFF0000;
-    /* extract lower 16 bits to 32 bit result */
-    out3 = in2 << 16u;
-    /* extract upper 16 bits to 32 bit result */
-    out4 = in2 & 0xFFFF0000;
-
-#else
-
-    /* extract upper 16 bits to 32 bit result */
-    out1 = in1 & 0xFFFF0000;
-    /* extract lower 16 bits to 32 bit result */
-    out2 = in1 << 16u;
-    /* extract upper 16 bits to 32 bit result */
-    out3 = in2 & 0xFFFF0000;
-    /* extract lower 16 bits to 32 bit result */
-    out4 = in2 << 16u;
-
-#endif //      #ifndef ARM_MATH_BIG_ENDIAN
-
-    *pDst++ = out1;
-    *pDst++ = out2;
-    *pDst++ = out3;
-    *pDst++ = out4;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
-   ** No loop unrolling is used. */
-  blkCnt = blockSize % 0x4u;
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  /* Loop over blockSize number of values */
-  blkCnt = blockSize;
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-  while(blkCnt > 0u)
-  {
-    /* C = (q31_t)A << 16 */
-    /* convert from q15 to q31 and then store the results in the destination buffer */
-    *pDst++ = (q31_t) * pIn++ << 16;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-}
-
-/**    
- * @} end of q15_to_x group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q15_to_q7.c b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q15_to_q7.c
deleted file mode 100644
index 87fe63d9e..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q15_to_q7.c
+++ /dev/null
@@ -1,146 +0,0 @@
-/* ----------------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_q15_to_q7.c    
-*    
-* Description:	Converts the elements of the Q15 vector to Q7 vector.  
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* ---------------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupSupport    
- */
-
-/**    
- * @addtogroup q15_to_x    
- * @{    
- */
-
-
-/**    
- * @brief Converts the elements of the Q15 vector to Q7 vector.     
- * @param[in]       *pSrc points to the Q15 input vector    
- * @param[out]      *pDst points to the Q7 output vector   
- * @param[in]       blockSize length of the input vector    
- * @return none.    
- *    
- * \par Description:    
- *    
- * The equation used for the conversion process is:    
- *   
- * 
    
- * 	pDst[n] = (q7_t) pSrc[n] >> 8;   0 <= n < blockSize.    
- * 
   
- *   
- */
-
-
-void arm_q15_to_q7(
-  q15_t * pSrc,
-  q7_t * pDst,
-  uint32_t blockSize)
-{
-  q15_t *pIn = pSrc;                             /* Src pointer */
-  uint32_t blkCnt;                               /* loop counter */
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-  q31_t in1, in2;
-  q31_t out1, out2;
-
-  /*loop Unrolling */
-  blkCnt = blockSize >> 2u;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-    /* C = (q7_t) A >> 8 */
-    /* convert from q15 to q7 and then store the results in the destination buffer */
-    in1 = *__SIMD32(pIn)++;
-    in2 = *__SIMD32(pIn)++;
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-    out1 = __PKHTB(in2, in1, 16);
-    out2 = __PKHBT(in2, in1, 16);
-
-#else
-
-    out1 = __PKHTB(in1, in2, 16);
-    out2 = __PKHBT(in1, in2, 16);
-
-#endif //      #ifndef ARM_MATH_BIG_ENDIAN
-
-    /* rotate packed value by 24 */
-    out2 = ((uint32_t) out2 << 8) | ((uint32_t) out2 >> 24);
-
-    /* anding with 0xff00ff00 to get two 8 bit values */
-    out1 = out1 & 0xFF00FF00;
-    /* anding with 0x00ff00ff to get two 8 bit values */
-    out2 = out2 & 0x00FF00FF;
-
-    /* oring two values(contains two 8 bit values) to get four packed 8 bit values */
-    out1 = out1 | out2;
-
-    /* store 4 samples at a time to destiantion buffer */
-    *__SIMD32(pDst)++ = out1;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
-   ** No loop unrolling is used. */
-  blkCnt = blockSize % 0x4u;
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  /* Loop over blockSize number of values */
-  blkCnt = blockSize;
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-  while(blkCnt > 0u)
-  {
-    /* C = (q7_t) A >> 8 */
-    /* convert from q15 to q7 and then store the results in the destination buffer */
-    *pDst++ = (q7_t) (*pIn++ >> 8);
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-}
-
-/**    
- * @} end of q15_to_x group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q31_to_float.c b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q31_to_float.c
deleted file mode 100644
index 94deec9a1..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q31_to_float.c
+++ /dev/null
@@ -1,123 +0,0 @@
-/* ----------------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_q31_to_float.c    
-*    
-* Description:	Converts the elements of the Q31 vector to floating-point vector.      
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* ---------------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupSupport    
- */
-
-/**    
- * @defgroup q31_to_x  Convert 32-bit Integer value    
- */
-
-/**    
- * @addtogroup q31_to_x    
- * @{    
- */
-
-/**    
- * @brief Converts the elements of the Q31 vector to floating-point vector.    
- * @param[in]       *pSrc points to the Q31 input vector    
- * @param[out]      *pDst points to the floating-point output vector   
- * @param[in]       blockSize length of the input vector    
- * @return none.    
- *    
- * \par Description:    
- *    
- * The equation used for the conversion process is:    
- *   
- * 
    
- * 	pDst[n] = (float32_t) pSrc[n] / 2147483648;   0 <= n < blockSize.    
- * 
    
- *   
- */
-
-
-void arm_q31_to_float(
-  q31_t * pSrc,
-  float32_t * pDst,
-  uint32_t blockSize)
-{
-  q31_t *pIn = pSrc;                             /* Src pointer */
-  uint32_t blkCnt;                               /* loop counter */
-
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  /*loop Unrolling */
-  blkCnt = blockSize >> 2u;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-    /* C = (float32_t) A / 2147483648 */
-    /* convert from q31 to float and then store the results in the destination buffer */
-    *pDst++ = ((float32_t) * pIn++ / 2147483648.0f);
-    *pDst++ = ((float32_t) * pIn++ / 2147483648.0f);
-    *pDst++ = ((float32_t) * pIn++ / 2147483648.0f);
-    *pDst++ = ((float32_t) * pIn++ / 2147483648.0f);
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
-   ** No loop unrolling is used. */
-  blkCnt = blockSize % 0x4u;
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  /* Loop over blockSize number of values */
-  blkCnt = blockSize;
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-  while(blkCnt > 0u)
-  {
-    /* C = (float32_t) A / 2147483648 */
-    /* convert from q31 to float and then store the results in the destination buffer */
-    *pDst++ = ((float32_t) * pIn++ / 2147483648.0f);
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-}
-
-/**    
- * @} end of q31_to_x group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q31_to_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q31_to_q15.c
deleted file mode 100644
index ba79f85a1..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q31_to_q15.c
+++ /dev/null
@@ -1,137 +0,0 @@
-/* ----------------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_q31_to_q15.c    
-*    
-* Description:	Converts the elements of the Q31 vector to Q15 vector.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* ---------------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupSupport    
- */
-
-/**    
- * @addtogroup q31_to_x    
- * @{    
- */
-
-/**    
- * @brief Converts the elements of the Q31 vector to Q15 vector.    
- * @param[in]       *pSrc points to the Q31 input vector    
- * @param[out]      *pDst points to the Q15 output vector   
- * @param[in]       blockSize length of the input vector    
- * @return none.    
- *     
- * \par Description:    
- *    
- * The equation used for the conversion process is:    
- *   
- * 
    
- * 	pDst[n] = (q15_t) pSrc[n] >> 16;   0 <= n < blockSize.    
- * 
    
- *   
- */
-
-
-void arm_q31_to_q15(
-  q31_t * pSrc,
-  q15_t * pDst,
-  uint32_t blockSize)
-{
-  q31_t *pIn = pSrc;                             /* Src pointer */
-  uint32_t blkCnt;                               /* loop counter */
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-  q31_t in1, in2, in3, in4;
-  q31_t out1, out2;
-
-  /*loop Unrolling */
-  blkCnt = blockSize >> 2u;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-    /* C = (q15_t) A >> 16 */
-    /* convert from q31 to q15 and then store the results in the destination buffer */
-    in1 = *pIn++;
-    in2 = *pIn++;
-    in3 = *pIn++;
-    in4 = *pIn++;
-
-    /* pack two higher 16-bit values from two 32-bit values */
-#ifndef ARM_MATH_BIG_ENDIAN
-
-    out1 = __PKHTB(in2, in1, 16);
-    out2 = __PKHTB(in4, in3, 16);
-
-#else
-
-    out1 = __PKHTB(in1, in2, 16);
-    out2 = __PKHTB(in3, in4, 16);
-
-#endif //      #ifdef ARM_MATH_BIG_ENDIAN
-
-    *__SIMD32(pDst)++ = out1;
-    *__SIMD32(pDst)++ = out2;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
-   ** No loop unrolling is used. */
-  blkCnt = blockSize % 0x4u;
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  /* Loop over blockSize number of values */
-  blkCnt = blockSize;
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-  while(blkCnt > 0u)
-  {
-    /* C = (q15_t) A >> 16 */
-    /* convert from q31 to q15 and then store the results in the destination buffer */
-    *pDst++ = (q15_t) (*pIn++ >> 16);
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-}
-
-/**    
- * @} end of q31_to_x group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q31_to_q7.c b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q31_to_q7.c
deleted file mode 100644
index afc8fdbed..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q31_to_q7.c
+++ /dev/null
@@ -1,128 +0,0 @@
-/* ----------------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_q31_to_q7.c    
-*    
-* Description:	Converts the elements of the Q31 vector to Q7 vector.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* ---------------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupSupport    
- */
-
-/**    
- * @addtogroup q31_to_x    
- * @{    
- */
-
-/**    
- * @brief Converts the elements of the Q31 vector to Q7 vector.    
- * @param[in]       *pSrc points to the Q31 input vector    
- * @param[out]      *pDst points to the Q7 output vector   
- * @param[in]       blockSize length of the input vector    
- * @return none.    
- *    
- * \par Description:    
- *    
- * The equation used for the conversion process is:    
- *   
- * 
    
- * 	pDst[n] = (q7_t) pSrc[n] >> 24;   0 <= n < blockSize.     
- * 
    
- *   
- */
-
-
-void arm_q31_to_q7(
-  q31_t * pSrc,
-  q7_t * pDst,
-  uint32_t blockSize)
-{
-  q31_t *pIn = pSrc;                             /* Src pointer */
-  uint32_t blkCnt;                               /* loop counter */
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-  q31_t in1, in2, in3, in4;
-  q7_t out1, out2, out3, out4;
-
-  /*loop Unrolling */
-  blkCnt = blockSize >> 2u;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-    /* C = (q7_t) A >> 24 */
-    /* convert from q31 to q7 and then store the results in the destination buffer */
-    in1 = *pIn++;
-    in2 = *pIn++;
-    in3 = *pIn++;
-    in4 = *pIn++;
-
-    out1 = (q7_t) (in1 >> 24);
-    out2 = (q7_t) (in2 >> 24);
-    out3 = (q7_t) (in3 >> 24);
-    out4 = (q7_t) (in4 >> 24);
-
-    *__SIMD32(pDst)++ = __PACKq7(out1, out2, out3, out4);
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
-   ** No loop unrolling is used. */
-  blkCnt = blockSize % 0x4u;
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  /* Loop over blockSize number of values */
-  blkCnt = blockSize;
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-  while(blkCnt > 0u)
-  {
-    /* C = (q7_t) A >> 24 */
-    /* convert from q31 to q7 and then store the results in the destination buffer */
-    *pDst++ = (q7_t) (*pIn++ >> 24);
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-}
-
-/**    
- * @} end of q31_to_x group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q7_to_float.c b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q7_to_float.c
deleted file mode 100644
index be4ac5fe3..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q7_to_float.c
+++ /dev/null
@@ -1,123 +0,0 @@
-/* ----------------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_q7_to_float.c    
-*    
-* Description:	Converts the elements of the Q7 vector to floating-point vector.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* ---------------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupSupport    
- */
-
-/**    
- * @defgroup q7_to_x  Convert 8-bit Integer value    
- */
-
-/**    
- * @addtogroup q7_to_x    
- * @{    
- */
-
-/**    
- * @brief Converts the elements of the Q7 vector to floating-point vector.    
- * @param[in]       *pSrc points to the Q7 input vector    
- * @param[out]      *pDst points to the floating-point output vector   
- * @param[in]       blockSize length of the input vector    
- * @return none.    
- *		     
- * \par Description:    
- *    
- * The equation used for the conversion process is:    
- *   
- * 
    
- * 	pDst[n] = (float32_t) pSrc[n] / 128;   0 <= n < blockSize.    
- * 
    
- *   
- */
-
-
-void arm_q7_to_float(
-  q7_t * pSrc,
-  float32_t * pDst,
-  uint32_t blockSize)
-{
-  q7_t *pIn = pSrc;                              /* Src pointer */
-  uint32_t blkCnt;                               /* loop counter */
-
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  /*loop Unrolling */
-  blkCnt = blockSize >> 2u;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-    /* C = (float32_t) A / 128 */
-    /* convert from q7 to float and then store the results in the destination buffer */
-    *pDst++ = ((float32_t) * pIn++ / 128.0f);
-    *pDst++ = ((float32_t) * pIn++ / 128.0f);
-    *pDst++ = ((float32_t) * pIn++ / 128.0f);
-    *pDst++ = ((float32_t) * pIn++ / 128.0f);
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
-   ** No loop unrolling is used. */
-  blkCnt = blockSize % 0x4u;
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  /* Loop over blockSize number of values */
-  blkCnt = blockSize;
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-  while(blkCnt > 0u)
-  {
-    /* C = (float32_t) A / 128 */
-    /* convert from q7 to float and then store the results in the destination buffer */
-    *pDst++ = ((float32_t) * pIn++ / 128.0f);
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-}
-
-/**    
- * @} end of q7_to_x group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q7_to_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q7_to_q15.c
deleted file mode 100644
index 019ca4815..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q7_to_q15.c
+++ /dev/null
@@ -1,149 +0,0 @@
-/* ----------------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_q7_to_q15.c    
-*    
-* Description:	Converts the elements of the Q7 vector to Q15 vector.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* ---------------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupSupport    
- */
-
-/**    
- * @addtogroup q7_to_x    
- * @{    
- */
-
-
-
-
-/**    
- * @brief Converts the elements of the Q7 vector to Q15 vector.    
- * @param[in]       *pSrc points to the Q7 input vector    
- * @param[out]      *pDst points to the Q15 output vector   
- * @param[in]       blockSize length of the input vector    
- * @return none.    
- *    
- * \par Description:    
- *    
- * The equation used for the conversion process is:    
- *   
- * 
    
- * 	pDst[n] = (q15_t) pSrc[n] << 8;   0 <= n < blockSize.    
- * 
    
- *   
- */
-
-
-void arm_q7_to_q15(
-  q7_t * pSrc,
-  q15_t * pDst,
-  uint32_t blockSize)
-{
-  q7_t *pIn = pSrc;                              /* Src pointer */
-  uint32_t blkCnt;                               /* loop counter */
-
-#ifndef ARM_MATH_CM0
-  q31_t in;
-  q31_t in1, in2;
-  q31_t out1, out2;
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  /*loop Unrolling */
-  blkCnt = blockSize >> 2u;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-    /* C = (q15_t) A << 8 */
-    /* convert from q7 to q15 and then store the results in the destination buffer */
-    in = *__SIMD32(pIn)++;
-
-    /* rotatate in by 8 and extend two q7_t values to q15_t values */
-    in1 = __SXTB16(__ROR(in, 8));
-
-    /* extend remainig two q7_t values to q15_t values */
-    in2 = __SXTB16(in);
-
-    in1 = in1 << 8u;
-    in2 = in2 << 8u;
-
-    in1 = in1 & 0xFF00FF00;
-    in2 = in2 & 0xFF00FF00;
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-    out2 = __PKHTB(in1, in2, 16);
-    out1 = __PKHBT(in2, in1, 16);
-
-#else
-
-    out1 = __PKHTB(in1, in2, 16);
-    out2 = __PKHBT(in2, in1, 16);
-
-#endif
-
-    *__SIMD32(pDst)++ = out1;
-    *__SIMD32(pDst)++ = out2;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
-   ** No loop unrolling is used. */
-  blkCnt = blockSize % 0x4u;
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  /* Loop over blockSize number of values */
-  blkCnt = blockSize;
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-  while(blkCnt > 0u)
-  {
-    /* C = (q15_t) A << 8 */
-    /* convert from q7 to q15 and then store the results in the destination buffer */
-    *pDst++ = (q15_t) * pIn++ << 8;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-}
-
-/**    
- * @} end of q7_to_x group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q7_to_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q7_to_q31.c
deleted file mode 100644
index bbbcc6f4a..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q7_to_q31.c
+++ /dev/null
@@ -1,134 +0,0 @@
-/* ----------------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:		arm_q7_to_q31.c    
-*    
-* Description:	Converts the elements of the Q7 vector to Q31 vector.  
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* ---------------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupSupport    
- */
-
-/**    
- * @addtogroup q7_to_x    
- * @{    
- */
-
-/**    
- * @brief Converts the elements of the Q7 vector to Q31 vector.    
- * @param[in]       *pSrc points to the Q7 input vector    
- * @param[out]      *pDst points to the Q31 output vector   
- * @param[in]       blockSize length of the input vector    
- * @return none.    
- *    
- * \par Description:    
- *    
- * The equation used for the conversion process is:    
- *   
- * 
    
- * 	pDst[n] = (q31_t) pSrc[n] << 24;   0 <= n < blockSize.   
- * 
     
- *   
- */
-
-
-void arm_q7_to_q31(
-  q7_t * pSrc,
-  q31_t * pDst,
-  uint32_t blockSize)
-{
-  q7_t *pIn = pSrc;                              /* Src pointer */
-  uint32_t blkCnt;                               /* loop counter */
-
-#ifndef ARM_MATH_CM0
-
-  q31_t in;
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  /*loop Unrolling */
-  blkCnt = blockSize >> 2u;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  while(blkCnt > 0u)
-  {
-    /* C = (q31_t) A << 24 */
-    /* convert from q7 to q31 and then store the results in the destination buffer */
-    in = *__SIMD32(pIn)++;
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-    *pDst++ = (__ROR(in, 8)) & 0xFF000000;
-    *pDst++ = (__ROR(in, 16)) & 0xFF000000;
-    *pDst++ = (__ROR(in, 24)) & 0xFF000000;
-    *pDst++ = (in & 0xFF000000);
-
-#else
-
-    *pDst++ = (in & 0xFF000000);
-    *pDst++ = (__ROR(in, 24)) & 0xFF000000;
-    *pDst++ = (__ROR(in, 16)) & 0xFF000000;
-    *pDst++ = (__ROR(in, 8)) & 0xFF000000;
-
-#endif //              #ifndef ARM_MATH_BIG_ENDIAN
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
-   ** No loop unrolling is used. */
-  blkCnt = blockSize % 0x4u;
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  /* Loop over blockSize number of values */
-  blkCnt = blockSize;
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-  while(blkCnt > 0u)
-  {
-    /* C = (q31_t) A << 24 */
-    /* convert from q7 to q31 and then store the results in the destination buffer */
-    *pDst++ = (q31_t) * pIn++ << 24;
-
-    /* Decrement the loop counter */
-    blkCnt--;
-  }
-
-}
-
-/**    
- * @} end of q7_to_x group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_bitreversal.c b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_bitreversal.c
deleted file mode 100644
index 3da790ebb..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_bitreversal.c
+++ /dev/null
@@ -1,222 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_bitreversal.c    
-*    
-* Description:	This file has common tables like Bitreverse, reciprocal etc which are used across different functions    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Initial Version  
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-#include "arm_common_tables.h"
-
-/*    
- * @brief  In-place bit reversal function.   
- * @param[in, out] *pSrc        points to the in-place buffer of floating-point data type.   
- * @param[in]      fftSize      length of the FFT.   
- * @param[in]      bitRevFactor bit reversal modifier that supports different size FFTs with the same bit reversal table.   
- * @param[in]      *pBitRevTab  points to the bit reversal table.   
- * @return none.   
- */
-
-void arm_bitreversal_f32(
-  float32_t * pSrc,
-  uint16_t fftSize,
-  uint16_t bitRevFactor,
-  uint16_t * pBitRevTab)
-{
-  uint16_t fftLenBy2, fftLenBy2p1;
-  uint16_t i, j;
-  float32_t in;
-
-  /*  Initializations */
-  j = 0u;
-  fftLenBy2 = fftSize >> 1u;
-  fftLenBy2p1 = (fftSize >> 1u) + 1u;
-
-  /* Bit Reversal Implementation */
-  for (i = 0u; i <= (fftLenBy2 - 2u); i += 2u)
-  {
-    if(i < j)
-    {
-      /*  pSrc[i] <-> pSrc[j]; */
-      in = pSrc[2u * i];
-      pSrc[2u * i] = pSrc[2u * j];
-      pSrc[2u * j] = in;
-
-      /*  pSrc[i+1u] <-> pSrc[j+1u] */
-      in = pSrc[(2u * i) + 1u];
-      pSrc[(2u * i) + 1u] = pSrc[(2u * j) + 1u];
-      pSrc[(2u * j) + 1u] = in;
-
-      /*  pSrc[i+fftLenBy2p1] <-> pSrc[j+fftLenBy2p1] */
-      in = pSrc[2u * (i + fftLenBy2p1)];
-      pSrc[2u * (i + fftLenBy2p1)] = pSrc[2u * (j + fftLenBy2p1)];
-      pSrc[2u * (j + fftLenBy2p1)] = in;
-
-      /*  pSrc[i+fftLenBy2p1+1u] <-> pSrc[j+fftLenBy2p1+1u] */
-      in = pSrc[(2u * (i + fftLenBy2p1)) + 1u];
-      pSrc[(2u * (i + fftLenBy2p1)) + 1u] =
-        pSrc[(2u * (j + fftLenBy2p1)) + 1u];
-      pSrc[(2u * (j + fftLenBy2p1)) + 1u] = in;
-
-    }
-
-    /*  pSrc[i+1u] <-> pSrc[j+1u] */
-    in = pSrc[2u * (i + 1u)];
-    pSrc[2u * (i + 1u)] = pSrc[2u * (j + fftLenBy2)];
-    pSrc[2u * (j + fftLenBy2)] = in;
-
-    /*  pSrc[i+2u] <-> pSrc[j+2u] */
-    in = pSrc[(2u * (i + 1u)) + 1u];
-    pSrc[(2u * (i + 1u)) + 1u] = pSrc[(2u * (j + fftLenBy2)) + 1u];
-    pSrc[(2u * (j + fftLenBy2)) + 1u] = in;
-
-    /*  Reading the index for the bit reversal */
-    j = *pBitRevTab;
-
-    /*  Updating the bit reversal index depending on the fft length  */
-    pBitRevTab += bitRevFactor;
-  }
-}
-
-
-
-/*    
- * @brief  In-place bit reversal function.   
- * @param[in, out] *pSrc        points to the in-place buffer of Q31 data type.   
- * @param[in]      fftLen       length of the FFT.   
- * @param[in]      bitRevFactor bit reversal modifier that supports different size FFTs with the same bit reversal table   
- * @param[in]      *pBitRevTab  points to bit reversal table.   
- * @return none.   
- */
-
-void arm_bitreversal_q31(
-  q31_t * pSrc,
-  uint32_t fftLen,
-  uint16_t bitRevFactor,
-  uint16_t * pBitRevTable)
-{
-  uint32_t fftLenBy2, fftLenBy2p1, i, j;
-  q31_t in;
-
-  /*  Initializations      */
-  j = 0u;
-  fftLenBy2 = fftLen / 2u;
-  fftLenBy2p1 = (fftLen / 2u) + 1u;
-
-  /* Bit Reversal Implementation */
-  for (i = 0u; i <= (fftLenBy2 - 2u); i += 2u)
-  {
-    if(i < j)
-    {
-      /*  pSrc[i] <-> pSrc[j]; */
-      in = pSrc[2u * i];
-      pSrc[2u * i] = pSrc[2u * j];
-      pSrc[2u * j] = in;
-
-      /*  pSrc[i+1u] <-> pSrc[j+1u] */
-      in = pSrc[(2u * i) + 1u];
-      pSrc[(2u * i) + 1u] = pSrc[(2u * j) + 1u];
-      pSrc[(2u * j) + 1u] = in;
-
-      /*  pSrc[i+fftLenBy2p1] <-> pSrc[j+fftLenBy2p1] */
-      in = pSrc[2u * (i + fftLenBy2p1)];
-      pSrc[2u * (i + fftLenBy2p1)] = pSrc[2u * (j + fftLenBy2p1)];
-      pSrc[2u * (j + fftLenBy2p1)] = in;
-
-      /*  pSrc[i+fftLenBy2p1+1u] <-> pSrc[j+fftLenBy2p1+1u] */
-      in = pSrc[(2u * (i + fftLenBy2p1)) + 1u];
-      pSrc[(2u * (i + fftLenBy2p1)) + 1u] =
-        pSrc[(2u * (j + fftLenBy2p1)) + 1u];
-      pSrc[(2u * (j + fftLenBy2p1)) + 1u] = in;
-
-    }
-
-    /*  pSrc[i+1u] <-> pSrc[j+1u] */
-    in = pSrc[2u * (i + 1u)];
-    pSrc[2u * (i + 1u)] = pSrc[2u * (j + fftLenBy2)];
-    pSrc[2u * (j + fftLenBy2)] = in;
-
-    /*  pSrc[i+2u] <-> pSrc[j+2u] */
-    in = pSrc[(2u * (i + 1u)) + 1u];
-    pSrc[(2u * (i + 1u)) + 1u] = pSrc[(2u * (j + fftLenBy2)) + 1u];
-    pSrc[(2u * (j + fftLenBy2)) + 1u] = in;
-
-    /*  Reading the index for the bit reversal */
-    j = *pBitRevTable;
-
-    /*  Updating the bit reversal index depending on the fft length */
-    pBitRevTable += bitRevFactor;
-  }
-}
-
-
-
-/*    
-   * @brief  In-place bit reversal function.   
-   * @param[in, out] *pSrc        points to the in-place buffer of Q15 data type.   
-   * @param[in]      fftLen       length of the FFT.   
-   * @param[in]      bitRevFactor bit reversal modifier that supports different size FFTs with the same bit reversal table   
-   * @param[in]      *pBitRevTab  points to bit reversal table.   
-   * @return none.   
- */
-
-void arm_bitreversal_q15(
-  q15_t * pSrc16,
-  uint32_t fftLen,
-  uint16_t bitRevFactor,
-  uint16_t * pBitRevTab)
-{
-  q31_t *pSrc = (q31_t *) pSrc16;
-  q31_t in;
-  uint32_t fftLenBy2, fftLenBy2p1;
-  uint32_t i, j;
-
-  /*  Initializations */
-  j = 0u;
-  fftLenBy2 = fftLen / 2u;
-  fftLenBy2p1 = (fftLen / 2u) + 1u;
-
-  /* Bit Reversal Implementation */
-  for (i = 0u; i <= (fftLenBy2 - 2u); i += 2u)
-  {
-    if(i < j)
-    {
-      /*  pSrc[i] <-> pSrc[j]; */
-      /*  pSrc[i+1u] <-> pSrc[j+1u] */
-      in = pSrc[i];
-      pSrc[i] = pSrc[j];
-      pSrc[j] = in;
-
-      /*  pSrc[i + fftLenBy2p1] <-> pSrc[j + fftLenBy2p1];  */
-      /*  pSrc[i + fftLenBy2p1+1u] <-> pSrc[j + fftLenBy2p1+1u] */
-      in = pSrc[i + fftLenBy2p1];
-      pSrc[i + fftLenBy2p1] = pSrc[j + fftLenBy2p1];
-      pSrc[j + fftLenBy2p1] = in;
-    }
-
-    /*  pSrc[i+1u] <-> pSrc[j+fftLenBy2];         */
-    /*  pSrc[i+2] <-> pSrc[j+fftLenBy2+1u]  */
-    in = pSrc[i + 1u];
-    pSrc[i + 1u] = pSrc[j + fftLenBy2];
-    pSrc[j + fftLenBy2] = in;
-
-    /*  Reading the index for the bit reversal */
-    j = *pBitRevTab;
-
-    /*  Updating the bit reversal index depending on the fft length  */
-    pBitRevTab += bitRevFactor;
-  }
-}
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_f32.c
deleted file mode 100644
index 274b69928..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_f32.c
+++ /dev/null
@@ -1,511 +0,0 @@
-/* ----------------------------------------------------------------------   
-* Copyright (C) 2010 ARM Limited. All rights reserved.   
-*   
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*   
-* Project: 	    CMSIS DSP Library   
-* Title:	    arm_cfft_radix2_f32.c   
-*   
-* Description:	Radix-2 Decimation in Frequency CFFT & CIFFT Floating point processing function   
-*   
-*   
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.3 2010/11/29  
-*    Initial version   
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**   
- * @ingroup groupTransforms   
- */
-
-/**   
- * @defgroup Radix2_CFFT_CIFFT Radix-2 Complex FFT Functions   
- *   
- * \par   
- * Complex Fast Fourier Transform(CFFT) and Complex Inverse Fast Fourier Transform(CIFFT) is an efficient algorithm to compute Discrete Fourier Transform(DFT) and Inverse Discrete Fourier Transform(IDFT).   
- * Computational complexity of CFFT reduces drastically when compared to DFT.   
- * \par   
- * This set of functions implements CFFT/CIFFT   
- * for Q15, Q31, and floating-point data types.  The functions operates on in-place buffer which uses same buffer for input and output.   
- * Complex input is stored in input buffer in an interleaved fashion.   
- *   
- * \par   
- * The functions operate on blocks of input and output data and each call to the function processes   
- * 2*fftLen samples through the transform.  pSrc  points to In-place arrays containing 2*fftLen values.   
- * \par  
- * The pSrc points to the array of in-place buffer of size 2*fftLen and inputs and outputs are stored in an interleaved fashion as shown below.   
- * 
 {real[0], imag[0], real[1], imag[1],..} 
   
- *   
- * \par Lengths supported by the transform:  
- * \par   
- * Internally, the function utilize a radix-2 decimation in frequency(DIF) algorithm   
- * and the size of the FFT supported are of the lengths [16, 32, 64, 128, 256, 512, 1024, 2048, 4096].  
- *    
- *   
- * \par Algorithm:   
- *   
- * Complex Fast Fourier Transform:   
- * \par    
- * Input real and imaginary data:   
- * 
   
- * x(n) = xa + j * ya   
- * x(n+N/2 ) = xb + j * yb   
- * 
   
- * where N is length of FFT   
- * \par   
- * Output real and imaginary data:   
- * 
   
- * X(2r) = xa'+ j * ya'   
- * X(2r+1) = xb'+ j * yb'   
- * 
   
- * \par   
- * Twiddle factors for radix-2 FFT:   
- * 
   
- * Wn = cosVal + j * (- sinVal)   
- * 
   
- *   
- * \par   
- * \image html CFFT_Radix2.gif "Radix-2 Decimation-in Frequency Complex Fast Fourier Transform"   
- *   
- * \par   
- * Output from Radix-2 CFFT Results in Digit reversal order. Interchange middle two branches of every butterfly results in Bit reversed output.   
- * \par   
- *  Butterfly CFFT equations:   
- * 
   
- * xa' = xa + xb  
- * ya' = ya + yb  
- * xb' = (xa-xb)* cosVal + (ya-yb) * sinVal   
- * yb' = (ya-yb)* cosVal - (xa-xb) * sinVal   
- * 
   
- *   
- *   
- * Complex Inverse Fast Fourier Transform:   
- * \par   
- * CIFFT uses same twiddle factor table as CFFT with modifications in the design equation as shown below.   
- *   
- * \par   
- *  Modified Butterfly CIFFT equations:   
- * 
   
- * xa' = xa + xb  
- * ya' = ya + yb  
- * xb' = (xa-xb)* cosVal - (ya-yb) * sinVal   
- * yb' = (ya-yb)* cosVal + (xa-xb) * sinVal   
- * 
   
- *   
- * \par Instance Structure   
- * A separate instance structure must be defined for each Instance but the twiddle factors and bit reversal tables can be reused.   
- * There are separate instance structure declarations for each of the 3 supported data types.   
- *   
- * \par Initialization Functions   
- * There is also an associated initialization function for each data type.   
- * The initialization function performs the following operations:   
- * - Sets the values of the internal structure fields.   
- * - Initializes twiddle factor table and bit reversal table pointers   
- * \par   
- * Use of the initialization function is optional.   
- * However, if the initialization function is used, then the instance structure cannot be placed into a const data section.   
- * To place an instance structure into a const data section, the instance structure must be manually initialized.   
- * Manually initialize the instance structure as follows:   
- * 
   
- *arm_cfft_radix2_instance_f32 S = {fftLen, ifftFlag, bitReverseFlag, pTwiddle, pBitRevTable, twidCoefModifier, bitRevFactor, onebyfftLen};   
- *arm_cfft_radix2_instance_q31 S = {fftLen, ifftFlag, bitReverseFlag, pTwiddle, pBitRevTable, twidCoefModifier, bitRevFactor};   
- *arm_cfft_radix2_instance_q15 S = {fftLen, ifftFlag, bitReverseFlag, pTwiddle, pBitRevTable, twidCoefModifier, bitRevFactor};   
- * 
   
- * \par   
- * where fftLen length of CFFT/CIFFT; ifftFlag Flag for selection of CFFT or CIFFT(Set ifftFlag to calculate CIFFT otherwise calculates CFFT);   
- * bitReverseFlag Flag for selection of output order(Set bitReverseFlag to output in normal order otherwise output in bit reversed order);    
- * pTwiddlepoints to array of twiddle coefficients; pBitRevTable points to the array of bit reversal table.   
- * twidCoefModifier modifier for twiddle factor table which supports all FFT lengths with same table;    
- * pBitRevTable modifier for bit reversal table which supports all FFT lengths with same table.   
- * onebyfftLen value of 1/fftLen to calculate CIFFT;   
- *  
- * \par Fixed-Point Behavior   
- * Care must be taken when using the fixed-point versions of the CFFT/CIFFT function.   
- * Refer to the function specific documentation below for usage guidelines.   
- */
-
-
-/**   
- * @addtogroup Radix2_CFFT_CIFFT   
- * @{   
- */
-
-/**   
- * @details   
- * @brief Processing function for the floating-point Radix-2 CFFT/CIFFT.  
- * @param[in]      *S    points to an instance of the floating-point Radix-2 CFFT/CIFFT structure.  
- * @param[in, out] *pSrc points to the complex data buffer of size 2*fftLen. Processing occurs in-place.  
- * @return none.  
- */
-
-void arm_cfft_radix2_f32(
-  const arm_cfft_radix2_instance_f32 * S,
-  float32_t * pSrc)
-{
-
-  if(S->ifftFlag == 1u)
-  {
-    /*  Complex IFFT radix-2  */
-    arm_radix2_butterfly_inverse_f32(pSrc, S->fftLen, S->pTwiddle,
-                                     S->twidCoefModifier, S->onebyfftLen);
-  }
-  else
-  {
-    /*  Complex FFT radix-2  */
-    arm_radix2_butterfly_f32(pSrc, S->fftLen, S->pTwiddle,
-                             S->twidCoefModifier);
-  }
-
-  if(S->bitReverseFlag == 1u)
-  {
-    /*  Bit Reversal */
-    arm_bitreversal_f32(pSrc, S->fftLen, S->bitRevFactor, S->pBitRevTable);
-  }
-
-}
-
-
-/**    
- * @} end of Radix2_CFFT_CIFFT group    
- */
-
-
-
-/* ----------------------------------------------------------------------    
-** Internal helper function used by the FFTs    
-** ------------------------------------------------------------------- */
-
-/*    
- * @brief  Core function for the floating-point CFFT butterfly process.   
- * @param[in, out] *pSrc            points to the in-place buffer of floating-point data type.   
- * @param[in]      fftLen           length of the FFT.   
- * @param[in]      *pCoef           points to the twiddle coefficient buffer.   
- * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.   
- * @return none.   
- */
-
-void arm_radix2_butterfly_f32(
-  float32_t * pSrc,
-  uint32_t fftLen,
-  float32_t * pCoef,
-  uint16_t twidCoefModifier)
-{
-
-  int i, j, k, l;
-  int n1, n2, ia;
-  float32_t xt, yt, cosVal, sinVal;
-
-#ifndef ARM_MATH_CM0
-
-  /*  Initializations for the first stage */
-  n2 = fftLen;
-
-  n1 = n2;
-  n2 = n2 >> 1;
-  ia = 0;
-
-  // loop for groups 
-  for (i = 0; i < n2; i++)
-  {
-    cosVal = pCoef[ia * 2];
-    sinVal = pCoef[(ia * 2) + 1];
-
-    /*  Twiddle coefficients index modifier */
-    ia = ia + twidCoefModifier;
-
-    /*  index calculation for the input as, */
-    /*  pSrc[i + 0], pSrc[i + fftLen/1] */
-    l = i + n2;
-
-    /*  Butterfly implementation */
-    xt = pSrc[2 * i] - pSrc[2 * l];
-    pSrc[2 * i] = pSrc[2 * i] + pSrc[2 * l];
-
-    yt = pSrc[2 * i + 1] - pSrc[2 * l + 1];
-    pSrc[2 * i + 1] = pSrc[2 * l + 1] + pSrc[2 * i + 1];
-
-    pSrc[2u * l] = xt * cosVal + yt * sinVal;
-
-    pSrc[2u * l + 1u] = yt * cosVal - xt * sinVal;
-
-  }                             // groups loop end 
-
-  twidCoefModifier = twidCoefModifier << 1u;
-
-  // loop for stage 
-  for (k = fftLen / 2; k > 2; k = k >> 1)
-  {
-    n1 = n2;
-    n2 = n2 >> 1;
-    ia = 0;
-
-    // loop for groups 
-    for (j = 0; j < n2; j++)
-    {
-      cosVal = pCoef[ia * 2];
-      sinVal = pCoef[(ia * 2) + 1];
-      ia = ia + twidCoefModifier;
-
-      // loop for butterfly 
-      for (i = j; i < fftLen; i += n1)
-      {
-        l = i + n2;
-        xt = pSrc[2 * i] - pSrc[2 * l];
-        pSrc[2 * i] = pSrc[2 * i] + pSrc[2 * l];
-
-        yt = pSrc[2 * i + 1] - pSrc[2 * l + 1];
-        pSrc[2 * i + 1] = pSrc[2 * l + 1] + pSrc[2 * i + 1];
-
-        pSrc[2u * l] = xt * cosVal + yt * sinVal;
-
-        pSrc[2u * l + 1u] = yt * cosVal - xt * sinVal;
-
-      }                         // butterfly loop end 
-
-    }                           // groups loop end 
-
-    twidCoefModifier = twidCoefModifier << 1u;
-  }                             // stages loop end 
-
-  n1 = n2;
-  n2 = n2 >> 1;
-  ia = 0;
-
-  cosVal = pCoef[ia * 2];
-  sinVal = pCoef[(ia * 2) + 1];
-  ia = ia + twidCoefModifier;
-
-  // loop for butterfly 
-  for (i = 0; i < fftLen; i += n1)
-  {
-    l = i + n2;
-    xt = pSrc[2 * i] - pSrc[2 * l];
-    pSrc[2 * i] = (pSrc[2 * i] + pSrc[2 * l]);
-
-    yt = pSrc[2 * i + 1] - pSrc[2 * l + 1];
-    pSrc[2 * i + 1] = (pSrc[2 * l + 1] + pSrc[2 * i + 1]);
-
-    pSrc[2u * l] = xt;
-
-    pSrc[2u * l + 1u] = yt;
-
-  }                             // groups loop end 
-
-#else
-
-  //N = fftLen; 
-  n2 = fftLen;
-
-  // loop for stage 
-  for (k = fftLen; k > 1; k = k >> 1)
-  {
-    n1 = n2;
-    n2 = n2 >> 1;
-    ia = 0;
-
-    // loop for groups 
-    for (j = 0; j < n2; j++)
-    {
-      cosVal = pCoef[ia * 2];
-      sinVal = pCoef[(ia * 2) + 1];
-      ia = ia + twidCoefModifier;
-
-      // loop for butterfly 
-      for (i = j; i < fftLen; i += n1)
-      {
-        l = i + n2;
-        xt = pSrc[2 * i] - pSrc[2 * l];
-        pSrc[2 * i] = pSrc[2 * i] + pSrc[2 * l];
-
-        yt = pSrc[2 * i + 1] - pSrc[2 * l + 1];
-        pSrc[2 * i + 1] = pSrc[2 * l + 1] + pSrc[2 * i + 1];
-
-        pSrc[2 * l] = (cosVal * xt + sinVal * yt);      // >> 15; 
-        pSrc[2 * l + 1] = (cosVal * yt - sinVal * xt);  // >> 15; 
-
-      }
-    }
-    twidCoefModifier = twidCoefModifier << 1u;
-  }
-
-#endif //    #ifndef ARM_MATH_CM0
-
-}
-
-
-void arm_radix2_butterfly_inverse_f32(
-  float32_t * pSrc,
-  uint32_t fftLen,
-  float32_t * pCoef,
-  uint16_t twidCoefModifier,
-  float32_t onebyfftLen)
-{
-
-  int i, j, k, l;
-  int n1, n2, ia;
-  float32_t xt, yt, cosVal, sinVal;
-
-#ifndef ARM_MATH_CM0
-
-  //N = fftLen; 
-  n2 = fftLen;
-
-  n1 = n2;
-  n2 = n2 >> 1;
-  ia = 0;
-
-  // loop for groups 
-  for (i = 0; i < n2; i++)
-  {
-    cosVal = pCoef[ia * 2];
-    sinVal = pCoef[(ia * 2) + 1];
-    ia = ia + twidCoefModifier;
-
-    l = i + n2;
-    xt = pSrc[2 * i] - pSrc[2 * l];
-    pSrc[2 * i] = pSrc[2 * i] + pSrc[2 * l];
-
-    yt = pSrc[2 * i + 1] - pSrc[2 * l + 1];
-    pSrc[2 * i + 1] = pSrc[2 * l + 1] + pSrc[2 * i + 1];
-
-    pSrc[2u * l] = xt * cosVal - yt * sinVal;
-
-    pSrc[2u * l + 1u] = yt * cosVal + xt * sinVal;
-
-  }                             // groups loop end 
-
-  twidCoefModifier = twidCoefModifier << 1u;
-
-  // loop for stage 
-  for (k = fftLen / 2; k > 2; k = k >> 1)
-  {
-    n1 = n2;
-    n2 = n2 >> 1;
-    ia = 0;
-
-    // loop for groups 
-    for (j = 0; j < n2; j++)
-    {
-      cosVal = pCoef[ia * 2];
-      sinVal = pCoef[(ia * 2) + 1];
-      ia = ia + twidCoefModifier;
-
-      // loop for butterfly 
-      for (i = j; i < fftLen; i += n1)
-      {
-        l = i + n2;
-        xt = pSrc[2 * i] - pSrc[2 * l];
-        pSrc[2 * i] = pSrc[2 * i] + pSrc[2 * l];
-
-        yt = pSrc[2 * i + 1] - pSrc[2 * l + 1];
-        pSrc[2 * i + 1] = pSrc[2 * l + 1] + pSrc[2 * i + 1];
-
-        pSrc[2u * l] = xt * cosVal - yt * sinVal;
-
-        pSrc[2u * l + 1u] = yt * cosVal + xt * sinVal;
-
-      }                         // butterfly loop end 
-
-    }                           // groups loop end 
-
-    twidCoefModifier = twidCoefModifier << 1u;
-  }                             // stages loop end 
-
-  n1 = n2;
-  n2 = n2 >> 1;
-  ia = 0;
-
-  cosVal = pCoef[ia * 2];
-  sinVal = pCoef[(ia * 2) + 1];
-  ia = ia + twidCoefModifier;
-
-  // loop for butterfly 
-  for (i = 0; i < fftLen; i += n1)
-  {
-    l = i + n2;
-    xt = pSrc[2 * i] - pSrc[2 * l];
-    pSrc[2 * i] = (pSrc[2 * i] + pSrc[2 * l]) * onebyfftLen;
-
-    yt = pSrc[2 * i + 1] - pSrc[2 * l + 1];
-    pSrc[2 * i + 1] = (pSrc[2 * l + 1] + pSrc[2 * i + 1]) * onebyfftLen;
-
-    pSrc[2u * l] = xt * onebyfftLen;
-
-    pSrc[2u * l + 1u] = yt * onebyfftLen;
-
-  }                             // butterfly loop end 
-
-#else
-
-  //N = fftLen; 
-  n2 = fftLen;
-
-  // loop for stage 
-  for (k = fftLen; k > 2; k = k >> 1)
-  {
-    n1 = n2;
-    n2 = n2 >> 1;
-    ia = 0;
-
-    // loop for groups 
-    for (j = 0; j < n2; j++)
-    {
-      cosVal = pCoef[ia * 2];
-      sinVal = pCoef[(ia * 2) + 1];
-      ia = ia + twidCoefModifier;
-
-      // loop for butterfly 
-      for (i = j; i < fftLen; i += n1)
-      {
-        l = i + n2;
-        xt = pSrc[2 * i] - pSrc[2 * l];
-        pSrc[2 * i] = pSrc[2 * i] + pSrc[2 * l];
-
-        yt = pSrc[2 * i + 1] - pSrc[2 * l + 1];
-        pSrc[2 * i + 1] = pSrc[2 * l + 1] + pSrc[2 * i + 1];
-
-        pSrc[2u * l] = xt * cosVal - yt * sinVal;
-
-        pSrc[2u * l + 1u] = yt * cosVal + xt * sinVal;
-
-      }                         // butterfly loop end 
-
-    }                           // groups loop end 
-
-    twidCoefModifier = twidCoefModifier << 1u;
-  }                             // stages loop end 
-
-  n1 = n2;
-  n2 = n2 >> 1;
-  ia = 0;
-
-  cosVal = pCoef[ia * 2];
-  sinVal = pCoef[(ia * 2) + 1];
-  ia = ia + twidCoefModifier;
-
-  // loop for butterfly 
-  for (i = 0; i < fftLen; i += n1)
-  {
-    l = i + n2;
-    xt = pSrc[2 * i] - pSrc[2 * l];
-    pSrc[2 * i] = (pSrc[2 * i] + pSrc[2 * l]) * onebyfftLen;
-
-    yt = pSrc[2 * i + 1] - pSrc[2 * l + 1];
-    pSrc[2 * i + 1] = (pSrc[2 * l + 1] + pSrc[2 * i + 1]) * onebyfftLen;
-
-    pSrc[2u * l] = xt * onebyfftLen;
-
-    pSrc[2u * l + 1u] = yt * onebyfftLen;
-
-  }                             // butterfly loop end 
-
-#endif //      #ifndef ARM_MATH_CM0
-
-}
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_init_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_init_f32.c
deleted file mode 100644
index a41ed25d2..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_init_f32.c
+++ /dev/null
@@ -1,198 +0,0 @@
-/* ----------------------------------------------------------------------   
-* Copyright (C) 2010 ARM Limited. All rights reserved.   
-*   
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*   
-* Project: 	    CMSIS DSP Library   
-* Title:	    arm_cfft_radix4_init_f32.c   
-*   
-* Description:	Radix-4 Decimation in Frequency Floating-point CFFT & CIFFT Initialization function   
-*   
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.3 2010/11/29  
-*    Re-organized the CMSIS folders and updated documentation.   
-*    
-* Version 1.0.2 2010/11/11   
-*    Documentation updated.    
-*   
-* Version 1.0.1 2010/10/05    
-*    Production release and review comments incorporated.   
-*   
-* Version 1.0.0 2010/09/20    
-*    Production release and review comments incorporated.   
-*   
-* Version 0.0.5  2010/04/26    
-* 	 incorporated review comments and updated with latest CMSIS layer   
-*   
-* Version 0.0.3  2010/03/10    
-*    Initial version   
-* -------------------------------------------------------------------- */
-
-
-#include "arm_math.h"
-#include "arm_common_tables.h"
-
-/**   
- * @ingroup groupTransforms   
- */
-
-/**   
- * @addtogroup Radix2_CFFT_CIFFT   
- * @{   
- */
-
-/**   
-* @brief  Initialization function for the floating-point CFFT/CIFFT.  
-* @param[in,out] *S             points to an instance of the floating-point CFFT/CIFFT structure.  
-* @param[in]     fftLen         length of the FFT.  
-* @param[in]     ifftFlag       flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform.  
-* @param[in]     bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.  
-* @return        The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if fftLen is not a supported value.  
-*   
-* \par Description:  
-* \par   
-* The parameter ifftFlag controls whether a forward or inverse transform is computed.   
-* Set(=1) ifftFlag for calculation of CIFFT otherwise  CFFT is calculated  
-* \par   
-* The parameter bitReverseFlag controls whether output is in normal order or bit reversed order.   
-* Set(=1) bitReverseFlag for output to be in normal order otherwise output is in bit reversed order.   
-* \par   
-* The parameter fftLen	Specifies length of CFFT/CIFFT process. Supported FFT Lengths are 16, 64, 256, 1024.   
-* \par   
-* This Function also initializes Twiddle factor table pointer and Bit reversal table pointer.   
-*/
-arm_status arm_cfft_radix2_init_f32(
-  arm_cfft_radix2_instance_f32 * S,
-  uint16_t fftLen,
-  uint8_t ifftFlag,
-  uint8_t bitReverseFlag)
-{
-  /*  Initialise the default arm status */
-  arm_status status = ARM_MATH_SUCCESS;
-
-  /*  Initialise the FFT length */
-  S->fftLen = fftLen;
-
-  /*  Initialise the Twiddle coefficient pointer */
-  S->pTwiddle = (float32_t *) twiddleCoef;
-
-  /*  Initialise the Flag for selection of CFFT or CIFFT */
-  S->ifftFlag = ifftFlag;
-
-  /*  Initialise the Flag for calculation Bit reversal or not */
-  S->bitReverseFlag = bitReverseFlag;
-
-  /*  Initializations of structure parameters depending on the FFT length */
-  switch (S->fftLen)
-  {
-
-  case 4096u:
-    /*  Initializations of structure parameters for 4096 point FFT */
-
-    /*  Initialise the twiddle coef modifier value */
-    S->twidCoefModifier = 1u;
-    /*  Initialise the bit reversal table modifier */
-    S->bitRevFactor = 1u;
-    /*  Initialise the bit reversal table pointer */
-    S->pBitRevTable = (uint16_t *) armBitRevTable;
-    /*  Initialise the 1/fftLen Value */
-    S->onebyfftLen = 0.000244140625;
-    break;
-
-  case 2048u:
-    /*  Initializations of structure parameters for 2048 point FFT */
-
-    /*  Initialise the twiddle coef modifier value */
-    S->twidCoefModifier = 2u;
-    /*  Initialise the bit reversal table modifier */
-    S->bitRevFactor = 2u;
-    /*  Initialise the bit reversal table pointer */
-    S->pBitRevTable = (uint16_t *) & armBitRevTable[1];
-    /*  Initialise the 1/fftLen Value */
-    S->onebyfftLen = 0.00048828125;
-    break;
-
-  case 1024u:
-    /*  Initializations of structure parameters for 1024 point FFT */
-
-    /*  Initialise the twiddle coef modifier value */
-    S->twidCoefModifier = 4u;
-    /*  Initialise the bit reversal table modifier */
-    S->bitRevFactor = 4u;
-    /*  Initialise the bit reversal table pointer */
-    S->pBitRevTable = (uint16_t *) & armBitRevTable[3];
-    /*  Initialise the 1/fftLen Value */
-    S->onebyfftLen = 0.0009765625f;
-    break;
-
-  case 512u:
-    /*  Initializations of structure parameters for 512 point FFT */
-
-    /*  Initialise the twiddle coef modifier value */
-    S->twidCoefModifier = 8u;
-    /*  Initialise the bit reversal table modifier */
-    S->bitRevFactor = 8u;
-    /*  Initialise the bit reversal table pointer */
-    S->pBitRevTable = (uint16_t *) & armBitRevTable[7];
-    /*  Initialise the 1/fftLen Value */
-    S->onebyfftLen = 0.001953125;
-    break;
-
-  case 256u:
-    /*  Initializations of structure parameters for 256 point FFT */
-    S->twidCoefModifier = 16u;
-    S->bitRevFactor = 16u;
-    S->pBitRevTable = (uint16_t *) & armBitRevTable[15];
-    S->onebyfftLen = 0.00390625f;
-    break;
-
-  case 128u:
-    /*  Initializations of structure parameters for 128 point FFT */
-    S->twidCoefModifier = 32u;
-    S->bitRevFactor = 32u;
-    S->pBitRevTable = (uint16_t *) & armBitRevTable[31];
-    S->onebyfftLen = 0.0078125;
-    break;
-
-  case 64u:
-    /*  Initializations of structure parameters for 64 point FFT */
-    S->twidCoefModifier = 64u;
-    S->bitRevFactor = 64u;
-    S->pBitRevTable = (uint16_t *) & armBitRevTable[63];
-    S->onebyfftLen = 0.015625f;
-    break;
-
-  case 32u:
-    /*  Initializations of structure parameters for 64 point FFT */
-    S->twidCoefModifier = 128u;
-    S->bitRevFactor = 128u;
-    S->pBitRevTable = (uint16_t *) & armBitRevTable[127];
-    S->onebyfftLen = 0.03125;
-    break;
-
-  case 16u:
-    /*  Initializations of structure parameters for 16 point FFT */
-    S->twidCoefModifier = 256u;
-    S->bitRevFactor = 256u;
-    S->pBitRevTable = (uint16_t *) & armBitRevTable[255];
-    S->onebyfftLen = 0.0625f;
-    break;
-
-
-  default:
-    /*  Reporting argument error if fftSize is not valid value */
-    status = ARM_MATH_ARGUMENT_ERROR;
-    break;
-  }
-
-  return (status);
-}
-
-/**   
- * @} end of Radix2_CFFT_CIFFT group   
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_init_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_init_q15.c
deleted file mode 100644
index 86aa149b2..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_init_q15.c
+++ /dev/null
@@ -1,186 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_cfft_radix2_init_q15.c    
-*    
-* Description:	Radix-2 Decimation in Frequency Q15 FFT & IFFT initialization function    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-*    
-* Version 0.0.5  2010/04/26     
-* 	 incorporated review comments and updated with latest CMSIS layer    
-*    
-* Version 0.0.3  2010/03/10     
-*    Initial version    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-#include "arm_common_tables.h"
-
-/**    
- * @ingroup groupTransforms    
- */
-
-
-/**    
- * @addtogroup Radix2_CFFT_CIFFT    
- * @{    
- */
-
-/**   
-* @brief Initialization function for the Q15 CFFT/CIFFT.   
-* @param[in,out] *S             points to an instance of the Q15 CFFT/CIFFT structure.   
-* @param[in]     fftLen         length of the FFT.   
-* @param[in]     ifftFlag       flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform.  
-* @param[in]     bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.  
-* @return        The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if fftLen is not a supported value.  
-*   
-* \par Description:  
-* \par   
-* The parameter ifftFlag controls whether a forward or inverse transform is computed.   
-* Set(=1) ifftFlag for calculation of CIFFT otherwise  CFFT is calculated  
-* \par   
-* The parameter bitReverseFlag controls whether output is in normal order or bit reversed order.   
-* Set(=1) bitReverseFlag for output to be in normal order otherwise output is in bit reversed order.   
-* \par   
-* The parameter fftLen	Specifies length of CFFT/CIFFT process. Supported FFT Lengths are 16, 64, 256, 1024.   
-* \par   
-* This Function also initializes Twiddle factor table pointer and Bit reversal table pointer.   
-*/
-
-arm_status arm_cfft_radix2_init_q15(
-  arm_cfft_radix2_instance_q15 * S,
-  uint16_t fftLen,
-  uint8_t ifftFlag,
-  uint8_t bitReverseFlag)
-{
-  /*  Initialise the default arm status */
-  arm_status status = ARM_MATH_SUCCESS;
-
-  /*  Initialise the FFT length */
-  S->fftLen = fftLen;
-
-  /*  Initialise the Twiddle coefficient pointer */
-  S->pTwiddle = (q15_t *) twiddleCoefQ15;
-  /*  Initialise the Flag for selection of CFFT or CIFFT */
-  S->ifftFlag = ifftFlag;
-  /*  Initialise the Flag for calculation Bit reversal or not */
-  S->bitReverseFlag = bitReverseFlag;
-
-  /*  Initializations of structure parameters depending on the FFT length */
-  switch (S->fftLen)
-  {
-  case 4096u:
-    /*  Initializations of structure parameters for 4096 point FFT */
-
-    /*  Initialise the twiddle coef modifier value */
-    S->twidCoefModifier = 1u;
-    /*  Initialise the bit reversal table modifier */
-    S->bitRevFactor = 1u;
-    /*  Initialise the bit reversal table pointer */
-    S->pBitRevTable = (uint16_t *) armBitRevTable;
-
-    break;
-
-  case 2048u:
-    /*  Initializations of structure parameters for 2048 point FFT */
-
-    /*  Initialise the twiddle coef modifier value */
-    S->twidCoefModifier = 2u;
-    /*  Initialise the bit reversal table modifier */
-    S->bitRevFactor = 2u;
-    /*  Initialise the bit reversal table pointer */
-    S->pBitRevTable = (uint16_t *) & armBitRevTable[1];
-
-    break;
-
-  case 1024u:
-    /*  Initializations of structure parameters for 1024 point FFT */
-    S->twidCoefModifier = 4u;
-    S->bitRevFactor = 4u;
-    S->pBitRevTable = (uint16_t *) & armBitRevTable[3];
-
-    break;
-
-  case 512u:
-    /*  Initializations of structure parameters for 512 point FFT */
-    S->twidCoefModifier = 8u;
-    S->bitRevFactor = 8u;
-    S->pBitRevTable = (uint16_t *) & armBitRevTable[7];
-
-    break;
-
-  case 256u:
-    /*  Initializations of structure parameters for 256 point FFT */
-    S->twidCoefModifier = 16u;
-    S->bitRevFactor = 16u;
-    S->pBitRevTable = (uint16_t *) & armBitRevTable[15];
-
-    break;
-
-  case 128u:
-    /*  Initializations of structure parameters for 128 point FFT */
-    S->twidCoefModifier = 32u;
-    S->bitRevFactor = 32u;
-    S->pBitRevTable = (uint16_t *) & armBitRevTable[31];
-
-    break;
-
-  case 64u:
-    /*  Initializations of structure parameters for 64 point FFT */
-    S->twidCoefModifier = 64u;
-    S->bitRevFactor = 64u;
-    S->pBitRevTable = (uint16_t *) & armBitRevTable[63];
-
-    break;
-
-  case 32u:
-    /*  Initializations of structure parameters for 32 point FFT */
-    S->twidCoefModifier = 128u;
-    S->bitRevFactor = 128u;
-    S->pBitRevTable = (uint16_t *) & armBitRevTable[127];
-
-    break;
-
-  case 16u:
-    /*  Initializations of structure parameters for 16 point FFT */
-    S->twidCoefModifier = 256u;
-    S->bitRevFactor = 256u;
-    S->pBitRevTable = (uint16_t *) & armBitRevTable[255];
-
-    break;
-
-  default:
-    /*  Reporting argument error if fftSize is not valid value */
-    status = ARM_MATH_ARGUMENT_ERROR;
-    break;
-  }
-
-  return (status);
-}
-
-/**    
- * @} end of Radix2_CFFT_CIFFT group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_init_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_init_q31.c
deleted file mode 100644
index 29aa9a74b..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_init_q31.c
+++ /dev/null
@@ -1,164 +0,0 @@
-/* ----------------------------------------------------------------------   
-* Copyright (C) 2010 ARM Limited. All rights reserved.   
-*   
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*   
-* Project: 	    CMSIS DSP Library   
-* Title:	    arm_cfft_radix2_init_q31.c   
-*   
-* Description:	Radix-2 Decimation in Frequency Fixed-point CFFT & CIFFT Initialization function   
-*   
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* -------------------------------------------------------------------- */
-
-
-#include "arm_math.h"
-#include "arm_common_tables.h"
-
-/**   
- * @ingroup groupTransforms   
- */
-
-/**   
- * @addtogroup Radix2_CFFT_CIFFT   
- * @{   
- */
-
-
-/**    
-*    
-* @brief  Initialization function for the Q31 CFFT/CIFFT.   
-* @param[in,out] *S             points to an instance of the Q31 CFFT/CIFFT structure.   
-* @param[in]     fftLen         length of the FFT.  
-* @param[in]     ifftFlag       flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform.  
-* @param[in]     bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.  
-* @return        The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if fftLen is not a supported value.  
-*   
-* \par Description:  
-* \par   
-* The parameter ifftFlag controls whether a forward or inverse transform is computed.   
-* Set(=1) ifftFlag for calculation of CIFFT otherwise  CFFT is calculated  
-* \par   
-* The parameter bitReverseFlag controls whether output is in normal order or bit reversed order.   
-* Set(=1) bitReverseFlag for output to be in normal order otherwise output is in bit reversed order.   
-* \par   
-* The parameter fftLen	Specifies length of CFFT/CIFFT process. Supported FFT Lengths are 16, 64, 256, 1024.   
-* \par   
-* This Function also initializes Twiddle factor table pointer and Bit reversal table pointer.   
-*/
-
-arm_status arm_cfft_radix2_init_q31(
-  arm_cfft_radix2_instance_q31 * S,
-  uint16_t fftLen,
-  uint8_t ifftFlag,
-  uint8_t bitReverseFlag)
-{
-  /*  Initialise the default arm status */
-  arm_status status = ARM_MATH_SUCCESS;
-
-  /*  Initialise the FFT length */
-  S->fftLen = fftLen;
-
-  /*  Initialise the Twiddle coefficient pointer */
-  S->pTwiddle = (q31_t *) twiddleCoefQ31;
-  /*  Initialise the Flag for selection of CFFT or CIFFT */
-  S->ifftFlag = ifftFlag;
-  /*  Initialise the Flag for calculation Bit reversal or not */
-  S->bitReverseFlag = bitReverseFlag;
-
-  /*  Initializations of Instance structure depending on the FFT length */
-  switch (S->fftLen)
-  {
-    /*  Initializations of structure parameters for 4096 point FFT */
-  case 4096u:
-    /*  Initialise the twiddle coef modifier value */
-    S->twidCoefModifier = 1u;
-    /*  Initialise the bit reversal table modifier */
-    S->bitRevFactor = 1u;
-    /*  Initialise the bit reversal table pointer */
-    S->pBitRevTable = (uint16_t *) armBitRevTable;
-    break;
-
-    /*  Initializations of structure parameters for 2048 point FFT */
-  case 2048u:
-    /*  Initialise the twiddle coef modifier value */
-    S->twidCoefModifier = 2u;
-    /*  Initialise the bit reversal table modifier */
-    S->bitRevFactor = 2u;
-    /*  Initialise the bit reversal table pointer */
-    S->pBitRevTable = (uint16_t *) & armBitRevTable[1];
-    break;
-
-    /*  Initializations of structure parameters for 1024 point FFT */
-  case 1024u:
-    /*  Initialise the twiddle coef modifier value */
-    S->twidCoefModifier = 4u;
-    /*  Initialise the bit reversal table modifier */
-    S->bitRevFactor = 4u;
-    /*  Initialise the bit reversal table pointer */
-    S->pBitRevTable = (uint16_t *) & armBitRevTable[3];
-    break;
-
-    /*  Initializations of structure parameters for 512 point FFT */
-  case 512u:
-    /*  Initialise the twiddle coef modifier value */
-    S->twidCoefModifier = 8u;
-    /*  Initialise the bit reversal table modifier */
-    S->bitRevFactor = 8u;
-    /*  Initialise the bit reversal table pointer */
-    S->pBitRevTable = (uint16_t *) & armBitRevTable[7];
-    break;
-
-  case 256u:
-    /*  Initializations of structure parameters for 256 point FFT */
-    S->twidCoefModifier = 16u;
-    S->bitRevFactor = 16u;
-    S->pBitRevTable = (uint16_t *) & armBitRevTable[15];
-    break;
-
-  case 128u:
-    /*  Initializations of structure parameters for 128 point FFT */
-    S->twidCoefModifier = 32u;
-    S->bitRevFactor = 32u;
-    S->pBitRevTable = (uint16_t *) & armBitRevTable[31];
-    break;
-
-  case 64u:
-    /*  Initializations of structure parameters for 64 point FFT */
-    S->twidCoefModifier = 64u;
-    S->bitRevFactor = 64u;
-    S->pBitRevTable = (uint16_t *) & armBitRevTable[63];
-    break;
-
-  case 32u:
-    /*  Initializations of structure parameters for 32 point FFT */
-    S->twidCoefModifier = 128u;
-    S->bitRevFactor = 128u;
-    S->pBitRevTable = (uint16_t *) & armBitRevTable[127];
-    break;
-
-  case 16u:
-    /*  Initializations of structure parameters for 16 point FFT */
-    S->twidCoefModifier = 256u;
-    S->bitRevFactor = 256u;
-    S->pBitRevTable = (uint16_t *) & armBitRevTable[255];
-    break;
-
-
-  default:
-    /*  Reporting argument error if fftSize is not valid value */
-    status = ARM_MATH_ARGUMENT_ERROR;
-    break;
-  }
-
-  return (status);
-}
-
-/**   
- * @} end of Radix2_CFFT_CIFFT group   
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_q15.c
deleted file mode 100644
index 00c7420cf..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_q15.c
+++ /dev/null
@@ -1,712 +0,0 @@
-/* ----------------------------------------------------------------------   
-* Copyright (C) 2010 ARM Limited. All rights reserved.   
-*   
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*   
-* Project: 	    CMSIS DSP Library   
-* Title:	    arm_cfft_radix2_q15.c   
-*   
-* Description:	Radix-2 Decimation in Frequency CFFT & CIFFT Fixed point processing function   
-*   
-*   
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 0.0.3  2010/03/10    
-*    Initial version   
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**   
- * @ingroup groupTransforms   
- */
-
-/**   
- * @defgroup Radix2_CFFT_CIFFT Radix-2 Complex FFT Functions   
- *   
- * \par   
- * Complex Fast Fourier Transform(CFFT) and Complex Inverse Fast Fourier Transform(CIFFT) is an efficient algorithm to compute Discrete Fourier Transform(DFT) and Inverse Discrete Fourier Transform(IDFT).   
- * Computational complexity of CFFT reduces drastically when compared to DFT.    
- */
-
-
-/**   
- * @addtogroup Radix2_CFFT_CIFFT   
- * @{   
- */
-
-/**   
- * @details   
- * @brief Processing function for the fixed-point CFFT/CIFFT.  
- * @param[in]      *S    points to an instance of the fixed-point CFFT/CIFFT structure.  
- * @param[in, out] *pSrc points to the complex data buffer of size 2*fftLen. Processing occurs in-place.  
- * @return none.  
- */
-
-void arm_cfft_radix2_q15(
-  const arm_cfft_radix2_instance_q15 * S,
-  q15_t * pSrc)
-{
-
-  if(S->ifftFlag == 1u)
-  {
-    arm_radix2_butterfly_inverse_q15(pSrc, S->fftLen,
-                                     S->pTwiddle, S->twidCoefModifier);
-  }
-  else
-  {
-    arm_radix2_butterfly_q15(pSrc, S->fftLen,
-                             S->pTwiddle, S->twidCoefModifier);
-  }
-
-  arm_bitreversal_q15(pSrc, S->fftLen, S->bitRevFactor, S->pBitRevTable);
-}
-
-/**   
- * @} end of Radix2_CFFT_CIFFT group   
- */
-
-void arm_radix2_butterfly_q15(
-  q15_t * pSrc,
-  uint32_t fftLen,
-  q15_t * pCoef,
-  uint16_t twidCoefModifier)
-{
-#ifndef ARM_MATH_CM0
-
-  int i, j, k, l;
-  int n1, n2, ia;
-  q15_t in;
-  q31_t T, S, R;
-  q31_t coeff, out1, out2;
-
-  //N = fftLen; 
-  n2 = fftLen;
-
-  n1 = n2;
-  n2 = n2 >> 1;
-  ia = 0;
-
-  // loop for groups 
-  for (i = 0; i < n2; i++)
-  {
-    coeff = _SIMD32_OFFSET(pCoef + (ia * 2u));
-
-    ia = ia + twidCoefModifier;
-
-    l = i + n2;
-
-    T = _SIMD32_OFFSET(pSrc + (2 * i));
-    in = ((int16_t) (T & 0xFFFF)) >> 2;
-    T = ((T >> 2) & 0xFFFF0000) | (in & 0xFFFF);
-
-    S = _SIMD32_OFFSET(pSrc + (2 * l));
-    in = ((int16_t) (S & 0xFFFF)) >> 2;
-    S = ((S >> 2) & 0xFFFF0000) | (in & 0xFFFF);
-
-    R = __QSUB16(T, S);
-
-    _SIMD32_OFFSET(pSrc + (2 * i)) = __SHADD16(T, S);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-    out1 = __SMUAD(coeff, R) >> 16;
-    out2 = __SMUSDX(coeff, R);
-
-#else
-
-    out1 = __SMUSDX(R, coeff) >> 16u;
-    out2 = __SMUAD(coeff, R);
-
-#endif //     #ifndef ARM_MATH_BIG_ENDIAN
-
-    _SIMD32_OFFSET(pSrc + (2u * l)) =
-      (q31_t) ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);
-
-    coeff = _SIMD32_OFFSET(pCoef + (ia * 2u));
-
-    ia = ia + twidCoefModifier;
-
-    // loop for butterfly 
-    i++;
-    l++;
-
-    T = _SIMD32_OFFSET(pSrc + (2 * i));
-    in = ((int16_t) (T & 0xFFFF)) >> 2;
-    T = ((T >> 2) & 0xFFFF0000) | (in & 0xFFFF);
-
-    S = _SIMD32_OFFSET(pSrc + (2 * l));
-    in = ((int16_t) (S & 0xFFFF)) >> 2;
-    S = ((S >> 2) & 0xFFFF0000) | (in & 0xFFFF);
-
-    R = __QSUB16(T, S);
-
-    _SIMD32_OFFSET(pSrc + (2 * i)) = __SHADD16(T, S);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-    out1 = __SMUAD(coeff, R) >> 16;
-    out2 = __SMUSDX(coeff, R);
-
-#else
-
-    out1 = __SMUSDX(R, coeff) >> 16u;
-    out2 = __SMUAD(coeff, R);
-
-#endif //     #ifndef ARM_MATH_BIG_ENDIAN
-
-    _SIMD32_OFFSET(pSrc + (2u * l)) =
-      (q31_t) ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);
-
-  }                             // groups loop end 
-
-  twidCoefModifier = twidCoefModifier << 1u;
-
-  // loop for stage 
-  for (k = fftLen / 2; k > 2; k = k >> 1)
-  {
-    n1 = n2;
-    n2 = n2 >> 1;
-    ia = 0;
-
-    // loop for groups 
-    for (j = 0; j < n2; j++)
-    {
-      coeff = _SIMD32_OFFSET(pCoef + (ia * 2u));
-
-      ia = ia + twidCoefModifier;
-
-      // loop for butterfly 
-      for (i = j; i < fftLen; i += n1)
-      {
-        l = i + n2;
-
-        T = _SIMD32_OFFSET(pSrc + (2 * i));
-
-        S = _SIMD32_OFFSET(pSrc + (2 * l));
-
-        R = __QSUB16(T, S);
-
-        _SIMD32_OFFSET(pSrc + (2 * i)) = __SHADD16(T, S);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-        out1 = __SMUAD(coeff, R) >> 16;
-        out2 = __SMUSDX(coeff, R);
-
-#else
-
-        out1 = __SMUSDX(R, coeff) >> 16u;
-        out2 = __SMUAD(coeff, R);
-
-#endif //     #ifndef ARM_MATH_BIG_ENDIAN
-
-        _SIMD32_OFFSET(pSrc + (2u * l)) =
-          (q31_t) ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);
-
-        i += n1;
-
-        l = i + n2;
-
-        T = _SIMD32_OFFSET(pSrc + (2 * i));
-
-        S = _SIMD32_OFFSET(pSrc + (2 * l));
-
-        R = __QSUB16(T, S);
-
-        _SIMD32_OFFSET(pSrc + (2 * i)) = __SHADD16(T, S);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-        out1 = __SMUAD(coeff, R) >> 16;
-        out2 = __SMUSDX(coeff, R);
-
-#else
-
-        out1 = __SMUSDX(R, coeff) >> 16u;
-        out2 = __SMUAD(coeff, R);
-
-#endif //     #ifndef ARM_MATH_BIG_ENDIAN
-
-        _SIMD32_OFFSET(pSrc + (2u * l)) =
-          (q31_t) ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);
-
-      }                         // butterfly loop end 
-
-    }                           // groups loop end 
-
-    twidCoefModifier = twidCoefModifier << 1u;
-  }                             // stages loop end 
-
-  n1 = n2;
-  n2 = n2 >> 1;
-  ia = 0;
-
-  coeff = _SIMD32_OFFSET(pCoef + (ia * 2u));
-
-  ia = ia + twidCoefModifier;
-
-  // loop for butterfly 
-  for (i = 0; i < fftLen; i += n1)
-  {
-    l = i + n2;
-
-    T = _SIMD32_OFFSET(pSrc + (2 * i));
-
-    S = _SIMD32_OFFSET(pSrc + (2 * l));
-
-    R = __QSUB16(T, S);
-
-    _SIMD32_OFFSET(pSrc + (2 * i)) = __QADD16(T, S);
-
-    _SIMD32_OFFSET(pSrc + (2u * l)) = R;
-
-    i += n1;
-    l = i + n2;
-
-    T = _SIMD32_OFFSET(pSrc + (2 * i));
-
-    S = _SIMD32_OFFSET(pSrc + (2 * l));
-
-    R = __QSUB16(T, S);
-
-    _SIMD32_OFFSET(pSrc + (2 * i)) = __QADD16(T, S);
-
-    _SIMD32_OFFSET(pSrc + (2u * l)) = R;
-
-  }                             // groups loop end 
-
-
-#else
-
-  int i, j, k, l;
-  int n1, n2, ia;
-  q15_t xt, yt, cosVal, sinVal;
-
-
-  //N = fftLen; 
-  n2 = fftLen;
-
-  n1 = n2;
-  n2 = n2 >> 1;
-  ia = 0;
-
-  // loop for groups 
-  for (j = 0; j < n2; j++)
-  {
-    cosVal = pCoef[ia * 2];
-    sinVal = pCoef[(ia * 2) + 1];
-    ia = ia + twidCoefModifier;
-
-    // loop for butterfly 
-    for (i = j; i < fftLen; i += n1)
-    {
-      l = i + n2;
-      xt = (pSrc[2 * i] >> 2u) - (pSrc[2 * l] >> 2u);
-      pSrc[2 * i] = ((pSrc[2 * i] >> 2u) + (pSrc[2 * l] >> 2u)) >> 1u;
-
-      yt = (pSrc[2 * i + 1] >> 2u) - (pSrc[2 * l + 1] >> 2u);
-      pSrc[2 * i + 1] =
-        ((pSrc[2 * l + 1] >> 2u) + (pSrc[2 * i + 1] >> 2u)) >> 1u;
-
-      pSrc[2u * l] = (((int16_t) (((q31_t) xt * cosVal) >> 16)) +
-                      ((int16_t) (((q31_t) yt * sinVal) >> 16)));
-
-      pSrc[2u * l + 1u] = (((int16_t) (((q31_t) yt * cosVal) >> 16)) -
-                           ((int16_t) (((q31_t) xt * sinVal) >> 16)));
-
-    }                           // butterfly loop end 
-
-  }                             // groups loop end 
-
-  twidCoefModifier = twidCoefModifier << 1u;
-
-  // loop for stage 
-  for (k = fftLen / 2; k > 2; k = k >> 1)
-  {
-    n1 = n2;
-    n2 = n2 >> 1;
-    ia = 0;
-
-    // loop for groups 
-    for (j = 0; j < n2; j++)
-    {
-      cosVal = pCoef[ia * 2];
-      sinVal = pCoef[(ia * 2) + 1];
-      ia = ia + twidCoefModifier;
-
-      // loop for butterfly 
-      for (i = j; i < fftLen; i += n1)
-      {
-        l = i + n2;
-        xt = pSrc[2 * i] - pSrc[2 * l];
-        pSrc[2 * i] = (pSrc[2 * i] + pSrc[2 * l]) >> 1u;
-
-        yt = pSrc[2 * i + 1] - pSrc[2 * l + 1];
-        pSrc[2 * i + 1] = (pSrc[2 * l + 1] + pSrc[2 * i + 1]) >> 1u;
-
-        pSrc[2u * l] = (((int16_t) (((q31_t) xt * cosVal) >> 16)) +
-                        ((int16_t) (((q31_t) yt * sinVal) >> 16)));
-
-        pSrc[2u * l + 1u] = (((int16_t) (((q31_t) yt * cosVal) >> 16)) -
-                             ((int16_t) (((q31_t) xt * sinVal) >> 16)));
-
-      }                         // butterfly loop end 
-
-    }                           // groups loop end 
-
-    twidCoefModifier = twidCoefModifier << 1u;
-  }                             // stages loop end 
-
-  n1 = n2;
-  n2 = n2 >> 1;
-  ia = 0;
-
-  // loop for groups 
-  for (j = 0; j < n2; j++)
-  {
-    cosVal = pCoef[ia * 2];
-    sinVal = pCoef[(ia * 2) + 1];
-
-    ia = ia + twidCoefModifier;
-
-    // loop for butterfly 
-    for (i = j; i < fftLen; i += n1)
-    {
-      l = i + n2;
-      xt = pSrc[2 * i] - pSrc[2 * l];
-      pSrc[2 * i] = (pSrc[2 * i] + pSrc[2 * l]);
-
-      yt = pSrc[2 * i + 1] - pSrc[2 * l + 1];
-      pSrc[2 * i + 1] = (pSrc[2 * l + 1] + pSrc[2 * i + 1]);
-
-      pSrc[2u * l] = xt;
-
-      pSrc[2u * l + 1u] = yt;
-
-    }                           // butterfly loop end 
-
-  }                             // groups loop end 
-
-  twidCoefModifier = twidCoefModifier << 1u;
-
-#endif //             #ifndef ARM_MATH_CM0
-
-}
-
-
-void arm_radix2_butterfly_inverse_q15(
-  q15_t * pSrc,
-  uint32_t fftLen,
-  q15_t * pCoef,
-  uint16_t twidCoefModifier)
-{
-#ifndef ARM_MATH_CM0
-
-  int i, j, k, l;
-  int n1, n2, ia;
-  q15_t in;
-  q31_t T, S, R;
-  q31_t coeff, out1, out2;
-
-  //N = fftLen; 
-  n2 = fftLen;
-
-  n1 = n2;
-  n2 = n2 >> 1;
-  ia = 0;
-
-  // loop for groups 
-  for (i = 0; i < n2; i++)
-  {
-    coeff = _SIMD32_OFFSET(pCoef + (ia * 2u));
-
-    ia = ia + twidCoefModifier;
-
-    l = i + n2;
-
-    T = _SIMD32_OFFSET(pSrc + (2 * i));
-    in = ((int16_t) (T & 0xFFFF)) >> 2;
-    T = ((T >> 2) & 0xFFFF0000) | (in & 0xFFFF);
-
-    S = _SIMD32_OFFSET(pSrc + (2 * l));
-    in = ((int16_t) (S & 0xFFFF)) >> 2;
-    S = ((S >> 2) & 0xFFFF0000) | (in & 0xFFFF);
-
-    R = __QSUB16(T, S);
-
-    _SIMD32_OFFSET(pSrc + (2 * i)) = __SHADD16(T, S);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-    out1 = __SMUSD(coeff, R) >> 16;
-    out2 = __SMUADX(coeff, R);
-#else
-
-    out1 = __SMUADX(R, coeff) >> 16u;
-    out2 = __SMUSD(__QSUB(0, coeff), R);
-
-#endif //     #ifndef ARM_MATH_BIG_ENDIAN
-
-    _SIMD32_OFFSET(pSrc + (2u * l)) =
-      (q31_t) ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);
-
-    coeff = _SIMD32_OFFSET(pCoef + (ia * 2u));
-
-    ia = ia + twidCoefModifier;
-
-    // loop for butterfly 
-    i++;
-    l++;
-
-    T = _SIMD32_OFFSET(pSrc + (2 * i));
-    in = ((int16_t) (T & 0xFFFF)) >> 2;
-    T = ((T >> 2) & 0xFFFF0000) | (in & 0xFFFF);
-
-    S = _SIMD32_OFFSET(pSrc + (2 * l));
-    in = ((int16_t) (S & 0xFFFF)) >> 2;
-    S = ((S >> 2) & 0xFFFF0000) | (in & 0xFFFF);
-
-    R = __QSUB16(T, S);
-
-    _SIMD32_OFFSET(pSrc + (2 * i)) = __SHADD16(T, S);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-    out1 = __SMUSD(coeff, R) >> 16;
-    out2 = __SMUADX(coeff, R);
-#else
-
-    out1 = __SMUADX(R, coeff) >> 16u;
-    out2 = __SMUSD(__QSUB(0, coeff), R);
-
-#endif //     #ifndef ARM_MATH_BIG_ENDIAN
-
-    _SIMD32_OFFSET(pSrc + (2u * l)) =
-      (q31_t) ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);
-
-  }                             // groups loop end 
-
-  twidCoefModifier = twidCoefModifier << 1u;
-
-  // loop for stage 
-  for (k = fftLen / 2; k > 2; k = k >> 1)
-  {
-    n1 = n2;
-    n2 = n2 >> 1;
-    ia = 0;
-
-    // loop for groups 
-    for (j = 0; j < n2; j++)
-    {
-      coeff = _SIMD32_OFFSET(pCoef + (ia * 2u));
-
-      ia = ia + twidCoefModifier;
-
-      // loop for butterfly 
-      for (i = j; i < fftLen; i += n1)
-      {
-        l = i + n2;
-
-        T = _SIMD32_OFFSET(pSrc + (2 * i));
-
-        S = _SIMD32_OFFSET(pSrc + (2 * l));
-
-        R = __QSUB16(T, S);
-
-        _SIMD32_OFFSET(pSrc + (2 * i)) = __SHADD16(T, S);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-        out1 = __SMUSD(coeff, R) >> 16;
-        out2 = __SMUADX(coeff, R);
-
-#else
-
-        out1 = __SMUADX(R, coeff) >> 16u;
-        out2 = __SMUSD(__QSUB(0, coeff), R);
-
-#endif //     #ifndef ARM_MATH_BIG_ENDIAN
-
-        _SIMD32_OFFSET(pSrc + (2u * l)) =
-          (q31_t) ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);
-
-        i += n1;
-
-        l = i + n2;
-
-        T = _SIMD32_OFFSET(pSrc + (2 * i));
-
-        S = _SIMD32_OFFSET(pSrc + (2 * l));
-
-        R = __QSUB16(T, S);
-
-        _SIMD32_OFFSET(pSrc + (2 * i)) = __SHADD16(T, S);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-        out1 = __SMUSD(coeff, R) >> 16;
-        out2 = __SMUADX(coeff, R);
-#else
-
-        out1 = __SMUADX(R, coeff) >> 16u;
-        out2 = __SMUSD(__QSUB(0, coeff), R);
-
-#endif //     #ifndef ARM_MATH_BIG_ENDIAN
-
-        _SIMD32_OFFSET(pSrc + (2u * l)) =
-          (q31_t) ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);
-
-      }                         // butterfly loop end 
-
-    }                           // groups loop end 
-
-    twidCoefModifier = twidCoefModifier << 1u;
-  }                             // stages loop end 
-
-  n1 = n2;
-  n2 = n2 >> 1;
-  ia = 0;
-
-  // loop for groups 
-  for (j = 0; j < n2; j++)
-  {
-    coeff = _SIMD32_OFFSET(pCoef + (ia * 2u));
-
-    ia = ia + twidCoefModifier;
-
-    // loop for butterfly 
-    for (i = j; i < fftLen; i += n1)
-    {
-      l = i + n2;
-
-      T = _SIMD32_OFFSET(pSrc + (2 * i));
-
-      S = _SIMD32_OFFSET(pSrc + (2 * l));
-
-      R = __QSUB16(T, S);
-
-      _SIMD32_OFFSET(pSrc + (2 * i)) = __QADD16(T, S);
-
-      _SIMD32_OFFSET(pSrc + (2u * l)) = R;
-
-    }                           // butterfly loop end 
-
-  }                             // groups loop end 
-
-  twidCoefModifier = twidCoefModifier << 1u;
-
-#else
-
-
-  int i, j, k, l;
-  int n1, n2, ia;
-  q15_t xt, yt, cosVal, sinVal;
-
-  //N = fftLen; 
-  n2 = fftLen;
-
-  n1 = n2;
-  n2 = n2 >> 1;
-  ia = 0;
-
-  // loop for groups 
-  for (j = 0; j < n2; j++)
-  {
-    cosVal = pCoef[ia * 2];
-    sinVal = pCoef[(ia * 2) + 1];
-    ia = ia + twidCoefModifier;
-
-    // loop for butterfly 
-    for (i = j; i < fftLen; i += n1)
-    {
-      l = i + n2;
-      xt = (pSrc[2 * i] >> 2u) - (pSrc[2 * l] >> 2u);
-      pSrc[2 * i] = ((pSrc[2 * i] >> 2u) + (pSrc[2 * l] >> 2u)) >> 1u;
-
-      yt = (pSrc[2 * i + 1] >> 2u) - (pSrc[2 * l + 1] >> 2u);
-      pSrc[2 * i + 1] =
-        ((pSrc[2 * l + 1] >> 2u) + (pSrc[2 * i + 1] >> 2u)) >> 1u;
-
-      pSrc[2u * l] = (((int16_t) (((q31_t) xt * cosVal) >> 16)) -
-                      ((int16_t) (((q31_t) yt * sinVal) >> 16)));
-
-      pSrc[2u * l + 1u] = (((int16_t) (((q31_t) yt * cosVal) >> 16)) +
-                           ((int16_t) (((q31_t) xt * sinVal) >> 16)));
-
-    }                           // butterfly loop end 
-
-  }                             // groups loop end 
-
-  twidCoefModifier = twidCoefModifier << 1u;
-
-  // loop for stage 
-  for (k = fftLen / 2; k > 2; k = k >> 1)
-  {
-    n1 = n2;
-    n2 = n2 >> 1;
-    ia = 0;
-
-    // loop for groups 
-    for (j = 0; j < n2; j++)
-    {
-      cosVal = pCoef[ia * 2];
-      sinVal = pCoef[(ia * 2) + 1];
-      ia = ia + twidCoefModifier;
-
-      // loop for butterfly 
-      for (i = j; i < fftLen; i += n1)
-      {
-        l = i + n2;
-        xt = pSrc[2 * i] - pSrc[2 * l];
-        pSrc[2 * i] = (pSrc[2 * i] + pSrc[2 * l]) >> 1u;
-
-        yt = pSrc[2 * i + 1] - pSrc[2 * l + 1];
-        pSrc[2 * i + 1] = (pSrc[2 * l + 1] + pSrc[2 * i + 1]) >> 1u;
-
-        pSrc[2u * l] = (((int16_t) (((q31_t) xt * cosVal) >> 16)) -
-                        ((int16_t) (((q31_t) yt * sinVal) >> 16)));
-
-        pSrc[2u * l + 1u] = (((int16_t) (((q31_t) yt * cosVal) >> 16)) +
-                             ((int16_t) (((q31_t) xt * sinVal) >> 16)));
-
-      }                         // butterfly loop end 
-
-    }                           // groups loop end 
-
-    twidCoefModifier = twidCoefModifier << 1u;
-  }                             // stages loop end 
-
-  n1 = n2;
-  n2 = n2 >> 1;
-  ia = 0;
-
-  cosVal = pCoef[ia * 2];
-  sinVal = pCoef[(ia * 2) + 1];
-
-  ia = ia + twidCoefModifier;
-
-  // loop for butterfly 
-  for (i = 0; i < fftLen; i += n1)
-  {
-    l = i + n2;
-    xt = pSrc[2 * i] - pSrc[2 * l];
-    pSrc[2 * i] = (pSrc[2 * i] + pSrc[2 * l]);
-
-    yt = pSrc[2 * i + 1] - pSrc[2 * l + 1];
-    pSrc[2 * i + 1] = (pSrc[2 * l + 1] + pSrc[2 * i + 1]);
-
-    pSrc[2u * l] = xt;
-
-    pSrc[2u * l + 1u] = yt;
-
-  }                             // groups loop end 
-
-
-#endif //             #ifndef ARM_MATH_CM0
-
-}
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_q31.c
deleted file mode 100644
index dd4b9e6b2..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_q31.c
+++ /dev/null
@@ -1,310 +0,0 @@
-/* ----------------------------------------------------------------------   
-* Copyright (C) 2010 ARM Limited. All rights reserved.   
-*   
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*   
-* Project: 	    CMSIS DSP Library   
-* Title:	    arm_cfft_radix2_q31.c   
-*   
-* Description:	Radix-2 Decimation in Frequency CFFT & CIFFT Fixed point processing function   
-*   
-*   
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 0.0.3  2010/03/10    
-*    Initial version   
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**   
- * @ingroup groupTransforms   
- */
-
-/**   
- * @defgroup Radix2_CFFT_CIFFT Radix-2 Complex FFT Functions   
- *   
- * \par   
- * Complex Fast Fourier Transform(CFFT) and Complex Inverse Fast Fourier Transform(CIFFT) is an efficient algorithm to compute Discrete Fourier Transform(DFT) and Inverse Discrete Fourier Transform(IDFT).   
- * Computational complexity of CFFT reduces drastically when compared to DFT.    
- */
-
-
-/**   
- * @addtogroup Radix2_CFFT_CIFFT   
- * @{   
- */
-
-/**   
- * @details   
- * @brief Processing function for the fixed-point CFFT/CIFFT.  
- * @param[in]      *S    points to an instance of the fixed-point CFFT/CIFFT structure.  
- * @param[in, out] *pSrc points to the complex data buffer of size 2*fftLen. Processing occurs in-place.  
- * @return none.  
- */
-
-void arm_cfft_radix2_q31(
-  const arm_cfft_radix2_instance_q31 * S,
-  q31_t * pSrc)
-{
-
-  if(S->ifftFlag == 1u)
-  {
-    arm_radix2_butterfly_inverse_q31(pSrc, S->fftLen,
-                                     S->pTwiddle, S->twidCoefModifier);
-  }
-  else
-  {
-    arm_radix2_butterfly_q31(pSrc, S->fftLen,
-                             S->pTwiddle, S->twidCoefModifier);
-  }
-
-  arm_bitreversal_q31(pSrc, S->fftLen, S->bitRevFactor, S->pBitRevTable);
-}
-
-/**   
- * @} end of Radix2_CFFT_CIFFT group   
- */
-
-void arm_radix2_butterfly_q31(
-  q31_t * pSrc,
-  uint32_t fftLen,
-  q31_t * pCoef,
-  uint16_t twidCoefModifier)
-{
-
-  int i, j, k, l;
-  int n1, n2, ia;
-  q31_t xt, yt, cosVal, sinVal;
-
-  //N = fftLen; 
-  n2 = fftLen;
-
-  n1 = n2;
-  n2 = n2 >> 1;
-  ia = 0;
-
-  // loop for groups 
-  for (i = 0; i < n2; i++)
-  {
-    cosVal = pCoef[ia * 2];
-    sinVal = pCoef[(ia * 2) + 1];
-    ia = ia + twidCoefModifier;
-
-    l = i + n2;
-    xt = (pSrc[2 * i] >> 2u) - (pSrc[2 * l] >> 2u);
-    pSrc[2 * i] = ((pSrc[2 * i] >> 2u) + (pSrc[2 * l] >> 2u)) >> 1u;
-
-    yt = (pSrc[2 * i + 1] >> 2u) - (pSrc[2 * l + 1] >> 2u);
-    pSrc[2 * i + 1] =
-      ((pSrc[2 * l + 1] >> 2u) + (pSrc[2 * i + 1] >> 2u)) >> 1u;
-
-    pSrc[2u * l] = (((int32_t) (((q63_t) xt * cosVal) >> 32)) +
-                    ((int32_t) (((q63_t) yt * sinVal) >> 32)));
-
-    pSrc[2u * l + 1u] = (((int32_t) (((q63_t) yt * cosVal) >> 32)) -
-                         ((int32_t) (((q63_t) xt * sinVal) >> 32)));
-
-  }                             // groups loop end 
-
-  twidCoefModifier = twidCoefModifier << 1u;
-
-  // loop for stage 
-  for (k = fftLen / 2; k > 2; k = k >> 1)
-  {
-    n1 = n2;
-    n2 = n2 >> 1;
-    ia = 0;
-
-    // loop for groups 
-    for (j = 0; j < n2; j++)
-    {
-      cosVal = pCoef[ia * 2];
-      sinVal = pCoef[(ia * 2) + 1];
-      ia = ia + twidCoefModifier;
-
-      // loop for butterfly 
-      for (i = j; i < fftLen; i += n1)
-      {
-        l = i + n2;
-        xt = pSrc[2 * i] - pSrc[2 * l];
-        pSrc[2 * i] = (pSrc[2 * i] + pSrc[2 * l]) >> 1u;
-
-        yt = pSrc[2 * i + 1] - pSrc[2 * l + 1];
-        pSrc[2 * i + 1] = (pSrc[2 * l + 1] + pSrc[2 * i + 1]) >> 1u;
-
-        pSrc[2u * l] = (((int32_t) (((q63_t) xt * cosVal) >> 32)) +
-                        ((int32_t) (((q63_t) yt * sinVal) >> 32)));
-
-        pSrc[2u * l + 1u] = (((int32_t) (((q63_t) yt * cosVal) >> 32)) -
-                             ((int32_t) (((q63_t) xt * sinVal) >> 32)));
-
-      }                         // butterfly loop end 
-
-    }                           // groups loop end 
-
-    twidCoefModifier = twidCoefModifier << 1u;
-  }                             // stages loop end 
-
-  n1 = n2;
-  n2 = n2 >> 1;
-  ia = 0;
-
-  cosVal = pCoef[ia * 2];
-  sinVal = pCoef[(ia * 2) + 1];
-  ia = ia + twidCoefModifier;
-
-  // loop for butterfly 
-  for (i = 0; i < fftLen; i += n1)
-  {
-    l = i + n2;
-    xt = pSrc[2 * i] - pSrc[2 * l];
-    pSrc[2 * i] = (pSrc[2 * i] + pSrc[2 * l]);
-
-    yt = pSrc[2 * i + 1] - pSrc[2 * l + 1];
-    pSrc[2 * i + 1] = (pSrc[2 * l + 1] + pSrc[2 * i + 1]);
-
-    pSrc[2u * l] = xt;
-
-    pSrc[2u * l + 1u] = yt;
-
-    i += n1;
-    l = i + n2;
-
-    xt = pSrc[2 * i] - pSrc[2 * l];
-    pSrc[2 * i] = (pSrc[2 * i] + pSrc[2 * l]);
-
-    yt = pSrc[2 * i + 1] - pSrc[2 * l + 1];
-    pSrc[2 * i + 1] = (pSrc[2 * l + 1] + pSrc[2 * i + 1]);
-
-    pSrc[2u * l] = xt;
-
-    pSrc[2u * l + 1u] = yt;
-
-  }                             // butterfly loop end 
-
-}
-
-
-void arm_radix2_butterfly_inverse_q31(
-  q31_t * pSrc,
-  uint32_t fftLen,
-  q31_t * pCoef,
-  uint16_t twidCoefModifier)
-{
-
-  int i, j, k, l;
-  int n1, n2, ia;
-  q31_t xt, yt, cosVal, sinVal;
-
-  //N = fftLen; 
-  n2 = fftLen;
-
-  n1 = n2;
-  n2 = n2 >> 1;
-  ia = 0;
-
-  // loop for groups 
-  for (i = 0; i < n2; i++)
-  {
-    cosVal = pCoef[ia * 2];
-    sinVal = pCoef[(ia * 2) + 1];
-    ia = ia + twidCoefModifier;
-
-    l = i + n2;
-    xt = (pSrc[2 * i] >> 2u) - (pSrc[2 * l] >> 2u);
-    pSrc[2 * i] = ((pSrc[2 * i] >> 2u) + (pSrc[2 * l] >> 2u)) >> 1u;
-
-    yt = (pSrc[2 * i + 1] >> 2u) - (pSrc[2 * l + 1] >> 2u);
-    pSrc[2 * i + 1] =
-      ((pSrc[2 * l + 1] >> 2u) + (pSrc[2 * i + 1] >> 2u)) >> 1u;
-
-    pSrc[2u * l] = (((int32_t) (((q63_t) xt * cosVal) >> 32)) -
-                    ((int32_t) (((q63_t) yt * sinVal) >> 32)));
-
-    pSrc[2u * l + 1u] = (((int32_t) (((q63_t) yt * cosVal) >> 32)) +
-                         ((int32_t) (((q63_t) xt * sinVal) >> 32)));
-
-  }                             // groups loop end 
-
-  twidCoefModifier = twidCoefModifier << 1u;
-
-  // loop for stage 
-  for (k = fftLen / 2; k > 2; k = k >> 1)
-  {
-    n1 = n2;
-    n2 = n2 >> 1;
-    ia = 0;
-
-    // loop for groups 
-    for (j = 0; j < n2; j++)
-    {
-      cosVal = pCoef[ia * 2];
-      sinVal = pCoef[(ia * 2) + 1];
-      ia = ia + twidCoefModifier;
-
-      // loop for butterfly 
-      for (i = j; i < fftLen; i += n1)
-      {
-        l = i + n2;
-        xt = pSrc[2 * i] - pSrc[2 * l];
-        pSrc[2 * i] = (pSrc[2 * i] + pSrc[2 * l]) >> 1u;
-
-        yt = pSrc[2 * i + 1] - pSrc[2 * l + 1];
-        pSrc[2 * i + 1] = (pSrc[2 * l + 1] + pSrc[2 * i + 1]) >> 1u;
-
-        pSrc[2u * l] = (((int32_t) (((q63_t) xt * cosVal) >> 32)) -
-                        ((int32_t) (((q63_t) yt * sinVal) >> 32)));
-
-        pSrc[2u * l + 1u] = (((int32_t) (((q63_t) yt * cosVal) >> 32)) +
-                             ((int32_t) (((q63_t) xt * sinVal) >> 32)));
-
-      }                         // butterfly loop end 
-
-    }                           // groups loop end 
-
-    twidCoefModifier = twidCoefModifier << 1u;
-  }                             // stages loop end 
-
-  n1 = n2;
-  n2 = n2 >> 1;
-  ia = 0;
-
-  cosVal = pCoef[ia * 2];
-  sinVal = pCoef[(ia * 2) + 1];
-  ia = ia + twidCoefModifier;
-
-  // loop for butterfly 
-  for (i = 0; i < fftLen; i += n1)
-  {
-    l = i + n2;
-    xt = pSrc[2 * i] - pSrc[2 * l];
-    pSrc[2 * i] = (pSrc[2 * i] + pSrc[2 * l]);
-
-    yt = pSrc[2 * i + 1] - pSrc[2 * l + 1];
-    pSrc[2 * i + 1] = (pSrc[2 * l + 1] + pSrc[2 * i + 1]);
-
-    pSrc[2u * l] = xt;
-
-    pSrc[2u * l + 1u] = yt;
-
-    i += n1;
-    l = i + n2;
-
-    xt = pSrc[2 * i] - pSrc[2 * l];
-    pSrc[2 * i] = (pSrc[2 * i] + pSrc[2 * l]);
-
-    yt = pSrc[2 * i + 1] - pSrc[2 * l + 1];
-    pSrc[2 * i + 1] = (pSrc[2 * l + 1] + pSrc[2 * i + 1]);
-
-    pSrc[2u * l] = xt;
-
-    pSrc[2u * l + 1u] = yt;
-
-  }                             // butterfly loop end 
-
-}
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_f32.c
deleted file mode 100644
index d51e9830b..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_f32.c
+++ /dev/null
@@ -1,1236 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_cfft_radix4_f32.c    
-*    
-* Description:	Radix-4 Decimation in Frequency CFFT & CIFFT Floating point processing function    
-*    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-*    
-* Version 0.0.5  2010/04/26     
-* 	 incorporated review comments and updated with latest CMSIS layer    
-*    
-* Version 0.0.3  2010/03/10     
-*    Initial version    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupTransforms    
- */
-
-/**    
- * @defgroup Radix4_CFFT_CIFFT Radix-4 Complex FFT Functions    
- *    
- * \par    
- * Complex Fast Fourier Transform(CFFT) and Complex Inverse Fast Fourier Transform(CIFFT) is an efficient algorithm to compute Discrete Fourier Transform(DFT) and Inverse Discrete Fourier Transform(IDFT).    
- * Computational complexity of CFFT reduces drastically when compared to DFT.    
- * \par    
- * This set of functions implements CFFT/CIFFT    
- * for Q15, Q31, and floating-point data types.  The functions operates on in-place buffer which uses same buffer for input and output.    
- * Complex input is stored in input buffer in an interleaved fashion.    
- *    
- * \par    
- * The functions operate on blocks of input and output data and each call to the function processes    
- * 2*fftLen samples through the transform.  pSrc  points to In-place arrays containing 2*fftLen values.    
- * \par   
- * The pSrc points to the array of in-place buffer of size 2*fftLen and inputs and outputs are stored in an interleaved fashion as shown below.    
- * 
 {real[0], imag[0], real[1], imag[1],..} 
    
- *    
- * \par Lengths supported by the transform:   
- * \par    
- * Internally, the function utilize a radix-4 decimation in frequency(DIF) algorithm    
- * and the size of the FFT supported are of the lengths [16, 64, 256, 1024].   
- *     
- *    
- * \par Algorithm:    
- *    
- * Complex Fast Fourier Transform:    
- * \par     
- * Input real and imaginary data:    
- * 
    
- * x(n) = xa + j * ya    
- * x(n+N/4 ) = xb + j * yb    
- * x(n+N/2 ) = xc + j * yc    
- * x(n+3N 4) = xd + j * yd    
- * 
    
- * where N is length of FFT    
- * \par    
- * Output real and imaginary data:    
- * 
    
- * X(4r) = xa'+ j * ya'    
- * X(4r+1) = xb'+ j * yb'    
- * X(4r+2) = xc'+ j * yc'    
- * X(4r+3) = xd'+ j * yd'    
- * 
    
- * \par    
- * Twiddle factors for radix-4 FFT:    
- * 
    
- * Wn = co1 + j * (- si1)    
- * W2n = co2 + j * (- si2)    
- * W3n = co3 + j * (- si3)    
- * 
    
- *    
- * \par    
- * \image html CFFT.gif "Radix-4 Decimation-in Frequency Complex Fast Fourier Transform"    
- *    
- * \par    
- * Output from Radix-4 CFFT Results in Digit reversal order. Interchange middle two branches of every butterfly results in Bit reversed output.    
- * \par    
- *  Butterfly CFFT equations:    
- * 
    
- * xa' = xa + xb + xc + xd    
- * ya' = ya + yb + yc + yd    
- * xc' = (xa+yb-xc-yd)* co1 + (ya-xb-yc+xd)* (si1)    
- * yc' = (ya-xb-yc+xd)* co1 - (xa+yb-xc-yd)* (si1)    
- * xb' = (xa-xb+xc-xd)* co2 + (ya-yb+yc-yd)* (si2)    
- * yb' = (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2)    
- * xd' = (xa-yb-xc+yd)* co3 + (ya+xb-yc-xd)* (si3)    
- * yd' = (ya+xb-yc-xd)* co3 - (xa-yb-xc+yd)* (si3)    
- * 
    
- *    
- *    
- * Complex Inverse Fast Fourier Transform:    
- * \par    
- * CIFFT uses same twiddle factor table as CFFT with modifications in the design equation as shown below.    
- *    
- * \par    
- *  Modified Butterfly CIFFT equations:    
- * 
    
- * xa' = xa + xb + xc + xd    
- * ya' = ya + yb + yc + yd    
- * xc' = (xa-yb-xc+yd)* co1 - (ya+xb-yc-xd)* (si1)    
- * yc' = (ya+xb-yc-xd)* co1 + (xa-yb-xc+yd)* (si1)    
- * xb' = (xa-xb+xc-xd)* co2 - (ya-yb+yc-yd)* (si2)    
- * yb' = (ya-yb+yc-yd)* co2 + (xa-xb+xc-xd)* (si2)    
- * xd' = (xa+yb-xc-yd)* co3 - (ya-xb-yc+xd)* (si3)    
- * yd' = (ya-xb-yc+xd)* co3 + (xa+yb-xc-yd)* (si3)    
- * 
    
- *    
- * \par Instance Structure    
- * A separate instance structure must be defined for each Instance but the twiddle factors and bit reversal tables can be reused.    
- * There are separate instance structure declarations for each of the 3 supported data types.    
- *    
- * \par Initialization Functions    
- * There is also an associated initialization function for each data type.    
- * The initialization function performs the following operations:    
- * - Sets the values of the internal structure fields.    
- * - Initializes twiddle factor table and bit reversal table pointers    
- * \par    
- * Use of the initialization function is optional.    
- * However, if the initialization function is used, then the instance structure cannot be placed into a const data section.    
- * To place an instance structure into a const data section, the instance structure must be manually initialized.    
- * Manually initialize the instance structure as follows:    
- * 
    
- *arm_cfft_radix4_instance_f32 S = {fftLen, ifftFlag, bitReverseFlag, pTwiddle, pBitRevTable, twidCoefModifier, bitRevFactor, onebyfftLen};    
- *arm_cfft_radix4_instance_q31 S = {fftLen, ifftFlag, bitReverseFlag, pTwiddle, pBitRevTable, twidCoefModifier, bitRevFactor};    
- *arm_cfft_radix4_instance_q15 S = {fftLen, ifftFlag, bitReverseFlag, pTwiddle, pBitRevTable, twidCoefModifier, bitRevFactor};    
- * 
    
- * \par    
- * where fftLen length of CFFT/CIFFT; ifftFlag Flag for selection of CFFT or CIFFT(Set ifftFlag to calculate CIFFT otherwise calculates CFFT);    
- * bitReverseFlag Flag for selection of output order(Set bitReverseFlag to output in normal order otherwise output in bit reversed order);     
- * pTwiddlepoints to array of twiddle coefficients; pBitRevTable points to the array of bit reversal table.    
- * twidCoefModifier modifier for twiddle factor table which supports all FFT lengths with same table;     
- * pBitRevTable modifier for bit reversal table which supports all FFT lengths with same table.    
- * onebyfftLen value of 1/fftLen to calculate CIFFT;    
- *   
- * \par Fixed-Point Behavior    
- * Care must be taken when using the fixed-point versions of the CFFT/CIFFT function.    
- * Refer to the function specific documentation below for usage guidelines.    
- */
-
-
-/**    
- * @addtogroup Radix4_CFFT_CIFFT    
- * @{    
- */
-
-/**    
- * @details    
- * @brief Processing function for the floating-point Radix-4 CFFT/CIFFT.   
- * @param[in]      *S    points to an instance of the floating-point Radix-4 CFFT/CIFFT structure.   
- * @param[in, out] *pSrc points to the complex data buffer of size 2*fftLen. Processing occurs in-place.   
- * @return none.   
- */
-
-void arm_cfft_radix4_f32(
-  const arm_cfft_radix4_instance_f32 * S,
-  float32_t * pSrc)
-{
-
-  if(S->ifftFlag == 1u)
-  {
-    /*  Complex IFFT radix-4  */
-    arm_radix4_butterfly_inverse_f32(pSrc, S->fftLen, S->pTwiddle,
-                                     S->twidCoefModifier, S->onebyfftLen);
-  }
-  else
-  {
-    /*  Complex FFT radix-4  */
-    arm_radix4_butterfly_f32(pSrc, S->fftLen, S->pTwiddle,
-                             S->twidCoefModifier);
-  }
-
-  if(S->bitReverseFlag == 1u)
-  {
-    /*  Bit Reversal */
-    arm_bitreversal_f32(pSrc, S->fftLen, S->bitRevFactor, S->pBitRevTable);
-  }
-
-}
-
-
-/**    
- * @} end of Radix4_CFFT_CIFFT group    
- */
-
-
-/* ----------------------------------------------------------------------    
-** Internal helper function used by the FFTs    
-** ------------------------------------------------------------------- */
-
-/*    
- * @brief  Core function for the floating-point CFFT butterfly process.   
- * @param[in, out] *pSrc            points to the in-place buffer of floating-point data type.   
- * @param[in]      fftLen           length of the FFT.   
- * @param[in]      *pCoef           points to the twiddle coefficient buffer.   
- * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.   
- * @return none.   
- */
-
-void arm_radix4_butterfly_f32(
-  float32_t * pSrc,
-  uint16_t fftLen,
-  float32_t * pCoef,
-  uint16_t twidCoefModifier)
-{
-
-  float32_t co1, co2, co3, si1, si2, si3;
-  uint32_t ia1, ia2, ia3;
-  uint32_t i0, i1, i2, i3;
-  uint32_t n1, n2, j, k;
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  float32_t xaIn, yaIn, xbIn, ybIn, xcIn, ycIn, xdIn, ydIn;
-  float32_t Xaplusc, Xbplusd, Yaplusc, Ybplusd, Xaminusc, Xbminusd, Yaminusc,
-    Ybminusd;
-  float32_t Xb12C_out, Yb12C_out, Xc12C_out, Yc12C_out, Xd12C_out, Yd12C_out;
-  float32_t Xb12_out, Yb12_out, Xc12_out, Yc12_out, Xd12_out, Yd12_out;
-  float32_t *ptr1;
-
-  /*  Initializations for the first stage */
-  n2 = fftLen;
-  n1 = n2;
-
-  /* n2 = fftLen/4 */
-  n2 >>= 2u;
-  i0 = 0u;
-  ia1 = 0u;
-
-  j = n2;
-
-  /*  Calculation of first stage */
-  do
-  {
-    /*  index calculation for the input as, */
-    /*  pSrc[i0 + 0], pSrc[i0 + fftLen/4], pSrc[i0 + fftLen/2], pSrc[i0 + 3fftLen/4] */
-    i1 = i0 + n2;
-    i2 = i1 + n2;
-    i3 = i2 + n2;
-
-    xaIn = pSrc[(2u * i0)];
-    yaIn = pSrc[(2u * i0) + 1u];
-
-    xcIn = pSrc[(2u * i2)];
-    ycIn = pSrc[(2u * i2) + 1u];
-
-    xbIn = pSrc[(2u * i1)];
-    ybIn = pSrc[(2u * i1) + 1u];
-
-    xdIn = pSrc[(2u * i3)];
-    ydIn = pSrc[(2u * i3) + 1u];
-
-    /* xa + xc */
-    Xaplusc = xaIn + xcIn;
-    /* xb + xd */
-    Xbplusd = xbIn + xdIn;
-    /* ya + yc */
-    Yaplusc = yaIn + ycIn;
-    /* yb + yd */
-    Ybplusd = ybIn + ydIn;
-
-    /*  index calculation for the coefficients */
-    ia2 = ia1 + ia1;
-    co2 = pCoef[ia2 * 2u];
-    si2 = pCoef[(ia2 * 2u) + 1u];
-
-    /* xa - xc */
-    Xaminusc = xaIn - xcIn;
-    /* xb - xd */
-    Xbminusd = xbIn - xdIn;
-    /* ya - yc */
-    Yaminusc = yaIn - ycIn;
-    /* yb + yd */
-    Ybminusd = ybIn - ydIn;
-
-    /* xa' = xa + xb + xc + xd */
-    pSrc[(2u * i0)] = Xaplusc + Xbplusd;
-    /* ya' = ya + yb + yc + yd */
-    pSrc[(2u * i0) + 1u] = Yaplusc + Ybplusd;
-
-    /* (xa - xc) + (yb - yd) */
-    Xb12C_out = (Xaminusc + Ybminusd);
-    /* (ya - yc) + (xb - xd) */
-    Yb12C_out = (Yaminusc - Xbminusd);
-    /* (xa + xc) - (xb + xd) */
-    Xc12C_out = (Xaplusc - Xbplusd);
-    /* (ya + yc) - (yb + yd) */
-    Yc12C_out = (Yaplusc - Ybplusd);
-    /* (xa - xc) - (yb - yd) */
-    Xd12C_out = (Xaminusc - Ybminusd);
-    /* (ya - yc) + (xb - xd) */
-    Yd12C_out = (Xbminusd + Yaminusc);
-
-    co1 = pCoef[ia1 * 2u];
-    si1 = pCoef[(ia1 * 2u) + 1u];
-
-    /*  index calculation for the coefficients */
-    ia3 = ia2 + ia1;
-    co3 = pCoef[ia3 * 2u];
-    si3 = pCoef[(ia3 * 2u) + 1u];
-
-    Xb12_out = Xb12C_out * co1;
-    Yb12_out = Yb12C_out * co1;
-    Xc12_out = Xc12C_out * co2;
-    Yc12_out = Yc12C_out * co2;
-    Xd12_out = Xd12C_out * co3;
-    Yd12_out = Yd12C_out * co3;
-
-    /* xb' = (xa+yb-xc-yd)co1 + (ya-xb-yc+xd)(si1) */
-    Xb12_out += Yb12C_out * si1;
-    /* yb' = (ya-xb-yc+xd)co1 - (xa+yb-xc-yd)(si1) */
-    Yb12_out -= Xb12C_out * si1;
-    /* xc' = (xa-xb+xc-xd)co2 + (ya-yb+yc-yd)(si2) */
-    Xc12_out += Yc12C_out * si2;
-    /* yc' = (ya-yb+yc-yd)co2 - (xa-xb+xc-xd)(si2) */
-    Yc12_out -= Xc12C_out * si2;
-    /* xd' = (xa-yb-xc+yd)co3 + (ya+xb-yc-xd)(si3) */
-    Xd12_out += Yd12C_out * si3;
-    /* yd' = (ya+xb-yc-xd)co3 - (xa-yb-xc+yd)(si3) */
-    Yd12_out -= Xd12C_out * si3;
-
-
-    /* xc' = (xa-xb+xc-xd)co2 + (ya-yb+yc-yd)(si2) */
-    pSrc[2u * i1] = Xc12_out;
-
-    /* yc' = (ya-yb+yc-yd)co2 - (xa-xb+xc-xd)(si2) */
-    pSrc[(2u * i1) + 1u] = Yc12_out;
-
-    /* xb' = (xa+yb-xc-yd)co1 + (ya-xb-yc+xd)(si1) */
-    pSrc[2u * i2] = Xb12_out;
-
-    /* yb' = (ya-xb-yc+xd)co1 - (xa+yb-xc-yd)(si1) */
-    pSrc[(2u * i2) + 1u] = Yb12_out;
-
-    /* xd' = (xa-yb-xc+yd)co3 + (ya+xb-yc-xd)(si3) */
-    pSrc[2u * i3] = Xd12_out;
-
-    /* yd' = (ya+xb-yc-xd)co3 - (xa-yb-xc+yd)(si3) */
-    pSrc[(2u * i3) + 1u] = Yd12_out;
-
-    /*  Twiddle coefficients index modifier */
-    ia1 = ia1 + twidCoefModifier;
-
-    /*  Updating input index */
-    i0 = i0 + 1u;
-
-  }
-  while(--j);
-
-  twidCoefModifier <<= 2u;
-
-  /*  Calculation of second stage to excluding last stage */
-  for (k = fftLen / 4; k > 4u; k >>= 2u)
-  {
-    /*  Initializations for the first stage */
-    n1 = n2;
-    n2 >>= 2u;
-    ia1 = 0u;
-
-    /*  Calculation of first stage */
-    for (j = 0u; j <= (n2 - 1u); j++)
-    {
-      /*  index calculation for the coefficients */
-      ia2 = ia1 + ia1;
-      ia3 = ia2 + ia1;
-      co1 = pCoef[ia1 * 2u];
-      si1 = pCoef[(ia1 * 2u) + 1u];
-      co2 = pCoef[ia2 * 2u];
-      si2 = pCoef[(ia2 * 2u) + 1u];
-      co3 = pCoef[ia3 * 2u];
-      si3 = pCoef[(ia3 * 2u) + 1u];
-
-      /*  Twiddle coefficients index modifier */
-      ia1 = ia1 + twidCoefModifier;
-
-      for (i0 = j; i0 < fftLen; i0 += n1)
-      {
-        /*  index calculation for the input as, */
-        /*  pSrc[i0 + 0], pSrc[i0 + fftLen/4], pSrc[i0 + fftLen/2], pSrc[i0 + 3fftLen/4] */
-        i1 = i0 + n2;
-        i2 = i1 + n2;
-        i3 = i2 + n2;
-
-        xaIn = pSrc[(2u * i0)];
-        yaIn = pSrc[(2u * i0) + 1u];
-
-        xbIn = pSrc[(2u * i1)];
-        ybIn = pSrc[(2u * i1) + 1u];
-
-        xcIn = pSrc[(2u * i2)];
-        ycIn = pSrc[(2u * i2) + 1u];
-
-        xdIn = pSrc[(2u * i3)];
-        ydIn = pSrc[(2u * i3) + 1u];
-
-        /* xa - xc */
-        Xaminusc = xaIn - xcIn;
-        /* (xb - xd) */
-        Xbminusd = xbIn - xdIn;
-        /* ya - yc */
-        Yaminusc = yaIn - ycIn;
-        /* (yb - yd) */
-        Ybminusd = ybIn - ydIn;
-
-        /* xa + xc */
-        Xaplusc = xaIn + xcIn;
-        /* xb + xd */
-        Xbplusd = xbIn + xdIn;
-        /* ya + yc */
-        Yaplusc = yaIn + ycIn;
-        /* yb + yd */
-        Ybplusd = ybIn + ydIn;
-
-        /* (xa - xc) + (yb - yd) */
-        Xb12C_out = (Xaminusc + Ybminusd);
-        /* (ya - yc) -  (xb - xd) */
-        Yb12C_out = (Yaminusc - Xbminusd);
-        /* xa + xc -(xb + xd) */
-        Xc12C_out = (Xaplusc - Xbplusd);
-        /* (ya + yc) - (yb + yd) */
-        Yc12C_out = (Yaplusc - Ybplusd);
-        /* (xa - xc) - (yb - yd) */
-        Xd12C_out = (Xaminusc - Ybminusd);
-        /* (ya - yc) +  (xb - xd) */
-        Yd12C_out = (Xbminusd + Yaminusc);
-
-        pSrc[(2u * i0)] = Xaplusc + Xbplusd;
-        pSrc[(2u * i0) + 1u] = Yaplusc + Ybplusd;
-
-        Xb12_out = Xb12C_out * co1;
-        Yb12_out = Yb12C_out * co1;
-        Xc12_out = Xc12C_out * co2;
-        Yc12_out = Yc12C_out * co2;
-        Xd12_out = Xd12C_out * co3;
-        Yd12_out = Yd12C_out * co3;
-
-        /* xb' = (xa+yb-xc-yd)co1 + (ya-xb-yc+xd)(si1) */
-        Xb12_out += Yb12C_out * si1;
-        /* yb' = (ya-xb-yc+xd)co1 - (xa+yb-xc-yd)(si1) */
-        Yb12_out -= Xb12C_out * si1;
-        /* xc' = (xa-xb+xc-xd)co2 + (ya-yb+yc-yd)(si2) */
-        Xc12_out += Yc12C_out * si2;
-        /* yc' = (ya-yb+yc-yd)co2 - (xa-xb+xc-xd)(si2) */
-        Yc12_out -= Xc12C_out * si2;
-        /* xd' = (xa-yb-xc+yd)co3 + (ya+xb-yc-xd)(si3) */
-        Xd12_out += Yd12C_out * si3;
-        /* yd' = (ya+xb-yc-xd)co3 - (xa-yb-xc+yd)(si3) */
-        Yd12_out -= Xd12C_out * si3;
-
-        /* xc' = (xa-xb+xc-xd)co2 + (ya-yb+yc-yd)(si2) */
-        pSrc[2u * i1] = Xc12_out;
-
-        /* yc' = (ya-yb+yc-yd)co2 - (xa-xb+xc-xd)(si2) */
-        pSrc[(2u * i1) + 1u] = Yc12_out;
-
-        /* xb' = (xa+yb-xc-yd)co1 + (ya-xb-yc+xd)(si1) */
-        pSrc[2u * i2] = Xb12_out;
-
-        /* yb' = (ya-xb-yc+xd)co1 - (xa+yb-xc-yd)(si1) */
-        pSrc[(2u * i2) + 1u] = Yb12_out;
-
-        /* xd' = (xa-yb-xc+yd)co3 + (ya+xb-yc-xd)(si3) */
-        pSrc[2u * i3] = Xd12_out;
-
-        /* yd' = (ya+xb-yc-xd)co3 - (xa-yb-xc+yd)(si3) */
-        pSrc[(2u * i3) + 1u] = Yd12_out;
-
-      }
-    }
-    twidCoefModifier <<= 2u;
-  }
-
-  j = fftLen >> 2;
-  ptr1 = &pSrc[0];
-
-  /*  Calculations of last stage */
-  do
-  {
-
-    xaIn = ptr1[0];
-    xcIn = ptr1[4];
-    yaIn = ptr1[1];
-    ycIn = ptr1[5];
-
-    /* xa + xc */
-    Xaplusc = xaIn + xcIn;
-
-    xbIn = ptr1[2];
-
-    /* xa - xc */
-    Xaminusc = xaIn - xcIn;
-
-    xdIn = ptr1[6];
-
-    /* ya + yc */
-    Yaplusc = yaIn + ycIn;
-
-    ybIn = ptr1[3];
-
-    /* ya - yc */
-    Yaminusc = yaIn - ycIn;
-
-    ydIn = ptr1[7];
-
-    /* xb + xd */
-    Xbplusd = xbIn + xdIn;
-
-    /* yb + yd */
-    Ybplusd = ybIn + ydIn;
-
-    /* xa' = xa + xb + xc + xd */
-    ptr1[0] = (Xaplusc + Xbplusd);
-
-    /* (xb-xd) */
-    Xbminusd = xbIn - xdIn;
-
-    /* ya' = ya + yb + yc + yd */
-    ptr1[1] = (Yaplusc + Ybplusd);
-
-    /* (yb-yd) */
-    Ybminusd = ybIn - ydIn;
-
-    /* xc' = (xa-xb+xc-xd) */
-    ptr1[2] = (Xaplusc - Xbplusd);
-    /* yc' = (ya-yb+yc-yd) */
-    ptr1[3] = (Yaplusc - Ybplusd);
-    /* xb' = (xa+yb-xc-yd) */
-    ptr1[4] = (Xaminusc + Ybminusd);
-    /* yb' = (ya-xb-yc+xd) */
-    ptr1[5] = (Yaminusc - Xbminusd);
-    /* xd' = (xa-yb-xc+yd)) */
-    ptr1[6] = (Xaminusc - Ybminusd);
-    /* yd' = (ya+xb-yc-xd) */
-    ptr1[7] = (Xbminusd + Yaminusc);
-
-    /* increment pointer by 8 */
-    ptr1 = ptr1 + 8u;
-
-  } while(--j);
-
-#else
-
-  float32_t t1, t2, r1, r2, s1, s2;
-
-  /* Run the below code for Cortex-M0 */
-
-  /*  Initializations for the fft calculation */
-  n2 = fftLen;
-  n1 = n2;
-  for (k = fftLen; k > 1u; k >>= 2u)
-  {
-    /*  Initializations for the fft calculation */
-    n1 = n2;
-    n2 >>= 2u;
-    ia1 = 0u;
-
-    /*  FFT Calculation */
-    for (j = 0u; j <= (n2 - 1u); j++)
-    {
-      /*  index calculation for the coefficients */
-      ia2 = ia1 + ia1;
-      ia3 = ia2 + ia1;
-      co1 = pCoef[ia1 * 2u];
-      si1 = pCoef[(ia1 * 2u) + 1u];
-      co2 = pCoef[ia2 * 2u];
-      si2 = pCoef[(ia2 * 2u) + 1u];
-      co3 = pCoef[ia3 * 2u];
-      si3 = pCoef[(ia3 * 2u) + 1u];
-
-      /*  Twiddle coefficients index modifier */
-      ia1 = ia1 + twidCoefModifier;
-
-      for (i0 = j; i0 < fftLen; i0 += n1)
-      {
-        /*  index calculation for the input as, */
-        /*  pSrc[i0 + 0], pSrc[i0 + fftLen/4], pSrc[i0 + fftLen/2], pSrc[i0 + 3fftLen/4] */
-        i1 = i0 + n2;
-        i2 = i1 + n2;
-        i3 = i2 + n2;
-
-        /* xa + xc */
-        r1 = pSrc[(2u * i0)] + pSrc[(2u * i2)];
-
-        /* xa - xc */
-        r2 = pSrc[(2u * i0)] - pSrc[(2u * i2)];
-
-        /* ya + yc */
-        s1 = pSrc[(2u * i0) + 1u] + pSrc[(2u * i2) + 1u];
-
-        /* ya - yc */
-        s2 = pSrc[(2u * i0) + 1u] - pSrc[(2u * i2) + 1u];
-
-        /* xb + xd */
-        t1 = pSrc[2u * i1] + pSrc[2u * i3];
-
-        /* xa' = xa + xb + xc + xd */
-        pSrc[2u * i0] = r1 + t1;
-
-        /* xa + xc -(xb + xd) */
-        r1 = r1 - t1;
-
-        /* yb + yd */
-        t2 = pSrc[(2u * i1) + 1u] + pSrc[(2u * i3) + 1u];
-
-        /* ya' = ya + yb + yc + yd */
-        pSrc[(2u * i0) + 1u] = s1 + t2;
-
-        /* (ya + yc) - (yb + yd) */
-        s1 = s1 - t2;
-
-        /* (yb - yd) */
-        t1 = pSrc[(2u * i1) + 1u] - pSrc[(2u * i3) + 1u];
-
-        /* (xb - xd) */
-        t2 = pSrc[2u * i1] - pSrc[2u * i3];
-
-        /* xc' = (xa-xb+xc-xd)co2 + (ya-yb+yc-yd)(si2) */
-        pSrc[2u * i1] = (r1 * co2) + (s1 * si2);
-
-        /* yc' = (ya-yb+yc-yd)co2 - (xa-xb+xc-xd)(si2) */
-        pSrc[(2u * i1) + 1u] = (s1 * co2) - (r1 * si2);
-
-        /* (xa - xc) + (yb - yd) */
-        r1 = r2 + t1;
-
-        /* (xa - xc) - (yb - yd) */
-        r2 = r2 - t1;
-
-        /* (ya - yc) -  (xb - xd) */
-        s1 = s2 - t2;
-
-        /* (ya - yc) +  (xb - xd) */
-        s2 = s2 + t2;
-
-        /* xb' = (xa+yb-xc-yd)co1 + (ya-xb-yc+xd)(si1) */
-        pSrc[2u * i2] = (r1 * co1) + (s1 * si1);
-
-        /* yb' = (ya-xb-yc+xd)co1 - (xa+yb-xc-yd)(si1) */
-        pSrc[(2u * i2) + 1u] = (s1 * co1) - (r1 * si1);
-
-        /* xd' = (xa-yb-xc+yd)co3 + (ya+xb-yc-xd)(si3) */
-        pSrc[2u * i3] = (r2 * co3) + (s2 * si3);
-
-        /* yd' = (ya+xb-yc-xd)co3 - (xa-yb-xc+yd)(si3) */
-        pSrc[(2u * i3) + 1u] = (s2 * co3) - (r2 * si3);
-      }
-    }
-    twidCoefModifier <<= 2u;
-  }
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-}
-
-/*    
- * @brief  Core function for the floating-point CIFFT butterfly process.   
- * @param[in, out] *pSrc            points to the in-place buffer of floating-point data type.   
- * @param[in]      fftLen           length of the FFT.   
- * @param[in]      *pCoef           points to twiddle coefficient buffer.   
- * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.   
- * @param[in]      onebyfftLen      value of 1/fftLen.   
- * @return none.   
- */
-
-void arm_radix4_butterfly_inverse_f32(
-  float32_t * pSrc,
-  uint16_t fftLen,
-  float32_t * pCoef,
-  uint16_t twidCoefModifier,
-  float32_t onebyfftLen)
-{
-  float32_t co1, co2, co3, si1, si2, si3;
-  uint32_t ia1, ia2, ia3;
-  uint32_t i0, i1, i2, i3;
-  uint32_t n1, n2, j, k;
-
-#ifndef ARM_MATH_CM0
-
-  float32_t xaIn, yaIn, xbIn, ybIn, xcIn, ycIn, xdIn, ydIn;
-  float32_t Xaplusc, Xbplusd, Yaplusc, Ybplusd, Xaminusc, Xbminusd, Yaminusc,
-    Ybminusd;
-  float32_t Xb12C_out, Yb12C_out, Xc12C_out, Yc12C_out, Xd12C_out, Yd12C_out;
-  float32_t Xb12_out, Yb12_out, Xc12_out, Yc12_out, Xd12_out, Yd12_out;
-  float32_t *ptr1;
-
-
-  /*  Initializations for the first stage */
-  n2 = fftLen;
-  n1 = n2;
-
-  /* n2 = fftLen/4 */
-  n2 >>= 2u;
-  i0 = 0u;
-  ia1 = 0u;
-
-  j = n2;
-
-  /*  Calculation of first stage */
-  do
-  {
-    /*  index calculation for the input as, */
-    /*  pSrc[i0 + 0], pSrc[i0 + fftLen/4], pSrc[i0 + fftLen/2], pSrc[i0 + 3fftLen/4] */
-    i1 = i0 + n2;
-    i2 = i1 + n2;
-    i3 = i2 + n2;
-
-    /*  Butterfly implementation */
-    xaIn = pSrc[(2u * i0)];
-    yaIn = pSrc[(2u * i0) + 1u];
-
-    xcIn = pSrc[(2u * i2)];
-    ycIn = pSrc[(2u * i2) + 1u];
-
-    xbIn = pSrc[(2u * i1)];
-    ybIn = pSrc[(2u * i1) + 1u];
-
-    xdIn = pSrc[(2u * i3)];
-    ydIn = pSrc[(2u * i3) + 1u];
-
-    /* xa + xc */
-    Xaplusc = xaIn + xcIn;
-    /* xb + xd */
-    Xbplusd = xbIn + xdIn;
-    /* ya + yc */
-    Yaplusc = yaIn + ycIn;
-    /* yb + yd */
-    Ybplusd = ybIn + ydIn;
-
-    /*  index calculation for the coefficients */
-    ia2 = ia1 + ia1;
-    co2 = pCoef[ia2 * 2u];
-    si2 = pCoef[(ia2 * 2u) + 1u];
-
-    /* xa - xc */
-    Xaminusc = xaIn - xcIn;
-    /* xb - xd */
-    Xbminusd = xbIn - xdIn;
-    /* ya - yc */
-    Yaminusc = yaIn - ycIn;
-    /* yb - yd */
-    Ybminusd = ybIn - ydIn;
-
-    /* xa' = xa + xb + xc + xd */
-    pSrc[(2u * i0)] = Xaplusc + Xbplusd;
-
-    /* ya' = ya + yb + yc + yd */
-    pSrc[(2u * i0) + 1u] = Yaplusc + Ybplusd;
-
-    /* (xa - xc) - (yb - yd) */
-    Xb12C_out = (Xaminusc - Ybminusd);
-    /* (ya - yc) + (xb - xd) */
-    Yb12C_out = (Yaminusc + Xbminusd);
-    /* (xa + xc) - (xb + xd) */
-    Xc12C_out = (Xaplusc - Xbplusd);
-    /* (ya + yc) - (yb + yd) */
-    Yc12C_out = (Yaplusc - Ybplusd);
-    /* (xa - xc) + (yb - yd) */
-    Xd12C_out = (Xaminusc + Ybminusd);
-    /* (ya - yc) - (xb - xd) */
-    Yd12C_out = (Yaminusc - Xbminusd);
-
-    co1 = pCoef[ia1 * 2u];
-    si1 = pCoef[(ia1 * 2u) + 1u];
-
-    /*  index calculation for the coefficients */
-    ia3 = ia2 + ia1;
-    co3 = pCoef[ia3 * 2u];
-    si3 = pCoef[(ia3 * 2u) + 1u];
-
-    Xb12_out = Xb12C_out * co1;
-    Yb12_out = Yb12C_out * co1;
-    Xc12_out = Xc12C_out * co2;
-    Yc12_out = Yc12C_out * co2;
-    Xd12_out = Xd12C_out * co3;
-    Yd12_out = Yd12C_out * co3;
-
-    /* xb' = (xa+yb-xc-yd)co1 - (ya-xb-yc+xd)(si1) */
-    Xb12_out -= Yb12C_out * si1;
-    /* yb' = (ya-xb-yc+xd)co1 + (xa+yb-xc-yd)(si1) */
-    Yb12_out += Xb12C_out * si1;
-    /* xc' = (xa-xb+xc-xd)co2 - (ya-yb+yc-yd)(si2) */
-    Xc12_out -= Yc12C_out * si2;
-    /* yc' = (ya-yb+yc-yd)co2 + (xa-xb+xc-xd)(si2) */
-    Yc12_out += Xc12C_out * si2;
-    /* xd' = (xa-yb-xc+yd)co3 - (ya+xb-yc-xd)(si3) */
-    Xd12_out -= Yd12C_out * si3;
-    /* yd' = (ya+xb-yc-xd)co3 + (xa-yb-xc+yd)(si3) */
-    Yd12_out += Xd12C_out * si3;
-
-    /* xc' = (xa-xb+xc-xd)co2 - (ya-yb+yc-yd)(si2) */
-    pSrc[2u * i1] = Xc12_out;
-
-    /* yc' = (ya-yb+yc-yd)co2 + (xa-xb+xc-xd)(si2) */
-    pSrc[(2u * i1) + 1u] = Yc12_out;
-
-    /* xb' = (xa+yb-xc-yd)co1 - (ya-xb-yc+xd)(si1) */
-    pSrc[2u * i2] = Xb12_out;
-
-    /* yb' = (ya-xb-yc+xd)co1 + (xa+yb-xc-yd)(si1) */
-    pSrc[(2u * i2) + 1u] = Yb12_out;
-
-    /* xd' = (xa-yb-xc+yd)co3 - (ya+xb-yc-xd)(si3) */
-    pSrc[2u * i3] = Xd12_out;
-
-    /* yd' = (ya+xb-yc-xd)co3 + (xa-yb-xc+yd)(si3) */
-    pSrc[(2u * i3) + 1u] = Yd12_out;
-
-    /*  Twiddle coefficients index modifier */
-    ia1 = ia1 + twidCoefModifier;
-
-    /*  Updating input index */
-    i0 = i0 + 1u;
-
-  } while(--j);
-
-  twidCoefModifier <<= 2u;
-
-  /*  Calculation of second stage to excluding last stage */
-  for (k = fftLen / 4; k > 4u; k >>= 2u)
-  {
-    /*  Initializations for the first stage */
-    n1 = n2;
-    n2 >>= 2u;
-    ia1 = 0u;
-
-    /*  Calculation of first stage */
-    for (j = 0u; j <= (n2 - 1u); j++)
-    {
-      /*  index calculation for the coefficients */
-      ia2 = ia1 + ia1;
-      ia3 = ia2 + ia1;
-      co1 = pCoef[ia1 * 2u];
-      si1 = pCoef[(ia1 * 2u) + 1u];
-      co2 = pCoef[ia2 * 2u];
-      si2 = pCoef[(ia2 * 2u) + 1u];
-      co3 = pCoef[ia3 * 2u];
-      si3 = pCoef[(ia3 * 2u) + 1u];
-
-      /*  Twiddle coefficients index modifier */
-      ia1 = ia1 + twidCoefModifier;
-
-      for (i0 = j; i0 < fftLen; i0 += n1)
-      {
-        /*  index calculation for the input as, */
-        /*  pSrc[i0 + 0], pSrc[i0 + fftLen/4], pSrc[i0 + fftLen/2], pSrc[i0 + 3fftLen/4] */
-        i1 = i0 + n2;
-        i2 = i1 + n2;
-        i3 = i2 + n2;
-
-        xaIn = pSrc[(2u * i0)];
-        yaIn = pSrc[(2u * i0) + 1u];
-
-        xbIn = pSrc[(2u * i1)];
-        ybIn = pSrc[(2u * i1) + 1u];
-
-        xcIn = pSrc[(2u * i2)];
-        ycIn = pSrc[(2u * i2) + 1u];
-
-        xdIn = pSrc[(2u * i3)];
-        ydIn = pSrc[(2u * i3) + 1u];
-
-        /* xa - xc */
-        Xaminusc = xaIn - xcIn;
-        /* (xb - xd) */
-        Xbminusd = xbIn - xdIn;
-        /* ya - yc */
-        Yaminusc = yaIn - ycIn;
-        /* (yb - yd) */
-        Ybminusd = ybIn - ydIn;
-
-        /* xa + xc */
-        Xaplusc = xaIn + xcIn;
-        /* xb + xd */
-        Xbplusd = xbIn + xdIn;
-        /* ya + yc */
-        Yaplusc = yaIn + ycIn;
-        /* yb + yd */
-        Ybplusd = ybIn + ydIn;
-
-        /* (xa - xc) - (yb - yd) */
-        Xb12C_out = (Xaminusc - Ybminusd);
-        /* (ya - yc) +  (xb - xd) */
-        Yb12C_out = (Yaminusc + Xbminusd);
-        /* xa + xc -(xb + xd) */
-        Xc12C_out = (Xaplusc - Xbplusd);
-        /* (ya + yc) - (yb + yd) */
-        Yc12C_out = (Yaplusc - Ybplusd);
-        /* (xa - xc) + (yb - yd) */
-        Xd12C_out = (Xaminusc + Ybminusd);
-        /* (ya - yc) -  (xb - xd) */
-        Yd12C_out = (Yaminusc - Xbminusd);
-
-        pSrc[(2u * i0)] = Xaplusc + Xbplusd;
-        pSrc[(2u * i0) + 1u] = Yaplusc + Ybplusd;
-
-        Xb12_out = Xb12C_out * co1;
-        Yb12_out = Yb12C_out * co1;
-        Xc12_out = Xc12C_out * co2;
-        Yc12_out = Yc12C_out * co2;
-        Xd12_out = Xd12C_out * co3;
-        Yd12_out = Yd12C_out * co3;
-
-        /* xb' = (xa+yb-xc-yd)co1 - (ya-xb-yc+xd)(si1) */
-        Xb12_out -= Yb12C_out * si1;
-        /* yb' = (ya-xb-yc+xd)co1 + (xa+yb-xc-yd)(si1) */
-        Yb12_out += Xb12C_out * si1;
-        /* xc' = (xa-xb+xc-xd)co2 - (ya-yb+yc-yd)(si2) */
-        Xc12_out -= Yc12C_out * si2;
-        /* yc' = (ya-yb+yc-yd)co2 + (xa-xb+xc-xd)(si2) */
-        Yc12_out += Xc12C_out * si2;
-        /* xd' = (xa-yb-xc+yd)co3 - (ya+xb-yc-xd)(si3) */
-        Xd12_out -= Yd12C_out * si3;
-        /* yd' = (ya+xb-yc-xd)co3 + (xa-yb-xc+yd)(si3) */
-        Yd12_out += Xd12C_out * si3;
-
-        /* xc' = (xa-xb+xc-xd)co2 - (ya-yb+yc-yd)(si2) */
-        pSrc[2u * i1] = Xc12_out;
-
-        /* yc' = (ya-yb+yc-yd)co2 + (xa-xb+xc-xd)(si2) */
-        pSrc[(2u * i1) + 1u] = Yc12_out;
-
-        /* xb' = (xa+yb-xc-yd)co1 - (ya-xb-yc+xd)(si1) */
-        pSrc[2u * i2] = Xb12_out;
-
-        /* yb' = (ya-xb-yc+xd)co1 + (xa+yb-xc-yd)(si1) */
-        pSrc[(2u * i2) + 1u] = Yb12_out;
-
-        /* xd' = (xa-yb-xc+yd)co3 - (ya+xb-yc-xd)(si3) */
-        pSrc[2u * i3] = Xd12_out;
-
-        /* yd' = (ya+xb-yc-xd)co3 + (xa-yb-xc+yd)(si3) */
-        pSrc[(2u * i3) + 1u] = Yd12_out;
-
-      }
-    }
-    twidCoefModifier <<= 2u;
-  }
-  /*  Initializations of last stage */
-
-  j = fftLen >> 2;
-  ptr1 = &pSrc[0];
-
-  /*  Calculations of last stage */
-  do
-  {
-
-    xaIn = ptr1[0];
-    xcIn = ptr1[4];
-    yaIn = ptr1[1];
-    ycIn = ptr1[5];
-
-    /*  Butterfly implementation */
-    /* xa + xc */
-    Xaplusc = xaIn + xcIn;
-
-    xbIn = ptr1[2];
-
-    /* xa - xc */
-    Xaminusc = xaIn - xcIn;
-
-    xdIn = ptr1[6];
-
-    /* ya + yc */
-    Yaplusc = yaIn + ycIn;
-
-    ybIn = ptr1[3];
-
-    /* ya - yc */
-    Yaminusc = yaIn - ycIn;
-
-    ydIn = ptr1[7];
-
-    /* xc + xd */
-    Xbplusd = xbIn + xdIn;
-
-    /* yb + yd */
-    Ybplusd = ybIn + ydIn;
-
-    /* xa' = xa + xb + xc + xd */
-    ptr1[0] = (Xaplusc + Xbplusd) * onebyfftLen;
-
-    /* (xb-xd) */
-    Xbminusd = xbIn - xdIn;
-
-    /* ya' = ya + yb + yc + yd */
-    ptr1[1] = (Yaplusc + Ybplusd) * onebyfftLen;
-
-    /* (yb-yd) */
-    Ybminusd = ybIn - ydIn;
-
-    /* xc' = (xa-xb+xc-xd) * onebyfftLen */
-    ptr1[2] = (Xaplusc - Xbplusd) * onebyfftLen;
-
-    /* yc' = (ya-yb+yc-yd) * onebyfftLen  */
-    ptr1[3] = (Yaplusc - Ybplusd) * onebyfftLen;
-
-    /* xb' = (xa-yb-xc+yd) * onebyfftLen */
-    ptr1[4] = (Xaminusc - Ybminusd) * onebyfftLen;
-
-    /* yb' = (ya+xb-yc-xd) * onebyfftLen */
-    ptr1[5] = (Yaminusc + Xbminusd) * onebyfftLen;
-
-    /* xd' = (xa-yb-xc+yd) * onebyfftLen */
-    ptr1[6] = (Xaminusc + Ybminusd) * onebyfftLen;
-
-    /* yd' = (ya-xb-yc+xd) * onebyfftLen */
-    ptr1[7] = (Yaminusc - Xbminusd) * onebyfftLen;
-
-    /* increment source pointer by 8 for next calculations */
-    ptr1 = ptr1 + 8u;
-
-  } while(--j);
-
-#else
-
-  float32_t t1, t2, r1, r2, s1, s2;
-
-  /* Run the below code for Cortex-M0 */
-
-  /*  Initializations for the first stage */
-  n2 = fftLen;
-  n1 = n2;
-
-  /*  Calculation of first stage */
-  for (k = fftLen; k > 4u; k >>= 2u)
-  {
-    /*  Initializations for the first stage */
-    n1 = n2;
-    n2 >>= 2u;
-    ia1 = 0u;
-
-    /*  Calculation of first stage */
-    for (j = 0u; j <= (n2 - 1u); j++)
-    {
-      /*  index calculation for the coefficients */
-      ia2 = ia1 + ia1;
-      ia3 = ia2 + ia1;
-      co1 = pCoef[ia1 * 2u];
-      si1 = pCoef[(ia1 * 2u) + 1u];
-      co2 = pCoef[ia2 * 2u];
-      si2 = pCoef[(ia2 * 2u) + 1u];
-      co3 = pCoef[ia3 * 2u];
-      si3 = pCoef[(ia3 * 2u) + 1u];
-
-      /*  Twiddle coefficients index modifier */
-      ia1 = ia1 + twidCoefModifier;
-
-      for (i0 = j; i0 < fftLen; i0 += n1)
-      {
-        /*  index calculation for the input as, */
-        /*  pSrc[i0 + 0], pSrc[i0 + fftLen/4], pSrc[i0 + fftLen/2], pSrc[i0 + 3fftLen/4] */
-        i1 = i0 + n2;
-        i2 = i1 + n2;
-        i3 = i2 + n2;
-
-        /* xa + xc */
-        r1 = pSrc[(2u * i0)] + pSrc[(2u * i2)];
-
-        /* xa - xc */
-        r2 = pSrc[(2u * i0)] - pSrc[(2u * i2)];
-
-        /* ya + yc */
-        s1 = pSrc[(2u * i0) + 1u] + pSrc[(2u * i2) + 1u];
-
-        /* ya - yc */
-        s2 = pSrc[(2u * i0) + 1u] - pSrc[(2u * i2) + 1u];
-
-        /* xb + xd */
-        t1 = pSrc[2u * i1] + pSrc[2u * i3];
-
-        /* xa' = xa + xb + xc + xd */
-        pSrc[2u * i0] = r1 + t1;
-
-        /* xa + xc -(xb + xd) */
-        r1 = r1 - t1;
-
-        /* yb + yd */
-        t2 = pSrc[(2u * i1) + 1u] + pSrc[(2u * i3) + 1u];
-
-        /* ya' = ya + yb + yc + yd */
-        pSrc[(2u * i0) + 1u] = s1 + t2;
-
-        /* (ya + yc) - (yb + yd) */
-        s1 = s1 - t2;
-
-        /* (yb - yd) */
-        t1 = pSrc[(2u * i1) + 1u] - pSrc[(2u * i3) + 1u];
-
-        /* (xb - xd) */
-        t2 = pSrc[2u * i1] - pSrc[2u * i3];
-
-        /* xc' = (xa-xb+xc-xd)co2 - (ya-yb+yc-yd)(si2) */
-        pSrc[2u * i1] = (r1 * co2) - (s1 * si2);
-
-        /* yc' = (ya-yb+yc-yd)co2 + (xa-xb+xc-xd)(si2) */
-        pSrc[(2u * i1) + 1u] = (s1 * co2) + (r1 * si2);
-
-        /* (xa - xc) - (yb - yd) */
-        r1 = r2 - t1;
-
-        /* (xa - xc) + (yb - yd) */
-        r2 = r2 + t1;
-
-        /* (ya - yc) +  (xb - xd) */
-        s1 = s2 + t2;
-
-        /* (ya - yc) -  (xb - xd) */
-        s2 = s2 - t2;
-
-        /* xb' = (xa+yb-xc-yd)co1 - (ya-xb-yc+xd)(si1) */
-        pSrc[2u * i2] = (r1 * co1) - (s1 * si1);
-
-        /* yb' = (ya-xb-yc+xd)co1 + (xa+yb-xc-yd)(si1) */
-        pSrc[(2u * i2) + 1u] = (s1 * co1) + (r1 * si1);
-
-        /* xd' = (xa-yb-xc+yd)co3 - (ya+xb-yc-xd)(si3) */
-        pSrc[2u * i3] = (r2 * co3) - (s2 * si3);
-
-        /* yd' = (ya+xb-yc-xd)co3 + (xa-yb-xc+yd)(si3) */
-        pSrc[(2u * i3) + 1u] = (s2 * co3) + (r2 * si3);
-      }
-    }
-    twidCoefModifier <<= 2u;
-  }
-  /*  Initializations of last stage */
-  n1 = n2;
-  n2 >>= 2u;
-
-  /*  Calculations of last stage */
-  for (i0 = 0u; i0 <= (fftLen - n1); i0 += n1)
-  {
-    /*  index calculation for the input as, */
-    /*  pSrc[i0 + 0], pSrc[i0 + fftLen/4], pSrc[i0 + fftLen/2], pSrc[i0 + 3fftLen/4] */
-    i1 = i0 + n2;
-    i2 = i1 + n2;
-    i3 = i2 + n2;
-
-    /*  Butterfly implementation */
-    /* xa + xc */
-    r1 = pSrc[2u * i0] + pSrc[2u * i2];
-
-    /* xa - xc */
-    r2 = pSrc[2u * i0] - pSrc[2u * i2];
-
-    /* ya + yc */
-    s1 = pSrc[(2u * i0) + 1u] + pSrc[(2u * i2) + 1u];
-
-    /* ya - yc */
-    s2 = pSrc[(2u * i0) + 1u] - pSrc[(2u * i2) + 1u];
-
-    /* xc + xd */
-    t1 = pSrc[2u * i1] + pSrc[2u * i3];
-
-    /* xa' = xa + xb + xc + xd */
-    pSrc[2u * i0] = (r1 + t1) * onebyfftLen;
-
-    /* (xa + xb) - (xc + xd) */
-    r1 = r1 - t1;
-
-    /* yb + yd */
-    t2 = pSrc[(2u * i1) + 1u] + pSrc[(2u * i3) + 1u];
-
-    /* ya' = ya + yb + yc + yd */
-    pSrc[(2u * i0) + 1u] = (s1 + t2) * onebyfftLen;
-
-    /* (ya + yc) - (yb + yd) */
-    s1 = s1 - t2;
-
-    /* (yb-yd) */
-    t1 = pSrc[(2u * i1) + 1u] - pSrc[(2u * i3) + 1u];
-
-    /* (xb-xd) */
-    t2 = pSrc[2u * i1] - pSrc[2u * i3];
-
-    /* xc' = (xa-xb+xc-xd)co2 - (ya-yb+yc-yd)(si2) */
-    pSrc[2u * i1] = r1 * onebyfftLen;
-
-    /* yc' = (ya-yb+yc-yd)co2 + (xa-xb+xc-xd)(si2) */
-    pSrc[(2u * i1) + 1u] = s1 * onebyfftLen;
-
-
-    /* (xa - xc) - (yb-yd) */
-    r1 = r2 - t1;
-
-    /* (xa - xc) + (yb-yd) */
-    r2 = r2 + t1;
-
-    /* (ya - yc) + (xb-xd) */
-    s1 = s2 + t2;
-
-    /* (ya - yc) - (xb-xd) */
-    s2 = s2 - t2;
-
-    /* xb' = (xa+yb-xc-yd)co1 - (ya-xb-yc+xd)(si1) */
-    pSrc[2u * i2] = r1 * onebyfftLen;
-
-    /* yb' = (ya-xb-yc+xd)co1 + (xa+yb-xc-yd)(si1) */
-    pSrc[(2u * i2) + 1u] = s1 * onebyfftLen;
-
-    /* xd' = (xa-yb-xc+yd)co3 - (ya+xb-yc-xd)(si3) */
-    pSrc[2u * i3] = r2 * onebyfftLen;
-
-    /* yd' = (ya+xb-yc-xd)co3 + (xa-yb-xc+yd)(si3) */
-    pSrc[(2u * i3) + 1u] = s2 * onebyfftLen;
-  }
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-}
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_f32.c
deleted file mode 100644
index f354e1dde..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_f32.c
+++ /dev/null
@@ -1,161 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_cfft_radix4_init_f32.c    
-*    
-* Description:	Radix-4 Decimation in Frequency Floating-point CFFT & CIFFT Initialization function    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-*    
-* Version 0.0.5  2010/04/26     
-* 	 incorporated review comments and updated with latest CMSIS layer    
-*    
-* Version 0.0.3  2010/03/10     
-*    Initial version    
-* -------------------------------------------------------------------- */
-
-
-#include "arm_math.h"
-#include "arm_common_tables.h"
-
-/**    
- * @ingroup groupTransforms    
- */
-
-/**    
- * @addtogroup Radix4_CFFT_CIFFT    
- * @{    
- */
-
-/**    
-* @brief  Initialization function for the floating-point CFFT/CIFFT.   
-* @param[in,out] *S             points to an instance of the floating-point CFFT/CIFFT structure.   
-* @param[in]     fftLen         length of the FFT.   
-* @param[in]     ifftFlag       flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform.   
-* @param[in]     bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.   
-* @return        The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if fftLen is not a supported value.   
-*    
-* \par Description:   
-* \par    
-* The parameter ifftFlag controls whether a forward or inverse transform is computed.    
-* Set(=1) ifftFlag for calculation of CIFFT otherwise  CFFT is calculated   
-* \par    
-* The parameter bitReverseFlag controls whether output is in normal order or bit reversed order.    
-* Set(=1) bitReverseFlag for output to be in normal order otherwise output is in bit reversed order.    
-* \par    
-* The parameter fftLen	Specifies length of CFFT/CIFFT process. Supported FFT Lengths are 16, 64, 256, 1024.    
-* \par    
-* This Function also initializes Twiddle factor table pointer and Bit reversal table pointer.    
-*/
-
-arm_status arm_cfft_radix4_init_f32(
-  arm_cfft_radix4_instance_f32 * S,
-  uint16_t fftLen,
-  uint8_t ifftFlag,
-  uint8_t bitReverseFlag)
-{
-  /*  Initialise the default arm status */
-  arm_status status = ARM_MATH_SUCCESS;
-
-  /*  Initialise the FFT length */
-  S->fftLen = fftLen;
-
-  /*  Initialise the Twiddle coefficient pointer */
-  S->pTwiddle = (float32_t *) twiddleCoef;
-
-  /*  Initialise the Flag for selection of CFFT or CIFFT */
-  S->ifftFlag = ifftFlag;
-
-  /*  Initialise the Flag for calculation Bit reversal or not */
-  S->bitReverseFlag = bitReverseFlag;
-
-  /*  Initializations of structure parameters depending on the FFT length */
-  switch (S->fftLen)
-  {
-
-  case 4096u:
-    /*  Initializations of structure parameters for 4096 point FFT */
-
-    /*  Initialise the twiddle coef modifier value */
-    S->twidCoefModifier = 1u;
-    /*  Initialise the bit reversal table modifier */
-    S->bitRevFactor = 1u;
-    /*  Initialise the bit reversal table pointer */
-    S->pBitRevTable = (uint16_t *) armBitRevTable;
-    /*  Initialise the 1/fftLen Value */
-    S->onebyfftLen = 0.000244140625;
-    break;
-
-  case 1024u:
-    /*  Initializations of structure parameters for 1024 point FFT */
-
-    /*  Initialise the twiddle coef modifier value */
-    S->twidCoefModifier = 4u;
-    /*  Initialise the bit reversal table modifier */
-    S->bitRevFactor = 4u;
-    /*  Initialise the bit reversal table pointer */
-    S->pBitRevTable = (uint16_t *) & armBitRevTable[3];
-    /*  Initialise the 1/fftLen Value */
-    S->onebyfftLen = 0.0009765625f;
-    break;
-
-
-  case 256u:
-    /*  Initializations of structure parameters for 256 point FFT */
-    S->twidCoefModifier = 16u;
-    S->bitRevFactor = 16u;
-    S->pBitRevTable = (uint16_t *) & armBitRevTable[15];
-    S->onebyfftLen = 0.00390625f;
-    break;
-
-  case 64u:
-    /*  Initializations of structure parameters for 64 point FFT */
-    S->twidCoefModifier = 64u;
-    S->bitRevFactor = 64u;
-    S->pBitRevTable = (uint16_t *) & armBitRevTable[63];
-    S->onebyfftLen = 0.015625f;
-    break;
-
-  case 16u:
-    /*  Initializations of structure parameters for 16 point FFT */
-    S->twidCoefModifier = 256u;
-    S->bitRevFactor = 256u;
-    S->pBitRevTable = (uint16_t *) & armBitRevTable[255];
-    S->onebyfftLen = 0.0625f;
-    break;
-
-
-  default:
-    /*  Reporting argument error if fftSize is not valid value */
-    status = ARM_MATH_ARGUMENT_ERROR;
-    break;
-  }
-
-  return (status);
-}
-
-/**    
- * @} end of Radix4_CFFT_CIFFT group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_q15.c
deleted file mode 100644
index 5ace3483d..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_q15.c
+++ /dev/null
@@ -1,149 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_cfft_radix4_init_q15.c    
-*    
-* Description:	Radix-4 Decimation in Frequency Q15 FFT & IFFT initialization function    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-*    
-* Version 0.0.5  2010/04/26     
-* 	 incorporated review comments and updated with latest CMSIS layer    
-*    
-* Version 0.0.3  2010/03/10     
-*    Initial version    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-#include "arm_common_tables.h"
-
-/**    
- * @ingroup groupTransforms    
- */
-
-
-/**    
- * @addtogroup Radix4_CFFT_CIFFT    
- * @{    
- */
-
-
-/**    
-* @brief Initialization function for the Q15 CFFT/CIFFT.   
-* @param[in,out] *S             points to an instance of the Q15 CFFT/CIFFT structure.   
-* @param[in]     fftLen         length of the FFT.   
-* @param[in]     ifftFlag       flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform.   
-* @param[in]     bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.   
-* @return        The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if fftLen is not a supported value.   
-*    
-* \par Description:   
-* \par    
-* The parameter ifftFlag controls whether a forward or inverse transform is computed.    
-* Set(=1) ifftFlag for calculation of CIFFT otherwise  CFFT is calculated   
-* \par    
-* The parameter bitReverseFlag controls whether output is in normal order or bit reversed order.    
-* Set(=1) bitReverseFlag for output to be in normal order otherwise output is in bit reversed order.    
-* \par    
-* The parameter fftLen	Specifies length of CFFT/CIFFT process. Supported FFT Lengths are 16, 64, 256, 1024.    
-* \par    
-* This Function also initializes Twiddle factor table pointer and Bit reversal table pointer.    
-*/
-
-arm_status arm_cfft_radix4_init_q15(
-  arm_cfft_radix4_instance_q15 * S,
-  uint16_t fftLen,
-  uint8_t ifftFlag,
-  uint8_t bitReverseFlag)
-{
-  /*  Initialise the default arm status */
-  arm_status status = ARM_MATH_SUCCESS;
-  /*  Initialise the FFT length */
-  S->fftLen = fftLen;
-  /*  Initialise the Twiddle coefficient pointer */
-  S->pTwiddle = (q15_t *) twiddleCoefQ15;
-  /*  Initialise the Flag for selection of CFFT or CIFFT */
-  S->ifftFlag = ifftFlag;
-  /*  Initialise the Flag for calculation Bit reversal or not */
-  S->bitReverseFlag = bitReverseFlag;
-
-  /*  Initializations of structure parameters depending on the FFT length */
-  switch (S->fftLen)
-  {
-  case 4096u:
-    /*  Initializations of structure parameters for 4096 point FFT */
-
-    /*  Initialise the twiddle coef modifier value */
-    S->twidCoefModifier = 1u;
-    /*  Initialise the bit reversal table modifier */
-    S->bitRevFactor = 1u;
-    /*  Initialise the bit reversal table pointer */
-    S->pBitRevTable = (uint16_t *) armBitRevTable;
-
-    break;
-
-  case 1024u:
-    /*  Initializations of structure parameters for 1024 point FFT */
-    S->twidCoefModifier = 4u;
-    S->bitRevFactor = 4u;
-    S->pBitRevTable = (uint16_t *) & armBitRevTable[3];
-
-    break;
-
-  case 256u:
-    /*  Initializations of structure parameters for 256 point FFT */
-    S->twidCoefModifier = 16u;
-    S->bitRevFactor = 16u;
-    S->pBitRevTable = (uint16_t *) & armBitRevTable[15];
-
-    break;
-
-  case 64u:
-    /*  Initializations of structure parameters for 64 point FFT */
-    S->twidCoefModifier = 64u;
-    S->bitRevFactor = 64u;
-    S->pBitRevTable = (uint16_t *) & armBitRevTable[63];
-
-    break;
-
-  case 16u:
-    /*  Initializations of structure parameters for 16 point FFT */
-    S->twidCoefModifier = 256u;
-    S->bitRevFactor = 256u;
-    S->pBitRevTable = (uint16_t *) & armBitRevTable[255];
-
-    break;
-
-  default:
-    /*  Reporting argument error if fftSize is not valid value */
-    status = ARM_MATH_ARGUMENT_ERROR;
-    break;
-  }
-
-  return (status);
-}
-
-/**    
- * @} end of Radix4_CFFT_CIFFT group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_q31.c
deleted file mode 100644
index 6614994f7..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_q31.c
+++ /dev/null
@@ -1,145 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_cfft_radix4_init_q31.c    
-*    
-* Description:	Radix-4 Decimation in Frequency Q31 FFT & IFFT initialization function    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-*    
-* Version 0.0.5  2010/04/26     
-* 	 incorporated review comments and updated with latest CMSIS layer    
-*    
-* Version 0.0.3  2010/03/10     
-*    Initial version    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-#include "arm_common_tables.h"
-
-/**    
- * @ingroup groupTransforms    
- */
-
-/**    
- * @addtogroup Radix4_CFFT_CIFFT    
- * @{    
- */
-
-/**    
-*    
-* @brief  Initialization function for the Q31 CFFT/CIFFT.   
-* @param[in,out] *S             points to an instance of the Q31 CFFT/CIFFT structure.   
-* @param[in]     fftLen         length of the FFT.   
-* @param[in]     ifftFlag       flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform.   
-* @param[in]     bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.   
-* @return        The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if fftLen is not a supported value.   
-*    
-* \par Description:   
-* \par    
-* The parameter ifftFlag controls whether a forward or inverse transform is computed.    
-* Set(=1) ifftFlag for calculation of CIFFT otherwise  CFFT is calculated   
-* \par    
-* The parameter bitReverseFlag controls whether output is in normal order or bit reversed order.    
-* Set(=1) bitReverseFlag for output to be in normal order otherwise output is in bit reversed order.    
-* \par    
-* The parameter fftLen	Specifies length of CFFT/CIFFT process. Supported FFT Lengths are 16, 64, 256, 1024.    
-* \par    
-* This Function also initializes Twiddle factor table pointer and Bit reversal table pointer.    
-*/
-
-arm_status arm_cfft_radix4_init_q31(
-  arm_cfft_radix4_instance_q31 * S,
-  uint16_t fftLen,
-  uint8_t ifftFlag,
-  uint8_t bitReverseFlag)
-{
-  /*  Initialise the default arm status */
-  arm_status status = ARM_MATH_SUCCESS;
-  /*  Initialise the FFT length */
-  S->fftLen = fftLen;
-  /*  Initialise the Twiddle coefficient pointer */
-  S->pTwiddle = (q31_t *) twiddleCoefQ31;
-  /*  Initialise the Flag for selection of CFFT or CIFFT */
-  S->ifftFlag = ifftFlag;
-  /*  Initialise the Flag for calculation Bit reversal or not */
-  S->bitReverseFlag = bitReverseFlag;
-
-  /*  Initializations of Instance structure depending on the FFT length */
-  switch (S->fftLen)
-  {
-    /*  Initializations of structure parameters for 4096 point FFT */
-  case 4096u:
-    /*  Initialise the twiddle coef modifier value */
-    S->twidCoefModifier = 1u;
-    /*  Initialise the bit reversal table modifier */
-    S->bitRevFactor = 1u;
-    /*  Initialise the bit reversal table pointer */
-    S->pBitRevTable = (uint16_t *) armBitRevTable;
-    break;
-
-    /*  Initializations of structure parameters for 1024 point FFT */
-  case 1024u:
-    /*  Initialise the twiddle coef modifier value */
-    S->twidCoefModifier = 4u;
-    /*  Initialise the bit reversal table modifier */
-    S->bitRevFactor = 4u;
-    /*  Initialise the bit reversal table pointer */
-    S->pBitRevTable = (uint16_t *) & armBitRevTable[3];
-    break;
-
-  case 256u:
-    /*  Initializations of structure parameters for 256 point FFT */
-    S->twidCoefModifier = 16u;
-    S->bitRevFactor = 16u;
-    S->pBitRevTable = (uint16_t *) & armBitRevTable[15];
-    break;
-
-  case 64u:
-    /*  Initializations of structure parameters for 64 point FFT */
-    S->twidCoefModifier = 64u;
-    S->bitRevFactor = 64u;
-    S->pBitRevTable = (uint16_t *) & armBitRevTable[63];
-    break;
-
-  case 16u:
-    /*  Initializations of structure parameters for 16 point FFT */
-    S->twidCoefModifier = 256u;
-    S->bitRevFactor = 256u;
-    S->pBitRevTable = (uint16_t *) & armBitRevTable[255];
-    break;
-
-  default:
-    /*  Reporting argument error if fftSize is not valid value */
-    status = ARM_MATH_ARGUMENT_ERROR;
-    break;
-  }
-
-  return (status);
-}
-
-/**    
- * @} end of Radix4_CFFT_CIFFT group    
- */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_q15.c
deleted file mode 100644
index 01d476e6c..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_q15.c
+++ /dev/null
@@ -1,1896 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_cfft_radix4_q15.c    
-*    
-* Description:	This file has function definition of Radix-4 FFT & IFFT function and    
-*				In-place bit reversal using bit reversal table    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-*    
-* Version 0.0.5  2010/04/26     
-* 	 incorporated review comments and updated with latest CMSIS layer    
-*    
-* Version 0.0.3  2010/03/10     
-*    Initial version    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupTransforms    
- */
-
-/**    
- * @addtogroup Radix4_CFFT_CIFFT    
- * @{    
- */
-
-
-/**    
- * @details    
- * @brief Processing function for the Q15 CFFT/CIFFT.   
- * @param[in]      *S    points to an instance of the Q15 CFFT/CIFFT structure.   
- * @param[in, out] *pSrc points to the complex data buffer. Processing occurs in-place.   
- * @return none.   
- *     
- * \par Input and output formats:    
- * \par    
- * Internally input is downscaled by 2 for every stage to avoid saturations inside CFFT/CIFFT process.   
- * Hence the output format is different for different FFT sizes.    
- * The input and output formats for different FFT sizes and number of bits to upscale are mentioned in the tables below for CFFT and CIFFT:   
- * \par   
- * \image html CFFTQ15.gif "Input and Output Formats for Q15 CFFT"    
- * \image html CIFFTQ15.gif "Input and Output Formats for Q15 CIFFT"    
- */
-
-void arm_cfft_radix4_q15(
-  const arm_cfft_radix4_instance_q15 * S,
-  q15_t * pSrc)
-{
-  if(S->ifftFlag == 1u)
-  {
-    /*  Complex IFFT radix-4  */
-    arm_radix4_butterfly_inverse_q15(pSrc, S->fftLen, S->pTwiddle,
-                                     S->twidCoefModifier);
-  }
-  else
-  {
-    /*  Complex FFT radix-4  */
-    arm_radix4_butterfly_q15(pSrc, S->fftLen, S->pTwiddle,
-                             S->twidCoefModifier);
-  }
-
-  if(S->bitReverseFlag == 1u)
-  {
-    /*  Bit Reversal */
-    arm_bitreversal_q15(pSrc, S->fftLen, S->bitRevFactor, S->pBitRevTable);
-  }
-
-}
-
-/**    
- * @} end of Radix4_CFFT_CIFFT group    
- */
-
-/*    
-* Radix-4 FFT algorithm used is :    
-*    
-* Input real and imaginary data:    
-* x(n) = xa + j * ya    
-* x(n+N/4 ) = xb + j * yb    
-* x(n+N/2 ) = xc + j * yc    
-* x(n+3N 4) = xd + j * yd    
-*    
-*    
-* Output real and imaginary data:    
-* x(4r) = xa'+ j * ya'    
-* x(4r+1) = xb'+ j * yb'    
-* x(4r+2) = xc'+ j * yc'    
-* x(4r+3) = xd'+ j * yd'    
-*    
-*    
-* Twiddle factors for radix-4 FFT:    
-* Wn = co1 + j * (- si1)    
-* W2n = co2 + j * (- si2)    
-* W3n = co3 + j * (- si3)    
-    
-* The real and imaginary output values for the radix-4 butterfly are    
-* xa' = xa + xb + xc + xd    
-* ya' = ya + yb + yc + yd    
-* xb' = (xa+yb-xc-yd)* co1 + (ya-xb-yc+xd)* (si1)    
-* yb' = (ya-xb-yc+xd)* co1 - (xa+yb-xc-yd)* (si1)    
-* xc' = (xa-xb+xc-xd)* co2 + (ya-yb+yc-yd)* (si2)    
-* yc' = (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2)    
-* xd' = (xa-yb-xc+yd)* co3 + (ya+xb-yc-xd)* (si3)    
-* yd' = (ya+xb-yc-xd)* co3 - (xa-yb-xc+yd)* (si3)    
-*    
-*/
-
-/**    
- * @brief  Core function for the Q15 CFFT butterfly process.   
- * @param[in, out] *pSrc16          points to the in-place buffer of Q15 data type.   
- * @param[in]      fftLen           length of the FFT.   
- * @param[in]      *pCoef16         points to twiddle coefficient buffer.   
- * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.   
- * @return none.   
- */
-
-void arm_radix4_butterfly_q15(
-  q15_t * pSrc16,
-  uint32_t fftLen,
-  q15_t * pCoef16,
-  uint32_t twidCoefModifier)
-{
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  q31_t R, S, T, U;
-  q31_t C1, C2, C3, out1, out2;
-  uint32_t n1, n2, ic, i0, i1, i2, i3, j, k;
-  q15_t in;
-
-  q15_t *ptr1;
-
-
-
-  q31_t xaya, xbyb, xcyc, xdyd;
-
-  /* Total process is divided into three stages */
-
-  /* process first stage, middle stages, & last stage */
-
-  /*  Initializations for the first stage */
-  n2 = fftLen;
-  n1 = n2;
-
-  /* n2 = fftLen/4 */
-  n2 >>= 2u;
-
-  /* Index for twiddle coefficient */
-  ic = 0u;
-
-  /* Index for input read and output write */
-  i0 = 0u;
-  j = n2;
-
-  /* Input is in 1.15(q15) format */
-
-  /*  start of first stage process */
-  do
-  {
-    /*  Butterfly implementation */
-
-    /*  index calculation for the input as, */
-    /*  pSrc16[i0 + 0], pSrc16[i0 + fftLen/4], pSrc16[i0 + fftLen/2], pSrc16[i0 + 3fftLen/4] */
-    i1 = i0 + n2;
-    i2 = i1 + n2;
-    i3 = i2 + n2;
-
-    /*  Reading i0, i0+fftLen/2 inputs */
-    /* Read ya (real), xa(imag) input */
-    T = _SIMD32_OFFSET(pSrc16 + (2u * i0));
-    in = ((int16_t) (T & 0xFFFF)) >> 2;
-    T = ((T >> 2) & 0xFFFF0000) | (in & 0xFFFF);
-
-    /* Read yc (real), xc(imag) input */
-    S = _SIMD32_OFFSET(pSrc16 + (2u * i2));
-    in = ((int16_t) (S & 0xFFFF)) >> 2;
-    S = ((S >> 2) & 0xFFFF0000) | (in & 0xFFFF);
-
-    /* R = packed((ya + yc), (xa + xc) ) */
-    R = __QADD16(T, S);
-
-    /* S = packed((ya - yc), (xa - xc) ) */
-    S = __QSUB16(T, S);
-
-    /*  Reading i0+fftLen/4 , i0+3fftLen/4 inputs */
-    /* Read yb (real), xb(imag) input */
-    T = _SIMD32_OFFSET(pSrc16 + (2u * i1));
-    in = ((int16_t) (T & 0xFFFF)) >> 2;
-    T = ((T >> 2) & 0xFFFF0000) | (in & 0xFFFF);
-
-    /* Read yd (real), xd(imag) input */
-    U = _SIMD32_OFFSET(pSrc16 + (2u * i3));
-    in = ((int16_t) (U & 0xFFFF)) >> 2;
-    U = ((U >> 2) & 0xFFFF0000) | (in & 0xFFFF);
-
-    /* T = packed((yb + yd), (xb + xd) ) */
-    T = __QADD16(T, U);
-
-    /*  writing the butterfly processed i0 sample */
-    /* xa' = xa + xb + xc + xd */
-    /* ya' = ya + yb + yc + yd */
-    _SIMD32_OFFSET(pSrc16 + (2u * i0)) = __SHADD16(R, T);
-
-    /* R = packed((ya + yc) - (yb + yd), (xa + xc)- (xb + xd)) */
-    R = __QSUB16(R, T);
-
-    /* co2 & si2 are read from SIMD Coefficient pointer */
-    C2 = _SIMD32_OFFSET(pCoef16 + (4u * ic));
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-    /* xc' = (xa-xb+xc-xd)* co2 + (ya-yb+yc-yd)* (si2) */
-    out1 = __SMUAD(C2, R) >> 16u;
-    /* yc' = (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */
-    out2 = __SMUSDX(C2, R);
-
-#else
-
-    /* xc' = (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */
-    out1 = __SMUSDX(R, C2) >> 16u;
-    /* yc' = (xa-xb+xc-xd)* co2 + (ya-yb+yc-yd)* (si2) */
-    out2 = __SMUAD(C2, R);
-
-#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
-
-    /*  Reading i0+fftLen/4 */
-    /* T = packed(yb, xb) */
-    T = _SIMD32_OFFSET(pSrc16 + (2u * i1));
-    in = ((int16_t) (T & 0xFFFF)) >> 2;
-    T = ((T >> 2) & 0xFFFF0000) | (in & 0xFFFF);
-
-    /* writing the butterfly processed i0 + fftLen/4 sample */
-    /* writing output(xc', yc') in little endian format */
-    _SIMD32_OFFSET(pSrc16 + (2u * i1)) =
-      (q31_t) ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);
-
-    /*  Butterfly calculations */
-    /* U = packed(yd, xd) */
-    U = _SIMD32_OFFSET(pSrc16 + (2u * i3));
-    in = ((int16_t) (U & 0xFFFF)) >> 2;
-    U = ((U >> 2) & 0xFFFF0000) | (in & 0xFFFF);
-
-    /* T = packed(yb-yd, xb-xd) */
-    T = __QSUB16(T, U);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-    /* R = packed((ya-yc) + (xb- xd) , (xa-xc) - (yb-yd)) */
-    R = __QASX(S, T);
-    /* S = packed((ya-yc) - (xb- xd),  (xa-xc) + (yb-yd)) */
-    S = __QSAX(S, T);
-
-#else
-
-    /* R = packed((ya-yc) + (xb- xd) , (xa-xc) - (yb-yd)) */
-    R = __QSAX(S, T);
-    /* S = packed((ya-yc) - (xb- xd),  (xa-xc) + (yb-yd)) */
-    S = __QASX(S, T);
-
-#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
-
-    /* co1 & si1 are read from SIMD Coefficient pointer */
-    C1 = _SIMD32_OFFSET(pCoef16 + (2u * ic));
-    /*  Butterfly process for the i0+fftLen/2 sample */
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-    /* xb' = (xa+yb-xc-yd)* co1 + (ya-xb-yc+xd)* (si1) */
-    out1 = __SMUAD(C1, S) >> 16u;
-    /* yb' = (ya-xb-yc+xd)* co1 - (xa+yb-xc-yd)* (si1) */
-    out2 = __SMUSDX(C1, S);
-
-#else
-
-    /* xb' = (ya-xb-yc+xd)* co1 - (xa+yb-xc-yd)* (si1) */
-    out1 = __SMUSDX(S, C1) >> 16u;
-    /* yb' = (xa+yb-xc-yd)* co1 + (ya-xb-yc+xd)* (si1) */
-    out2 = __SMUAD(C1, S);
-
-#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
-
-    /* writing output(xb', yb') in little endian format */
-    _SIMD32_OFFSET(pSrc16 + (2u * i2)) =
-      ((out2) & 0xFFFF0000) | ((out1) & 0x0000FFFF);
-
-
-    /* co3 & si3 are read from SIMD Coefficient pointer */
-    C3 = _SIMD32_OFFSET(pCoef16 + (6u * ic));
-    /*  Butterfly process for the i0+3fftLen/4 sample */
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-    /* xd' = (xa-yb-xc+yd)* co3 + (ya+xb-yc-xd)* (si3) */
-    out1 = __SMUAD(C3, R) >> 16u;
-    /* yd' = (ya+xb-yc-xd)* co3 - (xa-yb-xc+yd)* (si3) */
-    out2 = __SMUSDX(C3, R);
-
-#else
-
-    /* xd' = (ya+xb-yc-xd)* co3 - (xa-yb-xc+yd)* (si3) */
-    out1 = __SMUSDX(R, C3) >> 16u;
-    /* yd' = (xa-yb-xc+yd)* co3 + (ya+xb-yc-xd)* (si3) */
-    out2 = __SMUAD(C3, R);
-
-#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
-
-    /* writing output(xd', yd') in little endian format */
-    _SIMD32_OFFSET(pSrc16 + (2u * i3)) =
-      ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);
-
-    /*  Twiddle coefficients index modifier */
-    ic = ic + twidCoefModifier;
-
-    /*  Updating input index */
-    i0 = i0 + 1u;
-
-  } while(--j);
-  /* data is in 4.11(q11) format */
-
-  /* end of first stage process */
-
-
-  /* start of middle stage process */
-
-  /*  Twiddle coefficients index modifier */
-  twidCoefModifier <<= 2u;
-
-  /*  Calculation of Middle stage */
-  for (k = fftLen / 4u; k > 4u; k >>= 2u)
-  {
-    /*  Initializations for the middle stage */
-    n1 = n2;
-    n2 >>= 2u;
-    ic = 0u;
-
-    for (j = 0u; j <= (n2 - 1u); j++)
-    {
-      /*  index calculation for the coefficients */
-      C1 = _SIMD32_OFFSET(pCoef16 + (2u * ic));
-      C2 = _SIMD32_OFFSET(pCoef16 + (4u * ic));
-      C3 = _SIMD32_OFFSET(pCoef16 + (6u * ic));
-
-      /*  Twiddle coefficients index modifier */
-      ic = ic + twidCoefModifier;
-
-      /*  Butterfly implementation */
-      for (i0 = j; i0 < fftLen; i0 += n1)
-      {
-        /*  index calculation for the input as, */
-        /*  pSrc16[i0 + 0], pSrc16[i0 + fftLen/4], pSrc16[i0 + fftLen/2], pSrc16[i0 + 3fftLen/4] */
-        i1 = i0 + n2;
-        i2 = i1 + n2;
-        i3 = i2 + n2;
-
-        /*  Reading i0, i0+fftLen/2 inputs */
-        /* Read ya (real), xa(imag) input */
-        T = _SIMD32_OFFSET(pSrc16 + (2u * i0));
-
-        /* Read yc (real), xc(imag) input */
-        S = _SIMD32_OFFSET(pSrc16 + (2u * i2));
-
-        /* R = packed( (ya + yc), (xa + xc)) */
-        R = __QADD16(T, S);
-
-        /* S = packed((ya - yc), (xa - xc)) */
-        S = __QSUB16(T, S);
-
-        /*  Reading i0+fftLen/4 , i0+3fftLen/4 inputs */
-        /* Read yb (real), xb(imag) input */
-        T = _SIMD32_OFFSET(pSrc16 + (2u * i1));
-
-        /* Read yd (real), xd(imag) input */
-        U = _SIMD32_OFFSET(pSrc16 + (2u * i3));
-
-        /* T = packed( (yb + yd), (xb + xd)) */
-        T = __QADD16(T, U);
-
-        /*  writing the butterfly processed i0 sample */
-
-        /* xa' = xa + xb + xc + xd */
-        /* ya' = ya + yb + yc + yd */
-        out1 = __SHADD16(R, T);
-        in = ((int16_t) (out1 & 0xFFFF)) >> 1;
-        out1 = ((out1 >> 1) & 0xFFFF0000) | (in & 0xFFFF);
-        _SIMD32_OFFSET(pSrc16 + (2u * i0)) = out1;
-
-        /* R = packed( (ya + yc) - (yb + yd), (xa + xc) - (xb + xd)) */
-        R = __SHSUB16(R, T);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-        /* (ya-yb+yc-yd)* (si2) + (xa-xb+xc-xd)* co2 */
-        out1 = __SMUAD(C2, R) >> 16u;
-
-        /* (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */
-        out2 = __SMUSDX(C2, R);
-
-#else
-
-        /* (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */
-        out1 = __SMUSDX(R, C2) >> 16u;
-
-        /* (ya-yb+yc-yd)* (si2) + (xa-xb+xc-xd)* co2 */
-        out2 = __SMUAD(C2, R);
-
-#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
-
-        /*  Reading i0+3fftLen/4 */
-        /* Read yb (real), xb(imag) input */
-        T = _SIMD32_OFFSET(pSrc16 + (2u * i1));
-
-        /*  writing the butterfly processed i0 + fftLen/4 sample */
-        /* xc' = (xa-xb+xc-xd)* co2 + (ya-yb+yc-yd)* (si2) */
-        /* yc' = (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */
-        _SIMD32_OFFSET(pSrc16 + (2u * i1)) =
-          ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);
-
-        /*  Butterfly calculations */
-
-        /* Read yd (real), xd(imag) input */
-        U = _SIMD32_OFFSET(pSrc16 + (2u * i3));
-
-        /* T = packed(yb-yd, xb-xd) */
-        T = __QSUB16(T, U);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-        /* R = packed((ya-yc) + (xb- xd) , (xa-xc) - (yb-yd)) */
-        R = __SHASX(S, T);
-
-        /* S = packed((ya-yc) - (xb- xd),  (xa-xc) + (yb-yd)) */
-        S = __SHSAX(S, T);
-
-
-        /*  Butterfly process for the i0+fftLen/2 sample */
-        out1 = __SMUAD(C1, S) >> 16u;
-        out2 = __SMUSDX(C1, S);
-
-#else
-
-        /* R = packed((ya-yc) + (xb- xd) , (xa-xc) - (yb-yd)) */
-        R = __SHSAX(S, T);
-
-        /* S = packed((ya-yc) - (xb- xd),  (xa-xc) + (yb-yd)) */
-        S = __SHASX(S, T);
-
-
-        /*  Butterfly process for the i0+fftLen/2 sample */
-        out1 = __SMUSDX(S, C1) >> 16u;
-        out2 = __SMUAD(C1, S);
-
-#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
-
-        /* xb' = (xa+yb-xc-yd)* co1 + (ya-xb-yc+xd)* (si1) */
-        /* yb' = (ya-xb-yc+xd)* co1 - (xa+yb-xc-yd)* (si1) */
-        _SIMD32_OFFSET(pSrc16 + (2u * i2)) =
-          ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);
-
-        /*  Butterfly process for the i0+3fftLen/4 sample */
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-        out1 = __SMUAD(C3, R) >> 16u;
-        out2 = __SMUSDX(C3, R);
-
-#else
-
-        out1 = __SMUSDX(R, C3) >> 16u;
-        out2 = __SMUAD(C3, R);
-
-#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
-
-        /* xd' = (xa-yb-xc+yd)* co3 + (ya+xb-yc-xd)* (si3) */
-        /* yd' = (ya+xb-yc-xd)* co3 - (xa-yb-xc+yd)* (si3) */
-        _SIMD32_OFFSET(pSrc16 + (2u * i3)) =
-          ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);
-      }
-    }
-    /*  Twiddle coefficients index modifier */
-    twidCoefModifier <<= 2u;
-  }
-  /* end of middle stage process */
-
-
-  /* data is in 10.6(q6) format for the 1024 point */
-  /* data is in 8.8(q8) format for the 256 point */
-  /* data is in 6.10(q10) format for the 64 point */
-  /* data is in 4.12(q12) format for the 16 point */
-
-  /*  Initializations for the last stage */
-  j = fftLen >> 2;
-
-  ptr1 = &pSrc16[0];
-
-  /* start of last stage process */
-
-  /*  Butterfly implementation */
-  do
-  {
-    /* Read xa (real), ya(imag) input */
-    xaya = *__SIMD32(ptr1)++;
-
-    /* Read xb (real), yb(imag) input */
-    xbyb = *__SIMD32(ptr1)++;
-
-    /* Read xc (real), yc(imag) input */
-    xcyc = *__SIMD32(ptr1)++;
-
-    /* Read xd (real), yd(imag) input */
-    xdyd = *__SIMD32(ptr1)++;
-
-    /* R = packed((ya + yc), (xa + xc)) */
-    R = __QADD16(xaya, xcyc);
-
-    /* T = packed((yb + yd), (xb + xd)) */
-    T = __QADD16(xbyb, xdyd);
-
-    /* pointer updation for writing */
-    ptr1 = ptr1 - 8u;
-
-
-    /* xa' = xa + xb + xc + xd */
-    /* ya' = ya + yb + yc + yd */
-    *__SIMD32(ptr1)++ = __SHADD16(R, T);
-
-    /* T = packed((yb + yd), (xb + xd)) */
-    T = __QADD16(xbyb, xdyd);
-
-    /* xc' = (xa-xb+xc-xd) */
-    /* yc' = (ya-yb+yc-yd) */
-    *__SIMD32(ptr1)++ = __SHSUB16(R, T);
-
-    /* S = packed((ya - yc), (xa - xc)) */
-    S = __QSUB16(xaya, xcyc);
-
-    /* Read yd (real), xd(imag) input */
-    /* T = packed( (yb - yd), (xb - xd))  */
-    U = __QSUB16(xbyb, xdyd);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-    /* xb' = (xa+yb-xc-yd) */
-    /* yb' = (ya-xb-yc+xd) */
-    *__SIMD32(ptr1)++ = __SHSAX(S, U);
-
-
-    /* xd' = (xa-yb-xc+yd) */
-    /* yd' = (ya+xb-yc-xd) */
-    *__SIMD32(ptr1)++ = __SHASX(S, U);
-
-#else
-
-    /* xb' = (xa+yb-xc-yd) */
-    /* yb' = (ya-xb-yc+xd) */
-    *__SIMD32(ptr1)++ = __SHASX(S, U);
-
-
-    /* xd' = (xa-yb-xc+yd) */
-    /* yd' = (ya+xb-yc-xd) */
-    *__SIMD32(ptr1)++ = __SHSAX(S, U);
-
-#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
-
-  } while(--j);
-
-  /* end of last stage process */
-
-  /* output is in 11.5(q5) format for the 1024 point */
-  /* output is in 9.7(q7) format for the 256 point   */
-  /* output is in 7.9(q9) format for the 64 point  */
-  /* output is in 5.11(q11) format for the 16 point  */
-
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  q15_t R0, R1, S0, S1, T0, T1, U0, U1;
-  q15_t Co1, Si1, Co2, Si2, Co3, Si3, out1, out2;
-  uint32_t n1, n2, ic, i0, i1, i2, i3, j, k;
-
-  /* Total process is divided into three stages */
-
-  /* process first stage, middle stages, & last stage */
-
-  /*  Initializations for the first stage */
-  n2 = fftLen;
-  n1 = n2;
-
-  /* n2 = fftLen/4 */
-  n2 >>= 2u;
-
-  /* Index for twiddle coefficient */
-  ic = 0u;
-
-  /* Index for input read and output write */
-  i0 = 0u;
-  j = n2;
-
-  /* Input is in 1.15(q15) format */
-
-  /*  start of first stage process */
-  do
-  {
-    /*  Butterfly implementation */
-
-    /*  index calculation for the input as, */
-    /*  pSrc16[i0 + 0], pSrc16[i0 + fftLen/4], pSrc16[i0 + fftLen/2], pSrc16[i0 + 3fftLen/4] */
-    i1 = i0 + n2;
-    i2 = i1 + n2;
-    i3 = i2 + n2;
-
-    /*  Reading i0, i0+fftLen/2 inputs */
-
-    /* input is down scale by 4 to avoid overflow */
-    /* Read ya (real), xa(imag) input */
-    T0 = pSrc16[i0 * 2u] >> 2u;
-    T1 = pSrc16[(i0 * 2u) + 1u] >> 2u;
-
-    /* input is down scale by 4 to avoid overflow */
-    /* Read yc (real), xc(imag) input */
-    S0 = pSrc16[i2 * 2u] >> 2u;
-    S1 = pSrc16[(i2 * 2u) + 1u] >> 2u;
-
-    /* R0 = (ya + yc) */
-    R0 = __SSAT(T0 + S0, 16u);
-    /* R1 = (xa + xc) */
-    R1 = __SSAT(T1 + S1, 16u);
-
-    /* S0 = (ya - yc) */
-    S0 = __SSAT(T0 - S0, 16);
-    /* S1 = (xa - xc) */
-    S1 = __SSAT(T1 - S1, 16);
-
-    /*  Reading i0+fftLen/4 , i0+3fftLen/4 inputs */
-    /* input is down scale by 4 to avoid overflow */
-    /* Read yb (real), xb(imag) input */
-    T0 = pSrc16[i1 * 2u] >> 2u;
-    T1 = pSrc16[(i1 * 2u) + 1u] >> 2u;
-
-    /* input is down scale by 4 to avoid overflow */
-    /* Read yd (real), xd(imag) input */
-    U0 = pSrc16[i3 * 2u] >> 2u;
-    U1 = pSrc16[(i3 * 2u) + 1] >> 2u;
-
-    /* T0 = (yb + yd) */
-    T0 = __SSAT(T0 + U0, 16u);
-    /* T1 = (xb + xd) */
-    T1 = __SSAT(T1 + U1, 16u);
-
-    /*  writing the butterfly processed i0 sample */
-    /* ya' = ya + yb + yc + yd */
-    /* xa' = xa + xb + xc + xd */
-    pSrc16[i0 * 2u] = (R0 >> 1u) + (T0 >> 1u);
-    pSrc16[(i0 * 2u) + 1u] = (R1 >> 1u) + (T1 >> 1u);
-
-    /* R0 = (ya + yc) - (yb + yd) */
-    /* R1 = (xa + xc) - (xb + xd) */
-    R0 = __SSAT(R0 - T0, 16u);
-    R1 = __SSAT(R1 - T1, 16u);
-
-    /* co2 & si2 are read from Coefficient pointer */
-    Co2 = pCoef16[2u * ic * 2u];
-    Si2 = pCoef16[(2u * ic * 2u) + 1];
-
-    /* xc' = (xa-xb+xc-xd)* co2 + (ya-yb+yc-yd)* (si2) */
-    out1 = (short) ((Co2 * R0 + Si2 * R1) >> 16u);
-    /* yc' = (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */
-    out2 = (short) ((-Si2 * R0 + Co2 * R1) >> 16u);
-
-    /*  Reading i0+fftLen/4 */
-    /* input is down scale by 4 to avoid overflow */
-    /* T0 = yb, T1 =  xb */
-    T0 = pSrc16[i1 * 2u] >> 2;
-    T1 = pSrc16[(i1 * 2u) + 1] >> 2;
-
-    /* writing the butterfly processed i0 + fftLen/4 sample */
-    /* writing output(xc', yc') in little endian format */
-    pSrc16[i1 * 2u] = out1;
-    pSrc16[(i1 * 2u) + 1] = out2;
-
-    /*  Butterfly calculations */
-    /* input is down scale by 4 to avoid overflow */
-    /* U0 = yd, U1 = xd */
-    U0 = pSrc16[i3 * 2u] >> 2;
-    U1 = pSrc16[(i3 * 2u) + 1] >> 2;
-    /* T0 = yb-yd */
-    T0 = __SSAT(T0 - U0, 16);
-    /* T1 = xb-xd */
-    T1 = __SSAT(T1 - U1, 16);
-
-    /* R1 = (ya-yc) + (xb- xd),  R0 = (xa-xc) - (yb-yd)) */
-    R0 = (short) __SSAT((q31_t) (S0 - T1), 16);
-    R1 = (short) __SSAT((q31_t) (S1 + T0), 16);
-
-    /* S1 = (ya-yc) - (xb- xd), S0 = (xa-xc) + (yb-yd)) */
-    S0 = (short) __SSAT(((q31_t) S0 + T1), 16u);
-    S1 = (short) __SSAT(((q31_t) S1 - T0), 16u);
-
-    /* co1 & si1 are read from Coefficient pointer */
-    Co1 = pCoef16[ic * 2u];
-    Si1 = pCoef16[(ic * 2u) + 1];
-    /*  Butterfly process for the i0+fftLen/2 sample */
-    /* xb' = (xa+yb-xc-yd)* co1 + (ya-xb-yc+xd)* (si1) */
-    out1 = (short) ((Si1 * S1 + Co1 * S0) >> 16);
-    /* yb' = (ya-xb-yc+xd)* co1 - (xa+yb-xc-yd)* (si1) */
-    out2 = (short) ((-Si1 * S0 + Co1 * S1) >> 16);
-
-    /* writing output(xb', yb') in little endian format */
-    pSrc16[i2 * 2u] = out1;
-    pSrc16[(i2 * 2u) + 1] = out2;
-
-    /* Co3 & si3 are read from Coefficient pointer */
-    Co3 = pCoef16[3u * (ic * 2u)];
-    Si3 = pCoef16[(3u * (ic * 2u)) + 1];
-    /*  Butterfly process for the i0+3fftLen/4 sample */
-    /* xd' = (xa-yb-xc+yd)* Co3 + (ya+xb-yc-xd)* (si3) */
-    out1 = (short) ((Si3 * R1 + Co3 * R0) >> 16u);
-    /* yd' = (ya+xb-yc-xd)* Co3 - (xa-yb-xc+yd)* (si3) */
-    out2 = (short) ((-Si3 * R0 + Co3 * R1) >> 16u);
-    /* writing output(xd', yd') in little endian format */
-    pSrc16[i3 * 2u] = out1;
-    pSrc16[(i3 * 2u) + 1] = out2;
-
-    /*  Twiddle coefficients index modifier */
-    ic = ic + twidCoefModifier;
-
-    /*  Updating input index */
-    i0 = i0 + 1u;
-
-  } while(--j);
-  /* data is in 4.11(q11) format */
-
-  /* end of first stage process */
-
-
-  /* start of middle stage process */
-
-  /*  Twiddle coefficients index modifier */
-  twidCoefModifier <<= 2u;
-
-  /*  Calculation of Middle stage */
-  for (k = fftLen / 4u; k > 4u; k >>= 2u)
-  {
-    /*  Initializations for the middle stage */
-    n1 = n2;
-    n2 >>= 2u;
-    ic = 0u;
-
-    for (j = 0u; j <= (n2 - 1u); j++)
-    {
-      /*  index calculation for the coefficients */
-      Co1 = pCoef16[ic * 2u];
-      Si1 = pCoef16[(ic * 2u) + 1u];
-      Co2 = pCoef16[2u * (ic * 2u)];
-      Si2 = pCoef16[(2u * (ic * 2u)) + 1u];
-      Co3 = pCoef16[3u * (ic * 2u)];
-      Si3 = pCoef16[(3u * (ic * 2u)) + 1u];
-
-      /*  Twiddle coefficients index modifier */
-      ic = ic + twidCoefModifier;
-
-      /*  Butterfly implementation */
-      for (i0 = j; i0 < fftLen; i0 += n1)
-      {
-        /*  index calculation for the input as, */
-        /*  pSrc16[i0 + 0], pSrc16[i0 + fftLen/4], pSrc16[i0 + fftLen/2], pSrc16[i0 + 3fftLen/4] */
-        i1 = i0 + n2;
-        i2 = i1 + n2;
-        i3 = i2 + n2;
-
-        /*  Reading i0, i0+fftLen/2 inputs */
-        /* Read ya (real), xa(imag) input */
-        T0 = pSrc16[i0 * 2u];
-        T1 = pSrc16[(i0 * 2u) + 1u];
-
-        /* Read yc (real), xc(imag) input */
-        S0 = pSrc16[i2 * 2u];
-        S1 = pSrc16[(i2 * 2u) + 1u];
-
-        /* R0 = (ya + yc), R1 = (xa + xc) */
-        R0 = __SSAT(T0 + S0, 16);
-        R1 = __SSAT(T1 + S1, 16);
-
-        /* S0 = (ya - yc), S1 =(xa - xc) */
-        S0 = __SSAT(T0 - S0, 16);
-        S1 = __SSAT(T1 - S1, 16);
-
-        /*  Reading i0+fftLen/4 , i0+3fftLen/4 inputs */
-        /* Read yb (real), xb(imag) input */
-        T0 = pSrc16[i1 * 2u];
-        T1 = pSrc16[(i1 * 2u) + 1u];
-
-        /* Read yd (real), xd(imag) input */
-        U0 = pSrc16[i3 * 2u];
-        U1 = pSrc16[(i3 * 2u) + 1u];
-
-
-        /* T0 = (yb + yd), T1 = (xb + xd) */
-        T0 = __SSAT(T0 + U0, 16);
-        T1 = __SSAT(T1 + U1, 16);
-
-        /*  writing the butterfly processed i0 sample */
-
-        /* xa' = xa + xb + xc + xd */
-        /* ya' = ya + yb + yc + yd */
-        out1 = ((R0 >> 1u) + (T0 >> 1u)) >> 1u;
-        out2 = ((R1 >> 1u) + (T1 >> 1u)) >> 1u;
-
-        pSrc16[i0 * 2u] = out1;
-        pSrc16[(2u * i0) + 1u] = out2;
-
-        /* R0 = (ya + yc) - (yb + yd), R1 = (xa + xc) - (xb + xd) */
-        R0 = (R0 >> 1u) - (T0 >> 1u);
-        R1 = (R1 >> 1u) - (T1 >> 1u);
-
-        /* (ya-yb+yc-yd)* (si2) + (xa-xb+xc-xd)* co2 */
-        out1 = (short) ((Co2 * R0 + Si2 * R1) >> 16u);
-
-        /* (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */
-        out2 = (short) ((-Si2 * R0 + Co2 * R1) >> 16u);
-
-        /*  Reading i0+3fftLen/4 */
-        /* Read yb (real), xb(imag) input */
-        T0 = pSrc16[i1 * 2u];
-        T1 = pSrc16[(i1 * 2u) + 1u];
-
-        /*  writing the butterfly processed i0 + fftLen/4 sample */
-        /* xc' = (xa-xb+xc-xd)* co2 + (ya-yb+yc-yd)* (si2) */
-        /* yc' = (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */
-        pSrc16[i1 * 2u] = out1;
-        pSrc16[(i1 * 2u) + 1u] = out2;
-
-        /*  Butterfly calculations */
-
-        /* Read yd (real), xd(imag) input */
-        U0 = pSrc16[i3 * 2u];
-        U1 = pSrc16[(i3 * 2u) + 1u];
-
-        /* T0 = yb-yd, T1 = xb-xd */
-        T0 = __SSAT(T0 - U0, 16);
-        T1 = __SSAT(T1 - U1, 16);
-
-        /* R0 = (ya-yc) + (xb- xd), R1 = (xa-xc) - (yb-yd)) */
-        R0 = (S0 >> 1u) - (T1 >> 1u);
-        R1 = (S1 >> 1u) + (T0 >> 1u);
-
-        /* S0 = (ya-yc) - (xb- xd), S1 = (xa-xc) + (yb-yd)) */
-        S0 = (S0 >> 1u) + (T1 >> 1u);
-        S1 = (S1 >> 1u) - (T0 >> 1u);
-
-        /*  Butterfly process for the i0+fftLen/2 sample */
-        out1 = (short) ((Co1 * S0 + Si1 * S1) >> 16u);
-
-        out2 = (short) ((-Si1 * S0 + Co1 * S1) >> 16u);
-
-        /* xb' = (xa+yb-xc-yd)* co1 + (ya-xb-yc+xd)* (si1) */
-        /* yb' = (ya-xb-yc+xd)* co1 - (xa+yb-xc-yd)* (si1) */
-        pSrc16[i2 * 2u] = out1;
-        pSrc16[(i2 * 2u) + 1u] = out2;
-
-        /*  Butterfly process for the i0+3fftLen/4 sample */
-        out1 = (short) ((Si3 * R1 + Co3 * R0) >> 16u);
-
-        out2 = (short) ((-Si3 * R0 + Co3 * R1) >> 16u);
-        /* xd' = (xa-yb-xc+yd)* Co3 + (ya+xb-yc-xd)* (si3) */
-        /* yd' = (ya+xb-yc-xd)* Co3 - (xa-yb-xc+yd)* (si3) */
-        pSrc16[i3 * 2u] = out1;
-        pSrc16[(i3 * 2u) + 1u] = out2;
-      }
-    }
-    /*  Twiddle coefficients index modifier */
-    twidCoefModifier <<= 2u;
-  }
-  /* end of middle stage process */
-
-
-  /* data is in 10.6(q6) format for the 1024 point */
-  /* data is in 8.8(q8) format for the 256 point */
-  /* data is in 6.10(q10) format for the 64 point */
-  /* data is in 4.12(q12) format for the 16 point */
-
-  /*  Initializations for the last stage */
-  n1 = n2;
-  n2 >>= 2u;
-
-  /* start of last stage process */
-
-  /*  Butterfly implementation */
-  for (i0 = 0u; i0 <= (fftLen - n1); i0 += n1)
-  {
-    /*  index calculation for the input as, */
-    /*  pSrc16[i0 + 0], pSrc16[i0 + fftLen/4], pSrc16[i0 + fftLen/2], pSrc16[i0 + 3fftLen/4] */
-    i1 = i0 + n2;
-    i2 = i1 + n2;
-    i3 = i2 + n2;
-
-    /*  Reading i0, i0+fftLen/2 inputs */
-    /* Read ya (real), xa(imag) input */
-    T0 = pSrc16[i0 * 2u];
-    T1 = pSrc16[(i0 * 2u) + 1u];
-
-    /* Read yc (real), xc(imag) input */
-    S0 = pSrc16[i2 * 2u];
-    S1 = pSrc16[(i2 * 2u) + 1u];
-
-    /* R0 = (ya + yc), R1 = (xa + xc) */
-    R0 = __SSAT(T0 + S0, 16u);
-    R1 = __SSAT(T1 + S1, 16u);
-
-    /* S0 = (ya - yc), S1 = (xa - xc) */
-    S0 = __SSAT(T0 - S0, 16u);
-    S1 = __SSAT(T1 - S1, 16u);
-
-    /*  Reading i0+fftLen/4 , i0+3fftLen/4 inputs */
-    /* Read yb (real), xb(imag) input */
-    T0 = pSrc16[i1 * 2u];
-    T1 = pSrc16[(i1 * 2u) + 1u];
-    /* Read yd (real), xd(imag) input */
-    U0 = pSrc16[i3 * 2u];
-    U1 = pSrc16[(i3 * 2u) + 1u];
-
-    /* T0 = (yb + yd), T1 = (xb + xd)) */
-    T0 = __SSAT(T0 + U0, 16u);
-    T1 = __SSAT(T1 + U1, 16u);
-
-    /*  writing the butterfly processed i0 sample */
-    /* xa' = xa + xb + xc + xd */
-    /* ya' = ya + yb + yc + yd */
-    pSrc16[i0 * 2u] = (R0 >> 1u) + (T0 >> 1u);
-    pSrc16[(i0 * 2u) + 1u] = (R1 >> 1u) + (T1 >> 1u);
-
-    /* R0 = (ya + yc) - (yb + yd), R1 = (xa + xc) - (xb + xd) */
-    R0 = (R0 >> 1u) - (T0 >> 1u);
-    R1 = (R1 >> 1u) - (T1 >> 1u);
-    /* Read yb (real), xb(imag) input */
-    T0 = pSrc16[i1 * 2u];
-    T1 = pSrc16[(i1 * 2u) + 1u];
-
-    /*  writing the butterfly processed i0 + fftLen/4 sample */
-    /* xc' = (xa-xb+xc-xd) */
-    /* yc' = (ya-yb+yc-yd) */
-    pSrc16[i1 * 2u] = R0;
-    pSrc16[(i1 * 2u) + 1u] = R1;
-
-    /* Read yd (real), xd(imag) input */
-    U0 = pSrc16[i3 * 2u];
-    U1 = pSrc16[(i3 * 2u) + 1u];
-    /* T0 = (yb - yd), T1 = (xb - xd)  */
-    T0 = __SSAT(T0 - U0, 16u);
-    T1 = __SSAT(T1 - U1, 16u);
-
-    /*  writing the butterfly processed i0 + fftLen/2 sample */
-    /* xb' = (xa+yb-xc-yd) */
-    /* yb' = (ya-xb-yc+xd) */
-    pSrc16[i2 * 2u] = (S0 >> 1u) + (T1 >> 1u);
-    pSrc16[(i2 * 2u) + 1u] = (S1 >> 1u) - (T0 >> 1u);
-
-    /*  writing the butterfly processed i0 + 3fftLen/4 sample */
-    /* xd' = (xa-yb-xc+yd) */
-    /* yd' = (ya+xb-yc-xd) */
-    pSrc16[i3 * 2u] = (S0 >> 1u) - (T1 >> 1u);
-    pSrc16[(i3 * 2u) + 1u] = (S1 >> 1u) + (T0 >> 1u);
-
-  }
-
-  /* end of last stage process */
-
-  /* output is in 11.5(q5) format for the 1024 point */
-  /* output is in 9.7(q7) format for the 256 point   */
-  /* output is in 7.9(q9) format for the 64 point  */
-  /* output is in 5.11(q11) format for the 16 point  */
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-}
-
-
-/**    
- * @brief  Core function for the Q15 CIFFT butterfly process.   
- * @param[in, out] *pSrc16          points to the in-place buffer of Q15 data type.   
- * @param[in]      fftLen           length of the FFT.   
- * @param[in]      *pCoef16         points to twiddle coefficient buffer.   
- * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.   
- * @return none.   
- */
-
-/*    
-* Radix-4 IFFT algorithm used is :    
-*    
-* CIFFT uses same twiddle coefficients as CFFT function    
-*  x[k] = x[n] + (j)k * x[n + fftLen/4] + (-1)k * x[n+fftLen/2] + (-j)k * x[n+3*fftLen/4]    
-*    
-*    
-* IFFT is implemented with following changes in equations from FFT    
-*    
-* Input real and imaginary data:    
-* x(n) = xa + j * ya    
-* x(n+N/4 ) = xb + j * yb    
-* x(n+N/2 ) = xc + j * yc    
-* x(n+3N 4) = xd + j * yd    
-*    
-*    
-* Output real and imaginary data:    
-* x(4r) = xa'+ j * ya'    
-* x(4r+1) = xb'+ j * yb'    
-* x(4r+2) = xc'+ j * yc'    
-* x(4r+3) = xd'+ j * yd'    
-*    
-*    
-* Twiddle factors for radix-4 IFFT:    
-* Wn = co1 + j * (si1)    
-* W2n = co2 + j * (si2)    
-* W3n = co3 + j * (si3)    
-    
-* The real and imaginary output values for the radix-4 butterfly are    
-* xa' = xa + xb + xc + xd    
-* ya' = ya + yb + yc + yd    
-* xb' = (xa-yb-xc+yd)* co1 - (ya+xb-yc-xd)* (si1)    
-* yb' = (ya+xb-yc-xd)* co1 + (xa-yb-xc+yd)* (si1)    
-* xc' = (xa-xb+xc-xd)* co2 - (ya-yb+yc-yd)* (si2)    
-* yc' = (ya-yb+yc-yd)* co2 + (xa-xb+xc-xd)* (si2)    
-* xd' = (xa+yb-xc-yd)* co3 - (ya-xb-yc+xd)* (si3)    
-* yd' = (ya-xb-yc+xd)* co3 + (xa+yb-xc-yd)* (si3)    
-*    
-*/
-
-void arm_radix4_butterfly_inverse_q15(
-  q15_t * pSrc16,
-  uint32_t fftLen,
-  q15_t * pCoef16,
-  uint32_t twidCoefModifier)
-{
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  q31_t R, S, T, U;
-  q31_t C1, C2, C3, out1, out2;
-  uint32_t n1, n2, ic, i0, i1, i2, i3, j, k;
-  q15_t in;
-
-  q15_t *ptr1;
-
-
-
-  q31_t xaya, xbyb, xcyc, xdyd;
-
-  /* Total process is divided into three stages */
-
-  /* process first stage, middle stages, & last stage */
-
-  /*  Initializations for the first stage */
-  n2 = fftLen;
-  n1 = n2;
-
-  /* n2 = fftLen/4 */
-  n2 >>= 2u;
-
-  /* Index for twiddle coefficient */
-  ic = 0u;
-
-  /* Index for input read and output write */
-  i0 = 0u;
-  j = n2;
-
-  /* Input is in 1.15(q15) format */
-
-  /*  start of first stage process */
-  do
-  {
-    /*  Butterfly implementation */
-
-    /*  index calculation for the input as, */
-    /*  pSrc16[i0 + 0], pSrc16[i0 + fftLen/4], pSrc16[i0 + fftLen/2], pSrc16[i0 + 3fftLen/4] */
-    i1 = i0 + n2;
-    i2 = i1 + n2;
-    i3 = i2 + n2;
-
-    /*  Reading i0, i0+fftLen/2 inputs */
-    /* Read ya (real), xa(imag) input */
-    T = _SIMD32_OFFSET(pSrc16 + (2u * i0));
-    in = ((int16_t) (T & 0xFFFF)) >> 2;
-    T = ((T >> 2) & 0xFFFF0000) | (in & 0xFFFF);
-
-    /* Read yc (real), xc(imag) input */
-    S = _SIMD32_OFFSET(pSrc16 + (2u * i2));
-    in = ((int16_t) (S & 0xFFFF)) >> 2;
-    S = ((S >> 2) & 0xFFFF0000) | (in & 0xFFFF);
-
-    /* R = packed((ya + yc), (xa + xc) ) */
-    R = __QADD16(T, S);
-
-    /* S = packed((ya - yc), (xa - xc) ) */
-    S = __QSUB16(T, S);
-
-    /*  Reading i0+fftLen/4 , i0+3fftLen/4 inputs */
-    /* Read yb (real), xb(imag) input */
-    T = _SIMD32_OFFSET(pSrc16 + (2u * i1));
-    in = ((int16_t) (T & 0xFFFF)) >> 2;
-    T = ((T >> 2) & 0xFFFF0000) | (in & 0xFFFF);
-
-    /* Read yd (real), xd(imag) input */
-    U = _SIMD32_OFFSET(pSrc16 + (2u * i3));
-    in = ((int16_t) (U & 0xFFFF)) >> 2;
-    U = ((U >> 2) & 0xFFFF0000) | (in & 0xFFFF);
-
-    /* T = packed((yb + yd), (xb + xd) ) */
-    T = __QADD16(T, U);
-
-    /*  writing the butterfly processed i0 sample */
-    /* xa' = xa + xb + xc + xd */
-    /* ya' = ya + yb + yc + yd */
-    _SIMD32_OFFSET(pSrc16 + (2u * i0)) = __SHADD16(R, T);
-
-    /* R = packed((ya + yc) - (yb + yd), (xa + xc)- (xb + xd)) */
-    R = __QSUB16(R, T);
-
-    /* co2 & si2 are read from SIMD Coefficient pointer */
-    C2 = _SIMD32_OFFSET(pCoef16 + (4u * ic));
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-    /* xc' = (xa-xb+xc-xd)* co2 + (ya-yb+yc-yd)* (si2) */
-    out1 = __SMUSD(C2, R) >> 16u;
-    /* yc' = (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */
-    out2 = __SMUADX(C2, R);
-
-#else
-
-    /* xc' = (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */
-    out1 = __SMUADX(C2, R) >> 16u;
-    /* yc' = (xa-xb+xc-xd)* co2 + (ya-yb+yc-yd)* (si2) */
-    out2 = __SMUSD(__QSUB16(0, C2), R);
-
-#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
-
-    /*  Reading i0+fftLen/4 */
-    /* T = packed(yb, xb) */
-    T = _SIMD32_OFFSET(pSrc16 + (2u * i1));
-    in = ((int16_t) (T & 0xFFFF)) >> 2;
-    T = ((T >> 2) & 0xFFFF0000) | (in & 0xFFFF);
-
-    /* writing the butterfly processed i0 + fftLen/4 sample */
-    /* writing output(xc', yc') in little endian format */
-    _SIMD32_OFFSET(pSrc16 + (2u * i1)) =
-      (q31_t) ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);
-
-    /*  Butterfly calculations */
-    /* U = packed(yd, xd) */
-    U = _SIMD32_OFFSET(pSrc16 + (2u * i3));
-    in = ((int16_t) (U & 0xFFFF)) >> 2;
-    U = ((U >> 2) & 0xFFFF0000) | (in & 0xFFFF);
-
-    /* T = packed(yb-yd, xb-xd) */
-    T = __QSUB16(T, U);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-    /* R = packed((ya-yc) + (xb- xd) , (xa-xc) - (yb-yd)) */
-    R = __QSAX(S, T);
-    /* S = packed((ya-yc) + (xb- xd),  (xa-xc) - (yb-yd)) */
-    S = __QASX(S, T);
-
-#else
-
-    /* R = packed((ya-yc) + (xb- xd) , (xa-xc) - (yb-yd)) */
-    R = __QASX(S, T);
-    /* S = packed((ya-yc) - (xb- xd),  (xa-xc) + (yb-yd)) */
-    S = __QSAX(S, T);
-
-#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
-
-    /* co1 & si1 are read from SIMD Coefficient pointer */
-    C1 = _SIMD32_OFFSET(pCoef16 + (2u * ic));
-    /*  Butterfly process for the i0+fftLen/2 sample */
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-    /* xb' = (xa+yb-xc-yd)* co1 + (ya-xb-yc+xd)* (si1) */
-    out1 = __SMUSD(C1, S) >> 16u;
-    /* yb' = (ya-xb-yc+xd)* co1 - (xa+yb-xc-yd)* (si1) */
-    out2 = __SMUADX(C1, S);
-
-#else
-
-    /* xb' = (ya-xb-yc+xd)* co1 - (xa+yb-xc-yd)* (si1) */
-    out1 = __SMUADX(C1, S) >> 16u;
-    /* yb' = (xa+yb-xc-yd)* co1 + (ya-xb-yc+xd)* (si1) */
-    out2 = __SMUSD(__QSUB16(0, C1), S);
-
-#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
-
-    /* writing output(xb', yb') in little endian format */
-    _SIMD32_OFFSET(pSrc16 + (2u * i2)) =
-      ((out2) & 0xFFFF0000) | ((out1) & 0x0000FFFF);
-
-
-    /* co3 & si3 are read from SIMD Coefficient pointer */
-    C3 = _SIMD32_OFFSET(pCoef16 + (6u * ic));
-    /*  Butterfly process for the i0+3fftLen/4 sample */
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-    /* xd' = (xa-yb-xc+yd)* co3 + (ya+xb-yc-xd)* (si3) */
-    out1 = __SMUSD(C3, R) >> 16u;
-    /* yd' = (ya+xb-yc-xd)* co3 - (xa-yb-xc+yd)* (si3) */
-    out2 = __SMUADX(C3, R);
-
-#else
-
-    /* xd' = (ya+xb-yc-xd)* co3 - (xa-yb-xc+yd)* (si3) */
-    out1 = __SMUADX(C3, R) >> 16u;
-    /* yd' = (xa-yb-xc+yd)* co3 + (ya+xb-yc-xd)* (si3) */
-    out2 = __SMUSD(__QSUB16(0, C3), R);
-
-#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
-
-    /* writing output(xd', yd') in little endian format */
-    _SIMD32_OFFSET(pSrc16 + (2u * i3)) =
-      ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);
-
-    /*  Twiddle coefficients index modifier */
-    ic = ic + twidCoefModifier;
-
-    /*  Updating input index */
-    i0 = i0 + 1u;
-
-  } while(--j);
-  /* data is in 4.11(q11) format */
-
-  /* end of first stage process */
-
-
-  /* start of middle stage process */
-
-  /*  Twiddle coefficients index modifier */
-  twidCoefModifier <<= 2u;
-
-  /*  Calculation of Middle stage */
-  for (k = fftLen / 4u; k > 4u; k >>= 2u)
-  {
-    /*  Initializations for the middle stage */
-    n1 = n2;
-    n2 >>= 2u;
-    ic = 0u;
-
-    for (j = 0u; j <= (n2 - 1u); j++)
-    {
-      /*  index calculation for the coefficients */
-      C1 = _SIMD32_OFFSET(pCoef16 + (2u * ic));
-      C2 = _SIMD32_OFFSET(pCoef16 + (4u * ic));
-      C3 = _SIMD32_OFFSET(pCoef16 + (6u * ic));
-
-      /*  Twiddle coefficients index modifier */
-      ic = ic + twidCoefModifier;
-
-      /*  Butterfly implementation */
-      for (i0 = j; i0 < fftLen; i0 += n1)
-      {
-        /*  index calculation for the input as, */
-        /*  pSrc16[i0 + 0], pSrc16[i0 + fftLen/4], pSrc16[i0 + fftLen/2], pSrc16[i0 + 3fftLen/4] */
-        i1 = i0 + n2;
-        i2 = i1 + n2;
-        i3 = i2 + n2;
-
-        /*  Reading i0, i0+fftLen/2 inputs */
-        /* Read ya (real), xa(imag) input */
-        T = _SIMD32_OFFSET(pSrc16 + (2u * i0));
-
-        /* Read yc (real), xc(imag) input */
-        S = _SIMD32_OFFSET(pSrc16 + (2u * i2));
-
-        /* R = packed( (ya + yc), (xa + xc)) */
-        R = __QADD16(T, S);
-
-        /* S = packed((ya - yc), (xa - xc)) */
-        S = __QSUB16(T, S);
-
-        /*  Reading i0+fftLen/4 , i0+3fftLen/4 inputs */
-        /* Read yb (real), xb(imag) input */
-        T = _SIMD32_OFFSET(pSrc16 + (2u * i1));
-
-        /* Read yd (real), xd(imag) input */
-        U = _SIMD32_OFFSET(pSrc16 + (2u * i3));
-
-        /* T = packed( (yb + yd), (xb + xd)) */
-        T = __QADD16(T, U);
-
-        /*  writing the butterfly processed i0 sample */
-
-        /* xa' = xa + xb + xc + xd */
-        /* ya' = ya + yb + yc + yd */
-        out1 = __SHADD16(R, T);
-        in = ((int16_t) (out1 & 0xFFFF)) >> 1;
-        out1 = ((out1 >> 1) & 0xFFFF0000) | (in & 0xFFFF);
-        _SIMD32_OFFSET(pSrc16 + (2u * i0)) = out1;
-
-        /* R = packed( (ya + yc) - (yb + yd), (xa + xc) - (xb + xd)) */
-        R = __SHSUB16(R, T);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-        /* (ya-yb+yc-yd)* (si2) + (xa-xb+xc-xd)* co2 */
-        out1 = __SMUSD(C2, R) >> 16u;
-
-        /* (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */
-        out2 = __SMUADX(C2, R);
-
-#else
-
-        /* (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */
-        out1 = __SMUADX(R, C2) >> 16u;
-
-        /* (ya-yb+yc-yd)* (si2) + (xa-xb+xc-xd)* co2 */
-        out2 = __SMUSD(__QSUB16(0, C2), R);
-
-#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
-
-        /*  Reading i0+3fftLen/4 */
-        /* Read yb (real), xb(imag) input */
-        T = _SIMD32_OFFSET(pSrc16 + (2u * i1));
-
-        /*  writing the butterfly processed i0 + fftLen/4 sample */
-        /* xc' = (xa-xb+xc-xd)* co2 + (ya-yb+yc-yd)* (si2) */
-        /* yc' = (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */
-        _SIMD32_OFFSET(pSrc16 + (2u * i1)) =
-          ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);
-
-        /*  Butterfly calculations */
-
-        /* Read yd (real), xd(imag) input */
-        U = _SIMD32_OFFSET(pSrc16 + (2u * i3));
-
-        /* T = packed(yb-yd, xb-xd) */
-        T = __QSUB16(T, U);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-        /* R = packed((ya-yc) + (xb- xd) , (xa-xc) - (yb-yd)) */
-        R = __SHSAX(S, T);
-
-        /* S = packed((ya-yc) - (xb- xd),  (xa-xc) + (yb-yd)) */
-        S = __SHASX(S, T);
-
-
-        /*  Butterfly process for the i0+fftLen/2 sample */
-        out1 = __SMUSD(C1, S) >> 16u;
-        out2 = __SMUADX(C1, S);
-
-#else
-
-        /* R = packed((ya-yc) + (xb- xd) , (xa-xc) - (yb-yd)) */
-        R = __SHASX(S, T);
-
-        /* S = packed((ya-yc) - (xb- xd),  (xa-xc) + (yb-yd)) */
-        S = __SHSAX(S, T);
-
-
-        /*  Butterfly process for the i0+fftLen/2 sample */
-        out1 = __SMUADX(S, C1) >> 16u;
-        out2 = __SMUSD(__QSUB16(0, C1), S);
-
-#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
-
-        /* xb' = (xa+yb-xc-yd)* co1 + (ya-xb-yc+xd)* (si1) */
-        /* yb' = (ya-xb-yc+xd)* co1 - (xa+yb-xc-yd)* (si1) */
-        _SIMD32_OFFSET(pSrc16 + (2u * i2)) =
-          ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);
-
-        /*  Butterfly process for the i0+3fftLen/4 sample */
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-        out1 = __SMUSD(C3, R) >> 16u;
-        out2 = __SMUADX(C3, R);
-
-#else
-
-        out1 = __SMUADX(C3, R) >> 16u;
-        out2 = __SMUSD(__QSUB16(0, C3), R);
-
-#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
-
-        /* xd' = (xa-yb-xc+yd)* co3 + (ya+xb-yc-xd)* (si3) */
-        /* yd' = (ya+xb-yc-xd)* co3 - (xa-yb-xc+yd)* (si3) */
-        _SIMD32_OFFSET(pSrc16 + (2u * i3)) =
-          ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);
-      }
-    }
-    /*  Twiddle coefficients index modifier */
-    twidCoefModifier <<= 2u;
-  }
-  /* end of middle stage process */
-
-  /* data is in 10.6(q6) format for the 1024 point */
-  /* data is in 8.8(q8) format for the 256 point */
-  /* data is in 6.10(q10) format for the 64 point */
-  /* data is in 4.12(q12) format for the 16 point */
-
-  /*  Initializations for the last stage */
-  j = fftLen >> 2;
-
-  ptr1 = &pSrc16[0];
-
-  /* start of last stage process */
-
-  /*  Butterfly implementation */
-  do
-  {
-    /* Read xa (real), ya(imag) input */
-    xaya = *__SIMD32(ptr1)++;
-
-    /* Read xb (real), yb(imag) input */
-    xbyb = *__SIMD32(ptr1)++;
-
-    /* Read xc (real), yc(imag) input */
-    xcyc = *__SIMD32(ptr1)++;
-
-    /* Read xd (real), yd(imag) input */
-    xdyd = *__SIMD32(ptr1)++;
-
-    /* R = packed((ya + yc), (xa + xc)) */
-    R = __QADD16(xaya, xcyc);
-
-    /* T = packed((yb + yd), (xb + xd)) */
-    T = __QADD16(xbyb, xdyd);
-
-    /* pointer updation for writing */
-    ptr1 = ptr1 - 8u;
-
-
-    /* xa' = xa + xb + xc + xd */
-    /* ya' = ya + yb + yc + yd */
-    *__SIMD32(ptr1)++ = __SHADD16(R, T);
-
-    /* T = packed((yb + yd), (xb + xd)) */
-    T = __QADD16(xbyb, xdyd);
-
-    /* xc' = (xa-xb+xc-xd) */
-    /* yc' = (ya-yb+yc-yd) */
-    *__SIMD32(ptr1)++ = __SHSUB16(R, T);
-
-    /* S = packed((ya - yc), (xa - xc)) */
-    S = __QSUB16(xaya, xcyc);
-
-    /* Read yd (real), xd(imag) input */
-    /* T = packed( (yb - yd), (xb - xd))  */
-    U = __QSUB16(xbyb, xdyd);
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-    /* xb' = (xa+yb-xc-yd) */
-    /* yb' = (ya-xb-yc+xd) */
-    *__SIMD32(ptr1)++ = __SHASX(S, U);
-
-
-    /* xd' = (xa-yb-xc+yd) */
-    /* yd' = (ya+xb-yc-xd) */
-    *__SIMD32(ptr1)++ = __SHSAX(S, U);
-
-#else
-
-    /* xb' = (xa+yb-xc-yd) */
-    /* yb' = (ya-xb-yc+xd) */
-    *__SIMD32(ptr1)++ = __SHSAX(S, U);
-
-
-    /* xd' = (xa-yb-xc+yd) */
-    /* yd' = (ya+xb-yc-xd) */
-    *__SIMD32(ptr1)++ = __SHASX(S, U);
-
-
-#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
-
-  } while(--j);
-
-  /* end of last stage  process */
-
-  /* output is in 11.5(q5) format for the 1024 point */
-  /* output is in 9.7(q7) format for the 256 point   */
-  /* output is in 7.9(q9) format for the 64 point  */
-  /* output is in 5.11(q11) format for the 16 point  */
-
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  q15_t R0, R1, S0, S1, T0, T1, U0, U1;
-  q15_t Co1, Si1, Co2, Si2, Co3, Si3, out1, out2;
-  uint32_t n1, n2, ic, i0, i1, i2, i3, j, k;
-
-  /* Total process is divided into three stages */
-
-  /* process first stage, middle stages, & last stage */
-
-  /*  Initializations for the first stage */
-  n2 = fftLen;
-  n1 = n2;
-
-  /* n2 = fftLen/4 */
-  n2 >>= 2u;
-
-  /* Index for twiddle coefficient */
-  ic = 0u;
-
-  /* Index for input read and output write */
-  i0 = 0u;
-
-  j = n2;
-
-  /* Input is in 1.15(q15) format */
-
-  /*  Start of first stage process */
-  do
-  {
-    /*  Butterfly implementation */
-
-    /*  index calculation for the input as, */
-    /*  pSrc16[i0 + 0], pSrc16[i0 + fftLen/4], pSrc16[i0 + fftLen/2], pSrc16[i0 + 3fftLen/4] */
-    i1 = i0 + n2;
-    i2 = i1 + n2;
-    i3 = i2 + n2;
-
-    /*  Reading i0, i0+fftLen/2 inputs */
-    /* input is down scale by 4 to avoid overflow */
-    /* Read ya (real), xa(imag) input */
-    T0 = pSrc16[i0 * 2u] >> 2u;
-    T1 = pSrc16[(i0 * 2u) + 1u] >> 2u;
-    /* input is down scale by 4 to avoid overflow */
-    /* Read yc (real), xc(imag) input */
-    S0 = pSrc16[i2 * 2u] >> 2u;
-    S1 = pSrc16[(i2 * 2u) + 1u] >> 2u;
-
-    /* R0 = (ya + yc), R1 = (xa + xc) */
-    R0 = __SSAT(T0 + S0, 16u);
-    R1 = __SSAT(T1 + S1, 16u);
-    /* S0 = (ya - yc), S1 = (xa - xc) */
-    S0 = __SSAT(T0 - S0, 16u);
-    S1 = __SSAT(T1 - S1, 16u);
-
-    /*  Reading i0+fftLen/4 , i0+3fftLen/4 inputs */
-    /* input is down scale by 4 to avoid overflow */
-    /* Read yb (real), xb(imag) input */
-    T0 = pSrc16[i1 * 2u] >> 2u;
-    T1 = pSrc16[(i1 * 2u) + 1u] >> 2u;
-    /* Read yd (real), xd(imag) input */
-    /* input is down scale by 4 to avoid overflow */
-    U0 = pSrc16[i3 * 2u] >> 2u;
-    U1 = pSrc16[(i3 * 2u) + 1u] >> 2u;
-
-    /* T0 = (yb + yd), T1 = (xb + xd) */
-    T0 = __SSAT(T0 + U0, 16u);
-    T1 = __SSAT(T1 + U1, 16u);
-
-    /*  writing the butterfly processed i0 sample */
-    /* xa' = xa + xb + xc + xd */
-    /* ya' = ya + yb + yc + yd */
-    pSrc16[i0 * 2u] = (R0 >> 1u) + (T0 >> 1u);
-    pSrc16[(i0 * 2u) + 1u] = (R1 >> 1u) + (T1 >> 1u);
-
-    /* R0 = (ya + yc) - (yb + yd), R1 = (xa + xc)- (xb + xd) */
-    R0 = __SSAT(R0 - T0, 16u);
-    R1 = __SSAT(R1 - T1, 16u);
-    /* co2 & si2 are read from Coefficient pointer */
-    Co2 = pCoef16[2u * ic * 2u];
-    Si2 = pCoef16[(2u * ic * 2u) + 1u];
-    /* xc' = (xa-xb+xc-xd)* co2 - (ya-yb+yc-yd)* (si2) */
-    out1 = (short) ((Co2 * R0 - Si2 * R1) >> 16u);
-    /* yc' = (ya-yb+yc-yd)* co2 + (xa-xb+xc-xd)* (si2) */
-    out2 = (short) ((Si2 * R0 + Co2 * R1) >> 16u);
-
-    /*  Reading i0+fftLen/4 */
-    /* input is down scale by 4 to avoid overflow */
-    /* T0 = yb, T1 = xb */
-    T0 = pSrc16[i1 * 2u] >> 2u;
-    T1 = pSrc16[(i1 * 2u) + 1u] >> 2u;
-
-    /* writing the butterfly processed i0 + fftLen/4 sample */
-    /* writing output(xc', yc') in little endian format */
-    pSrc16[i1 * 2u] = out1;
-    pSrc16[(i1 * 2u) + 1u] = out2;
-
-    /*  Butterfly calculations */
-    /* input is down scale by 4 to avoid overflow */
-    /* U0 = yd, U1 = xd) */
-    U0 = pSrc16[i3 * 2u] >> 2u;
-    U1 = pSrc16[(i3 * 2u) + 1u] >> 2u;
-
-    /* T0 = yb-yd, T1 = xb-xd) */
-    T0 = __SSAT(T0 - U0, 16u);
-    T1 = __SSAT(T1 - U1, 16u);
-    /* R0 = (ya-yc) - (xb- xd) , R1 = (xa-xc) + (yb-yd) */
-    R0 = (short) __SSAT((q31_t) (S0 + T1), 16);
-    R1 = (short) __SSAT((q31_t) (S1 - T0), 16);
-    /* S = (ya-yc) + (xb- xd), S1 = (xa-xc) - (yb-yd) */
-    S0 = (short) __SSAT((q31_t) (S0 - T1), 16);
-    S1 = (short) __SSAT((q31_t) (S1 + T0), 16);
-
-    /* co1 & si1 are read from Coefficient pointer */
-    Co1 = pCoef16[ic * 2u];
-    Si1 = pCoef16[(ic * 2u) + 1u];
-    /*  Butterfly process for the i0+fftLen/2 sample */
-    /* xb' = (xa-yb-xc+yd)* co1 - (ya+xb-yc-xd)* (si1) */
-    out1 = (short) ((Co1 * S0 - Si1 * S1) >> 16u);
-    /* yb' = (ya+xb-yc-xd)* co1 + (xa-yb-xc+yd)* (si1) */
-    out2 = (short) ((Si1 * S0 + Co1 * S1) >> 16u);
-    /* writing output(xb', yb') in little endian format */
-    pSrc16[i2 * 2u] = out1;
-    pSrc16[(i2 * 2u) + 1u] = out2;
-
-    /* Co3 & si3 are read from Coefficient pointer */
-    Co3 = pCoef16[3u * ic * 2u];
-    Si3 = pCoef16[(3u * ic * 2u) + 1u];
-    /*  Butterfly process for the i0+3fftLen/4 sample */
-    /* xd' = (xa+yb-xc-yd)* Co3 - (ya-xb-yc+xd)* (si3) */
-    out1 = (short) ((Co3 * R0 - Si3 * R1) >> 16u);
-    /* yd' = (ya-xb-yc+xd)* Co3 + (xa+yb-xc-yd)* (si3) */
-    out2 = (short) ((Si3 * R0 + Co3 * R1) >> 16u);
-    /* writing output(xd', yd') in little endian format */
-    pSrc16[i3 * 2u] = out1;
-    pSrc16[(i3 * 2u) + 1u] = out2;
-
-    /*  Twiddle coefficients index modifier */
-    ic = ic + twidCoefModifier;
-
-    /*  Updating input index */
-    i0 = i0 + 1u;
-
-  } while(--j);
-
-  /*  End of first stage process */
-
-  /* data is in 4.11(q11) format */
-
-
-  /*  Start of Middle stage process */
-
-  /*  Twiddle coefficients index modifier */
-  twidCoefModifier <<= 2u;
-
-  /*  Calculation of Middle stage */
-  for (k = fftLen / 4u; k > 4u; k >>= 2u)
-  {
-    /*  Initializations for the middle stage */
-    n1 = n2;
-    n2 >>= 2u;
-    ic = 0u;
-
-    for (j = 0u; j <= (n2 - 1u); j++)
-    {
-      /*  index calculation for the coefficients */
-      Co1 = pCoef16[ic * 2u];
-      Si1 = pCoef16[(ic * 2u) + 1u];
-      Co2 = pCoef16[2u * ic * 2u];
-      Si2 = pCoef16[2u * ic * 2u + 1u];
-      Co3 = pCoef16[3u * ic * 2u];
-      Si3 = pCoef16[(3u * ic * 2u) + 1u];
-
-      /*  Twiddle coefficients index modifier */
-      ic = ic + twidCoefModifier;
-
-      /*  Butterfly implementation */
-      for (i0 = j; i0 < fftLen; i0 += n1)
-      {
-        /*  index calculation for the input as, */
-        /*  pSrc16[i0 + 0], pSrc16[i0 + fftLen/4], pSrc16[i0 + fftLen/2], pSrc16[i0 + 3fftLen/4] */
-        i1 = i0 + n2;
-        i2 = i1 + n2;
-        i3 = i2 + n2;
-
-        /*  Reading i0, i0+fftLen/2 inputs */
-        /* Read ya (real), xa(imag) input */
-        T0 = pSrc16[i0 * 2u];
-        T1 = pSrc16[(i0 * 2u) + 1u];
-
-        /* Read yc (real), xc(imag) input */
-        S0 = pSrc16[i2 * 2u];
-        S1 = pSrc16[(i2 * 2u) + 1u];
-
-
-        /* R0 = (ya + yc), R1 = (xa + xc) */
-        R0 = __SSAT(T0 + S0, 16u);
-        R1 = __SSAT(T1 + S1, 16u);
-        /* S0 = (ya - yc), S1 = (xa - xc) */
-        S0 = __SSAT(T0 - S0, 16u);
-        S1 = __SSAT(T1 - S1, 16u);
-
-        /*  Reading i0+fftLen/4 , i0+3fftLen/4 inputs */
-        /* Read yb (real), xb(imag) input */
-        T0 = pSrc16[i1 * 2u];
-        T1 = pSrc16[(i1 * 2u) + 1u];
-
-        /* Read yd (real), xd(imag) input */
-        U0 = pSrc16[i3 * 2u];
-        U1 = pSrc16[(i3 * 2u) + 1u];
-
-        /* T0 = (yb + yd), T1 = (xb + xd) */
-        T0 = __SSAT(T0 + U0, 16u);
-        T1 = __SSAT(T1 + U1, 16u);
-
-        /*  writing the butterfly processed i0 sample */
-        /* xa' = xa + xb + xc + xd */
-        /* ya' = ya + yb + yc + yd */
-        pSrc16[i0 * 2u] = ((R0 >> 1u) + (T0 >> 1u)) >> 1u;
-        pSrc16[(i0 * 2u) + 1u] = ((R1 >> 1u) + (T1 >> 1u)) >> 1u;
-
-        /* R0 = (ya + yc) - (yb + yd), R1 = (xa + xc) - (xb + xd) */
-        R0 = (R0 >> 1u) - (T0 >> 1u);
-        R1 = (R1 >> 1u) - (T1 >> 1u);
-
-        /* (ya-yb+yc-yd)* (si2) - (xa-xb+xc-xd)* co2 */
-        out1 = (short) ((Co2 * R0 - Si2 * R1) >> 16);
-        /* (ya-yb+yc-yd)* co2 + (xa-xb+xc-xd)* (si2) */
-        out2 = (short) ((Si2 * R0 + Co2 * R1) >> 16);
-
-        /*  Reading i0+3fftLen/4 */
-        /* Read yb (real), xb(imag) input */
-        T0 = pSrc16[i1 * 2u];
-        T1 = pSrc16[(i1 * 2u) + 1u];
-
-        /*  writing the butterfly processed i0 + fftLen/4 sample */
-        /* xc' = (xa-xb+xc-xd)* co2 - (ya-yb+yc-yd)* (si2) */
-        /* yc' = (ya-yb+yc-yd)* co2 + (xa-xb+xc-xd)* (si2) */
-        pSrc16[i1 * 2u] = out1;
-        pSrc16[(i1 * 2u) + 1u] = out2;
-
-        /*  Butterfly calculations */
-        /* Read yd (real), xd(imag) input */
-        U0 = pSrc16[i3 * 2u];
-        U1 = pSrc16[(i3 * 2u) + 1u];
-
-        /* T0 = yb-yd, T1 = xb-xd) */
-        T0 = __SSAT(T0 - U0, 16u);
-        T1 = __SSAT(T1 - U1, 16u);
-
-        /* R0 = (ya-yc) - (xb- xd) , R1 = (xa-xc) + (yb-yd) */
-        R0 = (S0 >> 1u) + (T1 >> 1u);
-        R1 = (S1 >> 1u) - (T0 >> 1u);
-
-        /* S1 = (ya-yc) + (xb- xd), S1 = (xa-xc) - (yb-yd) */
-        S0 = (S0 >> 1u) - (T1 >> 1u);
-        S1 = (S1 >> 1u) + (T0 >> 1u);
-
-        /*  Butterfly process for the i0+fftLen/2 sample */
-        out1 = (short) ((Co1 * S0 - Si1 * S1) >> 16u);
-        out2 = (short) ((Si1 * S0 + Co1 * S1) >> 16u);
-        /* xb' = (xa-yb-xc+yd)* co1 - (ya+xb-yc-xd)* (si1) */
-        /* yb' = (ya+xb-yc-xd)* co1 + (xa-yb-xc+yd)* (si1) */
-        pSrc16[i2 * 2u] = out1;
-        pSrc16[(i2 * 2u) + 1u] = out2;
-
-        /*  Butterfly process for the i0+3fftLen/4 sample */
-        out1 = (short) ((Co3 * R0 - Si3 * R1) >> 16u);
-
-        out2 = (short) ((Si3 * R0 + Co3 * R1) >> 16u);
-        /* xd' = (xa+yb-xc-yd)* Co3 - (ya-xb-yc+xd)* (si3) */
-        /* yd' = (ya-xb-yc+xd)* Co3 + (xa+yb-xc-yd)* (si3) */
-        pSrc16[i3 * 2u] = out1;
-        pSrc16[(i3 * 2u) + 1u] = out2;
-
-
-      }
-    }
-    /*  Twiddle coefficients index modifier */
-    twidCoefModifier <<= 2u;
-  }
-  /*  End of Middle stages process */
-
-
-  /* data is in 10.6(q6) format for the 1024 point */
-  /* data is in 8.8(q8) format for the 256 point   */
-  /* data is in 6.10(q10) format for the 64 point  */
-  /* data is in 4.12(q12) format for the 16 point  */
-
-  /* start of last stage process */
-
-
-  /*  Initializations for the last stage */
-  n1 = n2;
-  n2 >>= 2u;
-
-  /*  Butterfly implementation */
-  for (i0 = 0u; i0 <= (fftLen - n1); i0 += n1)
-  {
-    /*  index calculation for the input as, */
-    /*  pSrc16[i0 + 0], pSrc16[i0 + fftLen/4], pSrc16[i0 + fftLen/2], pSrc16[i0 + 3fftLen/4] */
-    i1 = i0 + n2;
-    i2 = i1 + n2;
-    i3 = i2 + n2;
-
-    /*  Reading i0, i0+fftLen/2 inputs */
-    /* Read ya (real), xa(imag) input */
-    T0 = pSrc16[i0 * 2u];
-    T1 = pSrc16[(i0 * 2u) + 1u];
-    /* Read yc (real), xc(imag) input */
-    S0 = pSrc16[i2 * 2u];
-    S1 = pSrc16[(i2 * 2u) + 1u];
-
-    /* R0 = (ya + yc), R1 = (xa + xc) */
-    R0 = __SSAT(T0 + S0, 16u);
-    R1 = __SSAT(T1 + S1, 16u);
-    /* S0 = (ya - yc), S1 = (xa - xc) */
-    S0 = __SSAT(T0 - S0, 16u);
-    S1 = __SSAT(T1 - S1, 16u);
-
-    /*  Reading i0+fftLen/4 , i0+3fftLen/4 inputs */
-    /* Read yb (real), xb(imag) input */
-    T0 = pSrc16[i1 * 2u];
-    T1 = pSrc16[(i1 * 2u) + 1u];
-    /* Read yd (real), xd(imag) input */
-    U0 = pSrc16[i3 * 2u];
-    U1 = pSrc16[(i3 * 2u) + 1u];
-
-    /* T0 = (yb + yd), T1 = (xb + xd) */
-    T0 = __SSAT(T0 + U0, 16u);
-    T1 = __SSAT(T1 + U1, 16u);
-
-    /*  writing the butterfly processed i0 sample */
-    /* xa' = xa + xb + xc + xd */
-    /* ya' = ya + yb + yc + yd */
-    pSrc16[i0 * 2u] = (R0 >> 1u) + (T0 >> 1u);
-    pSrc16[(i0 * 2u) + 1u] = (R1 >> 1u) + (T1 >> 1u);
-
-    /* R0 = (ya + yc) - (yb + yd), R1 = (xa + xc) - (xb + xd) */
-    R0 = (R0 >> 1u) - (T0 >> 1u);
-    R1 = (R1 >> 1u) - (T1 >> 1u);
-
-    /* Read yb (real), xb(imag) input */
-    T0 = pSrc16[i1 * 2u];
-    T1 = pSrc16[(i1 * 2u) + 1u];
-
-    /*  writing the butterfly processed i0 + fftLen/4 sample */
-    /* xc' = (xa-xb+xc-xd) */
-    /* yc' = (ya-yb+yc-yd) */
-    pSrc16[i1 * 2u] = R0;
-    pSrc16[(i1 * 2u) + 1u] = R1;
-
-    /* Read yd (real), xd(imag) input */
-    U0 = pSrc16[i3 * 2u];
-    U1 = pSrc16[(i3 * 2u) + 1u];
-    /* T0 = (yb - yd), T1 = (xb - xd) */
-    T0 = __SSAT(T0 - U0, 16u);
-    T1 = __SSAT(T1 - U1, 16u);
-
-    /*  writing the butterfly processed i0 + fftLen/2 sample */
-    /* xb' = (xa-yb-xc+yd) */
-    /* yb' = (ya+xb-yc-xd) */
-    pSrc16[i2 * 2u] = (S0 >> 1u) - (T1 >> 1u);
-    pSrc16[(i2 * 2u) + 1u] = (S1 >> 1u) + (T0 >> 1u);
-
-
-    /*  writing the butterfly processed i0 + 3fftLen/4 sample */
-    /* xd' = (xa+yb-xc-yd) */
-    /* yd' = (ya-xb-yc+xd) */
-    pSrc16[i3 * 2u] = (S0 >> 1u) + (T1 >> 1u);
-    pSrc16[(i3 * 2u) + 1u] = (S1 >> 1u) - (T0 >> 1u);
-  }
-  /* end of last stage  process */
-
-  /* output is in 11.5(q5) format for the 1024 point */
-  /* output is in 9.7(q7) format for the 256 point   */
-  /* output is in 7.9(q9) format for the 64 point  */
-  /* output is in 5.11(q11) format for the 16 point  */
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-}
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_q31.c
deleted file mode 100644
index 3a5c523df..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_q31.c
+++ /dev/null
@@ -1,891 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_cfft_radix4_q31.c    
-*    
-* Description:	This file has function definition of Radix-4 FFT & IFFT function and    
-*				In-place bit reversal using bit reversal table    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-*    
-* Version 0.0.5  2010/04/26     
-* 	 incorporated review comments and updated with latest CMSIS layer    
-*    
-* Version 0.0.3  2010/03/10     
-*    Initial version    
-* -------------------------------------------------------------------- */
-#include "arm_math.h"
-
-
-/**    
- * @ingroup groupTransforms    
- */
-
-/**    
- * @addtogroup Radix4_CFFT_CIFFT    
- * @{    
- */
-
-/**    
- * @details    
- * @brief Processing function for the Q31 CFFT/CIFFT.    
- * @param[in]      *S    points to an instance of the Q31 CFFT/CIFFT structure.   
- * @param[in, out] *pSrc points to the complex data buffer of size 2*fftLen. Processing occurs in-place.   
- * @return none.    
- *     
- * \par Input and output formats:    
- * \par    
- * Internally input is downscaled by 2 for every stage to avoid saturations inside CFFT/CIFFT process.   
- * Hence the output format is different for different FFT sizes.    
- * The input and output formats for different FFT sizes and number of bits to upscale are mentioned in the tables below for CFFT and CIFFT:   
- * \par   
- * \image html CFFTQ31.gif "Input and Output Formats for Q31 CFFT"    
- * \image html CIFFTQ31.gif "Input and Output Formats for Q31 CIFFT"    
- *    
- */
-
-void arm_cfft_radix4_q31(
-  const arm_cfft_radix4_instance_q31 * S,
-  q31_t * pSrc)
-{
-  if(S->ifftFlag == 1u)
-  {
-    /* Complex IFFT radix-4 */
-    arm_radix4_butterfly_inverse_q31(pSrc, S->fftLen, S->pTwiddle,
-                                     S->twidCoefModifier);
-  }
-  else
-  {
-    /* Complex FFT radix-4 */
-    arm_radix4_butterfly_q31(pSrc, S->fftLen, S->pTwiddle,
-                             S->twidCoefModifier);
-  }
-
-
-  if(S->bitReverseFlag == 1u)
-  {
-    /*  Bit Reversal */
-    arm_bitreversal_q31(pSrc, S->fftLen, S->bitRevFactor, S->pBitRevTable);
-  }
-
-}
-
-/**    
- * @} end of Radix4_CFFT_CIFFT group    
- */
-
-/*    
-* Radix-4 FFT algorithm used is :    
-*    
-* Input real and imaginary data:    
-* x(n) = xa + j * ya    
-* x(n+N/4 ) = xb + j * yb    
-* x(n+N/2 ) = xc + j * yc    
-* x(n+3N 4) = xd + j * yd    
-*    
-*    
-* Output real and imaginary data:    
-* x(4r) = xa'+ j * ya'    
-* x(4r+1) = xb'+ j * yb'    
-* x(4r+2) = xc'+ j * yc'    
-* x(4r+3) = xd'+ j * yd'    
-*    
-*    
-* Twiddle factors for radix-4 FFT:    
-* Wn = co1 + j * (- si1)    
-* W2n = co2 + j * (- si2)    
-* W3n = co3 + j * (- si3)    
-*    
-*  Butterfly implementation:    
-* xa' = xa + xb + xc + xd    
-* ya' = ya + yb + yc + yd    
-* xb' = (xa+yb-xc-yd)* co1 + (ya-xb-yc+xd)* (si1)    
-* yb' = (ya-xb-yc+xd)* co1 - (xa+yb-xc-yd)* (si1)    
-* xc' = (xa-xb+xc-xd)* co2 + (ya-yb+yc-yd)* (si2)    
-* yc' = (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2)    
-* xd' = (xa-yb-xc+yd)* co3 + (ya+xb-yc-xd)* (si3)    
-* yd' = (ya+xb-yc-xd)* co3 - (xa-yb-xc+yd)* (si3)    
-*    
-*/
-
-/**    
- * @brief  Core function for the Q31 CFFT butterfly process.   
- * @param[in, out] *pSrc            points to the in-place buffer of Q31 data type.   
- * @param[in]      fftLen           length of the FFT.   
- * @param[in]      *pCoef           points to twiddle coefficient buffer.   
- * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.   
- * @return none.   
- */
-
-void arm_radix4_butterfly_q31(
-  q31_t * pSrc,
-  uint32_t fftLen,
-  q31_t * pCoef,
-  uint32_t twidCoefModifier)
-{
-  uint32_t n1, n2, ia1, ia2, ia3, i0, i1, i2, i3, j, k;
-  q31_t t1, t2, r1, r2, s1, s2, co1, co2, co3, si1, si2, si3;
-
-  q31_t xa, xb, xc, xd;
-  q31_t ya, yb, yc, yd;
-  q31_t xa_out, xb_out, xc_out, xd_out;
-  q31_t ya_out, yb_out, yc_out, yd_out;
-
-  q31_t *ptr1;
-  q63_t xaya, xbyb, xcyc, xdyd;
-  /* Total process is divided into three stages */
-
-  /* process first stage, middle stages, & last stage */
-
-
-  /* start of first stage process */
-
-  /*  Initializations for the first stage */
-  n2 = fftLen;
-  n1 = n2;
-  /* n2 = fftLen/4 */
-  n2 >>= 2u;
-  i0 = 0u;
-  ia1 = 0u;
-
-  j = n2;
-
-  /*  Calculation of first stage */
-  do
-  {
-    /*  index calculation for the input as, */
-    /*  pSrc[i0 + 0], pSrc[i0 + fftLen/4], pSrc[i0 + fftLen/2u], pSrc[i0 + 3fftLen/4] */
-    i1 = i0 + n2;
-    i2 = i1 + n2;
-    i3 = i2 + n2;
-
-    /* input is in 1.31(q31) format and provide 4 guard bits for the input */
-
-    /*  Butterfly implementation */
-    /* xa + xc */
-    r1 = (pSrc[(2u * i0)] >> 4u) + (pSrc[(2u * i2)] >> 4u);
-    /* xa - xc */
-    r2 = (pSrc[2u * i0] >> 4u) - (pSrc[2u * i2] >> 4u);
-
-    /* xb + xd */
-    t1 = (pSrc[2u * i1] >> 4u) + (pSrc[2u * i3] >> 4u);
-
-    /* ya + yc */
-    s1 = (pSrc[(2u * i0) + 1u] >> 4u) + (pSrc[(2u * i2) + 1u] >> 4u);
-    /* ya - yc */
-    s2 = (pSrc[(2u * i0) + 1u] >> 4u) - (pSrc[(2u * i2) + 1u] >> 4u);
-
-    /* xa' = xa + xb + xc + xd */
-    pSrc[2u * i0] = (r1 + t1);
-    /* (xa + xc) - (xb + xd) */
-    r1 = r1 - t1;
-    /* yb + yd */
-    t2 = (pSrc[(2u * i1) + 1u] >> 4u) + (pSrc[(2u * i3) + 1u] >> 4u);
-
-    /* ya' = ya + yb + yc + yd */
-    pSrc[(2u * i0) + 1u] = (s1 + t2);
-
-    /* (ya + yc) - (yb + yd) */
-    s1 = s1 - t2;
-
-    /* yb - yd */
-    t1 = (pSrc[(2u * i1) + 1u] >> 4u) - (pSrc[(2u * i3) + 1u] >> 4u);
-    /* xb - xd */
-    t2 = (pSrc[2u * i1] >> 4u) - (pSrc[2u * i3] >> 4u);
-
-    /*  index calculation for the coefficients */
-    ia2 = 2u * ia1;
-    co2 = pCoef[ia2 * 2u];
-    si2 = pCoef[(ia2 * 2u) + 1u];
-
-    /* xc' = (xa-xb+xc-xd)co2 + (ya-yb+yc-yd)(si2) */
-    pSrc[2u * i1] = (((int32_t) (((q63_t) r1 * co2) >> 32)) +
-                     ((int32_t) (((q63_t) s1 * si2) >> 32))) << 1u;
-
-    /* yc' = (ya-yb+yc-yd)co2 - (xa-xb+xc-xd)(si2) */
-    pSrc[(2u * i1) + 1u] = (((int32_t) (((q63_t) s1 * co2) >> 32)) -
-                            ((int32_t) (((q63_t) r1 * si2) >> 32))) << 1u;
-
-    /* (xa - xc) + (yb - yd) */
-    r1 = r2 + t1;
-    /* (xa - xc) - (yb - yd) */
-    r2 = r2 - t1;
-
-    /* (ya - yc) - (xb - xd) */
-    s1 = s2 - t2;
-    /* (ya - yc) + (xb - xd) */
-    s2 = s2 + t2;
-
-    co1 = pCoef[ia1 * 2u];
-    si1 = pCoef[(ia1 * 2u) + 1u];
-
-    /* xb' = (xa+yb-xc-yd)co1 + (ya-xb-yc+xd)(si1) */
-    pSrc[2u * i2] = (((int32_t) (((q63_t) r1 * co1) >> 32)) +
-                     ((int32_t) (((q63_t) s1 * si1) >> 32))) << 1u;
-
-    /* yb' = (ya-xb-yc+xd)co1 - (xa+yb-xc-yd)(si1) */
-    pSrc[(2u * i2) + 1u] = (((int32_t) (((q63_t) s1 * co1) >> 32)) -
-                            ((int32_t) (((q63_t) r1 * si1) >> 32))) << 1u;
-
-    /*  index calculation for the coefficients */
-    ia3 = 3u * ia1;
-    co3 = pCoef[ia3 * 2u];
-    si3 = pCoef[(ia3 * 2u) + 1u];
-
-    /* xd' = (xa-yb-xc+yd)co3 + (ya+xb-yc-xd)(si3) */
-    pSrc[2u * i3] = (((int32_t) (((q63_t) r2 * co3) >> 32)) +
-                     ((int32_t) (((q63_t) s2 * si3) >> 32))) << 1u;
-
-    /* yd' = (ya+xb-yc-xd)co3 - (xa-yb-xc+yd)(si3) */
-    pSrc[(2u * i3) + 1u] = (((int32_t) (((q63_t) s2 * co3) >> 32)) -
-                            ((int32_t) (((q63_t) r2 * si3) >> 32))) << 1u;
-
-    /*  Twiddle coefficients index modifier */
-    ia1 = ia1 + twidCoefModifier;
-
-    /*  Updating input index */
-    i0 = i0 + 1u;
-
-  } while(--j);
-
-  /* end of first stage process */
-
-  /* data is in 5.27(q27) format */
-
-
-  /* start of Middle stages process */
-
-
-  /* each stage in middle stages provides two down scaling of the input */
-
-  twidCoefModifier <<= 2u;
-
-
-  for (k = fftLen / 4u; k > 4u; k >>= 2u)
-  {
-    /*  Initializations for the first stage */
-    n1 = n2;
-    n2 >>= 2u;
-    ia1 = 0u;
-
-    /*  Calculation of first stage */
-    for (j = 0u; j <= (n2 - 1u); j++)
-    {
-      /*  index calculation for the coefficients */
-      ia2 = ia1 + ia1;
-      ia3 = ia2 + ia1;
-      co1 = pCoef[ia1 * 2u];
-      si1 = pCoef[(ia1 * 2u) + 1u];
-      co2 = pCoef[ia2 * 2u];
-      si2 = pCoef[(ia2 * 2u) + 1u];
-      co3 = pCoef[ia3 * 2u];
-      si3 = pCoef[(ia3 * 2u) + 1u];
-      /*  Twiddle coefficients index modifier */
-      ia1 = ia1 + twidCoefModifier;
-
-      for (i0 = j; i0 < fftLen; i0 += n1)
-      {
-        /*  index calculation for the input as, */
-        /*  pSrc[i0 + 0], pSrc[i0 + fftLen/4], pSrc[i0 + fftLen/2u], pSrc[i0 + 3fftLen/4] */
-        i1 = i0 + n2;
-        i2 = i1 + n2;
-        i3 = i2 + n2;
-
-        /*  Butterfly implementation */
-        /* xa + xc */
-        r1 = pSrc[2u * i0] + pSrc[2u * i2];
-        /* xa - xc */
-        r2 = pSrc[2u * i0] - pSrc[2u * i2];
-
-        /* ya + yc */
-        s1 = pSrc[(2u * i0) + 1u] + pSrc[(2u * i2) + 1u];
-        /* ya - yc */
-        s2 = pSrc[(2u * i0) + 1u] - pSrc[(2u * i2) + 1u];
-
-        /* xb + xd */
-        t1 = pSrc[2u * i1] + pSrc[2u * i3];
-
-        /* xa' = xa + xb + xc + xd */
-        pSrc[2u * i0] = (r1 + t1) >> 2u;
-        /* xa + xc -(xb + xd) */
-        r1 = r1 - t1;
-
-        /* yb + yd */
-        t2 = pSrc[(2u * i1) + 1u] + pSrc[(2u * i3) + 1u];
-        /* ya' = ya + yb + yc + yd */
-        pSrc[(2u * i0) + 1u] = (s1 + t2) >> 2u;
-
-        /* (ya + yc) - (yb + yd) */
-        s1 = s1 - t2;
-
-        /* (yb - yd) */
-        t1 = pSrc[(2u * i1) + 1u] - pSrc[(2u * i3) + 1u];
-        /* (xb - xd) */
-        t2 = pSrc[2u * i1] - pSrc[2u * i3];
-
-        /* xc' = (xa-xb+xc-xd)co2 + (ya-yb+yc-yd)(si2) */
-        pSrc[2u * i1] = (((int32_t) (((q63_t) r1 * co2) >> 32)) +
-                         ((int32_t) (((q63_t) s1 * si2) >> 32))) >> 1u;
-
-        /* yc' = (ya-yb+yc-yd)co2 - (xa-xb+xc-xd)(si2) */
-        pSrc[(2u * i1) + 1u] = (((int32_t) (((q63_t) s1 * co2) >> 32)) -
-                                ((int32_t) (((q63_t) r1 * si2) >> 32))) >> 1u;
-
-        /* (xa - xc) + (yb - yd) */
-        r1 = r2 + t1;
-        /* (xa - xc) - (yb - yd) */
-        r2 = r2 - t1;
-
-        /* (ya - yc) -  (xb - xd) */
-        s1 = s2 - t2;
-        /* (ya - yc) +  (xb - xd) */
-        s2 = s2 + t2;
-
-        /* xb' = (xa+yb-xc-yd)co1 + (ya-xb-yc+xd)(si1) */
-        pSrc[2u * i2] = (((int32_t) (((q63_t) r1 * co1) >> 32)) +
-                         ((int32_t) (((q63_t) s1 * si1) >> 32))) >> 1u;
-
-        /* yb' = (ya-xb-yc+xd)co1 - (xa+yb-xc-yd)(si1) */
-        pSrc[(2u * i2) + 1u] = (((int32_t) (((q63_t) s1 * co1) >> 32)) -
-                                ((int32_t) (((q63_t) r1 * si1) >> 32))) >> 1u;
-
-        /* xd' = (xa-yb-xc+yd)co3 + (ya+xb-yc-xd)(si3) */
-        pSrc[2u * i3] = (((int32_t) (((q63_t) r2 * co3) >> 32)) +
-                         ((int32_t) (((q63_t) s2 * si3) >> 32))) >> 1u;
-
-        /* yd' = (ya+xb-yc-xd)co3 - (xa-yb-xc+yd)(si3) */
-        pSrc[(2u * i3) + 1u] = (((int32_t) (((q63_t) s2 * co3) >> 32)) -
-                                ((int32_t) (((q63_t) r2 * si3) >> 32))) >> 1u;
-      }
-    }
-    twidCoefModifier <<= 2u;
-  }
-
-  /* End of Middle stages process */
-
-  /* data is in 11.21(q21) format for the 1024 point as there are 3 middle stages */
-  /* data is in 9.23(q23) format for the 256 point as there are 2 middle stages */
-  /* data is in 7.25(q25) format for the 64 point as there are 1 middle stage */
-  /* data is in 5.27(q27) format for the 16 point as there are no middle stages */
-
-
-  /* start of Last stage process */
-  /*  Initializations for the last stage */
-  j = fftLen >> 2;
-  ptr1 = &pSrc[0];
-
-  /*  Calculations of last stage */
-  do
-  {
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-    /* Read xa (real), ya(imag) input */
-    xaya = *__SIMD64(ptr1)++;
-    xa = (q31_t) xaya;
-    ya = (q31_t) (xaya >> 32);
-
-    /* Read xb (real), yb(imag) input */
-    xbyb = *__SIMD64(ptr1)++;
-    xb = (q31_t) xbyb;
-    yb = (q31_t) (xbyb >> 32);
-
-    /* Read xc (real), yc(imag) input */
-    xcyc = *__SIMD64(ptr1)++;
-    xc = (q31_t) xcyc;
-    yc = (q31_t) (xcyc >> 32);
-
-    /* Read xc (real), yc(imag) input */
-    xdyd = *__SIMD64(ptr1)++;
-    xd = (q31_t) xdyd;
-    yd = (q31_t) (xdyd >> 32);
-
-#else
-
-    /* Read xa (real), ya(imag) input */
-    xaya = *__SIMD64(ptr1)++;
-    ya = (q31_t) xaya;
-    xa = (q31_t) (xaya >> 32);
-
-    /* Read xb (real), yb(imag) input */
-    xbyb = *__SIMD64(ptr1)++;
-    yb = (q31_t) xbyb;
-    xb = (q31_t) (xbyb >> 32);
-
-    /* Read xc (real), yc(imag) input */
-    xcyc = *__SIMD64(ptr1)++;
-    yc = (q31_t) xcyc;
-    xc = (q31_t) (xcyc >> 32);
-
-    /* Read xc (real), yc(imag) input */
-    xdyd = *__SIMD64(ptr1)++;
-    yd = (q31_t) xdyd;
-    xd = (q31_t) (xdyd >> 32);
-
-
-#endif
-
-    /* xa' = xa + xb + xc + xd */
-    xa_out = xa + xb + xc + xd;
-
-    /* ya' = ya + yb + yc + yd */
-    ya_out = ya + yb + yc + yd;
-
-    /* pointer updation for writing */
-    ptr1 = ptr1 - 8u;
-
-    /* writing xa' and ya' */
-    *ptr1++ = xa_out;
-    *ptr1++ = ya_out;
-
-    xc_out = (xa - xb + xc - xd);
-    yc_out = (ya - yb + yc - yd);
-
-    /* writing xc' and yc' */
-    *ptr1++ = xc_out;
-    *ptr1++ = yc_out;
-
-    xb_out = (xa + yb - xc - yd);
-    yb_out = (ya - xb - yc + xd);
-
-    /* writing xb' and yb' */
-    *ptr1++ = xb_out;
-    *ptr1++ = yb_out;
-
-    xd_out = (xa - yb - xc + yd);
-    yd_out = (ya + xb - yc - xd);
-
-    /* writing xd' and yd' */
-    *ptr1++ = xd_out;
-    *ptr1++ = yd_out;
-
-
-  } while(--j);
-
-  /* output is in 11.21(q21) format for the 1024 point */
-  /* output is in 9.23(q23) format for the 256 point */
-  /* output is in 7.25(q25) format for the 64 point */
-  /* output is in 5.27(q27) format for the 16 point */
-
-  /* End of last stage process */
-
-}
-
-
-/**    
- * @brief  Core function for the Q31 CIFFT butterfly process.   
- * @param[in, out] *pSrc            points to the in-place buffer of Q31 data type.   
- * @param[in]      fftLen           length of the FFT.   
- * @param[in]      *pCoef           points to twiddle coefficient buffer.   
- * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.   
- * @return none.   
- */
-
-
-/*    
-* Radix-4 IFFT algorithm used is :    
-*    
-* CIFFT uses same twiddle coefficients as CFFT Function    
-*  x[k] = x[n] + (j)k * x[n + fftLen/4] + (-1)k * x[n+fftLen/2] + (-j)k * x[n+3*fftLen/4]    
-*    
-*    
-* IFFT is implemented with following changes in equations from FFT    
-*    
-* Input real and imaginary data:    
-* x(n) = xa + j * ya    
-* x(n+N/4 ) = xb + j * yb    
-* x(n+N/2 ) = xc + j * yc    
-* x(n+3N 4) = xd + j * yd    
-*    
-*    
-* Output real and imaginary data:    
-* x(4r) = xa'+ j * ya'    
-* x(4r+1) = xb'+ j * yb'    
-* x(4r+2) = xc'+ j * yc'    
-* x(4r+3) = xd'+ j * yd'    
-*    
-*    
-* Twiddle factors for radix-4 IFFT:    
-* Wn = co1 + j * (si1)    
-* W2n = co2 + j * (si2)    
-* W3n = co3 + j * (si3)    
-    
-* The real and imaginary output values for the radix-4 butterfly are    
-* xa' = xa + xb + xc + xd    
-* ya' = ya + yb + yc + yd    
-* xb' = (xa-yb-xc+yd)* co1 - (ya+xb-yc-xd)* (si1)    
-* yb' = (ya+xb-yc-xd)* co1 + (xa-yb-xc+yd)* (si1)    
-* xc' = (xa-xb+xc-xd)* co2 - (ya-yb+yc-yd)* (si2)    
-* yc' = (ya-yb+yc-yd)* co2 + (xa-xb+xc-xd)* (si2)    
-* xd' = (xa+yb-xc-yd)* co3 - (ya-xb-yc+xd)* (si3)    
-* yd' = (ya-xb-yc+xd)* co3 + (xa+yb-xc-yd)* (si3)    
-*    
-*/
-
-void arm_radix4_butterfly_inverse_q31(
-  q31_t * pSrc,
-  uint32_t fftLen,
-  q31_t * pCoef,
-  uint32_t twidCoefModifier)
-{
-  uint32_t n1, n2, ia1, ia2, ia3, i0, i1, i2, i3, j, k;
-  q31_t t1, t2, r1, r2, s1, s2, co1, co2, co3, si1, si2, si3;
-  q31_t xa, xb, xc, xd;
-  q31_t ya, yb, yc, yd;
-  q31_t xa_out, xb_out, xc_out, xd_out;
-  q31_t ya_out, yb_out, yc_out, yd_out;
-
-  q31_t *ptr1;
-  q63_t xaya, xbyb, xcyc, xdyd;
-
-  /* input is be 1.31(q31) format for all FFT sizes */
-  /* Total process is divided into three stages */
-  /* process first stage, middle stages, & last stage */
-
-  /* Start of first stage process */
-
-  /* Initializations for the first stage */
-  n2 = fftLen;
-  n1 = n2;
-  /* n2 = fftLen/4 */
-  n2 >>= 2u;
-  i0 = 0u;
-  ia1 = 0u;
-
-  j = n2;
-
-  do
-  {
-
-    /* input is in 1.31(q31) format and provide 4 guard bits for the input */
-
-    /*  index calculation for the input as, */
-    /*  pSrc[i0 + 0], pSrc[i0 + fftLen/4], pSrc[i0 + fftLen/2u], pSrc[i0 + 3fftLen/4] */
-    i1 = i0 + n2;
-    i2 = i1 + n2;
-    i3 = i2 + n2;
-
-    /*  Butterfly implementation */
-    /* xa + xc */
-    r1 = (pSrc[2u * i0] >> 4u) + (pSrc[2u * i2] >> 4u);
-    /* xa - xc */
-    r2 = (pSrc[2u * i0] >> 4u) - (pSrc[2u * i2] >> 4u);
-
-    /* xb + xd */
-    t1 = (pSrc[2u * i1] >> 4u) + (pSrc[2u * i3] >> 4u);
-
-    /* ya + yc */
-    s1 = (pSrc[(2u * i0) + 1u] >> 4u) + (pSrc[(2u * i2) + 1u] >> 4u);
-    /* ya - yc */
-    s2 = (pSrc[(2u * i0) + 1u] >> 4u) - (pSrc[(2u * i2) + 1u] >> 4u);
-
-    /* xa' = xa + xb + xc + xd */
-    pSrc[2u * i0] = (r1 + t1);
-    /* (xa + xc) - (xb + xd) */
-    r1 = r1 - t1;
-    /* yb + yd */
-    t2 = (pSrc[(2u * i1) + 1u] >> 4u) + (pSrc[(2u * i3) + 1u] >> 4u);
-    /* ya' = ya + yb + yc + yd */
-    pSrc[(2u * i0) + 1u] = (s1 + t2);
-
-    /* (ya + yc) - (yb + yd) */
-    s1 = s1 - t2;
-
-    /* yb - yd */
-    t1 = (pSrc[(2u * i1) + 1u] >> 4u) - (pSrc[(2u * i3) + 1u] >> 4u);
-    /* xb - xd */
-    t2 = (pSrc[2u * i1] >> 4u) - (pSrc[2u * i3] >> 4u);
-
-    /*  index calculation for the coefficients */
-    ia2 = 2u * ia1;
-    co2 = pCoef[ia2 * 2u];
-    si2 = pCoef[(ia2 * 2u) + 1u];
-
-    /* xc' = (xa-xb+xc-xd)co2 - (ya-yb+yc-yd)(si2) */
-    pSrc[2u * i1] = (((int32_t) (((q63_t) r1 * co2) >> 32)) -
-                     ((int32_t) (((q63_t) s1 * si2) >> 32))) << 1u;
-
-    /* yc' = (ya-yb+yc-yd)co2 + (xa-xb+xc-xd)(si2) */
-    pSrc[2u * i1 + 1u] = (((int32_t) (((q63_t) s1 * co2) >> 32)) +
-                          ((int32_t) (((q63_t) r1 * si2) >> 32))) << 1u;
-
-    /* (xa - xc) - (yb - yd) */
-    r1 = r2 - t1;
-    /* (xa - xc) + (yb - yd) */
-    r2 = r2 + t1;
-
-    /* (ya - yc) + (xb - xd) */
-    s1 = s2 + t2;
-    /* (ya - yc) - (xb - xd) */
-    s2 = s2 - t2;
-
-    co1 = pCoef[ia1 * 2u];
-    si1 = pCoef[(ia1 * 2u) + 1u];
-
-    /* xb' = (xa+yb-xc-yd)co1 - (ya-xb-yc+xd)(si1) */
-    pSrc[2u * i2] = (((int32_t) (((q63_t) r1 * co1) >> 32)) -
-                     ((int32_t) (((q63_t) s1 * si1) >> 32))) << 1u;
-
-    /* yb' = (ya-xb-yc+xd)co1 + (xa+yb-xc-yd)(si1) */
-    pSrc[(2u * i2) + 1u] = (((int32_t) (((q63_t) s1 * co1) >> 32)) +
-                            ((int32_t) (((q63_t) r1 * si1) >> 32))) << 1u;
-
-    /*  index calculation for the coefficients */
-    ia3 = 3u * ia1;
-    co3 = pCoef[ia3 * 2u];
-    si3 = pCoef[(ia3 * 2u) + 1u];
-
-    /* xd' = (xa-yb-xc+yd)co3 - (ya+xb-yc-xd)(si3) */
-    pSrc[2u * i3] = (((int32_t) (((q63_t) r2 * co3) >> 32)) -
-                     ((int32_t) (((q63_t) s2 * si3) >> 32))) << 1u;
-
-    /* yd' = (ya+xb-yc-xd)co3 + (xa-yb-xc+yd)(si3) */
-    pSrc[(2u * i3) + 1u] = (((int32_t) (((q63_t) s2 * co3) >> 32)) +
-                            ((int32_t) (((q63_t) r2 * si3) >> 32))) << 1u;
-
-    /*  Twiddle coefficients index modifier */
-    ia1 = ia1 + twidCoefModifier;
-
-    /*  Updating input index */
-    i0 = i0 + 1u;
-
-  } while(--j);
-
-  /* data is in 5.27(q27) format */
-  /* each stage provides two down scaling of the input */
-
-
-  /* Start of Middle stages process */
-
-  twidCoefModifier <<= 2u;
-
-  /*  Calculation of second stage to excluding last stage */
-  for (k = fftLen / 4u; k > 4u; k >>= 2u)
-  {
-    /*  Initializations for the first stage */
-    n1 = n2;
-    n2 >>= 2u;
-    ia1 = 0u;
-
-    for (j = 0; j <= (n2 - 1u); j++)
-    {
-      /*  index calculation for the coefficients */
-      ia2 = ia1 + ia1;
-      ia3 = ia2 + ia1;
-      co1 = pCoef[ia1 * 2u];
-      si1 = pCoef[(ia1 * 2u) + 1u];
-      co2 = pCoef[ia2 * 2u];
-      si2 = pCoef[(ia2 * 2u) + 1u];
-      co3 = pCoef[ia3 * 2u];
-      si3 = pCoef[(ia3 * 2u) + 1u];
-      /*  Twiddle coefficients index modifier */
-      ia1 = ia1 + twidCoefModifier;
-
-      for (i0 = j; i0 < fftLen; i0 += n1)
-      {
-        /*  index calculation for the input as, */
-        /*  pSrc[i0 + 0], pSrc[i0 + fftLen/4], pSrc[i0 + fftLen/2u], pSrc[i0 + 3fftLen/4] */
-        i1 = i0 + n2;
-        i2 = i1 + n2;
-        i3 = i2 + n2;
-
-        /*  Butterfly implementation */
-        /* xa + xc */
-        r1 = pSrc[2u * i0] + pSrc[2u * i2];
-        /* xa - xc */
-        r2 = pSrc[2u * i0] - pSrc[2u * i2];
-
-        /* ya + yc */
-        s1 = pSrc[(2u * i0) + 1u] + pSrc[(2u * i2) + 1u];
-        /* ya - yc */
-        s2 = pSrc[(2u * i0) + 1u] - pSrc[(2u * i2) + 1u];
-
-        /* xb + xd */
-        t1 = pSrc[2u * i1] + pSrc[2u * i3];
-
-        /* xa' = xa + xb + xc + xd */
-        pSrc[2u * i0] = (r1 + t1) >> 2u;
-        /* xa + xc -(xb + xd) */
-        r1 = r1 - t1;
-        /* yb + yd */
-        t2 = pSrc[(2u * i1) + 1u] + pSrc[(2u * i3) + 1u];
-        /* ya' = ya + yb + yc + yd */
-        pSrc[(2u * i0) + 1u] = (s1 + t2) >> 2u;
-
-        /* (ya + yc) - (yb + yd) */
-        s1 = s1 - t2;
-
-        /* (yb - yd) */
-        t1 = pSrc[(2u * i1) + 1u] - pSrc[(2u * i3) + 1u];
-        /* (xb - xd) */
-        t2 = pSrc[2u * i1] - pSrc[2u * i3];
-
-        /* xc' = (xa-xb+xc-xd)co2 - (ya-yb+yc-yd)(si2) */
-        pSrc[2u * i1] = (((int32_t) (((q63_t) r1 * co2) >> 32u)) -
-                         ((int32_t) (((q63_t) s1 * si2) >> 32u))) >> 1u;
-
-        /* yc' = (ya-yb+yc-yd)co2 + (xa-xb+xc-xd)(si2) */
-        pSrc[(2u * i1) + 1u] =
-          (((int32_t) (((q63_t) s1 * co2) >> 32u)) +
-           ((int32_t) (((q63_t) r1 * si2) >> 32u))) >> 1u;
-
-        /* (xa - xc) - (yb - yd) */
-        r1 = r2 - t1;
-        /* (xa - xc) + (yb - yd) */
-        r2 = r2 + t1;
-
-        /* (ya - yc) +  (xb - xd) */
-        s1 = s2 + t2;
-        /* (ya - yc) -  (xb - xd) */
-        s2 = s2 - t2;
-
-        /* xb' = (xa+yb-xc-yd)co1 - (ya-xb-yc+xd)(si1) */
-        pSrc[2u * i2] = (((int32_t) (((q63_t) r1 * co1) >> 32)) -
-                         ((int32_t) (((q63_t) s1 * si1) >> 32))) >> 1u;
-
-        /* yb' = (ya-xb-yc+xd)co1 + (xa+yb-xc-yd)(si1) */
-        pSrc[(2u * i2) + 1u] = (((int32_t) (((q63_t) s1 * co1) >> 32)) +
-                                ((int32_t) (((q63_t) r1 * si1) >> 32))) >> 1u;
-
-        /* xd' = (xa-yb-xc+yd)co3 - (ya+xb-yc-xd)(si3) */
-        pSrc[(2u * i3)] = (((int32_t) (((q63_t) r2 * co3) >> 32)) -
-                           ((int32_t) (((q63_t) s2 * si3) >> 32))) >> 1u;
-
-        /* yd' = (ya+xb-yc-xd)co3 + (xa-yb-xc+yd)(si3) */
-        pSrc[(2u * i3) + 1u] = (((int32_t) (((q63_t) s2 * co3) >> 32)) +
-                                ((int32_t) (((q63_t) r2 * si3) >> 32))) >> 1u;
-      }
-    }
-    twidCoefModifier <<= 2u;
-  }
-
-  /* End of Middle stages process */
-
-  /* data is in 11.21(q21) format for the 1024 point as there are 3 middle stages */
-  /* data is in 9.23(q23) format for the 256 point as there are 2 middle stages */
-  /* data is in 7.25(q25) format for the 64 point as there are 1 middle stage */
-  /* data is in 5.27(q27) format for the 16 point as there are no middle stages */
-
-
-  /* Start of last stage process */
-
-
-  /*  Initializations for the last stage */
-  j = fftLen >> 2;
-  ptr1 = &pSrc[0];
-
-  /*  Calculations of last stage */
-  do
-  {
-#ifndef ARM_MATH_BIG_ENDIAN
-    /* Read xa (real), ya(imag) input */
-    xaya = *__SIMD64(ptr1)++;
-    xa = (q31_t) xaya;
-    ya = (q31_t) (xaya >> 32);
-
-    /* Read xb (real), yb(imag) input */
-    xbyb = *__SIMD64(ptr1)++;
-    xb = (q31_t) xbyb;
-    yb = (q31_t) (xbyb >> 32);
-
-    /* Read xc (real), yc(imag) input */
-    xcyc = *__SIMD64(ptr1)++;
-    xc = (q31_t) xcyc;
-    yc = (q31_t) (xcyc >> 32);
-
-    /* Read xc (real), yc(imag) input */
-    xdyd = *__SIMD64(ptr1)++;
-    xd = (q31_t) xdyd;
-    yd = (q31_t) (xdyd >> 32);
-
-#else
-
-    /* Read xa (real), ya(imag) input */
-    xaya = *__SIMD64(ptr1)++;
-    ya = (q31_t) xaya;
-    xa = (q31_t) (xaya >> 32);
-
-    /* Read xb (real), yb(imag) input */
-    xbyb = *__SIMD64(ptr1)++;
-    yb = (q31_t) xbyb;
-    xb = (q31_t) (xbyb >> 32);
-
-    /* Read xc (real), yc(imag) input */
-    xcyc = *__SIMD64(ptr1)++;
-    yc = (q31_t) xcyc;
-    xc = (q31_t) (xcyc >> 32);
-
-    /* Read xc (real), yc(imag) input */
-    xdyd = *__SIMD64(ptr1)++;
-    yd = (q31_t) xdyd;
-    xd = (q31_t) (xdyd >> 32);
-
-
-#endif
-
-    /* xa' = xa + xb + xc + xd */
-    xa_out = xa + xb + xc + xd;
-
-    /* ya' = ya + yb + yc + yd */
-    ya_out = ya + yb + yc + yd;
-
-    /* pointer updation for writing */
-    ptr1 = ptr1 - 8u;
-
-    /* writing xa' and ya' */
-    *ptr1++ = xa_out;
-    *ptr1++ = ya_out;
-
-    xc_out = (xa - xb + xc - xd);
-    yc_out = (ya - yb + yc - yd);
-
-    /* writing xc' and yc' */
-    *ptr1++ = xc_out;
-    *ptr1++ = yc_out;
-
-    xb_out = (xa - yb - xc + yd);
-    yb_out = (ya + xb - yc - xd);
-
-    /* writing xb' and yb' */
-    *ptr1++ = xb_out;
-    *ptr1++ = yb_out;
-
-    xd_out = (xa + yb - xc - yd);
-    yd_out = (ya - xb - yc + xd);
-
-    /* writing xd' and yd' */
-    *ptr1++ = xd_out;
-    *ptr1++ = yd_out;
-
-
-  } while(--j);
-
-  /* output is in 11.21(q21) format for the 1024 point */
-  /* output is in 9.23(q23) format for the 256 point */
-  /* output is in 7.25(q25) format for the 64 point */
-  /* output is in 5.27(q27) format for the 16 point */
-
-  /* End of last stage process */
-}
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_f32.c
deleted file mode 100644
index fb79e3172..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_f32.c
+++ /dev/null
@@ -1,453 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_dct4_f32.c    
-*    
-* Description:	Processing function of DCT4 & IDCT4 F32.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupTransforms    
- */
-
-/**    
- * @defgroup DCT4_IDCT4 DCT Type IV Functions    
- * Representation of signals by minimum number of values is important for storage and transmission.    
- * The possibility of large discontinuity between the beginning and end of a period of a signal    
- * in DFT can be avoided by extending the signal so that it is even-symmetric.    
- * Discrete Cosine Transform (DCT) is constructed such that its energy is heavily concentrated in the lower part of the    
- * spectrum and is very widely used in signal and image coding applications.    
- * The family of DCTs (DCT type- 1,2,3,4) is the outcome of different combinations of homogeneous boundary conditions.    
- * DCT has an excellent energy-packing capability, hence has many applications and in data compression in particular.    
- *    
- * DCT is essentially the Discrete Fourier Transform(DFT) of an even-extended real signal.    
- * Reordering of the input data makes the computation of DCT just a problem of    
- * computing the DFT of a real signal with a few additional operations.    
- * This approach provides regular, simple, and very efficient DCT algorithms for practical hardware and software implementations.    
- *     
- * DCT type-II can be implemented using Fast fourier transform (FFT) internally, as the transform is applied on real values, Real FFT can be used.    
- * DCT4 is implemented using DCT2 as their implementations are similar except with some added pre-processing and post-processing.    
- * DCT2 implementation can be described in the following steps:    
- * - Re-ordering input    
- * - Calculating Real FFT    
- * - Multiplication of weights and Real FFT output and getting real part from the product.    
- *    
- * This process is explained by the block diagram below:    
- * \image html DCT4.gif "Discrete Cosine Transform - type-IV"    
- *    
- * \par Algorithm:    
- * The N-point type-IV DCT is defined as a real, linear transformation by the formula:    
- * \image html DCT4Equation.gif    
- * where k = 0,1,2,.....N-1    
- *\par    
- * Its inverse is defined as follows:    
- * \image html IDCT4Equation.gif    
- * where n = 0,1,2,.....N-1    
- *\par    
- * The DCT4 matrices become involutory (i.e. they are self-inverse) by multiplying with an overall scale factor of sqrt(2/N).    
- * The symmetry of the transform matrix indicates that the fast algorithms for the forward    
- * and inverse transform computation are identical.    
- * Note that the implementation of Inverse DCT4 and DCT4 is same, hence same process function can be used for both.    
- *    
- * \par Lengths supported by the transform:    
- *  As DCT4 internally uses Real FFT, it supports all the lengths supported by arm_rfft_f32().    
- * The library provides separate functions for Q15, Q31, and floating-point data types.    
- * \par Instance Structure    
- * The instances for Real FFT and FFT, cosine values table and twiddle factor table are stored in an instance data structure.    
- * A separate instance structure must be defined for each transform.    
- * There are separate instance structure declarations for each of the 3 supported data types.    
- *    
- * \par Initialization Functions    
- * There is also an associated initialization function for each data type.    
- * The initialization function performs the following operations:    
- * - Sets the values of the internal structure fields.    
- * - Initializes Real FFT as its process function is used internally in DCT4, by calling arm_rfft_init_f32().    
- * \par    
- * Use of the initialization function is optional.    
- * However, if the initialization function is used, then the instance structure cannot be placed into a const data section.    
- * To place an instance structure into a const data section, the instance structure must be manually initialized.    
- * Manually initialize the instance structure as follows:    
- * 
    
- *arm_dct4_instance_f32 S = {N, Nby2, normalize, pTwiddle, pCosFactor, pRfft, pCfft};    
- *arm_dct4_instance_q31 S = {N, Nby2, normalize, pTwiddle, pCosFactor, pRfft, pCfft};   
- *arm_dct4_instance_q15 S = {N, Nby2, normalize, pTwiddle, pCosFactor, pRfft, pCfft};   
- * 
   
- * where \c N is the length of the DCT4; \c Nby2 is half of the length of the DCT4;   
- * \c normalize is normalizing factor used and is equal to sqrt(2/N);    
- * \c pTwiddle points to the twiddle factor table;   
- * \c pCosFactor points to the cosFactor table;   
- * \c pRfft points to the real FFT instance;   
- * \c pCfft points to the complex FFT instance;   
- * The CFFT and RFFT structures also needs to be initialized, refer to arm_cfft_radix4_f32()   
- * and arm_rfft_f32() respectively for details regarding static initialization.   
- *   
- * \par Fixed-Point Behavior    
- * Care must be taken when using the fixed-point versions of the DCT4 transform functions.    
- * In particular, the overflow and saturation behavior of the accumulator used in each function must be considered.    
- * Refer to the function specific documentation below for usage guidelines.    
- */
-
- /**    
- * @addtogroup DCT4_IDCT4    
- * @{    
- */
-
-/**    
- * @brief Processing function for the floating-point DCT4/IDCT4.   
- * @param[in]       *S             points to an instance of the floating-point DCT4/IDCT4 structure.   
- * @param[in]       *pState        points to state buffer.   
- * @param[in,out]   *pInlineBuffer points to the in-place input and output buffer.   
- * @return none.   
- */
-
-void arm_dct4_f32(
-  const arm_dct4_instance_f32 * S,
-  float32_t * pState,
-  float32_t * pInlineBuffer)
-{
-  uint32_t i;                                    /* Loop counter */
-  float32_t *weights = S->pTwiddle;              /* Pointer to the Weights table */
-  float32_t *cosFact = S->pCosFactor;            /* Pointer to the cos factors table */
-  float32_t *pS1, *pS2, *pbuff;                  /* Temporary pointers for input buffer and pState buffer */
-  float32_t in;                                  /* Temporary variable */
-
-
-  /* DCT4 computation involves DCT2 (which is calculated using RFFT)    
-   * along with some pre-processing and post-processing.    
-   * Computational procedure is explained as follows:    
-   * (a) Pre-processing involves multiplying input with cos factor,    
-   *     r(n) = 2 * u(n) * cos(pi*(2*n+1)/(4*n))    
-   *              where,    
-   *                 r(n) -- output of preprocessing    
-   *                 u(n) -- input to preprocessing(actual Source buffer)    
-   * (b) Calculation of DCT2 using FFT is divided into three steps:    
-   *                  Step1: Re-ordering of even and odd elements of input.    
-   *                  Step2: Calculating FFT of the re-ordered input.    
-   *                  Step3: Taking the real part of the product of FFT output and weights.    
-   * (c) Post-processing - DCT4 can be obtained from DCT2 output using the following equation:    
-   *                   Y4(k) = Y2(k) - Y4(k-1) and Y4(-1) = Y4(0)    
-   *                        where,    
-   *                           Y4 -- DCT4 output,   Y2 -- DCT2 output    
-   * (d) Multiplying the output with the normalizing factor sqrt(2/N).    
-   */
-
-        /*-------- Pre-processing ------------*/
-  /* Multiplying input with cos factor i.e. r(n) = 2 * x(n) * cos(pi*(2*n+1)/(4*n)) */
-  arm_scale_f32(pInlineBuffer, 2.0f, pInlineBuffer, S->N);
-  arm_mult_f32(pInlineBuffer, cosFact, pInlineBuffer, S->N);
-
-  /* ----------------------------------------------------------------    
-   * Step1: Re-ordering of even and odd elements as,    
-   *             pState[i] =  pInlineBuffer[2*i] and    
-   *             pState[N-i-1] = pInlineBuffer[2*i+1] where i = 0 to N/2    
-   ---------------------------------------------------------------------*/
-
-  /* pS1 initialized to pState */
-  pS1 = pState;
-
-  /* pS2 initialized to pState+N-1, so that it points to the end of the state buffer */
-  pS2 = pState + (S->N - 1u);
-
-  /* pbuff initialized to input buffer */
-  pbuff = pInlineBuffer;
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  /* Initializing the loop counter to N/2 >> 2 for loop unrolling by 4 */
-  i = (uint32_t) S->Nby2 >> 2u;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  do
-  {
-    /* Re-ordering of even and odd elements */
-    /* pState[i] =  pInlineBuffer[2*i] */
-    *pS1++ = *pbuff++;
-    /* pState[N-i-1] = pInlineBuffer[2*i+1] */
-    *pS2-- = *pbuff++;
-
-    *pS1++ = *pbuff++;
-    *pS2-- = *pbuff++;
-
-    *pS1++ = *pbuff++;
-    *pS2-- = *pbuff++;
-
-    *pS1++ = *pbuff++;
-    *pS2-- = *pbuff++;
-
-    /* Decrement the loop counter */
-    i--;
-  } while(i > 0u);
-
-  /* pbuff initialized to input buffer */
-  pbuff = pInlineBuffer;
-
-  /* pS1 initialized to pState */
-  pS1 = pState;
-
-  /* Initializing the loop counter to N/4 instead of N for loop unrolling */
-  i = (uint32_t) S->N >> 2u;
-
-  /* Processing with loop unrolling 4 times as N is always multiple of 4.    
-   * Compute 4 outputs at a time */
-  do
-  {
-    /* Writing the re-ordered output back to inplace input buffer */
-    *pbuff++ = *pS1++;
-    *pbuff++ = *pS1++;
-    *pbuff++ = *pS1++;
-    *pbuff++ = *pS1++;
-
-    /* Decrement the loop counter */
-    i--;
-  } while(i > 0u);
-
-
-  /* ---------------------------------------------------------    
-   *     Step2: Calculate RFFT for N-point input    
-   * ---------------------------------------------------------- */
-  /* pInlineBuffer is real input of length N , pState is the complex output of length 2N */
-  arm_rfft_f32(S->pRfft, pInlineBuffer, pState);
-
-        /*----------------------------------------------------------------------    
-	 *  Step3: Multiply the FFT output with the weights.    
-	 *----------------------------------------------------------------------*/
-  arm_cmplx_mult_cmplx_f32(pState, weights, pState, S->N);
-
-  /* ----------- Post-processing ---------- */
-  /* DCT-IV can be obtained from DCT-II by the equation,    
-   *       Y4(k) = Y2(k) - Y4(k-1) and Y4(-1) = Y4(0)    
-   *       Hence, Y4(0) = Y2(0)/2  */
-  /* Getting only real part from the output and Converting to DCT-IV */
-
-  /* Initializing the loop counter to N >> 2 for loop unrolling by 4 */
-  i = ((uint32_t) S->N - 1u) >> 2u;
-
-  /* pbuff initialized to input buffer. */
-  pbuff = pInlineBuffer;
-
-  /* pS1 initialized to pState */
-  pS1 = pState;
-
-  /* Calculating Y4(0) from Y2(0) using Y4(0) = Y2(0)/2 */
-  in = *pS1++ * (float32_t) 0.5;
-  /* input buffer acts as inplace, so output values are stored in the input itself. */
-  *pbuff++ = in;
-
-  /* pState pointer is incremented twice as the real values are located alternatively in the array */
-  pS1++;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  do
-  {
-    /* Calculating Y4(1) to Y4(N-1) from Y2 using equation Y4(k) = Y2(k) - Y4(k-1) */
-    /* pState pointer (pS1) is incremented twice as the real values are located alternatively in the array */
-    in = *pS1++ - in;
-    *pbuff++ = in;
-    /* points to the next real value */
-    pS1++;
-
-    in = *pS1++ - in;
-    *pbuff++ = in;
-    pS1++;
-
-    in = *pS1++ - in;
-    *pbuff++ = in;
-    pS1++;
-
-    in = *pS1++ - in;
-    *pbuff++ = in;
-    pS1++;
-
-    /* Decrement the loop counter */
-    i--;
-  } while(i > 0u);
-
-  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
-   ** No loop unrolling is used. */
-  i = ((uint32_t) S->N - 1u) % 0x4u;
-
-  while(i > 0u)
-  {
-    /* Calculating Y4(1) to Y4(N-1) from Y2 using equation Y4(k) = Y2(k) - Y4(k-1) */
-    /* pState pointer (pS1) is incremented twice as the real values are located alternatively in the array */
-    in = *pS1++ - in;
-    *pbuff++ = in;
-    /* points to the next real value */
-    pS1++;
-
-    /* Decrement the loop counter */
-    i--;
-  }
-
-
-        /*------------ Normalizing the output by multiplying with the normalizing factor ----------*/
-
-  /* Initializing the loop counter to N/4 instead of N for loop unrolling */
-  i = (uint32_t) S->N >> 2u;
-
-  /* pbuff initialized to the pInlineBuffer(now contains the output values) */
-  pbuff = pInlineBuffer;
-
-  /* Processing with loop unrolling 4 times as N is always multiple of 4.  Compute 4 outputs at a time */
-  do
-  {
-    /* Multiplying pInlineBuffer with the normalizing factor sqrt(2/N) */
-    in = *pbuff;
-    *pbuff++ = in * S->normalize;
-
-    in = *pbuff;
-    *pbuff++ = in * S->normalize;
-
-    in = *pbuff;
-    *pbuff++ = in * S->normalize;
-
-    in = *pbuff;
-    *pbuff++ = in * S->normalize;
-
-    /* Decrement the loop counter */
-    i--;
-  } while(i > 0u);
-
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  /* Initializing the loop counter to N/2 */
-  i = (uint32_t) S->Nby2;
-
-  do
-  {
-    /* Re-ordering of even and odd elements */
-    /* pState[i] =  pInlineBuffer[2*i] */
-    *pS1++ = *pbuff++;
-    /* pState[N-i-1] = pInlineBuffer[2*i+1] */
-    *pS2-- = *pbuff++;
-
-    /* Decrement the loop counter */
-    i--;
-  } while(i > 0u);
-
-  /* pbuff initialized to input buffer */
-  pbuff = pInlineBuffer;
-
-  /* pS1 initialized to pState */
-  pS1 = pState;
-
-  /* Initializing the loop counter */
-  i = (uint32_t) S->N;
-
-  do
-  {
-    /* Writing the re-ordered output back to inplace input buffer */
-    *pbuff++ = *pS1++;
-
-    /* Decrement the loop counter */
-    i--;
-  } while(i > 0u);
-
-
-  /* ---------------------------------------------------------    
-   *     Step2: Calculate RFFT for N-point input    
-   * ---------------------------------------------------------- */
-  /* pInlineBuffer is real input of length N , pState is the complex output of length 2N */
-  arm_rfft_f32(S->pRfft, pInlineBuffer, pState);
-
-        /*----------------------------------------------------------------------    
-	 *  Step3: Multiply the FFT output with the weights.    
-	 *----------------------------------------------------------------------*/
-  arm_cmplx_mult_cmplx_f32(pState, weights, pState, S->N);
-
-  /* ----------- Post-processing ---------- */
-  /* DCT-IV can be obtained from DCT-II by the equation,    
-   *       Y4(k) = Y2(k) - Y4(k-1) and Y4(-1) = Y4(0)    
-   *       Hence, Y4(0) = Y2(0)/2  */
-  /* Getting only real part from the output and Converting to DCT-IV */
-
-  /* pbuff initialized to input buffer. */
-  pbuff = pInlineBuffer;
-
-  /* pS1 initialized to pState */
-  pS1 = pState;
-
-  /* Calculating Y4(0) from Y2(0) using Y4(0) = Y2(0)/2 */
-  in = *pS1++ * (float32_t) 0.5;
-  /* input buffer acts as inplace, so output values are stored in the input itself. */
-  *pbuff++ = in;
-
-  /* pState pointer is incremented twice as the real values are located alternatively in the array */
-  pS1++;
-
-  /* Initializing the loop counter */
-  i = ((uint32_t) S->N - 1u);
-
-  do
-  {
-    /* Calculating Y4(1) to Y4(N-1) from Y2 using equation Y4(k) = Y2(k) - Y4(k-1) */
-    /* pState pointer (pS1) is incremented twice as the real values are located alternatively in the array */
-    in = *pS1++ - in;
-    *pbuff++ = in;
-    /* points to the next real value */
-    pS1++;
-
-
-    /* Decrement the loop counter */
-    i--;
-  } while(i > 0u);
-
-
-        /*------------ Normalizing the output by multiplying with the normalizing factor ----------*/
-
-  /* Initializing the loop counter */
-  i = (uint32_t) S->N;
-
-  /* pbuff initialized to the pInlineBuffer(now contains the output values) */
-  pbuff = pInlineBuffer;
-
-  do
-  {
-    /* Multiplying pInlineBuffer with the normalizing factor sqrt(2/N) */
-    in = *pbuff;
-    *pbuff++ = in * S->normalize;
-
-    /* Decrement the loop counter */
-    i--;
-  } while(i > 0u);
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-}
-
-/**    
-   * @} end of DCT4_IDCT4 group    
-   */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_init_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_init_f32.c
deleted file mode 100644
index b5f91ea32..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_init_f32.c
+++ /dev/null
@@ -1,16511 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_dct4_init_f32.c    
-*    
-* Description:	Initialization function of DCT-4 & IDCT4 F32    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* -------------------------------------------------------------------- */
-
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupTransforms    
- */
-
-/**    
- * @addtogroup DCT4_IDCT4    
- * @{    
- */
-
-/*    
-* @brief  Weights Table    
-*/
-
-/**    
-* \par    
-* Weights tables are generated using the formula : 
weights[n] = e^(-j*n*pi/(2*N))
    
-* \par    
-* C command to generate the table    
-* 
    
-* for(i = 0; i< N; i++)    
-* {    
-*    weights[2*i]= cos(i*c);    
-*    weights[(2*i)+1]= -sin(i * c);    
-* } 
    
-* \par    
-* Where N is the Number of weights to be calculated and c is pi/(2*N)    
-* \par    
-* In the tables below the real and imaginary values are placed alternatively, hence the    
-* array length is 2*N.    
-*/
-
-static const float32_t Weights_128[256] = {
-  1.000000000000000000f, 0.000000000000000000f, 0.999924701839144500f,
-  -0.012271538285719925f,
-  0.999698818696204250f, -0.024541228522912288f, 0.999322384588349540f,
-  -0.036807222941358832f,
-  0.998795456205172410f, -0.049067674327418015f, 0.998118112900149180f,
-  -0.061320736302208578f,
-  0.997290456678690210f, -0.073564563599667426f, 0.996312612182778000f,
-  -0.085797312344439894f,
-  0.995184726672196930f, -0.098017140329560604f, 0.993906970002356060f,
-  -0.110222207293883060f,
-  0.992479534598709970f, -0.122410675199216200f, 0.990902635427780010f,
-  -0.134580708507126170f,
-  0.989176509964781010f, -0.146730474455361750f, 0.987301418157858430f,
-  -0.158858143333861450f,
-  0.985277642388941220f, -0.170961888760301220f, 0.983105487431216290f,
-  -0.183039887955140950f,
-  0.980785280403230430f, -0.195090322016128250f, 0.978317370719627650f,
-  -0.207111376192218560f,
-  0.975702130038528570f, -0.219101240156869800f, 0.972939952205560180f,
-  -0.231058108280671110f,
-  0.970031253194543970f, -0.242980179903263870f, 0.966976471044852070f,
-  -0.254865659604514570f,
-  0.963776065795439840f, -0.266712757474898370f, 0.960430519415565790f,
-  -0.278519689385053060f,
-  0.956940335732208820f, -0.290284677254462330f, 0.953306040354193860f,
-  -0.302005949319228080f,
-  0.949528180593036670f, -0.313681740398891520f, 0.945607325380521280f,
-  -0.325310292162262930f,
-  0.941544065183020810f, -0.336889853392220050f, 0.937339011912574960f,
-  -0.348418680249434560f,
-  0.932992798834738960f, -0.359895036534988110f, 0.928506080473215590f,
-  -0.371317193951837540f,
-  0.923879532511286740f, -0.382683432365089780f, 0.919113851690057770f,
-  -0.393992040061048100f,
-  0.914209755703530690f, -0.405241314004989860f, 0.909167983090522380f,
-  -0.416429560097637150f,
-  0.903989293123443340f, -0.427555093430282080f, 0.898674465693953820f,
-  -0.438616238538527660f,
-  0.893224301195515320f, -0.449611329654606540f, 0.887639620402853930f,
-  -0.460538710958240010f,
-  0.881921264348355050f, -0.471396736825997640f, 0.876070094195406600f,
-  -0.482183772079122720f,
-  0.870086991108711460f, -0.492898192229784040f, 0.863972856121586810f,
-  -0.503538383725717580f,
-  0.857728610000272120f, -0.514102744193221660f, 0.851355193105265200f,
-  -0.524589682678468950f,
-  0.844853565249707120f, -0.534997619887097150f, 0.838224705554838080f,
-  -0.545324988422046460f,
-  0.831469612302545240f, -0.555570233019602180f, 0.824589302785025290f,
-  -0.565731810783613120f,
-  0.817584813151583710f, -0.575808191417845340f, 0.810457198252594770f,
-  -0.585797857456438860f,
-  0.803207531480644940f, -0.595699304492433360f, 0.795836904608883570f,
-  -0.605511041404325550f,
-  0.788346427626606340f, -0.615231590580626820f, 0.780737228572094490f,
-  -0.624859488142386340f,
-  0.773010453362736990f, -0.634393284163645490f, 0.765167265622458960f,
-  -0.643831542889791390f,
-  0.757208846506484570f, -0.653172842953776760f, 0.749136394523459370f,
-  -0.662415777590171780f,
-  0.740951125354959110f, -0.671558954847018330f, 0.732654271672412820f,
-  -0.680600997795453020f,
-  0.724247082951467000f, -0.689540544737066830f, 0.715730825283818590f,
-  -0.698376249408972920f,
-  0.707106781186547570f, -0.707106781186547460f, 0.698376249408972920f,
-  -0.715730825283818590f,
-  0.689540544737066940f, -0.724247082951466890f, 0.680600997795453130f,
-  -0.732654271672412820f,
-  0.671558954847018330f, -0.740951125354959110f, 0.662415777590171780f,
-  -0.749136394523459260f,
-  0.653172842953776760f, -0.757208846506484460f, 0.643831542889791500f,
-  -0.765167265622458960f,
-  0.634393284163645490f, -0.773010453362736990f, 0.624859488142386450f,
-  -0.780737228572094380f,
-  0.615231590580626820f, -0.788346427626606230f, 0.605511041404325550f,
-  -0.795836904608883460f,
-  0.595699304492433470f, -0.803207531480644830f, 0.585797857456438860f,
-  -0.810457198252594770f,
-  0.575808191417845340f, -0.817584813151583710f, 0.565731810783613230f,
-  -0.824589302785025290f,
-  0.555570233019602290f, -0.831469612302545240f, 0.545324988422046460f,
-  -0.838224705554837970f,
-  0.534997619887097260f, -0.844853565249707010f, 0.524589682678468840f,
-  -0.851355193105265200f,
-  0.514102744193221660f, -0.857728610000272120f, 0.503538383725717580f,
-  -0.863972856121586700f,
-  0.492898192229784090f, -0.870086991108711350f, 0.482183772079122830f,
-  -0.876070094195406600f,
-  0.471396736825997810f, -0.881921264348354940f, 0.460538710958240010f,
-  -0.887639620402853930f,
-  0.449611329654606600f, -0.893224301195515320f, 0.438616238538527710f,
-  -0.898674465693953820f,
-  0.427555093430282200f, -0.903989293123443340f, 0.416429560097637320f,
-  -0.909167983090522270f,
-  0.405241314004989860f, -0.914209755703530690f, 0.393992040061048100f,
-  -0.919113851690057770f,
-  0.382683432365089840f, -0.923879532511286740f, 0.371317193951837600f,
-  -0.928506080473215480f,
-  0.359895036534988280f, -0.932992798834738850f, 0.348418680249434510f,
-  -0.937339011912574960f,
-  0.336889853392220050f, -0.941544065183020810f, 0.325310292162262980f,
-  -0.945607325380521280f,
-  0.313681740398891570f, -0.949528180593036670f, 0.302005949319228200f,
-  -0.953306040354193750f,
-  0.290284677254462330f, -0.956940335732208940f, 0.278519689385053060f,
-  -0.960430519415565790f,
-  0.266712757474898420f, -0.963776065795439840f, 0.254865659604514630f,
-  -0.966976471044852070f,
-  0.242980179903263980f, -0.970031253194543970f, 0.231058108280671280f,
-  -0.972939952205560070f,
-  0.219101240156869770f, -0.975702130038528570f, 0.207111376192218560f,
-  -0.978317370719627650f,
-  0.195090322016128330f, -0.980785280403230430f, 0.183039887955141060f,
-  -0.983105487431216290f,
-  0.170961888760301360f, -0.985277642388941220f, 0.158858143333861390f,
-  -0.987301418157858430f,
-  0.146730474455361750f, -0.989176509964781010f, 0.134580708507126220f,
-  -0.990902635427780010f,
-  0.122410675199216280f, -0.992479534598709970f, 0.110222207293883180f,
-  -0.993906970002356060f,
-  0.098017140329560770f, -0.995184726672196820f, 0.085797312344439880f,
-  -0.996312612182778000f,
-  0.073564563599667454f, -0.997290456678690210f, 0.061320736302208648f,
-  -0.998118112900149180f,
-  0.049067674327418126f, -0.998795456205172410f, 0.036807222941358991f,
-  -0.999322384588349540f,
-  0.024541228522912264f, -0.999698818696204250f, 0.012271538285719944f,
-  -0.999924701839144500f
-};
-
-static const float32_t Weights_512[1024] = {
-  1.000000000000000000f, 0.000000000000000000f, 0.999995293809576190f,
-  -0.003067956762965976f,
-  0.999981175282601110f, -0.006135884649154475f, 0.999957644551963900f,
-  -0.009203754782059819f,
-  0.999924701839144500f, -0.012271538285719925f, 0.999882347454212560f,
-  -0.015339206284988100f,
-  0.999830581795823400f, -0.018406729905804820f, 0.999769405351215280f,
-  -0.021474080275469508f,
-  0.999698818696204250f, -0.024541228522912288f, 0.999618822495178640f,
-  -0.027608145778965740f,
-  0.999529417501093140f, -0.030674803176636626f, 0.999430604555461730f,
-  -0.033741171851377580f,
-  0.999322384588349540f, -0.036807222941358832f, 0.999204758618363890f,
-  -0.039872927587739811f,
-  0.999077727752645360f, -0.042938256934940820f, 0.998941293186856870f,
-  -0.046003182130914623f,
-  0.998795456205172410f, -0.049067674327418015f, 0.998640218180265270f,
-  -0.052131704680283324f,
-  0.998475580573294770f, -0.055195244349689934f, 0.998301544933892890f,
-  -0.058258264500435752f,
-  0.998118112900149180f, -0.061320736302208578f, 0.997925286198596000f,
-  -0.064382630929857465f,
-  0.997723066644191640f, -0.067443919563664051f, 0.997511456140303450f,
-  -0.070504573389613856f,
-  0.997290456678690210f, -0.073564563599667426f, 0.997060070339482960f,
-  -0.076623861392031492f,
-  0.996820299291165670f, -0.079682437971430126f, 0.996571145790554840f,
-  -0.082740264549375692f,
-  0.996312612182778000f, -0.085797312344439894f, 0.996044700901251970f,
-  -0.088853552582524600f,
-  0.995767414467659820f, -0.091908956497132724f, 0.995480755491926940f,
-  -0.094963495329638992f,
-  0.995184726672196930f, -0.098017140329560604f, 0.994879330794805620f,
-  -0.101069862754827820f,
-  0.994564570734255420f, -0.104121633872054590f, 0.994240449453187900f,
-  -0.107172424956808840f,
-  0.993906970002356060f, -0.110222207293883060f, 0.993564135520595300f,
-  -0.113270952177564350f,
-  0.993211949234794500f, -0.116318630911904750f, 0.992850414459865100f,
-  -0.119365214810991350f,
-  0.992479534598709970f, -0.122410675199216200f, 0.992099313142191800f,
-  -0.125454983411546230f,
-  0.991709753669099530f, -0.128498110793793170f, 0.991310859846115440f,
-  -0.131540028702883120f,
-  0.990902635427780010f, -0.134580708507126170f, 0.990485084256457090f,
-  -0.137620121586486040f,
-  0.990058210262297120f, -0.140658239332849210f, 0.989622017463200890f,
-  -0.143695033150294470f,
-  0.989176509964781010f, -0.146730474455361750f, 0.988721691960323780f,
-  -0.149764534677321510f,
-  0.988257567730749460f, -0.152797185258443440f, 0.987784141644572180f,
-  -0.155828397654265230f,
-  0.987301418157858430f, -0.158858143333861450f, 0.986809401814185530f,
-  -0.161886393780111830f,
-  0.986308097244598670f, -0.164913120489969890f, 0.985797509167567480f,
-  -0.167938294974731170f,
-  0.985277642388941220f, -0.170961888760301220f, 0.984748501801904210f,
-  -0.173983873387463820f,
-  0.984210092386929030f, -0.177004220412148750f, 0.983662419211730250f,
-  -0.180022901405699510f,
-  0.983105487431216290f, -0.183039887955140950f, 0.982539302287441240f,
-  -0.186055151663446630f,
-  0.981963869109555240f, -0.189068664149806190f, 0.981379193313754560f,
-  -0.192080397049892440f,
-  0.980785280403230430f, -0.195090322016128250f, 0.980182135968117430f,
-  -0.198098410717953560f,
-  0.979569765685440520f, -0.201104634842091900f, 0.978948175319062200f,
-  -0.204108966092816870f,
-  0.978317370719627650f, -0.207111376192218560f, 0.977677357824509930f,
-  -0.210111836880469610f,
-  0.977028142657754390f, -0.213110319916091360f, 0.976369731330021140f,
-  -0.216106797076219520f,
-  0.975702130038528570f, -0.219101240156869800f, 0.975025345066994120f,
-  -0.222093620973203510f,
-  0.974339382785575860f, -0.225083911359792830f, 0.973644249650811980f,
-  -0.228072083170885730f,
-  0.972939952205560180f, -0.231058108280671110f, 0.972226497078936270f,
-  -0.234041958583543430f,
-  0.971503890986251780f, -0.237023605994367200f, 0.970772140728950350f,
-  -0.240003022448741500f,
-  0.970031253194543970f, -0.242980179903263870f, 0.969281235356548530f,
-  -0.245955050335794590f,
-  0.968522094274417380f, -0.248927605745720150f, 0.967753837093475510f,
-  -0.251897818154216970f,
-  0.966976471044852070f, -0.254865659604514570f, 0.966190003445412500f,
-  -0.257831102162158990f,
-  0.965394441697689400f, -0.260794117915275510f, 0.964589793289812760f,
-  -0.263754678974831350f,
-  0.963776065795439840f, -0.266712757474898370f, 0.962953266873683880f,
-  -0.269668325572915090f,
-  0.962121404269041580f, -0.272621355449948980f, 0.961280485811320640f,
-  -0.275571819310958140f,
-  0.960430519415565790f, -0.278519689385053060f, 0.959571513081984520f,
-  -0.281464937925757940f,
-  0.958703474895871600f, -0.284407537211271880f, 0.957826413027532910f,
-  -0.287347459544729510f,
-  0.956940335732208820f, -0.290284677254462330f, 0.956045251349996410f,
-  -0.293219162694258630f,
-  0.955141168305770780f, -0.296150888243623790f, 0.954228095109105670f,
-  -0.299079826308040480f,
-  0.953306040354193860f, -0.302005949319228080f, 0.952375012719765880f,
-  -0.304929229735402370f,
-  0.951435020969008340f, -0.307849640041534870f, 0.950486073949481700f,
-  -0.310767152749611470f,
-  0.949528180593036670f, -0.313681740398891520f, 0.948561349915730270f,
-  -0.316593375556165850f,
-  0.947585591017741090f, -0.319502030816015690f, 0.946600913083283530f,
-  -0.322407678801069850f,
-  0.945607325380521280f, -0.325310292162262930f, 0.944604837261480260f,
-  -0.328209843579092500f,
-  0.943593458161960390f, -0.331106305759876430f, 0.942573197601446870f,
-  -0.333999651442009380f,
-  0.941544065183020810f, -0.336889853392220050f, 0.940506070593268300f,
-  -0.339776884406826850f,
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-  0.022624286105092803, -0.999744038080865430, 0.022432587171950024,
-    -0.999748357854501780,
-  0.022240887414024919, -0.999752640870248840, 0.022049186838366180,
-    -0.999756887127949080,
-  0.021857485452021874, -0.999761096627446610, 0.021665783262040089,
-    -0.999765269368586450,
-  0.021474080275469605, -0.999769405351215280, 0.021282376499358355,
-    -0.999773504575180990,
-  0.021090671940755180, -0.999777567040332940, 0.020898966606708289,
-    -0.999781592746521670,
-  0.020707260504265912, -0.999785581693599210, 0.020515553640476986,
-    -0.999789533881418780,
-  0.020323846022389572, -0.999793449309835270, 0.020132137657052664,
-    -0.999797327978704690,
-  0.019940428551514598, -0.999801169887884260, 0.019748718712823757,
-    -0.999804975037232870,
-  0.019557008148029204, -0.999808743426610520, 0.019365296864179146,
-    -0.999812475055878780,
-  0.019173584868322699, -0.999816169924900410, 0.018981872167508348,
-    -0.999819828033539420,
-  0.018790158768784596, -0.999823449381661570, 0.018598444679200642,
-    -0.999827033969133420,
-  0.018406729905804820, -0.999830581795823400, 0.018215014455646376,
-    -0.999834092861600960,
-  0.018023298335773701, -0.999837567166337090, 0.017831581553236088,
-    -0.999841004709904000,
-  0.017639864115082195, -0.999844405492175240, 0.017448146028360704,
-    -0.999847769513025900,
-  0.017256427300120978, -0.999851096772332190, 0.017064707937411529,
-    -0.999854387269971890,
-  0.016872987947281773, -0.999857641005823860, 0.016681267336780482,
-    -0.999860857979768540,
-  0.016489546112956454, -0.999864038191687680, 0.016297824282859176,
-    -0.999867181641464380,
-  0.016106101853537263, -0.999870288328982950, 0.015914378832040249,
-    -0.999873358254129260,
-  0.015722655225417017, -0.999876391416790410, 0.015530931040716478,
-    -0.999879387816854930,
-  0.015339206284988220, -0.999882347454212560, 0.015147480965280975,
-    -0.999885270328754520,
-  0.014955755088644378, -0.999888156440373320, 0.014764028662127416,
-    -0.999891005788962950,
-  0.014572301692779104, -0.999893818374418490, 0.014380574187649138,
-    -0.999896594196636680,
-  0.014188846153786343, -0.999899333255515390, 0.013997117598240459,
-    -0.999902035550953920,
-  0.013805388528060349, -0.999904701082852900, 0.013613658950295789,
-    -0.999907329851114300,
-  0.013421928871995907, -0.999909921855641540, 0.013230198300209845,
-    -0.999912477096339240,
-  0.013038467241987433, -0.999914995573113470, 0.012846735704377631,
-    -0.999917477285871770,
-  0.012655003694430301, -0.999919922234522750, 0.012463271219194662,
-    -0.999922330418976490,
-  0.012271538285719944, -0.999924701839144500, 0.012079804901056066,
-    -0.999927036494939640,
-  0.011888071072252072, -0.999929334386276070, 0.011696336806357907,
-    -0.999931595513069200,
-  0.011504602110422875, -0.999933819875236000, 0.011312866991496287,
-    -0.999936007472694620,
-  0.011121131456628141, -0.999938158305364590, 0.010929395512867561,
-    -0.999940272373166960,
-  0.010737659167264572, -0.999942349676023910, 0.010545922426868548,
-    -0.999944390213859060,
-  0.010354185298728884, -0.999946393986597460, 0.010162447789895645,
-    -0.999948360994165400,
-  0.009970709907418029, -0.999950291236490480, 0.009778971658346134,
-    -0.999952184713501780,
-  0.009587233049729183, -0.999954041425129780, 0.009395494088617302,
-    -0.999955861371306100,
-  0.009203754782059960, -0.999957644551963900, 0.009012015137106642,
-    -0.999959390967037450,
-  0.008820275160807512, -0.999961100616462820, 0.008628534860211857,
-    -0.999962773500176930,
-  0.008436794242369860, -0.999964409618118280, 0.008245053314331058,
-    -0.999966008970226920,
-  0.008053312083144991, -0.999967571556443780, 0.007861570555861883,
-    -0.999969097376711580,
-  0.007669828739531077, -0.999970586430974140, 0.007478086641202815,
-    -0.999972038719176730,
-  0.007286344267926684, -0.999973454241265940, 0.007094601626752279,
-    -0.999974832997189810,
-  0.006902858724729877, -0.999976174986897610, 0.006711115568908869,
-    -0.999977480210339940,
-  0.006519372166339549, -0.999978748667468830, 0.006327628524071549,
-    -0.999979980358237650,
-  0.006135884649154515, -0.999981175282601110, 0.005944140548638765,
-    -0.999982333440515350,
-  0.005752396229573737, -0.999983454831937730, 0.005560651699009764,
-    -0.999984539456826970,
-  0.005368906963996303, -0.999985587315143200, 0.005177162031583702,
-    -0.999986598406848000,
-  0.004985416908821652, -0.999987572731904080, 0.004793671602759852,
-    -0.999988510290275690,
-  0.004601926120448672, -0.999989411081928400, 0.004410180468937601,
-    -0.999990275106828920,
-  0.004218434655277024, -0.999991102364945590, 0.004026688686516664,
-    -0.999991892856248010,
-  0.003834942569706248, -0.999992646580707190, 0.003643196311896179,
-    -0.999993363538295150,
-  0.003451449920135975, -0.999994043728985820, 0.003259703401476044,
-    -0.999994687152754080,
-  0.003067956762966138, -0.999995293809576190, 0.002876210011656010,
-    -0.999995863699429940,
-  0.002684463154596083, -0.999996396822294350, 0.002492716198835898,
-    -0.999996893178149880,
-  0.002300969151425887, -0.999997352766978210, 0.002109222019415816,
-    -0.999997775588762350,
-  0.001917474809855460, -0.999998161643486980, 0.001725727529795258,
-    -0.999998510931137790,
-  0.001533980186284766, -0.999998823451701880, 0.001342232786374430,
-    -0.999999099205167830,
-  0.001150485337113809, -0.999999338191525530, 0.000958737845553352,
-    -0.999999540410766110,
-  0.000766990318742846, -0.999999705862882230, 0.000575242763732077,
-    -0.999999834547867670,
-  0.000383495187571497, -0.999999926465717890, 0.000191747597310674,
-    -0.999999981616429330,
-
-};
-
-/**    
-* \par    
-* cosFactor tables are generated using the formula : 
cos_factors[n] = 2 * cos((2n+1)*pi/(4*N))
    
-* \par    
-* C command to generate the table    
-* \par    
-* 
 for(i = 0; i< N; i++)    
-* {    
-*    cos_factors[i]= 2 * cos((2*i+1)*c/2);    
-* } 
    
-* \par    
-* where N is the number of factors to generate and c is pi/(2*N)    
-*/
-static const float32_t cos_factors_128[128] = {
-  0.999981175282601110f, 0.999830581795823400f, 0.999529417501093140f,
-  0.999077727752645360f,
-  0.998475580573294770f, 0.997723066644191640f, 0.996820299291165670f,
-  0.995767414467659820f,
-  0.994564570734255420f, 0.993211949234794500f, 0.991709753669099530f,
-  0.990058210262297120f,
-  0.988257567730749460f, 0.986308097244598670f, 0.984210092386929030f,
-  0.981963869109555240f,
-  0.979569765685440520f, 0.977028142657754390f, 0.974339382785575860f,
-  0.971503890986251780f,
-  0.968522094274417380f, 0.965394441697689400f, 0.962121404269041580f,
-  0.958703474895871600f,
-  0.955141168305770780f, 0.951435020969008340f, 0.947585591017741090f,
-  0.943593458161960390f,
-  0.939459223602189920f, 0.935183509938947610f, 0.930766961078983710f,
-  0.926210242138311380f,
-  0.921514039342042010f, 0.916679059921042700f, 0.911706032005429880f,
-  0.906595704514915330f,
-  0.901348847046022030f, 0.895966249756185220f, 0.890448723244757880f,
-  0.884797098430937790f,
-  0.879012226428633530f, 0.873094978418290090f, 0.867046245515692650f,
-  0.860866938637767310f,
-  0.854557988365400530f, 0.848120344803297230f, 0.841554977436898440f,
-  0.834862874986380010f,
-  0.828045045257755800f, 0.821102514991104650f, 0.814036329705948410f,
-  0.806847553543799330f,
-  0.799537269107905010f, 0.792106577300212390f, 0.784556597155575240f,
-  0.776888465673232440f,
-  0.769103337645579700f, 0.761202385484261780f, 0.753186799043612520f,
-  0.745057785441466060f,
-  0.736816568877369900f, 0.728464390448225200f, 0.720002507961381650f,
-  0.711432195745216430f,
-  0.702754744457225300f, 0.693971460889654000f, 0.685083667772700360f,
-  0.676092703575316030f,
-  0.666999922303637470f, 0.657806693297078640f, 0.648514401022112550f,
-  0.639124444863775730f,
-  0.629638238914927100f, 0.620057211763289210f, 0.610382806276309480f,
-  0.600616479383868970f,
-  0.590759701858874280f, 0.580813958095764530f, 0.570780745886967370f,
-  0.560661576197336030f,
-  0.550457972936604810f, 0.540171472729892970f, 0.529803624686294830f,
-  0.519355990165589530f,
-  0.508830142543106990f, 0.498227666972781870f, 0.487550160148436050f,
-  0.476799230063322250f,
-  0.465976495767966130f, 0.455083587126343840f, 0.444122144570429260f,
-  0.433093818853152010f,
-  0.422000270799799790f, 0.410843171057903910f, 0.399624199845646790f,
-  0.388345046698826300f,
-  0.377007410216418310f, 0.365612997804773960f, 0.354163525420490510f,
-  0.342660717311994380f,
-  0.331106305759876430f, 0.319502030816015750f, 0.307849640041534980f,
-  0.296150888243623960f,
-  0.284407537211271820f, 0.272621355449948980f, 0.260794117915275570f,
-  0.248927605745720260f,
-  0.237023605994367340f, 0.225083911359792780f, 0.213110319916091360f,
-  0.201104634842091960f,
-  0.189068664149806280f, 0.177004220412148860f, 0.164913120489970090f,
-  0.152797185258443410f,
-  0.140658239332849240f, 0.128498110793793220f, 0.116318630911904880f,
-  0.104121633872054730f,
-  0.091908956497132696f, 0.079682437971430126f, 0.067443919563664106f,
-  0.055195244349690031f,
-  0.042938256934940959f, 0.030674803176636581f, 0.018406729905804820f,
-  0.006135884649154515f
-};
-
-static const float32_t cos_factors_512[512] = {
-  0.999998823451701880f, 0.999989411081928400f, 0.999970586430974140f,
-  0.999942349676023910f,
-  0.999904701082852900f, 0.999857641005823860f, 0.999801169887884260f,
-  0.999735288260561680f,
-  0.999659996743959220f, 0.999575296046749220f, 0.999481186966166950f,
-  0.999377670388002850f,
-  0.999264747286594420f, 0.999142418724816910f, 0.999010685854073380f,
-  0.998869549914283560f,
-  0.998719012233872940f, 0.998559074229759310f, 0.998389737407340160f,
-  0.998211003360478190f,
-  0.998022873771486240f, 0.997825350411111640f, 0.997618435138519550f,
-  0.997402129901275300f,
-  0.997176436735326190f, 0.996941357764982160f, 0.996696895202896060f,
-  0.996443051350042630f,
-  0.996179828595696980f, 0.995907229417411720f, 0.995625256380994310f,
-  0.995333912140482280f,
-  0.995033199438118630f, 0.994723121104325700f, 0.994403680057679100f,
-  0.994074879304879370f,
-  0.993736721940724600f, 0.993389211148080650f, 0.993032350197851410f,
-  0.992666142448948020f,
-  0.992290591348257370f, 0.991905700430609330f, 0.991511473318743900f,
-  0.991107913723276890f,
-  0.990695025442664630f, 0.990272812363169110f, 0.989841278458820530f,
-  0.989400427791380380f,
-  0.988950264510302990f, 0.988490792852696590f, 0.988022017143283530f,
-  0.987543941794359230f,
-  0.987056571305750970f, 0.986559910264775410f, 0.986053963346195440f,
-  0.985538735312176060f,
-  0.985014231012239840f, 0.984480455383220930f, 0.983937413449218920f,
-  0.983385110321551180f,
-  0.982823551198705240f, 0.982252741366289370f, 0.981672686196983110f,
-  0.981083391150486710f,
-  0.980484861773469380f, 0.979877103699517640f, 0.979260122649082020f,
-  0.978633924429423210f,
-  0.977998514934557140f, 0.977353900145199960f, 0.976700086128711840f,
-  0.976037079039039020f,
-  0.975364885116656980f, 0.974683510688510670f, 0.973992962167955830f,
-  0.973293246054698250f,
-  0.972584368934732210f, 0.971866337480279400f, 0.971139158449725090f,
-  0.970402838687555500f,
-  0.969657385124292450f, 0.968902804776428870f, 0.968139104746362440f,
-  0.967366292222328510f,
-  0.966584374478333120f, 0.965793358874083680f, 0.964993252854920320f,
-  0.964184063951745830f,
-  0.963365799780954050f, 0.962538468044359160f, 0.961702076529122540f,
-  0.960856633107679660f,
-  0.960002145737665960f, 0.959138622461841890f, 0.958266071408017670f,
-  0.957384500788975860f,
-  0.956493918902395100f, 0.955594334130771110f, 0.954685754941338340f,
-  0.953768189885990330f,
-  0.952841647601198720f, 0.951906136807932350f, 0.950961666311575080f,
-  0.950008245001843000f,
-  0.949045881852700560f, 0.948074585922276230f, 0.947094366352777220f,
-  0.946105232370403450f,
-  0.945107193285260610f, 0.944100258491272660f, 0.943084437466093490f,
-  0.942059739771017310f,
-  0.941026175050889260f, 0.939983753034014050f, 0.938932483532064600f,
-  0.937872376439989890f,
-  0.936803441735921560f, 0.935725689481080370f, 0.934639129819680780f,
-  0.933543772978836170f,
-  0.932439629268462360f, 0.931326709081180430f, 0.930205022892219070f,
-  0.929074581259315860f,
-  0.927935394822617890f, 0.926787474304581750f, 0.925630830509872720f,
-  0.924465474325262600f,
-  0.923291416719527640f, 0.922108668743345180f, 0.920917241529189520f,
-  0.919717146291227360f,
-  0.918508394325212250f, 0.917290997008377910f, 0.916064965799331720f,
-  0.914830312237946200f,
-  0.913587047945250810f, 0.912335184623322750f, 0.911074734055176360f,
-  0.909805708104652220f,
-  0.908528118716306120f, 0.907241977915295820f, 0.905947297807268460f,
-  0.904644090578246240f,
-  0.903332368494511820f, 0.902012143902493180f, 0.900683429228646970f,
-  0.899346236979341570f,
-  0.898000579740739880f, 0.896646470178680150f, 0.895283921038557580f,
-  0.893912945145203250f,
-  0.892533555402764580f, 0.891145764794583180f, 0.889749586383072780f,
-  0.888345033309596350f,
-  0.886932118794342190f, 0.885510856136199950f, 0.884081258712634990f,
-  0.882643339979562790f,
-  0.881197113471222090f, 0.879742592800047410f, 0.878279791656541580f,
-  0.876808723809145650f,
-  0.875329403104110890f, 0.873841843465366860f, 0.872346058894391540f,
-  0.870842063470078980f,
-  0.869329871348606840f, 0.867809496763303320f, 0.866280954024512990f,
-  0.864744257519462380f,
-  0.863199421712124160f, 0.861646461143081300f, 0.860085390429390140f,
-  0.858516224264442740f,
-  0.856938977417828760f, 0.855353664735196030f, 0.853760301138111410f,
-  0.852158901623919830f,
-  0.850549481265603480f, 0.848932055211639610f, 0.847306638685858320f,
-  0.845673246987299070f,
-  0.844031895490066410f, 0.842382599643185850f, 0.840725374970458070f,
-  0.839060237070312740f,
-  0.837387201615661940f, 0.835706284353752600f, 0.834017501106018130f,
-  0.832320867767929680f,
-  0.830616400308846310f, 0.828904114771864870f, 0.827184027273669130f,
-  0.825456154004377550f,
-  0.823720511227391430f, 0.821977115279241550f, 0.820225982569434690f,
-  0.818467129580298660f,
-  0.816700572866827850f, 0.814926329056526620f, 0.813144414849253590f,
-  0.811354847017063730f,
-  0.809557642404051260f, 0.807752817926190360f, 0.805940390571176280f,
-  0.804120377398265810f,
-  0.802292795538115720f, 0.800457662192622820f, 0.798614994634760820f,
-  0.796764810208418830f,
-  0.794907126328237010f, 0.793041960479443640f, 0.791169330217690200f,
-  0.789289253168885650f,
-  0.787401747029031430f, 0.785506829564053930f, 0.783604518609638200f,
-  0.781694832071059390f,
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-  0.773982690606822900f,
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-  0.136100575175706200f,
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-  0.123932975118512200f,
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-  0.099543618660069444f,
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-  0.087325535206192226f,
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-  0.075094300847921291f,
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-  0.062851757564161420f,
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-  0.050599749036899337f,
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-  0.038340120373552791f,
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-  0.026074717829104040f,
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-  0.013805388528060349f,
-  0.010737659167264572f, 0.007669828739531077f, 0.004601926120448672f,
-  0.001533980186284766f
-};
-
-static const float32_t cos_factors_2048[2048] = {
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-  0.999983454831937730f,
-  0.999978748667468830f, 0.999973454241265940f, 0.999967571556443780f,
-  0.999961100616462820f,
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-  0.999929334386276070f,
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-  0.999888156440373320f,
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-  0.999837567166337090f,
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-  0.999777567040332940f,
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-  0.999708156627104880f,
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-  0.999629336579970110f,
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-  0.999541107640812940f,
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-  0.999443470640077770f,
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-  0.999336426496761240f,
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-  0.999219976218403530f,
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-  0.998660137003838490f,
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-  0.997748857695925690f,
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-  0.997318594999768600f,
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-  0.993949166602181130f,
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-  0.993607501324621610f,
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-  0.993256483834846440f,
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-  0.979646816313141210f,
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-  0.979026378139047580f,
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-  0.052514674564603257f,
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-  0.037190455560088091f,
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-  0.034124446197403423f,
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-  0.024924606404281485f,
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-  0.021857485452021874f,
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-  0.018790158768784596f,
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-  0.015722655225417017f,
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-  0.012655003694430301f,
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-  0.009587233049729183f,
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-  0.003451449920135975f,
-  0.002684463154596083f, 0.001917474809855460f, 0.001150485337113809f,
-  0.000383495187571497f
-};
-
-static const float32_t cos_factors_8192[8192] = {
-  1.999999990808214700, 1.999999917273932200, 1.999999770205369800,
-    1.999999549602533100,
-  1.999999255465430200, 1.999998887794072000, 1.999998446588471700,
-    1.999997931848645600,
-  1.999997343574612800, 1.999996681766395000, 1.999995946424016200,
-    1.999995137547503600,
-  1.999994255136887000, 1.999993299192198700, 1.999992269713474200,
-    1.999991166700750800,
-  1.999989990154069600, 1.999988740073473500, 1.999987416459008600,
-    1.999986019310723500,
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-  0.191263115097089540, 0.190881374021645320, 0.190499625928039040,
-    0.190117870830306100,
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-    0.184008848159540110,
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-  0.119387736381323830, 0.119004922867011920, 0.118622104977228730,
-    0.118239282726050290,
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-    0.116707950388886520,
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-    0.115176549395442460,
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-    0.113645080646602280,
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-    0.112113545043288730,
-  0.111730650802029900, 0.111347752452754000, 0.110964850009539970,
-    0.110581943486465610,
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-    0.109050276877133770,
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-    0.105986752105143480,
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-    0.104454895744677270,
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-    0.102922977936087120,
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-    0.078404671527466441,
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-    0.063074499589573618,
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-    0.055407965812484541,
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-    0.047740617159385448,
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-    0.046207059566548990,
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-    0.044673474791289434,
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-    0.043139863735776100,
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-    0.041606227302191955,
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-    0.040072566392736257,
-  0.039689147446745419, 0.039305727041497644, 0.038922305191091085,
-    0.038538881909622631,
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-    0.037005174755077273,
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-    0.035471445831341021,
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-  0.032020480832740429, 0.031637034202857461, 0.031253586409771626,
-    0.030870137467580314,
-  0.030486687390382738, 0.030103236192276818, 0.029719783887360508,
-    0.029336330489733147,
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-    0.012463513230507034,
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-    0.009395597766389905,
-  0.009012106630804949, 0.008628615163871038, 0.008245123379687167,
-    0.007861631292354124,
-  0.007478138915970929, 0.007094646264638386, 0.006711153352455981,
-    0.006327660193523208,
-  0.005944166801940901, 0.005560673191808128, 0.005177179377225743,
-    0.004793685372293270,
-  0.004410191191110246, 0.004026696847777542, 0.003643202356394263,
-    0.003259707731061291,
-  0.002876212985878184, 0.002492718134944503, 0.002109223192361147,
-    0.001725728172227238,
-  0.001342233088643682, 0.000958737955710053, 0.000575242787525925,
-    0.000191747598192208,
-
-};
-
-/**    
- * @brief  Initialization function for the floating-point DCT4/IDCT4.   
- * @param[in,out] *S         points to an instance of floating-point DCT4/IDCT4 structure.   
- * @param[in]     *S_RFFT    points to an instance of floating-point RFFT/RIFFT structure.   
- * @param[in]     *S_CFFT    points to an instance of floating-point CFFT/CIFFT structure.   
- * @param[in]     N			 length of the DCT4.   
- * @param[in]     Nby2       half of the length of the DCT4.   
- * @param[in]     normalize  normalizing factor.   
- * @return        arm_status function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if fftLenReal is not a supported transform length.   
- * \par Normalizing factor:    
- * The normalizing factor is sqrt(2/N), which depends on the size of transform N.    
- * Floating-point normalizing factors are mentioned in the table below for different DCT sizes:    
- * \image html dct4NormalizingF32Table.gif    
- */
-
-arm_status arm_dct4_init_f32(
-  arm_dct4_instance_f32 * S,
-  arm_rfft_instance_f32 * S_RFFT,
-  arm_cfft_radix4_instance_f32 * S_CFFT,
-  uint16_t N,
-  uint16_t Nby2,
-  float32_t normalize)
-{
-  /*  Initialize the default arm status */
-  arm_status status = ARM_MATH_SUCCESS;
-
-  /* Initializing the pointer array with the weight table base addresses of different lengths */
-  float32_t *twiddlePtr[4] =
-    { (float32_t *) Weights_128, (float32_t *) Weights_512,
-    (float32_t *) Weights_2048, (float32_t *) Weights_8192
-  };
-
-  /* Initializing the pointer array with the cos factor table base addresses of different lengths */
-  float32_t *pCosFactor[4] =
-    { (float32_t *) cos_factors_128, (float32_t *) cos_factors_512,
-    (float32_t *) cos_factors_2048, (float32_t *) cos_factors_8192
-  };
-
-  /* Initialize the DCT4 length */
-  S->N = N;
-
-  /* Initialize the half of DCT4 length */
-  S->Nby2 = Nby2;
-
-  /* Initialize the DCT4 Normalizing factor */
-  S->normalize = normalize;
-
-  /* Initialize Real FFT Instance */
-  S->pRfft = S_RFFT;
-
-  /* Initialize Complex FFT Instance */
-  S->pCfft = S_CFFT;
-
-  switch (N)
-  {
-    /* Initialize the table modifier values */
-  case 8192u:
-    S->pTwiddle = twiddlePtr[3];
-    S->pCosFactor = pCosFactor[3];
-    break;
-  case 2048u:
-    S->pTwiddle = twiddlePtr[2];
-    S->pCosFactor = pCosFactor[2];
-    break;
-  case 512u:
-    S->pTwiddle = twiddlePtr[1];
-    S->pCosFactor = pCosFactor[1];
-    break;
-  case 128u:
-    S->pTwiddle = twiddlePtr[0];
-    S->pCosFactor = pCosFactor[0];
-    break;
-  default:
-    status = ARM_MATH_ARGUMENT_ERROR;
-  }
-
-  /* Initialize the RFFT/RIFFT */
-  arm_rfft_init_f32(S->pRfft, S->pCfft, S->N, 0u, 1u);
-
-  /* return the status of DCT4 Init function */
-  return (status);
-}
-
-/**    
-   * @} end of DCT4_IDCT4 group    
-   */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_init_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_init_q15.c
deleted file mode 100644
index c6452fe98..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_init_q15.c
+++ /dev/null
@@ -1,4276 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_dct4_init_q15.c    
-*    
-* Description:	Initialization function of DCT-4 & IDCT4 Q15    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* -------------------------------------------------------------------- */
-
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupTransforms    
- */
-
-/**    
- * @addtogroup DCT4_IDCT4    
- * @{    
- */
-
-/*    
-* @brief  Weights Table    
-*/
-
-/**    
-* \par    
-* Weights tables are generated using the formula : 
weights[n] = e^(-j*n*pi/(2*N))
    
-* \par    
-* C command to generate the table    
-* 
    
-* for(i = 0; i< N; i++)    
-* {    
-*   weights[2*i]= cos(i*c);    
-*   weights[(2*i)+1]= -sin(i * c);    
-* } 
    
-* \par    
-* where N is the Number of weights to be calculated and c is pi/(2*N)    
-* \par    
-* Converted the output to q15 format by multiplying with 2^31 and saturated if required.    
-* \par    
-* In the tables below the real and imaginary values are placed alternatively, hence the    
-* array length is 2*N.    
-*/
-
-static const q15_t ALIGN4 WeightsQ15_128[256] = {
-  0x7fff, 0x0, 0x7ffd, 0xfe6e, 0x7ff6, 0xfcdc, 0x7fe9, 0xfb4a,
-  0x7fd8, 0xf9b9, 0x7fc2, 0xf827, 0x7fa7, 0xf696, 0x7f87, 0xf505,
-  0x7f62, 0xf375, 0x7f38, 0xf1e5, 0x7f09, 0xf055, 0x7ed5, 0xeec7,
-  0x7e9d, 0xed38, 0x7e5f, 0xebab, 0x7e1d, 0xea1e, 0x7dd6, 0xe893,
-  0x7d8a, 0xe708, 0x7d39, 0xe57e, 0x7ce3, 0xe3f5, 0x7c89, 0xe26d,
-  0x7c29, 0xe0e7, 0x7bc5, 0xdf61, 0x7b5d, 0xdddd, 0x7aef, 0xdc5a,
-  0x7a7d, 0xdad8, 0x7a05, 0xd958, 0x798a, 0xd7da, 0x7909, 0xd65d,
-  0x7884, 0xd4e1, 0x77fa, 0xd368, 0x776c, 0xd1ef, 0x76d9, 0xd079,
-  0x7641, 0xcf05, 0x75a5, 0xcd92, 0x7504, 0xcc22, 0x745f, 0xcab3,
-  0x73b5, 0xc946, 0x7307, 0xc7dc, 0x7255, 0xc674, 0x719e, 0xc50e,
-  0x70e2, 0xc3aa, 0x7023, 0xc248, 0x6f5f, 0xc0e9, 0x6e96, 0xbf8d,
-  0x6dca, 0xbe32, 0x6cf9, 0xbcdb, 0x6c24, 0xbb86, 0x6b4a, 0xba33,
-  0x6a6d, 0xb8e4, 0x698c, 0xb797, 0x68a6, 0xb64c, 0x67bd, 0xb505,
-  0x66cf, 0xb3c1, 0x65dd, 0xb27f, 0x64e8, 0xb141, 0x63ef, 0xb005,
-  0x62f2, 0xaecd, 0x61f1, 0xad97, 0x60ec, 0xac65, 0x5fe3, 0xab36,
-  0x5ed7, 0xaa0b, 0x5dc7, 0xa8e3, 0x5cb4, 0xa7be, 0x5b9d, 0xa69c,
-  0x5a82, 0xa57e, 0x5964, 0xa463, 0x5842, 0xa34c, 0x571d, 0xa239,
-  0x55f5, 0xa129, 0x54ca, 0xa01d, 0x539b, 0x9f14, 0x5269, 0x9e0f,
-  0x5133, 0x9d0e, 0x4ffb, 0x9c11, 0x4ebf, 0x9b18, 0x4d81, 0x9a23,
-  0x4c3f, 0x9931, 0x4afb, 0x9843, 0x49b4, 0x975a, 0x4869, 0x9674,
-  0x471c, 0x9593, 0x45cd, 0x94b6, 0x447a, 0x93dc, 0x4325, 0x9307,
-  0x41ce, 0x9236, 0x4073, 0x916a, 0x3f17, 0x90a1, 0x3db8, 0x8fdd,
-  0x3c56, 0x8f1e, 0x3af2, 0x8e62, 0x398c, 0x8dab, 0x3824, 0x8cf9,
-  0x36ba, 0x8c4b, 0x354d, 0x8ba1, 0x33de, 0x8afc, 0x326e, 0x8a5b,
-  0x30fb, 0x89bf, 0x2f87, 0x8927, 0x2e11, 0x8894, 0x2c98, 0x8806,
-  0x2b1f, 0x877c, 0x29a3, 0x86f7, 0x2826, 0x8676, 0x26a8, 0x85fb,
-  0x2528, 0x8583, 0x23a6, 0x8511, 0x2223, 0x84a3, 0x209f, 0x843b,
-  0x1f19, 0x83d7, 0x1d93, 0x8377, 0x1c0b, 0x831d, 0x1a82, 0x82c7,
-  0x18f8, 0x8276, 0x176d, 0x822a, 0x15e2, 0x81e3, 0x1455, 0x81a1,
-  0x12c8, 0x8163, 0x1139, 0x812b, 0xfab, 0x80f7, 0xe1b, 0x80c8,
-  0xc8b, 0x809e, 0xafb, 0x8079, 0x96a, 0x8059, 0x7d9, 0x803e,
-  0x647, 0x8028, 0x4b6, 0x8017, 0x324, 0x800a, 0x192, 0x8003,
-};
-
-static const q15_t ALIGN4 WeightsQ15_512[1024] = {
-  0x7fff, 0x0, 0x7fff, 0xff9c, 0x7fff, 0xff37, 0x7ffe, 0xfed3,
-  0x7ffd, 0xfe6e, 0x7ffc, 0xfe0a, 0x7ffa, 0xfda5, 0x7ff8, 0xfd41,
-  0x7ff6, 0xfcdc, 0x7ff3, 0xfc78, 0x7ff0, 0xfc13, 0x7fed, 0xfbaf,
-  0x7fe9, 0xfb4a, 0x7fe5, 0xfae6, 0x7fe1, 0xfa81, 0x7fdd, 0xfa1d,
-  0x7fd8, 0xf9b9, 0x7fd3, 0xf954, 0x7fce, 0xf8f0, 0x7fc8, 0xf88b,
-  0x7fc2, 0xf827, 0x7fbc, 0xf7c3, 0x7fb5, 0xf75e, 0x7fae, 0xf6fa,
-  0x7fa7, 0xf696, 0x7f9f, 0xf632, 0x7f97, 0xf5cd, 0x7f8f, 0xf569,
-  0x7f87, 0xf505, 0x7f7e, 0xf4a1, 0x7f75, 0xf43d, 0x7f6b, 0xf3d9,
-  0x7f62, 0xf375, 0x7f58, 0xf311, 0x7f4d, 0xf2ad, 0x7f43, 0xf249,
-  0x7f38, 0xf1e5, 0x7f2d, 0xf181, 0x7f21, 0xf11d, 0x7f15, 0xf0b9,
-  0x7f09, 0xf055, 0x7efd, 0xeff2, 0x7ef0, 0xef8e, 0x7ee3, 0xef2a,
-  0x7ed5, 0xeec7, 0x7ec8, 0xee63, 0x7eba, 0xedff, 0x7eab, 0xed9c,
-  0x7e9d, 0xed38, 0x7e8e, 0xecd5, 0x7e7f, 0xec72, 0x7e6f, 0xec0e,
-  0x7e5f, 0xebab, 0x7e4f, 0xeb48, 0x7e3f, 0xeae5, 0x7e2e, 0xea81,
-  0x7e1d, 0xea1e, 0x7e0c, 0xe9bb, 0x7dfa, 0xe958, 0x7de8, 0xe8f6,
-  0x7dd6, 0xe893, 0x7dc3, 0xe830, 0x7db0, 0xe7cd, 0x7d9d, 0xe76a,
-  0x7d8a, 0xe708, 0x7d76, 0xe6a5, 0x7d62, 0xe643, 0x7d4e, 0xe5e0,
-  0x7d39, 0xe57e, 0x7d24, 0xe51c, 0x7d0f, 0xe4b9, 0x7cf9, 0xe457,
-  0x7ce3, 0xe3f5, 0x7ccd, 0xe393, 0x7cb7, 0xe331, 0x7ca0, 0xe2cf,
-  0x7c89, 0xe26d, 0x7c71, 0xe20b, 0x7c5a, 0xe1aa, 0x7c42, 0xe148,
-  0x7c29, 0xe0e7, 0x7c11, 0xe085, 0x7bf8, 0xe024, 0x7bdf, 0xdfc2,
-  0x7bc5, 0xdf61, 0x7bac, 0xdf00, 0x7b92, 0xde9f, 0x7b77, 0xde3e,
-  0x7b5d, 0xdddd, 0x7b42, 0xdd7c, 0x7b26, 0xdd1b, 0x7b0b, 0xdcbb,
-  0x7aef, 0xdc5a, 0x7ad3, 0xdbf9, 0x7ab6, 0xdb99, 0x7a9a, 0xdb39,
-  0x7a7d, 0xdad8, 0x7a5f, 0xda78, 0x7a42, 0xda18, 0x7a24, 0xd9b8,
-  0x7a05, 0xd958, 0x79e7, 0xd8f9, 0x79c8, 0xd899, 0x79a9, 0xd839,
-  0x798a, 0xd7da, 0x796a, 0xd77a, 0x794a, 0xd71b, 0x792a, 0xd6bc,
-  0x7909, 0xd65d, 0x78e8, 0xd5fe, 0x78c7, 0xd59f, 0x78a6, 0xd540,
-  0x7884, 0xd4e1, 0x7862, 0xd483, 0x7840, 0xd424, 0x781d, 0xd3c6,
-  0x77fa, 0xd368, 0x77d7, 0xd309, 0x77b4, 0xd2ab, 0x7790, 0xd24d,
-  0x776c, 0xd1ef, 0x7747, 0xd192, 0x7723, 0xd134, 0x76fe, 0xd0d7,
-  0x76d9, 0xd079, 0x76b3, 0xd01c, 0x768e, 0xcfbf, 0x7668, 0xcf62,
-  0x7641, 0xcf05, 0x761b, 0xcea8, 0x75f4, 0xce4b, 0x75cc, 0xcdef,
-  0x75a5, 0xcd92, 0x757d, 0xcd36, 0x7555, 0xccda, 0x752d, 0xcc7e,
-  0x7504, 0xcc22, 0x74db, 0xcbc6, 0x74b2, 0xcb6a, 0x7489, 0xcb0e,
-  0x745f, 0xcab3, 0x7435, 0xca58, 0x740b, 0xc9fc, 0x73e0, 0xc9a1,
-  0x73b5, 0xc946, 0x738a, 0xc8ec, 0x735f, 0xc891, 0x7333, 0xc836,
-  0x7307, 0xc7dc, 0x72db, 0xc782, 0x72af, 0xc728, 0x7282, 0xc6ce,
-  0x7255, 0xc674, 0x7227, 0xc61a, 0x71fa, 0xc5c0, 0x71cc, 0xc567,
-  0x719e, 0xc50e, 0x716f, 0xc4b4, 0x7141, 0xc45b, 0x7112, 0xc403,
-  0x70e2, 0xc3aa, 0x70b3, 0xc351, 0x7083, 0xc2f9, 0x7053, 0xc2a0,
-  0x7023, 0xc248, 0x6ff2, 0xc1f0, 0x6fc1, 0xc198, 0x6f90, 0xc141,
-  0x6f5f, 0xc0e9, 0x6f2d, 0xc092, 0x6efb, 0xc03b, 0x6ec9, 0xbfe3,
-  0x6e96, 0xbf8d, 0x6e63, 0xbf36, 0x6e30, 0xbedf, 0x6dfd, 0xbe89,
-  0x6dca, 0xbe32, 0x6d96, 0xbddc, 0x6d62, 0xbd86, 0x6d2d, 0xbd30,
-  0x6cf9, 0xbcdb, 0x6cc4, 0xbc85, 0x6c8f, 0xbc30, 0x6c59, 0xbbdb,
-  0x6c24, 0xbb86, 0x6bee, 0xbb31, 0x6bb8, 0xbadc, 0x6b81, 0xba88,
-  0x6b4a, 0xba33, 0x6b13, 0xb9df, 0x6adc, 0xb98b, 0x6aa5, 0xb937,
-  0x6a6d, 0xb8e4, 0x6a35, 0xb890, 0x69fd, 0xb83d, 0x69c4, 0xb7ea,
-  0x698c, 0xb797, 0x6953, 0xb744, 0x6919, 0xb6f1, 0x68e0, 0xb69f,
-  0x68a6, 0xb64c, 0x686c, 0xb5fa, 0x6832, 0xb5a8, 0x67f7, 0xb557,
-  0x67bd, 0xb505, 0x6782, 0xb4b4, 0x6746, 0xb462, 0x670b, 0xb411,
-  0x66cf, 0xb3c1, 0x6693, 0xb370, 0x6657, 0xb31f, 0x661a, 0xb2cf,
-  0x65dd, 0xb27f, 0x65a0, 0xb22f, 0x6563, 0xb1df, 0x6526, 0xb190,
-  0x64e8, 0xb141, 0x64aa, 0xb0f1, 0x646c, 0xb0a2, 0x642d, 0xb054,
-  0x63ef, 0xb005, 0x63b0, 0xafb7, 0x6371, 0xaf69, 0x6331, 0xaf1b,
-  0x62f2, 0xaecd, 0x62b2, 0xae7f, 0x6271, 0xae32, 0x6231, 0xade4,
-  0x61f1, 0xad97, 0x61b0, 0xad4b, 0x616f, 0xacfe, 0x612d, 0xacb2,
-  0x60ec, 0xac65, 0x60aa, 0xac19, 0x6068, 0xabcd, 0x6026, 0xab82,
-  0x5fe3, 0xab36, 0x5fa0, 0xaaeb, 0x5f5e, 0xaaa0, 0x5f1a, 0xaa55,
-  0x5ed7, 0xaa0b, 0x5e93, 0xa9c0, 0x5e50, 0xa976, 0x5e0b, 0xa92c,
-  0x5dc7, 0xa8e3, 0x5d83, 0xa899, 0x5d3e, 0xa850, 0x5cf9, 0xa807,
-  0x5cb4, 0xa7be, 0x5c6e, 0xa775, 0x5c29, 0xa72c, 0x5be3, 0xa6e4,
-  0x5b9d, 0xa69c, 0x5b56, 0xa654, 0x5b10, 0xa60d, 0x5ac9, 0xa5c5,
-  0x5a82, 0xa57e, 0x5a3b, 0xa537, 0x59f3, 0xa4f0, 0x59ac, 0xa4aa,
-  0x5964, 0xa463, 0x591c, 0xa41d, 0x58d4, 0xa3d7, 0x588b, 0xa392,
-  0x5842, 0xa34c, 0x57f9, 0xa307, 0x57b0, 0xa2c2, 0x5767, 0xa27d,
-  0x571d, 0xa239, 0x56d4, 0xa1f5, 0x568a, 0xa1b0, 0x5640, 0xa16d,
-  0x55f5, 0xa129, 0x55ab, 0xa0e6, 0x5560, 0xa0a2, 0x5515, 0xa060,
-  0x54ca, 0xa01d, 0x547e, 0x9fda, 0x5433, 0x9f98, 0x53e7, 0x9f56,
-  0x539b, 0x9f14, 0x534e, 0x9ed3, 0x5302, 0x9e91, 0x52b5, 0x9e50,
-  0x5269, 0x9e0f, 0x521c, 0x9dcf, 0x51ce, 0x9d8f, 0x5181, 0x9d4e,
-  0x5133, 0x9d0e, 0x50e5, 0x9ccf, 0x5097, 0x9c8f, 0x5049, 0x9c50,
-  0x4ffb, 0x9c11, 0x4fac, 0x9bd3, 0x4f5e, 0x9b94, 0x4f0f, 0x9b56,
-  0x4ebf, 0x9b18, 0x4e70, 0x9ada, 0x4e21, 0x9a9d, 0x4dd1, 0x9a60,
-  0x4d81, 0x9a23, 0x4d31, 0x99e6, 0x4ce1, 0x99a9, 0x4c90, 0x996d,
-  0x4c3f, 0x9931, 0x4bef, 0x98f5, 0x4b9e, 0x98ba, 0x4b4c, 0x987e,
-  0x4afb, 0x9843, 0x4aa9, 0x9809, 0x4a58, 0x97ce, 0x4a06, 0x9794,
-  0x49b4, 0x975a, 0x4961, 0x9720, 0x490f, 0x96e7, 0x48bc, 0x96ad,
-  0x4869, 0x9674, 0x4816, 0x963c, 0x47c3, 0x9603, 0x4770, 0x95cb,
-  0x471c, 0x9593, 0x46c9, 0x955b, 0x4675, 0x9524, 0x4621, 0x94ed,
-  0x45cd, 0x94b6, 0x4578, 0x947f, 0x4524, 0x9448, 0x44cf, 0x9412,
-  0x447a, 0x93dc, 0x4425, 0x93a7, 0x43d0, 0x9371, 0x437b, 0x933c,
-  0x4325, 0x9307, 0x42d0, 0x92d3, 0x427a, 0x929e, 0x4224, 0x926a,
-  0x41ce, 0x9236, 0x4177, 0x9203, 0x4121, 0x91d0, 0x40ca, 0x919d,
-  0x4073, 0x916a, 0x401d, 0x9137, 0x3fc5, 0x9105, 0x3f6e, 0x90d3,
-  0x3f17, 0x90a1, 0x3ebf, 0x9070, 0x3e68, 0x903f, 0x3e10, 0x900e,
-  0x3db8, 0x8fdd, 0x3d60, 0x8fad, 0x3d07, 0x8f7d, 0x3caf, 0x8f4d,
-  0x3c56, 0x8f1e, 0x3bfd, 0x8eee, 0x3ba5, 0x8ebf, 0x3b4c, 0x8e91,
-  0x3af2, 0x8e62, 0x3a99, 0x8e34, 0x3a40, 0x8e06, 0x39e6, 0x8dd9,
-  0x398c, 0x8dab, 0x3932, 0x8d7e, 0x38d8, 0x8d51, 0x387e, 0x8d25,
-  0x3824, 0x8cf9, 0x37ca, 0x8ccd, 0x376f, 0x8ca1, 0x3714, 0x8c76,
-  0x36ba, 0x8c4b, 0x365f, 0x8c20, 0x3604, 0x8bf5, 0x35a8, 0x8bcb,
-  0x354d, 0x8ba1, 0x34f2, 0x8b77, 0x3496, 0x8b4e, 0x343a, 0x8b25,
-  0x33de, 0x8afc, 0x3382, 0x8ad3, 0x3326, 0x8aab, 0x32ca, 0x8a83,
-  0x326e, 0x8a5b, 0x3211, 0x8a34, 0x31b5, 0x8a0c, 0x3158, 0x89e5,
-  0x30fb, 0x89bf, 0x309e, 0x8998, 0x3041, 0x8972, 0x2fe4, 0x894d,
-  0x2f87, 0x8927, 0x2f29, 0x8902, 0x2ecc, 0x88dd, 0x2e6e, 0x88b9,
-  0x2e11, 0x8894, 0x2db3, 0x8870, 0x2d55, 0x884c, 0x2cf7, 0x8829,
-  0x2c98, 0x8806, 0x2c3a, 0x87e3, 0x2bdc, 0x87c0, 0x2b7d, 0x879e,
-  0x2b1f, 0x877c, 0x2ac0, 0x875a, 0x2a61, 0x8739, 0x2a02, 0x8718,
-  0x29a3, 0x86f7, 0x2944, 0x86d6, 0x28e5, 0x86b6, 0x2886, 0x8696,
-  0x2826, 0x8676, 0x27c7, 0x8657, 0x2767, 0x8638, 0x2707, 0x8619,
-  0x26a8, 0x85fb, 0x2648, 0x85dc, 0x25e8, 0x85be, 0x2588, 0x85a1,
-  0x2528, 0x8583, 0x24c7, 0x8566, 0x2467, 0x854a, 0x2407, 0x852d,
-  0x23a6, 0x8511, 0x2345, 0x84f5, 0x22e5, 0x84da, 0x2284, 0x84be,
-  0x2223, 0x84a3, 0x21c2, 0x8489, 0x2161, 0x846e, 0x2100, 0x8454,
-  0x209f, 0x843b, 0x203e, 0x8421, 0x1fdc, 0x8408, 0x1f7b, 0x83ef,
-  0x1f19, 0x83d7, 0x1eb8, 0x83be, 0x1e56, 0x83a6, 0x1df5, 0x838f,
-  0x1d93, 0x8377, 0x1d31, 0x8360, 0x1ccf, 0x8349, 0x1c6d, 0x8333,
-  0x1c0b, 0x831d, 0x1ba9, 0x8307, 0x1b47, 0x82f1, 0x1ae4, 0x82dc,
-  0x1a82, 0x82c7, 0x1a20, 0x82b2, 0x19bd, 0x829e, 0x195b, 0x828a,
-  0x18f8, 0x8276, 0x1896, 0x8263, 0x1833, 0x8250, 0x17d0, 0x823d,
-  0x176d, 0x822a, 0x170a, 0x8218, 0x16a8, 0x8206, 0x1645, 0x81f4,
-  0x15e2, 0x81e3, 0x157f, 0x81d2, 0x151b, 0x81c1, 0x14b8, 0x81b1,
-  0x1455, 0x81a1, 0x13f2, 0x8191, 0x138e, 0x8181, 0x132b, 0x8172,
-  0x12c8, 0x8163, 0x1264, 0x8155, 0x1201, 0x8146, 0x119d, 0x8138,
-  0x1139, 0x812b, 0x10d6, 0x811d, 0x1072, 0x8110, 0x100e, 0x8103,
-  0xfab, 0x80f7, 0xf47, 0x80eb, 0xee3, 0x80df, 0xe7f, 0x80d3,
-  0xe1b, 0x80c8, 0xdb7, 0x80bd, 0xd53, 0x80b3, 0xcef, 0x80a8,
-  0xc8b, 0x809e, 0xc27, 0x8095, 0xbc3, 0x808b, 0xb5f, 0x8082,
-  0xafb, 0x8079, 0xa97, 0x8071, 0xa33, 0x8069, 0x9ce, 0x8061,
-  0x96a, 0x8059, 0x906, 0x8052, 0x8a2, 0x804b, 0x83d, 0x8044,
-  0x7d9, 0x803e, 0x775, 0x8038, 0x710, 0x8032, 0x6ac, 0x802d,
-  0x647, 0x8028, 0x5e3, 0x8023, 0x57f, 0x801f, 0x51a, 0x801b,
-  0x4b6, 0x8017, 0x451, 0x8013, 0x3ed, 0x8010, 0x388, 0x800d,
-  0x324, 0x800a, 0x2bf, 0x8008, 0x25b, 0x8006, 0x1f6, 0x8004,
-  0x192, 0x8003, 0x12d, 0x8002, 0xc9, 0x8001, 0x64, 0x8001,
-};
-
-static const q15_t ALIGN4 WeightsQ15_2048[4096] = {
-  0x7fff, 0x0, 0x7fff, 0xffe7, 0x7fff, 0xffce, 0x7fff, 0xffb5,
-  0x7fff, 0xff9c, 0x7fff, 0xff83, 0x7fff, 0xff6a, 0x7fff, 0xff51,
-  0x7fff, 0xff37, 0x7fff, 0xff1e, 0x7fff, 0xff05, 0x7ffe, 0xfeec,
-  0x7ffe, 0xfed3, 0x7ffe, 0xfeba, 0x7ffe, 0xfea1, 0x7ffd, 0xfe88,
-  0x7ffd, 0xfe6e, 0x7ffd, 0xfe55, 0x7ffc, 0xfe3c, 0x7ffc, 0xfe23,
-  0x7ffc, 0xfe0a, 0x7ffb, 0xfdf1, 0x7ffb, 0xfdd8, 0x7ffa, 0xfdbe,
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-  0x3f6e, 0x90d3, 0x3f58, 0x90c7, 0x3f43, 0x90ba, 0x3f2d, 0x90ae,
-  0x3f17, 0x90a1, 0x3f01, 0x9095, 0x3eeb, 0x9089, 0x3ed5, 0x907c,
-  0x3ebf, 0x9070, 0x3ea9, 0x9064, 0x3e93, 0x9057, 0x3e7d, 0x904b,
-  0x3e68, 0x903f, 0x3e52, 0x9033, 0x3e3c, 0x9026, 0x3e26, 0x901a,
-  0x3e10, 0x900e, 0x3dfa, 0x9002, 0x3de4, 0x8ff6, 0x3dce, 0x8fea,
-  0x3db8, 0x8fdd, 0x3da2, 0x8fd1, 0x3d8c, 0x8fc5, 0x3d76, 0x8fb9,
-  0x3d60, 0x8fad, 0x3d49, 0x8fa1, 0x3d33, 0x8f95, 0x3d1d, 0x8f89,
-  0x3d07, 0x8f7d, 0x3cf1, 0x8f71, 0x3cdb, 0x8f65, 0x3cc5, 0x8f59,
-  0x3caf, 0x8f4d, 0x3c99, 0x8f41, 0x3c83, 0x8f35, 0x3c6c, 0x8f2a,
-  0x3c56, 0x8f1e, 0x3c40, 0x8f12, 0x3c2a, 0x8f06, 0x3c14, 0x8efa,
-  0x3bfd, 0x8eee, 0x3be7, 0x8ee3, 0x3bd1, 0x8ed7, 0x3bbb, 0x8ecb,
-  0x3ba5, 0x8ebf, 0x3b8e, 0x8eb4, 0x3b78, 0x8ea8, 0x3b62, 0x8e9c,
-  0x3b4c, 0x8e91, 0x3b35, 0x8e85, 0x3b1f, 0x8e7a, 0x3b09, 0x8e6e,
-  0x3af2, 0x8e62, 0x3adc, 0x8e57, 0x3ac6, 0x8e4b, 0x3aaf, 0x8e40,
-  0x3a99, 0x8e34, 0x3a83, 0x8e29, 0x3a6c, 0x8e1d, 0x3a56, 0x8e12,
-  0x3a40, 0x8e06, 0x3a29, 0x8dfb, 0x3a13, 0x8def, 0x39fd, 0x8de4,
-  0x39e6, 0x8dd9, 0x39d0, 0x8dcd, 0x39b9, 0x8dc2, 0x39a3, 0x8db7,
-  0x398c, 0x8dab, 0x3976, 0x8da0, 0x395f, 0x8d95, 0x3949, 0x8d8a,
-  0x3932, 0x8d7e, 0x391c, 0x8d73, 0x3906, 0x8d68, 0x38ef, 0x8d5d,
-  0x38d8, 0x8d51, 0x38c2, 0x8d46, 0x38ab, 0x8d3b, 0x3895, 0x8d30,
-  0x387e, 0x8d25, 0x3868, 0x8d1a, 0x3851, 0x8d0f, 0x383b, 0x8d04,
-  0x3824, 0x8cf9, 0x380d, 0x8cee, 0x37f7, 0x8ce3, 0x37e0, 0x8cd8,
-  0x37ca, 0x8ccd, 0x37b3, 0x8cc2, 0x379c, 0x8cb7, 0x3786, 0x8cac,
-  0x376f, 0x8ca1, 0x3758, 0x8c96, 0x3742, 0x8c8b, 0x372b, 0x8c81,
-  0x3714, 0x8c76, 0x36fe, 0x8c6b, 0x36e7, 0x8c60, 0x36d0, 0x8c55,
-  0x36ba, 0x8c4b, 0x36a3, 0x8c40, 0x368c, 0x8c35, 0x3675, 0x8c2a,
-  0x365f, 0x8c20, 0x3648, 0x8c15, 0x3631, 0x8c0a, 0x361a, 0x8c00,
-  0x3604, 0x8bf5, 0x35ed, 0x8beb, 0x35d6, 0x8be0, 0x35bf, 0x8bd5,
-  0x35a8, 0x8bcb, 0x3592, 0x8bc0, 0x357b, 0x8bb6, 0x3564, 0x8bab,
-  0x354d, 0x8ba1, 0x3536, 0x8b96, 0x351f, 0x8b8c, 0x3508, 0x8b82,
-  0x34f2, 0x8b77, 0x34db, 0x8b6d, 0x34c4, 0x8b62, 0x34ad, 0x8b58,
-  0x3496, 0x8b4e, 0x347f, 0x8b43, 0x3468, 0x8b39, 0x3451, 0x8b2f,
-  0x343a, 0x8b25, 0x3423, 0x8b1a, 0x340c, 0x8b10, 0x33f5, 0x8b06,
-  0x33de, 0x8afc, 0x33c7, 0x8af1, 0x33b0, 0x8ae7, 0x3399, 0x8add,
-  0x3382, 0x8ad3, 0x336b, 0x8ac9, 0x3354, 0x8abf, 0x333d, 0x8ab5,
-  0x3326, 0x8aab, 0x330f, 0x8aa1, 0x32f8, 0x8a97, 0x32e1, 0x8a8d,
-  0x32ca, 0x8a83, 0x32b3, 0x8a79, 0x329c, 0x8a6f, 0x3285, 0x8a65,
-  0x326e, 0x8a5b, 0x3257, 0x8a51, 0x3240, 0x8a47, 0x3228, 0x8a3d,
-  0x3211, 0x8a34, 0x31fa, 0x8a2a, 0x31e3, 0x8a20, 0x31cc, 0x8a16,
-  0x31b5, 0x8a0c, 0x319e, 0x8a03, 0x3186, 0x89f9, 0x316f, 0x89ef,
-  0x3158, 0x89e5, 0x3141, 0x89dc, 0x312a, 0x89d2, 0x3112, 0x89c8,
-  0x30fb, 0x89bf, 0x30e4, 0x89b5, 0x30cd, 0x89ac, 0x30b6, 0x89a2,
-  0x309e, 0x8998, 0x3087, 0x898f, 0x3070, 0x8985, 0x3059, 0x897c,
-  0x3041, 0x8972, 0x302a, 0x8969, 0x3013, 0x8960, 0x2ffb, 0x8956,
-  0x2fe4, 0x894d, 0x2fcd, 0x8943, 0x2fb5, 0x893a, 0x2f9e, 0x8931,
-  0x2f87, 0x8927, 0x2f6f, 0x891e, 0x2f58, 0x8915, 0x2f41, 0x890b,
-  0x2f29, 0x8902, 0x2f12, 0x88f9, 0x2efb, 0x88f0, 0x2ee3, 0x88e6,
-  0x2ecc, 0x88dd, 0x2eb5, 0x88d4, 0x2e9d, 0x88cb, 0x2e86, 0x88c2,
-  0x2e6e, 0x88b9, 0x2e57, 0x88af, 0x2e3f, 0x88a6, 0x2e28, 0x889d,
-  0x2e11, 0x8894, 0x2df9, 0x888b, 0x2de2, 0x8882, 0x2dca, 0x8879,
-  0x2db3, 0x8870, 0x2d9b, 0x8867, 0x2d84, 0x885e, 0x2d6c, 0x8855,
-  0x2d55, 0x884c, 0x2d3d, 0x8844, 0x2d26, 0x883b, 0x2d0e, 0x8832,
-  0x2cf7, 0x8829, 0x2cdf, 0x8820, 0x2cc8, 0x8817, 0x2cb0, 0x880f,
-  0x2c98, 0x8806, 0x2c81, 0x87fd, 0x2c69, 0x87f4, 0x2c52, 0x87ec,
-  0x2c3a, 0x87e3, 0x2c23, 0x87da, 0x2c0b, 0x87d2, 0x2bf3, 0x87c9,
-  0x2bdc, 0x87c0, 0x2bc4, 0x87b8, 0x2bad, 0x87af, 0x2b95, 0x87a7,
-  0x2b7d, 0x879e, 0x2b66, 0x8795, 0x2b4e, 0x878d, 0x2b36, 0x8784,
-  0x2b1f, 0x877c, 0x2b07, 0x8774, 0x2aef, 0x876b, 0x2ad8, 0x8763,
-  0x2ac0, 0x875a, 0x2aa8, 0x8752, 0x2a91, 0x874a, 0x2a79, 0x8741,
-  0x2a61, 0x8739, 0x2a49, 0x8731, 0x2a32, 0x8728, 0x2a1a, 0x8720,
-  0x2a02, 0x8718, 0x29eb, 0x870f, 0x29d3, 0x8707, 0x29bb, 0x86ff,
-  0x29a3, 0x86f7, 0x298b, 0x86ef, 0x2974, 0x86e7, 0x295c, 0x86de,
-  0x2944, 0x86d6, 0x292c, 0x86ce, 0x2915, 0x86c6, 0x28fd, 0x86be,
-  0x28e5, 0x86b6, 0x28cd, 0x86ae, 0x28b5, 0x86a6, 0x289d, 0x869e,
-  0x2886, 0x8696, 0x286e, 0x868e, 0x2856, 0x8686, 0x283e, 0x867e,
-  0x2826, 0x8676, 0x280e, 0x866e, 0x27f6, 0x8667, 0x27df, 0x865f,
-  0x27c7, 0x8657, 0x27af, 0x864f, 0x2797, 0x8647, 0x277f, 0x8640,
-  0x2767, 0x8638, 0x274f, 0x8630, 0x2737, 0x8628, 0x271f, 0x8621,
-  0x2707, 0x8619, 0x26ef, 0x8611, 0x26d8, 0x860a, 0x26c0, 0x8602,
-  0x26a8, 0x85fb, 0x2690, 0x85f3, 0x2678, 0x85eb, 0x2660, 0x85e4,
-  0x2648, 0x85dc, 0x2630, 0x85d5, 0x2618, 0x85cd, 0x2600, 0x85c6,
-  0x25e8, 0x85be, 0x25d0, 0x85b7, 0x25b8, 0x85b0, 0x25a0, 0x85a8,
-  0x2588, 0x85a1, 0x2570, 0x8599, 0x2558, 0x8592, 0x2540, 0x858b,
-  0x2528, 0x8583, 0x250f, 0x857c, 0x24f7, 0x8575, 0x24df, 0x856e,
-  0x24c7, 0x8566, 0x24af, 0x855f, 0x2497, 0x8558, 0x247f, 0x8551,
-  0x2467, 0x854a, 0x244f, 0x8543, 0x2437, 0x853b, 0x241f, 0x8534,
-  0x2407, 0x852d, 0x23ee, 0x8526, 0x23d6, 0x851f, 0x23be, 0x8518,
-  0x23a6, 0x8511, 0x238e, 0x850a, 0x2376, 0x8503, 0x235e, 0x84fc,
-  0x2345, 0x84f5, 0x232d, 0x84ee, 0x2315, 0x84e7, 0x22fd, 0x84e1,
-  0x22e5, 0x84da, 0x22cd, 0x84d3, 0x22b4, 0x84cc, 0x229c, 0x84c5,
-  0x2284, 0x84be, 0x226c, 0x84b8, 0x2254, 0x84b1, 0x223b, 0x84aa,
-  0x2223, 0x84a3, 0x220b, 0x849d, 0x21f3, 0x8496, 0x21da, 0x848f,
-  0x21c2, 0x8489, 0x21aa, 0x8482, 0x2192, 0x847c, 0x2179, 0x8475,
-  0x2161, 0x846e, 0x2149, 0x8468, 0x2131, 0x8461, 0x2118, 0x845b,
-  0x2100, 0x8454, 0x20e8, 0x844e, 0x20d0, 0x8447, 0x20b7, 0x8441,
-  0x209f, 0x843b, 0x2087, 0x8434, 0x206e, 0x842e, 0x2056, 0x8427,
-  0x203e, 0x8421, 0x2025, 0x841b, 0x200d, 0x8415, 0x1ff5, 0x840e,
-  0x1fdc, 0x8408, 0x1fc4, 0x8402, 0x1fac, 0x83fb, 0x1f93, 0x83f5,
-  0x1f7b, 0x83ef, 0x1f63, 0x83e9, 0x1f4a, 0x83e3, 0x1f32, 0x83dd,
-  0x1f19, 0x83d7, 0x1f01, 0x83d0, 0x1ee9, 0x83ca, 0x1ed0, 0x83c4,
-  0x1eb8, 0x83be, 0x1ea0, 0x83b8, 0x1e87, 0x83b2, 0x1e6f, 0x83ac,
-  0x1e56, 0x83a6, 0x1e3e, 0x83a0, 0x1e25, 0x839a, 0x1e0d, 0x8394,
-  0x1df5, 0x838f, 0x1ddc, 0x8389, 0x1dc4, 0x8383, 0x1dab, 0x837d,
-  0x1d93, 0x8377, 0x1d7a, 0x8371, 0x1d62, 0x836c, 0x1d49, 0x8366,
-  0x1d31, 0x8360, 0x1d18, 0x835a, 0x1d00, 0x8355, 0x1ce8, 0x834f,
-  0x1ccf, 0x8349, 0x1cb7, 0x8344, 0x1c9e, 0x833e, 0x1c86, 0x8338,
-  0x1c6d, 0x8333, 0x1c55, 0x832d, 0x1c3c, 0x8328, 0x1c24, 0x8322,
-  0x1c0b, 0x831d, 0x1bf2, 0x8317, 0x1bda, 0x8312, 0x1bc1, 0x830c,
-  0x1ba9, 0x8307, 0x1b90, 0x8301, 0x1b78, 0x82fc, 0x1b5f, 0x82f7,
-  0x1b47, 0x82f1, 0x1b2e, 0x82ec, 0x1b16, 0x82e7, 0x1afd, 0x82e1,
-  0x1ae4, 0x82dc, 0x1acc, 0x82d7, 0x1ab3, 0x82d1, 0x1a9b, 0x82cc,
-  0x1a82, 0x82c7, 0x1a6a, 0x82c2, 0x1a51, 0x82bd, 0x1a38, 0x82b7,
-  0x1a20, 0x82b2, 0x1a07, 0x82ad, 0x19ef, 0x82a8, 0x19d6, 0x82a3,
-  0x19bd, 0x829e, 0x19a5, 0x8299, 0x198c, 0x8294, 0x1973, 0x828f,
-  0x195b, 0x828a, 0x1942, 0x8285, 0x192a, 0x8280, 0x1911, 0x827b,
-  0x18f8, 0x8276, 0x18e0, 0x8271, 0x18c7, 0x826c, 0x18ae, 0x8268,
-  0x1896, 0x8263, 0x187d, 0x825e, 0x1864, 0x8259, 0x184c, 0x8254,
-  0x1833, 0x8250, 0x181a, 0x824b, 0x1802, 0x8246, 0x17e9, 0x8241,
-  0x17d0, 0x823d, 0x17b7, 0x8238, 0x179f, 0x8233, 0x1786, 0x822f,
-  0x176d, 0x822a, 0x1755, 0x8226, 0x173c, 0x8221, 0x1723, 0x821c,
-  0x170a, 0x8218, 0x16f2, 0x8213, 0x16d9, 0x820f, 0x16c0, 0x820a,
-  0x16a8, 0x8206, 0x168f, 0x8201, 0x1676, 0x81fd, 0x165d, 0x81f9,
-  0x1645, 0x81f4, 0x162c, 0x81f0, 0x1613, 0x81ec, 0x15fa, 0x81e7,
-  0x15e2, 0x81e3, 0x15c9, 0x81df, 0x15b0, 0x81da, 0x1597, 0x81d6,
-  0x157f, 0x81d2, 0x1566, 0x81ce, 0x154d, 0x81c9, 0x1534, 0x81c5,
-  0x151b, 0x81c1, 0x1503, 0x81bd, 0x14ea, 0x81b9, 0x14d1, 0x81b5,
-  0x14b8, 0x81b1, 0x149f, 0x81ad, 0x1487, 0x81a9, 0x146e, 0x81a5,
-  0x1455, 0x81a1, 0x143c, 0x819d, 0x1423, 0x8199, 0x140b, 0x8195,
-  0x13f2, 0x8191, 0x13d9, 0x818d, 0x13c0, 0x8189, 0x13a7, 0x8185,
-  0x138e, 0x8181, 0x1376, 0x817d, 0x135d, 0x817a, 0x1344, 0x8176,
-  0x132b, 0x8172, 0x1312, 0x816e, 0x12f9, 0x816b, 0x12e0, 0x8167,
-  0x12c8, 0x8163, 0x12af, 0x815f, 0x1296, 0x815c, 0x127d, 0x8158,
-  0x1264, 0x8155, 0x124b, 0x8151, 0x1232, 0x814d, 0x1219, 0x814a,
-  0x1201, 0x8146, 0x11e8, 0x8143, 0x11cf, 0x813f, 0x11b6, 0x813c,
-  0x119d, 0x8138, 0x1184, 0x8135, 0x116b, 0x8131, 0x1152, 0x812e,
-  0x1139, 0x812b, 0x1121, 0x8127, 0x1108, 0x8124, 0x10ef, 0x8121,
-  0x10d6, 0x811d, 0x10bd, 0x811a, 0x10a4, 0x8117, 0x108b, 0x8113,
-  0x1072, 0x8110, 0x1059, 0x810d, 0x1040, 0x810a, 0x1027, 0x8107,
-  0x100e, 0x8103, 0xff5, 0x8100, 0xfdd, 0x80fd, 0xfc4, 0x80fa,
-  0xfab, 0x80f7, 0xf92, 0x80f4, 0xf79, 0x80f1, 0xf60, 0x80ee,
-  0xf47, 0x80eb, 0xf2e, 0x80e8, 0xf15, 0x80e5, 0xefc, 0x80e2,
-  0xee3, 0x80df, 0xeca, 0x80dc, 0xeb1, 0x80d9, 0xe98, 0x80d6,
-  0xe7f, 0x80d3, 0xe66, 0x80d1, 0xe4d, 0x80ce, 0xe34, 0x80cb,
-  0xe1b, 0x80c8, 0xe02, 0x80c5, 0xde9, 0x80c3, 0xdd0, 0x80c0,
-  0xdb7, 0x80bd, 0xd9e, 0x80bb, 0xd85, 0x80b8, 0xd6c, 0x80b5,
-  0xd53, 0x80b3, 0xd3a, 0x80b0, 0xd21, 0x80ad, 0xd08, 0x80ab,
-  0xcef, 0x80a8, 0xcd6, 0x80a6, 0xcbd, 0x80a3, 0xca4, 0x80a1,
-  0xc8b, 0x809e, 0xc72, 0x809c, 0xc59, 0x8099, 0xc40, 0x8097,
-  0xc27, 0x8095, 0xc0e, 0x8092, 0xbf5, 0x8090, 0xbdc, 0x808e,
-  0xbc3, 0x808b, 0xbaa, 0x8089, 0xb91, 0x8087, 0xb78, 0x8084,
-  0xb5f, 0x8082, 0xb46, 0x8080, 0xb2d, 0x807e, 0xb14, 0x807b,
-  0xafb, 0x8079, 0xae2, 0x8077, 0xac9, 0x8075, 0xab0, 0x8073,
-  0xa97, 0x8071, 0xa7e, 0x806f, 0xa65, 0x806d, 0xa4c, 0x806b,
-  0xa33, 0x8069, 0xa19, 0x8067, 0xa00, 0x8065, 0x9e7, 0x8063,
-  0x9ce, 0x8061, 0x9b5, 0x805f, 0x99c, 0x805d, 0x983, 0x805b,
-  0x96a, 0x8059, 0x951, 0x8057, 0x938, 0x8056, 0x91f, 0x8054,
-  0x906, 0x8052, 0x8ed, 0x8050, 0x8d4, 0x804f, 0x8bb, 0x804d,
-  0x8a2, 0x804b, 0x888, 0x8049, 0x86f, 0x8048, 0x856, 0x8046,
-  0x83d, 0x8044, 0x824, 0x8043, 0x80b, 0x8041, 0x7f2, 0x8040,
-  0x7d9, 0x803e, 0x7c0, 0x803d, 0x7a7, 0x803b, 0x78e, 0x803a,
-  0x775, 0x8038, 0x75b, 0x8037, 0x742, 0x8035, 0x729, 0x8034,
-  0x710, 0x8032, 0x6f7, 0x8031, 0x6de, 0x8030, 0x6c5, 0x802e,
-  0x6ac, 0x802d, 0x693, 0x802c, 0x67a, 0x802a, 0x660, 0x8029,
-  0x647, 0x8028, 0x62e, 0x8027, 0x615, 0x8026, 0x5fc, 0x8024,
-  0x5e3, 0x8023, 0x5ca, 0x8022, 0x5b1, 0x8021, 0x598, 0x8020,
-  0x57f, 0x801f, 0x565, 0x801e, 0x54c, 0x801d, 0x533, 0x801c,
-  0x51a, 0x801b, 0x501, 0x801a, 0x4e8, 0x8019, 0x4cf, 0x8018,
-  0x4b6, 0x8017, 0x49c, 0x8016, 0x483, 0x8015, 0x46a, 0x8014,
-  0x451, 0x8013, 0x438, 0x8012, 0x41f, 0x8012, 0x406, 0x8011,
-  0x3ed, 0x8010, 0x3d4, 0x800f, 0x3ba, 0x800e, 0x3a1, 0x800e,
-  0x388, 0x800d, 0x36f, 0x800c, 0x356, 0x800c, 0x33d, 0x800b,
-  0x324, 0x800a, 0x30b, 0x800a, 0x2f1, 0x8009, 0x2d8, 0x8009,
-  0x2bf, 0x8008, 0x2a6, 0x8008, 0x28d, 0x8007, 0x274, 0x8007,
-  0x25b, 0x8006, 0x242, 0x8006, 0x228, 0x8005, 0x20f, 0x8005,
-  0x1f6, 0x8004, 0x1dd, 0x8004, 0x1c4, 0x8004, 0x1ab, 0x8003,
-  0x192, 0x8003, 0x178, 0x8003, 0x15f, 0x8002, 0x146, 0x8002,
-  0x12d, 0x8002, 0x114, 0x8002, 0xfb, 0x8001, 0xe2, 0x8001,
-  0xc9, 0x8001, 0xaf, 0x8001, 0x96, 0x8001, 0x7d, 0x8001,
-  0x64, 0x8001, 0x4b, 0x8001, 0x32, 0x8001, 0x19, 0x8001,
-};
-
-static const q15_t ALIGN4 WeightsQ15_8192[16384] = {
-  0x7fff, 0x0, 0x7fff, 0xfffa, 0x7fff, 0xfff4, 0x7fff, 0xffee,
-  0x7fff, 0xffe7, 0x7fff, 0xffe1, 0x7fff, 0xffdb, 0x7fff, 0xffd5,
-  0x7fff, 0xffce, 0x7fff, 0xffc8, 0x7fff, 0xffc2, 0x7fff, 0xffbb,
-  0x7fff, 0xffb5, 0x7fff, 0xffaf, 0x7fff, 0xffa9, 0x7fff, 0xffa2,
-  0x7fff, 0xff9c, 0x7fff, 0xff96, 0x7fff, 0xff8f, 0x7fff, 0xff89,
-  0x7fff, 0xff83, 0x7fff, 0xff7d, 0x7fff, 0xff76, 0x7fff, 0xff70,
-  0x7fff, 0xff6a, 0x7fff, 0xff63, 0x7fff, 0xff5d, 0x7fff, 0xff57,
-  0x7fff, 0xff51, 0x7fff, 0xff4a, 0x7fff, 0xff44, 0x7fff, 0xff3e,
-  0x7fff, 0xff37, 0x7fff, 0xff31, 0x7fff, 0xff2b, 0x7fff, 0xff25,
-  0x7fff, 0xff1e, 0x7fff, 0xff18, 0x7fff, 0xff12, 0x7fff, 0xff0b,
-  0x7fff, 0xff05, 0x7ffe, 0xfeff, 0x7ffe, 0xfef9, 0x7ffe, 0xfef2,
-  0x7ffe, 0xfeec, 0x7ffe, 0xfee6, 0x7ffe, 0xfedf, 0x7ffe, 0xfed9,
-  0x7ffe, 0xfed3, 0x7ffe, 0xfecd, 0x7ffe, 0xfec6, 0x7ffe, 0xfec0,
-  0x7ffe, 0xfeba, 0x7ffe, 0xfeb3, 0x7ffe, 0xfead, 0x7ffe, 0xfea7,
-  0x7ffe, 0xfea1, 0x7ffe, 0xfe9a, 0x7ffd, 0xfe94, 0x7ffd, 0xfe8e,
-  0x7ffd, 0xfe88, 0x7ffd, 0xfe81, 0x7ffd, 0xfe7b, 0x7ffd, 0xfe75,
-  0x7ffd, 0xfe6e, 0x7ffd, 0xfe68, 0x7ffd, 0xfe62, 0x7ffd, 0xfe5c,
-  0x7ffd, 0xfe55, 0x7ffd, 0xfe4f, 0x7ffd, 0xfe49, 0x7ffc, 0xfe42,
-  0x7ffc, 0xfe3c, 0x7ffc, 0xfe36, 0x7ffc, 0xfe30, 0x7ffc, 0xfe29,
-  0x7ffc, 0xfe23, 0x7ffc, 0xfe1d, 0x7ffc, 0xfe16, 0x7ffc, 0xfe10,
-  0x7ffc, 0xfe0a, 0x7ffc, 0xfe04, 0x7ffb, 0xfdfd, 0x7ffb, 0xfdf7,
-  0x7ffb, 0xfdf1, 0x7ffb, 0xfdea, 0x7ffb, 0xfde4, 0x7ffb, 0xfdde,
-  0x7ffb, 0xfdd8, 0x7ffb, 0xfdd1, 0x7ffb, 0xfdcb, 0x7ffb, 0xfdc5,
-  0x7ffa, 0xfdbe, 0x7ffa, 0xfdb8, 0x7ffa, 0xfdb2, 0x7ffa, 0xfdac,
-  0x7ffa, 0xfda5, 0x7ffa, 0xfd9f, 0x7ffa, 0xfd99, 0x7ffa, 0xfd93,
-  0x7ff9, 0xfd8c, 0x7ff9, 0xfd86, 0x7ff9, 0xfd80, 0x7ff9, 0xfd79,
-  0x7ff9, 0xfd73, 0x7ff9, 0xfd6d, 0x7ff9, 0xfd67, 0x7ff9, 0xfd60,
-  0x7ff8, 0xfd5a, 0x7ff8, 0xfd54, 0x7ff8, 0xfd4d, 0x7ff8, 0xfd47,
-  0x7ff8, 0xfd41, 0x7ff8, 0xfd3b, 0x7ff8, 0xfd34, 0x7ff8, 0xfd2e,
-  0x7ff7, 0xfd28, 0x7ff7, 0xfd21, 0x7ff7, 0xfd1b, 0x7ff7, 0xfd15,
-  0x7ff7, 0xfd0f, 0x7ff7, 0xfd08, 0x7ff7, 0xfd02, 0x7ff6, 0xfcfc,
-  0x7ff6, 0xfcf5, 0x7ff6, 0xfcef, 0x7ff6, 0xfce9, 0x7ff6, 0xfce3,
-  0x7ff6, 0xfcdc, 0x7ff5, 0xfcd6, 0x7ff5, 0xfcd0, 0x7ff5, 0xfcc9,
-  0x7ff5, 0xfcc3, 0x7ff5, 0xfcbd, 0x7ff5, 0xfcb7, 0x7ff5, 0xfcb0,
-  0x7ff4, 0xfcaa, 0x7ff4, 0xfca4, 0x7ff4, 0xfc9e, 0x7ff4, 0xfc97,
-  0x7ff4, 0xfc91, 0x7ff4, 0xfc8b, 0x7ff3, 0xfc84, 0x7ff3, 0xfc7e,
-  0x7ff3, 0xfc78, 0x7ff3, 0xfc72, 0x7ff3, 0xfc6b, 0x7ff2, 0xfc65,
-  0x7ff2, 0xfc5f, 0x7ff2, 0xfc58, 0x7ff2, 0xfc52, 0x7ff2, 0xfc4c,
-  0x7ff2, 0xfc46, 0x7ff1, 0xfc3f, 0x7ff1, 0xfc39, 0x7ff1, 0xfc33,
-  0x7ff1, 0xfc2c, 0x7ff1, 0xfc26, 0x7ff0, 0xfc20, 0x7ff0, 0xfc1a,
-  0x7ff0, 0xfc13, 0x7ff0, 0xfc0d, 0x7ff0, 0xfc07, 0x7fef, 0xfc01,
-  0x7fef, 0xfbfa, 0x7fef, 0xfbf4, 0x7fef, 0xfbee, 0x7fef, 0xfbe7,
-  0x7fee, 0xfbe1, 0x7fee, 0xfbdb, 0x7fee, 0xfbd5, 0x7fee, 0xfbce,
-  0x7fee, 0xfbc8, 0x7fed, 0xfbc2, 0x7fed, 0xfbbb, 0x7fed, 0xfbb5,
-  0x7fed, 0xfbaf, 0x7fed, 0xfba9, 0x7fec, 0xfba2, 0x7fec, 0xfb9c,
-  0x7fec, 0xfb96, 0x7fec, 0xfb8f, 0x7fec, 0xfb89, 0x7feb, 0xfb83,
-  0x7feb, 0xfb7d, 0x7feb, 0xfb76, 0x7feb, 0xfb70, 0x7fea, 0xfb6a,
-  0x7fea, 0xfb64, 0x7fea, 0xfb5d, 0x7fea, 0xfb57, 0x7fea, 0xfb51,
-  0x7fe9, 0xfb4a, 0x7fe9, 0xfb44, 0x7fe9, 0xfb3e, 0x7fe9, 0xfb38,
-  0x7fe8, 0xfb31, 0x7fe8, 0xfb2b, 0x7fe8, 0xfb25, 0x7fe8, 0xfb1e,
-  0x7fe7, 0xfb18, 0x7fe7, 0xfb12, 0x7fe7, 0xfb0c, 0x7fe7, 0xfb05,
-  0x7fe6, 0xfaff, 0x7fe6, 0xfaf9, 0x7fe6, 0xfaf3, 0x7fe6, 0xfaec,
-  0x7fe5, 0xfae6, 0x7fe5, 0xfae0, 0x7fe5, 0xfad9, 0x7fe5, 0xfad3,
-  0x7fe4, 0xfacd, 0x7fe4, 0xfac7, 0x7fe4, 0xfac0, 0x7fe4, 0xfaba,
-  0x7fe3, 0xfab4, 0x7fe3, 0xfaad, 0x7fe3, 0xfaa7, 0x7fe3, 0xfaa1,
-  0x7fe2, 0xfa9b, 0x7fe2, 0xfa94, 0x7fe2, 0xfa8e, 0x7fe2, 0xfa88,
-  0x7fe1, 0xfa81, 0x7fe1, 0xfa7b, 0x7fe1, 0xfa75, 0x7fe0, 0xfa6f,
-  0x7fe0, 0xfa68, 0x7fe0, 0xfa62, 0x7fe0, 0xfa5c, 0x7fdf, 0xfa56,
-  0x7fdf, 0xfa4f, 0x7fdf, 0xfa49, 0x7fdf, 0xfa43, 0x7fde, 0xfa3c,
-  0x7fde, 0xfa36, 0x7fde, 0xfa30, 0x7fdd, 0xfa2a, 0x7fdd, 0xfa23,
-  0x7fdd, 0xfa1d, 0x7fdd, 0xfa17, 0x7fdc, 0xfa11, 0x7fdc, 0xfa0a,
-  0x7fdc, 0xfa04, 0x7fdb, 0xf9fe, 0x7fdb, 0xf9f7, 0x7fdb, 0xf9f1,
-  0x7fda, 0xf9eb, 0x7fda, 0xf9e5, 0x7fda, 0xf9de, 0x7fda, 0xf9d8,
-  0x7fd9, 0xf9d2, 0x7fd9, 0xf9cb, 0x7fd9, 0xf9c5, 0x7fd8, 0xf9bf,
-  0x7fd8, 0xf9b9, 0x7fd8, 0xf9b2, 0x7fd7, 0xf9ac, 0x7fd7, 0xf9a6,
-  0x7fd7, 0xf9a0, 0x7fd6, 0xf999, 0x7fd6, 0xf993, 0x7fd6, 0xf98d,
-  0x7fd6, 0xf986, 0x7fd5, 0xf980, 0x7fd5, 0xf97a, 0x7fd5, 0xf974,
-  0x7fd4, 0xf96d, 0x7fd4, 0xf967, 0x7fd4, 0xf961, 0x7fd3, 0xf95b,
-  0x7fd3, 0xf954, 0x7fd3, 0xf94e, 0x7fd2, 0xf948, 0x7fd2, 0xf941,
-  0x7fd2, 0xf93b, 0x7fd1, 0xf935, 0x7fd1, 0xf92f, 0x7fd1, 0xf928,
-  0x7fd0, 0xf922, 0x7fd0, 0xf91c, 0x7fd0, 0xf916, 0x7fcf, 0xf90f,
-  0x7fcf, 0xf909, 0x7fcf, 0xf903, 0x7fce, 0xf8fc, 0x7fce, 0xf8f6,
-  0x7fce, 0xf8f0, 0x7fcd, 0xf8ea, 0x7fcd, 0xf8e3, 0x7fcd, 0xf8dd,
-  0x7fcc, 0xf8d7, 0x7fcc, 0xf8d0, 0x7fcb, 0xf8ca, 0x7fcb, 0xf8c4,
-  0x7fcb, 0xf8be, 0x7fca, 0xf8b7, 0x7fca, 0xf8b1, 0x7fca, 0xf8ab,
-  0x7fc9, 0xf8a5, 0x7fc9, 0xf89e, 0x7fc9, 0xf898, 0x7fc8, 0xf892,
-  0x7fc8, 0xf88b, 0x7fc7, 0xf885, 0x7fc7, 0xf87f, 0x7fc7, 0xf879,
-  0x7fc6, 0xf872, 0x7fc6, 0xf86c, 0x7fc6, 0xf866, 0x7fc5, 0xf860,
-  0x7fc5, 0xf859, 0x7fc5, 0xf853, 0x7fc4, 0xf84d, 0x7fc4, 0xf846,
-  0x7fc3, 0xf840, 0x7fc3, 0xf83a, 0x7fc3, 0xf834, 0x7fc2, 0xf82d,
-  0x7fc2, 0xf827, 0x7fc1, 0xf821, 0x7fc1, 0xf81b, 0x7fc1, 0xf814,
-  0x7fc0, 0xf80e, 0x7fc0, 0xf808, 0x7fc0, 0xf802, 0x7fbf, 0xf7fb,
-  0x7fbf, 0xf7f5, 0x7fbe, 0xf7ef, 0x7fbe, 0xf7e8, 0x7fbe, 0xf7e2,
-  0x7fbd, 0xf7dc, 0x7fbd, 0xf7d6, 0x7fbc, 0xf7cf, 0x7fbc, 0xf7c9,
-  0x7fbc, 0xf7c3, 0x7fbb, 0xf7bd, 0x7fbb, 0xf7b6, 0x7fba, 0xf7b0,
-  0x7fba, 0xf7aa, 0x7fb9, 0xf7a3, 0x7fb9, 0xf79d, 0x7fb9, 0xf797,
-  0x7fb8, 0xf791, 0x7fb8, 0xf78a, 0x7fb7, 0xf784, 0x7fb7, 0xf77e,
-  0x7fb7, 0xf778, 0x7fb6, 0xf771, 0x7fb6, 0xf76b, 0x7fb5, 0xf765,
-  0x7fb5, 0xf75e, 0x7fb4, 0xf758, 0x7fb4, 0xf752, 0x7fb4, 0xf74c,
-  0x7fb3, 0xf745, 0x7fb3, 0xf73f, 0x7fb2, 0xf739, 0x7fb2, 0xf733,
-  0x7fb1, 0xf72c, 0x7fb1, 0xf726, 0x7fb1, 0xf720, 0x7fb0, 0xf71a,
-  0x7fb0, 0xf713, 0x7faf, 0xf70d, 0x7faf, 0xf707, 0x7fae, 0xf700,
-  0x7fae, 0xf6fa, 0x7fae, 0xf6f4, 0x7fad, 0xf6ee, 0x7fad, 0xf6e7,
-  0x7fac, 0xf6e1, 0x7fac, 0xf6db, 0x7fab, 0xf6d5, 0x7fab, 0xf6ce,
-  0x7faa, 0xf6c8, 0x7faa, 0xf6c2, 0x7fa9, 0xf6bc, 0x7fa9, 0xf6b5,
-  0x7fa9, 0xf6af, 0x7fa8, 0xf6a9, 0x7fa8, 0xf6a2, 0x7fa7, 0xf69c,
-  0x7fa7, 0xf696, 0x7fa6, 0xf690, 0x7fa6, 0xf689, 0x7fa5, 0xf683,
-  0x7fa5, 0xf67d, 0x7fa4, 0xf677, 0x7fa4, 0xf670, 0x7fa3, 0xf66a,
-  0x7fa3, 0xf664, 0x7fa3, 0xf65e, 0x7fa2, 0xf657, 0x7fa2, 0xf651,
-  0x7fa1, 0xf64b, 0x7fa1, 0xf644, 0x7fa0, 0xf63e, 0x7fa0, 0xf638,
-  0x7f9f, 0xf632, 0x7f9f, 0xf62b, 0x7f9e, 0xf625, 0x7f9e, 0xf61f,
-  0x7f9d, 0xf619, 0x7f9d, 0xf612, 0x7f9c, 0xf60c, 0x7f9c, 0xf606,
-  0x7f9b, 0xf600, 0x7f9b, 0xf5f9, 0x7f9a, 0xf5f3, 0x7f9a, 0xf5ed,
-  0x7f99, 0xf5e7, 0x7f99, 0xf5e0, 0x7f98, 0xf5da, 0x7f98, 0xf5d4,
-  0x7f97, 0xf5cd, 0x7f97, 0xf5c7, 0x7f96, 0xf5c1, 0x7f96, 0xf5bb,
-  0x7f95, 0xf5b4, 0x7f95, 0xf5ae, 0x7f94, 0xf5a8, 0x7f94, 0xf5a2,
-  0x7f93, 0xf59b, 0x7f93, 0xf595, 0x7f92, 0xf58f, 0x7f92, 0xf589,
-  0x7f91, 0xf582, 0x7f91, 0xf57c, 0x7f90, 0xf576, 0x7f90, 0xf570,
-  0x7f8f, 0xf569, 0x7f8f, 0xf563, 0x7f8e, 0xf55d, 0x7f8e, 0xf556,
-  0x7f8d, 0xf550, 0x7f8d, 0xf54a, 0x7f8c, 0xf544, 0x7f8b, 0xf53d,
-  0x7f8b, 0xf537, 0x7f8a, 0xf531, 0x7f8a, 0xf52b, 0x7f89, 0xf524,
-  0x7f89, 0xf51e, 0x7f88, 0xf518, 0x7f88, 0xf512, 0x7f87, 0xf50b,
-  0x7f87, 0xf505, 0x7f86, 0xf4ff, 0x7f86, 0xf4f9, 0x7f85, 0xf4f2,
-  0x7f85, 0xf4ec, 0x7f84, 0xf4e6, 0x7f83, 0xf4e0, 0x7f83, 0xf4d9,
-  0x7f82, 0xf4d3, 0x7f82, 0xf4cd, 0x7f81, 0xf4c6, 0x7f81, 0xf4c0,
-  0x7f80, 0xf4ba, 0x7f80, 0xf4b4, 0x7f7f, 0xf4ad, 0x7f7e, 0xf4a7,
-  0x7f7e, 0xf4a1, 0x7f7d, 0xf49b, 0x7f7d, 0xf494, 0x7f7c, 0xf48e,
-  0x7f7c, 0xf488, 0x7f7b, 0xf482, 0x7f7b, 0xf47b, 0x7f7a, 0xf475,
-  0x7f79, 0xf46f, 0x7f79, 0xf469, 0x7f78, 0xf462, 0x7f78, 0xf45c,
-  0x7f77, 0xf456, 0x7f77, 0xf450, 0x7f76, 0xf449, 0x7f75, 0xf443,
-  0x7f75, 0xf43d, 0x7f74, 0xf437, 0x7f74, 0xf430, 0x7f73, 0xf42a,
-  0x7f72, 0xf424, 0x7f72, 0xf41e, 0x7f71, 0xf417, 0x7f71, 0xf411,
-  0x7f70, 0xf40b, 0x7f70, 0xf405, 0x7f6f, 0xf3fe, 0x7f6e, 0xf3f8,
-  0x7f6e, 0xf3f2, 0x7f6d, 0xf3ec, 0x7f6d, 0xf3e5, 0x7f6c, 0xf3df,
-  0x7f6b, 0xf3d9, 0x7f6b, 0xf3d2, 0x7f6a, 0xf3cc, 0x7f6a, 0xf3c6,
-  0x7f69, 0xf3c0, 0x7f68, 0xf3b9, 0x7f68, 0xf3b3, 0x7f67, 0xf3ad,
-  0x7f67, 0xf3a7, 0x7f66, 0xf3a0, 0x7f65, 0xf39a, 0x7f65, 0xf394,
-  0x7f64, 0xf38e, 0x7f64, 0xf387, 0x7f63, 0xf381, 0x7f62, 0xf37b,
-  0x7f62, 0xf375, 0x7f61, 0xf36e, 0x7f60, 0xf368, 0x7f60, 0xf362,
-  0x7f5f, 0xf35c, 0x7f5f, 0xf355, 0x7f5e, 0xf34f, 0x7f5d, 0xf349,
-  0x7f5d, 0xf343, 0x7f5c, 0xf33c, 0x7f5b, 0xf336, 0x7f5b, 0xf330,
-  0x7f5a, 0xf32a, 0x7f5a, 0xf323, 0x7f59, 0xf31d, 0x7f58, 0xf317,
-  0x7f58, 0xf311, 0x7f57, 0xf30a, 0x7f56, 0xf304, 0x7f56, 0xf2fe,
-  0x7f55, 0xf2f8, 0x7f55, 0xf2f1, 0x7f54, 0xf2eb, 0x7f53, 0xf2e5,
-  0x7f53, 0xf2df, 0x7f52, 0xf2d8, 0x7f51, 0xf2d2, 0x7f51, 0xf2cc,
-  0x7f50, 0xf2c6, 0x7f4f, 0xf2bf, 0x7f4f, 0xf2b9, 0x7f4e, 0xf2b3,
-  0x7f4d, 0xf2ad, 0x7f4d, 0xf2a6, 0x7f4c, 0xf2a0, 0x7f4b, 0xf29a,
-  0x7f4b, 0xf294, 0x7f4a, 0xf28d, 0x7f49, 0xf287, 0x7f49, 0xf281,
-  0x7f48, 0xf27b, 0x7f47, 0xf274, 0x7f47, 0xf26e, 0x7f46, 0xf268,
-  0x7f45, 0xf262, 0x7f45, 0xf25b, 0x7f44, 0xf255, 0x7f43, 0xf24f,
-  0x7f43, 0xf249, 0x7f42, 0xf242, 0x7f41, 0xf23c, 0x7f41, 0xf236,
-  0x7f40, 0xf230, 0x7f3f, 0xf229, 0x7f3f, 0xf223, 0x7f3e, 0xf21d,
-  0x7f3d, 0xf217, 0x7f3d, 0xf210, 0x7f3c, 0xf20a, 0x7f3b, 0xf204,
-  0x7f3b, 0xf1fe, 0x7f3a, 0xf1f7, 0x7f39, 0xf1f1, 0x7f39, 0xf1eb,
-  0x7f38, 0xf1e5, 0x7f37, 0xf1de, 0x7f36, 0xf1d8, 0x7f36, 0xf1d2,
-  0x7f35, 0xf1cc, 0x7f34, 0xf1c6, 0x7f34, 0xf1bf, 0x7f33, 0xf1b9,
-  0x7f32, 0xf1b3, 0x7f32, 0xf1ad, 0x7f31, 0xf1a6, 0x7f30, 0xf1a0,
-  0x7f2f, 0xf19a, 0x7f2f, 0xf194, 0x7f2e, 0xf18d, 0x7f2d, 0xf187,
-  0x7f2d, 0xf181, 0x7f2c, 0xf17b, 0x7f2b, 0xf174, 0x7f2a, 0xf16e,
-  0x7f2a, 0xf168, 0x7f29, 0xf162, 0x7f28, 0xf15b, 0x7f28, 0xf155,
-  0x7f27, 0xf14f, 0x7f26, 0xf149, 0x7f25, 0xf142, 0x7f25, 0xf13c,
-  0x7f24, 0xf136, 0x7f23, 0xf130, 0x7f23, 0xf129, 0x7f22, 0xf123,
-  0x7f21, 0xf11d, 0x7f20, 0xf117, 0x7f20, 0xf110, 0x7f1f, 0xf10a,
-  0x7f1e, 0xf104, 0x7f1d, 0xf0fe, 0x7f1d, 0xf0f8, 0x7f1c, 0xf0f1,
-  0x7f1b, 0xf0eb, 0x7f1a, 0xf0e5, 0x7f1a, 0xf0df, 0x7f19, 0xf0d8,
-  0x7f18, 0xf0d2, 0x7f17, 0xf0cc, 0x7f17, 0xf0c6, 0x7f16, 0xf0bf,
-  0x7f15, 0xf0b9, 0x7f14, 0xf0b3, 0x7f14, 0xf0ad, 0x7f13, 0xf0a6,
-  0x7f12, 0xf0a0, 0x7f11, 0xf09a, 0x7f11, 0xf094, 0x7f10, 0xf08d,
-  0x7f0f, 0xf087, 0x7f0e, 0xf081, 0x7f0e, 0xf07b, 0x7f0d, 0xf075,
-  0x7f0c, 0xf06e, 0x7f0b, 0xf068, 0x7f0b, 0xf062, 0x7f0a, 0xf05c,
-  0x7f09, 0xf055, 0x7f08, 0xf04f, 0x7f08, 0xf049, 0x7f07, 0xf043,
-  0x7f06, 0xf03c, 0x7f05, 0xf036, 0x7f04, 0xf030, 0x7f04, 0xf02a,
-  0x7f03, 0xf023, 0x7f02, 0xf01d, 0x7f01, 0xf017, 0x7f01, 0xf011,
-  0x7f00, 0xf00b, 0x7eff, 0xf004, 0x7efe, 0xeffe, 0x7efd, 0xeff8,
-  0x7efd, 0xeff2, 0x7efc, 0xefeb, 0x7efb, 0xefe5, 0x7efa, 0xefdf,
-  0x7ef9, 0xefd9, 0x7ef9, 0xefd2, 0x7ef8, 0xefcc, 0x7ef7, 0xefc6,
-  0x7ef6, 0xefc0, 0x7ef5, 0xefb9, 0x7ef5, 0xefb3, 0x7ef4, 0xefad,
-  0x7ef3, 0xefa7, 0x7ef2, 0xefa1, 0x7ef1, 0xef9a, 0x7ef1, 0xef94,
-  0x7ef0, 0xef8e, 0x7eef, 0xef88, 0x7eee, 0xef81, 0x7eed, 0xef7b,
-  0x7eed, 0xef75, 0x7eec, 0xef6f, 0x7eeb, 0xef68, 0x7eea, 0xef62,
-  0x7ee9, 0xef5c, 0x7ee9, 0xef56, 0x7ee8, 0xef50, 0x7ee7, 0xef49,
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-  0x7b19, 0xdceb, 0x7b17, 0xdce5, 0x7b15, 0xdcdf, 0x7b13, 0xdcd9,
-  0x7b12, 0xdcd3, 0x7b10, 0xdccd, 0x7b0e, 0xdcc7, 0x7b0c, 0xdcc1,
-  0x7b0b, 0xdcbb, 0x7b09, 0xdcb5, 0x7b07, 0xdcae, 0x7b06, 0xdca8,
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-  0x7ad3, 0xdbf9, 0x7ad1, 0xdbf3, 0x7acf, 0xdbed, 0x7acd, 0xdbe7,
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-  0x7ab6, 0xdb99, 0x7ab5, 0xdb93, 0x7ab3, 0xdb8d, 0x7ab1, 0xdb87,
-  0x7aaf, 0xdb81, 0x7aad, 0xdb7b, 0x7aac, 0xdb75, 0x7aaa, 0xdb6f,
-  0x7aa8, 0xdb69, 0x7aa6, 0xdb63, 0x7aa4, 0xdb5d, 0x7aa3, 0xdb57,
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-  0x77c5, 0xd2da, 0x77c3, 0xd2d4, 0x77c1, 0xd2cf, 0x77bf, 0xd2c9,
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-  0x777e, 0xd21e, 0x777c, 0xd219, 0x7779, 0xd213, 0x7777, 0xd20d,
-  0x7775, 0xd207, 0x7773, 0xd201, 0x7770, 0xd1fb, 0x776e, 0xd1f5,
-  0x776c, 0xd1ef, 0x776a, 0xd1ea, 0x7767, 0xd1e4, 0x7765, 0xd1de,
-  0x7763, 0xd1d8, 0x7760, 0xd1d2, 0x775e, 0xd1cc, 0x775c, 0xd1c6,
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-  0x773e, 0xd17a, 0x773c, 0xd174, 0x773a, 0xd16f, 0x7738, 0xd169,
-  0x7735, 0xd163, 0x7733, 0xd15d, 0x7731, 0xd157, 0x772e, 0xd151,
-  0x772c, 0xd14b, 0x772a, 0xd146, 0x7727, 0xd140, 0x7725, 0xd13a,
-  0x7723, 0xd134, 0x7721, 0xd12e, 0x771e, 0xd128, 0x771c, 0xd123,
-  0x771a, 0xd11d, 0x7717, 0xd117, 0x7715, 0xd111, 0x7713, 0xd10b,
-  0x7710, 0xd105, 0x770e, 0xd0ff, 0x770c, 0xd0fa, 0x770a, 0xd0f4,
-  0x7707, 0xd0ee, 0x7705, 0xd0e8, 0x7703, 0xd0e2, 0x7700, 0xd0dc,
-  0x76fe, 0xd0d7, 0x76fc, 0xd0d1, 0x76f9, 0xd0cb, 0x76f7, 0xd0c5,
-  0x76f5, 0xd0bf, 0x76f2, 0xd0b9, 0x76f0, 0xd0b4, 0x76ee, 0xd0ae,
-  0x76eb, 0xd0a8, 0x76e9, 0xd0a2, 0x76e7, 0xd09c, 0x76e4, 0xd096,
-  0x76e2, 0xd091, 0x76e0, 0xd08b, 0x76dd, 0xd085, 0x76db, 0xd07f,
-  0x76d9, 0xd079, 0x76d6, 0xd073, 0x76d4, 0xd06e, 0x76d2, 0xd068,
-  0x76cf, 0xd062, 0x76cd, 0xd05c, 0x76cb, 0xd056, 0x76c8, 0xd050,
-  0x76c6, 0xd04b, 0x76c4, 0xd045, 0x76c1, 0xd03f, 0x76bf, 0xd039,
-  0x76bd, 0xd033, 0x76ba, 0xd02d, 0x76b8, 0xd028, 0x76b6, 0xd022,
-  0x76b3, 0xd01c, 0x76b1, 0xd016, 0x76af, 0xd010, 0x76ac, 0xd00a,
-  0x76aa, 0xd005, 0x76a8, 0xcfff, 0x76a5, 0xcff9, 0x76a3, 0xcff3,
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-  0x7697, 0xcfd6, 0x7695, 0xcfd0, 0x7692, 0xcfca, 0x7690, 0xcfc5,
-  0x768e, 0xcfbf, 0x768b, 0xcfb9, 0x7689, 0xcfb3, 0x7686, 0xcfad,
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-  0x64, 0x8001, 0x5e, 0x8001, 0x57, 0x8001, 0x51, 0x8001,
-  0x4b, 0x8001, 0x45, 0x8001, 0x3e, 0x8001, 0x38, 0x8001,
-  0x32, 0x8001, 0x2b, 0x8001, 0x25, 0x8001, 0x1f, 0x8001,
-  0x19, 0x8001, 0x12, 0x8001, 0xc, 0x8001, 0x6, 0x8001,
-};
-
-
-/**    
-* \par    
-* cosFactor tables are generated using the formula : 
 cos_factors[n] = 2 * cos((2n+1)*pi/(4*N)) 
    
-* \par    
-* C command to generate the table    
-* 
    
-* for(i = 0; i< N; i++)    
-* {    
-*   cos_factors[i]= 2 * cos((2*i+1)*c/2);    
-* } 
    
-* \par    
-* where N is the number of factors to generate and c is pi/(2*N)    
-* \par    
-* Then converted to q15 format by multiplying with 2^31 and saturated if required.    
-    
-*/
-
-static const q15_t ALIGN4 cos_factorsQ15_128[128] = {
-  0x7fff, 0x7ffa, 0x7ff0, 0x7fe1, 0x7fce, 0x7fb5, 0x7f97, 0x7f75,
-  0x7f4d, 0x7f21, 0x7ef0, 0x7eba, 0x7e7f, 0x7e3f, 0x7dfa, 0x7db0,
-  0x7d62, 0x7d0f, 0x7cb7, 0x7c5a, 0x7bf8, 0x7b92, 0x7b26, 0x7ab6,
-  0x7a42, 0x79c8, 0x794a, 0x78c7, 0x7840, 0x77b4, 0x7723, 0x768e,
-  0x75f4, 0x7555, 0x74b2, 0x740b, 0x735f, 0x72af, 0x71fa, 0x7141,
-  0x7083, 0x6fc1, 0x6efb, 0x6e30, 0x6d62, 0x6c8f, 0x6bb8, 0x6adc,
-  0x69fd, 0x6919, 0x6832, 0x6746, 0x6657, 0x6563, 0x646c, 0x6371,
-  0x6271, 0x616f, 0x6068, 0x5f5e, 0x5e50, 0x5d3e, 0x5c29, 0x5b10,
-  0x59f3, 0x58d4, 0x57b0, 0x568a, 0x5560, 0x5433, 0x5302, 0x51ce,
-  0x5097, 0x4f5e, 0x4e21, 0x4ce1, 0x4b9e, 0x4a58, 0x490f, 0x47c3,
-  0x4675, 0x4524, 0x43d0, 0x427a, 0x4121, 0x3fc5, 0x3e68, 0x3d07,
-  0x3ba5, 0x3a40, 0x38d8, 0x376f, 0x3604, 0x3496, 0x3326, 0x31b5,
-  0x3041, 0x2ecc, 0x2d55, 0x2bdc, 0x2a61, 0x28e5, 0x2767, 0x25e8,
-  0x2467, 0x22e5, 0x2161, 0x1fdc, 0x1e56, 0x1ccf, 0x1b47, 0x19bd,
-  0x1833, 0x16a8, 0x151b, 0x138e, 0x1201, 0x1072, 0xee3, 0xd53,
-  0xbc3, 0xa33, 0x8a2, 0x710, 0x57f, 0x3ed, 0x25b, 0xc9
-};
-
-static const q15_t ALIGN4 cos_factorsQ15_512[512] = {
-  0x7fff, 0x7fff, 0x7fff, 0x7ffe, 0x7ffc, 0x7ffb, 0x7ff9, 0x7ff7,
-  0x7ff4, 0x7ff2, 0x7fee, 0x7feb, 0x7fe7, 0x7fe3, 0x7fdf, 0x7fda,
-  0x7fd6, 0x7fd0, 0x7fcb, 0x7fc5, 0x7fbf, 0x7fb8, 0x7fb1, 0x7faa,
-  0x7fa3, 0x7f9b, 0x7f93, 0x7f8b, 0x7f82, 0x7f79, 0x7f70, 0x7f67,
-  0x7f5d, 0x7f53, 0x7f48, 0x7f3d, 0x7f32, 0x7f27, 0x7f1b, 0x7f0f,
-  0x7f03, 0x7ef6, 0x7ee9, 0x7edc, 0x7ecf, 0x7ec1, 0x7eb3, 0x7ea4,
-  0x7e95, 0x7e86, 0x7e77, 0x7e67, 0x7e57, 0x7e47, 0x7e37, 0x7e26,
-  0x7e14, 0x7e03, 0x7df1, 0x7ddf, 0x7dcd, 0x7dba, 0x7da7, 0x7d94,
-  0x7d80, 0x7d6c, 0x7d58, 0x7d43, 0x7d2f, 0x7d19, 0x7d04, 0x7cee,
-  0x7cd8, 0x7cc2, 0x7cab, 0x7c94, 0x7c7d, 0x7c66, 0x7c4e, 0x7c36,
-  0x7c1d, 0x7c05, 0x7beb, 0x7bd2, 0x7bb9, 0x7b9f, 0x7b84, 0x7b6a,
-  0x7b4f, 0x7b34, 0x7b19, 0x7afd, 0x7ae1, 0x7ac5, 0x7aa8, 0x7a8b,
-  0x7a6e, 0x7a50, 0x7a33, 0x7a15, 0x79f6, 0x79d8, 0x79b9, 0x7999,
-  0x797a, 0x795a, 0x793a, 0x7919, 0x78f9, 0x78d8, 0x78b6, 0x7895,
-  0x7873, 0x7851, 0x782e, 0x780c, 0x77e9, 0x77c5, 0x77a2, 0x777e,
-  0x775a, 0x7735, 0x7710, 0x76eb, 0x76c6, 0x76a0, 0x767b, 0x7654,
-  0x762e, 0x7607, 0x75e0, 0x75b9, 0x7591, 0x7569, 0x7541, 0x7519,
-  0x74f0, 0x74c7, 0x749e, 0x7474, 0x744a, 0x7420, 0x73f6, 0x73cb,
-  0x73a0, 0x7375, 0x7349, 0x731d, 0x72f1, 0x72c5, 0x7298, 0x726b,
-  0x723e, 0x7211, 0x71e3, 0x71b5, 0x7186, 0x7158, 0x7129, 0x70fa,
-  0x70cb, 0x709b, 0x706b, 0x703b, 0x700a, 0x6fda, 0x6fa9, 0x6f77,
-  0x6f46, 0x6f14, 0x6ee2, 0x6eaf, 0x6e7d, 0x6e4a, 0x6e17, 0x6de3,
-  0x6db0, 0x6d7c, 0x6d48, 0x6d13, 0x6cde, 0x6ca9, 0x6c74, 0x6c3f,
-  0x6c09, 0x6bd3, 0x6b9c, 0x6b66, 0x6b2f, 0x6af8, 0x6ac1, 0x6a89,
-  0x6a51, 0x6a19, 0x69e1, 0x69a8, 0x696f, 0x6936, 0x68fd, 0x68c3,
-  0x6889, 0x684f, 0x6815, 0x67da, 0x679f, 0x6764, 0x6729, 0x66ed,
-  0x66b1, 0x6675, 0x6639, 0x65fc, 0x65bf, 0x6582, 0x6545, 0x6507,
-  0x64c9, 0x648b, 0x644d, 0x640e, 0x63cf, 0x6390, 0x6351, 0x6311,
-  0x62d2, 0x6292, 0x6251, 0x6211, 0x61d0, 0x618f, 0x614e, 0x610d,
-  0x60cb, 0x6089, 0x6047, 0x6004, 0x5fc2, 0x5f7f, 0x5f3c, 0x5ef9,
-  0x5eb5, 0x5e71, 0x5e2d, 0x5de9, 0x5da5, 0x5d60, 0x5d1b, 0x5cd6,
-  0x5c91, 0x5c4b, 0x5c06, 0x5bc0, 0x5b79, 0x5b33, 0x5aec, 0x5aa5,
-  0x5a5e, 0x5a17, 0x59d0, 0x5988, 0x5940, 0x58f8, 0x58af, 0x5867,
-  0x581e, 0x57d5, 0x578c, 0x5742, 0x56f9, 0x56af, 0x5665, 0x561a,
-  0x55d0, 0x5585, 0x553a, 0x54ef, 0x54a4, 0x5458, 0x540d, 0x53c1,
-  0x5375, 0x5328, 0x52dc, 0x528f, 0x5242, 0x51f5, 0x51a8, 0x515a,
-  0x510c, 0x50bf, 0x5070, 0x5022, 0x4fd4, 0x4f85, 0x4f36, 0x4ee7,
-  0x4e98, 0x4e48, 0x4df9, 0x4da9, 0x4d59, 0x4d09, 0x4cb8, 0x4c68,
-  0x4c17, 0x4bc6, 0x4b75, 0x4b24, 0x4ad2, 0x4a81, 0x4a2f, 0x49dd,
-  0x498a, 0x4938, 0x48e6, 0x4893, 0x4840, 0x47ed, 0x479a, 0x4746,
-  0x46f3, 0x469f, 0x464b, 0x45f7, 0x45a3, 0x454e, 0x44fa, 0x44a5,
-  0x4450, 0x43fb, 0x43a5, 0x4350, 0x42fa, 0x42a5, 0x424f, 0x41f9,
-  0x41a2, 0x414c, 0x40f6, 0x409f, 0x4048, 0x3ff1, 0x3f9a, 0x3f43,
-  0x3eeb, 0x3e93, 0x3e3c, 0x3de4, 0x3d8c, 0x3d33, 0x3cdb, 0x3c83,
-  0x3c2a, 0x3bd1, 0x3b78, 0x3b1f, 0x3ac6, 0x3a6c, 0x3a13, 0x39b9,
-  0x395f, 0x3906, 0x38ab, 0x3851, 0x37f7, 0x379c, 0x3742, 0x36e7,
-  0x368c, 0x3631, 0x35d6, 0x357b, 0x351f, 0x34c4, 0x3468, 0x340c,
-  0x33b0, 0x3354, 0x32f8, 0x329c, 0x3240, 0x31e3, 0x3186, 0x312a,
-  0x30cd, 0x3070, 0x3013, 0x2fb5, 0x2f58, 0x2efb, 0x2e9d, 0x2e3f,
-  0x2de2, 0x2d84, 0x2d26, 0x2cc8, 0x2c69, 0x2c0b, 0x2bad, 0x2b4e,
-  0x2aef, 0x2a91, 0x2a32, 0x29d3, 0x2974, 0x2915, 0x28b5, 0x2856,
-  0x27f6, 0x2797, 0x2737, 0x26d8, 0x2678, 0x2618, 0x25b8, 0x2558,
-  0x24f7, 0x2497, 0x2437, 0x23d6, 0x2376, 0x2315, 0x22b4, 0x2254,
-  0x21f3, 0x2192, 0x2131, 0x20d0, 0x206e, 0x200d, 0x1fac, 0x1f4a,
-  0x1ee9, 0x1e87, 0x1e25, 0x1dc4, 0x1d62, 0x1d00, 0x1c9e, 0x1c3c,
-  0x1bda, 0x1b78, 0x1b16, 0x1ab3, 0x1a51, 0x19ef, 0x198c, 0x192a,
-  0x18c7, 0x1864, 0x1802, 0x179f, 0x173c, 0x16d9, 0x1676, 0x1613,
-  0x15b0, 0x154d, 0x14ea, 0x1487, 0x1423, 0x13c0, 0x135d, 0x12f9,
-  0x1296, 0x1232, 0x11cf, 0x116b, 0x1108, 0x10a4, 0x1040, 0xfdd,
-  0xf79, 0xf15, 0xeb1, 0xe4d, 0xde9, 0xd85, 0xd21, 0xcbd,
-  0xc59, 0xbf5, 0xb91, 0xb2d, 0xac9, 0xa65, 0xa00, 0x99c,
-  0x938, 0x8d4, 0x86f, 0x80b, 0x7a7, 0x742, 0x6de, 0x67a,
-  0x615, 0x5b1, 0x54c, 0x4e8, 0x483, 0x41f, 0x3ba, 0x356,
-  0x2f1, 0x28d, 0x228, 0x1c4, 0x15f, 0xfb, 0x96, 0x32,
-};
-
-static const q15_t ALIGN4 cos_factorsQ15_2048[2048] = {
-  0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff,
-  0x7fff, 0x7fff, 0x7ffe, 0x7ffe, 0x7ffe, 0x7ffe, 0x7ffd, 0x7ffd,
-  0x7ffd, 0x7ffd, 0x7ffc, 0x7ffc, 0x7ffb, 0x7ffb, 0x7ffb, 0x7ffa,
-  0x7ffa, 0x7ff9, 0x7ff9, 0x7ff8, 0x7ff8, 0x7ff7, 0x7ff7, 0x7ff6,
-  0x7ff5, 0x7ff5, 0x7ff4, 0x7ff3, 0x7ff3, 0x7ff2, 0x7ff1, 0x7ff0,
-  0x7ff0, 0x7fef, 0x7fee, 0x7fed, 0x7fec, 0x7fec, 0x7feb, 0x7fea,
-  0x7fe9, 0x7fe8, 0x7fe7, 0x7fe6, 0x7fe5, 0x7fe4, 0x7fe3, 0x7fe2,
-  0x7fe1, 0x7fe0, 0x7fdf, 0x7fdd, 0x7fdc, 0x7fdb, 0x7fda, 0x7fd9,
-  0x7fd7, 0x7fd6, 0x7fd5, 0x7fd4, 0x7fd2, 0x7fd1, 0x7fd0, 0x7fce,
-  0x7fcd, 0x7fcb, 0x7fca, 0x7fc9, 0x7fc7, 0x7fc6, 0x7fc4, 0x7fc3,
-  0x7fc1, 0x7fc0, 0x7fbe, 0x7fbc, 0x7fbb, 0x7fb9, 0x7fb7, 0x7fb6,
-  0x7fb4, 0x7fb2, 0x7fb1, 0x7faf, 0x7fad, 0x7fab, 0x7fa9, 0x7fa8,
-  0x7fa6, 0x7fa4, 0x7fa2, 0x7fa0, 0x7f9e, 0x7f9c, 0x7f9a, 0x7f98,
-  0x7f96, 0x7f94, 0x7f92, 0x7f90, 0x7f8e, 0x7f8c, 0x7f8a, 0x7f88,
-  0x7f86, 0x7f83, 0x7f81, 0x7f7f, 0x7f7d, 0x7f7b, 0x7f78, 0x7f76,
-  0x7f74, 0x7f71, 0x7f6f, 0x7f6d, 0x7f6a, 0x7f68, 0x7f65, 0x7f63,
-  0x7f60, 0x7f5e, 0x7f5b, 0x7f59, 0x7f56, 0x7f54, 0x7f51, 0x7f4f,
-  0x7f4c, 0x7f49, 0x7f47, 0x7f44, 0x7f41, 0x7f3f, 0x7f3c, 0x7f39,
-  0x7f36, 0x7f34, 0x7f31, 0x7f2e, 0x7f2b, 0x7f28, 0x7f25, 0x7f23,
-  0x7f20, 0x7f1d, 0x7f1a, 0x7f17, 0x7f14, 0x7f11, 0x7f0e, 0x7f0b,
-  0x7f08, 0x7f04, 0x7f01, 0x7efe, 0x7efb, 0x7ef8, 0x7ef5, 0x7ef1,
-  0x7eee, 0x7eeb, 0x7ee8, 0x7ee4, 0x7ee1, 0x7ede, 0x7eda, 0x7ed7,
-  0x7ed4, 0x7ed0, 0x7ecd, 0x7ec9, 0x7ec6, 0x7ec3, 0x7ebf, 0x7ebb,
-  0x7eb8, 0x7eb4, 0x7eb1, 0x7ead, 0x7eaa, 0x7ea6, 0x7ea2, 0x7e9f,
-  0x7e9b, 0x7e97, 0x7e94, 0x7e90, 0x7e8c, 0x7e88, 0x7e84, 0x7e81,
-  0x7e7d, 0x7e79, 0x7e75, 0x7e71, 0x7e6d, 0x7e69, 0x7e65, 0x7e61,
-  0x7e5d, 0x7e59, 0x7e55, 0x7e51, 0x7e4d, 0x7e49, 0x7e45, 0x7e41,
-  0x7e3d, 0x7e39, 0x7e34, 0x7e30, 0x7e2c, 0x7e28, 0x7e24, 0x7e1f,
-  0x7e1b, 0x7e17, 0x7e12, 0x7e0e, 0x7e0a, 0x7e05, 0x7e01, 0x7dfc,
-  0x7df8, 0x7df3, 0x7def, 0x7dea, 0x7de6, 0x7de1, 0x7ddd, 0x7dd8,
-  0x7dd4, 0x7dcf, 0x7dca, 0x7dc6, 0x7dc1, 0x7dbc, 0x7db8, 0x7db3,
-  0x7dae, 0x7da9, 0x7da5, 0x7da0, 0x7d9b, 0x7d96, 0x7d91, 0x7d8c,
-  0x7d87, 0x7d82, 0x7d7e, 0x7d79, 0x7d74, 0x7d6f, 0x7d6a, 0x7d65,
-  0x7d60, 0x7d5a, 0x7d55, 0x7d50, 0x7d4b, 0x7d46, 0x7d41, 0x7d3c,
-  0x7d36, 0x7d31, 0x7d2c, 0x7d27, 0x7d21, 0x7d1c, 0x7d17, 0x7d11,
-  0x7d0c, 0x7d07, 0x7d01, 0x7cfc, 0x7cf6, 0x7cf1, 0x7cec, 0x7ce6,
-  0x7ce1, 0x7cdb, 0x7cd5, 0x7cd0, 0x7cca, 0x7cc5, 0x7cbf, 0x7cb9,
-  0x7cb4, 0x7cae, 0x7ca8, 0x7ca3, 0x7c9d, 0x7c97, 0x7c91, 0x7c8c,
-  0x7c86, 0x7c80, 0x7c7a, 0x7c74, 0x7c6e, 0x7c69, 0x7c63, 0x7c5d,
-  0x7c57, 0x7c51, 0x7c4b, 0x7c45, 0x7c3f, 0x7c39, 0x7c33, 0x7c2d,
-  0x7c26, 0x7c20, 0x7c1a, 0x7c14, 0x7c0e, 0x7c08, 0x7c01, 0x7bfb,
-  0x7bf5, 0x7bef, 0x7be8, 0x7be2, 0x7bdc, 0x7bd5, 0x7bcf, 0x7bc9,
-  0x7bc2, 0x7bbc, 0x7bb5, 0x7baf, 0x7ba8, 0x7ba2, 0x7b9b, 0x7b95,
-  0x7b8e, 0x7b88, 0x7b81, 0x7b7a, 0x7b74, 0x7b6d, 0x7b67, 0x7b60,
-  0x7b59, 0x7b52, 0x7b4c, 0x7b45, 0x7b3e, 0x7b37, 0x7b31, 0x7b2a,
-  0x7b23, 0x7b1c, 0x7b15, 0x7b0e, 0x7b07, 0x7b00, 0x7af9, 0x7af2,
-  0x7aeb, 0x7ae4, 0x7add, 0x7ad6, 0x7acf, 0x7ac8, 0x7ac1, 0x7aba,
-  0x7ab3, 0x7aac, 0x7aa4, 0x7a9d, 0x7a96, 0x7a8f, 0x7a87, 0x7a80,
-  0x7a79, 0x7a72, 0x7a6a, 0x7a63, 0x7a5c, 0x7a54, 0x7a4d, 0x7a45,
-  0x7a3e, 0x7a36, 0x7a2f, 0x7a27, 0x7a20, 0x7a18, 0x7a11, 0x7a09,
-  0x7a02, 0x79fa, 0x79f2, 0x79eb, 0x79e3, 0x79db, 0x79d4, 0x79cc,
-  0x79c4, 0x79bc, 0x79b5, 0x79ad, 0x79a5, 0x799d, 0x7995, 0x798e,
-  0x7986, 0x797e, 0x7976, 0x796e, 0x7966, 0x795e, 0x7956, 0x794e,
-  0x7946, 0x793e, 0x7936, 0x792e, 0x7926, 0x791e, 0x7915, 0x790d,
-  0x7905, 0x78fd, 0x78f5, 0x78ec, 0x78e4, 0x78dc, 0x78d4, 0x78cb,
-  0x78c3, 0x78bb, 0x78b2, 0x78aa, 0x78a2, 0x7899, 0x7891, 0x7888,
-  0x7880, 0x7877, 0x786f, 0x7866, 0x785e, 0x7855, 0x784d, 0x7844,
-  0x783b, 0x7833, 0x782a, 0x7821, 0x7819, 0x7810, 0x7807, 0x77ff,
-  0x77f6, 0x77ed, 0x77e4, 0x77db, 0x77d3, 0x77ca, 0x77c1, 0x77b8,
-  0x77af, 0x77a6, 0x779d, 0x7794, 0x778b, 0x7782, 0x7779, 0x7770,
-  0x7767, 0x775e, 0x7755, 0x774c, 0x7743, 0x773a, 0x7731, 0x7727,
-  0x771e, 0x7715, 0x770c, 0x7703, 0x76f9, 0x76f0, 0x76e7, 0x76dd,
-  0x76d4, 0x76cb, 0x76c1, 0x76b8, 0x76af, 0x76a5, 0x769c, 0x7692,
-  0x7689, 0x767f, 0x7676, 0x766c, 0x7663, 0x7659, 0x7650, 0x7646,
-  0x763c, 0x7633, 0x7629, 0x761f, 0x7616, 0x760c, 0x7602, 0x75f9,
-  0x75ef, 0x75e5, 0x75db, 0x75d1, 0x75c8, 0x75be, 0x75b4, 0x75aa,
-  0x75a0, 0x7596, 0x758c, 0x7582, 0x7578, 0x756e, 0x7564, 0x755a,
-  0x7550, 0x7546, 0x753c, 0x7532, 0x7528, 0x751e, 0x7514, 0x7509,
-  0x74ff, 0x74f5, 0x74eb, 0x74e1, 0x74d6, 0x74cc, 0x74c2, 0x74b7,
-  0x74ad, 0x74a3, 0x7498, 0x748e, 0x7484, 0x7479, 0x746f, 0x7464,
-  0x745a, 0x744f, 0x7445, 0x743a, 0x7430, 0x7425, 0x741b, 0x7410,
-  0x7406, 0x73fb, 0x73f0, 0x73e6, 0x73db, 0x73d0, 0x73c6, 0x73bb,
-  0x73b0, 0x73a5, 0x739b, 0x7390, 0x7385, 0x737a, 0x736f, 0x7364,
-  0x7359, 0x734f, 0x7344, 0x7339, 0x732e, 0x7323, 0x7318, 0x730d,
-  0x7302, 0x72f7, 0x72ec, 0x72e1, 0x72d5, 0x72ca, 0x72bf, 0x72b4,
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-  0xc7f, 0xc66, 0xc4d, 0xc34, 0xc1b, 0xc02, 0xbe9, 0xbd0,
-  0xbb7, 0xb9e, 0xb85, 0xb6c, 0xb53, 0xb3a, 0xb20, 0xb07,
-  0xaee, 0xad5, 0xabc, 0xaa3, 0xa8a, 0xa71, 0xa58, 0xa3f,
-  0xa26, 0xa0d, 0x9f4, 0x9db, 0x9c2, 0x9a9, 0x990, 0x977,
-  0x95e, 0x944, 0x92b, 0x912, 0x8f9, 0x8e0, 0x8c7, 0x8ae,
-  0x895, 0x87c, 0x863, 0x84a, 0x831, 0x818, 0x7fe, 0x7e5,
-  0x7cc, 0x7b3, 0x79a, 0x781, 0x768, 0x74f, 0x736, 0x71d,
-  0x704, 0x6ea, 0x6d1, 0x6b8, 0x69f, 0x686, 0x66d, 0x654,
-  0x63b, 0x622, 0x609, 0x5ef, 0x5d6, 0x5bd, 0x5a4, 0x58b,
-  0x572, 0x559, 0x540, 0x527, 0x50d, 0x4f4, 0x4db, 0x4c2,
-  0x4a9, 0x490, 0x477, 0x45e, 0x445, 0x42b, 0x412, 0x3f9,
-  0x3e0, 0x3c7, 0x3ae, 0x395, 0x37c, 0x362, 0x349, 0x330,
-  0x317, 0x2fe, 0x2e5, 0x2cc, 0x2b3, 0x299, 0x280, 0x267,
-  0x24e, 0x235, 0x21c, 0x203, 0x1ea, 0x1d0, 0x1b7, 0x19e,
-  0x185, 0x16c, 0x153, 0x13a, 0x121, 0x107, 0xee, 0xd5,
-  0xbc, 0xa3, 0x8a, 0x71, 0x57, 0x3e, 0x25, 0xc,
-
-};
-
-static const q15_t ALIGN4 cos_factorsQ15_8192[8192] = {
-  0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff,
-  0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff,
-  0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff,
-  0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff,
-  0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff,
-  0x7fff, 0x7ffe, 0x7ffe, 0x7ffe, 0x7ffe, 0x7ffe, 0x7ffe, 0x7ffe,
-  0x7ffe, 0x7ffe, 0x7ffe, 0x7ffe, 0x7ffe, 0x7ffe, 0x7ffe, 0x7ffe,
-  0x7ffe, 0x7ffe, 0x7ffd, 0x7ffd, 0x7ffd, 0x7ffd, 0x7ffd, 0x7ffd,
-  0x7ffd, 0x7ffd, 0x7ffd, 0x7ffd, 0x7ffd, 0x7ffd, 0x7ffd, 0x7ffc,
-  0x7ffc, 0x7ffc, 0x7ffc, 0x7ffc, 0x7ffc, 0x7ffc, 0x7ffc, 0x7ffc,
-  0x7ffc, 0x7ffb, 0x7ffb, 0x7ffb, 0x7ffb, 0x7ffb, 0x7ffb, 0x7ffb,
-  0x7ffb, 0x7ffb, 0x7ffb, 0x7ffa, 0x7ffa, 0x7ffa, 0x7ffa, 0x7ffa,
-  0x7ffa, 0x7ffa, 0x7ffa, 0x7ffa, 0x7ff9, 0x7ff9, 0x7ff9, 0x7ff9,
-  0x7ff9, 0x7ff9, 0x7ff9, 0x7ff9, 0x7ff8, 0x7ff8, 0x7ff8, 0x7ff8,
-  0x7ff8, 0x7ff8, 0x7ff8, 0x7ff7, 0x7ff7, 0x7ff7, 0x7ff7, 0x7ff7,
-  0x7ff7, 0x7ff7, 0x7ff6, 0x7ff6, 0x7ff6, 0x7ff6, 0x7ff6, 0x7ff6,
-  0x7ff6, 0x7ff5, 0x7ff5, 0x7ff5, 0x7ff5, 0x7ff5, 0x7ff5, 0x7ff4,
-  0x7ff4, 0x7ff4, 0x7ff4, 0x7ff4, 0x7ff4, 0x7ff3, 0x7ff3, 0x7ff3,
-  0x7ff3, 0x7ff3, 0x7ff3, 0x7ff2, 0x7ff2, 0x7ff2, 0x7ff2, 0x7ff2,
-  0x7ff1, 0x7ff1, 0x7ff1, 0x7ff1, 0x7ff1, 0x7ff1, 0x7ff0, 0x7ff0,
-  0x7ff0, 0x7ff0, 0x7ff0, 0x7fef, 0x7fef, 0x7fef, 0x7fef, 0x7fef,
-  0x7fee, 0x7fee, 0x7fee, 0x7fee, 0x7fee, 0x7fed, 0x7fed, 0x7fed,
-  0x7fed, 0x7fed, 0x7fec, 0x7fec, 0x7fec, 0x7fec, 0x7feb, 0x7feb,
-  0x7feb, 0x7feb, 0x7feb, 0x7fea, 0x7fea, 0x7fea, 0x7fea, 0x7fe9,
-  0x7fe9, 0x7fe9, 0x7fe9, 0x7fe8, 0x7fe8, 0x7fe8, 0x7fe8, 0x7fe8,
-  0x7fe7, 0x7fe7, 0x7fe7, 0x7fe7, 0x7fe6, 0x7fe6, 0x7fe6, 0x7fe6,
-  0x7fe5, 0x7fe5, 0x7fe5, 0x7fe5, 0x7fe4, 0x7fe4, 0x7fe4, 0x7fe4,
-  0x7fe3, 0x7fe3, 0x7fe3, 0x7fe2, 0x7fe2, 0x7fe2, 0x7fe2, 0x7fe1,
-  0x7fe1, 0x7fe1, 0x7fe1, 0x7fe0, 0x7fe0, 0x7fe0, 0x7fdf, 0x7fdf,
-  0x7fdf, 0x7fdf, 0x7fde, 0x7fde, 0x7fde, 0x7fde, 0x7fdd, 0x7fdd,
-  0x7fdd, 0x7fdc, 0x7fdc, 0x7fdc, 0x7fdb, 0x7fdb, 0x7fdb, 0x7fdb,
-  0x7fda, 0x7fda, 0x7fda, 0x7fd9, 0x7fd9, 0x7fd9, 0x7fd8, 0x7fd8,
-  0x7fd8, 0x7fd8, 0x7fd7, 0x7fd7, 0x7fd7, 0x7fd6, 0x7fd6, 0x7fd6,
-  0x7fd5, 0x7fd5, 0x7fd5, 0x7fd4, 0x7fd4, 0x7fd4, 0x7fd3, 0x7fd3,
-  0x7fd3, 0x7fd2, 0x7fd2, 0x7fd2, 0x7fd1, 0x7fd1, 0x7fd1, 0x7fd0,
-  0x7fd0, 0x7fd0, 0x7fcf, 0x7fcf, 0x7fcf, 0x7fce, 0x7fce, 0x7fce,
-  0x7fcd, 0x7fcd, 0x7fcd, 0x7fcc, 0x7fcc, 0x7fcc, 0x7fcb, 0x7fcb,
-  0x7fcb, 0x7fca, 0x7fca, 0x7fc9, 0x7fc9, 0x7fc9, 0x7fc8, 0x7fc8,
-  0x7fc8, 0x7fc7, 0x7fc7, 0x7fc7, 0x7fc6, 0x7fc6, 0x7fc5, 0x7fc5,
-  0x7fc5, 0x7fc4, 0x7fc4, 0x7fc4, 0x7fc3, 0x7fc3, 0x7fc2, 0x7fc2,
-  0x7fc2, 0x7fc1, 0x7fc1, 0x7fc0, 0x7fc0, 0x7fc0, 0x7fbf, 0x7fbf,
-  0x7fbf, 0x7fbe, 0x7fbe, 0x7fbd, 0x7fbd, 0x7fbd, 0x7fbc, 0x7fbc,
-  0x7fbb, 0x7fbb, 0x7fbb, 0x7fba, 0x7fba, 0x7fb9, 0x7fb9, 0x7fb8,
-  0x7fb8, 0x7fb8, 0x7fb7, 0x7fb7, 0x7fb6, 0x7fb6, 0x7fb6, 0x7fb5,
-  0x7fb5, 0x7fb4, 0x7fb4, 0x7fb3, 0x7fb3, 0x7fb3, 0x7fb2, 0x7fb2,
-  0x7fb1, 0x7fb1, 0x7fb0, 0x7fb0, 0x7faf, 0x7faf, 0x7faf, 0x7fae,
-  0x7fae, 0x7fad, 0x7fad, 0x7fac, 0x7fac, 0x7fac, 0x7fab, 0x7fab,
-  0x7faa, 0x7faa, 0x7fa9, 0x7fa9, 0x7fa8, 0x7fa8, 0x7fa7, 0x7fa7,
-  0x7fa6, 0x7fa6, 0x7fa6, 0x7fa5, 0x7fa5, 0x7fa4, 0x7fa4, 0x7fa3,
-  0x7fa3, 0x7fa2, 0x7fa2, 0x7fa1, 0x7fa1, 0x7fa0, 0x7fa0, 0x7f9f,
-  0x7f9f, 0x7f9e, 0x7f9e, 0x7f9d, 0x7f9d, 0x7f9c, 0x7f9c, 0x7f9c,
-  0x7f9b, 0x7f9b, 0x7f9a, 0x7f9a, 0x7f99, 0x7f99, 0x7f98, 0x7f98,
-  0x7f97, 0x7f97, 0x7f96, 0x7f96, 0x7f95, 0x7f95, 0x7f94, 0x7f94,
-  0x7f93, 0x7f92, 0x7f92, 0x7f91, 0x7f91, 0x7f90, 0x7f90, 0x7f8f,
-  0x7f8f, 0x7f8e, 0x7f8e, 0x7f8d, 0x7f8d, 0x7f8c, 0x7f8c, 0x7f8b,
-  0x7f8b, 0x7f8a, 0x7f8a, 0x7f89, 0x7f89, 0x7f88, 0x7f87, 0x7f87,
-  0x7f86, 0x7f86, 0x7f85, 0x7f85, 0x7f84, 0x7f84, 0x7f83, 0x7f83,
-  0x7f82, 0x7f81, 0x7f81, 0x7f80, 0x7f80, 0x7f7f, 0x7f7f, 0x7f7e,
-  0x7f7e, 0x7f7d, 0x7f7c, 0x7f7c, 0x7f7b, 0x7f7b, 0x7f7a, 0x7f7a,
-  0x7f79, 0x7f79, 0x7f78, 0x7f77, 0x7f77, 0x7f76, 0x7f76, 0x7f75,
-  0x7f75, 0x7f74, 0x7f73, 0x7f73, 0x7f72, 0x7f72, 0x7f71, 0x7f70,
-  0x7f70, 0x7f6f, 0x7f6f, 0x7f6e, 0x7f6d, 0x7f6d, 0x7f6c, 0x7f6c,
-  0x7f6b, 0x7f6b, 0x7f6a, 0x7f69, 0x7f69, 0x7f68, 0x7f68, 0x7f67,
-  0x7f66, 0x7f66, 0x7f65, 0x7f64, 0x7f64, 0x7f63, 0x7f63, 0x7f62,
-  0x7f61, 0x7f61, 0x7f60, 0x7f60, 0x7f5f, 0x7f5e, 0x7f5e, 0x7f5d,
-  0x7f5c, 0x7f5c, 0x7f5b, 0x7f5b, 0x7f5a, 0x7f59, 0x7f59, 0x7f58,
-  0x7f57, 0x7f57, 0x7f56, 0x7f55, 0x7f55, 0x7f54, 0x7f54, 0x7f53,
-  0x7f52, 0x7f52, 0x7f51, 0x7f50, 0x7f50, 0x7f4f, 0x7f4e, 0x7f4e,
-  0x7f4d, 0x7f4c, 0x7f4c, 0x7f4b, 0x7f4a, 0x7f4a, 0x7f49, 0x7f48,
-  0x7f48, 0x7f47, 0x7f46, 0x7f46, 0x7f45, 0x7f44, 0x7f44, 0x7f43,
-  0x7f42, 0x7f42, 0x7f41, 0x7f40, 0x7f40, 0x7f3f, 0x7f3e, 0x7f3e,
-  0x7f3d, 0x7f3c, 0x7f3c, 0x7f3b, 0x7f3a, 0x7f3a, 0x7f39, 0x7f38,
-  0x7f37, 0x7f37, 0x7f36, 0x7f35, 0x7f35, 0x7f34, 0x7f33, 0x7f33,
-  0x7f32, 0x7f31, 0x7f31, 0x7f30, 0x7f2f, 0x7f2e, 0x7f2e, 0x7f2d,
-  0x7f2c, 0x7f2c, 0x7f2b, 0x7f2a, 0x7f29, 0x7f29, 0x7f28, 0x7f27,
-  0x7f27, 0x7f26, 0x7f25, 0x7f24, 0x7f24, 0x7f23, 0x7f22, 0x7f21,
-  0x7f21, 0x7f20, 0x7f1f, 0x7f1f, 0x7f1e, 0x7f1d, 0x7f1c, 0x7f1c,
-  0x7f1b, 0x7f1a, 0x7f19, 0x7f19, 0x7f18, 0x7f17, 0x7f16, 0x7f16,
-  0x7f15, 0x7f14, 0x7f13, 0x7f13, 0x7f12, 0x7f11, 0x7f10, 0x7f10,
-  0x7f0f, 0x7f0e, 0x7f0d, 0x7f0d, 0x7f0c, 0x7f0b, 0x7f0a, 0x7f09,
-  0x7f09, 0x7f08, 0x7f07, 0x7f06, 0x7f06, 0x7f05, 0x7f04, 0x7f03,
-  0x7f02, 0x7f02, 0x7f01, 0x7f00, 0x7eff, 0x7eff, 0x7efe, 0x7efd,
-  0x7efc, 0x7efb, 0x7efb, 0x7efa, 0x7ef9, 0x7ef8, 0x7ef7, 0x7ef7,
-  0x7ef6, 0x7ef5, 0x7ef4, 0x7ef3, 0x7ef3, 0x7ef2, 0x7ef1, 0x7ef0,
-  0x7eef, 0x7eef, 0x7eee, 0x7eed, 0x7eec, 0x7eeb, 0x7eeb, 0x7eea,
-  0x7ee9, 0x7ee8, 0x7ee7, 0x7ee6, 0x7ee6, 0x7ee5, 0x7ee4, 0x7ee3,
-  0x7ee2, 0x7ee2, 0x7ee1, 0x7ee0, 0x7edf, 0x7ede, 0x7edd, 0x7edd,
-  0x7edc, 0x7edb, 0x7eda, 0x7ed9, 0x7ed8, 0x7ed8, 0x7ed7, 0x7ed6,
-  0x7ed5, 0x7ed4, 0x7ed3, 0x7ed2, 0x7ed2, 0x7ed1, 0x7ed0, 0x7ecf,
-  0x7ece, 0x7ecd, 0x7ecc, 0x7ecc, 0x7ecb, 0x7eca, 0x7ec9, 0x7ec8,
-  0x7ec7, 0x7ec6, 0x7ec6, 0x7ec5, 0x7ec4, 0x7ec3, 0x7ec2, 0x7ec1,
-  0x7ec0, 0x7ebf, 0x7ebf, 0x7ebe, 0x7ebd, 0x7ebc, 0x7ebb, 0x7eba,
-  0x7eb9, 0x7eb8, 0x7eb8, 0x7eb7, 0x7eb6, 0x7eb5, 0x7eb4, 0x7eb3,
-  0x7eb2, 0x7eb1, 0x7eb0, 0x7eaf, 0x7eaf, 0x7eae, 0x7ead, 0x7eac,
-  0x7eab, 0x7eaa, 0x7ea9, 0x7ea8, 0x7ea7, 0x7ea6, 0x7ea6, 0x7ea5,
-  0x7ea4, 0x7ea3, 0x7ea2, 0x7ea1, 0x7ea0, 0x7e9f, 0x7e9e, 0x7e9d,
-  0x7e9c, 0x7e9b, 0x7e9b, 0x7e9a, 0x7e99, 0x7e98, 0x7e97, 0x7e96,
-  0x7e95, 0x7e94, 0x7e93, 0x7e92, 0x7e91, 0x7e90, 0x7e8f, 0x7e8e,
-  0x7e8d, 0x7e8d, 0x7e8c, 0x7e8b, 0x7e8a, 0x7e89, 0x7e88, 0x7e87,
-  0x7e86, 0x7e85, 0x7e84, 0x7e83, 0x7e82, 0x7e81, 0x7e80, 0x7e7f,
-  0x7e7e, 0x7e7d, 0x7e7c, 0x7e7b, 0x7e7a, 0x7e79, 0x7e78, 0x7e77,
-  0x7e77, 0x7e76, 0x7e75, 0x7e74, 0x7e73, 0x7e72, 0x7e71, 0x7e70,
-  0x7e6f, 0x7e6e, 0x7e6d, 0x7e6c, 0x7e6b, 0x7e6a, 0x7e69, 0x7e68,
-  0x7e67, 0x7e66, 0x7e65, 0x7e64, 0x7e63, 0x7e62, 0x7e61, 0x7e60,
-  0x7e5f, 0x7e5e, 0x7e5d, 0x7e5c, 0x7e5b, 0x7e5a, 0x7e59, 0x7e58,
-  0x7e57, 0x7e56, 0x7e55, 0x7e54, 0x7e53, 0x7e52, 0x7e51, 0x7e50,
-  0x7e4f, 0x7e4e, 0x7e4d, 0x7e4c, 0x7e4b, 0x7e4a, 0x7e49, 0x7e48,
-  0x7e47, 0x7e46, 0x7e45, 0x7e43, 0x7e42, 0x7e41, 0x7e40, 0x7e3f,
-  0x7e3e, 0x7e3d, 0x7e3c, 0x7e3b, 0x7e3a, 0x7e39, 0x7e38, 0x7e37,
-  0x7e36, 0x7e35, 0x7e34, 0x7e33, 0x7e32, 0x7e31, 0x7e30, 0x7e2f,
-  0x7e2e, 0x7e2d, 0x7e2b, 0x7e2a, 0x7e29, 0x7e28, 0x7e27, 0x7e26,
-  0x7e25, 0x7e24, 0x7e23, 0x7e22, 0x7e21, 0x7e20, 0x7e1f, 0x7e1e,
-  0x7e1d, 0x7e1b, 0x7e1a, 0x7e19, 0x7e18, 0x7e17, 0x7e16, 0x7e15,
-  0x7e14, 0x7e13, 0x7e12, 0x7e11, 0x7e10, 0x7e0e, 0x7e0d, 0x7e0c,
-  0x7e0b, 0x7e0a, 0x7e09, 0x7e08, 0x7e07, 0x7e06, 0x7e05, 0x7e04,
-  0x7e02, 0x7e01, 0x7e00, 0x7dff, 0x7dfe, 0x7dfd, 0x7dfc, 0x7dfb,
-  0x7dfa, 0x7df8, 0x7df7, 0x7df6, 0x7df5, 0x7df4, 0x7df3, 0x7df2,
-  0x7df1, 0x7def, 0x7dee, 0x7ded, 0x7dec, 0x7deb, 0x7dea, 0x7de9,
-  0x7de8, 0x7de6, 0x7de5, 0x7de4, 0x7de3, 0x7de2, 0x7de1, 0x7de0,
-  0x7dde, 0x7ddd, 0x7ddc, 0x7ddb, 0x7dda, 0x7dd9, 0x7dd8, 0x7dd6,
-  0x7dd5, 0x7dd4, 0x7dd3, 0x7dd2, 0x7dd1, 0x7dd0, 0x7dce, 0x7dcd,
-  0x7dcc, 0x7dcb, 0x7dca, 0x7dc9, 0x7dc7, 0x7dc6, 0x7dc5, 0x7dc4,
-  0x7dc3, 0x7dc2, 0x7dc0, 0x7dbf, 0x7dbe, 0x7dbd, 0x7dbc, 0x7dbb,
-  0x7db9, 0x7db8, 0x7db7, 0x7db6, 0x7db5, 0x7db3, 0x7db2, 0x7db1,
-  0x7db0, 0x7daf, 0x7dae, 0x7dac, 0x7dab, 0x7daa, 0x7da9, 0x7da8,
-  0x7da6, 0x7da5, 0x7da4, 0x7da3, 0x7da2, 0x7da0, 0x7d9f, 0x7d9e,
-  0x7d9d, 0x7d9c, 0x7d9a, 0x7d99, 0x7d98, 0x7d97, 0x7d95, 0x7d94,
-  0x7d93, 0x7d92, 0x7d91, 0x7d8f, 0x7d8e, 0x7d8d, 0x7d8c, 0x7d8a,
-  0x7d89, 0x7d88, 0x7d87, 0x7d86, 0x7d84, 0x7d83, 0x7d82, 0x7d81,
-  0x7d7f, 0x7d7e, 0x7d7d, 0x7d7c, 0x7d7a, 0x7d79, 0x7d78, 0x7d77,
-  0x7d75, 0x7d74, 0x7d73, 0x7d72, 0x7d70, 0x7d6f, 0x7d6e, 0x7d6d,
-  0x7d6b, 0x7d6a, 0x7d69, 0x7d68, 0x7d66, 0x7d65, 0x7d64, 0x7d63,
-  0x7d61, 0x7d60, 0x7d5f, 0x7d5e, 0x7d5c, 0x7d5b, 0x7d5a, 0x7d59,
-  0x7d57, 0x7d56, 0x7d55, 0x7d53, 0x7d52, 0x7d51, 0x7d50, 0x7d4e,
-  0x7d4d, 0x7d4c, 0x7d4a, 0x7d49, 0x7d48, 0x7d47, 0x7d45, 0x7d44,
-  0x7d43, 0x7d41, 0x7d40, 0x7d3f, 0x7d3e, 0x7d3c, 0x7d3b, 0x7d3a,
-  0x7d38, 0x7d37, 0x7d36, 0x7d34, 0x7d33, 0x7d32, 0x7d31, 0x7d2f,
-  0x7d2e, 0x7d2d, 0x7d2b, 0x7d2a, 0x7d29, 0x7d27, 0x7d26, 0x7d25,
-  0x7d23, 0x7d22, 0x7d21, 0x7d1f, 0x7d1e, 0x7d1d, 0x7d1b, 0x7d1a,
-  0x7d19, 0x7d17, 0x7d16, 0x7d15, 0x7d13, 0x7d12, 0x7d11, 0x7d0f,
-  0x7d0e, 0x7d0d, 0x7d0b, 0x7d0a, 0x7d09, 0x7d07, 0x7d06, 0x7d05,
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-  0xa94, 0xa8d, 0xa87, 0xa81, 0xa7b, 0xa74, 0xa6e, 0xa68,
-  0xa62, 0xa5b, 0xa55, 0xa4f, 0xa48, 0xa42, 0xa3c, 0xa36,
-  0xa2f, 0xa29, 0xa23, 0xa1d, 0xa16, 0xa10, 0xa0a, 0xa04,
-  0x9fd, 0x9f7, 0x9f1, 0x9eb, 0x9e4, 0x9de, 0x9d8, 0x9d1,
-  0x9cb, 0x9c5, 0x9bf, 0x9b8, 0x9b2, 0x9ac, 0x9a6, 0x99f,
-  0x999, 0x993, 0x98d, 0x986, 0x980, 0x97a, 0x973, 0x96d,
-  0x967, 0x961, 0x95a, 0x954, 0x94e, 0x948, 0x941, 0x93b,
-  0x935, 0x92f, 0x928, 0x922, 0x91c, 0x915, 0x90f, 0x909,
-  0x903, 0x8fc, 0x8f6, 0x8f0, 0x8ea, 0x8e3, 0x8dd, 0x8d7,
-  0x8d1, 0x8ca, 0x8c4, 0x8be, 0x8b7, 0x8b1, 0x8ab, 0x8a5,
-  0x89e, 0x898, 0x892, 0x88c, 0x885, 0x87f, 0x879, 0x872,
-  0x86c, 0x866, 0x860, 0x859, 0x853, 0x84d, 0x847, 0x840,
-  0x83a, 0x834, 0x82e, 0x827, 0x821, 0x81b, 0x814, 0x80e,
-  0x808, 0x802, 0x7fb, 0x7f5, 0x7ef, 0x7e9, 0x7e2, 0x7dc,
-  0x7d6, 0x7cf, 0x7c9, 0x7c3, 0x7bd, 0x7b6, 0x7b0, 0x7aa,
-  0x7a4, 0x79d, 0x797, 0x791, 0x78a, 0x784, 0x77e, 0x778,
-  0x771, 0x76b, 0x765, 0x75f, 0x758, 0x752, 0x74c, 0x745,
-  0x73f, 0x739, 0x733, 0x72c, 0x726, 0x720, 0x71a, 0x713,
-  0x70d, 0x707, 0x700, 0x6fa, 0x6f4, 0x6ee, 0x6e7, 0x6e1,
-  0x6db, 0x6d5, 0x6ce, 0x6c8, 0x6c2, 0x6bb, 0x6b5, 0x6af,
-  0x6a9, 0x6a2, 0x69c, 0x696, 0x690, 0x689, 0x683, 0x67d,
-  0x676, 0x670, 0x66a, 0x664, 0x65d, 0x657, 0x651, 0x64a,
-  0x644, 0x63e, 0x638, 0x631, 0x62b, 0x625, 0x61f, 0x618,
-  0x612, 0x60c, 0x605, 0x5ff, 0x5f9, 0x5f3, 0x5ec, 0x5e6,
-  0x5e0, 0x5da, 0x5d3, 0x5cd, 0x5c7, 0x5c0, 0x5ba, 0x5b4,
-  0x5ae, 0x5a7, 0x5a1, 0x59b, 0x594, 0x58e, 0x588, 0x582,
-  0x57b, 0x575, 0x56f, 0x569, 0x562, 0x55c, 0x556, 0x54f,
-  0x549, 0x543, 0x53d, 0x536, 0x530, 0x52a, 0x523, 0x51d,
-  0x517, 0x511, 0x50a, 0x504, 0x4fe, 0x4f8, 0x4f1, 0x4eb,
-  0x4e5, 0x4de, 0x4d8, 0x4d2, 0x4cc, 0x4c5, 0x4bf, 0x4b9,
-  0x4b2, 0x4ac, 0x4a6, 0x4a0, 0x499, 0x493, 0x48d, 0x487,
-  0x480, 0x47a, 0x474, 0x46d, 0x467, 0x461, 0x45b, 0x454,
-  0x44e, 0x448, 0x441, 0x43b, 0x435, 0x42f, 0x428, 0x422,
-  0x41c, 0x415, 0x40f, 0x409, 0x403, 0x3fc, 0x3f6, 0x3f0,
-  0x3ea, 0x3e3, 0x3dd, 0x3d7, 0x3d0, 0x3ca, 0x3c4, 0x3be,
-  0x3b7, 0x3b1, 0x3ab, 0x3a4, 0x39e, 0x398, 0x392, 0x38b,
-  0x385, 0x37f, 0x378, 0x372, 0x36c, 0x366, 0x35f, 0x359,
-  0x353, 0x34c, 0x346, 0x340, 0x33a, 0x333, 0x32d, 0x327,
-  0x321, 0x31a, 0x314, 0x30e, 0x307, 0x301, 0x2fb, 0x2f5,
-  0x2ee, 0x2e8, 0x2e2, 0x2db, 0x2d5, 0x2cf, 0x2c9, 0x2c2,
-  0x2bc, 0x2b6, 0x2af, 0x2a9, 0x2a3, 0x29d, 0x296, 0x290,
-  0x28a, 0x283, 0x27d, 0x277, 0x271, 0x26a, 0x264, 0x25e,
-  0x258, 0x251, 0x24b, 0x245, 0x23e, 0x238, 0x232, 0x22c,
-  0x225, 0x21f, 0x219, 0x212, 0x20c, 0x206, 0x200, 0x1f9,
-  0x1f3, 0x1ed, 0x1e6, 0x1e0, 0x1da, 0x1d4, 0x1cd, 0x1c7,
-  0x1c1, 0x1ba, 0x1b4, 0x1ae, 0x1a8, 0x1a1, 0x19b, 0x195,
-  0x18e, 0x188, 0x182, 0x17c, 0x175, 0x16f, 0x169, 0x162,
-  0x15c, 0x156, 0x150, 0x149, 0x143, 0x13d, 0x137, 0x130,
-  0x12a, 0x124, 0x11d, 0x117, 0x111, 0x10b, 0x104, 0xfe,
-  0xf8, 0xf1, 0xeb, 0xe5, 0xdf, 0xd8, 0xd2, 0xcc,
-  0xc5, 0xbf, 0xb9, 0xb3, 0xac, 0xa6, 0xa0, 0x99,
-  0x93, 0x8d, 0x87, 0x80, 0x7a, 0x74, 0x6d, 0x67,
-  0x61, 0x5b, 0x54, 0x4e, 0x48, 0x41, 0x3b, 0x35,
-  0x2f, 0x28, 0x22, 0x1c, 0x15, 0xf, 0x9, 0x3,
-};
-
-/**    
- * @brief  Initialization function for the Q15 DCT4/IDCT4.   
- * @param[in,out] *S         points to an instance of Q15 DCT4/IDCT4 structure.   
- * @param[in]     *S_RFFT    points to an instance of Q15 RFFT/RIFFT structure.   
- * @param[in]     *S_CFFT    points to an instance of Q15 CFFT/CIFFT structure.   
- * @param[in]     N          length of the DCT4.   
- * @param[in]     Nby2       half of the length of the DCT4.   
- * @param[in]     normalize  normalizing factor.   
- * @return  	  arm_status function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if N is not a supported transform length.   
- * \par Normalizing factor:    
- * The normalizing factor is sqrt(2/N), which depends on the size of transform N.    
- * Normalizing factors in 1.15 format are mentioned in the table below for different DCT sizes:    
- * \image html dct4NormalizingQ15Table.gif    
- */
-
-arm_status arm_dct4_init_q15(
-  arm_dct4_instance_q15 * S,
-  arm_rfft_instance_q15 * S_RFFT,
-  arm_cfft_radix4_instance_q15 * S_CFFT,
-  uint16_t N,
-  uint16_t Nby2,
-  q15_t normalize)
-{
-  /*  Initialise the default arm status */
-  arm_status status = ARM_MATH_SUCCESS;
-
-  /* Initializing the pointer array with the weight table base addresses of different lengths */
-  q15_t *twiddlePtr[4] = { (q15_t *) WeightsQ15_128, (q15_t *) WeightsQ15_512,
-    (q15_t *) WeightsQ15_2048, (q15_t *) WeightsQ15_8192
-  };
-
-  /* Initializing the pointer array with the cos factor table base addresses of different lengths */
-  q15_t *pCosFactor[4] =
-    { (q15_t *) cos_factorsQ15_128, (q15_t *) cos_factorsQ15_512,
-    (q15_t *) cos_factorsQ15_2048, (q15_t *) cos_factorsQ15_8192
-  };
-
-  /* Initialize the DCT4 length */
-  S->N = N;
-
-  /* Initialize the half of DCT4 length */
-  S->Nby2 = Nby2;
-
-  /* Initialize the DCT4 Normalizing factor */
-  S->normalize = normalize;
-
-  /* Initialize Real FFT Instance */
-  S->pRfft = S_RFFT;
-
-  /* Initialize Complex FFT Instance */
-  S->pCfft = S_CFFT;
-
-  switch (N)
-  {
-    /* Initialize the table modifier values */
-  case 8192u:
-    S->pTwiddle = twiddlePtr[3];
-    S->pCosFactor = pCosFactor[3];
-    break;
-  case 2048u:
-    S->pTwiddle = twiddlePtr[2];
-    S->pCosFactor = pCosFactor[2];
-    break;
-  case 512u:
-    S->pTwiddle = twiddlePtr[1];
-    S->pCosFactor = pCosFactor[1];
-    break;
-  case 128u:
-    S->pTwiddle = twiddlePtr[0];
-    S->pCosFactor = pCosFactor[0];
-    break;
-  default:
-    status = ARM_MATH_ARGUMENT_ERROR;
-  }
-
-  /* Initialize the RFFT/RIFFT */
-  arm_rfft_init_q15(S->pRfft, S->pCfft, S->N, 0u, 1u);
-
-  /* return the status of DCT4 Init function */
-  return (status);
-}
-
-/**    
-   * @} end of DCT4_IDCT4 group    
-   */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_init_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_init_q31.c
deleted file mode 100644
index 211cdadf3..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_init_q31.c
+++ /dev/null
@@ -1,8356 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_dct4_init_q31.c    
-*    
-* Description:	Initialization function of DCT-4 & IDCT4 Q31    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* -------------------------------------------------------------------- */
-
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupTransforms    
- */
-
-/**    
- * @addtogroup DCT4_IDCT4    
- * @{    
- */
-
-/*    
-* @brief  Weights Table    
-*/
-
-/**    
-* \par    
-* Weights tables are generated using the formula : 
weights[n] = e^(-j*n*pi/(2*N))
    
-* \par    
-* C command to generate the table    
-* 
    
-* for(i = 0; i< N; i++)    
-* {    
-*   weights[2*i]= cos(i*c);    
-*   weights[(2*i)+1]= -sin(i * c);    
-* } 
    
-* \par    
-* where N is the Number of weights to be calculated and c is pi/(2*N)    
-* \par    
-* Convert the output to q31 format by multiplying with 2^31 and saturated if required.    
-* \par    
-* In the tables below the real and imaginary values are placed alternatively, hence the    
-* array length is 2*N.    
-*/
-
-static const q31_t WeightsQ31_128[256] = {
-  0x7fffffff, 0x0, 0x7ffd885a, 0xfe6de2e0, 0x7ff62182, 0xfcdbd541, 0x7fe9cbc0,
-  0xfb49e6a3,
-  0x7fd8878e, 0xf9b82684, 0x7fc25596, 0xf826a462, 0x7fa736b4, 0xf6956fb7,
-  0x7f872bf3, 0xf50497fb,
-  0x7f62368f, 0xf3742ca2, 0x7f3857f6, 0xf1e43d1c, 0x7f0991c4, 0xf054d8d5,
-  0x7ed5e5c6, 0xeec60f31,
-  0x7e9d55fc, 0xed37ef91, 0x7e5fe493, 0xebaa894f, 0x7e1d93ea, 0xea1debbb,
-  0x7dd6668f, 0xe8922622,
-  0x7d8a5f40, 0xe70747c4, 0x7d3980ec, 0xe57d5fda, 0x7ce3ceb2, 0xe3f47d96,
-  0x7c894bde, 0xe26cb01b,
-  0x7c29fbee, 0xe0e60685, 0x7bc5e290, 0xdf608fe4, 0x7b5d039e, 0xdddc5b3b,
-  0x7aef6323, 0xdc597781,
-  0x7a7d055b, 0xdad7f3a2, 0x7a05eead, 0xd957de7a, 0x798a23b1, 0xd7d946d8,
-  0x7909a92d, 0xd65c3b7b,
-  0x78848414, 0xd4e0cb15, 0x77fab989, 0xd3670446, 0x776c4edb, 0xd1eef59e,
-  0x76d94989, 0xd078ad9e,
-  0x7641af3d, 0xcf043ab3, 0x75a585cf, 0xcd91ab39, 0x7504d345, 0xcc210d79,
-  0x745f9dd1, 0xcab26fa9,
-  0x73b5ebd1, 0xc945dfec, 0x7307c3d0, 0xc7db6c50, 0x72552c85, 0xc67322ce,
-  0x719e2cd2, 0xc50d1149,
-  0x70e2cbc6, 0xc3a94590, 0x7023109a, 0xc247cd5a, 0x6f5f02b2, 0xc0e8b648,
-  0x6e96a99d, 0xbf8c0de3,
-  0x6dca0d14, 0xbe31e19b, 0x6cf934fc, 0xbcda3ecb, 0x6c242960, 0xbb8532b0,
-  0x6b4af279, 0xba32ca71,
-  0x6a6d98a4, 0xb8e31319, 0x698c246c, 0xb796199b, 0x68a69e81, 0xb64beacd,
-  0x67bd0fbd, 0xb5049368,
-  0x66cf8120, 0xb3c0200c, 0x65ddfbd3, 0xb27e9d3c, 0x64e88926, 0xb140175b,
-  0x63ef3290, 0xb0049ab3,
-  0x62f201ac, 0xaecc336c, 0x61f1003f, 0xad96ed92, 0x60ec3830, 0xac64d510,
-  0x5fe3b38d, 0xab35f5b5,
-  0x5ed77c8a, 0xaa0a5b2e, 0x5dc79d7c, 0xa8e21106, 0x5cb420e0, 0xa7bd22ac,
-  0x5b9d1154, 0xa69b9b68,
-  0x5a82799a, 0xa57d8666, 0x59646498, 0xa462eeac, 0x5842dd54, 0xa34bdf20,
-  0x571deefa, 0xa2386284,
-  0x55f5a4d2, 0xa1288376, 0x54ca0a4b, 0xa01c4c73, 0x539b2af0, 0x9f13c7d0,
-  0x5269126e, 0x9e0effc1,
-  0x5133cc94, 0x9d0dfe54, 0x4ffb654d, 0x9c10cd70, 0x4ebfe8a5, 0x9b1776da,
-  0x4d8162c4, 0x9a22042d,
-  0x4c3fdff4, 0x99307ee0, 0x4afb6c98, 0x9842f043, 0x49b41533, 0x9759617f,
-  0x4869e665, 0x9673db94,
-  0x471cece7, 0x9592675c, 0x45cd358f, 0x94b50d87, 0x447acd50, 0x93dbd6a0,
-  0x4325c135, 0x9306cb04,
-  0x41ce1e65, 0x9235f2ec, 0x4073f21d, 0x91695663, 0x3f1749b8, 0x90a0fd4e,
-  0x3db832a6, 0x8fdcef66,
-  0x3c56ba70, 0x8f1d343a, 0x3af2eeb7, 0x8e61d32e, 0x398cdd32, 0x8daad37b,
-  0x382493b0, 0x8cf83c30,
-  0x36ba2014, 0x8c4a142f, 0x354d9057, 0x8ba0622f, 0x33def287, 0x8afb2cbb,
-  0x326e54c7, 0x8a5a7a31,
-  0x30fbc54d, 0x89be50c3, 0x2f875262, 0x8926b677, 0x2e110a62, 0x8893b125,
-  0x2c98fbba, 0x88054677,
-  0x2b1f34eb, 0x877b7bec, 0x29a3c485, 0x86f656d3, 0x2826b928, 0x8675dc4f,
-  0x26a82186, 0x85fa1153,
-  0x25280c5e, 0x8582faa5, 0x23a6887f, 0x85109cdd, 0x2223a4c5, 0x84a2fc62,
-  0x209f701c, 0x843a1d70,
-  0x1f19f97b, 0x83d60412, 0x1d934fe5, 0x8376b422, 0x1c0b826a, 0x831c314e,
-  0x1a82a026, 0x82c67f14,
-  0x18f8b83c, 0x8275a0c0, 0x176dd9de, 0x82299971, 0x15e21445, 0x81e26c16,
-  0x145576b1, 0x81a01b6d,
-  0x12c8106f, 0x8162aa04, 0x1139f0cf, 0x812a1a3a, 0xfab272b, 0x80f66e3c,
-  0xe1bc2e4, 0x80c7a80a,
-  0xc8bd35e, 0x809dc971, 0xafb6805, 0x8078d40d, 0x96a9049, 0x8058c94c,
-  0x7d95b9e, 0x803daa6a,
-  0x647d97c, 0x80277872, 0x4b6195d, 0x80163440, 0x3242abf, 0x8009de7e,
-  0x1921d20, 0x800277a6,
-};
-
-static const q31_t WeightsQ31_512[1024] = {
-  0x7fffffff, 0x0, 0x7fffd886, 0xff9b781d, 0x7fff6216, 0xff36f078, 0x7ffe9cb2,
-  0xfed2694f,
-  0x7ffd885a, 0xfe6de2e0, 0x7ffc250f, 0xfe095d69, 0x7ffa72d1, 0xfda4d929,
-  0x7ff871a2, 0xfd40565c,
-  0x7ff62182, 0xfcdbd541, 0x7ff38274, 0xfc775616, 0x7ff09478, 0xfc12d91a,
-  0x7fed5791, 0xfbae5e89,
-  0x7fe9cbc0, 0xfb49e6a3, 0x7fe5f108, 0xfae571a4, 0x7fe1c76b, 0xfa80ffcb,
-  0x7fdd4eec, 0xfa1c9157,
-  0x7fd8878e, 0xf9b82684, 0x7fd37153, 0xf953bf91, 0x7fce0c3e, 0xf8ef5cbb,
-  0x7fc85854, 0xf88afe42,
-  0x7fc25596, 0xf826a462, 0x7fbc040a, 0xf7c24f59, 0x7fb563b3, 0xf75dff66,
-  0x7fae7495, 0xf6f9b4c6,
-  0x7fa736b4, 0xf6956fb7, 0x7f9faa15, 0xf6313077, 0x7f97cebd, 0xf5ccf743,
-  0x7f8fa4b0, 0xf568c45b,
-  0x7f872bf3, 0xf50497fb, 0x7f7e648c, 0xf4a07261, 0x7f754e80, 0xf43c53cb,
-  0x7f6be9d4, 0xf3d83c77,
-  0x7f62368f, 0xf3742ca2, 0x7f5834b7, 0xf310248a, 0x7f4de451, 0xf2ac246e,
-  0x7f434563, 0xf2482c8a,
-  0x7f3857f6, 0xf1e43d1c, 0x7f2d1c0e, 0xf1805662, 0x7f2191b4, 0xf11c789a,
-  0x7f15b8ee, 0xf0b8a401,
-  0x7f0991c4, 0xf054d8d5, 0x7efd1c3c, 0xeff11753, 0x7ef05860, 0xef8d5fb8,
-  0x7ee34636, 0xef29b243,
-  0x7ed5e5c6, 0xeec60f31, 0x7ec8371a, 0xee6276bf, 0x7eba3a39, 0xedfee92b,
-  0x7eabef2c, 0xed9b66b2,
-  0x7e9d55fc, 0xed37ef91, 0x7e8e6eb2, 0xecd48407, 0x7e7f3957, 0xec71244f,
-  0x7e6fb5f4, 0xec0dd0a8,
-  0x7e5fe493, 0xebaa894f, 0x7e4fc53e, 0xeb474e81, 0x7e3f57ff, 0xeae4207a,
-  0x7e2e9cdf, 0xea80ff7a,
-  0x7e1d93ea, 0xea1debbb, 0x7e0c3d29, 0xe9bae57d, 0x7dfa98a8, 0xe957ecfb,
-  0x7de8a670, 0xe8f50273,
-  0x7dd6668f, 0xe8922622, 0x7dc3d90d, 0xe82f5844, 0x7db0fdf8, 0xe7cc9917,
-  0x7d9dd55a, 0xe769e8d8,
-  0x7d8a5f40, 0xe70747c4, 0x7d769bb5, 0xe6a4b616, 0x7d628ac6, 0xe642340d,
-  0x7d4e2c7f, 0xe5dfc1e5,
-  0x7d3980ec, 0xe57d5fda, 0x7d24881b, 0xe51b0e2a, 0x7d0f4218, 0xe4b8cd11,
-  0x7cf9aef0, 0xe4569ccb,
-  0x7ce3ceb2, 0xe3f47d96, 0x7ccda169, 0xe3926fad, 0x7cb72724, 0xe330734d,
-  0x7ca05ff1, 0xe2ce88b3,
-  0x7c894bde, 0xe26cb01b, 0x7c71eaf9, 0xe20ae9c1, 0x7c5a3d50, 0xe1a935e2,
-  0x7c4242f2, 0xe14794ba,
-  0x7c29fbee, 0xe0e60685, 0x7c116853, 0xe0848b7f, 0x7bf88830, 0xe02323e5,
-  0x7bdf5b94, 0xdfc1cff3,
-  0x7bc5e290, 0xdf608fe4, 0x7bac1d31, 0xdeff63f4, 0x7b920b89, 0xde9e4c60,
-  0x7b77ada8, 0xde3d4964,
-  0x7b5d039e, 0xdddc5b3b, 0x7b420d7a, 0xdd7b8220, 0x7b26cb4f, 0xdd1abe51,
-  0x7b0b3d2c, 0xdcba1008,
-  0x7aef6323, 0xdc597781, 0x7ad33d45, 0xdbf8f4f8, 0x7ab6cba4, 0xdb9888a8,
-  0x7a9a0e50, 0xdb3832cd,
-  0x7a7d055b, 0xdad7f3a2, 0x7a5fb0d8, 0xda77cb63, 0x7a4210d8, 0xda17ba4a,
-  0x7a24256f, 0xd9b7c094,
-  0x7a05eead, 0xd957de7a, 0x79e76ca7, 0xd8f81439, 0x79c89f6e, 0xd898620c,
-  0x79a98715, 0xd838c82d,
-  0x798a23b1, 0xd7d946d8, 0x796a7554, 0xd779de47, 0x794a7c12, 0xd71a8eb5,
-  0x792a37fe, 0xd6bb585e,
-  0x7909a92d, 0xd65c3b7b, 0x78e8cfb2, 0xd5fd3848, 0x78c7aba2, 0xd59e4eff,
-  0x78a63d11, 0xd53f7fda,
-  0x78848414, 0xd4e0cb15, 0x786280bf, 0xd48230e9, 0x78403329, 0xd423b191,
-  0x781d9b65, 0xd3c54d47,
-  0x77fab989, 0xd3670446, 0x77d78daa, 0xd308d6c7, 0x77b417df, 0xd2aac504,
-  0x7790583e, 0xd24ccf39,
-  0x776c4edb, 0xd1eef59e, 0x7747fbce, 0xd191386e, 0x77235f2d, 0xd13397e2,
-  0x76fe790e, 0xd0d61434,
-  0x76d94989, 0xd078ad9e, 0x76b3d0b4, 0xd01b6459, 0x768e0ea6, 0xcfbe389f,
-  0x76680376, 0xcf612aaa,
-  0x7641af3d, 0xcf043ab3, 0x761b1211, 0xcea768f2, 0x75f42c0b, 0xce4ab5a2,
-  0x75ccfd42, 0xcdee20fc,
-  0x75a585cf, 0xcd91ab39, 0x757dc5ca, 0xcd355491, 0x7555bd4c, 0xccd91d3d,
-  0x752d6c6c, 0xcc7d0578,
-  0x7504d345, 0xcc210d79, 0x74dbf1ef, 0xcbc53579, 0x74b2c884, 0xcb697db0,
-  0x7489571c, 0xcb0de658,
-  0x745f9dd1, 0xcab26fa9, 0x74359cbd, 0xca5719db, 0x740b53fb, 0xc9fbe527,
-  0x73e0c3a3, 0xc9a0d1c5,
-  0x73b5ebd1, 0xc945dfec, 0x738acc9e, 0xc8eb0fd6, 0x735f6626, 0xc89061ba,
-  0x7333b883, 0xc835d5d0,
-  0x7307c3d0, 0xc7db6c50, 0x72db8828, 0xc7812572, 0x72af05a7, 0xc727016d,
-  0x72823c67, 0xc6cd0079,
-  0x72552c85, 0xc67322ce, 0x7227d61c, 0xc61968a2, 0x71fa3949, 0xc5bfd22e,
-  0x71cc5626, 0xc5665fa9,
-  0x719e2cd2, 0xc50d1149, 0x716fbd68, 0xc4b3e746, 0x71410805, 0xc45ae1d7,
-  0x71120cc5, 0xc4020133,
-  0x70e2cbc6, 0xc3a94590, 0x70b34525, 0xc350af26, 0x708378ff, 0xc2f83e2a,
-  0x70536771, 0xc29ff2d4,
-  0x7023109a, 0xc247cd5a, 0x6ff27497, 0xc1efcdf3, 0x6fc19385, 0xc197f4d4,
-  0x6f906d84, 0xc1404233,
-  0x6f5f02b2, 0xc0e8b648, 0x6f2d532c, 0xc0915148, 0x6efb5f12, 0xc03a1368,
-  0x6ec92683, 0xbfe2fcdf,
-  0x6e96a99d, 0xbf8c0de3, 0x6e63e87f, 0xbf3546a8, 0x6e30e34a, 0xbedea765,
-  0x6dfd9a1c, 0xbe88304f,
-  0x6dca0d14, 0xbe31e19b, 0x6d963c54, 0xbddbbb7f, 0x6d6227fa, 0xbd85be30,
-  0x6d2dd027, 0xbd2fe9e2,
-  0x6cf934fc, 0xbcda3ecb, 0x6cc45698, 0xbc84bd1f, 0x6c8f351c, 0xbc2f6513,
-  0x6c59d0a9, 0xbbda36dd,
-  0x6c242960, 0xbb8532b0, 0x6bee3f62, 0xbb3058c0, 0x6bb812d1, 0xbadba943,
-  0x6b81a3cd, 0xba87246d,
-  0x6b4af279, 0xba32ca71, 0x6b13fef5, 0xb9de9b83, 0x6adcc964, 0xb98a97d8,
-  0x6aa551e9, 0xb936bfa4,
-  0x6a6d98a4, 0xb8e31319, 0x6a359db9, 0xb88f926d, 0x69fd614a, 0xb83c3dd1,
-  0x69c4e37a, 0xb7e9157a,
-  0x698c246c, 0xb796199b, 0x69532442, 0xb7434a67, 0x6919e320, 0xb6f0a812,
-  0x68e06129, 0xb69e32cd,
-  0x68a69e81, 0xb64beacd, 0x686c9b4b, 0xb5f9d043, 0x683257ab, 0xb5a7e362,
-  0x67f7d3c5, 0xb556245e,
-  0x67bd0fbd, 0xb5049368, 0x67820bb7, 0xb4b330b3, 0x6746c7d8, 0xb461fc70,
-  0x670b4444, 0xb410f6d3,
-  0x66cf8120, 0xb3c0200c, 0x66937e91, 0xb36f784f, 0x66573cbb, 0xb31effcc,
-  0x661abbc5, 0xb2ceb6b5,
-  0x65ddfbd3, 0xb27e9d3c, 0x65a0fd0b, 0xb22eb392, 0x6563bf92, 0xb1def9e9,
-  0x6526438f, 0xb18f7071,
-  0x64e88926, 0xb140175b, 0x64aa907f, 0xb0f0eeda, 0x646c59bf, 0xb0a1f71d,
-  0x642de50d, 0xb0533055,
-  0x63ef3290, 0xb0049ab3, 0x63b0426d, 0xafb63667, 0x637114cc, 0xaf6803a2,
-  0x6331a9d4, 0xaf1a0293,
-  0x62f201ac, 0xaecc336c, 0x62b21c7b, 0xae7e965b, 0x6271fa69, 0xae312b92,
-  0x62319b9d, 0xade3f33e,
-  0x61f1003f, 0xad96ed92, 0x61b02876, 0xad4a1aba, 0x616f146c, 0xacfd7ae8,
-  0x612dc447, 0xacb10e4b,
-  0x60ec3830, 0xac64d510, 0x60aa7050, 0xac18cf69, 0x60686ccf, 0xabccfd83,
-  0x60262dd6, 0xab815f8d,
-  0x5fe3b38d, 0xab35f5b5, 0x5fa0fe1f, 0xaaeac02c, 0x5f5e0db3, 0xaa9fbf1e,
-  0x5f1ae274, 0xaa54f2ba,
-  0x5ed77c8a, 0xaa0a5b2e, 0x5e93dc1f, 0xa9bff8a8, 0x5e50015d, 0xa975cb57,
-  0x5e0bec6e, 0xa92bd367,
-  0x5dc79d7c, 0xa8e21106, 0x5d8314b1, 0xa8988463, 0x5d3e5237, 0xa84f2daa,
-  0x5cf95638, 0xa8060d08,
-  0x5cb420e0, 0xa7bd22ac, 0x5c6eb258, 0xa7746ec0, 0x5c290acc, 0xa72bf174,
-  0x5be32a67, 0xa6e3aaf2,
-  0x5b9d1154, 0xa69b9b68, 0x5b56bfbd, 0xa653c303, 0x5b1035cf, 0xa60c21ee,
-  0x5ac973b5, 0xa5c4b855,
-  0x5a82799a, 0xa57d8666, 0x5a3b47ab, 0xa5368c4b, 0x59f3de12, 0xa4efca31,
-  0x59ac3cfd, 0xa4a94043,
-  0x59646498, 0xa462eeac, 0x591c550e, 0xa41cd599, 0x58d40e8c, 0xa3d6f534,
-  0x588b9140, 0xa3914da8,
-  0x5842dd54, 0xa34bdf20, 0x57f9f2f8, 0xa306a9c8, 0x57b0d256, 0xa2c1adc9,
-  0x57677b9d, 0xa27ceb4f,
-  0x571deefa, 0xa2386284, 0x56d42c99, 0xa1f41392, 0x568a34a9, 0xa1affea3,
-  0x56400758, 0xa16c23e1,
-  0x55f5a4d2, 0xa1288376, 0x55ab0d46, 0xa0e51d8c, 0x556040e2, 0xa0a1f24d,
-  0x55153fd4, 0xa05f01e1,
-  0x54ca0a4b, 0xa01c4c73, 0x547ea073, 0x9fd9d22a, 0x5433027d, 0x9f979331,
-  0x53e73097, 0x9f558fb0,
-  0x539b2af0, 0x9f13c7d0, 0x534ef1b5, 0x9ed23bb9, 0x53028518, 0x9e90eb94,
-  0x52b5e546, 0x9e4fd78a,
-  0x5269126e, 0x9e0effc1, 0x521c0cc2, 0x9dce6463, 0x51ced46e, 0x9d8e0597,
-  0x518169a5, 0x9d4de385,
-  0x5133cc94, 0x9d0dfe54, 0x50e5fd6d, 0x9cce562c, 0x5097fc5e, 0x9c8eeb34,
-  0x5049c999, 0x9c4fbd93,
-  0x4ffb654d, 0x9c10cd70, 0x4faccfab, 0x9bd21af3, 0x4f5e08e3, 0x9b93a641,
-  0x4f0f1126, 0x9b556f81,
-  0x4ebfe8a5, 0x9b1776da, 0x4e708f8f, 0x9ad9bc71, 0x4e210617, 0x9a9c406e,
-  0x4dd14c6e, 0x9a5f02f5,
-  0x4d8162c4, 0x9a22042d, 0x4d31494b, 0x99e5443b, 0x4ce10034, 0x99a8c345,
-  0x4c9087b1, 0x996c816f,
-  0x4c3fdff4, 0x99307ee0, 0x4bef092d, 0x98f4bbbc, 0x4b9e0390, 0x98b93828,
-  0x4b4ccf4d, 0x987df449,
-  0x4afb6c98, 0x9842f043, 0x4aa9dba2, 0x98082c3b, 0x4a581c9e, 0x97cda855,
-  0x4a062fbd, 0x979364b5,
-  0x49b41533, 0x9759617f, 0x4961cd33, 0x971f9ed7, 0x490f57ee, 0x96e61ce0,
-  0x48bcb599, 0x96acdbbe,
-  0x4869e665, 0x9673db94, 0x4816ea86, 0x963b1c86, 0x47c3c22f, 0x96029eb6,
-  0x47706d93, 0x95ca6247,
-  0x471cece7, 0x9592675c, 0x46c9405c, 0x955aae17, 0x46756828, 0x9523369c,
-  0x4621647d, 0x94ec010b,
-  0x45cd358f, 0x94b50d87, 0x4578db93, 0x947e5c33, 0x452456bd, 0x9447ed2f,
-  0x44cfa740, 0x9411c09e,
-  0x447acd50, 0x93dbd6a0, 0x4425c923, 0x93a62f57, 0x43d09aed, 0x9370cae4,
-  0x437b42e1, 0x933ba968,
-  0x4325c135, 0x9306cb04, 0x42d0161e, 0x92d22fd9, 0x427a41d0, 0x929dd806,
-  0x42244481, 0x9269c3ac,
-  0x41ce1e65, 0x9235f2ec, 0x4177cfb1, 0x920265e4, 0x4121589b, 0x91cf1cb6,
-  0x40cab958, 0x919c1781,
-  0x4073f21d, 0x91695663, 0x401d0321, 0x9136d97d, 0x3fc5ec98, 0x9104a0ee,
-  0x3f6eaeb8, 0x90d2acd4,
-  0x3f1749b8, 0x90a0fd4e, 0x3ebfbdcd, 0x906f927c, 0x3e680b2c, 0x903e6c7b,
-  0x3e10320d, 0x900d8b69,
-  0x3db832a6, 0x8fdcef66, 0x3d600d2c, 0x8fac988f, 0x3d07c1d6, 0x8f7c8701,
-  0x3caf50da, 0x8f4cbadb,
-  0x3c56ba70, 0x8f1d343a, 0x3bfdfecd, 0x8eedf33b, 0x3ba51e29, 0x8ebef7fb,
-  0x3b4c18ba, 0x8e904298,
-  0x3af2eeb7, 0x8e61d32e, 0x3a99a057, 0x8e33a9da, 0x3a402dd2, 0x8e05c6b7,
-  0x39e6975e, 0x8dd829e4,
-  0x398cdd32, 0x8daad37b, 0x3932ff87, 0x8d7dc399, 0x38d8fe93, 0x8d50fa59,
-  0x387eda8e, 0x8d2477d8,
-  0x382493b0, 0x8cf83c30, 0x37ca2a30, 0x8ccc477d, 0x376f9e46, 0x8ca099da,
-  0x3714f02a, 0x8c753362,
-  0x36ba2014, 0x8c4a142f, 0x365f2e3b, 0x8c1f3c5d, 0x36041ad9, 0x8bf4ac05,
-  0x35a8e625, 0x8bca6343,
-  0x354d9057, 0x8ba0622f, 0x34f219a8, 0x8b76a8e4, 0x34968250, 0x8b4d377c,
-  0x343aca87, 0x8b240e11,
-  0x33def287, 0x8afb2cbb, 0x3382fa88, 0x8ad29394, 0x3326e2c3, 0x8aaa42b4,
-  0x32caab6f, 0x8a823a36,
-  0x326e54c7, 0x8a5a7a31, 0x3211df04, 0x8a3302be, 0x31b54a5e, 0x8a0bd3f5,
-  0x3158970e, 0x89e4edef,
-  0x30fbc54d, 0x89be50c3, 0x309ed556, 0x8997fc8a, 0x3041c761, 0x8971f15a,
-  0x2fe49ba7, 0x894c2f4c,
-  0x2f875262, 0x8926b677, 0x2f29ebcc, 0x890186f2, 0x2ecc681e, 0x88dca0d3,
-  0x2e6ec792, 0x88b80432,
-  0x2e110a62, 0x8893b125, 0x2db330c7, 0x886fa7c2, 0x2d553afc, 0x884be821,
-  0x2cf72939, 0x88287256,
-  0x2c98fbba, 0x88054677, 0x2c3ab2b9, 0x87e2649b, 0x2bdc4e6f, 0x87bfccd7,
-  0x2b7dcf17, 0x879d7f41,
-  0x2b1f34eb, 0x877b7bec, 0x2ac08026, 0x8759c2ef, 0x2a61b101, 0x8738545e,
-  0x2a02c7b8, 0x8717304e,
-  0x29a3c485, 0x86f656d3, 0x2944a7a2, 0x86d5c802, 0x28e5714b, 0x86b583ee,
-  0x288621b9, 0x86958aac,
-  0x2826b928, 0x8675dc4f, 0x27c737d3, 0x865678eb, 0x27679df4, 0x86376092,
-  0x2707ebc7, 0x86189359,
-  0x26a82186, 0x85fa1153, 0x26483f6c, 0x85dbda91, 0x25e845b6, 0x85bdef28,
-  0x2588349d, 0x85a04f28,
-  0x25280c5e, 0x8582faa5, 0x24c7cd33, 0x8565f1b0, 0x24677758, 0x8549345c,
-  0x24070b08, 0x852cc2bb,
-  0x23a6887f, 0x85109cdd, 0x2345eff8, 0x84f4c2d4, 0x22e541af, 0x84d934b1,
-  0x22847de0, 0x84bdf286,
-  0x2223a4c5, 0x84a2fc62, 0x21c2b69c, 0x84885258, 0x2161b3a0, 0x846df477,
-  0x21009c0c, 0x8453e2cf,
-  0x209f701c, 0x843a1d70, 0x203e300d, 0x8420a46c, 0x1fdcdc1b, 0x840777d0,
-  0x1f7b7481, 0x83ee97ad,
-  0x1f19f97b, 0x83d60412, 0x1eb86b46, 0x83bdbd0e, 0x1e56ca1e, 0x83a5c2b0,
-  0x1df5163f, 0x838e1507,
-  0x1d934fe5, 0x8376b422, 0x1d31774d, 0x835fa00f, 0x1ccf8cb3, 0x8348d8dc,
-  0x1c6d9053, 0x83325e97,
-  0x1c0b826a, 0x831c314e, 0x1ba96335, 0x83065110, 0x1b4732ef, 0x82f0bde8,
-  0x1ae4f1d6, 0x82db77e5,
-  0x1a82a026, 0x82c67f14, 0x1a203e1b, 0x82b1d381, 0x19bdcbf3, 0x829d753a,
-  0x195b49ea, 0x8289644b,
-  0x18f8b83c, 0x8275a0c0, 0x18961728, 0x82622aa6, 0x183366e9, 0x824f0208,
-  0x17d0a7bc, 0x823c26f3,
-  0x176dd9de, 0x82299971, 0x170afd8d, 0x82175990, 0x16a81305, 0x82056758,
-  0x16451a83, 0x81f3c2d7,
-  0x15e21445, 0x81e26c16, 0x157f0086, 0x81d16321, 0x151bdf86, 0x81c0a801,
-  0x14b8b17f, 0x81b03ac2,
-  0x145576b1, 0x81a01b6d, 0x13f22f58, 0x81904a0c, 0x138edbb1, 0x8180c6a9,
-  0x132b7bf9, 0x8171914e,
-  0x12c8106f, 0x8162aa04, 0x1264994e, 0x815410d4, 0x120116d5, 0x8145c5c7,
-  0x119d8941, 0x8137c8e6,
-  0x1139f0cf, 0x812a1a3a, 0x10d64dbd, 0x811cb9ca, 0x1072a048, 0x810fa7a0,
-  0x100ee8ad, 0x8102e3c4,
-  0xfab272b, 0x80f66e3c, 0xf475bff, 0x80ea4712, 0xee38766, 0x80de6e4c,
-  0xe7fa99e, 0x80d2e3f2,
-  0xe1bc2e4, 0x80c7a80a, 0xdb7d376, 0x80bcba9d, 0xd53db92, 0x80b21baf,
-  0xcefdb76, 0x80a7cb49,
-  0xc8bd35e, 0x809dc971, 0xc27c389, 0x8094162c, 0xbc3ac35, 0x808ab180,
-  0xb5f8d9f, 0x80819b74,
-  0xafb6805, 0x8078d40d, 0xa973ba5, 0x80705b50, 0xa3308bd, 0x80683143,
-  0x9cecf89, 0x806055eb,
-  0x96a9049, 0x8058c94c, 0x9064b3a, 0x80518b6b, 0x8a2009a, 0x804a9c4d,
-  0x83db0a7, 0x8043fbf6,
-  0x7d95b9e, 0x803daa6a, 0x77501be, 0x8037a7ac, 0x710a345, 0x8031f3c2,
-  0x6ac406f, 0x802c8ead,
-  0x647d97c, 0x80277872, 0x5e36ea9, 0x8022b114, 0x57f0035, 0x801e3895,
-  0x51a8e5c, 0x801a0ef8,
-  0x4b6195d, 0x80163440, 0x451a177, 0x8012a86f, 0x3ed26e6, 0x800f6b88,
-  0x388a9ea, 0x800c7d8c,
-  0x3242abf, 0x8009de7e, 0x2bfa9a4, 0x80078e5e, 0x25b26d7, 0x80058d2f,
-  0x1f6a297, 0x8003daf1,
-  0x1921d20, 0x800277a6, 0x12d96b1, 0x8001634e, 0xc90f88, 0x80009dea,
-  0x6487e3, 0x8000277a,
-};
-
-static const q31_t WeightsQ31_2048[4096] = {
-  0x7fffffff, 0x0, 0x7ffffd88, 0xffe6de05, 0x7ffff621, 0xffcdbc0b, 0x7fffe9cb,
-  0xffb49a12,
-  0x7fffd886, 0xff9b781d, 0x7fffc251, 0xff82562c, 0x7fffa72c, 0xff69343f,
-  0x7fff8719, 0xff501258,
-  0x7fff6216, 0xff36f078, 0x7fff3824, 0xff1dcea0, 0x7fff0943, 0xff04acd0,
-  0x7ffed572, 0xfeeb8b0a,
-  0x7ffe9cb2, 0xfed2694f, 0x7ffe5f03, 0xfeb947a0, 0x7ffe1c65, 0xfea025fd,
-  0x7ffdd4d7, 0xfe870467,
-  0x7ffd885a, 0xfe6de2e0, 0x7ffd36ee, 0xfe54c169, 0x7ffce093, 0xfe3ba002,
-  0x7ffc8549, 0xfe227eac,
-  0x7ffc250f, 0xfe095d69, 0x7ffbbfe6, 0xfdf03c3a, 0x7ffb55ce, 0xfdd71b1e,
-  0x7ffae6c7, 0xfdbdfa18,
-  0x7ffa72d1, 0xfda4d929, 0x7ff9f9ec, 0xfd8bb850, 0x7ff97c18, 0xfd729790,
-  0x7ff8f954, 0xfd5976e9,
-  0x7ff871a2, 0xfd40565c, 0x7ff7e500, 0xfd2735ea, 0x7ff75370, 0xfd0e1594,
-  0x7ff6bcf0, 0xfcf4f55c,
-  0x7ff62182, 0xfcdbd541, 0x7ff58125, 0xfcc2b545, 0x7ff4dbd9, 0xfca9956a,
-  0x7ff4319d, 0xfc9075af,
-  0x7ff38274, 0xfc775616, 0x7ff2ce5b, 0xfc5e36a0, 0x7ff21553, 0xfc45174e,
-  0x7ff1575d, 0xfc2bf821,
-  0x7ff09478, 0xfc12d91a, 0x7fefcca4, 0xfbf9ba39, 0x7feeffe1, 0xfbe09b80,
-  0x7fee2e30, 0xfbc77cf0,
-  0x7fed5791, 0xfbae5e89, 0x7fec7c02, 0xfb95404d, 0x7feb9b85, 0xfb7c223d,
-  0x7feab61a, 0xfb630459,
-  0x7fe9cbc0, 0xfb49e6a3, 0x7fe8dc78, 0xfb30c91b, 0x7fe7e841, 0xfb17abc2,
-  0x7fe6ef1c, 0xfafe8e9b,
-  0x7fe5f108, 0xfae571a4, 0x7fe4ee06, 0xfacc54e0, 0x7fe3e616, 0xfab3384f,
-  0x7fe2d938, 0xfa9a1bf3,
-  0x7fe1c76b, 0xfa80ffcb, 0x7fe0b0b1, 0xfa67e3da, 0x7fdf9508, 0xfa4ec821,
-  0x7fde7471, 0xfa35ac9f,
-  0x7fdd4eec, 0xfa1c9157, 0x7fdc247a, 0xfa037648, 0x7fdaf519, 0xf9ea5b75,
-  0x7fd9c0ca, 0xf9d140de,
-  0x7fd8878e, 0xf9b82684, 0x7fd74964, 0xf99f0c68, 0x7fd6064c, 0xf985f28a,
-  0x7fd4be46, 0xf96cd8ed,
-  0x7fd37153, 0xf953bf91, 0x7fd21f72, 0xf93aa676, 0x7fd0c8a3, 0xf9218d9e,
-  0x7fcf6ce8, 0xf908750a,
-  0x7fce0c3e, 0xf8ef5cbb, 0x7fcca6a7, 0xf8d644b2, 0x7fcb3c23, 0xf8bd2cef,
-  0x7fc9ccb2, 0xf8a41574,
-  0x7fc85854, 0xf88afe42, 0x7fc6df08, 0xf871e759, 0x7fc560cf, 0xf858d0bb,
-  0x7fc3dda9, 0xf83fba68,
-  0x7fc25596, 0xf826a462, 0x7fc0c896, 0xf80d8ea9, 0x7fbf36aa, 0xf7f4793e,
-  0x7fbd9fd0, 0xf7db6423,
-  0x7fbc040a, 0xf7c24f59, 0x7fba6357, 0xf7a93ae0, 0x7fb8bdb8, 0xf79026b9,
-  0x7fb7132b, 0xf77712e5,
-  0x7fb563b3, 0xf75dff66, 0x7fb3af4e, 0xf744ec3b, 0x7fb1f5fc, 0xf72bd967,
-  0x7fb037bf, 0xf712c6ea,
-  0x7fae7495, 0xf6f9b4c6, 0x7facac7f, 0xf6e0a2fa, 0x7faadf7c, 0xf6c79188,
-  0x7fa90d8e, 0xf6ae8071,
-  0x7fa736b4, 0xf6956fb7, 0x7fa55aee, 0xf67c5f59, 0x7fa37a3c, 0xf6634f59,
-  0x7fa1949e, 0xf64a3fb8,
-  0x7f9faa15, 0xf6313077, 0x7f9dbaa0, 0xf6182196, 0x7f9bc640, 0xf5ff1318,
-  0x7f99ccf4, 0xf5e604fc,
-  0x7f97cebd, 0xf5ccf743, 0x7f95cb9a, 0xf5b3e9f0, 0x7f93c38c, 0xf59add02,
-  0x7f91b694, 0xf581d07b,
-  0x7f8fa4b0, 0xf568c45b, 0x7f8d8de1, 0xf54fb8a4, 0x7f8b7227, 0xf536ad56,
-  0x7f895182, 0xf51da273,
-  0x7f872bf3, 0xf50497fb, 0x7f850179, 0xf4eb8def, 0x7f82d214, 0xf4d28451,
-  0x7f809dc5, 0xf4b97b21,
-  0x7f7e648c, 0xf4a07261, 0x7f7c2668, 0xf4876a10, 0x7f79e35a, 0xf46e6231,
-  0x7f779b62, 0xf4555ac5,
-  0x7f754e80, 0xf43c53cb, 0x7f72fcb4, 0xf4234d45, 0x7f70a5fe, 0xf40a4735,
-  0x7f6e4a5e, 0xf3f1419a,
-  0x7f6be9d4, 0xf3d83c77, 0x7f698461, 0xf3bf37cb, 0x7f671a05, 0xf3a63398,
-  0x7f64aabf, 0xf38d2fe0,
-  0x7f62368f, 0xf3742ca2, 0x7f5fbd77, 0xf35b29e0, 0x7f5d3f75, 0xf342279b,
-  0x7f5abc8a, 0xf32925d3,
-  0x7f5834b7, 0xf310248a, 0x7f55a7fa, 0xf2f723c1, 0x7f531655, 0xf2de2379,
-  0x7f507fc7, 0xf2c523b2,
-  0x7f4de451, 0xf2ac246e, 0x7f4b43f2, 0xf29325ad, 0x7f489eaa, 0xf27a2771,
-  0x7f45f47b, 0xf26129ba,
-  0x7f434563, 0xf2482c8a, 0x7f409164, 0xf22f2fe1, 0x7f3dd87c, 0xf21633c0,
-  0x7f3b1aad, 0xf1fd3829,
-  0x7f3857f6, 0xf1e43d1c, 0x7f359057, 0xf1cb429a, 0x7f32c3d1, 0xf1b248a5,
-  0x7f2ff263, 0xf1994f3d,
-  0x7f2d1c0e, 0xf1805662, 0x7f2a40d2, 0xf1675e17, 0x7f2760af, 0xf14e665c,
-  0x7f247ba5, 0xf1356f32,
-  0x7f2191b4, 0xf11c789a, 0x7f1ea2dc, 0xf1038295, 0x7f1baf1e, 0xf0ea8d24,
-  0x7f18b679, 0xf0d19848,
-  0x7f15b8ee, 0xf0b8a401, 0x7f12b67c, 0xf09fb051, 0x7f0faf25, 0xf086bd39,
-  0x7f0ca2e7, 0xf06dcaba,
-  0x7f0991c4, 0xf054d8d5, 0x7f067bba, 0xf03be78a, 0x7f0360cb, 0xf022f6da,
-  0x7f0040f6, 0xf00a06c8,
-  0x7efd1c3c, 0xeff11753, 0x7ef9f29d, 0xefd8287c, 0x7ef6c418, 0xefbf3a45,
-  0x7ef390ae, 0xefa64cae,
-  0x7ef05860, 0xef8d5fb8, 0x7eed1b2c, 0xef747365, 0x7ee9d914, 0xef5b87b5,
-  0x7ee69217, 0xef429caa,
-  0x7ee34636, 0xef29b243, 0x7edff570, 0xef10c883, 0x7edc9fc6, 0xeef7df6a,
-  0x7ed94538, 0xeedef6f9,
-  0x7ed5e5c6, 0xeec60f31, 0x7ed28171, 0xeead2813, 0x7ecf1837, 0xee9441a0,
-  0x7ecbaa1a, 0xee7b5bd9,
-  0x7ec8371a, 0xee6276bf, 0x7ec4bf36, 0xee499253, 0x7ec14270, 0xee30ae96,
-  0x7ebdc0c6, 0xee17cb88,
-  0x7eba3a39, 0xedfee92b, 0x7eb6aeca, 0xede60780, 0x7eb31e78, 0xedcd2687,
-  0x7eaf8943, 0xedb44642,
-  0x7eabef2c, 0xed9b66b2, 0x7ea85033, 0xed8287d7, 0x7ea4ac58, 0xed69a9b3,
-  0x7ea1039b, 0xed50cc46,
-  0x7e9d55fc, 0xed37ef91, 0x7e99a37c, 0xed1f1396, 0x7e95ec1a, 0xed063856,
-  0x7e922fd6, 0xeced5dd0,
-  0x7e8e6eb2, 0xecd48407, 0x7e8aa8ac, 0xecbbaafb, 0x7e86ddc6, 0xeca2d2ad,
-  0x7e830dff, 0xec89fb1e,
-  0x7e7f3957, 0xec71244f, 0x7e7b5fce, 0xec584e41, 0x7e778166, 0xec3f78f6,
-  0x7e739e1d, 0xec26a46d,
-  0x7e6fb5f4, 0xec0dd0a8, 0x7e6bc8eb, 0xebf4fda8, 0x7e67d703, 0xebdc2b6e,
-  0x7e63e03b, 0xebc359fb,
-  0x7e5fe493, 0xebaa894f, 0x7e5be40c, 0xeb91b96c, 0x7e57dea7, 0xeb78ea52,
-  0x7e53d462, 0xeb601c04,
-  0x7e4fc53e, 0xeb474e81, 0x7e4bb13c, 0xeb2e81ca, 0x7e47985b, 0xeb15b5e1,
-  0x7e437a9c, 0xeafceac6,
-  0x7e3f57ff, 0xeae4207a, 0x7e3b3083, 0xeacb56ff, 0x7e37042a, 0xeab28e56,
-  0x7e32d2f4, 0xea99c67e,
-  0x7e2e9cdf, 0xea80ff7a, 0x7e2a61ed, 0xea683949, 0x7e26221f, 0xea4f73ee,
-  0x7e21dd73, 0xea36af69,
-  0x7e1d93ea, 0xea1debbb, 0x7e194584, 0xea0528e5, 0x7e14f242, 0xe9ec66e8,
-  0x7e109a24, 0xe9d3a5c5,
-  0x7e0c3d29, 0xe9bae57d, 0x7e07db52, 0xe9a22610, 0x7e0374a0, 0xe9896781,
-  0x7dff0911, 0xe970a9ce,
-  0x7dfa98a8, 0xe957ecfb, 0x7df62362, 0xe93f3107, 0x7df1a942, 0xe92675f4,
-  0x7ded2a47, 0xe90dbbc2,
-  0x7de8a670, 0xe8f50273, 0x7de41dc0, 0xe8dc4a07, 0x7ddf9034, 0xe8c39280,
-  0x7ddafdce, 0xe8aadbde,
-  0x7dd6668f, 0xe8922622, 0x7dd1ca75, 0xe879714d, 0x7dcd2981, 0xe860bd61,
-  0x7dc883b4, 0xe8480a5d,
-  0x7dc3d90d, 0xe82f5844, 0x7dbf298d, 0xe816a716, 0x7dba7534, 0xe7fdf6d4,
-  0x7db5bc02, 0xe7e5477f,
-  0x7db0fdf8, 0xe7cc9917, 0x7dac3b15, 0xe7b3eb9f, 0x7da77359, 0xe79b3f16,
-  0x7da2a6c6, 0xe782937e,
-  0x7d9dd55a, 0xe769e8d8, 0x7d98ff17, 0xe7513f25, 0x7d9423fc, 0xe7389665,
-  0x7d8f4409, 0xe71fee99,
-  0x7d8a5f40, 0xe70747c4, 0x7d85759f, 0xe6eea1e4, 0x7d808728, 0xe6d5fcfc,
-  0x7d7b93da, 0xe6bd590d,
-  0x7d769bb5, 0xe6a4b616, 0x7d719eba, 0xe68c141a, 0x7d6c9ce9, 0xe6737319,
-  0x7d679642, 0xe65ad315,
-  0x7d628ac6, 0xe642340d, 0x7d5d7a74, 0xe6299604, 0x7d58654d, 0xe610f8f9,
-  0x7d534b50, 0xe5f85cef,
-  0x7d4e2c7f, 0xe5dfc1e5, 0x7d4908d9, 0xe5c727dd, 0x7d43e05e, 0xe5ae8ed8,
-  0x7d3eb30f, 0xe595f6d7,
-  0x7d3980ec, 0xe57d5fda, 0x7d3449f5, 0xe564c9e3, 0x7d2f0e2b, 0xe54c34f3,
-  0x7d29cd8c, 0xe533a10a,
-  0x7d24881b, 0xe51b0e2a, 0x7d1f3dd6, 0xe5027c53, 0x7d19eebf, 0xe4e9eb87,
-  0x7d149ad5, 0xe4d15bc6,
-  0x7d0f4218, 0xe4b8cd11, 0x7d09e489, 0xe4a03f69, 0x7d048228, 0xe487b2d0,
-  0x7cff1af5, 0xe46f2745,
-  0x7cf9aef0, 0xe4569ccb, 0x7cf43e1a, 0xe43e1362, 0x7ceec873, 0xe4258b0a,
-  0x7ce94dfb, 0xe40d03c6,
-  0x7ce3ceb2, 0xe3f47d96, 0x7cde4a98, 0xe3dbf87a, 0x7cd8c1ae, 0xe3c37474,
-  0x7cd333f3, 0xe3aaf184,
-  0x7ccda169, 0xe3926fad, 0x7cc80a0f, 0xe379eeed, 0x7cc26de5, 0xe3616f48,
-  0x7cbcccec, 0xe348f0bd,
-  0x7cb72724, 0xe330734d, 0x7cb17c8d, 0xe317f6fa, 0x7cabcd28, 0xe2ff7bc3,
-  0x7ca618f3, 0xe2e701ac,
-  0x7ca05ff1, 0xe2ce88b3, 0x7c9aa221, 0xe2b610da, 0x7c94df83, 0xe29d9a23,
-  0x7c8f1817, 0xe285248d,
-  0x7c894bde, 0xe26cb01b, 0x7c837ad8, 0xe2543ccc, 0x7c7da505, 0xe23bcaa2,
-  0x7c77ca65, 0xe223599e,
-  0x7c71eaf9, 0xe20ae9c1, 0x7c6c06c0, 0xe1f27b0b, 0x7c661dbc, 0xe1da0d7e,
-  0x7c602fec, 0xe1c1a11b,
-  0x7c5a3d50, 0xe1a935e2, 0x7c5445e9, 0xe190cbd4, 0x7c4e49b7, 0xe17862f3,
-  0x7c4848ba, 0xe15ffb3f,
-  0x7c4242f2, 0xe14794ba, 0x7c3c3860, 0xe12f2f63, 0x7c362904, 0xe116cb3d,
-  0x7c3014de, 0xe0fe6848,
-  0x7c29fbee, 0xe0e60685, 0x7c23de35, 0xe0cda5f5, 0x7c1dbbb3, 0xe0b54698,
-  0x7c179467, 0xe09ce871,
-  0x7c116853, 0xe0848b7f, 0x7c0b3777, 0xe06c2fc4, 0x7c0501d2, 0xe053d541,
-  0x7bfec765, 0xe03b7bf6,
-  0x7bf88830, 0xe02323e5, 0x7bf24434, 0xe00acd0e, 0x7bebfb70, 0xdff27773,
-  0x7be5ade6, 0xdfda2314,
-  0x7bdf5b94, 0xdfc1cff3, 0x7bd9047c, 0xdfa97e0f, 0x7bd2a89e, 0xdf912d6b,
-  0x7bcc47fa, 0xdf78de07,
-  0x7bc5e290, 0xdf608fe4, 0x7bbf7860, 0xdf484302, 0x7bb9096b, 0xdf2ff764,
-  0x7bb295b0, 0xdf17ad0a,
-  0x7bac1d31, 0xdeff63f4, 0x7ba59fee, 0xdee71c24, 0x7b9f1de6, 0xdeced59b,
-  0x7b989719, 0xdeb69059,
-  0x7b920b89, 0xde9e4c60, 0x7b8b7b36, 0xde8609b1, 0x7b84e61f, 0xde6dc84b,
-  0x7b7e4c45, 0xde558831,
-  0x7b77ada8, 0xde3d4964, 0x7b710a49, 0xde250be3, 0x7b6a6227, 0xde0ccfb1,
-  0x7b63b543, 0xddf494ce,
-  0x7b5d039e, 0xdddc5b3b, 0x7b564d36, 0xddc422f8, 0x7b4f920e, 0xddabec08,
-  0x7b48d225, 0xdd93b66a,
-  0x7b420d7a, 0xdd7b8220, 0x7b3b4410, 0xdd634f2b, 0x7b3475e5, 0xdd4b1d8c,
-  0x7b2da2fa, 0xdd32ed43,
-  0x7b26cb4f, 0xdd1abe51, 0x7b1feee5, 0xdd0290b8, 0x7b190dbc, 0xdcea6478,
-  0x7b1227d3, 0xdcd23993,
-  0x7b0b3d2c, 0xdcba1008, 0x7b044dc7, 0xdca1e7da, 0x7afd59a4, 0xdc89c109,
-  0x7af660c2, 0xdc719b96,
-  0x7aef6323, 0xdc597781, 0x7ae860c7, 0xdc4154cd, 0x7ae159ae, 0xdc293379,
-  0x7ada4dd8, 0xdc111388,
-  0x7ad33d45, 0xdbf8f4f8, 0x7acc27f7, 0xdbe0d7cd, 0x7ac50dec, 0xdbc8bc06,
-  0x7abdef25, 0xdbb0a1a4,
-  0x7ab6cba4, 0xdb9888a8, 0x7aafa367, 0xdb807114, 0x7aa8766f, 0xdb685ae9,
-  0x7aa144bc, 0xdb504626,
-  0x7a9a0e50, 0xdb3832cd, 0x7a92d329, 0xdb2020e0, 0x7a8b9348, 0xdb08105e,
-  0x7a844eae, 0xdaf00149,
-  0x7a7d055b, 0xdad7f3a2, 0x7a75b74f, 0xdabfe76a, 0x7a6e648a, 0xdaa7dca1,
-  0x7a670d0d, 0xda8fd349,
-  0x7a5fb0d8, 0xda77cb63, 0x7a584feb, 0xda5fc4ef, 0x7a50ea47, 0xda47bfee,
-  0x7a497feb, 0xda2fbc61,
-  0x7a4210d8, 0xda17ba4a, 0x7a3a9d0f, 0xd9ffb9a9, 0x7a332490, 0xd9e7ba7f,
-  0x7a2ba75a, 0xd9cfbccd,
-  0x7a24256f, 0xd9b7c094, 0x7a1c9ece, 0xd99fc5d4, 0x7a151378, 0xd987cc90,
-  0x7a0d836d, 0xd96fd4c7,
-  0x7a05eead, 0xd957de7a, 0x79fe5539, 0xd93fe9ab, 0x79f6b711, 0xd927f65b,
-  0x79ef1436, 0xd910048a,
-  0x79e76ca7, 0xd8f81439, 0x79dfc064, 0xd8e0256a, 0x79d80f6f, 0xd8c8381d,
-  0x79d059c8, 0xd8b04c52,
-  0x79c89f6e, 0xd898620c, 0x79c0e062, 0xd880794b, 0x79b91ca4, 0xd868920f,
-  0x79b15435, 0xd850ac5a,
-  0x79a98715, 0xd838c82d, 0x79a1b545, 0xd820e589, 0x7999dec4, 0xd809046e,
-  0x79920392, 0xd7f124dd,
-  0x798a23b1, 0xd7d946d8, 0x79823f20, 0xd7c16a5f, 0x797a55e0, 0xd7a98f73,
-  0x797267f2, 0xd791b616,
-  0x796a7554, 0xd779de47, 0x79627e08, 0xd7620808, 0x795a820e, 0xd74a335b,
-  0x79528167, 0xd732603f,
-  0x794a7c12, 0xd71a8eb5, 0x79427210, 0xd702bec0, 0x793a6361, 0xd6eaf05f,
-  0x79325006, 0xd6d32393,
-  0x792a37fe, 0xd6bb585e, 0x79221b4b, 0xd6a38ec0, 0x7919f9ec, 0xd68bc6ba,
-  0x7911d3e2, 0xd674004e,
-  0x7909a92d, 0xd65c3b7b, 0x790179cd, 0xd6447844, 0x78f945c3, 0xd62cb6a8,
-  0x78f10d0f, 0xd614f6a9,
-  0x78e8cfb2, 0xd5fd3848, 0x78e08dab, 0xd5e57b85, 0x78d846fb, 0xd5cdc062,
-  0x78cffba3, 0xd5b606e0,
-  0x78c7aba2, 0xd59e4eff, 0x78bf56f9, 0xd58698c0, 0x78b6fda8, 0xd56ee424,
-  0x78ae9fb0, 0xd557312d,
-  0x78a63d11, 0xd53f7fda, 0x789dd5cb, 0xd527d02e, 0x789569df, 0xd5102228,
-  0x788cf94c, 0xd4f875ca,
-  0x78848414, 0xd4e0cb15, 0x787c0a36, 0xd4c92209, 0x78738bb3, 0xd4b17aa8,
-  0x786b088c, 0xd499d4f2,
-  0x786280bf, 0xd48230e9, 0x7859f44f, 0xd46a8e8d, 0x7851633b, 0xd452eddf,
-  0x7848cd83, 0xd43b4ee0,
-  0x78403329, 0xd423b191, 0x7837942b, 0xd40c15f3, 0x782ef08b, 0xd3f47c06,
-  0x78264849, 0xd3dce3cd,
-  0x781d9b65, 0xd3c54d47, 0x7814e9df, 0xd3adb876, 0x780c33b8, 0xd396255a,
-  0x780378f1, 0xd37e93f4,
-  0x77fab989, 0xd3670446, 0x77f1f581, 0xd34f764f, 0x77e92cd9, 0xd337ea12,
-  0x77e05f91, 0xd3205f8f,
-  0x77d78daa, 0xd308d6c7, 0x77ceb725, 0xd2f14fba, 0x77c5dc01, 0xd2d9ca6a,
-  0x77bcfc3f, 0xd2c246d8,
-  0x77b417df, 0xd2aac504, 0x77ab2ee2, 0xd29344f0, 0x77a24148, 0xd27bc69c,
-  0x77994f11, 0xd2644a0a,
-  0x7790583e, 0xd24ccf39, 0x77875cce, 0xd235562b, 0x777e5cc3, 0xd21ddee2,
-  0x7775581d, 0xd206695d,
-  0x776c4edb, 0xd1eef59e, 0x776340ff, 0xd1d783a6, 0x775a2e89, 0xd1c01375,
-  0x77511778, 0xd1a8a50d,
-  0x7747fbce, 0xd191386e, 0x773edb8b, 0xd179cd99, 0x7735b6af, 0xd1626490,
-  0x772c8d3a, 0xd14afd52,
-  0x77235f2d, 0xd13397e2, 0x771a2c88, 0xd11c343f, 0x7710f54c, 0xd104d26b,
-  0x7707b979, 0xd0ed7267,
-  0x76fe790e, 0xd0d61434, 0x76f5340e, 0xd0beb7d2, 0x76ebea77, 0xd0a75d42,
-  0x76e29c4b, 0xd0900486,
-  0x76d94989, 0xd078ad9e, 0x76cff232, 0xd061588b, 0x76c69647, 0xd04a054e,
-  0x76bd35c7, 0xd032b3e7,
-  0x76b3d0b4, 0xd01b6459, 0x76aa670d, 0xd00416a3, 0x76a0f8d2, 0xcfeccac7,
-  0x76978605, 0xcfd580c6,
-  0x768e0ea6, 0xcfbe389f, 0x768492b4, 0xcfa6f255, 0x767b1231, 0xcf8fade9,
-  0x76718d1c, 0xcf786b5a,
-  0x76680376, 0xcf612aaa, 0x765e7540, 0xcf49ebda, 0x7654e279, 0xcf32aeeb,
-  0x764b4b23, 0xcf1b73de,
-  0x7641af3d, 0xcf043ab3, 0x76380ec8, 0xceed036b, 0x762e69c4, 0xced5ce08,
-  0x7624c031, 0xcebe9a8a,
-  0x761b1211, 0xcea768f2, 0x76115f63, 0xce903942, 0x7607a828, 0xce790b79,
-  0x75fdec60, 0xce61df99,
-  0x75f42c0b, 0xce4ab5a2, 0x75ea672a, 0xce338d97, 0x75e09dbd, 0xce1c6777,
-  0x75d6cfc5, 0xce054343,
-  0x75ccfd42, 0xcdee20fc, 0x75c32634, 0xcdd700a4, 0x75b94a9c, 0xcdbfe23a,
-  0x75af6a7b, 0xcda8c5c1,
-  0x75a585cf, 0xcd91ab39, 0x759b9c9b, 0xcd7a92a2, 0x7591aedd, 0xcd637bfe,
-  0x7587bc98, 0xcd4c674d,
-  0x757dc5ca, 0xcd355491, 0x7573ca75, 0xcd1e43ca, 0x7569ca99, 0xcd0734f9,
-  0x755fc635, 0xccf0281f,
-  0x7555bd4c, 0xccd91d3d, 0x754bafdc, 0xccc21455, 0x75419de7, 0xccab0d65,
-  0x7537876c, 0xcc940871,
-  0x752d6c6c, 0xcc7d0578, 0x75234ce8, 0xcc66047b, 0x751928e0, 0xcc4f057c,
-  0x750f0054, 0xcc38087b,
-  0x7504d345, 0xcc210d79, 0x74faa1b3, 0xcc0a1477, 0x74f06b9e, 0xcbf31d75,
-  0x74e63108, 0xcbdc2876,
-  0x74dbf1ef, 0xcbc53579, 0x74d1ae55, 0xcbae447f, 0x74c7663a, 0xcb97558a,
-  0x74bd199f, 0xcb80689a,
-  0x74b2c884, 0xcb697db0, 0x74a872e8, 0xcb5294ce, 0x749e18cd, 0xcb3badf3,
-  0x7493ba34, 0xcb24c921,
-  0x7489571c, 0xcb0de658, 0x747eef85, 0xcaf7059a, 0x74748371, 0xcae026e8,
-  0x746a12df, 0xcac94a42,
-  0x745f9dd1, 0xcab26fa9, 0x74552446, 0xca9b971e, 0x744aa63f, 0xca84c0a3,
-  0x744023bc, 0xca6dec37,
-  0x74359cbd, 0xca5719db, 0x742b1144, 0xca404992, 0x74208150, 0xca297b5a,
-  0x7415ece2, 0xca12af37,
-  0x740b53fb, 0xc9fbe527, 0x7400b69a, 0xc9e51d2d, 0x73f614c0, 0xc9ce5748,
-  0x73eb6e6e, 0xc9b7937a,
-  0x73e0c3a3, 0xc9a0d1c5, 0x73d61461, 0xc98a1227, 0x73cb60a8, 0xc97354a4,
-  0x73c0a878, 0xc95c993a,
-  0x73b5ebd1, 0xc945dfec, 0x73ab2ab4, 0xc92f28ba, 0x73a06522, 0xc91873a5,
-  0x73959b1b, 0xc901c0ae,
-  0x738acc9e, 0xc8eb0fd6, 0x737ff9ae, 0xc8d4611d, 0x73752249, 0xc8bdb485,
-  0x736a4671, 0xc8a70a0e,
-  0x735f6626, 0xc89061ba, 0x73548168, 0xc879bb89, 0x73499838, 0xc863177b,
-  0x733eaa96, 0xc84c7593,
-  0x7333b883, 0xc835d5d0, 0x7328c1ff, 0xc81f3834, 0x731dc70a, 0xc8089cbf,
-  0x7312c7a5, 0xc7f20373,
-  0x7307c3d0, 0xc7db6c50, 0x72fcbb8c, 0xc7c4d757, 0x72f1aed9, 0xc7ae4489,
-  0x72e69db7, 0xc797b3e7,
-  0x72db8828, 0xc7812572, 0x72d06e2b, 0xc76a992a, 0x72c54fc1, 0xc7540f11,
-  0x72ba2cea, 0xc73d8727,
-  0x72af05a7, 0xc727016d, 0x72a3d9f7, 0xc7107de4, 0x7298a9dd, 0xc6f9fc8d,
-  0x728d7557, 0xc6e37d69,
-  0x72823c67, 0xc6cd0079, 0x7276ff0d, 0xc6b685bd, 0x726bbd48, 0xc6a00d37,
-  0x7260771b, 0xc68996e7,
-  0x72552c85, 0xc67322ce, 0x7249dd86, 0xc65cb0ed, 0x723e8a20, 0xc6464144,
-  0x72333251, 0xc62fd3d6,
-  0x7227d61c, 0xc61968a2, 0x721c7580, 0xc602ffaa, 0x7211107e, 0xc5ec98ee,
-  0x7205a716, 0xc5d6346f,
-  0x71fa3949, 0xc5bfd22e, 0x71eec716, 0xc5a9722c, 0x71e35080, 0xc593146a,
-  0x71d7d585, 0xc57cb8e9,
-  0x71cc5626, 0xc5665fa9, 0x71c0d265, 0xc55008ab, 0x71b54a41, 0xc539b3f1,
-  0x71a9bdba, 0xc523617a,
-  0x719e2cd2, 0xc50d1149, 0x71929789, 0xc4f6c35d, 0x7186fdde, 0xc4e077b8,
-  0x717b5fd3, 0xc4ca2e5b,
-  0x716fbd68, 0xc4b3e746, 0x7164169d, 0xc49da27a, 0x71586b74, 0xc4875ff9,
-  0x714cbbeb, 0xc4711fc2,
-  0x71410805, 0xc45ae1d7, 0x71354fc0, 0xc444a639, 0x7129931f, 0xc42e6ce8,
-  0x711dd220, 0xc41835e6,
-  0x71120cc5, 0xc4020133, 0x7106430e, 0xc3ebced0, 0x70fa74fc, 0xc3d59ebe,
-  0x70eea28e, 0xc3bf70fd,
-  0x70e2cbc6, 0xc3a94590, 0x70d6f0a4, 0xc3931c76, 0x70cb1128, 0xc37cf5b0,
-  0x70bf2d53, 0xc366d140,
-  0x70b34525, 0xc350af26, 0x70a7589f, 0xc33a8f62, 0x709b67c0, 0xc32471f7,
-  0x708f728b, 0xc30e56e4,
-  0x708378ff, 0xc2f83e2a, 0x70777b1c, 0xc2e227cb, 0x706b78e3, 0xc2cc13c7,
-  0x705f7255, 0xc2b6021f,
-  0x70536771, 0xc29ff2d4, 0x70475839, 0xc289e5e7, 0x703b44ad, 0xc273db58,
-  0x702f2ccd, 0xc25dd329,
-  0x7023109a, 0xc247cd5a, 0x7016f014, 0xc231c9ec, 0x700acb3c, 0xc21bc8e1,
-  0x6ffea212, 0xc205ca38,
-  0x6ff27497, 0xc1efcdf3, 0x6fe642ca, 0xc1d9d412, 0x6fda0cae, 0xc1c3dc97,
-  0x6fcdd241, 0xc1ade781,
-  0x6fc19385, 0xc197f4d4, 0x6fb5507a, 0xc182048d, 0x6fa90921, 0xc16c16b0,
-  0x6f9cbd79, 0xc1562b3d,
-  0x6f906d84, 0xc1404233, 0x6f841942, 0xc12a5b95, 0x6f77c0b3, 0xc1147764,
-  0x6f6b63d8, 0xc0fe959f,
-  0x6f5f02b2, 0xc0e8b648, 0x6f529d40, 0xc0d2d960, 0x6f463383, 0xc0bcfee7,
-  0x6f39c57d, 0xc0a726df,
-  0x6f2d532c, 0xc0915148, 0x6f20dc92, 0xc07b7e23, 0x6f1461b0, 0xc065ad70,
-  0x6f07e285, 0xc04fdf32,
-  0x6efb5f12, 0xc03a1368, 0x6eeed758, 0xc0244a14, 0x6ee24b57, 0xc00e8336,
-  0x6ed5bb10, 0xbff8bece,
-  0x6ec92683, 0xbfe2fcdf, 0x6ebc8db0, 0xbfcd3d69, 0x6eaff099, 0xbfb7806c,
-  0x6ea34f3d, 0xbfa1c5ea,
-  0x6e96a99d, 0xbf8c0de3, 0x6e89ffb9, 0xbf765858, 0x6e7d5193, 0xbf60a54a,
-  0x6e709f2a, 0xbf4af4ba,
-  0x6e63e87f, 0xbf3546a8, 0x6e572d93, 0xbf1f9b16, 0x6e4a6e66, 0xbf09f205,
-  0x6e3daaf8, 0xbef44b74,
-  0x6e30e34a, 0xbedea765, 0x6e24175c, 0xbec905d9, 0x6e174730, 0xbeb366d1,
-  0x6e0a72c5, 0xbe9dca4e,
-  0x6dfd9a1c, 0xbe88304f, 0x6df0bd35, 0xbe7298d7, 0x6de3dc11, 0xbe5d03e6,
-  0x6dd6f6b1, 0xbe47717c,
-  0x6dca0d14, 0xbe31e19b, 0x6dbd1f3c, 0xbe1c5444, 0x6db02d29, 0xbe06c977,
-  0x6da336dc, 0xbdf14135,
-  0x6d963c54, 0xbddbbb7f, 0x6d893d93, 0xbdc63856, 0x6d7c3a98, 0xbdb0b7bb,
-  0x6d6f3365, 0xbd9b39ad,
-  0x6d6227fa, 0xbd85be30, 0x6d551858, 0xbd704542, 0x6d48047e, 0xbd5acee5,
-  0x6d3aec6e, 0xbd455b1a,
-  0x6d2dd027, 0xbd2fe9e2, 0x6d20afac, 0xbd1a7b3d, 0x6d138afb, 0xbd050f2c,
-  0x6d066215, 0xbcefa5b0,
-  0x6cf934fc, 0xbcda3ecb, 0x6cec03af, 0xbcc4da7b, 0x6cdece2f, 0xbcaf78c4,
-  0x6cd1947c, 0xbc9a19a5,
-  0x6cc45698, 0xbc84bd1f, 0x6cb71482, 0xbc6f6333, 0x6ca9ce3b, 0xbc5a0be2,
-  0x6c9c83c3, 0xbc44b72c,
-  0x6c8f351c, 0xbc2f6513, 0x6c81e245, 0xbc1a1598, 0x6c748b3f, 0xbc04c8ba,
-  0x6c67300b, 0xbbef7e7c,
-  0x6c59d0a9, 0xbbda36dd, 0x6c4c6d1a, 0xbbc4f1df, 0x6c3f055d, 0xbbafaf82,
-  0x6c319975, 0xbb9a6fc7,
-  0x6c242960, 0xbb8532b0, 0x6c16b521, 0xbb6ff83c, 0x6c093cb6, 0xbb5ac06d,
-  0x6bfbc021, 0xbb458b43,
-  0x6bee3f62, 0xbb3058c0, 0x6be0ba7b, 0xbb1b28e4, 0x6bd3316a, 0xbb05fbb0,
-  0x6bc5a431, 0xbaf0d125,
-  0x6bb812d1, 0xbadba943, 0x6baa7d49, 0xbac6840c, 0x6b9ce39b, 0xbab16180,
-  0x6b8f45c7, 0xba9c41a0,
-  0x6b81a3cd, 0xba87246d, 0x6b73fdae, 0xba7209e7, 0x6b66536b, 0xba5cf210,
-  0x6b58a503, 0xba47dce8,
-  0x6b4af279, 0xba32ca71, 0x6b3d3bcb, 0xba1dbaaa, 0x6b2f80fb, 0xba08ad95,
-  0x6b21c208, 0xb9f3a332,
-  0x6b13fef5, 0xb9de9b83, 0x6b0637c1, 0xb9c99688, 0x6af86c6c, 0xb9b49442,
-  0x6aea9cf8, 0xb99f94b2,
-  0x6adcc964, 0xb98a97d8, 0x6acef1b2, 0xb9759db6, 0x6ac115e2, 0xb960a64c,
-  0x6ab335f4, 0xb94bb19b,
-  0x6aa551e9, 0xb936bfa4, 0x6a9769c1, 0xb921d067, 0x6a897d7d, 0xb90ce3e6,
-  0x6a7b8d1e, 0xb8f7fa21,
-  0x6a6d98a4, 0xb8e31319, 0x6a5fa010, 0xb8ce2ecf, 0x6a51a361, 0xb8b94d44,
-  0x6a43a29a, 0xb8a46e78,
-  0x6a359db9, 0xb88f926d, 0x6a2794c1, 0xb87ab922, 0x6a1987b0, 0xb865e299,
-  0x6a0b7689, 0xb8510ed4,
-  0x69fd614a, 0xb83c3dd1, 0x69ef47f6, 0xb8276f93, 0x69e12a8c, 0xb812a41a,
-  0x69d3090e, 0xb7fddb67,
-  0x69c4e37a, 0xb7e9157a, 0x69b6b9d3, 0xb7d45255, 0x69a88c19, 0xb7bf91f8,
-  0x699a5a4c, 0xb7aad465,
-  0x698c246c, 0xb796199b, 0x697dea7b, 0xb781619c, 0x696fac78, 0xb76cac69,
-  0x69616a65, 0xb757fa01,
-  0x69532442, 0xb7434a67, 0x6944da10, 0xb72e9d9b, 0x69368bce, 0xb719f39e,
-  0x6928397e, 0xb7054c6f,
-  0x6919e320, 0xb6f0a812, 0x690b88b5, 0xb6dc0685, 0x68fd2a3d, 0xb6c767ca,
-  0x68eec7b9, 0xb6b2cbe2,
-  0x68e06129, 0xb69e32cd, 0x68d1f68f, 0xb6899c8d, 0x68c387e9, 0xb6750921,
-  0x68b5153a, 0xb660788c,
-  0x68a69e81, 0xb64beacd, 0x689823bf, 0xb6375fe5, 0x6889a4f6, 0xb622d7d6,
-  0x687b2224, 0xb60e529f,
-  0x686c9b4b, 0xb5f9d043, 0x685e106c, 0xb5e550c1, 0x684f8186, 0xb5d0d41a,
-  0x6840ee9b, 0xb5bc5a50,
-  0x683257ab, 0xb5a7e362, 0x6823bcb7, 0xb5936f53, 0x68151dbe, 0xb57efe22,
-  0x68067ac3, 0xb56a8fd0,
-  0x67f7d3c5, 0xb556245e, 0x67e928c5, 0xb541bbcd, 0x67da79c3, 0xb52d561e,
-  0x67cbc6c0, 0xb518f351,
-  0x67bd0fbd, 0xb5049368, 0x67ae54ba, 0xb4f03663, 0x679f95b7, 0xb4dbdc42,
-  0x6790d2b6, 0xb4c78507,
-  0x67820bb7, 0xb4b330b3, 0x677340ba, 0xb49edf45, 0x676471c0, 0xb48a90c0,
-  0x67559eca, 0xb4764523,
-  0x6746c7d8, 0xb461fc70, 0x6737ecea, 0xb44db6a8, 0x67290e02, 0xb43973ca,
-  0x671a2b20, 0xb42533d8,
-  0x670b4444, 0xb410f6d3, 0x66fc596f, 0xb3fcbcbb, 0x66ed6aa1, 0xb3e88592,
-  0x66de77dc, 0xb3d45157,
-  0x66cf8120, 0xb3c0200c, 0x66c0866d, 0xb3abf1b2, 0x66b187c3, 0xb397c649,
-  0x66a28524, 0xb3839dd3,
-  0x66937e91, 0xb36f784f, 0x66847408, 0xb35b55bf, 0x6675658c, 0xb3473623,
-  0x6666531d, 0xb333197c,
-  0x66573cbb, 0xb31effcc, 0x66482267, 0xb30ae912, 0x66390422, 0xb2f6d550,
-  0x6629e1ec, 0xb2e2c486,
-  0x661abbc5, 0xb2ceb6b5, 0x660b91af, 0xb2baabde, 0x65fc63a9, 0xb2a6a402,
-  0x65ed31b5, 0xb2929f21,
-  0x65ddfbd3, 0xb27e9d3c, 0x65cec204, 0xb26a9e54, 0x65bf8447, 0xb256a26a,
-  0x65b0429f, 0xb242a97e,
-  0x65a0fd0b, 0xb22eb392, 0x6591b38c, 0xb21ac0a6, 0x65826622, 0xb206d0ba,
-  0x657314cf, 0xb1f2e3d0,
-  0x6563bf92, 0xb1def9e9, 0x6554666d, 0xb1cb1304, 0x6545095f, 0xb1b72f23,
-  0x6535a86b, 0xb1a34e47,
-  0x6526438f, 0xb18f7071, 0x6516dacd, 0xb17b95a0, 0x65076e25, 0xb167bdd7,
-  0x64f7fd98, 0xb153e915,
-  0x64e88926, 0xb140175b, 0x64d910d1, 0xb12c48ab, 0x64c99498, 0xb1187d05,
-  0x64ba147d, 0xb104b46a,
-  0x64aa907f, 0xb0f0eeda, 0x649b08a0, 0xb0dd2c56, 0x648b7ce0, 0xb0c96ce0,
-  0x647bed3f, 0xb0b5b077,
-  0x646c59bf, 0xb0a1f71d, 0x645cc260, 0xb08e40d2, 0x644d2722, 0xb07a8d97,
-  0x643d8806, 0xb066dd6d,
-  0x642de50d, 0xb0533055, 0x641e3e38, 0xb03f864f, 0x640e9386, 0xb02bdf5c,
-  0x63fee4f8, 0xb0183b7d,
-  0x63ef3290, 0xb0049ab3, 0x63df7c4d, 0xaff0fcfe, 0x63cfc231, 0xafdd625f,
-  0x63c0043b, 0xafc9cad7,
-  0x63b0426d, 0xafb63667, 0x63a07cc7, 0xafa2a50f, 0x6390b34a, 0xaf8f16d1,
-  0x6380e5f6, 0xaf7b8bac,
-  0x637114cc, 0xaf6803a2, 0x63613fcd, 0xaf547eb3, 0x635166f9, 0xaf40fce1,
-  0x63418a50, 0xaf2d7e2b,
-  0x6331a9d4, 0xaf1a0293, 0x6321c585, 0xaf068a1a, 0x6311dd64, 0xaef314c0,
-  0x6301f171, 0xaedfa285,
-  0x62f201ac, 0xaecc336c, 0x62e20e17, 0xaeb8c774, 0x62d216b3, 0xaea55e9e,
-  0x62c21b7e, 0xae91f8eb,
-  0x62b21c7b, 0xae7e965b, 0x62a219aa, 0xae6b36f0, 0x6292130c, 0xae57daab,
-  0x628208a1, 0xae44818b,
-  0x6271fa69, 0xae312b92, 0x6261e866, 0xae1dd8c0, 0x6251d298, 0xae0a8916,
-  0x6241b8ff, 0xadf73c96,
-  0x62319b9d, 0xade3f33e, 0x62217a72, 0xadd0ad12, 0x6211557e, 0xadbd6a10,
-  0x62012cc2, 0xadaa2a3b,
-  0x61f1003f, 0xad96ed92, 0x61e0cff5, 0xad83b416, 0x61d09be5, 0xad707dc8,
-  0x61c06410, 0xad5d4aaa,
-  0x61b02876, 0xad4a1aba, 0x619fe918, 0xad36edfc, 0x618fa5f7, 0xad23c46e,
-  0x617f5f12, 0xad109e12,
-  0x616f146c, 0xacfd7ae8, 0x615ec603, 0xacea5af2, 0x614e73da, 0xacd73e30,
-  0x613e1df0, 0xacc424a3,
-  0x612dc447, 0xacb10e4b, 0x611d66de, 0xac9dfb29, 0x610d05b7, 0xac8aeb3e,
-  0x60fca0d2, 0xac77de8b,
-  0x60ec3830, 0xac64d510, 0x60dbcbd1, 0xac51cecf, 0x60cb5bb7, 0xac3ecbc7,
-  0x60bae7e1, 0xac2bcbfa,
-  0x60aa7050, 0xac18cf69, 0x6099f505, 0xac05d613, 0x60897601, 0xabf2dffb,
-  0x6078f344, 0xabdfed1f,
-  0x60686ccf, 0xabccfd83, 0x6057e2a2, 0xabba1125, 0x604754bf, 0xaba72807,
-  0x6036c325, 0xab944229,
-  0x60262dd6, 0xab815f8d, 0x601594d1, 0xab6e8032, 0x6004f819, 0xab5ba41a,
-  0x5ff457ad, 0xab48cb46,
-  0x5fe3b38d, 0xab35f5b5, 0x5fd30bbc, 0xab23236a, 0x5fc26038, 0xab105464,
-  0x5fb1b104, 0xaafd88a4,
-  0x5fa0fe1f, 0xaaeac02c, 0x5f90478a, 0xaad7fafb, 0x5f7f8d46, 0xaac53912,
-  0x5f6ecf53, 0xaab27a73,
-  0x5f5e0db3, 0xaa9fbf1e, 0x5f4d4865, 0xaa8d0713, 0x5f3c7f6b, 0xaa7a5253,
-  0x5f2bb2c5, 0xaa67a0e0,
-  0x5f1ae274, 0xaa54f2ba, 0x5f0a0e77, 0xaa4247e1, 0x5ef936d1, 0xaa2fa056,
-  0x5ee85b82, 0xaa1cfc1a,
-  0x5ed77c8a, 0xaa0a5b2e, 0x5ec699e9, 0xa9f7bd92, 0x5eb5b3a2, 0xa9e52347,
-  0x5ea4c9b3, 0xa9d28c4e,
-  0x5e93dc1f, 0xa9bff8a8, 0x5e82eae5, 0xa9ad6855, 0x5e71f606, 0xa99adb56,
-  0x5e60fd84, 0xa98851ac,
-  0x5e50015d, 0xa975cb57, 0x5e3f0194, 0xa9634858, 0x5e2dfe29, 0xa950c8b0,
-  0x5e1cf71c, 0xa93e4c5f,
-  0x5e0bec6e, 0xa92bd367, 0x5dfade20, 0xa9195dc7, 0x5de9cc33, 0xa906eb82,
-  0x5dd8b6a7, 0xa8f47c97,
-  0x5dc79d7c, 0xa8e21106, 0x5db680b4, 0xa8cfa8d2, 0x5da5604f, 0xa8bd43fa,
-  0x5d943c4e, 0xa8aae280,
-  0x5d8314b1, 0xa8988463, 0x5d71e979, 0xa88629a5, 0x5d60baa7, 0xa873d246,
-  0x5d4f883b, 0xa8617e48,
-  0x5d3e5237, 0xa84f2daa, 0x5d2d189a, 0xa83ce06e, 0x5d1bdb65, 0xa82a9693,
-  0x5d0a9a9a, 0xa818501c,
-  0x5cf95638, 0xa8060d08, 0x5ce80e41, 0xa7f3cd59, 0x5cd6c2b5, 0xa7e1910f,
-  0x5cc57394, 0xa7cf582a,
-  0x5cb420e0, 0xa7bd22ac, 0x5ca2ca99, 0xa7aaf094, 0x5c9170bf, 0xa798c1e5,
-  0x5c801354, 0xa786969e,
-  0x5c6eb258, 0xa7746ec0, 0x5c5d4dcc, 0xa7624a4d, 0x5c4be5b0, 0xa7502943,
-  0x5c3a7a05, 0xa73e0ba5,
-  0x5c290acc, 0xa72bf174, 0x5c179806, 0xa719daae, 0x5c0621b2, 0xa707c757,
-  0x5bf4a7d2, 0xa6f5b76d,
-  0x5be32a67, 0xa6e3aaf2, 0x5bd1a971, 0xa6d1a1e7, 0x5bc024f0, 0xa6bf9c4b,
-  0x5bae9ce7, 0xa6ad9a21,
-  0x5b9d1154, 0xa69b9b68, 0x5b8b8239, 0xa689a022, 0x5b79ef96, 0xa677a84e,
-  0x5b68596d, 0xa665b3ee,
-  0x5b56bfbd, 0xa653c303, 0x5b452288, 0xa641d58c, 0x5b3381ce, 0xa62feb8b,
-  0x5b21dd90, 0xa61e0501,
-  0x5b1035cf, 0xa60c21ee, 0x5afe8a8b, 0xa5fa4252, 0x5aecdbc5, 0xa5e8662f,
-  0x5adb297d, 0xa5d68d85,
-  0x5ac973b5, 0xa5c4b855, 0x5ab7ba6c, 0xa5b2e6a0, 0x5aa5fda5, 0xa5a11866,
-  0x5a943d5e, 0xa58f4da8,
-  0x5a82799a, 0xa57d8666, 0x5a70b258, 0xa56bc2a2, 0x5a5ee79a, 0xa55a025b,
-  0x5a4d1960, 0xa5484594,
-  0x5a3b47ab, 0xa5368c4b, 0x5a29727b, 0xa524d683, 0x5a1799d1, 0xa513243b,
-  0x5a05bdae, 0xa5017575,
-  0x59f3de12, 0xa4efca31, 0x59e1faff, 0xa4de2270, 0x59d01475, 0xa4cc7e32,
-  0x59be2a74, 0xa4badd78,
-  0x59ac3cfd, 0xa4a94043, 0x599a4c12, 0xa497a693, 0x598857b2, 0xa486106a,
-  0x59765fde, 0xa4747dc7,
-  0x59646498, 0xa462eeac, 0x595265df, 0xa4516319, 0x594063b5, 0xa43fdb10,
-  0x592e5e19, 0xa42e568f,
-  0x591c550e, 0xa41cd599, 0x590a4893, 0xa40b582e, 0x58f838a9, 0xa3f9de4e,
-  0x58e62552, 0xa3e867fa,
-  0x58d40e8c, 0xa3d6f534, 0x58c1f45b, 0xa3c585fb, 0x58afd6bd, 0xa3b41a50,
-  0x589db5b3, 0xa3a2b234,
-  0x588b9140, 0xa3914da8, 0x58796962, 0xa37fecac, 0x58673e1b, 0xa36e8f41,
-  0x58550f6c, 0xa35d3567,
-  0x5842dd54, 0xa34bdf20, 0x5830a7d6, 0xa33a8c6c, 0x581e6ef1, 0xa3293d4b,
-  0x580c32a7, 0xa317f1bf,
-  0x57f9f2f8, 0xa306a9c8, 0x57e7afe4, 0xa2f56566, 0x57d5696d, 0xa2e4249b,
-  0x57c31f92, 0xa2d2e766,
-  0x57b0d256, 0xa2c1adc9, 0x579e81b8, 0xa2b077c5, 0x578c2dba, 0xa29f4559,
-  0x5779d65b, 0xa28e1687,
-  0x57677b9d, 0xa27ceb4f, 0x57551d80, 0xa26bc3b2, 0x5742bc06, 0xa25a9fb1,
-  0x5730572e, 0xa2497f4c,
-  0x571deefa, 0xa2386284, 0x570b8369, 0xa2274959, 0x56f9147e, 0xa21633cd,
-  0x56e6a239, 0xa20521e0,
-  0x56d42c99, 0xa1f41392, 0x56c1b3a1, 0xa1e308e4, 0x56af3750, 0xa1d201d7,
-  0x569cb7a8, 0xa1c0fe6c,
-  0x568a34a9, 0xa1affea3, 0x5677ae54, 0xa19f027c, 0x566524aa, 0xa18e09fa,
-  0x565297ab, 0xa17d151b,
-  0x56400758, 0xa16c23e1, 0x562d73b2, 0xa15b364d, 0x561adcb9, 0xa14a4c5e,
-  0x5608426e, 0xa1396617,
-  0x55f5a4d2, 0xa1288376, 0x55e303e6, 0xa117a47e, 0x55d05faa, 0xa106c92f,
-  0x55bdb81f, 0xa0f5f189,
-  0x55ab0d46, 0xa0e51d8c, 0x55985f20, 0xa0d44d3b, 0x5585adad, 0xa0c38095,
-  0x5572f8ed, 0xa0b2b79b,
-  0x556040e2, 0xa0a1f24d, 0x554d858d, 0xa09130ad, 0x553ac6ee, 0xa08072ba,
-  0x55280505, 0xa06fb876,
-  0x55153fd4, 0xa05f01e1, 0x5502775c, 0xa04e4efc, 0x54efab9c, 0xa03d9fc8,
-  0x54dcdc96, 0xa02cf444,
-  0x54ca0a4b, 0xa01c4c73, 0x54b734ba, 0xa00ba853, 0x54a45be6, 0x9ffb07e7,
-  0x54917fce, 0x9fea6b2f,
-  0x547ea073, 0x9fd9d22a, 0x546bbdd7, 0x9fc93cdb, 0x5458d7f9, 0x9fb8ab41,
-  0x5445eedb, 0x9fa81d5e,
-  0x5433027d, 0x9f979331, 0x542012e1, 0x9f870cbc, 0x540d2005, 0x9f7689ff,
-  0x53fa29ed, 0x9f660afb,
-  0x53e73097, 0x9f558fb0, 0x53d43406, 0x9f45181f, 0x53c13439, 0x9f34a449,
-  0x53ae3131, 0x9f24342f,
-  0x539b2af0, 0x9f13c7d0, 0x53882175, 0x9f035f2e, 0x537514c2, 0x9ef2fa49,
-  0x536204d7, 0x9ee29922,
-  0x534ef1b5, 0x9ed23bb9, 0x533bdb5d, 0x9ec1e210, 0x5328c1d0, 0x9eb18c26,
-  0x5315a50e, 0x9ea139fd,
-  0x53028518, 0x9e90eb94, 0x52ef61ee, 0x9e80a0ee, 0x52dc3b92, 0x9e705a09,
-  0x52c91204, 0x9e6016e8,
-  0x52b5e546, 0x9e4fd78a, 0x52a2b556, 0x9e3f9bf0, 0x528f8238, 0x9e2f641b,
-  0x527c4bea, 0x9e1f300b,
-  0x5269126e, 0x9e0effc1, 0x5255d5c5, 0x9dfed33e, 0x524295f0, 0x9deeaa82,
-  0x522f52ee, 0x9dde858e,
-  0x521c0cc2, 0x9dce6463, 0x5208c36a, 0x9dbe4701, 0x51f576ea, 0x9dae2d68,
-  0x51e22740, 0x9d9e179a,
-  0x51ced46e, 0x9d8e0597, 0x51bb7e75, 0x9d7df75f, 0x51a82555, 0x9d6decf4,
-  0x5194c910, 0x9d5de656,
-  0x518169a5, 0x9d4de385, 0x516e0715, 0x9d3de482, 0x515aa162, 0x9d2de94d,
-  0x5147388c, 0x9d1df1e9,
-  0x5133cc94, 0x9d0dfe54, 0x51205d7b, 0x9cfe0e8f, 0x510ceb40, 0x9cee229c,
-  0x50f975e6, 0x9cde3a7b,
-  0x50e5fd6d, 0x9cce562c, 0x50d281d5, 0x9cbe75b0, 0x50bf031f, 0x9cae9907,
-  0x50ab814d, 0x9c9ec033,
-  0x5097fc5e, 0x9c8eeb34, 0x50847454, 0x9c7f1a0a, 0x5070e92f, 0x9c6f4cb6,
-  0x505d5af1, 0x9c5f8339,
-  0x5049c999, 0x9c4fbd93, 0x50363529, 0x9c3ffbc5, 0x50229da1, 0x9c303dcf,
-  0x500f0302, 0x9c2083b3,
-  0x4ffb654d, 0x9c10cd70, 0x4fe7c483, 0x9c011b08, 0x4fd420a4, 0x9bf16c7a,
-  0x4fc079b1, 0x9be1c1c8,
-  0x4faccfab, 0x9bd21af3, 0x4f992293, 0x9bc277fa, 0x4f857269, 0x9bb2d8de,
-  0x4f71bf2e, 0x9ba33da0,
-  0x4f5e08e3, 0x9b93a641, 0x4f4a4f89, 0x9b8412c1, 0x4f369320, 0x9b748320,
-  0x4f22d3aa, 0x9b64f760,
-  0x4f0f1126, 0x9b556f81, 0x4efb4b96, 0x9b45eb83, 0x4ee782fb, 0x9b366b68,
-  0x4ed3b755, 0x9b26ef2f,
-  0x4ebfe8a5, 0x9b1776da, 0x4eac16eb, 0x9b080268, 0x4e984229, 0x9af891db,
-  0x4e846a60, 0x9ae92533,
-  0x4e708f8f, 0x9ad9bc71, 0x4e5cb1b9, 0x9aca5795, 0x4e48d0dd, 0x9abaf6a1,
-  0x4e34ecfc, 0x9aab9993,
-  0x4e210617, 0x9a9c406e, 0x4e0d1c30, 0x9a8ceb31, 0x4df92f46, 0x9a7d99de,
-  0x4de53f5a, 0x9a6e4c74,
-  0x4dd14c6e, 0x9a5f02f5, 0x4dbd5682, 0x9a4fbd61, 0x4da95d96, 0x9a407bb9,
-  0x4d9561ac, 0x9a313dfc,
-  0x4d8162c4, 0x9a22042d, 0x4d6d60df, 0x9a12ce4b, 0x4d595bfe, 0x9a039c57,
-  0x4d455422, 0x99f46e51,
-  0x4d31494b, 0x99e5443b, 0x4d1d3b7a, 0x99d61e14, 0x4d092ab0, 0x99c6fbde,
-  0x4cf516ee, 0x99b7dd99,
-  0x4ce10034, 0x99a8c345, 0x4ccce684, 0x9999ace3, 0x4cb8c9dd, 0x998a9a74,
-  0x4ca4aa41, 0x997b8bf8,
-  0x4c9087b1, 0x996c816f, 0x4c7c622d, 0x995d7adc, 0x4c6839b7, 0x994e783d,
-  0x4c540e4e, 0x993f7993,
-  0x4c3fdff4, 0x99307ee0, 0x4c2baea9, 0x99218824, 0x4c177a6e, 0x9912955f,
-  0x4c034345, 0x9903a691,
-  0x4bef092d, 0x98f4bbbc, 0x4bdacc28, 0x98e5d4e0, 0x4bc68c36, 0x98d6f1fe,
-  0x4bb24958, 0x98c81316,
-  0x4b9e0390, 0x98b93828, 0x4b89badd, 0x98aa6136, 0x4b756f40, 0x989b8e40,
-  0x4b6120bb, 0x988cbf46,
-  0x4b4ccf4d, 0x987df449, 0x4b387af9, 0x986f2d4a, 0x4b2423be, 0x98606a49,
-  0x4b0fc99d, 0x9851ab46,
-  0x4afb6c98, 0x9842f043, 0x4ae70caf, 0x98343940, 0x4ad2a9e2, 0x9825863d,
-  0x4abe4433, 0x9816d73b,
-  0x4aa9dba2, 0x98082c3b, 0x4a957030, 0x97f9853d, 0x4a8101de, 0x97eae242,
-  0x4a6c90ad, 0x97dc4349,
-  0x4a581c9e, 0x97cda855, 0x4a43a5b0, 0x97bf1165, 0x4a2f2be6, 0x97b07e7a,
-  0x4a1aaf3f, 0x97a1ef94,
-  0x4a062fbd, 0x979364b5, 0x49f1ad61, 0x9784dddc, 0x49dd282a, 0x97765b0a,
-  0x49c8a01b, 0x9767dc41,
-  0x49b41533, 0x9759617f, 0x499f8774, 0x974aeac6, 0x498af6df, 0x973c7817,
-  0x49766373, 0x972e0971,
-  0x4961cd33, 0x971f9ed7, 0x494d341e, 0x97113847, 0x49389836, 0x9702d5c3,
-  0x4923f97b, 0x96f4774b,
-  0x490f57ee, 0x96e61ce0, 0x48fab391, 0x96d7c682, 0x48e60c62, 0x96c97432,
-  0x48d16265, 0x96bb25f0,
-  0x48bcb599, 0x96acdbbe, 0x48a805ff, 0x969e959b, 0x48935397, 0x96905388,
-  0x487e9e64, 0x96821585,
-  0x4869e665, 0x9673db94, 0x48552b9b, 0x9665a5b4, 0x48406e08, 0x965773e7,
-  0x482badab, 0x9649462d,
-  0x4816ea86, 0x963b1c86, 0x48022499, 0x962cf6f2, 0x47ed5be6, 0x961ed574,
-  0x47d8906d, 0x9610b80a,
-  0x47c3c22f, 0x96029eb6, 0x47aef12c, 0x95f48977, 0x479a1d67, 0x95e67850,
-  0x478546de, 0x95d86b3f,
-  0x47706d93, 0x95ca6247, 0x475b9188, 0x95bc5d66, 0x4746b2bc, 0x95ae5c9f,
-  0x4731d131, 0x95a05ff0,
-  0x471cece7, 0x9592675c, 0x470805df, 0x958472e2, 0x46f31c1a, 0x95768283,
-  0x46de2f99, 0x9568963f,
-  0x46c9405c, 0x955aae17, 0x46b44e65, 0x954cca0c, 0x469f59b4, 0x953eea1e,
-  0x468a624a, 0x95310e4e,
-  0x46756828, 0x9523369c, 0x46606b4e, 0x95156308, 0x464b6bbe, 0x95079394,
-  0x46366978, 0x94f9c83f,
-  0x4621647d, 0x94ec010b, 0x460c5cce, 0x94de3df8, 0x45f7526b, 0x94d07f05,
-  0x45e24556, 0x94c2c435,
-  0x45cd358f, 0x94b50d87, 0x45b82318, 0x94a75afd, 0x45a30df0, 0x9499ac95,
-  0x458df619, 0x948c0252,
-  0x4578db93, 0x947e5c33, 0x4563be60, 0x9470ba39, 0x454e9e80, 0x94631c65,
-  0x45397bf4, 0x945582b7,
-  0x452456bd, 0x9447ed2f, 0x450f2edb, 0x943a5bcf, 0x44fa0450, 0x942cce96,
-  0x44e4d71c, 0x941f4585,
-  0x44cfa740, 0x9411c09e, 0x44ba74bd, 0x94043fdf, 0x44a53f93, 0x93f6c34a,
-  0x449007c4, 0x93e94adf,
-  0x447acd50, 0x93dbd6a0, 0x44659039, 0x93ce668b, 0x4450507e, 0x93c0faa3,
-  0x443b0e21, 0x93b392e6,
-  0x4425c923, 0x93a62f57, 0x44108184, 0x9398cff5, 0x43fb3746, 0x938b74c1,
-  0x43e5ea68, 0x937e1dbb,
-  0x43d09aed, 0x9370cae4, 0x43bb48d4, 0x93637c3d, 0x43a5f41e, 0x935631c5,
-  0x43909ccd, 0x9348eb7e,
-  0x437b42e1, 0x933ba968, 0x4365e65b, 0x932e6b84, 0x4350873c, 0x932131d1,
-  0x433b2585, 0x9313fc51,
-  0x4325c135, 0x9306cb04, 0x43105a50, 0x92f99deb, 0x42faf0d4, 0x92ec7505,
-  0x42e584c3, 0x92df5054,
-  0x42d0161e, 0x92d22fd9, 0x42baa4e6, 0x92c51392, 0x42a5311b, 0x92b7fb82,
-  0x428fbabe, 0x92aae7a8,
-  0x427a41d0, 0x929dd806, 0x4264c653, 0x9290cc9b, 0x424f4845, 0x9283c568,
-  0x4239c7aa, 0x9276c26d,
-  0x42244481, 0x9269c3ac, 0x420ebecb, 0x925cc924, 0x41f93689, 0x924fd2d7,
-  0x41e3abbc, 0x9242e0c4,
-  0x41ce1e65, 0x9235f2ec, 0x41b88e84, 0x9229094f, 0x41a2fc1a, 0x921c23ef,
-  0x418d6729, 0x920f42cb,
-  0x4177cfb1, 0x920265e4, 0x416235b2, 0x91f58d3b, 0x414c992f, 0x91e8b8d0,
-  0x4136fa27, 0x91dbe8a4,
-  0x4121589b, 0x91cf1cb6, 0x410bb48c, 0x91c25508, 0x40f60dfb, 0x91b5919a,
-  0x40e064ea, 0x91a8d26d,
-  0x40cab958, 0x919c1781, 0x40b50b46, 0x918f60d6, 0x409f5ab6, 0x9182ae6d,
-  0x4089a7a8, 0x91760047,
-  0x4073f21d, 0x91695663, 0x405e3a16, 0x915cb0c3, 0x40487f94, 0x91500f67,
-  0x4032c297, 0x91437250,
-  0x401d0321, 0x9136d97d, 0x40074132, 0x912a44f0, 0x3ff17cca, 0x911db4a9,
-  0x3fdbb5ec, 0x911128a8,
-  0x3fc5ec98, 0x9104a0ee, 0x3fb020ce, 0x90f81d7b, 0x3f9a5290, 0x90eb9e50,
-  0x3f8481dd, 0x90df236e,
-  0x3f6eaeb8, 0x90d2acd4, 0x3f58d921, 0x90c63a83, 0x3f430119, 0x90b9cc7d,
-  0x3f2d26a0, 0x90ad62c0,
-  0x3f1749b8, 0x90a0fd4e, 0x3f016a61, 0x90949c28, 0x3eeb889c, 0x90883f4d,
-  0x3ed5a46b, 0x907be6be,
-  0x3ebfbdcd, 0x906f927c, 0x3ea9d4c3, 0x90634287, 0x3e93e950, 0x9056f6df,
-  0x3e7dfb73, 0x904aaf86,
-  0x3e680b2c, 0x903e6c7b, 0x3e52187f, 0x90322dbf, 0x3e3c2369, 0x9025f352,
-  0x3e262bee, 0x9019bd36,
-  0x3e10320d, 0x900d8b69, 0x3dfa35c8, 0x90015dee, 0x3de4371f, 0x8ff534c4,
-  0x3dce3614, 0x8fe90fec,
-  0x3db832a6, 0x8fdcef66, 0x3da22cd7, 0x8fd0d333, 0x3d8c24a8, 0x8fc4bb53,
-  0x3d761a19, 0x8fb8a7c7,
-  0x3d600d2c, 0x8fac988f, 0x3d49fde1, 0x8fa08dab, 0x3d33ec39, 0x8f94871d,
-  0x3d1dd835, 0x8f8884e4,
-  0x3d07c1d6, 0x8f7c8701, 0x3cf1a91c, 0x8f708d75, 0x3cdb8e09, 0x8f649840,
-  0x3cc5709e, 0x8f58a761,
-  0x3caf50da, 0x8f4cbadb, 0x3c992ec0, 0x8f40d2ad, 0x3c830a50, 0x8f34eed8,
-  0x3c6ce38a, 0x8f290f5c,
-  0x3c56ba70, 0x8f1d343a, 0x3c408f03, 0x8f115d72, 0x3c2a6142, 0x8f058b04,
-  0x3c143130, 0x8ef9bcf2,
-  0x3bfdfecd, 0x8eedf33b, 0x3be7ca1a, 0x8ee22de0, 0x3bd19318, 0x8ed66ce1,
-  0x3bbb59c7, 0x8ecab040,
-  0x3ba51e29, 0x8ebef7fb, 0x3b8ee03e, 0x8eb34415, 0x3b78a007, 0x8ea7948c,
-  0x3b625d86, 0x8e9be963,
-  0x3b4c18ba, 0x8e904298, 0x3b35d1a5, 0x8e84a02d, 0x3b1f8848, 0x8e790222,
-  0x3b093ca3, 0x8e6d6877,
-  0x3af2eeb7, 0x8e61d32e, 0x3adc9e86, 0x8e564246, 0x3ac64c0f, 0x8e4ab5bf,
-  0x3aaff755, 0x8e3f2d9b,
-  0x3a99a057, 0x8e33a9da, 0x3a834717, 0x8e282a7b, 0x3a6ceb96, 0x8e1caf80,
-  0x3a568dd4, 0x8e1138ea,
-  0x3a402dd2, 0x8e05c6b7, 0x3a29cb91, 0x8dfa58ea, 0x3a136712, 0x8deeef82,
-  0x39fd0056, 0x8de38a80,
-  0x39e6975e, 0x8dd829e4, 0x39d02c2a, 0x8dcccdaf, 0x39b9bebc, 0x8dc175e0,
-  0x39a34f13, 0x8db6227a,
-  0x398cdd32, 0x8daad37b, 0x39766919, 0x8d9f88e5, 0x395ff2c9, 0x8d9442b8,
-  0x39497a43, 0x8d8900f3,
-  0x3932ff87, 0x8d7dc399, 0x391c8297, 0x8d728aa9, 0x39060373, 0x8d675623,
-  0x38ef821c, 0x8d5c2609,
-  0x38d8fe93, 0x8d50fa59, 0x38c278d9, 0x8d45d316, 0x38abf0ef, 0x8d3ab03f,
-  0x389566d6, 0x8d2f91d5,
-  0x387eda8e, 0x8d2477d8, 0x38684c19, 0x8d196249, 0x3851bb77, 0x8d0e5127,
-  0x383b28a9, 0x8d034474,
-  0x382493b0, 0x8cf83c30, 0x380dfc8d, 0x8ced385b, 0x37f76341, 0x8ce238f6,
-  0x37e0c7cc, 0x8cd73e01,
-  0x37ca2a30, 0x8ccc477d, 0x37b38a6d, 0x8cc1556a, 0x379ce885, 0x8cb667c8,
-  0x37864477, 0x8cab7e98,
-  0x376f9e46, 0x8ca099da, 0x3758f5f2, 0x8c95b98f, 0x37424b7b, 0x8c8addb7,
-  0x372b9ee3, 0x8c800652,
-  0x3714f02a, 0x8c753362, 0x36fe3f52, 0x8c6a64e5, 0x36e78c5b, 0x8c5f9ade,
-  0x36d0d746, 0x8c54d54c,
-  0x36ba2014, 0x8c4a142f, 0x36a366c6, 0x8c3f5788, 0x368cab5c, 0x8c349f58,
-  0x3675edd9, 0x8c29eb9f,
-  0x365f2e3b, 0x8c1f3c5d, 0x36486c86, 0x8c149192, 0x3631a8b8, 0x8c09eb40,
-  0x361ae2d3, 0x8bff4966,
-  0x36041ad9, 0x8bf4ac05, 0x35ed50c9, 0x8bea131e, 0x35d684a6, 0x8bdf7eb0,
-  0x35bfb66e, 0x8bd4eebc,
-  0x35a8e625, 0x8bca6343, 0x359213c9, 0x8bbfdc44, 0x357b3f5d, 0x8bb559c1,
-  0x356468e2, 0x8baadbba,
-  0x354d9057, 0x8ba0622f, 0x3536b5be, 0x8b95ed21, 0x351fd918, 0x8b8b7c8f,
-  0x3508fa66, 0x8b81107b,
-  0x34f219a8, 0x8b76a8e4, 0x34db36df, 0x8b6c45cc, 0x34c4520d, 0x8b61e733,
-  0x34ad6b32, 0x8b578d18,
-  0x34968250, 0x8b4d377c, 0x347f9766, 0x8b42e661, 0x3468aa76, 0x8b3899c6,
-  0x3451bb81, 0x8b2e51ab,
-  0x343aca87, 0x8b240e11, 0x3423d78a, 0x8b19cef8, 0x340ce28b, 0x8b0f9462,
-  0x33f5eb89, 0x8b055e4d,
-  0x33def287, 0x8afb2cbb, 0x33c7f785, 0x8af0ffac, 0x33b0fa84, 0x8ae6d720,
-  0x3399fb85, 0x8adcb318,
-  0x3382fa88, 0x8ad29394, 0x336bf78f, 0x8ac87894, 0x3354f29b, 0x8abe6219,
-  0x333debab, 0x8ab45024,
-  0x3326e2c3, 0x8aaa42b4, 0x330fd7e1, 0x8aa039cb, 0x32f8cb07, 0x8a963567,
-  0x32e1bc36, 0x8a8c358b,
-  0x32caab6f, 0x8a823a36, 0x32b398b3, 0x8a784368, 0x329c8402, 0x8a6e5123,
-  0x32856d5e, 0x8a646365,
-  0x326e54c7, 0x8a5a7a31, 0x32573a3f, 0x8a509585, 0x32401dc6, 0x8a46b564,
-  0x3228ff5c, 0x8a3cd9cc,
-  0x3211df04, 0x8a3302be, 0x31fabcbd, 0x8a29303b, 0x31e39889, 0x8a1f6243,
-  0x31cc7269, 0x8a1598d6,
-  0x31b54a5e, 0x8a0bd3f5, 0x319e2067, 0x8a0213a0, 0x3186f487, 0x89f857d8,
-  0x316fc6be, 0x89eea09d,
-  0x3158970e, 0x89e4edef, 0x31416576, 0x89db3fcf, 0x312a31f8, 0x89d1963c,
-  0x3112fc95, 0x89c7f138,
-  0x30fbc54d, 0x89be50c3, 0x30e48c22, 0x89b4b4dd, 0x30cd5115, 0x89ab1d87,
-  0x30b61426, 0x89a18ac0,
-  0x309ed556, 0x8997fc8a, 0x308794a6, 0x898e72e4, 0x30705217, 0x8984edcf,
-  0x30590dab, 0x897b6d4c,
-  0x3041c761, 0x8971f15a, 0x302a7f3a, 0x896879fb, 0x30133539, 0x895f072e,
-  0x2ffbe95d, 0x895598f3,
-  0x2fe49ba7, 0x894c2f4c, 0x2fcd4c19, 0x8942ca39, 0x2fb5fab2, 0x893969b9,
-  0x2f9ea775, 0x89300dce,
-  0x2f875262, 0x8926b677, 0x2f6ffb7a, 0x891d63b5, 0x2f58a2be, 0x89141589,
-  0x2f41482e, 0x890acbf2,
-  0x2f29ebcc, 0x890186f2, 0x2f128d99, 0x88f84687, 0x2efb2d95, 0x88ef0ab4,
-  0x2ee3cbc1, 0x88e5d378,
-  0x2ecc681e, 0x88dca0d3, 0x2eb502ae, 0x88d372c6, 0x2e9d9b70, 0x88ca4951,
-  0x2e863267, 0x88c12475,
-  0x2e6ec792, 0x88b80432, 0x2e575af3, 0x88aee888, 0x2e3fec8b, 0x88a5d177,
-  0x2e287c5a, 0x889cbf01,
-  0x2e110a62, 0x8893b125, 0x2df996a3, 0x888aa7e3, 0x2de2211e, 0x8881a33d,
-  0x2dcaa9d5, 0x8878a332,
-  0x2db330c7, 0x886fa7c2, 0x2d9bb5f6, 0x8866b0ef, 0x2d843964, 0x885dbeb8,
-  0x2d6cbb10, 0x8854d11e,
-  0x2d553afc, 0x884be821, 0x2d3db928, 0x884303c1, 0x2d263596, 0x883a23ff,
-  0x2d0eb046, 0x883148db,
-  0x2cf72939, 0x88287256, 0x2cdfa071, 0x881fa06f, 0x2cc815ee, 0x8816d327,
-  0x2cb089b1, 0x880e0a7f,
-  0x2c98fbba, 0x88054677, 0x2c816c0c, 0x87fc870f, 0x2c69daa6, 0x87f3cc48,
-  0x2c52478a, 0x87eb1621,
-  0x2c3ab2b9, 0x87e2649b, 0x2c231c33, 0x87d9b7b7, 0x2c0b83fa, 0x87d10f75,
-  0x2bf3ea0d, 0x87c86bd5,
-  0x2bdc4e6f, 0x87bfccd7, 0x2bc4b120, 0x87b7327d, 0x2bad1221, 0x87ae9cc5,
-  0x2b957173, 0x87a60bb1,
-  0x2b7dcf17, 0x879d7f41, 0x2b662b0e, 0x8794f774, 0x2b4e8558, 0x878c744d,
-  0x2b36ddf7, 0x8783f5ca,
-  0x2b1f34eb, 0x877b7bec, 0x2b078a36, 0x877306b4, 0x2aefddd8, 0x876a9621,
-  0x2ad82fd2, 0x87622a35,
-  0x2ac08026, 0x8759c2ef, 0x2aa8ced3, 0x87516050, 0x2a911bdc, 0x87490258,
-  0x2a796740, 0x8740a907,
-  0x2a61b101, 0x8738545e, 0x2a49f920, 0x8730045d, 0x2a323f9e, 0x8727b905,
-  0x2a1a847b, 0x871f7255,
-  0x2a02c7b8, 0x8717304e, 0x29eb0957, 0x870ef2f1, 0x29d34958, 0x8706ba3d,
-  0x29bb87bc, 0x86fe8633,
-  0x29a3c485, 0x86f656d3, 0x298bffb2, 0x86ee2c1e, 0x29743946, 0x86e60614,
-  0x295c7140, 0x86dde4b5,
-  0x2944a7a2, 0x86d5c802, 0x292cdc6d, 0x86cdaffa, 0x29150fa1, 0x86c59c9f,
-  0x28fd4140, 0x86bd8df0,
-  0x28e5714b, 0x86b583ee, 0x28cd9fc1, 0x86ad7e99, 0x28b5cca5, 0x86a57df2,
-  0x289df7f8, 0x869d81f8,
-  0x288621b9, 0x86958aac, 0x286e49ea, 0x868d980e, 0x2856708d, 0x8685aa20,
-  0x283e95a1, 0x867dc0e0,
-  0x2826b928, 0x8675dc4f, 0x280edb23, 0x866dfc6e, 0x27f6fb92, 0x8666213c,
-  0x27df1a77, 0x865e4abb,
-  0x27c737d3, 0x865678eb, 0x27af53a6, 0x864eabcb, 0x27976df1, 0x8646e35c,
-  0x277f86b5, 0x863f1f9e,
-  0x27679df4, 0x86376092, 0x274fb3ae, 0x862fa638, 0x2737c7e3, 0x8627f091,
-  0x271fda96, 0x86203f9c,
-  0x2707ebc7, 0x86189359, 0x26effb76, 0x8610ebca, 0x26d809a5, 0x860948ef,
-  0x26c01655, 0x8601aac7,
-  0x26a82186, 0x85fa1153, 0x26902b39, 0x85f27c93, 0x26783370, 0x85eaec88,
-  0x26603a2c, 0x85e36132,
-  0x26483f6c, 0x85dbda91, 0x26304333, 0x85d458a6, 0x26184581, 0x85ccdb70,
-  0x26004657, 0x85c562f1,
-  0x25e845b6, 0x85bdef28, 0x25d0439f, 0x85b68015, 0x25b84012, 0x85af15b9,
-  0x25a03b11, 0x85a7b015,
-  0x2588349d, 0x85a04f28, 0x25702cb7, 0x8598f2f3, 0x2558235f, 0x85919b76,
-  0x25401896, 0x858a48b1,
-  0x25280c5e, 0x8582faa5, 0x250ffeb7, 0x857bb152, 0x24f7efa2, 0x85746cb8,
-  0x24dfdf20, 0x856d2cd7,
-  0x24c7cd33, 0x8565f1b0, 0x24afb9da, 0x855ebb44, 0x2497a517, 0x85578991,
-  0x247f8eec, 0x85505c99,
-  0x24677758, 0x8549345c, 0x244f5e5c, 0x854210db, 0x243743fa, 0x853af214,
-  0x241f2833, 0x8533d809,
-  0x24070b08, 0x852cc2bb, 0x23eeec78, 0x8525b228, 0x23d6cc87, 0x851ea652,
-  0x23beab33, 0x85179f39,
-  0x23a6887f, 0x85109cdd, 0x238e646a, 0x85099f3e, 0x23763ef7, 0x8502a65c,
-  0x235e1826, 0x84fbb239,
-  0x2345eff8, 0x84f4c2d4, 0x232dc66d, 0x84edd82d, 0x23159b88, 0x84e6f244,
-  0x22fd6f48, 0x84e0111b,
-  0x22e541af, 0x84d934b1, 0x22cd12bd, 0x84d25d06, 0x22b4e274, 0x84cb8a1b,
-  0x229cb0d5, 0x84c4bbf0,
-  0x22847de0, 0x84bdf286, 0x226c4996, 0x84b72ddb, 0x225413f8, 0x84b06df2,
-  0x223bdd08, 0x84a9b2ca,
-  0x2223a4c5, 0x84a2fc62, 0x220b6b32, 0x849c4abd, 0x21f3304f, 0x84959dd9,
-  0x21daf41d, 0x848ef5b7,
-  0x21c2b69c, 0x84885258, 0x21aa77cf, 0x8481b3bb, 0x219237b5, 0x847b19e1,
-  0x2179f64f, 0x847484ca,
-  0x2161b3a0, 0x846df477, 0x21496fa7, 0x846768e7, 0x21312a65, 0x8460e21a,
-  0x2118e3dc, 0x845a6012,
-  0x21009c0c, 0x8453e2cf, 0x20e852f6, 0x844d6a50, 0x20d0089c, 0x8446f695,
-  0x20b7bcfe, 0x844087a0,
-  0x209f701c, 0x843a1d70, 0x208721f9, 0x8433b806, 0x206ed295, 0x842d5762,
-  0x205681f1, 0x8426fb84,
-  0x203e300d, 0x8420a46c, 0x2025dcec, 0x841a521a, 0x200d888d, 0x84140490,
-  0x1ff532f2, 0x840dbbcc,
-  0x1fdcdc1b, 0x840777d0, 0x1fc4840a, 0x8401389b, 0x1fac2abf, 0x83fafe2e,
-  0x1f93d03c, 0x83f4c889,
-  0x1f7b7481, 0x83ee97ad, 0x1f63178f, 0x83e86b99, 0x1f4ab968, 0x83e2444d,
-  0x1f325a0b, 0x83dc21cb,
-  0x1f19f97b, 0x83d60412, 0x1f0197b8, 0x83cfeb22, 0x1ee934c3, 0x83c9d6fc,
-  0x1ed0d09d, 0x83c3c7a0,
-  0x1eb86b46, 0x83bdbd0e, 0x1ea004c1, 0x83b7b746, 0x1e879d0d, 0x83b1b649,
-  0x1e6f342c, 0x83abba17,
-  0x1e56ca1e, 0x83a5c2b0, 0x1e3e5ee5, 0x839fd014, 0x1e25f282, 0x8399e244,
-  0x1e0d84f5, 0x8393f940,
-  0x1df5163f, 0x838e1507, 0x1ddca662, 0x8388359b, 0x1dc4355e, 0x83825afb,
-  0x1dabc334, 0x837c8528,
-  0x1d934fe5, 0x8376b422, 0x1d7adb73, 0x8370e7e9, 0x1d6265dd, 0x836b207d,
-  0x1d49ef26, 0x83655ddf,
-  0x1d31774d, 0x835fa00f, 0x1d18fe54, 0x8359e70d, 0x1d00843d, 0x835432d8,
-  0x1ce80906, 0x834e8373,
-  0x1ccf8cb3, 0x8348d8dc, 0x1cb70f43, 0x83433314, 0x1c9e90b8, 0x833d921b,
-  0x1c861113, 0x8337f5f1,
-  0x1c6d9053, 0x83325e97, 0x1c550e7c, 0x832ccc0d, 0x1c3c8b8c, 0x83273e52,
-  0x1c240786, 0x8321b568,
-  0x1c0b826a, 0x831c314e, 0x1bf2fc3a, 0x8316b205, 0x1bda74f6, 0x8311378d,
-  0x1bc1ec9e, 0x830bc1e6,
-  0x1ba96335, 0x83065110, 0x1b90d8bb, 0x8300e50b, 0x1b784d30, 0x82fb7dd8,
-  0x1b5fc097, 0x82f61b77,
-  0x1b4732ef, 0x82f0bde8, 0x1b2ea43a, 0x82eb652b, 0x1b161479, 0x82e61141,
-  0x1afd83ad, 0x82e0c22a,
-  0x1ae4f1d6, 0x82db77e5, 0x1acc5ef6, 0x82d63274, 0x1ab3cb0d, 0x82d0f1d5,
-  0x1a9b361d, 0x82cbb60b,
-  0x1a82a026, 0x82c67f14, 0x1a6a0929, 0x82c14cf1, 0x1a517128, 0x82bc1fa2,
-  0x1a38d823, 0x82b6f727,
-  0x1a203e1b, 0x82b1d381, 0x1a07a311, 0x82acb4b0, 0x19ef0707, 0x82a79ab3,
-  0x19d669fc, 0x82a2858c,
-  0x19bdcbf3, 0x829d753a, 0x19a52ceb, 0x829869be, 0x198c8ce7, 0x82936317,
-  0x1973ebe6, 0x828e6146,
-  0x195b49ea, 0x8289644b, 0x1942a6f3, 0x82846c26, 0x192a0304, 0x827f78d8,
-  0x19115e1c, 0x827a8a61,
-  0x18f8b83c, 0x8275a0c0, 0x18e01167, 0x8270bbf7, 0x18c7699b, 0x826bdc04,
-  0x18aec0db, 0x826700e9,
-  0x18961728, 0x82622aa6, 0x187d6c82, 0x825d593a, 0x1864c0ea, 0x82588ca7,
-  0x184c1461, 0x8253c4eb,
-  0x183366e9, 0x824f0208, 0x181ab881, 0x824a43fe, 0x1802092c, 0x82458acc,
-  0x17e958ea, 0x8240d673,
-  0x17d0a7bc, 0x823c26f3, 0x17b7f5a3, 0x82377c4c, 0x179f429f, 0x8232d67f,
-  0x17868eb3, 0x822e358b,
-  0x176dd9de, 0x82299971, 0x17552422, 0x82250232, 0x173c6d80, 0x82206fcc,
-  0x1723b5f9, 0x821be240,
-  0x170afd8d, 0x82175990, 0x16f2443e, 0x8212d5b9, 0x16d98a0c, 0x820e56be,
-  0x16c0cef9, 0x8209dc9e,
-  0x16a81305, 0x82056758, 0x168f5632, 0x8200f6ef, 0x1676987f, 0x81fc8b60,
-  0x165dd9f0, 0x81f824ae,
-  0x16451a83, 0x81f3c2d7, 0x162c5a3b, 0x81ef65dc, 0x16139918, 0x81eb0dbe,
-  0x15fad71b, 0x81e6ba7c,
-  0x15e21445, 0x81e26c16, 0x15c95097, 0x81de228d, 0x15b08c12, 0x81d9dde1,
-  0x1597c6b7, 0x81d59e13,
-  0x157f0086, 0x81d16321, 0x15663982, 0x81cd2d0c, 0x154d71aa, 0x81c8fbd6,
-  0x1534a901, 0x81c4cf7d,
-  0x151bdf86, 0x81c0a801, 0x1503153a, 0x81bc8564, 0x14ea4a1f, 0x81b867a5,
-  0x14d17e36, 0x81b44ec4,
-  0x14b8b17f, 0x81b03ac2, 0x149fe3fc, 0x81ac2b9e, 0x148715ae, 0x81a82159,
-  0x146e4694, 0x81a41bf4,
-  0x145576b1, 0x81a01b6d, 0x143ca605, 0x819c1fc5, 0x1423d492, 0x819828fd,
-  0x140b0258, 0x81943715,
-  0x13f22f58, 0x81904a0c, 0x13d95b93, 0x818c61e3, 0x13c0870a, 0x81887e9a,
-  0x13a7b1bf, 0x8184a032,
-  0x138edbb1, 0x8180c6a9, 0x137604e2, 0x817cf201, 0x135d2d53, 0x8179223a,
-  0x13445505, 0x81755754,
-  0x132b7bf9, 0x8171914e, 0x1312a230, 0x816dd02a, 0x12f9c7aa, 0x816a13e6,
-  0x12e0ec6a, 0x81665c84,
-  0x12c8106f, 0x8162aa04, 0x12af33ba, 0x815efc65, 0x1296564d, 0x815b53a8,
-  0x127d7829, 0x8157afcd,
-  0x1264994e, 0x815410d4, 0x124bb9be, 0x815076bd, 0x1232d979, 0x814ce188,
-  0x1219f880, 0x81495136,
-  0x120116d5, 0x8145c5c7, 0x11e83478, 0x81423f3a, 0x11cf516a, 0x813ebd90,
-  0x11b66dad, 0x813b40ca,
-  0x119d8941, 0x8137c8e6, 0x1184a427, 0x813455e6, 0x116bbe60, 0x8130e7c9,
-  0x1152d7ed, 0x812d7e8f,
-  0x1139f0cf, 0x812a1a3a, 0x11210907, 0x8126bac8, 0x11082096, 0x8123603a,
-  0x10ef377d, 0x81200a90,
-  0x10d64dbd, 0x811cb9ca, 0x10bd6356, 0x81196de9, 0x10a4784b, 0x811626ec,
-  0x108b8c9b, 0x8112e4d4,
-  0x1072a048, 0x810fa7a0, 0x1059b352, 0x810c6f52, 0x1040c5bb, 0x81093be8,
-  0x1027d784, 0x81060d63,
-  0x100ee8ad, 0x8102e3c4, 0xff5f938, 0x80ffbf0a, 0xfdd0926, 0x80fc9f35,
-  0xfc41876, 0x80f98446,
-  0xfab272b, 0x80f66e3c, 0xf923546, 0x80f35d19, 0xf7942c7, 0x80f050db,
-  0xf604faf, 0x80ed4984,
-  0xf475bff, 0x80ea4712, 0xf2e67b8, 0x80e74987, 0xf1572dc, 0x80e450e2,
-  0xefc7d6b, 0x80e15d24,
-  0xee38766, 0x80de6e4c, 0xeca90ce, 0x80db845b, 0xeb199a4, 0x80d89f51,
-  0xe98a1e9, 0x80d5bf2e,
-  0xe7fa99e, 0x80d2e3f2, 0xe66b0c3, 0x80d00d9d, 0xe4db75b, 0x80cd3c2f,
-  0xe34bd66, 0x80ca6fa9,
-  0xe1bc2e4, 0x80c7a80a, 0xe02c7d7, 0x80c4e553, 0xde9cc40, 0x80c22784,
-  0xdd0d01f, 0x80bf6e9c,
-  0xdb7d376, 0x80bcba9d, 0xd9ed646, 0x80ba0b85, 0xd85d88f, 0x80b76156,
-  0xd6cda53, 0x80b4bc0e,
-  0xd53db92, 0x80b21baf, 0xd3adc4e, 0x80af8039, 0xd21dc87, 0x80ace9ab,
-  0xd08dc3f, 0x80aa5806,
-  0xcefdb76, 0x80a7cb49, 0xcd6da2d, 0x80a54376, 0xcbdd865, 0x80a2c08b,
-  0xca4d620, 0x80a04289,
-  0xc8bd35e, 0x809dc971, 0xc72d020, 0x809b5541, 0xc59cc68, 0x8098e5fb,
-  0xc40c835, 0x80967b9f,
-  0xc27c389, 0x8094162c, 0xc0ebe66, 0x8091b5a2, 0xbf5b8cb, 0x808f5a02,
-  0xbdcb2bb, 0x808d034c,
-  0xbc3ac35, 0x808ab180, 0xbaaa53b, 0x8088649e, 0xb919dcf, 0x80861ca6,
-  0xb7895f0, 0x8083d998,
-  0xb5f8d9f, 0x80819b74, 0xb4684df, 0x807f623b, 0xb2d7baf, 0x807d2dec,
-  0xb147211, 0x807afe87,
-  0xafb6805, 0x8078d40d, 0xae25d8d, 0x8076ae7e, 0xac952aa, 0x80748dd9,
-  0xab0475c, 0x8072721f,
-  0xa973ba5, 0x80705b50, 0xa7e2f85, 0x806e496c, 0xa6522fe, 0x806c3c74,
-  0xa4c1610, 0x806a3466,
-  0xa3308bd, 0x80683143, 0xa19fb04, 0x8066330c, 0xa00ece8, 0x806439c0,
-  0x9e7de6a, 0x80624560,
-  0x9cecf89, 0x806055eb, 0x9b5c048, 0x805e6b62, 0x99cb0a7, 0x805c85c4,
-  0x983a0a7, 0x805aa512,
-  0x96a9049, 0x8058c94c, 0x9517f8f, 0x8056f272, 0x9386e78, 0x80552084,
-  0x91f5d06, 0x80535381,
-  0x9064b3a, 0x80518b6b, 0x8ed3916, 0x804fc841, 0x8d42699, 0x804e0a04,
-  0x8bb13c5, 0x804c50b2,
-  0x8a2009a, 0x804a9c4d, 0x888ed1b, 0x8048ecd5, 0x86fd947, 0x80474248,
-  0x856c520, 0x80459ca9,
-  0x83db0a7, 0x8043fbf6, 0x8249bdd, 0x80426030, 0x80b86c2, 0x8040c956,
-  0x7f27157, 0x803f376a,
-  0x7d95b9e, 0x803daa6a, 0x7c04598, 0x803c2257, 0x7a72f45, 0x803a9f31,
-  0x78e18a7, 0x803920f8,
-  0x77501be, 0x8037a7ac, 0x75bea8c, 0x8036334e, 0x742d311, 0x8034c3dd,
-  0x729bb4e, 0x80335959,
-  0x710a345, 0x8031f3c2, 0x6f78af6, 0x80309318, 0x6de7262, 0x802f375d,
-  0x6c5598a, 0x802de08e,
-  0x6ac406f, 0x802c8ead, 0x6932713, 0x802b41ba, 0x67a0d76, 0x8029f9b4,
-  0x660f398, 0x8028b69c,
-  0x647d97c, 0x80277872, 0x62ebf22, 0x80263f36, 0x615a48b, 0x80250ae7,
-  0x5fc89b8, 0x8023db86,
-  0x5e36ea9, 0x8022b114, 0x5ca5361, 0x80218b8f, 0x5b137df, 0x80206af8,
-  0x5981c26, 0x801f4f4f,
-  0x57f0035, 0x801e3895, 0x565e40d, 0x801d26c8, 0x54cc7b1, 0x801c19ea,
-  0x533ab20, 0x801b11fa,
-  0x51a8e5c, 0x801a0ef8, 0x5017165, 0x801910e4, 0x4e8543e, 0x801817bf,
-  0x4cf36e5, 0x80172388,
-  0x4b6195d, 0x80163440, 0x49cfba7, 0x801549e6, 0x483ddc3, 0x8014647b,
-  0x46abfb3, 0x801383fe,
-  0x451a177, 0x8012a86f, 0x4388310, 0x8011d1d0, 0x41f6480, 0x8011001f,
-  0x40645c7, 0x8010335c,
-  0x3ed26e6, 0x800f6b88, 0x3d407df, 0x800ea8a3, 0x3bae8b2, 0x800deaad,
-  0x3a1c960, 0x800d31a5,
-  0x388a9ea, 0x800c7d8c, 0x36f8a51, 0x800bce63, 0x3566a96, 0x800b2427,
-  0x33d4abb, 0x800a7edb,
-  0x3242abf, 0x8009de7e, 0x30b0aa4, 0x80094310, 0x2f1ea6c, 0x8008ac90,
-  0x2d8ca16, 0x80081b00,
-  0x2bfa9a4, 0x80078e5e, 0x2a68917, 0x800706ac, 0x28d6870, 0x800683e8,
-  0x27447b0, 0x80060614,
-  0x25b26d7, 0x80058d2f, 0x24205e8, 0x80051939, 0x228e4e2, 0x8004aa32,
-  0x20fc3c6, 0x8004401a,
-  0x1f6a297, 0x8003daf1, 0x1dd8154, 0x80037ab7, 0x1c45ffe, 0x80031f6d,
-  0x1ab3e97, 0x8002c912,
-  0x1921d20, 0x800277a6, 0x178fb99, 0x80022b29, 0x15fda03, 0x8001e39b,
-  0x146b860, 0x8001a0fd,
-  0x12d96b1, 0x8001634e, 0x11474f6, 0x80012a8e, 0xfb5330, 0x8000f6bd,
-  0xe23160, 0x8000c7dc,
-  0xc90f88, 0x80009dea, 0xafeda8, 0x800078e7, 0x96cbc1, 0x800058d4, 0x7da9d4,
-  0x80003daf,
-  0x6487e3, 0x8000277a, 0x4b65ee, 0x80001635, 0x3243f5, 0x800009df, 0x1921fb,
-  0x80000278,
-};
-
-static const q31_t WeightsQ31_8192[16384] = {
-  0x7fffffff, 0x0, 0x7fffffd9, 0xfff9b781, 0x7fffff62, 0xfff36f02, 0x7ffffe9d,
-    0xffed2684,
-  0x7ffffd88, 0xffe6de05, 0x7ffffc25, 0xffe09586, 0x7ffffa73, 0xffda4d08,
-    0x7ffff872, 0xffd40489,
-  0x7ffff621, 0xffcdbc0b, 0x7ffff382, 0xffc7738c, 0x7ffff094, 0xffc12b0e,
-    0x7fffed57, 0xffbae290,
-  0x7fffe9cb, 0xffb49a12, 0x7fffe5f0, 0xffae5195, 0x7fffe1c6, 0xffa80917,
-    0x7fffdd4d, 0xffa1c09a,
-  0x7fffd886, 0xff9b781d, 0x7fffd36f, 0xff952fa0, 0x7fffce09, 0xff8ee724,
-    0x7fffc854, 0xff889ea7,
-  0x7fffc251, 0xff82562c, 0x7fffbbfe, 0xff7c0db0, 0x7fffb55c, 0xff75c535,
-    0x7fffae6c, 0xff6f7cba,
-  0x7fffa72c, 0xff69343f, 0x7fff9f9e, 0xff62ebc5, 0x7fff97c1, 0xff5ca34b,
-    0x7fff8f94, 0xff565ad1,
-  0x7fff8719, 0xff501258, 0x7fff7e4f, 0xff49c9df, 0x7fff7536, 0xff438167,
-    0x7fff6bcd, 0xff3d38ef,
-  0x7fff6216, 0xff36f078, 0x7fff5810, 0xff30a801, 0x7fff4dbb, 0xff2a5f8b,
-    0x7fff4317, 0xff241715,
-  0x7fff3824, 0xff1dcea0, 0x7fff2ce2, 0xff17862b, 0x7fff2151, 0xff113db7,
-    0x7fff1572, 0xff0af543,
-  0x7fff0943, 0xff04acd0, 0x7ffefcc5, 0xfefe645e, 0x7ffeeff8, 0xfef81bec,
-    0x7ffee2dd, 0xfef1d37b,
-  0x7ffed572, 0xfeeb8b0a, 0x7ffec7b9, 0xfee5429a, 0x7ffeb9b0, 0xfedefa2b,
-    0x7ffeab59, 0xfed8b1bd,
-  0x7ffe9cb2, 0xfed2694f, 0x7ffe8dbd, 0xfecc20e2, 0x7ffe7e79, 0xfec5d876,
-    0x7ffe6ee5, 0xfebf900a,
-  0x7ffe5f03, 0xfeb947a0, 0x7ffe4ed2, 0xfeb2ff36, 0x7ffe3e52, 0xfeacb6cc,
-    0x7ffe2d83, 0xfea66e64,
-  0x7ffe1c65, 0xfea025fd, 0x7ffe0af8, 0xfe99dd96, 0x7ffdf93c, 0xfe939530,
-    0x7ffde731, 0xfe8d4ccb,
-  0x7ffdd4d7, 0xfe870467, 0x7ffdc22e, 0xfe80bc04, 0x7ffdaf37, 0xfe7a73a2,
-    0x7ffd9bf0, 0xfe742b41,
-  0x7ffd885a, 0xfe6de2e0, 0x7ffd7476, 0xfe679a81, 0x7ffd6042, 0xfe615223,
-    0x7ffd4bc0, 0xfe5b09c5,
-  0x7ffd36ee, 0xfe54c169, 0x7ffd21ce, 0xfe4e790d, 0x7ffd0c5f, 0xfe4830b3,
-    0x7ffcf6a0, 0xfe41e85a,
-  0x7ffce093, 0xfe3ba002, 0x7ffcca37, 0xfe3557ab, 0x7ffcb38c, 0xfe2f0f55,
-    0x7ffc9c92, 0xfe28c700,
-  0x7ffc8549, 0xfe227eac, 0x7ffc6db1, 0xfe1c365a, 0x7ffc55ca, 0xfe15ee09,
-    0x7ffc3d94, 0xfe0fa5b8,
-  0x7ffc250f, 0xfe095d69, 0x7ffc0c3b, 0xfe03151c, 0x7ffbf319, 0xfdfccccf,
-    0x7ffbd9a7, 0xfdf68484,
-  0x7ffbbfe6, 0xfdf03c3a, 0x7ffba5d7, 0xfde9f3f1, 0x7ffb8b78, 0xfde3aba9,
-    0x7ffb70cb, 0xfddd6363,
-  0x7ffb55ce, 0xfdd71b1e, 0x7ffb3a83, 0xfdd0d2db, 0x7ffb1ee9, 0xfdca8a99,
-    0x7ffb0300, 0xfdc44258,
-  0x7ffae6c7, 0xfdbdfa18, 0x7ffaca40, 0xfdb7b1da, 0x7ffaad6a, 0xfdb1699e,
-    0x7ffa9045, 0xfdab2162,
-  0x7ffa72d1, 0xfda4d929, 0x7ffa550e, 0xfd9e90f0, 0x7ffa36fc, 0xfd9848b9,
-    0x7ffa189c, 0xfd920084,
-  0x7ff9f9ec, 0xfd8bb850, 0x7ff9daed, 0xfd85701e, 0x7ff9bba0, 0xfd7f27ed,
-    0x7ff99c03, 0xfd78dfbd,
-  0x7ff97c18, 0xfd729790, 0x7ff95bdd, 0xfd6c4f64, 0x7ff93b54, 0xfd660739,
-    0x7ff91a7b, 0xfd5fbf10,
-  0x7ff8f954, 0xfd5976e9, 0x7ff8d7de, 0xfd532ec3, 0x7ff8b619, 0xfd4ce69f,
-    0x7ff89405, 0xfd469e7c,
-  0x7ff871a2, 0xfd40565c, 0x7ff84ef0, 0xfd3a0e3d, 0x7ff82bef, 0xfd33c61f,
-    0x7ff8089f, 0xfd2d7e04,
-  0x7ff7e500, 0xfd2735ea, 0x7ff7c113, 0xfd20edd2, 0x7ff79cd6, 0xfd1aa5bc,
-    0x7ff7784a, 0xfd145da7,
-  0x7ff75370, 0xfd0e1594, 0x7ff72e46, 0xfd07cd83, 0x7ff708ce, 0xfd018574,
-    0x7ff6e307, 0xfcfb3d67,
-  0x7ff6bcf0, 0xfcf4f55c, 0x7ff6968b, 0xfceead52, 0x7ff66fd7, 0xfce8654b,
-    0x7ff648d4, 0xfce21d45,
-  0x7ff62182, 0xfcdbd541, 0x7ff5f9e1, 0xfcd58d3f, 0x7ff5d1f1, 0xfccf453f,
-    0x7ff5a9b2, 0xfcc8fd41,
-  0x7ff58125, 0xfcc2b545, 0x7ff55848, 0xfcbc6d4c, 0x7ff52f1d, 0xfcb62554,
-    0x7ff505a2, 0xfcafdd5e,
-  0x7ff4dbd9, 0xfca9956a, 0x7ff4b1c0, 0xfca34d78, 0x7ff48759, 0xfc9d0588,
-    0x7ff45ca3, 0xfc96bd9b,
-  0x7ff4319d, 0xfc9075af, 0x7ff40649, 0xfc8a2dc6, 0x7ff3daa6, 0xfc83e5de,
-    0x7ff3aeb4, 0xfc7d9df9,
-  0x7ff38274, 0xfc775616, 0x7ff355e4, 0xfc710e36, 0x7ff32905, 0xfc6ac657,
-    0x7ff2fbd7, 0xfc647e7b,
-  0x7ff2ce5b, 0xfc5e36a0, 0x7ff2a08f, 0xfc57eec9, 0x7ff27275, 0xfc51a6f3,
-    0x7ff2440b, 0xfc4b5f20,
-  0x7ff21553, 0xfc45174e, 0x7ff1e64c, 0xfc3ecf80, 0x7ff1b6f6, 0xfc3887b3,
-    0x7ff18751, 0xfc323fe9,
-  0x7ff1575d, 0xfc2bf821, 0x7ff1271a, 0xfc25b05c, 0x7ff0f688, 0xfc1f6899,
-    0x7ff0c5a7, 0xfc1920d8,
-  0x7ff09478, 0xfc12d91a, 0x7ff062f9, 0xfc0c915e, 0x7ff0312c, 0xfc0649a5,
-    0x7fefff0f, 0xfc0001ee,
-  0x7fefcca4, 0xfbf9ba39, 0x7fef99ea, 0xfbf37287, 0x7fef66e1, 0xfbed2ad8,
-    0x7fef3388, 0xfbe6e32b,
-  0x7feeffe1, 0xfbe09b80, 0x7feecbec, 0xfbda53d8, 0x7fee97a7, 0xfbd40c33,
-    0x7fee6313, 0xfbcdc490,
-  0x7fee2e30, 0xfbc77cf0, 0x7fedf8ff, 0xfbc13552, 0x7fedc37e, 0xfbbaedb7,
-    0x7fed8daf, 0xfbb4a61f,
-  0x7fed5791, 0xfbae5e89, 0x7fed2123, 0xfba816f6, 0x7fecea67, 0xfba1cf66,
-    0x7fecb35c, 0xfb9b87d8,
-  0x7fec7c02, 0xfb95404d, 0x7fec4459, 0xfb8ef8c5, 0x7fec0c62, 0xfb88b13f,
-    0x7febd41b, 0xfb8269bd,
-  0x7feb9b85, 0xfb7c223d, 0x7feb62a1, 0xfb75dac0, 0x7feb296d, 0xfb6f9345,
-    0x7feaefeb, 0xfb694bce,
-  0x7feab61a, 0xfb630459, 0x7fea7bfa, 0xfb5cbce7, 0x7fea418b, 0xfb567578,
-    0x7fea06cd, 0xfb502e0c,
-  0x7fe9cbc0, 0xfb49e6a3, 0x7fe99064, 0xfb439f3c, 0x7fe954ba, 0xfb3d57d9,
-    0x7fe918c0, 0xfb371078,
-  0x7fe8dc78, 0xfb30c91b, 0x7fe89fe0, 0xfb2a81c0, 0x7fe862fa, 0xfb243a69,
-    0x7fe825c5, 0xfb1df314,
-  0x7fe7e841, 0xfb17abc2, 0x7fe7aa6e, 0xfb116474, 0x7fe76c4c, 0xfb0b1d28,
-    0x7fe72ddb, 0xfb04d5e0,
-  0x7fe6ef1c, 0xfafe8e9b, 0x7fe6b00d, 0xfaf84758, 0x7fe670b0, 0xfaf20019,
-    0x7fe63103, 0xfaebb8dd,
-  0x7fe5f108, 0xfae571a4, 0x7fe5b0be, 0xfadf2a6e, 0x7fe57025, 0xfad8e33c,
-    0x7fe52f3d, 0xfad29c0c,
-  0x7fe4ee06, 0xfacc54e0, 0x7fe4ac81, 0xfac60db7, 0x7fe46aac, 0xfabfc691,
-    0x7fe42889, 0xfab97f6e,
-  0x7fe3e616, 0xfab3384f, 0x7fe3a355, 0xfaacf133, 0x7fe36045, 0xfaa6aa1a,
-    0x7fe31ce6, 0xfaa06305,
-  0x7fe2d938, 0xfa9a1bf3, 0x7fe2953b, 0xfa93d4e4, 0x7fe250ef, 0xfa8d8dd8,
-    0x7fe20c55, 0xfa8746d0,
-  0x7fe1c76b, 0xfa80ffcb, 0x7fe18233, 0xfa7ab8ca, 0x7fe13cac, 0xfa7471cc,
-    0x7fe0f6d6, 0xfa6e2ad1,
-  0x7fe0b0b1, 0xfa67e3da, 0x7fe06a3d, 0xfa619ce7, 0x7fe0237a, 0xfa5b55f7,
-    0x7fdfdc69, 0xfa550f0a,
-  0x7fdf9508, 0xfa4ec821, 0x7fdf4d59, 0xfa48813b, 0x7fdf055a, 0xfa423a59,
-    0x7fdebd0d, 0xfa3bf37a,
-  0x7fde7471, 0xfa35ac9f, 0x7fde2b86, 0xfa2f65c8, 0x7fdde24d, 0xfa291ef4,
-    0x7fdd98c4, 0xfa22d823,
-  0x7fdd4eec, 0xfa1c9157, 0x7fdd04c6, 0xfa164a8e, 0x7fdcba51, 0xfa1003c8,
-    0x7fdc6f8d, 0xfa09bd06,
-  0x7fdc247a, 0xfa037648, 0x7fdbd918, 0xf9fd2f8e, 0x7fdb8d67, 0xf9f6e8d7,
-    0x7fdb4167, 0xf9f0a224,
-  0x7fdaf519, 0xf9ea5b75, 0x7fdaa87c, 0xf9e414ca, 0x7fda5b8f, 0xf9ddce22,
-    0x7fda0e54, 0xf9d7877e,
-  0x7fd9c0ca, 0xf9d140de, 0x7fd972f2, 0xf9cafa42, 0x7fd924ca, 0xf9c4b3a9,
-    0x7fd8d653, 0xf9be6d15,
-  0x7fd8878e, 0xf9b82684, 0x7fd8387a, 0xf9b1dff7, 0x7fd7e917, 0xf9ab996e,
-    0x7fd79965, 0xf9a552e9,
-  0x7fd74964, 0xf99f0c68, 0x7fd6f914, 0xf998c5ea, 0x7fd6a875, 0xf9927f71,
-    0x7fd65788, 0xf98c38fc,
-  0x7fd6064c, 0xf985f28a, 0x7fd5b4c1, 0xf97fac1d, 0x7fd562e7, 0xf97965b4,
-    0x7fd510be, 0xf9731f4e,
-  0x7fd4be46, 0xf96cd8ed, 0x7fd46b80, 0xf9669290, 0x7fd4186a, 0xf9604c37,
-    0x7fd3c506, 0xf95a05e2,
-  0x7fd37153, 0xf953bf91, 0x7fd31d51, 0xf94d7944, 0x7fd2c900, 0xf94732fb,
-    0x7fd27460, 0xf940ecb7,
-  0x7fd21f72, 0xf93aa676, 0x7fd1ca35, 0xf934603a, 0x7fd174a8, 0xf92e1a02,
-    0x7fd11ecd, 0xf927d3ce,
-  0x7fd0c8a3, 0xf9218d9e, 0x7fd0722b, 0xf91b4773, 0x7fd01b63, 0xf915014c,
-    0x7fcfc44d, 0xf90ebb29,
-  0x7fcf6ce8, 0xf908750a, 0x7fcf1533, 0xf9022ef0, 0x7fcebd31, 0xf8fbe8da,
-    0x7fce64df, 0xf8f5a2c9,
-  0x7fce0c3e, 0xf8ef5cbb, 0x7fcdb34f, 0xf8e916b2, 0x7fcd5a11, 0xf8e2d0ae,
-    0x7fcd0083, 0xf8dc8aae,
-  0x7fcca6a7, 0xf8d644b2, 0x7fcc4c7d, 0xf8cffebb, 0x7fcbf203, 0xf8c9b8c8,
-    0x7fcb973b, 0xf8c372d9,
-  0x7fcb3c23, 0xf8bd2cef, 0x7fcae0bd, 0xf8b6e70a, 0x7fca8508, 0xf8b0a129,
-    0x7fca2905, 0xf8aa5b4c,
-  0x7fc9ccb2, 0xf8a41574, 0x7fc97011, 0xf89dcfa1, 0x7fc91320, 0xf89789d2,
-    0x7fc8b5e1, 0xf8914407,
-  0x7fc85854, 0xf88afe42, 0x7fc7fa77, 0xf884b880, 0x7fc79c4b, 0xf87e72c4,
-    0x7fc73dd1, 0xf8782d0c,
-  0x7fc6df08, 0xf871e759, 0x7fc67ff0, 0xf86ba1aa, 0x7fc62089, 0xf8655c00,
-    0x7fc5c0d3, 0xf85f165b,
-  0x7fc560cf, 0xf858d0bb, 0x7fc5007c, 0xf8528b1f, 0x7fc49fda, 0xf84c4588,
-    0x7fc43ee9, 0xf845fff5,
-  0x7fc3dda9, 0xf83fba68, 0x7fc37c1b, 0xf83974df, 0x7fc31a3d, 0xf8332f5b,
-    0x7fc2b811, 0xf82ce9dc,
-  0x7fc25596, 0xf826a462, 0x7fc1f2cc, 0xf8205eec, 0x7fc18fb4, 0xf81a197b,
-    0x7fc12c4d, 0xf813d410,
-  0x7fc0c896, 0xf80d8ea9, 0x7fc06491, 0xf8074947, 0x7fc0003e, 0xf80103ea,
-    0x7fbf9b9b, 0xf7fabe92,
-  0x7fbf36aa, 0xf7f4793e, 0x7fbed16a, 0xf7ee33f0, 0x7fbe6bdb, 0xf7e7eea7,
-    0x7fbe05fd, 0xf7e1a963,
-  0x7fbd9fd0, 0xf7db6423, 0x7fbd3955, 0xf7d51ee9, 0x7fbcd28b, 0xf7ced9b4,
-    0x7fbc6b72, 0xf7c89484,
-  0x7fbc040a, 0xf7c24f59, 0x7fbb9c53, 0xf7bc0a33, 0x7fbb344e, 0xf7b5c512,
-    0x7fbacbfa, 0xf7af7ff6,
-  0x7fba6357, 0xf7a93ae0, 0x7fb9fa65, 0xf7a2f5ce, 0x7fb99125, 0xf79cb0c2,
-    0x7fb92796, 0xf7966bbb,
-  0x7fb8bdb8, 0xf79026b9, 0x7fb8538b, 0xf789e1bc, 0x7fb7e90f, 0xf7839cc4,
-    0x7fb77e45, 0xf77d57d2,
-  0x7fb7132b, 0xf77712e5, 0x7fb6a7c3, 0xf770cdfd, 0x7fb63c0d, 0xf76a891b,
-    0x7fb5d007, 0xf764443d,
-  0x7fb563b3, 0xf75dff66, 0x7fb4f710, 0xf757ba93, 0x7fb48a1e, 0xf75175c6,
-    0x7fb41cdd, 0xf74b30fe,
-  0x7fb3af4e, 0xf744ec3b, 0x7fb34170, 0xf73ea77e, 0x7fb2d343, 0xf73862c6,
-    0x7fb264c7, 0xf7321e14,
-  0x7fb1f5fc, 0xf72bd967, 0x7fb186e3, 0xf72594c0, 0x7fb1177b, 0xf71f501e,
-    0x7fb0a7c4, 0xf7190b81,
-  0x7fb037bf, 0xf712c6ea, 0x7fafc76a, 0xf70c8259, 0x7faf56c7, 0xf7063dcd,
-    0x7faee5d5, 0xf6fff946,
-  0x7fae7495, 0xf6f9b4c6, 0x7fae0305, 0xf6f3704a, 0x7fad9127, 0xf6ed2bd4,
-    0x7fad1efa, 0xf6e6e764,
-  0x7facac7f, 0xf6e0a2fa, 0x7fac39b4, 0xf6da5e95, 0x7fabc69b, 0xf6d41a36,
-    0x7fab5333, 0xf6cdd5dc,
-  0x7faadf7c, 0xf6c79188, 0x7faa6b77, 0xf6c14d3a, 0x7fa9f723, 0xf6bb08f1,
-    0x7fa98280, 0xf6b4c4ae,
-  0x7fa90d8e, 0xf6ae8071, 0x7fa8984e, 0xf6a83c3a, 0x7fa822bf, 0xf6a1f808,
-    0x7fa7ace1, 0xf69bb3dd,
-  0x7fa736b4, 0xf6956fb7, 0x7fa6c039, 0xf68f2b96, 0x7fa6496e, 0xf688e77c,
-    0x7fa5d256, 0xf682a367,
-  0x7fa55aee, 0xf67c5f59, 0x7fa4e338, 0xf6761b50, 0x7fa46b32, 0xf66fd74d,
-    0x7fa3f2df, 0xf6699350,
-  0x7fa37a3c, 0xf6634f59, 0x7fa3014b, 0xf65d0b68, 0x7fa2880b, 0xf656c77c,
-    0x7fa20e7c, 0xf6508397,
-  0x7fa1949e, 0xf64a3fb8, 0x7fa11a72, 0xf643fbdf, 0x7fa09ff7, 0xf63db80b,
-    0x7fa0252e, 0xf637743e,
-  0x7f9faa15, 0xf6313077, 0x7f9f2eae, 0xf62aecb5, 0x7f9eb2f8, 0xf624a8fa,
-    0x7f9e36f4, 0xf61e6545,
-  0x7f9dbaa0, 0xf6182196, 0x7f9d3dfe, 0xf611dded, 0x7f9cc10d, 0xf60b9a4b,
-    0x7f9c43ce, 0xf60556ae,
-  0x7f9bc640, 0xf5ff1318, 0x7f9b4863, 0xf5f8cf87, 0x7f9aca37, 0xf5f28bfd,
-    0x7f9a4bbd, 0xf5ec4879,
-  0x7f99ccf4, 0xf5e604fc, 0x7f994ddc, 0xf5dfc184, 0x7f98ce76, 0xf5d97e13,
-    0x7f984ec1, 0xf5d33aa8,
-  0x7f97cebd, 0xf5ccf743, 0x7f974e6a, 0xf5c6b3e5, 0x7f96cdc9, 0xf5c0708d,
-    0x7f964cd9, 0xf5ba2d3b,
-  0x7f95cb9a, 0xf5b3e9f0, 0x7f954a0d, 0xf5ada6ab, 0x7f94c831, 0xf5a7636c,
-    0x7f944606, 0xf5a12034,
-  0x7f93c38c, 0xf59add02, 0x7f9340c4, 0xf59499d6, 0x7f92bdad, 0xf58e56b1,
-    0x7f923a48, 0xf5881393,
-  0x7f91b694, 0xf581d07b, 0x7f913291, 0xf57b8d69, 0x7f90ae3f, 0xf5754a5e,
-    0x7f90299f, 0xf56f0759,
-  0x7f8fa4b0, 0xf568c45b, 0x7f8f1f72, 0xf5628163, 0x7f8e99e6, 0xf55c3e72,
-    0x7f8e140a, 0xf555fb88,
-  0x7f8d8de1, 0xf54fb8a4, 0x7f8d0768, 0xf54975c6, 0x7f8c80a1, 0xf54332ef,
-    0x7f8bf98b, 0xf53cf01f,
-  0x7f8b7227, 0xf536ad56, 0x7f8aea74, 0xf5306a93, 0x7f8a6272, 0xf52a27d7,
-    0x7f89da21, 0xf523e521,
-  0x7f895182, 0xf51da273, 0x7f88c894, 0xf5175fca, 0x7f883f58, 0xf5111d29,
-    0x7f87b5cd, 0xf50ada8f,
-  0x7f872bf3, 0xf50497fb, 0x7f86a1ca, 0xf4fe556e, 0x7f861753, 0xf4f812e7,
-    0x7f858c8d, 0xf4f1d068,
-  0x7f850179, 0xf4eb8def, 0x7f847616, 0xf4e54b7d, 0x7f83ea64, 0xf4df0912,
-    0x7f835e64, 0xf4d8c6ae,
-  0x7f82d214, 0xf4d28451, 0x7f824577, 0xf4cc41fb, 0x7f81b88a, 0xf4c5ffab,
-    0x7f812b4f, 0xf4bfbd63,
-  0x7f809dc5, 0xf4b97b21, 0x7f800fed, 0xf4b338e7, 0x7f7f81c6, 0xf4acf6b3,
-    0x7f7ef350, 0xf4a6b486,
-  0x7f7e648c, 0xf4a07261, 0x7f7dd579, 0xf49a3042, 0x7f7d4617, 0xf493ee2b,
-    0x7f7cb667, 0xf48dac1a,
-  0x7f7c2668, 0xf4876a10, 0x7f7b961b, 0xf481280e, 0x7f7b057e, 0xf47ae613,
-    0x7f7a7494, 0xf474a41f,
-  0x7f79e35a, 0xf46e6231, 0x7f7951d2, 0xf468204b, 0x7f78bffb, 0xf461de6d,
-    0x7f782dd6, 0xf45b9c95,
-  0x7f779b62, 0xf4555ac5, 0x7f77089f, 0xf44f18fb, 0x7f76758e, 0xf448d739,
-    0x7f75e22e, 0xf442957e,
-  0x7f754e80, 0xf43c53cb, 0x7f74ba83, 0xf436121e, 0x7f742637, 0xf42fd079,
-    0x7f73919d, 0xf4298edc,
-  0x7f72fcb4, 0xf4234d45, 0x7f72677c, 0xf41d0bb6, 0x7f71d1f6, 0xf416ca2e,
-    0x7f713c21, 0xf41088ae,
-  0x7f70a5fe, 0xf40a4735, 0x7f700f8c, 0xf40405c3, 0x7f6f78cb, 0xf3fdc459,
-    0x7f6ee1bc, 0xf3f782f6,
-  0x7f6e4a5e, 0xf3f1419a, 0x7f6db2b1, 0xf3eb0046, 0x7f6d1ab6, 0xf3e4bef9,
-    0x7f6c826d, 0xf3de7db4,
-  0x7f6be9d4, 0xf3d83c77, 0x7f6b50ed, 0xf3d1fb40, 0x7f6ab7b8, 0xf3cbba12,
-    0x7f6a1e34, 0xf3c578eb,
-  0x7f698461, 0xf3bf37cb, 0x7f68ea40, 0xf3b8f6b3, 0x7f684fd0, 0xf3b2b5a3,
-    0x7f67b512, 0xf3ac749a,
-  0x7f671a05, 0xf3a63398, 0x7f667ea9, 0xf39ff29f, 0x7f65e2ff, 0xf399b1ad,
-    0x7f654706, 0xf39370c2,
-  0x7f64aabf, 0xf38d2fe0, 0x7f640e29, 0xf386ef05, 0x7f637144, 0xf380ae31,
-    0x7f62d411, 0xf37a6d66,
-  0x7f62368f, 0xf3742ca2, 0x7f6198bf, 0xf36debe6, 0x7f60faa0, 0xf367ab31,
-    0x7f605c33, 0xf3616a85,
-  0x7f5fbd77, 0xf35b29e0, 0x7f5f1e6c, 0xf354e943, 0x7f5e7f13, 0xf34ea8ae,
-    0x7f5ddf6b, 0xf3486820,
-  0x7f5d3f75, 0xf342279b, 0x7f5c9f30, 0xf33be71d, 0x7f5bfe9d, 0xf335a6a7,
-    0x7f5b5dbb, 0xf32f6639,
-  0x7f5abc8a, 0xf32925d3, 0x7f5a1b0b, 0xf322e575, 0x7f59793e, 0xf31ca51f,
-    0x7f58d721, 0xf31664d1,
-  0x7f5834b7, 0xf310248a, 0x7f5791fd, 0xf309e44c, 0x7f56eef5, 0xf303a416,
-    0x7f564b9f, 0xf2fd63e8,
-  0x7f55a7fa, 0xf2f723c1, 0x7f550407, 0xf2f0e3a3, 0x7f545fc5, 0xf2eaa38d,
-    0x7f53bb34, 0xf2e4637f,
-  0x7f531655, 0xf2de2379, 0x7f527127, 0xf2d7e37b, 0x7f51cbab, 0xf2d1a385,
-    0x7f5125e0, 0xf2cb6398,
-  0x7f507fc7, 0xf2c523b2, 0x7f4fd95f, 0xf2bee3d5, 0x7f4f32a9, 0xf2b8a400,
-    0x7f4e8ba4, 0xf2b26433,
-  0x7f4de451, 0xf2ac246e, 0x7f4d3caf, 0xf2a5e4b1, 0x7f4c94be, 0xf29fa4fd,
-    0x7f4bec7f, 0xf2996551,
-  0x7f4b43f2, 0xf29325ad, 0x7f4a9b16, 0xf28ce612, 0x7f49f1eb, 0xf286a67e,
-    0x7f494872, 0xf28066f4,
-  0x7f489eaa, 0xf27a2771, 0x7f47f494, 0xf273e7f7, 0x7f474a30, 0xf26da885,
-    0x7f469f7d, 0xf267691b,
-  0x7f45f47b, 0xf26129ba, 0x7f45492b, 0xf25aea61, 0x7f449d8c, 0xf254ab11,
-    0x7f43f19f, 0xf24e6bc9,
-  0x7f434563, 0xf2482c8a, 0x7f4298d9, 0xf241ed53, 0x7f41ec01, 0xf23bae24,
-    0x7f413ed9, 0xf2356efe,
-  0x7f409164, 0xf22f2fe1, 0x7f3fe3a0, 0xf228f0cc, 0x7f3f358d, 0xf222b1c0,
-    0x7f3e872c, 0xf21c72bc,
-  0x7f3dd87c, 0xf21633c0, 0x7f3d297e, 0xf20ff4ce, 0x7f3c7a31, 0xf209b5e4,
-    0x7f3bca96, 0xf2037702,
-  0x7f3b1aad, 0xf1fd3829, 0x7f3a6a75, 0xf1f6f959, 0x7f39b9ee, 0xf1f0ba91,
-    0x7f390919, 0xf1ea7bd2,
-  0x7f3857f6, 0xf1e43d1c, 0x7f37a684, 0xf1ddfe6f, 0x7f36f4c3, 0xf1d7bfca,
-    0x7f3642b4, 0xf1d1812e,
-  0x7f359057, 0xf1cb429a, 0x7f34ddab, 0xf1c50410, 0x7f342ab1, 0xf1bec58e,
-    0x7f337768, 0xf1b88715,
-  0x7f32c3d1, 0xf1b248a5, 0x7f320feb, 0xf1ac0a3e, 0x7f315bb7, 0xf1a5cbdf,
-    0x7f30a734, 0xf19f8d89,
-  0x7f2ff263, 0xf1994f3d, 0x7f2f3d44, 0xf19310f9, 0x7f2e87d6, 0xf18cd2be,
-    0x7f2dd219, 0xf186948c,
-  0x7f2d1c0e, 0xf1805662, 0x7f2c65b5, 0xf17a1842, 0x7f2baf0d, 0xf173da2b,
-    0x7f2af817, 0xf16d9c1d,
-  0x7f2a40d2, 0xf1675e17, 0x7f29893f, 0xf161201b, 0x7f28d15d, 0xf15ae228,
-    0x7f28192d, 0xf154a43d,
-  0x7f2760af, 0xf14e665c, 0x7f26a7e2, 0xf1482884, 0x7f25eec7, 0xf141eab5,
-    0x7f25355d, 0xf13bacef,
-  0x7f247ba5, 0xf1356f32, 0x7f23c19e, 0xf12f317e, 0x7f230749, 0xf128f3d4,
-    0x7f224ca6, 0xf122b632,
-  0x7f2191b4, 0xf11c789a, 0x7f20d674, 0xf1163b0b, 0x7f201ae5, 0xf10ffd85,
-    0x7f1f5f08, 0xf109c009,
-  0x7f1ea2dc, 0xf1038295, 0x7f1de662, 0xf0fd452b, 0x7f1d299a, 0xf0f707ca,
-    0x7f1c6c83, 0xf0f0ca72,
-  0x7f1baf1e, 0xf0ea8d24, 0x7f1af16a, 0xf0e44fdf, 0x7f1a3368, 0xf0de12a3,
-    0x7f197518, 0xf0d7d571,
-  0x7f18b679, 0xf0d19848, 0x7f17f78c, 0xf0cb5b28, 0x7f173850, 0xf0c51e12,
-    0x7f1678c6, 0xf0bee105,
-  0x7f15b8ee, 0xf0b8a401, 0x7f14f8c7, 0xf0b26707, 0x7f143852, 0xf0ac2a16,
-    0x7f13778e, 0xf0a5ed2f,
-  0x7f12b67c, 0xf09fb051, 0x7f11f51c, 0xf099737d, 0x7f11336d, 0xf09336b2,
-    0x7f107170, 0xf08cf9f1,
-  0x7f0faf25, 0xf086bd39, 0x7f0eec8b, 0xf080808b, 0x7f0e29a3, 0xf07a43e7,
-    0x7f0d666c, 0xf074074c,
-  0x7f0ca2e7, 0xf06dcaba, 0x7f0bdf14, 0xf0678e32, 0x7f0b1af2, 0xf06151b4,
-    0x7f0a5682, 0xf05b1540,
-  0x7f0991c4, 0xf054d8d5, 0x7f08ccb7, 0xf04e9c73, 0x7f08075c, 0xf048601c,
-    0x7f0741b2, 0xf04223ce,
-  0x7f067bba, 0xf03be78a, 0x7f05b574, 0xf035ab4f, 0x7f04eedf, 0xf02f6f1f,
-    0x7f0427fc, 0xf02932f8,
-  0x7f0360cb, 0xf022f6da, 0x7f02994b, 0xf01cbac7, 0x7f01d17d, 0xf0167ebd,
-    0x7f010961, 0xf01042be,
-  0x7f0040f6, 0xf00a06c8, 0x7eff783d, 0xf003cadc, 0x7efeaf36, 0xeffd8ef9,
-    0x7efde5e0, 0xeff75321,
-  0x7efd1c3c, 0xeff11753, 0x7efc524a, 0xefeadb8e, 0x7efb8809, 0xefe49fd3,
-    0x7efabd7a, 0xefde6423,
-  0x7ef9f29d, 0xefd8287c, 0x7ef92771, 0xefd1ecdf, 0x7ef85bf7, 0xefcbb14c,
-    0x7ef7902f, 0xefc575c3,
-  0x7ef6c418, 0xefbf3a45, 0x7ef5f7b3, 0xefb8fed0, 0x7ef52b00, 0xefb2c365,
-    0x7ef45dfe, 0xefac8804,
-  0x7ef390ae, 0xefa64cae, 0x7ef2c310, 0xefa01161, 0x7ef1f524, 0xef99d61f,
-    0x7ef126e9, 0xef939ae6,
-  0x7ef05860, 0xef8d5fb8, 0x7eef8988, 0xef872494, 0x7eeeba62, 0xef80e97a,
-    0x7eedeaee, 0xef7aae6b,
-  0x7eed1b2c, 0xef747365, 0x7eec4b1b, 0xef6e386a, 0x7eeb7abc, 0xef67fd79,
-    0x7eeaaa0f, 0xef61c292,
-  0x7ee9d914, 0xef5b87b5, 0x7ee907ca, 0xef554ce3, 0x7ee83632, 0xef4f121b,
-    0x7ee7644c, 0xef48d75d,
-  0x7ee69217, 0xef429caa, 0x7ee5bf94, 0xef3c6201, 0x7ee4ecc3, 0xef362762,
-    0x7ee419a3, 0xef2feccd,
-  0x7ee34636, 0xef29b243, 0x7ee2727a, 0xef2377c4, 0x7ee19e6f, 0xef1d3d4e,
-    0x7ee0ca17, 0xef1702e4,
-  0x7edff570, 0xef10c883, 0x7edf207b, 0xef0a8e2d, 0x7ede4b38, 0xef0453e2,
-    0x7edd75a6, 0xeefe19a1,
-  0x7edc9fc6, 0xeef7df6a, 0x7edbc998, 0xeef1a53e, 0x7edaf31c, 0xeeeb6b1c,
-    0x7eda1c51, 0xeee53105,
-  0x7ed94538, 0xeedef6f9, 0x7ed86dd1, 0xeed8bcf7, 0x7ed7961c, 0xeed28300,
-    0x7ed6be18, 0xeecc4913,
-  0x7ed5e5c6, 0xeec60f31, 0x7ed50d26, 0xeebfd55a, 0x7ed43438, 0xeeb99b8d,
-    0x7ed35afb, 0xeeb361cb,
-  0x7ed28171, 0xeead2813, 0x7ed1a798, 0xeea6ee66, 0x7ed0cd70, 0xeea0b4c4,
-    0x7ecff2fb, 0xee9a7b2d,
-  0x7ecf1837, 0xee9441a0, 0x7ece3d25, 0xee8e081e, 0x7ecd61c5, 0xee87cea7,
-    0x7ecc8617, 0xee81953b,
-  0x7ecbaa1a, 0xee7b5bd9, 0x7ecacdd0, 0xee752283, 0x7ec9f137, 0xee6ee937,
-    0x7ec9144f, 0xee68aff6,
-  0x7ec8371a, 0xee6276bf, 0x7ec75996, 0xee5c3d94, 0x7ec67bc5, 0xee560473,
-    0x7ec59da5, 0xee4fcb5e,
-  0x7ec4bf36, 0xee499253, 0x7ec3e07a, 0xee435953, 0x7ec3016f, 0xee3d205e,
-    0x7ec22217, 0xee36e775,
-  0x7ec14270, 0xee30ae96, 0x7ec0627a, 0xee2a75c2, 0x7ebf8237, 0xee243cf9,
-    0x7ebea1a6, 0xee1e043b,
-  0x7ebdc0c6, 0xee17cb88, 0x7ebcdf98, 0xee1192e0, 0x7ebbfe1c, 0xee0b5a43,
-    0x7ebb1c52, 0xee0521b2,
-  0x7eba3a39, 0xedfee92b, 0x7eb957d2, 0xedf8b0b0, 0x7eb8751e, 0xedf2783f,
-    0x7eb7921b, 0xedec3fda,
-  0x7eb6aeca, 0xede60780, 0x7eb5cb2a, 0xeddfcf31, 0x7eb4e73d, 0xedd996ed,
-    0x7eb40301, 0xedd35eb5,
-  0x7eb31e78, 0xedcd2687, 0x7eb239a0, 0xedc6ee65, 0x7eb1547a, 0xedc0b64e,
-    0x7eb06f05, 0xedba7e43,
-  0x7eaf8943, 0xedb44642, 0x7eaea333, 0xedae0e4d, 0x7eadbcd4, 0xeda7d664,
-    0x7eacd627, 0xeda19e85,
-  0x7eabef2c, 0xed9b66b2, 0x7eab07e3, 0xed952eea, 0x7eaa204c, 0xed8ef72e,
-    0x7ea93867, 0xed88bf7d,
-  0x7ea85033, 0xed8287d7, 0x7ea767b2, 0xed7c503d, 0x7ea67ee2, 0xed7618ae,
-    0x7ea595c4, 0xed6fe12b,
-  0x7ea4ac58, 0xed69a9b3, 0x7ea3c29e, 0xed637246, 0x7ea2d896, 0xed5d3ae5,
-    0x7ea1ee3f, 0xed570390,
-  0x7ea1039b, 0xed50cc46, 0x7ea018a8, 0xed4a9507, 0x7e9f2d68, 0xed445dd5,
-    0x7e9e41d9, 0xed3e26ad,
-  0x7e9d55fc, 0xed37ef91, 0x7e9c69d1, 0xed31b881, 0x7e9b7d58, 0xed2b817d,
-    0x7e9a9091, 0xed254a84,
-  0x7e99a37c, 0xed1f1396, 0x7e98b618, 0xed18dcb5, 0x7e97c867, 0xed12a5df,
-    0x7e96da67, 0xed0c6f14,
-  0x7e95ec1a, 0xed063856, 0x7e94fd7e, 0xed0001a3, 0x7e940e94, 0xecf9cafb,
-    0x7e931f5c, 0xecf39460,
-  0x7e922fd6, 0xeced5dd0, 0x7e914002, 0xece7274c, 0x7e904fe0, 0xece0f0d4,
-    0x7e8f5f70, 0xecdaba67,
-  0x7e8e6eb2, 0xecd48407, 0x7e8d7da6, 0xecce4db2, 0x7e8c8c4b, 0xecc81769,
-    0x7e8b9aa3, 0xecc1e12c,
-  0x7e8aa8ac, 0xecbbaafb, 0x7e89b668, 0xecb574d5, 0x7e88c3d5, 0xecaf3ebc,
-    0x7e87d0f5, 0xeca908ae,
-  0x7e86ddc6, 0xeca2d2ad, 0x7e85ea49, 0xec9c9cb7, 0x7e84f67e, 0xec9666cd,
-    0x7e840265, 0xec9030f0,
-  0x7e830dff, 0xec89fb1e, 0x7e82194a, 0xec83c558, 0x7e812447, 0xec7d8f9e,
-    0x7e802ef6, 0xec7759f1,
-  0x7e7f3957, 0xec71244f, 0x7e7e436a, 0xec6aeeba, 0x7e7d4d2f, 0xec64b930,
-    0x7e7c56a5, 0xec5e83b3,
-  0x7e7b5fce, 0xec584e41, 0x7e7a68a9, 0xec5218dc, 0x7e797136, 0xec4be383,
-    0x7e787975, 0xec45ae36,
-  0x7e778166, 0xec3f78f6, 0x7e768908, 0xec3943c1, 0x7e75905d, 0xec330e99,
-    0x7e749764, 0xec2cd97d,
-  0x7e739e1d, 0xec26a46d, 0x7e72a488, 0xec206f69, 0x7e71aaa4, 0xec1a3a72,
-    0x7e70b073, 0xec140587,
-  0x7e6fb5f4, 0xec0dd0a8, 0x7e6ebb27, 0xec079bd6, 0x7e6dc00c, 0xec01670f,
-    0x7e6cc4a2, 0xebfb3256,
-  0x7e6bc8eb, 0xebf4fda8, 0x7e6acce6, 0xebeec907, 0x7e69d093, 0xebe89472,
-    0x7e68d3f2, 0xebe25fea,
-  0x7e67d703, 0xebdc2b6e, 0x7e66d9c6, 0xebd5f6fe, 0x7e65dc3b, 0xebcfc29b,
-    0x7e64de62, 0xebc98e45,
-  0x7e63e03b, 0xebc359fb, 0x7e62e1c6, 0xebbd25bd, 0x7e61e303, 0xebb6f18c,
-    0x7e60e3f2, 0xebb0bd67,
-  0x7e5fe493, 0xebaa894f, 0x7e5ee4e6, 0xeba45543, 0x7e5de4ec, 0xeb9e2144,
-    0x7e5ce4a3, 0xeb97ed52,
-  0x7e5be40c, 0xeb91b96c, 0x7e5ae328, 0xeb8b8593, 0x7e59e1f5, 0xeb8551c6,
-    0x7e58e075, 0xeb7f1e06,
-  0x7e57dea7, 0xeb78ea52, 0x7e56dc8a, 0xeb72b6ac, 0x7e55da20, 0xeb6c8312,
-    0x7e54d768, 0xeb664f84,
-  0x7e53d462, 0xeb601c04, 0x7e52d10e, 0xeb59e890, 0x7e51cd6c, 0xeb53b529,
-    0x7e50c97c, 0xeb4d81ce,
-  0x7e4fc53e, 0xeb474e81, 0x7e4ec0b2, 0xeb411b40, 0x7e4dbbd9, 0xeb3ae80c,
-    0x7e4cb6b1, 0xeb34b4e4,
-  0x7e4bb13c, 0xeb2e81ca, 0x7e4aab78, 0xeb284ebc, 0x7e49a567, 0xeb221bbb,
-    0x7e489f08, 0xeb1be8c8,
-  0x7e47985b, 0xeb15b5e1, 0x7e469160, 0xeb0f8307, 0x7e458a17, 0xeb095039,
-    0x7e448281, 0xeb031d79,
-  0x7e437a9c, 0xeafceac6, 0x7e427269, 0xeaf6b81f, 0x7e4169e9, 0xeaf08586,
-    0x7e40611b, 0xeaea52fa,
-  0x7e3f57ff, 0xeae4207a, 0x7e3e4e95, 0xeaddee08, 0x7e3d44dd, 0xead7bba3,
-    0x7e3c3ad7, 0xead1894b,
-  0x7e3b3083, 0xeacb56ff, 0x7e3a25e2, 0xeac524c1, 0x7e391af3, 0xeabef290,
-    0x7e380fb5, 0xeab8c06c,
-  0x7e37042a, 0xeab28e56, 0x7e35f851, 0xeaac5c4c, 0x7e34ec2b, 0xeaa62a4f,
-    0x7e33dfb6, 0xea9ff860,
-  0x7e32d2f4, 0xea99c67e, 0x7e31c5e3, 0xea9394a9, 0x7e30b885, 0xea8d62e1,
-    0x7e2faad9, 0xea873127,
-  0x7e2e9cdf, 0xea80ff7a, 0x7e2d8e97, 0xea7acdda, 0x7e2c8002, 0xea749c47,
-    0x7e2b711f, 0xea6e6ac2,
-  0x7e2a61ed, 0xea683949, 0x7e29526e, 0xea6207df, 0x7e2842a2, 0xea5bd681,
-    0x7e273287, 0xea55a531,
-  0x7e26221f, 0xea4f73ee, 0x7e251168, 0xea4942b9, 0x7e240064, 0xea431191,
-    0x7e22ef12, 0xea3ce077,
-  0x7e21dd73, 0xea36af69, 0x7e20cb85, 0xea307e6a, 0x7e1fb94a, 0xea2a4d78,
-    0x7e1ea6c1, 0xea241c93,
-  0x7e1d93ea, 0xea1debbb, 0x7e1c80c5, 0xea17baf2, 0x7e1b6d53, 0xea118a35,
-    0x7e1a5992, 0xea0b5987,
-  0x7e194584, 0xea0528e5, 0x7e183128, 0xe9fef852, 0x7e171c7f, 0xe9f8c7cc,
-    0x7e160787, 0xe9f29753,
-  0x7e14f242, 0xe9ec66e8, 0x7e13dcaf, 0xe9e6368b, 0x7e12c6ce, 0xe9e0063c,
-    0x7e11b0a0, 0xe9d9d5fa,
-  0x7e109a24, 0xe9d3a5c5, 0x7e0f835a, 0xe9cd759f, 0x7e0e6c42, 0xe9c74586,
-    0x7e0d54dc, 0xe9c1157a,
-  0x7e0c3d29, 0xe9bae57d, 0x7e0b2528, 0xe9b4b58d, 0x7e0a0cd9, 0xe9ae85ab,
-    0x7e08f43d, 0xe9a855d7,
-  0x7e07db52, 0xe9a22610, 0x7e06c21a, 0xe99bf658, 0x7e05a894, 0xe995c6ad,
-    0x7e048ec1, 0xe98f9710,
-  0x7e0374a0, 0xe9896781, 0x7e025a31, 0xe98337ff, 0x7e013f74, 0xe97d088c,
-    0x7e00246a, 0xe976d926,
-  0x7dff0911, 0xe970a9ce, 0x7dfded6c, 0xe96a7a85, 0x7dfcd178, 0xe9644b49,
-    0x7dfbb537, 0xe95e1c1b,
-  0x7dfa98a8, 0xe957ecfb, 0x7df97bcb, 0xe951bde9, 0x7df85ea0, 0xe94b8ee5,
-    0x7df74128, 0xe9455fef,
-  0x7df62362, 0xe93f3107, 0x7df5054f, 0xe939022d, 0x7df3e6ee, 0xe932d361,
-    0x7df2c83f, 0xe92ca4a4,
-  0x7df1a942, 0xe92675f4, 0x7df089f8, 0xe9204752, 0x7def6a60, 0xe91a18bf,
-    0x7dee4a7a, 0xe913ea39,
-  0x7ded2a47, 0xe90dbbc2, 0x7dec09c6, 0xe9078d59, 0x7deae8f7, 0xe9015efe,
-    0x7de9c7da, 0xe8fb30b1,
-  0x7de8a670, 0xe8f50273, 0x7de784b9, 0xe8eed443, 0x7de662b3, 0xe8e8a621,
-    0x7de54060, 0xe8e2780d,
-  0x7de41dc0, 0xe8dc4a07, 0x7de2fad1, 0xe8d61c10, 0x7de1d795, 0xe8cfee27,
-    0x7de0b40b, 0xe8c9c04c,
-  0x7ddf9034, 0xe8c39280, 0x7dde6c0f, 0xe8bd64c2, 0x7ddd479d, 0xe8b73712,
-    0x7ddc22dc, 0xe8b10971,
-  0x7ddafdce, 0xe8aadbde, 0x7dd9d873, 0xe8a4ae59, 0x7dd8b2ca, 0xe89e80e3,
-    0x7dd78cd3, 0xe898537b,
-  0x7dd6668f, 0xe8922622, 0x7dd53ffc, 0xe88bf8d7, 0x7dd4191d, 0xe885cb9a,
-    0x7dd2f1f0, 0xe87f9e6c,
-  0x7dd1ca75, 0xe879714d, 0x7dd0a2ac, 0xe873443c, 0x7dcf7a96, 0xe86d173a,
-    0x7dce5232, 0xe866ea46,
-  0x7dcd2981, 0xe860bd61, 0x7dcc0082, 0xe85a908a, 0x7dcad736, 0xe85463c2,
-    0x7dc9ad9c, 0xe84e3708,
-  0x7dc883b4, 0xe8480a5d, 0x7dc7597f, 0xe841ddc1, 0x7dc62efc, 0xe83bb133,
-    0x7dc5042b, 0xe83584b4,
-  0x7dc3d90d, 0xe82f5844, 0x7dc2ada2, 0xe8292be3, 0x7dc181e8, 0xe822ff90,
-    0x7dc055e2, 0xe81cd34b,
-  0x7dbf298d, 0xe816a716, 0x7dbdfceb, 0xe8107aef, 0x7dbccffc, 0xe80a4ed7,
-    0x7dbba2bf, 0xe80422ce,
-  0x7dba7534, 0xe7fdf6d4, 0x7db9475c, 0xe7f7cae8, 0x7db81936, 0xe7f19f0c,
-    0x7db6eac3, 0xe7eb733e,
-  0x7db5bc02, 0xe7e5477f, 0x7db48cf4, 0xe7df1bcf, 0x7db35d98, 0xe7d8f02d,
-    0x7db22def, 0xe7d2c49b,
-  0x7db0fdf8, 0xe7cc9917, 0x7dafcdb3, 0xe7c66da3, 0x7dae9d21, 0xe7c0423d,
-    0x7dad6c42, 0xe7ba16e7,
-  0x7dac3b15, 0xe7b3eb9f, 0x7dab099a, 0xe7adc066, 0x7da9d7d2, 0xe7a7953d,
-    0x7da8a5bc, 0xe7a16a22,
-  0x7da77359, 0xe79b3f16, 0x7da640a9, 0xe795141a, 0x7da50dab, 0xe78ee92c,
-    0x7da3da5f, 0xe788be4e,
-  0x7da2a6c6, 0xe782937e, 0x7da172df, 0xe77c68be, 0x7da03eab, 0xe7763e0d,
-    0x7d9f0a29, 0xe770136b,
-  0x7d9dd55a, 0xe769e8d8, 0x7d9ca03e, 0xe763be55, 0x7d9b6ad3, 0xe75d93e0,
-    0x7d9a351c, 0xe757697b,
-  0x7d98ff17, 0xe7513f25, 0x7d97c8c4, 0xe74b14de, 0x7d969224, 0xe744eaa6,
-    0x7d955b37, 0xe73ec07e,
-  0x7d9423fc, 0xe7389665, 0x7d92ec73, 0xe7326c5b, 0x7d91b49e, 0xe72c4260,
-    0x7d907c7a, 0xe7261875,
-  0x7d8f4409, 0xe71fee99, 0x7d8e0b4b, 0xe719c4cd, 0x7d8cd240, 0xe7139b10,
-    0x7d8b98e6, 0xe70d7162,
-  0x7d8a5f40, 0xe70747c4, 0x7d89254c, 0xe7011e35, 0x7d87eb0a, 0xe6faf4b5,
-    0x7d86b07c, 0xe6f4cb45,
-  0x7d85759f, 0xe6eea1e4, 0x7d843a76, 0xe6e87893, 0x7d82fefe, 0xe6e24f51,
-    0x7d81c33a, 0xe6dc261f,
-  0x7d808728, 0xe6d5fcfc, 0x7d7f4ac8, 0xe6cfd3e9, 0x7d7e0e1c, 0xe6c9aae5,
-    0x7d7cd121, 0xe6c381f1,
-  0x7d7b93da, 0xe6bd590d, 0x7d7a5645, 0xe6b73038, 0x7d791862, 0xe6b10772,
-    0x7d77da32, 0xe6aadebc,
-  0x7d769bb5, 0xe6a4b616, 0x7d755cea, 0xe69e8d80, 0x7d741dd2, 0xe69864f9,
-    0x7d72de6d, 0xe6923c82,
-  0x7d719eba, 0xe68c141a, 0x7d705eba, 0xe685ebc2, 0x7d6f1e6c, 0xe67fc37a,
-    0x7d6dddd2, 0xe6799b42,
-  0x7d6c9ce9, 0xe6737319, 0x7d6b5bb4, 0xe66d4b01, 0x7d6a1a31, 0xe66722f7,
-    0x7d68d860, 0xe660fafe,
-  0x7d679642, 0xe65ad315, 0x7d6653d7, 0xe654ab3b, 0x7d65111f, 0xe64e8371,
-    0x7d63ce19, 0xe6485bb7,
-  0x7d628ac6, 0xe642340d, 0x7d614725, 0xe63c0c73, 0x7d600338, 0xe635e4e9,
-    0x7d5ebefc, 0xe62fbd6e,
-  0x7d5d7a74, 0xe6299604, 0x7d5c359e, 0xe6236ea9, 0x7d5af07b, 0xe61d475e,
-    0x7d59ab0a, 0xe6172024,
-  0x7d58654d, 0xe610f8f9, 0x7d571f41, 0xe60ad1de, 0x7d55d8e9, 0xe604aad4,
-    0x7d549243, 0xe5fe83d9,
-  0x7d534b50, 0xe5f85cef, 0x7d520410, 0xe5f23614, 0x7d50bc82, 0xe5ec0f4a,
-    0x7d4f74a7, 0xe5e5e88f,
-  0x7d4e2c7f, 0xe5dfc1e5, 0x7d4ce409, 0xe5d99b4b, 0x7d4b9b46, 0xe5d374c1,
-    0x7d4a5236, 0xe5cd4e47,
-  0x7d4908d9, 0xe5c727dd, 0x7d47bf2e, 0xe5c10184, 0x7d467536, 0xe5badb3a,
-    0x7d452af1, 0xe5b4b501,
-  0x7d43e05e, 0xe5ae8ed8, 0x7d42957e, 0xe5a868bf, 0x7d414a51, 0xe5a242b7,
-    0x7d3ffed7, 0xe59c1cbf,
-  0x7d3eb30f, 0xe595f6d7, 0x7d3d66fa, 0xe58fd0ff, 0x7d3c1a98, 0xe589ab38,
-    0x7d3acde9, 0xe5838581,
-  0x7d3980ec, 0xe57d5fda, 0x7d3833a2, 0xe5773a44, 0x7d36e60b, 0xe57114be,
-    0x7d359827, 0xe56aef49,
-  0x7d3449f5, 0xe564c9e3, 0x7d32fb76, 0xe55ea48f, 0x7d31acaa, 0xe5587f4a,
-    0x7d305d91, 0xe5525a17,
-  0x7d2f0e2b, 0xe54c34f3, 0x7d2dbe77, 0xe5460fe0, 0x7d2c6e76, 0xe53feade,
-    0x7d2b1e28, 0xe539c5ec,
-  0x7d29cd8c, 0xe533a10a, 0x7d287ca4, 0xe52d7c39, 0x7d272b6e, 0xe5275779,
-    0x7d25d9eb, 0xe52132c9,
-  0x7d24881b, 0xe51b0e2a, 0x7d2335fe, 0xe514e99b, 0x7d21e393, 0xe50ec51d,
-    0x7d2090db, 0xe508a0b0,
-  0x7d1f3dd6, 0xe5027c53, 0x7d1dea84, 0xe4fc5807, 0x7d1c96e5, 0xe4f633cc,
-    0x7d1b42f9, 0xe4f00fa1,
-  0x7d19eebf, 0xe4e9eb87, 0x7d189a38, 0xe4e3c77d, 0x7d174564, 0xe4dda385,
-    0x7d15f043, 0xe4d77f9d,
-  0x7d149ad5, 0xe4d15bc6, 0x7d134519, 0xe4cb37ff, 0x7d11ef11, 0xe4c5144a,
-    0x7d1098bb, 0xe4bef0a5,
-  0x7d0f4218, 0xe4b8cd11, 0x7d0deb28, 0xe4b2a98e, 0x7d0c93eb, 0xe4ac861b,
-    0x7d0b3c60, 0xe4a662ba,
-  0x7d09e489, 0xe4a03f69, 0x7d088c64, 0xe49a1c29, 0x7d0733f3, 0xe493f8fb,
-    0x7d05db34, 0xe48dd5dd,
-  0x7d048228, 0xe487b2d0, 0x7d0328cf, 0xe4818fd4, 0x7d01cf29, 0xe47b6ce9,
-    0x7d007535, 0xe4754a0e,
-  0x7cff1af5, 0xe46f2745, 0x7cfdc068, 0xe469048d, 0x7cfc658d, 0xe462e1e6,
-    0x7cfb0a65, 0xe45cbf50,
-  0x7cf9aef0, 0xe4569ccb, 0x7cf8532f, 0xe4507a57, 0x7cf6f720, 0xe44a57f4,
-    0x7cf59ac4, 0xe44435a2,
-  0x7cf43e1a, 0xe43e1362, 0x7cf2e124, 0xe437f132, 0x7cf183e1, 0xe431cf14,
-    0x7cf02651, 0xe42bad07,
-  0x7ceec873, 0xe4258b0a, 0x7ced6a49, 0xe41f6920, 0x7cec0bd1, 0xe4194746,
-    0x7ceaad0c, 0xe413257d,
-  0x7ce94dfb, 0xe40d03c6, 0x7ce7ee9c, 0xe406e220, 0x7ce68ef0, 0xe400c08b,
-    0x7ce52ef7, 0xe3fa9f08,
-  0x7ce3ceb2, 0xe3f47d96, 0x7ce26e1f, 0xe3ee5c35, 0x7ce10d3f, 0xe3e83ae5,
-    0x7cdfac12, 0xe3e219a7,
-  0x7cde4a98, 0xe3dbf87a, 0x7cdce8d1, 0xe3d5d75e, 0x7cdb86bd, 0xe3cfb654,
-    0x7cda245c, 0xe3c9955b,
-  0x7cd8c1ae, 0xe3c37474, 0x7cd75eb3, 0xe3bd539e, 0x7cd5fb6a, 0xe3b732d9,
-    0x7cd497d5, 0xe3b11226,
-  0x7cd333f3, 0xe3aaf184, 0x7cd1cfc4, 0xe3a4d0f4, 0x7cd06b48, 0xe39eb075,
-    0x7ccf067f, 0xe3989008,
-  0x7ccda169, 0xe3926fad, 0x7ccc3c06, 0xe38c4f63, 0x7ccad656, 0xe3862f2a,
-    0x7cc97059, 0xe3800f03,
-  0x7cc80a0f, 0xe379eeed, 0x7cc6a378, 0xe373ceea, 0x7cc53c94, 0xe36daef7,
-    0x7cc3d563, 0xe3678f17,
-  0x7cc26de5, 0xe3616f48, 0x7cc1061a, 0xe35b4f8b, 0x7cbf9e03, 0xe3552fdf,
-    0x7cbe359e, 0xe34f1045,
-  0x7cbcccec, 0xe348f0bd, 0x7cbb63ee, 0xe342d146, 0x7cb9faa2, 0xe33cb1e1,
-    0x7cb8910a, 0xe336928e,
-  0x7cb72724, 0xe330734d, 0x7cb5bcf2, 0xe32a541d, 0x7cb45272, 0xe3243500,
-    0x7cb2e7a6, 0xe31e15f4,
-  0x7cb17c8d, 0xe317f6fa, 0x7cb01127, 0xe311d811, 0x7caea574, 0xe30bb93b,
-    0x7cad3974, 0xe3059a76,
-  0x7cabcd28, 0xe2ff7bc3, 0x7caa608e, 0xe2f95d23, 0x7ca8f3a7, 0xe2f33e94,
-    0x7ca78674, 0xe2ed2017,
-  0x7ca618f3, 0xe2e701ac, 0x7ca4ab26, 0xe2e0e352, 0x7ca33d0c, 0xe2dac50b,
-    0x7ca1cea5, 0xe2d4a6d6,
-  0x7ca05ff1, 0xe2ce88b3, 0x7c9ef0f0, 0xe2c86aa2, 0x7c9d81a3, 0xe2c24ca2,
-    0x7c9c1208, 0xe2bc2eb5,
-  0x7c9aa221, 0xe2b610da, 0x7c9931ec, 0xe2aff311, 0x7c97c16b, 0xe2a9d55a,
-    0x7c96509d, 0xe2a3b7b5,
-  0x7c94df83, 0xe29d9a23, 0x7c936e1b, 0xe2977ca2, 0x7c91fc66, 0xe2915f34,
-    0x7c908a65, 0xe28b41d7,
-  0x7c8f1817, 0xe285248d, 0x7c8da57c, 0xe27f0755, 0x7c8c3294, 0xe278ea30,
-    0x7c8abf5f, 0xe272cd1c,
-  0x7c894bde, 0xe26cb01b, 0x7c87d810, 0xe266932c, 0x7c8663f4, 0xe260764f,
-    0x7c84ef8c, 0xe25a5984,
-  0x7c837ad8, 0xe2543ccc, 0x7c8205d6, 0xe24e2026, 0x7c809088, 0xe2480393,
-    0x7c7f1aed, 0xe241e711,
-  0x7c7da505, 0xe23bcaa2, 0x7c7c2ed0, 0xe235ae46, 0x7c7ab84e, 0xe22f91fc,
-    0x7c794180, 0xe22975c4,
-  0x7c77ca65, 0xe223599e, 0x7c7652fd, 0xe21d3d8b, 0x7c74db48, 0xe217218b,
-    0x7c736347, 0xe211059d,
-  0x7c71eaf9, 0xe20ae9c1, 0x7c70725e, 0xe204cdf8, 0x7c6ef976, 0xe1feb241,
-    0x7c6d8041, 0xe1f8969d,
-  0x7c6c06c0, 0xe1f27b0b, 0x7c6a8cf2, 0xe1ec5f8c, 0x7c6912d7, 0xe1e64420,
-    0x7c679870, 0xe1e028c6,
-  0x7c661dbc, 0xe1da0d7e, 0x7c64a2bb, 0xe1d3f24a, 0x7c63276d, 0xe1cdd727,
-    0x7c61abd3, 0xe1c7bc18,
-  0x7c602fec, 0xe1c1a11b, 0x7c5eb3b8, 0xe1bb8631, 0x7c5d3737, 0xe1b56b59,
-    0x7c5bba6a, 0xe1af5094,
-  0x7c5a3d50, 0xe1a935e2, 0x7c58bfe9, 0xe1a31b42, 0x7c574236, 0xe19d00b6,
-    0x7c55c436, 0xe196e63c,
-  0x7c5445e9, 0xe190cbd4, 0x7c52c74f, 0xe18ab180, 0x7c514869, 0xe184973e,
-    0x7c4fc936, 0xe17e7d0f,
-  0x7c4e49b7, 0xe17862f3, 0x7c4cc9ea, 0xe17248ea, 0x7c4b49d2, 0xe16c2ef4,
-    0x7c49c96c, 0xe1661510,
-  0x7c4848ba, 0xe15ffb3f, 0x7c46c7bb, 0xe159e182, 0x7c45466f, 0xe153c7d7,
-    0x7c43c4d7, 0xe14dae3f,
-  0x7c4242f2, 0xe14794ba, 0x7c40c0c1, 0xe1417b48, 0x7c3f3e42, 0xe13b61e9,
-    0x7c3dbb78, 0xe135489d,
-  0x7c3c3860, 0xe12f2f63, 0x7c3ab4fc, 0xe129163d, 0x7c39314b, 0xe122fd2a,
-    0x7c37ad4e, 0xe11ce42a,
-  0x7c362904, 0xe116cb3d, 0x7c34a46d, 0xe110b263, 0x7c331f8a, 0xe10a999c,
-    0x7c319a5a, 0xe10480e9,
-  0x7c3014de, 0xe0fe6848, 0x7c2e8f15, 0xe0f84fbb, 0x7c2d08ff, 0xe0f23740,
-    0x7c2b829d, 0xe0ec1ed9,
-  0x7c29fbee, 0xe0e60685, 0x7c2874f3, 0xe0dfee44, 0x7c26edab, 0xe0d9d616,
-    0x7c256616, 0xe0d3bdfc,
-  0x7c23de35, 0xe0cda5f5, 0x7c225607, 0xe0c78e01, 0x7c20cd8d, 0xe0c17620,
-    0x7c1f44c6, 0xe0bb5e53,
-  0x7c1dbbb3, 0xe0b54698, 0x7c1c3253, 0xe0af2ef2, 0x7c1aa8a6, 0xe0a9175e,
-    0x7c191ead, 0xe0a2ffde,
-  0x7c179467, 0xe09ce871, 0x7c1609d5, 0xe096d117, 0x7c147ef6, 0xe090b9d1,
-    0x7c12f3cb, 0xe08aa29f,
-  0x7c116853, 0xe0848b7f, 0x7c0fdc8f, 0xe07e7473, 0x7c0e507e, 0xe0785d7b,
-    0x7c0cc421, 0xe0724696,
-  0x7c0b3777, 0xe06c2fc4, 0x7c09aa80, 0xe0661906, 0x7c081d3d, 0xe060025c,
-    0x7c068fae, 0xe059ebc5,
-  0x7c0501d2, 0xe053d541, 0x7c0373a9, 0xe04dbed1, 0x7c01e534, 0xe047a875,
-    0x7c005673, 0xe041922c,
-  0x7bfec765, 0xe03b7bf6, 0x7bfd380a, 0xe03565d5, 0x7bfba863, 0xe02f4fc6,
-    0x7bfa1870, 0xe02939cc,
-  0x7bf88830, 0xe02323e5, 0x7bf6f7a4, 0xe01d0e12, 0x7bf566cb, 0xe016f852,
-    0x7bf3d5a6, 0xe010e2a7,
-  0x7bf24434, 0xe00acd0e, 0x7bf0b276, 0xe004b78a, 0x7bef206b, 0xdffea219,
-    0x7bed8e14, 0xdff88cbc,
-  0x7bebfb70, 0xdff27773, 0x7bea6880, 0xdfec623e, 0x7be8d544, 0xdfe64d1c,
-    0x7be741bb, 0xdfe0380e,
-  0x7be5ade6, 0xdfda2314, 0x7be419c4, 0xdfd40e2e, 0x7be28556, 0xdfcdf95c,
-    0x7be0f09b, 0xdfc7e49d,
-  0x7bdf5b94, 0xdfc1cff3, 0x7bddc641, 0xdfbbbb5c, 0x7bdc30a1, 0xdfb5a6d9,
-    0x7bda9ab5, 0xdfaf926a,
-  0x7bd9047c, 0xdfa97e0f, 0x7bd76df7, 0xdfa369c8, 0x7bd5d726, 0xdf9d5595,
-    0x7bd44008, 0xdf974176,
-  0x7bd2a89e, 0xdf912d6b, 0x7bd110e8, 0xdf8b1974, 0x7bcf78e5, 0xdf850591,
-    0x7bcde095, 0xdf7ef1c2,
-  0x7bcc47fa, 0xdf78de07, 0x7bcaaf12, 0xdf72ca60, 0x7bc915dd, 0xdf6cb6cd,
-    0x7bc77c5d, 0xdf66a34e,
-  0x7bc5e290, 0xdf608fe4, 0x7bc44876, 0xdf5a7c8d, 0x7bc2ae10, 0xdf54694b,
-    0x7bc1135e, 0xdf4e561c,
-  0x7bbf7860, 0xdf484302, 0x7bbddd15, 0xdf422ffd, 0x7bbc417e, 0xdf3c1d0b,
-    0x7bbaa59a, 0xdf360a2d,
-  0x7bb9096b, 0xdf2ff764, 0x7bb76cef, 0xdf29e4af, 0x7bb5d026, 0xdf23d20e,
-    0x7bb43311, 0xdf1dbf82,
-  0x7bb295b0, 0xdf17ad0a, 0x7bb0f803, 0xdf119aa6, 0x7baf5a09, 0xdf0b8856,
-    0x7badbbc3, 0xdf05761b,
-  0x7bac1d31, 0xdeff63f4, 0x7baa7e53, 0xdef951e2, 0x7ba8df28, 0xdef33fe3,
-    0x7ba73fb1, 0xdeed2dfa,
-  0x7ba59fee, 0xdee71c24, 0x7ba3ffde, 0xdee10a63, 0x7ba25f82, 0xdedaf8b7,
-    0x7ba0beda, 0xded4e71f,
-  0x7b9f1de6, 0xdeced59b, 0x7b9d7ca5, 0xdec8c42c, 0x7b9bdb18, 0xdec2b2d1,
-    0x7b9a393f, 0xdebca18b,
-  0x7b989719, 0xdeb69059, 0x7b96f4a8, 0xdeb07f3c, 0x7b9551ea, 0xdeaa6e34,
-    0x7b93aee0, 0xdea45d40,
-  0x7b920b89, 0xde9e4c60, 0x7b9067e7, 0xde983b95, 0x7b8ec3f8, 0xde922adf,
-    0x7b8d1fbd, 0xde8c1a3e,
-  0x7b8b7b36, 0xde8609b1, 0x7b89d662, 0xde7ff938, 0x7b883143, 0xde79e8d5,
-    0x7b868bd7, 0xde73d886,
-  0x7b84e61f, 0xde6dc84b, 0x7b83401b, 0xde67b826, 0x7b8199ca, 0xde61a815,
-    0x7b7ff32e, 0xde5b9819,
-  0x7b7e4c45, 0xde558831, 0x7b7ca510, 0xde4f785f, 0x7b7afd8f, 0xde4968a1,
-    0x7b7955c2, 0xde4358f8,
-  0x7b77ada8, 0xde3d4964, 0x7b760542, 0xde3739e4, 0x7b745c91, 0xde312a7a,
-    0x7b72b393, 0xde2b1b24,
-  0x7b710a49, 0xde250be3, 0x7b6f60b2, 0xde1efcb7, 0x7b6db6d0, 0xde18eda0,
-    0x7b6c0ca2, 0xde12de9e,
-  0x7b6a6227, 0xde0ccfb1, 0x7b68b760, 0xde06c0d9, 0x7b670c4d, 0xde00b216,
-    0x7b6560ee, 0xddfaa367,
-  0x7b63b543, 0xddf494ce, 0x7b62094c, 0xddee8649, 0x7b605d09, 0xdde877da,
-    0x7b5eb079, 0xdde26980,
-  0x7b5d039e, 0xdddc5b3b, 0x7b5b5676, 0xddd64d0a, 0x7b59a902, 0xddd03eef,
-    0x7b57fb42, 0xddca30e9,
-  0x7b564d36, 0xddc422f8, 0x7b549ede, 0xddbe151d, 0x7b52f03a, 0xddb80756,
-    0x7b51414a, 0xddb1f9a4,
-  0x7b4f920e, 0xddabec08, 0x7b4de286, 0xdda5de81, 0x7b4c32b1, 0xdd9fd10f,
-    0x7b4a8291, 0xdd99c3b2,
-  0x7b48d225, 0xdd93b66a, 0x7b47216c, 0xdd8da938, 0x7b457068, 0xdd879c1b,
-    0x7b43bf17, 0xdd818f13,
-  0x7b420d7a, 0xdd7b8220, 0x7b405b92, 0xdd757543, 0x7b3ea95d, 0xdd6f687b,
-    0x7b3cf6dc, 0xdd695bc9,
-  0x7b3b4410, 0xdd634f2b, 0x7b3990f7, 0xdd5d42a3, 0x7b37dd92, 0xdd573631,
-    0x7b3629e1, 0xdd5129d4,
-  0x7b3475e5, 0xdd4b1d8c, 0x7b32c19c, 0xdd451159, 0x7b310d07, 0xdd3f053c,
-    0x7b2f5826, 0xdd38f935,
-  0x7b2da2fa, 0xdd32ed43, 0x7b2bed81, 0xdd2ce166, 0x7b2a37bc, 0xdd26d59f,
-    0x7b2881ac, 0xdd20c9ed,
-  0x7b26cb4f, 0xdd1abe51, 0x7b2514a6, 0xdd14b2ca, 0x7b235db2, 0xdd0ea759,
-    0x7b21a671, 0xdd089bfe,
-  0x7b1feee5, 0xdd0290b8, 0x7b1e370d, 0xdcfc8588, 0x7b1c7ee8, 0xdcf67a6d,
-    0x7b1ac678, 0xdcf06f68,
-  0x7b190dbc, 0xdcea6478, 0x7b1754b3, 0xdce4599e, 0x7b159b5f, 0xdcde4eda,
-    0x7b13e1bf, 0xdcd8442b,
-  0x7b1227d3, 0xdcd23993, 0x7b106d9b, 0xdccc2f0f, 0x7b0eb318, 0xdcc624a2,
-    0x7b0cf848, 0xdcc01a4a,
-  0x7b0b3d2c, 0xdcba1008, 0x7b0981c5, 0xdcb405dc, 0x7b07c612, 0xdcadfbc5,
-    0x7b060a12, 0xdca7f1c5,
-  0x7b044dc7, 0xdca1e7da, 0x7b029130, 0xdc9bde05, 0x7b00d44d, 0xdc95d446,
-    0x7aff171e, 0xdc8fca9c,
-  0x7afd59a4, 0xdc89c109, 0x7afb9bdd, 0xdc83b78b, 0x7af9ddcb, 0xdc7dae23,
-    0x7af81f6c, 0xdc77a4d2,
-  0x7af660c2, 0xdc719b96, 0x7af4a1cc, 0xdc6b9270, 0x7af2e28b, 0xdc658960,
-    0x7af122fd, 0xdc5f8066,
-  0x7aef6323, 0xdc597781, 0x7aeda2fe, 0xdc536eb3, 0x7aebe28d, 0xdc4d65fb,
-    0x7aea21d0, 0xdc475d59,
-  0x7ae860c7, 0xdc4154cd, 0x7ae69f73, 0xdc3b4c57, 0x7ae4ddd2, 0xdc3543f7,
-    0x7ae31be6, 0xdc2f3bad,
-  0x7ae159ae, 0xdc293379, 0x7adf972a, 0xdc232b5c, 0x7addd45b, 0xdc1d2354,
-    0x7adc113f, 0xdc171b63,
-  0x7ada4dd8, 0xdc111388, 0x7ad88a25, 0xdc0b0bc2, 0x7ad6c626, 0xdc050414,
-    0x7ad501dc, 0xdbfefc7b,
-  0x7ad33d45, 0xdbf8f4f8, 0x7ad17863, 0xdbf2ed8c, 0x7acfb336, 0xdbece636,
-    0x7acdedbc, 0xdbe6def6,
-  0x7acc27f7, 0xdbe0d7cd, 0x7aca61e6, 0xdbdad0b9, 0x7ac89b89, 0xdbd4c9bc,
-    0x7ac6d4e0, 0xdbcec2d6,
-  0x7ac50dec, 0xdbc8bc06, 0x7ac346ac, 0xdbc2b54c, 0x7ac17f20, 0xdbbcaea8,
-    0x7abfb749, 0xdbb6a81b,
-  0x7abdef25, 0xdbb0a1a4, 0x7abc26b7, 0xdbaa9b43, 0x7aba5dfc, 0xdba494f9,
-    0x7ab894f6, 0xdb9e8ec6,
-  0x7ab6cba4, 0xdb9888a8, 0x7ab50206, 0xdb9282a2, 0x7ab3381d, 0xdb8c7cb1,
-    0x7ab16de7, 0xdb8676d8,
-  0x7aafa367, 0xdb807114, 0x7aadd89a, 0xdb7a6b68, 0x7aac0d82, 0xdb7465d1,
-    0x7aaa421e, 0xdb6e6052,
-  0x7aa8766f, 0xdb685ae9, 0x7aa6aa74, 0xdb625596, 0x7aa4de2d, 0xdb5c505a,
-    0x7aa3119a, 0xdb564b35,
-  0x7aa144bc, 0xdb504626, 0x7a9f7793, 0xdb4a412e, 0x7a9daa1d, 0xdb443c4c,
-    0x7a9bdc5c, 0xdb3e3781,
-  0x7a9a0e50, 0xdb3832cd, 0x7a983ff7, 0xdb322e30, 0x7a967153, 0xdb2c29a9,
-    0x7a94a264, 0xdb262539,
-  0x7a92d329, 0xdb2020e0, 0x7a9103a2, 0xdb1a1c9d, 0x7a8f33d0, 0xdb141871,
-    0x7a8d63b2, 0xdb0e145c,
-  0x7a8b9348, 0xdb08105e, 0x7a89c293, 0xdb020c77, 0x7a87f192, 0xdafc08a6,
-    0x7a862046, 0xdaf604ec,
-  0x7a844eae, 0xdaf00149, 0x7a827ccb, 0xdae9fdbd, 0x7a80aa9c, 0xdae3fa48,
-    0x7a7ed821, 0xdaddf6ea,
-  0x7a7d055b, 0xdad7f3a2, 0x7a7b3249, 0xdad1f072, 0x7a795eec, 0xdacbed58,
-    0x7a778b43, 0xdac5ea56,
-  0x7a75b74f, 0xdabfe76a, 0x7a73e30f, 0xdab9e495, 0x7a720e84, 0xdab3e1d8,
-    0x7a7039ad, 0xdaaddf31,
-  0x7a6e648a, 0xdaa7dca1, 0x7a6c8f1c, 0xdaa1da29, 0x7a6ab963, 0xda9bd7c7,
-    0x7a68e35e, 0xda95d57d,
-  0x7a670d0d, 0xda8fd349, 0x7a653671, 0xda89d12d, 0x7a635f8a, 0xda83cf28,
-    0x7a618857, 0xda7dcd3a,
-  0x7a5fb0d8, 0xda77cb63, 0x7a5dd90e, 0xda71c9a3, 0x7a5c00f9, 0xda6bc7fa,
-    0x7a5a2898, 0xda65c669,
-  0x7a584feb, 0xda5fc4ef, 0x7a5676f3, 0xda59c38c, 0x7a549db0, 0xda53c240,
-    0x7a52c421, 0xda4dc10b,
-  0x7a50ea47, 0xda47bfee, 0x7a4f1021, 0xda41bee8, 0x7a4d35b0, 0xda3bbdf9,
-    0x7a4b5af3, 0xda35bd22,
-  0x7a497feb, 0xda2fbc61, 0x7a47a498, 0xda29bbb9, 0x7a45c8f9, 0xda23bb27,
-    0x7a43ed0e, 0xda1dbaad,
-  0x7a4210d8, 0xda17ba4a, 0x7a403457, 0xda11b9ff, 0x7a3e578b, 0xda0bb9cb,
-    0x7a3c7a73, 0xda05b9ae,
-  0x7a3a9d0f, 0xd9ffb9a9, 0x7a38bf60, 0xd9f9b9bb, 0x7a36e166, 0xd9f3b9e5,
-    0x7a350321, 0xd9edba26,
-  0x7a332490, 0xd9e7ba7f, 0x7a3145b3, 0xd9e1baef, 0x7a2f668c, 0xd9dbbb77,
-    0x7a2d8719, 0xd9d5bc16,
-  0x7a2ba75a, 0xd9cfbccd, 0x7a29c750, 0xd9c9bd9b, 0x7a27e6fb, 0xd9c3be81,
-    0x7a26065b, 0xd9bdbf7e,
-  0x7a24256f, 0xd9b7c094, 0x7a224437, 0xd9b1c1c0, 0x7a2062b5, 0xd9abc305,
-    0x7a1e80e7, 0xd9a5c461,
-  0x7a1c9ece, 0xd99fc5d4, 0x7a1abc69, 0xd999c75f, 0x7a18d9b9, 0xd993c902,
-    0x7a16f6be, 0xd98dcabd,
-  0x7a151378, 0xd987cc90, 0x7a132fe6, 0xd981ce7a, 0x7a114c09, 0xd97bd07c,
-    0x7a0f67e0, 0xd975d295,
-  0x7a0d836d, 0xd96fd4c7, 0x7a0b9eae, 0xd969d710, 0x7a09b9a4, 0xd963d971,
-    0x7a07d44e, 0xd95ddbea,
-  0x7a05eead, 0xd957de7a, 0x7a0408c1, 0xd951e123, 0x7a02228a, 0xd94be3e3,
-    0x7a003c07, 0xd945e6bb,
-  0x79fe5539, 0xd93fe9ab, 0x79fc6e20, 0xd939ecb3, 0x79fa86bc, 0xd933efd3,
-    0x79f89f0c, 0xd92df30b,
-  0x79f6b711, 0xd927f65b, 0x79f4cecb, 0xd921f9c3, 0x79f2e63a, 0xd91bfd43,
-    0x79f0fd5d, 0xd91600da,
-  0x79ef1436, 0xd910048a, 0x79ed2ac3, 0xd90a0852, 0x79eb4105, 0xd9040c32,
-    0x79e956fb, 0xd8fe1029,
-  0x79e76ca7, 0xd8f81439, 0x79e58207, 0xd8f21861, 0x79e3971c, 0xd8ec1ca1,
-    0x79e1abe6, 0xd8e620fa,
-  0x79dfc064, 0xd8e0256a, 0x79ddd498, 0xd8da29f2, 0x79dbe880, 0xd8d42e93,
-    0x79d9fc1d, 0xd8ce334c,
-  0x79d80f6f, 0xd8c8381d, 0x79d62276, 0xd8c23d06, 0x79d43532, 0xd8bc4207,
-    0x79d247a2, 0xd8b64720,
-  0x79d059c8, 0xd8b04c52, 0x79ce6ba2, 0xd8aa519c, 0x79cc7d31, 0xd8a456ff,
-    0x79ca8e75, 0xd89e5c79,
-  0x79c89f6e, 0xd898620c, 0x79c6b01b, 0xd89267b7, 0x79c4c07e, 0xd88c6d7b,
-    0x79c2d095, 0xd8867356,
-  0x79c0e062, 0xd880794b, 0x79beefe3, 0xd87a7f57, 0x79bcff19, 0xd874857c,
-    0x79bb0e04, 0xd86e8bb9,
-  0x79b91ca4, 0xd868920f, 0x79b72af9, 0xd862987d, 0x79b53903, 0xd85c9f04,
-    0x79b346c2, 0xd856a5a3,
-  0x79b15435, 0xd850ac5a, 0x79af615e, 0xd84ab32a, 0x79ad6e3c, 0xd844ba13,
-    0x79ab7ace, 0xd83ec114,
-  0x79a98715, 0xd838c82d, 0x79a79312, 0xd832cf5f, 0x79a59ec3, 0xd82cd6aa,
-    0x79a3aa29, 0xd826de0d,
-  0x79a1b545, 0xd820e589, 0x799fc015, 0xd81aed1d, 0x799dca9a, 0xd814f4ca,
-    0x799bd4d4, 0xd80efc8f,
-  0x7999dec4, 0xd809046e, 0x7997e868, 0xd8030c64, 0x7995f1c1, 0xd7fd1474,
-    0x7993facf, 0xd7f71c9c,
-  0x79920392, 0xd7f124dd, 0x79900c0a, 0xd7eb2d37, 0x798e1438, 0xd7e535a9,
-    0x798c1c1a, 0xd7df3e34,
-  0x798a23b1, 0xd7d946d8, 0x79882afd, 0xd7d34f94, 0x798631ff, 0xd7cd586a,
-    0x798438b5, 0xd7c76158,
-  0x79823f20, 0xd7c16a5f, 0x79804541, 0xd7bb737f, 0x797e4b16, 0xd7b57cb7,
-    0x797c50a1, 0xd7af8609,
-  0x797a55e0, 0xd7a98f73, 0x79785ad5, 0xd7a398f6, 0x79765f7f, 0xd79da293,
-    0x797463de, 0xd797ac48,
-  0x797267f2, 0xd791b616, 0x79706bbb, 0xd78bbffc, 0x796e6f39, 0xd785c9fc,
-    0x796c726c, 0xd77fd415,
-  0x796a7554, 0xd779de47, 0x796877f1, 0xd773e892, 0x79667a44, 0xd76df2f6,
-    0x79647c4c, 0xd767fd72,
-  0x79627e08, 0xd7620808, 0x79607f7a, 0xd75c12b7, 0x795e80a1, 0xd7561d7f,
-    0x795c817d, 0xd7502860,
-  0x795a820e, 0xd74a335b, 0x79588255, 0xd7443e6e, 0x79568250, 0xd73e499a,
-    0x79548201, 0xd73854e0,
-  0x79528167, 0xd732603f, 0x79508082, 0xd72c6bb6, 0x794e7f52, 0xd7267748,
-    0x794c7dd7, 0xd72082f2,
-  0x794a7c12, 0xd71a8eb5, 0x79487a01, 0xd7149a92, 0x794677a6, 0xd70ea688,
-    0x79447500, 0xd708b297,
-  0x79427210, 0xd702bec0, 0x79406ed4, 0xd6fccb01, 0x793e6b4e, 0xd6f6d75d,
-    0x793c677d, 0xd6f0e3d1,
-  0x793a6361, 0xd6eaf05f, 0x79385efa, 0xd6e4fd06, 0x79365a49, 0xd6df09c6,
-    0x7934554d, 0xd6d916a0,
-  0x79325006, 0xd6d32393, 0x79304a74, 0xd6cd30a0, 0x792e4497, 0xd6c73dc6,
-    0x792c3e70, 0xd6c14b05,
-  0x792a37fe, 0xd6bb585e, 0x79283141, 0xd6b565d0, 0x79262a3a, 0xd6af735c,
-    0x792422e8, 0xd6a98101,
-  0x79221b4b, 0xd6a38ec0, 0x79201363, 0xd69d9c98, 0x791e0b31, 0xd697aa8a,
-    0x791c02b4, 0xd691b895,
-  0x7919f9ec, 0xd68bc6ba, 0x7917f0d9, 0xd685d4f9, 0x7915e77c, 0xd67fe351,
-    0x7913ddd4, 0xd679f1c2,
-  0x7911d3e2, 0xd674004e, 0x790fc9a4, 0xd66e0ef2, 0x790dbf1d, 0xd6681db1,
-    0x790bb44a, 0xd6622c89,
-  0x7909a92d, 0xd65c3b7b, 0x79079dc5, 0xd6564a87, 0x79059212, 0xd65059ac,
-    0x79038615, 0xd64a68eb,
-  0x790179cd, 0xd6447844, 0x78ff6d3b, 0xd63e87b6, 0x78fd605d, 0xd6389742,
-    0x78fb5336, 0xd632a6e8,
-  0x78f945c3, 0xd62cb6a8, 0x78f73806, 0xd626c681, 0x78f529fe, 0xd620d675,
-    0x78f31bac, 0xd61ae682,
-  0x78f10d0f, 0xd614f6a9, 0x78eefe28, 0xd60f06ea, 0x78eceef6, 0xd6091745,
-    0x78eadf79, 0xd60327b9,
-  0x78e8cfb2, 0xd5fd3848, 0x78e6bfa0, 0xd5f748f0, 0x78e4af44, 0xd5f159b3,
-    0x78e29e9d, 0xd5eb6a8f,
-  0x78e08dab, 0xd5e57b85, 0x78de7c6f, 0xd5df8c96, 0x78dc6ae8, 0xd5d99dc0,
-    0x78da5917, 0xd5d3af04,
-  0x78d846fb, 0xd5cdc062, 0x78d63495, 0xd5c7d1db, 0x78d421e4, 0xd5c1e36d,
-    0x78d20ee9, 0xd5bbf519,
-  0x78cffba3, 0xd5b606e0, 0x78cde812, 0xd5b018c0, 0x78cbd437, 0xd5aa2abb,
-    0x78c9c012, 0xd5a43cd0,
-  0x78c7aba2, 0xd59e4eff, 0x78c596e7, 0xd5986148, 0x78c381e2, 0xd59273ab,
-    0x78c16c93, 0xd58c8628,
-  0x78bf56f9, 0xd58698c0, 0x78bd4114, 0xd580ab72, 0x78bb2ae5, 0xd57abe3d,
-    0x78b9146c, 0xd574d124,
-  0x78b6fda8, 0xd56ee424, 0x78b4e69a, 0xd568f73f, 0x78b2cf41, 0xd5630a74,
-    0x78b0b79e, 0xd55d1dc3,
-  0x78ae9fb0, 0xd557312d, 0x78ac8778, 0xd55144b0, 0x78aa6ef5, 0xd54b584f,
-    0x78a85628, 0xd5456c07,
-  0x78a63d11, 0xd53f7fda, 0x78a423af, 0xd53993c7, 0x78a20a03, 0xd533a7cf,
-    0x789ff00c, 0xd52dbbf1,
-  0x789dd5cb, 0xd527d02e, 0x789bbb3f, 0xd521e484, 0x7899a06a, 0xd51bf8f6,
-    0x78978549, 0xd5160d82,
-  0x789569df, 0xd5102228, 0x78934e2a, 0xd50a36e9, 0x7891322a, 0xd5044bc4,
-    0x788f15e0, 0xd4fe60ba,
-  0x788cf94c, 0xd4f875ca, 0x788adc6e, 0xd4f28af5, 0x7888bf45, 0xd4eca03a,
-    0x7886a1d1, 0xd4e6b59a,
-  0x78848414, 0xd4e0cb15, 0x7882660c, 0xd4dae0aa, 0x788047ba, 0xd4d4f65a,
-    0x787e291d, 0xd4cf0c24,
-  0x787c0a36, 0xd4c92209, 0x7879eb05, 0xd4c33809, 0x7877cb89, 0xd4bd4e23,
-    0x7875abc3, 0xd4b76458,
-  0x78738bb3, 0xd4b17aa8, 0x78716b59, 0xd4ab9112, 0x786f4ab4, 0xd4a5a798,
-    0x786d29c5, 0xd49fbe37,
-  0x786b088c, 0xd499d4f2, 0x7868e708, 0xd493ebc8, 0x7866c53a, 0xd48e02b8,
-    0x7864a322, 0xd48819c3,
-  0x786280bf, 0xd48230e9, 0x78605e13, 0xd47c4829, 0x785e3b1c, 0xd4765f85,
-    0x785c17db, 0xd47076fb,
-  0x7859f44f, 0xd46a8e8d, 0x7857d079, 0xd464a639, 0x7855ac5a, 0xd45ebe00,
-    0x785387ef, 0xd458d5e2,
-  0x7851633b, 0xd452eddf, 0x784f3e3c, 0xd44d05f6, 0x784d18f4, 0xd4471e29,
-    0x784af361, 0xd4413677,
-  0x7848cd83, 0xd43b4ee0, 0x7846a75c, 0xd4356763, 0x784480ea, 0xd42f8002,
-    0x78425a2f, 0xd42998bc,
-  0x78403329, 0xd423b191, 0x783e0bd9, 0xd41dca81, 0x783be43e, 0xd417e38c,
-    0x7839bc5a, 0xd411fcb2,
-  0x7837942b, 0xd40c15f3, 0x78356bb2, 0xd4062f4f, 0x783342ef, 0xd40048c6,
-    0x783119e2, 0xd3fa6259,
-  0x782ef08b, 0xd3f47c06, 0x782cc6ea, 0xd3ee95cf, 0x782a9cfe, 0xd3e8afb3,
-    0x782872c8, 0xd3e2c9b2,
-  0x78264849, 0xd3dce3cd, 0x78241d7f, 0xd3d6fe03, 0x7821f26b, 0xd3d11853,
-    0x781fc70d, 0xd3cb32c0,
-  0x781d9b65, 0xd3c54d47, 0x781b6f72, 0xd3bf67ea, 0x78194336, 0xd3b982a8,
-    0x781716b0, 0xd3b39d81,
-  0x7814e9df, 0xd3adb876, 0x7812bcc4, 0xd3a7d385, 0x78108f60, 0xd3a1eeb1,
-    0x780e61b1, 0xd39c09f7,
-  0x780c33b8, 0xd396255a, 0x780a0575, 0xd39040d7, 0x7807d6e9, 0xd38a5c70,
-    0x7805a812, 0xd3847824,
-  0x780378f1, 0xd37e93f4, 0x78014986, 0xd378afdf, 0x77ff19d1, 0xd372cbe6,
-    0x77fce9d2, 0xd36ce808,
-  0x77fab989, 0xd3670446, 0x77f888f6, 0xd361209f, 0x77f65819, 0xd35b3d13,
-    0x77f426f2, 0xd35559a4,
-  0x77f1f581, 0xd34f764f, 0x77efc3c5, 0xd3499317, 0x77ed91c0, 0xd343affa,
-    0x77eb5f71, 0xd33dccf8,
-  0x77e92cd9, 0xd337ea12, 0x77e6f9f6, 0xd3320748, 0x77e4c6c9, 0xd32c2499,
-    0x77e29352, 0xd3264206,
-  0x77e05f91, 0xd3205f8f, 0x77de2b86, 0xd31a7d33, 0x77dbf732, 0xd3149af3,
-    0x77d9c293, 0xd30eb8cf,
-  0x77d78daa, 0xd308d6c7, 0x77d55878, 0xd302f4da, 0x77d322fc, 0xd2fd1309,
-    0x77d0ed35, 0xd2f73154,
-  0x77ceb725, 0xd2f14fba, 0x77cc80cb, 0xd2eb6e3c, 0x77ca4a27, 0xd2e58cdb,
-    0x77c81339, 0xd2dfab95,
-  0x77c5dc01, 0xd2d9ca6a, 0x77c3a47f, 0xd2d3e95c, 0x77c16cb4, 0xd2ce0869,
-    0x77bf349f, 0xd2c82793,
-  0x77bcfc3f, 0xd2c246d8, 0x77bac396, 0xd2bc6639, 0x77b88aa3, 0xd2b685b6,
-    0x77b65166, 0xd2b0a54f,
-  0x77b417df, 0xd2aac504, 0x77b1de0f, 0xd2a4e4d5, 0x77afa3f5, 0xd29f04c2,
-    0x77ad6990, 0xd29924cb,
-  0x77ab2ee2, 0xd29344f0, 0x77a8f3ea, 0xd28d6531, 0x77a6b8a9, 0xd287858e,
-    0x77a47d1d, 0xd281a607,
-  0x77a24148, 0xd27bc69c, 0x77a00529, 0xd275e74d, 0x779dc8c0, 0xd270081b,
-    0x779b8c0e, 0xd26a2904,
-  0x77994f11, 0xd2644a0a, 0x779711cb, 0xd25e6b2b, 0x7794d43b, 0xd2588c69,
-    0x77929661, 0xd252adc3,
-  0x7790583e, 0xd24ccf39, 0x778e19d0, 0xd246f0cb, 0x778bdb19, 0xd241127a,
-    0x77899c19, 0xd23b3444,
-  0x77875cce, 0xd235562b, 0x77851d3a, 0xd22f782f, 0x7782dd5c, 0xd2299a4e,
-    0x77809d35, 0xd223bc8a,
-  0x777e5cc3, 0xd21ddee2, 0x777c1c08, 0xd2180156, 0x7779db03, 0xd21223e7,
-    0x777799b5, 0xd20c4694,
-  0x7775581d, 0xd206695d, 0x7773163b, 0xd2008c43, 0x7770d40f, 0xd1faaf45,
-    0x776e919a, 0xd1f4d263,
-  0x776c4edb, 0xd1eef59e, 0x776a0bd3, 0xd1e918f5, 0x7767c880, 0xd1e33c69,
-    0x776584e5, 0xd1dd5ff9,
-  0x776340ff, 0xd1d783a6, 0x7760fcd0, 0xd1d1a76f, 0x775eb857, 0xd1cbcb54,
-    0x775c7395, 0xd1c5ef56,
-  0x775a2e89, 0xd1c01375, 0x7757e933, 0xd1ba37b0, 0x7755a394, 0xd1b45c08,
-    0x77535dab, 0xd1ae807c,
-  0x77511778, 0xd1a8a50d, 0x774ed0fc, 0xd1a2c9ba, 0x774c8a36, 0xd19cee84,
-    0x774a4327, 0xd197136b,
-  0x7747fbce, 0xd191386e, 0x7745b42c, 0xd18b5d8e, 0x77436c40, 0xd18582ca,
-    0x7741240a, 0xd17fa823,
-  0x773edb8b, 0xd179cd99, 0x773c92c2, 0xd173f32c, 0x773a49b0, 0xd16e18db,
-    0x77380054, 0xd1683ea7,
-  0x7735b6af, 0xd1626490, 0x77336cc0, 0xd15c8a95, 0x77312287, 0xd156b0b7,
-    0x772ed805, 0xd150d6f6,
-  0x772c8d3a, 0xd14afd52, 0x772a4225, 0xd14523cb, 0x7727f6c6, 0xd13f4a60,
-    0x7725ab1f, 0xd1397113,
-  0x77235f2d, 0xd13397e2, 0x772112f2, 0xd12dbece, 0x771ec66e, 0xd127e5d7,
-    0x771c79a0, 0xd1220cfc,
-  0x771a2c88, 0xd11c343f, 0x7717df27, 0xd1165b9f, 0x7715917d, 0xd110831b,
-    0x77134389, 0xd10aaab5,
-  0x7710f54c, 0xd104d26b, 0x770ea6c5, 0xd0fefa3f, 0x770c57f5, 0xd0f9222f,
-    0x770a08dc, 0xd0f34a3d,
-  0x7707b979, 0xd0ed7267, 0x770569cc, 0xd0e79aaf, 0x770319d6, 0xd0e1c313,
-    0x7700c997, 0xd0dbeb95,
-  0x76fe790e, 0xd0d61434, 0x76fc283c, 0xd0d03cf0, 0x76f9d721, 0xd0ca65c9,
-    0x76f785bc, 0xd0c48ebf,
-  0x76f5340e, 0xd0beb7d2, 0x76f2e216, 0xd0b8e102, 0x76f08fd5, 0xd0b30a50,
-    0x76ee3d4b, 0xd0ad33ba,
-  0x76ebea77, 0xd0a75d42, 0x76e9975a, 0xd0a186e7, 0x76e743f4, 0xd09bb0aa,
-    0x76e4f044, 0xd095da89,
-  0x76e29c4b, 0xd0900486, 0x76e04808, 0xd08a2ea0, 0x76ddf37c, 0xd08458d7,
-    0x76db9ea7, 0xd07e832c,
-  0x76d94989, 0xd078ad9e, 0x76d6f421, 0xd072d82d, 0x76d49e70, 0xd06d02da,
-    0x76d24876, 0xd0672da3,
-  0x76cff232, 0xd061588b, 0x76cd9ba5, 0xd05b838f, 0x76cb44cf, 0xd055aeb1,
-    0x76c8edb0, 0xd04fd9f1,
-  0x76c69647, 0xd04a054e, 0x76c43e95, 0xd04430c8, 0x76c1e699, 0xd03e5c60,
-    0x76bf8e55, 0xd0388815,
-  0x76bd35c7, 0xd032b3e7, 0x76badcf0, 0xd02cdfd8, 0x76b883d0, 0xd0270be5,
-    0x76b62a66, 0xd0213810,
-  0x76b3d0b4, 0xd01b6459, 0x76b176b8, 0xd01590bf, 0x76af1c72, 0xd00fbd43,
-    0x76acc1e4, 0xd009e9e4,
-  0x76aa670d, 0xd00416a3, 0x76a80bec, 0xcffe4380, 0x76a5b082, 0xcff8707a,
-    0x76a354cf, 0xcff29d92,
-  0x76a0f8d2, 0xcfeccac7, 0x769e9c8d, 0xcfe6f81a, 0x769c3ffe, 0xcfe1258b,
-    0x7699e326, 0xcfdb531a,
-  0x76978605, 0xcfd580c6, 0x7695289b, 0xcfcfae8f, 0x7692cae8, 0xcfc9dc77,
-    0x76906ceb, 0xcfc40a7c,
-  0x768e0ea6, 0xcfbe389f, 0x768bb017, 0xcfb866e0, 0x7689513f, 0xcfb2953f,
-    0x7686f21e, 0xcfacc3bb,
-  0x768492b4, 0xcfa6f255, 0x76823301, 0xcfa1210d, 0x767fd304, 0xcf9b4fe3,
-    0x767d72bf, 0xcf957ed7,
-  0x767b1231, 0xcf8fade9, 0x7678b159, 0xcf89dd18, 0x76765038, 0xcf840c65,
-    0x7673eecf, 0xcf7e3bd1,
-  0x76718d1c, 0xcf786b5a, 0x766f2b20, 0xcf729b01, 0x766cc8db, 0xcf6ccac6,
-    0x766a664d, 0xcf66faa9,
-  0x76680376, 0xcf612aaa, 0x7665a056, 0xcf5b5ac9, 0x76633ced, 0xcf558b06,
-    0x7660d93b, 0xcf4fbb61,
-  0x765e7540, 0xcf49ebda, 0x765c10fc, 0xcf441c71, 0x7659ac6f, 0xcf3e4d26,
-    0x76574798, 0xcf387dfa,
-  0x7654e279, 0xcf32aeeb, 0x76527d11, 0xcf2cdffa, 0x76501760, 0xcf271128,
-    0x764db166, 0xcf214274,
-  0x764b4b23, 0xcf1b73de, 0x7648e497, 0xcf15a566, 0x76467dc2, 0xcf0fd70c,
-    0x764416a4, 0xcf0a08d0,
-  0x7641af3d, 0xcf043ab3, 0x763f478d, 0xcefe6cb3, 0x763cdf94, 0xcef89ed2,
-    0x763a7752, 0xcef2d110,
-  0x76380ec8, 0xceed036b, 0x7635a5f4, 0xcee735e5, 0x76333cd8, 0xcee1687d,
-    0x7630d372, 0xcedb9b33,
-  0x762e69c4, 0xced5ce08, 0x762bffcd, 0xced000fb, 0x7629958c, 0xceca340c,
-    0x76272b03, 0xcec4673c,
-  0x7624c031, 0xcebe9a8a, 0x76225517, 0xceb8cdf7, 0x761fe9b3, 0xceb30181,
-    0x761d7e06, 0xcead352b,
-  0x761b1211, 0xcea768f2, 0x7618a5d3, 0xcea19cd8, 0x7616394c, 0xce9bd0dd,
-    0x7613cc7c, 0xce960500,
-  0x76115f63, 0xce903942, 0x760ef201, 0xce8a6da2, 0x760c8457, 0xce84a220,
-    0x760a1664, 0xce7ed6bd,
-  0x7607a828, 0xce790b79, 0x760539a3, 0xce734053, 0x7602cad5, 0xce6d754c,
-    0x76005bbf, 0xce67aa63,
-  0x75fdec60, 0xce61df99, 0x75fb7cb8, 0xce5c14ed, 0x75f90cc7, 0xce564a60,
-    0x75f69c8d, 0xce507ff2,
-  0x75f42c0b, 0xce4ab5a2, 0x75f1bb40, 0xce44eb71, 0x75ef4a2c, 0xce3f215f,
-    0x75ecd8cf, 0xce39576c,
-  0x75ea672a, 0xce338d97, 0x75e7f53c, 0xce2dc3e1, 0x75e58305, 0xce27fa49,
-    0x75e31086, 0xce2230d0,
-  0x75e09dbd, 0xce1c6777, 0x75de2aac, 0xce169e3b, 0x75dbb753, 0xce10d51f,
-    0x75d943b0, 0xce0b0c21,
-  0x75d6cfc5, 0xce054343, 0x75d45b92, 0xcdff7a83, 0x75d1e715, 0xcdf9b1e2,
-    0x75cf7250, 0xcdf3e95f,
-  0x75ccfd42, 0xcdee20fc, 0x75ca87ec, 0xcde858b8, 0x75c8124d, 0xcde29092,
-    0x75c59c65, 0xcddcc88b,
-  0x75c32634, 0xcdd700a4, 0x75c0afbb, 0xcdd138db, 0x75be38fa, 0xcdcb7131,
-    0x75bbc1ef, 0xcdc5a9a6,
-  0x75b94a9c, 0xcdbfe23a, 0x75b6d301, 0xcdba1aee, 0x75b45b1d, 0xcdb453c0,
-    0x75b1e2f0, 0xcdae8cb1,
-  0x75af6a7b, 0xcda8c5c1, 0x75acf1bd, 0xcda2fef0, 0x75aa78b6, 0xcd9d383f,
-    0x75a7ff67, 0xcd9771ac,
-  0x75a585cf, 0xcd91ab39, 0x75a30bef, 0xcd8be4e4, 0x75a091c6, 0xcd861eaf,
-    0x759e1755, 0xcd805899,
-  0x759b9c9b, 0xcd7a92a2, 0x75992198, 0xcd74ccca, 0x7596a64d, 0xcd6f0711,
-    0x75942ab9, 0xcd694178,
-  0x7591aedd, 0xcd637bfe, 0x758f32b9, 0xcd5db6a3, 0x758cb64c, 0xcd57f167,
-    0x758a3996, 0xcd522c4a,
-  0x7587bc98, 0xcd4c674d, 0x75853f51, 0xcd46a26f, 0x7582c1c2, 0xcd40ddb0,
-    0x758043ea, 0xcd3b1911,
-  0x757dc5ca, 0xcd355491, 0x757b4762, 0xcd2f9030, 0x7578c8b0, 0xcd29cbee,
-    0x757649b7, 0xcd2407cc,
-  0x7573ca75, 0xcd1e43ca, 0x75714aea, 0xcd187fe6, 0x756ecb18, 0xcd12bc22,
-    0x756c4afc, 0xcd0cf87e,
-  0x7569ca99, 0xcd0734f9, 0x756749ec, 0xcd017193, 0x7564c8f8, 0xccfbae4d,
-    0x756247bb, 0xccf5eb26,
-  0x755fc635, 0xccf0281f, 0x755d4467, 0xccea6538, 0x755ac251, 0xcce4a26f,
-    0x75583ff3, 0xccdedfc7,
-  0x7555bd4c, 0xccd91d3d, 0x75533a5c, 0xccd35ad4, 0x7550b725, 0xcccd988a,
-    0x754e33a4, 0xccc7d65f,
-  0x754bafdc, 0xccc21455, 0x75492bcb, 0xccbc5269, 0x7546a772, 0xccb6909e,
-    0x754422d0, 0xccb0cef2,
-  0x75419de7, 0xccab0d65, 0x753f18b4, 0xcca54bf9, 0x753c933a, 0xcc9f8aac,
-    0x753a0d77, 0xcc99c97e,
-  0x7537876c, 0xcc940871, 0x75350118, 0xcc8e4783, 0x75327a7d, 0xcc8886b5,
-    0x752ff399, 0xcc82c607,
-  0x752d6c6c, 0xcc7d0578, 0x752ae4f8, 0xcc774509, 0x75285d3b, 0xcc7184ba,
-    0x7525d536, 0xcc6bc48b,
-  0x75234ce8, 0xcc66047b, 0x7520c453, 0xcc60448c, 0x751e3b75, 0xcc5a84bc,
-    0x751bb24f, 0xcc54c50c,
-  0x751928e0, 0xcc4f057c, 0x75169f2a, 0xcc49460c, 0x7514152b, 0xcc4386bc,
-    0x75118ae4, 0xcc3dc78b,
-  0x750f0054, 0xcc38087b, 0x750c757d, 0xcc32498a, 0x7509ea5d, 0xcc2c8aba,
-    0x75075ef5, 0xcc26cc09,
-  0x7504d345, 0xcc210d79, 0x7502474d, 0xcc1b4f08, 0x74ffbb0d, 0xcc1590b8,
-    0x74fd2e84, 0xcc0fd287,
-  0x74faa1b3, 0xcc0a1477, 0x74f8149a, 0xcc045686, 0x74f58739, 0xcbfe98b6,
-    0x74f2f990, 0xcbf8db05,
-  0x74f06b9e, 0xcbf31d75, 0x74eddd65, 0xcbed6005, 0x74eb4ee3, 0xcbe7a2b5,
-    0x74e8c01a, 0xcbe1e585,
-  0x74e63108, 0xcbdc2876, 0x74e3a1ae, 0xcbd66b86, 0x74e1120c, 0xcbd0aeb7,
-    0x74de8221, 0xcbcaf208,
-  0x74dbf1ef, 0xcbc53579, 0x74d96175, 0xcbbf790a, 0x74d6d0b2, 0xcbb9bcbb,
-    0x74d43fa8, 0xcbb4008d,
-  0x74d1ae55, 0xcbae447f, 0x74cf1cbb, 0xcba88891, 0x74cc8ad8, 0xcba2ccc4,
-    0x74c9f8ad, 0xcb9d1117,
-  0x74c7663a, 0xcb97558a, 0x74c4d380, 0xcb919a1d, 0x74c2407d, 0xcb8bded1,
-    0x74bfad32, 0xcb8623a5,
-  0x74bd199f, 0xcb80689a, 0x74ba85c4, 0xcb7aadaf, 0x74b7f1a1, 0xcb74f2e4,
-    0x74b55d36, 0xcb6f383a,
-  0x74b2c884, 0xcb697db0, 0x74b03389, 0xcb63c347, 0x74ad9e46, 0xcb5e08fe,
-    0x74ab08bb, 0xcb584ed6,
-  0x74a872e8, 0xcb5294ce, 0x74a5dccd, 0xcb4cdae6, 0x74a3466b, 0xcb47211f,
-    0x74a0afc0, 0xcb416779,
-  0x749e18cd, 0xcb3badf3, 0x749b8193, 0xcb35f48d, 0x7498ea11, 0xcb303b49,
-    0x74965246, 0xcb2a8224,
-  0x7493ba34, 0xcb24c921, 0x749121da, 0xcb1f103e, 0x748e8938, 0xcb19577b,
-    0x748bf04d, 0xcb139ed9,
-  0x7489571c, 0xcb0de658, 0x7486bda2, 0xcb082df8, 0x748423e0, 0xcb0275b8,
-    0x748189d7, 0xcafcbd99,
-  0x747eef85, 0xcaf7059a, 0x747c54ec, 0xcaf14dbd, 0x7479ba0b, 0xcaeb9600,
-    0x74771ee2, 0xcae5de64,
-  0x74748371, 0xcae026e8, 0x7471e7b8, 0xcada6f8d, 0x746f4bb8, 0xcad4b853,
-    0x746caf70, 0xcacf013a,
-  0x746a12df, 0xcac94a42, 0x74677608, 0xcac3936b, 0x7464d8e8, 0xcabddcb4,
-    0x74623b80, 0xcab8261e,
-  0x745f9dd1, 0xcab26fa9, 0x745cffda, 0xcaacb955, 0x745a619b, 0xcaa70322,
-    0x7457c314, 0xcaa14d10,
-  0x74552446, 0xca9b971e, 0x74528530, 0xca95e14e, 0x744fe5d2, 0xca902b9f,
-    0x744d462c, 0xca8a7610,
-  0x744aa63f, 0xca84c0a3, 0x7448060a, 0xca7f0b56, 0x7445658d, 0xca79562b,
-    0x7442c4c8, 0xca73a120,
-  0x744023bc, 0xca6dec37, 0x743d8268, 0xca68376e, 0x743ae0cc, 0xca6282c7,
-    0x74383ee9, 0xca5cce40,
-  0x74359cbd, 0xca5719db, 0x7432fa4b, 0xca516597, 0x74305790, 0xca4bb174,
-    0x742db48e, 0xca45fd72,
-  0x742b1144, 0xca404992, 0x74286db3, 0xca3a95d2, 0x7425c9da, 0xca34e234,
-    0x742325b9, 0xca2f2eb6,
-  0x74208150, 0xca297b5a, 0x741ddca0, 0xca23c820, 0x741b37a9, 0xca1e1506,
-    0x74189269, 0xca18620e,
-  0x7415ece2, 0xca12af37, 0x74134714, 0xca0cfc81, 0x7410a0fe, 0xca0749ec,
-    0x740dfaa0, 0xca019779,
-  0x740b53fb, 0xc9fbe527, 0x7408ad0e, 0xc9f632f6, 0x740605d9, 0xc9f080e7,
-    0x74035e5d, 0xc9eacef9,
-  0x7400b69a, 0xc9e51d2d, 0x73fe0e8f, 0xc9df6b81, 0x73fb663c, 0xc9d9b9f7,
-    0x73f8bda2, 0xc9d4088f,
-  0x73f614c0, 0xc9ce5748, 0x73f36b97, 0xc9c8a622, 0x73f0c226, 0xc9c2f51e,
-    0x73ee186e, 0xc9bd443c,
-  0x73eb6e6e, 0xc9b7937a, 0x73e8c426, 0xc9b1e2db, 0x73e61997, 0xc9ac325d,
-    0x73e36ec1, 0xc9a68200,
-  0x73e0c3a3, 0xc9a0d1c5, 0x73de183e, 0xc99b21ab, 0x73db6c91, 0xc99571b3,
-    0x73d8c09d, 0xc98fc1dc,
-  0x73d61461, 0xc98a1227, 0x73d367de, 0xc9846294, 0x73d0bb13, 0xc97eb322,
-    0x73ce0e01, 0xc97903d2,
-  0x73cb60a8, 0xc97354a4, 0x73c8b307, 0xc96da597, 0x73c6051f, 0xc967f6ac,
-    0x73c356ef, 0xc96247e2,
-  0x73c0a878, 0xc95c993a, 0x73bdf9b9, 0xc956eab4, 0x73bb4ab3, 0xc9513c50,
-    0x73b89b66, 0xc94b8e0d,
-  0x73b5ebd1, 0xc945dfec, 0x73b33bf5, 0xc94031ed, 0x73b08bd1, 0xc93a8410,
-    0x73addb67, 0xc934d654,
-  0x73ab2ab4, 0xc92f28ba, 0x73a879bb, 0xc9297b42, 0x73a5c87a, 0xc923cdec,
-    0x73a316f2, 0xc91e20b8,
-  0x73a06522, 0xc91873a5, 0x739db30b, 0xc912c6b5, 0x739b00ad, 0xc90d19e6,
-    0x73984e07, 0xc9076d39,
-  0x73959b1b, 0xc901c0ae, 0x7392e7e6, 0xc8fc1445, 0x7390346b, 0xc8f667fe,
-    0x738d80a8, 0xc8f0bbd9,
-  0x738acc9e, 0xc8eb0fd6, 0x7388184d, 0xc8e563f5, 0x738563b5, 0xc8dfb836,
-    0x7382aed5, 0xc8da0c99,
-  0x737ff9ae, 0xc8d4611d, 0x737d4440, 0xc8ceb5c4, 0x737a8e8a, 0xc8c90a8d,
-    0x7377d88d, 0xc8c35f78,
-  0x73752249, 0xc8bdb485, 0x73726bbe, 0xc8b809b4, 0x736fb4ec, 0xc8b25f06,
-    0x736cfdd2, 0xc8acb479,
-  0x736a4671, 0xc8a70a0e, 0x73678ec9, 0xc8a15fc6, 0x7364d6da, 0xc89bb5a0,
-    0x73621ea4, 0xc8960b9c,
-  0x735f6626, 0xc89061ba, 0x735cad61, 0xc88ab7fa, 0x7359f456, 0xc8850e5d,
-    0x73573b03, 0xc87f64e2,
-  0x73548168, 0xc879bb89, 0x7351c787, 0xc8741252, 0x734f0d5f, 0xc86e693d,
-    0x734c52ef, 0xc868c04b,
-  0x73499838, 0xc863177b, 0x7346dd3a, 0xc85d6ece, 0x734421f6, 0xc857c642,
-    0x7341666a, 0xc8521dd9,
-  0x733eaa96, 0xc84c7593, 0x733bee7c, 0xc846cd6e, 0x7339321b, 0xc841256d,
-    0x73367572, 0xc83b7d8d,
-  0x7333b883, 0xc835d5d0, 0x7330fb4d, 0xc8302e35, 0x732e3dcf, 0xc82a86bd,
-    0x732b800a, 0xc824df67,
-  0x7328c1ff, 0xc81f3834, 0x732603ac, 0xc8199123, 0x73234512, 0xc813ea35,
-    0x73208632, 0xc80e4369,
-  0x731dc70a, 0xc8089cbf, 0x731b079b, 0xc802f638, 0x731847e5, 0xc7fd4fd4,
-    0x731587e8, 0xc7f7a992,
-  0x7312c7a5, 0xc7f20373, 0x7310071a, 0xc7ec5d76, 0x730d4648, 0xc7e6b79c,
-    0x730a8530, 0xc7e111e5,
-  0x7307c3d0, 0xc7db6c50, 0x73050229, 0xc7d5c6de, 0x7302403c, 0xc7d0218e,
-    0x72ff7e07, 0xc7ca7c61,
-  0x72fcbb8c, 0xc7c4d757, 0x72f9f8c9, 0xc7bf3270, 0x72f735c0, 0xc7b98dab,
-    0x72f47270, 0xc7b3e909,
-  0x72f1aed9, 0xc7ae4489, 0x72eeeafb, 0xc7a8a02c, 0x72ec26d6, 0xc7a2fbf3,
-    0x72e9626a, 0xc79d57db,
-  0x72e69db7, 0xc797b3e7, 0x72e3d8be, 0xc7921015, 0x72e1137d, 0xc78c6c67,
-    0x72de4df6, 0xc786c8db,
-  0x72db8828, 0xc7812572, 0x72d8c213, 0xc77b822b, 0x72d5fbb7, 0xc775df08,
-    0x72d33514, 0xc7703c08,
-  0x72d06e2b, 0xc76a992a, 0x72cda6fb, 0xc764f66f, 0x72cadf83, 0xc75f53d7,
-    0x72c817c6, 0xc759b163,
-  0x72c54fc1, 0xc7540f11, 0x72c28775, 0xc74e6ce2, 0x72bfbee3, 0xc748cad6,
-    0x72bcf60a, 0xc74328ed,
-  0x72ba2cea, 0xc73d8727, 0x72b76383, 0xc737e584, 0x72b499d6, 0xc7324404,
-    0x72b1cfe1, 0xc72ca2a7,
-  0x72af05a7, 0xc727016d, 0x72ac3b25, 0xc7216056, 0x72a9705c, 0xc71bbf62,
-    0x72a6a54d, 0xc7161e92,
-  0x72a3d9f7, 0xc7107de4, 0x72a10e5b, 0xc70add5a, 0x729e4277, 0xc7053cf2,
-    0x729b764d, 0xc6ff9cae,
-  0x7298a9dd, 0xc6f9fc8d, 0x7295dd25, 0xc6f45c8f, 0x72931027, 0xc6eebcb5,
-    0x729042e3, 0xc6e91cfd,
-  0x728d7557, 0xc6e37d69, 0x728aa785, 0xc6ddddf8, 0x7287d96c, 0xc6d83eab,
-    0x72850b0d, 0xc6d29f80,
-  0x72823c67, 0xc6cd0079, 0x727f6d7a, 0xc6c76195, 0x727c9e47, 0xc6c1c2d4,
-    0x7279cecd, 0xc6bc2437,
-  0x7276ff0d, 0xc6b685bd, 0x72742f05, 0xc6b0e767, 0x72715eb8, 0xc6ab4933,
-    0x726e8e23, 0xc6a5ab23,
-  0x726bbd48, 0xc6a00d37, 0x7268ec27, 0xc69a6f6e, 0x72661abf, 0xc694d1c8,
-    0x72634910, 0xc68f3446,
-  0x7260771b, 0xc68996e7, 0x725da4df, 0xc683f9ab, 0x725ad25d, 0xc67e5c93,
-    0x7257ff94, 0xc678bf9f,
-  0x72552c85, 0xc67322ce, 0x7252592f, 0xc66d8620, 0x724f8593, 0xc667e996,
-    0x724cb1b0, 0xc6624d30,
-  0x7249dd86, 0xc65cb0ed, 0x72470916, 0xc65714cd, 0x72443460, 0xc65178d1,
-    0x72415f63, 0xc64bdcf9,
-  0x723e8a20, 0xc6464144, 0x723bb496, 0xc640a5b3, 0x7238dec5, 0xc63b0a46,
-    0x723608af, 0xc6356efc,
-  0x72333251, 0xc62fd3d6, 0x72305bae, 0xc62a38d4, 0x722d84c4, 0xc6249df5,
-    0x722aad93, 0xc61f033a,
-  0x7227d61c, 0xc61968a2, 0x7224fe5f, 0xc613ce2f, 0x7222265b, 0xc60e33df,
-    0x721f4e11, 0xc60899b2,
-  0x721c7580, 0xc602ffaa, 0x72199ca9, 0xc5fd65c5, 0x7216c38c, 0xc5f7cc04,
-    0x7213ea28, 0xc5f23267,
-  0x7211107e, 0xc5ec98ee, 0x720e368d, 0xc5e6ff98, 0x720b5c57, 0xc5e16667,
-    0x720881d9, 0xc5dbcd59,
-  0x7205a716, 0xc5d6346f, 0x7202cc0c, 0xc5d09ba9, 0x71fff0bc, 0xc5cb0307,
-    0x71fd1525, 0xc5c56a89,
-  0x71fa3949, 0xc5bfd22e, 0x71f75d25, 0xc5ba39f8, 0x71f480bc, 0xc5b4a1e5,
-    0x71f1a40c, 0xc5af09f7,
-  0x71eec716, 0xc5a9722c, 0x71ebe9da, 0xc5a3da86, 0x71e90c57, 0xc59e4303,
-    0x71e62e8f, 0xc598aba5,
-  0x71e35080, 0xc593146a, 0x71e0722a, 0xc58d7d54, 0x71dd938f, 0xc587e661,
-    0x71dab4ad, 0xc5824f93,
-  0x71d7d585, 0xc57cb8e9, 0x71d4f617, 0xc5772263, 0x71d21662, 0xc5718c00,
-    0x71cf3667, 0xc56bf5c2,
-  0x71cc5626, 0xc5665fa9, 0x71c9759f, 0xc560c9b3, 0x71c694d2, 0xc55b33e2,
-    0x71c3b3bf, 0xc5559e34,
-  0x71c0d265, 0xc55008ab, 0x71bdf0c5, 0xc54a7346, 0x71bb0edf, 0xc544de05,
-    0x71b82cb3, 0xc53f48e9,
-  0x71b54a41, 0xc539b3f1, 0x71b26788, 0xc5341f1d, 0x71af848a, 0xc52e8a6d,
-    0x71aca145, 0xc528f5e1,
-  0x71a9bdba, 0xc523617a, 0x71a6d9e9, 0xc51dcd37, 0x71a3f5d2, 0xc5183919,
-    0x71a11175, 0xc512a51f,
-  0x719e2cd2, 0xc50d1149, 0x719b47e9, 0xc5077d97, 0x719862b9, 0xc501ea0a,
-    0x71957d44, 0xc4fc56a2,
-  0x71929789, 0xc4f6c35d, 0x718fb187, 0xc4f1303d, 0x718ccb3f, 0xc4eb9d42,
-    0x7189e4b2, 0xc4e60a6b,
-  0x7186fdde, 0xc4e077b8, 0x718416c4, 0xc4dae52a, 0x71812f65, 0xc4d552c1,
-    0x717e47bf, 0xc4cfc07c,
-  0x717b5fd3, 0xc4ca2e5b, 0x717877a1, 0xc4c49c5f, 0x71758f29, 0xc4bf0a87,
-    0x7172a66c, 0xc4b978d4,
-  0x716fbd68, 0xc4b3e746, 0x716cd41e, 0xc4ae55dc, 0x7169ea8f, 0xc4a8c497,
-    0x716700b9, 0xc4a33376,
-  0x7164169d, 0xc49da27a, 0x71612c3c, 0xc49811a3, 0x715e4194, 0xc49280f0,
-    0x715b56a7, 0xc48cf062,
-  0x71586b74, 0xc4875ff9, 0x71557ffa, 0xc481cfb4, 0x7152943b, 0xc47c3f94,
-    0x714fa836, 0xc476af98,
-  0x714cbbeb, 0xc4711fc2, 0x7149cf5a, 0xc46b9010, 0x7146e284, 0xc4660083,
-    0x7143f567, 0xc460711b,
-  0x71410805, 0xc45ae1d7, 0x713e1a5c, 0xc45552b8, 0x713b2c6e, 0xc44fc3be,
-    0x71383e3a, 0xc44a34e9,
-  0x71354fc0, 0xc444a639, 0x71326101, 0xc43f17ad, 0x712f71fb, 0xc4398947,
-    0x712c82b0, 0xc433fb05,
-  0x7129931f, 0xc42e6ce8, 0x7126a348, 0xc428def0, 0x7123b32b, 0xc423511d,
-    0x7120c2c8, 0xc41dc36f,
-  0x711dd220, 0xc41835e6, 0x711ae132, 0xc412a882, 0x7117effe, 0xc40d1b42,
-    0x7114fe84, 0xc4078e28,
-  0x71120cc5, 0xc4020133, 0x710f1ac0, 0xc3fc7462, 0x710c2875, 0xc3f6e7b7,
-    0x710935e4, 0xc3f15b31,
-  0x7106430e, 0xc3ebced0, 0x71034ff2, 0xc3e64294, 0x71005c90, 0xc3e0b67d,
-    0x70fd68e9, 0xc3db2a8b,
-  0x70fa74fc, 0xc3d59ebe, 0x70f780c9, 0xc3d01316, 0x70f48c50, 0xc3ca8793,
-    0x70f19792, 0xc3c4fc36,
-  0x70eea28e, 0xc3bf70fd, 0x70ebad45, 0xc3b9e5ea, 0x70e8b7b5, 0xc3b45afc,
-    0x70e5c1e1, 0xc3aed034,
-  0x70e2cbc6, 0xc3a94590, 0x70dfd566, 0xc3a3bb12, 0x70dcdec0, 0xc39e30b8,
-    0x70d9e7d5, 0xc398a685,
-  0x70d6f0a4, 0xc3931c76, 0x70d3f92d, 0xc38d928d, 0x70d10171, 0xc38808c9,
-    0x70ce096f, 0xc3827f2a,
-  0x70cb1128, 0xc37cf5b0, 0x70c8189b, 0xc3776c5c, 0x70c51fc8, 0xc371e32d,
-    0x70c226b0, 0xc36c5a24,
-  0x70bf2d53, 0xc366d140, 0x70bc33b0, 0xc3614881, 0x70b939c7, 0xc35bbfe8,
-    0x70b63f99, 0xc3563774,
-  0x70b34525, 0xc350af26, 0x70b04a6b, 0xc34b26fc, 0x70ad4f6d, 0xc3459ef9,
-    0x70aa5428, 0xc340171b,
-  0x70a7589f, 0xc33a8f62, 0x70a45ccf, 0xc33507cf, 0x70a160ba, 0xc32f8061,
-    0x709e6460, 0xc329f919,
-  0x709b67c0, 0xc32471f7, 0x70986adb, 0xc31eeaf9, 0x70956db1, 0xc3196422,
-    0x70927041, 0xc313dd70,
-  0x708f728b, 0xc30e56e4, 0x708c7490, 0xc308d07d, 0x70897650, 0xc3034a3c,
-    0x708677ca, 0xc2fdc420,
-  0x708378ff, 0xc2f83e2a, 0x708079ee, 0xc2f2b85a, 0x707d7a98, 0xc2ed32af,
-    0x707a7afd, 0xc2e7ad2a,
-  0x70777b1c, 0xc2e227cb, 0x70747af6, 0xc2dca291, 0x70717a8a, 0xc2d71d7e,
-    0x706e79d9, 0xc2d1988f,
-  0x706b78e3, 0xc2cc13c7, 0x706877a7, 0xc2c68f24, 0x70657626, 0xc2c10aa7,
-    0x70627460, 0xc2bb8650,
-  0x705f7255, 0xc2b6021f, 0x705c7004, 0xc2b07e14, 0x70596d6d, 0xc2aafa2e,
-    0x70566a92, 0xc2a5766e,
-  0x70536771, 0xc29ff2d4, 0x7050640b, 0xc29a6f60, 0x704d6060, 0xc294ec12,
-    0x704a5c6f, 0xc28f68e9,
-  0x70475839, 0xc289e5e7, 0x704453be, 0xc284630a, 0x70414efd, 0xc27ee054,
-    0x703e49f8, 0xc2795dc3,
-  0x703b44ad, 0xc273db58, 0x70383f1d, 0xc26e5913, 0x70353947, 0xc268d6f5,
-    0x7032332d, 0xc26354fc,
-  0x702f2ccd, 0xc25dd329, 0x702c2628, 0xc258517c, 0x70291f3e, 0xc252cff5,
-    0x7026180e, 0xc24d4e95,
-  0x7023109a, 0xc247cd5a, 0x702008e0, 0xc2424c46, 0x701d00e1, 0xc23ccb57,
-    0x7019f89d, 0xc2374a8f,
-  0x7016f014, 0xc231c9ec, 0x7013e746, 0xc22c4970, 0x7010de32, 0xc226c91a,
-    0x700dd4da, 0xc22148ea,
-  0x700acb3c, 0xc21bc8e1, 0x7007c159, 0xc21648fd, 0x7004b731, 0xc210c940,
-    0x7001acc4, 0xc20b49a9,
-  0x6ffea212, 0xc205ca38, 0x6ffb971b, 0xc2004aed, 0x6ff88bde, 0xc1facbc9,
-    0x6ff5805d, 0xc1f54cca,
-  0x6ff27497, 0xc1efcdf3, 0x6fef688b, 0xc1ea4f41, 0x6fec5c3b, 0xc1e4d0b6,
-    0x6fe94fa5, 0xc1df5251,
-  0x6fe642ca, 0xc1d9d412, 0x6fe335ab, 0xc1d455f9, 0x6fe02846, 0xc1ced807,
-    0x6fdd1a9c, 0xc1c95a3c,
-  0x6fda0cae, 0xc1c3dc97, 0x6fd6fe7a, 0xc1be5f18, 0x6fd3f001, 0xc1b8e1bf,
-    0x6fd0e144, 0xc1b3648d,
-  0x6fcdd241, 0xc1ade781, 0x6fcac2fa, 0xc1a86a9c, 0x6fc7b36d, 0xc1a2edde,
-    0x6fc4a39c, 0xc19d7145,
-  0x6fc19385, 0xc197f4d4, 0x6fbe832a, 0xc1927888, 0x6fbb728a, 0xc18cfc63,
-    0x6fb861a4, 0xc1878065,
-  0x6fb5507a, 0xc182048d, 0x6fb23f0b, 0xc17c88dc, 0x6faf2d57, 0xc1770d52,
-    0x6fac1b5f, 0xc17191ee,
-  0x6fa90921, 0xc16c16b0, 0x6fa5f69e, 0xc1669b99, 0x6fa2e3d7, 0xc16120a9,
-    0x6f9fd0cb, 0xc15ba5df,
-  0x6f9cbd79, 0xc1562b3d, 0x6f99a9e3, 0xc150b0c0, 0x6f969608, 0xc14b366b,
-    0x6f9381e9, 0xc145bc3c,
-  0x6f906d84, 0xc1404233, 0x6f8d58db, 0xc13ac852, 0x6f8a43ed, 0xc1354e97,
-    0x6f872eba, 0xc12fd503,
-  0x6f841942, 0xc12a5b95, 0x6f810386, 0xc124e24f, 0x6f7ded84, 0xc11f692f,
-    0x6f7ad73e, 0xc119f036,
-  0x6f77c0b3, 0xc1147764, 0x6f74a9e4, 0xc10efeb8, 0x6f7192cf, 0xc1098634,
-    0x6f6e7b76, 0xc1040dd6,
-  0x6f6b63d8, 0xc0fe959f, 0x6f684bf6, 0xc0f91d8f, 0x6f6533ce, 0xc0f3a5a6,
-    0x6f621b62, 0xc0ee2de3,
-  0x6f5f02b2, 0xc0e8b648, 0x6f5be9bc, 0xc0e33ed4, 0x6f58d082, 0xc0ddc786,
-    0x6f55b703, 0xc0d8505f,
-  0x6f529d40, 0xc0d2d960, 0x6f4f8338, 0xc0cd6287, 0x6f4c68eb, 0xc0c7ebd6,
-    0x6f494e5a, 0xc0c2754b,
-  0x6f463383, 0xc0bcfee7, 0x6f431869, 0xc0b788ab, 0x6f3ffd09, 0xc0b21295,
-    0x6f3ce165, 0xc0ac9ca6,
-  0x6f39c57d, 0xc0a726df, 0x6f36a94f, 0xc0a1b13e, 0x6f338cde, 0xc09c3bc5,
-    0x6f307027, 0xc096c673,
-  0x6f2d532c, 0xc0915148, 0x6f2a35ed, 0xc08bdc44, 0x6f271868, 0xc0866767,
-    0x6f23faa0, 0xc080f2b1,
-  0x6f20dc92, 0xc07b7e23, 0x6f1dbe41, 0xc07609bb, 0x6f1a9faa, 0xc070957b,
-    0x6f1780cf, 0xc06b2162,
-  0x6f1461b0, 0xc065ad70, 0x6f11424c, 0xc06039a6, 0x6f0e22a3, 0xc05ac603,
-    0x6f0b02b6, 0xc0555287,
-  0x6f07e285, 0xc04fdf32, 0x6f04c20f, 0xc04a6c05, 0x6f01a155, 0xc044f8fe,
-    0x6efe8056, 0xc03f8620,
-  0x6efb5f12, 0xc03a1368, 0x6ef83d8a, 0xc034a0d8, 0x6ef51bbe, 0xc02f2e6f,
-    0x6ef1f9ad, 0xc029bc2e,
-  0x6eeed758, 0xc0244a14, 0x6eebb4bf, 0xc01ed821, 0x6ee891e1, 0xc0196656,
-    0x6ee56ebe, 0xc013f4b2,
-  0x6ee24b57, 0xc00e8336, 0x6edf27ac, 0xc00911e1, 0x6edc03bc, 0xc003a0b3,
-    0x6ed8df88, 0xbffe2fad,
-  0x6ed5bb10, 0xbff8bece, 0x6ed29653, 0xbff34e17, 0x6ecf7152, 0xbfeddd88,
-    0x6ecc4c0d, 0xbfe86d20,
-  0x6ec92683, 0xbfe2fcdf, 0x6ec600b5, 0xbfdd8cc6, 0x6ec2daa2, 0xbfd81cd5,
-    0x6ebfb44b, 0xbfd2ad0b,
-  0x6ebc8db0, 0xbfcd3d69, 0x6eb966d1, 0xbfc7cdee, 0x6eb63fad, 0xbfc25e9b,
-    0x6eb31845, 0xbfbcef70,
-  0x6eaff099, 0xbfb7806c, 0x6eacc8a8, 0xbfb21190, 0x6ea9a073, 0xbfaca2dc,
-    0x6ea677fa, 0xbfa7344f,
-  0x6ea34f3d, 0xbfa1c5ea, 0x6ea0263b, 0xbf9c57ac, 0x6e9cfcf5, 0xbf96e997,
-    0x6e99d36b, 0xbf917ba9,
-  0x6e96a99d, 0xbf8c0de3, 0x6e937f8a, 0xbf86a044, 0x6e905534, 0xbf8132ce,
-    0x6e8d2a99, 0xbf7bc57f,
-  0x6e89ffb9, 0xbf765858, 0x6e86d496, 0xbf70eb59, 0x6e83a92f, 0xbf6b7e81,
-    0x6e807d83, 0xbf6611d2,
-  0x6e7d5193, 0xbf60a54a, 0x6e7a255f, 0xbf5b38ea, 0x6e76f8e7, 0xbf55ccb2,
-    0x6e73cc2b, 0xbf5060a2,
-  0x6e709f2a, 0xbf4af4ba, 0x6e6d71e6, 0xbf4588fa, 0x6e6a445d, 0xbf401d61,
-    0x6e671690, 0xbf3ab1f1,
-  0x6e63e87f, 0xbf3546a8, 0x6e60ba2a, 0xbf2fdb88, 0x6e5d8b91, 0xbf2a708f,
-    0x6e5a5cb4, 0xbf2505bf,
-  0x6e572d93, 0xbf1f9b16, 0x6e53fe2e, 0xbf1a3096, 0x6e50ce84, 0xbf14c63d,
-    0x6e4d9e97, 0xbf0f5c0d,
-  0x6e4a6e66, 0xbf09f205, 0x6e473df0, 0xbf048824, 0x6e440d37, 0xbeff1e6c,
-    0x6e40dc39, 0xbef9b4dc,
-  0x6e3daaf8, 0xbef44b74, 0x6e3a7972, 0xbeeee234, 0x6e3747a9, 0xbee9791c,
-    0x6e34159b, 0xbee4102d,
-  0x6e30e34a, 0xbedea765, 0x6e2db0b4, 0xbed93ec6, 0x6e2a7ddb, 0xbed3d64f,
-    0x6e274abe, 0xbece6e00,
-  0x6e24175c, 0xbec905d9, 0x6e20e3b7, 0xbec39ddb, 0x6e1dafce, 0xbebe3605,
-    0x6e1a7ba1, 0xbeb8ce57,
-  0x6e174730, 0xbeb366d1, 0x6e14127b, 0xbeadff74, 0x6e10dd82, 0xbea8983f,
-    0x6e0da845, 0xbea33132,
-  0x6e0a72c5, 0xbe9dca4e, 0x6e073d00, 0xbe986391, 0x6e0406f8, 0xbe92fcfe,
-    0x6e00d0ac, 0xbe8d9692,
-  0x6dfd9a1c, 0xbe88304f, 0x6dfa6348, 0xbe82ca35, 0x6df72c30, 0xbe7d6442,
-    0x6df3f4d4, 0xbe77fe78,
-  0x6df0bd35, 0xbe7298d7, 0x6ded8552, 0xbe6d335e, 0x6dea4d2b, 0xbe67ce0d,
-    0x6de714c0, 0xbe6268e5,
-  0x6de3dc11, 0xbe5d03e6, 0x6de0a31f, 0xbe579f0f, 0x6ddd69e9, 0xbe523a60,
-    0x6dda306f, 0xbe4cd5da,
-  0x6dd6f6b1, 0xbe47717c, 0x6dd3bcaf, 0xbe420d47, 0x6dd0826a, 0xbe3ca93b,
-    0x6dcd47e1, 0xbe374557,
-  0x6dca0d14, 0xbe31e19b, 0x6dc6d204, 0xbe2c7e09, 0x6dc396b0, 0xbe271a9f,
-    0x6dc05b18, 0xbe21b75d,
-  0x6dbd1f3c, 0xbe1c5444, 0x6db9e31d, 0xbe16f154, 0x6db6a6ba, 0xbe118e8c,
-    0x6db36a14, 0xbe0c2bed,
-  0x6db02d29, 0xbe06c977, 0x6daceffb, 0xbe01672a, 0x6da9b28a, 0xbdfc0505,
-    0x6da674d5, 0xbdf6a309,
-  0x6da336dc, 0xbdf14135, 0x6d9ff89f, 0xbdebdf8b, 0x6d9cba1f, 0xbde67e09,
-    0x6d997b5b, 0xbde11cb0,
-  0x6d963c54, 0xbddbbb7f, 0x6d92fd09, 0xbdd65a78, 0x6d8fbd7a, 0xbdd0f999,
-    0x6d8c7da8, 0xbdcb98e3,
-  0x6d893d93, 0xbdc63856, 0x6d85fd39, 0xbdc0d7f2, 0x6d82bc9d, 0xbdbb77b7,
-    0x6d7f7bbc, 0xbdb617a4,
-  0x6d7c3a98, 0xbdb0b7bb, 0x6d78f931, 0xbdab57fa, 0x6d75b786, 0xbda5f862,
-    0x6d727597, 0xbda098f3,
-  0x6d6f3365, 0xbd9b39ad, 0x6d6bf0f0, 0xbd95da91, 0x6d68ae37, 0xbd907b9d,
-    0x6d656b3a, 0xbd8b1cd2,
-  0x6d6227fa, 0xbd85be30, 0x6d5ee477, 0xbd805fb7, 0x6d5ba0b0, 0xbd7b0167,
-    0x6d585ca6, 0xbd75a340,
-  0x6d551858, 0xbd704542, 0x6d51d3c6, 0xbd6ae76d, 0x6d4e8ef2, 0xbd6589c1,
-    0x6d4b49da, 0xbd602c3f,
-  0x6d48047e, 0xbd5acee5, 0x6d44bedf, 0xbd5571b5, 0x6d4178fd, 0xbd5014ad,
-    0x6d3e32d7, 0xbd4ab7cf,
-  0x6d3aec6e, 0xbd455b1a, 0x6d37a5c1, 0xbd3ffe8e, 0x6d345ed1, 0xbd3aa22c,
-    0x6d31179e, 0xbd3545f2,
-  0x6d2dd027, 0xbd2fe9e2, 0x6d2a886e, 0xbd2a8dfb, 0x6d274070, 0xbd25323d,
-    0x6d23f830, 0xbd1fd6a8,
-  0x6d20afac, 0xbd1a7b3d, 0x6d1d66e4, 0xbd151ffb, 0x6d1a1dda, 0xbd0fc4e2,
-    0x6d16d48c, 0xbd0a69f2,
-  0x6d138afb, 0xbd050f2c, 0x6d104126, 0xbcffb48f, 0x6d0cf70f, 0xbcfa5a1b,
-    0x6d09acb4, 0xbcf4ffd1,
-  0x6d066215, 0xbcefa5b0, 0x6d031734, 0xbcea4bb9, 0x6cffcc0f, 0xbce4f1eb,
-    0x6cfc80a7, 0xbcdf9846,
-  0x6cf934fc, 0xbcda3ecb, 0x6cf5e90d, 0xbcd4e579, 0x6cf29cdc, 0xbccf8c50,
-    0x6cef5067, 0xbcca3351,
-  0x6cec03af, 0xbcc4da7b, 0x6ce8b6b4, 0xbcbf81cf, 0x6ce56975, 0xbcba294d,
-    0x6ce21bf4, 0xbcb4d0f4,
-  0x6cdece2f, 0xbcaf78c4, 0x6cdb8027, 0xbcaa20be, 0x6cd831dc, 0xbca4c8e1,
-    0x6cd4e34e, 0xbc9f712e,
-  0x6cd1947c, 0xbc9a19a5, 0x6cce4568, 0xbc94c245, 0x6ccaf610, 0xbc8f6b0f,
-    0x6cc7a676, 0xbc8a1402,
-  0x6cc45698, 0xbc84bd1f, 0x6cc10677, 0xbc7f6665, 0x6cbdb613, 0xbc7a0fd6,
-    0x6cba656c, 0xbc74b96f,
-  0x6cb71482, 0xbc6f6333, 0x6cb3c355, 0xbc6a0d20, 0x6cb071e4, 0xbc64b737,
-    0x6cad2031, 0xbc5f6177,
-  0x6ca9ce3b, 0xbc5a0be2, 0x6ca67c01, 0xbc54b676, 0x6ca32985, 0xbc4f6134,
-    0x6c9fd6c6, 0xbc4a0c1b,
-  0x6c9c83c3, 0xbc44b72c, 0x6c99307e, 0xbc3f6267, 0x6c95dcf6, 0xbc3a0dcc,
-    0x6c92892a, 0xbc34b95b,
-  0x6c8f351c, 0xbc2f6513, 0x6c8be0cb, 0xbc2a10f6, 0x6c888c36, 0xbc24bd02,
-    0x6c85375f, 0xbc1f6938,
-  0x6c81e245, 0xbc1a1598, 0x6c7e8ce8, 0xbc14c221, 0x6c7b3748, 0xbc0f6ed5,
-    0x6c77e165, 0xbc0a1bb3,
-  0x6c748b3f, 0xbc04c8ba, 0x6c7134d7, 0xbbff75ec, 0x6c6dde2b, 0xbbfa2347,
-    0x6c6a873d, 0xbbf4d0cc,
-  0x6c67300b, 0xbbef7e7c, 0x6c63d897, 0xbbea2c55, 0x6c6080e0, 0xbbe4da58,
-    0x6c5d28e6, 0xbbdf8885,
-  0x6c59d0a9, 0xbbda36dd, 0x6c56782a, 0xbbd4e55e, 0x6c531f67, 0xbbcf940a,
-    0x6c4fc662, 0xbbca42df,
-  0x6c4c6d1a, 0xbbc4f1df, 0x6c49138f, 0xbbbfa108, 0x6c45b9c1, 0xbbba505c,
-    0x6c425fb1, 0xbbb4ffda,
-  0x6c3f055d, 0xbbafaf82, 0x6c3baac7, 0xbbaa5f54, 0x6c384fef, 0xbba50f50,
-    0x6c34f4d3, 0xbb9fbf77,
-  0x6c319975, 0xbb9a6fc7, 0x6c2e3dd4, 0xbb952042, 0x6c2ae1f0, 0xbb8fd0e7,
-    0x6c2785ca, 0xbb8a81b6,
-  0x6c242960, 0xbb8532b0, 0x6c20ccb4, 0xbb7fe3d3, 0x6c1d6fc6, 0xbb7a9521,
-    0x6c1a1295, 0xbb754699,
-  0x6c16b521, 0xbb6ff83c, 0x6c13576a, 0xbb6aaa09, 0x6c0ff971, 0xbb655c00,
-    0x6c0c9b35, 0xbb600e21,
-  0x6c093cb6, 0xbb5ac06d, 0x6c05ddf5, 0xbb5572e3, 0x6c027ef1, 0xbb502583,
-    0x6bff1faa, 0xbb4ad84e,
-  0x6bfbc021, 0xbb458b43, 0x6bf86055, 0xbb403e63, 0x6bf50047, 0xbb3af1ad,
-    0x6bf19ff6, 0xbb35a521,
-  0x6bee3f62, 0xbb3058c0, 0x6beade8c, 0xbb2b0c8a, 0x6be77d74, 0xbb25c07d,
-    0x6be41c18, 0xbb20749c,
-  0x6be0ba7b, 0xbb1b28e4, 0x6bdd589a, 0xbb15dd57, 0x6bd9f677, 0xbb1091f5,
-    0x6bd69412, 0xbb0b46bd,
-  0x6bd3316a, 0xbb05fbb0, 0x6bcfce80, 0xbb00b0ce, 0x6bcc6b53, 0xbafb6615,
-    0x6bc907e3, 0xbaf61b88,
-  0x6bc5a431, 0xbaf0d125, 0x6bc2403d, 0xbaeb86ed, 0x6bbedc06, 0xbae63cdf,
-    0x6bbb778d, 0xbae0f2fc,
-  0x6bb812d1, 0xbadba943, 0x6bb4add3, 0xbad65fb5, 0x6bb14892, 0xbad11652,
-    0x6bade30f, 0xbacbcd1a,
-  0x6baa7d49, 0xbac6840c, 0x6ba71741, 0xbac13b29, 0x6ba3b0f7, 0xbabbf270,
-    0x6ba04a6a, 0xbab6a9e3,
-  0x6b9ce39b, 0xbab16180, 0x6b997c8a, 0xbaac1948, 0x6b961536, 0xbaa6d13a,
-    0x6b92ada0, 0xbaa18958,
-  0x6b8f45c7, 0xba9c41a0, 0x6b8bddac, 0xba96fa13, 0x6b88754f, 0xba91b2b1,
-    0x6b850caf, 0xba8c6b79,
-  0x6b81a3cd, 0xba87246d, 0x6b7e3aa9, 0xba81dd8b, 0x6b7ad142, 0xba7c96d4,
-    0x6b776799, 0xba775048,
-  0x6b73fdae, 0xba7209e7, 0x6b709381, 0xba6cc3b1, 0x6b6d2911, 0xba677da6,
-    0x6b69be5f, 0xba6237c5,
-  0x6b66536b, 0xba5cf210, 0x6b62e834, 0xba57ac86, 0x6b5f7cbc, 0xba526726,
-    0x6b5c1101, 0xba4d21f2,
-  0x6b58a503, 0xba47dce8, 0x6b5538c4, 0xba42980a, 0x6b51cc42, 0xba3d5356,
-    0x6b4e5f7f, 0xba380ece,
-  0x6b4af279, 0xba32ca71, 0x6b478530, 0xba2d863e, 0x6b4417a6, 0xba284237,
-    0x6b40a9d9, 0xba22fe5b,
-  0x6b3d3bcb, 0xba1dbaaa, 0x6b39cd7a, 0xba187724, 0x6b365ee7, 0xba1333c9,
-    0x6b32f012, 0xba0df099,
-  0x6b2f80fb, 0xba08ad95, 0x6b2c11a1, 0xba036abb, 0x6b28a206, 0xb9fe280d,
-    0x6b253228, 0xb9f8e58a,
-  0x6b21c208, 0xb9f3a332, 0x6b1e51a7, 0xb9ee6106, 0x6b1ae103, 0xb9e91f04,
-    0x6b17701d, 0xb9e3dd2e,
-  0x6b13fef5, 0xb9de9b83, 0x6b108d8b, 0xb9d95a03, 0x6b0d1bdf, 0xb9d418af,
-    0x6b09a9f1, 0xb9ced786,
-  0x6b0637c1, 0xb9c99688, 0x6b02c54f, 0xb9c455b6, 0x6aff529a, 0xb9bf150e,
-    0x6afbdfa4, 0xb9b9d493,
-  0x6af86c6c, 0xb9b49442, 0x6af4f8f2, 0xb9af541d, 0x6af18536, 0xb9aa1423,
-    0x6aee1138, 0xb9a4d455,
-  0x6aea9cf8, 0xb99f94b2, 0x6ae72876, 0xb99a553a, 0x6ae3b3b2, 0xb99515ee,
-    0x6ae03eac, 0xb98fd6cd,
-  0x6adcc964, 0xb98a97d8, 0x6ad953db, 0xb985590e, 0x6ad5de0f, 0xb9801a70,
-    0x6ad26802, 0xb97adbfd,
-  0x6acef1b2, 0xb9759db6, 0x6acb7b21, 0xb9705f9a, 0x6ac8044e, 0xb96b21aa,
-    0x6ac48d39, 0xb965e3e5,
-  0x6ac115e2, 0xb960a64c, 0x6abd9e49, 0xb95b68de, 0x6aba266e, 0xb9562b9c,
-    0x6ab6ae52, 0xb950ee86,
-  0x6ab335f4, 0xb94bb19b, 0x6aafbd54, 0xb94674dc, 0x6aac4472, 0xb9413848,
-    0x6aa8cb4e, 0xb93bfbe0,
-  0x6aa551e9, 0xb936bfa4, 0x6aa1d841, 0xb9318393, 0x6a9e5e58, 0xb92c47ae,
-    0x6a9ae42e, 0xb9270bf5,
-  0x6a9769c1, 0xb921d067, 0x6a93ef13, 0xb91c9505, 0x6a907423, 0xb91759cf,
-    0x6a8cf8f1, 0xb9121ec5,
-  0x6a897d7d, 0xb90ce3e6, 0x6a8601c8, 0xb907a933, 0x6a8285d1, 0xb9026eac,
-    0x6a7f0999, 0xb8fd3451,
-  0x6a7b8d1e, 0xb8f7fa21, 0x6a781062, 0xb8f2c01d, 0x6a749365, 0xb8ed8646,
-    0x6a711625, 0xb8e84c99,
-  0x6a6d98a4, 0xb8e31319, 0x6a6a1ae2, 0xb8ddd9c5, 0x6a669cdd, 0xb8d8a09d,
-    0x6a631e97, 0xb8d367a0,
-  0x6a5fa010, 0xb8ce2ecf, 0x6a5c2147, 0xb8c8f62b, 0x6a58a23c, 0xb8c3bdb2,
-    0x6a5522ef, 0xb8be8565,
-  0x6a51a361, 0xb8b94d44, 0x6a4e2392, 0xb8b4154f, 0x6a4aa381, 0xb8aedd86,
-    0x6a47232e, 0xb8a9a5e9,
-  0x6a43a29a, 0xb8a46e78, 0x6a4021c4, 0xb89f3733, 0x6a3ca0ad, 0xb89a001a,
-    0x6a391f54, 0xb894c92d,
-  0x6a359db9, 0xb88f926d, 0x6a321bdd, 0xb88a5bd8, 0x6a2e99c0, 0xb885256f,
-    0x6a2b1761, 0xb87fef33,
-  0x6a2794c1, 0xb87ab922, 0x6a2411df, 0xb875833e, 0x6a208ebb, 0xb8704d85,
-    0x6a1d0b57, 0xb86b17f9,
-  0x6a1987b0, 0xb865e299, 0x6a1603c8, 0xb860ad66, 0x6a127f9f, 0xb85b785e,
-    0x6a0efb35, 0xb8564383,
-  0x6a0b7689, 0xb8510ed4, 0x6a07f19b, 0xb84bda51, 0x6a046c6c, 0xb846a5fa,
-    0x6a00e6fc, 0xb84171cf,
-  0x69fd614a, 0xb83c3dd1, 0x69f9db57, 0xb83709ff, 0x69f65523, 0xb831d659,
-    0x69f2cead, 0xb82ca2e0,
-  0x69ef47f6, 0xb8276f93, 0x69ebc0fe, 0xb8223c72, 0x69e839c4, 0xb81d097e,
-    0x69e4b249, 0xb817d6b6,
-  0x69e12a8c, 0xb812a41a, 0x69dda28f, 0xb80d71aa, 0x69da1a50, 0xb8083f67,
-    0x69d691cf, 0xb8030d51,
-  0x69d3090e, 0xb7fddb67, 0x69cf800b, 0xb7f8a9a9, 0x69cbf6c7, 0xb7f37818,
-    0x69c86d41, 0xb7ee46b3,
-  0x69c4e37a, 0xb7e9157a, 0x69c15973, 0xb7e3e46e, 0x69bdcf29, 0xb7deb38f,
-    0x69ba449f, 0xb7d982dc,
-  0x69b6b9d3, 0xb7d45255, 0x69b32ec7, 0xb7cf21fb, 0x69afa378, 0xb7c9f1ce,
-    0x69ac17e9, 0xb7c4c1cd,
-  0x69a88c19, 0xb7bf91f8, 0x69a50007, 0xb7ba6251, 0x69a173b5, 0xb7b532d6,
-    0x699de721, 0xb7b00387,
-  0x699a5a4c, 0xb7aad465, 0x6996cd35, 0xb7a5a570, 0x69933fde, 0xb7a076a7,
-    0x698fb246, 0xb79b480b,
-  0x698c246c, 0xb796199b, 0x69889651, 0xb790eb58, 0x698507f6, 0xb78bbd42,
-    0x69817959, 0xb7868f59,
-  0x697dea7b, 0xb781619c, 0x697a5b5c, 0xb77c340c, 0x6976cbfc, 0xb77706a9,
-    0x69733c5b, 0xb771d972,
-  0x696fac78, 0xb76cac69, 0x696c1c55, 0xb7677f8c, 0x69688bf1, 0xb76252db,
-    0x6964fb4c, 0xb75d2658,
-  0x69616a65, 0xb757fa01, 0x695dd93e, 0xb752cdd8, 0x695a47d6, 0xb74da1db,
-    0x6956b62d, 0xb748760b,
-  0x69532442, 0xb7434a67, 0x694f9217, 0xb73e1ef1, 0x694bffab, 0xb738f3a7,
-    0x69486cfe, 0xb733c88b,
-  0x6944da10, 0xb72e9d9b, 0x694146e1, 0xb72972d8, 0x693db371, 0xb7244842,
-    0x693a1fc0, 0xb71f1dd9,
-  0x69368bce, 0xb719f39e, 0x6932f79b, 0xb714c98e, 0x692f6328, 0xb70f9fac,
-    0x692bce73, 0xb70a75f7,
-  0x6928397e, 0xb7054c6f, 0x6924a448, 0xb7002314, 0x69210ed1, 0xb6faf9e6,
-    0x691d7919, 0xb6f5d0e5,
-  0x6919e320, 0xb6f0a812, 0x69164ce7, 0xb6eb7f6b, 0x6912b66c, 0xb6e656f1,
-    0x690f1fb1, 0xb6e12ea4,
-  0x690b88b5, 0xb6dc0685, 0x6907f178, 0xb6d6de92, 0x690459fb, 0xb6d1b6cd,
-    0x6900c23c, 0xb6cc8f35,
-  0x68fd2a3d, 0xb6c767ca, 0x68f991fd, 0xb6c2408c, 0x68f5f97d, 0xb6bd197c,
-    0x68f260bb, 0xb6b7f298,
-  0x68eec7b9, 0xb6b2cbe2, 0x68eb2e76, 0xb6ada559, 0x68e794f3, 0xb6a87efd,
-    0x68e3fb2e, 0xb6a358ce,
-  0x68e06129, 0xb69e32cd, 0x68dcc6e4, 0xb6990cf9, 0x68d92c5d, 0xb693e752,
-    0x68d59196, 0xb68ec1d9,
-  0x68d1f68f, 0xb6899c8d, 0x68ce5b46, 0xb684776e, 0x68cabfbd, 0xb67f527c,
-    0x68c723f3, 0xb67a2db8,
-  0x68c387e9, 0xb6750921, 0x68bfeb9e, 0xb66fe4b8, 0x68bc4f13, 0xb66ac07c,
-    0x68b8b247, 0xb6659c6d,
-  0x68b5153a, 0xb660788c, 0x68b177ed, 0xb65b54d8, 0x68adda5f, 0xb6563151,
-    0x68aa3c90, 0xb6510df8,
-  0x68a69e81, 0xb64beacd, 0x68a30031, 0xb646c7ce, 0x689f61a1, 0xb641a4fe,
-    0x689bc2d1, 0xb63c825b,
-  0x689823bf, 0xb6375fe5, 0x6894846e, 0xb6323d9d, 0x6890e4dc, 0xb62d1b82,
-    0x688d4509, 0xb627f995,
-  0x6889a4f6, 0xb622d7d6, 0x688604a2, 0xb61db644, 0x6882640e, 0xb61894df,
-    0x687ec339, 0xb61373a9,
-  0x687b2224, 0xb60e529f, 0x687780ce, 0xb60931c4, 0x6873df38, 0xb6041116,
-    0x68703d62, 0xb5fef095,
-  0x686c9b4b, 0xb5f9d043, 0x6868f8f4, 0xb5f4b01e, 0x6865565c, 0xb5ef9026,
-    0x6861b384, 0xb5ea705d,
-  0x685e106c, 0xb5e550c1, 0x685a6d13, 0xb5e03153, 0x6856c979, 0xb5db1212,
-    0x685325a0, 0xb5d5f2ff,
-  0x684f8186, 0xb5d0d41a, 0x684bdd2c, 0xb5cbb563, 0x68483891, 0xb5c696da,
-    0x684493b6, 0xb5c1787e,
-  0x6840ee9b, 0xb5bc5a50, 0x683d493f, 0xb5b73c50, 0x6839a3a4, 0xb5b21e7e,
-    0x6835fdc7, 0xb5ad00d9,
-  0x683257ab, 0xb5a7e362, 0x682eb14e, 0xb5a2c61a, 0x682b0ab1, 0xb59da8ff,
-    0x682763d4, 0xb5988c12,
-  0x6823bcb7, 0xb5936f53, 0x68201559, 0xb58e52c2, 0x681c6dbb, 0xb589365e,
-    0x6818c5dd, 0xb5841a29,
-  0x68151dbe, 0xb57efe22, 0x68117560, 0xb579e248, 0x680dccc1, 0xb574c69d,
-    0x680a23e2, 0xb56fab1f,
-  0x68067ac3, 0xb56a8fd0, 0x6802d164, 0xb56574ae, 0x67ff27c4, 0xb56059bb,
-    0x67fb7de5, 0xb55b3ef5,
-  0x67f7d3c5, 0xb556245e, 0x67f42965, 0xb55109f5, 0x67f07ec5, 0xb54befba,
-    0x67ecd3e5, 0xb546d5ac,
-  0x67e928c5, 0xb541bbcd, 0x67e57d64, 0xb53ca21c, 0x67e1d1c4, 0xb5378899,
-    0x67de25e3, 0xb5326f45,
-  0x67da79c3, 0xb52d561e, 0x67d6cd62, 0xb5283d26, 0x67d320c1, 0xb523245b,
-    0x67cf73e1, 0xb51e0bbf,
-  0x67cbc6c0, 0xb518f351, 0x67c8195f, 0xb513db12, 0x67c46bbe, 0xb50ec300,
-    0x67c0bddd, 0xb509ab1d,
-  0x67bd0fbd, 0xb5049368, 0x67b9615c, 0xb4ff7be1, 0x67b5b2bb, 0xb4fa6489,
-    0x67b203da, 0xb4f54d5f,
-  0x67ae54ba, 0xb4f03663, 0x67aaa559, 0xb4eb1f95, 0x67a6f5b8, 0xb4e608f6,
-    0x67a345d8, 0xb4e0f285,
-  0x679f95b7, 0xb4dbdc42, 0x679be557, 0xb4d6c62e, 0x679834b6, 0xb4d1b048,
-    0x679483d6, 0xb4cc9a90,
-  0x6790d2b6, 0xb4c78507, 0x678d2156, 0xb4c26fad, 0x67896fb6, 0xb4bd5a80,
-    0x6785bdd6, 0xb4b84582,
-  0x67820bb7, 0xb4b330b3, 0x677e5957, 0xb4ae1c12, 0x677aa6b8, 0xb4a9079f,
-    0x6776f3d9, 0xb4a3f35b,
-  0x677340ba, 0xb49edf45, 0x676f8d5b, 0xb499cb5e, 0x676bd9bd, 0xb494b7a6,
-    0x676825de, 0xb48fa41c,
-  0x676471c0, 0xb48a90c0, 0x6760bd62, 0xb4857d93, 0x675d08c4, 0xb4806a95,
-    0x675953e7, 0xb47b57c5,
-  0x67559eca, 0xb4764523, 0x6751e96d, 0xb47132b1, 0x674e33d0, 0xb46c206d,
-    0x674a7df4, 0xb4670e57,
-  0x6746c7d8, 0xb461fc70, 0x6743117c, 0xb45ceab8, 0x673f5ae0, 0xb457d92f,
-    0x673ba405, 0xb452c7d4,
-  0x6737ecea, 0xb44db6a8, 0x67343590, 0xb448a5aa, 0x67307df5, 0xb44394db,
-    0x672cc61c, 0xb43e843b,
-  0x67290e02, 0xb43973ca, 0x672555a9, 0xb4346387, 0x67219d10, 0xb42f5373,
-    0x671de438, 0xb42a438e,
-  0x671a2b20, 0xb42533d8, 0x671671c8, 0xb4202451, 0x6712b831, 0xb41b14f8,
-    0x670efe5a, 0xb41605ce,
-  0x670b4444, 0xb410f6d3, 0x670789ee, 0xb40be807, 0x6703cf58, 0xb406d969,
-    0x67001483, 0xb401cafb,
-  0x66fc596f, 0xb3fcbcbb, 0x66f89e1b, 0xb3f7aeaa, 0x66f4e287, 0xb3f2a0c9,
-    0x66f126b4, 0xb3ed9316,
-  0x66ed6aa1, 0xb3e88592, 0x66e9ae4f, 0xb3e3783d, 0x66e5f1be, 0xb3de6b17,
-    0x66e234ed, 0xb3d95e1f,
-  0x66de77dc, 0xb3d45157, 0x66daba8c, 0xb3cf44be, 0x66d6fcfd, 0xb3ca3854,
-    0x66d33f2e, 0xb3c52c19,
-  0x66cf8120, 0xb3c0200c, 0x66cbc2d2, 0xb3bb142f, 0x66c80445, 0xb3b60881,
-    0x66c44579, 0xb3b0fd02,
-  0x66c0866d, 0xb3abf1b2, 0x66bcc721, 0xb3a6e691, 0x66b90797, 0xb3a1dba0,
-    0x66b547cd, 0xb39cd0dd,
-  0x66b187c3, 0xb397c649, 0x66adc77b, 0xb392bbe5, 0x66aa06f3, 0xb38db1b0,
-    0x66a6462b, 0xb388a7aa,
-  0x66a28524, 0xb3839dd3, 0x669ec3de, 0xb37e942b, 0x669b0259, 0xb3798ab2,
-    0x66974095, 0xb3748169,
-  0x66937e91, 0xb36f784f, 0x668fbc4e, 0xb36a6f64, 0x668bf9cb, 0xb36566a8,
-    0x66883709, 0xb3605e1c,
-  0x66847408, 0xb35b55bf, 0x6680b0c8, 0xb3564d91, 0x667ced49, 0xb3514592,
-    0x6679298a, 0xb34c3dc3,
-  0x6675658c, 0xb3473623, 0x6671a14f, 0xb3422eb2, 0x666ddcd3, 0xb33d2771,
-    0x666a1818, 0xb338205f,
-  0x6666531d, 0xb333197c, 0x66628de4, 0xb32e12c9, 0x665ec86b, 0xb3290c45,
-    0x665b02b3, 0xb32405f1,
-  0x66573cbb, 0xb31effcc, 0x66537685, 0xb319f9d6, 0x664fb010, 0xb314f410,
-    0x664be95b, 0xb30fee79,
-  0x66482267, 0xb30ae912, 0x66445b35, 0xb305e3da, 0x664093c3, 0xb300ded2,
-    0x663ccc12, 0xb2fbd9f9,
-  0x66390422, 0xb2f6d550, 0x66353bf3, 0xb2f1d0d6, 0x66317385, 0xb2eccc8c,
-    0x662daad8, 0xb2e7c871,
-  0x6629e1ec, 0xb2e2c486, 0x662618c1, 0xb2ddc0ca, 0x66224f56, 0xb2d8bd3e,
-    0x661e85ad, 0xb2d3b9e2,
-  0x661abbc5, 0xb2ceb6b5, 0x6616f19e, 0xb2c9b3b8, 0x66132738, 0xb2c4b0ea,
-    0x660f5c93, 0xb2bfae4c,
-  0x660b91af, 0xb2baabde, 0x6607c68c, 0xb2b5a99f, 0x6603fb2a, 0xb2b0a790,
-    0x66002f89, 0xb2aba5b1,
-  0x65fc63a9, 0xb2a6a402, 0x65f8978b, 0xb2a1a282, 0x65f4cb2d, 0xb29ca132,
-    0x65f0fe91, 0xb297a011,
-  0x65ed31b5, 0xb2929f21, 0x65e9649b, 0xb28d9e60, 0x65e59742, 0xb2889dcf,
-    0x65e1c9aa, 0xb2839d6d,
-  0x65ddfbd3, 0xb27e9d3c, 0x65da2dbd, 0xb2799d3a, 0x65d65f69, 0xb2749d68,
-    0x65d290d6, 0xb26f9dc6,
-  0x65cec204, 0xb26a9e54, 0x65caf2f3, 0xb2659f12, 0x65c723a3, 0xb2609fff,
-    0x65c35415, 0xb25ba11d,
-  0x65bf8447, 0xb256a26a, 0x65bbb43b, 0xb251a3e7, 0x65b7e3f1, 0xb24ca594,
-    0x65b41367, 0xb247a771,
-  0x65b0429f, 0xb242a97e, 0x65ac7198, 0xb23dabbb, 0x65a8a052, 0xb238ae28,
-    0x65a4cece, 0xb233b0c5,
-  0x65a0fd0b, 0xb22eb392, 0x659d2b09, 0xb229b68f, 0x659958c9, 0xb224b9bc,
-    0x6595864a, 0xb21fbd19,
-  0x6591b38c, 0xb21ac0a6, 0x658de08f, 0xb215c463, 0x658a0d54, 0xb210c850,
-    0x658639db, 0xb20bcc6d,
-  0x65826622, 0xb206d0ba, 0x657e922b, 0xb201d537, 0x657abdf6, 0xb1fcd9e5,
-    0x6576e982, 0xb1f7dec2,
-  0x657314cf, 0xb1f2e3d0, 0x656f3fde, 0xb1ede90e, 0x656b6aae, 0xb1e8ee7c,
-    0x6567953f, 0xb1e3f41a,
-  0x6563bf92, 0xb1def9e9, 0x655fe9a7, 0xb1d9ffe7, 0x655c137d, 0xb1d50616,
-    0x65583d14, 0xb1d00c75,
-  0x6554666d, 0xb1cb1304, 0x65508f87, 0xb1c619c3, 0x654cb863, 0xb1c120b3,
-    0x6548e101, 0xb1bc27d3,
-  0x6545095f, 0xb1b72f23, 0x65413180, 0xb1b236a4, 0x653d5962, 0xb1ad3e55,
-    0x65398105, 0xb1a84636,
-  0x6535a86b, 0xb1a34e47, 0x6531cf91, 0xb19e5689, 0x652df679, 0xb1995efb,
-    0x652a1d23, 0xb194679e,
-  0x6526438f, 0xb18f7071, 0x652269bc, 0xb18a7974, 0x651e8faa, 0xb18582a8,
-    0x651ab55b, 0xb1808c0c,
-  0x6516dacd, 0xb17b95a0, 0x65130000, 0xb1769f65, 0x650f24f5, 0xb171a95b,
-    0x650b49ac, 0xb16cb380,
-  0x65076e25, 0xb167bdd7, 0x6503925f, 0xb162c85d, 0x64ffb65b, 0xb15dd315,
-    0x64fbda18, 0xb158ddfd,
-  0x64f7fd98, 0xb153e915, 0x64f420d9, 0xb14ef45e, 0x64f043dc, 0xb149ffd7,
-    0x64ec66a0, 0xb1450b81,
-  0x64e88926, 0xb140175b, 0x64e4ab6e, 0xb13b2367, 0x64e0cd78, 0xb1362fa2,
-    0x64dcef44, 0xb1313c0e,
-  0x64d910d1, 0xb12c48ab, 0x64d53220, 0xb1275579, 0x64d15331, 0xb1226277,
-    0x64cd7404, 0xb11d6fa6,
-  0x64c99498, 0xb1187d05, 0x64c5b4ef, 0xb1138a95, 0x64c1d507, 0xb10e9856,
-    0x64bdf4e1, 0xb109a648,
-  0x64ba147d, 0xb104b46a, 0x64b633da, 0xb0ffc2bd, 0x64b252fa, 0xb0fad140,
-    0x64ae71dc, 0xb0f5dff5,
-  0x64aa907f, 0xb0f0eeda, 0x64a6aee4, 0xb0ebfdf0, 0x64a2cd0c, 0xb0e70d37,
-    0x649eeaf5, 0xb0e21cae,
-  0x649b08a0, 0xb0dd2c56, 0x6497260d, 0xb0d83c2f, 0x6493433c, 0xb0d34c39,
-    0x648f602d, 0xb0ce5c74,
-  0x648b7ce0, 0xb0c96ce0, 0x64879955, 0xb0c47d7c, 0x6483b58c, 0xb0bf8e4a,
-    0x647fd185, 0xb0ba9f48,
-  0x647bed3f, 0xb0b5b077, 0x647808bc, 0xb0b0c1d7, 0x647423fb, 0xb0abd368,
-    0x64703efc, 0xb0a6e52a,
-  0x646c59bf, 0xb0a1f71d, 0x64687444, 0xb09d0941, 0x64648e8c, 0xb0981b96,
-    0x6460a895, 0xb0932e1b,
-  0x645cc260, 0xb08e40d2, 0x6458dbed, 0xb08953ba, 0x6454f53d, 0xb08466d3,
-    0x64510e4e, 0xb07f7a1c,
-  0x644d2722, 0xb07a8d97, 0x64493fb8, 0xb075a143, 0x64455810, 0xb070b520,
-    0x6441702a, 0xb06bc92e,
-  0x643d8806, 0xb066dd6d, 0x64399fa5, 0xb061f1de, 0x6435b706, 0xb05d067f,
-    0x6431ce28, 0xb0581b51,
-  0x642de50d, 0xb0533055, 0x6429fbb5, 0xb04e458a, 0x6426121e, 0xb0495af0,
-    0x6422284a, 0xb0447087,
-  0x641e3e38, 0xb03f864f, 0x641a53e8, 0xb03a9c49, 0x6416695a, 0xb035b273,
-    0x64127e8f, 0xb030c8cf,
-  0x640e9386, 0xb02bdf5c, 0x640aa83f, 0xb026f61b, 0x6406bcba, 0xb0220d0a,
-    0x6402d0f8, 0xb01d242b,
-  0x63fee4f8, 0xb0183b7d, 0x63faf8bb, 0xb0135301, 0x63f70c3f, 0xb00e6ab5,
-    0x63f31f86, 0xb009829c,
-  0x63ef3290, 0xb0049ab3, 0x63eb455c, 0xafffb2fc, 0x63e757ea, 0xaffacb76,
-    0x63e36a3a, 0xaff5e421,
-  0x63df7c4d, 0xaff0fcfe, 0x63db8e22, 0xafec160c, 0x63d79fba, 0xafe72f4c,
-    0x63d3b114, 0xafe248bd,
-  0x63cfc231, 0xafdd625f, 0x63cbd310, 0xafd87c33, 0x63c7e3b1, 0xafd39638,
-    0x63c3f415, 0xafceb06f,
-  0x63c0043b, 0xafc9cad7, 0x63bc1424, 0xafc4e571, 0x63b823cf, 0xafc0003c,
-    0x63b4333d, 0xafbb1b39,
-  0x63b0426d, 0xafb63667, 0x63ac5160, 0xafb151c7, 0x63a86015, 0xafac6d58,
-    0x63a46e8d, 0xafa7891b,
-  0x63a07cc7, 0xafa2a50f, 0x639c8ac4, 0xaf9dc135, 0x63989884, 0xaf98dd8d,
-    0x6394a606, 0xaf93fa16,
-  0x6390b34a, 0xaf8f16d1, 0x638cc051, 0xaf8a33bd, 0x6388cd1b, 0xaf8550db,
-    0x6384d9a7, 0xaf806e2b,
-  0x6380e5f6, 0xaf7b8bac, 0x637cf208, 0xaf76a95f, 0x6378fddc, 0xaf71c743,
-    0x63750973, 0xaf6ce55a,
-  0x637114cc, 0xaf6803a2, 0x636d1fe9, 0xaf63221c, 0x63692ac7, 0xaf5e40c7,
-    0x63653569, 0xaf595fa4,
-  0x63613fcd, 0xaf547eb3, 0x635d49f4, 0xaf4f9df4, 0x635953dd, 0xaf4abd66,
-    0x63555d8a, 0xaf45dd0b,
-  0x635166f9, 0xaf40fce1, 0x634d702b, 0xaf3c1ce9, 0x6349791f, 0xaf373d22,
-    0x634581d6, 0xaf325d8e,
-  0x63418a50, 0xaf2d7e2b, 0x633d928d, 0xaf289efa, 0x63399a8d, 0xaf23bffb,
-    0x6335a24f, 0xaf1ee12e,
-  0x6331a9d4, 0xaf1a0293, 0x632db11c, 0xaf15242a, 0x6329b827, 0xaf1045f3,
-    0x6325bef5, 0xaf0b67ed,
-  0x6321c585, 0xaf068a1a, 0x631dcbd9, 0xaf01ac78, 0x6319d1ef, 0xaefccf09,
-    0x6315d7c8, 0xaef7f1cb,
-  0x6311dd64, 0xaef314c0, 0x630de2c3, 0xaeee37e6, 0x6309e7e4, 0xaee95b3f,
-    0x6305ecc9, 0xaee47ec9,
-  0x6301f171, 0xaedfa285, 0x62fdf5db, 0xaedac674, 0x62f9fa09, 0xaed5ea95,
-    0x62f5fdf9, 0xaed10ee7,
-  0x62f201ac, 0xaecc336c, 0x62ee0523, 0xaec75823, 0x62ea085c, 0xaec27d0c,
-    0x62e60b58, 0xaebda227,
-  0x62e20e17, 0xaeb8c774, 0x62de109a, 0xaeb3ecf3, 0x62da12df, 0xaeaf12a4,
-    0x62d614e7, 0xaeaa3888,
-  0x62d216b3, 0xaea55e9e, 0x62ce1841, 0xaea084e6, 0x62ca1992, 0xae9bab60,
-    0x62c61aa7, 0xae96d20c,
-  0x62c21b7e, 0xae91f8eb, 0x62be1c19, 0xae8d1ffb, 0x62ba1c77, 0xae88473e,
-    0x62b61c98, 0xae836eb4,
-  0x62b21c7b, 0xae7e965b, 0x62ae1c23, 0xae79be35, 0x62aa1b8d, 0xae74e641,
-    0x62a61aba, 0xae700e80,
-  0x62a219aa, 0xae6b36f0, 0x629e185e, 0xae665f93, 0x629a16d5, 0xae618869,
-    0x6296150f, 0xae5cb171,
-  0x6292130c, 0xae57daab, 0x628e10cc, 0xae530417, 0x628a0e50, 0xae4e2db6,
-    0x62860b97, 0xae495787,
-  0x628208a1, 0xae44818b, 0x627e056e, 0xae3fabc1, 0x627a01fe, 0xae3ad629,
-    0x6275fe52, 0xae3600c4,
-  0x6271fa69, 0xae312b92, 0x626df643, 0xae2c5691, 0x6269f1e1, 0xae2781c4,
-    0x6265ed42, 0xae22ad29,
-  0x6261e866, 0xae1dd8c0, 0x625de34e, 0xae19048a, 0x6259ddf8, 0xae143086,
-    0x6255d866, 0xae0f5cb5,
-  0x6251d298, 0xae0a8916, 0x624dcc8d, 0xae05b5aa, 0x6249c645, 0xae00e271,
-    0x6245bfc0, 0xadfc0f6a,
-  0x6241b8ff, 0xadf73c96, 0x623db202, 0xadf269f4, 0x6239aac7, 0xaded9785,
-    0x6235a351, 0xade8c548,
-  0x62319b9d, 0xade3f33e, 0x622d93ad, 0xaddf2167, 0x62298b81, 0xadda4fc3,
-    0x62258317, 0xadd57e51,
-  0x62217a72, 0xadd0ad12, 0x621d7190, 0xadcbdc05, 0x62196871, 0xadc70b2c,
-    0x62155f16, 0xadc23a85,
-  0x6211557e, 0xadbd6a10, 0x620d4baa, 0xadb899cf, 0x62094199, 0xadb3c9c0,
-    0x6205374c, 0xadaef9e4,
-  0x62012cc2, 0xadaa2a3b, 0x61fd21fc, 0xada55ac4, 0x61f916f9, 0xada08b80,
-    0x61f50bba, 0xad9bbc70,
-  0x61f1003f, 0xad96ed92, 0x61ecf487, 0xad921ee6, 0x61e8e893, 0xad8d506e,
-    0x61e4dc62, 0xad888229,
-  0x61e0cff5, 0xad83b416, 0x61dcc34c, 0xad7ee636, 0x61d8b666, 0xad7a1889,
-    0x61d4a944, 0xad754b0f,
-  0x61d09be5, 0xad707dc8, 0x61cc8e4b, 0xad6bb0b4, 0x61c88074, 0xad66e3d3,
-    0x61c47260, 0xad621725,
-  0x61c06410, 0xad5d4aaa, 0x61bc5584, 0xad587e61, 0x61b846bc, 0xad53b24c,
-    0x61b437b7, 0xad4ee66a,
-  0x61b02876, 0xad4a1aba, 0x61ac18f9, 0xad454f3e, 0x61a80940, 0xad4083f5,
-    0x61a3f94a, 0xad3bb8df,
-  0x619fe918, 0xad36edfc, 0x619bd8aa, 0xad32234b, 0x6197c800, 0xad2d58ce,
-    0x6193b719, 0xad288e85,
-  0x618fa5f7, 0xad23c46e, 0x618b9498, 0xad1efa8a, 0x618782fd, 0xad1a30d9,
-    0x61837126, 0xad15675c,
-  0x617f5f12, 0xad109e12, 0x617b4cc3, 0xad0bd4fb, 0x61773a37, 0xad070c17,
-    0x61732770, 0xad024366,
-  0x616f146c, 0xacfd7ae8, 0x616b012c, 0xacf8b29e, 0x6166edb0, 0xacf3ea87,
-    0x6162d9f8, 0xacef22a3,
-  0x615ec603, 0xacea5af2, 0x615ab1d3, 0xace59375, 0x61569d67, 0xace0cc2b,
-    0x615288be, 0xacdc0514,
-  0x614e73da, 0xacd73e30, 0x614a5eba, 0xacd27780, 0x6146495d, 0xaccdb103,
-    0x614233c5, 0xacc8eab9,
-  0x613e1df0, 0xacc424a3, 0x613a07e0, 0xacbf5ec0, 0x6135f193, 0xacba9910,
-    0x6131db0b, 0xacb5d394,
-  0x612dc447, 0xacb10e4b, 0x6129ad46, 0xacac4935, 0x6125960a, 0xaca78453,
-    0x61217e92, 0xaca2bfa4,
-  0x611d66de, 0xac9dfb29, 0x61194eee, 0xac9936e1, 0x611536c2, 0xac9472cd,
-    0x61111e5b, 0xac8faeec,
-  0x610d05b7, 0xac8aeb3e, 0x6108ecd8, 0xac8627c4, 0x6104d3bc, 0xac81647e,
-    0x6100ba65, 0xac7ca16b,
-  0x60fca0d2, 0xac77de8b, 0x60f88703, 0xac731bdf, 0x60f46cf9, 0xac6e5967,
-    0x60f052b2, 0xac699722,
-  0x60ec3830, 0xac64d510, 0x60e81d72, 0xac601333, 0x60e40278, 0xac5b5189,
-    0x60dfe743, 0xac569012,
-  0x60dbcbd1, 0xac51cecf, 0x60d7b024, 0xac4d0dc0, 0x60d3943b, 0xac484ce4,
-    0x60cf7817, 0xac438c3c,
-  0x60cb5bb7, 0xac3ecbc7, 0x60c73f1b, 0xac3a0b87, 0x60c32243, 0xac354b7a,
-    0x60bf0530, 0xac308ba0,
-  0x60bae7e1, 0xac2bcbfa, 0x60b6ca56, 0xac270c88, 0x60b2ac8f, 0xac224d4a,
-    0x60ae8e8d, 0xac1d8e40,
-  0x60aa7050, 0xac18cf69, 0x60a651d7, 0xac1410c6, 0x60a23322, 0xac0f5256,
-    0x609e1431, 0xac0a941b,
-  0x6099f505, 0xac05d613, 0x6095d59d, 0xac01183f, 0x6091b5fa, 0xabfc5a9f,
-    0x608d961b, 0xabf79d33,
-  0x60897601, 0xabf2dffb, 0x608555ab, 0xabee22f6, 0x60813519, 0xabe96625,
-    0x607d144c, 0xabe4a988,
-  0x6078f344, 0xabdfed1f, 0x6074d200, 0xabdb30ea, 0x6070b080, 0xabd674e9,
-    0x606c8ec5, 0xabd1b91c,
-  0x60686ccf, 0xabccfd83, 0x60644a9d, 0xabc8421d, 0x6060282f, 0xabc386ec,
-    0x605c0587, 0xabbecbee,
-  0x6057e2a2, 0xabba1125, 0x6053bf82, 0xabb5568f, 0x604f9c27, 0xabb09c2e,
-    0x604b7891, 0xababe200,
-  0x604754bf, 0xaba72807, 0x604330b1, 0xaba26e41, 0x603f0c69, 0xab9db4b0,
-    0x603ae7e5, 0xab98fb52,
-  0x6036c325, 0xab944229, 0x60329e2a, 0xab8f8934, 0x602e78f4, 0xab8ad073,
-    0x602a5383, 0xab8617e6,
-  0x60262dd6, 0xab815f8d, 0x602207ee, 0xab7ca768, 0x601de1ca, 0xab77ef77,
-    0x6019bb6b, 0xab7337bb,
-  0x601594d1, 0xab6e8032, 0x60116dfc, 0xab69c8de, 0x600d46ec, 0xab6511be,
-    0x60091fa0, 0xab605ad2,
-  0x6004f819, 0xab5ba41a, 0x6000d057, 0xab56ed97, 0x5ffca859, 0xab523748,
-    0x5ff88021, 0xab4d812d,
-  0x5ff457ad, 0xab48cb46, 0x5ff02efe, 0xab441593, 0x5fec0613, 0xab3f6015,
-    0x5fe7dcee, 0xab3aaacb,
-  0x5fe3b38d, 0xab35f5b5, 0x5fdf89f2, 0xab3140d4, 0x5fdb601b, 0xab2c8c27,
-    0x5fd73609, 0xab27d7ae,
-  0x5fd30bbc, 0xab23236a, 0x5fcee133, 0xab1e6f5a, 0x5fcab670, 0xab19bb7e,
-    0x5fc68b72, 0xab1507d7,
-  0x5fc26038, 0xab105464, 0x5fbe34c4, 0xab0ba125, 0x5fba0914, 0xab06ee1b,
-    0x5fb5dd29, 0xab023b46,
-  0x5fb1b104, 0xaafd88a4, 0x5fad84a3, 0xaaf8d637, 0x5fa95807, 0xaaf423ff,
-    0x5fa52b31, 0xaaef71fb,
-  0x5fa0fe1f, 0xaaeac02c, 0x5f9cd0d2, 0xaae60e91, 0x5f98a34a, 0xaae15d2a,
-    0x5f947588, 0xaadcabf8,
-  0x5f90478a, 0xaad7fafb, 0x5f8c1951, 0xaad34a32, 0x5f87eade, 0xaace999d,
-    0x5f83bc2f, 0xaac9e93e,
-  0x5f7f8d46, 0xaac53912, 0x5f7b5e22, 0xaac0891c, 0x5f772ec2, 0xaabbd959,
-    0x5f72ff28, 0xaab729cc,
-  0x5f6ecf53, 0xaab27a73, 0x5f6a9f44, 0xaaadcb4f, 0x5f666ef9, 0xaaa91c5f,
-    0x5f623e73, 0xaaa46da4,
-  0x5f5e0db3, 0xaa9fbf1e, 0x5f59dcb8, 0xaa9b10cc, 0x5f55ab82, 0xaa9662af,
-    0x5f517a11, 0xaa91b4c7,
-  0x5f4d4865, 0xaa8d0713, 0x5f49167f, 0xaa885994, 0x5f44e45e, 0xaa83ac4a,
-    0x5f40b202, 0xaa7eff34,
-  0x5f3c7f6b, 0xaa7a5253, 0x5f384c9a, 0xaa75a5a8, 0x5f34198e, 0xaa70f930,
-    0x5f2fe647, 0xaa6c4cee,
-  0x5f2bb2c5, 0xaa67a0e0, 0x5f277f09, 0xaa62f507, 0x5f234b12, 0xaa5e4963,
-    0x5f1f16e0, 0xaa599df4,
-  0x5f1ae274, 0xaa54f2ba, 0x5f16adcc, 0xaa5047b4, 0x5f1278eb, 0xaa4b9ce3,
-    0x5f0e43ce, 0xaa46f248,
-  0x5f0a0e77, 0xaa4247e1, 0x5f05d8e6, 0xaa3d9daf, 0x5f01a31a, 0xaa38f3b1,
-    0x5efd6d13, 0xaa3449e9,
-  0x5ef936d1, 0xaa2fa056, 0x5ef50055, 0xaa2af6f7, 0x5ef0c99f, 0xaa264dce,
-    0x5eec92ae, 0xaa21a4d9,
-  0x5ee85b82, 0xaa1cfc1a, 0x5ee4241c, 0xaa18538f, 0x5edfec7b, 0xaa13ab3a,
-    0x5edbb49f, 0xaa0f0319,
-  0x5ed77c8a, 0xaa0a5b2e, 0x5ed34439, 0xaa05b377, 0x5ecf0baf, 0xaa010bf6,
-    0x5ecad2e9, 0xa9fc64a9,
-  0x5ec699e9, 0xa9f7bd92, 0x5ec260af, 0xa9f316b0, 0x5ebe273b, 0xa9ee7002,
-    0x5eb9ed8b, 0xa9e9c98a,
-  0x5eb5b3a2, 0xa9e52347, 0x5eb1797e, 0xa9e07d39, 0x5ead3f1f, 0xa9dbd761,
-    0x5ea90487, 0xa9d731bd,
-  0x5ea4c9b3, 0xa9d28c4e, 0x5ea08ea6, 0xa9cde715, 0x5e9c535e, 0xa9c94211,
-    0x5e9817dc, 0xa9c49d42,
-  0x5e93dc1f, 0xa9bff8a8, 0x5e8fa028, 0xa9bb5444, 0x5e8b63f7, 0xa9b6b014,
-    0x5e87278b, 0xa9b20c1a,
-  0x5e82eae5, 0xa9ad6855, 0x5e7eae05, 0xa9a8c4c5, 0x5e7a70ea, 0xa9a4216b,
-    0x5e763395, 0xa99f7e46,
-  0x5e71f606, 0xa99adb56, 0x5e6db83d, 0xa996389b, 0x5e697a39, 0xa9919616,
-    0x5e653bfc, 0xa98cf3c6,
-  0x5e60fd84, 0xa98851ac, 0x5e5cbed1, 0xa983afc6, 0x5e587fe5, 0xa97f0e16,
-    0x5e5440be, 0xa97a6c9c,
-  0x5e50015d, 0xa975cb57, 0x5e4bc1c2, 0xa9712a47, 0x5e4781ed, 0xa96c896c,
-    0x5e4341de, 0xa967e8c7,
-  0x5e3f0194, 0xa9634858, 0x5e3ac110, 0xa95ea81d, 0x5e368053, 0xa95a0819,
-    0x5e323f5b, 0xa9556849,
-  0x5e2dfe29, 0xa950c8b0, 0x5e29bcbd, 0xa94c294b, 0x5e257b17, 0xa9478a1c,
-    0x5e213936, 0xa942eb23,
-  0x5e1cf71c, 0xa93e4c5f, 0x5e18b4c8, 0xa939add1, 0x5e147239, 0xa9350f78,
-    0x5e102f71, 0xa9307155,
-  0x5e0bec6e, 0xa92bd367, 0x5e07a932, 0xa92735af, 0x5e0365bb, 0xa922982c,
-    0x5dff220b, 0xa91dfadf,
-  0x5dfade20, 0xa9195dc7, 0x5df699fc, 0xa914c0e6, 0x5df2559e, 0xa9102439,
-    0x5dee1105, 0xa90b87c3,
-  0x5de9cc33, 0xa906eb82, 0x5de58727, 0xa9024f76, 0x5de141e1, 0xa8fdb3a1,
-    0x5ddcfc61, 0xa8f91801,
-  0x5dd8b6a7, 0xa8f47c97, 0x5dd470b3, 0xa8efe162, 0x5dd02a85, 0xa8eb4663,
-    0x5dcbe41d, 0xa8e6ab9a,
-  0x5dc79d7c, 0xa8e21106, 0x5dc356a1, 0xa8dd76a9, 0x5dbf0f8c, 0xa8d8dc81,
-    0x5dbac83d, 0xa8d4428f,
-  0x5db680b4, 0xa8cfa8d2, 0x5db238f1, 0xa8cb0f4b, 0x5dadf0f5, 0xa8c675fb,
-    0x5da9a8bf, 0xa8c1dce0,
-  0x5da5604f, 0xa8bd43fa, 0x5da117a5, 0xa8b8ab4b, 0x5d9ccec2, 0xa8b412d1,
-    0x5d9885a5, 0xa8af7a8e,
-  0x5d943c4e, 0xa8aae280, 0x5d8ff2bd, 0xa8a64aa8, 0x5d8ba8f3, 0xa8a1b306,
-    0x5d875eef, 0xa89d1b99,
-  0x5d8314b1, 0xa8988463, 0x5d7eca39, 0xa893ed63, 0x5d7a7f88, 0xa88f5698,
-    0x5d76349d, 0xa88ac004,
-  0x5d71e979, 0xa88629a5, 0x5d6d9e1b, 0xa881937c, 0x5d695283, 0xa87cfd8a,
-    0x5d6506b2, 0xa87867cd,
-  0x5d60baa7, 0xa873d246, 0x5d5c6e62, 0xa86f3cf6, 0x5d5821e4, 0xa86aa7db,
-    0x5d53d52d, 0xa86612f6,
-  0x5d4f883b, 0xa8617e48, 0x5d4b3b10, 0xa85ce9cf, 0x5d46edac, 0xa858558d,
-    0x5d42a00e, 0xa853c180,
-  0x5d3e5237, 0xa84f2daa, 0x5d3a0426, 0xa84a9a0a, 0x5d35b5db, 0xa84606a0,
-    0x5d316757, 0xa841736c,
-  0x5d2d189a, 0xa83ce06e, 0x5d28c9a3, 0xa8384da6, 0x5d247a72, 0xa833bb14,
-    0x5d202b09, 0xa82f28b9,
-  0x5d1bdb65, 0xa82a9693, 0x5d178b89, 0xa82604a4, 0x5d133b72, 0xa82172eb,
-    0x5d0eeb23, 0xa81ce169,
-  0x5d0a9a9a, 0xa818501c, 0x5d0649d7, 0xa813bf06, 0x5d01f8dc, 0xa80f2e26,
-    0x5cfda7a7, 0xa80a9d7c,
-  0x5cf95638, 0xa8060d08, 0x5cf50490, 0xa8017ccb, 0x5cf0b2af, 0xa7fcecc4,
-    0x5cec6095, 0xa7f85cf3,
-  0x5ce80e41, 0xa7f3cd59, 0x5ce3bbb4, 0xa7ef3df5, 0x5cdf68ed, 0xa7eaaec7,
-    0x5cdb15ed, 0xa7e61fd0,
-  0x5cd6c2b5, 0xa7e1910f, 0x5cd26f42, 0xa7dd0284, 0x5cce1b97, 0xa7d8742f,
-    0x5cc9c7b2, 0xa7d3e611,
-  0x5cc57394, 0xa7cf582a, 0x5cc11f3d, 0xa7caca79, 0x5cbccaac, 0xa7c63cfe,
-    0x5cb875e3, 0xa7c1afb9,
-  0x5cb420e0, 0xa7bd22ac, 0x5cafcba4, 0xa7b895d4, 0x5cab762f, 0xa7b40933,
-    0x5ca72080, 0xa7af7cc8,
-  0x5ca2ca99, 0xa7aaf094, 0x5c9e7478, 0xa7a66497, 0x5c9a1e1e, 0xa7a1d8d0,
-    0x5c95c78b, 0xa79d4d3f,
-  0x5c9170bf, 0xa798c1e5, 0x5c8d19ba, 0xa79436c1, 0x5c88c27c, 0xa78fabd4,
-    0x5c846b05, 0xa78b211e,
-  0x5c801354, 0xa786969e, 0x5c7bbb6b, 0xa7820c55, 0x5c776348, 0xa77d8242,
-    0x5c730aed, 0xa778f866,
-  0x5c6eb258, 0xa7746ec0, 0x5c6a598b, 0xa76fe551, 0x5c660084, 0xa76b5c19,
-    0x5c61a745, 0xa766d317,
-  0x5c5d4dcc, 0xa7624a4d, 0x5c58f41a, 0xa75dc1b8, 0x5c549a30, 0xa759395b,
-    0x5c50400d, 0xa754b134,
-  0x5c4be5b0, 0xa7502943, 0x5c478b1b, 0xa74ba18a, 0x5c43304d, 0xa7471a07,
-    0x5c3ed545, 0xa74292bb,
-  0x5c3a7a05, 0xa73e0ba5, 0x5c361e8c, 0xa73984c7, 0x5c31c2db, 0xa734fe1f,
-    0x5c2d66f0, 0xa73077ae,
-  0x5c290acc, 0xa72bf174, 0x5c24ae70, 0xa7276b70, 0x5c2051db, 0xa722e5a3,
-    0x5c1bf50d, 0xa71e600d,
-  0x5c179806, 0xa719daae, 0x5c133ac6, 0xa7155586, 0x5c0edd4e, 0xa710d095,
-    0x5c0a7f9c, 0xa70c4bda,
-  0x5c0621b2, 0xa707c757, 0x5c01c38f, 0xa703430a, 0x5bfd6534, 0xa6febef4,
-    0x5bf906a0, 0xa6fa3b15,
-  0x5bf4a7d2, 0xa6f5b76d, 0x5bf048cd, 0xa6f133fc, 0x5bebe98e, 0xa6ecb0c2,
-    0x5be78a17, 0xa6e82dbe,
-  0x5be32a67, 0xa6e3aaf2, 0x5bdeca7f, 0xa6df285d, 0x5bda6a5d, 0xa6daa5fe,
-    0x5bd60a03, 0xa6d623d7,
-  0x5bd1a971, 0xa6d1a1e7, 0x5bcd48a6, 0xa6cd202d, 0x5bc8e7a2, 0xa6c89eab,
-    0x5bc48666, 0xa6c41d60,
-  0x5bc024f0, 0xa6bf9c4b, 0x5bbbc343, 0xa6bb1b6e, 0x5bb7615d, 0xa6b69ac8,
-    0x5bb2ff3e, 0xa6b21a59,
-  0x5bae9ce7, 0xa6ad9a21, 0x5baa3a57, 0xa6a91a20, 0x5ba5d78e, 0xa6a49a56,
-    0x5ba1748d, 0xa6a01ac4,
-  0x5b9d1154, 0xa69b9b68, 0x5b98ade2, 0xa6971c44, 0x5b944a37, 0xa6929d57,
-    0x5b8fe654, 0xa68e1ea1,
-  0x5b8b8239, 0xa689a022, 0x5b871de5, 0xa68521da, 0x5b82b958, 0xa680a3ca,
-    0x5b7e5493, 0xa67c25f0,
-  0x5b79ef96, 0xa677a84e, 0x5b758a60, 0xa6732ae3, 0x5b7124f2, 0xa66eadb0,
-    0x5b6cbf4c, 0xa66a30b3,
-  0x5b68596d, 0xa665b3ee, 0x5b63f355, 0xa6613760, 0x5b5f8d06, 0xa65cbb0a,
-    0x5b5b267e, 0xa6583eeb,
-  0x5b56bfbd, 0xa653c303, 0x5b5258c4, 0xa64f4752, 0x5b4df193, 0xa64acbd9,
-    0x5b498a2a, 0xa6465097,
-  0x5b452288, 0xa641d58c, 0x5b40baae, 0xa63d5ab9, 0x5b3c529c, 0xa638e01d,
-    0x5b37ea51, 0xa63465b9,
-  0x5b3381ce, 0xa62feb8b, 0x5b2f1913, 0xa62b7196, 0x5b2ab020, 0xa626f7d7,
-    0x5b2646f4, 0xa6227e50,
-  0x5b21dd90, 0xa61e0501, 0x5b1d73f4, 0xa6198be9, 0x5b190a20, 0xa6151308,
-    0x5b14a014, 0xa6109a5f,
-  0x5b1035cf, 0xa60c21ee, 0x5b0bcb52, 0xa607a9b4, 0x5b07609d, 0xa60331b1,
-    0x5b02f5b0, 0xa5feb9e6,
-  0x5afe8a8b, 0xa5fa4252, 0x5afa1f2e, 0xa5f5caf6, 0x5af5b398, 0xa5f153d2,
-    0x5af147ca, 0xa5ecdce5,
-  0x5aecdbc5, 0xa5e8662f, 0x5ae86f87, 0xa5e3efb1, 0x5ae40311, 0xa5df796b,
-    0x5adf9663, 0xa5db035c,
-  0x5adb297d, 0xa5d68d85, 0x5ad6bc5f, 0xa5d217e6, 0x5ad24f09, 0xa5cda27e,
-    0x5acde17b, 0xa5c92d4e,
-  0x5ac973b5, 0xa5c4b855, 0x5ac505b7, 0xa5c04395, 0x5ac09781, 0xa5bbcf0b,
-    0x5abc2912, 0xa5b75aba,
-  0x5ab7ba6c, 0xa5b2e6a0, 0x5ab34b8e, 0xa5ae72be, 0x5aaedc78, 0xa5a9ff14,
-    0x5aaa6d2b, 0xa5a58ba1,
-  0x5aa5fda5, 0xa5a11866, 0x5aa18de7, 0xa59ca563, 0x5a9d1df1, 0xa5983297,
-    0x5a98adc4, 0xa593c004,
-  0x5a943d5e, 0xa58f4da8, 0x5a8fccc1, 0xa58adb84, 0x5a8b5bec, 0xa5866997,
-    0x5a86eadf, 0xa581f7e3,
-  0x5a82799a, 0xa57d8666, 0x5a7e081d, 0xa5791521, 0x5a799669, 0xa574a414,
-    0x5a75247c, 0xa570333f,
-  0x5a70b258, 0xa56bc2a2, 0x5a6c3ffc, 0xa567523c, 0x5a67cd69, 0xa562e20f,
-    0x5a635a9d, 0xa55e7219,
-  0x5a5ee79a, 0xa55a025b, 0x5a5a745f, 0xa55592d5, 0x5a5600ec, 0xa5512388,
-    0x5a518d42, 0xa54cb472,
-  0x5a4d1960, 0xa5484594, 0x5a48a546, 0xa543d6ee, 0x5a4430f5, 0xa53f687f,
-    0x5a3fbc6b, 0xa53afa49,
-  0x5a3b47ab, 0xa5368c4b, 0x5a36d2b2, 0xa5321e85, 0x5a325d82, 0xa52db0f7,
-    0x5a2de81a, 0xa52943a1,
-  0x5a29727b, 0xa524d683, 0x5a24fca4, 0xa520699d, 0x5a208695, 0xa51bfcef,
-    0x5a1c104f, 0xa5179079,
-  0x5a1799d1, 0xa513243b, 0x5a13231b, 0xa50eb836, 0x5a0eac2e, 0xa50a4c68,
-    0x5a0a350a, 0xa505e0d2,
-  0x5a05bdae, 0xa5017575, 0x5a01461a, 0xa4fd0a50, 0x59fcce4f, 0xa4f89f63,
-    0x59f8564c, 0xa4f434ae,
-  0x59f3de12, 0xa4efca31, 0x59ef65a1, 0xa4eb5fec, 0x59eaecf8, 0xa4e6f5e0,
-    0x59e67417, 0xa4e28c0c,
-  0x59e1faff, 0xa4de2270, 0x59dd81b0, 0xa4d9b90c, 0x59d90829, 0xa4d54fe0,
-    0x59d48e6a, 0xa4d0e6ed,
-  0x59d01475, 0xa4cc7e32, 0x59cb9a47, 0xa4c815af, 0x59c71fe3, 0xa4c3ad64,
-    0x59c2a547, 0xa4bf4552,
-  0x59be2a74, 0xa4badd78, 0x59b9af69, 0xa4b675d6, 0x59b53427, 0xa4b20e6d,
-    0x59b0b8ae, 0xa4ada73c,
-  0x59ac3cfd, 0xa4a94043, 0x59a7c115, 0xa4a4d982, 0x59a344f6, 0xa4a072fa,
-    0x599ec8a0, 0xa49c0cab,
-  0x599a4c12, 0xa497a693, 0x5995cf4d, 0xa49340b4, 0x59915250, 0xa48edb0e,
-    0x598cd51d, 0xa48a75a0,
-  0x598857b2, 0xa486106a, 0x5983da10, 0xa481ab6d, 0x597f5c36, 0xa47d46a8,
-    0x597ade26, 0xa478e21b,
-  0x59765fde, 0xa4747dc7, 0x5971e15f, 0xa47019ac, 0x596d62a9, 0xa46bb5c9,
-    0x5968e3bc, 0xa467521e,
-  0x59646498, 0xa462eeac, 0x595fe53c, 0xa45e8b73, 0x595b65aa, 0xa45a2872,
-    0x5956e5e0, 0xa455c5a9,
-  0x595265df, 0xa4516319, 0x594de5a7, 0xa44d00c2, 0x59496538, 0xa4489ea3,
-    0x5944e492, 0xa4443cbd,
-  0x594063b5, 0xa43fdb10, 0x593be2a0, 0xa43b799a, 0x59376155, 0xa437185e,
-    0x5932dfd3, 0xa432b75a,
-  0x592e5e19, 0xa42e568f, 0x5929dc29, 0xa429f5fd, 0x59255a02, 0xa42595a3,
-    0x5920d7a3, 0xa4213581,
-  0x591c550e, 0xa41cd599, 0x5917d242, 0xa41875e9, 0x59134f3e, 0xa4141672,
-    0x590ecc04, 0xa40fb733,
-  0x590a4893, 0xa40b582e, 0x5905c4eb, 0xa406f960, 0x5901410c, 0xa4029acc,
-    0x58fcbcf6, 0xa3fe3c71,
-  0x58f838a9, 0xa3f9de4e, 0x58f3b426, 0xa3f58064, 0x58ef2f6b, 0xa3f122b2,
-    0x58eaaa7a, 0xa3ecc53a,
-  0x58e62552, 0xa3e867fa, 0x58e19ff3, 0xa3e40af3, 0x58dd1a5d, 0xa3dfae25,
-    0x58d89490, 0xa3db5190,
-  0x58d40e8c, 0xa3d6f534, 0x58cf8852, 0xa3d29910, 0x58cb01e1, 0xa3ce3d25,
-    0x58c67b39, 0xa3c9e174,
-  0x58c1f45b, 0xa3c585fb, 0x58bd6d45, 0xa3c12abb, 0x58b8e5f9, 0xa3bccfb3,
-    0x58b45e76, 0xa3b874e5,
-  0x58afd6bd, 0xa3b41a50, 0x58ab4ecc, 0xa3afbff3, 0x58a6c6a5, 0xa3ab65d0,
-    0x58a23e48, 0xa3a70be6,
-  0x589db5b3, 0xa3a2b234, 0x58992ce9, 0xa39e58bb, 0x5894a3e7, 0xa399ff7c,
-    0x58901aaf, 0xa395a675,
-  0x588b9140, 0xa3914da8, 0x5887079a, 0xa38cf513, 0x58827dbe, 0xa3889cb8,
-    0x587df3ab, 0xa3844495,
-  0x58796962, 0xa37fecac, 0x5874dee2, 0xa37b94fb, 0x5870542c, 0xa3773d84,
-    0x586bc93f, 0xa372e646,
-  0x58673e1b, 0xa36e8f41, 0x5862b2c1, 0xa36a3875, 0x585e2730, 0xa365e1e2,
-    0x58599b69, 0xa3618b88,
-  0x58550f6c, 0xa35d3567, 0x58508338, 0xa358df80, 0x584bf6cd, 0xa35489d1,
-    0x58476a2c, 0xa350345c,
-  0x5842dd54, 0xa34bdf20, 0x583e5047, 0xa3478a1d, 0x5839c302, 0xa3433554,
-    0x58353587, 0xa33ee0c3,
-  0x5830a7d6, 0xa33a8c6c, 0x582c19ef, 0xa336384e, 0x58278bd1, 0xa331e469,
-    0x5822fd7c, 0xa32d90be,
-  0x581e6ef1, 0xa3293d4b, 0x5819e030, 0xa324ea13, 0x58155139, 0xa3209713,
-    0x5810c20b, 0xa31c444c,
-  0x580c32a7, 0xa317f1bf, 0x5807a30d, 0xa3139f6b, 0x5803133c, 0xa30f4d51,
-    0x57fe8335, 0xa30afb70,
-  0x57f9f2f8, 0xa306a9c8, 0x57f56284, 0xa3025859, 0x57f0d1da, 0xa2fe0724,
-    0x57ec40fa, 0xa2f9b629,
-  0x57e7afe4, 0xa2f56566, 0x57e31e97, 0xa2f114dd, 0x57de8d15, 0xa2ecc48e,
-    0x57d9fb5c, 0xa2e87477,
-  0x57d5696d, 0xa2e4249b, 0x57d0d747, 0xa2dfd4f7, 0x57cc44ec, 0xa2db858e,
-    0x57c7b25a, 0xa2d7365d,
-  0x57c31f92, 0xa2d2e766, 0x57be8c94, 0xa2ce98a9, 0x57b9f960, 0xa2ca4a25,
-    0x57b565f6, 0xa2c5fbda,
-  0x57b0d256, 0xa2c1adc9, 0x57ac3e80, 0xa2bd5ff2, 0x57a7aa73, 0xa2b91254,
-    0x57a31631, 0xa2b4c4f0,
-  0x579e81b8, 0xa2b077c5, 0x5799ed0a, 0xa2ac2ad3, 0x57955825, 0xa2a7de1c,
-    0x5790c30a, 0xa2a3919e,
-  0x578c2dba, 0xa29f4559, 0x57879833, 0xa29af94e, 0x57830276, 0xa296ad7d,
-    0x577e6c84, 0xa29261e5,
-  0x5779d65b, 0xa28e1687, 0x57753ffc, 0xa289cb63, 0x5770a968, 0xa2858078,
-    0x576c129d, 0xa28135c7,
-  0x57677b9d, 0xa27ceb4f, 0x5762e467, 0xa278a111, 0x575e4cfa, 0xa274570d,
-    0x5759b558, 0xa2700d43,
-  0x57551d80, 0xa26bc3b2, 0x57508572, 0xa2677a5b, 0x574bed2f, 0xa263313e,
-    0x574754b5, 0xa25ee85b,
-  0x5742bc06, 0xa25a9fb1, 0x573e2320, 0xa2565741, 0x57398a05, 0xa2520f0b,
-    0x5734f0b5, 0xa24dc70f,
-  0x5730572e, 0xa2497f4c, 0x572bbd71, 0xa24537c3, 0x5727237f, 0xa240f074,
-    0x57228957, 0xa23ca95f,
-  0x571deefa, 0xa2386284, 0x57195466, 0xa2341be3, 0x5714b99d, 0xa22fd57b,
-    0x57101e9e, 0xa22b8f4d,
-  0x570b8369, 0xa2274959, 0x5706e7ff, 0xa223039f, 0x57024c5f, 0xa21ebe1f,
-    0x56fdb08a, 0xa21a78d9,
-  0x56f9147e, 0xa21633cd, 0x56f4783d, 0xa211eefb, 0x56efdbc7, 0xa20daa62,
-    0x56eb3f1a, 0xa2096604,
-  0x56e6a239, 0xa20521e0, 0x56e20521, 0xa200ddf5, 0x56dd67d4, 0xa1fc9a45,
-    0x56d8ca51, 0xa1f856ce,
-  0x56d42c99, 0xa1f41392, 0x56cf8eab, 0xa1efd08f, 0x56caf088, 0xa1eb8dc7,
-    0x56c6522f, 0xa1e74b38,
-  0x56c1b3a1, 0xa1e308e4, 0x56bd14dd, 0xa1dec6ca, 0x56b875e4, 0xa1da84e9,
-    0x56b3d6b5, 0xa1d64343,
-  0x56af3750, 0xa1d201d7, 0x56aa97b7, 0xa1cdc0a5, 0x56a5f7e7, 0xa1c97fad,
-    0x56a157e3, 0xa1c53ef0,
-  0x569cb7a8, 0xa1c0fe6c, 0x56981739, 0xa1bcbe22, 0x56937694, 0xa1b87e13,
-    0x568ed5b9, 0xa1b43e3e,
-  0x568a34a9, 0xa1affea3, 0x56859364, 0xa1abbf42, 0x5680f1ea, 0xa1a7801b,
-    0x567c503a, 0xa1a3412f,
-  0x5677ae54, 0xa19f027c, 0x56730c3a, 0xa19ac404, 0x566e69ea, 0xa19685c7,
-    0x5669c765, 0xa19247c3,
-  0x566524aa, 0xa18e09fa, 0x566081ba, 0xa189cc6b, 0x565bde95, 0xa1858f16,
-    0x56573b3b, 0xa18151fb,
-  0x565297ab, 0xa17d151b, 0x564df3e6, 0xa178d875, 0x56494fec, 0xa1749c09,
-    0x5644abbc, 0xa1705fd8,
-  0x56400758, 0xa16c23e1, 0x563b62be, 0xa167e824, 0x5636bdef, 0xa163aca2,
-    0x563218eb, 0xa15f715a,
-  0x562d73b2, 0xa15b364d, 0x5628ce43, 0xa156fb79, 0x5624289f, 0xa152c0e1,
-    0x561f82c7, 0xa14e8682,
-  0x561adcb9, 0xa14a4c5e, 0x56163676, 0xa1461275, 0x56118ffe, 0xa141d8c5,
-    0x560ce950, 0xa13d9f51,
-  0x5608426e, 0xa1396617, 0x56039b57, 0xa1352d17, 0x55fef40a, 0xa130f451,
-    0x55fa4c89, 0xa12cbbc7,
-  0x55f5a4d2, 0xa1288376, 0x55f0fce7, 0xa1244b61, 0x55ec54c6, 0xa1201385,
-    0x55e7ac71, 0xa11bdbe4,
-  0x55e303e6, 0xa117a47e, 0x55de5b27, 0xa1136d52, 0x55d9b232, 0xa10f3661,
-    0x55d50909, 0xa10affab,
-  0x55d05faa, 0xa106c92f, 0x55cbb617, 0xa10292ed, 0x55c70c4f, 0xa0fe5ce6,
-    0x55c26251, 0xa0fa271a,
-  0x55bdb81f, 0xa0f5f189, 0x55b90db8, 0xa0f1bc32, 0x55b4631d, 0xa0ed8715,
-    0x55afb84c, 0xa0e95234,
-  0x55ab0d46, 0xa0e51d8c, 0x55a6620c, 0xa0e0e920, 0x55a1b69d, 0xa0dcb4ee,
-    0x559d0af9, 0xa0d880f7,
-  0x55985f20, 0xa0d44d3b, 0x5593b312, 0xa0d019b9, 0x558f06d0, 0xa0cbe672,
-    0x558a5a58, 0xa0c7b366,
-  0x5585adad, 0xa0c38095, 0x558100cc, 0xa0bf4dfe, 0x557c53b6, 0xa0bb1ba2,
-    0x5577a66c, 0xa0b6e981,
-  0x5572f8ed, 0xa0b2b79b, 0x556e4b39, 0xa0ae85ef, 0x55699d51, 0xa0aa547e,
-    0x5564ef34, 0xa0a62348,
-  0x556040e2, 0xa0a1f24d, 0x555b925c, 0xa09dc18d, 0x5556e3a1, 0xa0999107,
-    0x555234b1, 0xa09560bc,
-  0x554d858d, 0xa09130ad, 0x5548d634, 0xa08d00d8, 0x554426a7, 0xa088d13e,
-    0x553f76e4, 0xa084a1de,
-  0x553ac6ee, 0xa08072ba, 0x553616c2, 0xa07c43d1, 0x55316663, 0xa0781522,
-    0x552cb5ce, 0xa073e6af,
-  0x55280505, 0xa06fb876, 0x55235408, 0xa06b8a78, 0x551ea2d6, 0xa0675cb6,
-    0x5519f16f, 0xa0632f2e,
-  0x55153fd4, 0xa05f01e1, 0x55108e05, 0xa05ad4cf, 0x550bdc01, 0xa056a7f9,
-    0x550729c9, 0xa0527b5d,
-  0x5502775c, 0xa04e4efc, 0x54fdc4ba, 0xa04a22d7, 0x54f911e5, 0xa045f6ec,
-    0x54f45edb, 0xa041cb3c,
-  0x54efab9c, 0xa03d9fc8, 0x54eaf829, 0xa039748e, 0x54e64482, 0xa0354990,
-    0x54e190a6, 0xa0311ecd,
-  0x54dcdc96, 0xa02cf444, 0x54d82852, 0xa028c9f7, 0x54d373d9, 0xa0249fe5,
-    0x54cebf2c, 0xa020760e,
-  0x54ca0a4b, 0xa01c4c73, 0x54c55535, 0xa0182312, 0x54c09feb, 0xa013f9ed,
-    0x54bbea6d, 0xa00fd102,
-  0x54b734ba, 0xa00ba853, 0x54b27ed3, 0xa0077fdf, 0x54adc8b8, 0xa00357a7,
-    0x54a91269, 0x9fff2fa9,
-  0x54a45be6, 0x9ffb07e7, 0x549fa52e, 0x9ff6e060, 0x549aee42, 0x9ff2b914,
-    0x54963722, 0x9fee9204,
-  0x54917fce, 0x9fea6b2f, 0x548cc845, 0x9fe64495, 0x54881089, 0x9fe21e36,
-    0x54835898, 0x9fddf812,
-  0x547ea073, 0x9fd9d22a, 0x5479e81a, 0x9fd5ac7d, 0x54752f8d, 0x9fd1870c,
-    0x547076cc, 0x9fcd61d6,
-  0x546bbdd7, 0x9fc93cdb, 0x546704ae, 0x9fc5181b, 0x54624b50, 0x9fc0f397,
-    0x545d91bf, 0x9fbccf4f,
-  0x5458d7f9, 0x9fb8ab41, 0x54541e00, 0x9fb4876f, 0x544f63d2, 0x9fb063d9,
-    0x544aa971, 0x9fac407e,
-  0x5445eedb, 0x9fa81d5e, 0x54413412, 0x9fa3fa79, 0x543c7914, 0x9f9fd7d1,
-    0x5437bde3, 0x9f9bb563,
-  0x5433027d, 0x9f979331, 0x542e46e4, 0x9f93713b, 0x54298b17, 0x9f8f4f80,
-    0x5424cf16, 0x9f8b2e00,
-  0x542012e1, 0x9f870cbc, 0x541b5678, 0x9f82ebb4, 0x541699db, 0x9f7ecae7,
-    0x5411dd0a, 0x9f7aaa55,
-  0x540d2005, 0x9f7689ff, 0x540862cd, 0x9f7269e5, 0x5403a561, 0x9f6e4a06,
-    0x53fee7c1, 0x9f6a2a63,
-  0x53fa29ed, 0x9f660afb, 0x53f56be5, 0x9f61ebcf, 0x53f0adaa, 0x9f5dccde,
-    0x53ebef3a, 0x9f59ae29,
-  0x53e73097, 0x9f558fb0, 0x53e271c0, 0x9f517173, 0x53ddb2b6, 0x9f4d5371,
-    0x53d8f378, 0x9f4935aa,
-  0x53d43406, 0x9f45181f, 0x53cf7460, 0x9f40fad0, 0x53cab486, 0x9f3cddbd,
-    0x53c5f479, 0x9f38c0e5,
-  0x53c13439, 0x9f34a449, 0x53bc73c4, 0x9f3087e9, 0x53b7b31c, 0x9f2c6bc5,
-    0x53b2f240, 0x9f284fdc,
-  0x53ae3131, 0x9f24342f, 0x53a96fee, 0x9f2018bd, 0x53a4ae77, 0x9f1bfd88,
-    0x539feccd, 0x9f17e28e,
-  0x539b2af0, 0x9f13c7d0, 0x539668de, 0x9f0fad4e, 0x5391a699, 0x9f0b9307,
-    0x538ce421, 0x9f0778fd,
-  0x53882175, 0x9f035f2e, 0x53835e95, 0x9eff459b, 0x537e9b82, 0x9efb2c44,
-    0x5379d83c, 0x9ef71328,
-  0x537514c2, 0x9ef2fa49, 0x53705114, 0x9eeee1a5, 0x536b8d33, 0x9eeac93e,
-    0x5366c91f, 0x9ee6b112,
-  0x536204d7, 0x9ee29922, 0x535d405c, 0x9ede816e, 0x53587bad, 0x9eda69f6,
-    0x5353b6cb, 0x9ed652ba,
-  0x534ef1b5, 0x9ed23bb9, 0x534a2c6c, 0x9ece24f5, 0x534566f0, 0x9eca0e6d,
-    0x5340a140, 0x9ec5f820,
-  0x533bdb5d, 0x9ec1e210, 0x53371547, 0x9ebdcc3b, 0x53324efd, 0x9eb9b6a3,
-    0x532d8880, 0x9eb5a146,
-  0x5328c1d0, 0x9eb18c26, 0x5323faec, 0x9ead7742, 0x531f33d5, 0x9ea96299,
-    0x531a6c8b, 0x9ea54e2d,
-  0x5315a50e, 0x9ea139fd, 0x5310dd5d, 0x9e9d2608, 0x530c1579, 0x9e991250,
-    0x53074d62, 0x9e94fed4,
-  0x53028518, 0x9e90eb94, 0x52fdbc9a, 0x9e8cd890, 0x52f8f3e9, 0x9e88c5c9,
-    0x52f42b05, 0x9e84b33d,
-  0x52ef61ee, 0x9e80a0ee, 0x52ea98a4, 0x9e7c8eda, 0x52e5cf27, 0x9e787d03,
-    0x52e10576, 0x9e746b68,
-  0x52dc3b92, 0x9e705a09, 0x52d7717b, 0x9e6c48e7, 0x52d2a732, 0x9e683800,
-    0x52cddcb5, 0x9e642756,
-  0x52c91204, 0x9e6016e8, 0x52c44721, 0x9e5c06b6, 0x52bf7c0b, 0x9e57f6c0,
-    0x52bab0c2, 0x9e53e707,
-  0x52b5e546, 0x9e4fd78a, 0x52b11996, 0x9e4bc849, 0x52ac4db4, 0x9e47b944,
-    0x52a7819f, 0x9e43aa7c,
-  0x52a2b556, 0x9e3f9bf0, 0x529de8db, 0x9e3b8da0, 0x52991c2d, 0x9e377f8c,
-    0x52944f4c, 0x9e3371b5,
-  0x528f8238, 0x9e2f641b, 0x528ab4f1, 0x9e2b56bc, 0x5285e777, 0x9e27499a,
-    0x528119ca, 0x9e233cb4,
-  0x527c4bea, 0x9e1f300b, 0x52777dd7, 0x9e1b239e, 0x5272af92, 0x9e17176d,
-    0x526de11a, 0x9e130b79,
-  0x5269126e, 0x9e0effc1, 0x52644390, 0x9e0af446, 0x525f7480, 0x9e06e907,
-    0x525aa53c, 0x9e02de04,
-  0x5255d5c5, 0x9dfed33e, 0x5251061c, 0x9dfac8b4, 0x524c3640, 0x9df6be67,
-    0x52476631, 0x9df2b456,
-  0x524295f0, 0x9deeaa82, 0x523dc57b, 0x9deaa0ea, 0x5238f4d4, 0x9de6978f,
-    0x523423fb, 0x9de28e70,
-  0x522f52ee, 0x9dde858e, 0x522a81af, 0x9dda7ce9, 0x5225b03d, 0x9dd6747f,
-    0x5220de99, 0x9dd26c53,
-  0x521c0cc2, 0x9dce6463, 0x52173ab8, 0x9dca5caf, 0x5212687b, 0x9dc65539,
-    0x520d960c, 0x9dc24dfe,
-  0x5208c36a, 0x9dbe4701, 0x5203f096, 0x9dba4040, 0x51ff1d8f, 0x9db639bb,
-    0x51fa4a56, 0x9db23373,
-  0x51f576ea, 0x9dae2d68, 0x51f0a34b, 0x9daa279a, 0x51ebcf7a, 0x9da62208,
-    0x51e6fb76, 0x9da21cb2,
-  0x51e22740, 0x9d9e179a, 0x51dd52d7, 0x9d9a12be, 0x51d87e3c, 0x9d960e1f,
-    0x51d3a96f, 0x9d9209bd,
-  0x51ced46e, 0x9d8e0597, 0x51c9ff3c, 0x9d8a01ae, 0x51c529d7, 0x9d85fe02,
-    0x51c0543f, 0x9d81fa92,
-  0x51bb7e75, 0x9d7df75f, 0x51b6a879, 0x9d79f469, 0x51b1d24a, 0x9d75f1b0,
-    0x51acfbe9, 0x9d71ef34,
-  0x51a82555, 0x9d6decf4, 0x51a34e8f, 0x9d69eaf1, 0x519e7797, 0x9d65e92b,
-    0x5199a06d, 0x9d61e7a2,
-  0x5194c910, 0x9d5de656, 0x518ff180, 0x9d59e546, 0x518b19bf, 0x9d55e473,
-    0x518641cb, 0x9d51e3dd,
-  0x518169a5, 0x9d4de385, 0x517c914c, 0x9d49e368, 0x5177b8c2, 0x9d45e389,
-    0x5172e005, 0x9d41e3e7,
-  0x516e0715, 0x9d3de482, 0x51692df4, 0x9d39e559, 0x516454a0, 0x9d35e66e,
-    0x515f7b1a, 0x9d31e7bf,
-  0x515aa162, 0x9d2de94d, 0x5155c778, 0x9d29eb19, 0x5150ed5c, 0x9d25ed21,
-    0x514c130d, 0x9d21ef66,
-  0x5147388c, 0x9d1df1e9, 0x51425dd9, 0x9d19f4a8, 0x513d82f4, 0x9d15f7a4,
-    0x5138a7dd, 0x9d11fadd,
-  0x5133cc94, 0x9d0dfe54, 0x512ef119, 0x9d0a0207, 0x512a156b, 0x9d0605f7,
-    0x5125398c, 0x9d020a25,
-  0x51205d7b, 0x9cfe0e8f, 0x511b8137, 0x9cfa1337, 0x5116a4c1, 0x9cf6181c,
-    0x5111c81a, 0x9cf21d3d,
-  0x510ceb40, 0x9cee229c, 0x51080e35, 0x9cea2838, 0x510330f7, 0x9ce62e11,
-    0x50fe5388, 0x9ce23427,
-  0x50f975e6, 0x9cde3a7b, 0x50f49813, 0x9cda410b, 0x50efba0d, 0x9cd647d9,
-    0x50eadbd6, 0x9cd24ee4,
-  0x50e5fd6d, 0x9cce562c, 0x50e11ed2, 0x9cca5db1, 0x50dc4005, 0x9cc66573,
-    0x50d76106, 0x9cc26d73,
-  0x50d281d5, 0x9cbe75b0, 0x50cda272, 0x9cba7e2a, 0x50c8c2de, 0x9cb686e1,
-    0x50c3e317, 0x9cb28fd5,
-  0x50bf031f, 0x9cae9907, 0x50ba22f5, 0x9caaa276, 0x50b5429a, 0x9ca6ac23,
-    0x50b0620c, 0x9ca2b60c,
-  0x50ab814d, 0x9c9ec033, 0x50a6a05c, 0x9c9aca97, 0x50a1bf39, 0x9c96d539,
-    0x509cdde4, 0x9c92e017,
-  0x5097fc5e, 0x9c8eeb34, 0x50931aa6, 0x9c8af68d, 0x508e38bd, 0x9c870224,
-    0x508956a1, 0x9c830df8,
-  0x50847454, 0x9c7f1a0a, 0x507f91d5, 0x9c7b2659, 0x507aaf25, 0x9c7732e5,
-    0x5075cc43, 0x9c733faf,
-  0x5070e92f, 0x9c6f4cb6, 0x506c05ea, 0x9c6b59fa, 0x50672273, 0x9c67677c,
-    0x50623ecb, 0x9c63753c,
-  0x505d5af1, 0x9c5f8339, 0x505876e5, 0x9c5b9173, 0x505392a8, 0x9c579feb,
-    0x504eae39, 0x9c53aea0,
-  0x5049c999, 0x9c4fbd93, 0x5044e4c7, 0x9c4bccc3, 0x503fffc4, 0x9c47dc31,
-    0x503b1a8f, 0x9c43ebdc,
-  0x50363529, 0x9c3ffbc5, 0x50314f91, 0x9c3c0beb, 0x502c69c8, 0x9c381c4f,
-    0x502783cd, 0x9c342cf0,
-  0x50229da1, 0x9c303dcf, 0x501db743, 0x9c2c4eec, 0x5018d0b4, 0x9c286046,
-    0x5013e9f4, 0x9c2471de,
-  0x500f0302, 0x9c2083b3, 0x500a1bdf, 0x9c1c95c6, 0x5005348a, 0x9c18a816,
-    0x50004d04, 0x9c14baa4,
-  0x4ffb654d, 0x9c10cd70, 0x4ff67d64, 0x9c0ce07a, 0x4ff1954b, 0x9c08f3c1,
-    0x4fecacff, 0x9c050745,
-  0x4fe7c483, 0x9c011b08, 0x4fe2dbd5, 0x9bfd2f08, 0x4fddf2f6, 0x9bf94346,
-    0x4fd909e5, 0x9bf557c1,
-  0x4fd420a4, 0x9bf16c7a, 0x4fcf3731, 0x9bed8171, 0x4fca4d8d, 0x9be996a6,
-    0x4fc563b7, 0x9be5ac18,
-  0x4fc079b1, 0x9be1c1c8, 0x4fbb8f79, 0x9bddd7b6, 0x4fb6a510, 0x9bd9ede2,
-    0x4fb1ba76, 0x9bd6044b,
-  0x4faccfab, 0x9bd21af3, 0x4fa7e4af, 0x9bce31d8, 0x4fa2f981, 0x9bca48fa,
-    0x4f9e0e22, 0x9bc6605b,
-  0x4f992293, 0x9bc277fa, 0x4f9436d2, 0x9bbe8fd6, 0x4f8f4ae0, 0x9bbaa7f0,
-    0x4f8a5ebd, 0x9bb6c048,
-  0x4f857269, 0x9bb2d8de, 0x4f8085e4, 0x9baef1b2, 0x4f7b992d, 0x9bab0ac3,
-    0x4f76ac46, 0x9ba72413,
-  0x4f71bf2e, 0x9ba33da0, 0x4f6cd1e5, 0x9b9f576b, 0x4f67e46a, 0x9b9b7174,
-    0x4f62f6bf, 0x9b978bbc,
-  0x4f5e08e3, 0x9b93a641, 0x4f591ad6, 0x9b8fc104, 0x4f542c98, 0x9b8bdc05,
-    0x4f4f3e29, 0x9b87f744,
-  0x4f4a4f89, 0x9b8412c1, 0x4f4560b8, 0x9b802e7b, 0x4f4071b6, 0x9b7c4a74,
-    0x4f3b8284, 0x9b7866ab,
-  0x4f369320, 0x9b748320, 0x4f31a38c, 0x9b709fd3, 0x4f2cb3c7, 0x9b6cbcc4,
-    0x4f27c3d1, 0x9b68d9f3,
-  0x4f22d3aa, 0x9b64f760, 0x4f1de352, 0x9b61150b, 0x4f18f2c9, 0x9b5d32f4,
-    0x4f140210, 0x9b59511c,
-  0x4f0f1126, 0x9b556f81, 0x4f0a200b, 0x9b518e24, 0x4f052ec0, 0x9b4dad06,
-    0x4f003d43, 0x9b49cc26,
-  0x4efb4b96, 0x9b45eb83, 0x4ef659b8, 0x9b420b1f, 0x4ef167aa, 0x9b3e2af9,
-    0x4eec756b, 0x9b3a4b11,
-  0x4ee782fb, 0x9b366b68, 0x4ee2905a, 0x9b328bfc, 0x4edd9d89, 0x9b2eaccf,
-    0x4ed8aa87, 0x9b2acde0,
-  0x4ed3b755, 0x9b26ef2f, 0x4ecec3f2, 0x9b2310bc, 0x4ec9d05e, 0x9b1f3288,
-    0x4ec4dc99, 0x9b1b5492,
-  0x4ebfe8a5, 0x9b1776da, 0x4ebaf47f, 0x9b139960, 0x4eb60029, 0x9b0fbc24,
-    0x4eb10ba2, 0x9b0bdf27,
-  0x4eac16eb, 0x9b080268, 0x4ea72203, 0x9b0425e8, 0x4ea22ceb, 0x9b0049a5,
-    0x4e9d37a3, 0x9afc6da1,
-  0x4e984229, 0x9af891db, 0x4e934c80, 0x9af4b654, 0x4e8e56a5, 0x9af0db0b,
-    0x4e89609b, 0x9aed0000,
-  0x4e846a60, 0x9ae92533, 0x4e7f73f4, 0x9ae54aa5, 0x4e7a7d58, 0x9ae17056,
-    0x4e75868c, 0x9add9644,
-  0x4e708f8f, 0x9ad9bc71, 0x4e6b9862, 0x9ad5e2dd, 0x4e66a105, 0x9ad20987,
-    0x4e61a977, 0x9ace306f,
-  0x4e5cb1b9, 0x9aca5795, 0x4e57b9ca, 0x9ac67efb, 0x4e52c1ab, 0x9ac2a69e,
-    0x4e4dc95c, 0x9abece80,
-  0x4e48d0dd, 0x9abaf6a1, 0x4e43d82d, 0x9ab71eff, 0x4e3edf4d, 0x9ab3479d,
-    0x4e39e63d, 0x9aaf7079,
-  0x4e34ecfc, 0x9aab9993, 0x4e2ff38b, 0x9aa7c2ec, 0x4e2af9ea, 0x9aa3ec83,
-    0x4e260019, 0x9aa01659,
-  0x4e210617, 0x9a9c406e, 0x4e1c0be6, 0x9a986ac1, 0x4e171184, 0x9a949552,
-    0x4e1216f2, 0x9a90c022,
-  0x4e0d1c30, 0x9a8ceb31, 0x4e08213e, 0x9a89167e, 0x4e03261b, 0x9a85420a,
-    0x4dfe2ac9, 0x9a816dd5,
-  0x4df92f46, 0x9a7d99de, 0x4df43393, 0x9a79c625, 0x4def37b0, 0x9a75f2ac,
-    0x4dea3b9d, 0x9a721f71,
-  0x4de53f5a, 0x9a6e4c74, 0x4de042e7, 0x9a6a79b6, 0x4ddb4644, 0x9a66a737,
-    0x4dd64971, 0x9a62d4f7,
-  0x4dd14c6e, 0x9a5f02f5, 0x4dcc4f3b, 0x9a5b3132, 0x4dc751d8, 0x9a575fae,
-    0x4dc25445, 0x9a538e68,
-  0x4dbd5682, 0x9a4fbd61, 0x4db8588f, 0x9a4bec99, 0x4db35a6c, 0x9a481c0f,
-    0x4dae5c19, 0x9a444bc5,
-  0x4da95d96, 0x9a407bb9, 0x4da45ee3, 0x9a3cabeb, 0x4d9f6001, 0x9a38dc5d,
-    0x4d9a60ee, 0x9a350d0d,
-  0x4d9561ac, 0x9a313dfc, 0x4d90623a, 0x9a2d6f2a, 0x4d8b6298, 0x9a29a097,
-    0x4d8662c6, 0x9a25d243,
-  0x4d8162c4, 0x9a22042d, 0x4d7c6293, 0x9a1e3656, 0x4d776231, 0x9a1a68be,
-    0x4d7261a0, 0x9a169b65,
-  0x4d6d60df, 0x9a12ce4b, 0x4d685fef, 0x9a0f016f, 0x4d635ece, 0x9a0b34d3,
-    0x4d5e5d7e, 0x9a076875,
-  0x4d595bfe, 0x9a039c57, 0x4d545a4f, 0x99ffd077, 0x4d4f5870, 0x99fc04d6,
-    0x4d4a5661, 0x99f83974,
-  0x4d455422, 0x99f46e51, 0x4d4051b4, 0x99f0a36d, 0x4d3b4f16, 0x99ecd8c8,
-    0x4d364c48, 0x99e90e62,
-  0x4d31494b, 0x99e5443b, 0x4d2c461e, 0x99e17a53, 0x4d2742c2, 0x99ddb0aa,
-    0x4d223f36, 0x99d9e73f,
-  0x4d1d3b7a, 0x99d61e14, 0x4d18378f, 0x99d25528, 0x4d133374, 0x99ce8c7b,
-    0x4d0e2f2a, 0x99cac40d,
-  0x4d092ab0, 0x99c6fbde, 0x4d042607, 0x99c333ee, 0x4cff212e, 0x99bf6c3d,
-    0x4cfa1c26, 0x99bba4cb,
-  0x4cf516ee, 0x99b7dd99, 0x4cf01187, 0x99b416a5, 0x4ceb0bf0, 0x99b04ff0,
-    0x4ce6062a, 0x99ac897b,
-  0x4ce10034, 0x99a8c345, 0x4cdbfa0f, 0x99a4fd4d, 0x4cd6f3bb, 0x99a13795,
-    0x4cd1ed37, 0x999d721c,
-  0x4ccce684, 0x9999ace3, 0x4cc7dfa1, 0x9995e7e8, 0x4cc2d88f, 0x9992232d,
-    0x4cbdd14e, 0x998e5eb1,
-  0x4cb8c9dd, 0x998a9a74, 0x4cb3c23d, 0x9986d676, 0x4caeba6e, 0x998312b7,
-    0x4ca9b26f, 0x997f4f38,
-  0x4ca4aa41, 0x997b8bf8, 0x4c9fa1e4, 0x9977c8f7, 0x4c9a9958, 0x99740635,
-    0x4c95909c, 0x997043b2,
-  0x4c9087b1, 0x996c816f, 0x4c8b7e97, 0x9968bf6b, 0x4c86754e, 0x9964fda7,
-    0x4c816bd5, 0x99613c22,
-  0x4c7c622d, 0x995d7adc, 0x4c775856, 0x9959b9d5, 0x4c724e50, 0x9955f90d,
-    0x4c6d441b, 0x99523885,
-  0x4c6839b7, 0x994e783d, 0x4c632f23, 0x994ab833, 0x4c5e2460, 0x9946f869,
-    0x4c59196f, 0x994338df,
-  0x4c540e4e, 0x993f7993, 0x4c4f02fe, 0x993bba87, 0x4c49f77f, 0x9937fbbb,
-    0x4c44ebd1, 0x99343d2e,
-  0x4c3fdff4, 0x99307ee0, 0x4c3ad3e7, 0x992cc0d2, 0x4c35c7ac, 0x99290303,
-    0x4c30bb42, 0x99254574,
-  0x4c2baea9, 0x99218824, 0x4c26a1e1, 0x991dcb13, 0x4c2194e9, 0x991a0e42,
-    0x4c1c87c3, 0x991651b1,
-  0x4c177a6e, 0x9912955f, 0x4c126cea, 0x990ed94c, 0x4c0d5f37, 0x990b1d79,
-    0x4c085156, 0x990761e5,
-  0x4c034345, 0x9903a691, 0x4bfe3505, 0x98ffeb7d, 0x4bf92697, 0x98fc30a8,
-    0x4bf417f9, 0x98f87612,
-  0x4bef092d, 0x98f4bbbc, 0x4be9fa32, 0x98f101a6, 0x4be4eb08, 0x98ed47cf,
-    0x4bdfdbaf, 0x98e98e38,
-  0x4bdacc28, 0x98e5d4e0, 0x4bd5bc72, 0x98e21bc8, 0x4bd0ac8d, 0x98de62f0,
-    0x4bcb9c79, 0x98daaa57,
-  0x4bc68c36, 0x98d6f1fe, 0x4bc17bc5, 0x98d339e4, 0x4bbc6b25, 0x98cf820b,
-    0x4bb75a56, 0x98cbca70,
-  0x4bb24958, 0x98c81316, 0x4bad382c, 0x98c45bfb, 0x4ba826d1, 0x98c0a520,
-    0x4ba31548, 0x98bcee84,
-  0x4b9e0390, 0x98b93828, 0x4b98f1a9, 0x98b5820c, 0x4b93df93, 0x98b1cc30,
-    0x4b8ecd4f, 0x98ae1693,
-  0x4b89badd, 0x98aa6136, 0x4b84a83b, 0x98a6ac19, 0x4b7f956b, 0x98a2f73c,
-    0x4b7a826d, 0x989f429e,
-  0x4b756f40, 0x989b8e40, 0x4b705be4, 0x9897da22, 0x4b6b485a, 0x98942643,
-    0x4b6634a2, 0x989072a5,
-  0x4b6120bb, 0x988cbf46, 0x4b5c0ca5, 0x98890c27, 0x4b56f861, 0x98855948,
-    0x4b51e3ee, 0x9881a6a9,
-  0x4b4ccf4d, 0x987df449, 0x4b47ba7e, 0x987a422a, 0x4b42a580, 0x9876904a,
-    0x4b3d9053, 0x9872deaa,
-  0x4b387af9, 0x986f2d4a, 0x4b336570, 0x986b7c2a, 0x4b2e4fb8, 0x9867cb4a,
-    0x4b2939d2, 0x98641aa9,
-  0x4b2423be, 0x98606a49, 0x4b1f0d7b, 0x985cba28, 0x4b19f70a, 0x98590a48,
-    0x4b14e06b, 0x98555aa7,
-  0x4b0fc99d, 0x9851ab46, 0x4b0ab2a1, 0x984dfc26, 0x4b059b77, 0x984a4d45,
-    0x4b00841f, 0x98469ea4,
-  0x4afb6c98, 0x9842f043, 0x4af654e3, 0x983f4223, 0x4af13d00, 0x983b9442,
-    0x4aec24ee, 0x9837e6a1,
-  0x4ae70caf, 0x98343940, 0x4ae1f441, 0x98308c1f, 0x4adcdba5, 0x982cdf3f,
-    0x4ad7c2da, 0x9829329e,
-  0x4ad2a9e2, 0x9825863d, 0x4acd90bb, 0x9821da1d, 0x4ac87767, 0x981e2e3c,
-    0x4ac35de4, 0x981a829c,
-  0x4abe4433, 0x9816d73b, 0x4ab92a54, 0x98132c1b, 0x4ab41046, 0x980f813b,
-    0x4aaef60b, 0x980bd69b,
-  0x4aa9dba2, 0x98082c3b, 0x4aa4c10b, 0x9804821b, 0x4a9fa645, 0x9800d83c,
-    0x4a9a8b52, 0x97fd2e9c,
-  0x4a957030, 0x97f9853d, 0x4a9054e1, 0x97f5dc1e, 0x4a8b3963, 0x97f2333f,
-    0x4a861db8, 0x97ee8aa0,
-  0x4a8101de, 0x97eae242, 0x4a7be5d7, 0x97e73a23, 0x4a76c9a2, 0x97e39245,
-    0x4a71ad3e, 0x97dfeaa7,
-  0x4a6c90ad, 0x97dc4349, 0x4a6773ee, 0x97d89c2c, 0x4a625701, 0x97d4f54f,
-    0x4a5d39e6, 0x97d14eb2,
-  0x4a581c9e, 0x97cda855, 0x4a52ff27, 0x97ca0239, 0x4a4de182, 0x97c65c5c,
-    0x4a48c3b0, 0x97c2b6c1,
-  0x4a43a5b0, 0x97bf1165, 0x4a3e8782, 0x97bb6c4a, 0x4a396926, 0x97b7c76f,
-    0x4a344a9d, 0x97b422d4,
-  0x4a2f2be6, 0x97b07e7a, 0x4a2a0d01, 0x97acda60, 0x4a24edee, 0x97a93687,
-    0x4a1fcead, 0x97a592ed,
-  0x4a1aaf3f, 0x97a1ef94, 0x4a158fa3, 0x979e4c7c, 0x4a106fda, 0x979aa9a4,
-    0x4a0b4fe2, 0x9797070c,
-  0x4a062fbd, 0x979364b5, 0x4a010f6b, 0x978fc29e, 0x49fbeeea, 0x978c20c8,
-    0x49f6ce3c, 0x97887f32,
-  0x49f1ad61, 0x9784dddc, 0x49ec8c57, 0x97813cc7, 0x49e76b21, 0x977d9bf2,
-    0x49e249bc, 0x9779fb5e,
-  0x49dd282a, 0x97765b0a, 0x49d8066b, 0x9772baf7, 0x49d2e47e, 0x976f1b24,
-    0x49cdc263, 0x976b7b92,
-  0x49c8a01b, 0x9767dc41, 0x49c37da5, 0x97643d2f, 0x49be5b02, 0x97609e5f,
-    0x49b93832, 0x975cffcf,
-  0x49b41533, 0x9759617f, 0x49aef208, 0x9755c370, 0x49a9ceaf, 0x975225a1,
-    0x49a4ab28, 0x974e8813,
-  0x499f8774, 0x974aeac6, 0x499a6393, 0x97474db9, 0x49953f84, 0x9743b0ed,
-    0x49901b48, 0x97401462,
-  0x498af6df, 0x973c7817, 0x4985d248, 0x9738dc0d, 0x4980ad84, 0x97354043,
-    0x497b8892, 0x9731a4ba,
-  0x49766373, 0x972e0971, 0x49713e27, 0x972a6e6a, 0x496c18ae, 0x9726d3a3,
-    0x4966f307, 0x9723391c,
-  0x4961cd33, 0x971f9ed7, 0x495ca732, 0x971c04d2, 0x49578103, 0x97186b0d,
-    0x49525aa7, 0x9714d18a,
-  0x494d341e, 0x97113847, 0x49480d68, 0x970d9f45, 0x4942e684, 0x970a0683,
-    0x493dbf74, 0x97066e03,
-  0x49389836, 0x9702d5c3, 0x493370cb, 0x96ff3dc4, 0x492e4933, 0x96fba605,
-    0x4929216e, 0x96f80e88,
-  0x4923f97b, 0x96f4774b, 0x491ed15c, 0x96f0e04f, 0x4919a90f, 0x96ed4994,
-    0x49148095, 0x96e9b319,
-  0x490f57ee, 0x96e61ce0, 0x490a2f1b, 0x96e286e7, 0x4905061a, 0x96def12f,
-    0x48ffdcec, 0x96db5bb8,
-  0x48fab391, 0x96d7c682, 0x48f58a09, 0x96d4318d, 0x48f06054, 0x96d09cd8,
-    0x48eb3672, 0x96cd0865,
-  0x48e60c62, 0x96c97432, 0x48e0e227, 0x96c5e040, 0x48dbb7be, 0x96c24c8f,
-    0x48d68d28, 0x96beb91f,
-  0x48d16265, 0x96bb25f0, 0x48cc3775, 0x96b79302, 0x48c70c59, 0x96b40055,
-    0x48c1e10f, 0x96b06de9,
-  0x48bcb599, 0x96acdbbe, 0x48b789f5, 0x96a949d3, 0x48b25e25, 0x96a5b82a,
-    0x48ad3228, 0x96a226c2,
-  0x48a805ff, 0x969e959b, 0x48a2d9a8, 0x969b04b4, 0x489dad25, 0x9697740f,
-    0x48988074, 0x9693e3ab,
-  0x48935397, 0x96905388, 0x488e268e, 0x968cc3a5, 0x4888f957, 0x96893404,
-    0x4883cbf4, 0x9685a4a4,
-  0x487e9e64, 0x96821585, 0x487970a7, 0x967e86a7, 0x487442be, 0x967af80a,
-    0x486f14a8, 0x967769af,
-  0x4869e665, 0x9673db94, 0x4864b7f5, 0x96704dba, 0x485f8959, 0x966cc022,
-    0x485a5a90, 0x966932cb,
-  0x48552b9b, 0x9665a5b4, 0x484ffc79, 0x966218df, 0x484acd2a, 0x965e8c4b,
-    0x48459daf, 0x965afff9,
-  0x48406e08, 0x965773e7, 0x483b3e33, 0x9653e817, 0x48360e32, 0x96505c88,
-    0x4830de05, 0x964cd139,
-  0x482badab, 0x9649462d, 0x48267d24, 0x9645bb61, 0x48214c71, 0x964230d7,
-    0x481c1b92, 0x963ea68d,
-  0x4816ea86, 0x963b1c86, 0x4811b94d, 0x963792bf, 0x480c87e8, 0x96340939,
-    0x48075657, 0x96307ff5,
-  0x48022499, 0x962cf6f2, 0x47fcf2af, 0x96296e31, 0x47f7c099, 0x9625e5b0,
-    0x47f28e56, 0x96225d71,
-  0x47ed5be6, 0x961ed574, 0x47e8294a, 0x961b4db7, 0x47e2f682, 0x9617c63c,
-    0x47ddc38e, 0x96143f02,
-  0x47d8906d, 0x9610b80a, 0x47d35d20, 0x960d3153, 0x47ce29a7, 0x9609aadd,
-    0x47c8f601, 0x960624a9,
-  0x47c3c22f, 0x96029eb6, 0x47be8e31, 0x95ff1904, 0x47b95a06, 0x95fb9394,
-    0x47b425af, 0x95f80e65,
-  0x47aef12c, 0x95f48977, 0x47a9bc7d, 0x95f104cb, 0x47a487a2, 0x95ed8061,
-    0x479f529a, 0x95e9fc38,
-  0x479a1d67, 0x95e67850, 0x4794e807, 0x95e2f4a9, 0x478fb27b, 0x95df7145,
-    0x478a7cc2, 0x95dbee21,
-  0x478546de, 0x95d86b3f, 0x478010cd, 0x95d4e89f, 0x477ada91, 0x95d16640,
-    0x4775a428, 0x95cde423,
-  0x47706d93, 0x95ca6247, 0x476b36d3, 0x95c6e0ac, 0x4765ffe6, 0x95c35f53,
-    0x4760c8cd, 0x95bfde3c,
-  0x475b9188, 0x95bc5d66, 0x47565a17, 0x95b8dcd2, 0x4751227a, 0x95b55c7f,
-    0x474beab1, 0x95b1dc6e,
-  0x4746b2bc, 0x95ae5c9f, 0x47417a9b, 0x95aadd11, 0x473c424e, 0x95a75dc4,
-    0x473709d5, 0x95a3deb9,
-  0x4731d131, 0x95a05ff0, 0x472c9860, 0x959ce169, 0x47275f63, 0x95996323,
-    0x4722263b, 0x9595e51e,
-  0x471cece7, 0x9592675c, 0x4717b367, 0x958ee9db, 0x471279ba, 0x958b6c9b,
-    0x470d3fe3, 0x9587ef9e,
-  0x470805df, 0x958472e2, 0x4702cbaf, 0x9580f667, 0x46fd9154, 0x957d7a2f,
-    0x46f856cd, 0x9579fe38,
-  0x46f31c1a, 0x95768283, 0x46ede13b, 0x9573070f, 0x46e8a631, 0x956f8bdd,
-    0x46e36afb, 0x956c10ed,
-  0x46de2f99, 0x9568963f, 0x46d8f40b, 0x95651bd2, 0x46d3b852, 0x9561a1a8,
-    0x46ce7c6d, 0x955e27bf,
-  0x46c9405c, 0x955aae17, 0x46c40420, 0x955734b2, 0x46bec7b8, 0x9553bb8e,
-    0x46b98b24, 0x955042ac,
-  0x46b44e65, 0x954cca0c, 0x46af117a, 0x954951ae, 0x46a9d464, 0x9545d992,
-    0x46a49722, 0x954261b7,
-  0x469f59b4, 0x953eea1e, 0x469a1c1b, 0x953b72c7, 0x4694de56, 0x9537fbb2,
-    0x468fa066, 0x953484df,
-  0x468a624a, 0x95310e4e, 0x46852403, 0x952d97fe, 0x467fe590, 0x952a21f1,
-    0x467aa6f2, 0x9526ac25,
-  0x46756828, 0x9523369c, 0x46702933, 0x951fc154, 0x466aea12, 0x951c4c4e,
-    0x4665aac6, 0x9518d78a,
-  0x46606b4e, 0x95156308, 0x465b2bab, 0x9511eec8, 0x4655ebdd, 0x950e7aca,
-    0x4650abe3, 0x950b070e,
-  0x464b6bbe, 0x95079394, 0x46462b6d, 0x9504205c, 0x4640eaf2, 0x9500ad66,
-    0x463baa4a, 0x94fd3ab1,
-  0x46366978, 0x94f9c83f, 0x4631287a, 0x94f6560f, 0x462be751, 0x94f2e421,
-    0x4626a5fd, 0x94ef7275,
-  0x4621647d, 0x94ec010b, 0x461c22d2, 0x94e88fe3, 0x4616e0fc, 0x94e51efd,
-    0x46119efa, 0x94e1ae59,
-  0x460c5cce, 0x94de3df8, 0x46071a76, 0x94dacdd8, 0x4601d7f3, 0x94d75dfa,
-    0x45fc9545, 0x94d3ee5f,
-  0x45f7526b, 0x94d07f05, 0x45f20f67, 0x94cd0fee, 0x45eccc37, 0x94c9a119,
-    0x45e788dc, 0x94c63286,
-  0x45e24556, 0x94c2c435, 0x45dd01a5, 0x94bf5627, 0x45d7bdc9, 0x94bbe85a,
-    0x45d279c2, 0x94b87ad0,
-  0x45cd358f, 0x94b50d87, 0x45c7f132, 0x94b1a081, 0x45c2acaa, 0x94ae33be,
-    0x45bd67f6, 0x94aac73c,
-  0x45b82318, 0x94a75afd, 0x45b2de0e, 0x94a3eeff, 0x45ad98da, 0x94a08344,
-    0x45a8537a, 0x949d17cc,
-  0x45a30df0, 0x9499ac95, 0x459dc83b, 0x949641a1, 0x4598825a, 0x9492d6ef,
-    0x45933c4f, 0x948f6c7f,
-  0x458df619, 0x948c0252, 0x4588afb8, 0x94889867, 0x4583692c, 0x94852ebe,
-    0x457e2275, 0x9481c557,
-  0x4578db93, 0x947e5c33, 0x45739487, 0x947af351, 0x456e4d4f, 0x94778ab1,
-    0x456905ed, 0x94742254,
-  0x4563be60, 0x9470ba39, 0x455e76a8, 0x946d5260, 0x45592ec6, 0x9469eaca,
-    0x4553e6b8, 0x94668376,
-  0x454e9e80, 0x94631c65, 0x4549561d, 0x945fb596, 0x45440d90, 0x945c4f09,
-    0x453ec4d7, 0x9458e8bf,
-  0x45397bf4, 0x945582b7, 0x453432e6, 0x94521cf1, 0x452ee9ae, 0x944eb76e,
-    0x4529a04b, 0x944b522d,
-  0x452456bd, 0x9447ed2f, 0x451f0d04, 0x94448873, 0x4519c321, 0x944123fa,
-    0x45147913, 0x943dbfc3,
-  0x450f2edb, 0x943a5bcf, 0x4509e478, 0x9436f81d, 0x450499eb, 0x943394ad,
-    0x44ff4f32, 0x94303180,
-  0x44fa0450, 0x942cce96, 0x44f4b943, 0x94296bee, 0x44ef6e0b, 0x94260989,
-    0x44ea22a9, 0x9422a766,
-  0x44e4d71c, 0x941f4585, 0x44df8b64, 0x941be3e8, 0x44da3f83, 0x9418828c,
-    0x44d4f376, 0x94152174,
-  0x44cfa740, 0x9411c09e, 0x44ca5adf, 0x940e600a, 0x44c50e53, 0x940affb9,
-    0x44bfc19d, 0x94079fab,
-  0x44ba74bd, 0x94043fdf, 0x44b527b2, 0x9400e056, 0x44afda7d, 0x93fd810f,
-    0x44aa8d1d, 0x93fa220b,
-  0x44a53f93, 0x93f6c34a, 0x449ff1df, 0x93f364cb, 0x449aa400, 0x93f0068f,
-    0x449555f7, 0x93eca896,
-  0x449007c4, 0x93e94adf, 0x448ab967, 0x93e5ed6b, 0x44856adf, 0x93e2903a,
-    0x44801c2d, 0x93df334c,
-  0x447acd50, 0x93dbd6a0, 0x44757e4a, 0x93d87a36, 0x44702f19, 0x93d51e10,
-    0x446adfbe, 0x93d1c22c,
-  0x44659039, 0x93ce668b, 0x44604089, 0x93cb0b2d, 0x445af0b0, 0x93c7b011,
-    0x4455a0ac, 0x93c45539,
-  0x4450507e, 0x93c0faa3, 0x444b0026, 0x93bda04f, 0x4445afa4, 0x93ba463f,
-    0x44405ef8, 0x93b6ec71,
-  0x443b0e21, 0x93b392e6, 0x4435bd21, 0x93b0399e, 0x44306bf6, 0x93ace099,
-    0x442b1aa2, 0x93a987d6,
-  0x4425c923, 0x93a62f57, 0x4420777b, 0x93a2d71a, 0x441b25a8, 0x939f7f20,
-    0x4415d3ab, 0x939c2769,
-  0x44108184, 0x9398cff5, 0x440b2f34, 0x939578c3, 0x4405dcb9, 0x939221d5,
-    0x44008a14, 0x938ecb29,
-  0x43fb3746, 0x938b74c1, 0x43f5e44d, 0x93881e9b, 0x43f0912b, 0x9384c8b8,
-    0x43eb3ddf, 0x93817318,
-  0x43e5ea68, 0x937e1dbb, 0x43e096c8, 0x937ac8a1, 0x43db42fe, 0x937773ca,
-    0x43d5ef0a, 0x93741f35,
-  0x43d09aed, 0x9370cae4, 0x43cb46a5, 0x936d76d6, 0x43c5f234, 0x936a230a,
-    0x43c09d99, 0x9366cf82,
-  0x43bb48d4, 0x93637c3d, 0x43b5f3e5, 0x9360293a, 0x43b09ecc, 0x935cd67b,
-    0x43ab498a, 0x935983ff,
-  0x43a5f41e, 0x935631c5, 0x43a09e89, 0x9352dfcf, 0x439b48c9, 0x934f8e1c,
-    0x4395f2e0, 0x934c3cab,
-  0x43909ccd, 0x9348eb7e, 0x438b4691, 0x93459a94, 0x4385f02a, 0x934249ed,
-    0x4380999b, 0x933ef989,
-  0x437b42e1, 0x933ba968, 0x4375ebfe, 0x9338598a, 0x437094f1, 0x933509f0,
-    0x436b3dbb, 0x9331ba98,
-  0x4365e65b, 0x932e6b84, 0x43608ed2, 0x932b1cb2, 0x435b371f, 0x9327ce24,
-    0x4355df42, 0x93247fd9,
-  0x4350873c, 0x932131d1, 0x434b2f0c, 0x931de40c, 0x4345d6b3, 0x931a968b,
-    0x43407e31, 0x9317494c,
-  0x433b2585, 0x9313fc51, 0x4335ccaf, 0x9310af99, 0x433073b0, 0x930d6324,
-    0x432b1a87, 0x930a16f3,
-  0x4325c135, 0x9306cb04, 0x432067ba, 0x93037f59, 0x431b0e15, 0x930033f1,
-    0x4315b447, 0x92fce8cc,
-  0x43105a50, 0x92f99deb, 0x430b002f, 0x92f6534c, 0x4305a5e5, 0x92f308f1,
-    0x43004b71, 0x92efbeda,
-  0x42faf0d4, 0x92ec7505, 0x42f5960e, 0x92e92b74, 0x42f03b1e, 0x92e5e226,
-    0x42eae005, 0x92e2991c,
-  0x42e584c3, 0x92df5054, 0x42e02958, 0x92dc07d0, 0x42dacdc3, 0x92d8bf90,
-    0x42d57205, 0x92d57792,
-  0x42d0161e, 0x92d22fd9, 0x42caba0e, 0x92cee862, 0x42c55dd4, 0x92cba12f,
-    0x42c00172, 0x92c85a3f,
-  0x42baa4e6, 0x92c51392, 0x42b54831, 0x92c1cd29, 0x42afeb53, 0x92be8703,
-    0x42aa8e4b, 0x92bb4121,
-  0x42a5311b, 0x92b7fb82, 0x429fd3c1, 0x92b4b626, 0x429a763f, 0x92b1710e,
-    0x42951893, 0x92ae2c3a,
-  0x428fbabe, 0x92aae7a8, 0x428a5cc0, 0x92a7a35a, 0x4284fe99, 0x92a45f50,
-    0x427fa049, 0x92a11b89,
-  0x427a41d0, 0x929dd806, 0x4274e32e, 0x929a94c6, 0x426f8463, 0x929751c9,
-    0x426a256f, 0x92940f10,
-  0x4264c653, 0x9290cc9b, 0x425f670d, 0x928d8a69, 0x425a079e, 0x928a487a,
-    0x4254a806, 0x928706cf,
-  0x424f4845, 0x9283c568, 0x4249e85c, 0x92808444, 0x42448849, 0x927d4363,
-    0x423f280e, 0x927a02c7,
-  0x4239c7aa, 0x9276c26d, 0x4234671d, 0x92738258, 0x422f0667, 0x92704286,
-    0x4229a588, 0x926d02f7,
-  0x42244481, 0x9269c3ac, 0x421ee350, 0x926684a5, 0x421981f7, 0x926345e1,
-    0x42142075, 0x92600761,
-  0x420ebecb, 0x925cc924, 0x42095cf7, 0x92598b2b, 0x4203fafb, 0x92564d76,
-    0x41fe98d6, 0x92531005,
-  0x41f93689, 0x924fd2d7, 0x41f3d413, 0x924c95ec, 0x41ee7174, 0x92495946,
-    0x41e90eac, 0x92461ce3,
-  0x41e3abbc, 0x9242e0c4, 0x41de48a3, 0x923fa4e8, 0x41d8e561, 0x923c6950,
-    0x41d381f7, 0x92392dfc,
-  0x41ce1e65, 0x9235f2ec, 0x41c8baa9, 0x9232b81f, 0x41c356c5, 0x922f7d96,
-    0x41bdf2b9, 0x922c4351,
-  0x41b88e84, 0x9229094f, 0x41b32a26, 0x9225cf91, 0x41adc5a0, 0x92229617,
-    0x41a860f1, 0x921f5ce1,
-  0x41a2fc1a, 0x921c23ef, 0x419d971b, 0x9218eb40, 0x419831f3, 0x9215b2d5,
-    0x4192cca2, 0x92127aae,
-  0x418d6729, 0x920f42cb, 0x41880188, 0x920c0b2c, 0x41829bbe, 0x9208d3d0,
-    0x417d35cb, 0x92059cb8,
-  0x4177cfb1, 0x920265e4, 0x4172696e, 0x91ff2f54, 0x416d0302, 0x91fbf908,
-    0x41679c6f, 0x91f8c300,
-  0x416235b2, 0x91f58d3b, 0x415ccece, 0x91f257bb, 0x415767c1, 0x91ef227e,
-    0x4152008c, 0x91ebed85,
-  0x414c992f, 0x91e8b8d0, 0x414731a9, 0x91e5845f, 0x4141c9fb, 0x91e25032,
-    0x413c6225, 0x91df1c49,
-  0x4136fa27, 0x91dbe8a4, 0x41319200, 0x91d8b542, 0x412c29b1, 0x91d58225,
-    0x4126c13a, 0x91d24f4c,
-  0x4121589b, 0x91cf1cb6, 0x411befd3, 0x91cbea65, 0x411686e4, 0x91c8b857,
-    0x41111dcc, 0x91c5868e,
-  0x410bb48c, 0x91c25508, 0x41064b24, 0x91bf23c7, 0x4100e194, 0x91bbf2c9,
-    0x40fb77dc, 0x91b8c210,
-  0x40f60dfb, 0x91b5919a, 0x40f0a3f3, 0x91b26169, 0x40eb39c3, 0x91af317c,
-    0x40e5cf6a, 0x91ac01d2,
-  0x40e064ea, 0x91a8d26d, 0x40dafa41, 0x91a5a34c, 0x40d58f71, 0x91a2746f,
-    0x40d02478, 0x919f45d6,
-  0x40cab958, 0x919c1781, 0x40c54e0f, 0x9198e970, 0x40bfe29f, 0x9195bba3,
-    0x40ba7706, 0x91928e1a,
-  0x40b50b46, 0x918f60d6, 0x40af9f5e, 0x918c33d5, 0x40aa334e, 0x91890719,
-    0x40a4c716, 0x9185daa1,
-  0x409f5ab6, 0x9182ae6d, 0x4099ee2e, 0x917f827d, 0x4094817f, 0x917c56d1,
-    0x408f14a7, 0x91792b6a,
-  0x4089a7a8, 0x91760047, 0x40843a81, 0x9172d567, 0x407ecd32, 0x916faacc,
-    0x40795fbc, 0x916c8076,
-  0x4073f21d, 0x91695663, 0x406e8457, 0x91662c95, 0x40691669, 0x9163030b,
-    0x4063a854, 0x915fd9c5,
-  0x405e3a16, 0x915cb0c3, 0x4058cbb1, 0x91598806, 0x40535d24, 0x91565f8d,
-    0x404dee70, 0x91533758,
-  0x40487f94, 0x91500f67, 0x40431090, 0x914ce7bb, 0x403da165, 0x9149c053,
-    0x40383212, 0x9146992f,
-  0x4032c297, 0x91437250, 0x402d52f5, 0x91404bb5, 0x4027e32b, 0x913d255e,
-    0x4022733a, 0x9139ff4b,
-  0x401d0321, 0x9136d97d, 0x401792e0, 0x9133b3f3, 0x40122278, 0x91308eae,
-    0x400cb1e9, 0x912d69ad,
-  0x40074132, 0x912a44f0, 0x4001d053, 0x91272078, 0x3ffc5f4d, 0x9123fc44,
-    0x3ff6ee1f, 0x9120d854,
-  0x3ff17cca, 0x911db4a9, 0x3fec0b4e, 0x911a9142, 0x3fe699aa, 0x91176e1f,
-    0x3fe127df, 0x91144b41,
-  0x3fdbb5ec, 0x911128a8, 0x3fd643d2, 0x910e0653, 0x3fd0d191, 0x910ae442,
-    0x3fcb5f28, 0x9107c276,
-  0x3fc5ec98, 0x9104a0ee, 0x3fc079e0, 0x91017faa, 0x3fbb0702, 0x90fe5eab,
-    0x3fb593fb, 0x90fb3df1,
-  0x3fb020ce, 0x90f81d7b, 0x3faaad79, 0x90f4fd4a, 0x3fa539fd, 0x90f1dd5d,
-    0x3f9fc65a, 0x90eebdb4,
-  0x3f9a5290, 0x90eb9e50, 0x3f94de9e, 0x90e87f31, 0x3f8f6a85, 0x90e56056,
-    0x3f89f645, 0x90e241bf,
-  0x3f8481dd, 0x90df236e, 0x3f7f0d4f, 0x90dc0560, 0x3f799899, 0x90d8e798,
-    0x3f7423bc, 0x90d5ca13,
-  0x3f6eaeb8, 0x90d2acd4, 0x3f69398d, 0x90cf8fd9, 0x3f63c43b, 0x90cc7322,
-    0x3f5e4ec2, 0x90c956b1,
-  0x3f58d921, 0x90c63a83, 0x3f53635a, 0x90c31e9b, 0x3f4ded6b, 0x90c002f7,
-    0x3f487755, 0x90bce797,
-  0x3f430119, 0x90b9cc7d, 0x3f3d8ab5, 0x90b6b1a6, 0x3f38142a, 0x90b39715,
-    0x3f329d79, 0x90b07cc8,
-  0x3f2d26a0, 0x90ad62c0, 0x3f27afa1, 0x90aa48fd, 0x3f22387a, 0x90a72f7e,
-    0x3f1cc12c, 0x90a41644,
-  0x3f1749b8, 0x90a0fd4e, 0x3f11d21d, 0x909de49e, 0x3f0c5a5a, 0x909acc32,
-    0x3f06e271, 0x9097b40a,
-  0x3f016a61, 0x90949c28, 0x3efbf22a, 0x9091848a, 0x3ef679cc, 0x908e6d31,
-    0x3ef10148, 0x908b561c,
-  0x3eeb889c, 0x90883f4d, 0x3ee60fca, 0x908528c2, 0x3ee096d1, 0x9082127c,
-    0x3edb1db1, 0x907efc7a,
-  0x3ed5a46b, 0x907be6be, 0x3ed02afd, 0x9078d146, 0x3ecab169, 0x9075bc13,
-    0x3ec537ae, 0x9072a725,
-  0x3ebfbdcd, 0x906f927c, 0x3eba43c4, 0x906c7e17, 0x3eb4c995, 0x906969f8,
-    0x3eaf4f40, 0x9066561d,
-  0x3ea9d4c3, 0x90634287, 0x3ea45a21, 0x90602f35, 0x3e9edf57, 0x905d1c29,
-    0x3e996467, 0x905a0962,
-  0x3e93e950, 0x9056f6df, 0x3e8e6e12, 0x9053e4a1, 0x3e88f2ae, 0x9050d2a9,
-    0x3e837724, 0x904dc0f5,
-  0x3e7dfb73, 0x904aaf86, 0x3e787f9b, 0x90479e5c, 0x3e73039d, 0x90448d76,
-    0x3e6d8778, 0x90417cd6,
-  0x3e680b2c, 0x903e6c7b, 0x3e628ebb, 0x903b5c64, 0x3e5d1222, 0x90384c93,
-    0x3e579564, 0x90353d06,
-  0x3e52187f, 0x90322dbf, 0x3e4c9b73, 0x902f1ebc, 0x3e471e41, 0x902c0fff,
-    0x3e41a0e8, 0x90290186,
-  0x3e3c2369, 0x9025f352, 0x3e36a5c4, 0x9022e564, 0x3e3127f9, 0x901fd7ba,
-    0x3e2baa07, 0x901cca55,
-  0x3e262bee, 0x9019bd36, 0x3e20adaf, 0x9016b05b, 0x3e1b2f4a, 0x9013a3c5,
-    0x3e15b0bf, 0x90109775,
-  0x3e10320d, 0x900d8b69, 0x3e0ab336, 0x900a7fa3, 0x3e053437, 0x90077422,
-    0x3dffb513, 0x900468e5,
-  0x3dfa35c8, 0x90015dee, 0x3df4b657, 0x8ffe533c, 0x3def36c0, 0x8ffb48cf,
-    0x3de9b703, 0x8ff83ea7,
-  0x3de4371f, 0x8ff534c4, 0x3ddeb716, 0x8ff22b26, 0x3dd936e6, 0x8fef21ce,
-    0x3dd3b690, 0x8fec18ba,
-  0x3dce3614, 0x8fe90fec, 0x3dc8b571, 0x8fe60763, 0x3dc334a9, 0x8fe2ff1f,
-    0x3dbdb3ba, 0x8fdff720,
-  0x3db832a6, 0x8fdcef66, 0x3db2b16b, 0x8fd9e7f2, 0x3dad300b, 0x8fd6e0c2,
-    0x3da7ae84, 0x8fd3d9d8,
-  0x3da22cd7, 0x8fd0d333, 0x3d9cab04, 0x8fcdccd3, 0x3d97290b, 0x8fcac6b9,
-    0x3d91a6ed, 0x8fc7c0e3,
-  0x3d8c24a8, 0x8fc4bb53, 0x3d86a23d, 0x8fc1b608, 0x3d811fac, 0x8fbeb103,
-    0x3d7b9cf6, 0x8fbbac42,
-  0x3d761a19, 0x8fb8a7c7, 0x3d709717, 0x8fb5a391, 0x3d6b13ee, 0x8fb29fa0,
-    0x3d6590a0, 0x8faf9bf5,
-  0x3d600d2c, 0x8fac988f, 0x3d5a8992, 0x8fa9956e, 0x3d5505d2, 0x8fa69293,
-    0x3d4f81ec, 0x8fa38ffc,
-  0x3d49fde1, 0x8fa08dab, 0x3d4479b0, 0x8f9d8ba0, 0x3d3ef559, 0x8f9a89da,
-    0x3d3970dc, 0x8f978859,
-  0x3d33ec39, 0x8f94871d, 0x3d2e6771, 0x8f918627, 0x3d28e282, 0x8f8e8576,
-    0x3d235d6f, 0x8f8b850a,
-  0x3d1dd835, 0x8f8884e4, 0x3d1852d6, 0x8f858503, 0x3d12cd51, 0x8f828568,
-    0x3d0d47a6, 0x8f7f8612,
-  0x3d07c1d6, 0x8f7c8701, 0x3d023be0, 0x8f798836, 0x3cfcb5c4, 0x8f7689b0,
-    0x3cf72f83, 0x8f738b70,
-  0x3cf1a91c, 0x8f708d75, 0x3cec2290, 0x8f6d8fbf, 0x3ce69bde, 0x8f6a924f,
-    0x3ce11507, 0x8f679525,
-  0x3cdb8e09, 0x8f649840, 0x3cd606e7, 0x8f619ba0, 0x3cd07f9f, 0x8f5e9f46,
-    0x3ccaf831, 0x8f5ba331,
-  0x3cc5709e, 0x8f58a761, 0x3cbfe8e5, 0x8f55abd8, 0x3cba6107, 0x8f52b093,
-    0x3cb4d904, 0x8f4fb595,
-  0x3caf50da, 0x8f4cbadb, 0x3ca9c88c, 0x8f49c067, 0x3ca44018, 0x8f46c639,
-    0x3c9eb77f, 0x8f43cc50,
-  0x3c992ec0, 0x8f40d2ad, 0x3c93a5dc, 0x8f3dd950, 0x3c8e1cd3, 0x8f3ae038,
-    0x3c8893a4, 0x8f37e765,
-  0x3c830a50, 0x8f34eed8, 0x3c7d80d6, 0x8f31f691, 0x3c77f737, 0x8f2efe8f,
-    0x3c726d73, 0x8f2c06d3,
-  0x3c6ce38a, 0x8f290f5c, 0x3c67597b, 0x8f26182b, 0x3c61cf48, 0x8f232140,
-    0x3c5c44ee, 0x8f202a9a,
-  0x3c56ba70, 0x8f1d343a, 0x3c512fcc, 0x8f1a3e1f, 0x3c4ba504, 0x8f17484b,
-    0x3c461a16, 0x8f1452bb,
-  0x3c408f03, 0x8f115d72, 0x3c3b03ca, 0x8f0e686e, 0x3c35786d, 0x8f0b73b0,
-    0x3c2fecea, 0x8f087f37,
-  0x3c2a6142, 0x8f058b04, 0x3c24d575, 0x8f029717, 0x3c1f4983, 0x8effa370,
-    0x3c19bd6c, 0x8efcb00e,
-  0x3c143130, 0x8ef9bcf2, 0x3c0ea4cf, 0x8ef6ca1c, 0x3c091849, 0x8ef3d78b,
-    0x3c038b9e, 0x8ef0e540,
-  0x3bfdfecd, 0x8eedf33b, 0x3bf871d8, 0x8eeb017c, 0x3bf2e4be, 0x8ee81002,
-    0x3bed577e, 0x8ee51ece,
-  0x3be7ca1a, 0x8ee22de0, 0x3be23c91, 0x8edf3d38, 0x3bdcaee3, 0x8edc4cd5,
-    0x3bd72110, 0x8ed95cb8,
-  0x3bd19318, 0x8ed66ce1, 0x3bcc04fb, 0x8ed37d50, 0x3bc676b9, 0x8ed08e05,
-    0x3bc0e853, 0x8ecd9eff,
-  0x3bbb59c7, 0x8ecab040, 0x3bb5cb17, 0x8ec7c1c6, 0x3bb03c42, 0x8ec4d392,
-    0x3baaad48, 0x8ec1e5a4,
-  0x3ba51e29, 0x8ebef7fb, 0x3b9f8ee5, 0x8ebc0a99, 0x3b99ff7d, 0x8eb91d7c,
-    0x3b946ff0, 0x8eb630a6,
-  0x3b8ee03e, 0x8eb34415, 0x3b895068, 0x8eb057ca, 0x3b83c06c, 0x8ead6bc5,
-    0x3b7e304c, 0x8eaa8006,
-  0x3b78a007, 0x8ea7948c, 0x3b730f9e, 0x8ea4a959, 0x3b6d7f10, 0x8ea1be6c,
-    0x3b67ee5d, 0x8e9ed3c4,
-  0x3b625d86, 0x8e9be963, 0x3b5ccc8a, 0x8e98ff47, 0x3b573b69, 0x8e961571,
-    0x3b51aa24, 0x8e932be2,
-  0x3b4c18ba, 0x8e904298, 0x3b46872c, 0x8e8d5994, 0x3b40f579, 0x8e8a70d7,
-    0x3b3b63a1, 0x8e87885f,
-  0x3b35d1a5, 0x8e84a02d, 0x3b303f84, 0x8e81b841, 0x3b2aad3f, 0x8e7ed09b,
-    0x3b251ad6, 0x8e7be93c,
-  0x3b1f8848, 0x8e790222, 0x3b19f595, 0x8e761b4e, 0x3b1462be, 0x8e7334c1,
-    0x3b0ecfc3, 0x8e704e79,
-  0x3b093ca3, 0x8e6d6877, 0x3b03a95e, 0x8e6a82bc, 0x3afe15f6, 0x8e679d47,
-    0x3af88269, 0x8e64b817,
-  0x3af2eeb7, 0x8e61d32e, 0x3aed5ae1, 0x8e5eee8b, 0x3ae7c6e7, 0x8e5c0a2e,
-    0x3ae232c9, 0x8e592617,
-  0x3adc9e86, 0x8e564246, 0x3ad70a1f, 0x8e535ebb, 0x3ad17593, 0x8e507b76,
-    0x3acbe0e3, 0x8e4d9878,
-  0x3ac64c0f, 0x8e4ab5bf, 0x3ac0b717, 0x8e47d34d, 0x3abb21fb, 0x8e44f121,
-    0x3ab58cba, 0x8e420f3b,
-  0x3aaff755, 0x8e3f2d9b, 0x3aaa61cc, 0x8e3c4c41, 0x3aa4cc1e, 0x8e396b2e,
-    0x3a9f364d, 0x8e368a61,
-  0x3a99a057, 0x8e33a9da, 0x3a940a3e, 0x8e30c999, 0x3a8e7400, 0x8e2de99e,
-    0x3a88dd9d, 0x8e2b09e9,
-  0x3a834717, 0x8e282a7b, 0x3a7db06d, 0x8e254b53, 0x3a78199f, 0x8e226c71,
-    0x3a7282ac, 0x8e1f8dd6,
-  0x3a6ceb96, 0x8e1caf80, 0x3a67545b, 0x8e19d171, 0x3a61bcfd, 0x8e16f3a9,
-    0x3a5c257a, 0x8e141626,
-  0x3a568dd4, 0x8e1138ea, 0x3a50f609, 0x8e0e5bf4, 0x3a4b5e1b, 0x8e0b7f44,
-    0x3a45c608, 0x8e08a2db,
-  0x3a402dd2, 0x8e05c6b7, 0x3a3a9577, 0x8e02eadb, 0x3a34fcf9, 0x8e000f44,
-    0x3a2f6457, 0x8dfd33f4,
-  0x3a29cb91, 0x8dfa58ea, 0x3a2432a7, 0x8df77e27, 0x3a1e9999, 0x8df4a3a9,
-    0x3a190068, 0x8df1c973,
-  0x3a136712, 0x8deeef82, 0x3a0dcd99, 0x8dec15d8, 0x3a0833fc, 0x8de93c74,
-    0x3a029a3b, 0x8de66357,
-  0x39fd0056, 0x8de38a80, 0x39f7664e, 0x8de0b1ef, 0x39f1cc21, 0x8dddd9a5,
-    0x39ec31d1, 0x8ddb01a1,
-  0x39e6975e, 0x8dd829e4, 0x39e0fcc6, 0x8dd5526d, 0x39db620b, 0x8dd27b3c,
-    0x39d5c72c, 0x8dcfa452,
-  0x39d02c2a, 0x8dcccdaf, 0x39ca9104, 0x8dc9f751, 0x39c4f5ba, 0x8dc7213b,
-    0x39bf5a4d, 0x8dc44b6a,
-  0x39b9bebc, 0x8dc175e0, 0x39b42307, 0x8dbea09d, 0x39ae872f, 0x8dbbcba0,
-    0x39a8eb33, 0x8db8f6ea,
-  0x39a34f13, 0x8db6227a, 0x399db2d0, 0x8db34e50, 0x3998166a, 0x8db07a6d,
-    0x399279e0, 0x8dada6d1,
-  0x398cdd32, 0x8daad37b, 0x39874061, 0x8da8006c, 0x3981a36d, 0x8da52da3,
-    0x397c0655, 0x8da25b21,
-  0x39766919, 0x8d9f88e5, 0x3970cbba, 0x8d9cb6f0, 0x396b2e38, 0x8d99e541,
-    0x39659092, 0x8d9713d9,
-  0x395ff2c9, 0x8d9442b8, 0x395a54dd, 0x8d9171dd, 0x3954b6cd, 0x8d8ea148,
-    0x394f1899, 0x8d8bd0fb,
-  0x39497a43, 0x8d8900f3, 0x3943dbc9, 0x8d863133, 0x393e3d2c, 0x8d8361b9,
-    0x39389e6b, 0x8d809286,
-  0x3932ff87, 0x8d7dc399, 0x392d6080, 0x8d7af4f3, 0x3927c155, 0x8d782694,
-    0x39222208, 0x8d75587b,
-  0x391c8297, 0x8d728aa9, 0x3916e303, 0x8d6fbd1d, 0x3911434b, 0x8d6cefd9,
-    0x390ba371, 0x8d6a22db,
-  0x39060373, 0x8d675623, 0x39006352, 0x8d6489b3, 0x38fac30e, 0x8d61bd89,
-    0x38f522a6, 0x8d5ef1a5,
-  0x38ef821c, 0x8d5c2609, 0x38e9e16e, 0x8d595ab3, 0x38e4409e, 0x8d568fa4,
-    0x38de9faa, 0x8d53c4db,
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-    0x386defeb, 0x8d1c2742,
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-    0x38575fd4, 0x8d111505,
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-    0x3813a28a, 0x8ceff8e6,
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-    0x37b93292, 0x8cc41184,
-  0x37b38a6d, 0x8cc1556a, 0x37ade227, 0x8cbe9996, 0x37a839be, 0x8cbbde0a,
-    0x37a29132, 0x8cb922c6,
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-    0x378bedae, 0x8cae3879,
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-    0x375ea03a, 0x8c987137,
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-    0x3747f64c, 0x8c8d9442,
-  0x37424b7b, 0x8c8addb7, 0x373ca088, 0x8c882773, 0x3736f573, 0x8c857176,
-    0x37314a3c, 0x8c82bbc0,
-  0x372b9ee3, 0x8c800652, 0x3725f367, 0x8c7d512b, 0x372047ca, 0x8c7a9c4b,
-    0x371a9c0b, 0x8c77e7b3,
-  0x3714f02a, 0x8c753362, 0x370f4427, 0x8c727f58, 0x37099802, 0x8c6fcb95,
-    0x3703ebbb, 0x8c6d181a,
-  0x36fe3f52, 0x8c6a64e5, 0x36f892c7, 0x8c67b1f9, 0x36f2e61a, 0x8c64ff53,
-    0x36ed394b, 0x8c624cf5,
-  0x36e78c5b, 0x8c5f9ade, 0x36e1df48, 0x8c5ce90e, 0x36dc3214, 0x8c5a3786,
-    0x36d684be, 0x8c578645,
-  0x36d0d746, 0x8c54d54c, 0x36cb29ac, 0x8c522499, 0x36c57bf0, 0x8c4f742f,
-    0x36bfce13, 0x8c4cc40b,
-  0x36ba2014, 0x8c4a142f, 0x36b471f3, 0x8c47649a, 0x36aec3b0, 0x8c44b54d,
-    0x36a9154c, 0x8c420647,
-  0x36a366c6, 0x8c3f5788, 0x369db81e, 0x8c3ca911, 0x36980954, 0x8c39fae1,
-    0x36925a69, 0x8c374cf9,
-  0x368cab5c, 0x8c349f58, 0x3686fc2e, 0x8c31f1ff, 0x36814cde, 0x8c2f44ed,
-    0x367b9d6c, 0x8c2c9822,
-  0x3675edd9, 0x8c29eb9f, 0x36703e24, 0x8c273f63, 0x366a8e4d, 0x8c24936f,
-    0x3664de55, 0x8c21e7c2,
-  0x365f2e3b, 0x8c1f3c5d, 0x36597e00, 0x8c1c913f, 0x3653cda3, 0x8c19e669,
-    0x364e1d25, 0x8c173bda,
-  0x36486c86, 0x8c149192, 0x3642bbc4, 0x8c11e792, 0x363d0ae2, 0x8c0f3dda,
-    0x363759de, 0x8c0c9469,
-  0x3631a8b8, 0x8c09eb40, 0x362bf771, 0x8c07425e, 0x36264609, 0x8c0499c4,
-    0x3620947f, 0x8c01f171,
-  0x361ae2d3, 0x8bff4966, 0x36153107, 0x8bfca1a3, 0x360f7f19, 0x8bf9fa27,
-    0x3609cd0a, 0x8bf752f2,
-  0x36041ad9, 0x8bf4ac05, 0x35fe6887, 0x8bf20560, 0x35f8b614, 0x8bef5f02,
-    0x35f3037f, 0x8becb8ec,
-  0x35ed50c9, 0x8bea131e, 0x35e79df2, 0x8be76d97, 0x35e1eafa, 0x8be4c857,
-    0x35dc37e0, 0x8be22360,
-  0x35d684a6, 0x8bdf7eb0, 0x35d0d14a, 0x8bdcda47, 0x35cb1dcc, 0x8bda3626,
-    0x35c56a2e, 0x8bd7924d,
-  0x35bfb66e, 0x8bd4eebc, 0x35ba028e, 0x8bd24b72, 0x35b44e8c, 0x8bcfa870,
-    0x35ae9a69, 0x8bcd05b5,
-  0x35a8e625, 0x8bca6343, 0x35a331c0, 0x8bc7c117, 0x359d7d39, 0x8bc51f34,
-    0x3597c892, 0x8bc27d98,
-  0x359213c9, 0x8bbfdc44, 0x358c5ee0, 0x8bbd3b38, 0x3586a9d5, 0x8bba9a73,
-    0x3580f4aa, 0x8bb7f9f6,
-  0x357b3f5d, 0x8bb559c1, 0x357589f0, 0x8bb2b9d4, 0x356fd461, 0x8bb01a2e,
-    0x356a1eb2, 0x8bad7ad0,
-  0x356468e2, 0x8baadbba, 0x355eb2f0, 0x8ba83cec, 0x3558fcde, 0x8ba59e65,
-    0x355346ab, 0x8ba30026,
-  0x354d9057, 0x8ba0622f, 0x3547d9e2, 0x8b9dc480, 0x3542234c, 0x8b9b2718,
-    0x353c6c95, 0x8b9889f8,
-  0x3536b5be, 0x8b95ed21, 0x3530fec6, 0x8b935090, 0x352b47ad, 0x8b90b448,
-    0x35259073, 0x8b8e1848,
-  0x351fd918, 0x8b8b7c8f, 0x351a219c, 0x8b88e11e, 0x35146a00, 0x8b8645f5,
-    0x350eb243, 0x8b83ab14,
-  0x3508fa66, 0x8b81107b, 0x35034267, 0x8b7e7629, 0x34fd8a48, 0x8b7bdc20,
-    0x34f7d208, 0x8b79425e,
-  0x34f219a8, 0x8b76a8e4, 0x34ec6127, 0x8b740fb3, 0x34e6a885, 0x8b7176c8,
-    0x34e0efc2, 0x8b6ede26,
-  0x34db36df, 0x8b6c45cc, 0x34d57ddc, 0x8b69adba, 0x34cfc4b7, 0x8b6715ef,
-    0x34ca0b73, 0x8b647e6d,
-  0x34c4520d, 0x8b61e733, 0x34be9887, 0x8b5f5040, 0x34b8dee1, 0x8b5cb995,
-    0x34b3251a, 0x8b5a2333,
-  0x34ad6b32, 0x8b578d18, 0x34a7b12a, 0x8b54f745, 0x34a1f702, 0x8b5261ba,
-    0x349c3cb9, 0x8b4fcc77,
-  0x34968250, 0x8b4d377c, 0x3490c7c6, 0x8b4aa2ca, 0x348b0d1c, 0x8b480e5f,
-    0x34855251, 0x8b457a3c,
-  0x347f9766, 0x8b42e661, 0x3479dc5b, 0x8b4052ce, 0x3474212f, 0x8b3dbf83,
-    0x346e65e3, 0x8b3b2c80,
-  0x3468aa76, 0x8b3899c6, 0x3462eee9, 0x8b360753, 0x345d333c, 0x8b337528,
-    0x3457776f, 0x8b30e345,
-  0x3451bb81, 0x8b2e51ab, 0x344bff73, 0x8b2bc058, 0x34464345, 0x8b292f4e,
-    0x344086f6, 0x8b269e8b,
-  0x343aca87, 0x8b240e11, 0x34350df8, 0x8b217ddf, 0x342f5149, 0x8b1eedf4,
-    0x3429947a, 0x8b1c5e52,
-  0x3423d78a, 0x8b19cef8, 0x341e1a7b, 0x8b173fe6, 0x34185d4b, 0x8b14b11d,
-    0x34129ffb, 0x8b12229b,
-  0x340ce28b, 0x8b0f9462, 0x340724fb, 0x8b0d0670, 0x3401674a, 0x8b0a78c7,
-    0x33fba97a, 0x8b07eb66,
-  0x33f5eb89, 0x8b055e4d, 0x33f02d79, 0x8b02d17c, 0x33ea6f48, 0x8b0044f3,
-    0x33e4b0f8, 0x8afdb8b3,
-  0x33def287, 0x8afb2cbb, 0x33d933f7, 0x8af8a10b, 0x33d37546, 0x8af615a3,
-    0x33cdb676, 0x8af38a83,
-  0x33c7f785, 0x8af0ffac, 0x33c23875, 0x8aee751c, 0x33bc7944, 0x8aebead5,
-    0x33b6b9f4, 0x8ae960d6,
-  0x33b0fa84, 0x8ae6d720, 0x33ab3af4, 0x8ae44db1, 0x33a57b44, 0x8ae1c48b,
-    0x339fbb74, 0x8adf3bad,
-  0x3399fb85, 0x8adcb318, 0x33943b75, 0x8ada2aca, 0x338e7b46, 0x8ad7a2c5,
-    0x3388baf7, 0x8ad51b08,
-  0x3382fa88, 0x8ad29394, 0x337d39f9, 0x8ad00c67, 0x3377794b, 0x8acd8583,
-    0x3371b87d, 0x8acafee8,
-  0x336bf78f, 0x8ac87894, 0x33663682, 0x8ac5f289, 0x33607554, 0x8ac36cc6,
-    0x335ab407, 0x8ac0e74c,
-  0x3354f29b, 0x8abe6219, 0x334f310e, 0x8abbdd30, 0x33496f62, 0x8ab9588e,
-    0x3343ad97, 0x8ab6d435,
-  0x333debab, 0x8ab45024, 0x333829a1, 0x8ab1cc5c, 0x33326776, 0x8aaf48db,
-    0x332ca52c, 0x8aacc5a4,
-  0x3326e2c3, 0x8aaa42b4, 0x33212039, 0x8aa7c00d, 0x331b5d91, 0x8aa53daf,
-    0x33159ac8, 0x8aa2bb99,
-  0x330fd7e1, 0x8aa039cb, 0x330a14da, 0x8a9db845, 0x330451b3, 0x8a9b3708,
-    0x32fe8e6d, 0x8a98b614,
-  0x32f8cb07, 0x8a963567, 0x32f30782, 0x8a93b504, 0x32ed43de, 0x8a9134e8,
-    0x32e7801a, 0x8a8eb516,
-  0x32e1bc36, 0x8a8c358b, 0x32dbf834, 0x8a89b649, 0x32d63412, 0x8a873750,
-    0x32d06fd0, 0x8a84b89e,
-  0x32caab6f, 0x8a823a36, 0x32c4e6ef, 0x8a7fbc16, 0x32bf2250, 0x8a7d3e3e,
-    0x32b95d91, 0x8a7ac0af,
-  0x32b398b3, 0x8a784368, 0x32add3b6, 0x8a75c66a, 0x32a80e99, 0x8a7349b4,
-    0x32a2495d, 0x8a70cd47,
-  0x329c8402, 0x8a6e5123, 0x3296be88, 0x8a6bd547, 0x3290f8ef, 0x8a6959b3,
-    0x328b3336, 0x8a66de68,
-  0x32856d5e, 0x8a646365, 0x327fa767, 0x8a61e8ab, 0x3279e151, 0x8a5f6e3a,
-    0x32741b1c, 0x8a5cf411,
-  0x326e54c7, 0x8a5a7a31, 0x32688e54, 0x8a580099, 0x3262c7c1, 0x8a55874a,
-    0x325d0110, 0x8a530e43,
-  0x32573a3f, 0x8a509585, 0x3251734f, 0x8a4e1d10, 0x324bac40, 0x8a4ba4e3,
-    0x3245e512, 0x8a492cff,
-  0x32401dc6, 0x8a46b564, 0x323a565a, 0x8a443e11, 0x32348ecf, 0x8a41c706,
-    0x322ec725, 0x8a3f5045,
-  0x3228ff5c, 0x8a3cd9cc, 0x32233775, 0x8a3a639b, 0x321d6f6e, 0x8a37edb3,
-    0x3217a748, 0x8a357814,
-  0x3211df04, 0x8a3302be, 0x320c16a1, 0x8a308db0, 0x32064e1e, 0x8a2e18eb,
-    0x3200857d, 0x8a2ba46e,
-  0x31fabcbd, 0x8a29303b, 0x31f4f3df, 0x8a26bc50, 0x31ef2ae1, 0x8a2448ad,
-    0x31e961c5, 0x8a21d554,
-  0x31e39889, 0x8a1f6243, 0x31ddcf30, 0x8a1cef7a, 0x31d805b7, 0x8a1a7cfb,
-    0x31d23c1f, 0x8a180ac4,
-  0x31cc7269, 0x8a1598d6, 0x31c6a894, 0x8a132731, 0x31c0dea1, 0x8a10b5d4,
-    0x31bb148f, 0x8a0e44c0,
-  0x31b54a5e, 0x8a0bd3f5, 0x31af800e, 0x8a096373, 0x31a9b5a0, 0x8a06f339,
-    0x31a3eb13, 0x8a048348,
-  0x319e2067, 0x8a0213a0, 0x3198559d, 0x89ffa441, 0x31928ab4, 0x89fd352b,
-    0x318cbfad, 0x89fac65d,
-  0x3186f487, 0x89f857d8, 0x31812943, 0x89f5e99c, 0x317b5de0, 0x89f37ba9,
-    0x3175925e, 0x89f10dff,
-  0x316fc6be, 0x89eea09d, 0x3169fb00, 0x89ec3384, 0x31642f23, 0x89e9c6b4,
-    0x315e6328, 0x89e75a2d,
-  0x3158970e, 0x89e4edef, 0x3152cad5, 0x89e281fa, 0x314cfe7f, 0x89e0164d,
-    0x31473209, 0x89ddaae9,
-  0x31416576, 0x89db3fcf, 0x313b98c4, 0x89d8d4fd, 0x3135cbf4, 0x89d66a74,
-    0x312fff05, 0x89d40033,
-  0x312a31f8, 0x89d1963c, 0x312464cd, 0x89cf2c8e, 0x311e9783, 0x89ccc328,
-    0x3118ca1b, 0x89ca5a0c,
-  0x3112fc95, 0x89c7f138, 0x310d2ef0, 0x89c588ae, 0x3107612e, 0x89c3206c,
-    0x3101934d, 0x89c0b873,
-  0x30fbc54d, 0x89be50c3, 0x30f5f730, 0x89bbe95c, 0x30f028f4, 0x89b9823e,
-    0x30ea5a9a, 0x89b71b69,
-  0x30e48c22, 0x89b4b4dd, 0x30debd8c, 0x89b24e9a, 0x30d8eed8, 0x89afe8a0,
-    0x30d32006, 0x89ad82ef,
-  0x30cd5115, 0x89ab1d87, 0x30c78206, 0x89a8b868, 0x30c1b2da, 0x89a65391,
-    0x30bbe38f, 0x89a3ef04,
-  0x30b61426, 0x89a18ac0, 0x30b0449f, 0x899f26c5, 0x30aa74fa, 0x899cc313,
-    0x30a4a537, 0x899a5faa,
-  0x309ed556, 0x8997fc8a, 0x30990557, 0x899599b3, 0x3093353a, 0x89933725,
-    0x308d64ff, 0x8990d4e0,
-  0x308794a6, 0x898e72e4, 0x3081c42f, 0x898c1131, 0x307bf39b, 0x8989afc8,
-    0x307622e8, 0x89874ea7,
-  0x30705217, 0x8984edcf, 0x306a8129, 0x89828d41, 0x3064b01d, 0x89802cfc,
-    0x305edef3, 0x897dccff,
-  0x30590dab, 0x897b6d4c, 0x30533c45, 0x89790de2, 0x304d6ac1, 0x8976aec1,
-    0x30479920, 0x89744fe9,
-  0x3041c761, 0x8971f15a, 0x303bf584, 0x896f9315, 0x30362389, 0x896d3518,
-    0x30305171, 0x896ad765,
-  0x302a7f3a, 0x896879fb, 0x3024ace6, 0x89661cda, 0x301eda75, 0x8963c002,
-    0x301907e6, 0x89616373,
-  0x30133539, 0x895f072e, 0x300d626e, 0x895cab31, 0x30078f86, 0x895a4f7e,
-    0x3001bc80, 0x8957f414,
-  0x2ffbe95d, 0x895598f3, 0x2ff6161c, 0x89533e1c, 0x2ff042bd, 0x8950e38e,
-    0x2fea6f41, 0x894e8948,
-  0x2fe49ba7, 0x894c2f4c, 0x2fdec7f0, 0x8949d59a, 0x2fd8f41b, 0x89477c30,
-    0x2fd32028, 0x89452310,
-  0x2fcd4c19, 0x8942ca39, 0x2fc777eb, 0x894071ab, 0x2fc1a3a0, 0x893e1967,
-    0x2fbbcf38, 0x893bc16b,
-  0x2fb5fab2, 0x893969b9, 0x2fb0260f, 0x89371250, 0x2faa514f, 0x8934bb31,
-    0x2fa47c71, 0x8932645b,
-  0x2f9ea775, 0x89300dce, 0x2f98d25d, 0x892db78a, 0x2f92fd26, 0x892b6190,
-    0x2f8d27d3, 0x89290bdf,
-  0x2f875262, 0x8926b677, 0x2f817cd4, 0x89246159, 0x2f7ba729, 0x89220c84,
-    0x2f75d160, 0x891fb7f8,
-  0x2f6ffb7a, 0x891d63b5, 0x2f6a2577, 0x891b0fbc, 0x2f644f56, 0x8918bc0c,
-    0x2f5e7919, 0x891668a6,
-  0x2f58a2be, 0x89141589, 0x2f52cc46, 0x8911c2b5, 0x2f4cf5b0, 0x890f702b,
-    0x2f471efe, 0x890d1dea,
-  0x2f41482e, 0x890acbf2, 0x2f3b7141, 0x89087a44, 0x2f359a37, 0x890628df,
-    0x2f2fc310, 0x8903d7c4,
-  0x2f29ebcc, 0x890186f2, 0x2f24146b, 0x88ff3669, 0x2f1e3ced, 0x88fce62a,
-    0x2f186551, 0x88fa9634,
-  0x2f128d99, 0x88f84687, 0x2f0cb5c3, 0x88f5f724, 0x2f06ddd1, 0x88f3a80b,
-    0x2f0105c1, 0x88f1593b,
-  0x2efb2d95, 0x88ef0ab4, 0x2ef5554b, 0x88ecbc77, 0x2eef7ce5, 0x88ea6e83,
-    0x2ee9a461, 0x88e820d9,
-  0x2ee3cbc1, 0x88e5d378, 0x2eddf304, 0x88e38660, 0x2ed81a29, 0x88e13992,
-    0x2ed24132, 0x88deed0e,
-  0x2ecc681e, 0x88dca0d3, 0x2ec68eed, 0x88da54e1, 0x2ec0b5a0, 0x88d8093a,
-    0x2ebadc35, 0x88d5bddb,
-  0x2eb502ae, 0x88d372c6, 0x2eaf290a, 0x88d127fb, 0x2ea94f49, 0x88cedd79,
-    0x2ea3756b, 0x88cc9340,
-  0x2e9d9b70, 0x88ca4951, 0x2e97c159, 0x88c7ffac, 0x2e91e725, 0x88c5b650,
-    0x2e8c0cd4, 0x88c36d3e,
-  0x2e863267, 0x88c12475, 0x2e8057dd, 0x88bedbf6, 0x2e7a7d36, 0x88bc93c0,
-    0x2e74a272, 0x88ba4bd4,
-  0x2e6ec792, 0x88b80432, 0x2e68ec95, 0x88b5bcd9, 0x2e63117c, 0x88b375ca,
-    0x2e5d3646, 0x88b12f04,
-  0x2e575af3, 0x88aee888, 0x2e517f84, 0x88aca255, 0x2e4ba3f8, 0x88aa5c6c,
-    0x2e45c850, 0x88a816cd,
-  0x2e3fec8b, 0x88a5d177, 0x2e3a10aa, 0x88a38c6b, 0x2e3434ac, 0x88a147a9,
-    0x2e2e5891, 0x889f0330,
-  0x2e287c5a, 0x889cbf01, 0x2e22a007, 0x889a7b1b, 0x2e1cc397, 0x88983780,
-    0x2e16e70b, 0x8895f42d,
-  0x2e110a62, 0x8893b125, 0x2e0b2d9d, 0x88916e66, 0x2e0550bb, 0x888f2bf1,
-    0x2dff73bd, 0x888ce9c5,
-  0x2df996a3, 0x888aa7e3, 0x2df3b96c, 0x8888664b, 0x2deddc19, 0x888624fd,
-    0x2de7feaa, 0x8883e3f8,
-  0x2de2211e, 0x8881a33d, 0x2ddc4376, 0x887f62cb, 0x2dd665b2, 0x887d22a4,
-    0x2dd087d1, 0x887ae2c6,
-  0x2dcaa9d5, 0x8878a332, 0x2dc4cbbc, 0x887663e7, 0x2dbeed86, 0x887424e7,
-    0x2db90f35, 0x8871e630,
-  0x2db330c7, 0x886fa7c2, 0x2dad523d, 0x886d699f, 0x2da77397, 0x886b2bc5,
-    0x2da194d5, 0x8868ee35,
-  0x2d9bb5f6, 0x8866b0ef, 0x2d95d6fc, 0x886473f2, 0x2d8ff7e5, 0x88623740,
-    0x2d8a18b3, 0x885ffad7,
-  0x2d843964, 0x885dbeb8, 0x2d7e59f9, 0x885b82e3, 0x2d787a72, 0x88594757,
-    0x2d729acf, 0x88570c16,
-  0x2d6cbb10, 0x8854d11e, 0x2d66db35, 0x88529670, 0x2d60fb3e, 0x88505c0b,
-    0x2d5b1b2b, 0x884e21f1,
-  0x2d553afc, 0x884be821, 0x2d4f5ab1, 0x8849ae9a, 0x2d497a4a, 0x8847755d,
-    0x2d4399c7, 0x88453c6a,
-  0x2d3db928, 0x884303c1, 0x2d37d86d, 0x8840cb61, 0x2d31f797, 0x883e934c,
-    0x2d2c16a4, 0x883c5b81,
-  0x2d263596, 0x883a23ff, 0x2d20546b, 0x8837ecc7, 0x2d1a7325, 0x8835b5d9,
-    0x2d1491c4, 0x88337f35,
-  0x2d0eb046, 0x883148db, 0x2d08ceac, 0x882f12cb, 0x2d02ecf7, 0x882cdd04,
-    0x2cfd0b26, 0x882aa788,
-  0x2cf72939, 0x88287256, 0x2cf14731, 0x88263d6d, 0x2ceb650d, 0x882408ce,
-    0x2ce582cd, 0x8821d47a,
-  0x2cdfa071, 0x881fa06f, 0x2cd9bdfa, 0x881d6cae, 0x2cd3db67, 0x881b3937,
-    0x2ccdf8b8, 0x8819060a,
-  0x2cc815ee, 0x8816d327, 0x2cc23308, 0x8814a08f, 0x2cbc5006, 0x88126e40,
-    0x2cb66ce9, 0x88103c3b,
-  0x2cb089b1, 0x880e0a7f, 0x2caaa65c, 0x880bd90e, 0x2ca4c2ed, 0x8809a7e7,
-    0x2c9edf61, 0x8807770a,
-  0x2c98fbba, 0x88054677, 0x2c9317f8, 0x8803162e, 0x2c8d341a, 0x8800e62f,
-    0x2c875021, 0x87feb67a,
-  0x2c816c0c, 0x87fc870f, 0x2c7b87dc, 0x87fa57ee, 0x2c75a390, 0x87f82917,
-    0x2c6fbf29, 0x87f5fa8b,
-  0x2c69daa6, 0x87f3cc48, 0x2c63f609, 0x87f19e4f, 0x2c5e114f, 0x87ef70a0,
-    0x2c582c7b, 0x87ed433c,
-  0x2c52478a, 0x87eb1621, 0x2c4c627f, 0x87e8e950, 0x2c467d58, 0x87e6bcca,
-    0x2c409816, 0x87e4908e,
-  0x2c3ab2b9, 0x87e2649b, 0x2c34cd40, 0x87e038f3, 0x2c2ee7ad, 0x87de0d95,
-    0x2c2901fd, 0x87dbe281,
-  0x2c231c33, 0x87d9b7b7, 0x2c1d364e, 0x87d78d38, 0x2c17504d, 0x87d56302,
-    0x2c116a31, 0x87d33916,
-  0x2c0b83fa, 0x87d10f75, 0x2c059da7, 0x87cee61e, 0x2bffb73a, 0x87ccbd11,
-    0x2bf9d0b1, 0x87ca944e,
-  0x2bf3ea0d, 0x87c86bd5, 0x2bee034e, 0x87c643a6, 0x2be81c74, 0x87c41bc2,
-    0x2be2357f, 0x87c1f427,
-  0x2bdc4e6f, 0x87bfccd7, 0x2bd66744, 0x87bda5d1, 0x2bd07ffe, 0x87bb7f16,
-    0x2bca989d, 0x87b958a4,
-  0x2bc4b120, 0x87b7327d, 0x2bbec989, 0x87b50c9f, 0x2bb8e1d7, 0x87b2e70c,
-    0x2bb2fa0a, 0x87b0c1c4,
-  0x2bad1221, 0x87ae9cc5, 0x2ba72a1e, 0x87ac7811, 0x2ba14200, 0x87aa53a6,
-    0x2b9b59c7, 0x87a82f87,
-  0x2b957173, 0x87a60bb1, 0x2b8f8905, 0x87a3e825, 0x2b89a07b, 0x87a1c4e4,
-    0x2b83b7d7, 0x879fa1ed,
-  0x2b7dcf17, 0x879d7f41, 0x2b77e63d, 0x879b5cde, 0x2b71fd48, 0x87993ac6,
-    0x2b6c1438, 0x879718f8,
-  0x2b662b0e, 0x8794f774, 0x2b6041c9, 0x8792d63b, 0x2b5a5868, 0x8790b54c,
-    0x2b546eee, 0x878e94a7,
-  0x2b4e8558, 0x878c744d, 0x2b489ba8, 0x878a543d, 0x2b42b1dd, 0x87883477,
-    0x2b3cc7f7, 0x878614fb,
-  0x2b36ddf7, 0x8783f5ca, 0x2b30f3dc, 0x8781d6e3, 0x2b2b09a6, 0x877fb846,
-    0x2b251f56, 0x877d99f4,
-  0x2b1f34eb, 0x877b7bec, 0x2b194a66, 0x87795e2f, 0x2b135fc6, 0x877740bb,
-    0x2b0d750b, 0x87752392,
-  0x2b078a36, 0x877306b4, 0x2b019f46, 0x8770ea20, 0x2afbb43c, 0x876ecdd6,
-    0x2af5c917, 0x876cb1d6,
-  0x2aefddd8, 0x876a9621, 0x2ae9f27e, 0x87687ab7, 0x2ae4070a, 0x87665f96,
-    0x2ade1b7c, 0x876444c1,
-  0x2ad82fd2, 0x87622a35, 0x2ad2440f, 0x87600ff4, 0x2acc5831, 0x875df5fd,
-    0x2ac66c39, 0x875bdc51,
-  0x2ac08026, 0x8759c2ef, 0x2aba93f9, 0x8757a9d8, 0x2ab4a7b1, 0x8755910b,
-    0x2aaebb50, 0x87537888,
-  0x2aa8ced3, 0x87516050, 0x2aa2e23d, 0x874f4862, 0x2a9cf58c, 0x874d30bf,
-    0x2a9708c1, 0x874b1966,
-  0x2a911bdc, 0x87490258, 0x2a8b2edc, 0x8746eb94, 0x2a8541c3, 0x8744d51b,
-    0x2a7f548e, 0x8742beec,
-  0x2a796740, 0x8740a907, 0x2a7379d8, 0x873e936d, 0x2a6d8c55, 0x873c7e1e,
-    0x2a679eb8, 0x873a6919,
-  0x2a61b101, 0x8738545e, 0x2a5bc330, 0x87363fee, 0x2a55d545, 0x87342bc9,
-    0x2a4fe740, 0x873217ee,
-  0x2a49f920, 0x8730045d, 0x2a440ae7, 0x872df117, 0x2a3e1c93, 0x872bde1c,
-    0x2a382e25, 0x8729cb6b,
-  0x2a323f9e, 0x8727b905, 0x2a2c50fc, 0x8725a6e9, 0x2a266240, 0x87239518,
-    0x2a20736a, 0x87218391,
-  0x2a1a847b, 0x871f7255, 0x2a149571, 0x871d6163, 0x2a0ea64d, 0x871b50bc,
-    0x2a08b710, 0x87194060,
-  0x2a02c7b8, 0x8717304e, 0x29fcd847, 0x87152087, 0x29f6e8bb, 0x8713110a,
-    0x29f0f916, 0x871101d8,
-  0x29eb0957, 0x870ef2f1, 0x29e5197e, 0x870ce454, 0x29df298b, 0x870ad602,
-    0x29d9397f, 0x8708c7fa,
-  0x29d34958, 0x8706ba3d, 0x29cd5918, 0x8704acca, 0x29c768be, 0x87029fa3,
-    0x29c1784a, 0x870092c5,
-  0x29bb87bc, 0x86fe8633, 0x29b59715, 0x86fc79eb, 0x29afa654, 0x86fa6dee,
-    0x29a9b579, 0x86f8623b,
-  0x29a3c485, 0x86f656d3, 0x299dd377, 0x86f44bb6, 0x2997e24f, 0x86f240e3,
-    0x2991f10e, 0x86f0365c,
-  0x298bffb2, 0x86ee2c1e, 0x29860e3e, 0x86ec222c, 0x29801caf, 0x86ea1884,
-    0x297a2b07, 0x86e80f27,
-  0x29743946, 0x86e60614, 0x296e476b, 0x86e3fd4c, 0x29685576, 0x86e1f4cf,
-    0x29626368, 0x86dfec9d,
-  0x295c7140, 0x86dde4b5, 0x29567eff, 0x86dbdd18, 0x29508ca4, 0x86d9d5c6,
-    0x294a9a30, 0x86d7cebf,
-  0x2944a7a2, 0x86d5c802, 0x293eb4fb, 0x86d3c190, 0x2938c23a, 0x86d1bb69,
-    0x2932cf60, 0x86cfb58c,
-  0x292cdc6d, 0x86cdaffa, 0x2926e960, 0x86cbaab3, 0x2920f63a, 0x86c9a5b7,
-    0x291b02fa, 0x86c7a106,
-  0x29150fa1, 0x86c59c9f, 0x290f1c2f, 0x86c39883, 0x290928a3, 0x86c194b2,
-    0x290334ff, 0x86bf912c,
-  0x28fd4140, 0x86bd8df0, 0x28f74d69, 0x86bb8b00, 0x28f15978, 0x86b9885a,
-    0x28eb656e, 0x86b785ff,
-  0x28e5714b, 0x86b583ee, 0x28df7d0e, 0x86b38229, 0x28d988b8, 0x86b180ae,
-    0x28d3944a, 0x86af7f7e,
-  0x28cd9fc1, 0x86ad7e99, 0x28c7ab20, 0x86ab7dff, 0x28c1b666, 0x86a97db0,
-    0x28bbc192, 0x86a77dab,
-  0x28b5cca5, 0x86a57df2, 0x28afd7a0, 0x86a37e83, 0x28a9e281, 0x86a17f5f,
-    0x28a3ed49, 0x869f8086,
-  0x289df7f8, 0x869d81f8, 0x2898028e, 0x869b83b4, 0x28920d0a, 0x869985bc,
-    0x288c176e, 0x8697880f,
-  0x288621b9, 0x86958aac, 0x28802beb, 0x86938d94, 0x287a3604, 0x869190c7,
-    0x28744004, 0x868f9445,
-  0x286e49ea, 0x868d980e, 0x286853b8, 0x868b9c22, 0x28625d6d, 0x8689a081,
-    0x285c670a, 0x8687a52b,
-  0x2856708d, 0x8685aa20, 0x285079f7, 0x8683af5f, 0x284a8349, 0x8681b4ea,
-    0x28448c81, 0x867fbabf,
-  0x283e95a1, 0x867dc0e0, 0x28389ea8, 0x867bc74b, 0x2832a796, 0x8679ce01,
-    0x282cb06c, 0x8677d503,
-  0x2826b928, 0x8675dc4f, 0x2820c1cc, 0x8673e3e6, 0x281aca57, 0x8671ebc8,
-    0x2814d2c9, 0x866ff3f6,
-  0x280edb23, 0x866dfc6e, 0x2808e364, 0x866c0531, 0x2802eb8c, 0x866a0e3f,
-    0x27fcf39c, 0x86681798,
-  0x27f6fb92, 0x8666213c, 0x27f10371, 0x86642b2c, 0x27eb0b36, 0x86623566,
-    0x27e512e3, 0x86603feb,
-  0x27df1a77, 0x865e4abb, 0x27d921f3, 0x865c55d7, 0x27d32956, 0x865a613d,
-    0x27cd30a1, 0x86586cee,
-  0x27c737d3, 0x865678eb, 0x27c13eec, 0x86548532, 0x27bb45ed, 0x865291c4,
-    0x27b54cd6, 0x86509ea2,
-  0x27af53a6, 0x864eabcb, 0x27a95a5d, 0x864cb93e, 0x27a360fc, 0x864ac6fd,
-    0x279d6783, 0x8648d507,
-  0x27976df1, 0x8646e35c, 0x27917447, 0x8644f1fc, 0x278b7a84, 0x864300e7,
-    0x278580a9, 0x8641101d,
-  0x277f86b5, 0x863f1f9e, 0x27798caa, 0x863d2f6b, 0x27739285, 0x863b3f82,
-    0x276d9849, 0x86394fe5,
-  0x27679df4, 0x86376092, 0x2761a387, 0x8635718b, 0x275ba901, 0x863382cf,
-    0x2755ae64, 0x8631945e,
-  0x274fb3ae, 0x862fa638, 0x2749b8e0, 0x862db85e, 0x2743bdf9, 0x862bcace,
-    0x273dc2fa, 0x8629dd8a,
-  0x2737c7e3, 0x8627f091, 0x2731ccb4, 0x862603e3, 0x272bd16d, 0x86241780,
-    0x2725d60e, 0x86222b68,
-  0x271fda96, 0x86203f9c, 0x2719df06, 0x861e541a, 0x2713e35f, 0x861c68e4,
-    0x270de79f, 0x861a7df9,
-  0x2707ebc7, 0x86189359, 0x2701efd7, 0x8616a905, 0x26fbf3ce, 0x8614befb,
-    0x26f5f7ae, 0x8612d53d,
-  0x26effb76, 0x8610ebca, 0x26e9ff26, 0x860f02a3, 0x26e402bd, 0x860d19c6,
-    0x26de063d, 0x860b3135,
-  0x26d809a5, 0x860948ef, 0x26d20cf5, 0x860760f4, 0x26cc102d, 0x86057944,
-    0x26c6134d, 0x860391e0,
-  0x26c01655, 0x8601aac7, 0x26ba1945, 0x85ffc3f9, 0x26b41c1d, 0x85fddd76,
-    0x26ae1edd, 0x85fbf73f,
-  0x26a82186, 0x85fa1153, 0x26a22416, 0x85f82bb2, 0x269c268f, 0x85f6465c,
-    0x269628f0, 0x85f46152,
-  0x26902b39, 0x85f27c93, 0x268a2d6b, 0x85f09820, 0x26842f84, 0x85eeb3f7,
-    0x267e3186, 0x85ecd01a,
-  0x26783370, 0x85eaec88, 0x26723543, 0x85e90942, 0x266c36fe, 0x85e72647,
-    0x266638a1, 0x85e54397,
-  0x26603a2c, 0x85e36132, 0x265a3b9f, 0x85e17f19, 0x26543cfb, 0x85df9d4b,
-    0x264e3e40, 0x85ddbbc9,
-  0x26483f6c, 0x85dbda91, 0x26424082, 0x85d9f9a5, 0x263c417f, 0x85d81905,
-    0x26364265, 0x85d638b0,
-  0x26304333, 0x85d458a6, 0x262a43ea, 0x85d278e7, 0x26244489, 0x85d09974,
-    0x261e4511, 0x85ceba4d,
-  0x26184581, 0x85ccdb70, 0x261245da, 0x85cafcdf, 0x260c461b, 0x85c91e9a,
-    0x26064645, 0x85c740a0,
-  0x26004657, 0x85c562f1, 0x25fa4652, 0x85c3858d, 0x25f44635, 0x85c1a875,
-    0x25ee4601, 0x85bfcba9,
-  0x25e845b6, 0x85bdef28, 0x25e24553, 0x85bc12f2, 0x25dc44d9, 0x85ba3707,
-    0x25d64447, 0x85b85b68,
-  0x25d0439f, 0x85b68015, 0x25ca42de, 0x85b4a50d, 0x25c44207, 0x85b2ca50,
-    0x25be4118, 0x85b0efdf,
-  0x25b84012, 0x85af15b9, 0x25b23ef5, 0x85ad3bdf, 0x25ac3dc0, 0x85ab6250,
-    0x25a63c74, 0x85a9890d,
-  0x25a03b11, 0x85a7b015, 0x259a3997, 0x85a5d768, 0x25943806, 0x85a3ff07,
-    0x258e365d, 0x85a226f2,
-  0x2588349d, 0x85a04f28, 0x258232c6, 0x859e77a9, 0x257c30d8, 0x859ca076,
-    0x25762ed3, 0x859ac98f,
-  0x25702cb7, 0x8598f2f3, 0x256a2a83, 0x85971ca2, 0x25642839, 0x8595469d,
-    0x255e25d7, 0x859370e4,
-  0x2558235f, 0x85919b76, 0x255220cf, 0x858fc653, 0x254c1e28, 0x858df17c,
-    0x25461b6b, 0x858c1cf1,
-  0x25401896, 0x858a48b1, 0x253a15aa, 0x858874bd, 0x253412a8, 0x8586a114,
-    0x252e0f8e, 0x8584cdb7,
-  0x25280c5e, 0x8582faa5, 0x25220916, 0x858127df, 0x251c05b8, 0x857f5564,
-    0x25160243, 0x857d8335,
-  0x250ffeb7, 0x857bb152, 0x2509fb14, 0x8579dfba, 0x2503f75a, 0x85780e6e,
-    0x24fdf389, 0x85763d6d,
-  0x24f7efa2, 0x85746cb8, 0x24f1eba4, 0x85729c4e, 0x24ebe78f, 0x8570cc30,
-    0x24e5e363, 0x856efc5e,
-  0x24dfdf20, 0x856d2cd7, 0x24d9dac7, 0x856b5d9c, 0x24d3d657, 0x85698ead,
-    0x24cdd1d0, 0x8567c009,
-  0x24c7cd33, 0x8565f1b0, 0x24c1c87f, 0x856423a4, 0x24bbc3b4, 0x856255e3,
-    0x24b5bed2, 0x8560886d,
-  0x24afb9da, 0x855ebb44, 0x24a9b4cb, 0x855cee66, 0x24a3afa6, 0x855b21d3,
-    0x249daa6a, 0x8559558c,
-  0x2497a517, 0x85578991, 0x24919fae, 0x8555bde2, 0x248b9a2f, 0x8553f27e,
-    0x24859498, 0x85522766,
-  0x247f8eec, 0x85505c99, 0x24798928, 0x854e9219, 0x2473834f, 0x854cc7e3,
-    0x246d7d5e, 0x854afdfa,
-  0x24677758, 0x8549345c, 0x2461713a, 0x85476b0a, 0x245b6b07, 0x8545a204,
-    0x245564bd, 0x8543d949,
-  0x244f5e5c, 0x854210db, 0x244957e5, 0x854048b7, 0x24435158, 0x853e80e0,
-    0x243d4ab4, 0x853cb954,
-  0x243743fa, 0x853af214, 0x24313d2a, 0x85392b20, 0x242b3644, 0x85376477,
-    0x24252f47, 0x85359e1a,
-  0x241f2833, 0x8533d809, 0x2419210a, 0x85321244, 0x241319ca, 0x85304cca,
-    0x240d1274, 0x852e879d,
-  0x24070b08, 0x852cc2bb, 0x24010385, 0x852afe24, 0x23fafbec, 0x852939da,
-    0x23f4f43e, 0x852775db,
-  0x23eeec78, 0x8525b228, 0x23e8e49d, 0x8523eec1, 0x23e2dcac, 0x85222ba5,
-    0x23dcd4a4, 0x852068d6,
-  0x23d6cc87, 0x851ea652, 0x23d0c453, 0x851ce41a, 0x23cabc09, 0x851b222e,
-    0x23c4b3a9, 0x8519608d,
-  0x23beab33, 0x85179f39, 0x23b8a2a7, 0x8515de30, 0x23b29a05, 0x85141d73,
-    0x23ac914d, 0x85125d02,
-  0x23a6887f, 0x85109cdd, 0x23a07f9a, 0x850edd03, 0x239a76a0, 0x850d1d75,
-    0x23946d90, 0x850b5e34,
-  0x238e646a, 0x85099f3e, 0x23885b2e, 0x8507e094, 0x238251dd, 0x85062235,
-    0x237c4875, 0x85046423,
-  0x23763ef7, 0x8502a65c, 0x23703564, 0x8500e8e2, 0x236a2bba, 0x84ff2bb3,
-    0x236421fb, 0x84fd6ed0,
-  0x235e1826, 0x84fbb239, 0x23580e3b, 0x84f9f5ee, 0x2352043b, 0x84f839ee,
-    0x234bfa24, 0x84f67e3b,
-  0x2345eff8, 0x84f4c2d4, 0x233fe5b6, 0x84f307b8, 0x2339db5e, 0x84f14ce8,
-    0x2333d0f1, 0x84ef9265,
-  0x232dc66d, 0x84edd82d, 0x2327bbd5, 0x84ec1e41, 0x2321b126, 0x84ea64a1,
-    0x231ba662, 0x84e8ab4d,
-  0x23159b88, 0x84e6f244, 0x230f9098, 0x84e53988, 0x23098593, 0x84e38118,
-    0x23037a78, 0x84e1c8f3,
-  0x22fd6f48, 0x84e0111b, 0x22f76402, 0x84de598f, 0x22f158a7, 0x84dca24e,
-    0x22eb4d36, 0x84daeb5a,
-  0x22e541af, 0x84d934b1, 0x22df3613, 0x84d77e54, 0x22d92a61, 0x84d5c844,
-    0x22d31e9a, 0x84d4127f,
-  0x22cd12bd, 0x84d25d06, 0x22c706cb, 0x84d0a7da, 0x22c0fac4, 0x84cef2f9,
-    0x22baeea7, 0x84cd3e64,
-  0x22b4e274, 0x84cb8a1b, 0x22aed62c, 0x84c9d61f, 0x22a8c9cf, 0x84c8226e,
-    0x22a2bd5d, 0x84c66f09,
-  0x229cb0d5, 0x84c4bbf0, 0x2296a437, 0x84c30924, 0x22909785, 0x84c156a3,
-    0x228a8abd, 0x84bfa46e,
-  0x22847de0, 0x84bdf286, 0x227e70ed, 0x84bc40e9, 0x227863e5, 0x84ba8f98,
-    0x227256c8, 0x84b8de94,
-  0x226c4996, 0x84b72ddb, 0x22663c4e, 0x84b57d6f, 0x22602ef1, 0x84b3cd4f,
-    0x225a217f, 0x84b21d7a,
-  0x225413f8, 0x84b06df2, 0x224e065c, 0x84aebeb6, 0x2247f8aa, 0x84ad0fc6,
-    0x2241eae3, 0x84ab6122,
-  0x223bdd08, 0x84a9b2ca, 0x2235cf17, 0x84a804be, 0x222fc111, 0x84a656fe,
-    0x2229b2f6, 0x84a4a98a,
-  0x2223a4c5, 0x84a2fc62, 0x221d9680, 0x84a14f87, 0x22178826, 0x849fa2f7,
-    0x221179b7, 0x849df6b4,
-  0x220b6b32, 0x849c4abd, 0x22055c99, 0x849a9f12, 0x21ff4dea, 0x8498f3b3,
-    0x21f93f27, 0x849748a0,
-  0x21f3304f, 0x84959dd9, 0x21ed2162, 0x8493f35e, 0x21e71260, 0x84924930,
-    0x21e10349, 0x84909f4e,
-  0x21daf41d, 0x848ef5b7, 0x21d4e4dc, 0x848d4c6d, 0x21ced586, 0x848ba36f,
-    0x21c8c61c, 0x8489fabe,
-  0x21c2b69c, 0x84885258, 0x21bca708, 0x8486aa3e, 0x21b6975f, 0x84850271,
-    0x21b087a1, 0x84835af0,
-  0x21aa77cf, 0x8481b3bb, 0x21a467e7, 0x84800cd2, 0x219e57eb, 0x847e6636,
-    0x219847da, 0x847cbfe5,
-  0x219237b5, 0x847b19e1, 0x218c277a, 0x84797429, 0x2186172b, 0x8477cebd,
-    0x218006c8, 0x8476299e,
-  0x2179f64f, 0x847484ca, 0x2173e5c2, 0x8472e043, 0x216dd521, 0x84713c08,
-    0x2167c46b, 0x846f9819,
-  0x2161b3a0, 0x846df477, 0x215ba2c0, 0x846c5120, 0x215591cc, 0x846aae16,
-    0x214f80c4, 0x84690b58,
-  0x21496fa7, 0x846768e7, 0x21435e75, 0x8465c6c1, 0x213d4d2f, 0x846424e8,
-    0x21373bd4, 0x8462835b,
-  0x21312a65, 0x8460e21a, 0x212b18e1, 0x845f4126, 0x21250749, 0x845da07e,
-    0x211ef59d, 0x845c0022,
-  0x2118e3dc, 0x845a6012, 0x2112d206, 0x8458c04f, 0x210cc01d, 0x845720d8,
-    0x2106ae1e, 0x845581ad,
-  0x21009c0c, 0x8453e2cf, 0x20fa89e5, 0x8452443d, 0x20f477aa, 0x8450a5f7,
-    0x20ee655a, 0x844f07fd,
-  0x20e852f6, 0x844d6a50, 0x20e2407e, 0x844bccef, 0x20dc2df2, 0x844a2fda,
-    0x20d61b51, 0x84489311,
-  0x20d0089c, 0x8446f695, 0x20c9f5d3, 0x84455a66, 0x20c3e2f5, 0x8443be82,
-    0x20bdd003, 0x844222eb,
-  0x20b7bcfe, 0x844087a0, 0x20b1a9e4, 0x843eeca2, 0x20ab96b5, 0x843d51f0,
-    0x20a58373, 0x843bb78a,
-  0x209f701c, 0x843a1d70, 0x20995cb2, 0x843883a3, 0x20934933, 0x8436ea23,
-    0x208d35a0, 0x843550ee,
-  0x208721f9, 0x8433b806, 0x20810e3e, 0x84321f6b, 0x207afa6f, 0x8430871b,
-    0x2074e68c, 0x842eef18,
-  0x206ed295, 0x842d5762, 0x2068be8a, 0x842bbff8, 0x2062aa6b, 0x842a28da,
-    0x205c9638, 0x84289209,
-  0x205681f1, 0x8426fb84, 0x20506d96, 0x8425654b, 0x204a5927, 0x8423cf5f,
-    0x204444a4, 0x842239bf,
-  0x203e300d, 0x8420a46c, 0x20381b63, 0x841f0f65, 0x203206a4, 0x841d7aaa,
-    0x202bf1d2, 0x841be63c,
-  0x2025dcec, 0x841a521a, 0x201fc7f2, 0x8418be45, 0x2019b2e4, 0x84172abc,
-    0x20139dc2, 0x84159780,
-  0x200d888d, 0x84140490, 0x20077344, 0x841271ec, 0x20015de7, 0x8410df95,
-    0x1ffb4876, 0x840f4d8a,
-  0x1ff532f2, 0x840dbbcc, 0x1fef1d59, 0x840c2a5a, 0x1fe907ae, 0x840a9935,
-    0x1fe2f1ee, 0x8409085c,
-  0x1fdcdc1b, 0x840777d0, 0x1fd6c634, 0x8405e790, 0x1fd0b03a, 0x8404579d,
-    0x1fca9a2b, 0x8402c7f6,
-  0x1fc4840a, 0x8401389b, 0x1fbe6dd4, 0x83ffa98d, 0x1fb8578b, 0x83fe1acc,
-    0x1fb2412f, 0x83fc8c57,
-  0x1fac2abf, 0x83fafe2e, 0x1fa6143b, 0x83f97052, 0x1f9ffda4, 0x83f7e2c3,
-    0x1f99e6fa, 0x83f65580,
-  0x1f93d03c, 0x83f4c889, 0x1f8db96a, 0x83f33bdf, 0x1f87a285, 0x83f1af82,
-    0x1f818b8d, 0x83f02371,
-  0x1f7b7481, 0x83ee97ad, 0x1f755d61, 0x83ed0c35, 0x1f6f462f, 0x83eb810a,
-    0x1f692ee9, 0x83e9f62b,
-  0x1f63178f, 0x83e86b99, 0x1f5d0022, 0x83e6e153, 0x1f56e8a2, 0x83e5575a,
-    0x1f50d10e, 0x83e3cdad,
-  0x1f4ab968, 0x83e2444d, 0x1f44a1ad, 0x83e0bb3a, 0x1f3e89e0, 0x83df3273,
-    0x1f3871ff, 0x83dda9f9,
-  0x1f325a0b, 0x83dc21cb, 0x1f2c4204, 0x83da99ea, 0x1f2629ea, 0x83d91255,
-    0x1f2011bc, 0x83d78b0d,
-  0x1f19f97b, 0x83d60412, 0x1f13e127, 0x83d47d63, 0x1f0dc8c0, 0x83d2f701,
-    0x1f07b045, 0x83d170eb,
-  0x1f0197b8, 0x83cfeb22, 0x1efb7f17, 0x83ce65a6, 0x1ef56664, 0x83cce076,
-    0x1eef4d9d, 0x83cb5b93,
-  0x1ee934c3, 0x83c9d6fc, 0x1ee31bd6, 0x83c852b2, 0x1edd02d6, 0x83c6ceb5,
-    0x1ed6e9c3, 0x83c54b04,
-  0x1ed0d09d, 0x83c3c7a0, 0x1ecab763, 0x83c24488, 0x1ec49e17, 0x83c0c1be,
-    0x1ebe84b8, 0x83bf3f3f,
-  0x1eb86b46, 0x83bdbd0e, 0x1eb251c1, 0x83bc3b29, 0x1eac3829, 0x83bab991,
-    0x1ea61e7e, 0x83b93845,
-  0x1ea004c1, 0x83b7b746, 0x1e99eaf0, 0x83b63694, 0x1e93d10c, 0x83b4b62e,
-    0x1e8db716, 0x83b33616,
-  0x1e879d0d, 0x83b1b649, 0x1e8182f1, 0x83b036ca, 0x1e7b68c2, 0x83aeb797,
-    0x1e754e80, 0x83ad38b1,
-  0x1e6f342c, 0x83abba17, 0x1e6919c4, 0x83aa3bca, 0x1e62ff4a, 0x83a8bdca,
-    0x1e5ce4be, 0x83a74017,
-  0x1e56ca1e, 0x83a5c2b0, 0x1e50af6c, 0x83a44596, 0x1e4a94a7, 0x83a2c8c9,
-    0x1e4479cf, 0x83a14c48,
-  0x1e3e5ee5, 0x839fd014, 0x1e3843e8, 0x839e542d, 0x1e3228d9, 0x839cd893,
-    0x1e2c0db6, 0x839b5d45,
-  0x1e25f282, 0x8399e244, 0x1e1fd73a, 0x83986790, 0x1e19bbe0, 0x8396ed29,
-    0x1e13a074, 0x8395730e,
-  0x1e0d84f5, 0x8393f940, 0x1e076963, 0x83927fbf, 0x1e014dbf, 0x8391068a,
-    0x1dfb3208, 0x838f8da2,
-  0x1df5163f, 0x838e1507, 0x1deefa63, 0x838c9cb9, 0x1de8de75, 0x838b24b8,
-    0x1de2c275, 0x8389ad03,
-  0x1ddca662, 0x8388359b, 0x1dd68a3c, 0x8386be80, 0x1dd06e04, 0x838547b2,
-    0x1dca51ba, 0x8383d130,
-  0x1dc4355e, 0x83825afb, 0x1dbe18ef, 0x8380e513, 0x1db7fc6d, 0x837f6f78,
-    0x1db1dfda, 0x837dfa2a,
-  0x1dabc334, 0x837c8528, 0x1da5a67c, 0x837b1074, 0x1d9f89b1, 0x83799c0c,
-    0x1d996cd4, 0x837827f0,
-  0x1d934fe5, 0x8376b422, 0x1d8d32e4, 0x837540a1, 0x1d8715d0, 0x8373cd6c,
-    0x1d80f8ab, 0x83725a84,
-  0x1d7adb73, 0x8370e7e9, 0x1d74be29, 0x836f759b, 0x1d6ea0cc, 0x836e039a,
-    0x1d68835e, 0x836c91e5,
-  0x1d6265dd, 0x836b207d, 0x1d5c484b, 0x8369af63, 0x1d562aa6, 0x83683e95,
-    0x1d500cef, 0x8366ce14,
-  0x1d49ef26, 0x83655ddf, 0x1d43d14b, 0x8363edf8, 0x1d3db35e, 0x83627e5d,
-    0x1d37955e, 0x83610f10,
-  0x1d31774d, 0x835fa00f, 0x1d2b592a, 0x835e315b, 0x1d253af5, 0x835cc2f4,
-    0x1d1f1cae, 0x835b54da,
-  0x1d18fe54, 0x8359e70d, 0x1d12dfe9, 0x8358798c, 0x1d0cc16c, 0x83570c59,
-    0x1d06a2dd, 0x83559f72,
-  0x1d00843d, 0x835432d8, 0x1cfa658a, 0x8352c68c, 0x1cf446c5, 0x83515a8c,
-    0x1cee27ef, 0x834feed9,
-  0x1ce80906, 0x834e8373, 0x1ce1ea0c, 0x834d185a, 0x1cdbcb00, 0x834bad8e,
-    0x1cd5abe3, 0x834a430e,
-  0x1ccf8cb3, 0x8348d8dc, 0x1cc96d72, 0x83476ef6, 0x1cc34e1f, 0x8346055e,
-    0x1cbd2eba, 0x83449c12,
-  0x1cb70f43, 0x83433314, 0x1cb0efbb, 0x8341ca62, 0x1caad021, 0x834061fd,
-    0x1ca4b075, 0x833ef9e6,
-  0x1c9e90b8, 0x833d921b, 0x1c9870e9, 0x833c2a9d, 0x1c925109, 0x833ac36c,
-    0x1c8c3116, 0x83395c88,
-  0x1c861113, 0x8337f5f1, 0x1c7ff0fd, 0x83368fa7, 0x1c79d0d6, 0x833529aa,
-    0x1c73b09d, 0x8333c3fa,
-  0x1c6d9053, 0x83325e97, 0x1c676ff8, 0x8330f981, 0x1c614f8b, 0x832f94b8,
-    0x1c5b2f0c, 0x832e303c,
-  0x1c550e7c, 0x832ccc0d, 0x1c4eedda, 0x832b682b, 0x1c48cd27, 0x832a0496,
-    0x1c42ac62, 0x8328a14d,
-  0x1c3c8b8c, 0x83273e52, 0x1c366aa5, 0x8325dba4, 0x1c3049ac, 0x83247943,
-    0x1c2a28a2, 0x8323172f,
-  0x1c240786, 0x8321b568, 0x1c1de659, 0x832053ee, 0x1c17c51b, 0x831ef2c1,
-    0x1c11a3cb, 0x831d91e1,
-  0x1c0b826a, 0x831c314e, 0x1c0560f8, 0x831ad109, 0x1bff3f75, 0x83197110,
-    0x1bf91de0, 0x83181164,
-  0x1bf2fc3a, 0x8316b205, 0x1becda83, 0x831552f4, 0x1be6b8ba, 0x8313f42f,
-    0x1be096e0, 0x831295b7,
-  0x1bda74f6, 0x8311378d, 0x1bd452f9, 0x830fd9af, 0x1bce30ec, 0x830e7c1f,
-    0x1bc80ece, 0x830d1edc,
-  0x1bc1ec9e, 0x830bc1e6, 0x1bbbca5e, 0x830a653c, 0x1bb5a80c, 0x830908e0,
-    0x1baf85a9, 0x8307acd1,
-  0x1ba96335, 0x83065110, 0x1ba340b0, 0x8304f59b, 0x1b9d1e1a, 0x83039a73,
-    0x1b96fb73, 0x83023f98,
-  0x1b90d8bb, 0x8300e50b, 0x1b8ab5f2, 0x82ff8acb, 0x1b849317, 0x82fe30d7,
-    0x1b7e702c, 0x82fcd731,
-  0x1b784d30, 0x82fb7dd8, 0x1b722a23, 0x82fa24cc, 0x1b6c0705, 0x82f8cc0d,
-    0x1b65e3d7, 0x82f7739c,
-  0x1b5fc097, 0x82f61b77, 0x1b599d46, 0x82f4c3a0, 0x1b5379e5, 0x82f36c15,
-    0x1b4d5672, 0x82f214d8,
-  0x1b4732ef, 0x82f0bde8, 0x1b410f5b, 0x82ef6745, 0x1b3aebb6, 0x82ee10ef,
-    0x1b34c801, 0x82ecbae7,
-  0x1b2ea43a, 0x82eb652b, 0x1b288063, 0x82ea0fbd, 0x1b225c7b, 0x82e8ba9c,
-    0x1b1c3883, 0x82e765c8,
-  0x1b161479, 0x82e61141, 0x1b0ff05f, 0x82e4bd07, 0x1b09cc34, 0x82e3691b,
-    0x1b03a7f9, 0x82e2157c,
-  0x1afd83ad, 0x82e0c22a, 0x1af75f50, 0x82df6f25, 0x1af13ae3, 0x82de1c6d,
-    0x1aeb1665, 0x82dcca02,
-  0x1ae4f1d6, 0x82db77e5, 0x1adecd37, 0x82da2615, 0x1ad8a887, 0x82d8d492,
-    0x1ad283c7, 0x82d7835c,
-  0x1acc5ef6, 0x82d63274, 0x1ac63a14, 0x82d4e1d8, 0x1ac01522, 0x82d3918a,
-    0x1ab9f020, 0x82d24189,
-  0x1ab3cb0d, 0x82d0f1d5, 0x1aada5e9, 0x82cfa26f, 0x1aa780b6, 0x82ce5356,
-    0x1aa15b71, 0x82cd048a,
-  0x1a9b361d, 0x82cbb60b, 0x1a9510b7, 0x82ca67d9, 0x1a8eeb42, 0x82c919f5,
-    0x1a88c5bc, 0x82c7cc5e,
-  0x1a82a026, 0x82c67f14, 0x1a7c7a7f, 0x82c53217, 0x1a7654c8, 0x82c3e568,
-    0x1a702f01, 0x82c29906,
-  0x1a6a0929, 0x82c14cf1, 0x1a63e341, 0x82c00129, 0x1a5dbd49, 0x82beb5af,
-    0x1a579741, 0x82bd6a82,
-  0x1a517128, 0x82bc1fa2, 0x1a4b4aff, 0x82bad50f, 0x1a4524c6, 0x82b98aca,
-    0x1a3efe7c, 0x82b840d2,
-  0x1a38d823, 0x82b6f727, 0x1a32b1b9, 0x82b5adca, 0x1a2c8b3f, 0x82b464ba,
-    0x1a2664b5, 0x82b31bf7,
-  0x1a203e1b, 0x82b1d381, 0x1a1a1771, 0x82b08b59, 0x1a13f0b6, 0x82af437e,
-    0x1a0dc9ec, 0x82adfbf0,
-  0x1a07a311, 0x82acb4b0, 0x1a017c27, 0x82ab6dbd, 0x19fb552c, 0x82aa2717,
-    0x19f52e22, 0x82a8e0bf,
-  0x19ef0707, 0x82a79ab3, 0x19e8dfdc, 0x82a654f6, 0x19e2b8a2, 0x82a50f85,
-    0x19dc9157, 0x82a3ca62,
-  0x19d669fc, 0x82a2858c, 0x19d04292, 0x82a14104, 0x19ca1b17, 0x829ffcc8,
-    0x19c3f38d, 0x829eb8db,
-  0x19bdcbf3, 0x829d753a, 0x19b7a449, 0x829c31e7, 0x19b17c8f, 0x829aeee1,
-    0x19ab54c5, 0x8299ac29,
-  0x19a52ceb, 0x829869be, 0x199f0502, 0x829727a0, 0x1998dd09, 0x8295e5cf,
-    0x1992b4ff, 0x8294a44c,
-  0x198c8ce7, 0x82936317, 0x198664be, 0x8292222e, 0x19803c86, 0x8290e194,
-    0x197a143e, 0x828fa146,
-  0x1973ebe6, 0x828e6146, 0x196dc37e, 0x828d2193, 0x19679b07, 0x828be22e,
-    0x19617280, 0x828aa316,
-  0x195b49ea, 0x8289644b, 0x19552144, 0x828825ce, 0x194ef88e, 0x8286e79e,
-    0x1948cfc8, 0x8285a9bb,
-  0x1942a6f3, 0x82846c26, 0x193c7e0f, 0x82832edf, 0x1936551b, 0x8281f1e4,
-    0x19302c17, 0x8280b538,
-  0x192a0304, 0x827f78d8, 0x1923d9e1, 0x827e3cc6, 0x191db0af, 0x827d0102,
-    0x1917876d, 0x827bc58a,
-  0x19115e1c, 0x827a8a61, 0x190b34bb, 0x82794f84, 0x19050b4b, 0x827814f6,
-    0x18fee1cb, 0x8276dab4,
-  0x18f8b83c, 0x8275a0c0, 0x18f28e9e, 0x8274671a, 0x18ec64f0, 0x82732dc0,
-    0x18e63b33, 0x8271f4b5,
-  0x18e01167, 0x8270bbf7, 0x18d9e78b, 0x826f8386, 0x18d3bda0, 0x826e4b62,
-    0x18cd93a5, 0x826d138d,
-  0x18c7699b, 0x826bdc04, 0x18c13f82, 0x826aa4c9, 0x18bb155a, 0x82696ddc,
-    0x18b4eb22, 0x8268373c,
-  0x18aec0db, 0x826700e9, 0x18a89685, 0x8265cae4, 0x18a26c20, 0x8264952d,
-    0x189c41ab, 0x82635fc2,
-  0x18961728, 0x82622aa6, 0x188fec95, 0x8260f5d7, 0x1889c1f3, 0x825fc155,
-    0x18839742, 0x825e8d21,
-  0x187d6c82, 0x825d593a, 0x187741b2, 0x825c25a1, 0x187116d4, 0x825af255,
-    0x186aebe6, 0x8259bf57,
-  0x1864c0ea, 0x82588ca7, 0x185e95de, 0x82575a44, 0x18586ac3, 0x8256282e,
-    0x18523f9a, 0x8254f666,
-  0x184c1461, 0x8253c4eb, 0x1845e919, 0x825293be, 0x183fbdc3, 0x825162df,
-    0x1839925d, 0x8250324d,
-  0x183366e9, 0x824f0208, 0x182d3b65, 0x824dd211, 0x18270fd3, 0x824ca268,
-    0x1820e431, 0x824b730c,
-  0x181ab881, 0x824a43fe, 0x18148cc2, 0x8249153d, 0x180e60f4, 0x8247e6ca,
-    0x18083518, 0x8246b8a4,
-  0x1802092c, 0x82458acc, 0x17fbdd32, 0x82445d41, 0x17f5b129, 0x82433004,
-    0x17ef8511, 0x82420315,
-  0x17e958ea, 0x8240d673, 0x17e32cb5, 0x823faa1e, 0x17dd0070, 0x823e7e18,
-    0x17d6d41d, 0x823d525e,
-  0x17d0a7bc, 0x823c26f3, 0x17ca7b4c, 0x823afbd5, 0x17c44ecd, 0x8239d104,
-    0x17be223f, 0x8238a681,
-  0x17b7f5a3, 0x82377c4c, 0x17b1c8f8, 0x82365264, 0x17ab9c3e, 0x823528ca,
-    0x17a56f76, 0x8233ff7e,
-  0x179f429f, 0x8232d67f, 0x179915ba, 0x8231adce, 0x1792e8c6, 0x8230856a,
-    0x178cbbc4, 0x822f5d54,
-  0x17868eb3, 0x822e358b, 0x17806194, 0x822d0e10, 0x177a3466, 0x822be6e3,
-    0x17740729, 0x822ac004,
-  0x176dd9de, 0x82299971, 0x1767ac85, 0x8228732d, 0x17617f1d, 0x82274d36,
-    0x175b51a7, 0x8226278d,
-  0x17552422, 0x82250232, 0x174ef68f, 0x8223dd24, 0x1748c8ee, 0x8222b863,
-    0x17429b3e, 0x822193f1,
-  0x173c6d80, 0x82206fcc, 0x17363fb4, 0x821f4bf5, 0x173011d9, 0x821e286b,
-    0x1729e3f0, 0x821d052f,
-  0x1723b5f9, 0x821be240, 0x171d87f3, 0x821abfa0, 0x171759df, 0x82199d4d,
-    0x17112bbd, 0x82187b47,
-  0x170afd8d, 0x82175990, 0x1704cf4f, 0x82163826, 0x16fea102, 0x82151709,
-    0x16f872a7, 0x8213f63a,
-  0x16f2443e, 0x8212d5b9, 0x16ec15c7, 0x8211b586, 0x16e5e741, 0x821095a0,
-    0x16dfb8ae, 0x820f7608,
-  0x16d98a0c, 0x820e56be, 0x16d35b5c, 0x820d37c1, 0x16cd2c9f, 0x820c1912,
-    0x16c6fdd3, 0x820afab1,
-  0x16c0cef9, 0x8209dc9e, 0x16baa011, 0x8208bed8, 0x16b4711b, 0x8207a160,
-    0x16ae4217, 0x82068435,
-  0x16a81305, 0x82056758, 0x16a1e3e5, 0x82044ac9, 0x169bb4b7, 0x82032e88,
-    0x1695857b, 0x82021294,
-  0x168f5632, 0x8200f6ef, 0x168926da, 0x81ffdb96, 0x1682f774, 0x81fec08c,
-    0x167cc801, 0x81fda5cf,
-  0x1676987f, 0x81fc8b60, 0x167068f0, 0x81fb713f, 0x166a3953, 0x81fa576c,
-    0x166409a8, 0x81f93de6,
-  0x165dd9f0, 0x81f824ae, 0x1657aa29, 0x81f70bc3, 0x16517a55, 0x81f5f327,
-    0x164b4a73, 0x81f4dad8,
-  0x16451a83, 0x81f3c2d7, 0x163eea86, 0x81f2ab24, 0x1638ba7a, 0x81f193be,
-    0x16328a61, 0x81f07ca6,
-  0x162c5a3b, 0x81ef65dc, 0x16262a06, 0x81ee4f60, 0x161ff9c4, 0x81ed3932,
-    0x1619c975, 0x81ec2351,
-  0x16139918, 0x81eb0dbe, 0x160d68ad, 0x81e9f879, 0x16073834, 0x81e8e381,
-    0x160107ae, 0x81e7ced8,
-  0x15fad71b, 0x81e6ba7c, 0x15f4a679, 0x81e5a66e, 0x15ee75cb, 0x81e492ad,
-    0x15e8450e, 0x81e37f3b,
-  0x15e21445, 0x81e26c16, 0x15dbe36d, 0x81e1593f, 0x15d5b288, 0x81e046b6,
-    0x15cf8196, 0x81df347b,
-  0x15c95097, 0x81de228d, 0x15c31f89, 0x81dd10ee, 0x15bcee6f, 0x81dbff9c,
-    0x15b6bd47, 0x81daee98,
-  0x15b08c12, 0x81d9dde1, 0x15aa5acf, 0x81d8cd79, 0x15a4297f, 0x81d7bd5e,
-    0x159df821, 0x81d6ad92,
-  0x1597c6b7, 0x81d59e13, 0x1591953e, 0x81d48ee1, 0x158b63b9, 0x81d37ffe,
-    0x15853226, 0x81d27169,
-  0x157f0086, 0x81d16321, 0x1578ced9, 0x81d05527, 0x15729d1f, 0x81cf477b,
-    0x156c6b57, 0x81ce3a1d,
-  0x15663982, 0x81cd2d0c, 0x156007a0, 0x81cc204a, 0x1559d5b1, 0x81cb13d5,
-    0x1553a3b4, 0x81ca07af,
-  0x154d71aa, 0x81c8fbd6, 0x15473f94, 0x81c7f04b, 0x15410d70, 0x81c6e50d,
-    0x153adb3f, 0x81c5da1e,
-  0x1534a901, 0x81c4cf7d, 0x152e76b5, 0x81c3c529, 0x1528445d, 0x81c2bb23,
-    0x152211f8, 0x81c1b16b,
-  0x151bdf86, 0x81c0a801, 0x1515ad06, 0x81bf9ee5, 0x150f7a7a, 0x81be9617,
-    0x150947e1, 0x81bd8d97,
-  0x1503153a, 0x81bc8564, 0x14fce287, 0x81bb7d7f, 0x14f6afc7, 0x81ba75e9,
-    0x14f07cf9, 0x81b96ea0,
-  0x14ea4a1f, 0x81b867a5, 0x14e41738, 0x81b760f8, 0x14dde445, 0x81b65a99,
-    0x14d7b144, 0x81b55488,
-  0x14d17e36, 0x81b44ec4, 0x14cb4b1c, 0x81b3494f, 0x14c517f4, 0x81b24427,
-    0x14bee4c0, 0x81b13f4e,
-  0x14b8b17f, 0x81b03ac2, 0x14b27e32, 0x81af3684, 0x14ac4ad7, 0x81ae3294,
-    0x14a61770, 0x81ad2ef2,
-  0x149fe3fc, 0x81ac2b9e, 0x1499b07c, 0x81ab2898, 0x14937cee, 0x81aa25e0,
-    0x148d4954, 0x81a92376,
-  0x148715ae, 0x81a82159, 0x1480e1fa, 0x81a71f8b, 0x147aae3a, 0x81a61e0b,
-    0x14747a6d, 0x81a51cd8,
-  0x146e4694, 0x81a41bf4, 0x146812ae, 0x81a31b5d, 0x1461debc, 0x81a21b14,
-    0x145baabd, 0x81a11b1a,
-  0x145576b1, 0x81a01b6d, 0x144f4299, 0x819f1c0e, 0x14490e74, 0x819e1cfd,
-    0x1442da43, 0x819d1e3a,
-  0x143ca605, 0x819c1fc5, 0x143671bb, 0x819b219e, 0x14303d65, 0x819a23c5,
-    0x142a0902, 0x8199263a,
-  0x1423d492, 0x819828fd, 0x141da016, 0x81972c0e, 0x14176b8e, 0x81962f6d,
-    0x141136f9, 0x8195331a,
-  0x140b0258, 0x81943715, 0x1404cdaa, 0x81933b5e, 0x13fe98f1, 0x81923ff4,
-    0x13f8642a, 0x819144d9,
-  0x13f22f58, 0x81904a0c, 0x13ebfa79, 0x818f4f8d, 0x13e5c58e, 0x818e555c,
-    0x13df9097, 0x818d5b78,
-  0x13d95b93, 0x818c61e3, 0x13d32683, 0x818b689c, 0x13ccf167, 0x818a6fa3,
-    0x13c6bc3f, 0x818976f8,
-  0x13c0870a, 0x81887e9a, 0x13ba51ca, 0x8187868b, 0x13b41c7d, 0x81868eca,
-    0x13ade724, 0x81859757,
-  0x13a7b1bf, 0x8184a032, 0x13a17c4d, 0x8183a95b, 0x139b46d0, 0x8182b2d1,
-    0x13951146, 0x8181bc96,
-  0x138edbb1, 0x8180c6a9, 0x1388a60f, 0x817fd10a, 0x13827062, 0x817edbb9,
-    0x137c3aa8, 0x817de6b6,
-  0x137604e2, 0x817cf201, 0x136fcf10, 0x817bfd9b, 0x13699933, 0x817b0982,
-    0x13636349, 0x817a15b7,
-  0x135d2d53, 0x8179223a, 0x1356f752, 0x81782f0b, 0x1350c144, 0x81773c2b,
-    0x134a8b2b, 0x81764998,
-  0x13445505, 0x81755754, 0x133e1ed4, 0x8174655d, 0x1337e897, 0x817373b5,
-    0x1331b24e, 0x8172825a,
-  0x132b7bf9, 0x8171914e, 0x13254599, 0x8170a090, 0x131f0f2c, 0x816fb020,
-    0x1318d8b4, 0x816ebffe,
-  0x1312a230, 0x816dd02a, 0x130c6ba0, 0x816ce0a4, 0x13063505, 0x816bf16c,
-    0x12fffe5d, 0x816b0282,
-  0x12f9c7aa, 0x816a13e6, 0x12f390ec, 0x81692599, 0x12ed5a21, 0x81683799,
-    0x12e7234b, 0x816749e8,
-  0x12e0ec6a, 0x81665c84, 0x12dab57c, 0x81656f6f, 0x12d47e83, 0x816482a8,
-    0x12ce477f, 0x8163962f,
-  0x12c8106f, 0x8162aa04, 0x12c1d953, 0x8161be27, 0x12bba22b, 0x8160d298,
-    0x12b56af9, 0x815fe758,
-  0x12af33ba, 0x815efc65, 0x12a8fc70, 0x815e11c1, 0x12a2c51b, 0x815d276a,
-    0x129c8dba, 0x815c3d62,
-  0x1296564d, 0x815b53a8, 0x12901ed5, 0x815a6a3c, 0x1289e752, 0x8159811e,
-    0x1283afc3, 0x8158984e,
-  0x127d7829, 0x8157afcd, 0x12774083, 0x8156c799, 0x127108d2, 0x8155dfb4,
-    0x126ad116, 0x8154f81d,
-  0x1264994e, 0x815410d4, 0x125e617b, 0x815329d9, 0x1258299c, 0x8152432c,
-    0x1251f1b3, 0x81515ccd,
-  0x124bb9be, 0x815076bd, 0x124581bd, 0x814f90fb, 0x123f49b2, 0x814eab86,
-    0x1239119b, 0x814dc660,
-  0x1232d979, 0x814ce188, 0x122ca14b, 0x814bfcff, 0x12266913, 0x814b18c3,
-    0x122030cf, 0x814a34d6,
-  0x1219f880, 0x81495136, 0x1213c026, 0x81486de5, 0x120d87c1, 0x81478ae2,
-    0x12074f50, 0x8146a82e,
-  0x120116d5, 0x8145c5c7, 0x11fade4e, 0x8144e3ae, 0x11f4a5bd, 0x814401e4,
-    0x11ee6d20, 0x81432068,
-  0x11e83478, 0x81423f3a, 0x11e1fbc5, 0x81415e5a, 0x11dbc307, 0x81407dc9,
-    0x11d58a3e, 0x813f9d86,
-  0x11cf516a, 0x813ebd90, 0x11c9188b, 0x813ddde9, 0x11c2dfa2, 0x813cfe91,
-    0x11bca6ad, 0x813c1f86,
-  0x11b66dad, 0x813b40ca, 0x11b034a2, 0x813a625b, 0x11a9fb8d, 0x8139843b,
-    0x11a3c26c, 0x8138a66a,
-  0x119d8941, 0x8137c8e6, 0x1197500a, 0x8136ebb1, 0x119116c9, 0x81360ec9,
-    0x118add7d, 0x81353230,
-  0x1184a427, 0x813455e6, 0x117e6ac5, 0x813379e9, 0x11783159, 0x81329e3b,
-    0x1171f7e2, 0x8131c2db,
-  0x116bbe60, 0x8130e7c9, 0x116584d3, 0x81300d05, 0x115f4b3c, 0x812f3290,
-    0x1159119a, 0x812e5868,
-  0x1152d7ed, 0x812d7e8f, 0x114c9e35, 0x812ca505, 0x11466473, 0x812bcbc8,
-    0x11402aa6, 0x812af2da,
-  0x1139f0cf, 0x812a1a3a, 0x1133b6ed, 0x812941e8, 0x112d7d00, 0x812869e4,
-    0x11274309, 0x8127922f,
-  0x11210907, 0x8126bac8, 0x111acefb, 0x8125e3af, 0x111494e4, 0x81250ce4,
-    0x110e5ac2, 0x81243668,
-  0x11082096, 0x8123603a, 0x1101e65f, 0x81228a5a, 0x10fbac1e, 0x8121b4c8,
-    0x10f571d3, 0x8120df85,
-  0x10ef377d, 0x81200a90, 0x10e8fd1c, 0x811f35e9, 0x10e2c2b2, 0x811e6191,
-    0x10dc883c, 0x811d8d86,
-  0x10d64dbd, 0x811cb9ca, 0x10d01333, 0x811be65d, 0x10c9d89e, 0x811b133d,
-    0x10c39dff, 0x811a406c,
-  0x10bd6356, 0x81196de9, 0x10b728a3, 0x81189bb4, 0x10b0ede5, 0x8117c9ce,
-    0x10aab31d, 0x8116f836,
-  0x10a4784b, 0x811626ec, 0x109e3d6e, 0x811555f1, 0x10980287, 0x81148544,
-    0x1091c796, 0x8113b4e5,
-  0x108b8c9b, 0x8112e4d4, 0x10855195, 0x81121512, 0x107f1686, 0x8111459e,
-    0x1078db6c, 0x81107678,
-  0x1072a048, 0x810fa7a0, 0x106c651a, 0x810ed917, 0x106629e1, 0x810e0adc,
-    0x105fee9f, 0x810d3cf0,
-  0x1059b352, 0x810c6f52, 0x105377fc, 0x810ba202, 0x104d3c9b, 0x810ad500,
-    0x10470130, 0x810a084d,
-  0x1040c5bb, 0x81093be8, 0x103a8a3d, 0x81086fd1, 0x10344eb4, 0x8107a409,
-    0x102e1321, 0x8106d88f,
-  0x1027d784, 0x81060d63, 0x10219bdd, 0x81054286, 0x101b602d, 0x810477f7,
-    0x10152472, 0x8103adb6,
-  0x100ee8ad, 0x8102e3c4, 0x1008acdf, 0x81021a20, 0x10027107, 0x810150ca,
-    0xffc3524, 0x810087c3,
-  0xff5f938, 0x80ffbf0a, 0xfefbd42, 0x80fef69f, 0xfe98143, 0x80fe2e83,
-    0xfe34539, 0x80fd66b5,
-  0xfdd0926, 0x80fc9f35, 0xfd6cd08, 0x80fbd804, 0xfd090e1, 0x80fb1121,
-    0xfca54b1, 0x80fa4a8c,
-  0xfc41876, 0x80f98446, 0xfbddc32, 0x80f8be4e, 0xfb79fe4, 0x80f7f8a4,
-    0xfb1638d, 0x80f73349,
-  0xfab272b, 0x80f66e3c, 0xfa4eac0, 0x80f5a97e, 0xf9eae4c, 0x80f4e50e,
-    0xf9871ce, 0x80f420ec,
-  0xf923546, 0x80f35d19, 0xf8bf8b4, 0x80f29994, 0xf85bc19, 0x80f1d65d,
-    0xf7f7f75, 0x80f11375,
-  0xf7942c7, 0x80f050db, 0xf73060f, 0x80ef8e90, 0xf6cc94e, 0x80eecc93,
-    0xf668c83, 0x80ee0ae4,
-  0xf604faf, 0x80ed4984, 0xf5a12d1, 0x80ec8872, 0xf53d5ea, 0x80ebc7ae,
-    0xf4d98f9, 0x80eb0739,
-  0xf475bff, 0x80ea4712, 0xf411efb, 0x80e9873a, 0xf3ae1ee, 0x80e8c7b0,
-    0xf34a4d8, 0x80e80874,
-  0xf2e67b8, 0x80e74987, 0xf282a8f, 0x80e68ae8, 0xf21ed5d, 0x80e5cc98,
-    0xf1bb021, 0x80e50e96,
-  0xf1572dc, 0x80e450e2, 0xf0f358e, 0x80e3937d, 0xf08f836, 0x80e2d666,
-    0xf02bad5, 0x80e2199e,
-  0xefc7d6b, 0x80e15d24, 0xef63ff7, 0x80e0a0f8, 0xef0027b, 0x80dfe51b,
-    0xee9c4f5, 0x80df298c,
-  0xee38766, 0x80de6e4c, 0xedd49ce, 0x80ddb35a, 0xed70c2c, 0x80dcf8b7,
-    0xed0ce82, 0x80dc3e62,
-  0xeca90ce, 0x80db845b, 0xec45311, 0x80dacaa3, 0xebe154b, 0x80da1139,
-    0xeb7d77c, 0x80d9581e,
-  0xeb199a4, 0x80d89f51, 0xeab5bc3, 0x80d7e6d3, 0xea51dd8, 0x80d72ea3,
-    0xe9edfe5, 0x80d676c1,
-  0xe98a1e9, 0x80d5bf2e, 0xe9263e3, 0x80d507e9, 0xe8c25d5, 0x80d450f3,
-    0xe85e7be, 0x80d39a4b,
-  0xe7fa99e, 0x80d2e3f2, 0xe796b74, 0x80d22de7, 0xe732d42, 0x80d1782a,
-    0xe6cef07, 0x80d0c2bc,
-  0xe66b0c3, 0x80d00d9d, 0xe607277, 0x80cf58cc, 0xe5a3421, 0x80cea449,
-    0xe53f5c2, 0x80cdf015,
-  0xe4db75b, 0x80cd3c2f, 0xe4778eb, 0x80cc8898, 0xe413a72, 0x80cbd54f,
-    0xe3afbf0, 0x80cb2255,
-  0xe34bd66, 0x80ca6fa9, 0xe2e7ed2, 0x80c9bd4c, 0xe284036, 0x80c90b3d,
-    0xe220191, 0x80c8597c,
-  0xe1bc2e4, 0x80c7a80a, 0xe15842e, 0x80c6f6e7, 0xe0f456f, 0x80c64612,
-    0xe0906a7, 0x80c5958b,
-  0xe02c7d7, 0x80c4e553, 0xdfc88fe, 0x80c4356a, 0xdf64a1c, 0x80c385cf,
-    0xdf00b32, 0x80c2d682,
-  0xde9cc40, 0x80c22784, 0xde38d44, 0x80c178d4, 0xddd4e40, 0x80c0ca73,
-    0xdd70f34, 0x80c01c60,
-  0xdd0d01f, 0x80bf6e9c, 0xdca9102, 0x80bec127, 0xdc451dc, 0x80be13ff,
-    0xdbe12ad, 0x80bd6727,
-  0xdb7d376, 0x80bcba9d, 0xdb19437, 0x80bc0e61, 0xdab54ef, 0x80bb6274,
-    0xda5159f, 0x80bab6d5,
-  0xd9ed646, 0x80ba0b85, 0xd9896e5, 0x80b96083, 0xd92577b, 0x80b8b5d0,
-    0xd8c1809, 0x80b80b6c,
-  0xd85d88f, 0x80b76156, 0xd7f990c, 0x80b6b78e, 0xd795982, 0x80b60e15,
-    0xd7319ee, 0x80b564ea,
-  0xd6cda53, 0x80b4bc0e, 0xd669aaf, 0x80b41381, 0xd605b03, 0x80b36b42,
-    0xd5a1b4f, 0x80b2c351,
-  0xd53db92, 0x80b21baf, 0xd4d9bcd, 0x80b1745c, 0xd475c00, 0x80b0cd57,
-    0xd411c2b, 0x80b026a1,
-  0xd3adc4e, 0x80af8039, 0xd349c68, 0x80aeda20, 0xd2e5c7b, 0x80ae3455,
-    0xd281c85, 0x80ad8ed9,
-  0xd21dc87, 0x80ace9ab, 0xd1b9c81, 0x80ac44cc, 0xd155c73, 0x80aba03b,
-    0xd0f1c5d, 0x80aafbf9,
-  0xd08dc3f, 0x80aa5806, 0xd029c18, 0x80a9b461, 0xcfc5bea, 0x80a9110b,
-    0xcf61bb4, 0x80a86e03,
-  0xcefdb76, 0x80a7cb49, 0xce99b2f, 0x80a728df, 0xce35ae1, 0x80a686c2,
-    0xcdd1a8b, 0x80a5e4f5,
-  0xcd6da2d, 0x80a54376, 0xcd099c7, 0x80a4a245, 0xcca5959, 0x80a40163,
-    0xcc418e3, 0x80a360d0,
-  0xcbdd865, 0x80a2c08b, 0xcb797e0, 0x80a22095, 0xcb15752, 0x80a180ed,
-    0xcab16bd, 0x80a0e194,
-  0xca4d620, 0x80a04289, 0xc9e957b, 0x809fa3cd, 0xc9854cf, 0x809f0560,
-    0xc92141a, 0x809e6741,
-  0xc8bd35e, 0x809dc971, 0xc85929a, 0x809d2bef, 0xc7f51cf, 0x809c8ebc,
-    0xc7910fb, 0x809bf1d7,
-  0xc72d020, 0x809b5541, 0xc6c8f3e, 0x809ab8fa, 0xc664e53, 0x809a1d01,
-    0xc600d61, 0x80998157,
-  0xc59cc68, 0x8098e5fb, 0xc538b66, 0x80984aee, 0xc4d4a5d, 0x8097b030,
-    0xc47094d, 0x809715c0,
-  0xc40c835, 0x80967b9f, 0xc3a8715, 0x8095e1cc, 0xc3445ee, 0x80954848,
-    0xc2e04c0, 0x8094af13,
-  0xc27c389, 0x8094162c, 0xc21824c, 0x80937d93, 0xc1b4107, 0x8092e54a,
-    0xc14ffba, 0x80924d4f,
-  0xc0ebe66, 0x8091b5a2, 0xc087d0a, 0x80911e44, 0xc023ba7, 0x80908735,
-    0xbfbfa3d, 0x808ff074,
-  0xbf5b8cb, 0x808f5a02, 0xbef7752, 0x808ec3df, 0xbe935d2, 0x808e2e0a,
-    0xbe2f44a, 0x808d9884,
-  0xbdcb2bb, 0x808d034c, 0xbd67124, 0x808c6e63, 0xbd02f87, 0x808bd9c9,
-    0xbc9ede2, 0x808b457d,
-  0xbc3ac35, 0x808ab180, 0xbbd6a82, 0x808a1dd2, 0xbb728c7, 0x80898a72,
-    0xbb0e705, 0x8088f761,
-  0xbaaa53b, 0x8088649e, 0xba4636b, 0x8087d22a, 0xb9e2193, 0x80874005,
-    0xb97dfb5, 0x8086ae2e,
-  0xb919dcf, 0x80861ca6, 0xb8b5be1, 0x80858b6c, 0xb8519ed, 0x8084fa82,
-    0xb7ed7f2, 0x808469e5,
-  0xb7895f0, 0x8083d998, 0xb7253e6, 0x80834999, 0xb6c11d5, 0x8082b9e9,
-    0xb65cfbe, 0x80822a87,
-  0xb5f8d9f, 0x80819b74, 0xb594b7a, 0x80810cb0, 0xb53094d, 0x80807e3a,
-    0xb4cc719, 0x807ff013,
-  0xb4684df, 0x807f623b, 0xb40429d, 0x807ed4b1, 0xb3a0055, 0x807e4776,
-    0xb33be05, 0x807dba89,
-  0xb2d7baf, 0x807d2dec, 0xb273952, 0x807ca19c, 0xb20f6ee, 0x807c159c,
-    0xb1ab483, 0x807b89ea,
-  0xb147211, 0x807afe87, 0xb0e2f98, 0x807a7373, 0xb07ed19, 0x8079e8ad,
-    0xb01aa92, 0x80795e36,
-  0xafb6805, 0x8078d40d, 0xaf52571, 0x80784a33, 0xaeee2d7, 0x8077c0a8,
-    0xae8a036, 0x8077376c,
-  0xae25d8d, 0x8076ae7e, 0xadc1adf, 0x807625df, 0xad5d829, 0x80759d8e,
-    0xacf956d, 0x8075158c,
-  0xac952aa, 0x80748dd9, 0xac30fe1, 0x80740675, 0xabccd11, 0x80737f5f,
-    0xab68a3a, 0x8072f898,
-  0xab0475c, 0x8072721f, 0xaaa0478, 0x8071ebf6, 0xaa3c18e, 0x8071661a,
-    0xa9d7e9d, 0x8070e08e,
-  0xa973ba5, 0x80705b50, 0xa90f8a7, 0x806fd661, 0xa8ab5a2, 0x806f51c1,
-    0xa847297, 0x806ecd6f,
-  0xa7e2f85, 0x806e496c, 0xa77ec6d, 0x806dc5b8, 0xa71a94f, 0x806d4253,
-    0xa6b662a, 0x806cbf3c,
-  0xa6522fe, 0x806c3c74, 0xa5edfcc, 0x806bb9fa, 0xa589c94, 0x806b37cf,
-    0xa525955, 0x806ab5f3,
-  0xa4c1610, 0x806a3466, 0xa45d2c5, 0x8069b327, 0xa3f8f73, 0x80693237,
-    0xa394c1b, 0x8068b196,
-  0xa3308bd, 0x80683143, 0xa2cc558, 0x8067b13f, 0xa2681ed, 0x8067318a,
-    0xa203e7c, 0x8066b224,
-  0xa19fb04, 0x8066330c, 0xa13b787, 0x8065b443, 0xa0d7403, 0x806535c9,
-    0xa073079, 0x8064b79d,
-  0xa00ece8, 0x806439c0, 0x9faa952, 0x8063bc32, 0x9f465b5, 0x80633ef3,
-    0x9ee2213, 0x8062c202,
-  0x9e7de6a, 0x80624560, 0x9e19abb, 0x8061c90c, 0x9db5706, 0x80614d08,
-    0x9d5134b, 0x8060d152,
-  0x9cecf89, 0x806055eb, 0x9c88bc2, 0x805fdad2, 0x9c247f5, 0x805f6009,
-    0x9bc0421, 0x805ee58e,
-  0x9b5c048, 0x805e6b62, 0x9af7c69, 0x805df184, 0x9a93884, 0x805d77f5,
-    0x9a2f498, 0x805cfeb5,
-  0x99cb0a7, 0x805c85c4, 0x9966cb0, 0x805c0d21, 0x99028b3, 0x805b94ce,
-    0x989e4b0, 0x805b1cc8,
-  0x983a0a7, 0x805aa512, 0x97d5c99, 0x805a2daa, 0x9771884, 0x8059b692,
-    0x970d46a, 0x80593fc7,
-  0x96a9049, 0x8058c94c, 0x9644c23, 0x8058531f, 0x95e07f8, 0x8057dd41,
-    0x957c3c6, 0x805767b2,
-  0x9517f8f, 0x8056f272, 0x94b3b52, 0x80567d80, 0x944f70f, 0x805608dd,
-    0x93eb2c6, 0x80559489,
-  0x9386e78, 0x80552084, 0x9322a24, 0x8054accd, 0x92be5ca, 0x80543965,
-    0x925a16b, 0x8053c64c,
-  0x91f5d06, 0x80535381, 0x919189c, 0x8052e106, 0x912d42c, 0x80526ed9,
-    0x90c8fb6, 0x8051fcfb,
-  0x9064b3a, 0x80518b6b, 0x90006ba, 0x80511a2b, 0x8f9c233, 0x8050a939,
-    0x8f37da7, 0x80503896,
-  0x8ed3916, 0x804fc841, 0x8e6f47f, 0x804f583c, 0x8e0afe2, 0x804ee885,
-    0x8da6b40, 0x804e791d,
-  0x8d42699, 0x804e0a04, 0x8cde1ec, 0x804d9b39, 0x8c79d3a, 0x804d2cbd,
-    0x8c15882, 0x804cbe90,
-  0x8bb13c5, 0x804c50b2, 0x8b4cf02, 0x804be323, 0x8ae8a3a, 0x804b75e2,
-    0x8a8456d, 0x804b08f0,
-  0x8a2009a, 0x804a9c4d, 0x89bbbc3, 0x804a2ff9, 0x89576e5, 0x8049c3f3,
-    0x88f3203, 0x8049583d,
-  0x888ed1b, 0x8048ecd5, 0x882a82e, 0x804881bb, 0x87c633c, 0x804816f1,
-    0x8761e44, 0x8047ac75,
-  0x86fd947, 0x80474248, 0x8699445, 0x8046d86a, 0x8634f3e, 0x80466edb,
-    0x85d0a32, 0x8046059b,
-  0x856c520, 0x80459ca9, 0x850800a, 0x80453406, 0x84a3aee, 0x8044cbb2,
-    0x843f5cd, 0x804463ad,
-  0x83db0a7, 0x8043fbf6, 0x8376b7c, 0x8043948e, 0x831264c, 0x80432d75,
-    0x82ae117, 0x8042c6ab,
-  0x8249bdd, 0x80426030, 0x81e569d, 0x8041fa03, 0x8181159, 0x80419425,
-    0x811cc10, 0x80412e96,
-  0x80b86c2, 0x8040c956, 0x805416e, 0x80406465, 0x7fefc16, 0x803fffc2,
-    0x7f8b6b9, 0x803f9b6f,
-  0x7f27157, 0x803f376a, 0x7ec2bf0, 0x803ed3b3, 0x7e5e685, 0x803e704c,
-    0x7dfa114, 0x803e0d34,
-  0x7d95b9e, 0x803daa6a, 0x7d31624, 0x803d47ef, 0x7ccd0a5, 0x803ce5c3,
-    0x7c68b21, 0x803c83e5,
-  0x7c04598, 0x803c2257, 0x7ba000b, 0x803bc117, 0x7b3ba78, 0x803b6026,
-    0x7ad74e1, 0x803aff84,
-  0x7a72f45, 0x803a9f31, 0x7a0e9a5, 0x803a3f2d, 0x79aa400, 0x8039df77,
-    0x7945e56, 0x80398010,
-  0x78e18a7, 0x803920f8, 0x787d2f4, 0x8038c22f, 0x7818d3c, 0x803863b5,
-    0x77b4780, 0x80380589,
-  0x77501be, 0x8037a7ac, 0x76ebbf9, 0x80374a1f, 0x768762e, 0x8036ece0,
-    0x762305f, 0x80368fef,
-  0x75bea8c, 0x8036334e, 0x755a4b4, 0x8035d6fb, 0x74f5ed7, 0x80357af8,
-    0x74918f6, 0x80351f43,
-  0x742d311, 0x8034c3dd, 0x73c8d27, 0x803468c5, 0x7364738, 0x80340dfd,
-    0x7300145, 0x8033b383,
-  0x729bb4e, 0x80335959, 0x7237552, 0x8032ff7d, 0x71d2f52, 0x8032a5ef,
-    0x716e94e, 0x80324cb1,
-  0x710a345, 0x8031f3c2, 0x70a5d37, 0x80319b21, 0x7041726, 0x803142cf,
-    0x6fdd110, 0x8030eacd,
-  0x6f78af6, 0x80309318, 0x6f144d7, 0x80303bb3, 0x6eafeb4, 0x802fe49d,
-    0x6e4b88d, 0x802f8dd5,
-  0x6de7262, 0x802f375d, 0x6d82c32, 0x802ee133, 0x6d1e5fe, 0x802e8b58,
-    0x6cb9fc6, 0x802e35cb,
-  0x6c5598a, 0x802de08e, 0x6bf1349, 0x802d8ba0, 0x6b8cd05, 0x802d3700,
-    0x6b286bc, 0x802ce2af,
-  0x6ac406f, 0x802c8ead, 0x6a5fa1e, 0x802c3afa, 0x69fb3c9, 0x802be796,
-    0x6996d70, 0x802b9480,
-  0x6932713, 0x802b41ba, 0x68ce0b2, 0x802aef42, 0x6869a4c, 0x802a9d19,
-    0x68053e3, 0x802a4b3f,
-  0x67a0d76, 0x8029f9b4, 0x673c704, 0x8029a878, 0x66d808f, 0x8029578b,
-    0x6673a16, 0x802906ec,
-  0x660f398, 0x8028b69c, 0x65aad17, 0x8028669b, 0x6546692, 0x802816e9,
-    0x64e2009, 0x8027c786,
-  0x647d97c, 0x80277872, 0x64192eb, 0x802729ad, 0x63b4c57, 0x8026db36,
-    0x63505be, 0x80268d0e,
-  0x62ebf22, 0x80263f36, 0x6287882, 0x8025f1ac, 0x62231de, 0x8025a471,
-    0x61beb36, 0x80255784,
-  0x615a48b, 0x80250ae7, 0x60f5ddc, 0x8024be99, 0x6091729, 0x80247299,
-    0x602d072, 0x802426e8,
-  0x5fc89b8, 0x8023db86, 0x5f642fa, 0x80239073, 0x5effc38, 0x802345af,
-    0x5e9b572, 0x8022fb3a,
-  0x5e36ea9, 0x8022b114, 0x5dd27dd, 0x8022673c, 0x5d6e10c, 0x80221db3,
-    0x5d09a38, 0x8021d47a,
-  0x5ca5361, 0x80218b8f, 0x5c40c86, 0x802142f3, 0x5bdc5a7, 0x8020faa6,
-    0x5b77ec5, 0x8020b2a7,
-  0x5b137df, 0x80206af8, 0x5aaf0f6, 0x80202397, 0x5a4aa09, 0x801fdc86,
-    0x59e6319, 0x801f95c3,
-  0x5981c26, 0x801f4f4f, 0x591d52f, 0x801f092a, 0x58b8e34, 0x801ec354,
-    0x5854736, 0x801e7dcd,
-  0x57f0035, 0x801e3895, 0x578b930, 0x801df3ab, 0x5727228, 0x801daf11,
-    0x56c2b1c, 0x801d6ac5,
-  0x565e40d, 0x801d26c8, 0x55f9cfb, 0x801ce31a, 0x55955e6, 0x801c9fbb,
-    0x5530ecd, 0x801c5cab,
-  0x54cc7b1, 0x801c19ea, 0x5468092, 0x801bd777, 0x540396f, 0x801b9554,
-    0x539f249, 0x801b537f,
-  0x533ab20, 0x801b11fa, 0x52d63f4, 0x801ad0c3, 0x5271cc4, 0x801a8fdb,
-    0x520d592, 0x801a4f42,
-  0x51a8e5c, 0x801a0ef8, 0x5144723, 0x8019cefd, 0x50dffe7, 0x80198f50,
-    0x507b8a8, 0x80194ff3,
-  0x5017165, 0x801910e4, 0x4fb2a20, 0x8018d225, 0x4f4e2d8, 0x801893b4,
-    0x4ee9b8c, 0x80185592,
-  0x4e8543e, 0x801817bf, 0x4e20cec, 0x8017da3b, 0x4dbc597, 0x80179d06,
-    0x4d57e40, 0x80176020,
-  0x4cf36e5, 0x80172388, 0x4c8ef88, 0x8016e740, 0x4c2a827, 0x8016ab46,
-    0x4bc60c4, 0x80166f9c,
-  0x4b6195d, 0x80163440, 0x4afd1f4, 0x8015f933, 0x4a98a88, 0x8015be75,
-    0x4a34319, 0x80158406,
-  0x49cfba7, 0x801549e6, 0x496b432, 0x80151015, 0x4906cbb, 0x8014d693,
-    0x48a2540, 0x80149d5f,
-  0x483ddc3, 0x8014647b, 0x47d9643, 0x80142be5, 0x4774ec1, 0x8013f39e,
-    0x471073b, 0x8013bba7,
-  0x46abfb3, 0x801383fe, 0x4647828, 0x80134ca4, 0x45e309a, 0x80131599,
-    0x457e90a, 0x8012dedd,
-  0x451a177, 0x8012a86f, 0x44b59e1, 0x80127251, 0x4451249, 0x80123c82,
-    0x43ecaae, 0x80120701,
-  0x4388310, 0x8011d1d0, 0x4323b70, 0x80119ced, 0x42bf3cd, 0x80116859,
-    0x425ac28, 0x80113414,
-  0x41f6480, 0x8011001f, 0x4191cd5, 0x8010cc78, 0x412d528, 0x8010991f,
-    0x40c8d79, 0x80106616,
-  0x40645c7, 0x8010335c, 0x3fffe12, 0x801000f1, 0x3f9b65b, 0x800fced4,
-    0x3f36ea2, 0x800f9d07,
-  0x3ed26e6, 0x800f6b88, 0x3e6df28, 0x800f3a59, 0x3e09767, 0x800f0978,
-    0x3da4fa4, 0x800ed8e6,
-  0x3d407df, 0x800ea8a3, 0x3cdc017, 0x800e78af, 0x3c7784d, 0x800e490a,
-    0x3c13080, 0x800e19b4,
-  0x3bae8b2, 0x800deaad, 0x3b4a0e0, 0x800dbbf5, 0x3ae590d, 0x800d8d8b,
-    0x3a81137, 0x800d5f71,
-  0x3a1c960, 0x800d31a5, 0x39b8185, 0x800d0429, 0x39539a9, 0x800cd6fb,
-    0x38ef1ca, 0x800caa1c,
-  0x388a9ea, 0x800c7d8c, 0x3826207, 0x800c514c, 0x37c1a22, 0x800c255a,
-    0x375d23a, 0x800bf9b7,
-  0x36f8a51, 0x800bce63, 0x3694265, 0x800ba35d, 0x362fa78, 0x800b78a7,
-    0x35cb288, 0x800b4e40,
-  0x3566a96, 0x800b2427, 0x35022a2, 0x800afa5e, 0x349daac, 0x800ad0e3,
-    0x34392b4, 0x800aa7b8,
-  0x33d4abb, 0x800a7edb, 0x33702bf, 0x800a564e, 0x330bac1, 0x800a2e0f,
-    0x32a72c1, 0x800a061f,
-  0x3242abf, 0x8009de7e, 0x31de2bb, 0x8009b72c, 0x3179ab5, 0x80099029,
-    0x31152ae, 0x80096975,
-  0x30b0aa4, 0x80094310, 0x304c299, 0x80091cf9, 0x2fe7a8c, 0x8008f732,
-    0x2f8327d, 0x8008d1ba,
-  0x2f1ea6c, 0x8008ac90, 0x2eba259, 0x800887b6, 0x2e55a44, 0x8008632a,
-    0x2df122e, 0x80083eed,
-  0x2d8ca16, 0x80081b00, 0x2d281fc, 0x8007f761, 0x2cc39e1, 0x8007d411,
-    0x2c5f1c3, 0x8007b110,
-  0x2bfa9a4, 0x80078e5e, 0x2b96184, 0x80076bfb, 0x2b31961, 0x800749e7,
-    0x2acd13d, 0x80072822,
-  0x2a68917, 0x800706ac, 0x2a040f0, 0x8006e585, 0x299f8c7, 0x8006c4ac,
-    0x293b09c, 0x8006a423,
-  0x28d6870, 0x800683e8, 0x2872043, 0x800663fd, 0x280d813, 0x80064460,
-    0x27a8fe2, 0x80062513,
-  0x27447b0, 0x80060614, 0x26dff7c, 0x8005e764, 0x267b747, 0x8005c904,
-    0x2616f10, 0x8005aaf2,
-  0x25b26d7, 0x80058d2f, 0x254de9e, 0x80056fbb, 0x24e9662, 0x80055296,
-    0x2484e26, 0x800535c0,
-  0x24205e8, 0x80051939, 0x23bbda8, 0x8004fd00, 0x2357567, 0x8004e117,
-    0x22f2d25, 0x8004c57d,
-  0x228e4e2, 0x8004aa32, 0x2229c9d, 0x80048f35, 0x21c5457, 0x80047488,
-    0x2160c0f, 0x80045a29,
-  0x20fc3c6, 0x8004401a, 0x2097b7c, 0x80042659, 0x2033331, 0x80040ce7,
-    0x1fceae4, 0x8003f3c5,
-  0x1f6a297, 0x8003daf1, 0x1f05a48, 0x8003c26c, 0x1ea11f7, 0x8003aa36,
-    0x1e3c9a6, 0x8003924f,
-  0x1dd8154, 0x80037ab7, 0x1d73900, 0x8003636e, 0x1d0f0ab, 0x80034c74,
-    0x1caa855, 0x800335c9,
-  0x1c45ffe, 0x80031f6d, 0x1be17a6, 0x80030960, 0x1b7cf4d, 0x8002f3a1,
-    0x1b186f3, 0x8002de32,
-  0x1ab3e97, 0x8002c912, 0x1a4f63b, 0x8002b440, 0x19eaddd, 0x80029fbe,
-    0x198657f, 0x80028b8a,
-  0x1921d20, 0x800277a6, 0x18bd4bf, 0x80026410, 0x1858c5e, 0x800250c9,
-    0x17f43fc, 0x80023dd2,
-  0x178fb99, 0x80022b29, 0x172b335, 0x800218cf, 0x16c6ad0, 0x800206c4,
-    0x166226a, 0x8001f508,
-  0x15fda03, 0x8001e39b, 0x159919c, 0x8001d27d, 0x1534934, 0x8001c1ae,
-    0x14d00ca, 0x8001b12e,
-  0x146b860, 0x8001a0fd, 0x1406ff6, 0x8001911b, 0x13a278a, 0x80018187,
-    0x133df1e, 0x80017243,
-  0x12d96b1, 0x8001634e, 0x1274e43, 0x800154a7, 0x12105d5, 0x80014650,
-    0x11abd66, 0x80013847,
-  0x11474f6, 0x80012a8e, 0x10e2c85, 0x80011d23, 0x107e414, 0x80011008,
-    0x1019ba2, 0x8001033b,
-  0xfb5330, 0x8000f6bd, 0xf50abd, 0x8000ea8e, 0xeec249, 0x8000deaf, 0xe879d5,
-    0x8000d31e,
-  0xe23160, 0x8000c7dc, 0xdbe8eb, 0x8000bce9, 0xd5a075, 0x8000b245, 0xcf57ff,
-    0x8000a7f0,
-  0xc90f88, 0x80009dea, 0xc2c711, 0x80009433, 0xbc7e99, 0x80008aca, 0xb63621,
-    0x800081b1,
-  0xafeda8, 0x800078e7, 0xa9a52f, 0x8000706c, 0xa35cb5, 0x8000683f, 0x9d143b,
-    0x80006062,
-  0x96cbc1, 0x800058d4, 0x908346, 0x80005194, 0x8a3acb, 0x80004aa4, 0x83f250,
-    0x80004402,
-  0x7da9d4, 0x80003daf, 0x776159, 0x800037ac, 0x7118dc, 0x800031f7, 0x6ad060,
-    0x80002c91,
-  0x6487e3, 0x8000277a, 0x5e3f66, 0x800022b3, 0x57f6e9, 0x80001e3a, 0x51ae6b,
-    0x80001a10,
-  0x4b65ee, 0x80001635, 0x451d70, 0x800012a9, 0x3ed4f2, 0x80000f6c, 0x388c74,
-    0x80000c7e,
-  0x3243f5, 0x800009df, 0x2bfb77, 0x8000078e, 0x25b2f8, 0x8000058d, 0x1f6a7a,
-    0x800003db,
-  0x1921fb, 0x80000278, 0x12d97c, 0x80000163, 0xc90fe, 0x8000009e, 0x6487f,
-    0x80000027,
-
-};
-
-/**    
-* \par    
-* cosFactor tables are generated using the formula : 
cos_factors[n] = 2 * cos((2n+1)*pi/(4*N))
    
-* \par    
-* C command to generate the table    
-* 
    
-* for(i = 0; i< N; i++)    
-* {    
-*   cos_factors[i]= 2 * cos((2*i+1)*c/2);    
-* } 
    
-* \par    
-* where N is the number of factors to generate and c is pi/(2*N)    
-* \par    
-* Then converted to q31 format by multiplying with 2^31 and saturated if required.    
-*/
-
-
-static const q31_t cos_factorsQ31_128[128] = {
-  0x7fff6216, 0x7ffa72d1, 0x7ff09478, 0x7fe1c76b, 0x7fce0c3e, 0x7fb563b3,
-  0x7f97cebd, 0x7f754e80,
-  0x7f4de451, 0x7f2191b4, 0x7ef05860, 0x7eba3a39, 0x7e7f3957, 0x7e3f57ff,
-  0x7dfa98a8, 0x7db0fdf8,
-  0x7d628ac6, 0x7d0f4218, 0x7cb72724, 0x7c5a3d50, 0x7bf88830, 0x7b920b89,
-  0x7b26cb4f, 0x7ab6cba4,
-  0x7a4210d8, 0x79c89f6e, 0x794a7c12, 0x78c7aba2, 0x78403329, 0x77b417df,
-  0x77235f2d, 0x768e0ea6,
-  0x75f42c0b, 0x7555bd4c, 0x74b2c884, 0x740b53fb, 0x735f6626, 0x72af05a7,
-  0x71fa3949, 0x71410805,
-  0x708378ff, 0x6fc19385, 0x6efb5f12, 0x6e30e34a, 0x6d6227fa, 0x6c8f351c,
-  0x6bb812d1, 0x6adcc964,
-  0x69fd614a, 0x6919e320, 0x683257ab, 0x6746c7d8, 0x66573cbb, 0x6563bf92,
-  0x646c59bf, 0x637114cc,
-  0x6271fa69, 0x616f146c, 0x60686ccf, 0x5f5e0db3, 0x5e50015d, 0x5d3e5237,
-  0x5c290acc, 0x5b1035cf,
-  0x59f3de12, 0x58d40e8c, 0x57b0d256, 0x568a34a9, 0x556040e2, 0x5433027d,
-  0x53028518, 0x51ced46e,
-  0x5097fc5e, 0x4f5e08e3, 0x4e210617, 0x4ce10034, 0x4b9e0390, 0x4a581c9e,
-  0x490f57ee, 0x47c3c22f,
-  0x46756828, 0x452456bd, 0x43d09aed, 0x427a41d0, 0x4121589b, 0x3fc5ec98,
-  0x3e680b2c, 0x3d07c1d6,
-  0x3ba51e29, 0x3a402dd2, 0x38d8fe93, 0x376f9e46, 0x36041ad9, 0x34968250,
-  0x3326e2c3, 0x31b54a5e,
-  0x3041c761, 0x2ecc681e, 0x2d553afc, 0x2bdc4e6f, 0x2a61b101, 0x28e5714b,
-  0x27679df4, 0x25e845b6,
-  0x24677758, 0x22e541af, 0x2161b3a0, 0x1fdcdc1b, 0x1e56ca1e, 0x1ccf8cb3,
-  0x1b4732ef, 0x19bdcbf3,
-  0x183366e9, 0x16a81305, 0x151bdf86, 0x138edbb1, 0x120116d5, 0x1072a048,
-  0xee38766, 0xd53db92,
-  0xbc3ac35, 0xa3308bd, 0x8a2009a, 0x710a345, 0x57f0035, 0x3ed26e6, 0x25b26d7,
-  0xc90f88,
-};
-
-static const q31_t cos_factorsQ31_512[512] = {
-  0x7ffff621, 0x7fffa72c, 0x7fff0943, 0x7ffe1c65, 0x7ffce093, 0x7ffb55ce,
-  0x7ff97c18, 0x7ff75370,
-  0x7ff4dbd9, 0x7ff21553, 0x7feeffe1, 0x7feb9b85, 0x7fe7e841, 0x7fe3e616,
-  0x7fdf9508, 0x7fdaf519,
-  0x7fd6064c, 0x7fd0c8a3, 0x7fcb3c23, 0x7fc560cf, 0x7fbf36aa, 0x7fb8bdb8,
-  0x7fb1f5fc, 0x7faadf7c,
-  0x7fa37a3c, 0x7f9bc640, 0x7f93c38c, 0x7f8b7227, 0x7f82d214, 0x7f79e35a,
-  0x7f70a5fe, 0x7f671a05,
-  0x7f5d3f75, 0x7f531655, 0x7f489eaa, 0x7f3dd87c, 0x7f32c3d1, 0x7f2760af,
-  0x7f1baf1e, 0x7f0faf25,
-  0x7f0360cb, 0x7ef6c418, 0x7ee9d914, 0x7edc9fc6, 0x7ecf1837, 0x7ec14270,
-  0x7eb31e78, 0x7ea4ac58,
-  0x7e95ec1a, 0x7e86ddc6, 0x7e778166, 0x7e67d703, 0x7e57dea7, 0x7e47985b,
-  0x7e37042a, 0x7e26221f,
-  0x7e14f242, 0x7e0374a0, 0x7df1a942, 0x7ddf9034, 0x7dcd2981, 0x7dba7534,
-  0x7da77359, 0x7d9423fc,
-  0x7d808728, 0x7d6c9ce9, 0x7d58654d, 0x7d43e05e, 0x7d2f0e2b, 0x7d19eebf,
-  0x7d048228, 0x7ceec873,
-  0x7cd8c1ae, 0x7cc26de5, 0x7cabcd28, 0x7c94df83, 0x7c7da505, 0x7c661dbc,
-  0x7c4e49b7, 0x7c362904,
-  0x7c1dbbb3, 0x7c0501d2, 0x7bebfb70, 0x7bd2a89e, 0x7bb9096b, 0x7b9f1de6,
-  0x7b84e61f, 0x7b6a6227,
-  0x7b4f920e, 0x7b3475e5, 0x7b190dbc, 0x7afd59a4, 0x7ae159ae, 0x7ac50dec,
-  0x7aa8766f, 0x7a8b9348,
-  0x7a6e648a, 0x7a50ea47, 0x7a332490, 0x7a151378, 0x79f6b711, 0x79d80f6f,
-  0x79b91ca4, 0x7999dec4,
-  0x797a55e0, 0x795a820e, 0x793a6361, 0x7919f9ec, 0x78f945c3, 0x78d846fb,
-  0x78b6fda8, 0x789569df,
-  0x78738bb3, 0x7851633b, 0x782ef08b, 0x780c33b8, 0x77e92cd9, 0x77c5dc01,
-  0x77a24148, 0x777e5cc3,
-  0x775a2e89, 0x7735b6af, 0x7710f54c, 0x76ebea77, 0x76c69647, 0x76a0f8d2,
-  0x767b1231, 0x7654e279,
-  0x762e69c4, 0x7607a828, 0x75e09dbd, 0x75b94a9c, 0x7591aedd, 0x7569ca99,
-  0x75419de7, 0x751928e0,
-  0x74f06b9e, 0x74c7663a, 0x749e18cd, 0x74748371, 0x744aa63f, 0x74208150,
-  0x73f614c0, 0x73cb60a8,
-  0x73a06522, 0x73752249, 0x73499838, 0x731dc70a, 0x72f1aed9, 0x72c54fc1,
-  0x7298a9dd, 0x726bbd48,
-  0x723e8a20, 0x7211107e, 0x71e35080, 0x71b54a41, 0x7186fdde, 0x71586b74,
-  0x7129931f, 0x70fa74fc,
-  0x70cb1128, 0x709b67c0, 0x706b78e3, 0x703b44ad, 0x700acb3c, 0x6fda0cae,
-  0x6fa90921, 0x6f77c0b3,
-  0x6f463383, 0x6f1461b0, 0x6ee24b57, 0x6eaff099, 0x6e7d5193, 0x6e4a6e66,
-  0x6e174730, 0x6de3dc11,
-  0x6db02d29, 0x6d7c3a98, 0x6d48047e, 0x6d138afb, 0x6cdece2f, 0x6ca9ce3b,
-  0x6c748b3f, 0x6c3f055d,
-  0x6c093cb6, 0x6bd3316a, 0x6b9ce39b, 0x6b66536b, 0x6b2f80fb, 0x6af86c6c,
-  0x6ac115e2, 0x6a897d7d,
-  0x6a51a361, 0x6a1987b0, 0x69e12a8c, 0x69a88c19, 0x696fac78, 0x69368bce,
-  0x68fd2a3d, 0x68c387e9,
-  0x6889a4f6, 0x684f8186, 0x68151dbe, 0x67da79c3, 0x679f95b7, 0x676471c0,
-  0x67290e02, 0x66ed6aa1,
-  0x66b187c3, 0x6675658c, 0x66390422, 0x65fc63a9, 0x65bf8447, 0x65826622,
-  0x6545095f, 0x65076e25,
-  0x64c99498, 0x648b7ce0, 0x644d2722, 0x640e9386, 0x63cfc231, 0x6390b34a,
-  0x635166f9, 0x6311dd64,
-  0x62d216b3, 0x6292130c, 0x6251d298, 0x6211557e, 0x61d09be5, 0x618fa5f7,
-  0x614e73da, 0x610d05b7,
-  0x60cb5bb7, 0x60897601, 0x604754bf, 0x6004f819, 0x5fc26038, 0x5f7f8d46,
-  0x5f3c7f6b, 0x5ef936d1,
-  0x5eb5b3a2, 0x5e71f606, 0x5e2dfe29, 0x5de9cc33, 0x5da5604f, 0x5d60baa7,
-  0x5d1bdb65, 0x5cd6c2b5,
-  0x5c9170bf, 0x5c4be5b0, 0x5c0621b2, 0x5bc024f0, 0x5b79ef96, 0x5b3381ce,
-  0x5aecdbc5, 0x5aa5fda5,
-  0x5a5ee79a, 0x5a1799d1, 0x59d01475, 0x598857b2, 0x594063b5, 0x58f838a9,
-  0x58afd6bd, 0x58673e1b,
-  0x581e6ef1, 0x57d5696d, 0x578c2dba, 0x5742bc06, 0x56f9147e, 0x56af3750,
-  0x566524aa, 0x561adcb9,
-  0x55d05faa, 0x5585adad, 0x553ac6ee, 0x54efab9c, 0x54a45be6, 0x5458d7f9,
-  0x540d2005, 0x53c13439,
-  0x537514c2, 0x5328c1d0, 0x52dc3b92, 0x528f8238, 0x524295f0, 0x51f576ea,
-  0x51a82555, 0x515aa162,
-  0x510ceb40, 0x50bf031f, 0x5070e92f, 0x50229da1, 0x4fd420a4, 0x4f857269,
-  0x4f369320, 0x4ee782fb,
-  0x4e984229, 0x4e48d0dd, 0x4df92f46, 0x4da95d96, 0x4d595bfe, 0x4d092ab0,
-  0x4cb8c9dd, 0x4c6839b7,
-  0x4c177a6e, 0x4bc68c36, 0x4b756f40, 0x4b2423be, 0x4ad2a9e2, 0x4a8101de,
-  0x4a2f2be6, 0x49dd282a,
-  0x498af6df, 0x49389836, 0x48e60c62, 0x48935397, 0x48406e08, 0x47ed5be6,
-  0x479a1d67, 0x4746b2bc,
-  0x46f31c1a, 0x469f59b4, 0x464b6bbe, 0x45f7526b, 0x45a30df0, 0x454e9e80,
-  0x44fa0450, 0x44a53f93,
-  0x4450507e, 0x43fb3746, 0x43a5f41e, 0x4350873c, 0x42faf0d4, 0x42a5311b,
-  0x424f4845, 0x41f93689,
-  0x41a2fc1a, 0x414c992f, 0x40f60dfb, 0x409f5ab6, 0x40487f94, 0x3ff17cca,
-  0x3f9a5290, 0x3f430119,
-  0x3eeb889c, 0x3e93e950, 0x3e3c2369, 0x3de4371f, 0x3d8c24a8, 0x3d33ec39,
-  0x3cdb8e09, 0x3c830a50,
-  0x3c2a6142, 0x3bd19318, 0x3b78a007, 0x3b1f8848, 0x3ac64c0f, 0x3a6ceb96,
-  0x3a136712, 0x39b9bebc,
-  0x395ff2c9, 0x39060373, 0x38abf0ef, 0x3851bb77, 0x37f76341, 0x379ce885,
-  0x37424b7b, 0x36e78c5b,
-  0x368cab5c, 0x3631a8b8, 0x35d684a6, 0x357b3f5d, 0x351fd918, 0x34c4520d,
-  0x3468aa76, 0x340ce28b,
-  0x33b0fa84, 0x3354f29b, 0x32f8cb07, 0x329c8402, 0x32401dc6, 0x31e39889,
-  0x3186f487, 0x312a31f8,
-  0x30cd5115, 0x30705217, 0x30133539, 0x2fb5fab2, 0x2f58a2be, 0x2efb2d95,
-  0x2e9d9b70, 0x2e3fec8b,
-  0x2de2211e, 0x2d843964, 0x2d263596, 0x2cc815ee, 0x2c69daa6, 0x2c0b83fa,
-  0x2bad1221, 0x2b4e8558,
-  0x2aefddd8, 0x2a911bdc, 0x2a323f9e, 0x29d34958, 0x29743946, 0x29150fa1,
-  0x28b5cca5, 0x2856708d,
-  0x27f6fb92, 0x27976df1, 0x2737c7e3, 0x26d809a5, 0x26783370, 0x26184581,
-  0x25b84012, 0x2558235f,
-  0x24f7efa2, 0x2497a517, 0x243743fa, 0x23d6cc87, 0x23763ef7, 0x23159b88,
-  0x22b4e274, 0x225413f8,
-  0x21f3304f, 0x219237b5, 0x21312a65, 0x20d0089c, 0x206ed295, 0x200d888d,
-  0x1fac2abf, 0x1f4ab968,
-  0x1ee934c3, 0x1e879d0d, 0x1e25f282, 0x1dc4355e, 0x1d6265dd, 0x1d00843d,
-  0x1c9e90b8, 0x1c3c8b8c,
-  0x1bda74f6, 0x1b784d30, 0x1b161479, 0x1ab3cb0d, 0x1a517128, 0x19ef0707,
-  0x198c8ce7, 0x192a0304,
-  0x18c7699b, 0x1864c0ea, 0x1802092c, 0x179f429f, 0x173c6d80, 0x16d98a0c,
-  0x1676987f, 0x16139918,
-  0x15b08c12, 0x154d71aa, 0x14ea4a1f, 0x148715ae, 0x1423d492, 0x13c0870a,
-  0x135d2d53, 0x12f9c7aa,
-  0x1296564d, 0x1232d979, 0x11cf516a, 0x116bbe60, 0x11082096, 0x10a4784b,
-  0x1040c5bb, 0xfdd0926,
-  0xf7942c7, 0xf1572dc, 0xeb199a4, 0xe4db75b, 0xde9cc40, 0xd85d88f, 0xd21dc87,
-  0xcbdd865,
-  0xc59cc68, 0xbf5b8cb, 0xb919dcf, 0xb2d7baf, 0xac952aa, 0xa6522fe, 0xa00ece8,
-  0x99cb0a7,
-  0x9386e78, 0x8d42699, 0x86fd947, 0x80b86c2, 0x7a72f45, 0x742d311, 0x6de7262,
-  0x67a0d76,
-  0x615a48b, 0x5b137df, 0x54cc7b1, 0x4e8543e, 0x483ddc3, 0x41f6480, 0x3bae8b2,
-  0x3566a96,
-  0x2f1ea6c, 0x28d6870, 0x228e4e2, 0x1c45ffe, 0x15fda03, 0xfb5330, 0x96cbc1,
-  0x3243f5,
-};
-
-static const q31_t cos_factorsQ31_2048[2048] = {
-  0x7fffff62, 0x7ffffa73, 0x7ffff094, 0x7fffe1c6, 0x7fffce09, 0x7fffb55c,
-  0x7fff97c1, 0x7fff7536,
-  0x7fff4dbb, 0x7fff2151, 0x7ffeeff8, 0x7ffeb9b0, 0x7ffe7e79, 0x7ffe3e52,
-  0x7ffdf93c, 0x7ffdaf37,
-  0x7ffd6042, 0x7ffd0c5f, 0x7ffcb38c, 0x7ffc55ca, 0x7ffbf319, 0x7ffb8b78,
-  0x7ffb1ee9, 0x7ffaad6a,
-  0x7ffa36fc, 0x7ff9bba0, 0x7ff93b54, 0x7ff8b619, 0x7ff82bef, 0x7ff79cd6,
-  0x7ff708ce, 0x7ff66fd7,
-  0x7ff5d1f1, 0x7ff52f1d, 0x7ff48759, 0x7ff3daa6, 0x7ff32905, 0x7ff27275,
-  0x7ff1b6f6, 0x7ff0f688,
-  0x7ff0312c, 0x7fef66e1, 0x7fee97a7, 0x7fedc37e, 0x7fecea67, 0x7fec0c62,
-  0x7feb296d, 0x7fea418b,
-  0x7fe954ba, 0x7fe862fa, 0x7fe76c4c, 0x7fe670b0, 0x7fe57025, 0x7fe46aac,
-  0x7fe36045, 0x7fe250ef,
-  0x7fe13cac, 0x7fe0237a, 0x7fdf055a, 0x7fdde24d, 0x7fdcba51, 0x7fdb8d67,
-  0x7fda5b8f, 0x7fd924ca,
-  0x7fd7e917, 0x7fd6a875, 0x7fd562e7, 0x7fd4186a, 0x7fd2c900, 0x7fd174a8,
-  0x7fd01b63, 0x7fcebd31,
-  0x7fcd5a11, 0x7fcbf203, 0x7fca8508, 0x7fc91320, 0x7fc79c4b, 0x7fc62089,
-  0x7fc49fda, 0x7fc31a3d,
-  0x7fc18fb4, 0x7fc0003e, 0x7fbe6bdb, 0x7fbcd28b, 0x7fbb344e, 0x7fb99125,
-  0x7fb7e90f, 0x7fb63c0d,
-  0x7fb48a1e, 0x7fb2d343, 0x7fb1177b, 0x7faf56c7, 0x7fad9127, 0x7fabc69b,
-  0x7fa9f723, 0x7fa822bf,
-  0x7fa6496e, 0x7fa46b32, 0x7fa2880b, 0x7fa09ff7, 0x7f9eb2f8, 0x7f9cc10d,
-  0x7f9aca37, 0x7f98ce76,
-  0x7f96cdc9, 0x7f94c831, 0x7f92bdad, 0x7f90ae3f, 0x7f8e99e6, 0x7f8c80a1,
-  0x7f8a6272, 0x7f883f58,
-  0x7f861753, 0x7f83ea64, 0x7f81b88a, 0x7f7f81c6, 0x7f7d4617, 0x7f7b057e,
-  0x7f78bffb, 0x7f76758e,
-  0x7f742637, 0x7f71d1f6, 0x7f6f78cb, 0x7f6d1ab6, 0x7f6ab7b8, 0x7f684fd0,
-  0x7f65e2ff, 0x7f637144,
-  0x7f60faa0, 0x7f5e7f13, 0x7f5bfe9d, 0x7f59793e, 0x7f56eef5, 0x7f545fc5,
-  0x7f51cbab, 0x7f4f32a9,
-  0x7f4c94be, 0x7f49f1eb, 0x7f474a30, 0x7f449d8c, 0x7f41ec01, 0x7f3f358d,
-  0x7f3c7a31, 0x7f39b9ee,
-  0x7f36f4c3, 0x7f342ab1, 0x7f315bb7, 0x7f2e87d6, 0x7f2baf0d, 0x7f28d15d,
-  0x7f25eec7, 0x7f230749,
-  0x7f201ae5, 0x7f1d299a, 0x7f1a3368, 0x7f173850, 0x7f143852, 0x7f11336d,
-  0x7f0e29a3, 0x7f0b1af2,
-  0x7f08075c, 0x7f04eedf, 0x7f01d17d, 0x7efeaf36, 0x7efb8809, 0x7ef85bf7,
-  0x7ef52b00, 0x7ef1f524,
-  0x7eeeba62, 0x7eeb7abc, 0x7ee83632, 0x7ee4ecc3, 0x7ee19e6f, 0x7ede4b38,
-  0x7edaf31c, 0x7ed7961c,
-  0x7ed43438, 0x7ed0cd70, 0x7ecd61c5, 0x7ec9f137, 0x7ec67bc5, 0x7ec3016f,
-  0x7ebf8237, 0x7ebbfe1c,
-  0x7eb8751e, 0x7eb4e73d, 0x7eb1547a, 0x7eadbcd4, 0x7eaa204c, 0x7ea67ee2,
-  0x7ea2d896, 0x7e9f2d68,
-  0x7e9b7d58, 0x7e97c867, 0x7e940e94, 0x7e904fe0, 0x7e8c8c4b, 0x7e88c3d5,
-  0x7e84f67e, 0x7e812447,
-  0x7e7d4d2f, 0x7e797136, 0x7e75905d, 0x7e71aaa4, 0x7e6dc00c, 0x7e69d093,
-  0x7e65dc3b, 0x7e61e303,
-  0x7e5de4ec, 0x7e59e1f5, 0x7e55da20, 0x7e51cd6c, 0x7e4dbbd9, 0x7e49a567,
-  0x7e458a17, 0x7e4169e9,
-  0x7e3d44dd, 0x7e391af3, 0x7e34ec2b, 0x7e30b885, 0x7e2c8002, 0x7e2842a2,
-  0x7e240064, 0x7e1fb94a,
-  0x7e1b6d53, 0x7e171c7f, 0x7e12c6ce, 0x7e0e6c42, 0x7e0a0cd9, 0x7e05a894,
-  0x7e013f74, 0x7dfcd178,
-  0x7df85ea0, 0x7df3e6ee, 0x7def6a60, 0x7deae8f7, 0x7de662b3, 0x7de1d795,
-  0x7ddd479d, 0x7dd8b2ca,
-  0x7dd4191d, 0x7dcf7a96, 0x7dcad736, 0x7dc62efc, 0x7dc181e8, 0x7dbccffc,
-  0x7db81936, 0x7db35d98,
-  0x7dae9d21, 0x7da9d7d2, 0x7da50dab, 0x7da03eab, 0x7d9b6ad3, 0x7d969224,
-  0x7d91b49e, 0x7d8cd240,
-  0x7d87eb0a, 0x7d82fefe, 0x7d7e0e1c, 0x7d791862, 0x7d741dd2, 0x7d6f1e6c,
-  0x7d6a1a31, 0x7d65111f,
-  0x7d600338, 0x7d5af07b, 0x7d55d8e9, 0x7d50bc82, 0x7d4b9b46, 0x7d467536,
-  0x7d414a51, 0x7d3c1a98,
-  0x7d36e60b, 0x7d31acaa, 0x7d2c6e76, 0x7d272b6e, 0x7d21e393, 0x7d1c96e5,
-  0x7d174564, 0x7d11ef11,
-  0x7d0c93eb, 0x7d0733f3, 0x7d01cf29, 0x7cfc658d, 0x7cf6f720, 0x7cf183e1,
-  0x7cec0bd1, 0x7ce68ef0,
-  0x7ce10d3f, 0x7cdb86bd, 0x7cd5fb6a, 0x7cd06b48, 0x7ccad656, 0x7cc53c94,
-  0x7cbf9e03, 0x7cb9faa2,
-  0x7cb45272, 0x7caea574, 0x7ca8f3a7, 0x7ca33d0c, 0x7c9d81a3, 0x7c97c16b,
-  0x7c91fc66, 0x7c8c3294,
-  0x7c8663f4, 0x7c809088, 0x7c7ab84e, 0x7c74db48, 0x7c6ef976, 0x7c6912d7,
-  0x7c63276d, 0x7c5d3737,
-  0x7c574236, 0x7c514869, 0x7c4b49d2, 0x7c45466f, 0x7c3f3e42, 0x7c39314b,
-  0x7c331f8a, 0x7c2d08ff,
-  0x7c26edab, 0x7c20cd8d, 0x7c1aa8a6, 0x7c147ef6, 0x7c0e507e, 0x7c081d3d,
-  0x7c01e534, 0x7bfba863,
-  0x7bf566cb, 0x7bef206b, 0x7be8d544, 0x7be28556, 0x7bdc30a1, 0x7bd5d726,
-  0x7bcf78e5, 0x7bc915dd,
-  0x7bc2ae10, 0x7bbc417e, 0x7bb5d026, 0x7baf5a09, 0x7ba8df28, 0x7ba25f82,
-  0x7b9bdb18, 0x7b9551ea,
-  0x7b8ec3f8, 0x7b883143, 0x7b8199ca, 0x7b7afd8f, 0x7b745c91, 0x7b6db6d0,
-  0x7b670c4d, 0x7b605d09,
-  0x7b59a902, 0x7b52f03a, 0x7b4c32b1, 0x7b457068, 0x7b3ea95d, 0x7b37dd92,
-  0x7b310d07, 0x7b2a37bc,
-  0x7b235db2, 0x7b1c7ee8, 0x7b159b5f, 0x7b0eb318, 0x7b07c612, 0x7b00d44d,
-  0x7af9ddcb, 0x7af2e28b,
-  0x7aebe28d, 0x7ae4ddd2, 0x7addd45b, 0x7ad6c626, 0x7acfb336, 0x7ac89b89,
-  0x7ac17f20, 0x7aba5dfc,
-  0x7ab3381d, 0x7aac0d82, 0x7aa4de2d, 0x7a9daa1d, 0x7a967153, 0x7a8f33d0,
-  0x7a87f192, 0x7a80aa9c,
-  0x7a795eec, 0x7a720e84, 0x7a6ab963, 0x7a635f8a, 0x7a5c00f9, 0x7a549db0,
-  0x7a4d35b0, 0x7a45c8f9,
-  0x7a3e578b, 0x7a36e166, 0x7a2f668c, 0x7a27e6fb, 0x7a2062b5, 0x7a18d9b9,
-  0x7a114c09, 0x7a09b9a4,
-  0x7a02228a, 0x79fa86bc, 0x79f2e63a, 0x79eb4105, 0x79e3971c, 0x79dbe880,
-  0x79d43532, 0x79cc7d31,
-  0x79c4c07e, 0x79bcff19, 0x79b53903, 0x79ad6e3c, 0x79a59ec3, 0x799dca9a,
-  0x7995f1c1, 0x798e1438,
-  0x798631ff, 0x797e4b16, 0x79765f7f, 0x796e6f39, 0x79667a44, 0x795e80a1,
-  0x79568250, 0x794e7f52,
-  0x794677a6, 0x793e6b4e, 0x79365a49, 0x792e4497, 0x79262a3a, 0x791e0b31,
-  0x7915e77c, 0x790dbf1d,
-  0x79059212, 0x78fd605d, 0x78f529fe, 0x78eceef6, 0x78e4af44, 0x78dc6ae8,
-  0x78d421e4, 0x78cbd437,
-  0x78c381e2, 0x78bb2ae5, 0x78b2cf41, 0x78aa6ef5, 0x78a20a03, 0x7899a06a,
-  0x7891322a, 0x7888bf45,
-  0x788047ba, 0x7877cb89, 0x786f4ab4, 0x7866c53a, 0x785e3b1c, 0x7855ac5a,
-  0x784d18f4, 0x784480ea,
-  0x783be43e, 0x783342ef, 0x782a9cfe, 0x7821f26b, 0x78194336, 0x78108f60,
-  0x7807d6e9, 0x77ff19d1,
-  0x77f65819, 0x77ed91c0, 0x77e4c6c9, 0x77dbf732, 0x77d322fc, 0x77ca4a27,
-  0x77c16cb4, 0x77b88aa3,
-  0x77afa3f5, 0x77a6b8a9, 0x779dc8c0, 0x7794d43b, 0x778bdb19, 0x7782dd5c,
-  0x7779db03, 0x7770d40f,
-  0x7767c880, 0x775eb857, 0x7755a394, 0x774c8a36, 0x77436c40, 0x773a49b0,
-  0x77312287, 0x7727f6c6,
-  0x771ec66e, 0x7715917d, 0x770c57f5, 0x770319d6, 0x76f9d721, 0x76f08fd5,
-  0x76e743f4, 0x76ddf37c,
-  0x76d49e70, 0x76cb44cf, 0x76c1e699, 0x76b883d0, 0x76af1c72, 0x76a5b082,
-  0x769c3ffe, 0x7692cae8,
-  0x7689513f, 0x767fd304, 0x76765038, 0x766cc8db, 0x76633ced, 0x7659ac6f,
-  0x76501760, 0x76467dc2,
-  0x763cdf94, 0x76333cd8, 0x7629958c, 0x761fe9b3, 0x7616394c, 0x760c8457,
-  0x7602cad5, 0x75f90cc7,
-  0x75ef4a2c, 0x75e58305, 0x75dbb753, 0x75d1e715, 0x75c8124d, 0x75be38fa,
-  0x75b45b1d, 0x75aa78b6,
-  0x75a091c6, 0x7596a64d, 0x758cb64c, 0x7582c1c2, 0x7578c8b0, 0x756ecb18,
-  0x7564c8f8, 0x755ac251,
-  0x7550b725, 0x7546a772, 0x753c933a, 0x75327a7d, 0x75285d3b, 0x751e3b75,
-  0x7514152b, 0x7509ea5d,
-  0x74ffbb0d, 0x74f58739, 0x74eb4ee3, 0x74e1120c, 0x74d6d0b2, 0x74cc8ad8,
-  0x74c2407d, 0x74b7f1a1,
-  0x74ad9e46, 0x74a3466b, 0x7498ea11, 0x748e8938, 0x748423e0, 0x7479ba0b,
-  0x746f4bb8, 0x7464d8e8,
-  0x745a619b, 0x744fe5d2, 0x7445658d, 0x743ae0cc, 0x74305790, 0x7425c9da,
-  0x741b37a9, 0x7410a0fe,
-  0x740605d9, 0x73fb663c, 0x73f0c226, 0x73e61997, 0x73db6c91, 0x73d0bb13,
-  0x73c6051f, 0x73bb4ab3,
-  0x73b08bd1, 0x73a5c87a, 0x739b00ad, 0x7390346b, 0x738563b5, 0x737a8e8a,
-  0x736fb4ec, 0x7364d6da,
-  0x7359f456, 0x734f0d5f, 0x734421f6, 0x7339321b, 0x732e3dcf, 0x73234512,
-  0x731847e5, 0x730d4648,
-  0x7302403c, 0x72f735c0, 0x72ec26d6, 0x72e1137d, 0x72d5fbb7, 0x72cadf83,
-  0x72bfbee3, 0x72b499d6,
-  0x72a9705c, 0x729e4277, 0x72931027, 0x7287d96c, 0x727c9e47, 0x72715eb8,
-  0x72661abf, 0x725ad25d,
-  0x724f8593, 0x72443460, 0x7238dec5, 0x722d84c4, 0x7222265b, 0x7216c38c,
-  0x720b5c57, 0x71fff0bc,
-  0x71f480bc, 0x71e90c57, 0x71dd938f, 0x71d21662, 0x71c694d2, 0x71bb0edf,
-  0x71af848a, 0x71a3f5d2,
-  0x719862b9, 0x718ccb3f, 0x71812f65, 0x71758f29, 0x7169ea8f, 0x715e4194,
-  0x7152943b, 0x7146e284,
-  0x713b2c6e, 0x712f71fb, 0x7123b32b, 0x7117effe, 0x710c2875, 0x71005c90,
-  0x70f48c50, 0x70e8b7b5,
-  0x70dcdec0, 0x70d10171, 0x70c51fc8, 0x70b939c7, 0x70ad4f6d, 0x70a160ba,
-  0x70956db1, 0x70897650,
-  0x707d7a98, 0x70717a8a, 0x70657626, 0x70596d6d, 0x704d6060, 0x70414efd,
-  0x70353947, 0x70291f3e,
-  0x701d00e1, 0x7010de32, 0x7004b731, 0x6ff88bde, 0x6fec5c3b, 0x6fe02846,
-  0x6fd3f001, 0x6fc7b36d,
-  0x6fbb728a, 0x6faf2d57, 0x6fa2e3d7, 0x6f969608, 0x6f8a43ed, 0x6f7ded84,
-  0x6f7192cf, 0x6f6533ce,
-  0x6f58d082, 0x6f4c68eb, 0x6f3ffd09, 0x6f338cde, 0x6f271868, 0x6f1a9faa,
-  0x6f0e22a3, 0x6f01a155,
-  0x6ef51bbe, 0x6ee891e1, 0x6edc03bc, 0x6ecf7152, 0x6ec2daa2, 0x6eb63fad,
-  0x6ea9a073, 0x6e9cfcf5,
-  0x6e905534, 0x6e83a92f, 0x6e76f8e7, 0x6e6a445d, 0x6e5d8b91, 0x6e50ce84,
-  0x6e440d37, 0x6e3747a9,
-  0x6e2a7ddb, 0x6e1dafce, 0x6e10dd82, 0x6e0406f8, 0x6df72c30, 0x6dea4d2b,
-  0x6ddd69e9, 0x6dd0826a,
-  0x6dc396b0, 0x6db6a6ba, 0x6da9b28a, 0x6d9cba1f, 0x6d8fbd7a, 0x6d82bc9d,
-  0x6d75b786, 0x6d68ae37,
-  0x6d5ba0b0, 0x6d4e8ef2, 0x6d4178fd, 0x6d345ed1, 0x6d274070, 0x6d1a1dda,
-  0x6d0cf70f, 0x6cffcc0f,
-  0x6cf29cdc, 0x6ce56975, 0x6cd831dc, 0x6ccaf610, 0x6cbdb613, 0x6cb071e4,
-  0x6ca32985, 0x6c95dcf6,
-  0x6c888c36, 0x6c7b3748, 0x6c6dde2b, 0x6c6080e0, 0x6c531f67, 0x6c45b9c1,
-  0x6c384fef, 0x6c2ae1f0,
-  0x6c1d6fc6, 0x6c0ff971, 0x6c027ef1, 0x6bf50047, 0x6be77d74, 0x6bd9f677,
-  0x6bcc6b53, 0x6bbedc06,
-  0x6bb14892, 0x6ba3b0f7, 0x6b961536, 0x6b88754f, 0x6b7ad142, 0x6b6d2911,
-  0x6b5f7cbc, 0x6b51cc42,
-  0x6b4417a6, 0x6b365ee7, 0x6b28a206, 0x6b1ae103, 0x6b0d1bdf, 0x6aff529a,
-  0x6af18536, 0x6ae3b3b2,
-  0x6ad5de0f, 0x6ac8044e, 0x6aba266e, 0x6aac4472, 0x6a9e5e58, 0x6a907423,
-  0x6a8285d1, 0x6a749365,
-  0x6a669cdd, 0x6a58a23c, 0x6a4aa381, 0x6a3ca0ad, 0x6a2e99c0, 0x6a208ebb,
-  0x6a127f9f, 0x6a046c6c,
-  0x69f65523, 0x69e839c4, 0x69da1a50, 0x69cbf6c7, 0x69bdcf29, 0x69afa378,
-  0x69a173b5, 0x69933fde,
-  0x698507f6, 0x6976cbfc, 0x69688bf1, 0x695a47d6, 0x694bffab, 0x693db371,
-  0x692f6328, 0x69210ed1,
-  0x6912b66c, 0x690459fb, 0x68f5f97d, 0x68e794f3, 0x68d92c5d, 0x68cabfbd,
-  0x68bc4f13, 0x68adda5f,
-  0x689f61a1, 0x6890e4dc, 0x6882640e, 0x6873df38, 0x6865565c, 0x6856c979,
-  0x68483891, 0x6839a3a4,
-  0x682b0ab1, 0x681c6dbb, 0x680dccc1, 0x67ff27c4, 0x67f07ec5, 0x67e1d1c4,
-  0x67d320c1, 0x67c46bbe,
-  0x67b5b2bb, 0x67a6f5b8, 0x679834b6, 0x67896fb6, 0x677aa6b8, 0x676bd9bd,
-  0x675d08c4, 0x674e33d0,
-  0x673f5ae0, 0x67307df5, 0x67219d10, 0x6712b831, 0x6703cf58, 0x66f4e287,
-  0x66e5f1be, 0x66d6fcfd,
-  0x66c80445, 0x66b90797, 0x66aa06f3, 0x669b0259, 0x668bf9cb, 0x667ced49,
-  0x666ddcd3, 0x665ec86b,
-  0x664fb010, 0x664093c3, 0x66317385, 0x66224f56, 0x66132738, 0x6603fb2a,
-  0x65f4cb2d, 0x65e59742,
-  0x65d65f69, 0x65c723a3, 0x65b7e3f1, 0x65a8a052, 0x659958c9, 0x658a0d54,
-  0x657abdf6, 0x656b6aae,
-  0x655c137d, 0x654cb863, 0x653d5962, 0x652df679, 0x651e8faa, 0x650f24f5,
-  0x64ffb65b, 0x64f043dc,
-  0x64e0cd78, 0x64d15331, 0x64c1d507, 0x64b252fa, 0x64a2cd0c, 0x6493433c,
-  0x6483b58c, 0x647423fb,
-  0x64648e8c, 0x6454f53d, 0x64455810, 0x6435b706, 0x6426121e, 0x6416695a,
-  0x6406bcba, 0x63f70c3f,
-  0x63e757ea, 0x63d79fba, 0x63c7e3b1, 0x63b823cf, 0x63a86015, 0x63989884,
-  0x6388cd1b, 0x6378fddc,
-  0x63692ac7, 0x635953dd, 0x6349791f, 0x63399a8d, 0x6329b827, 0x6319d1ef,
-  0x6309e7e4, 0x62f9fa09,
-  0x62ea085c, 0x62da12df, 0x62ca1992, 0x62ba1c77, 0x62aa1b8d, 0x629a16d5,
-  0x628a0e50, 0x627a01fe,
-  0x6269f1e1, 0x6259ddf8, 0x6249c645, 0x6239aac7, 0x62298b81, 0x62196871,
-  0x62094199, 0x61f916f9,
-  0x61e8e893, 0x61d8b666, 0x61c88074, 0x61b846bc, 0x61a80940, 0x6197c800,
-  0x618782fd, 0x61773a37,
-  0x6166edb0, 0x61569d67, 0x6146495d, 0x6135f193, 0x6125960a, 0x611536c2,
-  0x6104d3bc, 0x60f46cf9,
-  0x60e40278, 0x60d3943b, 0x60c32243, 0x60b2ac8f, 0x60a23322, 0x6091b5fa,
-  0x60813519, 0x6070b080,
-  0x6060282f, 0x604f9c27, 0x603f0c69, 0x602e78f4, 0x601de1ca, 0x600d46ec,
-  0x5ffca859, 0x5fec0613,
-  0x5fdb601b, 0x5fcab670, 0x5fba0914, 0x5fa95807, 0x5f98a34a, 0x5f87eade,
-  0x5f772ec2, 0x5f666ef9,
-  0x5f55ab82, 0x5f44e45e, 0x5f34198e, 0x5f234b12, 0x5f1278eb, 0x5f01a31a,
-  0x5ef0c99f, 0x5edfec7b,
-  0x5ecf0baf, 0x5ebe273b, 0x5ead3f1f, 0x5e9c535e, 0x5e8b63f7, 0x5e7a70ea,
-  0x5e697a39, 0x5e587fe5,
-  0x5e4781ed, 0x5e368053, 0x5e257b17, 0x5e147239, 0x5e0365bb, 0x5df2559e,
-  0x5de141e1, 0x5dd02a85,
-  0x5dbf0f8c, 0x5dadf0f5, 0x5d9ccec2, 0x5d8ba8f3, 0x5d7a7f88, 0x5d695283,
-  0x5d5821e4, 0x5d46edac,
-  0x5d35b5db, 0x5d247a72, 0x5d133b72, 0x5d01f8dc, 0x5cf0b2af, 0x5cdf68ed,
-  0x5cce1b97, 0x5cbccaac,
-  0x5cab762f, 0x5c9a1e1e, 0x5c88c27c, 0x5c776348, 0x5c660084, 0x5c549a30,
-  0x5c43304d, 0x5c31c2db,
-  0x5c2051db, 0x5c0edd4e, 0x5bfd6534, 0x5bebe98e, 0x5bda6a5d, 0x5bc8e7a2,
-  0x5bb7615d, 0x5ba5d78e,
-  0x5b944a37, 0x5b82b958, 0x5b7124f2, 0x5b5f8d06, 0x5b4df193, 0x5b3c529c,
-  0x5b2ab020, 0x5b190a20,
-  0x5b07609d, 0x5af5b398, 0x5ae40311, 0x5ad24f09, 0x5ac09781, 0x5aaedc78,
-  0x5a9d1df1, 0x5a8b5bec,
-  0x5a799669, 0x5a67cd69, 0x5a5600ec, 0x5a4430f5, 0x5a325d82, 0x5a208695,
-  0x5a0eac2e, 0x59fcce4f,
-  0x59eaecf8, 0x59d90829, 0x59c71fe3, 0x59b53427, 0x59a344f6, 0x59915250,
-  0x597f5c36, 0x596d62a9,
-  0x595b65aa, 0x59496538, 0x59376155, 0x59255a02, 0x59134f3e, 0x5901410c,
-  0x58ef2f6b, 0x58dd1a5d,
-  0x58cb01e1, 0x58b8e5f9, 0x58a6c6a5, 0x5894a3e7, 0x58827dbe, 0x5870542c,
-  0x585e2730, 0x584bf6cd,
-  0x5839c302, 0x58278bd1, 0x58155139, 0x5803133c, 0x57f0d1da, 0x57de8d15,
-  0x57cc44ec, 0x57b9f960,
-  0x57a7aa73, 0x57955825, 0x57830276, 0x5770a968, 0x575e4cfa, 0x574bed2f,
-  0x57398a05, 0x5727237f,
-  0x5714b99d, 0x57024c5f, 0x56efdbc7, 0x56dd67d4, 0x56caf088, 0x56b875e4,
-  0x56a5f7e7, 0x56937694,
-  0x5680f1ea, 0x566e69ea, 0x565bde95, 0x56494fec, 0x5636bdef, 0x5624289f,
-  0x56118ffe, 0x55fef40a,
-  0x55ec54c6, 0x55d9b232, 0x55c70c4f, 0x55b4631d, 0x55a1b69d, 0x558f06d0,
-  0x557c53b6, 0x55699d51,
-  0x5556e3a1, 0x554426a7, 0x55316663, 0x551ea2d6, 0x550bdc01, 0x54f911e5,
-  0x54e64482, 0x54d373d9,
-  0x54c09feb, 0x54adc8b8, 0x549aee42, 0x54881089, 0x54752f8d, 0x54624b50,
-  0x544f63d2, 0x543c7914,
-  0x54298b17, 0x541699db, 0x5403a561, 0x53f0adaa, 0x53ddb2b6, 0x53cab486,
-  0x53b7b31c, 0x53a4ae77,
-  0x5391a699, 0x537e9b82, 0x536b8d33, 0x53587bad, 0x534566f0, 0x53324efd,
-  0x531f33d5, 0x530c1579,
-  0x52f8f3e9, 0x52e5cf27, 0x52d2a732, 0x52bf7c0b, 0x52ac4db4, 0x52991c2d,
-  0x5285e777, 0x5272af92,
-  0x525f7480, 0x524c3640, 0x5238f4d4, 0x5225b03d, 0x5212687b, 0x51ff1d8f,
-  0x51ebcf7a, 0x51d87e3c,
-  0x51c529d7, 0x51b1d24a, 0x519e7797, 0x518b19bf, 0x5177b8c2, 0x516454a0,
-  0x5150ed5c, 0x513d82f4,
-  0x512a156b, 0x5116a4c1, 0x510330f7, 0x50efba0d, 0x50dc4005, 0x50c8c2de,
-  0x50b5429a, 0x50a1bf39,
-  0x508e38bd, 0x507aaf25, 0x50672273, 0x505392a8, 0x503fffc4, 0x502c69c8,
-  0x5018d0b4, 0x5005348a,
-  0x4ff1954b, 0x4fddf2f6, 0x4fca4d8d, 0x4fb6a510, 0x4fa2f981, 0x4f8f4ae0,
-  0x4f7b992d, 0x4f67e46a,
-  0x4f542c98, 0x4f4071b6, 0x4f2cb3c7, 0x4f18f2c9, 0x4f052ec0, 0x4ef167aa,
-  0x4edd9d89, 0x4ec9d05e,
-  0x4eb60029, 0x4ea22ceb, 0x4e8e56a5, 0x4e7a7d58, 0x4e66a105, 0x4e52c1ab,
-  0x4e3edf4d, 0x4e2af9ea,
-  0x4e171184, 0x4e03261b, 0x4def37b0, 0x4ddb4644, 0x4dc751d8, 0x4db35a6c,
-  0x4d9f6001, 0x4d8b6298,
-  0x4d776231, 0x4d635ece, 0x4d4f5870, 0x4d3b4f16, 0x4d2742c2, 0x4d133374,
-  0x4cff212e, 0x4ceb0bf0,
-  0x4cd6f3bb, 0x4cc2d88f, 0x4caeba6e, 0x4c9a9958, 0x4c86754e, 0x4c724e50,
-  0x4c5e2460, 0x4c49f77f,
-  0x4c35c7ac, 0x4c2194e9, 0x4c0d5f37, 0x4bf92697, 0x4be4eb08, 0x4bd0ac8d,
-  0x4bbc6b25, 0x4ba826d1,
-  0x4b93df93, 0x4b7f956b, 0x4b6b485a, 0x4b56f861, 0x4b42a580, 0x4b2e4fb8,
-  0x4b19f70a, 0x4b059b77,
-  0x4af13d00, 0x4adcdba5, 0x4ac87767, 0x4ab41046, 0x4a9fa645, 0x4a8b3963,
-  0x4a76c9a2, 0x4a625701,
-  0x4a4de182, 0x4a396926, 0x4a24edee, 0x4a106fda, 0x49fbeeea, 0x49e76b21,
-  0x49d2e47e, 0x49be5b02,
-  0x49a9ceaf, 0x49953f84, 0x4980ad84, 0x496c18ae, 0x49578103, 0x4942e684,
-  0x492e4933, 0x4919a90f,
-  0x4905061a, 0x48f06054, 0x48dbb7be, 0x48c70c59, 0x48b25e25, 0x489dad25,
-  0x4888f957, 0x487442be,
-  0x485f8959, 0x484acd2a, 0x48360e32, 0x48214c71, 0x480c87e8, 0x47f7c099,
-  0x47e2f682, 0x47ce29a7,
-  0x47b95a06, 0x47a487a2, 0x478fb27b, 0x477ada91, 0x4765ffe6, 0x4751227a,
-  0x473c424e, 0x47275f63,
-  0x471279ba, 0x46fd9154, 0x46e8a631, 0x46d3b852, 0x46bec7b8, 0x46a9d464,
-  0x4694de56, 0x467fe590,
-  0x466aea12, 0x4655ebdd, 0x4640eaf2, 0x462be751, 0x4616e0fc, 0x4601d7f3,
-  0x45eccc37, 0x45d7bdc9,
-  0x45c2acaa, 0x45ad98da, 0x4598825a, 0x4583692c, 0x456e4d4f, 0x45592ec6,
-  0x45440d90, 0x452ee9ae,
-  0x4519c321, 0x450499eb, 0x44ef6e0b, 0x44da3f83, 0x44c50e53, 0x44afda7d,
-  0x449aa400, 0x44856adf,
-  0x44702f19, 0x445af0b0, 0x4445afa4, 0x44306bf6, 0x441b25a8, 0x4405dcb9,
-  0x43f0912b, 0x43db42fe,
-  0x43c5f234, 0x43b09ecc, 0x439b48c9, 0x4385f02a, 0x437094f1, 0x435b371f,
-  0x4345d6b3, 0x433073b0,
-  0x431b0e15, 0x4305a5e5, 0x42f03b1e, 0x42dacdc3, 0x42c55dd4, 0x42afeb53,
-  0x429a763f, 0x4284fe99,
-  0x426f8463, 0x425a079e, 0x42448849, 0x422f0667, 0x421981f7, 0x4203fafb,
-  0x41ee7174, 0x41d8e561,
-  0x41c356c5, 0x41adc5a0, 0x419831f3, 0x41829bbe, 0x416d0302, 0x415767c1,
-  0x4141c9fb, 0x412c29b1,
-  0x411686e4, 0x4100e194, 0x40eb39c3, 0x40d58f71, 0x40bfe29f, 0x40aa334e,
-  0x4094817f, 0x407ecd32,
-  0x40691669, 0x40535d24, 0x403da165, 0x4027e32b, 0x40122278, 0x3ffc5f4d,
-  0x3fe699aa, 0x3fd0d191,
-  0x3fbb0702, 0x3fa539fd, 0x3f8f6a85, 0x3f799899, 0x3f63c43b, 0x3f4ded6b,
-  0x3f38142a, 0x3f22387a,
-  0x3f0c5a5a, 0x3ef679cc, 0x3ee096d1, 0x3ecab169, 0x3eb4c995, 0x3e9edf57,
-  0x3e88f2ae, 0x3e73039d,
-  0x3e5d1222, 0x3e471e41, 0x3e3127f9, 0x3e1b2f4a, 0x3e053437, 0x3def36c0,
-  0x3dd936e6, 0x3dc334a9,
-  0x3dad300b, 0x3d97290b, 0x3d811fac, 0x3d6b13ee, 0x3d5505d2, 0x3d3ef559,
-  0x3d28e282, 0x3d12cd51,
-  0x3cfcb5c4, 0x3ce69bde, 0x3cd07f9f, 0x3cba6107, 0x3ca44018, 0x3c8e1cd3,
-  0x3c77f737, 0x3c61cf48,
-  0x3c4ba504, 0x3c35786d, 0x3c1f4983, 0x3c091849, 0x3bf2e4be, 0x3bdcaee3,
-  0x3bc676b9, 0x3bb03c42,
-  0x3b99ff7d, 0x3b83c06c, 0x3b6d7f10, 0x3b573b69, 0x3b40f579, 0x3b2aad3f,
-  0x3b1462be, 0x3afe15f6,
-  0x3ae7c6e7, 0x3ad17593, 0x3abb21fb, 0x3aa4cc1e, 0x3a8e7400, 0x3a78199f,
-  0x3a61bcfd, 0x3a4b5e1b,
-  0x3a34fcf9, 0x3a1e9999, 0x3a0833fc, 0x39f1cc21, 0x39db620b, 0x39c4f5ba,
-  0x39ae872f, 0x3998166a,
-  0x3981a36d, 0x396b2e38, 0x3954b6cd, 0x393e3d2c, 0x3927c155, 0x3911434b,
-  0x38fac30e, 0x38e4409e,
-  0x38cdbbfc, 0x38b7352a, 0x38a0ac29, 0x388a20f8, 0x38739399, 0x385d040d,
-  0x38467255, 0x382fde72,
-  0x38194864, 0x3802b02c, 0x37ec15cb, 0x37d57943, 0x37beda93, 0x37a839be,
-  0x379196c3, 0x377af1a3,
-  0x37644a60, 0x374da0fa, 0x3736f573, 0x372047ca, 0x37099802, 0x36f2e61a,
-  0x36dc3214, 0x36c57bf0,
-  0x36aec3b0, 0x36980954, 0x36814cde, 0x366a8e4d, 0x3653cda3, 0x363d0ae2,
-  0x36264609, 0x360f7f19,
-  0x35f8b614, 0x35e1eafa, 0x35cb1dcc, 0x35b44e8c, 0x359d7d39, 0x3586a9d5,
-  0x356fd461, 0x3558fcde,
-  0x3542234c, 0x352b47ad, 0x35146a00, 0x34fd8a48, 0x34e6a885, 0x34cfc4b7,
-  0x34b8dee1, 0x34a1f702,
-  0x348b0d1c, 0x3474212f, 0x345d333c, 0x34464345, 0x342f5149, 0x34185d4b,
-  0x3401674a, 0x33ea6f48,
-  0x33d37546, 0x33bc7944, 0x33a57b44, 0x338e7b46, 0x3377794b, 0x33607554,
-  0x33496f62, 0x33326776,
-  0x331b5d91, 0x330451b3, 0x32ed43de, 0x32d63412, 0x32bf2250, 0x32a80e99,
-  0x3290f8ef, 0x3279e151,
-  0x3262c7c1, 0x324bac40, 0x32348ecf, 0x321d6f6e, 0x32064e1e, 0x31ef2ae1,
-  0x31d805b7, 0x31c0dea1,
-  0x31a9b5a0, 0x31928ab4, 0x317b5de0, 0x31642f23, 0x314cfe7f, 0x3135cbf4,
-  0x311e9783, 0x3107612e,
-  0x30f028f4, 0x30d8eed8, 0x30c1b2da, 0x30aa74fa, 0x3093353a, 0x307bf39b,
-  0x3064b01d, 0x304d6ac1,
-  0x30362389, 0x301eda75, 0x30078f86, 0x2ff042bd, 0x2fd8f41b, 0x2fc1a3a0,
-  0x2faa514f, 0x2f92fd26,
-  0x2f7ba729, 0x2f644f56, 0x2f4cf5b0, 0x2f359a37, 0x2f1e3ced, 0x2f06ddd1,
-  0x2eef7ce5, 0x2ed81a29,
-  0x2ec0b5a0, 0x2ea94f49, 0x2e91e725, 0x2e7a7d36, 0x2e63117c, 0x2e4ba3f8,
-  0x2e3434ac, 0x2e1cc397,
-  0x2e0550bb, 0x2deddc19, 0x2dd665b2, 0x2dbeed86, 0x2da77397, 0x2d8ff7e5,
-  0x2d787a72, 0x2d60fb3e,
-  0x2d497a4a, 0x2d31f797, 0x2d1a7325, 0x2d02ecf7, 0x2ceb650d, 0x2cd3db67,
-  0x2cbc5006, 0x2ca4c2ed,
-  0x2c8d341a, 0x2c75a390, 0x2c5e114f, 0x2c467d58, 0x2c2ee7ad, 0x2c17504d,
-  0x2bffb73a, 0x2be81c74,
-  0x2bd07ffe, 0x2bb8e1d7, 0x2ba14200, 0x2b89a07b, 0x2b71fd48, 0x2b5a5868,
-  0x2b42b1dd, 0x2b2b09a6,
-  0x2b135fc6, 0x2afbb43c, 0x2ae4070a, 0x2acc5831, 0x2ab4a7b1, 0x2a9cf58c,
-  0x2a8541c3, 0x2a6d8c55,
-  0x2a55d545, 0x2a3e1c93, 0x2a266240, 0x2a0ea64d, 0x29f6e8bb, 0x29df298b,
-  0x29c768be, 0x29afa654,
-  0x2997e24f, 0x29801caf, 0x29685576, 0x29508ca4, 0x2938c23a, 0x2920f63a,
-  0x290928a3, 0x28f15978,
-  0x28d988b8, 0x28c1b666, 0x28a9e281, 0x28920d0a, 0x287a3604, 0x28625d6d,
-  0x284a8349, 0x2832a796,
-  0x281aca57, 0x2802eb8c, 0x27eb0b36, 0x27d32956, 0x27bb45ed, 0x27a360fc,
-  0x278b7a84, 0x27739285,
-  0x275ba901, 0x2743bdf9, 0x272bd16d, 0x2713e35f, 0x26fbf3ce, 0x26e402bd,
-  0x26cc102d, 0x26b41c1d,
-  0x269c268f, 0x26842f84, 0x266c36fe, 0x26543cfb, 0x263c417f, 0x26244489,
-  0x260c461b, 0x25f44635,
-  0x25dc44d9, 0x25c44207, 0x25ac3dc0, 0x25943806, 0x257c30d8, 0x25642839,
-  0x254c1e28, 0x253412a8,
-  0x251c05b8, 0x2503f75a, 0x24ebe78f, 0x24d3d657, 0x24bbc3b4, 0x24a3afa6,
-  0x248b9a2f, 0x2473834f,
-  0x245b6b07, 0x24435158, 0x242b3644, 0x241319ca, 0x23fafbec, 0x23e2dcac,
-  0x23cabc09, 0x23b29a05,
-  0x239a76a0, 0x238251dd, 0x236a2bba, 0x2352043b, 0x2339db5e, 0x2321b126,
-  0x23098593, 0x22f158a7,
-  0x22d92a61, 0x22c0fac4, 0x22a8c9cf, 0x22909785, 0x227863e5, 0x22602ef1,
-  0x2247f8aa, 0x222fc111,
-  0x22178826, 0x21ff4dea, 0x21e71260, 0x21ced586, 0x21b6975f, 0x219e57eb,
-  0x2186172b, 0x216dd521,
-  0x215591cc, 0x213d4d2f, 0x21250749, 0x210cc01d, 0x20f477aa, 0x20dc2df2,
-  0x20c3e2f5, 0x20ab96b5,
-  0x20934933, 0x207afa6f, 0x2062aa6b, 0x204a5927, 0x203206a4, 0x2019b2e4,
-  0x20015de7, 0x1fe907ae,
-  0x1fd0b03a, 0x1fb8578b, 0x1f9ffda4, 0x1f87a285, 0x1f6f462f, 0x1f56e8a2,
-  0x1f3e89e0, 0x1f2629ea,
-  0x1f0dc8c0, 0x1ef56664, 0x1edd02d6, 0x1ec49e17, 0x1eac3829, 0x1e93d10c,
-  0x1e7b68c2, 0x1e62ff4a,
-  0x1e4a94a7, 0x1e3228d9, 0x1e19bbe0, 0x1e014dbf, 0x1de8de75, 0x1dd06e04,
-  0x1db7fc6d, 0x1d9f89b1,
-  0x1d8715d0, 0x1d6ea0cc, 0x1d562aa6, 0x1d3db35e, 0x1d253af5, 0x1d0cc16c,
-  0x1cf446c5, 0x1cdbcb00,
-  0x1cc34e1f, 0x1caad021, 0x1c925109, 0x1c79d0d6, 0x1c614f8b, 0x1c48cd27,
-  0x1c3049ac, 0x1c17c51b,
-  0x1bff3f75, 0x1be6b8ba, 0x1bce30ec, 0x1bb5a80c, 0x1b9d1e1a, 0x1b849317,
-  0x1b6c0705, 0x1b5379e5,
-  0x1b3aebb6, 0x1b225c7b, 0x1b09cc34, 0x1af13ae3, 0x1ad8a887, 0x1ac01522,
-  0x1aa780b6, 0x1a8eeb42,
-  0x1a7654c8, 0x1a5dbd49, 0x1a4524c6, 0x1a2c8b3f, 0x1a13f0b6, 0x19fb552c,
-  0x19e2b8a2, 0x19ca1b17,
-  0x19b17c8f, 0x1998dd09, 0x19803c86, 0x19679b07, 0x194ef88e, 0x1936551b,
-  0x191db0af, 0x19050b4b,
-  0x18ec64f0, 0x18d3bda0, 0x18bb155a, 0x18a26c20, 0x1889c1f3, 0x187116d4,
-  0x18586ac3, 0x183fbdc3,
-  0x18270fd3, 0x180e60f4, 0x17f5b129, 0x17dd0070, 0x17c44ecd, 0x17ab9c3e,
-  0x1792e8c6, 0x177a3466,
-  0x17617f1d, 0x1748c8ee, 0x173011d9, 0x171759df, 0x16fea102, 0x16e5e741,
-  0x16cd2c9f, 0x16b4711b,
-  0x169bb4b7, 0x1682f774, 0x166a3953, 0x16517a55, 0x1638ba7a, 0x161ff9c4,
-  0x16073834, 0x15ee75cb,
-  0x15d5b288, 0x15bcee6f, 0x15a4297f, 0x158b63b9, 0x15729d1f, 0x1559d5b1,
-  0x15410d70, 0x1528445d,
-  0x150f7a7a, 0x14f6afc7, 0x14dde445, 0x14c517f4, 0x14ac4ad7, 0x14937cee,
-  0x147aae3a, 0x1461debc,
-  0x14490e74, 0x14303d65, 0x14176b8e, 0x13fe98f1, 0x13e5c58e, 0x13ccf167,
-  0x13b41c7d, 0x139b46d0,
-  0x13827062, 0x13699933, 0x1350c144, 0x1337e897, 0x131f0f2c, 0x13063505,
-  0x12ed5a21, 0x12d47e83,
-  0x12bba22b, 0x12a2c51b, 0x1289e752, 0x127108d2, 0x1258299c, 0x123f49b2,
-  0x12266913, 0x120d87c1,
-  0x11f4a5bd, 0x11dbc307, 0x11c2dfa2, 0x11a9fb8d, 0x119116c9, 0x11783159,
-  0x115f4b3c, 0x11466473,
-  0x112d7d00, 0x111494e4, 0x10fbac1e, 0x10e2c2b2, 0x10c9d89e, 0x10b0ede5,
-  0x10980287, 0x107f1686,
-  0x106629e1, 0x104d3c9b, 0x10344eb4, 0x101b602d, 0x10027107, 0xfe98143,
-  0xfd090e1, 0xfb79fe4,
-  0xf9eae4c, 0xf85bc19, 0xf6cc94e, 0xf53d5ea, 0xf3ae1ee, 0xf21ed5d, 0xf08f836,
-  0xef0027b,
-  0xed70c2c, 0xebe154b, 0xea51dd8, 0xe8c25d5, 0xe732d42, 0xe5a3421, 0xe413a72,
-  0xe284036,
-  0xe0f456f, 0xdf64a1c, 0xddd4e40, 0xdc451dc, 0xdab54ef, 0xd92577b, 0xd795982,
-  0xd605b03,
-  0xd475c00, 0xd2e5c7b, 0xd155c73, 0xcfc5bea, 0xce35ae1, 0xcca5959, 0xcb15752,
-  0xc9854cf,
-  0xc7f51cf, 0xc664e53, 0xc4d4a5d, 0xc3445ee, 0xc1b4107, 0xc023ba7, 0xbe935d2,
-  0xbd02f87,
-  0xbb728c7, 0xb9e2193, 0xb8519ed, 0xb6c11d5, 0xb53094d, 0xb3a0055, 0xb20f6ee,
-  0xb07ed19,
-  0xaeee2d7, 0xad5d829, 0xabccd11, 0xaa3c18e, 0xa8ab5a2, 0xa71a94f, 0xa589c94,
-  0xa3f8f73,
-  0xa2681ed, 0xa0d7403, 0x9f465b5, 0x9db5706, 0x9c247f5, 0x9a93884, 0x99028b3,
-  0x9771884,
-  0x95e07f8, 0x944f70f, 0x92be5ca, 0x912d42c, 0x8f9c233, 0x8e0afe2, 0x8c79d3a,
-  0x8ae8a3a,
-  0x89576e5, 0x87c633c, 0x8634f3e, 0x84a3aee, 0x831264c, 0x8181159, 0x7fefc16,
-  0x7e5e685,
-  0x7ccd0a5, 0x7b3ba78, 0x79aa400, 0x7818d3c, 0x768762e, 0x74f5ed7, 0x7364738,
-  0x71d2f52,
-  0x7041726, 0x6eafeb4, 0x6d1e5fe, 0x6b8cd05, 0x69fb3c9, 0x6869a4c, 0x66d808f,
-  0x6546692,
-  0x63b4c57, 0x62231de, 0x6091729, 0x5effc38, 0x5d6e10c, 0x5bdc5a7, 0x5a4aa09,
-  0x58b8e34,
-  0x5727228, 0x55955e6, 0x540396f, 0x5271cc4, 0x50dffe7, 0x4f4e2d8, 0x4dbc597,
-  0x4c2a827,
-  0x4a98a88, 0x4906cbb, 0x4774ec1, 0x45e309a, 0x4451249, 0x42bf3cd, 0x412d528,
-  0x3f9b65b,
-  0x3e09767, 0x3c7784d, 0x3ae590d, 0x39539a9, 0x37c1a22, 0x362fa78, 0x349daac,
-  0x330bac1,
-  0x3179ab5, 0x2fe7a8c, 0x2e55a44, 0x2cc39e1, 0x2b31961, 0x299f8c7, 0x280d813,
-  0x267b747,
-  0x24e9662, 0x2357567, 0x21c5457, 0x2033331, 0x1ea11f7, 0x1d0f0ab, 0x1b7cf4d,
-  0x19eaddd,
-  0x1858c5e, 0x16c6ad0, 0x1534934, 0x13a278a, 0x12105d5, 0x107e414, 0xeec249,
-  0xd5a075,
-  0xbc7e99, 0xa35cb5, 0x8a3acb, 0x7118dc, 0x57f6e9, 0x3ed4f2, 0x25b2f8,
-  0xc90fe,
-
-};
-
-static const q31_t cos_factorsQ31_8192[8192] = {
-  0x7ffffff6, 0x7fffffa7, 0x7fffff09, 0x7ffffe1c, 0x7ffffce1, 0x7ffffb56,
-    0x7ffff97c, 0x7ffff753,
-  0x7ffff4dc, 0x7ffff215, 0x7fffef00, 0x7fffeb9b, 0x7fffe7e8, 0x7fffe3e5,
-    0x7fffdf94, 0x7fffdaf3,
-  0x7fffd604, 0x7fffd0c6, 0x7fffcb39, 0x7fffc55c, 0x7fffbf31, 0x7fffb8b7,
-    0x7fffb1ee, 0x7fffaad6,
-  0x7fffa36f, 0x7fff9bb9, 0x7fff93b4, 0x7fff8b61, 0x7fff82be, 0x7fff79cc,
-    0x7fff708b, 0x7fff66fc,
-  0x7fff5d1d, 0x7fff52ef, 0x7fff4873, 0x7fff3da8, 0x7fff328d, 0x7fff2724,
-    0x7fff1b6b, 0x7fff0f64,
-  0x7fff030e, 0x7ffef669, 0x7ffee975, 0x7ffedc31, 0x7ffece9f, 0x7ffec0be,
-    0x7ffeb28e, 0x7ffea40f,
-  0x7ffe9542, 0x7ffe8625, 0x7ffe76b9, 0x7ffe66fe, 0x7ffe56f5, 0x7ffe469c,
-    0x7ffe35f4, 0x7ffe24fe,
-  0x7ffe13b8, 0x7ffe0224, 0x7ffdf040, 0x7ffdde0e, 0x7ffdcb8d, 0x7ffdb8bc,
-    0x7ffda59d, 0x7ffd922f,
-  0x7ffd7e72, 0x7ffd6a66, 0x7ffd560b, 0x7ffd4161, 0x7ffd2c68, 0x7ffd1720,
-    0x7ffd0189, 0x7ffceba4,
-  0x7ffcd56f, 0x7ffcbeeb, 0x7ffca819, 0x7ffc90f7, 0x7ffc7987, 0x7ffc61c7,
-    0x7ffc49b9, 0x7ffc315b,
-  0x7ffc18af, 0x7ffbffb4, 0x7ffbe66a, 0x7ffbccd0, 0x7ffbb2e8, 0x7ffb98b1,
-    0x7ffb7e2b, 0x7ffb6356,
-  0x7ffb4833, 0x7ffb2cc0, 0x7ffb10fe, 0x7ffaf4ed, 0x7ffad88e, 0x7ffabbdf,
-    0x7ffa9ee2, 0x7ffa8195,
-  0x7ffa63fa, 0x7ffa460f, 0x7ffa27d6, 0x7ffa094e, 0x7ff9ea76, 0x7ff9cb50,
-    0x7ff9abdb, 0x7ff98c17,
-  0x7ff96c04, 0x7ff94ba2, 0x7ff92af1, 0x7ff909f2, 0x7ff8e8a3, 0x7ff8c705,
-    0x7ff8a519, 0x7ff882dd,
-  0x7ff86053, 0x7ff83d79, 0x7ff81a51, 0x7ff7f6da, 0x7ff7d313, 0x7ff7aefe,
-    0x7ff78a9a, 0x7ff765e7,
-  0x7ff740e5, 0x7ff71b94, 0x7ff6f5f4, 0x7ff6d005, 0x7ff6a9c8, 0x7ff6833b,
-    0x7ff65c5f, 0x7ff63535,
-  0x7ff60dbb, 0x7ff5e5f3, 0x7ff5bddc, 0x7ff59576, 0x7ff56cc0, 0x7ff543bc,
-    0x7ff51a69, 0x7ff4f0c7,
-  0x7ff4c6d6, 0x7ff49c96, 0x7ff47208, 0x7ff4472a, 0x7ff41bfd, 0x7ff3f082,
-    0x7ff3c4b7, 0x7ff3989e,
-  0x7ff36c36, 0x7ff33f7e, 0x7ff31278, 0x7ff2e523, 0x7ff2b77f, 0x7ff2898c,
-    0x7ff25b4a, 0x7ff22cb9,
-  0x7ff1fdd9, 0x7ff1ceab, 0x7ff19f2d, 0x7ff16f61, 0x7ff13f45, 0x7ff10edb,
-    0x7ff0de22, 0x7ff0ad19,
-  0x7ff07bc2, 0x7ff04a1c, 0x7ff01827, 0x7fefe5e4, 0x7fefb351, 0x7fef806f,
-    0x7fef4d3e, 0x7fef19bf,
-  0x7feee5f0, 0x7feeb1d3, 0x7fee7d67, 0x7fee48ac, 0x7fee13a1, 0x7fedde48,
-    0x7feda8a0, 0x7fed72aa,
-  0x7fed3c64, 0x7fed05cf, 0x7fecceec, 0x7fec97b9, 0x7fec6038, 0x7fec2867,
-    0x7febf048, 0x7febb7da,
-  0x7feb7f1d, 0x7feb4611, 0x7feb0cb6, 0x7fead30c, 0x7fea9914, 0x7fea5ecc,
-    0x7fea2436, 0x7fe9e950,
-  0x7fe9ae1c, 0x7fe97299, 0x7fe936c7, 0x7fe8faa6, 0x7fe8be36, 0x7fe88177,
-    0x7fe84469, 0x7fe8070d,
-  0x7fe7c961, 0x7fe78b67, 0x7fe74d1e, 0x7fe70e85, 0x7fe6cf9e, 0x7fe69068,
-    0x7fe650e3, 0x7fe61110,
-  0x7fe5d0ed, 0x7fe5907b, 0x7fe54fbb, 0x7fe50eac, 0x7fe4cd4d, 0x7fe48ba0,
-    0x7fe449a4, 0x7fe40759,
-  0x7fe3c4bf, 0x7fe381d7, 0x7fe33e9f, 0x7fe2fb19, 0x7fe2b743, 0x7fe2731f,
-    0x7fe22eac, 0x7fe1e9ea,
-  0x7fe1a4d9, 0x7fe15f79, 0x7fe119cb, 0x7fe0d3cd, 0x7fe08d81, 0x7fe046e5,
-    0x7fdffffb, 0x7fdfb8c2,
-  0x7fdf713a, 0x7fdf2963, 0x7fdee13e, 0x7fde98c9, 0x7fde5006, 0x7fde06f3,
-    0x7fddbd92, 0x7fdd73e2,
-  0x7fdd29e3, 0x7fdcdf95, 0x7fdc94f9, 0x7fdc4a0d, 0x7fdbfed3, 0x7fdbb349,
-    0x7fdb6771, 0x7fdb1b4a,
-  0x7fdaced4, 0x7fda820f, 0x7fda34fc, 0x7fd9e799, 0x7fd999e8, 0x7fd94be8,
-    0x7fd8fd98, 0x7fd8aefa,
-  0x7fd8600e, 0x7fd810d2, 0x7fd7c147, 0x7fd7716e, 0x7fd72146, 0x7fd6d0cf,
-    0x7fd68009, 0x7fd62ef4,
-  0x7fd5dd90, 0x7fd58bdd, 0x7fd539dc, 0x7fd4e78c, 0x7fd494ed, 0x7fd441ff,
-    0x7fd3eec2, 0x7fd39b36,
-  0x7fd3475c, 0x7fd2f332, 0x7fd29eba, 0x7fd249f3, 0x7fd1f4dd, 0x7fd19f78,
-    0x7fd149c5, 0x7fd0f3c2,
-  0x7fd09d71, 0x7fd046d1, 0x7fcfefe2, 0x7fcf98a4, 0x7fcf4117, 0x7fcee93c,
-    0x7fce9112, 0x7fce3898,
-  0x7fcddfd0, 0x7fcd86b9, 0x7fcd2d54, 0x7fccd39f, 0x7fcc799c, 0x7fcc1f4a,
-    0x7fcbc4a9, 0x7fcb69b9,
-  0x7fcb0e7a, 0x7fcab2ed, 0x7fca5710, 0x7fc9fae5, 0x7fc99e6b, 0x7fc941a2,
-    0x7fc8e48b, 0x7fc88724,
-  0x7fc8296f, 0x7fc7cb6b, 0x7fc76d18, 0x7fc70e76, 0x7fc6af86, 0x7fc65046,
-    0x7fc5f0b8, 0x7fc590db,
-  0x7fc530af, 0x7fc4d035, 0x7fc46f6b, 0x7fc40e53, 0x7fc3acec, 0x7fc34b36,
-    0x7fc2e931, 0x7fc286de,
-  0x7fc2243b, 0x7fc1c14a, 0x7fc15e0a, 0x7fc0fa7b, 0x7fc0969e, 0x7fc03271,
-    0x7fbfcdf6, 0x7fbf692c,
-  0x7fbf0414, 0x7fbe9eac, 0x7fbe38f6, 0x7fbdd2f0, 0x7fbd6c9c, 0x7fbd05fa,
-    0x7fbc9f08, 0x7fbc37c8,
-  0x7fbbd039, 0x7fbb685b, 0x7fbb002e, 0x7fba97b2, 0x7fba2ee8, 0x7fb9c5cf,
-    0x7fb95c67, 0x7fb8f2b0,
-  0x7fb888ab, 0x7fb81e57, 0x7fb7b3b4, 0x7fb748c2, 0x7fb6dd81, 0x7fb671f2,
-    0x7fb60614, 0x7fb599e7,
-  0x7fb52d6b, 0x7fb4c0a1, 0x7fb45387, 0x7fb3e61f, 0x7fb37869, 0x7fb30a63,
-    0x7fb29c0f, 0x7fb22d6c,
-  0x7fb1be7a, 0x7fb14f39, 0x7fb0dfaa, 0x7fb06fcb, 0x7fafff9e, 0x7faf8f23,
-    0x7faf1e58, 0x7faead3f,
-  0x7fae3bd7, 0x7fadca20, 0x7fad581b, 0x7face5c6, 0x7fac7323, 0x7fac0031,
-    0x7fab8cf1, 0x7fab1962,
-  0x7faaa584, 0x7faa3157, 0x7fa9bcdb, 0x7fa94811, 0x7fa8d2f8, 0x7fa85d90,
-    0x7fa7e7d9, 0x7fa771d4,
-  0x7fa6fb80, 0x7fa684dd, 0x7fa60dec, 0x7fa596ac, 0x7fa51f1d, 0x7fa4a73f,
-    0x7fa42f12, 0x7fa3b697,
-  0x7fa33dcd, 0x7fa2c4b5, 0x7fa24b4d, 0x7fa1d197, 0x7fa15792, 0x7fa0dd3f,
-    0x7fa0629c, 0x7f9fe7ab,
-  0x7f9f6c6b, 0x7f9ef0dd, 0x7f9e7500, 0x7f9df8d4, 0x7f9d7c59, 0x7f9cff90,
-    0x7f9c8278, 0x7f9c0511,
-  0x7f9b875b, 0x7f9b0957, 0x7f9a8b04, 0x7f9a0c62, 0x7f998d72, 0x7f990e33,
-    0x7f988ea5, 0x7f980ec8,
-  0x7f978e9d, 0x7f970e23, 0x7f968d5b, 0x7f960c43, 0x7f958add, 0x7f950929,
-    0x7f948725, 0x7f9404d3,
-  0x7f938232, 0x7f92ff43, 0x7f927c04, 0x7f91f878, 0x7f91749c, 0x7f90f072,
-    0x7f906bf9, 0x7f8fe731,
-  0x7f8f621b, 0x7f8edcb6, 0x7f8e5702, 0x7f8dd0ff, 0x7f8d4aae, 0x7f8cc40f,
-    0x7f8c3d20, 0x7f8bb5e3,
-  0x7f8b2e57, 0x7f8aa67d, 0x7f8a1e54, 0x7f8995dc, 0x7f890d15, 0x7f888400,
-    0x7f87fa9c, 0x7f8770ea,
-  0x7f86e6e9, 0x7f865c99, 0x7f85d1fa, 0x7f85470d, 0x7f84bbd1, 0x7f843047,
-    0x7f83a46e, 0x7f831846,
-  0x7f828bcf, 0x7f81ff0a, 0x7f8171f6, 0x7f80e494, 0x7f8056e3, 0x7f7fc8e3,
-    0x7f7f3a95, 0x7f7eabf8,
-  0x7f7e1d0c, 0x7f7d8dd2, 0x7f7cfe49, 0x7f7c6e71, 0x7f7bde4b, 0x7f7b4dd6,
-    0x7f7abd13, 0x7f7a2c01,
-  0x7f799aa0, 0x7f7908f0, 0x7f7876f2, 0x7f77e4a6, 0x7f77520a, 0x7f76bf21,
-    0x7f762be8, 0x7f759861,
-  0x7f75048b, 0x7f747067, 0x7f73dbf4, 0x7f734732, 0x7f72b222, 0x7f721cc3,
-    0x7f718715, 0x7f70f119,
-  0x7f705ace, 0x7f6fc435, 0x7f6f2d4d, 0x7f6e9617, 0x7f6dfe91, 0x7f6d66be,
-    0x7f6cce9b, 0x7f6c362a,
-  0x7f6b9d6b, 0x7f6b045d, 0x7f6a6b00, 0x7f69d154, 0x7f69375a, 0x7f689d12,
-    0x7f68027b, 0x7f676795,
-  0x7f66cc61, 0x7f6630de, 0x7f65950c, 0x7f64f8ec, 0x7f645c7d, 0x7f63bfc0,
-    0x7f6322b4, 0x7f62855a,
-  0x7f61e7b1, 0x7f6149b9, 0x7f60ab73, 0x7f600cdf, 0x7f5f6dfb, 0x7f5ecec9,
-    0x7f5e2f49, 0x7f5d8f7a,
-  0x7f5cef5c, 0x7f5c4ef0, 0x7f5bae36, 0x7f5b0d2c, 0x7f5a6bd5, 0x7f59ca2e,
-    0x7f592839, 0x7f5885f6,
-  0x7f57e364, 0x7f574083, 0x7f569d54, 0x7f55f9d6, 0x7f55560a, 0x7f54b1ef,
-    0x7f540d86, 0x7f5368ce,
-  0x7f52c3c8, 0x7f521e73, 0x7f5178cf, 0x7f50d2dd, 0x7f502c9d, 0x7f4f860e,
-    0x7f4edf30, 0x7f4e3804,
-  0x7f4d9089, 0x7f4ce8c0, 0x7f4c40a8, 0x7f4b9842, 0x7f4aef8d, 0x7f4a468a,
-    0x7f499d38, 0x7f48f398,
-  0x7f4849a9, 0x7f479f6c, 0x7f46f4e0, 0x7f464a06, 0x7f459edd, 0x7f44f365,
-    0x7f44479f, 0x7f439b8b,
-  0x7f42ef28, 0x7f424277, 0x7f419577, 0x7f40e828, 0x7f403a8b, 0x7f3f8ca0,
-    0x7f3ede66, 0x7f3e2fde,
-  0x7f3d8107, 0x7f3cd1e2, 0x7f3c226e, 0x7f3b72ab, 0x7f3ac29b, 0x7f3a123b,
-    0x7f39618e, 0x7f38b091,
-  0x7f37ff47, 0x7f374dad, 0x7f369bc6, 0x7f35e990, 0x7f35370b, 0x7f348438,
-    0x7f33d116, 0x7f331da6,
-  0x7f3269e8, 0x7f31b5db, 0x7f31017f, 0x7f304cd6, 0x7f2f97dd, 0x7f2ee296,
-    0x7f2e2d01, 0x7f2d771e,
-  0x7f2cc0eb, 0x7f2c0a6b, 0x7f2b539c, 0x7f2a9c7e, 0x7f29e512, 0x7f292d58,
-    0x7f28754f, 0x7f27bcf8,
-  0x7f270452, 0x7f264b5e, 0x7f25921c, 0x7f24d88b, 0x7f241eab, 0x7f23647e,
-    0x7f22aa01, 0x7f21ef37,
-  0x7f21341e, 0x7f2078b6, 0x7f1fbd00, 0x7f1f00fc, 0x7f1e44a9, 0x7f1d8808,
-    0x7f1ccb18, 0x7f1c0dda,
-  0x7f1b504e, 0x7f1a9273, 0x7f19d44a, 0x7f1915d2, 0x7f18570c, 0x7f1797f8,
-    0x7f16d895, 0x7f1618e4,
-  0x7f1558e4, 0x7f149896, 0x7f13d7fa, 0x7f13170f, 0x7f1255d6, 0x7f11944f,
-    0x7f10d279, 0x7f101054,
-  0x7f0f4de2, 0x7f0e8b21, 0x7f0dc811, 0x7f0d04b3, 0x7f0c4107, 0x7f0b7d0d,
-    0x7f0ab8c4, 0x7f09f42d,
-  0x7f092f47, 0x7f086a13, 0x7f07a491, 0x7f06dec0, 0x7f0618a1, 0x7f055233,
-    0x7f048b78, 0x7f03c46d,
-  0x7f02fd15, 0x7f02356e, 0x7f016d79, 0x7f00a535, 0x7effdca4, 0x7eff13c3,
-    0x7efe4a95, 0x7efd8118,
-  0x7efcb74d, 0x7efbed33, 0x7efb22cb, 0x7efa5815, 0x7ef98d11, 0x7ef8c1be,
-    0x7ef7f61d, 0x7ef72a2d,
-  0x7ef65def, 0x7ef59163, 0x7ef4c489, 0x7ef3f760, 0x7ef329e9, 0x7ef25c24,
-    0x7ef18e10, 0x7ef0bfae,
-  0x7eeff0fe, 0x7eef21ff, 0x7eee52b2, 0x7eed8317, 0x7eecb32d, 0x7eebe2f6,
-    0x7eeb1270, 0x7eea419b,
-  0x7ee97079, 0x7ee89f08, 0x7ee7cd49, 0x7ee6fb3b, 0x7ee628df, 0x7ee55635,
-    0x7ee4833d, 0x7ee3aff6,
-  0x7ee2dc61, 0x7ee2087e, 0x7ee1344d, 0x7ee05fcd, 0x7edf8aff, 0x7edeb5e3,
-    0x7edde079, 0x7edd0ac0,
-  0x7edc34b9, 0x7edb5e64, 0x7eda87c0, 0x7ed9b0ce, 0x7ed8d98e, 0x7ed80200,
-    0x7ed72a24, 0x7ed651f9,
-  0x7ed57980, 0x7ed4a0b9, 0x7ed3c7a3, 0x7ed2ee40, 0x7ed2148e, 0x7ed13a8e,
-    0x7ed0603f, 0x7ecf85a3,
-  0x7eceaab8, 0x7ecdcf7f, 0x7eccf3f8, 0x7ecc1822, 0x7ecb3bff, 0x7eca5f8d,
-    0x7ec982cd, 0x7ec8a5bf,
-  0x7ec7c862, 0x7ec6eab7, 0x7ec60cbe, 0x7ec52e77, 0x7ec44fe2, 0x7ec370fe,
-    0x7ec291cd, 0x7ec1b24d,
-  0x7ec0d27f, 0x7ebff263, 0x7ebf11f8, 0x7ebe313f, 0x7ebd5039, 0x7ebc6ee4,
-    0x7ebb8d40, 0x7ebaab4f,
-  0x7eb9c910, 0x7eb8e682, 0x7eb803a6, 0x7eb7207c, 0x7eb63d04, 0x7eb5593d,
-    0x7eb47529, 0x7eb390c6,
-  0x7eb2ac15, 0x7eb1c716, 0x7eb0e1c9, 0x7eaffc2e, 0x7eaf1645, 0x7eae300d,
-    0x7ead4987, 0x7eac62b3,
-  0x7eab7b91, 0x7eaa9421, 0x7ea9ac63, 0x7ea8c457, 0x7ea7dbfc, 0x7ea6f353,
-    0x7ea60a5d, 0x7ea52118,
-  0x7ea43785, 0x7ea34da4, 0x7ea26374, 0x7ea178f7, 0x7ea08e2b, 0x7e9fa312,
-    0x7e9eb7aa, 0x7e9dcbf4,
-  0x7e9cdff0, 0x7e9bf39e, 0x7e9b06fe, 0x7e9a1a10, 0x7e992cd4, 0x7e983f49,
-    0x7e975171, 0x7e96634a,
-  0x7e9574d6, 0x7e948613, 0x7e939702, 0x7e92a7a3, 0x7e91b7f6, 0x7e90c7fb,
-    0x7e8fd7b2, 0x7e8ee71b,
-  0x7e8df636, 0x7e8d0502, 0x7e8c1381, 0x7e8b21b1, 0x7e8a2f94, 0x7e893d28,
-    0x7e884a6f, 0x7e875767,
-  0x7e866411, 0x7e85706d, 0x7e847c7c, 0x7e83883c, 0x7e8293ae, 0x7e819ed2,
-    0x7e80a9a8, 0x7e7fb430,
-  0x7e7ebe6a, 0x7e7dc856, 0x7e7cd1f4, 0x7e7bdb44, 0x7e7ae446, 0x7e79ecf9,
-    0x7e78f55f, 0x7e77fd77,
-  0x7e770541, 0x7e760cbd, 0x7e7513ea, 0x7e741aca, 0x7e73215c, 0x7e7227a0,
-    0x7e712d96, 0x7e70333d,
-  0x7e6f3897, 0x7e6e3da3, 0x7e6d4261, 0x7e6c46d1, 0x7e6b4af2, 0x7e6a4ec6,
-    0x7e69524c, 0x7e685584,
-  0x7e67586e, 0x7e665b0a, 0x7e655d58, 0x7e645f58, 0x7e63610a, 0x7e62626e,
-    0x7e616384, 0x7e60644c,
-  0x7e5f64c7, 0x7e5e64f3, 0x7e5d64d1, 0x7e5c6461, 0x7e5b63a4, 0x7e5a6298,
-    0x7e59613f, 0x7e585f97,
-  0x7e575da2, 0x7e565b5f, 0x7e5558ce, 0x7e5455ef, 0x7e5352c1, 0x7e524f46,
-    0x7e514b7e, 0x7e504767,
-  0x7e4f4302, 0x7e4e3e4f, 0x7e4d394f, 0x7e4c3400, 0x7e4b2e64, 0x7e4a287a,
-    0x7e492241, 0x7e481bbb,
-  0x7e4714e7, 0x7e460dc5, 0x7e450656, 0x7e43fe98, 0x7e42f68c, 0x7e41ee33,
-    0x7e40e58c, 0x7e3fdc97,
-  0x7e3ed353, 0x7e3dc9c3, 0x7e3cbfe4, 0x7e3bb5b7, 0x7e3aab3c, 0x7e39a074,
-    0x7e38955e, 0x7e3789fa,
-  0x7e367e48, 0x7e357248, 0x7e3465fa, 0x7e33595e, 0x7e324c75, 0x7e313f3e,
-    0x7e3031b9, 0x7e2f23e6,
-  0x7e2e15c5, 0x7e2d0756, 0x7e2bf89a, 0x7e2ae990, 0x7e29da38, 0x7e28ca92,
-    0x7e27ba9e, 0x7e26aa5d,
-  0x7e2599cd, 0x7e2488f0, 0x7e2377c5, 0x7e22664c, 0x7e215486, 0x7e204271,
-    0x7e1f300f, 0x7e1e1d5f,
-  0x7e1d0a61, 0x7e1bf716, 0x7e1ae37c, 0x7e19cf95, 0x7e18bb60, 0x7e17a6dd,
-    0x7e16920d, 0x7e157cee,
-  0x7e146782, 0x7e1351c9, 0x7e123bc1, 0x7e11256c, 0x7e100ec8, 0x7e0ef7d7,
-    0x7e0de099, 0x7e0cc90c,
-  0x7e0bb132, 0x7e0a990a, 0x7e098095, 0x7e0867d1, 0x7e074ec0, 0x7e063561,
-    0x7e051bb4, 0x7e0401ba,
-  0x7e02e772, 0x7e01ccdc, 0x7e00b1f9, 0x7dff96c7, 0x7dfe7b48, 0x7dfd5f7b,
-    0x7dfc4361, 0x7dfb26f9,
-  0x7dfa0a43, 0x7df8ed3f, 0x7df7cfee, 0x7df6b24f, 0x7df59462, 0x7df47628,
-    0x7df357a0, 0x7df238ca,
-  0x7df119a7, 0x7deffa35, 0x7deeda77, 0x7dedba6a, 0x7dec9a10, 0x7deb7968,
-    0x7dea5872, 0x7de9372f,
-  0x7de8159e, 0x7de6f3c0, 0x7de5d193, 0x7de4af1a, 0x7de38c52, 0x7de2693d,
-    0x7de145da, 0x7de02229,
-  0x7ddefe2b, 0x7dddd9e0, 0x7ddcb546, 0x7ddb905f, 0x7dda6b2a, 0x7dd945a8,
-    0x7dd81fd8, 0x7dd6f9ba,
-  0x7dd5d34f, 0x7dd4ac96, 0x7dd38590, 0x7dd25e3c, 0x7dd1369a, 0x7dd00eab,
-    0x7dcee66e, 0x7dcdbde3,
-  0x7dcc950b, 0x7dcb6be6, 0x7dca4272, 0x7dc918b1, 0x7dc7eea3, 0x7dc6c447,
-    0x7dc5999d, 0x7dc46ea6,
-  0x7dc34361, 0x7dc217cf, 0x7dc0ebef, 0x7dbfbfc1, 0x7dbe9346, 0x7dbd667d,
-    0x7dbc3967, 0x7dbb0c03,
-  0x7db9de52, 0x7db8b053, 0x7db78207, 0x7db6536d, 0x7db52485, 0x7db3f550,
-    0x7db2c5cd, 0x7db195fd,
-  0x7db065df, 0x7daf3574, 0x7dae04bb, 0x7dacd3b5, 0x7daba261, 0x7daa70c0,
-    0x7da93ed1, 0x7da80c95,
-  0x7da6da0b, 0x7da5a733, 0x7da4740e, 0x7da3409c, 0x7da20cdc, 0x7da0d8cf,
-    0x7d9fa474, 0x7d9e6fcb,
-  0x7d9d3ad6, 0x7d9c0592, 0x7d9ad001, 0x7d999a23, 0x7d9863f7, 0x7d972d7e,
-    0x7d95f6b7, 0x7d94bfa3,
-  0x7d938841, 0x7d925092, 0x7d911896, 0x7d8fe04c, 0x7d8ea7b4, 0x7d8d6ecf,
-    0x7d8c359d, 0x7d8afc1d,
-  0x7d89c250, 0x7d888835, 0x7d874dcd, 0x7d861317, 0x7d84d814, 0x7d839cc4,
-    0x7d826126, 0x7d81253a,
-  0x7d7fe902, 0x7d7eac7c, 0x7d7d6fa8, 0x7d7c3287, 0x7d7af519, 0x7d79b75d,
-    0x7d787954, 0x7d773afd,
-  0x7d75fc59, 0x7d74bd68, 0x7d737e29, 0x7d723e9d, 0x7d70fec4, 0x7d6fbe9d,
-    0x7d6e7e29, 0x7d6d3d67,
-  0x7d6bfc58, 0x7d6abafc, 0x7d697952, 0x7d68375b, 0x7d66f517, 0x7d65b285,
-    0x7d646fa6, 0x7d632c79,
-  0x7d61e8ff, 0x7d60a538, 0x7d5f6124, 0x7d5e1cc2, 0x7d5cd813, 0x7d5b9316,
-    0x7d5a4dcc, 0x7d590835,
-  0x7d57c251, 0x7d567c1f, 0x7d5535a0, 0x7d53eed3, 0x7d52a7ba, 0x7d516053,
-    0x7d50189e, 0x7d4ed09d,
-  0x7d4d884e, 0x7d4c3fb1, 0x7d4af6c8, 0x7d49ad91, 0x7d48640d, 0x7d471a3c,
-    0x7d45d01d, 0x7d4485b1,
-  0x7d433af8, 0x7d41eff1, 0x7d40a49e, 0x7d3f58fd, 0x7d3e0d0e, 0x7d3cc0d3,
-    0x7d3b744a, 0x7d3a2774,
-  0x7d38da51, 0x7d378ce0, 0x7d363f23, 0x7d34f118, 0x7d33a2bf, 0x7d32541a,
-    0x7d310527, 0x7d2fb5e7,
-  0x7d2e665a, 0x7d2d1680, 0x7d2bc659, 0x7d2a75e4, 0x7d292522, 0x7d27d413,
-    0x7d2682b6, 0x7d25310d,
-  0x7d23df16, 0x7d228cd2, 0x7d213a41, 0x7d1fe762, 0x7d1e9437, 0x7d1d40be,
-    0x7d1becf8, 0x7d1a98e5,
-  0x7d194485, 0x7d17efd8, 0x7d169add, 0x7d154595, 0x7d13f001, 0x7d129a1f,
-    0x7d1143ef, 0x7d0fed73,
-  0x7d0e96aa, 0x7d0d3f93, 0x7d0be82f, 0x7d0a907e, 0x7d093880, 0x7d07e035,
-    0x7d06879d, 0x7d052eb8,
-  0x7d03d585, 0x7d027c05, 0x7d012239, 0x7cffc81f, 0x7cfe6db8, 0x7cfd1304,
-    0x7cfbb803, 0x7cfa5cb4,
-  0x7cf90119, 0x7cf7a531, 0x7cf648fb, 0x7cf4ec79, 0x7cf38fa9, 0x7cf2328c,
-    0x7cf0d522, 0x7cef776b,
-  0x7cee1967, 0x7cecbb16, 0x7ceb5c78, 0x7ce9fd8d, 0x7ce89e55, 0x7ce73ed0,
-    0x7ce5defd, 0x7ce47ede,
-  0x7ce31e72, 0x7ce1bdb8, 0x7ce05cb2, 0x7cdefb5e, 0x7cdd99be, 0x7cdc37d0,
-    0x7cdad596, 0x7cd9730e,
-  0x7cd8103a, 0x7cd6ad18, 0x7cd549aa, 0x7cd3e5ee, 0x7cd281e5, 0x7cd11d90,
-    0x7ccfb8ed, 0x7cce53fe,
-  0x7ccceec1, 0x7ccb8937, 0x7cca2361, 0x7cc8bd3d, 0x7cc756cd, 0x7cc5f010,
-    0x7cc48905, 0x7cc321ae,
-  0x7cc1ba09, 0x7cc05218, 0x7cbee9da, 0x7cbd814f, 0x7cbc1877, 0x7cbaaf51,
-    0x7cb945df, 0x7cb7dc20,
-  0x7cb67215, 0x7cb507bc, 0x7cb39d16, 0x7cb23223, 0x7cb0c6e4, 0x7caf5b57,
-    0x7cadef7e, 0x7cac8358,
-  0x7cab16e4, 0x7ca9aa24, 0x7ca83d17, 0x7ca6cfbd, 0x7ca56216, 0x7ca3f423,
-    0x7ca285e2, 0x7ca11755,
-  0x7c9fa87a, 0x7c9e3953, 0x7c9cc9df, 0x7c9b5a1e, 0x7c99ea10, 0x7c9879b6,
-    0x7c97090e, 0x7c95981a,
-  0x7c9426d8, 0x7c92b54a, 0x7c91436f, 0x7c8fd148, 0x7c8e5ed3, 0x7c8cec12,
-    0x7c8b7903, 0x7c8a05a8,
-  0x7c889200, 0x7c871e0c, 0x7c85a9ca, 0x7c84353c, 0x7c82c060, 0x7c814b39,
-    0x7c7fd5c4, 0x7c7e6002,
-  0x7c7ce9f4, 0x7c7b7399, 0x7c79fcf1, 0x7c7885fc, 0x7c770eba, 0x7c75972c,
-    0x7c741f51, 0x7c72a729,
-  0x7c712eb5, 0x7c6fb5f3, 0x7c6e3ce5, 0x7c6cc38a, 0x7c6b49e3, 0x7c69cfee,
-    0x7c6855ad, 0x7c66db1f,
-  0x7c656045, 0x7c63e51e, 0x7c6269aa, 0x7c60ede9, 0x7c5f71db, 0x7c5df581,
-    0x7c5c78da, 0x7c5afbe6,
-  0x7c597ea6, 0x7c580119, 0x7c56833f, 0x7c550519, 0x7c5386a6, 0x7c5207e6,
-    0x7c5088d9, 0x7c4f0980,
-  0x7c4d89da, 0x7c4c09e8, 0x7c4a89a8, 0x7c49091c, 0x7c478844, 0x7c46071f,
-    0x7c4485ad, 0x7c4303ee,
-  0x7c4181e3, 0x7c3fff8b, 0x7c3e7ce7, 0x7c3cf9f5, 0x7c3b76b8, 0x7c39f32d,
-    0x7c386f56, 0x7c36eb33,
-  0x7c3566c2, 0x7c33e205, 0x7c325cfc, 0x7c30d7a6, 0x7c2f5203, 0x7c2dcc14,
-    0x7c2c45d8, 0x7c2abf4f,
-  0x7c29387a, 0x7c27b158, 0x7c2629ea, 0x7c24a22f, 0x7c231a28, 0x7c2191d4,
-    0x7c200933, 0x7c1e8046,
-  0x7c1cf70c, 0x7c1b6d86, 0x7c19e3b3, 0x7c185994, 0x7c16cf28, 0x7c15446f,
-    0x7c13b96a, 0x7c122e19,
-  0x7c10a27b, 0x7c0f1690, 0x7c0d8a59, 0x7c0bfdd5, 0x7c0a7105, 0x7c08e3e8,
-    0x7c07567f, 0x7c05c8c9,
-  0x7c043ac7, 0x7c02ac78, 0x7c011ddd, 0x7bff8ef5, 0x7bfdffc1, 0x7bfc7041,
-    0x7bfae073, 0x7bf9505a,
-  0x7bf7bff4, 0x7bf62f41, 0x7bf49e42, 0x7bf30cf6, 0x7bf17b5e, 0x7befe97a,
-    0x7bee5749, 0x7becc4cc,
-  0x7beb3202, 0x7be99eec, 0x7be80b89, 0x7be677da, 0x7be4e3df, 0x7be34f97,
-    0x7be1bb02, 0x7be02621,
-  0x7bde90f4, 0x7bdcfb7b, 0x7bdb65b5, 0x7bd9cfa2, 0x7bd83944, 0x7bd6a298,
-    0x7bd50ba1, 0x7bd3745d,
-  0x7bd1dccc, 0x7bd044f0, 0x7bceacc7, 0x7bcd1451, 0x7bcb7b8f, 0x7bc9e281,
-    0x7bc84927, 0x7bc6af80,
-  0x7bc5158c, 0x7bc37b4d, 0x7bc1e0c1, 0x7bc045e9, 0x7bbeaac4, 0x7bbd0f53,
-    0x7bbb7396, 0x7bb9d78c,
-  0x7bb83b36, 0x7bb69e94, 0x7bb501a5, 0x7bb3646a, 0x7bb1c6e3, 0x7bb02910,
-    0x7bae8af0, 0x7bacec84,
-  0x7bab4dcc, 0x7ba9aec7, 0x7ba80f76, 0x7ba66fd9, 0x7ba4cfef, 0x7ba32fba,
-    0x7ba18f38, 0x7b9fee69,
-  0x7b9e4d4f, 0x7b9cabe8, 0x7b9b0a35, 0x7b996836, 0x7b97c5ea, 0x7b962352,
-    0x7b94806e, 0x7b92dd3e,
-  0x7b9139c2, 0x7b8f95f9, 0x7b8df1e4, 0x7b8c4d83, 0x7b8aa8d6, 0x7b8903dc,
-    0x7b875e96, 0x7b85b904,
-  0x7b841326, 0x7b826cfc, 0x7b80c686, 0x7b7f1fc3, 0x7b7d78b4, 0x7b7bd159,
-    0x7b7a29b2, 0x7b7881be,
-  0x7b76d97f, 0x7b7530f3, 0x7b73881b, 0x7b71def7, 0x7b703587, 0x7b6e8bcb,
-    0x7b6ce1c2, 0x7b6b376e,
-  0x7b698ccd, 0x7b67e1e0, 0x7b6636a7, 0x7b648b22, 0x7b62df51, 0x7b613334,
-    0x7b5f86ca, 0x7b5dda15,
-  0x7b5c2d13, 0x7b5a7fc6, 0x7b58d22c, 0x7b572446, 0x7b557614, 0x7b53c796,
-    0x7b5218cc, 0x7b5069b6,
-  0x7b4eba53, 0x7b4d0aa5, 0x7b4b5aab, 0x7b49aa64, 0x7b47f9d2, 0x7b4648f3,
-    0x7b4497c9, 0x7b42e652,
-  0x7b413490, 0x7b3f8281, 0x7b3dd026, 0x7b3c1d80, 0x7b3a6a8d, 0x7b38b74e,
-    0x7b3703c3, 0x7b354fed,
-  0x7b339bca, 0x7b31e75b, 0x7b3032a0, 0x7b2e7d9a, 0x7b2cc847, 0x7b2b12a8,
-    0x7b295cbe, 0x7b27a687,
-  0x7b25f004, 0x7b243936, 0x7b22821b, 0x7b20cab5, 0x7b1f1302, 0x7b1d5b04,
-    0x7b1ba2b9, 0x7b19ea23,
-  0x7b183141, 0x7b167813, 0x7b14be99, 0x7b1304d3, 0x7b114ac1, 0x7b0f9063,
-    0x7b0dd5b9, 0x7b0c1ac4,
-  0x7b0a5f82, 0x7b08a3f5, 0x7b06e81b, 0x7b052bf6, 0x7b036f85, 0x7b01b2c8,
-    0x7afff5bf, 0x7afe386a,
-  0x7afc7aca, 0x7afabcdd, 0x7af8fea5, 0x7af74021, 0x7af58151, 0x7af3c235,
-    0x7af202cd, 0x7af0431a,
-  0x7aee831a, 0x7aecc2cf, 0x7aeb0238, 0x7ae94155, 0x7ae78026, 0x7ae5beac,
-    0x7ae3fce6, 0x7ae23ad4,
-  0x7ae07876, 0x7adeb5cc, 0x7adcf2d6, 0x7adb2f95, 0x7ad96c08, 0x7ad7a82f,
-    0x7ad5e40a, 0x7ad41f9a,
-  0x7ad25ade, 0x7ad095d6, 0x7aced082, 0x7acd0ae3, 0x7acb44f8, 0x7ac97ec1,
-    0x7ac7b83e, 0x7ac5f170,
-  0x7ac42a55, 0x7ac262ef, 0x7ac09b3e, 0x7abed341, 0x7abd0af7, 0x7abb4263,
-    0x7ab97982, 0x7ab7b056,
-  0x7ab5e6de, 0x7ab41d1b, 0x7ab2530b, 0x7ab088b0, 0x7aaebe0a, 0x7aacf318,
-    0x7aab27da, 0x7aa95c50,
-  0x7aa7907b, 0x7aa5c45a, 0x7aa3f7ed, 0x7aa22b35, 0x7aa05e31, 0x7a9e90e1,
-    0x7a9cc346, 0x7a9af55f,
-  0x7a99272d, 0x7a9758af, 0x7a9589e5, 0x7a93bad0, 0x7a91eb6f, 0x7a901bc2,
-    0x7a8e4bca, 0x7a8c7b87,
-  0x7a8aaaf7, 0x7a88da1c, 0x7a8708f6, 0x7a853784, 0x7a8365c6, 0x7a8193bd,
-    0x7a7fc168, 0x7a7deec8,
-  0x7a7c1bdc, 0x7a7a48a4, 0x7a787521, 0x7a76a153, 0x7a74cd38, 0x7a72f8d3,
-    0x7a712422, 0x7a6f4f25,
-  0x7a6d79dd, 0x7a6ba449, 0x7a69ce6a, 0x7a67f83f, 0x7a6621c9, 0x7a644b07,
-    0x7a6273fa, 0x7a609ca1,
-  0x7a5ec4fc, 0x7a5ced0d, 0x7a5b14d1, 0x7a593c4b, 0x7a576379, 0x7a558a5b,
-    0x7a53b0f2, 0x7a51d73d,
-  0x7a4ffd3d, 0x7a4e22f2, 0x7a4c485b, 0x7a4a6d78, 0x7a48924b, 0x7a46b6d1,
-    0x7a44db0d, 0x7a42fefd,
-  0x7a4122a1, 0x7a3f45fa, 0x7a3d6908, 0x7a3b8bca, 0x7a39ae41, 0x7a37d06d,
-    0x7a35f24d, 0x7a3413e2,
-  0x7a32352b, 0x7a305629, 0x7a2e76dc, 0x7a2c9743, 0x7a2ab75f, 0x7a28d72f,
-    0x7a26f6b4, 0x7a2515ee,
-  0x7a2334dd, 0x7a215380, 0x7a1f71d7, 0x7a1d8fe4, 0x7a1bada5, 0x7a19cb1b,
-    0x7a17e845, 0x7a160524,
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-    0x71456bfe, 0x71427ebf,
-  0x713f9139, 0x713ca36e, 0x7139b55d, 0x7136c706, 0x7133d869, 0x7130e987,
-    0x712dfa5e, 0x712b0af0,
-  0x71281b3c, 0x71252b42, 0x71223b02, 0x711f4a7d, 0x711c59b2, 0x711968a1,
-    0x7116774a, 0x711385ad,
-  0x711093cb, 0x710da1a3, 0x710aaf35, 0x7107bc82, 0x7104c989, 0x7101d64a,
-    0x70fee2c5, 0x70fbeefb,
-  0x70f8faeb, 0x70f60695, 0x70f311fa, 0x70f01d19, 0x70ed27f2, 0x70ea3286,
-    0x70e73cd4, 0x70e446dc,
-  0x70e1509f, 0x70de5a1c, 0x70db6353, 0x70d86c45, 0x70d574f1, 0x70d27d58,
-    0x70cf8579, 0x70cc8d54,
-  0x70c994ea, 0x70c69c3a, 0x70c3a345, 0x70c0aa0a, 0x70bdb08a, 0x70bab6c4,
-    0x70b7bcb8, 0x70b4c267,
-  0x70b1c7d1, 0x70aeccf5, 0x70abd1d3, 0x70a8d66c, 0x70a5dac0, 0x70a2dece,
-    0x709fe296, 0x709ce619,
-  0x7099e957, 0x7096ec4f, 0x7093ef01, 0x7090f16e, 0x708df396, 0x708af579,
-    0x7087f715, 0x7084f86d,
-  0x7081f97f, 0x707efa4c, 0x707bfad3, 0x7078fb15, 0x7075fb11, 0x7072fac9,
-    0x706ffa3a, 0x706cf967,
-  0x7069f84e, 0x7066f6f0, 0x7063f54c, 0x7060f363, 0x705df135, 0x705aeec1,
-    0x7057ec08, 0x7054e90a,
-  0x7051e5c7, 0x704ee23e, 0x704bde70, 0x7048da5d, 0x7045d604, 0x7042d166,
-    0x703fcc83, 0x703cc75b,
-  0x7039c1ed, 0x7036bc3b, 0x7033b643, 0x7030b005, 0x702da983, 0x702aa2bb,
-    0x70279baf, 0x7024945d,
-  0x70218cc6, 0x701e84e9, 0x701b7cc8, 0x70187461, 0x70156bb5, 0x701262c4,
-    0x700f598e, 0x700c5013,
-  0x70094653, 0x70063c4e, 0x70033203, 0x70002774, 0x6ffd1c9f, 0x6ffa1185,
-    0x6ff70626, 0x6ff3fa82,
-  0x6ff0ee99, 0x6fede26b, 0x6fead5f8, 0x6fe7c940, 0x6fe4bc43, 0x6fe1af01,
-    0x6fdea17a, 0x6fdb93ae,
-  0x6fd8859d, 0x6fd57746, 0x6fd268ab, 0x6fcf59cb, 0x6fcc4aa6, 0x6fc93b3c,
-    0x6fc62b8d, 0x6fc31b99,
-  0x6fc00b60, 0x6fbcfae2, 0x6fb9ea20, 0x6fb6d918, 0x6fb3c7cb, 0x6fb0b63a,
-    0x6fada464, 0x6faa9248,
-  0x6fa77fe8, 0x6fa46d43, 0x6fa15a59, 0x6f9e472b, 0x6f9b33b7, 0x6f981fff,
-    0x6f950c01, 0x6f91f7bf,
-  0x6f8ee338, 0x6f8bce6c, 0x6f88b95c, 0x6f85a407, 0x6f828e6c, 0x6f7f788d,
-    0x6f7c626a, 0x6f794c01,
-  0x6f763554, 0x6f731e62, 0x6f70072b, 0x6f6cefb0, 0x6f69d7f0, 0x6f66bfeb,
-    0x6f63a7a1, 0x6f608f13,
-  0x6f5d7640, 0x6f5a5d28, 0x6f5743cb, 0x6f542a2a, 0x6f511044, 0x6f4df61a,
-    0x6f4adbab, 0x6f47c0f7,
-  0x6f44a5ff, 0x6f418ac2, 0x6f3e6f40, 0x6f3b537a, 0x6f38376f, 0x6f351b1f,
-    0x6f31fe8b, 0x6f2ee1b2,
-  0x6f2bc495, 0x6f28a733, 0x6f25898d, 0x6f226ba2, 0x6f1f4d72, 0x6f1c2efe,
-    0x6f191045, 0x6f15f148,
-  0x6f12d206, 0x6f0fb280, 0x6f0c92b6, 0x6f0972a6, 0x6f065253, 0x6f0331ba,
-    0x6f0010de, 0x6efcefbd,
-  0x6ef9ce57, 0x6ef6acad, 0x6ef38abe, 0x6ef0688b, 0x6eed4614, 0x6eea2358,
-    0x6ee70058, 0x6ee3dd13,
-  0x6ee0b98a, 0x6edd95bd, 0x6eda71ab, 0x6ed74d55, 0x6ed428ba, 0x6ed103db,
-    0x6ecddeb8, 0x6ecab950,
-  0x6ec793a4, 0x6ec46db4, 0x6ec1477f, 0x6ebe2106, 0x6ebafa49, 0x6eb7d347,
-    0x6eb4ac02, 0x6eb18477,
-  0x6eae5ca9, 0x6eab3496, 0x6ea80c3f, 0x6ea4e3a4, 0x6ea1bac4, 0x6e9e91a1,
-    0x6e9b6839, 0x6e983e8d,
-  0x6e95149c, 0x6e91ea67, 0x6e8ebfef, 0x6e8b9532, 0x6e886a30, 0x6e853eeb,
-    0x6e821361, 0x6e7ee794,
-  0x6e7bbb82, 0x6e788f2c, 0x6e756291, 0x6e7235b3, 0x6e6f0890, 0x6e6bdb2a,
-    0x6e68ad7f, 0x6e657f90,
-  0x6e62515d, 0x6e5f22e6, 0x6e5bf42b, 0x6e58c52c, 0x6e5595e9, 0x6e526662,
-    0x6e4f3696, 0x6e4c0687,
-  0x6e48d633, 0x6e45a59c, 0x6e4274c1, 0x6e3f43a1, 0x6e3c123e, 0x6e38e096,
-    0x6e35aeab, 0x6e327c7b,
-  0x6e2f4a08, 0x6e2c1750, 0x6e28e455, 0x6e25b115, 0x6e227d92, 0x6e1f49cb,
-    0x6e1c15c0, 0x6e18e171,
-  0x6e15acde, 0x6e127807, 0x6e0f42ec, 0x6e0c0d8e, 0x6e08d7eb, 0x6e05a205,
-    0x6e026bda, 0x6dff356c,
-  0x6dfbfeba, 0x6df8c7c4, 0x6df5908b, 0x6df2590d, 0x6def214c, 0x6debe947,
-    0x6de8b0fe, 0x6de57871,
-  0x6de23fa0, 0x6ddf068c, 0x6ddbcd34, 0x6dd89398, 0x6dd559b9, 0x6dd21f95,
-    0x6dcee52e, 0x6dcbaa83,
-  0x6dc86f95, 0x6dc53462, 0x6dc1f8ec, 0x6dbebd33, 0x6dbb8135, 0x6db844f4,
-    0x6db5086f, 0x6db1cba7,
-  0x6dae8e9b, 0x6dab514b, 0x6da813b8, 0x6da4d5e1, 0x6da197c6, 0x6d9e5968,
-    0x6d9b1ac6, 0x6d97dbe0,
-  0x6d949cb7, 0x6d915d4a, 0x6d8e1d9a, 0x6d8adda6, 0x6d879d6e, 0x6d845cf3,
-    0x6d811c35, 0x6d7ddb33,
-  0x6d7a99ed, 0x6d775864, 0x6d741697, 0x6d70d487, 0x6d6d9233, 0x6d6a4f9c,
-    0x6d670cc1, 0x6d63c9a3,
-  0x6d608641, 0x6d5d429c, 0x6d59feb3, 0x6d56ba87, 0x6d537617, 0x6d503164,
-    0x6d4cec6e, 0x6d49a734,
-  0x6d4661b7, 0x6d431bf6, 0x6d3fd5f2, 0x6d3c8fab, 0x6d394920, 0x6d360252,
-    0x6d32bb40, 0x6d2f73eb,
-  0x6d2c2c53, 0x6d28e477, 0x6d259c58, 0x6d2253f6, 0x6d1f0b50, 0x6d1bc267,
-    0x6d18793b, 0x6d152fcc,
-  0x6d11e619, 0x6d0e9c23, 0x6d0b51e9, 0x6d08076d, 0x6d04bcad, 0x6d0171aa,
-    0x6cfe2663, 0x6cfadada,
-  0x6cf78f0d, 0x6cf442fd, 0x6cf0f6aa, 0x6cedaa13, 0x6cea5d3a, 0x6ce7101d,
-    0x6ce3c2bd, 0x6ce0751a,
-  0x6cdd2733, 0x6cd9d90a, 0x6cd68a9d, 0x6cd33bed, 0x6ccfecfa, 0x6ccc9dc4,
-    0x6cc94e4b, 0x6cc5fe8f,
-  0x6cc2ae90, 0x6cbf5e4d, 0x6cbc0dc8, 0x6cb8bcff, 0x6cb56bf4, 0x6cb21aa5,
-    0x6caec913, 0x6cab773e,
-  0x6ca82527, 0x6ca4d2cc, 0x6ca1802e, 0x6c9e2d4d, 0x6c9ada29, 0x6c9786c2,
-    0x6c943318, 0x6c90df2c,
-  0x6c8d8afc, 0x6c8a3689, 0x6c86e1d3, 0x6c838cdb, 0x6c80379f, 0x6c7ce220,
-    0x6c798c5f, 0x6c76365b,
-  0x6c72e013, 0x6c6f8989, 0x6c6c32bc, 0x6c68dbac, 0x6c658459, 0x6c622cc4,
-    0x6c5ed4eb, 0x6c5b7cd0,
-  0x6c582472, 0x6c54cbd1, 0x6c5172ed, 0x6c4e19c6, 0x6c4ac05d, 0x6c4766b0,
-    0x6c440cc1, 0x6c40b28f,
-  0x6c3d581b, 0x6c39fd63, 0x6c36a269, 0x6c33472c, 0x6c2febad, 0x6c2c8fea,
-    0x6c2933e5, 0x6c25d79d,
-  0x6c227b13, 0x6c1f1e45, 0x6c1bc136, 0x6c1863e3, 0x6c15064e, 0x6c11a876,
-    0x6c0e4a5b, 0x6c0aebfe,
-  0x6c078d5e, 0x6c042e7b, 0x6c00cf56, 0x6bfd6fee, 0x6bfa1044, 0x6bf6b056,
-    0x6bf35027, 0x6befefb5,
-  0x6bec8f00, 0x6be92e08, 0x6be5ccce, 0x6be26b52, 0x6bdf0993, 0x6bdba791,
-    0x6bd8454d, 0x6bd4e2c6,
-  0x6bd17ffd, 0x6bce1cf1, 0x6bcab9a3, 0x6bc75613, 0x6bc3f23f, 0x6bc08e2a,
-    0x6bbd29d2, 0x6bb9c537,
-  0x6bb6605a, 0x6bb2fb3b, 0x6baf95d9, 0x6bac3034, 0x6ba8ca4e, 0x6ba56425,
-    0x6ba1fdb9, 0x6b9e970b,
-  0x6b9b301b, 0x6b97c8e8, 0x6b946173, 0x6b90f9bc, 0x6b8d91c2, 0x6b8a2986,
-    0x6b86c107, 0x6b835846,
-  0x6b7fef43, 0x6b7c85fe, 0x6b791c76, 0x6b75b2ac, 0x6b7248a0, 0x6b6ede51,
-    0x6b6b73c0, 0x6b6808ed,
-  0x6b649dd8, 0x6b613280, 0x6b5dc6e6, 0x6b5a5b0a, 0x6b56eeec, 0x6b53828b,
-    0x6b5015e9, 0x6b4ca904,
-  0x6b493bdd, 0x6b45ce73, 0x6b4260c8, 0x6b3ef2da, 0x6b3b84ab, 0x6b381639,
-    0x6b34a785, 0x6b31388e,
-  0x6b2dc956, 0x6b2a59dc, 0x6b26ea1f, 0x6b237a21, 0x6b2009e0, 0x6b1c995d,
-    0x6b192898, 0x6b15b791,
-  0x6b124648, 0x6b0ed4bd, 0x6b0b62f0, 0x6b07f0e1, 0x6b047e90, 0x6b010bfd,
-    0x6afd9928, 0x6afa2610,
-  0x6af6b2b7, 0x6af33f1c, 0x6aefcb3f, 0x6aec5720, 0x6ae8e2bf, 0x6ae56e1c,
-    0x6ae1f937, 0x6ade8410,
-  0x6adb0ea8, 0x6ad798fd, 0x6ad42311, 0x6ad0ace2, 0x6acd3672, 0x6ac9bfc0,
-    0x6ac648cb, 0x6ac2d195,
-  0x6abf5a1e, 0x6abbe264, 0x6ab86a68, 0x6ab4f22b, 0x6ab179ac, 0x6aae00eb,
-    0x6aaa87e8, 0x6aa70ea4,
-  0x6aa3951d, 0x6aa01b55, 0x6a9ca14b, 0x6a992700, 0x6a95ac72, 0x6a9231a3,
-    0x6a8eb692, 0x6a8b3b3f,
-  0x6a87bfab, 0x6a8443d5, 0x6a80c7bd, 0x6a7d4b64, 0x6a79cec8, 0x6a7651ec,
-    0x6a72d4cd, 0x6a6f576d,
-  0x6a6bd9cb, 0x6a685be8, 0x6a64ddc2, 0x6a615f5c, 0x6a5de0b3, 0x6a5a61c9,
-    0x6a56e29e, 0x6a536331,
-  0x6a4fe382, 0x6a4c6391, 0x6a48e360, 0x6a4562ec, 0x6a41e237, 0x6a3e6140,
-    0x6a3ae008, 0x6a375e8f,
-  0x6a33dcd4, 0x6a305ad7, 0x6a2cd899, 0x6a295619, 0x6a25d358, 0x6a225055,
-    0x6a1ecd11, 0x6a1b498c,
-  0x6a17c5c5, 0x6a1441bc, 0x6a10bd72, 0x6a0d38e7, 0x6a09b41a, 0x6a062f0c,
-    0x6a02a9bc, 0x69ff242b,
-  0x69fb9e59, 0x69f81845, 0x69f491f0, 0x69f10b5a, 0x69ed8482, 0x69e9fd69,
-    0x69e6760f, 0x69e2ee73,
-  0x69df6696, 0x69dbde77, 0x69d85618, 0x69d4cd77, 0x69d14494, 0x69cdbb71,
-    0x69ca320c, 0x69c6a866,
-  0x69c31e7f, 0x69bf9456, 0x69bc09ec, 0x69b87f41, 0x69b4f455, 0x69b16928,
-    0x69adddb9, 0x69aa5209,
-  0x69a6c618, 0x69a339e6, 0x699fad73, 0x699c20be, 0x699893c9, 0x69950692,
-    0x6991791a, 0x698deb61,
-  0x698a5d67, 0x6986cf2c, 0x698340af, 0x697fb1f2, 0x697c22f3, 0x697893b4,
-    0x69750433, 0x69717472,
-  0x696de46f, 0x696a542b, 0x6966c3a6, 0x696332e1, 0x695fa1da, 0x695c1092,
-    0x69587f09, 0x6954ed40,
-  0x69515b35, 0x694dc8e9, 0x694a365c, 0x6946a38f, 0x69431080, 0x693f7d31,
-    0x693be9a0, 0x693855cf,
-  0x6934c1bd, 0x69312d6a, 0x692d98d6, 0x692a0401, 0x69266eeb, 0x6922d995,
-    0x691f43fd, 0x691bae25,
-  0x6918180c, 0x691481b2, 0x6910eb17, 0x690d543b, 0x6909bd1f, 0x690625c2,
-    0x69028e24, 0x68fef645,
-  0x68fb5e25, 0x68f7c5c5, 0x68f42d24, 0x68f09442, 0x68ecfb20, 0x68e961bd,
-    0x68e5c819, 0x68e22e34,
-  0x68de940f, 0x68daf9a9, 0x68d75f02, 0x68d3c41b, 0x68d028f2, 0x68cc8d8a,
-    0x68c8f1e0, 0x68c555f6,
-  0x68c1b9cc, 0x68be1d61, 0x68ba80b5, 0x68b6e3c8, 0x68b3469b, 0x68afa92e,
-    0x68ac0b7f, 0x68a86d91,
-  0x68a4cf61, 0x68a130f1, 0x689d9241, 0x6899f350, 0x6896541f, 0x6892b4ad,
-    0x688f14fa, 0x688b7507,
-  0x6887d4d4, 0x68843460, 0x688093ab, 0x687cf2b6, 0x68795181, 0x6875b00b,
-    0x68720e55, 0x686e6c5e,
-  0x686aca27, 0x686727b0, 0x686384f8, 0x685fe200, 0x685c3ec7, 0x68589b4e,
-    0x6854f795, 0x6851539b,
-  0x684daf61, 0x684a0ae6, 0x6846662c, 0x6842c131, 0x683f1bf5, 0x683b7679,
-    0x6837d0bd, 0x68342ac1,
-  0x68308485, 0x682cde08, 0x6829374b, 0x6825904d, 0x6821e910, 0x681e4192,
-    0x681a99d4, 0x6816f1d6,
-  0x68134997, 0x680fa118, 0x680bf85a, 0x68084f5a, 0x6804a61b, 0x6800fc9c,
-    0x67fd52dc, 0x67f9a8dd,
-  0x67f5fe9d, 0x67f2541d, 0x67eea95d, 0x67eafe5d, 0x67e7531c, 0x67e3a79c,
-    0x67dffbdc, 0x67dc4fdb,
-  0x67d8a39a, 0x67d4f71a, 0x67d14a59, 0x67cd9d58, 0x67c9f017, 0x67c64297,
-    0x67c294d6, 0x67bee6d5,
-  0x67bb3894, 0x67b78a13, 0x67b3db53, 0x67b02c52, 0x67ac7d11, 0x67a8cd91,
-    0x67a51dd0, 0x67a16dcf,
-  0x679dbd8f, 0x679a0d0f, 0x67965c4e, 0x6792ab4e, 0x678efa0e, 0x678b488e,
-    0x678796ce, 0x6783e4cf,
-  0x6780328f, 0x677c8010, 0x6778cd50, 0x67751a51, 0x67716713, 0x676db394,
-    0x6769ffd5, 0x67664bd7,
-  0x67629799, 0x675ee31b, 0x675b2e5e, 0x67577960, 0x6753c423, 0x67500ea7,
-    0x674c58ea, 0x6748a2ee,
-  0x6744ecb2, 0x67413636, 0x673d7f7b, 0x6739c880, 0x67361145, 0x673259ca,
-    0x672ea210, 0x672aea17,
-  0x672731dd, 0x67237964, 0x671fc0ac, 0x671c07b4, 0x67184e7c, 0x67149504,
-    0x6710db4d, 0x670d2157,
-  0x67096721, 0x6705acab, 0x6701f1f6, 0x66fe3701, 0x66fa7bcd, 0x66f6c059,
-    0x66f304a6, 0x66ef48b3,
-  0x66eb8c80, 0x66e7d00f, 0x66e4135d, 0x66e0566c, 0x66dc993c, 0x66d8dbcd,
-    0x66d51e1d, 0x66d1602f,
-  0x66cda201, 0x66c9e393, 0x66c624e7, 0x66c265fa, 0x66bea6cf, 0x66bae764,
-    0x66b727ba, 0x66b367d0,
-  0x66afa7a7, 0x66abe73f, 0x66a82697, 0x66a465b0, 0x66a0a489, 0x669ce324,
-    0x6699217f, 0x66955f9b,
-  0x66919d77, 0x668ddb14, 0x668a1872, 0x66865591, 0x66829270, 0x667ecf11,
-    0x667b0b72, 0x66774793,
-  0x66738376, 0x666fbf19, 0x666bfa7d, 0x666835a2, 0x66647088, 0x6660ab2f,
-    0x665ce596, 0x66591fbf,
-  0x665559a8, 0x66519352, 0x664dccbd, 0x664a05e9, 0x66463ed6, 0x66427784,
-    0x663eaff2, 0x663ae822,
-  0x66372012, 0x663357c4, 0x662f8f36, 0x662bc66a, 0x6627fd5e, 0x66243413,
-    0x66206a8a, 0x661ca0c1,
-  0x6618d6b9, 0x66150c73, 0x661141ed, 0x660d7729, 0x6609ac25, 0x6605e0e3,
-    0x66021561, 0x65fe49a1,
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-    0x65a6b798, 0x65a2e5f4,
-  0x659f1412, 0x659b41f1, 0x65976f91, 0x65939cf3, 0x658fca15, 0x658bf6fa,
-    0x6588239f, 0x65845006,
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-    0x566c18ae, 0x5667760e,
-  0x5662d339, 0x565e302e, 0x56598cee, 0x5654e979, 0x565045cf, 0x564ba1f0,
-    0x5646fddb, 0x56425991,
-  0x563db512, 0x5639105d, 0x56346b74, 0x562fc655, 0x562b2101, 0x56267b78,
-    0x5621d5ba, 0x561d2fc6,
-  0x5618899e, 0x5613e340, 0x560f3cae, 0x560a95e6, 0x5605eee9, 0x560147b7,
-    0x55fca050, 0x55f7f8b4,
-  0x55f350e3, 0x55eea8dd, 0x55ea00a2, 0x55e55832, 0x55e0af8d, 0x55dc06b3,
-    0x55d75da4, 0x55d2b460,
-  0x55ce0ae7, 0x55c96139, 0x55c4b757, 0x55c00d3f, 0x55bb62f3, 0x55b6b871,
-    0x55b20dbb, 0x55ad62d0,
-  0x55a8b7b0, 0x55a40c5b, 0x559f60d1, 0x559ab513, 0x55960920, 0x55915cf8,
-    0x558cb09b, 0x55880409,
-  0x55835743, 0x557eaa48, 0x5579fd18, 0x55754fb3, 0x5570a21a, 0x556bf44c,
-    0x55674649, 0x55629812,
-  0x555de9a6, 0x55593b05, 0x55548c30, 0x554fdd26, 0x554b2de7, 0x55467e74,
-    0x5541cecc, 0x553d1ef0,
-  0x55386edf, 0x5533be99, 0x552f0e1f, 0x552a5d70, 0x5525ac8d, 0x5520fb75,
-    0x551c4a29, 0x551798a8,
-  0x5512e6f3, 0x550e3509, 0x550982eb, 0x5504d099, 0x55001e12, 0x54fb6b56,
-    0x54f6b866, 0x54f20542,
-  0x54ed51e9, 0x54e89e5c, 0x54e3ea9a, 0x54df36a5, 0x54da827a, 0x54d5ce1c,
-    0x54d11989, 0x54cc64c2,
-  0x54c7afc6, 0x54c2fa96, 0x54be4532, 0x54b98f9a, 0x54b4d9cd, 0x54b023cc,
-    0x54ab6d97, 0x54a6b72e,
-  0x54a20090, 0x549d49bf, 0x549892b9, 0x5493db7f, 0x548f2410, 0x548a6c6e,
-    0x5485b497, 0x5480fc8c,
-  0x547c444d, 0x54778bda, 0x5472d333, 0x546e1a58, 0x54696149, 0x5464a805,
-    0x545fee8e, 0x545b34e3,
-  0x54567b03, 0x5451c0f0, 0x544d06a8, 0x54484c2d, 0x5443917d, 0x543ed699,
-    0x543a1b82, 0x54356037,
-  0x5430a4b7, 0x542be904, 0x54272d1d, 0x54227102, 0x541db4b3, 0x5418f830,
-    0x54143b79, 0x540f7e8e,
-  0x540ac170, 0x5406041d, 0x54014697, 0x53fc88dd, 0x53f7caef, 0x53f30cce,
-    0x53ee4e78, 0x53e98fef,
-  0x53e4d132, 0x53e01242, 0x53db531d, 0x53d693c5, 0x53d1d439, 0x53cd147a,
-    0x53c85486, 0x53c3945f,
-  0x53bed405, 0x53ba1377, 0x53b552b5, 0x53b091bf, 0x53abd096, 0x53a70f39,
-    0x53a24da9, 0x539d8be5,
-  0x5398c9ed, 0x539407c2, 0x538f4564, 0x538a82d1, 0x5385c00c, 0x5380fd12,
-    0x537c39e6, 0x53777685,
-  0x5372b2f2, 0x536def2a, 0x53692b30, 0x53646701, 0x535fa2a0, 0x535ade0b,
-    0x53561942, 0x53515447,
-  0x534c8f17, 0x5347c9b5, 0x5343041f, 0x533e3e55, 0x53397859, 0x5334b229,
-    0x532febc5, 0x532b252f,
-  0x53265e65, 0x53219767, 0x531cd037, 0x531808d3, 0x5313413c, 0x530e7972,
-    0x5309b174, 0x5304e943,
-  0x530020df, 0x52fb5848, 0x52f68f7e, 0x52f1c680, 0x52ecfd4f, 0x52e833ec,
-    0x52e36a55, 0x52dea08a,
-  0x52d9d68d, 0x52d50c5d, 0x52d041f9, 0x52cb7763, 0x52c6ac99, 0x52c1e19d,
-    0x52bd166d, 0x52b84b0a,
-  0x52b37f74, 0x52aeb3ac, 0x52a9e7b0, 0x52a51b81, 0x52a04f1f, 0x529b828a,
-    0x5296b5c3, 0x5291e8c8,
-  0x528d1b9b, 0x52884e3a, 0x528380a7, 0x527eb2e0, 0x5279e4e7, 0x527516bb,
-    0x5270485c, 0x526b79ca,
-  0x5266ab06, 0x5261dc0e, 0x525d0ce4, 0x52583d87, 0x52536df7, 0x524e9e34,
-    0x5249ce3f, 0x5244fe17,
-  0x52402dbc, 0x523b5d2e, 0x52368c6e, 0x5231bb7b, 0x522cea55, 0x522818fc,
-    0x52234771, 0x521e75b3,
-  0x5219a3c3, 0x5214d1a0, 0x520fff4a, 0x520b2cc2, 0x52065a07, 0x52018719,
-    0x51fcb3f9, 0x51f7e0a6,
-  0x51f30d21, 0x51ee3969, 0x51e9657e, 0x51e49162, 0x51dfbd12, 0x51dae890,
-    0x51d613dc, 0x51d13ef5,
-  0x51cc69db, 0x51c79490, 0x51c2bf11, 0x51bde960, 0x51b9137d, 0x51b43d68,
-    0x51af6720, 0x51aa90a5,
-  0x51a5b9f9, 0x51a0e31a, 0x519c0c08, 0x519734c4, 0x51925d4e, 0x518d85a6,
-    0x5188adcb, 0x5183d5be,
-  0x517efd7f, 0x517a250d, 0x51754c69, 0x51707393, 0x516b9a8b, 0x5166c150,
-    0x5161e7e4, 0x515d0e45,
-  0x51583473, 0x51535a70, 0x514e803b, 0x5149a5d3, 0x5144cb39, 0x513ff06d,
-    0x513b156f, 0x51363a3f,
-  0x51315edd, 0x512c8348, 0x5127a782, 0x5122cb8a, 0x511def5f, 0x51191302,
-    0x51143674, 0x510f59b3,
-  0x510a7cc1, 0x51059f9c, 0x5100c246, 0x50fbe4bd, 0x50f70703, 0x50f22916,
-    0x50ed4af8, 0x50e86ca8,
-  0x50e38e25, 0x50deaf71, 0x50d9d08b, 0x50d4f173, 0x50d0122a, 0x50cb32ae,
-    0x50c65301, 0x50c17322,
-  0x50bc9311, 0x50b7b2ce, 0x50b2d259, 0x50adf1b3, 0x50a910db, 0x50a42fd1,
-    0x509f4e95, 0x509a6d28,
-  0x50958b88, 0x5090a9b8, 0x508bc7b5, 0x5086e581, 0x5082031b, 0x507d2083,
-    0x50783dba, 0x50735abf,
-  0x506e7793, 0x50699435, 0x5064b0a5, 0x505fcce4, 0x505ae8f1, 0x505604cd,
-    0x50512077, 0x504c3bef,
-  0x50475736, 0x5042724c, 0x503d8d30, 0x5038a7e2, 0x5033c263, 0x502edcb2,
-    0x5029f6d1, 0x502510bd,
-  0x50202a78, 0x501b4402, 0x50165d5a, 0x50117681, 0x500c8f77, 0x5007a83b,
-    0x5002c0cd, 0x4ffdd92f,
-  0x4ff8f15f, 0x4ff4095e, 0x4fef212b, 0x4fea38c7, 0x4fe55032, 0x4fe0676c,
-    0x4fdb7e74, 0x4fd6954b,
-  0x4fd1abf0, 0x4fccc265, 0x4fc7d8a8, 0x4fc2eeba, 0x4fbe049b, 0x4fb91a4b,
-    0x4fb42fc9, 0x4faf4517,
-  0x4faa5a33, 0x4fa56f1e, 0x4fa083d8, 0x4f9b9861, 0x4f96acb8, 0x4f91c0df,
-    0x4f8cd4d4, 0x4f87e899,
-  0x4f82fc2c, 0x4f7e0f8f, 0x4f7922c0, 0x4f7435c0, 0x4f6f488f, 0x4f6a5b2e,
-    0x4f656d9b, 0x4f607fd7,
-  0x4f5b91e3, 0x4f56a3bd, 0x4f51b566, 0x4f4cc6df, 0x4f47d827, 0x4f42e93d,
-    0x4f3dfa23, 0x4f390ad8,
-  0x4f341b5c, 0x4f2f2baf, 0x4f2a3bd2, 0x4f254bc3, 0x4f205b84, 0x4f1b6b14,
-    0x4f167a73, 0x4f1189a1,
-  0x4f0c989f, 0x4f07a76b, 0x4f02b608, 0x4efdc473, 0x4ef8d2ad, 0x4ef3e0b7,
-    0x4eeeee90, 0x4ee9fc39,
-  0x4ee509b1, 0x4ee016f8, 0x4edb240e, 0x4ed630f4, 0x4ed13da9, 0x4ecc4a2e,
-    0x4ec75682, 0x4ec262a5,
-  0x4ebd6e98, 0x4eb87a5a, 0x4eb385ec, 0x4eae914d, 0x4ea99c7d, 0x4ea4a77d,
-    0x4e9fb24d, 0x4e9abcec,
-  0x4e95c75b, 0x4e90d199, 0x4e8bdba6, 0x4e86e583, 0x4e81ef30, 0x4e7cf8ac,
-    0x4e7801f8, 0x4e730b14,
-  0x4e6e13ff, 0x4e691cba, 0x4e642544, 0x4e5f2d9e, 0x4e5a35c7, 0x4e553dc1,
-    0x4e50458a, 0x4e4b4d22,
-  0x4e46548b, 0x4e415bc3, 0x4e3c62cb, 0x4e3769a2, 0x4e32704a, 0x4e2d76c1,
-    0x4e287d08, 0x4e23831e,
-  0x4e1e8905, 0x4e198ebb, 0x4e149441, 0x4e0f9997, 0x4e0a9ebd, 0x4e05a3b2,
-    0x4e00a878, 0x4dfbad0d,
-  0x4df6b173, 0x4df1b5a8, 0x4decb9ad, 0x4de7bd82, 0x4de2c127, 0x4dddc49c,
-    0x4dd8c7e1, 0x4dd3caf6,
-  0x4dcecdda, 0x4dc9d08f, 0x4dc4d314, 0x4dbfd569, 0x4dbad78e, 0x4db5d983,
-    0x4db0db48, 0x4dabdcdd,
-  0x4da6de43, 0x4da1df78, 0x4d9ce07d, 0x4d97e153, 0x4d92e1f9, 0x4d8de26f,
-    0x4d88e2b5, 0x4d83e2cb,
-  0x4d7ee2b1, 0x4d79e268, 0x4d74e1ef, 0x4d6fe146, 0x4d6ae06d, 0x4d65df64,
-    0x4d60de2c, 0x4d5bdcc4,
-  0x4d56db2d, 0x4d51d965, 0x4d4cd76e, 0x4d47d547, 0x4d42d2f1, 0x4d3dd06b,
-    0x4d38cdb5, 0x4d33cad0,
-  0x4d2ec7bb, 0x4d29c476, 0x4d24c102, 0x4d1fbd5e, 0x4d1ab98b, 0x4d15b588,
-    0x4d10b155, 0x4d0bacf3,
-  0x4d06a862, 0x4d01a3a0, 0x4cfc9eb0, 0x4cf79990, 0x4cf29440, 0x4ced8ec1,
-    0x4ce88913, 0x4ce38335,
-  0x4cde7d28, 0x4cd976eb, 0x4cd4707f, 0x4ccf69e3, 0x4cca6318, 0x4cc55c1e,
-    0x4cc054f4, 0x4cbb4d9b,
-  0x4cb64613, 0x4cb13e5b, 0x4cac3674, 0x4ca72e5e, 0x4ca22619, 0x4c9d1da4,
-    0x4c981500, 0x4c930c2d,
-  0x4c8e032a, 0x4c88f9f8, 0x4c83f097, 0x4c7ee707, 0x4c79dd48, 0x4c74d359,
-    0x4c6fc93b, 0x4c6abeef,
-  0x4c65b473, 0x4c60a9c8, 0x4c5b9eed, 0x4c5693e4, 0x4c5188ac, 0x4c4c7d44,
-    0x4c4771ae, 0x4c4265e8,
-  0x4c3d59f3, 0x4c384dd0, 0x4c33417d, 0x4c2e34fb, 0x4c29284b, 0x4c241b6b,
-    0x4c1f0e5c, 0x4c1a011f,
-  0x4c14f3b2, 0x4c0fe617, 0x4c0ad84c, 0x4c05ca53, 0x4c00bc2b, 0x4bfbadd4,
-    0x4bf69f4e, 0x4bf19099,
-  0x4bec81b5, 0x4be772a3, 0x4be26362, 0x4bdd53f2, 0x4bd84453, 0x4bd33485,
-    0x4bce2488, 0x4bc9145d,
-  0x4bc40403, 0x4bbef37b, 0x4bb9e2c3, 0x4bb4d1dd, 0x4bafc0c8, 0x4baaaf85,
-    0x4ba59e12, 0x4ba08c72,
-  0x4b9b7aa2, 0x4b9668a4, 0x4b915677, 0x4b8c441c, 0x4b873192, 0x4b821ed9,
-    0x4b7d0bf2, 0x4b77f8dc,
-  0x4b72e598, 0x4b6dd225, 0x4b68be84, 0x4b63aab4, 0x4b5e96b6, 0x4b598289,
-    0x4b546e2d, 0x4b4f59a4,
-  0x4b4a44eb, 0x4b453005, 0x4b401aef, 0x4b3b05ac, 0x4b35f03a, 0x4b30da9a,
-    0x4b2bc4cb, 0x4b26aece,
-  0x4b2198a2, 0x4b1c8248, 0x4b176bc0, 0x4b12550a, 0x4b0d3e25, 0x4b082712,
-    0x4b030fd1, 0x4afdf861,
-  0x4af8e0c3, 0x4af3c8f7, 0x4aeeb0fd, 0x4ae998d4, 0x4ae4807d, 0x4adf67f8,
-    0x4ada4f45, 0x4ad53664,
-  0x4ad01d54, 0x4acb0417, 0x4ac5eaab, 0x4ac0d111, 0x4abbb749, 0x4ab69d53,
-    0x4ab1832f, 0x4aac68dc,
-  0x4aa74e5c, 0x4aa233ae, 0x4a9d18d1, 0x4a97fdc7, 0x4a92e28e, 0x4a8dc728,
-    0x4a88ab93, 0x4a838fd1,
-  0x4a7e73e0, 0x4a7957c2, 0x4a743b76, 0x4a6f1efc, 0x4a6a0253, 0x4a64e57d,
-    0x4a5fc879, 0x4a5aab48,
-  0x4a558de8, 0x4a50705a, 0x4a4b529f, 0x4a4634b6, 0x4a41169f, 0x4a3bf85a,
-    0x4a36d9e7, 0x4a31bb47,
-  0x4a2c9c79, 0x4a277d7d, 0x4a225e53, 0x4a1d3efc, 0x4a181f77, 0x4a12ffc4,
-    0x4a0ddfe4, 0x4a08bfd5,
-  0x4a039f9a, 0x49fe7f30, 0x49f95e99, 0x49f43dd4, 0x49ef1ce2, 0x49e9fbc2,
-    0x49e4da74, 0x49dfb8f9,
-  0x49da9750, 0x49d5757a, 0x49d05376, 0x49cb3145, 0x49c60ee6, 0x49c0ec59,
-    0x49bbc9a0, 0x49b6a6b8,
-  0x49b183a3, 0x49ac6061, 0x49a73cf1, 0x49a21954, 0x499cf589, 0x4997d191,
-    0x4992ad6c, 0x498d8919,
-  0x49886499, 0x49833fec, 0x497e1b11, 0x4978f609, 0x4973d0d3, 0x496eab70,
-    0x496985e0, 0x49646023,
-  0x495f3a38, 0x495a1420, 0x4954eddb, 0x494fc768, 0x494aa0c9, 0x494579fc,
-    0x49405302, 0x493b2bdb,
-  0x49360486, 0x4930dd05, 0x492bb556, 0x49268d7a, 0x49216571, 0x491c3d3b,
-    0x491714d8, 0x4911ec47,
-  0x490cc38a, 0x49079aa0, 0x49027188, 0x48fd4844, 0x48f81ed2, 0x48f2f534,
-    0x48edcb68, 0x48e8a170,
-  0x48e3774a, 0x48de4cf8, 0x48d92278, 0x48d3f7cc, 0x48ceccf3, 0x48c9a1ed,
-    0x48c476b9, 0x48bf4b59,
-  0x48ba1fcd, 0x48b4f413, 0x48afc82c, 0x48aa9c19, 0x48a56fd9, 0x48a0436c,
-    0x489b16d2, 0x4895ea0b,
-  0x4890bd18, 0x488b8ff8, 0x488662ab, 0x48813531, 0x487c078b, 0x4876d9b8,
-    0x4871abb8, 0x486c7d8c,
-  0x48674f33, 0x486220ad, 0x485cf1fa, 0x4857c31b, 0x48529410, 0x484d64d7,
-    0x48483572, 0x484305e1,
-  0x483dd623, 0x4838a638, 0x48337621, 0x482e45dd, 0x4829156d, 0x4823e4d0,
-    0x481eb407, 0x48198311,
-  0x481451ef, 0x480f20a0, 0x4809ef25, 0x4804bd7e, 0x47ff8baa, 0x47fa59a9,
-    0x47f5277d, 0x47eff523,
-  0x47eac29e, 0x47e58fec, 0x47e05d0e, 0x47db2a03, 0x47d5f6cc, 0x47d0c369,
-    0x47cb8fd9, 0x47c65c1d,
-  0x47c12835, 0x47bbf421, 0x47b6bfe0, 0x47b18b74, 0x47ac56da, 0x47a72215,
-    0x47a1ed24, 0x479cb806,
-  0x479782bc, 0x47924d46, 0x478d17a4, 0x4787e1d6, 0x4782abdb, 0x477d75b5,
-    0x47783f62, 0x477308e3,
-  0x476dd239, 0x47689b62, 0x4763645f, 0x475e2d30, 0x4758f5d5, 0x4753be4e,
-    0x474e869b, 0x47494ebc,
-  0x474416b1, 0x473ede7a, 0x4739a617, 0x47346d89, 0x472f34ce, 0x4729fbe7,
-    0x4724c2d5, 0x471f8996,
-  0x471a502c, 0x47151696, 0x470fdcd4, 0x470aa2e6, 0x470568cd, 0x47002e87,
-    0x46faf416, 0x46f5b979,
-  0x46f07eb0, 0x46eb43bc, 0x46e6089b, 0x46e0cd4f, 0x46db91d8, 0x46d65634,
-    0x46d11a65, 0x46cbde6a,
-  0x46c6a244, 0x46c165f1, 0x46bc2974, 0x46b6ecca, 0x46b1aff5, 0x46ac72f4,
-    0x46a735c8, 0x46a1f870,
-  0x469cbaed, 0x46977d3e, 0x46923f63, 0x468d015d, 0x4687c32c, 0x468284cf,
-    0x467d4646, 0x46780792,
-  0x4672c8b3, 0x466d89a8, 0x46684a71, 0x46630b0f, 0x465dcb82, 0x46588bc9,
-    0x46534be5, 0x464e0bd6,
-  0x4648cb9b, 0x46438b35, 0x463e4aa3, 0x463909e7, 0x4633c8fe, 0x462e87eb,
-    0x462946ac, 0x46240542,
-  0x461ec3ad, 0x461981ec, 0x46144001, 0x460efde9, 0x4609bba7, 0x4604793a,
-    0x45ff36a1, 0x45f9f3dd,
-  0x45f4b0ee, 0x45ef6dd4, 0x45ea2a8f, 0x45e4e71f, 0x45dfa383, 0x45da5fbc,
-    0x45d51bcb, 0x45cfd7ae,
-  0x45ca9366, 0x45c54ef3, 0x45c00a55, 0x45bac58c, 0x45b58098, 0x45b03b79,
-    0x45aaf630, 0x45a5b0bb,
-  0x45a06b1b, 0x459b2550, 0x4595df5a, 0x45909939, 0x458b52ee, 0x45860c77,
-    0x4580c5d6, 0x457b7f0a,
-  0x45763813, 0x4570f0f1, 0x456ba9a4, 0x4566622c, 0x45611a8a, 0x455bd2bc,
-    0x45568ac4, 0x455142a2,
-  0x454bfa54, 0x4546b1dc, 0x45416939, 0x453c206b, 0x4536d773, 0x45318e4f,
-    0x452c4502, 0x4526fb89,
-  0x4521b1e6, 0x451c6818, 0x45171e20, 0x4511d3fd, 0x450c89af, 0x45073f37,
-    0x4501f494, 0x44fca9c6,
-  0x44f75ecf, 0x44f213ac, 0x44ecc85f, 0x44e77ce7, 0x44e23145, 0x44dce579,
-    0x44d79982, 0x44d24d60,
-  0x44cd0114, 0x44c7b49e, 0x44c267fd, 0x44bd1b32, 0x44b7ce3c, 0x44b2811c,
-    0x44ad33d2, 0x44a7e65d,
-  0x44a298be, 0x449d4af5, 0x4497fd01, 0x4492aee3, 0x448d609b, 0x44881228,
-    0x4482c38b, 0x447d74c4,
-  0x447825d2, 0x4472d6b7, 0x446d8771, 0x44683801, 0x4462e866, 0x445d98a2,
-    0x445848b3, 0x4452f89b,
-  0x444da858, 0x444857ea, 0x44430753, 0x443db692, 0x443865a7, 0x44331491,
-    0x442dc351, 0x442871e8,
-  0x44232054, 0x441dce96, 0x44187caf, 0x44132a9d, 0x440dd861, 0x440885fc,
-    0x4403336c, 0x43fde0b2,
-  0x43f88dcf, 0x43f33ac1, 0x43ede78a, 0x43e89429, 0x43e3409d, 0x43ddece8,
-    0x43d8990a, 0x43d34501,
-  0x43cdf0ce, 0x43c89c72, 0x43c347eb, 0x43bdf33b, 0x43b89e62, 0x43b3495e,
-    0x43adf431, 0x43a89ed9,
-  0x43a34959, 0x439df3ae, 0x43989dda, 0x439347dc, 0x438df1b4, 0x43889b63,
-    0x438344e8, 0x437dee43,
-  0x43789775, 0x4373407d, 0x436de95b, 0x43689210, 0x43633a9c, 0x435de2fd,
-    0x43588b36, 0x43533344,
-  0x434ddb29, 0x434882e5, 0x43432a77, 0x433dd1e0, 0x4338791f, 0x43332035,
-    0x432dc721, 0x43286de4,
-  0x4323147d, 0x431dbaed, 0x43186133, 0x43130751, 0x430dad44, 0x4308530f,
-    0x4302f8b0, 0x42fd9e28,
-  0x42f84376, 0x42f2e89b, 0x42ed8d97, 0x42e83269, 0x42e2d713, 0x42dd7b93,
-    0x42d81fe9, 0x42d2c417,
-  0x42cd681b, 0x42c80bf6, 0x42c2afa8, 0x42bd5331, 0x42b7f690, 0x42b299c7,
-    0x42ad3cd4, 0x42a7dfb8,
-  0x42a28273, 0x429d2505, 0x4297c76e, 0x429269ae, 0x428d0bc4, 0x4287adb2,
-    0x42824f76, 0x427cf112,
-  0x42779285, 0x427233ce, 0x426cd4ef, 0x426775e6, 0x426216b5, 0x425cb75a,
-    0x425757d7, 0x4251f82b,
-  0x424c9856, 0x42473858, 0x4241d831, 0x423c77e1, 0x42371769, 0x4231b6c7,
-    0x422c55fd, 0x4226f50a,
-  0x422193ee, 0x421c32a9, 0x4216d13c, 0x42116fa5, 0x420c0de6, 0x4206abfe,
-    0x420149ee, 0x41fbe7b5,
-  0x41f68553, 0x41f122c8, 0x41ebc015, 0x41e65d39, 0x41e0fa35, 0x41db9707,
-    0x41d633b1, 0x41d0d033,
-  0x41cb6c8c, 0x41c608bc, 0x41c0a4c4, 0x41bb40a3, 0x41b5dc5a, 0x41b077e8,
-    0x41ab134e, 0x41a5ae8b,
-  0x41a049a0, 0x419ae48c, 0x41957f4f, 0x419019eb, 0x418ab45d, 0x41854ea8,
-    0x417fe8ca, 0x417a82c3,
-  0x41751c94, 0x416fb63d, 0x416a4fbd, 0x4164e916, 0x415f8245, 0x415a1b4d,
-    0x4154b42c, 0x414f4ce2,
-  0x4149e571, 0x41447dd7, 0x413f1615, 0x4139ae2b, 0x41344618, 0x412edddd,
-    0x4129757b, 0x41240cef,
-  0x411ea43c, 0x41193b61, 0x4113d25d, 0x410e6931, 0x4108ffdd, 0x41039661,
-    0x40fe2cbd, 0x40f8c2f1,
-  0x40f358fc, 0x40edeee0, 0x40e8849b, 0x40e31a2f, 0x40ddaf9b, 0x40d844de,
-    0x40d2d9f9, 0x40cd6eed,
-  0x40c803b8, 0x40c2985c, 0x40bd2cd8, 0x40b7c12b, 0x40b25557, 0x40ace95b,
-    0x40a77d37, 0x40a210eb,
-  0x409ca477, 0x409737dc, 0x4091cb18, 0x408c5e2d, 0x4086f11a, 0x408183df,
-    0x407c167c, 0x4076a8f1,
-  0x40713b3f, 0x406bcd65, 0x40665f63, 0x4060f13a, 0x405b82e9, 0x40561470,
-    0x4050a5cf, 0x404b3707,
-  0x4045c817, 0x404058ff, 0x403ae9c0, 0x40357a59, 0x40300acb, 0x402a9b15,
-    0x40252b37, 0x401fbb32,
-  0x401a4b05, 0x4014dab1, 0x400f6a35, 0x4009f992, 0x400488c7, 0x3fff17d5,
-    0x3ff9a6bb, 0x3ff4357a,
-  0x3feec411, 0x3fe95281, 0x3fe3e0c9, 0x3fde6eeb, 0x3fd8fce4, 0x3fd38ab6,
-    0x3fce1861, 0x3fc8a5e5,
-  0x3fc33341, 0x3fbdc076, 0x3fb84d83, 0x3fb2da6a, 0x3fad6729, 0x3fa7f3c0,
-    0x3fa28031, 0x3f9d0c7a,
-  0x3f97989c, 0x3f922496, 0x3f8cb06a, 0x3f873c16, 0x3f81c79b, 0x3f7c52f9,
-    0x3f76de30, 0x3f71693f,
-  0x3f6bf428, 0x3f667ee9, 0x3f610983, 0x3f5b93f6, 0x3f561e42, 0x3f50a867,
-    0x3f4b3265, 0x3f45bc3c,
-  0x3f4045ec, 0x3f3acf75, 0x3f3558d7, 0x3f2fe211, 0x3f2a6b25, 0x3f24f412,
-    0x3f1f7cd8, 0x3f1a0577,
-  0x3f148def, 0x3f0f1640, 0x3f099e6b, 0x3f04266e, 0x3efeae4a, 0x3ef93600,
-    0x3ef3bd8f, 0x3eee44f7,
-  0x3ee8cc38, 0x3ee35352, 0x3eddda46, 0x3ed86113, 0x3ed2e7b9, 0x3ecd6e38,
-    0x3ec7f491, 0x3ec27ac2,
-  0x3ebd00cd, 0x3eb786b2, 0x3eb20c6f, 0x3eac9206, 0x3ea71777, 0x3ea19cc1,
-    0x3e9c21e4, 0x3e96a6e0,
-  0x3e912bb6, 0x3e8bb065, 0x3e8634ee, 0x3e80b950, 0x3e7b3d8c, 0x3e75c1a1,
-    0x3e70458f, 0x3e6ac957,
-  0x3e654cf8, 0x3e5fd073, 0x3e5a53c8, 0x3e54d6f6, 0x3e4f59fe, 0x3e49dcdf,
-    0x3e445f99, 0x3e3ee22e,
-  0x3e39649c, 0x3e33e6e3, 0x3e2e6904, 0x3e28eaff, 0x3e236cd4, 0x3e1dee82,
-    0x3e18700a, 0x3e12f16b,
-  0x3e0d72a6, 0x3e07f3bb, 0x3e0274aa, 0x3dfcf572, 0x3df77615, 0x3df1f691,
-    0x3dec76e6, 0x3de6f716,
-  0x3de1771f, 0x3ddbf703, 0x3dd676c0, 0x3dd0f656, 0x3dcb75c7, 0x3dc5f512,
-    0x3dc07436, 0x3dbaf335,
-  0x3db5720d, 0x3daff0c0, 0x3daa6f4c, 0x3da4edb2, 0x3d9f6bf2, 0x3d99ea0d,
-    0x3d946801, 0x3d8ee5cf,
-  0x3d896377, 0x3d83e0f9, 0x3d7e5e56, 0x3d78db8c, 0x3d73589d, 0x3d6dd587,
-    0x3d68524c, 0x3d62ceeb,
-  0x3d5d4b64, 0x3d57c7b7, 0x3d5243e4, 0x3d4cbfeb, 0x3d473bcd, 0x3d41b789,
-    0x3d3c331f, 0x3d36ae8f,
-  0x3d3129da, 0x3d2ba4fe, 0x3d261ffd, 0x3d209ad7, 0x3d1b158a, 0x3d159018,
-    0x3d100a80, 0x3d0a84c3,
-  0x3d04fee0, 0x3cff78d7, 0x3cf9f2a9, 0x3cf46c55, 0x3ceee5db, 0x3ce95f3c,
-    0x3ce3d877, 0x3cde518d,
-  0x3cd8ca7d, 0x3cd34347, 0x3ccdbbed, 0x3cc8346c, 0x3cc2acc6, 0x3cbd24fb,
-    0x3cb79d0a, 0x3cb214f4,
-  0x3cac8cb8, 0x3ca70457, 0x3ca17bd0, 0x3c9bf324, 0x3c966a53, 0x3c90e15c,
-    0x3c8b5840, 0x3c85cefe,
-  0x3c804598, 0x3c7abc0c, 0x3c75325a, 0x3c6fa883, 0x3c6a1e87, 0x3c649466,
-    0x3c5f0a20, 0x3c597fb4,
-  0x3c53f523, 0x3c4e6a6d, 0x3c48df91, 0x3c435491, 0x3c3dc96b, 0x3c383e20,
-    0x3c32b2b0, 0x3c2d271b,
-  0x3c279b61, 0x3c220f81, 0x3c1c837d, 0x3c16f753, 0x3c116b04, 0x3c0bde91,
-    0x3c0651f8, 0x3c00c53a,
-  0x3bfb3857, 0x3bf5ab50, 0x3bf01e23, 0x3bea90d1, 0x3be5035a, 0x3bdf75bf,
-    0x3bd9e7fe, 0x3bd45a19,
-  0x3bcecc0e, 0x3bc93ddf, 0x3bc3af8b, 0x3bbe2112, 0x3bb89274, 0x3bb303b1,
-    0x3bad74c9, 0x3ba7e5bd,
-  0x3ba2568c, 0x3b9cc736, 0x3b9737bb, 0x3b91a81c, 0x3b8c1857, 0x3b86886e,
-    0x3b80f861, 0x3b7b682e,
-  0x3b75d7d7, 0x3b70475c, 0x3b6ab6bb, 0x3b6525f6, 0x3b5f950c, 0x3b5a03fe,
-    0x3b5472cb, 0x3b4ee173,
-  0x3b494ff7, 0x3b43be57, 0x3b3e2c91, 0x3b389aa8, 0x3b330899, 0x3b2d7666,
-    0x3b27e40f, 0x3b225193,
-  0x3b1cbef3, 0x3b172c2e, 0x3b119945, 0x3b0c0637, 0x3b067305, 0x3b00dfaf,
-    0x3afb4c34, 0x3af5b894,
-  0x3af024d1, 0x3aea90e9, 0x3ae4fcdc, 0x3adf68ac, 0x3ad9d457, 0x3ad43fdd,
-    0x3aceab40, 0x3ac9167e,
-  0x3ac38198, 0x3abdec8d, 0x3ab8575f, 0x3ab2c20c, 0x3aad2c95, 0x3aa796fa,
-    0x3aa2013a, 0x3a9c6b57,
-  0x3a96d54f, 0x3a913f23, 0x3a8ba8d3, 0x3a86125f, 0x3a807bc7, 0x3a7ae50a,
-    0x3a754e2a, 0x3a6fb726,
-  0x3a6a1ffd, 0x3a6488b1, 0x3a5ef140, 0x3a5959ab, 0x3a53c1f3, 0x3a4e2a16,
-    0x3a489216, 0x3a42f9f2,
-  0x3a3d61a9, 0x3a37c93d, 0x3a3230ad, 0x3a2c97f9, 0x3a26ff21, 0x3a216625,
-    0x3a1bcd05, 0x3a1633c1,
-  0x3a109a5a, 0x3a0b00cf, 0x3a056720, 0x39ffcd4d, 0x39fa3356, 0x39f4993c,
-    0x39eefefe, 0x39e9649c,
-  0x39e3ca17, 0x39de2f6d, 0x39d894a0, 0x39d2f9b0, 0x39cd5e9b, 0x39c7c363,
-    0x39c22808, 0x39bc8c89,
-  0x39b6f0e6, 0x39b1551f, 0x39abb935, 0x39a61d28, 0x39a080f6, 0x399ae4a2,
-    0x39954829, 0x398fab8e,
-  0x398a0ece, 0x398471ec, 0x397ed4e5, 0x397937bc, 0x39739a6e, 0x396dfcfe,
-    0x39685f6a, 0x3962c1b2,
-  0x395d23d7, 0x395785d9, 0x3951e7b8, 0x394c4973, 0x3946ab0a, 0x39410c7f,
-    0x393b6dd0, 0x3935cefd,
-  0x39303008, 0x392a90ef, 0x3924f1b3, 0x391f5254, 0x3919b2d1, 0x3914132b,
-    0x390e7362, 0x3908d376,
-  0x39033367, 0x38fd9334, 0x38f7f2de, 0x38f25266, 0x38ecb1ca, 0x38e7110a,
-    0x38e17028, 0x38dbcf23,
-  0x38d62dfb, 0x38d08caf, 0x38caeb41, 0x38c549af, 0x38bfa7fb, 0x38ba0623,
-    0x38b46429, 0x38aec20b,
-  0x38a91fcb, 0x38a37d67, 0x389ddae1, 0x38983838, 0x3892956c, 0x388cf27d,
-    0x38874f6b, 0x3881ac36,
-  0x387c08de, 0x38766564, 0x3870c1c6, 0x386b1e06, 0x38657a23, 0x385fd61d,
-    0x385a31f5, 0x38548daa,
-  0x384ee93b, 0x384944ab, 0x38439ff7, 0x383dfb21, 0x38385628, 0x3832b10d,
-    0x382d0bce, 0x3827666d,
-  0x3821c0ea, 0x381c1b44, 0x3816757b, 0x3810cf90, 0x380b2982, 0x38058351,
-    0x37ffdcfe, 0x37fa3688,
-  0x37f48ff0, 0x37eee936, 0x37e94259, 0x37e39b59, 0x37ddf437, 0x37d84cf2,
-    0x37d2a58b, 0x37ccfe02,
-  0x37c75656, 0x37c1ae87, 0x37bc0697, 0x37b65e84, 0x37b0b64e, 0x37ab0df6,
-    0x37a5657c, 0x379fbce0,
-  0x379a1421, 0x37946b40, 0x378ec23d, 0x37891917, 0x37836fcf, 0x377dc665,
-    0x37781cd9, 0x3772732a,
-  0x376cc959, 0x37671f66, 0x37617551, 0x375bcb1a, 0x375620c1, 0x37507645,
-    0x374acba7, 0x374520e7,
-  0x373f7606, 0x3739cb02, 0x37341fdc, 0x372e7493, 0x3728c929, 0x37231d9d,
-    0x371d71ef, 0x3717c61f,
-  0x37121a2d, 0x370c6e19, 0x3706c1e2, 0x3701158a, 0x36fb6910, 0x36f5bc75,
-    0x36f00fb7, 0x36ea62d7,
-  0x36e4b5d6, 0x36df08b2, 0x36d95b6d, 0x36d3ae06, 0x36ce007d, 0x36c852d2,
-    0x36c2a506, 0x36bcf718,
-  0x36b74908, 0x36b19ad6, 0x36abec82, 0x36a63e0d, 0x36a08f76, 0x369ae0bd,
-    0x369531e3, 0x368f82e7,
-  0x3689d3c9, 0x3684248a, 0x367e7529, 0x3678c5a7, 0x36731602, 0x366d663d,
-    0x3667b655, 0x3662064c,
-  0x365c5622, 0x3656a5d6, 0x3650f569, 0x364b44da, 0x36459429, 0x363fe357,
-    0x363a3264, 0x3634814f,
-  0x362ed019, 0x36291ec1, 0x36236d48, 0x361dbbad, 0x361809f1, 0x36125814,
-    0x360ca615, 0x3606f3f5,
-  0x360141b4, 0x35fb8f52, 0x35f5dcce, 0x35f02a28, 0x35ea7762, 0x35e4c47a,
-    0x35df1171, 0x35d95e47,
-  0x35d3aafc, 0x35cdf78f, 0x35c84401, 0x35c29052, 0x35bcdc82, 0x35b72891,
-    0x35b1747e, 0x35abc04b,
-  0x35a60bf6, 0x35a05781, 0x359aa2ea, 0x3594ee32, 0x358f3959, 0x3589845f,
-    0x3583cf44, 0x357e1a08,
-  0x357864ab, 0x3572af2d, 0x356cf98e, 0x356743ce, 0x35618ded, 0x355bd7eb,
-    0x355621c9, 0x35506b85,
-  0x354ab520, 0x3544fe9b, 0x353f47f5, 0x3539912e, 0x3533da46, 0x352e233d,
-    0x35286c14, 0x3522b4c9,
-  0x351cfd5e, 0x351745d2, 0x35118e26, 0x350bd658, 0x35061e6a, 0x3500665c,
-    0x34faae2c, 0x34f4f5dc,
-  0x34ef3d6b, 0x34e984da, 0x34e3cc28, 0x34de1355, 0x34d85a62, 0x34d2a14e,
-    0x34cce819, 0x34c72ec4,
-  0x34c1754e, 0x34bbbbb8, 0x34b60202, 0x34b0482a, 0x34aa8e33, 0x34a4d41a,
-    0x349f19e2, 0x34995f88,
-  0x3493a50f, 0x348dea75, 0x34882fba, 0x348274e0, 0x347cb9e4, 0x3476fec9,
-    0x3471438d, 0x346b8830,
-  0x3465ccb4, 0x34601117, 0x345a5559, 0x3454997c, 0x344edd7e, 0x34492160,
-    0x34436521, 0x343da8c3,
-  0x3437ec44, 0x34322fa5, 0x342c72e6, 0x3426b606, 0x3420f907, 0x341b3be7,
-    0x34157ea7, 0x340fc147,
-  0x340a03c7, 0x34044626, 0x33fe8866, 0x33f8ca86, 0x33f30c85, 0x33ed4e65,
-    0x33e79024, 0x33e1d1c4,
-  0x33dc1343, 0x33d654a2, 0x33d095e2, 0x33cad701, 0x33c51801, 0x33bf58e1,
-    0x33b999a0, 0x33b3da40,
-  0x33ae1ac0, 0x33a85b20, 0x33a29b60, 0x339cdb81, 0x33971b81, 0x33915b62,
-    0x338b9b22, 0x3385dac4,
-  0x33801a45, 0x337a59a6, 0x337498e8, 0x336ed80a, 0x3369170c, 0x336355ef,
-    0x335d94b2, 0x3357d355,
-  0x335211d8, 0x334c503c, 0x33468e80, 0x3340cca5, 0x333b0aaa, 0x3335488f,
-    0x332f8655, 0x3329c3fb,
-  0x33240182, 0x331e3ee9, 0x33187c31, 0x3312b959, 0x330cf661, 0x3307334a,
-    0x33017014, 0x32fbacbe,
-  0x32f5e948, 0x32f025b4, 0x32ea61ff, 0x32e49e2c, 0x32deda39, 0x32d91626,
-    0x32d351f5, 0x32cd8da4,
-  0x32c7c933, 0x32c204a3, 0x32bc3ff4, 0x32b67b26, 0x32b0b638, 0x32aaf12b,
-    0x32a52bff, 0x329f66b4,
-  0x3299a149, 0x3293dbbf, 0x328e1616, 0x3288504e, 0x32828a67, 0x327cc460,
-    0x3276fe3a, 0x327137f6,
-  0x326b7192, 0x3265ab0f, 0x325fe46c, 0x325a1dab, 0x325456cb, 0x324e8fcc,
-    0x3248c8ad, 0x32430170,
-  0x323d3a14, 0x32377298, 0x3231aafe, 0x322be345, 0x32261b6c, 0x32205375,
-    0x321a8b5f, 0x3214c32a,
-  0x320efad6, 0x32093263, 0x320369d2, 0x31fda121, 0x31f7d852, 0x31f20f64,
-    0x31ec4657, 0x31e67d2b,
-  0x31e0b3e0, 0x31daea77, 0x31d520ef, 0x31cf5748, 0x31c98d83, 0x31c3c39e,
-    0x31bdf99b, 0x31b82f7a,
-  0x31b2653a, 0x31ac9adb, 0x31a6d05d, 0x31a105c1, 0x319b3b06, 0x3195702d,
-    0x318fa535, 0x3189da1e,
-  0x31840ee9, 0x317e4395, 0x31787823, 0x3172ac92, 0x316ce0e3, 0x31671515,
-    0x31614929, 0x315b7d1e,
-  0x3155b0f5, 0x314fe4ae, 0x314a1848, 0x31444bc3, 0x313e7f21, 0x3138b260,
-    0x3132e580, 0x312d1882,
-  0x31274b66, 0x31217e2c, 0x311bb0d3, 0x3115e35c, 0x311015c6, 0x310a4813,
-    0x31047a41, 0x30feac51,
-  0x30f8de42, 0x30f31016, 0x30ed41cb, 0x30e77362, 0x30e1a4db, 0x30dbd636,
-    0x30d60772, 0x30d03891,
-  0x30ca6991, 0x30c49a74, 0x30becb38, 0x30b8fbde, 0x30b32c66, 0x30ad5cd0,
-    0x30a78d1c, 0x30a1bd4a,
-  0x309bed5a, 0x30961d4c, 0x30904d20, 0x308a7cd6, 0x3084ac6e, 0x307edbe9,
-    0x30790b45, 0x30733a83,
-  0x306d69a4, 0x306798a7, 0x3061c78b, 0x305bf652, 0x305624fb, 0x30505387,
-    0x304a81f4, 0x3044b044,
-  0x303ede76, 0x30390c8a, 0x30333a80, 0x302d6859, 0x30279614, 0x3021c3b1,
-    0x301bf131, 0x30161e93,
-  0x30104bd7, 0x300a78fe, 0x3004a607, 0x2ffed2f2, 0x2ff8ffc0, 0x2ff32c70,
-    0x2fed5902, 0x2fe78577,
-  0x2fe1b1cf, 0x2fdbde09, 0x2fd60a25, 0x2fd03624, 0x2fca6206, 0x2fc48dc9,
-    0x2fbeb970, 0x2fb8e4f9,
-  0x2fb31064, 0x2fad3bb3, 0x2fa766e3, 0x2fa191f7, 0x2f9bbced, 0x2f95e7c5,
-    0x2f901280, 0x2f8a3d1e,
-  0x2f84679f, 0x2f7e9202, 0x2f78bc48, 0x2f72e671, 0x2f6d107c, 0x2f673a6a,
-    0x2f61643b, 0x2f5b8def,
-  0x2f55b785, 0x2f4fe0ff, 0x2f4a0a5b, 0x2f44339a, 0x2f3e5cbb, 0x2f3885c0,
-    0x2f32aea8, 0x2f2cd772,
-  0x2f27001f, 0x2f2128af, 0x2f1b5122, 0x2f157979, 0x2f0fa1b2, 0x2f09c9ce,
-    0x2f03f1cd, 0x2efe19ae,
-  0x2ef84173, 0x2ef2691b, 0x2eec90a7, 0x2ee6b815, 0x2ee0df66, 0x2edb069a,
-    0x2ed52db1, 0x2ecf54ac,
-  0x2ec97b89, 0x2ec3a24a, 0x2ebdc8ee, 0x2eb7ef75, 0x2eb215df, 0x2eac3c2d,
-    0x2ea6625d, 0x2ea08871,
-  0x2e9aae68, 0x2e94d443, 0x2e8efa00, 0x2e891fa1, 0x2e834525, 0x2e7d6a8d,
-    0x2e778fd8, 0x2e71b506,
-  0x2e6bda17, 0x2e65ff0c, 0x2e6023e5, 0x2e5a48a0, 0x2e546d3f, 0x2e4e91c2,
-    0x2e48b628, 0x2e42da71,
-  0x2e3cfe9e, 0x2e3722ae, 0x2e3146a2, 0x2e2b6a79, 0x2e258e34, 0x2e1fb1d3,
-    0x2e19d554, 0x2e13f8ba,
-  0x2e0e1c03, 0x2e083f30, 0x2e026240, 0x2dfc8534, 0x2df6a80b, 0x2df0cac6,
-    0x2deaed65, 0x2de50fe8,
-  0x2ddf324e, 0x2dd95498, 0x2dd376c5, 0x2dcd98d7, 0x2dc7bacc, 0x2dc1dca4,
-    0x2dbbfe61, 0x2db62001,
-  0x2db04186, 0x2daa62ee, 0x2da4843a, 0x2d9ea569, 0x2d98c67d, 0x2d92e774,
-    0x2d8d084f, 0x2d87290f,
-  0x2d8149b2, 0x2d7b6a39, 0x2d758aa4, 0x2d6faaf3, 0x2d69cb26, 0x2d63eb3d,
-    0x2d5e0b38, 0x2d582b17,
-  0x2d524ada, 0x2d4c6a81, 0x2d468a0c, 0x2d40a97b, 0x2d3ac8ce, 0x2d34e805,
-    0x2d2f0721, 0x2d292620,
-  0x2d234504, 0x2d1d63cc, 0x2d178278, 0x2d11a108, 0x2d0bbf7d, 0x2d05ddd5,
-    0x2cfffc12, 0x2cfa1a33,
-  0x2cf43839, 0x2cee5622, 0x2ce873f0, 0x2ce291a2, 0x2cdcaf39, 0x2cd6ccb4,
-    0x2cd0ea13, 0x2ccb0756,
-  0x2cc5247e, 0x2cbf418b, 0x2cb95e7b, 0x2cb37b51, 0x2cad980a, 0x2ca7b4a8,
-    0x2ca1d12a, 0x2c9bed91,
-  0x2c9609dd, 0x2c90260d, 0x2c8a4221, 0x2c845e1a, 0x2c7e79f7, 0x2c7895b9,
-    0x2c72b160, 0x2c6ccceb,
-  0x2c66e85b, 0x2c6103af, 0x2c5b1ee8, 0x2c553a06, 0x2c4f5508, 0x2c496fef,
-    0x2c438abb, 0x2c3da56b,
-  0x2c37c000, 0x2c31da7a, 0x2c2bf4d8, 0x2c260f1c, 0x2c202944, 0x2c1a4351,
-    0x2c145d42, 0x2c0e7719,
-  0x2c0890d4, 0x2c02aa74, 0x2bfcc3f9, 0x2bf6dd63, 0x2bf0f6b1, 0x2beb0fe5,
-    0x2be528fd, 0x2bdf41fb,
-  0x2bd95add, 0x2bd373a4, 0x2bcd8c51, 0x2bc7a4e2, 0x2bc1bd58, 0x2bbbd5b3,
-    0x2bb5edf4, 0x2bb00619,
-  0x2baa1e23, 0x2ba43613, 0x2b9e4de7, 0x2b9865a1, 0x2b927d3f, 0x2b8c94c3,
-    0x2b86ac2c, 0x2b80c37a,
-  0x2b7adaae, 0x2b74f1c6, 0x2b6f08c4, 0x2b691fa6, 0x2b63366f, 0x2b5d4d1c,
-    0x2b5763ae, 0x2b517a26,
-  0x2b4b9083, 0x2b45a6c6, 0x2b3fbced, 0x2b39d2fa, 0x2b33e8ed, 0x2b2dfec5,
-    0x2b281482, 0x2b222a24,
-  0x2b1c3fac, 0x2b165519, 0x2b106a6c, 0x2b0a7fa4, 0x2b0494c2, 0x2afea9c5,
-    0x2af8bead, 0x2af2d37b,
-  0x2aece82f, 0x2ae6fcc8, 0x2ae11146, 0x2adb25aa, 0x2ad539f4, 0x2acf4e23,
-    0x2ac96238, 0x2ac37633,
-  0x2abd8a13, 0x2ab79dd8, 0x2ab1b184, 0x2aabc515, 0x2aa5d88b, 0x2a9febe8,
-    0x2a99ff2a, 0x2a941252,
-  0x2a8e255f, 0x2a883853, 0x2a824b2c, 0x2a7c5deb, 0x2a76708f, 0x2a70831a,
-    0x2a6a958a, 0x2a64a7e0,
-  0x2a5eba1c, 0x2a58cc3e, 0x2a52de46, 0x2a4cf033, 0x2a470207, 0x2a4113c0,
-    0x2a3b2560, 0x2a3536e5,
-  0x2a2f4850, 0x2a2959a1, 0x2a236ad9, 0x2a1d7bf6, 0x2a178cf9, 0x2a119de2,
-    0x2a0baeb2, 0x2a05bf67,
-  0x29ffd003, 0x29f9e084, 0x29f3f0ec, 0x29ee013a, 0x29e8116e, 0x29e22188,
-    0x29dc3188, 0x29d6416f,
-  0x29d0513b, 0x29ca60ee, 0x29c47087, 0x29be8007, 0x29b88f6c, 0x29b29eb8,
-    0x29acadea, 0x29a6bd02,
-  0x29a0cc01, 0x299adae6, 0x2994e9b1, 0x298ef863, 0x298906fb, 0x2983157a,
-    0x297d23df, 0x2977322a,
-  0x2971405b, 0x296b4e74, 0x29655c72, 0x295f6a57, 0x29597823, 0x295385d5,
-    0x294d936d, 0x2947a0ec,
-  0x2941ae52, 0x293bbb9e, 0x2935c8d1, 0x292fd5ea, 0x2929e2ea, 0x2923efd0,
-    0x291dfc9d, 0x29180951,
-  0x291215eb, 0x290c226c, 0x29062ed4, 0x29003b23, 0x28fa4758, 0x28f45374,
-    0x28ee5f76, 0x28e86b5f,
-  0x28e27730, 0x28dc82e6, 0x28d68e84, 0x28d09a09, 0x28caa574, 0x28c4b0c6,
-    0x28bebbff, 0x28b8c71f,
-  0x28b2d226, 0x28acdd13, 0x28a6e7e8, 0x28a0f2a3, 0x289afd46, 0x289507cf,
-    0x288f123f, 0x28891c97,
-  0x288326d5, 0x287d30fa, 0x28773b07, 0x287144fa, 0x286b4ed5, 0x28655896,
-    0x285f623f, 0x28596bce,
-  0x28537545, 0x284d7ea3, 0x284787e8, 0x28419114, 0x283b9a28, 0x2835a322,
-    0x282fac04, 0x2829b4cd,
-  0x2823bd7d, 0x281dc615, 0x2817ce93, 0x2811d6f9, 0x280bdf46, 0x2805e77b,
-    0x27ffef97, 0x27f9f79a,
-  0x27f3ff85, 0x27ee0756, 0x27e80f10, 0x27e216b0, 0x27dc1e38, 0x27d625a8,
-    0x27d02cff, 0x27ca343d,
-  0x27c43b63, 0x27be4270, 0x27b84965, 0x27b25041, 0x27ac5705, 0x27a65db0,
-    0x27a06443, 0x279a6abd,
-  0x2794711f, 0x278e7768, 0x27887d99, 0x278283b2, 0x277c89b3, 0x27768f9b,
-    0x2770956a, 0x276a9b21,
-  0x2764a0c0, 0x275ea647, 0x2758abb6, 0x2752b10c, 0x274cb64a, 0x2746bb6f,
-    0x2740c07d, 0x273ac572,
-  0x2734ca4f, 0x272ecf14, 0x2728d3c0, 0x2722d855, 0x271cdcd1, 0x2716e136,
-    0x2710e582, 0x270ae9b6,
-  0x2704edd2, 0x26fef1d5, 0x26f8f5c1, 0x26f2f995, 0x26ecfd51, 0x26e700f5,
-    0x26e10480, 0x26db07f4,
-  0x26d50b50, 0x26cf0e94, 0x26c911c0, 0x26c314d4, 0x26bd17d0, 0x26b71ab4,
-    0x26b11d80, 0x26ab2034,
-  0x26a522d1, 0x269f2556, 0x269927c3, 0x26932a18, 0x268d2c55, 0x26872e7b,
-    0x26813088, 0x267b327e,
-  0x2675345d, 0x266f3623, 0x266937d2, 0x26633969, 0x265d3ae9, 0x26573c50,
-    0x26513da1, 0x264b3ed9,
-  0x26453ffa, 0x263f4103, 0x263941f5, 0x263342cf, 0x262d4392, 0x2627443d,
-    0x262144d0, 0x261b454c,
-  0x261545b0, 0x260f45fd, 0x26094633, 0x26034651, 0x25fd4657, 0x25f74646,
-    0x25f1461e, 0x25eb45de,
-  0x25e54587, 0x25df4519, 0x25d94493, 0x25d343f6, 0x25cd4341, 0x25c74276,
-    0x25c14192, 0x25bb4098,
-  0x25b53f86, 0x25af3e5d, 0x25a93d1d, 0x25a33bc6, 0x259d3a57, 0x259738d1,
-    0x25913734, 0x258b3580,
-  0x258533b5, 0x257f31d2, 0x25792fd8, 0x25732dc8, 0x256d2ba0, 0x25672961,
-    0x2561270b, 0x255b249e,
-  0x2555221a, 0x254f1f7e, 0x25491ccc, 0x25431a03, 0x253d1723, 0x2537142c,
-    0x2531111e, 0x252b0df9,
-  0x25250abd, 0x251f076a, 0x25190400, 0x25130080, 0x250cfce8, 0x2506f93a,
-    0x2500f574, 0x24faf198,
-  0x24f4eda6, 0x24eee99c, 0x24e8e57c, 0x24e2e144, 0x24dcdcf6, 0x24d6d892,
-    0x24d0d416, 0x24cacf84,
-  0x24c4cadb, 0x24bec61c, 0x24b8c146, 0x24b2bc59, 0x24acb756, 0x24a6b23b,
-    0x24a0ad0b, 0x249aa7c4,
-  0x2494a266, 0x248e9cf1, 0x24889766, 0x248291c5, 0x247c8c0d, 0x2476863e,
-    0x24708059, 0x246a7a5e,
-  0x2464744c, 0x245e6e23, 0x245867e4, 0x2452618f, 0x244c5b24, 0x244654a1,
-    0x24404e09, 0x243a475a,
-  0x24344095, 0x242e39ba, 0x242832c8, 0x24222bc0, 0x241c24a1, 0x24161d6d,
-    0x24101622, 0x240a0ec1,
-  0x24040749, 0x23fdffbc, 0x23f7f818, 0x23f1f05e, 0x23ebe88e, 0x23e5e0a7,
-    0x23dfd8ab, 0x23d9d098,
-  0x23d3c86f, 0x23cdc031, 0x23c7b7dc, 0x23c1af71, 0x23bba6f0, 0x23b59e59,
-    0x23af95ac, 0x23a98ce8,
-  0x23a3840f, 0x239d7b20, 0x2397721b, 0x23916900, 0x238b5fcf, 0x23855688,
-    0x237f4d2b, 0x237943b9,
-  0x23733a30, 0x236d3092, 0x236726dd, 0x23611d13, 0x235b1333, 0x2355093e,
-    0x234eff32, 0x2348f511,
-  0x2342eada, 0x233ce08d, 0x2336d62a, 0x2330cbb2, 0x232ac124, 0x2324b680,
-    0x231eabc7, 0x2318a0f8,
-  0x23129613, 0x230c8b19, 0x23068009, 0x230074e3, 0x22fa69a8, 0x22f45e57,
-    0x22ee52f1, 0x22e84775,
-  0x22e23be4, 0x22dc303d, 0x22d62480, 0x22d018ae, 0x22ca0cc7, 0x22c400ca,
-    0x22bdf4b8, 0x22b7e890,
-  0x22b1dc53, 0x22abd001, 0x22a5c399, 0x229fb71b, 0x2299aa89, 0x22939de1,
-    0x228d9123, 0x22878451,
-  0x22817769, 0x227b6a6c, 0x22755d59, 0x226f5032, 0x226942f5, 0x226335a2,
-    0x225d283b, 0x22571abe,
-  0x22510d2d, 0x224aff86, 0x2244f1c9, 0x223ee3f8, 0x2238d612, 0x2232c816,
-    0x222cba06, 0x2226abe0,
-  0x22209da5, 0x221a8f56, 0x221480f1, 0x220e7277, 0x220863e8, 0x22025544,
-    0x21fc468b, 0x21f637be,
-  0x21f028db, 0x21ea19e3, 0x21e40ad7, 0x21ddfbb5, 0x21d7ec7f, 0x21d1dd34,
-    0x21cbcdd3, 0x21c5be5e,
-  0x21bfaed5, 0x21b99f36, 0x21b38f83, 0x21ad7fba, 0x21a76fdd, 0x21a15fec,
-    0x219b4fe5, 0x21953fca,
-  0x218f2f9a, 0x21891f55, 0x21830efc, 0x217cfe8e, 0x2176ee0b, 0x2170dd74,
-    0x216accc8, 0x2164bc08,
-  0x215eab33, 0x21589a49, 0x2152894b, 0x214c7838, 0x21466710, 0x214055d4,
-    0x213a4484, 0x2134331f,
-  0x212e21a6, 0x21281018, 0x2121fe76, 0x211becbf, 0x2115daf4, 0x210fc914,
-    0x2109b720, 0x2103a518,
-  0x20fd92fb, 0x20f780ca, 0x20f16e84, 0x20eb5c2b, 0x20e549bd, 0x20df373a,
-    0x20d924a4, 0x20d311f9,
-  0x20ccff3a, 0x20c6ec66, 0x20c0d97f, 0x20bac683, 0x20b4b373, 0x20aea04f,
-    0x20a88d17, 0x20a279ca,
-  0x209c666a, 0x209652f5, 0x20903f6c, 0x208a2bcf, 0x2084181e, 0x207e0459,
-    0x2077f080, 0x2071dc93,
-  0x206bc892, 0x2065b47d, 0x205fa054, 0x20598c17, 0x205377c6, 0x204d6361,
-    0x20474ee8, 0x20413a5b,
-  0x203b25bb, 0x20351106, 0x202efc3e, 0x2028e761, 0x2022d271, 0x201cbd6d,
-    0x2016a856, 0x2010932a,
-  0x200a7deb, 0x20046898, 0x1ffe5331, 0x1ff83db6, 0x1ff22828, 0x1fec1286,
-    0x1fe5fcd0, 0x1fdfe707,
-  0x1fd9d12a, 0x1fd3bb39, 0x1fcda535, 0x1fc78f1d, 0x1fc178f1, 0x1fbb62b2,
-    0x1fb54c60, 0x1faf35f9,
-  0x1fa91f80, 0x1fa308f2, 0x1f9cf252, 0x1f96db9d, 0x1f90c4d5, 0x1f8aadfa,
-    0x1f84970b, 0x1f7e8009,
-  0x1f7868f4, 0x1f7251ca, 0x1f6c3a8e, 0x1f66233e, 0x1f600bdb, 0x1f59f465,
-    0x1f53dcdb, 0x1f4dc53d,
-  0x1f47ad8d, 0x1f4195c9, 0x1f3b7df2, 0x1f356608, 0x1f2f4e0a, 0x1f2935f9,
-    0x1f231dd5, 0x1f1d059e,
-  0x1f16ed54, 0x1f10d4f6, 0x1f0abc85, 0x1f04a401, 0x1efe8b6a, 0x1ef872c0,
-    0x1ef25a03, 0x1eec4132,
-  0x1ee6284f, 0x1ee00f58, 0x1ed9f64f, 0x1ed3dd32, 0x1ecdc402, 0x1ec7aac0,
-    0x1ec1916a, 0x1ebb7802,
-  0x1eb55e86, 0x1eaf44f8, 0x1ea92b56, 0x1ea311a2, 0x1e9cf7db, 0x1e96de01,
-    0x1e90c414, 0x1e8aaa14,
-  0x1e849001, 0x1e7e75dc, 0x1e785ba3, 0x1e724158, 0x1e6c26fa, 0x1e660c8a,
-    0x1e5ff206, 0x1e59d770,
-  0x1e53bcc7, 0x1e4da20c, 0x1e47873d, 0x1e416c5d, 0x1e3b5169, 0x1e353663,
-    0x1e2f1b4a, 0x1e29001e,
-  0x1e22e4e0, 0x1e1cc990, 0x1e16ae2c, 0x1e1092b6, 0x1e0a772e, 0x1e045b93,
-    0x1dfe3fe6, 0x1df82426,
-  0x1df20853, 0x1debec6f, 0x1de5d077, 0x1ddfb46e, 0x1dd99851, 0x1dd37c23,
-    0x1dcd5fe2, 0x1dc7438e,
-  0x1dc12729, 0x1dbb0ab0, 0x1db4ee26, 0x1daed189, 0x1da8b4da, 0x1da29819,
-    0x1d9c7b45, 0x1d965e5f,
-  0x1d904167, 0x1d8a245c, 0x1d840740, 0x1d7dea11, 0x1d77ccd0, 0x1d71af7d,
-    0x1d6b9217, 0x1d6574a0,
-  0x1d5f5716, 0x1d59397a, 0x1d531bcc, 0x1d4cfe0d, 0x1d46e03a, 0x1d40c256,
-    0x1d3aa460, 0x1d348658,
-  0x1d2e683e, 0x1d284a12, 0x1d222bd3, 0x1d1c0d83, 0x1d15ef21, 0x1d0fd0ad,
-    0x1d09b227, 0x1d03938f,
-  0x1cfd74e5, 0x1cf7562a, 0x1cf1375c, 0x1ceb187d, 0x1ce4f98c, 0x1cdeda89,
-    0x1cd8bb74, 0x1cd29c4d,
-  0x1ccc7d15, 0x1cc65dca, 0x1cc03e6e, 0x1cba1f01, 0x1cb3ff81, 0x1caddff0,
-    0x1ca7c04d, 0x1ca1a099,
-  0x1c9b80d3, 0x1c9560fb, 0x1c8f4112, 0x1c892117, 0x1c83010a, 0x1c7ce0ec,
-    0x1c76c0bc, 0x1c70a07b,
-  0x1c6a8028, 0x1c645fc3, 0x1c5e3f4d, 0x1c581ec6, 0x1c51fe2d, 0x1c4bdd83,
-    0x1c45bcc7, 0x1c3f9bf9,
-  0x1c397b1b, 0x1c335a2b, 0x1c2d3929, 0x1c271816, 0x1c20f6f2, 0x1c1ad5bc,
-    0x1c14b475, 0x1c0e931d,
-  0x1c0871b4, 0x1c025039, 0x1bfc2ead, 0x1bf60d0f, 0x1befeb60, 0x1be9c9a1,
-    0x1be3a7cf, 0x1bdd85ed,
-  0x1bd763fa, 0x1bd141f5, 0x1bcb1fdf, 0x1bc4fdb8, 0x1bbedb80, 0x1bb8b937,
-    0x1bb296dc, 0x1bac7471,
-  0x1ba651f5, 0x1ba02f67, 0x1b9a0cc8, 0x1b93ea19, 0x1b8dc758, 0x1b87a487,
-    0x1b8181a4, 0x1b7b5eb0,
-  0x1b753bac, 0x1b6f1897, 0x1b68f570, 0x1b62d239, 0x1b5caef1, 0x1b568b98,
-    0x1b50682e, 0x1b4a44b3,
-  0x1b442127, 0x1b3dfd8b, 0x1b37d9de, 0x1b31b620, 0x1b2b9251, 0x1b256e71,
-    0x1b1f4a81, 0x1b192680,
-  0x1b13026e, 0x1b0cde4c, 0x1b06ba19, 0x1b0095d5, 0x1afa7180, 0x1af44d1b,
-    0x1aee28a6, 0x1ae8041f,
-  0x1ae1df88, 0x1adbbae1, 0x1ad59629, 0x1acf7160, 0x1ac94c87, 0x1ac3279d,
-    0x1abd02a3, 0x1ab6dd98,
-  0x1ab0b87d, 0x1aaa9352, 0x1aa46e16, 0x1a9e48c9, 0x1a98236c, 0x1a91fdff,
-    0x1a8bd881, 0x1a85b2f3,
-  0x1a7f8d54, 0x1a7967a6, 0x1a7341e6, 0x1a6d1c17, 0x1a66f637, 0x1a60d047,
-    0x1a5aaa47, 0x1a548436,
-  0x1a4e5e15, 0x1a4837e4, 0x1a4211a3, 0x1a3beb52, 0x1a35c4f0, 0x1a2f9e7e,
-    0x1a2977fc, 0x1a23516a,
-  0x1a1d2ac8, 0x1a170416, 0x1a10dd53, 0x1a0ab681, 0x1a048f9e, 0x19fe68ac,
-    0x19f841a9, 0x19f21a96,
-  0x19ebf374, 0x19e5cc41, 0x19dfa4fe, 0x19d97dac, 0x19d35649, 0x19cd2ed7,
-    0x19c70754, 0x19c0dfc2,
-  0x19bab820, 0x19b4906e, 0x19ae68ac, 0x19a840da, 0x19a218f9, 0x199bf107,
-    0x1995c906, 0x198fa0f5,
-  0x198978d4, 0x198350a4, 0x197d2864, 0x19770014, 0x1970d7b4, 0x196aaf45,
-    0x196486c6, 0x195e5e37,
-  0x19583599, 0x19520ceb, 0x194be42d, 0x1945bb60, 0x193f9283, 0x19396997,
-    0x1933409b, 0x192d178f,
-  0x1926ee74, 0x1920c54a, 0x191a9c10, 0x191472c6, 0x190e496d, 0x19082005,
-    0x1901f68d, 0x18fbcd06,
-  0x18f5a36f, 0x18ef79c9, 0x18e95014, 0x18e3264f, 0x18dcfc7b, 0x18d6d297,
-    0x18d0a8a4, 0x18ca7ea2,
-  0x18c45491, 0x18be2a70, 0x18b80040, 0x18b1d601, 0x18ababb2, 0x18a58154,
-    0x189f56e8, 0x18992c6b,
-  0x189301e0, 0x188cd746, 0x1886ac9c, 0x188081e4, 0x187a571c, 0x18742c45,
-    0x186e015f, 0x1867d66a,
-  0x1861ab66, 0x185b8053, 0x18555530, 0x184f29ff, 0x1848febf, 0x1842d370,
-    0x183ca812, 0x18367ca5,
-  0x18305129, 0x182a259e, 0x1823fa04, 0x181dce5b, 0x1817a2a4, 0x181176dd,
-    0x180b4b08, 0x18051f24,
-  0x17fef331, 0x17f8c72f, 0x17f29b1e, 0x17ec6eff, 0x17e642d1, 0x17e01694,
-    0x17d9ea49, 0x17d3bdee,
-  0x17cd9186, 0x17c7650e, 0x17c13888, 0x17bb0bf3, 0x17b4df4f, 0x17aeb29d,
-    0x17a885dc, 0x17a2590d,
-  0x179c2c2f, 0x1795ff42, 0x178fd247, 0x1789a53d, 0x17837825, 0x177d4afe,
-    0x17771dc9, 0x1770f086,
-  0x176ac333, 0x176495d3, 0x175e6864, 0x17583ae7, 0x17520d5b, 0x174bdfc1,
-    0x1745b218, 0x173f8461,
-  0x1739569c, 0x173328c8, 0x172cfae6, 0x1726ccf6, 0x17209ef8, 0x171a70eb,
-    0x171442d0, 0x170e14a7,
-  0x1707e670, 0x1701b82a, 0x16fb89d6, 0x16f55b74, 0x16ef2d04, 0x16e8fe86,
-    0x16e2cff9, 0x16dca15f,
-  0x16d672b6, 0x16d043ff, 0x16ca153a, 0x16c3e667, 0x16bdb787, 0x16b78898,
-    0x16b1599b, 0x16ab2a90,
-  0x16a4fb77, 0x169ecc50, 0x16989d1b, 0x16926dd8, 0x168c3e87, 0x16860f29,
-    0x167fdfbc, 0x1679b042,
-  0x167380ba, 0x166d5123, 0x1667217f, 0x1660f1ce, 0x165ac20e, 0x16549241,
-    0x164e6266, 0x1648327d,
-  0x16420286, 0x163bd282, 0x1635a270, 0x162f7250, 0x16294222, 0x162311e7,
-    0x161ce19e, 0x1616b148,
-  0x161080e4, 0x160a5072, 0x16041ff3, 0x15fdef66, 0x15f7becc, 0x15f18e24,
-    0x15eb5d6e, 0x15e52cab,
-  0x15defbdb, 0x15d8cafd, 0x15d29a11, 0x15cc6918, 0x15c63812, 0x15c006fe,
-    0x15b9d5dd, 0x15b3a4ae,
-  0x15ad7372, 0x15a74228, 0x15a110d2, 0x159adf6e, 0x1594adfc, 0x158e7c7d,
-    0x15884af1, 0x15821958,
-  0x157be7b1, 0x1575b5fe, 0x156f843c, 0x1569526e, 0x15632093, 0x155ceeaa,
-    0x1556bcb4, 0x15508ab1,
-  0x154a58a1, 0x15442683, 0x153df459, 0x1537c221, 0x15318fdd, 0x152b5d8b,
-    0x15252b2c, 0x151ef8c0,
-  0x1518c648, 0x151293c2, 0x150c612f, 0x15062e8f, 0x14fffbe2, 0x14f9c928,
-    0x14f39662, 0x14ed638e,
-  0x14e730ae, 0x14e0fdc0, 0x14dacac6, 0x14d497bf, 0x14ce64ab, 0x14c8318a,
-    0x14c1fe5c, 0x14bbcb22,
-  0x14b597da, 0x14af6486, 0x14a93125, 0x14a2fdb8, 0x149cca3e, 0x149696b7,
-    0x14906323, 0x148a2f82,
-  0x1483fbd5, 0x147dc81c, 0x14779455, 0x14716082, 0x146b2ca3, 0x1464f8b7,
-    0x145ec4be, 0x145890b9,
-  0x14525ca7, 0x144c2888, 0x1445f45d, 0x143fc026, 0x14398be2, 0x14335792,
-    0x142d2335, 0x1426eecb,
-  0x1420ba56, 0x141a85d3, 0x14145145, 0x140e1caa, 0x1407e803, 0x1401b34f,
-    0x13fb7e8f, 0x13f549c3,
-  0x13ef14ea, 0x13e8e005, 0x13e2ab14, 0x13dc7616, 0x13d6410d, 0x13d00bf7,
-    0x13c9d6d4, 0x13c3a1a6,
-  0x13bd6c6b, 0x13b73725, 0x13b101d2, 0x13aacc73, 0x13a49707, 0x139e6190,
-    0x13982c0d, 0x1391f67d,
-  0x138bc0e1, 0x13858b3a, 0x137f5586, 0x13791fc6, 0x1372e9fb, 0x136cb423,
-    0x13667e3f, 0x13604850,
-  0x135a1254, 0x1353dc4c, 0x134da639, 0x1347701a, 0x134139ee, 0x133b03b7,
-    0x1334cd74, 0x132e9725,
-  0x132860ca, 0x13222a64, 0x131bf3f2, 0x1315bd73, 0x130f86ea, 0x13095054,
-    0x130319b3, 0x12fce305,
-  0x12f6ac4d, 0x12f07588, 0x12ea3eb8, 0x12e407dc, 0x12ddd0f4, 0x12d79a01,
-    0x12d16303, 0x12cb2bf8,
-  0x12c4f4e2, 0x12bebdc1, 0x12b88693, 0x12b24f5b, 0x12ac1817, 0x12a5e0c7,
-    0x129fa96c, 0x12997205,
-  0x12933a93, 0x128d0315, 0x1286cb8c, 0x128093f7, 0x127a5c57, 0x127424ac,
-    0x126decf5, 0x1267b533,
-  0x12617d66, 0x125b458d, 0x12550da9, 0x124ed5ba, 0x12489dbf, 0x124265b9,
-    0x123c2da8, 0x1235f58b,
-  0x122fbd63, 0x12298530, 0x12234cf2, 0x121d14a9, 0x1216dc54, 0x1210a3f5,
-    0x120a6b8a, 0x12043314,
-  0x11fdfa93, 0x11f7c207, 0x11f18970, 0x11eb50cd, 0x11e51820, 0x11dedf68,
-    0x11d8a6a4, 0x11d26dd6,
-  0x11cc34fc, 0x11c5fc18, 0x11bfc329, 0x11b98a2e, 0x11b35129, 0x11ad1819,
-    0x11a6defe, 0x11a0a5d8,
-  0x119a6ca7, 0x1194336b, 0x118dfa25, 0x1187c0d3, 0x11818777, 0x117b4e10,
-    0x1175149e, 0x116edb22,
-  0x1168a19b, 0x11626809, 0x115c2e6c, 0x1155f4c4, 0x114fbb12, 0x11498156,
-    0x1143478e, 0x113d0dbc,
-  0x1136d3df, 0x113099f8, 0x112a6006, 0x11242609, 0x111dec02, 0x1117b1f0,
-    0x111177d4, 0x110b3dad,
-  0x1105037c, 0x10fec940, 0x10f88efa, 0x10f254a9, 0x10ec1a4e, 0x10e5dfe8,
-    0x10dfa578, 0x10d96afe,
-  0x10d33079, 0x10ccf5ea, 0x10c6bb50, 0x10c080ac, 0x10ba45fe, 0x10b40b45,
-    0x10add082, 0x10a795b5,
-  0x10a15ade, 0x109b1ffc, 0x1094e510, 0x108eaa1a, 0x10886f19, 0x1082340f,
-    0x107bf8fa, 0x1075bddb,
-  0x106f82b2, 0x1069477f, 0x10630c41, 0x105cd0fa, 0x105695a8, 0x10505a4d,
-    0x104a1ee7, 0x1043e377,
-  0x103da7fd, 0x10376c79, 0x103130ec, 0x102af554, 0x1024b9b2, 0x101e7e06,
-    0x10184251, 0x10120691,
-  0x100bcac7, 0x10058ef4, 0xfff5317, 0xff91730, 0xff2db3e, 0xfec9f44,
-    0xfe6633f, 0xfe02730,
-  0xfd9eb18, 0xfd3aef6, 0xfcd72ca, 0xfc73695, 0xfc0fa55, 0xfbabe0c, 0xfb481ba,
-    0xfae455d,
-  0xfa808f7, 0xfa1cc87, 0xf9b900e, 0xf95538b, 0xf8f16fe, 0xf88da68, 0xf829dc8,
-    0xf7c611f,
-  0xf76246c, 0xf6fe7af, 0xf69aae9, 0xf636e1a, 0xf5d3141, 0xf56f45e, 0xf50b773,
-    0xf4a7a7d,
-  0xf443d7e, 0xf3e0076, 0xf37c365, 0xf318649, 0xf2b4925, 0xf250bf7, 0xf1ecec0,
-    0xf189180,
-  0xf125436, 0xf0c16e3, 0xf05d987, 0xeff9c21, 0xef95eb2, 0xef3213a, 0xeece3b9,
-    0xee6a62f,
-  0xee0689b, 0xeda2afe, 0xed3ed58, 0xecdafa9, 0xec771f1, 0xec1342f, 0xebaf665,
-    0xeb4b891,
-  0xeae7ab4, 0xea83ccf, 0xea1fee0, 0xe9bc0e8, 0xe9582e7, 0xe8f44dd, 0xe8906cb,
-    0xe82c8af,
-  0xe7c8a8a, 0xe764c5c, 0xe700e26, 0xe69cfe6, 0xe63919e, 0xe5d534d, 0xe5714f3,
-    0xe50d690,
-  0xe4a9824, 0xe4459af, 0xe3e1b32, 0xe37dcac, 0xe319e1d, 0xe2b5f85, 0xe2520e5,
-    0xe1ee23c,
-  0xe18a38a, 0xe1264cf, 0xe0c260c, 0xe05e740, 0xdffa86b, 0xdf9698e, 0xdf32aa8,
-    0xdecebba,
-  0xde6acc3, 0xde06dc3, 0xdda2ebb, 0xdd3efab, 0xdcdb091, 0xdc77170, 0xdc13245,
-    0xdbaf313,
-  0xdb4b3d7, 0xdae7494, 0xda83548, 0xda1f5f3, 0xd9bb696, 0xd957731, 0xd8f37c3,
-    0xd88f84d,
-  0xd82b8cf, 0xd7c7948, 0xd7639b9, 0xd6ffa22, 0xd69ba82, 0xd637ada, 0xd5d3b2a,
-    0xd56fb71,
-  0xd50bbb1, 0xd4a7be8, 0xd443c17, 0xd3dfc3e, 0xd37bc5c, 0xd317c73, 0xd2b3c81,
-    0xd24fc87,
-  0xd1ebc85, 0xd187c7b, 0xd123c69, 0xd0bfc4f, 0xd05bc2d, 0xcff7c02, 0xcf93bd0,
-    0xcf2fb96,
-  0xcecbb53, 0xce67b09, 0xce03ab7, 0xcd9fa5d, 0xcd3b9fb, 0xccd7991, 0xcc7391f,
-    0xcc0f8a5,
-  0xcbab824, 0xcb4779a, 0xcae3709, 0xca7f670, 0xca1b5cf, 0xc9b7526, 0xc953475,
-    0xc8ef3bd,
-  0xc88b2fd, 0xc827235, 0xc7c3166, 0xc75f08f, 0xc6fafb0, 0xc696ec9, 0xc632ddb,
-    0xc5cece5,
-  0xc56abe8, 0xc506ae3, 0xc4a29d6, 0xc43e8c2, 0xc3da7a6, 0xc376683, 0xc312558,
-    0xc2ae425,
-  0xc24a2eb, 0xc1e61aa, 0xc182061, 0xc11df11, 0xc0b9db9, 0xc055c5a, 0xbff1af3,
-    0xbf8d985,
-  0xbf29810, 0xbec5693, 0xbe6150f, 0xbdfd383, 0xbd991f0, 0xbd35056, 0xbcd0eb5,
-    0xbc6cd0c,
-  0xbc08b5c, 0xbba49a5, 0xbb407e7, 0xbadc621, 0xba78454, 0xba14280, 0xb9b00a5,
-    0xb94bec2,
-  0xb8e7cd9, 0xb883ae8, 0xb81f8f0, 0xb7bb6f2, 0xb7574ec, 0xb6f32df, 0xb68f0cb,
-    0xb62aeaf,
-  0xb5c6c8d, 0xb562a64, 0xb4fe834, 0xb49a5fd, 0xb4363bf, 0xb3d217a, 0xb36df2e,
-    0xb309cdb,
-  0xb2a5a81, 0xb241820, 0xb1dd5b9, 0xb17934b, 0xb1150d5, 0xb0b0e59, 0xb04cbd6,
-    0xafe894d,
-  0xaf846bc, 0xaf20425, 0xaebc187, 0xae57ee2, 0xadf3c37, 0xad8f985, 0xad2b6cc,
-    0xacc740c,
-  0xac63146, 0xabfee79, 0xab9aba6, 0xab368cc, 0xaad25eb, 0xaa6e304, 0xaa0a016,
-    0xa9a5d22,
-  0xa941a27, 0xa8dd725, 0xa87941d, 0xa81510f, 0xa7b0dfa, 0xa74cadf, 0xa6e87bd,
-    0xa684495,
-  0xa620166, 0xa5bbe31, 0xa557af5, 0xa4f37b3, 0xa48f46b, 0xa42b11d, 0xa3c6dc8,
-    0xa362a6d,
-  0xa2fe70b, 0xa29a3a3, 0xa236035, 0xa1d1cc1, 0xa16d946, 0xa1095c6, 0xa0a523f,
-    0xa040eb1,
-  0x9fdcb1e, 0x9f78784, 0x9f143e5, 0x9eb003f, 0x9e4bc93, 0x9de78e1, 0x9d83529,
-    0x9d1f16b,
-  0x9cbada7, 0x9c569dc, 0x9bf260c, 0x9b8e236, 0x9b29e59, 0x9ac5a77, 0x9a6168f,
-    0x99fd2a0,
-  0x9998eac, 0x9934ab2, 0x98d06b2, 0x986c2ac, 0x9807ea1, 0x97a3a8f, 0x973f678,
-    0x96db25a,
-  0x9676e37, 0x9612a0e, 0x95ae5e0, 0x954a1ab, 0x94e5d71, 0x9481931, 0x941d4eb,
-    0x93b90a0,
-  0x9354c4f, 0x92f07f8, 0x928c39b, 0x9227f39, 0x91c3ad2, 0x915f664, 0x90fb1f1,
-    0x9096d79,
-  0x90328fb, 0x8fce477, 0x8f69fee, 0x8f05b5f, 0x8ea16cb, 0x8e3d231, 0x8dd8d92,
-    0x8d748ed,
-  0x8d10443, 0x8cabf93, 0x8c47ade, 0x8be3624, 0x8b7f164, 0x8b1ac9f, 0x8ab67d4,
-    0x8a52304,
-  0x89ede2f, 0x8989955, 0x8925475, 0x88c0f90, 0x885caa5, 0x87f85b5, 0x87940c1,
-    0x872fbc6,
-  0x86cb6c7, 0x86671c2, 0x8602cb9, 0x859e7aa, 0x853a296, 0x84d5d7d, 0x847185e,
-    0x840d33b,
-  0x83a8e12, 0x83448e5, 0x82e03b2, 0x827be7a, 0x821793e, 0x81b33fc, 0x814eeb5,
-    0x80ea969,
-  0x8086419, 0x8021ec3, 0x7fbd968, 0x7f59409, 0x7ef4ea4, 0x7e9093b, 0x7e2c3cd,
-    0x7dc7e5a,
-  0x7d638e2, 0x7cff365, 0x7c9ade4, 0x7c3685d, 0x7bd22d2, 0x7b6dd42, 0x7b097ad,
-    0x7aa5214,
-  0x7a40c76, 0x79dc6d3, 0x797812b, 0x7913b7f, 0x78af5ce, 0x784b019, 0x77e6a5e,
-    0x77824a0,
-  0x771dedc, 0x76b9914, 0x7655347, 0x75f0d76, 0x758c7a1, 0x75281c6, 0x74c3be7,
-    0x745f604,
-  0x73fb01c, 0x7396a30, 0x733243f, 0x72cde4a, 0x7269851, 0x7205253, 0x71a0c50,
-    0x713c64a,
-  0x70d803f, 0x7073a2f, 0x700f41b, 0x6faae03, 0x6f467e7, 0x6ee21c6, 0x6e7dba1,
-    0x6e19578,
-  0x6db4f4a, 0x6d50919, 0x6cec2e3, 0x6c87ca9, 0x6c2366a, 0x6bbf028, 0x6b5a9e1,
-    0x6af6396,
-  0x6a91d47, 0x6a2d6f4, 0x69c909d, 0x6964a42, 0x69003e3, 0x689bd80, 0x6837718,
-    0x67d30ad,
-  0x676ea3d, 0x670a3ca, 0x66a5d53, 0x66416d8, 0x65dd058, 0x65789d5, 0x651434e,
-    0x64afcc3,
-  0x644b634, 0x63e6fa2, 0x638290b, 0x631e271, 0x62b9bd3, 0x6255531, 0x61f0e8b,
-    0x618c7e1,
-  0x6128134, 0x60c3a83, 0x605f3ce, 0x5ffad15, 0x5f96659, 0x5f31f99, 0x5ecd8d6,
-    0x5e6920e,
-  0x5e04b43, 0x5da0475, 0x5d3bda3, 0x5cd76cd, 0x5c72ff4, 0x5c0e917, 0x5baa237,
-    0x5b45b53,
-  0x5ae146b, 0x5a7cd80, 0x5a18692, 0x59b3fa0, 0x594f8aa, 0x58eb1b2, 0x5886ab5,
-    0x58223b6,
-  0x57bdcb3, 0x57595ac, 0x56f4ea2, 0x5690795, 0x562c085, 0x55c7971, 0x556325a,
-    0x54feb3f,
-  0x549a422, 0x5435d01, 0x53d15dd, 0x536ceb5, 0x530878a, 0x52a405d, 0x523f92c,
-    0x51db1f7,
-  0x5176ac0, 0x5112385, 0x50adc48, 0x5049507, 0x4fe4dc3, 0x4f8067c, 0x4f1bf32,
-    0x4eb77e5,
-  0x4e53095, 0x4dee942, 0x4d8a1ec, 0x4d25a93, 0x4cc1337, 0x4c5cbd8, 0x4bf8476,
-    0x4b93d11,
-  0x4b2f5a9, 0x4acae3e, 0x4a666d1, 0x4a01f60, 0x499d7ed, 0x4939077, 0x48d48fe,
-    0x4870182,
-  0x480ba04, 0x47a7282, 0x4742afe, 0x46de377, 0x4679bee, 0x4615461, 0x45b0cd2,
-    0x454c541,
-  0x44e7dac, 0x4483615, 0x441ee7c, 0x43ba6df, 0x4355f40, 0x42f179f, 0x428cffb,
-    0x4228854,
-  0x41c40ab, 0x415f8ff, 0x40fb151, 0x40969a0, 0x40321ed, 0x3fcda37, 0x3f6927f,
-    0x3f04ac4,
-  0x3ea0307, 0x3e3bb48, 0x3dd7386, 0x3d72bc2, 0x3d0e3fb, 0x3ca9c32, 0x3c45467,
-    0x3be0c99,
-  0x3b7c4c9, 0x3b17cf7, 0x3ab3523, 0x3a4ed4c, 0x39ea573, 0x3985d97, 0x39215ba,
-    0x38bcdda,
-  0x38585f8, 0x37f3e14, 0x378f62e, 0x372ae46, 0x36c665b, 0x3661e6f, 0x35fd680,
-    0x3598e8f,
-  0x353469c, 0x34cfea8, 0x346b6b1, 0x3406eb8, 0x33a26bd, 0x333dec0, 0x32d96c1,
-    0x3274ec0,
-  0x32106bd, 0x31abeb9, 0x31476b2, 0x30e2ea9, 0x307e69f, 0x3019e93, 0x2fb5684,
-    0x2f50e74,
-  0x2eec663, 0x2e87e4f, 0x2e2363a, 0x2dbee22, 0x2d5a609, 0x2cf5def, 0x2c915d2,
-    0x2c2cdb4,
-  0x2bc8594, 0x2b63d73, 0x2aff54f, 0x2a9ad2a, 0x2a36504, 0x29d1cdc, 0x296d4b2,
-    0x2908c87,
-  0x28a445a, 0x283fc2b, 0x27db3fb, 0x2776bc9, 0x2712396, 0x26adb62, 0x264932b,
-    0x25e4af4,
-  0x25802bb, 0x251ba80, 0x24b7244, 0x2452a07, 0x23ee1c8, 0x2389988, 0x2325147,
-    0x22c0904,
-  0x225c0bf, 0x21f787a, 0x2193033, 0x212e7eb, 0x20c9fa1, 0x2065757, 0x2000f0b,
-    0x1f9c6be,
-  0x1f37e6f, 0x1ed3620, 0x1e6edcf, 0x1e0a57d, 0x1da5d2a, 0x1d414d6, 0x1cdcc80,
-    0x1c7842a,
-  0x1c13bd2, 0x1baf37a, 0x1b4ab20, 0x1ae62c5, 0x1a81a69, 0x1a1d20c, 0x19b89ae,
-    0x1954150,
-  0x18ef8f0, 0x188b08f, 0x182682d, 0x17c1fcb, 0x175d767, 0x16f8f03, 0x169469d,
-    0x162fe37,
-  0x15cb5d0, 0x1566d68, 0x15024ff, 0x149dc96, 0x143942b, 0x13d4bc0, 0x1370354,
-    0x130bae7,
-  0x12a727a, 0x1242a0c, 0x11de19d, 0x117992e, 0x11150be, 0x10b084d, 0x104bfdb,
-    0xfe7769,
-  0xf82ef6, 0xf1e683, 0xeb9e0f, 0xe5559b, 0xdf0d26, 0xd8c4b0, 0xd27c3a,
-    0xcc33c3,
-  0xc5eb4c, 0xbfa2d5, 0xb95a5d, 0xb311e4, 0xacc96b, 0xa680f2, 0xa03878,
-    0x99effe,
-  0x93a784, 0x8d5f09, 0x87168e, 0x80ce12, 0x7a8597, 0x743d1a, 0x6df49e,
-    0x67ac21,
-  0x6163a5, 0x5b1b27, 0x54d2aa, 0x4e8a2c, 0x4841af, 0x41f931, 0x3bb0b3,
-    0x356835,
-  0x2f1fb6, 0x28d738, 0x228eb9, 0x1c463b, 0x15fdbc, 0xfb53d, 0x96cbe, 0x3243f,
-
-};
-
-/**    
- * @brief  Initialization function for the Q31 DCT4/IDCT4.   
- * @param[in,out] *S         points to an instance of Q31 DCT4/IDCT4 structure.   
- * @param[in]     *S_RFFT    points to an instance of Q31 RFFT/RIFFT structure   
- * @param[in]     *S_CFFT    points to an instance of Q31 CFFT/CIFFT structure   
- * @param[in]     N          length of the DCT4.   
- * @param[in]     Nby2       half of the length of the DCT4.   
- * @param[in]     normalize  normalizing factor.   
- * @return		  arm_status function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if N is not a supported transform length.   
- * \par Normalizing factor:    
- * The normalizing factor is sqrt(2/N), which depends on the size of transform N.    
- * Normalizing factors in 1.31 format are mentioned in the table below for different DCT sizes:    
- * \image html dct4NormalizingQ31Table.gif    
- */
-
-arm_status arm_dct4_init_q31(
-  arm_dct4_instance_q31 * S,
-  arm_rfft_instance_q31 * S_RFFT,
-  arm_cfft_radix4_instance_q31 * S_CFFT,
-  uint16_t N,
-  uint16_t Nby2,
-  q31_t normalize)
-{
-  /*  Initialise the default arm status */
-  arm_status status = ARM_MATH_SUCCESS;
-
-  /* Initializing the pointer array with the weight table base addresses of different lengths */
-  q31_t *twiddlePtr[4] = { (q31_t *) WeightsQ31_128, (q31_t *) WeightsQ31_512,
-    (q31_t *) WeightsQ31_2048, (q31_t *) WeightsQ31_8192
-  };
-
-  /* Initializing the pointer array with the cos factor table base addresses of different lengths */
-  q31_t *pCosFactor[4] =
-    { (q31_t *) cos_factorsQ31_128, (q31_t *) cos_factorsQ31_512,
-    (q31_t *) cos_factorsQ31_2048, (q31_t *) cos_factorsQ31_8192
-  };
-
-  /* Initialize the DCT4 length */
-  S->N = N;
-
-  /* Initialize the half of DCT4 length */
-  S->Nby2 = Nby2;
-
-  /* Initialize the DCT4 Normalizing factor */
-  S->normalize = normalize;
-
-  /* Initialize Real FFT Instance */
-  S->pRfft = S_RFFT;
-
-  /* Initialize Complex FFT Instance */
-  S->pCfft = S_CFFT;
-
-  switch (N)
-  {
-    /* Initialize the table modifier values */
-  case 8192u:
-    S->pTwiddle = twiddlePtr[3];
-    S->pCosFactor = pCosFactor[3];
-    break;
-  case 2048u:
-    S->pTwiddle = twiddlePtr[2];
-    S->pCosFactor = pCosFactor[2];
-    break;
-  case 512u:
-    S->pTwiddle = twiddlePtr[1];
-    S->pCosFactor = pCosFactor[1];
-    break;
-  case 128u:
-    S->pTwiddle = twiddlePtr[0];
-    S->pCosFactor = pCosFactor[0];
-    break;
-  default:
-    status = ARM_MATH_ARGUMENT_ERROR;
-  }
-
-  /* Initialize the RFFT/RIFFT Function */
-  arm_rfft_init_q31(S->pRfft, S->pCfft, S->N, 0, 1);
-
-  /* return the status of DCT4 Init function */
-  return (status);
-}
-
-/**    
-   * @} end of DCT4_IDCT4 group    
-   */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_q15.c
deleted file mode 100644
index feaa2ae3c..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_q15.c
+++ /dev/null
@@ -1,386 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_dct4_q15.c    
-*    
-* Description:	Processing function of DCT4 & IDCT4 Q15.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @addtogroup DCT4_IDCT4    
- * @{    
- */
-
-/**    
- * @brief Processing function for the Q15 DCT4/IDCT4.   
- * @param[in]       *S             points to an instance of the Q15 DCT4 structure.   
- * @param[in]       *pState        points to state buffer.   
- * @param[in,out]   *pInlineBuffer points to the in-place input and output buffer.   
- * @return none.   
- *     
- * \par Input an output formats:    
- * Internally inputs are downscaled in the RFFT process function to avoid overflows.    
- * Number of bits downscaled, depends on the size of the transform.    
- * The input and output formats for different DCT sizes and number of bits to upscale are mentioned in the table below:     
- *    
- * \image html dct4FormatsQ15Table.gif    
- */
-
-void arm_dct4_q15(
-  const arm_dct4_instance_q15 * S,
-  q15_t * pState,
-  q15_t * pInlineBuffer)
-{
-  uint32_t i;                                    /* Loop counter */
-  q15_t *weights = S->pTwiddle;                  /* Pointer to the Weights table */
-  q15_t *cosFact = S->pCosFactor;                /* Pointer to the cos factors table */
-  q15_t *pS1, *pS2, *pbuff;                      /* Temporary pointers for input buffer and pState buffer */
-  q15_t in;                                      /* Temporary variable */
-
-
-  /* DCT4 computation involves DCT2 (which is calculated using RFFT)    
-   * along with some pre-processing and post-processing.    
-   * Computational procedure is explained as follows:    
-   * (a) Pre-processing involves multiplying input with cos factor,    
-   *     r(n) = 2 * u(n) * cos(pi*(2*n+1)/(4*n))    
-   *              where,    
-   *                 r(n) -- output of preprocessing    
-   *                 u(n) -- input to preprocessing(actual Source buffer)    
-   * (b) Calculation of DCT2 using FFT is divided into three steps:    
-   *                  Step1: Re-ordering of even and odd elements of input.    
-   *                  Step2: Calculating FFT of the re-ordered input.    
-   *                  Step3: Taking the real part of the product of FFT output and weights.    
-   * (c) Post-processing - DCT4 can be obtained from DCT2 output using the following equation:    
-   *                   Y4(k) = Y2(k) - Y4(k-1) and Y4(-1) = Y4(0)    
-   *                        where,    
-   *                           Y4 -- DCT4 output,   Y2 -- DCT2 output    
-   * (d) Multiplying the output with the normalizing factor sqrt(2/N).    
-   */
-
-        /*-------- Pre-processing ------------*/
-  /* Multiplying input with cos factor i.e. r(n) = 2 * x(n) * cos(pi*(2*n+1)/(4*n)) */
-  arm_mult_q15(pInlineBuffer, cosFact, pInlineBuffer, S->N);
-  arm_shift_q15(pInlineBuffer, 1, pInlineBuffer, S->N);
-
-  /* ----------------------------------------------------------------    
-   * Step1: Re-ordering of even and odd elements as    
-   *             pState[i] =  pInlineBuffer[2*i] and    
-   *             pState[N-i-1] = pInlineBuffer[2*i+1] where i = 0 to N/2    
-   ---------------------------------------------------------------------*/
-
-  /* pS1 initialized to pState */
-  pS1 = pState;
-
-  /* pS2 initialized to pState+N-1, so that it points to the end of the state buffer */
-  pS2 = pState + (S->N - 1u);
-
-  /* pbuff initialized to input buffer */
-  pbuff = pInlineBuffer;
-
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  /* Initializing the loop counter to N/2 >> 2 for loop unrolling by 4 */
-  i = (uint32_t) S->Nby2 >> 2u;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  do
-  {
-    /* Re-ordering of even and odd elements */
-    /* pState[i] =  pInlineBuffer[2*i] */
-    *pS1++ = *pbuff++;
-    /* pState[N-i-1] = pInlineBuffer[2*i+1] */
-    *pS2-- = *pbuff++;
-
-    *pS1++ = *pbuff++;
-    *pS2-- = *pbuff++;
-
-    *pS1++ = *pbuff++;
-    *pS2-- = *pbuff++;
-
-    *pS1++ = *pbuff++;
-    *pS2-- = *pbuff++;
-
-    /* Decrement the loop counter */
-    i--;
-  } while(i > 0u);
-
-  /* pbuff initialized to input buffer */
-  pbuff = pInlineBuffer;
-
-  /* pS1 initialized to pState */
-  pS1 = pState;
-
-  /* Initializing the loop counter to N/4 instead of N for loop unrolling */
-  i = (uint32_t) S->N >> 2u;
-
-  /* Processing with loop unrolling 4 times as N is always multiple of 4.    
-   * Compute 4 outputs at a time */
-  do
-  {
-    /* Writing the re-ordered output back to inplace input buffer */
-    *pbuff++ = *pS1++;
-    *pbuff++ = *pS1++;
-    *pbuff++ = *pS1++;
-    *pbuff++ = *pS1++;
-
-    /* Decrement the loop counter */
-    i--;
-  } while(i > 0u);
-
-
-  /* ---------------------------------------------------------    
-   *     Step2: Calculate RFFT for N-point input    
-   * ---------------------------------------------------------- */
-  /* pInlineBuffer is real input of length N , pState is the complex output of length 2N */
-  arm_rfft_q15(S->pRfft, pInlineBuffer, pState);
-
- /*----------------------------------------------------------------------    
-  *  Step3: Multiply the FFT output with the weights.    
-  *----------------------------------------------------------------------*/
-  arm_cmplx_mult_cmplx_q15(pState, weights, pState, S->N);
-
-  /* The output of complex multiplication is in 3.13 format.    
-   * Hence changing the format of N (i.e. 2*N elements) complex numbers to 1.15 format by shifting left by 2 bits. */
-  arm_shift_q15(pState, 2, pState, S->N * 2);
-
-  /* ----------- Post-processing ---------- */
-  /* DCT-IV can be obtained from DCT-II by the equation,    
-   *       Y4(k) = Y2(k) - Y4(k-1) and Y4(-1) = Y4(0)    
-   *       Hence, Y4(0) = Y2(0)/2  */
-  /* Getting only real part from the output and Converting to DCT-IV */
-
-  /* Initializing the loop counter to N >> 2 for loop unrolling by 4 */
-  i = ((uint32_t) S->N - 1u) >> 2u;
-
-  /* pbuff initialized to input buffer. */
-  pbuff = pInlineBuffer;
-
-  /* pS1 initialized to pState */
-  pS1 = pState;
-
-  /* Calculating Y4(0) from Y2(0) using Y4(0) = Y2(0)/2 */
-  in = *pS1++ >> 1u;
-  /* input buffer acts as inplace, so output values are stored in the input itself. */
-  *pbuff++ = in;
-
-  /* pState pointer is incremented twice as the real values are located alternatively in the array */
-  pS1++;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  do
-  {
-    /* Calculating Y4(1) to Y4(N-1) from Y2 using equation Y4(k) = Y2(k) - Y4(k-1) */
-    /* pState pointer (pS1) is incremented twice as the real values are located alternatively in the array */
-    in = *pS1++ - in;
-    *pbuff++ = in;
-    /* points to the next real value */
-    pS1++;
-
-    in = *pS1++ - in;
-    *pbuff++ = in;
-    pS1++;
-
-    in = *pS1++ - in;
-    *pbuff++ = in;
-    pS1++;
-
-    in = *pS1++ - in;
-    *pbuff++ = in;
-    pS1++;
-
-    /* Decrement the loop counter */
-    i--;
-  } while(i > 0u);
-
-  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
-   ** No loop unrolling is used. */
-  i = ((uint32_t) S->N - 1u) % 0x4u;
-
-  while(i > 0u)
-  {
-    /* Calculating Y4(1) to Y4(N-1) from Y2 using equation Y4(k) = Y2(k) - Y4(k-1) */
-    /* pState pointer (pS1) is incremented twice as the real values are located alternatively in the array */
-    in = *pS1++ - in;
-    *pbuff++ = in;
-    /* points to the next real value */
-    pS1++;
-
-    /* Decrement the loop counter */
-    i--;
-  }
-
-
-   /*------------ Normalizing the output by multiplying with the normalizing factor ----------*/
-
-  /* Initializing the loop counter to N/4 instead of N for loop unrolling */
-  i = (uint32_t) S->N >> 2u;
-
-  /* pbuff initialized to the pInlineBuffer(now contains the output values) */
-  pbuff = pInlineBuffer;
-
-  /* Processing with loop unrolling 4 times as N is always multiple of 4.  Compute 4 outputs at a time */
-  do
-  {
-    /* Multiplying pInlineBuffer with the normalizing factor sqrt(2/N) */
-    in = *pbuff;
-    *pbuff++ = ((q15_t) (((q31_t) in * S->normalize) >> 15));
-
-    in = *pbuff;
-    *pbuff++ = ((q15_t) (((q31_t) in * S->normalize) >> 15));
-
-    in = *pbuff;
-    *pbuff++ = ((q15_t) (((q31_t) in * S->normalize) >> 15));
-
-    in = *pbuff;
-    *pbuff++ = ((q15_t) (((q31_t) in * S->normalize) >> 15));
-
-    /* Decrement the loop counter */
-    i--;
-  } while(i > 0u);
-
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  /* Initializing the loop counter to N/2 */
-  i = (uint32_t) S->Nby2;
-
-  do
-  {
-    /* Re-ordering of even and odd elements */
-    /* pState[i] =  pInlineBuffer[2*i] */
-    *pS1++ = *pbuff++;
-    /* pState[N-i-1] = pInlineBuffer[2*i+1] */
-    *pS2-- = *pbuff++;
-
-    /* Decrement the loop counter */
-    i--;
-  } while(i > 0u);
-
-  /* pbuff initialized to input buffer */
-  pbuff = pInlineBuffer;
-
-  /* pS1 initialized to pState */
-  pS1 = pState;
-
-  /* Initializing the loop counter */
-  i = (uint32_t) S->N;
-
-  do
-  {
-    /* Writing the re-ordered output back to inplace input buffer */
-    *pbuff++ = *pS1++;
-
-    /* Decrement the loop counter */
-    i--;
-  } while(i > 0u);
-
-
-  /* ---------------------------------------------------------    
-   *     Step2: Calculate RFFT for N-point input    
-   * ---------------------------------------------------------- */
-  /* pInlineBuffer is real input of length N , pState is the complex output of length 2N */
-  arm_rfft_q15(S->pRfft, pInlineBuffer, pState);
-
- /*----------------------------------------------------------------------    
-  *  Step3: Multiply the FFT output with the weights.    
-  *----------------------------------------------------------------------*/
-  arm_cmplx_mult_cmplx_q15(pState, weights, pState, S->N);
-
-  /* The output of complex multiplication is in 3.13 format.    
-   * Hence changing the format of N (i.e. 2*N elements) complex numbers to 1.15 format by shifting left by 2 bits. */
-  arm_shift_q15(pState, 2, pState, S->N * 2);
-
-  /* ----------- Post-processing ---------- */
-  /* DCT-IV can be obtained from DCT-II by the equation,    
-   *       Y4(k) = Y2(k) - Y4(k-1) and Y4(-1) = Y4(0)    
-   *       Hence, Y4(0) = Y2(0)/2  */
-  /* Getting only real part from the output and Converting to DCT-IV */
-
-  /* Initializing the loop counter */
-  i = ((uint32_t) S->N - 1u);
-
-  /* pbuff initialized to input buffer. */
-  pbuff = pInlineBuffer;
-
-  /* pS1 initialized to pState */
-  pS1 = pState;
-
-  /* Calculating Y4(0) from Y2(0) using Y4(0) = Y2(0)/2 */
-  in = *pS1++ >> 1u;
-  /* input buffer acts as inplace, so output values are stored in the input itself. */
-  *pbuff++ = in;
-
-  /* pState pointer is incremented twice as the real values are located alternatively in the array */
-  pS1++;
-
-  do
-  {
-    /* Calculating Y4(1) to Y4(N-1) from Y2 using equation Y4(k) = Y2(k) - Y4(k-1) */
-    /* pState pointer (pS1) is incremented twice as the real values are located alternatively in the array */
-    in = *pS1++ - in;
-    *pbuff++ = in;
-    /* points to the next real value */
-    pS1++;
-
-    /* Decrement the loop counter */
-    i--;
-  } while(i > 0u);
-
-   /*------------ Normalizing the output by multiplying with the normalizing factor ----------*/
-
-  /* Initializing the loop counter */
-  i = (uint32_t) S->N;
-
-  /* pbuff initialized to the pInlineBuffer(now contains the output values) */
-  pbuff = pInlineBuffer;
-
-  do
-  {
-    /* Multiplying pInlineBuffer with the normalizing factor sqrt(2/N) */
-    in = *pbuff;
-    *pbuff++ = ((q15_t) (((q31_t) in * S->normalize) >> 15));
-
-    /* Decrement the loop counter */
-    i--;
-  } while(i > 0u);
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-}
-
-/**    
-   * @} end of DCT4_IDCT4 group    
-   */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_q31.c
deleted file mode 100644
index 887cfb385..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_q31.c
+++ /dev/null
@@ -1,387 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_dct4_q31.c    
-*    
-* Description:	Processing function of DCT4 & IDCT4 Q31.    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @addtogroup DCT4_IDCT4    
- * @{    
- */
-
-/**    
- * @brief Processing function for the Q31 DCT4/IDCT4.   
- * @param[in]       *S             points to an instance of the Q31 DCT4 structure.   
- * @param[in]       *pState        points to state buffer.   
- * @param[in,out]   *pInlineBuffer points to the in-place input and output buffer.   
- * @return none.   
- * \par Input an output formats:    
- * Input samples need to be downscaled by 1 bit to avoid saturations in the Q31 DCT process,    
- * as the conversion from DCT2 to DCT4 involves one subtraction.    
- * Internally inputs are downscaled in the RFFT process function to avoid overflows.    
- * Number of bits downscaled, depends on the size of the transform.    
- * The input and output formats for different DCT sizes and number of bits to upscale are mentioned in the table below:     
- *    
- * \image html dct4FormatsQ31Table.gif    
- */
-
-void arm_dct4_q31(
-  const arm_dct4_instance_q31 * S,
-  q31_t * pState,
-  q31_t * pInlineBuffer)
-{
-  uint16_t i;                                    /* Loop counter */
-  q31_t *weights = S->pTwiddle;                  /* Pointer to the Weights table */
-  q31_t *cosFact = S->pCosFactor;                /* Pointer to the cos factors table */
-  q31_t *pS1, *pS2, *pbuff;                      /* Temporary pointers for input buffer and pState buffer */
-  q31_t in;                                      /* Temporary variable */
-
-
-  /* DCT4 computation involves DCT2 (which is calculated using RFFT)    
-   * along with some pre-processing and post-processing.    
-   * Computational procedure is explained as follows:    
-   * (a) Pre-processing involves multiplying input with cos factor,    
-   *     r(n) = 2 * u(n) * cos(pi*(2*n+1)/(4*n))    
-   *              where,    
-   *                 r(n) -- output of preprocessing    
-   *                 u(n) -- input to preprocessing(actual Source buffer)    
-   * (b) Calculation of DCT2 using FFT is divided into three steps:    
-   *                  Step1: Re-ordering of even and odd elements of input.    
-   *                  Step2: Calculating FFT of the re-ordered input.    
-   *                  Step3: Taking the real part of the product of FFT output and weights.    
-   * (c) Post-processing - DCT4 can be obtained from DCT2 output using the following equation:    
-   *                   Y4(k) = Y2(k) - Y4(k-1) and Y4(-1) = Y4(0)    
-   *                        where,    
-   *                           Y4 -- DCT4 output,   Y2 -- DCT2 output    
-   * (d) Multiplying the output with the normalizing factor sqrt(2/N).    
-   */
-
-        /*-------- Pre-processing ------------*/
-  /* Multiplying input with cos factor i.e. r(n) = 2 * x(n) * cos(pi*(2*n+1)/(4*n)) */
-  arm_mult_q31(pInlineBuffer, cosFact, pInlineBuffer, S->N);
-  arm_shift_q31(pInlineBuffer, 1, pInlineBuffer, S->N);
-
-  /* ----------------------------------------------------------------    
-   * Step1: Re-ordering of even and odd elements as    
-   *             pState[i] =  pInlineBuffer[2*i] and    
-   *             pState[N-i-1] = pInlineBuffer[2*i+1] where i = 0 to N/2    
-   ---------------------------------------------------------------------*/
-
-  /* pS1 initialized to pState */
-  pS1 = pState;
-
-  /* pS2 initialized to pState+N-1, so that it points to the end of the state buffer */
-  pS2 = pState + (S->N - 1u);
-
-  /* pbuff initialized to input buffer */
-  pbuff = pInlineBuffer;
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  /* Initializing the loop counter to N/2 >> 2 for loop unrolling by 4 */
-  i = S->Nby2 >> 2u;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  do
-  {
-    /* Re-ordering of even and odd elements */
-    /* pState[i] =  pInlineBuffer[2*i] */
-    *pS1++ = *pbuff++;
-    /* pState[N-i-1] = pInlineBuffer[2*i+1] */
-    *pS2-- = *pbuff++;
-
-    *pS1++ = *pbuff++;
-    *pS2-- = *pbuff++;
-
-    *pS1++ = *pbuff++;
-    *pS2-- = *pbuff++;
-
-    *pS1++ = *pbuff++;
-    *pS2-- = *pbuff++;
-
-    /* Decrement the loop counter */
-    i--;
-  } while(i > 0u);
-
-  /* pbuff initialized to input buffer */
-  pbuff = pInlineBuffer;
-
-  /* pS1 initialized to pState */
-  pS1 = pState;
-
-  /* Initializing the loop counter to N/4 instead of N for loop unrolling */
-  i = S->N >> 2u;
-
-  /* Processing with loop unrolling 4 times as N is always multiple of 4.    
-   * Compute 4 outputs at a time */
-  do
-  {
-    /* Writing the re-ordered output back to inplace input buffer */
-    *pbuff++ = *pS1++;
-    *pbuff++ = *pS1++;
-    *pbuff++ = *pS1++;
-    *pbuff++ = *pS1++;
-
-    /* Decrement the loop counter */
-    i--;
-  } while(i > 0u);
-
-
-  /* ---------------------------------------------------------    
-   *     Step2: Calculate RFFT for N-point input    
-   * ---------------------------------------------------------- */
-  /* pInlineBuffer is real input of length N , pState is the complex output of length 2N */
-  arm_rfft_q31(S->pRfft, pInlineBuffer, pState);
-
-  /*----------------------------------------------------------------------    
-   *  Step3: Multiply the FFT output with the weights.    
-   *----------------------------------------------------------------------*/
-  arm_cmplx_mult_cmplx_q31(pState, weights, pState, S->N);
-
-  /* The output of complex multiplication is in 3.29 format.    
-   * Hence changing the format of N (i.e. 2*N elements) complex numbers to 1.31 format by shifting left by 2 bits. */
-  arm_shift_q31(pState, 2, pState, S->N * 2);
-
-  /* ----------- Post-processing ---------- */
-  /* DCT-IV can be obtained from DCT-II by the equation,    
-   *       Y4(k) = Y2(k) - Y4(k-1) and Y4(-1) = Y4(0)    
-   *       Hence, Y4(0) = Y2(0)/2  */
-  /* Getting only real part from the output and Converting to DCT-IV */
-
-  /* Initializing the loop counter to N >> 2 for loop unrolling by 4 */
-  i = (S->N - 1u) >> 2u;
-
-  /* pbuff initialized to input buffer. */
-  pbuff = pInlineBuffer;
-
-  /* pS1 initialized to pState */
-  pS1 = pState;
-
-  /* Calculating Y4(0) from Y2(0) using Y4(0) = Y2(0)/2 */
-  in = *pS1++ >> 1u;
-  /* input buffer acts as inplace, so output values are stored in the input itself. */
-  *pbuff++ = in;
-
-  /* pState pointer is incremented twice as the real values are located alternatively in the array */
-  pS1++;
-
-  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
-   ** a second loop below computes the remaining 1 to 3 samples. */
-  do
-  {
-    /* Calculating Y4(1) to Y4(N-1) from Y2 using equation Y4(k) = Y2(k) - Y4(k-1) */
-    /* pState pointer (pS1) is incremented twice as the real values are located alternatively in the array */
-    in = *pS1++ - in;
-    *pbuff++ = in;
-    /* points to the next real value */
-    pS1++;
-
-    in = *pS1++ - in;
-    *pbuff++ = in;
-    pS1++;
-
-    in = *pS1++ - in;
-    *pbuff++ = in;
-    pS1++;
-
-    in = *pS1++ - in;
-    *pbuff++ = in;
-    pS1++;
-
-    /* Decrement the loop counter */
-    i--;
-  } while(i > 0u);
-
-  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
-   ** No loop unrolling is used. */
-  i = (S->N - 1u) % 0x4u;
-
-  while(i > 0u)
-  {
-    /* Calculating Y4(1) to Y4(N-1) from Y2 using equation Y4(k) = Y2(k) - Y4(k-1) */
-    /* pState pointer (pS1) is incremented twice as the real values are located alternatively in the array */
-    in = *pS1++ - in;
-    *pbuff++ = in;
-    /* points to the next real value */
-    pS1++;
-
-    /* Decrement the loop counter */
-    i--;
-  }
-
-
-        /*------------ Normalizing the output by multiplying with the normalizing factor ----------*/
-
-  /* Initializing the loop counter to N/4 instead of N for loop unrolling */
-  i = S->N >> 2u;
-
-  /* pbuff initialized to the pInlineBuffer(now contains the output values) */
-  pbuff = pInlineBuffer;
-
-  /* Processing with loop unrolling 4 times as N is always multiple of 4.  Compute 4 outputs at a time */
-  do
-  {
-    /* Multiplying pInlineBuffer with the normalizing factor sqrt(2/N) */
-    in = *pbuff;
-    *pbuff++ = ((q31_t) (((q63_t) in * S->normalize) >> 31));
-
-    in = *pbuff;
-    *pbuff++ = ((q31_t) (((q63_t) in * S->normalize) >> 31));
-
-    in = *pbuff;
-    *pbuff++ = ((q31_t) (((q63_t) in * S->normalize) >> 31));
-
-    in = *pbuff;
-    *pbuff++ = ((q31_t) (((q63_t) in * S->normalize) >> 31));
-
-    /* Decrement the loop counter */
-    i--;
-  } while(i > 0u);
-
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  /* Initializing the loop counter to N/2 */
-  i = S->Nby2;
-
-  do
-  {
-    /* Re-ordering of even and odd elements */
-    /* pState[i] =  pInlineBuffer[2*i] */
-    *pS1++ = *pbuff++;
-    /* pState[N-i-1] = pInlineBuffer[2*i+1] */
-    *pS2-- = *pbuff++;
-
-    /* Decrement the loop counter */
-    i--;
-  } while(i > 0u);
-
-  /* pbuff initialized to input buffer */
-  pbuff = pInlineBuffer;
-
-  /* pS1 initialized to pState */
-  pS1 = pState;
-
-  /* Initializing the loop counter */
-  i = S->N;
-
-  do
-  {
-    /* Writing the re-ordered output back to inplace input buffer */
-    *pbuff++ = *pS1++;
-
-    /* Decrement the loop counter */
-    i--;
-  } while(i > 0u);
-
-
-  /* ---------------------------------------------------------    
-   *     Step2: Calculate RFFT for N-point input    
-   * ---------------------------------------------------------- */
-  /* pInlineBuffer is real input of length N , pState is the complex output of length 2N */
-  arm_rfft_q31(S->pRfft, pInlineBuffer, pState);
-
-  /*----------------------------------------------------------------------    
-   *  Step3: Multiply the FFT output with the weights.    
-   *----------------------------------------------------------------------*/
-  arm_cmplx_mult_cmplx_q31(pState, weights, pState, S->N);
-
-  /* The output of complex multiplication is in 3.29 format.    
-   * Hence changing the format of N (i.e. 2*N elements) complex numbers to 1.31 format by shifting left by 2 bits. */
-  arm_shift_q31(pState, 2, pState, S->N * 2);
-
-  /* ----------- Post-processing ---------- */
-  /* DCT-IV can be obtained from DCT-II by the equation,    
-   *       Y4(k) = Y2(k) - Y4(k-1) and Y4(-1) = Y4(0)    
-   *       Hence, Y4(0) = Y2(0)/2  */
-  /* Getting only real part from the output and Converting to DCT-IV */
-
-  /* pbuff initialized to input buffer. */
-  pbuff = pInlineBuffer;
-
-  /* pS1 initialized to pState */
-  pS1 = pState;
-
-  /* Calculating Y4(0) from Y2(0) using Y4(0) = Y2(0)/2 */
-  in = *pS1++ >> 1u;
-  /* input buffer acts as inplace, so output values are stored in the input itself. */
-  *pbuff++ = in;
-
-  /* pState pointer is incremented twice as the real values are located alternatively in the array */
-  pS1++;
-
-  /* Initializing the loop counter */
-  i = (S->N - 1u);
-
-  while(i > 0u)
-  {
-    /* Calculating Y4(1) to Y4(N-1) from Y2 using equation Y4(k) = Y2(k) - Y4(k-1) */
-    /* pState pointer (pS1) is incremented twice as the real values are located alternatively in the array */
-    in = *pS1++ - in;
-    *pbuff++ = in;
-    /* points to the next real value */
-    pS1++;
-
-    /* Decrement the loop counter */
-    i--;
-  }
-
-
-        /*------------ Normalizing the output by multiplying with the normalizing factor ----------*/
-
-  /* Initializing the loop counter */
-  i = S->N;
-
-  /* pbuff initialized to the pInlineBuffer(now contains the output values) */
-  pbuff = pInlineBuffer;
-
-  do
-  {
-    /* Multiplying pInlineBuffer with the normalizing factor sqrt(2/N) */
-    in = *pbuff;
-    *pbuff++ = ((q31_t) (((q63_t) in * S->normalize) >> 31));
-
-    /* Decrement the loop counter */
-    i--;
-  } while(i > 0u);
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-}
-
-/**    
-   * @} end of DCT4_IDCT4 group    
-   */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_f32.c
deleted file mode 100644
index 2043a4e0d..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_f32.c
+++ /dev/null
@@ -1,382 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_rfft_f32.c    
-*    
-* Description:	RFFT & RIFFT Floating point process function    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupTransforms    
- */
-
-/**    
- * @defgroup RFFT_RIFFT Real FFT Functions    
- *    
- * \par    
- * Complex FFT/IFFT typically assumes complex input and output. However many applications use real valued data in time domain.     
- * Real FFT/IFFT efficiently process real valued sequences with the advantage of requirement of low memory and with less complexity.    
- *    
- * \par    
- * This set of functions implements Real Fast Fourier Transforms(RFFT) and Real Inverse Fast Fourier Transform(RIFFT)    
- * for Q15, Q31, and floating-point data types.      
- *    
- *    
- * \par Algorithm:    
- *    
- * Real Fast Fourier Transform:    
- * \par    
- * Real FFT of N-point is calculated using CFFT of N/2-point and Split RFFT process as shown below figure.    
- * \par    
- * \image html RFFT.gif "Real Fast Fourier Transform"    
- * \par    
- * The RFFT functions operate on blocks of input and output data and each call to the function processes    
- * fftLenR samples through the transform.  pSrc  points to input array containing fftLenR values.    
- * pDst  points to output array containing 2*fftLenR values. \n   
- * Input for real FFT is in the order of     
- * 
{real[0], real[1], real[2], real[3], ..}
    
- * Output for real FFT is complex and are in the order of    
- * 
{real(0), imag(0), real(1), imag(1), ...}
     
- *    
- * Real Inverse Fast Fourier Transform:    
- * \par    
- * Real IFFT of N-point is calculated using Split RIFFT process and CFFT of N/2-point as shown below figure.    
- * \par    
- * \image html RIFFT.gif "Real Inverse Fast Fourier Transform"    
- * \par    
- * The RIFFT functions operate on blocks of input and output data and each call to the function processes    
- * 2*fftLenR samples through the transform.  pSrc  points to input array containing 2*fftLenR values.    
- * pDst  points to output array containing fftLenR values. \n    
- * Input for real IFFT is complex and are in the order of   
- * 
{real(0), imag(0), real(1), imag(1), ...}
   
- *  Output for real IFFT is real and in the order of     
- * 
{real[0], real[1], real[2], real[3], ..}
   
- *    
- * \par Lengths supported by the transform:   
- * \par    
- * Real FFT/IFFT supports the lengths [128, 512, 2048], as it internally uses CFFT/CIFFT.    
- *    
- * \par Instance Structure    
- * A separate instance structure must be defined for each Instance but the twiddle factors can be reused.    
- * There are separate instance structure declarations for each of the 3 supported data types.    
- *    
- * \par Initialization Functions    
- * There is also an associated initialization function for each data type.    
- * The initialization function performs the following operations:    
- * - Sets the values of the internal structure fields.    
- * - Initializes twiddle factor tables.   
- * - Initializes CFFT data structure fields.     
- * \par    
- * Use of the initialization function is optional.    
- * However, if the initialization function is used, then the instance structure cannot be placed into a const data section.    
- * To place an instance structure into a const data section, the instance structure must be manually initialized.    
- * Manually initialize the instance structure as follows:    
- * 
    
- *arm_rfft_instance_f32 S = {fftLenReal, fftLenBy2, ifftFlagR, bitReverseFlagR, twidCoefRModifier, pTwiddleAReal, pTwiddleBReal, pCfft};    
- *arm_rfft_instance_q31 S = {fftLenReal, fftLenBy2, ifftFlagR, bitReverseFlagR, twidCoefRModifier, pTwiddleAReal, pTwiddleBReal, pCfft};    
- *arm_rfft_instance_q15 S = {fftLenReal, fftLenBy2, ifftFlagR, bitReverseFlagR, twidCoefRModifier, pTwiddleAReal, pTwiddleBReal, pCfft};    
- * 
    
- * where fftLenReal length of RFFT/RIFFT; fftLenBy2 length of CFFT/CIFFT.     
- * ifftFlagR Flag for selection of RFFT or RIFFT(Set ifftFlagR to calculate RIFFT otherwise calculates RFFT);    
- * bitReverseFlagR Flag for selection of output order(Set bitReverseFlagR to output in normal order otherwise output in bit reversed order);     
- * twidCoefRModifier modifier for twiddle factor table which supports 128, 512, 2048 RFFT lengths with same table;    
- * pTwiddleARealpoints to A array of twiddle coefficients; pTwiddleBRealpoints to B array of twiddle coefficients;    
- * pCfft points to the CFFT Instance structure. The CFFT structure also needs to be initialized, refer to arm_cfft_radix4_f32() for details regarding    
- * static initialization of cfft structure.    
- *    
- * \par Fixed-Point Behavior    
- * Care must be taken when using the fixed-point versions of the RFFT/RIFFT function.    
- * Refer to the function specific documentation below for usage guidelines.    
- */
-
-/*--------------------------------------------------------------------    
- *		Internal functions prototypes    
- *--------------------------------------------------------------------*/
-
-void arm_split_rfft_f32(
-  float32_t * pSrc,
-  uint32_t fftLen,
-  float32_t * pATable,
-  float32_t * pBTable,
-  float32_t * pDst,
-  uint32_t modifier);
-void arm_split_rifft_f32(
-  float32_t * pSrc,
-  uint32_t fftLen,
-  float32_t * pATable,
-  float32_t * pBTable,
-  float32_t * pDst,
-  uint32_t modifier);
-
-/**    
- * @addtogroup RFFT_RIFFT    
- * @{    
- */
-
-/**    
- * @brief Processing function for the floating-point RFFT/RIFFT.   
- * @param[in]  *S    points to an instance of the floating-point RFFT/RIFFT structure.   
- * @param[in]  *pSrc points to the input buffer.   
- * @param[out] *pDst points to the output buffer.   
- * @return none.   
- */
-
-void arm_rfft_f32(
-  const arm_rfft_instance_f32 * S,
-  float32_t * pSrc,
-  float32_t * pDst)
-{
-  const arm_cfft_radix4_instance_f32 *S_CFFT = S->pCfft;
-
-
-  /* Calculation of Real IFFT of input */
-  if(S->ifftFlagR == 1u)
-  {
-    /*  Real IFFT core process */
-    arm_split_rifft_f32(pSrc, S->fftLenBy2, S->pTwiddleAReal,
-                        S->pTwiddleBReal, pDst, S->twidCoefRModifier);
-
-
-    /* Complex radix-4 IFFT process */
-    arm_radix4_butterfly_inverse_f32(pDst, S_CFFT->fftLen,
-                                     S_CFFT->pTwiddle,
-                                     S_CFFT->twidCoefModifier,
-                                     S_CFFT->onebyfftLen);
-
-    /* Bit reversal process */
-    if(S->bitReverseFlagR == 1u)
-    {
-      arm_bitreversal_f32(pDst, S_CFFT->fftLen,
-                          S_CFFT->bitRevFactor, S_CFFT->pBitRevTable);
-    }
-  }
-  else
-  {
-
-    /* Calculation of RFFT of input */
-
-    /* Complex radix-4 FFT process */
-    arm_radix4_butterfly_f32(pSrc, S_CFFT->fftLen,
-                             S_CFFT->pTwiddle, S_CFFT->twidCoefModifier);
-
-    /* Bit reversal process */
-    if(S->bitReverseFlagR == 1u)
-    {
-      arm_bitreversal_f32(pSrc, S_CFFT->fftLen,
-                          S_CFFT->bitRevFactor, S_CFFT->pBitRevTable);
-    }
-
-
-    /*  Real FFT core process */
-    arm_split_rfft_f32(pSrc, S->fftLenBy2, S->pTwiddleAReal,
-                       S->pTwiddleBReal, pDst, S->twidCoefRModifier);
-  }
-
-}
-
-/**    
-   * @} end of RFFT_RIFFT group    
-   */
-
-/**    
- * @brief  Core Real FFT process    
- * @param[in]   *pSrc 				points to the input buffer.    
- * @param[in]   fftLen  			length of FFT.    
- * @param[in]   *pATable 			points to the twiddle Coef A buffer.    
- * @param[in]   *pBTable 			points to the twiddle Coef B buffer.    
- * @param[out]  *pDst 				points to the output buffer.    
- * @param[in]   modifier 	        twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.   
- * @return none.    
- */
-
-void arm_split_rfft_f32(
-  float32_t * pSrc,
-  uint32_t fftLen,
-  float32_t * pATable,
-  float32_t * pBTable,
-  float32_t * pDst,
-  uint32_t modifier)
-{
-  uint32_t i;                                    /* Loop Counter */
-  float32_t outR, outI;                          /* Temporary variables for output */
-  float32_t *pCoefA, *pCoefB;                    /* Temporary pointers for twiddle factors */
-  float32_t CoefA1, CoefA2, CoefB1;              /* Temporary variables for twiddle coefficients */
-  float32_t *pDst1 = &pDst[2], *pDst2 = &pDst[(4u * fftLen) - 1u];      /* temp pointers for output buffer */
-  float32_t *pSrc1 = &pSrc[2], *pSrc2 = &pSrc[(2u * fftLen) - 1u];      /* temp pointers for input buffer */
-
-  /* Init coefficient pointers */
-  pCoefA = &pATable[modifier * 2u];
-  pCoefB = &pBTable[modifier * 2u];
-
-  i = fftLen - 1u;
-
-  while(i > 0u)
-  {
-    /*    
-       outR = (pSrc[2 * i] * pATable[2 * i] - pSrc[2 * i + 1] * pATable[2 * i + 1]    
-       + pSrc[2 * n - 2 * i] * pBTable[2 * i] +    
-       pSrc[2 * n - 2 * i + 1] * pBTable[2 * i + 1]);    
-     */
-
-    /* outI = (pIn[2 * i + 1] * pATable[2 * i] + pIn[2 * i] * pATable[2 * i + 1] +    
-       pIn[2 * n - 2 * i] * pBTable[2 * i + 1] -    
-       pIn[2 * n - 2 * i + 1] * pBTable[2 * i]); */
-
-    /* read pATable[2 * i] */
-    CoefA1 = *pCoefA++;
-    /* pATable[2 * i + 1] */
-    CoefA2 = *pCoefA;
-
-    /* pSrc[2 * i] * pATable[2 * i] */
-    outR = *pSrc1 * CoefA1;
-    /* pSrc[2 * i] * CoefA2 */
-    outI = *pSrc1++ * CoefA2;
-
-    /* (pSrc[2 * i + 1] + pSrc[2 * fftLen - 2 * i + 1]) * CoefA2 */
-    outR -= (*pSrc1 + *pSrc2) * CoefA2;
-    /* pSrc[2 * i + 1] * CoefA1 */
-    outI += *pSrc1++ * CoefA1;
-
-    CoefB1 = *pCoefB;
-
-    /* pSrc[2 * fftLen - 2 * i + 1] * CoefB1 */
-    outI -= *pSrc2-- * CoefB1;
-    /* pSrc[2 * fftLen - 2 * i] * CoefA2 */
-    outI -= *pSrc2 * CoefA2;
-
-    /* pSrc[2 * fftLen - 2 * i] * CoefB1 */
-    outR += *pSrc2-- * CoefB1;
-
-    /* write output */
-    *pDst1++ = outR;
-    *pDst1++ = outI;
-
-    /* write complex conjugate output */
-    *pDst2-- = -outI;
-    *pDst2-- = outR;
-
-    /* update coefficient pointer */
-    pCoefB = pCoefB + (modifier * 2u);
-    pCoefA = pCoefA + ((modifier * 2u) - 1u);
-
-    i--;
-
-  }
-
-  pDst[2u * fftLen] = pSrc[0] - pSrc[1];
-  pDst[(2u * fftLen) + 1u] = 0.0f;
-
-  pDst[0] = pSrc[0] + pSrc[1];
-  pDst[1] = 0.0f;
-
-}
-
-
-/**    
- * @brief  Core Real IFFT process    
- * @param[in]   *pSrc 				points to the input buffer.    
- * @param[in]   fftLen  			length of FFT.   
- * @param[in]   *pATable 			points to the twiddle Coef A buffer.   
- * @param[in]   *pBTable 			points to the twiddle Coef B buffer.   
- * @param[out]  *pDst 				points to the output buffer.   
- * @param[in]   modifier 	        twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.    
- * @return none.    
- */
-
-void arm_split_rifft_f32(
-  float32_t * pSrc,
-  uint32_t fftLen,
-  float32_t * pATable,
-  float32_t * pBTable,
-  float32_t * pDst,
-  uint32_t modifier)
-{
-  float32_t outR, outI;                          /* Temporary variables for output */
-  float32_t *pCoefA, *pCoefB;                    /* Temporary pointers for twiddle factors */
-  float32_t CoefA1, CoefA2, CoefB1;              /* Temporary variables for twiddle coefficients */
-  float32_t *pSrc1 = &pSrc[0], *pSrc2 = &pSrc[(2u * fftLen) + 1u];
-
-  pCoefA = &pATable[0];
-  pCoefB = &pBTable[0];
-
-  while(fftLen > 0u)
-  {
-    /*    
-       outR = (pIn[2 * i] * pATable[2 * i] + pIn[2 * i + 1] * pATable[2 * i + 1] +    
-       pIn[2 * n - 2 * i] * pBTable[2 * i] -    
-       pIn[2 * n - 2 * i + 1] * pBTable[2 * i + 1]);    
-
-       outI = (pIn[2 * i + 1] * pATable[2 * i] - pIn[2 * i] * pATable[2 * i + 1] -    
-       pIn[2 * n - 2 * i] * pBTable[2 * i + 1] -    
-       pIn[2 * n - 2 * i + 1] * pBTable[2 * i]);    
-
-     */
-
-    CoefA1 = *pCoefA++;
-    CoefA2 = *pCoefA;
-
-    /* outR = (pSrc[2 * i] * CoefA1 */
-    outR = *pSrc1 * CoefA1;
-
-    /* - pSrc[2 * i] * CoefA2 */
-    outI = -(*pSrc1++) * CoefA2;
-
-    /* (pSrc[2 * i + 1] + pSrc[2 * fftLen - 2 * i + 1]) * CoefA2 */
-    outR += (*pSrc1 + *pSrc2) * CoefA2;
-
-    /* pSrc[2 * i + 1] * CoefA1 */
-    outI += (*pSrc1++) * CoefA1;
-
-    CoefB1 = *pCoefB;
-
-    /* - pSrc[2 * fftLen - 2 * i + 1] * CoefB1 */
-    outI -= *pSrc2-- * CoefB1;
-
-    /* pSrc[2 * fftLen - 2 * i] * CoefB1 */
-    outR += *pSrc2 * CoefB1;
-
-    /* pSrc[2 * fftLen - 2 * i] * CoefA2 */
-    outI += *pSrc2-- * CoefA2;
-
-    /* write output */
-    *pDst++ = outR;
-    *pDst++ = outI;
-
-    /* update coefficient pointer */
-    pCoefB = pCoefB + (modifier * 2u);
-    pCoefA = pCoefA + ((modifier * 2u) - 1u);
-
-    /* Decrement loop count */
-    fftLen--;
-  }
-
-}
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_init_f32.c b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_init_f32.c
deleted file mode 100644
index 7a54df6e2..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_init_f32.c
+++ /dev/null
@@ -1,8369 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_rfft_init_f32.c    
-*    
-* Description:	RFFT & RIFFT Floating point initialisation function    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* -------------------------------------------------------------------- */
-
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupTransforms    
- */
-
-/**    
- * @addtogroup RFFT_RIFFT    
- * @{    
- */
-
-/**    
-* \par    
-* Generation of realCoefA array:    
-* \par    
-* 	n = 4096    
-* 
for (i = 0; i < n; i++)    
-*  {    
-*    pATable[2 * i] = 0.5 * (1.0 - sin (2 * PI / (double) (2 * n) * (double) i));    
-*    pATable[2 * i + 1] = 0.5 * (-1.0 * cos (2 * PI / (double) (2 * n) * (double) i));    
-*  } 
    
-*/
-
-
-
-static const float32_t realCoefA[8192] = {
-  0.500000000000000f, -0.500000000000000f, 0.499616503715515f,
-    -0.499999850988388f,
-  0.499233007431030f, -0.499999403953552f, 0.498849511146545f,
-    -0.499998688697815f,
-  0.498466014862061f, -0.499997645616531f, 0.498082518577576f,
-    -0.499996334314346f,
-  0.497699022293091f, -0.499994695186615f, 0.497315555810928f,
-    -0.499992787837982f,
-  0.496932059526443f, -0.499990582466125f, 0.496548563241959f,
-    -0.499988079071045f,
-  0.496165096759796f, -0.499985307455063f, 0.495781600475311f,
-    -0.499982208013535f,
-  0.495398133993149f, -0.499978810548782f, 0.495014637708664f,
-    -0.499975144863129f,
-  0.494631171226501f, -0.499971181154251f, 0.494247704744339f,
-    -0.499966919422150f,
-  0.493864238262177f, -0.499962359666824f, 0.493480771780014f,
-    -0.499957501888275f,
-  0.493097305297852f, -0.499952346086502f, 0.492713838815689f,
-    -0.499946922063828f,
-  0.492330402135849f, -0.499941170215607f, 0.491946935653687f,
-    -0.499935150146484f,
-  0.491563498973846f, -0.499928832054138f, 0.491180062294006f,
-    -0.499922215938568f,
-  0.490796625614166f, -0.499915301799774f, 0.490413218736649f,
-    -0.499908089637756f,
-  0.490029782056808f, -0.499900579452515f, 0.489646375179291f,
-    -0.499892801046371f,
-  0.489262968301773f, -0.499884694814682f, 0.488879561424255f,
-    -0.499876320362091f,
-  0.488496154546738f, -0.499867647886276f, 0.488112777471542f,
-    -0.499858677387238f,
-  0.487729400396347f, -0.499849408864975f, 0.487346023321152f,
-    -0.499839842319489f,
-  0.486962646245956f, -0.499830007553101f, 0.486579269170761f,
-    -0.499819844961166f,
-  0.486195921897888f, -0.499809414148331f, 0.485812574625015f,
-    -0.499798685312271f,
-  0.485429257154465f, -0.499787658452988f, 0.485045909881592f,
-    -0.499776333570480f,
-  0.484662592411041f, -0.499764710664749f, 0.484279274940491f,
-    -0.499752789735794f,
-  0.483895987272263f, -0.499740600585938f, 0.483512699604034f,
-    -0.499728083610535f,
-  0.483129411935806f, -0.499715298414230f, 0.482746154069901f,
-    -0.499702215194702f,
-  0.482362866401672f, -0.499688833951950f, 0.481979638338089f,
-    -0.499675154685974f,
-  0.481596380472183f, -0.499661177396774f, 0.481213152408600f,
-    -0.499646931886673f,
-  0.480829954147339f, -0.499632388353348f, 0.480446726083755f,
-    -0.499617516994476f,
-  0.480063527822495f, -0.499602377414703f, 0.479680359363556f,
-    -0.499586939811707f,
-  0.479297190904617f, -0.499571204185486f, 0.478914022445679f,
-    -0.499555170536041f,
-  0.478530883789063f, -0.499538868665695f, 0.478147745132446f,
-    -0.499522238969803f,
-  0.477764606475830f, -0.499505341053009f, 0.477381497621536f,
-    -0.499488145112991f,
-  0.476998418569565f, -0.499470651149750f, 0.476615339517593f,
-    -0.499452859163284f,
-  0.476232260465622f, -0.499434769153595f, 0.475849211215973f,
-    -0.499416410923004f,
-  0.475466161966324f, -0.499397724866867f, 0.475083142518997f,
-    -0.499378770589828f,
-  0.474700123071671f, -0.499359518289566f, 0.474317133426666f,
-    -0.499339967966080f,
-  0.473934143781662f, -0.499320119619370f, 0.473551183938980f,
-    -0.499299973249435f,
-  0.473168224096298f, -0.499279528856277f, 0.472785294055939f,
-    -0.499258816242218f,
-  0.472402364015579f, -0.499237775802612f, 0.472019463777542f,
-    -0.499216467142105f,
-  0.471636593341827f, -0.499194860458374f, 0.471253722906113f,
-    -0.499172955751419f,
-  0.470870882272720f, -0.499150782823563f, 0.470488041639328f,
-    -0.499128282070160f,
-  0.470105201005936f, -0.499105513095856f, 0.469722419977188f,
-    -0.499082416296005f,
-  0.469339638948441f, -0.499059051275253f, 0.468956857919693f,
-    -0.499035388231277f,
-  0.468574106693268f, -0.499011427164078f, 0.468191385269165f,
-    -0.498987197875977f,
-  0.467808693647385f, -0.498962640762329f, 0.467426002025604f,
-    -0.498937815427780f,
-  0.467043310403824f, -0.498912662267685f, 0.466660678386688f,
-    -0.498887240886688f,
-  0.466278046369553f, -0.498861521482468f, 0.465895414352417f,
-    -0.498835533857346f,
-  0.465512841939926f, -0.498809218406677f, 0.465130269527435f,
-    -0.498782604932785f,
-  0.464747726917267f, -0.498755723237991f, 0.464365184307098f,
-    -0.498728543519974f,
-  0.463982671499252f, -0.498701065778732f, 0.463600188493729f,
-    -0.498673290014267f,
-  0.463217705488205f, -0.498645216226578f, 0.462835282087326f,
-    -0.498616874217987f,
-  0.462452858686447f, -0.498588204383850f, 0.462070435285568f,
-    -0.498559266328812f,
-  0.461688071489334f, -0.498530030250549f, 0.461305707693100f,
-    -0.498500496149063f,
-  0.460923373699188f, -0.498470664024353f, 0.460541069507599f,
-    -0.498440563678741f,
-  0.460158795118332f, -0.498410135507584f, 0.459776520729065f,
-    -0.498379439115524f,
-  0.459394276142120f, -0.498348444700241f, 0.459012061357498f,
-    -0.498317152261734f,
-  0.458629876375198f, -0.498285561800003f, 0.458247691392899f,
-    -0.498253703117371f,
-  0.457865566015244f, -0.498221516609192f, 0.457483440637589f,
-    -0.498189061880112f,
-  0.457101345062256f, -0.498156309127808f, 0.456719279289246f,
-    -0.498123258352280f,
-  0.456337243318558f, -0.498089909553528f, 0.455955207347870f,
-    -0.498056292533875f,
-  0.455573230981827f, -0.498022347688675f, 0.455191254615784f,
-    -0.497988134622574f,
-  0.454809308052063f, -0.497953623533249f, 0.454427421092987f,
-    -0.497918814420700f,
-  0.454045534133911f, -0.497883707284927f, 0.453663676977158f,
-    -0.497848302125931f,
-  0.453281819820404f, -0.497812628746033f, 0.452900022268295f,
-    -0.497776657342911f,
-  0.452518254518509f, -0.497740387916565f, 0.452136516571045f,
-    -0.497703820466995f,
-  0.451754778623581f, -0.497666954994202f, 0.451373100280762f,
-    -0.497629791498184f,
-  0.450991421937943f, -0.497592359781265f, 0.450609803199768f,
-    -0.497554630041122f,
-  0.450228184461594f, -0.497516602277756f, 0.449846625328064f,
-    -0.497478276491165f,
-  0.449465066194534f, -0.497439652681351f, 0.449083566665649f,
-    -0.497400760650635f,
-  0.448702067136765f, -0.497361570596695f, 0.448320597410202f,
-    -0.497322082519531f,
-  0.447939187288284f, -0.497282296419144f, 0.447557777166367f,
-    -0.497242212295532f,
-  0.447176426649094f, -0.497201830148697f, 0.446795076131821f,
-    -0.497161179780960f,
-  0.446413785219193f, -0.497120231389999f, 0.446032524108887f,
-    -0.497078984975815f,
-  0.445651292800903f, -0.497037440538406f, 0.445270061492920f,
-    -0.496995598077774f,
-  0.444888889789581f, -0.496953487396240f, 0.444507747888565f,
-    -0.496911078691483f,
-  0.444126635789871f, -0.496868371963501f, 0.443745553493500f,
-    -0.496825367212296f,
-  0.443364530801773f, -0.496782064437866f, 0.442983508110046f,
-    -0.496738493442535f,
-  0.442602545022964f, -0.496694594621658f, 0.442221581935883f,
-    -0.496650427579880f,
-  0.441840678453445f, -0.496605962514877f, 0.441459804773331f,
-    -0.496561229228973f,
-  0.441078960895538f, -0.496516168117523f, 0.440698176622391f,
-    -0.496470838785172f,
-  0.440317392349243f, -0.496425211429596f, 0.439936667680740f,
-    -0.496379286050797f,
-  0.439555943012238f, -0.496333062648773f, 0.439175277948380f,
-    -0.496286571025848f,
-  0.438794672489166f, -0.496239781379700f, 0.438414067029953f,
-    -0.496192663908005f,
-  0.438033521175385f, -0.496145308017731f, 0.437653005123138f,
-    -0.496097624301910f,
-  0.437272518873215f, -0.496049642562866f, 0.436892062425613f,
-    -0.496001392602921f,
-  0.436511665582657f, -0.495952844619751f, 0.436131268739700f,
-    -0.495903998613358f,
-  0.435750931501389f, -0.495854884386063f, 0.435370653867722f,
-    -0.495805442333221f,
-  0.434990376234055f, -0.495755732059479f, 0.434610158205032f,
-    -0.495705723762512f,
-  0.434229999780655f, -0.495655417442322f, 0.433849841356277f,
-    -0.495604842901230f,
-  0.433469742536545f, -0.495553970336914f, 0.433089673519135f,
-    -0.495502769947052f,
-  0.432709634304047f, -0.495451331138611f, 0.432329654693604f,
-    -0.495399564504623f,
-  0.431949704885483f, -0.495347499847412f, 0.431569814682007f,
-    -0.495295166969299f,
-  0.431189924478531f, -0.495242536067963f, 0.430810123682022f,
-    -0.495189607143402f,
-  0.430430322885513f, -0.495136409997940f, 0.430050581693649f,
-    -0.495082914829254f,
-  0.429670870304108f, -0.495029091835022f, 0.429291218519211f,
-    -0.494975030422211f,
-  0.428911596536636f, -0.494920641183853f, 0.428532034158707f,
-    -0.494865983724594f,
-  0.428152471780777f, -0.494810998439789f, 0.427772998809814f,
-    -0.494755744934082f,
-  0.427393525838852f, -0.494700223207474f, 0.427014142274857f,
-    -0.494644373655319f,
-  0.426634758710861f, -0.494588255882263f, 0.426255434751511f,
-    -0.494531840085983f,
-  0.425876170396805f, -0.494475126266479f, 0.425496935844421f,
-    -0.494418144226074f,
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-  0.491563498973846f, 0.499928832054138f, 0.491946935653687f,
-    0.499935150146484f,
-  0.492330402135849f, 0.499941170215607f, 0.492713838815689f,
-    0.499946922063828f,
-  0.493097305297852f, 0.499952346086502f, 0.493480771780014f,
-    0.499957501888275f,
-  0.493864238262177f, 0.499962359666824f, 0.494247704744339f,
-    0.499966919422150f,
-  0.494631171226501f, 0.499971181154251f, 0.495014637708664f,
-    0.499975144863129f,
-  0.495398133993149f, 0.499978810548782f, 0.495781600475311f,
-    0.499982208013535f,
-  0.496165096759796f, 0.499985307455063f, 0.496548563241959f,
-    0.499988079071045f,
-  0.496932059526443f, 0.499990582466125f, 0.497315555810928f,
-    0.499992787837982f,
-  0.497699022293091f, 0.499994695186615f, 0.498082518577576f,
-    0.499996334314346f,
-  0.498466014862061f, 0.499997645616531f, 0.498849511146545f,
-    0.499998688697815f,
-  0.499233007431030f, 0.499999403953552f, 0.499616503715515f,
-    0.499999850988388f,
-};
-
-
-/**    
-* \par   
-* Generation of realCoefB array:    
-* \par   
-* n = 4096    
-* 
for (i = 0; i < n; i++)    
-* {    
-*    pBTable[2 * i] = 0.5 * (1.0 + sin (2 * PI / (double) (2 * n) * (double) i));    
-*    pBTable[2 * i + 1] = 0.5 * (1.0 * cos (2 * PI / (double) (2 * n) * (double) i));    
-*  } 
    
-*    
-*/
-static const float32_t realCoefB[8192] = {
-  0.500000000000000f, 0.500000000000000f, 0.500383496284485f,
-    0.499999850988388f,
-  0.500766992568970f, 0.499999403953552f, 0.501150488853455f,
-    0.499998688697815f,
-  0.501533985137939f, 0.499997645616531f, 0.501917481422424f,
-    0.499996334314346f,
-  0.502300977706909f, 0.499994695186615f, 0.502684473991394f,
-    0.499992787837982f,
-  0.503067970275879f, 0.499990582466125f, 0.503451406955719f,
-    0.499988079071045f,
-  0.503834903240204f, 0.499985307455063f, 0.504218399524689f,
-    0.499982208013535f,
-  0.504601895809174f, 0.499978810548782f, 0.504985332489014f,
-    0.499975144863129f,
-  0.505368828773499f, 0.499971181154251f, 0.505752325057983f,
-    0.499966919422150f,
-  0.506135761737823f, 0.499962359666824f, 0.506519258022308f,
-    0.499957501888275f,
-  0.506902694702148f, 0.499952346086502f, 0.507286131381989f,
-    0.499946922063828f,
-  0.507669627666473f, 0.499941170215607f, 0.508053064346313f,
-    0.499935150146484f,
-  0.508436501026154f, 0.499928832054138f, 0.508819937705994f,
-    0.499922215938568f,
-  0.509203374385834f, 0.499915301799774f, 0.509586811065674f,
-    0.499908089637756f,
-  0.509970188140869f, 0.499900579452515f, 0.510353624820709f,
-    0.499892801046371f,
-  0.510737061500549f, 0.499884694814682f, 0.511120438575745f,
-    0.499876320362091f,
-  0.511503815650940f, 0.499867647886276f, 0.511887252330780f,
-    0.499858677387238f,
-  0.512270629405975f, 0.499849408864975f, 0.512654006481171f,
-    0.499839842319489f,
-  0.513037383556366f, 0.499830007553101f, 0.513420701026917f,
-    0.499819844961166f,
-  0.513804078102112f, 0.499809414148331f, 0.514187395572662f,
-    0.499798685312271f,
-  0.514570772647858f, 0.499787658452988f, 0.514954090118408f,
-    0.499776333570480f,
-  0.515337407588959f, 0.499764710664749f, 0.515720725059509f,
-    0.499752789735794f,
-  0.516103982925415f, 0.499740600585938f, 0.516487300395966f,
-    0.499728083610535f,
-  0.516870558261871f, 0.499715298414230f, 0.517253875732422f,
-    0.499702215194702f,
-  0.517637133598328f, 0.499688833951950f, 0.518020391464233f,
-    0.499675154685974f,
-  0.518403589725494f, 0.499661177396774f, 0.518786847591400f,
-    0.499646931886673f,
-  0.519170045852661f, 0.499632388353348f, 0.519553244113922f,
-    0.499617516994476f,
-  0.519936442375183f, 0.499602377414703f, 0.520319640636444f,
-    0.499586939811707f,
-  0.520702838897705f, 0.499571204185486f, 0.521085977554321f,
-    0.499555170536041f,
-  0.521469116210938f, 0.499538868665695f, 0.521852254867554f,
-    0.499522238969803f,
-  0.522235393524170f, 0.499505341053009f, 0.522618472576141f,
-    0.499488145112991f,
-  0.523001611232758f, 0.499470651149750f, 0.523384690284729f,
-    0.499452859163284f,
-  0.523767769336700f, 0.499434769153595f, 0.524150788784027f,
-    0.499416410923004f,
-  0.524533808231354f, 0.499397724866867f, 0.524916887283325f,
-    0.499378770589828f,
-  0.525299847126007f, 0.499359518289566f, 0.525682866573334f,
-    0.499339967966080f,
-  0.526065826416016f, 0.499320119619370f, 0.526448845863342f,
-    0.499299973249435f,
-  0.526831746101379f, 0.499279528856277f, 0.527214705944061f,
-    0.499258816242218f,
-  0.527597606182098f, 0.499237775802612f, 0.527980506420136f,
-    0.499216467142105f,
-  0.528363406658173f, 0.499194860458374f, 0.528746306896210f,
-    0.499172955751419f,
-  0.529129147529602f, 0.499150782823563f, 0.529511988162994f,
-    0.499128282070160f,
-  0.529894769191742f, 0.499105513095856f, 0.530277609825134f,
-    0.499082416296005f,
-  0.530660390853882f, 0.499059051275253f, 0.531043112277985f,
-    0.499035388231277f,
-  0.531425893306732f, 0.499011427164078f, 0.531808614730835f,
-    0.498987197875977f,
-  0.532191336154938f, 0.498962640762329f, 0.532573997974396f,
-    0.498937815427780f,
-  0.532956659793854f, 0.498912662267685f, 0.533339321613312f,
-    0.498887240886688f,
-  0.533721983432770f, 0.498861521482468f, 0.534104585647583f,
-    0.498835533857346f,
-  0.534487187862396f, 0.498809218406677f, 0.534869730472565f,
-    0.498782604932785f,
-  0.535252273082733f, 0.498755723237991f, 0.535634815692902f,
-    0.498728543519974f,
-  0.536017298698425f, 0.498701065778732f, 0.536399841308594f,
-    0.498673290014267f,
-  0.536782264709473f, 0.498645216226578f, 0.537164747714996f,
-    0.498616874217987f,
-  0.537547171115875f, 0.498588204383850f, 0.537929534912109f,
-    0.498559266328812f,
-  0.538311958312988f, 0.498530030250549f, 0.538694262504578f,
-    0.498500496149063f,
-  0.539076626300812f, 0.498470664024353f, 0.539458930492401f,
-    0.498440563678741f,
-  0.539841234683990f, 0.498410135507584f, 0.540223479270935f,
-    0.498379439115524f,
-  0.540605723857880f, 0.498348444700241f, 0.540987968444824f,
-    0.498317152261734f,
-  0.541370153427124f, 0.498285561800003f, 0.541752278804779f,
-    0.498253703117371f,
-  0.542134463787079f, 0.498221516609192f, 0.542516589164734f,
-    0.498189061880112f,
-  0.542898654937744f, 0.498156309127808f, 0.543280720710754f,
-    0.498123258352280f,
-  0.543662786483765f, 0.498089909553528f, 0.544044792652130f,
-    0.498056292533875f,
-  0.544426798820496f, 0.498022347688675f, 0.544808745384216f,
-    0.497988134622574f,
-  0.545190691947937f, 0.497953623533249f, 0.545572578907013f,
-    0.497918814420700f,
-  0.545954465866089f, 0.497883707284927f, 0.546336352825165f,
-    0.497848302125931f,
-  0.546718180179596f, 0.497812628746033f, 0.547099947929382f,
-    0.497776657342911f,
-  0.547481775283813f, 0.497740387916565f, 0.547863483428955f,
-    0.497703820466995f,
-  0.548245191574097f, 0.497666954994202f, 0.548626899719238f,
-    0.497629791498184f,
-  0.549008548259735f, 0.497592359781265f, 0.549390196800232f,
-    0.497554630041122f,
-  0.549771785736084f, 0.497516602277756f, 0.550153374671936f,
-    0.497478276491165f,
-  0.550534904003143f, 0.497439652681351f, 0.550916433334351f,
-    0.497400760650635f,
-  0.551297962665558f, 0.497361570596695f, 0.551679372787476f,
-    0.497322082519531f,
-  0.552060842514038f, 0.497282296419144f, 0.552442193031311f,
-    0.497242212295532f,
-  0.552823603153229f, 0.497201830148697f, 0.553204894065857f,
-    0.497161179780960f,
-  0.553586184978485f, 0.497120231389999f, 0.553967475891113f,
-    0.497078984975815f,
-  0.554348707199097f, 0.497037440538406f, 0.554729938507080f,
-    0.496995598077774f,
-  0.555111110210419f, 0.496953487396240f, 0.555492222309113f,
-    0.496911078691483f,
-  0.555873334407806f, 0.496868371963501f, 0.556254446506500f,
-    0.496825367212296f,
-  0.556635499000549f, 0.496782064437866f, 0.557016491889954f,
-    0.496738493442535f,
-  0.557397484779358f, 0.496694594621658f, 0.557778418064117f,
-    0.496650427579880f,
-  0.558159291744232f, 0.496605962514877f, 0.558540165424347f,
-    0.496561229228973f,
-  0.558921039104462f, 0.496516168117523f, 0.559301853179932f,
-    0.496470838785172f,
-  0.559682607650757f, 0.496425211429596f, 0.560063362121582f,
-    0.496379286050797f,
-  0.560444056987762f, 0.496333062648773f, 0.560824692249298f,
-    0.496286571025848f,
-  0.561205327510834f, 0.496239781379700f, 0.561585903167725f,
-    0.496192663908005f,
-  0.561966478824615f, 0.496145308017731f, 0.562346994876862f,
-    0.496097624301910f,
-  0.562727510929108f, 0.496049642562866f, 0.563107967376709f,
-    0.496001392602921f,
-  0.563488364219666f, 0.495952844619751f, 0.563868701457977f,
-    0.495903998613358f,
-  0.564249038696289f, 0.495854884386063f, 0.564629375934601f,
-    0.495805442333221f,
-  0.565009593963623f, 0.495755732059479f, 0.565389811992645f,
-    0.495705723762512f,
-  0.565770030021667f, 0.495655417442322f, 0.566150128841400f,
-    0.495604842901230f,
-  0.566530287265778f, 0.495553970336914f, 0.566910326480865f,
-    0.495502769947052f,
-  0.567290365695953f, 0.495451331138611f, 0.567670345306396f,
-    0.495399564504623f,
-  0.568050265312195f, 0.495347499847412f, 0.568430185317993f,
-    0.495295166969299f,
-  0.568810045719147f, 0.495242536067963f, 0.569189906120300f,
-    0.495189607143402f,
-  0.569569647312164f, 0.495136409997940f, 0.569949388504028f,
-    0.495082914829254f,
-  0.570329129695892f, 0.495029091835022f, 0.570708811283112f,
-    0.494975030422211f,
-  0.571088373661041f, 0.494920641183853f, 0.571467995643616f,
-    0.494865983724594f,
-  0.571847498416901f, 0.494810998439789f, 0.572227001190186f,
-    0.494755744934082f,
-  0.572606444358826f, 0.494700223207474f, 0.572985887527466f,
-    0.494644373655319f,
-  0.573365211486816f, 0.494588255882263f, 0.573744535446167f,
-    0.494531840085983f,
-  0.574123859405518f, 0.494475126266479f, 0.574503064155579f,
-    0.494418144226074f,
-  0.574882268905640f, 0.494360834360123f, 0.575261414051056f,
-    0.494303256273270f,
-  0.575640499591827f, 0.494245409965515f, 0.576019585132599f,
-    0.494187235832214f,
-  0.576398611068726f, 0.494128793478012f, 0.576777577400208f,
-    0.494070053100586f,
-  0.577156484127045f, 0.494011014699936f, 0.577535390853882f,
-    0.493951678276062f,
-  0.577914178371429f, 0.493892073631287f, 0.578292965888977f,
-    0.493832170963287f,
-  0.578671753406525f, 0.493771970272064f, 0.579050421714783f,
-    0.493711471557617f,
-  0.579429090023041f, 0.493650704622269f, 0.579807698726654f,
-    0.493589639663696f,
-  0.580186247825623f, 0.493528276681900f, 0.580564737319946f,
-    0.493466645479202f,
-  0.580943167209625f, 0.493404686450958f, 0.581321597099304f,
-    0.493342459201813f,
-  0.581699967384338f, 0.493279963731766f, 0.582078278064728f,
-    0.493217140436172f,
-  0.582456588745117f, 0.493154048919678f, 0.582834780216217f,
-    0.493090659379959f,
-  0.583212971687317f, 0.493026971817017f, 0.583591103553772f,
-    0.492963016033173f,
-  0.583969175815582f, 0.492898762226105f, 0.584347188472748f,
-    0.492834210395813f,
-  0.584725141525269f, 0.492769360542297f, 0.585103094577789f,
-    0.492704242467880f,
-  0.585480928421021f, 0.492638826370239f, 0.585858762264252f,
-    0.492573112249374f,
-  0.586236536502838f, 0.492507129907608f, 0.586614251136780f,
-    0.492440819740295f,
-  0.586991965770721f, 0.492374241352081f, 0.587369561195374f,
-    0.492307394742966f,
-  0.587747097015381f, 0.492240220308304f, 0.588124632835388f,
-    0.492172777652740f,
-  0.588502109050751f, 0.492105036973953f, 0.588879525661469f,
-    0.492037028074265f,
-  0.589256882667542f, 0.491968721151352f, 0.589634180068970f,
-    0.491900116205215f,
-  0.590011477470398f, 0.491831213235855f, 0.590388655662537f,
-    0.491762012243271f,
-  0.590765833854675f, 0.491692543029785f, 0.591142892837524f,
-    0.491622805595398f,
-  0.591519951820374f, 0.491552740335464f, 0.591896951198578f,
-    0.491482406854630f,
-  0.592273890972137f, 0.491411775350571f, 0.592650771141052f,
-    0.491340845823288f,
-  0.593027591705322f, 0.491269648075104f, 0.593404352664948f,
-    0.491198152303696f,
-  0.593781054019928f, 0.491126358509064f, 0.594157755374908f,
-    0.491054296493530f,
-  0.594534337520599f, 0.490981936454773f, 0.594910860061646f,
-    0.490909278392792f,
-  0.595287382602692f, 0.490836352109909f, 0.595663845539093f,
-    0.490763127803802f,
-  0.596040189266205f, 0.490689605474472f, 0.596416532993317f,
-    0.490615785121918f,
-  0.596792817115784f, 0.490541696548462f, 0.597168982028961f,
-    0.490467309951782f,
-  0.597545146942139f, 0.490392625331879f, 0.597921252250671f,
-    0.490317672491074f,
-  0.598297297954559f, 0.490242421627045f, 0.598673284053802f,
-    0.490166902542114f,
-  0.599049210548401f, 0.490091055631638f, 0.599425077438354f,
-    0.490014940500259f,
-  0.599800884723663f, 0.489938557147980f, 0.600176632404327f,
-    0.489861875772476f,
-  0.600552320480347f, 0.489784896373749f, 0.600927948951721f,
-    0.489707618951797f,
-  0.601303517818451f, 0.489630073308945f, 0.601679027080536f,
-    0.489552229642868f,
-  0.602054476737976f, 0.489474087953568f, 0.602429866790771f,
-    0.489395678043365f,
-  0.602805197238922f, 0.489316970109940f, 0.603180468082428f,
-    0.489237964153290f,
-  0.603555679321289f, 0.489158689975739f, 0.603930830955505f,
-    0.489079117774963f,
-  0.604305922985077f, 0.488999247550964f, 0.604680955410004f,
-    0.488919109106064f,
-  0.605055928230286f, 0.488838672637939f, 0.605430841445923f,
-    0.488757967948914f,
-  0.605805635452271f, 0.488676935434341f, 0.606180429458618f,
-    0.488595664501190f,
-  0.606555163860321f, 0.488514065742493f, 0.606929838657379f,
-    0.488432198762894f,
-  0.607304394245148f, 0.488350033760071f, 0.607678949832916f,
-    0.488267600536346f,
-  0.608053386211395f, 0.488184869289398f, 0.608427822589874f,
-    0.488101840019226f,
-  0.608802139759064f, 0.488018542528152f, 0.609176397323608f,
-    0.487934947013855f,
-  0.609550595283508f, 0.487851053476334f, 0.609924793243408f,
-    0.487766891717911f,
-  0.610298871994019f, 0.487682431936264f, 0.610672831535339f,
-    0.487597703933716f,
-  0.611046791076660f, 0.487512677907944f, 0.611420691013336f,
-    0.487427353858948f,
-  0.611794531345367f, 0.487341761589050f, 0.612168252468109f,
-    0.487255871295929f,
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-};
-
-
-
-/**    
-* @brief  Initialization function for the floating-point RFFT/RIFFT.   
-* @param[in,out] *S             points to an instance of the floating-point RFFT/RIFFT structure.   
-* @param[in,out] *S_CFFT        points to an instance of the floating-point CFFT/CIFFT structure.   
-* @param[in]     fftLenReal     length of the FFT.   
-* @param[in]     ifftFlagR      flag that selects forward (ifftFlagR=0) or inverse (ifftFlagR=1) transform.   
-* @param[in]     bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.   
-* @return		The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if fftLenReal is not a supported value.   
-*    
-* \par Description:   
-* \par   
-* The parameter fftLenReal	Specifies length of RFFT/RIFFT Process. Supported FFT Lengths are 128, 512, 2048.    
-* \par    
-* The parameter ifftFlagR controls whether a forward or inverse transform is computed.    
-* Set(=1) ifftFlagR to calculate RIFFT, otherwise RFFT is calculated.    
-* \par    
-* The parameter bitReverseFlag controls whether output is in normal order or bit reversed order.    
-* Set(=1) bitReverseFlag for output to be in normal order otherwise output is in bit reversed order.   
-* \par    
-* This function also initializes Twiddle factor table.     
-*/
-
-arm_status arm_rfft_init_f32(
-  arm_rfft_instance_f32 * S,
-  arm_cfft_radix4_instance_f32 * S_CFFT,
-  uint32_t fftLenReal,
-  uint32_t ifftFlagR,
-  uint32_t bitReverseFlag)
-{
-
-  /*  Initialise the default arm status */
-  arm_status status = ARM_MATH_SUCCESS;
-
-  /*  Initialize the Real FFT length */
-  S->fftLenReal = (uint16_t) fftLenReal;
-
-  /*  Initialize the Complex FFT length */
-  S->fftLenBy2 = (uint16_t) fftLenReal / 2u;
-
-  /*  Initialize the Twiddle coefficientA pointer */
-  S->pTwiddleAReal = (float32_t *) realCoefA;
-
-  /*  Initialize the Twiddle coefficientB pointer */
-  S->pTwiddleBReal = (float32_t *) realCoefB;
-
-  /*  Initialize the Flag for selection of RFFT or RIFFT */
-  S->ifftFlagR = (uint8_t) ifftFlagR;
-
-  /*  Initialize the Flag for calculation Bit reversal or not */
-  S->bitReverseFlagR = (uint8_t) bitReverseFlag;
-
-  /*  Initializations of structure parameters depending on the FFT length */
-  switch (S->fftLenReal)
-  {
-    /* Init table modifier value */
-  case 8192u:
-    S->twidCoefRModifier = 1u;
-    break;
-  case 2048u:
-    S->twidCoefRModifier = 4u;
-    break;
-  case 512u:
-    S->twidCoefRModifier = 16u;
-    break;
-  case 128u:
-    S->twidCoefRModifier = 64u;
-    break;
-  default:
-    /*  Reporting argument error if rfftSize is not valid value */
-    status = ARM_MATH_ARGUMENT_ERROR;
-    break;
-  }
-
-  /* Init Complex FFT Instance */
-  S->pCfft = S_CFFT;
-
-  if(S->ifftFlagR)
-  {
-    /* Initializes the CIFFT Module for fftLenreal/2 length */
-    arm_cfft_radix4_init_f32(S->pCfft, S->fftLenBy2, 1u, 0u);
-  }
-  else
-  {
-    /* Initializes the CFFT Module for fftLenreal/2 length */
-    arm_cfft_radix4_init_f32(S->pCfft, S->fftLenBy2, 0u, 0u);
-  }
-
-  /* return the status of RFFT Init function */
-  return (status);
-
-}
-
-  /**    
-   * @} end of RFFT_RIFFT group    
-   */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_init_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_init_q15.c
deleted file mode 100644
index 50b9d994d..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_init_q15.c
+++ /dev/null
@@ -1,2229 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_rfft_init_q15.c    
-*    
-* Description:	RFFT & RIFFT Q15 initialisation function    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* -------------------------------------------------------------------- */
-
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupTransforms    
- */
-
-/**    
- * @addtogroup RFFT_RIFFT    
- * @{    
- */
-
-
-
-/**    
-* \par    
-* Generation floating point real_CoefA array:    
-* \par    
-* n = 4096    
-* 
for (i = 0; i < n; i++)    
-*  {    
-*    pATable[2 * i] = 0.5 * (1.0 - sin (2 * PI / (double) (2 * n) * (double) i));    
-*    pATable[2 * i + 1] = 0.5 * (-1.0 * cos (2 * PI / (double) (2 * n) * (double) i));    
-*  } 
    
-* \par    
-* Convert to fixed point Q15 format    
-*       round(pATable[i] * pow(2, 15))    
-*/
-
-
-static const q15_t ALIGN4 realCoefAQ15[8192] = {
-  0x4000, 0xc000, 0x3ff3, 0xc000, 0x3fe7, 0xc000, 0x3fda, 0xc000,
-  0x3fce, 0xc000, 0x3fc1, 0xc000, 0x3fb5, 0xc000, 0x3fa8, 0xc000,
-  0x3f9b, 0xc000, 0x3f8f, 0xc000, 0x3f82, 0xc000, 0x3f76, 0xc001,
-  0x3f69, 0xc001, 0x3f5d, 0xc001, 0x3f50, 0xc001, 0x3f44, 0xc001,
-  0x3f37, 0xc001, 0x3f2a, 0xc001, 0x3f1e, 0xc002, 0x3f11, 0xc002,
-  0x3f05, 0xc002, 0x3ef8, 0xc002, 0x3eec, 0xc002, 0x3edf, 0xc003,
-  0x3ed2, 0xc003, 0x3ec6, 0xc003, 0x3eb9, 0xc003, 0x3ead, 0xc004,
-  0x3ea0, 0xc004, 0x3e94, 0xc004, 0x3e87, 0xc004, 0x3e7a, 0xc005,
-  0x3e6e, 0xc005, 0x3e61, 0xc005, 0x3e55, 0xc006, 0x3e48, 0xc006,
-  0x3e3c, 0xc006, 0x3e2f, 0xc007, 0x3e23, 0xc007, 0x3e16, 0xc007,
-  0x3e09, 0xc008, 0x3dfd, 0xc008, 0x3df0, 0xc009, 0x3de4, 0xc009,
-  0x3dd7, 0xc009, 0x3dcb, 0xc00a, 0x3dbe, 0xc00a, 0x3db2, 0xc00b,
-  0x3da5, 0xc00b, 0x3d98, 0xc00c, 0x3d8c, 0xc00c, 0x3d7f, 0xc00d,
-  0x3d73, 0xc00d, 0x3d66, 0xc00e, 0x3d5a, 0xc00e, 0x3d4d, 0xc00f,
-  0x3d40, 0xc00f, 0x3d34, 0xc010, 0x3d27, 0xc010, 0x3d1b, 0xc011,
-  0x3d0e, 0xc011, 0x3d02, 0xc012, 0x3cf5, 0xc013, 0x3ce9, 0xc013,
-  0x3cdc, 0xc014, 0x3cd0, 0xc014, 0x3cc3, 0xc015, 0x3cb6, 0xc016,
-  0x3caa, 0xc016, 0x3c9d, 0xc017, 0x3c91, 0xc018, 0x3c84, 0xc018,
-  0x3c78, 0xc019, 0x3c6b, 0xc01a, 0x3c5f, 0xc01a, 0x3c52, 0xc01b,
-  0x3c45, 0xc01c, 0x3c39, 0xc01d, 0x3c2c, 0xc01d, 0x3c20, 0xc01e,
-  0x3c13, 0xc01f, 0x3c07, 0xc020, 0x3bfa, 0xc020, 0x3bee, 0xc021,
-  0x3be1, 0xc022, 0x3bd5, 0xc023, 0x3bc8, 0xc024, 0x3bbc, 0xc024,
-  0x3baf, 0xc025, 0x3ba2, 0xc026, 0x3b96, 0xc027, 0x3b89, 0xc028,
-  0x3b7d, 0xc029, 0x3b70, 0xc02a, 0x3b64, 0xc02b, 0x3b57, 0xc02b,
-  0x3b4b, 0xc02c, 0x3b3e, 0xc02d, 0x3b32, 0xc02e, 0x3b25, 0xc02f,
-  0x3b19, 0xc030, 0x3b0c, 0xc031, 0x3b00, 0xc032, 0x3af3, 0xc033,
-  0x3ae6, 0xc034, 0x3ada, 0xc035, 0x3acd, 0xc036, 0x3ac1, 0xc037,
-  0x3ab4, 0xc038, 0x3aa8, 0xc039, 0x3a9b, 0xc03a, 0x3a8f, 0xc03b,
-  0x3a82, 0xc03c, 0x3a76, 0xc03d, 0x3a69, 0xc03f, 0x3a5d, 0xc040,
-  0x3a50, 0xc041, 0x3a44, 0xc042, 0x3a37, 0xc043, 0x3a2b, 0xc044,
-  0x3a1e, 0xc045, 0x3a12, 0xc047, 0x3a05, 0xc048, 0x39f9, 0xc049,
-  0x39ec, 0xc04a, 0x39e0, 0xc04b, 0x39d3, 0xc04c, 0x39c7, 0xc04e,
-  0x39ba, 0xc04f, 0x39ae, 0xc050, 0x39a1, 0xc051, 0x3995, 0xc053,
-  0x3988, 0xc054, 0x397c, 0xc055, 0x396f, 0xc056, 0x3963, 0xc058,
-  0x3956, 0xc059, 0x394a, 0xc05a, 0x393d, 0xc05c, 0x3931, 0xc05d,
-  0x3924, 0xc05e, 0x3918, 0xc060, 0x390b, 0xc061, 0x38ff, 0xc062,
-  0x38f2, 0xc064, 0x38e6, 0xc065, 0x38d9, 0xc067, 0x38cd, 0xc068,
-  0x38c0, 0xc069, 0x38b4, 0xc06b, 0x38a7, 0xc06c, 0x389b, 0xc06e,
-  0x388e, 0xc06f, 0x3882, 0xc071, 0x3875, 0xc072, 0x3869, 0xc074,
-  0x385c, 0xc075, 0x3850, 0xc077, 0x3843, 0xc078, 0x3837, 0xc07a,
-  0x382a, 0xc07b, 0x381e, 0xc07d, 0x3811, 0xc07e, 0x3805, 0xc080,
-  0x37f9, 0xc081, 0x37ec, 0xc083, 0x37e0, 0xc085, 0x37d3, 0xc086,
-  0x37c7, 0xc088, 0x37ba, 0xc089, 0x37ae, 0xc08b, 0x37a1, 0xc08d,
-  0x3795, 0xc08e, 0x3788, 0xc090, 0x377c, 0xc092, 0x376f, 0xc093,
-  0x3763, 0xc095, 0x3757, 0xc097, 0x374a, 0xc098, 0x373e, 0xc09a,
-  0x3731, 0xc09c, 0x3725, 0xc09e, 0x3718, 0xc09f, 0x370c, 0xc0a1,
-  0x36ff, 0xc0a3, 0x36f3, 0xc0a5, 0x36e7, 0xc0a6, 0x36da, 0xc0a8,
-  0x36ce, 0xc0aa, 0x36c1, 0xc0ac, 0x36b5, 0xc0ae, 0x36a8, 0xc0af,
-  0x369c, 0xc0b1, 0x3690, 0xc0b3, 0x3683, 0xc0b5, 0x3677, 0xc0b7,
-  0x366a, 0xc0b9, 0x365e, 0xc0bb, 0x3651, 0xc0bd, 0x3645, 0xc0be,
-  0x3639, 0xc0c0, 0x362c, 0xc0c2, 0x3620, 0xc0c4, 0x3613, 0xc0c6,
-  0x3607, 0xc0c8, 0x35fa, 0xc0ca, 0x35ee, 0xc0cc, 0x35e2, 0xc0ce,
-  0x35d5, 0xc0d0, 0x35c9, 0xc0d2, 0x35bc, 0xc0d4, 0x35b0, 0xc0d6,
-  0x35a4, 0xc0d8, 0x3597, 0xc0da, 0x358b, 0xc0dc, 0x357e, 0xc0de,
-  0x3572, 0xc0e0, 0x3566, 0xc0e2, 0x3559, 0xc0e4, 0x354d, 0xc0e7,
-  0x3540, 0xc0e9, 0x3534, 0xc0eb, 0x3528, 0xc0ed, 0x351b, 0xc0ef,
-  0x350f, 0xc0f1, 0x3503, 0xc0f3, 0x34f6, 0xc0f6, 0x34ea, 0xc0f8,
-  0x34dd, 0xc0fa, 0x34d1, 0xc0fc, 0x34c5, 0xc0fe, 0x34b8, 0xc100,
-  0x34ac, 0xc103, 0x34a0, 0xc105, 0x3493, 0xc107, 0x3487, 0xc109,
-  0x347b, 0xc10c, 0x346e, 0xc10e, 0x3462, 0xc110, 0x3455, 0xc113,
-  0x3449, 0xc115, 0x343d, 0xc117, 0x3430, 0xc119, 0x3424, 0xc11c,
-  0x3418, 0xc11e, 0x340b, 0xc120, 0x33ff, 0xc123, 0x33f3, 0xc125,
-  0x33e6, 0xc128, 0x33da, 0xc12a, 0x33ce, 0xc12c, 0x33c1, 0xc12f,
-  0x33b5, 0xc131, 0x33a9, 0xc134, 0x339c, 0xc136, 0x3390, 0xc138,
-  0x3384, 0xc13b, 0x3377, 0xc13d, 0x336b, 0xc140, 0x335f, 0xc142,
-  0x3352, 0xc145, 0x3346, 0xc147, 0x333a, 0xc14a, 0x332d, 0xc14c,
-  0x3321, 0xc14f, 0x3315, 0xc151, 0x3308, 0xc154, 0x32fc, 0xc156,
-  0x32f0, 0xc159, 0x32e4, 0xc15b, 0x32d7, 0xc15e, 0x32cb, 0xc161,
-  0x32bf, 0xc163, 0x32b2, 0xc166, 0x32a6, 0xc168, 0x329a, 0xc16b,
-  0x328e, 0xc16e, 0x3281, 0xc170, 0x3275, 0xc173, 0x3269, 0xc176,
-  0x325c, 0xc178, 0x3250, 0xc17b, 0x3244, 0xc17e, 0x3238, 0xc180,
-  0x322b, 0xc183, 0x321f, 0xc186, 0x3213, 0xc189, 0x3207, 0xc18b,
-  0x31fa, 0xc18e, 0x31ee, 0xc191, 0x31e2, 0xc194, 0x31d5, 0xc196,
-  0x31c9, 0xc199, 0x31bd, 0xc19c, 0x31b1, 0xc19f, 0x31a4, 0xc1a2,
-  0x3198, 0xc1a4, 0x318c, 0xc1a7, 0x3180, 0xc1aa, 0x3174, 0xc1ad,
-  0x3167, 0xc1b0, 0x315b, 0xc1b3, 0x314f, 0xc1b6, 0x3143, 0xc1b8,
-  0x3136, 0xc1bb, 0x312a, 0xc1be, 0x311e, 0xc1c1, 0x3112, 0xc1c4,
-  0x3105, 0xc1c7, 0x30f9, 0xc1ca, 0x30ed, 0xc1cd, 0x30e1, 0xc1d0,
-  0x30d5, 0xc1d3, 0x30c8, 0xc1d6, 0x30bc, 0xc1d9, 0x30b0, 0xc1dc,
-  0x30a4, 0xc1df, 0x3098, 0xc1e2, 0x308b, 0xc1e5, 0x307f, 0xc1e8,
-  0x3073, 0xc1eb, 0x3067, 0xc1ee, 0x305b, 0xc1f1, 0x304e, 0xc1f4,
-  0x3042, 0xc1f7, 0x3036, 0xc1fa, 0x302a, 0xc1fd, 0x301e, 0xc201,
-  0x3012, 0xc204, 0x3005, 0xc207, 0x2ff9, 0xc20a, 0x2fed, 0xc20d,
-  0x2fe1, 0xc210, 0x2fd5, 0xc213, 0x2fc9, 0xc217, 0x2fbc, 0xc21a,
-  0x2fb0, 0xc21d, 0x2fa4, 0xc220, 0x2f98, 0xc223, 0x2f8c, 0xc227,
-  0x2f80, 0xc22a, 0x2f74, 0xc22d, 0x2f67, 0xc230, 0x2f5b, 0xc234,
-  0x2f4f, 0xc237, 0x2f43, 0xc23a, 0x2f37, 0xc23e, 0x2f2b, 0xc241,
-  0x2f1f, 0xc244, 0x2f13, 0xc247, 0x2f06, 0xc24b, 0x2efa, 0xc24e,
-  0x2eee, 0xc251, 0x2ee2, 0xc255, 0x2ed6, 0xc258, 0x2eca, 0xc25c,
-  0x2ebe, 0xc25f, 0x2eb2, 0xc262, 0x2ea6, 0xc266, 0x2e99, 0xc269,
-  0x2e8d, 0xc26d, 0x2e81, 0xc270, 0x2e75, 0xc273, 0x2e69, 0xc277,
-  0x2e5d, 0xc27a, 0x2e51, 0xc27e, 0x2e45, 0xc281, 0x2e39, 0xc285,
-  0x2e2d, 0xc288, 0x2e21, 0xc28c, 0x2e15, 0xc28f, 0x2e09, 0xc293,
-  0x2dfc, 0xc296, 0x2df0, 0xc29a, 0x2de4, 0xc29d, 0x2dd8, 0xc2a1,
-  0x2dcc, 0xc2a5, 0x2dc0, 0xc2a8, 0x2db4, 0xc2ac, 0x2da8, 0xc2af,
-  0x2d9c, 0xc2b3, 0x2d90, 0xc2b7, 0x2d84, 0xc2ba, 0x2d78, 0xc2be,
-  0x2d6c, 0xc2c1, 0x2d60, 0xc2c5, 0x2d54, 0xc2c9, 0x2d48, 0xc2cc,
-  0x2d3c, 0xc2d0, 0x2d30, 0xc2d4, 0x2d24, 0xc2d8, 0x2d18, 0xc2db,
-  0x2d0c, 0xc2df, 0x2d00, 0xc2e3, 0x2cf4, 0xc2e6, 0x2ce8, 0xc2ea,
-  0x2cdc, 0xc2ee, 0x2cd0, 0xc2f2, 0x2cc4, 0xc2f5, 0x2cb8, 0xc2f9,
-  0x2cac, 0xc2fd, 0x2ca0, 0xc301, 0x2c94, 0xc305, 0x2c88, 0xc308,
-  0x2c7c, 0xc30c, 0x2c70, 0xc310, 0x2c64, 0xc314, 0x2c58, 0xc318,
-  0x2c4c, 0xc31c, 0x2c40, 0xc320, 0x2c34, 0xc323, 0x2c28, 0xc327,
-  0x2c1c, 0xc32b, 0x2c10, 0xc32f, 0x2c05, 0xc333, 0x2bf9, 0xc337,
-  0x2bed, 0xc33b, 0x2be1, 0xc33f, 0x2bd5, 0xc343, 0x2bc9, 0xc347,
-  0x2bbd, 0xc34b, 0x2bb1, 0xc34f, 0x2ba5, 0xc353, 0x2b99, 0xc357,
-  0x2b8d, 0xc35b, 0x2b81, 0xc35f, 0x2b75, 0xc363, 0x2b6a, 0xc367,
-  0x2b5e, 0xc36b, 0x2b52, 0xc36f, 0x2b46, 0xc373, 0x2b3a, 0xc377,
-  0x2b2e, 0xc37b, 0x2b22, 0xc37f, 0x2b16, 0xc383, 0x2b0a, 0xc387,
-  0x2aff, 0xc38c, 0x2af3, 0xc390, 0x2ae7, 0xc394, 0x2adb, 0xc398,
-  0x2acf, 0xc39c, 0x2ac3, 0xc3a0, 0x2ab7, 0xc3a5, 0x2aac, 0xc3a9,
-  0x2aa0, 0xc3ad, 0x2a94, 0xc3b1, 0x2a88, 0xc3b5, 0x2a7c, 0xc3ba,
-  0x2a70, 0xc3be, 0x2a65, 0xc3c2, 0x2a59, 0xc3c6, 0x2a4d, 0xc3ca,
-  0x2a41, 0xc3cf, 0x2a35, 0xc3d3, 0x2a29, 0xc3d7, 0x2a1e, 0xc3dc,
-  0x2a12, 0xc3e0, 0x2a06, 0xc3e4, 0x29fa, 0xc3e9, 0x29ee, 0xc3ed,
-  0x29e3, 0xc3f1, 0x29d7, 0xc3f6, 0x29cb, 0xc3fa, 0x29bf, 0xc3fe,
-  0x29b4, 0xc403, 0x29a8, 0xc407, 0x299c, 0xc40b, 0x2990, 0xc410,
-  0x2984, 0xc414, 0x2979, 0xc419, 0x296d, 0xc41d, 0x2961, 0xc422,
-  0x2955, 0xc426, 0x294a, 0xc42a, 0x293e, 0xc42f, 0x2932, 0xc433,
-  0x2926, 0xc438, 0x291b, 0xc43c, 0x290f, 0xc441, 0x2903, 0xc445,
-  0x28f7, 0xc44a, 0x28ec, 0xc44e, 0x28e0, 0xc453, 0x28d4, 0xc457,
-  0x28c9, 0xc45c, 0x28bd, 0xc461, 0x28b1, 0xc465, 0x28a5, 0xc46a,
-  0x289a, 0xc46e, 0x288e, 0xc473, 0x2882, 0xc478, 0x2877, 0xc47c,
-  0x286b, 0xc481, 0x285f, 0xc485, 0x2854, 0xc48a, 0x2848, 0xc48f,
-  0x283c, 0xc493, 0x2831, 0xc498, 0x2825, 0xc49d, 0x2819, 0xc4a1,
-  0x280e, 0xc4a6, 0x2802, 0xc4ab, 0x27f6, 0xc4b0, 0x27eb, 0xc4b4,
-  0x27df, 0xc4b9, 0x27d3, 0xc4be, 0x27c8, 0xc4c2, 0x27bc, 0xc4c7,
-  0x27b1, 0xc4cc, 0x27a5, 0xc4d1, 0x2799, 0xc4d6, 0x278e, 0xc4da,
-  0x2782, 0xc4df, 0x2777, 0xc4e4, 0x276b, 0xc4e9, 0x275f, 0xc4ee,
-  0x2754, 0xc4f2, 0x2748, 0xc4f7, 0x273d, 0xc4fc, 0x2731, 0xc501,
-  0x2725, 0xc506, 0x271a, 0xc50b, 0x270e, 0xc510, 0x2703, 0xc515,
-  0x26f7, 0xc51a, 0x26ec, 0xc51e, 0x26e0, 0xc523, 0x26d4, 0xc528,
-  0x26c9, 0xc52d, 0x26bd, 0xc532, 0x26b2, 0xc537, 0x26a6, 0xc53c,
-  0x269b, 0xc541, 0x268f, 0xc546, 0x2684, 0xc54b, 0x2678, 0xc550,
-  0x266d, 0xc555, 0x2661, 0xc55a, 0x2656, 0xc55f, 0x264a, 0xc564,
-  0x263f, 0xc569, 0x2633, 0xc56e, 0x2628, 0xc573, 0x261c, 0xc578,
-  0x2611, 0xc57e, 0x2605, 0xc583, 0x25fa, 0xc588, 0x25ee, 0xc58d,
-  0x25e3, 0xc592, 0x25d7, 0xc597, 0x25cc, 0xc59c, 0x25c0, 0xc5a1,
-  0x25b5, 0xc5a7, 0x25a9, 0xc5ac, 0x259e, 0xc5b1, 0x2592, 0xc5b6,
-  0x2587, 0xc5bb, 0x257c, 0xc5c1, 0x2570, 0xc5c6, 0x2565, 0xc5cb,
-  0x2559, 0xc5d0, 0x254e, 0xc5d5, 0x2542, 0xc5db, 0x2537, 0xc5e0,
-  0x252c, 0xc5e5, 0x2520, 0xc5ea, 0x2515, 0xc5f0, 0x2509, 0xc5f5,
-  0x24fe, 0xc5fa, 0x24f3, 0xc600, 0x24e7, 0xc605, 0x24dc, 0xc60a,
-  0x24d0, 0xc610, 0x24c5, 0xc615, 0x24ba, 0xc61a, 0x24ae, 0xc620,
-  0x24a3, 0xc625, 0x2498, 0xc62a, 0x248c, 0xc630, 0x2481, 0xc635,
-  0x2476, 0xc63b, 0x246a, 0xc640, 0x245f, 0xc645, 0x2454, 0xc64b,
-  0x2448, 0xc650, 0x243d, 0xc656, 0x2432, 0xc65b, 0x2426, 0xc661,
-  0x241b, 0xc666, 0x2410, 0xc66c, 0x2404, 0xc671, 0x23f9, 0xc677,
-  0x23ee, 0xc67c, 0x23e2, 0xc682, 0x23d7, 0xc687, 0x23cc, 0xc68d,
-  0x23c1, 0xc692, 0x23b5, 0xc698, 0x23aa, 0xc69d, 0x239f, 0xc6a3,
-  0x2394, 0xc6a8, 0x2388, 0xc6ae, 0x237d, 0xc6b4, 0x2372, 0xc6b9,
-  0x2367, 0xc6bf, 0x235b, 0xc6c5, 0x2350, 0xc6ca, 0x2345, 0xc6d0,
-  0x233a, 0xc6d5, 0x232e, 0xc6db, 0x2323, 0xc6e1, 0x2318, 0xc6e6,
-  0x230d, 0xc6ec, 0x2301, 0xc6f2, 0x22f6, 0xc6f7, 0x22eb, 0xc6fd,
-  0x22e0, 0xc703, 0x22d5, 0xc709, 0x22ca, 0xc70e, 0x22be, 0xc714,
-  0x22b3, 0xc71a, 0x22a8, 0xc720, 0x229d, 0xc725, 0x2292, 0xc72b,
-  0x2287, 0xc731, 0x227b, 0xc737, 0x2270, 0xc73d, 0x2265, 0xc742,
-  0x225a, 0xc748, 0x224f, 0xc74e, 0x2244, 0xc754, 0x2239, 0xc75a,
-  0x222d, 0xc75f, 0x2222, 0xc765, 0x2217, 0xc76b, 0x220c, 0xc771,
-  0x2201, 0xc777, 0x21f6, 0xc77d, 0x21eb, 0xc783, 0x21e0, 0xc789,
-  0x21d5, 0xc78f, 0x21ca, 0xc795, 0x21be, 0xc79a, 0x21b3, 0xc7a0,
-  0x21a8, 0xc7a6, 0x219d, 0xc7ac, 0x2192, 0xc7b2, 0x2187, 0xc7b8,
-  0x217c, 0xc7be, 0x2171, 0xc7c4, 0x2166, 0xc7ca, 0x215b, 0xc7d0,
-  0x2150, 0xc7d6, 0x2145, 0xc7dc, 0x213a, 0xc7e2, 0x212f, 0xc7e8,
-  0x2124, 0xc7ee, 0x2119, 0xc7f5, 0x210e, 0xc7fb, 0x2103, 0xc801,
-  0x20f8, 0xc807, 0x20ed, 0xc80d, 0x20e2, 0xc813, 0x20d7, 0xc819,
-  0x20cc, 0xc81f, 0x20c1, 0xc825, 0x20b6, 0xc82b, 0x20ab, 0xc832,
-  0x20a0, 0xc838, 0x2095, 0xc83e, 0x208a, 0xc844, 0x207f, 0xc84a,
-  0x2074, 0xc850, 0x2069, 0xc857, 0x205e, 0xc85d, 0x2054, 0xc863,
-  0x2049, 0xc869, 0x203e, 0xc870, 0x2033, 0xc876, 0x2028, 0xc87c,
-  0x201d, 0xc882, 0x2012, 0xc889, 0x2007, 0xc88f, 0x1ffc, 0xc895,
-  0x1ff1, 0xc89b, 0x1fe7, 0xc8a2, 0x1fdc, 0xc8a8, 0x1fd1, 0xc8ae,
-  0x1fc6, 0xc8b5, 0x1fbb, 0xc8bb, 0x1fb0, 0xc8c1, 0x1fa5, 0xc8c8,
-  0x1f9b, 0xc8ce, 0x1f90, 0xc8d4, 0x1f85, 0xc8db, 0x1f7a, 0xc8e1,
-  0x1f6f, 0xc8e8, 0x1f65, 0xc8ee, 0x1f5a, 0xc8f4, 0x1f4f, 0xc8fb,
-  0x1f44, 0xc901, 0x1f39, 0xc908, 0x1f2f, 0xc90e, 0x1f24, 0xc915,
-  0x1f19, 0xc91b, 0x1f0e, 0xc921, 0x1f03, 0xc928, 0x1ef9, 0xc92e,
-  0x1eee, 0xc935, 0x1ee3, 0xc93b, 0x1ed8, 0xc942, 0x1ece, 0xc948,
-  0x1ec3, 0xc94f, 0x1eb8, 0xc955, 0x1ead, 0xc95c, 0x1ea3, 0xc963,
-  0x1e98, 0xc969, 0x1e8d, 0xc970, 0x1e83, 0xc976, 0x1e78, 0xc97d,
-  0x1e6d, 0xc983, 0x1e62, 0xc98a, 0x1e58, 0xc991, 0x1e4d, 0xc997,
-  0x1e42, 0xc99e, 0x1e38, 0xc9a4, 0x1e2d, 0xc9ab, 0x1e22, 0xc9b2,
-  0x1e18, 0xc9b8, 0x1e0d, 0xc9bf, 0x1e02, 0xc9c6, 0x1df8, 0xc9cc,
-  0x1ded, 0xc9d3, 0x1de2, 0xc9da, 0x1dd8, 0xc9e0, 0x1dcd, 0xc9e7,
-  0x1dc3, 0xc9ee, 0x1db8, 0xc9f5, 0x1dad, 0xc9fb, 0x1da3, 0xca02,
-  0x1d98, 0xca09, 0x1d8e, 0xca10, 0x1d83, 0xca16, 0x1d78, 0xca1d,
-  0x1d6e, 0xca24, 0x1d63, 0xca2b, 0x1d59, 0xca32, 0x1d4e, 0xca38,
-  0x1d44, 0xca3f, 0x1d39, 0xca46, 0x1d2e, 0xca4d, 0x1d24, 0xca54,
-  0x1d19, 0xca5b, 0x1d0f, 0xca61, 0x1d04, 0xca68, 0x1cfa, 0xca6f,
-  0x1cef, 0xca76, 0x1ce5, 0xca7d, 0x1cda, 0xca84, 0x1cd0, 0xca8b,
-  0x1cc5, 0xca92, 0x1cbb, 0xca99, 0x1cb0, 0xca9f, 0x1ca6, 0xcaa6,
-  0x1c9b, 0xcaad, 0x1c91, 0xcab4, 0x1c86, 0xcabb, 0x1c7c, 0xcac2,
-  0x1c72, 0xcac9, 0x1c67, 0xcad0, 0x1c5d, 0xcad7, 0x1c52, 0xcade,
-  0x1c48, 0xcae5, 0x1c3d, 0xcaec, 0x1c33, 0xcaf3, 0x1c29, 0xcafa,
-  0x1c1e, 0xcb01, 0x1c14, 0xcb08, 0x1c09, 0xcb0f, 0x1bff, 0xcb16,
-  0x1bf5, 0xcb1e, 0x1bea, 0xcb25, 0x1be0, 0xcb2c, 0x1bd5, 0xcb33,
-  0x1bcb, 0xcb3a, 0x1bc1, 0xcb41, 0x1bb6, 0xcb48, 0x1bac, 0xcb4f,
-  0x1ba2, 0xcb56, 0x1b97, 0xcb5e, 0x1b8d, 0xcb65, 0x1b83, 0xcb6c,
-  0x1b78, 0xcb73, 0x1b6e, 0xcb7a, 0x1b64, 0xcb81, 0x1b59, 0xcb89,
-  0x1b4f, 0xcb90, 0x1b45, 0xcb97, 0x1b3b, 0xcb9e, 0x1b30, 0xcba5,
-  0x1b26, 0xcbad, 0x1b1c, 0xcbb4, 0x1b11, 0xcbbb, 0x1b07, 0xcbc2,
-  0x1afd, 0xcbca, 0x1af3, 0xcbd1, 0x1ae8, 0xcbd8, 0x1ade, 0xcbe0,
-  0x1ad4, 0xcbe7, 0x1aca, 0xcbee, 0x1abf, 0xcbf5, 0x1ab5, 0xcbfd,
-  0x1aab, 0xcc04, 0x1aa1, 0xcc0b, 0x1a97, 0xcc13, 0x1a8c, 0xcc1a,
-  0x1a82, 0xcc21, 0x1a78, 0xcc29, 0x1a6e, 0xcc30, 0x1a64, 0xcc38,
-  0x1a5a, 0xcc3f, 0x1a4f, 0xcc46, 0x1a45, 0xcc4e, 0x1a3b, 0xcc55,
-  0x1a31, 0xcc5d, 0x1a27, 0xcc64, 0x1a1d, 0xcc6b, 0x1a13, 0xcc73,
-  0x1a08, 0xcc7a, 0x19fe, 0xcc82, 0x19f4, 0xcc89, 0x19ea, 0xcc91,
-  0x19e0, 0xcc98, 0x19d6, 0xcca0, 0x19cc, 0xcca7, 0x19c2, 0xccaf,
-  0x19b8, 0xccb6, 0x19ae, 0xccbe, 0x19a4, 0xccc5, 0x199a, 0xcccd,
-  0x198f, 0xccd4, 0x1985, 0xccdc, 0x197b, 0xcce3, 0x1971, 0xcceb,
-  0x1967, 0xccf3, 0x195d, 0xccfa, 0x1953, 0xcd02, 0x1949, 0xcd09,
-  0x193f, 0xcd11, 0x1935, 0xcd19, 0x192b, 0xcd20, 0x1921, 0xcd28,
-  0x1917, 0xcd30, 0x190d, 0xcd37, 0x1903, 0xcd3f, 0x18f9, 0xcd46,
-  0x18ef, 0xcd4e, 0x18e6, 0xcd56, 0x18dc, 0xcd5d, 0x18d2, 0xcd65,
-  0x18c8, 0xcd6d, 0x18be, 0xcd75, 0x18b4, 0xcd7c, 0x18aa, 0xcd84,
-  0x18a0, 0xcd8c, 0x1896, 0xcd93, 0x188c, 0xcd9b, 0x1882, 0xcda3,
-  0x1878, 0xcdab, 0x186f, 0xcdb2, 0x1865, 0xcdba, 0x185b, 0xcdc2,
-  0x1851, 0xcdca, 0x1847, 0xcdd2, 0x183d, 0xcdd9, 0x1833, 0xcde1,
-  0x182a, 0xcde9, 0x1820, 0xcdf1, 0x1816, 0xcdf9, 0x180c, 0xce01,
-  0x1802, 0xce08, 0x17f8, 0xce10, 0x17ef, 0xce18, 0x17e5, 0xce20,
-  0x17db, 0xce28, 0x17d1, 0xce30, 0x17c8, 0xce38, 0x17be, 0xce40,
-  0x17b4, 0xce47, 0x17aa, 0xce4f, 0x17a0, 0xce57, 0x1797, 0xce5f,
-  0x178d, 0xce67, 0x1783, 0xce6f, 0x177a, 0xce77, 0x1770, 0xce7f,
-  0x1766, 0xce87, 0x175c, 0xce8f, 0x1753, 0xce97, 0x1749, 0xce9f,
-  0x173f, 0xcea7, 0x1736, 0xceaf, 0x172c, 0xceb7, 0x1722, 0xcebf,
-  0x1719, 0xcec7, 0x170f, 0xcecf, 0x1705, 0xced7, 0x16fc, 0xcedf,
-  0x16f2, 0xcee7, 0x16e8, 0xceef, 0x16df, 0xcef7, 0x16d5, 0xceff,
-  0x16cb, 0xcf07, 0x16c2, 0xcf10, 0x16b8, 0xcf18, 0x16af, 0xcf20,
-  0x16a5, 0xcf28, 0x169b, 0xcf30, 0x1692, 0xcf38, 0x1688, 0xcf40,
-  0x167f, 0xcf48, 0x1675, 0xcf51, 0x166c, 0xcf59, 0x1662, 0xcf61,
-  0x1659, 0xcf69, 0x164f, 0xcf71, 0x1645, 0xcf79, 0x163c, 0xcf82,
-  0x1632, 0xcf8a, 0x1629, 0xcf92, 0x161f, 0xcf9a, 0x1616, 0xcfa3,
-  0x160c, 0xcfab, 0x1603, 0xcfb3, 0x15f9, 0xcfbb, 0x15f0, 0xcfc4,
-  0x15e6, 0xcfcc, 0x15dd, 0xcfd4, 0x15d4, 0xcfdc, 0x15ca, 0xcfe5,
-  0x15c1, 0xcfed, 0x15b7, 0xcff5, 0x15ae, 0xcffe, 0x15a4, 0xd006,
-  0x159b, 0xd00e, 0x1592, 0xd016, 0x1588, 0xd01f, 0x157f, 0xd027,
-  0x1575, 0xd030, 0x156c, 0xd038, 0x1563, 0xd040, 0x1559, 0xd049,
-  0x1550, 0xd051, 0x1547, 0xd059, 0x153d, 0xd062, 0x1534, 0xd06a,
-  0x152a, 0xd073, 0x1521, 0xd07b, 0x1518, 0xd083, 0x150e, 0xd08c,
-  0x1505, 0xd094, 0x14fc, 0xd09d, 0x14f3, 0xd0a5, 0x14e9, 0xd0ae,
-  0x14e0, 0xd0b6, 0x14d7, 0xd0bf, 0x14cd, 0xd0c7, 0x14c4, 0xd0d0,
-  0x14bb, 0xd0d8, 0x14b2, 0xd0e0, 0x14a8, 0xd0e9, 0x149f, 0xd0f2,
-  0x1496, 0xd0fa, 0x148d, 0xd103, 0x1483, 0xd10b, 0x147a, 0xd114,
-  0x1471, 0xd11c, 0x1468, 0xd125, 0x145f, 0xd12d, 0x1455, 0xd136,
-  0x144c, 0xd13e, 0x1443, 0xd147, 0x143a, 0xd150, 0x1431, 0xd158,
-  0x1428, 0xd161, 0x141e, 0xd169, 0x1415, 0xd172, 0x140c, 0xd17b,
-  0x1403, 0xd183, 0x13fa, 0xd18c, 0x13f1, 0xd195, 0x13e8, 0xd19d,
-  0x13df, 0xd1a6, 0x13d5, 0xd1af, 0x13cc, 0xd1b7, 0x13c3, 0xd1c0,
-  0x13ba, 0xd1c9, 0x13b1, 0xd1d1, 0x13a8, 0xd1da, 0x139f, 0xd1e3,
-  0x1396, 0xd1eb, 0x138d, 0xd1f4, 0x1384, 0xd1fd, 0x137b, 0xd206,
-  0x1372, 0xd20e, 0x1369, 0xd217, 0x1360, 0xd220, 0x1357, 0xd229,
-  0x134e, 0xd231, 0x1345, 0xd23a, 0x133c, 0xd243, 0x1333, 0xd24c,
-  0x132a, 0xd255, 0x1321, 0xd25d, 0x1318, 0xd266, 0x130f, 0xd26f,
-  0x1306, 0xd278, 0x12fd, 0xd281, 0x12f4, 0xd28a, 0x12eb, 0xd292,
-  0x12e2, 0xd29b, 0x12d9, 0xd2a4, 0x12d1, 0xd2ad, 0x12c8, 0xd2b6,
-  0x12bf, 0xd2bf, 0x12b6, 0xd2c8, 0x12ad, 0xd2d1, 0x12a4, 0xd2d9,
-  0x129b, 0xd2e2, 0x1292, 0xd2eb, 0x128a, 0xd2f4, 0x1281, 0xd2fd,
-  0x1278, 0xd306, 0x126f, 0xd30f, 0x1266, 0xd318, 0x125d, 0xd321,
-  0x1255, 0xd32a, 0x124c, 0xd333, 0x1243, 0xd33c, 0x123a, 0xd345,
-  0x1231, 0xd34e, 0x1229, 0xd357, 0x1220, 0xd360, 0x1217, 0xd369,
-  0x120e, 0xd372, 0x1206, 0xd37b, 0x11fd, 0xd384, 0x11f4, 0xd38d,
-  0x11eb, 0xd396, 0x11e3, 0xd39f, 0x11da, 0xd3a8, 0x11d1, 0xd3b1,
-  0x11c9, 0xd3ba, 0x11c0, 0xd3c3, 0x11b7, 0xd3cc, 0x11af, 0xd3d5,
-  0x11a6, 0xd3df, 0x119d, 0xd3e8, 0x1195, 0xd3f1, 0x118c, 0xd3fa,
-  0x1183, 0xd403, 0x117b, 0xd40c, 0x1172, 0xd415, 0x1169, 0xd41e,
-  0x1161, 0xd428, 0x1158, 0xd431, 0x1150, 0xd43a, 0x1147, 0xd443,
-  0x113e, 0xd44c, 0x1136, 0xd455, 0x112d, 0xd45f, 0x1125, 0xd468,
-  0x111c, 0xd471, 0x1114, 0xd47a, 0x110b, 0xd483, 0x1103, 0xd48d,
-  0x10fa, 0xd496, 0x10f2, 0xd49f, 0x10e9, 0xd4a8, 0x10e0, 0xd4b2,
-  0x10d8, 0xd4bb, 0x10d0, 0xd4c4, 0x10c7, 0xd4cd, 0x10bf, 0xd4d7,
-  0x10b6, 0xd4e0, 0x10ae, 0xd4e9, 0x10a5, 0xd4f3, 0x109d, 0xd4fc,
-  0x1094, 0xd505, 0x108c, 0xd50e, 0x1083, 0xd518, 0x107b, 0xd521,
-  0x1073, 0xd52a, 0x106a, 0xd534, 0x1062, 0xd53d, 0x1059, 0xd547,
-  0x1051, 0xd550, 0x1049, 0xd559, 0x1040, 0xd563, 0x1038, 0xd56c,
-  0x1030, 0xd575, 0x1027, 0xd57f, 0x101f, 0xd588, 0x1016, 0xd592,
-  0x100e, 0xd59b, 0x1006, 0xd5a4, 0xffe, 0xd5ae, 0xff5, 0xd5b7,
-  0xfed, 0xd5c1, 0xfe5, 0xd5ca, 0xfdc, 0xd5d4, 0xfd4, 0xd5dd,
-  0xfcc, 0xd5e6, 0xfc4, 0xd5f0, 0xfbb, 0xd5f9, 0xfb3, 0xd603,
-  0xfab, 0xd60c, 0xfa3, 0xd616, 0xf9a, 0xd61f, 0xf92, 0xd629,
-  0xf8a, 0xd632, 0xf82, 0xd63c, 0xf79, 0xd645, 0xf71, 0xd64f,
-  0xf69, 0xd659, 0xf61, 0xd662, 0xf59, 0xd66c, 0xf51, 0xd675,
-  0xf48, 0xd67f, 0xf40, 0xd688, 0xf38, 0xd692, 0xf30, 0xd69b,
-  0xf28, 0xd6a5, 0xf20, 0xd6af, 0xf18, 0xd6b8, 0xf10, 0xd6c2,
-  0xf07, 0xd6cb, 0xeff, 0xd6d5, 0xef7, 0xd6df, 0xeef, 0xd6e8,
-  0xee7, 0xd6f2, 0xedf, 0xd6fc, 0xed7, 0xd705, 0xecf, 0xd70f,
-  0xec7, 0xd719, 0xebf, 0xd722, 0xeb7, 0xd72c, 0xeaf, 0xd736,
-  0xea7, 0xd73f, 0xe9f, 0xd749, 0xe97, 0xd753, 0xe8f, 0xd75c,
-  0xe87, 0xd766, 0xe7f, 0xd770, 0xe77, 0xd77a, 0xe6f, 0xd783,
-  0xe67, 0xd78d, 0xe5f, 0xd797, 0xe57, 0xd7a0, 0xe4f, 0xd7aa,
-  0xe47, 0xd7b4, 0xe40, 0xd7be, 0xe38, 0xd7c8, 0xe30, 0xd7d1,
-  0xe28, 0xd7db, 0xe20, 0xd7e5, 0xe18, 0xd7ef, 0xe10, 0xd7f8,
-  0xe08, 0xd802, 0xe01, 0xd80c, 0xdf9, 0xd816, 0xdf1, 0xd820,
-  0xde9, 0xd82a, 0xde1, 0xd833, 0xdd9, 0xd83d, 0xdd2, 0xd847,
-  0xdca, 0xd851, 0xdc2, 0xd85b, 0xdba, 0xd865, 0xdb2, 0xd86f,
-  0xdab, 0xd878, 0xda3, 0xd882, 0xd9b, 0xd88c, 0xd93, 0xd896,
-  0xd8c, 0xd8a0, 0xd84, 0xd8aa, 0xd7c, 0xd8b4, 0xd75, 0xd8be,
-  0xd6d, 0xd8c8, 0xd65, 0xd8d2, 0xd5d, 0xd8dc, 0xd56, 0xd8e6,
-  0xd4e, 0xd8ef, 0xd46, 0xd8f9, 0xd3f, 0xd903, 0xd37, 0xd90d,
-  0xd30, 0xd917, 0xd28, 0xd921, 0xd20, 0xd92b, 0xd19, 0xd935,
-  0xd11, 0xd93f, 0xd09, 0xd949, 0xd02, 0xd953, 0xcfa, 0xd95d,
-  0xcf3, 0xd967, 0xceb, 0xd971, 0xce3, 0xd97b, 0xcdc, 0xd985,
-  0xcd4, 0xd98f, 0xccd, 0xd99a, 0xcc5, 0xd9a4, 0xcbe, 0xd9ae,
-  0xcb6, 0xd9b8, 0xcaf, 0xd9c2, 0xca7, 0xd9cc, 0xca0, 0xd9d6,
-  0xc98, 0xd9e0, 0xc91, 0xd9ea, 0xc89, 0xd9f4, 0xc82, 0xd9fe,
-  0xc7a, 0xda08, 0xc73, 0xda13, 0xc6b, 0xda1d, 0xc64, 0xda27,
-  0xc5d, 0xda31, 0xc55, 0xda3b, 0xc4e, 0xda45, 0xc46, 0xda4f,
-  0xc3f, 0xda5a, 0xc38, 0xda64, 0xc30, 0xda6e, 0xc29, 0xda78,
-  0xc21, 0xda82, 0xc1a, 0xda8c, 0xc13, 0xda97, 0xc0b, 0xdaa1,
-  0xc04, 0xdaab, 0xbfd, 0xdab5, 0xbf5, 0xdabf, 0xbee, 0xdaca,
-  0xbe7, 0xdad4, 0xbe0, 0xdade, 0xbd8, 0xdae8, 0xbd1, 0xdaf3,
-  0xbca, 0xdafd, 0xbc2, 0xdb07, 0xbbb, 0xdb11, 0xbb4, 0xdb1c,
-  0xbad, 0xdb26, 0xba5, 0xdb30, 0xb9e, 0xdb3b, 0xb97, 0xdb45,
-  0xb90, 0xdb4f, 0xb89, 0xdb59, 0xb81, 0xdb64, 0xb7a, 0xdb6e,
-  0xb73, 0xdb78, 0xb6c, 0xdb83, 0xb65, 0xdb8d, 0xb5e, 0xdb97,
-  0xb56, 0xdba2, 0xb4f, 0xdbac, 0xb48, 0xdbb6, 0xb41, 0xdbc1,
-  0xb3a, 0xdbcb, 0xb33, 0xdbd5, 0xb2c, 0xdbe0, 0xb25, 0xdbea,
-  0xb1e, 0xdbf5, 0xb16, 0xdbff, 0xb0f, 0xdc09, 0xb08, 0xdc14,
-  0xb01, 0xdc1e, 0xafa, 0xdc29, 0xaf3, 0xdc33, 0xaec, 0xdc3d,
-  0xae5, 0xdc48, 0xade, 0xdc52, 0xad7, 0xdc5d, 0xad0, 0xdc67,
-  0xac9, 0xdc72, 0xac2, 0xdc7c, 0xabb, 0xdc86, 0xab4, 0xdc91,
-  0xaad, 0xdc9b, 0xaa6, 0xdca6, 0xa9f, 0xdcb0, 0xa99, 0xdcbb,
-  0xa92, 0xdcc5, 0xa8b, 0xdcd0, 0xa84, 0xdcda, 0xa7d, 0xdce5,
-  0xa76, 0xdcef, 0xa6f, 0xdcfa, 0xa68, 0xdd04, 0xa61, 0xdd0f,
-  0xa5b, 0xdd19, 0xa54, 0xdd24, 0xa4d, 0xdd2e, 0xa46, 0xdd39,
-  0xa3f, 0xdd44, 0xa38, 0xdd4e, 0xa32, 0xdd59, 0xa2b, 0xdd63,
-  0xa24, 0xdd6e, 0xa1d, 0xdd78, 0xa16, 0xdd83, 0xa10, 0xdd8e,
-  0xa09, 0xdd98, 0xa02, 0xdda3, 0x9fb, 0xddad, 0x9f5, 0xddb8,
-  0x9ee, 0xddc3, 0x9e7, 0xddcd, 0x9e0, 0xddd8, 0x9da, 0xdde2,
-  0x9d3, 0xdded, 0x9cc, 0xddf8, 0x9c6, 0xde02, 0x9bf, 0xde0d,
-  0x9b8, 0xde18, 0x9b2, 0xde22, 0x9ab, 0xde2d, 0x9a4, 0xde38,
-  0x99e, 0xde42, 0x997, 0xde4d, 0x991, 0xde58, 0x98a, 0xde62,
-  0x983, 0xde6d, 0x97d, 0xde78, 0x976, 0xde83, 0x970, 0xde8d,
-  0x969, 0xde98, 0x963, 0xdea3, 0x95c, 0xdead, 0x955, 0xdeb8,
-  0x94f, 0xdec3, 0x948, 0xdece, 0x942, 0xded8, 0x93b, 0xdee3,
-  0x935, 0xdeee, 0x92e, 0xdef9, 0x928, 0xdf03, 0x921, 0xdf0e,
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-  0x9, 0xfdd7, 0x9, 0xfde4, 0x9, 0xfdf0, 0x8, 0xfdfd,
-  0x8, 0xfe09, 0x7, 0xfe16, 0x7, 0xfe23, 0x7, 0xfe2f,
-  0x6, 0xfe3c, 0x6, 0xfe48, 0x6, 0xfe55, 0x5, 0xfe61,
-  0x5, 0xfe6e, 0x5, 0xfe7a, 0x4, 0xfe87, 0x4, 0xfe94,
-  0x4, 0xfea0, 0x4, 0xfead, 0x3, 0xfeb9, 0x3, 0xfec6,
-  0x3, 0xfed2, 0x3, 0xfedf, 0x2, 0xfeec, 0x2, 0xfef8,
-  0x2, 0xff05, 0x2, 0xff11, 0x2, 0xff1e, 0x1, 0xff2a,
-  0x1, 0xff37, 0x1, 0xff44, 0x1, 0xff50, 0x1, 0xff5d,
-  0x1, 0xff69, 0x1, 0xff76, 0x0, 0xff82, 0x0, 0xff8f,
-  0x0, 0xff9b, 0x0, 0xffa8, 0x0, 0xffb5, 0x0, 0xffc1,
-  0x0, 0xffce, 0x0, 0xffda, 0x0, 0xffe7, 0x0, 0xfff3,
-  0x0, 0x0, 0x0, 0xd, 0x0, 0x19, 0x0, 0x26,
-  0x0, 0x32, 0x0, 0x3f, 0x0, 0x4b, 0x0, 0x58,
-  0x0, 0x65, 0x0, 0x71, 0x0, 0x7e, 0x1, 0x8a,
-  0x1, 0x97, 0x1, 0xa3, 0x1, 0xb0, 0x1, 0xbc,
-  0x1, 0xc9, 0x1, 0xd6, 0x2, 0xe2, 0x2, 0xef,
-  0x2, 0xfb, 0x2, 0x108, 0x2, 0x114, 0x3, 0x121,
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-  0x4, 0x160, 0x4, 0x16c, 0x4, 0x179, 0x5, 0x186,
-  0x5, 0x192, 0x5, 0x19f, 0x6, 0x1ab, 0x6, 0x1b8,
-  0x6, 0x1c4, 0x7, 0x1d1, 0x7, 0x1dd, 0x7, 0x1ea,
-  0x8, 0x1f7, 0x8, 0x203, 0x9, 0x210, 0x9, 0x21c,
-  0x9, 0x229, 0xa, 0x235, 0xa, 0x242, 0xb, 0x24e,
-  0xb, 0x25b, 0xc, 0x268, 0xc, 0x274, 0xd, 0x281,
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-  0x252c, 0x3a1b, 0x2537, 0x3a20, 0x2542, 0x3a25, 0x254e, 0x3a2b,
-  0x2559, 0x3a30, 0x2565, 0x3a35, 0x2570, 0x3a3a, 0x257c, 0x3a3f,
-  0x2587, 0x3a45, 0x2592, 0x3a4a, 0x259e, 0x3a4f, 0x25a9, 0x3a54,
-  0x25b5, 0x3a59, 0x25c0, 0x3a5f, 0x25cc, 0x3a64, 0x25d7, 0x3a69,
-  0x25e3, 0x3a6e, 0x25ee, 0x3a73, 0x25fa, 0x3a78, 0x2605, 0x3a7d,
-  0x2611, 0x3a82, 0x261c, 0x3a88, 0x2628, 0x3a8d, 0x2633, 0x3a92,
-  0x263f, 0x3a97, 0x264a, 0x3a9c, 0x2656, 0x3aa1, 0x2661, 0x3aa6,
-  0x266d, 0x3aab, 0x2678, 0x3ab0, 0x2684, 0x3ab5, 0x268f, 0x3aba,
-  0x269b, 0x3abf, 0x26a6, 0x3ac4, 0x26b2, 0x3ac9, 0x26bd, 0x3ace,
-  0x26c9, 0x3ad3, 0x26d4, 0x3ad8, 0x26e0, 0x3add, 0x26ec, 0x3ae2,
-  0x26f7, 0x3ae6, 0x2703, 0x3aeb, 0x270e, 0x3af0, 0x271a, 0x3af5,
-  0x2725, 0x3afa, 0x2731, 0x3aff, 0x273d, 0x3b04, 0x2748, 0x3b09,
-  0x2754, 0x3b0e, 0x275f, 0x3b12, 0x276b, 0x3b17, 0x2777, 0x3b1c,
-  0x2782, 0x3b21, 0x278e, 0x3b26, 0x2799, 0x3b2a, 0x27a5, 0x3b2f,
-  0x27b1, 0x3b34, 0x27bc, 0x3b39, 0x27c8, 0x3b3e, 0x27d3, 0x3b42,
-  0x27df, 0x3b47, 0x27eb, 0x3b4c, 0x27f6, 0x3b50, 0x2802, 0x3b55,
-  0x280e, 0x3b5a, 0x2819, 0x3b5f, 0x2825, 0x3b63, 0x2831, 0x3b68,
-  0x283c, 0x3b6d, 0x2848, 0x3b71, 0x2854, 0x3b76, 0x285f, 0x3b7b,
-  0x286b, 0x3b7f, 0x2877, 0x3b84, 0x2882, 0x3b88, 0x288e, 0x3b8d,
-  0x289a, 0x3b92, 0x28a5, 0x3b96, 0x28b1, 0x3b9b, 0x28bd, 0x3b9f,
-  0x28c9, 0x3ba4, 0x28d4, 0x3ba9, 0x28e0, 0x3bad, 0x28ec, 0x3bb2,
-  0x28f7, 0x3bb6, 0x2903, 0x3bbb, 0x290f, 0x3bbf, 0x291b, 0x3bc4,
-  0x2926, 0x3bc8, 0x2932, 0x3bcd, 0x293e, 0x3bd1, 0x294a, 0x3bd6,
-  0x2955, 0x3bda, 0x2961, 0x3bde, 0x296d, 0x3be3, 0x2979, 0x3be7,
-  0x2984, 0x3bec, 0x2990, 0x3bf0, 0x299c, 0x3bf5, 0x29a8, 0x3bf9,
-  0x29b4, 0x3bfd, 0x29bf, 0x3c02, 0x29cb, 0x3c06, 0x29d7, 0x3c0a,
-  0x29e3, 0x3c0f, 0x29ee, 0x3c13, 0x29fa, 0x3c17, 0x2a06, 0x3c1c,
-  0x2a12, 0x3c20, 0x2a1e, 0x3c24, 0x2a29, 0x3c29, 0x2a35, 0x3c2d,
-  0x2a41, 0x3c31, 0x2a4d, 0x3c36, 0x2a59, 0x3c3a, 0x2a65, 0x3c3e,
-  0x2a70, 0x3c42, 0x2a7c, 0x3c46, 0x2a88, 0x3c4b, 0x2a94, 0x3c4f,
-  0x2aa0, 0x3c53, 0x2aac, 0x3c57, 0x2ab7, 0x3c5b, 0x2ac3, 0x3c60,
-  0x2acf, 0x3c64, 0x2adb, 0x3c68, 0x2ae7, 0x3c6c, 0x2af3, 0x3c70,
-  0x2aff, 0x3c74, 0x2b0a, 0x3c79, 0x2b16, 0x3c7d, 0x2b22, 0x3c81,
-  0x2b2e, 0x3c85, 0x2b3a, 0x3c89, 0x2b46, 0x3c8d, 0x2b52, 0x3c91,
-  0x2b5e, 0x3c95, 0x2b6a, 0x3c99, 0x2b75, 0x3c9d, 0x2b81, 0x3ca1,
-  0x2b8d, 0x3ca5, 0x2b99, 0x3ca9, 0x2ba5, 0x3cad, 0x2bb1, 0x3cb1,
-  0x2bbd, 0x3cb5, 0x2bc9, 0x3cb9, 0x2bd5, 0x3cbd, 0x2be1, 0x3cc1,
-  0x2bed, 0x3cc5, 0x2bf9, 0x3cc9, 0x2c05, 0x3ccd, 0x2c10, 0x3cd1,
-  0x2c1c, 0x3cd5, 0x2c28, 0x3cd9, 0x2c34, 0x3cdd, 0x2c40, 0x3ce0,
-  0x2c4c, 0x3ce4, 0x2c58, 0x3ce8, 0x2c64, 0x3cec, 0x2c70, 0x3cf0,
-  0x2c7c, 0x3cf4, 0x2c88, 0x3cf8, 0x2c94, 0x3cfb, 0x2ca0, 0x3cff,
-  0x2cac, 0x3d03, 0x2cb8, 0x3d07, 0x2cc4, 0x3d0b, 0x2cd0, 0x3d0e,
-  0x2cdc, 0x3d12, 0x2ce8, 0x3d16, 0x2cf4, 0x3d1a, 0x2d00, 0x3d1d,
-  0x2d0c, 0x3d21, 0x2d18, 0x3d25, 0x2d24, 0x3d28, 0x2d30, 0x3d2c,
-  0x2d3c, 0x3d30, 0x2d48, 0x3d34, 0x2d54, 0x3d37, 0x2d60, 0x3d3b,
-  0x2d6c, 0x3d3f, 0x2d78, 0x3d42, 0x2d84, 0x3d46, 0x2d90, 0x3d49,
-  0x2d9c, 0x3d4d, 0x2da8, 0x3d51, 0x2db4, 0x3d54, 0x2dc0, 0x3d58,
-  0x2dcc, 0x3d5b, 0x2dd8, 0x3d5f, 0x2de4, 0x3d63, 0x2df0, 0x3d66,
-  0x2dfc, 0x3d6a, 0x2e09, 0x3d6d, 0x2e15, 0x3d71, 0x2e21, 0x3d74,
-  0x2e2d, 0x3d78, 0x2e39, 0x3d7b, 0x2e45, 0x3d7f, 0x2e51, 0x3d82,
-  0x2e5d, 0x3d86, 0x2e69, 0x3d89, 0x2e75, 0x3d8d, 0x2e81, 0x3d90,
-  0x2e8d, 0x3d93, 0x2e99, 0x3d97, 0x2ea6, 0x3d9a, 0x2eb2, 0x3d9e,
-  0x2ebe, 0x3da1, 0x2eca, 0x3da4, 0x2ed6, 0x3da8, 0x2ee2, 0x3dab,
-  0x2eee, 0x3daf, 0x2efa, 0x3db2, 0x2f06, 0x3db5, 0x2f13, 0x3db9,
-  0x2f1f, 0x3dbc, 0x2f2b, 0x3dbf, 0x2f37, 0x3dc2, 0x2f43, 0x3dc6,
-  0x2f4f, 0x3dc9, 0x2f5b, 0x3dcc, 0x2f67, 0x3dd0, 0x2f74, 0x3dd3,
-  0x2f80, 0x3dd6, 0x2f8c, 0x3dd9, 0x2f98, 0x3ddd, 0x2fa4, 0x3de0,
-  0x2fb0, 0x3de3, 0x2fbc, 0x3de6, 0x2fc9, 0x3de9, 0x2fd5, 0x3ded,
-  0x2fe1, 0x3df0, 0x2fed, 0x3df3, 0x2ff9, 0x3df6, 0x3005, 0x3df9,
-  0x3012, 0x3dfc, 0x301e, 0x3dff, 0x302a, 0x3e03, 0x3036, 0x3e06,
-  0x3042, 0x3e09, 0x304e, 0x3e0c, 0x305b, 0x3e0f, 0x3067, 0x3e12,
-  0x3073, 0x3e15, 0x307f, 0x3e18, 0x308b, 0x3e1b, 0x3098, 0x3e1e,
-  0x30a4, 0x3e21, 0x30b0, 0x3e24, 0x30bc, 0x3e27, 0x30c8, 0x3e2a,
-  0x30d5, 0x3e2d, 0x30e1, 0x3e30, 0x30ed, 0x3e33, 0x30f9, 0x3e36,
-  0x3105, 0x3e39, 0x3112, 0x3e3c, 0x311e, 0x3e3f, 0x312a, 0x3e42,
-  0x3136, 0x3e45, 0x3143, 0x3e48, 0x314f, 0x3e4a, 0x315b, 0x3e4d,
-  0x3167, 0x3e50, 0x3174, 0x3e53, 0x3180, 0x3e56, 0x318c, 0x3e59,
-  0x3198, 0x3e5c, 0x31a4, 0x3e5e, 0x31b1, 0x3e61, 0x31bd, 0x3e64,
-  0x31c9, 0x3e67, 0x31d5, 0x3e6a, 0x31e2, 0x3e6c, 0x31ee, 0x3e6f,
-  0x31fa, 0x3e72, 0x3207, 0x3e75, 0x3213, 0x3e77, 0x321f, 0x3e7a,
-  0x322b, 0x3e7d, 0x3238, 0x3e80, 0x3244, 0x3e82, 0x3250, 0x3e85,
-  0x325c, 0x3e88, 0x3269, 0x3e8a, 0x3275, 0x3e8d, 0x3281, 0x3e90,
-  0x328e, 0x3e92, 0x329a, 0x3e95, 0x32a6, 0x3e98, 0x32b2, 0x3e9a,
-  0x32bf, 0x3e9d, 0x32cb, 0x3e9f, 0x32d7, 0x3ea2, 0x32e4, 0x3ea5,
-  0x32f0, 0x3ea7, 0x32fc, 0x3eaa, 0x3308, 0x3eac, 0x3315, 0x3eaf,
-  0x3321, 0x3eb1, 0x332d, 0x3eb4, 0x333a, 0x3eb6, 0x3346, 0x3eb9,
-  0x3352, 0x3ebb, 0x335f, 0x3ebe, 0x336b, 0x3ec0, 0x3377, 0x3ec3,
-  0x3384, 0x3ec5, 0x3390, 0x3ec8, 0x339c, 0x3eca, 0x33a9, 0x3ecc,
-  0x33b5, 0x3ecf, 0x33c1, 0x3ed1, 0x33ce, 0x3ed4, 0x33da, 0x3ed6,
-  0x33e6, 0x3ed8, 0x33f3, 0x3edb, 0x33ff, 0x3edd, 0x340b, 0x3ee0,
-  0x3418, 0x3ee2, 0x3424, 0x3ee4, 0x3430, 0x3ee7, 0x343d, 0x3ee9,
-  0x3449, 0x3eeb, 0x3455, 0x3eed, 0x3462, 0x3ef0, 0x346e, 0x3ef2,
-  0x347b, 0x3ef4, 0x3487, 0x3ef7, 0x3493, 0x3ef9, 0x34a0, 0x3efb,
-  0x34ac, 0x3efd, 0x34b8, 0x3f00, 0x34c5, 0x3f02, 0x34d1, 0x3f04,
-  0x34dd, 0x3f06, 0x34ea, 0x3f08, 0x34f6, 0x3f0a, 0x3503, 0x3f0d,
-  0x350f, 0x3f0f, 0x351b, 0x3f11, 0x3528, 0x3f13, 0x3534, 0x3f15,
-  0x3540, 0x3f17, 0x354d, 0x3f19, 0x3559, 0x3f1c, 0x3566, 0x3f1e,
-  0x3572, 0x3f20, 0x357e, 0x3f22, 0x358b, 0x3f24, 0x3597, 0x3f26,
-  0x35a4, 0x3f28, 0x35b0, 0x3f2a, 0x35bc, 0x3f2c, 0x35c9, 0x3f2e,
-  0x35d5, 0x3f30, 0x35e2, 0x3f32, 0x35ee, 0x3f34, 0x35fa, 0x3f36,
-  0x3607, 0x3f38, 0x3613, 0x3f3a, 0x3620, 0x3f3c, 0x362c, 0x3f3e,
-  0x3639, 0x3f40, 0x3645, 0x3f42, 0x3651, 0x3f43, 0x365e, 0x3f45,
-  0x366a, 0x3f47, 0x3677, 0x3f49, 0x3683, 0x3f4b, 0x3690, 0x3f4d,
-  0x369c, 0x3f4f, 0x36a8, 0x3f51, 0x36b5, 0x3f52, 0x36c1, 0x3f54,
-  0x36ce, 0x3f56, 0x36da, 0x3f58, 0x36e7, 0x3f5a, 0x36f3, 0x3f5b,
-  0x36ff, 0x3f5d, 0x370c, 0x3f5f, 0x3718, 0x3f61, 0x3725, 0x3f62,
-  0x3731, 0x3f64, 0x373e, 0x3f66, 0x374a, 0x3f68, 0x3757, 0x3f69,
-  0x3763, 0x3f6b, 0x376f, 0x3f6d, 0x377c, 0x3f6e, 0x3788, 0x3f70,
-  0x3795, 0x3f72, 0x37a1, 0x3f73, 0x37ae, 0x3f75, 0x37ba, 0x3f77,
-  0x37c7, 0x3f78, 0x37d3, 0x3f7a, 0x37e0, 0x3f7b, 0x37ec, 0x3f7d,
-  0x37f9, 0x3f7f, 0x3805, 0x3f80, 0x3811, 0x3f82, 0x381e, 0x3f83,
-  0x382a, 0x3f85, 0x3837, 0x3f86, 0x3843, 0x3f88, 0x3850, 0x3f89,
-  0x385c, 0x3f8b, 0x3869, 0x3f8c, 0x3875, 0x3f8e, 0x3882, 0x3f8f,
-  0x388e, 0x3f91, 0x389b, 0x3f92, 0x38a7, 0x3f94, 0x38b4, 0x3f95,
-  0x38c0, 0x3f97, 0x38cd, 0x3f98, 0x38d9, 0x3f99, 0x38e6, 0x3f9b,
-  0x38f2, 0x3f9c, 0x38ff, 0x3f9e, 0x390b, 0x3f9f, 0x3918, 0x3fa0,
-  0x3924, 0x3fa2, 0x3931, 0x3fa3, 0x393d, 0x3fa4, 0x394a, 0x3fa6,
-  0x3956, 0x3fa7, 0x3963, 0x3fa8, 0x396f, 0x3faa, 0x397c, 0x3fab,
-  0x3988, 0x3fac, 0x3995, 0x3fad, 0x39a1, 0x3faf, 0x39ae, 0x3fb0,
-  0x39ba, 0x3fb1, 0x39c7, 0x3fb2, 0x39d3, 0x3fb4, 0x39e0, 0x3fb5,
-  0x39ec, 0x3fb6, 0x39f9, 0x3fb7, 0x3a05, 0x3fb8, 0x3a12, 0x3fb9,
-  0x3a1e, 0x3fbb, 0x3a2b, 0x3fbc, 0x3a37, 0x3fbd, 0x3a44, 0x3fbe,
-  0x3a50, 0x3fbf, 0x3a5d, 0x3fc0, 0x3a69, 0x3fc1, 0x3a76, 0x3fc3,
-  0x3a82, 0x3fc4, 0x3a8f, 0x3fc5, 0x3a9b, 0x3fc6, 0x3aa8, 0x3fc7,
-  0x3ab4, 0x3fc8, 0x3ac1, 0x3fc9, 0x3acd, 0x3fca, 0x3ada, 0x3fcb,
-  0x3ae6, 0x3fcc, 0x3af3, 0x3fcd, 0x3b00, 0x3fce, 0x3b0c, 0x3fcf,
-  0x3b19, 0x3fd0, 0x3b25, 0x3fd1, 0x3b32, 0x3fd2, 0x3b3e, 0x3fd3,
-  0x3b4b, 0x3fd4, 0x3b57, 0x3fd5, 0x3b64, 0x3fd5, 0x3b70, 0x3fd6,
-  0x3b7d, 0x3fd7, 0x3b89, 0x3fd8, 0x3b96, 0x3fd9, 0x3ba2, 0x3fda,
-  0x3baf, 0x3fdb, 0x3bbc, 0x3fdc, 0x3bc8, 0x3fdc, 0x3bd5, 0x3fdd,
-  0x3be1, 0x3fde, 0x3bee, 0x3fdf, 0x3bfa, 0x3fe0, 0x3c07, 0x3fe0,
-  0x3c13, 0x3fe1, 0x3c20, 0x3fe2, 0x3c2c, 0x3fe3, 0x3c39, 0x3fe3,
-  0x3c45, 0x3fe4, 0x3c52, 0x3fe5, 0x3c5f, 0x3fe6, 0x3c6b, 0x3fe6,
-  0x3c78, 0x3fe7, 0x3c84, 0x3fe8, 0x3c91, 0x3fe8, 0x3c9d, 0x3fe9,
-  0x3caa, 0x3fea, 0x3cb6, 0x3fea, 0x3cc3, 0x3feb, 0x3cd0, 0x3fec,
-  0x3cdc, 0x3fec, 0x3ce9, 0x3fed, 0x3cf5, 0x3fed, 0x3d02, 0x3fee,
-  0x3d0e, 0x3fef, 0x3d1b, 0x3fef, 0x3d27, 0x3ff0, 0x3d34, 0x3ff0,
-  0x3d40, 0x3ff1, 0x3d4d, 0x3ff1, 0x3d5a, 0x3ff2, 0x3d66, 0x3ff2,
-  0x3d73, 0x3ff3, 0x3d7f, 0x3ff3, 0x3d8c, 0x3ff4, 0x3d98, 0x3ff4,
-  0x3da5, 0x3ff5, 0x3db2, 0x3ff5, 0x3dbe, 0x3ff6, 0x3dcb, 0x3ff6,
-  0x3dd7, 0x3ff7, 0x3de4, 0x3ff7, 0x3df0, 0x3ff7, 0x3dfd, 0x3ff8,
-  0x3e09, 0x3ff8, 0x3e16, 0x3ff9, 0x3e23, 0x3ff9, 0x3e2f, 0x3ff9,
-  0x3e3c, 0x3ffa, 0x3e48, 0x3ffa, 0x3e55, 0x3ffa, 0x3e61, 0x3ffb,
-  0x3e6e, 0x3ffb, 0x3e7a, 0x3ffb, 0x3e87, 0x3ffc, 0x3e94, 0x3ffc,
-  0x3ea0, 0x3ffc, 0x3ead, 0x3ffc, 0x3eb9, 0x3ffd, 0x3ec6, 0x3ffd,
-  0x3ed2, 0x3ffd, 0x3edf, 0x3ffd, 0x3eec, 0x3ffe, 0x3ef8, 0x3ffe,
-  0x3f05, 0x3ffe, 0x3f11, 0x3ffe, 0x3f1e, 0x3ffe, 0x3f2a, 0x3fff,
-  0x3f37, 0x3fff, 0x3f44, 0x3fff, 0x3f50, 0x3fff, 0x3f5d, 0x3fff,
-  0x3f69, 0x3fff, 0x3f76, 0x3fff, 0x3f82, 0x4000, 0x3f8f, 0x4000,
-  0x3f9b, 0x4000, 0x3fa8, 0x4000, 0x3fb5, 0x4000, 0x3fc1, 0x4000,
-  0x3fce, 0x4000, 0x3fda, 0x4000, 0x3fe7, 0x4000, 0x3ff3, 0x4000,
-};
-
-/**    
-* \par   
-* Generation of real_CoefB array:    
-* \par    
-* n = 4096    
-* 
for (i = 0; i < n; i++)    
-*  {    
-*    pBTable[2 * i] = 0.5 * (1.0 + sin (2 * PI / (double) (2 * n) * (double) i));    
-*    pBTable[2 * i + 1] = 0.5 * (1.0 * cos (2 * PI / (double) (2 * n) * (double) i));    
-*  } 
   
-* \par    
-* Convert to fixed point Q15 format    
-*       round(pBTable[i] * pow(2, 15))    
-*    
-*/
-
-static const q15_t ALIGN4 realCoefBQ15[8192] = {
-  0x4000, 0x4000, 0x400d, 0x4000, 0x4019, 0x4000, 0x4026, 0x4000,
-  0x4032, 0x4000, 0x403f, 0x4000, 0x404b, 0x4000, 0x4058, 0x4000,
-  0x4065, 0x4000, 0x4071, 0x4000, 0x407e, 0x4000, 0x408a, 0x3fff,
-  0x4097, 0x3fff, 0x40a3, 0x3fff, 0x40b0, 0x3fff, 0x40bc, 0x3fff,
-  0x40c9, 0x3fff, 0x40d6, 0x3fff, 0x40e2, 0x3ffe, 0x40ef, 0x3ffe,
-  0x40fb, 0x3ffe, 0x4108, 0x3ffe, 0x4114, 0x3ffe, 0x4121, 0x3ffd,
-  0x412e, 0x3ffd, 0x413a, 0x3ffd, 0x4147, 0x3ffd, 0x4153, 0x3ffc,
-  0x4160, 0x3ffc, 0x416c, 0x3ffc, 0x4179, 0x3ffc, 0x4186, 0x3ffb,
-  0x4192, 0x3ffb, 0x419f, 0x3ffb, 0x41ab, 0x3ffa, 0x41b8, 0x3ffa,
-  0x41c4, 0x3ffa, 0x41d1, 0x3ff9, 0x41dd, 0x3ff9, 0x41ea, 0x3ff9,
-  0x41f7, 0x3ff8, 0x4203, 0x3ff8, 0x4210, 0x3ff7, 0x421c, 0x3ff7,
-  0x4229, 0x3ff7, 0x4235, 0x3ff6, 0x4242, 0x3ff6, 0x424e, 0x3ff5,
-  0x425b, 0x3ff5, 0x4268, 0x3ff4, 0x4274, 0x3ff4, 0x4281, 0x3ff3,
-  0x428d, 0x3ff3, 0x429a, 0x3ff2, 0x42a6, 0x3ff2, 0x42b3, 0x3ff1,
-  0x42c0, 0x3ff1, 0x42cc, 0x3ff0, 0x42d9, 0x3ff0, 0x42e5, 0x3fef,
-  0x42f2, 0x3fef, 0x42fe, 0x3fee, 0x430b, 0x3fed, 0x4317, 0x3fed,
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-  0x7fff, 0x65, 0x7fff, 0x58, 0x7fff, 0x4b, 0x7fff, 0x3f,
-  0x7fff, 0x32, 0x7fff, 0x26, 0x7fff, 0x19, 0x7fff, 0xd,
-  0x7fff, 0x0, 0x7fff, 0xfff3, 0x7fff, 0xffe7, 0x7fff, 0xffda,
-  0x7fff, 0xffce, 0x7fff, 0xffc1, 0x7fff, 0xffb5, 0x7fff, 0xffa8,
-  0x7fff, 0xff9b, 0x7fff, 0xff8f, 0x7fff, 0xff82, 0x7fff, 0xff76,
-  0x7fff, 0xff69, 0x7fff, 0xff5d, 0x7fff, 0xff50, 0x7fff, 0xff44,
-  0x7fff, 0xff37, 0x7fff, 0xff2a, 0x7ffe, 0xff1e, 0x7ffe, 0xff11,
-  0x7ffe, 0xff05, 0x7ffe, 0xfef8, 0x7ffe, 0xfeec, 0x7ffd, 0xfedf,
-  0x7ffd, 0xfed2, 0x7ffd, 0xfec6, 0x7ffd, 0xfeb9, 0x7ffc, 0xfead,
-  0x7ffc, 0xfea0, 0x7ffc, 0xfe94, 0x7ffc, 0xfe87, 0x7ffb, 0xfe7a,
-  0x7ffb, 0xfe6e, 0x7ffb, 0xfe61, 0x7ffa, 0xfe55, 0x7ffa, 0xfe48,
-  0x7ffa, 0xfe3c, 0x7ff9, 0xfe2f, 0x7ff9, 0xfe23, 0x7ff9, 0xfe16,
-  0x7ff8, 0xfe09, 0x7ff8, 0xfdfd, 0x7ff7, 0xfdf0, 0x7ff7, 0xfde4,
-  0x7ff7, 0xfdd7, 0x7ff6, 0xfdcb, 0x7ff6, 0xfdbe, 0x7ff5, 0xfdb2,
-  0x7ff5, 0xfda5, 0x7ff4, 0xfd98, 0x7ff4, 0xfd8c, 0x7ff3, 0xfd7f,
-  0x7ff3, 0xfd73, 0x7ff2, 0xfd66, 0x7ff2, 0xfd5a, 0x7ff1, 0xfd4d,
-  0x7ff1, 0xfd40, 0x7ff0, 0xfd34, 0x7ff0, 0xfd27, 0x7fef, 0xfd1b,
-  0x7fef, 0xfd0e, 0x7fee, 0xfd02, 0x7fed, 0xfcf5, 0x7fed, 0xfce9,
-  0x7fec, 0xfcdc, 0x7fec, 0xfcd0, 0x7feb, 0xfcc3, 0x7fea, 0xfcb6,
-  0x7fea, 0xfcaa, 0x7fe9, 0xfc9d, 0x7fe8, 0xfc91, 0x7fe8, 0xfc84,
-  0x7fe7, 0xfc78, 0x7fe6, 0xfc6b, 0x7fe6, 0xfc5f, 0x7fe5, 0xfc52,
-  0x7fe4, 0xfc45, 0x7fe3, 0xfc39, 0x7fe3, 0xfc2c, 0x7fe2, 0xfc20,
-  0x7fe1, 0xfc13, 0x7fe0, 0xfc07, 0x7fe0, 0xfbfa, 0x7fdf, 0xfbee,
-  0x7fde, 0xfbe1, 0x7fdd, 0xfbd5, 0x7fdc, 0xfbc8, 0x7fdc, 0xfbbc,
-  0x7fdb, 0xfbaf, 0x7fda, 0xfba2, 0x7fd9, 0xfb96, 0x7fd8, 0xfb89,
-  0x7fd7, 0xfb7d, 0x7fd6, 0xfb70, 0x7fd5, 0xfb64, 0x7fd5, 0xfb57,
-  0x7fd4, 0xfb4b, 0x7fd3, 0xfb3e, 0x7fd2, 0xfb32, 0x7fd1, 0xfb25,
-  0x7fd0, 0xfb19, 0x7fcf, 0xfb0c, 0x7fce, 0xfb00, 0x7fcd, 0xfaf3,
-  0x7fcc, 0xfae6, 0x7fcb, 0xfada, 0x7fca, 0xfacd, 0x7fc9, 0xfac1,
-  0x7fc8, 0xfab4, 0x7fc7, 0xfaa8, 0x7fc6, 0xfa9b, 0x7fc5, 0xfa8f,
-  0x7fc4, 0xfa82, 0x7fc3, 0xfa76, 0x7fc1, 0xfa69, 0x7fc0, 0xfa5d,
-  0x7fbf, 0xfa50, 0x7fbe, 0xfa44, 0x7fbd, 0xfa37, 0x7fbc, 0xfa2b,
-  0x7fbb, 0xfa1e, 0x7fb9, 0xfa12, 0x7fb8, 0xfa05, 0x7fb7, 0xf9f9,
-  0x7fb6, 0xf9ec, 0x7fb5, 0xf9e0, 0x7fb4, 0xf9d3, 0x7fb2, 0xf9c7,
-  0x7fb1, 0xf9ba, 0x7fb0, 0xf9ae, 0x7faf, 0xf9a1, 0x7fad, 0xf995,
-  0x7fac, 0xf988, 0x7fab, 0xf97c, 0x7faa, 0xf96f, 0x7fa8, 0xf963,
-  0x7fa7, 0xf956, 0x7fa6, 0xf94a, 0x7fa4, 0xf93d, 0x7fa3, 0xf931,
-  0x7fa2, 0xf924, 0x7fa0, 0xf918, 0x7f9f, 0xf90b, 0x7f9e, 0xf8ff,
-  0x7f9c, 0xf8f2, 0x7f9b, 0xf8e6, 0x7f99, 0xf8d9, 0x7f98, 0xf8cd,
-  0x7f97, 0xf8c0, 0x7f95, 0xf8b4, 0x7f94, 0xf8a7, 0x7f92, 0xf89b,
-  0x7f91, 0xf88e, 0x7f8f, 0xf882, 0x7f8e, 0xf875, 0x7f8c, 0xf869,
-  0x7f8b, 0xf85c, 0x7f89, 0xf850, 0x7f88, 0xf843, 0x7f86, 0xf837,
-  0x7f85, 0xf82a, 0x7f83, 0xf81e, 0x7f82, 0xf811, 0x7f80, 0xf805,
-  0x7f7f, 0xf7f9, 0x7f7d, 0xf7ec, 0x7f7b, 0xf7e0, 0x7f7a, 0xf7d3,
-  0x7f78, 0xf7c7, 0x7f77, 0xf7ba, 0x7f75, 0xf7ae, 0x7f73, 0xf7a1,
-  0x7f72, 0xf795, 0x7f70, 0xf788, 0x7f6e, 0xf77c, 0x7f6d, 0xf76f,
-  0x7f6b, 0xf763, 0x7f69, 0xf757, 0x7f68, 0xf74a, 0x7f66, 0xf73e,
-  0x7f64, 0xf731, 0x7f62, 0xf725, 0x7f61, 0xf718, 0x7f5f, 0xf70c,
-  0x7f5d, 0xf6ff, 0x7f5b, 0xf6f3, 0x7f5a, 0xf6e7, 0x7f58, 0xf6da,
-  0x7f56, 0xf6ce, 0x7f54, 0xf6c1, 0x7f52, 0xf6b5, 0x7f51, 0xf6a8,
-  0x7f4f, 0xf69c, 0x7f4d, 0xf690, 0x7f4b, 0xf683, 0x7f49, 0xf677,
-  0x7f47, 0xf66a, 0x7f45, 0xf65e, 0x7f43, 0xf651, 0x7f42, 0xf645,
-  0x7f40, 0xf639, 0x7f3e, 0xf62c, 0x7f3c, 0xf620, 0x7f3a, 0xf613,
-  0x7f38, 0xf607, 0x7f36, 0xf5fa, 0x7f34, 0xf5ee, 0x7f32, 0xf5e2,
-  0x7f30, 0xf5d5, 0x7f2e, 0xf5c9, 0x7f2c, 0xf5bc, 0x7f2a, 0xf5b0,
-  0x7f28, 0xf5a4, 0x7f26, 0xf597, 0x7f24, 0xf58b, 0x7f22, 0xf57e,
-  0x7f20, 0xf572, 0x7f1e, 0xf566, 0x7f1c, 0xf559, 0x7f19, 0xf54d,
-  0x7f17, 0xf540, 0x7f15, 0xf534, 0x7f13, 0xf528, 0x7f11, 0xf51b,
-  0x7f0f, 0xf50f, 0x7f0d, 0xf503, 0x7f0a, 0xf4f6, 0x7f08, 0xf4ea,
-  0x7f06, 0xf4dd, 0x7f04, 0xf4d1, 0x7f02, 0xf4c5, 0x7f00, 0xf4b8,
-  0x7efd, 0xf4ac, 0x7efb, 0xf4a0, 0x7ef9, 0xf493, 0x7ef7, 0xf487,
-  0x7ef4, 0xf47b, 0x7ef2, 0xf46e, 0x7ef0, 0xf462, 0x7eed, 0xf455,
-  0x7eeb, 0xf449, 0x7ee9, 0xf43d, 0x7ee7, 0xf430, 0x7ee4, 0xf424,
-  0x7ee2, 0xf418, 0x7ee0, 0xf40b, 0x7edd, 0xf3ff, 0x7edb, 0xf3f3,
-  0x7ed8, 0xf3e6, 0x7ed6, 0xf3da, 0x7ed4, 0xf3ce, 0x7ed1, 0xf3c1,
-  0x7ecf, 0xf3b5, 0x7ecc, 0xf3a9, 0x7eca, 0xf39c, 0x7ec8, 0xf390,
-  0x7ec5, 0xf384, 0x7ec3, 0xf377, 0x7ec0, 0xf36b, 0x7ebe, 0xf35f,
-  0x7ebb, 0xf352, 0x7eb9, 0xf346, 0x7eb6, 0xf33a, 0x7eb4, 0xf32d,
-  0x7eb1, 0xf321, 0x7eaf, 0xf315, 0x7eac, 0xf308, 0x7eaa, 0xf2fc,
-  0x7ea7, 0xf2f0, 0x7ea5, 0xf2e4, 0x7ea2, 0xf2d7, 0x7e9f, 0xf2cb,
-  0x7e9d, 0xf2bf, 0x7e9a, 0xf2b2, 0x7e98, 0xf2a6, 0x7e95, 0xf29a,
-  0x7e92, 0xf28e, 0x7e90, 0xf281, 0x7e8d, 0xf275, 0x7e8a, 0xf269,
-  0x7e88, 0xf25c, 0x7e85, 0xf250, 0x7e82, 0xf244, 0x7e80, 0xf238,
-  0x7e7d, 0xf22b, 0x7e7a, 0xf21f, 0x7e77, 0xf213, 0x7e75, 0xf207,
-  0x7e72, 0xf1fa, 0x7e6f, 0xf1ee, 0x7e6c, 0xf1e2, 0x7e6a, 0xf1d5,
-  0x7e67, 0xf1c9, 0x7e64, 0xf1bd, 0x7e61, 0xf1b1, 0x7e5e, 0xf1a4,
-  0x7e5c, 0xf198, 0x7e59, 0xf18c, 0x7e56, 0xf180, 0x7e53, 0xf174,
-  0x7e50, 0xf167, 0x7e4d, 0xf15b, 0x7e4a, 0xf14f, 0x7e48, 0xf143,
-  0x7e45, 0xf136, 0x7e42, 0xf12a, 0x7e3f, 0xf11e, 0x7e3c, 0xf112,
-  0x7e39, 0xf105, 0x7e36, 0xf0f9, 0x7e33, 0xf0ed, 0x7e30, 0xf0e1,
-  0x7e2d, 0xf0d5, 0x7e2a, 0xf0c8, 0x7e27, 0xf0bc, 0x7e24, 0xf0b0,
-  0x7e21, 0xf0a4, 0x7e1e, 0xf098, 0x7e1b, 0xf08b, 0x7e18, 0xf07f,
-  0x7e15, 0xf073, 0x7e12, 0xf067, 0x7e0f, 0xf05b, 0x7e0c, 0xf04e,
-  0x7e09, 0xf042, 0x7e06, 0xf036, 0x7e03, 0xf02a, 0x7dff, 0xf01e,
-  0x7dfc, 0xf012, 0x7df9, 0xf005, 0x7df6, 0xeff9, 0x7df3, 0xefed,
-  0x7df0, 0xefe1, 0x7ded, 0xefd5, 0x7de9, 0xefc9, 0x7de6, 0xefbc,
-  0x7de3, 0xefb0, 0x7de0, 0xefa4, 0x7ddd, 0xef98, 0x7dd9, 0xef8c,
-  0x7dd6, 0xef80, 0x7dd3, 0xef74, 0x7dd0, 0xef67, 0x7dcc, 0xef5b,
-  0x7dc9, 0xef4f, 0x7dc6, 0xef43, 0x7dc2, 0xef37, 0x7dbf, 0xef2b,
-  0x7dbc, 0xef1f, 0x7db9, 0xef13, 0x7db5, 0xef06, 0x7db2, 0xeefa,
-  0x7daf, 0xeeee, 0x7dab, 0xeee2, 0x7da8, 0xeed6, 0x7da4, 0xeeca,
-  0x7da1, 0xeebe, 0x7d9e, 0xeeb2, 0x7d9a, 0xeea6, 0x7d97, 0xee99,
-  0x7d93, 0xee8d, 0x7d90, 0xee81, 0x7d8d, 0xee75, 0x7d89, 0xee69,
-  0x7d86, 0xee5d, 0x7d82, 0xee51, 0x7d7f, 0xee45, 0x7d7b, 0xee39,
-  0x7d78, 0xee2d, 0x7d74, 0xee21, 0x7d71, 0xee15, 0x7d6d, 0xee09,
-  0x7d6a, 0xedfc, 0x7d66, 0xedf0, 0x7d63, 0xede4, 0x7d5f, 0xedd8,
-  0x7d5b, 0xedcc, 0x7d58, 0xedc0, 0x7d54, 0xedb4, 0x7d51, 0xeda8,
-  0x7d4d, 0xed9c, 0x7d49, 0xed90, 0x7d46, 0xed84, 0x7d42, 0xed78,
-  0x7d3f, 0xed6c, 0x7d3b, 0xed60, 0x7d37, 0xed54, 0x7d34, 0xed48,
-  0x7d30, 0xed3c, 0x7d2c, 0xed30, 0x7d28, 0xed24, 0x7d25, 0xed18,
-  0x7d21, 0xed0c, 0x7d1d, 0xed00, 0x7d1a, 0xecf4, 0x7d16, 0xece8,
-  0x7d12, 0xecdc, 0x7d0e, 0xecd0, 0x7d0b, 0xecc4, 0x7d07, 0xecb8,
-  0x7d03, 0xecac, 0x7cff, 0xeca0, 0x7cfb, 0xec94, 0x7cf8, 0xec88,
-  0x7cf4, 0xec7c, 0x7cf0, 0xec70, 0x7cec, 0xec64, 0x7ce8, 0xec58,
-  0x7ce4, 0xec4c, 0x7ce0, 0xec40, 0x7cdd, 0xec34, 0x7cd9, 0xec28,
-  0x7cd5, 0xec1c, 0x7cd1, 0xec10, 0x7ccd, 0xec05, 0x7cc9, 0xebf9,
-  0x7cc5, 0xebed, 0x7cc1, 0xebe1, 0x7cbd, 0xebd5, 0x7cb9, 0xebc9,
-  0x7cb5, 0xebbd, 0x7cb1, 0xebb1, 0x7cad, 0xeba5, 0x7ca9, 0xeb99,
-  0x7ca5, 0xeb8d, 0x7ca1, 0xeb81, 0x7c9d, 0xeb75, 0x7c99, 0xeb6a,
-  0x7c95, 0xeb5e, 0x7c91, 0xeb52, 0x7c8d, 0xeb46, 0x7c89, 0xeb3a,
-  0x7c85, 0xeb2e, 0x7c81, 0xeb22, 0x7c7d, 0xeb16, 0x7c79, 0xeb0a,
-  0x7c74, 0xeaff, 0x7c70, 0xeaf3, 0x7c6c, 0xeae7, 0x7c68, 0xeadb,
-  0x7c64, 0xeacf, 0x7c60, 0xeac3, 0x7c5b, 0xeab7, 0x7c57, 0xeaac,
-  0x7c53, 0xeaa0, 0x7c4f, 0xea94, 0x7c4b, 0xea88, 0x7c46, 0xea7c,
-  0x7c42, 0xea70, 0x7c3e, 0xea65, 0x7c3a, 0xea59, 0x7c36, 0xea4d,
-  0x7c31, 0xea41, 0x7c2d, 0xea35, 0x7c29, 0xea29, 0x7c24, 0xea1e,
-  0x7c20, 0xea12, 0x7c1c, 0xea06, 0x7c17, 0xe9fa, 0x7c13, 0xe9ee,
-  0x7c0f, 0xe9e3, 0x7c0a, 0xe9d7, 0x7c06, 0xe9cb, 0x7c02, 0xe9bf,
-  0x7bfd, 0xe9b4, 0x7bf9, 0xe9a8, 0x7bf5, 0xe99c, 0x7bf0, 0xe990,
-  0x7bec, 0xe984, 0x7be7, 0xe979, 0x7be3, 0xe96d, 0x7bde, 0xe961,
-  0x7bda, 0xe955, 0x7bd6, 0xe94a, 0x7bd1, 0xe93e, 0x7bcd, 0xe932,
-  0x7bc8, 0xe926, 0x7bc4, 0xe91b, 0x7bbf, 0xe90f, 0x7bbb, 0xe903,
-  0x7bb6, 0xe8f7, 0x7bb2, 0xe8ec, 0x7bad, 0xe8e0, 0x7ba9, 0xe8d4,
-  0x7ba4, 0xe8c9, 0x7b9f, 0xe8bd, 0x7b9b, 0xe8b1, 0x7b96, 0xe8a5,
-  0x7b92, 0xe89a, 0x7b8d, 0xe88e, 0x7b88, 0xe882, 0x7b84, 0xe877,
-  0x7b7f, 0xe86b, 0x7b7b, 0xe85f, 0x7b76, 0xe854, 0x7b71, 0xe848,
-  0x7b6d, 0xe83c, 0x7b68, 0xe831, 0x7b63, 0xe825, 0x7b5f, 0xe819,
-  0x7b5a, 0xe80e, 0x7b55, 0xe802, 0x7b50, 0xe7f6, 0x7b4c, 0xe7eb,
-  0x7b47, 0xe7df, 0x7b42, 0xe7d3, 0x7b3e, 0xe7c8, 0x7b39, 0xe7bc,
-  0x7b34, 0xe7b1, 0x7b2f, 0xe7a5, 0x7b2a, 0xe799, 0x7b26, 0xe78e,
-  0x7b21, 0xe782, 0x7b1c, 0xe777, 0x7b17, 0xe76b, 0x7b12, 0xe75f,
-  0x7b0e, 0xe754, 0x7b09, 0xe748, 0x7b04, 0xe73d, 0x7aff, 0xe731,
-  0x7afa, 0xe725, 0x7af5, 0xe71a, 0x7af0, 0xe70e, 0x7aeb, 0xe703,
-  0x7ae6, 0xe6f7, 0x7ae2, 0xe6ec, 0x7add, 0xe6e0, 0x7ad8, 0xe6d4,
-  0x7ad3, 0xe6c9, 0x7ace, 0xe6bd, 0x7ac9, 0xe6b2, 0x7ac4, 0xe6a6,
-  0x7abf, 0xe69b, 0x7aba, 0xe68f, 0x7ab5, 0xe684, 0x7ab0, 0xe678,
-  0x7aab, 0xe66d, 0x7aa6, 0xe661, 0x7aa1, 0xe656, 0x7a9c, 0xe64a,
-  0x7a97, 0xe63f, 0x7a92, 0xe633, 0x7a8d, 0xe628, 0x7a88, 0xe61c,
-  0x7a82, 0xe611, 0x7a7d, 0xe605, 0x7a78, 0xe5fa, 0x7a73, 0xe5ee,
-  0x7a6e, 0xe5e3, 0x7a69, 0xe5d7, 0x7a64, 0xe5cc, 0x7a5f, 0xe5c0,
-  0x7a59, 0xe5b5, 0x7a54, 0xe5a9, 0x7a4f, 0xe59e, 0x7a4a, 0xe592,
-  0x7a45, 0xe587, 0x7a3f, 0xe57c, 0x7a3a, 0xe570, 0x7a35, 0xe565,
-  0x7a30, 0xe559, 0x7a2b, 0xe54e, 0x7a25, 0xe542, 0x7a20, 0xe537,
-  0x7a1b, 0xe52c, 0x7a16, 0xe520, 0x7a10, 0xe515, 0x7a0b, 0xe509,
-  0x7a06, 0xe4fe, 0x7a00, 0xe4f3, 0x79fb, 0xe4e7, 0x79f6, 0xe4dc,
-  0x79f0, 0xe4d0, 0x79eb, 0xe4c5, 0x79e6, 0xe4ba, 0x79e0, 0xe4ae,
-  0x79db, 0xe4a3, 0x79d6, 0xe498, 0x79d0, 0xe48c, 0x79cb, 0xe481,
-  0x79c5, 0xe476, 0x79c0, 0xe46a, 0x79bb, 0xe45f, 0x79b5, 0xe454,
-  0x79b0, 0xe448, 0x79aa, 0xe43d, 0x79a5, 0xe432, 0x799f, 0xe426,
-  0x799a, 0xe41b, 0x7994, 0xe410, 0x798f, 0xe404, 0x7989, 0xe3f9,
-  0x7984, 0xe3ee, 0x797e, 0xe3e2, 0x7979, 0xe3d7, 0x7973, 0xe3cc,
-  0x796e, 0xe3c1, 0x7968, 0xe3b5, 0x7963, 0xe3aa, 0x795d, 0xe39f,
-  0x7958, 0xe394, 0x7952, 0xe388, 0x794c, 0xe37d, 0x7947, 0xe372,
-  0x7941, 0xe367, 0x793b, 0xe35b, 0x7936, 0xe350, 0x7930, 0xe345,
-  0x792b, 0xe33a, 0x7925, 0xe32e, 0x791f, 0xe323, 0x791a, 0xe318,
-  0x7914, 0xe30d, 0x790e, 0xe301, 0x7909, 0xe2f6, 0x7903, 0xe2eb,
-  0x78fd, 0xe2e0, 0x78f7, 0xe2d5, 0x78f2, 0xe2ca, 0x78ec, 0xe2be,
-  0x78e6, 0xe2b3, 0x78e0, 0xe2a8, 0x78db, 0xe29d, 0x78d5, 0xe292,
-  0x78cf, 0xe287, 0x78c9, 0xe27b, 0x78c3, 0xe270, 0x78be, 0xe265,
-  0x78b8, 0xe25a, 0x78b2, 0xe24f, 0x78ac, 0xe244, 0x78a6, 0xe239,
-  0x78a1, 0xe22d, 0x789b, 0xe222, 0x7895, 0xe217, 0x788f, 0xe20c,
-  0x7889, 0xe201, 0x7883, 0xe1f6, 0x787d, 0xe1eb, 0x7877, 0xe1e0,
-  0x7871, 0xe1d5, 0x786b, 0xe1ca, 0x7866, 0xe1be, 0x7860, 0xe1b3,
-  0x785a, 0xe1a8, 0x7854, 0xe19d, 0x784e, 0xe192, 0x7848, 0xe187,
-  0x7842, 0xe17c, 0x783c, 0xe171, 0x7836, 0xe166, 0x7830, 0xe15b,
-  0x782a, 0xe150, 0x7824, 0xe145, 0x781e, 0xe13a, 0x7818, 0xe12f,
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-  0x6091, 0xc8e8, 0x6086, 0xc8e1, 0x607b, 0xc8db, 0x6070, 0xc8d4,
-  0x6065, 0xc8ce, 0x605b, 0xc8c8, 0x6050, 0xc8c1, 0x6045, 0xc8bb,
-  0x603a, 0xc8b5, 0x602f, 0xc8ae, 0x6024, 0xc8a8, 0x6019, 0xc8a2,
-  0x600f, 0xc89b, 0x6004, 0xc895, 0x5ff9, 0xc88f, 0x5fee, 0xc889,
-  0x5fe3, 0xc882, 0x5fd8, 0xc87c, 0x5fcd, 0xc876, 0x5fc2, 0xc870,
-  0x5fb7, 0xc869, 0x5fac, 0xc863, 0x5fa2, 0xc85d, 0x5f97, 0xc857,
-  0x5f8c, 0xc850, 0x5f81, 0xc84a, 0x5f76, 0xc844, 0x5f6b, 0xc83e,
-  0x5f60, 0xc838, 0x5f55, 0xc832, 0x5f4a, 0xc82b, 0x5f3f, 0xc825,
-  0x5f34, 0xc81f, 0x5f29, 0xc819, 0x5f1e, 0xc813, 0x5f13, 0xc80d,
-  0x5f08, 0xc807, 0x5efd, 0xc801, 0x5ef2, 0xc7fb, 0x5ee7, 0xc7f5,
-  0x5edc, 0xc7ee, 0x5ed1, 0xc7e8, 0x5ec6, 0xc7e2, 0x5ebb, 0xc7dc,
-  0x5eb0, 0xc7d6, 0x5ea5, 0xc7d0, 0x5e9a, 0xc7ca, 0x5e8f, 0xc7c4,
-  0x5e84, 0xc7be, 0x5e79, 0xc7b8, 0x5e6e, 0xc7b2, 0x5e63, 0xc7ac,
-  0x5e58, 0xc7a6, 0x5e4d, 0xc7a0, 0x5e42, 0xc79a, 0x5e36, 0xc795,
-  0x5e2b, 0xc78f, 0x5e20, 0xc789, 0x5e15, 0xc783, 0x5e0a, 0xc77d,
-  0x5dff, 0xc777, 0x5df4, 0xc771, 0x5de9, 0xc76b, 0x5dde, 0xc765,
-  0x5dd3, 0xc75f, 0x5dc7, 0xc75a, 0x5dbc, 0xc754, 0x5db1, 0xc74e,
-  0x5da6, 0xc748, 0x5d9b, 0xc742, 0x5d90, 0xc73d, 0x5d85, 0xc737,
-  0x5d79, 0xc731, 0x5d6e, 0xc72b, 0x5d63, 0xc725, 0x5d58, 0xc720,
-  0x5d4d, 0xc71a, 0x5d42, 0xc714, 0x5d36, 0xc70e, 0x5d2b, 0xc709,
-  0x5d20, 0xc703, 0x5d15, 0xc6fd, 0x5d0a, 0xc6f7, 0x5cff, 0xc6f2,
-  0x5cf3, 0xc6ec, 0x5ce8, 0xc6e6, 0x5cdd, 0xc6e1, 0x5cd2, 0xc6db,
-  0x5cc6, 0xc6d5, 0x5cbb, 0xc6d0, 0x5cb0, 0xc6ca, 0x5ca5, 0xc6c5,
-  0x5c99, 0xc6bf, 0x5c8e, 0xc6b9, 0x5c83, 0xc6b4, 0x5c78, 0xc6ae,
-  0x5c6c, 0xc6a8, 0x5c61, 0xc6a3, 0x5c56, 0xc69d, 0x5c4b, 0xc698,
-  0x5c3f, 0xc692, 0x5c34, 0xc68d, 0x5c29, 0xc687, 0x5c1e, 0xc682,
-  0x5c12, 0xc67c, 0x5c07, 0xc677, 0x5bfc, 0xc671, 0x5bf0, 0xc66c,
-  0x5be5, 0xc666, 0x5bda, 0xc661, 0x5bce, 0xc65b, 0x5bc3, 0xc656,
-  0x5bb8, 0xc650, 0x5bac, 0xc64b, 0x5ba1, 0xc645, 0x5b96, 0xc640,
-  0x5b8a, 0xc63b, 0x5b7f, 0xc635, 0x5b74, 0xc630, 0x5b68, 0xc62a,
-  0x5b5d, 0xc625, 0x5b52, 0xc620, 0x5b46, 0xc61a, 0x5b3b, 0xc615,
-  0x5b30, 0xc610, 0x5b24, 0xc60a, 0x5b19, 0xc605, 0x5b0d, 0xc600,
-  0x5b02, 0xc5fa, 0x5af7, 0xc5f5, 0x5aeb, 0xc5f0, 0x5ae0, 0xc5ea,
-  0x5ad4, 0xc5e5, 0x5ac9, 0xc5e0, 0x5abe, 0xc5db, 0x5ab2, 0xc5d5,
-  0x5aa7, 0xc5d0, 0x5a9b, 0xc5cb, 0x5a90, 0xc5c6, 0x5a84, 0xc5c1,
-  0x5a79, 0xc5bb, 0x5a6e, 0xc5b6, 0x5a62, 0xc5b1, 0x5a57, 0xc5ac,
-  0x5a4b, 0xc5a7, 0x5a40, 0xc5a1, 0x5a34, 0xc59c, 0x5a29, 0xc597,
-  0x5a1d, 0xc592, 0x5a12, 0xc58d, 0x5a06, 0xc588, 0x59fb, 0xc583,
-  0x59ef, 0xc57e, 0x59e4, 0xc578, 0x59d8, 0xc573, 0x59cd, 0xc56e,
-  0x59c1, 0xc569, 0x59b6, 0xc564, 0x59aa, 0xc55f, 0x599f, 0xc55a,
-  0x5993, 0xc555, 0x5988, 0xc550, 0x597c, 0xc54b, 0x5971, 0xc546,
-  0x5965, 0xc541, 0x595a, 0xc53c, 0x594e, 0xc537, 0x5943, 0xc532,
-  0x5937, 0xc52d, 0x592c, 0xc528, 0x5920, 0xc523, 0x5914, 0xc51e,
-  0x5909, 0xc51a, 0x58fd, 0xc515, 0x58f2, 0xc510, 0x58e6, 0xc50b,
-  0x58db, 0xc506, 0x58cf, 0xc501, 0x58c3, 0xc4fc, 0x58b8, 0xc4f7,
-  0x58ac, 0xc4f2, 0x58a1, 0xc4ee, 0x5895, 0xc4e9, 0x5889, 0xc4e4,
-  0x587e, 0xc4df, 0x5872, 0xc4da, 0x5867, 0xc4d6, 0x585b, 0xc4d1,
-  0x584f, 0xc4cc, 0x5844, 0xc4c7, 0x5838, 0xc4c2, 0x582d, 0xc4be,
-  0x5821, 0xc4b9, 0x5815, 0xc4b4, 0x580a, 0xc4b0, 0x57fe, 0xc4ab,
-  0x57f2, 0xc4a6, 0x57e7, 0xc4a1, 0x57db, 0xc49d, 0x57cf, 0xc498,
-  0x57c4, 0xc493, 0x57b8, 0xc48f, 0x57ac, 0xc48a, 0x57a1, 0xc485,
-  0x5795, 0xc481, 0x5789, 0xc47c, 0x577e, 0xc478, 0x5772, 0xc473,
-  0x5766, 0xc46e, 0x575b, 0xc46a, 0x574f, 0xc465, 0x5743, 0xc461,
-  0x5737, 0xc45c, 0x572c, 0xc457, 0x5720, 0xc453, 0x5714, 0xc44e,
-  0x5709, 0xc44a, 0x56fd, 0xc445, 0x56f1, 0xc441, 0x56e5, 0xc43c,
-  0x56da, 0xc438, 0x56ce, 0xc433, 0x56c2, 0xc42f, 0x56b6, 0xc42a,
-  0x56ab, 0xc426, 0x569f, 0xc422, 0x5693, 0xc41d, 0x5687, 0xc419,
-  0x567c, 0xc414, 0x5670, 0xc410, 0x5664, 0xc40b, 0x5658, 0xc407,
-  0x564c, 0xc403, 0x5641, 0xc3fe, 0x5635, 0xc3fa, 0x5629, 0xc3f6,
-  0x561d, 0xc3f1, 0x5612, 0xc3ed, 0x5606, 0xc3e9, 0x55fa, 0xc3e4,
-  0x55ee, 0xc3e0, 0x55e2, 0xc3dc, 0x55d7, 0xc3d7, 0x55cb, 0xc3d3,
-  0x55bf, 0xc3cf, 0x55b3, 0xc3ca, 0x55a7, 0xc3c6, 0x559b, 0xc3c2,
-  0x5590, 0xc3be, 0x5584, 0xc3ba, 0x5578, 0xc3b5, 0x556c, 0xc3b1,
-  0x5560, 0xc3ad, 0x5554, 0xc3a9, 0x5549, 0xc3a5, 0x553d, 0xc3a0,
-  0x5531, 0xc39c, 0x5525, 0xc398, 0x5519, 0xc394, 0x550d, 0xc390,
-  0x5501, 0xc38c, 0x54f6, 0xc387, 0x54ea, 0xc383, 0x54de, 0xc37f,
-  0x54d2, 0xc37b, 0x54c6, 0xc377, 0x54ba, 0xc373, 0x54ae, 0xc36f,
-  0x54a2, 0xc36b, 0x5496, 0xc367, 0x548b, 0xc363, 0x547f, 0xc35f,
-  0x5473, 0xc35b, 0x5467, 0xc357, 0x545b, 0xc353, 0x544f, 0xc34f,
-  0x5443, 0xc34b, 0x5437, 0xc347, 0x542b, 0xc343, 0x541f, 0xc33f,
-  0x5413, 0xc33b, 0x5407, 0xc337, 0x53fb, 0xc333, 0x53f0, 0xc32f,
-  0x53e4, 0xc32b, 0x53d8, 0xc327, 0x53cc, 0xc323, 0x53c0, 0xc320,
-  0x53b4, 0xc31c, 0x53a8, 0xc318, 0x539c, 0xc314, 0x5390, 0xc310,
-  0x5384, 0xc30c, 0x5378, 0xc308, 0x536c, 0xc305, 0x5360, 0xc301,
-  0x5354, 0xc2fd, 0x5348, 0xc2f9, 0x533c, 0xc2f5, 0x5330, 0xc2f2,
-  0x5324, 0xc2ee, 0x5318, 0xc2ea, 0x530c, 0xc2e6, 0x5300, 0xc2e3,
-  0x52f4, 0xc2df, 0x52e8, 0xc2db, 0x52dc, 0xc2d8, 0x52d0, 0xc2d4,
-  0x52c4, 0xc2d0, 0x52b8, 0xc2cc, 0x52ac, 0xc2c9, 0x52a0, 0xc2c5,
-  0x5294, 0xc2c1, 0x5288, 0xc2be, 0x527c, 0xc2ba, 0x5270, 0xc2b7,
-  0x5264, 0xc2b3, 0x5258, 0xc2af, 0x524c, 0xc2ac, 0x5240, 0xc2a8,
-  0x5234, 0xc2a5, 0x5228, 0xc2a1, 0x521c, 0xc29d, 0x5210, 0xc29a,
-  0x5204, 0xc296, 0x51f7, 0xc293, 0x51eb, 0xc28f, 0x51df, 0xc28c,
-  0x51d3, 0xc288, 0x51c7, 0xc285, 0x51bb, 0xc281, 0x51af, 0xc27e,
-  0x51a3, 0xc27a, 0x5197, 0xc277, 0x518b, 0xc273, 0x517f, 0xc270,
-  0x5173, 0xc26d, 0x5167, 0xc269, 0x515a, 0xc266, 0x514e, 0xc262,
-  0x5142, 0xc25f, 0x5136, 0xc25c, 0x512a, 0xc258, 0x511e, 0xc255,
-  0x5112, 0xc251, 0x5106, 0xc24e, 0x50fa, 0xc24b, 0x50ed, 0xc247,
-  0x50e1, 0xc244, 0x50d5, 0xc241, 0x50c9, 0xc23e, 0x50bd, 0xc23a,
-  0x50b1, 0xc237, 0x50a5, 0xc234, 0x5099, 0xc230, 0x508c, 0xc22d,
-  0x5080, 0xc22a, 0x5074, 0xc227, 0x5068, 0xc223, 0x505c, 0xc220,
-  0x5050, 0xc21d, 0x5044, 0xc21a, 0x5037, 0xc217, 0x502b, 0xc213,
-  0x501f, 0xc210, 0x5013, 0xc20d, 0x5007, 0xc20a, 0x4ffb, 0xc207,
-  0x4fee, 0xc204, 0x4fe2, 0xc201, 0x4fd6, 0xc1fd, 0x4fca, 0xc1fa,
-  0x4fbe, 0xc1f7, 0x4fb2, 0xc1f4, 0x4fa5, 0xc1f1, 0x4f99, 0xc1ee,
-  0x4f8d, 0xc1eb, 0x4f81, 0xc1e8, 0x4f75, 0xc1e5, 0x4f68, 0xc1e2,
-  0x4f5c, 0xc1df, 0x4f50, 0xc1dc, 0x4f44, 0xc1d9, 0x4f38, 0xc1d6,
-  0x4f2b, 0xc1d3, 0x4f1f, 0xc1d0, 0x4f13, 0xc1cd, 0x4f07, 0xc1ca,
-  0x4efb, 0xc1c7, 0x4eee, 0xc1c4, 0x4ee2, 0xc1c1, 0x4ed6, 0xc1be,
-  0x4eca, 0xc1bb, 0x4ebd, 0xc1b8, 0x4eb1, 0xc1b6, 0x4ea5, 0xc1b3,
-  0x4e99, 0xc1b0, 0x4e8c, 0xc1ad, 0x4e80, 0xc1aa, 0x4e74, 0xc1a7,
-  0x4e68, 0xc1a4, 0x4e5c, 0xc1a2, 0x4e4f, 0xc19f, 0x4e43, 0xc19c,
-  0x4e37, 0xc199, 0x4e2b, 0xc196, 0x4e1e, 0xc194, 0x4e12, 0xc191,
-  0x4e06, 0xc18e, 0x4df9, 0xc18b, 0x4ded, 0xc189, 0x4de1, 0xc186,
-  0x4dd5, 0xc183, 0x4dc8, 0xc180, 0x4dbc, 0xc17e, 0x4db0, 0xc17b,
-  0x4da4, 0xc178, 0x4d97, 0xc176, 0x4d8b, 0xc173, 0x4d7f, 0xc170,
-  0x4d72, 0xc16e, 0x4d66, 0xc16b, 0x4d5a, 0xc168, 0x4d4e, 0xc166,
-  0x4d41, 0xc163, 0x4d35, 0xc161, 0x4d29, 0xc15e, 0x4d1c, 0xc15b,
-  0x4d10, 0xc159, 0x4d04, 0xc156, 0x4cf8, 0xc154, 0x4ceb, 0xc151,
-  0x4cdf, 0xc14f, 0x4cd3, 0xc14c, 0x4cc6, 0xc14a, 0x4cba, 0xc147,
-  0x4cae, 0xc145, 0x4ca1, 0xc142, 0x4c95, 0xc140, 0x4c89, 0xc13d,
-  0x4c7c, 0xc13b, 0x4c70, 0xc138, 0x4c64, 0xc136, 0x4c57, 0xc134,
-  0x4c4b, 0xc131, 0x4c3f, 0xc12f, 0x4c32, 0xc12c, 0x4c26, 0xc12a,
-  0x4c1a, 0xc128, 0x4c0d, 0xc125, 0x4c01, 0xc123, 0x4bf5, 0xc120,
-  0x4be8, 0xc11e, 0x4bdc, 0xc11c, 0x4bd0, 0xc119, 0x4bc3, 0xc117,
-  0x4bb7, 0xc115, 0x4bab, 0xc113, 0x4b9e, 0xc110, 0x4b92, 0xc10e,
-  0x4b85, 0xc10c, 0x4b79, 0xc109, 0x4b6d, 0xc107, 0x4b60, 0xc105,
-  0x4b54, 0xc103, 0x4b48, 0xc100, 0x4b3b, 0xc0fe, 0x4b2f, 0xc0fc,
-  0x4b23, 0xc0fa, 0x4b16, 0xc0f8, 0x4b0a, 0xc0f6, 0x4afd, 0xc0f3,
-  0x4af1, 0xc0f1, 0x4ae5, 0xc0ef, 0x4ad8, 0xc0ed, 0x4acc, 0xc0eb,
-  0x4ac0, 0xc0e9, 0x4ab3, 0xc0e7, 0x4aa7, 0xc0e4, 0x4a9a, 0xc0e2,
-  0x4a8e, 0xc0e0, 0x4a82, 0xc0de, 0x4a75, 0xc0dc, 0x4a69, 0xc0da,
-  0x4a5c, 0xc0d8, 0x4a50, 0xc0d6, 0x4a44, 0xc0d4, 0x4a37, 0xc0d2,
-  0x4a2b, 0xc0d0, 0x4a1e, 0xc0ce, 0x4a12, 0xc0cc, 0x4a06, 0xc0ca,
-  0x49f9, 0xc0c8, 0x49ed, 0xc0c6, 0x49e0, 0xc0c4, 0x49d4, 0xc0c2,
-  0x49c7, 0xc0c0, 0x49bb, 0xc0be, 0x49af, 0xc0bd, 0x49a2, 0xc0bb,
-  0x4996, 0xc0b9, 0x4989, 0xc0b7, 0x497d, 0xc0b5, 0x4970, 0xc0b3,
-  0x4964, 0xc0b1, 0x4958, 0xc0af, 0x494b, 0xc0ae, 0x493f, 0xc0ac,
-  0x4932, 0xc0aa, 0x4926, 0xc0a8, 0x4919, 0xc0a6, 0x490d, 0xc0a5,
-  0x4901, 0xc0a3, 0x48f4, 0xc0a1, 0x48e8, 0xc09f, 0x48db, 0xc09e,
-  0x48cf, 0xc09c, 0x48c2, 0xc09a, 0x48b6, 0xc098, 0x48a9, 0xc097,
-  0x489d, 0xc095, 0x4891, 0xc093, 0x4884, 0xc092, 0x4878, 0xc090,
-  0x486b, 0xc08e, 0x485f, 0xc08d, 0x4852, 0xc08b, 0x4846, 0xc089,
-  0x4839, 0xc088, 0x482d, 0xc086, 0x4820, 0xc085, 0x4814, 0xc083,
-  0x4807, 0xc081, 0x47fb, 0xc080, 0x47ef, 0xc07e, 0x47e2, 0xc07d,
-  0x47d6, 0xc07b, 0x47c9, 0xc07a, 0x47bd, 0xc078, 0x47b0, 0xc077,
-  0x47a4, 0xc075, 0x4797, 0xc074, 0x478b, 0xc072, 0x477e, 0xc071,
-  0x4772, 0xc06f, 0x4765, 0xc06e, 0x4759, 0xc06c, 0x474c, 0xc06b,
-  0x4740, 0xc069, 0x4733, 0xc068, 0x4727, 0xc067, 0x471a, 0xc065,
-  0x470e, 0xc064, 0x4701, 0xc062, 0x46f5, 0xc061, 0x46e8, 0xc060,
-  0x46dc, 0xc05e, 0x46cf, 0xc05d, 0x46c3, 0xc05c, 0x46b6, 0xc05a,
-  0x46aa, 0xc059, 0x469d, 0xc058, 0x4691, 0xc056, 0x4684, 0xc055,
-  0x4678, 0xc054, 0x466b, 0xc053, 0x465f, 0xc051, 0x4652, 0xc050,
-  0x4646, 0xc04f, 0x4639, 0xc04e, 0x462d, 0xc04c, 0x4620, 0xc04b,
-  0x4614, 0xc04a, 0x4607, 0xc049, 0x45fb, 0xc048, 0x45ee, 0xc047,
-  0x45e2, 0xc045, 0x45d5, 0xc044, 0x45c9, 0xc043, 0x45bc, 0xc042,
-  0x45b0, 0xc041, 0x45a3, 0xc040, 0x4597, 0xc03f, 0x458a, 0xc03d,
-  0x457e, 0xc03c, 0x4571, 0xc03b, 0x4565, 0xc03a, 0x4558, 0xc039,
-  0x454c, 0xc038, 0x453f, 0xc037, 0x4533, 0xc036, 0x4526, 0xc035,
-  0x451a, 0xc034, 0x450d, 0xc033, 0x4500, 0xc032, 0x44f4, 0xc031,
-  0x44e7, 0xc030, 0x44db, 0xc02f, 0x44ce, 0xc02e, 0x44c2, 0xc02d,
-  0x44b5, 0xc02c, 0x44a9, 0xc02b, 0x449c, 0xc02b, 0x4490, 0xc02a,
-  0x4483, 0xc029, 0x4477, 0xc028, 0x446a, 0xc027, 0x445e, 0xc026,
-  0x4451, 0xc025, 0x4444, 0xc024, 0x4438, 0xc024, 0x442b, 0xc023,
-  0x441f, 0xc022, 0x4412, 0xc021, 0x4406, 0xc020, 0x43f9, 0xc020,
-  0x43ed, 0xc01f, 0x43e0, 0xc01e, 0x43d4, 0xc01d, 0x43c7, 0xc01d,
-  0x43bb, 0xc01c, 0x43ae, 0xc01b, 0x43a1, 0xc01a, 0x4395, 0xc01a,
-  0x4388, 0xc019, 0x437c, 0xc018, 0x436f, 0xc018, 0x4363, 0xc017,
-  0x4356, 0xc016, 0x434a, 0xc016, 0x433d, 0xc015, 0x4330, 0xc014,
-  0x4324, 0xc014, 0x4317, 0xc013, 0x430b, 0xc013, 0x42fe, 0xc012,
-  0x42f2, 0xc011, 0x42e5, 0xc011, 0x42d9, 0xc010, 0x42cc, 0xc010,
-  0x42c0, 0xc00f, 0x42b3, 0xc00f, 0x42a6, 0xc00e, 0x429a, 0xc00e,
-  0x428d, 0xc00d, 0x4281, 0xc00d, 0x4274, 0xc00c, 0x4268, 0xc00c,
-  0x425b, 0xc00b, 0x424e, 0xc00b, 0x4242, 0xc00a, 0x4235, 0xc00a,
-  0x4229, 0xc009, 0x421c, 0xc009, 0x4210, 0xc009, 0x4203, 0xc008,
-  0x41f7, 0xc008, 0x41ea, 0xc007, 0x41dd, 0xc007, 0x41d1, 0xc007,
-  0x41c4, 0xc006, 0x41b8, 0xc006, 0x41ab, 0xc006, 0x419f, 0xc005,
-  0x4192, 0xc005, 0x4186, 0xc005, 0x4179, 0xc004, 0x416c, 0xc004,
-  0x4160, 0xc004, 0x4153, 0xc004, 0x4147, 0xc003, 0x413a, 0xc003,
-  0x412e, 0xc003, 0x4121, 0xc003, 0x4114, 0xc002, 0x4108, 0xc002,
-  0x40fb, 0xc002, 0x40ef, 0xc002, 0x40e2, 0xc002, 0x40d6, 0xc001,
-  0x40c9, 0xc001, 0x40bc, 0xc001, 0x40b0, 0xc001, 0x40a3, 0xc001,
-  0x4097, 0xc001, 0x408a, 0xc001, 0x407e, 0xc000, 0x4071, 0xc000,
-  0x4065, 0xc000, 0x4058, 0xc000, 0x404b, 0xc000, 0x403f, 0xc000,
-  0x4032, 0xc000, 0x4026, 0xc000, 0x4019, 0xc000, 0x400d, 0xc000,
-};
-
-/**    
-* @brief  Initialization function for the Q15 RFFT/RIFFT.   
-* @param[in, out] *S             points to an instance of the Q15 RFFT/RIFFT structure.   
-* @param[in]      *S_CFFT        points to an instance of the Q15 CFFT/CIFFT structure.   
-* @param[in]      fftLenReal     length of the FFT.   
-* @param[in]      ifftFlagR      flag that selects forward (ifftFlagR=0) or inverse (ifftFlagR=1) transform.   
-* @param[in]      bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.   
-* @return		The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if fftLenReal is not a supported value.   
-*    
-* \par Description:   
-* \par   
-* The parameter fftLenReal	Specifies length of RFFT/RIFFT Process. Supported FFT Lengths are 128, 512, 2048.    
-* \par    
-* The parameter ifftFlagR controls whether a forward or inverse transform is computed.    
-* Set(=1) ifftFlagR to calculate RIFFT, otherwise RFFT is calculated.    
-* \par    
-* The parameter bitReverseFlag controls whether output is in normal order or bit reversed order.    
-* Set(=1) bitReverseFlag for output to be in normal order otherwise output is in bit reversed order.   
-* \par    
-* This function also initializes Twiddle factor table.     
-*/
-
-arm_status arm_rfft_init_q15(
-  arm_rfft_instance_q15 * S,
-  arm_cfft_radix4_instance_q15 * S_CFFT,
-  uint32_t fftLenReal,
-  uint32_t ifftFlagR,
-  uint32_t bitReverseFlag)
-{
-
-  /*  Initialise the default arm status */
-  arm_status status = ARM_MATH_SUCCESS;
-
-  /*  Initialize the Real FFT length */
-  S->fftLenReal = (uint16_t) fftLenReal;
-
-  /*  Initialize the Complex FFT length */
-  S->fftLenBy2 = (uint16_t) fftLenReal / 2u;
-
-  /*  Initialize the Twiddle coefficientA pointer */
-  S->pTwiddleAReal = (q15_t *) realCoefAQ15;
-
-  /*  Initialize the Twiddle coefficientB pointer */
-  S->pTwiddleBReal = (q15_t *) realCoefBQ15;
-
-  /*  Initialize the Flag for selection of RFFT or RIFFT */
-  S->ifftFlagR = (uint8_t) ifftFlagR;
-
-  /*  Initialize the Flag for calculation Bit reversal or not */
-  S->bitReverseFlagR = (uint8_t) bitReverseFlag;
-
-  /*  Initialization of coef modifier depending on the FFT length */
-  switch (S->fftLenReal)
-  {
-  case 8192:
-    S->twidCoefRModifier = 1u;
-    break;
-  case 2048u:
-    S->twidCoefRModifier = 4u;
-    break;
-  case 512u:
-    S->twidCoefRModifier = 16u;
-    break;
-  case 128u:
-    S->twidCoefRModifier = 64u;
-    break;
-  default:
-    /*  Reporting argument error if rfftSize is not valid value */
-    status = ARM_MATH_ARGUMENT_ERROR;
-    break;
-  }
-
-  /* Init Complex FFT Instance */
-  S->pCfft = S_CFFT;
-
-  if(S->ifftFlagR)
-  {
-    /* Initializes the CIFFT Module for fftLenreal/2 length */
-    arm_cfft_radix4_init_q15(S->pCfft, S->fftLenBy2, 1u, 1u);
-  }
-  else
-  {
-    /* Initializes the CFFT Module for fftLenreal/2 length */
-    arm_cfft_radix4_init_q15(S->pCfft, S->fftLenBy2, 0u, 1u);
-  }
-
-  /* return the status of RFFT Init function */
-  return (status);
-
-}
-
-  /**    
-   * @} end of RFFT_RIFFT group    
-   */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_init_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_init_q31.c
deleted file mode 100644
index 400fe586c..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_init_q31.c
+++ /dev/null
@@ -1,4274 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_rfft_init_q31.c    
-*    
-* Description:	RFFT & RIFFT Q31 initialisation function    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/**    
- * @ingroup groupTransforms    
- */
-
-/**    
- * @addtogroup RFFT_RIFFT    
- * @{    
- */
-
-/**    
-* \par    
-* Generation floating point realCoefAQ31 array:    
-* \par    
-* n = 4096    
-* 
for (i = 0; i < n; i++)    
-* {    
-*    pATable[2 * i] = 0.5 * (1.0 - sin (2 * PI / (double) (2 * n) * (double) i));    
-*    pATable[2 * i + 1] = 0.5 * (-1.0 * cos (2 * PI / (double) (2 * n) * (double) i));    
-* }
    
-* \par    
-* Convert to fixed point Q31 format    
-*     round(pATable[i] * pow(2, 31))    
-*/
-
-
-static const q31_t realCoefAQ31[8192] = {
-  0x40000000, 0xc0000000, 0x3ff36f02, 0xc000013c,
-  0x3fe6de05, 0xc00004ef, 0x3fda4d09, 0xc0000b1a,
-  0x3fcdbc0f, 0xc00013bd, 0x3fc12b16, 0xc0001ed8,
-  0x3fb49a1f, 0xc0002c6a, 0x3fa8092c, 0xc0003c74,
-  0x3f9b783c, 0xc0004ef5, 0x3f8ee750, 0xc00063ee,
-  0x3f825668, 0xc0007b5f, 0x3f75c585, 0xc0009547,
-  0x3f6934a8, 0xc000b1a7, 0x3f5ca3d0, 0xc000d07e,
-  0x3f5012fe, 0xc000f1ce, 0x3f438234, 0xc0011594,
-  0x3f36f170, 0xc0013bd3, 0x3f2a60b4, 0xc0016489,
-  0x3f1dd001, 0xc0018fb6, 0x3f113f56, 0xc001bd5c,
-  0x3f04aeb5, 0xc001ed78, 0x3ef81e1d, 0xc002200d,
-  0x3eeb8d8f, 0xc0025519, 0x3edefd0c, 0xc0028c9c,
-  0x3ed26c94, 0xc002c697, 0x3ec5dc28, 0xc003030a,
-  0x3eb94bc8, 0xc00341f4, 0x3eacbb74, 0xc0038356,
-  0x3ea02b2e, 0xc003c72f, 0x3e939af5, 0xc0040d80,
-  0x3e870aca, 0xc0045648, 0x3e7a7aae, 0xc004a188,
-  0x3e6deaa1, 0xc004ef3f, 0x3e615aa3, 0xc0053f6e,
-  0x3e54cab5, 0xc0059214, 0x3e483ad8, 0xc005e731,
-  0x3e3bab0b, 0xc0063ec6, 0x3e2f1b50, 0xc00698d3,
-  0x3e228ba7, 0xc006f556, 0x3e15fc11, 0xc0075452,
-  0x3e096c8d, 0xc007b5c4, 0x3dfcdd1d, 0xc00819ae,
-  0x3df04dc0, 0xc008800f, 0x3de3be78, 0xc008e8e8,
-  0x3dd72f45, 0xc0095438, 0x3dcaa027, 0xc009c1ff,
-  0x3dbe111e, 0xc00a323d, 0x3db1822c, 0xc00aa4f3,
-  0x3da4f351, 0xc00b1a20, 0x3d98648d, 0xc00b91c4,
-  0x3d8bd5e1, 0xc00c0be0, 0x3d7f474d, 0xc00c8872,
-  0x3d72b8d2, 0xc00d077c, 0x3d662a70, 0xc00d88fd,
-  0x3d599c28, 0xc00e0cf5, 0x3d4d0df9, 0xc00e9364,
-  0x3d407fe6, 0xc00f1c4a, 0x3d33f1ed, 0xc00fa7a8,
-  0x3d276410, 0xc010357c, 0x3d1ad650, 0xc010c5c7,
-  0x3d0e48ab, 0xc011588a, 0x3d01bb24, 0xc011edc3,
-  0x3cf52dbb, 0xc0128574, 0x3ce8a06f, 0xc0131f9b,
-  0x3cdc1342, 0xc013bc39, 0x3ccf8634, 0xc0145b4e,
-  0x3cc2f945, 0xc014fcda, 0x3cb66c77, 0xc015a0dd,
-  0x3ca9dfc8, 0xc0164757, 0x3c9d533b, 0xc016f047,
-  0x3c90c6cf, 0xc0179bae, 0x3c843a85, 0xc018498c,
-  0x3c77ae5e, 0xc018f9e1, 0x3c6b2259, 0xc019acac,
-  0x3c5e9678, 0xc01a61ee, 0x3c520aba, 0xc01b19a7,
-  0x3c457f21, 0xc01bd3d6, 0x3c38f3ac, 0xc01c907c,
-  0x3c2c685d, 0xc01d4f99, 0x3c1fdd34, 0xc01e112b,
-  0x3c135231, 0xc01ed535, 0x3c06c754, 0xc01f9bb5,
-  0x3bfa3c9f, 0xc02064ab, 0x3bedb212, 0xc0213018,
-  0x3be127ac, 0xc021fdfb, 0x3bd49d70, 0xc022ce54,
-  0x3bc8135c, 0xc023a124, 0x3bbb8973, 0xc024766a,
-  0x3baeffb3, 0xc0254e27, 0x3ba2761e, 0xc0262859,
-  0x3b95ecb4, 0xc0270502, 0x3b896375, 0xc027e421,
-  0x3b7cda63, 0xc028c5b6, 0x3b70517d, 0xc029a9c1,
-  0x3b63c8c4, 0xc02a9042, 0x3b574039, 0xc02b7939,
-  0x3b4ab7db, 0xc02c64a6, 0x3b3e2fac, 0xc02d5289,
-  0x3b31a7ac, 0xc02e42e2, 0x3b251fdc, 0xc02f35b1,
-  0x3b18983b, 0xc0302af5, 0x3b0c10cb, 0xc03122b0,
-  0x3aff898c, 0xc0321ce0, 0x3af3027e, 0xc0331986,
-  0x3ae67ba2, 0xc03418a2, 0x3ad9f4f8, 0xc0351a33,
-  0x3acd6e81, 0xc0361e3a, 0x3ac0e83d, 0xc03724b6,
-  0x3ab4622d, 0xc0382da8, 0x3aa7dc52, 0xc0393910,
-  0x3a9b56ab, 0xc03a46ed, 0x3a8ed139, 0xc03b573f,
-  0x3a824bfd, 0xc03c6a07, 0x3a75c6f8, 0xc03d7f44,
-  0x3a694229, 0xc03e96f6, 0x3a5cbd91, 0xc03fb11d,
-  0x3a503930, 0xc040cdba, 0x3a43b508, 0xc041eccc,
-  0x3a373119, 0xc0430e53, 0x3a2aad62, 0xc044324f,
-  0x3a1e29e5, 0xc04558c0, 0x3a11a6a3, 0xc04681a6,
-  0x3a05239a, 0xc047ad01, 0x39f8a0cd, 0xc048dad1,
-  0x39ec1e3b, 0xc04a0b16, 0x39df9be6, 0xc04b3dcf,
-  0x39d319cc, 0xc04c72fe, 0x39c697f0, 0xc04daaa1,
-  0x39ba1651, 0xc04ee4b8, 0x39ad94f0, 0xc0502145,
-  0x39a113cd, 0xc0516045, 0x399492ea, 0xc052a1bb,
-  0x39881245, 0xc053e5a5, 0x397b91e1, 0xc0552c03,
-  0x396f11bc, 0xc05674d6, 0x396291d9, 0xc057c01d,
-  0x39561237, 0xc0590dd8, 0x394992d7, 0xc05a5e07,
-  0x393d13b8, 0xc05bb0ab, 0x393094dd, 0xc05d05c3,
-  0x39241645, 0xc05e5d4e, 0x391797f0, 0xc05fb74e,
-  0x390b19e0, 0xc06113c2, 0x38fe9c15, 0xc06272aa,
-  0x38f21e8e, 0xc063d405, 0x38e5a14d, 0xc06537d4,
-  0x38d92452, 0xc0669e18, 0x38cca79e, 0xc06806ce,
-  0x38c02b31, 0xc06971f9, 0x38b3af0c, 0xc06adf97,
-  0x38a7332e, 0xc06c4fa8, 0x389ab799, 0xc06dc22e,
-  0x388e3c4d, 0xc06f3726, 0x3881c14b, 0xc070ae92,
-  0x38754692, 0xc0722871, 0x3868cc24, 0xc073a4c3,
-  0x385c5201, 0xc0752389, 0x384fd829, 0xc076a4c2,
-  0x38435e9d, 0xc078286e, 0x3836e55d, 0xc079ae8c,
-  0x382a6c6a, 0xc07b371e, 0x381df3c5, 0xc07cc223,
-  0x38117b6d, 0xc07e4f9b, 0x38050364, 0xc07fdf85,
-  0x37f88ba9, 0xc08171e2, 0x37ec143e, 0xc08306b2,
-  0x37df9d22, 0xc0849df4, 0x37d32657, 0xc08637a9,
-  0x37c6afdc, 0xc087d3d0, 0x37ba39b3, 0xc089726a,
-  0x37adc3db, 0xc08b1376, 0x37a14e55, 0xc08cb6f5,
-  0x3794d922, 0xc08e5ce5, 0x37886442, 0xc0900548,
-  0x377befb5, 0xc091b01d, 0x376f7b7d, 0xc0935d64,
-  0x37630799, 0xc0950d1d, 0x3756940a, 0xc096bf48,
-  0x374a20d0, 0xc09873e4, 0x373daded, 0xc09a2af3,
-  0x37313b60, 0xc09be473, 0x3724c92a, 0xc09da065,
-  0x3718574b, 0xc09f5ec8, 0x370be5c4, 0xc0a11f9d,
-  0x36ff7496, 0xc0a2e2e3, 0x36f303c0, 0xc0a4a89b,
-  0x36e69344, 0xc0a670c4, 0x36da2321, 0xc0a83b5e,
-  0x36cdb359, 0xc0aa086a, 0x36c143ec, 0xc0abd7e6,
-  0x36b4d4d9, 0xc0ada9d4, 0x36a86623, 0xc0af7e33,
-  0x369bf7c9, 0xc0b15502, 0x368f89cb, 0xc0b32e42,
-  0x36831c2b, 0xc0b509f3, 0x3676aee8, 0xc0b6e815,
-  0x366a4203, 0xc0b8c8a7, 0x365dd57d, 0xc0baabaa,
-  0x36516956, 0xc0bc911d, 0x3644fd8f, 0xc0be7901,
-  0x36389228, 0xc0c06355, 0x362c2721, 0xc0c25019,
-  0x361fbc7b, 0xc0c43f4d, 0x36135237, 0xc0c630f2,
-  0x3606e854, 0xc0c82506, 0x35fa7ed4, 0xc0ca1b8a,
-  0x35ee15b7, 0xc0cc147f, 0x35e1acfd, 0xc0ce0fe3,
-  0x35d544a7, 0xc0d00db6, 0x35c8dcb6, 0xc0d20dfa,
-  0x35bc7529, 0xc0d410ad, 0x35b00e02, 0xc0d615cf,
-  0x35a3a740, 0xc0d81d61, 0x359740e5, 0xc0da2762,
-  0x358adaf0, 0xc0dc33d2, 0x357e7563, 0xc0de42b2,
-  0x3572103d, 0xc0e05401, 0x3565ab80, 0xc0e267be,
-  0x3559472b, 0xc0e47deb, 0x354ce33f, 0xc0e69686,
-  0x35407fbd, 0xc0e8b190, 0x35341ca5, 0xc0eacf09,
-  0x3527b9f7, 0xc0eceef1, 0x351b57b5, 0xc0ef1147,
-  0x350ef5de, 0xc0f1360b, 0x35029473, 0xc0f35d3e,
-  0x34f63374, 0xc0f586df, 0x34e9d2e3, 0xc0f7b2ee,
-  0x34dd72be, 0xc0f9e16b, 0x34d11308, 0xc0fc1257,
-  0x34c4b3c0, 0xc0fe45b0, 0x34b854e7, 0xc1007b77,
-  0x34abf67e, 0xc102b3ac, 0x349f9884, 0xc104ee4f,
-  0x34933afa, 0xc1072b5f, 0x3486dde1, 0xc1096add,
-  0x347a8139, 0xc10bacc8, 0x346e2504, 0xc10df120,
-  0x3461c940, 0xc11037e6, 0x34556def, 0xc1128119,
-  0x34491311, 0xc114ccb9, 0x343cb8a7, 0xc1171ac6,
-  0x34305eb0, 0xc1196b3f, 0x3424052f, 0xc11bbe26,
-  0x3417ac22, 0xc11e1379, 0x340b538b, 0xc1206b39,
-  0x33fefb6a, 0xc122c566, 0x33f2a3bf, 0xc12521ff,
-  0x33e64c8c, 0xc1278104, 0x33d9f5cf, 0xc129e276,
-  0x33cd9f8b, 0xc12c4653, 0x33c149bf, 0xc12eac9d,
-  0x33b4f46c, 0xc1311553, 0x33a89f92, 0xc1338075,
-  0x339c4b32, 0xc135ee02, 0x338ff74d, 0xc1385dfb,
-  0x3383a3e2, 0xc13ad060, 0x337750f2, 0xc13d4530,
-  0x336afe7e, 0xc13fbc6c, 0x335eac86, 0xc1423613,
-  0x33525b0b, 0xc144b225, 0x33460a0d, 0xc14730a3,
-  0x3339b98d, 0xc149b18b, 0x332d698a, 0xc14c34df,
-  0x33211a07, 0xc14eba9d, 0x3314cb02, 0xc15142c6,
-  0x33087c7d, 0xc153cd5a, 0x32fc2e77, 0xc1565a58,
-  0x32efe0f2, 0xc158e9c1, 0x32e393ef, 0xc15b7b94,
-  0x32d7476c, 0xc15e0fd1, 0x32cafb6b, 0xc160a678,
-  0x32beafed, 0xc1633f8a, 0x32b264f2, 0xc165db05,
-  0x32a61a7a, 0xc16878eb, 0x3299d085, 0xc16b193a,
-  0x328d8715, 0xc16dbbf3, 0x32813e2a, 0xc1706115,
-  0x3274f5c3, 0xc17308a1, 0x3268ade3, 0xc175b296,
-  0x325c6688, 0xc1785ef4, 0x32501fb5, 0xc17b0dbb,
-  0x3243d968, 0xc17dbeec, 0x323793a3, 0xc1807285,
-  0x322b4e66, 0xc1832888, 0x321f09b1, 0xc185e0f3,
-  0x3212c585, 0xc1889bc6, 0x320681e3, 0xc18b5903,
-  0x31fa3ecb, 0xc18e18a7, 0x31edfc3d, 0xc190dab4,
-  0x31e1ba3a, 0xc1939f29, 0x31d578c2, 0xc1966606,
-  0x31c937d6, 0xc1992f4c, 0x31bcf777, 0xc19bfaf9,
-  0x31b0b7a4, 0xc19ec90d, 0x31a4785e, 0xc1a1998a,
-  0x319839a6, 0xc1a46c6e, 0x318bfb7d, 0xc1a741b9,
-  0x317fbde2, 0xc1aa196c, 0x317380d6, 0xc1acf386,
-  0x31674459, 0xc1afd007, 0x315b086d, 0xc1b2aef0,
-  0x314ecd11, 0xc1b5903f, 0x31429247, 0xc1b873f5,
-  0x3136580d, 0xc1bb5a11, 0x312a1e66, 0xc1be4294,
-  0x311de551, 0xc1c12d7e, 0x3111accf, 0xc1c41ace,
-  0x310574e0, 0xc1c70a84, 0x30f93d86, 0xc1c9fca0,
-  0x30ed06bf, 0xc1ccf122, 0x30e0d08d, 0xc1cfe80a,
-  0x30d49af1, 0xc1d2e158, 0x30c865ea, 0xc1d5dd0c,
-  0x30bc317a, 0xc1d8db25, 0x30affda0, 0xc1dbdba3,
-  0x30a3ca5d, 0xc1dede87, 0x309797b2, 0xc1e1e3d0,
-  0x308b659f, 0xc1e4eb7e, 0x307f3424, 0xc1e7f591,
-  0x30730342, 0xc1eb0209, 0x3066d2fa, 0xc1ee10e5,
-  0x305aa34c, 0xc1f12227, 0x304e7438, 0xc1f435cc,
-  0x304245c0, 0xc1f74bd6, 0x303617e2, 0xc1fa6445,
-  0x3029eaa1, 0xc1fd7f17, 0x301dbdfb, 0xc2009c4e,
-  0x301191f3, 0xc203bbe8, 0x30056687, 0xc206dde6,
-  0x2ff93bba, 0xc20a0248, 0x2fed118a, 0xc20d290d,
-  0x2fe0e7f9, 0xc2105236, 0x2fd4bf08, 0xc2137dc2,
-  0x2fc896b5, 0xc216abb1, 0x2fbc6f03, 0xc219dc03,
-  0x2fb047f2, 0xc21d0eb8, 0x2fa42181, 0xc22043d0,
-  0x2f97fbb2, 0xc2237b4b, 0x2f8bd685, 0xc226b528,
-  0x2f7fb1fa, 0xc229f167, 0x2f738e12, 0xc22d3009,
-  0x2f676ace, 0xc230710d, 0x2f5b482d, 0xc233b473,
-  0x2f4f2630, 0xc236fa3b, 0x2f4304d8, 0xc23a4265,
-  0x2f36e426, 0xc23d8cf1, 0x2f2ac419, 0xc240d9de,
-  0x2f1ea4b2, 0xc244292c, 0x2f1285f2, 0xc2477adc,
-  0x2f0667d9, 0xc24aceed, 0x2efa4a67, 0xc24e255e,
-  0x2eee2d9d, 0xc2517e31, 0x2ee2117c, 0xc254d965,
-  0x2ed5f604, 0xc25836f9, 0x2ec9db35, 0xc25b96ee,
-  0x2ebdc110, 0xc25ef943, 0x2eb1a796, 0xc2625df8,
-  0x2ea58ec6, 0xc265c50e, 0x2e9976a1, 0xc2692e83,
-  0x2e8d5f29, 0xc26c9a58, 0x2e81485c, 0xc270088e,
-  0x2e75323c, 0xc2737922, 0x2e691cc9, 0xc276ec16,
-  0x2e5d0804, 0xc27a616a, 0x2e50f3ed, 0xc27dd91c,
-  0x2e44e084, 0xc281532e, 0x2e38cdcb, 0xc284cf9f,
-  0x2e2cbbc1, 0xc2884e6e, 0x2e20aa67, 0xc28bcf9c,
-  0x2e1499bd, 0xc28f5329, 0x2e0889c4, 0xc292d914,
-  0x2dfc7a7c, 0xc296615d, 0x2df06be6, 0xc299ec05,
-  0x2de45e03, 0xc29d790a, 0x2dd850d2, 0xc2a1086d,
-  0x2dcc4454, 0xc2a49a2e, 0x2dc0388a, 0xc2a82e4d,
-  0x2db42d74, 0xc2abc4c9, 0x2da82313, 0xc2af5da2,
-  0x2d9c1967, 0xc2b2f8d8, 0x2d901070, 0xc2b6966c,
-  0x2d84082f, 0xc2ba365c, 0x2d7800a5, 0xc2bdd8a9,
-  0x2d6bf9d1, 0xc2c17d52, 0x2d5ff3b5, 0xc2c52459,
-  0x2d53ee51, 0xc2c8cdbb, 0x2d47e9a5, 0xc2cc7979,
-  0x2d3be5b1, 0xc2d02794, 0x2d2fe277, 0xc2d3d80a,
-  0x2d23dff7, 0xc2d78add, 0x2d17de31, 0xc2db400a,
-  0x2d0bdd25, 0xc2def794, 0x2cffdcd4, 0xc2e2b178,
-  0x2cf3dd3f, 0xc2e66db8, 0x2ce7de66, 0xc2ea2c53,
-  0x2cdbe04a, 0xc2eded49, 0x2ccfe2ea, 0xc2f1b099,
-  0x2cc3e648, 0xc2f57644, 0x2cb7ea63, 0xc2f93e4a,
-  0x2cabef3d, 0xc2fd08a9, 0x2c9ff4d6, 0xc300d563,
-  0x2c93fb2e, 0xc304a477, 0x2c880245, 0xc30875e5,
-  0x2c7c0a1d, 0xc30c49ad, 0x2c7012b5, 0xc3101fce,
-  0x2c641c0e, 0xc313f848, 0x2c582629, 0xc317d31c,
-  0x2c4c3106, 0xc31bb049, 0x2c403ca5, 0xc31f8fcf,
-  0x2c344908, 0xc32371ae, 0x2c28562d, 0xc32755e5,
-  0x2c1c6417, 0xc32b3c75, 0x2c1072c4, 0xc32f255e,
-  0x2c048237, 0xc333109e, 0x2bf8926f, 0xc336fe37,
-  0x2beca36c, 0xc33aee27, 0x2be0b52f, 0xc33ee070,
-  0x2bd4c7ba, 0xc342d510, 0x2bc8db0b, 0xc346cc07,
-  0x2bbcef23, 0xc34ac556, 0x2bb10404, 0xc34ec0fc,
-  0x2ba519ad, 0xc352bef9, 0x2b99301f, 0xc356bf4d,
-  0x2b8d475b, 0xc35ac1f7, 0x2b815f60, 0xc35ec6f8,
-  0x2b75782f, 0xc362ce50, 0x2b6991ca, 0xc366d7fd,
-  0x2b5dac2f, 0xc36ae401, 0x2b51c760, 0xc36ef25b,
-  0x2b45e35d, 0xc373030a, 0x2b3a0027, 0xc377160f,
-  0x2b2e1dbe, 0xc37b2b6a, 0x2b223c22, 0xc37f4319,
-  0x2b165b54, 0xc3835d1e, 0x2b0a7b54, 0xc3877978,
-  0x2afe9c24, 0xc38b9827, 0x2af2bdc3, 0xc38fb92a,
-  0x2ae6e031, 0xc393dc82, 0x2adb0370, 0xc398022f,
-  0x2acf277f, 0xc39c2a2f, 0x2ac34c60, 0xc3a05484,
-  0x2ab77212, 0xc3a4812c, 0x2aab9896, 0xc3a8b028,
-  0x2a9fbfed, 0xc3ace178, 0x2a93e817, 0xc3b1151b,
-  0x2a881114, 0xc3b54b11, 0x2a7c3ae5, 0xc3b9835a,
-  0x2a70658a, 0xc3bdbdf6, 0x2a649105, 0xc3c1fae5,
-  0x2a58bd54, 0xc3c63a26, 0x2a4cea79, 0xc3ca7bba,
-  0x2a411874, 0xc3cebfa0, 0x2a354746, 0xc3d305d8,
-  0x2a2976ef, 0xc3d74e62, 0x2a1da770, 0xc3db993e,
-  0x2a11d8c8, 0xc3dfe66c, 0x2a060af9, 0xc3e435ea,
-  0x29fa3e03, 0xc3e887bb, 0x29ee71e6, 0xc3ecdbdc,
-  0x29e2a6a3, 0xc3f1324e, 0x29d6dc3b, 0xc3f58b10,
-  0x29cb12ad, 0xc3f9e624, 0x29bf49fa, 0xc3fe4388,
-  0x29b38223, 0xc402a33c, 0x29a7bb28, 0xc4070540,
-  0x299bf509, 0xc40b6994, 0x29902fc7, 0xc40fd037,
-  0x29846b63, 0xc414392b, 0x2978a7dd, 0xc418a46d,
-  0x296ce535, 0xc41d11ff, 0x2961236c, 0xc42181e0,
-  0x29556282, 0xc425f410, 0x2949a278, 0xc42a688f,
-  0x293de34e, 0xc42edf5c, 0x29322505, 0xc4335877,
-  0x2926679c, 0xc437d3e1, 0x291aab16, 0xc43c5199,
-  0x290eef71, 0xc440d19e, 0x290334af, 0xc44553f2,
-  0x28f77acf, 0xc449d892, 0x28ebc1d3, 0xc44e5f80,
-  0x28e009ba, 0xc452e8bc, 0x28d45286, 0xc4577444,
-  0x28c89c37, 0xc45c0219, 0x28bce6cd, 0xc460923b,
-  0x28b13248, 0xc46524a9, 0x28a57ea9, 0xc469b963,
-  0x2899cbf1, 0xc46e5069, 0x288e1a20, 0xc472e9bc,
-  0x28826936, 0xc477855a, 0x2876b934, 0xc47c2344,
-  0x286b0a1a, 0xc480c379, 0x285f5be9, 0xc48565f9,
-  0x2853aea1, 0xc48a0ac4, 0x28480243, 0xc48eb1db,
-  0x283c56cf, 0xc4935b3c, 0x2830ac45, 0xc49806e7,
-  0x282502a7, 0xc49cb4dd, 0x281959f4, 0xc4a1651c,
-  0x280db22d, 0xc4a617a6, 0x28020b52, 0xc4aacc7a,
-  0x27f66564, 0xc4af8397, 0x27eac063, 0xc4b43cfd,
-  0x27df1c50, 0xc4b8f8ad, 0x27d3792b, 0xc4bdb6a6,
-  0x27c7d6f4, 0xc4c276e8, 0x27bc35ad, 0xc4c73972,
-  0x27b09555, 0xc4cbfe45, 0x27a4f5ed, 0xc4d0c560,
-  0x27995776, 0xc4d58ec3, 0x278db9ef, 0xc4da5a6f,
-  0x27821d59, 0xc4df2862, 0x277681b6, 0xc4e3f89c,
-  0x276ae704, 0xc4e8cb1e, 0x275f4d45, 0xc4ed9fe7,
-  0x2753b479, 0xc4f276f7, 0x27481ca1, 0xc4f7504e,
-  0x273c85bc, 0xc4fc2bec, 0x2730efcc, 0xc50109d0,
-  0x27255ad1, 0xc505e9fb, 0x2719c6cb, 0xc50acc6b,
-  0x270e33bb, 0xc50fb121, 0x2702a1a1, 0xc514981d,
-  0x26f7107e, 0xc519815f, 0x26eb8052, 0xc51e6ce6,
-  0x26dff11d, 0xc5235ab2, 0x26d462e1, 0xc5284ac3,
-  0x26c8d59c, 0xc52d3d18, 0x26bd4951, 0xc53231b3,
-  0x26b1bdff, 0xc5372891, 0x26a633a6, 0xc53c21b4,
-  0x269aaa48, 0xc5411d1b, 0x268f21e5, 0xc5461ac6,
-  0x26839a7c, 0xc54b1ab4, 0x26781410, 0xc5501ce5,
-  0x266c8e9f, 0xc555215a, 0x26610a2a, 0xc55a2812,
-  0x265586b3, 0xc55f310d, 0x264a0438, 0xc5643c4a,
-  0x263e82bc, 0xc56949ca, 0x2633023e, 0xc56e598c,
-  0x262782be, 0xc5736b90, 0x261c043d, 0xc5787fd6,
-  0x261086bc, 0xc57d965d, 0x26050a3b, 0xc582af26,
-  0x25f98ebb, 0xc587ca31, 0x25ee143b, 0xc58ce77c,
-  0x25e29abc, 0xc5920708, 0x25d72240, 0xc59728d5,
-  0x25cbaac5, 0xc59c4ce3, 0x25c0344d, 0xc5a17330,
-  0x25b4bed8, 0xc5a69bbe, 0x25a94a67, 0xc5abc68c,
-  0x259dd6f9, 0xc5b0f399, 0x25926490, 0xc5b622e6,
-  0x2586f32c, 0xc5bb5472, 0x257b82cd, 0xc5c0883d,
-  0x25701374, 0xc5c5be47, 0x2564a521, 0xc5caf690,
-  0x255937d5, 0xc5d03118, 0x254dcb8f, 0xc5d56ddd,
-  0x25426051, 0xc5daace1, 0x2536f61b, 0xc5dfee22,
-  0x252b8cee, 0xc5e531a1, 0x252024c9, 0xc5ea775e,
-  0x2514bdad, 0xc5efbf58, 0x2509579b, 0xc5f5098f,
-  0x24fdf294, 0xc5fa5603, 0x24f28e96, 0xc5ffa4b3,
-  0x24e72ba4, 0xc604f5a0, 0x24dbc9bd, 0xc60a48c9,
-  0x24d068e2, 0xc60f9e2e, 0x24c50914, 0xc614f5cf,
-  0x24b9aa52, 0xc61a4fac, 0x24ae4c9d, 0xc61fabc4,
-  0x24a2eff6, 0xc6250a18, 0x2497945d, 0xc62a6aa6,
-  0x248c39d3, 0xc62fcd6f, 0x2480e057, 0xc6353273,
-  0x247587eb, 0xc63a99b1, 0x246a308f, 0xc6400329,
-  0x245eda43, 0xc6456edb, 0x24538507, 0xc64adcc7,
-  0x244830dd, 0xc6504ced, 0x243cddc4, 0xc655bf4c,
-  0x24318bbe, 0xc65b33e4, 0x24263ac9, 0xc660aab5,
-  0x241aeae8, 0xc66623be, 0x240f9c1a, 0xc66b9f01,
-  0x24044e60, 0xc6711c7b, 0x23f901ba, 0xc6769c2e,
-  0x23edb628, 0xc67c1e18, 0x23e26bac, 0xc681a23a,
-  0x23d72245, 0xc6872894, 0x23cbd9f4, 0xc68cb124,
-  0x23c092b9, 0xc6923bec, 0x23b54c95, 0xc697c8eb,
-  0x23aa0788, 0xc69d5820, 0x239ec393, 0xc6a2e98b,
-  0x239380b6, 0xc6a87d2d, 0x23883ef2, 0xc6ae1304,
-  0x237cfe47, 0xc6b3ab12, 0x2371beb5, 0xc6b94554,
-  0x2366803c, 0xc6bee1cd, 0x235b42df, 0xc6c4807a,
-  0x2350069b, 0xc6ca215c, 0x2344cb73, 0xc6cfc472,
-  0x23399167, 0xc6d569be, 0x232e5876, 0xc6db113d,
-  0x232320a2, 0xc6e0baf0, 0x2317e9eb, 0xc6e666d7,
-  0x230cb451, 0xc6ec14f2, 0x23017fd5, 0xc6f1c540,
-  0x22f64c77, 0xc6f777c1, 0x22eb1a37, 0xc6fd2c75,
-  0x22dfe917, 0xc702e35c, 0x22d4b916, 0xc7089c75,
-  0x22c98a35, 0xc70e57c0, 0x22be5c74, 0xc714153e,
-  0x22b32fd4, 0xc719d4ed, 0x22a80456, 0xc71f96ce,
-  0x229cd9f8, 0xc7255ae0, 0x2291b0bd, 0xc72b2123,
-  0x228688a4, 0xc730e997, 0x227b61af, 0xc736b43c,
-  0x22703bdc, 0xc73c8111, 0x2265172e, 0xc7425016,
-  0x2259f3a3, 0xc748214c, 0x224ed13d, 0xc74df4b1,
-  0x2243affc, 0xc753ca46, 0x22388fe1, 0xc759a20a,
-  0x222d70eb, 0xc75f7bfe, 0x2222531c, 0xc7655820,
-  0x22173674, 0xc76b3671, 0x220c1af3, 0xc77116f0,
-  0x22010099, 0xc776f99d, 0x21f5e768, 0xc77cde79,
-  0x21eacf5f, 0xc782c582, 0x21dfb87f, 0xc788aeb9,
-  0x21d4a2c8, 0xc78e9a1d, 0x21c98e3b, 0xc79487ae,
-  0x21be7ad8, 0xc79a776c, 0x21b368a0, 0xc7a06957,
-  0x21a85793, 0xc7a65d6e, 0x219d47b1, 0xc7ac53b1,
-  0x219238fb, 0xc7b24c20, 0x21872b72, 0xc7b846ba,
-  0x217c1f15, 0xc7be4381, 0x217113e5, 0xc7c44272,
-  0x216609e3, 0xc7ca438f, 0x215b0110, 0xc7d046d6,
-  0x214ff96a, 0xc7d64c47, 0x2144f2f3, 0xc7dc53e3,
-  0x2139edac, 0xc7e25daa, 0x212ee995, 0xc7e8699a,
-  0x2123e6ad, 0xc7ee77b3, 0x2118e4f6, 0xc7f487f6,
-  0x210de470, 0xc7fa9a62, 0x2102e51c, 0xc800aef7,
-  0x20f7e6f9, 0xc806c5b5, 0x20ecea09, 0xc80cde9b,
-  0x20e1ee4b, 0xc812f9a9, 0x20d6f3c1, 0xc81916df,
-  0x20cbfa6a, 0xc81f363d, 0x20c10247, 0xc82557c3,
-  0x20b60b58, 0xc82b7b70, 0x20ab159e, 0xc831a143,
-  0x20a0211a, 0xc837c93e, 0x20952dcb, 0xc83df35f,
-  0x208a3bb2, 0xc8441fa6, 0x207f4acf, 0xc84a4e14,
-  0x20745b24, 0xc8507ea7, 0x20696cb0, 0xc856b160,
-  0x205e7f74, 0xc85ce63e, 0x2053936f, 0xc8631d42,
-  0x2048a8a4, 0xc869566a, 0x203dbf11, 0xc86f91b7,
-  0x2032d6b8, 0xc875cf28, 0x2027ef99, 0xc87c0ebd,
-  0x201d09b4, 0xc8825077, 0x2012250a, 0xc8889454,
-  0x2007419b, 0xc88eda54, 0x1ffc5f67, 0xc8952278,
-  0x1ff17e70, 0xc89b6cbf, 0x1fe69eb4, 0xc8a1b928,
-  0x1fdbc036, 0xc8a807b4, 0x1fd0e2f5, 0xc8ae5862,
-  0x1fc606f1, 0xc8b4ab32, 0x1fbb2c2c, 0xc8bb0023,
-  0x1fb052a5, 0xc8c15736, 0x1fa57a5d, 0xc8c7b06b,
-  0x1f9aa354, 0xc8ce0bc0, 0x1f8fcd8b, 0xc8d46936,
-  0x1f84f902, 0xc8dac8cd, 0x1f7a25ba, 0xc8e12a84,
-  0x1f6f53b3, 0xc8e78e5b, 0x1f6482ed, 0xc8edf452,
-  0x1f59b369, 0xc8f45c68, 0x1f4ee527, 0xc8fac69e,
-  0x1f441828, 0xc90132f2, 0x1f394c6b, 0xc907a166,
-  0x1f2e81f3, 0xc90e11f7, 0x1f23b8be, 0xc91484a8,
-  0x1f18f0ce, 0xc91af976, 0x1f0e2a22, 0xc9217062,
-  0x1f0364bc, 0xc927e96b, 0x1ef8a09b, 0xc92e6492,
-  0x1eedddc0, 0xc934e1d6, 0x1ee31c2b, 0xc93b6137,
-  0x1ed85bdd, 0xc941e2b4, 0x1ecd9cd7, 0xc948664d,
-  0x1ec2df18, 0xc94eec03, 0x1eb822a1, 0xc95573d4,
-  0x1ead6773, 0xc95bfdc1, 0x1ea2ad8d, 0xc96289c9,
-  0x1e97f4f1, 0xc96917ec, 0x1e8d3d9e, 0xc96fa82a,
-  0x1e828796, 0xc9763a83, 0x1e77d2d8, 0xc97ccef5,
-  0x1e6d1f65, 0xc9836582, 0x1e626d3e, 0xc989fe29,
-  0x1e57bc62, 0xc99098e9, 0x1e4d0cd2, 0xc99735c2,
-  0x1e425e8f, 0xc99dd4b4, 0x1e37b199, 0xc9a475bf,
-  0x1e2d05f1, 0xc9ab18e3, 0x1e225b96, 0xc9b1be1e,
-  0x1e17b28a, 0xc9b86572, 0x1e0d0acc, 0xc9bf0edd,
-  0x1e02645d, 0xc9c5ba60, 0x1df7bf3e, 0xc9cc67fa,
-  0x1ded1b6e, 0xc9d317ab, 0x1de278ef, 0xc9d9c973,
-  0x1dd7d7c1, 0xc9e07d51, 0x1dcd37e4, 0xc9e73346,
-  0x1dc29958, 0xc9edeb50, 0x1db7fc1e, 0xc9f4a570,
-  0x1dad6036, 0xc9fb61a5, 0x1da2c5a2, 0xca021fef,
-  0x1d982c60, 0xca08e04f, 0x1d8d9472, 0xca0fa2c3,
-  0x1d82fdd8, 0xca16674b, 0x1d786892, 0xca1d2de7,
-  0x1d6dd4a2, 0xca23f698, 0x1d634206, 0xca2ac15b,
-  0x1d58b0c0, 0xca318e32, 0x1d4e20d0, 0xca385d1d,
-  0x1d439236, 0xca3f2e19, 0x1d3904f4, 0xca460129,
-  0x1d2e7908, 0xca4cd64b, 0x1d23ee74, 0xca53ad7e,
-  0x1d196538, 0xca5a86c4, 0x1d0edd55, 0xca61621b,
-  0x1d0456ca, 0xca683f83, 0x1cf9d199, 0xca6f1efc,
-  0x1cef4dc2, 0xca760086, 0x1ce4cb44, 0xca7ce420,
-  0x1cda4a21, 0xca83c9ca, 0x1ccfca59, 0xca8ab184,
-  0x1cc54bec, 0xca919b4e, 0x1cbacedb, 0xca988727,
-  0x1cb05326, 0xca9f750f, 0x1ca5d8cd, 0xcaa66506,
-  0x1c9b5fd2, 0xcaad570c, 0x1c90e834, 0xcab44b1f,
-  0x1c8671f3, 0xcabb4141, 0x1c7bfd11, 0xcac23971,
-  0x1c71898d, 0xcac933ae, 0x1c671768, 0xcad02ff8,
-  0x1c5ca6a2, 0xcad72e4f, 0x1c52373c, 0xcade2eb3,
-  0x1c47c936, 0xcae53123, 0x1c3d5c91, 0xcaec35a0,
-  0x1c32f14d, 0xcaf33c28, 0x1c28876a, 0xcafa44bc,
-  0x1c1e1ee9, 0xcb014f5b, 0x1c13b7c9, 0xcb085c05,
-  0x1c09520d, 0xcb0f6aba, 0x1bfeedb3, 0xcb167b79,
-  0x1bf48abd, 0xcb1d8e43, 0x1bea292b, 0xcb24a316,
-  0x1bdfc8fc, 0xcb2bb9f4, 0x1bd56a32, 0xcb32d2da,
-  0x1bcb0cce, 0xcb39edca, 0x1bc0b0ce, 0xcb410ac3,
-  0x1bb65634, 0xcb4829c4, 0x1babfd01, 0xcb4f4acd,
-  0x1ba1a534, 0xcb566ddf, 0x1b974ece, 0xcb5d92f8,
-  0x1b8cf9cf, 0xcb64ba19, 0x1b82a638, 0xcb6be341,
-  0x1b785409, 0xcb730e70, 0x1b6e0342, 0xcb7a3ba5,
-  0x1b63b3e5, 0xcb816ae1, 0x1b5965f1, 0xcb889c23,
-  0x1b4f1967, 0xcb8fcf6b, 0x1b44ce46, 0xcb9704b9,
-  0x1b3a8491, 0xcb9e3c0b, 0x1b303c46, 0xcba57563,
-  0x1b25f566, 0xcbacb0bf, 0x1b1baff2, 0xcbb3ee20,
-  0x1b116beb, 0xcbbb2d85, 0x1b072950, 0xcbc26eee,
-  0x1afce821, 0xcbc9b25a, 0x1af2a860, 0xcbd0f7ca,
-  0x1ae86a0d, 0xcbd83f3d, 0x1ade2d28, 0xcbdf88b3,
-  0x1ad3f1b1, 0xcbe6d42b, 0x1ac9b7a9, 0xcbee21a5,
-  0x1abf7f11, 0xcbf57121, 0x1ab547e8, 0xcbfcc29f,
-  0x1aab122f, 0xcc04161e, 0x1aa0dde7, 0xcc0b6b9e,
-  0x1a96ab0f, 0xcc12c31f, 0x1a8c79a9, 0xcc1a1ca0,
-  0x1a8249b4, 0xcc217822, 0x1a781b31, 0xcc28d5a3,
-  0x1a6dee21, 0xcc303524, 0x1a63c284, 0xcc3796a5,
-  0x1a599859, 0xcc3efa25, 0x1a4f6fa3, 0xcc465fa3,
-  0x1a454860, 0xcc4dc720, 0x1a3b2292, 0xcc55309b,
-  0x1a30fe38, 0xcc5c9c14, 0x1a26db54, 0xcc64098b,
-  0x1a1cb9e5, 0xcc6b78ff, 0x1a1299ec, 0xcc72ea70,
-  0x1a087b69, 0xcc7a5dde, 0x19fe5e5e, 0xcc81d349,
-  0x19f442c9, 0xcc894aaf, 0x19ea28ac, 0xcc90c412,
-  0x19e01006, 0xcc983f70, 0x19d5f8d9, 0xcc9fbcca,
-  0x19cbe325, 0xcca73c1e, 0x19c1cee9, 0xccaebd6e,
-  0x19b7bc27, 0xccb640b8, 0x19adaadf, 0xccbdc5fc,
-  0x19a39b11, 0xccc54d3a, 0x19998cbe, 0xccccd671,
-  0x198f7fe6, 0xccd461a2, 0x19857489, 0xccdbeecc,
-  0x197b6aa8, 0xcce37def, 0x19716243, 0xcceb0f0a,
-  0x19675b5a, 0xccf2a21d, 0x195d55ef, 0xccfa3729,
-  0x19535201, 0xcd01ce2b, 0x19494f90, 0xcd096725,
-  0x193f4e9e, 0xcd110216, 0x19354f2a, 0xcd189efe,
-  0x192b5135, 0xcd203ddc, 0x192154bf, 0xcd27deb0,
-  0x191759c9, 0xcd2f817b, 0x190d6053, 0xcd37263a,
-  0x1903685d, 0xcd3eccef, 0x18f971e8, 0xcd467599,
-  0x18ef7cf4, 0xcd4e2037, 0x18e58982, 0xcd55ccca,
-  0x18db9792, 0xcd5d7b50, 0x18d1a724, 0xcd652bcb,
-  0x18c7b838, 0xcd6cde39, 0x18bdcad0, 0xcd74929a,
-  0x18b3deeb, 0xcd7c48ee, 0x18a9f48a, 0xcd840134,
-  0x18a00bae, 0xcd8bbb6d, 0x18962456, 0xcd937798,
-  0x188c3e83, 0xcd9b35b4, 0x18825a35, 0xcda2f5c2,
-  0x1878776d, 0xcdaab7c0, 0x186e962b, 0xcdb27bb0,
-  0x1864b670, 0xcdba4190, 0x185ad83c, 0xcdc20960,
-  0x1850fb8e, 0xcdc9d320, 0x18472069, 0xcdd19ed0,
-  0x183d46cc, 0xcdd96c6f, 0x18336eb7, 0xcde13bfd,
-  0x1829982b, 0xcde90d79, 0x181fc328, 0xcdf0e0e4,
-  0x1815efae, 0xcdf8b63d, 0x180c1dbf, 0xce008d84,
-  0x18024d59, 0xce0866b8, 0x17f87e7f, 0xce1041d9,
-  0x17eeb130, 0xce181ee8, 0x17e4e56c, 0xce1ffde2,
-  0x17db1b34, 0xce27dec9, 0x17d15288, 0xce2fc19c,
-  0x17c78b68, 0xce37a65b, 0x17bdc5d6, 0xce3f8d05,
-  0x17b401d1, 0xce47759a, 0x17aa3f5a, 0xce4f6019,
-  0x17a07e70, 0xce574c84, 0x1796bf16, 0xce5f3ad8,
-  0x178d014a, 0xce672b16, 0x1783450d, 0xce6f1d3d,
-  0x17798a60, 0xce77114e, 0x176fd143, 0xce7f0748,
-  0x176619b6, 0xce86ff2a, 0x175c63ba, 0xce8ef8f4,
-  0x1752af4f, 0xce96f4a7, 0x1748fc75, 0xce9ef241,
-  0x173f4b2e, 0xcea6f1c2, 0x17359b78, 0xceaef32b,
-  0x172bed55, 0xceb6f67a, 0x172240c5, 0xcebefbb0,
-  0x171895c9, 0xcec702cb, 0x170eec60, 0xcecf0bcd,
-  0x1705448b, 0xced716b4, 0x16fb9e4b, 0xcedf2380,
-  0x16f1f99f, 0xcee73231, 0x16e85689, 0xceef42c7,
-  0x16deb508, 0xcef75541, 0x16d5151d, 0xceff699f,
-  0x16cb76c9, 0xcf077fe1, 0x16c1da0b, 0xcf0f9805,
-  0x16b83ee4, 0xcf17b20d, 0x16aea555, 0xcf1fcdf8,
-  0x16a50d5d, 0xcf27ebc5, 0x169b76fe, 0xcf300b74,
-  0x1691e237, 0xcf382d05, 0x16884f09, 0xcf405077,
-  0x167ebd74, 0xcf4875ca, 0x16752d79, 0xcf509cfe,
-  0x166b9f18, 0xcf58c613, 0x16621251, 0xcf60f108,
-  0x16588725, 0xcf691ddd, 0x164efd94, 0xcf714c91,
-  0x1645759f, 0xcf797d24, 0x163bef46, 0xcf81af97,
-  0x16326a88, 0xcf89e3e8, 0x1628e767, 0xcf921a17,
-  0x161f65e4, 0xcf9a5225, 0x1615e5fd, 0xcfa28c10,
-  0x160c67b4, 0xcfaac7d8, 0x1602eb0a, 0xcfb3057d,
-  0x15f96ffd, 0xcfbb4500, 0x15eff690, 0xcfc3865e,
-  0x15e67ec1, 0xcfcbc999, 0x15dd0892, 0xcfd40eaf,
-  0x15d39403, 0xcfdc55a1, 0x15ca2115, 0xcfe49e6d,
-  0x15c0afc6, 0xcfece915, 0x15b74019, 0xcff53597,
-  0x15add20d, 0xcffd83f4, 0x15a465a3, 0xd005d42a,
-  0x159afadb, 0xd00e2639, 0x159191b5, 0xd0167a22,
-  0x15882a32, 0xd01ecfe4, 0x157ec452, 0xd027277e,
-  0x15756016, 0xd02f80f1, 0x156bfd7d, 0xd037dc3b,
-  0x15629c89, 0xd040395d, 0x15593d3a, 0xd0489856,
-  0x154fdf8f, 0xd050f926, 0x15468389, 0xd0595bcd,
-  0x153d292a, 0xd061c04a, 0x1533d070, 0xd06a269d,
-  0x152a795d, 0xd0728ec6, 0x152123f0, 0xd07af8c4,
-  0x1517d02b, 0xd0836497, 0x150e7e0d, 0xd08bd23f,
-  0x15052d97, 0xd09441bb, 0x14fbdec9, 0xd09cb30b,
-  0x14f291a4, 0xd0a5262f, 0x14e94627, 0xd0ad9b26,
-  0x14dffc54, 0xd0b611f1, 0x14d6b42b, 0xd0be8a8d,
-  0x14cd6dab, 0xd0c704fd, 0x14c428d6, 0xd0cf813e,
-  0x14bae5ab, 0xd0d7ff51, 0x14b1a42c, 0xd0e07f36,
-  0x14a86458, 0xd0e900ec, 0x149f2630, 0xd0f18472,
-  0x1495e9b3, 0xd0fa09c9, 0x148caee4, 0xd10290f0,
-  0x148375c1, 0xd10b19e7, 0x147a3e4b, 0xd113a4ad,
-  0x14710883, 0xd11c3142, 0x1467d469, 0xd124bfa6,
-  0x145ea1fd, 0xd12d4fd9, 0x14557140, 0xd135e1d9,
-  0x144c4232, 0xd13e75a8, 0x144314d3, 0xd1470b44,
-  0x1439e923, 0xd14fa2ad, 0x1430bf24, 0xd1583be2,
-  0x142796d5, 0xd160d6e5, 0x141e7037, 0xd16973b3,
-  0x14154b4a, 0xd172124d, 0x140c280e, 0xd17ab2b3,
-  0x14030684, 0xd18354e4, 0x13f9e6ad, 0xd18bf8e0,
-  0x13f0c887, 0xd1949ea6, 0x13e7ac15, 0xd19d4636,
-  0x13de9156, 0xd1a5ef90, 0x13d5784a, 0xd1ae9ab4,
-  0x13cc60f2, 0xd1b747a0, 0x13c34b4f, 0xd1bff656,
-  0x13ba3760, 0xd1c8a6d4, 0x13b12526, 0xd1d1591a,
-  0x13a814a2, 0xd1da0d28, 0x139f05d3, 0xd1e2c2fd,
-  0x1395f8ba, 0xd1eb7a9a, 0x138ced57, 0xd1f433fd,
-  0x1383e3ab, 0xd1fcef27, 0x137adbb6, 0xd205ac17,
-  0x1371d579, 0xd20e6acc, 0x1368d0f3, 0xd2172b48,
-  0x135fce26, 0xd21fed88, 0x1356cd11, 0xd228b18d,
-  0x134dcdb4, 0xd2317756, 0x1344d011, 0xd23a3ee4,
-  0x133bd427, 0xd2430835, 0x1332d9f7, 0xd24bd34a,
-  0x1329e181, 0xd254a021, 0x1320eac6, 0xd25d6ebc,
-  0x1317f5c6, 0xd2663f19, 0x130f0280, 0xd26f1138,
-  0x130610f7, 0xd277e518, 0x12fd2129, 0xd280babb,
-  0x12f43318, 0xd289921e, 0x12eb46c3, 0xd2926b41,
-  0x12e25c2b, 0xd29b4626, 0x12d97350, 0xd2a422ca,
-  0x12d08c33, 0xd2ad012e, 0x12c7a6d4, 0xd2b5e151,
-  0x12bec333, 0xd2bec333, 0x12b5e151, 0xd2c7a6d4,
-  0x12ad012e, 0xd2d08c33, 0x12a422ca, 0xd2d97350,
-  0x129b4626, 0xd2e25c2b, 0x12926b41, 0xd2eb46c3,
-  0x1289921e, 0xd2f43318, 0x1280babb, 0xd2fd2129,
-  0x1277e518, 0xd30610f7, 0x126f1138, 0xd30f0280,
-  0x12663f19, 0xd317f5c6, 0x125d6ebc, 0xd320eac6,
-  0x1254a021, 0xd329e181, 0x124bd34a, 0xd332d9f7,
-  0x12430835, 0xd33bd427, 0x123a3ee4, 0xd344d011,
-  0x12317756, 0xd34dcdb4, 0x1228b18d, 0xd356cd11,
-  0x121fed88, 0xd35fce26, 0x12172b48, 0xd368d0f3,
-  0x120e6acc, 0xd371d579, 0x1205ac17, 0xd37adbb6,
-  0x11fcef27, 0xd383e3ab, 0x11f433fd, 0xd38ced57,
-  0x11eb7a9a, 0xd395f8ba, 0x11e2c2fd, 0xd39f05d3,
-  0x11da0d28, 0xd3a814a2, 0x11d1591a, 0xd3b12526,
-  0x11c8a6d4, 0xd3ba3760, 0x11bff656, 0xd3c34b4f,
-  0x11b747a0, 0xd3cc60f2, 0x11ae9ab4, 0xd3d5784a,
-  0x11a5ef90, 0xd3de9156, 0x119d4636, 0xd3e7ac15,
-  0x11949ea6, 0xd3f0c887, 0x118bf8e0, 0xd3f9e6ad,
-  0x118354e4, 0xd4030684, 0x117ab2b3, 0xd40c280e,
-  0x1172124d, 0xd4154b4a, 0x116973b3, 0xd41e7037,
-  0x1160d6e5, 0xd42796d5, 0x11583be2, 0xd430bf24,
-  0x114fa2ad, 0xd439e923, 0x11470b44, 0xd44314d3,
-  0x113e75a8, 0xd44c4232, 0x1135e1d9, 0xd4557140,
-  0x112d4fd9, 0xd45ea1fd, 0x1124bfa6, 0xd467d469,
-  0x111c3142, 0xd4710883, 0x1113a4ad, 0xd47a3e4b,
-  0x110b19e7, 0xd48375c1, 0x110290f0, 0xd48caee4,
-  0x10fa09c9, 0xd495e9b3, 0x10f18472, 0xd49f2630,
-  0x10e900ec, 0xd4a86458, 0x10e07f36, 0xd4b1a42c,
-  0x10d7ff51, 0xd4bae5ab, 0x10cf813e, 0xd4c428d6,
-  0x10c704fd, 0xd4cd6dab, 0x10be8a8d, 0xd4d6b42b,
-  0x10b611f1, 0xd4dffc54, 0x10ad9b26, 0xd4e94627,
-  0x10a5262f, 0xd4f291a4, 0x109cb30b, 0xd4fbdec9,
-  0x109441bb, 0xd5052d97, 0x108bd23f, 0xd50e7e0d,
-  0x10836497, 0xd517d02b, 0x107af8c4, 0xd52123f0,
-  0x10728ec6, 0xd52a795d, 0x106a269d, 0xd533d070,
-  0x1061c04a, 0xd53d292a, 0x10595bcd, 0xd5468389,
-  0x1050f926, 0xd54fdf8f, 0x10489856, 0xd5593d3a,
-  0x1040395d, 0xd5629c89, 0x1037dc3b, 0xd56bfd7d,
-  0x102f80f1, 0xd5756016, 0x1027277e, 0xd57ec452,
-  0x101ecfe4, 0xd5882a32, 0x10167a22, 0xd59191b5,
-  0x100e2639, 0xd59afadb, 0x1005d42a, 0xd5a465a3,
-  0xffd83f4, 0xd5add20d, 0xff53597, 0xd5b74019,
-  0xfece915, 0xd5c0afc6, 0xfe49e6d, 0xd5ca2115,
-  0xfdc55a1, 0xd5d39403, 0xfd40eaf, 0xd5dd0892,
-  0xfcbc999, 0xd5e67ec1, 0xfc3865e, 0xd5eff690,
-  0xfbb4500, 0xd5f96ffd, 0xfb3057d, 0xd602eb0a,
-  0xfaac7d8, 0xd60c67b4, 0xfa28c10, 0xd615e5fd,
-  0xf9a5225, 0xd61f65e4, 0xf921a17, 0xd628e767,
-  0xf89e3e8, 0xd6326a88, 0xf81af97, 0xd63bef46,
-  0xf797d24, 0xd645759f, 0xf714c91, 0xd64efd94,
-  0xf691ddd, 0xd6588725, 0xf60f108, 0xd6621251,
-  0xf58c613, 0xd66b9f18, 0xf509cfe, 0xd6752d79,
-  0xf4875ca, 0xd67ebd74, 0xf405077, 0xd6884f09,
-  0xf382d05, 0xd691e237, 0xf300b74, 0xd69b76fe,
-  0xf27ebc5, 0xd6a50d5d, 0xf1fcdf8, 0xd6aea555,
-  0xf17b20d, 0xd6b83ee4, 0xf0f9805, 0xd6c1da0b,
-  0xf077fe1, 0xd6cb76c9, 0xeff699f, 0xd6d5151d,
-  0xef75541, 0xd6deb508, 0xeef42c7, 0xd6e85689,
-  0xee73231, 0xd6f1f99f, 0xedf2380, 0xd6fb9e4b,
-  0xed716b4, 0xd705448b, 0xecf0bcd, 0xd70eec60,
-  0xec702cb, 0xd71895c9, 0xebefbb0, 0xd72240c5,
-  0xeb6f67a, 0xd72bed55, 0xeaef32b, 0xd7359b78,
-  0xea6f1c2, 0xd73f4b2e, 0xe9ef241, 0xd748fc75,
-  0xe96f4a7, 0xd752af4f, 0xe8ef8f4, 0xd75c63ba,
-  0xe86ff2a, 0xd76619b6, 0xe7f0748, 0xd76fd143,
-  0xe77114e, 0xd7798a60, 0xe6f1d3d, 0xd783450d,
-  0xe672b16, 0xd78d014a, 0xe5f3ad8, 0xd796bf16,
-  0xe574c84, 0xd7a07e70, 0xe4f6019, 0xd7aa3f5a,
-  0xe47759a, 0xd7b401d1, 0xe3f8d05, 0xd7bdc5d6,
-  0xe37a65b, 0xd7c78b68, 0xe2fc19c, 0xd7d15288,
-  0xe27dec9, 0xd7db1b34, 0xe1ffde2, 0xd7e4e56c,
-  0xe181ee8, 0xd7eeb130, 0xe1041d9, 0xd7f87e7f,
-  0xe0866b8, 0xd8024d59, 0xe008d84, 0xd80c1dbf,
-  0xdf8b63d, 0xd815efae, 0xdf0e0e4, 0xd81fc328,
-  0xde90d79, 0xd829982b, 0xde13bfd, 0xd8336eb7,
-  0xdd96c6f, 0xd83d46cc, 0xdd19ed0, 0xd8472069,
-  0xdc9d320, 0xd850fb8e, 0xdc20960, 0xd85ad83c,
-  0xdba4190, 0xd864b670, 0xdb27bb0, 0xd86e962b,
-  0xdaab7c0, 0xd878776d, 0xda2f5c2, 0xd8825a35,
-  0xd9b35b4, 0xd88c3e83, 0xd937798, 0xd8962456,
-  0xd8bbb6d, 0xd8a00bae, 0xd840134, 0xd8a9f48a,
-  0xd7c48ee, 0xd8b3deeb, 0xd74929a, 0xd8bdcad0,
-  0xd6cde39, 0xd8c7b838, 0xd652bcb, 0xd8d1a724,
-  0xd5d7b50, 0xd8db9792, 0xd55ccca, 0xd8e58982,
-  0xd4e2037, 0xd8ef7cf4, 0xd467599, 0xd8f971e8,
-  0xd3eccef, 0xd903685d, 0xd37263a, 0xd90d6053,
-  0xd2f817b, 0xd91759c9, 0xd27deb0, 0xd92154bf,
-  0xd203ddc, 0xd92b5135, 0xd189efe, 0xd9354f2a,
-  0xd110216, 0xd93f4e9e, 0xd096725, 0xd9494f90,
-  0xd01ce2b, 0xd9535201, 0xcfa3729, 0xd95d55ef,
-  0xcf2a21d, 0xd9675b5a, 0xceb0f0a, 0xd9716243,
-  0xce37def, 0xd97b6aa8, 0xcdbeecc, 0xd9857489,
-  0xcd461a2, 0xd98f7fe6, 0xcccd671, 0xd9998cbe,
-  0xcc54d3a, 0xd9a39b11, 0xcbdc5fc, 0xd9adaadf,
-  0xcb640b8, 0xd9b7bc27, 0xcaebd6e, 0xd9c1cee9,
-  0xca73c1e, 0xd9cbe325, 0xc9fbcca, 0xd9d5f8d9,
-  0xc983f70, 0xd9e01006, 0xc90c412, 0xd9ea28ac,
-  0xc894aaf, 0xd9f442c9, 0xc81d349, 0xd9fe5e5e,
-  0xc7a5dde, 0xda087b69, 0xc72ea70, 0xda1299ec,
-  0xc6b78ff, 0xda1cb9e5, 0xc64098b, 0xda26db54,
-  0xc5c9c14, 0xda30fe38, 0xc55309b, 0xda3b2292,
-  0xc4dc720, 0xda454860, 0xc465fa3, 0xda4f6fa3,
-  0xc3efa25, 0xda599859, 0xc3796a5, 0xda63c284,
-  0xc303524, 0xda6dee21, 0xc28d5a3, 0xda781b31,
-  0xc217822, 0xda8249b4, 0xc1a1ca0, 0xda8c79a9,
-  0xc12c31f, 0xda96ab0f, 0xc0b6b9e, 0xdaa0dde7,
-  0xc04161e, 0xdaab122f, 0xbfcc29f, 0xdab547e8,
-  0xbf57121, 0xdabf7f11, 0xbee21a5, 0xdac9b7a9,
-  0xbe6d42b, 0xdad3f1b1, 0xbdf88b3, 0xdade2d28,
-  0xbd83f3d, 0xdae86a0d, 0xbd0f7ca, 0xdaf2a860,
-  0xbc9b25a, 0xdafce821, 0xbc26eee, 0xdb072950,
-  0xbbb2d85, 0xdb116beb, 0xbb3ee20, 0xdb1baff2,
-  0xbacb0bf, 0xdb25f566, 0xba57563, 0xdb303c46,
-  0xb9e3c0b, 0xdb3a8491, 0xb9704b9, 0xdb44ce46,
-  0xb8fcf6b, 0xdb4f1967, 0xb889c23, 0xdb5965f1,
-  0xb816ae1, 0xdb63b3e5, 0xb7a3ba5, 0xdb6e0342,
-  0xb730e70, 0xdb785409, 0xb6be341, 0xdb82a638,
-  0xb64ba19, 0xdb8cf9cf, 0xb5d92f8, 0xdb974ece,
-  0xb566ddf, 0xdba1a534, 0xb4f4acd, 0xdbabfd01,
-  0xb4829c4, 0xdbb65634, 0xb410ac3, 0xdbc0b0ce,
-  0xb39edca, 0xdbcb0cce, 0xb32d2da, 0xdbd56a32,
-  0xb2bb9f4, 0xdbdfc8fc, 0xb24a316, 0xdbea292b,
-  0xb1d8e43, 0xdbf48abd, 0xb167b79, 0xdbfeedb3,
-  0xb0f6aba, 0xdc09520d, 0xb085c05, 0xdc13b7c9,
-  0xb014f5b, 0xdc1e1ee9, 0xafa44bc, 0xdc28876a,
-  0xaf33c28, 0xdc32f14d, 0xaec35a0, 0xdc3d5c91,
-  0xae53123, 0xdc47c936, 0xade2eb3, 0xdc52373c,
-  0xad72e4f, 0xdc5ca6a2, 0xad02ff8, 0xdc671768,
-  0xac933ae, 0xdc71898d, 0xac23971, 0xdc7bfd11,
-  0xabb4141, 0xdc8671f3, 0xab44b1f, 0xdc90e834,
-  0xaad570c, 0xdc9b5fd2, 0xaa66506, 0xdca5d8cd,
-  0xa9f750f, 0xdcb05326, 0xa988727, 0xdcbacedb,
-  0xa919b4e, 0xdcc54bec, 0xa8ab184, 0xdccfca59,
-  0xa83c9ca, 0xdcda4a21, 0xa7ce420, 0xdce4cb44,
-  0xa760086, 0xdcef4dc2, 0xa6f1efc, 0xdcf9d199,
-  0xa683f83, 0xdd0456ca, 0xa61621b, 0xdd0edd55,
-  0xa5a86c4, 0xdd196538, 0xa53ad7e, 0xdd23ee74,
-  0xa4cd64b, 0xdd2e7908, 0xa460129, 0xdd3904f4,
-  0xa3f2e19, 0xdd439236, 0xa385d1d, 0xdd4e20d0,
-  0xa318e32, 0xdd58b0c0, 0xa2ac15b, 0xdd634206,
-  0xa23f698, 0xdd6dd4a2, 0xa1d2de7, 0xdd786892,
-  0xa16674b, 0xdd82fdd8, 0xa0fa2c3, 0xdd8d9472,
-  0xa08e04f, 0xdd982c60, 0xa021fef, 0xdda2c5a2,
-  0x9fb61a5, 0xddad6036, 0x9f4a570, 0xddb7fc1e,
-  0x9edeb50, 0xddc29958, 0x9e73346, 0xddcd37e4,
-  0x9e07d51, 0xddd7d7c1, 0x9d9c973, 0xdde278ef,
-  0x9d317ab, 0xdded1b6e, 0x9cc67fa, 0xddf7bf3e,
-  0x9c5ba60, 0xde02645d, 0x9bf0edd, 0xde0d0acc,
-  0x9b86572, 0xde17b28a, 0x9b1be1e, 0xde225b96,
-  0x9ab18e3, 0xde2d05f1, 0x9a475bf, 0xde37b199,
-  0x99dd4b4, 0xde425e8f, 0x99735c2, 0xde4d0cd2,
-  0x99098e9, 0xde57bc62, 0x989fe29, 0xde626d3e,
-  0x9836582, 0xde6d1f65, 0x97ccef5, 0xde77d2d8,
-  0x9763a83, 0xde828796, 0x96fa82a, 0xde8d3d9e,
-  0x96917ec, 0xde97f4f1, 0x96289c9, 0xdea2ad8d,
-  0x95bfdc1, 0xdead6773, 0x95573d4, 0xdeb822a1,
-  0x94eec03, 0xdec2df18, 0x948664d, 0xdecd9cd7,
-  0x941e2b4, 0xded85bdd, 0x93b6137, 0xdee31c2b,
-  0x934e1d6, 0xdeedddc0, 0x92e6492, 0xdef8a09b,
-  0x927e96b, 0xdf0364bc, 0x9217062, 0xdf0e2a22,
-  0x91af976, 0xdf18f0ce, 0x91484a8, 0xdf23b8be,
-  0x90e11f7, 0xdf2e81f3, 0x907a166, 0xdf394c6b,
-  0x90132f2, 0xdf441828, 0x8fac69e, 0xdf4ee527,
-  0x8f45c68, 0xdf59b369, 0x8edf452, 0xdf6482ed,
-  0x8e78e5b, 0xdf6f53b3, 0x8e12a84, 0xdf7a25ba,
-  0x8dac8cd, 0xdf84f902, 0x8d46936, 0xdf8fcd8b,
-  0x8ce0bc0, 0xdf9aa354, 0x8c7b06b, 0xdfa57a5d,
-  0x8c15736, 0xdfb052a5, 0x8bb0023, 0xdfbb2c2c,
-  0x8b4ab32, 0xdfc606f1, 0x8ae5862, 0xdfd0e2f5,
-  0x8a807b4, 0xdfdbc036, 0x8a1b928, 0xdfe69eb4,
-  0x89b6cbf, 0xdff17e70, 0x8952278, 0xdffc5f67,
-  0x88eda54, 0xe007419b, 0x8889454, 0xe012250a,
-  0x8825077, 0xe01d09b4, 0x87c0ebd, 0xe027ef99,
-  0x875cf28, 0xe032d6b8, 0x86f91b7, 0xe03dbf11,
-  0x869566a, 0xe048a8a4, 0x8631d42, 0xe053936f,
-  0x85ce63e, 0xe05e7f74, 0x856b160, 0xe0696cb0,
-  0x8507ea7, 0xe0745b24, 0x84a4e14, 0xe07f4acf,
-  0x8441fa6, 0xe08a3bb2, 0x83df35f, 0xe0952dcb,
-  0x837c93e, 0xe0a0211a, 0x831a143, 0xe0ab159e,
-  0x82b7b70, 0xe0b60b58, 0x82557c3, 0xe0c10247,
-  0x81f363d, 0xe0cbfa6a, 0x81916df, 0xe0d6f3c1,
-  0x812f9a9, 0xe0e1ee4b, 0x80cde9b, 0xe0ecea09,
-  0x806c5b5, 0xe0f7e6f9, 0x800aef7, 0xe102e51c,
-  0x7fa9a62, 0xe10de470, 0x7f487f6, 0xe118e4f6,
-  0x7ee77b3, 0xe123e6ad, 0x7e8699a, 0xe12ee995,
-  0x7e25daa, 0xe139edac, 0x7dc53e3, 0xe144f2f3,
-  0x7d64c47, 0xe14ff96a, 0x7d046d6, 0xe15b0110,
-  0x7ca438f, 0xe16609e3, 0x7c44272, 0xe17113e5,
-  0x7be4381, 0xe17c1f15, 0x7b846ba, 0xe1872b72,
-  0x7b24c20, 0xe19238fb, 0x7ac53b1, 0xe19d47b1,
-  0x7a65d6e, 0xe1a85793, 0x7a06957, 0xe1b368a0,
-  0x79a776c, 0xe1be7ad8, 0x79487ae, 0xe1c98e3b,
-  0x78e9a1d, 0xe1d4a2c8, 0x788aeb9, 0xe1dfb87f,
-  0x782c582, 0xe1eacf5f, 0x77cde79, 0xe1f5e768,
-  0x776f99d, 0xe2010099, 0x77116f0, 0xe20c1af3,
-  0x76b3671, 0xe2173674, 0x7655820, 0xe222531c,
-  0x75f7bfe, 0xe22d70eb, 0x759a20a, 0xe2388fe1,
-  0x753ca46, 0xe243affc, 0x74df4b1, 0xe24ed13d,
-  0x748214c, 0xe259f3a3, 0x7425016, 0xe265172e,
-  0x73c8111, 0xe2703bdc, 0x736b43c, 0xe27b61af,
-  0x730e997, 0xe28688a4, 0x72b2123, 0xe291b0bd,
-  0x7255ae0, 0xe29cd9f8, 0x71f96ce, 0xe2a80456,
-  0x719d4ed, 0xe2b32fd4, 0x714153e, 0xe2be5c74,
-  0x70e57c0, 0xe2c98a35, 0x7089c75, 0xe2d4b916,
-  0x702e35c, 0xe2dfe917, 0x6fd2c75, 0xe2eb1a37,
-  0x6f777c1, 0xe2f64c77, 0x6f1c540, 0xe3017fd5,
-  0x6ec14f2, 0xe30cb451, 0x6e666d7, 0xe317e9eb,
-  0x6e0baf0, 0xe32320a2, 0x6db113d, 0xe32e5876,
-  0x6d569be, 0xe3399167, 0x6cfc472, 0xe344cb73,
-  0x6ca215c, 0xe350069b, 0x6c4807a, 0xe35b42df,
-  0x6bee1cd, 0xe366803c, 0x6b94554, 0xe371beb5,
-  0x6b3ab12, 0xe37cfe47, 0x6ae1304, 0xe3883ef2,
-  0x6a87d2d, 0xe39380b6, 0x6a2e98b, 0xe39ec393,
-  0x69d5820, 0xe3aa0788, 0x697c8eb, 0xe3b54c95,
-  0x6923bec, 0xe3c092b9, 0x68cb124, 0xe3cbd9f4,
-  0x6872894, 0xe3d72245, 0x681a23a, 0xe3e26bac,
-  0x67c1e18, 0xe3edb628, 0x6769c2e, 0xe3f901ba,
-  0x6711c7b, 0xe4044e60, 0x66b9f01, 0xe40f9c1a,
-  0x66623be, 0xe41aeae8, 0x660aab5, 0xe4263ac9,
-  0x65b33e4, 0xe4318bbe, 0x655bf4c, 0xe43cddc4,
-  0x6504ced, 0xe44830dd, 0x64adcc7, 0xe4538507,
-  0x6456edb, 0xe45eda43, 0x6400329, 0xe46a308f,
-  0x63a99b1, 0xe47587eb, 0x6353273, 0xe480e057,
-  0x62fcd6f, 0xe48c39d3, 0x62a6aa6, 0xe497945d,
-  0x6250a18, 0xe4a2eff6, 0x61fabc4, 0xe4ae4c9d,
-  0x61a4fac, 0xe4b9aa52, 0x614f5cf, 0xe4c50914,
-  0x60f9e2e, 0xe4d068e2, 0x60a48c9, 0xe4dbc9bd,
-  0x604f5a0, 0xe4e72ba4, 0x5ffa4b3, 0xe4f28e96,
-  0x5fa5603, 0xe4fdf294, 0x5f5098f, 0xe509579b,
-  0x5efbf58, 0xe514bdad, 0x5ea775e, 0xe52024c9,
-  0x5e531a1, 0xe52b8cee, 0x5dfee22, 0xe536f61b,
-  0x5daace1, 0xe5426051, 0x5d56ddd, 0xe54dcb8f,
-  0x5d03118, 0xe55937d5, 0x5caf690, 0xe564a521,
-  0x5c5be47, 0xe5701374, 0x5c0883d, 0xe57b82cd,
-  0x5bb5472, 0xe586f32c, 0x5b622e6, 0xe5926490,
-  0x5b0f399, 0xe59dd6f9, 0x5abc68c, 0xe5a94a67,
-  0x5a69bbe, 0xe5b4bed8, 0x5a17330, 0xe5c0344d,
-  0x59c4ce3, 0xe5cbaac5, 0x59728d5, 0xe5d72240,
-  0x5920708, 0xe5e29abc, 0x58ce77c, 0xe5ee143b,
-  0x587ca31, 0xe5f98ebb, 0x582af26, 0xe6050a3b,
-  0x57d965d, 0xe61086bc, 0x5787fd6, 0xe61c043d,
-  0x5736b90, 0xe62782be, 0x56e598c, 0xe633023e,
-  0x56949ca, 0xe63e82bc, 0x5643c4a, 0xe64a0438,
-  0x55f310d, 0xe65586b3, 0x55a2812, 0xe6610a2a,
-  0x555215a, 0xe66c8e9f, 0x5501ce5, 0xe6781410,
-  0x54b1ab4, 0xe6839a7c, 0x5461ac6, 0xe68f21e5,
-  0x5411d1b, 0xe69aaa48, 0x53c21b4, 0xe6a633a6,
-  0x5372891, 0xe6b1bdff, 0x53231b3, 0xe6bd4951,
-  0x52d3d18, 0xe6c8d59c, 0x5284ac3, 0xe6d462e1,
-  0x5235ab2, 0xe6dff11d, 0x51e6ce6, 0xe6eb8052,
-  0x519815f, 0xe6f7107e, 0x514981d, 0xe702a1a1,
-  0x50fb121, 0xe70e33bb, 0x50acc6b, 0xe719c6cb,
-  0x505e9fb, 0xe7255ad1, 0x50109d0, 0xe730efcc,
-  0x4fc2bec, 0xe73c85bc, 0x4f7504e, 0xe7481ca1,
-  0x4f276f7, 0xe753b479, 0x4ed9fe7, 0xe75f4d45,
-  0x4e8cb1e, 0xe76ae704, 0x4e3f89c, 0xe77681b6,
-  0x4df2862, 0xe7821d59, 0x4da5a6f, 0xe78db9ef,
-  0x4d58ec3, 0xe7995776, 0x4d0c560, 0xe7a4f5ed,
-  0x4cbfe45, 0xe7b09555, 0x4c73972, 0xe7bc35ad,
-  0x4c276e8, 0xe7c7d6f4, 0x4bdb6a6, 0xe7d3792b,
-  0x4b8f8ad, 0xe7df1c50, 0x4b43cfd, 0xe7eac063,
-  0x4af8397, 0xe7f66564, 0x4aacc7a, 0xe8020b52,
-  0x4a617a6, 0xe80db22d, 0x4a1651c, 0xe81959f4,
-  0x49cb4dd, 0xe82502a7, 0x49806e7, 0xe830ac45,
-  0x4935b3c, 0xe83c56cf, 0x48eb1db, 0xe8480243,
-  0x48a0ac4, 0xe853aea1, 0x48565f9, 0xe85f5be9,
-  0x480c379, 0xe86b0a1a, 0x47c2344, 0xe876b934,
-  0x477855a, 0xe8826936, 0x472e9bc, 0xe88e1a20,
-  0x46e5069, 0xe899cbf1, 0x469b963, 0xe8a57ea9,
-  0x46524a9, 0xe8b13248, 0x460923b, 0xe8bce6cd,
-  0x45c0219, 0xe8c89c37, 0x4577444, 0xe8d45286,
-  0x452e8bc, 0xe8e009ba, 0x44e5f80, 0xe8ebc1d3,
-  0x449d892, 0xe8f77acf, 0x44553f2, 0xe90334af,
-  0x440d19e, 0xe90eef71, 0x43c5199, 0xe91aab16,
-  0x437d3e1, 0xe926679c, 0x4335877, 0xe9322505,
-  0x42edf5c, 0xe93de34e, 0x42a688f, 0xe949a278,
-  0x425f410, 0xe9556282, 0x42181e0, 0xe961236c,
-  0x41d11ff, 0xe96ce535, 0x418a46d, 0xe978a7dd,
-  0x414392b, 0xe9846b63, 0x40fd037, 0xe9902fc7,
-  0x40b6994, 0xe99bf509, 0x4070540, 0xe9a7bb28,
-  0x402a33c, 0xe9b38223, 0x3fe4388, 0xe9bf49fa,
-  0x3f9e624, 0xe9cb12ad, 0x3f58b10, 0xe9d6dc3b,
-  0x3f1324e, 0xe9e2a6a3, 0x3ecdbdc, 0xe9ee71e6,
-  0x3e887bb, 0xe9fa3e03, 0x3e435ea, 0xea060af9,
-  0x3dfe66c, 0xea11d8c8, 0x3db993e, 0xea1da770,
-  0x3d74e62, 0xea2976ef, 0x3d305d8, 0xea354746,
-  0x3cebfa0, 0xea411874, 0x3ca7bba, 0xea4cea79,
-  0x3c63a26, 0xea58bd54, 0x3c1fae5, 0xea649105,
-  0x3bdbdf6, 0xea70658a, 0x3b9835a, 0xea7c3ae5,
-  0x3b54b11, 0xea881114, 0x3b1151b, 0xea93e817,
-  0x3ace178, 0xea9fbfed, 0x3a8b028, 0xeaab9896,
-  0x3a4812c, 0xeab77212, 0x3a05484, 0xeac34c60,
-  0x39c2a2f, 0xeacf277f, 0x398022f, 0xeadb0370,
-  0x393dc82, 0xeae6e031, 0x38fb92a, 0xeaf2bdc3,
-  0x38b9827, 0xeafe9c24, 0x3877978, 0xeb0a7b54,
-  0x3835d1e, 0xeb165b54, 0x37f4319, 0xeb223c22,
-  0x37b2b6a, 0xeb2e1dbe, 0x377160f, 0xeb3a0027,
-  0x373030a, 0xeb45e35d, 0x36ef25b, 0xeb51c760,
-  0x36ae401, 0xeb5dac2f, 0x366d7fd, 0xeb6991ca,
-  0x362ce50, 0xeb75782f, 0x35ec6f8, 0xeb815f60,
-  0x35ac1f7, 0xeb8d475b, 0x356bf4d, 0xeb99301f,
-  0x352bef9, 0xeba519ad, 0x34ec0fc, 0xebb10404,
-  0x34ac556, 0xebbcef23, 0x346cc07, 0xebc8db0b,
-  0x342d510, 0xebd4c7ba, 0x33ee070, 0xebe0b52f,
-  0x33aee27, 0xebeca36c, 0x336fe37, 0xebf8926f,
-  0x333109e, 0xec048237, 0x32f255e, 0xec1072c4,
-  0x32b3c75, 0xec1c6417, 0x32755e5, 0xec28562d,
-  0x32371ae, 0xec344908, 0x31f8fcf, 0xec403ca5,
-  0x31bb049, 0xec4c3106, 0x317d31c, 0xec582629,
-  0x313f848, 0xec641c0e, 0x3101fce, 0xec7012b5,
-  0x30c49ad, 0xec7c0a1d, 0x30875e5, 0xec880245,
-  0x304a477, 0xec93fb2e, 0x300d563, 0xec9ff4d6,
-  0x2fd08a9, 0xecabef3d, 0x2f93e4a, 0xecb7ea63,
-  0x2f57644, 0xecc3e648, 0x2f1b099, 0xeccfe2ea,
-  0x2eded49, 0xecdbe04a, 0x2ea2c53, 0xece7de66,
-  0x2e66db8, 0xecf3dd3f, 0x2e2b178, 0xecffdcd4,
-  0x2def794, 0xed0bdd25, 0x2db400a, 0xed17de31,
-  0x2d78add, 0xed23dff7, 0x2d3d80a, 0xed2fe277,
-  0x2d02794, 0xed3be5b1, 0x2cc7979, 0xed47e9a5,
-  0x2c8cdbb, 0xed53ee51, 0x2c52459, 0xed5ff3b5,
-  0x2c17d52, 0xed6bf9d1, 0x2bdd8a9, 0xed7800a5,
-  0x2ba365c, 0xed84082f, 0x2b6966c, 0xed901070,
-  0x2b2f8d8, 0xed9c1967, 0x2af5da2, 0xeda82313,
-  0x2abc4c9, 0xedb42d74, 0x2a82e4d, 0xedc0388a,
-  0x2a49a2e, 0xedcc4454, 0x2a1086d, 0xedd850d2,
-  0x29d790a, 0xede45e03, 0x299ec05, 0xedf06be6,
-  0x296615d, 0xedfc7a7c, 0x292d914, 0xee0889c4,
-  0x28f5329, 0xee1499bd, 0x28bcf9c, 0xee20aa67,
-  0x2884e6e, 0xee2cbbc1, 0x284cf9f, 0xee38cdcb,
-  0x281532e, 0xee44e084, 0x27dd91c, 0xee50f3ed,
-  0x27a616a, 0xee5d0804, 0x276ec16, 0xee691cc9,
-  0x2737922, 0xee75323c, 0x270088e, 0xee81485c,
-  0x26c9a58, 0xee8d5f29, 0x2692e83, 0xee9976a1,
-  0x265c50e, 0xeea58ec6, 0x2625df8, 0xeeb1a796,
-  0x25ef943, 0xeebdc110, 0x25b96ee, 0xeec9db35,
-  0x25836f9, 0xeed5f604, 0x254d965, 0xeee2117c,
-  0x2517e31, 0xeeee2d9d, 0x24e255e, 0xeefa4a67,
-  0x24aceed, 0xef0667d9, 0x2477adc, 0xef1285f2,
-  0x244292c, 0xef1ea4b2, 0x240d9de, 0xef2ac419,
-  0x23d8cf1, 0xef36e426, 0x23a4265, 0xef4304d8,
-  0x236fa3b, 0xef4f2630, 0x233b473, 0xef5b482d,
-  0x230710d, 0xef676ace, 0x22d3009, 0xef738e12,
-  0x229f167, 0xef7fb1fa, 0x226b528, 0xef8bd685,
-  0x2237b4b, 0xef97fbb2, 0x22043d0, 0xefa42181,
-  0x21d0eb8, 0xefb047f2, 0x219dc03, 0xefbc6f03,
-  0x216abb1, 0xefc896b5, 0x2137dc2, 0xefd4bf08,
-  0x2105236, 0xefe0e7f9, 0x20d290d, 0xefed118a,
-  0x20a0248, 0xeff93bba, 0x206dde6, 0xf0056687,
-  0x203bbe8, 0xf01191f3, 0x2009c4e, 0xf01dbdfb,
-  0x1fd7f17, 0xf029eaa1, 0x1fa6445, 0xf03617e2,
-  0x1f74bd6, 0xf04245c0, 0x1f435cc, 0xf04e7438,
-  0x1f12227, 0xf05aa34c, 0x1ee10e5, 0xf066d2fa,
-  0x1eb0209, 0xf0730342, 0x1e7f591, 0xf07f3424,
-  0x1e4eb7e, 0xf08b659f, 0x1e1e3d0, 0xf09797b2,
-  0x1dede87, 0xf0a3ca5d, 0x1dbdba3, 0xf0affda0,
-  0x1d8db25, 0xf0bc317a, 0x1d5dd0c, 0xf0c865ea,
-  0x1d2e158, 0xf0d49af1, 0x1cfe80a, 0xf0e0d08d,
-  0x1ccf122, 0xf0ed06bf, 0x1c9fca0, 0xf0f93d86,
-  0x1c70a84, 0xf10574e0, 0x1c41ace, 0xf111accf,
-  0x1c12d7e, 0xf11de551, 0x1be4294, 0xf12a1e66,
-  0x1bb5a11, 0xf136580d, 0x1b873f5, 0xf1429247,
-  0x1b5903f, 0xf14ecd11, 0x1b2aef0, 0xf15b086d,
-  0x1afd007, 0xf1674459, 0x1acf386, 0xf17380d6,
-  0x1aa196c, 0xf17fbde2, 0x1a741b9, 0xf18bfb7d,
-  0x1a46c6e, 0xf19839a6, 0x1a1998a, 0xf1a4785e,
-  0x19ec90d, 0xf1b0b7a4, 0x19bfaf9, 0xf1bcf777,
-  0x1992f4c, 0xf1c937d6, 0x1966606, 0xf1d578c2,
-  0x1939f29, 0xf1e1ba3a, 0x190dab4, 0xf1edfc3d,
-  0x18e18a7, 0xf1fa3ecb, 0x18b5903, 0xf20681e3,
-  0x1889bc6, 0xf212c585, 0x185e0f3, 0xf21f09b1,
-  0x1832888, 0xf22b4e66, 0x1807285, 0xf23793a3,
-  0x17dbeec, 0xf243d968, 0x17b0dbb, 0xf2501fb5,
-  0x1785ef4, 0xf25c6688, 0x175b296, 0xf268ade3,
-  0x17308a1, 0xf274f5c3, 0x1706115, 0xf2813e2a,
-  0x16dbbf3, 0xf28d8715, 0x16b193a, 0xf299d085,
-  0x16878eb, 0xf2a61a7a, 0x165db05, 0xf2b264f2,
-  0x1633f8a, 0xf2beafed, 0x160a678, 0xf2cafb6b,
-  0x15e0fd1, 0xf2d7476c, 0x15b7b94, 0xf2e393ef,
-  0x158e9c1, 0xf2efe0f2, 0x1565a58, 0xf2fc2e77,
-  0x153cd5a, 0xf3087c7d, 0x15142c6, 0xf314cb02,
-  0x14eba9d, 0xf3211a07, 0x14c34df, 0xf32d698a,
-  0x149b18b, 0xf339b98d, 0x14730a3, 0xf3460a0d,
-  0x144b225, 0xf3525b0b, 0x1423613, 0xf35eac86,
-  0x13fbc6c, 0xf36afe7e, 0x13d4530, 0xf37750f2,
-  0x13ad060, 0xf383a3e2, 0x1385dfb, 0xf38ff74d,
-  0x135ee02, 0xf39c4b32, 0x1338075, 0xf3a89f92,
-  0x1311553, 0xf3b4f46c, 0x12eac9d, 0xf3c149bf,
-  0x12c4653, 0xf3cd9f8b, 0x129e276, 0xf3d9f5cf,
-  0x1278104, 0xf3e64c8c, 0x12521ff, 0xf3f2a3bf,
-  0x122c566, 0xf3fefb6a, 0x1206b39, 0xf40b538b,
-  0x11e1379, 0xf417ac22, 0x11bbe26, 0xf424052f,
-  0x1196b3f, 0xf4305eb0, 0x1171ac6, 0xf43cb8a7,
-  0x114ccb9, 0xf4491311, 0x1128119, 0xf4556def,
-  0x11037e6, 0xf461c940, 0x10df120, 0xf46e2504,
-  0x10bacc8, 0xf47a8139, 0x1096add, 0xf486dde1,
-  0x1072b5f, 0xf4933afa, 0x104ee4f, 0xf49f9884,
-  0x102b3ac, 0xf4abf67e, 0x1007b77, 0xf4b854e7,
-  0xfe45b0, 0xf4c4b3c0, 0xfc1257, 0xf4d11308,
-  0xf9e16b, 0xf4dd72be, 0xf7b2ee, 0xf4e9d2e3,
-  0xf586df, 0xf4f63374, 0xf35d3e, 0xf5029473,
-  0xf1360b, 0xf50ef5de, 0xef1147, 0xf51b57b5,
-  0xeceef1, 0xf527b9f7, 0xeacf09, 0xf5341ca5,
-  0xe8b190, 0xf5407fbd, 0xe69686, 0xf54ce33f,
-  0xe47deb, 0xf559472b, 0xe267be, 0xf565ab80,
-  0xe05401, 0xf572103d, 0xde42b2, 0xf57e7563,
-  0xdc33d2, 0xf58adaf0, 0xda2762, 0xf59740e5,
-  0xd81d61, 0xf5a3a740, 0xd615cf, 0xf5b00e02,
-  0xd410ad, 0xf5bc7529, 0xd20dfa, 0xf5c8dcb6,
-  0xd00db6, 0xf5d544a7, 0xce0fe3, 0xf5e1acfd,
-  0xcc147f, 0xf5ee15b7, 0xca1b8a, 0xf5fa7ed4,
-  0xc82506, 0xf606e854, 0xc630f2, 0xf6135237,
-  0xc43f4d, 0xf61fbc7b, 0xc25019, 0xf62c2721,
-  0xc06355, 0xf6389228, 0xbe7901, 0xf644fd8f,
-  0xbc911d, 0xf6516956, 0xbaabaa, 0xf65dd57d,
-  0xb8c8a7, 0xf66a4203, 0xb6e815, 0xf676aee8,
-  0xb509f3, 0xf6831c2b, 0xb32e42, 0xf68f89cb,
-  0xb15502, 0xf69bf7c9, 0xaf7e33, 0xf6a86623,
-  0xada9d4, 0xf6b4d4d9, 0xabd7e6, 0xf6c143ec,
-  0xaa086a, 0xf6cdb359, 0xa83b5e, 0xf6da2321,
-  0xa670c4, 0xf6e69344, 0xa4a89b, 0xf6f303c0,
-  0xa2e2e3, 0xf6ff7496, 0xa11f9d, 0xf70be5c4,
-  0x9f5ec8, 0xf718574b, 0x9da065, 0xf724c92a,
-  0x9be473, 0xf7313b60, 0x9a2af3, 0xf73daded,
-  0x9873e4, 0xf74a20d0, 0x96bf48, 0xf756940a,
-  0x950d1d, 0xf7630799, 0x935d64, 0xf76f7b7d,
-  0x91b01d, 0xf77befb5, 0x900548, 0xf7886442,
-  0x8e5ce5, 0xf794d922, 0x8cb6f5, 0xf7a14e55,
-  0x8b1376, 0xf7adc3db, 0x89726a, 0xf7ba39b3,
-  0x87d3d0, 0xf7c6afdc, 0x8637a9, 0xf7d32657,
-  0x849df4, 0xf7df9d22, 0x8306b2, 0xf7ec143e,
-  0x8171e2, 0xf7f88ba9, 0x7fdf85, 0xf8050364,
-  0x7e4f9b, 0xf8117b6d, 0x7cc223, 0xf81df3c5,
-  0x7b371e, 0xf82a6c6a, 0x79ae8c, 0xf836e55d,
-  0x78286e, 0xf8435e9d, 0x76a4c2, 0xf84fd829,
-  0x752389, 0xf85c5201, 0x73a4c3, 0xf868cc24,
-  0x722871, 0xf8754692, 0x70ae92, 0xf881c14b,
-  0x6f3726, 0xf88e3c4d, 0x6dc22e, 0xf89ab799,
-  0x6c4fa8, 0xf8a7332e, 0x6adf97, 0xf8b3af0c,
-  0x6971f9, 0xf8c02b31, 0x6806ce, 0xf8cca79e,
-  0x669e18, 0xf8d92452, 0x6537d4, 0xf8e5a14d,
-  0x63d405, 0xf8f21e8e, 0x6272aa, 0xf8fe9c15,
-  0x6113c2, 0xf90b19e0, 0x5fb74e, 0xf91797f0,
-  0x5e5d4e, 0xf9241645, 0x5d05c3, 0xf93094dd,
-  0x5bb0ab, 0xf93d13b8, 0x5a5e07, 0xf94992d7,
-  0x590dd8, 0xf9561237, 0x57c01d, 0xf96291d9,
-  0x5674d6, 0xf96f11bc, 0x552c03, 0xf97b91e1,
-  0x53e5a5, 0xf9881245, 0x52a1bb, 0xf99492ea,
-  0x516045, 0xf9a113cd, 0x502145, 0xf9ad94f0,
-  0x4ee4b8, 0xf9ba1651, 0x4daaa1, 0xf9c697f0,
-  0x4c72fe, 0xf9d319cc, 0x4b3dcf, 0xf9df9be6,
-  0x4a0b16, 0xf9ec1e3b, 0x48dad1, 0xf9f8a0cd,
-  0x47ad01, 0xfa05239a, 0x4681a6, 0xfa11a6a3,
-  0x4558c0, 0xfa1e29e5, 0x44324f, 0xfa2aad62,
-  0x430e53, 0xfa373119, 0x41eccc, 0xfa43b508,
-  0x40cdba, 0xfa503930, 0x3fb11d, 0xfa5cbd91,
-  0x3e96f6, 0xfa694229, 0x3d7f44, 0xfa75c6f8,
-  0x3c6a07, 0xfa824bfd, 0x3b573f, 0xfa8ed139,
-  0x3a46ed, 0xfa9b56ab, 0x393910, 0xfaa7dc52,
-  0x382da8, 0xfab4622d, 0x3724b6, 0xfac0e83d,
-  0x361e3a, 0xfacd6e81, 0x351a33, 0xfad9f4f8,
-  0x3418a2, 0xfae67ba2, 0x331986, 0xfaf3027e,
-  0x321ce0, 0xfaff898c, 0x3122b0, 0xfb0c10cb,
-  0x302af5, 0xfb18983b, 0x2f35b1, 0xfb251fdc,
-  0x2e42e2, 0xfb31a7ac, 0x2d5289, 0xfb3e2fac,
-  0x2c64a6, 0xfb4ab7db, 0x2b7939, 0xfb574039,
-  0x2a9042, 0xfb63c8c4, 0x29a9c1, 0xfb70517d,
-  0x28c5b6, 0xfb7cda63, 0x27e421, 0xfb896375,
-  0x270502, 0xfb95ecb4, 0x262859, 0xfba2761e,
-  0x254e27, 0xfbaeffb3, 0x24766a, 0xfbbb8973,
-  0x23a124, 0xfbc8135c, 0x22ce54, 0xfbd49d70,
-  0x21fdfb, 0xfbe127ac, 0x213018, 0xfbedb212,
-  0x2064ab, 0xfbfa3c9f, 0x1f9bb5, 0xfc06c754,
-  0x1ed535, 0xfc135231, 0x1e112b, 0xfc1fdd34,
-  0x1d4f99, 0xfc2c685d, 0x1c907c, 0xfc38f3ac,
-  0x1bd3d6, 0xfc457f21, 0x1b19a7, 0xfc520aba,
-  0x1a61ee, 0xfc5e9678, 0x19acac, 0xfc6b2259,
-  0x18f9e1, 0xfc77ae5e, 0x18498c, 0xfc843a85,
-  0x179bae, 0xfc90c6cf, 0x16f047, 0xfc9d533b,
-  0x164757, 0xfca9dfc8, 0x15a0dd, 0xfcb66c77,
-  0x14fcda, 0xfcc2f945, 0x145b4e, 0xfccf8634,
-  0x13bc39, 0xfcdc1342, 0x131f9b, 0xfce8a06f,
-  0x128574, 0xfcf52dbb, 0x11edc3, 0xfd01bb24,
-  0x11588a, 0xfd0e48ab, 0x10c5c7, 0xfd1ad650,
-  0x10357c, 0xfd276410, 0xfa7a8, 0xfd33f1ed,
-  0xf1c4a, 0xfd407fe6, 0xe9364, 0xfd4d0df9,
-  0xe0cf5, 0xfd599c28, 0xd88fd, 0xfd662a70,
-  0xd077c, 0xfd72b8d2, 0xc8872, 0xfd7f474d,
-  0xc0be0, 0xfd8bd5e1, 0xb91c4, 0xfd98648d,
-  0xb1a20, 0xfda4f351, 0xaa4f3, 0xfdb1822c,
-  0xa323d, 0xfdbe111e, 0x9c1ff, 0xfdcaa027,
-  0x95438, 0xfdd72f45, 0x8e8e8, 0xfde3be78,
-  0x8800f, 0xfdf04dc0, 0x819ae, 0xfdfcdd1d,
-  0x7b5c4, 0xfe096c8d, 0x75452, 0xfe15fc11,
-  0x6f556, 0xfe228ba7, 0x698d3, 0xfe2f1b50,
-  0x63ec6, 0xfe3bab0b, 0x5e731, 0xfe483ad8,
-  0x59214, 0xfe54cab5, 0x53f6e, 0xfe615aa3,
-  0x4ef3f, 0xfe6deaa1, 0x4a188, 0xfe7a7aae,
-  0x45648, 0xfe870aca, 0x40d80, 0xfe939af5,
-  0x3c72f, 0xfea02b2e, 0x38356, 0xfeacbb74,
-  0x341f4, 0xfeb94bc8, 0x3030a, 0xfec5dc28,
-  0x2c697, 0xfed26c94, 0x28c9c, 0xfedefd0c,
-  0x25519, 0xfeeb8d8f, 0x2200d, 0xfef81e1d,
-  0x1ed78, 0xff04aeb5, 0x1bd5c, 0xff113f56,
-  0x18fb6, 0xff1dd001, 0x16489, 0xff2a60b4,
-  0x13bd3, 0xff36f170, 0x11594, 0xff438234,
-  0xf1ce, 0xff5012fe, 0xd07e, 0xff5ca3d0,
-  0xb1a7, 0xff6934a8, 0x9547, 0xff75c585,
-  0x7b5f, 0xff825668, 0x63ee, 0xff8ee750,
-  0x4ef5, 0xff9b783c, 0x3c74, 0xffa8092c,
-  0x2c6a, 0xffb49a1f, 0x1ed8, 0xffc12b16,
-  0x13bd, 0xffcdbc0f, 0xb1a, 0xffda4d09,
-  0x4ef, 0xffe6de05, 0x13c, 0xfff36f02,
-  0x0, 0x0, 0x13c, 0xc90fe,
-  0x4ef, 0x1921fb, 0xb1a, 0x25b2f7,
-  0x13bd, 0x3243f1, 0x1ed8, 0x3ed4ea,
-  0x2c6a, 0x4b65e1, 0x3c74, 0x57f6d4,
-  0x4ef5, 0x6487c4, 0x63ee, 0x7118b0,
-  0x7b5f, 0x7da998, 0x9547, 0x8a3a7b,
-  0xb1a7, 0x96cb58, 0xd07e, 0xa35c30,
-  0xf1ce, 0xafed02, 0x11594, 0xbc7dcc,
-  0x13bd3, 0xc90e90, 0x16489, 0xd59f4c,
-  0x18fb6, 0xe22fff, 0x1bd5c, 0xeec0aa,
-  0x1ed78, 0xfb514b, 0x2200d, 0x107e1e3,
-  0x25519, 0x1147271, 0x28c9c, 0x12102f4,
-  0x2c697, 0x12d936c, 0x3030a, 0x13a23d8,
-  0x341f4, 0x146b438, 0x38356, 0x153448c,
-  0x3c72f, 0x15fd4d2, 0x40d80, 0x16c650b,
-  0x45648, 0x178f536, 0x4a188, 0x1858552,
-  0x4ef3f, 0x192155f, 0x53f6e, 0x19ea55d,
-  0x59214, 0x1ab354b, 0x5e731, 0x1b7c528,
-  0x63ec6, 0x1c454f5, 0x698d3, 0x1d0e4b0,
-  0x6f556, 0x1dd7459, 0x75452, 0x1ea03ef,
-  0x7b5c4, 0x1f69373, 0x819ae, 0x20322e3,
-  0x8800f, 0x20fb240, 0x8e8e8, 0x21c4188,
-  0x95438, 0x228d0bb, 0x9c1ff, 0x2355fd9,
-  0xa323d, 0x241eee2, 0xaa4f3, 0x24e7dd4,
-  0xb1a20, 0x25b0caf, 0xb91c4, 0x2679b73,
-  0xc0be0, 0x2742a1f, 0xc8872, 0x280b8b3,
-  0xd077c, 0x28d472e, 0xd88fd, 0x299d590,
-  0xe0cf5, 0x2a663d8, 0xe9364, 0x2b2f207,
-  0xf1c4a, 0x2bf801a, 0xfa7a8, 0x2cc0e13,
-  0x10357c, 0x2d89bf0, 0x10c5c7, 0x2e529b0,
-  0x11588a, 0x2f1b755, 0x11edc3, 0x2fe44dc,
-  0x128574, 0x30ad245, 0x131f9b, 0x3175f91,
-  0x13bc39, 0x323ecbe, 0x145b4e, 0x33079cc,
-  0x14fcda, 0x33d06bb, 0x15a0dd, 0x3499389,
-  0x164757, 0x3562038, 0x16f047, 0x362acc5,
-  0x179bae, 0x36f3931, 0x18498c, 0x37bc57b,
-  0x18f9e1, 0x38851a2, 0x19acac, 0x394dda7,
-  0x1a61ee, 0x3a16988, 0x1b19a7, 0x3adf546,
-  0x1bd3d6, 0x3ba80df, 0x1c907c, 0x3c70c54,
-  0x1d4f99, 0x3d397a3, 0x1e112b, 0x3e022cc,
-  0x1ed535, 0x3ecadcf, 0x1f9bb5, 0x3f938ac,
-  0x2064ab, 0x405c361, 0x213018, 0x4124dee,
-  0x21fdfb, 0x41ed854, 0x22ce54, 0x42b6290,
-  0x23a124, 0x437eca4, 0x24766a, 0x444768d,
-  0x254e27, 0x451004d, 0x262859, 0x45d89e2,
-  0x270502, 0x46a134c, 0x27e421, 0x4769c8b,
-  0x28c5b6, 0x483259d, 0x29a9c1, 0x48fae83,
-  0x2a9042, 0x49c373c, 0x2b7939, 0x4a8bfc7,
-  0x2c64a6, 0x4b54825, 0x2d5289, 0x4c1d054,
-  0x2e42e2, 0x4ce5854, 0x2f35b1, 0x4dae024,
-  0x302af5, 0x4e767c5, 0x3122b0, 0x4f3ef35,
-  0x321ce0, 0x5007674, 0x331986, 0x50cfd82,
-  0x3418a2, 0x519845e, 0x351a33, 0x5260b08,
-  0x361e3a, 0x532917f, 0x3724b6, 0x53f17c3,
-  0x382da8, 0x54b9dd3, 0x393910, 0x55823ae,
-  0x3a46ed, 0x564a955, 0x3b573f, 0x5712ec7,
-  0x3c6a07, 0x57db403, 0x3d7f44, 0x58a3908,
-  0x3e96f6, 0x596bdd7, 0x3fb11d, 0x5a3426f,
-  0x40cdba, 0x5afc6d0, 0x41eccc, 0x5bc4af8,
-  0x430e53, 0x5c8cee7, 0x44324f, 0x5d5529e,
-  0x4558c0, 0x5e1d61b, 0x4681a6, 0x5ee595d,
-  0x47ad01, 0x5fadc66, 0x48dad1, 0x6075f33,
-  0x4a0b16, 0x613e1c5, 0x4b3dcf, 0x620641a,
-  0x4c72fe, 0x62ce634, 0x4daaa1, 0x6396810,
-  0x4ee4b8, 0x645e9af, 0x502145, 0x6526b10,
-  0x516045, 0x65eec33, 0x52a1bb, 0x66b6d16,
-  0x53e5a5, 0x677edbb, 0x552c03, 0x6846e1f,
-  0x5674d6, 0x690ee44, 0x57c01d, 0x69d6e27,
-  0x590dd8, 0x6a9edc9, 0x5a5e07, 0x6b66d29,
-  0x5bb0ab, 0x6c2ec48, 0x5d05c3, 0x6cf6b23,
-  0x5e5d4e, 0x6dbe9bb, 0x5fb74e, 0x6e86810,
-  0x6113c2, 0x6f4e620, 0x6272aa, 0x70163eb,
-  0x63d405, 0x70de172, 0x6537d4, 0x71a5eb3,
-  0x669e18, 0x726dbae, 0x6806ce, 0x7335862,
-  0x6971f9, 0x73fd4cf, 0x6adf97, 0x74c50f4,
-  0x6c4fa8, 0x758ccd2, 0x6dc22e, 0x7654867,
-  0x6f3726, 0x771c3b3, 0x70ae92, 0x77e3eb5,
-  0x722871, 0x78ab96e, 0x73a4c3, 0x79733dc,
-  0x752389, 0x7a3adff, 0x76a4c2, 0x7b027d7,
-  0x78286e, 0x7bca163, 0x79ae8c, 0x7c91aa3,
-  0x7b371e, 0x7d59396, 0x7cc223, 0x7e20c3b,
-  0x7e4f9b, 0x7ee8493, 0x7fdf85, 0x7fafc9c,
-  0x8171e2, 0x8077457, 0x8306b2, 0x813ebc2,
-  0x849df4, 0x82062de, 0x8637a9, 0x82cd9a9,
-  0x87d3d0, 0x8395024, 0x89726a, 0x845c64d,
-  0x8b1376, 0x8523c25, 0x8cb6f5, 0x85eb1ab,
-  0x8e5ce5, 0x86b26de, 0x900548, 0x8779bbe,
-  0x91b01d, 0x884104b, 0x935d64, 0x8908483,
-  0x950d1d, 0x89cf867, 0x96bf48, 0x8a96bf6,
-  0x9873e4, 0x8b5df30, 0x9a2af3, 0x8c25213,
-  0x9be473, 0x8cec4a0, 0x9da065, 0x8db36d6,
-  0x9f5ec8, 0x8e7a8b5, 0xa11f9d, 0x8f41a3c,
-  0xa2e2e3, 0x9008b6a, 0xa4a89b, 0x90cfc40,
-  0xa670c4, 0x9196cbc, 0xa83b5e, 0x925dcdf,
-  0xaa086a, 0x9324ca7, 0xabd7e6, 0x93ebc14,
-  0xada9d4, 0x94b2b27, 0xaf7e33, 0x95799dd,
-  0xb15502, 0x9640837, 0xb32e42, 0x9707635,
-  0xb509f3, 0x97ce3d5, 0xb6e815, 0x9895118,
-  0xb8c8a7, 0x995bdfd, 0xbaabaa, 0x9a22a83,
-  0xbc911d, 0x9ae96aa, 0xbe7901, 0x9bb0271,
-  0xc06355, 0x9c76dd8, 0xc25019, 0x9d3d8df,
-  0xc43f4d, 0x9e04385, 0xc630f2, 0x9ecadc9,
-  0xc82506, 0x9f917ac, 0xca1b8a, 0xa05812c,
-  0xcc147f, 0xa11ea49, 0xce0fe3, 0xa1e5303,
-  0xd00db6, 0xa2abb59, 0xd20dfa, 0xa37234a,
-  0xd410ad, 0xa438ad7, 0xd615cf, 0xa4ff1fe,
-  0xd81d61, 0xa5c58c0, 0xda2762, 0xa68bf1b,
-  0xdc33d2, 0xa752510, 0xde42b2, 0xa818a9d,
-  0xe05401, 0xa8defc3, 0xe267be, 0xa9a5480,
-  0xe47deb, 0xaa6b8d5, 0xe69686, 0xab31cc1,
-  0xe8b190, 0xabf8043, 0xeacf09, 0xacbe35b,
-  0xeceef1, 0xad84609, 0xef1147, 0xae4a84b,
-  0xf1360b, 0xaf10a22, 0xf35d3e, 0xafd6b8d,
-  0xf586df, 0xb09cc8c, 0xf7b2ee, 0xb162d1d,
-  0xf9e16b, 0xb228d42, 0xfc1257, 0xb2eecf8,
-  0xfe45b0, 0xb3b4c40, 0x1007b77, 0xb47ab19,
-  0x102b3ac, 0xb540982, 0x104ee4f, 0xb60677c,
-  0x1072b5f, 0xb6cc506, 0x1096add, 0xb79221f,
-  0x10bacc8, 0xb857ec7, 0x10df120, 0xb91dafc,
-  0x11037e6, 0xb9e36c0, 0x1128119, 0xbaa9211,
-  0x114ccb9, 0xbb6ecef, 0x1171ac6, 0xbc34759,
-  0x1196b3f, 0xbcfa150, 0x11bbe26, 0xbdbfad1,
-  0x11e1379, 0xbe853de, 0x1206b39, 0xbf4ac75,
-  0x122c566, 0xc010496, 0x12521ff, 0xc0d5c41,
-  0x1278104, 0xc19b374, 0x129e276, 0xc260a31,
-  0x12c4653, 0xc326075, 0x12eac9d, 0xc3eb641,
-  0x1311553, 0xc4b0b94, 0x1338075, 0xc57606e,
-  0x135ee02, 0xc63b4ce, 0x1385dfb, 0xc7008b3,
-  0x13ad060, 0xc7c5c1e, 0x13d4530, 0xc88af0e,
-  0x13fbc6c, 0xc950182, 0x1423613, 0xca1537a,
-  0x144b225, 0xcada4f5, 0x14730a3, 0xcb9f5f3,
-  0x149b18b, 0xcc64673, 0x14c34df, 0xcd29676,
-  0x14eba9d, 0xcdee5f9, 0x15142c6, 0xceb34fe,
-  0x153cd5a, 0xcf78383, 0x1565a58, 0xd03d189,
-  0x158e9c1, 0xd101f0e, 0x15b7b94, 0xd1c6c11,
-  0x15e0fd1, 0xd28b894, 0x160a678, 0xd350495,
-  0x1633f8a, 0xd415013, 0x165db05, 0xd4d9b0e,
-  0x16878eb, 0xd59e586, 0x16b193a, 0xd662f7b,
-  0x16dbbf3, 0xd7278eb, 0x1706115, 0xd7ec1d6,
-  0x17308a1, 0xd8b0a3d, 0x175b296, 0xd97521d,
-  0x1785ef4, 0xda39978, 0x17b0dbb, 0xdafe04b,
-  0x17dbeec, 0xdbc2698, 0x1807285, 0xdc86c5d,
-  0x1832888, 0xdd4b19a, 0x185e0f3, 0xde0f64f,
-  0x1889bc6, 0xded3a7b, 0x18b5903, 0xdf97e1d,
-  0x18e18a7, 0xe05c135, 0x190dab4, 0xe1203c3,
-  0x1939f29, 0xe1e45c6, 0x1966606, 0xe2a873e,
-  0x1992f4c, 0xe36c82a, 0x19bfaf9, 0xe430889,
-  0x19ec90d, 0xe4f485c, 0x1a1998a, 0xe5b87a2,
-  0x1a46c6e, 0xe67c65a, 0x1a741b9, 0xe740483,
-  0x1aa196c, 0xe80421e, 0x1acf386, 0xe8c7f2a,
-  0x1afd007, 0xe98bba7, 0x1b2aef0, 0xea4f793,
-  0x1b5903f, 0xeb132ef, 0x1b873f5, 0xebd6db9,
-  0x1bb5a11, 0xec9a7f3, 0x1be4294, 0xed5e19a,
-  0x1c12d7e, 0xee21aaf, 0x1c41ace, 0xeee5331,
-  0x1c70a84, 0xefa8b20, 0x1c9fca0, 0xf06c27a,
-  0x1ccf122, 0xf12f941, 0x1cfe80a, 0xf1f2f73,
-  0x1d2e158, 0xf2b650f, 0x1d5dd0c, 0xf379a16,
-  0x1d8db25, 0xf43ce86, 0x1dbdba3, 0xf500260,
-  0x1dede87, 0xf5c35a3, 0x1e1e3d0, 0xf68684e,
-  0x1e4eb7e, 0xf749a61, 0x1e7f591, 0xf80cbdc,
-  0x1eb0209, 0xf8cfcbe, 0x1ee10e5, 0xf992d06,
-  0x1f12227, 0xfa55cb4, 0x1f435cc, 0xfb18bc8,
-  0x1f74bd6, 0xfbdba40, 0x1fa6445, 0xfc9e81e,
-  0x1fd7f17, 0xfd6155f, 0x2009c4e, 0xfe24205,
-  0x203bbe8, 0xfee6e0d, 0x206dde6, 0xffa9979,
-  0x20a0248, 0x1006c446, 0x20d290d, 0x1012ee76,
-  0x2105236, 0x101f1807, 0x2137dc2, 0x102b40f8,
-  0x216abb1, 0x1037694b, 0x219dc03, 0x104390fd,
-  0x21d0eb8, 0x104fb80e, 0x22043d0, 0x105bde7f,
-  0x2237b4b, 0x1068044e, 0x226b528, 0x1074297b,
-  0x229f167, 0x10804e06, 0x22d3009, 0x108c71ee,
-  0x230710d, 0x10989532, 0x233b473, 0x10a4b7d3,
-  0x236fa3b, 0x10b0d9d0, 0x23a4265, 0x10bcfb28,
-  0x23d8cf1, 0x10c91bda, 0x240d9de, 0x10d53be7,
-  0x244292c, 0x10e15b4e, 0x2477adc, 0x10ed7a0e,
-  0x24aceed, 0x10f99827, 0x24e255e, 0x1105b599,
-  0x2517e31, 0x1111d263, 0x254d965, 0x111dee84,
-  0x25836f9, 0x112a09fc, 0x25b96ee, 0x113624cb,
-  0x25ef943, 0x11423ef0, 0x2625df8, 0x114e586a,
-  0x265c50e, 0x115a713a, 0x2692e83, 0x1166895f,
-  0x26c9a58, 0x1172a0d7, 0x270088e, 0x117eb7a4,
-  0x2737922, 0x118acdc4, 0x276ec16, 0x1196e337,
-  0x27a616a, 0x11a2f7fc, 0x27dd91c, 0x11af0c13,
-  0x281532e, 0x11bb1f7c, 0x284cf9f, 0x11c73235,
-  0x2884e6e, 0x11d3443f, 0x28bcf9c, 0x11df5599,
-  0x28f5329, 0x11eb6643, 0x292d914, 0x11f7763c,
-  0x296615d, 0x12038584, 0x299ec05, 0x120f941a,
-  0x29d790a, 0x121ba1fd, 0x2a1086d, 0x1227af2e,
-  0x2a49a2e, 0x1233bbac, 0x2a82e4d, 0x123fc776,
-  0x2abc4c9, 0x124bd28c, 0x2af5da2, 0x1257dced,
-  0x2b2f8d8, 0x1263e699, 0x2b6966c, 0x126fef90,
-  0x2ba365c, 0x127bf7d1, 0x2bdd8a9, 0x1287ff5b,
-  0x2c17d52, 0x1294062f, 0x2c52459, 0x12a00c4b,
-  0x2c8cdbb, 0x12ac11af, 0x2cc7979, 0x12b8165b,
-  0x2d02794, 0x12c41a4f, 0x2d3d80a, 0x12d01d89,
-  0x2d78add, 0x12dc2009, 0x2db400a, 0x12e821cf,
-  0x2def794, 0x12f422db, 0x2e2b178, 0x1300232c,
-  0x2e66db8, 0x130c22c1, 0x2ea2c53, 0x1318219a,
-  0x2eded49, 0x13241fb6, 0x2f1b099, 0x13301d16,
-  0x2f57644, 0x133c19b8, 0x2f93e4a, 0x1348159d,
-  0x2fd08a9, 0x135410c3, 0x300d563, 0x13600b2a,
-  0x304a477, 0x136c04d2, 0x30875e5, 0x1377fdbb,
-  0x30c49ad, 0x1383f5e3, 0x3101fce, 0x138fed4b,
-  0x313f848, 0x139be3f2, 0x317d31c, 0x13a7d9d7,
-  0x31bb049, 0x13b3cefa, 0x31f8fcf, 0x13bfc35b,
-  0x32371ae, 0x13cbb6f8, 0x32755e5, 0x13d7a9d3,
-  0x32b3c75, 0x13e39be9, 0x32f255e, 0x13ef8d3c,
-  0x333109e, 0x13fb7dc9, 0x336fe37, 0x14076d91,
-  0x33aee27, 0x14135c94, 0x33ee070, 0x141f4ad1,
-  0x342d510, 0x142b3846, 0x346cc07, 0x143724f5,
-  0x34ac556, 0x144310dd, 0x34ec0fc, 0x144efbfc,
-  0x352bef9, 0x145ae653, 0x356bf4d, 0x1466cfe1,
-  0x35ac1f7, 0x1472b8a5, 0x35ec6f8, 0x147ea0a0,
-  0x362ce50, 0x148a87d1, 0x366d7fd, 0x14966e36,
-  0x36ae401, 0x14a253d1, 0x36ef25b, 0x14ae38a0,
-  0x373030a, 0x14ba1ca3, 0x377160f, 0x14c5ffd9,
-  0x37b2b6a, 0x14d1e242, 0x37f4319, 0x14ddc3de,
-  0x3835d1e, 0x14e9a4ac, 0x3877978, 0x14f584ac,
-  0x38b9827, 0x150163dc, 0x38fb92a, 0x150d423d,
-  0x393dc82, 0x15191fcf, 0x398022f, 0x1524fc90,
-  0x39c2a2f, 0x1530d881, 0x3a05484, 0x153cb3a0,
-  0x3a4812c, 0x15488dee, 0x3a8b028, 0x1554676a,
-  0x3ace178, 0x15604013, 0x3b1151b, 0x156c17e9,
-  0x3b54b11, 0x1577eeec, 0x3b9835a, 0x1583c51b,
-  0x3bdbdf6, 0x158f9a76, 0x3c1fae5, 0x159b6efb,
-  0x3c63a26, 0x15a742ac, 0x3ca7bba, 0x15b31587,
-  0x3cebfa0, 0x15bee78c, 0x3d305d8, 0x15cab8ba,
-  0x3d74e62, 0x15d68911, 0x3db993e, 0x15e25890,
-  0x3dfe66c, 0x15ee2738, 0x3e435ea, 0x15f9f507,
-  0x3e887bb, 0x1605c1fd, 0x3ecdbdc, 0x16118e1a,
-  0x3f1324e, 0x161d595d, 0x3f58b10, 0x162923c5,
-  0x3f9e624, 0x1634ed53, 0x3fe4388, 0x1640b606,
-  0x402a33c, 0x164c7ddd, 0x4070540, 0x165844d8,
-  0x40b6994, 0x16640af7, 0x40fd037, 0x166fd039,
-  0x414392b, 0x167b949d, 0x418a46d, 0x16875823,
-  0x41d11ff, 0x16931acb, 0x42181e0, 0x169edc94,
-  0x425f410, 0x16aa9d7e, 0x42a688f, 0x16b65d88,
-  0x42edf5c, 0x16c21cb2, 0x4335877, 0x16cddafb,
-  0x437d3e1, 0x16d99864, 0x43c5199, 0x16e554ea,
-  0x440d19e, 0x16f1108f, 0x44553f2, 0x16fccb51,
-  0x449d892, 0x17088531, 0x44e5f80, 0x17143e2d,
-  0x452e8bc, 0x171ff646, 0x4577444, 0x172bad7a,
-  0x45c0219, 0x173763c9, 0x460923b, 0x17431933,
-  0x46524a9, 0x174ecdb8, 0x469b963, 0x175a8157,
-  0x46e5069, 0x1766340f, 0x472e9bc, 0x1771e5e0,
-  0x477855a, 0x177d96ca, 0x47c2344, 0x178946cc,
-  0x480c379, 0x1794f5e6, 0x48565f9, 0x17a0a417,
-  0x48a0ac4, 0x17ac515f, 0x48eb1db, 0x17b7fdbd,
-  0x4935b3c, 0x17c3a931, 0x49806e7, 0x17cf53bb,
-  0x49cb4dd, 0x17dafd59, 0x4a1651c, 0x17e6a60c,
-  0x4a617a6, 0x17f24dd3, 0x4aacc7a, 0x17fdf4ae,
-  0x4af8397, 0x18099a9c, 0x4b43cfd, 0x18153f9d,
-  0x4b8f8ad, 0x1820e3b0, 0x4bdb6a6, 0x182c86d5,
-  0x4c276e8, 0x1838290c, 0x4c73972, 0x1843ca53,
-  0x4cbfe45, 0x184f6aab, 0x4d0c560, 0x185b0a13,
-  0x4d58ec3, 0x1866a88a, 0x4da5a6f, 0x18724611,
-  0x4df2862, 0x187de2a7, 0x4e3f89c, 0x18897e4a,
-  0x4e8cb1e, 0x189518fc, 0x4ed9fe7, 0x18a0b2bb,
-  0x4f276f7, 0x18ac4b87, 0x4f7504e, 0x18b7e35f,
-  0x4fc2bec, 0x18c37a44, 0x50109d0, 0x18cf1034,
-  0x505e9fb, 0x18daa52f, 0x50acc6b, 0x18e63935,
-  0x50fb121, 0x18f1cc45, 0x514981d, 0x18fd5e5f,
-  0x519815f, 0x1908ef82, 0x51e6ce6, 0x19147fae,
-  0x5235ab2, 0x19200ee3, 0x5284ac3, 0x192b9d1f,
-  0x52d3d18, 0x19372a64, 0x53231b3, 0x1942b6af,
-  0x5372891, 0x194e4201, 0x53c21b4, 0x1959cc5a,
-  0x5411d1b, 0x196555b8, 0x5461ac6, 0x1970de1b,
-  0x54b1ab4, 0x197c6584, 0x5501ce5, 0x1987ebf0,
-  0x555215a, 0x19937161, 0x55a2812, 0x199ef5d6,
-  0x55f310d, 0x19aa794d, 0x5643c4a, 0x19b5fbc8,
-  0x56949ca, 0x19c17d44, 0x56e598c, 0x19ccfdc2,
-  0x5736b90, 0x19d87d42, 0x5787fd6, 0x19e3fbc3,
-  0x57d965d, 0x19ef7944, 0x582af26, 0x19faf5c5,
-  0x587ca31, 0x1a067145, 0x58ce77c, 0x1a11ebc5,
-  0x5920708, 0x1a1d6544, 0x59728d5, 0x1a28ddc0,
-  0x59c4ce3, 0x1a34553b, 0x5a17330, 0x1a3fcbb3,
-  0x5a69bbe, 0x1a4b4128, 0x5abc68c, 0x1a56b599,
-  0x5b0f399, 0x1a622907, 0x5b622e6, 0x1a6d9b70,
-  0x5bb5472, 0x1a790cd4, 0x5c0883d, 0x1a847d33,
-  0x5c5be47, 0x1a8fec8c, 0x5caf690, 0x1a9b5adf,
-  0x5d03118, 0x1aa6c82b, 0x5d56ddd, 0x1ab23471,
-  0x5daace1, 0x1abd9faf, 0x5dfee22, 0x1ac909e5,
-  0x5e531a1, 0x1ad47312, 0x5ea775e, 0x1adfdb37,
-  0x5efbf58, 0x1aeb4253, 0x5f5098f, 0x1af6a865,
-  0x5fa5603, 0x1b020d6c, 0x5ffa4b3, 0x1b0d716a,
-  0x604f5a0, 0x1b18d45c, 0x60a48c9, 0x1b243643,
-  0x60f9e2e, 0x1b2f971e, 0x614f5cf, 0x1b3af6ec,
-  0x61a4fac, 0x1b4655ae, 0x61fabc4, 0x1b51b363,
-  0x6250a18, 0x1b5d100a, 0x62a6aa6, 0x1b686ba3,
-  0x62fcd6f, 0x1b73c62d, 0x6353273, 0x1b7f1fa9,
-  0x63a99b1, 0x1b8a7815, 0x6400329, 0x1b95cf71,
-  0x6456edb, 0x1ba125bd, 0x64adcc7, 0x1bac7af9,
-  0x6504ced, 0x1bb7cf23, 0x655bf4c, 0x1bc3223c,
-  0x65b33e4, 0x1bce7442, 0x660aab5, 0x1bd9c537,
-  0x66623be, 0x1be51518, 0x66b9f01, 0x1bf063e6,
-  0x6711c7b, 0x1bfbb1a0, 0x6769c2e, 0x1c06fe46,
-  0x67c1e18, 0x1c1249d8, 0x681a23a, 0x1c1d9454,
-  0x6872894, 0x1c28ddbb, 0x68cb124, 0x1c34260c,
-  0x6923bec, 0x1c3f6d47, 0x697c8eb, 0x1c4ab36b,
-  0x69d5820, 0x1c55f878, 0x6a2e98b, 0x1c613c6d,
-  0x6a87d2d, 0x1c6c7f4a, 0x6ae1304, 0x1c77c10e,
-  0x6b3ab12, 0x1c8301b9, 0x6b94554, 0x1c8e414b,
-  0x6bee1cd, 0x1c997fc4, 0x6c4807a, 0x1ca4bd21,
-  0x6ca215c, 0x1caff965, 0x6cfc472, 0x1cbb348d,
-  0x6d569be, 0x1cc66e99, 0x6db113d, 0x1cd1a78a,
-  0x6e0baf0, 0x1cdcdf5e, 0x6e666d7, 0x1ce81615,
-  0x6ec14f2, 0x1cf34baf, 0x6f1c540, 0x1cfe802b,
-  0x6f777c1, 0x1d09b389, 0x6fd2c75, 0x1d14e5c9,
-  0x702e35c, 0x1d2016e9, 0x7089c75, 0x1d2b46ea,
-  0x70e57c0, 0x1d3675cb, 0x714153e, 0x1d41a38c,
-  0x719d4ed, 0x1d4cd02c, 0x71f96ce, 0x1d57fbaa,
-  0x7255ae0, 0x1d632608, 0x72b2123, 0x1d6e4f43,
-  0x730e997, 0x1d79775c, 0x736b43c, 0x1d849e51,
-  0x73c8111, 0x1d8fc424, 0x7425016, 0x1d9ae8d2,
-  0x748214c, 0x1da60c5d, 0x74df4b1, 0x1db12ec3,
-  0x753ca46, 0x1dbc5004, 0x759a20a, 0x1dc7701f,
-  0x75f7bfe, 0x1dd28f15, 0x7655820, 0x1dddace4,
-  0x76b3671, 0x1de8c98c, 0x77116f0, 0x1df3e50d,
-  0x776f99d, 0x1dfeff67, 0x77cde79, 0x1e0a1898,
-  0x782c582, 0x1e1530a1, 0x788aeb9, 0x1e204781,
-  0x78e9a1d, 0x1e2b5d38, 0x79487ae, 0x1e3671c5,
-  0x79a776c, 0x1e418528, 0x7a06957, 0x1e4c9760,
-  0x7a65d6e, 0x1e57a86d, 0x7ac53b1, 0x1e62b84f,
-  0x7b24c20, 0x1e6dc705, 0x7b846ba, 0x1e78d48e,
-  0x7be4381, 0x1e83e0eb, 0x7c44272, 0x1e8eec1b,
-  0x7ca438f, 0x1e99f61d, 0x7d046d6, 0x1ea4fef0,
-  0x7d64c47, 0x1eb00696, 0x7dc53e3, 0x1ebb0d0d,
-  0x7e25daa, 0x1ec61254, 0x7e8699a, 0x1ed1166b,
-  0x7ee77b3, 0x1edc1953, 0x7f487f6, 0x1ee71b0a,
-  0x7fa9a62, 0x1ef21b90, 0x800aef7, 0x1efd1ae4,
-  0x806c5b5, 0x1f081907, 0x80cde9b, 0x1f1315f7,
-  0x812f9a9, 0x1f1e11b5, 0x81916df, 0x1f290c3f,
-  0x81f363d, 0x1f340596, 0x82557c3, 0x1f3efdb9,
-  0x82b7b70, 0x1f49f4a8, 0x831a143, 0x1f54ea62,
-  0x837c93e, 0x1f5fdee6, 0x83df35f, 0x1f6ad235,
-  0x8441fa6, 0x1f75c44e, 0x84a4e14, 0x1f80b531,
-  0x8507ea7, 0x1f8ba4dc, 0x856b160, 0x1f969350,
-  0x85ce63e, 0x1fa1808c, 0x8631d42, 0x1fac6c91,
-  0x869566a, 0x1fb7575c, 0x86f91b7, 0x1fc240ef,
-  0x875cf28, 0x1fcd2948, 0x87c0ebd, 0x1fd81067,
-  0x8825077, 0x1fe2f64c, 0x8889454, 0x1feddaf6,
-  0x88eda54, 0x1ff8be65, 0x8952278, 0x2003a099,
-  0x89b6cbf, 0x200e8190, 0x8a1b928, 0x2019614c,
-  0x8a807b4, 0x20243fca, 0x8ae5862, 0x202f1d0b,
-  0x8b4ab32, 0x2039f90f, 0x8bb0023, 0x2044d3d4,
-  0x8c15736, 0x204fad5b, 0x8c7b06b, 0x205a85a3,
-  0x8ce0bc0, 0x20655cac, 0x8d46936, 0x20703275,
-  0x8dac8cd, 0x207b06fe, 0x8e12a84, 0x2085da46,
-  0x8e78e5b, 0x2090ac4d, 0x8edf452, 0x209b7d13,
-  0x8f45c68, 0x20a64c97, 0x8fac69e, 0x20b11ad9,
-  0x90132f2, 0x20bbe7d8, 0x907a166, 0x20c6b395,
-  0x90e11f7, 0x20d17e0d, 0x91484a8, 0x20dc4742,
-  0x91af976, 0x20e70f32, 0x9217062, 0x20f1d5de,
-  0x927e96b, 0x20fc9b44, 0x92e6492, 0x21075f65,
-  0x934e1d6, 0x21122240, 0x93b6137, 0x211ce3d5,
-  0x941e2b4, 0x2127a423, 0x948664d, 0x21326329,
-  0x94eec03, 0x213d20e8, 0x95573d4, 0x2147dd5f,
-  0x95bfdc1, 0x2152988d, 0x96289c9, 0x215d5273,
-  0x96917ec, 0x21680b0f, 0x96fa82a, 0x2172c262,
-  0x9763a83, 0x217d786a, 0x97ccef5, 0x21882d28,
-  0x9836582, 0x2192e09b, 0x989fe29, 0x219d92c2,
-  0x99098e9, 0x21a8439e, 0x99735c2, 0x21b2f32e,
-  0x99dd4b4, 0x21bda171, 0x9a475bf, 0x21c84e67,
-  0x9ab18e3, 0x21d2fa0f, 0x9b1be1e, 0x21dda46a,
-  0x9b86572, 0x21e84d76, 0x9bf0edd, 0x21f2f534,
-  0x9c5ba60, 0x21fd9ba3, 0x9cc67fa, 0x220840c2,
-  0x9d317ab, 0x2212e492, 0x9d9c973, 0x221d8711,
-  0x9e07d51, 0x2228283f, 0x9e73346, 0x2232c81c,
-  0x9edeb50, 0x223d66a8, 0x9f4a570, 0x224803e2,
-  0x9fb61a5, 0x22529fca, 0xa021fef, 0x225d3a5e,
-  0xa08e04f, 0x2267d3a0, 0xa0fa2c3, 0x22726b8e,
-  0xa16674b, 0x227d0228, 0xa1d2de7, 0x2287976e,
-  0xa23f698, 0x22922b5e, 0xa2ac15b, 0x229cbdfa,
-  0xa318e32, 0x22a74f40, 0xa385d1d, 0x22b1df30,
-  0xa3f2e19, 0x22bc6dca, 0xa460129, 0x22c6fb0c,
-  0xa4cd64b, 0x22d186f8, 0xa53ad7e, 0x22dc118c,
-  0xa5a86c4, 0x22e69ac8, 0xa61621b, 0x22f122ab,
-  0xa683f83, 0x22fba936, 0xa6f1efc, 0x23062e67,
-  0xa760086, 0x2310b23e, 0xa7ce420, 0x231b34bc,
-  0xa83c9ca, 0x2325b5df, 0xa8ab184, 0x233035a7,
-  0xa919b4e, 0x233ab414, 0xa988727, 0x23453125,
-  0xa9f750f, 0x234facda, 0xaa66506, 0x235a2733,
-  0xaad570c, 0x2364a02e, 0xab44b1f, 0x236f17cc,
-  0xabb4141, 0x23798e0d, 0xac23971, 0x238402ef,
-  0xac933ae, 0x238e7673, 0xad02ff8, 0x2398e898,
-  0xad72e4f, 0x23a3595e, 0xade2eb3, 0x23adc8c4,
-  0xae53123, 0x23b836ca, 0xaec35a0, 0x23c2a36f,
-  0xaf33c28, 0x23cd0eb3, 0xafa44bc, 0x23d77896,
-  0xb014f5b, 0x23e1e117, 0xb085c05, 0x23ec4837,
-  0xb0f6aba, 0x23f6adf3, 0xb167b79, 0x2401124d,
-  0xb1d8e43, 0x240b7543, 0xb24a316, 0x2415d6d5,
-  0xb2bb9f4, 0x24203704, 0xb32d2da, 0x242a95ce,
-  0xb39edca, 0x2434f332, 0xb410ac3, 0x243f4f32,
-  0xb4829c4, 0x2449a9cc, 0xb4f4acd, 0x245402ff,
-  0xb566ddf, 0x245e5acc, 0xb5d92f8, 0x2468b132,
-  0xb64ba19, 0x24730631, 0xb6be341, 0x247d59c8,
-  0xb730e70, 0x2487abf7, 0xb7a3ba5, 0x2491fcbe,
-  0xb816ae1, 0x249c4c1b, 0xb889c23, 0x24a69a0f,
-  0xb8fcf6b, 0x24b0e699, 0xb9704b9, 0x24bb31ba,
-  0xb9e3c0b, 0x24c57b6f, 0xba57563, 0x24cfc3ba,
-  0xbacb0bf, 0x24da0a9a, 0xbb3ee20, 0x24e4500e,
-  0xbbb2d85, 0x24ee9415, 0xbc26eee, 0x24f8d6b0,
-  0xbc9b25a, 0x250317df, 0xbd0f7ca, 0x250d57a0,
-  0xbd83f3d, 0x251795f3, 0xbdf88b3, 0x2521d2d8,
-  0xbe6d42b, 0x252c0e4f, 0xbee21a5, 0x25364857,
-  0xbf57121, 0x254080ef, 0xbfcc29f, 0x254ab818,
-  0xc04161e, 0x2554edd1, 0xc0b6b9e, 0x255f2219,
-  0xc12c31f, 0x256954f1, 0xc1a1ca0, 0x25738657,
-  0xc217822, 0x257db64c, 0xc28d5a3, 0x2587e4cf,
-  0xc303524, 0x259211df, 0xc3796a5, 0x259c3d7c,
-  0xc3efa25, 0x25a667a7, 0xc465fa3, 0x25b0905d,
-  0xc4dc720, 0x25bab7a0, 0xc55309b, 0x25c4dd6e,
-  0xc5c9c14, 0x25cf01c8, 0xc64098b, 0x25d924ac,
-  0xc6b78ff, 0x25e3461b, 0xc72ea70, 0x25ed6614,
-  0xc7a5dde, 0x25f78497, 0xc81d349, 0x2601a1a2,
-  0xc894aaf, 0x260bbd37, 0xc90c412, 0x2615d754,
-  0xc983f70, 0x261feffa, 0xc9fbcca, 0x262a0727,
-  0xca73c1e, 0x26341cdb, 0xcaebd6e, 0x263e3117,
-  0xcb640b8, 0x264843d9, 0xcbdc5fc, 0x26525521,
-  0xcc54d3a, 0x265c64ef, 0xcccd671, 0x26667342,
-  0xcd461a2, 0x2670801a, 0xcdbeecc, 0x267a8b77,
-  0xce37def, 0x26849558, 0xceb0f0a, 0x268e9dbd,
-  0xcf2a21d, 0x2698a4a6, 0xcfa3729, 0x26a2aa11,
-  0xd01ce2b, 0x26acadff, 0xd096725, 0x26b6b070,
-  0xd110216, 0x26c0b162, 0xd189efe, 0x26cab0d6,
-  0xd203ddc, 0x26d4aecb, 0xd27deb0, 0x26deab41,
-  0xd2f817b, 0x26e8a637, 0xd37263a, 0x26f29fad,
-  0xd3eccef, 0x26fc97a3, 0xd467599, 0x27068e18,
-  0xd4e2037, 0x2710830c, 0xd55ccca, 0x271a767e,
-  0xd5d7b50, 0x2724686e, 0xd652bcb, 0x272e58dc,
-  0xd6cde39, 0x273847c8, 0xd74929a, 0x27423530,
-  0xd7c48ee, 0x274c2115, 0xd840134, 0x27560b76,
-  0xd8bbb6d, 0x275ff452, 0xd937798, 0x2769dbaa,
-  0xd9b35b4, 0x2773c17d, 0xda2f5c2, 0x277da5cb,
-  0xdaab7c0, 0x27878893, 0xdb27bb0, 0x279169d5,
-  0xdba4190, 0x279b4990, 0xdc20960, 0x27a527c4,
-  0xdc9d320, 0x27af0472, 0xdd19ed0, 0x27b8df97,
-  0xdd96c6f, 0x27c2b934, 0xde13bfd, 0x27cc9149,
-  0xde90d79, 0x27d667d5, 0xdf0e0e4, 0x27e03cd8,
-  0xdf8b63d, 0x27ea1052, 0xe008d84, 0x27f3e241,
-  0xe0866b8, 0x27fdb2a7, 0xe1041d9, 0x28078181,
-  0xe181ee8, 0x28114ed0, 0xe1ffde2, 0x281b1a94,
-  0xe27dec9, 0x2824e4cc, 0xe2fc19c, 0x282ead78,
-  0xe37a65b, 0x28387498, 0xe3f8d05, 0x28423a2a,
-  0xe47759a, 0x284bfe2f, 0xe4f6019, 0x2855c0a6,
-  0xe574c84, 0x285f8190, 0xe5f3ad8, 0x286940ea,
-  0xe672b16, 0x2872feb6, 0xe6f1d3d, 0x287cbaf3,
-  0xe77114e, 0x288675a0, 0xe7f0748, 0x28902ebd,
-  0xe86ff2a, 0x2899e64a, 0xe8ef8f4, 0x28a39c46,
-  0xe96f4a7, 0x28ad50b1, 0xe9ef241, 0x28b7038b,
-  0xea6f1c2, 0x28c0b4d2, 0xeaef32b, 0x28ca6488,
-  0xeb6f67a, 0x28d412ab, 0xebefbb0, 0x28ddbf3b,
-  0xec702cb, 0x28e76a37, 0xecf0bcd, 0x28f113a0,
-  0xed716b4, 0x28fabb75, 0xedf2380, 0x290461b5,
-  0xee73231, 0x290e0661, 0xeef42c7, 0x2917a977,
-  0xef75541, 0x29214af8, 0xeff699f, 0x292aeae3,
-  0xf077fe1, 0x29348937, 0xf0f9805, 0x293e25f5,
-  0xf17b20d, 0x2947c11c, 0xf1fcdf8, 0x29515aab,
-  0xf27ebc5, 0x295af2a3, 0xf300b74, 0x29648902,
-  0xf382d05, 0x296e1dc9, 0xf405077, 0x2977b0f7,
-  0xf4875ca, 0x2981428c, 0xf509cfe, 0x298ad287,
-  0xf58c613, 0x299460e8, 0xf60f108, 0x299dedaf,
-  0xf691ddd, 0x29a778db, 0xf714c91, 0x29b1026c,
-  0xf797d24, 0x29ba8a61, 0xf81af97, 0x29c410ba,
-  0xf89e3e8, 0x29cd9578, 0xf921a17, 0x29d71899,
-  0xf9a5225, 0x29e09a1c, 0xfa28c10, 0x29ea1a03,
-  0xfaac7d8, 0x29f3984c, 0xfb3057d, 0x29fd14f6,
-  0xfbb4500, 0x2a069003, 0xfc3865e, 0x2a100970,
-  0xfcbc999, 0x2a19813f, 0xfd40eaf, 0x2a22f76e,
-  0xfdc55a1, 0x2a2c6bfd, 0xfe49e6d, 0x2a35deeb,
-  0xfece915, 0x2a3f503a, 0xff53597, 0x2a48bfe7,
-  0xffd83f4, 0x2a522df3, 0x1005d42a, 0x2a5b9a5d,
-  0x100e2639, 0x2a650525, 0x10167a22, 0x2a6e6e4b,
-  0x101ecfe4, 0x2a77d5ce, 0x1027277e, 0x2a813bae,
-  0x102f80f1, 0x2a8a9fea, 0x1037dc3b, 0x2a940283,
-  0x1040395d, 0x2a9d6377, 0x10489856, 0x2aa6c2c6,
-  0x1050f926, 0x2ab02071, 0x10595bcd, 0x2ab97c77,
-  0x1061c04a, 0x2ac2d6d6, 0x106a269d, 0x2acc2f90,
-  0x10728ec6, 0x2ad586a3, 0x107af8c4, 0x2adedc10,
-  0x10836497, 0x2ae82fd5, 0x108bd23f, 0x2af181f3,
-  0x109441bb, 0x2afad269, 0x109cb30b, 0x2b042137,
-  0x10a5262f, 0x2b0d6e5c, 0x10ad9b26, 0x2b16b9d9,
-  0x10b611f1, 0x2b2003ac, 0x10be8a8d, 0x2b294bd5,
-  0x10c704fd, 0x2b329255, 0x10cf813e, 0x2b3bd72a,
-  0x10d7ff51, 0x2b451a55, 0x10e07f36, 0x2b4e5bd4,
-  0x10e900ec, 0x2b579ba8, 0x10f18472, 0x2b60d9d0,
-  0x10fa09c9, 0x2b6a164d, 0x110290f0, 0x2b73511c,
-  0x110b19e7, 0x2b7c8a3f, 0x1113a4ad, 0x2b85c1b5,
-  0x111c3142, 0x2b8ef77d, 0x1124bfa6, 0x2b982b97,
-  0x112d4fd9, 0x2ba15e03, 0x1135e1d9, 0x2baa8ec0,
-  0x113e75a8, 0x2bb3bdce, 0x11470b44, 0x2bbceb2d,
-  0x114fa2ad, 0x2bc616dd, 0x11583be2, 0x2bcf40dc,
-  0x1160d6e5, 0x2bd8692b, 0x116973b3, 0x2be18fc9,
-  0x1172124d, 0x2beab4b6, 0x117ab2b3, 0x2bf3d7f2,
-  0x118354e4, 0x2bfcf97c, 0x118bf8e0, 0x2c061953,
-  0x11949ea6, 0x2c0f3779, 0x119d4636, 0x2c1853eb,
-  0x11a5ef90, 0x2c216eaa, 0x11ae9ab4, 0x2c2a87b6,
-  0x11b747a0, 0x2c339f0e, 0x11bff656, 0x2c3cb4b1,
-  0x11c8a6d4, 0x2c45c8a0, 0x11d1591a, 0x2c4edada,
-  0x11da0d28, 0x2c57eb5e, 0x11e2c2fd, 0x2c60fa2d,
-  0x11eb7a9a, 0x2c6a0746, 0x11f433fd, 0x2c7312a9,
-  0x11fcef27, 0x2c7c1c55, 0x1205ac17, 0x2c85244a,
-  0x120e6acc, 0x2c8e2a87, 0x12172b48, 0x2c972f0d,
-  0x121fed88, 0x2ca031da, 0x1228b18d, 0x2ca932ef,
-  0x12317756, 0x2cb2324c, 0x123a3ee4, 0x2cbb2fef,
-  0x12430835, 0x2cc42bd9, 0x124bd34a, 0x2ccd2609,
-  0x1254a021, 0x2cd61e7f, 0x125d6ebc, 0x2cdf153a,
-  0x12663f19, 0x2ce80a3a, 0x126f1138, 0x2cf0fd80,
-  0x1277e518, 0x2cf9ef09, 0x1280babb, 0x2d02ded7,
-  0x1289921e, 0x2d0bcce8, 0x12926b41, 0x2d14b93d,
-  0x129b4626, 0x2d1da3d5, 0x12a422ca, 0x2d268cb0,
-  0x12ad012e, 0x2d2f73cd, 0x12b5e151, 0x2d38592c,
-  0x12bec333, 0x2d413ccd, 0x12c7a6d4, 0x2d4a1eaf,
-  0x12d08c33, 0x2d52fed2, 0x12d97350, 0x2d5bdd36,
-  0x12e25c2b, 0x2d64b9da, 0x12eb46c3, 0x2d6d94bf,
-  0x12f43318, 0x2d766de2, 0x12fd2129, 0x2d7f4545,
-  0x130610f7, 0x2d881ae8, 0x130f0280, 0x2d90eec8,
-  0x1317f5c6, 0x2d99c0e7, 0x1320eac6, 0x2da29144,
-  0x1329e181, 0x2dab5fdf, 0x1332d9f7, 0x2db42cb6,
-  0x133bd427, 0x2dbcf7cb, 0x1344d011, 0x2dc5c11c,
-  0x134dcdb4, 0x2dce88aa, 0x1356cd11, 0x2dd74e73,
-  0x135fce26, 0x2de01278, 0x1368d0f3, 0x2de8d4b8,
-  0x1371d579, 0x2df19534, 0x137adbb6, 0x2dfa53e9,
-  0x1383e3ab, 0x2e0310d9, 0x138ced57, 0x2e0bcc03,
-  0x1395f8ba, 0x2e148566, 0x139f05d3, 0x2e1d3d03,
-  0x13a814a2, 0x2e25f2d8, 0x13b12526, 0x2e2ea6e6,
-  0x13ba3760, 0x2e37592c, 0x13c34b4f, 0x2e4009aa,
-  0x13cc60f2, 0x2e48b860, 0x13d5784a, 0x2e51654c,
-  0x13de9156, 0x2e5a1070, 0x13e7ac15, 0x2e62b9ca,
-  0x13f0c887, 0x2e6b615a, 0x13f9e6ad, 0x2e740720,
-  0x14030684, 0x2e7cab1c, 0x140c280e, 0x2e854d4d,
-  0x14154b4a, 0x2e8dedb3, 0x141e7037, 0x2e968c4d,
-  0x142796d5, 0x2e9f291b, 0x1430bf24, 0x2ea7c41e,
-  0x1439e923, 0x2eb05d53, 0x144314d3, 0x2eb8f4bc,
-  0x144c4232, 0x2ec18a58, 0x14557140, 0x2eca1e27,
-  0x145ea1fd, 0x2ed2b027, 0x1467d469, 0x2edb405a,
-  0x14710883, 0x2ee3cebe, 0x147a3e4b, 0x2eec5b53,
-  0x148375c1, 0x2ef4e619, 0x148caee4, 0x2efd6f10,
-  0x1495e9b3, 0x2f05f637, 0x149f2630, 0x2f0e7b8e,
-  0x14a86458, 0x2f16ff14, 0x14b1a42c, 0x2f1f80ca,
-  0x14bae5ab, 0x2f2800af, 0x14c428d6, 0x2f307ec2,
-  0x14cd6dab, 0x2f38fb03, 0x14d6b42b, 0x2f417573,
-  0x14dffc54, 0x2f49ee0f, 0x14e94627, 0x2f5264da,
-  0x14f291a4, 0x2f5ad9d1, 0x14fbdec9, 0x2f634cf5,
-  0x15052d97, 0x2f6bbe45, 0x150e7e0d, 0x2f742dc1,
-  0x1517d02b, 0x2f7c9b69, 0x152123f0, 0x2f85073c,
-  0x152a795d, 0x2f8d713a, 0x1533d070, 0x2f95d963,
-  0x153d292a, 0x2f9e3fb6, 0x15468389, 0x2fa6a433,
-  0x154fdf8f, 0x2faf06da, 0x15593d3a, 0x2fb767aa,
-  0x15629c89, 0x2fbfc6a3, 0x156bfd7d, 0x2fc823c5,
-  0x15756016, 0x2fd07f0f, 0x157ec452, 0x2fd8d882,
-  0x15882a32, 0x2fe1301c, 0x159191b5, 0x2fe985de,
-  0x159afadb, 0x2ff1d9c7, 0x15a465a3, 0x2ffa2bd6,
-  0x15add20d, 0x30027c0c, 0x15b74019, 0x300aca69,
-  0x15c0afc6, 0x301316eb, 0x15ca2115, 0x301b6193,
-  0x15d39403, 0x3023aa5f, 0x15dd0892, 0x302bf151,
-  0x15e67ec1, 0x30343667, 0x15eff690, 0x303c79a2,
-  0x15f96ffd, 0x3044bb00, 0x1602eb0a, 0x304cfa83,
-  0x160c67b4, 0x30553828, 0x1615e5fd, 0x305d73f0,
-  0x161f65e4, 0x3065addb, 0x1628e767, 0x306de5e9,
-  0x16326a88, 0x30761c18, 0x163bef46, 0x307e5069,
-  0x1645759f, 0x308682dc, 0x164efd94, 0x308eb36f,
-  0x16588725, 0x3096e223, 0x16621251, 0x309f0ef8,
-  0x166b9f18, 0x30a739ed, 0x16752d79, 0x30af6302,
-  0x167ebd74, 0x30b78a36, 0x16884f09, 0x30bfaf89,
-  0x1691e237, 0x30c7d2fb, 0x169b76fe, 0x30cff48c,
-  0x16a50d5d, 0x30d8143b, 0x16aea555, 0x30e03208,
-  0x16b83ee4, 0x30e84df3, 0x16c1da0b, 0x30f067fb,
-  0x16cb76c9, 0x30f8801f, 0x16d5151d, 0x31009661,
-  0x16deb508, 0x3108aabf, 0x16e85689, 0x3110bd39,
-  0x16f1f99f, 0x3118cdcf, 0x16fb9e4b, 0x3120dc80,
-  0x1705448b, 0x3128e94c, 0x170eec60, 0x3130f433,
-  0x171895c9, 0x3138fd35, 0x172240c5, 0x31410450,
-  0x172bed55, 0x31490986, 0x17359b78, 0x31510cd5,
-  0x173f4b2e, 0x31590e3e, 0x1748fc75, 0x31610dbf,
-  0x1752af4f, 0x31690b59, 0x175c63ba, 0x3171070c,
-  0x176619b6, 0x317900d6, 0x176fd143, 0x3180f8b8,
-  0x17798a60, 0x3188eeb2, 0x1783450d, 0x3190e2c3,
-  0x178d014a, 0x3198d4ea, 0x1796bf16, 0x31a0c528,
-  0x17a07e70, 0x31a8b37c, 0x17aa3f5a, 0x31b09fe7,
-  0x17b401d1, 0x31b88a66, 0x17bdc5d6, 0x31c072fb,
-  0x17c78b68, 0x31c859a5, 0x17d15288, 0x31d03e64,
-  0x17db1b34, 0x31d82137, 0x17e4e56c, 0x31e0021e,
-  0x17eeb130, 0x31e7e118, 0x17f87e7f, 0x31efbe27,
-  0x18024d59, 0x31f79948, 0x180c1dbf, 0x31ff727c,
-  0x1815efae, 0x320749c3, 0x181fc328, 0x320f1f1c,
-  0x1829982b, 0x3216f287, 0x18336eb7, 0x321ec403,
-  0x183d46cc, 0x32269391, 0x18472069, 0x322e6130,
-  0x1850fb8e, 0x32362ce0, 0x185ad83c, 0x323df6a0,
-  0x1864b670, 0x3245be70, 0x186e962b, 0x324d8450,
-  0x1878776d, 0x32554840, 0x18825a35, 0x325d0a3e,
-  0x188c3e83, 0x3264ca4c, 0x18962456, 0x326c8868,
-  0x18a00bae, 0x32744493, 0x18a9f48a, 0x327bfecc,
-  0x18b3deeb, 0x3283b712, 0x18bdcad0, 0x328b6d66,
-  0x18c7b838, 0x329321c7, 0x18d1a724, 0x329ad435,
-  0x18db9792, 0x32a284b0, 0x18e58982, 0x32aa3336,
-  0x18ef7cf4, 0x32b1dfc9, 0x18f971e8, 0x32b98a67,
-  0x1903685d, 0x32c13311, 0x190d6053, 0x32c8d9c6,
-  0x191759c9, 0x32d07e85, 0x192154bf, 0x32d82150,
-  0x192b5135, 0x32dfc224, 0x19354f2a, 0x32e76102,
-  0x193f4e9e, 0x32eefdea, 0x19494f90, 0x32f698db,
-  0x19535201, 0x32fe31d5, 0x195d55ef, 0x3305c8d7,
-  0x19675b5a, 0x330d5de3, 0x19716243, 0x3314f0f6,
-  0x197b6aa8, 0x331c8211, 0x19857489, 0x33241134,
-  0x198f7fe6, 0x332b9e5e, 0x19998cbe, 0x3333298f,
-  0x19a39b11, 0x333ab2c6, 0x19adaadf, 0x33423a04,
-  0x19b7bc27, 0x3349bf48, 0x19c1cee9, 0x33514292,
-  0x19cbe325, 0x3358c3e2, 0x19d5f8d9, 0x33604336,
-  0x19e01006, 0x3367c090, 0x19ea28ac, 0x336f3bee,
-  0x19f442c9, 0x3376b551, 0x19fe5e5e, 0x337e2cb7,
-  0x1a087b69, 0x3385a222, 0x1a1299ec, 0x338d1590,
-  0x1a1cb9e5, 0x33948701, 0x1a26db54, 0x339bf675,
-  0x1a30fe38, 0x33a363ec, 0x1a3b2292, 0x33aacf65,
-  0x1a454860, 0x33b238e0, 0x1a4f6fa3, 0x33b9a05d,
-  0x1a599859, 0x33c105db, 0x1a63c284, 0x33c8695b,
-  0x1a6dee21, 0x33cfcadc, 0x1a781b31, 0x33d72a5d,
-  0x1a8249b4, 0x33de87de, 0x1a8c79a9, 0x33e5e360,
-  0x1a96ab0f, 0x33ed3ce1, 0x1aa0dde7, 0x33f49462,
-  0x1aab122f, 0x33fbe9e2, 0x1ab547e8, 0x34033d61,
-  0x1abf7f11, 0x340a8edf, 0x1ac9b7a9, 0x3411de5b,
-  0x1ad3f1b1, 0x34192bd5, 0x1ade2d28, 0x3420774d,
-  0x1ae86a0d, 0x3427c0c3, 0x1af2a860, 0x342f0836,
-  0x1afce821, 0x34364da6, 0x1b072950, 0x343d9112,
-  0x1b116beb, 0x3444d27b, 0x1b1baff2, 0x344c11e0,
-  0x1b25f566, 0x34534f41, 0x1b303c46, 0x345a8a9d,
-  0x1b3a8491, 0x3461c3f5, 0x1b44ce46, 0x3468fb47,
-  0x1b4f1967, 0x34703095, 0x1b5965f1, 0x347763dd,
-  0x1b63b3e5, 0x347e951f, 0x1b6e0342, 0x3485c45b,
-  0x1b785409, 0x348cf190, 0x1b82a638, 0x34941cbf,
-  0x1b8cf9cf, 0x349b45e7, 0x1b974ece, 0x34a26d08,
-  0x1ba1a534, 0x34a99221, 0x1babfd01, 0x34b0b533,
-  0x1bb65634, 0x34b7d63c, 0x1bc0b0ce, 0x34bef53d,
-  0x1bcb0cce, 0x34c61236, 0x1bd56a32, 0x34cd2d26,
-  0x1bdfc8fc, 0x34d4460c, 0x1bea292b, 0x34db5cea,
-  0x1bf48abd, 0x34e271bd, 0x1bfeedb3, 0x34e98487,
-  0x1c09520d, 0x34f09546, 0x1c13b7c9, 0x34f7a3fb,
-  0x1c1e1ee9, 0x34feb0a5, 0x1c28876a, 0x3505bb44,
-  0x1c32f14d, 0x350cc3d8, 0x1c3d5c91, 0x3513ca60,
-  0x1c47c936, 0x351acedd, 0x1c52373c, 0x3521d14d,
-  0x1c5ca6a2, 0x3528d1b1, 0x1c671768, 0x352fd008,
-  0x1c71898d, 0x3536cc52, 0x1c7bfd11, 0x353dc68f,
-  0x1c8671f3, 0x3544bebf, 0x1c90e834, 0x354bb4e1,
-  0x1c9b5fd2, 0x3552a8f4, 0x1ca5d8cd, 0x35599afa,
-  0x1cb05326, 0x35608af1, 0x1cbacedb, 0x356778d9,
-  0x1cc54bec, 0x356e64b2, 0x1ccfca59, 0x35754e7c,
-  0x1cda4a21, 0x357c3636, 0x1ce4cb44, 0x35831be0,
-  0x1cef4dc2, 0x3589ff7a, 0x1cf9d199, 0x3590e104,
-  0x1d0456ca, 0x3597c07d, 0x1d0edd55, 0x359e9de5,
-  0x1d196538, 0x35a5793c, 0x1d23ee74, 0x35ac5282,
-  0x1d2e7908, 0x35b329b5, 0x1d3904f4, 0x35b9fed7,
-  0x1d439236, 0x35c0d1e7, 0x1d4e20d0, 0x35c7a2e3,
-  0x1d58b0c0, 0x35ce71ce, 0x1d634206, 0x35d53ea5,
-  0x1d6dd4a2, 0x35dc0968, 0x1d786892, 0x35e2d219,
-  0x1d82fdd8, 0x35e998b5, 0x1d8d9472, 0x35f05d3d,
-  0x1d982c60, 0x35f71fb1, 0x1da2c5a2, 0x35fde011,
-  0x1dad6036, 0x36049e5b, 0x1db7fc1e, 0x360b5a90,
-  0x1dc29958, 0x361214b0, 0x1dcd37e4, 0x3618ccba,
-  0x1dd7d7c1, 0x361f82af, 0x1de278ef, 0x3626368d,
-  0x1ded1b6e, 0x362ce855, 0x1df7bf3e, 0x36339806,
-  0x1e02645d, 0x363a45a0, 0x1e0d0acc, 0x3640f123,
-  0x1e17b28a, 0x36479a8e, 0x1e225b96, 0x364e41e2,
-  0x1e2d05f1, 0x3654e71d, 0x1e37b199, 0x365b8a41,
-  0x1e425e8f, 0x36622b4c, 0x1e4d0cd2, 0x3668ca3e,
-  0x1e57bc62, 0x366f6717, 0x1e626d3e, 0x367601d7,
-  0x1e6d1f65, 0x367c9a7e, 0x1e77d2d8, 0x3683310b,
-  0x1e828796, 0x3689c57d, 0x1e8d3d9e, 0x369057d6,
-  0x1e97f4f1, 0x3696e814, 0x1ea2ad8d, 0x369d7637,
-  0x1ead6773, 0x36a4023f, 0x1eb822a1, 0x36aa8c2c,
-  0x1ec2df18, 0x36b113fd, 0x1ecd9cd7, 0x36b799b3,
-  0x1ed85bdd, 0x36be1d4c, 0x1ee31c2b, 0x36c49ec9,
-  0x1eedddc0, 0x36cb1e2a, 0x1ef8a09b, 0x36d19b6e,
-  0x1f0364bc, 0x36d81695, 0x1f0e2a22, 0x36de8f9e,
-  0x1f18f0ce, 0x36e5068a, 0x1f23b8be, 0x36eb7b58,
-  0x1f2e81f3, 0x36f1ee09, 0x1f394c6b, 0x36f85e9a,
-  0x1f441828, 0x36fecd0e, 0x1f4ee527, 0x37053962,
-  0x1f59b369, 0x370ba398, 0x1f6482ed, 0x37120bae,
-  0x1f6f53b3, 0x371871a5, 0x1f7a25ba, 0x371ed57c,
-  0x1f84f902, 0x37253733, 0x1f8fcd8b, 0x372b96ca,
-  0x1f9aa354, 0x3731f440, 0x1fa57a5d, 0x37384f95,
-  0x1fb052a5, 0x373ea8ca, 0x1fbb2c2c, 0x3744ffdd,
-  0x1fc606f1, 0x374b54ce, 0x1fd0e2f5, 0x3751a79e,
-  0x1fdbc036, 0x3757f84c, 0x1fe69eb4, 0x375e46d8,
-  0x1ff17e70, 0x37649341, 0x1ffc5f67, 0x376add88,
-  0x2007419b, 0x377125ac, 0x2012250a, 0x37776bac,
-  0x201d09b4, 0x377daf89, 0x2027ef99, 0x3783f143,
-  0x2032d6b8, 0x378a30d8, 0x203dbf11, 0x37906e49,
-  0x2048a8a4, 0x3796a996, 0x2053936f, 0x379ce2be,
-  0x205e7f74, 0x37a319c2, 0x20696cb0, 0x37a94ea0,
-  0x20745b24, 0x37af8159, 0x207f4acf, 0x37b5b1ec,
-  0x208a3bb2, 0x37bbe05a, 0x20952dcb, 0x37c20ca1,
-  0x20a0211a, 0x37c836c2, 0x20ab159e, 0x37ce5ebd,
-  0x20b60b58, 0x37d48490, 0x20c10247, 0x37daa83d,
-  0x20cbfa6a, 0x37e0c9c3, 0x20d6f3c1, 0x37e6e921,
-  0x20e1ee4b, 0x37ed0657, 0x20ecea09, 0x37f32165,
-  0x20f7e6f9, 0x37f93a4b, 0x2102e51c, 0x37ff5109,
-  0x210de470, 0x3805659e, 0x2118e4f6, 0x380b780a,
-  0x2123e6ad, 0x3811884d, 0x212ee995, 0x38179666,
-  0x2139edac, 0x381da256, 0x2144f2f3, 0x3823ac1d,
-  0x214ff96a, 0x3829b3b9, 0x215b0110, 0x382fb92a,
-  0x216609e3, 0x3835bc71, 0x217113e5, 0x383bbd8e,
-  0x217c1f15, 0x3841bc7f, 0x21872b72, 0x3847b946,
-  0x219238fb, 0x384db3e0, 0x219d47b1, 0x3853ac4f,
-  0x21a85793, 0x3859a292, 0x21b368a0, 0x385f96a9,
-  0x21be7ad8, 0x38658894, 0x21c98e3b, 0x386b7852,
-  0x21d4a2c8, 0x387165e3, 0x21dfb87f, 0x38775147,
-  0x21eacf5f, 0x387d3a7e, 0x21f5e768, 0x38832187,
-  0x22010099, 0x38890663, 0x220c1af3, 0x388ee910,
-  0x22173674, 0x3894c98f, 0x2222531c, 0x389aa7e0,
-  0x222d70eb, 0x38a08402, 0x22388fe1, 0x38a65df6,
-  0x2243affc, 0x38ac35ba, 0x224ed13d, 0x38b20b4f,
-  0x2259f3a3, 0x38b7deb4, 0x2265172e, 0x38bdafea,
-  0x22703bdc, 0x38c37eef, 0x227b61af, 0x38c94bc4,
-  0x228688a4, 0x38cf1669, 0x2291b0bd, 0x38d4dedd,
-  0x229cd9f8, 0x38daa520, 0x22a80456, 0x38e06932,
-  0x22b32fd4, 0x38e62b13, 0x22be5c74, 0x38ebeac2,
-  0x22c98a35, 0x38f1a840, 0x22d4b916, 0x38f7638b,
-  0x22dfe917, 0x38fd1ca4, 0x22eb1a37, 0x3902d38b,
-  0x22f64c77, 0x3908883f, 0x23017fd5, 0x390e3ac0,
-  0x230cb451, 0x3913eb0e, 0x2317e9eb, 0x39199929,
-  0x232320a2, 0x391f4510, 0x232e5876, 0x3924eec3,
-  0x23399167, 0x392a9642, 0x2344cb73, 0x39303b8e,
-  0x2350069b, 0x3935dea4, 0x235b42df, 0x393b7f86,
-  0x2366803c, 0x39411e33, 0x2371beb5, 0x3946baac,
-  0x237cfe47, 0x394c54ee, 0x23883ef2, 0x3951ecfc,
-  0x239380b6, 0x395782d3, 0x239ec393, 0x395d1675,
-  0x23aa0788, 0x3962a7e0, 0x23b54c95, 0x39683715,
-  0x23c092b9, 0x396dc414, 0x23cbd9f4, 0x39734edc,
-  0x23d72245, 0x3978d76c, 0x23e26bac, 0x397e5dc6,
-  0x23edb628, 0x3983e1e8, 0x23f901ba, 0x398963d2,
-  0x24044e60, 0x398ee385, 0x240f9c1a, 0x399460ff,
-  0x241aeae8, 0x3999dc42, 0x24263ac9, 0x399f554b,
-  0x24318bbe, 0x39a4cc1c, 0x243cddc4, 0x39aa40b4,
-  0x244830dd, 0x39afb313, 0x24538507, 0x39b52339,
-  0x245eda43, 0x39ba9125, 0x246a308f, 0x39bffcd7,
-  0x247587eb, 0x39c5664f, 0x2480e057, 0x39cacd8d,
-  0x248c39d3, 0x39d03291, 0x2497945d, 0x39d5955a,
-  0x24a2eff6, 0x39daf5e8, 0x24ae4c9d, 0x39e0543c,
-  0x24b9aa52, 0x39e5b054, 0x24c50914, 0x39eb0a31,
-  0x24d068e2, 0x39f061d2, 0x24dbc9bd, 0x39f5b737,
-  0x24e72ba4, 0x39fb0a60, 0x24f28e96, 0x3a005b4d,
-  0x24fdf294, 0x3a05a9fd, 0x2509579b, 0x3a0af671,
-  0x2514bdad, 0x3a1040a8, 0x252024c9, 0x3a1588a2,
-  0x252b8cee, 0x3a1ace5f, 0x2536f61b, 0x3a2011de,
-  0x25426051, 0x3a25531f, 0x254dcb8f, 0x3a2a9223,
-  0x255937d5, 0x3a2fcee8, 0x2564a521, 0x3a350970,
-  0x25701374, 0x3a3a41b9, 0x257b82cd, 0x3a3f77c3,
-  0x2586f32c, 0x3a44ab8e, 0x25926490, 0x3a49dd1a,
-  0x259dd6f9, 0x3a4f0c67, 0x25a94a67, 0x3a543974,
-  0x25b4bed8, 0x3a596442, 0x25c0344d, 0x3a5e8cd0,
-  0x25cbaac5, 0x3a63b31d, 0x25d72240, 0x3a68d72b,
-  0x25e29abc, 0x3a6df8f8, 0x25ee143b, 0x3a731884,
-  0x25f98ebb, 0x3a7835cf, 0x26050a3b, 0x3a7d50da,
-  0x261086bc, 0x3a8269a3, 0x261c043d, 0x3a87802a,
-  0x262782be, 0x3a8c9470, 0x2633023e, 0x3a91a674,
-  0x263e82bc, 0x3a96b636, 0x264a0438, 0x3a9bc3b6,
-  0x265586b3, 0x3aa0cef3, 0x26610a2a, 0x3aa5d7ee,
-  0x266c8e9f, 0x3aaadea6, 0x26781410, 0x3aafe31b,
-  0x26839a7c, 0x3ab4e54c, 0x268f21e5, 0x3ab9e53a,
-  0x269aaa48, 0x3abee2e5, 0x26a633a6, 0x3ac3de4c,
-  0x26b1bdff, 0x3ac8d76f, 0x26bd4951, 0x3acdce4d,
-  0x26c8d59c, 0x3ad2c2e8, 0x26d462e1, 0x3ad7b53d,
-  0x26dff11d, 0x3adca54e, 0x26eb8052, 0x3ae1931a,
-  0x26f7107e, 0x3ae67ea1, 0x2702a1a1, 0x3aeb67e3,
-  0x270e33bb, 0x3af04edf, 0x2719c6cb, 0x3af53395,
-  0x27255ad1, 0x3afa1605, 0x2730efcc, 0x3afef630,
-  0x273c85bc, 0x3b03d414, 0x27481ca1, 0x3b08afb2,
-  0x2753b479, 0x3b0d8909, 0x275f4d45, 0x3b126019,
-  0x276ae704, 0x3b1734e2, 0x277681b6, 0x3b1c0764,
-  0x27821d59, 0x3b20d79e, 0x278db9ef, 0x3b25a591,
-  0x27995776, 0x3b2a713d, 0x27a4f5ed, 0x3b2f3aa0,
-  0x27b09555, 0x3b3401bb, 0x27bc35ad, 0x3b38c68e,
-  0x27c7d6f4, 0x3b3d8918, 0x27d3792b, 0x3b42495a,
-  0x27df1c50, 0x3b470753, 0x27eac063, 0x3b4bc303,
-  0x27f66564, 0x3b507c69, 0x28020b52, 0x3b553386,
-  0x280db22d, 0x3b59e85a, 0x281959f4, 0x3b5e9ae4,
-  0x282502a7, 0x3b634b23, 0x2830ac45, 0x3b67f919,
-  0x283c56cf, 0x3b6ca4c4, 0x28480243, 0x3b714e25,
-  0x2853aea1, 0x3b75f53c, 0x285f5be9, 0x3b7a9a07,
-  0x286b0a1a, 0x3b7f3c87, 0x2876b934, 0x3b83dcbc,
-  0x28826936, 0x3b887aa6, 0x288e1a20, 0x3b8d1644,
-  0x2899cbf1, 0x3b91af97, 0x28a57ea9, 0x3b96469d,
-  0x28b13248, 0x3b9adb57, 0x28bce6cd, 0x3b9f6dc5,
-  0x28c89c37, 0x3ba3fde7, 0x28d45286, 0x3ba88bbc,
-  0x28e009ba, 0x3bad1744, 0x28ebc1d3, 0x3bb1a080,
-  0x28f77acf, 0x3bb6276e, 0x290334af, 0x3bbaac0e,
-  0x290eef71, 0x3bbf2e62, 0x291aab16, 0x3bc3ae67,
-  0x2926679c, 0x3bc82c1f, 0x29322505, 0x3bcca789,
-  0x293de34e, 0x3bd120a4, 0x2949a278, 0x3bd59771,
-  0x29556282, 0x3bda0bf0, 0x2961236c, 0x3bde7e20,
-  0x296ce535, 0x3be2ee01, 0x2978a7dd, 0x3be75b93,
-  0x29846b63, 0x3bebc6d5, 0x29902fc7, 0x3bf02fc9,
-  0x299bf509, 0x3bf4966c, 0x29a7bb28, 0x3bf8fac0,
-  0x29b38223, 0x3bfd5cc4, 0x29bf49fa, 0x3c01bc78,
-  0x29cb12ad, 0x3c0619dc, 0x29d6dc3b, 0x3c0a74f0,
-  0x29e2a6a3, 0x3c0ecdb2, 0x29ee71e6, 0x3c132424,
-  0x29fa3e03, 0x3c177845, 0x2a060af9, 0x3c1bca16,
-  0x2a11d8c8, 0x3c201994, 0x2a1da770, 0x3c2466c2,
-  0x2a2976ef, 0x3c28b19e, 0x2a354746, 0x3c2cfa28,
-  0x2a411874, 0x3c314060, 0x2a4cea79, 0x3c358446,
-  0x2a58bd54, 0x3c39c5da, 0x2a649105, 0x3c3e051b,
-  0x2a70658a, 0x3c42420a, 0x2a7c3ae5, 0x3c467ca6,
-  0x2a881114, 0x3c4ab4ef, 0x2a93e817, 0x3c4eeae5,
-  0x2a9fbfed, 0x3c531e88, 0x2aab9896, 0x3c574fd8,
-  0x2ab77212, 0x3c5b7ed4, 0x2ac34c60, 0x3c5fab7c,
-  0x2acf277f, 0x3c63d5d1, 0x2adb0370, 0x3c67fdd1,
-  0x2ae6e031, 0x3c6c237e, 0x2af2bdc3, 0x3c7046d6,
-  0x2afe9c24, 0x3c7467d9, 0x2b0a7b54, 0x3c788688,
-  0x2b165b54, 0x3c7ca2e2, 0x2b223c22, 0x3c80bce7,
-  0x2b2e1dbe, 0x3c84d496, 0x2b3a0027, 0x3c88e9f1,
-  0x2b45e35d, 0x3c8cfcf6, 0x2b51c760, 0x3c910da5,
-  0x2b5dac2f, 0x3c951bff, 0x2b6991ca, 0x3c992803,
-  0x2b75782f, 0x3c9d31b0, 0x2b815f60, 0x3ca13908,
-  0x2b8d475b, 0x3ca53e09, 0x2b99301f, 0x3ca940b3,
-  0x2ba519ad, 0x3cad4107, 0x2bb10404, 0x3cb13f04,
-  0x2bbcef23, 0x3cb53aaa, 0x2bc8db0b, 0x3cb933f9,
-  0x2bd4c7ba, 0x3cbd2af0, 0x2be0b52f, 0x3cc11f90,
-  0x2beca36c, 0x3cc511d9, 0x2bf8926f, 0x3cc901c9,
-  0x2c048237, 0x3cccef62, 0x2c1072c4, 0x3cd0daa2,
-  0x2c1c6417, 0x3cd4c38b, 0x2c28562d, 0x3cd8aa1b,
-  0x2c344908, 0x3cdc8e52, 0x2c403ca5, 0x3ce07031,
-  0x2c4c3106, 0x3ce44fb7, 0x2c582629, 0x3ce82ce4,
-  0x2c641c0e, 0x3cec07b8, 0x2c7012b5, 0x3cefe032,
-  0x2c7c0a1d, 0x3cf3b653, 0x2c880245, 0x3cf78a1b,
-  0x2c93fb2e, 0x3cfb5b89, 0x2c9ff4d6, 0x3cff2a9d,
-  0x2cabef3d, 0x3d02f757, 0x2cb7ea63, 0x3d06c1b6,
-  0x2cc3e648, 0x3d0a89bc, 0x2ccfe2ea, 0x3d0e4f67,
-  0x2cdbe04a, 0x3d1212b7, 0x2ce7de66, 0x3d15d3ad,
-  0x2cf3dd3f, 0x3d199248, 0x2cffdcd4, 0x3d1d4e88,
-  0x2d0bdd25, 0x3d21086c, 0x2d17de31, 0x3d24bff6,
-  0x2d23dff7, 0x3d287523, 0x2d2fe277, 0x3d2c27f6,
-  0x2d3be5b1, 0x3d2fd86c, 0x2d47e9a5, 0x3d338687,
-  0x2d53ee51, 0x3d373245, 0x2d5ff3b5, 0x3d3adba7,
-  0x2d6bf9d1, 0x3d3e82ae, 0x2d7800a5, 0x3d422757,
-  0x2d84082f, 0x3d45c9a4, 0x2d901070, 0x3d496994,
-  0x2d9c1967, 0x3d4d0728, 0x2da82313, 0x3d50a25e,
-  0x2db42d74, 0x3d543b37, 0x2dc0388a, 0x3d57d1b3,
-  0x2dcc4454, 0x3d5b65d2, 0x2dd850d2, 0x3d5ef793,
-  0x2de45e03, 0x3d6286f6, 0x2df06be6, 0x3d6613fb,
-  0x2dfc7a7c, 0x3d699ea3, 0x2e0889c4, 0x3d6d26ec,
-  0x2e1499bd, 0x3d70acd7, 0x2e20aa67, 0x3d743064,
-  0x2e2cbbc1, 0x3d77b192, 0x2e38cdcb, 0x3d7b3061,
-  0x2e44e084, 0x3d7eacd2, 0x2e50f3ed, 0x3d8226e4,
-  0x2e5d0804, 0x3d859e96, 0x2e691cc9, 0x3d8913ea,
-  0x2e75323c, 0x3d8c86de, 0x2e81485c, 0x3d8ff772,
-  0x2e8d5f29, 0x3d9365a8, 0x2e9976a1, 0x3d96d17d,
-  0x2ea58ec6, 0x3d9a3af2, 0x2eb1a796, 0x3d9da208,
-  0x2ebdc110, 0x3da106bd, 0x2ec9db35, 0x3da46912,
-  0x2ed5f604, 0x3da7c907, 0x2ee2117c, 0x3dab269b,
-  0x2eee2d9d, 0x3dae81cf, 0x2efa4a67, 0x3db1daa2,
-  0x2f0667d9, 0x3db53113, 0x2f1285f2, 0x3db88524,
-  0x2f1ea4b2, 0x3dbbd6d4, 0x2f2ac419, 0x3dbf2622,
-  0x2f36e426, 0x3dc2730f, 0x2f4304d8, 0x3dc5bd9b,
-  0x2f4f2630, 0x3dc905c5, 0x2f5b482d, 0x3dcc4b8d,
-  0x2f676ace, 0x3dcf8ef3, 0x2f738e12, 0x3dd2cff7,
-  0x2f7fb1fa, 0x3dd60e99, 0x2f8bd685, 0x3dd94ad8,
-  0x2f97fbb2, 0x3ddc84b5, 0x2fa42181, 0x3ddfbc30,
-  0x2fb047f2, 0x3de2f148, 0x2fbc6f03, 0x3de623fd,
-  0x2fc896b5, 0x3de9544f, 0x2fd4bf08, 0x3dec823e,
-  0x2fe0e7f9, 0x3defadca, 0x2fed118a, 0x3df2d6f3,
-  0x2ff93bba, 0x3df5fdb8, 0x30056687, 0x3df9221a,
-  0x301191f3, 0x3dfc4418, 0x301dbdfb, 0x3dff63b2,
-  0x3029eaa1, 0x3e0280e9, 0x303617e2, 0x3e059bbb,
-  0x304245c0, 0x3e08b42a, 0x304e7438, 0x3e0bca34,
-  0x305aa34c, 0x3e0eddd9, 0x3066d2fa, 0x3e11ef1b,
-  0x30730342, 0x3e14fdf7, 0x307f3424, 0x3e180a6f,
-  0x308b659f, 0x3e1b1482, 0x309797b2, 0x3e1e1c30,
-  0x30a3ca5d, 0x3e212179, 0x30affda0, 0x3e24245d,
-  0x30bc317a, 0x3e2724db, 0x30c865ea, 0x3e2a22f4,
-  0x30d49af1, 0x3e2d1ea8, 0x30e0d08d, 0x3e3017f6,
-  0x30ed06bf, 0x3e330ede, 0x30f93d86, 0x3e360360,
-  0x310574e0, 0x3e38f57c, 0x3111accf, 0x3e3be532,
-  0x311de551, 0x3e3ed282, 0x312a1e66, 0x3e41bd6c,
-  0x3136580d, 0x3e44a5ef, 0x31429247, 0x3e478c0b,
-  0x314ecd11, 0x3e4a6fc1, 0x315b086d, 0x3e4d5110,
-  0x31674459, 0x3e502ff9, 0x317380d6, 0x3e530c7a,
-  0x317fbde2, 0x3e55e694, 0x318bfb7d, 0x3e58be47,
-  0x319839a6, 0x3e5b9392, 0x31a4785e, 0x3e5e6676,
-  0x31b0b7a4, 0x3e6136f3, 0x31bcf777, 0x3e640507,
-  0x31c937d6, 0x3e66d0b4, 0x31d578c2, 0x3e6999fa,
-  0x31e1ba3a, 0x3e6c60d7, 0x31edfc3d, 0x3e6f254c,
-  0x31fa3ecb, 0x3e71e759, 0x320681e3, 0x3e74a6fd,
-  0x3212c585, 0x3e77643a, 0x321f09b1, 0x3e7a1f0d,
-  0x322b4e66, 0x3e7cd778, 0x323793a3, 0x3e7f8d7b,
-  0x3243d968, 0x3e824114, 0x32501fb5, 0x3e84f245,
-  0x325c6688, 0x3e87a10c, 0x3268ade3, 0x3e8a4d6a,
-  0x3274f5c3, 0x3e8cf75f, 0x32813e2a, 0x3e8f9eeb,
-  0x328d8715, 0x3e92440d, 0x3299d085, 0x3e94e6c6,
-  0x32a61a7a, 0x3e978715, 0x32b264f2, 0x3e9a24fb,
-  0x32beafed, 0x3e9cc076, 0x32cafb6b, 0x3e9f5988,
-  0x32d7476c, 0x3ea1f02f, 0x32e393ef, 0x3ea4846c,
-  0x32efe0f2, 0x3ea7163f, 0x32fc2e77, 0x3ea9a5a8,
-  0x33087c7d, 0x3eac32a6, 0x3314cb02, 0x3eaebd3a,
-  0x33211a07, 0x3eb14563, 0x332d698a, 0x3eb3cb21,
-  0x3339b98d, 0x3eb64e75, 0x33460a0d, 0x3eb8cf5d,
-  0x33525b0b, 0x3ebb4ddb, 0x335eac86, 0x3ebdc9ed,
-  0x336afe7e, 0x3ec04394, 0x337750f2, 0x3ec2bad0,
-  0x3383a3e2, 0x3ec52fa0, 0x338ff74d, 0x3ec7a205,
-  0x339c4b32, 0x3eca11fe, 0x33a89f92, 0x3ecc7f8b,
-  0x33b4f46c, 0x3eceeaad, 0x33c149bf, 0x3ed15363,
-  0x33cd9f8b, 0x3ed3b9ad, 0x33d9f5cf, 0x3ed61d8a,
-  0x33e64c8c, 0x3ed87efc, 0x33f2a3bf, 0x3edade01,
-  0x33fefb6a, 0x3edd3a9a, 0x340b538b, 0x3edf94c7,
-  0x3417ac22, 0x3ee1ec87, 0x3424052f, 0x3ee441da,
-  0x34305eb0, 0x3ee694c1, 0x343cb8a7, 0x3ee8e53a,
-  0x34491311, 0x3eeb3347, 0x34556def, 0x3eed7ee7,
-  0x3461c940, 0x3eefc81a, 0x346e2504, 0x3ef20ee0,
-  0x347a8139, 0x3ef45338, 0x3486dde1, 0x3ef69523,
-  0x34933afa, 0x3ef8d4a1, 0x349f9884, 0x3efb11b1,
-  0x34abf67e, 0x3efd4c54, 0x34b854e7, 0x3eff8489,
-  0x34c4b3c0, 0x3f01ba50, 0x34d11308, 0x3f03eda9,
-  0x34dd72be, 0x3f061e95, 0x34e9d2e3, 0x3f084d12,
-  0x34f63374, 0x3f0a7921, 0x35029473, 0x3f0ca2c2,
-  0x350ef5de, 0x3f0ec9f5, 0x351b57b5, 0x3f10eeb9,
-  0x3527b9f7, 0x3f13110f, 0x35341ca5, 0x3f1530f7,
-  0x35407fbd, 0x3f174e70, 0x354ce33f, 0x3f19697a,
-  0x3559472b, 0x3f1b8215, 0x3565ab80, 0x3f1d9842,
-  0x3572103d, 0x3f1fabff, 0x357e7563, 0x3f21bd4e,
-  0x358adaf0, 0x3f23cc2e, 0x359740e5, 0x3f25d89e,
-  0x35a3a740, 0x3f27e29f, 0x35b00e02, 0x3f29ea31,
-  0x35bc7529, 0x3f2bef53, 0x35c8dcb6, 0x3f2df206,
-  0x35d544a7, 0x3f2ff24a, 0x35e1acfd, 0x3f31f01d,
-  0x35ee15b7, 0x3f33eb81, 0x35fa7ed4, 0x3f35e476,
-  0x3606e854, 0x3f37dafa, 0x36135237, 0x3f39cf0e,
-  0x361fbc7b, 0x3f3bc0b3, 0x362c2721, 0x3f3dafe7,
-  0x36389228, 0x3f3f9cab, 0x3644fd8f, 0x3f4186ff,
-  0x36516956, 0x3f436ee3, 0x365dd57d, 0x3f455456,
-  0x366a4203, 0x3f473759, 0x3676aee8, 0x3f4917eb,
-  0x36831c2b, 0x3f4af60d, 0x368f89cb, 0x3f4cd1be,
-  0x369bf7c9, 0x3f4eaafe, 0x36a86623, 0x3f5081cd,
-  0x36b4d4d9, 0x3f52562c, 0x36c143ec, 0x3f54281a,
-  0x36cdb359, 0x3f55f796, 0x36da2321, 0x3f57c4a2,
-  0x36e69344, 0x3f598f3c, 0x36f303c0, 0x3f5b5765,
-  0x36ff7496, 0x3f5d1d1d, 0x370be5c4, 0x3f5ee063,
-  0x3718574b, 0x3f60a138, 0x3724c92a, 0x3f625f9b,
-  0x37313b60, 0x3f641b8d, 0x373daded, 0x3f65d50d,
-  0x374a20d0, 0x3f678c1c, 0x3756940a, 0x3f6940b8,
-  0x37630799, 0x3f6af2e3, 0x376f7b7d, 0x3f6ca29c,
-  0x377befb5, 0x3f6e4fe3, 0x37886442, 0x3f6ffab8,
-  0x3794d922, 0x3f71a31b, 0x37a14e55, 0x3f73490b,
-  0x37adc3db, 0x3f74ec8a, 0x37ba39b3, 0x3f768d96,
-  0x37c6afdc, 0x3f782c30, 0x37d32657, 0x3f79c857,
-  0x37df9d22, 0x3f7b620c, 0x37ec143e, 0x3f7cf94e,
-  0x37f88ba9, 0x3f7e8e1e, 0x38050364, 0x3f80207b,
-  0x38117b6d, 0x3f81b065, 0x381df3c5, 0x3f833ddd,
-  0x382a6c6a, 0x3f84c8e2, 0x3836e55d, 0x3f865174,
-  0x38435e9d, 0x3f87d792, 0x384fd829, 0x3f895b3e,
-  0x385c5201, 0x3f8adc77, 0x3868cc24, 0x3f8c5b3d,
-  0x38754692, 0x3f8dd78f, 0x3881c14b, 0x3f8f516e,
-  0x388e3c4d, 0x3f90c8da, 0x389ab799, 0x3f923dd2,
-  0x38a7332e, 0x3f93b058, 0x38b3af0c, 0x3f952069,
-  0x38c02b31, 0x3f968e07, 0x38cca79e, 0x3f97f932,
-  0x38d92452, 0x3f9961e8, 0x38e5a14d, 0x3f9ac82c,
-  0x38f21e8e, 0x3f9c2bfb, 0x38fe9c15, 0x3f9d8d56,
-  0x390b19e0, 0x3f9eec3e, 0x391797f0, 0x3fa048b2,
-  0x39241645, 0x3fa1a2b2, 0x393094dd, 0x3fa2fa3d,
-  0x393d13b8, 0x3fa44f55, 0x394992d7, 0x3fa5a1f9,
-  0x39561237, 0x3fa6f228, 0x396291d9, 0x3fa83fe3,
-  0x396f11bc, 0x3fa98b2a, 0x397b91e1, 0x3faad3fd,
-  0x39881245, 0x3fac1a5b, 0x399492ea, 0x3fad5e45,
-  0x39a113cd, 0x3fae9fbb, 0x39ad94f0, 0x3fafdebb,
-  0x39ba1651, 0x3fb11b48, 0x39c697f0, 0x3fb2555f,
-  0x39d319cc, 0x3fb38d02, 0x39df9be6, 0x3fb4c231,
-  0x39ec1e3b, 0x3fb5f4ea, 0x39f8a0cd, 0x3fb7252f,
-  0x3a05239a, 0x3fb852ff, 0x3a11a6a3, 0x3fb97e5a,
-  0x3a1e29e5, 0x3fbaa740, 0x3a2aad62, 0x3fbbcdb1,
-  0x3a373119, 0x3fbcf1ad, 0x3a43b508, 0x3fbe1334,
-  0x3a503930, 0x3fbf3246, 0x3a5cbd91, 0x3fc04ee3,
-  0x3a694229, 0x3fc1690a, 0x3a75c6f8, 0x3fc280bc,
-  0x3a824bfd, 0x3fc395f9, 0x3a8ed139, 0x3fc4a8c1,
-  0x3a9b56ab, 0x3fc5b913, 0x3aa7dc52, 0x3fc6c6f0,
-  0x3ab4622d, 0x3fc7d258, 0x3ac0e83d, 0x3fc8db4a,
-  0x3acd6e81, 0x3fc9e1c6, 0x3ad9f4f8, 0x3fcae5cd,
-  0x3ae67ba2, 0x3fcbe75e, 0x3af3027e, 0x3fcce67a,
-  0x3aff898c, 0x3fcde320, 0x3b0c10cb, 0x3fcedd50,
-  0x3b18983b, 0x3fcfd50b, 0x3b251fdc, 0x3fd0ca4f,
-  0x3b31a7ac, 0x3fd1bd1e, 0x3b3e2fac, 0x3fd2ad77,
-  0x3b4ab7db, 0x3fd39b5a, 0x3b574039, 0x3fd486c7,
-  0x3b63c8c4, 0x3fd56fbe, 0x3b70517d, 0x3fd6563f,
-  0x3b7cda63, 0x3fd73a4a, 0x3b896375, 0x3fd81bdf,
-  0x3b95ecb4, 0x3fd8fafe, 0x3ba2761e, 0x3fd9d7a7,
-  0x3baeffb3, 0x3fdab1d9, 0x3bbb8973, 0x3fdb8996,
-  0x3bc8135c, 0x3fdc5edc, 0x3bd49d70, 0x3fdd31ac,
-  0x3be127ac, 0x3fde0205, 0x3bedb212, 0x3fdecfe8,
-  0x3bfa3c9f, 0x3fdf9b55, 0x3c06c754, 0x3fe0644b,
-  0x3c135231, 0x3fe12acb, 0x3c1fdd34, 0x3fe1eed5,
-  0x3c2c685d, 0x3fe2b067, 0x3c38f3ac, 0x3fe36f84,
-  0x3c457f21, 0x3fe42c2a, 0x3c520aba, 0x3fe4e659,
-  0x3c5e9678, 0x3fe59e12, 0x3c6b2259, 0x3fe65354,
-  0x3c77ae5e, 0x3fe7061f, 0x3c843a85, 0x3fe7b674,
-  0x3c90c6cf, 0x3fe86452, 0x3c9d533b, 0x3fe90fb9,
-  0x3ca9dfc8, 0x3fe9b8a9, 0x3cb66c77, 0x3fea5f23,
-  0x3cc2f945, 0x3feb0326, 0x3ccf8634, 0x3feba4b2,
-  0x3cdc1342, 0x3fec43c7, 0x3ce8a06f, 0x3fece065,
-  0x3cf52dbb, 0x3fed7a8c, 0x3d01bb24, 0x3fee123d,
-  0x3d0e48ab, 0x3feea776, 0x3d1ad650, 0x3fef3a39,
-  0x3d276410, 0x3fefca84, 0x3d33f1ed, 0x3ff05858,
-  0x3d407fe6, 0x3ff0e3b6, 0x3d4d0df9, 0x3ff16c9c,
-  0x3d599c28, 0x3ff1f30b, 0x3d662a70, 0x3ff27703,
-  0x3d72b8d2, 0x3ff2f884, 0x3d7f474d, 0x3ff3778e,
-  0x3d8bd5e1, 0x3ff3f420, 0x3d98648d, 0x3ff46e3c,
-  0x3da4f351, 0x3ff4e5e0, 0x3db1822c, 0x3ff55b0d,
-  0x3dbe111e, 0x3ff5cdc3, 0x3dcaa027, 0x3ff63e01,
-  0x3dd72f45, 0x3ff6abc8, 0x3de3be78, 0x3ff71718,
-  0x3df04dc0, 0x3ff77ff1, 0x3dfcdd1d, 0x3ff7e652,
-  0x3e096c8d, 0x3ff84a3c, 0x3e15fc11, 0x3ff8abae,
-  0x3e228ba7, 0x3ff90aaa, 0x3e2f1b50, 0x3ff9672d,
-  0x3e3bab0b, 0x3ff9c13a, 0x3e483ad8, 0x3ffa18cf,
-  0x3e54cab5, 0x3ffa6dec, 0x3e615aa3, 0x3ffac092,
-  0x3e6deaa1, 0x3ffb10c1, 0x3e7a7aae, 0x3ffb5e78,
-  0x3e870aca, 0x3ffba9b8, 0x3e939af5, 0x3ffbf280,
-  0x3ea02b2e, 0x3ffc38d1, 0x3eacbb74, 0x3ffc7caa,
-  0x3eb94bc8, 0x3ffcbe0c, 0x3ec5dc28, 0x3ffcfcf6,
-  0x3ed26c94, 0x3ffd3969, 0x3edefd0c, 0x3ffd7364,
-  0x3eeb8d8f, 0x3ffdaae7, 0x3ef81e1d, 0x3ffddff3,
-  0x3f04aeb5, 0x3ffe1288, 0x3f113f56, 0x3ffe42a4,
-  0x3f1dd001, 0x3ffe704a, 0x3f2a60b4, 0x3ffe9b77,
-  0x3f36f170, 0x3ffec42d, 0x3f438234, 0x3ffeea6c,
-  0x3f5012fe, 0x3fff0e32, 0x3f5ca3d0, 0x3fff2f82,
-  0x3f6934a8, 0x3fff4e59, 0x3f75c585, 0x3fff6ab9,
-  0x3f825668, 0x3fff84a1, 0x3f8ee750, 0x3fff9c12,
-  0x3f9b783c, 0x3fffb10b, 0x3fa8092c, 0x3fffc38c,
-  0x3fb49a1f, 0x3fffd396, 0x3fc12b16, 0x3fffe128,
-  0x3fcdbc0f, 0x3fffec43, 0x3fda4d09, 0x3ffff4e6,
-  0x3fe6de05, 0x3ffffb11, 0x3ff36f02, 0x3ffffec4,
-};
-
-
-/**    
-* \par   
-* Generation of realCoefBQ31 array:    
-* \par    
-*  n = 4096        
-* 
for (i = 0; i < n; i++)    
-* {    
-*    pBTable[2 * i] = 0.5 * (1.0 + sin (2 * PI / (double) (2 * n) * (double) i));    
-*    pBTable[2 * i + 1] = 0.5 * (1.0 * cos (2 * PI / (double) (2 * n) * (double) i));    
-* } 
    
-* \par    
-* Convert to fixed point Q31 format    
-*     round(pBTable[i] * pow(2, 31))    
-*    
-*/
-
-static const q31_t realCoefBQ31[8192] = {
-  0x40000000, 0x40000000, 0x400c90fe, 0x3ffffec4,
-  0x401921fb, 0x3ffffb11, 0x4025b2f7, 0x3ffff4e6,
-  0x403243f1, 0x3fffec43, 0x403ed4ea, 0x3fffe128,
-  0x404b65e1, 0x3fffd396, 0x4057f6d4, 0x3fffc38c,
-  0x406487c4, 0x3fffb10b, 0x407118b0, 0x3fff9c12,
-  0x407da998, 0x3fff84a1, 0x408a3a7b, 0x3fff6ab9,
-  0x4096cb58, 0x3fff4e59, 0x40a35c30, 0x3fff2f82,
-  0x40afed02, 0x3fff0e32, 0x40bc7dcc, 0x3ffeea6c,
-  0x40c90e90, 0x3ffec42d, 0x40d59f4c, 0x3ffe9b77,
-  0x40e22fff, 0x3ffe704a, 0x40eec0aa, 0x3ffe42a4,
-  0x40fb514b, 0x3ffe1288, 0x4107e1e3, 0x3ffddff3,
-  0x41147271, 0x3ffdaae7, 0x412102f4, 0x3ffd7364,
-  0x412d936c, 0x3ffd3969, 0x413a23d8, 0x3ffcfcf6,
-  0x4146b438, 0x3ffcbe0c, 0x4153448c, 0x3ffc7caa,
-  0x415fd4d2, 0x3ffc38d1, 0x416c650b, 0x3ffbf280,
-  0x4178f536, 0x3ffba9b8, 0x41858552, 0x3ffb5e78,
-  0x4192155f, 0x3ffb10c1, 0x419ea55d, 0x3ffac092,
-  0x41ab354b, 0x3ffa6dec, 0x41b7c528, 0x3ffa18cf,
-  0x41c454f5, 0x3ff9c13a, 0x41d0e4b0, 0x3ff9672d,
-  0x41dd7459, 0x3ff90aaa, 0x41ea03ef, 0x3ff8abae,
-  0x41f69373, 0x3ff84a3c, 0x420322e3, 0x3ff7e652,
-  0x420fb240, 0x3ff77ff1, 0x421c4188, 0x3ff71718,
-  0x4228d0bb, 0x3ff6abc8, 0x42355fd9, 0x3ff63e01,
-  0x4241eee2, 0x3ff5cdc3, 0x424e7dd4, 0x3ff55b0d,
-  0x425b0caf, 0x3ff4e5e0, 0x42679b73, 0x3ff46e3c,
-  0x42742a1f, 0x3ff3f420, 0x4280b8b3, 0x3ff3778e,
-  0x428d472e, 0x3ff2f884, 0x4299d590, 0x3ff27703,
-  0x42a663d8, 0x3ff1f30b, 0x42b2f207, 0x3ff16c9c,
-  0x42bf801a, 0x3ff0e3b6, 0x42cc0e13, 0x3ff05858,
-  0x42d89bf0, 0x3fefca84, 0x42e529b0, 0x3fef3a39,
-  0x42f1b755, 0x3feea776, 0x42fe44dc, 0x3fee123d,
-  0x430ad245, 0x3fed7a8c, 0x43175f91, 0x3fece065,
-  0x4323ecbe, 0x3fec43c7, 0x433079cc, 0x3feba4b2,
-  0x433d06bb, 0x3feb0326, 0x43499389, 0x3fea5f23,
-  0x43562038, 0x3fe9b8a9, 0x4362acc5, 0x3fe90fb9,
-  0x436f3931, 0x3fe86452, 0x437bc57b, 0x3fe7b674,
-  0x438851a2, 0x3fe7061f, 0x4394dda7, 0x3fe65354,
-  0x43a16988, 0x3fe59e12, 0x43adf546, 0x3fe4e659,
-  0x43ba80df, 0x3fe42c2a, 0x43c70c54, 0x3fe36f84,
-  0x43d397a3, 0x3fe2b067, 0x43e022cc, 0x3fe1eed5,
-  0x43ecadcf, 0x3fe12acb, 0x43f938ac, 0x3fe0644b,
-  0x4405c361, 0x3fdf9b55, 0x44124dee, 0x3fdecfe8,
-  0x441ed854, 0x3fde0205, 0x442b6290, 0x3fdd31ac,
-  0x4437eca4, 0x3fdc5edc, 0x4444768d, 0x3fdb8996,
-  0x4451004d, 0x3fdab1d9, 0x445d89e2, 0x3fd9d7a7,
-  0x446a134c, 0x3fd8fafe, 0x44769c8b, 0x3fd81bdf,
-  0x4483259d, 0x3fd73a4a, 0x448fae83, 0x3fd6563f,
-  0x449c373c, 0x3fd56fbe, 0x44a8bfc7, 0x3fd486c7,
-  0x44b54825, 0x3fd39b5a, 0x44c1d054, 0x3fd2ad77,
-  0x44ce5854, 0x3fd1bd1e, 0x44dae024, 0x3fd0ca4f,
-  0x44e767c5, 0x3fcfd50b, 0x44f3ef35, 0x3fcedd50,
-  0x45007674, 0x3fcde320, 0x450cfd82, 0x3fcce67a,
-  0x4519845e, 0x3fcbe75e, 0x45260b08, 0x3fcae5cd,
-  0x4532917f, 0x3fc9e1c6, 0x453f17c3, 0x3fc8db4a,
-  0x454b9dd3, 0x3fc7d258, 0x455823ae, 0x3fc6c6f0,
-  0x4564a955, 0x3fc5b913, 0x45712ec7, 0x3fc4a8c1,
-  0x457db403, 0x3fc395f9, 0x458a3908, 0x3fc280bc,
-  0x4596bdd7, 0x3fc1690a, 0x45a3426f, 0x3fc04ee3,
-  0x45afc6d0, 0x3fbf3246, 0x45bc4af8, 0x3fbe1334,
-  0x45c8cee7, 0x3fbcf1ad, 0x45d5529e, 0x3fbbcdb1,
-  0x45e1d61b, 0x3fbaa740, 0x45ee595d, 0x3fb97e5a,
-  0x45fadc66, 0x3fb852ff, 0x46075f33, 0x3fb7252f,
-  0x4613e1c5, 0x3fb5f4ea, 0x4620641a, 0x3fb4c231,
-  0x462ce634, 0x3fb38d02, 0x46396810, 0x3fb2555f,
-  0x4645e9af, 0x3fb11b48, 0x46526b10, 0x3fafdebb,
-  0x465eec33, 0x3fae9fbb, 0x466b6d16, 0x3fad5e45,
-  0x4677edbb, 0x3fac1a5b, 0x46846e1f, 0x3faad3fd,
-  0x4690ee44, 0x3fa98b2a, 0x469d6e27, 0x3fa83fe3,
-  0x46a9edc9, 0x3fa6f228, 0x46b66d29, 0x3fa5a1f9,
-  0x46c2ec48, 0x3fa44f55, 0x46cf6b23, 0x3fa2fa3d,
-  0x46dbe9bb, 0x3fa1a2b2, 0x46e86810, 0x3fa048b2,
-  0x46f4e620, 0x3f9eec3e, 0x470163eb, 0x3f9d8d56,
-  0x470de172, 0x3f9c2bfb, 0x471a5eb3, 0x3f9ac82c,
-  0x4726dbae, 0x3f9961e8, 0x47335862, 0x3f97f932,
-  0x473fd4cf, 0x3f968e07, 0x474c50f4, 0x3f952069,
-  0x4758ccd2, 0x3f93b058, 0x47654867, 0x3f923dd2,
-  0x4771c3b3, 0x3f90c8da, 0x477e3eb5, 0x3f8f516e,
-  0x478ab96e, 0x3f8dd78f, 0x479733dc, 0x3f8c5b3d,
-  0x47a3adff, 0x3f8adc77, 0x47b027d7, 0x3f895b3e,
-  0x47bca163, 0x3f87d792, 0x47c91aa3, 0x3f865174,
-  0x47d59396, 0x3f84c8e2, 0x47e20c3b, 0x3f833ddd,
-  0x47ee8493, 0x3f81b065, 0x47fafc9c, 0x3f80207b,
-  0x48077457, 0x3f7e8e1e, 0x4813ebc2, 0x3f7cf94e,
-  0x482062de, 0x3f7b620c, 0x482cd9a9, 0x3f79c857,
-  0x48395024, 0x3f782c30, 0x4845c64d, 0x3f768d96,
-  0x48523c25, 0x3f74ec8a, 0x485eb1ab, 0x3f73490b,
-  0x486b26de, 0x3f71a31b, 0x48779bbe, 0x3f6ffab8,
-  0x4884104b, 0x3f6e4fe3, 0x48908483, 0x3f6ca29c,
-  0x489cf867, 0x3f6af2e3, 0x48a96bf6, 0x3f6940b8,
-  0x48b5df30, 0x3f678c1c, 0x48c25213, 0x3f65d50d,
-  0x48cec4a0, 0x3f641b8d, 0x48db36d6, 0x3f625f9b,
-  0x48e7a8b5, 0x3f60a138, 0x48f41a3c, 0x3f5ee063,
-  0x49008b6a, 0x3f5d1d1d, 0x490cfc40, 0x3f5b5765,
-  0x49196cbc, 0x3f598f3c, 0x4925dcdf, 0x3f57c4a2,
-  0x49324ca7, 0x3f55f796, 0x493ebc14, 0x3f54281a,
-  0x494b2b27, 0x3f52562c, 0x495799dd, 0x3f5081cd,
-  0x49640837, 0x3f4eaafe, 0x49707635, 0x3f4cd1be,
-  0x497ce3d5, 0x3f4af60d, 0x49895118, 0x3f4917eb,
-  0x4995bdfd, 0x3f473759, 0x49a22a83, 0x3f455456,
-  0x49ae96aa, 0x3f436ee3, 0x49bb0271, 0x3f4186ff,
-  0x49c76dd8, 0x3f3f9cab, 0x49d3d8df, 0x3f3dafe7,
-  0x49e04385, 0x3f3bc0b3, 0x49ecadc9, 0x3f39cf0e,
-  0x49f917ac, 0x3f37dafa, 0x4a05812c, 0x3f35e476,
-  0x4a11ea49, 0x3f33eb81, 0x4a1e5303, 0x3f31f01d,
-  0x4a2abb59, 0x3f2ff24a, 0x4a37234a, 0x3f2df206,
-  0x4a438ad7, 0x3f2bef53, 0x4a4ff1fe, 0x3f29ea31,
-  0x4a5c58c0, 0x3f27e29f, 0x4a68bf1b, 0x3f25d89e,
-  0x4a752510, 0x3f23cc2e, 0x4a818a9d, 0x3f21bd4e,
-  0x4a8defc3, 0x3f1fabff, 0x4a9a5480, 0x3f1d9842,
-  0x4aa6b8d5, 0x3f1b8215, 0x4ab31cc1, 0x3f19697a,
-  0x4abf8043, 0x3f174e70, 0x4acbe35b, 0x3f1530f7,
-  0x4ad84609, 0x3f13110f, 0x4ae4a84b, 0x3f10eeb9,
-  0x4af10a22, 0x3f0ec9f5, 0x4afd6b8d, 0x3f0ca2c2,
-  0x4b09cc8c, 0x3f0a7921, 0x4b162d1d, 0x3f084d12,
-  0x4b228d42, 0x3f061e95, 0x4b2eecf8, 0x3f03eda9,
-  0x4b3b4c40, 0x3f01ba50, 0x4b47ab19, 0x3eff8489,
-  0x4b540982, 0x3efd4c54, 0x4b60677c, 0x3efb11b1,
-  0x4b6cc506, 0x3ef8d4a1, 0x4b79221f, 0x3ef69523,
-  0x4b857ec7, 0x3ef45338, 0x4b91dafc, 0x3ef20ee0,
-  0x4b9e36c0, 0x3eefc81a, 0x4baa9211, 0x3eed7ee7,
-  0x4bb6ecef, 0x3eeb3347, 0x4bc34759, 0x3ee8e53a,
-  0x4bcfa150, 0x3ee694c1, 0x4bdbfad1, 0x3ee441da,
-  0x4be853de, 0x3ee1ec87, 0x4bf4ac75, 0x3edf94c7,
-  0x4c010496, 0x3edd3a9a, 0x4c0d5c41, 0x3edade01,
-  0x4c19b374, 0x3ed87efc, 0x4c260a31, 0x3ed61d8a,
-  0x4c326075, 0x3ed3b9ad, 0x4c3eb641, 0x3ed15363,
-  0x4c4b0b94, 0x3eceeaad, 0x4c57606e, 0x3ecc7f8b,
-  0x4c63b4ce, 0x3eca11fe, 0x4c7008b3, 0x3ec7a205,
-  0x4c7c5c1e, 0x3ec52fa0, 0x4c88af0e, 0x3ec2bad0,
-  0x4c950182, 0x3ec04394, 0x4ca1537a, 0x3ebdc9ed,
-  0x4cada4f5, 0x3ebb4ddb, 0x4cb9f5f3, 0x3eb8cf5d,
-  0x4cc64673, 0x3eb64e75, 0x4cd29676, 0x3eb3cb21,
-  0x4cdee5f9, 0x3eb14563, 0x4ceb34fe, 0x3eaebd3a,
-  0x4cf78383, 0x3eac32a6, 0x4d03d189, 0x3ea9a5a8,
-  0x4d101f0e, 0x3ea7163f, 0x4d1c6c11, 0x3ea4846c,
-  0x4d28b894, 0x3ea1f02f, 0x4d350495, 0x3e9f5988,
-  0x4d415013, 0x3e9cc076, 0x4d4d9b0e, 0x3e9a24fb,
-  0x4d59e586, 0x3e978715, 0x4d662f7b, 0x3e94e6c6,
-  0x4d7278eb, 0x3e92440d, 0x4d7ec1d6, 0x3e8f9eeb,
-  0x4d8b0a3d, 0x3e8cf75f, 0x4d97521d, 0x3e8a4d6a,
-  0x4da39978, 0x3e87a10c, 0x4dafe04b, 0x3e84f245,
-  0x4dbc2698, 0x3e824114, 0x4dc86c5d, 0x3e7f8d7b,
-  0x4dd4b19a, 0x3e7cd778, 0x4de0f64f, 0x3e7a1f0d,
-  0x4ded3a7b, 0x3e77643a, 0x4df97e1d, 0x3e74a6fd,
-  0x4e05c135, 0x3e71e759, 0x4e1203c3, 0x3e6f254c,
-  0x4e1e45c6, 0x3e6c60d7, 0x4e2a873e, 0x3e6999fa,
-  0x4e36c82a, 0x3e66d0b4, 0x4e430889, 0x3e640507,
-  0x4e4f485c, 0x3e6136f3, 0x4e5b87a2, 0x3e5e6676,
-  0x4e67c65a, 0x3e5b9392, 0x4e740483, 0x3e58be47,
-  0x4e80421e, 0x3e55e694, 0x4e8c7f2a, 0x3e530c7a,
-  0x4e98bba7, 0x3e502ff9, 0x4ea4f793, 0x3e4d5110,
-  0x4eb132ef, 0x3e4a6fc1, 0x4ebd6db9, 0x3e478c0b,
-  0x4ec9a7f3, 0x3e44a5ef, 0x4ed5e19a, 0x3e41bd6c,
-  0x4ee21aaf, 0x3e3ed282, 0x4eee5331, 0x3e3be532,
-  0x4efa8b20, 0x3e38f57c, 0x4f06c27a, 0x3e360360,
-  0x4f12f941, 0x3e330ede, 0x4f1f2f73, 0x3e3017f6,
-  0x4f2b650f, 0x3e2d1ea8, 0x4f379a16, 0x3e2a22f4,
-  0x4f43ce86, 0x3e2724db, 0x4f500260, 0x3e24245d,
-  0x4f5c35a3, 0x3e212179, 0x4f68684e, 0x3e1e1c30,
-  0x4f749a61, 0x3e1b1482, 0x4f80cbdc, 0x3e180a6f,
-  0x4f8cfcbe, 0x3e14fdf7, 0x4f992d06, 0x3e11ef1b,
-  0x4fa55cb4, 0x3e0eddd9, 0x4fb18bc8, 0x3e0bca34,
-  0x4fbdba40, 0x3e08b42a, 0x4fc9e81e, 0x3e059bbb,
-  0x4fd6155f, 0x3e0280e9, 0x4fe24205, 0x3dff63b2,
-  0x4fee6e0d, 0x3dfc4418, 0x4ffa9979, 0x3df9221a,
-  0x5006c446, 0x3df5fdb8, 0x5012ee76, 0x3df2d6f3,
-  0x501f1807, 0x3defadca, 0x502b40f8, 0x3dec823e,
-  0x5037694b, 0x3de9544f, 0x504390fd, 0x3de623fd,
-  0x504fb80e, 0x3de2f148, 0x505bde7f, 0x3ddfbc30,
-  0x5068044e, 0x3ddc84b5, 0x5074297b, 0x3dd94ad8,
-  0x50804e06, 0x3dd60e99, 0x508c71ee, 0x3dd2cff7,
-  0x50989532, 0x3dcf8ef3, 0x50a4b7d3, 0x3dcc4b8d,
-  0x50b0d9d0, 0x3dc905c5, 0x50bcfb28, 0x3dc5bd9b,
-  0x50c91bda, 0x3dc2730f, 0x50d53be7, 0x3dbf2622,
-  0x50e15b4e, 0x3dbbd6d4, 0x50ed7a0e, 0x3db88524,
-  0x50f99827, 0x3db53113, 0x5105b599, 0x3db1daa2,
-  0x5111d263, 0x3dae81cf, 0x511dee84, 0x3dab269b,
-  0x512a09fc, 0x3da7c907, 0x513624cb, 0x3da46912,
-  0x51423ef0, 0x3da106bd, 0x514e586a, 0x3d9da208,
-  0x515a713a, 0x3d9a3af2, 0x5166895f, 0x3d96d17d,
-  0x5172a0d7, 0x3d9365a8, 0x517eb7a4, 0x3d8ff772,
-  0x518acdc4, 0x3d8c86de, 0x5196e337, 0x3d8913ea,
-  0x51a2f7fc, 0x3d859e96, 0x51af0c13, 0x3d8226e4,
-  0x51bb1f7c, 0x3d7eacd2, 0x51c73235, 0x3d7b3061,
-  0x51d3443f, 0x3d77b192, 0x51df5599, 0x3d743064,
-  0x51eb6643, 0x3d70acd7, 0x51f7763c, 0x3d6d26ec,
-  0x52038584, 0x3d699ea3, 0x520f941a, 0x3d6613fb,
-  0x521ba1fd, 0x3d6286f6, 0x5227af2e, 0x3d5ef793,
-  0x5233bbac, 0x3d5b65d2, 0x523fc776, 0x3d57d1b3,
-  0x524bd28c, 0x3d543b37, 0x5257dced, 0x3d50a25e,
-  0x5263e699, 0x3d4d0728, 0x526fef90, 0x3d496994,
-  0x527bf7d1, 0x3d45c9a4, 0x5287ff5b, 0x3d422757,
-  0x5294062f, 0x3d3e82ae, 0x52a00c4b, 0x3d3adba7,
-  0x52ac11af, 0x3d373245, 0x52b8165b, 0x3d338687,
-  0x52c41a4f, 0x3d2fd86c, 0x52d01d89, 0x3d2c27f6,
-  0x52dc2009, 0x3d287523, 0x52e821cf, 0x3d24bff6,
-  0x52f422db, 0x3d21086c, 0x5300232c, 0x3d1d4e88,
-  0x530c22c1, 0x3d199248, 0x5318219a, 0x3d15d3ad,
-  0x53241fb6, 0x3d1212b7, 0x53301d16, 0x3d0e4f67,
-  0x533c19b8, 0x3d0a89bc, 0x5348159d, 0x3d06c1b6,
-  0x535410c3, 0x3d02f757, 0x53600b2a, 0x3cff2a9d,
-  0x536c04d2, 0x3cfb5b89, 0x5377fdbb, 0x3cf78a1b,
-  0x5383f5e3, 0x3cf3b653, 0x538fed4b, 0x3cefe032,
-  0x539be3f2, 0x3cec07b8, 0x53a7d9d7, 0x3ce82ce4,
-  0x53b3cefa, 0x3ce44fb7, 0x53bfc35b, 0x3ce07031,
-  0x53cbb6f8, 0x3cdc8e52, 0x53d7a9d3, 0x3cd8aa1b,
-  0x53e39be9, 0x3cd4c38b, 0x53ef8d3c, 0x3cd0daa2,
-  0x53fb7dc9, 0x3cccef62, 0x54076d91, 0x3cc901c9,
-  0x54135c94, 0x3cc511d9, 0x541f4ad1, 0x3cc11f90,
-  0x542b3846, 0x3cbd2af0, 0x543724f5, 0x3cb933f9,
-  0x544310dd, 0x3cb53aaa, 0x544efbfc, 0x3cb13f04,
-  0x545ae653, 0x3cad4107, 0x5466cfe1, 0x3ca940b3,
-  0x5472b8a5, 0x3ca53e09, 0x547ea0a0, 0x3ca13908,
-  0x548a87d1, 0x3c9d31b0, 0x54966e36, 0x3c992803,
-  0x54a253d1, 0x3c951bff, 0x54ae38a0, 0x3c910da5,
-  0x54ba1ca3, 0x3c8cfcf6, 0x54c5ffd9, 0x3c88e9f1,
-  0x54d1e242, 0x3c84d496, 0x54ddc3de, 0x3c80bce7,
-  0x54e9a4ac, 0x3c7ca2e2, 0x54f584ac, 0x3c788688,
-  0x550163dc, 0x3c7467d9, 0x550d423d, 0x3c7046d6,
-  0x55191fcf, 0x3c6c237e, 0x5524fc90, 0x3c67fdd1,
-  0x5530d881, 0x3c63d5d1, 0x553cb3a0, 0x3c5fab7c,
-  0x55488dee, 0x3c5b7ed4, 0x5554676a, 0x3c574fd8,
-  0x55604013, 0x3c531e88, 0x556c17e9, 0x3c4eeae5,
-  0x5577eeec, 0x3c4ab4ef, 0x5583c51b, 0x3c467ca6,
-  0x558f9a76, 0x3c42420a, 0x559b6efb, 0x3c3e051b,
-  0x55a742ac, 0x3c39c5da, 0x55b31587, 0x3c358446,
-  0x55bee78c, 0x3c314060, 0x55cab8ba, 0x3c2cfa28,
-  0x55d68911, 0x3c28b19e, 0x55e25890, 0x3c2466c2,
-  0x55ee2738, 0x3c201994, 0x55f9f507, 0x3c1bca16,
-  0x5605c1fd, 0x3c177845, 0x56118e1a, 0x3c132424,
-  0x561d595d, 0x3c0ecdb2, 0x562923c5, 0x3c0a74f0,
-  0x5634ed53, 0x3c0619dc, 0x5640b606, 0x3c01bc78,
-  0x564c7ddd, 0x3bfd5cc4, 0x565844d8, 0x3bf8fac0,
-  0x56640af7, 0x3bf4966c, 0x566fd039, 0x3bf02fc9,
-  0x567b949d, 0x3bebc6d5, 0x56875823, 0x3be75b93,
-  0x56931acb, 0x3be2ee01, 0x569edc94, 0x3bde7e20,
-  0x56aa9d7e, 0x3bda0bf0, 0x56b65d88, 0x3bd59771,
-  0x56c21cb2, 0x3bd120a4, 0x56cddafb, 0x3bcca789,
-  0x56d99864, 0x3bc82c1f, 0x56e554ea, 0x3bc3ae67,
-  0x56f1108f, 0x3bbf2e62, 0x56fccb51, 0x3bbaac0e,
-  0x57088531, 0x3bb6276e, 0x57143e2d, 0x3bb1a080,
-  0x571ff646, 0x3bad1744, 0x572bad7a, 0x3ba88bbc,
-  0x573763c9, 0x3ba3fde7, 0x57431933, 0x3b9f6dc5,
-  0x574ecdb8, 0x3b9adb57, 0x575a8157, 0x3b96469d,
-  0x5766340f, 0x3b91af97, 0x5771e5e0, 0x3b8d1644,
-  0x577d96ca, 0x3b887aa6, 0x578946cc, 0x3b83dcbc,
-  0x5794f5e6, 0x3b7f3c87, 0x57a0a417, 0x3b7a9a07,
-  0x57ac515f, 0x3b75f53c, 0x57b7fdbd, 0x3b714e25,
-  0x57c3a931, 0x3b6ca4c4, 0x57cf53bb, 0x3b67f919,
-  0x57dafd59, 0x3b634b23, 0x57e6a60c, 0x3b5e9ae4,
-  0x57f24dd3, 0x3b59e85a, 0x57fdf4ae, 0x3b553386,
-  0x58099a9c, 0x3b507c69, 0x58153f9d, 0x3b4bc303,
-  0x5820e3b0, 0x3b470753, 0x582c86d5, 0x3b42495a,
-  0x5838290c, 0x3b3d8918, 0x5843ca53, 0x3b38c68e,
-  0x584f6aab, 0x3b3401bb, 0x585b0a13, 0x3b2f3aa0,
-  0x5866a88a, 0x3b2a713d, 0x58724611, 0x3b25a591,
-  0x587de2a7, 0x3b20d79e, 0x58897e4a, 0x3b1c0764,
-  0x589518fc, 0x3b1734e2, 0x58a0b2bb, 0x3b126019,
-  0x58ac4b87, 0x3b0d8909, 0x58b7e35f, 0x3b08afb2,
-  0x58c37a44, 0x3b03d414, 0x58cf1034, 0x3afef630,
-  0x58daa52f, 0x3afa1605, 0x58e63935, 0x3af53395,
-  0x58f1cc45, 0x3af04edf, 0x58fd5e5f, 0x3aeb67e3,
-  0x5908ef82, 0x3ae67ea1, 0x59147fae, 0x3ae1931a,
-  0x59200ee3, 0x3adca54e, 0x592b9d1f, 0x3ad7b53d,
-  0x59372a64, 0x3ad2c2e8, 0x5942b6af, 0x3acdce4d,
-  0x594e4201, 0x3ac8d76f, 0x5959cc5a, 0x3ac3de4c,
-  0x596555b8, 0x3abee2e5, 0x5970de1b, 0x3ab9e53a,
-  0x597c6584, 0x3ab4e54c, 0x5987ebf0, 0x3aafe31b,
-  0x59937161, 0x3aaadea6, 0x599ef5d6, 0x3aa5d7ee,
-  0x59aa794d, 0x3aa0cef3, 0x59b5fbc8, 0x3a9bc3b6,
-  0x59c17d44, 0x3a96b636, 0x59ccfdc2, 0x3a91a674,
-  0x59d87d42, 0x3a8c9470, 0x59e3fbc3, 0x3a87802a,
-  0x59ef7944, 0x3a8269a3, 0x59faf5c5, 0x3a7d50da,
-  0x5a067145, 0x3a7835cf, 0x5a11ebc5, 0x3a731884,
-  0x5a1d6544, 0x3a6df8f8, 0x5a28ddc0, 0x3a68d72b,
-  0x5a34553b, 0x3a63b31d, 0x5a3fcbb3, 0x3a5e8cd0,
-  0x5a4b4128, 0x3a596442, 0x5a56b599, 0x3a543974,
-  0x5a622907, 0x3a4f0c67, 0x5a6d9b70, 0x3a49dd1a,
-  0x5a790cd4, 0x3a44ab8e, 0x5a847d33, 0x3a3f77c3,
-  0x5a8fec8c, 0x3a3a41b9, 0x5a9b5adf, 0x3a350970,
-  0x5aa6c82b, 0x3a2fcee8, 0x5ab23471, 0x3a2a9223,
-  0x5abd9faf, 0x3a25531f, 0x5ac909e5, 0x3a2011de,
-  0x5ad47312, 0x3a1ace5f, 0x5adfdb37, 0x3a1588a2,
-  0x5aeb4253, 0x3a1040a8, 0x5af6a865, 0x3a0af671,
-  0x5b020d6c, 0x3a05a9fd, 0x5b0d716a, 0x3a005b4d,
-  0x5b18d45c, 0x39fb0a60, 0x5b243643, 0x39f5b737,
-  0x5b2f971e, 0x39f061d2, 0x5b3af6ec, 0x39eb0a31,
-  0x5b4655ae, 0x39e5b054, 0x5b51b363, 0x39e0543c,
-  0x5b5d100a, 0x39daf5e8, 0x5b686ba3, 0x39d5955a,
-  0x5b73c62d, 0x39d03291, 0x5b7f1fa9, 0x39cacd8d,
-  0x5b8a7815, 0x39c5664f, 0x5b95cf71, 0x39bffcd7,
-  0x5ba125bd, 0x39ba9125, 0x5bac7af9, 0x39b52339,
-  0x5bb7cf23, 0x39afb313, 0x5bc3223c, 0x39aa40b4,
-  0x5bce7442, 0x39a4cc1c, 0x5bd9c537, 0x399f554b,
-  0x5be51518, 0x3999dc42, 0x5bf063e6, 0x399460ff,
-  0x5bfbb1a0, 0x398ee385, 0x5c06fe46, 0x398963d2,
-  0x5c1249d8, 0x3983e1e8, 0x5c1d9454, 0x397e5dc6,
-  0x5c28ddbb, 0x3978d76c, 0x5c34260c, 0x39734edc,
-  0x5c3f6d47, 0x396dc414, 0x5c4ab36b, 0x39683715,
-  0x5c55f878, 0x3962a7e0, 0x5c613c6d, 0x395d1675,
-  0x5c6c7f4a, 0x395782d3, 0x5c77c10e, 0x3951ecfc,
-  0x5c8301b9, 0x394c54ee, 0x5c8e414b, 0x3946baac,
-  0x5c997fc4, 0x39411e33, 0x5ca4bd21, 0x393b7f86,
-  0x5caff965, 0x3935dea4, 0x5cbb348d, 0x39303b8e,
-  0x5cc66e99, 0x392a9642, 0x5cd1a78a, 0x3924eec3,
-  0x5cdcdf5e, 0x391f4510, 0x5ce81615, 0x39199929,
-  0x5cf34baf, 0x3913eb0e, 0x5cfe802b, 0x390e3ac0,
-  0x5d09b389, 0x3908883f, 0x5d14e5c9, 0x3902d38b,
-  0x5d2016e9, 0x38fd1ca4, 0x5d2b46ea, 0x38f7638b,
-  0x5d3675cb, 0x38f1a840, 0x5d41a38c, 0x38ebeac2,
-  0x5d4cd02c, 0x38e62b13, 0x5d57fbaa, 0x38e06932,
-  0x5d632608, 0x38daa520, 0x5d6e4f43, 0x38d4dedd,
-  0x5d79775c, 0x38cf1669, 0x5d849e51, 0x38c94bc4,
-  0x5d8fc424, 0x38c37eef, 0x5d9ae8d2, 0x38bdafea,
-  0x5da60c5d, 0x38b7deb4, 0x5db12ec3, 0x38b20b4f,
-  0x5dbc5004, 0x38ac35ba, 0x5dc7701f, 0x38a65df6,
-  0x5dd28f15, 0x38a08402, 0x5dddace4, 0x389aa7e0,
-  0x5de8c98c, 0x3894c98f, 0x5df3e50d, 0x388ee910,
-  0x5dfeff67, 0x38890663, 0x5e0a1898, 0x38832187,
-  0x5e1530a1, 0x387d3a7e, 0x5e204781, 0x38775147,
-  0x5e2b5d38, 0x387165e3, 0x5e3671c5, 0x386b7852,
-  0x5e418528, 0x38658894, 0x5e4c9760, 0x385f96a9,
-  0x5e57a86d, 0x3859a292, 0x5e62b84f, 0x3853ac4f,
-  0x5e6dc705, 0x384db3e0, 0x5e78d48e, 0x3847b946,
-  0x5e83e0eb, 0x3841bc7f, 0x5e8eec1b, 0x383bbd8e,
-  0x5e99f61d, 0x3835bc71, 0x5ea4fef0, 0x382fb92a,
-  0x5eb00696, 0x3829b3b9, 0x5ebb0d0d, 0x3823ac1d,
-  0x5ec61254, 0x381da256, 0x5ed1166b, 0x38179666,
-  0x5edc1953, 0x3811884d, 0x5ee71b0a, 0x380b780a,
-  0x5ef21b90, 0x3805659e, 0x5efd1ae4, 0x37ff5109,
-  0x5f081907, 0x37f93a4b, 0x5f1315f7, 0x37f32165,
-  0x5f1e11b5, 0x37ed0657, 0x5f290c3f, 0x37e6e921,
-  0x5f340596, 0x37e0c9c3, 0x5f3efdb9, 0x37daa83d,
-  0x5f49f4a8, 0x37d48490, 0x5f54ea62, 0x37ce5ebd,
-  0x5f5fdee6, 0x37c836c2, 0x5f6ad235, 0x37c20ca1,
-  0x5f75c44e, 0x37bbe05a, 0x5f80b531, 0x37b5b1ec,
-  0x5f8ba4dc, 0x37af8159, 0x5f969350, 0x37a94ea0,
-  0x5fa1808c, 0x37a319c2, 0x5fac6c91, 0x379ce2be,
-  0x5fb7575c, 0x3796a996, 0x5fc240ef, 0x37906e49,
-  0x5fcd2948, 0x378a30d8, 0x5fd81067, 0x3783f143,
-  0x5fe2f64c, 0x377daf89, 0x5feddaf6, 0x37776bac,
-  0x5ff8be65, 0x377125ac, 0x6003a099, 0x376add88,
-  0x600e8190, 0x37649341, 0x6019614c, 0x375e46d8,
-  0x60243fca, 0x3757f84c, 0x602f1d0b, 0x3751a79e,
-  0x6039f90f, 0x374b54ce, 0x6044d3d4, 0x3744ffdd,
-  0x604fad5b, 0x373ea8ca, 0x605a85a3, 0x37384f95,
-  0x60655cac, 0x3731f440, 0x60703275, 0x372b96ca,
-  0x607b06fe, 0x37253733, 0x6085da46, 0x371ed57c,
-  0x6090ac4d, 0x371871a5, 0x609b7d13, 0x37120bae,
-  0x60a64c97, 0x370ba398, 0x60b11ad9, 0x37053962,
-  0x60bbe7d8, 0x36fecd0e, 0x60c6b395, 0x36f85e9a,
-  0x60d17e0d, 0x36f1ee09, 0x60dc4742, 0x36eb7b58,
-  0x60e70f32, 0x36e5068a, 0x60f1d5de, 0x36de8f9e,
-  0x60fc9b44, 0x36d81695, 0x61075f65, 0x36d19b6e,
-  0x61122240, 0x36cb1e2a, 0x611ce3d5, 0x36c49ec9,
-  0x6127a423, 0x36be1d4c, 0x61326329, 0x36b799b3,
-  0x613d20e8, 0x36b113fd, 0x6147dd5f, 0x36aa8c2c,
-  0x6152988d, 0x36a4023f, 0x615d5273, 0x369d7637,
-  0x61680b0f, 0x3696e814, 0x6172c262, 0x369057d6,
-  0x617d786a, 0x3689c57d, 0x61882d28, 0x3683310b,
-  0x6192e09b, 0x367c9a7e, 0x619d92c2, 0x367601d7,
-  0x61a8439e, 0x366f6717, 0x61b2f32e, 0x3668ca3e,
-  0x61bda171, 0x36622b4c, 0x61c84e67, 0x365b8a41,
-  0x61d2fa0f, 0x3654e71d, 0x61dda46a, 0x364e41e2,
-  0x61e84d76, 0x36479a8e, 0x61f2f534, 0x3640f123,
-  0x61fd9ba3, 0x363a45a0, 0x620840c2, 0x36339806,
-  0x6212e492, 0x362ce855, 0x621d8711, 0x3626368d,
-  0x6228283f, 0x361f82af, 0x6232c81c, 0x3618ccba,
-  0x623d66a8, 0x361214b0, 0x624803e2, 0x360b5a90,
-  0x62529fca, 0x36049e5b, 0x625d3a5e, 0x35fde011,
-  0x6267d3a0, 0x35f71fb1, 0x62726b8e, 0x35f05d3d,
-  0x627d0228, 0x35e998b5, 0x6287976e, 0x35e2d219,
-  0x62922b5e, 0x35dc0968, 0x629cbdfa, 0x35d53ea5,
-  0x62a74f40, 0x35ce71ce, 0x62b1df30, 0x35c7a2e3,
-  0x62bc6dca, 0x35c0d1e7, 0x62c6fb0c, 0x35b9fed7,
-  0x62d186f8, 0x35b329b5, 0x62dc118c, 0x35ac5282,
-  0x62e69ac8, 0x35a5793c, 0x62f122ab, 0x359e9de5,
-  0x62fba936, 0x3597c07d, 0x63062e67, 0x3590e104,
-  0x6310b23e, 0x3589ff7a, 0x631b34bc, 0x35831be0,
-  0x6325b5df, 0x357c3636, 0x633035a7, 0x35754e7c,
-  0x633ab414, 0x356e64b2, 0x63453125, 0x356778d9,
-  0x634facda, 0x35608af1, 0x635a2733, 0x35599afa,
-  0x6364a02e, 0x3552a8f4, 0x636f17cc, 0x354bb4e1,
-  0x63798e0d, 0x3544bebf, 0x638402ef, 0x353dc68f,
-  0x638e7673, 0x3536cc52, 0x6398e898, 0x352fd008,
-  0x63a3595e, 0x3528d1b1, 0x63adc8c4, 0x3521d14d,
-  0x63b836ca, 0x351acedd, 0x63c2a36f, 0x3513ca60,
-  0x63cd0eb3, 0x350cc3d8, 0x63d77896, 0x3505bb44,
-  0x63e1e117, 0x34feb0a5, 0x63ec4837, 0x34f7a3fb,
-  0x63f6adf3, 0x34f09546, 0x6401124d, 0x34e98487,
-  0x640b7543, 0x34e271bd, 0x6415d6d5, 0x34db5cea,
-  0x64203704, 0x34d4460c, 0x642a95ce, 0x34cd2d26,
-  0x6434f332, 0x34c61236, 0x643f4f32, 0x34bef53d,
-  0x6449a9cc, 0x34b7d63c, 0x645402ff, 0x34b0b533,
-  0x645e5acc, 0x34a99221, 0x6468b132, 0x34a26d08,
-  0x64730631, 0x349b45e7, 0x647d59c8, 0x34941cbf,
-  0x6487abf7, 0x348cf190, 0x6491fcbe, 0x3485c45b,
-  0x649c4c1b, 0x347e951f, 0x64a69a0f, 0x347763dd,
-  0x64b0e699, 0x34703095, 0x64bb31ba, 0x3468fb47,
-  0x64c57b6f, 0x3461c3f5, 0x64cfc3ba, 0x345a8a9d,
-  0x64da0a9a, 0x34534f41, 0x64e4500e, 0x344c11e0,
-  0x64ee9415, 0x3444d27b, 0x64f8d6b0, 0x343d9112,
-  0x650317df, 0x34364da6, 0x650d57a0, 0x342f0836,
-  0x651795f3, 0x3427c0c3, 0x6521d2d8, 0x3420774d,
-  0x652c0e4f, 0x34192bd5, 0x65364857, 0x3411de5b,
-  0x654080ef, 0x340a8edf, 0x654ab818, 0x34033d61,
-  0x6554edd1, 0x33fbe9e2, 0x655f2219, 0x33f49462,
-  0x656954f1, 0x33ed3ce1, 0x65738657, 0x33e5e360,
-  0x657db64c, 0x33de87de, 0x6587e4cf, 0x33d72a5d,
-  0x659211df, 0x33cfcadc, 0x659c3d7c, 0x33c8695b,
-  0x65a667a7, 0x33c105db, 0x65b0905d, 0x33b9a05d,
-  0x65bab7a0, 0x33b238e0, 0x65c4dd6e, 0x33aacf65,
-  0x65cf01c8, 0x33a363ec, 0x65d924ac, 0x339bf675,
-  0x65e3461b, 0x33948701, 0x65ed6614, 0x338d1590,
-  0x65f78497, 0x3385a222, 0x6601a1a2, 0x337e2cb7,
-  0x660bbd37, 0x3376b551, 0x6615d754, 0x336f3bee,
-  0x661feffa, 0x3367c090, 0x662a0727, 0x33604336,
-  0x66341cdb, 0x3358c3e2, 0x663e3117, 0x33514292,
-  0x664843d9, 0x3349bf48, 0x66525521, 0x33423a04,
-  0x665c64ef, 0x333ab2c6, 0x66667342, 0x3333298f,
-  0x6670801a, 0x332b9e5e, 0x667a8b77, 0x33241134,
-  0x66849558, 0x331c8211, 0x668e9dbd, 0x3314f0f6,
-  0x6698a4a6, 0x330d5de3, 0x66a2aa11, 0x3305c8d7,
-  0x66acadff, 0x32fe31d5, 0x66b6b070, 0x32f698db,
-  0x66c0b162, 0x32eefdea, 0x66cab0d6, 0x32e76102,
-  0x66d4aecb, 0x32dfc224, 0x66deab41, 0x32d82150,
-  0x66e8a637, 0x32d07e85, 0x66f29fad, 0x32c8d9c6,
-  0x66fc97a3, 0x32c13311, 0x67068e18, 0x32b98a67,
-  0x6710830c, 0x32b1dfc9, 0x671a767e, 0x32aa3336,
-  0x6724686e, 0x32a284b0, 0x672e58dc, 0x329ad435,
-  0x673847c8, 0x329321c7, 0x67423530, 0x328b6d66,
-  0x674c2115, 0x3283b712, 0x67560b76, 0x327bfecc,
-  0x675ff452, 0x32744493, 0x6769dbaa, 0x326c8868,
-  0x6773c17d, 0x3264ca4c, 0x677da5cb, 0x325d0a3e,
-  0x67878893, 0x32554840, 0x679169d5, 0x324d8450,
-  0x679b4990, 0x3245be70, 0x67a527c4, 0x323df6a0,
-  0x67af0472, 0x32362ce0, 0x67b8df97, 0x322e6130,
-  0x67c2b934, 0x32269391, 0x67cc9149, 0x321ec403,
-  0x67d667d5, 0x3216f287, 0x67e03cd8, 0x320f1f1c,
-  0x67ea1052, 0x320749c3, 0x67f3e241, 0x31ff727c,
-  0x67fdb2a7, 0x31f79948, 0x68078181, 0x31efbe27,
-  0x68114ed0, 0x31e7e118, 0x681b1a94, 0x31e0021e,
-  0x6824e4cc, 0x31d82137, 0x682ead78, 0x31d03e64,
-  0x68387498, 0x31c859a5, 0x68423a2a, 0x31c072fb,
-  0x684bfe2f, 0x31b88a66, 0x6855c0a6, 0x31b09fe7,
-  0x685f8190, 0x31a8b37c, 0x686940ea, 0x31a0c528,
-  0x6872feb6, 0x3198d4ea, 0x687cbaf3, 0x3190e2c3,
-  0x688675a0, 0x3188eeb2, 0x68902ebd, 0x3180f8b8,
-  0x6899e64a, 0x317900d6, 0x68a39c46, 0x3171070c,
-  0x68ad50b1, 0x31690b59, 0x68b7038b, 0x31610dbf,
-  0x68c0b4d2, 0x31590e3e, 0x68ca6488, 0x31510cd5,
-  0x68d412ab, 0x31490986, 0x68ddbf3b, 0x31410450,
-  0x68e76a37, 0x3138fd35, 0x68f113a0, 0x3130f433,
-  0x68fabb75, 0x3128e94c, 0x690461b5, 0x3120dc80,
-  0x690e0661, 0x3118cdcf, 0x6917a977, 0x3110bd39,
-  0x69214af8, 0x3108aabf, 0x692aeae3, 0x31009661,
-  0x69348937, 0x30f8801f, 0x693e25f5, 0x30f067fb,
-  0x6947c11c, 0x30e84df3, 0x69515aab, 0x30e03208,
-  0x695af2a3, 0x30d8143b, 0x69648902, 0x30cff48c,
-  0x696e1dc9, 0x30c7d2fb, 0x6977b0f7, 0x30bfaf89,
-  0x6981428c, 0x30b78a36, 0x698ad287, 0x30af6302,
-  0x699460e8, 0x30a739ed, 0x699dedaf, 0x309f0ef8,
-  0x69a778db, 0x3096e223, 0x69b1026c, 0x308eb36f,
-  0x69ba8a61, 0x308682dc, 0x69c410ba, 0x307e5069,
-  0x69cd9578, 0x30761c18, 0x69d71899, 0x306de5e9,
-  0x69e09a1c, 0x3065addb, 0x69ea1a03, 0x305d73f0,
-  0x69f3984c, 0x30553828, 0x69fd14f6, 0x304cfa83,
-  0x6a069003, 0x3044bb00, 0x6a100970, 0x303c79a2,
-  0x6a19813f, 0x30343667, 0x6a22f76e, 0x302bf151,
-  0x6a2c6bfd, 0x3023aa5f, 0x6a35deeb, 0x301b6193,
-  0x6a3f503a, 0x301316eb, 0x6a48bfe7, 0x300aca69,
-  0x6a522df3, 0x30027c0c, 0x6a5b9a5d, 0x2ffa2bd6,
-  0x6a650525, 0x2ff1d9c7, 0x6a6e6e4b, 0x2fe985de,
-  0x6a77d5ce, 0x2fe1301c, 0x6a813bae, 0x2fd8d882,
-  0x6a8a9fea, 0x2fd07f0f, 0x6a940283, 0x2fc823c5,
-  0x6a9d6377, 0x2fbfc6a3, 0x6aa6c2c6, 0x2fb767aa,
-  0x6ab02071, 0x2faf06da, 0x6ab97c77, 0x2fa6a433,
-  0x6ac2d6d6, 0x2f9e3fb6, 0x6acc2f90, 0x2f95d963,
-  0x6ad586a3, 0x2f8d713a, 0x6adedc10, 0x2f85073c,
-  0x6ae82fd5, 0x2f7c9b69, 0x6af181f3, 0x2f742dc1,
-  0x6afad269, 0x2f6bbe45, 0x6b042137, 0x2f634cf5,
-  0x6b0d6e5c, 0x2f5ad9d1, 0x6b16b9d9, 0x2f5264da,
-  0x6b2003ac, 0x2f49ee0f, 0x6b294bd5, 0x2f417573,
-  0x6b329255, 0x2f38fb03, 0x6b3bd72a, 0x2f307ec2,
-  0x6b451a55, 0x2f2800af, 0x6b4e5bd4, 0x2f1f80ca,
-  0x6b579ba8, 0x2f16ff14, 0x6b60d9d0, 0x2f0e7b8e,
-  0x6b6a164d, 0x2f05f637, 0x6b73511c, 0x2efd6f10,
-  0x6b7c8a3f, 0x2ef4e619, 0x6b85c1b5, 0x2eec5b53,
-  0x6b8ef77d, 0x2ee3cebe, 0x6b982b97, 0x2edb405a,
-  0x6ba15e03, 0x2ed2b027, 0x6baa8ec0, 0x2eca1e27,
-  0x6bb3bdce, 0x2ec18a58, 0x6bbceb2d, 0x2eb8f4bc,
-  0x6bc616dd, 0x2eb05d53, 0x6bcf40dc, 0x2ea7c41e,
-  0x6bd8692b, 0x2e9f291b, 0x6be18fc9, 0x2e968c4d,
-  0x6beab4b6, 0x2e8dedb3, 0x6bf3d7f2, 0x2e854d4d,
-  0x6bfcf97c, 0x2e7cab1c, 0x6c061953, 0x2e740720,
-  0x6c0f3779, 0x2e6b615a, 0x6c1853eb, 0x2e62b9ca,
-  0x6c216eaa, 0x2e5a1070, 0x6c2a87b6, 0x2e51654c,
-  0x6c339f0e, 0x2e48b860, 0x6c3cb4b1, 0x2e4009aa,
-  0x6c45c8a0, 0x2e37592c, 0x6c4edada, 0x2e2ea6e6,
-  0x6c57eb5e, 0x2e25f2d8, 0x6c60fa2d, 0x2e1d3d03,
-  0x6c6a0746, 0x2e148566, 0x6c7312a9, 0x2e0bcc03,
-  0x6c7c1c55, 0x2e0310d9, 0x6c85244a, 0x2dfa53e9,
-  0x6c8e2a87, 0x2df19534, 0x6c972f0d, 0x2de8d4b8,
-  0x6ca031da, 0x2de01278, 0x6ca932ef, 0x2dd74e73,
-  0x6cb2324c, 0x2dce88aa, 0x6cbb2fef, 0x2dc5c11c,
-  0x6cc42bd9, 0x2dbcf7cb, 0x6ccd2609, 0x2db42cb6,
-  0x6cd61e7f, 0x2dab5fdf, 0x6cdf153a, 0x2da29144,
-  0x6ce80a3a, 0x2d99c0e7, 0x6cf0fd80, 0x2d90eec8,
-  0x6cf9ef09, 0x2d881ae8, 0x6d02ded7, 0x2d7f4545,
-  0x6d0bcce8, 0x2d766de2, 0x6d14b93d, 0x2d6d94bf,
-  0x6d1da3d5, 0x2d64b9da, 0x6d268cb0, 0x2d5bdd36,
-  0x6d2f73cd, 0x2d52fed2, 0x6d38592c, 0x2d4a1eaf,
-  0x6d413ccd, 0x2d413ccd, 0x6d4a1eaf, 0x2d38592c,
-  0x6d52fed2, 0x2d2f73cd, 0x6d5bdd36, 0x2d268cb0,
-  0x6d64b9da, 0x2d1da3d5, 0x6d6d94bf, 0x2d14b93d,
-  0x6d766de2, 0x2d0bcce8, 0x6d7f4545, 0x2d02ded7,
-  0x6d881ae8, 0x2cf9ef09, 0x6d90eec8, 0x2cf0fd80,
-  0x6d99c0e7, 0x2ce80a3a, 0x6da29144, 0x2cdf153a,
-  0x6dab5fdf, 0x2cd61e7f, 0x6db42cb6, 0x2ccd2609,
-  0x6dbcf7cb, 0x2cc42bd9, 0x6dc5c11c, 0x2cbb2fef,
-  0x6dce88aa, 0x2cb2324c, 0x6dd74e73, 0x2ca932ef,
-  0x6de01278, 0x2ca031da, 0x6de8d4b8, 0x2c972f0d,
-  0x6df19534, 0x2c8e2a87, 0x6dfa53e9, 0x2c85244a,
-  0x6e0310d9, 0x2c7c1c55, 0x6e0bcc03, 0x2c7312a9,
-  0x6e148566, 0x2c6a0746, 0x6e1d3d03, 0x2c60fa2d,
-  0x6e25f2d8, 0x2c57eb5e, 0x6e2ea6e6, 0x2c4edada,
-  0x6e37592c, 0x2c45c8a0, 0x6e4009aa, 0x2c3cb4b1,
-  0x6e48b860, 0x2c339f0e, 0x6e51654c, 0x2c2a87b6,
-  0x6e5a1070, 0x2c216eaa, 0x6e62b9ca, 0x2c1853eb,
-  0x6e6b615a, 0x2c0f3779, 0x6e740720, 0x2c061953,
-  0x6e7cab1c, 0x2bfcf97c, 0x6e854d4d, 0x2bf3d7f2,
-  0x6e8dedb3, 0x2beab4b6, 0x6e968c4d, 0x2be18fc9,
-  0x6e9f291b, 0x2bd8692b, 0x6ea7c41e, 0x2bcf40dc,
-  0x6eb05d53, 0x2bc616dd, 0x6eb8f4bc, 0x2bbceb2d,
-  0x6ec18a58, 0x2bb3bdce, 0x6eca1e27, 0x2baa8ec0,
-  0x6ed2b027, 0x2ba15e03, 0x6edb405a, 0x2b982b97,
-  0x6ee3cebe, 0x2b8ef77d, 0x6eec5b53, 0x2b85c1b5,
-  0x6ef4e619, 0x2b7c8a3f, 0x6efd6f10, 0x2b73511c,
-  0x6f05f637, 0x2b6a164d, 0x6f0e7b8e, 0x2b60d9d0,
-  0x6f16ff14, 0x2b579ba8, 0x6f1f80ca, 0x2b4e5bd4,
-  0x6f2800af, 0x2b451a55, 0x6f307ec2, 0x2b3bd72a,
-  0x6f38fb03, 0x2b329255, 0x6f417573, 0x2b294bd5,
-  0x6f49ee0f, 0x2b2003ac, 0x6f5264da, 0x2b16b9d9,
-  0x6f5ad9d1, 0x2b0d6e5c, 0x6f634cf5, 0x2b042137,
-  0x6f6bbe45, 0x2afad269, 0x6f742dc1, 0x2af181f3,
-  0x6f7c9b69, 0x2ae82fd5, 0x6f85073c, 0x2adedc10,
-  0x6f8d713a, 0x2ad586a3, 0x6f95d963, 0x2acc2f90,
-  0x6f9e3fb6, 0x2ac2d6d6, 0x6fa6a433, 0x2ab97c77,
-  0x6faf06da, 0x2ab02071, 0x6fb767aa, 0x2aa6c2c6,
-  0x6fbfc6a3, 0x2a9d6377, 0x6fc823c5, 0x2a940283,
-  0x6fd07f0f, 0x2a8a9fea, 0x6fd8d882, 0x2a813bae,
-  0x6fe1301c, 0x2a77d5ce, 0x6fe985de, 0x2a6e6e4b,
-  0x6ff1d9c7, 0x2a650525, 0x6ffa2bd6, 0x2a5b9a5d,
-  0x70027c0c, 0x2a522df3, 0x700aca69, 0x2a48bfe7,
-  0x701316eb, 0x2a3f503a, 0x701b6193, 0x2a35deeb,
-  0x7023aa5f, 0x2a2c6bfd, 0x702bf151, 0x2a22f76e,
-  0x70343667, 0x2a19813f, 0x703c79a2, 0x2a100970,
-  0x7044bb00, 0x2a069003, 0x704cfa83, 0x29fd14f6,
-  0x70553828, 0x29f3984c, 0x705d73f0, 0x29ea1a03,
-  0x7065addb, 0x29e09a1c, 0x706de5e9, 0x29d71899,
-  0x70761c18, 0x29cd9578, 0x707e5069, 0x29c410ba,
-  0x708682dc, 0x29ba8a61, 0x708eb36f, 0x29b1026c,
-  0x7096e223, 0x29a778db, 0x709f0ef8, 0x299dedaf,
-  0x70a739ed, 0x299460e8, 0x70af6302, 0x298ad287,
-  0x70b78a36, 0x2981428c, 0x70bfaf89, 0x2977b0f7,
-  0x70c7d2fb, 0x296e1dc9, 0x70cff48c, 0x29648902,
-  0x70d8143b, 0x295af2a3, 0x70e03208, 0x29515aab,
-  0x70e84df3, 0x2947c11c, 0x70f067fb, 0x293e25f5,
-  0x70f8801f, 0x29348937, 0x71009661, 0x292aeae3,
-  0x7108aabf, 0x29214af8, 0x7110bd39, 0x2917a977,
-  0x7118cdcf, 0x290e0661, 0x7120dc80, 0x290461b5,
-  0x7128e94c, 0x28fabb75, 0x7130f433, 0x28f113a0,
-  0x7138fd35, 0x28e76a37, 0x71410450, 0x28ddbf3b,
-  0x71490986, 0x28d412ab, 0x71510cd5, 0x28ca6488,
-  0x71590e3e, 0x28c0b4d2, 0x71610dbf, 0x28b7038b,
-  0x71690b59, 0x28ad50b1, 0x7171070c, 0x28a39c46,
-  0x717900d6, 0x2899e64a, 0x7180f8b8, 0x28902ebd,
-  0x7188eeb2, 0x288675a0, 0x7190e2c3, 0x287cbaf3,
-  0x7198d4ea, 0x2872feb6, 0x71a0c528, 0x286940ea,
-  0x71a8b37c, 0x285f8190, 0x71b09fe7, 0x2855c0a6,
-  0x71b88a66, 0x284bfe2f, 0x71c072fb, 0x28423a2a,
-  0x71c859a5, 0x28387498, 0x71d03e64, 0x282ead78,
-  0x71d82137, 0x2824e4cc, 0x71e0021e, 0x281b1a94,
-  0x71e7e118, 0x28114ed0, 0x71efbe27, 0x28078181,
-  0x71f79948, 0x27fdb2a7, 0x71ff727c, 0x27f3e241,
-  0x720749c3, 0x27ea1052, 0x720f1f1c, 0x27e03cd8,
-  0x7216f287, 0x27d667d5, 0x721ec403, 0x27cc9149,
-  0x72269391, 0x27c2b934, 0x722e6130, 0x27b8df97,
-  0x72362ce0, 0x27af0472, 0x723df6a0, 0x27a527c4,
-  0x7245be70, 0x279b4990, 0x724d8450, 0x279169d5,
-  0x72554840, 0x27878893, 0x725d0a3e, 0x277da5cb,
-  0x7264ca4c, 0x2773c17d, 0x726c8868, 0x2769dbaa,
-  0x72744493, 0x275ff452, 0x727bfecc, 0x27560b76,
-  0x7283b712, 0x274c2115, 0x728b6d66, 0x27423530,
-  0x729321c7, 0x273847c8, 0x729ad435, 0x272e58dc,
-  0x72a284b0, 0x2724686e, 0x72aa3336, 0x271a767e,
-  0x72b1dfc9, 0x2710830c, 0x72b98a67, 0x27068e18,
-  0x72c13311, 0x26fc97a3, 0x72c8d9c6, 0x26f29fad,
-  0x72d07e85, 0x26e8a637, 0x72d82150, 0x26deab41,
-  0x72dfc224, 0x26d4aecb, 0x72e76102, 0x26cab0d6,
-  0x72eefdea, 0x26c0b162, 0x72f698db, 0x26b6b070,
-  0x72fe31d5, 0x26acadff, 0x7305c8d7, 0x26a2aa11,
-  0x730d5de3, 0x2698a4a6, 0x7314f0f6, 0x268e9dbd,
-  0x731c8211, 0x26849558, 0x73241134, 0x267a8b77,
-  0x732b9e5e, 0x2670801a, 0x7333298f, 0x26667342,
-  0x733ab2c6, 0x265c64ef, 0x73423a04, 0x26525521,
-  0x7349bf48, 0x264843d9, 0x73514292, 0x263e3117,
-  0x7358c3e2, 0x26341cdb, 0x73604336, 0x262a0727,
-  0x7367c090, 0x261feffa, 0x736f3bee, 0x2615d754,
-  0x7376b551, 0x260bbd37, 0x737e2cb7, 0x2601a1a2,
-  0x7385a222, 0x25f78497, 0x738d1590, 0x25ed6614,
-  0x73948701, 0x25e3461b, 0x739bf675, 0x25d924ac,
-  0x73a363ec, 0x25cf01c8, 0x73aacf65, 0x25c4dd6e,
-  0x73b238e0, 0x25bab7a0, 0x73b9a05d, 0x25b0905d,
-  0x73c105db, 0x25a667a7, 0x73c8695b, 0x259c3d7c,
-  0x73cfcadc, 0x259211df, 0x73d72a5d, 0x2587e4cf,
-  0x73de87de, 0x257db64c, 0x73e5e360, 0x25738657,
-  0x73ed3ce1, 0x256954f1, 0x73f49462, 0x255f2219,
-  0x73fbe9e2, 0x2554edd1, 0x74033d61, 0x254ab818,
-  0x740a8edf, 0x254080ef, 0x7411de5b, 0x25364857,
-  0x74192bd5, 0x252c0e4f, 0x7420774d, 0x2521d2d8,
-  0x7427c0c3, 0x251795f3, 0x742f0836, 0x250d57a0,
-  0x74364da6, 0x250317df, 0x743d9112, 0x24f8d6b0,
-  0x7444d27b, 0x24ee9415, 0x744c11e0, 0x24e4500e,
-  0x74534f41, 0x24da0a9a, 0x745a8a9d, 0x24cfc3ba,
-  0x7461c3f5, 0x24c57b6f, 0x7468fb47, 0x24bb31ba,
-  0x74703095, 0x24b0e699, 0x747763dd, 0x24a69a0f,
-  0x747e951f, 0x249c4c1b, 0x7485c45b, 0x2491fcbe,
-  0x748cf190, 0x2487abf7, 0x74941cbf, 0x247d59c8,
-  0x749b45e7, 0x24730631, 0x74a26d08, 0x2468b132,
-  0x74a99221, 0x245e5acc, 0x74b0b533, 0x245402ff,
-  0x74b7d63c, 0x2449a9cc, 0x74bef53d, 0x243f4f32,
-  0x74c61236, 0x2434f332, 0x74cd2d26, 0x242a95ce,
-  0x74d4460c, 0x24203704, 0x74db5cea, 0x2415d6d5,
-  0x74e271bd, 0x240b7543, 0x74e98487, 0x2401124d,
-  0x74f09546, 0x23f6adf3, 0x74f7a3fb, 0x23ec4837,
-  0x74feb0a5, 0x23e1e117, 0x7505bb44, 0x23d77896,
-  0x750cc3d8, 0x23cd0eb3, 0x7513ca60, 0x23c2a36f,
-  0x751acedd, 0x23b836ca, 0x7521d14d, 0x23adc8c4,
-  0x7528d1b1, 0x23a3595e, 0x752fd008, 0x2398e898,
-  0x7536cc52, 0x238e7673, 0x753dc68f, 0x238402ef,
-  0x7544bebf, 0x23798e0d, 0x754bb4e1, 0x236f17cc,
-  0x7552a8f4, 0x2364a02e, 0x75599afa, 0x235a2733,
-  0x75608af1, 0x234facda, 0x756778d9, 0x23453125,
-  0x756e64b2, 0x233ab414, 0x75754e7c, 0x233035a7,
-  0x757c3636, 0x2325b5df, 0x75831be0, 0x231b34bc,
-  0x7589ff7a, 0x2310b23e, 0x7590e104, 0x23062e67,
-  0x7597c07d, 0x22fba936, 0x759e9de5, 0x22f122ab,
-  0x75a5793c, 0x22e69ac8, 0x75ac5282, 0x22dc118c,
-  0x75b329b5, 0x22d186f8, 0x75b9fed7, 0x22c6fb0c,
-  0x75c0d1e7, 0x22bc6dca, 0x75c7a2e3, 0x22b1df30,
-  0x75ce71ce, 0x22a74f40, 0x75d53ea5, 0x229cbdfa,
-  0x75dc0968, 0x22922b5e, 0x75e2d219, 0x2287976e,
-  0x75e998b5, 0x227d0228, 0x75f05d3d, 0x22726b8e,
-  0x75f71fb1, 0x2267d3a0, 0x75fde011, 0x225d3a5e,
-  0x76049e5b, 0x22529fca, 0x760b5a90, 0x224803e2,
-  0x761214b0, 0x223d66a8, 0x7618ccba, 0x2232c81c,
-  0x761f82af, 0x2228283f, 0x7626368d, 0x221d8711,
-  0x762ce855, 0x2212e492, 0x76339806, 0x220840c2,
-  0x763a45a0, 0x21fd9ba3, 0x7640f123, 0x21f2f534,
-  0x76479a8e, 0x21e84d76, 0x764e41e2, 0x21dda46a,
-  0x7654e71d, 0x21d2fa0f, 0x765b8a41, 0x21c84e67,
-  0x76622b4c, 0x21bda171, 0x7668ca3e, 0x21b2f32e,
-  0x766f6717, 0x21a8439e, 0x767601d7, 0x219d92c2,
-  0x767c9a7e, 0x2192e09b, 0x7683310b, 0x21882d28,
-  0x7689c57d, 0x217d786a, 0x769057d6, 0x2172c262,
-  0x7696e814, 0x21680b0f, 0x769d7637, 0x215d5273,
-  0x76a4023f, 0x2152988d, 0x76aa8c2c, 0x2147dd5f,
-  0x76b113fd, 0x213d20e8, 0x76b799b3, 0x21326329,
-  0x76be1d4c, 0x2127a423, 0x76c49ec9, 0x211ce3d5,
-  0x76cb1e2a, 0x21122240, 0x76d19b6e, 0x21075f65,
-  0x76d81695, 0x20fc9b44, 0x76de8f9e, 0x20f1d5de,
-  0x76e5068a, 0x20e70f32, 0x76eb7b58, 0x20dc4742,
-  0x76f1ee09, 0x20d17e0d, 0x76f85e9a, 0x20c6b395,
-  0x76fecd0e, 0x20bbe7d8, 0x77053962, 0x20b11ad9,
-  0x770ba398, 0x20a64c97, 0x77120bae, 0x209b7d13,
-  0x771871a5, 0x2090ac4d, 0x771ed57c, 0x2085da46,
-  0x77253733, 0x207b06fe, 0x772b96ca, 0x20703275,
-  0x7731f440, 0x20655cac, 0x77384f95, 0x205a85a3,
-  0x773ea8ca, 0x204fad5b, 0x7744ffdd, 0x2044d3d4,
-  0x774b54ce, 0x2039f90f, 0x7751a79e, 0x202f1d0b,
-  0x7757f84c, 0x20243fca, 0x775e46d8, 0x2019614c,
-  0x77649341, 0x200e8190, 0x776add88, 0x2003a099,
-  0x777125ac, 0x1ff8be65, 0x77776bac, 0x1feddaf6,
-  0x777daf89, 0x1fe2f64c, 0x7783f143, 0x1fd81067,
-  0x778a30d8, 0x1fcd2948, 0x77906e49, 0x1fc240ef,
-  0x7796a996, 0x1fb7575c, 0x779ce2be, 0x1fac6c91,
-  0x77a319c2, 0x1fa1808c, 0x77a94ea0, 0x1f969350,
-  0x77af8159, 0x1f8ba4dc, 0x77b5b1ec, 0x1f80b531,
-  0x77bbe05a, 0x1f75c44e, 0x77c20ca1, 0x1f6ad235,
-  0x77c836c2, 0x1f5fdee6, 0x77ce5ebd, 0x1f54ea62,
-  0x77d48490, 0x1f49f4a8, 0x77daa83d, 0x1f3efdb9,
-  0x77e0c9c3, 0x1f340596, 0x77e6e921, 0x1f290c3f,
-  0x77ed0657, 0x1f1e11b5, 0x77f32165, 0x1f1315f7,
-  0x77f93a4b, 0x1f081907, 0x77ff5109, 0x1efd1ae4,
-  0x7805659e, 0x1ef21b90, 0x780b780a, 0x1ee71b0a,
-  0x7811884d, 0x1edc1953, 0x78179666, 0x1ed1166b,
-  0x781da256, 0x1ec61254, 0x7823ac1d, 0x1ebb0d0d,
-  0x7829b3b9, 0x1eb00696, 0x782fb92a, 0x1ea4fef0,
-  0x7835bc71, 0x1e99f61d, 0x783bbd8e, 0x1e8eec1b,
-  0x7841bc7f, 0x1e83e0eb, 0x7847b946, 0x1e78d48e,
-  0x784db3e0, 0x1e6dc705, 0x7853ac4f, 0x1e62b84f,
-  0x7859a292, 0x1e57a86d, 0x785f96a9, 0x1e4c9760,
-  0x78658894, 0x1e418528, 0x786b7852, 0x1e3671c5,
-  0x787165e3, 0x1e2b5d38, 0x78775147, 0x1e204781,
-  0x787d3a7e, 0x1e1530a1, 0x78832187, 0x1e0a1898,
-  0x78890663, 0x1dfeff67, 0x788ee910, 0x1df3e50d,
-  0x7894c98f, 0x1de8c98c, 0x789aa7e0, 0x1dddace4,
-  0x78a08402, 0x1dd28f15, 0x78a65df6, 0x1dc7701f,
-  0x78ac35ba, 0x1dbc5004, 0x78b20b4f, 0x1db12ec3,
-  0x78b7deb4, 0x1da60c5d, 0x78bdafea, 0x1d9ae8d2,
-  0x78c37eef, 0x1d8fc424, 0x78c94bc4, 0x1d849e51,
-  0x78cf1669, 0x1d79775c, 0x78d4dedd, 0x1d6e4f43,
-  0x78daa520, 0x1d632608, 0x78e06932, 0x1d57fbaa,
-  0x78e62b13, 0x1d4cd02c, 0x78ebeac2, 0x1d41a38c,
-  0x78f1a840, 0x1d3675cb, 0x78f7638b, 0x1d2b46ea,
-  0x78fd1ca4, 0x1d2016e9, 0x7902d38b, 0x1d14e5c9,
-  0x7908883f, 0x1d09b389, 0x790e3ac0, 0x1cfe802b,
-  0x7913eb0e, 0x1cf34baf, 0x79199929, 0x1ce81615,
-  0x791f4510, 0x1cdcdf5e, 0x7924eec3, 0x1cd1a78a,
-  0x792a9642, 0x1cc66e99, 0x79303b8e, 0x1cbb348d,
-  0x7935dea4, 0x1caff965, 0x793b7f86, 0x1ca4bd21,
-  0x79411e33, 0x1c997fc4, 0x7946baac, 0x1c8e414b,
-  0x794c54ee, 0x1c8301b9, 0x7951ecfc, 0x1c77c10e,
-  0x795782d3, 0x1c6c7f4a, 0x795d1675, 0x1c613c6d,
-  0x7962a7e0, 0x1c55f878, 0x79683715, 0x1c4ab36b,
-  0x796dc414, 0x1c3f6d47, 0x79734edc, 0x1c34260c,
-  0x7978d76c, 0x1c28ddbb, 0x797e5dc6, 0x1c1d9454,
-  0x7983e1e8, 0x1c1249d8, 0x798963d2, 0x1c06fe46,
-  0x798ee385, 0x1bfbb1a0, 0x799460ff, 0x1bf063e6,
-  0x7999dc42, 0x1be51518, 0x799f554b, 0x1bd9c537,
-  0x79a4cc1c, 0x1bce7442, 0x79aa40b4, 0x1bc3223c,
-  0x79afb313, 0x1bb7cf23, 0x79b52339, 0x1bac7af9,
-  0x79ba9125, 0x1ba125bd, 0x79bffcd7, 0x1b95cf71,
-  0x79c5664f, 0x1b8a7815, 0x79cacd8d, 0x1b7f1fa9,
-  0x79d03291, 0x1b73c62d, 0x79d5955a, 0x1b686ba3,
-  0x79daf5e8, 0x1b5d100a, 0x79e0543c, 0x1b51b363,
-  0x79e5b054, 0x1b4655ae, 0x79eb0a31, 0x1b3af6ec,
-  0x79f061d2, 0x1b2f971e, 0x79f5b737, 0x1b243643,
-  0x79fb0a60, 0x1b18d45c, 0x7a005b4d, 0x1b0d716a,
-  0x7a05a9fd, 0x1b020d6c, 0x7a0af671, 0x1af6a865,
-  0x7a1040a8, 0x1aeb4253, 0x7a1588a2, 0x1adfdb37,
-  0x7a1ace5f, 0x1ad47312, 0x7a2011de, 0x1ac909e5,
-  0x7a25531f, 0x1abd9faf, 0x7a2a9223, 0x1ab23471,
-  0x7a2fcee8, 0x1aa6c82b, 0x7a350970, 0x1a9b5adf,
-  0x7a3a41b9, 0x1a8fec8c, 0x7a3f77c3, 0x1a847d33,
-  0x7a44ab8e, 0x1a790cd4, 0x7a49dd1a, 0x1a6d9b70,
-  0x7a4f0c67, 0x1a622907, 0x7a543974, 0x1a56b599,
-  0x7a596442, 0x1a4b4128, 0x7a5e8cd0, 0x1a3fcbb3,
-  0x7a63b31d, 0x1a34553b, 0x7a68d72b, 0x1a28ddc0,
-  0x7a6df8f8, 0x1a1d6544, 0x7a731884, 0x1a11ebc5,
-  0x7a7835cf, 0x1a067145, 0x7a7d50da, 0x19faf5c5,
-  0x7a8269a3, 0x19ef7944, 0x7a87802a, 0x19e3fbc3,
-  0x7a8c9470, 0x19d87d42, 0x7a91a674, 0x19ccfdc2,
-  0x7a96b636, 0x19c17d44, 0x7a9bc3b6, 0x19b5fbc8,
-  0x7aa0cef3, 0x19aa794d, 0x7aa5d7ee, 0x199ef5d6,
-  0x7aaadea6, 0x19937161, 0x7aafe31b, 0x1987ebf0,
-  0x7ab4e54c, 0x197c6584, 0x7ab9e53a, 0x1970de1b,
-  0x7abee2e5, 0x196555b8, 0x7ac3de4c, 0x1959cc5a,
-  0x7ac8d76f, 0x194e4201, 0x7acdce4d, 0x1942b6af,
-  0x7ad2c2e8, 0x19372a64, 0x7ad7b53d, 0x192b9d1f,
-  0x7adca54e, 0x19200ee3, 0x7ae1931a, 0x19147fae,
-  0x7ae67ea1, 0x1908ef82, 0x7aeb67e3, 0x18fd5e5f,
-  0x7af04edf, 0x18f1cc45, 0x7af53395, 0x18e63935,
-  0x7afa1605, 0x18daa52f, 0x7afef630, 0x18cf1034,
-  0x7b03d414, 0x18c37a44, 0x7b08afb2, 0x18b7e35f,
-  0x7b0d8909, 0x18ac4b87, 0x7b126019, 0x18a0b2bb,
-  0x7b1734e2, 0x189518fc, 0x7b1c0764, 0x18897e4a,
-  0x7b20d79e, 0x187de2a7, 0x7b25a591, 0x18724611,
-  0x7b2a713d, 0x1866a88a, 0x7b2f3aa0, 0x185b0a13,
-  0x7b3401bb, 0x184f6aab, 0x7b38c68e, 0x1843ca53,
-  0x7b3d8918, 0x1838290c, 0x7b42495a, 0x182c86d5,
-  0x7b470753, 0x1820e3b0, 0x7b4bc303, 0x18153f9d,
-  0x7b507c69, 0x18099a9c, 0x7b553386, 0x17fdf4ae,
-  0x7b59e85a, 0x17f24dd3, 0x7b5e9ae4, 0x17e6a60c,
-  0x7b634b23, 0x17dafd59, 0x7b67f919, 0x17cf53bb,
-  0x7b6ca4c4, 0x17c3a931, 0x7b714e25, 0x17b7fdbd,
-  0x7b75f53c, 0x17ac515f, 0x7b7a9a07, 0x17a0a417,
-  0x7b7f3c87, 0x1794f5e6, 0x7b83dcbc, 0x178946cc,
-  0x7b887aa6, 0x177d96ca, 0x7b8d1644, 0x1771e5e0,
-  0x7b91af97, 0x1766340f, 0x7b96469d, 0x175a8157,
-  0x7b9adb57, 0x174ecdb8, 0x7b9f6dc5, 0x17431933,
-  0x7ba3fde7, 0x173763c9, 0x7ba88bbc, 0x172bad7a,
-  0x7bad1744, 0x171ff646, 0x7bb1a080, 0x17143e2d,
-  0x7bb6276e, 0x17088531, 0x7bbaac0e, 0x16fccb51,
-  0x7bbf2e62, 0x16f1108f, 0x7bc3ae67, 0x16e554ea,
-  0x7bc82c1f, 0x16d99864, 0x7bcca789, 0x16cddafb,
-  0x7bd120a4, 0x16c21cb2, 0x7bd59771, 0x16b65d88,
-  0x7bda0bf0, 0x16aa9d7e, 0x7bde7e20, 0x169edc94,
-  0x7be2ee01, 0x16931acb, 0x7be75b93, 0x16875823,
-  0x7bebc6d5, 0x167b949d, 0x7bf02fc9, 0x166fd039,
-  0x7bf4966c, 0x16640af7, 0x7bf8fac0, 0x165844d8,
-  0x7bfd5cc4, 0x164c7ddd, 0x7c01bc78, 0x1640b606,
-  0x7c0619dc, 0x1634ed53, 0x7c0a74f0, 0x162923c5,
-  0x7c0ecdb2, 0x161d595d, 0x7c132424, 0x16118e1a,
-  0x7c177845, 0x1605c1fd, 0x7c1bca16, 0x15f9f507,
-  0x7c201994, 0x15ee2738, 0x7c2466c2, 0x15e25890,
-  0x7c28b19e, 0x15d68911, 0x7c2cfa28, 0x15cab8ba,
-  0x7c314060, 0x15bee78c, 0x7c358446, 0x15b31587,
-  0x7c39c5da, 0x15a742ac, 0x7c3e051b, 0x159b6efb,
-  0x7c42420a, 0x158f9a76, 0x7c467ca6, 0x1583c51b,
-  0x7c4ab4ef, 0x1577eeec, 0x7c4eeae5, 0x156c17e9,
-  0x7c531e88, 0x15604013, 0x7c574fd8, 0x1554676a,
-  0x7c5b7ed4, 0x15488dee, 0x7c5fab7c, 0x153cb3a0,
-  0x7c63d5d1, 0x1530d881, 0x7c67fdd1, 0x1524fc90,
-  0x7c6c237e, 0x15191fcf, 0x7c7046d6, 0x150d423d,
-  0x7c7467d9, 0x150163dc, 0x7c788688, 0x14f584ac,
-  0x7c7ca2e2, 0x14e9a4ac, 0x7c80bce7, 0x14ddc3de,
-  0x7c84d496, 0x14d1e242, 0x7c88e9f1, 0x14c5ffd9,
-  0x7c8cfcf6, 0x14ba1ca3, 0x7c910da5, 0x14ae38a0,
-  0x7c951bff, 0x14a253d1, 0x7c992803, 0x14966e36,
-  0x7c9d31b0, 0x148a87d1, 0x7ca13908, 0x147ea0a0,
-  0x7ca53e09, 0x1472b8a5, 0x7ca940b3, 0x1466cfe1,
-  0x7cad4107, 0x145ae653, 0x7cb13f04, 0x144efbfc,
-  0x7cb53aaa, 0x144310dd, 0x7cb933f9, 0x143724f5,
-  0x7cbd2af0, 0x142b3846, 0x7cc11f90, 0x141f4ad1,
-  0x7cc511d9, 0x14135c94, 0x7cc901c9, 0x14076d91,
-  0x7cccef62, 0x13fb7dc9, 0x7cd0daa2, 0x13ef8d3c,
-  0x7cd4c38b, 0x13e39be9, 0x7cd8aa1b, 0x13d7a9d3,
-  0x7cdc8e52, 0x13cbb6f8, 0x7ce07031, 0x13bfc35b,
-  0x7ce44fb7, 0x13b3cefa, 0x7ce82ce4, 0x13a7d9d7,
-  0x7cec07b8, 0x139be3f2, 0x7cefe032, 0x138fed4b,
-  0x7cf3b653, 0x1383f5e3, 0x7cf78a1b, 0x1377fdbb,
-  0x7cfb5b89, 0x136c04d2, 0x7cff2a9d, 0x13600b2a,
-  0x7d02f757, 0x135410c3, 0x7d06c1b6, 0x1348159d,
-  0x7d0a89bc, 0x133c19b8, 0x7d0e4f67, 0x13301d16,
-  0x7d1212b7, 0x13241fb6, 0x7d15d3ad, 0x1318219a,
-  0x7d199248, 0x130c22c1, 0x7d1d4e88, 0x1300232c,
-  0x7d21086c, 0x12f422db, 0x7d24bff6, 0x12e821cf,
-  0x7d287523, 0x12dc2009, 0x7d2c27f6, 0x12d01d89,
-  0x7d2fd86c, 0x12c41a4f, 0x7d338687, 0x12b8165b,
-  0x7d373245, 0x12ac11af, 0x7d3adba7, 0x12a00c4b,
-  0x7d3e82ae, 0x1294062f, 0x7d422757, 0x1287ff5b,
-  0x7d45c9a4, 0x127bf7d1, 0x7d496994, 0x126fef90,
-  0x7d4d0728, 0x1263e699, 0x7d50a25e, 0x1257dced,
-  0x7d543b37, 0x124bd28c, 0x7d57d1b3, 0x123fc776,
-  0x7d5b65d2, 0x1233bbac, 0x7d5ef793, 0x1227af2e,
-  0x7d6286f6, 0x121ba1fd, 0x7d6613fb, 0x120f941a,
-  0x7d699ea3, 0x12038584, 0x7d6d26ec, 0x11f7763c,
-  0x7d70acd7, 0x11eb6643, 0x7d743064, 0x11df5599,
-  0x7d77b192, 0x11d3443f, 0x7d7b3061, 0x11c73235,
-  0x7d7eacd2, 0x11bb1f7c, 0x7d8226e4, 0x11af0c13,
-  0x7d859e96, 0x11a2f7fc, 0x7d8913ea, 0x1196e337,
-  0x7d8c86de, 0x118acdc4, 0x7d8ff772, 0x117eb7a4,
-  0x7d9365a8, 0x1172a0d7, 0x7d96d17d, 0x1166895f,
-  0x7d9a3af2, 0x115a713a, 0x7d9da208, 0x114e586a,
-  0x7da106bd, 0x11423ef0, 0x7da46912, 0x113624cb,
-  0x7da7c907, 0x112a09fc, 0x7dab269b, 0x111dee84,
-  0x7dae81cf, 0x1111d263, 0x7db1daa2, 0x1105b599,
-  0x7db53113, 0x10f99827, 0x7db88524, 0x10ed7a0e,
-  0x7dbbd6d4, 0x10e15b4e, 0x7dbf2622, 0x10d53be7,
-  0x7dc2730f, 0x10c91bda, 0x7dc5bd9b, 0x10bcfb28,
-  0x7dc905c5, 0x10b0d9d0, 0x7dcc4b8d, 0x10a4b7d3,
-  0x7dcf8ef3, 0x10989532, 0x7dd2cff7, 0x108c71ee,
-  0x7dd60e99, 0x10804e06, 0x7dd94ad8, 0x1074297b,
-  0x7ddc84b5, 0x1068044e, 0x7ddfbc30, 0x105bde7f,
-  0x7de2f148, 0x104fb80e, 0x7de623fd, 0x104390fd,
-  0x7de9544f, 0x1037694b, 0x7dec823e, 0x102b40f8,
-  0x7defadca, 0x101f1807, 0x7df2d6f3, 0x1012ee76,
-  0x7df5fdb8, 0x1006c446, 0x7df9221a, 0xffa9979,
-  0x7dfc4418, 0xfee6e0d, 0x7dff63b2, 0xfe24205,
-  0x7e0280e9, 0xfd6155f, 0x7e059bbb, 0xfc9e81e,
-  0x7e08b42a, 0xfbdba40, 0x7e0bca34, 0xfb18bc8,
-  0x7e0eddd9, 0xfa55cb4, 0x7e11ef1b, 0xf992d06,
-  0x7e14fdf7, 0xf8cfcbe, 0x7e180a6f, 0xf80cbdc,
-  0x7e1b1482, 0xf749a61, 0x7e1e1c30, 0xf68684e,
-  0x7e212179, 0xf5c35a3, 0x7e24245d, 0xf500260,
-  0x7e2724db, 0xf43ce86, 0x7e2a22f4, 0xf379a16,
-  0x7e2d1ea8, 0xf2b650f, 0x7e3017f6, 0xf1f2f73,
-  0x7e330ede, 0xf12f941, 0x7e360360, 0xf06c27a,
-  0x7e38f57c, 0xefa8b20, 0x7e3be532, 0xeee5331,
-  0x7e3ed282, 0xee21aaf, 0x7e41bd6c, 0xed5e19a,
-  0x7e44a5ef, 0xec9a7f3, 0x7e478c0b, 0xebd6db9,
-  0x7e4a6fc1, 0xeb132ef, 0x7e4d5110, 0xea4f793,
-  0x7e502ff9, 0xe98bba7, 0x7e530c7a, 0xe8c7f2a,
-  0x7e55e694, 0xe80421e, 0x7e58be47, 0xe740483,
-  0x7e5b9392, 0xe67c65a, 0x7e5e6676, 0xe5b87a2,
-  0x7e6136f3, 0xe4f485c, 0x7e640507, 0xe430889,
-  0x7e66d0b4, 0xe36c82a, 0x7e6999fa, 0xe2a873e,
-  0x7e6c60d7, 0xe1e45c6, 0x7e6f254c, 0xe1203c3,
-  0x7e71e759, 0xe05c135, 0x7e74a6fd, 0xdf97e1d,
-  0x7e77643a, 0xded3a7b, 0x7e7a1f0d, 0xde0f64f,
-  0x7e7cd778, 0xdd4b19a, 0x7e7f8d7b, 0xdc86c5d,
-  0x7e824114, 0xdbc2698, 0x7e84f245, 0xdafe04b,
-  0x7e87a10c, 0xda39978, 0x7e8a4d6a, 0xd97521d,
-  0x7e8cf75f, 0xd8b0a3d, 0x7e8f9eeb, 0xd7ec1d6,
-  0x7e92440d, 0xd7278eb, 0x7e94e6c6, 0xd662f7b,
-  0x7e978715, 0xd59e586, 0x7e9a24fb, 0xd4d9b0e,
-  0x7e9cc076, 0xd415013, 0x7e9f5988, 0xd350495,
-  0x7ea1f02f, 0xd28b894, 0x7ea4846c, 0xd1c6c11,
-  0x7ea7163f, 0xd101f0e, 0x7ea9a5a8, 0xd03d189,
-  0x7eac32a6, 0xcf78383, 0x7eaebd3a, 0xceb34fe,
-  0x7eb14563, 0xcdee5f9, 0x7eb3cb21, 0xcd29676,
-  0x7eb64e75, 0xcc64673, 0x7eb8cf5d, 0xcb9f5f3,
-  0x7ebb4ddb, 0xcada4f5, 0x7ebdc9ed, 0xca1537a,
-  0x7ec04394, 0xc950182, 0x7ec2bad0, 0xc88af0e,
-  0x7ec52fa0, 0xc7c5c1e, 0x7ec7a205, 0xc7008b3,
-  0x7eca11fe, 0xc63b4ce, 0x7ecc7f8b, 0xc57606e,
-  0x7eceeaad, 0xc4b0b94, 0x7ed15363, 0xc3eb641,
-  0x7ed3b9ad, 0xc326075, 0x7ed61d8a, 0xc260a31,
-  0x7ed87efc, 0xc19b374, 0x7edade01, 0xc0d5c41,
-  0x7edd3a9a, 0xc010496, 0x7edf94c7, 0xbf4ac75,
-  0x7ee1ec87, 0xbe853de, 0x7ee441da, 0xbdbfad1,
-  0x7ee694c1, 0xbcfa150, 0x7ee8e53a, 0xbc34759,
-  0x7eeb3347, 0xbb6ecef, 0x7eed7ee7, 0xbaa9211,
-  0x7eefc81a, 0xb9e36c0, 0x7ef20ee0, 0xb91dafc,
-  0x7ef45338, 0xb857ec7, 0x7ef69523, 0xb79221f,
-  0x7ef8d4a1, 0xb6cc506, 0x7efb11b1, 0xb60677c,
-  0x7efd4c54, 0xb540982, 0x7eff8489, 0xb47ab19,
-  0x7f01ba50, 0xb3b4c40, 0x7f03eda9, 0xb2eecf8,
-  0x7f061e95, 0xb228d42, 0x7f084d12, 0xb162d1d,
-  0x7f0a7921, 0xb09cc8c, 0x7f0ca2c2, 0xafd6b8d,
-  0x7f0ec9f5, 0xaf10a22, 0x7f10eeb9, 0xae4a84b,
-  0x7f13110f, 0xad84609, 0x7f1530f7, 0xacbe35b,
-  0x7f174e70, 0xabf8043, 0x7f19697a, 0xab31cc1,
-  0x7f1b8215, 0xaa6b8d5, 0x7f1d9842, 0xa9a5480,
-  0x7f1fabff, 0xa8defc3, 0x7f21bd4e, 0xa818a9d,
-  0x7f23cc2e, 0xa752510, 0x7f25d89e, 0xa68bf1b,
-  0x7f27e29f, 0xa5c58c0, 0x7f29ea31, 0xa4ff1fe,
-  0x7f2bef53, 0xa438ad7, 0x7f2df206, 0xa37234a,
-  0x7f2ff24a, 0xa2abb59, 0x7f31f01d, 0xa1e5303,
-  0x7f33eb81, 0xa11ea49, 0x7f35e476, 0xa05812c,
-  0x7f37dafa, 0x9f917ac, 0x7f39cf0e, 0x9ecadc9,
-  0x7f3bc0b3, 0x9e04385, 0x7f3dafe7, 0x9d3d8df,
-  0x7f3f9cab, 0x9c76dd8, 0x7f4186ff, 0x9bb0271,
-  0x7f436ee3, 0x9ae96aa, 0x7f455456, 0x9a22a83,
-  0x7f473759, 0x995bdfd, 0x7f4917eb, 0x9895118,
-  0x7f4af60d, 0x97ce3d5, 0x7f4cd1be, 0x9707635,
-  0x7f4eaafe, 0x9640837, 0x7f5081cd, 0x95799dd,
-  0x7f52562c, 0x94b2b27, 0x7f54281a, 0x93ebc14,
-  0x7f55f796, 0x9324ca7, 0x7f57c4a2, 0x925dcdf,
-  0x7f598f3c, 0x9196cbc, 0x7f5b5765, 0x90cfc40,
-  0x7f5d1d1d, 0x9008b6a, 0x7f5ee063, 0x8f41a3c,
-  0x7f60a138, 0x8e7a8b5, 0x7f625f9b, 0x8db36d6,
-  0x7f641b8d, 0x8cec4a0, 0x7f65d50d, 0x8c25213,
-  0x7f678c1c, 0x8b5df30, 0x7f6940b8, 0x8a96bf6,
-  0x7f6af2e3, 0x89cf867, 0x7f6ca29c, 0x8908483,
-  0x7f6e4fe3, 0x884104b, 0x7f6ffab8, 0x8779bbe,
-  0x7f71a31b, 0x86b26de, 0x7f73490b, 0x85eb1ab,
-  0x7f74ec8a, 0x8523c25, 0x7f768d96, 0x845c64d,
-  0x7f782c30, 0x8395024, 0x7f79c857, 0x82cd9a9,
-  0x7f7b620c, 0x82062de, 0x7f7cf94e, 0x813ebc2,
-  0x7f7e8e1e, 0x8077457, 0x7f80207b, 0x7fafc9c,
-  0x7f81b065, 0x7ee8493, 0x7f833ddd, 0x7e20c3b,
-  0x7f84c8e2, 0x7d59396, 0x7f865174, 0x7c91aa3,
-  0x7f87d792, 0x7bca163, 0x7f895b3e, 0x7b027d7,
-  0x7f8adc77, 0x7a3adff, 0x7f8c5b3d, 0x79733dc,
-  0x7f8dd78f, 0x78ab96e, 0x7f8f516e, 0x77e3eb5,
-  0x7f90c8da, 0x771c3b3, 0x7f923dd2, 0x7654867,
-  0x7f93b058, 0x758ccd2, 0x7f952069, 0x74c50f4,
-  0x7f968e07, 0x73fd4cf, 0x7f97f932, 0x7335862,
-  0x7f9961e8, 0x726dbae, 0x7f9ac82c, 0x71a5eb3,
-  0x7f9c2bfb, 0x70de172, 0x7f9d8d56, 0x70163eb,
-  0x7f9eec3e, 0x6f4e620, 0x7fa048b2, 0x6e86810,
-  0x7fa1a2b2, 0x6dbe9bb, 0x7fa2fa3d, 0x6cf6b23,
-  0x7fa44f55, 0x6c2ec48, 0x7fa5a1f9, 0x6b66d29,
-  0x7fa6f228, 0x6a9edc9, 0x7fa83fe3, 0x69d6e27,
-  0x7fa98b2a, 0x690ee44, 0x7faad3fd, 0x6846e1f,
-  0x7fac1a5b, 0x677edbb, 0x7fad5e45, 0x66b6d16,
-  0x7fae9fbb, 0x65eec33, 0x7fafdebb, 0x6526b10,
-  0x7fb11b48, 0x645e9af, 0x7fb2555f, 0x6396810,
-  0x7fb38d02, 0x62ce634, 0x7fb4c231, 0x620641a,
-  0x7fb5f4ea, 0x613e1c5, 0x7fb7252f, 0x6075f33,
-  0x7fb852ff, 0x5fadc66, 0x7fb97e5a, 0x5ee595d,
-  0x7fbaa740, 0x5e1d61b, 0x7fbbcdb1, 0x5d5529e,
-  0x7fbcf1ad, 0x5c8cee7, 0x7fbe1334, 0x5bc4af8,
-  0x7fbf3246, 0x5afc6d0, 0x7fc04ee3, 0x5a3426f,
-  0x7fc1690a, 0x596bdd7, 0x7fc280bc, 0x58a3908,
-  0x7fc395f9, 0x57db403, 0x7fc4a8c1, 0x5712ec7,
-  0x7fc5b913, 0x564a955, 0x7fc6c6f0, 0x55823ae,
-  0x7fc7d258, 0x54b9dd3, 0x7fc8db4a, 0x53f17c3,
-  0x7fc9e1c6, 0x532917f, 0x7fcae5cd, 0x5260b08,
-  0x7fcbe75e, 0x519845e, 0x7fcce67a, 0x50cfd82,
-  0x7fcde320, 0x5007674, 0x7fcedd50, 0x4f3ef35,
-  0x7fcfd50b, 0x4e767c5, 0x7fd0ca4f, 0x4dae024,
-  0x7fd1bd1e, 0x4ce5854, 0x7fd2ad77, 0x4c1d054,
-  0x7fd39b5a, 0x4b54825, 0x7fd486c7, 0x4a8bfc7,
-  0x7fd56fbe, 0x49c373c, 0x7fd6563f, 0x48fae83,
-  0x7fd73a4a, 0x483259d, 0x7fd81bdf, 0x4769c8b,
-  0x7fd8fafe, 0x46a134c, 0x7fd9d7a7, 0x45d89e2,
-  0x7fdab1d9, 0x451004d, 0x7fdb8996, 0x444768d,
-  0x7fdc5edc, 0x437eca4, 0x7fdd31ac, 0x42b6290,
-  0x7fde0205, 0x41ed854, 0x7fdecfe8, 0x4124dee,
-  0x7fdf9b55, 0x405c361, 0x7fe0644b, 0x3f938ac,
-  0x7fe12acb, 0x3ecadcf, 0x7fe1eed5, 0x3e022cc,
-  0x7fe2b067, 0x3d397a3, 0x7fe36f84, 0x3c70c54,
-  0x7fe42c2a, 0x3ba80df, 0x7fe4e659, 0x3adf546,
-  0x7fe59e12, 0x3a16988, 0x7fe65354, 0x394dda7,
-  0x7fe7061f, 0x38851a2, 0x7fe7b674, 0x37bc57b,
-  0x7fe86452, 0x36f3931, 0x7fe90fb9, 0x362acc5,
-  0x7fe9b8a9, 0x3562038, 0x7fea5f23, 0x3499389,
-  0x7feb0326, 0x33d06bb, 0x7feba4b2, 0x33079cc,
-  0x7fec43c7, 0x323ecbe, 0x7fece065, 0x3175f91,
-  0x7fed7a8c, 0x30ad245, 0x7fee123d, 0x2fe44dc,
-  0x7feea776, 0x2f1b755, 0x7fef3a39, 0x2e529b0,
-  0x7fefca84, 0x2d89bf0, 0x7ff05858, 0x2cc0e13,
-  0x7ff0e3b6, 0x2bf801a, 0x7ff16c9c, 0x2b2f207,
-  0x7ff1f30b, 0x2a663d8, 0x7ff27703, 0x299d590,
-  0x7ff2f884, 0x28d472e, 0x7ff3778e, 0x280b8b3,
-  0x7ff3f420, 0x2742a1f, 0x7ff46e3c, 0x2679b73,
-  0x7ff4e5e0, 0x25b0caf, 0x7ff55b0d, 0x24e7dd4,
-  0x7ff5cdc3, 0x241eee2, 0x7ff63e01, 0x2355fd9,
-  0x7ff6abc8, 0x228d0bb, 0x7ff71718, 0x21c4188,
-  0x7ff77ff1, 0x20fb240, 0x7ff7e652, 0x20322e3,
-  0x7ff84a3c, 0x1f69373, 0x7ff8abae, 0x1ea03ef,
-  0x7ff90aaa, 0x1dd7459, 0x7ff9672d, 0x1d0e4b0,
-  0x7ff9c13a, 0x1c454f5, 0x7ffa18cf, 0x1b7c528,
-  0x7ffa6dec, 0x1ab354b, 0x7ffac092, 0x19ea55d,
-  0x7ffb10c1, 0x192155f, 0x7ffb5e78, 0x1858552,
-  0x7ffba9b8, 0x178f536, 0x7ffbf280, 0x16c650b,
-  0x7ffc38d1, 0x15fd4d2, 0x7ffc7caa, 0x153448c,
-  0x7ffcbe0c, 0x146b438, 0x7ffcfcf6, 0x13a23d8,
-  0x7ffd3969, 0x12d936c, 0x7ffd7364, 0x12102f4,
-  0x7ffdaae7, 0x1147271, 0x7ffddff3, 0x107e1e3,
-  0x7ffe1288, 0xfb514b, 0x7ffe42a4, 0xeec0aa,
-  0x7ffe704a, 0xe22fff, 0x7ffe9b77, 0xd59f4c,
-  0x7ffec42d, 0xc90e90, 0x7ffeea6c, 0xbc7dcc,
-  0x7fff0e32, 0xafed02, 0x7fff2f82, 0xa35c30,
-  0x7fff4e59, 0x96cb58, 0x7fff6ab9, 0x8a3a7b,
-  0x7fff84a1, 0x7da998, 0x7fff9c12, 0x7118b0,
-  0x7fffb10b, 0x6487c4, 0x7fffc38c, 0x57f6d4,
-  0x7fffd396, 0x4b65e1, 0x7fffe128, 0x3ed4ea,
-  0x7fffec43, 0x3243f1, 0x7ffff4e6, 0x25b2f7,
-  0x7ffffb11, 0x1921fb, 0x7ffffec4, 0xc90fe,
-  0x7fffffff, 0x0, 0x7ffffec4, 0xfff36f02,
-  0x7ffffb11, 0xffe6de05, 0x7ffff4e6, 0xffda4d09,
-  0x7fffec43, 0xffcdbc0f, 0x7fffe128, 0xffc12b16,
-  0x7fffd396, 0xffb49a1f, 0x7fffc38c, 0xffa8092c,
-  0x7fffb10b, 0xff9b783c, 0x7fff9c12, 0xff8ee750,
-  0x7fff84a1, 0xff825668, 0x7fff6ab9, 0xff75c585,
-  0x7fff4e59, 0xff6934a8, 0x7fff2f82, 0xff5ca3d0,
-  0x7fff0e32, 0xff5012fe, 0x7ffeea6c, 0xff438234,
-  0x7ffec42d, 0xff36f170, 0x7ffe9b77, 0xff2a60b4,
-  0x7ffe704a, 0xff1dd001, 0x7ffe42a4, 0xff113f56,
-  0x7ffe1288, 0xff04aeb5, 0x7ffddff3, 0xfef81e1d,
-  0x7ffdaae7, 0xfeeb8d8f, 0x7ffd7364, 0xfedefd0c,
-  0x7ffd3969, 0xfed26c94, 0x7ffcfcf6, 0xfec5dc28,
-  0x7ffcbe0c, 0xfeb94bc8, 0x7ffc7caa, 0xfeacbb74,
-  0x7ffc38d1, 0xfea02b2e, 0x7ffbf280, 0xfe939af5,
-  0x7ffba9b8, 0xfe870aca, 0x7ffb5e78, 0xfe7a7aae,
-  0x7ffb10c1, 0xfe6deaa1, 0x7ffac092, 0xfe615aa3,
-  0x7ffa6dec, 0xfe54cab5, 0x7ffa18cf, 0xfe483ad8,
-  0x7ff9c13a, 0xfe3bab0b, 0x7ff9672d, 0xfe2f1b50,
-  0x7ff90aaa, 0xfe228ba7, 0x7ff8abae, 0xfe15fc11,
-  0x7ff84a3c, 0xfe096c8d, 0x7ff7e652, 0xfdfcdd1d,
-  0x7ff77ff1, 0xfdf04dc0, 0x7ff71718, 0xfde3be78,
-  0x7ff6abc8, 0xfdd72f45, 0x7ff63e01, 0xfdcaa027,
-  0x7ff5cdc3, 0xfdbe111e, 0x7ff55b0d, 0xfdb1822c,
-  0x7ff4e5e0, 0xfda4f351, 0x7ff46e3c, 0xfd98648d,
-  0x7ff3f420, 0xfd8bd5e1, 0x7ff3778e, 0xfd7f474d,
-  0x7ff2f884, 0xfd72b8d2, 0x7ff27703, 0xfd662a70,
-  0x7ff1f30b, 0xfd599c28, 0x7ff16c9c, 0xfd4d0df9,
-  0x7ff0e3b6, 0xfd407fe6, 0x7ff05858, 0xfd33f1ed,
-  0x7fefca84, 0xfd276410, 0x7fef3a39, 0xfd1ad650,
-  0x7feea776, 0xfd0e48ab, 0x7fee123d, 0xfd01bb24,
-  0x7fed7a8c, 0xfcf52dbb, 0x7fece065, 0xfce8a06f,
-  0x7fec43c7, 0xfcdc1342, 0x7feba4b2, 0xfccf8634,
-  0x7feb0326, 0xfcc2f945, 0x7fea5f23, 0xfcb66c77,
-  0x7fe9b8a9, 0xfca9dfc8, 0x7fe90fb9, 0xfc9d533b,
-  0x7fe86452, 0xfc90c6cf, 0x7fe7b674, 0xfc843a85,
-  0x7fe7061f, 0xfc77ae5e, 0x7fe65354, 0xfc6b2259,
-  0x7fe59e12, 0xfc5e9678, 0x7fe4e659, 0xfc520aba,
-  0x7fe42c2a, 0xfc457f21, 0x7fe36f84, 0xfc38f3ac,
-  0x7fe2b067, 0xfc2c685d, 0x7fe1eed5, 0xfc1fdd34,
-  0x7fe12acb, 0xfc135231, 0x7fe0644b, 0xfc06c754,
-  0x7fdf9b55, 0xfbfa3c9f, 0x7fdecfe8, 0xfbedb212,
-  0x7fde0205, 0xfbe127ac, 0x7fdd31ac, 0xfbd49d70,
-  0x7fdc5edc, 0xfbc8135c, 0x7fdb8996, 0xfbbb8973,
-  0x7fdab1d9, 0xfbaeffb3, 0x7fd9d7a7, 0xfba2761e,
-  0x7fd8fafe, 0xfb95ecb4, 0x7fd81bdf, 0xfb896375,
-  0x7fd73a4a, 0xfb7cda63, 0x7fd6563f, 0xfb70517d,
-  0x7fd56fbe, 0xfb63c8c4, 0x7fd486c7, 0xfb574039,
-  0x7fd39b5a, 0xfb4ab7db, 0x7fd2ad77, 0xfb3e2fac,
-  0x7fd1bd1e, 0xfb31a7ac, 0x7fd0ca4f, 0xfb251fdc,
-  0x7fcfd50b, 0xfb18983b, 0x7fcedd50, 0xfb0c10cb,
-  0x7fcde320, 0xfaff898c, 0x7fcce67a, 0xfaf3027e,
-  0x7fcbe75e, 0xfae67ba2, 0x7fcae5cd, 0xfad9f4f8,
-  0x7fc9e1c6, 0xfacd6e81, 0x7fc8db4a, 0xfac0e83d,
-  0x7fc7d258, 0xfab4622d, 0x7fc6c6f0, 0xfaa7dc52,
-  0x7fc5b913, 0xfa9b56ab, 0x7fc4a8c1, 0xfa8ed139,
-  0x7fc395f9, 0xfa824bfd, 0x7fc280bc, 0xfa75c6f8,
-  0x7fc1690a, 0xfa694229, 0x7fc04ee3, 0xfa5cbd91,
-  0x7fbf3246, 0xfa503930, 0x7fbe1334, 0xfa43b508,
-  0x7fbcf1ad, 0xfa373119, 0x7fbbcdb1, 0xfa2aad62,
-  0x7fbaa740, 0xfa1e29e5, 0x7fb97e5a, 0xfa11a6a3,
-  0x7fb852ff, 0xfa05239a, 0x7fb7252f, 0xf9f8a0cd,
-  0x7fb5f4ea, 0xf9ec1e3b, 0x7fb4c231, 0xf9df9be6,
-  0x7fb38d02, 0xf9d319cc, 0x7fb2555f, 0xf9c697f0,
-  0x7fb11b48, 0xf9ba1651, 0x7fafdebb, 0xf9ad94f0,
-  0x7fae9fbb, 0xf9a113cd, 0x7fad5e45, 0xf99492ea,
-  0x7fac1a5b, 0xf9881245, 0x7faad3fd, 0xf97b91e1,
-  0x7fa98b2a, 0xf96f11bc, 0x7fa83fe3, 0xf96291d9,
-  0x7fa6f228, 0xf9561237, 0x7fa5a1f9, 0xf94992d7,
-  0x7fa44f55, 0xf93d13b8, 0x7fa2fa3d, 0xf93094dd,
-  0x7fa1a2b2, 0xf9241645, 0x7fa048b2, 0xf91797f0,
-  0x7f9eec3e, 0xf90b19e0, 0x7f9d8d56, 0xf8fe9c15,
-  0x7f9c2bfb, 0xf8f21e8e, 0x7f9ac82c, 0xf8e5a14d,
-  0x7f9961e8, 0xf8d92452, 0x7f97f932, 0xf8cca79e,
-  0x7f968e07, 0xf8c02b31, 0x7f952069, 0xf8b3af0c,
-  0x7f93b058, 0xf8a7332e, 0x7f923dd2, 0xf89ab799,
-  0x7f90c8da, 0xf88e3c4d, 0x7f8f516e, 0xf881c14b,
-  0x7f8dd78f, 0xf8754692, 0x7f8c5b3d, 0xf868cc24,
-  0x7f8adc77, 0xf85c5201, 0x7f895b3e, 0xf84fd829,
-  0x7f87d792, 0xf8435e9d, 0x7f865174, 0xf836e55d,
-  0x7f84c8e2, 0xf82a6c6a, 0x7f833ddd, 0xf81df3c5,
-  0x7f81b065, 0xf8117b6d, 0x7f80207b, 0xf8050364,
-  0x7f7e8e1e, 0xf7f88ba9, 0x7f7cf94e, 0xf7ec143e,
-  0x7f7b620c, 0xf7df9d22, 0x7f79c857, 0xf7d32657,
-  0x7f782c30, 0xf7c6afdc, 0x7f768d96, 0xf7ba39b3,
-  0x7f74ec8a, 0xf7adc3db, 0x7f73490b, 0xf7a14e55,
-  0x7f71a31b, 0xf794d922, 0x7f6ffab8, 0xf7886442,
-  0x7f6e4fe3, 0xf77befb5, 0x7f6ca29c, 0xf76f7b7d,
-  0x7f6af2e3, 0xf7630799, 0x7f6940b8, 0xf756940a,
-  0x7f678c1c, 0xf74a20d0, 0x7f65d50d, 0xf73daded,
-  0x7f641b8d, 0xf7313b60, 0x7f625f9b, 0xf724c92a,
-  0x7f60a138, 0xf718574b, 0x7f5ee063, 0xf70be5c4,
-  0x7f5d1d1d, 0xf6ff7496, 0x7f5b5765, 0xf6f303c0,
-  0x7f598f3c, 0xf6e69344, 0x7f57c4a2, 0xf6da2321,
-  0x7f55f796, 0xf6cdb359, 0x7f54281a, 0xf6c143ec,
-  0x7f52562c, 0xf6b4d4d9, 0x7f5081cd, 0xf6a86623,
-  0x7f4eaafe, 0xf69bf7c9, 0x7f4cd1be, 0xf68f89cb,
-  0x7f4af60d, 0xf6831c2b, 0x7f4917eb, 0xf676aee8,
-  0x7f473759, 0xf66a4203, 0x7f455456, 0xf65dd57d,
-  0x7f436ee3, 0xf6516956, 0x7f4186ff, 0xf644fd8f,
-  0x7f3f9cab, 0xf6389228, 0x7f3dafe7, 0xf62c2721,
-  0x7f3bc0b3, 0xf61fbc7b, 0x7f39cf0e, 0xf6135237,
-  0x7f37dafa, 0xf606e854, 0x7f35e476, 0xf5fa7ed4,
-  0x7f33eb81, 0xf5ee15b7, 0x7f31f01d, 0xf5e1acfd,
-  0x7f2ff24a, 0xf5d544a7, 0x7f2df206, 0xf5c8dcb6,
-  0x7f2bef53, 0xf5bc7529, 0x7f29ea31, 0xf5b00e02,
-  0x7f27e29f, 0xf5a3a740, 0x7f25d89e, 0xf59740e5,
-  0x7f23cc2e, 0xf58adaf0, 0x7f21bd4e, 0xf57e7563,
-  0x7f1fabff, 0xf572103d, 0x7f1d9842, 0xf565ab80,
-  0x7f1b8215, 0xf559472b, 0x7f19697a, 0xf54ce33f,
-  0x7f174e70, 0xf5407fbd, 0x7f1530f7, 0xf5341ca5,
-  0x7f13110f, 0xf527b9f7, 0x7f10eeb9, 0xf51b57b5,
-  0x7f0ec9f5, 0xf50ef5de, 0x7f0ca2c2, 0xf5029473,
-  0x7f0a7921, 0xf4f63374, 0x7f084d12, 0xf4e9d2e3,
-  0x7f061e95, 0xf4dd72be, 0x7f03eda9, 0xf4d11308,
-  0x7f01ba50, 0xf4c4b3c0, 0x7eff8489, 0xf4b854e7,
-  0x7efd4c54, 0xf4abf67e, 0x7efb11b1, 0xf49f9884,
-  0x7ef8d4a1, 0xf4933afa, 0x7ef69523, 0xf486dde1,
-  0x7ef45338, 0xf47a8139, 0x7ef20ee0, 0xf46e2504,
-  0x7eefc81a, 0xf461c940, 0x7eed7ee7, 0xf4556def,
-  0x7eeb3347, 0xf4491311, 0x7ee8e53a, 0xf43cb8a7,
-  0x7ee694c1, 0xf4305eb0, 0x7ee441da, 0xf424052f,
-  0x7ee1ec87, 0xf417ac22, 0x7edf94c7, 0xf40b538b,
-  0x7edd3a9a, 0xf3fefb6a, 0x7edade01, 0xf3f2a3bf,
-  0x7ed87efc, 0xf3e64c8c, 0x7ed61d8a, 0xf3d9f5cf,
-  0x7ed3b9ad, 0xf3cd9f8b, 0x7ed15363, 0xf3c149bf,
-  0x7eceeaad, 0xf3b4f46c, 0x7ecc7f8b, 0xf3a89f92,
-  0x7eca11fe, 0xf39c4b32, 0x7ec7a205, 0xf38ff74d,
-  0x7ec52fa0, 0xf383a3e2, 0x7ec2bad0, 0xf37750f2,
-  0x7ec04394, 0xf36afe7e, 0x7ebdc9ed, 0xf35eac86,
-  0x7ebb4ddb, 0xf3525b0b, 0x7eb8cf5d, 0xf3460a0d,
-  0x7eb64e75, 0xf339b98d, 0x7eb3cb21, 0xf32d698a,
-  0x7eb14563, 0xf3211a07, 0x7eaebd3a, 0xf314cb02,
-  0x7eac32a6, 0xf3087c7d, 0x7ea9a5a8, 0xf2fc2e77,
-  0x7ea7163f, 0xf2efe0f2, 0x7ea4846c, 0xf2e393ef,
-  0x7ea1f02f, 0xf2d7476c, 0x7e9f5988, 0xf2cafb6b,
-  0x7e9cc076, 0xf2beafed, 0x7e9a24fb, 0xf2b264f2,
-  0x7e978715, 0xf2a61a7a, 0x7e94e6c6, 0xf299d085,
-  0x7e92440d, 0xf28d8715, 0x7e8f9eeb, 0xf2813e2a,
-  0x7e8cf75f, 0xf274f5c3, 0x7e8a4d6a, 0xf268ade3,
-  0x7e87a10c, 0xf25c6688, 0x7e84f245, 0xf2501fb5,
-  0x7e824114, 0xf243d968, 0x7e7f8d7b, 0xf23793a3,
-  0x7e7cd778, 0xf22b4e66, 0x7e7a1f0d, 0xf21f09b1,
-  0x7e77643a, 0xf212c585, 0x7e74a6fd, 0xf20681e3,
-  0x7e71e759, 0xf1fa3ecb, 0x7e6f254c, 0xf1edfc3d,
-  0x7e6c60d7, 0xf1e1ba3a, 0x7e6999fa, 0xf1d578c2,
-  0x7e66d0b4, 0xf1c937d6, 0x7e640507, 0xf1bcf777,
-  0x7e6136f3, 0xf1b0b7a4, 0x7e5e6676, 0xf1a4785e,
-  0x7e5b9392, 0xf19839a6, 0x7e58be47, 0xf18bfb7d,
-  0x7e55e694, 0xf17fbde2, 0x7e530c7a, 0xf17380d6,
-  0x7e502ff9, 0xf1674459, 0x7e4d5110, 0xf15b086d,
-  0x7e4a6fc1, 0xf14ecd11, 0x7e478c0b, 0xf1429247,
-  0x7e44a5ef, 0xf136580d, 0x7e41bd6c, 0xf12a1e66,
-  0x7e3ed282, 0xf11de551, 0x7e3be532, 0xf111accf,
-  0x7e38f57c, 0xf10574e0, 0x7e360360, 0xf0f93d86,
-  0x7e330ede, 0xf0ed06bf, 0x7e3017f6, 0xf0e0d08d,
-  0x7e2d1ea8, 0xf0d49af1, 0x7e2a22f4, 0xf0c865ea,
-  0x7e2724db, 0xf0bc317a, 0x7e24245d, 0xf0affda0,
-  0x7e212179, 0xf0a3ca5d, 0x7e1e1c30, 0xf09797b2,
-  0x7e1b1482, 0xf08b659f, 0x7e180a6f, 0xf07f3424,
-  0x7e14fdf7, 0xf0730342, 0x7e11ef1b, 0xf066d2fa,
-  0x7e0eddd9, 0xf05aa34c, 0x7e0bca34, 0xf04e7438,
-  0x7e08b42a, 0xf04245c0, 0x7e059bbb, 0xf03617e2,
-  0x7e0280e9, 0xf029eaa1, 0x7dff63b2, 0xf01dbdfb,
-  0x7dfc4418, 0xf01191f3, 0x7df9221a, 0xf0056687,
-  0x7df5fdb8, 0xeff93bba, 0x7df2d6f3, 0xefed118a,
-  0x7defadca, 0xefe0e7f9, 0x7dec823e, 0xefd4bf08,
-  0x7de9544f, 0xefc896b5, 0x7de623fd, 0xefbc6f03,
-  0x7de2f148, 0xefb047f2, 0x7ddfbc30, 0xefa42181,
-  0x7ddc84b5, 0xef97fbb2, 0x7dd94ad8, 0xef8bd685,
-  0x7dd60e99, 0xef7fb1fa, 0x7dd2cff7, 0xef738e12,
-  0x7dcf8ef3, 0xef676ace, 0x7dcc4b8d, 0xef5b482d,
-  0x7dc905c5, 0xef4f2630, 0x7dc5bd9b, 0xef4304d8,
-  0x7dc2730f, 0xef36e426, 0x7dbf2622, 0xef2ac419,
-  0x7dbbd6d4, 0xef1ea4b2, 0x7db88524, 0xef1285f2,
-  0x7db53113, 0xef0667d9, 0x7db1daa2, 0xeefa4a67,
-  0x7dae81cf, 0xeeee2d9d, 0x7dab269b, 0xeee2117c,
-  0x7da7c907, 0xeed5f604, 0x7da46912, 0xeec9db35,
-  0x7da106bd, 0xeebdc110, 0x7d9da208, 0xeeb1a796,
-  0x7d9a3af2, 0xeea58ec6, 0x7d96d17d, 0xee9976a1,
-  0x7d9365a8, 0xee8d5f29, 0x7d8ff772, 0xee81485c,
-  0x7d8c86de, 0xee75323c, 0x7d8913ea, 0xee691cc9,
-  0x7d859e96, 0xee5d0804, 0x7d8226e4, 0xee50f3ed,
-  0x7d7eacd2, 0xee44e084, 0x7d7b3061, 0xee38cdcb,
-  0x7d77b192, 0xee2cbbc1, 0x7d743064, 0xee20aa67,
-  0x7d70acd7, 0xee1499bd, 0x7d6d26ec, 0xee0889c4,
-  0x7d699ea3, 0xedfc7a7c, 0x7d6613fb, 0xedf06be6,
-  0x7d6286f6, 0xede45e03, 0x7d5ef793, 0xedd850d2,
-  0x7d5b65d2, 0xedcc4454, 0x7d57d1b3, 0xedc0388a,
-  0x7d543b37, 0xedb42d74, 0x7d50a25e, 0xeda82313,
-  0x7d4d0728, 0xed9c1967, 0x7d496994, 0xed901070,
-  0x7d45c9a4, 0xed84082f, 0x7d422757, 0xed7800a5,
-  0x7d3e82ae, 0xed6bf9d1, 0x7d3adba7, 0xed5ff3b5,
-  0x7d373245, 0xed53ee51, 0x7d338687, 0xed47e9a5,
-  0x7d2fd86c, 0xed3be5b1, 0x7d2c27f6, 0xed2fe277,
-  0x7d287523, 0xed23dff7, 0x7d24bff6, 0xed17de31,
-  0x7d21086c, 0xed0bdd25, 0x7d1d4e88, 0xecffdcd4,
-  0x7d199248, 0xecf3dd3f, 0x7d15d3ad, 0xece7de66,
-  0x7d1212b7, 0xecdbe04a, 0x7d0e4f67, 0xeccfe2ea,
-  0x7d0a89bc, 0xecc3e648, 0x7d06c1b6, 0xecb7ea63,
-  0x7d02f757, 0xecabef3d, 0x7cff2a9d, 0xec9ff4d6,
-  0x7cfb5b89, 0xec93fb2e, 0x7cf78a1b, 0xec880245,
-  0x7cf3b653, 0xec7c0a1d, 0x7cefe032, 0xec7012b5,
-  0x7cec07b8, 0xec641c0e, 0x7ce82ce4, 0xec582629,
-  0x7ce44fb7, 0xec4c3106, 0x7ce07031, 0xec403ca5,
-  0x7cdc8e52, 0xec344908, 0x7cd8aa1b, 0xec28562d,
-  0x7cd4c38b, 0xec1c6417, 0x7cd0daa2, 0xec1072c4,
-  0x7cccef62, 0xec048237, 0x7cc901c9, 0xebf8926f,
-  0x7cc511d9, 0xebeca36c, 0x7cc11f90, 0xebe0b52f,
-  0x7cbd2af0, 0xebd4c7ba, 0x7cb933f9, 0xebc8db0b,
-  0x7cb53aaa, 0xebbcef23, 0x7cb13f04, 0xebb10404,
-  0x7cad4107, 0xeba519ad, 0x7ca940b3, 0xeb99301f,
-  0x7ca53e09, 0xeb8d475b, 0x7ca13908, 0xeb815f60,
-  0x7c9d31b0, 0xeb75782f, 0x7c992803, 0xeb6991ca,
-  0x7c951bff, 0xeb5dac2f, 0x7c910da5, 0xeb51c760,
-  0x7c8cfcf6, 0xeb45e35d, 0x7c88e9f1, 0xeb3a0027,
-  0x7c84d496, 0xeb2e1dbe, 0x7c80bce7, 0xeb223c22,
-  0x7c7ca2e2, 0xeb165b54, 0x7c788688, 0xeb0a7b54,
-  0x7c7467d9, 0xeafe9c24, 0x7c7046d6, 0xeaf2bdc3,
-  0x7c6c237e, 0xeae6e031, 0x7c67fdd1, 0xeadb0370,
-  0x7c63d5d1, 0xeacf277f, 0x7c5fab7c, 0xeac34c60,
-  0x7c5b7ed4, 0xeab77212, 0x7c574fd8, 0xeaab9896,
-  0x7c531e88, 0xea9fbfed, 0x7c4eeae5, 0xea93e817,
-  0x7c4ab4ef, 0xea881114, 0x7c467ca6, 0xea7c3ae5,
-  0x7c42420a, 0xea70658a, 0x7c3e051b, 0xea649105,
-  0x7c39c5da, 0xea58bd54, 0x7c358446, 0xea4cea79,
-  0x7c314060, 0xea411874, 0x7c2cfa28, 0xea354746,
-  0x7c28b19e, 0xea2976ef, 0x7c2466c2, 0xea1da770,
-  0x7c201994, 0xea11d8c8, 0x7c1bca16, 0xea060af9,
-  0x7c177845, 0xe9fa3e03, 0x7c132424, 0xe9ee71e6,
-  0x7c0ecdb2, 0xe9e2a6a3, 0x7c0a74f0, 0xe9d6dc3b,
-  0x7c0619dc, 0xe9cb12ad, 0x7c01bc78, 0xe9bf49fa,
-  0x7bfd5cc4, 0xe9b38223, 0x7bf8fac0, 0xe9a7bb28,
-  0x7bf4966c, 0xe99bf509, 0x7bf02fc9, 0xe9902fc7,
-  0x7bebc6d5, 0xe9846b63, 0x7be75b93, 0xe978a7dd,
-  0x7be2ee01, 0xe96ce535, 0x7bde7e20, 0xe961236c,
-  0x7bda0bf0, 0xe9556282, 0x7bd59771, 0xe949a278,
-  0x7bd120a4, 0xe93de34e, 0x7bcca789, 0xe9322505,
-  0x7bc82c1f, 0xe926679c, 0x7bc3ae67, 0xe91aab16,
-  0x7bbf2e62, 0xe90eef71, 0x7bbaac0e, 0xe90334af,
-  0x7bb6276e, 0xe8f77acf, 0x7bb1a080, 0xe8ebc1d3,
-  0x7bad1744, 0xe8e009ba, 0x7ba88bbc, 0xe8d45286,
-  0x7ba3fde7, 0xe8c89c37, 0x7b9f6dc5, 0xe8bce6cd,
-  0x7b9adb57, 0xe8b13248, 0x7b96469d, 0xe8a57ea9,
-  0x7b91af97, 0xe899cbf1, 0x7b8d1644, 0xe88e1a20,
-  0x7b887aa6, 0xe8826936, 0x7b83dcbc, 0xe876b934,
-  0x7b7f3c87, 0xe86b0a1a, 0x7b7a9a07, 0xe85f5be9,
-  0x7b75f53c, 0xe853aea1, 0x7b714e25, 0xe8480243,
-  0x7b6ca4c4, 0xe83c56cf, 0x7b67f919, 0xe830ac45,
-  0x7b634b23, 0xe82502a7, 0x7b5e9ae4, 0xe81959f4,
-  0x7b59e85a, 0xe80db22d, 0x7b553386, 0xe8020b52,
-  0x7b507c69, 0xe7f66564, 0x7b4bc303, 0xe7eac063,
-  0x7b470753, 0xe7df1c50, 0x7b42495a, 0xe7d3792b,
-  0x7b3d8918, 0xe7c7d6f4, 0x7b38c68e, 0xe7bc35ad,
-  0x7b3401bb, 0xe7b09555, 0x7b2f3aa0, 0xe7a4f5ed,
-  0x7b2a713d, 0xe7995776, 0x7b25a591, 0xe78db9ef,
-  0x7b20d79e, 0xe7821d59, 0x7b1c0764, 0xe77681b6,
-  0x7b1734e2, 0xe76ae704, 0x7b126019, 0xe75f4d45,
-  0x7b0d8909, 0xe753b479, 0x7b08afb2, 0xe7481ca1,
-  0x7b03d414, 0xe73c85bc, 0x7afef630, 0xe730efcc,
-  0x7afa1605, 0xe7255ad1, 0x7af53395, 0xe719c6cb,
-  0x7af04edf, 0xe70e33bb, 0x7aeb67e3, 0xe702a1a1,
-  0x7ae67ea1, 0xe6f7107e, 0x7ae1931a, 0xe6eb8052,
-  0x7adca54e, 0xe6dff11d, 0x7ad7b53d, 0xe6d462e1,
-  0x7ad2c2e8, 0xe6c8d59c, 0x7acdce4d, 0xe6bd4951,
-  0x7ac8d76f, 0xe6b1bdff, 0x7ac3de4c, 0xe6a633a6,
-  0x7abee2e5, 0xe69aaa48, 0x7ab9e53a, 0xe68f21e5,
-  0x7ab4e54c, 0xe6839a7c, 0x7aafe31b, 0xe6781410,
-  0x7aaadea6, 0xe66c8e9f, 0x7aa5d7ee, 0xe6610a2a,
-  0x7aa0cef3, 0xe65586b3, 0x7a9bc3b6, 0xe64a0438,
-  0x7a96b636, 0xe63e82bc, 0x7a91a674, 0xe633023e,
-  0x7a8c9470, 0xe62782be, 0x7a87802a, 0xe61c043d,
-  0x7a8269a3, 0xe61086bc, 0x7a7d50da, 0xe6050a3b,
-  0x7a7835cf, 0xe5f98ebb, 0x7a731884, 0xe5ee143b,
-  0x7a6df8f8, 0xe5e29abc, 0x7a68d72b, 0xe5d72240,
-  0x7a63b31d, 0xe5cbaac5, 0x7a5e8cd0, 0xe5c0344d,
-  0x7a596442, 0xe5b4bed8, 0x7a543974, 0xe5a94a67,
-  0x7a4f0c67, 0xe59dd6f9, 0x7a49dd1a, 0xe5926490,
-  0x7a44ab8e, 0xe586f32c, 0x7a3f77c3, 0xe57b82cd,
-  0x7a3a41b9, 0xe5701374, 0x7a350970, 0xe564a521,
-  0x7a2fcee8, 0xe55937d5, 0x7a2a9223, 0xe54dcb8f,
-  0x7a25531f, 0xe5426051, 0x7a2011de, 0xe536f61b,
-  0x7a1ace5f, 0xe52b8cee, 0x7a1588a2, 0xe52024c9,
-  0x7a1040a8, 0xe514bdad, 0x7a0af671, 0xe509579b,
-  0x7a05a9fd, 0xe4fdf294, 0x7a005b4d, 0xe4f28e96,
-  0x79fb0a60, 0xe4e72ba4, 0x79f5b737, 0xe4dbc9bd,
-  0x79f061d2, 0xe4d068e2, 0x79eb0a31, 0xe4c50914,
-  0x79e5b054, 0xe4b9aa52, 0x79e0543c, 0xe4ae4c9d,
-  0x79daf5e8, 0xe4a2eff6, 0x79d5955a, 0xe497945d,
-  0x79d03291, 0xe48c39d3, 0x79cacd8d, 0xe480e057,
-  0x79c5664f, 0xe47587eb, 0x79bffcd7, 0xe46a308f,
-  0x79ba9125, 0xe45eda43, 0x79b52339, 0xe4538507,
-  0x79afb313, 0xe44830dd, 0x79aa40b4, 0xe43cddc4,
-  0x79a4cc1c, 0xe4318bbe, 0x799f554b, 0xe4263ac9,
-  0x7999dc42, 0xe41aeae8, 0x799460ff, 0xe40f9c1a,
-  0x798ee385, 0xe4044e60, 0x798963d2, 0xe3f901ba,
-  0x7983e1e8, 0xe3edb628, 0x797e5dc6, 0xe3e26bac,
-  0x7978d76c, 0xe3d72245, 0x79734edc, 0xe3cbd9f4,
-  0x796dc414, 0xe3c092b9, 0x79683715, 0xe3b54c95,
-  0x7962a7e0, 0xe3aa0788, 0x795d1675, 0xe39ec393,
-  0x795782d3, 0xe39380b6, 0x7951ecfc, 0xe3883ef2,
-  0x794c54ee, 0xe37cfe47, 0x7946baac, 0xe371beb5,
-  0x79411e33, 0xe366803c, 0x793b7f86, 0xe35b42df,
-  0x7935dea4, 0xe350069b, 0x79303b8e, 0xe344cb73,
-  0x792a9642, 0xe3399167, 0x7924eec3, 0xe32e5876,
-  0x791f4510, 0xe32320a2, 0x79199929, 0xe317e9eb,
-  0x7913eb0e, 0xe30cb451, 0x790e3ac0, 0xe3017fd5,
-  0x7908883f, 0xe2f64c77, 0x7902d38b, 0xe2eb1a37,
-  0x78fd1ca4, 0xe2dfe917, 0x78f7638b, 0xe2d4b916,
-  0x78f1a840, 0xe2c98a35, 0x78ebeac2, 0xe2be5c74,
-  0x78e62b13, 0xe2b32fd4, 0x78e06932, 0xe2a80456,
-  0x78daa520, 0xe29cd9f8, 0x78d4dedd, 0xe291b0bd,
-  0x78cf1669, 0xe28688a4, 0x78c94bc4, 0xe27b61af,
-  0x78c37eef, 0xe2703bdc, 0x78bdafea, 0xe265172e,
-  0x78b7deb4, 0xe259f3a3, 0x78b20b4f, 0xe24ed13d,
-  0x78ac35ba, 0xe243affc, 0x78a65df6, 0xe2388fe1,
-  0x78a08402, 0xe22d70eb, 0x789aa7e0, 0xe222531c,
-  0x7894c98f, 0xe2173674, 0x788ee910, 0xe20c1af3,
-  0x78890663, 0xe2010099, 0x78832187, 0xe1f5e768,
-  0x787d3a7e, 0xe1eacf5f, 0x78775147, 0xe1dfb87f,
-  0x787165e3, 0xe1d4a2c8, 0x786b7852, 0xe1c98e3b,
-  0x78658894, 0xe1be7ad8, 0x785f96a9, 0xe1b368a0,
-  0x7859a292, 0xe1a85793, 0x7853ac4f, 0xe19d47b1,
-  0x784db3e0, 0xe19238fb, 0x7847b946, 0xe1872b72,
-  0x7841bc7f, 0xe17c1f15, 0x783bbd8e, 0xe17113e5,
-  0x7835bc71, 0xe16609e3, 0x782fb92a, 0xe15b0110,
-  0x7829b3b9, 0xe14ff96a, 0x7823ac1d, 0xe144f2f3,
-  0x781da256, 0xe139edac, 0x78179666, 0xe12ee995,
-  0x7811884d, 0xe123e6ad, 0x780b780a, 0xe118e4f6,
-  0x7805659e, 0xe10de470, 0x77ff5109, 0xe102e51c,
-  0x77f93a4b, 0xe0f7e6f9, 0x77f32165, 0xe0ecea09,
-  0x77ed0657, 0xe0e1ee4b, 0x77e6e921, 0xe0d6f3c1,
-  0x77e0c9c3, 0xe0cbfa6a, 0x77daa83d, 0xe0c10247,
-  0x77d48490, 0xe0b60b58, 0x77ce5ebd, 0xe0ab159e,
-  0x77c836c2, 0xe0a0211a, 0x77c20ca1, 0xe0952dcb,
-  0x77bbe05a, 0xe08a3bb2, 0x77b5b1ec, 0xe07f4acf,
-  0x77af8159, 0xe0745b24, 0x77a94ea0, 0xe0696cb0,
-  0x77a319c2, 0xe05e7f74, 0x779ce2be, 0xe053936f,
-  0x7796a996, 0xe048a8a4, 0x77906e49, 0xe03dbf11,
-  0x778a30d8, 0xe032d6b8, 0x7783f143, 0xe027ef99,
-  0x777daf89, 0xe01d09b4, 0x77776bac, 0xe012250a,
-  0x777125ac, 0xe007419b, 0x776add88, 0xdffc5f67,
-  0x77649341, 0xdff17e70, 0x775e46d8, 0xdfe69eb4,
-  0x7757f84c, 0xdfdbc036, 0x7751a79e, 0xdfd0e2f5,
-  0x774b54ce, 0xdfc606f1, 0x7744ffdd, 0xdfbb2c2c,
-  0x773ea8ca, 0xdfb052a5, 0x77384f95, 0xdfa57a5d,
-  0x7731f440, 0xdf9aa354, 0x772b96ca, 0xdf8fcd8b,
-  0x77253733, 0xdf84f902, 0x771ed57c, 0xdf7a25ba,
-  0x771871a5, 0xdf6f53b3, 0x77120bae, 0xdf6482ed,
-  0x770ba398, 0xdf59b369, 0x77053962, 0xdf4ee527,
-  0x76fecd0e, 0xdf441828, 0x76f85e9a, 0xdf394c6b,
-  0x76f1ee09, 0xdf2e81f3, 0x76eb7b58, 0xdf23b8be,
-  0x76e5068a, 0xdf18f0ce, 0x76de8f9e, 0xdf0e2a22,
-  0x76d81695, 0xdf0364bc, 0x76d19b6e, 0xdef8a09b,
-  0x76cb1e2a, 0xdeedddc0, 0x76c49ec9, 0xdee31c2b,
-  0x76be1d4c, 0xded85bdd, 0x76b799b3, 0xdecd9cd7,
-  0x76b113fd, 0xdec2df18, 0x76aa8c2c, 0xdeb822a1,
-  0x76a4023f, 0xdead6773, 0x769d7637, 0xdea2ad8d,
-  0x7696e814, 0xde97f4f1, 0x769057d6, 0xde8d3d9e,
-  0x7689c57d, 0xde828796, 0x7683310b, 0xde77d2d8,
-  0x767c9a7e, 0xde6d1f65, 0x767601d7, 0xde626d3e,
-  0x766f6717, 0xde57bc62, 0x7668ca3e, 0xde4d0cd2,
-  0x76622b4c, 0xde425e8f, 0x765b8a41, 0xde37b199,
-  0x7654e71d, 0xde2d05f1, 0x764e41e2, 0xde225b96,
-  0x76479a8e, 0xde17b28a, 0x7640f123, 0xde0d0acc,
-  0x763a45a0, 0xde02645d, 0x76339806, 0xddf7bf3e,
-  0x762ce855, 0xdded1b6e, 0x7626368d, 0xdde278ef,
-  0x761f82af, 0xddd7d7c1, 0x7618ccba, 0xddcd37e4,
-  0x761214b0, 0xddc29958, 0x760b5a90, 0xddb7fc1e,
-  0x76049e5b, 0xddad6036, 0x75fde011, 0xdda2c5a2,
-  0x75f71fb1, 0xdd982c60, 0x75f05d3d, 0xdd8d9472,
-  0x75e998b5, 0xdd82fdd8, 0x75e2d219, 0xdd786892,
-  0x75dc0968, 0xdd6dd4a2, 0x75d53ea5, 0xdd634206,
-  0x75ce71ce, 0xdd58b0c0, 0x75c7a2e3, 0xdd4e20d0,
-  0x75c0d1e7, 0xdd439236, 0x75b9fed7, 0xdd3904f4,
-  0x75b329b5, 0xdd2e7908, 0x75ac5282, 0xdd23ee74,
-  0x75a5793c, 0xdd196538, 0x759e9de5, 0xdd0edd55,
-  0x7597c07d, 0xdd0456ca, 0x7590e104, 0xdcf9d199,
-  0x7589ff7a, 0xdcef4dc2, 0x75831be0, 0xdce4cb44,
-  0x757c3636, 0xdcda4a21, 0x75754e7c, 0xdccfca59,
-  0x756e64b2, 0xdcc54bec, 0x756778d9, 0xdcbacedb,
-  0x75608af1, 0xdcb05326, 0x75599afa, 0xdca5d8cd,
-  0x7552a8f4, 0xdc9b5fd2, 0x754bb4e1, 0xdc90e834,
-  0x7544bebf, 0xdc8671f3, 0x753dc68f, 0xdc7bfd11,
-  0x7536cc52, 0xdc71898d, 0x752fd008, 0xdc671768,
-  0x7528d1b1, 0xdc5ca6a2, 0x7521d14d, 0xdc52373c,
-  0x751acedd, 0xdc47c936, 0x7513ca60, 0xdc3d5c91,
-  0x750cc3d8, 0xdc32f14d, 0x7505bb44, 0xdc28876a,
-  0x74feb0a5, 0xdc1e1ee9, 0x74f7a3fb, 0xdc13b7c9,
-  0x74f09546, 0xdc09520d, 0x74e98487, 0xdbfeedb3,
-  0x74e271bd, 0xdbf48abd, 0x74db5cea, 0xdbea292b,
-  0x74d4460c, 0xdbdfc8fc, 0x74cd2d26, 0xdbd56a32,
-  0x74c61236, 0xdbcb0cce, 0x74bef53d, 0xdbc0b0ce,
-  0x74b7d63c, 0xdbb65634, 0x74b0b533, 0xdbabfd01,
-  0x74a99221, 0xdba1a534, 0x74a26d08, 0xdb974ece,
-  0x749b45e7, 0xdb8cf9cf, 0x74941cbf, 0xdb82a638,
-  0x748cf190, 0xdb785409, 0x7485c45b, 0xdb6e0342,
-  0x747e951f, 0xdb63b3e5, 0x747763dd, 0xdb5965f1,
-  0x74703095, 0xdb4f1967, 0x7468fb47, 0xdb44ce46,
-  0x7461c3f5, 0xdb3a8491, 0x745a8a9d, 0xdb303c46,
-  0x74534f41, 0xdb25f566, 0x744c11e0, 0xdb1baff2,
-  0x7444d27b, 0xdb116beb, 0x743d9112, 0xdb072950,
-  0x74364da6, 0xdafce821, 0x742f0836, 0xdaf2a860,
-  0x7427c0c3, 0xdae86a0d, 0x7420774d, 0xdade2d28,
-  0x74192bd5, 0xdad3f1b1, 0x7411de5b, 0xdac9b7a9,
-  0x740a8edf, 0xdabf7f11, 0x74033d61, 0xdab547e8,
-  0x73fbe9e2, 0xdaab122f, 0x73f49462, 0xdaa0dde7,
-  0x73ed3ce1, 0xda96ab0f, 0x73e5e360, 0xda8c79a9,
-  0x73de87de, 0xda8249b4, 0x73d72a5d, 0xda781b31,
-  0x73cfcadc, 0xda6dee21, 0x73c8695b, 0xda63c284,
-  0x73c105db, 0xda599859, 0x73b9a05d, 0xda4f6fa3,
-  0x73b238e0, 0xda454860, 0x73aacf65, 0xda3b2292,
-  0x73a363ec, 0xda30fe38, 0x739bf675, 0xda26db54,
-  0x73948701, 0xda1cb9e5, 0x738d1590, 0xda1299ec,
-  0x7385a222, 0xda087b69, 0x737e2cb7, 0xd9fe5e5e,
-  0x7376b551, 0xd9f442c9, 0x736f3bee, 0xd9ea28ac,
-  0x7367c090, 0xd9e01006, 0x73604336, 0xd9d5f8d9,
-  0x7358c3e2, 0xd9cbe325, 0x73514292, 0xd9c1cee9,
-  0x7349bf48, 0xd9b7bc27, 0x73423a04, 0xd9adaadf,
-  0x733ab2c6, 0xd9a39b11, 0x7333298f, 0xd9998cbe,
-  0x732b9e5e, 0xd98f7fe6, 0x73241134, 0xd9857489,
-  0x731c8211, 0xd97b6aa8, 0x7314f0f6, 0xd9716243,
-  0x730d5de3, 0xd9675b5a, 0x7305c8d7, 0xd95d55ef,
-  0x72fe31d5, 0xd9535201, 0x72f698db, 0xd9494f90,
-  0x72eefdea, 0xd93f4e9e, 0x72e76102, 0xd9354f2a,
-  0x72dfc224, 0xd92b5135, 0x72d82150, 0xd92154bf,
-  0x72d07e85, 0xd91759c9, 0x72c8d9c6, 0xd90d6053,
-  0x72c13311, 0xd903685d, 0x72b98a67, 0xd8f971e8,
-  0x72b1dfc9, 0xd8ef7cf4, 0x72aa3336, 0xd8e58982,
-  0x72a284b0, 0xd8db9792, 0x729ad435, 0xd8d1a724,
-  0x729321c7, 0xd8c7b838, 0x728b6d66, 0xd8bdcad0,
-  0x7283b712, 0xd8b3deeb, 0x727bfecc, 0xd8a9f48a,
-  0x72744493, 0xd8a00bae, 0x726c8868, 0xd8962456,
-  0x7264ca4c, 0xd88c3e83, 0x725d0a3e, 0xd8825a35,
-  0x72554840, 0xd878776d, 0x724d8450, 0xd86e962b,
-  0x7245be70, 0xd864b670, 0x723df6a0, 0xd85ad83c,
-  0x72362ce0, 0xd850fb8e, 0x722e6130, 0xd8472069,
-  0x72269391, 0xd83d46cc, 0x721ec403, 0xd8336eb7,
-  0x7216f287, 0xd829982b, 0x720f1f1c, 0xd81fc328,
-  0x720749c3, 0xd815efae, 0x71ff727c, 0xd80c1dbf,
-  0x71f79948, 0xd8024d59, 0x71efbe27, 0xd7f87e7f,
-  0x71e7e118, 0xd7eeb130, 0x71e0021e, 0xd7e4e56c,
-  0x71d82137, 0xd7db1b34, 0x71d03e64, 0xd7d15288,
-  0x71c859a5, 0xd7c78b68, 0x71c072fb, 0xd7bdc5d6,
-  0x71b88a66, 0xd7b401d1, 0x71b09fe7, 0xd7aa3f5a,
-  0x71a8b37c, 0xd7a07e70, 0x71a0c528, 0xd796bf16,
-  0x7198d4ea, 0xd78d014a, 0x7190e2c3, 0xd783450d,
-  0x7188eeb2, 0xd7798a60, 0x7180f8b8, 0xd76fd143,
-  0x717900d6, 0xd76619b6, 0x7171070c, 0xd75c63ba,
-  0x71690b59, 0xd752af4f, 0x71610dbf, 0xd748fc75,
-  0x71590e3e, 0xd73f4b2e, 0x71510cd5, 0xd7359b78,
-  0x71490986, 0xd72bed55, 0x71410450, 0xd72240c5,
-  0x7138fd35, 0xd71895c9, 0x7130f433, 0xd70eec60,
-  0x7128e94c, 0xd705448b, 0x7120dc80, 0xd6fb9e4b,
-  0x7118cdcf, 0xd6f1f99f, 0x7110bd39, 0xd6e85689,
-  0x7108aabf, 0xd6deb508, 0x71009661, 0xd6d5151d,
-  0x70f8801f, 0xd6cb76c9, 0x70f067fb, 0xd6c1da0b,
-  0x70e84df3, 0xd6b83ee4, 0x70e03208, 0xd6aea555,
-  0x70d8143b, 0xd6a50d5d, 0x70cff48c, 0xd69b76fe,
-  0x70c7d2fb, 0xd691e237, 0x70bfaf89, 0xd6884f09,
-  0x70b78a36, 0xd67ebd74, 0x70af6302, 0xd6752d79,
-  0x70a739ed, 0xd66b9f18, 0x709f0ef8, 0xd6621251,
-  0x7096e223, 0xd6588725, 0x708eb36f, 0xd64efd94,
-  0x708682dc, 0xd645759f, 0x707e5069, 0xd63bef46,
-  0x70761c18, 0xd6326a88, 0x706de5e9, 0xd628e767,
-  0x7065addb, 0xd61f65e4, 0x705d73f0, 0xd615e5fd,
-  0x70553828, 0xd60c67b4, 0x704cfa83, 0xd602eb0a,
-  0x7044bb00, 0xd5f96ffd, 0x703c79a2, 0xd5eff690,
-  0x70343667, 0xd5e67ec1, 0x702bf151, 0xd5dd0892,
-  0x7023aa5f, 0xd5d39403, 0x701b6193, 0xd5ca2115,
-  0x701316eb, 0xd5c0afc6, 0x700aca69, 0xd5b74019,
-  0x70027c0c, 0xd5add20d, 0x6ffa2bd6, 0xd5a465a3,
-  0x6ff1d9c7, 0xd59afadb, 0x6fe985de, 0xd59191b5,
-  0x6fe1301c, 0xd5882a32, 0x6fd8d882, 0xd57ec452,
-  0x6fd07f0f, 0xd5756016, 0x6fc823c5, 0xd56bfd7d,
-  0x6fbfc6a3, 0xd5629c89, 0x6fb767aa, 0xd5593d3a,
-  0x6faf06da, 0xd54fdf8f, 0x6fa6a433, 0xd5468389,
-  0x6f9e3fb6, 0xd53d292a, 0x6f95d963, 0xd533d070,
-  0x6f8d713a, 0xd52a795d, 0x6f85073c, 0xd52123f0,
-  0x6f7c9b69, 0xd517d02b, 0x6f742dc1, 0xd50e7e0d,
-  0x6f6bbe45, 0xd5052d97, 0x6f634cf5, 0xd4fbdec9,
-  0x6f5ad9d1, 0xd4f291a4, 0x6f5264da, 0xd4e94627,
-  0x6f49ee0f, 0xd4dffc54, 0x6f417573, 0xd4d6b42b,
-  0x6f38fb03, 0xd4cd6dab, 0x6f307ec2, 0xd4c428d6,
-  0x6f2800af, 0xd4bae5ab, 0x6f1f80ca, 0xd4b1a42c,
-  0x6f16ff14, 0xd4a86458, 0x6f0e7b8e, 0xd49f2630,
-  0x6f05f637, 0xd495e9b3, 0x6efd6f10, 0xd48caee4,
-  0x6ef4e619, 0xd48375c1, 0x6eec5b53, 0xd47a3e4b,
-  0x6ee3cebe, 0xd4710883, 0x6edb405a, 0xd467d469,
-  0x6ed2b027, 0xd45ea1fd, 0x6eca1e27, 0xd4557140,
-  0x6ec18a58, 0xd44c4232, 0x6eb8f4bc, 0xd44314d3,
-  0x6eb05d53, 0xd439e923, 0x6ea7c41e, 0xd430bf24,
-  0x6e9f291b, 0xd42796d5, 0x6e968c4d, 0xd41e7037,
-  0x6e8dedb3, 0xd4154b4a, 0x6e854d4d, 0xd40c280e,
-  0x6e7cab1c, 0xd4030684, 0x6e740720, 0xd3f9e6ad,
-  0x6e6b615a, 0xd3f0c887, 0x6e62b9ca, 0xd3e7ac15,
-  0x6e5a1070, 0xd3de9156, 0x6e51654c, 0xd3d5784a,
-  0x6e48b860, 0xd3cc60f2, 0x6e4009aa, 0xd3c34b4f,
-  0x6e37592c, 0xd3ba3760, 0x6e2ea6e6, 0xd3b12526,
-  0x6e25f2d8, 0xd3a814a2, 0x6e1d3d03, 0xd39f05d3,
-  0x6e148566, 0xd395f8ba, 0x6e0bcc03, 0xd38ced57,
-  0x6e0310d9, 0xd383e3ab, 0x6dfa53e9, 0xd37adbb6,
-  0x6df19534, 0xd371d579, 0x6de8d4b8, 0xd368d0f3,
-  0x6de01278, 0xd35fce26, 0x6dd74e73, 0xd356cd11,
-  0x6dce88aa, 0xd34dcdb4, 0x6dc5c11c, 0xd344d011,
-  0x6dbcf7cb, 0xd33bd427, 0x6db42cb6, 0xd332d9f7,
-  0x6dab5fdf, 0xd329e181, 0x6da29144, 0xd320eac6,
-  0x6d99c0e7, 0xd317f5c6, 0x6d90eec8, 0xd30f0280,
-  0x6d881ae8, 0xd30610f7, 0x6d7f4545, 0xd2fd2129,
-  0x6d766de2, 0xd2f43318, 0x6d6d94bf, 0xd2eb46c3,
-  0x6d64b9da, 0xd2e25c2b, 0x6d5bdd36, 0xd2d97350,
-  0x6d52fed2, 0xd2d08c33, 0x6d4a1eaf, 0xd2c7a6d4,
-  0x6d413ccd, 0xd2bec333, 0x6d38592c, 0xd2b5e151,
-  0x6d2f73cd, 0xd2ad012e, 0x6d268cb0, 0xd2a422ca,
-  0x6d1da3d5, 0xd29b4626, 0x6d14b93d, 0xd2926b41,
-  0x6d0bcce8, 0xd289921e, 0x6d02ded7, 0xd280babb,
-  0x6cf9ef09, 0xd277e518, 0x6cf0fd80, 0xd26f1138,
-  0x6ce80a3a, 0xd2663f19, 0x6cdf153a, 0xd25d6ebc,
-  0x6cd61e7f, 0xd254a021, 0x6ccd2609, 0xd24bd34a,
-  0x6cc42bd9, 0xd2430835, 0x6cbb2fef, 0xd23a3ee4,
-  0x6cb2324c, 0xd2317756, 0x6ca932ef, 0xd228b18d,
-  0x6ca031da, 0xd21fed88, 0x6c972f0d, 0xd2172b48,
-  0x6c8e2a87, 0xd20e6acc, 0x6c85244a, 0xd205ac17,
-  0x6c7c1c55, 0xd1fcef27, 0x6c7312a9, 0xd1f433fd,
-  0x6c6a0746, 0xd1eb7a9a, 0x6c60fa2d, 0xd1e2c2fd,
-  0x6c57eb5e, 0xd1da0d28, 0x6c4edada, 0xd1d1591a,
-  0x6c45c8a0, 0xd1c8a6d4, 0x6c3cb4b1, 0xd1bff656,
-  0x6c339f0e, 0xd1b747a0, 0x6c2a87b6, 0xd1ae9ab4,
-  0x6c216eaa, 0xd1a5ef90, 0x6c1853eb, 0xd19d4636,
-  0x6c0f3779, 0xd1949ea6, 0x6c061953, 0xd18bf8e0,
-  0x6bfcf97c, 0xd18354e4, 0x6bf3d7f2, 0xd17ab2b3,
-  0x6beab4b6, 0xd172124d, 0x6be18fc9, 0xd16973b3,
-  0x6bd8692b, 0xd160d6e5, 0x6bcf40dc, 0xd1583be2,
-  0x6bc616dd, 0xd14fa2ad, 0x6bbceb2d, 0xd1470b44,
-  0x6bb3bdce, 0xd13e75a8, 0x6baa8ec0, 0xd135e1d9,
-  0x6ba15e03, 0xd12d4fd9, 0x6b982b97, 0xd124bfa6,
-  0x6b8ef77d, 0xd11c3142, 0x6b85c1b5, 0xd113a4ad,
-  0x6b7c8a3f, 0xd10b19e7, 0x6b73511c, 0xd10290f0,
-  0x6b6a164d, 0xd0fa09c9, 0x6b60d9d0, 0xd0f18472,
-  0x6b579ba8, 0xd0e900ec, 0x6b4e5bd4, 0xd0e07f36,
-  0x6b451a55, 0xd0d7ff51, 0x6b3bd72a, 0xd0cf813e,
-  0x6b329255, 0xd0c704fd, 0x6b294bd5, 0xd0be8a8d,
-  0x6b2003ac, 0xd0b611f1, 0x6b16b9d9, 0xd0ad9b26,
-  0x6b0d6e5c, 0xd0a5262f, 0x6b042137, 0xd09cb30b,
-  0x6afad269, 0xd09441bb, 0x6af181f3, 0xd08bd23f,
-  0x6ae82fd5, 0xd0836497, 0x6adedc10, 0xd07af8c4,
-  0x6ad586a3, 0xd0728ec6, 0x6acc2f90, 0xd06a269d,
-  0x6ac2d6d6, 0xd061c04a, 0x6ab97c77, 0xd0595bcd,
-  0x6ab02071, 0xd050f926, 0x6aa6c2c6, 0xd0489856,
-  0x6a9d6377, 0xd040395d, 0x6a940283, 0xd037dc3b,
-  0x6a8a9fea, 0xd02f80f1, 0x6a813bae, 0xd027277e,
-  0x6a77d5ce, 0xd01ecfe4, 0x6a6e6e4b, 0xd0167a22,
-  0x6a650525, 0xd00e2639, 0x6a5b9a5d, 0xd005d42a,
-  0x6a522df3, 0xcffd83f4, 0x6a48bfe7, 0xcff53597,
-  0x6a3f503a, 0xcfece915, 0x6a35deeb, 0xcfe49e6d,
-  0x6a2c6bfd, 0xcfdc55a1, 0x6a22f76e, 0xcfd40eaf,
-  0x6a19813f, 0xcfcbc999, 0x6a100970, 0xcfc3865e,
-  0x6a069003, 0xcfbb4500, 0x69fd14f6, 0xcfb3057d,
-  0x69f3984c, 0xcfaac7d8, 0x69ea1a03, 0xcfa28c10,
-  0x69e09a1c, 0xcf9a5225, 0x69d71899, 0xcf921a17,
-  0x69cd9578, 0xcf89e3e8, 0x69c410ba, 0xcf81af97,
-  0x69ba8a61, 0xcf797d24, 0x69b1026c, 0xcf714c91,
-  0x69a778db, 0xcf691ddd, 0x699dedaf, 0xcf60f108,
-  0x699460e8, 0xcf58c613, 0x698ad287, 0xcf509cfe,
-  0x6981428c, 0xcf4875ca, 0x6977b0f7, 0xcf405077,
-  0x696e1dc9, 0xcf382d05, 0x69648902, 0xcf300b74,
-  0x695af2a3, 0xcf27ebc5, 0x69515aab, 0xcf1fcdf8,
-  0x6947c11c, 0xcf17b20d, 0x693e25f5, 0xcf0f9805,
-  0x69348937, 0xcf077fe1, 0x692aeae3, 0xceff699f,
-  0x69214af8, 0xcef75541, 0x6917a977, 0xceef42c7,
-  0x690e0661, 0xcee73231, 0x690461b5, 0xcedf2380,
-  0x68fabb75, 0xced716b4, 0x68f113a0, 0xcecf0bcd,
-  0x68e76a37, 0xcec702cb, 0x68ddbf3b, 0xcebefbb0,
-  0x68d412ab, 0xceb6f67a, 0x68ca6488, 0xceaef32b,
-  0x68c0b4d2, 0xcea6f1c2, 0x68b7038b, 0xce9ef241,
-  0x68ad50b1, 0xce96f4a7, 0x68a39c46, 0xce8ef8f4,
-  0x6899e64a, 0xce86ff2a, 0x68902ebd, 0xce7f0748,
-  0x688675a0, 0xce77114e, 0x687cbaf3, 0xce6f1d3d,
-  0x6872feb6, 0xce672b16, 0x686940ea, 0xce5f3ad8,
-  0x685f8190, 0xce574c84, 0x6855c0a6, 0xce4f6019,
-  0x684bfe2f, 0xce47759a, 0x68423a2a, 0xce3f8d05,
-  0x68387498, 0xce37a65b, 0x682ead78, 0xce2fc19c,
-  0x6824e4cc, 0xce27dec9, 0x681b1a94, 0xce1ffde2,
-  0x68114ed0, 0xce181ee8, 0x68078181, 0xce1041d9,
-  0x67fdb2a7, 0xce0866b8, 0x67f3e241, 0xce008d84,
-  0x67ea1052, 0xcdf8b63d, 0x67e03cd8, 0xcdf0e0e4,
-  0x67d667d5, 0xcde90d79, 0x67cc9149, 0xcde13bfd,
-  0x67c2b934, 0xcdd96c6f, 0x67b8df97, 0xcdd19ed0,
-  0x67af0472, 0xcdc9d320, 0x67a527c4, 0xcdc20960,
-  0x679b4990, 0xcdba4190, 0x679169d5, 0xcdb27bb0,
-  0x67878893, 0xcdaab7c0, 0x677da5cb, 0xcda2f5c2,
-  0x6773c17d, 0xcd9b35b4, 0x6769dbaa, 0xcd937798,
-  0x675ff452, 0xcd8bbb6d, 0x67560b76, 0xcd840134,
-  0x674c2115, 0xcd7c48ee, 0x67423530, 0xcd74929a,
-  0x673847c8, 0xcd6cde39, 0x672e58dc, 0xcd652bcb,
-  0x6724686e, 0xcd5d7b50, 0x671a767e, 0xcd55ccca,
-  0x6710830c, 0xcd4e2037, 0x67068e18, 0xcd467599,
-  0x66fc97a3, 0xcd3eccef, 0x66f29fad, 0xcd37263a,
-  0x66e8a637, 0xcd2f817b, 0x66deab41, 0xcd27deb0,
-  0x66d4aecb, 0xcd203ddc, 0x66cab0d6, 0xcd189efe,
-  0x66c0b162, 0xcd110216, 0x66b6b070, 0xcd096725,
-  0x66acadff, 0xcd01ce2b, 0x66a2aa11, 0xccfa3729,
-  0x6698a4a6, 0xccf2a21d, 0x668e9dbd, 0xcceb0f0a,
-  0x66849558, 0xcce37def, 0x667a8b77, 0xccdbeecc,
-  0x6670801a, 0xccd461a2, 0x66667342, 0xccccd671,
-  0x665c64ef, 0xccc54d3a, 0x66525521, 0xccbdc5fc,
-  0x664843d9, 0xccb640b8, 0x663e3117, 0xccaebd6e,
-  0x66341cdb, 0xcca73c1e, 0x662a0727, 0xcc9fbcca,
-  0x661feffa, 0xcc983f70, 0x6615d754, 0xcc90c412,
-  0x660bbd37, 0xcc894aaf, 0x6601a1a2, 0xcc81d349,
-  0x65f78497, 0xcc7a5dde, 0x65ed6614, 0xcc72ea70,
-  0x65e3461b, 0xcc6b78ff, 0x65d924ac, 0xcc64098b,
-  0x65cf01c8, 0xcc5c9c14, 0x65c4dd6e, 0xcc55309b,
-  0x65bab7a0, 0xcc4dc720, 0x65b0905d, 0xcc465fa3,
-  0x65a667a7, 0xcc3efa25, 0x659c3d7c, 0xcc3796a5,
-  0x659211df, 0xcc303524, 0x6587e4cf, 0xcc28d5a3,
-  0x657db64c, 0xcc217822, 0x65738657, 0xcc1a1ca0,
-  0x656954f1, 0xcc12c31f, 0x655f2219, 0xcc0b6b9e,
-  0x6554edd1, 0xcc04161e, 0x654ab818, 0xcbfcc29f,
-  0x654080ef, 0xcbf57121, 0x65364857, 0xcbee21a5,
-  0x652c0e4f, 0xcbe6d42b, 0x6521d2d8, 0xcbdf88b3,
-  0x651795f3, 0xcbd83f3d, 0x650d57a0, 0xcbd0f7ca,
-  0x650317df, 0xcbc9b25a, 0x64f8d6b0, 0xcbc26eee,
-  0x64ee9415, 0xcbbb2d85, 0x64e4500e, 0xcbb3ee20,
-  0x64da0a9a, 0xcbacb0bf, 0x64cfc3ba, 0xcba57563,
-  0x64c57b6f, 0xcb9e3c0b, 0x64bb31ba, 0xcb9704b9,
-  0x64b0e699, 0xcb8fcf6b, 0x64a69a0f, 0xcb889c23,
-  0x649c4c1b, 0xcb816ae1, 0x6491fcbe, 0xcb7a3ba5,
-  0x6487abf7, 0xcb730e70, 0x647d59c8, 0xcb6be341,
-  0x64730631, 0xcb64ba19, 0x6468b132, 0xcb5d92f8,
-  0x645e5acc, 0xcb566ddf, 0x645402ff, 0xcb4f4acd,
-  0x6449a9cc, 0xcb4829c4, 0x643f4f32, 0xcb410ac3,
-  0x6434f332, 0xcb39edca, 0x642a95ce, 0xcb32d2da,
-  0x64203704, 0xcb2bb9f4, 0x6415d6d5, 0xcb24a316,
-  0x640b7543, 0xcb1d8e43, 0x6401124d, 0xcb167b79,
-  0x63f6adf3, 0xcb0f6aba, 0x63ec4837, 0xcb085c05,
-  0x63e1e117, 0xcb014f5b, 0x63d77896, 0xcafa44bc,
-  0x63cd0eb3, 0xcaf33c28, 0x63c2a36f, 0xcaec35a0,
-  0x63b836ca, 0xcae53123, 0x63adc8c4, 0xcade2eb3,
-  0x63a3595e, 0xcad72e4f, 0x6398e898, 0xcad02ff8,
-  0x638e7673, 0xcac933ae, 0x638402ef, 0xcac23971,
-  0x63798e0d, 0xcabb4141, 0x636f17cc, 0xcab44b1f,
-  0x6364a02e, 0xcaad570c, 0x635a2733, 0xcaa66506,
-  0x634facda, 0xca9f750f, 0x63453125, 0xca988727,
-  0x633ab414, 0xca919b4e, 0x633035a7, 0xca8ab184,
-  0x6325b5df, 0xca83c9ca, 0x631b34bc, 0xca7ce420,
-  0x6310b23e, 0xca760086, 0x63062e67, 0xca6f1efc,
-  0x62fba936, 0xca683f83, 0x62f122ab, 0xca61621b,
-  0x62e69ac8, 0xca5a86c4, 0x62dc118c, 0xca53ad7e,
-  0x62d186f8, 0xca4cd64b, 0x62c6fb0c, 0xca460129,
-  0x62bc6dca, 0xca3f2e19, 0x62b1df30, 0xca385d1d,
-  0x62a74f40, 0xca318e32, 0x629cbdfa, 0xca2ac15b,
-  0x62922b5e, 0xca23f698, 0x6287976e, 0xca1d2de7,
-  0x627d0228, 0xca16674b, 0x62726b8e, 0xca0fa2c3,
-  0x6267d3a0, 0xca08e04f, 0x625d3a5e, 0xca021fef,
-  0x62529fca, 0xc9fb61a5, 0x624803e2, 0xc9f4a570,
-  0x623d66a8, 0xc9edeb50, 0x6232c81c, 0xc9e73346,
-  0x6228283f, 0xc9e07d51, 0x621d8711, 0xc9d9c973,
-  0x6212e492, 0xc9d317ab, 0x620840c2, 0xc9cc67fa,
-  0x61fd9ba3, 0xc9c5ba60, 0x61f2f534, 0xc9bf0edd,
-  0x61e84d76, 0xc9b86572, 0x61dda46a, 0xc9b1be1e,
-  0x61d2fa0f, 0xc9ab18e3, 0x61c84e67, 0xc9a475bf,
-  0x61bda171, 0xc99dd4b4, 0x61b2f32e, 0xc99735c2,
-  0x61a8439e, 0xc99098e9, 0x619d92c2, 0xc989fe29,
-  0x6192e09b, 0xc9836582, 0x61882d28, 0xc97ccef5,
-  0x617d786a, 0xc9763a83, 0x6172c262, 0xc96fa82a,
-  0x61680b0f, 0xc96917ec, 0x615d5273, 0xc96289c9,
-  0x6152988d, 0xc95bfdc1, 0x6147dd5f, 0xc95573d4,
-  0x613d20e8, 0xc94eec03, 0x61326329, 0xc948664d,
-  0x6127a423, 0xc941e2b4, 0x611ce3d5, 0xc93b6137,
-  0x61122240, 0xc934e1d6, 0x61075f65, 0xc92e6492,
-  0x60fc9b44, 0xc927e96b, 0x60f1d5de, 0xc9217062,
-  0x60e70f32, 0xc91af976, 0x60dc4742, 0xc91484a8,
-  0x60d17e0d, 0xc90e11f7, 0x60c6b395, 0xc907a166,
-  0x60bbe7d8, 0xc90132f2, 0x60b11ad9, 0xc8fac69e,
-  0x60a64c97, 0xc8f45c68, 0x609b7d13, 0xc8edf452,
-  0x6090ac4d, 0xc8e78e5b, 0x6085da46, 0xc8e12a84,
-  0x607b06fe, 0xc8dac8cd, 0x60703275, 0xc8d46936,
-  0x60655cac, 0xc8ce0bc0, 0x605a85a3, 0xc8c7b06b,
-  0x604fad5b, 0xc8c15736, 0x6044d3d4, 0xc8bb0023,
-  0x6039f90f, 0xc8b4ab32, 0x602f1d0b, 0xc8ae5862,
-  0x60243fca, 0xc8a807b4, 0x6019614c, 0xc8a1b928,
-  0x600e8190, 0xc89b6cbf, 0x6003a099, 0xc8952278,
-  0x5ff8be65, 0xc88eda54, 0x5feddaf6, 0xc8889454,
-  0x5fe2f64c, 0xc8825077, 0x5fd81067, 0xc87c0ebd,
-  0x5fcd2948, 0xc875cf28, 0x5fc240ef, 0xc86f91b7,
-  0x5fb7575c, 0xc869566a, 0x5fac6c91, 0xc8631d42,
-  0x5fa1808c, 0xc85ce63e, 0x5f969350, 0xc856b160,
-  0x5f8ba4dc, 0xc8507ea7, 0x5f80b531, 0xc84a4e14,
-  0x5f75c44e, 0xc8441fa6, 0x5f6ad235, 0xc83df35f,
-  0x5f5fdee6, 0xc837c93e, 0x5f54ea62, 0xc831a143,
-  0x5f49f4a8, 0xc82b7b70, 0x5f3efdb9, 0xc82557c3,
-  0x5f340596, 0xc81f363d, 0x5f290c3f, 0xc81916df,
-  0x5f1e11b5, 0xc812f9a9, 0x5f1315f7, 0xc80cde9b,
-  0x5f081907, 0xc806c5b5, 0x5efd1ae4, 0xc800aef7,
-  0x5ef21b90, 0xc7fa9a62, 0x5ee71b0a, 0xc7f487f6,
-  0x5edc1953, 0xc7ee77b3, 0x5ed1166b, 0xc7e8699a,
-  0x5ec61254, 0xc7e25daa, 0x5ebb0d0d, 0xc7dc53e3,
-  0x5eb00696, 0xc7d64c47, 0x5ea4fef0, 0xc7d046d6,
-  0x5e99f61d, 0xc7ca438f, 0x5e8eec1b, 0xc7c44272,
-  0x5e83e0eb, 0xc7be4381, 0x5e78d48e, 0xc7b846ba,
-  0x5e6dc705, 0xc7b24c20, 0x5e62b84f, 0xc7ac53b1,
-  0x5e57a86d, 0xc7a65d6e, 0x5e4c9760, 0xc7a06957,
-  0x5e418528, 0xc79a776c, 0x5e3671c5, 0xc79487ae,
-  0x5e2b5d38, 0xc78e9a1d, 0x5e204781, 0xc788aeb9,
-  0x5e1530a1, 0xc782c582, 0x5e0a1898, 0xc77cde79,
-  0x5dfeff67, 0xc776f99d, 0x5df3e50d, 0xc77116f0,
-  0x5de8c98c, 0xc76b3671, 0x5dddace4, 0xc7655820,
-  0x5dd28f15, 0xc75f7bfe, 0x5dc7701f, 0xc759a20a,
-  0x5dbc5004, 0xc753ca46, 0x5db12ec3, 0xc74df4b1,
-  0x5da60c5d, 0xc748214c, 0x5d9ae8d2, 0xc7425016,
-  0x5d8fc424, 0xc73c8111, 0x5d849e51, 0xc736b43c,
-  0x5d79775c, 0xc730e997, 0x5d6e4f43, 0xc72b2123,
-  0x5d632608, 0xc7255ae0, 0x5d57fbaa, 0xc71f96ce,
-  0x5d4cd02c, 0xc719d4ed, 0x5d41a38c, 0xc714153e,
-  0x5d3675cb, 0xc70e57c0, 0x5d2b46ea, 0xc7089c75,
-  0x5d2016e9, 0xc702e35c, 0x5d14e5c9, 0xc6fd2c75,
-  0x5d09b389, 0xc6f777c1, 0x5cfe802b, 0xc6f1c540,
-  0x5cf34baf, 0xc6ec14f2, 0x5ce81615, 0xc6e666d7,
-  0x5cdcdf5e, 0xc6e0baf0, 0x5cd1a78a, 0xc6db113d,
-  0x5cc66e99, 0xc6d569be, 0x5cbb348d, 0xc6cfc472,
-  0x5caff965, 0xc6ca215c, 0x5ca4bd21, 0xc6c4807a,
-  0x5c997fc4, 0xc6bee1cd, 0x5c8e414b, 0xc6b94554,
-  0x5c8301b9, 0xc6b3ab12, 0x5c77c10e, 0xc6ae1304,
-  0x5c6c7f4a, 0xc6a87d2d, 0x5c613c6d, 0xc6a2e98b,
-  0x5c55f878, 0xc69d5820, 0x5c4ab36b, 0xc697c8eb,
-  0x5c3f6d47, 0xc6923bec, 0x5c34260c, 0xc68cb124,
-  0x5c28ddbb, 0xc6872894, 0x5c1d9454, 0xc681a23a,
-  0x5c1249d8, 0xc67c1e18, 0x5c06fe46, 0xc6769c2e,
-  0x5bfbb1a0, 0xc6711c7b, 0x5bf063e6, 0xc66b9f01,
-  0x5be51518, 0xc66623be, 0x5bd9c537, 0xc660aab5,
-  0x5bce7442, 0xc65b33e4, 0x5bc3223c, 0xc655bf4c,
-  0x5bb7cf23, 0xc6504ced, 0x5bac7af9, 0xc64adcc7,
-  0x5ba125bd, 0xc6456edb, 0x5b95cf71, 0xc6400329,
-  0x5b8a7815, 0xc63a99b1, 0x5b7f1fa9, 0xc6353273,
-  0x5b73c62d, 0xc62fcd6f, 0x5b686ba3, 0xc62a6aa6,
-  0x5b5d100a, 0xc6250a18, 0x5b51b363, 0xc61fabc4,
-  0x5b4655ae, 0xc61a4fac, 0x5b3af6ec, 0xc614f5cf,
-  0x5b2f971e, 0xc60f9e2e, 0x5b243643, 0xc60a48c9,
-  0x5b18d45c, 0xc604f5a0, 0x5b0d716a, 0xc5ffa4b3,
-  0x5b020d6c, 0xc5fa5603, 0x5af6a865, 0xc5f5098f,
-  0x5aeb4253, 0xc5efbf58, 0x5adfdb37, 0xc5ea775e,
-  0x5ad47312, 0xc5e531a1, 0x5ac909e5, 0xc5dfee22,
-  0x5abd9faf, 0xc5daace1, 0x5ab23471, 0xc5d56ddd,
-  0x5aa6c82b, 0xc5d03118, 0x5a9b5adf, 0xc5caf690,
-  0x5a8fec8c, 0xc5c5be47, 0x5a847d33, 0xc5c0883d,
-  0x5a790cd4, 0xc5bb5472, 0x5a6d9b70, 0xc5b622e6,
-  0x5a622907, 0xc5b0f399, 0x5a56b599, 0xc5abc68c,
-  0x5a4b4128, 0xc5a69bbe, 0x5a3fcbb3, 0xc5a17330,
-  0x5a34553b, 0xc59c4ce3, 0x5a28ddc0, 0xc59728d5,
-  0x5a1d6544, 0xc5920708, 0x5a11ebc5, 0xc58ce77c,
-  0x5a067145, 0xc587ca31, 0x59faf5c5, 0xc582af26,
-  0x59ef7944, 0xc57d965d, 0x59e3fbc3, 0xc5787fd6,
-  0x59d87d42, 0xc5736b90, 0x59ccfdc2, 0xc56e598c,
-  0x59c17d44, 0xc56949ca, 0x59b5fbc8, 0xc5643c4a,
-  0x59aa794d, 0xc55f310d, 0x599ef5d6, 0xc55a2812,
-  0x59937161, 0xc555215a, 0x5987ebf0, 0xc5501ce5,
-  0x597c6584, 0xc54b1ab4, 0x5970de1b, 0xc5461ac6,
-  0x596555b8, 0xc5411d1b, 0x5959cc5a, 0xc53c21b4,
-  0x594e4201, 0xc5372891, 0x5942b6af, 0xc53231b3,
-  0x59372a64, 0xc52d3d18, 0x592b9d1f, 0xc5284ac3,
-  0x59200ee3, 0xc5235ab2, 0x59147fae, 0xc51e6ce6,
-  0x5908ef82, 0xc519815f, 0x58fd5e5f, 0xc514981d,
-  0x58f1cc45, 0xc50fb121, 0x58e63935, 0xc50acc6b,
-  0x58daa52f, 0xc505e9fb, 0x58cf1034, 0xc50109d0,
-  0x58c37a44, 0xc4fc2bec, 0x58b7e35f, 0xc4f7504e,
-  0x58ac4b87, 0xc4f276f7, 0x58a0b2bb, 0xc4ed9fe7,
-  0x589518fc, 0xc4e8cb1e, 0x58897e4a, 0xc4e3f89c,
-  0x587de2a7, 0xc4df2862, 0x58724611, 0xc4da5a6f,
-  0x5866a88a, 0xc4d58ec3, 0x585b0a13, 0xc4d0c560,
-  0x584f6aab, 0xc4cbfe45, 0x5843ca53, 0xc4c73972,
-  0x5838290c, 0xc4c276e8, 0x582c86d5, 0xc4bdb6a6,
-  0x5820e3b0, 0xc4b8f8ad, 0x58153f9d, 0xc4b43cfd,
-  0x58099a9c, 0xc4af8397, 0x57fdf4ae, 0xc4aacc7a,
-  0x57f24dd3, 0xc4a617a6, 0x57e6a60c, 0xc4a1651c,
-  0x57dafd59, 0xc49cb4dd, 0x57cf53bb, 0xc49806e7,
-  0x57c3a931, 0xc4935b3c, 0x57b7fdbd, 0xc48eb1db,
-  0x57ac515f, 0xc48a0ac4, 0x57a0a417, 0xc48565f9,
-  0x5794f5e6, 0xc480c379, 0x578946cc, 0xc47c2344,
-  0x577d96ca, 0xc477855a, 0x5771e5e0, 0xc472e9bc,
-  0x5766340f, 0xc46e5069, 0x575a8157, 0xc469b963,
-  0x574ecdb8, 0xc46524a9, 0x57431933, 0xc460923b,
-  0x573763c9, 0xc45c0219, 0x572bad7a, 0xc4577444,
-  0x571ff646, 0xc452e8bc, 0x57143e2d, 0xc44e5f80,
-  0x57088531, 0xc449d892, 0x56fccb51, 0xc44553f2,
-  0x56f1108f, 0xc440d19e, 0x56e554ea, 0xc43c5199,
-  0x56d99864, 0xc437d3e1, 0x56cddafb, 0xc4335877,
-  0x56c21cb2, 0xc42edf5c, 0x56b65d88, 0xc42a688f,
-  0x56aa9d7e, 0xc425f410, 0x569edc94, 0xc42181e0,
-  0x56931acb, 0xc41d11ff, 0x56875823, 0xc418a46d,
-  0x567b949d, 0xc414392b, 0x566fd039, 0xc40fd037,
-  0x56640af7, 0xc40b6994, 0x565844d8, 0xc4070540,
-  0x564c7ddd, 0xc402a33c, 0x5640b606, 0xc3fe4388,
-  0x5634ed53, 0xc3f9e624, 0x562923c5, 0xc3f58b10,
-  0x561d595d, 0xc3f1324e, 0x56118e1a, 0xc3ecdbdc,
-  0x5605c1fd, 0xc3e887bb, 0x55f9f507, 0xc3e435ea,
-  0x55ee2738, 0xc3dfe66c, 0x55e25890, 0xc3db993e,
-  0x55d68911, 0xc3d74e62, 0x55cab8ba, 0xc3d305d8,
-  0x55bee78c, 0xc3cebfa0, 0x55b31587, 0xc3ca7bba,
-  0x55a742ac, 0xc3c63a26, 0x559b6efb, 0xc3c1fae5,
-  0x558f9a76, 0xc3bdbdf6, 0x5583c51b, 0xc3b9835a,
-  0x5577eeec, 0xc3b54b11, 0x556c17e9, 0xc3b1151b,
-  0x55604013, 0xc3ace178, 0x5554676a, 0xc3a8b028,
-  0x55488dee, 0xc3a4812c, 0x553cb3a0, 0xc3a05484,
-  0x5530d881, 0xc39c2a2f, 0x5524fc90, 0xc398022f,
-  0x55191fcf, 0xc393dc82, 0x550d423d, 0xc38fb92a,
-  0x550163dc, 0xc38b9827, 0x54f584ac, 0xc3877978,
-  0x54e9a4ac, 0xc3835d1e, 0x54ddc3de, 0xc37f4319,
-  0x54d1e242, 0xc37b2b6a, 0x54c5ffd9, 0xc377160f,
-  0x54ba1ca3, 0xc373030a, 0x54ae38a0, 0xc36ef25b,
-  0x54a253d1, 0xc36ae401, 0x54966e36, 0xc366d7fd,
-  0x548a87d1, 0xc362ce50, 0x547ea0a0, 0xc35ec6f8,
-  0x5472b8a5, 0xc35ac1f7, 0x5466cfe1, 0xc356bf4d,
-  0x545ae653, 0xc352bef9, 0x544efbfc, 0xc34ec0fc,
-  0x544310dd, 0xc34ac556, 0x543724f5, 0xc346cc07,
-  0x542b3846, 0xc342d510, 0x541f4ad1, 0xc33ee070,
-  0x54135c94, 0xc33aee27, 0x54076d91, 0xc336fe37,
-  0x53fb7dc9, 0xc333109e, 0x53ef8d3c, 0xc32f255e,
-  0x53e39be9, 0xc32b3c75, 0x53d7a9d3, 0xc32755e5,
-  0x53cbb6f8, 0xc32371ae, 0x53bfc35b, 0xc31f8fcf,
-  0x53b3cefa, 0xc31bb049, 0x53a7d9d7, 0xc317d31c,
-  0x539be3f2, 0xc313f848, 0x538fed4b, 0xc3101fce,
-  0x5383f5e3, 0xc30c49ad, 0x5377fdbb, 0xc30875e5,
-  0x536c04d2, 0xc304a477, 0x53600b2a, 0xc300d563,
-  0x535410c3, 0xc2fd08a9, 0x5348159d, 0xc2f93e4a,
-  0x533c19b8, 0xc2f57644, 0x53301d16, 0xc2f1b099,
-  0x53241fb6, 0xc2eded49, 0x5318219a, 0xc2ea2c53,
-  0x530c22c1, 0xc2e66db8, 0x5300232c, 0xc2e2b178,
-  0x52f422db, 0xc2def794, 0x52e821cf, 0xc2db400a,
-  0x52dc2009, 0xc2d78add, 0x52d01d89, 0xc2d3d80a,
-  0x52c41a4f, 0xc2d02794, 0x52b8165b, 0xc2cc7979,
-  0x52ac11af, 0xc2c8cdbb, 0x52a00c4b, 0xc2c52459,
-  0x5294062f, 0xc2c17d52, 0x5287ff5b, 0xc2bdd8a9,
-  0x527bf7d1, 0xc2ba365c, 0x526fef90, 0xc2b6966c,
-  0x5263e699, 0xc2b2f8d8, 0x5257dced, 0xc2af5da2,
-  0x524bd28c, 0xc2abc4c9, 0x523fc776, 0xc2a82e4d,
-  0x5233bbac, 0xc2a49a2e, 0x5227af2e, 0xc2a1086d,
-  0x521ba1fd, 0xc29d790a, 0x520f941a, 0xc299ec05,
-  0x52038584, 0xc296615d, 0x51f7763c, 0xc292d914,
-  0x51eb6643, 0xc28f5329, 0x51df5599, 0xc28bcf9c,
-  0x51d3443f, 0xc2884e6e, 0x51c73235, 0xc284cf9f,
-  0x51bb1f7c, 0xc281532e, 0x51af0c13, 0xc27dd91c,
-  0x51a2f7fc, 0xc27a616a, 0x5196e337, 0xc276ec16,
-  0x518acdc4, 0xc2737922, 0x517eb7a4, 0xc270088e,
-  0x5172a0d7, 0xc26c9a58, 0x5166895f, 0xc2692e83,
-  0x515a713a, 0xc265c50e, 0x514e586a, 0xc2625df8,
-  0x51423ef0, 0xc25ef943, 0x513624cb, 0xc25b96ee,
-  0x512a09fc, 0xc25836f9, 0x511dee84, 0xc254d965,
-  0x5111d263, 0xc2517e31, 0x5105b599, 0xc24e255e,
-  0x50f99827, 0xc24aceed, 0x50ed7a0e, 0xc2477adc,
-  0x50e15b4e, 0xc244292c, 0x50d53be7, 0xc240d9de,
-  0x50c91bda, 0xc23d8cf1, 0x50bcfb28, 0xc23a4265,
-  0x50b0d9d0, 0xc236fa3b, 0x50a4b7d3, 0xc233b473,
-  0x50989532, 0xc230710d, 0x508c71ee, 0xc22d3009,
-  0x50804e06, 0xc229f167, 0x5074297b, 0xc226b528,
-  0x5068044e, 0xc2237b4b, 0x505bde7f, 0xc22043d0,
-  0x504fb80e, 0xc21d0eb8, 0x504390fd, 0xc219dc03,
-  0x5037694b, 0xc216abb1, 0x502b40f8, 0xc2137dc2,
-  0x501f1807, 0xc2105236, 0x5012ee76, 0xc20d290d,
-  0x5006c446, 0xc20a0248, 0x4ffa9979, 0xc206dde6,
-  0x4fee6e0d, 0xc203bbe8, 0x4fe24205, 0xc2009c4e,
-  0x4fd6155f, 0xc1fd7f17, 0x4fc9e81e, 0xc1fa6445,
-  0x4fbdba40, 0xc1f74bd6, 0x4fb18bc8, 0xc1f435cc,
-  0x4fa55cb4, 0xc1f12227, 0x4f992d06, 0xc1ee10e5,
-  0x4f8cfcbe, 0xc1eb0209, 0x4f80cbdc, 0xc1e7f591,
-  0x4f749a61, 0xc1e4eb7e, 0x4f68684e, 0xc1e1e3d0,
-  0x4f5c35a3, 0xc1dede87, 0x4f500260, 0xc1dbdba3,
-  0x4f43ce86, 0xc1d8db25, 0x4f379a16, 0xc1d5dd0c,
-  0x4f2b650f, 0xc1d2e158, 0x4f1f2f73, 0xc1cfe80a,
-  0x4f12f941, 0xc1ccf122, 0x4f06c27a, 0xc1c9fca0,
-  0x4efa8b20, 0xc1c70a84, 0x4eee5331, 0xc1c41ace,
-  0x4ee21aaf, 0xc1c12d7e, 0x4ed5e19a, 0xc1be4294,
-  0x4ec9a7f3, 0xc1bb5a11, 0x4ebd6db9, 0xc1b873f5,
-  0x4eb132ef, 0xc1b5903f, 0x4ea4f793, 0xc1b2aef0,
-  0x4e98bba7, 0xc1afd007, 0x4e8c7f2a, 0xc1acf386,
-  0x4e80421e, 0xc1aa196c, 0x4e740483, 0xc1a741b9,
-  0x4e67c65a, 0xc1a46c6e, 0x4e5b87a2, 0xc1a1998a,
-  0x4e4f485c, 0xc19ec90d, 0x4e430889, 0xc19bfaf9,
-  0x4e36c82a, 0xc1992f4c, 0x4e2a873e, 0xc1966606,
-  0x4e1e45c6, 0xc1939f29, 0x4e1203c3, 0xc190dab4,
-  0x4e05c135, 0xc18e18a7, 0x4df97e1d, 0xc18b5903,
-  0x4ded3a7b, 0xc1889bc6, 0x4de0f64f, 0xc185e0f3,
-  0x4dd4b19a, 0xc1832888, 0x4dc86c5d, 0xc1807285,
-  0x4dbc2698, 0xc17dbeec, 0x4dafe04b, 0xc17b0dbb,
-  0x4da39978, 0xc1785ef4, 0x4d97521d, 0xc175b296,
-  0x4d8b0a3d, 0xc17308a1, 0x4d7ec1d6, 0xc1706115,
-  0x4d7278eb, 0xc16dbbf3, 0x4d662f7b, 0xc16b193a,
-  0x4d59e586, 0xc16878eb, 0x4d4d9b0e, 0xc165db05,
-  0x4d415013, 0xc1633f8a, 0x4d350495, 0xc160a678,
-  0x4d28b894, 0xc15e0fd1, 0x4d1c6c11, 0xc15b7b94,
-  0x4d101f0e, 0xc158e9c1, 0x4d03d189, 0xc1565a58,
-  0x4cf78383, 0xc153cd5a, 0x4ceb34fe, 0xc15142c6,
-  0x4cdee5f9, 0xc14eba9d, 0x4cd29676, 0xc14c34df,
-  0x4cc64673, 0xc149b18b, 0x4cb9f5f3, 0xc14730a3,
-  0x4cada4f5, 0xc144b225, 0x4ca1537a, 0xc1423613,
-  0x4c950182, 0xc13fbc6c, 0x4c88af0e, 0xc13d4530,
-  0x4c7c5c1e, 0xc13ad060, 0x4c7008b3, 0xc1385dfb,
-  0x4c63b4ce, 0xc135ee02, 0x4c57606e, 0xc1338075,
-  0x4c4b0b94, 0xc1311553, 0x4c3eb641, 0xc12eac9d,
-  0x4c326075, 0xc12c4653, 0x4c260a31, 0xc129e276,
-  0x4c19b374, 0xc1278104, 0x4c0d5c41, 0xc12521ff,
-  0x4c010496, 0xc122c566, 0x4bf4ac75, 0xc1206b39,
-  0x4be853de, 0xc11e1379, 0x4bdbfad1, 0xc11bbe26,
-  0x4bcfa150, 0xc1196b3f, 0x4bc34759, 0xc1171ac6,
-  0x4bb6ecef, 0xc114ccb9, 0x4baa9211, 0xc1128119,
-  0x4b9e36c0, 0xc11037e6, 0x4b91dafc, 0xc10df120,
-  0x4b857ec7, 0xc10bacc8, 0x4b79221f, 0xc1096add,
-  0x4b6cc506, 0xc1072b5f, 0x4b60677c, 0xc104ee4f,
-  0x4b540982, 0xc102b3ac, 0x4b47ab19, 0xc1007b77,
-  0x4b3b4c40, 0xc0fe45b0, 0x4b2eecf8, 0xc0fc1257,
-  0x4b228d42, 0xc0f9e16b, 0x4b162d1d, 0xc0f7b2ee,
-  0x4b09cc8c, 0xc0f586df, 0x4afd6b8d, 0xc0f35d3e,
-  0x4af10a22, 0xc0f1360b, 0x4ae4a84b, 0xc0ef1147,
-  0x4ad84609, 0xc0eceef1, 0x4acbe35b, 0xc0eacf09,
-  0x4abf8043, 0xc0e8b190, 0x4ab31cc1, 0xc0e69686,
-  0x4aa6b8d5, 0xc0e47deb, 0x4a9a5480, 0xc0e267be,
-  0x4a8defc3, 0xc0e05401, 0x4a818a9d, 0xc0de42b2,
-  0x4a752510, 0xc0dc33d2, 0x4a68bf1b, 0xc0da2762,
-  0x4a5c58c0, 0xc0d81d61, 0x4a4ff1fe, 0xc0d615cf,
-  0x4a438ad7, 0xc0d410ad, 0x4a37234a, 0xc0d20dfa,
-  0x4a2abb59, 0xc0d00db6, 0x4a1e5303, 0xc0ce0fe3,
-  0x4a11ea49, 0xc0cc147f, 0x4a05812c, 0xc0ca1b8a,
-  0x49f917ac, 0xc0c82506, 0x49ecadc9, 0xc0c630f2,
-  0x49e04385, 0xc0c43f4d, 0x49d3d8df, 0xc0c25019,
-  0x49c76dd8, 0xc0c06355, 0x49bb0271, 0xc0be7901,
-  0x49ae96aa, 0xc0bc911d, 0x49a22a83, 0xc0baabaa,
-  0x4995bdfd, 0xc0b8c8a7, 0x49895118, 0xc0b6e815,
-  0x497ce3d5, 0xc0b509f3, 0x49707635, 0xc0b32e42,
-  0x49640837, 0xc0b15502, 0x495799dd, 0xc0af7e33,
-  0x494b2b27, 0xc0ada9d4, 0x493ebc14, 0xc0abd7e6,
-  0x49324ca7, 0xc0aa086a, 0x4925dcdf, 0xc0a83b5e,
-  0x49196cbc, 0xc0a670c4, 0x490cfc40, 0xc0a4a89b,
-  0x49008b6a, 0xc0a2e2e3, 0x48f41a3c, 0xc0a11f9d,
-  0x48e7a8b5, 0xc09f5ec8, 0x48db36d6, 0xc09da065,
-  0x48cec4a0, 0xc09be473, 0x48c25213, 0xc09a2af3,
-  0x48b5df30, 0xc09873e4, 0x48a96bf6, 0xc096bf48,
-  0x489cf867, 0xc0950d1d, 0x48908483, 0xc0935d64,
-  0x4884104b, 0xc091b01d, 0x48779bbe, 0xc0900548,
-  0x486b26de, 0xc08e5ce5, 0x485eb1ab, 0xc08cb6f5,
-  0x48523c25, 0xc08b1376, 0x4845c64d, 0xc089726a,
-  0x48395024, 0xc087d3d0, 0x482cd9a9, 0xc08637a9,
-  0x482062de, 0xc0849df4, 0x4813ebc2, 0xc08306b2,
-  0x48077457, 0xc08171e2, 0x47fafc9c, 0xc07fdf85,
-  0x47ee8493, 0xc07e4f9b, 0x47e20c3b, 0xc07cc223,
-  0x47d59396, 0xc07b371e, 0x47c91aa3, 0xc079ae8c,
-  0x47bca163, 0xc078286e, 0x47b027d7, 0xc076a4c2,
-  0x47a3adff, 0xc0752389, 0x479733dc, 0xc073a4c3,
-  0x478ab96e, 0xc0722871, 0x477e3eb5, 0xc070ae92,
-  0x4771c3b3, 0xc06f3726, 0x47654867, 0xc06dc22e,
-  0x4758ccd2, 0xc06c4fa8, 0x474c50f4, 0xc06adf97,
-  0x473fd4cf, 0xc06971f9, 0x47335862, 0xc06806ce,
-  0x4726dbae, 0xc0669e18, 0x471a5eb3, 0xc06537d4,
-  0x470de172, 0xc063d405, 0x470163eb, 0xc06272aa,
-  0x46f4e620, 0xc06113c2, 0x46e86810, 0xc05fb74e,
-  0x46dbe9bb, 0xc05e5d4e, 0x46cf6b23, 0xc05d05c3,
-  0x46c2ec48, 0xc05bb0ab, 0x46b66d29, 0xc05a5e07,
-  0x46a9edc9, 0xc0590dd8, 0x469d6e27, 0xc057c01d,
-  0x4690ee44, 0xc05674d6, 0x46846e1f, 0xc0552c03,
-  0x4677edbb, 0xc053e5a5, 0x466b6d16, 0xc052a1bb,
-  0x465eec33, 0xc0516045, 0x46526b10, 0xc0502145,
-  0x4645e9af, 0xc04ee4b8, 0x46396810, 0xc04daaa1,
-  0x462ce634, 0xc04c72fe, 0x4620641a, 0xc04b3dcf,
-  0x4613e1c5, 0xc04a0b16, 0x46075f33, 0xc048dad1,
-  0x45fadc66, 0xc047ad01, 0x45ee595d, 0xc04681a6,
-  0x45e1d61b, 0xc04558c0, 0x45d5529e, 0xc044324f,
-  0x45c8cee7, 0xc0430e53, 0x45bc4af8, 0xc041eccc,
-  0x45afc6d0, 0xc040cdba, 0x45a3426f, 0xc03fb11d,
-  0x4596bdd7, 0xc03e96f6, 0x458a3908, 0xc03d7f44,
-  0x457db403, 0xc03c6a07, 0x45712ec7, 0xc03b573f,
-  0x4564a955, 0xc03a46ed, 0x455823ae, 0xc0393910,
-  0x454b9dd3, 0xc0382da8, 0x453f17c3, 0xc03724b6,
-  0x4532917f, 0xc0361e3a, 0x45260b08, 0xc0351a33,
-  0x4519845e, 0xc03418a2, 0x450cfd82, 0xc0331986,
-  0x45007674, 0xc0321ce0, 0x44f3ef35, 0xc03122b0,
-  0x44e767c5, 0xc0302af5, 0x44dae024, 0xc02f35b1,
-  0x44ce5854, 0xc02e42e2, 0x44c1d054, 0xc02d5289,
-  0x44b54825, 0xc02c64a6, 0x44a8bfc7, 0xc02b7939,
-  0x449c373c, 0xc02a9042, 0x448fae83, 0xc029a9c1,
-  0x4483259d, 0xc028c5b6, 0x44769c8b, 0xc027e421,
-  0x446a134c, 0xc0270502, 0x445d89e2, 0xc0262859,
-  0x4451004d, 0xc0254e27, 0x4444768d, 0xc024766a,
-  0x4437eca4, 0xc023a124, 0x442b6290, 0xc022ce54,
-  0x441ed854, 0xc021fdfb, 0x44124dee, 0xc0213018,
-  0x4405c361, 0xc02064ab, 0x43f938ac, 0xc01f9bb5,
-  0x43ecadcf, 0xc01ed535, 0x43e022cc, 0xc01e112b,
-  0x43d397a3, 0xc01d4f99, 0x43c70c54, 0xc01c907c,
-  0x43ba80df, 0xc01bd3d6, 0x43adf546, 0xc01b19a7,
-  0x43a16988, 0xc01a61ee, 0x4394dda7, 0xc019acac,
-  0x438851a2, 0xc018f9e1, 0x437bc57b, 0xc018498c,
-  0x436f3931, 0xc0179bae, 0x4362acc5, 0xc016f047,
-  0x43562038, 0xc0164757, 0x43499389, 0xc015a0dd,
-  0x433d06bb, 0xc014fcda, 0x433079cc, 0xc0145b4e,
-  0x4323ecbe, 0xc013bc39, 0x43175f91, 0xc0131f9b,
-  0x430ad245, 0xc0128574, 0x42fe44dc, 0xc011edc3,
-  0x42f1b755, 0xc011588a, 0x42e529b0, 0xc010c5c7,
-  0x42d89bf0, 0xc010357c, 0x42cc0e13, 0xc00fa7a8,
-  0x42bf801a, 0xc00f1c4a, 0x42b2f207, 0xc00e9364,
-  0x42a663d8, 0xc00e0cf5, 0x4299d590, 0xc00d88fd,
-  0x428d472e, 0xc00d077c, 0x4280b8b3, 0xc00c8872,
-  0x42742a1f, 0xc00c0be0, 0x42679b73, 0xc00b91c4,
-  0x425b0caf, 0xc00b1a20, 0x424e7dd4, 0xc00aa4f3,
-  0x4241eee2, 0xc00a323d, 0x42355fd9, 0xc009c1ff,
-  0x4228d0bb, 0xc0095438, 0x421c4188, 0xc008e8e8,
-  0x420fb240, 0xc008800f, 0x420322e3, 0xc00819ae,
-  0x41f69373, 0xc007b5c4, 0x41ea03ef, 0xc0075452,
-  0x41dd7459, 0xc006f556, 0x41d0e4b0, 0xc00698d3,
-  0x41c454f5, 0xc0063ec6, 0x41b7c528, 0xc005e731,
-  0x41ab354b, 0xc0059214, 0x419ea55d, 0xc0053f6e,
-  0x4192155f, 0xc004ef3f, 0x41858552, 0xc004a188,
-  0x4178f536, 0xc0045648, 0x416c650b, 0xc0040d80,
-  0x415fd4d2, 0xc003c72f, 0x4153448c, 0xc0038356,
-  0x4146b438, 0xc00341f4, 0x413a23d8, 0xc003030a,
-  0x412d936c, 0xc002c697, 0x412102f4, 0xc0028c9c,
-  0x41147271, 0xc0025519, 0x4107e1e3, 0xc002200d,
-  0x40fb514b, 0xc001ed78, 0x40eec0aa, 0xc001bd5c,
-  0x40e22fff, 0xc0018fb6, 0x40d59f4c, 0xc0016489,
-  0x40c90e90, 0xc0013bd3, 0x40bc7dcc, 0xc0011594,
-  0x40afed02, 0xc000f1ce, 0x40a35c30, 0xc000d07e,
-  0x4096cb58, 0xc000b1a7, 0x408a3a7b, 0xc0009547,
-  0x407da998, 0xc0007b5f, 0x407118b0, 0xc00063ee,
-  0x406487c4, 0xc0004ef5, 0x4057f6d4, 0xc0003c74,
-  0x404b65e1, 0xc0002c6a, 0x403ed4ea, 0xc0001ed8,
-  0x403243f1, 0xc00013bd, 0x4025b2f7, 0xc0000b1a,
-  0x401921fb, 0xc00004ef, 0x400c90fe, 0xc000013c,
-};
-
-/**    
-* @brief  Initialization function for the Q31 RFFT/RIFFT.   
-* @param[in, out] *S             points to an instance of the Q31 RFFT/RIFFT structure.   
-* @param[in, out] *S_CFFT        points to an instance of the Q31 CFFT/CIFFT structure.   
-* @param[in]      fftLenReal     length of the FFT.   
-* @param[in]      ifftFlagR      flag that selects forward (ifftFlagR=0) or inverse (ifftFlagR=1) transform.   
-* @param[in]      bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.   
-* @return		The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if fftLenReal is not a supported value.   
-*    
-* \par Description:   
-* \par   
-* The parameter fftLenReal	Specifies length of RFFT/RIFFT Process. Supported FFT Lengths are 128, 512, 2048.    
-* \par    
-* The parameter ifftFlagR controls whether a forward or inverse transform is computed.    
-* Set(=1) ifftFlagR to calculate RIFFT, otherwise RFFT is calculated.    
-* \par    
-* The parameter bitReverseFlag controls whether output is in normal order or bit reversed order.    
-* Set(=1) bitReverseFlag for output to be in normal order otherwise output is in bit reversed order.   
-* \par    
-* This function also initializes Twiddle factor table.    
-*/
-
-arm_status arm_rfft_init_q31(
-  arm_rfft_instance_q31 * S,
-  arm_cfft_radix4_instance_q31 * S_CFFT,
-  uint32_t fftLenReal,
-  uint32_t ifftFlagR,
-  uint32_t bitReverseFlag)
-{
-  /*  Initialise the default arm status */
-  arm_status status = ARM_MATH_SUCCESS;
-
-  /*  Initialize the Real FFT length */
-  S->fftLenReal = (uint16_t) fftLenReal;
-
-  /*  Initialize the Complex FFT length */
-  S->fftLenBy2 = (uint16_t) fftLenReal / 2u;
-
-  /*  Initialize the Twiddle coefficientA pointer */
-  S->pTwiddleAReal = (q31_t *) realCoefAQ31;
-
-  /*  Initialize the Twiddle coefficientB pointer */
-  S->pTwiddleBReal = (q31_t *) realCoefBQ31;
-
-  /*  Initialize the Flag for selection of RFFT or RIFFT */
-  S->ifftFlagR = (uint8_t) ifftFlagR;
-
-  /*  Initialize the Flag for calculation Bit reversal or not */
-  S->bitReverseFlagR = (uint8_t) bitReverseFlag;
-
-  /*  Initialization of coef modifier depending on the FFT length */
-  switch (S->fftLenReal)
-  {
-  case 8192:
-    S->twidCoefRModifier = 1u;
-    break;
-  case 2048u:
-    S->twidCoefRModifier = 4u;
-    break;
-  case 512u:
-    S->twidCoefRModifier = 16u;
-    break;
-  case 128u:
-    S->twidCoefRModifier = 64u;
-    break;
-  default:
-    /*  Reporting argument error if rfftSize is not valid value */
-    status = ARM_MATH_ARGUMENT_ERROR;
-    break;
-  }
-
-  /* Init Complex FFT Instance */
-  S->pCfft = S_CFFT;
-
-  if(S->ifftFlagR)
-  {
-    /* Initializes the CIFFT Module for fftLenreal/2 length */
-    arm_cfft_radix4_init_q31(S->pCfft, (uint16_t) S->fftLenBy2, 1u, 1u);
-  }
-  else
-  {
-    /* Initializes the CFFT Module for fftLenreal/2 length */
-    arm_cfft_radix4_init_q31(S->pCfft, (uint16_t) S->fftLenBy2, 0u, 1u);
-  }
-
-  /* return the status of RFFT Init function */
-  return (status);
-
-}
-
-  /**    
-   * @} end of RFFT_RIFFT group    
-   */
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_q15.c
deleted file mode 100644
index c0c201277..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_q15.c
+++ /dev/null
@@ -1,460 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_rfft_q15.c    
-*    
-* Description:	RFFT & RIFFT Q15 process function    
-*    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* -------------------------------------------------------------------- */
-
-
-#include "arm_math.h"
-
-/*--------------------------------------------------------------------    
-*		Internal functions prototypes    
---------------------------------------------------------------------*/
-
-void arm_split_rfft_q15(
-  q15_t * pSrc,
-  uint32_t fftLen,
-  q15_t * pATable,
-  q15_t * pBTable,
-  q15_t * pDst,
-  uint32_t modifier);
-
-void arm_split_rifft_q15(
-  q15_t * pSrc,
-  uint32_t fftLen,
-  q15_t * pATable,
-  q15_t * pBTable,
-  q15_t * pDst,
-  uint32_t modifier);
-
-/**    
- * @addtogroup RFFT_RIFFT    
- * @{    
- */
-
-/**    
- * @brief Processing function for the Q15 RFFT/RIFFT.   
- * @param[in]  *S    points to an instance of the Q15 RFFT/RIFFT structure.   
- * @param[in]  *pSrc points to the input buffer.   
- * @param[out] *pDst points to the output buffer.   
- * @return none.   
- *    
- * \par Input an output formats:   
- * \par    
- * Internally input is downscaled by 2 for every stage to avoid saturations inside CFFT/CIFFT process.    
- * Hence the output format is different for different RFFT sizes.    
- * The input and output formats for different RFFT sizes and number of bits to upscale are mentioned in the tables below for RFFT and RIFFT:   
- * \par    
- * \image html RFFTQ15.gif "Input and Output Formats for Q15 RFFT"    
- * \par    
- * \image html RIFFTQ15.gif "Input and Output Formats for Q15 RIFFT"    
- */
-
-void arm_rfft_q15(
-  const arm_rfft_instance_q15 * S,
-  q15_t * pSrc,
-  q15_t * pDst)
-{
-  const arm_cfft_radix4_instance_q15 *S_CFFT = S->pCfft;
-
-  /* Calculation of RIFFT of input */
-  if(S->ifftFlagR == 1u)
-  {
-    /*  Real IFFT core process */
-    arm_split_rifft_q15(pSrc, S->fftLenBy2, S->pTwiddleAReal,
-                        S->pTwiddleBReal, pDst, S->twidCoefRModifier);
-
-    /* Complex readix-4 IFFT process */
-    arm_radix4_butterfly_inverse_q15(pDst, S_CFFT->fftLen,
-                                     S_CFFT->pTwiddle,
-                                     S_CFFT->twidCoefModifier);
-
-    /* Bit reversal process */
-    if(S->bitReverseFlagR == 1u)
-    {
-      arm_bitreversal_q15(pDst, S_CFFT->fftLen,
-                          S_CFFT->bitRevFactor, S_CFFT->pBitRevTable);
-    }
-  }
-  else
-  {
-    /* Calculation of RFFT of input */
-
-    /* Complex readix-4 FFT process */
-    arm_radix4_butterfly_q15(pSrc, S_CFFT->fftLen,
-                             S_CFFT->pTwiddle, S_CFFT->twidCoefModifier);
-
-    /* Bit reversal process */
-    if(S->bitReverseFlagR == 1u)
-    {
-      arm_bitreversal_q15(pSrc, S_CFFT->fftLen,
-                          S_CFFT->bitRevFactor, S_CFFT->pBitRevTable);
-    }
-
-    arm_split_rfft_q15(pSrc, S->fftLenBy2, S->pTwiddleAReal,
-                       S->pTwiddleBReal, pDst, S->twidCoefRModifier);
-  }
-
-}
-
-  /**    
-   * @} end of RFFT_RIFFT group    
-   */
-
-/**    
- * @brief  Core Real FFT process    
- * @param  *pSrc 				points to the input buffer.   
- * @param  fftLen  				length of FFT.   
- * @param  *pATable 			points to the A twiddle Coef buffer.    
- * @param  *pBTable 			points to the B twiddle Coef buffer.   
- * @param  *pDst 				points to the output buffer.   
- * @param  modifier 	        twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.   
- * @return none.    
- * The function implements a Real FFT    
- */
-
-void arm_split_rfft_q15(
-  q15_t * pSrc,
-  uint32_t fftLen,
-  q15_t * pATable,
-  q15_t * pBTable,
-  q15_t * pDst,
-  uint32_t modifier)
-{
-  uint32_t i;                                    /* Loop Counter */
-  q31_t outR, outI;                              /* Temporary variables for output */
-  q15_t *pCoefA, *pCoefB;                        /* Temporary pointers for twiddle factors */
-  q15_t *pSrc1, *pSrc2;
-
-
-//  pSrc[2u * fftLen] = pSrc[0]; 
-//  pSrc[(2u * fftLen) + 1u] = pSrc[1]; 
-
-  pCoefA = &pATable[modifier * 2u];
-  pCoefB = &pBTable[modifier * 2u];
-
-  pSrc1 = &pSrc[2];
-  pSrc2 = &pSrc[(2u * fftLen) - 2u];
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  i = 1u;
-
-  while(i < fftLen)
-  {
-    /*    
-       outR = (pSrc[2 * i] * pATable[2 * i] - pSrc[2 * i + 1] * pATable[2 * i + 1]    
-       + pSrc[2 * n - 2 * i] * pBTable[2 * i] +    
-       pSrc[2 * n - 2 * i + 1] * pBTable[2 * i + 1]);    
-     */
-
-    /* outI = (pIn[2 * i + 1] * pATable[2 * i] + pIn[2 * i] * pATable[2 * i + 1] +    
-       pIn[2 * n - 2 * i] * pBTable[2 * i + 1] -    
-       pIn[2 * n - 2 * i + 1] * pBTable[2 * i]); */
-
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-    /* pSrc[2 * i] * pATable[2 * i] - pSrc[2 * i + 1] * pATable[2 * i + 1] */
-    outR = __SMUSD(*__SIMD32(pSrc1), *__SIMD32(pCoefA));
-
-#else
-
-    /* -(pSrc[2 * i + 1] * pATable[2 * i + 1] - pSrc[2 * i] * pATable[2 * i]) */
-    outR = -(__SMUSD(*__SIMD32(pSrc1), *__SIMD32(pCoefA)));
-
-#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
-
-    /* pSrc[2 * n - 2 * i] * pBTable[2 * i] +    
-       pSrc[2 * n - 2 * i + 1] * pBTable[2 * i + 1]) */
-    outR = __SMLAD(*__SIMD32(pSrc2), *__SIMD32(pCoefB), outR) >> 15u;
-
-    /* pIn[2 * n - 2 * i] * pBTable[2 * i + 1] -    
-       pIn[2 * n - 2 * i + 1] * pBTable[2 * i] */
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-    outI = __SMUSDX(*__SIMD32(pSrc2)--, *__SIMD32(pCoefB));
-
-#else
-
-    outI = __SMUSDX(*__SIMD32(pCoefB), *__SIMD32(pSrc2)--);
-
-#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
-
-    /* (pIn[2 * i + 1] * pATable[2 * i] + pIn[2 * i] * pATable[2 * i + 1] */
-    outI = __SMLADX(*__SIMD32(pSrc1)++, *__SIMD32(pCoefA), outI);
-
-    /* write output */
-    pDst[2u * i] = (q15_t) outR;
-    pDst[(2u * i) + 1u] = outI >> 15u;
-
-    /* write complex conjugate output */
-    pDst[(4u * fftLen) - (2u * i)] = (q15_t) outR;
-    pDst[((4u * fftLen) - (2u * i)) + 1u] = -(outI >> 15u);
-
-    /* update coefficient pointer */
-    pCoefB = pCoefB + (2u * modifier);
-    pCoefA = pCoefA + (2u * modifier);
-
-    i++;
-
-  }
-
-  pDst[2u * fftLen] = pSrc[0] - pSrc[1];
-  pDst[(2u * fftLen) + 1u] = 0;
-
-  pDst[0] = pSrc[0] + pSrc[1];
-  pDst[1] = 0;
-
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  i = 1u;
-
-  while(i < fftLen)
-  {
-    /*    
-       outR = (pSrc[2 * i] * pATable[2 * i] - pSrc[2 * i + 1] * pATable[2 * i + 1]    
-       + pSrc[2 * n - 2 * i] * pBTable[2 * i] +    
-       pSrc[2 * n - 2 * i + 1] * pBTable[2 * i + 1]);    
-     */
-
-    outR = *pSrc1 * *pCoefA;
-    outR = outR - (*(pSrc1 + 1) * *(pCoefA + 1));
-    outR = outR + (*pSrc2 * *pCoefB);
-    outR = (outR + (*(pSrc2 + 1) * *(pCoefB + 1))) >> 15;
-
-
-    /* outI = (pIn[2 * i + 1] * pATable[2 * i] + pIn[2 * i] * pATable[2 * i + 1] +    
-       pIn[2 * n - 2 * i] * pBTable[2 * i + 1] -    
-       pIn[2 * n - 2 * i + 1] * pBTable[2 * i]);   
-     */
-
-    outI = *pSrc2 * *(pCoefB + 1);
-    outI = outI - (*(pSrc2 + 1) * *pCoefB);
-    outI = outI + (*(pSrc1 + 1) * *pCoefA);
-    outI = outI + (*pSrc1 * *(pCoefA + 1));
-
-    /* update input pointers */
-    pSrc1 += 2u;
-    pSrc2 -= 2u;
-
-    /* write output */
-    pDst[2u * i] = (q15_t) outR;
-    pDst[(2u * i) + 1u] = outI >> 15u;
-
-    /* write complex conjugate output */
-    pDst[(4u * fftLen) - (2u * i)] = (q15_t) outR;
-    pDst[((4u * fftLen) - (2u * i)) + 1u] = -(outI >> 15u);
-
-    /* update coefficient pointer */
-    pCoefB = pCoefB + (2u * modifier);
-    pCoefA = pCoefA + (2u * modifier);
-
-    i++;
-
-  }
-
-  pDst[2u * fftLen] = pSrc[0] - pSrc[1];
-  pDst[(2u * fftLen) + 1u] = 0;
-
-  pDst[0] = pSrc[0] + pSrc[1];
-  pDst[1] = 0;
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-}
-
-
-/**    
- * @brief  Core Real IFFT process    
- * @param[in]   *pSrc 				points to the input buffer.    
- * @param[in]   fftLen  		    length of FFT.   
- * @param[in]   *pATable 			points to the twiddle Coef A buffer.   
- * @param[in]   *pBTable 			points to the twiddle Coef B buffer.    
- * @param[out]  *pDst 				points to the output buffer.   
- * @param[in]   modifier 	        twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.   
- * @return none.    
- * The function implements a Real IFFT    
- */
-void arm_split_rifft_q15(
-  q15_t * pSrc,
-  uint32_t fftLen,
-  q15_t * pATable,
-  q15_t * pBTable,
-  q15_t * pDst,
-  uint32_t modifier)
-{
-  uint32_t i;                                    /* Loop Counter */
-  q31_t outR, outI;                              /* Temporary variables for output */
-  q15_t *pCoefA, *pCoefB;                        /* Temporary pointers for twiddle factors */
-  q15_t *pSrc1, *pSrc2;
-  q15_t *pDst1 = &pDst[0];
-
-  pCoefA = &pATable[0];
-  pCoefB = &pBTable[0];
-
-  pSrc1 = &pSrc[0];
-  pSrc2 = &pSrc[2u * fftLen];
-
-#ifndef ARM_MATH_CM0
-
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
-  i = fftLen;
-
-  while(i > 0u)
-  {
-
-    /*    
-       outR = (pIn[2 * i] * pATable[2 * i] + pIn[2 * i + 1] * pATable[2 * i + 1] +    
-       pIn[2 * n - 2 * i] * pBTable[2 * i] -    
-       pIn[2 * n - 2 * i + 1] * pBTable[2 * i + 1]);    
-
-       outI = (pIn[2 * i + 1] * pATable[2 * i] - pIn[2 * i] * pATable[2 * i + 1] -    
-       pIn[2 * n - 2 * i] * pBTable[2 * i + 1] -    
-       pIn[2 * n - 2 * i + 1] * pBTable[2 * i]);    
-
-     */
-
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-    /* pIn[2 * n - 2 * i] * pBTable[2 * i] -    
-       pIn[2 * n - 2 * i + 1] * pBTable[2 * i + 1]) */
-    outR = __SMUSD(*__SIMD32(pSrc2), *__SIMD32(pCoefB));
-
-#else
-
-    /* -(-pIn[2 * n - 2 * i] * pBTable[2 * i] +  
-       pIn[2 * n - 2 * i + 1] * pBTable[2 * i + 1])) */
-    outR = -(__SMUSD(*__SIMD32(pSrc2), *__SIMD32(pCoefB)));
-
-#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
-
-    /* pIn[2 * i] * pATable[2 * i] + pIn[2 * i + 1] * pATable[2 * i + 1] +    
-       pIn[2 * n - 2 * i] * pBTable[2 * i] */
-    outR = __SMLAD(*__SIMD32(pSrc1), *__SIMD32(pCoefA), outR) >> 15u;
-
-    /*    
-       -pIn[2 * n - 2 * i] * pBTable[2 * i + 1] +    
-       pIn[2 * n - 2 * i + 1] * pBTable[2 * i] */
-    outI = __SMUADX(*__SIMD32(pSrc2)--, *__SIMD32(pCoefB));
-
-    /* pIn[2 * i + 1] * pATable[2 * i] - pIn[2 * i] * pATable[2 * i + 1] */
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-    outI = __SMLSDX(*__SIMD32(pCoefA), *__SIMD32(pSrc1)++, -outI);
-
-#else
-
-    outI = __SMLSDX(*__SIMD32(pSrc1)++, *__SIMD32(pCoefA), -outI);
-
-#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
-    /* write output */
-
-#ifndef ARM_MATH_BIG_ENDIAN
-
-    *__SIMD32(pDst1)++ = __PKHBT(outR, (outI >> 15u), 16);
-
-#else
-
-    *__SIMD32(pDst1)++ = __PKHBT((outI >> 15u), outR, 16);
-
-#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
-
-    /* update coefficient pointer */
-    pCoefB = pCoefB + (2u * modifier);
-    pCoefA = pCoefA + (2u * modifier);
-
-    i--;
-
-  }
-
-
-#else
-
-  /* Run the below code for Cortex-M0 */
-
-  i = fftLen;
-
-  while(i > 0u)
-  {
-
-    /*    
-       outR = (pIn[2 * i] * pATable[2 * i] + pIn[2 * i + 1] * pATable[2 * i + 1] +    
-       pIn[2 * n - 2 * i] * pBTable[2 * i] -    
-       pIn[2 * n - 2 * i + 1] * pBTable[2 * i + 1]);    
-     */
-
-    outR = *pSrc2 * *pCoefB;
-    outR = outR - (*(pSrc2 + 1) * *(pCoefB + 1));
-    outR = outR + (*pSrc1 * *pCoefA);
-    outR = (outR + (*(pSrc1 + 1) * *(pCoefA + 1))) >> 15;
-
-    /*   
-       outI = (pIn[2 * i + 1] * pATable[2 * i] - pIn[2 * i] * pATable[2 * i + 1] -   
-       pIn[2 * n - 2 * i] * pBTable[2 * i + 1] -   
-       pIn[2 * n - 2 * i + 1] * pBTable[2 * i]);   
-     */
-
-    outI = *(pSrc1 + 1) * *pCoefA;
-    outI = outI - (*pSrc1 * *(pCoefA + 1));
-    outI = outI - (*pSrc2 * *(pCoefB + 1));
-    outI = outI - (*(pSrc2 + 1) * *(pCoefB));
-
-    /* update input pointers */
-    pSrc1 += 2u;
-    pSrc2 -= 2u;
-
-    /* write output */
-    *pDst1++ = (q15_t) outR;
-    *pDst1++ = (q15_t) (outI >> 15);
-
-    /* update coefficient pointer */
-    pCoefB = pCoefB + (2u * modifier);
-    pCoefA = pCoefA + (2u * modifier);
-
-    i--;
-
-  }
-
-#endif /* #ifndef ARM_MATH_CM0 */
-
-}
diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_q31.c b/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_q31.c
deleted file mode 100644
index afcb47041..000000000
--- a/apps/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_q31.c
+++ /dev/null
@@ -1,326 +0,0 @@
-/* ----------------------------------------------------------------------    
-* Copyright (C) 2010 ARM Limited. All rights reserved.    
-*    
-* $Date:        15. February 2012  
-* $Revision: 	V1.1.0  
-*    
-* Project: 	    CMSIS DSP Library    
-* Title:	    arm_rfft_q31.c    
-*    
-* Description:	RFFT & RIFFT Q31 process function    
-*    
-*    
-* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
-*  
-* Version 1.1.0 2012/02/15 
-*    Updated with more optimizations, bug fixes and minor API changes.  
-*   
-* Version 1.0.10 2011/7/15  
-*    Big Endian support added and Merged M0 and M3/M4 Source code.   
-*    
-* Version 1.0.3 2010/11/29   
-*    Re-organized the CMSIS folders and updated documentation.    
-*     
-* Version 1.0.2 2010/11/11    
-*    Documentation updated.     
-*    
-* Version 1.0.1 2010/10/05     
-*    Production release and review comments incorporated.    
-*    
-* Version 1.0.0 2010/09/20     
-*    Production release and review comments incorporated.    
-*    
-* Version 0.0.7  2010/06/10     
-*    Misra-C changes done    
-* -------------------------------------------------------------------- */
-
-#include "arm_math.h"
-
-/*--------------------------------------------------------------------    
-*		Internal functions prototypes    
---------------------------------------------------------------------*/
-
-void arm_split_rfft_q31(
-  q31_t * pSrc,
-  uint32_t fftLen,
-  q31_t * pATable,
-  q31_t * pBTable,
-  q31_t * pDst,
-  uint32_t modifier);
-
-void arm_split_rifft_q31(
-  q31_t * pSrc,
-  uint32_t fftLen,
-  q31_t * pATable,
-  q31_t * pBTable,
-  q31_t * pDst,
-  uint32_t modifier);
-
-/**    
- * @addtogroup RFFT_RIFFT    
- * @{    
- */
-
-/**    
- * @brief Processing function for the Q31 RFFT/RIFFT.   
- * @param[in]  *S    points to an instance of the Q31 RFFT/RIFFT structure.   
- * @param[in]  *pSrc points to the input buffer.   
- * @param[out] *pDst points to the output buffer.   
- * @return none.   
- *    
- * \par Input an output formats:   
- * \par    
- * Internally input is downscaled by 2 for every stage to avoid saturations inside CFFT/CIFFT process.   
- * Hence the output format is different for different RFFT sizes.    
- * The input and output formats for different RFFT sizes and number of bits to upscale are mentioned in the tables below for RFFT and RIFFT:   
- * \par    
- * \image html RFFTQ31.gif "Input and Output Formats for Q31 RFFT"    
- *    
- * \par    
- * \image html RIFFTQ31.gif "Input and Output Formats for Q31 RIFFT"    
- */
-
-void arm_rfft_q31(
-  const arm_rfft_instance_q31 * S,
-  q31_t * pSrc,
-  q31_t * pDst)
-{
-  const arm_cfft_radix4_instance_q31 *S_CFFT = S->pCfft;
-
-  /* Calculation of RIFFT of input */
-  if(S->ifftFlagR == 1u)
-  {
-    /*  Real IFFT core process */
-    arm_split_rifft_q31(pSrc, S->fftLenBy2, S->pTwiddleAReal,
-                        S->pTwiddleBReal, pDst, S->twidCoefRModifier);
-
-    /* Complex readix-4 IFFT process */
-    arm_radix4_butterfly_inverse_q31(pDst, S_CFFT->fftLen,
-                                     S_CFFT->pTwiddle,
-                                     S_CFFT->twidCoefModifier);
-    /* Bit reversal process */
-    if(S->bitReverseFlagR == 1u)
-    {
-      arm_bitreversal_q31(pDst, S_CFFT->fftLen,
-                          S_CFFT->bitRevFactor, S_CFFT->pBitRevTable);
-    }
-  }
-  else
-  {
-    /* Calculation of RFFT of input */
-
-    /* Complex readix-4 FFT process */
-    arm_radix4_butterfly_q31(pSrc, S_CFFT->fftLen,
-                             S_CFFT->pTwiddle, S_CFFT->twidCoefModifier);
-
-    /* Bit reversal process */
-    if(S->bitReverseFlagR == 1u)
-    {
-      arm_bitreversal_q31(pSrc, S_CFFT->fftLen,
-                          S_CFFT->bitRevFactor, S_CFFT->pBitRevTable);
-    }
-
-    /*  Real FFT core process */
-    arm_split_rfft_q31(pSrc, S->fftLenBy2, S->pTwiddleAReal,
-                       S->pTwiddleBReal, pDst, S->twidCoefRModifier);
-  }
-
-}
-
-
-  /**    
-   * @} end of RFFT_RIFFT group    
-   */
-
-/**    
- * @brief  Core Real FFT process    
- * @param[in]   *pSrc 				points to the input buffer.    
- * @param[in]   fftLen  			length of FFT.   
- * @param[in]   *pATable 			points to the twiddle Coef A buffer.    
- * @param[in]   *pBTable 			points to the twiddle Coef B buffer.    
- * @param[out]  *pDst 				points to the output buffer.    
- * @param[in]   modifier 	        twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.   
- * @return none.    
- */
-
-void arm_split_rfft_q31(
-  q31_t * pSrc,
-  uint32_t fftLen,
-  q31_t * pATable,
-  q31_t * pBTable,
-  q31_t * pDst,
-  uint32_t modifier)
-{
-  uint32_t i;                                    /* Loop Counter */
-  q31_t outR, outI;                              /* Temporary variables for output */
-  q31_t *pCoefA, *pCoefB;                        /* Temporary pointers for twiddle factors */
-  q31_t CoefA1, CoefA2, CoefB1;                  /* Temporary variables for twiddle coefficients */
-  q31_t *pOut1 = &pDst[2], *pOut2 = &pDst[(4u * fftLen) - 1u];
-  q31_t *pIn1 = &pSrc[2], *pIn2 = &pSrc[(2u * fftLen) - 1u];
-
-  /* Init coefficient pointers */
-  pCoefA = &pATable[modifier * 2u];
-  pCoefB = &pBTable[modifier * 2u];
-
-  i = fftLen - 1u;
-
-  while(i > 0u)
-  {
-    /*    
-       outR = (pSrc[2 * i] * pATable[2 * i] - pSrc[2 * i + 1] * pATable[2 * i + 1]    
-       + pSrc[2 * n - 2 * i] * pBTable[2 * i] +    
-       pSrc[2 * n - 2 * i + 1] * pBTable[2 * i + 1]);    
-     */
-
-    /* outI = (pIn[2 * i + 1] * pATable[2 * i] + pIn[2 * i] * pATable[2 * i + 1] +    
-       pIn[2 * n - 2 * i] * pBTable[2 * i + 1] -    
-       pIn[2 * n - 2 * i + 1] * pBTable[2 * i]); */
-
-    CoefA1 = *pCoefA++;
-    CoefA2 = *pCoefA;
-
-    /* outR = (pSrc[2 * i] * pATable[2 * i] */
-    outR = ((int32_t) (((q63_t) * pIn1 * CoefA1) >> 32));
-
-    /* outI = pIn[2 * i] * pATable[2 * i + 1] */
-    outI = ((int32_t) (((q63_t) * pIn1++ * CoefA2) >> 32));
-
-    /* - pSrc[2 * i + 1] * pATable[2 * i + 1] */
-    outR =
-      (q31_t) ((((q63_t) outR << 32) + ((q63_t) * pIn1 * (-CoefA2))) >> 32);
-
-    /* (pIn[2 * i + 1] * pATable[2 * i] */
-    outI =
-      (q31_t) ((((q63_t) outI << 32) + ((q63_t) * pIn1++ * (CoefA1))) >> 32);
-
-    /* pSrc[2 * n - 2 * i] * pBTable[2 * i]  */
-    outR =
-      (q31_t) ((((q63_t) outR << 32) + ((q63_t) * pIn2 * (-CoefA2))) >> 32);
-    CoefB1 = *pCoefB;
-
-    /* pIn[2 * n - 2 * i] * pBTable[2 * i + 1] */
-    outI =
-      (q31_t) ((((q63_t) outI << 32) + ((q63_t) * pIn2-- * (-CoefB1))) >> 32);
-
-    /* pSrc[2 * n - 2 * i + 1] * pBTable[2 * i + 1] */
-    outR =
-      (q31_t) ((((q63_t) outR << 32) + ((q63_t) * pIn2 * (CoefB1))) >> 32);
-
-    /* pIn[2 * n - 2 * i + 1] * pBTable[2 * i] */
-    outI =
-      (q31_t) ((((q63_t) outI << 32) + ((q63_t) * pIn2-- * (-CoefA2))) >> 32);
-
-    /* write output */
-    *pOut1++ = (outR << 1u);
-    *pOut1++ = (outI << 1u);
-
-    /* write complex conjugate output */
-    *pOut2-- = -(outI << 1u);
-    *pOut2-- = (outR << 1u);
-
-    /* update coefficient pointer */
-    pCoefB = pCoefB + (modifier * 2u);
-    pCoefA = pCoefA + ((modifier * 2u) - 1u);
-
-    i--;
-
-  }
-
-  pDst[2u * fftLen] = pSrc[0] - pSrc[1];
-  pDst[(2u * fftLen) + 1u] = 0;
-
-  pDst[0] = pSrc[0] + pSrc[1];
-  pDst[1] = 0;
-
-}
-
-
-/**    
- * @brief  Core Real IFFT process    
- * @param[in]   *pSrc 				points to the input buffer.   
- * @param[in]   fftLen  			length of FFT.    
- * @param[in]   *pATable 			points to the twiddle Coef A buffer.   
- * @param[in]   *pBTable 			points to the twiddle Coef B buffer.    
- * @param[out]  *pDst 				points to the output buffer.   
- * @param[in]   modifier 	        twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.   
- * @return none.    
- */
-
-void arm_split_rifft_q31(
-  q31_t * pSrc,
-  uint32_t fftLen,
-  q31_t * pATable,
-  q31_t * pBTable,
-  q31_t * pDst,
-  uint32_t modifier)
-{
-  q31_t outR, outI;                              /* Temporary variables for output */
-  q31_t *pCoefA, *pCoefB;                        /* Temporary pointers for twiddle factors */
-  q31_t CoefA1, CoefA2, CoefB1;                  /* Temporary variables for twiddle coefficients */
-  q31_t *pIn1 = &pSrc[0], *pIn2 = &pSrc[(2u * fftLen) + 1u];
-
-  pCoefA = &pATable[0];
-  pCoefB = &pBTable[0];
-
-  while(fftLen > 0u)
-  {
-    /*    
-       outR = (pIn[2 * i] * pATable[2 * i] + pIn[2 * i + 1] * pATable[2 * i + 1] +    
-       pIn[2 * n - 2 * i] * pBTable[2 * i] -    
-       pIn[2 * n - 2 * i + 1] * pBTable[2 * i + 1]);    
-
-       outI = (pIn[2 * i + 1] * pATable[2 * i] - pIn[2 * i] * pATable[2 * i + 1] -    
-       pIn[2 * n - 2 * i] * pBTable[2 * i + 1] -    
-       pIn[2 * n - 2 * i + 1] * pBTable[2 * i]);    
-
-     */
-    CoefA1 = *pCoefA++;
-    CoefA2 = *pCoefA;
-
-    /* outR = (pIn[2 * i] * pATable[2 * i] */
-    outR = ((int32_t) (((q63_t) * pIn1 * CoefA1) >> 32));
-
-    /* - pIn[2 * i] * pATable[2 * i + 1] */
-    outI = -((int32_t) (((q63_t) * pIn1++ * CoefA2) >> 32));
-
-    /* pIn[2 * i + 1] * pATable[2 * i + 1] */
-    outR =
-      (q31_t) ((((q63_t) outR << 32) + ((q63_t) * pIn1 * (CoefA2))) >> 32);
-
-    /* pIn[2 * i + 1] * pATable[2 * i] */
-    outI =
-      (q31_t) ((((q63_t) outI << 32) + ((q63_t) * pIn1++ * (CoefA1))) >> 32);
-
-    /* pIn[2 * n - 2 * i] * pBTable[2 * i] */
-    outR =
-      (q31_t) ((((q63_t) outR << 32) + ((q63_t) * pIn2 * (CoefA2))) >> 32);
-
-    CoefB1 = *pCoefB;
-
-    /* pIn[2 * n - 2 * i] * pBTable[2 * i + 1] */
-    outI =
-      (q31_t) ((((q63_t) outI << 32) - ((q63_t) * pIn2-- * (CoefB1))) >> 32);
-
-    /* pIn[2 * n - 2 * i + 1] * pBTable[2 * i + 1] */
-    outR =
-      (q31_t) ((((q63_t) outR << 32) + ((q63_t) * pIn2 * (CoefB1))) >> 32);
-
-    /* pIn[2 * n - 2 * i + 1] * pBTable[2 * i] */
-    outI =
-      (q31_t) ((((q63_t) outI << 32) + ((q63_t) * pIn2-- * (CoefA2))) >> 32);
-
-    /* write output */
-    *pDst++ = (outR << 1u);
-    *pDst++ = (outI << 1u);
-
-    /* update coefficient pointer */
-    pCoefB = pCoefB + (modifier * 2u);
-    pCoefA = pCoefA + ((modifier * 2u) - 1u);
-
-    /* Decrement loop count */
-    fftLen--;
-
-  }
-
-
-}
diff --git a/apps/mathlib/CMSIS/Device/ARM/ARMCM3/Include/ARMCM3.h b/apps/mathlib/CMSIS/Device/ARM/ARMCM3/Include/ARMCM3.h
deleted file mode 100644
index 8f39acd9d..000000000
--- a/apps/mathlib/CMSIS/Device/ARM/ARMCM3/Include/ARMCM3.h
+++ /dev/null
@@ -1,264 +0,0 @@
-/**************************************************************************//**
- * @file     ARMCM3.h
- * @brief    CMSIS Core Peripheral Access Layer Header File for
- *           ARMCM3 Device Series
- * @version  V1.07
- * @date     30. January 2012
- *
- * @note
- * Copyright (C) 2012 ARM Limited. All rights reserved.
- *
- * @par
- * ARM Limited (ARM) is supplying this software for use with Cortex-M 
- * processor based microcontrollers.  This file can be freely distributed 
- * within development tools that are supporting such ARM based processors. 
- *
- * @par
- * THIS SOFTWARE IS PROVIDED "AS IS".  NO WARRANTIES, WHETHER EXPRESS, IMPLIED
- * OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
- * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
- * ARM SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR
- * CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
- *
- ******************************************************************************/
-
-#ifndef ARMCM3_H
-#define ARMCM3_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-/* -------------------------  Interrupt Number Definition  ------------------------ */
-
-typedef enum IRQn
-{
-/* -------------------  Cortex-M3 Processor Exceptions Numbers  ------------------- */
-  NonMaskableInt_IRQn           = -14,      /*!<  2 Non Maskable Interrupt          */
-  HardFault_IRQn                = -13,      /*!<  3 HardFault Interrupt             */
-  MemoryManagement_IRQn         = -12,      /*!<  4 Memory Management Interrupt     */
-  BusFault_IRQn                 = -11,      /*!<  5 Bus Fault Interrupt             */
-  UsageFault_IRQn               = -10,      /*!<  6 Usage Fault Interrupt           */
-  SVCall_IRQn                   =  -5,      /*!< 11 SV Call Interrupt               */
-  DebugMonitor_IRQn             =  -4,      /*!< 12 Debug Monitor Interrupt         */
-  PendSV_IRQn                   =  -2,      /*!< 14 Pend SV Interrupt               */
-  SysTick_IRQn                  =  -1,      /*!< 15 System Tick Interrupt           */
-
-/* ----------------------  ARMCM3 Specific Interrupt Numbers  --------------------- */
-  WDT_IRQn                      =   0,      /*!< Watchdog Timer Interrupt           */
-  RTC_IRQn                      =   1,      /*!< Real Time Clock Interrupt          */
-  TIM0_IRQn                     =   2,      /*!< Timer0 / Timer1 Interrupt          */
-  TIM2_IRQn                     =   3,      /*!< Timer2 / Timer3 Interrupt          */
-  MCIA_IRQn                     =   4,      /*!< MCIa Interrupt                     */
-  MCIB_IRQn                     =   5,      /*!< MCIb Interrupt                     */
-  UART0_IRQn                    =   6,      /*!< UART0 Interrupt                    */
-  UART1_IRQn                    =   7,      /*!< UART1 Interrupt                    */
-  UART2_IRQn                    =   8,      /*!< UART2 Interrupt                    */
-  UART4_IRQn                    =   9,      /*!< UART4 Interrupt                    */
-  AACI_IRQn                     =  10,      /*!< AACI / AC97 Interrupt              */
-  CLCD_IRQn                     =  11,      /*!< CLCD Combined Interrupt            */
-  ENET_IRQn                     =  12,      /*!< Ethernet Interrupt                 */
-  USBDC_IRQn                    =  13,      /*!< USB Device Interrupt               */
-  USBHC_IRQn                    =  14,      /*!< USB Host Controller Interrupt      */
-  CHLCD_IRQn                    =  15,      /*!< Character LCD Interrupt            */
-  FLEXRAY_IRQn                  =  16,      /*!< Flexray Interrupt                  */
-  CAN_IRQn                      =  17,      /*!< CAN Interrupt                      */
-  LIN_IRQn                      =  18,      /*!< LIN Interrupt                      */
-  I2C_IRQn                      =  19,      /*!< I2C ADC/DAC Interrupt              */
-  CPU_CLCD_IRQn                 =  28,      /*!< CPU CLCD Combined Interrupt        */
-  UART3_IRQn                    =  30,      /*!< UART3 Interrupt                    */
-  SPI_IRQn                      =  31,      /*!< SPI Touchscreen Interrupt          */
-} IRQn_Type;
-
-
-/* ================================================================================ */
-/* ================      Processor and Core Peripheral Section     ================ */
-/* ================================================================================ */
-
-/* --------  Configuration of the Cortex-M4 Processor and Core Peripherals  ------- */
-#define __CM3_REV                 0x0201    /*!< Core revision r2p1                              */
-#define __MPU_PRESENT             1         /*!< MPU present or not                              */
-#define __NVIC_PRIO_BITS          3         /*!< Number of Bits used for Priority Levels         */
-#define __Vendor_SysTickConfig    0         /*!< Set to 1 if different SysTick Config is used    */
-
-#include                        /* Processor and core peripherals                    */
-/* NuttX */
-//#include "system_ARMCM3.h"                  /* System Header                                     */
-
-
-/* ================================================================================ */
-/* ================       Device Specific Peripheral Section       ================ */
-/* ================================================================================ */
-
-/* -------------------  Start of section using anonymous unions  ------------------ */
-#if defined(__CC_ARM)
-  #pragma push
-  #pragma anon_unions
-#elif defined(__ICCARM__)
-  #pragma language=extended
-#elif defined(__GNUC__)
-  /* anonymous unions are enabled by default */
-#elif defined(__TMS470__)
-/* anonymous unions are enabled by default */
-#elif defined(__TASKING__)
-  #pragma warning 586
-#else
-  #warning Not supported compiler type
-#endif
-
-
-
-/* ================================================================================ */
-/* ================            CPU FPGA System (CPU_SYS)           ================ */
-/* ================================================================================ */
-typedef struct
-{
-  __I  uint32_t ID;               /* Offset: 0x000 (R/ )  Board and FPGA Identifier */
-  __IO uint32_t MEMCFG;           /* Offset: 0x004 (R/W)  Remap and Alias Memory Control */
-  __I  uint32_t SW;               /* Offset: 0x008 (R/ )  Switch States */
-  __IO uint32_t LED;              /* Offset: 0x00C (R/W)  LED Output States */
-  __I  uint32_t TS;               /* Offset: 0x010 (R/ )  Touchscreen Register */
-  __IO uint32_t CTRL1;            /* Offset: 0x014 (R/W)  Misc Control Functions */
-       uint32_t RESERVED0[2];
-  __IO uint32_t CLKCFG;           /* Offset: 0x020 (R/W)  System Clock Configuration */
-  __IO uint32_t WSCFG;            /* Offset: 0x024 (R/W)  Flash Waitstate Configuration */
-  __IO uint32_t CPUCFG;           /* Offset: 0x028 (R/W)  Processor Configuration */
-       uint32_t RESERVED1[3];
-  __IO uint32_t BASE;             /* Offset: 0x038 (R/W)  ROM Table base Address */
-  __IO uint32_t ID2;              /* Offset: 0x03C (R/W)  Secondary Identification Register */
-} ARM_CPU_SYS_TypeDef;
-
-
-/* ================================================================================ */
-/* ================            DUT FPGA System (DUT_SYS)           ================ */
-/* ================================================================================ */
-typedef struct
-{
-  __I  uint32_t ID;               /* Offset: 0x000 (R/ )  Board and FPGA Identifier */
-  __IO uint32_t PERCFG;           /* Offset: 0x004 (R/W)  Peripheral Control Signals */
-  __I  uint32_t SW;               /* Offset: 0x008 (R/ )  Switch States */
-  __IO uint32_t LED;              /* Offset: 0x00C (R/W)  LED Output States */
-  __IO uint32_t SEG7;             /* Offset: 0x010 (R/W)  7-segment LED Output States */
-  __I  uint32_t CNT25MHz;         /* Offset: 0x014 (R/ )  Freerunning counter incrementing at 25MHz */
-  __I  uint32_t CNT100Hz;         /* Offset: 0x018 (R/ )  Freerunning counter incrementing at 100Hz */
-} ARM_DUT_SYS_TypeDef;
-
-
-/* ================================================================================ */
-/* ================                   Timer (TIM)                  ================ */
-/* ================================================================================ */
-typedef struct
-{
-  __IO uint32_t Timer1Load;       /* Offset: 0x000 (R/W)  Timer 1 Load */
-  __I  uint32_t Timer1Value;      /* Offset: 0x004 (R/ )  Timer 1 Counter Current Value */
-  __IO uint32_t Timer1Control;    /* Offset: 0x008 (R/W)  Timer 1 Control */
-  __O  uint32_t Timer1IntClr;     /* Offset: 0x00C ( /W)  Timer 1 Interrupt Clear */
-  __I  uint32_t Timer1RIS;        /* Offset: 0x010 (R/ )  Timer 1 Raw Interrupt Status */
-  __I  uint32_t Timer1MIS;        /* Offset: 0x014 (R/ )  Timer 1 Masked Interrupt Status */
-  __IO uint32_t Timer1BGLoad;     /* Offset: 0x018 (R/W)  Background Load Register */
-       uint32_t RESERVED0[1];
-  __IO uint32_t Timer2Load;       /* Offset: 0x020 (R/W)  Timer 2 Load */
-  __I  uint32_t Timer2Value;      /* Offset: 0x024 (R/ )  Timer 2 Counter Current Value */
-  __IO uint32_t Timer2Control;    /* Offset: 0x028 (R/W)  Timer 2 Control */
-  __O  uint32_t Timer2IntClr;     /* Offset: 0x02C ( /W)  Timer 2 Interrupt Clear */
-  __I  uint32_t Timer2RIS;        /* Offset: 0x030 (R/ )  Timer 2 Raw Interrupt Status */
-  __I  uint32_t Timer2MIS;        /* Offset: 0x034 (R/ )  Timer 2 Masked Interrupt Status */
-  __IO uint32_t Timer2BGLoad;     /* Offset: 0x038 (R/W)  Background Load Register */
-} ARM_TIM_TypeDef;
-
-
-/* ================================================================================ */
-/* ============== Universal Asyncronous Receiver / Transmitter (UART) ============= */
-/* ================================================================================ */
-typedef struct
-{
-  __IO uint32_t DR;               /* Offset: 0x000 (R/W)  Data */ 
-  union {
-  __I  uint32_t RSR;              /* Offset: 0x000 (R/ )  Receive Status */
-  __O  uint32_t ECR;              /* Offset: 0x000 ( /W)  Error Clear */
-  };
-       uint32_t RESERVED0[4];
-  __IO uint32_t FR;               /* Offset: 0x018 (R/W)  Flags */
-       uint32_t RESERVED1[1];
-  __IO uint32_t ILPR;             /* Offset: 0x020 (R/W)  IrDA Low-power Counter */
-  __IO uint32_t IBRD;             /* Offset: 0x024 (R/W)  Interger Baud Rate */
-  __IO uint32_t FBRD;             /* Offset: 0x028 (R/W)  Fractional Baud Rate */
-  __IO uint32_t LCR_H;            /* Offset: 0x02C (R/W)  Line Control */
-  __IO uint32_t CR;               /* Offset: 0x030 (R/W)  Control */
-  __IO uint32_t IFLS;             /* Offset: 0x034 (R/W)  Interrupt FIFO Level Select */
-  __IO uint32_t IMSC;             /* Offset: 0x038 (R/W)  Interrupt Mask Set / Clear */
-  __IO uint32_t RIS;              /* Offset: 0x03C (R/W)  Raw Interrupt Status */
-  __IO uint32_t MIS;              /* Offset: 0x040 (R/W)  Masked Interrupt Status */
-  __O  uint32_t ICR;              /* Offset: 0x044 ( /W)  Interrupt Clear */
-  __IO uint32_t DMACR;            /* Offset: 0x048 (R/W)  DMA Control */
-} ARM_UART_TypeDef;
-
-
-/* --------------------  End of section using anonymous unions  ------------------- */
-#if defined(__CC_ARM)
-  #pragma pop
-#elif defined(__ICCARM__)
-  /* leave anonymous unions enabled */
-#elif defined(__GNUC__)
-  /* anonymous unions are enabled by default */
-#elif defined(__TMS470__)
-  /* anonymous unions are enabled by default */
-#elif defined(__TASKING__)
-  #pragma warning restore
-#else
-  #warning Not supported compiler type
-#endif
-
-
-
-
-/* ================================================================================ */
-/* ================              Peripheral memory map             ================ */
-/* ================================================================================ */
-/* --------------------------  CPU FPGA memory map  ------------------------------- */
-#define ARM_FLASH_BASE            (0x00000000UL)
-#define ARM_RAM_BASE              (0x20000000UL)
-#define ARM_RAM_FPGA_BASE         (0x1EFF0000UL)
-#define ARM_CPU_CFG_BASE          (0xDFFF0000UL)
-
-#define ARM_CPU_SYS_BASE          (ARM_CPU_CFG_BASE  + 0x00000)
-#define ARM_UART3_BASE            (ARM_CPU_CFG_BASE  + 0x05000)
-
-/* --------------------------  DUT FPGA memory map  ------------------------------- */
-#define ARM_APB_BASE              (0x40000000UL)
-#define ARM_AHB_BASE              (0x4FF00000UL)
-#define ARM_DMC_BASE              (0x60000000UL)
-#define ARM_SMC_BASE              (0xA0000000UL)
-
-#define ARM_TIM0_BASE             (ARM_APB_BASE      + 0x02000)
-#define ARM_TIM2_BASE             (ARM_APB_BASE      + 0x03000)
-#define ARM_DUT_SYS_BASE          (ARM_APB_BASE      + 0x04000)
-#define ARM_UART0_BASE            (ARM_APB_BASE      + 0x06000)
-#define ARM_UART1_BASE            (ARM_APB_BASE      + 0x07000)
-#define ARM_UART2_BASE            (ARM_APB_BASE      + 0x08000)
-#define ARM_UART4_BASE            (ARM_APB_BASE      + 0x09000)
-
-
-/* ================================================================================ */
-/* ================             Peripheral declaration             ================ */
-/* ================================================================================ */
-/* --------------------------  CPU FPGA Peripherals  ------------------------------ */
-#define ARM_CPU_SYS               ((ARM_CPU_SYS_TypeDef *)  ARM_CPU_SYS_BASE)
-#define ARM_UART3                 ((   ARM_UART_TypeDef *)    ARM_UART3_BASE)
-
-/* --------------------------  DUT FPGA Peripherals  ------------------------------ */
-#define ARM_DUT_SYS               ((ARM_DUT_SYS_TypeDef *)  ARM_DUT_SYS_BASE)
-#define ARM_TIM0                  ((    ARM_TIM_TypeDef *)     ARM_TIM0_BASE)
-#define ARM_TIM2                  ((    ARM_TIM_TypeDef *)     ARM_TIM2_BASE)
-#define ARM_UART0                 ((   ARM_UART_TypeDef *)    ARM_UART0_BASE)
-#define ARM_UART1                 ((   ARM_UART_TypeDef *)    ARM_UART1_BASE)
-#define ARM_UART2                 ((   ARM_UART_TypeDef *)    ARM_UART2_BASE)
-#define ARM_UART4                 ((   ARM_UART_TypeDef *)    ARM_UART4_BASE)
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  /* ARMCM3_H */
diff --git a/apps/mathlib/CMSIS/Device/ARM/ARMCM4/Include/ARMCM4.h b/apps/mathlib/CMSIS/Device/ARM/ARMCM4/Include/ARMCM4.h
deleted file mode 100644
index 181b7e433..000000000
--- a/apps/mathlib/CMSIS/Device/ARM/ARMCM4/Include/ARMCM4.h
+++ /dev/null
@@ -1,265 +0,0 @@
-/**************************************************************************//**
- * @file     ARMCM4.h
- * @brief    CMSIS Core Peripheral Access Layer Header File for
- *           ARMCM4 Device Series
- * @version  V1.07
- * @date     30. January 2012
- *
- * @note
- * Copyright (C) 2012 ARM Limited. All rights reserved.
- *
- * @par
- * ARM Limited (ARM) is supplying this software for use with Cortex-M 
- * processor based microcontrollers.  This file can be freely distributed 
- * within development tools that are supporting such ARM based processors. 
- *
- * @par
- * THIS SOFTWARE IS PROVIDED "AS IS".  NO WARRANTIES, WHETHER EXPRESS, IMPLIED
- * OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
- * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
- * ARM SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR
- * CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
- *
- ******************************************************************************/
-
-#ifndef ARMCM4_H
-#define ARMCM4_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-/* -------------------------  Interrupt Number Definition  ------------------------ */
-
-typedef enum IRQn
-{
-/* -------------------  Cortex-M4 Processor Exceptions Numbers  ------------------- */
-  NonMaskableInt_IRQn           = -14,      /*!<  2 Non Maskable Interrupt          */
-  HardFault_IRQn                = -13,      /*!<  3 HardFault Interrupt             */
-  MemoryManagement_IRQn         = -12,      /*!<  4 Memory Management Interrupt     */
-  BusFault_IRQn                 = -11,      /*!<  5 Bus Fault Interrupt             */
-  UsageFault_IRQn               = -10,      /*!<  6 Usage Fault Interrupt           */
-  SVCall_IRQn                   =  -5,      /*!< 11 SV Call Interrupt               */
-  DebugMonitor_IRQn             =  -4,      /*!< 12 Debug Monitor Interrupt         */
-  PendSV_IRQn                   =  -2,      /*!< 14 Pend SV Interrupt               */
-  SysTick_IRQn                  =  -1,      /*!< 15 System Tick Interrupt           */
-
-/* ----------------------  ARMCM4 Specific Interrupt Numbers  --------------------- */
-  WDT_IRQn                      =   0,      /*!< Watchdog Timer Interrupt           */
-  RTC_IRQn                      =   1,      /*!< Real Time Clock Interrupt          */
-  TIM0_IRQn                     =   2,      /*!< Timer0 / Timer1 Interrupt          */
-  TIM2_IRQn                     =   3,      /*!< Timer2 / Timer3 Interrupt          */
-  MCIA_IRQn                     =   4,      /*!< MCIa Interrupt                     */
-  MCIB_IRQn                     =   5,      /*!< MCIb Interrupt                     */
-  UART0_IRQn                    =   6,      /*!< UART0 Interrupt                    */
-  UART1_IRQn                    =   7,      /*!< UART1 Interrupt                    */
-  UART2_IRQn                    =   8,      /*!< UART2 Interrupt                    */
-  UART4_IRQn                    =   9,      /*!< UART4 Interrupt                    */
-  AACI_IRQn                     =  10,      /*!< AACI / AC97 Interrupt              */
-  CLCD_IRQn                     =  11,      /*!< CLCD Combined Interrupt            */
-  ENET_IRQn                     =  12,      /*!< Ethernet Interrupt                 */
-  USBDC_IRQn                    =  13,      /*!< USB Device Interrupt               */
-  USBHC_IRQn                    =  14,      /*!< USB Host Controller Interrupt      */
-  CHLCD_IRQn                    =  15,      /*!< Character LCD Interrupt            */
-  FLEXRAY_IRQn                  =  16,      /*!< Flexray Interrupt                  */
-  CAN_IRQn                      =  17,      /*!< CAN Interrupt                      */
-  LIN_IRQn                      =  18,      /*!< LIN Interrupt                      */
-  I2C_IRQn                      =  19,      /*!< I2C ADC/DAC Interrupt              */
-  CPU_CLCD_IRQn                 =  28,      /*!< CPU CLCD Combined Interrupt        */
-  UART3_IRQn                    =  30,      /*!< UART3 Interrupt                    */
-  SPI_IRQn                      =  31,      /*!< SPI Touchscreen Interrupt          */
-} IRQn_Type;
-
-
-/* ================================================================================ */
-/* ================      Processor and Core Peripheral Section     ================ */
-/* ================================================================================ */
-
-/* --------  Configuration of the Cortex-M4 Processor and Core Peripherals  ------- */
-#define __CM4_REV                 0x0001    /*!< Core revision r0p1                              */
-#define __MPU_PRESENT             1         /*!< MPU present or not                              */
-#define __NVIC_PRIO_BITS          3         /*!< Number of Bits used for Priority Levels         */
-#define __Vendor_SysTickConfig    0         /*!< Set to 1 if different SysTick Config is used    */
-#define __FPU_PRESENT             1         /*!< FPU present or not                              */
-
-#include                        /* Processor and core peripherals                    */
-/* NuttX */
-//#include "system_ARMCM4.h"                  /* System Header                                     */
-
-
-/* ================================================================================ */
-/* ================       Device Specific Peripheral Section       ================ */
-/* ================================================================================ */
-
-/* -------------------  Start of section using anonymous unions  ------------------ */
-#if defined(__CC_ARM)
-  #pragma push
-  #pragma anon_unions
-#elif defined(__ICCARM__)
-  #pragma language=extended
-#elif defined(__GNUC__)
-  /* anonymous unions are enabled by default */
-#elif defined(__TMS470__)
-/* anonymous unions are enabled by default */
-#elif defined(__TASKING__)
-  #pragma warning 586
-#else
-  #warning Not supported compiler type
-#endif
-
-
-
-/* ================================================================================ */
-/* ================            CPU FPGA System (CPU_SYS)           ================ */
-/* ================================================================================ */
-typedef struct
-{
-  __I  uint32_t ID;               /* Offset: 0x000 (R/ )  Board and FPGA Identifier */
-  __IO uint32_t MEMCFG;           /* Offset: 0x004 (R/W)  Remap and Alias Memory Control */
-  __I  uint32_t SW;               /* Offset: 0x008 (R/ )  Switch States */
-  __IO uint32_t LED;              /* Offset: 0x00C (R/W)  LED Output States */
-  __I  uint32_t TS;               /* Offset: 0x010 (R/ )  Touchscreen Register */
-  __IO uint32_t CTRL1;            /* Offset: 0x014 (R/W)  Misc Control Functions */
-       uint32_t RESERVED0[2];
-  __IO uint32_t CLKCFG;           /* Offset: 0x020 (R/W)  System Clock Configuration */
-  __IO uint32_t WSCFG;            /* Offset: 0x024 (R/W)  Flash Waitstate Configuration */
-  __IO uint32_t CPUCFG;           /* Offset: 0x028 (R/W)  Processor Configuration */
-       uint32_t RESERVED1[3];
-  __IO uint32_t BASE;             /* Offset: 0x038 (R/W)  ROM Table base Address */
-  __IO uint32_t ID2;              /* Offset: 0x03C (R/W)  Secondary Identification Register */
-} ARM_CPU_SYS_TypeDef;
-
-
-/* ================================================================================ */
-/* ================            DUT FPGA System (DUT_SYS)           ================ */
-/* ================================================================================ */
-typedef struct
-{
-  __I  uint32_t ID;               /* Offset: 0x000 (R/ )  Board and FPGA Identifier */
-  __IO uint32_t PERCFG;           /* Offset: 0x004 (R/W)  Peripheral Control Signals */
-  __I  uint32_t SW;               /* Offset: 0x008 (R/ )  Switch States */
-  __IO uint32_t LED;              /* Offset: 0x00C (R/W)  LED Output States */
-  __IO uint32_t SEG7;             /* Offset: 0x010 (R/W)  7-segment LED Output States */
-  __I  uint32_t CNT25MHz;         /* Offset: 0x014 (R/ )  Freerunning counter incrementing at 25MHz */
-  __I  uint32_t CNT100Hz;         /* Offset: 0x018 (R/ )  Freerunning counter incrementing at 100Hz */
-} ARM_DUT_SYS_TypeDef;
-
-
-/* ================================================================================ */
-/* ================                   Timer (TIM)                  ================ */
-/* ================================================================================ */
-typedef struct
-{
-  __IO uint32_t Timer1Load;       /* Offset: 0x000 (R/W)  Timer 1 Load */
-  __I  uint32_t Timer1Value;      /* Offset: 0x004 (R/ )  Timer 1 Counter Current Value */
-  __IO uint32_t Timer1Control;    /* Offset: 0x008 (R/W)  Timer 1 Control */
-  __O  uint32_t Timer1IntClr;     /* Offset: 0x00C ( /W)  Timer 1 Interrupt Clear */
-  __I  uint32_t Timer1RIS;        /* Offset: 0x010 (R/ )  Timer 1 Raw Interrupt Status */
-  __I  uint32_t Timer1MIS;        /* Offset: 0x014 (R/ )  Timer 1 Masked Interrupt Status */
-  __IO uint32_t Timer1BGLoad;     /* Offset: 0x018 (R/W)  Background Load Register */
-       uint32_t RESERVED0[1];
-  __IO uint32_t Timer2Load;       /* Offset: 0x020 (R/W)  Timer 2 Load */
-  __I  uint32_t Timer2Value;      /* Offset: 0x024 (R/ )  Timer 2 Counter Current Value */
-  __IO uint32_t Timer2Control;    /* Offset: 0x028 (R/W)  Timer 2 Control */
-  __O  uint32_t Timer2IntClr;     /* Offset: 0x02C ( /W)  Timer 2 Interrupt Clear */
-  __I  uint32_t Timer2RIS;        /* Offset: 0x030 (R/ )  Timer 2 Raw Interrupt Status */
-  __I  uint32_t Timer2MIS;        /* Offset: 0x034 (R/ )  Timer 2 Masked Interrupt Status */
-  __IO uint32_t Timer2BGLoad;     /* Offset: 0x038 (R/W)  Background Load Register */
-} ARM_TIM_TypeDef;
-
-
-/* ================================================================================ */
-/* ============== Universal Asyncronous Receiver / Transmitter (UART) ============= */
-/* ================================================================================ */
-typedef struct
-{
-  __IO uint32_t DR;               /* Offset: 0x000 (R/W)  Data */ 
-  union {
-  __I  uint32_t RSR;              /* Offset: 0x000 (R/ )  Receive Status */
-  __O  uint32_t ECR;              /* Offset: 0x000 ( /W)  Error Clear */
-  };
-       uint32_t RESERVED0[4];
-  __IO uint32_t FR;               /* Offset: 0x018 (R/W)  Flags */
-       uint32_t RESERVED1[1];
-  __IO uint32_t ILPR;             /* Offset: 0x020 (R/W)  IrDA Low-power Counter */
-  __IO uint32_t IBRD;             /* Offset: 0x024 (R/W)  Interger Baud Rate */
-  __IO uint32_t FBRD;             /* Offset: 0x028 (R/W)  Fractional Baud Rate */
-  __IO uint32_t LCR_H;            /* Offset: 0x02C (R/W)  Line Control */
-  __IO uint32_t CR;               /* Offset: 0x030 (R/W)  Control */
-  __IO uint32_t IFLS;             /* Offset: 0x034 (R/W)  Interrupt FIFO Level Select */
-  __IO uint32_t IMSC;             /* Offset: 0x038 (R/W)  Interrupt Mask Set / Clear */
-  __IO uint32_t RIS;              /* Offset: 0x03C (R/W)  Raw Interrupt Status */
-  __IO uint32_t MIS;              /* Offset: 0x040 (R/W)  Masked Interrupt Status */
-  __O  uint32_t ICR;              /* Offset: 0x044 ( /W)  Interrupt Clear */
-  __IO uint32_t DMACR;            /* Offset: 0x048 (R/W)  DMA Control */
-} ARM_UART_TypeDef;
-
-
-/* --------------------  End of section using anonymous unions  ------------------- */
-#if defined(__CC_ARM)
-  #pragma pop
-#elif defined(__ICCARM__)
-  /* leave anonymous unions enabled */
-#elif defined(__GNUC__)
-  /* anonymous unions are enabled by default */
-#elif defined(__TMS470__)
-  /* anonymous unions are enabled by default */
-#elif defined(__TASKING__)
-  #pragma warning restore
-#else
-  #warning Not supported compiler type
-#endif
-
-
-
-
-/* ================================================================================ */
-/* ================              Peripheral memory map             ================ */
-/* ================================================================================ */
-/* --------------------------  CPU FPGA memory map  ------------------------------- */
-#define ARM_FLASH_BASE            (0x00000000UL)
-#define ARM_RAM_BASE              (0x20000000UL)
-#define ARM_RAM_FPGA_BASE         (0x1EFF0000UL)
-#define ARM_CPU_CFG_BASE          (0xDFFF0000UL)
-
-#define ARM_CPU_SYS_BASE          (ARM_CPU_CFG_BASE  + 0x00000)
-#define ARM_UART3_BASE            (ARM_CPU_CFG_BASE  + 0x05000)
-
-/* --------------------------  DUT FPGA memory map  ------------------------------- */
-#define ARM_APB_BASE              (0x40000000UL)
-#define ARM_AHB_BASE              (0x4FF00000UL)
-#define ARM_DMC_BASE              (0x60000000UL)
-#define ARM_SMC_BASE              (0xA0000000UL)
-
-#define ARM_TIM0_BASE             (ARM_APB_BASE      + 0x02000)
-#define ARM_TIM2_BASE             (ARM_APB_BASE      + 0x03000)
-#define ARM_DUT_SYS_BASE          (ARM_APB_BASE      + 0x04000)
-#define ARM_UART0_BASE            (ARM_APB_BASE      + 0x06000)
-#define ARM_UART1_BASE            (ARM_APB_BASE      + 0x07000)
-#define ARM_UART2_BASE            (ARM_APB_BASE      + 0x08000)
-#define ARM_UART4_BASE            (ARM_APB_BASE      + 0x09000)
-
-
-/* ================================================================================ */
-/* ================             Peripheral declaration             ================ */
-/* ================================================================================ */
-/* --------------------------  CPU FPGA Peripherals  ------------------------------ */
-#define ARM_CPU_SYS               ((ARM_CPU_SYS_TypeDef *)  ARM_CPU_SYS_BASE)
-#define ARM_UART3                 ((   ARM_UART_TypeDef *)    ARM_UART3_BASE)
-
-/* --------------------------  DUT FPGA Peripherals  ------------------------------ */
-#define ARM_DUT_SYS               ((ARM_DUT_SYS_TypeDef *)  ARM_DUT_SYS_BASE)
-#define ARM_TIM0                  ((    ARM_TIM_TypeDef *)     ARM_TIM0_BASE)
-#define ARM_TIM2                  ((    ARM_TIM_TypeDef *)     ARM_TIM2_BASE)
-#define ARM_UART0                 ((   ARM_UART_TypeDef *)    ARM_UART0_BASE)
-#define ARM_UART1                 ((   ARM_UART_TypeDef *)    ARM_UART1_BASE)
-#define ARM_UART2                 ((   ARM_UART_TypeDef *)    ARM_UART2_BASE)
-#define ARM_UART4                 ((   ARM_UART_TypeDef *)    ARM_UART4_BASE)
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  /* ARMCM4_H */
diff --git a/apps/mathlib/CMSIS/Include/arm_common_tables.h b/apps/mathlib/CMSIS/Include/arm_common_tables.h
deleted file mode 100644
index 5fd6ff4af..000000000
--- a/apps/mathlib/CMSIS/Include/arm_common_tables.h
+++ /dev/null
@@ -1,38 +0,0 @@
-/* ---------------------------------------------------------------------- 
-* Copyright (C) 2010 ARM Limited. All rights reserved. 
-* 
-* $Date:        11. November 2010  
-* $Revision: 	V1.0.2  
-* 
-* Project: 	    CMSIS DSP Library 
-* Title:	    arm_common_tables.h 
-* 
-* Description:	This file has extern declaration for common tables like Bitreverse, reciprocal etc which are used across different functions 
-* 
-* Target Processor: Cortex-M4/Cortex-M3
-*  
-* Version 1.0.2 2010/11/11 
-*    Documentation updated.  
-* 
-* Version 1.0.1 2010/10/05  
-*    Production release and review comments incorporated. 
-* 
-* Version 1.0.0 2010/09/20  
-*    Production release and review comments incorporated. 
-* -------------------------------------------------------------------- */
-
-#ifndef _ARM_COMMON_TABLES_H
-#define _ARM_COMMON_TABLES_H
-
-#include "arm_math.h"
-
-extern const uint16_t armBitRevTable[1024];
-extern const q15_t armRecipTableQ15[64];
-extern const q31_t armRecipTableQ31[64];
-extern const q31_t realCoefAQ31[1024];
-extern const q31_t realCoefBQ31[1024];
-extern const float32_t twiddleCoef[6144];
-extern const q31_t twiddleCoefQ31[6144];
-extern const q15_t twiddleCoefQ15[6144];
-
-#endif /*  ARM_COMMON_TABLES_H */
diff --git a/apps/mathlib/CMSIS/Include/arm_math.h b/apps/mathlib/CMSIS/Include/arm_math.h
deleted file mode 100644
index f224d3eb0..000000000
--- a/apps/mathlib/CMSIS/Include/arm_math.h
+++ /dev/null
@@ -1,7569 +0,0 @@
-/* ----------------------------------------------------------------------   
- * Copyright (C) 2010-2011 ARM Limited. All rights reserved.   
- *   
- * $Date:        15. February 2012  
- * $Revision: 	V1.1.0  
- *   
- * Project: 	    CMSIS DSP Library   
- * Title:	     	arm_math.h
- *   
- * Description:	 Public header file for CMSIS DSP Library
- *   
- * Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
- *  
- * Version 1.1.0 2012/02/15 
- *    Updated with more optimizations, bug fixes and minor API changes.  
- *  
- * Version 1.0.10 2011/7/15 
- *    Big Endian support added and Merged M0 and M3/M4 Source code.  
- *   
- * Version 1.0.3 2010/11/29  
- *    Re-organized the CMSIS folders and updated documentation.   
- *    
- * Version 1.0.2 2010/11/11   
- *    Documentation updated.    
- *   
- * Version 1.0.1 2010/10/05    
- *    Production release and review comments incorporated.   
- *   
- * Version 1.0.0 2010/09/20    
- *    Production release and review comments incorporated.   
- * -------------------------------------------------------------------- */
-
-/**
-   \mainpage CMSIS DSP Software Library
-   *
-   * Introduction
-   *
-   * This user manual describes the CMSIS DSP software library, 
-   * a suite of common signal processing functions for use on Cortex-M processor based devices.
-   *
-   * The library is divided into a number of functions each covering a specific category:  
-   * - Basic math functions
-   * - Fast math functions
-   * - Complex math functions
-   * - Filters
-   * - Matrix functions
-   * - Transforms
-   * - Motor control functions
-   * - Statistical functions
-   * - Support functions
-   * - Interpolation functions
-   *
-   * The library has separate functions for operating on 8-bit integers, 16-bit integers,
-   * 32-bit integer and 32-bit floating-point values. 
-   *
-   * Pre-processor Macros 
-   * 
-   * Each library project have differant pre-processor macros. 
-   * 
-   * - UNALIGNED_SUPPORT_DISABLE: 
-   * 
-   * Define macro UNALIGNED_SUPPORT_DISABLE, If the silicon does not support unaligned memory access    
-   * 
-   * - ARM_MATH_BIG_ENDIAN: 
-   * 
-   * Define macro ARM_MATH_BIG_ENDIAN to build the library for big endian targets. By default library builds for little endian targets. 
-   * 
-   * - ARM_MATH_MATRIX_CHECK: 
-   * 
-   * Define macro ARM_MATH_MATRIX_CHECK for checking on the input and output sizes of matrices 
-   * 
-   * - ARM_MATH_ROUNDING: 
-   * 
-   * Define macro ARM_MATH_ROUNDING for rounding on support functions
-   *
-   * - ARM_MATH_CMx:
-   *
-   * Define macro ARM_MATH_CM4 for building the library on Cortex-M4 target, ARM_MATH_CM3 for building library on Cortex-M3 target
-   * and ARM_MATH_CM0 for building library on cortex-M0 target.
-   * 
-   * - __FPU_PRESENT:
-   *
-   * Initialize macro __FPU_PRESENT = 1 when building on FPU supported Targets. Enable this macro for M4bf and M4lf libraries 
-   *
-   * Toolchain Support
-   *
-   * The library has been developed and tested with MDK-ARM version 4.23. 
-   * The library is being tested in GCC and IAR toolchains and updates on this activity will be made available shortly.
-   *
-   * Using the Library
-   *
-   * The library installer contains prebuilt versions of the libraries in the Lib folder.
-   * - arm_cortexM4lf_math.lib (Little endian and Floating Point Unit on Cortex-M4)
-   * - arm_cortexM4bf_math.lib (Big endian and Floating Point Unit on Cortex-M4)
-   * - arm_cortexM4l_math.lib (Little endian on Cortex-M4)
-   * - arm_cortexM4b_math.lib (Big endian on Cortex-M4)
-   * - arm_cortexM3l_math.lib (Little endian on Cortex-M3)
-   * - arm_cortexM3b_math.lib (Big endian on Cortex-M3)
-   * - arm_cortexM0l_math.lib (Little endian on Cortex-M0)
-   * - arm_cortexM0b_math.lib (Big endian on Cortex-M3)
-   *
-   * The library functions are declared in the public file arm_math.h which is placed in the Include folder.
-   * Simply include this file and link the appropriate library in the application and begin calling the library functions. The Library supports single 
-   * public header file  arm_math.h for Cortex-M4/M3/M0 with little endian and big endian. Same header file will be used for floating point unit(FPU) variants. 
-   * Define the appropriate pre processor MACRO ARM_MATH_CM4 or  ARM_MATH_CM3 or 
-   * ARM_MATH_CM0 depending on the target processor in the application.
-   *
-   * Examples
-   *
-   * The library ships with a number of examples which demonstrate how to use the library functions.
-   *
-   * Building the Library
-   *
-   * The library installer contains project files to re build libraries on MDK Tool chain in the CMSIS\\DSP_Lib\\Source\\ARM folder.
-   * - arm_cortexM0b_math.uvproj
-   * - arm_cortexM0l_math.uvproj
-   * - arm_cortexM3b_math.uvproj
-   * - arm_cortexM3l_math.uvproj  
-   * - arm_cortexM4b_math.uvproj
-   * - arm_cortexM4l_math.uvproj
-   * - arm_cortexM4bf_math.uvproj
-   * - arm_cortexM4lf_math.uvproj
-   *
-   *
-   * The project can be built by opening the appropriate project in MDK-ARM 4.23 chain and defining the optional pre processor MACROs detailed above.
-   *
-   * Copyright Notice
-   *
-   * Copyright (C) 2010 ARM Limited. All rights reserved.
-   */
-
-
-/**
- * @defgroup groupMath Basic Math Functions
- */
-
-/**
- * @defgroup groupFastMath Fast Math Functions
- * This set of functions provides a fast approximation to sine, cosine, and square root.
- * As compared to most of the other functions in the CMSIS math library, the fast math functions
- * operate on individual values and not arrays.
- * There are separate functions for Q15, Q31, and floating-point data.
- *
- */
-
-/**
- * @defgroup groupCmplxMath Complex Math Functions
- * This set of functions operates on complex data vectors.
- * The data in the complex arrays is stored in an interleaved fashion
- * (real, imag, real, imag, ...).
- * In the API functions, the number of samples in a complex array refers
- * to the number of complex values; the array contains twice this number of
- * real values.
- */
-
-/**
- * @defgroup groupFilters Filtering Functions
- */
-
-/**
- * @defgroup groupMatrix Matrix Functions
- *
- * This set of functions provides basic matrix math operations.
- * The functions operate on matrix data structures.  For example,
- * the type
- * definition for the floating-point matrix structure is shown
- * below:
- * 
- *     typedef struct
- *     {
- *       uint16_t numRows;     // number of rows of the matrix.
- *       uint16_t numCols;     // number of columns of the matrix.
- *       float32_t *pData;     // points to the data of the matrix.
- *     } arm_matrix_instance_f32;
- * 

- * There are similar definitions for Q15 and Q31 data types.
- *
- * The structure specifies the size of the matrix and then points to
- * an array of data.  The array is of size numRows X numCols
- * and the values are arranged in row order.  That is, the
- * matrix element (i, j) is stored at:
- * 
- *     pData[i*numCols + j]
- * 

- *
- * \par Init Functions
- * There is an associated initialization function for each type of matrix
- * data structure.
- * The initialization function sets the values of the internal structure fields.
- * Refer to the function arm_mat_init_f32(), arm_mat_init_q31()
- * and arm_mat_init_q15() for floating-point, Q31 and Q15 types,  respectively.
- *
- * \par
- * Use of the initialization function is optional. However, if initialization function is used
- * then the instance structure cannot be placed into a const data section.
- * To place the instance structure in a const data
- * section, manually initialize the data structure.  For example:
- * 
- * arm_matrix_instance_f32 S = {nRows, nColumns, pData};
- * arm_matrix_instance_q31 S = {nRows, nColumns, pData};
- * arm_matrix_instance_q15 S = {nRows, nColumns, pData};
- * 

- * where nRows specifies the number of rows, nColumns
- * specifies the number of columns, and pData points to the
- * data array.
- *
- * \par Size Checking
- * By default all of the matrix functions perform size checking on the input and
- * output matrices.  For example, the matrix addition function verifies that the
- * two input matrices and the output matrix all have the same number of rows and
- * columns.  If the size check fails the functions return:
- * 
- *     ARM_MATH_SIZE_MISMATCH
- * 

- * Otherwise the functions return
- * 
- *     ARM_MATH_SUCCESS
- * 

- * There is some overhead associated with this matrix size checking.
- * The matrix size checking is enabled via the \#define
- * 
- *     ARM_MATH_MATRIX_CHECK
- * 

- * within the library project settings.  By default this macro is defined
- * and size checking is enabled.  By changing the project settings and
- * undefining this macro size checking is eliminated and the functions
- * run a bit faster.  With size checking disabled the functions always
- * return ARM_MATH_SUCCESS.
- */
-
-/**
- * @defgroup groupTransforms Transform Functions
- */
-
-/**
- * @defgroup groupController Controller Functions
- */
-
-/**
- * @defgroup groupStats Statistics Functions
- */
-/**
- * @defgroup groupSupport Support Functions
- */
-
-/**
- * @defgroup groupInterpolation Interpolation Functions
- * These functions perform 1- and 2-dimensional interpolation of data.
- * Linear interpolation is used for 1-dimensional data and
- * bilinear interpolation is used for 2-dimensional data.
- */
-
-/**
- * @defgroup groupExamples Examples
- */
-#ifndef _ARM_MATH_H
-#define _ARM_MATH_H
-
-#define __CMSIS_GENERIC         /* disable NVIC and Systick functions */
-
-/* NuttX */
-#include 
-#ifdef CONFIG_ARCH_CORTEXM4
-# define ARM_MATH_CM4 1
-#endif
-#ifdef CONFIG_ARCH_CORTEXM3
-# define ARM_MATH_CM3 1
-#endif
-#ifdef CONFIG_ARCH_FPU
-# define __FPU_PRESENT 1
-#endif
-
-#if defined (ARM_MATH_CM4)
-#include "core_cm4.h"
-#elif defined (ARM_MATH_CM3)
-#include "core_cm3.h"
-#elif defined (ARM_MATH_CM0)
-#include "core_cm0.h"
-#else
-#include "ARMCM4.h"
-#warning "Define either ARM_MATH_CM4 OR ARM_MATH_CM3...By Default building on ARM_MATH_CM4....."
-#endif
-
-#undef  __CMSIS_GENERIC         /* enable NVIC and Systick functions */
-#include "string.h"
-#include "math.h"
-#ifdef	__cplusplus
-extern "C"
-{
-#endif
-
-
-  /**
-   * @brief Macros required for reciprocal calculation in Normalized LMS
-   */
-
-#define DELTA_Q31 			(0x100)
-#define DELTA_Q15 			0x5
-#define INDEX_MASK 			0x0000003F
-#ifndef PI
-#define PI					3.14159265358979f
-#endif
-
-  /**
-   * @brief Macros required for SINE and COSINE Fast math approximations
-   */
-
-#define TABLE_SIZE			256
-#define TABLE_SPACING_Q31	0x800000
-#define TABLE_SPACING_Q15	0x80
-
-  /**
-   * @brief Macros required for SINE and COSINE Controller functions
-   */
-  /* 1.31(q31) Fixed value of 2/360 */
-  /* -1 to +1 is divided into 360 values so total spacing is (2/360) */
-#define INPUT_SPACING			0xB60B61
-
-  /**
-   * @brief Macro for Unaligned Support
-   */
-#ifndef UNALIGNED_SUPPORT_DISABLE
-    #define ALIGN4
-#else
-  #if defined  (__GNUC__)
-    #define ALIGN4 __attribute__((aligned(4)))
-  #else
-    #define ALIGN4 __align(4)
-  #endif
-#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
-
-  /**
-   * @brief Error status returned by some functions in the library.
-   */
-
-  typedef enum
-  {
-    ARM_MATH_SUCCESS = 0,                /**< No error */
-    ARM_MATH_ARGUMENT_ERROR = -1,        /**< One or more arguments are incorrect */
-    ARM_MATH_LENGTH_ERROR = -2,          /**< Length of data buffer is incorrect */
-    ARM_MATH_SIZE_MISMATCH = -3,         /**< Size of matrices is not compatible with the operation. */
-    ARM_MATH_NANINF = -4,                /**< Not-a-number (NaN) or infinity is generated */
-    ARM_MATH_SINGULAR = -5,              /**< Generated by matrix inversion if the input matrix is singular and cannot be inverted. */
-    ARM_MATH_TEST_FAILURE = -6           /**< Test Failed  */
-  } arm_status;
-
-  /**
-   * @brief 8-bit fractional data type in 1.7 format.
-   */
-  typedef int8_t q7_t;
-
-  /**
-   * @brief 16-bit fractional data type in 1.15 format.
-   */
-  typedef int16_t q15_t;
-
-  /**
-   * @brief 32-bit fractional data type in 1.31 format.
-   */
-  typedef int32_t q31_t;
-
-  /**
-   * @brief 64-bit fractional data type in 1.63 format.
-   */
-  typedef int64_t q63_t;
-
-  /**
-   * @brief 32-bit floating-point type definition.
-   */
-  typedef float float32_t;
-
-  /**
-   * @brief 64-bit floating-point type definition.
-   */
-  typedef double float64_t;
-
-  /**
-   * @brief definition to read/write two 16 bit values.
-   */
-#if defined  (__GNUC__)
-  #define __SIMD32(addr)         (*( int32_t **) & (addr))
-  #define  _SIMD32_OFFSET(addr)  (*( int32_t * )   (addr))
-#else
-  #define __SIMD32(addr)         (*(__packed                    int32_t **) & (addr))
-  #define  _SIMD32_OFFSET(addr)  (*(__packed                    int32_t * )   (addr))
-#endif 
-
-  #define __SIMD64(addr)  (*(int64_t **) & (addr))
-
-#if defined (ARM_MATH_CM3) || defined (ARM_MATH_CM0)
-  /**
-   * @brief definition to pack two 16 bit values.
-   */
-#define __PKHBT(ARG1, ARG2, ARG3)      ( (((int32_t)(ARG1) <<  0) & (int32_t)0x0000FFFF) | \
-                                         (((int32_t)(ARG2) << ARG3) & (int32_t)0xFFFF0000)  )
-#define __PKHTB(ARG1, ARG2, ARG3)      ( (((int32_t)(ARG1) <<  0) & (int32_t)0xFFFF0000) | \
-                                         (((int32_t)(ARG2) >> ARG3) & (int32_t)0x0000FFFF)  )
-
-#endif
-
-
-   /**
-   * @brief definition to pack four 8 bit values.
-   */
-#ifndef ARM_MATH_BIG_ENDIAN
-
-#define __PACKq7(v0,v1,v2,v3) ( (((int32_t)(v0) <<  0) & (int32_t)0x000000FF) |	\
-                                (((int32_t)(v1) <<  8) & (int32_t)0x0000FF00) |	\
-							    (((int32_t)(v2) << 16) & (int32_t)0x00FF0000) |	\
-							    (((int32_t)(v3) << 24) & (int32_t)0xFF000000)  )
-#else
-
-#define __PACKq7(v0,v1,v2,v3) ( (((int32_t)(v3) <<  0) & (int32_t)0x000000FF) |	\
-                                (((int32_t)(v2) <<  8) & (int32_t)0x0000FF00) |	\
-							    (((int32_t)(v1) << 16) & (int32_t)0x00FF0000) |	\
-							    (((int32_t)(v0) << 24) & (int32_t)0xFF000000)  )
-
-#endif
-
-
-  /**
-   * @brief Clips Q63 to Q31 values.
-   */
-  __STATIC_INLINE q31_t clip_q63_to_q31(
-  q63_t x)
-  {
-    return ((q31_t) (x >> 32) != ((q31_t) x >> 31)) ?
-      ((0x7FFFFFFF ^ ((q31_t) (x >> 63)))) : (q31_t) x;
-  }
-
-  /**
-   * @brief Clips Q63 to Q15 values.
-   */
-  __STATIC_INLINE q15_t clip_q63_to_q15(
-  q63_t x)
-  {
-    return ((q31_t) (x >> 32) != ((q31_t) x >> 31)) ?
-      ((0x7FFF ^ ((q15_t) (x >> 63)))) : (q15_t) (x >> 15);
-  }
-
-  /**
-   * @brief Clips Q31 to Q7 values.
-   */
-  __STATIC_INLINE q7_t clip_q31_to_q7(
-  q31_t x)
-  {
-    return ((q31_t) (x >> 24) != ((q31_t) x >> 23)) ?
-      ((0x7F ^ ((q7_t) (x >> 31)))) : (q7_t) x;
-  }
-
-  /**
-   * @brief Clips Q31 to Q15 values.
-   */
-  __STATIC_INLINE q15_t clip_q31_to_q15(
-  q31_t x)
-  {
-    return ((q31_t) (x >> 16) != ((q31_t) x >> 15)) ?
-      ((0x7FFF ^ ((q15_t) (x >> 31)))) : (q15_t) x;
-  }
-
-  /**
-   * @brief Multiplies 32 X 64 and returns 32 bit result in 2.30 format.
-   */
-
-  __STATIC_INLINE q63_t mult32x64(
-  q63_t x,
-  q31_t y)
-  {
-    return ((((q63_t) (x & 0x00000000FFFFFFFF) * y) >> 32) +
-            (((q63_t) (x >> 32) * y)));
-  }
-
-
-#if defined (ARM_MATH_CM0) && defined ( __CC_ARM   )
-#define __CLZ __clz
-#endif
-
-#if defined (ARM_MATH_CM0) && defined ( __TASKING__ )
-/* No need to redefine __CLZ */
-#endif
-
-#if defined (ARM_MATH_CM0) && ((defined (__ICCARM__)) ||(defined (__GNUC__)) )
-
-  __STATIC_INLINE  uint32_t __CLZ(q31_t data);
-
-
-  __STATIC_INLINE uint32_t __CLZ(q31_t data)
-  {
-    uint32_t count = 0;
-    uint32_t mask = 0x80000000;
-
-    while((data & mask) == 0)
-    {
-      count += 1u;
-      mask = mask >> 1u;
-    }
-
-    return (count);
-
-  }
-
-#endif
-
-  /**
-   * @brief Function to Calculates 1/in(reciprocal) value of Q31 Data type.
-   */
-
-  __STATIC_INLINE uint32_t arm_recip_q31(
-  q31_t in,
-  q31_t * dst,
-  q31_t * pRecipTable)
-  {
-
-    uint32_t out, tempVal;
-    uint32_t index, i;
-    uint32_t signBits;
-
-    if(in > 0)
-    {
-      signBits = __CLZ(in) - 1;
-    }
-    else
-    {
-      signBits = __CLZ(-in) - 1;
-    }
-
-    /* Convert input sample to 1.31 format */
-    in = in << signBits;
-
-    /* calculation of index for initial approximated Val */
-    index = (uint32_t) (in >> 24u);
-    index = (index & INDEX_MASK);
-
-    /* 1.31 with exp 1 */
-    out = pRecipTable[index];
-
-    /* calculation of reciprocal value */
-    /* running approximation for two iterations */
-    for (i = 0u; i < 2u; i++)
-    {
-      tempVal = (q31_t) (((q63_t) in * out) >> 31u);
-      tempVal = 0x7FFFFFFF - tempVal;
-      /*      1.31 with exp 1 */
-      //out = (q31_t) (((q63_t) out * tempVal) >> 30u);
-      out = (q31_t) clip_q63_to_q31(((q63_t) out * tempVal) >> 30u);
-    }
-
-    /* write output */
-    *dst = out;
-
-    /* return num of signbits of out = 1/in value */
-    return (signBits + 1u);
-
-  }
-
-  /**
-   * @brief Function to Calculates 1/in(reciprocal) value of Q15 Data type.
-   */
-  __STATIC_INLINE uint32_t arm_recip_q15(
-  q15_t in,
-  q15_t * dst,
-  q15_t * pRecipTable)
-  {
-
-    uint32_t out = 0, tempVal = 0;
-    uint32_t index = 0, i = 0;
-    uint32_t signBits = 0;
-
-    if(in > 0)
-    {
-      signBits = __CLZ(in) - 17;
-    }
-    else
-    {
-      signBits = __CLZ(-in) - 17;
-    }
-
-    /* Convert input sample to 1.15 format */
-    in = in << signBits;
-
-    /* calculation of index for initial approximated Val */
-    index = in >> 8;
-    index = (index & INDEX_MASK);
-
-    /*      1.15 with exp 1  */
-    out = pRecipTable[index];
-
-    /* calculation of reciprocal value */
-    /* running approximation for two iterations */
-    for (i = 0; i < 2; i++)
-    {
-      tempVal = (q15_t) (((q31_t) in * out) >> 15);
-      tempVal = 0x7FFF - tempVal;
-      /*      1.15 with exp 1 */
-      out = (q15_t) (((q31_t) out * tempVal) >> 14);
-    }
-
-    /* write output */
-    *dst = out;
-
-    /* return num of signbits of out = 1/in value */
-    return (signBits + 1);
-
-  }
-
-
-  /*
-   * @brief C custom defined intrinisic function for only M0 processors
-   */
-#if defined(ARM_MATH_CM0)
-
-  __STATIC_INLINE q31_t __SSAT(
-  q31_t x,
-  uint32_t y)
-  {
-    int32_t posMax, negMin;
-    uint32_t i;
-
-    posMax = 1;
-    for (i = 0; i < (y - 1); i++)
-    {
-      posMax = posMax * 2;
-    }
-
-    if(x > 0)
-    {
-      posMax = (posMax - 1);
-
-      if(x > posMax)
-      {
-        x = posMax;
-      }
-    }
-    else
-    {
-      negMin = -posMax;
-
-      if(x < negMin)
-      {
-        x = negMin;
-      }
-    }
-    return (x);
-
-
-  }
-
-#endif /* end of ARM_MATH_CM0 */
-
-
-
-  /*
-   * @brief C custom defined intrinsic function for M3 and M0 processors
-   */
-#if defined (ARM_MATH_CM3) || defined (ARM_MATH_CM0)
-
-  /*
-   * @brief C custom defined QADD8 for M3 and M0 processors
-   */
-  __STATIC_INLINE q31_t __QADD8(
-  q31_t x,
-  q31_t y)
-  {
-
-    q31_t sum;
-    q7_t r, s, t, u;
-
-    r = (q7_t) x;
-    s = (q7_t) y;
-
-    r = __SSAT((q31_t) (r + s), 8);
-    s = __SSAT(((q31_t) (((x << 16) >> 24) + ((y << 16) >> 24))), 8);
-    t = __SSAT(((q31_t) (((x << 8) >> 24) + ((y << 8) >> 24))), 8);
-    u = __SSAT(((q31_t) ((x >> 24) + (y >> 24))), 8);
-
-    sum =
-      (((q31_t) u << 24) & 0xFF000000) | (((q31_t) t << 16) & 0x00FF0000) |
-      (((q31_t) s << 8) & 0x0000FF00) | (r & 0x000000FF);
-
-    return sum;
-
-  }
-
-  /*
-   * @brief C custom defined QSUB8 for M3 and M0 processors
-   */
-  __STATIC_INLINE q31_t __QSUB8(
-  q31_t x,
-  q31_t y)
-  {
-
-    q31_t sum;
-    q31_t r, s, t, u;
-
-    r = (q7_t) x;
-    s = (q7_t) y;
-
-    r = __SSAT((r - s), 8);
-    s = __SSAT(((q31_t) (((x << 16) >> 24) - ((y << 16) >> 24))), 8) << 8;
-    t = __SSAT(((q31_t) (((x << 8) >> 24) - ((y << 8) >> 24))), 8) << 16;
-    u = __SSAT(((q31_t) ((x >> 24) - (y >> 24))), 8) << 24;
-
-    sum =
-      (u & 0xFF000000) | (t & 0x00FF0000) | (s & 0x0000FF00) | (r &
-                                                                0x000000FF);
-
-    return sum;
-  }
-
-  /*
-   * @brief C custom defined QADD16 for M3 and M0 processors
-   */
-
-  /*
-   * @brief C custom defined QADD16 for M3 and M0 processors
-   */
-  __STATIC_INLINE q31_t __QADD16(
-  q31_t x,
-  q31_t y)
-  {
-
-    q31_t sum;
-    q31_t r, s;
-
-    r = (short) x;
-    s = (short) y;
-
-    r = __SSAT(r + s, 16);
-    s = __SSAT(((q31_t) ((x >> 16) + (y >> 16))), 16) << 16;
-
-    sum = (s & 0xFFFF0000) | (r & 0x0000FFFF);
-
-    return sum;
-
-  }
-
-  /*
-   * @brief C custom defined SHADD16 for M3 and M0 processors
-   */
-  __STATIC_INLINE q31_t __SHADD16(
-  q31_t x,
-  q31_t y)
-  {
-
-    q31_t sum;
-    q31_t r, s;
-
-    r = (short) x;
-    s = (short) y;
-
-    r = ((r >> 1) + (s >> 1));
-    s = ((q31_t) ((x >> 17) + (y >> 17))) << 16;
-
-    sum = (s & 0xFFFF0000) | (r & 0x0000FFFF);
-
-    return sum;
-
-  }
-
-  /*
-   * @brief C custom defined QSUB16 for M3 and M0 processors
-   */
-  __STATIC_INLINE q31_t __QSUB16(
-  q31_t x,
-  q31_t y)
-  {
-
-    q31_t sum;
-    q31_t r, s;
-
-    r = (short) x;
-    s = (short) y;
-
-    r = __SSAT(r - s, 16);
-    s = __SSAT(((q31_t) ((x >> 16) - (y >> 16))), 16) << 16;
-
-    sum = (s & 0xFFFF0000) | (r & 0x0000FFFF);
-
-    return sum;
-  }
-
-  /*
-   * @brief C custom defined SHSUB16 for M3 and M0 processors
-   */
-  __STATIC_INLINE q31_t __SHSUB16(
-  q31_t x,
-  q31_t y)
-  {
-
-    q31_t diff;
-    q31_t r, s;
-
-    r = (short) x;
-    s = (short) y;
-
-    r = ((r >> 1) - (s >> 1));
-    s = (((x >> 17) - (y >> 17)) << 16);
-
-    diff = (s & 0xFFFF0000) | (r & 0x0000FFFF);
-
-    return diff;
-  }
-
-  /*
-   * @brief C custom defined QASX for M3 and M0 processors
-   */
-  __STATIC_INLINE q31_t __QASX(
-  q31_t x,
-  q31_t y)
-  {
-
-    q31_t sum = 0;
-
-    sum =
-      ((sum +
-        clip_q31_to_q15((q31_t) ((short) (x >> 16) + (short) y))) << 16) +
-      clip_q31_to_q15((q31_t) ((short) x - (short) (y >> 16)));
-
-    return sum;
-  }
-
-  /*
-   * @brief C custom defined SHASX for M3 and M0 processors
-   */
-  __STATIC_INLINE q31_t __SHASX(
-  q31_t x,
-  q31_t y)
-  {
-
-    q31_t sum;
-    q31_t r, s;
-
-    r = (short) x;
-    s = (short) y;
-
-    r = ((r >> 1) - (y >> 17));
-    s = (((x >> 17) + (s >> 1)) << 16);
-
-    sum = (s & 0xFFFF0000) | (r & 0x0000FFFF);
-
-    return sum;
-  }
-
-
-  /*
-   * @brief C custom defined QSAX for M3 and M0 processors
-   */
-  __STATIC_INLINE q31_t __QSAX(
-  q31_t x,
-  q31_t y)
-  {
-
-    q31_t sum = 0;
-
-    sum =
-      ((sum +
-        clip_q31_to_q15((q31_t) ((short) (x >> 16) - (short) y))) << 16) +
-      clip_q31_to_q15((q31_t) ((short) x + (short) (y >> 16)));
-
-    return sum;
-  }
-
-  /*
-   * @brief C custom defined SHSAX for M3 and M0 processors
-   */
-  __STATIC_INLINE q31_t __SHSAX(
-  q31_t x,
-  q31_t y)
-  {
-
-    q31_t sum;
-    q31_t r, s;
-
-    r = (short) x;
-    s = (short) y;
-
-    r = ((r >> 1) + (y >> 17));
-    s = (((x >> 17) - (s >> 1)) << 16);
-
-    sum = (s & 0xFFFF0000) | (r & 0x0000FFFF);
-
-    return sum;
-  }
-
-  /*
-   * @brief C custom defined SMUSDX for M3 and M0 processors
-   */
-  __STATIC_INLINE q31_t __SMUSDX(
-  q31_t x,
-  q31_t y)
-  {
-
-    return ((q31_t) (((short) x * (short) (y >> 16)) -
-                     ((short) (x >> 16) * (short) y)));
-  }
-
-  /*
-   * @brief C custom defined SMUADX for M3 and M0 processors
-   */
-  __STATIC_INLINE q31_t __SMUADX(
-  q31_t x,
-  q31_t y)
-  {
-
-    return ((q31_t) (((short) x * (short) (y >> 16)) +
-                     ((short) (x >> 16) * (short) y)));
-  }
-
-  /*
-   * @brief C custom defined QADD for M3 and M0 processors
-   */
-  __STATIC_INLINE q31_t __QADD(
-  q31_t x,
-  q31_t y)
-  {
-    return clip_q63_to_q31((q63_t) x + y);
-  }
-
-  /*
-   * @brief C custom defined QSUB for M3 and M0 processors
-   */
-  __STATIC_INLINE q31_t __QSUB(
-  q31_t x,
-  q31_t y)
-  {
-    return clip_q63_to_q31((q63_t) x - y);
-  }
-
-  /*
-   * @brief C custom defined SMLAD for M3 and M0 processors
-   */
-  __STATIC_INLINE q31_t __SMLAD(
-  q31_t x,
-  q31_t y,
-  q31_t sum)
-  {
-
-    return (sum + ((short) (x >> 16) * (short) (y >> 16)) +
-            ((short) x * (short) y));
-  }
-
-  /*
-   * @brief C custom defined SMLADX for M3 and M0 processors
-   */
-  __STATIC_INLINE q31_t __SMLADX(
-  q31_t x,
-  q31_t y,
-  q31_t sum)
-  {
-
-    return (sum + ((short) (x >> 16) * (short) (y)) +
-            ((short) x * (short) (y >> 16)));
-  }
-
-  /*
-   * @brief C custom defined SMLSDX for M3 and M0 processors
-   */
-  __STATIC_INLINE q31_t __SMLSDX(
-  q31_t x,
-  q31_t y,
-  q31_t sum)
-  {
-
-    return (sum - ((short) (x >> 16) * (short) (y)) +
-            ((short) x * (short) (y >> 16)));
-  }
-
-  /*
-   * @brief C custom defined SMLALD for M3 and M0 processors
-   */
-  __STATIC_INLINE q63_t __SMLALD(
-  q31_t x,
-  q31_t y,
-  q63_t sum)
-  {
-
-    return (sum + ((short) (x >> 16) * (short) (y >> 16)) +
-            ((short) x * (short) y));
-  }
-
-  /*
-   * @brief C custom defined SMLALDX for M3 and M0 processors
-   */
-  __STATIC_INLINE q63_t __SMLALDX(
-  q31_t x,
-  q31_t y,
-  q63_t sum)
-  {
-
-    return (sum + ((short) (x >> 16) * (short) y)) +
-      ((short) x * (short) (y >> 16));
-  }
-
-  /*
-   * @brief C custom defined SMUAD for M3 and M0 processors
-   */
-  __STATIC_INLINE q31_t __SMUAD(
-  q31_t x,
-  q31_t y)
-  {
-
-    return (((x >> 16) * (y >> 16)) +
-            (((x << 16) >> 16) * ((y << 16) >> 16)));
-  }
-
-  /*
-   * @brief C custom defined SMUSD for M3 and M0 processors
-   */
-  __STATIC_INLINE q31_t __SMUSD(
-  q31_t x,
-  q31_t y)
-  {
-
-    return (-((x >> 16) * (y >> 16)) +
-            (((x << 16) >> 16) * ((y << 16) >> 16)));
-  }
-
-
-  /*
-   * @brief C custom defined SXTB16 for M3 and M0 processors
-   */
-  __STATIC_INLINE q31_t __SXTB16(
-  q31_t x)
-  {
-
-    return ((((x << 24) >> 24) & 0x0000FFFF) |
-            (((x << 8) >> 8) & 0xFFFF0000));
-  }
-
-
-#endif /* defined (ARM_MATH_CM3) || defined (ARM_MATH_CM0) */
-
-
-  /**
-   * @brief Instance structure for the Q7 FIR filter.
-   */
-  typedef struct
-  {
-    uint16_t numTaps;        /**< number of filter coefficients in the filter. */
-    q7_t *pState;            /**< points to the state variable array. The array is of length numTaps+blockSize-1. */
-    q7_t *pCoeffs;           /**< points to the coefficient array. The array is of length numTaps.*/
-  } arm_fir_instance_q7;
-
-  /**
-   * @brief Instance structure for the Q15 FIR filter.
-   */
-  typedef struct
-  {
-    uint16_t numTaps;         /**< number of filter coefficients in the filter. */
-    q15_t *pState;            /**< points to the state variable array. The array is of length numTaps+blockSize-1. */
-    q15_t *pCoeffs;           /**< points to the coefficient array. The array is of length numTaps.*/
-  } arm_fir_instance_q15;
-
-  /**
-   * @brief Instance structure for the Q31 FIR filter.
-   */
-  typedef struct
-  {
-    uint16_t numTaps;         /**< number of filter coefficients in the filter. */
-    q31_t *pState;            /**< points to the state variable array. The array is of length numTaps+blockSize-1. */
-    q31_t *pCoeffs;           /**< points to the coefficient array. The array is of length numTaps. */
-  } arm_fir_instance_q31;
-
-  /**
-   * @brief Instance structure for the floating-point FIR filter.
-   */
-  typedef struct
-  {
-    uint16_t numTaps;     /**< number of filter coefficients in the filter. */
-    float32_t *pState;    /**< points to the state variable array. The array is of length numTaps+blockSize-1. */
-    float32_t *pCoeffs;   /**< points to the coefficient array. The array is of length numTaps. */
-  } arm_fir_instance_f32;
-
-
-  /**
-   * @brief Processing function for the Q7 FIR filter.
-   * @param[in] *S points to an instance of the Q7 FIR filter structure.
-   * @param[in] *pSrc points to the block of input data.
-   * @param[out] *pDst points to the block of output data.
-   * @param[in] blockSize number of samples to process.
-   * @return none.
-   */
-  void arm_fir_q7(
-  const arm_fir_instance_q7 * S,
-  q7_t * pSrc,
-  q7_t * pDst,
-  uint32_t blockSize);
-
-
-  /**
-   * @brief  Initialization function for the Q7 FIR filter.
-   * @param[in,out] *S points to an instance of the Q7 FIR structure.
-   * @param[in] numTaps  Number of filter coefficients in the filter.
-   * @param[in] *pCoeffs points to the filter coefficients.
-   * @param[in] *pState points to the state buffer.
-   * @param[in] blockSize number of samples that are processed.
-   * @return none
-   */
-  void arm_fir_init_q7(
-  arm_fir_instance_q7 * S,
-  uint16_t numTaps,
-  q7_t * pCoeffs,
-  q7_t * pState,
-  uint32_t blockSize);
-
-
-  /**
-   * @brief Processing function for the Q15 FIR filter.
-   * @param[in] *S points to an instance of the Q15 FIR structure.
-   * @param[in] *pSrc points to the block of input data.
-   * @param[out] *pDst points to the block of output data.
-   * @param[in] blockSize number of samples to process.
-   * @return none.
-   */
-  void arm_fir_q15(
-  const arm_fir_instance_q15 * S,
-  q15_t * pSrc,
-  q15_t * pDst,
-  uint32_t blockSize);
-
-  /**
-   * @brief Processing function for the fast Q15 FIR filter for Cortex-M3 and Cortex-M4.
-   * @param[in] *S points to an instance of the Q15 FIR filter structure.
-   * @param[in] *pSrc points to the block of input data.
-   * @param[out] *pDst points to the block of output data.
-   * @param[in] blockSize number of samples to process.
-   * @return none.
-   */
-  void arm_fir_fast_q15(
-  const arm_fir_instance_q15 * S,
-  q15_t * pSrc,
-  q15_t * pDst,
-  uint32_t blockSize);
-
-  /**
-   * @brief  Initialization function for the Q15 FIR filter.
-   * @param[in,out] *S points to an instance of the Q15 FIR filter structure.
-   * @param[in] numTaps  Number of filter coefficients in the filter. Must be even and greater than or equal to 4.
-   * @param[in] *pCoeffs points to the filter coefficients.
-   * @param[in] *pState points to the state buffer.
-   * @param[in] blockSize number of samples that are processed at a time.
-   * @return The function returns ARM_MATH_SUCCESS if initialization was successful or ARM_MATH_ARGUMENT_ERROR if
-   * numTaps is not a supported value.
-   */
-
-  arm_status arm_fir_init_q15(
-  arm_fir_instance_q15 * S,
-  uint16_t numTaps,
-  q15_t * pCoeffs,
-  q15_t * pState,
-  uint32_t blockSize);
-
-  /**
-   * @brief Processing function for the Q31 FIR filter.
-   * @param[in] *S points to an instance of the Q31 FIR filter structure.
-   * @param[in] *pSrc points to the block of input data.
-   * @param[out] *pDst points to the block of output data.
-   * @param[in] blockSize number of samples to process.
-   * @return none.
-   */
-  void arm_fir_q31(
-  const arm_fir_instance_q31 * S,
-  q31_t * pSrc,
-  q31_t * pDst,
-  uint32_t blockSize);
-
-  /**
-   * @brief Processing function for the fast Q31 FIR filter for Cortex-M3 and Cortex-M4.
-   * @param[in] *S points to an instance of the Q31 FIR structure.
-   * @param[in] *pSrc points to the block of input data.
-   * @param[out] *pDst points to the block of output data.
-   * @param[in] blockSize number of samples to process.
-   * @return none.
-   */
-  void arm_fir_fast_q31(
-  const arm_fir_instance_q31 * S,
-  q31_t * pSrc,
-  q31_t * pDst,
-  uint32_t blockSize);
-
-  /**
-   * @brief  Initialization function for the Q31 FIR filter.
-   * @param[in,out] *S points to an instance of the Q31 FIR structure.
-   * @param[in] 	numTaps  Number of filter coefficients in the filter.
-   * @param[in] 	*pCoeffs points to the filter coefficients.
-   * @param[in] 	*pState points to the state buffer.
-   * @param[in] 	blockSize number of samples that are processed at a time.
-   * @return 		none.
-   */
-  void arm_fir_init_q31(
-  arm_fir_instance_q31 * S,
-  uint16_t numTaps,
-  q31_t * pCoeffs,
-  q31_t * pState,
-  uint32_t blockSize);
-
-  /**
-   * @brief Processing function for the floating-point FIR filter.
-   * @param[in] *S points to an instance of the floating-point FIR structure.
-   * @param[in] *pSrc points to the block of input data.
-   * @param[out] *pDst points to the block of output data.
-   * @param[in] blockSize number of samples to process.
-   * @return none.
-   */
-  void arm_fir_f32(
-  const arm_fir_instance_f32 * S,
-  float32_t * pSrc,
-  float32_t * pDst,
-  uint32_t blockSize);
-
-  /**
-   * @brief  Initialization function for the floating-point FIR filter.
-   * @param[in,out] *S points to an instance of the floating-point FIR filter structure.
-   * @param[in] 	numTaps  Number of filter coefficients in the filter.
-   * @param[in] 	*pCoeffs points to the filter coefficients.
-   * @param[in] 	*pState points to the state buffer.
-   * @param[in] 	blockSize number of samples that are processed at a time.
-   * @return    	none.
-   */
-  void arm_fir_init_f32(
-  arm_fir_instance_f32 * S,
-  uint16_t numTaps,
-  float32_t * pCoeffs,
-  float32_t * pState,
-  uint32_t blockSize);
-
-
-  /**
-   * @brief Instance structure for the Q15 Biquad cascade filter.
-   */
-  typedef struct
-  {
-    int8_t numStages;         /**< number of 2nd order stages in the filter.  Overall order is 2*numStages. */
-    q15_t *pState;            /**< Points to the array of state coefficients.  The array is of length 4*numStages. */
-    q15_t *pCoeffs;           /**< Points to the array of coefficients.  The array is of length 5*numStages. */
-    int8_t postShift;         /**< Additional shift, in bits, applied to each output sample. */
-
-  } arm_biquad_casd_df1_inst_q15;
-
-
-  /**
-   * @brief Instance structure for the Q31 Biquad cascade filter.
-   */
-  typedef struct
-  {
-    uint32_t numStages;      /**< number of 2nd order stages in the filter.  Overall order is 2*numStages. */
-    q31_t *pState;           /**< Points to the array of state coefficients.  The array is of length 4*numStages. */
-    q31_t *pCoeffs;          /**< Points to the array of coefficients.  The array is of length 5*numStages. */
-    uint8_t postShift;       /**< Additional shift, in bits, applied to each output sample. */
-
-  } arm_biquad_casd_df1_inst_q31;
-
-  /**
-   * @brief Instance structure for the floating-point Biquad cascade filter.
-   */
-  typedef struct
-  {
-    uint32_t numStages;         /**< number of 2nd order stages in the filter.  Overall order is 2*numStages. */
-    float32_t *pState;          /**< Points to the array of state coefficients.  The array is of length 4*numStages. */
-    float32_t *pCoeffs;         /**< Points to the array of coefficients.  The array is of length 5*numStages. */
-
-
-  } arm_biquad_casd_df1_inst_f32;
-
-
-
-  /**
-   * @brief Processing function for the Q15 Biquad cascade filter.
-   * @param[in]  *S points to an instance of the Q15 Biquad cascade structure.
-   * @param[in]  *pSrc points to the block of input data.
-   * @param[out] *pDst points to the block of output data.
-   * @param[in]  blockSize number of samples to process.
-   * @return     none.
-   */
-
-  void arm_biquad_cascade_df1_q15(
-  const arm_biquad_casd_df1_inst_q15 * S,
-  q15_t * pSrc,
-  q15_t * pDst,
-  uint32_t blockSize);
-
-  /**
-   * @brief  Initialization function for the Q15 Biquad cascade filter.
-   * @param[in,out] *S           points to an instance of the Q15 Biquad cascade structure.
-   * @param[in]     numStages    number of 2nd order stages in the filter.
-   * @param[in]     *pCoeffs     points to the filter coefficients.
-   * @param[in]     *pState      points to the state buffer.
-   * @param[in]     postShift    Shift to be applied to the output. Varies according to the coefficients format
-   * @return        none
-   */
-
-  void arm_biquad_cascade_df1_init_q15(
-  arm_biquad_casd_df1_inst_q15 * S,
-  uint8_t numStages,
-  q15_t * pCoeffs,
-  q15_t * pState,
-  int8_t postShift);
-
-
-  /**
-   * @brief Fast but less precise processing function for the Q15 Biquad cascade filter for Cortex-M3 and Cortex-M4.
-   * @param[in]  *S points to an instance of the Q15 Biquad cascade structure.
-   * @param[in]  *pSrc points to the block of input data.
-   * @param[out] *pDst points to the block of output data.
-   * @param[in]  blockSize number of samples to process.
-   * @return     none.
-   */
-
-  void arm_biquad_cascade_df1_fast_q15(
-  const arm_biquad_casd_df1_inst_q15 * S,
-  q15_t * pSrc,
-  q15_t * pDst,
-  uint32_t blockSize);
-
-
-  /**
-   * @brief Processing function for the Q31 Biquad cascade filter
-   * @param[in]  *S         points to an instance of the Q31 Biquad cascade structure.
-   * @param[in]  *pSrc      points to the block of input data.
-   * @param[out] *pDst      points to the block of output data.
-   * @param[in]  blockSize  number of samples to process.
-   * @return     none.
-   */
-
-  void arm_biquad_cascade_df1_q31(
-  const arm_biquad_casd_df1_inst_q31 * S,
-  q31_t * pSrc,
-  q31_t * pDst,
-  uint32_t blockSize);
-
-  /**
-   * @brief Fast but less precise processing function for the Q31 Biquad cascade filter for Cortex-M3 and Cortex-M4.
-   * @param[in]  *S         points to an instance of the Q31 Biquad cascade structure.
-   * @param[in]  *pSrc      points to the block of input data.
-   * @param[out] *pDst      points to the block of output data.
-   * @param[in]  blockSize  number of samples to process.
-   * @return     none.
-   */
-
-  void arm_biquad_cascade_df1_fast_q31(
-  const arm_biquad_casd_df1_inst_q31 * S,
-  q31_t * pSrc,
-  q31_t * pDst,
-  uint32_t blockSize);
-
-  /**
-   * @brief  Initialization function for the Q31 Biquad cascade filter.
-   * @param[in,out] *S           points to an instance of the Q31 Biquad cascade structure.
-   * @param[in]     numStages      number of 2nd order stages in the filter.
-   * @param[in]     *pCoeffs     points to the filter coefficients.
-   * @param[in]     *pState      points to the state buffer.
-   * @param[in]     postShift    Shift to be applied to the output. Varies according to the coefficients format
-   * @return        none
-   */
-
-  void arm_biquad_cascade_df1_init_q31(
-  arm_biquad_casd_df1_inst_q31 * S,
-  uint8_t numStages,
-  q31_t * pCoeffs,
-  q31_t * pState,
-  int8_t postShift);
-
-  /**
-   * @brief Processing function for the floating-point Biquad cascade filter.
-   * @param[in]  *S         points to an instance of the floating-point Biquad cascade structure.
-   * @param[in]  *pSrc      points to the block of input data.
-   * @param[out] *pDst      points to the block of output data.
-   * @param[in]  blockSize  number of samples to process.
-   * @return     none.
-   */
-
-  void arm_biquad_cascade_df1_f32(
-  const arm_biquad_casd_df1_inst_f32 * S,
-  float32_t * pSrc,
-  float32_t * pDst,
-  uint32_t blockSize);
-
-  /**
-   * @brief  Initialization function for the floating-point Biquad cascade filter.
-   * @param[in,out] *S           points to an instance of the floating-point Biquad cascade structure.
-   * @param[in]     numStages    number of 2nd order stages in the filter.
-   * @param[in]     *pCoeffs     points to the filter coefficients.
-   * @param[in]     *pState      points to the state buffer.
-   * @return        none
-   */
-
-  void arm_biquad_cascade_df1_init_f32(
-  arm_biquad_casd_df1_inst_f32 * S,
-  uint8_t numStages,
-  float32_t * pCoeffs,
-  float32_t * pState);
-
-
-  /**
-   * @brief Instance structure for the floating-point matrix structure.
-   */
-
-  typedef struct
-  {
-    uint16_t numRows;     /**< number of rows of the matrix.     */
-    uint16_t numCols;     /**< number of columns of the matrix.  */
-    float32_t *pData;     /**< points to the data of the matrix. */
-  } arm_matrix_instance_f32;
-
-  /**
-   * @brief Instance structure for the Q15 matrix structure.
-   */
-
-  typedef struct
-  {
-    uint16_t numRows;     /**< number of rows of the matrix.     */
-    uint16_t numCols;     /**< number of columns of the matrix.  */
-    q15_t *pData;         /**< points to the data of the matrix. */
-
-  } arm_matrix_instance_q15;
-
-  /**
-   * @brief Instance structure for the Q31 matrix structure.
-   */
-
-  typedef struct
-  {
-    uint16_t numRows;     /**< number of rows of the matrix.     */
-    uint16_t numCols;     /**< number of columns of the matrix.  */
-    q31_t *pData;         /**< points to the data of the matrix. */
-
-  } arm_matrix_instance_q31;
-
-
-
-  /**
-   * @brief Floating-point matrix addition.
-   * @param[in]       *pSrcA points to the first input matrix structure
-   * @param[in]       *pSrcB points to the second input matrix structure
-   * @param[out]      *pDst points to output matrix structure
-   * @return     The function returns either
-   * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.
-   */
-
-  arm_status arm_mat_add_f32(
-  const arm_matrix_instance_f32 * pSrcA,
-  const arm_matrix_instance_f32 * pSrcB,
-  arm_matrix_instance_f32 * pDst);
-
-  /**
-   * @brief Q15 matrix addition.
-   * @param[in]       *pSrcA points to the first input matrix structure
-   * @param[in]       *pSrcB points to the second input matrix structure
-   * @param[out]      *pDst points to output matrix structure
-   * @return     The function returns either
-   * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.
-   */
-
-  arm_status arm_mat_add_q15(
-  const arm_matrix_instance_q15 * pSrcA,
-  const arm_matrix_instance_q15 * pSrcB,
-  arm_matrix_instance_q15 * pDst);
-
-  /**
-   * @brief Q31 matrix addition.
-   * @param[in]       *pSrcA points to the first input matrix structure
-   * @param[in]       *pSrcB points to the second input matrix structure
-   * @param[out]      *pDst points to output matrix structure
-   * @return     The function returns either
-   * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.
-   */
-
-  arm_status arm_mat_add_q31(
-  const arm_matrix_instance_q31 * pSrcA,
-  const arm_matrix_instance_q31 * pSrcB,
-  arm_matrix_instance_q31 * pDst);
-
-
-  /**
-   * @brief Floating-point matrix transpose.
-   * @param[in]  *pSrc points to the input matrix
-   * @param[out] *pDst points to the output matrix
-   * @return 	The function returns either  ARM_MATH_SIZE_MISMATCH
-   * or ARM_MATH_SUCCESS based on the outcome of size checking.
-   */
-
-  arm_status arm_mat_trans_f32(
-  const arm_matrix_instance_f32 * pSrc,
-  arm_matrix_instance_f32 * pDst);
-
-
-  /**
-   * @brief Q15 matrix transpose.
-   * @param[in]  *pSrc points to the input matrix
-   * @param[out] *pDst points to the output matrix
-   * @return 	The function returns either  ARM_MATH_SIZE_MISMATCH
-   * or ARM_MATH_SUCCESS based on the outcome of size checking.
-   */
-
-  arm_status arm_mat_trans_q15(
-  const arm_matrix_instance_q15 * pSrc,
-  arm_matrix_instance_q15 * pDst);
-
-  /**
-   * @brief Q31 matrix transpose.
-   * @param[in]  *pSrc points to the input matrix
-   * @param[out] *pDst points to the output matrix
-   * @return 	The function returns either  ARM_MATH_SIZE_MISMATCH
-   * or ARM_MATH_SUCCESS based on the outcome of size checking.
-   */
-
-  arm_status arm_mat_trans_q31(
-  const arm_matrix_instance_q31 * pSrc,
-  arm_matrix_instance_q31 * pDst);
-
-
-  /**
-   * @brief Floating-point matrix multiplication
-   * @param[in]       *pSrcA points to the first input matrix structure
-   * @param[in]       *pSrcB points to the second input matrix structure
-   * @param[out]      *pDst points to output matrix structure
-   * @return     The function returns either
-   * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.
-   */
-
-  arm_status arm_mat_mult_f32(
-  const arm_matrix_instance_f32 * pSrcA,
-  const arm_matrix_instance_f32 * pSrcB,
-  arm_matrix_instance_f32 * pDst);
-
-  /**
-   * @brief Q15 matrix multiplication
-   * @param[in]       *pSrcA points to the first input matrix structure
-   * @param[in]       *pSrcB points to the second input matrix structure
-   * @param[out]      *pDst points to output matrix structure
-   * @return     The function returns either
-   * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.
-   */
-
-  arm_status arm_mat_mult_q15(
-  const arm_matrix_instance_q15 * pSrcA,
-  const arm_matrix_instance_q15 * pSrcB,
-  arm_matrix_instance_q15 * pDst,
-  q15_t * pState);
-
-  /**
-   * @brief Q15 matrix multiplication (fast variant) for Cortex-M3 and Cortex-M4
-   * @param[in]       *pSrcA  points to the first input matrix structure
-   * @param[in]       *pSrcB  points to the second input matrix structure
-   * @param[out]      *pDst   points to output matrix structure
-   * @param[in]		  *pState points to the array for storing intermediate results  
-   * @return     The function returns either
-   * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.
-   */
-
-  arm_status arm_mat_mult_fast_q15(
-  const arm_matrix_instance_q15 * pSrcA,
-  const arm_matrix_instance_q15 * pSrcB,
-  arm_matrix_instance_q15 * pDst,
-  q15_t * pState);
-
-  /**
-   * @brief Q31 matrix multiplication
-   * @param[in]       *pSrcA points to the first input matrix structure
-   * @param[in]       *pSrcB points to the second input matrix structure
-   * @param[out]      *pDst points to output matrix structure
-   * @return     The function returns either
-   * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.
-   */
-
-  arm_status arm_mat_mult_q31(
-  const arm_matrix_instance_q31 * pSrcA,
-  const arm_matrix_instance_q31 * pSrcB,
-  arm_matrix_instance_q31 * pDst);
-
-  /**
-   * @brief Q31 matrix multiplication (fast variant) for Cortex-M3 and Cortex-M4
-   * @param[in]       *pSrcA points to the first input matrix structure
-   * @param[in]       *pSrcB points to the second input matrix structure
-   * @param[out]      *pDst points to output matrix structure
-   * @return     The function returns either
-   * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.
-   */
-
-  arm_status arm_mat_mult_fast_q31(
-  const arm_matrix_instance_q31 * pSrcA,
-  const arm_matrix_instance_q31 * pSrcB,
-  arm_matrix_instance_q31 * pDst);
-
-
-  /**
-   * @brief Floating-point matrix subtraction
-   * @param[in]       *pSrcA points to the first input matrix structure
-   * @param[in]       *pSrcB points to the second input matrix structure
-   * @param[out]      *pDst points to output matrix structure
-   * @return     The function returns either
-   * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.
-   */
-
-  arm_status arm_mat_sub_f32(
-  const arm_matrix_instance_f32 * pSrcA,
-  const arm_matrix_instance_f32 * pSrcB,
-  arm_matrix_instance_f32 * pDst);
-
-  /**
-   * @brief Q15 matrix subtraction
-   * @param[in]       *pSrcA points to the first input matrix structure
-   * @param[in]       *pSrcB points to the second input matrix structure
-   * @param[out]      *pDst points to output matrix structure
-   * @return     The function returns either
-   * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.
-   */
-
-  arm_status arm_mat_sub_q15(
-  const arm_matrix_instance_q15 * pSrcA,
-  const arm_matrix_instance_q15 * pSrcB,
-  arm_matrix_instance_q15 * pDst);
-
-  /**
-   * @brief Q31 matrix subtraction
-   * @param[in]       *pSrcA points to the first input matrix structure
-   * @param[in]       *pSrcB points to the second input matrix structure
-   * @param[out]      *pDst points to output matrix structure
-   * @return     The function returns either
-   * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.
-   */
-
-  arm_status arm_mat_sub_q31(
-  const arm_matrix_instance_q31 * pSrcA,
-  const arm_matrix_instance_q31 * pSrcB,
-  arm_matrix_instance_q31 * pDst);
-
-  /**
-   * @brief Floating-point matrix scaling.
-   * @param[in]  *pSrc points to the input matrix
-   * @param[in]  scale scale factor
-   * @param[out] *pDst points to the output matrix
-   * @return     The function returns either
-   * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.
-   */
-
-  arm_status arm_mat_scale_f32(
-  const arm_matrix_instance_f32 * pSrc,
-  float32_t scale,
-  arm_matrix_instance_f32 * pDst);
-
-  /**
-   * @brief Q15 matrix scaling.
-   * @param[in]       *pSrc points to input matrix
-   * @param[in]       scaleFract fractional portion of the scale factor
-   * @param[in]       shift number of bits to shift the result by
-   * @param[out]      *pDst points to output matrix
-   * @return     The function returns either
-   * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.
-   */
-
-  arm_status arm_mat_scale_q15(
-  const arm_matrix_instance_q15 * pSrc,
-  q15_t scaleFract,
-  int32_t shift,
-  arm_matrix_instance_q15 * pDst);
-
-  /**
-   * @brief Q31 matrix scaling.
-   * @param[in]       *pSrc points to input matrix
-   * @param[in]       scaleFract fractional portion of the scale factor
-   * @param[in]       shift number of bits to shift the result by
-   * @param[out]      *pDst points to output matrix structure
-   * @return     The function returns either
-   * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.
-   */
-
-  arm_status arm_mat_scale_q31(
-  const arm_matrix_instance_q31 * pSrc,
-  q31_t scaleFract,
-  int32_t shift,
-  arm_matrix_instance_q31 * pDst);
-
-
-  /**
-   * @brief  Q31 matrix initialization.
-   * @param[in,out] *S             points to an instance of the floating-point matrix structure.
-   * @param[in]     nRows          number of rows in the matrix.
-   * @param[in]     nColumns       number of columns in the matrix.
-   * @param[in]     *pData	       points to the matrix data array.
-   * @return        none
-   */
-
-  void arm_mat_init_q31(
-  arm_matrix_instance_q31 * S,
-  uint16_t nRows,
-  uint16_t nColumns,
-  q31_t * pData);
-
-  /**
-   * @brief  Q15 matrix initialization.
-   * @param[in,out] *S             points to an instance of the floating-point matrix structure.
-   * @param[in]     nRows          number of rows in the matrix.
-   * @param[in]     nColumns       number of columns in the matrix.
-   * @param[in]     *pData	       points to the matrix data array.
-   * @return        none
-   */
-
-  void arm_mat_init_q15(
-  arm_matrix_instance_q15 * S,
-  uint16_t nRows,
-  uint16_t nColumns,
-  q15_t * pData);
-
-  /**
-   * @brief  Floating-point matrix initialization.
-   * @param[in,out] *S             points to an instance of the floating-point matrix structure.
-   * @param[in]     nRows          number of rows in the matrix.
-   * @param[in]     nColumns       number of columns in the matrix.
-   * @param[in]     *pData	       points to the matrix data array.
-   * @return        none
-   */
-
-  void arm_mat_init_f32(
-  arm_matrix_instance_f32 * S,
-  uint16_t nRows,
-  uint16_t nColumns,
-  float32_t * pData);
-
-
-
-  /**
-   * @brief Instance structure for the Q15 PID Control.
-   */
-  typedef struct
-  {
-    q15_t A0;    /**< The derived gain, A0 = Kp + Ki + Kd . */
-#ifdef ARM_MATH_CM0
-    q15_t A1;
-    q15_t A2;
-#else
-    q31_t A1;           /**< The derived gain A1 = -Kp - 2Kd | Kd.*/
-#endif
-    q15_t state[3];       /**< The state array of length 3. */
-    q15_t Kp;           /**< The proportional gain. */
-    q15_t Ki;           /**< The integral gain. */
-    q15_t Kd;           /**< The derivative gain. */
-  } arm_pid_instance_q15;
-
-  /**
-   * @brief Instance structure for the Q31 PID Control.
-   */
-  typedef struct
-  {
-    q31_t A0;            /**< The derived gain, A0 = Kp + Ki + Kd . */
-    q31_t A1;            /**< The derived gain, A1 = -Kp - 2Kd. */
-    q31_t A2;            /**< The derived gain, A2 = Kd . */
-    q31_t state[3];      /**< The state array of length 3. */
-    q31_t Kp;            /**< The proportional gain. */
-    q31_t Ki;            /**< The integral gain. */
-    q31_t Kd;            /**< The derivative gain. */
-
-  } arm_pid_instance_q31;
-
-  /**
-   * @brief Instance structure for the floating-point PID Control.
-   */
-  typedef struct
-  {
-    float32_t A0;          /**< The derived gain, A0 = Kp + Ki + Kd . */
-    float32_t A1;          /**< The derived gain, A1 = -Kp - 2Kd. */
-    float32_t A2;          /**< The derived gain, A2 = Kd . */
-    float32_t state[3];    /**< The state array of length 3. */
-    float32_t Kp;               /**< The proportional gain. */
-    float32_t Ki;               /**< The integral gain. */
-    float32_t Kd;               /**< The derivative gain. */
-  } arm_pid_instance_f32;
-
-
-
-  /**
-   * @brief  Initialization function for the floating-point PID Control.
-   * @param[in,out] *S      points to an instance of the PID structure.
-   * @param[in]     resetStateFlag  flag to reset the state. 0 = no change in state 1 = reset the state.
-   * @return none.
-   */
-  void arm_pid_init_f32(
-  arm_pid_instance_f32 * S,
-  int32_t resetStateFlag);
-
-  /**
-   * @brief  Reset function for the floating-point PID Control.
-   * @param[in,out] *S is an instance of the floating-point PID Control structure
-   * @return none
-   */
-  void arm_pid_reset_f32(
-  arm_pid_instance_f32 * S);
-
-
-  /**
-   * @brief  Initialization function for the Q31 PID Control.
-   * @param[in,out] *S points to an instance of the Q15 PID structure.
-   * @param[in]     resetStateFlag  flag to reset the state. 0 = no change in state 1 = reset the state.
-   * @return none.
-   */
-  void arm_pid_init_q31(
-  arm_pid_instance_q31 * S,
-  int32_t resetStateFlag);
-
-
-  /**
-   * @brief  Reset function for the Q31 PID Control.
-   * @param[in,out] *S points to an instance of the Q31 PID Control structure
-   * @return none
-   */
-
-  void arm_pid_reset_q31(
-  arm_pid_instance_q31 * S);
-
-  /**
-   * @brief  Initialization function for the Q15 PID Control.
-   * @param[in,out] *S points to an instance of the Q15 PID structure.
-   * @param[in] resetStateFlag  flag to reset the state. 0 = no change in state 1 = reset the state.
-   * @return none.
-   */
-  void arm_pid_init_q15(
-  arm_pid_instance_q15 * S,
-  int32_t resetStateFlag);
-
-  /**
-   * @brief  Reset function for the Q15 PID Control.
-   * @param[in,out] *S points to an instance of the q15 PID Control structure
-   * @return none
-   */
-  void arm_pid_reset_q15(
-  arm_pid_instance_q15 * S);
-
-
-  /**
-   * @brief Instance structure for the floating-point Linear Interpolate function.
-   */
-  typedef struct
-  {
-    uint32_t nValues;           /**< nValues */
-    float32_t x1;               /**< x1 */
-    float32_t xSpacing;         /**< xSpacing */
-    float32_t *pYData;          /**< pointer to the table of Y values */
-  } arm_linear_interp_instance_f32;
-
-  /**
-   * @brief Instance structure for the floating-point bilinear interpolation function.
-   */
-
-  typedef struct
-  {
-    uint16_t numRows;   /**< number of rows in the data table. */
-    uint16_t numCols;   /**< number of columns in the data table. */
-    float32_t *pData;   /**< points to the data table. */
-  } arm_bilinear_interp_instance_f32;
-
-   /**
-   * @brief Instance structure for the Q31 bilinear interpolation function.
-   */
-
-  typedef struct
-  {
-    uint16_t numRows;   /**< number of rows in the data table. */
-    uint16_t numCols;   /**< number of columns in the data table. */
-    q31_t *pData;       /**< points to the data table. */
-  } arm_bilinear_interp_instance_q31;
-
-   /**
-   * @brief Instance structure for the Q15 bilinear interpolation function.
-   */
-
-  typedef struct
-  {
-    uint16_t numRows;   /**< number of rows in the data table. */
-    uint16_t numCols;   /**< number of columns in the data table. */
-    q15_t *pData;       /**< points to the data table. */
-  } arm_bilinear_interp_instance_q15;
-
-   /**
-   * @brief Instance structure for the Q15 bilinear interpolation function.
-   */
-
-  typedef struct
-  {
-    uint16_t numRows;   /**< number of rows in the data table. */
-    uint16_t numCols;   /**< number of columns in the data table. */
-    q7_t *pData;                /**< points to the data table. */
-  } arm_bilinear_interp_instance_q7;
-
-
-  /**
-   * @brief Q7 vector multiplication.
-   * @param[in]       *pSrcA points to the first input vector
-   * @param[in]       *pSrcB points to the second input vector
-   * @param[out]      *pDst  points to the output vector
-   * @param[in]       blockSize number of samples in each vector
-   * @return none.
-   */
-
-  void arm_mult_q7(
-  q7_t * pSrcA,
-  q7_t * pSrcB,
-  q7_t * pDst,
-  uint32_t blockSize);
-
-  /**
-   * @brief Q15 vector multiplication.
-   * @param[in]       *pSrcA points to the first input vector
-   * @param[in]       *pSrcB points to the second input vector
-   * @param[out]      *pDst  points to the output vector
-   * @param[in]       blockSize number of samples in each vector
-   * @return none.
-   */
-
-  void arm_mult_q15(
-  q15_t * pSrcA,
-  q15_t * pSrcB,
-  q15_t * pDst,
-  uint32_t blockSize);
-
-  /**
-   * @brief Q31 vector multiplication.
-   * @param[in]       *pSrcA points to the first input vector
-   * @param[in]       *pSrcB points to the second input vector
-   * @param[out]      *pDst points to the output vector
-   * @param[in]       blockSize number of samples in each vector
-   * @return none.
-   */
-
-  void arm_mult_q31(
-  q31_t * pSrcA,
-  q31_t * pSrcB,
-  q31_t * pDst,
-  uint32_t blockSize);
-
-  /**
-   * @brief Floating-point vector multiplication.
-   * @param[in]       *pSrcA points to the first input vector
-   * @param[in]       *pSrcB points to the second input vector
-   * @param[out]      *pDst points to the output vector
-   * @param[in]       blockSize number of samples in each vector
-   * @return none.
-   */
-
-  void arm_mult_f32(
-  float32_t * pSrcA,
-  float32_t * pSrcB,
-  float32_t * pDst,
-  uint32_t blockSize);
-
-
-  /**
-   * @brief Instance structure for the Q15 CFFT/CIFFT function.
-   */
-
-  typedef struct
-  {
-    uint16_t fftLen;                 /**< length of the FFT. */
-    uint8_t ifftFlag;                /**< flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform. */
-    uint8_t bitReverseFlag;          /**< flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output. */
-    q15_t *pTwiddle;                 /**< points to the twiddle factor table. */
-    uint16_t *pBitRevTable;          /**< points to the bit reversal table. */
-    uint16_t twidCoefModifier;       /**< twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. */
-    uint16_t bitRevFactor;           /**< bit reversal modifier that supports different size FFTs with the same bit reversal table. */
-  } arm_cfft_radix4_instance_q15;
-
-  /**
-   * @brief Instance structure for the Q31 CFFT/CIFFT function.
-   */
-
-  typedef struct
-  {
-    uint16_t fftLen;                 /**< length of the FFT. */
-    uint8_t ifftFlag;                /**< flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform. */
-    uint8_t bitReverseFlag;          /**< flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output. */
-    q31_t *pTwiddle;                 /**< points to the twiddle factor table. */
-    uint16_t *pBitRevTable;          /**< points to the bit reversal table. */
-    uint16_t twidCoefModifier;       /**< twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. */
-    uint16_t bitRevFactor;           /**< bit reversal modifier that supports different size FFTs with the same bit reversal table. */
-  } arm_cfft_radix4_instance_q31;
-
-
-  /**
-   * @brief Instance structure for the floating-point CFFT/CIFFT function.
-   */
-
-  typedef struct
-  {
-    uint16_t fftLen;                   /**< length of the FFT. */
-    uint8_t ifftFlag;                  /**< flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform. */
-    uint8_t bitReverseFlag;            /**< flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output. */
-    float32_t *pTwiddle;               /**< points to the twiddle factor table. */
-    uint16_t *pBitRevTable;            /**< points to the bit reversal table. */
-    uint16_t twidCoefModifier;         /**< twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. */
-    uint16_t bitRevFactor;             /**< bit reversal modifier that supports different size FFTs with the same bit reversal table. */
-    float32_t onebyfftLen;                 /**< value of 1/fftLen. */
-  } arm_cfft_radix4_instance_f32;
-
-
-  /**
-   * @brief Instance structure for the Q15 CFFT/CIFFT function.
-   */
-
-  typedef struct
-  {
-    uint16_t fftLen;                 /**< length of the FFT. */
-    uint8_t ifftFlag;                /**< flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform. */
-    uint8_t bitReverseFlag;          /**< flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output. */
-    q15_t *pTwiddle;                     /**< points to the Sin twiddle factor table. */
-    uint16_t *pBitRevTable;          /**< points to the bit reversal table. */
-    uint16_t twidCoefModifier;       /**< twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. */
-    uint16_t bitRevFactor;           /**< bit reversal modifier that supports different size FFTs with the same bit reversal table. */
-  } arm_cfft_radix2_instance_q15;
-
-  /**
-   * @brief Instance structure for the Radix-2 Q31 CFFT/CIFFT function.
-   */
-
-  typedef struct
-  {
-    uint16_t fftLen;                 /**< length of the FFT. */
-    uint8_t ifftFlag;                /**< flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform. */
-    uint8_t bitReverseFlag;          /**< flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output. */
-    q31_t *pTwiddle;                     /**< points to the Twiddle factor table. */
-    uint16_t *pBitRevTable;          /**< points to the bit reversal table. */
-    uint16_t twidCoefModifier;       /**< twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. */
-    uint16_t bitRevFactor;           /**< bit reversal modifier that supports different size FFTs with the same bit reversal table. */
-  } arm_cfft_radix2_instance_q31;
-
-  /**
-   * @brief Instance structure for the floating-point CFFT/CIFFT function.
-   */
-
-  typedef struct
-  {
-    uint16_t fftLen;                   /**< length of the FFT. */
-    uint8_t ifftFlag;                  /**< flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform. */
-    uint8_t bitReverseFlag;            /**< flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output. */
-    float32_t *pTwiddle;               /**< points to the Twiddle factor table. */
-    uint16_t *pBitRevTable;            /**< points to the bit reversal table. */
-    uint16_t twidCoefModifier;         /**< twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. */
-    uint16_t bitRevFactor;             /**< bit reversal modifier that supports different size FFTs with the same bit reversal table. */
-    float32_t onebyfftLen;                 /**< value of 1/fftLen. */
-  } arm_cfft_radix2_instance_f32;
-
-
-  /**
-   * @brief Processing function for the Q15 CFFT/CIFFT.
-   * @param[in]      *S    points to an instance of the Q15 CFFT/CIFFT structure.
-   * @param[in, out] *pSrc points to the complex data buffer. Processing occurs in-place.
-   * @return none.
-   */
-
-  void arm_cfft_radix4_q15(
-  const arm_cfft_radix4_instance_q15 * S,
-  q15_t * pSrc);
-
-  /**
-   * @brief Processing function for the Q15 CFFT/CIFFT.
-   * @param[in]      *S    points to an instance of the Q15 CFFT/CIFFT structure.
-   * @param[in, out] *pSrc points to the complex data buffer. Processing occurs in-place.
-   * @return none.
-   */
-
-  void arm_cfft_radix2_q15(
-  const arm_cfft_radix2_instance_q15 * S,
-  q15_t * pSrc);
-
-  /**
-   * @brief Initialization function for the Q15 CFFT/CIFFT.
-   * @param[in,out] *S             points to an instance of the Q15 CFFT/CIFFT structure.
-   * @param[in]     fftLen         length of the FFT.
-   * @param[in]     ifftFlag       flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform.
-   * @param[in]     bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.
-   * @return        arm_status     function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if fftLen is not a supported value.
-   */
-
-  arm_status arm_cfft_radix4_init_q15(
-  arm_cfft_radix4_instance_q15 * S,
-  uint16_t fftLen,
-  uint8_t ifftFlag,
-  uint8_t bitReverseFlag);
-
-  /**
-   * @brief Initialization function for the Q15 CFFT/CIFFT.
-   * @param[in,out] *S             points to an instance of the Q15 CFFT/CIFFT structure.
-   * @param[in]     fftLen         length of the FFT.
-   * @param[in]     ifftFlag       flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform.
-   * @param[in]     bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.
-   * @return        arm_status     function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if fftLen is not a supported value.
-   */
-
-  arm_status arm_cfft_radix2_init_q15(
-  arm_cfft_radix2_instance_q15 * S,
-  uint16_t fftLen,
-  uint8_t ifftFlag,
-  uint8_t bitReverseFlag);
-
-  /**
-   * @brief Processing function for the Q31 CFFT/CIFFT.
-   * @param[in]      *S    points to an instance of the Q31 CFFT/CIFFT structure.
-   * @param[in, out] *pSrc points to the complex data buffer. Processing occurs in-place.
-   * @return none.
-   */
-
-  void arm_cfft_radix4_q31(
-  const arm_cfft_radix4_instance_q31 * S,
-  q31_t * pSrc);
-
-  /**
-   * @brief  Initialization function for the Q31 CFFT/CIFFT.
-   * @param[in,out] *S             points to an instance of the Q31 CFFT/CIFFT structure.
-   * @param[in]     fftLen         length of the FFT.
-   * @param[in]     ifftFlag       flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform.
-   * @param[in]     bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.
-   * @return        arm_status     function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if fftLen is not a supported value.
-   */
-
-  arm_status arm_cfft_radix4_init_q31(
-  arm_cfft_radix4_instance_q31 * S,
-  uint16_t fftLen,
-  uint8_t ifftFlag,
-  uint8_t bitReverseFlag);
-
-  /**
-   * @brief Processing function for the Radix-2 Q31 CFFT/CIFFT.
-   * @param[in]      *S    points to an instance of the Radix-2 Q31 CFFT/CIFFT structure.
-   * @param[in, out] *pSrc points to the complex data buffer. Processing occurs in-place.
-   * @return none.
-   */
-
-  void arm_cfft_radix2_q31(
-  const arm_cfft_radix2_instance_q31 * S,
-  q31_t * pSrc);
-
-  /**
-   * @brief  Initialization function for the Radix-2 Q31 CFFT/CIFFT.
-   * @param[in,out] *S             points to an instance of the Radix-2 Q31 CFFT/CIFFT structure.
-   * @param[in]     fftLen         length of the FFT.
-   * @param[in]     ifftFlag       flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform.
-   * @param[in]     bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.
-   * @return        arm_status     function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if fftLen is not a supported value.
-   */
-
-  arm_status arm_cfft_radix2_init_q31(
-  arm_cfft_radix2_instance_q31 * S,
-  uint16_t fftLen,
-  uint8_t ifftFlag,
-  uint8_t bitReverseFlag);
-
-
-
-  /**
-   * @brief Processing function for the floating-point CFFT/CIFFT.
-   * @param[in]      *S    points to an instance of the floating-point CFFT/CIFFT structure.
-   * @param[in, out] *pSrc points to the complex data buffer. Processing occurs in-place.
-   * @return none.
-   */
-
-  void arm_cfft_radix2_f32(
-  const arm_cfft_radix2_instance_f32 * S,
-  float32_t * pSrc);
-
-  /**
-   * @brief  Initialization function for the floating-point CFFT/CIFFT.
-   * @param[in,out] *S             points to an instance of the floating-point CFFT/CIFFT structure.
-   * @param[in]     fftLen         length of the FFT.
-   * @param[in]     ifftFlag       flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform.
-   * @param[in]     bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.
-   * @return        The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if fftLen is not a supported value.
-   */
-
-  arm_status arm_cfft_radix2_init_f32(
-  arm_cfft_radix2_instance_f32 * S,
-  uint16_t fftLen,
-  uint8_t ifftFlag,
-  uint8_t bitReverseFlag);
-
-  /**
-   * @brief Processing function for the floating-point CFFT/CIFFT.
-   * @param[in]      *S    points to an instance of the floating-point CFFT/CIFFT structure.
-   * @param[in, out] *pSrc points to the complex data buffer. Processing occurs in-place.
-   * @return none.
-   */
-
-  void arm_cfft_radix4_f32(
-  const arm_cfft_radix4_instance_f32 * S,
-  float32_t * pSrc);
-
-  /**
-   * @brief  Initialization function for the floating-point CFFT/CIFFT.
-   * @param[in,out] *S             points to an instance of the floating-point CFFT/CIFFT structure.
-   * @param[in]     fftLen         length of the FFT.
-   * @param[in]     ifftFlag       flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform.
-   * @param[in]     bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.
-   * @return        The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if fftLen is not a supported value.
-   */
-
-  arm_status arm_cfft_radix4_init_f32(
-  arm_cfft_radix4_instance_f32 * S,
-  uint16_t fftLen,
-  uint8_t ifftFlag,
-  uint8_t bitReverseFlag);
-
-
-
-  /*----------------------------------------------------------------------
-   *		Internal functions prototypes FFT function
-   ----------------------------------------------------------------------*/
-
-  /**
-   * @brief  Core function for the floating-point CFFT butterfly process.
-   * @param[in, out] *pSrc            points to the in-place buffer of floating-point data type.
-   * @param[in]      fftLen           length of the FFT.
-   * @param[in]      *pCoef           points to the twiddle coefficient buffer.
-   * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.
-   * @return none.
-   */
-
-  void arm_radix4_butterfly_f32(
-  float32_t * pSrc,
-  uint16_t fftLen,
-  float32_t * pCoef,
-  uint16_t twidCoefModifier);
-
-  /**
-   * @brief  Core function for the floating-point CIFFT butterfly process.
-   * @param[in, out] *pSrc            points to the in-place buffer of floating-point data type.
-   * @param[in]      fftLen           length of the FFT.
-   * @param[in]      *pCoef           points to twiddle coefficient buffer.
-   * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.
-   * @param[in]      onebyfftLen      value of 1/fftLen.
-   * @return none.
-   */
-
-  void arm_radix4_butterfly_inverse_f32(
-  float32_t * pSrc,
-  uint16_t fftLen,
-  float32_t * pCoef,
-  uint16_t twidCoefModifier,
-  float32_t onebyfftLen);
-
-  /**
-   * @brief  In-place bit reversal function.
-   * @param[in, out] *pSrc        points to the in-place buffer of floating-point data type.
-   * @param[in]      fftSize      length of the FFT.
-   * @param[in]      bitRevFactor bit reversal modifier that supports different size FFTs with the same bit reversal table.
-   * @param[in]      *pBitRevTab  points to the bit reversal table.
-   * @return none.
-   */
-
-  void arm_bitreversal_f32(
-  float32_t * pSrc,
-  uint16_t fftSize,
-  uint16_t bitRevFactor,
-  uint16_t * pBitRevTab);
-
-  /**
-   * @brief  Core function for the Q31 CFFT butterfly process.
-   * @param[in, out] *pSrc            points to the in-place buffer of Q31 data type.
-   * @param[in]      fftLen           length of the FFT.
-   * @param[in]      *pCoef           points to Twiddle coefficient buffer.
-   * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.
-   * @return none.
-   */
-
-  void arm_radix4_butterfly_q31(
-  q31_t * pSrc,
-  uint32_t fftLen,
-  q31_t * pCoef,
-  uint32_t twidCoefModifier);
-
-  /**
-   * @brief  Core function for the f32 FFT butterfly process.
-   * @param[in, out] *pSrc            points to the in-place buffer of f32 data type.
-   * @param[in]      fftLen           length of the FFT.
-   * @param[in]      *pCoef        	  points to Twiddle coefficient buffer.
-   * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.
-   * @return none.
-   */
-
-  void arm_radix2_butterfly_f32(
-  float32_t * pSrc,
-  uint32_t fftLen,
-  float32_t * pCoef,
-  uint16_t twidCoefModifier);
-
-        /**  
-	 * @brief  Core function for the Radix-2 Q31 CFFT butterfly process. 
-	 * @param[in, out] *pSrc            points to the in-place buffer of Q31 data type. 
-	 * @param[in]      fftLen           length of the FFT. 
-	 * @param[in]      *pCoef         	points to Twiddle coefficient buffer.
-	 * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. 
-	 * @return none. 
-	 */
-
-  void arm_radix2_butterfly_q31(
-  q31_t * pSrc,
-  uint32_t fftLen,
-  q31_t * pCoef,
-  uint16_t twidCoefModifier);
-
-        /**  
-	 * @brief  Core function for the Radix-2 Q15 CFFT butterfly process. 
-	 * @param[in, out] *pSrc            points to the in-place buffer of Q15 data type. 
-	 * @param[in]      fftLen           length of the FFT. 
-	 * @param[in]      *pCoef           points to Twiddle coefficient buffer.
-	 * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. 
-	 * @return none. 
-	 */
-
-  void arm_radix2_butterfly_q15(
-  q15_t * pSrc,
-  uint32_t fftLen,
-  q15_t * pCoef,
-  uint16_t twidCoefModifier);
-
-        /**  
-	 * @brief  Core function for the Radix-2 Q15 CFFT Inverse butterfly process. 
-	 * @param[in, out] *pSrc            points to the in-place buffer of Q15 data type. 
-	 * @param[in]      fftLen           length of the FFT. 
-	 * @param[in]      *pCoef       	points to Twiddle coefficient buffer.
-	 * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. 
-	 * @return none. 
-	 */
-
-  void arm_radix2_butterfly_inverse_q15(
-  q15_t * pSrc,
-  uint32_t fftLen,
-  q15_t * pCoef,
-  uint16_t twidCoefModifier);
-
-        /**  
-	 * @brief  Core function for the Radix-2 Q31 CFFT Inverse butterfly process. 
-	 * @param[in, out] *pSrc            points to the in-place buffer of Q31 data type. 
-	 * @param[in]      fftLen           length of the FFT. 
-	 * @param[in]      *pCoef         	points to Twiddle coefficient buffer.
-	 * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. 
-	 * @return none. 
-	 */
-
-  void arm_radix2_butterfly_inverse_q31(
-  q31_t * pSrc,
-  uint32_t fftLen,
-  q31_t * pCoef,
-  uint16_t twidCoefModifier);
-
-  /**
-   * @brief  Core function for the f32 IFFT butterfly process.
-   * @param[in, out] *pSrc            points to the in-place buffer of f32 data type.
-   * @param[in]      fftLen           length of the FFT.
-   * @param[in]      *pCoef        	  points to Twiddle coefficient buffer.
-   * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.
-   * @param[in]		 onebyfftLen	  1/fftLenfth
-   * @return none.
-   */
-
-  void arm_radix2_butterfly_inverse_f32(
-  float32_t * pSrc,
-  uint32_t fftLen,
-  float32_t * pCoef,
-  uint16_t twidCoefModifier,
-  float32_t onebyfftLen);
-
-                                                                /**
-   * @brief  Core function for the Q31 CIFFT butterfly process.
-   * @param[in, out] *pSrc            points to the in-place buffer of Q31 data type.
-   * @param[in]      fftLen           length of the FFT.
-   * @param[in]      *pCoef           points to twiddle coefficient buffer.
-   * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.
-   * @return none.
-   */
-
-  void arm_radix4_butterfly_inverse_q31(
-  q31_t * pSrc,
-  uint32_t fftLen,
-  q31_t * pCoef,
-  uint32_t twidCoefModifier);
-
-  /**
-   * @brief  In-place bit reversal function.
-   * @param[in, out] *pSrc        points to the in-place buffer of Q31 data type.
-   * @param[in]      fftLen       length of the FFT.
-   * @param[in]      bitRevFactor bit reversal modifier that supports different size FFTs with the same bit reversal table
-   * @param[in]      *pBitRevTab  points to bit reversal table.
-   * @return none.
-   */
-
-  void arm_bitreversal_q31(
-  q31_t * pSrc,
-  uint32_t fftLen,
-  uint16_t bitRevFactor,
-  uint16_t * pBitRevTab);
-
-  /**
-   * @brief  Core function for the Q15 CFFT butterfly process.
-   * @param[in, out] *pSrc16          points to the in-place buffer of Q15 data type.
-   * @param[in]      fftLen           length of the FFT.
-   * @param[in]      *pCoef16         points to twiddle coefficient buffer.
-   * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.
-   * @return none.
-   */
-
-  void arm_radix4_butterfly_q15(
-  q15_t * pSrc16,
-  uint32_t fftLen,
-  q15_t * pCoef16,
-  uint32_t twidCoefModifier);
-
-
-  /**
-   * @brief  Core function for the Q15 CIFFT butterfly process.
-   * @param[in, out] *pSrc16          points to the in-place buffer of Q15 data type.
-   * @param[in]      fftLen           length of the FFT.
-   * @param[in]      *pCoef16         points to twiddle coefficient buffer.
-   * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.
-   * @return none.
-   */
-
-  void arm_radix4_butterfly_inverse_q15(
-  q15_t * pSrc16,
-  uint32_t fftLen,
-  q15_t * pCoef16,
-  uint32_t twidCoefModifier);
-
-  /**
-   * @brief  In-place bit reversal function.
-   * @param[in, out] *pSrc        points to the in-place buffer of Q15 data type.
-   * @param[in]      fftLen       length of the FFT.
-   * @param[in]      bitRevFactor bit reversal modifier that supports different size FFTs with the same bit reversal table
-   * @param[in]      *pBitRevTab  points to bit reversal table.
-   * @return none.
-   */
-
-  void arm_bitreversal_q15(
-  q15_t * pSrc,
-  uint32_t fftLen,
-  uint16_t bitRevFactor,
-  uint16_t * pBitRevTab);
-
-
-  /**
-   * @brief Instance structure for the Q15 RFFT/RIFFT function.
-   */
-
-  typedef struct
-  {
-    uint32_t fftLenReal;                      /**< length of the real FFT. */
-    uint32_t fftLenBy2;                       /**< length of the complex FFT. */
-    uint8_t ifftFlagR;                        /**< flag that selects forward (ifftFlagR=0) or inverse (ifftFlagR=1) transform. */
-    uint8_t bitReverseFlagR;                      /**< flag that enables (bitReverseFlagR=1) or disables (bitReverseFlagR=0) bit reversal of output. */
-    uint32_t twidCoefRModifier;               /**< twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. */
-    q15_t *pTwiddleAReal;                     /**< points to the real twiddle factor table. */
-    q15_t *pTwiddleBReal;                     /**< points to the imag twiddle factor table. */
-    arm_cfft_radix4_instance_q15 *pCfft;          /**< points to the complex FFT instance. */
-  } arm_rfft_instance_q15;
-
-  /**
-   * @brief Instance structure for the Q31 RFFT/RIFFT function.
-   */
-
-  typedef struct
-  {
-    uint32_t fftLenReal;                        /**< length of the real FFT. */
-    uint32_t fftLenBy2;                         /**< length of the complex FFT. */
-    uint8_t ifftFlagR;                          /**< flag that selects forward (ifftFlagR=0) or inverse (ifftFlagR=1) transform. */
-    uint8_t bitReverseFlagR;                        /**< flag that enables (bitReverseFlagR=1) or disables (bitReverseFlagR=0) bit reversal of output. */
-    uint32_t twidCoefRModifier;                 /**< twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. */
-    q31_t *pTwiddleAReal;                       /**< points to the real twiddle factor table. */
-    q31_t *pTwiddleBReal;                       /**< points to the imag twiddle factor table. */
-    arm_cfft_radix4_instance_q31 *pCfft;        /**< points to the complex FFT instance. */
-  } arm_rfft_instance_q31;
-
-  /**
-   * @brief Instance structure for the floating-point RFFT/RIFFT function.
-   */
-
-  typedef struct
-  {
-    uint32_t fftLenReal;                        /**< length of the real FFT. */
-    uint16_t fftLenBy2;                         /**< length of the complex FFT. */
-    uint8_t ifftFlagR;                          /**< flag that selects forward (ifftFlagR=0) or inverse (ifftFlagR=1) transform. */
-    uint8_t bitReverseFlagR;                    /**< flag that enables (bitReverseFlagR=1) or disables (bitReverseFlagR=0) bit reversal of output. */
-    uint32_t twidCoefRModifier;                     /**< twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. */
-    float32_t *pTwiddleAReal;                   /**< points to the real twiddle factor table. */
-    float32_t *pTwiddleBReal;                   /**< points to the imag twiddle factor table. */
-    arm_cfft_radix4_instance_f32 *pCfft;        /**< points to the complex FFT instance. */
-  } arm_rfft_instance_f32;
-
-  /**
-   * @brief Processing function for the Q15 RFFT/RIFFT.
-   * @param[in]  *S    points to an instance of the Q15 RFFT/RIFFT structure.
-   * @param[in]  *pSrc points to the input buffer.
-   * @param[out] *pDst points to the output buffer.
-   * @return none.
-   */
-
-  void arm_rfft_q15(
-  const arm_rfft_instance_q15 * S,
-  q15_t * pSrc,
-  q15_t * pDst);
-
-  /**
-   * @brief  Initialization function for the Q15 RFFT/RIFFT.
-   * @param[in, out] *S             points to an instance of the Q15 RFFT/RIFFT structure.
-   * @param[in]      *S_CFFT        points to an instance of the Q15 CFFT/CIFFT structure.
-   * @param[in]      fftLenReal     length of the FFT.
-   * @param[in]      ifftFlagR      flag that selects forward (ifftFlagR=0) or inverse (ifftFlagR=1) transform.
-   * @param[in]      bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.
-   * @return		The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if fftLenReal is not a supported value.
-   */
-
-  arm_status arm_rfft_init_q15(
-  arm_rfft_instance_q15 * S,
-  arm_cfft_radix4_instance_q15 * S_CFFT,
-  uint32_t fftLenReal,
-  uint32_t ifftFlagR,
-  uint32_t bitReverseFlag);
-
-  /**
-   * @brief Processing function for the Q31 RFFT/RIFFT.
-   * @param[in]  *S    points to an instance of the Q31 RFFT/RIFFT structure.
-   * @param[in]  *pSrc points to the input buffer.
-   * @param[out] *pDst points to the output buffer.
-   * @return none.
-   */
-
-  void arm_rfft_q31(
-  const arm_rfft_instance_q31 * S,
-  q31_t * pSrc,
-  q31_t * pDst);
-
-  /**
-   * @brief  Initialization function for the Q31 RFFT/RIFFT.
-   * @param[in, out] *S             points to an instance of the Q31 RFFT/RIFFT structure.
-   * @param[in, out] *S_CFFT        points to an instance of the Q31 CFFT/CIFFT structure.
-   * @param[in]      fftLenReal     length of the FFT.
-   * @param[in]      ifftFlagR      flag that selects forward (ifftFlagR=0) or inverse (ifftFlagR=1) transform.
-   * @param[in]      bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.
-   * @return		The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if fftLenReal is not a supported value.
-   */
-
-  arm_status arm_rfft_init_q31(
-  arm_rfft_instance_q31 * S,
-  arm_cfft_radix4_instance_q31 * S_CFFT,
-  uint32_t fftLenReal,
-  uint32_t ifftFlagR,
-  uint32_t bitReverseFlag);
-
-  /**
-   * @brief  Initialization function for the floating-point RFFT/RIFFT.
-   * @param[in,out] *S             points to an instance of the floating-point RFFT/RIFFT structure.
-   * @param[in,out] *S_CFFT        points to an instance of the floating-point CFFT/CIFFT structure.
-   * @param[in]     fftLenReal     length of the FFT.
-   * @param[in]     ifftFlagR      flag that selects forward (ifftFlagR=0) or inverse (ifftFlagR=1) transform.
-   * @param[in]     bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.
-   * @return		The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if fftLenReal is not a supported value.
-   */
-
-  arm_status arm_rfft_init_f32(
-  arm_rfft_instance_f32 * S,
-  arm_cfft_radix4_instance_f32 * S_CFFT,
-  uint32_t fftLenReal,
-  uint32_t ifftFlagR,
-  uint32_t bitReverseFlag);
-
-  /**
-   * @brief Processing function for the floating-point RFFT/RIFFT.
-   * @param[in]  *S    points to an instance of the floating-point RFFT/RIFFT structure.
-   * @param[in]  *pSrc points to the input buffer.
-   * @param[out] *pDst points to the output buffer.
-   * @return none.
-   */
-
-  void arm_rfft_f32(
-  const arm_rfft_instance_f32 * S,
-  float32_t * pSrc,
-  float32_t * pDst);
-
-  /**
-   * @brief Instance structure for the floating-point DCT4/IDCT4 function.
-   */
-
-  typedef struct
-  {
-    uint16_t N;                         /**< length of the DCT4. */
-    uint16_t Nby2;                      /**< half of the length of the DCT4. */
-    float32_t normalize;                /**< normalizing factor. */
-    float32_t *pTwiddle;                /**< points to the twiddle factor table. */
-    float32_t *pCosFactor;              /**< points to the cosFactor table. */
-    arm_rfft_instance_f32 *pRfft;        /**< points to the real FFT instance. */
-    arm_cfft_radix4_instance_f32 *pCfft; /**< points to the complex FFT instance. */
-  } arm_dct4_instance_f32;
-
-  /**
-   * @brief  Initialization function for the floating-point DCT4/IDCT4.
-   * @param[in,out] *S         points to an instance of floating-point DCT4/IDCT4 structure.
-   * @param[in]     *S_RFFT    points to an instance of floating-point RFFT/RIFFT structure.
-   * @param[in]     *S_CFFT    points to an instance of floating-point CFFT/CIFFT structure.
-   * @param[in]     N          length of the DCT4.
-   * @param[in]     Nby2       half of the length of the DCT4.
-   * @param[in]     normalize  normalizing factor.
-   * @return		arm_status function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if fftLenReal is not a supported transform length.
-   */
-
-  arm_status arm_dct4_init_f32(
-  arm_dct4_instance_f32 * S,
-  arm_rfft_instance_f32 * S_RFFT,
-  arm_cfft_radix4_instance_f32 * S_CFFT,
-  uint16_t N,
-  uint16_t Nby2,
-  float32_t normalize);
-
-  /**
-   * @brief Processing function for the floating-point DCT4/IDCT4.
-   * @param[in]       *S             points to an instance of the floating-point DCT4/IDCT4 structure.
-   * @param[in]       *pState        points to state buffer.
-   * @param[in,out]   *pInlineBuffer points to the in-place input and output buffer.
-   * @return none.
-   */
-
-  void arm_dct4_f32(
-  const arm_dct4_instance_f32 * S,
-  float32_t * pState,
-  float32_t * pInlineBuffer);
-
-  /**
-   * @brief Instance structure for the Q31 DCT4/IDCT4 function.
-   */
-
-  typedef struct
-  {
-    uint16_t N;                         /**< length of the DCT4. */
-    uint16_t Nby2;                      /**< half of the length of the DCT4. */
-    q31_t normalize;                    /**< normalizing factor. */
-    q31_t *pTwiddle;                    /**< points to the twiddle factor table. */
-    q31_t *pCosFactor;                  /**< points to the cosFactor table. */
-    arm_rfft_instance_q31 *pRfft;        /**< points to the real FFT instance. */
-    arm_cfft_radix4_instance_q31 *pCfft; /**< points to the complex FFT instance. */
-  } arm_dct4_instance_q31;
-
-  /**
-   * @brief  Initialization function for the Q31 DCT4/IDCT4.
-   * @param[in,out] *S         points to an instance of Q31 DCT4/IDCT4 structure.
-   * @param[in]     *S_RFFT    points to an instance of Q31 RFFT/RIFFT structure
-   * @param[in]     *S_CFFT    points to an instance of Q31 CFFT/CIFFT structure
-   * @param[in]     N          length of the DCT4.
-   * @param[in]     Nby2       half of the length of the DCT4.
-   * @param[in]     normalize  normalizing factor.
-   * @return		arm_status function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if N is not a supported transform length.
-   */
-
-  arm_status arm_dct4_init_q31(
-  arm_dct4_instance_q31 * S,
-  arm_rfft_instance_q31 * S_RFFT,
-  arm_cfft_radix4_instance_q31 * S_CFFT,
-  uint16_t N,
-  uint16_t Nby2,
-  q31_t normalize);
-
-  /**
-   * @brief Processing function for the Q31 DCT4/IDCT4.
-   * @param[in]       *S             points to an instance of the Q31 DCT4 structure.
-   * @param[in]       *pState        points to state buffer.
-   * @param[in,out]   *pInlineBuffer points to the in-place input and output buffer.
-   * @return none.
-   */
-
-  void arm_dct4_q31(
-  const arm_dct4_instance_q31 * S,
-  q31_t * pState,
-  q31_t * pInlineBuffer);
-
-  /**
-   * @brief Instance structure for the Q15 DCT4/IDCT4 function.
-   */
-
-  typedef struct
-  {
-    uint16_t N;                         /**< length of the DCT4. */
-    uint16_t Nby2;                      /**< half of the length of the DCT4. */
-    q15_t normalize;                    /**< normalizing factor. */
-    q15_t *pTwiddle;                    /**< points to the twiddle factor table. */
-    q15_t *pCosFactor;                  /**< points to the cosFactor table. */
-    arm_rfft_instance_q15 *pRfft;        /**< points to the real FFT instance. */
-    arm_cfft_radix4_instance_q15 *pCfft; /**< points to the complex FFT instance. */
-  } arm_dct4_instance_q15;
-
-  /**
-   * @brief  Initialization function for the Q15 DCT4/IDCT4.
-   * @param[in,out] *S         points to an instance of Q15 DCT4/IDCT4 structure.
-   * @param[in]     *S_RFFT    points to an instance of Q15 RFFT/RIFFT structure.
-   * @param[in]     *S_CFFT    points to an instance of Q15 CFFT/CIFFT structure.
-   * @param[in]     N          length of the DCT4.
-   * @param[in]     Nby2       half of the length of the DCT4.
-   * @param[in]     normalize  normalizing factor.
-   * @return		arm_status function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if N is not a supported transform length.
-   */
-
-  arm_status arm_dct4_init_q15(
-  arm_dct4_instance_q15 * S,
-  arm_rfft_instance_q15 * S_RFFT,
-  arm_cfft_radix4_instance_q15 * S_CFFT,
-  uint16_t N,
-  uint16_t Nby2,
-  q15_t normalize);
-
-  /**
-   * @brief Processing function for the Q15 DCT4/IDCT4.
-   * @param[in]       *S             points to an instance of the Q15 DCT4 structure.
-   * @param[in]       *pState        points to state buffer.
-   * @param[in,out]   *pInlineBuffer points to the in-place input and output buffer.
-   * @return none.
-   */
-
-  void arm_dct4_q15(
-  const arm_dct4_instance_q15 * S,
-  q15_t * pState,
-  q15_t * pInlineBuffer);
-
-  /**
-   * @brief Floating-point vector addition.
-   * @param[in]       *pSrcA points to the first input vector
-   * @param[in]       *pSrcB points to the second input vector
-   * @param[out]      *pDst points to the output vector
-   * @param[in]       blockSize number of samples in each vector
-   * @return none.
-   */
-
-  void arm_add_f32(
-  float32_t * pSrcA,
-  float32_t * pSrcB,
-  float32_t * pDst,
-  uint32_t blockSize);
-
-  /**
-   * @brief Q7 vector addition.
-   * @param[in]       *pSrcA points to the first input vector
-   * @param[in]       *pSrcB points to the second input vector
-   * @param[out]      *pDst points to the output vector
-   * @param[in]       blockSize number of samples in each vector
-   * @return none.
-   */
-
-  void arm_add_q7(
-  q7_t * pSrcA,
-  q7_t * pSrcB,
-  q7_t * pDst,
-  uint32_t blockSize);
-
-  /**
-   * @brief Q15 vector addition.
-   * @param[in]       *pSrcA points to the first input vector
-   * @param[in]       *pSrcB points to the second input vector
-   * @param[out]      *pDst points to the output vector
-   * @param[in]       blockSize number of samples in each vector
-   * @return none.
-   */
-
-  void arm_add_q15(
-  q15_t * pSrcA,
-  q15_t * pSrcB,
-  q15_t * pDst,
-  uint32_t blockSize);
-
-  /**
-   * @brief Q31 vector addition.
-   * @param[in]       *pSrcA points to the first input vector
-   * @param[in]       *pSrcB points to the second input vector
-   * @param[out]      *pDst points to the output vector
-   * @param[in]       blockSize number of samples in each vector
-   * @return none.
-   */
-
-  void arm_add_q31(
-  q31_t * pSrcA,
-  q31_t * pSrcB,
-  q31_t * pDst,
-  uint32_t blockSize);
-
-  /**
-   * @brief Floating-point vector subtraction.
-   * @param[in]       *pSrcA points to the first input vector
-   * @param[in]       *pSrcB points to the second input vector
-   * @param[out]      *pDst points to the output vector
-   * @param[in]       blockSize number of samples in each vector
-   * @return none.
-   */
-
-  void arm_sub_f32(
-  float32_t * pSrcA,
-  float32_t * pSrcB,
-  float32_t * pDst,
-  uint32_t blockSize);
-
-  /**
-   * @brief Q7 vector subtraction.
-   * @param[in]       *pSrcA points to the first input vector
-   * @param[in]       *pSrcB points to the second input vector
-   * @param[out]      *pDst points to the output vector
-   * @param[in]       blockSize number of samples in each vector
-   * @return none.
-   */
-
-  void arm_sub_q7(
-  q7_t * pSrcA,
-  q7_t * pSrcB,
-  q7_t * pDst,
-  uint32_t blockSize);
-
-  /**
-   * @brief Q15 vector subtraction.
-   * @param[in]       *pSrcA points to the first input vector
-   * @param[in]       *pSrcB points to the second input vector
-   * @param[out]      *pDst points to the output vector
-   * @param[in]       blockSize number of samples in each vector
-   * @return none.
-   */
-
-  void arm_sub_q15(
-  q15_t * pSrcA,
-  q15_t * pSrcB,
-  q15_t * pDst,
-  uint32_t blockSize);
-
-  /**
-   * @brief Q31 vector subtraction.
-   * @param[in]       *pSrcA points to the first input vector
-   * @param[in]       *pSrcB points to the second input vector
-   * @param[out]      *pDst points to the output vector
-   * @param[in]       blockSize number of samples in each vector
-   * @return none.
-   */
-
-  void arm_sub_q31(
-  q31_t * pSrcA,
-  q31_t * pSrcB,
-  q31_t * pDst,
-  uint32_t blockSize);
-
-  /**
-   * @brief Multiplies a floating-point vector by a scalar.
-   * @param[in]       *pSrc points to the input vector
-   * @param[in]       scale scale factor to be applied
-   * @param[out]      *pDst points to the output vector
-   * @param[in]       blockSize number of samples in the vector
-   * @return none.
-   */
-
-  void arm_scale_f32(
-  float32_t * pSrc,
-  float32_t scale,
-  float32_t * pDst,
-  uint32_t blockSize);
-
-  /**
-   * @brief Multiplies a Q7 vector by a scalar.
-   * @param[in]       *pSrc points to the input vector
-   * @param[in]       scaleFract fractional portion of the scale value
-   * @param[in]       shift number of bits to shift the result by
-   * @param[out]      *pDst points to the output vector
-   * @param[in]       blockSize number of samples in the vector
-   * @return none.
-   */
-
-  void arm_scale_q7(
-  q7_t * pSrc,
-  q7_t scaleFract,
-  int8_t shift,
-  q7_t * pDst,
-  uint32_t blockSize);
-
-  /**
-   * @brief Multiplies a Q15 vector by a scalar.
-   * @param[in]       *pSrc points to the input vector
-   * @param[in]       scaleFract fractional portion of the scale value
-   * @param[in]       shift number of bits to shift the result by
-   * @param[out]      *pDst points to the output vector
-   * @param[in]       blockSize number of samples in the vector
-   * @return none.
-   */
-
-  void arm_scale_q15(
-  q15_t * pSrc,
-  q15_t scaleFract,
-  int8_t shift,
-  q15_t * pDst,
-  uint32_t blockSize);
-
-  /**
-   * @brief Multiplies a Q31 vector by a scalar.
-   * @param[in]       *pSrc points to the input vector
-   * @param[in]       scaleFract fractional portion of the scale value
-   * @param[in]       shift number of bits to shift the result by
-   * @param[out]      *pDst points to the output vector
-   * @param[in]       blockSize number of samples in the vector
-   * @return none.
-   */
-
-  void arm_scale_q31(
-  q31_t * pSrc,
-  q31_t scaleFract,
-  int8_t shift,
-  q31_t * pDst,
-  uint32_t blockSize);
-
-  /**
-   * @brief Q7 vector absolute value.
-   * @param[in]       *pSrc points to the input buffer
-   * @param[out]      *pDst points to the output buffer
-   * @param[in]       blockSize number of samples in each vector
-   * @return none.
-   */
-
-  void arm_abs_q7(
-  q7_t * pSrc,
-  q7_t * pDst,
-  uint32_t blockSize);
-
-  /**
-   * @brief Floating-point vector absolute value.
-   * @param[in]       *pSrc points to the input buffer
-   * @param[out]      *pDst points to the output buffer
-   * @param[in]       blockSize number of samples in each vector
-   * @return none.
-   */
-
-  void arm_abs_f32(
-  float32_t * pSrc,
-  float32_t * pDst,
-  uint32_t blockSize);
-
-  /**
-   * @brief Q15 vector absolute value.
-   * @param[in]       *pSrc points to the input buffer
-   * @param[out]      *pDst points to the output buffer
-   * @param[in]       blockSize number of samples in each vector
-   * @return none.
-   */
-
-  void arm_abs_q15(
-  q15_t * pSrc,
-  q15_t * pDst,
-  uint32_t blockSize);
-
-  /**
-   * @brief Q31 vector absolute value.
-   * @param[in]       *pSrc points to the input buffer
-   * @param[out]      *pDst points to the output buffer
-   * @param[in]       blockSize number of samples in each vector
-   * @return none.
-   */
-
-  void arm_abs_q31(
-  q31_t * pSrc,
-  q31_t * pDst,
-  uint32_t blockSize);
-
-  /**
-   * @brief Dot product of floating-point vectors.
-   * @param[in]       *pSrcA points to the first input vector
-   * @param[in]       *pSrcB points to the second input vector
-   * @param[in]       blockSize number of samples in each vector
-   * @param[out]      *result output result returned here
-   * @return none.
-   */
-
-  void arm_dot_prod_f32(
-  float32_t * pSrcA,
-  float32_t * pSrcB,
-  uint32_t blockSize,
-  float32_t * result);
-
-  /**
-   * @brief Dot product of Q7 vectors.
-   * @param[in]       *pSrcA points to the first input vector
-   * @param[in]       *pSrcB points to the second input vector
-   * @param[in]       blockSize number of samples in each vector
-   * @param[out]      *result output result returned here
-   * @return none.
-   */
-
-  void arm_dot_prod_q7(
-  q7_t * pSrcA,
-  q7_t * pSrcB,
-  uint32_t blockSize,
-  q31_t * result);
-
-  /**
-   * @brief Dot product of Q15 vectors.
-   * @param[in]       *pSrcA points to the first input vector
-   * @param[in]       *pSrcB points to the second input vector
-   * @param[in]       blockSize number of samples in each vector
-   * @param[out]      *result output result returned here
-   * @return none.
-   */
-
-  void arm_dot_prod_q15(
-  q15_t * pSrcA,
-  q15_t * pSrcB,
-  uint32_t blockSize,
-  q63_t * result);
-
-  /**
-   * @brief Dot product of Q31 vectors.
-   * @param[in]       *pSrcA points to the first input vector
-   * @param[in]       *pSrcB points to the second input vector
-   * @param[in]       blockSize number of samples in each vector
-   * @param[out]      *result output result returned here
-   * @return none.
-   */
-
-  void arm_dot_prod_q31(
-  q31_t * pSrcA,
-  q31_t * pSrcB,
-  uint32_t blockSize,
-  q63_t * result);
-
-  /**
-   * @brief  Shifts the elements of a Q7 vector a specified number of bits.
-   * @param[in]  *pSrc points to the input vector
-   * @param[in]  shiftBits number of bits to shift.  A positive value shifts left; a negative value shifts right.
-   * @param[out]  *pDst points to the output vector
-   * @param[in]  blockSize number of samples in the vector
-   * @return none.
-   */
-
-  void arm_shift_q7(
-  q7_t * pSrc,
-  int8_t shiftBits,
-  q7_t * pDst,
-  uint32_t blockSize);
-
-  /**
-   * @brief  Shifts the elements of a Q15 vector a specified number of bits.
-   * @param[in]  *pSrc points to the input vector
-   * @param[in]  shiftBits number of bits to shift.  A positive value shifts left; a negative value shifts right.
-   * @param[out]  *pDst points to the output vector
-   * @param[in]  blockSize number of samples in the vector
-   * @return none.
-   */
-
-  void arm_shift_q15(
-  q15_t * pSrc,
-  int8_t shiftBits,
-  q15_t * pDst,
-  uint32_t blockSize);
-
-  /**
-   * @brief  Shifts the elements of a Q31 vector a specified number of bits.
-   * @param[in]  *pSrc points to the input vector
-   * @param[in]  shiftBits number of bits to shift.  A positive value shifts left; a negative value shifts right.
-   * @param[out]  *pDst points to the output vector
-   * @param[in]  blockSize number of samples in the vector
-   * @return none.
-   */
-
-  void arm_shift_q31(
-  q31_t * pSrc,
-  int8_t shiftBits,
-  q31_t * pDst,
-  uint32_t blockSize);
-
-  /**
-   * @brief  Adds a constant offset to a floating-point vector.
-   * @param[in]  *pSrc points to the input vector
-   * @param[in]  offset is the offset to be added
-   * @param[out]  *pDst points to the output vector
-   * @param[in]  blockSize number of samples in the vector
-   * @return none.
-   */
-
-  void arm_offset_f32(
-  float32_t * pSrc,
-  float32_t offset,
-  float32_t * pDst,
-  uint32_t blockSize);
-
-  /**
-   * @brief  Adds a constant offset to a Q7 vector.
-   * @param[in]  *pSrc points to the input vector
-   * @param[in]  offset is the offset to be added
-   * @param[out]  *pDst points to the output vector
-   * @param[in]  blockSize number of samples in the vector
-   * @return none.
-   */
-
-  void arm_offset_q7(
-  q7_t * pSrc,
-  q7_t offset,
-  q7_t * pDst,
-  uint32_t blockSize);
-
-  /**
-   * @brief  Adds a constant offset to a Q15 vector.
-   * @param[in]  *pSrc points to the input vector
-   * @param[in]  offset is the offset to be added
-   * @param[out]  *pDst points to the output vector
-   * @param[in]  blockSize number of samples in the vector
-   * @return none.
-   */
-
-  void arm_offset_q15(
-  q15_t * pSrc,
-  q15_t offset,
-  q15_t * pDst,
-  uint32_t blockSize);
-
-  /**
-   * @brief  Adds a constant offset to a Q31 vector.
-   * @param[in]  *pSrc points to the input vector
-   * @param[in]  offset is the offset to be added
-   * @param[out]  *pDst points to the output vector
-   * @param[in]  blockSize number of samples in the vector
-   * @return none.
-   */
-
-  void arm_offset_q31(
-  q31_t * pSrc,
-  q31_t offset,
-  q31_t * pDst,
-  uint32_t blockSize);
-
-  /**
-   * @brief  Negates the elements of a floating-point vector.
-   * @param[in]  *pSrc points to the input vector
-   * @param[out]  *pDst points to the output vector
-   * @param[in]  blockSize number of samples in the vector
-   * @return none.
-   */
-
-  void arm_negate_f32(
-  float32_t * pSrc,
-  float32_t * pDst,
-  uint32_t blockSize);
-
-  /**
-   * @brief  Negates the elements of a Q7 vector.
-   * @param[in]  *pSrc points to the input vector
-   * @param[out]  *pDst points to the output vector
-   * @param[in]  blockSize number of samples in the vector
-   * @return none.
-   */
-
-  void arm_negate_q7(
-  q7_t * pSrc,
-  q7_t * pDst,
-  uint32_t blockSize);
-
-  /**
-   * @brief  Negates the elements of a Q15 vector.
-   * @param[in]  *pSrc points to the input vector
-   * @param[out]  *pDst points to the output vector
-   * @param[in]  blockSize number of samples in the vector
-   * @return none.
-   */
-
-  void arm_negate_q15(
-  q15_t * pSrc,
-  q15_t * pDst,
-  uint32_t blockSize);
-
-  /**
-   * @brief  Negates the elements of a Q31 vector.
-   * @param[in]  *pSrc points to the input vector
-   * @param[out]  *pDst points to the output vector
-   * @param[in]  blockSize number of samples in the vector
-   * @return none.
-   */
-
-  void arm_negate_q31(
-  q31_t * pSrc,
-  q31_t * pDst,
-  uint32_t blockSize);
-  /**
-   * @brief  Copies the elements of a floating-point vector. 
-   * @param[in]  *pSrc input pointer
-   * @param[out]  *pDst output pointer
-   * @param[in]  blockSize number of samples to process
-   * @return none.
-   */
-  void arm_copy_f32(
-  float32_t * pSrc,
-  float32_t * pDst,
-  uint32_t blockSize);
-
-  /**
-   * @brief  Copies the elements of a Q7 vector. 
-   * @param[in]  *pSrc input pointer
-   * @param[out]  *pDst output pointer
-   * @param[in]  blockSize number of samples to process
-   * @return none.
-   */
-  void arm_copy_q7(
-  q7_t * pSrc,
-  q7_t * pDst,
-  uint32_t blockSize);
-
-  /**
-   * @brief  Copies the elements of a Q15 vector. 
-   * @param[in]  *pSrc input pointer
-   * @param[out]  *pDst output pointer
-   * @param[in]  blockSize number of samples to process
-   * @return none.
-   */
-  void arm_copy_q15(
-  q15_t * pSrc,
-  q15_t * pDst,
-  uint32_t blockSize);
-
-  /**
-   * @brief  Copies the elements of a Q31 vector. 
-   * @param[in]  *pSrc input pointer
-   * @param[out]  *pDst output pointer
-   * @param[in]  blockSize number of samples to process
-   * @return none.
-   */
-  void arm_copy_q31(
-  q31_t * pSrc,
-  q31_t * pDst,
-  uint32_t blockSize);
-  /**
-   * @brief  Fills a constant value into a floating-point vector. 
-   * @param[in]  value input value to be filled
-   * @param[out]  *pDst output pointer
-   * @param[in]  blockSize number of samples to process
-   * @return none.
-   */
-  void arm_fill_f32(
-  float32_t value,
-  float32_t * pDst,
-  uint32_t blockSize);
-
-  /**
-   * @brief  Fills a constant value into a Q7 vector. 
-   * @param[in]  value input value to be filled
-   * @param[out]  *pDst output pointer
-   * @param[in]  blockSize number of samples to process
-   * @return none.
-   */
-  void arm_fill_q7(
-  q7_t value,
-  q7_t * pDst,
-  uint32_t blockSize);
-
-  /**
-   * @brief  Fills a constant value into a Q15 vector. 
-   * @param[in]  value input value to be filled
-   * @param[out]  *pDst output pointer
-   * @param[in]  blockSize number of samples to process
-   * @return none.
-   */
-  void arm_fill_q15(
-  q15_t value,
-  q15_t * pDst,
-  uint32_t blockSize);
-
-  /**
-   * @brief  Fills a constant value into a Q31 vector. 
-   * @param[in]  value input value to be filled
-   * @param[out]  *pDst output pointer
-   * @param[in]  blockSize number of samples to process
-   * @return none.
-   */
-  void arm_fill_q31(
-  q31_t value,
-  q31_t * pDst,
-  uint32_t blockSize);
-
-/**  
- * @brief Convolution of floating-point sequences.  
- * @param[in] *pSrcA points to the first input sequence.  
- * @param[in] srcALen length of the first input sequence.  
- * @param[in] *pSrcB points to the second input sequence.  
- * @param[in] srcBLen length of the second input sequence.  
- * @param[out] *pDst points to the location where the output result is written.  Length srcALen+srcBLen-1.  
- * @return none.  
- */
-
-  void arm_conv_f32(
-  float32_t * pSrcA,
-  uint32_t srcALen,
-  float32_t * pSrcB,
-  uint32_t srcBLen,
-  float32_t * pDst);
-
-  
-  /**   
-   * @brief Convolution of Q15 sequences.   
-   * @param[in] *pSrcA points to the first input sequence.   
-   * @param[in] srcALen length of the first input sequence.   
-   * @param[in] *pSrcB points to the second input sequence.   
-   * @param[in] srcBLen length of the second input sequence.   
-   * @param[out] *pDst points to the block of output data  Length srcALen+srcBLen-1.   
-   * @param[in]  *pScratch1 points to scratch buffer of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2.   
-   * @param[in]  *pScratch2 points to scratch buffer of size min(srcALen, srcBLen).   
-   * @return none.   
-   */
-
-
-  void arm_conv_opt_q15(
-  q15_t * pSrcA,
-  uint32_t srcALen,
-  q15_t * pSrcB,
-  uint32_t srcBLen,
-  q15_t * pDst,
-  q15_t * pScratch1,
-  q15_t * pScratch2);
-
-
-/**  
- * @brief Convolution of Q15 sequences.  
- * @param[in] *pSrcA points to the first input sequence.  
- * @param[in] srcALen length of the first input sequence.  
- * @param[in] *pSrcB points to the second input sequence.  
- * @param[in] srcBLen length of the second input sequence.  
- * @param[out] *pDst points to the location where the output result is written.  Length srcALen+srcBLen-1.  
- * @return none.  
- */
-
-  void arm_conv_q15(
-  q15_t * pSrcA,
-  uint32_t srcALen,
-  q15_t * pSrcB,
-  uint32_t srcBLen,
-  q15_t * pDst);
-
-  /**
-   * @brief Convolution of Q15 sequences (fast version) for Cortex-M3 and Cortex-M4
-   * @param[in] *pSrcA points to the first input sequence.
-   * @param[in] srcALen length of the first input sequence.
-   * @param[in] *pSrcB points to the second input sequence.
-   * @param[in] srcBLen length of the second input sequence.
-   * @param[out] *pDst points to the block of output data  Length srcALen+srcBLen-1.
-   * @return none.
-   */
-
-  void arm_conv_fast_q15(
-			  q15_t * pSrcA,
-			 uint32_t srcALen,
-			  q15_t * pSrcB,
-			 uint32_t srcBLen,
-			 q15_t * pDst);
-
-  /**
-   * @brief Convolution of Q15 sequences (fast version) for Cortex-M3 and Cortex-M4
-   * @param[in] *pSrcA points to the first input sequence.
-   * @param[in] srcALen length of the first input sequence.
-   * @param[in] *pSrcB points to the second input sequence.
-   * @param[in] srcBLen length of the second input sequence.
-   * @param[out] *pDst points to the block of output data  Length srcALen+srcBLen-1.
-   * @param[in]  *pScratch1 points to scratch buffer of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2.   
-   * @param[in]  *pScratch2 points to scratch buffer of size min(srcALen, srcBLen).   
-   * @return none.   
-   */
-
-  void arm_conv_fast_opt_q15(
-  q15_t * pSrcA,
-  uint32_t srcALen,
-  q15_t * pSrcB,
-  uint32_t srcBLen,
-  q15_t * pDst,
-  q15_t * pScratch1,
-  q15_t * pScratch2);
-
-
-
-  /**
-   * @brief Convolution of Q31 sequences.
-   * @param[in] *pSrcA points to the first input sequence.
-   * @param[in] srcALen length of the first input sequence.
-   * @param[in] *pSrcB points to the second input sequence.
-   * @param[in] srcBLen length of the second input sequence.
-   * @param[out] *pDst points to the block of output data  Length srcALen+srcBLen-1.
-   * @return none.
-   */
-
-  void arm_conv_q31(
-  q31_t * pSrcA,
-  uint32_t srcALen,
-  q31_t * pSrcB,
-  uint32_t srcBLen,
-  q31_t * pDst);
-
-  /**
-   * @brief Convolution of Q31 sequences (fast version) for Cortex-M3 and Cortex-M4
-   * @param[in] *pSrcA points to the first input sequence.
-   * @param[in] srcALen length of the first input sequence.
-   * @param[in] *pSrcB points to the second input sequence.
-   * @param[in] srcBLen length of the second input sequence.
-   * @param[out] *pDst points to the block of output data  Length srcALen+srcBLen-1.
-   * @return none.
-   */
-
-  void arm_conv_fast_q31(
-  q31_t * pSrcA,
-  uint32_t srcALen,
-  q31_t * pSrcB,
-  uint32_t srcBLen,
-  q31_t * pDst);
-
-
-    /**   
-   * @brief Convolution of Q7 sequences.   
-   * @param[in] *pSrcA points to the first input sequence.   
-   * @param[in] srcALen length of the first input sequence.   
-   * @param[in] *pSrcB points to the second input sequence.   
-   * @param[in] srcBLen length of the second input sequence.   
-   * @param[out] *pDst points to the block of output data  Length srcALen+srcBLen-1.   
-   * @param[in]  *pScratch1 points to scratch buffer(of type q15_t) of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2.   
-   * @param[in]  *pScratch2 points to scratch buffer (of type q15_t) of size min(srcALen, srcBLen).   
-   * @return none.   
-   */
-
-  void arm_conv_opt_q7(
-  q7_t * pSrcA,
-  uint32_t srcALen,
-  q7_t * pSrcB,
-  uint32_t srcBLen,
-  q7_t * pDst,
-  q15_t * pScratch1,
-  q15_t * pScratch2);
-
-
-
-  /**
-   * @brief Convolution of Q7 sequences.
-   * @param[in] *pSrcA points to the first input sequence.
-   * @param[in] srcALen length of the first input sequence.
-   * @param[in] *pSrcB points to the second input sequence.
-   * @param[in] srcBLen length of the second input sequence.
-   * @param[out] *pDst points to the block of output data  Length srcALen+srcBLen-1.
-   * @return none.
-   */
-
-  void arm_conv_q7(
-  q7_t * pSrcA,
-  uint32_t srcALen,
-  q7_t * pSrcB,
-  uint32_t srcBLen,
-  q7_t * pDst);
-
-
-  /**
-   * @brief Partial convolution of floating-point sequences.
-   * @param[in]       *pSrcA points to the first input sequence.
-   * @param[in]       srcALen length of the first input sequence.
-   * @param[in]       *pSrcB points to the second input sequence.
-   * @param[in]       srcBLen length of the second input sequence.
-   * @param[out]      *pDst points to the block of output data
-   * @param[in]       firstIndex is the first output sample to start with.
-   * @param[in]       numPoints is the number of output points to be computed.
-   * @return  Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].
-   */
-
-  arm_status arm_conv_partial_f32(
-  float32_t * pSrcA,
-  uint32_t srcALen,
-  float32_t * pSrcB,
-  uint32_t srcBLen,
-  float32_t * pDst,
-  uint32_t firstIndex,
-  uint32_t numPoints);
-
-    /**   
-   * @brief Partial convolution of Q15 sequences.   
-   * @param[in]       *pSrcA points to the first input sequence.   
-   * @param[in]       srcALen length of the first input sequence.   
-   * @param[in]       *pSrcB points to the second input sequence.   
-   * @param[in]       srcBLen length of the second input sequence.   
-   * @param[out]      *pDst points to the block of output data   
-   * @param[in]       firstIndex is the first output sample to start with.   
-   * @param[in]       numPoints is the number of output points to be computed.   
-   * @param[in]       * pScratch1 points to scratch buffer of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2.   
-   * @param[in]       * pScratch2 points to scratch buffer of size min(srcALen, srcBLen).   
-   * @return  Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].   
-   */
-
-  arm_status arm_conv_partial_opt_q15(
-  q15_t * pSrcA,
-  uint32_t srcALen,
-  q15_t * pSrcB,
-  uint32_t srcBLen,
-  q15_t * pDst,
-  uint32_t firstIndex,
-  uint32_t numPoints,
-  q15_t * pScratch1,
-  q15_t * pScratch2);
-
-
-/**
-   * @brief Partial convolution of Q15 sequences.
-   * @param[in]       *pSrcA points to the first input sequence.
-   * @param[in]       srcALen length of the first input sequence.
-   * @param[in]       *pSrcB points to the second input sequence.
-   * @param[in]       srcBLen length of the second input sequence.
-   * @param[out]      *pDst points to the block of output data
-   * @param[in]       firstIndex is the first output sample to start with.
-   * @param[in]       numPoints is the number of output points to be computed.
-   * @return  Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].
-   */
-
-  arm_status arm_conv_partial_q15(
-  q15_t * pSrcA,
-  uint32_t srcALen,
-  q15_t * pSrcB,
-  uint32_t srcBLen,
-  q15_t * pDst,
-  uint32_t firstIndex,
-  uint32_t numPoints);
-
-  /**
-   * @brief Partial convolution of Q15 sequences (fast version) for Cortex-M3 and Cortex-M4
-   * @param[in]       *pSrcA points to the first input sequence.
-   * @param[in]       srcALen length of the first input sequence.
-   * @param[in]       *pSrcB points to the second input sequence.
-   * @param[in]       srcBLen length of the second input sequence.
-   * @param[out]      *pDst points to the block of output data
-   * @param[in]       firstIndex is the first output sample to start with.
-   * @param[in]       numPoints is the number of output points to be computed.
-   * @return  Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].
-   */
-
-  arm_status arm_conv_partial_fast_q15(
-				        q15_t * pSrcA,
-				       uint32_t srcALen,
-				        q15_t * pSrcB,
-				       uint32_t srcBLen,
-				       q15_t * pDst,
-				       uint32_t firstIndex,
-				       uint32_t numPoints);
-
-
-  /**
-   * @brief Partial convolution of Q15 sequences (fast version) for Cortex-M3 and Cortex-M4
-   * @param[in]       *pSrcA points to the first input sequence.
-   * @param[in]       srcALen length of the first input sequence.
-   * @param[in]       *pSrcB points to the second input sequence.
-   * @param[in]       srcBLen length of the second input sequence.
-   * @param[out]      *pDst points to the block of output data
-   * @param[in]       firstIndex is the first output sample to start with.
-   * @param[in]       numPoints is the number of output points to be computed.
-   * @param[in]       * pScratch1 points to scratch buffer of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2.   
-   * @param[in]       * pScratch2 points to scratch buffer of size min(srcALen, srcBLen).   
-   * @return  Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].   
-   */
-
-  arm_status arm_conv_partial_fast_opt_q15(
-  q15_t * pSrcA,
-  uint32_t srcALen,
-  q15_t * pSrcB,
-  uint32_t srcBLen,
-  q15_t * pDst,
-  uint32_t firstIndex,
-  uint32_t numPoints,
-  q15_t * pScratch1,
-  q15_t * pScratch2);
-
-
-  /**
-   * @brief Partial convolution of Q31 sequences.
-   * @param[in]       *pSrcA points to the first input sequence.
-   * @param[in]       srcALen length of the first input sequence.
-   * @param[in]       *pSrcB points to the second input sequence.
-   * @param[in]       srcBLen length of the second input sequence.
-   * @param[out]      *pDst points to the block of output data
-   * @param[in]       firstIndex is the first output sample to start with.
-   * @param[in]       numPoints is the number of output points to be computed.
-   * @return  Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].
-   */
-
-  arm_status arm_conv_partial_q31(
-  q31_t * pSrcA,
-  uint32_t srcALen,
-  q31_t * pSrcB,
-  uint32_t srcBLen,
-  q31_t * pDst,
-  uint32_t firstIndex,
-  uint32_t numPoints);
-
-
-  /**
-   * @brief Partial convolution of Q31 sequences (fast version) for Cortex-M3 and Cortex-M4
-   * @param[in]       *pSrcA points to the first input sequence.
-   * @param[in]       srcALen length of the first input sequence.
-   * @param[in]       *pSrcB points to the second input sequence.
-   * @param[in]       srcBLen length of the second input sequence.
-   * @param[out]      *pDst points to the block of output data
-   * @param[in]       firstIndex is the first output sample to start with.
-   * @param[in]       numPoints is the number of output points to be computed.
-   * @return  Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].
-   */
-
-  arm_status arm_conv_partial_fast_q31(
-  q31_t * pSrcA,
-  uint32_t srcALen,
-  q31_t * pSrcB,
-  uint32_t srcBLen,
-  q31_t * pDst,
-  uint32_t firstIndex,
-  uint32_t numPoints);
-
-
-  /**   
-   * @brief Partial convolution of Q7 sequences   
-   * @param[in]       *pSrcA points to the first input sequence.   
-   * @param[in]       srcALen length of the first input sequence.   
-   * @param[in]       *pSrcB points to the second input sequence.   
-   * @param[in]       srcBLen length of the second input sequence.   
-   * @param[out]      *pDst points to the block of output data   
-   * @param[in]       firstIndex is the first output sample to start with.   
-   * @param[in]       numPoints is the number of output points to be computed.   
-   * @param[in]  *pScratch1 points to scratch buffer(of type q15_t) of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2.   
-   * @param[in]  *pScratch2 points to scratch buffer (of type q15_t) of size min(srcALen, srcBLen).   
-   * @return  Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].   
-   */
-
-  arm_status arm_conv_partial_opt_q7(
-  q7_t * pSrcA,
-  uint32_t srcALen,
-  q7_t * pSrcB,
-  uint32_t srcBLen,
-  q7_t * pDst,
-  uint32_t firstIndex,
-  uint32_t numPoints,
-  q15_t * pScratch1,
-  q15_t * pScratch2);
-
-
-/**
-   * @brief Partial convolution of Q7 sequences.
-   * @param[in]       *pSrcA points to the first input sequence.
-   * @param[in]       srcALen length of the first input sequence.
-   * @param[in]       *pSrcB points to the second input sequence.
-   * @param[in]       srcBLen length of the second input sequence.
-   * @param[out]      *pDst points to the block of output data
-   * @param[in]       firstIndex is the first output sample to start with.
-   * @param[in]       numPoints is the number of output points to be computed.
-   * @return  Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].
-   */
-
-  arm_status arm_conv_partial_q7(
-  q7_t * pSrcA,
-  uint32_t srcALen,
-  q7_t * pSrcB,
-  uint32_t srcBLen,
-  q7_t * pDst,
-  uint32_t firstIndex,
-  uint32_t numPoints);
-
-
-
-  /**
-   * @brief Instance structure for the Q15 FIR decimator.
-   */
-
-  typedef struct
-  {
-    uint8_t M;                      /**< decimation factor. */
-    uint16_t numTaps;               /**< number of coefficients in the filter. */
-    q15_t *pCoeffs;                  /**< points to the coefficient array. The array is of length numTaps.*/
-    q15_t *pState;                   /**< points to the state variable array. The array is of length numTaps+blockSize-1. */
-  } arm_fir_decimate_instance_q15;
-
-  /**
-   * @brief Instance structure for the Q31 FIR decimator.
-   */
-
-  typedef struct
-  {
-    uint8_t M;                  /**< decimation factor. */
-    uint16_t numTaps;           /**< number of coefficients in the filter. */
-    q31_t *pCoeffs;              /**< points to the coefficient array. The array is of length numTaps.*/
-    q31_t *pState;               /**< points to the state variable array. The array is of length numTaps+blockSize-1. */
-
-  } arm_fir_decimate_instance_q31;
-
-  /**
-   * @brief Instance structure for the floating-point FIR decimator.
-   */
-
-  typedef struct
-  {
-    uint8_t M;                          /**< decimation factor. */
-    uint16_t numTaps;                   /**< number of coefficients in the filter. */
-    float32_t *pCoeffs;                  /**< points to the coefficient array. The array is of length numTaps.*/
-    float32_t *pState;                   /**< points to the state variable array. The array is of length numTaps+blockSize-1. */
-
-  } arm_fir_decimate_instance_f32;
-
-
-
-  /**
-   * @brief Processing function for the floating-point FIR decimator.
-   * @param[in] *S points to an instance of the floating-point FIR decimator structure.
-   * @param[in] *pSrc points to the block of input data.
-   * @param[out] *pDst points to the block of output data
-   * @param[in] blockSize number of input samples to process per call.
-   * @return none
-   */
-
-  void arm_fir_decimate_f32(
-  const arm_fir_decimate_instance_f32 * S,
-  float32_t * pSrc,
-  float32_t * pDst,
-  uint32_t blockSize);
-
-
-  /**
-   * @brief  Initialization function for the floating-point FIR decimator.
-   * @param[in,out] *S points to an instance of the floating-point FIR decimator structure.
-   * @param[in] numTaps  number of coefficients in the filter.
-   * @param[in] M  decimation factor.
-   * @param[in] *pCoeffs points to the filter coefficients.
-   * @param[in] *pState points to the state buffer.
-   * @param[in] blockSize number of input samples to process per call.
-   * @return    The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_LENGTH_ERROR if
-   * blockSize is not a multiple of M.
-   */
-
-  arm_status arm_fir_decimate_init_f32(
-  arm_fir_decimate_instance_f32 * S,
-  uint16_t numTaps,
-  uint8_t M,
-  float32_t * pCoeffs,
-  float32_t * pState,
-  uint32_t blockSize);
-
-  /**
-   * @brief Processing function for the Q15 FIR decimator.
-   * @param[in] *S points to an instance of the Q15 FIR decimator structure.
-   * @param[in] *pSrc points to the block of input data.
-   * @param[out] *pDst points to the block of output data
-   * @param[in] blockSize number of input samples to process per call.
-   * @return none
-   */
-
-  void arm_fir_decimate_q15(
-  const arm_fir_decimate_instance_q15 * S,
-  q15_t * pSrc,
-  q15_t * pDst,
-  uint32_t blockSize);
-
-  /**
-   * @brief Processing function for the Q15 FIR decimator (fast variant) for Cortex-M3 and Cortex-M4.
-   * @param[in] *S points to an instance of the Q15 FIR decimator structure.
-   * @param[in] *pSrc points to the block of input data.
-   * @param[out] *pDst points to the block of output data
-   * @param[in] blockSize number of input samples to process per call.
-   * @return none
-   */
-
-  void arm_fir_decimate_fast_q15(
-  const arm_fir_decimate_instance_q15 * S,
-  q15_t * pSrc,
-  q15_t * pDst,
-  uint32_t blockSize);
-
-
-
-  /**
-   * @brief  Initialization function for the Q15 FIR decimator.
-   * @param[in,out] *S points to an instance of the Q15 FIR decimator structure.
-   * @param[in] numTaps  number of coefficients in the filter.
-   * @param[in] M  decimation factor.
-   * @param[in] *pCoeffs points to the filter coefficients.
-   * @param[in] *pState points to the state buffer.
-   * @param[in] blockSize number of input samples to process per call.
-   * @return    The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_LENGTH_ERROR if
-   * blockSize is not a multiple of M.
-   */
-
-  arm_status arm_fir_decimate_init_q15(
-  arm_fir_decimate_instance_q15 * S,
-  uint16_t numTaps,
-  uint8_t M,
-  q15_t * pCoeffs,
-  q15_t * pState,
-  uint32_t blockSize);
-
-  /**
-   * @brief Processing function for the Q31 FIR decimator.
-   * @param[in] *S points to an instance of the Q31 FIR decimator structure.
-   * @param[in] *pSrc points to the block of input data.
-   * @param[out] *pDst points to the block of output data
-   * @param[in] blockSize number of input samples to process per call.
-   * @return none
-   */
-
-  void arm_fir_decimate_q31(
-  const arm_fir_decimate_instance_q31 * S,
-  q31_t * pSrc,
-  q31_t * pDst,
-  uint32_t blockSize);
-
-  /**
-   * @brief Processing function for the Q31 FIR decimator (fast variant) for Cortex-M3 and Cortex-M4.
-   * @param[in] *S points to an instance of the Q31 FIR decimator structure.
-   * @param[in] *pSrc points to the block of input data.
-   * @param[out] *pDst points to the block of output data
-   * @param[in] blockSize number of input samples to process per call.
-   * @return none
-   */
-
-  void arm_fir_decimate_fast_q31(
-  arm_fir_decimate_instance_q31 * S,
-  q31_t * pSrc,
-  q31_t * pDst,
-  uint32_t blockSize);
-
-
-  /**
-   * @brief  Initialization function for the Q31 FIR decimator.
-   * @param[in,out] *S points to an instance of the Q31 FIR decimator structure.
-   * @param[in] numTaps  number of coefficients in the filter.
-   * @param[in] M  decimation factor.
-   * @param[in] *pCoeffs points to the filter coefficients.
-   * @param[in] *pState points to the state buffer.
-   * @param[in] blockSize number of input samples to process per call.
-   * @return    The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_LENGTH_ERROR if
-   * blockSize is not a multiple of M.
-   */
-
-  arm_status arm_fir_decimate_init_q31(
-  arm_fir_decimate_instance_q31 * S,
-  uint16_t numTaps,
-  uint8_t M,
-  q31_t * pCoeffs,
-  q31_t * pState,
-  uint32_t blockSize);
-
-
-
-  /**
-   * @brief Instance structure for the Q15 FIR interpolator.
-   */
-
-  typedef struct
-  {
-    uint8_t L;                      /**< upsample factor. */
-    uint16_t phaseLength;           /**< length of each polyphase filter component. */
-    q15_t *pCoeffs;                 /**< points to the coefficient array. The array is of length L*phaseLength. */
-    q15_t *pState;                  /**< points to the state variable array. The array is of length blockSize+phaseLength-1. */
-  } arm_fir_interpolate_instance_q15;
-
-  /**
-   * @brief Instance structure for the Q31 FIR interpolator.
-   */
-
-  typedef struct
-  {
-    uint8_t L;                      /**< upsample factor. */
-    uint16_t phaseLength;           /**< length of each polyphase filter component. */
-    q31_t *pCoeffs;                  /**< points to the coefficient array. The array is of length L*phaseLength. */
-    q31_t *pState;                   /**< points to the state variable array. The array is of length blockSize+phaseLength-1. */
-  } arm_fir_interpolate_instance_q31;
-
-  /**
-   * @brief Instance structure for the floating-point FIR interpolator.
-   */
-
-  typedef struct
-  {
-    uint8_t L;                     /**< upsample factor. */
-    uint16_t phaseLength;          /**< length of each polyphase filter component. */
-    float32_t *pCoeffs;             /**< points to the coefficient array. The array is of length L*phaseLength. */
-    float32_t *pState;              /**< points to the state variable array. The array is of length phaseLength+numTaps-1. */
-  } arm_fir_interpolate_instance_f32;
-
-
-  /**
-   * @brief Processing function for the Q15 FIR interpolator.
-   * @param[in] *S        points to an instance of the Q15 FIR interpolator structure.
-   * @param[in] *pSrc     points to the block of input data.
-   * @param[out] *pDst    points to the block of output data.
-   * @param[in] blockSize number of input samples to process per call.
-   * @return none.
-   */
-
-  void arm_fir_interpolate_q15(
-  const arm_fir_interpolate_instance_q15 * S,
-  q15_t * pSrc,
-  q15_t * pDst,
-  uint32_t blockSize);
-
-
-  /**
-   * @brief  Initialization function for the Q15 FIR interpolator.
-   * @param[in,out] *S        points to an instance of the Q15 FIR interpolator structure.
-   * @param[in]     L         upsample factor.
-   * @param[in]     numTaps   number of filter coefficients in the filter.
-   * @param[in]     *pCoeffs  points to the filter coefficient buffer.
-   * @param[in]     *pState   points to the state buffer.
-   * @param[in]     blockSize number of input samples to process per call.
-   * @return        The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_LENGTH_ERROR if
-   * the filter length numTaps is not a multiple of the interpolation factor L.
-   */
-
-  arm_status arm_fir_interpolate_init_q15(
-  arm_fir_interpolate_instance_q15 * S,
-  uint8_t L,
-  uint16_t numTaps,
-  q15_t * pCoeffs,
-  q15_t * pState,
-  uint32_t blockSize);
-
-  /**
-   * @brief Processing function for the Q31 FIR interpolator.
-   * @param[in] *S        points to an instance of the Q15 FIR interpolator structure.
-   * @param[in] *pSrc     points to the block of input data.
-   * @param[out] *pDst    points to the block of output data.
-   * @param[in] blockSize number of input samples to process per call.
-   * @return none.
-   */
-
-  void arm_fir_interpolate_q31(
-  const arm_fir_interpolate_instance_q31 * S,
-  q31_t * pSrc,
-  q31_t * pDst,
-  uint32_t blockSize);
-
-  /**
-   * @brief  Initialization function for the Q31 FIR interpolator.
-   * @param[in,out] *S        points to an instance of the Q31 FIR interpolator structure.
-   * @param[in]     L         upsample factor.
-   * @param[in]     numTaps   number of filter coefficients in the filter.
-   * @param[in]     *pCoeffs  points to the filter coefficient buffer.
-   * @param[in]     *pState   points to the state buffer.
-   * @param[in]     blockSize number of input samples to process per call.
-   * @return        The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_LENGTH_ERROR if
-   * the filter length numTaps is not a multiple of the interpolation factor L.
-   */
-
-  arm_status arm_fir_interpolate_init_q31(
-  arm_fir_interpolate_instance_q31 * S,
-  uint8_t L,
-  uint16_t numTaps,
-  q31_t * pCoeffs,
-  q31_t * pState,
-  uint32_t blockSize);
-
-
-  /**
-   * @brief Processing function for the floating-point FIR interpolator.
-   * @param[in] *S        points to an instance of the floating-point FIR interpolator structure.
-   * @param[in] *pSrc     points to the block of input data.
-   * @param[out] *pDst    points to the block of output data.
-   * @param[in] blockSize number of input samples to process per call.
-   * @return none.
-   */
-
-  void arm_fir_interpolate_f32(
-  const arm_fir_interpolate_instance_f32 * S,
-  float32_t * pSrc,
-  float32_t * pDst,
-  uint32_t blockSize);
-
-  /**
-   * @brief  Initialization function for the floating-point FIR interpolator.
-   * @param[in,out] *S        points to an instance of the floating-point FIR interpolator structure.
-   * @param[in]     L         upsample factor.
-   * @param[in]     numTaps   number of filter coefficients in the filter.
-   * @param[in]     *pCoeffs  points to the filter coefficient buffer.
-   * @param[in]     *pState   points to the state buffer.
-   * @param[in]     blockSize number of input samples to process per call.
-   * @return        The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_LENGTH_ERROR if
-   * the filter length numTaps is not a multiple of the interpolation factor L.
-   */
-
-  arm_status arm_fir_interpolate_init_f32(
-  arm_fir_interpolate_instance_f32 * S,
-  uint8_t L,
-  uint16_t numTaps,
-  float32_t * pCoeffs,
-  float32_t * pState,
-  uint32_t blockSize);
-
-  /**
-   * @brief Instance structure for the high precision Q31 Biquad cascade filter.
-   */
-
-  typedef struct
-  {
-    uint8_t numStages;       /**< number of 2nd order stages in the filter.  Overall order is 2*numStages. */
-    q63_t *pState;           /**< points to the array of state coefficients.  The array is of length 4*numStages. */
-    q31_t *pCoeffs;          /**< points to the array of coefficients.  The array is of length 5*numStages. */
-    uint8_t postShift;       /**< additional shift, in bits, applied to each output sample. */
-
-  } arm_biquad_cas_df1_32x64_ins_q31;
-
-
-  /**
-   * @param[in]  *S        points to an instance of the high precision Q31 Biquad cascade filter structure.
-   * @param[in]  *pSrc     points to the block of input data.
-   * @param[out] *pDst     points to the block of output data
-   * @param[in]  blockSize number of samples to process.
-   * @return none.
-   */
-
-  void arm_biquad_cas_df1_32x64_q31(
-  const arm_biquad_cas_df1_32x64_ins_q31 * S,
-  q31_t * pSrc,
-  q31_t * pDst,
-  uint32_t blockSize);
-
-
-  /**
-   * @param[in,out] *S           points to an instance of the high precision Q31 Biquad cascade filter structure.
-   * @param[in]     numStages    number of 2nd order stages in the filter.
-   * @param[in]     *pCoeffs     points to the filter coefficients.
-   * @param[in]     *pState      points to the state buffer.
-   * @param[in]     postShift    shift to be applied to the output. Varies according to the coefficients format
-   * @return        none
-   */
-
-  void arm_biquad_cas_df1_32x64_init_q31(
-  arm_biquad_cas_df1_32x64_ins_q31 * S,
-  uint8_t numStages,
-  q31_t * pCoeffs,
-  q63_t * pState,
-  uint8_t postShift);
-
-
-
-  /**
-   * @brief Instance structure for the floating-point transposed direct form II Biquad cascade filter.
-   */
-
-  typedef struct
-  {
-    uint8_t numStages;         /**< number of 2nd order stages in the filter.  Overall order is 2*numStages. */
-    float32_t *pState;         /**< points to the array of state coefficients.  The array is of length 2*numStages. */
-    float32_t *pCoeffs;        /**< points to the array of coefficients.  The array is of length 5*numStages. */
-  } arm_biquad_cascade_df2T_instance_f32;
-
-
-  /**
-   * @brief Processing function for the floating-point transposed direct form II Biquad cascade filter.
-   * @param[in]  *S        points to an instance of the filter data structure.
-   * @param[in]  *pSrc     points to the block of input data.
-   * @param[out] *pDst     points to the block of output data
-   * @param[in]  blockSize number of samples to process.
-   * @return none.
-   */
-
-  void arm_biquad_cascade_df2T_f32(
-  const arm_biquad_cascade_df2T_instance_f32 * S,
-  float32_t * pSrc,
-  float32_t * pDst,
-  uint32_t blockSize);
-
-
-  /**
-   * @brief  Initialization function for the floating-point transposed direct form II Biquad cascade filter.
-   * @param[in,out] *S           points to an instance of the filter data structure.
-   * @param[in]     numStages    number of 2nd order stages in the filter.
-   * @param[in]     *pCoeffs     points to the filter coefficients.
-   * @param[in]     *pState      points to the state buffer.
-   * @return        none
-   */
-
-  void arm_biquad_cascade_df2T_init_f32(
-  arm_biquad_cascade_df2T_instance_f32 * S,
-  uint8_t numStages,
-  float32_t * pCoeffs,
-  float32_t * pState);
-
-
-
-  /**
-   * @brief Instance structure for the Q15 FIR lattice filter.
-   */
-
-  typedef struct
-  {
-    uint16_t numStages;                          /**< number of filter stages. */
-    q15_t *pState;                               /**< points to the state variable array. The array is of length numStages. */
-    q15_t *pCoeffs;                              /**< points to the coefficient array. The array is of length numStages. */
-  } arm_fir_lattice_instance_q15;
-
-  /**
-   * @brief Instance structure for the Q31 FIR lattice filter.
-   */
-
-  typedef struct
-  {
-    uint16_t numStages;                          /**< number of filter stages. */
-    q31_t *pState;                               /**< points to the state variable array. The array is of length numStages. */
-    q31_t *pCoeffs;                              /**< points to the coefficient array. The array is of length numStages. */
-  } arm_fir_lattice_instance_q31;
-
-  /**
-   * @brief Instance structure for the floating-point FIR lattice filter.
-   */
-
-  typedef struct
-  {
-    uint16_t numStages;                  /**< number of filter stages. */
-    float32_t *pState;                   /**< points to the state variable array. The array is of length numStages. */
-    float32_t *pCoeffs;                  /**< points to the coefficient array. The array is of length numStages. */
-  } arm_fir_lattice_instance_f32;
-
-  /**
-   * @brief Initialization function for the Q15 FIR lattice filter.
-   * @param[in] *S points to an instance of the Q15 FIR lattice structure.
-   * @param[in] numStages  number of filter stages.
-   * @param[in] *pCoeffs points to the coefficient buffer.  The array is of length numStages. 
-   * @param[in] *pState points to the state buffer.  The array is of length numStages. 
-   * @return none.
-   */
-
-  void arm_fir_lattice_init_q15(
-  arm_fir_lattice_instance_q15 * S,
-  uint16_t numStages,
-  q15_t * pCoeffs,
-  q15_t * pState);
-
-
-  /**
-   * @brief Processing function for the Q15 FIR lattice filter.
-   * @param[in] *S points to an instance of the Q15 FIR lattice structure.
-   * @param[in] *pSrc points to the block of input data.
-   * @param[out] *pDst points to the block of output data.
-   * @param[in] blockSize number of samples to process.
-   * @return none.
-   */
-  void arm_fir_lattice_q15(
-  const arm_fir_lattice_instance_q15 * S,
-  q15_t * pSrc,
-  q15_t * pDst,
-  uint32_t blockSize);
-
-  /**
-   * @brief Initialization function for the Q31 FIR lattice filter.
-   * @param[in] *S points to an instance of the Q31 FIR lattice structure.
-   * @param[in] numStages  number of filter stages.
-   * @param[in] *pCoeffs points to the coefficient buffer.  The array is of length numStages.
-   * @param[in] *pState points to the state buffer.   The array is of length numStages.
-   * @return none.
-   */
-
-  void arm_fir_lattice_init_q31(
-  arm_fir_lattice_instance_q31 * S,
-  uint16_t numStages,
-  q31_t * pCoeffs,
-  q31_t * pState);
-
-
-  /**
-   * @brief Processing function for the Q31 FIR lattice filter.
-   * @param[in]  *S        points to an instance of the Q31 FIR lattice structure.
-   * @param[in]  *pSrc     points to the block of input data.
-   * @param[out] *pDst     points to the block of output data
-   * @param[in]  blockSize number of samples to process.
-   * @return none.
-   */
-
-  void arm_fir_lattice_q31(
-  const arm_fir_lattice_instance_q31 * S,
-  q31_t * pSrc,
-  q31_t * pDst,
-  uint32_t blockSize);
-
-/**
- * @brief Initialization function for the floating-point FIR lattice filter.
- * @param[in] *S points to an instance of the floating-point FIR lattice structure.
- * @param[in] numStages  number of filter stages.
- * @param[in] *pCoeffs points to the coefficient buffer.  The array is of length numStages.
- * @param[in] *pState points to the state buffer.  The array is of length numStages.
- * @return none.
- */
-
-  void arm_fir_lattice_init_f32(
-  arm_fir_lattice_instance_f32 * S,
-  uint16_t numStages,
-  float32_t * pCoeffs,
-  float32_t * pState);
-
-  /**
-   * @brief Processing function for the floating-point FIR lattice filter.
-   * @param[in]  *S        points to an instance of the floating-point FIR lattice structure.
-   * @param[in]  *pSrc     points to the block of input data.
-   * @param[out] *pDst     points to the block of output data
-   * @param[in]  blockSize number of samples to process.
-   * @return none.
-   */
-
-  void arm_fir_lattice_f32(
-  const arm_fir_lattice_instance_f32 * S,
-  float32_t * pSrc,
-  float32_t * pDst,
-  uint32_t blockSize);
-
-  /**
-   * @brief Instance structure for the Q15 IIR lattice filter.
-   */
-  typedef struct
-  {
-    uint16_t numStages;                         /**< number of stages in the filter. */
-    q15_t *pState;                              /**< points to the state variable array. The array is of length numStages+blockSize. */
-    q15_t *pkCoeffs;                            /**< points to the reflection coefficient array. The array is of length numStages. */
-    q15_t *pvCoeffs;                            /**< points to the ladder coefficient array. The array is of length numStages+1. */
-  } arm_iir_lattice_instance_q15;
-
-  /**
-   * @brief Instance structure for the Q31 IIR lattice filter.
-   */
-  typedef struct
-  {
-    uint16_t numStages;                         /**< number of stages in the filter. */
-    q31_t *pState;                              /**< points to the state variable array. The array is of length numStages+blockSize. */
-    q31_t *pkCoeffs;                            /**< points to the reflection coefficient array. The array is of length numStages. */
-    q31_t *pvCoeffs;                            /**< points to the ladder coefficient array. The array is of length numStages+1. */
-  } arm_iir_lattice_instance_q31;
-
-  /**
-   * @brief Instance structure for the floating-point IIR lattice filter.
-   */
-  typedef struct
-  {
-    uint16_t numStages;                         /**< number of stages in the filter. */
-    float32_t *pState;                          /**< points to the state variable array. The array is of length numStages+blockSize. */
-    float32_t *pkCoeffs;                        /**< points to the reflection coefficient array. The array is of length numStages. */
-    float32_t *pvCoeffs;                        /**< points to the ladder coefficient array. The array is of length numStages+1. */
-  } arm_iir_lattice_instance_f32;
-
-  /**
-   * @brief Processing function for the floating-point IIR lattice filter.
-   * @param[in] *S points to an instance of the floating-point IIR lattice structure.
-   * @param[in] *pSrc points to the block of input data.
-   * @param[out] *pDst points to the block of output data.
-   * @param[in] blockSize number of samples to process.
-   * @return none.
-   */
-
-  void arm_iir_lattice_f32(
-  const arm_iir_lattice_instance_f32 * S,
-  float32_t * pSrc,
-  float32_t * pDst,
-  uint32_t blockSize);
-
-  /**
-   * @brief Initialization function for the floating-point IIR lattice filter.
-   * @param[in] *S points to an instance of the floating-point IIR lattice structure.
-   * @param[in] numStages number of stages in the filter.
-   * @param[in] *pkCoeffs points to the reflection coefficient buffer.  The array is of length numStages.
-   * @param[in] *pvCoeffs points to the ladder coefficient buffer.  The array is of length numStages+1.
-   * @param[in] *pState points to the state buffer.  The array is of length numStages+blockSize-1.
-   * @param[in] blockSize number of samples to process.
-   * @return none.
-   */
-
-  void arm_iir_lattice_init_f32(
-  arm_iir_lattice_instance_f32 * S,
-  uint16_t numStages,
-  float32_t * pkCoeffs,
-  float32_t * pvCoeffs,
-  float32_t * pState,
-  uint32_t blockSize);
-
-
-  /**
-   * @brief Processing function for the Q31 IIR lattice filter.
-   * @param[in] *S points to an instance of the Q31 IIR lattice structure.
-   * @param[in] *pSrc points to the block of input data.
-   * @param[out] *pDst points to the block of output data.
-   * @param[in] blockSize number of samples to process.
-   * @return none.
-   */
-
-  void arm_iir_lattice_q31(
-  const arm_iir_lattice_instance_q31 * S,
-  q31_t * pSrc,
-  q31_t * pDst,
-  uint32_t blockSize);
-
-
-  /**
-   * @brief Initialization function for the Q31 IIR lattice filter.
-   * @param[in] *S points to an instance of the Q31 IIR lattice structure.
-   * @param[in] numStages number of stages in the filter.
-   * @param[in] *pkCoeffs points to the reflection coefficient buffer.  The array is of length numStages.
-   * @param[in] *pvCoeffs points to the ladder coefficient buffer.  The array is of length numStages+1.
-   * @param[in] *pState points to the state buffer.  The array is of length numStages+blockSize.
-   * @param[in] blockSize number of samples to process.
-   * @return none.
-   */
-
-  void arm_iir_lattice_init_q31(
-  arm_iir_lattice_instance_q31 * S,
-  uint16_t numStages,
-  q31_t * pkCoeffs,
-  q31_t * pvCoeffs,
-  q31_t * pState,
-  uint32_t blockSize);
-
-
-  /**
-   * @brief Processing function for the Q15 IIR lattice filter.
-   * @param[in] *S points to an instance of the Q15 IIR lattice structure.
-   * @param[in] *pSrc points to the block of input data.
-   * @param[out] *pDst points to the block of output data.
-   * @param[in] blockSize number of samples to process.
-   * @return none.
-   */
-
-  void arm_iir_lattice_q15(
-  const arm_iir_lattice_instance_q15 * S,
-  q15_t * pSrc,
-  q15_t * pDst,
-  uint32_t blockSize);
-
-
-/**
- * @brief Initialization function for the Q15 IIR lattice filter.
- * @param[in] *S points to an instance of the fixed-point Q15 IIR lattice structure.
- * @param[in] numStages  number of stages in the filter.
- * @param[in] *pkCoeffs points to reflection coefficient buffer.  The array is of length numStages.
- * @param[in] *pvCoeffs points to ladder coefficient buffer.  The array is of length numStages+1.
- * @param[in] *pState points to state buffer.  The array is of length numStages+blockSize.
- * @param[in] blockSize number of samples to process per call.
- * @return none.
- */
-
-  void arm_iir_lattice_init_q15(
-  arm_iir_lattice_instance_q15 * S,
-  uint16_t numStages,
-  q15_t * pkCoeffs,
-  q15_t * pvCoeffs,
-  q15_t * pState,
-  uint32_t blockSize);
-
-  /**
-   * @brief Instance structure for the floating-point LMS filter.
-   */
-
-  typedef struct
-  {
-    uint16_t numTaps;    /**< number of coefficients in the filter. */
-    float32_t *pState;   /**< points to the state variable array. The array is of length numTaps+blockSize-1. */
-    float32_t *pCoeffs;  /**< points to the coefficient array. The array is of length numTaps. */
-    float32_t mu;        /**< step size that controls filter coefficient updates. */
-  } arm_lms_instance_f32;
-
-  /**
-   * @brief Processing function for floating-point LMS filter.
-   * @param[in]  *S points to an instance of the floating-point LMS filter structure.
-   * @param[in]  *pSrc points to the block of input data.
-   * @param[in]  *pRef points to the block of reference data.
-   * @param[out] *pOut points to the block of output data.
-   * @param[out] *pErr points to the block of error data.
-   * @param[in]  blockSize number of samples to process.
-   * @return     none.
-   */
-
-  void arm_lms_f32(
-  const arm_lms_instance_f32 * S,
-  float32_t * pSrc,
-  float32_t * pRef,
-  float32_t * pOut,
-  float32_t * pErr,
-  uint32_t blockSize);
-
-  /**
-   * @brief Initialization function for floating-point LMS filter.
-   * @param[in] *S points to an instance of the floating-point LMS filter structure.
-   * @param[in] numTaps  number of filter coefficients.
-   * @param[in] *pCoeffs points to the coefficient buffer.
-   * @param[in] *pState points to state buffer.
-   * @param[in] mu step size that controls filter coefficient updates.
-   * @param[in] blockSize number of samples to process.
-   * @return none.
-   */
-
-  void arm_lms_init_f32(
-  arm_lms_instance_f32 * S,
-  uint16_t numTaps,
-  float32_t * pCoeffs,
-  float32_t * pState,
-  float32_t mu,
-  uint32_t blockSize);
-
-  /**
-   * @brief Instance structure for the Q15 LMS filter.
-   */
-
-  typedef struct
-  {
-    uint16_t numTaps;    /**< number of coefficients in the filter. */
-    q15_t *pState;       /**< points to the state variable array. The array is of length numTaps+blockSize-1. */
-    q15_t *pCoeffs;      /**< points to the coefficient array. The array is of length numTaps. */
-    q15_t mu;            /**< step size that controls filter coefficient updates. */
-    uint32_t postShift;  /**< bit shift applied to coefficients. */
-  } arm_lms_instance_q15;
-
-
-  /**
-   * @brief Initialization function for the Q15 LMS filter.
-   * @param[in] *S points to an instance of the Q15 LMS filter structure.
-   * @param[in] numTaps  number of filter coefficients.
-   * @param[in] *pCoeffs points to the coefficient buffer.
-   * @param[in] *pState points to the state buffer.
-   * @param[in] mu step size that controls filter coefficient updates.
-   * @param[in] blockSize number of samples to process.
-   * @param[in] postShift bit shift applied to coefficients.
-   * @return    none.
-   */
-
-  void arm_lms_init_q15(
-  arm_lms_instance_q15 * S,
-  uint16_t numTaps,
-  q15_t * pCoeffs,
-  q15_t * pState,
-  q15_t mu,
-  uint32_t blockSize,
-  uint32_t postShift);
-
-  /**
-   * @brief Processing function for Q15 LMS filter.
-   * @param[in] *S points to an instance of the Q15 LMS filter structure.
-   * @param[in] *pSrc points to the block of input data.
-   * @param[in] *pRef points to the block of reference data.
-   * @param[out] *pOut points to the block of output data.
-   * @param[out] *pErr points to the block of error data.
-   * @param[in] blockSize number of samples to process.
-   * @return none.
-   */
-
-  void arm_lms_q15(
-  const arm_lms_instance_q15 * S,
-  q15_t * pSrc,
-  q15_t * pRef,
-  q15_t * pOut,
-  q15_t * pErr,
-  uint32_t blockSize);
-
-
-  /**
-   * @brief Instance structure for the Q31 LMS filter.
-   */
-
-  typedef struct
-  {
-    uint16_t numTaps;    /**< number of coefficients in the filter. */
-    q31_t *pState;       /**< points to the state variable array. The array is of length numTaps+blockSize-1. */
-    q31_t *pCoeffs;      /**< points to the coefficient array. The array is of length numTaps. */
-    q31_t mu;            /**< step size that controls filter coefficient updates. */
-    uint32_t postShift;  /**< bit shift applied to coefficients. */
-
-  } arm_lms_instance_q31;
-
-  /**
-   * @brief Processing function for Q31 LMS filter.
-   * @param[in]  *S points to an instance of the Q15 LMS filter structure.
-   * @param[in]  *pSrc points to the block of input data.
-   * @param[in]  *pRef points to the block of reference data.
-   * @param[out] *pOut points to the block of output data.
-   * @param[out] *pErr points to the block of error data.
-   * @param[in]  blockSize number of samples to process.
-   * @return     none.
-   */
-
-  void arm_lms_q31(
-  const arm_lms_instance_q31 * S,
-  q31_t * pSrc,
-  q31_t * pRef,
-  q31_t * pOut,
-  q31_t * pErr,
-  uint32_t blockSize);
-
-  /**
-   * @brief Initialization function for Q31 LMS filter.
-   * @param[in] *S points to an instance of the Q31 LMS filter structure.
-   * @param[in] numTaps  number of filter coefficients.
-   * @param[in] *pCoeffs points to coefficient buffer.
-   * @param[in] *pState points to state buffer.
-   * @param[in] mu step size that controls filter coefficient updates.
-   * @param[in] blockSize number of samples to process.
-   * @param[in] postShift bit shift applied to coefficients.
-   * @return none.
-   */
-
-  void arm_lms_init_q31(
-  arm_lms_instance_q31 * S,
-  uint16_t numTaps,
-  q31_t * pCoeffs,
-  q31_t * pState,
-  q31_t mu,
-  uint32_t blockSize,
-  uint32_t postShift);
-
-  /**
-   * @brief Instance structure for the floating-point normalized LMS filter.
-   */
-
-  typedef struct
-  {
-    uint16_t numTaps;     /**< number of coefficients in the filter. */
-    float32_t *pState;    /**< points to the state variable array. The array is of length numTaps+blockSize-1. */
-    float32_t *pCoeffs;   /**< points to the coefficient array. The array is of length numTaps. */
-    float32_t mu;        /**< step size that control filter coefficient updates. */
-    float32_t energy;    /**< saves previous frame energy. */
-    float32_t x0;        /**< saves previous input sample. */
-  } arm_lms_norm_instance_f32;
-
-  /**
-   * @brief Processing function for floating-point normalized LMS filter.
-   * @param[in] *S points to an instance of the floating-point normalized LMS filter structure.
-   * @param[in] *pSrc points to the block of input data.
-   * @param[in] *pRef points to the block of reference data.
-   * @param[out] *pOut points to the block of output data.
-   * @param[out] *pErr points to the block of error data.
-   * @param[in] blockSize number of samples to process.
-   * @return none.
-   */
-
-  void arm_lms_norm_f32(
-  arm_lms_norm_instance_f32 * S,
-  float32_t * pSrc,
-  float32_t * pRef,
-  float32_t * pOut,
-  float32_t * pErr,
-  uint32_t blockSize);
-
-  /**
-   * @brief Initialization function for floating-point normalized LMS filter.
-   * @param[in] *S points to an instance of the floating-point LMS filter structure.
-   * @param[in] numTaps  number of filter coefficients.
-   * @param[in] *pCoeffs points to coefficient buffer.
-   * @param[in] *pState points to state buffer.
-   * @param[in] mu step size that controls filter coefficient updates.
-   * @param[in] blockSize number of samples to process.
-   * @return none.
-   */
-
-  void arm_lms_norm_init_f32(
-  arm_lms_norm_instance_f32 * S,
-  uint16_t numTaps,
-  float32_t * pCoeffs,
-  float32_t * pState,
-  float32_t mu,
-  uint32_t blockSize);
-
-
-  /**
-   * @brief Instance structure for the Q31 normalized LMS filter.
-   */
-  typedef struct
-  {
-    uint16_t numTaps;     /**< number of coefficients in the filter. */
-    q31_t *pState;        /**< points to the state variable array. The array is of length numTaps+blockSize-1. */
-    q31_t *pCoeffs;       /**< points to the coefficient array. The array is of length numTaps. */
-    q31_t mu;             /**< step size that controls filter coefficient updates. */
-    uint8_t postShift;    /**< bit shift applied to coefficients. */
-    q31_t *recipTable;    /**< points to the reciprocal initial value table. */
-    q31_t energy;         /**< saves previous frame energy. */
-    q31_t x0;             /**< saves previous input sample. */
-  } arm_lms_norm_instance_q31;
-
-  /**
-   * @brief Processing function for Q31 normalized LMS filter.
-   * @param[in] *S points to an instance of the Q31 normalized LMS filter structure.
-   * @param[in] *pSrc points to the block of input data.
-   * @param[in] *pRef points to the block of reference data.
-   * @param[out] *pOut points to the block of output data.
-   * @param[out] *pErr points to the block of error data.
-   * @param[in] blockSize number of samples to process.
-   * @return none.
-   */
-
-  void arm_lms_norm_q31(
-  arm_lms_norm_instance_q31 * S,
-  q31_t * pSrc,
-  q31_t * pRef,
-  q31_t * pOut,
-  q31_t * pErr,
-  uint32_t blockSize);
-
-  /**
-   * @brief Initialization function for Q31 normalized LMS filter.
-   * @param[in] *S points to an instance of the Q31 normalized LMS filter structure.
-   * @param[in] numTaps  number of filter coefficients.
-   * @param[in] *pCoeffs points to coefficient buffer.
-   * @param[in] *pState points to state buffer.
-   * @param[in] mu step size that controls filter coefficient updates.
-   * @param[in] blockSize number of samples to process.
-   * @param[in] postShift bit shift applied to coefficients.
-   * @return none.
-   */
-
-  void arm_lms_norm_init_q31(
-  arm_lms_norm_instance_q31 * S,
-  uint16_t numTaps,
-  q31_t * pCoeffs,
-  q31_t * pState,
-  q31_t mu,
-  uint32_t blockSize,
-  uint8_t postShift);
-
-  /**
-   * @brief Instance structure for the Q15 normalized LMS filter.
-   */
-
-  typedef struct
-  {
-    uint16_t numTaps;    /**< Number of coefficients in the filter. */
-    q15_t *pState;        /**< points to the state variable array. The array is of length numTaps+blockSize-1. */
-    q15_t *pCoeffs;       /**< points to the coefficient array. The array is of length numTaps. */
-    q15_t mu;            /**< step size that controls filter coefficient updates. */
-    uint8_t postShift;   /**< bit shift applied to coefficients. */
-    q15_t *recipTable;   /**< Points to the reciprocal initial value table. */
-    q15_t energy;        /**< saves previous frame energy. */
-    q15_t x0;            /**< saves previous input sample. */
-  } arm_lms_norm_instance_q15;
-
-  /**
-   * @brief Processing function for Q15 normalized LMS filter.
-   * @param[in] *S points to an instance of the Q15 normalized LMS filter structure.
-   * @param[in] *pSrc points to the block of input data.
-   * @param[in] *pRef points to the block of reference data.
-   * @param[out] *pOut points to the block of output data.
-   * @param[out] *pErr points to the block of error data.
-   * @param[in] blockSize number of samples to process.
-   * @return none.
-   */
-
-  void arm_lms_norm_q15(
-  arm_lms_norm_instance_q15 * S,
-  q15_t * pSrc,
-  q15_t * pRef,
-  q15_t * pOut,
-  q15_t * pErr,
-  uint32_t blockSize);
-
-
-  /**
-   * @brief Initialization function for Q15 normalized LMS filter.
-   * @param[in] *S points to an instance of the Q15 normalized LMS filter structure.
-   * @param[in] numTaps  number of filter coefficients.
-   * @param[in] *pCoeffs points to coefficient buffer.
-   * @param[in] *pState points to state buffer.
-   * @param[in] mu step size that controls filter coefficient updates.
-   * @param[in] blockSize number of samples to process.
-   * @param[in] postShift bit shift applied to coefficients.
-   * @return none.
-   */
-
-  void arm_lms_norm_init_q15(
-  arm_lms_norm_instance_q15 * S,
-  uint16_t numTaps,
-  q15_t * pCoeffs,
-  q15_t * pState,
-  q15_t mu,
-  uint32_t blockSize,
-  uint8_t postShift);
-
-  /**
-   * @brief Correlation of floating-point sequences.
-   * @param[in] *pSrcA points to the first input sequence.
-   * @param[in] srcALen length of the first input sequence.
-   * @param[in] *pSrcB points to the second input sequence.
-   * @param[in] srcBLen length of the second input sequence.
-   * @param[out] *pDst points to the block of output data  Length 2 * max(srcALen, srcBLen) - 1.
-   * @return none.
-   */
-
-  void arm_correlate_f32(
-  float32_t * pSrcA,
-  uint32_t srcALen,
-  float32_t * pSrcB,
-  uint32_t srcBLen,
-  float32_t * pDst);
-
-
-   /**   
-   * @brief Correlation of Q15 sequences   
-   * @param[in] *pSrcA points to the first input sequence.   
-   * @param[in] srcALen length of the first input sequence.   
-   * @param[in] *pSrcB points to the second input sequence.   
-   * @param[in] srcBLen length of the second input sequence.   
-   * @param[out] *pDst points to the block of output data  Length 2 * max(srcALen, srcBLen) - 1.   
-   * @param[in]  *pScratch points to scratch buffer of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2.   
-   * @return none.   
-   */
-  void arm_correlate_opt_q15(
-  q15_t * pSrcA,
-  uint32_t srcALen,
-  q15_t * pSrcB,
-  uint32_t srcBLen,
-  q15_t * pDst,
-  q15_t * pScratch);
-
-
-  /**
-   * @brief Correlation of Q15 sequences.
-   * @param[in] *pSrcA points to the first input sequence.
-   * @param[in] srcALen length of the first input sequence.
-   * @param[in] *pSrcB points to the second input sequence.
-   * @param[in] srcBLen length of the second input sequence.
-   * @param[out] *pDst points to the block of output data  Length 2 * max(srcALen, srcBLen) - 1.
-   * @return none.
-   */
-
-  void arm_correlate_q15(
-  q15_t * pSrcA,
-  uint32_t srcALen,
-  q15_t * pSrcB,
-  uint32_t srcBLen,
-  q15_t * pDst);
-
-  /**
-   * @brief Correlation of Q15 sequences (fast version) for Cortex-M3 and Cortex-M4.
-   * @param[in] *pSrcA points to the first input sequence.
-   * @param[in] srcALen length of the first input sequence.
-   * @param[in] *pSrcB points to the second input sequence.
-   * @param[in] srcBLen length of the second input sequence.
-   * @param[out] *pDst points to the block of output data  Length 2 * max(srcALen, srcBLen) - 1.
-   * @return none.
-   */
-
-  void arm_correlate_fast_q15(
-			       q15_t * pSrcA,
-			      uint32_t srcALen,
-			       q15_t * pSrcB,
-			      uint32_t srcBLen,
-			      q15_t * pDst);
-
-
-
-  /**
-   * @brief Correlation of Q15 sequences (fast version) for Cortex-M3 and Cortex-M4.
-   * @param[in] *pSrcA points to the first input sequence.
-   * @param[in] srcALen length of the first input sequence.
-   * @param[in] *pSrcB points to the second input sequence.
-   * @param[in] srcBLen length of the second input sequence.
-   * @param[out] *pDst points to the block of output data  Length 2 * max(srcALen, srcBLen) - 1.
-   * @param[in]  *pScratch points to scratch buffer of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2.   
-   * @return none.
-   */
-
-  void arm_correlate_fast_opt_q15(
-  q15_t * pSrcA,
-  uint32_t srcALen,
-  q15_t * pSrcB,
-  uint32_t srcBLen,
-  q15_t * pDst,
-  q15_t * pScratch);
-
-  /**
-   * @brief Correlation of Q31 sequences.
-   * @param[in] *pSrcA points to the first input sequence.
-   * @param[in] srcALen length of the first input sequence.
-   * @param[in] *pSrcB points to the second input sequence.
-   * @param[in] srcBLen length of the second input sequence.
-   * @param[out] *pDst points to the block of output data  Length 2 * max(srcALen, srcBLen) - 1.
-   * @return none.
-   */
-
-  void arm_correlate_q31(
-  q31_t * pSrcA,
-  uint32_t srcALen,
-  q31_t * pSrcB,
-  uint32_t srcBLen,
-  q31_t * pDst);
-
-  /**
-   * @brief Correlation of Q31 sequences (fast version) for Cortex-M3 and Cortex-M4
-   * @param[in] *pSrcA points to the first input sequence.
-   * @param[in] srcALen length of the first input sequence.
-   * @param[in] *pSrcB points to the second input sequence.
-   * @param[in] srcBLen length of the second input sequence.
-   * @param[out] *pDst points to the block of output data  Length 2 * max(srcALen, srcBLen) - 1.
-   * @return none.
-   */
-
-  void arm_correlate_fast_q31(
-  q31_t * pSrcA,
-  uint32_t srcALen,
-  q31_t * pSrcB,
-  uint32_t srcBLen,
-  q31_t * pDst);
-
-
-
- /**   
-   * @brief Correlation of Q7 sequences.   
-   * @param[in] *pSrcA points to the first input sequence.   
-   * @param[in] srcALen length of the first input sequence.   
-   * @param[in] *pSrcB points to the second input sequence.   
-   * @param[in] srcBLen length of the second input sequence.   
-   * @param[out] *pDst points to the block of output data  Length 2 * max(srcALen, srcBLen) - 1.   
-   * @param[in]  *pScratch1 points to scratch buffer(of type q15_t) of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2.   
-   * @param[in]  *pScratch2 points to scratch buffer (of type q15_t) of size min(srcALen, srcBLen).   
-   * @return none.   
-   */
-
-  void arm_correlate_opt_q7(
-  q7_t * pSrcA,
-  uint32_t srcALen,
-  q7_t * pSrcB,
-  uint32_t srcBLen,
-  q7_t * pDst,
-  q15_t * pScratch1,
-  q15_t * pScratch2);
-
-
-  /**
-   * @brief Correlation of Q7 sequences.
-   * @param[in] *pSrcA points to the first input sequence.
-   * @param[in] srcALen length of the first input sequence.
-   * @param[in] *pSrcB points to the second input sequence.
-   * @param[in] srcBLen length of the second input sequence.
-   * @param[out] *pDst points to the block of output data  Length 2 * max(srcALen, srcBLen) - 1.
-   * @return none.
-   */
-
-  void arm_correlate_q7(
-  q7_t * pSrcA,
-  uint32_t srcALen,
-  q7_t * pSrcB,
-  uint32_t srcBLen,
-  q7_t * pDst);
-
-
-  /**
-   * @brief Instance structure for the floating-point sparse FIR filter.
-   */
-  typedef struct
-  {
-    uint16_t numTaps;             /**< number of coefficients in the filter. */
-    uint16_t stateIndex;          /**< state buffer index.  Points to the oldest sample in the state buffer. */
-    float32_t *pState;            /**< points to the state buffer array. The array is of length maxDelay+blockSize-1. */
-    float32_t *pCoeffs;           /**< points to the coefficient array. The array is of length numTaps.*/
-    uint16_t maxDelay;            /**< maximum offset specified by the pTapDelay array. */
-    int32_t *pTapDelay;           /**< points to the array of delay values.  The array is of length numTaps. */
-  } arm_fir_sparse_instance_f32;
-
-  /**
-   * @brief Instance structure for the Q31 sparse FIR filter.
-   */
-
-  typedef struct
-  {
-    uint16_t numTaps;             /**< number of coefficients in the filter. */
-    uint16_t stateIndex;          /**< state buffer index.  Points to the oldest sample in the state buffer. */
-    q31_t *pState;                /**< points to the state buffer array. The array is of length maxDelay+blockSize-1. */
-    q31_t *pCoeffs;               /**< points to the coefficient array. The array is of length numTaps.*/
-    uint16_t maxDelay;            /**< maximum offset specified by the pTapDelay array. */
-    int32_t *pTapDelay;           /**< points to the array of delay values.  The array is of length numTaps. */
-  } arm_fir_sparse_instance_q31;
-
-  /**
-   * @brief Instance structure for the Q15 sparse FIR filter.
-   */
-
-  typedef struct
-  {
-    uint16_t numTaps;             /**< number of coefficients in the filter. */
-    uint16_t stateIndex;          /**< state buffer index.  Points to the oldest sample in the state buffer. */
-    q15_t *pState;                /**< points to the state buffer array. The array is of length maxDelay+blockSize-1. */
-    q15_t *pCoeffs;               /**< points to the coefficient array. The array is of length numTaps.*/
-    uint16_t maxDelay;            /**< maximum offset specified by the pTapDelay array. */
-    int32_t *pTapDelay;           /**< points to the array of delay values.  The array is of length numTaps. */
-  } arm_fir_sparse_instance_q15;
-
-  /**
-   * @brief Instance structure for the Q7 sparse FIR filter.
-   */
-
-  typedef struct
-  {
-    uint16_t numTaps;             /**< number of coefficients in the filter. */
-    uint16_t stateIndex;          /**< state buffer index.  Points to the oldest sample in the state buffer. */
-    q7_t *pState;                 /**< points to the state buffer array. The array is of length maxDelay+blockSize-1. */
-    q7_t *pCoeffs;                /**< points to the coefficient array. The array is of length numTaps.*/
-    uint16_t maxDelay;            /**< maximum offset specified by the pTapDelay array. */
-    int32_t *pTapDelay;           /**< points to the array of delay values.  The array is of length numTaps. */
-  } arm_fir_sparse_instance_q7;
-
-  /**
-   * @brief Processing function for the floating-point sparse FIR filter.
-   * @param[in]  *S          points to an instance of the floating-point sparse FIR structure.
-   * @param[in]  *pSrc       points to the block of input data.
-   * @param[out] *pDst       points to the block of output data
-   * @param[in]  *pScratchIn points to a temporary buffer of size blockSize.
-   * @param[in]  blockSize   number of input samples to process per call.
-   * @return none.
-   */
-
-  void arm_fir_sparse_f32(
-  arm_fir_sparse_instance_f32 * S,
-  float32_t * pSrc,
-  float32_t * pDst,
-  float32_t * pScratchIn,
-  uint32_t blockSize);
-
-  /**
-   * @brief  Initialization function for the floating-point sparse FIR filter.
-   * @param[in,out] *S         points to an instance of the floating-point sparse FIR structure.
-   * @param[in]     numTaps    number of nonzero coefficients in the filter.
-   * @param[in]     *pCoeffs   points to the array of filter coefficients.
-   * @param[in]     *pState    points to the state buffer.
-   * @param[in]     *pTapDelay points to the array of offset times.
-   * @param[in]     maxDelay   maximum offset time supported.
-   * @param[in]     blockSize  number of samples that will be processed per block.
-   * @return none
-   */
-
-  void arm_fir_sparse_init_f32(
-  arm_fir_sparse_instance_f32 * S,
-  uint16_t numTaps,
-  float32_t * pCoeffs,
-  float32_t * pState,
-  int32_t * pTapDelay,
-  uint16_t maxDelay,
-  uint32_t blockSize);
-
-  /**
-   * @brief Processing function for the Q31 sparse FIR filter.
-   * @param[in]  *S          points to an instance of the Q31 sparse FIR structure.
-   * @param[in]  *pSrc       points to the block of input data.
-   * @param[out] *pDst       points to the block of output data
-   * @param[in]  *pScratchIn points to a temporary buffer of size blockSize.
-   * @param[in]  blockSize   number of input samples to process per call.
-   * @return none.
-   */
-
-  void arm_fir_sparse_q31(
-  arm_fir_sparse_instance_q31 * S,
-  q31_t * pSrc,
-  q31_t * pDst,
-  q31_t * pScratchIn,
-  uint32_t blockSize);
-
-  /**
-   * @brief  Initialization function for the Q31 sparse FIR filter.
-   * @param[in,out] *S         points to an instance of the Q31 sparse FIR structure.
-   * @param[in]     numTaps    number of nonzero coefficients in the filter.
-   * @param[in]     *pCoeffs   points to the array of filter coefficients.
-   * @param[in]     *pState    points to the state buffer.
-   * @param[in]     *pTapDelay points to the array of offset times.
-   * @param[in]     maxDelay   maximum offset time supported.
-   * @param[in]     blockSize  number of samples that will be processed per block.
-   * @return none
-   */
-
-  void arm_fir_sparse_init_q31(
-  arm_fir_sparse_instance_q31 * S,
-  uint16_t numTaps,
-  q31_t * pCoeffs,
-  q31_t * pState,
-  int32_t * pTapDelay,
-  uint16_t maxDelay,
-  uint32_t blockSize);
-
-  /**
-   * @brief Processing function for the Q15 sparse FIR filter.
-   * @param[in]  *S           points to an instance of the Q15 sparse FIR structure.
-   * @param[in]  *pSrc        points to the block of input data.
-   * @param[out] *pDst        points to the block of output data
-   * @param[in]  *pScratchIn  points to a temporary buffer of size blockSize.
-   * @param[in]  *pScratchOut points to a temporary buffer of size blockSize.
-   * @param[in]  blockSize    number of input samples to process per call.
-   * @return none.
-   */
-
-  void arm_fir_sparse_q15(
-  arm_fir_sparse_instance_q15 * S,
-  q15_t * pSrc,
-  q15_t * pDst,
-  q15_t * pScratchIn,
-  q31_t * pScratchOut,
-  uint32_t blockSize);
-
-
-  /**
-   * @brief  Initialization function for the Q15 sparse FIR filter.
-   * @param[in,out] *S         points to an instance of the Q15 sparse FIR structure.
-   * @param[in]     numTaps    number of nonzero coefficients in the filter.
-   * @param[in]     *pCoeffs   points to the array of filter coefficients.
-   * @param[in]     *pState    points to the state buffer.
-   * @param[in]     *pTapDelay points to the array of offset times.
-   * @param[in]     maxDelay   maximum offset time supported.
-   * @param[in]     blockSize  number of samples that will be processed per block.
-   * @return none
-   */
-
-  void arm_fir_sparse_init_q15(
-  arm_fir_sparse_instance_q15 * S,
-  uint16_t numTaps,
-  q15_t * pCoeffs,
-  q15_t * pState,
-  int32_t * pTapDelay,
-  uint16_t maxDelay,
-  uint32_t blockSize);
-
-  /**
-   * @brief Processing function for the Q7 sparse FIR filter.
-   * @param[in]  *S           points to an instance of the Q7 sparse FIR structure.
-   * @param[in]  *pSrc        points to the block of input data.
-   * @param[out] *pDst        points to the block of output data
-   * @param[in]  *pScratchIn  points to a temporary buffer of size blockSize.
-   * @param[in]  *pScratchOut points to a temporary buffer of size blockSize.
-   * @param[in]  blockSize    number of input samples to process per call.
-   * @return none.
-   */
-
-  void arm_fir_sparse_q7(
-  arm_fir_sparse_instance_q7 * S,
-  q7_t * pSrc,
-  q7_t * pDst,
-  q7_t * pScratchIn,
-  q31_t * pScratchOut,
-  uint32_t blockSize);
-
-  /**
-   * @brief  Initialization function for the Q7 sparse FIR filter.
-   * @param[in,out] *S         points to an instance of the Q7 sparse FIR structure.
-   * @param[in]     numTaps    number of nonzero coefficients in the filter.
-   * @param[in]     *pCoeffs   points to the array of filter coefficients.
-   * @param[in]     *pState    points to the state buffer.
-   * @param[in]     *pTapDelay points to the array of offset times.
-   * @param[in]     maxDelay   maximum offset time supported.
-   * @param[in]     blockSize  number of samples that will be processed per block.
-   * @return none
-   */
-
-  void arm_fir_sparse_init_q7(
-  arm_fir_sparse_instance_q7 * S,
-  uint16_t numTaps,
-  q7_t * pCoeffs,
-  q7_t * pState,
-  int32_t * pTapDelay,
-  uint16_t maxDelay,
-  uint32_t blockSize);
-
-
-  /*
-   * @brief  Floating-point sin_cos function.
-   * @param[in]  theta    input value in degrees 
-   * @param[out] *pSinVal points to the processed sine output. 
-   * @param[out] *pCosVal points to the processed cos output. 
-   * @return none.
-   */
-
-  void arm_sin_cos_f32(
-  float32_t theta,
-  float32_t * pSinVal,
-  float32_t * pCcosVal);
-
-  /*
-   * @brief  Q31 sin_cos function.
-   * @param[in]  theta    scaled input value in degrees 
-   * @param[out] *pSinVal points to the processed sine output. 
-   * @param[out] *pCosVal points to the processed cosine output. 
-   * @return none.
-   */
-
-  void arm_sin_cos_q31(
-  q31_t theta,
-  q31_t * pSinVal,
-  q31_t * pCosVal);
-
-
-  /**
-   * @brief  Floating-point complex conjugate.
-   * @param[in]  *pSrc points to the input vector
-   * @param[out]  *pDst points to the output vector
-   * @param[in]  numSamples number of complex samples in each vector
-   * @return none.
-   */
-
-  void arm_cmplx_conj_f32(
-  float32_t * pSrc,
-  float32_t * pDst,
-  uint32_t numSamples);
-
-  /**
-   * @brief  Q31 complex conjugate.
-   * @param[in]  *pSrc points to the input vector
-   * @param[out]  *pDst points to the output vector
-   * @param[in]  numSamples number of complex samples in each vector
-   * @return none.
-   */
-
-  void arm_cmplx_conj_q31(
-  q31_t * pSrc,
-  q31_t * pDst,
-  uint32_t numSamples);
-
-  /**
-   * @brief  Q15 complex conjugate.
-   * @param[in]  *pSrc points to the input vector
-   * @param[out]  *pDst points to the output vector
-   * @param[in]  numSamples number of complex samples in each vector
-   * @return none.
-   */
-
-  void arm_cmplx_conj_q15(
-  q15_t * pSrc,
-  q15_t * pDst,
-  uint32_t numSamples);
-
-
-
-  /**
-   * @brief  Floating-point complex magnitude squared
-   * @param[in]  *pSrc points to the complex input vector
-   * @param[out]  *pDst points to the real output vector
-   * @param[in]  numSamples number of complex samples in the input vector
-   * @return none.
-   */
-
-  void arm_cmplx_mag_squared_f32(
-  float32_t * pSrc,
-  float32_t * pDst,
-  uint32_t numSamples);
-
-  /**
-   * @brief  Q31 complex magnitude squared
-   * @param[in]  *pSrc points to the complex input vector
-   * @param[out]  *pDst points to the real output vector
-   * @param[in]  numSamples number of complex samples in the input vector
-   * @return none.
-   */
-
-  void arm_cmplx_mag_squared_q31(
-  q31_t * pSrc,
-  q31_t * pDst,
-  uint32_t numSamples);
-
-  /**
-   * @brief  Q15 complex magnitude squared
-   * @param[in]  *pSrc points to the complex input vector
-   * @param[out]  *pDst points to the real output vector
-   * @param[in]  numSamples number of complex samples in the input vector
-   * @return none.
-   */
-
-  void arm_cmplx_mag_squared_q15(
-  q15_t * pSrc,
-  q15_t * pDst,
-  uint32_t numSamples);
-
-
- /**
-   * @ingroup groupController
-   */
-
-  /**
-   * @defgroup PID PID Motor Control
-   *
-   * A Proportional Integral Derivative (PID) controller is a generic feedback control 
-   * loop mechanism widely used in industrial control systems.
-   * A PID controller is the most commonly used type of feedback controller.
-   *
-   * This set of functions implements (PID) controllers
-   * for Q15, Q31, and floating-point data types.  The functions operate on a single sample
-   * of data and each call to the function returns a single processed value.
-   * S points to an instance of the PID control data structure.  in
-   * is the input sample value. The functions return the output value.
-   *
-   * \par Algorithm:
-   * 
-   *    y[n] = y[n-1] + A0 * x[n] + A1 * x[n-1] + A2 * x[n-2]
-   *    A0 = Kp + Ki + Kd
-   *    A1 = (-Kp ) - (2 * Kd )
-   *    A2 = Kd  

-   *
-   * \par
-   * where \c Kp is proportional constant, \c Ki is Integral constant and \c Kd is Derivative constant
-   * 
-   * \par 
-   * \image html PID.gif "Proportional Integral Derivative Controller" 
-   *
-   * \par
-   * The PID controller calculates an "error" value as the difference between
-   * the measured output and the reference input.
-   * The controller attempts to minimize the error by adjusting the process control inputs.  
-   * The proportional value determines the reaction to the current error, 
-   * the integral value determines the reaction based on the sum of recent errors, 
-   * and the derivative value determines the reaction based on the rate at which the error has been changing.
-   *
-   * \par Instance Structure 
-   * The Gains A0, A1, A2 and state variables for a PID controller are stored together in an instance data structure. 
-   * A separate instance structure must be defined for each PID Controller. 
-   * There are separate instance structure declarations for each of the 3 supported data types. 
-   * 
-   * \par Reset Functions 
-   * There is also an associated reset function for each data type which clears the state array. 
-   *
-   * \par Initialization Functions 
-   * There is also an associated initialization function for each data type. 
-   * The initialization function performs the following operations: 
-   * - Initializes the Gains A0, A1, A2 from Kp,Ki, Kd gains.
-   * - Zeros out the values in the state buffer.   
-   * 
-   * \par 
-   * Instance structure cannot be placed into a const data section and it is recommended to use the initialization function. 
-   *
-   * \par Fixed-Point Behavior 
-   * Care must be taken when using the fixed-point versions of the PID Controller functions. 
-   * In particular, the overflow and saturation behavior of the accumulator used in each function must be considered. 
-   * Refer to the function specific documentation below for usage guidelines. 
-   */
-
-  /**
-   * @addtogroup PID
-   * @{
-   */
-
-  /**
-   * @brief  Process function for the floating-point PID Control.
-   * @param[in,out] *S is an instance of the floating-point PID Control structure
-   * @param[in] in input sample to process
-   * @return out processed output sample.
-   */
-
-
-  __STATIC_INLINE float32_t arm_pid_f32(
-  arm_pid_instance_f32 * S,
-  float32_t in)
-  {
-    float32_t out;
-
-    /* y[n] = y[n-1] + A0 * x[n] + A1 * x[n-1] + A2 * x[n-2]  */
-    out = (S->A0 * in) +
-      (S->A1 * S->state[0]) + (S->A2 * S->state[1]) + (S->state[2]);
-
-    /* Update state */
-    S->state[1] = S->state[0];
-    S->state[0] = in;
-    S->state[2] = out;
-
-    /* return to application */
-    return (out);
-
-  }
-
-  /**
-   * @brief  Process function for the Q31 PID Control.
-   * @param[in,out] *S points to an instance of the Q31 PID Control structure
-   * @param[in] in input sample to process
-   * @return out processed output sample.
-   *
-   * Scaling and Overflow Behavior: 
-   * \par 
-   * The function is implemented using an internal 64-bit accumulator. 
-   * The accumulator has a 2.62 format and maintains full precision of the intermediate multiplication results but provides only a single guard bit. 
-   * Thus, if the accumulator result overflows it wraps around rather than clip. 
-   * In order to avoid overflows completely the input signal must be scaled down by 2 bits as there are four additions. 
-   * After all multiply-accumulates are performed, the 2.62 accumulator is truncated to 1.32 format and then saturated to 1.31 format. 
-   */
-
-  __STATIC_INLINE q31_t arm_pid_q31(
-  arm_pid_instance_q31 * S,
-  q31_t in)
-  {
-    q63_t acc;
-    q31_t out;
-
-    /* acc = A0 * x[n]  */
-    acc = (q63_t) S->A0 * in;
-
-    /* acc += A1 * x[n-1] */
-    acc += (q63_t) S->A1 * S->state[0];
-
-    /* acc += A2 * x[n-2]  */
-    acc += (q63_t) S->A2 * S->state[1];
-
-    /* convert output to 1.31 format to add y[n-1] */
-    out = (q31_t) (acc >> 31u);
-
-    /* out += y[n-1] */
-    out += S->state[2];
-
-    /* Update state */
-    S->state[1] = S->state[0];
-    S->state[0] = in;
-    S->state[2] = out;
-
-    /* return to application */
-    return (out);
-
-  }
-
-  /**
-   * @brief  Process function for the Q15 PID Control.
-   * @param[in,out] *S points to an instance of the Q15 PID Control structure
-   * @param[in] in input sample to process
-   * @return out processed output sample.
-   *
-   * Scaling and Overflow Behavior: 
-   * \par 
-   * The function is implemented using a 64-bit internal accumulator. 
-   * Both Gains and state variables are represented in 1.15 format and multiplications yield a 2.30 result. 
-   * The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format. 
-   * There is no risk of internal overflow with this approach and the full precision of intermediate multiplications is preserved. 
-   * After all additions have been performed, the accumulator is truncated to 34.15 format by discarding low 15 bits. 
-   * Lastly, the accumulator is saturated to yield a result in 1.15 format.
-   */
-
-  __STATIC_INLINE q15_t arm_pid_q15(
-  arm_pid_instance_q15 * S,
-  q15_t in)
-  {
-    q63_t acc;
-    q15_t out;
-
-    /* Implementation of PID controller */
-
-#ifdef ARM_MATH_CM0
-
-    /* acc = A0 * x[n]  */
-    acc = ((q31_t) S->A0) * in;
-
-#else
-
-    /* acc = A0 * x[n]  */
-    acc = (q31_t) __SMUAD(S->A0, in);
-
-#endif
-
-#ifdef ARM_MATH_CM0
-
-    /* acc += A1 * x[n-1] + A2 * x[n-2]  */
-    acc += (q31_t) S->A1 * S->state[0];
-    acc += (q31_t) S->A2 * S->state[1];
-
-#else
-
-    /* acc += A1 * x[n-1] + A2 * x[n-2]  */
-    acc = __SMLALD(S->A1, (q31_t) __SIMD32(S->state), acc);
-
-#endif
-
-    /* acc += y[n-1] */
-    acc += (q31_t) S->state[2] << 15;
-
-    /* saturate the output */
-    out = (q15_t) (__SSAT((acc >> 15), 16));
-
-    /* Update state */
-    S->state[1] = S->state[0];
-    S->state[0] = in;
-    S->state[2] = out;
-
-    /* return to application */
-    return (out);
-
-  }
-
-  /**
-   * @} end of PID group
-   */
-
-
-  /**
-   * @brief Floating-point matrix inverse.
-   * @param[in]  *src points to the instance of the input floating-point matrix structure.
-   * @param[out] *dst points to the instance of the output floating-point matrix structure.
-   * @return The function returns ARM_MATH_SIZE_MISMATCH, if the dimensions do not match.
-   * If the input matrix is singular (does not have an inverse), then the algorithm terminates and returns error status ARM_MATH_SINGULAR.
-   */
-
-  arm_status arm_mat_inverse_f32(
-  const arm_matrix_instance_f32 * src,
-  arm_matrix_instance_f32 * dst);
-
-
-
-  /**
-   * @ingroup groupController
-   */
-
-
-  /**
-   * @defgroup clarke Vector Clarke Transform
-   * Forward Clarke transform converts the instantaneous stator phases into a two-coordinate time invariant vector.
-   * Generally the Clarke transform uses three-phase currents Ia, Ib and Ic to calculate currents
-   * in the two-phase orthogonal stator axis Ialpha and Ibeta.
-   * When Ialpha is superposed with Ia as shown in the figure below
-   * \image html clarke.gif Stator current space vector and its components in (a,b).
-   * and Ia + Ib + Ic = 0, in this condition Ialpha and Ibeta
-   * can be calculated using only Ia and Ib.
-   *
-   * The function operates on a single sample of data and each call to the function returns the processed output. 
-   * The library provides separate functions for Q31 and floating-point data types.
-   * \par Algorithm
-   * \image html clarkeFormula.gif
-   * where Ia and Ib are the instantaneous stator phases and
-   * pIalpha and pIbeta are the two coordinates of time invariant vector.
-   * \par Fixed-Point Behavior
-   * Care must be taken when using the Q31 version of the Clarke transform.
-   * In particular, the overflow and saturation behavior of the accumulator used must be considered.
-   * Refer to the function specific documentation below for usage guidelines.
-   */
-
-  /**
-   * @addtogroup clarke
-   * @{
-   */
-
-  /**
-   *
-   * @brief  Floating-point Clarke transform
-   * @param[in]       Ia       input three-phase coordinate a
-   * @param[in]       Ib       input three-phase coordinate b
-   * @param[out]      *pIalpha points to output two-phase orthogonal vector axis alpha
-   * @param[out]      *pIbeta  points to output two-phase orthogonal vector axis beta
-   * @return none.
-   */
-
-  __STATIC_INLINE void arm_clarke_f32(
-  float32_t Ia,
-  float32_t Ib,
-  float32_t * pIalpha,
-  float32_t * pIbeta)
-  {
-    /* Calculate pIalpha using the equation, pIalpha = Ia */
-    *pIalpha = Ia;
-
-    /* Calculate pIbeta using the equation, pIbeta = (1/sqrt(3)) * Ia + (2/sqrt(3)) * Ib */
-    *pIbeta =
-      ((float32_t) 0.57735026919 * Ia + (float32_t) 1.15470053838 * Ib);
-
-  }
-
-  /**
-   * @brief  Clarke transform for Q31 version
-   * @param[in]       Ia       input three-phase coordinate a
-   * @param[in]       Ib       input three-phase coordinate b
-   * @param[out]      *pIalpha points to output two-phase orthogonal vector axis alpha
-   * @param[out]      *pIbeta  points to output two-phase orthogonal vector axis beta
-   * @return none.
-   *
-   * Scaling and Overflow Behavior:
-   * \par
-   * The function is implemented using an internal 32-bit accumulator.
-   * The accumulator maintains 1.31 format by truncating lower 31 bits of the intermediate multiplication in 2.62 format.
-   * There is saturation on the addition, hence there is no risk of overflow.
-   */
-
-  __STATIC_INLINE void arm_clarke_q31(
-  q31_t Ia,
-  q31_t Ib,
-  q31_t * pIalpha,
-  q31_t * pIbeta)
-  {
-    q31_t product1, product2;                    /* Temporary variables used to store intermediate results */
-
-    /* Calculating pIalpha from Ia by equation pIalpha = Ia */
-    *pIalpha = Ia;
-
-    /* Intermediate product is calculated by (1/(sqrt(3)) * Ia) */
-    product1 = (q31_t) (((q63_t) Ia * 0x24F34E8B) >> 30);
-
-    /* Intermediate product is calculated by (2/sqrt(3) * Ib) */
-    product2 = (q31_t) (((q63_t) Ib * 0x49E69D16) >> 30);
-
-    /* pIbeta is calculated by adding the intermediate products */
-    *pIbeta = __QADD(product1, product2);
-  }
-
-  /**
-   * @} end of clarke group
-   */
-
-  /**
-   * @brief  Converts the elements of the Q7 vector to Q31 vector.
-   * @param[in]  *pSrc     input pointer
-   * @param[out]  *pDst    output pointer
-   * @param[in]  blockSize number of samples to process
-   * @return none.
-   */
-  void arm_q7_to_q31(
-  q7_t * pSrc,
-  q31_t * pDst,
-  uint32_t blockSize);
-
-
-
-
-  /**
-   * @ingroup groupController
-   */
-
-  /**
-   * @defgroup inv_clarke Vector Inverse Clarke Transform
-   * Inverse Clarke transform converts the two-coordinate time invariant vector into instantaneous stator phases.
-   * 
-   * The function operates on a single sample of data and each call to the function returns the processed output. 
-   * The library provides separate functions for Q31 and floating-point data types.
-   * \par Algorithm
-   * \image html clarkeInvFormula.gif
-   * where pIa and pIb are the instantaneous stator phases and
-   * Ialpha and Ibeta are the two coordinates of time invariant vector.
-   * \par Fixed-Point Behavior
-   * Care must be taken when using the Q31 version of the Clarke transform.
-   * In particular, the overflow and saturation behavior of the accumulator used must be considered.
-   * Refer to the function specific documentation below for usage guidelines.
-   */
-
-  /**
-   * @addtogroup inv_clarke
-   * @{
-   */
-
-   /**
-   * @brief  Floating-point Inverse Clarke transform
-   * @param[in]       Ialpha  input two-phase orthogonal vector axis alpha
-   * @param[in]       Ibeta   input two-phase orthogonal vector axis beta
-   * @param[out]      *pIa    points to output three-phase coordinate a
-   * @param[out]      *pIb    points to output three-phase coordinate b
-   * @return none.
-   */
-
-
-  __STATIC_INLINE void arm_inv_clarke_f32(
-  float32_t Ialpha,
-  float32_t Ibeta,
-  float32_t * pIa,
-  float32_t * pIb)
-  {
-    /* Calculating pIa from Ialpha by equation pIa = Ialpha */
-    *pIa = Ialpha;
-
-    /* Calculating pIb from Ialpha and Ibeta by equation pIb = -(1/2) * Ialpha + (sqrt(3)/2) * Ibeta */
-    *pIb = -0.5f * Ialpha + (float32_t) 0.8660254039f *Ibeta;
-
-  }
-
-  /**
-   * @brief  Inverse Clarke transform for Q31 version 
-   * @param[in]       Ialpha  input two-phase orthogonal vector axis alpha
-   * @param[in]       Ibeta   input two-phase orthogonal vector axis beta
-   * @param[out]      *pIa    points to output three-phase coordinate a
-   * @param[out]      *pIb    points to output three-phase coordinate b
-   * @return none.
-   *
-   * Scaling and Overflow Behavior:
-   * \par
-   * The function is implemented using an internal 32-bit accumulator.
-   * The accumulator maintains 1.31 format by truncating lower 31 bits of the intermediate multiplication in 2.62 format.
-   * There is saturation on the subtraction, hence there is no risk of overflow.
-   */
-
-  __STATIC_INLINE void arm_inv_clarke_q31(
-  q31_t Ialpha,
-  q31_t Ibeta,
-  q31_t * pIa,
-  q31_t * pIb)
-  {
-    q31_t product1, product2;                    /* Temporary variables used to store intermediate results */
-
-    /* Calculating pIa from Ialpha by equation pIa = Ialpha */
-    *pIa = Ialpha;
-
-    /* Intermediate product is calculated by (1/(2*sqrt(3)) * Ia) */
-    product1 = (q31_t) (((q63_t) (Ialpha) * (0x40000000)) >> 31);
-
-    /* Intermediate product is calculated by (1/sqrt(3) * pIb) */
-    product2 = (q31_t) (((q63_t) (Ibeta) * (0x6ED9EBA1)) >> 31);
-
-    /* pIb is calculated by subtracting the products */
-    *pIb = __QSUB(product2, product1);
-
-  }
-
-  /**
-   * @} end of inv_clarke group
-   */
-
-  /**
-   * @brief  Converts the elements of the Q7 vector to Q15 vector.
-   * @param[in]  *pSrc     input pointer
-   * @param[out] *pDst     output pointer
-   * @param[in]  blockSize number of samples to process
-   * @return none.
-   */
-  void arm_q7_to_q15(
-  q7_t * pSrc,
-  q15_t * pDst,
-  uint32_t blockSize);
-
-
-
-  /**
-   * @ingroup groupController
-   */
-
-  /**
-   * @defgroup park Vector Park Transform
-   *
-   * Forward Park transform converts the input two-coordinate vector to flux and torque components.
-   * The Park transform can be used to realize the transformation of the Ialpha and the Ibeta currents 
-   * from the stationary to the moving reference frame and control the spatial relationship between 
-   * the stator vector current and rotor flux vector.
-   * If we consider the d axis aligned with the rotor flux, the diagram below shows the 
-   * current vector and the relationship from the two reference frames:
-   * \image html park.gif "Stator current space vector and its component in (a,b) and in the d,q rotating reference frame"
-   *
-   * The function operates on a single sample of data and each call to the function returns the processed output. 
-   * The library provides separate functions for Q31 and floating-point data types.
-   * \par Algorithm
-   * \image html parkFormula.gif
-   * where Ialpha and Ibeta are the stator vector components,  
-   * pId and pIq are rotor vector components and cosVal and sinVal are the 
-   * cosine and sine values of theta (rotor flux position).
-   * \par Fixed-Point Behavior
-   * Care must be taken when using the Q31 version of the Park transform.
-   * In particular, the overflow and saturation behavior of the accumulator used must be considered.
-   * Refer to the function specific documentation below for usage guidelines.
-   */
-
-  /**
-   * @addtogroup park
-   * @{
-   */
-
-  /**
-   * @brief Floating-point Park transform
-   * @param[in]       Ialpha input two-phase vector coordinate alpha
-   * @param[in]       Ibeta  input two-phase vector coordinate beta
-   * @param[out]      *pId   points to output	rotor reference frame d
-   * @param[out]      *pIq   points to output	rotor reference frame q
-   * @param[in]       sinVal sine value of rotation angle theta
-   * @param[in]       cosVal cosine value of rotation angle theta
-   * @return none.
-   *
-   * The function implements the forward Park transform.
-   *
-   */
-
-  __STATIC_INLINE void arm_park_f32(
-  float32_t Ialpha,
-  float32_t Ibeta,
-  float32_t * pId,
-  float32_t * pIq,
-  float32_t sinVal,
-  float32_t cosVal)
-  {
-    /* Calculate pId using the equation, pId = Ialpha * cosVal + Ibeta * sinVal */
-    *pId = Ialpha * cosVal + Ibeta * sinVal;
-
-    /* Calculate pIq using the equation, pIq = - Ialpha * sinVal + Ibeta * cosVal */
-    *pIq = -Ialpha * sinVal + Ibeta * cosVal;
-
-  }
-
-  /**
-   * @brief  Park transform for Q31 version 
-   * @param[in]       Ialpha input two-phase vector coordinate alpha
-   * @param[in]       Ibeta  input two-phase vector coordinate beta
-   * @param[out]      *pId   points to output rotor reference frame d
-   * @param[out]      *pIq   points to output rotor reference frame q
-   * @param[in]       sinVal sine value of rotation angle theta
-   * @param[in]       cosVal cosine value of rotation angle theta
-   * @return none.
-   *
-   * Scaling and Overflow Behavior:
-   * \par
-   * The function is implemented using an internal 32-bit accumulator.
-   * The accumulator maintains 1.31 format by truncating lower 31 bits of the intermediate multiplication in 2.62 format.
-   * There is saturation on the addition and subtraction, hence there is no risk of overflow.
-   */
-
-
-  __STATIC_INLINE void arm_park_q31(
-  q31_t Ialpha,
-  q31_t Ibeta,
-  q31_t * pId,
-  q31_t * pIq,
-  q31_t sinVal,
-  q31_t cosVal)
-  {
-    q31_t product1, product2;                    /* Temporary variables used to store intermediate results */
-    q31_t product3, product4;                    /* Temporary variables used to store intermediate results */
-
-    /* Intermediate product is calculated by (Ialpha * cosVal) */
-    product1 = (q31_t) (((q63_t) (Ialpha) * (cosVal)) >> 31);
-
-    /* Intermediate product is calculated by (Ibeta * sinVal) */
-    product2 = (q31_t) (((q63_t) (Ibeta) * (sinVal)) >> 31);
-
-
-    /* Intermediate product is calculated by (Ialpha * sinVal) */
-    product3 = (q31_t) (((q63_t) (Ialpha) * (sinVal)) >> 31);
-
-    /* Intermediate product is calculated by (Ibeta * cosVal) */
-    product4 = (q31_t) (((q63_t) (Ibeta) * (cosVal)) >> 31);
-
-    /* Calculate pId by adding the two intermediate products 1 and 2 */
-    *pId = __QADD(product1, product2);
-
-    /* Calculate pIq by subtracting the two intermediate products 3 from 4 */
-    *pIq = __QSUB(product4, product3);
-  }
-
-  /**
-   * @} end of park group
-   */
-
-  /**
-   * @brief  Converts the elements of the Q7 vector to floating-point vector.
-   * @param[in]  *pSrc is input pointer
-   * @param[out]  *pDst is output pointer
-   * @param[in]  blockSize is the number of samples to process
-   * @return none.
-   */
-  void arm_q7_to_float(
-  q7_t * pSrc,
-  float32_t * pDst,
-  uint32_t blockSize);
-
-
-  /**
-   * @ingroup groupController
-   */
-
-  /**
-   * @defgroup inv_park Vector Inverse Park transform
-   * Inverse Park transform converts the input flux and torque components to two-coordinate vector.
-   *
-   * The function operates on a single sample of data and each call to the function returns the processed output. 
-   * The library provides separate functions for Q31 and floating-point data types.
-   * \par Algorithm
-   * \image html parkInvFormula.gif
-   * where pIalpha and pIbeta are the stator vector components,  
-   * Id and Iq are rotor vector components and cosVal and sinVal are the 
-   * cosine and sine values of theta (rotor flux position).
-   * \par Fixed-Point Behavior
-   * Care must be taken when using the Q31 version of the Park transform.
-   * In particular, the overflow and saturation behavior of the accumulator used must be considered.
-   * Refer to the function specific documentation below for usage guidelines.
-   */
-
-  /**
-   * @addtogroup inv_park
-   * @{
-   */
-
-   /**
-   * @brief  Floating-point Inverse Park transform
-   * @param[in]       Id        input coordinate of rotor reference frame d
-   * @param[in]       Iq        input coordinate of rotor reference frame q
-   * @param[out]      *pIalpha  points to output two-phase orthogonal vector axis alpha
-   * @param[out]      *pIbeta   points to output two-phase orthogonal vector axis beta
-   * @param[in]       sinVal    sine value of rotation angle theta
-   * @param[in]       cosVal    cosine value of rotation angle theta
-   * @return none.
-   */
-
-  __STATIC_INLINE void arm_inv_park_f32(
-  float32_t Id,
-  float32_t Iq,
-  float32_t * pIalpha,
-  float32_t * pIbeta,
-  float32_t sinVal,
-  float32_t cosVal)
-  {
-    /* Calculate pIalpha using the equation, pIalpha = Id * cosVal - Iq * sinVal */
-    *pIalpha = Id * cosVal - Iq * sinVal;
-
-    /* Calculate pIbeta using the equation, pIbeta = Id * sinVal + Iq * cosVal */
-    *pIbeta = Id * sinVal + Iq * cosVal;
-
-  }
-
-
-  /**
-   * @brief  Inverse Park transform for	Q31 version 
-   * @param[in]       Id        input coordinate of rotor reference frame d
-   * @param[in]       Iq        input coordinate of rotor reference frame q
-   * @param[out]      *pIalpha  points to output two-phase orthogonal vector axis alpha
-   * @param[out]      *pIbeta   points to output two-phase orthogonal vector axis beta
-   * @param[in]       sinVal    sine value of rotation angle theta
-   * @param[in]       cosVal    cosine value of rotation angle theta
-   * @return none.
-   *
-   * Scaling and Overflow Behavior:
-   * \par
-   * The function is implemented using an internal 32-bit accumulator.
-   * The accumulator maintains 1.31 format by truncating lower 31 bits of the intermediate multiplication in 2.62 format.
-   * There is saturation on the addition, hence there is no risk of overflow.
-   */
-
-
-  __STATIC_INLINE void arm_inv_park_q31(
-  q31_t Id,
-  q31_t Iq,
-  q31_t * pIalpha,
-  q31_t * pIbeta,
-  q31_t sinVal,
-  q31_t cosVal)
-  {
-    q31_t product1, product2;                    /* Temporary variables used to store intermediate results */
-    q31_t product3, product4;                    /* Temporary variables used to store intermediate results */
-
-    /* Intermediate product is calculated by (Id * cosVal) */
-    product1 = (q31_t) (((q63_t) (Id) * (cosVal)) >> 31);
-
-    /* Intermediate product is calculated by (Iq * sinVal) */
-    product2 = (q31_t) (((q63_t) (Iq) * (sinVal)) >> 31);
-
-
-    /* Intermediate product is calculated by (Id * sinVal) */
-    product3 = (q31_t) (((q63_t) (Id) * (sinVal)) >> 31);
-
-    /* Intermediate product is calculated by (Iq * cosVal) */
-    product4 = (q31_t) (((q63_t) (Iq) * (cosVal)) >> 31);
-
-    /* Calculate pIalpha by using the two intermediate products 1 and 2 */
-    *pIalpha = __QSUB(product1, product2);
-
-    /* Calculate pIbeta by using the two intermediate products 3 and 4 */
-    *pIbeta = __QADD(product4, product3);
-
-  }
-
-  /**
-   * @} end of Inverse park group
-   */
-
-
-  /**
-   * @brief  Converts the elements of the Q31 vector to floating-point vector.
-   * @param[in]  *pSrc is input pointer
-   * @param[out]  *pDst is output pointer
-   * @param[in]  blockSize is the number of samples to process
-   * @return none.
-   */
-  void arm_q31_to_float(
-  q31_t * pSrc,
-  float32_t * pDst,
-  uint32_t blockSize);
-
-  /**
-   * @ingroup groupInterpolation
-   */
-
-  /**
-   * @defgroup LinearInterpolate Linear Interpolation
-   *
-   * Linear interpolation is a method of curve fitting using linear polynomials.
-   * Linear interpolation works by effectively drawing a straight line between two neighboring samples and returning the appropriate point along that line
-   *
-   * \par 
-   * \image html LinearInterp.gif "Linear interpolation"
-   *
-   * \par
-   * A  Linear Interpolate function calculates an output value(y), for the input(x)
-   * using linear interpolation of the input values x0, x1( nearest input values) and the output values y0 and y1(nearest output values)
-   *
-   * \par Algorithm:
-   * 
-   *       y = y0 + (x - x0) * ((y1 - y0)/(x1-x0))
-   *       where x0, x1 are nearest values of input x
-   *             y0, y1 are nearest values to output y
-   * 

-   *
-   * \par
-   * This set of functions implements Linear interpolation process
-   * for Q7, Q15, Q31, and floating-point data types.  The functions operate on a single
-   * sample of data and each call to the function returns a single processed value.
-   * S points to an instance of the Linear Interpolate function data structure.
-   * x is the input sample value. The functions returns the output value.
-   * 
-   * \par
-   * if x is outside of the table boundary, Linear interpolation returns first value of the table 
-   * if x is below input range and returns last value of table if x is above range.  
-   */
-
-  /**
-   * @addtogroup LinearInterpolate
-   * @{
-   */
-
-  /**
-   * @brief  Process function for the floating-point Linear Interpolation Function.
-   * @param[in,out] *S is an instance of the floating-point Linear Interpolation structure
-   * @param[in] x input sample to process
-   * @return y processed output sample.
-   *
-   */
-
-  __STATIC_INLINE float32_t arm_linear_interp_f32(
-  arm_linear_interp_instance_f32 * S,
-  float32_t x)
-  {
-
-    float32_t y;
-    float32_t x0, x1;                            /* Nearest input values */
-    float32_t y0, y1;                            /* Nearest output values */
-    float32_t xSpacing = S->xSpacing;            /* spacing between input values */
-    int32_t i;                                   /* Index variable */
-    float32_t *pYData = S->pYData;               /* pointer to output table */
-
-    /* Calculation of index */
-    i = (x - S->x1) / xSpacing;
-
-    if(i < 0)
-    {
-      /* Iniatilize output for below specified range as least output value of table */
-      y = pYData[0];
-    }
-    else if((unsigned)i >= S->nValues)
-    {
-      /* Iniatilize output for above specified range as last output value of table */
-      y = pYData[S->nValues - 1];
-    }
-    else
-    {
-      /* Calculation of nearest input values */
-      x0 = S->x1 + i * xSpacing;
-      x1 = S->x1 + (i + 1) * xSpacing;
-
-      /* Read of nearest output values */
-      y0 = pYData[i];
-      y1 = pYData[i + 1];
-
-      /* Calculation of output */
-      y = y0 + (x - x0) * ((y1 - y0) / (x1 - x0));
-
-    }
-
-    /* returns output value */
-    return (y);
-  }
-
-   /**
-   *
-   * @brief  Process function for the Q31 Linear Interpolation Function.
-   * @param[in] *pYData  pointer to Q31 Linear Interpolation table
-   * @param[in] x input sample to process
-   * @param[in] nValues number of table values
-   * @return y processed output sample.
-   *
-   * \par
-   * Input sample x is in 12.20 format which contains 12 bits for table index and 20 bits for fractional part.
-   * This function can support maximum of table size 2^12.
-   *
-   */
-
-
-  __STATIC_INLINE q31_t arm_linear_interp_q31(
-  q31_t * pYData,
-  q31_t x,
-  uint32_t nValues)
-  {
-    q31_t y;                                     /* output */
-    q31_t y0, y1;                                /* Nearest output values */
-    q31_t fract;                                 /* fractional part */
-    int32_t index;                               /* Index to read nearest output values */
-
-    /* Input is in 12.20 format */
-    /* 12 bits for the table index */
-    /* Index value calculation */
-    index = ((x & 0xFFF00000) >> 20);
-
-    if(index >= (nValues - 1))
-    {
-      return (pYData[nValues - 1]);
-    }
-    else if(index < 0)
-    {
-      return (pYData[0]);
-    }
-    else
-    {
-
-      /* 20 bits for the fractional part */
-      /* shift left by 11 to keep fract in 1.31 format */
-      fract = (x & 0x000FFFFF) << 11;
-
-      /* Read two nearest output values from the index in 1.31(q31) format */
-      y0 = pYData[index];
-      y1 = pYData[index + 1u];
-
-      /* Calculation of y0 * (1-fract) and y is in 2.30 format */
-      y = ((q31_t) ((q63_t) y0 * (0x7FFFFFFF - fract) >> 32));
-
-      /* Calculation of y0 * (1-fract) + y1 *fract and y is in 2.30 format */
-      y += ((q31_t) (((q63_t) y1 * fract) >> 32));
-
-      /* Convert y to 1.31 format */
-      return (y << 1u);
-
-    }
-
-  }
-
-  /**
-   *
-   * @brief  Process function for the Q15 Linear Interpolation Function.
-   * @param[in] *pYData  pointer to Q15 Linear Interpolation table
-   * @param[in] x input sample to process
-   * @param[in] nValues number of table values
-   * @return y processed output sample.
-   *
-   * \par
-   * Input sample x is in 12.20 format which contains 12 bits for table index and 20 bits for fractional part.
-   * This function can support maximum of table size 2^12. 
-   *
-   */
-
-
-  __STATIC_INLINE q15_t arm_linear_interp_q15(
-  q15_t * pYData,
-  q31_t x,
-  uint32_t nValues)
-  {
-    q63_t y;                                     /* output */
-    q15_t y0, y1;                                /* Nearest output values */
-    q31_t fract;                                 /* fractional part */
-    int32_t index;                               /* Index to read nearest output values */
-
-    /* Input is in 12.20 format */
-    /* 12 bits for the table index */
-    /* Index value calculation */
-    index = ((x & 0xFFF00000) >> 20u);
-
-    if(index >= (nValues - 1))
-    {
-      return (pYData[nValues - 1]);
-    }
-    else if(index < 0)
-    {
-      return (pYData[0]);
-    }
-    else
-    {
-      /* 20 bits for the fractional part */
-      /* fract is in 12.20 format */
-      fract = (x & 0x000FFFFF);
-
-      /* Read two nearest output values from the index */
-      y0 = pYData[index];
-      y1 = pYData[index + 1u];
-
-      /* Calculation of y0 * (1-fract) and y is in 13.35 format */
-      y = ((q63_t) y0 * (0xFFFFF - fract));
-
-      /* Calculation of (y0 * (1-fract) + y1 * fract) and y is in 13.35 format */
-      y += ((q63_t) y1 * (fract));
-
-      /* convert y to 1.15 format */
-      return (y >> 20);
-    }
-
-
-  }
-
-  /**
-   *
-   * @brief  Process function for the Q7 Linear Interpolation Function.
-   * @param[in] *pYData  pointer to Q7 Linear Interpolation table
-   * @param[in] x input sample to process
-   * @param[in] nValues number of table values
-   * @return y processed output sample.
-   *
-   * \par
-   * Input sample x is in 12.20 format which contains 12 bits for table index and 20 bits for fractional part.
-   * This function can support maximum of table size 2^12.
-   */
-
-
-  __STATIC_INLINE q7_t arm_linear_interp_q7(
-  q7_t * pYData,
-  q31_t x,
-  uint32_t nValues)
-  {
-    q31_t y;                                     /* output */
-    q7_t y0, y1;                                 /* Nearest output values */
-    q31_t fract;                                 /* fractional part */
-    int32_t index;                               /* Index to read nearest output values */
-
-    /* Input is in 12.20 format */
-    /* 12 bits for the table index */
-    /* Index value calculation */
-    index = ((x & 0xFFF00000) >> 20u);
-
-
-    if(index >= (nValues - 1))
-    {
-      return (pYData[nValues - 1]);
-    }
-    else if(index < 0)
-    {
-      return (pYData[0]);
-    }
-    else
-    {
-
-      /* 20 bits for the fractional part */
-      /* fract is in 12.20 format */
-      fract = (x & 0x000FFFFF);
-
-      /* Read two nearest output values from the index and are in 1.7(q7) format */
-      y0 = pYData[index];
-      y1 = pYData[index + 1u];
-
-      /* Calculation of y0 * (1-fract ) and y is in 13.27(q27) format */
-      y = ((y0 * (0xFFFFF - fract)));
-
-      /* Calculation of y1 * fract + y0 * (1-fract) and y is in 13.27(q27) format */
-      y += (y1 * fract);
-
-      /* convert y to 1.7(q7) format */
-      return (y >> 20u);
-
-    }
-
-  }
-  /**
-   * @} end of LinearInterpolate group
-   */
-
-  /**
-   * @brief  Fast approximation to the trigonometric sine function for floating-point data.
-   * @param[in] x input value in radians.
-   * @return  sin(x).
-   */
-
-  float32_t arm_sin_f32(
-  float32_t x);
-
-  /**
-   * @brief  Fast approximation to the trigonometric sine function for Q31 data.
-   * @param[in] x Scaled input value in radians.
-   * @return  sin(x).
-   */
-
-  q31_t arm_sin_q31(
-  q31_t x);
-
-  /**
-   * @brief  Fast approximation to the trigonometric sine function for Q15 data.
-   * @param[in] x Scaled input value in radians.
-   * @return  sin(x).
-   */
-
-  q15_t arm_sin_q15(
-  q15_t x);
-
-  /**
-   * @brief  Fast approximation to the trigonometric cosine function for floating-point data.
-   * @param[in] x input value in radians.
-   * @return  cos(x).
-   */
-
-  float32_t arm_cos_f32(
-  float32_t x);
-
-  /**
-   * @brief Fast approximation to the trigonometric cosine function for Q31 data.
-   * @param[in] x Scaled input value in radians.
-   * @return  cos(x).
-   */
-
-  q31_t arm_cos_q31(
-  q31_t x);
-
-  /**
-   * @brief  Fast approximation to the trigonometric cosine function for Q15 data.
-   * @param[in] x Scaled input value in radians.
-   * @return  cos(x).
-   */
-
-  q15_t arm_cos_q15(
-  q15_t x);
-
-
-  /**
-   * @ingroup groupFastMath
-   */
-
-
-  /**
-   * @defgroup SQRT Square Root
-   *
-   * Computes the square root of a number.
-   * There are separate functions for Q15, Q31, and floating-point data types.  
-   * The square root function is computed using the Newton-Raphson algorithm.
-   * This is an iterative algorithm of the form:
-   * 
-   *      x1 = x0 - f(x0)/f'(x0)
-   * 

-   * where x1 is the current estimate,
-   * x0 is the previous estimate and
-   * f'(x0) is the derivative of f() evaluated at x0.
-   * For the square root function, the algorithm reduces to:
-   * 
-   *     x0 = in/2                         [initial guess]
-   *     x1 = 1/2 * ( x0 + in / x0)        [each iteration]
-   * 

-   */
-
-
-  /**
-   * @addtogroup SQRT
-   * @{
-   */
-
-  /**
-   * @brief  Floating-point square root function.
-   * @param[in]  in     input value.
-   * @param[out] *pOut  square root of input value.
-   * @return The function returns ARM_MATH_SUCCESS if input value is positive value or ARM_MATH_ARGUMENT_ERROR if
-   * in is negative value and returns zero output for negative values.
-   */
-
-  __STATIC_INLINE arm_status arm_sqrt_f32(
-  float32_t in,
-  float32_t * pOut)
-  {
-    if(in > 0)
-    {
-
-//    #if __FPU_USED
-    #if (__FPU_USED == 1) && defined ( __CC_ARM   )
-        *pOut = __sqrtf(in);
-    #elif (__FPU_USED == 1) && defined ( __TMS_740 )
-        *pOut = __builtin_sqrtf(in);
-    #else
-        *pOut = sqrtf(in);
-    #endif
-
-      return (ARM_MATH_SUCCESS);
-    }
-    else
-    {
-      *pOut = 0.0f;
-      return (ARM_MATH_ARGUMENT_ERROR);
-    }
-
-  }
-
-
-  /**
-   * @brief Q31 square root function.
-   * @param[in]   in    input value.  The range of the input value is [0 +1) or 0x00000000 to 0x7FFFFFFF.
-   * @param[out]  *pOut square root of input value.
-   * @return The function returns ARM_MATH_SUCCESS if input value is positive value or ARM_MATH_ARGUMENT_ERROR if
-   * in is negative value and returns zero output for negative values.
-   */
-  arm_status arm_sqrt_q31(
-  q31_t in,
-  q31_t * pOut);
-
-  /**
-   * @brief  Q15 square root function.
-   * @param[in]   in     input value.  The range of the input value is [0 +1) or 0x0000 to 0x7FFF.
-   * @param[out]  *pOut  square root of input value.
-   * @return The function returns ARM_MATH_SUCCESS if input value is positive value or ARM_MATH_ARGUMENT_ERROR if
-   * in is negative value and returns zero output for negative values.
-   */
-  arm_status arm_sqrt_q15(
-  q15_t in,
-  q15_t * pOut);
-
-  /**
-   * @} end of SQRT group
-   */
-
-
-
-
-
-
-  /**
-   * @brief floating-point Circular write function.
-   */
-
-  __STATIC_INLINE void arm_circularWrite_f32(
-  int32_t * circBuffer,
-  int32_t L,
-  uint16_t * writeOffset,
-  int32_t bufferInc,
-  const int32_t * src,
-  int32_t srcInc,
-  uint32_t blockSize)
-  {
-    uint32_t i = 0u;
-    int32_t wOffset;
-
-    /* Copy the value of Index pointer that points
-     * to the current location where the input samples to be copied */
-    wOffset = *writeOffset;
-
-    /* Loop over the blockSize */
-    i = blockSize;
-
-    while(i > 0u)
-    {
-      /* copy the input sample to the circular buffer */
-      circBuffer[wOffset] = *src;
-
-      /* Update the input pointer */
-      src += srcInc;
-
-      /* Circularly update wOffset.  Watch out for positive and negative value */
-      wOffset += bufferInc;
-      if(wOffset >= L)
-        wOffset -= L;
-
-      /* Decrement the loop counter */
-      i--;
-    }
-
-    /* Update the index pointer */
-    *writeOffset = wOffset;
-  }
-
-
-
-  /**
-   * @brief floating-point Circular Read function.
-   */
-  __STATIC_INLINE void arm_circularRead_f32(
-  int32_t * circBuffer,
-  int32_t L,
-  int32_t * readOffset,
-  int32_t bufferInc,
-  int32_t * dst,
-  int32_t * dst_base,
-  int32_t dst_length,
-  int32_t dstInc,
-  uint32_t blockSize)
-  {
-    uint32_t i = 0u;
-    int32_t rOffset, dst_end;
-
-    /* Copy the value of Index pointer that points
-     * to the current location from where the input samples to be read */
-    rOffset = *readOffset;
-    dst_end = (int32_t) (dst_base + dst_length);
-
-    /* Loop over the blockSize */
-    i = blockSize;
-
-    while(i > 0u)
-    {
-      /* copy the sample from the circular buffer to the destination buffer */
-      *dst = circBuffer[rOffset];
-
-      /* Update the input pointer */
-      dst += dstInc;
-
-      if(dst == (int32_t *) dst_end)
-      {
-        dst = dst_base;
-      }
-
-      /* Circularly update rOffset.  Watch out for positive and negative value  */
-      rOffset += bufferInc;
-
-      if(rOffset >= L)
-      {
-        rOffset -= L;
-      }
-
-      /* Decrement the loop counter */
-      i--;
-    }
-
-    /* Update the index pointer */
-    *readOffset = rOffset;
-  }
-
-  /**
-   * @brief Q15 Circular write function.
-   */
-
-  __STATIC_INLINE void arm_circularWrite_q15(
-  q15_t * circBuffer,
-  int32_t L,
-  uint16_t * writeOffset,
-  int32_t bufferInc,
-  const q15_t * src,
-  int32_t srcInc,
-  uint32_t blockSize)
-  {
-    uint32_t i = 0u;
-    int32_t wOffset;
-
-    /* Copy the value of Index pointer that points
-     * to the current location where the input samples to be copied */
-    wOffset = *writeOffset;
-
-    /* Loop over the blockSize */
-    i = blockSize;
-
-    while(i > 0u)
-    {
-      /* copy the input sample to the circular buffer */
-      circBuffer[wOffset] = *src;
-
-      /* Update the input pointer */
-      src += srcInc;
-
-      /* Circularly update wOffset.  Watch out for positive and negative value */
-      wOffset += bufferInc;
-      if(wOffset >= L)
-        wOffset -= L;
-
-      /* Decrement the loop counter */
-      i--;
-    }
-
-    /* Update the index pointer */
-    *writeOffset = wOffset;
-  }
-
-
-
-  /**
-   * @brief Q15 Circular Read function.
-   */
-  __STATIC_INLINE void arm_circularRead_q15(
-  q15_t * circBuffer,
-  int32_t L,
-  int32_t * readOffset,
-  int32_t bufferInc,
-  q15_t * dst,
-  q15_t * dst_base,
-  int32_t dst_length,
-  int32_t dstInc,
-  uint32_t blockSize)
-  {
-    uint32_t i = 0;
-    int32_t rOffset, dst_end;
-
-    /* Copy the value of Index pointer that points
-     * to the current location from where the input samples to be read */
-    rOffset = *readOffset;
-
-    dst_end = (int32_t) (dst_base + dst_length);
-
-    /* Loop over the blockSize */
-    i = blockSize;
-
-    while(i > 0u)
-    {
-      /* copy the sample from the circular buffer to the destination buffer */
-      *dst = circBuffer[rOffset];
-
-      /* Update the input pointer */
-      dst += dstInc;
-
-      if(dst == (q15_t *) dst_end)
-      {
-        dst = dst_base;
-      }
-
-      /* Circularly update wOffset.  Watch out for positive and negative value */
-      rOffset += bufferInc;
-
-      if(rOffset >= L)
-      {
-        rOffset -= L;
-      }
-
-      /* Decrement the loop counter */
-      i--;
-    }
-
-    /* Update the index pointer */
-    *readOffset = rOffset;
-  }
-
-
-  /**
-   * @brief Q7 Circular write function.
-   */
-
-  __STATIC_INLINE void arm_circularWrite_q7(
-  q7_t * circBuffer,
-  int32_t L,
-  uint16_t * writeOffset,
-  int32_t bufferInc,
-  const q7_t * src,
-  int32_t srcInc,
-  uint32_t blockSize)
-  {
-    uint32_t i = 0u;
-    int32_t wOffset;
-
-    /* Copy the value of Index pointer that points
-     * to the current location where the input samples to be copied */
-    wOffset = *writeOffset;
-
-    /* Loop over the blockSize */
-    i = blockSize;
-
-    while(i > 0u)
-    {
-      /* copy the input sample to the circular buffer */
-      circBuffer[wOffset] = *src;
-
-      /* Update the input pointer */
-      src += srcInc;
-
-      /* Circularly update wOffset.  Watch out for positive and negative value */
-      wOffset += bufferInc;
-      if(wOffset >= L)
-        wOffset -= L;
-
-      /* Decrement the loop counter */
-      i--;
-    }
-
-    /* Update the index pointer */
-    *writeOffset = wOffset;
-  }
-
-
-
-  /**
-   * @brief Q7 Circular Read function.
-   */
-  __STATIC_INLINE void arm_circularRead_q7(
-  q7_t * circBuffer,
-  int32_t L,
-  int32_t * readOffset,
-  int32_t bufferInc,
-  q7_t * dst,
-  q7_t * dst_base,
-  int32_t dst_length,
-  int32_t dstInc,
-  uint32_t blockSize)
-  {
-    uint32_t i = 0;
-    int32_t rOffset, dst_end;
-
-    /* Copy the value of Index pointer that points
-     * to the current location from where the input samples to be read */
-    rOffset = *readOffset;
-
-    dst_end = (int32_t) (dst_base + dst_length);
-
-    /* Loop over the blockSize */
-    i = blockSize;
-
-    while(i > 0u)
-    {
-      /* copy the sample from the circular buffer to the destination buffer */
-      *dst = circBuffer[rOffset];
-
-      /* Update the input pointer */
-      dst += dstInc;
-
-      if(dst == (q7_t *) dst_end)
-      {
-        dst = dst_base;
-      }
-
-      /* Circularly update rOffset.  Watch out for positive and negative value */
-      rOffset += bufferInc;
-
-      if(rOffset >= L)
-      {
-        rOffset -= L;
-      }
-
-      /* Decrement the loop counter */
-      i--;
-    }
-
-    /* Update the index pointer */
-    *readOffset = rOffset;
-  }
-
-
-  /**
-   * @brief  Sum of the squares of the elements of a Q31 vector.
-   * @param[in]  *pSrc is input pointer
-   * @param[in]  blockSize is the number of samples to process
-   * @param[out]  *pResult is output value.
-   * @return none.
-   */
-
-  void arm_power_q31(
-  q31_t * pSrc,
-  uint32_t blockSize,
-  q63_t * pResult);
-
-  /**
-   * @brief  Sum of the squares of the elements of a floating-point vector.
-   * @param[in]  *pSrc is input pointer
-   * @param[in]  blockSize is the number of samples to process
-   * @param[out]  *pResult is output value.
-   * @return none.
-   */
-
-  void arm_power_f32(
-  float32_t * pSrc,
-  uint32_t blockSize,
-  float32_t * pResult);
-
-  /**
-   * @brief  Sum of the squares of the elements of a Q15 vector.
-   * @param[in]  *pSrc is input pointer
-   * @param[in]  blockSize is the number of samples to process
-   * @param[out]  *pResult is output value.
-   * @return none.
-   */
-
-  void arm_power_q15(
-  q15_t * pSrc,
-  uint32_t blockSize,
-  q63_t * pResult);
-
-  /**
-   * @brief  Sum of the squares of the elements of a Q7 vector.
-   * @param[in]  *pSrc is input pointer
-   * @param[in]  blockSize is the number of samples to process
-   * @param[out]  *pResult is output value.
-   * @return none.
-   */
-
-  void arm_power_q7(
-  q7_t * pSrc,
-  uint32_t blockSize,
-  q31_t * pResult);
-
-  /**
-   * @brief  Mean value of a Q7 vector.
-   * @param[in]  *pSrc is input pointer
-   * @param[in]  blockSize is the number of samples to process
-   * @param[out]  *pResult is output value.
-   * @return none.
-   */
-
-  void arm_mean_q7(
-  q7_t * pSrc,
-  uint32_t blockSize,
-  q7_t * pResult);
-
-  /**
-   * @brief  Mean value of a Q15 vector.
-   * @param[in]  *pSrc is input pointer
-   * @param[in]  blockSize is the number of samples to process
-   * @param[out]  *pResult is output value.
-   * @return none.
-   */
-  void arm_mean_q15(
-  q15_t * pSrc,
-  uint32_t blockSize,
-  q15_t * pResult);
-
-  /**
-   * @brief  Mean value of a Q31 vector.
-   * @param[in]  *pSrc is input pointer
-   * @param[in]  blockSize is the number of samples to process
-   * @param[out]  *pResult is output value.
-   * @return none.
-   */
-  void arm_mean_q31(
-  q31_t * pSrc,
-  uint32_t blockSize,
-  q31_t * pResult);
-
-  /**
-   * @brief  Mean value of a floating-point vector.
-   * @param[in]  *pSrc is input pointer
-   * @param[in]  blockSize is the number of samples to process
-   * @param[out]  *pResult is output value.
-   * @return none.
-   */
-  void arm_mean_f32(
-  float32_t * pSrc,
-  uint32_t blockSize,
-  float32_t * pResult);
-
-  /**
-   * @brief  Variance of the elements of a floating-point vector.
-   * @param[in]  *pSrc is input pointer
-   * @param[in]  blockSize is the number of samples to process
-   * @param[out]  *pResult is output value.
-   * @return none.
-   */
-
-  void arm_var_f32(
-  float32_t * pSrc,
-  uint32_t blockSize,
-  float32_t * pResult);
-
-  /**
-   * @brief  Variance of the elements of a Q31 vector.
-   * @param[in]  *pSrc is input pointer
-   * @param[in]  blockSize is the number of samples to process
-   * @param[out]  *pResult is output value.
-   * @return none.
-   */
-
-  void arm_var_q31(
-  q31_t * pSrc,
-  uint32_t blockSize,
-  q63_t * pResult);
-
-  /**
-   * @brief  Variance of the elements of a Q15 vector.
-   * @param[in]  *pSrc is input pointer
-   * @param[in]  blockSize is the number of samples to process
-   * @param[out]  *pResult is output value.
-   * @return none.
-   */
-
-  void arm_var_q15(
-  q15_t * pSrc,
-  uint32_t blockSize,
-  q31_t * pResult);
-
-  /**
-   * @brief  Root Mean Square of the elements of a floating-point vector.
-   * @param[in]  *pSrc is input pointer
-   * @param[in]  blockSize is the number of samples to process
-   * @param[out]  *pResult is output value.
-   * @return none.
-   */
-
-  void arm_rms_f32(
-  float32_t * pSrc,
-  uint32_t blockSize,
-  float32_t * pResult);
-
-  /**
-   * @brief  Root Mean Square of the elements of a Q31 vector.
-   * @param[in]  *pSrc is input pointer
-   * @param[in]  blockSize is the number of samples to process
-   * @param[out]  *pResult is output value.
-   * @return none.
-   */
-
-  void arm_rms_q31(
-  q31_t * pSrc,
-  uint32_t blockSize,
-  q31_t * pResult);
-
-  /**
-   * @brief  Root Mean Square of the elements of a Q15 vector.
-   * @param[in]  *pSrc is input pointer
-   * @param[in]  blockSize is the number of samples to process
-   * @param[out]  *pResult is output value.
-   * @return none.
-   */
-
-  void arm_rms_q15(
-  q15_t * pSrc,
-  uint32_t blockSize,
-  q15_t * pResult);
-
-  /**
-   * @brief  Standard deviation of the elements of a floating-point vector.
-   * @param[in]  *pSrc is input pointer
-   * @param[in]  blockSize is the number of samples to process
-   * @param[out]  *pResult is output value.
-   * @return none.
-   */
-
-  void arm_std_f32(
-  float32_t * pSrc,
-  uint32_t blockSize,
-  float32_t * pResult);
-
-  /**
-   * @brief  Standard deviation of the elements of a Q31 vector.
-   * @param[in]  *pSrc is input pointer
-   * @param[in]  blockSize is the number of samples to process
-   * @param[out]  *pResult is output value.
-   * @return none.
-   */
-
-  void arm_std_q31(
-  q31_t * pSrc,
-  uint32_t blockSize,
-  q31_t * pResult);
-
-  /**
-   * @brief  Standard deviation of the elements of a Q15 vector.
-   * @param[in]  *pSrc is input pointer
-   * @param[in]  blockSize is the number of samples to process
-   * @param[out]  *pResult is output value.
-   * @return none.
-   */
-
-  void arm_std_q15(
-  q15_t * pSrc,
-  uint32_t blockSize,
-  q15_t * pResult);
-
-  /**
-   * @brief  Floating-point complex magnitude
-   * @param[in]  *pSrc points to the complex input vector
-   * @param[out]  *pDst points to the real output vector
-   * @param[in]  numSamples number of complex samples in the input vector
-   * @return none.
-   */
-
-  void arm_cmplx_mag_f32(
-  float32_t * pSrc,
-  float32_t * pDst,
-  uint32_t numSamples);
-
-  /**
-   * @brief  Q31 complex magnitude
-   * @param[in]  *pSrc points to the complex input vector
-   * @param[out]  *pDst points to the real output vector
-   * @param[in]  numSamples number of complex samples in the input vector
-   * @return none.
-   */
-
-  void arm_cmplx_mag_q31(
-  q31_t * pSrc,
-  q31_t * pDst,
-  uint32_t numSamples);
-
-  /**
-   * @brief  Q15 complex magnitude
-   * @param[in]  *pSrc points to the complex input vector
-   * @param[out]  *pDst points to the real output vector
-   * @param[in]  numSamples number of complex samples in the input vector
-   * @return none.
-   */
-
-  void arm_cmplx_mag_q15(
-  q15_t * pSrc,
-  q15_t * pDst,
-  uint32_t numSamples);
-
-  /**
-   * @brief  Q15 complex dot product
-   * @param[in]  *pSrcA points to the first input vector
-   * @param[in]  *pSrcB points to the second input vector
-   * @param[in]  numSamples number of complex samples in each vector
-   * @param[out]  *realResult real part of the result returned here
-   * @param[out]  *imagResult imaginary part of the result returned here
-   * @return none.
-   */
-
-  void arm_cmplx_dot_prod_q15(
-  q15_t * pSrcA,
-  q15_t * pSrcB,
-  uint32_t numSamples,
-  q31_t * realResult,
-  q31_t * imagResult);
-
-  /**
-   * @brief  Q31 complex dot product
-   * @param[in]  *pSrcA points to the first input vector
-   * @param[in]  *pSrcB points to the second input vector
-   * @param[in]  numSamples number of complex samples in each vector
-   * @param[out]  *realResult real part of the result returned here
-   * @param[out]  *imagResult imaginary part of the result returned here
-   * @return none.
-   */
-
-  void arm_cmplx_dot_prod_q31(
-  q31_t * pSrcA,
-  q31_t * pSrcB,
-  uint32_t numSamples,
-  q63_t * realResult,
-  q63_t * imagResult);
-
-  /**
-   * @brief  Floating-point complex dot product
-   * @param[in]  *pSrcA points to the first input vector
-   * @param[in]  *pSrcB points to the second input vector
-   * @param[in]  numSamples number of complex samples in each vector
-   * @param[out]  *realResult real part of the result returned here
-   * @param[out]  *imagResult imaginary part of the result returned here
-   * @return none.
-   */
-
-  void arm_cmplx_dot_prod_f32(
-  float32_t * pSrcA,
-  float32_t * pSrcB,
-  uint32_t numSamples,
-  float32_t * realResult,
-  float32_t * imagResult);
-
-  /**
-   * @brief  Q15 complex-by-real multiplication
-   * @param[in]  *pSrcCmplx points to the complex input vector
-   * @param[in]  *pSrcReal points to the real input vector
-   * @param[out]  *pCmplxDst points to the complex output vector
-   * @param[in]  numSamples number of samples in each vector
-   * @return none.
-   */
-
-  void arm_cmplx_mult_real_q15(
-  q15_t * pSrcCmplx,
-  q15_t * pSrcReal,
-  q15_t * pCmplxDst,
-  uint32_t numSamples);
-
-  /**
-   * @brief  Q31 complex-by-real multiplication
-   * @param[in]  *pSrcCmplx points to the complex input vector
-   * @param[in]  *pSrcReal points to the real input vector
-   * @param[out]  *pCmplxDst points to the complex output vector
-   * @param[in]  numSamples number of samples in each vector
-   * @return none.
-   */
-
-  void arm_cmplx_mult_real_q31(
-  q31_t * pSrcCmplx,
-  q31_t * pSrcReal,
-  q31_t * pCmplxDst,
-  uint32_t numSamples);
-
-  /**
-   * @brief  Floating-point complex-by-real multiplication
-   * @param[in]  *pSrcCmplx points to the complex input vector
-   * @param[in]  *pSrcReal points to the real input vector
-   * @param[out]  *pCmplxDst points to the complex output vector
-   * @param[in]  numSamples number of samples in each vector
-   * @return none.
-   */
-
-  void arm_cmplx_mult_real_f32(
-  float32_t * pSrcCmplx,
-  float32_t * pSrcReal,
-  float32_t * pCmplxDst,
-  uint32_t numSamples);
-
-  /**
-   * @brief  Minimum value of a Q7 vector.
-   * @param[in]  *pSrc is input pointer
-   * @param[in]  blockSize is the number of samples to process
-   * @param[out]  *result is output pointer
-   * @param[in]  index is the array index of the minimum value in the input buffer.
-   * @return none.
-   */
-
-  void arm_min_q7(
-  q7_t * pSrc,
-  uint32_t blockSize,
-  q7_t * result,
-  uint32_t * index);
-
-  /**
-   * @brief  Minimum value of a Q15 vector.
-   * @param[in]  *pSrc is input pointer
-   * @param[in]  blockSize is the number of samples to process
-   * @param[out]  *pResult is output pointer
-   * @param[in]  *pIndex is the array index of the minimum value in the input buffer.
-   * @return none.
-   */
-
-  void arm_min_q15(
-  q15_t * pSrc,
-  uint32_t blockSize,
-  q15_t * pResult,
-  uint32_t * pIndex);
-
-  /**
-   * @brief  Minimum value of a Q31 vector.
-   * @param[in]  *pSrc is input pointer
-   * @param[in]  blockSize is the number of samples to process
-   * @param[out]  *pResult is output pointer
-   * @param[out]  *pIndex is the array index of the minimum value in the input buffer.
-   * @return none.
-   */
-  void arm_min_q31(
-  q31_t * pSrc,
-  uint32_t blockSize,
-  q31_t * pResult,
-  uint32_t * pIndex);
-
-  /**
-   * @brief  Minimum value of a floating-point vector.
-   * @param[in]  *pSrc is input pointer
-   * @param[in]  blockSize is the number of samples to process
-   * @param[out]  *pResult is output pointer
-   * @param[out]  *pIndex is the array index of the minimum value in the input buffer.
-   * @return none.
-   */
-
-  void arm_min_f32(
-  float32_t * pSrc,
-  uint32_t blockSize,
-  float32_t * pResult,
-  uint32_t * pIndex);
-
-/**
- * @brief Maximum value of a Q7 vector.
- * @param[in]       *pSrc points to the input buffer
- * @param[in]       blockSize length of the input vector
- * @param[out]      *pResult maximum value returned here
- * @param[out]      *pIndex index of maximum value returned here
- * @return none.
- */
-
-  void arm_max_q7(
-  q7_t * pSrc,
-  uint32_t blockSize,
-  q7_t * pResult,
-  uint32_t * pIndex);
-
-/**
- * @brief Maximum value of a Q15 vector.
- * @param[in]       *pSrc points to the input buffer
- * @param[in]       blockSize length of the input vector
- * @param[out]      *pResult maximum value returned here
- * @param[out]      *pIndex index of maximum value returned here
- * @return none.
- */
-
-  void arm_max_q15(
-  q15_t * pSrc,
-  uint32_t blockSize,
-  q15_t * pResult,
-  uint32_t * pIndex);
-
-/**
- * @brief Maximum value of a Q31 vector.
- * @param[in]       *pSrc points to the input buffer
- * @param[in]       blockSize length of the input vector
- * @param[out]      *pResult maximum value returned here
- * @param[out]      *pIndex index of maximum value returned here
- * @return none.
- */
-
-  void arm_max_q31(
-  q31_t * pSrc,
-  uint32_t blockSize,
-  q31_t * pResult,
-  uint32_t * pIndex);
-
-/**
- * @brief Maximum value of a floating-point vector.
- * @param[in]       *pSrc points to the input buffer
- * @param[in]       blockSize length of the input vector
- * @param[out]      *pResult maximum value returned here
- * @param[out]      *pIndex index of maximum value returned here
- * @return none.
- */
-
-  void arm_max_f32(
-  float32_t * pSrc,
-  uint32_t blockSize,
-  float32_t * pResult,
-  uint32_t * pIndex);
-
-  /**
-   * @brief  Q15 complex-by-complex multiplication
-   * @param[in]  *pSrcA points to the first input vector
-   * @param[in]  *pSrcB points to the second input vector
-   * @param[out]  *pDst  points to the output vector
-   * @param[in]  numSamples number of complex samples in each vector
-   * @return none.
-   */
-
-  void arm_cmplx_mult_cmplx_q15(
-  q15_t * pSrcA,
-  q15_t * pSrcB,
-  q15_t * pDst,
-  uint32_t numSamples);
-
-  /**
-   * @brief  Q31 complex-by-complex multiplication
-   * @param[in]  *pSrcA points to the first input vector
-   * @param[in]  *pSrcB points to the second input vector
-   * @param[out]  *pDst  points to the output vector
-   * @param[in]  numSamples number of complex samples in each vector
-   * @return none.
-   */
-
-  void arm_cmplx_mult_cmplx_q31(
-  q31_t * pSrcA,
-  q31_t * pSrcB,
-  q31_t * pDst,
-  uint32_t numSamples);
-
-  /**
-   * @brief  Floating-point complex-by-complex multiplication
-   * @param[in]  *pSrcA points to the first input vector
-   * @param[in]  *pSrcB points to the second input vector
-   * @param[out]  *pDst  points to the output vector
-   * @param[in]  numSamples number of complex samples in each vector
-   * @return none.
-   */
-
-  void arm_cmplx_mult_cmplx_f32(
-  float32_t * pSrcA,
-  float32_t * pSrcB,
-  float32_t * pDst,
-  uint32_t numSamples);
-
-  /**
-   * @brief Converts the elements of the floating-point vector to Q31 vector. 
-   * @param[in]       *pSrc points to the floating-point input vector 
-   * @param[out]      *pDst points to the Q31 output vector
-   * @param[in]       blockSize length of the input vector 
-   * @return none. 
-   */
-  void arm_float_to_q31(
-  float32_t * pSrc,
-  q31_t * pDst,
-  uint32_t blockSize);
-
-  /**
-   * @brief Converts the elements of the floating-point vector to Q15 vector. 
-   * @param[in]       *pSrc points to the floating-point input vector 
-   * @param[out]      *pDst points to the Q15 output vector
-   * @param[in]       blockSize length of the input vector 
-   * @return          none
-   */
-  void arm_float_to_q15(
-  float32_t * pSrc,
-  q15_t * pDst,
-  uint32_t blockSize);
-
-  /**
-   * @brief Converts the elements of the floating-point vector to Q7 vector. 
-   * @param[in]       *pSrc points to the floating-point input vector 
-   * @param[out]      *pDst points to the Q7 output vector
-   * @param[in]       blockSize length of the input vector 
-   * @return          none
-   */
-  void arm_float_to_q7(
-  float32_t * pSrc,
-  q7_t * pDst,
-  uint32_t blockSize);
-
-
-  /**
-   * @brief  Converts the elements of the Q31 vector to Q15 vector.
-   * @param[in]  *pSrc is input pointer
-   * @param[out]  *pDst is output pointer
-   * @param[in]  blockSize is the number of samples to process
-   * @return none.
-   */
-  void arm_q31_to_q15(
-  q31_t * pSrc,
-  q15_t * pDst,
-  uint32_t blockSize);
-
-  /**
-   * @brief  Converts the elements of the Q31 vector to Q7 vector.
-   * @param[in]  *pSrc is input pointer
-   * @param[out]  *pDst is output pointer
-   * @param[in]  blockSize is the number of samples to process
-   * @return none.
-   */
-  void arm_q31_to_q7(
-  q31_t * pSrc,
-  q7_t * pDst,
-  uint32_t blockSize);
-
-  /**
-   * @brief  Converts the elements of the Q15 vector to floating-point vector.
-   * @param[in]  *pSrc is input pointer
-   * @param[out]  *pDst is output pointer
-   * @param[in]  blockSize is the number of samples to process
-   * @return none.
-   */
-  void arm_q15_to_float(
-  q15_t * pSrc,
-  float32_t * pDst,
-  uint32_t blockSize);
-
-
-  /**
-   * @brief  Converts the elements of the Q15 vector to Q31 vector.
-   * @param[in]  *pSrc is input pointer
-   * @param[out]  *pDst is output pointer
-   * @param[in]  blockSize is the number of samples to process
-   * @return none.
-   */
-  void arm_q15_to_q31(
-  q15_t * pSrc,
-  q31_t * pDst,
-  uint32_t blockSize);
-
-
-  /**
-   * @brief  Converts the elements of the Q15 vector to Q7 vector.
-   * @param[in]  *pSrc is input pointer
-   * @param[out]  *pDst is output pointer
-   * @param[in]  blockSize is the number of samples to process
-   * @return none.
-   */
-  void arm_q15_to_q7(
-  q15_t * pSrc,
-  q7_t * pDst,
-  uint32_t blockSize);
-
-
-  /**
-   * @ingroup groupInterpolation
-   */
-
-  /**
-   * @defgroup BilinearInterpolate Bilinear Interpolation
-   *
-   * Bilinear interpolation is an extension of linear interpolation applied to a two dimensional grid.
-   * The underlying function f(x, y) is sampled on a regular grid and the interpolation process
-   * determines values between the grid points.
-   * Bilinear interpolation is equivalent to two step linear interpolation, first in the x-dimension and then in the y-dimension.
-   * Bilinear interpolation is often used in image processing to rescale images.
-   * The CMSIS DSP library provides bilinear interpolation functions for Q7, Q15, Q31, and floating-point data types.
-   *
-   * Algorithm
-   * \par
-   * The instance structure used by the bilinear interpolation functions describes a two dimensional data table.
-   * For floating-point, the instance structure is defined as:
-   * 
-   *   typedef struct
-   *   {
-   *     uint16_t numRows;
-   *     uint16_t numCols;
-   *     float32_t *pData;
-   * } arm_bilinear_interp_instance_f32;
-   * 

-   *
-   * \par
-   * where numRows specifies the number of rows in the table;
-   * numCols specifies the number of columns in the table;
-   * and pData points to an array of size numRows*numCols values.
-   * The data table pTable is organized in row order and the supplied data values fall on integer indexes.
-   * That is, table element (x,y) is located at pTable[x + y*numCols] where x and y are integers.
-   *
-   * \par
-   * Let (x, y) specify the desired interpolation point.  Then define:
-   * 
-   *     XF = floor(x)
-   *     YF = floor(y)
-   * 

-   * \par
-   * The interpolated output point is computed as:
-   * 
-   *  f(x, y) = f(XF, YF) * (1-(x-XF)) * (1-(y-YF))
-   *           + f(XF+1, YF) * (x-XF)*(1-(y-YF))
-   *           + f(XF, YF+1) * (1-(x-XF))*(y-YF)
-   *           + f(XF+1, YF+1) * (x-XF)*(y-YF)
-   * 

-   * Note that the coordinates (x, y) contain integer and fractional components.  
-   * The integer components specify which portion of the table to use while the
-   * fractional components control the interpolation processor.
-   *
-   * \par
-   * if (x,y) are outside of the table boundary, Bilinear interpolation returns zero output. 
-   */
-
-  /**
-   * @addtogroup BilinearInterpolate
-   * @{
-   */
-
-  /**
-  *
-  * @brief  Floating-point bilinear interpolation.
-  * @param[in,out] *S points to an instance of the interpolation structure.
-  * @param[in] X interpolation coordinate.
-  * @param[in] Y interpolation coordinate.
-  * @return out interpolated value.
-  */
-
-
-  __STATIC_INLINE float32_t arm_bilinear_interp_f32(
-  const arm_bilinear_interp_instance_f32 * S,
-  float32_t X,
-  float32_t Y)
-  {
-    float32_t out;
-    float32_t f00, f01, f10, f11;
-    float32_t *pData = S->pData;
-    int32_t xIndex, yIndex, index;
-    float32_t xdiff, ydiff;
-    float32_t b1, b2, b3, b4;
-
-    xIndex = (int32_t) X;
-    yIndex = (int32_t) Y;
-
-    /* Care taken for table outside boundary */
-    /* Returns zero output when values are outside table boundary */
-    if(xIndex < 0 || xIndex > (S->numRows - 1) || yIndex < 0
-       || yIndex > (S->numCols - 1))
-    {
-      return (0);
-    }
-
-    /* Calculation of index for two nearest points in X-direction */
-    index = (xIndex - 1) + (yIndex - 1) * S->numCols;
-
-
-    /* Read two nearest points in X-direction */
-    f00 = pData[index];
-    f01 = pData[index + 1];
-
-    /* Calculation of index for two nearest points in Y-direction */
-    index = (xIndex - 1) + (yIndex) * S->numCols;
-
-
-    /* Read two nearest points in Y-direction */
-    f10 = pData[index];
-    f11 = pData[index + 1];
-
-    /* Calculation of intermediate values */
-    b1 = f00;
-    b2 = f01 - f00;
-    b3 = f10 - f00;
-    b4 = f00 - f01 - f10 + f11;
-
-    /* Calculation of fractional part in X */
-    xdiff = X - xIndex;
-
-    /* Calculation of fractional part in Y */
-    ydiff = Y - yIndex;
-
-    /* Calculation of bi-linear interpolated output */
-    out = b1 + b2 * xdiff + b3 * ydiff + b4 * xdiff * ydiff;
-
-    /* return to application */
-    return (out);
-
-  }
-
-  /**
-  *
-  * @brief  Q31 bilinear interpolation.
-  * @param[in,out] *S points to an instance of the interpolation structure.
-  * @param[in] X interpolation coordinate in 12.20 format.
-  * @param[in] Y interpolation coordinate in 12.20 format.
-  * @return out interpolated value.
-  */
-
-  __STATIC_INLINE q31_t arm_bilinear_interp_q31(
-  arm_bilinear_interp_instance_q31 * S,
-  q31_t X,
-  q31_t Y)
-  {
-    q31_t out;                                   /* Temporary output */
-    q31_t acc = 0;                               /* output */
-    q31_t xfract, yfract;                        /* X, Y fractional parts */
-    q31_t x1, x2, y1, y2;                        /* Nearest output values */
-    int32_t rI, cI;                              /* Row and column indices */
-    q31_t *pYData = S->pData;                    /* pointer to output table values */
-    uint32_t nCols = S->numCols;                 /* num of rows */
-
-
-    /* Input is in 12.20 format */
-    /* 12 bits for the table index */
-    /* Index value calculation */
-    rI = ((X & 0xFFF00000) >> 20u);
-
-    /* Input is in 12.20 format */
-    /* 12 bits for the table index */
-    /* Index value calculation */
-    cI = ((Y & 0xFFF00000) >> 20u);
-
-    /* Care taken for table outside boundary */
-    /* Returns zero output when values are outside table boundary */
-    if(rI < 0 || rI > (S->numRows - 1) || cI < 0 || cI > (S->numCols - 1))
-    {
-      return (0);
-    }
-
-    /* 20 bits for the fractional part */
-    /* shift left xfract by 11 to keep 1.31 format */
-    xfract = (X & 0x000FFFFF) << 11u;
-
-    /* Read two nearest output values from the index */
-    x1 = pYData[(rI) + nCols * (cI)];
-    x2 = pYData[(rI) + nCols * (cI) + 1u];
-
-    /* 20 bits for the fractional part */
-    /* shift left yfract by 11 to keep 1.31 format */
-    yfract = (Y & 0x000FFFFF) << 11u;
-
-    /* Read two nearest output values from the index */
-    y1 = pYData[(rI) + nCols * (cI + 1)];
-    y2 = pYData[(rI) + nCols * (cI + 1) + 1u];
-
-    /* Calculation of x1 * (1-xfract ) * (1-yfract) and acc is in 3.29(q29) format */
-    out = ((q31_t) (((q63_t) x1 * (0x7FFFFFFF - xfract)) >> 32));
-    acc = ((q31_t) (((q63_t) out * (0x7FFFFFFF - yfract)) >> 32));
-
-    /* x2 * (xfract) * (1-yfract)  in 3.29(q29) and adding to acc */
-    out = ((q31_t) ((q63_t) x2 * (0x7FFFFFFF - yfract) >> 32));
-    acc += ((q31_t) ((q63_t) out * (xfract) >> 32));
-
-    /* y1 * (1 - xfract) * (yfract)  in 3.29(q29) and adding to acc */
-    out = ((q31_t) ((q63_t) y1 * (0x7FFFFFFF - xfract) >> 32));
-    acc += ((q31_t) ((q63_t) out * (yfract) >> 32));
-
-    /* y2 * (xfract) * (yfract)  in 3.29(q29) and adding to acc */
-    out = ((q31_t) ((q63_t) y2 * (xfract) >> 32));
-    acc += ((q31_t) ((q63_t) out * (yfract) >> 32));
-
-    /* Convert acc to 1.31(q31) format */
-    return (acc << 2u);
-
-  }
-
-  /**
-  * @brief  Q15 bilinear interpolation.
-  * @param[in,out] *S points to an instance of the interpolation structure.
-  * @param[in] X interpolation coordinate in 12.20 format.
-  * @param[in] Y interpolation coordinate in 12.20 format.
-  * @return out interpolated value.
-  */
-
-  __STATIC_INLINE q15_t arm_bilinear_interp_q15(
-  arm_bilinear_interp_instance_q15 * S,
-  q31_t X,
-  q31_t Y)
-  {
-    q63_t acc = 0;                               /* output */
-    q31_t out;                                   /* Temporary output */
-    q15_t x1, x2, y1, y2;                        /* Nearest output values */
-    q31_t xfract, yfract;                        /* X, Y fractional parts */
-    int32_t rI, cI;                              /* Row and column indices */
-    q15_t *pYData = S->pData;                    /* pointer to output table values */
-    uint32_t nCols = S->numCols;                 /* num of rows */
-
-    /* Input is in 12.20 format */
-    /* 12 bits for the table index */
-    /* Index value calculation */
-    rI = ((X & 0xFFF00000) >> 20);
-
-    /* Input is in 12.20 format */
-    /* 12 bits for the table index */
-    /* Index value calculation */
-    cI = ((Y & 0xFFF00000) >> 20);
-
-    /* Care taken for table outside boundary */
-    /* Returns zero output when values are outside table boundary */
-    if(rI < 0 || rI > (S->numRows - 1) || cI < 0 || cI > (S->numCols - 1))
-    {
-      return (0);
-    }
-
-    /* 20 bits for the fractional part */
-    /* xfract should be in 12.20 format */
-    xfract = (X & 0x000FFFFF);
-
-    /* Read two nearest output values from the index */
-    x1 = pYData[(rI) + nCols * (cI)];
-    x2 = pYData[(rI) + nCols * (cI) + 1u];
-
-
-    /* 20 bits for the fractional part */
-    /* yfract should be in 12.20 format */
-    yfract = (Y & 0x000FFFFF);
-
-    /* Read two nearest output values from the index */
-    y1 = pYData[(rI) + nCols * (cI + 1)];
-    y2 = pYData[(rI) + nCols * (cI + 1) + 1u];
-
-    /* Calculation of x1 * (1-xfract ) * (1-yfract) and acc is in 13.51 format */
-
-    /* x1 is in 1.15(q15), xfract in 12.20 format and out is in 13.35 format */
-    /* convert 13.35 to 13.31 by right shifting  and out is in 1.31 */
-    out = (q31_t) (((q63_t) x1 * (0xFFFFF - xfract)) >> 4u);
-    acc = ((q63_t) out * (0xFFFFF - yfract));
-
-    /* x2 * (xfract) * (1-yfract)  in 1.51 and adding to acc */
-    out = (q31_t) (((q63_t) x2 * (0xFFFFF - yfract)) >> 4u);
-    acc += ((q63_t) out * (xfract));
-
-    /* y1 * (1 - xfract) * (yfract)  in 1.51 and adding to acc */
-    out = (q31_t) (((q63_t) y1 * (0xFFFFF - xfract)) >> 4u);
-    acc += ((q63_t) out * (yfract));
-
-    /* y2 * (xfract) * (yfract)  in 1.51 and adding to acc */
-    out = (q31_t) (((q63_t) y2 * (xfract)) >> 4u);
-    acc += ((q63_t) out * (yfract));
-
-    /* acc is in 13.51 format and down shift acc by 36 times */
-    /* Convert out to 1.15 format */
-    return (acc >> 36);
-
-  }
-
-  /**
-  * @brief  Q7 bilinear interpolation.
-  * @param[in,out] *S points to an instance of the interpolation structure.
-  * @param[in] X interpolation coordinate in 12.20 format.
-  * @param[in] Y interpolation coordinate in 12.20 format.
-  * @return out interpolated value.
-  */
-
-  __STATIC_INLINE q7_t arm_bilinear_interp_q7(
-  arm_bilinear_interp_instance_q7 * S,
-  q31_t X,
-  q31_t Y)
-  {
-    q63_t acc = 0;                               /* output */
-    q31_t out;                                   /* Temporary output */
-    q31_t xfract, yfract;                        /* X, Y fractional parts */
-    q7_t x1, x2, y1, y2;                         /* Nearest output values */
-    int32_t rI, cI;                              /* Row and column indices */
-    q7_t *pYData = S->pData;                     /* pointer to output table values */
-    uint32_t nCols = S->numCols;                 /* num of rows */
-
-    /* Input is in 12.20 format */
-    /* 12 bits for the table index */
-    /* Index value calculation */
-    rI = ((X & 0xFFF00000) >> 20);
-
-    /* Input is in 12.20 format */
-    /* 12 bits for the table index */
-    /* Index value calculation */
-    cI = ((Y & 0xFFF00000) >> 20);
-
-    /* Care taken for table outside boundary */
-    /* Returns zero output when values are outside table boundary */
-    if(rI < 0 || rI > (S->numRows - 1) || cI < 0 || cI > (S->numCols - 1))
-    {
-      return (0);
-    }
-
-    /* 20 bits for the fractional part */
-    /* xfract should be in 12.20 format */
-    xfract = (X & 0x000FFFFF);
-
-    /* Read two nearest output values from the index */
-    x1 = pYData[(rI) + nCols * (cI)];
-    x2 = pYData[(rI) + nCols * (cI) + 1u];
-
-
-    /* 20 bits for the fractional part */
-    /* yfract should be in 12.20 format */
-    yfract = (Y & 0x000FFFFF);
-
-    /* Read two nearest output values from the index */
-    y1 = pYData[(rI) + nCols * (cI + 1)];
-    y2 = pYData[(rI) + nCols * (cI + 1) + 1u];
-
-    /* Calculation of x1 * (1-xfract ) * (1-yfract) and acc is in 16.47 format */
-    out = ((x1 * (0xFFFFF - xfract)));
-    acc = (((q63_t) out * (0xFFFFF - yfract)));
-
-    /* x2 * (xfract) * (1-yfract)  in 2.22 and adding to acc */
-    out = ((x2 * (0xFFFFF - yfract)));
-    acc += (((q63_t) out * (xfract)));
-
-    /* y1 * (1 - xfract) * (yfract)  in 2.22 and adding to acc */
-    out = ((y1 * (0xFFFFF - xfract)));
-    acc += (((q63_t) out * (yfract)));
-
-    /* y2 * (xfract) * (yfract)  in 2.22 and adding to acc */
-    out = ((y2 * (yfract)));
-    acc += (((q63_t) out * (xfract)));
-
-    /* acc in 16.47 format and down shift by 40 to convert to 1.7 format */
-    return (acc >> 40);
-
-  }
-
-  /**
-   * @} end of BilinearInterpolate group
-   */
-
-
-
-
-
-
-#ifdef	__cplusplus
-}
-#endif
-
-
-#endif /* _ARM_MATH_H */
-
-
-/**
- *
- * End of file.
- */
diff --git a/apps/mathlib/CMSIS/Include/core_cm3.h b/apps/mathlib/CMSIS/Include/core_cm3.h
deleted file mode 100644
index 733d6be53..000000000
--- a/apps/mathlib/CMSIS/Include/core_cm3.h
+++ /dev/null
@@ -1,1612 +0,0 @@
-/**************************************************************************//**
- * @file     core_cm3.h
- * @brief    CMSIS Cortex-M3 Core Peripheral Access Layer Header File
- * @version  V3.01
- * @date     22. March 2012
- *
- * @note
- * Copyright (C) 2009-2012 ARM Limited. All rights reserved.
- *
- * @par
- * ARM Limited (ARM) is supplying this software for use with Cortex-M
- * processor based microcontrollers.  This file can be freely distributed
- * within development tools that are supporting such ARM based processors.
- *
- * @par
- * THIS SOFTWARE IS PROVIDED "AS IS".  NO WARRANTIES, WHETHER EXPRESS, IMPLIED
- * OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
- * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
- * ARM SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR
- * CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
- *
- ******************************************************************************/
-#if defined ( __ICCARM__ )
- #pragma system_include  /* treat file as system include file for MISRA check */
-#endif
-
-#ifdef __cplusplus
- extern "C" {
-#endif
-
-#ifndef __CORE_CM3_H_GENERIC
-#define __CORE_CM3_H_GENERIC
-
-/** \page CMSIS_MISRA_Exceptions  MISRA-C:2004 Compliance Exceptions
-  CMSIS violates the following MISRA-C:2004 rules:
-
-   \li Required Rule 8.5, object/function definition in header file.

-     Function definitions in header files are used to allow 'inlining'.
-
-   \li Required Rule 18.4, declaration of union type or object of union type: '{...}'.

-     Unions are used for effective representation of core registers.
-
-   \li Advisory Rule 19.7, Function-like macro defined.

-     Function-like macros are used to allow more efficient code.
- */
-
-
-/*******************************************************************************
- *                 CMSIS definitions
- ******************************************************************************/
-/** \ingroup Cortex_M3
-  @{
- */
-
-/*  CMSIS CM3 definitions */
-#define __CM3_CMSIS_VERSION_MAIN  (0x03)                                   /*!< [31:16] CMSIS HAL main version   */
-#define __CM3_CMSIS_VERSION_SUB   (0x01)                                   /*!< [15:0]  CMSIS HAL sub version    */
-#define __CM3_CMSIS_VERSION       ((__CM3_CMSIS_VERSION_MAIN << 16) | \
-                                    __CM3_CMSIS_VERSION_SUB          )     /*!< CMSIS HAL version number         */
-
-#define __CORTEX_M                (0x03)                                   /*!< Cortex-M Core                    */
-
-
-#if   defined ( __CC_ARM )
-  #define __ASM            __asm                                      /*!< asm keyword for ARM Compiler          */
-  #define __INLINE         __inline                                   /*!< inline keyword for ARM Compiler       */
-  #define __STATIC_INLINE  static __inline
-
-#elif defined ( __ICCARM__ )
-  #define __ASM            __asm                                      /*!< asm keyword for IAR Compiler          */
-  #define __INLINE         inline                                     /*!< inline keyword for IAR Compiler. Only available in High optimization mode! */
-  #define __STATIC_INLINE  static inline
-
-#elif defined ( __TMS470__ )
-  #define __ASM            __asm                                      /*!< asm keyword for TI CCS Compiler       */
-  #define __STATIC_INLINE  static inline
-
-#elif defined ( __GNUC__ )
-  #define __ASM            __asm                                      /*!< asm keyword for GNU Compiler          */
-  #define __INLINE         inline                                     /*!< inline keyword for GNU Compiler       */
-  #define __STATIC_INLINE  static inline
-
-#elif defined ( __TASKING__ )
-  #define __ASM            __asm                                      /*!< asm keyword for TASKING Compiler      */
-  #define __INLINE         inline                                     /*!< inline keyword for TASKING Compiler   */
-  #define __STATIC_INLINE  static inline
-
-#endif
-
-/** __FPU_USED indicates whether an FPU is used or not. This core does not support an FPU at all
-*/
-#define __FPU_USED       0
-
-#if defined ( __CC_ARM )
-  #if defined __TARGET_FPU_VFP
-    #warning "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
-  #endif
-
-#elif defined ( __ICCARM__ )
-  #if defined __ARMVFP__
-    #warning "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
-  #endif
-
-#elif defined ( __TMS470__ )
-  #if defined __TI__VFP_SUPPORT____
-    #warning "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
-  #endif
-
-#elif defined ( __GNUC__ )
-  #if defined (__VFP_FP__) && !defined(__SOFTFP__)
-    #warning "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
-  #endif
-
-#elif defined ( __TASKING__ )
-  #if defined __FPU_VFP__
-    #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
-  #endif
-#endif
-
-#include                       /* standard types definitions                      */
-#include "core_cmInstr.h"                /* Core Instruction Access                         */
-#include "core_cmFunc.h"                 /* Core Function Access                            */
-
-#endif /* __CORE_CM3_H_GENERIC */
-
-#ifndef __CMSIS_GENERIC
-
-#ifndef __CORE_CM3_H_DEPENDANT
-#define __CORE_CM3_H_DEPENDANT
-
-/* check device defines and use defaults */
-#if defined __CHECK_DEVICE_DEFINES
-  #ifndef __CM3_REV
-    #define __CM3_REV               0x0200
-    #warning "__CM3_REV not defined in device header file; using default!"
-  #endif
-
-  #ifndef __MPU_PRESENT
-    #define __MPU_PRESENT             0
-    #warning "__MPU_PRESENT not defined in device header file; using default!"
-  #endif
-
-  #ifndef __NVIC_PRIO_BITS
-    #define __NVIC_PRIO_BITS          4
-    #warning "__NVIC_PRIO_BITS not defined in device header file; using default!"
-  #endif
-
-  #ifndef __Vendor_SysTickConfig
-    #define __Vendor_SysTickConfig    0
-    #warning "__Vendor_SysTickConfig not defined in device header file; using default!"
-  #endif
-#endif
-
-/* IO definitions (access restrictions to peripheral registers) */
-/**
-    \defgroup CMSIS_glob_defs CMSIS Global Defines
-
-    IO Type Qualifiers are used
-    \li to specify the access to peripheral variables.
-    \li for automatic generation of peripheral register debug information.
-*/
-#ifdef __cplusplus
-  #define   __I     volatile             /*!< Defines 'read only' permissions                 */
-#else
-  #define   __I     volatile const       /*!< Defines 'read only' permissions                 */
-#endif
-#define     __O     volatile             /*!< Defines 'write only' permissions                */
-#define     __IO    volatile             /*!< Defines 'read / write' permissions              */
-
-/*@} end of group Cortex_M3 */
-
-
-
-/*******************************************************************************
- *                 Register Abstraction
-  Core Register contain:
-  - Core Register
-  - Core NVIC Register
-  - Core SCB Register
-  - Core SysTick Register
-  - Core Debug Register
-  - Core MPU Register
- ******************************************************************************/
-/** \defgroup CMSIS_core_register Defines and Type Definitions
-    \brief Type definitions and defines for Cortex-M processor based devices.
-*/
-
-/** \ingroup    CMSIS_core_register
-    \defgroup   CMSIS_CORE  Status and Control Registers
-    \brief  Core Register type definitions.
-  @{
- */
-
-/** \brief  Union type to access the Application Program Status Register (APSR).
- */
-typedef union
-{
-  struct
-  {
-#if (__CORTEX_M != 0x04)
-    uint32_t _reserved0:27;              /*!< bit:  0..26  Reserved                           */
-#else
-    uint32_t _reserved0:16;              /*!< bit:  0..15  Reserved                           */
-    uint32_t GE:4;                       /*!< bit: 16..19  Greater than or Equal flags        */
-    uint32_t _reserved1:7;               /*!< bit: 20..26  Reserved                           */
-#endif
-    uint32_t Q:1;                        /*!< bit:     27  Saturation condition flag          */
-    uint32_t V:1;                        /*!< bit:     28  Overflow condition code flag       */
-    uint32_t C:1;                        /*!< bit:     29  Carry condition code flag          */
-    uint32_t Z:1;                        /*!< bit:     30  Zero condition code flag           */
-    uint32_t N:1;                        /*!< bit:     31  Negative condition code flag       */
-  } b;                                   /*!< Structure used for bit  access                  */
-  uint32_t w;                            /*!< Type      used for word access                  */
-} APSR_Type;
-
-
-/** \brief  Union type to access the Interrupt Program Status Register (IPSR).
- */
-typedef union
-{
-  struct
-  {
-    uint32_t ISR:9;                      /*!< bit:  0.. 8  Exception number                   */
-    uint32_t _reserved0:23;              /*!< bit:  9..31  Reserved                           */
-  } b;                                   /*!< Structure used for bit  access                  */
-  uint32_t w;                            /*!< Type      used for word access                  */
-} IPSR_Type;
-
-
-/** \brief  Union type to access the Special-Purpose Program Status Registers (xPSR).
- */
-typedef union
-{
-  struct
-  {
-    uint32_t ISR:9;                      /*!< bit:  0.. 8  Exception number                   */
-#if (__CORTEX_M != 0x04)
-    uint32_t _reserved0:15;              /*!< bit:  9..23  Reserved                           */
-#else
-    uint32_t _reserved0:7;               /*!< bit:  9..15  Reserved                           */
-    uint32_t GE:4;                       /*!< bit: 16..19  Greater than or Equal flags        */
-    uint32_t _reserved1:4;               /*!< bit: 20..23  Reserved                           */
-#endif
-    uint32_t T:1;                        /*!< bit:     24  Thumb bit        (read 0)          */
-    uint32_t IT:2;                       /*!< bit: 25..26  saved IT state   (read 0)          */
-    uint32_t Q:1;                        /*!< bit:     27  Saturation condition flag          */
-    uint32_t V:1;                        /*!< bit:     28  Overflow condition code flag       */
-    uint32_t C:1;                        /*!< bit:     29  Carry condition code flag          */
-    uint32_t Z:1;                        /*!< bit:     30  Zero condition code flag           */
-    uint32_t N:1;                        /*!< bit:     31  Negative condition code flag       */
-  } b;                                   /*!< Structure used for bit  access                  */
-  uint32_t w;                            /*!< Type      used for word access                  */
-} xPSR_Type;
-
-
-/** \brief  Union type to access the Control Registers (CONTROL).
- */
-typedef union
-{
-  struct
-  {
-    uint32_t nPRIV:1;                    /*!< bit:      0  Execution privilege in Thread mode */
-    uint32_t SPSEL:1;                    /*!< bit:      1  Stack to be used                   */
-    uint32_t FPCA:1;                     /*!< bit:      2  FP extension active flag           */
-    uint32_t _reserved0:29;              /*!< bit:  3..31  Reserved                           */
-  } b;                                   /*!< Structure used for bit  access                  */
-  uint32_t w;                            /*!< Type      used for word access                  */
-} CONTROL_Type;
-
-/*@} end of group CMSIS_CORE */
-
-
-/** \ingroup    CMSIS_core_register
-    \defgroup   CMSIS_NVIC  Nested Vectored Interrupt Controller (NVIC)
-    \brief      Type definitions for the NVIC Registers
-  @{
- */
-
-/** \brief  Structure type to access the Nested Vectored Interrupt Controller (NVIC).
- */
-typedef struct
-{
-  __IO uint32_t ISER[8];                 /*!< Offset: 0x000 (R/W)  Interrupt Set Enable Register           */
-       uint32_t RESERVED0[24];
-  __IO uint32_t ICER[8];                 /*!< Offset: 0x080 (R/W)  Interrupt Clear Enable Register         */
-       uint32_t RSERVED1[24];
-  __IO uint32_t ISPR[8];                 /*!< Offset: 0x100 (R/W)  Interrupt Set Pending Register          */
-       uint32_t RESERVED2[24];
-  __IO uint32_t ICPR[8];                 /*!< Offset: 0x180 (R/W)  Interrupt Clear Pending Register        */
-       uint32_t RESERVED3[24];
-  __IO uint32_t IABR[8];                 /*!< Offset: 0x200 (R/W)  Interrupt Active bit Register           */
-       uint32_t RESERVED4[56];
-  __IO uint8_t  IP[240];                 /*!< Offset: 0x300 (R/W)  Interrupt Priority Register (8Bit wide) */
-       uint32_t RESERVED5[644];
-  __O  uint32_t STIR;                    /*!< Offset: 0xE00 ( /W)  Software Trigger Interrupt Register     */
-}  NVIC_Type;
-
-/* Software Triggered Interrupt Register Definitions */
-#define NVIC_STIR_INTID_Pos                 0                                          /*!< STIR: INTLINESNUM Position */
-#define NVIC_STIR_INTID_Msk                (0x1FFUL << NVIC_STIR_INTID_Pos)            /*!< STIR: INTLINESNUM Mask */
-
-/*@} end of group CMSIS_NVIC */
-
-
-/** \ingroup  CMSIS_core_register
-    \defgroup CMSIS_SCB     System Control Block (SCB)
-    \brief      Type definitions for the System Control Block Registers
-  @{
- */
-
-/** \brief  Structure type to access the System Control Block (SCB).
- */
-typedef struct
-{
-  __I  uint32_t CPUID;                   /*!< Offset: 0x000 (R/ )  CPUID Base Register                                   */
-  __IO uint32_t ICSR;                    /*!< Offset: 0x004 (R/W)  Interrupt Control and State Register                  */
-  __IO uint32_t VTOR;                    /*!< Offset: 0x008 (R/W)  Vector Table Offset Register                          */
-  __IO uint32_t AIRCR;                   /*!< Offset: 0x00C (R/W)  Application Interrupt and Reset Control Register      */
-  __IO uint32_t SCR;                     /*!< Offset: 0x010 (R/W)  System Control Register                               */
-  __IO uint32_t CCR;                     /*!< Offset: 0x014 (R/W)  Configuration Control Register                        */
-  __IO uint8_t  SHP[12];                 /*!< Offset: 0x018 (R/W)  System Handlers Priority Registers (4-7, 8-11, 12-15) */
-  __IO uint32_t SHCSR;                   /*!< Offset: 0x024 (R/W)  System Handler Control and State Register             */
-  __IO uint32_t CFSR;                    /*!< Offset: 0x028 (R/W)  Configurable Fault Status Register                    */
-  __IO uint32_t HFSR;                    /*!< Offset: 0x02C (R/W)  HardFault Status Register                             */
-  __IO uint32_t DFSR;                    /*!< Offset: 0x030 (R/W)  Debug Fault Status Register                           */
-  __IO uint32_t MMFAR;                   /*!< Offset: 0x034 (R/W)  MemManage Fault Address Register                      */
-  __IO uint32_t BFAR;                    /*!< Offset: 0x038 (R/W)  BusFault Address Register                             */
-  __IO uint32_t AFSR;                    /*!< Offset: 0x03C (R/W)  Auxiliary Fault Status Register                       */
-  __I  uint32_t PFR[2];                  /*!< Offset: 0x040 (R/ )  Processor Feature Register                            */
-  __I  uint32_t DFR;                     /*!< Offset: 0x048 (R/ )  Debug Feature Register                                */
-  __I  uint32_t ADR;                     /*!< Offset: 0x04C (R/ )  Auxiliary Feature Register                            */
-  __I  uint32_t MMFR[4];                 /*!< Offset: 0x050 (R/ )  Memory Model Feature Register                         */
-  __I  uint32_t ISAR[5];                 /*!< Offset: 0x060 (R/ )  Instruction Set Attributes Register                   */
-       uint32_t RESERVED0[5];
-  __IO uint32_t CPACR;                   /*!< Offset: 0x088 (R/W)  Coprocessor Access Control Register                   */
-} SCB_Type;
-
-/* SCB CPUID Register Definitions */
-#define SCB_CPUID_IMPLEMENTER_Pos          24                                             /*!< SCB CPUID: IMPLEMENTER Position */
-#define SCB_CPUID_IMPLEMENTER_Msk          (0xFFUL << SCB_CPUID_IMPLEMENTER_Pos)          /*!< SCB CPUID: IMPLEMENTER Mask */
-
-#define SCB_CPUID_VARIANT_Pos              20                                             /*!< SCB CPUID: VARIANT Position */
-#define SCB_CPUID_VARIANT_Msk              (0xFUL << SCB_CPUID_VARIANT_Pos)               /*!< SCB CPUID: VARIANT Mask */
-
-#define SCB_CPUID_ARCHITECTURE_Pos         16                                             /*!< SCB CPUID: ARCHITECTURE Position */
-#define SCB_CPUID_ARCHITECTURE_Msk         (0xFUL << SCB_CPUID_ARCHITECTURE_Pos)          /*!< SCB CPUID: ARCHITECTURE Mask */
-
-#define SCB_CPUID_PARTNO_Pos                4                                             /*!< SCB CPUID: PARTNO Position */
-#define SCB_CPUID_PARTNO_Msk               (0xFFFUL << SCB_CPUID_PARTNO_Pos)              /*!< SCB CPUID: PARTNO Mask */
-
-#define SCB_CPUID_REVISION_Pos              0                                             /*!< SCB CPUID: REVISION Position */
-#define SCB_CPUID_REVISION_Msk             (0xFUL << SCB_CPUID_REVISION_Pos)              /*!< SCB CPUID: REVISION Mask */
-
-/* SCB Interrupt Control State Register Definitions */
-#define SCB_ICSR_NMIPENDSET_Pos            31                                             /*!< SCB ICSR: NMIPENDSET Position */
-#define SCB_ICSR_NMIPENDSET_Msk            (1UL << SCB_ICSR_NMIPENDSET_Pos)               /*!< SCB ICSR: NMIPENDSET Mask */
-
-#define SCB_ICSR_PENDSVSET_Pos             28                                             /*!< SCB ICSR: PENDSVSET Position */
-#define SCB_ICSR_PENDSVSET_Msk             (1UL << SCB_ICSR_PENDSVSET_Pos)                /*!< SCB ICSR: PENDSVSET Mask */
-
-#define SCB_ICSR_PENDSVCLR_Pos             27                                             /*!< SCB ICSR: PENDSVCLR Position */
-#define SCB_ICSR_PENDSVCLR_Msk             (1UL << SCB_ICSR_PENDSVCLR_Pos)                /*!< SCB ICSR: PENDSVCLR Mask */
-
-#define SCB_ICSR_PENDSTSET_Pos             26                                             /*!< SCB ICSR: PENDSTSET Position */
-#define SCB_ICSR_PENDSTSET_Msk             (1UL << SCB_ICSR_PENDSTSET_Pos)                /*!< SCB ICSR: PENDSTSET Mask */
-
-#define SCB_ICSR_PENDSTCLR_Pos             25                                             /*!< SCB ICSR: PENDSTCLR Position */
-#define SCB_ICSR_PENDSTCLR_Msk             (1UL << SCB_ICSR_PENDSTCLR_Pos)                /*!< SCB ICSR: PENDSTCLR Mask */
-
-#define SCB_ICSR_ISRPREEMPT_Pos            23                                             /*!< SCB ICSR: ISRPREEMPT Position */
-#define SCB_ICSR_ISRPREEMPT_Msk            (1UL << SCB_ICSR_ISRPREEMPT_Pos)               /*!< SCB ICSR: ISRPREEMPT Mask */
-
-#define SCB_ICSR_ISRPENDING_Pos            22                                             /*!< SCB ICSR: ISRPENDING Position */
-#define SCB_ICSR_ISRPENDING_Msk            (1UL << SCB_ICSR_ISRPENDING_Pos)               /*!< SCB ICSR: ISRPENDING Mask */
-
-#define SCB_ICSR_VECTPENDING_Pos           12                                             /*!< SCB ICSR: VECTPENDING Position */
-#define SCB_ICSR_VECTPENDING_Msk           (0x1FFUL << SCB_ICSR_VECTPENDING_Pos)          /*!< SCB ICSR: VECTPENDING Mask */
-
-#define SCB_ICSR_RETTOBASE_Pos             11                                             /*!< SCB ICSR: RETTOBASE Position */
-#define SCB_ICSR_RETTOBASE_Msk             (1UL << SCB_ICSR_RETTOBASE_Pos)                /*!< SCB ICSR: RETTOBASE Mask */
-
-#define SCB_ICSR_VECTACTIVE_Pos             0                                             /*!< SCB ICSR: VECTACTIVE Position */
-#define SCB_ICSR_VECTACTIVE_Msk            (0x1FFUL << SCB_ICSR_VECTACTIVE_Pos)           /*!< SCB ICSR: VECTACTIVE Mask */
-
-/* SCB Vector Table Offset Register Definitions */
-#if (__CM3_REV < 0x0201)                   /* core r2p1 */
-#define SCB_VTOR_TBLBASE_Pos               29                                             /*!< SCB VTOR: TBLBASE Position */
-#define SCB_VTOR_TBLBASE_Msk               (1UL << SCB_VTOR_TBLBASE_Pos)                  /*!< SCB VTOR: TBLBASE Mask */
-
-#define SCB_VTOR_TBLOFF_Pos                 7                                             /*!< SCB VTOR: TBLOFF Position */
-#define SCB_VTOR_TBLOFF_Msk                (0x3FFFFFUL << SCB_VTOR_TBLOFF_Pos)            /*!< SCB VTOR: TBLOFF Mask */
-#else
-#define SCB_VTOR_TBLOFF_Pos                 7                                             /*!< SCB VTOR: TBLOFF Position */
-#define SCB_VTOR_TBLOFF_Msk                (0x1FFFFFFUL << SCB_VTOR_TBLOFF_Pos)           /*!< SCB VTOR: TBLOFF Mask */
-#endif
-
-/* SCB Application Interrupt and Reset Control Register Definitions */
-#define SCB_AIRCR_VECTKEY_Pos              16                                             /*!< SCB AIRCR: VECTKEY Position */
-#define SCB_AIRCR_VECTKEY_Msk              (0xFFFFUL << SCB_AIRCR_VECTKEY_Pos)            /*!< SCB AIRCR: VECTKEY Mask */
-
-#define SCB_AIRCR_VECTKEYSTAT_Pos          16                                             /*!< SCB AIRCR: VECTKEYSTAT Position */
-#define SCB_AIRCR_VECTKEYSTAT_Msk          (0xFFFFUL << SCB_AIRCR_VECTKEYSTAT_Pos)        /*!< SCB AIRCR: VECTKEYSTAT Mask */
-
-#define SCB_AIRCR_ENDIANESS_Pos            15                                             /*!< SCB AIRCR: ENDIANESS Position */
-#define SCB_AIRCR_ENDIANESS_Msk            (1UL << SCB_AIRCR_ENDIANESS_Pos)               /*!< SCB AIRCR: ENDIANESS Mask */
-
-#define SCB_AIRCR_PRIGROUP_Pos              8                                             /*!< SCB AIRCR: PRIGROUP Position */
-#define SCB_AIRCR_PRIGROUP_Msk             (7UL << SCB_AIRCR_PRIGROUP_Pos)                /*!< SCB AIRCR: PRIGROUP Mask */
-
-#define SCB_AIRCR_SYSRESETREQ_Pos           2                                             /*!< SCB AIRCR: SYSRESETREQ Position */
-#define SCB_AIRCR_SYSRESETREQ_Msk          (1UL << SCB_AIRCR_SYSRESETREQ_Pos)             /*!< SCB AIRCR: SYSRESETREQ Mask */
-
-#define SCB_AIRCR_VECTCLRACTIVE_Pos         1                                             /*!< SCB AIRCR: VECTCLRACTIVE Position */
-#define SCB_AIRCR_VECTCLRACTIVE_Msk        (1UL << SCB_AIRCR_VECTCLRACTIVE_Pos)           /*!< SCB AIRCR: VECTCLRACTIVE Mask */
-
-#define SCB_AIRCR_VECTRESET_Pos             0                                             /*!< SCB AIRCR: VECTRESET Position */
-#define SCB_AIRCR_VECTRESET_Msk            (1UL << SCB_AIRCR_VECTRESET_Pos)               /*!< SCB AIRCR: VECTRESET Mask */
-
-/* SCB System Control Register Definitions */
-#define SCB_SCR_SEVONPEND_Pos               4                                             /*!< SCB SCR: SEVONPEND Position */
-#define SCB_SCR_SEVONPEND_Msk              (1UL << SCB_SCR_SEVONPEND_Pos)                 /*!< SCB SCR: SEVONPEND Mask */
-
-#define SCB_SCR_SLEEPDEEP_Pos               2                                             /*!< SCB SCR: SLEEPDEEP Position */
-#define SCB_SCR_SLEEPDEEP_Msk              (1UL << SCB_SCR_SLEEPDEEP_Pos)                 /*!< SCB SCR: SLEEPDEEP Mask */
-
-#define SCB_SCR_SLEEPONEXIT_Pos             1                                             /*!< SCB SCR: SLEEPONEXIT Position */
-#define SCB_SCR_SLEEPONEXIT_Msk            (1UL << SCB_SCR_SLEEPONEXIT_Pos)               /*!< SCB SCR: SLEEPONEXIT Mask */
-
-/* SCB Configuration Control Register Definitions */
-#define SCB_CCR_STKALIGN_Pos                9                                             /*!< SCB CCR: STKALIGN Position */
-#define SCB_CCR_STKALIGN_Msk               (1UL << SCB_CCR_STKALIGN_Pos)                  /*!< SCB CCR: STKALIGN Mask */
-
-#define SCB_CCR_BFHFNMIGN_Pos               8                                             /*!< SCB CCR: BFHFNMIGN Position */
-#define SCB_CCR_BFHFNMIGN_Msk              (1UL << SCB_CCR_BFHFNMIGN_Pos)                 /*!< SCB CCR: BFHFNMIGN Mask */
-
-#define SCB_CCR_DIV_0_TRP_Pos               4                                             /*!< SCB CCR: DIV_0_TRP Position */
-#define SCB_CCR_DIV_0_TRP_Msk              (1UL << SCB_CCR_DIV_0_TRP_Pos)                 /*!< SCB CCR: DIV_0_TRP Mask */
-
-#define SCB_CCR_UNALIGN_TRP_Pos             3                                             /*!< SCB CCR: UNALIGN_TRP Position */
-#define SCB_CCR_UNALIGN_TRP_Msk            (1UL << SCB_CCR_UNALIGN_TRP_Pos)               /*!< SCB CCR: UNALIGN_TRP Mask */
-
-#define SCB_CCR_USERSETMPEND_Pos            1                                             /*!< SCB CCR: USERSETMPEND Position */
-#define SCB_CCR_USERSETMPEND_Msk           (1UL << SCB_CCR_USERSETMPEND_Pos)              /*!< SCB CCR: USERSETMPEND Mask */
-
-#define SCB_CCR_NONBASETHRDENA_Pos          0                                             /*!< SCB CCR: NONBASETHRDENA Position */
-#define SCB_CCR_NONBASETHRDENA_Msk         (1UL << SCB_CCR_NONBASETHRDENA_Pos)            /*!< SCB CCR: NONBASETHRDENA Mask */
-
-/* SCB System Handler Control and State Register Definitions */
-#define SCB_SHCSR_USGFAULTENA_Pos          18                                             /*!< SCB SHCSR: USGFAULTENA Position */
-#define SCB_SHCSR_USGFAULTENA_Msk          (1UL << SCB_SHCSR_USGFAULTENA_Pos)             /*!< SCB SHCSR: USGFAULTENA Mask */
-
-#define SCB_SHCSR_BUSFAULTENA_Pos          17                                             /*!< SCB SHCSR: BUSFAULTENA Position */
-#define SCB_SHCSR_BUSFAULTENA_Msk          (1UL << SCB_SHCSR_BUSFAULTENA_Pos)             /*!< SCB SHCSR: BUSFAULTENA Mask */
-
-#define SCB_SHCSR_MEMFAULTENA_Pos          16                                             /*!< SCB SHCSR: MEMFAULTENA Position */
-#define SCB_SHCSR_MEMFAULTENA_Msk          (1UL << SCB_SHCSR_MEMFAULTENA_Pos)             /*!< SCB SHCSR: MEMFAULTENA Mask */
-
-#define SCB_SHCSR_SVCALLPENDED_Pos         15                                             /*!< SCB SHCSR: SVCALLPENDED Position */
-#define SCB_SHCSR_SVCALLPENDED_Msk         (1UL << SCB_SHCSR_SVCALLPENDED_Pos)            /*!< SCB SHCSR: SVCALLPENDED Mask */
-
-#define SCB_SHCSR_BUSFAULTPENDED_Pos       14                                             /*!< SCB SHCSR: BUSFAULTPENDED Position */
-#define SCB_SHCSR_BUSFAULTPENDED_Msk       (1UL << SCB_SHCSR_BUSFAULTPENDED_Pos)          /*!< SCB SHCSR: BUSFAULTPENDED Mask */
-
-#define SCB_SHCSR_MEMFAULTPENDED_Pos       13                                             /*!< SCB SHCSR: MEMFAULTPENDED Position */
-#define SCB_SHCSR_MEMFAULTPENDED_Msk       (1UL << SCB_SHCSR_MEMFAULTPENDED_Pos)          /*!< SCB SHCSR: MEMFAULTPENDED Mask */
-
-#define SCB_SHCSR_USGFAULTPENDED_Pos       12                                             /*!< SCB SHCSR: USGFAULTPENDED Position */
-#define SCB_SHCSR_USGFAULTPENDED_Msk       (1UL << SCB_SHCSR_USGFAULTPENDED_Pos)          /*!< SCB SHCSR: USGFAULTPENDED Mask */
-
-#define SCB_SHCSR_SYSTICKACT_Pos           11                                             /*!< SCB SHCSR: SYSTICKACT Position */
-#define SCB_SHCSR_SYSTICKACT_Msk           (1UL << SCB_SHCSR_SYSTICKACT_Pos)              /*!< SCB SHCSR: SYSTICKACT Mask */
-
-#define SCB_SHCSR_PENDSVACT_Pos            10                                             /*!< SCB SHCSR: PENDSVACT Position */
-#define SCB_SHCSR_PENDSVACT_Msk            (1UL << SCB_SHCSR_PENDSVACT_Pos)               /*!< SCB SHCSR: PENDSVACT Mask */
-
-#define SCB_SHCSR_MONITORACT_Pos            8                                             /*!< SCB SHCSR: MONITORACT Position */
-#define SCB_SHCSR_MONITORACT_Msk           (1UL << SCB_SHCSR_MONITORACT_Pos)              /*!< SCB SHCSR: MONITORACT Mask */
-
-#define SCB_SHCSR_SVCALLACT_Pos             7                                             /*!< SCB SHCSR: SVCALLACT Position */
-#define SCB_SHCSR_SVCALLACT_Msk            (1UL << SCB_SHCSR_SVCALLACT_Pos)               /*!< SCB SHCSR: SVCALLACT Mask */
-
-#define SCB_SHCSR_USGFAULTACT_Pos           3                                             /*!< SCB SHCSR: USGFAULTACT Position */
-#define SCB_SHCSR_USGFAULTACT_Msk          (1UL << SCB_SHCSR_USGFAULTACT_Pos)             /*!< SCB SHCSR: USGFAULTACT Mask */
-
-#define SCB_SHCSR_BUSFAULTACT_Pos           1                                             /*!< SCB SHCSR: BUSFAULTACT Position */
-#define SCB_SHCSR_BUSFAULTACT_Msk          (1UL << SCB_SHCSR_BUSFAULTACT_Pos)             /*!< SCB SHCSR: BUSFAULTACT Mask */
-
-#define SCB_SHCSR_MEMFAULTACT_Pos           0                                             /*!< SCB SHCSR: MEMFAULTACT Position */
-#define SCB_SHCSR_MEMFAULTACT_Msk          (1UL << SCB_SHCSR_MEMFAULTACT_Pos)             /*!< SCB SHCSR: MEMFAULTACT Mask */
-
-/* SCB Configurable Fault Status Registers Definitions */
-#define SCB_CFSR_USGFAULTSR_Pos            16                                             /*!< SCB CFSR: Usage Fault Status Register Position */
-#define SCB_CFSR_USGFAULTSR_Msk            (0xFFFFUL << SCB_CFSR_USGFAULTSR_Pos)          /*!< SCB CFSR: Usage Fault Status Register Mask */
-
-#define SCB_CFSR_BUSFAULTSR_Pos             8                                             /*!< SCB CFSR: Bus Fault Status Register Position */
-#define SCB_CFSR_BUSFAULTSR_Msk            (0xFFUL << SCB_CFSR_BUSFAULTSR_Pos)            /*!< SCB CFSR: Bus Fault Status Register Mask */
-
-#define SCB_CFSR_MEMFAULTSR_Pos             0                                             /*!< SCB CFSR: Memory Manage Fault Status Register Position */
-#define SCB_CFSR_MEMFAULTSR_Msk            (0xFFUL << SCB_CFSR_MEMFAULTSR_Pos)            /*!< SCB CFSR: Memory Manage Fault Status Register Mask */
-
-/* SCB Hard Fault Status Registers Definitions */
-#define SCB_HFSR_DEBUGEVT_Pos              31                                             /*!< SCB HFSR: DEBUGEVT Position */
-#define SCB_HFSR_DEBUGEVT_Msk              (1UL << SCB_HFSR_DEBUGEVT_Pos)                 /*!< SCB HFSR: DEBUGEVT Mask */
-
-#define SCB_HFSR_FORCED_Pos                30                                             /*!< SCB HFSR: FORCED Position */
-#define SCB_HFSR_FORCED_Msk                (1UL << SCB_HFSR_FORCED_Pos)                   /*!< SCB HFSR: FORCED Mask */
-
-#define SCB_HFSR_VECTTBL_Pos                1                                             /*!< SCB HFSR: VECTTBL Position */
-#define SCB_HFSR_VECTTBL_Msk               (1UL << SCB_HFSR_VECTTBL_Pos)                  /*!< SCB HFSR: VECTTBL Mask */
-
-/* SCB Debug Fault Status Register Definitions */
-#define SCB_DFSR_EXTERNAL_Pos               4                                             /*!< SCB DFSR: EXTERNAL Position */
-#define SCB_DFSR_EXTERNAL_Msk              (1UL << SCB_DFSR_EXTERNAL_Pos)                 /*!< SCB DFSR: EXTERNAL Mask */
-
-#define SCB_DFSR_VCATCH_Pos                 3                                             /*!< SCB DFSR: VCATCH Position */
-#define SCB_DFSR_VCATCH_Msk                (1UL << SCB_DFSR_VCATCH_Pos)                   /*!< SCB DFSR: VCATCH Mask */
-
-#define SCB_DFSR_DWTTRAP_Pos                2                                             /*!< SCB DFSR: DWTTRAP Position */
-#define SCB_DFSR_DWTTRAP_Msk               (1UL << SCB_DFSR_DWTTRAP_Pos)                  /*!< SCB DFSR: DWTTRAP Mask */
-
-#define SCB_DFSR_BKPT_Pos                   1                                             /*!< SCB DFSR: BKPT Position */
-#define SCB_DFSR_BKPT_Msk                  (1UL << SCB_DFSR_BKPT_Pos)                     /*!< SCB DFSR: BKPT Mask */
-
-#define SCB_DFSR_HALTED_Pos                 0                                             /*!< SCB DFSR: HALTED Position */
-#define SCB_DFSR_HALTED_Msk                (1UL << SCB_DFSR_HALTED_Pos)                   /*!< SCB DFSR: HALTED Mask */
-
-/*@} end of group CMSIS_SCB */
-
-
-/** \ingroup  CMSIS_core_register
-    \defgroup CMSIS_SCnSCB System Controls not in SCB (SCnSCB)
-    \brief      Type definitions for the System Control and ID Register not in the SCB
-  @{
- */
-
-/** \brief  Structure type to access the System Control and ID Register not in the SCB.
- */
-typedef struct
-{
-       uint32_t RESERVED0[1];
-  __I  uint32_t ICTR;                    /*!< Offset: 0x004 (R/ )  Interrupt Controller Type Register      */
-#if ((defined __CM3_REV) && (__CM3_REV >= 0x200))
-  __IO uint32_t ACTLR;                   /*!< Offset: 0x008 (R/W)  Auxiliary Control Register      */
-#else
-       uint32_t RESERVED1[1];
-#endif
-} SCnSCB_Type;
-
-/* Interrupt Controller Type Register Definitions */
-#define SCnSCB_ICTR_INTLINESNUM_Pos         0                                          /*!< ICTR: INTLINESNUM Position */
-#define SCnSCB_ICTR_INTLINESNUM_Msk        (0xFUL << SCnSCB_ICTR_INTLINESNUM_Pos)      /*!< ICTR: INTLINESNUM Mask */
-
-/* Auxiliary Control Register Definitions */
-
-#define SCnSCB_ACTLR_DISFOLD_Pos            2                                          /*!< ACTLR: DISFOLD Position */
-#define SCnSCB_ACTLR_DISFOLD_Msk           (1UL << SCnSCB_ACTLR_DISFOLD_Pos)           /*!< ACTLR: DISFOLD Mask */
-
-#define SCnSCB_ACTLR_DISDEFWBUF_Pos         1                                          /*!< ACTLR: DISDEFWBUF Position */
-#define SCnSCB_ACTLR_DISDEFWBUF_Msk        (1UL << SCnSCB_ACTLR_DISDEFWBUF_Pos)        /*!< ACTLR: DISDEFWBUF Mask */
-
-#define SCnSCB_ACTLR_DISMCYCINT_Pos         0                                          /*!< ACTLR: DISMCYCINT Position */
-#define SCnSCB_ACTLR_DISMCYCINT_Msk        (1UL << SCnSCB_ACTLR_DISMCYCINT_Pos)        /*!< ACTLR: DISMCYCINT Mask */
-
-/*@} end of group CMSIS_SCnotSCB */
-
-
-/** \ingroup  CMSIS_core_register
-    \defgroup CMSIS_SysTick     System Tick Timer (SysTick)
-    \brief      Type definitions for the System Timer Registers.
-  @{
- */
-
-/** \brief  Structure type to access the System Timer (SysTick).
- */
-typedef struct
-{
-  __IO uint32_t CTRL;                    /*!< Offset: 0x000 (R/W)  SysTick Control and Status Register */
-  __IO uint32_t LOAD;                    /*!< Offset: 0x004 (R/W)  SysTick Reload Value Register       */
-  __IO uint32_t VAL;                     /*!< Offset: 0x008 (R/W)  SysTick Current Value Register      */
-  __I  uint32_t CALIB;                   /*!< Offset: 0x00C (R/ )  SysTick Calibration Register        */
-} SysTick_Type;
-
-/* SysTick Control / Status Register Definitions */
-#define SysTick_CTRL_COUNTFLAG_Pos         16                                             /*!< SysTick CTRL: COUNTFLAG Position */
-#define SysTick_CTRL_COUNTFLAG_Msk         (1UL << SysTick_CTRL_COUNTFLAG_Pos)            /*!< SysTick CTRL: COUNTFLAG Mask */
-
-#define SysTick_CTRL_CLKSOURCE_Pos          2                                             /*!< SysTick CTRL: CLKSOURCE Position */
-#define SysTick_CTRL_CLKSOURCE_Msk         (1UL << SysTick_CTRL_CLKSOURCE_Pos)            /*!< SysTick CTRL: CLKSOURCE Mask */
-
-#define SysTick_CTRL_TICKINT_Pos            1                                             /*!< SysTick CTRL: TICKINT Position */
-#define SysTick_CTRL_TICKINT_Msk           (1UL << SysTick_CTRL_TICKINT_Pos)              /*!< SysTick CTRL: TICKINT Mask */
-
-#define SysTick_CTRL_ENABLE_Pos             0                                             /*!< SysTick CTRL: ENABLE Position */
-#define SysTick_CTRL_ENABLE_Msk            (1UL << SysTick_CTRL_ENABLE_Pos)               /*!< SysTick CTRL: ENABLE Mask */
-
-/* SysTick Reload Register Definitions */
-#define SysTick_LOAD_RELOAD_Pos             0                                             /*!< SysTick LOAD: RELOAD Position */
-#define SysTick_LOAD_RELOAD_Msk            (0xFFFFFFUL << SysTick_LOAD_RELOAD_Pos)        /*!< SysTick LOAD: RELOAD Mask */
-
-/* SysTick Current Register Definitions */
-#define SysTick_VAL_CURRENT_Pos             0                                             /*!< SysTick VAL: CURRENT Position */
-#define SysTick_VAL_CURRENT_Msk            (0xFFFFFFUL << SysTick_VAL_CURRENT_Pos)        /*!< SysTick VAL: CURRENT Mask */
-
-/* SysTick Calibration Register Definitions */
-#define SysTick_CALIB_NOREF_Pos            31                                             /*!< SysTick CALIB: NOREF Position */
-#define SysTick_CALIB_NOREF_Msk            (1UL << SysTick_CALIB_NOREF_Pos)               /*!< SysTick CALIB: NOREF Mask */
-
-#define SysTick_CALIB_SKEW_Pos             30                                             /*!< SysTick CALIB: SKEW Position */
-#define SysTick_CALIB_SKEW_Msk             (1UL << SysTick_CALIB_SKEW_Pos)                /*!< SysTick CALIB: SKEW Mask */
-
-#define SysTick_CALIB_TENMS_Pos             0                                             /*!< SysTick CALIB: TENMS Position */
-#define SysTick_CALIB_TENMS_Msk            (0xFFFFFFUL << SysTick_VAL_CURRENT_Pos)        /*!< SysTick CALIB: TENMS Mask */
-
-/*@} end of group CMSIS_SysTick */
-
-
-/** \ingroup  CMSIS_core_register
-    \defgroup CMSIS_ITM     Instrumentation Trace Macrocell (ITM)
-    \brief      Type definitions for the Instrumentation Trace Macrocell (ITM)
-  @{
- */
-
-/** \brief  Structure type to access the Instrumentation Trace Macrocell Register (ITM).
- */
-typedef struct
-{
-  __O  union
-  {
-    __O  uint8_t    u8;                  /*!< Offset: 0x000 ( /W)  ITM Stimulus Port 8-bit                   */
-    __O  uint16_t   u16;                 /*!< Offset: 0x000 ( /W)  ITM Stimulus Port 16-bit                  */
-    __O  uint32_t   u32;                 /*!< Offset: 0x000 ( /W)  ITM Stimulus Port 32-bit                  */
-  }  PORT [32];                          /*!< Offset: 0x000 ( /W)  ITM Stimulus Port Registers               */
-       uint32_t RESERVED0[864];
-  __IO uint32_t TER;                     /*!< Offset: 0xE00 (R/W)  ITM Trace Enable Register                 */
-       uint32_t RESERVED1[15];
-  __IO uint32_t TPR;                     /*!< Offset: 0xE40 (R/W)  ITM Trace Privilege Register              */
-       uint32_t RESERVED2[15];
-  __IO uint32_t TCR;                     /*!< Offset: 0xE80 (R/W)  ITM Trace Control Register                */
-       uint32_t RESERVED3[29];                                  
-  __O  uint32_t IWR;                     /*!< Offset: 0xEF8 ( /W)  ITM Integration Write Register            */
-  __I  uint32_t IRR;                     /*!< Offset: 0xEFC (R/ )  ITM Integration Read Register             */
-  __IO uint32_t IMCR;                    /*!< Offset: 0xF00 (R/W)  ITM Integration Mode Control Register     */
-       uint32_t RESERVED4[43];                                  
-  __O  uint32_t LAR;                     /*!< Offset: 0xFB0 ( /W)  ITM Lock Access Register                  */
-  __I  uint32_t LSR;                     /*!< Offset: 0xFB4 (R/ )  ITM Lock Status Register                  */
-       uint32_t RESERVED5[6];                                   
-  __I  uint32_t PID4;                    /*!< Offset: 0xFD0 (R/ )  ITM Peripheral Identification Register #4 */
-  __I  uint32_t PID5;                    /*!< Offset: 0xFD4 (R/ )  ITM Peripheral Identification Register #5 */
-  __I  uint32_t PID6;                    /*!< Offset: 0xFD8 (R/ )  ITM Peripheral Identification Register #6 */
-  __I  uint32_t PID7;                    /*!< Offset: 0xFDC (R/ )  ITM Peripheral Identification Register #7 */
-  __I  uint32_t PID0;                    /*!< Offset: 0xFE0 (R/ )  ITM Peripheral Identification Register #0 */
-  __I  uint32_t PID1;                    /*!< Offset: 0xFE4 (R/ )  ITM Peripheral Identification Register #1 */
-  __I  uint32_t PID2;                    /*!< Offset: 0xFE8 (R/ )  ITM Peripheral Identification Register #2 */
-  __I  uint32_t PID3;                    /*!< Offset: 0xFEC (R/ )  ITM Peripheral Identification Register #3 */
-  __I  uint32_t CID0;                    /*!< Offset: 0xFF0 (R/ )  ITM Component  Identification Register #0 */
-  __I  uint32_t CID1;                    /*!< Offset: 0xFF4 (R/ )  ITM Component  Identification Register #1 */
-  __I  uint32_t CID2;                    /*!< Offset: 0xFF8 (R/ )  ITM Component  Identification Register #2 */
-  __I  uint32_t CID3;                    /*!< Offset: 0xFFC (R/ )  ITM Component  Identification Register #3 */
-} ITM_Type;
-
-/* ITM Trace Privilege Register Definitions */
-#define ITM_TPR_PRIVMASK_Pos                0                                             /*!< ITM TPR: PRIVMASK Position */
-#define ITM_TPR_PRIVMASK_Msk               (0xFUL << ITM_TPR_PRIVMASK_Pos)                /*!< ITM TPR: PRIVMASK Mask */
-
-/* ITM Trace Control Register Definitions */
-#define ITM_TCR_BUSY_Pos                   23                                             /*!< ITM TCR: BUSY Position */
-#define ITM_TCR_BUSY_Msk                   (1UL << ITM_TCR_BUSY_Pos)                      /*!< ITM TCR: BUSY Mask */
-
-#define ITM_TCR_TraceBusID_Pos             16                                             /*!< ITM TCR: ATBID Position */
-#define ITM_TCR_TraceBusID_Msk             (0x7FUL << ITM_TCR_TraceBusID_Pos)             /*!< ITM TCR: ATBID Mask */
-
-#define ITM_TCR_GTSFREQ_Pos                10                                             /*!< ITM TCR: Global timestamp frequency Position */
-#define ITM_TCR_GTSFREQ_Msk                (3UL << ITM_TCR_GTSFREQ_Pos)                   /*!< ITM TCR: Global timestamp frequency Mask */
-
-#define ITM_TCR_TSPrescale_Pos              8                                             /*!< ITM TCR: TSPrescale Position */
-#define ITM_TCR_TSPrescale_Msk             (3UL << ITM_TCR_TSPrescale_Pos)                /*!< ITM TCR: TSPrescale Mask */
-
-#define ITM_TCR_SWOENA_Pos                  4                                             /*!< ITM TCR: SWOENA Position */
-#define ITM_TCR_SWOENA_Msk                 (1UL << ITM_TCR_SWOENA_Pos)                    /*!< ITM TCR: SWOENA Mask */
-
-#define ITM_TCR_DWTENA_Pos                  3                                             /*!< ITM TCR: DWTENA Position */
-#define ITM_TCR_DWTENA_Msk                 (1UL << ITM_TCR_DWTENA_Pos)                    /*!< ITM TCR: DWTENA Mask */
-
-#define ITM_TCR_SYNCENA_Pos                 2                                             /*!< ITM TCR: SYNCENA Position */
-#define ITM_TCR_SYNCENA_Msk                (1UL << ITM_TCR_SYNCENA_Pos)                   /*!< ITM TCR: SYNCENA Mask */
-
-#define ITM_TCR_TSENA_Pos                   1                                             /*!< ITM TCR: TSENA Position */
-#define ITM_TCR_TSENA_Msk                  (1UL << ITM_TCR_TSENA_Pos)                     /*!< ITM TCR: TSENA Mask */
-
-#define ITM_TCR_ITMENA_Pos                  0                                             /*!< ITM TCR: ITM Enable bit Position */
-#define ITM_TCR_ITMENA_Msk                 (1UL << ITM_TCR_ITMENA_Pos)                    /*!< ITM TCR: ITM Enable bit Mask */
-
-/* ITM Integration Write Register Definitions */
-#define ITM_IWR_ATVALIDM_Pos                0                                             /*!< ITM IWR: ATVALIDM Position */
-#define ITM_IWR_ATVALIDM_Msk               (1UL << ITM_IWR_ATVALIDM_Pos)                  /*!< ITM IWR: ATVALIDM Mask */
-
-/* ITM Integration Read Register Definitions */
-#define ITM_IRR_ATREADYM_Pos                0                                             /*!< ITM IRR: ATREADYM Position */
-#define ITM_IRR_ATREADYM_Msk               (1UL << ITM_IRR_ATREADYM_Pos)                  /*!< ITM IRR: ATREADYM Mask */
-
-/* ITM Integration Mode Control Register Definitions */
-#define ITM_IMCR_INTEGRATION_Pos            0                                             /*!< ITM IMCR: INTEGRATION Position */
-#define ITM_IMCR_INTEGRATION_Msk           (1UL << ITM_IMCR_INTEGRATION_Pos)              /*!< ITM IMCR: INTEGRATION Mask */
-
-/* ITM Lock Status Register Definitions */
-#define ITM_LSR_ByteAcc_Pos                 2                                             /*!< ITM LSR: ByteAcc Position */
-#define ITM_LSR_ByteAcc_Msk                (1UL << ITM_LSR_ByteAcc_Pos)                   /*!< ITM LSR: ByteAcc Mask */
-
-#define ITM_LSR_Access_Pos                  1                                             /*!< ITM LSR: Access Position */
-#define ITM_LSR_Access_Msk                 (1UL << ITM_LSR_Access_Pos)                    /*!< ITM LSR: Access Mask */
-
-#define ITM_LSR_Present_Pos                 0                                             /*!< ITM LSR: Present Position */
-#define ITM_LSR_Present_Msk                (1UL << ITM_LSR_Present_Pos)                   /*!< ITM LSR: Present Mask */
-
-/*@}*/ /* end of group CMSIS_ITM */
-
-
-/** \ingroup  CMSIS_core_register
-    \defgroup CMSIS_DWT     Data Watchpoint and Trace (DWT)
-    \brief      Type definitions for the Data Watchpoint and Trace (DWT)
-  @{
- */
-
-/** \brief  Structure type to access the Data Watchpoint and Trace Register (DWT).
- */
-typedef struct
-{
-  __IO uint32_t CTRL;                    /*!< Offset: 0x000 (R/W)  Control Register                          */
-  __IO uint32_t CYCCNT;                  /*!< Offset: 0x004 (R/W)  Cycle Count Register                      */
-  __IO uint32_t CPICNT;                  /*!< Offset: 0x008 (R/W)  CPI Count Register                        */
-  __IO uint32_t EXCCNT;                  /*!< Offset: 0x00C (R/W)  Exception Overhead Count Register         */
-  __IO uint32_t SLEEPCNT;                /*!< Offset: 0x010 (R/W)  Sleep Count Register                      */
-  __IO uint32_t LSUCNT;                  /*!< Offset: 0x014 (R/W)  LSU Count Register                        */
-  __IO uint32_t FOLDCNT;                 /*!< Offset: 0x018 (R/W)  Folded-instruction Count Register         */
-  __I  uint32_t PCSR;                    /*!< Offset: 0x01C (R/ )  Program Counter Sample Register           */
-  __IO uint32_t COMP0;                   /*!< Offset: 0x020 (R/W)  Comparator Register 0                     */
-  __IO uint32_t MASK0;                   /*!< Offset: 0x024 (R/W)  Mask Register 0                           */
-  __IO uint32_t FUNCTION0;               /*!< Offset: 0x028 (R/W)  Function Register 0                       */
-       uint32_t RESERVED0[1];
-  __IO uint32_t COMP1;                   /*!< Offset: 0x030 (R/W)  Comparator Register 1                     */
-  __IO uint32_t MASK1;                   /*!< Offset: 0x034 (R/W)  Mask Register 1                           */
-  __IO uint32_t FUNCTION1;               /*!< Offset: 0x038 (R/W)  Function Register 1                       */
-       uint32_t RESERVED1[1];
-  __IO uint32_t COMP2;                   /*!< Offset: 0x040 (R/W)  Comparator Register 2                     */
-  __IO uint32_t MASK2;                   /*!< Offset: 0x044 (R/W)  Mask Register 2                           */
-  __IO uint32_t FUNCTION2;               /*!< Offset: 0x048 (R/W)  Function Register 2                       */
-       uint32_t RESERVED2[1];
-  __IO uint32_t COMP3;                   /*!< Offset: 0x050 (R/W)  Comparator Register 3                     */
-  __IO uint32_t MASK3;                   /*!< Offset: 0x054 (R/W)  Mask Register 3                           */
-  __IO uint32_t FUNCTION3;               /*!< Offset: 0x058 (R/W)  Function Register 3                       */
-} DWT_Type;
-
-/* DWT Control Register Definitions */
-#define DWT_CTRL_NUMCOMP_Pos               28                                          /*!< DWT CTRL: NUMCOMP Position */
-#define DWT_CTRL_NUMCOMP_Msk               (0xFUL << DWT_CTRL_NUMCOMP_Pos)             /*!< DWT CTRL: NUMCOMP Mask */
-
-#define DWT_CTRL_NOTRCPKT_Pos              27                                          /*!< DWT CTRL: NOTRCPKT Position */
-#define DWT_CTRL_NOTRCPKT_Msk              (0x1UL << DWT_CTRL_NOTRCPKT_Pos)            /*!< DWT CTRL: NOTRCPKT Mask */
-
-#define DWT_CTRL_NOEXTTRIG_Pos             26                                          /*!< DWT CTRL: NOEXTTRIG Position */
-#define DWT_CTRL_NOEXTTRIG_Msk             (0x1UL << DWT_CTRL_NOEXTTRIG_Pos)           /*!< DWT CTRL: NOEXTTRIG Mask */
-
-#define DWT_CTRL_NOCYCCNT_Pos              25                                          /*!< DWT CTRL: NOCYCCNT Position */
-#define DWT_CTRL_NOCYCCNT_Msk              (0x1UL << DWT_CTRL_NOCYCCNT_Pos)            /*!< DWT CTRL: NOCYCCNT Mask */
-
-#define DWT_CTRL_NOPRFCNT_Pos              24                                          /*!< DWT CTRL: NOPRFCNT Position */
-#define DWT_CTRL_NOPRFCNT_Msk              (0x1UL << DWT_CTRL_NOPRFCNT_Pos)            /*!< DWT CTRL: NOPRFCNT Mask */
-
-#define DWT_CTRL_CYCEVTENA_Pos             22                                          /*!< DWT CTRL: CYCEVTENA Position */
-#define DWT_CTRL_CYCEVTENA_Msk             (0x1UL << DWT_CTRL_CYCEVTENA_Pos)           /*!< DWT CTRL: CYCEVTENA Mask */
-
-#define DWT_CTRL_FOLDEVTENA_Pos            21                                          /*!< DWT CTRL: FOLDEVTENA Position */
-#define DWT_CTRL_FOLDEVTENA_Msk            (0x1UL << DWT_CTRL_FOLDEVTENA_Pos)          /*!< DWT CTRL: FOLDEVTENA Mask */
-
-#define DWT_CTRL_LSUEVTENA_Pos             20                                          /*!< DWT CTRL: LSUEVTENA Position */
-#define DWT_CTRL_LSUEVTENA_Msk             (0x1UL << DWT_CTRL_LSUEVTENA_Pos)           /*!< DWT CTRL: LSUEVTENA Mask */
-
-#define DWT_CTRL_SLEEPEVTENA_Pos           19                                          /*!< DWT CTRL: SLEEPEVTENA Position */
-#define DWT_CTRL_SLEEPEVTENA_Msk           (0x1UL << DWT_CTRL_SLEEPEVTENA_Pos)         /*!< DWT CTRL: SLEEPEVTENA Mask */
-
-#define DWT_CTRL_EXCEVTENA_Pos             18                                          /*!< DWT CTRL: EXCEVTENA Position */
-#define DWT_CTRL_EXCEVTENA_Msk             (0x1UL << DWT_CTRL_EXCEVTENA_Pos)           /*!< DWT CTRL: EXCEVTENA Mask */
-
-#define DWT_CTRL_CPIEVTENA_Pos             17                                          /*!< DWT CTRL: CPIEVTENA Position */
-#define DWT_CTRL_CPIEVTENA_Msk             (0x1UL << DWT_CTRL_CPIEVTENA_Pos)           /*!< DWT CTRL: CPIEVTENA Mask */
-
-#define DWT_CTRL_EXCTRCENA_Pos             16                                          /*!< DWT CTRL: EXCTRCENA Position */
-#define DWT_CTRL_EXCTRCENA_Msk             (0x1UL << DWT_CTRL_EXCTRCENA_Pos)           /*!< DWT CTRL: EXCTRCENA Mask */
-
-#define DWT_CTRL_PCSAMPLENA_Pos            12                                          /*!< DWT CTRL: PCSAMPLENA Position */
-#define DWT_CTRL_PCSAMPLENA_Msk            (0x1UL << DWT_CTRL_PCSAMPLENA_Pos)          /*!< DWT CTRL: PCSAMPLENA Mask */
-
-#define DWT_CTRL_SYNCTAP_Pos               10                                          /*!< DWT CTRL: SYNCTAP Position */
-#define DWT_CTRL_SYNCTAP_Msk               (0x3UL << DWT_CTRL_SYNCTAP_Pos)             /*!< DWT CTRL: SYNCTAP Mask */
-
-#define DWT_CTRL_CYCTAP_Pos                 9                                          /*!< DWT CTRL: CYCTAP Position */
-#define DWT_CTRL_CYCTAP_Msk                (0x1UL << DWT_CTRL_CYCTAP_Pos)              /*!< DWT CTRL: CYCTAP Mask */
-
-#define DWT_CTRL_POSTINIT_Pos               5                                          /*!< DWT CTRL: POSTINIT Position */
-#define DWT_CTRL_POSTINIT_Msk              (0xFUL << DWT_CTRL_POSTINIT_Pos)            /*!< DWT CTRL: POSTINIT Mask */
-
-#define DWT_CTRL_POSTPRESET_Pos             1                                          /*!< DWT CTRL: POSTPRESET Position */
-#define DWT_CTRL_POSTPRESET_Msk            (0xFUL << DWT_CTRL_POSTPRESET_Pos)          /*!< DWT CTRL: POSTPRESET Mask */
-
-#define DWT_CTRL_CYCCNTENA_Pos              0                                          /*!< DWT CTRL: CYCCNTENA Position */
-#define DWT_CTRL_CYCCNTENA_Msk             (0x1UL << DWT_CTRL_CYCCNTENA_Pos)           /*!< DWT CTRL: CYCCNTENA Mask */
-
-/* DWT CPI Count Register Definitions */
-#define DWT_CPICNT_CPICNT_Pos               0                                          /*!< DWT CPICNT: CPICNT Position */
-#define DWT_CPICNT_CPICNT_Msk              (0xFFUL << DWT_CPICNT_CPICNT_Pos)           /*!< DWT CPICNT: CPICNT Mask */
-
-/* DWT Exception Overhead Count Register Definitions */
-#define DWT_EXCCNT_EXCCNT_Pos               0                                          /*!< DWT EXCCNT: EXCCNT Position */
-#define DWT_EXCCNT_EXCCNT_Msk              (0xFFUL << DWT_EXCCNT_EXCCNT_Pos)           /*!< DWT EXCCNT: EXCCNT Mask */
-
-/* DWT Sleep Count Register Definitions */
-#define DWT_SLEEPCNT_SLEEPCNT_Pos           0                                          /*!< DWT SLEEPCNT: SLEEPCNT Position */
-#define DWT_SLEEPCNT_SLEEPCNT_Msk          (0xFFUL << DWT_SLEEPCNT_SLEEPCNT_Pos)       /*!< DWT SLEEPCNT: SLEEPCNT Mask */
-
-/* DWT LSU Count Register Definitions */
-#define DWT_LSUCNT_LSUCNT_Pos               0                                          /*!< DWT LSUCNT: LSUCNT Position */
-#define DWT_LSUCNT_LSUCNT_Msk              (0xFFUL << DWT_LSUCNT_LSUCNT_Pos)           /*!< DWT LSUCNT: LSUCNT Mask */
-
-/* DWT Folded-instruction Count Register Definitions */
-#define DWT_FOLDCNT_FOLDCNT_Pos             0                                          /*!< DWT FOLDCNT: FOLDCNT Position */
-#define DWT_FOLDCNT_FOLDCNT_Msk            (0xFFUL << DWT_FOLDCNT_FOLDCNT_Pos)         /*!< DWT FOLDCNT: FOLDCNT Mask */
-
-/* DWT Comparator Mask Register Definitions */
-#define DWT_MASK_MASK_Pos                   0                                          /*!< DWT MASK: MASK Position */
-#define DWT_MASK_MASK_Msk                  (0x1FUL << DWT_MASK_MASK_Pos)               /*!< DWT MASK: MASK Mask */
-
-/* DWT Comparator Function Register Definitions */
-#define DWT_FUNCTION_MATCHED_Pos           24                                          /*!< DWT FUNCTION: MATCHED Position */
-#define DWT_FUNCTION_MATCHED_Msk           (0x1UL << DWT_FUNCTION_MATCHED_Pos)         /*!< DWT FUNCTION: MATCHED Mask */
-
-#define DWT_FUNCTION_DATAVADDR1_Pos        16                                          /*!< DWT FUNCTION: DATAVADDR1 Position */
-#define DWT_FUNCTION_DATAVADDR1_Msk        (0xFUL << DWT_FUNCTION_DATAVADDR1_Pos)      /*!< DWT FUNCTION: DATAVADDR1 Mask */
-
-#define DWT_FUNCTION_DATAVADDR0_Pos        12                                          /*!< DWT FUNCTION: DATAVADDR0 Position */
-#define DWT_FUNCTION_DATAVADDR0_Msk        (0xFUL << DWT_FUNCTION_DATAVADDR0_Pos)      /*!< DWT FUNCTION: DATAVADDR0 Mask */
-
-#define DWT_FUNCTION_DATAVSIZE_Pos         10                                          /*!< DWT FUNCTION: DATAVSIZE Position */
-#define DWT_FUNCTION_DATAVSIZE_Msk         (0x3UL << DWT_FUNCTION_DATAVSIZE_Pos)       /*!< DWT FUNCTION: DATAVSIZE Mask */
-
-#define DWT_FUNCTION_LNK1ENA_Pos            9                                          /*!< DWT FUNCTION: LNK1ENA Position */
-#define DWT_FUNCTION_LNK1ENA_Msk           (0x1UL << DWT_FUNCTION_LNK1ENA_Pos)         /*!< DWT FUNCTION: LNK1ENA Mask */
-
-#define DWT_FUNCTION_DATAVMATCH_Pos         8                                          /*!< DWT FUNCTION: DATAVMATCH Position */
-#define DWT_FUNCTION_DATAVMATCH_Msk        (0x1UL << DWT_FUNCTION_DATAVMATCH_Pos)      /*!< DWT FUNCTION: DATAVMATCH Mask */
-
-#define DWT_FUNCTION_CYCMATCH_Pos           7                                          /*!< DWT FUNCTION: CYCMATCH Position */
-#define DWT_FUNCTION_CYCMATCH_Msk          (0x1UL << DWT_FUNCTION_CYCMATCH_Pos)        /*!< DWT FUNCTION: CYCMATCH Mask */
-
-#define DWT_FUNCTION_EMITRANGE_Pos          5                                          /*!< DWT FUNCTION: EMITRANGE Position */
-#define DWT_FUNCTION_EMITRANGE_Msk         (0x1UL << DWT_FUNCTION_EMITRANGE_Pos)       /*!< DWT FUNCTION: EMITRANGE Mask */
-
-#define DWT_FUNCTION_FUNCTION_Pos           0                                          /*!< DWT FUNCTION: FUNCTION Position */
-#define DWT_FUNCTION_FUNCTION_Msk          (0xFUL << DWT_FUNCTION_FUNCTION_Pos)        /*!< DWT FUNCTION: FUNCTION Mask */
-
-/*@}*/ /* end of group CMSIS_DWT */
-
-
-/** \ingroup  CMSIS_core_register
-    \defgroup CMSIS_TPI     Trace Port Interface (TPI)
-    \brief      Type definitions for the Trace Port Interface (TPI)
-  @{
- */
-
-/** \brief  Structure type to access the Trace Port Interface Register (TPI).
- */
-typedef struct
-{
-  __IO uint32_t SSPSR;                   /*!< Offset: 0x000 (R/ )  Supported Parallel Port Size Register     */
-  __IO uint32_t CSPSR;                   /*!< Offset: 0x004 (R/W)  Current Parallel Port Size Register */
-       uint32_t RESERVED0[2];
-  __IO uint32_t ACPR;                    /*!< Offset: 0x010 (R/W)  Asynchronous Clock Prescaler Register */
-       uint32_t RESERVED1[55];
-  __IO uint32_t SPPR;                    /*!< Offset: 0x0F0 (R/W)  Selected Pin Protocol Register */
-       uint32_t RESERVED2[131];
-  __I  uint32_t FFSR;                    /*!< Offset: 0x300 (R/ )  Formatter and Flush Status Register */
-  __IO uint32_t FFCR;                    /*!< Offset: 0x304 (R/W)  Formatter and Flush Control Register */
-  __I  uint32_t FSCR;                    /*!< Offset: 0x308 (R/ )  Formatter Synchronization Counter Register */
-       uint32_t RESERVED3[759];
-  __I  uint32_t TRIGGER;                 /*!< Offset: 0xEE8 (R/ )  TRIGGER */
-  __I  uint32_t FIFO0;                   /*!< Offset: 0xEEC (R/ )  Integration ETM Data */
-  __I  uint32_t ITATBCTR2;               /*!< Offset: 0xEF0 (R/ )  ITATBCTR2 */
-       uint32_t RESERVED4[1];
-  __I  uint32_t ITATBCTR0;               /*!< Offset: 0xEF8 (R/ )  ITATBCTR0 */
-  __I  uint32_t FIFO1;                   /*!< Offset: 0xEFC (R/ )  Integration ITM Data */
-  __IO uint32_t ITCTRL;                  /*!< Offset: 0xF00 (R/W)  Integration Mode Control */
-       uint32_t RESERVED5[39];
-  __IO uint32_t CLAIMSET;                /*!< Offset: 0xFA0 (R/W)  Claim tag set */
-  __IO uint32_t CLAIMCLR;                /*!< Offset: 0xFA4 (R/W)  Claim tag clear */
-       uint32_t RESERVED7[8];
-  __I  uint32_t DEVID;                   /*!< Offset: 0xFC8 (R/ )  TPIU_DEVID */
-  __I  uint32_t DEVTYPE;                 /*!< Offset: 0xFCC (R/ )  TPIU_DEVTYPE */
-} TPI_Type;
-
-/* TPI Asynchronous Clock Prescaler Register Definitions */
-#define TPI_ACPR_PRESCALER_Pos              0                                          /*!< TPI ACPR: PRESCALER Position */
-#define TPI_ACPR_PRESCALER_Msk             (0x1FFFUL << TPI_ACPR_PRESCALER_Pos)        /*!< TPI ACPR: PRESCALER Mask */
-
-/* TPI Selected Pin Protocol Register Definitions */
-#define TPI_SPPR_TXMODE_Pos                 0                                          /*!< TPI SPPR: TXMODE Position */
-#define TPI_SPPR_TXMODE_Msk                (0x3UL << TPI_SPPR_TXMODE_Pos)              /*!< TPI SPPR: TXMODE Mask */
-
-/* TPI Formatter and Flush Status Register Definitions */
-#define TPI_FFSR_FtNonStop_Pos              3                                          /*!< TPI FFSR: FtNonStop Position */
-#define TPI_FFSR_FtNonStop_Msk             (0x1UL << TPI_FFSR_FtNonStop_Pos)           /*!< TPI FFSR: FtNonStop Mask */
-
-#define TPI_FFSR_TCPresent_Pos              2                                          /*!< TPI FFSR: TCPresent Position */
-#define TPI_FFSR_TCPresent_Msk             (0x1UL << TPI_FFSR_TCPresent_Pos)           /*!< TPI FFSR: TCPresent Mask */
-
-#define TPI_FFSR_FtStopped_Pos              1                                          /*!< TPI FFSR: FtStopped Position */
-#define TPI_FFSR_FtStopped_Msk             (0x1UL << TPI_FFSR_FtStopped_Pos)           /*!< TPI FFSR: FtStopped Mask */
-
-#define TPI_FFSR_FlInProg_Pos               0                                          /*!< TPI FFSR: FlInProg Position */
-#define TPI_FFSR_FlInProg_Msk              (0x1UL << TPI_FFSR_FlInProg_Pos)            /*!< TPI FFSR: FlInProg Mask */
-
-/* TPI Formatter and Flush Control Register Definitions */
-#define TPI_FFCR_TrigIn_Pos                 8                                          /*!< TPI FFCR: TrigIn Position */
-#define TPI_FFCR_TrigIn_Msk                (0x1UL << TPI_FFCR_TrigIn_Pos)              /*!< TPI FFCR: TrigIn Mask */
-
-#define TPI_FFCR_EnFCont_Pos                1                                          /*!< TPI FFCR: EnFCont Position */
-#define TPI_FFCR_EnFCont_Msk               (0x1UL << TPI_FFCR_EnFCont_Pos)             /*!< TPI FFCR: EnFCont Mask */
-
-/* TPI TRIGGER Register Definitions */
-#define TPI_TRIGGER_TRIGGER_Pos             0                                          /*!< TPI TRIGGER: TRIGGER Position */
-#define TPI_TRIGGER_TRIGGER_Msk            (0x1UL << TPI_TRIGGER_TRIGGER_Pos)          /*!< TPI TRIGGER: TRIGGER Mask */
-
-/* TPI Integration ETM Data Register Definitions (FIFO0) */
-#define TPI_FIFO0_ITM_ATVALID_Pos          29                                          /*!< TPI FIFO0: ITM_ATVALID Position */
-#define TPI_FIFO0_ITM_ATVALID_Msk          (0x3UL << TPI_FIFO0_ITM_ATVALID_Pos)        /*!< TPI FIFO0: ITM_ATVALID Mask */
-
-#define TPI_FIFO0_ITM_bytecount_Pos        27                                          /*!< TPI FIFO0: ITM_bytecount Position */
-#define TPI_FIFO0_ITM_bytecount_Msk        (0x3UL << TPI_FIFO0_ITM_bytecount_Pos)      /*!< TPI FIFO0: ITM_bytecount Mask */
-
-#define TPI_FIFO0_ETM_ATVALID_Pos          26                                          /*!< TPI FIFO0: ETM_ATVALID Position */
-#define TPI_FIFO0_ETM_ATVALID_Msk          (0x3UL << TPI_FIFO0_ETM_ATVALID_Pos)        /*!< TPI FIFO0: ETM_ATVALID Mask */
-
-#define TPI_FIFO0_ETM_bytecount_Pos        24                                          /*!< TPI FIFO0: ETM_bytecount Position */
-#define TPI_FIFO0_ETM_bytecount_Msk        (0x3UL << TPI_FIFO0_ETM_bytecount_Pos)      /*!< TPI FIFO0: ETM_bytecount Mask */
-
-#define TPI_FIFO0_ETM2_Pos                 16                                          /*!< TPI FIFO0: ETM2 Position */
-#define TPI_FIFO0_ETM2_Msk                 (0xFFUL << TPI_FIFO0_ETM2_Pos)              /*!< TPI FIFO0: ETM2 Mask */
-
-#define TPI_FIFO0_ETM1_Pos                  8                                          /*!< TPI FIFO0: ETM1 Position */
-#define TPI_FIFO0_ETM1_Msk                 (0xFFUL << TPI_FIFO0_ETM1_Pos)              /*!< TPI FIFO0: ETM1 Mask */
-
-#define TPI_FIFO0_ETM0_Pos                  0                                          /*!< TPI FIFO0: ETM0 Position */
-#define TPI_FIFO0_ETM0_Msk                 (0xFFUL << TPI_FIFO0_ETM0_Pos)              /*!< TPI FIFO0: ETM0 Mask */
-
-/* TPI ITATBCTR2 Register Definitions */
-#define TPI_ITATBCTR2_ATREADY_Pos           0                                          /*!< TPI ITATBCTR2: ATREADY Position */
-#define TPI_ITATBCTR2_ATREADY_Msk          (0x1UL << TPI_ITATBCTR2_ATREADY_Pos)        /*!< TPI ITATBCTR2: ATREADY Mask */
-
-/* TPI Integration ITM Data Register Definitions (FIFO1) */
-#define TPI_FIFO1_ITM_ATVALID_Pos          29                                          /*!< TPI FIFO1: ITM_ATVALID Position */
-#define TPI_FIFO1_ITM_ATVALID_Msk          (0x3UL << TPI_FIFO1_ITM_ATVALID_Pos)        /*!< TPI FIFO1: ITM_ATVALID Mask */
-
-#define TPI_FIFO1_ITM_bytecount_Pos        27                                          /*!< TPI FIFO1: ITM_bytecount Position */
-#define TPI_FIFO1_ITM_bytecount_Msk        (0x3UL << TPI_FIFO1_ITM_bytecount_Pos)      /*!< TPI FIFO1: ITM_bytecount Mask */
-
-#define TPI_FIFO1_ETM_ATVALID_Pos          26                                          /*!< TPI FIFO1: ETM_ATVALID Position */
-#define TPI_FIFO1_ETM_ATVALID_Msk          (0x3UL << TPI_FIFO1_ETM_ATVALID_Pos)        /*!< TPI FIFO1: ETM_ATVALID Mask */
-
-#define TPI_FIFO1_ETM_bytecount_Pos        24                                          /*!< TPI FIFO1: ETM_bytecount Position */
-#define TPI_FIFO1_ETM_bytecount_Msk        (0x3UL << TPI_FIFO1_ETM_bytecount_Pos)      /*!< TPI FIFO1: ETM_bytecount Mask */
-
-#define TPI_FIFO1_ITM2_Pos                 16                                          /*!< TPI FIFO1: ITM2 Position */
-#define TPI_FIFO1_ITM2_Msk                 (0xFFUL << TPI_FIFO1_ITM2_Pos)              /*!< TPI FIFO1: ITM2 Mask */
-
-#define TPI_FIFO1_ITM1_Pos                  8                                          /*!< TPI FIFO1: ITM1 Position */
-#define TPI_FIFO1_ITM1_Msk                 (0xFFUL << TPI_FIFO1_ITM1_Pos)              /*!< TPI FIFO1: ITM1 Mask */
-
-#define TPI_FIFO1_ITM0_Pos                  0                                          /*!< TPI FIFO1: ITM0 Position */
-#define TPI_FIFO1_ITM0_Msk                 (0xFFUL << TPI_FIFO1_ITM0_Pos)              /*!< TPI FIFO1: ITM0 Mask */
-
-/* TPI ITATBCTR0 Register Definitions */
-#define TPI_ITATBCTR0_ATREADY_Pos           0                                          /*!< TPI ITATBCTR0: ATREADY Position */
-#define TPI_ITATBCTR0_ATREADY_Msk          (0x1UL << TPI_ITATBCTR0_ATREADY_Pos)        /*!< TPI ITATBCTR0: ATREADY Mask */
-
-/* TPI Integration Mode Control Register Definitions */
-#define TPI_ITCTRL_Mode_Pos                 0                                          /*!< TPI ITCTRL: Mode Position */
-#define TPI_ITCTRL_Mode_Msk                (0x1UL << TPI_ITCTRL_Mode_Pos)              /*!< TPI ITCTRL: Mode Mask */
-
-/* TPI DEVID Register Definitions */
-#define TPI_DEVID_NRZVALID_Pos             11                                          /*!< TPI DEVID: NRZVALID Position */
-#define TPI_DEVID_NRZVALID_Msk             (0x1UL << TPI_DEVID_NRZVALID_Pos)           /*!< TPI DEVID: NRZVALID Mask */
-
-#define TPI_DEVID_MANCVALID_Pos            10                                          /*!< TPI DEVID: MANCVALID Position */
-#define TPI_DEVID_MANCVALID_Msk            (0x1UL << TPI_DEVID_MANCVALID_Pos)          /*!< TPI DEVID: MANCVALID Mask */
-
-#define TPI_DEVID_PTINVALID_Pos             9                                          /*!< TPI DEVID: PTINVALID Position */
-#define TPI_DEVID_PTINVALID_Msk            (0x1UL << TPI_DEVID_PTINVALID_Pos)          /*!< TPI DEVID: PTINVALID Mask */
-
-#define TPI_DEVID_MinBufSz_Pos              6                                          /*!< TPI DEVID: MinBufSz Position */
-#define TPI_DEVID_MinBufSz_Msk             (0x7UL << TPI_DEVID_MinBufSz_Pos)           /*!< TPI DEVID: MinBufSz Mask */
-
-#define TPI_DEVID_AsynClkIn_Pos             5                                          /*!< TPI DEVID: AsynClkIn Position */
-#define TPI_DEVID_AsynClkIn_Msk            (0x1UL << TPI_DEVID_AsynClkIn_Pos)          /*!< TPI DEVID: AsynClkIn Mask */
-
-#define TPI_DEVID_NrTraceInput_Pos          0                                          /*!< TPI DEVID: NrTraceInput Position */
-#define TPI_DEVID_NrTraceInput_Msk         (0x1FUL << TPI_DEVID_NrTraceInput_Pos)      /*!< TPI DEVID: NrTraceInput Mask */
-
-/* TPI DEVTYPE Register Definitions */
-#define TPI_DEVTYPE_SubType_Pos             0                                          /*!< TPI DEVTYPE: SubType Position */
-#define TPI_DEVTYPE_SubType_Msk            (0xFUL << TPI_DEVTYPE_SubType_Pos)          /*!< TPI DEVTYPE: SubType Mask */
-
-#define TPI_DEVTYPE_MajorType_Pos           4                                          /*!< TPI DEVTYPE: MajorType Position */
-#define TPI_DEVTYPE_MajorType_Msk          (0xFUL << TPI_DEVTYPE_MajorType_Pos)        /*!< TPI DEVTYPE: MajorType Mask */
-
-/*@}*/ /* end of group CMSIS_TPI */
-
-
-#if (__MPU_PRESENT == 1)
-/** \ingroup  CMSIS_core_register
-    \defgroup CMSIS_MPU     Memory Protection Unit (MPU)
-    \brief      Type definitions for the Memory Protection Unit (MPU)
-  @{
- */
-
-/** \brief  Structure type to access the Memory Protection Unit (MPU).
- */
-typedef struct
-{
-  __I  uint32_t TYPE;                    /*!< Offset: 0x000 (R/ )  MPU Type Register                              */
-  __IO uint32_t CTRL;                    /*!< Offset: 0x004 (R/W)  MPU Control Register                           */
-  __IO uint32_t RNR;                     /*!< Offset: 0x008 (R/W)  MPU Region RNRber Register                     */
-  __IO uint32_t RBAR;                    /*!< Offset: 0x00C (R/W)  MPU Region Base Address Register               */
-  __IO uint32_t RASR;                    /*!< Offset: 0x010 (R/W)  MPU Region Attribute and Size Register         */
-  __IO uint32_t RBAR_A1;                 /*!< Offset: 0x014 (R/W)  MPU Alias 1 Region Base Address Register       */
-  __IO uint32_t RASR_A1;                 /*!< Offset: 0x018 (R/W)  MPU Alias 1 Region Attribute and Size Register */
-  __IO uint32_t RBAR_A2;                 /*!< Offset: 0x01C (R/W)  MPU Alias 2 Region Base Address Register       */
-  __IO uint32_t RASR_A2;                 /*!< Offset: 0x020 (R/W)  MPU Alias 2 Region Attribute and Size Register */
-  __IO uint32_t RBAR_A3;                 /*!< Offset: 0x024 (R/W)  MPU Alias 3 Region Base Address Register       */
-  __IO uint32_t RASR_A3;                 /*!< Offset: 0x028 (R/W)  MPU Alias 3 Region Attribute and Size Register */
-} MPU_Type;
-
-/* MPU Type Register */
-#define MPU_TYPE_IREGION_Pos               16                                             /*!< MPU TYPE: IREGION Position */
-#define MPU_TYPE_IREGION_Msk               (0xFFUL << MPU_TYPE_IREGION_Pos)               /*!< MPU TYPE: IREGION Mask */
-
-#define MPU_TYPE_DREGION_Pos                8                                             /*!< MPU TYPE: DREGION Position */
-#define MPU_TYPE_DREGION_Msk               (0xFFUL << MPU_TYPE_DREGION_Pos)               /*!< MPU TYPE: DREGION Mask */
-
-#define MPU_TYPE_SEPARATE_Pos               0                                             /*!< MPU TYPE: SEPARATE Position */
-#define MPU_TYPE_SEPARATE_Msk              (1UL << MPU_TYPE_SEPARATE_Pos)                 /*!< MPU TYPE: SEPARATE Mask */
-
-/* MPU Control Register */
-#define MPU_CTRL_PRIVDEFENA_Pos             2                                             /*!< MPU CTRL: PRIVDEFENA Position */
-#define MPU_CTRL_PRIVDEFENA_Msk            (1UL << MPU_CTRL_PRIVDEFENA_Pos)               /*!< MPU CTRL: PRIVDEFENA Mask */
-
-#define MPU_CTRL_HFNMIENA_Pos               1                                             /*!< MPU CTRL: HFNMIENA Position */
-#define MPU_CTRL_HFNMIENA_Msk              (1UL << MPU_CTRL_HFNMIENA_Pos)                 /*!< MPU CTRL: HFNMIENA Mask */
-
-#define MPU_CTRL_ENABLE_Pos                 0                                             /*!< MPU CTRL: ENABLE Position */
-#define MPU_CTRL_ENABLE_Msk                (1UL << MPU_CTRL_ENABLE_Pos)                   /*!< MPU CTRL: ENABLE Mask */
-
-/* MPU Region Number Register */
-#define MPU_RNR_REGION_Pos                  0                                             /*!< MPU RNR: REGION Position */
-#define MPU_RNR_REGION_Msk                 (0xFFUL << MPU_RNR_REGION_Pos)                 /*!< MPU RNR: REGION Mask */
-
-/* MPU Region Base Address Register */
-#define MPU_RBAR_ADDR_Pos                   5                                             /*!< MPU RBAR: ADDR Position */
-#define MPU_RBAR_ADDR_Msk                  (0x7FFFFFFUL << MPU_RBAR_ADDR_Pos)             /*!< MPU RBAR: ADDR Mask */
-
-#define MPU_RBAR_VALID_Pos                  4                                             /*!< MPU RBAR: VALID Position */
-#define MPU_RBAR_VALID_Msk                 (1UL << MPU_RBAR_VALID_Pos)                    /*!< MPU RBAR: VALID Mask */
-
-#define MPU_RBAR_REGION_Pos                 0                                             /*!< MPU RBAR: REGION Position */
-#define MPU_RBAR_REGION_Msk                (0xFUL << MPU_RBAR_REGION_Pos)                 /*!< MPU RBAR: REGION Mask */
-
-/* MPU Region Attribute and Size Register */
-#define MPU_RASR_ATTRS_Pos                 16                                             /*!< MPU RASR: MPU Region Attribute field Position */
-#define MPU_RASR_ATTRS_Msk                 (0xFFFFUL << MPU_RASR_ATTRS_Pos)               /*!< MPU RASR: MPU Region Attribute field Mask */
-
-#define MPU_RASR_XN_Pos                    28                                             /*!< MPU RASR: ATTRS.XN Position */
-#define MPU_RASR_XN_Msk                    (1UL << MPU_RASR_XN_Pos)                       /*!< MPU RASR: ATTRS.XN Mask */
-
-#define MPU_RASR_AP_Pos                    24                                             /*!< MPU RASR: ATTRS.AP Position */
-#define MPU_RASR_AP_Msk                    (0x7UL << MPU_RASR_AP_Pos)                     /*!< MPU RASR: ATTRS.AP Mask */
-
-#define MPU_RASR_TEX_Pos                   19                                             /*!< MPU RASR: ATTRS.TEX Position */
-#define MPU_RASR_TEX_Msk                   (0x7UL << MPU_RASR_TEX_Pos)                    /*!< MPU RASR: ATTRS.TEX Mask */
-
-#define MPU_RASR_S_Pos                     18                                             /*!< MPU RASR: ATTRS.S Position */
-#define MPU_RASR_S_Msk                     (1UL << MPU_RASR_S_Pos)                        /*!< MPU RASR: ATTRS.S Mask */
-
-#define MPU_RASR_C_Pos                     17                                             /*!< MPU RASR: ATTRS.C Position */
-#define MPU_RASR_C_Msk                     (1UL << MPU_RASR_C_Pos)                        /*!< MPU RASR: ATTRS.C Mask */
-
-#define MPU_RASR_B_Pos                     16                                             /*!< MPU RASR: ATTRS.B Position */
-#define MPU_RASR_B_Msk                     (1UL << MPU_RASR_B_Pos)                        /*!< MPU RASR: ATTRS.B Mask */
-
-#define MPU_RASR_SRD_Pos                    8                                             /*!< MPU RASR: Sub-Region Disable Position */
-#define MPU_RASR_SRD_Msk                   (0xFFUL << MPU_RASR_SRD_Pos)                   /*!< MPU RASR: Sub-Region Disable Mask */
-
-#define MPU_RASR_SIZE_Pos                   1                                             /*!< MPU RASR: Region Size Field Position */
-#define MPU_RASR_SIZE_Msk                  (0x1FUL << MPU_RASR_SIZE_Pos)                  /*!< MPU RASR: Region Size Field Mask */
-
-#define MPU_RASR_ENABLE_Pos                 0                                             /*!< MPU RASR: Region enable bit Position */
-#define MPU_RASR_ENABLE_Msk                (1UL << MPU_RASR_ENABLE_Pos)                   /*!< MPU RASR: Region enable bit Disable Mask */
-
-/*@} end of group CMSIS_MPU */
-#endif
-
-
-/** \ingroup  CMSIS_core_register
-    \defgroup CMSIS_CoreDebug       Core Debug Registers (CoreDebug)
-    \brief      Type definitions for the Core Debug Registers
-  @{
- */
-
-/** \brief  Structure type to access the Core Debug Register (CoreDebug).
- */
-typedef struct
-{
-  __IO uint32_t DHCSR;                   /*!< Offset: 0x000 (R/W)  Debug Halting Control and Status Register    */
-  __O  uint32_t DCRSR;                   /*!< Offset: 0x004 ( /W)  Debug Core Register Selector Register        */
-  __IO uint32_t DCRDR;                   /*!< Offset: 0x008 (R/W)  Debug Core Register Data Register            */
-  __IO uint32_t DEMCR;                   /*!< Offset: 0x00C (R/W)  Debug Exception and Monitor Control Register */
-} CoreDebug_Type;
-
-/* Debug Halting Control and Status Register */
-#define CoreDebug_DHCSR_DBGKEY_Pos         16                                             /*!< CoreDebug DHCSR: DBGKEY Position */
-#define CoreDebug_DHCSR_DBGKEY_Msk         (0xFFFFUL << CoreDebug_DHCSR_DBGKEY_Pos)       /*!< CoreDebug DHCSR: DBGKEY Mask */
-
-#define CoreDebug_DHCSR_S_RESET_ST_Pos     25                                             /*!< CoreDebug DHCSR: S_RESET_ST Position */
-#define CoreDebug_DHCSR_S_RESET_ST_Msk     (1UL << CoreDebug_DHCSR_S_RESET_ST_Pos)        /*!< CoreDebug DHCSR: S_RESET_ST Mask */
-
-#define CoreDebug_DHCSR_S_RETIRE_ST_Pos    24                                             /*!< CoreDebug DHCSR: S_RETIRE_ST Position */
-#define CoreDebug_DHCSR_S_RETIRE_ST_Msk    (1UL << CoreDebug_DHCSR_S_RETIRE_ST_Pos)       /*!< CoreDebug DHCSR: S_RETIRE_ST Mask */
-
-#define CoreDebug_DHCSR_S_LOCKUP_Pos       19                                             /*!< CoreDebug DHCSR: S_LOCKUP Position */
-#define CoreDebug_DHCSR_S_LOCKUP_Msk       (1UL << CoreDebug_DHCSR_S_LOCKUP_Pos)          /*!< CoreDebug DHCSR: S_LOCKUP Mask */
-
-#define CoreDebug_DHCSR_S_SLEEP_Pos        18                                             /*!< CoreDebug DHCSR: S_SLEEP Position */
-#define CoreDebug_DHCSR_S_SLEEP_Msk        (1UL << CoreDebug_DHCSR_S_SLEEP_Pos)           /*!< CoreDebug DHCSR: S_SLEEP Mask */
-
-#define CoreDebug_DHCSR_S_HALT_Pos         17                                             /*!< CoreDebug DHCSR: S_HALT Position */
-#define CoreDebug_DHCSR_S_HALT_Msk         (1UL << CoreDebug_DHCSR_S_HALT_Pos)            /*!< CoreDebug DHCSR: S_HALT Mask */
-
-#define CoreDebug_DHCSR_S_REGRDY_Pos       16                                             /*!< CoreDebug DHCSR: S_REGRDY Position */
-#define CoreDebug_DHCSR_S_REGRDY_Msk       (1UL << CoreDebug_DHCSR_S_REGRDY_Pos)          /*!< CoreDebug DHCSR: S_REGRDY Mask */
-
-#define CoreDebug_DHCSR_C_SNAPSTALL_Pos     5                                             /*!< CoreDebug DHCSR: C_SNAPSTALL Position */
-#define CoreDebug_DHCSR_C_SNAPSTALL_Msk    (1UL << CoreDebug_DHCSR_C_SNAPSTALL_Pos)       /*!< CoreDebug DHCSR: C_SNAPSTALL Mask */
-
-#define CoreDebug_DHCSR_C_MASKINTS_Pos      3                                             /*!< CoreDebug DHCSR: C_MASKINTS Position */
-#define CoreDebug_DHCSR_C_MASKINTS_Msk     (1UL << CoreDebug_DHCSR_C_MASKINTS_Pos)        /*!< CoreDebug DHCSR: C_MASKINTS Mask */
-
-#define CoreDebug_DHCSR_C_STEP_Pos          2                                             /*!< CoreDebug DHCSR: C_STEP Position */
-#define CoreDebug_DHCSR_C_STEP_Msk         (1UL << CoreDebug_DHCSR_C_STEP_Pos)            /*!< CoreDebug DHCSR: C_STEP Mask */
-
-#define CoreDebug_DHCSR_C_HALT_Pos          1                                             /*!< CoreDebug DHCSR: C_HALT Position */
-#define CoreDebug_DHCSR_C_HALT_Msk         (1UL << CoreDebug_DHCSR_C_HALT_Pos)            /*!< CoreDebug DHCSR: C_HALT Mask */
-
-#define CoreDebug_DHCSR_C_DEBUGEN_Pos       0                                             /*!< CoreDebug DHCSR: C_DEBUGEN Position */
-#define CoreDebug_DHCSR_C_DEBUGEN_Msk      (1UL << CoreDebug_DHCSR_C_DEBUGEN_Pos)         /*!< CoreDebug DHCSR: C_DEBUGEN Mask */
-
-/* Debug Core Register Selector Register */
-#define CoreDebug_DCRSR_REGWnR_Pos         16                                             /*!< CoreDebug DCRSR: REGWnR Position */
-#define CoreDebug_DCRSR_REGWnR_Msk         (1UL << CoreDebug_DCRSR_REGWnR_Pos)            /*!< CoreDebug DCRSR: REGWnR Mask */
-
-#define CoreDebug_DCRSR_REGSEL_Pos          0                                             /*!< CoreDebug DCRSR: REGSEL Position */
-#define CoreDebug_DCRSR_REGSEL_Msk         (0x1FUL << CoreDebug_DCRSR_REGSEL_Pos)         /*!< CoreDebug DCRSR: REGSEL Mask */
-
-/* Debug Exception and Monitor Control Register */
-#define CoreDebug_DEMCR_TRCENA_Pos         24                                             /*!< CoreDebug DEMCR: TRCENA Position */
-#define CoreDebug_DEMCR_TRCENA_Msk         (1UL << CoreDebug_DEMCR_TRCENA_Pos)            /*!< CoreDebug DEMCR: TRCENA Mask */
-
-#define CoreDebug_DEMCR_MON_REQ_Pos        19                                             /*!< CoreDebug DEMCR: MON_REQ Position */
-#define CoreDebug_DEMCR_MON_REQ_Msk        (1UL << CoreDebug_DEMCR_MON_REQ_Pos)           /*!< CoreDebug DEMCR: MON_REQ Mask */
-
-#define CoreDebug_DEMCR_MON_STEP_Pos       18                                             /*!< CoreDebug DEMCR: MON_STEP Position */
-#define CoreDebug_DEMCR_MON_STEP_Msk       (1UL << CoreDebug_DEMCR_MON_STEP_Pos)          /*!< CoreDebug DEMCR: MON_STEP Mask */
-
-#define CoreDebug_DEMCR_MON_PEND_Pos       17                                             /*!< CoreDebug DEMCR: MON_PEND Position */
-#define CoreDebug_DEMCR_MON_PEND_Msk       (1UL << CoreDebug_DEMCR_MON_PEND_Pos)          /*!< CoreDebug DEMCR: MON_PEND Mask */
-
-#define CoreDebug_DEMCR_MON_EN_Pos         16                                             /*!< CoreDebug DEMCR: MON_EN Position */
-#define CoreDebug_DEMCR_MON_EN_Msk         (1UL << CoreDebug_DEMCR_MON_EN_Pos)            /*!< CoreDebug DEMCR: MON_EN Mask */
-
-#define CoreDebug_DEMCR_VC_HARDERR_Pos     10                                             /*!< CoreDebug DEMCR: VC_HARDERR Position */
-#define CoreDebug_DEMCR_VC_HARDERR_Msk     (1UL << CoreDebug_DEMCR_VC_HARDERR_Pos)        /*!< CoreDebug DEMCR: VC_HARDERR Mask */
-
-#define CoreDebug_DEMCR_VC_INTERR_Pos       9                                             /*!< CoreDebug DEMCR: VC_INTERR Position */
-#define CoreDebug_DEMCR_VC_INTERR_Msk      (1UL << CoreDebug_DEMCR_VC_INTERR_Pos)         /*!< CoreDebug DEMCR: VC_INTERR Mask */
-
-#define CoreDebug_DEMCR_VC_BUSERR_Pos       8                                             /*!< CoreDebug DEMCR: VC_BUSERR Position */
-#define CoreDebug_DEMCR_VC_BUSERR_Msk      (1UL << CoreDebug_DEMCR_VC_BUSERR_Pos)         /*!< CoreDebug DEMCR: VC_BUSERR Mask */
-
-#define CoreDebug_DEMCR_VC_STATERR_Pos      7                                             /*!< CoreDebug DEMCR: VC_STATERR Position */
-#define CoreDebug_DEMCR_VC_STATERR_Msk     (1UL << CoreDebug_DEMCR_VC_STATERR_Pos)        /*!< CoreDebug DEMCR: VC_STATERR Mask */
-
-#define CoreDebug_DEMCR_VC_CHKERR_Pos       6                                             /*!< CoreDebug DEMCR: VC_CHKERR Position */
-#define CoreDebug_DEMCR_VC_CHKERR_Msk      (1UL << CoreDebug_DEMCR_VC_CHKERR_Pos)         /*!< CoreDebug DEMCR: VC_CHKERR Mask */
-
-#define CoreDebug_DEMCR_VC_NOCPERR_Pos      5                                             /*!< CoreDebug DEMCR: VC_NOCPERR Position */
-#define CoreDebug_DEMCR_VC_NOCPERR_Msk     (1UL << CoreDebug_DEMCR_VC_NOCPERR_Pos)        /*!< CoreDebug DEMCR: VC_NOCPERR Mask */
-
-#define CoreDebug_DEMCR_VC_MMERR_Pos        4                                             /*!< CoreDebug DEMCR: VC_MMERR Position */
-#define CoreDebug_DEMCR_VC_MMERR_Msk       (1UL << CoreDebug_DEMCR_VC_MMERR_Pos)          /*!< CoreDebug DEMCR: VC_MMERR Mask */
-
-#define CoreDebug_DEMCR_VC_CORERESET_Pos    0                                             /*!< CoreDebug DEMCR: VC_CORERESET Position */
-#define CoreDebug_DEMCR_VC_CORERESET_Msk   (1UL << CoreDebug_DEMCR_VC_CORERESET_Pos)      /*!< CoreDebug DEMCR: VC_CORERESET Mask */
-
-/*@} end of group CMSIS_CoreDebug */
-
-
-/** \ingroup    CMSIS_core_register
-    \defgroup   CMSIS_core_base     Core Definitions
-    \brief      Definitions for base addresses, unions, and structures.
-  @{
- */
-
-/* Memory mapping of Cortex-M3 Hardware */
-#define SCS_BASE            (0xE000E000UL)                            /*!< System Control Space Base Address  */
-#define ITM_BASE            (0xE0000000UL)                            /*!< ITM Base Address                   */
-#define DWT_BASE            (0xE0001000UL)                            /*!< DWT Base Address                   */
-#define TPI_BASE            (0xE0040000UL)                            /*!< TPI Base Address                   */
-#define CoreDebug_BASE      (0xE000EDF0UL)                            /*!< Core Debug Base Address            */
-#define SysTick_BASE        (SCS_BASE +  0x0010UL)                    /*!< SysTick Base Address               */
-#define NVIC_BASE           (SCS_BASE +  0x0100UL)                    /*!< NVIC Base Address                  */
-#define SCB_BASE            (SCS_BASE +  0x0D00UL)                    /*!< System Control Block Base Address  */
-
-#define SCnSCB              ((SCnSCB_Type    *)     SCS_BASE      )   /*!< System control Register not in SCB */
-#define SCB                 ((SCB_Type       *)     SCB_BASE      )   /*!< SCB configuration struct           */
-#define SysTick             ((SysTick_Type   *)     SysTick_BASE  )   /*!< SysTick configuration struct       */
-#define NVIC                ((NVIC_Type      *)     NVIC_BASE     )   /*!< NVIC configuration struct          */
-#define ITM                 ((ITM_Type       *)     ITM_BASE      )   /*!< ITM configuration struct           */
-#define DWT                 ((DWT_Type       *)     DWT_BASE      )   /*!< DWT configuration struct           */
-#define TPI                 ((TPI_Type       *)     TPI_BASE      )   /*!< TPI configuration struct           */
-#define CoreDebug           ((CoreDebug_Type *)     CoreDebug_BASE)   /*!< Core Debug configuration struct    */
-
-#if (__MPU_PRESENT == 1)
-  #define MPU_BASE          (SCS_BASE +  0x0D90UL)                    /*!< Memory Protection Unit             */
-  #define MPU               ((MPU_Type       *)     MPU_BASE      )   /*!< Memory Protection Unit             */
-#endif
-
-/*@} */
-
-
-
-/*******************************************************************************
- *                Hardware Abstraction Layer
-  Core Function Interface contains:
-  - Core NVIC Functions
-  - Core SysTick Functions
-  - Core Debug Functions
-  - Core Register Access Functions
- ******************************************************************************/
-/** \defgroup CMSIS_Core_FunctionInterface Functions and Instructions Reference
-*/
-
-
-
-/* ##########################   NVIC functions  #################################### */
-/** \ingroup  CMSIS_Core_FunctionInterface
-    \defgroup CMSIS_Core_NVICFunctions NVIC Functions
-    \brief      Functions that manage interrupts and exceptions via the NVIC.
-    @{
- */
-
-/** \brief  Set Priority Grouping
-
-  The function sets the priority grouping field using the required unlock sequence.
-  The parameter PriorityGroup is assigned to the field SCB->AIRCR [10:8] PRIGROUP field.
-  Only values from 0..7 are used.
-  In case of a conflict between priority grouping and available
-  priority bits (__NVIC_PRIO_BITS), the smallest possible priority group is set.
-
-    \param [in]      PriorityGroup  Priority grouping field.
- */
-__STATIC_INLINE void NVIC_SetPriorityGrouping(uint32_t PriorityGroup)
-{
-  uint32_t reg_value;
-  uint32_t PriorityGroupTmp = (PriorityGroup & (uint32_t)0x07);               /* only values 0..7 are used          */
-
-  reg_value  =  SCB->AIRCR;                                                   /* read old register configuration    */
-  reg_value &= ~(SCB_AIRCR_VECTKEY_Msk | SCB_AIRCR_PRIGROUP_Msk);             /* clear bits to change               */
-  reg_value  =  (reg_value                                 |
-                ((uint32_t)0x5FA << SCB_AIRCR_VECTKEY_Pos) |
-                (PriorityGroupTmp << 8));                                     /* Insert write key and priorty group */
-  SCB->AIRCR =  reg_value;
-}
-
-
-/** \brief  Get Priority Grouping
-
-  The function reads the priority grouping field from the NVIC Interrupt Controller.
-
-    \return                Priority grouping field (SCB->AIRCR [10:8] PRIGROUP field).
- */
-__STATIC_INLINE uint32_t NVIC_GetPriorityGrouping(void)
-{
-  return ((SCB->AIRCR & SCB_AIRCR_PRIGROUP_Msk) >> SCB_AIRCR_PRIGROUP_Pos);   /* read priority grouping field */
-}
-
-
-/** \brief  Enable External Interrupt
-
-    The function enables a device-specific interrupt in the NVIC interrupt controller.
-
-    \param [in]      IRQn  External interrupt number. Value cannot be negative.
- */
-__STATIC_INLINE void NVIC_EnableIRQ(IRQn_Type IRQn)
-{
-  NVIC->ISER[((uint32_t)(IRQn) >> 5)] = (1 << ((uint32_t)(IRQn) & 0x1F)); /* enable interrupt */
-}
-
-
-/** \brief  Disable External Interrupt
-
-    The function disables a device-specific interrupt in the NVIC interrupt controller.
-
-    \param [in]      IRQn  External interrupt number. Value cannot be negative.
- */
-__STATIC_INLINE void NVIC_DisableIRQ(IRQn_Type IRQn)
-{
-  NVIC->ICER[((uint32_t)(IRQn) >> 5)] = (1 << ((uint32_t)(IRQn) & 0x1F)); /* disable interrupt */
-}
-
-
-/** \brief  Get Pending Interrupt
-
-    The function reads the pending register in the NVIC and returns the pending bit
-    for the specified interrupt.
-
-    \param [in]      IRQn  Interrupt number.
-
-    \return             0  Interrupt status is not pending.
-    \return             1  Interrupt status is pending.
- */
-__STATIC_INLINE uint32_t NVIC_GetPendingIRQ(IRQn_Type IRQn)
-{
-  return((uint32_t) ((NVIC->ISPR[(uint32_t)(IRQn) >> 5] & (1 << ((uint32_t)(IRQn) & 0x1F)))?1:0)); /* Return 1 if pending else 0 */
-}
-
-
-/** \brief  Set Pending Interrupt
-
-    The function sets the pending bit of an external interrupt.
-
-    \param [in]      IRQn  Interrupt number. Value cannot be negative.
- */
-__STATIC_INLINE void NVIC_SetPendingIRQ(IRQn_Type IRQn)
-{
-  NVIC->ISPR[((uint32_t)(IRQn) >> 5)] = (1 << ((uint32_t)(IRQn) & 0x1F)); /* set interrupt pending */
-}
-
-
-/** \brief  Clear Pending Interrupt
-
-    The function clears the pending bit of an external interrupt.
-
-    \param [in]      IRQn  External interrupt number. Value cannot be negative.
- */
-__STATIC_INLINE void NVIC_ClearPendingIRQ(IRQn_Type IRQn)
-{
-  NVIC->ICPR[((uint32_t)(IRQn) >> 5)] = (1 << ((uint32_t)(IRQn) & 0x1F)); /* Clear pending interrupt */
-}
-
-
-/** \brief  Get Active Interrupt
-
-    The function reads the active register in NVIC and returns the active bit.
-
-    \param [in]      IRQn  Interrupt number.
-
-    \return             0  Interrupt status is not active.
-    \return             1  Interrupt status is active.
- */
-__STATIC_INLINE uint32_t NVIC_GetActive(IRQn_Type IRQn)
-{
-  return((uint32_t)((NVIC->IABR[(uint32_t)(IRQn) >> 5] & (1 << ((uint32_t)(IRQn) & 0x1F)))?1:0)); /* Return 1 if active else 0 */
-}
-
-
-/** \brief  Set Interrupt Priority
-
-    The function sets the priority of an interrupt.
-
-    \note The priority cannot be set for every core interrupt.
-
-    \param [in]      IRQn  Interrupt number.
-    \param [in]  priority  Priority to set.
- */
-__STATIC_INLINE void NVIC_SetPriority(IRQn_Type IRQn, uint32_t priority)
-{
-  if(IRQn < 0) {
-    SCB->SHP[((uint32_t)(IRQn) & 0xF)-4] = ((priority << (8 - __NVIC_PRIO_BITS)) & 0xff); } /* set Priority for Cortex-M  System Interrupts */
-  else {
-    NVIC->IP[(uint32_t)(IRQn)] = ((priority << (8 - __NVIC_PRIO_BITS)) & 0xff);    }        /* set Priority for device specific Interrupts  */
-}
-
-
-/** \brief  Get Interrupt Priority
-
-    The function reads the priority of an interrupt. The interrupt
-    number can be positive to specify an external (device specific)
-    interrupt, or negative to specify an internal (core) interrupt.
-
-
-    \param [in]   IRQn  Interrupt number.
-    \return             Interrupt Priority. Value is aligned automatically to the implemented
-                        priority bits of the microcontroller.
- */
-__STATIC_INLINE uint32_t NVIC_GetPriority(IRQn_Type IRQn)
-{
-
-  if(IRQn < 0) {
-    return((uint32_t)(SCB->SHP[((uint32_t)(IRQn) & 0xF)-4] >> (8 - __NVIC_PRIO_BITS)));  } /* get priority for Cortex-M  system interrupts */
-  else {
-    return((uint32_t)(NVIC->IP[(uint32_t)(IRQn)]           >> (8 - __NVIC_PRIO_BITS)));  } /* get priority for device specific interrupts  */
-}
-
-
-/** \brief  Encode Priority
-
-    The function encodes the priority for an interrupt with the given priority group,
-    preemptive priority value, and subpriority value.
-    In case of a conflict between priority grouping and available
-    priority bits (__NVIC_PRIO_BITS), the samllest possible priority group is set.
-
-    \param [in]     PriorityGroup  Used priority group.
-    \param [in]   PreemptPriority  Preemptive priority value (starting from 0).
-    \param [in]       SubPriority  Subpriority value (starting from 0).
-    \return                        Encoded priority. Value can be used in the function \ref NVIC_SetPriority().
- */
-__STATIC_INLINE uint32_t NVIC_EncodePriority (uint32_t PriorityGroup, uint32_t PreemptPriority, uint32_t SubPriority)
-{
-  uint32_t PriorityGroupTmp = (PriorityGroup & 0x07);          /* only values 0..7 are used          */
-  uint32_t PreemptPriorityBits;
-  uint32_t SubPriorityBits;
-
-  PreemptPriorityBits = ((7 - PriorityGroupTmp) > __NVIC_PRIO_BITS) ? __NVIC_PRIO_BITS : 7 - PriorityGroupTmp;
-  SubPriorityBits     = ((PriorityGroupTmp + __NVIC_PRIO_BITS) < 7) ? 0 : PriorityGroupTmp - 7 + __NVIC_PRIO_BITS;
-
-  return (
-           ((PreemptPriority & ((1 << (PreemptPriorityBits)) - 1)) << SubPriorityBits) |
-           ((SubPriority     & ((1 << (SubPriorityBits    )) - 1)))
-         );
-}
-
-
-/** \brief  Decode Priority
-
-    The function decodes an interrupt priority value with a given priority group to
-    preemptive priority value and subpriority value.
-    In case of a conflict between priority grouping and available
-    priority bits (__NVIC_PRIO_BITS) the samllest possible priority group is set.
-
-    \param [in]         Priority   Priority value, which can be retrieved with the function \ref NVIC_GetPriority().
-    \param [in]     PriorityGroup  Used priority group.
-    \param [out] pPreemptPriority  Preemptive priority value (starting from 0).
-    \param [out]     pSubPriority  Subpriority value (starting from 0).
- */
-__STATIC_INLINE void NVIC_DecodePriority (uint32_t Priority, uint32_t PriorityGroup, uint32_t* pPreemptPriority, uint32_t* pSubPriority)
-{
-  uint32_t PriorityGroupTmp = (PriorityGroup & 0x07);          /* only values 0..7 are used          */
-  uint32_t PreemptPriorityBits;
-  uint32_t SubPriorityBits;
-
-  PreemptPriorityBits = ((7 - PriorityGroupTmp) > __NVIC_PRIO_BITS) ? __NVIC_PRIO_BITS : 7 - PriorityGroupTmp;
-  SubPriorityBits     = ((PriorityGroupTmp + __NVIC_PRIO_BITS) < 7) ? 0 : PriorityGroupTmp - 7 + __NVIC_PRIO_BITS;
-
-  *pPreemptPriority = (Priority >> SubPriorityBits) & ((1 << (PreemptPriorityBits)) - 1);
-  *pSubPriority     = (Priority                   ) & ((1 << (SubPriorityBits    )) - 1);
-}
-
-
-/** \brief  System Reset
-
-    The function initiates a system reset request to reset the MCU.
- */
-__STATIC_INLINE void NVIC_SystemReset(void)
-{
-  __DSB();                                                     /* Ensure all outstanding memory accesses included
-                                                                  buffered write are completed before reset */
-  SCB->AIRCR  = ((0x5FA << SCB_AIRCR_VECTKEY_Pos)      |
-                 (SCB->AIRCR & SCB_AIRCR_PRIGROUP_Msk) |
-                 SCB_AIRCR_SYSRESETREQ_Msk);                   /* Keep priority group unchanged */
-  __DSB();                                                     /* Ensure completion of memory access */
-  while(1);                                                    /* wait until reset */
-}
-
-/*@} end of CMSIS_Core_NVICFunctions */
-
-
-
-/* ##################################    SysTick function  ############################################ */
-/** \ingroup  CMSIS_Core_FunctionInterface
-    \defgroup CMSIS_Core_SysTickFunctions SysTick Functions
-    \brief      Functions that configure the System.
-  @{
- */
-
-#if (__Vendor_SysTickConfig == 0)
-
-/** \brief  System Tick Configuration
-
-    The function initializes the System Timer and its interrupt, and starts the System Tick Timer.
-    Counter is in free running mode to generate periodic interrupts.
-
-    \param [in]  ticks  Number of ticks between two interrupts.
-
-    \return          0  Function succeeded.
-    \return          1  Function failed.
-
-    \note     When the variable __Vendor_SysTickConfig is set to 1, then the
-    function SysTick_Config is not included. In this case, the file device.h
-    must contain a vendor-specific implementation of this function.
-
- */
-__STATIC_INLINE uint32_t SysTick_Config(uint32_t ticks)
-{
-  if (ticks > SysTick_LOAD_RELOAD_Msk)  return (1);            /* Reload value impossible */
-
-  SysTick->LOAD  = (ticks & SysTick_LOAD_RELOAD_Msk) - 1;      /* set reload register */
-  NVIC_SetPriority (SysTick_IRQn, (1<<__NVIC_PRIO_BITS) - 1);  /* set Priority for Systick Interrupt */
-  SysTick->VAL   = 0;                                          /* Load the SysTick Counter Value */
-  SysTick->CTRL  = SysTick_CTRL_CLKSOURCE_Msk |
-                   SysTick_CTRL_TICKINT_Msk   |
-                   SysTick_CTRL_ENABLE_Msk;                    /* Enable SysTick IRQ and SysTick Timer */
-  return (0);                                                  /* Function successful */
-}
-
-#endif
-
-/*@} end of CMSIS_Core_SysTickFunctions */
-
-
-
-/* ##################################### Debug In/Output function ########################################### */
-/** \ingroup  CMSIS_Core_FunctionInterface
-    \defgroup CMSIS_core_DebugFunctions ITM Functions
-    \brief   Functions that access the ITM debug interface.
-  @{
- */
-
-extern volatile int32_t ITM_RxBuffer;                    /*!< External variable to receive characters.                         */
-#define                 ITM_RXBUFFER_EMPTY    0x5AA55AA5 /*!< Value identifying \ref ITM_RxBuffer is ready for next character. */
-
-
-/** \brief  ITM Send Character
-
-    The function transmits a character via the ITM channel 0, and
-    \li Just returns when no debugger is connected that has booked the output.
-    \li Is blocking when a debugger is connected, but the previous character sent has not been transmitted.
-
-    \param [in]     ch  Character to transmit.
-
-    \returns            Character to transmit.
- */
-__STATIC_INLINE uint32_t ITM_SendChar (uint32_t ch)
-{
-  if ((ITM->TCR & ITM_TCR_ITMENA_Msk)                  &&      /* ITM enabled */
-      (ITM->TER & (1UL << 0)        )                    )     /* ITM Port #0 enabled */
-  {
-    while (ITM->PORT[0].u32 == 0);
-    ITM->PORT[0].u8 = (uint8_t) ch;
-  }
-  return (ch);
-}
-
-
-/** \brief  ITM Receive Character
-
-    The function inputs a character via the external variable \ref ITM_RxBuffer.
-
-    \return             Received character.
-    \return         -1  No character pending.
- */
-__STATIC_INLINE int32_t ITM_ReceiveChar (void) {
-  int32_t ch = -1;                           /* no character available */
-
-  if (ITM_RxBuffer != ITM_RXBUFFER_EMPTY) {
-    ch = ITM_RxBuffer;
-    ITM_RxBuffer = ITM_RXBUFFER_EMPTY;       /* ready for next character */
-  }
-
-  return (ch);
-}
-
-
-/** \brief  ITM Check Character
-
-    The function checks whether a character is pending for reading in the variable \ref ITM_RxBuffer.
-
-    \return          0  No character available.
-    \return          1  Character available.
- */
-__STATIC_INLINE int32_t ITM_CheckChar (void) {
-
-  if (ITM_RxBuffer == ITM_RXBUFFER_EMPTY) {
-    return (0);                                 /* no character available */
-  } else {
-    return (1);                                 /*    character available */
-  }
-}
-
-/*@} end of CMSIS_core_DebugFunctions */
-
-#endif /* __CORE_CM3_H_DEPENDANT */
-
-#endif /* __CMSIS_GENERIC */
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/apps/mathlib/CMSIS/Include/core_cm4.h b/apps/mathlib/CMSIS/Include/core_cm4.h
deleted file mode 100644
index 5f3b7d619..000000000
--- a/apps/mathlib/CMSIS/Include/core_cm4.h
+++ /dev/null
@@ -1,1757 +0,0 @@
-/**************************************************************************//**
- * @file     core_cm4.h
- * @brief    CMSIS Cortex-M4 Core Peripheral Access Layer Header File
- * @version  V3.01
- * @date     22. March 2012
- *
- * @note
- * Copyright (C) 2009-2012 ARM Limited. All rights reserved.
- *
- * @par
- * ARM Limited (ARM) is supplying this software for use with Cortex-M
- * processor based microcontrollers.  This file can be freely distributed
- * within development tools that are supporting such ARM based processors.
- *
- * @par
- * THIS SOFTWARE IS PROVIDED "AS IS".  NO WARRANTIES, WHETHER EXPRESS, IMPLIED
- * OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
- * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
- * ARM SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR
- * CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
- *
- ******************************************************************************/
-#if defined ( __ICCARM__ )
- #pragma system_include  /* treat file as system include file for MISRA check */
-#endif
-
-#ifdef __cplusplus
- extern "C" {
-#endif
-
-#ifndef __CORE_CM4_H_GENERIC
-#define __CORE_CM4_H_GENERIC
-
-/** \page CMSIS_MISRA_Exceptions  MISRA-C:2004 Compliance Exceptions
-  CMSIS violates the following MISRA-C:2004 rules:
-
-   \li Required Rule 8.5, object/function definition in header file.

-     Function definitions in header files are used to allow 'inlining'.
-
-   \li Required Rule 18.4, declaration of union type or object of union type: '{...}'.

-     Unions are used for effective representation of core registers.
-
-   \li Advisory Rule 19.7, Function-like macro defined.

-     Function-like macros are used to allow more efficient code.
- */
-
-
-/*******************************************************************************
- *                 CMSIS definitions
- ******************************************************************************/
-/** \ingroup Cortex_M4
-  @{
- */
-
-/*  CMSIS CM4 definitions */
-#define __CM4_CMSIS_VERSION_MAIN  (0x03)                                   /*!< [31:16] CMSIS HAL main version   */
-#define __CM4_CMSIS_VERSION_SUB   (0x01)                                   /*!< [15:0]  CMSIS HAL sub version    */
-#define __CM4_CMSIS_VERSION       ((__CM4_CMSIS_VERSION_MAIN << 16) | \
-                                    __CM4_CMSIS_VERSION_SUB          )     /*!< CMSIS HAL version number         */
-
-#define __CORTEX_M                (0x04)                                   /*!< Cortex-M Core                    */
-
-
-#if   defined ( __CC_ARM )
-  #define __ASM            __asm                                      /*!< asm keyword for ARM Compiler          */
-  #define __INLINE         __inline                                   /*!< inline keyword for ARM Compiler       */
-  #define __STATIC_INLINE  static __inline
-
-#elif defined ( __ICCARM__ )
-  #define __ASM            __asm                                      /*!< asm keyword for IAR Compiler          */
-  #define __INLINE         inline                                     /*!< inline keyword for IAR Compiler. Only available in High optimization mode! */
-  #define __STATIC_INLINE  static inline
-
-#elif defined ( __TMS470__ )
-  #define __ASM            __asm                                      /*!< asm keyword for TI CCS Compiler       */
-  #define __STATIC_INLINE  static inline
-
-#elif defined ( __GNUC__ )
-  #define __ASM            __asm                                      /*!< asm keyword for GNU Compiler          */
-  #define __INLINE         inline                                     /*!< inline keyword for GNU Compiler       */
-  #define __STATIC_INLINE  static inline
-
-#elif defined ( __TASKING__ )
-  #define __ASM            __asm                                      /*!< asm keyword for TASKING Compiler      */
-  #define __INLINE         inline                                     /*!< inline keyword for TASKING Compiler   */
-  #define __STATIC_INLINE  static inline
-
-#endif
-
-/** __FPU_USED indicates whether an FPU is used or not. For this, __FPU_PRESENT has to be checked prior to making use of FPU specific registers and functions.
-*/
-#if defined ( __CC_ARM )
-  #if defined __TARGET_FPU_VFP
-    #if (__FPU_PRESENT == 1)
-      #define __FPU_USED       1
-    #else
-      #warning "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
-      #define __FPU_USED       0
-    #endif
-  #else
-    #define __FPU_USED         0
-  #endif
-
-#elif defined ( __ICCARM__ )
-  #if defined __ARMVFP__
-    #if (__FPU_PRESENT == 1)
-      #define __FPU_USED       1
-    #else
-      #warning "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
-      #define __FPU_USED       0
-    #endif
-  #else
-    #define __FPU_USED         0
-  #endif
-
-#elif defined ( __TMS470__ )
-  #if defined __TI_VFP_SUPPORT__
-    #if (__FPU_PRESENT == 1)
-      #define __FPU_USED       1
-    #else
-      #warning "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
-      #define __FPU_USED       0
-    #endif
-  #else
-    #define __FPU_USED         0
-  #endif
-
-#elif defined ( __GNUC__ )
-  #if defined (__VFP_FP__) && !defined(__SOFTFP__)
-    #if (__FPU_PRESENT == 1)
-      #define __FPU_USED       1
-    #else
-      #warning "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
-      #define __FPU_USED       0
-    #endif
-  #else
-    #define __FPU_USED         0
-  #endif
-
-#elif defined ( __TASKING__ )
-  #if defined __FPU_VFP__
-    #if (__FPU_PRESENT == 1)
-      #define __FPU_USED       1
-    #else
-      #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
-      #define __FPU_USED       0
-    #endif
-  #else
-    #define __FPU_USED         0
-  #endif
-#endif
-
-#include                       /* standard types definitions                      */
-#include "core_cmInstr.h"                /* Core Instruction Access                         */
-#include "core_cmFunc.h"                 /* Core Function Access                            */
-#include "core_cm4_simd.h"               /* Compiler specific SIMD Intrinsics               */
-
-#endif /* __CORE_CM4_H_GENERIC */
-
-#ifndef __CMSIS_GENERIC
-
-#ifndef __CORE_CM4_H_DEPENDANT
-#define __CORE_CM4_H_DEPENDANT
-
-/* check device defines and use defaults */
-#if defined __CHECK_DEVICE_DEFINES
-  #ifndef __CM4_REV
-    #define __CM4_REV               0x0000
-    #warning "__CM4_REV not defined in device header file; using default!"
-  #endif
-
-  #ifndef __FPU_PRESENT
-    #define __FPU_PRESENT             0
-    #warning "__FPU_PRESENT not defined in device header file; using default!"
-  #endif
-
-  #ifndef __MPU_PRESENT
-    #define __MPU_PRESENT             0
-    #warning "__MPU_PRESENT not defined in device header file; using default!"
-  #endif
-
-  #ifndef __NVIC_PRIO_BITS
-    #define __NVIC_PRIO_BITS          4
-    #warning "__NVIC_PRIO_BITS not defined in device header file; using default!"
-  #endif
-
-  #ifndef __Vendor_SysTickConfig
-    #define __Vendor_SysTickConfig    0
-    #warning "__Vendor_SysTickConfig not defined in device header file; using default!"
-  #endif
-#endif
-
-/* IO definitions (access restrictions to peripheral registers) */
-/**
-    \defgroup CMSIS_glob_defs CMSIS Global Defines
-
-    IO Type Qualifiers are used
-    \li to specify the access to peripheral variables.
-    \li for automatic generation of peripheral register debug information.
-*/
-#ifdef __cplusplus
-  #define   __I     volatile             /*!< Defines 'read only' permissions                 */
-#else
-  #define   __I     volatile const       /*!< Defines 'read only' permissions                 */
-#endif
-#define     __O     volatile             /*!< Defines 'write only' permissions                */
-#define     __IO    volatile             /*!< Defines 'read / write' permissions              */
-
-/*@} end of group Cortex_M4 */
-
-
-
-/*******************************************************************************
- *                 Register Abstraction
-  Core Register contain:
-  - Core Register
-  - Core NVIC Register
-  - Core SCB Register
-  - Core SysTick Register
-  - Core Debug Register
-  - Core MPU Register
-  - Core FPU Register
- ******************************************************************************/
-/** \defgroup CMSIS_core_register Defines and Type Definitions
-    \brief Type definitions and defines for Cortex-M processor based devices.
-*/
-
-/** \ingroup    CMSIS_core_register
-    \defgroup   CMSIS_CORE  Status and Control Registers
-    \brief  Core Register type definitions.
-  @{
- */
-
-/** \brief  Union type to access the Application Program Status Register (APSR).
- */
-typedef union
-{
-  struct
-  {
-#if (__CORTEX_M != 0x04)
-    uint32_t _reserved0:27;              /*!< bit:  0..26  Reserved                           */
-#else
-    uint32_t _reserved0:16;              /*!< bit:  0..15  Reserved                           */
-    uint32_t GE:4;                       /*!< bit: 16..19  Greater than or Equal flags        */
-    uint32_t _reserved1:7;               /*!< bit: 20..26  Reserved                           */
-#endif
-    uint32_t Q:1;                        /*!< bit:     27  Saturation condition flag          */
-    uint32_t V:1;                        /*!< bit:     28  Overflow condition code flag       */
-    uint32_t C:1;                        /*!< bit:     29  Carry condition code flag          */
-    uint32_t Z:1;                        /*!< bit:     30  Zero condition code flag           */
-    uint32_t N:1;                        /*!< bit:     31  Negative condition code flag       */
-  } b;                                   /*!< Structure used for bit  access                  */
-  uint32_t w;                            /*!< Type      used for word access                  */
-} APSR_Type;
-
-
-/** \brief  Union type to access the Interrupt Program Status Register (IPSR).
- */
-typedef union
-{
-  struct
-  {
-    uint32_t ISR:9;                      /*!< bit:  0.. 8  Exception number                   */
-    uint32_t _reserved0:23;              /*!< bit:  9..31  Reserved                           */
-  } b;                                   /*!< Structure used for bit  access                  */
-  uint32_t w;                            /*!< Type      used for word access                  */
-} IPSR_Type;
-
-
-/** \brief  Union type to access the Special-Purpose Program Status Registers (xPSR).
- */
-typedef union
-{
-  struct
-  {
-    uint32_t ISR:9;                      /*!< bit:  0.. 8  Exception number                   */
-#if (__CORTEX_M != 0x04)
-    uint32_t _reserved0:15;              /*!< bit:  9..23  Reserved                           */
-#else
-    uint32_t _reserved0:7;               /*!< bit:  9..15  Reserved                           */
-    uint32_t GE:4;                       /*!< bit: 16..19  Greater than or Equal flags        */
-    uint32_t _reserved1:4;               /*!< bit: 20..23  Reserved                           */
-#endif
-    uint32_t T:1;                        /*!< bit:     24  Thumb bit        (read 0)          */
-    uint32_t IT:2;                       /*!< bit: 25..26  saved IT state   (read 0)          */
-    uint32_t Q:1;                        /*!< bit:     27  Saturation condition flag          */
-    uint32_t V:1;                        /*!< bit:     28  Overflow condition code flag       */
-    uint32_t C:1;                        /*!< bit:     29  Carry condition code flag          */
-    uint32_t Z:1;                        /*!< bit:     30  Zero condition code flag           */
-    uint32_t N:1;                        /*!< bit:     31  Negative condition code flag       */
-  } b;                                   /*!< Structure used for bit  access                  */
-  uint32_t w;                            /*!< Type      used for word access                  */
-} xPSR_Type;
-
-
-/** \brief  Union type to access the Control Registers (CONTROL).
- */
-typedef union
-{
-  struct
-  {
-    uint32_t nPRIV:1;                    /*!< bit:      0  Execution privilege in Thread mode */
-    uint32_t SPSEL:1;                    /*!< bit:      1  Stack to be used                   */
-    uint32_t FPCA:1;                     /*!< bit:      2  FP extension active flag           */
-    uint32_t _reserved0:29;              /*!< bit:  3..31  Reserved                           */
-  } b;                                   /*!< Structure used for bit  access                  */
-  uint32_t w;                            /*!< Type      used for word access                  */
-} CONTROL_Type;
-
-/*@} end of group CMSIS_CORE */
-
-
-/** \ingroup    CMSIS_core_register
-    \defgroup   CMSIS_NVIC  Nested Vectored Interrupt Controller (NVIC)
-    \brief      Type definitions for the NVIC Registers
-  @{
- */
-
-/** \brief  Structure type to access the Nested Vectored Interrupt Controller (NVIC).
- */
-typedef struct
-{
-  __IO uint32_t ISER[8];                 /*!< Offset: 0x000 (R/W)  Interrupt Set Enable Register           */
-       uint32_t RESERVED0[24];
-  __IO uint32_t ICER[8];                 /*!< Offset: 0x080 (R/W)  Interrupt Clear Enable Register         */
-       uint32_t RSERVED1[24];
-  __IO uint32_t ISPR[8];                 /*!< Offset: 0x100 (R/W)  Interrupt Set Pending Register          */
-       uint32_t RESERVED2[24];
-  __IO uint32_t ICPR[8];                 /*!< Offset: 0x180 (R/W)  Interrupt Clear Pending Register        */
-       uint32_t RESERVED3[24];
-  __IO uint32_t IABR[8];                 /*!< Offset: 0x200 (R/W)  Interrupt Active bit Register           */
-       uint32_t RESERVED4[56];
-  __IO uint8_t  IP[240];                 /*!< Offset: 0x300 (R/W)  Interrupt Priority Register (8Bit wide) */
-       uint32_t RESERVED5[644];
-  __O  uint32_t STIR;                    /*!< Offset: 0xE00 ( /W)  Software Trigger Interrupt Register     */
-}  NVIC_Type;
-
-/* Software Triggered Interrupt Register Definitions */
-#define NVIC_STIR_INTID_Pos                 0                                          /*!< STIR: INTLINESNUM Position */
-#define NVIC_STIR_INTID_Msk                (0x1FFUL << NVIC_STIR_INTID_Pos)            /*!< STIR: INTLINESNUM Mask */
-
-/*@} end of group CMSIS_NVIC */
-
-
-/** \ingroup  CMSIS_core_register
-    \defgroup CMSIS_SCB     System Control Block (SCB)
-    \brief      Type definitions for the System Control Block Registers
-  @{
- */
-
-/** \brief  Structure type to access the System Control Block (SCB).
- */
-typedef struct
-{
-  __I  uint32_t CPUID;                   /*!< Offset: 0x000 (R/ )  CPUID Base Register                                   */
-  __IO uint32_t ICSR;                    /*!< Offset: 0x004 (R/W)  Interrupt Control and State Register                  */
-  __IO uint32_t VTOR;                    /*!< Offset: 0x008 (R/W)  Vector Table Offset Register                          */
-  __IO uint32_t AIRCR;                   /*!< Offset: 0x00C (R/W)  Application Interrupt and Reset Control Register      */
-  __IO uint32_t SCR;                     /*!< Offset: 0x010 (R/W)  System Control Register                               */
-  __IO uint32_t CCR;                     /*!< Offset: 0x014 (R/W)  Configuration Control Register                        */
-  __IO uint8_t  SHP[12];                 /*!< Offset: 0x018 (R/W)  System Handlers Priority Registers (4-7, 8-11, 12-15) */
-  __IO uint32_t SHCSR;                   /*!< Offset: 0x024 (R/W)  System Handler Control and State Register             */
-  __IO uint32_t CFSR;                    /*!< Offset: 0x028 (R/W)  Configurable Fault Status Register                    */
-  __IO uint32_t HFSR;                    /*!< Offset: 0x02C (R/W)  HardFault Status Register                             */
-  __IO uint32_t DFSR;                    /*!< Offset: 0x030 (R/W)  Debug Fault Status Register                           */
-  __IO uint32_t MMFAR;                   /*!< Offset: 0x034 (R/W)  MemManage Fault Address Register                      */
-  __IO uint32_t BFAR;                    /*!< Offset: 0x038 (R/W)  BusFault Address Register                             */
-  __IO uint32_t AFSR;                    /*!< Offset: 0x03C (R/W)  Auxiliary Fault Status Register                       */
-  __I  uint32_t PFR[2];                  /*!< Offset: 0x040 (R/ )  Processor Feature Register                            */
-  __I  uint32_t DFR;                     /*!< Offset: 0x048 (R/ )  Debug Feature Register                                */
-  __I  uint32_t ADR;                     /*!< Offset: 0x04C (R/ )  Auxiliary Feature Register                            */
-  __I  uint32_t MMFR[4];                 /*!< Offset: 0x050 (R/ )  Memory Model Feature Register                         */
-  __I  uint32_t ISAR[5];                 /*!< Offset: 0x060 (R/ )  Instruction Set Attributes Register                   */
-       uint32_t RESERVED0[5];
-  __IO uint32_t CPACR;                   /*!< Offset: 0x088 (R/W)  Coprocessor Access Control Register                   */
-} SCB_Type;
-
-/* SCB CPUID Register Definitions */
-#define SCB_CPUID_IMPLEMENTER_Pos          24                                             /*!< SCB CPUID: IMPLEMENTER Position */
-#define SCB_CPUID_IMPLEMENTER_Msk          (0xFFUL << SCB_CPUID_IMPLEMENTER_Pos)          /*!< SCB CPUID: IMPLEMENTER Mask */
-
-#define SCB_CPUID_VARIANT_Pos              20                                             /*!< SCB CPUID: VARIANT Position */
-#define SCB_CPUID_VARIANT_Msk              (0xFUL << SCB_CPUID_VARIANT_Pos)               /*!< SCB CPUID: VARIANT Mask */
-
-#define SCB_CPUID_ARCHITECTURE_Pos         16                                             /*!< SCB CPUID: ARCHITECTURE Position */
-#define SCB_CPUID_ARCHITECTURE_Msk         (0xFUL << SCB_CPUID_ARCHITECTURE_Pos)          /*!< SCB CPUID: ARCHITECTURE Mask */
-
-#define SCB_CPUID_PARTNO_Pos                4                                             /*!< SCB CPUID: PARTNO Position */
-#define SCB_CPUID_PARTNO_Msk               (0xFFFUL << SCB_CPUID_PARTNO_Pos)              /*!< SCB CPUID: PARTNO Mask */
-
-#define SCB_CPUID_REVISION_Pos              0                                             /*!< SCB CPUID: REVISION Position */
-#define SCB_CPUID_REVISION_Msk             (0xFUL << SCB_CPUID_REVISION_Pos)              /*!< SCB CPUID: REVISION Mask */
-
-/* SCB Interrupt Control State Register Definitions */
-#define SCB_ICSR_NMIPENDSET_Pos            31                                             /*!< SCB ICSR: NMIPENDSET Position */
-#define SCB_ICSR_NMIPENDSET_Msk            (1UL << SCB_ICSR_NMIPENDSET_Pos)               /*!< SCB ICSR: NMIPENDSET Mask */
-
-#define SCB_ICSR_PENDSVSET_Pos             28                                             /*!< SCB ICSR: PENDSVSET Position */
-#define SCB_ICSR_PENDSVSET_Msk             (1UL << SCB_ICSR_PENDSVSET_Pos)                /*!< SCB ICSR: PENDSVSET Mask */
-
-#define SCB_ICSR_PENDSVCLR_Pos             27                                             /*!< SCB ICSR: PENDSVCLR Position */
-#define SCB_ICSR_PENDSVCLR_Msk             (1UL << SCB_ICSR_PENDSVCLR_Pos)                /*!< SCB ICSR: PENDSVCLR Mask */
-
-#define SCB_ICSR_PENDSTSET_Pos             26                                             /*!< SCB ICSR: PENDSTSET Position */
-#define SCB_ICSR_PENDSTSET_Msk             (1UL << SCB_ICSR_PENDSTSET_Pos)                /*!< SCB ICSR: PENDSTSET Mask */
-
-#define SCB_ICSR_PENDSTCLR_Pos             25                                             /*!< SCB ICSR: PENDSTCLR Position */
-#define SCB_ICSR_PENDSTCLR_Msk             (1UL << SCB_ICSR_PENDSTCLR_Pos)                /*!< SCB ICSR: PENDSTCLR Mask */
-
-#define SCB_ICSR_ISRPREEMPT_Pos            23                                             /*!< SCB ICSR: ISRPREEMPT Position */
-#define SCB_ICSR_ISRPREEMPT_Msk            (1UL << SCB_ICSR_ISRPREEMPT_Pos)               /*!< SCB ICSR: ISRPREEMPT Mask */
-
-#define SCB_ICSR_ISRPENDING_Pos            22                                             /*!< SCB ICSR: ISRPENDING Position */
-#define SCB_ICSR_ISRPENDING_Msk            (1UL << SCB_ICSR_ISRPENDING_Pos)               /*!< SCB ICSR: ISRPENDING Mask */
-
-#define SCB_ICSR_VECTPENDING_Pos           12                                             /*!< SCB ICSR: VECTPENDING Position */
-#define SCB_ICSR_VECTPENDING_Msk           (0x1FFUL << SCB_ICSR_VECTPENDING_Pos)          /*!< SCB ICSR: VECTPENDING Mask */
-
-#define SCB_ICSR_RETTOBASE_Pos             11                                             /*!< SCB ICSR: RETTOBASE Position */
-#define SCB_ICSR_RETTOBASE_Msk             (1UL << SCB_ICSR_RETTOBASE_Pos)                /*!< SCB ICSR: RETTOBASE Mask */
-
-#define SCB_ICSR_VECTACTIVE_Pos             0                                             /*!< SCB ICSR: VECTACTIVE Position */
-#define SCB_ICSR_VECTACTIVE_Msk            (0x1FFUL << SCB_ICSR_VECTACTIVE_Pos)           /*!< SCB ICSR: VECTACTIVE Mask */
-
-/* SCB Vector Table Offset Register Definitions */
-#define SCB_VTOR_TBLOFF_Pos                 7                                             /*!< SCB VTOR: TBLOFF Position */
-#define SCB_VTOR_TBLOFF_Msk                (0x1FFFFFFUL << SCB_VTOR_TBLOFF_Pos)           /*!< SCB VTOR: TBLOFF Mask */
-
-/* SCB Application Interrupt and Reset Control Register Definitions */
-#define SCB_AIRCR_VECTKEY_Pos              16                                             /*!< SCB AIRCR: VECTKEY Position */
-#define SCB_AIRCR_VECTKEY_Msk              (0xFFFFUL << SCB_AIRCR_VECTKEY_Pos)            /*!< SCB AIRCR: VECTKEY Mask */
-
-#define SCB_AIRCR_VECTKEYSTAT_Pos          16                                             /*!< SCB AIRCR: VECTKEYSTAT Position */
-#define SCB_AIRCR_VECTKEYSTAT_Msk          (0xFFFFUL << SCB_AIRCR_VECTKEYSTAT_Pos)        /*!< SCB AIRCR: VECTKEYSTAT Mask */
-
-#define SCB_AIRCR_ENDIANESS_Pos            15                                             /*!< SCB AIRCR: ENDIANESS Position */
-#define SCB_AIRCR_ENDIANESS_Msk            (1UL << SCB_AIRCR_ENDIANESS_Pos)               /*!< SCB AIRCR: ENDIANESS Mask */
-
-#define SCB_AIRCR_PRIGROUP_Pos              8                                             /*!< SCB AIRCR: PRIGROUP Position */
-#define SCB_AIRCR_PRIGROUP_Msk             (7UL << SCB_AIRCR_PRIGROUP_Pos)                /*!< SCB AIRCR: PRIGROUP Mask */
-
-#define SCB_AIRCR_SYSRESETREQ_Pos           2                                             /*!< SCB AIRCR: SYSRESETREQ Position */
-#define SCB_AIRCR_SYSRESETREQ_Msk          (1UL << SCB_AIRCR_SYSRESETREQ_Pos)             /*!< SCB AIRCR: SYSRESETREQ Mask */
-
-#define SCB_AIRCR_VECTCLRACTIVE_Pos         1                                             /*!< SCB AIRCR: VECTCLRACTIVE Position */
-#define SCB_AIRCR_VECTCLRACTIVE_Msk        (1UL << SCB_AIRCR_VECTCLRACTIVE_Pos)           /*!< SCB AIRCR: VECTCLRACTIVE Mask */
-
-#define SCB_AIRCR_VECTRESET_Pos             0                                             /*!< SCB AIRCR: VECTRESET Position */
-#define SCB_AIRCR_VECTRESET_Msk            (1UL << SCB_AIRCR_VECTRESET_Pos)               /*!< SCB AIRCR: VECTRESET Mask */
-
-/* SCB System Control Register Definitions */
-#define SCB_SCR_SEVONPEND_Pos               4                                             /*!< SCB SCR: SEVONPEND Position */
-#define SCB_SCR_SEVONPEND_Msk              (1UL << SCB_SCR_SEVONPEND_Pos)                 /*!< SCB SCR: SEVONPEND Mask */
-
-#define SCB_SCR_SLEEPDEEP_Pos               2                                             /*!< SCB SCR: SLEEPDEEP Position */
-#define SCB_SCR_SLEEPDEEP_Msk              (1UL << SCB_SCR_SLEEPDEEP_Pos)                 /*!< SCB SCR: SLEEPDEEP Mask */
-
-#define SCB_SCR_SLEEPONEXIT_Pos             1                                             /*!< SCB SCR: SLEEPONEXIT Position */
-#define SCB_SCR_SLEEPONEXIT_Msk            (1UL << SCB_SCR_SLEEPONEXIT_Pos)               /*!< SCB SCR: SLEEPONEXIT Mask */
-
-/* SCB Configuration Control Register Definitions */
-#define SCB_CCR_STKALIGN_Pos                9                                             /*!< SCB CCR: STKALIGN Position */
-#define SCB_CCR_STKALIGN_Msk               (1UL << SCB_CCR_STKALIGN_Pos)                  /*!< SCB CCR: STKALIGN Mask */
-
-#define SCB_CCR_BFHFNMIGN_Pos               8                                             /*!< SCB CCR: BFHFNMIGN Position */
-#define SCB_CCR_BFHFNMIGN_Msk              (1UL << SCB_CCR_BFHFNMIGN_Pos)                 /*!< SCB CCR: BFHFNMIGN Mask */
-
-#define SCB_CCR_DIV_0_TRP_Pos               4                                             /*!< SCB CCR: DIV_0_TRP Position */
-#define SCB_CCR_DIV_0_TRP_Msk              (1UL << SCB_CCR_DIV_0_TRP_Pos)                 /*!< SCB CCR: DIV_0_TRP Mask */
-
-#define SCB_CCR_UNALIGN_TRP_Pos             3                                             /*!< SCB CCR: UNALIGN_TRP Position */
-#define SCB_CCR_UNALIGN_TRP_Msk            (1UL << SCB_CCR_UNALIGN_TRP_Pos)               /*!< SCB CCR: UNALIGN_TRP Mask */
-
-#define SCB_CCR_USERSETMPEND_Pos            1                                             /*!< SCB CCR: USERSETMPEND Position */
-#define SCB_CCR_USERSETMPEND_Msk           (1UL << SCB_CCR_USERSETMPEND_Pos)              /*!< SCB CCR: USERSETMPEND Mask */
-
-#define SCB_CCR_NONBASETHRDENA_Pos          0                                             /*!< SCB CCR: NONBASETHRDENA Position */
-#define SCB_CCR_NONBASETHRDENA_Msk         (1UL << SCB_CCR_NONBASETHRDENA_Pos)            /*!< SCB CCR: NONBASETHRDENA Mask */
-
-/* SCB System Handler Control and State Register Definitions */
-#define SCB_SHCSR_USGFAULTENA_Pos          18                                             /*!< SCB SHCSR: USGFAULTENA Position */
-#define SCB_SHCSR_USGFAULTENA_Msk          (1UL << SCB_SHCSR_USGFAULTENA_Pos)             /*!< SCB SHCSR: USGFAULTENA Mask */
-
-#define SCB_SHCSR_BUSFAULTENA_Pos          17                                             /*!< SCB SHCSR: BUSFAULTENA Position */
-#define SCB_SHCSR_BUSFAULTENA_Msk          (1UL << SCB_SHCSR_BUSFAULTENA_Pos)             /*!< SCB SHCSR: BUSFAULTENA Mask */
-
-#define SCB_SHCSR_MEMFAULTENA_Pos          16                                             /*!< SCB SHCSR: MEMFAULTENA Position */
-#define SCB_SHCSR_MEMFAULTENA_Msk          (1UL << SCB_SHCSR_MEMFAULTENA_Pos)             /*!< SCB SHCSR: MEMFAULTENA Mask */
-
-#define SCB_SHCSR_SVCALLPENDED_Pos         15                                             /*!< SCB SHCSR: SVCALLPENDED Position */
-#define SCB_SHCSR_SVCALLPENDED_Msk         (1UL << SCB_SHCSR_SVCALLPENDED_Pos)            /*!< SCB SHCSR: SVCALLPENDED Mask */
-
-#define SCB_SHCSR_BUSFAULTPENDED_Pos       14                                             /*!< SCB SHCSR: BUSFAULTPENDED Position */
-#define SCB_SHCSR_BUSFAULTPENDED_Msk       (1UL << SCB_SHCSR_BUSFAULTPENDED_Pos)          /*!< SCB SHCSR: BUSFAULTPENDED Mask */
-
-#define SCB_SHCSR_MEMFAULTPENDED_Pos       13                                             /*!< SCB SHCSR: MEMFAULTPENDED Position */
-#define SCB_SHCSR_MEMFAULTPENDED_Msk       (1UL << SCB_SHCSR_MEMFAULTPENDED_Pos)          /*!< SCB SHCSR: MEMFAULTPENDED Mask */
-
-#define SCB_SHCSR_USGFAULTPENDED_Pos       12                                             /*!< SCB SHCSR: USGFAULTPENDED Position */
-#define SCB_SHCSR_USGFAULTPENDED_Msk       (1UL << SCB_SHCSR_USGFAULTPENDED_Pos)          /*!< SCB SHCSR: USGFAULTPENDED Mask */
-
-#define SCB_SHCSR_SYSTICKACT_Pos           11                                             /*!< SCB SHCSR: SYSTICKACT Position */
-#define SCB_SHCSR_SYSTICKACT_Msk           (1UL << SCB_SHCSR_SYSTICKACT_Pos)              /*!< SCB SHCSR: SYSTICKACT Mask */
-
-#define SCB_SHCSR_PENDSVACT_Pos            10                                             /*!< SCB SHCSR: PENDSVACT Position */
-#define SCB_SHCSR_PENDSVACT_Msk            (1UL << SCB_SHCSR_PENDSVACT_Pos)               /*!< SCB SHCSR: PENDSVACT Mask */
-
-#define SCB_SHCSR_MONITORACT_Pos            8                                             /*!< SCB SHCSR: MONITORACT Position */
-#define SCB_SHCSR_MONITORACT_Msk           (1UL << SCB_SHCSR_MONITORACT_Pos)              /*!< SCB SHCSR: MONITORACT Mask */
-
-#define SCB_SHCSR_SVCALLACT_Pos             7                                             /*!< SCB SHCSR: SVCALLACT Position */
-#define SCB_SHCSR_SVCALLACT_Msk            (1UL << SCB_SHCSR_SVCALLACT_Pos)               /*!< SCB SHCSR: SVCALLACT Mask */
-
-#define SCB_SHCSR_USGFAULTACT_Pos           3                                             /*!< SCB SHCSR: USGFAULTACT Position */
-#define SCB_SHCSR_USGFAULTACT_Msk          (1UL << SCB_SHCSR_USGFAULTACT_Pos)             /*!< SCB SHCSR: USGFAULTACT Mask */
-
-#define SCB_SHCSR_BUSFAULTACT_Pos           1                                             /*!< SCB SHCSR: BUSFAULTACT Position */
-#define SCB_SHCSR_BUSFAULTACT_Msk          (1UL << SCB_SHCSR_BUSFAULTACT_Pos)             /*!< SCB SHCSR: BUSFAULTACT Mask */
-
-#define SCB_SHCSR_MEMFAULTACT_Pos           0                                             /*!< SCB SHCSR: MEMFAULTACT Position */
-#define SCB_SHCSR_MEMFAULTACT_Msk          (1UL << SCB_SHCSR_MEMFAULTACT_Pos)             /*!< SCB SHCSR: MEMFAULTACT Mask */
-
-/* SCB Configurable Fault Status Registers Definitions */
-#define SCB_CFSR_USGFAULTSR_Pos            16                                             /*!< SCB CFSR: Usage Fault Status Register Position */
-#define SCB_CFSR_USGFAULTSR_Msk            (0xFFFFUL << SCB_CFSR_USGFAULTSR_Pos)          /*!< SCB CFSR: Usage Fault Status Register Mask */
-
-#define SCB_CFSR_BUSFAULTSR_Pos             8                                             /*!< SCB CFSR: Bus Fault Status Register Position */
-#define SCB_CFSR_BUSFAULTSR_Msk            (0xFFUL << SCB_CFSR_BUSFAULTSR_Pos)            /*!< SCB CFSR: Bus Fault Status Register Mask */
-
-#define SCB_CFSR_MEMFAULTSR_Pos             0                                             /*!< SCB CFSR: Memory Manage Fault Status Register Position */
-#define SCB_CFSR_MEMFAULTSR_Msk            (0xFFUL << SCB_CFSR_MEMFAULTSR_Pos)            /*!< SCB CFSR: Memory Manage Fault Status Register Mask */
-
-/* SCB Hard Fault Status Registers Definitions */
-#define SCB_HFSR_DEBUGEVT_Pos              31                                             /*!< SCB HFSR: DEBUGEVT Position */
-#define SCB_HFSR_DEBUGEVT_Msk              (1UL << SCB_HFSR_DEBUGEVT_Pos)                 /*!< SCB HFSR: DEBUGEVT Mask */
-
-#define SCB_HFSR_FORCED_Pos                30                                             /*!< SCB HFSR: FORCED Position */
-#define SCB_HFSR_FORCED_Msk                (1UL << SCB_HFSR_FORCED_Pos)                   /*!< SCB HFSR: FORCED Mask */
-
-#define SCB_HFSR_VECTTBL_Pos                1                                             /*!< SCB HFSR: VECTTBL Position */
-#define SCB_HFSR_VECTTBL_Msk               (1UL << SCB_HFSR_VECTTBL_Pos)                  /*!< SCB HFSR: VECTTBL Mask */
-
-/* SCB Debug Fault Status Register Definitions */
-#define SCB_DFSR_EXTERNAL_Pos               4                                             /*!< SCB DFSR: EXTERNAL Position */
-#define SCB_DFSR_EXTERNAL_Msk              (1UL << SCB_DFSR_EXTERNAL_Pos)                 /*!< SCB DFSR: EXTERNAL Mask */
-
-#define SCB_DFSR_VCATCH_Pos                 3                                             /*!< SCB DFSR: VCATCH Position */
-#define SCB_DFSR_VCATCH_Msk                (1UL << SCB_DFSR_VCATCH_Pos)                   /*!< SCB DFSR: VCATCH Mask */
-
-#define SCB_DFSR_DWTTRAP_Pos                2                                             /*!< SCB DFSR: DWTTRAP Position */
-#define SCB_DFSR_DWTTRAP_Msk               (1UL << SCB_DFSR_DWTTRAP_Pos)                  /*!< SCB DFSR: DWTTRAP Mask */
-
-#define SCB_DFSR_BKPT_Pos                   1                                             /*!< SCB DFSR: BKPT Position */
-#define SCB_DFSR_BKPT_Msk                  (1UL << SCB_DFSR_BKPT_Pos)                     /*!< SCB DFSR: BKPT Mask */
-
-#define SCB_DFSR_HALTED_Pos                 0                                             /*!< SCB DFSR: HALTED Position */
-#define SCB_DFSR_HALTED_Msk                (1UL << SCB_DFSR_HALTED_Pos)                   /*!< SCB DFSR: HALTED Mask */
-
-/*@} end of group CMSIS_SCB */
-
-
-/** \ingroup  CMSIS_core_register
-    \defgroup CMSIS_SCnSCB System Controls not in SCB (SCnSCB)
-    \brief      Type definitions for the System Control and ID Register not in the SCB
-  @{
- */
-
-/** \brief  Structure type to access the System Control and ID Register not in the SCB.
- */
-typedef struct
-{
-       uint32_t RESERVED0[1];
-  __I  uint32_t ICTR;                    /*!< Offset: 0x004 (R/ )  Interrupt Controller Type Register      */
-  __IO uint32_t ACTLR;                   /*!< Offset: 0x008 (R/W)  Auxiliary Control Register              */
-} SCnSCB_Type;
-
-/* Interrupt Controller Type Register Definitions */
-#define SCnSCB_ICTR_INTLINESNUM_Pos         0                                          /*!< ICTR: INTLINESNUM Position */
-#define SCnSCB_ICTR_INTLINESNUM_Msk        (0xFUL << SCnSCB_ICTR_INTLINESNUM_Pos)      /*!< ICTR: INTLINESNUM Mask */
-
-/* Auxiliary Control Register Definitions */
-#define SCnSCB_ACTLR_DISOOFP_Pos            9                                          /*!< ACTLR: DISOOFP Position */
-#define SCnSCB_ACTLR_DISOOFP_Msk           (1UL << SCnSCB_ACTLR_DISOOFP_Pos)           /*!< ACTLR: DISOOFP Mask */
-
-#define SCnSCB_ACTLR_DISFPCA_Pos            8                                          /*!< ACTLR: DISFPCA Position */
-#define SCnSCB_ACTLR_DISFPCA_Msk           (1UL << SCnSCB_ACTLR_DISFPCA_Pos)           /*!< ACTLR: DISFPCA Mask */
-
-#define SCnSCB_ACTLR_DISFOLD_Pos            2                                          /*!< ACTLR: DISFOLD Position */
-#define SCnSCB_ACTLR_DISFOLD_Msk           (1UL << SCnSCB_ACTLR_DISFOLD_Pos)           /*!< ACTLR: DISFOLD Mask */
-
-#define SCnSCB_ACTLR_DISDEFWBUF_Pos         1                                          /*!< ACTLR: DISDEFWBUF Position */
-#define SCnSCB_ACTLR_DISDEFWBUF_Msk        (1UL << SCnSCB_ACTLR_DISDEFWBUF_Pos)        /*!< ACTLR: DISDEFWBUF Mask */
-
-#define SCnSCB_ACTLR_DISMCYCINT_Pos         0                                          /*!< ACTLR: DISMCYCINT Position */
-#define SCnSCB_ACTLR_DISMCYCINT_Msk        (1UL << SCnSCB_ACTLR_DISMCYCINT_Pos)        /*!< ACTLR: DISMCYCINT Mask */
-
-/*@} end of group CMSIS_SCnotSCB */
-
-
-/** \ingroup  CMSIS_core_register
-    \defgroup CMSIS_SysTick     System Tick Timer (SysTick)
-    \brief      Type definitions for the System Timer Registers.
-  @{
- */
-
-/** \brief  Structure type to access the System Timer (SysTick).
- */
-typedef struct
-{
-  __IO uint32_t CTRL;                    /*!< Offset: 0x000 (R/W)  SysTick Control and Status Register */
-  __IO uint32_t LOAD;                    /*!< Offset: 0x004 (R/W)  SysTick Reload Value Register       */
-  __IO uint32_t VAL;                     /*!< Offset: 0x008 (R/W)  SysTick Current Value Register      */
-  __I  uint32_t CALIB;                   /*!< Offset: 0x00C (R/ )  SysTick Calibration Register        */
-} SysTick_Type;
-
-/* SysTick Control / Status Register Definitions */
-#define SysTick_CTRL_COUNTFLAG_Pos         16                                             /*!< SysTick CTRL: COUNTFLAG Position */
-#define SysTick_CTRL_COUNTFLAG_Msk         (1UL << SysTick_CTRL_COUNTFLAG_Pos)            /*!< SysTick CTRL: COUNTFLAG Mask */
-
-#define SysTick_CTRL_CLKSOURCE_Pos          2                                             /*!< SysTick CTRL: CLKSOURCE Position */
-#define SysTick_CTRL_CLKSOURCE_Msk         (1UL << SysTick_CTRL_CLKSOURCE_Pos)            /*!< SysTick CTRL: CLKSOURCE Mask */
-
-#define SysTick_CTRL_TICKINT_Pos            1                                             /*!< SysTick CTRL: TICKINT Position */
-#define SysTick_CTRL_TICKINT_Msk           (1UL << SysTick_CTRL_TICKINT_Pos)              /*!< SysTick CTRL: TICKINT Mask */
-
-#define SysTick_CTRL_ENABLE_Pos             0                                             /*!< SysTick CTRL: ENABLE Position */
-#define SysTick_CTRL_ENABLE_Msk            (1UL << SysTick_CTRL_ENABLE_Pos)               /*!< SysTick CTRL: ENABLE Mask */
-
-/* SysTick Reload Register Definitions */
-#define SysTick_LOAD_RELOAD_Pos             0                                             /*!< SysTick LOAD: RELOAD Position */
-#define SysTick_LOAD_RELOAD_Msk            (0xFFFFFFUL << SysTick_LOAD_RELOAD_Pos)        /*!< SysTick LOAD: RELOAD Mask */
-
-/* SysTick Current Register Definitions */
-#define SysTick_VAL_CURRENT_Pos             0                                             /*!< SysTick VAL: CURRENT Position */
-#define SysTick_VAL_CURRENT_Msk            (0xFFFFFFUL << SysTick_VAL_CURRENT_Pos)        /*!< SysTick VAL: CURRENT Mask */
-
-/* SysTick Calibration Register Definitions */
-#define SysTick_CALIB_NOREF_Pos            31                                             /*!< SysTick CALIB: NOREF Position */
-#define SysTick_CALIB_NOREF_Msk            (1UL << SysTick_CALIB_NOREF_Pos)               /*!< SysTick CALIB: NOREF Mask */
-
-#define SysTick_CALIB_SKEW_Pos             30                                             /*!< SysTick CALIB: SKEW Position */
-#define SysTick_CALIB_SKEW_Msk             (1UL << SysTick_CALIB_SKEW_Pos)                /*!< SysTick CALIB: SKEW Mask */
-
-#define SysTick_CALIB_TENMS_Pos             0                                             /*!< SysTick CALIB: TENMS Position */
-#define SysTick_CALIB_TENMS_Msk            (0xFFFFFFUL << SysTick_VAL_CURRENT_Pos)        /*!< SysTick CALIB: TENMS Mask */
-
-/*@} end of group CMSIS_SysTick */
-
-
-/** \ingroup  CMSIS_core_register
-    \defgroup CMSIS_ITM     Instrumentation Trace Macrocell (ITM)
-    \brief      Type definitions for the Instrumentation Trace Macrocell (ITM)
-  @{
- */
-
-/** \brief  Structure type to access the Instrumentation Trace Macrocell Register (ITM).
- */
-typedef struct
-{
-  __O  union
-  {
-    __O  uint8_t    u8;                  /*!< Offset: 0x000 ( /W)  ITM Stimulus Port 8-bit                   */
-    __O  uint16_t   u16;                 /*!< Offset: 0x000 ( /W)  ITM Stimulus Port 16-bit                  */
-    __O  uint32_t   u32;                 /*!< Offset: 0x000 ( /W)  ITM Stimulus Port 32-bit                  */
-  }  PORT [32];                          /*!< Offset: 0x000 ( /W)  ITM Stimulus Port Registers               */
-       uint32_t RESERVED0[864];
-  __IO uint32_t TER;                     /*!< Offset: 0xE00 (R/W)  ITM Trace Enable Register                 */
-       uint32_t RESERVED1[15];
-  __IO uint32_t TPR;                     /*!< Offset: 0xE40 (R/W)  ITM Trace Privilege Register              */
-       uint32_t RESERVED2[15];
-  __IO uint32_t TCR;                     /*!< Offset: 0xE80 (R/W)  ITM Trace Control Register                */
-       uint32_t RESERVED3[29];                                  
-  __O  uint32_t IWR;                     /*!< Offset: 0xEF8 ( /W)  ITM Integration Write Register            */
-  __I  uint32_t IRR;                     /*!< Offset: 0xEFC (R/ )  ITM Integration Read Register             */
-  __IO uint32_t IMCR;                    /*!< Offset: 0xF00 (R/W)  ITM Integration Mode Control Register     */
-       uint32_t RESERVED4[43];                                  
-  __O  uint32_t LAR;                     /*!< Offset: 0xFB0 ( /W)  ITM Lock Access Register                  */
-  __I  uint32_t LSR;                     /*!< Offset: 0xFB4 (R/ )  ITM Lock Status Register                  */
-       uint32_t RESERVED5[6];                                   
-  __I  uint32_t PID4;                    /*!< Offset: 0xFD0 (R/ )  ITM Peripheral Identification Register #4 */
-  __I  uint32_t PID5;                    /*!< Offset: 0xFD4 (R/ )  ITM Peripheral Identification Register #5 */
-  __I  uint32_t PID6;                    /*!< Offset: 0xFD8 (R/ )  ITM Peripheral Identification Register #6 */
-  __I  uint32_t PID7;                    /*!< Offset: 0xFDC (R/ )  ITM Peripheral Identification Register #7 */
-  __I  uint32_t PID0;                    /*!< Offset: 0xFE0 (R/ )  ITM Peripheral Identification Register #0 */
-  __I  uint32_t PID1;                    /*!< Offset: 0xFE4 (R/ )  ITM Peripheral Identification Register #1 */
-  __I  uint32_t PID2;                    /*!< Offset: 0xFE8 (R/ )  ITM Peripheral Identification Register #2 */
-  __I  uint32_t PID3;                    /*!< Offset: 0xFEC (R/ )  ITM Peripheral Identification Register #3 */
-  __I  uint32_t CID0;                    /*!< Offset: 0xFF0 (R/ )  ITM Component  Identification Register #0 */
-  __I  uint32_t CID1;                    /*!< Offset: 0xFF4 (R/ )  ITM Component  Identification Register #1 */
-  __I  uint32_t CID2;                    /*!< Offset: 0xFF8 (R/ )  ITM Component  Identification Register #2 */
-  __I  uint32_t CID3;                    /*!< Offset: 0xFFC (R/ )  ITM Component  Identification Register #3 */
-} ITM_Type;
-
-/* ITM Trace Privilege Register Definitions */
-#define ITM_TPR_PRIVMASK_Pos                0                                             /*!< ITM TPR: PRIVMASK Position */
-#define ITM_TPR_PRIVMASK_Msk               (0xFUL << ITM_TPR_PRIVMASK_Pos)                /*!< ITM TPR: PRIVMASK Mask */
-
-/* ITM Trace Control Register Definitions */
-#define ITM_TCR_BUSY_Pos                   23                                             /*!< ITM TCR: BUSY Position */
-#define ITM_TCR_BUSY_Msk                   (1UL << ITM_TCR_BUSY_Pos)                      /*!< ITM TCR: BUSY Mask */
-
-#define ITM_TCR_TraceBusID_Pos             16                                             /*!< ITM TCR: ATBID Position */
-#define ITM_TCR_TraceBusID_Msk             (0x7FUL << ITM_TCR_TraceBusID_Pos)             /*!< ITM TCR: ATBID Mask */
-
-#define ITM_TCR_GTSFREQ_Pos                10                                             /*!< ITM TCR: Global timestamp frequency Position */
-#define ITM_TCR_GTSFREQ_Msk                (3UL << ITM_TCR_GTSFREQ_Pos)                   /*!< ITM TCR: Global timestamp frequency Mask */
-
-#define ITM_TCR_TSPrescale_Pos              8                                             /*!< ITM TCR: TSPrescale Position */
-#define ITM_TCR_TSPrescale_Msk             (3UL << ITM_TCR_TSPrescale_Pos)                /*!< ITM TCR: TSPrescale Mask */
-
-#define ITM_TCR_SWOENA_Pos                  4                                             /*!< ITM TCR: SWOENA Position */
-#define ITM_TCR_SWOENA_Msk                 (1UL << ITM_TCR_SWOENA_Pos)                    /*!< ITM TCR: SWOENA Mask */
-
-#define ITM_TCR_DWTENA_Pos                  3                                             /*!< ITM TCR: DWTENA Position */
-#define ITM_TCR_DWTENA_Msk                 (1UL << ITM_TCR_DWTENA_Pos)                    /*!< ITM TCR: DWTENA Mask */
-
-#define ITM_TCR_SYNCENA_Pos                 2                                             /*!< ITM TCR: SYNCENA Position */
-#define ITM_TCR_SYNCENA_Msk                (1UL << ITM_TCR_SYNCENA_Pos)                   /*!< ITM TCR: SYNCENA Mask */
-
-#define ITM_TCR_TSENA_Pos                   1                                             /*!< ITM TCR: TSENA Position */
-#define ITM_TCR_TSENA_Msk                  (1UL << ITM_TCR_TSENA_Pos)                     /*!< ITM TCR: TSENA Mask */
-
-#define ITM_TCR_ITMENA_Pos                  0                                             /*!< ITM TCR: ITM Enable bit Position */
-#define ITM_TCR_ITMENA_Msk                 (1UL << ITM_TCR_ITMENA_Pos)                    /*!< ITM TCR: ITM Enable bit Mask */
-
-/* ITM Integration Write Register Definitions */
-#define ITM_IWR_ATVALIDM_Pos                0                                             /*!< ITM IWR: ATVALIDM Position */
-#define ITM_IWR_ATVALIDM_Msk               (1UL << ITM_IWR_ATVALIDM_Pos)                  /*!< ITM IWR: ATVALIDM Mask */
-
-/* ITM Integration Read Register Definitions */
-#define ITM_IRR_ATREADYM_Pos                0                                             /*!< ITM IRR: ATREADYM Position */
-#define ITM_IRR_ATREADYM_Msk               (1UL << ITM_IRR_ATREADYM_Pos)                  /*!< ITM IRR: ATREADYM Mask */
-
-/* ITM Integration Mode Control Register Definitions */
-#define ITM_IMCR_INTEGRATION_Pos            0                                             /*!< ITM IMCR: INTEGRATION Position */
-#define ITM_IMCR_INTEGRATION_Msk           (1UL << ITM_IMCR_INTEGRATION_Pos)              /*!< ITM IMCR: INTEGRATION Mask */
-
-/* ITM Lock Status Register Definitions */
-#define ITM_LSR_ByteAcc_Pos                 2                                             /*!< ITM LSR: ByteAcc Position */
-#define ITM_LSR_ByteAcc_Msk                (1UL << ITM_LSR_ByteAcc_Pos)                   /*!< ITM LSR: ByteAcc Mask */
-
-#define ITM_LSR_Access_Pos                  1                                             /*!< ITM LSR: Access Position */
-#define ITM_LSR_Access_Msk                 (1UL << ITM_LSR_Access_Pos)                    /*!< ITM LSR: Access Mask */
-
-#define ITM_LSR_Present_Pos                 0                                             /*!< ITM LSR: Present Position */
-#define ITM_LSR_Present_Msk                (1UL << ITM_LSR_Present_Pos)                   /*!< ITM LSR: Present Mask */
-
-/*@}*/ /* end of group CMSIS_ITM */
-
-
-/** \ingroup  CMSIS_core_register
-    \defgroup CMSIS_DWT     Data Watchpoint and Trace (DWT)
-    \brief      Type definitions for the Data Watchpoint and Trace (DWT)
-  @{
- */
-
-/** \brief  Structure type to access the Data Watchpoint and Trace Register (DWT).
- */
-typedef struct
-{
-  __IO uint32_t CTRL;                    /*!< Offset: 0x000 (R/W)  Control Register                          */
-  __IO uint32_t CYCCNT;                  /*!< Offset: 0x004 (R/W)  Cycle Count Register                      */
-  __IO uint32_t CPICNT;                  /*!< Offset: 0x008 (R/W)  CPI Count Register                        */
-  __IO uint32_t EXCCNT;                  /*!< Offset: 0x00C (R/W)  Exception Overhead Count Register         */
-  __IO uint32_t SLEEPCNT;                /*!< Offset: 0x010 (R/W)  Sleep Count Register                      */
-  __IO uint32_t LSUCNT;                  /*!< Offset: 0x014 (R/W)  LSU Count Register                        */
-  __IO uint32_t FOLDCNT;                 /*!< Offset: 0x018 (R/W)  Folded-instruction Count Register         */
-  __I  uint32_t PCSR;                    /*!< Offset: 0x01C (R/ )  Program Counter Sample Register           */
-  __IO uint32_t COMP0;                   /*!< Offset: 0x020 (R/W)  Comparator Register 0                     */
-  __IO uint32_t MASK0;                   /*!< Offset: 0x024 (R/W)  Mask Register 0                           */
-  __IO uint32_t FUNCTION0;               /*!< Offset: 0x028 (R/W)  Function Register 0                       */
-       uint32_t RESERVED0[1];
-  __IO uint32_t COMP1;                   /*!< Offset: 0x030 (R/W)  Comparator Register 1                     */
-  __IO uint32_t MASK1;                   /*!< Offset: 0x034 (R/W)  Mask Register 1                           */
-  __IO uint32_t FUNCTION1;               /*!< Offset: 0x038 (R/W)  Function Register 1                       */
-       uint32_t RESERVED1[1];
-  __IO uint32_t COMP2;                   /*!< Offset: 0x040 (R/W)  Comparator Register 2                     */
-  __IO uint32_t MASK2;                   /*!< Offset: 0x044 (R/W)  Mask Register 2                           */
-  __IO uint32_t FUNCTION2;               /*!< Offset: 0x048 (R/W)  Function Register 2                       */
-       uint32_t RESERVED2[1];
-  __IO uint32_t COMP3;                   /*!< Offset: 0x050 (R/W)  Comparator Register 3                     */
-  __IO uint32_t MASK3;                   /*!< Offset: 0x054 (R/W)  Mask Register 3                           */
-  __IO uint32_t FUNCTION3;               /*!< Offset: 0x058 (R/W)  Function Register 3                       */
-} DWT_Type;
-
-/* DWT Control Register Definitions */
-#define DWT_CTRL_NUMCOMP_Pos               28                                          /*!< DWT CTRL: NUMCOMP Position */
-#define DWT_CTRL_NUMCOMP_Msk               (0xFUL << DWT_CTRL_NUMCOMP_Pos)             /*!< DWT CTRL: NUMCOMP Mask */
-
-#define DWT_CTRL_NOTRCPKT_Pos              27                                          /*!< DWT CTRL: NOTRCPKT Position */
-#define DWT_CTRL_NOTRCPKT_Msk              (0x1UL << DWT_CTRL_NOTRCPKT_Pos)            /*!< DWT CTRL: NOTRCPKT Mask */
-
-#define DWT_CTRL_NOEXTTRIG_Pos             26                                          /*!< DWT CTRL: NOEXTTRIG Position */
-#define DWT_CTRL_NOEXTTRIG_Msk             (0x1UL << DWT_CTRL_NOEXTTRIG_Pos)           /*!< DWT CTRL: NOEXTTRIG Mask */
-
-#define DWT_CTRL_NOCYCCNT_Pos              25                                          /*!< DWT CTRL: NOCYCCNT Position */
-#define DWT_CTRL_NOCYCCNT_Msk              (0x1UL << DWT_CTRL_NOCYCCNT_Pos)            /*!< DWT CTRL: NOCYCCNT Mask */
-
-#define DWT_CTRL_NOPRFCNT_Pos              24                                          /*!< DWT CTRL: NOPRFCNT Position */
-#define DWT_CTRL_NOPRFCNT_Msk              (0x1UL << DWT_CTRL_NOPRFCNT_Pos)            /*!< DWT CTRL: NOPRFCNT Mask */
-
-#define DWT_CTRL_CYCEVTENA_Pos             22                                          /*!< DWT CTRL: CYCEVTENA Position */
-#define DWT_CTRL_CYCEVTENA_Msk             (0x1UL << DWT_CTRL_CYCEVTENA_Pos)           /*!< DWT CTRL: CYCEVTENA Mask */
-
-#define DWT_CTRL_FOLDEVTENA_Pos            21                                          /*!< DWT CTRL: FOLDEVTENA Position */
-#define DWT_CTRL_FOLDEVTENA_Msk            (0x1UL << DWT_CTRL_FOLDEVTENA_Pos)          /*!< DWT CTRL: FOLDEVTENA Mask */
-
-#define DWT_CTRL_LSUEVTENA_Pos             20                                          /*!< DWT CTRL: LSUEVTENA Position */
-#define DWT_CTRL_LSUEVTENA_Msk             (0x1UL << DWT_CTRL_LSUEVTENA_Pos)           /*!< DWT CTRL: LSUEVTENA Mask */
-
-#define DWT_CTRL_SLEEPEVTENA_Pos           19                                          /*!< DWT CTRL: SLEEPEVTENA Position */
-#define DWT_CTRL_SLEEPEVTENA_Msk           (0x1UL << DWT_CTRL_SLEEPEVTENA_Pos)         /*!< DWT CTRL: SLEEPEVTENA Mask */
-
-#define DWT_CTRL_EXCEVTENA_Pos             18                                          /*!< DWT CTRL: EXCEVTENA Position */
-#define DWT_CTRL_EXCEVTENA_Msk             (0x1UL << DWT_CTRL_EXCEVTENA_Pos)           /*!< DWT CTRL: EXCEVTENA Mask */
-
-#define DWT_CTRL_CPIEVTENA_Pos             17                                          /*!< DWT CTRL: CPIEVTENA Position */
-#define DWT_CTRL_CPIEVTENA_Msk             (0x1UL << DWT_CTRL_CPIEVTENA_Pos)           /*!< DWT CTRL: CPIEVTENA Mask */
-
-#define DWT_CTRL_EXCTRCENA_Pos             16                                          /*!< DWT CTRL: EXCTRCENA Position */
-#define DWT_CTRL_EXCTRCENA_Msk             (0x1UL << DWT_CTRL_EXCTRCENA_Pos)           /*!< DWT CTRL: EXCTRCENA Mask */
-
-#define DWT_CTRL_PCSAMPLENA_Pos            12                                          /*!< DWT CTRL: PCSAMPLENA Position */
-#define DWT_CTRL_PCSAMPLENA_Msk            (0x1UL << DWT_CTRL_PCSAMPLENA_Pos)          /*!< DWT CTRL: PCSAMPLENA Mask */
-
-#define DWT_CTRL_SYNCTAP_Pos               10                                          /*!< DWT CTRL: SYNCTAP Position */
-#define DWT_CTRL_SYNCTAP_Msk               (0x3UL << DWT_CTRL_SYNCTAP_Pos)             /*!< DWT CTRL: SYNCTAP Mask */
-
-#define DWT_CTRL_CYCTAP_Pos                 9                                          /*!< DWT CTRL: CYCTAP Position */
-#define DWT_CTRL_CYCTAP_Msk                (0x1UL << DWT_CTRL_CYCTAP_Pos)              /*!< DWT CTRL: CYCTAP Mask */
-
-#define DWT_CTRL_POSTINIT_Pos               5                                          /*!< DWT CTRL: POSTINIT Position */
-#define DWT_CTRL_POSTINIT_Msk              (0xFUL << DWT_CTRL_POSTINIT_Pos)            /*!< DWT CTRL: POSTINIT Mask */
-
-#define DWT_CTRL_POSTPRESET_Pos             1                                          /*!< DWT CTRL: POSTPRESET Position */
-#define DWT_CTRL_POSTPRESET_Msk            (0xFUL << DWT_CTRL_POSTPRESET_Pos)          /*!< DWT CTRL: POSTPRESET Mask */
-
-#define DWT_CTRL_CYCCNTENA_Pos              0                                          /*!< DWT CTRL: CYCCNTENA Position */
-#define DWT_CTRL_CYCCNTENA_Msk             (0x1UL << DWT_CTRL_CYCCNTENA_Pos)           /*!< DWT CTRL: CYCCNTENA Mask */
-
-/* DWT CPI Count Register Definitions */
-#define DWT_CPICNT_CPICNT_Pos               0                                          /*!< DWT CPICNT: CPICNT Position */
-#define DWT_CPICNT_CPICNT_Msk              (0xFFUL << DWT_CPICNT_CPICNT_Pos)           /*!< DWT CPICNT: CPICNT Mask */
-
-/* DWT Exception Overhead Count Register Definitions */
-#define DWT_EXCCNT_EXCCNT_Pos               0                                          /*!< DWT EXCCNT: EXCCNT Position */
-#define DWT_EXCCNT_EXCCNT_Msk              (0xFFUL << DWT_EXCCNT_EXCCNT_Pos)           /*!< DWT EXCCNT: EXCCNT Mask */
-
-/* DWT Sleep Count Register Definitions */
-#define DWT_SLEEPCNT_SLEEPCNT_Pos           0                                          /*!< DWT SLEEPCNT: SLEEPCNT Position */
-#define DWT_SLEEPCNT_SLEEPCNT_Msk          (0xFFUL << DWT_SLEEPCNT_SLEEPCNT_Pos)       /*!< DWT SLEEPCNT: SLEEPCNT Mask */
-
-/* DWT LSU Count Register Definitions */
-#define DWT_LSUCNT_LSUCNT_Pos               0                                          /*!< DWT LSUCNT: LSUCNT Position */
-#define DWT_LSUCNT_LSUCNT_Msk              (0xFFUL << DWT_LSUCNT_LSUCNT_Pos)           /*!< DWT LSUCNT: LSUCNT Mask */
-
-/* DWT Folded-instruction Count Register Definitions */
-#define DWT_FOLDCNT_FOLDCNT_Pos             0                                          /*!< DWT FOLDCNT: FOLDCNT Position */
-#define DWT_FOLDCNT_FOLDCNT_Msk            (0xFFUL << DWT_FOLDCNT_FOLDCNT_Pos)         /*!< DWT FOLDCNT: FOLDCNT Mask */
-
-/* DWT Comparator Mask Register Definitions */
-#define DWT_MASK_MASK_Pos                   0                                          /*!< DWT MASK: MASK Position */
-#define DWT_MASK_MASK_Msk                  (0x1FUL << DWT_MASK_MASK_Pos)               /*!< DWT MASK: MASK Mask */
-
-/* DWT Comparator Function Register Definitions */
-#define DWT_FUNCTION_MATCHED_Pos           24                                          /*!< DWT FUNCTION: MATCHED Position */
-#define DWT_FUNCTION_MATCHED_Msk           (0x1UL << DWT_FUNCTION_MATCHED_Pos)         /*!< DWT FUNCTION: MATCHED Mask */
-
-#define DWT_FUNCTION_DATAVADDR1_Pos        16                                          /*!< DWT FUNCTION: DATAVADDR1 Position */
-#define DWT_FUNCTION_DATAVADDR1_Msk        (0xFUL << DWT_FUNCTION_DATAVADDR1_Pos)      /*!< DWT FUNCTION: DATAVADDR1 Mask */
-
-#define DWT_FUNCTION_DATAVADDR0_Pos        12                                          /*!< DWT FUNCTION: DATAVADDR0 Position */
-#define DWT_FUNCTION_DATAVADDR0_Msk        (0xFUL << DWT_FUNCTION_DATAVADDR0_Pos)      /*!< DWT FUNCTION: DATAVADDR0 Mask */
-
-#define DWT_FUNCTION_DATAVSIZE_Pos         10                                          /*!< DWT FUNCTION: DATAVSIZE Position */
-#define DWT_FUNCTION_DATAVSIZE_Msk         (0x3UL << DWT_FUNCTION_DATAVSIZE_Pos)       /*!< DWT FUNCTION: DATAVSIZE Mask */
-
-#define DWT_FUNCTION_LNK1ENA_Pos            9                                          /*!< DWT FUNCTION: LNK1ENA Position */
-#define DWT_FUNCTION_LNK1ENA_Msk           (0x1UL << DWT_FUNCTION_LNK1ENA_Pos)         /*!< DWT FUNCTION: LNK1ENA Mask */
-
-#define DWT_FUNCTION_DATAVMATCH_Pos         8                                          /*!< DWT FUNCTION: DATAVMATCH Position */
-#define DWT_FUNCTION_DATAVMATCH_Msk        (0x1UL << DWT_FUNCTION_DATAVMATCH_Pos)      /*!< DWT FUNCTION: DATAVMATCH Mask */
-
-#define DWT_FUNCTION_CYCMATCH_Pos           7                                          /*!< DWT FUNCTION: CYCMATCH Position */
-#define DWT_FUNCTION_CYCMATCH_Msk          (0x1UL << DWT_FUNCTION_CYCMATCH_Pos)        /*!< DWT FUNCTION: CYCMATCH Mask */
-
-#define DWT_FUNCTION_EMITRANGE_Pos          5                                          /*!< DWT FUNCTION: EMITRANGE Position */
-#define DWT_FUNCTION_EMITRANGE_Msk         (0x1UL << DWT_FUNCTION_EMITRANGE_Pos)       /*!< DWT FUNCTION: EMITRANGE Mask */
-
-#define DWT_FUNCTION_FUNCTION_Pos           0                                          /*!< DWT FUNCTION: FUNCTION Position */
-#define DWT_FUNCTION_FUNCTION_Msk          (0xFUL << DWT_FUNCTION_FUNCTION_Pos)        /*!< DWT FUNCTION: FUNCTION Mask */
-
-/*@}*/ /* end of group CMSIS_DWT */
-
-
-/** \ingroup  CMSIS_core_register
-    \defgroup CMSIS_TPI     Trace Port Interface (TPI)
-    \brief      Type definitions for the Trace Port Interface (TPI)
-  @{
- */
-
-/** \brief  Structure type to access the Trace Port Interface Register (TPI).
- */
-typedef struct
-{
-  __IO uint32_t SSPSR;                   /*!< Offset: 0x000 (R/ )  Supported Parallel Port Size Register     */
-  __IO uint32_t CSPSR;                   /*!< Offset: 0x004 (R/W)  Current Parallel Port Size Register */
-       uint32_t RESERVED0[2];
-  __IO uint32_t ACPR;                    /*!< Offset: 0x010 (R/W)  Asynchronous Clock Prescaler Register */
-       uint32_t RESERVED1[55];
-  __IO uint32_t SPPR;                    /*!< Offset: 0x0F0 (R/W)  Selected Pin Protocol Register */
-       uint32_t RESERVED2[131];
-  __I  uint32_t FFSR;                    /*!< Offset: 0x300 (R/ )  Formatter and Flush Status Register */
-  __IO uint32_t FFCR;                    /*!< Offset: 0x304 (R/W)  Formatter and Flush Control Register */
-  __I  uint32_t FSCR;                    /*!< Offset: 0x308 (R/ )  Formatter Synchronization Counter Register */
-       uint32_t RESERVED3[759];
-  __I  uint32_t TRIGGER;                 /*!< Offset: 0xEE8 (R/ )  TRIGGER */
-  __I  uint32_t FIFO0;                   /*!< Offset: 0xEEC (R/ )  Integration ETM Data */
-  __I  uint32_t ITATBCTR2;               /*!< Offset: 0xEF0 (R/ )  ITATBCTR2 */
-       uint32_t RESERVED4[1];
-  __I  uint32_t ITATBCTR0;               /*!< Offset: 0xEF8 (R/ )  ITATBCTR0 */
-  __I  uint32_t FIFO1;                   /*!< Offset: 0xEFC (R/ )  Integration ITM Data */
-  __IO uint32_t ITCTRL;                  /*!< Offset: 0xF00 (R/W)  Integration Mode Control */
-       uint32_t RESERVED5[39];
-  __IO uint32_t CLAIMSET;                /*!< Offset: 0xFA0 (R/W)  Claim tag set */
-  __IO uint32_t CLAIMCLR;                /*!< Offset: 0xFA4 (R/W)  Claim tag clear */
-       uint32_t RESERVED7[8];
-  __I  uint32_t DEVID;                   /*!< Offset: 0xFC8 (R/ )  TPIU_DEVID */
-  __I  uint32_t DEVTYPE;                 /*!< Offset: 0xFCC (R/ )  TPIU_DEVTYPE */
-} TPI_Type;
-
-/* TPI Asynchronous Clock Prescaler Register Definitions */
-#define TPI_ACPR_PRESCALER_Pos              0                                          /*!< TPI ACPR: PRESCALER Position */
-#define TPI_ACPR_PRESCALER_Msk             (0x1FFFUL << TPI_ACPR_PRESCALER_Pos)        /*!< TPI ACPR: PRESCALER Mask */
-
-/* TPI Selected Pin Protocol Register Definitions */
-#define TPI_SPPR_TXMODE_Pos                 0                                          /*!< TPI SPPR: TXMODE Position */
-#define TPI_SPPR_TXMODE_Msk                (0x3UL << TPI_SPPR_TXMODE_Pos)              /*!< TPI SPPR: TXMODE Mask */
-
-/* TPI Formatter and Flush Status Register Definitions */
-#define TPI_FFSR_FtNonStop_Pos              3                                          /*!< TPI FFSR: FtNonStop Position */
-#define TPI_FFSR_FtNonStop_Msk             (0x1UL << TPI_FFSR_FtNonStop_Pos)           /*!< TPI FFSR: FtNonStop Mask */
-
-#define TPI_FFSR_TCPresent_Pos              2                                          /*!< TPI FFSR: TCPresent Position */
-#define TPI_FFSR_TCPresent_Msk             (0x1UL << TPI_FFSR_TCPresent_Pos)           /*!< TPI FFSR: TCPresent Mask */
-
-#define TPI_FFSR_FtStopped_Pos              1                                          /*!< TPI FFSR: FtStopped Position */
-#define TPI_FFSR_FtStopped_Msk             (0x1UL << TPI_FFSR_FtStopped_Pos)           /*!< TPI FFSR: FtStopped Mask */
-
-#define TPI_FFSR_FlInProg_Pos               0                                          /*!< TPI FFSR: FlInProg Position */
-#define TPI_FFSR_FlInProg_Msk              (0x1UL << TPI_FFSR_FlInProg_Pos)            /*!< TPI FFSR: FlInProg Mask */
-
-/* TPI Formatter and Flush Control Register Definitions */
-#define TPI_FFCR_TrigIn_Pos                 8                                          /*!< TPI FFCR: TrigIn Position */
-#define TPI_FFCR_TrigIn_Msk                (0x1UL << TPI_FFCR_TrigIn_Pos)              /*!< TPI FFCR: TrigIn Mask */
-
-#define TPI_FFCR_EnFCont_Pos                1                                          /*!< TPI FFCR: EnFCont Position */
-#define TPI_FFCR_EnFCont_Msk               (0x1UL << TPI_FFCR_EnFCont_Pos)             /*!< TPI FFCR: EnFCont Mask */
-
-/* TPI TRIGGER Register Definitions */
-#define TPI_TRIGGER_TRIGGER_Pos             0                                          /*!< TPI TRIGGER: TRIGGER Position */
-#define TPI_TRIGGER_TRIGGER_Msk            (0x1UL << TPI_TRIGGER_TRIGGER_Pos)          /*!< TPI TRIGGER: TRIGGER Mask */
-
-/* TPI Integration ETM Data Register Definitions (FIFO0) */
-#define TPI_FIFO0_ITM_ATVALID_Pos          29                                          /*!< TPI FIFO0: ITM_ATVALID Position */
-#define TPI_FIFO0_ITM_ATVALID_Msk          (0x3UL << TPI_FIFO0_ITM_ATVALID_Pos)        /*!< TPI FIFO0: ITM_ATVALID Mask */
-
-#define TPI_FIFO0_ITM_bytecount_Pos        27                                          /*!< TPI FIFO0: ITM_bytecount Position */
-#define TPI_FIFO0_ITM_bytecount_Msk        (0x3UL << TPI_FIFO0_ITM_bytecount_Pos)      /*!< TPI FIFO0: ITM_bytecount Mask */
-
-#define TPI_FIFO0_ETM_ATVALID_Pos          26                                          /*!< TPI FIFO0: ETM_ATVALID Position */
-#define TPI_FIFO0_ETM_ATVALID_Msk          (0x3UL << TPI_FIFO0_ETM_ATVALID_Pos)        /*!< TPI FIFO0: ETM_ATVALID Mask */
-
-#define TPI_FIFO0_ETM_bytecount_Pos        24                                          /*!< TPI FIFO0: ETM_bytecount Position */
-#define TPI_FIFO0_ETM_bytecount_Msk        (0x3UL << TPI_FIFO0_ETM_bytecount_Pos)      /*!< TPI FIFO0: ETM_bytecount Mask */
-
-#define TPI_FIFO0_ETM2_Pos                 16                                          /*!< TPI FIFO0: ETM2 Position */
-#define TPI_FIFO0_ETM2_Msk                 (0xFFUL << TPI_FIFO0_ETM2_Pos)              /*!< TPI FIFO0: ETM2 Mask */
-
-#define TPI_FIFO0_ETM1_Pos                  8                                          /*!< TPI FIFO0: ETM1 Position */
-#define TPI_FIFO0_ETM1_Msk                 (0xFFUL << TPI_FIFO0_ETM1_Pos)              /*!< TPI FIFO0: ETM1 Mask */
-
-#define TPI_FIFO0_ETM0_Pos                  0                                          /*!< TPI FIFO0: ETM0 Position */
-#define TPI_FIFO0_ETM0_Msk                 (0xFFUL << TPI_FIFO0_ETM0_Pos)              /*!< TPI FIFO0: ETM0 Mask */
-
-/* TPI ITATBCTR2 Register Definitions */
-#define TPI_ITATBCTR2_ATREADY_Pos           0                                          /*!< TPI ITATBCTR2: ATREADY Position */
-#define TPI_ITATBCTR2_ATREADY_Msk          (0x1UL << TPI_ITATBCTR2_ATREADY_Pos)        /*!< TPI ITATBCTR2: ATREADY Mask */
-
-/* TPI Integration ITM Data Register Definitions (FIFO1) */
-#define TPI_FIFO1_ITM_ATVALID_Pos          29                                          /*!< TPI FIFO1: ITM_ATVALID Position */
-#define TPI_FIFO1_ITM_ATVALID_Msk          (0x3UL << TPI_FIFO1_ITM_ATVALID_Pos)        /*!< TPI FIFO1: ITM_ATVALID Mask */
-
-#define TPI_FIFO1_ITM_bytecount_Pos        27                                          /*!< TPI FIFO1: ITM_bytecount Position */
-#define TPI_FIFO1_ITM_bytecount_Msk        (0x3UL << TPI_FIFO1_ITM_bytecount_Pos)      /*!< TPI FIFO1: ITM_bytecount Mask */
-
-#define TPI_FIFO1_ETM_ATVALID_Pos          26                                          /*!< TPI FIFO1: ETM_ATVALID Position */
-#define TPI_FIFO1_ETM_ATVALID_Msk          (0x3UL << TPI_FIFO1_ETM_ATVALID_Pos)        /*!< TPI FIFO1: ETM_ATVALID Mask */
-
-#define TPI_FIFO1_ETM_bytecount_Pos        24                                          /*!< TPI FIFO1: ETM_bytecount Position */
-#define TPI_FIFO1_ETM_bytecount_Msk        (0x3UL << TPI_FIFO1_ETM_bytecount_Pos)      /*!< TPI FIFO1: ETM_bytecount Mask */
-
-#define TPI_FIFO1_ITM2_Pos                 16                                          /*!< TPI FIFO1: ITM2 Position */
-#define TPI_FIFO1_ITM2_Msk                 (0xFFUL << TPI_FIFO1_ITM2_Pos)              /*!< TPI FIFO1: ITM2 Mask */
-
-#define TPI_FIFO1_ITM1_Pos                  8                                          /*!< TPI FIFO1: ITM1 Position */
-#define TPI_FIFO1_ITM1_Msk                 (0xFFUL << TPI_FIFO1_ITM1_Pos)              /*!< TPI FIFO1: ITM1 Mask */
-
-#define TPI_FIFO1_ITM0_Pos                  0                                          /*!< TPI FIFO1: ITM0 Position */
-#define TPI_FIFO1_ITM0_Msk                 (0xFFUL << TPI_FIFO1_ITM0_Pos)              /*!< TPI FIFO1: ITM0 Mask */
-
-/* TPI ITATBCTR0 Register Definitions */
-#define TPI_ITATBCTR0_ATREADY_Pos           0                                          /*!< TPI ITATBCTR0: ATREADY Position */
-#define TPI_ITATBCTR0_ATREADY_Msk          (0x1UL << TPI_ITATBCTR0_ATREADY_Pos)        /*!< TPI ITATBCTR0: ATREADY Mask */
-
-/* TPI Integration Mode Control Register Definitions */
-#define TPI_ITCTRL_Mode_Pos                 0                                          /*!< TPI ITCTRL: Mode Position */
-#define TPI_ITCTRL_Mode_Msk                (0x1UL << TPI_ITCTRL_Mode_Pos)              /*!< TPI ITCTRL: Mode Mask */
-
-/* TPI DEVID Register Definitions */
-#define TPI_DEVID_NRZVALID_Pos             11                                          /*!< TPI DEVID: NRZVALID Position */
-#define TPI_DEVID_NRZVALID_Msk             (0x1UL << TPI_DEVID_NRZVALID_Pos)           /*!< TPI DEVID: NRZVALID Mask */
-
-#define TPI_DEVID_MANCVALID_Pos            10                                          /*!< TPI DEVID: MANCVALID Position */
-#define TPI_DEVID_MANCVALID_Msk            (0x1UL << TPI_DEVID_MANCVALID_Pos)          /*!< TPI DEVID: MANCVALID Mask */
-
-#define TPI_DEVID_PTINVALID_Pos             9                                          /*!< TPI DEVID: PTINVALID Position */
-#define TPI_DEVID_PTINVALID_Msk            (0x1UL << TPI_DEVID_PTINVALID_Pos)          /*!< TPI DEVID: PTINVALID Mask */
-
-#define TPI_DEVID_MinBufSz_Pos              6                                          /*!< TPI DEVID: MinBufSz Position */
-#define TPI_DEVID_MinBufSz_Msk             (0x7UL << TPI_DEVID_MinBufSz_Pos)           /*!< TPI DEVID: MinBufSz Mask */
-
-#define TPI_DEVID_AsynClkIn_Pos             5                                          /*!< TPI DEVID: AsynClkIn Position */
-#define TPI_DEVID_AsynClkIn_Msk            (0x1UL << TPI_DEVID_AsynClkIn_Pos)          /*!< TPI DEVID: AsynClkIn Mask */
-
-#define TPI_DEVID_NrTraceInput_Pos          0                                          /*!< TPI DEVID: NrTraceInput Position */
-#define TPI_DEVID_NrTraceInput_Msk         (0x1FUL << TPI_DEVID_NrTraceInput_Pos)      /*!< TPI DEVID: NrTraceInput Mask */
-
-/* TPI DEVTYPE Register Definitions */
-#define TPI_DEVTYPE_SubType_Pos             0                                          /*!< TPI DEVTYPE: SubType Position */
-#define TPI_DEVTYPE_SubType_Msk            (0xFUL << TPI_DEVTYPE_SubType_Pos)          /*!< TPI DEVTYPE: SubType Mask */
-
-#define TPI_DEVTYPE_MajorType_Pos           4                                          /*!< TPI DEVTYPE: MajorType Position */
-#define TPI_DEVTYPE_MajorType_Msk          (0xFUL << TPI_DEVTYPE_MajorType_Pos)        /*!< TPI DEVTYPE: MajorType Mask */
-
-/*@}*/ /* end of group CMSIS_TPI */
-
-
-#if (__MPU_PRESENT == 1)
-/** \ingroup  CMSIS_core_register
-    \defgroup CMSIS_MPU     Memory Protection Unit (MPU)
-    \brief      Type definitions for the Memory Protection Unit (MPU)
-  @{
- */
-
-/** \brief  Structure type to access the Memory Protection Unit (MPU).
- */
-typedef struct
-{
-  __I  uint32_t TYPE;                    /*!< Offset: 0x000 (R/ )  MPU Type Register                              */
-  __IO uint32_t CTRL;                    /*!< Offset: 0x004 (R/W)  MPU Control Register                           */
-  __IO uint32_t RNR;                     /*!< Offset: 0x008 (R/W)  MPU Region RNRber Register                     */
-  __IO uint32_t RBAR;                    /*!< Offset: 0x00C (R/W)  MPU Region Base Address Register               */
-  __IO uint32_t RASR;                    /*!< Offset: 0x010 (R/W)  MPU Region Attribute and Size Register         */
-  __IO uint32_t RBAR_A1;                 /*!< Offset: 0x014 (R/W)  MPU Alias 1 Region Base Address Register       */
-  __IO uint32_t RASR_A1;                 /*!< Offset: 0x018 (R/W)  MPU Alias 1 Region Attribute and Size Register */
-  __IO uint32_t RBAR_A2;                 /*!< Offset: 0x01C (R/W)  MPU Alias 2 Region Base Address Register       */
-  __IO uint32_t RASR_A2;                 /*!< Offset: 0x020 (R/W)  MPU Alias 2 Region Attribute and Size Register */
-  __IO uint32_t RBAR_A3;                 /*!< Offset: 0x024 (R/W)  MPU Alias 3 Region Base Address Register       */
-  __IO uint32_t RASR_A3;                 /*!< Offset: 0x028 (R/W)  MPU Alias 3 Region Attribute and Size Register */
-} MPU_Type;
-
-/* MPU Type Register */
-#define MPU_TYPE_IREGION_Pos               16                                             /*!< MPU TYPE: IREGION Position */
-#define MPU_TYPE_IREGION_Msk               (0xFFUL << MPU_TYPE_IREGION_Pos)               /*!< MPU TYPE: IREGION Mask */
-
-#define MPU_TYPE_DREGION_Pos                8                                             /*!< MPU TYPE: DREGION Position */
-#define MPU_TYPE_DREGION_Msk               (0xFFUL << MPU_TYPE_DREGION_Pos)               /*!< MPU TYPE: DREGION Mask */
-
-#define MPU_TYPE_SEPARATE_Pos               0                                             /*!< MPU TYPE: SEPARATE Position */
-#define MPU_TYPE_SEPARATE_Msk              (1UL << MPU_TYPE_SEPARATE_Pos)                 /*!< MPU TYPE: SEPARATE Mask */
-
-/* MPU Control Register */
-#define MPU_CTRL_PRIVDEFENA_Pos             2                                             /*!< MPU CTRL: PRIVDEFENA Position */
-#define MPU_CTRL_PRIVDEFENA_Msk            (1UL << MPU_CTRL_PRIVDEFENA_Pos)               /*!< MPU CTRL: PRIVDEFENA Mask */
-
-#define MPU_CTRL_HFNMIENA_Pos               1                                             /*!< MPU CTRL: HFNMIENA Position */
-#define MPU_CTRL_HFNMIENA_Msk              (1UL << MPU_CTRL_HFNMIENA_Pos)                 /*!< MPU CTRL: HFNMIENA Mask */
-
-#define MPU_CTRL_ENABLE_Pos                 0                                             /*!< MPU CTRL: ENABLE Position */
-#define MPU_CTRL_ENABLE_Msk                (1UL << MPU_CTRL_ENABLE_Pos)                   /*!< MPU CTRL: ENABLE Mask */
-
-/* MPU Region Number Register */
-#define MPU_RNR_REGION_Pos                  0                                             /*!< MPU RNR: REGION Position */
-#define MPU_RNR_REGION_Msk                 (0xFFUL << MPU_RNR_REGION_Pos)                 /*!< MPU RNR: REGION Mask */
-
-/* MPU Region Base Address Register */
-#define MPU_RBAR_ADDR_Pos                   5                                             /*!< MPU RBAR: ADDR Position */
-#define MPU_RBAR_ADDR_Msk                  (0x7FFFFFFUL << MPU_RBAR_ADDR_Pos)             /*!< MPU RBAR: ADDR Mask */
-
-#define MPU_RBAR_VALID_Pos                  4                                             /*!< MPU RBAR: VALID Position */
-#define MPU_RBAR_VALID_Msk                 (1UL << MPU_RBAR_VALID_Pos)                    /*!< MPU RBAR: VALID Mask */
-
-#define MPU_RBAR_REGION_Pos                 0                                             /*!< MPU RBAR: REGION Position */
-#define MPU_RBAR_REGION_Msk                (0xFUL << MPU_RBAR_REGION_Pos)                 /*!< MPU RBAR: REGION Mask */
-
-/* MPU Region Attribute and Size Register */
-#define MPU_RASR_ATTRS_Pos                 16                                             /*!< MPU RASR: MPU Region Attribute field Position */
-#define MPU_RASR_ATTRS_Msk                 (0xFFFFUL << MPU_RASR_ATTRS_Pos)               /*!< MPU RASR: MPU Region Attribute field Mask */
-
-#define MPU_RASR_XN_Pos                    28                                             /*!< MPU RASR: ATTRS.XN Position */
-#define MPU_RASR_XN_Msk                    (1UL << MPU_RASR_XN_Pos)                       /*!< MPU RASR: ATTRS.XN Mask */
-
-#define MPU_RASR_AP_Pos                    24                                             /*!< MPU RASR: ATTRS.AP Position */
-#define MPU_RASR_AP_Msk                    (0x7UL << MPU_RASR_AP_Pos)                     /*!< MPU RASR: ATTRS.AP Mask */
-
-#define MPU_RASR_TEX_Pos                   19                                             /*!< MPU RASR: ATTRS.TEX Position */
-#define MPU_RASR_TEX_Msk                   (0x7UL << MPU_RASR_TEX_Pos)                    /*!< MPU RASR: ATTRS.TEX Mask */
-
-#define MPU_RASR_S_Pos                     18                                             /*!< MPU RASR: ATTRS.S Position */
-#define MPU_RASR_S_Msk                     (1UL << MPU_RASR_S_Pos)                        /*!< MPU RASR: ATTRS.S Mask */
-
-#define MPU_RASR_C_Pos                     17                                             /*!< MPU RASR: ATTRS.C Position */
-#define MPU_RASR_C_Msk                     (1UL << MPU_RASR_C_Pos)                        /*!< MPU RASR: ATTRS.C Mask */
-
-#define MPU_RASR_B_Pos                     16                                             /*!< MPU RASR: ATTRS.B Position */
-#define MPU_RASR_B_Msk                     (1UL << MPU_RASR_B_Pos)                        /*!< MPU RASR: ATTRS.B Mask */
-
-#define MPU_RASR_SRD_Pos                    8                                             /*!< MPU RASR: Sub-Region Disable Position */
-#define MPU_RASR_SRD_Msk                   (0xFFUL << MPU_RASR_SRD_Pos)                   /*!< MPU RASR: Sub-Region Disable Mask */
-
-#define MPU_RASR_SIZE_Pos                   1                                             /*!< MPU RASR: Region Size Field Position */
-#define MPU_RASR_SIZE_Msk                  (0x1FUL << MPU_RASR_SIZE_Pos)                  /*!< MPU RASR: Region Size Field Mask */
-
-#define MPU_RASR_ENABLE_Pos                 0                                             /*!< MPU RASR: Region enable bit Position */
-#define MPU_RASR_ENABLE_Msk                (1UL << MPU_RASR_ENABLE_Pos)                   /*!< MPU RASR: Region enable bit Disable Mask */
-
-/*@} end of group CMSIS_MPU */
-#endif
-
-
-#if (__FPU_PRESENT == 1)
-/** \ingroup  CMSIS_core_register
-    \defgroup CMSIS_FPU     Floating Point Unit (FPU)
-    \brief      Type definitions for the Floating Point Unit (FPU)
-  @{
- */
-
-/** \brief  Structure type to access the Floating Point Unit (FPU).
- */
-typedef struct
-{
-       uint32_t RESERVED0[1];
-  __IO uint32_t FPCCR;                   /*!< Offset: 0x004 (R/W)  Floating-Point Context Control Register               */
-  __IO uint32_t FPCAR;                   /*!< Offset: 0x008 (R/W)  Floating-Point Context Address Register               */
-  __IO uint32_t FPDSCR;                  /*!< Offset: 0x00C (R/W)  Floating-Point Default Status Control Register        */
-  __I  uint32_t MVFR0;                   /*!< Offset: 0x010 (R/ )  Media and FP Feature Register 0                       */
-  __I  uint32_t MVFR1;                   /*!< Offset: 0x014 (R/ )  Media and FP Feature Register 1                       */
-} FPU_Type;
-
-/* Floating-Point Context Control Register */
-#define FPU_FPCCR_ASPEN_Pos                31                                             /*!< FPCCR: ASPEN bit Position */
-#define FPU_FPCCR_ASPEN_Msk                (1UL << FPU_FPCCR_ASPEN_Pos)                   /*!< FPCCR: ASPEN bit Mask */
-
-#define FPU_FPCCR_LSPEN_Pos                30                                             /*!< FPCCR: LSPEN Position */
-#define FPU_FPCCR_LSPEN_Msk                (1UL << FPU_FPCCR_LSPEN_Pos)                   /*!< FPCCR: LSPEN bit Mask */
-
-#define FPU_FPCCR_MONRDY_Pos                8                                             /*!< FPCCR: MONRDY Position */
-#define FPU_FPCCR_MONRDY_Msk               (1UL << FPU_FPCCR_MONRDY_Pos)                  /*!< FPCCR: MONRDY bit Mask */
-
-#define FPU_FPCCR_BFRDY_Pos                 6                                             /*!< FPCCR: BFRDY Position */
-#define FPU_FPCCR_BFRDY_Msk                (1UL << FPU_FPCCR_BFRDY_Pos)                   /*!< FPCCR: BFRDY bit Mask */
-
-#define FPU_FPCCR_MMRDY_Pos                 5                                             /*!< FPCCR: MMRDY Position */
-#define FPU_FPCCR_MMRDY_Msk                (1UL << FPU_FPCCR_MMRDY_Pos)                   /*!< FPCCR: MMRDY bit Mask */
-
-#define FPU_FPCCR_HFRDY_Pos                 4                                             /*!< FPCCR: HFRDY Position */
-#define FPU_FPCCR_HFRDY_Msk                (1UL << FPU_FPCCR_HFRDY_Pos)                   /*!< FPCCR: HFRDY bit Mask */
-
-#define FPU_FPCCR_THREAD_Pos                3                                             /*!< FPCCR: processor mode bit Position */
-#define FPU_FPCCR_THREAD_Msk               (1UL << FPU_FPCCR_THREAD_Pos)                  /*!< FPCCR: processor mode active bit Mask */
-
-#define FPU_FPCCR_USER_Pos                  1                                             /*!< FPCCR: privilege level bit Position */
-#define FPU_FPCCR_USER_Msk                 (1UL << FPU_FPCCR_USER_Pos)                    /*!< FPCCR: privilege level bit Mask */
-
-#define FPU_FPCCR_LSPACT_Pos                0                                             /*!< FPCCR: Lazy state preservation active bit Position */
-#define FPU_FPCCR_LSPACT_Msk               (1UL << FPU_FPCCR_LSPACT_Pos)                  /*!< FPCCR: Lazy state preservation active bit Mask */
-
-/* Floating-Point Context Address Register */
-#define FPU_FPCAR_ADDRESS_Pos               3                                             /*!< FPCAR: ADDRESS bit Position */
-#define FPU_FPCAR_ADDRESS_Msk              (0x1FFFFFFFUL << FPU_FPCAR_ADDRESS_Pos)        /*!< FPCAR: ADDRESS bit Mask */
-
-/* Floating-Point Default Status Control Register */
-#define FPU_FPDSCR_AHP_Pos                 26                                             /*!< FPDSCR: AHP bit Position */
-#define FPU_FPDSCR_AHP_Msk                 (1UL << FPU_FPDSCR_AHP_Pos)                    /*!< FPDSCR: AHP bit Mask */
-
-#define FPU_FPDSCR_DN_Pos                  25                                             /*!< FPDSCR: DN bit Position */
-#define FPU_FPDSCR_DN_Msk                  (1UL << FPU_FPDSCR_DN_Pos)                     /*!< FPDSCR: DN bit Mask */
-
-#define FPU_FPDSCR_FZ_Pos                  24                                             /*!< FPDSCR: FZ bit Position */
-#define FPU_FPDSCR_FZ_Msk                  (1UL << FPU_FPDSCR_FZ_Pos)                     /*!< FPDSCR: FZ bit Mask */
-
-#define FPU_FPDSCR_RMode_Pos               22                                             /*!< FPDSCR: RMode bit Position */
-#define FPU_FPDSCR_RMode_Msk               (3UL << FPU_FPDSCR_RMode_Pos)                  /*!< FPDSCR: RMode bit Mask */
-
-/* Media and FP Feature Register 0 */
-#define FPU_MVFR0_FP_rounding_modes_Pos    28                                             /*!< MVFR0: FP rounding modes bits Position */
-#define FPU_MVFR0_FP_rounding_modes_Msk    (0xFUL << FPU_MVFR0_FP_rounding_modes_Pos)     /*!< MVFR0: FP rounding modes bits Mask */
-
-#define FPU_MVFR0_Short_vectors_Pos        24                                             /*!< MVFR0: Short vectors bits Position */
-#define FPU_MVFR0_Short_vectors_Msk        (0xFUL << FPU_MVFR0_Short_vectors_Pos)         /*!< MVFR0: Short vectors bits Mask */
-
-#define FPU_MVFR0_Square_root_Pos          20                                             /*!< MVFR0: Square root bits Position */
-#define FPU_MVFR0_Square_root_Msk          (0xFUL << FPU_MVFR0_Square_root_Pos)           /*!< MVFR0: Square root bits Mask */
-
-#define FPU_MVFR0_Divide_Pos               16                                             /*!< MVFR0: Divide bits Position */
-#define FPU_MVFR0_Divide_Msk               (0xFUL << FPU_MVFR0_Divide_Pos)                /*!< MVFR0: Divide bits Mask */
-
-#define FPU_MVFR0_FP_excep_trapping_Pos    12                                             /*!< MVFR0: FP exception trapping bits Position */
-#define FPU_MVFR0_FP_excep_trapping_Msk    (0xFUL << FPU_MVFR0_FP_excep_trapping_Pos)     /*!< MVFR0: FP exception trapping bits Mask */
-
-#define FPU_MVFR0_Double_precision_Pos      8                                             /*!< MVFR0: Double-precision bits Position */
-#define FPU_MVFR0_Double_precision_Msk     (0xFUL << FPU_MVFR0_Double_precision_Pos)      /*!< MVFR0: Double-precision bits Mask */
-
-#define FPU_MVFR0_Single_precision_Pos      4                                             /*!< MVFR0: Single-precision bits Position */
-#define FPU_MVFR0_Single_precision_Msk     (0xFUL << FPU_MVFR0_Single_precision_Pos)      /*!< MVFR0: Single-precision bits Mask */
-
-#define FPU_MVFR0_A_SIMD_registers_Pos      0                                             /*!< MVFR0: A_SIMD registers bits Position */
-#define FPU_MVFR0_A_SIMD_registers_Msk     (0xFUL << FPU_MVFR0_A_SIMD_registers_Pos)      /*!< MVFR0: A_SIMD registers bits Mask */
-
-/* Media and FP Feature Register 1 */
-#define FPU_MVFR1_FP_fused_MAC_Pos         28                                             /*!< MVFR1: FP fused MAC bits Position */
-#define FPU_MVFR1_FP_fused_MAC_Msk         (0xFUL << FPU_MVFR1_FP_fused_MAC_Pos)          /*!< MVFR1: FP fused MAC bits Mask */
-
-#define FPU_MVFR1_FP_HPFP_Pos              24                                             /*!< MVFR1: FP HPFP bits Position */
-#define FPU_MVFR1_FP_HPFP_Msk              (0xFUL << FPU_MVFR1_FP_HPFP_Pos)               /*!< MVFR1: FP HPFP bits Mask */
-
-#define FPU_MVFR1_D_NaN_mode_Pos            4                                             /*!< MVFR1: D_NaN mode bits Position */
-#define FPU_MVFR1_D_NaN_mode_Msk           (0xFUL << FPU_MVFR1_D_NaN_mode_Pos)            /*!< MVFR1: D_NaN mode bits Mask */
-
-#define FPU_MVFR1_FtZ_mode_Pos              0                                             /*!< MVFR1: FtZ mode bits Position */
-#define FPU_MVFR1_FtZ_mode_Msk             (0xFUL << FPU_MVFR1_FtZ_mode_Pos)              /*!< MVFR1: FtZ mode bits Mask */
-
-/*@} end of group CMSIS_FPU */
-#endif
-
-
-/** \ingroup  CMSIS_core_register
-    \defgroup CMSIS_CoreDebug       Core Debug Registers (CoreDebug)
-    \brief      Type definitions for the Core Debug Registers
-  @{
- */
-
-/** \brief  Structure type to access the Core Debug Register (CoreDebug).
- */
-typedef struct
-{
-  __IO uint32_t DHCSR;                   /*!< Offset: 0x000 (R/W)  Debug Halting Control and Status Register    */
-  __O  uint32_t DCRSR;                   /*!< Offset: 0x004 ( /W)  Debug Core Register Selector Register        */
-  __IO uint32_t DCRDR;                   /*!< Offset: 0x008 (R/W)  Debug Core Register Data Register            */
-  __IO uint32_t DEMCR;                   /*!< Offset: 0x00C (R/W)  Debug Exception and Monitor Control Register */
-} CoreDebug_Type;
-
-/* Debug Halting Control and Status Register */
-#define CoreDebug_DHCSR_DBGKEY_Pos         16                                             /*!< CoreDebug DHCSR: DBGKEY Position */
-#define CoreDebug_DHCSR_DBGKEY_Msk         (0xFFFFUL << CoreDebug_DHCSR_DBGKEY_Pos)       /*!< CoreDebug DHCSR: DBGKEY Mask */
-
-#define CoreDebug_DHCSR_S_RESET_ST_Pos     25                                             /*!< CoreDebug DHCSR: S_RESET_ST Position */
-#define CoreDebug_DHCSR_S_RESET_ST_Msk     (1UL << CoreDebug_DHCSR_S_RESET_ST_Pos)        /*!< CoreDebug DHCSR: S_RESET_ST Mask */
-
-#define CoreDebug_DHCSR_S_RETIRE_ST_Pos    24                                             /*!< CoreDebug DHCSR: S_RETIRE_ST Position */
-#define CoreDebug_DHCSR_S_RETIRE_ST_Msk    (1UL << CoreDebug_DHCSR_S_RETIRE_ST_Pos)       /*!< CoreDebug DHCSR: S_RETIRE_ST Mask */
-
-#define CoreDebug_DHCSR_S_LOCKUP_Pos       19                                             /*!< CoreDebug DHCSR: S_LOCKUP Position */
-#define CoreDebug_DHCSR_S_LOCKUP_Msk       (1UL << CoreDebug_DHCSR_S_LOCKUP_Pos)          /*!< CoreDebug DHCSR: S_LOCKUP Mask */
-
-#define CoreDebug_DHCSR_S_SLEEP_Pos        18                                             /*!< CoreDebug DHCSR: S_SLEEP Position */
-#define CoreDebug_DHCSR_S_SLEEP_Msk        (1UL << CoreDebug_DHCSR_S_SLEEP_Pos)           /*!< CoreDebug DHCSR: S_SLEEP Mask */
-
-#define CoreDebug_DHCSR_S_HALT_Pos         17                                             /*!< CoreDebug DHCSR: S_HALT Position */
-#define CoreDebug_DHCSR_S_HALT_Msk         (1UL << CoreDebug_DHCSR_S_HALT_Pos)            /*!< CoreDebug DHCSR: S_HALT Mask */
-
-#define CoreDebug_DHCSR_S_REGRDY_Pos       16                                             /*!< CoreDebug DHCSR: S_REGRDY Position */
-#define CoreDebug_DHCSR_S_REGRDY_Msk       (1UL << CoreDebug_DHCSR_S_REGRDY_Pos)          /*!< CoreDebug DHCSR: S_REGRDY Mask */
-
-#define CoreDebug_DHCSR_C_SNAPSTALL_Pos     5                                             /*!< CoreDebug DHCSR: C_SNAPSTALL Position */
-#define CoreDebug_DHCSR_C_SNAPSTALL_Msk    (1UL << CoreDebug_DHCSR_C_SNAPSTALL_Pos)       /*!< CoreDebug DHCSR: C_SNAPSTALL Mask */
-
-#define CoreDebug_DHCSR_C_MASKINTS_Pos      3                                             /*!< CoreDebug DHCSR: C_MASKINTS Position */
-#define CoreDebug_DHCSR_C_MASKINTS_Msk     (1UL << CoreDebug_DHCSR_C_MASKINTS_Pos)        /*!< CoreDebug DHCSR: C_MASKINTS Mask */
-
-#define CoreDebug_DHCSR_C_STEP_Pos          2                                             /*!< CoreDebug DHCSR: C_STEP Position */
-#define CoreDebug_DHCSR_C_STEP_Msk         (1UL << CoreDebug_DHCSR_C_STEP_Pos)            /*!< CoreDebug DHCSR: C_STEP Mask */
-
-#define CoreDebug_DHCSR_C_HALT_Pos          1                                             /*!< CoreDebug DHCSR: C_HALT Position */
-#define CoreDebug_DHCSR_C_HALT_Msk         (1UL << CoreDebug_DHCSR_C_HALT_Pos)            /*!< CoreDebug DHCSR: C_HALT Mask */
-
-#define CoreDebug_DHCSR_C_DEBUGEN_Pos       0                                             /*!< CoreDebug DHCSR: C_DEBUGEN Position */
-#define CoreDebug_DHCSR_C_DEBUGEN_Msk      (1UL << CoreDebug_DHCSR_C_DEBUGEN_Pos)         /*!< CoreDebug DHCSR: C_DEBUGEN Mask */
-
-/* Debug Core Register Selector Register */
-#define CoreDebug_DCRSR_REGWnR_Pos         16                                             /*!< CoreDebug DCRSR: REGWnR Position */
-#define CoreDebug_DCRSR_REGWnR_Msk         (1UL << CoreDebug_DCRSR_REGWnR_Pos)            /*!< CoreDebug DCRSR: REGWnR Mask */
-
-#define CoreDebug_DCRSR_REGSEL_Pos          0                                             /*!< CoreDebug DCRSR: REGSEL Position */
-#define CoreDebug_DCRSR_REGSEL_Msk         (0x1FUL << CoreDebug_DCRSR_REGSEL_Pos)         /*!< CoreDebug DCRSR: REGSEL Mask */
-
-/* Debug Exception and Monitor Control Register */
-#define CoreDebug_DEMCR_TRCENA_Pos         24                                             /*!< CoreDebug DEMCR: TRCENA Position */
-#define CoreDebug_DEMCR_TRCENA_Msk         (1UL << CoreDebug_DEMCR_TRCENA_Pos)            /*!< CoreDebug DEMCR: TRCENA Mask */
-
-#define CoreDebug_DEMCR_MON_REQ_Pos        19                                             /*!< CoreDebug DEMCR: MON_REQ Position */
-#define CoreDebug_DEMCR_MON_REQ_Msk        (1UL << CoreDebug_DEMCR_MON_REQ_Pos)           /*!< CoreDebug DEMCR: MON_REQ Mask */
-
-#define CoreDebug_DEMCR_MON_STEP_Pos       18                                             /*!< CoreDebug DEMCR: MON_STEP Position */
-#define CoreDebug_DEMCR_MON_STEP_Msk       (1UL << CoreDebug_DEMCR_MON_STEP_Pos)          /*!< CoreDebug DEMCR: MON_STEP Mask */
-
-#define CoreDebug_DEMCR_MON_PEND_Pos       17                                             /*!< CoreDebug DEMCR: MON_PEND Position */
-#define CoreDebug_DEMCR_MON_PEND_Msk       (1UL << CoreDebug_DEMCR_MON_PEND_Pos)          /*!< CoreDebug DEMCR: MON_PEND Mask */
-
-#define CoreDebug_DEMCR_MON_EN_Pos         16                                             /*!< CoreDebug DEMCR: MON_EN Position */
-#define CoreDebug_DEMCR_MON_EN_Msk         (1UL << CoreDebug_DEMCR_MON_EN_Pos)            /*!< CoreDebug DEMCR: MON_EN Mask */
-
-#define CoreDebug_DEMCR_VC_HARDERR_Pos     10                                             /*!< CoreDebug DEMCR: VC_HARDERR Position */
-#define CoreDebug_DEMCR_VC_HARDERR_Msk     (1UL << CoreDebug_DEMCR_VC_HARDERR_Pos)        /*!< CoreDebug DEMCR: VC_HARDERR Mask */
-
-#define CoreDebug_DEMCR_VC_INTERR_Pos       9                                             /*!< CoreDebug DEMCR: VC_INTERR Position */
-#define CoreDebug_DEMCR_VC_INTERR_Msk      (1UL << CoreDebug_DEMCR_VC_INTERR_Pos)         /*!< CoreDebug DEMCR: VC_INTERR Mask */
-
-#define CoreDebug_DEMCR_VC_BUSERR_Pos       8                                             /*!< CoreDebug DEMCR: VC_BUSERR Position */
-#define CoreDebug_DEMCR_VC_BUSERR_Msk      (1UL << CoreDebug_DEMCR_VC_BUSERR_Pos)         /*!< CoreDebug DEMCR: VC_BUSERR Mask */
-
-#define CoreDebug_DEMCR_VC_STATERR_Pos      7                                             /*!< CoreDebug DEMCR: VC_STATERR Position */
-#define CoreDebug_DEMCR_VC_STATERR_Msk     (1UL << CoreDebug_DEMCR_VC_STATERR_Pos)        /*!< CoreDebug DEMCR: VC_STATERR Mask */
-
-#define CoreDebug_DEMCR_VC_CHKERR_Pos       6                                             /*!< CoreDebug DEMCR: VC_CHKERR Position */
-#define CoreDebug_DEMCR_VC_CHKERR_Msk      (1UL << CoreDebug_DEMCR_VC_CHKERR_Pos)         /*!< CoreDebug DEMCR: VC_CHKERR Mask */
-
-#define CoreDebug_DEMCR_VC_NOCPERR_Pos      5                                             /*!< CoreDebug DEMCR: VC_NOCPERR Position */
-#define CoreDebug_DEMCR_VC_NOCPERR_Msk     (1UL << CoreDebug_DEMCR_VC_NOCPERR_Pos)        /*!< CoreDebug DEMCR: VC_NOCPERR Mask */
-
-#define CoreDebug_DEMCR_VC_MMERR_Pos        4                                             /*!< CoreDebug DEMCR: VC_MMERR Position */
-#define CoreDebug_DEMCR_VC_MMERR_Msk       (1UL << CoreDebug_DEMCR_VC_MMERR_Pos)          /*!< CoreDebug DEMCR: VC_MMERR Mask */
-
-#define CoreDebug_DEMCR_VC_CORERESET_Pos    0                                             /*!< CoreDebug DEMCR: VC_CORERESET Position */
-#define CoreDebug_DEMCR_VC_CORERESET_Msk   (1UL << CoreDebug_DEMCR_VC_CORERESET_Pos)      /*!< CoreDebug DEMCR: VC_CORERESET Mask */
-
-/*@} end of group CMSIS_CoreDebug */
-
-
-/** \ingroup    CMSIS_core_register
-    \defgroup   CMSIS_core_base     Core Definitions
-    \brief      Definitions for base addresses, unions, and structures.
-  @{
- */
-
-/* Memory mapping of Cortex-M4 Hardware */
-#define SCS_BASE            (0xE000E000UL)                            /*!< System Control Space Base Address  */
-#define ITM_BASE            (0xE0000000UL)                            /*!< ITM Base Address                   */
-#define DWT_BASE            (0xE0001000UL)                            /*!< DWT Base Address                   */
-#define TPI_BASE            (0xE0040000UL)                            /*!< TPI Base Address                   */
-#define CoreDebug_BASE      (0xE000EDF0UL)                            /*!< Core Debug Base Address            */
-#define SysTick_BASE        (SCS_BASE +  0x0010UL)                    /*!< SysTick Base Address               */
-#define NVIC_BASE           (SCS_BASE +  0x0100UL)                    /*!< NVIC Base Address                  */
-#define SCB_BASE            (SCS_BASE +  0x0D00UL)                    /*!< System Control Block Base Address  */
-
-#define SCnSCB              ((SCnSCB_Type    *)     SCS_BASE      )   /*!< System control Register not in SCB */
-#define SCB                 ((SCB_Type       *)     SCB_BASE      )   /*!< SCB configuration struct           */
-#define SysTick             ((SysTick_Type   *)     SysTick_BASE  )   /*!< SysTick configuration struct       */
-#define NVIC                ((NVIC_Type      *)     NVIC_BASE     )   /*!< NVIC configuration struct          */
-#define ITM                 ((ITM_Type       *)     ITM_BASE      )   /*!< ITM configuration struct           */
-#define DWT                 ((DWT_Type       *)     DWT_BASE      )   /*!< DWT configuration struct           */
-#define TPI                 ((TPI_Type       *)     TPI_BASE      )   /*!< TPI configuration struct           */
-#define CoreDebug           ((CoreDebug_Type *)     CoreDebug_BASE)   /*!< Core Debug configuration struct    */
-
-#if (__MPU_PRESENT == 1)
-  #define MPU_BASE          (SCS_BASE +  0x0D90UL)                    /*!< Memory Protection Unit             */
-  #define MPU               ((MPU_Type       *)     MPU_BASE      )   /*!< Memory Protection Unit             */
-#endif
-
-#if (__FPU_PRESENT == 1)
-  #define FPU_BASE          (SCS_BASE +  0x0F30UL)                    /*!< Floating Point Unit                */
-  #define FPU               ((FPU_Type       *)     FPU_BASE      )   /*!< Floating Point Unit                */
-#endif
-
-/*@} */
-
-
-
-/*******************************************************************************
- *                Hardware Abstraction Layer
-  Core Function Interface contains:
-  - Core NVIC Functions
-  - Core SysTick Functions
-  - Core Debug Functions
-  - Core Register Access Functions
- ******************************************************************************/
-/** \defgroup CMSIS_Core_FunctionInterface Functions and Instructions Reference
-*/
-
-
-
-/* ##########################   NVIC functions  #################################### */
-/** \ingroup  CMSIS_Core_FunctionInterface
-    \defgroup CMSIS_Core_NVICFunctions NVIC Functions
-    \brief      Functions that manage interrupts and exceptions via the NVIC.
-    @{
- */
-
-/** \brief  Set Priority Grouping
-
-  The function sets the priority grouping field using the required unlock sequence.
-  The parameter PriorityGroup is assigned to the field SCB->AIRCR [10:8] PRIGROUP field.
-  Only values from 0..7 are used.
-  In case of a conflict between priority grouping and available
-  priority bits (__NVIC_PRIO_BITS), the smallest possible priority group is set.
-
-    \param [in]      PriorityGroup  Priority grouping field.
- */
-__STATIC_INLINE void NVIC_SetPriorityGrouping(uint32_t PriorityGroup)
-{
-  uint32_t reg_value;
-  uint32_t PriorityGroupTmp = (PriorityGroup & (uint32_t)0x07);               /* only values 0..7 are used          */
-
-  reg_value  =  SCB->AIRCR;                                                   /* read old register configuration    */
-  reg_value &= ~(SCB_AIRCR_VECTKEY_Msk | SCB_AIRCR_PRIGROUP_Msk);             /* clear bits to change               */
-  reg_value  =  (reg_value                                 |
-                ((uint32_t)0x5FA << SCB_AIRCR_VECTKEY_Pos) |
-                (PriorityGroupTmp << 8));                                     /* Insert write key and priorty group */
-  SCB->AIRCR =  reg_value;
-}
-
-
-/** \brief  Get Priority Grouping
-
-  The function reads the priority grouping field from the NVIC Interrupt Controller.
-
-    \return                Priority grouping field (SCB->AIRCR [10:8] PRIGROUP field).
- */
-__STATIC_INLINE uint32_t NVIC_GetPriorityGrouping(void)
-{
-  return ((SCB->AIRCR & SCB_AIRCR_PRIGROUP_Msk) >> SCB_AIRCR_PRIGROUP_Pos);   /* read priority grouping field */
-}
-
-
-/** \brief  Enable External Interrupt
-
-    The function enables a device-specific interrupt in the NVIC interrupt controller.
-
-    \param [in]      IRQn  External interrupt number. Value cannot be negative.
- */
-__STATIC_INLINE void NVIC_EnableIRQ(IRQn_Type IRQn)
-{
-/*  NVIC->ISER[((uint32_t)(IRQn) >> 5)] = (1 << ((uint32_t)(IRQn) & 0x1F));  enable interrupt */
-  NVIC->ISER[(uint32_t)((int32_t)IRQn) >> 5] = (uint32_t)(1 << ((uint32_t)((int32_t)IRQn) & (uint32_t)0x1F)); /* enable interrupt */
-}
-
-
-/** \brief  Disable External Interrupt
-
-    The function disables a device-specific interrupt in the NVIC interrupt controller.
-
-    \param [in]      IRQn  External interrupt number. Value cannot be negative.
- */
-__STATIC_INLINE void NVIC_DisableIRQ(IRQn_Type IRQn)
-{
-  NVIC->ICER[((uint32_t)(IRQn) >> 5)] = (1 << ((uint32_t)(IRQn) & 0x1F)); /* disable interrupt */
-}
-
-
-/** \brief  Get Pending Interrupt
-
-    The function reads the pending register in the NVIC and returns the pending bit
-    for the specified interrupt.
-
-    \param [in]      IRQn  Interrupt number.
-
-    \return             0  Interrupt status is not pending.
-    \return             1  Interrupt status is pending.
- */
-__STATIC_INLINE uint32_t NVIC_GetPendingIRQ(IRQn_Type IRQn)
-{
-  return((uint32_t) ((NVIC->ISPR[(uint32_t)(IRQn) >> 5] & (1 << ((uint32_t)(IRQn) & 0x1F)))?1:0)); /* Return 1 if pending else 0 */
-}
-
-
-/** \brief  Set Pending Interrupt
-
-    The function sets the pending bit of an external interrupt.
-
-    \param [in]      IRQn  Interrupt number. Value cannot be negative.
- */
-__STATIC_INLINE void NVIC_SetPendingIRQ(IRQn_Type IRQn)
-{
-  NVIC->ISPR[((uint32_t)(IRQn) >> 5)] = (1 << ((uint32_t)(IRQn) & 0x1F)); /* set interrupt pending */
-}
-
-
-/** \brief  Clear Pending Interrupt
-
-    The function clears the pending bit of an external interrupt.
-
-    \param [in]      IRQn  External interrupt number. Value cannot be negative.
- */
-__STATIC_INLINE void NVIC_ClearPendingIRQ(IRQn_Type IRQn)
-{
-  NVIC->ICPR[((uint32_t)(IRQn) >> 5)] = (1 << ((uint32_t)(IRQn) & 0x1F)); /* Clear pending interrupt */
-}
-
-
-/** \brief  Get Active Interrupt
-
-    The function reads the active register in NVIC and returns the active bit.
-
-    \param [in]      IRQn  Interrupt number.
-
-    \return             0  Interrupt status is not active.
-    \return             1  Interrupt status is active.
- */
-__STATIC_INLINE uint32_t NVIC_GetActive(IRQn_Type IRQn)
-{
-  return((uint32_t)((NVIC->IABR[(uint32_t)(IRQn) >> 5] & (1 << ((uint32_t)(IRQn) & 0x1F)))?1:0)); /* Return 1 if active else 0 */
-}
-
-
-/** \brief  Set Interrupt Priority
-
-    The function sets the priority of an interrupt.
-
-    \note The priority cannot be set for every core interrupt.
-
-    \param [in]      IRQn  Interrupt number.
-    \param [in]  priority  Priority to set.
- */
-__STATIC_INLINE void NVIC_SetPriority(IRQn_Type IRQn, uint32_t priority)
-{
-  if(IRQn < 0) {
-    SCB->SHP[((uint32_t)(IRQn) & 0xF)-4] = ((priority << (8 - __NVIC_PRIO_BITS)) & 0xff); } /* set Priority for Cortex-M  System Interrupts */
-  else {
-    NVIC->IP[(uint32_t)(IRQn)] = ((priority << (8 - __NVIC_PRIO_BITS)) & 0xff);    }        /* set Priority for device specific Interrupts  */
-}
-
-
-/** \brief  Get Interrupt Priority
-
-    The function reads the priority of an interrupt. The interrupt
-    number can be positive to specify an external (device specific)
-    interrupt, or negative to specify an internal (core) interrupt.
-
-
-    \param [in]   IRQn  Interrupt number.
-    \return             Interrupt Priority. Value is aligned automatically to the implemented
-                        priority bits of the microcontroller.
- */
-__STATIC_INLINE uint32_t NVIC_GetPriority(IRQn_Type IRQn)
-{
-
-  if(IRQn < 0) {
-    return((uint32_t)(SCB->SHP[((uint32_t)(IRQn) & 0xF)-4] >> (8 - __NVIC_PRIO_BITS)));  } /* get priority for Cortex-M  system interrupts */
-  else {
-    return((uint32_t)(NVIC->IP[(uint32_t)(IRQn)]           >> (8 - __NVIC_PRIO_BITS)));  } /* get priority for device specific interrupts  */
-}
-
-
-/** \brief  Encode Priority
-
-    The function encodes the priority for an interrupt with the given priority group,
-    preemptive priority value, and subpriority value.
-    In case of a conflict between priority grouping and available
-    priority bits (__NVIC_PRIO_BITS), the samllest possible priority group is set.
-
-    \param [in]     PriorityGroup  Used priority group.
-    \param [in]   PreemptPriority  Preemptive priority value (starting from 0).
-    \param [in]       SubPriority  Subpriority value (starting from 0).
-    \return                        Encoded priority. Value can be used in the function \ref NVIC_SetPriority().
- */
-__STATIC_INLINE uint32_t NVIC_EncodePriority (uint32_t PriorityGroup, uint32_t PreemptPriority, uint32_t SubPriority)
-{
-  uint32_t PriorityGroupTmp = (PriorityGroup & 0x07);          /* only values 0..7 are used          */
-  uint32_t PreemptPriorityBits;
-  uint32_t SubPriorityBits;
-
-  PreemptPriorityBits = ((7 - PriorityGroupTmp) > __NVIC_PRIO_BITS) ? __NVIC_PRIO_BITS : 7 - PriorityGroupTmp;
-  SubPriorityBits     = ((PriorityGroupTmp + __NVIC_PRIO_BITS) < 7) ? 0 : PriorityGroupTmp - 7 + __NVIC_PRIO_BITS;
-
-  return (
-           ((PreemptPriority & ((1 << (PreemptPriorityBits)) - 1)) << SubPriorityBits) |
-           ((SubPriority     & ((1 << (SubPriorityBits    )) - 1)))
-         );
-}
-
-
-/** \brief  Decode Priority
-
-    The function decodes an interrupt priority value with a given priority group to
-    preemptive priority value and subpriority value.
-    In case of a conflict between priority grouping and available
-    priority bits (__NVIC_PRIO_BITS) the samllest possible priority group is set.
-
-    \param [in]         Priority   Priority value, which can be retrieved with the function \ref NVIC_GetPriority().
-    \param [in]     PriorityGroup  Used priority group.
-    \param [out] pPreemptPriority  Preemptive priority value (starting from 0).
-    \param [out]     pSubPriority  Subpriority value (starting from 0).
- */
-__STATIC_INLINE void NVIC_DecodePriority (uint32_t Priority, uint32_t PriorityGroup, uint32_t* pPreemptPriority, uint32_t* pSubPriority)
-{
-  uint32_t PriorityGroupTmp = (PriorityGroup & 0x07);          /* only values 0..7 are used          */
-  uint32_t PreemptPriorityBits;
-  uint32_t SubPriorityBits;
-
-  PreemptPriorityBits = ((7 - PriorityGroupTmp) > __NVIC_PRIO_BITS) ? __NVIC_PRIO_BITS : 7 - PriorityGroupTmp;
-  SubPriorityBits     = ((PriorityGroupTmp + __NVIC_PRIO_BITS) < 7) ? 0 : PriorityGroupTmp - 7 + __NVIC_PRIO_BITS;
-
-  *pPreemptPriority = (Priority >> SubPriorityBits) & ((1 << (PreemptPriorityBits)) - 1);
-  *pSubPriority     = (Priority                   ) & ((1 << (SubPriorityBits    )) - 1);
-}
-
-
-/** \brief  System Reset
-
-    The function initiates a system reset request to reset the MCU.
- */
-__STATIC_INLINE void NVIC_SystemReset(void)
-{
-  __DSB();                                                     /* Ensure all outstanding memory accesses included
-                                                                  buffered write are completed before reset */
-  SCB->AIRCR  = ((0x5FA << SCB_AIRCR_VECTKEY_Pos)      |
-                 (SCB->AIRCR & SCB_AIRCR_PRIGROUP_Msk) |
-                 SCB_AIRCR_SYSRESETREQ_Msk);                   /* Keep priority group unchanged */
-  __DSB();                                                     /* Ensure completion of memory access */
-  while(1);                                                    /* wait until reset */
-}
-
-/*@} end of CMSIS_Core_NVICFunctions */
-
-
-
-/* ##################################    SysTick function  ############################################ */
-/** \ingroup  CMSIS_Core_FunctionInterface
-    \defgroup CMSIS_Core_SysTickFunctions SysTick Functions
-    \brief      Functions that configure the System.
-  @{
- */
-
-#if (__Vendor_SysTickConfig == 0)
-
-/** \brief  System Tick Configuration
-
-    The function initializes the System Timer and its interrupt, and starts the System Tick Timer.
-    Counter is in free running mode to generate periodic interrupts.
-
-    \param [in]  ticks  Number of ticks between two interrupts.
-
-    \return          0  Function succeeded.
-    \return          1  Function failed.
-
-    \note     When the variable __Vendor_SysTickConfig is set to 1, then the
-    function SysTick_Config is not included. In this case, the file device.h
-    must contain a vendor-specific implementation of this function.
-
- */
-__STATIC_INLINE uint32_t SysTick_Config(uint32_t ticks)
-{
-  if (ticks > SysTick_LOAD_RELOAD_Msk)  return (1);            /* Reload value impossible */
-
-  SysTick->LOAD  = (ticks & SysTick_LOAD_RELOAD_Msk) - 1;      /* set reload register */
-  NVIC_SetPriority (SysTick_IRQn, (1<<__NVIC_PRIO_BITS) - 1);  /* set Priority for Systick Interrupt */
-  SysTick->VAL   = 0;                                          /* Load the SysTick Counter Value */
-  SysTick->CTRL  = SysTick_CTRL_CLKSOURCE_Msk |
-                   SysTick_CTRL_TICKINT_Msk   |
-                   SysTick_CTRL_ENABLE_Msk;                    /* Enable SysTick IRQ and SysTick Timer */
-  return (0);                                                  /* Function successful */
-}
-
-#endif
-
-/*@} end of CMSIS_Core_SysTickFunctions */
-
-
-
-/* ##################################### Debug In/Output function ########################################### */
-/** \ingroup  CMSIS_Core_FunctionInterface
-    \defgroup CMSIS_core_DebugFunctions ITM Functions
-    \brief   Functions that access the ITM debug interface.
-  @{
- */
-
-extern volatile int32_t ITM_RxBuffer;                    /*!< External variable to receive characters.                         */
-#define                 ITM_RXBUFFER_EMPTY    0x5AA55AA5 /*!< Value identifying \ref ITM_RxBuffer is ready for next character. */
-
-
-/** \brief  ITM Send Character
-
-    The function transmits a character via the ITM channel 0, and
-    \li Just returns when no debugger is connected that has booked the output.
-    \li Is blocking when a debugger is connected, but the previous character sent has not been transmitted.
-
-    \param [in]     ch  Character to transmit.
-
-    \returns            Character to transmit.
- */
-__STATIC_INLINE uint32_t ITM_SendChar (uint32_t ch)
-{
-  if ((ITM->TCR & ITM_TCR_ITMENA_Msk)                  &&      /* ITM enabled */
-      (ITM->TER & (1UL << 0)        )                    )     /* ITM Port #0 enabled */
-  {
-    while (ITM->PORT[0].u32 == 0);
-    ITM->PORT[0].u8 = (uint8_t) ch;
-  }
-  return (ch);
-}
-
-
-/** \brief  ITM Receive Character
-
-    The function inputs a character via the external variable \ref ITM_RxBuffer.
-
-    \return             Received character.
-    \return         -1  No character pending.
- */
-__STATIC_INLINE int32_t ITM_ReceiveChar (void) {
-  int32_t ch = -1;                           /* no character available */
-
-  if (ITM_RxBuffer != ITM_RXBUFFER_EMPTY) {
-    ch = ITM_RxBuffer;
-    ITM_RxBuffer = ITM_RXBUFFER_EMPTY;       /* ready for next character */
-  }
-
-  return (ch);
-}
-
-
-/** \brief  ITM Check Character
-
-    The function checks whether a character is pending for reading in the variable \ref ITM_RxBuffer.
-
-    \return          0  No character available.
-    \return          1  Character available.
- */
-__STATIC_INLINE int32_t ITM_CheckChar (void) {
-
-  if (ITM_RxBuffer == ITM_RXBUFFER_EMPTY) {
-    return (0);                                 /* no character available */
-  } else {
-    return (1);                                 /*    character available */
-  }
-}
-
-/*@} end of CMSIS_core_DebugFunctions */
-
-#endif /* __CORE_CM4_H_DEPENDANT */
-
-#endif /* __CMSIS_GENERIC */
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/apps/mathlib/CMSIS/Include/core_cm4_simd.h b/apps/mathlib/CMSIS/Include/core_cm4_simd.h
deleted file mode 100644
index b5140073f..000000000
--- a/apps/mathlib/CMSIS/Include/core_cm4_simd.h
+++ /dev/null
@@ -1,649 +0,0 @@
-/**************************************************************************//**
- * @file     core_cm4_simd.h
- * @brief    CMSIS Cortex-M4 SIMD Header File
- * @version  V3.01
- * @date     06. March 2012
- *
- * @note
- * Copyright (C) 2010-2012 ARM Limited. All rights reserved.
- *
- * @par
- * ARM Limited (ARM) is supplying this software for use with Cortex-M
- * processor based microcontrollers.  This file can be freely distributed
- * within development tools that are supporting such ARM based processors.
- *
- * @par
- * THIS SOFTWARE IS PROVIDED "AS IS".  NO WARRANTIES, WHETHER EXPRESS, IMPLIED
- * OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
- * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
- * ARM SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR
- * CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
- *
- ******************************************************************************/
-
-#ifdef __cplusplus
- extern "C" {
-#endif
-
-#ifndef __CORE_CM4_SIMD_H
-#define __CORE_CM4_SIMD_H
-
-
-/*******************************************************************************
- *                Hardware Abstraction Layer
- ******************************************************************************/
-
-
-/* ###################  Compiler specific Intrinsics  ########################### */
-/** \defgroup CMSIS_SIMD_intrinsics CMSIS SIMD Intrinsics
-  Access to dedicated SIMD instructions
-  @{
-*/
-
-#if   defined ( __CC_ARM ) /*------------------RealView Compiler -----------------*/
-/* ARM armcc specific functions */
-
-/*------ CM4 SIMD Intrinsics -----------------------------------------------------*/
-#define __SADD8                           __sadd8
-#define __QADD8                           __qadd8
-#define __SHADD8                          __shadd8
-#define __UADD8                           __uadd8
-#define __UQADD8                          __uqadd8
-#define __UHADD8                          __uhadd8
-#define __SSUB8                           __ssub8
-#define __QSUB8                           __qsub8
-#define __SHSUB8                          __shsub8
-#define __USUB8                           __usub8
-#define __UQSUB8                          __uqsub8
-#define __UHSUB8                          __uhsub8
-#define __SADD16                          __sadd16
-#define __QADD16                          __qadd16
-#define __SHADD16                         __shadd16
-#define __UADD16                          __uadd16
-#define __UQADD16                         __uqadd16
-#define __UHADD16                         __uhadd16
-#define __SSUB16                          __ssub16
-#define __QSUB16                          __qsub16
-#define __SHSUB16                         __shsub16
-#define __USUB16                          __usub16
-#define __UQSUB16                         __uqsub16
-#define __UHSUB16                         __uhsub16
-#define __SASX                            __sasx
-#define __QASX                            __qasx
-#define __SHASX                           __shasx
-#define __UASX                            __uasx
-#define __UQASX                           __uqasx
-#define __UHASX                           __uhasx
-#define __SSAX                            __ssax
-#define __QSAX                            __qsax
-#define __SHSAX                           __shsax
-#define __USAX                            __usax
-#define __UQSAX                           __uqsax
-#define __UHSAX                           __uhsax
-#define __USAD8                           __usad8
-#define __USADA8                          __usada8
-#define __SSAT16                          __ssat16
-#define __USAT16                          __usat16
-#define __UXTB16                          __uxtb16
-#define __UXTAB16                         __uxtab16
-#define __SXTB16                          __sxtb16
-#define __SXTAB16                         __sxtab16
-#define __SMUAD                           __smuad
-#define __SMUADX                          __smuadx
-#define __SMLAD                           __smlad
-#define __SMLADX                          __smladx
-#define __SMLALD                          __smlald
-#define __SMLALDX                         __smlaldx
-#define __SMUSD                           __smusd
-#define __SMUSDX                          __smusdx
-#define __SMLSD                           __smlsd
-#define __SMLSDX                          __smlsdx
-#define __SMLSLD                          __smlsld
-#define __SMLSLDX                         __smlsldx
-#define __SEL                             __sel
-#define __QADD                            __qadd
-#define __QSUB                            __qsub
-
-#define __PKHBT(ARG1,ARG2,ARG3)          ( ((((uint32_t)(ARG1))          ) & 0x0000FFFFUL) |  \
-                                           ((((uint32_t)(ARG2)) << (ARG3)) & 0xFFFF0000UL)  )
-
-#define __PKHTB(ARG1,ARG2,ARG3)          ( ((((uint32_t)(ARG1))          ) & 0xFFFF0000UL) |  \
-                                           ((((uint32_t)(ARG2)) >> (ARG3)) & 0x0000FFFFUL)  )
-
-
-/*-- End CM4 SIMD Intrinsics -----------------------------------------------------*/
-
-
-
-#elif defined ( __ICCARM__ ) /*------------------ ICC Compiler -------------------*/
-/* IAR iccarm specific functions */
-
-/*------ CM4 SIMD Intrinsics -----------------------------------------------------*/
-#include 
-
-/*-- End CM4 SIMD Intrinsics -----------------------------------------------------*/
-
-
-
-#elif defined ( __TMS470__ ) /*---------------- TI CCS Compiler ------------------*/
-/* TI CCS specific functions */
-
-/*------ CM4 SIMD Intrinsics -----------------------------------------------------*/
-#include 
-
-/*-- End CM4 SIMD Intrinsics -----------------------------------------------------*/
-
-
-
-#elif defined ( __GNUC__ ) /*------------------ GNU Compiler ---------------------*/
-/* GNU gcc specific functions */
-
-/*------ CM4 SIMD Intrinsics -----------------------------------------------------*/
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SADD8(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("sadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __QADD8(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("qadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SHADD8(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("shadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __UADD8(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("uadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __UQADD8(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("uqadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __UHADD8(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("uhadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SSUB8(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("ssub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __QSUB8(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("qsub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SHSUB8(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("shsub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __USUB8(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("usub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __UQSUB8(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("uqsub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __UHSUB8(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("uhsub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SADD16(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("sadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __QADD16(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("qadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SHADD16(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("shadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __UADD16(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("uadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __UQADD16(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("uqadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __UHADD16(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("uhadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SSUB16(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("ssub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __QSUB16(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("qsub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SHSUB16(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("shsub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __USUB16(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("usub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __UQSUB16(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("uqsub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __UHSUB16(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("uhsub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SASX(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("sasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __QASX(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("qasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SHASX(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("shasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __UASX(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("uasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __UQASX(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("uqasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __UHASX(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("uhasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SSAX(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("ssax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __QSAX(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("qsax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SHSAX(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("shsax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __USAX(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("usax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __UQSAX(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("uqsax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __UHSAX(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("uhsax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __USAD8(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("usad8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __USADA8(uint32_t op1, uint32_t op2, uint32_t op3)
-{
-  uint32_t result;
-
-  __ASM volatile ("usada8 %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) );
-  return(result);
-}
-
-#define __SSAT16(ARG1,ARG2) \
-({                          \
-  uint32_t __RES, __ARG1 = (ARG1); \
-  __ASM ("ssat16 %0, %1, %2" : "=r" (__RES) :  "I" (ARG2), "r" (__ARG1) ); \
-  __RES; \
- })
-
-#define __USAT16(ARG1,ARG2) \
-({                          \
-  uint32_t __RES, __ARG1 = (ARG1); \
-  __ASM ("usat16 %0, %1, %2" : "=r" (__RES) :  "I" (ARG2), "r" (__ARG1) ); \
-  __RES; \
- })
-
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __UXTB16(uint32_t op1)
-{
-  uint32_t result;
-
-  __ASM volatile ("uxtb16 %0, %1" : "=r" (result) : "r" (op1));
-  return(result);
-}
-
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __UXTAB16(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("uxtab16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SXTB16(uint32_t op1)
-{
-  uint32_t result;
-
-  __ASM volatile ("sxtb16 %0, %1" : "=r" (result) : "r" (op1));
-  return(result);
-}
-
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SXTAB16(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("sxtab16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SMUAD  (uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("smuad %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SMUADX (uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("smuadx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SMLAD (uint32_t op1, uint32_t op2, uint32_t op3)
-{
-  uint32_t result;
-
-  __ASM volatile ("smlad %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) );
-  return(result);
-}
-
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SMLADX (uint32_t op1, uint32_t op2, uint32_t op3)
-{
-  uint32_t result;
-
-  __ASM volatile ("smladx %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) );
-  return(result);
-}
-
-#define __SMLALD(ARG1,ARG2,ARG3) \
-({ \
-  uint32_t __ARG1 = (ARG1), __ARG2 = (ARG2), __ARG3_H = (uint32_t)((uint64_t)(ARG3) >> 32), __ARG3_L = (uint32_t)((uint64_t)(ARG3) & 0xFFFFFFFFUL); \
-  __ASM volatile ("smlald %0, %1, %2, %3" : "=r" (__ARG3_L), "=r" (__ARG3_H) : "r" (__ARG1), "r" (__ARG2), "0" (__ARG3_L), "1" (__ARG3_H) ); \
-  (uint64_t)(((uint64_t)__ARG3_H << 32) | __ARG3_L); \
- })
-
-#define __SMLALDX(ARG1,ARG2,ARG3) \
-({ \
-  uint32_t __ARG1 = (ARG1), __ARG2 = (ARG2), __ARG3_H = (uint32_t)((uint64_t)(ARG3) >> 32), __ARG3_L = (uint32_t)((uint64_t)(ARG3) & 0xFFFFFFFFUL); \
-  __ASM volatile ("smlaldx %0, %1, %2, %3" : "=r" (__ARG3_L), "=r" (__ARG3_H) : "r" (__ARG1), "r" (__ARG2), "0" (__ARG3_L), "1" (__ARG3_H) ); \
-  (uint64_t)(((uint64_t)__ARG3_H << 32) | __ARG3_L); \
- })
-
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SMUSD  (uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("smusd %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SMUSDX (uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("smusdx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SMLSD (uint32_t op1, uint32_t op2, uint32_t op3)
-{
-  uint32_t result;
-
-  __ASM volatile ("smlsd %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) );
-  return(result);
-}
-
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SMLSDX (uint32_t op1, uint32_t op2, uint32_t op3)
-{
-  uint32_t result;
-
-  __ASM volatile ("smlsdx %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) );
-  return(result);
-}
-
-#define __SMLSLD(ARG1,ARG2,ARG3) \
-({ \
-  uint32_t __ARG1 = (ARG1), __ARG2 = (ARG2), __ARG3_H = (uint32_t)((ARG3) >> 32), __ARG3_L = (uint32_t)((ARG3) & 0xFFFFFFFFUL); \
-  __ASM volatile ("smlsld %0, %1, %2, %3" : "=r" (__ARG3_L), "=r" (__ARG3_H) : "r" (__ARG1), "r" (__ARG2), "0" (__ARG3_L), "1" (__ARG3_H) ); \
-  (uint64_t)(((uint64_t)__ARG3_H << 32) | __ARG3_L); \
- })
-
-#define __SMLSLDX(ARG1,ARG2,ARG3) \
-({ \
-  uint32_t __ARG1 = (ARG1), __ARG2 = (ARG2), __ARG3_H = (uint32_t)((ARG3) >> 32), __ARG3_L = (uint32_t)((ARG3) & 0xFFFFFFFFUL); \
-  __ASM volatile ("smlsldx %0, %1, %2, %3" : "=r" (__ARG3_L), "=r" (__ARG3_H) : "r" (__ARG1), "r" (__ARG2), "0" (__ARG3_L), "1" (__ARG3_H) ); \
-  (uint64_t)(((uint64_t)__ARG3_H << 32) | __ARG3_L); \
- })
-
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SEL  (uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("sel %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __QADD(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("qadd %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __QSUB(uint32_t op1, uint32_t op2)
-{
-  uint32_t result;
-
-  __ASM volatile ("qsub %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
-  return(result);
-}
-
-#define __PKHBT(ARG1,ARG2,ARG3) \
-({                          \
-  uint32_t __RES, __ARG1 = (ARG1), __ARG2 = (ARG2); \
-  __ASM ("pkhbt %0, %1, %2, lsl %3" : "=r" (__RES) :  "r" (__ARG1), "r" (__ARG2), "I" (ARG3)  ); \
-  __RES; \
- })
-
-#define __PKHTB(ARG1,ARG2,ARG3) \
-({                          \
-  uint32_t __RES, __ARG1 = (ARG1), __ARG2 = (ARG2); \
-  if (ARG3 == 0) \
-    __ASM ("pkhtb %0, %1, %2" : "=r" (__RES) :  "r" (__ARG1), "r" (__ARG2)  ); \
-  else \
-    __ASM ("pkhtb %0, %1, %2, asr %3" : "=r" (__RES) :  "r" (__ARG1), "r" (__ARG2), "I" (ARG3)  ); \
-  __RES; \
- })
-
-/*-- End CM4 SIMD Intrinsics -----------------------------------------------------*/
-
-
-
-#elif defined ( __TASKING__ ) /*------------------ TASKING Compiler --------------*/
-/* TASKING carm specific functions */
-
-
-/*------ CM4 SIMD Intrinsics -----------------------------------------------------*/
-/* not yet supported */
-/*-- End CM4 SIMD Intrinsics -----------------------------------------------------*/
-
-
-#endif
-
-/*@} end of group CMSIS_SIMD_intrinsics */
-
-
-#endif /* __CORE_CM4_SIMD_H */
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/apps/mathlib/CMSIS/Include/core_cmFunc.h b/apps/mathlib/CMSIS/Include/core_cmFunc.h
deleted file mode 100644
index adb07b5d3..000000000
--- a/apps/mathlib/CMSIS/Include/core_cmFunc.h
+++ /dev/null
@@ -1,616 +0,0 @@
-/**************************************************************************//**
- * @file     core_cmFunc.h
- * @brief    CMSIS Cortex-M Core Function Access Header File
- * @version  V3.01
- * @date     06. March 2012
- *
- * @note
- * Copyright (C) 2009-2012 ARM Limited. All rights reserved.
- *
- * @par
- * ARM Limited (ARM) is supplying this software for use with Cortex-M
- * processor based microcontrollers.  This file can be freely distributed
- * within development tools that are supporting such ARM based processors.
- *
- * @par
- * THIS SOFTWARE IS PROVIDED "AS IS".  NO WARRANTIES, WHETHER EXPRESS, IMPLIED
- * OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
- * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
- * ARM SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR
- * CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
- *
- ******************************************************************************/
-
-#ifndef __CORE_CMFUNC_H
-#define __CORE_CMFUNC_H
-
-
-/* ###########################  Core Function Access  ########################### */
-/** \ingroup  CMSIS_Core_FunctionInterface
-    \defgroup CMSIS_Core_RegAccFunctions CMSIS Core Register Access Functions
-  @{
- */
-
-#if   defined ( __CC_ARM ) /*------------------RealView Compiler -----------------*/
-/* ARM armcc specific functions */
-
-#if (__ARMCC_VERSION < 400677)
-  #error "Please use ARM Compiler Toolchain V4.0.677 or later!"
-#endif
-
-/* intrinsic void __enable_irq();     */
-/* intrinsic void __disable_irq();    */
-
-/** \brief  Get Control Register
-
-    This function returns the content of the Control Register.
-
-    \return               Control Register value
- */
-__STATIC_INLINE uint32_t __get_CONTROL(void)
-{
-  register uint32_t __regControl         __ASM("control");
-  return(__regControl);
-}
-
-
-/** \brief  Set Control Register
-
-    This function writes the given value to the Control Register.
-
-    \param [in]    control  Control Register value to set
- */
-__STATIC_INLINE void __set_CONTROL(uint32_t control)
-{
-  register uint32_t __regControl         __ASM("control");
-  __regControl = control;
-}
-
-
-/** \brief  Get IPSR Register
-
-    This function returns the content of the IPSR Register.
-
-    \return               IPSR Register value
- */
-__STATIC_INLINE uint32_t __get_IPSR(void)
-{
-  register uint32_t __regIPSR          __ASM("ipsr");
-  return(__regIPSR);
-}
-
-
-/** \brief  Get APSR Register
-
-    This function returns the content of the APSR Register.
-
-    \return               APSR Register value
- */
-__STATIC_INLINE uint32_t __get_APSR(void)
-{
-  register uint32_t __regAPSR          __ASM("apsr");
-  return(__regAPSR);
-}
-
-
-/** \brief  Get xPSR Register
-
-    This function returns the content of the xPSR Register.
-
-    \return               xPSR Register value
- */
-__STATIC_INLINE uint32_t __get_xPSR(void)
-{
-  register uint32_t __regXPSR          __ASM("xpsr");
-  return(__regXPSR);
-}
-
-
-/** \brief  Get Process Stack Pointer
-
-    This function returns the current value of the Process Stack Pointer (PSP).
-
-    \return               PSP Register value
- */
-__STATIC_INLINE uint32_t __get_PSP(void)
-{
-  register uint32_t __regProcessStackPointer  __ASM("psp");
-  return(__regProcessStackPointer);
-}
-
-
-/** \brief  Set Process Stack Pointer
-
-    This function assigns the given value to the Process Stack Pointer (PSP).
-
-    \param [in]    topOfProcStack  Process Stack Pointer value to set
- */
-__STATIC_INLINE void __set_PSP(uint32_t topOfProcStack)
-{
-  register uint32_t __regProcessStackPointer  __ASM("psp");
-  __regProcessStackPointer = topOfProcStack;
-}
-
-
-/** \brief  Get Main Stack Pointer
-
-    This function returns the current value of the Main Stack Pointer (MSP).
-
-    \return               MSP Register value
- */
-__STATIC_INLINE uint32_t __get_MSP(void)
-{
-  register uint32_t __regMainStackPointer     __ASM("msp");
-  return(__regMainStackPointer);
-}
-
-
-/** \brief  Set Main Stack Pointer
-
-    This function assigns the given value to the Main Stack Pointer (MSP).
-
-    \param [in]    topOfMainStack  Main Stack Pointer value to set
- */
-__STATIC_INLINE void __set_MSP(uint32_t topOfMainStack)
-{
-  register uint32_t __regMainStackPointer     __ASM("msp");
-  __regMainStackPointer = topOfMainStack;
-}
-
-
-/** \brief  Get Priority Mask
-
-    This function returns the current state of the priority mask bit from the Priority Mask Register.
-
-    \return               Priority Mask value
- */
-__STATIC_INLINE uint32_t __get_PRIMASK(void)
-{
-  register uint32_t __regPriMask         __ASM("primask");
-  return(__regPriMask);
-}
-
-
-/** \brief  Set Priority Mask
-
-    This function assigns the given value to the Priority Mask Register.
-
-    \param [in]    priMask  Priority Mask
- */
-__STATIC_INLINE void __set_PRIMASK(uint32_t priMask)
-{
-  register uint32_t __regPriMask         __ASM("primask");
-  __regPriMask = (priMask);
-}
-
-
-#if       (__CORTEX_M >= 0x03)
-
-/** \brief  Enable FIQ
-
-    This function enables FIQ interrupts by clearing the F-bit in the CPSR.
-    Can only be executed in Privileged modes.
- */
-#define __enable_fault_irq                __enable_fiq
-
-
-/** \brief  Disable FIQ
-
-    This function disables FIQ interrupts by setting the F-bit in the CPSR.
-    Can only be executed in Privileged modes.
- */
-#define __disable_fault_irq               __disable_fiq
-
-
-/** \brief  Get Base Priority
-
-    This function returns the current value of the Base Priority register.
-
-    \return               Base Priority register value
- */
-__STATIC_INLINE uint32_t  __get_BASEPRI(void)
-{
-  register uint32_t __regBasePri         __ASM("basepri");
-  return(__regBasePri);
-}
-
-
-/** \brief  Set Base Priority
-
-    This function assigns the given value to the Base Priority register.
-
-    \param [in]    basePri  Base Priority value to set
- */
-__STATIC_INLINE void __set_BASEPRI(uint32_t basePri)
-{
-  register uint32_t __regBasePri         __ASM("basepri");
-  __regBasePri = (basePri & 0xff);
-}
-
-
-/** \brief  Get Fault Mask
-
-    This function returns the current value of the Fault Mask register.
-
-    \return               Fault Mask register value
- */
-__STATIC_INLINE uint32_t __get_FAULTMASK(void)
-{
-  register uint32_t __regFaultMask       __ASM("faultmask");
-  return(__regFaultMask);
-}
-
-
-/** \brief  Set Fault Mask
-
-    This function assigns the given value to the Fault Mask register.
-
-    \param [in]    faultMask  Fault Mask value to set
- */
-__STATIC_INLINE void __set_FAULTMASK(uint32_t faultMask)
-{
-  register uint32_t __regFaultMask       __ASM("faultmask");
-  __regFaultMask = (faultMask & (uint32_t)1);
-}
-
-#endif /* (__CORTEX_M >= 0x03) */
-
-
-#if       (__CORTEX_M == 0x04)
-
-/** \brief  Get FPSCR
-
-    This function returns the current value of the Floating Point Status/Control register.
-
-    \return               Floating Point Status/Control register value
- */
-__STATIC_INLINE uint32_t __get_FPSCR(void)
-{
-#if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
-  register uint32_t __regfpscr         __ASM("fpscr");
-  return(__regfpscr);
-#else
-   return(0);
-#endif
-}
-
-
-/** \brief  Set FPSCR
-
-    This function assigns the given value to the Floating Point Status/Control register.
-
-    \param [in]    fpscr  Floating Point Status/Control value to set
- */
-__STATIC_INLINE void __set_FPSCR(uint32_t fpscr)
-{
-#if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
-  register uint32_t __regfpscr         __ASM("fpscr");
-  __regfpscr = (fpscr);
-#endif
-}
-
-#endif /* (__CORTEX_M == 0x04) */
-
-
-#elif defined ( __ICCARM__ ) /*------------------ ICC Compiler -------------------*/
-/* IAR iccarm specific functions */
-
-#include 
-
-
-#elif defined ( __TMS470__ ) /*---------------- TI CCS Compiler ------------------*/
-/* TI CCS specific functions */
-
-#include 
-
-
-#elif defined ( __GNUC__ ) /*------------------ GNU Compiler ---------------------*/
-/* GNU gcc specific functions */
-
-/** \brief  Enable IRQ Interrupts
-
-  This function enables IRQ interrupts by clearing the I-bit in the CPSR.
-  Can only be executed in Privileged modes.
- */
-__attribute__( ( always_inline ) ) __STATIC_INLINE void __enable_irq(void)
-{
-  __ASM volatile ("cpsie i");
-}
-
-
-/** \brief  Disable IRQ Interrupts
-
-  This function disables IRQ interrupts by setting the I-bit in the CPSR.
-  Can only be executed in Privileged modes.
- */
-__attribute__( ( always_inline ) ) __STATIC_INLINE void __disable_irq(void)
-{
-  __ASM volatile ("cpsid i");
-}
-
-
-/** \brief  Get Control Register
-
-    This function returns the content of the Control Register.
-
-    \return               Control Register value
- */
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __get_CONTROL(void)
-{
-  uint32_t result;
-
-  __ASM volatile ("MRS %0, control" : "=r" (result) );
-  return(result);
-}
-
-
-/** \brief  Set Control Register
-
-    This function writes the given value to the Control Register.
-
-    \param [in]    control  Control Register value to set
- */
-__attribute__( ( always_inline ) ) __STATIC_INLINE void __set_CONTROL(uint32_t control)
-{
-  __ASM volatile ("MSR control, %0" : : "r" (control) );
-}
-
-
-/** \brief  Get IPSR Register
-
-    This function returns the content of the IPSR Register.
-
-    \return               IPSR Register value
- */
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __get_IPSR(void)
-{
-  uint32_t result;
-
-  __ASM volatile ("MRS %0, ipsr" : "=r" (result) );
-  return(result);
-}
-
-
-/** \brief  Get APSR Register
-
-    This function returns the content of the APSR Register.
-
-    \return               APSR Register value
- */
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __get_APSR(void)
-{
-  uint32_t result;
-
-  __ASM volatile ("MRS %0, apsr" : "=r" (result) );
-  return(result);
-}
-
-
-/** \brief  Get xPSR Register
-
-    This function returns the content of the xPSR Register.
-
-    \return               xPSR Register value
- */
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __get_xPSR(void)
-{
-  uint32_t result;
-
-  __ASM volatile ("MRS %0, xpsr" : "=r" (result) );
-  return(result);
-}
-
-
-/** \brief  Get Process Stack Pointer
-
-    This function returns the current value of the Process Stack Pointer (PSP).
-
-    \return               PSP Register value
- */
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __get_PSP(void)
-{
-  register uint32_t result;
-
-  __ASM volatile ("MRS %0, psp\n"  : "=r" (result) );
-  return(result);
-}
-
-
-/** \brief  Set Process Stack Pointer
-
-    This function assigns the given value to the Process Stack Pointer (PSP).
-
-    \param [in]    topOfProcStack  Process Stack Pointer value to set
- */
-__attribute__( ( always_inline ) ) __STATIC_INLINE void __set_PSP(uint32_t topOfProcStack)
-{
-  __ASM volatile ("MSR psp, %0\n" : : "r" (topOfProcStack) );
-}
-
-
-/** \brief  Get Main Stack Pointer
-
-    This function returns the current value of the Main Stack Pointer (MSP).
-
-    \return               MSP Register value
- */
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __get_MSP(void)
-{
-  register uint32_t result;
-
-  __ASM volatile ("MRS %0, msp\n" : "=r" (result) );
-  return(result);
-}
-
-
-/** \brief  Set Main Stack Pointer
-
-    This function assigns the given value to the Main Stack Pointer (MSP).
-
-    \param [in]    topOfMainStack  Main Stack Pointer value to set
- */
-__attribute__( ( always_inline ) ) __STATIC_INLINE void __set_MSP(uint32_t topOfMainStack)
-{
-  __ASM volatile ("MSR msp, %0\n" : : "r" (topOfMainStack) );
-}
-
-
-/** \brief  Get Priority Mask
-
-    This function returns the current state of the priority mask bit from the Priority Mask Register.
-
-    \return               Priority Mask value
- */
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __get_PRIMASK(void)
-{
-  uint32_t result;
-
-  __ASM volatile ("MRS %0, primask" : "=r" (result) );
-  return(result);
-}
-
-
-/** \brief  Set Priority Mask
-
-    This function assigns the given value to the Priority Mask Register.
-
-    \param [in]    priMask  Priority Mask
- */
-__attribute__( ( always_inline ) ) __STATIC_INLINE void __set_PRIMASK(uint32_t priMask)
-{
-  __ASM volatile ("MSR primask, %0" : : "r" (priMask) );
-}
-
-
-#if       (__CORTEX_M >= 0x03)
-
-/** \brief  Enable FIQ
-
-    This function enables FIQ interrupts by clearing the F-bit in the CPSR.
-    Can only be executed in Privileged modes.
- */
-__attribute__( ( always_inline ) ) __STATIC_INLINE void __enable_fault_irq(void)
-{
-  __ASM volatile ("cpsie f");
-}
-
-
-/** \brief  Disable FIQ
-
-    This function disables FIQ interrupts by setting the F-bit in the CPSR.
-    Can only be executed in Privileged modes.
- */
-__attribute__( ( always_inline ) ) __STATIC_INLINE void __disable_fault_irq(void)
-{
-  __ASM volatile ("cpsid f");
-}
-
-
-/** \brief  Get Base Priority
-
-    This function returns the current value of the Base Priority register.
-
-    \return               Base Priority register value
- */
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __get_BASEPRI(void)
-{
-  uint32_t result;
-
-  __ASM volatile ("MRS %0, basepri_max" : "=r" (result) );
-  return(result);
-}
-
-
-/** \brief  Set Base Priority
-
-    This function assigns the given value to the Base Priority register.
-
-    \param [in]    basePri  Base Priority value to set
- */
-__attribute__( ( always_inline ) ) __STATIC_INLINE void __set_BASEPRI(uint32_t value)
-{
-  __ASM volatile ("MSR basepri, %0" : : "r" (value) );
-}
-
-
-/** \brief  Get Fault Mask
-
-    This function returns the current value of the Fault Mask register.
-
-    \return               Fault Mask register value
- */
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __get_FAULTMASK(void)
-{
-  uint32_t result;
-
-  __ASM volatile ("MRS %0, faultmask" : "=r" (result) );
-  return(result);
-}
-
-
-/** \brief  Set Fault Mask
-
-    This function assigns the given value to the Fault Mask register.
-
-    \param [in]    faultMask  Fault Mask value to set
- */
-__attribute__( ( always_inline ) ) __STATIC_INLINE void __set_FAULTMASK(uint32_t faultMask)
-{
-  __ASM volatile ("MSR faultmask, %0" : : "r" (faultMask) );
-}
-
-#endif /* (__CORTEX_M >= 0x03) */
-
-
-#if       (__CORTEX_M == 0x04)
-
-/** \brief  Get FPSCR
-
-    This function returns the current value of the Floating Point Status/Control register.
-
-    \return               Floating Point Status/Control register value
- */
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __get_FPSCR(void)
-{
-#if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
-  uint32_t result;
-
-  __ASM volatile ("VMRS %0, fpscr" : "=r" (result) );
-  return(result);
-#else
-   return(0);
-#endif
-}
-
-
-/** \brief  Set FPSCR
-
-    This function assigns the given value to the Floating Point Status/Control register.
-
-    \param [in]    fpscr  Floating Point Status/Control value to set
- */
-__attribute__( ( always_inline ) ) __STATIC_INLINE void __set_FPSCR(uint32_t fpscr)
-{
-#if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
-  __ASM volatile ("VMSR fpscr, %0" : : "r" (fpscr) );
-#endif
-}
-
-#endif /* (__CORTEX_M == 0x04) */
-
-
-#elif defined ( __TASKING__ ) /*------------------ TASKING Compiler --------------*/
-/* TASKING carm specific functions */
-
-/*
- * The CMSIS functions have been implemented as intrinsics in the compiler.
- * Please use "carm -?i" to get an up to date list of all instrinsics,
- * Including the CMSIS ones.
- */
-
-#endif
-
-/*@} end of CMSIS_Core_RegAccFunctions */
-
-
-#endif /* __CORE_CMFUNC_H */
diff --git a/apps/mathlib/CMSIS/Include/core_cmInstr.h b/apps/mathlib/CMSIS/Include/core_cmInstr.h
deleted file mode 100644
index 624c175fd..000000000
--- a/apps/mathlib/CMSIS/Include/core_cmInstr.h
+++ /dev/null
@@ -1,618 +0,0 @@
-/**************************************************************************//**
- * @file     core_cmInstr.h
- * @brief    CMSIS Cortex-M Core Instruction Access Header File
- * @version  V3.01
- * @date     06. March 2012
- *
- * @note
- * Copyright (C) 2009-2012 ARM Limited. All rights reserved.
- *
- * @par
- * ARM Limited (ARM) is supplying this software for use with Cortex-M
- * processor based microcontrollers.  This file can be freely distributed
- * within development tools that are supporting such ARM based processors.
- *
- * @par
- * THIS SOFTWARE IS PROVIDED "AS IS".  NO WARRANTIES, WHETHER EXPRESS, IMPLIED
- * OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
- * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
- * ARM SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR
- * CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
- *
- ******************************************************************************/
-
-#ifndef __CORE_CMINSTR_H
-#define __CORE_CMINSTR_H
-
-
-/* ##########################  Core Instruction Access  ######################### */
-/** \defgroup CMSIS_Core_InstructionInterface CMSIS Core Instruction Interface
-  Access to dedicated instructions
-  @{
-*/
-
-#if   defined ( __CC_ARM ) /*------------------RealView Compiler -----------------*/
-/* ARM armcc specific functions */
-
-#if (__ARMCC_VERSION < 400677)
-  #error "Please use ARM Compiler Toolchain V4.0.677 or later!"
-#endif
-
-
-/** \brief  No Operation
-
-    No Operation does nothing. This instruction can be used for code alignment purposes.
- */
-#define __NOP                             __nop
-
-
-/** \brief  Wait For Interrupt
-
-    Wait For Interrupt is a hint instruction that suspends execution
-    until one of a number of events occurs.
- */
-#define __WFI                             __wfi
-
-
-/** \brief  Wait For Event
-
-    Wait For Event is a hint instruction that permits the processor to enter
-    a low-power state until one of a number of events occurs.
- */
-#define __WFE                             __wfe
-
-
-/** \brief  Send Event
-
-    Send Event is a hint instruction. It causes an event to be signaled to the CPU.
- */
-#define __SEV                             __sev
-
-
-/** \brief  Instruction Synchronization Barrier
-
-    Instruction Synchronization Barrier flushes the pipeline in the processor,
-    so that all instructions following the ISB are fetched from cache or
-    memory, after the instruction has been completed.
- */
-#define __ISB()                           __isb(0xF)
-
-
-/** \brief  Data Synchronization Barrier
-
-    This function acts as a special kind of Data Memory Barrier.
-    It completes when all explicit memory accesses before this instruction complete.
- */
-#define __DSB()                           __dsb(0xF)
-
-
-/** \brief  Data Memory Barrier
-
-    This function ensures the apparent order of the explicit memory operations before
-    and after the instruction, without ensuring their completion.
- */
-#define __DMB()                           __dmb(0xF)
-
-
-/** \brief  Reverse byte order (32 bit)
-
-    This function reverses the byte order in integer value.
-
-    \param [in]    value  Value to reverse
-    \return               Reversed value
- */
-#define __REV                             __rev
-
-
-/** \brief  Reverse byte order (16 bit)
-
-    This function reverses the byte order in two unsigned short values.
-
-    \param [in]    value  Value to reverse
-    \return               Reversed value
- */
-__attribute__((section(".rev16_text"))) __STATIC_INLINE __ASM uint32_t __REV16(uint32_t value)
-{
-  rev16 r0, r0
-  bx lr
-}
-
-
-/** \brief  Reverse byte order in signed short value
-
-    This function reverses the byte order in a signed short value with sign extension to integer.
-
-    \param [in]    value  Value to reverse
-    \return               Reversed value
- */
-__attribute__((section(".revsh_text"))) __STATIC_INLINE __ASM int32_t __REVSH(int32_t value)
-{
-  revsh r0, r0
-  bx lr
-}
-
-
-/** \brief  Rotate Right in unsigned value (32 bit)
-
-    This function Rotate Right (immediate) provides the value of the contents of a register rotated by a variable number of bits.
-
-    \param [in]    value  Value to rotate
-    \param [in]    value  Number of Bits to rotate
-    \return               Rotated value
- */
-#define __ROR                             __ror
-
-
-#if       (__CORTEX_M >= 0x03)
-
-/** \brief  Reverse bit order of value
-
-    This function reverses the bit order of the given value.
-
-    \param [in]    value  Value to reverse
-    \return               Reversed value
- */
-#define __RBIT                            __rbit
-
-
-/** \brief  LDR Exclusive (8 bit)
-
-    This function performs a exclusive LDR command for 8 bit value.
-
-    \param [in]    ptr  Pointer to data
-    \return             value of type uint8_t at (*ptr)
- */
-#define __LDREXB(ptr)                     ((uint8_t ) __ldrex(ptr))
-
-
-/** \brief  LDR Exclusive (16 bit)
-
-    This function performs a exclusive LDR command for 16 bit values.
-
-    \param [in]    ptr  Pointer to data
-    \return        value of type uint16_t at (*ptr)
- */
-#define __LDREXH(ptr)                     ((uint16_t) __ldrex(ptr))
-
-
-/** \brief  LDR Exclusive (32 bit)
-
-    This function performs a exclusive LDR command for 32 bit values.
-
-    \param [in]    ptr  Pointer to data
-    \return        value of type uint32_t at (*ptr)
- */
-#define __LDREXW(ptr)                     ((uint32_t ) __ldrex(ptr))
-
-
-/** \brief  STR Exclusive (8 bit)
-
-    This function performs a exclusive STR command for 8 bit values.
-
-    \param [in]  value  Value to store
-    \param [in]    ptr  Pointer to location
-    \return          0  Function succeeded
-    \return          1  Function failed
- */
-#define __STREXB(value, ptr)              __strex(value, ptr)
-
-
-/** \brief  STR Exclusive (16 bit)
-
-    This function performs a exclusive STR command for 16 bit values.
-
-    \param [in]  value  Value to store
-    \param [in]    ptr  Pointer to location
-    \return          0  Function succeeded
-    \return          1  Function failed
- */
-#define __STREXH(value, ptr)              __strex(value, ptr)
-
-
-/** \brief  STR Exclusive (32 bit)
-
-    This function performs a exclusive STR command for 32 bit values.
-
-    \param [in]  value  Value to store
-    \param [in]    ptr  Pointer to location
-    \return          0  Function succeeded
-    \return          1  Function failed
- */
-#define __STREXW(value, ptr)              __strex(value, ptr)
-
-
-/** \brief  Remove the exclusive lock
-
-    This function removes the exclusive lock which is created by LDREX.
-
- */
-#define __CLREX                           __clrex
-
-
-/** \brief  Signed Saturate
-
-    This function saturates a signed value.
-
-    \param [in]  value  Value to be saturated
-    \param [in]    sat  Bit position to saturate to (1..32)
-    \return             Saturated value
- */
-#define __SSAT                            __ssat
-
-
-/** \brief  Unsigned Saturate
-
-    This function saturates an unsigned value.
-
-    \param [in]  value  Value to be saturated
-    \param [in]    sat  Bit position to saturate to (0..31)
-    \return             Saturated value
- */
-#define __USAT                            __usat
-
-
-/** \brief  Count leading zeros
-
-    This function counts the number of leading zeros of a data value.
-
-    \param [in]  value  Value to count the leading zeros
-    \return             number of leading zeros in value
- */
-#define __CLZ                             __clz
-
-#endif /* (__CORTEX_M >= 0x03) */
-
-
-
-#elif defined ( __ICCARM__ ) /*------------------ ICC Compiler -------------------*/
-/* IAR iccarm specific functions */
-
-#include 
-
-
-#elif defined ( __TMS470__ ) /*---------------- TI CCS Compiler ------------------*/
-/* TI CCS specific functions */
-
-#include 
-
-
-#elif defined ( __GNUC__ ) /*------------------ GNU Compiler ---------------------*/
-/* GNU gcc specific functions */
-
-/** \brief  No Operation
-
-    No Operation does nothing. This instruction can be used for code alignment purposes.
- */
-__attribute__( ( always_inline ) ) __STATIC_INLINE void __NOP(void)
-{
-  __ASM volatile ("nop");
-}
-
-
-/** \brief  Wait For Interrupt
-
-    Wait For Interrupt is a hint instruction that suspends execution
-    until one of a number of events occurs.
- */
-__attribute__( ( always_inline ) ) __STATIC_INLINE void __WFI(void)
-{
-  __ASM volatile ("wfi");
-}
-
-
-/** \brief  Wait For Event
-
-    Wait For Event is a hint instruction that permits the processor to enter
-    a low-power state until one of a number of events occurs.
- */
-__attribute__( ( always_inline ) ) __STATIC_INLINE void __WFE(void)
-{
-  __ASM volatile ("wfe");
-}
-
-
-/** \brief  Send Event
-
-    Send Event is a hint instruction. It causes an event to be signaled to the CPU.
- */
-__attribute__( ( always_inline ) ) __STATIC_INLINE void __SEV(void)
-{
-  __ASM volatile ("sev");
-}
-
-
-/** \brief  Instruction Synchronization Barrier
-
-    Instruction Synchronization Barrier flushes the pipeline in the processor,
-    so that all instructions following the ISB are fetched from cache or
-    memory, after the instruction has been completed.
- */
-__attribute__( ( always_inline ) ) __STATIC_INLINE void __ISB(void)
-{
-  __ASM volatile ("isb");
-}
-
-
-/** \brief  Data Synchronization Barrier
-
-    This function acts as a special kind of Data Memory Barrier.
-    It completes when all explicit memory accesses before this instruction complete.
- */
-__attribute__( ( always_inline ) ) __STATIC_INLINE void __DSB(void)
-{
-  __ASM volatile ("dsb");
-}
-
-
-/** \brief  Data Memory Barrier
-
-    This function ensures the apparent order of the explicit memory operations before
-    and after the instruction, without ensuring their completion.
- */
-__attribute__( ( always_inline ) ) __STATIC_INLINE void __DMB(void)
-{
-  __ASM volatile ("dmb");
-}
-
-
-/** \brief  Reverse byte order (32 bit)
-
-    This function reverses the byte order in integer value.
-
-    \param [in]    value  Value to reverse
-    \return               Reversed value
- */
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __REV(uint32_t value)
-{
-  uint32_t result;
-
-  __ASM volatile ("rev %0, %1" : "=r" (result) : "r" (value) );
-  return(result);
-}
-
-
-/** \brief  Reverse byte order (16 bit)
-
-    This function reverses the byte order in two unsigned short values.
-
-    \param [in]    value  Value to reverse
-    \return               Reversed value
- */
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __REV16(uint32_t value)
-{
-  uint32_t result;
-
-  __ASM volatile ("rev16 %0, %1" : "=r" (result) : "r" (value) );
-  return(result);
-}
-
-
-/** \brief  Reverse byte order in signed short value
-
-    This function reverses the byte order in a signed short value with sign extension to integer.
-
-    \param [in]    value  Value to reverse
-    \return               Reversed value
- */
-__attribute__( ( always_inline ) ) __STATIC_INLINE int32_t __REVSH(int32_t value)
-{
-  uint32_t result;
-
-  __ASM volatile ("revsh %0, %1" : "=r" (result) : "r" (value) );
-  return(result);
-}
-
-
-/** \brief  Rotate Right in unsigned value (32 bit)
-
-    This function Rotate Right (immediate) provides the value of the contents of a register rotated by a variable number of bits.
-
-    \param [in]    value  Value to rotate
-    \param [in]    value  Number of Bits to rotate
-    \return               Rotated value
- */
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __ROR(uint32_t op1, uint32_t op2)
-{
-
-  __ASM volatile ("ror %0, %0, %1" : "+r" (op1) : "r" (op2) );
-  return(op1);
-}
-
-
-#if       (__CORTEX_M >= 0x03)
-
-/** \brief  Reverse bit order of value
-
-    This function reverses the bit order of the given value.
-
-    \param [in]    value  Value to reverse
-    \return               Reversed value
- */
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __RBIT(uint32_t value)
-{
-  uint32_t result;
-
-   __ASM volatile ("rbit %0, %1" : "=r" (result) : "r" (value) );
-   return(result);
-}
-
-
-/** \brief  LDR Exclusive (8 bit)
-
-    This function performs a exclusive LDR command for 8 bit value.
-
-    \param [in]    ptr  Pointer to data
-    \return             value of type uint8_t at (*ptr)
- */
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint8_t __LDREXB(volatile uint8_t *addr)
-{
-    uint8_t result;
-
-   __ASM volatile ("ldrexb %0, [%1]" : "=r" (result) : "r" (addr) );
-   return(result);
-}
-
-
-/** \brief  LDR Exclusive (16 bit)
-
-    This function performs a exclusive LDR command for 16 bit values.
-
-    \param [in]    ptr  Pointer to data
-    \return        value of type uint16_t at (*ptr)
- */
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint16_t __LDREXH(volatile uint16_t *addr)
-{
-    uint16_t result;
-
-   __ASM volatile ("ldrexh %0, [%1]" : "=r" (result) : "r" (addr) );
-   return(result);
-}
-
-
-/** \brief  LDR Exclusive (32 bit)
-
-    This function performs a exclusive LDR command for 32 bit values.
-
-    \param [in]    ptr  Pointer to data
-    \return        value of type uint32_t at (*ptr)
- */
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __LDREXW(volatile uint32_t *addr)
-{
-    uint32_t result;
-
-   __ASM volatile ("ldrex %0, [%1]" : "=r" (result) : "r" (addr) );
-   return(result);
-}
-
-
-/** \brief  STR Exclusive (8 bit)
-
-    This function performs a exclusive STR command for 8 bit values.
-
-    \param [in]  value  Value to store
-    \param [in]    ptr  Pointer to location
-    \return          0  Function succeeded
-    \return          1  Function failed
- */
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __STREXB(uint8_t value, volatile uint8_t *addr)
-{
-   uint32_t result;
-
-   __ASM volatile ("strexb %0, %2, [%1]" : "=&r" (result) : "r" (addr), "r" (value) );
-   return(result);
-}
-
-
-/** \brief  STR Exclusive (16 bit)
-
-    This function performs a exclusive STR command for 16 bit values.
-
-    \param [in]  value  Value to store
-    \param [in]    ptr  Pointer to location
-    \return          0  Function succeeded
-    \return          1  Function failed
- */
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __STREXH(uint16_t value, volatile uint16_t *addr)
-{
-   uint32_t result;
-
-   __ASM volatile ("strexh %0, %2, [%1]" : "=&r" (result) : "r" (addr), "r" (value) );
-   return(result);
-}
-
-
-/** \brief  STR Exclusive (32 bit)
-
-    This function performs a exclusive STR command for 32 bit values.
-
-    \param [in]  value  Value to store
-    \param [in]    ptr  Pointer to location
-    \return          0  Function succeeded
-    \return          1  Function failed
- */
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __STREXW(uint32_t value, volatile uint32_t *addr)
-{
-   uint32_t result;
-
-   __ASM volatile ("strex %0, %2, [%1]" : "=&r" (result) : "r" (addr), "r" (value) );
-   return(result);
-}
-
-
-/** \brief  Remove the exclusive lock
-
-    This function removes the exclusive lock which is created by LDREX.
-
- */
-__attribute__( ( always_inline ) ) __STATIC_INLINE void __CLREX(void)
-{
-  __ASM volatile ("clrex");
-}
-
-
-/** \brief  Signed Saturate
-
-    This function saturates a signed value.
-
-    \param [in]  value  Value to be saturated
-    \param [in]    sat  Bit position to saturate to (1..32)
-    \return             Saturated value
- */
-#define __SSAT(ARG1,ARG2) \
-({                          \
-  uint32_t __RES, __ARG1 = (ARG1); \
-  __ASM ("ssat %0, %1, %2" : "=r" (__RES) :  "I" (ARG2), "r" (__ARG1) ); \
-  __RES; \
- })
-
-
-/** \brief  Unsigned Saturate
-
-    This function saturates an unsigned value.
-
-    \param [in]  value  Value to be saturated
-    \param [in]    sat  Bit position to saturate to (0..31)
-    \return             Saturated value
- */
-#define __USAT(ARG1,ARG2) \
-({                          \
-  uint32_t __RES, __ARG1 = (ARG1); \
-  __ASM ("usat %0, %1, %2" : "=r" (__RES) :  "I" (ARG2), "r" (__ARG1) ); \
-  __RES; \
- })
-
-
-/** \brief  Count leading zeros
-
-    This function counts the number of leading zeros of a data value.
-
-    \param [in]  value  Value to count the leading zeros
-    \return             number of leading zeros in value
- */
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint8_t __CLZ(uint32_t value)
-{
-  uint8_t result;
-
-  __ASM volatile ("clz %0, %1" : "=r" (result) : "r" (value) );
-  return(result);
-}
-
-#endif /* (__CORTEX_M >= 0x03) */
-
-
-
-
-#elif defined ( __TASKING__ ) /*------------------ TASKING Compiler --------------*/
-/* TASKING carm specific functions */
-
-/*
- * The CMSIS functions have been implemented as intrinsics in the compiler.
- * Please use "carm -?i" to get an up to date list of all intrinsics,
- * Including the CMSIS ones.
- */
-
-#endif
-
-/*@}*/ /* end of group CMSIS_Core_InstructionInterface */
-
-#endif /* __CORE_CMINSTR_H */
diff --git a/apps/mathlib/CMSIS/Makefile b/apps/mathlib/CMSIS/Makefile
deleted file mode 100644
index 9e28518bc..000000000
--- a/apps/mathlib/CMSIS/Makefile
+++ /dev/null
@@ -1,61 +0,0 @@
-############################################################################
-#
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-#
-# ARM CMSIS DSP library
-#
-
-#
-# Find sources
-#
-DSPLIB_SRCDIR		:= $(dir $(lastword $(MAKEFILE_LIST)))
-CSRCS			:= $(wildcard $(DSPLIB_SRCDIR)/DSP_Lib/Source/*/*.c)
-
-INCLUDES		+= $(DSPLIB_SRCDIR)/Include \
-			   $(DSPLIB_SRCDIR)/Device/ARM/ARMCM4/Include \
-			   $(DSPLIB_SRCDIR)/Device/ARM/ARMCM3/Include
-
-# Suppress some warnings that ARM should fix, but haven't.
-EXTRADEFINES		+= -Wno-unsuffixed-float-constants \
-			   -Wno-sign-compare \
-			   -Wno-shadow \
-			   -Wno-float-equal \
-			   -Wno-unused-variable
-
-#
-# Override the default visibility for symbols, since the CMSIS DSPLib doesn't
-# have anything we can use to mark exported symbols.
-#
-DEFAULT_VISIBILITY	 = YES
-
-include $(APPDIR)/mk/app.mk
diff --git a/apps/mathlib/Makefile b/apps/mathlib/Makefile
deleted file mode 100644
index 7eebd6ae0..000000000
--- a/apps/mathlib/Makefile
+++ /dev/null
@@ -1,62 +0,0 @@
-############################################################################
-#
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-#
-# Math library
-#
-CXXSRCS		 = math/test/test.cpp \
-		   math/Vector.cpp \
-		   math/Vector3.cpp \
-		   math/EulerAngles.cpp \
-		   math/Quaternion.cpp \
-		   math/Dcm.cpp \
-		   math/Matrix.cpp
-
-#
-# In order to include .config we first have to save off the
-# current makefile name, since app.mk needs it.
-#
-APP_MAKEFILE	:= $(lastword $(MAKEFILE_LIST))
--include $(TOPDIR)/.config
-
-ifeq ($(CONFIG_ARCH_CORTEXM4)$(CONFIG_ARCH_FPU),yy)
-INCLUDES	+= math/arm
-CXXSRCS		+= math/arm/Vector.cpp \
-		   math/arm/Matrix.cpp
-else
-INCLUDES	+= math/generic
-CXXSRCS		+= math/generic/Vector.cpp \
-		   math/generic/Matrix.cpp
-endif
-
-include $(APPDIR)/mk/app.mk
diff --git a/apps/mathlib/math/Dcm.cpp b/apps/mathlib/math/Dcm.cpp
deleted file mode 100644
index df0f09b20..000000000
--- a/apps/mathlib/math/Dcm.cpp
+++ /dev/null
@@ -1,165 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file Dcm.cpp
- *
- * math direction cosine matrix
- */
-
-#include "math/test/test.hpp"
-
-#include "Dcm.hpp"
-#include "Quaternion.hpp"
-#include "EulerAngles.hpp"
-#include "Vector3.hpp"
-
-namespace math
-{
-
-Dcm::Dcm() :
-	Matrix(Matrix::identity(3))
-{
-}
-
-Dcm::Dcm(float c00, float c01, float c02,
-	 float c10, float c11, float c12,
-	 float c20, float c21, float c22) :
-	Matrix(3, 3)
-{
-	Dcm &dcm = *this;
-	dcm(0, 0) = c00;
-	dcm(0, 1) = c01;
-	dcm(0, 2) = c02;
-	dcm(1, 0) = c10;
-	dcm(1, 1) = c11;
-	dcm(1, 2) = c12;
-	dcm(2, 0) = c20;
-	dcm(2, 1) = c21;
-	dcm(2, 2) = c22;
-}
-
-Dcm::Dcm(const float *data) :
-	Matrix(3, 3, data)
-{
-}
-
-Dcm::Dcm(const Quaternion &q) :
-	Matrix(3, 3)
-{
-	Dcm &dcm = *this;
-	double a = q.getA();
-	double b = q.getB();
-	double c = q.getC();
-	double d = q.getD();
-	double aSq = a * a;
-	double bSq = b * b;
-	double cSq = c * c;
-	double dSq = d * d;
-	dcm(0, 0) = aSq + bSq - cSq - dSq;
-	dcm(0, 1) = 2.0 * (b * c - a * d);
-	dcm(0, 2) = 2.0 * (a * c + b * d);
-	dcm(1, 0) = 2.0 * (b * c + a * d);
-	dcm(1, 1) = aSq - bSq + cSq - dSq;
-	dcm(1, 2) = 2.0 * (c * d - a * b);
-	dcm(2, 0) = 2.0 * (b * d - a * c);
-	dcm(2, 1) = 2.0 * (a * b + c * d);
-	dcm(2, 2) = aSq - bSq - cSq + dSq;
-}
-
-Dcm::Dcm(const EulerAngles &euler) :
-	Matrix(3, 3)
-{
-	Dcm &dcm = *this;
-	double cosPhi = cos(euler.getPhi());
-	double sinPhi = sin(euler.getPhi());
-	double cosThe = cos(euler.getTheta());
-	double sinThe = sin(euler.getTheta());
-	double cosPsi = cos(euler.getPsi());
-	double sinPsi = sin(euler.getPsi());
-
-	dcm(0, 0) = cosThe * cosPsi;
-	dcm(0, 1) = -cosPhi * sinPsi + sinPhi * sinThe * cosPsi;
-	dcm(0, 2) = sinPhi * sinPsi + cosPhi * sinThe * cosPsi;
-
-	dcm(1, 0) = cosThe * sinPsi;
-	dcm(1, 1) = cosPhi * cosPsi + sinPhi * sinThe * sinPsi;
-	dcm(1, 2) = -sinPhi * cosPsi + cosPhi * sinThe * sinPsi;
-
-	dcm(2, 0) = -sinThe;
-	dcm(2, 1) = sinPhi * cosThe;
-	dcm(2, 2) = cosPhi * cosThe;
-}
-
-Dcm::Dcm(const Dcm &right) :
-	Matrix(right)
-{
-}
-
-Dcm::~Dcm()
-{
-}
-
-int __EXPORT dcmTest()
-{
-	printf("Test DCM\t\t: ");
-	// default ctor
-	ASSERT(matrixEqual(Dcm(),
-			   Matrix::identity(3)));
-	// quaternion ctor
-	ASSERT(matrixEqual(
-		       Dcm(Quaternion(0.983347f, 0.034271f, 0.106021f, 0.143572f)),
-		       Dcm(0.9362934f, -0.2750958f,  0.2183507f,
-			   0.2896295f,  0.9564251f, -0.0369570f,
-			   -0.1986693f,  0.0978434f,  0.9751703f)));
-	// euler angle ctor
-	ASSERT(matrixEqual(
-		       Dcm(EulerAngles(0.1f, 0.2f, 0.3f)),
-		       Dcm(0.9362934f, -0.2750958f,  0.2183507f,
-			   0.2896295f,  0.9564251f, -0.0369570f,
-			   -0.1986693f,  0.0978434f,  0.9751703f)));
-	// rotations
-	Vector3 vB(1, 2, 3);
-	ASSERT(vectorEqual(Vector3(-2.0f, 1.0f, 3.0f),
-			   Dcm(EulerAngles(0.0f, 0.0f, M_PI_2_F))*vB));
-	ASSERT(vectorEqual(Vector3(3.0f, 2.0f, -1.0f),
-			   Dcm(EulerAngles(0.0f, M_PI_2_F, 0.0f))*vB));
-	ASSERT(vectorEqual(Vector3(1.0f, -3.0f, 2.0f),
-			   Dcm(EulerAngles(M_PI_2_F, 0.0f, 0.0f))*vB));
-	ASSERT(vectorEqual(Vector3(3.0f, 2.0f, -1.0f),
-			   Dcm(EulerAngles(
-				       M_PI_2_F, M_PI_2_F, M_PI_2_F))*vB));
-	printf("PASS\n");
-	return 0;
-}
-} // namespace math
diff --git a/apps/mathlib/math/Dcm.hpp b/apps/mathlib/math/Dcm.hpp
deleted file mode 100644
index 28d840b10..000000000
--- a/apps/mathlib/math/Dcm.hpp
+++ /dev/null
@@ -1,103 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file Dcm.hpp
- *
- * math direction cosine matrix
- */
-
-//#pragma once
-
-#include "Vector.hpp"
-#include "Matrix.hpp"
-
-namespace math
-{
-
-class Quaternion;
-class EulerAngles;
-
-/**
- * This is a Tait Bryan, Body 3-2-1 sequence.
- * (yaw)-(pitch)-(roll)
- * The Dcm transforms a vector in the body frame
- * to the navigation frame, typically represented
- * as C_nb. C_bn can be obtained through use
- * of the transpose() method.
- */
-class __EXPORT Dcm : public Matrix
-{
-public:
-	/**
-	 * default ctor
-	 */
-	Dcm();
-
-	/**
-	 * scalar ctor
-	 */
-	Dcm(float c00, float c01, float c02,
-	    float c10, float c11, float c12,
-	    float c20, float c21, float c22);
-
-	/**
-	 * data ctor
-	 */
-	Dcm(const float *data);
-
-	/**
-	 * quaternion ctor
-	 */
-	Dcm(const Quaternion &q);
-
-	/**
-	 * euler angles ctor
-	 */
-	Dcm(const EulerAngles &euler);
-
-	/**
-	 * copy ctor (deep)
-	 */
-	Dcm(const Dcm &right);
-
-	/**
-	 * dtor
-	 */
-	virtual ~Dcm();
-};
-
-int __EXPORT dcmTest();
-
-} // math
-
diff --git a/apps/mathlib/math/EulerAngles.cpp b/apps/mathlib/math/EulerAngles.cpp
deleted file mode 100644
index 2e96fef4c..000000000
--- a/apps/mathlib/math/EulerAngles.cpp
+++ /dev/null
@@ -1,126 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file Vector.cpp
- *
- * math vector
- */
-
-#include "math/test/test.hpp"
-
-#include "EulerAngles.hpp"
-#include "Quaternion.hpp"
-#include "Dcm.hpp"
-#include "Vector3.hpp"
-
-namespace math
-{
-
-EulerAngles::EulerAngles() :
-	Vector(3)
-{
-	setPhi(0.0f);
-	setTheta(0.0f);
-	setPsi(0.0f);
-}
-
-EulerAngles::EulerAngles(float phi, float theta, float psi) :
-	Vector(3)
-{
-	setPhi(phi);
-	setTheta(theta);
-	setPsi(psi);
-}
-
-EulerAngles::EulerAngles(const Quaternion &q) :
-	Vector(3)
-{
-	(*this) = EulerAngles(Dcm(q));
-}
-
-EulerAngles::EulerAngles(const Dcm &dcm) :
-	Vector(3)
-{
-	setTheta(asinf(-dcm(2, 0)));
-
-	if (fabsf(getTheta() - M_PI_2_F) < 1.0e-3f) {
-		setPhi(0.0f);
-		setPsi(atan2f(dcm(1, 2) - dcm(0, 1),
-			      dcm(0, 2) + dcm(1, 1)) + getPhi());
-
-	} else if (fabsf(getTheta() + M_PI_2_F) < 1.0e-3f) {
-		setPhi(0.0f);
-		setPsi(atan2f(dcm(1, 2) - dcm(0, 1),
-			      dcm(0, 2) + dcm(1, 1)) - getPhi());
-
-	} else {
-		setPhi(atan2f(dcm(2, 1), dcm(2, 2)));
-		setPsi(atan2f(dcm(1, 0), dcm(0, 0)));
-	}
-}
-
-EulerAngles::~EulerAngles()
-{
-}
-
-int __EXPORT eulerAnglesTest()
-{
-	printf("Test EulerAngles\t: ");
-	EulerAngles euler(0.1f, 0.2f, 0.3f);
-
-	// test ctor
-	ASSERT(vectorEqual(Vector3(0.1f, 0.2f, 0.3f), euler));
-	ASSERT(equal(euler.getPhi(), 0.1f));
-	ASSERT(equal(euler.getTheta(), 0.2f));
-	ASSERT(equal(euler.getPsi(), 0.3f));
-
-	// test dcm ctor
-	euler = Dcm(EulerAngles(0.1f, 0.2f, 0.3f));
-	ASSERT(vectorEqual(Vector3(0.1f, 0.2f, 0.3f), euler));
-
-	// test quat ctor
-	euler = Quaternion(EulerAngles(0.1f, 0.2f, 0.3f));
-	ASSERT(vectorEqual(Vector3(0.1f, 0.2f, 0.3f), euler));
-
-	// test assignment
-	euler.setPhi(0.4f);
-	euler.setTheta(0.5f);
-	euler.setPsi(0.6f);
-	ASSERT(vectorEqual(Vector3(0.4f, 0.5f, 0.6f), euler));
-
-	printf("PASS\n");
-	return 0;
-}
-
-} // namespace math
diff --git a/apps/mathlib/math/EulerAngles.hpp b/apps/mathlib/math/EulerAngles.hpp
deleted file mode 100644
index 399eecfa7..000000000
--- a/apps/mathlib/math/EulerAngles.hpp
+++ /dev/null
@@ -1,74 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file Vector.h
- *
- * math vector
- */
-
-#pragma once
-
-#include "Vector.hpp"
-
-namespace math
-{
-
-class Quaternion;
-class Dcm;
-
-class __EXPORT EulerAngles : public Vector
-{
-public:
-	EulerAngles();
-	EulerAngles(float phi, float theta, float psi);
-	EulerAngles(const Quaternion &q);
-	EulerAngles(const Dcm &dcm);
-	virtual ~EulerAngles();
-
-	// alias
-	void setPhi(float phi) { (*this)(0) = phi; }
-	void setTheta(float theta) { (*this)(1) = theta; }
-	void setPsi(float psi) { (*this)(2) = psi; }
-
-	// const accessors
-	const float &getPhi() const { return (*this)(0); }
-	const float &getTheta() const { return (*this)(1); }
-	const float &getPsi() const { return (*this)(2); }
-
-};
-
-int __EXPORT eulerAnglesTest();
-
-} // math
-
diff --git a/apps/mathlib/math/Matrix.cpp b/apps/mathlib/math/Matrix.cpp
deleted file mode 100644
index 981732370..000000000
--- a/apps/mathlib/math/Matrix.cpp
+++ /dev/null
@@ -1,193 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file Matrix.cpp
- *
- * matrix code
- */
-
-#include "math/test/test.hpp"
-#include 
-
-#include "Matrix.hpp"
-
-namespace math
-{
-
-static const float data_testA[] = {
-	1, 2, 3,
-	4, 5, 6
-};
-static Matrix testA(2, 3, data_testA);
-
-static const float data_testB[] = {
-	0, 1, 3,
-	7, -1, 2
-};
-static Matrix testB(2, 3, data_testB);
-
-static const float data_testC[] = {
-	0, 1,
-	2, 1,
-	3, 2
-};
-static Matrix testC(3, 2, data_testC);
-
-static const float data_testD[] = {
-	0, 1, 2,
-	2, 1, 4,
-	5, 2, 0
-};
-static Matrix testD(3, 3, data_testD);
-
-static const float data_testE[] = {
-	1, -1, 2,
-	0, 2, 3,
-	2, -1, 1
-};
-static Matrix testE(3, 3, data_testE);
-
-static const float data_testF[] = {
-	3.777e006f, 2.915e007f, 0.000e000f,
-	2.938e007f, 2.267e008f, 0.000e000f,
-	0.000e000f, 0.000e000f, 6.033e008f
-};
-static Matrix testF(3, 3, data_testF);
-
-int __EXPORT matrixTest()
-{
-	matrixAddTest();
-	matrixSubTest();
-	matrixMultTest();
-	matrixInvTest();
-	matrixDivTest();
-	return 0;
-}
-
-int matrixAddTest()
-{
-	printf("Test Matrix Add\t\t: ");
-	Matrix r = testA + testB;
-	float data_test[] = {
-		1.0f, 3.0f, 6.0f,
-		11.0f, 4.0f, 8.0f
-	};
-	ASSERT(matrixEqual(Matrix(2, 3, data_test), r));
-	printf("PASS\n");
-	return 0;
-}
-
-int matrixSubTest()
-{
-	printf("Test Matrix Sub\t\t: ");
-	Matrix r = testA - testB;
-	float data_test[] = {
-		1.0f, 1.0f, 0.0f,
-		-3.0f, 6.0f, 4.0f
-	};
-	ASSERT(matrixEqual(Matrix(2, 3, data_test), r));
-	printf("PASS\n");
-	return 0;
-}
-
-int matrixMultTest()
-{
-	printf("Test Matrix Mult\t: ");
-	Matrix r = testC * testB;
-	float data_test[] = {
-		7.0f, -1.0f,  2.0f,
-		7.0f,  1.0f,  8.0f,
-		14.0f,  1.0f, 13.0f
-	};
-	ASSERT(matrixEqual(Matrix(3, 3, data_test), r));
-	printf("PASS\n");
-	return 0;
-}
-
-int matrixInvTest()
-{
-	printf("Test Matrix Inv\t\t: ");
-	Matrix origF = testF;
-	Matrix r = testF.inverse();
-	float data_test[] = {
-		-0.0012518f,  0.0001610f, 0.0000000f,
-		0.0001622f, -0.0000209f, 0.0000000f,
-		0.0000000f,  0.0000000f, 1.6580e-9f
-	};
-	ASSERT(matrixEqual(Matrix(3, 3, data_test), r));
-	// make sure F in unchanged
-	ASSERT(matrixEqual(origF, testF));
-	printf("PASS\n");
-	return 0;
-}
-
-int matrixDivTest()
-{
-	printf("Test Matrix Div\t\t: ");
-	Matrix r = testD / testE;
-	float data_test[] = {
-		0.2222222f, 0.5555556f, -0.1111111f,
-		0.0f,       1.0f,         1.0,
-		-4.1111111f, 1.2222222f,  4.5555556f
-	};
-	ASSERT(matrixEqual(Matrix(3, 3, data_test), r));
-	printf("PASS\n");
-	return 0;
-}
-
-bool matrixEqual(const Matrix &a, const Matrix &b, float eps)
-{
-	if (a.getRows() != b.getRows()) {
-		printf("row number not equal a: %d, b:%d\n", a.getRows(), b.getRows());
-		return false;
-
-	} else if (a.getCols() != b.getCols()) {
-		printf("column number not equal a: %d, b:%d\n", a.getCols(), b.getCols());
-		return false;
-	}
-
-	bool ret = true;
-
-	for (size_t i = 0; i < a.getRows(); i++)
-		for (size_t j = 0; j < a.getCols(); j++) {
-			if (!equal(a(i, j), b(i, j), eps)) {
-				printf("element mismatch (%d, %d)\n", i, j);
-				ret = false;
-			}
-		}
-
-	return ret;
-}
-
-} // namespace math
diff --git a/apps/mathlib/math/Matrix.hpp b/apps/mathlib/math/Matrix.hpp
deleted file mode 100644
index f19db15ec..000000000
--- a/apps/mathlib/math/Matrix.hpp
+++ /dev/null
@@ -1,61 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file Matrix.h
- *
- * matrix code
- */
-
-#pragma once
-
-#include 
-
-#if defined(CONFIG_ARCH_CORTEXM4) && defined(CONFIG_ARCH_FPU)
-#include "arm/Matrix.hpp"
-#else
-#include "generic/Matrix.hpp"
-#endif
-
-namespace math
-{
-class Matrix;
-int matrixTest();
-int matrixAddTest();
-int matrixSubTest();
-int matrixMultTest();
-int matrixInvTest();
-int matrixDivTest();
-int matrixArmTest();
-bool matrixEqual(const Matrix &a, const Matrix &b, float eps = 1.0e-5f);
-} // namespace math
diff --git a/apps/mathlib/math/Quaternion.cpp b/apps/mathlib/math/Quaternion.cpp
deleted file mode 100644
index 78481b286..000000000
--- a/apps/mathlib/math/Quaternion.cpp
+++ /dev/null
@@ -1,174 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file Quaternion.cpp
- *
- * math vector
- */
-
-#include "math/test/test.hpp"
-
-
-#include "Quaternion.hpp"
-#include "Dcm.hpp"
-#include "EulerAngles.hpp"
-
-namespace math
-{
-
-Quaternion::Quaternion() :
-	Vector(4)
-{
-	setA(1.0f);
-	setB(0.0f);
-	setC(0.0f);
-	setD(0.0f);
-}
-
-Quaternion::Quaternion(float a, float b,
-		       float c, float d) :
-	Vector(4)
-{
-	setA(a);
-	setB(b);
-	setC(c);
-	setD(d);
-}
-
-Quaternion::Quaternion(const float *data) :
-	Vector(4, data)
-{
-}
-
-Quaternion::Quaternion(const Vector &v) :
-	Vector(v)
-{
-}
-
-Quaternion::Quaternion(const Dcm &dcm) :
-	Vector(4)
-{
-	// avoiding singularities by not using
-	// division equations
-	setA(0.5 * sqrt(1.0 +
-			double(dcm(0, 0) + dcm(1, 1) + dcm(2, 2))));
-	setB(0.5 * sqrt(1.0 +
-			double(dcm(0, 0) - dcm(1, 1) - dcm(2, 2))));
-	setC(0.5 * sqrt(1.0 +
-			double(-dcm(0, 0) + dcm(1, 1) - dcm(2, 2))));
-	setD(0.5 * sqrt(1.0 +
-			double(-dcm(0, 0) - dcm(1, 1) + dcm(2, 2))));
-}
-
-Quaternion::Quaternion(const EulerAngles &euler) :
-	Vector(4)
-{
-	double cosPhi_2 = cos(double(euler.getPhi()) / 2.0);
-	double sinPhi_2 = sin(double(euler.getPhi()) / 2.0);
-	double cosTheta_2 = cos(double(euler.getTheta()) / 2.0);
-	double sinTheta_2 = sin(double(euler.getTheta()) / 2.0);
-	double cosPsi_2 = cos(double(euler.getPsi()) / 2.0);
-	double sinPsi_2 = sin(double(euler.getPsi()) / 2.0);
-	setA(cosPhi_2 * cosTheta_2 * cosPsi_2 +
-	     sinPhi_2 * sinTheta_2 * sinPsi_2);
-	setB(sinPhi_2 * cosTheta_2 * cosPsi_2 -
-	     cosPhi_2 * sinTheta_2 * sinPsi_2);
-	setC(cosPhi_2 * sinTheta_2 * cosPsi_2 +
-	     sinPhi_2 * cosTheta_2 * sinPsi_2);
-	setD(cosPhi_2 * cosTheta_2 * sinPsi_2 -
-	     sinPhi_2 * sinTheta_2 * cosPsi_2);
-}
-
-Quaternion::Quaternion(const Quaternion &right) :
-	Vector(right)
-{
-}
-
-Quaternion::~Quaternion()
-{
-}
-
-Vector Quaternion::derivative(const Vector &w)
-{
-#ifdef QUATERNION_ASSERT
-	ASSERT(w.getRows() == 3);
-#endif
-	float dataQ[] = {
-		getA(), -getB(), -getC(), -getD(),
-		getB(),  getA(), -getD(),  getC(),
-		getC(),  getD(),  getA(), -getB(),
-		getD(), -getC(),  getB(),  getA()
-	};
-	Vector v(4);
-	v(0) = 0.0f;
-	v(1) = w(0);
-	v(2) = w(1);
-	v(3) = w(2);
-	Matrix Q(4, 4, dataQ);
-	return Q * v * 0.5f;
-}
-
-int __EXPORT quaternionTest()
-{
-	printf("Test Quaternion\t\t: ");
-	// test default ctor
-	Quaternion q;
-	ASSERT(equal(q.getA(), 1.0f));
-	ASSERT(equal(q.getB(), 0.0f));
-	ASSERT(equal(q.getC(), 0.0f));
-	ASSERT(equal(q.getD(), 0.0f));
-	// test float ctor
-	q = Quaternion(0.1825742f, 0.3651484f, 0.5477226f, 0.7302967f);
-	ASSERT(equal(q.getA(), 0.1825742f));
-	ASSERT(equal(q.getB(), 0.3651484f));
-	ASSERT(equal(q.getC(), 0.5477226f));
-	ASSERT(equal(q.getD(), 0.7302967f));
-	// test euler ctor
-	q = Quaternion(EulerAngles(0.1f, 0.2f, 0.3f));
-	ASSERT(vectorEqual(q, Quaternion(0.983347f, 0.034271f, 0.106021f, 0.143572f)));
-	// test dcm ctor
-	q = Quaternion(Dcm());
-	ASSERT(vectorEqual(q, Quaternion(1.0f, 0.0f, 0.0f, 0.0f)));
-	// TODO test derivative
-	// test accessors
-	q.setA(0.1f);
-	q.setB(0.2f);
-	q.setC(0.3f);
-	q.setD(0.4f);
-	ASSERT(vectorEqual(q, Quaternion(0.1f, 0.2f, 0.3f, 0.4f)));
-	printf("PASS\n");
-	return 0;
-}
-
-} // namespace math
diff --git a/apps/mathlib/math/Quaternion.hpp b/apps/mathlib/math/Quaternion.hpp
deleted file mode 100644
index 4b4e959d8..000000000
--- a/apps/mathlib/math/Quaternion.hpp
+++ /dev/null
@@ -1,115 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file Quaternion.hpp
- *
- * math quaternion lib
- */
-
-//#pragma once
-
-#include "Vector.hpp"
-#include "Matrix.hpp"
-
-namespace math
-{
-
-class Dcm;
-class EulerAngles;
-
-class __EXPORT Quaternion : public Vector
-{
-public:
-
-	/**
-	 * default ctor
-	 */
-	Quaternion();
-
-	/**
-	 * ctor from floats
-	 */
-	Quaternion(float a, float b, float c, float d);
-
-	/**
-	 * ctor from data
-	 */
-	Quaternion(const float *data);
-
-	/**
-	 * ctor from Vector
-	 */
-	Quaternion(const Vector &v);
-
-	/**
-	 * ctor from EulerAngles
-	 */
-	Quaternion(const EulerAngles &euler);
-
-	/**
-	 * ctor from Dcm
-	 */
-	Quaternion(const Dcm &dcm);
-
-	/**
-	 * deep copy ctor
-	 */
-	Quaternion(const Quaternion &right);
-
-	/**
-	 * dtor
-	 */
-	virtual ~Quaternion();
-
-	/**
-	 * derivative
-	 */
-	Vector derivative(const Vector &w);
-
-	/**
-	 * accessors
-	 */
-	void setA(float a) { (*this)(0) = a; }
-	void setB(float b) { (*this)(1) = b; }
-	void setC(float c) { (*this)(2) = c; }
-	void setD(float d) { (*this)(3) = d; }
-	const float &getA() const { return (*this)(0); }
-	const float &getB() const { return (*this)(1); }
-	const float &getC() const { return (*this)(2); }
-	const float &getD() const { return (*this)(3); }
-};
-
-int __EXPORT quaternionTest();
-} // math
-
diff --git a/apps/mathlib/math/Vector.cpp b/apps/mathlib/math/Vector.cpp
deleted file mode 100644
index d58e719db..000000000
--- a/apps/mathlib/math/Vector.cpp
+++ /dev/null
@@ -1,100 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file Vector.cpp
- *
- * math vector
- */
-
-#include "math/test/test.hpp"
-
-#include "Vector.hpp"
-
-namespace math
-{
-
-static const float data_testA[] = {1, 3};
-static const float data_testB[] = {4, 1};
-
-static Vector testA(2, data_testA);
-static Vector testB(2, data_testB);
-
-int __EXPORT vectorTest()
-{
-	vectorAddTest();
-	vectorSubTest();
-	return 0;
-}
-
-int vectorAddTest()
-{
-	printf("Test Vector Add\t\t: ");
-	Vector r = testA + testB;
-	float data_test[] = {5.0f, 4.0f};
-	ASSERT(vectorEqual(Vector(2, data_test), r));
-	printf("PASS\n");
-	return 0;
-}
-
-int vectorSubTest()
-{
-	printf("Test Vector Sub\t\t: ");
-	Vector r(2);
-	r = testA - testB;
-	float data_test[] = { -3.0f, 2.0f};
-	ASSERT(vectorEqual(Vector(2, data_test), r));
-	printf("PASS\n");
-	return 0;
-}
-
-bool vectorEqual(const Vector &a, const Vector &b, float eps)
-{
-	if (a.getRows() != b.getRows()) {
-		printf("row number not equal a: %d, b:%d\n", a.getRows(), b.getRows());
-		return false;
-	}
-
-	bool ret = true;
-
-	for (size_t i = 0; i < a.getRows(); i++) {
-		if (!equal(a(i), b(i), eps)) {
-			printf("element mismatch (%d)\n", i);
-			ret = false;
-		}
-	}
-
-	return ret;
-}
-
-} // namespace math
diff --git a/apps/mathlib/math/Vector.hpp b/apps/mathlib/math/Vector.hpp
deleted file mode 100644
index 73de793d5..000000000
--- a/apps/mathlib/math/Vector.hpp
+++ /dev/null
@@ -1,57 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file Vector.h
- *
- * math vector
- */
-
-#pragma once
-
-#include 
-
-#if defined(CONFIG_ARCH_CORTEXM4) && defined(CONFIG_ARCH_FPU)
-#include "arm/Vector.hpp"
-#else
-#include "generic/Vector.hpp"
-#endif
-
-namespace math
-{
-class Vector;
-int __EXPORT vectorTest();
-int __EXPORT vectorAddTest();
-int __EXPORT vectorSubTest();
-bool vectorEqual(const Vector &a, const Vector &b, float eps = 1.0e-5f);
-} // math
diff --git a/apps/mathlib/math/Vector3.cpp b/apps/mathlib/math/Vector3.cpp
deleted file mode 100644
index 9c57506da..000000000
--- a/apps/mathlib/math/Vector3.cpp
+++ /dev/null
@@ -1,99 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file Vector3.cpp
- *
- * math vector
- */
-
-#include "math/test/test.hpp"
-
-#include "Vector3.hpp"
-
-namespace math
-{
-
-Vector3::Vector3() :
-	Vector(3)
-{
-}
-
-Vector3::Vector3(const Vector &right) :
-	Vector(right)
-{
-#ifdef VECTOR_ASSERT
-	ASSERT(right.getRows() == 3);
-#endif
-}
-
-Vector3::Vector3(float x, float y, float z) :
-	Vector(3)
-{
-	setX(x);
-	setY(y);
-	setZ(z);
-}
-
-Vector3::Vector3(const float *data) :
-	Vector(3, data)
-{
-}
-
-Vector3::~Vector3()
-{
-}
-
-Vector3 Vector3::cross(const Vector3 &b)
-{
-	Vector3 &a = *this;
-	Vector3 result;
-	result(0) = a(1) * b(2) - a(2) * b(1);
-	result(1) = a(2) * b(0) - a(0) * b(2);
-	result(2) = a(0) * b(1) - a(1) * b(0);
-	return result;
-}
-
-int __EXPORT vector3Test()
-{
-	printf("Test Vector3\t\t: ");
-	// test float ctor
-	Vector3 v(1, 2, 3);
-	ASSERT(equal(v(0), 1));
-	ASSERT(equal(v(1), 2));
-	ASSERT(equal(v(2), 3));
-	printf("PASS\n");
-	return 0;
-}
-
-} // namespace math
diff --git a/apps/mathlib/math/Vector3.hpp b/apps/mathlib/math/Vector3.hpp
deleted file mode 100644
index 8c36ac134..000000000
--- a/apps/mathlib/math/Vector3.hpp
+++ /dev/null
@@ -1,71 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file Vector3.hpp
- *
- * math 3 vector
- */
-
-#pragma once
-
-#include "Vector.hpp"
-
-namespace math
-{
-
-class __EXPORT Vector3 :
-	public Vector
-{
-public:
-	Vector3();
-	Vector3(const Vector &right);
-	Vector3(float x, float y, float z);
-	Vector3(const float *data);
-	virtual ~Vector3();
-	Vector3 cross(const Vector3 &b);
-
-	/**
-	 * accessors
-	 */
-	void setX(float x) { (*this)(0) = x; }
-	void setY(float y) { (*this)(1) = y; }
-	void setZ(float z) { (*this)(2) = z; }
-	const float &getX() const { return (*this)(0); }
-	const float &getY() const { return (*this)(1); }
-	const float &getZ() const { return (*this)(2); }
-};
-
-int __EXPORT vector3Test();
-} // math
-
diff --git a/apps/mathlib/math/arm/Matrix.cpp b/apps/mathlib/math/arm/Matrix.cpp
deleted file mode 100644
index 21661622a..000000000
--- a/apps/mathlib/math/arm/Matrix.cpp
+++ /dev/null
@@ -1,40 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file Matrix.cpp
- *
- * matrix code
- */
-
-#include "Matrix.hpp"
diff --git a/apps/mathlib/math/arm/Matrix.hpp b/apps/mathlib/math/arm/Matrix.hpp
deleted file mode 100644
index 715fd3a5e..000000000
--- a/apps/mathlib/math/arm/Matrix.hpp
+++ /dev/null
@@ -1,292 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file Matrix.h
- *
- * matrix code
- */
-
-#pragma once
-
-
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-
-#include "../Vector.hpp"
-#include "../Matrix.hpp"
-
-// arm specific
-#include "../../CMSIS/Include/arm_math.h"
-
-namespace math
-{
-
-class __EXPORT Matrix
-{
-public:
-	// constructor
-	Matrix(size_t rows, size_t cols) :
-		_matrix() {
-		arm_mat_init_f32(&_matrix,
-				 rows, cols,
-				 (float *)calloc(rows * cols, sizeof(float)));
-	}
-	Matrix(size_t rows, size_t cols, const float *data) :
-		_matrix() {
-		arm_mat_init_f32(&_matrix,
-				 rows, cols,
-				 (float *)malloc(rows * cols * sizeof(float)));
-		memcpy(getData(), data, getSize());
-	}
-	// deconstructor
-	virtual ~Matrix() {
-		delete [] _matrix.pData;
-	}
-	// copy constructor (deep)
-	Matrix(const Matrix &right) :
-		_matrix() {
-		arm_mat_init_f32(&_matrix,
-				 right.getRows(), right.getCols(),
-				 (float *)malloc(right.getRows()*
-						 right.getCols()*sizeof(float)));
-		memcpy(getData(), right.getData(),
-		       getSize());
-	}
-	// assignment
-	inline Matrix &operator=(const Matrix &right) {
-#ifdef MATRIX_ASSERT
-		ASSERT(getRows() == right.getRows());
-		ASSERT(getCols() == right.getCols());
-#endif
-
-		if (this != &right) {
-			memcpy(getData(), right.getData(),
-			       right.getSize());
-		}
-
-		return *this;
-	}
-	// element accessors
-	inline float &operator()(size_t i, size_t j) {
-#ifdef MATRIX_ASSERT
-		ASSERT(i < getRows());
-		ASSERT(j < getCols());
-#endif
-		return getData()[i * getCols() + j];
-	}
-	inline const float &operator()(size_t i, size_t j) const {
-#ifdef MATRIX_ASSERT
-		ASSERT(i < getRows());
-		ASSERT(j < getCols());
-#endif
-		return getData()[i * getCols() + j];
-	}
-	// output
-	inline void print() const {
-		for (size_t i = 0; i < getRows(); i++) {
-			for (size_t j = 0; j < getCols(); j++) {
-				float sig;
-				int exp;
-				float num = (*this)(i, j);
-				float2SigExp(num, sig, exp);
-				printf("%6.3fe%03.3d,", (double)sig, exp);
-			}
-
-			printf("\n");
-		}
-	}
-	// boolean ops
-	inline bool operator==(const Matrix &right) const {
-		for (size_t i = 0; i < getRows(); i++) {
-			for (size_t j = 0; j < getCols(); j++) {
-				if (fabsf((*this)(i, j) - right(i, j)) > 1e-30f)
-					return false;
-			}
-		}
-
-		return true;
-	}
-	// scalar ops
-	inline Matrix operator+(float right) const {
-		Matrix result(getRows(), getCols());
-		arm_offset_f32((float *)getData(), right,
-			       (float *)result.getData(), getRows()*getCols());
-		return result;
-	}
-	inline Matrix operator-(float right) const {
-		Matrix result(getRows(), getCols());
-		arm_offset_f32((float *)getData(), -right,
-			       (float *)result.getData(), getRows()*getCols());
-		return result;
-	}
-	inline Matrix operator*(float right) const {
-		Matrix result(getRows(), getCols());
-		arm_mat_scale_f32(&_matrix, right,
-				  &(result._matrix));
-		return result;
-	}
-	inline Matrix operator/(float right) const {
-		Matrix result(getRows(), getCols());
-		arm_mat_scale_f32(&_matrix, 1.0f / right,
-				  &(result._matrix));
-		return result;
-	}
-	// vector ops
-	inline Vector operator*(const Vector &right) const {
-#ifdef MATRIX_ASSERT
-		ASSERT(getCols() == right.getRows());
-#endif
-		Matrix resultMat = (*this) *
-				   Matrix(right.getRows(), 1, right.getData());
-		return Vector(getRows(), resultMat.getData());
-	}
-	// matrix ops
-	inline Matrix operator+(const Matrix &right) const {
-#ifdef MATRIX_ASSERT
-		ASSERT(getRows() == right.getRows());
-		ASSERT(getCols() == right.getCols());
-#endif
-		Matrix result(getRows(), getCols());
-		arm_mat_add_f32(&_matrix, &(right._matrix),
-				&(result._matrix));
-		return result;
-	}
-	inline Matrix operator-(const Matrix &right) const {
-#ifdef MATRIX_ASSERT
-		ASSERT(getRows() == right.getRows());
-		ASSERT(getCols() == right.getCols());
-#endif
-		Matrix result(getRows(), getCols());
-		arm_mat_sub_f32(&_matrix, &(right._matrix),
-				&(result._matrix));
-		return result;
-	}
-	inline Matrix operator*(const Matrix &right) const {
-#ifdef MATRIX_ASSERT
-		ASSERT(getCols() == right.getRows());
-#endif
-		Matrix result(getRows(), right.getCols());
-		arm_mat_mult_f32(&_matrix, &(right._matrix),
-				 &(result._matrix));
-		return result;
-	}
-	inline Matrix operator/(const Matrix &right) const {
-#ifdef MATRIX_ASSERT
-		ASSERT(right.getRows() == right.getCols());
-		ASSERT(getCols() == right.getCols());
-#endif
-		return (*this) * right.inverse();
-	}
-	// other functions
-	inline Matrix transpose() const {
-		Matrix result(getCols(), getRows());
-		arm_mat_trans_f32(&_matrix, &(result._matrix));
-		return result;
-	}
-	inline void swapRows(size_t a, size_t b) {
-		if (a == b) return;
-
-		for (size_t j = 0; j < getCols(); j++) {
-			float tmp = (*this)(a, j);
-			(*this)(a, j) = (*this)(b, j);
-			(*this)(b, j) = tmp;
-		}
-	}
-	inline void swapCols(size_t a, size_t b) {
-		if (a == b) return;
-
-		for (size_t i = 0; i < getRows(); i++) {
-			float tmp = (*this)(i, a);
-			(*this)(i, a) = (*this)(i, b);
-			(*this)(i, b) = tmp;
-		}
-	}
-	/**
-	 * inverse based on LU factorization with partial pivotting
-	 */
-	Matrix inverse() const {
-#ifdef MATRIX_ASSERT
-		ASSERT(getRows() == getCols());
-#endif
-		Matrix result(getRows(), getCols());
-		Matrix work = (*this);
-		arm_mat_inverse_f32(&(work._matrix),
-				    &(result._matrix));
-		return result;
-	}
-	inline void setAll(const float &val) {
-		for (size_t i = 0; i < getRows(); i++) {
-			for (size_t j = 0; j < getCols(); j++) {
-				(*this)(i, j) = val;
-			}
-		}
-	}
-	inline void set(const float *data) {
-		memcpy(getData(), data, getSize());
-	}
-	inline size_t getRows() const { return _matrix.numRows; }
-	inline size_t getCols() const { return _matrix.numCols; }
-	inline static Matrix identity(size_t size) {
-		Matrix result(size, size);
-
-		for (size_t i = 0; i < size; i++) {
-			result(i, i) = 1.0f;
-		}
-
-		return result;
-	}
-	inline static Matrix zero(size_t size) {
-		Matrix result(size, size);
-		result.setAll(0.0f);
-		return result;
-	}
-	inline static Matrix zero(size_t m, size_t n) {
-		Matrix result(m, n);
-		result.setAll(0.0f);
-		return result;
-	}
-protected:
-	inline size_t getSize() const { return sizeof(float) * getRows() * getCols(); }
-	inline float *getData() { return _matrix.pData; }
-	inline const float *getData() const { return _matrix.pData; }
-	inline void setData(float *data) { _matrix.pData = data; }
-private:
-	arm_matrix_instance_f32 _matrix;
-};
-
-} // namespace math
diff --git a/apps/mathlib/math/arm/Vector.cpp b/apps/mathlib/math/arm/Vector.cpp
deleted file mode 100644
index 7ea6496bb..000000000
--- a/apps/mathlib/math/arm/Vector.cpp
+++ /dev/null
@@ -1,40 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file Vector.cpp
- *
- * math vector
- */
-
-#include "Vector.hpp"
diff --git a/apps/mathlib/math/arm/Vector.hpp b/apps/mathlib/math/arm/Vector.hpp
deleted file mode 100644
index 58d51107d..000000000
--- a/apps/mathlib/math/arm/Vector.hpp
+++ /dev/null
@@ -1,220 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file Vector.h
- *
- * math vector
- */
-
-#pragma once
-
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-
-#include "../Vector.hpp"
-#include "../test/test.hpp"
-
-// arm specific
-#include "../../CMSIS/Include/arm_math.h"
-
-namespace math
-{
-
-class __EXPORT Vector
-{
-public:
-	// constructor
-	Vector(size_t rows) :
-		_rows(rows),
-		_data((float *)calloc(rows, sizeof(float))) {
-	}
-	Vector(size_t rows, const float *data) :
-		_rows(rows),
-		_data((float *)malloc(getSize())) {
-		memcpy(getData(), data, getSize());
-	}
-	// deconstructor
-	virtual ~Vector() {
-		delete [] getData();
-	}
-	// copy constructor (deep)
-	Vector(const Vector &right) :
-		_rows(right.getRows()),
-		_data((float *)malloc(getSize())) {
-		memcpy(getData(), right.getData(),
-		       right.getSize());
-	}
-	// assignment
-	inline Vector &operator=(const Vector &right) {
-#ifdef VECTOR_ASSERT
-		ASSERT(getRows() == right.getRows());
-#endif
-
-		if (this != &right) {
-			memcpy(getData(), right.getData(),
-			       right.getSize());
-		}
-
-		return *this;
-	}
-	// element accessors
-	inline float &operator()(size_t i) {
-#ifdef VECTOR_ASSERT
-		ASSERT(i < getRows());
-#endif
-		return getData()[i];
-	}
-	inline const float &operator()(size_t i) const {
-#ifdef VECTOR_ASSERT
-		ASSERT(i < getRows());
-#endif
-		return getData()[i];
-	}
-	// output
-	inline void print() const {
-		for (size_t i = 0; i < getRows(); i++) {
-			float sig;
-			int exp;
-			float num = (*this)(i);
-			float2SigExp(num, sig, exp);
-			printf("%6.3fe%03.3d,", (double)sig, exp);
-		}
-
-		printf("\n");
-	}
-	// boolean ops
-	inline bool operator==(const Vector &right) const {
-		for (size_t i = 0; i < getRows(); i++) {
-			if (fabsf(((*this)(i) - right(i))) > 1e-30f)
-				return false;
-		}
-
-		return true;
-	}
-	// scalar ops
-	inline Vector operator+(float right) const {
-		Vector result(getRows());
-		arm_offset_f32((float *)getData(),
-			       right, result.getData(),
-			       getRows());
-		return result;
-	}
-	inline Vector operator-(float right) const {
-		Vector result(getRows());
-		arm_offset_f32((float *)getData(),
-			       -right, result.getData(),
-			       getRows());
-		return result;
-	}
-	inline Vector operator*(float right) const {
-		Vector result(getRows());
-		arm_scale_f32((float *)getData(),
-			      right, result.getData(),
-			      getRows());
-		return result;
-	}
-	inline Vector operator/(float right) const {
-		Vector result(getRows());
-		arm_scale_f32((float *)getData(),
-			      1.0f / right, result.getData(),
-			      getRows());
-		return result;
-	}
-	// vector ops
-	inline Vector operator+(const Vector &right) const {
-#ifdef VECTOR_ASSERT
-		ASSERT(getRows() == right.getRows());
-#endif
-		Vector result(getRows());
-		arm_add_f32((float *)getData(),
-			    (float *)right.getData(),
-			    result.getData(),
-			    getRows());
-		return result;
-	}
-	inline Vector operator-(const Vector &right) const {
-#ifdef VECTOR_ASSERT
-		ASSERT(getRows() == right.getRows());
-#endif
-		Vector result(getRows());
-		arm_sub_f32((float *)getData(),
-			    (float *)right.getData(),
-			    result.getData(),
-			    getRows());
-		return result;
-	}
-	// other functions
-	inline float dot(const Vector &right) {
-		float result = 0;
-		arm_dot_prod_f32((float *)getData(),
-				 (float *)right.getData(),
-				 getRows(),
-				 &result);
-		return result;
-	}
-	inline float norm() {
-		return sqrtf(dot(*this));
-	}
-	inline Vector unit() {
-		return (*this) / norm();
-	}
-	inline static Vector zero(size_t rows) {
-		Vector result(rows);
-		// calloc returns zeroed memory
-		return result;
-	}
-	inline void setAll(const float &val) {
-		for (size_t i = 0; i < getRows(); i++) {
-			(*this)(i) = val;
-		}
-	}
-	inline void set(const float *data) {
-		memcpy(getData(), data, getSize());
-	}
-	inline size_t getRows() const { return _rows; }
-	inline const float *getData() const { return _data; }
-protected:
-	inline size_t getSize() const { return sizeof(float) * getRows(); }
-	inline float *getData() { return _data; }
-	inline void setData(float *data) { _data = data; }
-private:
-	size_t _rows;
-	float *_data;
-};
-
-} // math
diff --git a/apps/mathlib/math/generic/Matrix.cpp b/apps/mathlib/math/generic/Matrix.cpp
deleted file mode 100644
index 21661622a..000000000
--- a/apps/mathlib/math/generic/Matrix.cpp
+++ /dev/null
@@ -1,40 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file Matrix.cpp
- *
- * matrix code
- */
-
-#include "Matrix.hpp"
diff --git a/apps/mathlib/math/generic/Matrix.hpp b/apps/mathlib/math/generic/Matrix.hpp
deleted file mode 100644
index 5601a3447..000000000
--- a/apps/mathlib/math/generic/Matrix.hpp
+++ /dev/null
@@ -1,437 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file Matrix.h
- *
- * matrix code
- */
-
-#pragma once
-
-
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-
-#include "../Vector.hpp"
-#include "../Matrix.hpp"
-
-namespace math
-{
-
-class __EXPORT Matrix
-{
-public:
-	// constructor
-	Matrix(size_t rows, size_t cols) :
-		_rows(rows),
-		_cols(cols),
-		_data((float *)calloc(rows *cols, sizeof(float))) {
-	}
-	Matrix(size_t rows, size_t cols, const float *data) :
-		_rows(rows),
-		_cols(cols),
-		_data((float *)malloc(getSize())) {
-		memcpy(getData(), data, getSize());
-	}
-	// deconstructor
-	virtual ~Matrix() {
-		delete [] getData();
-	}
-	// copy constructor (deep)
-	Matrix(const Matrix &right) :
-		_rows(right.getRows()),
-		_cols(right.getCols()),
-		_data((float *)malloc(getSize())) {
-		memcpy(getData(), right.getData(),
-		       right.getSize());
-	}
-	// assignment
-	inline Matrix &operator=(const Matrix &right) {
-#ifdef MATRIX_ASSERT
-		ASSERT(getRows() == right.getRows());
-		ASSERT(getCols() == right.getCols());
-#endif
-
-		if (this != &right) {
-			memcpy(getData(), right.getData(),
-			       right.getSize());
-		}
-
-		return *this;
-	}
-	// element accessors
-	inline float &operator()(size_t i, size_t j) {
-#ifdef MATRIX_ASSERT
-		ASSERT(i < getRows());
-		ASSERT(j < getCols());
-#endif
-		return getData()[i * getCols() + j];
-	}
-	inline const float &operator()(size_t i, size_t j) const {
-#ifdef MATRIX_ASSERT
-		ASSERT(i < getRows());
-		ASSERT(j < getCols());
-#endif
-		return getData()[i * getCols() + j];
-	}
-	// output
-	inline void print() const {
-		for (size_t i = 0; i < getRows(); i++) {
-			for (size_t j = 0; j < getCols(); j++) {
-				float sig;
-				int exp;
-				float num = (*this)(i, j);
-				float2SigExp(num, sig, exp);
-				printf("%6.3fe%03.3d,", (double)sig, exp);
-			}
-
-			printf("\n");
-		}
-	}
-	// boolean ops
-	inline bool operator==(const Matrix &right) const {
-		for (size_t i = 0; i < getRows(); i++) {
-			for (size_t j = 0; j < getCols(); j++) {
-				if (fabsf((*this)(i, j) - right(i, j)) > 1e-30f)
-					return false;
-			}
-		}
-
-		return true;
-	}
-	// scalar ops
-	inline Matrix operator+(const float &right) const {
-		Matrix result(getRows(), getCols());
-
-		for (size_t i = 0; i < getRows(); i++) {
-			for (size_t j = 0; j < getCols(); j++) {
-				result(i, j) = (*this)(i, j) + right;
-			}
-		}
-
-		return result;
-	}
-	inline Matrix operator-(const float &right) const {
-		Matrix result(getRows(), getCols());
-
-		for (size_t i = 0; i < getRows(); i++) {
-			for (size_t j = 0; j < getCols(); j++) {
-				result(i, j) = (*this)(i, j) - right;
-			}
-		}
-
-		return result;
-	}
-	inline Matrix operator*(const float &right) const {
-		Matrix result(getRows(), getCols());
-
-		for (size_t i = 0; i < getRows(); i++) {
-			for (size_t j = 0; j < getCols(); j++) {
-				result(i, j) = (*this)(i, j) * right;
-			}
-		}
-
-		return result;
-	}
-	inline Matrix operator/(const float &right) const {
-		Matrix result(getRows(), getCols());
-
-		for (size_t i = 0; i < getRows(); i++) {
-			for (size_t j = 0; j < getCols(); j++) {
-				result(i, j) = (*this)(i, j) / right;
-			}
-		}
-
-		return result;
-	}
-	// vector ops
-	inline Vector operator*(const Vector &right) const {
-#ifdef MATRIX_ASSERT
-		ASSERT(getCols() == right.getRows());
-#endif
-		Vector result(getRows());
-
-		for (size_t i = 0; i < getRows(); i++) {
-			for (size_t j = 0; j < getCols(); j++) {
-				result(i) += (*this)(i, j) * right(j);
-			}
-		}
-
-		return result;
-	}
-	// matrix ops
-	inline Matrix operator+(const Matrix &right) const {
-#ifdef MATRIX_ASSERT
-		ASSERT(getRows() == right.getRows());
-		ASSERT(getCols() == right.getCols());
-#endif
-		Matrix result(getRows(), getCols());
-
-		for (size_t i = 0; i < getRows(); i++) {
-			for (size_t j = 0; j < getCols(); j++) {
-				result(i, j) = (*this)(i, j) + right(i, j);
-			}
-		}
-
-		return result;
-	}
-	inline Matrix operator-(const Matrix &right) const {
-#ifdef MATRIX_ASSERT
-		ASSERT(getRows() == right.getRows());
-		ASSERT(getCols() == right.getCols());
-#endif
-		Matrix result(getRows(), getCols());
-
-		for (size_t i = 0; i < getRows(); i++) {
-			for (size_t j = 0; j < getCols(); j++) {
-				result(i, j) = (*this)(i, j) - right(i, j);
-			}
-		}
-
-		return result;
-	}
-	inline Matrix operator*(const Matrix &right) const {
-#ifdef MATRIX_ASSERT
-		ASSERT(getCols() == right.getRows());
-#endif
-		Matrix result(getRows(), right.getCols());
-
-		for (size_t i = 0; i < getRows(); i++) {
-			for (size_t j = 0; j < right.getCols(); j++) {
-				for (size_t k = 0; k < right.getRows(); k++) {
-					result(i, j) += (*this)(i, k) * right(k, j);
-				}
-			}
-		}
-
-		return result;
-	}
-	inline Matrix operator/(const Matrix &right) const {
-#ifdef MATRIX_ASSERT
-		ASSERT(right.getRows() == right.getCols());
-		ASSERT(getCols() == right.getCols());
-#endif
-		return (*this) * right.inverse();
-	}
-	// other functions
-	inline Matrix transpose() const {
-		Matrix result(getCols(), getRows());
-
-		for (size_t i = 0; i < getRows(); i++) {
-			for (size_t j = 0; j < getCols(); j++) {
-				result(j, i) = (*this)(i, j);
-			}
-		}
-
-		return result;
-	}
-	inline void swapRows(size_t a, size_t b) {
-		if (a == b) return;
-
-		for (size_t j = 0; j < getCols(); j++) {
-			float tmp = (*this)(a, j);
-			(*this)(a, j) = (*this)(b, j);
-			(*this)(b, j) = tmp;
-		}
-	}
-	inline void swapCols(size_t a, size_t b) {
-		if (a == b) return;
-
-		for (size_t i = 0; i < getRows(); i++) {
-			float tmp = (*this)(i, a);
-			(*this)(i, a) = (*this)(i, b);
-			(*this)(i, b) = tmp;
-		}
-	}
-	/**
-	 * inverse based on LU factorization with partial pivotting
-	 */
-	Matrix inverse() const {
-#ifdef MATRIX_ASSERT
-		ASSERT(getRows() == getCols());
-#endif
-		size_t N = getRows();
-		Matrix L = identity(N);
-		const Matrix &A = (*this);
-		Matrix U = A;
-		Matrix P = identity(N);
-
-		//printf("A:\n"); A.print();
-
-		// for all diagonal elements
-		for (size_t n = 0; n < N; n++) {
-
-			// if diagonal is zero, swap with row below
-			if (fabsf(U(n, n)) < 1e-8f) {
-				//printf("trying pivot for row %d\n",n);
-				for (size_t i = 0; i < N; i++) {
-					if (i == n) continue;
-
-					//printf("\ttrying row %d\n",i);
-					if (fabsf(U(i, n)) > 1e-8f) {
-						//printf("swapped %d\n",i);
-						U.swapRows(i, n);
-						P.swapRows(i, n);
-					}
-				}
-			}
-
-#ifdef MATRIX_ASSERT
-			//printf("A:\n"); A.print();
-			//printf("U:\n"); U.print();
-			//printf("P:\n"); P.print();
-			//fflush(stdout);
-			ASSERT(fabsf(U(n, n)) > 1e-8f);
-#endif
-
-			// failsafe, return zero matrix
-			if (fabsf(U(n, n)) < 1e-8f) {
-				return Matrix::zero(n);
-			}
-
-			// for all rows below diagonal
-			for (size_t i = (n + 1); i < N; i++) {
-				L(i, n) = U(i, n) / U(n, n);
-
-				// add i-th row and n-th row
-				// multiplied by: -a(i,n)/a(n,n)
-				for (size_t k = n; k < N; k++) {
-					U(i, k) -= L(i, n) * U(n, k);
-				}
-			}
-		}
-
-		//printf("L:\n"); L.print();
-		//printf("U:\n"); U.print();
-
-		// solve LY=P*I for Y by forward subst
-		Matrix Y = P;
-
-		// for all columns of Y
-		for (size_t c = 0; c < N; c++) {
-			// for all rows of L
-			for (size_t i = 0; i < N; i++) {
-				// for all columns of L
-				for (size_t j = 0; j < i; j++) {
-					// for all existing y
-					// subtract the component they
-					// contribute to the solution
-					Y(i, c) -= L(i, j) * Y(j, c);
-				}
-
-				// divide by the factor
-				// on current
-				// term to be solved
-				// Y(i,c) /= L(i,i);
-				// but L(i,i) = 1.0
-			}
-		}
-
-		//printf("Y:\n"); Y.print();
-
-		// solve Ux=y for x by back subst
-		Matrix X = Y;
-
-		// for all columns of X
-		for (size_t c = 0; c < N; c++) {
-			// for all rows of U
-			for (size_t k = 0; k < N; k++) {
-				// have to go in reverse order
-				size_t i = N - 1 - k;
-
-				// for all columns of U
-				for (size_t j = i + 1; j < N; j++) {
-					// for all existing x
-					// subtract the component they
-					// contribute to the solution
-					X(i, c) -= U(i, j) * X(j, c);
-				}
-
-				// divide by the factor
-				// on current
-				// term to be solved
-				X(i, c) /= U(i, i);
-			}
-		}
-
-		//printf("X:\n"); X.print();
-		return X;
-	}
-	inline void setAll(const float &val) {
-		for (size_t i = 0; i < getRows(); i++) {
-			for (size_t j = 0; j < getCols(); j++) {
-				(*this)(i, j) = val;
-			}
-		}
-	}
-	inline void set(const float *data) {
-		memcpy(getData(), data, getSize());
-	}
-	inline size_t getRows() const { return _rows; }
-	inline size_t getCols() const { return _cols; }
-	inline static Matrix identity(size_t size) {
-		Matrix result(size, size);
-
-		for (size_t i = 0; i < size; i++) {
-			result(i, i) = 1.0f;
-		}
-
-		return result;
-	}
-	inline static Matrix zero(size_t size) {
-		Matrix result(size, size);
-		result.setAll(0.0f);
-		return result;
-	}
-	inline static Matrix zero(size_t m, size_t n) {
-		Matrix result(m, n);
-		result.setAll(0.0f);
-		return result;
-	}
-protected:
-	inline size_t getSize() const { return sizeof(float) * getRows() * getCols(); }
-	inline float *getData() { return _data; }
-	inline const float *getData() const { return _data; }
-	inline void setData(float *data) { _data = data; }
-private:
-	size_t _rows;
-	size_t _cols;
-	float *_data;
-};
-
-} // namespace math
diff --git a/apps/mathlib/math/generic/Vector.cpp b/apps/mathlib/math/generic/Vector.cpp
deleted file mode 100644
index 7ea6496bb..000000000
--- a/apps/mathlib/math/generic/Vector.cpp
+++ /dev/null
@@ -1,40 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file Vector.cpp
- *
- * math vector
- */
-
-#include "Vector.hpp"
diff --git a/apps/mathlib/math/generic/Vector.hpp b/apps/mathlib/math/generic/Vector.hpp
deleted file mode 100644
index 1a7363779..000000000
--- a/apps/mathlib/math/generic/Vector.hpp
+++ /dev/null
@@ -1,227 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file Vector.h
- *
- * math vector
- */
-
-#pragma once
-
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-
-#include "../Vector.hpp"
-
-namespace math
-{
-
-class __EXPORT Vector
-{
-public:
-	// constructor
-	Vector(size_t rows) :
-		_rows(rows),
-		_data((float *)calloc(rows, sizeof(float))) {
-	}
-	Vector(size_t rows, const float *data) :
-		_rows(rows),
-		_data((float *)malloc(getSize())) {
-		memcpy(getData(), data, getSize());
-	}
-	// deconstructor
-	virtual ~Vector() {
-		delete [] getData();
-	}
-	// copy constructor (deep)
-	Vector(const Vector &right) :
-		_rows(right.getRows()),
-		_data((float *)malloc(getSize())) {
-		memcpy(getData(), right.getData(),
-		       right.getSize());
-	}
-	// assignment
-	inline Vector &operator=(const Vector &right) {
-#ifdef VECTOR_ASSERT
-		ASSERT(getRows() == right.getRows());
-#endif
-
-		if (this != &right) {
-			memcpy(getData(), right.getData(),
-			       right.getSize());
-		}
-
-		return *this;
-	}
-	// element accessors
-	inline float &operator()(size_t i) {
-#ifdef VECTOR_ASSERT
-		ASSERT(i < getRows());
-#endif
-		return getData()[i];
-	}
-	inline const float &operator()(size_t i) const {
-#ifdef VECTOR_ASSERT
-		ASSERT(i < getRows());
-#endif
-		return getData()[i];
-	}
-	// output
-	inline void print() const {
-		for (size_t i = 0; i < getRows(); i++) {
-			float sig;
-			int exp;
-			float num = (*this)(i);
-			float2SigExp(num, sig, exp);
-			printf("%6.3fe%03.3d,", (double)sig, exp);
-		}
-
-		printf("\n");
-	}
-	// boolean ops
-	inline bool operator==(const Vector &right) const {
-		for (size_t i = 0; i < getRows(); i++) {
-			if (fabsf(((*this)(i) - right(i))) > 1e-30f)
-				return false;
-		}
-
-		return true;
-	}
-	// scalar ops
-	inline Vector operator+(const float &right) const {
-		Vector result(getRows());
-
-		for (size_t i = 0; i < getRows(); i++) {
-			result(i) = (*this)(i) + right;
-		}
-
-		return result;
-	}
-	inline Vector operator-(const float &right) const {
-		Vector result(getRows());
-
-		for (size_t i = 0; i < getRows(); i++) {
-			result(i) = (*this)(i) - right;
-		}
-
-		return result;
-	}
-	inline Vector operator*(const float &right) const {
-		Vector result(getRows());
-
-		for (size_t i = 0; i < getRows(); i++) {
-			result(i) = (*this)(i) * right;
-		}
-
-		return result;
-	}
-	inline Vector operator/(const float &right) const {
-		Vector result(getRows());
-
-		for (size_t i = 0; i < getRows(); i++) {
-			result(i) = (*this)(i) / right;
-		}
-
-		return result;
-	}
-	// vector ops
-	inline Vector operator+(const Vector &right) const {
-#ifdef VECTOR_ASSERT
-		ASSERT(getRows() == right.getRows());
-#endif
-		Vector result(getRows());
-
-		for (size_t i = 0; i < getRows(); i++) {
-			result(i) = (*this)(i) + right(i);
-		}
-
-		return result;
-	}
-	inline Vector operator-(const Vector &right) const {
-#ifdef VECTOR_ASSERT
-		ASSERT(getRows() == right.getRows());
-#endif
-		Vector result(getRows());
-
-		for (size_t i = 0; i < getRows(); i++) {
-			result(i) = (*this)(i) - right(i);
-		}
-
-		return result;
-	}
-	// other functions
-	inline float dot(const Vector &right) {
-		float result = 0;
-
-		for (size_t i = 0; i < getRows(); i++) {
-			result += (*this)(i) * (*this)(i);
-		}
-
-		return result;
-	}
-	inline float norm() {
-		return sqrtf(dot(*this));
-	}
-	inline Vector unit() {
-		return (*this) / norm();
-	}
-	inline static Vector zero(size_t rows) {
-		Vector result(rows);
-		// calloc returns zeroed memory
-		return result;
-	}
-	inline void setAll(const float &val) {
-		for (size_t i = 0; i < getRows(); i++) {
-			(*this)(i) = val;
-		}
-	}
-	inline void set(const float *data) {
-		memcpy(getData(), data, getSize());
-	}
-	inline size_t getRows() const { return _rows; }
-protected:
-	inline size_t getSize() const { return sizeof(float) * getRows(); }
-	inline float *getData() { return _data; }
-	inline const float *getData() const { return _data; }
-	inline void setData(float *data) { _data = data; }
-private:
-	size_t _rows;
-	float *_data;
-};
-
-} // math
diff --git a/apps/mathlib/math/nasa_rotation_def.pdf b/apps/mathlib/math/nasa_rotation_def.pdf
deleted file mode 100644
index eb67a4bfc..000000000
Binary files a/apps/mathlib/math/nasa_rotation_def.pdf and /dev/null differ
diff --git a/apps/mathlib/math/test/test.cpp b/apps/mathlib/math/test/test.cpp
deleted file mode 100644
index f5db76d70..000000000
--- a/apps/mathlib/math/test/test.cpp
+++ /dev/null
@@ -1,93 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file test.cpp
- *
- * Test library code
- */
-
-#include 
-#include 
-
-#include "test.hpp"
-
-bool __EXPORT equal(float a, float b, float epsilon)
-{
-	float diff = fabsf(a - b);
-
-	if (diff > epsilon) {
-		printf("not equal ->\n\ta: %12.8f\n\tb: %12.8f\n", double(a), double(b));
-		return false;
-
-	} else return true;
-}
-
-void __EXPORT float2SigExp(
-	const float &num,
-	float &sig,
-	int &exp)
-{
-	if (isnan(num) || isinf(num)) {
-		sig = 0.0f;
-		exp = -99;
-		return;
-	}
-
-	if (fabsf(num) < 1.0e-38f) {
-		sig = 0;
-		exp = 0;
-		return;
-	}
-
-	exp = log10f(fabsf(num));
-
-	if (exp > 0) {
-		exp = ceil(exp);
-
-	} else {
-		exp = floor(exp);
-	}
-
-	sig = num;
-
-	// cheap power since it is integer
-	if (exp > 0) {
-		for (int i = 0; i < abs(exp); i++) sig /= 10;
-
-	} else {
-		for (int i = 0; i < abs(exp); i++) sig *= 10;
-	}
-}
-
-
diff --git a/apps/mathlib/math/test/test.hpp b/apps/mathlib/math/test/test.hpp
deleted file mode 100644
index 841c42144..000000000
--- a/apps/mathlib/math/test/test.hpp
+++ /dev/null
@@ -1,50 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file test.hpp
- *
- * Controller library code
- */
-
-#pragma once
-
-#include 
-#include 
-#include 
-
-bool equal(float a, float b, float eps = 1e-5);
-void float2SigExp(
-	const float &num,
-	float &sig,
-	int &exp);
diff --git a/apps/mathlib/math/test_math.sce b/apps/mathlib/math/test_math.sce
deleted file mode 100644
index c3fba4729..000000000
--- a/apps/mathlib/math/test_math.sce
+++ /dev/null
@@ -1,63 +0,0 @@
-clc
-clear
-function out = float_truncate(in, digits)
-    out = round(in*10^digits)
-    out = out/10^digits
-endfunction
-
-phi = 0.1
-theta = 0.2
-psi = 0.3
-
-cosPhi = cos(phi)
-cosPhi_2 = cos(phi/2)
-sinPhi = sin(phi)
-sinPhi_2 = sin(phi/2)
-
-cosTheta = cos(theta)
-cosTheta_2 = cos(theta/2)
-sinTheta = sin(theta)
-sinTheta_2 = sin(theta/2)
-
-cosPsi = cos(psi)
-cosPsi_2 = cos(psi/2)
-sinPsi = sin(psi)
-sinPsi_2 = sin(psi/2)
-
-C_nb = [cosTheta*cosPsi, -cosPhi*sinPsi + sinPhi*sinTheta*cosPsi, sinPhi*sinPsi + cosPhi*sinTheta*cosPsi;
-        cosTheta*sinPsi, cosPhi*cosPsi + sinPhi*sinTheta*sinPsi, -sinPhi*cosPsi + cosPhi*sinTheta*sinPsi;
-        -sinTheta, sinPhi*cosTheta, cosPhi*cosTheta]
-    
-disp(C_nb)
-//C_nb = float_truncate(C_nb,3)
-//disp(C_nb)
-
-theta = asin(-C_nb(3,1))
-phi = atan(C_nb(3,2), C_nb(3,3))
-psi = atan(C_nb(2,1), C_nb(1,1))
-printf('phi %f\n', phi)
-printf('theta %f\n', theta)
-printf('psi %f\n', psi)
-
-q = [cosPhi_2*cosTheta_2*cosPsi_2 + sinPhi_2*sinTheta_2*sinPsi_2;
-     sinPhi_2*cosTheta_2*cosPsi_2 - cosPhi_2*sinTheta_2*sinPsi_2;
-     cosPhi_2*sinTheta_2*cosPsi_2 + sinPhi_2*cosTheta_2*sinPsi_2;
-     cosPhi_2*cosTheta_2*sinPsi_2 - sinPhi_2*sinTheta_2*cosPsi_2]
-     
-//q = float_truncate(q,3)
-
-a = q(1)
-b = q(2)
-c = q(3)
-d = q(4)
-printf('q: %f %f %f %f\n', a, b, c, d)
-a2 = a*a
-b2 = b*b
-c2 = c*c
-d2 = d*d
-
-C2_nb = [a2 + b2 - c2 - d2, 2*(b*c - a*d), 2*(b*d + a*c);
-         2*(b*c + a*d), a2 - b2 + c2 - d2, 2*(c*d - a*b);
-         2*(b*d - a*c), 2*(c*d + a*b), a2 - b2 - c2 + d2]
-
-disp(C2_nb)
diff --git a/apps/mathlib/mathlib.h b/apps/mathlib/mathlib.h
deleted file mode 100644
index b919d53db..000000000
--- a/apps/mathlib/mathlib.h
+++ /dev/null
@@ -1,55 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file mathlib.h
- *
- * Common header for mathlib exports.
- */
-
-#ifdef __cplusplus
-
-#include "math/Dcm.hpp"
-#include "math/EulerAngles.hpp"
-#include "math/Matrix.hpp"
-#include "math/Quaternion.hpp"
-#include "math/Vector.hpp"
-#include "math/Vector3.hpp"
-
-#endif
-
-#ifdef CONFIG_ARCH_ARM
-
-#include "CMSIS/Include/arm_math.h"
-
-#endif
\ No newline at end of file
diff --git a/apps/systemlib/Makefile b/apps/systemlib/Makefile
deleted file mode 100644
index b2e233a92..000000000
--- a/apps/systemlib/Makefile
+++ /dev/null
@@ -1,52 +0,0 @@
-############################################################################
-#
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-#
-# System utility library
-#
-
-CSRCS		 = err.c \
-		   hx_stream.c \
-		   perf_counter.c \
-		   param/param.c \
-		   bson/tinybson.c \
-		   conversions.c \
-		   cpuload.c \
-		   getopt_long.c \
-		   up_cxxinitialize.c \
-		   pid/pid.c \
-		   geo/geo.c \
-		   systemlib.c \
-		   airspeed.c
-
-include $(APPDIR)/mk/app.mk
diff --git a/apps/systemlib/airspeed.c b/apps/systemlib/airspeed.c
deleted file mode 100644
index 264287b10..000000000
--- a/apps/systemlib/airspeed.c
+++ /dev/null
@@ -1,111 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
- *   Author: Lorenz Meier 
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file airspeed.c
- * Airspeed estimation
- *
- * @author Lorenz Meier 
- *
- */
-
-#include 
-#include 
-#include "conversions.h"
-#include "airspeed.h"
-
-
-/**
- * Calculate indicated airspeed.
- *
- * Note that the indicated airspeed is not the true airspeed because it
- * lacks the air density compensation. Use the calc_true_airspeed functions to get
- * the true airspeed.
- *
- * @param differential_pressure total_ pressure - static pressure
- * @return indicated airspeed in m/s
- */
-float calc_indicated_airspeed(float differential_pressure)
-{
-
-	if (differential_pressure > 0) {
-		return sqrtf((2.0f*differential_pressure) / CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C);
-	} else {
-		return -sqrtf((2.0f*fabs(differential_pressure)) / CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C);
-	}
-
-}
- 
-/**
- * Calculate true airspeed from indicated airspeed.
- *
- * Note that the true airspeed is NOT the groundspeed, because of the effects of wind
- *
- * @param speed_indicated current indicated airspeed
- * @param pressure_ambient pressure at the side of the tube/airplane
- * @param temperature_celsius air temperature in degrees celcius
- * @return true airspeed in m/s
- */
-float calc_true_airspeed_from_indicated(float speed_indicated, float pressure_ambient, float temperature_celsius)
-{
-	return speed_indicated * sqrtf(CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C / get_air_density(pressure_ambient, temperature_celsius));
-}
- 
-/**
- * Directly calculate true airspeed
- *
- * Note that the true airspeed is NOT the groundspeed, because of the effects of wind
- *
- * @param total_pressure pressure inside the pitot/prandtl tube
- * @param static_pressure pressure at the side of the tube/airplane
- * @param temperature_celsius air temperature in degrees celcius
- * @return true airspeed in m/s
- */
-float calc_true_airspeed(float total_pressure, float static_pressure, float temperature_celsius)
-{
-	float density = get_air_density(static_pressure, temperature_celsius);
-	if (density < 0.0001f || !isfinite(density)) {
-	 density = CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C;
-	 printf("[airspeed] Invalid air density, using density at sea level\n");
-	}
-
-	float pressure_difference = total_pressure - static_pressure;
-
-	if(pressure_difference > 0) {
-		return sqrtf((2.0f*(pressure_difference)) / density);
-	} else
-	{
-		return -sqrtf((2.0f*fabs(pressure_difference)) / density);
-	}
-}
diff --git a/apps/systemlib/airspeed.h b/apps/systemlib/airspeed.h
deleted file mode 100644
index def53f0c1..000000000
--- a/apps/systemlib/airspeed.h
+++ /dev/null
@@ -1,90 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
- *   Author: Lorenz Meier 
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file airspeed.h
- * Airspeed estimation declarations
- *
- * @author Lorenz Meier 
- *
- */
-
-#ifndef AIRSPEED_H_
-#define AIRSPEED_H_
-
-#include "math.h"
-#include "conversions.h"
-
- __BEGIN_DECLS
- 
- /**
-  * Calculate indicated airspeed.
-  *
-  * Note that the indicated airspeed is not the true airspeed because it
-  * lacks the air density compensation. Use the calc_true_airspeed functions to get
-  * the true airspeed.
-  *
-  * @param total_pressure pressure inside the pitot/prandtl tube
-  * @param static_pressure pressure at the side of the tube/airplane
-  * @return indicated airspeed in m/s
-  */
- __EXPORT float calc_indicated_airspeed(float differential_pressure);
- 
- /**
-  * Calculate true airspeed from indicated airspeed.
-  *
-  * Note that the true airspeed is NOT the groundspeed, because of the effects of wind
-  *
-  * @param speed_indicated current indicated airspeed
-  * @param pressure_ambient pressure at the side of the tube/airplane
-  * @param temperature_celsius air temperature in degrees celcius
-  * @return true airspeed in m/s
-  */
- __EXPORT float calc_true_airspeed_from_indicated(float speed_indicated, float pressure_ambient, float temperature_celsius);
- 
- /**
-  * Directly calculate true airspeed
-  *
-  * Note that the true airspeed is NOT the groundspeed, because of the effects of wind
-  *
-  * @param total_pressure pressure inside the pitot/prandtl tube
-  * @param static_pressure pressure at the side of the tube/airplane
-  * @param temperature_celsius air temperature in degrees celcius
-  * @return true airspeed in m/s
-  */
- __EXPORT float calc_true_airspeed(float total_pressure, float static_pressure, float temperature_celsius);
-
-__END_DECLS
-
-#endif
diff --git a/apps/systemlib/bson/tinybson.c b/apps/systemlib/bson/tinybson.c
deleted file mode 100644
index 321466f87..000000000
--- a/apps/systemlib/bson/tinybson.c
+++ /dev/null
@@ -1,517 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file tinybson.c
- *
- * A simple subset SAX-style BSON parser and generator.
- */
-
-#include 
-#include 
-#include 
-#include 
-
-#include "tinybson.h"
-
-#if 0
-# define debug(fmt, args...)		do { warnx("BSON: " fmt, ##args); } while(0)
-#else
-# define debug(fmt, args...)		do { } while(0)
-#endif
-
-#define CODER_CHECK(_c)		do { if (_c->dead) { debug("coder dead"); return -1; }} while(0)
-#define CODER_KILL(_c, _reason)	do { debug("killed: %s", _reason); _c->dead = true; return -1; } while(0)
-
-static int
-read_x(bson_decoder_t decoder, void *p, size_t s)
-{
-	CODER_CHECK(decoder);
-
-	if (decoder->fd > -1)
-		return (read(decoder->fd, p, s) == (int)s) ? 0 : -1;
-
-	if (decoder->buf != NULL) {
-		/* staged operations to avoid integer overflow for corrupt data */
-		if (s >= decoder->bufsize)
-			CODER_KILL(decoder, "buffer too small for read");
-		if ((decoder->bufsize - s) < decoder->bufpos)
-			CODER_KILL(decoder, "not enough data for read");
-		memcpy(p, (decoder->buf + decoder->bufpos), s);
-		decoder->bufpos += s;
-		return 0;
-	}
-	debug("no source");
-	return -1;
-}
-
-static int
-read_int8(bson_decoder_t decoder, int8_t *b)
-{
-	return read_x(decoder, b, sizeof(*b));
-}
-
-static int
-read_int32(bson_decoder_t decoder, int32_t *i)
-{
-	return read_x(decoder, i, sizeof(*i));
-}
-
-static int
-read_int64(bson_decoder_t decoder, int64_t *i)
-{
-	return read_x(decoder, i, sizeof(*i));
-}
-
-static int
-read_double(bson_decoder_t decoder, double *d)
-{
-	return read_x(decoder, d, sizeof(*d));
-}
-
-int
-bson_decoder_init_file(bson_decoder_t decoder, int fd, bson_decoder_callback callback, void *private)
-{
-	int32_t	junk;
-
-	decoder->fd = fd;
-	decoder->buf = NULL;
-	decoder->dead = false;
-	decoder->callback = callback;
-	decoder->private = private;
-	decoder->nesting = 1;
-	decoder->pending = 0;
-	decoder->node.type = BSON_UNDEFINED;
-
-	/* read and discard document size */
-	if (read_int32(decoder, &junk))
-		CODER_KILL(decoder, "failed discarding length");
-
-	/* ready for decoding */
-	return 0;
-}
-
-int
-bson_decoder_init_buf(bson_decoder_t decoder, void *buf, unsigned bufsize, bson_decoder_callback callback, void *private)
-{
-	int32_t	len;
-
-	/* argument sanity */
-	if ((buf == NULL) || (callback == NULL))
-		return -1;
-
-	decoder->fd = -1;
-	decoder->buf = (uint8_t *)buf;
-	decoder->dead = false;
-	if (bufsize == 0) {
-		decoder->bufsize = *(uint32_t *)buf;
-		debug("auto-detected %u byte object", decoder->bufsize);
-	} else {
-		decoder->bufsize = bufsize;
-	}
-	decoder->bufpos = 0;
-	decoder->callback = callback;
-	decoder->private = private;
-	decoder->nesting = 1;
-	decoder->pending = 0;
-	decoder->node.type = BSON_UNDEFINED;
-
-	/* read and discard document size */
-	if (read_int32(decoder, &len))
-		CODER_KILL(decoder, "failed reading length");
-	if ((len > 0) && (len > (int)decoder->bufsize))
-		CODER_KILL(decoder, "document length larger than buffer");
-
-	/* ready for decoding */
-	return 0;
-}
-
-int
-bson_decoder_next(bson_decoder_t decoder)
-{
-	int8_t	tbyte;
-	int32_t tint;
-	unsigned nlen;
-
-	CODER_CHECK(decoder);
-
-	/* if the previous node was EOO, pop a nesting level */
-	if (decoder->node.type == BSON_EOO) {
-		if (decoder->nesting > 0)
-			decoder->nesting--;
-
-		/* if the nesting level is now zero, the top-level document is done */
-		if (decoder->nesting == 0) {
-			/* like kill but not an error */
-			debug("nesting is zero, document is done");
-			decoder->fd = -1;
-
-			/* return end-of-file to the caller */
-			return 0;
-		}
-	}
-
-	/* if there are unread bytes pending in the stream, discard them */
-	while (decoder->pending > 0) {
-		if (read_int8(decoder, &tbyte))
-			CODER_KILL(decoder, "read error discarding pending bytes");
-
-		decoder->pending--;
-	}
-
-	/* get the type byte */
-	if (read_int8(decoder, &tbyte))
-		CODER_KILL(decoder, "read error on type byte");
-
-	decoder->node.type = tbyte;
-	decoder->pending = 0;
-
-	debug("got type byte 0x%02x", decoder->node.type);
-
-	/* EOO is special; it has no name/data following */
-	if (decoder->node.type == BSON_EOO) {
-		decoder->node.name[0] = '\0';
-	} else {
-
-		/* get the node name */
-		nlen = 0;
-
-		for (;;) {
-			if (nlen >= BSON_MAXNAME)
-				CODER_KILL(decoder, "node name overflow");
-
-			if (read_int8(decoder, (int8_t *)&decoder->node.name[nlen]))
-				CODER_KILL(decoder, "read error on node name");
-
-			if (decoder->node.name[nlen] == '\0')
-				break;
-
-			nlen++;
-		}
-
-		debug("got name '%s'", decoder->node.name);
-
-		switch (decoder->node.type) {
-		case BSON_BOOL:
-			if (read_int8(decoder, &tbyte))
-				CODER_KILL(decoder, "read error on BSON_BOOL");
-			decoder->node.b = (tbyte != 0);
-			break;
-
-		case BSON_INT32:
-			if (read_int32(decoder, &tint))
-				CODER_KILL(decoder, "read error on BSON_INT");
-			decoder->node.i = tint;
-			break;
-
-		case BSON_INT64:
-			if (read_int64(decoder, &decoder->node.i))
-				CODER_KILL(decoder, "read error on BSON_INT");
-
-			break;
-
-		case BSON_DOUBLE:
-			if (read_double(decoder, &decoder->node.d))
-				CODER_KILL(decoder, "read error on BSON_DOUBLE");
-
-			break;
-
-		case BSON_STRING:
-			if (read_int32(decoder, &decoder->pending))
-				CODER_KILL(decoder, "read error on BSON_STRING length");
-			break;
-
-		case BSON_BINDATA:
-			if (read_int32(decoder, &decoder->pending))
-				CODER_KILL(decoder, "read error on BSON_BINDATA size");
-
-			if (read_int8(decoder, &tbyte))
-				CODER_KILL(decoder, "read error on BSON_BINDATA subtype");
-
-			decoder->node.subtype = tbyte;
-			break;
-
-			/* XXX currently not supporting other types */
-		default:
-			CODER_KILL(decoder, "unsupported node type");
-		}
-	}
-
-	/* call the callback and pass its results back */
-	return decoder->callback(decoder, decoder->private, &decoder->node);
-}
-
-int
-bson_decoder_copy_data(bson_decoder_t decoder, void *buf)
-{
-	int result;
-
-	CODER_CHECK(decoder);
-
-	/* copy data */
-	result = read_x(decoder, buf, decoder->pending);
-
-	if (result != 0)
-		CODER_KILL(decoder, "read error on copy_data");
-
-	/* pending count is discharged */
-	decoder->pending = 0;
-	return 0;
-}
-
-size_t
-bson_decoder_data_pending(bson_decoder_t decoder)
-{
-	return decoder->pending;
-}
-
-static int
-write_x(bson_encoder_t encoder, const void *p, size_t s)
-{
-	CODER_CHECK(encoder);
-
-	if (encoder->fd > -1)
-		return (write(encoder->fd, p, s) == (int)s) ? 0 : -1;
-
-	/* do we need to extend the buffer? */
-	while ((encoder->bufpos + s) > encoder->bufsize) {
-		if (!encoder->realloc_ok)
-			CODER_KILL(encoder, "fixed-size buffer overflow");
-
-		uint8_t *newbuf = realloc(encoder->buf, encoder->bufsize + BSON_BUF_INCREMENT);
-		if (newbuf == NULL)
-			CODER_KILL(encoder, "could not grow buffer");
-
-		encoder->buf = newbuf;
-		encoder->bufsize += BSON_BUF_INCREMENT;
-		debug("allocated %d bytes", BSON_BUF_INCREMENT);
-	}
-
-	memcpy(encoder->buf + encoder->bufpos, p, s);
-	encoder->bufpos += s;
-	debug("appended %d bytes", s);
-
-	return 0;
-}
-
-static int
-write_int8(bson_encoder_t encoder, int8_t b)
-{
-	return write_x(encoder, &b, sizeof(b));
-}
-
-static int
-write_int32(bson_encoder_t encoder, int32_t i)
-{
-	return write_x(encoder, &i, sizeof(i));
-}
-
-static int
-write_int64(bson_encoder_t encoder, int64_t i)
-{
-	return write_x(encoder, &i, sizeof(i));
-}
-
-static int
-write_double(bson_encoder_t encoder, double d)
-{
-	return write_x(encoder, &d, sizeof(d));
-}
-
-static int
-write_name(bson_encoder_t encoder, const char *name)
-{
-	size_t len = strlen(name);
-
-	if (len > BSON_MAXNAME)
-		CODER_KILL(encoder, "node name too long");
-
-	return write_x(encoder, name, len + 1);
-}
-
-int
-bson_encoder_init_file(bson_encoder_t encoder, int fd)
-{
-	encoder->fd = fd;
-	encoder->buf = NULL;
-	encoder->dead = false;
-
-	if (write_int32(encoder, 0))
-		CODER_KILL(encoder, "write error on document length");
-
-	return 0;
-}
-
-int
-bson_encoder_init_buf(bson_encoder_t encoder, void *buf, unsigned bufsize)
-{
-	encoder->fd = -1;
-	encoder->buf = (uint8_t *)buf;
-	encoder->bufpos = 0;
-	encoder->dead = false;
-	if (encoder->buf == NULL) {
-		encoder->bufsize = 0;
-		encoder->realloc_ok = true;
-	} else {
-		encoder->bufsize = bufsize;
-		encoder->realloc_ok = false;
-	}
-
-	if (write_int32(encoder, 0))
-		CODER_KILL(encoder, "write error on document length");
-
-	return 0;		
-}
-
-int
-bson_encoder_fini(bson_encoder_t encoder)
-{
-	CODER_CHECK(encoder);
-
-	if (write_int8(encoder, BSON_EOO))
-		CODER_KILL(encoder, "write error on document terminator");
-
-	/* hack to fix up length for in-buffer documents */
-	if (encoder->buf != NULL) {
-		int32_t len = bson_encoder_buf_size(encoder);
-		memcpy(encoder->buf, &len, sizeof(len));
-	}
-
-	return 0;
-}
-
-int
-bson_encoder_buf_size(bson_encoder_t encoder)
-{
-	CODER_CHECK(encoder);
-
-	if (encoder->fd > -1)
-		return -1;
-
-	return encoder->bufpos;
-}
-
-void *
-bson_encoder_buf_data(bson_encoder_t encoder)
-{
-	/* note, no CODER_CHECK here as the caller has to clean up dead buffers */
-
-	if (encoder->fd > -1)
-		return NULL;
-
-	return encoder->buf;
-}
-
-int bson_encoder_append_bool(bson_encoder_t encoder, const char *name, bool value)
-{
-	CODER_CHECK(encoder);
-
-	if (write_int8(encoder, BSON_BOOL) ||
-	    write_name(encoder, name) ||
-	    write_int8(encoder, value ? 1 : 0))
-		CODER_KILL(encoder, "write error on BSON_BOOL");
-
-	return 0;
-}
-
-int
-bson_encoder_append_int(bson_encoder_t encoder, const char *name, int64_t value)
-{
-	bool result;
-
-	CODER_CHECK(encoder);
-
-	/* use the smallest encoding that will hold the value */
-	if (value == (int32_t)value) {
-		debug("encoding %lld as int32", value);
-		result = write_int8(encoder, BSON_INT32) ||
-			 write_name(encoder, name) ||
-			 write_int32(encoder, value);
-	} else {
-		debug("encoding %lld as int64", value);
-		result = write_int8(encoder, BSON_INT64) ||
-			 write_name(encoder, name) ||
-			 write_int64(encoder, value);
-	}
-	if (result)
-		CODER_KILL(encoder, "write error on BSON_INT");
-
-	return 0;
-}
-
-int
-bson_encoder_append_double(bson_encoder_t encoder, const char *name, double value)
-{
-	CODER_CHECK(encoder);
-
-	if (write_int8(encoder, BSON_DOUBLE) ||
-	    write_name(encoder, name) ||
-	    write_double(encoder, value))
-		CODER_KILL(encoder, "write error on BSON_DOUBLE");
-
-
-	return 0;
-}
-
-int
-bson_encoder_append_string(bson_encoder_t encoder, const char *name, const char *string)
-{
-	size_t len;
-
-	CODER_CHECK(encoder);
-
-	len = strlen(string) + 1;	/* include trailing nul */
-
-	if (write_int8(encoder, BSON_STRING) ||
-	    write_name(encoder, name) ||
-	    write_int32(encoder, len) ||
-	    write_x(encoder, string, len))
-		CODER_KILL(encoder, "write error on BSON_STRING");
-
-	return 0;
-}
-
-int
-bson_encoder_append_binary(bson_encoder_t encoder, const char *name, bson_binary_subtype_t subtype, size_t size, const void *data)
-{
-	CODER_CHECK(encoder);
-
-	if (write_int8(encoder, BSON_BINDATA) ||
-	    write_name(encoder, name) ||
-	    write_int32(encoder, size) ||
-	    write_int8(encoder, subtype) ||
-	    write_x(encoder, data, size))
-		CODER_KILL(encoder, "write error on BSON_BINDATA");
-
-	return 0;
-}
diff --git a/apps/systemlib/bson/tinybson.h b/apps/systemlib/bson/tinybson.h
deleted file mode 100644
index 666f8191a..000000000
--- a/apps/systemlib/bson/tinybson.h
+++ /dev/null
@@ -1,275 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
-* @file tinybson.h
-*
-* A simple subset SAX-style BSON parser and generator. See http://bsonspec.org
-*
-* Some types and defines taken from the standalone BSON parser/generator
-* in the Mongo C connector.
-*/
-
-#ifndef _TINYBSON_H
-#define _TINYBSON_H
-
-#include 
-#include 
-#include 
-
-/** subset of the BSON node types we might care about */
-typedef enum {
-	BSON_EOO = 0,
-	BSON_DOUBLE = 1,
-	BSON_STRING = 2,
-	BSON_OBJECT = 3,
-	BSON_ARRAY = 4,
-	BSON_BINDATA = 5,
-	BSON_UNDEFINED = 6,
-	BSON_BOOL = 8,
-	BSON_DATE = 9,
-	BSON_NULL = 10,
-	BSON_INT32 = 16,
-	BSON_INT64 = 18
-} bson_type_t;
-
-typedef enum bson_binary_subtype {
-	BSON_BIN_BINARY = 0,
-	BSON_BIN_USER = 128
-} bson_binary_subtype_t;
-
-/**
- * Maximum node name length.
- */
-#define BSON_MAXNAME		32
-
-/**
- * Buffer growth increment when writing to a buffer.
- */
-#define BSON_BUF_INCREMENT	128
-
-/**
- * Node structure passed to the callback.
- */
-typedef struct bson_node_s {
-	char			name[BSON_MAXNAME];
-	bson_type_t		type;
-	bson_binary_subtype_t	subtype;
-	union {
-		int64_t		i;
-		double		d;
-		bool		b;
-	};
-} *bson_node_t;
-
-typedef struct bson_decoder_s *bson_decoder_t;
-
-/**
- * Node callback.
- *
- * The node callback function's return value is returned by bson_decoder_next.
- */
-typedef int	(* bson_decoder_callback)(bson_decoder_t decoder, void *private, bson_node_t node);
-
-struct bson_decoder_s {
-	/* file reader state */
-	int			fd;
-
-	/* buffer reader state */
-	uint8_t			*buf;
-	size_t			bufsize;
-	unsigned		bufpos;
-
-	bool			dead;
-	bson_decoder_callback	callback;
-	void			*private;
-	unsigned		nesting;
-	struct bson_node_s	node;
-	int32_t			pending;
-};
-
-/**
- * Initialise the decoder to read from a file.
- *
- * @param decoder		Decoder state structure to be initialised.
- * @param fd			File to read BSON data from.
- * @param callback		Callback to be invoked by bson_decoder_next
- * @param private		Callback private data, stored in node.
- * @return			Zero on success.
- */
-__EXPORT int bson_decoder_init_file(bson_decoder_t decoder, int fd, bson_decoder_callback callback, void *private);
-
-/**
- * Initialise the decoder to read from a buffer in memory.
- *
- * @param decoder		Decoder state structure to be initialised.
- * @param buf			Buffer to read from.
- * @param bufsize		Size of the buffer (BSON object may be smaller).  May be
- *				passed as zero if the buffer size should be extracted from the
- *				BSON header only.
- * @param callback		Callback to be invoked by bson_decoder_next
- * @param private		Callback private data, stored in node.
- * @return			Zero on success.
- */
-__EXPORT int bson_decoder_init_buf(bson_decoder_t decoder, void *buf, unsigned bufsize, bson_decoder_callback callback, void *private);
-
-/**
- * Process the next node from the stream and invoke the callback.
- *
- * @param decoder		Decoder state, must have been initialised with bson_decoder_init.
- * @return			-1 if parsing encountered an error, 0 if the BSON stream has ended,
- *				otherwise the return value from the callback.
- */
-__EXPORT int bson_decoder_next(bson_decoder_t decoder);
-
-/**
- * Copy node data.
- *
- * @param decoder		Decoder state, must have been initialised with bson_decoder_init.
- */
-__EXPORT int bson_decoder_copy_data(bson_decoder_t decoder, void *buf);
-
-/**
- * Report copyable data size.
- *
- * @param decoder		Decoder state, must have been initialised with bson_decoder_init.
- */
-__EXPORT size_t bson_decoder_data_pending(bson_decoder_t decoder);
-
-/**
- * Encoder state structure.
- */
-typedef struct bson_encoder_s {
-	/* file writer state */
-	int		fd;
-
-	/* buffer writer state */
-	uint8_t		*buf;
-	unsigned	bufsize;
-	unsigned	bufpos;
-
-	bool		realloc_ok;
-	bool		dead;
-
-} *bson_encoder_t;
-
-/**
- * Initialze the encoder for writing to a file.
- *
- * @param encoder		Encoder state structure to be initialised.
- * @param fd			File to write to.
- * @return			Zero on success.
- */
-__EXPORT int bson_encoder_init_file(bson_encoder_t encoder, int fd);
-
-/**
- * Initialze the encoder for writing to a buffer.
- *
- * @param encoder		Encoder state structure to be initialised.
- * @param buf			Buffer pointer to use, or NULL if the buffer
- *				should be allocated by the encoder.
- * @param bufsize		Maximum buffer size, or zero for no limit. If 
- *				the buffer is supplied, the size of the supplied buffer.
- * @return			Zero on success.
- */
-__EXPORT int bson_encoder_init_buf(bson_encoder_t encoder, void *buf, unsigned bufsize);
-
-/**
- * Finalise the encoded stream.
- *
- * @param encoder		The encoder to finalise.
- */
-__EXPORT int bson_encoder_fini(bson_encoder_t encoder);
-
-/**
- * Fetch the size of the encoded object; only valid for buffer operations.
- */
-__EXPORT int bson_encoder_buf_size(bson_encoder_t encoder);
-
-/**
- * Get a pointer to the encoded object buffer.
- *
- * Note that if the buffer was allocated by the encoder, it is the caller's responsibility
- * to free this buffer.
- */
-__EXPORT void *bson_encoder_buf_data(bson_encoder_t encoder);
-
-/**
- * Append a boolean to the encoded stream.
- *
- * @param encoder		Encoder state.
- * @param name			Node name.
- * @param value			Value to be encoded.
- */
-__EXPORT int bson_encoder_append_bool(bson_encoder_t encoder, const char *name, bool value);
-
-/**
- * Append an integer to the encoded stream.
- *
- * @param encoder		Encoder state.
- * @param name			Node name.
- * @param value			Value to be encoded. 
- */
-__EXPORT int bson_encoder_append_int(bson_encoder_t encoder, const char *name, int64_t value);
-
-/**
- * Append a double to the encoded stream
- *
- * @param encoder		Encoder state.
- * @param name			Node name.
- * @param value			Value to be encoded.
- */
-__EXPORT int bson_encoder_append_double(bson_encoder_t encoder, const char *name, double value);
-
-/**
- * Append a string to the encoded stream.
- *
- * @param encoder		Encoder state.
- * @param name			Node name.
- * @param string		Nul-terminated C string.
- */
-__EXPORT int bson_encoder_append_string(bson_encoder_t encoder, const char *name, const char *string);
-
-/**
- * Append a binary blob to the encoded stream.
- *
- * @param encoder		Encoder state.
- * @param name			Node name.
- * @param subtype		Binary data subtype.
- * @param size			Data size.
- * @param data			Buffer containing data to be encoded.
- */
-__EXPORT int bson_encoder_append_binary(bson_encoder_t encoder, const char *name, bson_binary_subtype_t subtype, size_t size, const void *data);
-
-
-#endif
diff --git a/apps/systemlib/conversions.c b/apps/systemlib/conversions.c
deleted file mode 100644
index ac94252c5..000000000
--- a/apps/systemlib/conversions.c
+++ /dev/null
@@ -1,154 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier 
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file conversions.c
- * Implementation of commonly used conversions.
- */
-
-#include 
-#include 
-
-#include "conversions.h"
-
-int16_t
-int16_t_from_bytes(uint8_t bytes[])
-{
-	union {
-		uint8_t    b[2];
-		int16_t    w;
-	} u;
-
-	u.b[1] = bytes[0];
-	u.b[0] = bytes[1];
-
-	return u.w;
-}
-
-void rot2quat(const float R[9], float Q[4])
-{
-	float q0_2;
-	float q1_2;
-	float q2_2;
-	float q3_2;
-	int32_t idx;
-
-	/* conversion of rotation matrix to quaternion
-	 * choose the largest component to begin with */
-	q0_2 = (((1.0F + R[0]) + R[4]) + R[8]) / 4.0F;
-	q1_2 = (((1.0F + R[0]) - R[4]) - R[8]) / 4.0F;
-	q2_2 = (((1.0F - R[0]) + R[4]) - R[8]) / 4.0F;
-	q3_2 = (((1.0F - R[0]) - R[4]) + R[8]) / 4.0F;
-
-	idx = 0;
-
-	if (q0_2 < q1_2) {
-		q0_2 = q1_2;
-
-		idx = 1;
-	}
-
-	if (q0_2 < q2_2) {
-		q0_2 = q2_2;
-		idx = 2;
-	}
-
-	if (q0_2 < q3_2) {
-		q0_2 = q3_2;
-		idx = 3;
-	}
-
-	q0_2 = sqrtf(q0_2);
-
-	/* solve for the remaining three components */
-	if (idx == 0) {
-		q1_2 = q0_2;
-		q2_2 = (R[5] - R[7]) / 4.0F / q0_2;
-		q3_2 = (R[6] - R[2]) / 4.0F / q0_2;
-		q0_2 = (R[1] - R[3]) / 4.0F / q0_2;
-
-	} else if (idx == 1) {
-		q2_2 = q0_2;
-		q1_2 = (R[5] - R[7]) / 4.0F / q0_2;
-		q3_2 = (R[3] + R[1]) / 4.0F / q0_2;
-		q0_2 = (R[6] + R[2]) / 4.0F / q0_2;
-
-	} else if (idx == 2) {
-		q3_2 = q0_2;
-		q1_2 = (R[6] - R[2]) / 4.0F / q0_2;
-		q2_2 = (R[3] + R[1]) / 4.0F / q0_2;
-		q0_2 = (R[7] + R[5]) / 4.0F / q0_2;
-
-	} else {
-		q1_2 = (R[1] - R[3]) / 4.0F / q0_2;
-		q2_2 = (R[6] + R[2]) / 4.0F / q0_2;
-		q3_2 = (R[7] + R[5]) / 4.0F / q0_2;
-	}
-
-	/* return values */
-	Q[0] = q1_2;
-	Q[1] = q2_2;
-	Q[2] = q3_2;
-	Q[3] = q0_2;
-}
-
-void quat2rot(const float Q[4], float R[9])
-{
-	float q0_2;
-	float q1_2;
-	float q2_2;
-	float q3_2;
-
-	memset(&R[0], 0, 9U * sizeof(float));
-
-	q0_2 = Q[0] * Q[0];
-	q1_2 = Q[1] * Q[1];
-	q2_2 = Q[2] * Q[2];
-	q3_2 = Q[3] * Q[3];
-
-	R[0] = ((q0_2 + q1_2) - q2_2) - q3_2;
-	R[3] = 2.0F * (Q[1] * Q[2] - Q[0] * Q[3]);
-	R[6] = 2.0F * (Q[1] * Q[3] + Q[0] * Q[2]);
-	R[1] = 2.0F * (Q[1] * Q[2] + Q[0] * Q[3]);
-	R[4] = ((q0_2 + q2_2) - q1_2) - q3_2;
-	R[7] = 2.0F * (Q[2] * Q[3] - Q[0] * Q[1]);
-	R[2] = 2.0F * (Q[1] * Q[3] - Q[0] * Q[2]);
-	R[5] = 2.0F * (Q[2] * Q[3] + Q[0] * Q[1]);
-	R[8] = ((q0_2 + q3_2) - q1_2) - q2_2;
-}
-
-float get_air_density(float static_pressure, float temperature_celsius)
-{
-	return static_pressure / (CONSTANTS_AIR_GAS_CONST * (temperature_celsius - CONSTANTS_ABSOLUTE_NULL_CELSIUS));
-}
diff --git a/apps/systemlib/conversions.h b/apps/systemlib/conversions.h
deleted file mode 100644
index 5d485b01f..000000000
--- a/apps/systemlib/conversions.h
+++ /dev/null
@@ -1,94 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: Lorenz Meier 
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file conversions.h
- * Definition of commonly used conversions.
- *
- * Includes bit / byte / geo representation and unit conversions.
- */
-
-#ifndef CONVERSIONS_H_
-#define CONVERSIONS_H_
-#include 
-#include 
-
-#define CONSTANTS_ONE_G						9.80665f		// m/s^2
-#define CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C	1.225f			// kg/m^3
-#define CONSTANTS_AIR_GAS_CONST				287.1f 			// J/(kg * K)
-#define CONSTANTS_ABSOLUTE_NULL_CELSIUS		-273.15f		// °C
-
-__BEGIN_DECLS
-
-/**
- * Converts a signed 16 bit integer from big endian to little endian.
- *
- * This function is for commonly used 16 bit big endian sensor data,
- * delivered by driver routines as two 8 bit numbers in big endian order.
- * Common vendors with big endian representation are Invense, Bosch and
- * Honeywell. ST micro devices tend to use a little endian representation.
- */
-__EXPORT int16_t int16_t_from_bytes(uint8_t bytes[]);
-
-/**
- * Converts a 3 x 3 rotation matrix to an unit quaternion.
- *
- * All orientations are expressed in NED frame.
- *
- * @param R rotation matrix to convert
- * @param Q quaternion to write back to
- */
-__EXPORT void rot2quat(const float R[9], float Q[4]);
-
-/**
- * Converts an unit quaternion to a 3 x 3 rotation matrix.
- *
- * All orientations are expressed in NED frame.
- *
- * @param Q quaternion to convert
- * @param R rotation matrix to write back to
- */
-__EXPORT void quat2rot(const float Q[4], float R[9]);
-
-/**
- * Calculates air density.
- *
- * @param static_pressure ambient pressure in millibar
- * @param temperature_celcius air / ambient temperature in celcius
- */
-__EXPORT float get_air_density(float static_pressure, float temperature_celsius);
-
-__END_DECLS
-
-#endif /* CONVERSIONS_H_ */
diff --git a/apps/systemlib/cpuload.c b/apps/systemlib/cpuload.c
deleted file mode 100644
index 20b711fa6..000000000
--- a/apps/systemlib/cpuload.c
+++ /dev/null
@@ -1,176 +0,0 @@
-/****************************************************************************
- * configs/px4fmu/src/up_leds.c
- * arch/arm/src/board/up_leds.c
- *
- *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt 
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include 
-
-#include 
-#include 
-#include 
-
-#include 
-#include 
-
-#include 
-#include 
-
-#include "cpuload.h"
-
-#ifdef CONFIG_SCHED_INSTRUMENTATION
-
-/****************************************************************************
- * Definitions
- ****************************************************************************/
-
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-__EXPORT void sched_note_start(FAR _TCB *tcb);
-__EXPORT void sched_note_stop(FAR _TCB *tcb);
-__EXPORT void sched_note_switch(FAR _TCB *pFromTcb, FAR _TCB *pToTcb);
-
-/****************************************************************************
- * Name:
- ****************************************************************************/
-
-__EXPORT struct system_load_s system_load;
-
-extern FAR _TCB *sched_gettcb(pid_t pid);
-
-void cpuload_initialize_once()
-{
-//	if (!system_load.initialized)
-//	{
-	system_load.start_time = hrt_absolute_time();
-	int i;
-
-	for (i = 0; i < CONFIG_MAX_TASKS; i++) {
-		system_load.tasks[i].valid = false;
-	}
-
-	system_load.total_count = 0;
-
-	uint64_t now = hrt_absolute_time();
-
-	/* initialize idle thread statically */
-	system_load.tasks[0].start_time = now;
-	system_load.tasks[0].total_runtime = 0;
-	system_load.tasks[0].curr_start_time = 0;
-	system_load.tasks[0].tcb = sched_gettcb(0);
-	system_load.tasks[0].valid = true;
-	system_load.total_count++;
-
-	/* initialize init thread statically */
-	system_load.tasks[1].start_time = now;
-	system_load.tasks[1].total_runtime = 0;
-	system_load.tasks[1].curr_start_time = 0;
-	system_load.tasks[1].tcb = sched_gettcb(1);
-	system_load.tasks[1].valid = true;
-	/* count init thread */
-	system_load.total_count++;
-	//	}
-}
-
-void sched_note_start(FAR _TCB *tcb)
-{
-	/* search first free slot */
-	int i;
-
-	for (i = 1; i < CONFIG_MAX_TASKS; i++) {
-		if (!system_load.tasks[i].valid) {
-			/* slot is available */
-			system_load.tasks[i].start_time = hrt_absolute_time();
-			system_load.tasks[i].total_runtime = 0;
-			system_load.tasks[i].curr_start_time = 0;
-			system_load.tasks[i].tcb = tcb;
-			system_load.tasks[i].valid = true;
-			system_load.total_count++;
-			break;
-		}
-	}
-}
-
-void sched_note_stop(FAR _TCB *tcb)
-{
-	int i;
-
-	for (i = 1; i < CONFIG_MAX_TASKS; i++) {
-		if (system_load.tasks[i].tcb->pid == tcb->pid) {
-			/* mark slot as fee */
-			system_load.tasks[i].valid = false;
-			system_load.tasks[i].total_runtime = 0;
-			system_load.tasks[i].curr_start_time = 0;
-			system_load.tasks[i].tcb = NULL;
-			system_load.total_count--;
-			break;
-		}
-	}
-}
-
-void sched_note_switch(FAR _TCB *pFromTcb, FAR _TCB *pToTcb)
-{
-	uint64_t new_time = hrt_absolute_time();
-
-	/* Kind of inefficient: find both tasks and update times */
-	uint8_t both_found = 0;
-
-	for (int i = 0; i < CONFIG_MAX_TASKS; i++) {
-		/* Task ending its current scheduling run */
-		if (system_load.tasks[i].tcb->pid == pFromTcb->pid) {
-			//if (system_load.tasks[i].curr_start_time != 0)
-			{
-				system_load.tasks[i].total_runtime += new_time - system_load.tasks[i].curr_start_time;
-			}
-			both_found++;
-
-		} else if (system_load.tasks[i].tcb->pid == pToTcb->pid) {
-			system_load.tasks[i].curr_start_time = new_time;
-			both_found++;
-		}
-
-		/* Do only iterate as long as needed */
-		if (both_found == 2) {
-			break;
-		}
-	}
-}
-
-#endif /* CONFIG_SCHED_INSTRUMENTATION */
diff --git a/apps/systemlib/cpuload.h b/apps/systemlib/cpuload.h
deleted file mode 100644
index a97047ea8..000000000
--- a/apps/systemlib/cpuload.h
+++ /dev/null
@@ -1,63 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#pragma once
-
-#ifdef CONFIG_SCHED_INSTRUMENTATION
-
-__BEGIN_DECLS
-
-#include 
-
-struct system_load_taskinfo_s {
-	uint64_t total_runtime;      ///< Runtime since start (start_time - total_runtime)/(start_time - current_time) = load
-	uint64_t curr_start_time;     ///< Start time of the current scheduling slot
-	uint64_t start_time;         ///< FIRST start time of task
-	FAR struct _TCB *tcb;               ///<
-	bool valid;                  ///< Task is currently active / valid
-};
-
-struct system_load_s {
-	uint64_t start_time;         ///< Global start time of measurements
-	struct system_load_taskinfo_s tasks[CONFIG_MAX_TASKS];
-	uint8_t initialized;
-	int total_count;
-	int running_count;
-	int sleeping_count;
-};
-
-__EXPORT extern struct system_load_s system_load;
-
-__EXPORT void cpuload_initialize_once(void);
-
-#endif
diff --git a/apps/systemlib/err.c b/apps/systemlib/err.c
deleted file mode 100644
index daf17ef8b..000000000
--- a/apps/systemlib/err.c
+++ /dev/null
@@ -1,193 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file err.c
- *
- * Simple error/warning functions, heavily inspired by the BSD functions of
- * the same names.
- */
-
-#include 
-
-#include 
-#include 
-#include 
-
-#include "err.h"
-
-#define NOCODE		1000	/* larger than maximum errno */
-
-#if CONFIG_NFILE_STREAMS > 0
-#  include 
-#elif defined(CONFIG_ARCH_LOWPUTC)
-#  include 
-extern int lib_lowvprintf(const char *fmt, va_list ap);
-#else
-#  warning Cannot output without one of CONFIG_NFILE_STREAMS or CONFIG_ARCH_LOWPUTC
-#endif
-
-const char *
-getprogname(void)
-{
-#if CONFIG_TASK_NAME_SIZE > 0
-	_TCB	*thisproc = sched_self();
-
-	return thisproc->name;
-#else
-	return "app";
-#endif
-}
-
-static void
-warnerr_core(int errcode, const char *fmt, va_list args)
-{
-#if CONFIG_NFILE_STREAMS > 0
-	fprintf(stderr, "%s: ", getprogname());
-	vfprintf(stderr, fmt, args);
-
-	/* convenience as many parts of NuttX use negative errno */
-	if (errcode < 0)
-		errcode = -errcode;
-
-	if (errcode < NOCODE)
-		fprintf(stderr, ": %s", strerror(errcode));
-
-	fprintf(stderr, "\n");
-#elif CONFIG_ARCH_LOWPUTC
-	lowsyslog("%s: ", getprogname());
-	lowvyslog(fmt, args);
-
-	/* convenience as many parts of NuttX use negative errno */
-	if (errcode < 0)
-		errcode = -errcode;
-
-	if (errcode < NOCODE)
-		lowsyslog(": %s", strerror(errcode));
-
-	lowsyslog("\n");
-#endif
-}
-
-void
-err(int exitcode, const char *fmt, ...)
-{
-	va_list	args;
-
-	va_start(args, fmt);
-	verr(exitcode, fmt, args);
-}
-
-void
-verr(int exitcode, const char *fmt, va_list args)
-{
-	warnerr_core(errno, fmt, args);
-	exit(exitcode);
-}
-
-void
-errc(int exitcode, int errcode, const char *fmt, ...)
-{
-	va_list args;
-
-	va_start(args, fmt);
-	verrc(exitcode, errcode, fmt, args);
-}
-
-void
-verrc(int exitcode, int errcode, const char *fmt, va_list args)
-{
-	warnerr_core(errcode, fmt, args);
-	exit(exitcode);
-}
-
-void
-errx(int exitcode, const char *fmt, ...)
-{
-	va_list args;
-
-	va_start(args, fmt);
-	verrx(exitcode, fmt, args);
-}
-
-void
-verrx(int exitcode, const char *fmt, va_list args)
-{
-	warnerr_core(NOCODE, fmt, args);
-	exit(exitcode);
-}
-
-void
-warn(const char *fmt, ...)
-{
-	va_list args;
-
-	va_start(args, fmt);
-	vwarn(fmt, args);
-}
-
-void
-vwarn(const char *fmt, va_list args)
-{
-	warnerr_core(errno, fmt, args);
-}
-
-void
-warnc(int errcode, const char *fmt, ...)
-{
-	va_list args;
-
-	va_start(args, fmt);
-	vwarnc(errcode, fmt, args);
-}
-
-void
-vwarnc(int errcode, const char *fmt, va_list args)
-{
-	warnerr_core(errcode, fmt, args);
-}
-
-void
-warnx(const char *fmt, ...)
-{
-	va_list args;
-
-	va_start(args, fmt);
-	vwarnx(fmt, args);
-}
-
-void
-vwarnx(const char *fmt, va_list args)
-{
-	warnerr_core(NOCODE, fmt, args);
-}
diff --git a/apps/systemlib/err.h b/apps/systemlib/err.h
deleted file mode 100644
index ca13d6265..000000000
--- a/apps/systemlib/err.h
+++ /dev/null
@@ -1,89 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file err.h
- *
- * Simple error/warning functions, heavily inspired by the BSD functions of
- * the same names.
- *
- * The err() and warn() family of functions display a formatted error
- * message on the standard error output.  In all cases, the last
- * component of the program name, a colon character, and a space are
- * output.  If the fmt argument is not NULL, the printf(3)-like formatted
- * error message is output.  The output is terminated by a newline
- * character.
- *
- * The err(), errc(), verr(), verrc(), warn(), warnc(), vwarn(), and
- * vwarnc() functions append an error message obtained from strerror(3)
- * based on a supplied error code value or the global variable errno,
- * preceded by another colon and space unless the fmt argument is NULL.
- *
- * In the case of the errc(), verrc(), warnc(), and vwarnc() functions,
- * the code argument is used to look up the error message.
- *
- * The err(), verr(), warn(), and vwarn() functions use the global
- * variable errno to look up the error message.
- *
- * The errx() and warnx() functions do not append an error message.
- *
- * The err(), verr(), errc(), verrc(), errx(), and verrx() functions do
- * not return, but exit with the value of the argument eval.
- *
- */
-
-#ifndef _SYSTEMLIB_ERR_H
-#define _SYSTEMLIB_ERR_H
-
-#include 
-
-__BEGIN_DECLS
-
-__EXPORT const char *getprogname(void);
-
-__EXPORT void	err(int eval, const char *fmt, ...)		__attribute__((noreturn, format(printf, 2, 3)));
-__EXPORT void	verr(int eval, const char *fmt, va_list)	__attribute__((noreturn, format(printf, 2, 0)));
-__EXPORT void	errc(int eval, int code, const char *fmt, ...)	__attribute__((noreturn, format(printf, 3, 4)));
-__EXPORT void	verrc(int eval, int code, const char *fmt, va_list) __attribute__((noreturn, format(printf, 3, 0)));
-__EXPORT void	errx(int eval, const char *fmt, ...) 		__attribute__((noreturn, format(printf, 2, 3)));
-__EXPORT void	verrx(int eval, const char *fmt, va_list)	__attribute__((noreturn, format(printf, 2, 0)));
-__EXPORT void	warn(const char *fmt, ...)			__attribute__((format(printf, 1, 2)));
-__EXPORT void	vwarn(const char *fmt, va_list)			__attribute__((format(printf, 1, 0)));
-__EXPORT void	warnc(int code, const char *fmt, ...)		__attribute__((format(printf, 2, 3)));
-__EXPORT void	vwarnc(int code, const char *fmt, va_list)	__attribute__((format(printf, 2, 0)));
-__EXPORT void	warnx(const char *fmt, ...)			__attribute__((format(printf, 1, 2)));
-__EXPORT void	vwarnx(const char *fmt, va_list)		__attribute__((format(printf, 1, 0)));
-
-__END_DECLS
-
-#endif
diff --git a/apps/systemlib/geo/geo.c b/apps/systemlib/geo/geo.c
deleted file mode 100644
index 6746e8ff3..000000000
--- a/apps/systemlib/geo/geo.c
+++ /dev/null
@@ -1,439 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: Thomas Gubler 
- *           Julian Oes 
- *           Lorenz Meier 
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file geo.c
- *
- * Geo / math functions to perform geodesic calculations
- *
- * @author Thomas Gubler 
- * @author Julian Oes 
- * @author Lorenz Meier 
- */
-
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-
-
-/* values for map projection */
-static double phi_1;
-static double sin_phi_1;
-static double cos_phi_1;
-static double lambda_0;
-static double scale;
-
-__EXPORT void map_projection_init(double lat_0, double lon_0) //lat_0, lon_0 are expected to be in correct format: -> 47.1234567 and not 471234567
-{
-	/* notation and formulas according to: http://mathworld.wolfram.com/AzimuthalEquidistantProjection.html */
-	phi_1 = lat_0 / 180.0 * M_PI;
-	lambda_0 = lon_0 / 180.0 * M_PI;
-
-	sin_phi_1 = sin(phi_1);
-	cos_phi_1 = cos(phi_1);
-
-	/* calculate local scale by using the relation of true distance and the distance on plane */ //TODO: this is a quick solution, there are probably easier ways to determine the scale
-
-	/* 1) calculate true distance d on sphere to a point: http://www.movable-type.co.uk/scripts/latlong.html */
-	const double r_earth = 6371000;
-
-	double lat1 = phi_1;
-	double lon1 = lambda_0;
-
-	double lat2 = phi_1 + 0.5 / 180 * M_PI;
-	double lon2 = lambda_0 + 0.5 / 180 * M_PI;
-	double sin_lat_2 = sin(lat2);
-	double cos_lat_2 = cos(lat2);
-	double d = acos(sin(lat1) * sin_lat_2 + cos(lat1) * cos_lat_2 * cos(lon2 - lon1)) * r_earth;
-
-	/* 2) calculate distance rho on plane */
-	double k_bar = 0;
-	double c =  acos(sin_phi_1 * sin_lat_2 + cos_phi_1 * cos_lat_2 * cos(lon2 - lambda_0));
-
-	if (0 != c)
-		k_bar = c / sin(c);
-
-	double x2 = k_bar * (cos_lat_2 * sin(lon2 - lambda_0)); //Projection of point 2 on plane
-	double y2 = k_bar * ((cos_phi_1 * sin_lat_2 - sin_phi_1 * cos_lat_2 * cos(lon2 - lambda_0)));
-	double rho = sqrt(pow(x2, 2) + pow(y2, 2));
-
-	scale = d / rho;
-
-}
-
-__EXPORT void map_projection_project(double lat, double lon, float *x, float *y)
-{
-	/* notation and formulas accoring to: http://mathworld.wolfram.com/AzimuthalEquidistantProjection.html */
-	double phi = lat / 180.0 * M_PI;
-	double lambda = lon / 180.0 * M_PI;
-
-	double sin_phi = sin(phi);
-	double cos_phi = cos(phi);
-
-	double k_bar = 0;
-	/* using small angle approximation (formula in comment is without aproximation) */
-	double c =  acos(sin_phi_1 * sin_phi + cos_phi_1 * cos_phi * (1 - pow((lambda - lambda_0), 2) / 2)); //double c =  acos( sin_phi_1 * sin_phi + cos_phi_1 * cos_phi * cos(lambda - lambda_0) );
-
-	if (0 != c)
-		k_bar = c / sin(c);
-
-	/* using small angle approximation (formula in comment is without aproximation) */
-	*y = k_bar * (cos_phi * (lambda - lambda_0)) * scale;//*y = k_bar * (cos_phi * sin(lambda - lambda_0)) * scale;
-	*x = k_bar * ((cos_phi_1 * sin_phi - sin_phi_1 * cos_phi * (1 - pow((lambda - lambda_0), 2) / 2))) * scale; //	*x = k_bar * ((cos_phi_1 * sin_phi - sin_phi_1 * cos_phi * cos(lambda - lambda_0))) * scale;
-
-//	printf("%phi_1=%.10f, lambda_0 =%.10f\n", phi_1, lambda_0);
-}
-
-__EXPORT void map_projection_reproject(float x, float y, double *lat, double *lon)
-{
-	/* notation and formulas accoring to: http://mathworld.wolfram.com/AzimuthalEquidistantProjection.html */
-
-	double x_descaled = x / scale;
-	double y_descaled = y / scale;
-
-	double c = sqrt(pow(x_descaled, 2) + pow(y_descaled, 2));
-	double sin_c = sin(c);
-	double cos_c = cos(c);
-
-	double lat_sphere = 0;
-
-	if (c != 0)
-		lat_sphere = asin(cos_c * sin_phi_1 + (x_descaled * sin_c * cos_phi_1) / c);
-	else
-		lat_sphere = asin(cos_c * sin_phi_1);
-
-//	printf("lat_sphere = %.10f\n",lat_sphere);
-
-	double lon_sphere = 0;
-
-	if (phi_1  == M_PI / 2) {
-		//using small angle approximation (formula in comment is without aproximation)
-		lon_sphere = (lambda_0 - y_descaled / x_descaled); //lon_sphere = (lambda_0 + atan2(-y_descaled, x_descaled));
-
-	} else if (phi_1 == -M_PI / 2) {
-		//using small angle approximation (formula in comment is without aproximation)
-		lon_sphere = (lambda_0 + y_descaled / x_descaled); //lon_sphere = (lambda_0 + atan2(y_descaled, x_descaled));
-
-	} else {
-
-		lon_sphere = (lambda_0 + atan2(y_descaled * sin_c , c * cos_phi_1 * cos_c - x_descaled * sin_phi_1 * sin_c));
-		//using small angle approximation
-//    	double denominator = (c * cos_phi_1 * cos_c - x_descaled * sin_phi_1 * sin_c);
-//    	if(denominator != 0)
-//    	{
-//    		lon_sphere = (lambda_0 + (y_descaled * sin_c) / denominator);
-//    	}
-//    	else
-//    	{
-//    	...
-//    	}
-	}
-
-//	printf("lon_sphere = %.10f\n",lon_sphere);
-
-	*lat = lat_sphere * 180.0 / M_PI;
-	*lon = lon_sphere * 180.0 / M_PI;
-
-}
-
-
-__EXPORT float get_distance_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next)
-{
-	double lat_now_rad = lat_now / 180.0d * M_PI;
-	double lon_now_rad = lon_now / 180.0d * M_PI;
-	double lat_next_rad = lat_next / 180.0d * M_PI;
-	double lon_next_rad = lon_next / 180.0d * M_PI;
-
-
-	double d_lat = lat_next_rad - lat_now_rad;
-	double d_lon = lon_next_rad - lon_now_rad;
-
-	double a = sin(d_lat / 2.0d) * sin(d_lat / 2.0) + sin(d_lon / 2.0d) * sin(d_lon / 2.0d) * cos(lat_now_rad) * cos(lat_next_rad);
-	double c = 2.0d * atan2(sqrt(a), sqrt(1.0d - a));
-
-	const double radius_earth = 6371000.0d;
-
-	return radius_earth * c;
-}
-
-__EXPORT float get_bearing_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next)
-{
-	double lat_now_rad = lat_now * M_DEG_TO_RAD;
-	double lon_now_rad = lon_now * M_DEG_TO_RAD;
-	double lat_next_rad = lat_next * M_DEG_TO_RAD;
-	double lon_next_rad = lon_next * M_DEG_TO_RAD;
-
-	double d_lat = lat_next_rad - lat_now_rad;
-	double d_lon = lon_next_rad - lon_now_rad;
-
-	/* conscious mix of double and float trig function to maximize speed and efficiency */
-	float theta = atan2f(sin(d_lon) * cos(lat_next_rad) , cos(lat_now_rad) * sin(lat_next_rad) - sin(lat_now_rad) * cos(lat_next_rad) * cos(d_lon));
-
-	theta = _wrap_pi(theta);
-
-	return theta;
-}
-
-// Additional functions - @author Doug Weibel 
-
-__EXPORT int get_distance_to_line(struct crosstrack_error_s * crosstrack_error, double lat_now, double lon_now, double lat_start, double lon_start, double lat_end, double lon_end)
-{
-// This function returns the distance to the nearest point on the track line.  Distance is positive if current
-// position is right of the track and negative if left of the track as seen from a point on the track line
-// headed towards the end point.
-
-	float dist_to_end;
-	float bearing_end;
-	float bearing_track;
-	float bearing_diff;
-
-	int return_value = ERROR;	// Set error flag, cleared when valid result calculated.
-	crosstrack_error->past_end = false;
-	crosstrack_error->distance = 0.0f;
-	crosstrack_error->bearing = 0.0f;
-
-	// Return error if arguments are bad
-	if (lat_now == 0.0d || lon_now == 0.0d || lat_start == 0.0d || lon_start == 0.0d || lat_end == 0.0d || lon_end == 0.0d) return return_value;
-
-	bearing_end = get_bearing_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
-	bearing_track = get_bearing_to_next_waypoint(lat_start, lon_start, lat_end, lon_end);
-	bearing_diff = bearing_track - bearing_end;
-	bearing_diff = _wrap_pi(bearing_diff);
-
-	// Return past_end = true if past end point of line
-	if (bearing_diff > M_PI_2_F || bearing_diff < -M_PI_2_F) {
-		crosstrack_error->past_end = true;
-		return_value = OK;
-		return return_value;
-	}
-
-	dist_to_end = get_distance_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
-	crosstrack_error->distance = (dist_to_end) * sin(bearing_diff);
-
-	if (sin(bearing_diff) >= 0) {
-		crosstrack_error->bearing = _wrap_pi(bearing_track - M_PI_2_F);
-
-	} else {
-		crosstrack_error->bearing = _wrap_pi(bearing_track + M_PI_2_F);
-	}
-
-	return_value = OK;
-
-	return return_value;
-
-}
-
-
-__EXPORT int get_distance_to_arc(struct crosstrack_error_s * crosstrack_error, double lat_now, double lon_now, double lat_center, double lon_center,
-		float radius, float arc_start_bearing, float arc_sweep)
-{
-	// This function returns the distance to the nearest point on the track arc.  Distance is positive if current
-	// position is right of the arc and negative if left of the arc as seen from the closest point on the arc and
-	// headed towards the end point.
-
-	// Determine if the current position is inside or outside the sector between the line from the center
-	// to the arc start and the line from the center to the arc end
-	float	bearing_sector_start;
-	float	bearing_sector_end;
-	float	bearing_now = get_bearing_to_next_waypoint(lat_now, lon_now, lat_center, lon_center);
-	bool	in_sector;
-
-	int return_value = ERROR;		// Set error flag, cleared when valid result calculated.
-	crosstrack_error->past_end = false;
-	crosstrack_error->distance = 0.0f;
-	crosstrack_error->bearing = 0.0f;
-
-	// Return error if arguments are bad
-	if (lat_now == 0.0d || lon_now == 0.0d || lat_center == 0.0d || lon_center == 0.0d || radius == 0.0d) return return_value;
-
-
-	if (arc_sweep >= 0) {
-		bearing_sector_start = arc_start_bearing;
-		bearing_sector_end = arc_start_bearing + arc_sweep;
-
-		if (bearing_sector_end > 2.0f * M_PI_F) bearing_sector_end -= M_TWOPI_F;
-
-	} else {
-		bearing_sector_end = arc_start_bearing;
-		bearing_sector_start = arc_start_bearing - arc_sweep;
-
-		if (bearing_sector_start < 0.0f) bearing_sector_start += M_TWOPI_F;
-	}
-
-	in_sector = false;
-
-	// Case where sector does not span zero
-	if (bearing_sector_end >= bearing_sector_start && bearing_now >= bearing_sector_start && bearing_now <= bearing_sector_end) in_sector = true;
-
-	// Case where sector does span zero
-	if (bearing_sector_end < bearing_sector_start && (bearing_now > bearing_sector_start || bearing_now < bearing_sector_end)) in_sector = true;
-
-	// If in the sector then calculate distance and bearing to closest point
-	if (in_sector) {
-		crosstrack_error->past_end = false;
-		float dist_to_center = get_distance_to_next_waypoint(lat_now, lon_now, lat_center, lon_center);
-
-		if (dist_to_center <= radius) {
-			crosstrack_error->distance = radius - dist_to_center;
-			crosstrack_error->bearing = bearing_now + M_PI_F;
-
-		} else {
-			crosstrack_error->distance = dist_to_center - radius;
-			crosstrack_error->bearing = bearing_now;
-		}
-
-		// If out of the sector then calculate dist and bearing to start or end point
-
-	} else {
-
-		// Use the approximation  that 111,111 meters in the y direction is 1 degree (of latitude)
-		// and 111,111 * cos(latitude) meters in the x direction is 1 degree (of longitude) to
-		// calculate the position of the start and end points.  We should not be doing this often
-		// as this function generally will not be called repeatedly when we are out of the sector.
-
-		// TO DO - this is messed up and won't compile
-		float start_disp_x = radius * sin(arc_start_bearing);
-		float start_disp_y = radius * cos(arc_start_bearing);
-		float end_disp_x = radius * sin(_wrapPI(arc_start_bearing + arc_sweep));
-		float end_disp_y = radius * cos(_wrapPI(arc_start_bearing + arc_sweep));
-		float lon_start = lon_now + start_disp_x / 111111.0d;
-		float lat_start = lat_now + start_disp_y * cos(lat_now) / 111111.0d;
-		float lon_end = lon_now + end_disp_x / 111111.0d;
-		float lat_end = lat_now + end_disp_y * cos(lat_now) / 111111.0d;
-		float dist_to_start = get_distance_to_next_waypoint(lat_now, lon_now, lat_start, lon_start);
-		float dist_to_end = get_distance_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
-
-
-		if (dist_to_start < dist_to_end) {
-			crosstrack_error->distance = dist_to_start;
-			crosstrack_error->bearing = get_bearing_to_next_waypoint(lat_now, lon_now, lat_start, lon_start);
-
-		} else {
-			crosstrack_error->past_end = true;
-			crosstrack_error->distance = dist_to_end;
-			crosstrack_error->bearing = get_bearing_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
-		}
-
-	}
-
-	crosstrack_error->bearing = _wrapPI(crosstrack_error->bearing);
-	return_value = OK;
-	return return_value;
-}
-
-__EXPORT float _wrap_pi(float bearing)
-{
-	/* value is inf or NaN */
-	if (!isfinite(bearing) || bearing == 0) {
-		return bearing;
-	}
-
-	int c = 0;
-
-	while (bearing > M_PI_F && c < 30) {
-		bearing -= M_TWOPI_F;
-		c++;
-	}
-
-	c = 0;
-
-	while (bearing <=  -M_PI_F && c < 30) {
-		bearing += M_TWOPI_F;
-		c++;
-	}
-
-	return bearing;
-}
-
-__EXPORT float _wrap_2pi(float bearing)
-{
-	/* value is inf or NaN */
-	if (!isfinite(bearing)) {
-		return bearing;
-	}
-
-	while (bearing >= M_TWOPI_F) {
-		bearing = bearing - M_TWOPI_F;
-	}
-
-	while (bearing <  0.0f) {
-		bearing = bearing + M_TWOPI_F;
-	}
-
-	return bearing;
-}
-
-__EXPORT float _wrap_180(float bearing)
-{
-	/* value is inf or NaN */
-	if (!isfinite(bearing)) {
-		return bearing;
-	}
-
-	while (bearing > 180.0f) {
-		bearing = bearing - 360.0f;
-	}
-
-	while (bearing <=  -180.0f) {
-		bearing = bearing + 360.0f;
-	}
-
-	return bearing;
-}
-
-__EXPORT float _wrap_360(float bearing)
-{
-	/* value is inf or NaN */
-	if (!isfinite(bearing)) {
-		return bearing;
-	}
-
-	while (bearing >= 360.0f) {
-		bearing = bearing - 360.0f;
-	}
-
-	while (bearing <  0.0f) {
-		bearing = bearing + 360.0f;
-	}
-
-	return bearing;
-}
-
-
diff --git a/apps/systemlib/geo/geo.h b/apps/systemlib/geo/geo.h
deleted file mode 100644
index 0c0b5c533..000000000
--- a/apps/systemlib/geo/geo.h
+++ /dev/null
@@ -1,97 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: Thomas Gubler 
- *           Julian Oes 
- *           Lorenz Meier 
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file geo.h
- *
- * Definition of geo / math functions to perform geodesic calculations
- *
- * @author Thomas Gubler 
- * @author Julian Oes 
- * @author Lorenz Meier 
- * Additional functions - @author Doug Weibel 
- */
-
-
-#include 
-
-struct crosstrack_error_s {
-	bool past_end;		// Flag indicating we are past the end of the line/arc segment
-	float distance;		// Distance in meters to closest point on line/arc
-	float bearing;		// Bearing in radians to closest point on line/arc
-} ;
-
-/**
- * Initializes the map transformation.
- *
- * Initializes the transformation between the geographic coordinate system and the azimuthal equidistant plane
- * @param lat in degrees (47.1234567°, not 471234567°)
- * @param lon in degrees (8.1234567°, not 81234567°)
- */
-__EXPORT void map_projection_init(double lat_0, double lon_0);
-
-/**
- * Transforms a point in the geographic coordinate system to the local azimuthal equidistant plane
- * @param x north
- * @param y east
- * @param lat in degrees (47.1234567°, not 471234567°)
- * @param lon in degrees (8.1234567°, not 81234567°)
- */
-__EXPORT void map_projection_project(double lat, double lon, float *x, float *y);
-
-/**
- * Transforms a point in the local azimuthal equidistant plane to the geographic coordinate system
- *
- * @param x north
- * @param y east
- * @param lat in degrees (47.1234567°, not 471234567°)
- * @param lon in degrees (8.1234567°, not 81234567°)
- */
-__EXPORT void map_projection_reproject(float x, float y, double *lat, double *lon);
-
-__EXPORT float get_distance_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next);
-
-__EXPORT float get_bearing_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next);
-
-__EXPORT int get_distance_to_line(struct crosstrack_error_s * crosstrack_error, double lat_now, double lon_now, double lat_start, double lon_start, double lat_end, double lon_end);
-
-__EXPORT int get_distance_to_arc(struct crosstrack_error_s * crosstrack_error, double lat_now, double lon_now, double lat_center, double lon_center,
-		float radius, float arc_start_bearing, float arc_sweep);
-
-__EXPORT float _wrap_180(float bearing);
-__EXPORT float _wrap_360(float bearing);
-__EXPORT float _wrap_pi(float bearing);
-__EXPORT float _wrap_2pi(float bearing);
diff --git a/apps/systemlib/getopt_long.c b/apps/systemlib/getopt_long.c
deleted file mode 100644
index 27c38635f..000000000
--- a/apps/systemlib/getopt_long.c
+++ /dev/null
@@ -1,404 +0,0 @@
-/****************************************************************************
-
-getopt.c - Read command line options
-
-AUTHOR: Gregory Pietsch
-CREATED Fri Jan 10 21:13:05 1997
-
-DESCRIPTION:
-
-The getopt() function parses the command line arguments.  Its arguments argc
-and argv are the argument count and array as passed to the main() function
-on program invocation.  The argument optstring is a list of available option
-characters.  If such a character is followed by a colon (`:'), the option
-takes an argument, which is placed in optarg.  If such a character is
-followed by two colons, the option takes an optional argument, which is
-placed in optarg.  If the option does not take an argument, optarg is NULL.
-
-The external variable optind is the index of the next array element of argv
-to be processed; it communicates from one call to the next which element to
-process.
-
-The getopt_long() function works like getopt() except that it also accepts
-long options started by two dashes `--'.  If these take values, it is either
-in the form
-
---arg=value
-
- or
-
---arg value
-
-It takes the additional arguments longopts which is a pointer to the first
-element of an array of type GETOPT_LONG_OPTION_T.  The last element of the
-array has to be filled with NULL for the name field.
-
-The longind pointer points to the index of the current long option relative
-to longopts if it is non-NULL.
-
-The getopt() function returns the option character if the option was found
-successfully, `:' if there was a missing parameter for one of the options,
-`?' for an unknown option character, and EOF for the end of the option list.
-
-The getopt_long() function's return value is described in the header file.
-
-The function getopt_long_only() is identical to getopt_long(), except that a
-plus sign `+' can introduce long options as well as `--'.
-
-The following describes how to deal with options that follow non-option
-argv-elements.
-
-If the caller did not specify anything, the default is REQUIRE_ORDER if the
-environment variable POSIXLY_CORRECT is defined, PERMUTE otherwise.
-
-REQUIRE_ORDER means don't recognize them as options; stop option processing
-when the first non-option is seen.  This is what Unix does.  This mode of
-operation is selected by either setting the environment variable
-POSIXLY_CORRECT, or using `+' as the first character of the optstring
-parameter.
-
-PERMUTE is the default.  We permute the contents of ARGV as we scan, so that
-eventually all the non-options are at the end.  This allows options to be
-given in any order, even with programs that were not written to expect this.
-
-RETURN_IN_ORDER is an option available to programs that were written to
-expect options and other argv-elements in any order and that care about the
-ordering of the two.  We describe each non-option argv-element as if it were
-the argument of an option with character code 1.  Using `-' as the first
-character of the optstring parameter selects this mode of operation.
-
-The special argument `--' forces an end of option-scanning regardless of the
-value of ordering.  In the case of RETURN_IN_ORDER, only `--' can cause
-getopt() and friends to return EOF with optind != argc.
-
-COPYRIGHT NOTICE AND DISCLAIMER:
-
-Copyright (C) 1997 Gregory Pietsch
-
-This file and the accompanying getopt.h header file are hereby placed in the 
-public domain without restrictions.  Just give the author credit, don't
-claim you wrote it or prevent anyone else from using it.
-
-Gregory Pietsch's current e-mail address:
-gpietsch@comcast.net
-****************************************************************************/
-
-/* include files */
-#include 
-#include 
-#include 
-#include "getopt_long.h"
-
-/* macros */
-
-/* types */
-typedef enum GETOPT_ORDERING_T
-{
-  PERMUTE,
-  RETURN_IN_ORDER,
-  REQUIRE_ORDER
-} GETOPT_ORDERING_T;
-
-/* globally-defined variables */
-char *optarg = NULL;
-int optind = 0;
-int opterr = 1;
-int optopt = '?';
-
-/* functions */
-
-/* reverse_argv_elements:  reverses num elements starting at argv */
-static void
-reverse_argv_elements (char **argv, int num)
-{
-  int i;
-  char *tmp;
-
-  for (i = 0; i < (num >> 1); i++)
-    {
-      tmp = argv[i];
-      argv[i] = argv[num - i - 1];
-      argv[num - i - 1] = tmp;
-    }
-}
-
-/* permute: swap two blocks of argv-elements given their lengths */
-static void
-permute (char **argv, int len1, int len2)
-{
-  reverse_argv_elements (argv, len1);
-  reverse_argv_elements (argv, len1 + len2);
-  reverse_argv_elements (argv, len2);
-}
-
-/* is_option: is this argv-element an option or the end of the option list? */
-static int
-is_option (char *argv_element, int only)
-{
-  return ((argv_element == NULL)
-          || (argv_element[0] == '-') || (only && argv_element[0] == '+'));
-}
-
-/* getopt_internal:  the function that does all the dirty work */
-static int
-getopt_internal (int argc, char **argv, const char *shortopts,
-                 const GETOPT_LONG_OPTION_T * longopts, int *longind, int only)
-{
-  GETOPT_ORDERING_T ordering = PERMUTE;
-  static size_t optwhere = 0;
-  size_t permute_from = 0;
-  int num_nonopts = 0;
-  int optindex = 0;
-  size_t match_chars = 0;
-  char *possible_arg = NULL;
-  int longopt_match = -1;
-  int has_arg = -1;
-  char *cp = NULL;
-  int arg_next = 0;
-
-  /* first, deal with silly parameters and easy stuff */
-  if (argc == 0 || argv == NULL || (shortopts == NULL && longopts == NULL)
-    || optind >= argc || argv[optind] == NULL)
-    return EOF;
-  if (strcmp (argv[optind], "--") == 0)
-    {
-      optind++;
-      return EOF;
-    }
-  /* if this is our first time through */
-  if (optind == 0)
-    optind = optwhere = 1;
-
-  /* define ordering */
-  if (shortopts != NULL && (*shortopts == '-' || *shortopts == '+'))
-    {
-      ordering = (*shortopts == '-') ? RETURN_IN_ORDER : REQUIRE_ORDER;
-      shortopts++;
-    }
-  else
-    ordering = /*(getenv ("POSIXLY_CORRECT") != NULL) ? REQUIRE_ORDER :*/ PERMUTE;
-
-  /*
-   * based on ordering, find our next option, if we're at the beginning of
-   * one
-   */
-  if (optwhere == 1)
-    {
-      switch (ordering)
-        {
-        default:                /* shouldn't happen */
-        case PERMUTE:
-          permute_from = optind;
-          num_nonopts = 0;
-          while (!is_option (argv[optind], only))
-            {
-              optind++;
-              num_nonopts++;
-            }
-          if (argv[optind] == NULL)
-            {
-              /* no more options */
-              optind = permute_from;
-              return EOF;
-            }
-          else if (strcmp (argv[optind], "--") == 0)
-            {
-              /* no more options, but have to get `--' out of the way */
-              permute (argv + permute_from, num_nonopts, 1);
-              optind = permute_from + 1;
-              return EOF;
-            }
-          break;
-        case RETURN_IN_ORDER:
-          if (!is_option (argv[optind], only))
-            {
-              optarg = argv[optind++];
-              return (optopt = 1);
-            }
-          break;
-        case REQUIRE_ORDER:
-          if (!is_option (argv[optind], only))
-            return EOF;
-          break;
-        }
-    }
-  /* we've got an option, so parse it */
-
-  /* first, is it a long option? */
-  if (longopts != NULL
-      && (memcmp (argv[optind], "--", 2) == 0
-          || (only && argv[optind][0] == '+')) && optwhere == 1)
-    {
-      /* handle long options */
-      if (memcmp (argv[optind], "--", 2) == 0)
-        optwhere = 2;
-      longopt_match = -1;
-      possible_arg = strchr (argv[optind] + optwhere, '=');
-      if (possible_arg == NULL)
-        {
-          /* no =, so next argv might be arg */
-          match_chars = strlen (argv[optind]);
-          possible_arg = argv[optind] + match_chars;
-          match_chars = match_chars - optwhere;
-        }
-      else
-        match_chars = (possible_arg - argv[optind]) - optwhere;
-      for (optindex = 0; longopts[optindex].name != NULL; optindex++)
-        {
-          if (memcmp (argv[optind] + optwhere,
-                      longopts[optindex].name, match_chars) == 0)
-            {
-              /* do we have an exact match? */
-              if (match_chars == (unsigned) (strlen (longopts[optindex].name)))
-                {
-                  longopt_match = optindex;
-                  break;
-                }
-              /* do any characters match? */
-              else
-                {
-                  if (longopt_match < 0)
-                    longopt_match = optindex;
-                  else
-                    {
-                      /* we have ambiguous options */
-                      if (opterr)
-                        fprintf (stderr, "%s: option `%s' is ambiguous "
-                                 "(could be `--%s' or `--%s')\n",
-                                 argv[0],
-                                 argv[optind],
-                                 longopts[longopt_match].name,
-                                 longopts[optindex].name);
-                      return (optopt = '?');
-                    }
-                }
-            }
-        }
-      if (longopt_match >= 0)
-        has_arg = longopts[longopt_match].has_arg;
-    }
-  /* if we didn't find a long option, is it a short option? */
-  if (longopt_match < 0 && shortopts != NULL)
-    {
-      cp = strchr (shortopts, argv[optind][optwhere]);
-      if (cp == NULL)
-        {
-          /* couldn't find option in shortopts */
-          if (opterr)
-            fprintf (stderr,
-                     "%s: invalid option -- `-%c'\n",
-                     argv[0], argv[optind][optwhere]);
-          optwhere++;
-          if (argv[optind][optwhere] == '\0')
-            {
-              optind++;
-              optwhere = 1;
-            }
-          return (optopt = '?');
-        }
-      has_arg = ((cp[1] == ':')
-                 ? ((cp[2] == ':') ? OPTIONAL_ARG : REQUIRED_ARG) : NO_ARG);
-      possible_arg = argv[optind] + optwhere + 1;
-      optopt = *cp;
-    }
-  /* get argument and reset optwhere */
-  arg_next = 0;
-  switch (has_arg)
-    {
-    case OPTIONAL_ARG:
-      if (*possible_arg == '=')
-        possible_arg++;
-      optarg = (*possible_arg != '\0') ? possible_arg : 0;
-      optwhere = 1;
-      break;
-    case REQUIRED_ARG:
-      if (*possible_arg == '=')
-        possible_arg++;
-      if (*possible_arg != '\0')
-        {
-          optarg = possible_arg;
-          optwhere = 1;
-        }
-      else if (optind + 1 >= argc)
-        {
-          if (opterr)
-            {
-              fprintf (stderr, "%s: argument required for option `", argv[0]);
-              if (longopt_match >= 0)
-                fprintf (stderr, "--%s'\n", longopts[longopt_match].name);
-              else
-                fprintf (stderr, "-%c'\n", *cp);
-            }
-          optind++;
-          return (optopt = ':');
-        }
-      else
-        {
-          optarg = argv[optind + 1];
-          arg_next = 1;
-          optwhere = 1;
-        }
-      break;
-    default:                    /* shouldn't happen */
-    case NO_ARG:
-      if (longopt_match < 0)
-        {
-          optwhere++;
-          if (argv[optind][optwhere] == '\0')
-            optwhere = 1;
-        }
-      else
-        optwhere = 1;
-      optarg = NULL;
-      break;
-    }
-
-  /* do we have to permute or otherwise modify optind? */
-  if (ordering == PERMUTE && optwhere == 1 && num_nonopts != 0)
-    {
-      permute (argv + permute_from, num_nonopts, 1 + arg_next);
-      optind = permute_from + 1 + arg_next;
-    }
-  else if (optwhere == 1)
-    optind = optind + 1 + arg_next;
-
-  /* finally return */
-  if (longopt_match >= 0)
-    {
-      if (longind != NULL)
-        *longind = longopt_match;
-      if (longopts[longopt_match].flag != NULL)
-        {
-          *(longopts[longopt_match].flag) = longopts[longopt_match].val;
-          return 0;
-        }
-      else
-        return longopts[longopt_match].val;
-    }
-  else
-    return optopt;
-}
-
-#if 0
-int
-getopt (int argc, char **argv, char *optstring)
-{
-  return getopt_internal (argc, argv, optstring, NULL, NULL, 0);
-}
-#endif
-
-int
-getopt_long (int argc, char **argv, const char *shortopts,
-             const GETOPT_LONG_OPTION_T * longopts, int *longind)
-{
-  return getopt_internal (argc, argv, shortopts, longopts, longind, 0);
-}
-
-int
-getopt_long_only (int argc, char **argv, const char *shortopts,
-                  const GETOPT_LONG_OPTION_T * longopts, int *longind)
-{
-  return getopt_internal (argc, argv, shortopts, longopts, longind, 1);
-}
-
-/* end of file GETOPT.C */
diff --git a/apps/systemlib/getopt_long.h b/apps/systemlib/getopt_long.h
deleted file mode 100644
index 61e8e76f3..000000000
--- a/apps/systemlib/getopt_long.h
+++ /dev/null
@@ -1,139 +0,0 @@
-/****************************************************************************
-
-getopt.h - Read command line options
-
-AUTHOR: Gregory Pietsch
-CREATED Thu Jan 09 22:37:00 1997
-
-DESCRIPTION:
-
-The getopt() function parses the command line arguments.  Its arguments argc
-and argv are the argument count and array as passed to the main() function
-on program invocation.  The argument optstring is a list of available option
-characters.  If such a character is followed by a colon (`:'), the option
-takes an argument, which is placed in optarg.  If such a character is
-followed by two colons, the option takes an optional argument, which is
-placed in optarg.  If the option does not take an argument, optarg is NULL.
-
-The external variable optind is the index of the next array element of argv
-to be processed; it communicates from one call to the next which element to
-process.
-
-The getopt_long() function works like getopt() except that it also accepts
-long options started by two dashes `--'.  If these take values, it is either
-in the form
-
---arg=value
-
- or
-
---arg value
-
-It takes the additional arguments longopts which is a pointer to the first
-element of an array of type GETOPT_LONG_OPTION_T, defined below.  The last
-element of the array has to be filled with NULL for the name field.
-
-The longind pointer points to the index of the current long option relative
-to longopts if it is non-NULL.
-
-The getopt() function returns the option character if the option was found
-successfully, `:' if there was a missing parameter for one of the options,
-`?' for an unknown option character, and EOF for the end of the option list.
-
-The getopt_long() function's return value is described below.
-
-The function getopt_long_only() is identical to getopt_long(), except that a
-plus sign `+' can introduce long options as well as `--'.
-
-Describe how to deal with options that follow non-option ARGV-elements.
-
-If the caller did not specify anything, the default is REQUIRE_ORDER if the
-environment variable POSIXLY_CORRECT is defined, PERMUTE otherwise.
-
-REQUIRE_ORDER means don't recognize them as options; stop option processing
-when the first non-option is seen.  This is what Unix does.  This mode of
-operation is selected by either setting the environment variable
-POSIXLY_CORRECT, or using `+' as the first character of the optstring
-parameter.
-
-PERMUTE is the default.  We permute the contents of ARGV as we scan, so that
-eventually all the non-options are at the end.  This allows options to be
-given in any order, even with programs that were not written to expect this.
-
-RETURN_IN_ORDER is an option available to programs that were written to
-expect options and other ARGV-elements in any order and that care about the
-ordering of the two.  We describe each non-option ARGV-element as if it were
-the argument of an option with character code 1.  Using `-' as the first
-character of the optstring parameter selects this mode of operation.
-
-The special argument `--' forces an end of option-scanning regardless of the
-value of `ordering'.  In the case of RETURN_IN_ORDER, only `--' can cause
-getopt() and friends to return EOF with optind != argc.
-
-COPYRIGHT NOTICE AND DISCLAIMER:
-
-Copyright (C) 1997 Gregory Pietsch
-
-This file and the accompanying getopt.c implementation file are hereby 
-placed in the public domain without restrictions.  Just give the author 
-credit, don't claim you wrote it or prevent anyone else from using it.
-
-Gregory Pietsch's current e-mail address:
-gpietsch@comcast.net
-****************************************************************************/
-
-#ifndef GETOPT_H
-#define GETOPT_H
-
-/* include files needed by this include file */
-
-/* macros defined by this include file */
-#define NO_ARG          0
-#define REQUIRED_ARG    1
-#define OPTIONAL_ARG    2
-
-/* types defined by this include file */
-
-/* GETOPT_LONG_OPTION_T: The type of long option */
-typedef struct GETOPT_LONG_OPTION_T
-{
-  char *name;                   /* the name of the long option */
-  int has_arg;                  /* one of the above macros */
-  int *flag;                    /* determines if getopt_long() returns a
-                                 * value for a long option; if it is
-                                 * non-NULL, 0 is returned as a function
-                                 * value and the value of val is stored in
-                                 * the area pointed to by flag.  Otherwise,
-                                 * val is returned. */
-  int val;                      /* determines the value to return if flag is
-                                 * NULL. */
-} GETOPT_LONG_OPTION_T;
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-  /* externally-defined variables */
-  extern char *optarg;
-  extern int optind;
-  extern int opterr;
-  extern int optopt;
-
-  /* function prototypes */
-#if 0
-  int getopt (int argc, char **argv, char *optstring);
-#endif
-  __EXPORT int getopt_long (int argc, char **argv, const char *shortopts,
-                   const GETOPT_LONG_OPTION_T * longopts, int *longind);
-  __EXPORT int getopt_long_only (int argc, char **argv, const char *shortopts,
-                        const GETOPT_LONG_OPTION_T * longopts, int *longind);
-
-#ifdef __cplusplus
-};
-
-#endif
-
-#endif /* GETOPT_H */
-
-/* END OF FILE getopt.h */
diff --git a/apps/systemlib/hx_stream.c b/apps/systemlib/hx_stream.c
deleted file mode 100644
index 8d77f14a8..000000000
--- a/apps/systemlib/hx_stream.c
+++ /dev/null
@@ -1,250 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file hx_stream.c
- *
- * A simple serial line framing protocol based on HDLC
- * with 32-bit CRC protection.
- */
-
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-
-#include "perf_counter.h"
-
-#include "hx_stream.h"
-
-
-struct hx_stream {
-	uint8_t			buf[HX_STREAM_MAX_FRAME + 4];
-	unsigned		frame_bytes;
-	bool			escaped;
-	bool			txerror;
-
-	int			fd;
-	hx_stream_rx_callback	callback;
-	void			*callback_arg;
-
-	perf_counter_t		pc_tx_frames;
-	perf_counter_t		pc_rx_frames;
-	perf_counter_t		pc_rx_errors;
-};
-
-/*
- * Protocol magic numbers, straight out of HDLC.
- */
-#define FBO	0x7e	/**< Frame Boundary Octet */
-#define CEO	0x7c	/**< Control Escape Octet */
-
-static void	hx_tx_raw(hx_stream_t stream, uint8_t c);
-static void	hx_tx_raw(hx_stream_t stream, uint8_t c);
-static int	hx_rx_frame(hx_stream_t stream);
-
-static void
-hx_tx_raw(hx_stream_t stream, uint8_t c)
-{
-	if (write(stream->fd, &c, 1) != 1)
-		stream->txerror = true;
-}
-
-static void
-hx_tx_byte(hx_stream_t stream, uint8_t c)
-{
-	switch (c) {
-	case FBO:
-	case CEO:
-		hx_tx_raw(stream, CEO);
-		c ^= 0x20;
-		break;
-	}
-
-	hx_tx_raw(stream, c);
-}
-
-static int
-hx_rx_frame(hx_stream_t stream)
-{
-	union {
-		uint8_t	b[4];
-		uint32_t w;
-	} u;
-	unsigned length = stream->frame_bytes;
-
-	/* reset the stream */
-	stream->frame_bytes = 0;
-	stream->escaped = false;
-
-	/* not a real frame - too short */
-	if (length < 4) {
-		if (length > 1)
-			perf_count(stream->pc_rx_errors);
-
-		return 0;
-	}
-
-	length -= 4;
-
-	/* compute expected CRC */
-	u.w = crc32(&stream->buf[0], length);
-
-	/* compare computed and actual CRC */
-	for (unsigned i = 0; i < 4; i++) {
-		if (u.b[i] != stream->buf[length + i]) {
-			perf_count(stream->pc_rx_errors);
-			return 0;
-		}
-	}
-
-	/* frame is good */
-	perf_count(stream->pc_rx_frames);
-	stream->callback(stream->callback_arg, &stream->buf[0], length);
-	return 1;
-}
-
-hx_stream_t
-hx_stream_init(int fd,
-	       hx_stream_rx_callback callback,
-	       void *arg)
-{
-	hx_stream_t stream;
-
-	stream = (hx_stream_t)malloc(sizeof(struct hx_stream));
-
-	if (stream != NULL) {
-		memset(stream, 0, sizeof(struct hx_stream));
-		stream->fd = fd;
-		stream->callback = callback;
-		stream->callback_arg = arg;
-	}
-
-	return stream;
-}
-
-void
-hx_stream_free(hx_stream_t stream)
-{
-	/* free perf counters (OK if they are NULL) */
-	perf_free(stream->pc_tx_frames);
-	perf_free(stream->pc_rx_frames);
-	perf_free(stream->pc_rx_errors);
-
-	free(stream);
-}
-
-void
-hx_stream_set_counters(hx_stream_t stream,
-		       perf_counter_t tx_frames,
-		       perf_counter_t rx_frames,
-		       perf_counter_t rx_errors)
-{
-	stream->pc_tx_frames = tx_frames;
-	stream->pc_rx_frames = rx_frames;
-	stream->pc_rx_errors = rx_errors;
-}
-
-int
-hx_stream_send(hx_stream_t stream,
-	       const void *data,
-	       size_t count)
-{
-	union {
-		uint8_t	b[4];
-		uint32_t w;
-	} u;
-	const uint8_t *p = (const uint8_t *)data;
-	unsigned resid = count;
-
-	if (resid > HX_STREAM_MAX_FRAME)
-		return -EINVAL;
-
-	/* start the frame */
-	hx_tx_raw(stream, FBO);
-
-	/* transmit the data */
-	while (resid--)
-		hx_tx_byte(stream, *p++);
-
-	/* compute the CRC */
-	u.w = crc32(data, count);
-
-	/* send the CRC */
-	p = &u.b[0];
-	resid = 4;
-
-	while (resid--)
-		hx_tx_byte(stream, *p++);
-
-	/* and the trailing frame separator */
-	hx_tx_raw(stream, FBO);
-
-	/* check for transmit error */
-	if (stream->txerror) {
-		stream->txerror = false;
-		return -EIO;
-	}
-
-	perf_count(stream->pc_tx_frames);
-	return 0;
-}
-
-void
-hx_stream_rx(hx_stream_t stream, uint8_t c)
-{
-	/* frame end? */
-	if (c == FBO) {
-		hx_rx_frame(stream);
-		return;
-	}
-
-	/* escaped? */
-	if (stream->escaped) {
-		stream->escaped = false;
-		c ^= 0x20;
-
-	} else if (c == CEO) {
-		/* now escaped, ignore the byte */
-		stream->escaped = true;
-		return;
-	}
-
-	/* save for later */
-	if (stream->frame_bytes < sizeof(stream->buf))
-		stream->buf[stream->frame_bytes++] = c;
-}
diff --git a/apps/systemlib/hx_stream.h b/apps/systemlib/hx_stream.h
deleted file mode 100644
index 128689953..000000000
--- a/apps/systemlib/hx_stream.h
+++ /dev/null
@@ -1,122 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file hx_stream.h
- *
- * A simple serial line framing protocol based on HDLC
- * with 32-bit CRC protection.
- */
-
-#ifndef _SYSTEMLIB_HX_STREAM_H
-#define _SYSTEMLIB_HX_STREAM_H
-
-#include 
-
-#include "perf_counter.h"
-
-struct hx_stream;
-typedef struct hx_stream *hx_stream_t;
-
-#define HX_STREAM_MAX_FRAME	64
-
-typedef void (* hx_stream_rx_callback)(void *arg, const void *data, size_t length);
-
-__BEGIN_DECLS
-
-/**
- * Allocate a new hx_stream object.
- *
- * @param fd		The file handle over which the protocol will
- *			communicate.
- * @param callback	Called when a frame is received.
- * @param callback_arg	Passed to the callback.
- * @return		A handle to the stream, or NULL if memory could
- *			not be allocated.
- */
-__EXPORT extern hx_stream_t	hx_stream_init(int fd,
-		hx_stream_rx_callback callback,
-		void *arg);
-
-/**
- * Free a hx_stream object.
- *
- * @param stream	A handle returned from hx_stream_init.
- */
-__EXPORT extern void		hx_stream_free(hx_stream_t stream);
-
-/**
- * Set performance counters for the stream.
- *
- * Any counter may be set to NULL to disable counting that datum.
- *
- * @param tx_frames	Counter for transmitted frames.
- * @param rx_frames	Counter for received frames.
- * @param rx_errors	Counter for short and corrupt received frames.
- */
-__EXPORT extern void		hx_stream_set_counters(hx_stream_t stream,
-		perf_counter_t tx_frames,
-		perf_counter_t rx_frames,
-		perf_counter_t rx_errors);
-
-/**
- * Send a frame.
- *
- * This function will block until all frame bytes are sent if
- * the descriptor passed to hx_stream_init is marked blocking,
- * otherwise it will return -1 (but may transmit a
- * runt frame at the same time).
- *
- * @todo Handling of non-blocking streams needs to be better.
- *
- * @param stream	A handle returned from hx_stream_init.
- * @param data		Pointer to the data to send.
- * @param count		The number of bytes to send.
- * @return		Zero on success, -errno on error.
- */
-__EXPORT extern int		hx_stream_send(hx_stream_t stream,
-		const void *data,
-		size_t count);
-
-/**
- * Handle a byte from the stream.
- *
- * @param stream	A handle returned from hx_stream_init.
- * @param c		The character to process.
- */
-__EXPORT extern void		hx_stream_rx(hx_stream_t stream,
-		uint8_t c);
-
-__END_DECLS
-
-#endif
diff --git a/apps/systemlib/mixer/Makefile b/apps/systemlib/mixer/Makefile
deleted file mode 100644
index f8b02f194..000000000
--- a/apps/systemlib/mixer/Makefile
+++ /dev/null
@@ -1,39 +0,0 @@
-############################################################################
-#
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-#
-# mixer library
-#
-LIBNAME	= mixerlib
-
-include $(APPDIR)/mk/app.mk
diff --git a/apps/systemlib/mixer/mixer.cpp b/apps/systemlib/mixer/mixer.cpp
deleted file mode 100644
index df0dfe838..000000000
--- a/apps/systemlib/mixer/mixer.cpp
+++ /dev/null
@@ -1,152 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file mixer.cpp
- *
- * Programmable multi-channel mixer library.
- */
-
-#include 
-
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-
-#include "mixer.h"
-
-Mixer::Mixer(ControlCallback control_cb, uintptr_t cb_handle) :
-	_next(nullptr),
-	_control_cb(control_cb),
-	_cb_handle(cb_handle)
-{
-}
-
-float
-Mixer::get_control(uint8_t group, uint8_t index)
-{
-	float	value;
-
-	_control_cb(_cb_handle, group, index, value);
-
-	return value;
-}
-
-
-float
-Mixer::scale(const mixer_scaler_s &scaler, float input)
-{
-	float output;
-
-	if (input < 0.0f) {
-		output = (input * scaler.negative_scale) + scaler.offset;
-
-	} else {
-		output = (input * scaler.positive_scale) + scaler.offset;
-	}
-
-	if (output > scaler.max_output) {
-		output = scaler.max_output;
-
-	} else if (output < scaler.min_output) {
-		output = scaler.min_output;
-	}
-
-	return output;
-}
-
-int
-Mixer::scale_check(struct mixer_scaler_s &scaler)
-{
-	if (scaler.offset > 1.001f)
-		return 1;
-
-	if (scaler.offset < -1.001f)
-		return 2;
-
-	if (scaler.min_output > scaler.max_output)
-		return 3;
-
-	if (scaler.min_output < -1.001f)
-		return 4;
-
-	if (scaler.max_output > 1.001f)
-		return 5;
-
-	return 0;
-}
-
-/****************************************************************************/
-
-NullMixer::NullMixer() :
-	Mixer(nullptr, 0)
-{
-}
-
-unsigned
-NullMixer::mix(float *outputs, unsigned space)
-{
-	if (space > 0) {
-		*outputs = 0.0f;
-		return 1;
-	}
-
-	return 0;
-}
-
-void
-NullMixer::groups_required(uint32_t &groups)
-{
-
-}
-
-NullMixer *
-NullMixer::from_text(const char *buf, unsigned &buflen)
-{
-	NullMixer *nm = nullptr;
-
-	if ((buflen >= 2) && (buf[0] == 'Z') && (buf[1] == ':')) {
-		nm = new NullMixer;
-		buflen -= 2;
-	}
-
-	return nm;
-}
diff --git a/apps/systemlib/mixer/mixer.h b/apps/systemlib/mixer/mixer.h
deleted file mode 100644
index 40d37fce2..000000000
--- a/apps/systemlib/mixer/mixer.h
+++ /dev/null
@@ -1,499 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file mixer.h
- *
- * Generic, programmable, procedural control signal mixers.
- *
- * This library implements a generic mixer interface that can be used
- * by any driver or subsytem that wants to combine several control signals
- * into a single output.
- *
- * Terminology
- * ===========
- *
- * control value
- *	A mixer input value, typically provided by some controlling
- *	component of the system.
- *
- * control group
- * 	A collection of controls provided by a single controlling component.
- *
- * actuator
- *	The mixer output value.
- *
- *
- * Mixing basics
- * =============
- *
- * An actuator derives its value from the combination of one or more
- * control values. Each of the control values is scaled according to
- * the actuator's configuration and then combined to produce the
- * actuator value, which may then be further scaled to suit the specific
- * output type.
- *
- * Internally, all scaling is performed using floating point values.
- * Inputs and outputs are clamped to the range -1.0 to 1.0.
- *
- * control    control   control
- *    |          |         |
- *    v          v         v
- *  scale      scale     scale
- *    |          |         |
- *    |          v         |
- *    +-------> mix <------+
- *               |
- *             scale
- *               |
- *               v
- *              out
- *
- * Scaling
- * -------
- *
- * Each scaler allows the input value to be scaled independently for
- * inputs greater/less than zero. An offset can be applied to the output,
- * as well as lower and upper boundary constraints.
- * Negative scaling factors cause the output to be inverted (negative input
- * produces positive output).
- *
- * Scaler pseudocode:
- *
- * if (input < 0)
- *     output = (input * NEGATIVE_SCALE) + OFFSET
- * else
- *     output = (input * POSITIVE_SCALE) + OFFSET
- *
- * if (output < LOWER_LIMIT)
- *     output = LOWER_LIMIT
- * if (output > UPPER_LIMIT)
- *     output = UPPER_LIMIT
- *
- *
- * Mixing
- * ------
- *
- * Mixing behaviour varies based on the specific mixer class; each
- * mixer class describes its behaviour in more detail.
- *
- *
- * Controls
- * --------
- *
- * The precise assignment of controls may vary depending on the
- * application, but the following assignments should be used
- * when appropriate.  Some mixer classes have specific assumptions
- * about the assignment of controls.
- *
- * control | standard meaning
- * --------+-----------------------
- *     0   | roll
- *     1   | pitch
- *     2   | yaw
- *     3   | primary thrust
- */
-
-
-#ifndef _SYSTEMLIB_MIXER_MIXER_H
-#define _SYSTEMLIB_MIXER_MIXER_H value
-
-#include "drivers/drv_mixer.h"
-
-/**
- * Abstract class defining a mixer mixing zero or more inputs to
- * one or more outputs.
- */
-class __EXPORT Mixer
-{
-public:
-	/** next mixer in a list */
-	Mixer				*_next;
-
-	/**
-	 * Fetch a control value.
-	 *
-	 * @param handle		Token passed when the callback is registered.
-	 * @param control_group		The group to fetch the control from.
-	 * @param control_index		The group-relative index to fetch the control from.
-	 * @param control		The returned control
-	 * @return			Zero if the value was fetched, nonzero otherwise.
-	 */
-	typedef int	(* ControlCallback)(uintptr_t handle,
-					    uint8_t control_group,
-					    uint8_t control_index,
-					    float &control);
-
-	/**
-	 * Constructor.
-	 *
-	 * @param control_cb		Callback invoked when reading controls.
-	 */
-	Mixer(ControlCallback control_cb, uintptr_t cb_handle);
-	virtual ~Mixer() {};
-
-	/**
-	 * Perform the mixing function.
-	 *
-	 * @param outputs		Array into which mixed output(s) should be placed.
-	 * @param space			The number of available entries in the output array;
-	 * @return			The number of entries in the output array that were populated.
-	 */
-	virtual unsigned		mix(float *outputs, unsigned space) = 0;
-
-	/**
-	 * Analyses the mix configuration and updates a bitmask of groups
-	 * that are required.
-	 *
-	 * @param groups		A bitmask of groups (0-31) that the mixer requires.
-	 */
-	virtual void			groups_required(uint32_t &groups) = 0;
-
-protected:
-	/** client-supplied callback used when fetching control values */
-	ControlCallback			_control_cb;
-	uintptr_t			_cb_handle;
-
-	/**
-	 * Invoke the client callback to fetch a control value.
-	 *
-	 * @param group			Control group to fetch from.
-	 * @param index			Control index to fetch.
-	 * @return			The control value.
-	 */
-	float				get_control(uint8_t group, uint8_t index);
-
-	/**
-	 * Perform simpler linear scaling.
-	 *
-	 * @param scaler		The scaler configuration.
-	 * @param input			The value to be scaled.
-	 * @return			The scaled value.
-	 */
-	static float			scale(const mixer_scaler_s &scaler, float input);
-
-	/**
-	 * Validate a scaler
-	 *
-	 * @param scaler		The scaler to be validated.
-	 * @return			Zero if good, nonzero otherwise.
-	 */
-	static int			scale_check(struct mixer_scaler_s &scaler);
-
-private:
-};
-
-/**
- * Group of mixers, built up from single mixers and processed
- * in order when mixing.
- */
-class __EXPORT MixerGroup : public Mixer
-{
-public:
-	MixerGroup(ControlCallback control_cb, uintptr_t cb_handle);
-	~MixerGroup();
-
-	virtual unsigned		mix(float *outputs, unsigned space);
-	virtual void			groups_required(uint32_t &groups);
-
-	/**
-	 * Add a mixer to the group.
-	 *
-	 * @param mixer			The mixer to be added.
-	 */
-	void				add_mixer(Mixer *mixer);
-
-	/**
-	 * Remove all the mixers from the group.
-	 */
-	void				reset();
-
-	/**
-	 * Adds mixers to the group based on a text description in a buffer.
-	 *
-	 * Mixer definitions begin with a single capital letter and a colon.
-	 * The actual format of the mixer definition varies with the individual
-	 * mixers; they are summarised here, but see ROMFS/mixers/README for
-	 * more details.
-	 *
-	 * Null Mixer
-	 * ..........
-	 *
-	 * The null mixer definition has the form:
-	 *
-	 *   Z:
-	 *
-	 * Simple Mixer
-	 * ............
-	 *
-	 * A simple mixer definition begins with:
-	 *
-	 *   M: 
-	 *   O: <-ve scale> <+ve scale>   
-	 *
-	 * The definition continues with  entries describing the control
-	 * inputs and their scaling, in the form:
-	 *
-	 *   S:   <-ve scale> <+ve scale>   
-	 *
-	 * Multirotor Mixer
-	 * ................
-	 *
-	 * The multirotor mixer definition is a single line of the form:
-	 *
-	 * R:     
-	 *
-	 * @param buf			The mixer configuration buffer.
-	 * @param buflen		The length of the buffer, updated to reflect
-	 *				bytes as they are consumed.
-	 * @return			Zero on successful load, nonzero otherwise.
-	 */
-	int				load_from_buf(const char *buf, unsigned &buflen);
-
-private:
-	Mixer				*_first;	/**< linked list of mixers */
-};
-
-/**
- * Null mixer; returns zero.
- *
- * Used as a placeholder for output channels that are unassigned in groups.
- */
-class __EXPORT NullMixer : public Mixer
-{
-public:
-	NullMixer();
-	~NullMixer() {};
-
-	/**
-	 * Factory method.
-	 *
-	 * Given a pointer to a buffer containing a text description of the mixer,
-	 * returns a pointer to a new instance of the mixer.
-	 *
-	 * @param buf			Buffer containing a text description of
-	 *				the mixer.
-	 * @param buflen		Length of the buffer in bytes, adjusted
-	 *				to reflect the bytes consumed.
-	 * @return			A new NullMixer instance, or nullptr
-	 *				if the text format is bad.
-	 */
-	static NullMixer		*from_text(const char *buf, unsigned &buflen);
-
-	virtual unsigned		mix(float *outputs, unsigned space);
-	virtual void			groups_required(uint32_t &groups);
-};
-
-/**
- * Simple summing mixer.
- *
- * Collects zero or more inputs and mixes them to a single output.
- */
-class __EXPORT SimpleMixer : public Mixer
-{
-public:
-	/**
-	 * Constructor
-	 *
-	 * @param mixinfo		Mixer configuration.  The pointer passed
-	 *				becomes the property of the mixer and
-	 *				will be freed when the mixer is deleted.
-	 */
-	SimpleMixer(ControlCallback control_cb,
-		    uintptr_t cb_handle,
-		    mixer_simple_s *mixinfo);
-	~SimpleMixer();
-
-	/**
-	 * Factory method with full external configuration.
-	 *
-	 * Given a pointer to a buffer containing a text description of the mixer,
-	 * returns a pointer to a new instance of the mixer.
-	 *
-	 * @param control_cb		The callback to invoke when fetching a
-	 *				control value.
-	 * @param cb_handle		Handle passed to the control callback.
-	 * @param buf			Buffer containing a text description of
-	 *				the mixer.
-	 * @param buflen		Length of the buffer in bytes, adjusted
-	 *				to reflect the bytes consumed.
-	 * @return			A new SimpleMixer instance, or nullptr
-	 *				if the text format is bad.
-	 */
-	static SimpleMixer		*from_text(Mixer::ControlCallback control_cb,
-			uintptr_t cb_handle,
-			const char *buf,
-			unsigned &buflen);
-
-	/**
-	 * Factory method for PWM/PPM input to internal float representation.
-	 *
-	 * @param control_cb		The callback to invoke when fetching a
-	 *				control value.
-	 * @param cb_handle		Handle passed to the control callback.
-	 * @param input			The control index used when fetching the input.
-	 * @param min			The PWM/PPM value considered to be "minimum" (gives -1.0 out)
-	 * @param mid			The PWM/PPM value considered to be the midpoint (gives 0.0 out)
-	 * @param max			The PWM/PPM value considered to be "maximum" (gives 1.0 out)
-	 * @return			A new SimpleMixer instance, or nullptr if one could not be
-	 *				allocated.
-	 */
-	static SimpleMixer		*pwm_input(Mixer::ControlCallback control_cb,
-			uintptr_t cb_handle,
-			unsigned input,
-			uint16_t min,
-			uint16_t mid,
-			uint16_t max);
-
-	virtual unsigned		mix(float *outputs, unsigned space);
-	virtual void			groups_required(uint32_t &groups);
-
-	/**
-	 * Check that the mixer configuration as loaded is sensible.
-	 *
-	 * Note that this function will call control_cb, but only cares about
-	 * error returns, not the input value.
-	 *
-	 * @return			Zero if the mixer makes sense, nonzero otherwise.
-	 */
-	int				check();
-
-protected:
-
-private:
-	mixer_simple_s			*_info;
-
-	static int			parse_output_scaler(const char *buf, unsigned &buflen, mixer_scaler_s &scaler);
-	static int			parse_control_scaler(const char *buf,
-			unsigned &buflen,
-			mixer_scaler_s &scaler,
-			uint8_t &control_group,
-			uint8_t &control_index);
-};
-
-/**
- * Multi-rotor mixer for pre-defined vehicle geometries.
- *
- * Collects four inputs (roll, pitch, yaw, thrust) and mixes them to
- * a set of outputs based on the configured geometry.
- */
-class __EXPORT MultirotorMixer : public Mixer
-{
-public:
-	/**
-	 * Supported multirotor geometries.
-	 *
-	 * XXX add more
-	 */
-	enum Geometry {
-		QUAD_X = 0,	/**< quad in X configuration */
-		QUAD_PLUS,	/**< quad in + configuration */
-		QUAD_V,		/**< quad in V configuration */
-		HEX_X,		/**< hex in X configuration */
-		HEX_PLUS,	/**< hex in + configuration */
-		OCTA_X,
-		OCTA_PLUS,
-
-		MAX_GEOMETRY
-	};
-
-	/**
-	 * Precalculated rotor mix.
-	 */
-	struct Rotor {
-		float	roll_scale;	/**< scales roll for this rotor */
-		float	pitch_scale;	/**< scales pitch for this rotor */
-		float	yaw_scale;	/**< scales yaw for this rotor */
-	};
-
-	/**
-	 * Constructor.
-	 *
-	 * @param control_cb		Callback invoked to read inputs.
-	 * @param cb_handle		Passed to control_cb.
-	 * @param geometry		The selected geometry.
-	 * @param roll_scale		Scaling factor applied to roll inputs
-	 *				compared to thrust.
-	 * @param pitch_scale		Scaling factor applied to pitch inputs
-	 *				compared to thrust.
-	 * @param yaw_wcale		Scaling factor applied to yaw inputs compared
-	 *				to thrust.
-	 * @param deadband		Minumum rotor control output value; usually
-	 *				tuned to ensure that rotors never stall at the
-	 * 				low end of their control range.
-	 */
-	MultirotorMixer(ControlCallback control_cb,
-			uintptr_t cb_handle,
-			Geometry geometry,
-			float roll_scale,
-			float pitch_scale,
-			float yaw_scale,
-			float deadband);
-	~MultirotorMixer();
-
-	/**
-	 * Factory method.
-	 *
-	 * Given a pointer to a buffer containing a text description of the mixer,
-	 * returns a pointer to a new instance of the mixer.
-	 *
-	 * @param control_cb		The callback to invoke when fetching a
-	 *				control value.
-	 * @param cb_handle		Handle passed to the control callback.
-	 * @param buf			Buffer containing a text description of
-	 *				the mixer.
-	 * @param buflen		Length of the buffer in bytes, adjusted
-	 *				to reflect the bytes consumed.
-	 * @return			A new MultirotorMixer instance, or nullptr
-	 *				if the text format is bad.
-	 */
-	static MultirotorMixer		*from_text(Mixer::ControlCallback control_cb,
-			uintptr_t cb_handle,
-			const char *buf,
-			unsigned &buflen);
-
-	virtual unsigned		mix(float *outputs, unsigned space);
-	virtual void			groups_required(uint32_t &groups);
-
-private:
-	float				_roll_scale;
-	float				_pitch_scale;
-	float				_yaw_scale;
-	float				_deadband;
-
-	unsigned			_rotor_count;
-	const Rotor			*_rotors;
-
-};
-
-#endif
diff --git a/apps/systemlib/mixer/mixer_group.cpp b/apps/systemlib/mixer/mixer_group.cpp
deleted file mode 100644
index 1dbc512cd..000000000
--- a/apps/systemlib/mixer/mixer_group.cpp
+++ /dev/null
@@ -1,185 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file mixer_group.cpp
- *
- * Mixer collection.
- */
-
-#include 
-
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-
-#include "mixer.h"
-
-#define debug(fmt, args...)	do { } while(0)
-//#define debug(fmt, args...)	do { printf("[mixer] " fmt "\n", ##args); } while(0)
-//#include 
-//#define debug(fmt, args...)	lowsyslog(fmt "\n", ##args)
-
-MixerGroup::MixerGroup(ControlCallback control_cb, uintptr_t cb_handle) :
-	Mixer(control_cb, cb_handle),
-	_first(nullptr)
-{
-}
-
-MixerGroup::~MixerGroup()
-{
-	reset();
-}
-
-void
-MixerGroup::add_mixer(Mixer *mixer)
-{
-	Mixer **mpp;
-
-	mpp = &_first;
-
-	while (*mpp != nullptr)
-		mpp = &((*mpp)->_next);
-
-	*mpp = mixer;
-	mixer->_next = nullptr;
-}
-
-void
-MixerGroup::reset()
-{
-	Mixer *mixer;
-
-	/* discard sub-mixers */
-	while (_first != nullptr) {
-		mixer = _first;
-		_first = mixer->_next;
-		delete mixer;
-		mixer = nullptr;
-	}
-}
-
-unsigned
-MixerGroup::mix(float *outputs, unsigned space)
-{
-	Mixer	*mixer = _first;
-	unsigned index = 0;
-
-	while ((mixer != nullptr) && (index < space)) {
-		index += mixer->mix(outputs + index, space - index);
-		mixer = mixer->_next;
-	}
-
-	return index;
-}
-
-void
-MixerGroup::groups_required(uint32_t &groups)
-{
-	Mixer	*mixer = _first;
-
-	while (mixer != nullptr) {
-		mixer->groups_required(groups);
-		mixer = mixer->_next;
-	}
-}
-
-int
-MixerGroup::load_from_buf(const char *buf, unsigned &buflen)
-{
-	int ret = -1;
-	const char *end = buf + buflen;
-
-	/*
-	 * Loop until either we have emptied the buffer, or we have failed to
-	 * allocate something when we expected to.
-	 */
-	while (buflen > 0) {
-		Mixer *m = nullptr;
-		const char *p = end - buflen;
-		unsigned resid = buflen;
-
-		/*
-		 * Use the next character as a hint to decide which mixer class to construct.
-		 */
-		switch (*p) {
-		case 'Z':
-			m = NullMixer::from_text(p, resid);
-			break;
-
-		case 'M':
-			m = SimpleMixer::from_text(_control_cb, _cb_handle, p, resid);
-			break;
-
-		case 'R':
-			m = MultirotorMixer::from_text(_control_cb, _cb_handle, p, resid);
-			break;
-
-		default:
-			/* it's probably junk or whitespace, skip a byte and retry */
-			buflen--;
-			continue;
-		}
-
-		/*
-		 * If we constructed something, add it to the group.
-		 */
-		if (m != nullptr) {
-			add_mixer(m);
-
-			/* we constructed something */
-			ret = 0;
-
-			/* only adjust buflen if parsing was successful */
-			buflen = resid;
-		} else {
-
-			/*
-			 * There is data in the buffer that we expected to parse, but it didn't,
-			 * so give up for now.
-			 */
-			break;
-		}
-	}
-
-	/* nothing more in the buffer for us now */
-	return ret;
-}
diff --git a/apps/systemlib/mixer/mixer_multirotor.cpp b/apps/systemlib/mixer/mixer_multirotor.cpp
deleted file mode 100644
index d79811c0f..000000000
--- a/apps/systemlib/mixer/mixer_multirotor.cpp
+++ /dev/null
@@ -1,301 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file mixer_multirotor.cpp
- *
- * Multi-rotor mixers.
- */
-
-#include 
-
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-
-#include "mixer.h"
-
-#define debug(fmt, args...)	do { } while(0)
-//#define debug(fmt, args...)	do { printf("[mixer] " fmt "\n", ##args); } while(0)
-//#include 
-//#define debug(fmt, args...)	lowsyslog(fmt "\n", ##args)
-
-/*
- * Clockwise: 1
- * Counter-clockwise: -1
- */
-
-namespace
-{
-
-/*
- * These tables automatically generated by multi_tables - do not edit.
- */
-const MultirotorMixer::Rotor _config_quad_x[] = {
-	{ -0.707107,  0.707107,  1.00 },
-	{  0.707107, -0.707107,  1.00 },
-	{  0.707107,  0.707107, -1.00 },
-	{ -0.707107, -0.707107, -1.00 },
-};
-const MultirotorMixer::Rotor _config_quad_plus[] = {
-	{ -1.000000,  0.000000,  1.00 },
-	{  1.000000,  0.000000,  1.00 },
-	{  0.000000,  1.000000, -1.00 },
-	{ -0.000000, -1.000000, -1.00 },
-};
-const MultirotorMixer::Rotor _config_quad_v[] = {
-	{ -0.927184,  0.374607,  1.00 },
-	{  0.694658, -0.719340,  1.00 },
-	{  0.927184,  0.374607, -1.00 },
-	{ -0.694658, -0.719340, -1.00 },
-};
-const MultirotorMixer::Rotor _config_hex_x[] = {
-	{ -1.000000,  0.000000, -1.00 },
-	{  1.000000,  0.000000,  1.00 },
-	{  0.500000,  0.866025, -1.00 },
-	{ -0.500000, -0.866025,  1.00 },
-	{ -0.500000,  0.866025,  1.00 },
-	{  0.500000, -0.866025, -1.00 },
-};
-const MultirotorMixer::Rotor _config_hex_plus[] = {
-	{  0.000000,  1.000000, -1.00 },
-	{ -0.000000, -1.000000,  1.00 },
-	{  0.866025, -0.500000, -1.00 },
-	{ -0.866025,  0.500000,  1.00 },
-	{  0.866025,  0.500000,  1.00 },
-	{ -0.866025, -0.500000, -1.00 },
-};
-const MultirotorMixer::Rotor _config_octa_x[] = {
-	{ -0.382683,  0.923880, -1.00 },
-	{  0.382683, -0.923880, -1.00 },
-	{ -0.923880,  0.382683,  1.00 },
-	{ -0.382683, -0.923880,  1.00 },
-	{  0.382683,  0.923880,  1.00 },
-	{  0.923880, -0.382683,  1.00 },
-	{  0.923880,  0.382683, -1.00 },
-	{ -0.923880, -0.382683, -1.00 },
-};
-const MultirotorMixer::Rotor _config_octa_plus[] = {
-	{  0.000000,  1.000000, -1.00 },
-	{ -0.000000, -1.000000, -1.00 },
-	{ -0.707107,  0.707107,  1.00 },
-	{ -0.707107, -0.707107,  1.00 },
-	{  0.707107,  0.707107,  1.00 },
-	{  0.707107, -0.707107,  1.00 },
-	{  1.000000,  0.000000, -1.00 },
-	{ -1.000000,  0.000000, -1.00 },
-};
-const MultirotorMixer::Rotor *_config_index[MultirotorMixer::Geometry::MAX_GEOMETRY] = {
-	&_config_quad_x[0],
-	&_config_quad_plus[0],
-	&_config_quad_v[0],
-	&_config_hex_x[0],
-	&_config_hex_plus[0],
-	&_config_octa_x[0],
-	&_config_octa_plus[0],
-};
-const unsigned _config_rotor_count[MultirotorMixer::Geometry::MAX_GEOMETRY] = {
-	4, /* quad_x */
-	4, /* quad_plus */
-	4, /* quad_v */
-	6, /* hex_x */
-	6, /* hex_plus */
-	8, /* octa_x */
-	8, /* octa_plus */
-};
-
-}
-
-MultirotorMixer::MultirotorMixer(ControlCallback control_cb,
-				 uintptr_t cb_handle,
-				 Geometry geometry,
-				 float roll_scale,
-				 float pitch_scale,
-				 float yaw_scale,
-				 float deadband) :
-	Mixer(control_cb, cb_handle),
-	_roll_scale(roll_scale),
-	_pitch_scale(pitch_scale),
-	_yaw_scale(yaw_scale),
-	_deadband(-1.0f + deadband),	/* shift to output range here to avoid runtime calculation */
-	_rotor_count(_config_rotor_count[geometry]),
-	_rotors(_config_index[geometry])
-{
-}
-
-MultirotorMixer::~MultirotorMixer()
-{
-}
-
-MultirotorMixer *
-MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handle, const char *buf, unsigned &buflen)
-{
-	MultirotorMixer::Geometry geometry;
-	char geomname[8];
-	int s[4];
-	int used;
-
-	if (sscanf(buf, "R: %s %d %d %d %d%n", geomname, &s[0], &s[1], &s[2], &s[3], &used) != 5) {
-		debug("multirotor parse failed on '%s'", buf);
-		return nullptr;
-	}
-
-	if (used > (int)buflen) {
-		debug("multirotor spec used %d of %u", used, buflen);
-		return nullptr;
-	}
-
-	buflen -= used;
-
-	if (!strcmp(geomname, "4+")) {
-		geometry = MultirotorMixer::QUAD_PLUS;
-
-	} else if (!strcmp(geomname, "4x")) {
-		geometry = MultirotorMixer::QUAD_X;
-
-	} else if (!strcmp(geomname, "4v")) {
-		geometry = MultirotorMixer::QUAD_V;
-
-	} else if (!strcmp(geomname, "6+")) {
-		geometry = MultirotorMixer::HEX_PLUS;
-
-	} else if (!strcmp(geomname, "6x")) {
-		geometry = MultirotorMixer::HEX_X;
-
-	} else if (!strcmp(geomname, "8+")) {
-		geometry = MultirotorMixer::OCTA_PLUS;
-
-	} else if (!strcmp(geomname, "8x")) {
-		geometry = MultirotorMixer::OCTA_X;
-
-	} else {
-		debug("unrecognised geometry '%s'", geomname);
-		return nullptr;
-	}
-
-	debug("adding multirotor mixer '%s'", geomname);
-
-	return new MultirotorMixer(
-		       control_cb,
-		       cb_handle,
-		       geometry,
-		       s[0] / 10000.0f,
-		       s[1] / 10000.0f,
-		       s[2] / 10000.0f,
-		       s[3] / 10000.0f);
-}
-
-unsigned
-MultirotorMixer::mix(float *outputs, unsigned space)
-{
-	float		roll    = get_control(0, 0) * _roll_scale;
-	//lowsyslog("roll: %d, get_control0: %d, %d\n", (int)(roll), (int)(get_control(0, 0)), (int)(_roll_scale));
-	float		pitch   = get_control(0, 1) * _pitch_scale;
-	float		yaw     = get_control(0, 2) * _yaw_scale;
-	float		thrust  = get_control(0, 3);
-	//lowsyslog("thrust: %d, get_control3: %d\n", (int)(thrust), (int)(get_control(0, 3)));
-	float		max     = 0.0f;
-	float		fixup_scale;
-
-	/* use an output factor to prevent too strong control signals at low throttle */
-	float min_thrust = 0.05f;
-	float max_thrust = 1.0f;
-	float startpoint_full_control = 0.40f;
-	float output_factor;
-
-	/* keep roll, pitch and yaw control to 0 below min thrust */
-	if (thrust <= min_thrust) {
-		output_factor = 0.0f;
-		/* linearly increase the output factor from 0 to 1 between min_thrust and startpoint_full_control */
-
-	} else if (thrust < startpoint_full_control && thrust > min_thrust) {
-		output_factor = (thrust / max_thrust) / (startpoint_full_control - min_thrust);
-		/* and then stay at full control */
-
-	} else {
-		output_factor = max_thrust;
-	}
-
-	roll *= output_factor;
-	pitch *= output_factor;
-	yaw *= output_factor;
-
-
-	/* perform initial mix pass yielding un-bounded outputs */
-	for (unsigned i = 0; i < _rotor_count; i++) {
-		float tmp = roll  * _rotors[i].roll_scale +
-			    pitch * _rotors[i].pitch_scale +
-			    yaw   * _rotors[i].yaw_scale +
-			    thrust;
-
-		if (tmp > max)
-			max = tmp;
-
-		outputs[i] = tmp;
-	}
-
-	/* scale values into the -1.0 - 1.0 range */
-	if (max > 1.0f) {
-		fixup_scale = 2.0f / max;
-
-	} else {
-		fixup_scale = 2.0f;
-	}
-
-	for (unsigned i = 0; i < _rotor_count; i++)
-		outputs[i] = -1.0f + (outputs[i] * fixup_scale);
-
-	/* ensure outputs are out of the deadband */
-	for (unsigned i = 0; i < _rotor_count; i++)
-		if (outputs[i] < _deadband)
-			outputs[i] = _deadband;
-
-	return _rotor_count;
-}
-
-void
-MultirotorMixer::groups_required(uint32_t &groups)
-{
-	/* XXX for now, hardcoded to indexes 0-3 in control group zero */
-	groups |= (1 << 0);
-}
-
diff --git a/apps/systemlib/mixer/mixer_simple.cpp b/apps/systemlib/mixer/mixer_simple.cpp
deleted file mode 100644
index 07dc5f37f..000000000
--- a/apps/systemlib/mixer/mixer_simple.cpp
+++ /dev/null
@@ -1,334 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file mixer_simple.cpp
- *
- * Simple summing mixer.
- */
-
-#include 
-
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-
-#include "mixer.h"
-
-#define debug(fmt, args...)	do { } while(0)
-//#define debug(fmt, args...)	do { printf("[mixer] " fmt "\n", ##args); } while(0)
-
-SimpleMixer::SimpleMixer(ControlCallback control_cb,
-			 uintptr_t cb_handle,
-			 mixer_simple_s *mixinfo) :
-	Mixer(control_cb, cb_handle),
-	_info(mixinfo)
-{
-}
-
-SimpleMixer::~SimpleMixer()
-{
-	if (_info != nullptr)
-		free(_info);
-}
-
-static const char *
-findtag(const char *buf, unsigned &buflen, char tag)
-{
-	while (buflen >= 2) {
-		if ((buf[0] == tag) && (buf[1] == ':'))
-			return buf;
-		buf++;
-		buflen--;
-	}
-	return nullptr;
-}
-
-static void
-skipline(const char *buf, unsigned &buflen)
-{
-	const char *p;
-
-	/* if we can find a CR or NL in the buffer, skip up to it */
-	if ((p = (const char *)memchr(buf, '\r', buflen)) || (p = (const char *)memchr(buf, '\n', buflen)))
-		buflen -= (p - buf);
-}
-
-int
-SimpleMixer::parse_output_scaler(const char *buf, unsigned &buflen, mixer_scaler_s &scaler)
-{
-	int ret;
-	int s[5];
-	
-	buf = findtag(buf, buflen, 'O');
-	if ((buf == nullptr) || (buflen < 12))
-		return -1;
-
-	if ((ret = sscanf(buf, "O: %d %d %d %d %d",
-			  &s[0], &s[1], &s[2], &s[3], &s[4])) != 5) {
-		debug("scaler parse failed on '%s' (got %d)", buf, ret);
-		return -1;
-	}
-	skipline(buf, buflen);
-
-	scaler.negative_scale	= s[0] / 10000.0f;
-	scaler.positive_scale	= s[1] / 10000.0f;
-	scaler.offset		= s[2] / 10000.0f;
-	scaler.min_output	= s[3] / 10000.0f;
-	scaler.max_output	= s[4] / 10000.0f;
-
-	return 0;
-}
-
-int
-SimpleMixer::parse_control_scaler(const char *buf, unsigned &buflen, mixer_scaler_s &scaler, uint8_t &control_group, uint8_t &control_index)
-{
-	unsigned u[2];
-	int s[5];
-
-	buf = findtag(buf, buflen, 'S');
-	if ((buf == nullptr) || (buflen < 16))
-		return -1;
-
-	if (sscanf(buf, "S: %u %u %d %d %d %d %d",
-		   &u[0], &u[1], &s[0], &s[1], &s[2], &s[3], &s[4]) != 7) {
-		debug("control parse failed on '%s'", buf);
-		return -1;
-	}
-	skipline(buf, buflen);
-
-	control_group		= u[0];
-	control_index		= u[1];
-	scaler.negative_scale	= s[0] / 10000.0f;
-	scaler.positive_scale	= s[1] / 10000.0f;
-	scaler.offset		= s[2] / 10000.0f;
-	scaler.min_output	= s[3] / 10000.0f;
-	scaler.max_output	= s[4] / 10000.0f;
-
-	return 0;
-}
-
-SimpleMixer *
-SimpleMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handle, const char *buf, unsigned &buflen)
-{
-	SimpleMixer *sm = nullptr;
-	mixer_simple_s *mixinfo = nullptr;
-	unsigned inputs;
-	int used;
-	const char *end = buf + buflen;
-
-	/* get the base info for the mixer */
-	if (sscanf(buf, "M: %u%n", &inputs, &used) != 1) {
-		debug("simple parse failed on '%s'", buf);
-		goto out;
-	}
-
-	buflen -= used;
-
-	mixinfo = (mixer_simple_s *)malloc(MIXER_SIMPLE_SIZE(inputs));
-
-	if (mixinfo == nullptr) {
-		debug("could not allocate memory for mixer info");
-		goto out;
-	}
-
-	mixinfo->control_count = inputs;
-
-	if (parse_output_scaler(end - buflen, buflen, mixinfo->output_scaler))
-		goto out;
-
-	for (unsigned i = 0; i < inputs; i++) {
-		if (parse_control_scaler(end - buflen, buflen,
-					 mixinfo->controls[i].scaler,
-					 mixinfo->controls[i].control_group,
-					 mixinfo->controls[i].control_index))
-			goto out;
-	}
-
-	sm = new SimpleMixer(control_cb, cb_handle, mixinfo);
-
-	if (sm != nullptr) {
-		mixinfo = nullptr;
-		debug("loaded mixer with %d inputs", inputs);
-
-	} else {
-		debug("could not allocate memory for mixer");
-	}
-
-out:
-
-	if (mixinfo != nullptr)
-		free(mixinfo);
-
-	return sm;
-}
-
-SimpleMixer *
-SimpleMixer::pwm_input(Mixer::ControlCallback control_cb, uintptr_t cb_handle, unsigned input, uint16_t min, uint16_t mid, uint16_t max)
-{
-	SimpleMixer *sm = nullptr;
-	mixer_simple_s *mixinfo = nullptr;
-
-	mixinfo = (mixer_simple_s *)malloc(MIXER_SIMPLE_SIZE(1));
-
-	if (mixinfo == nullptr) {
-		debug("could not allocate memory for mixer info");
-		goto out;
-	}
-
-	mixinfo->control_count = 1;
-
-	/*
-	 * Always pull from group 0, with the input value giving the channel.
-	 */
-	mixinfo->controls[0].control_group = 0;
-	mixinfo->controls[0].control_index = input;
-
-	/*
-	 * Conversion uses both the input and output side of the mixer.
-	 *
-	 * The input side is used to slide the control value such that the min argument
-	 * results in a value of zero.
-	 *
-	 * The output side is used to apply the scaling for the min/max values so that
-	 * the resulting output is a -1.0 ... 1.0 value for the min...max range.
-	 */
-	mixinfo->controls[0].scaler.negative_scale = 1.0f;
-	mixinfo->controls[0].scaler.positive_scale = 1.0f;
-	mixinfo->controls[0].scaler.offset = -mid;
-	mixinfo->controls[0].scaler.min_output = -(mid - min);
-	mixinfo->controls[0].scaler.max_output = (max - mid);
-
-	mixinfo->output_scaler.negative_scale = 500.0f / (mid - min);
-	mixinfo->output_scaler.positive_scale = 500.0f / (max - mid);
-	mixinfo->output_scaler.offset = 0.0f;
-	mixinfo->output_scaler.min_output = -1.0f;
-	mixinfo->output_scaler.max_output = 1.0f;
-
-	sm = new SimpleMixer(control_cb, cb_handle, mixinfo);
-
-	if (sm != nullptr) {
-		mixinfo = nullptr;
-		debug("PWM input mixer for %d", input);
-
-	} else {
-		debug("could not allocate memory for PWM input mixer");
-	}
-
-out:
-
-	if (mixinfo != nullptr)
-		free(mixinfo);
-
-	return sm;
-}
-
-unsigned
-SimpleMixer::mix(float *outputs, unsigned space)
-{
-	float		sum = 0.0f;
-
-	if (_info == nullptr)
-		return 0;
-
-	if (space < 1)
-		return 0;
-
-	for (unsigned i = 0; i < _info->control_count; i++) {
-		float input;
-
-		_control_cb(_cb_handle,
-			    _info->controls[i].control_group,
-			    _info->controls[i].control_index,
-			    input);
-
-		sum += scale(_info->controls[i].scaler, input);
-	}
-
-	*outputs = scale(_info->output_scaler, sum);
-	return 1;
-}
-
-void
-SimpleMixer::groups_required(uint32_t &groups)
-{
-	for (unsigned i = 0; i < _info->control_count; i++)
-		groups |= 1 << _info->controls[i].control_group;
-}
-
-int
-SimpleMixer::check()
-{
-	int ret;
-	float junk;
-
-	/* sanity that presumes that a mixer includes a control no more than once */
-	/* max of 32 groups due to groups_required API */
-	if (_info->control_count > 32)
-		return -2;
-
-	/* validate the output scaler */
-	ret = scale_check(_info->output_scaler);
-
-	if (ret != 0)
-		return ret;
-
-	/* validate input scalers */
-	for (unsigned i = 0; i < _info->control_count; i++) {
-
-		/* verify that we can fetch the control */
-		if (_control_cb(_cb_handle,
-				_info->controls[i].control_group,
-				_info->controls[i].control_index,
-				junk) != 0) {
-			return -3;
-		}
-
-		/* validate the scaler */
-		ret = scale_check(_info->controls[i].scaler);
-
-		if (ret != 0)
-			return (10 * i + ret);
-	}
-
-	return 0;
-}
diff --git a/apps/systemlib/mixer/multi_tables b/apps/systemlib/mixer/multi_tables
deleted file mode 100755
index 19a8239a6..000000000
--- a/apps/systemlib/mixer/multi_tables
+++ /dev/null
@@ -1,100 +0,0 @@
-#!/usr/bin/tclsh
-#
-# Generate multirotor mixer scale tables compatible with the ArduCopter layout
-#
-
-proc rad {a} { expr ($a / 360.0) * 2 * acos(-1) }
-proc rcos {a} { expr cos([rad $a])}
-
-set quad_x {
-	  45 CCW
-	-135 CCW
-	 -45 CW
-	 135 CW
-}
-
-set quad_plus {
-	  90 CCW
-	 -90 CCW
-	   0 CW
-	 180 CW
-}
-
-set quad_v {
-	  68 CCW
-	-136 CCW
-	 -68 CW
-	 136 CW
-}
-
-set hex_x {
-	  90 CW
-	 -90 CCW
-	 -30 CW
-	 150 CCW
-	  30 CCW
-	-150 CW
-}
-
-set hex_plus {
-	   0 CW
-	 180 CCW
-	-120 CW
-	  60 CCW
-	 -60 CCW
-	 120 CW
-}
-
-set octa_x {
-	  22.5 CW
-	-157.5 CW
-	  67.5 CCW
-	 157.5 CCW
-	 -22.5 CCW
-	-112.5 CCW
-	 -67.5 CW
-	 112.5 CW
-}
-
-set octa_plus {
-	   0 CW
-	 180 CW
-	  45 CCW
-	 135 CCW
-	 -45 CCW
-	-135 CCW
-	 -90 CW
-	  90 CW
-}
-
-set tables {quad_x quad_plus quad_v hex_x hex_plus octa_x octa_plus}
-
-proc factors {a d} { puts [format "\t{ %9.6f, %9.6f, %5.2f }," [rcos [expr $a + 90]] [rcos $a] [expr -$d]]}
-
-foreach table $tables {
-	puts [format "const MultirotorMixer::Rotor _config_%s\[\] = {" $table]
-
-	upvar #0 $table angles
-	foreach {angle dir} $angles {
-		if {$dir == "CW"} {
-			set dd 1.0
-		} else {
-			set dd -1.0
-		}
-		factors $angle $dd
-	}
-	puts "};"
-}
-
-puts "const MultirotorMixer::Rotor *_config_index\[MultirotorMixer::Geometry::MAX_GEOMETRY\] = {"
-foreach table $tables {
-	puts [format "\t&_config_%s\[0\]," $table]
-}
-puts "};"
-
-puts "const unsigned _config_rotor_count\[MultirotorMixer::Geometry::MAX_GEOMETRY\] = {"
-foreach table $tables {
-	upvar #0 $table angles
-	puts [format "\t%u, /* %s */" [expr [llength $angles] / 2] $table]
-}
-puts "};"
diff --git a/apps/systemlib/param/param.c b/apps/systemlib/param/param.c
deleted file mode 100644
index 8073570d1..000000000
--- a/apps/systemlib/param/param.c
+++ /dev/null
@@ -1,805 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file param.c
- *
- * Global parameter store.
- *
- * Note that it might make sense to convert this into a driver.  That would
- * offer some interesting options regarding state for e.g. ORB advertisements
- * and background parameter saving.
- */
-
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-
-#include 
-
-#include 
-
-#include "systemlib/param/param.h"
-#include "systemlib/uthash/utarray.h"
-#include "systemlib/bson/tinybson.h"
-
-#include "uORB/uORB.h"
-#include "uORB/topics/parameter_update.h"
-
-#if 1
-# define debug(fmt, args...)		do { warnx(fmt, ##args); } while(0)
-#else
-# define debug(fmt, args...)		do { } while(0)
-#endif
-
-/**
- * Array of static parameter info.
- */
-extern char __param_start, __param_end;
-static const struct param_info_s	*param_info_base = (struct param_info_s *) &__param_start;
-static const struct param_info_s	*param_info_limit = (struct param_info_s *) &__param_end;
-#define	param_info_count		((unsigned)(param_info_limit - param_info_base))
-
-/**
- * Storage for modified parameters.
- */
-struct param_wbuf_s {
-	param_t			param;
-	union param_value_u	val;
-	bool			unsaved;
-};
-
-/** flexible array holding modified parameter values */
-UT_array	*param_values;
-
-/** array info for the modified parameters array */
-const UT_icd	param_icd = {sizeof(struct param_wbuf_s), NULL, NULL, NULL};
-
-/** parameter update topic */
-ORB_DEFINE(parameter_update, struct parameter_update_s);
-
-/** parameter update topic handle */
-static orb_advert_t param_topic = -1;
-
-/** lock the parameter store */
-static void
-param_lock(void)
-{
-	/* XXX */
-}
-
-/** unlock the parameter store */
-static void
-param_unlock(void)
-{
-	/* XXX */
-}
-
-/** assert that the parameter store is locked */
-static void
-param_assert_locked(void)
-{
-	/* XXX */
-}
-
-/**
- * Test whether a param_t is value.
- *
- * @param param			The parameter handle to test.
- * @return			True if the handle is valid.
- */
-static bool
-handle_in_range(param_t param)
-{
-	return (param < param_info_count);
-}
-
-/**
- * Compare two modifid parameter structures to determine ordering.
- *
- * This function is suitable for passing to qsort or bsearch.
- */
-static int
-param_compare_values(const void *a, const void *b)
-{
-	struct param_wbuf_s *pa = (struct param_wbuf_s *)a;
-	struct param_wbuf_s *pb = (struct param_wbuf_s *)b;
-
-	if (pa->param < pb->param)
-		return -1;
-
-	if (pa->param > pb->param)
-		return 1;
-
-	return 0;
-}
-
-/**
- * Locate the modified parameter structure for a parameter, if it exists.
- *
- * @param param			The parameter being searched.
- * @return			The structure holding the modified value, or
- *				NULL if the parameter has not been modified.
- */
-static struct param_wbuf_s *
-param_find_changed(param_t param) {
-	struct param_wbuf_s	*s = NULL;
-
-	param_assert_locked();
-
-	if (param_values != NULL) {
-#if 0	/* utarray_find requires bsearch, not available */
-		struct param_wbuf_s key;
-		key.param = param;
-		s = utarray_find(param_values, &key, param_compare_values);
-#else
-
-		while ((s = (struct param_wbuf_s *)utarray_next(param_values, s)) != NULL) {
-			if (s->param == param)
-				break;
-		}
-
-#endif
-	}
-
-	return s;
-}
-
-static void
-param_notify_changes(void)
-{
-	struct parameter_update_s pup = { .timestamp = hrt_absolute_time() };
-
-	/*
-	 * If we don't have a handle to our topic, create one now; otherwise
-	 * just publish.
-	 */
-	if (param_topic == -1) {
-		param_topic = orb_advertise(ORB_ID(parameter_update), &pup);
-
-	} else {
-		orb_publish(ORB_ID(parameter_update), param_topic, &pup);
-	}
-}
-
-param_t
-param_find(const char *name)
-{
-	param_t param;
-
-	/* perform a linear search of the known parameters */
-	for (param = 0; handle_in_range(param); param++) {
-		if (!strcmp(param_info_base[param].name, name))
-			return param;
-	}
-
-	/* not found */
-	return PARAM_INVALID;
-}
-
-unsigned
-param_count(void)
-{
-	return param_info_count;
-}
-
-param_t
-param_for_index(unsigned index)
-{
-	if (index < param_info_count)
-		return (param_t)index;
-
-	return PARAM_INVALID;
-}
-
-int
-param_get_index(param_t param)
-{
-	if (handle_in_range(param))
-		return (unsigned)param;
-
-	return -1;
-}
-
-const char *
-param_name(param_t param)
-{
-	if (handle_in_range(param))
-		return param_info_base[param].name;
-
-	return NULL;
-}
-
-bool
-param_value_is_default(param_t param)
-{
-	return param_find_changed(param) ? false : true;
-}
-
-bool
-param_value_unsaved(param_t param)
-{
-	static struct param_wbuf_s *s;
-
-	s = param_find_changed(param);
-
-	if (s && s->unsaved)
-		return true;
-
-	return false;
-}
-
-enum param_type_e
-param_type(param_t param)
-{
-	if (handle_in_range(param))
-		return param_info_base[param].type;
-
-	return PARAM_TYPE_UNKNOWN;
-}
-
-size_t
-param_size(param_t param)
-{
-	if (handle_in_range(param)) {
-		switch (param_type(param)) {
-		case PARAM_TYPE_INT32:
-		case PARAM_TYPE_FLOAT:
-			return 4;
-
-		case PARAM_TYPE_STRUCT ... PARAM_TYPE_STRUCT_MAX:
-			/* decode structure size from type value */
-			return param_type(param) - PARAM_TYPE_STRUCT;
-
-		default:
-			return 0;
-		}
-	}
-
-	return 0;
-}
-
-/**
- * Obtain a pointer to the storage allocated for a parameter.
- *
- * @param param			The parameter whose storage is sought.
- * @return			A pointer to the parameter value, or NULL
- *				if the parameter does not exist.
- */
-static const void *
-param_get_value_ptr(param_t param)
-{
-	const void *result = NULL;
-
-	param_assert_locked();
-
-	if (handle_in_range(param)) {
-
-		const union param_value_u *v;
-
-		/* work out whether we're fetching the default or a written value */
-		struct param_wbuf_s *s = param_find_changed(param);
-
-		if (s != NULL) {
-			v = &s->val;
-
-		} else {
-			v = ¶m_info_base[param].val;
-		}
-
-		if (param_type(param) == PARAM_TYPE_STRUCT) {
-			result = v->p;
-
-		} else {
-			result = v;
-		}
-	}
-
-	return result;
-}
-
-int
-param_get(param_t param, void *val)
-{
-	int result = -1;
-
-	param_lock();
-
-	const void *v = param_get_value_ptr(param);
-
-	if (val != NULL) {
-		memcpy(val, v, param_size(param));
-		result = 0;
-	}
-
-	param_unlock();
-
-	return result;
-}
-
-static int
-param_set_internal(param_t param, const void *val, bool mark_saved)
-{
-	int result = -1;
-	bool params_changed = false;
-
-	param_lock();
-
-	if (param_values == NULL)
-		utarray_new(param_values, ¶m_icd);
-
-	if (param_values == NULL) {
-		debug("failed to allocate modified values array");
-		goto out;
-	}
-
-	if (handle_in_range(param)) {
-
-		struct param_wbuf_s *s = param_find_changed(param);
-
-		if (s == NULL) {
-
-			/* construct a new parameter */
-			struct param_wbuf_s buf = {
-				.param = param,
-				.val.p = NULL,
-				.unsaved = false
-			};
-
-			/* add it to the array and sort */
-			utarray_push_back(param_values, &buf);
-			utarray_sort(param_values, param_compare_values);
-
-			/* find it after sorting */
-			s = param_find_changed(param);
-		}
-
-		/* update the changed value */
-		switch (param_type(param)) {
-		case PARAM_TYPE_INT32:
-			s->val.i = *(int32_t *)val;
-			break;
-
-		case PARAM_TYPE_FLOAT:
-			s->val.f = *(float *)val;
-			break;
-
-		case PARAM_TYPE_STRUCT ... PARAM_TYPE_STRUCT_MAX:
-			if (s->val.p == NULL) {
-				s->val.p = malloc(param_size(param));
-
-				if (s->val.p == NULL) {
-					debug("failed to allocate parameter storage");
-					goto out;
-				}
-			}
-
-			memcpy(s->val.p, val, param_size(param));
-			break;
-
-		default:
-			goto out;
-		}
-
-		s->unsaved = !mark_saved;
-		params_changed = true;
-		result = 0;
-	}
-
-out:
-	param_unlock();
-
-	/*
-	 * If we set something, now that we have unlocked, go ahead and advertise that
-	 * a thing has been set.
-	 */
-	if (params_changed)
-		param_notify_changes();
-
-	return result;
-}
-
-int
-param_set(param_t param, const void *val)
-{
-	return param_set_internal(param, val, false);
-}
-
-void
-param_reset(param_t param)
-{
-	struct param_wbuf_s *s = NULL;
-
-	param_lock();
-
-	if (handle_in_range(param)) {
-
-		/* look for a saved value */
-		s = param_find_changed(param);
-
-		/* if we found one, erase it */
-		if (s != NULL) {
-			int pos = utarray_eltidx(param_values, s);
-			utarray_erase(param_values, pos, 1);
-		}
-	}
-
-	param_unlock();
-
-	if (s != NULL)
-		param_notify_changes();
-}
-
-void
-param_reset_all(void)
-{
-	param_lock();
-
-	if (param_values != NULL) {
-		utarray_free(param_values);
-	}
-
-	/* mark as reset / deleted */
-	param_values = NULL;
-
-	param_unlock();
-
-	param_notify_changes();
-}
-
-static const char *param_default_file = "/eeprom/parameters";
-static char *param_user_file = NULL;
-
-int
-param_set_default_file(const char* filename)
-{
-	if (param_user_file != NULL) {
-		free(param_user_file);
-		param_user_file = NULL;
-	}
-	if (filename)
-		param_user_file = strdup(filename);
-	return 0;
-}
-
-const char *
-param_get_default_file(void)
-{
-	return (param_user_file != NULL) ? param_user_file : param_default_file;
-}
-
-int
-param_save_default(void)
-{
-	/* delete the file in case it exists */
-	unlink(param_get_default_file());
-
-	/* create the file */
-	int fd = open(param_get_default_file(), O_WRONLY | O_CREAT | O_EXCL);
-
-	if (fd < 0) {
-		warn("opening '%s' for writing failed", param_get_default_file());
-		return -1;
-	}
-
-	int result = param_export(fd, false);
-	close(fd);
-
-	if (result != 0) {
-		warn("error exporting parameters to '%s'", param_get_default_file());
-		unlink(param_get_default_file());
-		return -2;
-	}
-
-	return 0;
-}
-
-/**
- * @return 0 on success, 1 if all params have not yet been stored, -1 if device open failed, -2 if writing parameters failed
- */
-int
-param_load_default(void)
-{
-	int fd = open(param_get_default_file(), O_RDONLY);
-
-	if (fd < 0) {
-		/* no parameter file is OK, otherwise this is an error */
-		if (errno != ENOENT) {
-			warn("open '%s' for reading failed", param_get_default_file());
-			return -1;
-		}
-		return 1;
-	}
-
-	int result = param_load(fd);
-	close(fd);
-
-	if (result != 0) {
-		warn("error reading parameters from '%s'", param_get_default_file());
-		return -2;
-	}
-
-	return 0;
-}
-
-int
-param_export(int fd, bool only_unsaved)
-{
-	struct param_wbuf_s *s = NULL;
-	struct bson_encoder_s encoder;
-	int	result = -1;
-
-	param_lock();
-
-	bson_encoder_init_file(&encoder, fd);
-
-	/* no modified parameters -> we are done */
-	if (param_values == NULL) {
-		result = 0;
-		goto out;
-	}
-
-	while ((s = (struct param_wbuf_s *)utarray_next(param_values, s)) != NULL) {
-
-		int32_t	i;
-		float	f;
-
-		/*
-		 * If we are only saving values changed since last save, and this
-		 * one hasn't, then skip it
-		 */
-		if (only_unsaved && !s->unsaved)
-			continue;
-
-		s->unsaved = false;
-
-		/* append the appropriate BSON type object */
-		switch (param_type(s->param)) {
-		case PARAM_TYPE_INT32:
-			param_get(s->param, &i);
-
-			if (bson_encoder_append_int(&encoder, param_name(s->param), i)) {
-				debug("BSON append failed for '%s'", param_name(s->param));
-				goto out;
-			}
-
-			break;
-
-		case PARAM_TYPE_FLOAT:
-			param_get(s->param, &f);
-
-			if (bson_encoder_append_double(&encoder, param_name(s->param), f)) {
-				debug("BSON append failed for '%s'", param_name(s->param));
-				goto out;
-			}
-
-			break;
-
-		case PARAM_TYPE_STRUCT ... PARAM_TYPE_STRUCT_MAX:
-			if (bson_encoder_append_binary(&encoder,
-						       param_name(s->param),
-						       BSON_BIN_BINARY,
-						       param_size(s->param),
-						       param_get_value_ptr(s->param))) {
-				debug("BSON append failed for '%s'", param_name(s->param));
-				goto out;
-			}
-
-			break;
-
-		default:
-			debug("unrecognized parameter type");
-			goto out;
-		}
-	}
-
-	result = 0;
-
-out:
-	param_unlock();
-
-	if (result == 0)
-		result = bson_encoder_fini(&encoder);
-
-	return result;
-}
-
-struct param_import_state {
-	bool mark_saved;
-};
-
-static int
-param_import_callback(bson_decoder_t decoder, void *private, bson_node_t node)
-{
-	float f;
-	int32_t i;
-	void *v, *tmp = NULL;
-	int result = -1;
-	struct param_import_state *state = (struct param_import_state *)private;
-
-	/*
-	 * EOO means the end of the parameter object. (Currently not supporting
-	 * nested BSON objects).
-	 */
-	if (node->type == BSON_EOO) {
-		debug("end of parameters");
-		return 0;
-	}
-
-	/*
-	 * Find the parameter this node represents.  If we don't know it,
-	 * ignore the node.
-	 */
-	param_t param = param_find(node->name);
-
-	if (param == PARAM_INVALID) {
-		debug("ignoring unrecognised parameter '%s'", node->name);
-		return 1;
-	}
-
-	/*
-	 * Handle setting the parameter from the node
-	 */
-
-	switch (node->type) {
-	case BSON_INT32:
-		if (param_type(param) != PARAM_TYPE_INT32) {
-			debug("unexpected type for '%s", node->name);
-			goto out;
-		}
-
-		i = node->i;
-		v = &i;
-		break;
-
-	case BSON_DOUBLE:
-		if (param_type(param) != PARAM_TYPE_FLOAT) {
-			debug("unexpected type for '%s", node->name);
-			goto out;
-		}
-
-		f = node->d;
-		v = &f;
-		break;
-
-	case BSON_BINDATA:
-		if (node->subtype != BSON_BIN_BINARY) {
-			debug("unexpected subtype for '%s", node->name);
-			goto out;
-		}
-
-		if (bson_decoder_data_pending(decoder) != param_size(param)) {
-			debug("bad size for '%s'", node->name);
-			goto out;
-		}
-
-		/* XXX check actual file data size? */
-		tmp = malloc(param_size(param));
-
-		if (tmp == NULL) {
-			debug("failed allocating for '%s'", node->name);
-			goto out;
-		}
-
-		if (bson_decoder_copy_data(decoder, tmp)) {
-			debug("failed copying data for '%s'", node->name);
-			goto out;
-		}
-
-		v = tmp;
-		break;
-
-	default:
-		debug("unrecognised node type");
-		goto out;
-	}
-
-	if (param_set_internal(param, v, state->mark_saved)) {
-		debug("error setting value for '%s'", node->name);
-		goto out;
-	}
-
-	if (tmp != NULL) {
-		free(tmp);
-		tmp = NULL;
-	}
-
-	/* don't return zero, that means EOF */
-	result = 1;
-
-out:
-
-	if (tmp != NULL)
-		free(tmp);
-
-	return result;
-}
-
-static int
-param_import_internal(int fd, bool mark_saved)
-{
-	struct bson_decoder_s decoder;
-	int result = -1;
-	struct param_import_state state;
-
-	if (bson_decoder_init_file(&decoder, fd, param_import_callback, &state)) {
-		debug("decoder init failed");
-		goto out;
-	}
-
-	state.mark_saved = mark_saved;
-
-	do {
-		result = bson_decoder_next(&decoder);
-
-	} while (result > 0);
-
-out:
-
-	if (result < 0)
-		debug("BSON error decoding parameters");
-
-	return result;
-}
-
-int
-param_import(int fd)
-{
-	return param_import_internal(fd, false);
-}
-
-int
-param_load(int fd)
-{
-	param_reset_all();
-	return param_import_internal(fd, true);
-}
-
-void
-param_foreach(void (*func)(void *arg, param_t param), void *arg, bool only_changed)
-{
-	param_t	param;
-
-	for (param = 0; handle_in_range(param); param++) {
-
-		/* if requested, skip unchanged values */
-		if (only_changed && (param_find_changed(param) == NULL))
-			continue;
-
-		func(arg, param);
-	}
-}
diff --git a/apps/systemlib/param/param.h b/apps/systemlib/param/param.h
deleted file mode 100644
index 084cd931a..000000000
--- a/apps/systemlib/param/param.h
+++ /dev/null
@@ -1,336 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file param.h
- *
- * Global parameter store.
- *
- * Note that a number of API members are marked const or pure; these
- * assume that the set of parameters cannot change, or that a parameter
- * cannot change type or size over its lifetime.  If any of these assumptions
- * are invalidated, the attributes should be re-evaluated.
- */
-
-#ifndef _SYSTEMLIB_PARAM_PARAM_H
-#define _SYSTEMLIB_PARAM_PARAM_H
-
-#include 
-#include 
-#include 
-
-/** Maximum size of the parameter backing file */
-#define PARAM_FILE_MAXSIZE	4096
-
-__BEGIN_DECLS
-
-/**
- * Parameter types.
- */
-typedef enum param_type_e {
-	/* globally-known parameter types */
-	PARAM_TYPE_INT32 = 0,
-	PARAM_TYPE_FLOAT,
-
-	/* structure parameters; size is encoded in the type value */
-	PARAM_TYPE_STRUCT = 100,
-	PARAM_TYPE_STRUCT_MAX = 16384 + PARAM_TYPE_STRUCT,
-
-	PARAM_TYPE_UNKNOWN = 0xffff
-} param_type_t;
-
-/**
- * Parameter handle.
- *
- * Parameters are represented by parameter handles, which can
- * be obtained by looking up (or creating?) parameters.
- */
-typedef uintptr_t	param_t;
-
-/**
- * Handle returned when a parameter cannot be found.
- */
-#define PARAM_INVALID	((uintptr_t)0xffffffff)
-
-/**
- * Look up a parameter by name.
- *
- * @param name		The canonical name of the parameter being looked up.
- * @return		A handle to the parameter, or PARAM_INVALID if the parameter does not exist.
- */
-__EXPORT param_t	param_find(const char *name);
-
-/**
- * Return the total number of parameters.
- *
- * @return		The number of parameters.
- */
-__EXPORT unsigned	param_count(void);
-
-/**
- * Look up a parameter by index.
- *
- * @param index		An index from 0 to n, where n is param_count()-1.
- * @return		A handle to the parameter, or PARAM_INVALID if the index is out of range.
- */
-__EXPORT param_t	param_for_index(unsigned index);
-
-/**
- * Look up the index of a parameter.
- *
- * @param param		The parameter to obtain the index for.
- * @return		The index, or -1 if the parameter does not exist.
- */
-__EXPORT int		param_get_index(param_t param);
-
-/**
- * Obtain the name of a parameter.
- *
- * @param param		A handle returned by param_find or passed by param_foreach.
- * @return		The name assigned to the parameter, or NULL if the handle is invalid.
- */
-__EXPORT const char	*param_name(param_t param);
-
-/**
- * Test whether a parameter's value has changed from the default.
- *
- * @return		If true, the parameter's value has not been changed from the default.
- */
-__EXPORT bool		param_value_is_default(param_t param);
-
-/**
- * Test whether a parameter's value has been changed but not saved.
- *
- * @return		If true, the parameter's value has not been saved.
- */
-__EXPORT bool		param_value_unsaved(param_t param);
-
-/**
- * Obtain the type of a parameter.
- *
- * @param param		A handle returned by param_find or passed by param_foreach.
- * @return		The type assigned to the parameter.
- */
-__EXPORT param_type_t	param_type(param_t param);
-
-/**
- * Determine the size of a parameter.
- *
- * @param param		A handle returned by param_find or passed by param_foreach.
- * @return		The size of the parameter's value.
- */
-__EXPORT size_t		param_size(param_t param);
-
-/**
- * Copy the value of a parameter.
- *
- * @param param		A handle returned by param_find or passed by param_foreach.
- * @param val		Where to return the value, assumed to point to suitable storage for the parameter type.
- *			For structures, a bitwise copy of the structure is performed to this address.
- * @return		Zero if the parameter's value could be returned, nonzero otherwise.
- */
-__EXPORT int		param_get(param_t param, void *val);
-
-/**
- * Set the value of a parameter.
- *
- * @param param		A handle returned by param_find or passed by param_foreach.
- * @param val		The value to set; assumed to point to a variable of the parameter type.
- *			For structures, the pointer is assumed to point to a structure to be copied.
- * @return		Zero if the parameter's value could be set from a scalar, nonzero otherwise.
- */
-__EXPORT int		param_set(param_t param, const void *val);
-
-/**
- * Reset a parameter to its default value.
- *
- * This function frees any storage used by struct parameters, and returns the parameter
- * to its default value.
- *
- * @param param		A handle returned by param_find or passed by param_foreach.
- */
-__EXPORT void		param_reset(param_t param);
-
-/**
- * Reset all parameters to their default values.
- *
- * This function also releases the storage used by struct parameters.
- */
-__EXPORT void		param_reset_all(void);
-
-/**
- * Export changed parameters to a file.
- *
- * @param fd		File descriptor to export to.
- * @param only_unsaved	Only export changed parameters that have not yet been exported.
- * @return		Zero on success, nonzero on failure.
- */
-__EXPORT int		param_export(int fd, bool only_unsaved);
-
-/**
- * Import parameters from a file, discarding any unrecognized parameters.
- *
- * This function merges the imported parameters with the current parameter set.
- *
- * @param fd		File descriptor to import from.  (Currently expected to be a file.)
- * @return		Zero on success, nonzero if an error occurred during import.
- *			Note that in the failure case, parameters may be inconsistent.
- */
-__EXPORT int		param_import(int fd);
-
-/**
- * Load parameters from a file.
- *
- * This function resets all parameters to their default values, then loads new
- * values from a file.
- *
- * @param fd		File descriptor to import from.  (Currently expected to be a file.)
- * @return		Zero on success, nonzero if an error occurred during import.
- *			Note that in the failure case, parameters may be inconsistent.
- */
-__EXPORT int		param_load(int fd);
-
-/**
- * Apply a function to each parameter.
- *
- * Note that the parameter set is not locked during the traversal. It also does
- * not hold an internal state, so the callback function can block or sleep between
- * parameter callbacks.
- *
- * @param func		The function to invoke for each parameter.
- * @param arg		Argument passed to the function.
- * @param only_changed	If true, the function is only called for parameters whose values have
- *			been changed from the default.
- */
-__EXPORT void		param_foreach(void (*func)(void *arg, param_t param), void *arg, bool only_changed);
-
-/**
- * Set the default parameter file name.
- *
- * @param filename	Path to the default parameter file.  The file is not require to
- *			exist.
- * @return		Zero on success.
- */
-__EXPORT int 		param_set_default_file(const char* filename);
-
-/**
- * Get the default parameter file name.
- *
- * @return		The path to the current default parameter file; either as
- *			a result of a call to param_set_default_file, or the 
- *			built-in default.
- */
-__EXPORT const char*	param_get_default_file(void);
-
-/**
- * Save parameters to the default file.
- *
- * This function saves all parameters with non-default values.
- *
- * @return		Zero on success.
- */
-__EXPORT int 		param_save_default(void);
-
-/**
- * Load parameters from the default parameter file.
- *
- * @return		Zero on success.
- */
-__EXPORT int 		param_load_default(void);
-
-/*
- * Macros creating static parameter definitions.
- *
- * Note that these structures are not known by name; they are
- * collected into a section that is iterated by the parameter
- * code.
- *
- * Note that these macros cannot be used in C++ code due to
- * their use of designated initializers.  They should probably
- * be refactored to avoid the use of a union for param_value_u.
- */
-
-/** define an int32 parameter */
-#define PARAM_DEFINE_INT32(_name, _default)		\
-	static const					\
-	__attribute__((used, section("__param")))	\
-	struct param_info_s __param__##_name = {	\
-		#_name,					\
-		PARAM_TYPE_INT32,			\
-		.val.i = _default			\
-	}
-
-/** define a float parameter */
-#define PARAM_DEFINE_FLOAT(_name, _default)		\
-	static const					\
-	__attribute__((used, section("__param")))	\
-	struct param_info_s __param__##_name = {	\
-		#_name,					\
-		PARAM_TYPE_FLOAT,			\
-		.val.f = _default			\
-	}
-
-/** define a parameter that points to a structure */
-#define PARAM_DEFINE_STRUCT(_name, _default)		\
-	static const					\
-	__attribute__((used, section("__param")))	\
-	struct param_info_s __param__##_name = {	\
-		#_name,					\
-		PARAM_TYPE_STRUCT + sizeof(_default),	\
-		.val.p = &_default;			\
-	}
-
-/**
- * Parameter value union.
- */
-union param_value_u {
-	void		*p;
-	int32_t		i;
-	float		f;
-};
-
-/**
- * Static parameter definition structure.
- *
- * This is normally not used by user code; see the PARAM_DEFINE macros
- * instead.
- */
-struct param_info_s {
-	const char	*name;
-	param_type_t	type;
-	union param_value_u val;
-};
-
-__END_DECLS
-
-#endif
diff --git a/apps/systemlib/perf_counter.c b/apps/systemlib/perf_counter.c
deleted file mode 100644
index 879f4715a..000000000
--- a/apps/systemlib/perf_counter.c
+++ /dev/null
@@ -1,317 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file perf_counter.c
- *
- * @brief Performance measuring tools.
- */
-
-#include 
-#include 
-#include 
-#include 
-
-#include "perf_counter.h"
-
-/**
- * Header common to all counters.
- */
-struct perf_ctr_header {
-	sq_entry_t		link;	/**< list linkage */
-	enum perf_counter_type	type;	/**< counter type */
-	const char		*name;	/**< counter name */
-};
-
-/**
- * PC_EVENT counter.
- */
-struct perf_ctr_count {
-	struct perf_ctr_header	hdr;
-	uint64_t		event_count;
-};
-
-/**
- * PC_ELAPSED counter.
- */
-struct perf_ctr_elapsed {
-	struct perf_ctr_header	hdr;
-	uint64_t		event_count;
-	uint64_t		time_start;
-	uint64_t		time_total;
-	uint64_t		time_least;
-	uint64_t		time_most;
-};
-
-/**
- * PC_INTERVAL counter.
- */
-struct perf_ctr_interval {
-	struct perf_ctr_header	hdr;
-	uint64_t		event_count;
-	uint64_t		time_event;
-	uint64_t		time_first;
-	uint64_t		time_last;
-	uint64_t		time_least;
-	uint64_t		time_most;
-
-};
-
-/**
- * List of all known counters.
- */
-static sq_queue_t	perf_counters;
-
-
-perf_counter_t
-perf_alloc(enum perf_counter_type type, const char *name)
-{
-	perf_counter_t ctr = NULL;
-
-	switch (type) {
-	case PC_COUNT:
-		ctr = (perf_counter_t)calloc(sizeof(struct perf_ctr_count), 1);
-		break;
-
-	case PC_ELAPSED:
-		ctr = (perf_counter_t)calloc(sizeof(struct perf_ctr_elapsed), 1);
-		break;
-
-	case PC_INTERVAL:
-		ctr = (perf_counter_t)calloc(sizeof(struct perf_ctr_interval), 1);
-		break;
-
-	default:
-		break;
-	}
-
-	if (ctr != NULL) {
-		ctr->type = type;
-		ctr->name = name;
-		sq_addfirst(&ctr->link, &perf_counters);
-	}
-
-	return ctr;
-}
-
-void
-perf_free(perf_counter_t handle)
-{
-	if (handle == NULL)
-		return;
-
-	sq_rem(&handle->link, &perf_counters);
-	free(handle);
-}
-
-void
-perf_count(perf_counter_t handle)
-{
-	if (handle == NULL)
-		return;
-
-	switch (handle->type) {
-	case PC_COUNT:
-		((struct perf_ctr_count *)handle)->event_count++;
-		break;
-
-	case PC_INTERVAL: {
-		struct perf_ctr_interval *pci = (struct perf_ctr_interval *)handle;
-		hrt_abstime now = hrt_absolute_time();
-
-		switch (pci->event_count) {
-		case 0:
-			pci->time_first = now;
-			break;
-		case 1:
-			pci->time_least = now - pci->time_last;
-			pci->time_most = now - pci->time_last;
-			break;
-		default: {
-			hrt_abstime interval = now - pci->time_last;
-			if (interval < pci->time_least)
-				pci->time_least = interval;
-			if (interval > pci->time_most)
-				pci->time_most = interval;
-			break;
-		}
-		}
-		pci->time_last = now;
-		pci->event_count++;
-		break;
-	}
-
-	default:
-		break;
-	}
-}
-
-void
-perf_begin(perf_counter_t handle)
-{
-	if (handle == NULL)
-		return;
-
-	switch (handle->type) {
-	case PC_ELAPSED:
-		((struct perf_ctr_elapsed *)handle)->time_start = hrt_absolute_time();
-		break;
-
-	default:
-		break;
-	}
-}
-
-void
-perf_end(perf_counter_t handle)
-{
-	if (handle == NULL)
-		return;
-
-	switch (handle->type) {
-	case PC_ELAPSED: {
-			struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle;
-			hrt_abstime elapsed = hrt_absolute_time() - pce->time_start;
-
-			pce->event_count++;
-			pce->time_total += elapsed;
-
-			if ((pce->time_least > elapsed) || (pce->time_least == 0))
-				pce->time_least = elapsed;
-
-			if (pce->time_most < elapsed)
-				pce->time_most = elapsed;
-		}
-
-	default:
-		break;
-	}
-}
-
-void
-perf_reset(perf_counter_t handle)
-{
-	if (handle == NULL)
-		return;
-
-	switch (handle->type) {
-	case PC_COUNT:
-		((struct perf_ctr_count *)handle)->event_count = 0;
-		break;
-
-	case PC_ELAPSED: {
-		struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle;
-		pce->event_count = 0;
-		pce->time_start = 0;
-		pce->time_total = 0;
-		pce->time_least = 0;
-		pce->time_most = 0;
-		break;
-	}
-
-	case PC_INTERVAL: {
-		struct perf_ctr_interval *pci = (struct perf_ctr_interval *)handle;
-		pci->event_count = 0;
-		pci->time_event = 0;
-		pci->time_first = 0;
-		pci->time_last = 0;
-		pci->time_least = 0;
-		pci->time_most = 0;
-		break;
-	}
-	}
-}
-
-void
-perf_print_counter(perf_counter_t handle)
-{
-	if (handle == NULL)
-		return;
-
-	switch (handle->type) {
-	case PC_COUNT:
-		printf("%s: %llu events\n",
-		       handle->name,
-		       ((struct perf_ctr_count *)handle)->event_count);
-		break;
-
-	case PC_ELAPSED: {
-		struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle;
-
-		printf("%s: %llu events, %lluus elapsed, min %lluus max %lluus\n",
-		       handle->name,
-		       pce->event_count,
-		       pce->time_total,
-		       pce->time_least,
-		       pce->time_most);
-		break;
-	}
-
-	case PC_INTERVAL: {
-		struct perf_ctr_interval *pci = (struct perf_ctr_interval *)handle;
-
-		printf("%s: %llu events, %llu avg, min %lluus max %lluus\n",
-		       handle->name,
-		       pci->event_count,
-		       (pci->time_last - pci->time_first) / pci->event_count,
-		       pci->time_least,
-		       pci->time_most);
-		break;
-	}
-
-	default:
-		break;
-	}
-}
-
-void
-perf_print_all(void)
-{
-	perf_counter_t handle = (perf_counter_t)sq_peek(&perf_counters);
-
-	while (handle != NULL) {
-		perf_print_counter(handle);
-		handle = (perf_counter_t)sq_next(&handle->link);
-	}
-}
-
-void
-perf_reset_all(void)
-{
-	perf_counter_t handle = (perf_counter_t)sq_peek(&perf_counters);
-
-	while (handle != NULL) {
-		perf_reset(handle);
-		handle = (perf_counter_t)sq_next(&handle->link);
-	}
-}
diff --git a/apps/systemlib/perf_counter.h b/apps/systemlib/perf_counter.h
deleted file mode 100644
index 5c2cb15b2..000000000
--- a/apps/systemlib/perf_counter.h
+++ /dev/null
@@ -1,128 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file perf_counter.h
- * Performance measuring tools.
- */
-
-#ifndef _SYSTEMLIB_PERF_COUNTER_H
-#define _SYSTEMLIB_PERF_COUNTER_H value
-
-/**
- * Counter types.
- */
-enum perf_counter_type {
-	PC_COUNT,		/**< count the number of times an event occurs */
-	PC_ELAPSED,		/**< measure the time elapsed performing an event */
-	PC_INTERVAL		/**< measure the interval between instances of an event */
-};
-
-struct perf_ctr_header;
-typedef struct perf_ctr_header	*perf_counter_t;
-
-__BEGIN_DECLS
-
-/**
- * Create a new counter.
- *
- * @param type			The type of the new counter.
- * @param name			The counter name.
- * @return			Handle for the new counter, or NULL if a counter
- *				could not be allocated.
- */
-__EXPORT extern perf_counter_t	perf_alloc(enum perf_counter_type type, const char *name);
-
-/**
- * Free a counter.
- *
- * @param handle		The performance counter's handle.
- */
-__EXPORT extern void		perf_free(perf_counter_t handle);
-
-/**
- * Count a performance event.
- *
- * This call only affects counters that take single events; PC_COUNT etc.
- *
- * @param handle		The handle returned from perf_alloc.
- */
-__EXPORT extern void		perf_count(perf_counter_t handle);
-
-/**
- * Begin a performance event.
- *
- * This call applies to counters that operate over ranges of time; PC_ELAPSED etc.
- *
- * @param handle		The handle returned from perf_alloc.
- */
-__EXPORT extern void		perf_begin(perf_counter_t handle);
-
-/**
- * End a performance event.
- *
- * This call applies to counters that operate over ranges of time; PC_ELAPSED etc.
- *
- * @param handle		The handle returned from perf_alloc.
- */
-__EXPORT extern void		perf_end(perf_counter_t handle);
-
-/**
- * Reset a performance event.
- *
- * This call resets performance counter to initial state
- *
- * @param handle		The handle returned from perf_alloc.
- */
-__EXPORT extern void		perf_reset(perf_counter_t handle);
-
-/**
- * Print one performance counter.
- *
- * @param handle		The counter to print.
- */
-__EXPORT extern void		perf_print_counter(perf_counter_t handle);
-
-/**
- * Print all of the performance counters.
- */
-__EXPORT extern void		perf_print_all(void);
-
-/**
- * Reset all of the performance counters.
- */
-__EXPORT extern void		perf_reset_all(void);
-
-__END_DECLS
-
-#endif
diff --git a/apps/systemlib/pid/pid.c b/apps/systemlib/pid/pid.c
deleted file mode 100644
index 49315cdc9..000000000
--- a/apps/systemlib/pid/pid.c
+++ /dev/null
@@ -1,191 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
- *   Author: @author Laurens Mackay 
- *           @author Tobias Naegeli 
- *           @author Martin Rutschmann 
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file pid.c
- * Implementation of generic PID control interface
- */
-
-#include "pid.h"
-#include 
-
-__EXPORT void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax,
-		       float limit, uint8_t mode)
-{
-	pid->kp = kp;
-	pid->ki = ki;
-	pid->kd = kd;
-	pid->intmax = intmax;
-	pid->limit = limit;
-	pid->mode = mode;
-	pid->count = 0;
-	pid->saturated = 0;
-	pid->last_output = 0;
-
-	pid->sp = 0;
-	pid->error_previous = 0;
-	pid->integral = 0;
-}
-__EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax, float limit)
-{
-	int ret = 0;
-
-	if (isfinite(kp)) {
-		pid->kp = kp;
-
-	} else {
-		ret = 1;
-	}
-
-	if (isfinite(ki)) {
-		pid->ki = ki;
-
-	} else {
-		ret = 1;
-	}
-
-	if (isfinite(kd)) {
-		pid->kd = kd;
-
-	} else {
-		ret = 1;
-	}
-
-	if (isfinite(intmax)) {
-		pid->intmax = intmax;
-
-	}  else {
-		ret = 1;
-	}
-
-	if (isfinite(limit)) {
-		pid->limit = limit;
-
-	}  else {
-		ret = 1;
-	}
-
-	return ret;
-}
-
-//void pid_set(PID_t *pid, float sp)
-//{
-//	pid->sp = sp;
-//	pid->error_previous = 0;
-//	pid->integral = 0;
-//}
-
-/**
- *
- * @param pid
- * @param val
- * @param dt
- * @return
- */
-__EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt)
-{
-	/*  error = setpoint - actual_position
-	 integral = integral + (error*dt)
-	 derivative = (error - previous_error)/dt
-	 output = (Kp*error) + (Ki*integral) + (Kd*derivative)
-	 previous_error = error
-	 wait(dt)
-	 goto start
-	 */
-
-	if (!isfinite(sp) || !isfinite(val) || !isfinite(val_dot) || !isfinite(dt)) {
-		return pid->last_output;
-	}
-
-	float i, d;
-	pid->sp = sp;
-
-	// Calculated current error value
-	float error = pid->sp - val;
-
-	if (isfinite(error)) {				// Why is this necessary?  DEW
-		pid->error_previous = error;
-	}
-
-	// Calculate or measured current error derivative
-
-	if (pid->mode == PID_MODE_DERIVATIV_CALC) {
-		d = (error - pid->error_previous) / dt;
-
-	} else if (pid->mode == PID_MODE_DERIVATIV_SET) {
-		d = -val_dot;
-
-	} else {
-		d = 0.0f;
-	}
-
-	// Calculate the error integral and check for saturation
-	i = pid->integral + (error * dt);
-
-	if (fabsf((error * pid->kp) + (i * pid->ki) + (d * pid->kd)) > pid->limit ||
-	    fabsf(i) > pid->intmax) {
-		i = pid->integral;		// If saturated then do not update integral value
-		pid->saturated = 1;
-
-	} else {
-		if (!isfinite(i)) {
-			i = 0;
-		}
-
-		pid->integral = i;
-		pid->saturated = 0;
-	}
-
-	// Calculate the output.  Limit output magnitude to pid->limit
-	float output = (pid->error_previous * pid->kp) + (i * pid->ki) + (d * pid->kd);
-
-	if (output > pid->limit) output = pid->limit;
-
-	if (output < -pid->limit) output = -pid->limit;
-
-	if (isfinite(output)) {
-		pid->last_output = output;
-	}
-
-
-	return pid->last_output;
-}
-
-
-__EXPORT void pid_reset_integral(PID_t *pid)
-{
-	pid->integral = 0;
-}
diff --git a/apps/systemlib/pid/pid.h b/apps/systemlib/pid/pid.h
deleted file mode 100644
index 64d668867..000000000
--- a/apps/systemlib/pid/pid.h
+++ /dev/null
@@ -1,78 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
- *   Author: @author Laurens Mackay 
- *           @author Tobias Naegeli 
- *           @author Martin Rutschmann 
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file pid.h
- * Definition of generic PID control interface
- */
-
-#ifndef PID_H_
-#define PID_H_
-
-#include 
-
-/* PID_MODE_DERIVATIV_CALC calculates discrete derivative from previous error
- * val_dot in pid_calculate() will be ignored */
-#define PID_MODE_DERIVATIV_CALC	0
-/* Use PID_MODE_DERIVATIV_SET if you have the derivative already (Gyros, Kalman) */
-#define PID_MODE_DERIVATIV_SET	1
-// Use PID_MODE_DERIVATIV_NONE for a PI controller (vs PID)
-#define PID_MODE_DERIVATIV_NONE 9
-
-typedef struct {
-	float kp;
-	float ki;
-	float kd;
-	float intmax;
-	float sp;
-	float integral;
-	float error_previous;
-	float last_output;
-	float limit;
-	uint8_t mode;
-	uint8_t count;
-	uint8_t saturated;
-} PID_t;
-
-__EXPORT void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax, float limit, uint8_t mode);
-__EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax, float limit);
-//void pid_set(PID_t *pid, float sp);
-__EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt);
-
-__EXPORT void pid_reset_integral(PID_t *pid);
-
-
-#endif /* PID_H_ */
diff --git a/apps/systemlib/ppm_decode.c b/apps/systemlib/ppm_decode.c
deleted file mode 100644
index a5d2f738d..000000000
--- a/apps/systemlib/ppm_decode.c
+++ /dev/null
@@ -1,248 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file ppm_decode.c
- *
- * PPM input decoder.
- */
-
-#include 
-
-#include 
-#include 
-
-#include 
-
-#include "ppm_decode.h"
-
-/*
- * PPM decoder tuning parameters.
- *
- * The PPM decoder works as follows.
- *
- * Initially, the decoder waits in the UNSYNCH state for two edges
- * separated by PPM_MIN_START.  Once the second edge is detected,
- * the decoder moves to the ARM state.
- *
- * The ARM state expects an edge within PPM_MAX_PULSE_WIDTH, being the
- * timing mark for the first channel.  If this is detected, it moves to
- * the INACTIVE state.
- *
- * The INACTIVE phase waits for and discards the next edge, as it is not
- * significant.  Once the edge is detected, it moves to the ACTIVE stae.
- *
- * The ACTIVE state expects an edge within PPM_MAX_PULSE_WIDTH, and when
- * received calculates the time from the previous mark and records
- * this time as the value for the next channel.
- *
- * If at any time waiting for an edge, the delay from the previous edge
- * exceeds PPM_MIN_START the frame is deemed to have ended and the recorded
- * values are advertised to clients.
- */
-#define PPM_MAX_PULSE_WIDTH	500		/* maximum width of a pulse */
-#define PPM_MIN_CHANNEL_VALUE	800		/* shortest valid channel signal */
-#define PPM_MAX_CHANNEL_VALUE	2200		/* longest valid channel signal */
-#define PPM_MIN_START		2500		/* shortest valid start gap */
-
-/* Input timeout - after this interval we assume signal is lost */
-#define PPM_INPUT_TIMEOUT	100 * 1000	/* 100ms */
-
-/* Number of same-sized frames required to 'lock' */
-#define PPM_CHANNEL_LOCK	3		/* should be less than the input timeout */
-
-/* decoded PPM buffer */
-#define PPM_MIN_CHANNELS	4
-#define PPM_MAX_CHANNELS	12
-
-/*
- * Public decoder state
- */
-uint16_t	ppm_buffer[PPM_MAX_CHANNELS];
-unsigned	ppm_decoded_channels;
-hrt_abstime	ppm_last_valid_decode;
-
-static uint16_t ppm_temp_buffer[PPM_MAX_CHANNELS];
-
-/* PPM decoder state machine */
-static struct {
-	uint16_t	last_edge;	/* last capture time */
-	uint16_t	last_mark;	/* last significant edge */
-	unsigned	next_channel;
-	unsigned	count_max;
-	enum {
-		UNSYNCH = 0,
-		ARM,
-		ACTIVE,
-		INACTIVE
-	} phase;
-} ppm;
-
-
-void
-ppm_input_init(unsigned count_max)
-{
-	ppm_decoded_channels = 0;
-	ppm_last_valid_decode = 0;
-
-	memset(&ppm, 0, sizeof(ppm));
-	ppm.count_max = count_max;
-}
-
-void
-ppm_input_decode(bool reset, unsigned count)
-{
-	uint16_t width;
-	uint16_t interval;
-	unsigned i;
-
-	/* if we missed an edge, we have to give up */
-	if (reset)
-		goto error;
-
-	/* how long since the last edge? */
-	width = count - ppm.last_edge;
-
-	if (count < ppm.last_edge)
-		width += ppm.count_max;	/* handle wrapped count */
-
-	ppm.last_edge = count;
-
-	/*
-	 * If this looks like a start pulse, then push the last set of values
-	 * and reset the state machine.
-	 *
-	 * Note that this is not a "high performance" design; it implies a whole
-	 * frame of latency between the pulses being received and their being
-	 * considered valid.
-	 */
-	if (width >= PPM_MIN_START) {
-
-		/*
-		 * If the number of channels changes unexpectedly, we don't want
-		 * to just immediately jump on the new count as it may be a result
-		 * of noise or dropped edges.  Instead, take a few frames to settle.
-		 */
-		if (ppm.next_channel != ppm_decoded_channels) {
-			static unsigned new_channel_count;
-			static unsigned new_channel_holdoff;
-
-			if (new_channel_count != ppm.next_channel) {
-				/* start the lock counter for the new channel count */
-				new_channel_count = ppm.next_channel;
-				new_channel_holdoff = PPM_CHANNEL_LOCK;
-
-			} else if (new_channel_holdoff > 0) {
-				/* this frame matched the last one, decrement the lock counter */
-				new_channel_holdoff--;
-
-			} else {
-				/* we have seen PPM_CHANNEL_LOCK frames with the new count, accept it */
-				ppm_decoded_channels = new_channel_count;
-				new_channel_count = 0;
-			}
-
-		} else {
-			/* frame channel count matches expected, let's use it */
-			if (ppm.next_channel > PPM_MIN_CHANNELS) {
-				for (i = 0; i < ppm.next_channel; i++)
-					ppm_buffer[i] = ppm_temp_buffer[i];
-
-				ppm_last_valid_decode = hrt_absolute_time();
-			}
-		}
-
-		/* reset for the next frame */
-		ppm.next_channel = 0;
-
-		/* next edge is the reference for the first channel */
-		ppm.phase = ARM;
-
-		return;
-	}
-
-	switch (ppm.phase) {
-	case UNSYNCH:
-		/* we are waiting for a start pulse - nothing useful to do here */
-		return;
-
-	case ARM:
-
-		/* we expect a pulse giving us the first mark */
-		if (width > PPM_MAX_PULSE_WIDTH)
-			goto error;		/* pulse was too long */
-
-		/* record the mark timing, expect an inactive edge */
-		ppm.last_mark = count;
-		ppm.phase = INACTIVE;
-		return;
-
-	case INACTIVE:
-		/* this edge is not interesting, but now we are ready for the next mark */
-		ppm.phase = ACTIVE;
-
-		/* note that we don't bother looking at the timing of this edge */
-
-		return;
-
-	case ACTIVE:
-
-		/* we expect a well-formed pulse */
-		if (width > PPM_MAX_PULSE_WIDTH)
-			goto error;		/* pulse was too long */
-
-		/* determine the interval from the last mark */
-		interval = count - ppm.last_mark;
-		ppm.last_mark = count;
-
-		/* if the mark-mark timing is out of bounds, abandon the frame */
-		if ((interval < PPM_MIN_CHANNEL_VALUE) || (interval > PPM_MAX_CHANNEL_VALUE))
-			goto error;
-
-		/* if we have room to store the value, do so */
-		if (ppm.next_channel < PPM_MAX_CHANNELS)
-			ppm_temp_buffer[ppm.next_channel++] = interval;
-
-		ppm.phase = INACTIVE;
-		return;
-
-	}
-
-	/* the state machine is corrupted; reset it */
-
-error:
-	/* we don't like the state of the decoder, reset it and try again */
-	ppm.phase = UNSYNCH;
-	ppm_decoded_channels = 0;
-}
-
diff --git a/apps/systemlib/ppm_decode.h b/apps/systemlib/ppm_decode.h
deleted file mode 100644
index 6c5e15345..000000000
--- a/apps/systemlib/ppm_decode.h
+++ /dev/null
@@ -1,85 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file ppm_decode.h
- *
- * PPM input decoder.
- */
-
-#pragma once
-
-#include 
-
-/**
- * Maximum number of channels that we will decode.
- */
-#define PPM_MAX_CHANNELS	12
-
-/* PPM input nominal min/max values */
-#define PPM_MIN 1000
-#define PPM_MAX 2000
-#define PPM_MID ((PPM_MIN + PPM_MAX) / 2)
-
-__BEGIN_DECLS
-
-/*
- * PPM decoder state
- */
-__EXPORT extern uint16_t	ppm_buffer[PPM_MAX_CHANNELS];	/**< decoded PPM channel values */
-__EXPORT extern unsigned	ppm_decoded_channels;	/**< count of decoded channels */
-__EXPORT extern hrt_abstime	ppm_last_valid_decode;	/**< timestamp of the last valid decode */
-
-/**
- * Initialise the PPM input decoder.
- *
- * @param count_max		The maximum value of the counter passed to
- *				ppm_input_decode, used to determine how to
- *				handle counter wrap.
- */
-__EXPORT void		ppm_input_init(unsigned count_max);
-
-/**
- * Inform the decoder of an edge on the PPM input.
- *
- * This function can be registered with the HRT as the PPM edge handler.
- *
- * @param reset			If set, the edge detector has missed one or
- *				more edges and the decoder needs to be reset.
- * @param count			A microsecond timestamp corresponding to the
- *				edge, in the range 0-count_max.  This value
- *				is expected to wrap.
- */
-__EXPORT void		ppm_input_decode(bool reset, unsigned count);
-
-__END_DECLS
\ No newline at end of file
diff --git a/apps/systemlib/scheduling_priorities.h b/apps/systemlib/scheduling_priorities.h
deleted file mode 100644
index be1dbfcd8..000000000
--- a/apps/systemlib/scheduling_priorities.h
+++ /dev/null
@@ -1,48 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#pragma once
-
-#include 
-
-/*      SCHED_PRIORITY_MAX    */
-#define SCHED_PRIORITY_FAST_DRIVER           SCHED_PRIORITY_MAX
-#define SCHED_PRIORITY_WATCHDOG             (SCHED_PRIORITY_MAX - 5)
-#define SCHED_PRIORITY_ACTUATOR_OUTPUTS     (SCHED_PRIORITY_MAX - 15)
-#define SCHED_PRIORITY_ATTITUDE_CONTROL     (SCHED_PRIORITY_MAX - 25)
-#define SCHED_PRIORITY_SLOW_DRIVER          (SCHED_PRIORITY_MAX - 35)
-#define SCHED_PRIORITY_POSITION_CONTROL     (SCHED_PRIORITY_MAX - 40)
-/*      SCHED_PRIORITY_DEFAULT    */
-#define SCHED_PRIORITY_LOGGING              (SCHED_PRIORITY_DEFAULT - 10)
-#define SCHED_PRIORITY_PARAMS               (SCHED_PRIORITY_DEFAULT - 15)
-/*      SCHED_PRIORITY_IDLE    */
diff --git a/apps/systemlib/systemlib.c b/apps/systemlib/systemlib.c
deleted file mode 100644
index afb7eca29..000000000
--- a/apps/systemlib/systemlib.c
+++ /dev/null
@@ -1,91 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier 
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file systemlib.c
- * Implementation of commonly used low-level system-call like functions.
- */
-
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-
-#include "systemlib.h"
-
-static void kill_task(FAR _TCB *tcb, FAR void *arg);
-
-void killall()
-{
-//	printf("Sending SIGUSR1 to all processes now\n");
-
-	/* iterate through all tasks and send kill signal */
-	sched_foreach(kill_task, NULL);
-}
-
-static void kill_task(FAR _TCB *tcb, FAR void *arg)
-{
-	kill(tcb->pid, SIGUSR1);
-}
-
-int task_spawn(const char *name, int scheduler, int priority, int stack_size, main_t entry, const char *argv[])
-{
-	int pid;
-
-	sched_lock();
-
-	/* create the task */
-	pid = task_create(name, priority, stack_size, entry, argv);
-
-	if (pid > 0) {
-
-		/* configure the scheduler */
-		struct sched_param param;
-
-		param.sched_priority = priority;
-		sched_setscheduler(pid, scheduler, ¶m);
-
-		/* XXX do any other private task accounting here before the task starts */
-	}
-
-	sched_unlock();
-
-	return pid;
-}
diff --git a/apps/systemlib/systemlib.h b/apps/systemlib/systemlib.h
deleted file mode 100644
index 2c53c648b..000000000
--- a/apps/systemlib/systemlib.h
+++ /dev/null
@@ -1,122 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: Lorenz Meier 
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file systemlib.h
- * Definition of commonly used low-level system-call like functions.
- */
-
-#ifndef SYSTEMLIB_H_
-#define SYSTEMLIB_H_
-#include 
-#include 
-
-__BEGIN_DECLS
-
-/** Reboots the board */
-extern void up_systemreset(void) noreturn_function;
-
-/** Sends SIGUSR1 to all processes */
-__EXPORT void killall(void);
-
-/** Default scheduler type */
-#if CONFIG_RR_INTERVAL > 0
-# define SCHED_DEFAULT	SCHED_RR
-#else
-# define SCHED_DEFAULT	SCHED_FIFO
-#endif
-
-/** Starts a task and performs any specific accounting, scheduler setup, etc. */
-__EXPORT int task_spawn(const char *name,
-			int priority,
-			int scheduler,
-			int stack_size,
-			main_t entry,
-			const char *argv[]);
-
-enum MULT_PORTS {
-	MULT_0_US2_RXTX = 0,
-	MULT_1_US2_FLOW,
-	MULT_2_GPIO_12,
-	MULT_COUNT
-};
-
-/* Check max multi port count */
-#if (MULT_COUNT > 33)
-#error "MULT_COUNT HAS TO BE LESS THAN OR EQUAL 33"
-#endif
-
-/* FMU board info, to be stored in the first 64 bytes of the FMU EEPROM */
-#pragma pack(push,1)
-struct fmu_board_info_s {
-	char header[3];				/**< {'P', 'X', '4'} */
-	char board_name[20];			/**< Human readable board name, \0 terminated */
-	uint8_t board_id;			/**< board ID, constantly increasing number per board */
-	uint8_t board_version;			/**< board version, major * 10 + minor: v1.7 = 17 */
-	uint8_t multi_port_config[MULT_COUNT];	/**< Configuration of multi ports 1-3		  */
-	uint8_t reserved[33 - MULT_COUNT];	/**< Reserved space for more multi ports	  */
-	uint16_t production_year;
-	uint8_t production_month;
-	uint8_t production_day;
-	uint8_t production_fab;
-	uint8_t production_tester;
-}; /**< stores autopilot board information meta data from EEPROM */
-#pragma pack(pop)
-
-/* Carrier board info, to be stored in the 128 byte board info EEPROM */
-#pragma pack(push,1)
-struct carrier_board_info_s {
-	char header[3];				/**< {'P', 'X', '4'} */
-	char board_name[20];			/**< Human readable board name, \0 terminated */
-	uint8_t board_id;			/**< board ID, constantly increasing number per board */
-	uint8_t board_version;			/**< board version, major * 10 + minor: v1.7 = 17 */
-	uint8_t multi_port_config[MULT_COUNT];	/**< Configuration of multi ports 1-3		  */
-	uint8_t reserved[33 - MULT_COUNT];	/**< Reserved space for more multi ports	  */
-	uint16_t production_year;
-	uint8_t production_month;
-	uint8_t production_day;
-	uint8_t production_fab;
-	uint8_t production_tester;
-	char board_custom_data[64];
-}; /**< stores carrier board information meta data from EEPROM */
-#pragma pack(pop)
-
-struct __multiport_info {
-	const char *port_names[MULT_COUNT];
-};
-__EXPORT extern const struct __multiport_info multiport_info;
-
-__END_DECLS
-
-#endif /* SYSTEMLIB_H_ */
diff --git a/apps/systemlib/up_cxxinitialize.c b/apps/systemlib/up_cxxinitialize.c
deleted file mode 100644
index c78f29570..000000000
--- a/apps/systemlib/up_cxxinitialize.c
+++ /dev/null
@@ -1,150 +0,0 @@
-/************************************************************************************
- * configs/stm32f4discovery/src/up_cxxinitialize.c
- * arch/arm/src/board/up_cxxinitialize.c
- *
- *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt 
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ************************************************************************************/
-
-/************************************************************************************
- * Included Files
- ************************************************************************************/
-
-#include 
-
-#include 
-
-#include 
-
-//#include 
-//#include "chip.h"
-
-/************************************************************************************
- * Definitions
- ************************************************************************************/
-/* Debug ****************************************************************************/
-/* Non-standard debug that may be enabled just for testing the static constructors */
-
-#ifndef CONFIG_DEBUG
-#  undef CONFIG_DEBUG_CXX
-#endif
-
-#ifdef CONFIG_DEBUG_CXX
-#  define cxxdbg              dbg
-#  define cxxlldbg            lldbg
-#  ifdef CONFIG_DEBUG_VERBOSE
-#    define cxxvdbg           vdbg
-#    define cxxllvdbg         llvdbg
-#  else
-#    define cxxvdbg(x...)
-#    define cxxllvdbg(x...)
-#  endif
-#else
-#  define cxxdbg(x...)
-#  define cxxlldbg(x...)
-#  define cxxvdbg(x...)
-#  define cxxllvdbg(x...)
-#endif
-
-/************************************************************************************
- * Private Types
- ************************************************************************************/
-/* This type defines one entry in initialization array */
-
-typedef void (*initializer_t)(void);
-
-/************************************************************************************
- * External references
- ************************************************************************************/
-/* _sinit and _einit are symbols exported by the linker script that mark the
- * beginning and the end of the C++ initialization section.
- */
-
-extern initializer_t _sinit;
-extern initializer_t _einit;
-
-/* _stext and _etext are symbols exported by the linker script that mark the
- * beginning and the end of text.
- */
-
-extern uint32_t _stext;
-extern uint32_t _etext;
-
-/************************************************************************************
- * Private Functions
- ************************************************************************************/
-
-/************************************************************************************
- * Public Functions
- ************************************************************************************/
-
-/****************************************************************************
- * Name: up_cxxinitialize
- *
- * Description:
- *   If C++ and C++ static constructors are supported, then this function
- *   must be provided by board-specific logic in order to perform
- *   initialization of the static C++ class instances.
- *
- *   This function should then be called in the application-specific
- *   user_start logic in order to perform the C++ initialization.  NOTE
- *   that no component of the core NuttX RTOS logic is involved; This
- *   function defintion only provides the 'contract' between application
- *   specific C++ code and platform-specific toolchain support
- *
- ***************************************************************************/
-
-__EXPORT void up_cxxinitialize(void)
-{
-  initializer_t *initp;
-
-  cxxdbg("_sinit: %p _einit: %p _stext: %p _etext: %p\n",
-         &_sinit, &_einit, &_stext, &_etext);
-
-  /* Visit each entry in the initialzation table */
-
-  for (initp = &_sinit; initp != &_einit; initp++)
-    {
-      initializer_t initializer = *initp;
-      cxxdbg("initp: %p initializer: %p\n", initp, initializer);
-
-      /* Make sure that the address is non-NULL and lies in the text region
-       * defined by the linker script.  Some toolchains may put NULL values
-       * or counts in the initialization table
-       */
-
-      if ((void*)initializer > (void*)&_stext && (void*)initializer < (void*)&_etext)
-        {
-          cxxdbg("Calling %p\n", initializer);
-          initializer();
-        }
-    }
-}
diff --git a/apps/systemlib/uthash/doc/userguide.txt b/apps/systemlib/uthash/doc/userguide.txt
deleted file mode 100644
index 3e65a52fc..000000000
--- a/apps/systemlib/uthash/doc/userguide.txt
+++ /dev/null
@@ -1,1682 +0,0 @@
-uthash User Guide
-=================
-Troy D. Hanson 
-v1.9.6, April 2012
-
-include::sflogo.txt[]
-include::topnav.txt[]
-
-A hash in C
------------
-include::toc.txt[]
-
-This document is written for C programmers. Since you're reading this, chances
-are that you know a hash is used for looking up items using a key. In scripting
-languages like Perl, hashes are used all the time.  In C, hashes don't exist in
-the language itself. This software provides a hash table for C structures.  
-
-What can it do?
-~~~~~~~~~~~~~~~~~
-This software supports these operations on items in a hash table:
-
-1. add
-2. find
-3. delete
-4. count
-5. iterate
-6. sort
-7. select 
-
-Is it fast?
-~~~~~~~~~~~
-Add, find and delete are normally constant-time operations. This is influenced
-by your key domain and the hash function. 
-
-This hash aims to be minimalistic and efficient. It's around 900 lines of C.
-It inlines automatically because it's implemented as macros. It's fast as long
-as the hash function is suited to your keys. You can use the default hash
-function, or easily compare performance and choose from among several other
-<>. 
-
-Is it a library?
-~~~~~~~~~~~~~~~~
-No, it's just a single header file: `uthash.h`.  All you need to do is copy
-the header file into your project, and:
-
-    #include "uthash.h"
-
-Since uthash is a header file only, there is no library code to link against.
-
-C/C++ and platforms
-~~~~~~~~~~~~~~~~~~~
-This software can be used in C and C++ programs.  It has been tested on:
-
- * Linux
- * Mac OS X
- * Windows using Visual Studio 2008 and 2010
- * Solaris 
- * OpenBSD
- * FreeBSD
-
-Test suite
-^^^^^^^^^^
-To run the test suite, enter the `tests` directory. Then,
-
- * on Unix platforms, run `make` 
- * on Windows, run the "do_tests_win32.cmd" batch file. (You may edit the
-   batch file if your Visual Studio is installed in a non-standard location).
-
-BSD licensed
-~~~~~~~~~~~~
-This software is made available under the 
-link:license.html[revised BSD license]. 
-It is free and open source. 
-
-Obtaining uthash
-~~~~~~~~~~~~~~~~
-Please follow the link to download on the 
-http://uthash.sourceforge.net[uthash website] at http://uthash.sourceforge.net.
-
-A number of platforms include uthash in their package repositories. For example,
-Debian/Ubuntu users may simply `aptitude install uthash-dev`.
-
-Getting help
-~~~~~~~~~~~~
-Feel free to mailto:tdh@tkhanson.net[email the author] at
-tdh@tkhanson.net.
-
-Resources
-~~~~~~~~~
-Users of uthash may wish to follow the news feed for information about new
-releases. Also, there are some extra bonus headers included with uthash.
-
-News::
- The author has a news feed for http://troydhanson.wordpress.com/[software updates] image:img/rss.png[(RSS)].
-Extras included with uthash::
- uthash ships with these "extras"-- independent headers similar to uthash. 
- First link:utlist.html[utlist.h] provides linked list macros for C structures.
- Second, link:utarray.html[utarray.h] implements dynamic arrays using macros. 
- Third, link:utstring.html[utstring.h] implements a basic dynamic string.
-Other software::
- Other open-source software by the author is listed at http://tkhanson.net.
-
-Who's using it?
-~~~~~~~~~~~~~~~
-Since releasing uthash in 2006, it has been downloaded thousands of times,
-incorporated into commercial software, academic research, and into other
-open-source software.  
-
-Your structure
---------------
-
-In uthash, a hash table is comprised of structures. Each structure represents a
-key-value association. One or more of the structure fields constitute the key.
-The structure pointer itself is the value.
-
-.Defining a structure that can be hashed
-----------------------------------------------------------------------
-#include "uthash.h"
-
-struct my_struct {
-    int id;                    /* key */
-    char name[10];             
-    UT_hash_handle hh;         /* makes this structure hashable */
-};
-----------------------------------------------------------------------
-
-Note that, in uthash, your structure will never be moved or copied into another
-location when you add it into a hash table. This means that you can keep other
-data structures that safely point to your structure-- regardless of whether you
-add or delete it from a hash table during your program's lifetime.
-
-The key
-~~~~~~~
-There are no restrictions on the data type or name of the key field. The key
-can also comprise multiple contiguous fields, having any names and data types.
-
-.Any data type... really?
-*****************************************************************************
-Yes, your key and structure can have any data type. Unlike function calls with
-fixed prototypes, uthash consists of macros-- whose arguments are untyped-- and
-thus able to work with any type of structure or key.  
-*****************************************************************************
-
-Unique keys
-^^^^^^^^^^^
-As with any hash, every item must have a unique key.  Your application must
-enforce key uniqueness. Before you add an item to the hash table, you must
-first know (if in doubt, check!) that the key is not already in use.  You
-can check whether a key already exists in the hash table using `HASH_FIND`.
-
-The hash handle
-~~~~~~~~~~~~~~~
-The `UT_hash_handle` field must be present in your structure.  It is used for
-the internal bookkeeping that makes the hash work.  It does not require
-initialization. It can be named anything, but you can simplify matters by
-naming it `hh`. This allows you to use the easier "convenience" macros to add,
-find and delete items.
-
-A word about memory
-~~~~~~~~~~~~~~~~~~~
-Some have asked how uthash cleans up its internal memory. The answer is simple:
-'when you delete the final item' from a hash table, uthash releases all the
-internal memory associated with that hash table, and sets its pointer to NULL.
-
-Hash operations
----------------
-
-This section introduces the uthash macros by example. For a more succinct
-listing, see <>. 
-
-.Convenience vs. general macros:
-*****************************************************************************
-The uthash macros fall into two categories. The 'convenience' macros can be used
-with integer, pointer or string keys (and require that you chose the conventional
-name `hh` for the `UT_hash_handle` field).  The convenience macros take fewer
-arguments than the general macros, making their usage a bit simpler for these
-common types of keys. 
-
-The 'general' macros can be used for any types of keys, or for multi-field keys,
-or when the `UT_hash_handle` has been named something other than `hh`. These
-macros take more arguments and offer greater flexibility in return. But if the
-convenience macros suit your needs, use them-- your code will be more readable.
-*****************************************************************************
-
-Declare the hash
-~~~~~~~~~~~~~~~~
-Your hash must be declared as a `NULL`-initialized pointer to your structure.
-
-  struct my_struct *users = NULL;    /* important! initialize to NULL */
-
-Add item
-~~~~~~~~
-Allocate and initialize your structure as you see fit. The only aspect
-of this that matters to uthash is that your key must be initialized to
-a unique value. Then call `HASH_ADD`. (Here we use the convenience macro
-`HASH_ADD_INT`, which offers simplified usage for keys of type `int`).
-
-.Add an item to a hash
-----------------------------------------------------------------------
-void add_user(int user_id, char *name) {
-    struct my_struct *s;
-
-    s = malloc(sizeof(struct my_struct));
-    s->id = user_id;
-    strcpy(s->name, name);
-    HASH_ADD_INT( users, id, s );  /* id: name of key field */
-}
-----------------------------------------------------------------------
-
-The first parameter to `HASH_ADD_INT` is the hash table, and the
-second parameter is the 'name' of the key field. Here, this is `id`. The
-last parameter is a pointer to the structure being added.
-
-[[validc]]
-.Wait.. the field name is a parameter?
-*******************************************************************************
-If you find it strange that `id`, which is the 'name of a field' in the
-structure, can be passed as a parameter, welcome to the world of macros. Don't
-worry- the C preprocessor expands this to valid C code. 
-*******************************************************************************
-
-Key must not be modified while in-use
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Once a structure has been added to the hash, do not change the value of its key.
-Instead, delete the item from the hash, change the key, and then re-add it.
-
-Passing the hash pointer into functions
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-In the example above `users` is a global variable, but what if the caller wanted
-to pass the hash pointer 'into' the `add_user` function? At first glance it would 
-appear that you could simply pass `users` as an argument, but that won't work
-right. 
-
-  /* bad */
-  void add_user(struct my_struct *users, int user_id, char *name) { 
-    ...
-    HASH_ADD_INT( users, id, s );  
-  }
-
-You really need to pass 'a pointer' to the hash pointer: 
-
-  /* good */
-  void add_user(struct my_struct **users, int user_id, char *name) { ...
-    ...
-    HASH_ADD_INT( *users, id, s );
-  }
-
-Note that we dereferenced the pointer in the `HASH_ADD` also.
-
-The reason it's necessary to deal with a pointer to the hash pointer is simple:
-the hash macros modify it (in other words, they modify the 'pointer itself' not
-just what it points to). 
-
-Find item 
-~~~~~~~~~
-To look up a structure in a hash, you need its key.  Then call `HASH_FIND`.
-(Here we use the convenience macro `HASH_FIND_INT` for keys of type `int`).
-
-.Find a structure using its key
-----------------------------------------------------------------------
-struct my_struct *find_user(int user_id) {
-    struct my_struct *s;
-
-    HASH_FIND_INT( users, &user_id, s );  /* s: output pointer */
-    return s;
-}
-----------------------------------------------------------------------
-
-Here, the hash table is `users`, and `&user_id` points to the key (an integer
-in this case).  Last, `s` is the 'output' variable of `HASH_FIND_INT`. The 
-final result is that `s` points to the structure with the given key, or
-is `NULL` if the key wasn't found in the hash.
-
-[NOTE]
-The middle argument is a 'pointer' to the key. You can't pass a literal key
-value to `HASH_FIND`. Instead assign the literal value to a variable, and pass
-a pointer to the variable.
-
-
-Delete item
-~~~~~~~~~~~
-To delete a structure from a hash, you must have a pointer to it. (If you only
-have the key, first do a `HASH_FIND` to get the structure pointer).
-
-.Delete an item from a hash
-----------------------------------------------------------------------
-void delete_user(struct my_struct *user) {
-    HASH_DEL( users, user);  /* user: pointer to deletee */
-    free(user);              /* optional; it's up to you! */
-}
-----------------------------------------------------------------------
-
-Here again, `users` is the hash table, and `user` is a pointer to the
-structure we want to remove from the hash.
-
-uthash never frees your structure
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Deleting a structure just removes it from the hash table-- it doesn't `free`
-it.  The choice of when to free your structure is entirely up to you; uthash
-will never free your structure.
-
-Delete can change the pointer
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-The hash table pointer (which initially points to the first item added to the
-hash) can change in response to `HASH_DEL` (i.e. if you delete the first item
-in the hash table).
-
-Iterative deletion
-^^^^^^^^^^^^^^^^^^
-The `HASH_ITER` macro is a deletion-safe iteration construct which expands
-to a simple 'for' loop.
-
-.Delete all items from a hash
-----------------------------------------------------------------------
-void delete_all() {
-  struct my_struct *current_user, *tmp; 
-
-  HASH_ITER(hh, users, current_user, tmp) {
-    HASH_DEL(users,current_user);  /* delete; users advances to next */
-    free(current_user);            /* optional- if you want to free  */
-  } 
-}
-----------------------------------------------------------------------
-
-All-at-once deletion
-^^^^^^^^^^^^^^^^^^^^
-If you only want to delete all the items, but not free them or do any
-per-element clean up, you can do this more efficiently in a single operation:
-
-  HASH_CLEAR(hh,users);
-
-Afterward, the list head (here, `users`) will be set to `NULL`.
-
-Count items
-~~~~~~~~~~~
-
-The number of items in the hash table can be obtained using `HASH_COUNT`:
-
-.Count of items in the hash table
-----------------------------------------------------------------------
-unsigned int num_users;
-num_users = HASH_COUNT(users);
-printf("there are %u users\n", num_users);
-----------------------------------------------------------------------
-
-Incidentally, this works even the list (`users`, here) is `NULL`, in 
-which case the count is 0.
-
-Iterating and sorting 
-~~~~~~~~~~~~~~~~~~~~~
-
-You can loop over the items in the hash by starting from the beginning and
-following the `hh.next` pointer.
-
-.Iterating over all the items in a hash
-----------------------------------------------------------------------
-void print_users() {
-    struct my_struct *s;
-
-    for(s=users; s != NULL; s=s->hh.next) {
-        printf("user id %d: name %s\n", s->id, s->name);
-    }
-}
-----------------------------------------------------------------------
-
-There is also an `hh.prev` pointer you could use to iterate backwards through
-the hash, starting from any known item.
-
-[[deletesafe]]
-Deletion-safe iteration
-^^^^^^^^^^^^^^^^^^^^^^^
-In the example above, it would not be safe to delete and free `s` in the body
-of the 'for' loop, (because `s` is derefenced each time the loop iterates).
-This is easy to rewrite correctly (by copying the `s->hh.next` pointer to a
-temporary variable 'before' freeing `s`), but it comes up often enough that a
-deletion-safe iteration macro, `HASH_ITER`, is included. It expands to a
-`for`-loop header. Here is how it could be used to rewrite the last example:
-
-    struct my_struct *s, *tmp;
-
-    HASH_ITER(hh, users, s, tmp) {
-        printf("user id %d: name %s\n", s->id, s->name);
-        /* ... it is safe to delete and free s here */
-    }
-
-.A hash is also a doubly-linked list.
-*******************************************************************************
-Iterating backward and forward through the items in the hash is possible
-because of the `hh.prev` and `hh.next` fields. All the items in the hash can
-be reached by repeatedly following these pointers, thus the hash is also a
-doubly-linked list. 
-*******************************************************************************
-
-If you're using uthash in a C++ program, you need an extra cast on the `for`
-iterator, e.g., `s=(struct my_struct*)s->hh.next`.
-
-Sorted iteration
-^^^^^^^^^^^^^^^^
-The items in the hash are, by default, traversed in the order they were added
-("insertion order") when you follow the `hh.next` pointer. But you can sort
-the items into a new order using `HASH_SORT`. E.g.,
-
-    HASH_SORT( users, name_sort );
-
-The second argument is a pointer to a comparison function. It must accept two
-arguments which are pointers to two items to compare. Its return value should
-be less than zero, zero, or greater than zero, if the first item sorts before,
-equal to, or after the second item, respectively. (Just like `strcmp`).
-
-.Sorting the items in the hash
-----------------------------------------------------------------------
-int name_sort(struct my_struct *a, struct my_struct *b) {
-    return strcmp(a->name,b->name);
-}
-
-int id_sort(struct my_struct *a, struct my_struct *b) {
-    return (a->id - b->id);
-}
-
-void sort_by_name() {
-    HASH_SORT(users, name_sort);
-}
-
-void sort_by_id() {
-    HASH_SORT(users, id_sort);
-}
-----------------------------------------------------------------------
-
-When the items in the hash are sorted, the first item may change position.  In
-the example above, `users` may point to a different structure after calling
-`HASH_SORT`.
-
-A complete example
-~~~~~~~~~~~~~~~~~~
-
-We'll repeat all the code and embellish it with a `main()` function to form a
-working example. 
-
-If this code was placed in a file called `example.c` in the same directory as
-`uthash.h`, it could be compiled and run like this:
-
-    cc -o example example.c
-    ./example
-
-Follow the prompts to try the program.
-
-.A complete program 
-----------------------------------------------------------------------
-#include    /* gets */
-#include   /* atoi, malloc */
-#include   /* strcpy */
-#include "uthash.h"
-
-struct my_struct {
-    int id;                    /* key */
-    char name[10];             
-    UT_hash_handle hh;         /* makes this structure hashable */
-};
-
-struct my_struct *users = NULL;
-
-void add_user(int user_id, char *name) {
-    struct my_struct *s;
-
-    s = (struct my_struct*)malloc(sizeof(struct my_struct));
-    s->id = user_id;
-    strcpy(s->name, name);
-    HASH_ADD_INT( users, id, s );  /* id: name of key field */
-}
-
-struct my_struct *find_user(int user_id) {
-    struct my_struct *s;
-
-    HASH_FIND_INT( users, &user_id, s );  /* s: output pointer */
-    return s;
-}
-
-void delete_user(struct my_struct *user) {
-    HASH_DEL( users, user);  /* user: pointer to deletee */
-    free(user);
-}
-
-void delete_all() {
-  struct my_struct *current_user, *tmp; 
-
-  HASH_ITER(hh, users, current_user, tmp) {
-    HASH_DEL(users,current_user);  /* delete it (users advances to next) */
-    free(current_user);            /* free it */
-  } 
-}
-
-void print_users() {
-    struct my_struct *s;
-
-    for(s=users; s != NULL; s=(struct my_struct*)(s->hh.next)) {
-        printf("user id %d: name %s\n", s->id, s->name);
-    }
-}
-
-int name_sort(struct my_struct *a, struct my_struct *b) {
-    return strcmp(a->name,b->name);
-}
-
-int id_sort(struct my_struct *a, struct my_struct *b) {
-    return (a->id - b->id);
-}
-
-void sort_by_name() {
-    HASH_SORT(users, name_sort);
-}
-
-void sort_by_id() {
-    HASH_SORT(users, id_sort);
-}
-
-int main(int argc, char *argv[]) {
-    char in[10];
-    int id=1, running=1;
-    struct my_struct *s;
-    unsigned num_users;
-
-    while (running) {
-        printf("1. add user\n");
-        printf("2. find user\n");
-        printf("3. delete user\n");
-        printf("4. delete all users\n");
-        printf("5. sort items by name\n");
-        printf("6. sort items by id\n");
-        printf("7. print users\n");
-        printf("8. count users\n");
-        printf("9. quit\n");
-        gets(in);
-        switch(atoi(in)) {
-            case 1:
-                printf("name?\n");
-                add_user(id++, gets(in));
-                break;
-            case 2:
-                printf("id?\n");
-                s = find_user(atoi(gets(in)));
-                printf("user: %s\n", s ? s->name : "unknown");
-                break;
-            case 3:
-                printf("id?\n");
-                s = find_user(atoi(gets(in)));
-                if (s) delete_user(s);
-                else printf("id unknown\n");
-                break;
-            case 4:
-                delete_all();
-                break;
-            case 5:
-                sort_by_name();
-                break;
-            case 6:
-                sort_by_id();
-                break;
-            case 7:
-                print_users();
-                break;
-            case 8:
-                num_users=HASH_COUNT(users);
-                printf("there are %u users\n", num_users);
-                break;
-            case 9:
-                running=0;
-                break;
-        }
-    }
-
-    delete_all();  /* free any structures */
-    return 0;
-}
-----------------------------------------------------------------------
-
-This program is included in the distribution in `tests/example.c`. You can run
-`make example` in that directory to compile it easily.
-
-Standard key types
-------------------
-This section goes into specifics of how to work with different kinds of keys.
-You can use nearly any type of key-- integers, strings, pointers, structures, etc. 
-
-[NOTE]
-.A note about float
-================================================================================
-You can use floating point keys. This comes with the same caveats as with any
-program that tests floating point equality. In other words, even the tiniest
-difference in two floating point numbers makes them distinct keys.
-================================================================================
-
-Integer keys
-~~~~~~~~~~~~
-The preceding examples demonstrated use of integer keys. To recap, use the
-convenience macros `HASH_ADD_INT` and `HASH_FIND_INT` for structures with
-integer keys. (The other operations such as `HASH_DELETE` and `HASH_SORT` are
-the same for all types of keys).
-
-String keys
-~~~~~~~~~~~
-If your structure has a string key, the operations to use depend on whether your
-structure 'points to' the key (`char *`) or the string resides `within` the
-structure (`char a[10]`).  *This distinction is important*.  As we'll see below,
-you need to use `HASH_ADD_KEYPTR` when your structure 'points' to a key (that is,
-the key itself is 'outside' of the structure); in contrast, use `HASH_ADD_STR`
-for a string key that is contained *within* your structure.
-
-[NOTE]
-.char[ ] vs. char* 
-================================================================================
-The string is 'within' the structure in the first example below-- `name` is a
-`char[10]` field.  In the second example, the key is 'outside' of the
-structure-- `name` is a `char *`. So the first example uses `HASH_ADD_STR` but
-the second example uses `HASH_ADD_KEYPTR`.  For information on this macro, see
-the <>.
-================================================================================
-
-String 'within' structure
-^^^^^^^^^^^^^^^^^^^^^^^^^
-
-.A string-keyed hash (string within structure)
-----------------------------------------------------------------------
-#include   /* strcpy */
-#include   /* malloc */
-#include    /* printf */
-#include "uthash.h"
-
-struct my_struct {
-    char name[10];             /* key (string is WITHIN the structure) */
-    int id;                    
-    UT_hash_handle hh;         /* makes this structure hashable */
-};
-
-
-int main(int argc, char *argv[]) {
-    const char **n, *names[] = { "joe", "bob", "betty", NULL };
-    struct my_struct *s, *tmp, *users = NULL;
-    int i=0;
-
-    for (n = names; *n != NULL; n++) {
-        s = (struct my_struct*)malloc(sizeof(struct my_struct));
-        strncpy(s->name, *n,10);
-        s->id = i++;
-        HASH_ADD_STR( users, name, s );  
-    }
-
-    HASH_FIND_STR( users, "betty", s);
-    if (s) printf("betty's id is %d\n", s->id);
-
-    /* free the hash table contents */
-    HASH_ITER(hh, users, s, tmp) {
-      HASH_DEL(users, s);
-      free(s);
-    }
-    return 0;
-}
-----------------------------------------------------------------------
-
-This example is included in the distribution in `tests/test15.c`. It prints:
-
-    betty's id is 2
-
-String 'pointer' in structure
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-Now, here is the same example but using a `char *` key instead of `char [ ]`:
-
-.A string-keyed hash (structure points to string)
-----------------------------------------------------------------------
-#include   /* strcpy */
-#include   /* malloc */
-#include    /* printf */
-#include "uthash.h"
-
-struct my_struct {
-    const char *name;          /* key */
-    int id;                    
-    UT_hash_handle hh;         /* makes this structure hashable */
-};
-
-
-int main(int argc, char *argv[]) {
-    const char **n, *names[] = { "joe", "bob", "betty", NULL };
-    struct my_struct *s, *tmp, *users = NULL;
-    int i=0;
-
-    for (n = names; *n != NULL; n++) {
-        s = (struct my_struct*)malloc(sizeof(struct my_struct));
-        s->name = *n;
-        s->id = i++;
-        HASH_ADD_KEYPTR( hh, users, s->name, strlen(s->name), s );  
-    }
-
-    HASH_FIND_STR( users, "betty", s);
-    if (s) printf("betty's id is %d\n", s->id);
-
-    /* free the hash table contents */
-    HASH_ITER(hh, users, s, tmp) {
-      HASH_DEL(users, s);
-      free(s);
-    }
-    return 0;
-}
-----------------------------------------------------------------------
-
-This example is included in `tests/test40.c`.
-
-Pointer keys
-~~~~~~~~~~~~
-Your key can be a pointer. To be very clear, this means the 'pointer itself'
-can be the key (in contrast, if the thing 'pointed to' is the key, this is a
-different use case handled by `HASH_ADD_KEYPTR`).
-
-Here is a simple example where a structure has a pointer member, called `key`.
-
-.A pointer key
-----------------------------------------------------------------------
-#include 
-#include 
-#include "uthash.h"
-
-typedef struct {
-  void *key;
-  int i;
-  UT_hash_handle hh;
-} el_t;
-
-el_t *hash = NULL;
-char *someaddr = NULL;
-
-int main() {
-  el_t *d;
-  el_t *e = (el_t*)malloc(sizeof(el_t));
-  if (!e) return -1;
-  e->key = (void*)someaddr;
-  e->i = 1;
-  HASH_ADD_PTR(hash,key,e);
-  HASH_FIND_PTR(hash, &someaddr, d);
-  if (d) printf("found\n");
-
-  /* release memory */
-  HASH_DEL(hash,e);
-  free(e);
-  return 0;
-}
-----------------------------------------------------------------------
-
-This example is included in `tests/test57.c`. Note that the end of the program
-deletes the element out of the hash, (and since no more elements remain in the
-hash), uthash releases its internal memory.
-
-Structure keys
-~~~~~~~~~~~~~~
-Your key field can have any data type. To uthash, it is just a sequence of
-bytes.  Therefore, even a nested structure can be used as a key. We'll use the
-general macros `HASH_ADD` and `HASH_FIND` to demonstrate.
-
-NOTE: Structures contain padding (wasted internal space used to fulfill
-alignment requirements for the members of the structure). These padding bytes
-'must be zeroed' before adding an item to the hash or looking up an item.
-Therefore always zero the whole structure before setting the members of
-interest. The example below does this-- see the two calls to `memset`.
-
-.A key which is a structure
-----------------------------------------------------------------------
-#include 
-#include 
-#include "uthash.h"
-
-typedef struct {
-  char a;
-  int b;
-} record_key_t;
-
-typedef struct {
-    record_key_t key;
-    /* ... other data ... */
-    UT_hash_handle hh;
-} record_t;
-
-int main(int argc, char *argv[]) {
-    record_t l, *p, *r, *tmp, *records = NULL;
-
-    r = (record_t*)malloc( sizeof(record_t) );
-    memset(r, 0, sizeof(record_t));
-    r->key.a = 'a';
-    r->key.b = 1;
-    HASH_ADD(hh, records, key, sizeof(record_key_t), r);
-
-    memset(&l, 0, sizeof(record_t));
-    l.key.a = 'a';
-    l.key.b = 1;
-    HASH_FIND(hh, records, &l.key, sizeof(record_key_t), p);
-
-    if (p) printf("found %c %d\n", p->key.a, p->key.b);
-
-    HASH_ITER(hh, records, p, tmp) {
-      HASH_DEL(records, p);
-      free(p);
-    }
-    return 0;
-}
-
-----------------------------------------------------------------------
-
-This usage is nearly the same as use of a compound key explained below.
-
-Note that the general macros require the name of the `UT_hash_handle` to be
-passed as the first argument (here, this is `hh`). The general macros are 
-documented in <>. 
-
-Advanced Topics
----------------
-
-Compound keys
-~~~~~~~~~~~~~
-Your key can even comprise multiple contiguous fields. 
-
-.A multi-field key
-----------------------------------------------------------------------
-#include     /* malloc       */
-#include     /* offsetof     */
-#include      /* printf       */
-#include     /* memset       */
-#include "uthash.h"
-
-#define UTF32 1
-
-typedef struct {
-  UT_hash_handle hh;
-  int len;
-  char encoding;      /* these two fields */
-  int text[];         /* comprise the key */
-} msg_t;
-
-typedef struct {
-    char encoding; 
-    int text[]; 
-} lookup_key_t;
-
-int main(int argc, char *argv[]) {
-    unsigned keylen;
-    msg_t *msg, *tmp, *msgs = NULL;
-    lookup_key_t *lookup_key;
-
-    int beijing[] = {0x5317, 0x4eac};   /* UTF-32LE for 北京 */
-
-    /* allocate and initialize our structure */
-    msg = (msg_t*)malloc( sizeof(msg_t) + sizeof(beijing) );
-    memset(msg, 0, sizeof(msg_t)+sizeof(beijing)); /* zero fill */
-    msg->len = sizeof(beijing);
-    msg->encoding = UTF32;
-    memcpy(msg->text, beijing, sizeof(beijing));
-
-    /* calculate the key length including padding, using formula */
-    keylen =   offsetof(msg_t, text)       /* offset of last key field */
-             + sizeof(beijing)             /* size of last key field */
-             - offsetof(msg_t, encoding);  /* offset of first key field */
-
-    /* add our structure to the hash table */
-    HASH_ADD( hh, msgs, encoding, keylen, msg);
-
-    /* look it up to prove that it worked :-) */
-    msg=NULL;
-
-    lookup_key = (lookup_key_t*)malloc(sizeof(*lookup_key) + sizeof(beijing));
-    memset(lookup_key, 0, sizeof(*lookup_key) + sizeof(beijing));
-    lookup_key->encoding = UTF32;
-    memcpy(lookup_key->text, beijing, sizeof(beijing));
-    HASH_FIND( hh, msgs, &lookup_key->encoding, keylen, msg );
-    if (msg) printf("found \n");
-    free(lookup_key);
-
-    HASH_ITER(hh, msgs, msg, tmp) {
-      HASH_DEL(msgs, msg);
-      free(msg);
-    }
-    return 0;
-}
-----------------------------------------------------------------------
-
-This example is included in the distribution in `tests/test22.c`.
-
-If you use multi-field keys, recognize that the compiler pads adjacent fields
-(by inserting unused space between them) in order to fulfill the alignment
-requirement of each field. For example a structure containing a `char` followed
-by an `int` will normally have 3 "wasted" bytes of padding after the char, in
-order to make the `int` field start on a multiple-of-4 address (4 is the length
-of the int). 
-
-.Calculating the length of a multi-field key:
-*******************************************************************************
-To determine the key length when using a multi-field key, you must include any
-intervening structure padding the compiler adds for alignment purposes.
-
-An easy way to calculate the key length is to use the `offsetof` macro from
-``.  The formula is:
-
-     key length =   offsetof(last_key_field) 
-                  + sizeof(last_key_field) 
-                  - offsetof(first_key_field)
-
-In the example above, the `keylen` variable is set using this formula.
-*******************************************************************************
-
-When dealing with a multi-field key, you must zero-fill your structure before
-`HASH_ADD`'ing it to a hash table, or using its fields in a `HASH_FIND` key.
-
-In the previous example, `memset` is used to initialize the structure by
-zero-filling it. This zeroes out any padding between the key fields. If we
-didn't zero-fill the structure, this padding would contain random values.  The
-random values would lead to `HASH_FIND` failures; as two "identical" keys will
-appear to mismatch if there are any differences within their padding.
-
-[[multilevel]]
-Multi-level hash tables
-~~~~~~~~~~~~~~~~~~~~~~~
-A multi-level hash table arises when each element of a hash table contains its
-own secondary hash table. There can be any number of levels. In a scripting
-language you might see:
-
-  $items{bob}{age}=37
-  
-The C program below builds this example in uthash: the hash table is called
-`items`. It contains one element (`bob`) whose own hash table contains one
-element (`age`) with value 37.  No special functions are necessary to build
-a multi-level hash table. 
-
-While this example represents both levels (`bob` and `age`) using the same
-structure, it would also be fine to use two different structure definitions.
-It would also be fine if there were three or more levels instead of two.
-
-.Multi-level hash table
-----------------------------------------------------------------------
-#include 
-#include 
-#include 
-#include "uthash.h"
-
-/* hash of hashes */
-typedef struct item {
-  char name[10];
-  struct item *sub;
-  int val;
-  UT_hash_handle hh;
-} item_t;
-
-item_t *items=NULL;
-
-int main(int argc, char *argvp[]) {
-  item_t *item1, *item2, *tmp1, *tmp2;
-
-  /* make initial element */
-  item_t *i = malloc(sizeof(*i));
-  strcpy(i->name, "bob");
-  i->sub = NULL;
-  i->val = 0;
-  HASH_ADD_STR(items, name, i);
-
-  /* add a sub hash table off this element */
-  item_t *s = malloc(sizeof(*s));
-  strcpy(s->name, "age");
-  s->sub = NULL;
-  s->val = 37;
-  HASH_ADD_STR(i->sub, name, s);
-
-  /* iterate over hash elements  */
-  HASH_ITER(hh, items, item1, tmp1) {
-    HASH_ITER(hh, item1->sub, item2, tmp2) {
-      printf("$items{%s}{%s} = %d\n", item1->name, item2->name, item2->val);
-    }
-  }
-
-  /* clean up both hash tables */
-  HASH_ITER(hh, items, item1, tmp1) {
-    HASH_ITER(hh, item1->sub, item2, tmp2) {
-      HASH_DEL(item1->sub, item2);
-      free(item2);
-    }
-    HASH_DEL(items, item1);
-    free(item1);
-  }
-
-  return 0;
-}
-----------------------------------------------------------------------
-The example above is included in `tests/test59.c`.  
-
-[[multihash]]
-Items in several hash tables
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-A structure can be added to more than one hash table. A few reasons you might do
-this include:
-
-- each hash table may use an alternative key; 
-- each hash table may have its own sort order; 
-- or you might simply use multiple hash tables for grouping purposes.  E.g.,
-  you could have users in an `admin_users` and a `users` hash table. 
-
-Your structure needs to have a `UT_hash_handle` field for each hash table to
-which it might be added. You can name them anything. E.g.,
-
-  UT_hash_handle hh1, hh2;
-
-Items with alternative keys
-~~~~~~~~~~~~~~~~~~~~~~~~~~~
-You might create a hash table keyed on an ID field, and another hash table keyed
-on username (if usernames are unique). You can add the same user structure to
-both hash tables (without duplication of the structure), allowing lookup of a
-user structure by their name or ID.  The way to achieve this is to have a
-separate `UT_hash_handle` for each hash to which the structure may be added.
-
-.A structure with two alternative keys
-----------------------------------------------------------------------
-struct my_struct {
-    int id;                    /* usual key */
-    char username[10];         /* alternative key */
-    UT_hash_handle hh1;        /* handle for first hash table */
-    UT_hash_handle hh2;        /* handle for second hash table */
-};
-----------------------------------------------------------------------
-
-In the example above, the structure can now be added to two separate hash
-tables. In one hash, `id` is its key, while in the other hash, `username` is
-its key.  (There is no requirement that the two hashes have different key
-fields. They could both use the same key, such as `id`).
-
-Notice the structure has two hash handles (`hh1` and `hh2`).  In the code
-below, notice that each hash handle is used exclusively with a particular hash
-table.  (`hh1` is always used with the `users_by_id` hash, while `hh2` is
-always used with the `users_by_name` hash table).
-
-.Two keys on a structure
-----------------------------------------------------------------------
-    struct my_struct *users_by_id = NULL, *users_by_name = NULL, *s;
-    int i;
-    char *name;
-
-    s = malloc(sizeof(struct my_struct));
-    s->id = 1;
-    strcpy(s->username, "thanson");
-
-    /* add the structure to both hash tables */
-    HASH_ADD(hh1, users_by_id, id, sizeof(int), s);
-    HASH_ADD(hh2, users_by_name, username, strlen(s->username), s);
-
-    /* lookup user by ID in the "users_by_id" hash table */
-    i=1;
-    HASH_FIND(hh1, users_by_id, &i, sizeof(int), s);
-    if (s) printf("found id %d: %s\n", i, s->username);
-
-    /* lookup user by username in the "users_by_name" hash table */
-    name = "thanson";
-    HASH_FIND(hh2, users_by_name, name, strlen(name), s);
-    if (s) printf("found user %s: %d\n", name, s->id);
-----------------------------------------------------------------------
-
-
-Several sort orders
-~~~~~~~~~~~~~~~~~~~
-It comes as no suprise that two hash tables can have different sort orders, but
-this fact can also be used advantageously to sort the 'same items' in several
-ways. This is based on the ability to store a structure in several hash tables.
-
-Extending the previous example, suppose we have many users. We have added each
-user structure to the `users_by_id` hash table and the `users_by_name` hash table.
-(To reiterate, this is done without the need to have two copies of each structure).
-Now we can define two sort functions, then use `HASH_SRT`.
-
-  int sort_by_id(struct my_struct *a, struct my_struct *b) {
-    if (a->id == b->id) return 0;
-    return (a->id < b->id) ? -1 : 1;
-  }
-
-  int sort_by_name(struct my_struct *a, struct my_struct *b) {
-    return strcmp(a->username,b->username);
-  }
-
-  HASH_SRT(hh1, users_by_id, sort_by_id);
-  HASH_SRT(hh2, users_by_name, sort_by_name);
-
-Now iterating over the items in `users_by_id` will traverse them in id-order
-while, naturally, iterating over `users_by_name` will traverse them in
-name-order. The items are fully forward-and-backward linked in each order.
-So even for one set of users, we might store them in two hash tables to provide
-easy iteration in two different sort orders.
-
-Bloom filter (faster misses)
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-Programs that generate a fair miss rate (`HASH_FIND` that result in `NULL`) may
-benefit from the built-in Bloom filter support. This is disabled by default,
-because programs that generate only hits would incur a slight penalty from it.
-Also, programs that do deletes should not use the Bloom filter. While the
-program would operate correctly, deletes diminish the benefit of the filter.
-To enable the Bloom filter, simply compile with `-DHASH_BLOOM=n` like:
-
-  -DHASH_BLOOM=27
-
-where the number can be any value up to 32 which determines the amount of memory
-used by the filter, as shown below. Using more memory makes the filter more
-accurate and has the potential to speed up your program by making misses bail
-out faster. 
-
-.Bloom filter sizes for selected values of n
-[width="50%",cols="10m,30",grid="none",options="header"]
-|=====================================================================
-| n   | Bloom filter size (per hash table)
-| 16  | 8 kilobytes
-| 20  | 128 kilobytes
-| 24  | 2 megabytes
-| 28  | 32 megabytes
-| 32  | 512 megabytes
-|=====================================================================
-
-Bloom filters are only a performance feature; they do not change the results of
-hash operations in any way. The only way to gauge whether or not a Bloom filter
-is right for your program is to test it. Reasonable values for the size of the
-Bloom filter are 16-32 bits.
-
-Select
-~~~~~~
-An experimental 'select' operation is provided that inserts those items from a
-source hash that satisfy a given condition into a destination hash. This
-insertion is done with somewhat more efficiency than if this were using
-`HASH_ADD`, namely because the hash function is not recalculated for keys of the
-selected items.  This operation does not remove any items from the source hash.
-Rather the selected items obtain dual presence in both hashes.  The destination
-hash may already have items in it; the selected items are added to it. In order
-for a structure to be usable with `HASH_SELECT`, it must have two or more hash
-handles. (As described <>, a structure can exist in many
-hash tables at the same time; it must have a separate hash handle for each one).
-
-  user_t *users=NULL, *admins=NULL; /* two hash tables */
-
-  typedef struct {
-      int id;
-      UT_hash_handle hh;  /* handle for users hash */
-      UT_hash_handle ah;  /* handle for admins hash */
-  } user_t;
-
-Now suppose we have added some users, and want to select just the administrator
-users who have id's less than 1024.
-
-  #define is_admin(x) (((user_t*)x)->id < 1024)
-  HASH_SELECT(ah,admins,hh,users,is_admin);
-
-The first two parameters are the 'destination' hash handle and hash table, the
-second two parameters are the 'source' hash handle and hash table, and the last
-parameter is the 'select condition'. Here we used a macro `is_admin()` but we
-could just as well have used a function.
-
-  int is_admin(void *userv) {
-    user_t *user = (user_t*)userv; 
-    return (user->id < 1024) ? 1 : 0;
-  }
-
-If the select condition always evaluates to true, this operation is
-essentially a 'merge' of the source hash into the destination hash. Of course,
-the source hash remains unchanged under any use of `HASH_SELECT`. It only adds
-items to the destination hash selectively.
-
-The two hash handles must differ. An example of using `HASH_SELECT` is included
-in `tests/test36.c`.
-
-
-[[hash_functions]]
-Built-in hash functions
-~~~~~~~~~~~~~~~~~~~~~~~
-Internally, a hash function transforms a key into a bucket number.  You don't
-have to take any action to use the default hash function, currently Jenkin's.
-
-Some programs may benefit from using another of the built-in hash functions.
-There is a simple analysis utility included with uthash to help you determine
-if another hash function will give you better performance.
-
-You can use a different hash function by compiling your program with
-`-DHASH_FUNCTION=HASH_xyz` where `xyz` is one of the symbolic names listed
-below. E.g., 
-
-    cc -DHASH_FUNCTION=HASH_BER -o program program.c
-
-.Built-in hash functions
-[width="50%",cols="^5m,20",grid="none",options="header"]
-|===============================================================================
-|Symbol |   Name    
-|JEN    |   Jenkins (default)
-|BER    |   Bernstein
-|SAX    |   Shift-Add-Xor
-|OAT    |   One-at-a-time
-|FNV    |   Fowler/Noll/Vo
-|SFH    |   Paul Hsieh 
-|MUR    |   MurmurHash v3 (see note)
-|===============================================================================
-
-[NOTE]
-.MurmurHash
-================================================================================
-A special symbol must be defined if you intend to use MurmurHash. To use it, add
-`-DHASH_USING_NO_STRICT_ALIASING` to your `CFLAGS`. And, if you are using
-the gcc compiler with optimization, add `-fno-strict-aliasing` to your `CFLAGS`.
-================================================================================
-
-Which hash function is best?
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-You can easily determine the best hash function for your key domain. To do so,
-you'll need to run your program once in a data-collection pass, and then run
-the collected data through an included analysis utility.
-
-First you must build the analysis utility. From the top-level directory,
-
-    cd tests/
-    make
-
-We'll use `test14.c` to demonstrate the data-collection and analysis steps
-(here using `sh` syntax to redirect file descriptor 3 to a file):
-
-.Using keystats
---------------------------------------------------------------------------------
-% cc -DHASH_EMIT_KEYS=3 -I../src -o test14 test14.c
-% ./test14 3>test14.keys
-% ./keystats test14.keys
-fcn  ideal%     #items   #buckets  dup%  fl   add_usec  find_usec  del-all usec
----  ------ ---------- ---------- -----  -- ---------- ----------  ------------
-SFH   91.6%       1219        256    0%  ok         92        131            25
-FNV   90.3%       1219        512    0%  ok        107         97            31
-SAX   88.7%       1219        512    0%  ok        111        109            32
-OAT   87.2%       1219        256    0%  ok         99        138            26
-JEN   86.7%       1219        256    0%  ok         87        130            27
-BER   86.2%       1219        256    0%  ok        121        129            27
---------------------------------------------------------------------------------
-
-[NOTE]
-The number 3 in `-DHASH_EMIT_KEYS=3` is a file descriptor. Any file descriptor
-that your program doesn't use for its own purposes can be used instead of 3. 
-The data-collection mode enabled by `-DHASH_EMIT_KEYS=x` should not be used in
-production code. 
-
-Usually, you should just pick the first hash function that is listed. Here, this
-is `SFH`.  This is the function that provides the most even distribution for
-your keys. If several have the same `ideal%`, then choose the fastest one
-according to the `find_usec` column.
-
-keystats column reference
-^^^^^^^^^^^^^^^^^^^^^^^^^
-fcn::
-    symbolic name of hash function
-ideal%::
-    The percentage of items in the hash table which can be looked up within an
-    ideal number of steps. (Further explained below).
-#items::
-    the number of keys that were read in from the emitted key file
-#buckets::
-    the number of buckets in the hash after all the keys were added
-dup%::
-    the percent of duplicate keys encountered in the emitted key file.
-    Duplicates keys are filtered out to maintain key uniqueness. (Duplicates
-    are normal.  For example, if the application adds an item to a hash,
-    deletes it, then re-adds it, the key is written twice to the emitted file.)  
-flags::
-    this is either `ok`, or `nx` (noexpand) if the expansion inhibited flag is
-    set, described in <>.  It is not recommended
-    to use a hash function that has the `noexpand` flag set.
-add_usec::
-    the clock time in microseconds required to add all the keys to a hash
-find_usec::
-    the clock time in microseconds required to look up every key in the hash
-del-all usec::
-    the clock time in microseconds required to delete every item in the hash
-
-[[ideal]]
-ideal%
-^^^^^^
-
-.What is ideal%?
-*****************************************************************************
-The 'n' items in a hash are distributed into 'k' buckets. Ideally each bucket
-would contain an equal share '(n/k)' of the items. In other words, the maximum
-linear position of any item in a bucket chain would be 'n/k' if every bucket is
-equally used. If some buckets are overused and others are underused, the
-overused buckets will contain items whose linear position surpasses 'n/k'.
-Such items are considered non-ideal. 
-
-As you might guess, `ideal%` is the percentage of ideal items in the hash. These
-items have favorable linear positions in their bucket chains.  As `ideal%`
-approaches 100%, the hash table approaches constant-time lookup performance.
-*****************************************************************************
-
-[[hashscan]]
-hashscan
-~~~~~~~~
-NOTE: This utility is only available on Linux, and on FreeBSD (8.1 and up).
-
-A utility called `hashscan` is included in the `tests/` directory. It
-is built automatically when you run `make` in that directory. This tool
-examines a running process and reports on the uthash tables that it finds in
-that program's memory. It can also save the keys from each table in a format
-that can be fed into `keystats`.
-
-Here is an example of using `hashscan`. First ensure that it is built:
-
-    cd tests/
-    make
-
-Since `hashscan` needs a running program to inspect, we'll start up a simple
-program that makes a hash table and then sleeps as our test subject:
-
-    ./test_sleep &
-    pid: 9711
-
-Now that we have a test program, let's run `hashscan` on it:
-
-  ./hashscan 9711
-  Address            ideal    items  buckets mc fl bloom/sat fcn keys saved to
-  ------------------ ----- -------- -------- -- -- --------- --- -------------
-  0x862e038            81%    10000     4096 11 ok 16    14% JEN 
-
-If we wanted to copy out all its keys for external analysis using `keystats`,
-add the `-k` flag:
-
-  ./hashscan -k 9711
-  Address            ideal    items  buckets mc fl bloom/sat fcn keys saved to
-  ------------------ ----- -------- -------- -- -- --------- --- -------------
-  0x862e038            81%    10000     4096 11 ok 16    14% JEN /tmp/9711-0.key
-
-Now we could run `./keystats /tmp/9711-0.key` to analyze which hash function
-has the best characteristics on this set of keys.
-
-hashscan column reference
-^^^^^^^^^^^^^^^^^^^^^^^^^
-Address::
-    virtual address of the hash table
-ideal::
-    The percentage of items in the table which can be looked up within an ideal
-    number of steps. See <> in the `keystats` section.
-items::
-    number of items in the hash table
-buckets::
-    number of buckets in the hash table
-mc::
-    the maximum chain length found in the hash table (uthash usually tries to
-    keep fewer than 10 items in each bucket, or in some cases a multiple of 10)
-fl::
-    flags (either `ok`, or `NX` if the expansion-inhibited flag is set)
-bloom/sat::
-    if the hash table uses a Bloom filter, this is the size (as a power of two)
-    of the filter (e.g. 16 means the filter is 2^16 bits in size). The second
-    number is the "saturation" of the bits expressed as a percentage. The lower
-    the percentage, the more potential benefit to identify cache misses quickly. 
-fcn::
-    symbolic name of hash function 
-keys saved to::
-    file to which keys were saved, if any
-
-.How hashscan works
-*****************************************************************************
-When hashscan runs, it attaches itself to the target process, which suspends
-the target process momentarily. During this brief suspension, it scans the
-target's virtual memory for the signature of a uthash hash table. It then 
-checks if a valid hash table structure accompanies the signature and reports
-what it finds. When it detaches, the target process resumes running normally.
-The hashscan is performed "read-only"-- the target process is not modified.
-Since hashscan is analyzing a momentary snapshot of a running process, it may
-return different results from one run to another. 
-*****************************************************************************
-
-[[expansion]]
-Expansion internals
-~~~~~~~~~~~~~~~~~~~
-Internally this hash manages the number of buckets, with the goal of having
-enough buckets so that each one contains only a small number of items.  
-
-.Why does the number of buckets matter?
-********************************************************************************
-When looking up an item by its key, this hash scans linearly through the items
-in the appropriate bucket. In order for the linear scan to run in constant
-time, the number of items in each bucket must be bounded. This is accomplished
-by increasing the number of buckets as needed.
-********************************************************************************
-
-Normal expansion
-^^^^^^^^^^^^^^^^
-This hash attempts to keep fewer than 10 items in each bucket. When an item is
-added that would cause a bucket to exceed this number, the number of buckets in
-the hash is doubled and the items are redistributed into the new buckets. In an
-ideal world, each bucket will then contain half as many items as it did before.
-
-Bucket expansion occurs automatically and invisibly as needed. There is
-no need for the application to know when it occurs. 
-
-Per-bucket expansion threshold
-++++++++++++++++++++++++++++++
-Normally all buckets share the same threshold (10 items) at which point bucket
-expansion is triggered. During the process of bucket expansion, uthash can
-adjust this expansion-trigger threshold on a per-bucket basis if it sees that
-certain buckets are over-utilized. 
-
-When this threshold is adjusted, it goes from 10 to a multiple of 10 (for that
-particular bucket).  The multiple is based on how many times greater the actual
-chain length is than the ideal length. It is a practical measure to reduce
-excess bucket expansion in the case where a hash function over-utilizes a few
-buckets but has good overall distribution. However, if the overall distribution
-gets too bad, uthash changes tactics.
-
-Inhibited expansion
-^^^^^^^^^^^^^^^^^^^
-You usually don't need to know or worry about this, particularly if you used
-the `keystats` utility during development to select a good hash for your keys.
-
-A hash function may yield an uneven distribution of items across the buckets.
-In moderation this is not a problem. Normal bucket expansion takes place as
-the chain lengths grow. But when significant imbalance occurs (because the hash
-function is not well suited to the key domain), bucket expansion may be
-ineffective at reducing the chain lengths. 
-
-Imagine a very bad hash function which always puts every item in bucket 0. No
-matter how many times the number of buckets is doubled, the chain length of
-bucket 0 stays the same. In a situation like this, the best behavior is to 
-stop expanding, and accept O(n) lookup performance. This is what uthash
-does. It degrades gracefully if the hash function is ill-suited to the keys.
-
-If two consecutive bucket expansions yield `ideal%` values below 50%, uthash
-inhibits expansion for that hash table.  Once set, the 'bucket expansion
-inhibited' flag remains in effect as long as the hash has items in it.  
-Inhibited expansion may cause `HASH_FIND` to exhibit worse than constant-time
-performance. 
-
-Hooks
-~~~~~
-You don't need to use these hooks- they are only here if you want to modify
-the behavior of uthash.  Hooks can be used to change how uthash allocates 
-memory, and to run code in response to certain internal events. 
-
-malloc/free
-^^^^^^^^^^^
-By default this hash implementation uses `malloc` and `free` to manage memory.
-If your application uses its own custom allocator, this hash can use them too.
-
-.Specifying alternate memory management functions
-----------------------------------------------------------------------------
-#include "uthash.h"
-
-/* undefine the defaults */
-#undef uthash_malloc
-#undef uthash_free
-
-/* re-define, specifying alternate functions */
-#define uthash_malloc(sz) my_malloc(sz) 
-#define uthash_free(ptr,sz) my_free(ptr)    
-
-...
-----------------------------------------------------------------------------
-
-Notice that `uthash_free` receives two parameters. The `sz` parameter is for
-convenience on embedded platforms that manage their own memory.
-
-Out of memory
-^^^^^^^^^^^^^
-If memory allocation fails (i.e., the malloc function returned `NULL`), the
-default behavior is to terminate the process by calling `exit(-1)`. This can
-be modified by re-defining the `uthash_fatal` macro.
- 
-    #undef uthash_fatal
-    #define uthash_fatal(msg) my_fatal_function(msg);
-
-The fatal function should terminate the process or `longjmp` back to a safe
-place. Uthash does not support "returning a failure" if memory cannot be
-allocated.
-
-Internal events
-^^^^^^^^^^^^^^^
-There is no need for the application to set these hooks or take action in
-response to these events. They are mainly for diagnostic purposes.
-
-These two hooks are "notification" hooks which get executed if uthash is
-expanding buckets, or setting the 'bucket expansion inhibited' flag. Normally
-both of these hooks are undefined and thus compile away to nothing. 
-
-Expansion
-+++++++++
-There is a hook for the bucket expansion event.  
-
-.Bucket expansion hook
-----------------------------------------------------------------------------
-#include "uthash.h"
-
-#undef uthash_expand_fyi 
-#define uthash_expand_fyi(tbl) printf("expanded to %d buckets\n", tbl->num_buckets)
-
-...
-----------------------------------------------------------------------------
-
-Expansion-inhibition
-++++++++++++++++++++
-This hook can be defined to code to execute in the event that uthash decides to
-set the 'bucket expansion inhibited' flag. 
-
-.Bucket expansion inhibited hook
-----------------------------------------------------------------------------
-#include "uthash.h"
-
-#undef uthash_noexpand_fyi
-#define uthash_noexpand_fyi printf("warning: bucket expansion inhibited\n");
-
-...
-----------------------------------------------------------------------------
-
-
-Debug mode
-~~~~~~~~~~
-If a program that uses this hash is compiled with `-DHASH_DEBUG=1`, a special
-internal consistency-checking mode is activated.  In this mode, the integrity
-of the whole hash is checked following every add or delete operation.  This is
-for debugging the uthash software only, not for use in production code. 
-
-In the `tests/` directory, running `make debug` will run all the tests in
-this mode.
-
-In this mode, any internal errors in the hash data structure will cause a
-message to be printed to `stderr` and the program to exit.
-
-The `UT_hash_handle` data structure includes `next`, `prev`, `hh_next` and
-`hh_prev` fields.  The former two fields determine the "application" ordering
-(that is, insertion order-- the order the items were added).  The latter two
-fields determine the "bucket chain" order.  These link the `UT_hash_handles`
-together in a doubly-linked list that is a bucket chain.
-
-Checks performed in `-DHASH_DEBUG=1` mode:
-
-- the hash is walked in its entirety twice: once in 'bucket' order and a
-  second time in 'application' order
-- the total number of items encountered in both walks is checked against the
-  stored number
-- during the walk in 'bucket' order, each item's `hh_prev` pointer is compared
-  for equality with the last visited item
-- during the walk in 'application' order, each item's `prev` pointer is compared
-  for equality with the last visited item
-
-.Macro debugging:
-********************************************************************************
-Sometimes it's difficult to interpret a compiler warning on a line which
-contains a macro call.  In the case of uthash, one macro can expand to dozens of
-lines. In this case, it is helpful to expand the macros and then recompile.
-By doing so, the warning message will refer to the exact line within the macro.
-
-Here is an example of how to expand the macros and then recompile. This uses the
-`test1.c` program in the `tests/` subdirectory.
-
-  gcc -E -I../src test1.c > /tmp/a.c
-  egrep -v '^#' /tmp/a.c > /tmp/b.c
-  indent /tmp/b.c
-  gcc -o /tmp/b /tmp/b.c
-
-The last line compiles the original program (test1.c) with all macros expanded.
-If there was a warning, the referenced line number can be checked in `/tmp/b.c`.
-********************************************************************************
-
-Thread safety
-~~~~~~~~~~~~~
-You can use uthash in a threaded program. But you must do the locking. Use a
-read-write lock to protect against concurrent writes. It is ok to have
-concurrent readers (since uthash 1.5). 
-
-For example using pthreads you can create an rwlock like this:
-
-  pthread_rwlock_t lock;
-  if (pthread_rwlock_init(&lock,NULL) != 0) fatal("can't create rwlock");
-
-Then, readers must acquire the read lock before doing any `HASH_FIND` calls or
-before iterating over the hash elements:
-
-  if (pthread_rwlock_rdlock(&lock) != 0) fatal("can't get rdlock");
-  HASH_FIND_INT(elts, &i, e);
-  pthread_rwlock_unlock(&lock);
-  
-Writers must acquire the exclusive write lock before doing any update. Add,
-delete, and sort are all updates that must be locked.
-
-  if (pthread_rwlock_wrlock(&lock) != 0) fatal("can't get wrlock");
-  HASH_DEL(elts, e);
-  pthread_rwlock_unlock(&lock);
-
-If you prefer, you can use a mutex instead of a read-write lock, but this will
-reduce reader concurrency to a single thread at a time. 
-
-An example program using uthash with a read-write lock is included in
-`tests/threads/test1.c`.
-
-[[Macro_reference]]
-Macro reference
----------------
-
-Convenience macros
-~~~~~~~~~~~~~~~~~~
-The convenience macros do the same thing as the generalized macros, but
-require fewer arguments.  
-
-In order to use the convenience macros, 
-
-1. the structure's `UT_hash_handle` field must be named `hh`, and
-2. for add or find, the key field must be of type `int` or `char[]` or pointer
-
-.Convenience macros
-[width="90%",cols="10m,30m",grid="none",options="header"]
-|===============================================================================
-|macro         | arguments
-|HASH_ADD_INT  | (head, keyfield_name, item_ptr)
-|HASH_FIND_INT | (head, key_ptr, item_ptr)
-|HASH_ADD_STR  | (head, keyfield_name, item_ptr)
-|HASH_FIND_STR | (head, key_ptr, item_ptr)
-|HASH_ADD_PTR  | (head, keyfield_name, item_ptr)
-|HASH_FIND_PTR | (head, key_ptr, item_ptr)
-|HASH_DEL      | (head, item_ptr)
-|HASH_SORT     | (head, cmp)
-|HASH_COUNT    | (head)
-|===============================================================================
-
-General macros
-~~~~~~~~~~~~~~
-
-These macros add, find, delete and sort the items in a hash.  You need to 
-use the general macros if your `UT_hash_handle` is named something other
-than `hh`, or if your key's data type isn't `int` or `char[]`.
-
-.General macros
-[width="90%",cols="10m,30m",grid="none",options="header"]
-|===============================================================================
-|macro          | arguments
-|HASH_ADD       | (hh_name, head, keyfield_name, key_len, item_ptr)
-|HASH_ADD_KEYPTR| (hh_name, head, key_ptr, key_len, item_ptr)
-|HASH_FIND      | (hh_name, head, key_ptr, key_len, item_ptr)
-|HASH_DELETE    | (hh_name, head, item_ptr)
-|HASH_SRT       | (hh_name, head, cmp)
-|HASH_CNT       | (hh_name, head)
-|HASH_CLEAR     | (hh_name, head)
-|HASH_SELECT    | (dst_hh_name, dst_head, src_hh_name, src_head, condition)
-|HASH_ITER      | (hh_name, head, item_ptr, tmp_item_ptr)
-|===============================================================================
-
-[NOTE]
-`HASH_ADD_KEYPTR` is used when the structure contains a pointer to the
-key, rather than the key itself. 
-
-
-Argument descriptions
-^^^^^^^^^^^^^^^^^^^^^
-hh_name::
-    name of the `UT_hash_handle` field in the structure. Conventionally called
-    `hh`.
-head::
-    the structure pointer variable which acts as the "head" of the hash. So
-    named because it initially points to the first item that is added to the hash.
-keyfield_name::
-    the name of the key field in the structure. (In the case of a multi-field
-    key, this is the first field of the key). If you're new to macros, it
-    might seem strange to pass the name of a field as a parameter. See
-    <>.
-key_len::
-    the length of the key field in bytes. E.g. for an integer key, this is
-    `sizeof(int)`, while for a string key it's `strlen(key)`. (For a
-    multi-field key, see the notes in this guide on calculating key length).
-key_ptr::
-    for `HASH_FIND`, this is a pointer to the key to look up in the hash
-    (since it's a pointer, you can't directly pass a literal value here). For
-    `HASH_ADD_KEYPTR`, this is the address of the key of the item being added.
-item_ptr::
-    pointer to the structure being added, deleted, or looked up, or the current
-    pointer during iteration. This is an input parameter for `HASH_ADD` and
-    `HASH_DELETE` macros, and an output parameter for `HASH_FIND` and
-    `HASH_ITER`. (When using `HASH_ITER` to iterate, `tmp_item_ptr`
-    is another variable of the same type as `item_ptr`, used internally).
-cmp::
-    pointer to comparison function which accepts two arguments (pointers to
-    items to compare) and returns an int specifying whether the first item
-    should sort before, equal to, or after the second item (like `strcmp`).
-condition::
-    a function or macro which accepts a single argument-- a void pointer to a
-    structure, which needs to be cast to the appropriate structure type. The
-    function or macro should return (or evaluate to) a non-zero value if the
-    structure should be "selected" for addition to the destination hash.
-
-// vim: set tw=80 wm=2 syntax=asciidoc: 
-
diff --git a/apps/systemlib/uthash/doc/utarray.txt b/apps/systemlib/uthash/doc/utarray.txt
deleted file mode 100644
index 37830f124..000000000
--- a/apps/systemlib/uthash/doc/utarray.txt
+++ /dev/null
@@ -1,376 +0,0 @@
-utarray: dynamic array macros for C 
-===================================
-Troy D. Hanson 
-v1.9.5, November 2011
-
-include::sflogo.txt[]
-include::topnav_utarray.txt[]
-
-Introduction
-------------
-include::toc.txt[]
-
-A set of general-purpose dynamic array macros for C structures are included with
-uthash in `utarray.h`.  To use these macros in your own C program, just
-copy `utarray.h` into your source directory and use it in your programs.
-
-  #include "utarray.h"
-
-The dynamic array supports basic operations such as push, pop, and erase on the
-array elements. These array elements can be any simple datatype or structure.
-The array <> are based loosely on the C++ STL vector methods.
-
-Internally the dynamic array contains a contiguous memory region into which
-the elements are copied. This buffer is grown as needed using `realloc` to
-accomodate all the data that is pushed into it.
-
-Download
-~~~~~~~~
-To download the `utarray.h` header file, follow the link on the
-http://uthash.sourceforge.net[uthash home page]. 
-
-BSD licensed
-~~~~~~~~~~~~
-This software is made available under the 
-link:license.html[revised BSD license]. 
-It is free and open source. 
-
-Platforms
-~~~~~~~~~
-The 'utarray' macros have been tested on:
-
- * Linux, 
- * Mac OS X, 
- * Windows, using Visual Studio 2008 and Visual Studio 2010
-
-Usage 
------
-
-Declaration
-~~~~~~~~~~~
-
-The array itself has the data type `UT_array`, regardless of the type of
-elements to be stored in it. It is declared like,
-
-  UT_array *nums;
-
-New and free
-~~~~~~~~~~~~
-The next step is to create the array using `utarray_new`. Later when you're
-done with the array, `utarray_free` will free it and all its elements. 
-
-Push, pop, etc
-~~~~~~~~~~~~~~
-The central features of the utarray involve putting elements into it, taking
-them out, and iterating over them. There are several <>
-to pick from that deal with either single elements or ranges of elements at a
-time. In the examples below we will use only the push operation to insert
-elements. 
-
-Elements
---------
-
-Support for dynamic arrays of integers or strings is especially easy. These are
-best shown by example:
-
-Integers
-~~~~~~~~
-This example makes a utarray of integers, pushes 0-9 into it, then prints it.
-Lastly it frees it.
-
-.Integer elements
--------------------------------------------------------------------------------
-#include 
-#include "utarray.h"
-
-int main() {
-  UT_array *nums;
-  int i, *p;
-
-  utarray_new(nums,&ut_int_icd);  
-  for(i=0; i < 10; i++) utarray_push_back(nums,&i);
-
-  for(p=(int*)utarray_front(nums); 
-      p!=NULL; 
-      p=(int*)utarray_next(nums,p)) {
-    printf("%d\n",*p);
-  }
-
-  utarray_free(nums);
-
-  return 0;
-}
--------------------------------------------------------------------------------
-
-The second argument to `utarray_push_back` is always a 'pointer' to the type
-(so a literal cannot be used). So for integers, it is an `int*`.
-
-Strings
-~~~~~~~
-In this example we make a utarray of strings, push two strings into it, print
-it and free it.
-
-.String elements
--------------------------------------------------------------------------------
-#include 
-#include "utarray.h"
-
-int main() {
-  UT_array *strs;
-  char *s, **p;
-
-  utarray_new(strs,&ut_str_icd);
-
-  s = "hello"; utarray_push_back(strs, &s);
-  s = "world"; utarray_push_back(strs, &s);
-  p = NULL;
-  while ( (p=(char**)utarray_next(strs,p))) {
-    printf("%s\n",*p);
-  }
-
-  utarray_free(strs);
-
-  return 0;
-}
--------------------------------------------------------------------------------
-
-In this example, since the element is a `char*`, we pass a pointer to it
-(`char**`) as the second argument to `utarray_push_back`. Note that "push" makes
-a copy of the source string and pushes that copy into the array.
-
-About UT_icd
-~~~~~~~~~~~~
-
-Arrays be made of any type of element, not just integers and strings.  The
-elements can be basic types or structures. Unless you're dealing with integers
-and strings (which use pre-defined `ut_int_icd` and `ut_str_icd`), you'll need
-to define a `UT_icd` helper structure. This structure contains everything that
-utarray needs to initialize, copy or destruct elements.
-
-  typedef struct {
-      size_t sz;
-      init_f *init;
-      ctor_f *copy;
-      dtor_f *dtor;
-  } UT_icd;
-
-The three function pointers `init`, `copy`, and `dtor` have these prototypes:
-
-  typedef void (ctor_f)(void *dst, const void *src);
-  typedef void (dtor_f)(void *elt);
-  typedef void (init_f)(void *elt);
-
-The `sz` is just the size of the element being stored in the array.
-
-The `init` function will be invoked whenever utarray needs to initialize an
-empty element. This only happens as a byproduct of `utarray_resize` or
-`utarray_extend_back`. If `init` is `NULL`, it defaults to zero filling the
-new element using memset.
-
-The `copy` function is used whenever an element is copied into the array.
-It is invoked during `utarray_push_back`, `utarray_insert`, `utarray_inserta`,
-or `utarray_concat`. If `copy` is `NULL`, it defaults to a bitwise copy using
-memcpy.
-
-The `dtor` function is used to clean up an element that is being removed from
-the array. It may be invoked due to `utarray_resize`, `utarray_pop_back`,
-`utarray_erase`, `utarray_clear`, `utarray_done` or `utarray_free`. If the
-elements need no cleanup upon destruction, `dtor` may be `NULL`.
-
-Scalar types
-~~~~~~~~~~~~
-
-The next example uses `UT_icd` with all its defaults to make a utarray of
-`long` elements. This example pushes two longs, prints them, and frees the
-array.
-
-.long elements
--------------------------------------------------------------------------------
-#include 
-#include "utarray.h"
-
-UT_icd long_icd = {sizeof(long), NULL, NULL, NULL };
-
-int main() {
-  UT_array *nums;
-  long l, *p;
-  utarray_new(nums, &long_icd);
-
-  l=1; utarray_push_back(nums, &l);
-  l=2; utarray_push_back(nums, &l);
-
-  p=NULL;
-  while( (p=(long*)utarray_next(nums,p))) printf("%ld\n", *p);
-
-  utarray_free(nums);
-  return 0;
-}
--------------------------------------------------------------------------------
-
-Structures
-~~~~~~~~~~
-
-Structures can be used as utarray elements. If the structure requires no
-special effort to initialize, copy or destruct, we can use `UT_icd` with all
-its defaults. This example shows a structure that consists of two integers. Here
-we push two values, print them and free the array.
-
-.Structure (simple)
--------------------------------------------------------------------------------
-#include 
-#include "utarray.h"
-
-typedef struct {
-    int a;
-    int b;
-} intpair_t;
-
-UT_icd intpair_icd = {sizeof(intpair_t), NULL, NULL, NULL};
-
-int main() {
-
-  UT_array *pairs;
-  intpair_t ip, *p;
-  utarray_new(pairs,&intpair_icd);
-
-  ip.a=1;  ip.b=2;  utarray_push_back(pairs, &ip);
-  ip.a=10; ip.b=20; utarray_push_back(pairs, &ip);
-
-  for(p=(intpair_t*)utarray_front(pairs);
-      p!=NULL;
-      p=(intpair_t*)utarray_next(pairs,p)) {
-    printf("%d %d\n", p->a, p->b);
-  }
-
-  utarray_free(pairs);
-  return 0;
-}
--------------------------------------------------------------------------------
-
-The real utility of `UT_icd` is apparent when the elements of the utarray are
-structures that require special work to initialize, copy or destruct. 
-
-For example, when a structure contains pointers to related memory areas that
-need to be copied when the structure is copied (and freed when the structure is
-freed), we can use custom `init`, `copy`, and `dtor` members in the `UT_icd`.
-
-Here we take an example of a structure that contains an integer and a string.
-When this element is copied (such as when an element is pushed into the array),
-we want to "deep copy" the `s` pointer (so the original element and the new
-element point to their own copies of `s`). When an element is destructed, we
-want to "deep free" its copy of `s`. Lastly, this example is written to work
-even if `s` has the value `NULL`.
-
-.Structure (complex)
--------------------------------------------------------------------------------
-#include 
-#include 
-#include "utarray.h"
-
-typedef struct {
-    int a;
-    char *s;
-} intchar_t;
-
-void intchar_copy(void *_dst, const void *_src) {
-  intchar_t *dst = (intchar_t*)_dst, *src = (intchar_t*)_src;
-  dst->a = src->a;
-  dst->s = src->s ? strdup(src->s) : NULL;
-}
-
-void intchar_dtor(void *_elt) {
-  intchar_t *elt = (intchar_t*)_elt;
-  if (elt->s) free(elt->s);
-}
-
-UT_icd intchar_icd = {sizeof(intchar_t), NULL, intchar_copy, intchar_dtor};
-
-int main() {
-  UT_array *intchars;
-  intchar_t ic, *p;
-  utarray_new(intchars, &intchar_icd);
-
-  ic.a=1; ic.s="hello"; utarray_push_back(intchars, &ic);
-  ic.a=2; ic.s="world"; utarray_push_back(intchars, &ic);
-
-  p=NULL;
-  while( (p=(intchar_t*)utarray_next(intchars,p))) {
-    printf("%d %s\n", p->a, (p->s ? p->s : "null"));
-  }
-
-  utarray_free(intchars);
-  return 0;
-}
-
--------------------------------------------------------------------------------
-
-[[operations]]
-Reference
----------
-This table lists all the utarray operations. These are loosely based on the C++
-vector class.
-
-Operations
-~~~~~~~~~~
-
-[width="100%",cols="50
-v1.9.5, November 2011
-
-include::sflogo.txt[]
-include::topnav_utlist.txt[]
-
-Introduction
-------------
-include::toc.txt[]
-
-A set of general-purpose 'linked list' macros for C structures are included with
-uthash in `utlist.h`.  To use these macros in your own C program, just
-copy `utlist.h` into your source directory and use it in your programs.
-
-  #include "utlist.h"
-
-These macros support the basic linked list operations: adding and deleting
-elements, sorting them and iterating over them.
-
-Download
-~~~~~~~~
-To download the `utlist.h` header file, follow the link on the
-http://uthash.sourceforge.net[uthash home page]. 
-
-BSD licensed
-~~~~~~~~~~~~
-This software is made available under the 
-link:license.html[revised BSD license]. 
-It is free and open source. 
-
-Platforms
-~~~~~~~~~
-The 'utlist' macros have been tested on:
-
- * Linux, 
- * Mac OS X, and 
- * Windows, using Visual Studio 2008, Visual Studio 2010, or Cygwin/MinGW.
-
-Using utlist
-------------
-
-Types of lists
-~~~~~~~~~~~~~~
-Three types of linked lists are supported:
-
-- *singly-linked* lists,
-- *doubly-linked* lists, and
-- *circular, doubly-linked* lists
-
-Efficiency
-^^^^^^^^^^
-For all types of lists, prepending elements and deleting elements are
-constant-time operations. Appending to a singly-linked list is an 'O(n)'
-operation but appending to a doubly-linked list is constant time using these
-macros.  (This is because, in the utlist implementation of the doubly-linked
-list, the head element's `prev` member points back to the list tail, even when
-the list is non-circular). Sorting is an 'O(n log(n))' operation. Iteration
-and searching are `O(n)` for all list types.
-
-List elements
-~~~~~~~~~~~~~
-You can use any structure with these macros, as long as the structure 
-contains a `next` pointer. If you want to make a doubly-linked list, 
-the element also needs to have a `prev` pointer.
-
-  typedef struct element {
-      char *name;
-      struct element *prev; /* needed for a doubly-linked list only */
-      struct element *next; /* needed for singly- or doubly-linked lists */
-  } element;
-
-You can name your structure anything. In the example above it is called `element`.
-Within a particular list, all elements must be of the same type. 
-
-List head
-~~~~~~~~~
-The list head is simply a pointer to your element structure. You can name it
-anything. *It must be initialized to `NULL`*.
-
-  element *head = NULL;
-
-List operations
-~~~~~~~~~~~~~~~
-The lists support inserting or deleting elements, sorting the elements and 
-iterating over them.
-
-[width="100%",cols="10
-#include 
-#include 
-#include "utlist.h"
-
-#define BUFLEN 20
-
-typedef struct el {
-    char bname[BUFLEN];
-    struct el *next, *prev;
-} el;
-
-int namecmp(el *a, el *b) {
-    return strcmp(a->bname,b->bname);
-}
-
-el *head = NULL; /* important- initialize to NULL! */
-
-int main(int argc, char *argv[]) {
-    el *name, *elt, *tmp, etmp;
-
-    char linebuf[BUFLEN];
-    FILE *file;
-
-    if ( (file = fopen( "test11.dat", "r" )) == NULL ) {
-        perror("can't open: "); 
-        exit(-1);
-    }
-
-    while (fgets(linebuf,BUFLEN,file) != NULL) {
-        if ( (name = (el*)malloc(sizeof(el))) == NULL) exit(-1);
-        strncpy(name->bname,linebuf,BUFLEN);
-        DL_APPEND(head, name);
-    }
-    DL_SORT(head, namecmp);
-    DL_FOREACH(head,elt) printf("%s", elt->bname);
-
-    memcpy(&etmp.bname, "WES\n", 5);
-    DL_SEARCH(head,elt,&etmp,namecmp);
-    if (elt) printf("found %s\n", elt->bname);
-
-    /* now delete each element, use the safe iterator */
-    DL_FOREACH_SAFE(head,elt,tmp) {
-      DL_DELETE(head,elt);
-    }
-
-    fclose(file);
-
-    return 0;
-}
---------------------------------------------------------------------------------
-
-// vim: set nowrap syntax=asciidoc: 
-
diff --git a/apps/systemlib/uthash/doc/utstring.txt b/apps/systemlib/uthash/doc/utstring.txt
deleted file mode 100644
index abfdcd107..000000000
--- a/apps/systemlib/uthash/doc/utstring.txt
+++ /dev/null
@@ -1,178 +0,0 @@
-utstring: dynamic string macros for C 
-=====================================
-Troy D. Hanson 
-v1.9.5, November 2011
-
-include::sflogo.txt[]
-include::topnav_utstring.txt[]
-
-Introduction
-------------
-include::toc.txt[]
-
-A set of very basic dynamic string macros for C programs are included with
-uthash in `utstring.h`.  To use these macros in your own C program, just
-copy `utstring.h` into your source directory and use it in your programs.
-
-  #include "utstring.h"
-
-The dynamic string supports basic operations such as inserting data (including
-binary data-- despite its name, utstring is not limited to string content),
-concatenation, getting the length and content, and clearing it.  The string
-<> are listed below.
-
-Download
-~~~~~~~~
-To download the `utstring.h` header file, follow the link on the
-http://uthash.sourceforge.net[uthash home page]. 
-
-BSD licensed
-~~~~~~~~~~~~
-This software is made available under the 
-link:license.html[revised BSD license]. 
-It is free and open source. 
-
-Platforms
-~~~~~~~~~
-The 'utstring' macros have been tested on:
-
- * Linux, 
- * Windows, using Visual Studio 2008 and Visual Studio 2010
-
-Usage 
------
-
-Declaration
-~~~~~~~~~~~
-
-The dynamic string itself has the data type `UT_string`.  It is declared like,
-
-  UT_string *str;
-
-New and free
-~~~~~~~~~~~~
-The next step is to create the string using `utstring_new`. Later when you're
-done with it, `utstring_free` will free it and all its content. 
-
-Manipulation
-~~~~~~~~~~~~
-The `utstring_printf` or `utstring_bincpy` operations insert (copy) data into
-the string. To concatenate one utstring to another, use `utstring_concat`.  To
-clear the content of the string, use `utstring_clear`. The length of the string
-is available from `utstring_len`, and its content from `utstring_body`. This 
-evaluates to a `char*`.  The buffer it points to is always null-terminated.
-So, it can be used directly with external functions that expect a string.
-This automatic null terminator is not counted in the length of the string.
-
-Samples
-~~~~~~~
-
-These examples show how to use utstring.
-
-.Sample 1
--------------------------------------------------------------------------------
-#include 
-#include "utstring.h"
-
-int main() {
-    UT_string *s;
-
-    utstring_new(s);
-    utstring_printf(s, "hello world!" );
-    printf("%s\n", utstring_body(s));
-
-    utstring_free(s);
-    return 0;
-}
--------------------------------------------------------------------------------
-
-The next example is meant to demonstrate that printf 'appends' to the string.
-It also shows concatenation.
-
-.Sample 2
--------------------------------------------------------------------------------
-#include 
-#include "utstring.h"
-
-int main() {
-    UT_string *s, *t;
-
-    utstring_new(s);
-    utstring_new(t);
-
-    utstring_printf(s, "hello " );
-    utstring_printf(s, "world " );
-
-    utstring_printf(t, "hi " );
-    utstring_printf(t, "there " );
-
-    utstring_concat(s, t);
-    printf("length: %u\n", utstring_len(s));
-    printf("%s\n", utstring_body(s));
-
-    utstring_free(s);
-    utstring_free(t);
-    return 0;
-}
--------------------------------------------------------------------------------
-
-The last example shows how binary data can be inserted into the string. It also
-clears the string and prints new data into it.
-
-.Sample 3
--------------------------------------------------------------------------------
-#include 
-#include "utstring.h"
-
-int main() {
-    UT_string *s;
-    char binary[] = "\xff\xff";
-
-    utstring_new(s);
-    utstring_bincpy(s, binary, sizeof(binary));
-    printf("length is %u\n", utstring_len(s));
-
-    utstring_clear(s);
-    utstring_printf(s,"number %d", 10);
-    printf("%s\n", utstring_body(s));
-
-    utstring_free(s);
-    return 0;
-}
--------------------------------------------------------------------------------
-
-[[operations]]
-Reference
----------
-These are the utstring operations. 
-
-Operations
-~~~~~~~~~~
-
-[width="100%",cols="50  /* size_t */
-#include   /* memset, etc */
-#include   /* exit */
-
-#define oom() exit(-1)
-
-typedef void (ctor_f)(void *dst, const void *src);
-typedef void (dtor_f)(void *elt);
-typedef void (init_f)(void *elt);
-typedef struct {
-    size_t sz;
-    init_f *init;
-    ctor_f *copy;
-    dtor_f *dtor;
-} UT_icd;
-
-typedef struct {
-    unsigned i,n;/* i: index of next available slot, n: num slots */
-    UT_icd icd;  /* initializer, copy and destructor functions */
-    char *d;     /* n slots of size icd->sz*/
-} UT_array;
-
-#define utarray_init(a,_icd) do {                                             \
-  memset(a,0,sizeof(UT_array));                                               \
-  (a)->icd=*_icd;                                                             \
-} while(0)
-
-#define utarray_done(a) do {                                                  \
-  if ((a)->n) {                                                               \
-    if ((a)->icd.dtor) {                                                      \
-      size_t _ut_i;                                                           \
-      for(_ut_i=0; _ut_i < (a)->i; _ut_i++) {                                 \
-        (a)->icd.dtor(utarray_eltptr(a,_ut_i));                               \
-      }                                                                       \
-    }                                                                         \
-    free((a)->d);                                                             \
-  }                                                                           \
-  (a)->n=0;                                                                   \
-} while(0)
-
-#define utarray_new(a,_icd) do {                                              \
-  a=(UT_array*)malloc(sizeof(UT_array));                                      \
-  utarray_init(a,_icd);                                                       \
-} while(0)
-
-#define utarray_free(a) do {                                                  \
-  utarray_done(a);                                                            \
-  free(a);                                                                    \
-} while(0)
-
-#define utarray_reserve(a,by) do {                                            \
-  if (((a)->i+by) > ((a)->n)) {                                               \
-    while(((a)->i+by) > ((a)->n)) { (a)->n = ((a)->n ? (2*(a)->n) : 8); }     \
-    if ( ((a)->d=(char*)realloc((a)->d, (a)->n*(a)->icd.sz)) == NULL) oom();  \
-  }                                                                           \
-} while(0)
-
-#define utarray_push_back(a,p) do {                                           \
-  utarray_reserve(a,1);                                                       \
-  if ((a)->icd.copy) { (a)->icd.copy( _utarray_eltptr(a,(a)->i++), p); }      \
-  else { memcpy(_utarray_eltptr(a,(a)->i++), p, (a)->icd.sz); };              \
-} while(0)
-
-#define utarray_pop_back(a) do {                                              \
-  if ((a)->icd.dtor) { (a)->icd.dtor( _utarray_eltptr(a,--((a)->i))); }       \
-  else { (a)->i--; }                                                          \
-} while(0)
-
-#define utarray_extend_back(a) do {                                           \
-  utarray_reserve(a,1);                                                       \
-  if ((a)->icd.init) { (a)->icd.init(_utarray_eltptr(a,(a)->i)); }            \
-  else { memset(_utarray_eltptr(a,(a)->i),0,(a)->icd.sz); }                   \
-  (a)->i++;                                                                   \
-} while(0)
-
-#define utarray_len(a) ((a)->i)
-
-#define utarray_eltptr(a,j) (((j) < (a)->i) ? _utarray_eltptr(a,j) : NULL)
-#define _utarray_eltptr(a,j) ((char*)((a)->d + ((a)->icd.sz*(j) )))
-
-#define utarray_insert(a,p,j) do {                                            \
-  utarray_reserve(a,1);                                                       \
-  if (j > (a)->i) break;                                                      \
-  if ((j) < (a)->i) {                                                         \
-    memmove( _utarray_eltptr(a,(j)+1), _utarray_eltptr(a,j),                  \
-             ((a)->i - (j))*((a)->icd.sz));                                   \
-  }                                                                           \
-  if ((a)->icd.copy) { (a)->icd.copy( _utarray_eltptr(a,j), p); }             \
-  else { memcpy(_utarray_eltptr(a,j), p, (a)->icd.sz); };                     \
-  (a)->i++;                                                                   \
-} while(0)
-
-#define utarray_inserta(a,w,j) do {                                           \
-  if (utarray_len(w) == 0) break;                                             \
-  if (j > (a)->i) break;                                                      \
-  utarray_reserve(a,utarray_len(w));                                          \
-  if ((j) < (a)->i) {                                                         \
-    memmove(_utarray_eltptr(a,(j)+utarray_len(w)),                            \
-            _utarray_eltptr(a,j),                                             \
-            ((a)->i - (j))*((a)->icd.sz));                                    \
-  }                                                                           \
-  if ((a)->icd.copy) {                                                        \
-    size_t _ut_i;                                                             \
-    for(_ut_i=0;_ut_i<(w)->i;_ut_i++) {                                       \
-      (a)->icd.copy(_utarray_eltptr(a,j+_ut_i), _utarray_eltptr(w,_ut_i));    \
-    }                                                                         \
-  } else {                                                                    \
-    memcpy(_utarray_eltptr(a,j), _utarray_eltptr(w,0),                        \
-           utarray_len(w)*((a)->icd.sz));                                     \
-  }                                                                           \
-  (a)->i += utarray_len(w);                                                   \
-} while(0)
-
-#define utarray_resize(dst,num) do {                                          \
-  size_t _ut_i;                                                               \
-  if (dst->i > (size_t)(num)) {                                               \
-    if ((dst)->icd.dtor) {                                                    \
-      for(_ut_i=num; _ut_i < dst->i; _ut_i++) {                               \
-        (dst)->icd.dtor(utarray_eltptr(dst,_ut_i));                           \
-      }                                                                       \
-    }                                                                         \
-  } else if (dst->i < (size_t)(num)) {                                        \
-    utarray_reserve(dst,num-dst->i);                                          \
-    if ((dst)->icd.init) {                                                    \
-      for(_ut_i=dst->i; _ut_i < num; _ut_i++) {                               \
-        (dst)->icd.init(utarray_eltptr(dst,_ut_i));                           \
-      }                                                                       \
-    } else {                                                                  \
-      memset(_utarray_eltptr(dst,dst->i),0,(dst)->icd.sz*(num-dst->i));       \
-    }                                                                         \
-  }                                                                           \
-  dst->i = num;                                                               \
-} while(0)
-
-#define utarray_concat(dst,src) do {                                          \
-  utarray_inserta((dst),(src),utarray_len(dst));                              \
-} while(0)
-
-#define utarray_erase(a,pos,len) do {                                         \
-  if ((a)->icd.dtor) {                                                        \
-    size_t _ut_i;                                                             \
-    for(_ut_i=0; _ut_i < len; _ut_i++) {                                      \
-      (a)->icd.dtor(utarray_eltptr((a),pos+_ut_i));                           \
-    }                                                                         \
-  }                                                                           \
-  if ((a)->i > (pos+len)) {                                                   \
-    memmove( _utarray_eltptr((a),pos), _utarray_eltptr((a),pos+len),          \
-            (((a)->i)-(pos+len))*((a)->icd.sz));                              \
-  }                                                                           \
-  (a)->i -= (len);                                                            \
-} while(0)
-
-#define utarray_renew(a,u) do {                                               \
-  if (a) utarray_clear(a); \
-  else utarray_new((a),(u));   \
-} while(0) 
-
-#define utarray_clear(a) do {                                                 \
-  if ((a)->i > 0) {                                                           \
-    if ((a)->icd.dtor) {                                                      \
-      size_t _ut_i;                                                           \
-      for(_ut_i=0; _ut_i < (a)->i; _ut_i++) {                                 \
-        (a)->icd.dtor(utarray_eltptr(a,_ut_i));                               \
-      }                                                                       \
-    }                                                                         \
-    (a)->i = 0;                                                               \
-  }                                                                           \
-} while(0)
-
-#define utarray_sort(a,cmp) do {                                              \
-  qsort((a)->d, (a)->i, (a)->icd.sz, cmp);                                    \
-} while(0)
-
-#define utarray_find(a,v,cmp) bsearch((v),(a)->d,(a)->i,(a)->icd.sz,cmp)
-
-#define utarray_front(a) (((a)->i) ? (_utarray_eltptr(a,0)) : NULL)
-#define utarray_next(a,e) (((e)==NULL) ? utarray_front(a) : ((((a)->i) > (utarray_eltidx(a,e)+1)) ? _utarray_eltptr(a,utarray_eltidx(a,e)+1) : NULL))
-#define utarray_prev(a,e) (((e)==NULL) ? utarray_back(a) : ((utarray_eltidx(a,e) > 0) ? _utarray_eltptr(a,utarray_eltidx(a,e)-1) : NULL))
-#define utarray_back(a) (((a)->i) ? (_utarray_eltptr(a,(a)->i-1)) : NULL)
-#define utarray_eltidx(a,e) (((char*)(e) >= (char*)((a)->d)) ? (((char*)(e) - (char*)((a)->d))/(a)->icd.sz) : -1)
-
-/* last we pre-define a few icd for common utarrays of ints and strings */
-static void utarray_str_cpy(void *dst, const void *src) {
-  char **_src = (char**)src, **_dst = (char**)dst;
-  *_dst = (*_src == NULL) ? NULL : strdup(*_src);
-}
-static void utarray_str_dtor(void *elt) {
-  char **eltc = (char**)elt;
-  if (*eltc) free(*eltc);
-}
-static const UT_icd ut_str_icd _UNUSED_ = {sizeof(char*),NULL,utarray_str_cpy,utarray_str_dtor};
-static const UT_icd ut_int_icd _UNUSED_ = {sizeof(int),NULL,NULL,NULL};
-static const UT_icd ut_ptr_icd _UNUSED_ = {sizeof(void*),NULL,NULL,NULL};
-
-
-#endif /* UTARRAY_H */
diff --git a/apps/systemlib/uthash/uthash.h b/apps/systemlib/uthash/uthash.h
deleted file mode 100644
index 9f83fc34f..000000000
--- a/apps/systemlib/uthash/uthash.h
+++ /dev/null
@@ -1,915 +0,0 @@
-/*
-Copyright (c) 2003-2012, Troy D. Hanson     http://uthash.sourceforge.net
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
-
-    * Redistributions of source code must retain the above copyright
-      notice, this list of conditions and the following disclaimer.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
-IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
-TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
-PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER
-OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
-EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
-PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
-PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
-LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
-NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-*/
-
-#ifndef UTHASH_H
-#define UTHASH_H 
-
-#include    /* memcmp,strlen */
-#include    /* ptrdiff_t */
-#include    /* exit() */
-
-/* These macros use decltype or the earlier __typeof GNU extension.
-   As decltype is only available in newer compilers (VS2010 or gcc 4.3+
-   when compiling c++ source) this code uses whatever method is needed
-   or, for VS2008 where neither is available, uses casting workarounds. */
-#ifdef _MSC_VER         /* MS compiler */
-#if _MSC_VER >= 1600 && defined(__cplusplus)  /* VS2010 or newer in C++ mode */
-#define DECLTYPE(x) (decltype(x))
-#else                   /* VS2008 or older (or VS2010 in C mode) */
-#define NO_DECLTYPE
-#define DECLTYPE(x)
-#endif
-#else                   /* GNU, Sun and other compilers */
-#define DECLTYPE(x) (__typeof(x))
-#endif
-
-#ifdef NO_DECLTYPE
-#define DECLTYPE_ASSIGN(dst,src)                                                 \
-do {                                                                             \
-  char **_da_dst = (char**)(&(dst));                                             \
-  *_da_dst = (char*)(src);                                                       \
-} while(0)
-#else 
-#define DECLTYPE_ASSIGN(dst,src)                                                 \
-do {                                                                             \
-  (dst) = DECLTYPE(dst)(src);                                                    \
-} while(0)
-#endif
-
-/* a number of the hash function use uint32_t which isn't defined on win32 */
-#ifdef _MSC_VER
-typedef unsigned int uint32_t;
-typedef unsigned char uint8_t;
-#else
-#include    /* uint32_t */
-#endif
-
-#define UTHASH_VERSION 1.9.6
-
-#ifndef uthash_fatal
-#define uthash_fatal(msg) exit(-1)        /* fatal error (out of memory,etc) */
-#endif
-#ifndef uthash_malloc
-#define uthash_malloc(sz) malloc(sz)      /* malloc fcn                      */
-#endif
-#ifndef uthash_free
-#define uthash_free(ptr,sz) free(ptr)     /* free fcn                        */
-#endif
-
-#ifndef uthash_noexpand_fyi
-#define uthash_noexpand_fyi(tbl)          /* can be defined to log noexpand  */
-#endif
-#ifndef uthash_expand_fyi
-#define uthash_expand_fyi(tbl)            /* can be defined to log expands   */
-#endif
-
-/* initial number of buckets */
-#define HASH_INITIAL_NUM_BUCKETS 32      /* initial number of buckets        */
-#define HASH_INITIAL_NUM_BUCKETS_LOG2 5  /* lg2 of initial number of buckets */
-#define HASH_BKT_CAPACITY_THRESH 10      /* expand when bucket count reaches */
-
-/* calculate the element whose hash handle address is hhe */
-#define ELMT_FROM_HH(tbl,hhp) ((void*)(((char*)(hhp)) - ((tbl)->hho)))
-
-#define HASH_FIND(hh,head,keyptr,keylen,out)                                     \
-do {                                                                             \
-  unsigned _hf_bkt,_hf_hashv;                                                    \
-  out=NULL;                                                                      \
-  if (head) {                                                                    \
-     HASH_FCN(keyptr,keylen, (head)->hh.tbl->num_buckets, _hf_hashv, _hf_bkt);   \
-     if (HASH_BLOOM_TEST((head)->hh.tbl, _hf_hashv)) {                           \
-       HASH_FIND_IN_BKT((head)->hh.tbl, hh, (head)->hh.tbl->buckets[ _hf_bkt ],  \
-                        keyptr,keylen,out);                                      \
-     }                                                                           \
-  }                                                                              \
-} while (0)
-
-#ifdef HASH_BLOOM
-#define HASH_BLOOM_BITLEN (1ULL << HASH_BLOOM)
-#define HASH_BLOOM_BYTELEN (HASH_BLOOM_BITLEN/8) + ((HASH_BLOOM_BITLEN%8) ? 1:0)
-#define HASH_BLOOM_MAKE(tbl)                                                     \
-do {                                                                             \
-  (tbl)->bloom_nbits = HASH_BLOOM;                                               \
-  (tbl)->bloom_bv = (uint8_t*)uthash_malloc(HASH_BLOOM_BYTELEN);                 \
-  if (!((tbl)->bloom_bv))  { uthash_fatal( "out of memory"); }                   \
-  memset((tbl)->bloom_bv, 0, HASH_BLOOM_BYTELEN);                                \
-  (tbl)->bloom_sig = HASH_BLOOM_SIGNATURE;                                       \
-} while (0) 
-
-#define HASH_BLOOM_FREE(tbl)                                                     \
-do {                                                                             \
-  uthash_free((tbl)->bloom_bv, HASH_BLOOM_BYTELEN);                              \
-} while (0) 
-
-#define HASH_BLOOM_BITSET(bv,idx) (bv[(idx)/8] |= (1U << ((idx)%8)))
-#define HASH_BLOOM_BITTEST(bv,idx) (bv[(idx)/8] & (1U << ((idx)%8)))
-
-#define HASH_BLOOM_ADD(tbl,hashv)                                                \
-  HASH_BLOOM_BITSET((tbl)->bloom_bv, (hashv & (uint32_t)((1ULL << (tbl)->bloom_nbits) - 1)))
-
-#define HASH_BLOOM_TEST(tbl,hashv)                                               \
-  HASH_BLOOM_BITTEST((tbl)->bloom_bv, (hashv & (uint32_t)((1ULL << (tbl)->bloom_nbits) - 1)))
-
-#else
-#define HASH_BLOOM_MAKE(tbl) 
-#define HASH_BLOOM_FREE(tbl) 
-#define HASH_BLOOM_ADD(tbl,hashv) 
-#define HASH_BLOOM_TEST(tbl,hashv) (1)
-#endif
-
-#define HASH_MAKE_TABLE(hh,head)                                                 \
-do {                                                                             \
-  (head)->hh.tbl = (UT_hash_table*)uthash_malloc(                                \
-                  sizeof(UT_hash_table));                                        \
-  if (!((head)->hh.tbl))  { uthash_fatal( "out of memory"); }                    \
-  memset((head)->hh.tbl, 0, sizeof(UT_hash_table));                              \
-  (head)->hh.tbl->tail = &((head)->hh);                                          \
-  (head)->hh.tbl->num_buckets = HASH_INITIAL_NUM_BUCKETS;                        \
-  (head)->hh.tbl->log2_num_buckets = HASH_INITIAL_NUM_BUCKETS_LOG2;              \
-  (head)->hh.tbl->hho = (char*)(&(head)->hh) - (char*)(head);                    \
-  (head)->hh.tbl->buckets = (UT_hash_bucket*)uthash_malloc(                      \
-          HASH_INITIAL_NUM_BUCKETS*sizeof(struct UT_hash_bucket));               \
-  if (! (head)->hh.tbl->buckets) { uthash_fatal( "out of memory"); }             \
-  memset((head)->hh.tbl->buckets, 0,                                             \
-          HASH_INITIAL_NUM_BUCKETS*sizeof(struct UT_hash_bucket));               \
-  HASH_BLOOM_MAKE((head)->hh.tbl);                                               \
-  (head)->hh.tbl->signature = HASH_SIGNATURE;                                    \
-} while(0)
-
-#define HASH_ADD(hh,head,fieldname,keylen_in,add)                                \
-        HASH_ADD_KEYPTR(hh,head,&((add)->fieldname),keylen_in,add)
- 
-#define HASH_ADD_KEYPTR(hh,head,keyptr,keylen_in,add)                            \
-do {                                                                             \
- unsigned _ha_bkt;                                                               \
- (add)->hh.next = NULL;                                                          \
- (add)->hh.key = (char*)keyptr;                                                  \
- (add)->hh.keylen = (unsigned)keylen_in;                                                   \
- if (!(head)) {                                                                  \
-    head = (add);                                                                \
-    (head)->hh.prev = NULL;                                                      \
-    HASH_MAKE_TABLE(hh,head);                                                    \
- } else {                                                                        \
-    (head)->hh.tbl->tail->next = (add);                                          \
-    (add)->hh.prev = ELMT_FROM_HH((head)->hh.tbl, (head)->hh.tbl->tail);         \
-    (head)->hh.tbl->tail = &((add)->hh);                                         \
- }                                                                               \
- (head)->hh.tbl->num_items++;                                                    \
- (add)->hh.tbl = (head)->hh.tbl;                                                 \
- HASH_FCN(keyptr,keylen_in, (head)->hh.tbl->num_buckets,                         \
-         (add)->hh.hashv, _ha_bkt);                                              \
- HASH_ADD_TO_BKT((head)->hh.tbl->buckets[_ha_bkt],&(add)->hh);                   \
- HASH_BLOOM_ADD((head)->hh.tbl,(add)->hh.hashv);                                 \
- HASH_EMIT_KEY(hh,head,keyptr,keylen_in);                                        \
- HASH_FSCK(hh,head);                                                             \
-} while(0)
-
-#define HASH_TO_BKT( hashv, num_bkts, bkt )                                      \
-do {                                                                             \
-  bkt = ((hashv) & ((num_bkts) - 1));                                            \
-} while(0)
-
-/* delete "delptr" from the hash table.
- * "the usual" patch-up process for the app-order doubly-linked-list.
- * The use of _hd_hh_del below deserves special explanation.
- * These used to be expressed using (delptr) but that led to a bug
- * if someone used the same symbol for the head and deletee, like
- *  HASH_DELETE(hh,users,users);
- * We want that to work, but by changing the head (users) below
- * we were forfeiting our ability to further refer to the deletee (users)
- * in the patch-up process. Solution: use scratch space to
- * copy the deletee pointer, then the latter references are via that
- * scratch pointer rather than through the repointed (users) symbol.
- */
-#define HASH_DELETE(hh,head,delptr)                                              \
-do {                                                                             \
-    unsigned _hd_bkt;                                                            \
-    struct UT_hash_handle *_hd_hh_del;                                           \
-    if ( ((delptr)->hh.prev == NULL) && ((delptr)->hh.next == NULL) )  {         \
-        uthash_free((head)->hh.tbl->buckets,                                     \
-                    (head)->hh.tbl->num_buckets*sizeof(struct UT_hash_bucket) ); \
-        HASH_BLOOM_FREE((head)->hh.tbl);                                         \
-        uthash_free((head)->hh.tbl, sizeof(UT_hash_table));                      \
-        head = NULL;                                                             \
-    } else {                                                                     \
-        _hd_hh_del = &((delptr)->hh);                                            \
-        if ((delptr) == ELMT_FROM_HH((head)->hh.tbl,(head)->hh.tbl->tail)) {     \
-            (head)->hh.tbl->tail =                                               \
-                (UT_hash_handle*)((char*)((delptr)->hh.prev) +                   \
-                (head)->hh.tbl->hho);                                            \
-        }                                                                        \
-        if ((delptr)->hh.prev) {                                                 \
-            ((UT_hash_handle*)((char*)((delptr)->hh.prev) +                      \
-                    (head)->hh.tbl->hho))->next = (delptr)->hh.next;             \
-        } else {                                                                 \
-            DECLTYPE_ASSIGN(head,(delptr)->hh.next);                             \
-        }                                                                        \
-        if (_hd_hh_del->next) {                                                  \
-            ((UT_hash_handle*)((char*)_hd_hh_del->next +                         \
-                    (head)->hh.tbl->hho))->prev =                                \
-                    _hd_hh_del->prev;                                            \
-        }                                                                        \
-        HASH_TO_BKT( _hd_hh_del->hashv, (head)->hh.tbl->num_buckets, _hd_bkt);   \
-        HASH_DEL_IN_BKT(hh,(head)->hh.tbl->buckets[_hd_bkt], _hd_hh_del);        \
-        (head)->hh.tbl->num_items--;                                             \
-    }                                                                            \
-    HASH_FSCK(hh,head);                                                          \
-} while (0)
-
-
-/* convenience forms of HASH_FIND/HASH_ADD/HASH_DEL */
-#define HASH_FIND_STR(head,findstr,out)                                          \
-    HASH_FIND(hh,head,findstr,strlen(findstr),out)
-#define HASH_ADD_STR(head,strfield,add)                                          \
-    HASH_ADD(hh,head,strfield,strlen(add->strfield),add)
-#define HASH_FIND_INT(head,findint,out)                                          \
-    HASH_FIND(hh,head,findint,sizeof(int),out)
-#define HASH_ADD_INT(head,intfield,add)                                          \
-    HASH_ADD(hh,head,intfield,sizeof(int),add)
-#define HASH_FIND_PTR(head,findptr,out)                                          \
-    HASH_FIND(hh,head,findptr,sizeof(void *),out)
-#define HASH_ADD_PTR(head,ptrfield,add)                                          \
-    HASH_ADD(hh,head,ptrfield,sizeof(void *),add)
-#define HASH_DEL(head,delptr)                                                    \
-    HASH_DELETE(hh,head,delptr)
-
-/* HASH_FSCK checks hash integrity on every add/delete when HASH_DEBUG is defined.
- * This is for uthash developer only; it compiles away if HASH_DEBUG isn't defined.
- */
-#ifdef HASH_DEBUG
-#define HASH_OOPS(...) do { fprintf(stderr,__VA_ARGS__); exit(-1); } while (0)
-#define HASH_FSCK(hh,head)                                                       \
-do {                                                                             \
-    unsigned _bkt_i;                                                             \
-    unsigned _count, _bkt_count;                                                 \
-    char *_prev;                                                                 \
-    struct UT_hash_handle *_thh;                                                 \
-    if (head) {                                                                  \
-        _count = 0;                                                              \
-        for( _bkt_i = 0; _bkt_i < (head)->hh.tbl->num_buckets; _bkt_i++) {       \
-            _bkt_count = 0;                                                      \
-            _thh = (head)->hh.tbl->buckets[_bkt_i].hh_head;                      \
-            _prev = NULL;                                                        \
-            while (_thh) {                                                       \
-               if (_prev != (char*)(_thh->hh_prev)) {                            \
-                   HASH_OOPS("invalid hh_prev %p, actual %p\n",                  \
-                    _thh->hh_prev, _prev );                                      \
-               }                                                                 \
-               _bkt_count++;                                                     \
-               _prev = (char*)(_thh);                                            \
-               _thh = _thh->hh_next;                                             \
-            }                                                                    \
-            _count += _bkt_count;                                                \
-            if ((head)->hh.tbl->buckets[_bkt_i].count !=  _bkt_count) {          \
-               HASH_OOPS("invalid bucket count %d, actual %d\n",                 \
-                (head)->hh.tbl->buckets[_bkt_i].count, _bkt_count);              \
-            }                                                                    \
-        }                                                                        \
-        if (_count != (head)->hh.tbl->num_items) {                               \
-            HASH_OOPS("invalid hh item count %d, actual %d\n",                   \
-                (head)->hh.tbl->num_items, _count );                             \
-        }                                                                        \
-        /* traverse hh in app order; check next/prev integrity, count */         \
-        _count = 0;                                                              \
-        _prev = NULL;                                                            \
-        _thh =  &(head)->hh;                                                     \
-        while (_thh) {                                                           \
-           _count++;                                                             \
-           if (_prev !=(char*)(_thh->prev)) {                                    \
-              HASH_OOPS("invalid prev %p, actual %p\n",                          \
-                    _thh->prev, _prev );                                         \
-           }                                                                     \
-           _prev = (char*)ELMT_FROM_HH((head)->hh.tbl, _thh);                    \
-           _thh = ( _thh->next ?  (UT_hash_handle*)((char*)(_thh->next) +        \
-                                  (head)->hh.tbl->hho) : NULL );                 \
-        }                                                                        \
-        if (_count != (head)->hh.tbl->num_items) {                               \
-            HASH_OOPS("invalid app item count %d, actual %d\n",                  \
-                (head)->hh.tbl->num_items, _count );                             \
-        }                                                                        \
-    }                                                                            \
-} while (0)
-#else
-#define HASH_FSCK(hh,head) 
-#endif
-
-/* When compiled with -DHASH_EMIT_KEYS, length-prefixed keys are emitted to 
- * the descriptor to which this macro is defined for tuning the hash function.
- * The app can #include  to get the prototype for write(2). */
-#ifdef HASH_EMIT_KEYS
-#define HASH_EMIT_KEY(hh,head,keyptr,fieldlen)                                   \
-do {                                                                             \
-    unsigned _klen = fieldlen;                                                   \
-    write(HASH_EMIT_KEYS, &_klen, sizeof(_klen));                                \
-    write(HASH_EMIT_KEYS, keyptr, fieldlen);                                     \
-} while (0)
-#else 
-#define HASH_EMIT_KEY(hh,head,keyptr,fieldlen)                    
-#endif
-
-/* default to Jenkin's hash unless overridden e.g. DHASH_FUNCTION=HASH_SAX */
-#ifdef HASH_FUNCTION 
-#define HASH_FCN HASH_FUNCTION
-#else
-#define HASH_FCN HASH_JEN
-#endif
-
-/* The Bernstein hash function, used in Perl prior to v5.6 */
-#define HASH_BER(key,keylen,num_bkts,hashv,bkt)                                  \
-do {                                                                             \
-  unsigned _hb_keylen=keylen;                                                    \
-  char *_hb_key=(char*)(key);                                                    \
-  (hashv) = 0;                                                                   \
-  while (_hb_keylen--)  { (hashv) = ((hashv) * 33) + *_hb_key++; }               \
-  bkt = (hashv) & (num_bkts-1);                                                  \
-} while (0)
-
-
-/* SAX/FNV/OAT/JEN hash functions are macro variants of those listed at 
- * http://eternallyconfuzzled.com/tuts/algorithms/jsw_tut_hashing.aspx */
-#define HASH_SAX(key,keylen,num_bkts,hashv,bkt)                                  \
-do {                                                                             \
-  unsigned _sx_i;                                                                \
-  char *_hs_key=(char*)(key);                                                    \
-  hashv = 0;                                                                     \
-  for(_sx_i=0; _sx_i < keylen; _sx_i++)                                          \
-      hashv ^= (hashv << 5) + (hashv >> 2) + _hs_key[_sx_i];                     \
-  bkt = hashv & (num_bkts-1);                                                    \
-} while (0)
-
-#define HASH_FNV(key,keylen,num_bkts,hashv,bkt)                                  \
-do {                                                                             \
-  unsigned _fn_i;                                                                \
-  char *_hf_key=(char*)(key);                                                    \
-  hashv = 2166136261UL;                                                          \
-  for(_fn_i=0; _fn_i < keylen; _fn_i++)                                          \
-      hashv = (hashv * 16777619) ^ _hf_key[_fn_i];                               \
-  bkt = hashv & (num_bkts-1);                                                    \
-} while(0) 
- 
-#define HASH_OAT(key,keylen,num_bkts,hashv,bkt)                                  \
-do {                                                                             \
-  unsigned _ho_i;                                                                \
-  char *_ho_key=(char*)(key);                                                    \
-  hashv = 0;                                                                     \
-  for(_ho_i=0; _ho_i < keylen; _ho_i++) {                                        \
-      hashv += _ho_key[_ho_i];                                                   \
-      hashv += (hashv << 10);                                                    \
-      hashv ^= (hashv >> 6);                                                     \
-  }                                                                              \
-  hashv += (hashv << 3);                                                         \
-  hashv ^= (hashv >> 11);                                                        \
-  hashv += (hashv << 15);                                                        \
-  bkt = hashv & (num_bkts-1);                                                    \
-} while(0)
-
-#define HASH_JEN_MIX(a,b,c)                                                      \
-do {                                                                             \
-  a -= b; a -= c; a ^= ( c >> 13 );                                              \
-  b -= c; b -= a; b ^= ( a << 8 );                                               \
-  c -= a; c -= b; c ^= ( b >> 13 );                                              \
-  a -= b; a -= c; a ^= ( c >> 12 );                                              \
-  b -= c; b -= a; b ^= ( a << 16 );                                              \
-  c -= a; c -= b; c ^= ( b >> 5 );                                               \
-  a -= b; a -= c; a ^= ( c >> 3 );                                               \
-  b -= c; b -= a; b ^= ( a << 10 );                                              \
-  c -= a; c -= b; c ^= ( b >> 15 );                                              \
-} while (0)
-
-#define HASH_JEN(key,keylen,num_bkts,hashv,bkt)                                  \
-do {                                                                             \
-  unsigned _hj_i,_hj_j,_hj_k;                                                    \
-  char *_hj_key=(char*)(key);                                                    \
-  hashv = 0xfeedbeef;                                                            \
-  _hj_i = _hj_j = 0x9e3779b9;                                                    \
-  _hj_k = (unsigned)keylen;                                                                \
-  while (_hj_k >= 12) {                                                          \
-    _hj_i +=    (_hj_key[0] + ( (unsigned)_hj_key[1] << 8 )                      \
-        + ( (unsigned)_hj_key[2] << 16 )                                         \
-        + ( (unsigned)_hj_key[3] << 24 ) );                                      \
-    _hj_j +=    (_hj_key[4] + ( (unsigned)_hj_key[5] << 8 )                      \
-        + ( (unsigned)_hj_key[6] << 16 )                                         \
-        + ( (unsigned)_hj_key[7] << 24 ) );                                      \
-    hashv += (_hj_key[8] + ( (unsigned)_hj_key[9] << 8 )                         \
-        + ( (unsigned)_hj_key[10] << 16 )                                        \
-        + ( (unsigned)_hj_key[11] << 24 ) );                                     \
-                                                                                 \
-     HASH_JEN_MIX(_hj_i, _hj_j, hashv);                                          \
-                                                                                 \
-     _hj_key += 12;                                                              \
-     _hj_k -= 12;                                                                \
-  }                                                                              \
-  hashv += keylen;                                                               \
-  switch ( _hj_k ) {                                                             \
-     case 11: hashv += ( (unsigned)_hj_key[10] << 24 );                          \
-     case 10: hashv += ( (unsigned)_hj_key[9] << 16 );                           \
-     case 9:  hashv += ( (unsigned)_hj_key[8] << 8 );                            \
-     case 8:  _hj_j += ( (unsigned)_hj_key[7] << 24 );                           \
-     case 7:  _hj_j += ( (unsigned)_hj_key[6] << 16 );                           \
-     case 6:  _hj_j += ( (unsigned)_hj_key[5] << 8 );                            \
-     case 5:  _hj_j += _hj_key[4];                                               \
-     case 4:  _hj_i += ( (unsigned)_hj_key[3] << 24 );                           \
-     case 3:  _hj_i += ( (unsigned)_hj_key[2] << 16 );                           \
-     case 2:  _hj_i += ( (unsigned)_hj_key[1] << 8 );                            \
-     case 1:  _hj_i += _hj_key[0];                                               \
-  }                                                                              \
-  HASH_JEN_MIX(_hj_i, _hj_j, hashv);                                             \
-  bkt = hashv & (num_bkts-1);                                                    \
-} while(0)
-
-/* The Paul Hsieh hash function */
-#undef get16bits
-#if (defined(__GNUC__) && defined(__i386__)) || defined(__WATCOMC__)             \
-  || defined(_MSC_VER) || defined (__BORLANDC__) || defined (__TURBOC__)
-#define get16bits(d) (*((const uint16_t *) (d)))
-#endif
-
-#if !defined (get16bits)
-#define get16bits(d) ((((uint32_t)(((const uint8_t *)(d))[1])) << 8)             \
-                       +(uint32_t)(((const uint8_t *)(d))[0]) )
-#endif
-#define HASH_SFH(key,keylen,num_bkts,hashv,bkt)                                  \
-do {                                                                             \
-  char *_sfh_key=(char*)(key);                                                   \
-  uint32_t _sfh_tmp, _sfh_len = keylen;                                          \
-                                                                                 \
-  int _sfh_rem = _sfh_len & 3;                                                   \
-  _sfh_len >>= 2;                                                                \
-  hashv = 0xcafebabe;                                                            \
-                                                                                 \
-  /* Main loop */                                                                \
-  for (;_sfh_len > 0; _sfh_len--) {                                              \
-    hashv    += get16bits (_sfh_key);                                            \
-    _sfh_tmp       = (get16bits (_sfh_key+2) << 11) ^ hashv;                     \
-    hashv     = (hashv << 16) ^ _sfh_tmp;                                        \
-    _sfh_key += 2*sizeof (uint16_t);                                             \
-    hashv    += hashv >> 11;                                                     \
-  }                                                                              \
-                                                                                 \
-  /* Handle end cases */                                                         \
-  switch (_sfh_rem) {                                                            \
-    case 3: hashv += get16bits (_sfh_key);                                       \
-            hashv ^= hashv << 16;                                                \
-            hashv ^= _sfh_key[sizeof (uint16_t)] << 18;                          \
-            hashv += hashv >> 11;                                                \
-            break;                                                               \
-    case 2: hashv += get16bits (_sfh_key);                                       \
-            hashv ^= hashv << 11;                                                \
-            hashv += hashv >> 17;                                                \
-            break;                                                               \
-    case 1: hashv += *_sfh_key;                                                  \
-            hashv ^= hashv << 10;                                                \
-            hashv += hashv >> 1;                                                 \
-  }                                                                              \
-                                                                                 \
-    /* Force "avalanching" of final 127 bits */                                  \
-    hashv ^= hashv << 3;                                                         \
-    hashv += hashv >> 5;                                                         \
-    hashv ^= hashv << 4;                                                         \
-    hashv += hashv >> 17;                                                        \
-    hashv ^= hashv << 25;                                                        \
-    hashv += hashv >> 6;                                                         \
-    bkt = hashv & (num_bkts-1);                                                  \
-} while(0) 
-
-#ifdef HASH_USING_NO_STRICT_ALIASING
-/* The MurmurHash exploits some CPU's (x86,x86_64) tolerance for unaligned reads.
- * For other types of CPU's (e.g. Sparc) an unaligned read causes a bus error.
- * MurmurHash uses the faster approach only on CPU's where we know it's safe. 
- *
- * Note the preprocessor built-in defines can be emitted using:
- *
- *   gcc -m64 -dM -E - < /dev/null                  (on gcc)
- *   cc -## a.c (where a.c is a simple test file)   (Sun Studio)
- */
-#if (defined(__i386__) || defined(__x86_64__)) 
-#define MUR_GETBLOCK(p,i) p[i]
-#else /* non intel */
-#define MUR_PLUS0_ALIGNED(p) (((unsigned long)p & 0x3) == 0)
-#define MUR_PLUS1_ALIGNED(p) (((unsigned long)p & 0x3) == 1)
-#define MUR_PLUS2_ALIGNED(p) (((unsigned long)p & 0x3) == 2)
-#define MUR_PLUS3_ALIGNED(p) (((unsigned long)p & 0x3) == 3)
-#define WP(p) ((uint32_t*)((unsigned long)(p) & ~3UL))
-#if (defined(__BIG_ENDIAN__) || defined(SPARC) || defined(__ppc__) || defined(__ppc64__))
-#define MUR_THREE_ONE(p) ((((*WP(p))&0x00ffffff) << 8) | (((*(WP(p)+1))&0xff000000) >> 24))
-#define MUR_TWO_TWO(p)   ((((*WP(p))&0x0000ffff) <<16) | (((*(WP(p)+1))&0xffff0000) >> 16))
-#define MUR_ONE_THREE(p) ((((*WP(p))&0x000000ff) <<24) | (((*(WP(p)+1))&0xffffff00) >>  8))
-#else /* assume little endian non-intel */
-#define MUR_THREE_ONE(p) ((((*WP(p))&0xffffff00) >> 8) | (((*(WP(p)+1))&0x000000ff) << 24))
-#define MUR_TWO_TWO(p)   ((((*WP(p))&0xffff0000) >>16) | (((*(WP(p)+1))&0x0000ffff) << 16))
-#define MUR_ONE_THREE(p) ((((*WP(p))&0xff000000) >>24) | (((*(WP(p)+1))&0x00ffffff) <<  8))
-#endif
-#define MUR_GETBLOCK(p,i) (MUR_PLUS0_ALIGNED(p) ? ((p)[i]) :           \
-                            (MUR_PLUS1_ALIGNED(p) ? MUR_THREE_ONE(p) : \
-                             (MUR_PLUS2_ALIGNED(p) ? MUR_TWO_TWO(p) :  \
-                                                      MUR_ONE_THREE(p))))
-#endif
-#define MUR_ROTL32(x,r) (((x) << (r)) | ((x) >> (32 - (r))))
-#define MUR_FMIX(_h) \
-do {                 \
-  _h ^= _h >> 16;    \
-  _h *= 0x85ebca6b;  \
-  _h ^= _h >> 13;    \
-  _h *= 0xc2b2ae35l; \
-  _h ^= _h >> 16;    \
-} while(0)
-
-#define HASH_MUR(key,keylen,num_bkts,hashv,bkt)                        \
-do {                                                                   \
-  const uint8_t *_mur_data = (const uint8_t*)(key);                    \
-  const int _mur_nblocks = (keylen) / 4;                               \
-  uint32_t _mur_h1 = 0xf88D5353;                                       \
-  uint32_t _mur_c1 = 0xcc9e2d51;                                       \
-  uint32_t _mur_c2 = 0x1b873593;                                       \
-  const uint32_t *_mur_blocks = (const uint32_t*)(_mur_data+_mur_nblocks*4); \
-  int _mur_i;                                                          \
-  for(_mur_i = -_mur_nblocks; _mur_i; _mur_i++) {                      \
-    uint32_t _mur_k1 = MUR_GETBLOCK(_mur_blocks,_mur_i);               \
-    _mur_k1 *= _mur_c1;                                                \
-    _mur_k1 = MUR_ROTL32(_mur_k1,15);                                  \
-    _mur_k1 *= _mur_c2;                                                \
-                                                                       \
-    _mur_h1 ^= _mur_k1;                                                \
-    _mur_h1 = MUR_ROTL32(_mur_h1,13);                                  \
-    _mur_h1 = _mur_h1*5+0xe6546b64;                                    \
-  }                                                                    \
-  const uint8_t *_mur_tail = (const uint8_t*)(_mur_data + _mur_nblocks*4); \
-  uint32_t _mur_k1=0;                                                  \
-  switch((keylen) & 3) {                                               \
-    case 3: _mur_k1 ^= _mur_tail[2] << 16;                             \
-    case 2: _mur_k1 ^= _mur_tail[1] << 8;                              \
-    case 1: _mur_k1 ^= _mur_tail[0];                                   \
-    _mur_k1 *= _mur_c1;                                                \
-    _mur_k1 = MUR_ROTL32(_mur_k1,15);                                  \
-    _mur_k1 *= _mur_c2;                                                \
-    _mur_h1 ^= _mur_k1;                                                \
-  }                                                                    \
-  _mur_h1 ^= (keylen);                                                 \
-  MUR_FMIX(_mur_h1);                                                   \
-  hashv = _mur_h1;                                                     \
-  bkt = hashv & (num_bkts-1);                                          \
-} while(0)
-#endif  /* HASH_USING_NO_STRICT_ALIASING */
-
-/* key comparison function; return 0 if keys equal */
-#define HASH_KEYCMP(a,b,len) memcmp(a,b,len) 
-
-/* iterate over items in a known bucket to find desired item */
-#define HASH_FIND_IN_BKT(tbl,hh,head,keyptr,keylen_in,out)                       \
-do {                                                                             \
- if (head.hh_head) DECLTYPE_ASSIGN(out,ELMT_FROM_HH(tbl,head.hh_head));          \
- else out=NULL;                                                                  \
- while (out) {                                                                   \
-    if ((out)->hh.keylen == keylen_in) {                                           \
-        if ((HASH_KEYCMP((out)->hh.key,keyptr,keylen_in)) == 0) break;             \
-    }                                                                            \
-    if ((out)->hh.hh_next) DECLTYPE_ASSIGN(out,ELMT_FROM_HH(tbl,(out)->hh.hh_next)); \
-    else out = NULL;                                                             \
- }                                                                               \
-} while(0)
-
-/* add an item to a bucket  */
-#define HASH_ADD_TO_BKT(head,addhh)                                              \
-do {                                                                             \
- head.count++;                                                                   \
- (addhh)->hh_next = head.hh_head;                                                \
- (addhh)->hh_prev = NULL;                                                        \
- if (head.hh_head) { (head).hh_head->hh_prev = (addhh); }                        \
- (head).hh_head=addhh;                                                           \
- if (head.count >= ((head.expand_mult+1) * HASH_BKT_CAPACITY_THRESH)             \
-     && (addhh)->tbl->noexpand != 1) {                                           \
-       HASH_EXPAND_BUCKETS((addhh)->tbl);                                        \
- }                                                                               \
-} while(0)
-
-/* remove an item from a given bucket */
-#define HASH_DEL_IN_BKT(hh,head,hh_del)                                          \
-    (head).count--;                                                              \
-    if ((head).hh_head == hh_del) {                                              \
-      (head).hh_head = hh_del->hh_next;                                          \
-    }                                                                            \
-    if (hh_del->hh_prev) {                                                       \
-        hh_del->hh_prev->hh_next = hh_del->hh_next;                              \
-    }                                                                            \
-    if (hh_del->hh_next) {                                                       \
-        hh_del->hh_next->hh_prev = hh_del->hh_prev;                              \
-    }                                                                
-
-/* Bucket expansion has the effect of doubling the number of buckets
- * and redistributing the items into the new buckets. Ideally the
- * items will distribute more or less evenly into the new buckets
- * (the extent to which this is true is a measure of the quality of
- * the hash function as it applies to the key domain). 
- * 
- * With the items distributed into more buckets, the chain length
- * (item count) in each bucket is reduced. Thus by expanding buckets
- * the hash keeps a bound on the chain length. This bounded chain 
- * length is the essence of how a hash provides constant time lookup.
- * 
- * The calculation of tbl->ideal_chain_maxlen below deserves some
- * explanation. First, keep in mind that we're calculating the ideal
- * maximum chain length based on the *new* (doubled) bucket count.
- * In fractions this is just n/b (n=number of items,b=new num buckets).
- * Since the ideal chain length is an integer, we want to calculate 
- * ceil(n/b). We don't depend on floating point arithmetic in this
- * hash, so to calculate ceil(n/b) with integers we could write
- * 
- *      ceil(n/b) = (n/b) + ((n%b)?1:0)
- * 
- * and in fact a previous version of this hash did just that.
- * But now we have improved things a bit by recognizing that b is
- * always a power of two. We keep its base 2 log handy (call it lb),
- * so now we can write this with a bit shift and logical AND:
- * 
- *      ceil(n/b) = (n>>lb) + ( (n & (b-1)) ? 1:0)
- * 
- */
-#define HASH_EXPAND_BUCKETS(tbl)                                                 \
-do {                                                                             \
-    unsigned _he_bkt;                                                            \
-    unsigned _he_bkt_i;                                                          \
-    struct UT_hash_handle *_he_thh, *_he_hh_nxt;                                 \
-    UT_hash_bucket *_he_new_buckets, *_he_newbkt;                                \
-    _he_new_buckets = (UT_hash_bucket*)uthash_malloc(                            \
-             2 * tbl->num_buckets * sizeof(struct UT_hash_bucket));              \
-    if (!_he_new_buckets) { uthash_fatal( "out of memory"); }                    \
-    memset(_he_new_buckets, 0,                                                   \
-            2 * tbl->num_buckets * sizeof(struct UT_hash_bucket));               \
-    tbl->ideal_chain_maxlen =                                                    \
-       (tbl->num_items >> (tbl->log2_num_buckets+1)) +                           \
-       ((tbl->num_items & ((tbl->num_buckets*2)-1)) ? 1 : 0);                    \
-    tbl->nonideal_items = 0;                                                     \
-    for(_he_bkt_i = 0; _he_bkt_i < tbl->num_buckets; _he_bkt_i++)                \
-    {                                                                            \
-        _he_thh = tbl->buckets[ _he_bkt_i ].hh_head;                             \
-        while (_he_thh) {                                                        \
-           _he_hh_nxt = _he_thh->hh_next;                                        \
-           HASH_TO_BKT( _he_thh->hashv, tbl->num_buckets*2, _he_bkt);            \
-           _he_newbkt = &(_he_new_buckets[ _he_bkt ]);                           \
-           if (++(_he_newbkt->count) > tbl->ideal_chain_maxlen) {                \
-             tbl->nonideal_items++;                                              \
-             _he_newbkt->expand_mult = _he_newbkt->count /                       \
-                                        tbl->ideal_chain_maxlen;                 \
-           }                                                                     \
-           _he_thh->hh_prev = NULL;                                              \
-           _he_thh->hh_next = _he_newbkt->hh_head;                               \
-           if (_he_newbkt->hh_head) _he_newbkt->hh_head->hh_prev =               \
-                _he_thh;                                                         \
-           _he_newbkt->hh_head = _he_thh;                                        \
-           _he_thh = _he_hh_nxt;                                                 \
-        }                                                                        \
-    }                                                                            \
-    uthash_free( tbl->buckets, tbl->num_buckets*sizeof(struct UT_hash_bucket) ); \
-    tbl->num_buckets *= 2;                                                       \
-    tbl->log2_num_buckets++;                                                     \
-    tbl->buckets = _he_new_buckets;                                              \
-    tbl->ineff_expands = (tbl->nonideal_items > (tbl->num_items >> 1)) ?         \
-        (tbl->ineff_expands+1) : 0;                                              \
-    if (tbl->ineff_expands > 1) {                                                \
-        tbl->noexpand=1;                                                         \
-        uthash_noexpand_fyi(tbl);                                                \
-    }                                                                            \
-    uthash_expand_fyi(tbl);                                                      \
-} while(0)
-
-
-/* This is an adaptation of Simon Tatham's O(n log(n)) mergesort */
-/* Note that HASH_SORT assumes the hash handle name to be hh. 
- * HASH_SRT was added to allow the hash handle name to be passed in. */
-#define HASH_SORT(head,cmpfcn) HASH_SRT(hh,head,cmpfcn)
-#define HASH_SRT(hh,head,cmpfcn)                                                 \
-do {                                                                             \
-  unsigned _hs_i;                                                                \
-  unsigned _hs_looping,_hs_nmerges,_hs_insize,_hs_psize,_hs_qsize;               \
-  struct UT_hash_handle *_hs_p, *_hs_q, *_hs_e, *_hs_list, *_hs_tail;            \
-  if (head) {                                                                    \
-      _hs_insize = 1;                                                            \
-      _hs_looping = 1;                                                           \
-      _hs_list = &((head)->hh);                                                  \
-      while (_hs_looping) {                                                      \
-          _hs_p = _hs_list;                                                      \
-          _hs_list = NULL;                                                       \
-          _hs_tail = NULL;                                                       \
-          _hs_nmerges = 0;                                                       \
-          while (_hs_p) {                                                        \
-              _hs_nmerges++;                                                     \
-              _hs_q = _hs_p;                                                     \
-              _hs_psize = 0;                                                     \
-              for ( _hs_i = 0; _hs_i  < _hs_insize; _hs_i++ ) {                  \
-                  _hs_psize++;                                                   \
-                  _hs_q = (UT_hash_handle*)((_hs_q->next) ?                      \
-                          ((void*)((char*)(_hs_q->next) +                        \
-                          (head)->hh.tbl->hho)) : NULL);                         \
-                  if (! (_hs_q) ) break;                                         \
-              }                                                                  \
-              _hs_qsize = _hs_insize;                                            \
-              while ((_hs_psize > 0) || ((_hs_qsize > 0) && _hs_q )) {           \
-                  if (_hs_psize == 0) {                                          \
-                      _hs_e = _hs_q;                                             \
-                      _hs_q = (UT_hash_handle*)((_hs_q->next) ?                  \
-                              ((void*)((char*)(_hs_q->next) +                    \
-                              (head)->hh.tbl->hho)) : NULL);                     \
-                      _hs_qsize--;                                               \
-                  } else if ( (_hs_qsize == 0) || !(_hs_q) ) {                   \
-                      _hs_e = _hs_p;                                             \
-                      _hs_p = (UT_hash_handle*)((_hs_p->next) ?                  \
-                              ((void*)((char*)(_hs_p->next) +                    \
-                              (head)->hh.tbl->hho)) : NULL);                     \
-                      _hs_psize--;                                               \
-                  } else if ((                                                   \
-                      cmpfcn(DECLTYPE(head)(ELMT_FROM_HH((head)->hh.tbl,_hs_p)), \
-                             DECLTYPE(head)(ELMT_FROM_HH((head)->hh.tbl,_hs_q))) \
-                             ) <= 0) {                                           \
-                      _hs_e = _hs_p;                                             \
-                      _hs_p = (UT_hash_handle*)((_hs_p->next) ?                  \
-                              ((void*)((char*)(_hs_p->next) +                    \
-                              (head)->hh.tbl->hho)) : NULL);                     \
-                      _hs_psize--;                                               \
-                  } else {                                                       \
-                      _hs_e = _hs_q;                                             \
-                      _hs_q = (UT_hash_handle*)((_hs_q->next) ?                  \
-                              ((void*)((char*)(_hs_q->next) +                    \
-                              (head)->hh.tbl->hho)) : NULL);                     \
-                      _hs_qsize--;                                               \
-                  }                                                              \
-                  if ( _hs_tail ) {                                              \
-                      _hs_tail->next = ((_hs_e) ?                                \
-                            ELMT_FROM_HH((head)->hh.tbl,_hs_e) : NULL);          \
-                  } else {                                                       \
-                      _hs_list = _hs_e;                                          \
-                  }                                                              \
-                  _hs_e->prev = ((_hs_tail) ?                                    \
-                     ELMT_FROM_HH((head)->hh.tbl,_hs_tail) : NULL);              \
-                  _hs_tail = _hs_e;                                              \
-              }                                                                  \
-              _hs_p = _hs_q;                                                     \
-          }                                                                      \
-          _hs_tail->next = NULL;                                                 \
-          if ( _hs_nmerges <= 1 ) {                                              \
-              _hs_looping=0;                                                     \
-              (head)->hh.tbl->tail = _hs_tail;                                   \
-              DECLTYPE_ASSIGN(head,ELMT_FROM_HH((head)->hh.tbl, _hs_list));      \
-          }                                                                      \
-          _hs_insize *= 2;                                                       \
-      }                                                                          \
-      HASH_FSCK(hh,head);                                                        \
- }                                                                               \
-} while (0)
-
-/* This function selects items from one hash into another hash. 
- * The end result is that the selected items have dual presence 
- * in both hashes. There is no copy of the items made; rather 
- * they are added into the new hash through a secondary hash 
- * hash handle that must be present in the structure. */
-#define HASH_SELECT(hh_dst, dst, hh_src, src, cond)                              \
-do {                                                                             \
-  unsigned _src_bkt, _dst_bkt;                                                   \
-  void *_last_elt=NULL, *_elt;                                                   \
-  UT_hash_handle *_src_hh, *_dst_hh, *_last_elt_hh=NULL;                         \
-  ptrdiff_t _dst_hho = ((char*)(&(dst)->hh_dst) - (char*)(dst));                 \
-  if (src) {                                                                     \
-    for(_src_bkt=0; _src_bkt < (src)->hh_src.tbl->num_buckets; _src_bkt++) {     \
-      for(_src_hh = (src)->hh_src.tbl->buckets[_src_bkt].hh_head;                \
-          _src_hh;                                                               \
-          _src_hh = _src_hh->hh_next) {                                          \
-          _elt = ELMT_FROM_HH((src)->hh_src.tbl, _src_hh);                       \
-          if (cond(_elt)) {                                                      \
-            _dst_hh = (UT_hash_handle*)(((char*)_elt) + _dst_hho);               \
-            _dst_hh->key = _src_hh->key;                                         \
-            _dst_hh->keylen = _src_hh->keylen;                                   \
-            _dst_hh->hashv = _src_hh->hashv;                                     \
-            _dst_hh->prev = _last_elt;                                           \
-            _dst_hh->next = NULL;                                                \
-            if (_last_elt_hh) { _last_elt_hh->next = _elt; }                     \
-            if (!dst) {                                                          \
-              DECLTYPE_ASSIGN(dst,_elt);                                         \
-              HASH_MAKE_TABLE(hh_dst,dst);                                       \
-            } else {                                                             \
-              _dst_hh->tbl = (dst)->hh_dst.tbl;                                  \
-            }                                                                    \
-            HASH_TO_BKT(_dst_hh->hashv, _dst_hh->tbl->num_buckets, _dst_bkt);    \
-            HASH_ADD_TO_BKT(_dst_hh->tbl->buckets[_dst_bkt],_dst_hh);            \
-            (dst)->hh_dst.tbl->num_items++;                                      \
-            _last_elt = _elt;                                                    \
-            _last_elt_hh = _dst_hh;                                              \
-          }                                                                      \
-      }                                                                          \
-    }                                                                            \
-  }                                                                              \
-  HASH_FSCK(hh_dst,dst);                                                         \
-} while (0)
-
-#define HASH_CLEAR(hh,head)                                                      \
-do {                                                                             \
-  if (head) {                                                                    \
-    uthash_free((head)->hh.tbl->buckets,                                         \
-                (head)->hh.tbl->num_buckets*sizeof(struct UT_hash_bucket));      \
-    HASH_BLOOM_FREE((head)->hh.tbl);                                             \
-    uthash_free((head)->hh.tbl, sizeof(UT_hash_table));                          \
-    (head)=NULL;                                                                 \
-  }                                                                              \
-} while(0)
-
-#ifdef NO_DECLTYPE
-#define HASH_ITER(hh,head,el,tmp)                                                \
-for((el)=(head), (*(char**)(&(tmp)))=(char*)((head)?(head)->hh.next:NULL);       \
-  el; (el)=(tmp),(*(char**)(&(tmp)))=(char*)((tmp)?(tmp)->hh.next:NULL)) 
-#else
-#define HASH_ITER(hh,head,el,tmp)                                                \
-for((el)=(head),(tmp)=DECLTYPE(el)((head)?(head)->hh.next:NULL);                 \
-  el; (el)=(tmp),(tmp)=DECLTYPE(el)((tmp)?(tmp)->hh.next:NULL))
-#endif
-
-/* obtain a count of items in the hash */
-#define HASH_COUNT(head) HASH_CNT(hh,head) 
-#define HASH_CNT(hh,head) ((head)?((head)->hh.tbl->num_items):0)
-
-typedef struct UT_hash_bucket {
-   struct UT_hash_handle *hh_head;
-   unsigned count;
-
-   /* expand_mult is normally set to 0. In this situation, the max chain length
-    * threshold is enforced at its default value, HASH_BKT_CAPACITY_THRESH. (If
-    * the bucket's chain exceeds this length, bucket expansion is triggered). 
-    * However, setting expand_mult to a non-zero value delays bucket expansion
-    * (that would be triggered by additions to this particular bucket)
-    * until its chain length reaches a *multiple* of HASH_BKT_CAPACITY_THRESH.
-    * (The multiplier is simply expand_mult+1). The whole idea of this
-    * multiplier is to reduce bucket expansions, since they are expensive, in
-    * situations where we know that a particular bucket tends to be overused.
-    * It is better to let its chain length grow to a longer yet-still-bounded
-    * value, than to do an O(n) bucket expansion too often. 
-    */
-   unsigned expand_mult;
-
-} UT_hash_bucket;
-
-/* random signature used only to find hash tables in external analysis */
-#define HASH_SIGNATURE 0xa0111fe1
-#define HASH_BLOOM_SIGNATURE 0xb12220f2
-
-typedef struct UT_hash_table {
-   UT_hash_bucket *buckets;
-   unsigned num_buckets, log2_num_buckets;
-   unsigned num_items;
-   struct UT_hash_handle *tail; /* tail hh in app order, for fast append    */
-   ptrdiff_t hho; /* hash handle offset (byte pos of hash handle in element */
-
-   /* in an ideal situation (all buckets used equally), no bucket would have
-    * more than ceil(#items/#buckets) items. that's the ideal chain length. */
-   unsigned ideal_chain_maxlen;
-
-   /* nonideal_items is the number of items in the hash whose chain position
-    * exceeds the ideal chain maxlen. these items pay the penalty for an uneven
-    * hash distribution; reaching them in a chain traversal takes >ideal steps */
-   unsigned nonideal_items;
-
-   /* ineffective expands occur when a bucket doubling was performed, but 
-    * afterward, more than half the items in the hash had nonideal chain
-    * positions. If this happens on two consecutive expansions we inhibit any
-    * further expansion, as it's not helping; this happens when the hash
-    * function isn't a good fit for the key domain. When expansion is inhibited
-    * the hash will still work, albeit no longer in constant time. */
-   unsigned ineff_expands, noexpand;
-
-   uint32_t signature; /* used only to find hash tables in external analysis */
-#ifdef HASH_BLOOM
-   uint32_t bloom_sig; /* used only to test bloom exists in external analysis */
-   uint8_t *bloom_bv;
-   char bloom_nbits;
-#endif
-
-} UT_hash_table;
-
-typedef struct UT_hash_handle {
-   struct UT_hash_table *tbl;
-   void *prev;                       /* prev element in app order      */
-   void *next;                       /* next element in app order      */
-   struct UT_hash_handle *hh_prev;   /* previous hh in bucket order    */
-   struct UT_hash_handle *hh_next;   /* next hh in bucket order        */
-   void *key;                        /* ptr to enclosing struct's key  */
-   unsigned keylen;                  /* enclosing struct's key len     */
-   unsigned hashv;                   /* result of hash-fcn(key)        */
-} UT_hash_handle;
-
-#endif /* UTHASH_H */
diff --git a/apps/systemlib/uthash/utlist.h b/apps/systemlib/uthash/utlist.h
deleted file mode 100644
index 1578acad2..000000000
--- a/apps/systemlib/uthash/utlist.h
+++ /dev/null
@@ -1,522 +0,0 @@
-/*
-Copyright (c) 2007-2012, Troy D. Hanson   http://uthash.sourceforge.net
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
-
-    * Redistributions of source code must retain the above copyright
-      notice, this list of conditions and the following disclaimer.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
-IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
-TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
-PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER
-OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
-EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
-PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
-PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
-LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
-NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-*/
-
-#ifndef UTLIST_H
-#define UTLIST_H
-
-#define UTLIST_VERSION 1.9.6
-
-#include 
-
-/* 
- * This file contains macros to manipulate singly and doubly-linked lists.
- *
- * 1. LL_ macros:  singly-linked lists.
- * 2. DL_ macros:  doubly-linked lists.
- * 3. CDL_ macros: circular doubly-linked lists.
- *
- * To use singly-linked lists, your structure must have a "next" pointer.
- * To use doubly-linked lists, your structure must "prev" and "next" pointers.
- * Either way, the pointer to the head of the list must be initialized to NULL.
- * 
- * ----------------.EXAMPLE -------------------------
- * struct item {
- *      int id;
- *      struct item *prev, *next;
- * }
- *
- * struct item *list = NULL:
- *
- * int main() {
- *      struct item *item;
- *      ... allocate and populate item ...
- *      DL_APPEND(list, item);
- * }
- * --------------------------------------------------
- *
- * For doubly-linked lists, the append and delete macros are O(1)
- * For singly-linked lists, append and delete are O(n) but prepend is O(1)
- * The sort macro is O(n log(n)) for all types of single/double/circular lists.
- */
-
-/* These macros use decltype or the earlier __typeof GNU extension.
-   As decltype is only available in newer compilers (VS2010 or gcc 4.3+
-   when compiling c++ code), this code uses whatever method is needed
-   or, for VS2008 where neither is available, uses casting workarounds. */
-#ifdef _MSC_VER            /* MS compiler */
-#if _MSC_VER >= 1600 && defined(__cplusplus)  /* VS2010 or newer in C++ mode */
-#define LDECLTYPE(x) decltype(x)
-#else                     /* VS2008 or older (or VS2010 in C mode) */
-#define NO_DECLTYPE
-#define LDECLTYPE(x) char*
-#endif
-#else                      /* GNU, Sun and other compilers */
-#define LDECLTYPE(x) __typeof(x)
-#endif
-
-/* for VS2008 we use some workarounds to get around the lack of decltype,
- * namely, we always reassign our tmp variable to the list head if we need
- * to dereference its prev/next pointers, and save/restore the real head.*/
-#ifdef NO_DECLTYPE
-#define _SV(elt,list) _tmp = (char*)(list); {char **_alias = (char**)&(list); *_alias = (elt); }
-#define _NEXT(elt,list) ((char*)((list)->next))
-#define _NEXTASGN(elt,list,to) { char **_alias = (char**)&((list)->next); *_alias=(char*)(to); }
-#define _PREV(elt,list) ((char*)((list)->prev))
-#define _PREVASGN(elt,list,to) { char **_alias = (char**)&((list)->prev); *_alias=(char*)(to); }
-#define _RS(list) { char **_alias = (char**)&(list); *_alias=_tmp; }
-#define _CASTASGN(a,b) { char **_alias = (char**)&(a); *_alias=(char*)(b); }
-#else 
-#define _SV(elt,list)
-#define _NEXT(elt,list) ((elt)->next)
-#define _NEXTASGN(elt,list,to) ((elt)->next)=(to)
-#define _PREV(elt,list) ((elt)->prev)
-#define _PREVASGN(elt,list,to) ((elt)->prev)=(to)
-#define _RS(list)
-#define _CASTASGN(a,b) (a)=(b)
-#endif
-
-/******************************************************************************
- * The sort macro is an adaptation of Simon Tatham's O(n log(n)) mergesort    *
- * Unwieldy variable names used here to avoid shadowing passed-in variables.  *
- *****************************************************************************/
-#define LL_SORT(list, cmp)                                                                     \
-do {                                                                                           \
-  LDECLTYPE(list) _ls_p;                                                                       \
-  LDECLTYPE(list) _ls_q;                                                                       \
-  LDECLTYPE(list) _ls_e;                                                                       \
-  LDECLTYPE(list) _ls_tail;                                                                    \
-  LDECLTYPE(list) _ls_oldhead;                                                                 \
-  LDECLTYPE(list) _tmp;                                                                        \
-  int _ls_insize, _ls_nmerges, _ls_psize, _ls_qsize, _ls_i, _ls_looping;                       \
-  if (list) {                                                                                  \
-    _ls_insize = 1;                                                                            \
-    _ls_looping = 1;                                                                           \
-    while (_ls_looping) {                                                                      \
-      _CASTASGN(_ls_p,list);                                                                   \
-      _CASTASGN(_ls_oldhead,list);                                                             \
-      list = NULL;                                                                             \
-      _ls_tail = NULL;                                                                         \
-      _ls_nmerges = 0;                                                                         \
-      while (_ls_p) {                                                                          \
-        _ls_nmerges++;                                                                         \
-        _ls_q = _ls_p;                                                                         \
-        _ls_psize = 0;                                                                         \
-        for (_ls_i = 0; _ls_i < _ls_insize; _ls_i++) {                                         \
-          _ls_psize++;                                                                         \
-          _SV(_ls_q,list); _ls_q = _NEXT(_ls_q,list); _RS(list);                               \
-          if (!_ls_q) break;                                                                   \
-        }                                                                                      \
-        _ls_qsize = _ls_insize;                                                                \
-        while (_ls_psize > 0 || (_ls_qsize > 0 && _ls_q)) {                                    \
-          if (_ls_psize == 0) {                                                                \
-            _ls_e = _ls_q; _SV(_ls_q,list); _ls_q = _NEXT(_ls_q,list); _RS(list); _ls_qsize--; \
-          } else if (_ls_qsize == 0 || !_ls_q) {                                               \
-            _ls_e = _ls_p; _SV(_ls_p,list); _ls_p = _NEXT(_ls_p,list); _RS(list); _ls_psize--; \
-          } else if (cmp(_ls_p,_ls_q) <= 0) {                                                  \
-            _ls_e = _ls_p; _SV(_ls_p,list); _ls_p = _NEXT(_ls_p,list); _RS(list); _ls_psize--; \
-          } else {                                                                             \
-            _ls_e = _ls_q; _SV(_ls_q,list); _ls_q = _NEXT(_ls_q,list); _RS(list); _ls_qsize--; \
-          }                                                                                    \
-          if (_ls_tail) {                                                                      \
-            _SV(_ls_tail,list); _NEXTASGN(_ls_tail,list,_ls_e); _RS(list);                     \
-          } else {                                                                             \
-            _CASTASGN(list,_ls_e);                                                             \
-          }                                                                                    \
-          _ls_tail = _ls_e;                                                                    \
-        }                                                                                      \
-        _ls_p = _ls_q;                                                                         \
-      }                                                                                        \
-      _SV(_ls_tail,list); _NEXTASGN(_ls_tail,list,NULL); _RS(list);                            \
-      if (_ls_nmerges <= 1) {                                                                  \
-        _ls_looping=0;                                                                         \
-      }                                                                                        \
-      _ls_insize *= 2;                                                                         \
-    }                                                                                          \
-  } else _tmp=NULL; /* quiet gcc unused variable warning */                                    \
-} while (0)
-
-#define DL_SORT(list, cmp)                                                                     \
-do {                                                                                           \
-  LDECLTYPE(list) _ls_p;                                                                       \
-  LDECLTYPE(list) _ls_q;                                                                       \
-  LDECLTYPE(list) _ls_e;                                                                       \
-  LDECLTYPE(list) _ls_tail;                                                                    \
-  LDECLTYPE(list) _ls_oldhead;                                                                 \
-  LDECLTYPE(list) _tmp;                                                                        \
-  int _ls_insize, _ls_nmerges, _ls_psize, _ls_qsize, _ls_i, _ls_looping;                       \
-  if (list) {                                                                                  \
-    _ls_insize = 1;                                                                            \
-    _ls_looping = 1;                                                                           \
-    while (_ls_looping) {                                                                      \
-      _CASTASGN(_ls_p,list);                                                                   \
-      _CASTASGN(_ls_oldhead,list);                                                             \
-      list = NULL;                                                                             \
-      _ls_tail = NULL;                                                                         \
-      _ls_nmerges = 0;                                                                         \
-      while (_ls_p) {                                                                          \
-        _ls_nmerges++;                                                                         \
-        _ls_q = _ls_p;                                                                         \
-        _ls_psize = 0;                                                                         \
-        for (_ls_i = 0; _ls_i < _ls_insize; _ls_i++) {                                         \
-          _ls_psize++;                                                                         \
-          _SV(_ls_q,list); _ls_q = _NEXT(_ls_q,list); _RS(list);                               \
-          if (!_ls_q) break;                                                                   \
-        }                                                                                      \
-        _ls_qsize = _ls_insize;                                                                \
-        while (_ls_psize > 0 || (_ls_qsize > 0 && _ls_q)) {                                    \
-          if (_ls_psize == 0) {                                                                \
-            _ls_e = _ls_q; _SV(_ls_q,list); _ls_q = _NEXT(_ls_q,list); _RS(list); _ls_qsize--; \
-          } else if (_ls_qsize == 0 || !_ls_q) {                                               \
-            _ls_e = _ls_p; _SV(_ls_p,list); _ls_p = _NEXT(_ls_p,list); _RS(list); _ls_psize--; \
-          } else if (cmp(_ls_p,_ls_q) <= 0) {                                                  \
-            _ls_e = _ls_p; _SV(_ls_p,list); _ls_p = _NEXT(_ls_p,list); _RS(list); _ls_psize--; \
-          } else {                                                                             \
-            _ls_e = _ls_q; _SV(_ls_q,list); _ls_q = _NEXT(_ls_q,list); _RS(list); _ls_qsize--; \
-          }                                                                                    \
-          if (_ls_tail) {                                                                      \
-            _SV(_ls_tail,list); _NEXTASGN(_ls_tail,list,_ls_e); _RS(list);                     \
-          } else {                                                                             \
-            _CASTASGN(list,_ls_e);                                                             \
-          }                                                                                    \
-          _SV(_ls_e,list); _PREVASGN(_ls_e,list,_ls_tail); _RS(list);                          \
-          _ls_tail = _ls_e;                                                                    \
-        }                                                                                      \
-        _ls_p = _ls_q;                                                                         \
-      }                                                                                        \
-      _CASTASGN(list->prev, _ls_tail);                                                         \
-      _SV(_ls_tail,list); _NEXTASGN(_ls_tail,list,NULL); _RS(list);                            \
-      if (_ls_nmerges <= 1) {                                                                  \
-        _ls_looping=0;                                                                         \
-      }                                                                                        \
-      _ls_insize *= 2;                                                                         \
-    }                                                                                          \
-  } else _tmp=NULL; /* quiet gcc unused variable warning */                                    \
-} while (0)
-
-#define CDL_SORT(list, cmp)                                                                    \
-do {                                                                                           \
-  LDECLTYPE(list) _ls_p;                                                                       \
-  LDECLTYPE(list) _ls_q;                                                                       \
-  LDECLTYPE(list) _ls_e;                                                                       \
-  LDECLTYPE(list) _ls_tail;                                                                    \
-  LDECLTYPE(list) _ls_oldhead;                                                                 \
-  LDECLTYPE(list) _tmp;                                                                        \
-  LDECLTYPE(list) _tmp2;                                                                       \
-  int _ls_insize, _ls_nmerges, _ls_psize, _ls_qsize, _ls_i, _ls_looping;                       \
-  if (list) {                                                                                  \
-    _ls_insize = 1;                                                                            \
-    _ls_looping = 1;                                                                           \
-    while (_ls_looping) {                                                                      \
-      _CASTASGN(_ls_p,list);                                                                   \
-      _CASTASGN(_ls_oldhead,list);                                                             \
-      list = NULL;                                                                             \
-      _ls_tail = NULL;                                                                         \
-      _ls_nmerges = 0;                                                                         \
-      while (_ls_p) {                                                                          \
-        _ls_nmerges++;                                                                         \
-        _ls_q = _ls_p;                                                                         \
-        _ls_psize = 0;                                                                         \
-        for (_ls_i = 0; _ls_i < _ls_insize; _ls_i++) {                                         \
-          _ls_psize++;                                                                         \
-          _SV(_ls_q,list);                                                                     \
-          if (_NEXT(_ls_q,list) == _ls_oldhead) {                                              \
-            _ls_q = NULL;                                                                      \
-          } else {                                                                             \
-            _ls_q = _NEXT(_ls_q,list);                                                         \
-          }                                                                                    \
-          _RS(list);                                                                           \
-          if (!_ls_q) break;                                                                   \
-        }                                                                                      \
-        _ls_qsize = _ls_insize;                                                                \
-        while (_ls_psize > 0 || (_ls_qsize > 0 && _ls_q)) {                                    \
-          if (_ls_psize == 0) {                                                                \
-            _ls_e = _ls_q; _SV(_ls_q,list); _ls_q = _NEXT(_ls_q,list); _RS(list); _ls_qsize--; \
-            if (_ls_q == _ls_oldhead) { _ls_q = NULL; }                                        \
-          } else if (_ls_qsize == 0 || !_ls_q) {                                               \
-            _ls_e = _ls_p; _SV(_ls_p,list); _ls_p = _NEXT(_ls_p,list); _RS(list); _ls_psize--; \
-            if (_ls_p == _ls_oldhead) { _ls_p = NULL; }                                        \
-          } else if (cmp(_ls_p,_ls_q) <= 0) {                                                  \
-            _ls_e = _ls_p; _SV(_ls_p,list); _ls_p = _NEXT(_ls_p,list); _RS(list); _ls_psize--; \
-            if (_ls_p == _ls_oldhead) { _ls_p = NULL; }                                        \
-          } else {                                                                             \
-            _ls_e = _ls_q; _SV(_ls_q,list); _ls_q = _NEXT(_ls_q,list); _RS(list); _ls_qsize--; \
-            if (_ls_q == _ls_oldhead) { _ls_q = NULL; }                                        \
-          }                                                                                    \
-          if (_ls_tail) {                                                                      \
-            _SV(_ls_tail,list); _NEXTASGN(_ls_tail,list,_ls_e); _RS(list);                     \
-          } else {                                                                             \
-            _CASTASGN(list,_ls_e);                                                             \
-          }                                                                                    \
-          _SV(_ls_e,list); _PREVASGN(_ls_e,list,_ls_tail); _RS(list);                          \
-          _ls_tail = _ls_e;                                                                    \
-        }                                                                                      \
-        _ls_p = _ls_q;                                                                         \
-      }                                                                                        \
-      _CASTASGN(list->prev,_ls_tail);                                                          \
-      _CASTASGN(_tmp2,list);                                                                   \
-      _SV(_ls_tail,list); _NEXTASGN(_ls_tail,list,_tmp2); _RS(list);                           \
-      if (_ls_nmerges <= 1) {                                                                  \
-        _ls_looping=0;                                                                         \
-      }                                                                                        \
-      _ls_insize *= 2;                                                                         \
-    }                                                                                          \
-  } else _tmp=NULL; /* quiet gcc unused variable warning */                                    \
-} while (0)
-
-/******************************************************************************
- * singly linked list macros (non-circular)                                   *
- *****************************************************************************/
-#define LL_PREPEND(head,add)                                                                   \
-do {                                                                                           \
-  (add)->next = head;                                                                          \
-  head = add;                                                                                  \
-} while (0)
-
-#define LL_CONCAT(head1,head2)                                                                 \
-do {                                                                                           \
-  LDECLTYPE(head1) _tmp;                                                                       \
-  if (head1) {                                                                                 \
-    _tmp = head1;                                                                              \
-    while (_tmp->next) { _tmp = _tmp->next; }                                                  \
-    _tmp->next=(head2);                                                                        \
-  } else {                                                                                     \
-    (head1)=(head2);                                                                           \
-  }                                                                                            \
-} while (0)
-
-#define LL_APPEND(head,add)                                                                    \
-do {                                                                                           \
-  LDECLTYPE(head) _tmp;                                                                        \
-  (add)->next=NULL;                                                                            \
-  if (head) {                                                                                  \
-    _tmp = head;                                                                               \
-    while (_tmp->next) { _tmp = _tmp->next; }                                                  \
-    _tmp->next=(add);                                                                          \
-  } else {                                                                                     \
-    (head)=(add);                                                                              \
-  }                                                                                            \
-} while (0)
-
-#define LL_DELETE(head,del)                                                                    \
-do {                                                                                           \
-  LDECLTYPE(head) _tmp;                                                                        \
-  if ((head) == (del)) {                                                                       \
-    (head)=(head)->next;                                                                       \
-  } else {                                                                                     \
-    _tmp = head;                                                                               \
-    while (_tmp->next && (_tmp->next != (del))) {                                              \
-      _tmp = _tmp->next;                                                                       \
-    }                                                                                          \
-    if (_tmp->next) {                                                                          \
-      _tmp->next = ((del)->next);                                                              \
-    }                                                                                          \
-  }                                                                                            \
-} while (0)
-
-/* Here are VS2008 replacements for LL_APPEND and LL_DELETE */
-#define LL_APPEND_VS2008(head,add)                                                             \
-do {                                                                                           \
-  if (head) {                                                                                  \
-    (add)->next = head;     /* use add->next as a temp variable */                             \
-    while ((add)->next->next) { (add)->next = (add)->next->next; }                             \
-    (add)->next->next=(add);                                                                   \
-  } else {                                                                                     \
-    (head)=(add);                                                                              \
-  }                                                                                            \
-  (add)->next=NULL;                                                                            \
-} while (0)
-
-#define LL_DELETE_VS2008(head,del)                                                             \
-do {                                                                                           \
-  if ((head) == (del)) {                                                                       \
-    (head)=(head)->next;                                                                       \
-  } else {                                                                                     \
-    char *_tmp = (char*)(head);                                                                \
-    while ((head)->next && ((head)->next != (del))) {                                          \
-      head = (head)->next;                                                                     \
-    }                                                                                          \
-    if ((head)->next) {                                                                        \
-      (head)->next = ((del)->next);                                                            \
-    }                                                                                          \
-    {                                                                                          \
-      char **_head_alias = (char**)&(head);                                                    \
-      *_head_alias = _tmp;                                                                     \
-    }                                                                                          \
-  }                                                                                            \
-} while (0)
-#ifdef NO_DECLTYPE
-#undef LL_APPEND
-#define LL_APPEND LL_APPEND_VS2008
-#undef LL_DELETE
-#define LL_DELETE LL_DELETE_VS2008
-#undef LL_CONCAT /* no LL_CONCAT_VS2008 */
-#undef DL_CONCAT /* no DL_CONCAT_VS2008 */
-#endif
-/* end VS2008 replacements */
-
-#define LL_FOREACH(head,el)                                                                    \
-    for(el=head;el;el=(el)->next)
-
-#define LL_FOREACH_SAFE(head,el,tmp)                                                           \
-  for((el)=(head);(el) && (tmp = (el)->next, 1); (el) = tmp)
-
-#define LL_SEARCH_SCALAR(head,out,field,val)                                                   \
-do {                                                                                           \
-    LL_FOREACH(head,out) {                                                                     \
-      if ((out)->field == (val)) break;                                                        \
-    }                                                                                          \
-} while(0) 
-
-#define LL_SEARCH(head,out,elt,cmp)                                                            \
-do {                                                                                           \
-    LL_FOREACH(head,out) {                                                                     \
-      if ((cmp(out,elt))==0) break;                                                            \
-    }                                                                                          \
-} while(0) 
-
-/******************************************************************************
- * doubly linked list macros (non-circular)                                   *
- *****************************************************************************/
-#define DL_PREPEND(head,add)                                                                   \
-do {                                                                                           \
- (add)->next = head;                                                                           \
- if (head) {                                                                                   \
-   (add)->prev = (head)->prev;                                                                 \
-   (head)->prev = (add);                                                                       \
- } else {                                                                                      \
-   (add)->prev = (add);                                                                        \
- }                                                                                             \
- (head) = (add);                                                                               \
-} while (0)
-
-#define DL_APPEND(head,add)                                                                    \
-do {                                                                                           \
-  if (head) {                                                                                  \
-      (add)->prev = (head)->prev;                                                              \
-      (head)->prev->next = (add);                                                              \
-      (head)->prev = (add);                                                                    \
-      (add)->next = NULL;                                                                      \
-  } else {                                                                                     \
-      (head)=(add);                                                                            \
-      (head)->prev = (head);                                                                   \
-      (head)->next = NULL;                                                                     \
-  }                                                                                            \
-} while (0) 
-
-#define DL_CONCAT(head1,head2)                                                                 \
-do {                                                                                           \
-  LDECLTYPE(head1) _tmp;                                                                       \
-  if (head2) {                                                                                 \
-    if (head1) {                                                                               \
-        _tmp = (head2)->prev;                                                                  \
-        (head2)->prev = (head1)->prev;                                                         \
-        (head1)->prev->next = (head2);                                                         \
-        (head1)->prev = _tmp;                                                                  \
-    } else {                                                                                   \
-        (head1)=(head2);                                                                       \
-    }                                                                                          \
-  }                                                                                            \
-} while (0) 
-
-#define DL_DELETE(head,del)                                                                    \
-do {                                                                                           \
-  assert((del)->prev != NULL);                                                                 \
-  if ((del)->prev == (del)) {                                                                  \
-      (head)=NULL;                                                                             \
-  } else if ((del)==(head)) {                                                                  \
-      (del)->next->prev = (del)->prev;                                                         \
-      (head) = (del)->next;                                                                    \
-  } else {                                                                                     \
-      (del)->prev->next = (del)->next;                                                         \
-      if ((del)->next) {                                                                       \
-          (del)->next->prev = (del)->prev;                                                     \
-      } else {                                                                                 \
-          (head)->prev = (del)->prev;                                                          \
-      }                                                                                        \
-  }                                                                                            \
-} while (0) 
-
-
-#define DL_FOREACH(head,el)                                                                    \
-    for(el=head;el;el=(el)->next)
-
-/* this version is safe for deleting the elements during iteration */
-#define DL_FOREACH_SAFE(head,el,tmp)                                                           \
-  for((el)=(head);(el) && (tmp = (el)->next, 1); (el) = tmp)
-
-/* these are identical to their singly-linked list counterparts */
-#define DL_SEARCH_SCALAR LL_SEARCH_SCALAR
-#define DL_SEARCH LL_SEARCH
-
-/******************************************************************************
- * circular doubly linked list macros                                         *
- *****************************************************************************/
-#define CDL_PREPEND(head,add)                                                                  \
-do {                                                                                           \
- if (head) {                                                                                   \
-   (add)->prev = (head)->prev;                                                                 \
-   (add)->next = (head);                                                                       \
-   (head)->prev = (add);                                                                       \
-   (add)->prev->next = (add);                                                                  \
- } else {                                                                                      \
-   (add)->prev = (add);                                                                        \
-   (add)->next = (add);                                                                        \
- }                                                                                             \
-(head)=(add);                                                                                  \
-} while (0)
-
-#define CDL_DELETE(head,del)                                                                   \
-do {                                                                                           \
-  if ( ((head)==(del)) && ((head)->next == (head))) {                                          \
-      (head) = 0L;                                                                             \
-  } else {                                                                                     \
-     (del)->next->prev = (del)->prev;                                                          \
-     (del)->prev->next = (del)->next;                                                          \
-     if ((del) == (head)) (head)=(del)->next;                                                  \
-  }                                                                                            \
-} while (0) 
-
-#define CDL_FOREACH(head,el)                                                                   \
-    for(el=head;el;el=((el)->next==head ? 0L : (el)->next)) 
-
-#define CDL_FOREACH_SAFE(head,el,tmp1,tmp2)                                                    \
-  for((el)=(head), ((tmp1)=(head)?((head)->prev):NULL);                                        \
-      (el) && ((tmp2)=(el)->next, 1);                                                          \
-      ((el) = (((el)==(tmp1)) ? 0L : (tmp2))))
-
-#define CDL_SEARCH_SCALAR(head,out,field,val)                                                  \
-do {                                                                                           \
-    CDL_FOREACH(head,out) {                                                                    \
-      if ((out)->field == (val)) break;                                                        \
-    }                                                                                          \
-} while(0) 
-
-#define CDL_SEARCH(head,out,elt,cmp)                                                           \
-do {                                                                                           \
-    CDL_FOREACH(head,out) {                                                                    \
-      if ((cmp(out,elt))==0) break;                                                            \
-    }                                                                                          \
-} while(0) 
-
-#endif /* UTLIST_H */
-
diff --git a/apps/systemlib/uthash/utstring.h b/apps/systemlib/uthash/utstring.h
deleted file mode 100644
index a181ad778..000000000
--- a/apps/systemlib/uthash/utstring.h
+++ /dev/null
@@ -1,148 +0,0 @@
-/*
-Copyright (c) 2008-2012, Troy D. Hanson   http://uthash.sourceforge.net
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
-
-    * Redistributions of source code must retain the above copyright
-      notice, this list of conditions and the following disclaimer.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
-IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
-TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
-PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER
-OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
-EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
-PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
-PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
-LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
-NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-*/
-
-/* a dynamic string implementation using macros 
- * see http://uthash.sourceforge.net/utstring
- */
-#ifndef UTSTRING_H
-#define UTSTRING_H
-
-#define UTSTRING_VERSION 1.9.6
-
-#ifdef __GNUC__
-#define _UNUSED_ __attribute__ ((__unused__)) 
-#else
-#define _UNUSED_ 
-#endif
-
-#include 
-#include 
-#include 
-#define oom() exit(-1)
-
-typedef struct {
-    char *d;
-    size_t n; /* allocd size */
-    size_t i; /* index of first unused byte */
-} UT_string;
-
-#define utstring_reserve(s,amt)                            \
-do {                                                       \
-  if (((s)->n - (s)->i) < (size_t)(amt)) {                 \
-     (s)->d = (char*)realloc((s)->d, (s)->n + amt);        \
-     if ((s)->d == NULL) oom();                            \
-     (s)->n += amt;                                        \
-  }                                                        \
-} while(0)
-
-#define utstring_init(s)                                   \
-do {                                                       \
-  (s)->n = 0; (s)->i = 0; (s)->d = NULL;                   \
-  utstring_reserve(s,100);                                 \
-  (s)->d[0] = '\0'; \
-} while(0)
-
-#define utstring_done(s)                                   \
-do {                                                       \
-  if ((s)->d != NULL) free((s)->d);                        \
-  (s)->n = 0;                                              \
-} while(0)
-
-#define utstring_free(s)                                   \
-do {                                                       \
-  utstring_done(s);                                        \
-  free(s);                                                 \
-} while(0)
-
-#define utstring_new(s)                                    \
-do {                                                       \
-   s = (UT_string*)calloc(sizeof(UT_string),1);            \
-   if (!s) oom();                                          \
-   utstring_init(s);                                       \
-} while(0)
-
-#define utstring_renew(s)                                  \
-do {                                                       \
-   if (s) {                                                \
-     utstring_clear(s);                                    \
-   } else {                                                \
-     utstring_new(s);                                      \
-   }                                                       \
-} while(0)
-
-#define utstring_clear(s)                                  \
-do {                                                       \
-  (s)->i = 0;                                              \
-  (s)->d[0] = '\0';                                        \
-} while(0)
-
-#define utstring_bincpy(s,b,l)                             \
-do {                                                       \
-  utstring_reserve((s),(l)+1);                               \
-  if (l) memcpy(&(s)->d[(s)->i], b, l);                    \
-  (s)->i += l;                                               \
-  (s)->d[(s)->i]='\0';                                         \
-} while(0)
-
-#define utstring_concat(dst,src)                                 \
-do {                                                             \
-  utstring_reserve((dst),((src)->i)+1);                          \
-  if ((src)->i) memcpy(&(dst)->d[(dst)->i], (src)->d, (src)->i); \
-  (dst)->i += (src)->i;                                          \
-  (dst)->d[(dst)->i]='\0';                                       \
-} while(0)
-
-#define utstring_len(s) ((unsigned)((s)->i))
-
-#define utstring_body(s) ((s)->d)
-
-_UNUSED_ static void utstring_printf_va(UT_string *s, const char *fmt, va_list ap) {
-   int n;
-   va_list cp;
-   while (1) {
-#ifdef _WIN32
-      cp = ap;
-#else
-      va_copy(cp, ap);
-#endif
-      n = vsnprintf (&s->d[s->i], s->n-s->i, fmt, cp);
-      va_end(cp);
-
-      if ((n > -1) && (n < (int)(s->n-s->i))) {
-        s->i += n;
-        return;
-      }
-
-      /* Else try again with more space. */
-      if (n > -1) utstring_reserve(s,n+1); /* exact */
-      else utstring_reserve(s,(s->n)*2);   /* 2x */
-   }
-}
-_UNUSED_ static void utstring_printf(UT_string *s, const char *fmt, ...) {
-   va_list ap;
-   va_start(ap,fmt);
-   utstring_printf_va(s,fmt,ap);
-   va_end(ap);
-}
-
-#endif /* UTSTRING_H */
diff --git a/apps/systemlib/visibility.h b/apps/systemlib/visibility.h
deleted file mode 100644
index 2c6adc062..000000000
--- a/apps/systemlib/visibility.h
+++ /dev/null
@@ -1,62 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file visibility.h
- *
- * Definitions controlling symbol naming and visibility.
- *
- * This file is normally included automatically by the build system.
- */
-
-#ifndef __SYSTEMLIB_VISIBILITY_H
-#define __SYSTEMLIB_VISIBILITY_H
-
-#ifdef __EXPORT
-#  undef __EXPORT
-#endif
-#define __EXPORT __attribute__ ((visibility ("default")))
-
-#ifdef __PRIVATE
-#  undef __PRIVATE
-#endif
-#define __PRIVATE __attribute__ ((visibility ("hidden")))
-
-#ifdef __cplusplus
-#  define __BEGIN_DECLS		extern "C" {
-#  define __END_DECLS		}
-#else
-#  define __BEGIN_DECLS
-#  define __END_DECLS
-#endif
-#endif
\ No newline at end of file
diff --git a/apps/uORB/.context b/apps/uORB/.context
deleted file mode 100644
index e69de29bb..000000000
diff --git a/apps/uORB/Makefile b/apps/uORB/Makefile
deleted file mode 100644
index 64ba52e9c..000000000
--- a/apps/uORB/Makefile
+++ /dev/null
@@ -1,42 +0,0 @@
-############################################################################
-#
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-#
-# Makefile to build uORB
-#
-
-APPNAME		 = uorb
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 4096
-
-include $(APPDIR)/mk/app.mk
diff --git a/apps/uORB/objects_common.cpp b/apps/uORB/objects_common.cpp
deleted file mode 100644
index 136375140..000000000
--- a/apps/uORB/objects_common.cpp
+++ /dev/null
@@ -1,153 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file objects_common.cpp
- *
- * Common object definitions without a better home.
- */
-
-#include 
-
-#include 
-
-#include 
-ORB_DEFINE(sensor_mag, struct mag_report);
-
-#include 
-ORB_DEFINE(sensor_accel, struct accel_report);
-
-#include 
-ORB_DEFINE(sensor_gyro, struct gyro_report);
-
-#include 
-ORB_DEFINE(sensor_baro, struct baro_report);
-
-#include 
-ORB_DEFINE(sensor_range_finder, struct range_finder_report);
-
-#include 
-ORB_DEFINE(output_pwm, struct pwm_output_values);
-
-#include 
-ORB_DEFINE(input_rc, struct rc_input_values);
-
-#include "topics/vehicle_attitude.h"
-ORB_DEFINE(vehicle_attitude, struct vehicle_attitude_s);
-
-#include "topics/sensor_combined.h"
-ORB_DEFINE(sensor_combined, struct sensor_combined_s);
-
-#include "topics/vehicle_gps_position.h"
-ORB_DEFINE(vehicle_gps_position, struct vehicle_gps_position_s);
-
-#include "topics/home_position.h"
-ORB_DEFINE(home_position, struct home_position_s);
-
-#include "topics/vehicle_status.h"
-ORB_DEFINE(vehicle_status, struct vehicle_status_s);
-
-#include "topics/battery_status.h"
-ORB_DEFINE(battery_status, struct battery_status_s);
-
-#include "topics/vehicle_global_position.h"
-ORB_DEFINE(vehicle_global_position, struct vehicle_global_position_s);
-
-#include "topics/vehicle_local_position.h"
-ORB_DEFINE(vehicle_local_position, struct vehicle_local_position_s);
-
-#include "topics/vehicle_vicon_position.h"
-ORB_DEFINE(vehicle_vicon_position, struct vehicle_vicon_position_s);
-
-#include "topics/vehicle_rates_setpoint.h"
-ORB_DEFINE(vehicle_rates_setpoint, struct vehicle_rates_setpoint_s);
-
-#include "topics/rc_channels.h"
-ORB_DEFINE(rc_channels, struct rc_channels_s);
-
-#include "topics/vehicle_command.h"
-ORB_DEFINE(vehicle_command, struct vehicle_command_s);
-
-#include "topics/vehicle_local_position_setpoint.h"
-ORB_DEFINE(vehicle_local_position_setpoint, struct vehicle_local_position_setpoint_s);
-
-#include "topics/vehicle_global_position_setpoint.h"
-ORB_DEFINE(vehicle_global_position_setpoint, struct vehicle_global_position_setpoint_s);
-
-#include "topics/vehicle_global_position_set_triplet.h"
-ORB_DEFINE(vehicle_global_position_set_triplet, struct vehicle_global_position_set_triplet_s);
-
-#include "topics/vehicle_attitude_setpoint.h"
-ORB_DEFINE(vehicle_attitude_setpoint, struct vehicle_attitude_setpoint_s);
-
-#include "topics/manual_control_setpoint.h"
-ORB_DEFINE(manual_control_setpoint, struct manual_control_setpoint_s);
-
-#include "topics/offboard_control_setpoint.h"
-ORB_DEFINE(offboard_control_setpoint, struct offboard_control_setpoint_s);
-
-#include "topics/optical_flow.h"
-ORB_DEFINE(optical_flow, struct optical_flow_s);
-
-#include "topics/omnidirectional_flow.h"
-ORB_DEFINE(omnidirectional_flow, struct omnidirectional_flow_s);
-
-#include "topics/differential_pressure.h"
-ORB_DEFINE(differential_pressure, struct differential_pressure_s);
-
-#include "topics/subsystem_info.h"
-ORB_DEFINE(subsystem_info, struct subsystem_info_s);
-
-/* actuator controls, as requested by controller */
-#include "topics/actuator_controls.h"
-ORB_DEFINE(actuator_controls_0, struct actuator_controls_s);
-ORB_DEFINE(actuator_controls_1, struct actuator_controls_s);
-ORB_DEFINE(actuator_controls_2, struct actuator_controls_s);
-ORB_DEFINE(actuator_controls_3, struct actuator_controls_s);
-ORB_DEFINE(actuator_armed, struct actuator_armed_s);
-
-/* actuator controls, as set by actuators / mixers after limiting */
-#include "topics/actuator_controls_effective.h"
-ORB_DEFINE(actuator_controls_effective_0, struct actuator_controls_effective_s);
-ORB_DEFINE(actuator_controls_effective_1, struct actuator_controls_effective_s);
-ORB_DEFINE(actuator_controls_effective_2, struct actuator_controls_effective_s);
-ORB_DEFINE(actuator_controls_effective_3, struct actuator_controls_effective_s);
-
-#include "topics/actuator_outputs.h"
-ORB_DEFINE(actuator_outputs_0, struct actuator_outputs_s);
-ORB_DEFINE(actuator_outputs_1, struct actuator_outputs_s);
-ORB_DEFINE(actuator_outputs_2, struct actuator_outputs_s);
-ORB_DEFINE(actuator_outputs_3, struct actuator_outputs_s);
-
-#include "topics/debug_key_value.h"
-ORB_DEFINE(debug_key_value, struct debug_key_value_s);
diff --git a/apps/uORB/topics/actuator_controls.h b/apps/uORB/topics/actuator_controls.h
deleted file mode 100644
index 0b50a29ac..000000000
--- a/apps/uORB/topics/actuator_controls.h
+++ /dev/null
@@ -1,77 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file actuator_controls.h
- *
- * Actuator control topics - mixer inputs.
- *
- * Values published to these topics are the outputs of the vehicle control
- * system, and are expected to be mixed and used to drive the actuators
- * (servos, speed controls, etc.) that operate the vehicle.
- *
- * Each topic can be published by a single controller
- */
-
-#ifndef TOPIC_ACTUATOR_CONTROLS_H
-#define TOPIC_ACTUATOR_CONTROLS_H
-
-#include 
-#include "../uORB.h"
-
-#define NUM_ACTUATOR_CONTROLS		8
-#define NUM_ACTUATOR_CONTROL_GROUPS	4	/**< for sanity checking */
-
-struct actuator_controls_s {
-	uint64_t timestamp;
-	float	control[NUM_ACTUATOR_CONTROLS];
-};
-
-/* actuator control sets; this list can be expanded as more controllers emerge */
-ORB_DECLARE(actuator_controls_0);
-ORB_DECLARE(actuator_controls_1);
-ORB_DECLARE(actuator_controls_2);
-ORB_DECLARE(actuator_controls_3);
-
-/* control sets with pre-defined applications */
-#define ORB_ID_VEHICLE_ATTITUDE_CONTROLS	ORB_ID(actuator_controls_0)
-
-/** global 'actuator output is live' control. */
-struct actuator_armed_s {
-	bool	armed;		/**< Set to true if system is armed */
-	bool	lockdown;	/**< Set to true if actuators are forced to being disabled (due to emergency or HIL) */
-};
-
-ORB_DECLARE(actuator_armed);
-
-#endif
\ No newline at end of file
diff --git a/apps/uORB/topics/actuator_controls_effective.h b/apps/uORB/topics/actuator_controls_effective.h
deleted file mode 100644
index 088c4fc8f..000000000
--- a/apps/uORB/topics/actuator_controls_effective.h
+++ /dev/null
@@ -1,70 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file actuator_controls_effective.h
- *
- * Actuator control topics - mixer inputs.
- *
- * Values published to these topics are the outputs of the vehicle control
- * system and mixing process; they are the control-scale values that are
- * then fed to the actual actuator driver.
- *
- * Each topic can be published by a single controller
- */
-
-#ifndef TOPIC_ACTUATOR_CONTROLS_EFFECTIVE_H
-#define TOPIC_ACTUATOR_CONTROLS_EFFECTIVE_H
-
-#include 
-#include "../uORB.h"
-#include "actuator_controls.h"
-
-#define NUM_ACTUATOR_CONTROLS_EFFECTIVE		NUM_ACTUATOR_CONTROLS
-#define NUM_ACTUATOR_CONTROL_GROUPS_EFFECTIVE	NUM_ACTUATOR_CONTROL_GROUPS	/**< for sanity checking */
-
-struct actuator_controls_effective_s {
-	uint64_t timestamp;
-	float	control_effective[NUM_ACTUATOR_CONTROLS_EFFECTIVE];
-};
-
-/* actuator control sets; this list can be expanded as more controllers emerge */
-ORB_DECLARE(actuator_controls_effective_0);
-ORB_DECLARE(actuator_controls_effective_1);
-ORB_DECLARE(actuator_controls_effective_2);
-ORB_DECLARE(actuator_controls_effective_3);
-
-/* control sets with pre-defined applications */
-#define ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE	ORB_ID(actuator_controls_effective_0)
-
-#endif /* TOPIC_ACTUATOR_CONTROLS_EFFECTIVE_H */
\ No newline at end of file
diff --git a/apps/uORB/topics/actuator_outputs.h b/apps/uORB/topics/actuator_outputs.h
deleted file mode 100644
index bbe429073..000000000
--- a/apps/uORB/topics/actuator_outputs.h
+++ /dev/null
@@ -1,70 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file actuator_outputs.h
- *
- * Actuator output values.
- *
- * Values published to these topics are the outputs of the control mixing
- * system as sent to the actuators (servos, motors, etc.) that operate
- * the vehicle.
- *
- * Each topic can be published by a single output driver.
- */
-
-#ifndef TOPIC_ACTUATOR_OUTPUTS_H
-#define TOPIC_ACTUATOR_OUTPUTS_H
-
-#include 
-#include "../uORB.h"
-
-#define NUM_ACTUATOR_OUTPUTS		16
-#define NUM_ACTUATOR_OUTPUT_GROUPS	4	/**< for sanity checking */
-
-struct actuator_outputs_s {
-	uint64_t timestamp;				/**< output timestamp in us since system boot */
-	float	output[NUM_ACTUATOR_OUTPUTS];		/**< output data, in natural output units */
-	int noutputs;					/**< valid outputs */
-};
-
-/* actuator output sets; this list can be expanded as more drivers emerge */
-ORB_DECLARE(actuator_outputs_0);
-ORB_DECLARE(actuator_outputs_1);
-ORB_DECLARE(actuator_outputs_2);
-ORB_DECLARE(actuator_outputs_3);
-
-/* output sets with pre-defined applications */
-#define ORB_ID_VEHICLE_CONTROLS		ORB_ID(actuator_outputs_0)
-
-#endif
\ No newline at end of file
diff --git a/apps/uORB/topics/battery_status.h b/apps/uORB/topics/battery_status.h
deleted file mode 100644
index c40d0d4e5..000000000
--- a/apps/uORB/topics/battery_status.h
+++ /dev/null
@@ -1,68 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file battery_status.h
- *
- * Definition of the battery status uORB topic.
- */
-
-#ifndef BATTERY_STATUS_H_
-#define BATTERY_STATUS_H_
-
-#include "../uORB.h"
-#include 
-
-/**
- * @addtogroup topics
- * @{
- */
-
-/**
- * Battery voltages and status
- */
-struct battery_status_s {
-	uint64_t	timestamp;		/**< microseconds since system boot, needed to integrate */
-	float   	voltage_v;		/**< Battery voltage in volts, filtered           	 */
-	float		current_a;		/**< Battery current in amperes, filtered, -1 if unknown */
-	float		discharged_mah;		/**< Discharged amount in mAh, filtered, -1 if unknown	 */
-};
-
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-ORB_DECLARE(battery_status);
-
-#endif
\ No newline at end of file
diff --git a/apps/uORB/topics/debug_key_value.h b/apps/uORB/topics/debug_key_value.h
deleted file mode 100644
index a9d1b83fd..000000000
--- a/apps/uORB/topics/debug_key_value.h
+++ /dev/null
@@ -1,75 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier 
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file debug_key_value.h
- * Definition of the debug named value uORB topic. Allows to send a 10-char key
- * with a float as value.
- */
-
-#ifndef TOPIC_DEBUG_KEY_VALUE_H_
-#define TOPIC_DEBUG_KEY_VALUE_H_
-
-#include 
-#include 
-#include "../uORB.h"
-
-/**
- * @addtogroup topics
- */
-
-/**
- * Key/value pair for debugging
- */
-struct debug_key_value_s {
-
-	/*
-	 * Actual data, this is specific to the type of data which is stored in this struct
-	 * A line containing L0GME will be added by the Python logging code generator to the
-	 * logged dataset.
-	 */
-	uint32_t timestamp_ms;		/**< in milliseconds since system start */
-	char key[10];				/**< max. 10 characters as key / name */
-	float value;				/**< the value to send as debug output */
-
-};
-
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-ORB_DECLARE(debug_key_value);
-
-#endif
diff --git a/apps/uORB/topics/differential_pressure.h b/apps/uORB/topics/differential_pressure.h
deleted file mode 100644
index d5e4bf37e..000000000
--- a/apps/uORB/topics/differential_pressure.h
+++ /dev/null
@@ -1,71 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file differential_pressure.h
- *
- * Definition of differential pressure topic
- */
-
-#ifndef TOPIC_DIFFERENTIAL_PRESSURE_H_
-#define TOPIC_DIFFERENTIAL_PRESSURE_H_
-
-#include "../uORB.h"
-#include 
-
-/**
- * @addtogroup topics
- * @{
- */
-
-/**
- * Differential pressure and airspeed
- */
-struct differential_pressure_s {
-	uint64_t	timestamp;					/**< microseconds since system boot, needed to integrate */
-	float   	static_pressure_mbar;		/**< Static / environment pressure */
-	float		differential_pressure_mbar;	/**< Differential pressure reading */
-	float		temperature_celcius;		/**< ambient temperature in celcius, -1 if unknown */
-	float		indicated_airspeed_m_s;		/**< indicated airspeed in meters per second, -1 if unknown	 */
-	float		true_airspeed_m_s;			/**< true airspeed in meters per second, -1 if unknown */
-	float		voltage;					/**< Voltage from the airspeed sensor (voltage divider already compensated) */
-};
-
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-ORB_DECLARE(differential_pressure);
-
-#endif
diff --git a/apps/uORB/topics/home_position.h b/apps/uORB/topics/home_position.h
deleted file mode 100644
index 7e1b82a0f..000000000
--- a/apps/uORB/topics/home_position.h
+++ /dev/null
@@ -1,77 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
- *   Author: Lorenz Meier 
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file home_position.h
- * Definition of the GPS home position uORB topic.
- *
- * @author Lorenz Meier 
- */
-
-#ifndef TOPIC_HOME_POSITION_H_
-#define TOPIC_HOME_POSITION_H_
-
-#include 
-#include "../uORB.h"
-
-/**
- * @addtogroup topics
- * @{
- */
-
-/**
- * GPS home position in WGS84 coordinates.
- */
-struct home_position_s
-{
-	uint64_t timestamp;             /**< Timestamp (microseconds since system boot)   */
-	uint64_t time_gps_usec;         /**< Timestamp (microseconds in GPS format), this is the timestamp from the gps module   */
-	
-	int32_t lat;                    /**< Latitude in 1E7 degrees */
-	int32_t lon;                    /**< Longitude in 1E7 degrees */
-	int32_t alt;                    /**< Altitude in 1E3 meters (millimeters) above MSL */
-	float eph_m;                   /**< GPS HDOP horizontal dilution of position in m */
-	float epv_m;                   /**< GPS VDOP horizontal dilution of position in m */
-	float s_variance_m_s;               /**< speed accuracy estimate m/s */
-	float p_variance_m;               /**< position accuracy estimate m */
-};
-
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-ORB_DECLARE(home_position);
-
-#endif
diff --git a/apps/uORB/topics/manual_control_setpoint.h b/apps/uORB/topics/manual_control_setpoint.h
deleted file mode 100644
index 261a8a4ad..000000000
--- a/apps/uORB/topics/manual_control_setpoint.h
+++ /dev/null
@@ -1,88 +0,0 @@
-/****************************************************************************
- *
- *	 Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
- *	 Author: @author Lorenz Meier 
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *		notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *		notice, this list of conditions and the following disclaimer in
- *		the documentation and/or other materials provided with the
- *		distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *		used to endorse or promote products derived from this software
- *		without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file manual_control_setpoint.h
- * Definition of the manual_control_setpoint uORB topic.
- */
-
-#ifndef TOPIC_MANUAL_CONTROL_SETPOINT_H_
-#define TOPIC_MANUAL_CONTROL_SETPOINT_H_
-
-#include 
-#include "../uORB.h"
-
-/**
- * @addtogroup topics
- * @{
- */
-
-struct manual_control_setpoint_s {
-	uint64_t timestamp;
-
-	float roll;			 	/**< ailerons roll / roll rate input */
-	float pitch;				/**< elevator / pitch / pitch rate */
-	float yaw;				/**< rudder / yaw rate / yaw */
-	float throttle;				/**< throttle / collective thrust / altitude */
-
-	float manual_override_switch;		/**< manual override mode (mandatory) */
-	float auto_mode_switch;			/**< auto mode switch (mandatory) */
-
-	/**
-	 * Any of the channels below may not be available and be set to NaN
-	 * to indicate that it does not contain valid data.
-	 */
-	float manual_mode_switch;		/**< manual mode (man, sas, alt) switch (optional) */
-	float manual_sas_switch;		/**< sas mode (rates / attitude) switch (optional) */
-	float return_to_launch_switch;		/**< return to launch switch (0 = disabled, 1 = enabled) */
-	float auto_offboard_input_switch;	/**< controller setpoint source (0 = onboard, 1 = offboard) */
-
-	float flaps;				/**< flap position */
-
-	float aux1;				/**< default function: camera yaw / azimuth */
-	float aux2;				/**< default function: camera pitch / tilt */
-	float aux3;				/**< default function: camera trigger */
-	float aux4;				/**< default function: camera roll */
-	float aux5;				/**< default function: payload drop */
-
-}; /**< manual control inputs */
-
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-ORB_DECLARE(manual_control_setpoint);
-
-#endif
diff --git a/apps/uORB/topics/offboard_control_setpoint.h b/apps/uORB/topics/offboard_control_setpoint.h
deleted file mode 100644
index 2e895c59c..000000000
--- a/apps/uORB/topics/offboard_control_setpoint.h
+++ /dev/null
@@ -1,94 +0,0 @@
-/****************************************************************************
- *
- *	 Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
- *	 Author: @author Lorenz Meier 
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *		notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *		notice, this list of conditions and the following disclaimer in
- *		the documentation and/or other materials provided with the
- *		distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *		used to endorse or promote products derived from this software
- *		without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file offboard_control_setpoint.h
- * Definition of the manual_control_setpoint uORB topic.
- */
-
-#ifndef TOPIC_OFFBOARD_CONTROL_SETPOINT_H_
-#define TOPIC_OFFBOARD_CONTROL_SETPOINT_H_
-
-#include 
-#include "../uORB.h"
-
-/**
- * @addtogroup topics
- * @{
- */
-
-/**
- * Off-board control inputs.
- * 
- * Typically sent by a ground control station / joystick or by
- * some off-board controller via C or SIMULINK.
- */
-enum OFFBOARD_CONTROL_MODE
-{
-	OFFBOARD_CONTROL_MODE_DIRECT = 0,
-	OFFBOARD_CONTROL_MODE_DIRECT_RATES = 1,
-	OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE = 2,
-	OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY = 3,
-	OFFBOARD_CONTROL_MODE_DIRECT_POSITION = 4,
-	OFFBOARD_CONTROL_MODE_ATT_YAW_RATE = 5,
-	OFFBOARD_CONTROL_MODE_ATT_YAW_POS = 6,
-	OFFBOARD_CONTROL_MODE_MULTIROTOR_SIMPLE = 7, /**< roll / pitch rotated aligned to the takeoff orientation, throttle stabilized, yaw pos */
-};
-
-struct offboard_control_setpoint_s {
-	uint64_t timestamp;
-
-	enum OFFBOARD_CONTROL_MODE mode;		 /**< The current control inputs mode */
-	bool armed;	/**< Armed flag set, yes / no */
-	float p1;	/**< ailerons roll / roll rate input */
-	float p2;	/**< elevator / pitch / pitch rate */
-	float p3;	/**< rudder / yaw rate / yaw */
-	float p4;	/**< throttle / collective thrust / altitude */
-
-	float override_mode_switch;
-
-	float aux1_cam_pan_flaps;
-	float aux2_cam_tilt;
-	float aux3_cam_zoom;
-	float aux4_cam_roll;
-
-}; /**< offboard control inputs */
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-ORB_DECLARE(offboard_control_setpoint);
-
-#endif
diff --git a/apps/uORB/topics/omnidirectional_flow.h b/apps/uORB/topics/omnidirectional_flow.h
deleted file mode 100644
index 8f4be3b3f..000000000
--- a/apps/uORB/topics/omnidirectional_flow.h
+++ /dev/null
@@ -1,75 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier 
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file optical_flow.h
- * Definition of the optical flow uORB topic.
- */
-
-#ifndef TOPIC_OMNIDIRECTIONAL_FLOW_H_
-#define TOPIC_OMNIDIRECTIONAL_FLOW_H_
-
-#include 
-#include 
-#include "../uORB.h"
-
-/**
- * @addtogroup topics
- */
-
-/**
- * Omnidirectional optical flow in NED body frame in SI units.
- *
- * @see http://en.wikipedia.org/wiki/International_System_of_Units
- */
-struct omnidirectional_flow_s {
-
-	uint64_t timestamp;		/**< in microseconds since system start          */
-
-	uint16_t left[10];		/**< Left flow, in decipixels */
-	uint16_t right[10];		/**< Right flow, in decipixels */
-	float front_distance_m;		/**< Altitude / distance to object front in meters */
-	uint8_t	quality;		/**< Quality of the measurement, 0: bad quality, 255: maximum quality */
-	uint8_t sensor_id;		/**< id of the sensor emitting the flow value */
-
-};
-
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-ORB_DECLARE(omnidirectional_flow);
-
-#endif
diff --git a/apps/uORB/topics/optical_flow.h b/apps/uORB/topics/optical_flow.h
deleted file mode 100644
index c854f0079..000000000
--- a/apps/uORB/topics/optical_flow.h
+++ /dev/null
@@ -1,77 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier 
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file optical_flow.h
- * Definition of the optical flow uORB topic.
- */
-
-#ifndef TOPIC_OPTICAL_FLOW_H_
-#define TOPIC_OPTICAL_FLOW_H_
-
-#include 
-#include 
-#include "../uORB.h"
-
-/**
- * @addtogroup topics
- */
-
-/**
- * Optical flow in NED body frame in SI units.
- *
- * @see http://en.wikipedia.org/wiki/International_System_of_Units
- */
-struct optical_flow_s {
-
-	uint64_t timestamp;		/**< in microseconds since system start          */
-
-	uint16_t flow_raw_x;		/**< flow in pixels in X direction, not rotation-compensated */
-	uint16_t flow_raw_y;		/**< flow in pixels in Y direction, not rotation-compensated */
-	float flow_comp_x_m;		/**< speed over ground in meters, rotation-compensated */
-	float flow_comp_y_m;		/**< speed over ground in meters, rotation-compensated */
-	float ground_distance_m;	/**< Altitude / distance to ground in meters */
-	uint8_t	quality;		/**< Quality of the measurement, 0: bad quality, 255: maximum quality */
-	uint8_t sensor_id;		/**< id of the sensor emitting the flow value */
-
-};
-
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-ORB_DECLARE(optical_flow);
-
-#endif
diff --git a/apps/uORB/topics/parameter_update.h b/apps/uORB/topics/parameter_update.h
deleted file mode 100644
index 300e895c7..000000000
--- a/apps/uORB/topics/parameter_update.h
+++ /dev/null
@@ -1,52 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file parameter_update.h
- * Notification about a parameter update.
- */
-
-#ifndef TOPIC_PARAMETER_UPDATE_H
-#define TOPIC_PARAMETER_UPDATE_H
-
-#include 
-#include "../uORB.h"
-
-struct parameter_update_s {
-	/** time at which the latest parameter was updated */
-	uint64_t	timestamp;
-};
-
-ORB_DECLARE(parameter_update);
-
-#endif
\ No newline at end of file
diff --git a/apps/uORB/topics/rc_channels.h b/apps/uORB/topics/rc_channels.h
deleted file mode 100644
index 9dd54df91..000000000
--- a/apps/uORB/topics/rc_channels.h
+++ /dev/null
@@ -1,108 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
- *   Author: @author Nils Wenzler 
- *           @author Ivan Ovinnikov 
- *           @author Lorenz Meier 
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file rc_channels.h
- * Definition of the rc_channels uORB topic.
- */
-
-#ifndef RC_CHANNELS_H_
-#define RC_CHANNELS_H_
-
-#include 
-#include "../uORB.h"
-
-/**
- * @addtogroup topics
- * @{
- */
-
-/**
- * The number of RC channel inputs supported.
- * Current (Q1/2013) radios support up to 18 channels,
- * leaving at a sane value of 14.
- */
-#define RC_CHANNELS_MAX   14
-
-/** 
- * This defines the mapping of the RC functions.
- * The value assigned to the specific function corresponds to the entry of
- * the channel array chan[].
- */
-enum RC_CHANNELS_FUNCTION
-{
-  THROTTLE = 0,
-  ROLL     = 1,
-  PITCH    = 2,
-  YAW      = 3,
-  OVERRIDE = 4,
-  AUTO_MODE = 5,
-  MANUAL_MODE = 6,
-  SAS_MODE = 7,
-  RTL = 8,
-  OFFBOARD_MODE = 9,
-  FLAPS   = 10,
-  AUX_1   = 11,
-  AUX_2   = 12,
-  AUX_3   = 13,
-  AUX_4   = 14,
-  AUX_5   = 15,
-  RC_CHANNELS_FUNCTION_MAX /**< indicates the number of functions. There can be more functions than RC channels. */
-};
-
-struct rc_channels_s {
-
-	uint64_t timestamp;                 /**< In microseconds since boot time. */
-  uint64_t timestamp_last_valid;      /**< timestamp of last valid RC signal. */
-  struct {
-    float scaled;                     /**< Scaled to -1..1 (throttle: 0..1) */
-  } chan[RC_CHANNELS_MAX];
-  uint8_t chan_count;                 /**< number of valid channels */
-
-  /*String array to store the names of the functions*/
-  char function_name[RC_CHANNELS_FUNCTION_MAX][20];
-  int8_t function[RC_CHANNELS_FUNCTION_MAX];
-  uint8_t rssi;                       /**< Overall receive signal strength */
-}; /**< radio control channels. */
-
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-ORB_DECLARE(rc_channels);
-
-#endif
diff --git a/apps/uORB/topics/sensor_combined.h b/apps/uORB/topics/sensor_combined.h
deleted file mode 100644
index 961ee8b4a..000000000
--- a/apps/uORB/topics/sensor_combined.h
+++ /dev/null
@@ -1,115 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
- *   Author: @author Thomas Gubler 
- *           @author Julian Oes 
- *           @author Lorenz Meier 
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file sensor_combined.h
- * Definition of the sensor_combined uORB topic.
- */
-
-#ifndef SENSOR_COMBINED_H_
-#define SENSOR_COMBINED_H_
-
-#include 
-#include 
-#include "../uORB.h"
-
-/**
- * @addtogroup topics
- * @{
- */
-
-enum MAGNETOMETER_MODE {
-	MAGNETOMETER_MODE_NORMAL = 0,
-	MAGNETOMETER_MODE_POSITIVE_BIAS,
-	MAGNETOMETER_MODE_NEGATIVE_BIAS
-};
-
-/**
- * Sensor readings in raw and SI-unit form.
- *
- * These values are read from the sensors. Raw values are in sensor-specific units,
- * the scaled values are in SI-units, as visible from the ending of the variable
- * or the comments. The use of the SI fields is in general advised, as these fields
- * are scaled and offset-compensated where possible and do not change with board
- * revisions and sensor updates.
- *
- */
-struct sensor_combined_s {
-
-	/*
-	 * Actual data, this is specific to the type of data which is stored in this struct
-	 * A line containing L0GME will be added by the Python logging code generator to the
-	 * logged dataset.
-	 */
-
-	/* NOTE: Ordering of fields optimized to align to 32 bit / 4 bytes Change with consideration only   */
-
-	uint64_t timestamp;			/**< Timestamp in microseconds since boot         */
-
-	int16_t	gyro_raw[3];			/**< Raw sensor values of angular velocity        */
-	uint16_t gyro_counter;			/**< Number of raw measurments taken              */
-	float gyro_rad_s[3];			/**< Angular velocity in radian per seconds       */
-	
-	int16_t accelerometer_raw[3];		/**< Raw acceleration in NED body frame           */
-	uint32_t accelerometer_counter;		/**< Number of raw acc measurements taken         */
-	float accelerometer_m_s2[3];		/**< Acceleration in NED body frame, in m/s^2     */
-	int accelerometer_mode;			/**< Accelerometer measurement mode */
-	float accelerometer_range_m_s2;		/**< Accelerometer measurement range in m/s^2 */
-
-	int16_t	magnetometer_raw[3];		/**< Raw magnetic field in NED body frame         */
-	float magnetometer_ga[3];		/**< Magnetic field in NED body frame, in Gauss   */
-	int magnetometer_mode;			/**< Magnetometer measurement mode */
-	float magnetometer_range_ga;		/**< ± measurement range in Gauss */
-	float magnetometer_cuttoff_freq_hz;	/**< Internal analog low pass frequency of sensor */
-	uint32_t magnetometer_counter;		/**< Number of raw mag measurements taken         */
-	
-	float baro_pres_mbar;			/**< Barometric pressure, already temp. comp.     */
-	float baro_alt_meter;			/**< Altitude, already temp. comp.                */
-	float baro_temp_celcius;		/**< Temperature in degrees celsius               */
-	float adc_voltage_v[4];			/**< ADC voltages of ADC Chan 10/11/12/13 or -1      */
-	float mcu_temp_celcius;			/**< Internal temperature measurement of MCU */
-	uint32_t baro_counter;			/**< Number of raw baro measurements taken        */
-
-};
-
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-ORB_DECLARE(sensor_combined);
-
-#endif
diff --git a/apps/uORB/topics/subsystem_info.h b/apps/uORB/topics/subsystem_info.h
deleted file mode 100644
index c415e832e..000000000
--- a/apps/uORB/topics/subsystem_info.h
+++ /dev/null
@@ -1,97 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: Lorenz Meier 
- *           Thomas Gubler 
- *           Julian Oes 
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file subsystem_info.h
- * Definition of the subsystem info topic.
- *
- * @author Lorenz Meier 
- * @author Thomas Gubler 
- * @author Julian Oes 
- */
-
-#ifndef TOPIC_SUBSYSTEM_INFO_H_
-#define TOPIC_SUBSYSTEM_INFO_H_
-
-#include 
-#include 
-#include "../uORB.h"
-
-/**
- * @addtogroup topics
- */
-
-enum SUBSYSTEM_TYPE
-{
-	SUBSYSTEM_TYPE_GYRO = 1,
-	SUBSYSTEM_TYPE_ACC = 2,
-	SUBSYSTEM_TYPE_MAG = 4,
-	SUBSYSTEM_TYPE_ABSPRESSURE = 8,
-	SUBSYSTEM_TYPE_DIFFPRESSURE = 16,
-	SUBSYSTEM_TYPE_GPS = 32,
-	SUBSYSTEM_TYPE_OPTICALFLOW = 64,
-	SUBSYSTEM_TYPE_CVPOSITION = 128,
-	SUBSYSTEM_TYPE_LASERPOSITION = 256,
-	SUBSYSTEM_TYPE_EXTERNALGROUNDTRUTH = 512,
-	SUBSYSTEM_TYPE_ANGULARRATECONTROL = 1024,
-	SUBSYSTEM_TYPE_ATTITUDESTABILIZATION = 2048,
-	SUBSYSTEM_TYPE_YAWPOSITION = 4096,
-	SUBSYSTEM_TYPE_ALTITUDECONTROL = 16384,
-	SUBSYSTEM_TYPE_POSITIONCONTROL = 32768,
-	SUBSYSTEM_TYPE_MOTORCONTROL = 65536,
-	SUBSYSTEM_TYPE_RANGEFINDER = 131072
-};
-
-/**
- * State of individual sub systems
- */
-struct subsystem_info_s {
-	bool present;
-	bool enabled;
-	bool ok;
-
-	enum SUBSYSTEM_TYPE subsystem_type;
-};
-
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-ORB_DECLARE(subsystem_info);
-
-#endif /* TOPIC_SUBSYSTEM_INFO_H_ */
-
diff --git a/apps/uORB/topics/vehicle_attitude.h b/apps/uORB/topics/vehicle_attitude.h
deleted file mode 100755
index c31c81d0c..000000000
--- a/apps/uORB/topics/vehicle_attitude.h
+++ /dev/null
@@ -1,90 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
- *   Author: @author Thomas Gubler 
- *           @author Julian Oes 
- *           @author Lorenz Meier 
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file vehicle_attitude.h
- * Definition of the attitude uORB topic.
- */
-
-#ifndef VEHICLE_ATTITUDE_H_
-#define VEHICLE_ATTITUDE_H_
-
-#include 
-#include 
-#include "../uORB.h"
-
-/**
- * @addtogroup topics
- */
-
-/**
- * Attitude in NED body frame in SI units.
- *
- * @see http://en.wikipedia.org/wiki/International_System_of_Units
- */
-struct vehicle_attitude_s {
-
-	uint64_t timestamp;	/**< in microseconds since system start          */
-
-	/* This is similar to the mavlink message ATTITUDE, but for onboard use */
-
-	/** @warning roll, pitch and yaw have always to be valid, the rotation matrix and quaternion are optional */
-
-	float roll;		/**< Roll angle (rad, Tait-Bryan, NED)				*/
-	float pitch;		/**< Pitch angle (rad, Tait-Bryan, NED)				*/
-	float yaw;		/**< Yaw angle (rad, Tait-Bryan, NED)				*/
-	float rollspeed;	/**< Roll angular speed (rad/s, Tait-Bryan, NED)		*/
-	float pitchspeed;	/**< Pitch angular speed (rad/s, Tait-Bryan, NED)		*/
-	float yawspeed;		/**< Yaw angular speed (rad/s, Tait-Bryan, NED)			*/
-	float rollacc;		/**< Roll angular accelration (rad/s, Tait-Bryan, NED)		*/
-	float pitchacc;		/**< Pitch angular acceleration (rad/s, Tait-Bryan, NED)	*/
-	float yawacc;		/**< Yaw angular acceleration (rad/s, Tait-Bryan, NED)		*/
-	float rate_offsets[3];	/**< Offsets of the body angular rates from zero		*/
-	float R[3][3];		/**< Rotation matrix body to world, (Tait-Bryan, NED)		*/
-	float q[4];		/**< Quaternion (NED)						*/
-	bool R_valid;		/**< Rotation matrix valid					*/
-	bool q_valid;		/**< Quaternion valid						*/
-
-};
-
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-ORB_DECLARE(vehicle_attitude);
-
-#endif
diff --git a/apps/uORB/topics/vehicle_attitude_setpoint.h b/apps/uORB/topics/vehicle_attitude_setpoint.h
deleted file mode 100644
index a7cda34a8..000000000
--- a/apps/uORB/topics/vehicle_attitude_setpoint.h
+++ /dev/null
@@ -1,78 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier 
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file vehicle_attitude_setpoint.h
- * Definition of the vehicle attitude setpoint uORB topic.
- */
-
-#ifndef TOPIC_VEHICLE_ATTITUDE_SETPOINT_H_
-#define TOPIC_VEHICLE_ATTITUDE_SETPOINT_H_
-
-#include 
-#include 
-#include "../uORB.h"
-
-/**
- * @addtogroup topics
- * @{
- */
-
-/**
- * vehicle attitude setpoint.
- */
-struct vehicle_attitude_setpoint_s
-{
-	uint64_t timestamp;		/**< in microseconds since system start, is set whenever the writing thread stores new data */
-
-	float roll_body;				/**< body angle in NED frame		*/
-	float pitch_body;				/**< body angle in NED frame		*/
-	float yaw_body;					/**< body angle in NED frame		*/
-	//float body_valid;				/**< Set to true if body angles are valid */
-
-	float R_body[9];				/**< Rotation matrix describing the setpoint as rotation from the current body frame */
-	bool R_valid;					/**< Set to true if rotation matrix is valid */
-
-	float thrust;					/**< Thrust in Newton the power system should generate */
-
-};
-
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-ORB_DECLARE(vehicle_attitude_setpoint);
-
-#endif /* TOPIC_ARDRONE_CONTROL_H_ */
diff --git a/apps/uORB/topics/vehicle_command.h b/apps/uORB/topics/vehicle_command.h
deleted file mode 100644
index fac571659..000000000
--- a/apps/uORB/topics/vehicle_command.h
+++ /dev/null
@@ -1,140 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
- *   Author: @author Thomas Gubler 
- *           @author Julian Oes 
- *           @author Lorenz Meier 
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file vehicle_command.h
- * Definition of the vehicle command uORB topic.
- */
-
-#ifndef TOPIC_VEHICLE_COMMAND_H_
-#define TOPIC_VEHICLE_COMMAND_H_
-
-#include 
-#include "../uORB.h"
-
-/**
- * @addtogroup topics
- * @{
- */
-
-/**
- * Commands for commander app.
- *
- * Should contain all commands from MAVLink's VEHICLE_CMD ENUM,
- * but can contain additional ones.
- */
-enum VEHICLE_CMD
-{
-	VEHICLE_CMD_NAV_WAYPOINT=16, /* Navigate to MISSION. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)| Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached)| 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at MISSION (rotary wing)| Latitude| Longitude| Altitude|  */
-	VEHICLE_CMD_NAV_LOITER_UNLIM=17, /* Loiter around this MISSION an unlimited amount of time |Empty| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
-	VEHICLE_CMD_NAV_LOITER_TURNS=18, /* Loiter around this MISSION for X turns |Turns| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
-	VEHICLE_CMD_NAV_LOITER_TIME=19, /* Loiter around this MISSION for X seconds |Seconds (decimal)| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
-	VEHICLE_CMD_NAV_RETURN_TO_LAUNCH=20, /* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_NAV_LAND=21, /* Land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude|  */
-	VEHICLE_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude|  */
-	VEHICLE_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z|  */
-	VEHICLE_CMD_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal|  */
-	VEHICLE_CMD_NAV_LAST=95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_CONDITION_DELAY=112, /* Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_CONDITION_CHANGE_ALT=113, /* Ascend/descend at rate.  Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude|  */
-	VEHICLE_CMD_CONDITION_DISTANCE=114, /* Delay mission state machine until within desired distance of next NAV point. |Distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_CONDITION_YAW=115, /* Reach a certain target angle. |target angle: [0-360], 0 is north| speed during yaw change:[deg per second]| direction: negative: counter clockwise, positive: clockwise [-1,1]| relative offset or absolute angle: [ 1,0]| Empty| Empty| Empty|  */
-	VEHICLE_CMD_CONDITION_LAST=159, /* NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_DO_SET_MODE=176, /* Set system mode. |Mode, as defined by ENUM MAV_MODE| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_DO_JUMP=177, /* Jump to the desired command in the mission list.  Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_DO_CHANGE_SPEED=178, /* Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed)| Speed  (m/s, -1 indicates no change)| Throttle  ( Percent, -1 indicates no change)| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_DO_SET_HOME=179, /* Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude|  */
-	VEHICLE_CMD_DO_SET_PARAMETER=180, /* Set a system parameter.  Caution!  Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number| Parameter value| Empty| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_DO_SET_RELAY=181, /* Set a relay to a condition. |Relay number| Setting (1=on, 0=off, others possible depending on system hardware)| Empty| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_DO_REPEAT_RELAY=182, /* Cycle a relay on and off for a desired number of cyles with a desired period. |Relay number| Cycle count| Cycle time (seconds, decimal)| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_DO_SET_SERVO=183, /* Set a servo to a desired PWM value. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Empty| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_DO_REPEAT_SERVO=184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty|  */
-	VEHICLE_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty|  */
-	VEHICLE_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Accelerometer calibration: 0: no, 1: yes| Empty| Empty|  */
-	VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units|  */
-	VEHICLE_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty|  */
-	VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246, /* Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty|  */
-	VEHICLE_CMD_OVERRIDE_GOTO=252, /* Hold / continue the current action |MAV_GOTO_DO_HOLD: hold MAV_GOTO_DO_CONTINUE: continue with next item in mission plan| MAV_GOTO_HOLD_AT_CURRENT_POSITION: Hold at current position MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position| MAV_FRAME coordinate frame of hold point| Desired yaw angle in degrees| Latitude / X position| Longitude / Y position| Altitude / Z position|  */
-	VEHICLE_CMD_MISSION_START=300, /* start running a mission |first_item: the first mission item to run| last_item:  the last mission item to run (after this item is run, the mission ends)|  */
-	VEHICLE_CMD_COMPONENT_ARM_DISARM=400, /* Arms / Disarms a component |1 to arm, 0 to disarm|  */
-	VEHICLE_CMD_ENUM_END=401, /*  | */
-};
-
-/**
- * Commands for commander app.
- *
- * Should contain all of MAVLink's VEHICLE_CMD_RESULT values
- * but can contain additional ones.
- */
-enum VEHICLE_CMD_RESULT
-{
-	VEHICLE_CMD_RESULT_ACCEPTED=0, /* Command ACCEPTED and EXECUTED | */
-	VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED=1, /* Command TEMPORARY REJECTED/DENIED | */
-	VEHICLE_CMD_RESULT_DENIED=2, /* Command PERMANENTLY DENIED | */
-	VEHICLE_CMD_RESULT_UNSUPPORTED=3, /* Command UNKNOWN/UNSUPPORTED | */
-	VEHICLE_CMD_RESULT_FAILED=4, /* Command executed, but failed | */
-	VEHICLE_CMD_RESULT_ENUM_END=5, /*  | */
-};
-
-
-struct vehicle_command_s
-{
-	float param1;			/**< Parameter 1, as defined by MAVLink VEHICLE_CMD enum.   */
-	float param2;			/**< Parameter 2, as defined by MAVLink VEHICLE_CMD enum.   */
-	float param3;			/**< Parameter 3, as defined by MAVLink VEHICLE_CMD enum.   */
-	float param4;			/**< Parameter 4, as defined by MAVLink VEHICLE_CMD enum.   */
-	float param5;			/**< Parameter 5, as defined by MAVLink VEHICLE_CMD enum.   */
-	float param6;			/**< Parameter 6, as defined by MAVLink VEHICLE_CMD enum.   */
-	float param7;			/**< Parameter 7, as defined by MAVLink VEHICLE_CMD enum.   */
-	uint16_t command;		/**< Command ID, as defined MAVLink by VEHICLE_CMD enum.   */
-	uint8_t target_system;		/**< System which should execute the command  */
-	uint8_t target_component;	/**< Component which should execute the command, 0 for all components  */
-	uint8_t source_system;		/**< System sending the command  */
-	uint8_t source_component;	/**< Component sending the command  */
-	uint8_t confirmation;		/**< 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) */
-}; /**< command sent to vehicle */
-
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-ORB_DECLARE(vehicle_command);
-
-
-
-#endif
diff --git a/apps/uORB/topics/vehicle_global_position.h b/apps/uORB/topics/vehicle_global_position.h
deleted file mode 100644
index f036c7223..000000000
--- a/apps/uORB/topics/vehicle_global_position.h
+++ /dev/null
@@ -1,86 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Thomas Gubler 
- *           @author Julian Oes 
- *           @author Lorenz Meier 
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file vehicle_global_position.h
- * Definition of the global fused WGS84 position uORB topic.
- */
-
-#ifndef VEHICLE_GLOBAL_POSITION_T_H_
-#define VEHICLE_GLOBAL_POSITION_T_H_
-
-#include 
-#include 
-#include "../uORB.h"
-
-/**
- * @addtogroup topics
- * @{
- */
-
- /**
- * Fused global position in WGS84.
- *
- * This struct contains the system's believ about its position. It is not the raw GPS
- * measurement (@see vehicle_gps_position). This topic is usually published by the position
- * estimator, which will take more sources of information into account than just GPS,
- * e.g. control inputs of the vehicle in a Kalman-filter implementation.
- */
-struct vehicle_global_position_s
-{
-	uint64_t timestamp;		/**< time of this estimate, in microseconds since system start */
-	uint64_t time_gps_usec; /**< GPS timestamp in microseconds							  */
-	bool valid;				/**< true if position satisfies validity criteria of estimator */
-
-	int32_t lat;			/**< Latitude in 1E7 degrees							LOGME */
-	int32_t lon;			/**< Longitude in 1E7 degrees							LOGME */
-	float alt;				/**< Altitude in meters									LOGME */
-	float relative_alt;		/**< Altitude above home position in meters, 			LOGME */
-	float vx; 				/**< Ground X Speed (Latitude), m/s in ENU				LOGME */
-	float vy;				/**< Ground Y Speed (Longitude), m/s in ENU				LOGME */
-	float vz;				/**< Ground Z Speed (Altitude), m/s	in ENU				LOGME */
-	float hdg; 				/**< Compass heading in radians -PI..+PI.					  */
-
-};
-
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-ORB_DECLARE(vehicle_global_position);
-
-#endif
diff --git a/apps/uORB/topics/vehicle_global_position_set_triplet.h b/apps/uORB/topics/vehicle_global_position_set_triplet.h
deleted file mode 100644
index 318abba89..000000000
--- a/apps/uORB/topics/vehicle_global_position_set_triplet.h
+++ /dev/null
@@ -1,78 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Thomas Gubler 
- *           @author Julian Oes 
- *           @author Lorenz Meier 
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file vehicle_global_position_setpoint.h
- * Definition of the global WGS84 position setpoint uORB topic.
- */
-
-#ifndef TOPIC_VEHICLE_GLOBAL_POSITION_SET_TRIPLET_H_
-#define TOPIC_VEHICLE_GLOBAL_POSITION_SET_TRIPLET_H_
-
-#include 
-#include 
-#include "../uORB.h"
-
-#include "vehicle_global_position_setpoint.h"
-
-/**
- * @addtogroup topics
- * @{
- */
-
-/**
- * Global position setpoint triplet in WGS84 coordinates.
- *
- * This are the three next waypoints (or just the next two or one).
- */
-struct vehicle_global_position_set_triplet_s
-{
-	bool previous_valid;
-	bool next_valid;
-
-	struct vehicle_global_position_setpoint_s previous;
-	struct vehicle_global_position_setpoint_s current;
-	struct vehicle_global_position_setpoint_s next;
-};
-
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-ORB_DECLARE(vehicle_global_position_set_triplet);
-
-#endif
diff --git a/apps/uORB/topics/vehicle_global_position_setpoint.h b/apps/uORB/topics/vehicle_global_position_setpoint.h
deleted file mode 100644
index eec6a8229..000000000
--- a/apps/uORB/topics/vehicle_global_position_setpoint.h
+++ /dev/null
@@ -1,78 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Thomas Gubler 
- *           @author Julian Oes 
- *           @author Lorenz Meier 
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file vehicle_global_position_setpoint.h
- * Definition of the global WGS84 position setpoint uORB topic.
- */
-
-#ifndef TOPIC_VEHICLE_GLOBAL_POSITION_SETPOINT_H_
-#define TOPIC_VEHICLE_GLOBAL_POSITION_SETPOINT_H_
-
-#include 
-#include 
-#include "../uORB.h"
-
-/**
- * @addtogroup topics
- * @{
- */
-
-/**
- * Global position setpoint in WGS84 coordinates.
- *
- * This is the position the MAV is heading towards. If it of type loiter,
- * the MAV is circling around it with the given loiter radius in meters.
- */
-struct vehicle_global_position_setpoint_s
-{
-	bool altitude_is_relative;	/**< true if altitude is relative from start point	*/
-	int32_t lat;			/**< latitude in degrees * 1E7				*/
-	int32_t lon;			/**< longitude in degrees * 1E7				*/
-	float altitude;			/**< altitude in meters					*/
-	float yaw;			/**< in radians NED -PI..+PI 				*/
-	float loiter_radius;		/**< loiter radius in meters, 0 for a VTOL to hover     */
-	bool is_loiter;			/**< true if loitering is enabled			*/
-};
-
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-ORB_DECLARE(vehicle_global_position_setpoint);
-
-#endif
diff --git a/apps/uORB/topics/vehicle_gps_position.h b/apps/uORB/topics/vehicle_gps_position.h
deleted file mode 100644
index 0a7fb4e9d..000000000
--- a/apps/uORB/topics/vehicle_gps_position.h
+++ /dev/null
@@ -1,100 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Thomas Gubler 
- *           @author Julian Oes 
- *           @author Lorenz Meier 
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file vehicle_gps_position.h
- * Definition of the GPS WGS84 uORB topic.
- */
-
-#ifndef TOPIC_VEHICLE_GPS_H_
-#define TOPIC_VEHICLE_GPS_H_
-
-#include 
-#include "../uORB.h"
-
-/**
- * @addtogroup topics
- * @{
- */
-
-/**
- * GPS position in WGS84 coordinates.
- */
-struct vehicle_gps_position_s
-{
-	uint64_t timestamp_position;			/**< Timestamp for position information */
-	int32_t lat;					/**< Latitude in 1E7 degrees */
-	int32_t lon;					/**< Longitude in 1E7 degrees */
-	int32_t alt;					/**< Altitude in 1E3 meters (millimeters) above MSL  */
-	
-	uint64_t timestamp_variance;
-	float s_variance_m_s;				/**< speed accuracy estimate m/s */
-	float p_variance_m;				/**< position accuracy estimate m */
-	float c_variance_rad;				/**< course accuracy estimate rad */
-	uint8_t fix_type; 				/**< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.   */
-
-	float eph_m;					/**< GPS HDOP horizontal dilution of position in m */
-	float epv_m;					/**< GPS VDOP horizontal dilution of position in m */
-
-	uint64_t timestamp_velocity;			/**< Timestamp for velocity informations */
-	float vel_m_s;					/**< GPS ground speed (m/s) */
-	float vel_n_m_s;				/**< GPS ground speed in m/s */
-	float vel_e_m_s;				/**< GPS ground speed in m/s */
-	float vel_d_m_s;				/**< GPS ground speed in m/s */
-	float cog_rad;					/**< Course over ground (NOT heading, but direction of movement) in rad, -PI..PI */
-	bool vel_ned_valid;				/**< Flag to indicate if NED speed is valid */
-
-	uint64_t timestamp_time;			/**< Timestamp for time information */
-	uint64_t time_gps_usec;				/**< Timestamp (microseconds in GPS format), this is the timestamp which comes from the gps module   */
-
-	uint64_t timestamp_satellites;			/**< Timestamp for sattelite information */
-	uint8_t satellites_visible;			/**< Number of satellites visible. If unknown, set to 255 */
-	uint8_t satellite_prn[20]; 			/**< Global satellite ID */
-	uint8_t satellite_used[20];			/**< 0: Satellite not used, 1: used for localization */
-	uint8_t satellite_elevation[20]; 		/**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */
-	uint8_t satellite_azimuth[20];			/**< Direction of satellite, 0: 0 deg, 255: 360 deg. */
-	uint8_t satellite_snr[20];			/**< Signal to noise ratio of satellite   */
-	bool satellite_info_available;			/**< 0 for no info, 1 for info available */
-};
-
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-ORB_DECLARE(vehicle_gps_position);
-
-#endif
diff --git a/apps/uORB/topics/vehicle_local_position.h b/apps/uORB/topics/vehicle_local_position.h
deleted file mode 100644
index 76eddeacd..000000000
--- a/apps/uORB/topics/vehicle_local_position.h
+++ /dev/null
@@ -1,87 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier 
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file vehicle_local_position.h
- * Definition of the local fused NED position uORB topic.
- */
-
-#ifndef TOPIC_VEHICLE_LOCAL_POSITION_H_
-#define TOPIC_VEHICLE_LOCAL_POSITION_H_
-
-#include 
-#include 
-#include "../uORB.h"
-
-/**
- * @addtogroup topics
- * @{
- */
-
-/**
- * Fused local position in NED.
- */
-struct vehicle_local_position_s
-{
-	uint64_t timestamp;			/**< time of this estimate, in microseconds since system start */
-	bool valid;				/**< true if position satisfies validity criteria of estimator */
-
-	float x;				/**< X positin in meters in NED earth-fixed frame */
-	float y;				/**< X positin in meters in NED earth-fixed frame */
-	float z;				/**< Z positin in meters in NED earth-fixed frame (negative altitude) */
-	float absolute_alt;			/**< Altitude as defined by pressure / GPS, 			LOGME */
-	float vx; 				/**< Ground X Speed (Latitude), m/s in NED				LOGME */
-	float vy;				/**< Ground Y Speed (Longitude), m/s in NED				LOGME */
-	float vz;				/**< Ground Z Speed (Altitude), m/s	in NED				LOGME */
-	float hdg; 				/**< Compass heading in radians -PI..+PI.					  */
-
-	// TODO Add covariances here
-
-	/* Reference position in GPS / WGS84 frame */
-	uint64_t home_timestamp;/**< Time when home position was set						  */
-	int32_t home_lat;		/**< Latitude in 1E7 degrees							LOGME */
-	int32_t home_lon;		/**< Longitude in 1E7 degrees							LOGME */
-	float home_alt;			/**< Altitude in meters									LOGME */
-	float home_hdg; 		/**< Compass heading in radians -PI..+PI.					  */
-
-};
-
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-ORB_DECLARE(vehicle_local_position);
-
-#endif
diff --git a/apps/uORB/topics/vehicle_local_position_setpoint.h b/apps/uORB/topics/vehicle_local_position_setpoint.h
deleted file mode 100644
index d24d81e3a..000000000
--- a/apps/uORB/topics/vehicle_local_position_setpoint.h
+++ /dev/null
@@ -1,67 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Thomas Gubler 
- *           @author Julian Oes 
- *           @author Lorenz Meier 
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file vehicle_local_position_setpoint.h
- * Definition of the local NED position setpoint uORB topic.
- */
-
-#ifndef TOPIC_VEHICLE_LOCAL_POSITION_SETPOINT_H_
-#define TOPIC_VEHICLE_LOCAL_POSITION_SETPOINT_H_
-
-#include "../uORB.h"
-
-/**
- * @addtogroup topics
- * @{
- */
-
-struct vehicle_local_position_setpoint_s
-{
-	float x;		/**< in meters NED			  		*/
-	float y;		/**< in meters NED			  		*/
-	float z;		/**< in meters NED			  		*/
-	float yaw;		/**< in radians NED -PI..+PI  		*/
-}; /**< Local position in NED frame to go to */
-
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-ORB_DECLARE(vehicle_local_position_setpoint);
-
-#endif
diff --git a/apps/uORB/topics/vehicle_rates_setpoint.h b/apps/uORB/topics/vehicle_rates_setpoint.h
deleted file mode 100644
index 46e62c4b7..000000000
--- a/apps/uORB/topics/vehicle_rates_setpoint.h
+++ /dev/null
@@ -1,68 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier 
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file vehicle_rates_setpoint.h
- * Definition of the vehicle rates setpoint topic
- */
-
-#ifndef TOPIC_VEHICLE_RATES_SETPOINT_H_
-#define TOPIC_VEHICLE_RATES_SETPOINT_H_
-
-#include 
-#include "../uORB.h"
-
-/**
- * @addtogroup topics
- * @{
- */
-struct vehicle_rates_setpoint_s
-{
-	uint64_t timestamp; /**< in microseconds since system start */
-
-	float roll;	/**< body angular rates in NED frame		*/
-	float pitch;	/**< body angular rates in NED frame		*/
-	float yaw;	/**< body angular rates in NED frame		*/
-	float thrust;	/**< thrust normalized to 0..1			*/
-
-}; /**< vehicle_rates_setpoint */
-
- /**
- * @}
- */
-
-/* register this as object request broker structure */
-ORB_DECLARE(vehicle_rates_setpoint);
-
-#endif
diff --git a/apps/uORB/topics/vehicle_status.h b/apps/uORB/topics/vehicle_status.h
deleted file mode 100644
index c7c1048f6..000000000
--- a/apps/uORB/topics/vehicle_status.h
+++ /dev/null
@@ -1,226 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier 
- *           @author Petri Tanskanen 
- *           @author Thomas Gubler 
- *           @author Julian Oes 
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file vehicle_status.h
- * Definition of the vehicle_status uORB topic.
- *
- * Published the state machine and the system status bitfields
- * (see SYS_STATUS mavlink message), published only by commander app.
- *
- * All apps should write to subsystem_info:
- *
- *  (any app) --> subsystem_info (published) --> (commander app state machine)  --> vehicle_status --> (mavlink app)
- */
-
-#ifndef VEHICLE_STATUS_H_
-#define VEHICLE_STATUS_H_
-
-#include 
-#include 
-#include "../uORB.h"
-
-/**
- * @addtogroup topics @{
- */
-
-/* State Machine */
-typedef enum
-{
-	SYSTEM_STATE_PREFLIGHT = 0,
-	SYSTEM_STATE_STANDBY = 1,
-	SYSTEM_STATE_GROUND_READY = 2,
-	SYSTEM_STATE_MANUAL = 3,
-	SYSTEM_STATE_STABILIZED = 4,
-	SYSTEM_STATE_AUTO = 5,
-	SYSTEM_STATE_MISSION_ABORT = 6,
-	SYSTEM_STATE_EMCY_LANDING = 7,
-	SYSTEM_STATE_EMCY_CUTOFF = 8,
-	SYSTEM_STATE_GROUND_ERROR = 9,
-	SYSTEM_STATE_REBOOT= 10,
-
-} commander_state_machine_t;
-
-enum VEHICLE_MODE_FLAG {
-	VEHICLE_MODE_FLAG_SAFETY_ARMED = 128,
-	VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED = 64,
-	VEHICLE_MODE_FLAG_HIL_ENABLED = 32,
-	VEHICLE_MODE_FLAG_STABILIZED_ENABLED = 16,
-	VEHICLE_MODE_FLAG_GUIDED_ENABLED = 8,
-	VEHICLE_MODE_FLAG_AUTO_ENABLED = 4,
-	VEHICLE_MODE_FLAG_TEST_ENABLED = 2,
-	VEHICLE_MODE_FLAG_CUSTOM_MODE_ENABLED = 1
-}; /**< Same as MAV_MODE_FLAG of MAVLink 1.0 protocol */
-
-enum VEHICLE_FLIGHT_MODE {
-	VEHICLE_FLIGHT_MODE_MANUAL = 0,		/**< direct manual control, exact mode determined by VEHICLE_MANUAL_CONTROL_MODE */
-	VEHICLE_FLIGHT_MODE_STAB,		/**< attitude or rate stabilization plus velocity or position stabilization */
-	VEHICLE_FLIGHT_MODE_HOLD,		/**< hold current position (hover or loiter around position when switched) */
-	VEHICLE_FLIGHT_MODE_AUTO		/**< attitude or rate stabilization plus absolute position control and waypoints */
-};
-
-enum VEHICLE_MANUAL_CONTROL_MODE {
-	VEHICLE_MANUAL_CONTROL_MODE_DIRECT = 0,	/**< no attitude control, direct stick input mixing (only fixed wing) */
-	VEHICLE_MANUAL_CONTROL_MODE_RATES,	/**< body rates control mode */
-	VEHICLE_MANUAL_CONTROL_MODE_SAS		/**< stability augmented system (SAS) mode */
-};
-
-enum VEHICLE_MANUAL_SAS_MODE {
-	VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS = 0,	/**< roll, pitch and yaw absolute */
-	VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_RATE,	/**< roll and pitch absolute, yaw rate */
-	VEHICLE_MANUAL_SAS_MODE_SIMPLE,				/**< simple mode (includes altitude hold) */
-	VEHICLE_MANUAL_SAS_MODE_ALTITUDE			/**< altitude hold */
-};
-
-/**
- * Should match 1:1 MAVLink's MAV_TYPE ENUM
- */
-enum VEHICLE_TYPE {
-	VEHICLE_TYPE_GENERIC=0, /* Generic micro air vehicle. | */
-	VEHICLE_TYPE_FIXED_WING=1, /* Fixed wing aircraft. | */
-	VEHICLE_TYPE_QUADROTOR=2, /* Quadrotor | */
-	VEHICLE_TYPE_COAXIAL=3, /* Coaxial helicopter | */
-	VEHICLE_TYPE_HELICOPTER=4, /* Normal helicopter with tail rotor. | */
-	VEHICLE_TYPE_ANTENNA_TRACKER=5, /* Ground installation | */
-	VEHICLE_TYPE_GCS=6, /* Operator control unit / ground control station | */
-	VEHICLE_TYPE_AIRSHIP=7, /* Airship, controlled | */
-	VEHICLE_TYPE_FREE_BALLOON=8, /* Free balloon, uncontrolled | */
-	VEHICLE_TYPE_ROCKET=9, /* Rocket | */
-	VEHICLE_TYPE_GROUND_ROVER=10, /* Ground rover | */
-	VEHICLE_TYPE_SURFACE_BOAT=11, /* Surface vessel, boat, ship | */
-	VEHICLE_TYPE_SUBMARINE=12, /* Submarine | */
-	VEHICLE_TYPE_HEXAROTOR=13, /* Hexarotor | */
-	VEHICLE_TYPE_OCTOROTOR=14, /* Octorotor | */
-	VEHICLE_TYPE_TRICOPTER=15, /* Octorotor | */
-	VEHICLE_TYPE_FLAPPING_WING=16, /* Flapping wing | */
-	VEHICLE_TYPE_KITE=17, /* Kite | */
-	VEHICLE_TYPE_ENUM_END=18, /*  | */
-};
-
-enum VEHICLE_BATTERY_WARNING {
-    VEHICLE_BATTERY_WARNING_NONE = 0,    /**< no battery low voltage warning active */
-    VEHICLE_BATTERY_WARNING_WARNING,        /**< warning of low voltage 1. stage */
-    VEHICLE_BATTERY_WARNING_ALERT            /**< aleting of low voltage 2. stage */
-};
-
-
-/**
- * state machine / state of vehicle.
- *
- * Encodes the complete system state and is set by the commander app.
- */
-struct vehicle_status_s
-{
-	/* use of a counter and timestamp recommended (but not necessary) */
-
-	uint16_t counter;   /**< incremented by the writing thread everytime new data is stored */
-	uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */
-	uint64_t failsave_lowlevel_start_time;		/**< time when the lowlevel failsafe flag was set */
-	//uint64_t failsave_highlevel_begin; TO BE COMPLETED
-
-	commander_state_machine_t state_machine;	/**< current flight state, main state machine */
-	enum VEHICLE_FLIGHT_MODE flight_mode;		/**< current flight mode, as defined by mode switch */
-	enum VEHICLE_MANUAL_CONTROL_MODE manual_control_mode;	/**< current attitude control mode, as defined by VEHICLE_ATTITUDE_MODE enum */
-	enum VEHICLE_MANUAL_SAS_MODE	manual_sas_mode;	/**< current stabilization mode */
-	int32_t system_type;				/**< system type, inspired by MAVLink's VEHICLE_TYPE enum */
-	int32_t	system_id;				/**< system id, inspired by MAVLink's system ID field */
-	int32_t component_id;				/**< subsystem / component id, inspired by MAVLink's component ID field */
-
-	/* system flags - these represent the state predicates */
-
-	bool flag_system_armed;				/**< true is motors / actuators are armed */
-	bool flag_control_manual_enabled;		/**< true if manual input is mixed in */
-	bool flag_control_offboard_enabled;		/**< true if offboard control input is on */
-	bool flag_hil_enabled;				/**< true if hardware in the loop simulation is enabled */
-
-	bool flag_control_rates_enabled;		/**< true if rates are stabilized */
-	bool flag_control_attitude_enabled;		/**< true if attitude stabilization is mixed in */
-	bool flag_control_velocity_enabled;		/**< true if speed (implies direction) is controlled */
-	bool flag_control_position_enabled;		/**< true if position is controlled */
-
-	bool flag_preflight_gyro_calibration;		/**< true if gyro calibration is requested */
-	bool flag_preflight_mag_calibration;		/**< true if mag calibration is requested */
-	bool flag_preflight_accel_calibration;
-	bool flag_preflight_airspeed_calibration;
-
-	bool rc_signal_found_once;
-	bool rc_signal_lost;				/**< true if RC reception is terminally lost */
-	bool rc_signal_cutting_off;			/**< true if RC reception is weak / cutting off */
-	uint64_t rc_signal_lost_interval;		/**< interval in microseconds since when no RC signal is available */
-
-	bool offboard_control_signal_found_once;
-	bool offboard_control_signal_lost;
-	bool offboard_control_signal_weak;
-	uint64_t offboard_control_signal_lost_interval;	/**< interval in microseconds without an offboard control message */
-
-	bool failsave_lowlevel;				/**< Set to true if low-level failsafe mode is enabled */
-	//bool failsave_highlevel;
-
-	/* see SYS_STATUS mavlink message for the following */
-	uint32_t onboard_control_sensors_present;
-	uint32_t onboard_control_sensors_enabled;
-	uint32_t onboard_control_sensors_health;
-	float load;
-	float voltage_battery;
-	float current_battery;
-	float battery_remaining;
-	enum VEHICLE_BATTERY_WARNING battery_warning;    /**< current battery warning mode, as defined by VEHICLE_BATTERY_WARNING enum */
-	uint16_t drop_rate_comm;
-	uint16_t errors_comm;
-	uint16_t errors_count1;
-	uint16_t errors_count2;
-	uint16_t errors_count3;
-	uint16_t errors_count4;
-
-	bool flag_global_position_valid;		/**< set to true by the commander app if the quality of the gps signal is good enough to use it in the position estimator */
-	bool flag_local_position_valid;
-	bool flag_vector_flight_mode_ok;		/**< position estimation, battery voltage and other critical subsystems are good for autonomous flight */
-	bool flag_auto_flight_mode_ok;			/**< conditions of vector flight mode apply plus a valid takeoff position lock has been aquired */
-	bool flag_external_manual_override_ok;		/**< external override non-fatal for system. Only true for fixed wing */
-	bool flag_valid_launch_position;		/**< indicates a valid launch position */
-	bool flag_valid_home_position;			/**< indicates a valid home position (a valid home position is not always a valid launch) */
-	bool flag_airspeed_valid;			/**< set to true by the commander app if there is a valid airspeed measurement available */
-};
-
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-ORB_DECLARE(vehicle_status);
-
-#endif
diff --git a/apps/uORB/topics/vehicle_vicon_position.h b/apps/uORB/topics/vehicle_vicon_position.h
deleted file mode 100644
index 0822fa89a..000000000
--- a/apps/uORB/topics/vehicle_vicon_position.h
+++ /dev/null
@@ -1,78 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier 
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file vehicle_vicon_position.h
- * Definition of the raw VICON Motion Capture position
- */
-
-#ifndef TOPIC_VEHICLE_VICON_POSITION_H_
-#define TOPIC_VEHICLE_VICON_POSITION_H_
-
-#include 
-#include 
-#include "../uORB.h"
-
-/**
- * @addtogroup topics
- * @{
- */
-
-/**
- * Fused local position in NED.
- */
-struct vehicle_vicon_position_s
-{
-	uint64_t timestamp;			/**< time of this estimate, in microseconds since system start */
-	bool valid;				/**< true if position satisfies validity criteria of estimator */
-
-	float x;				/**< X positin in meters in NED earth-fixed frame */
-	float y;				/**< X positin in meters in NED earth-fixed frame */
-	float z;				/**< Z positin in meters in NED earth-fixed frame (negative altitude) */
-	float roll;
-	float pitch;
-	float yaw;
-
-	// TODO Add covariances here
-
-};
-
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-ORB_DECLARE(vehicle_vicon_position);
-
-#endif
diff --git a/apps/uORB/uORB.cpp b/apps/uORB/uORB.cpp
deleted file mode 100644
index 7abbf42ae..000000000
--- a/apps/uORB/uORB.cpp
+++ /dev/null
@@ -1,1006 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file uORB.cpp
- * A lightweight object broker.
- */
-
-#include 
-
-#include 
-
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-
-#include 
-#include 
-#include 
-
-#include 
-
-#include 
-
-#include "uORB.h"
-
-/**
- * Utility functions.
- */
-namespace
-{
-
-static const unsigned orb_maxpath = 64;
-
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-const int ERROR = -1;
-
-enum Flavor {
-	PUBSUB,
-	PARAM
-};
-
-int
-node_mkpath(char *buf, Flavor f, const struct orb_metadata *meta)
-{
-	unsigned len;
-
-	len = snprintf(buf, orb_maxpath, "/%s/%s",
-		       (f == PUBSUB) ? "obj" : "param",
-		       meta->o_name);
-
-	if (len >= orb_maxpath)
-		return -ENAMETOOLONG;
-
-	return OK;
-}
-
-}
-
-/**
- * Per-object device instance.
- */
-class ORBDevNode : public device::CDev
-{
-public:
-	ORBDevNode(const struct orb_metadata *meta, const char *name, const char *path);
-	~ORBDevNode();
-
-	virtual int		open(struct file *filp);
-	virtual int		close(struct file *filp);
-	virtual ssize_t		read(struct file *filp, char *buffer, size_t buflen);
-	virtual ssize_t		write(struct file *filp, const char *buffer, size_t buflen);
-	virtual int		ioctl(struct file *filp, int cmd, unsigned long arg);
-
-	static ssize_t		publish(const orb_metadata *meta, orb_advert_t handle, const void *data);
-
-protected:
-	virtual pollevent_t	poll_state(struct file *filp);
-	virtual void		poll_notify_one(struct pollfd *fds, pollevent_t events);
-
-private:
-	struct SubscriberData {
-		unsigned	generation;	/**< last generation the subscriber has seen */
-		unsigned	update_interval; /**< if nonzero minimum interval between updates */
-		struct hrt_call	update_call;	/**< deferred wakeup call if update_period is nonzero */
-		void		*poll_priv;	/**< saved copy of fds->f_priv while poll is active */
-		bool		update_reported; /**< true if we have reported the update via poll/check */
-	};
-
-	const struct orb_metadata *_meta;	/**< object metadata information */
-	uint8_t			*_data;		/**< allocated object buffer */
-	hrt_abstime		_last_update;	/**< time the object was last updated */
-	volatile unsigned 	_generation;	/**< object generation count */
-	pid_t			_publisher;	/**< if nonzero, current publisher */
-
-	SubscriberData		*filp_to_sd(struct file *filp) {
-		SubscriberData *sd = (SubscriberData *)(filp->f_priv);
-		return sd;
-	}
-
-	/**
-	 * Perform a deferred update for a rate-limited subscriber.
-	 */
-	void			update_deferred();
-
-	/**
-	 * Bridge from hrt_call to update_deferred
-	 *
-	 * void *arg		ORBDevNode pointer for which the deferred update is performed.
-	 */
-	static void		update_deferred_trampoline(void *arg);
-
-	/**
-	 * Check whether a topic appears updated to a subscriber.
-	 *
-	 * @param sd		The subscriber for whom to check.
-	 * @return		True if the topic should appear updated to the subscriber
-	 */
-	bool			appears_updated(SubscriberData *sd);
-};
-
-ORBDevNode::ORBDevNode(const struct orb_metadata *meta, const char *name, const char *path) :
-	CDev(name, path),
-	_meta(meta),
-	_data(nullptr),
-	_last_update(0),
-	_generation(0),
-	_publisher(0)
-{
-	// enable debug() calls
-	_debug_enabled = true;
-}
-
-ORBDevNode::~ORBDevNode()
-{
-	if (_data != nullptr)
-		delete[] _data;
-}
-
-int
-ORBDevNode::open(struct file *filp)
-{
-	int ret;
-
-	/* is this a publisher? */
-	if (filp->f_oflags == O_WRONLY) {
-
-		/* become the publisher if we can */
-		lock();
-
-		if (_publisher == 0) {
-			_publisher = getpid();
-			ret = OK;
-
-		} else {
-			ret = -EBUSY;
-		}
-
-		unlock();
-
-		/* now complete the open */
-		if (ret == OK) {
-			ret = CDev::open(filp);
-
-			/* open failed - not the publisher anymore */
-			if (ret != OK)
-				_publisher = 0;
-		}
-
-		return ret;
-	}
-
-	/* is this a new subscriber? */
-	if (filp->f_oflags == O_RDONLY) {
-
-		/* allocate subscriber data */
-		SubscriberData *sd = new SubscriberData;
-
-		if (nullptr == sd)
-			return -ENOMEM;
-
-		memset(sd, 0, sizeof(*sd));
-
-		/* default to no pending update */
-		sd->generation = _generation;
-
-		filp->f_priv = (void *)sd;
-
-		ret = CDev::open(filp);
-
-		if (ret != OK)
-			free(sd);
-
-		return ret;
-	}
-
-	/* can only be pub or sub, not both */
-	return -EINVAL;
-}
-
-int
-ORBDevNode::close(struct file *filp)
-{
-	/* is this the publisher closing? */
-	if (getpid() == _publisher) {
-		_publisher = 0;
-
-	} else {
-		SubscriberData *sd = filp_to_sd(filp);
-
-		if (sd != nullptr)
-			delete sd;
-	}
-
-	return CDev::close(filp);
-}
-
-ssize_t
-ORBDevNode::read(struct file *filp, char *buffer, size_t buflen)
-{
-	SubscriberData *sd = (SubscriberData *)filp_to_sd(filp);
-
-	/* if the object has not been written yet, return zero */
-	if (_data == nullptr)
-		return 0;
-
-	/* if the caller's buffer is the wrong size, that's an error */
-	if (buflen != _meta->o_size)
-		return -EIO;
-
-	/*
-	 * Perform an atomic copy & state update
-	 */
-	irqstate_t flags = irqsave();
-
-	/* if the caller doesn't want the data, don't give it to them */
-	if (nullptr != buffer)
-		memcpy(buffer, _data, _meta->o_size);
-
-	/* track the last generation that the file has seen */
-	sd->generation = _generation;
-
-	/*
-	 * Clear the flag that indicates that an update has been reported, as
-	 * we have just collected it.
-	 */
-	sd->update_reported = false;
-
-	irqrestore(flags);
-
-	return _meta->o_size;
-}
-
-ssize_t
-ORBDevNode::write(struct file *filp, const char *buffer, size_t buflen)
-{
-	/*
-	 * Writes are legal from interrupt context as long as the
-	 * object has already been initialised from thread context.
-	 *
-	 * Writes outside interrupt context will allocate the object
-	 * if it has not yet been allocated.
-	 *
-	 * Note that filp will usually be NULL.
-	 */
-	if (nullptr == _data) {
-		if (!up_interrupt_context()) {
-
-			lock();
-
-			/* re-check size */
-			if (nullptr == _data)
-				_data = new uint8_t[_meta->o_size];
-
-			unlock();
-		}
-
-		/* failed or could not allocate */
-		if (nullptr == _data)
-			return -ENOMEM;
-	}
-
-	/* If write size does not match, that is an error */
-	if (_meta->o_size != buflen)
-		return -EIO;
-
-	/* Perform an atomic copy. */
-	irqstate_t flags = irqsave();
-	memcpy(_data, buffer, _meta->o_size);
-	irqrestore(flags);
-
-	/* update the timestamp and generation count */
-	_last_update = hrt_absolute_time();
-	_generation++;
-
-	/* notify any poll waiters */
-	poll_notify(POLLIN);
-
-	return _meta->o_size;
-}
-
-int
-ORBDevNode::ioctl(struct file *filp, int cmd, unsigned long arg)
-{
-	SubscriberData *sd = filp_to_sd(filp);
-
-	switch (cmd) {
-	case ORBIOCLASTUPDATE:
-		*(hrt_abstime *)arg = _last_update;
-		return OK;
-
-	case ORBIOCUPDATED:
-		*(bool *)arg = appears_updated(sd);
-		return OK;
-
-	case ORBIOCSETINTERVAL:
-		sd->update_interval = arg;
-		return OK;
-
-	case ORBIOCGADVERTISER:
-		*(uintptr_t *)arg = (uintptr_t)this;
-		return OK;
-
-	default:
-		/* give it to the superclass */
-		return CDev::ioctl(filp, cmd, arg);
-	}
-}
-
-ssize_t
-ORBDevNode::publish(const orb_metadata *meta, orb_advert_t handle, const void *data)
-{
-	ORBDevNode *devnode = (ORBDevNode *)handle;
-	int ret;
-
-	/* this is a bit risky, since we are trusting the handle in order to deref it */
-	if (devnode->_meta != meta) {
-		errno = EINVAL;
-		return ERROR;
-	}
-
-	/* call the devnode write method with no file pointer */
-	ret = devnode->write(nullptr, (const char *)data, meta->o_size);
-
-	if (ret < 0)
-		return ERROR;
-
-	if (ret != (int)meta->o_size) {
-		errno = EIO;
-		return ERROR;
-	}
-
-	return OK;
-}
-
-pollevent_t
-ORBDevNode::poll_state(struct file *filp)
-{
-	SubscriberData *sd = filp_to_sd(filp);
-
-	/*
-	 * If the topic appears updated to the subscriber, say so.
-	 */
-	if (appears_updated(sd))
-		return POLLIN;
-
-	return 0;
-}
-
-void
-ORBDevNode::poll_notify_one(struct pollfd *fds, pollevent_t events)
-{
-	SubscriberData *sd = filp_to_sd((struct file *)fds->priv);
-
-	/*
-	 * If the topic looks updated to the subscriber, go ahead and notify them.
-	 */
-	if (appears_updated(sd))
-		CDev::poll_notify_one(fds, events);
-}
-
-bool
-ORBDevNode::appears_updated(SubscriberData *sd)
-{
-	/* assume it doesn't look updated */
-	bool ret = false;
-
-	/* avoid racing between interrupt and non-interrupt context calls */
-	irqstate_t state = irqsave();
-
-	/* check if this topic has been published yet, if not bail out */
-	if (_data == nullptr) {
-		ret = false;
-		goto out;
-	}
-
-	/*
-	 * If the subscriber's generation count matches the update generation
-	 * count, there has been no update from their perspective; if they
-	 * don't match then we might have a visible update.
-	 */
-	while (sd->generation != _generation) {
-
-		/*
-		 * Handle non-rate-limited subscribers.
-		 */
-		if (sd->update_interval == 0) {
-			ret = true;
-			break;
-		}
-
-		/*
-		 * If we have previously told the subscriber that there is data,
-		 * and they have not yet collected it, continue to tell them
-		 * that there has been an update.  This mimics the non-rate-limited
-		 * behaviour where checking / polling continues to report an update
-		 * until the topic is read.
-		 */
-		if (sd->update_reported) {
-			ret = true;
-			break;
-		}
-
-		/*
-		 * If the interval timer is still running, the topic should not
-		 * appear updated, even though at this point we know that it has.
-		 * We have previously been through here, so the subscriber
-		 * must have collected the update we reported, otherwise
-		 * update_reported would still be true.
-		 */
-		if (!hrt_called(&sd->update_call))
-			break;
-
-		/*
-		 * Make sure that we don't consider the topic to be updated again
-		 * until the interval has passed once more by restarting the interval
-		 * timer and thereby re-scheduling a poll notification at that time.
-		 */
-		hrt_call_after(&sd->update_call,
-			       sd->update_interval,
-			       &ORBDevNode::update_deferred_trampoline,
-			       (void *)this);
-
-		/*
-		 * Remember that we have told the subscriber that there is data.
-		 */
-		sd->update_reported = true;
-		ret = true;
-
-		break;
-	}
-
-out:
-	irqrestore(state);
-
-	/* consider it updated */
-	return ret;
-}
-
-void
-ORBDevNode::update_deferred()
-{
-	/*
-	 * Instigate a poll notification; any subscribers whose intervals have
-	 * expired will be woken.
-	 */
-	poll_notify(POLLIN);
-}
-
-void
-ORBDevNode::update_deferred_trampoline(void *arg)
-{
-	ORBDevNode *node = (ORBDevNode *)arg;
-
-	node->update_deferred();
-}
-
-/**
- * Master control device for ObjDev.
- *
- * Used primarily to create new objects via the ORBIOCCREATE
- * ioctl.
- */
-class ORBDevMaster : public device::CDev
-{
-public:
-	ORBDevMaster(Flavor f);
-	~ORBDevMaster();
-
-	virtual int		ioctl(struct file *filp, int cmd, unsigned long arg);
-private:
-	Flavor			_flavor;
-};
-
-ORBDevMaster::ORBDevMaster(Flavor f) :
-	CDev((f == PUBSUB) ? "obj_master" : "param_master",
-	     (f == PUBSUB) ? TOPIC_MASTER_DEVICE_PATH : PARAM_MASTER_DEVICE_PATH),
-	_flavor(f)
-{
-	// enable debug() calls
-	_debug_enabled = true;
-
-}
-
-ORBDevMaster::~ORBDevMaster()
-{
-}
-
-int
-ORBDevMaster::ioctl(struct file *filp, int cmd, unsigned long arg)
-{
-	int ret;
-
-	switch (cmd) {
-	case ORBIOCADVERTISE: {
-			const struct orb_metadata *meta = (const struct orb_metadata *)arg;
-			const char *objname;
-			char nodepath[orb_maxpath];
-			ORBDevNode *node;
-
-			/* construct a path to the node - this also checks the node name */
-			ret = node_mkpath(nodepath, _flavor, meta);
-
-			if (ret != OK)
-				return ret;
-
-			/* driver wants a permanent copy of the node name, so make one here */
-			objname = strdup(meta->o_name);
-
-			if (objname == nullptr)
-				return -ENOMEM;
-
-			/* construct the new node */
-			node = new ORBDevNode(meta, objname, nodepath);
-
-			/* initialise the node - this may fail if e.g. a node with this name already exists */
-			if (node != nullptr)
-				ret = node->init();
-
-			/* if we didn't get a device, that's bad */
-			if (node == nullptr)
-				return -ENOMEM;
-
-			/* if init failed, discard the node and its name */
-			if (ret != OK) {
-				delete node;
-				free((void *)objname);
-			}
-
-			return ret;
-		}
-
-	default:
-		/* give it to the superclass */
-		return CDev::ioctl(filp, cmd, arg);
-	}
-}
-
-
-/**
- * Local functions in support of the shell command.
- */
-
-namespace
-{
-
-ORBDevMaster	*g_dev;
-
-struct orb_test {
-	int val;
-};
-
-ORB_DEFINE(orb_test, struct orb_test);
-
-int
-test_fail(const char *fmt, ...)
-{
-	va_list ap;
-
-	fprintf(stderr, "FAIL: ");
-	va_start(ap, fmt);
-	vfprintf(stderr, fmt, ap);
-	va_end(ap);
-	fprintf(stderr, "\n");
-	fflush(stderr);
-	return ERROR;
-}
-
-int
-test_note(const char *fmt, ...)
-{
-	va_list ap;
-
-	fprintf(stderr, "note: ");
-	va_start(ap, fmt);
-	vfprintf(stderr, fmt, ap);
-	va_end(ap);
-	fprintf(stderr, "\n");
-	fflush(stderr);
-	return OK;
-}
-
-ORB_DECLARE(sensor_combined);
-
-int
-test()
-{
-	struct orb_test t, u;
-	int pfd, sfd;
-	bool updated;
-
-	t.val = 0;
-	pfd = orb_advertise(ORB_ID(orb_test), &t);
-
-	if (pfd < 0)
-		return test_fail("advertise failed: %d", errno);
-
-	test_note("publish handle 0x%08x", pfd);
-	sfd = orb_subscribe(ORB_ID(orb_test));
-
-	if (sfd < 0)
-		return test_fail("subscribe failed: %d", errno);
-
-	test_note("subscribe fd %d", sfd);
-	u.val = 1;
-
-	if (OK != orb_copy(ORB_ID(orb_test), sfd, &u))
-		return test_fail("copy(1) failed: %d", errno);
-
-	if (u.val != t.val)
-		return test_fail("copy(1) mismatch: %d expected %d", u.val, t.val);
-
-	if (OK != orb_check(sfd, &updated))
-		return test_fail("check(1) failed");
-
-	if (updated)
-		return test_fail("spurious updated flag");
-
-	t.val = 2;
-	test_note("try publish");
-
-	if (OK != orb_publish(ORB_ID(orb_test), pfd, &t))
-		return test_fail("publish failed");
-
-	if (OK != orb_check(sfd, &updated))
-		return test_fail("check(2) failed");
-
-	if (!updated)
-		return test_fail("missing updated flag");
-
-	if (OK != orb_copy(ORB_ID(orb_test), sfd, &u))
-		return test_fail("copy(2) failed: %d", errno);
-
-	if (u.val != t.val)
-		return test_fail("copy(2) mismatch: %d expected %d", u.val, t.val);
-
-	orb_unsubscribe(sfd);
-	close(pfd);
-
-#if 0
-	/* this is a hacky test that exploits the sensors app to test rate-limiting */
-
-	sfd = orb_subscribe(ORB_ID(sensor_combined));
-
-	hrt_abstime start, end;
-	unsigned count;
-
-	start = hrt_absolute_time();
-	count = 0;
-
-	do {
-		orb_check(sfd, &updated);
-
-		if (updated) {
-			orb_copy(ORB_ID(sensor_combined), sfd, nullptr);
-			count++;
-		}
-	} while (count < 100);
-
-	end = hrt_absolute_time();
-	test_note("full-speed, 100 updates in %llu", end - start);
-
-	orb_set_interval(sfd, 10);
-
-	start = hrt_absolute_time();
-	count = 0;
-
-	do {
-		orb_check(sfd, &updated);
-
-		if (updated) {
-			orb_copy(ORB_ID(sensor_combined), sfd, nullptr);
-			count++;
-		}
-	} while (count < 100);
-
-	end = hrt_absolute_time();
-	test_note("100Hz, 100 updates in %llu", end - start);
-
-	orb_unsubscribe(sfd);
-#endif
-
-	return test_note("PASS");
-}
-
-int
-info()
-{
-	return OK;
-}
-
-
-} // namespace
-
-/*
- * uORB server 'main'.
- */
-extern "C" { __EXPORT int uorb_main(int argc, char *argv[]); }
-
-int
-uorb_main(int argc, char *argv[])
-{
-	/*
-	 * Start/load the driver.
-	 *
-	 * XXX it would be nice to have a wrapper for this...
-	 */
-	if (!strcmp(argv[1], "start")) {
-
-		if (g_dev != nullptr) {
-			fprintf(stderr, "[uorb] already loaded\n");
-			/* user wanted to start uorb, its already running, no error */
-			return 0;
-		}
-
-		/* create the driver */
-		g_dev = new ORBDevMaster(PUBSUB);
-
-		if (g_dev == nullptr) {
-			fprintf(stderr, "[uorb] driver alloc failed\n");
-			return -ENOMEM;
-		}
-
-		if (OK != g_dev->init()) {
-			fprintf(stderr, "[uorb] driver init failed\n");
-			delete g_dev;
-			g_dev = nullptr;
-			return -EIO;
-		}
-
-		printf("[uorb] ready\n");
-		return OK;
-	}
-
-	/*
-	 * Test the driver/device.
-	 */
-	if (!strcmp(argv[1], "test"))
-		return test();
-
-	/*
-	 * Print driver information.
-	 */
-	if (!strcmp(argv[1], "status"))
-		return info();
-
-	fprintf(stderr, "unrecognised command, try 'start', 'test' or 'status'\n");
-	return -EINVAL;
-}
-
-/*
- * Library functions.
- */
-namespace
-{
-
-void debug(const char *fmt, ...)
-{
-	va_list ap;
-
-	va_start(ap, fmt);
-	vfprintf(stderr, fmt, ap);
-	va_end(ap);
-	fprintf(stderr, "\n");
-	fflush(stderr);
-	usleep(100000);
-}
-
-/**
- * Advertise a node; don't consider it an error if the node has
- * already been advertised.
- *
- * @todo verify that the existing node is the same as the one
- *       we tried to advertise.
- */
-int
-node_advertise(const struct orb_metadata *meta)
-{
-	int fd = -1;
-	int ret = ERROR;
-
-	/* open the control device */
-	fd = open(TOPIC_MASTER_DEVICE_PATH, 0);
-
-	if (fd < 0)
-		goto out;
-
-	/* advertise the object */
-	ret = ioctl(fd, ORBIOCADVERTISE, (unsigned long)(uintptr_t)meta);
-
-	/* it's OK if it already exists */
-	if ((OK != ret) && (EEXIST == errno))
-		ret = OK;
-
-out:
-
-	if (fd >= 0)
-		close(fd);
-
-	return ret;
-}
-
-/**
- * Common implementation for orb_advertise and orb_subscribe.
- *
- * Handles creation of the object and the initial publication for
- * advertisers.
- */
-int
-node_open(Flavor f, const struct orb_metadata *meta, const void *data, bool advertiser)
-{
-	char path[orb_maxpath];
-	int fd, ret;
-
-	/*
-	 * If meta is null, the object was not defined, i.e. it is not
-	 * known to the system.  We can't advertise/subscribe such a thing.
-	 */
-	if (nullptr == meta) {
-		errno = ENOENT;
-		return ERROR;
-	}
-
-	/*
-	 * Advertiser must publish an initial value.
-	 */
-	if (advertiser && (data == nullptr)) {
-		errno = EINVAL;
-		return ERROR;
-	}
-
-	/*
-	 * Generate the path to the node and try to open it.
-	 */
-	ret = node_mkpath(path, f, meta);
-
-	if (ret != OK) {
-		errno = -ret;
-		return ERROR;
-	}
-
-	/* open the path as either the advertiser or the subscriber */
-	fd = open(path, (advertiser) ? O_WRONLY : O_RDONLY);
-
-	/* we may need to advertise the node... */
-	if (fd < 0) {
-
-		/* try to create the node */
-		ret = node_advertise(meta);
-
-		/* on success, try the open again */
-		if (ret == OK)
-			fd = open(path, (advertiser) ? O_WRONLY : O_RDONLY);
-	}
-
-	if (fd < 0) {
-		errno = EIO;
-		return ERROR;
-	}
-
-	/* everything has been OK, we can return the handle now */
-	return fd;
-}
-
-} // namespace
-
-orb_advert_t
-orb_advertise(const struct orb_metadata *meta, const void *data)
-{
-	int result, fd;
-	orb_advert_t advertiser;
-
-	/* open the node as an advertiser */
-	fd = node_open(PUBSUB, meta, data, true);
-	if (fd == ERROR)
-		return ERROR;
-
-	/* get the advertiser handle and close the node */
-	result = ioctl(fd, ORBIOCGADVERTISER, (unsigned long)&advertiser);
-	close(fd);
-	if (result == ERROR)
-		return ERROR;
-
-	/* the advertiser must perform an initial publish to initialise the object */
-	result= orb_publish(meta, advertiser, data);
-	if (result == ERROR)
-		return ERROR;
-
-	return advertiser;
-}
-
-int
-orb_subscribe(const struct orb_metadata *meta)
-{
-	return node_open(PUBSUB, meta, nullptr, false);
-}
-
-int
-orb_unsubscribe(int handle)
-{
-	return close(handle);
-}
-
-int
-orb_publish(const struct orb_metadata *meta, orb_advert_t handle, const void *data)
-{
-	return ORBDevNode::publish(meta, handle, data);
-}
-
-int
-orb_copy(const struct orb_metadata *meta, int handle, void *buffer)
-{
-	int ret;
-
-	ret = read(handle, buffer, meta->o_size);
-
-	if (ret < 0)
-		return ERROR;
-
-	if (ret != (int)meta->o_size) {
-		errno = EIO;
-		return ERROR;
-	}
-
-	return OK;
-}
-
-int
-orb_check(int handle, bool *updated)
-{
-	return ioctl(handle, ORBIOCUPDATED, (unsigned long)(uintptr_t)updated);
-}
-
-int
-orb_stat(int handle, uint64_t *time)
-{
-	return ioctl(handle, ORBIOCLASTUPDATE, (unsigned long)(uintptr_t)time);
-}
-
-int
-orb_set_interval(int handle, unsigned interval)
-{
-	return ioctl(handle, ORBIOCSETINTERVAL, interval * 1000);
-}
-
diff --git a/apps/uORB/uORB.h b/apps/uORB/uORB.h
deleted file mode 100644
index 82ff46ad2..000000000
--- a/apps/uORB/uORB.h
+++ /dev/null
@@ -1,264 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#ifndef _UORB_UORB_H
-#define _UORB_UORB_H
-
-/**
- * @file uORB.h
- * API for the uORB lightweight object broker.
- */
-
-#include 
-#include 
-#include 
-
-// Hack until everything is using this header
-#include 
-
-/**
- * Object metadata.
- */
-struct orb_metadata {
-	const char *o_name;		/**< unique object name */
-	const size_t o_size;		/**< object size */
-};
-
-typedef const struct orb_metadata *orb_id_t;
-
-/**
- * Generates a pointer to the uORB metadata structure for
- * a given topic.
- *
- * The topic must have been declared previously in scope
- * with ORB_DECLARE().
- *
- * @param _name		The name of the topic.
- */
-#define ORB_ID(_name)		&__orb_##_name
-
-/**
- * Declare (prototype) the uORB metadata for a topic.
- *
- * Note that optional topics are declared weak; this allows a potential
- * subscriber to attempt to subscribe to a topic that is not known to the
- * system at runtime.  The ORB_ID() macro will return NULL/nullptr for
- * such a topic, and attempts to advertise or subscribe to it will
- * return -1/ENOENT (see below).
- *
- * @param _name		The name of the topic.
- */
-#if defined(__cplusplus)
-# define ORB_DECLARE(_name)		extern "C" const struct orb_metadata __orb_##_name __EXPORT
-# define ORB_DECLARE_OPTIONAL(_name)	extern "C" const struct orb_metadata __orb_##_name __EXPORT __attribute__((weak))
-#else
-# define ORB_DECLARE(_name)		extern const struct orb_metadata __orb_##_name __EXPORT
-# define ORB_DECLARE_OPTIONAL(_name)	extern const struct orb_metadata __orb_##_name __EXPORT __attribute__((weak))
-#endif
-
-/**
- * Define (instantiate) the uORB metadata for a topic.
- *
- * The uORB metadata is used to help ensure that updates and
- * copies are accessing the right data.
- *
- * Note that there must be no more than one instance of this macro
- * for each topic.
- *
- * @param _name		The name of the topic.
- * @param _struct	The structure the topic provides.
- */
-#define ORB_DEFINE(_name, _struct)			\
-	const struct orb_metadata __orb_##_name = {	\
-		#_name,					\
-		sizeof(_struct)				\
-	}; struct hack
-
-__BEGIN_DECLS
-
-/**
- * ORB topic advertiser handle.
- *
- * Advertiser handles are global; once obtained they can be shared freely
- * and do not need to be closed or released.
- *
- * This permits publication from interrupt context and other contexts where
- * a file-descriptor-based handle would not otherwise be in scope for the
- * publisher.
- */
-typedef intptr_t	orb_advert_t;
-
-/**
- * Advertise as the publisher of a topic.
- *
- * This performs the initial advertisement of a topic; it creates the topic
- * node in /obj if required and publishes the initial data.
- *
- * Any number of advertisers may publish to a topic; publications are atomic
- * but co-ordination between publishers is not provided by the ORB. 
- *
- * @param meta		The uORB metadata (usually from the ORB_ID() macro)
- *			for the topic.
- * @param data		A pointer to the initial data to be published.
- *			For topics updated by interrupt handlers, the advertisement
- *			must be performed from non-interrupt context.
- * @return		ERROR on error, otherwise returns a handle
- *			that can be used to publish to the topic.
- *			If the topic in question is not known (due to an
- *			ORB_DEFINE with no corresponding ORB_DECLARE)
- *			this function will return -1 and set errno to ENOENT.
- */
-extern orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *data) __EXPORT;
-
-/**
- * Publish new data to a topic.
- *
- * The data is atomically published to the topic and any waiting subscribers
- * will be notified.  Subscribers that are not waiting can check the topic
- * for updates using orb_check and/or orb_stat.
- *
- * @param meta		The uORB metadata (usually from the ORB_ID() macro)
- *			for the topic.
- * @handle		The handle returned from orb_advertise.
- * @param data		A pointer to the data to be published.
- * @return		OK on success, ERROR otherwise with errno set accordingly.
- */
-extern int	orb_publish(const struct orb_metadata *meta, orb_advert_t handle, const void *data) __EXPORT;
-
-/**
- * Subscribe to a topic.
- *
- * The returned value is a file descriptor that can be passed to poll()
- * in order to wait for updates to a topic, as well as topic_read,
- * orb_check and orb_stat.
- *
- * Subscription will succeed even if the topic has not been advertised;
- * in this case the topic will have a timestamp of zero, it will never
- * signal a poll() event, checking will always return false and it cannot
- * be copied. When the topic is subsequently advertised, poll, check,
- * stat and copy calls will react to the initial publication that is
- * performed as part of the advertisement.
- *
- * Subscription will fail if the topic is not known to the system, i.e.
- * there is nothing in the system that has declared the topic and thus it
- * can never be published.
- *
- * @param meta		The uORB metadata (usually from the ORB_ID() macro)
- *			for the topic.
- * @return		ERROR on error, otherwise returns a handle
- *			that can be used to read and update the topic.
- *			If the topic in question is not known (due to an
- *			ORB_DEFINE_OPTIONAL with no corresponding ORB_DECLARE)
- *			this function will return -1 and set errno to ENOENT.
- */
-extern int	orb_subscribe(const struct orb_metadata *meta) __EXPORT;
-
-/**
- * Unsubscribe from a topic.
- *
- * @param handle	A handle returned from orb_subscribe.
- * @return		OK on success, ERROR otherwise with errno set accordingly.
- */
-extern int	orb_unsubscribe(int handle) __EXPORT;
-
-/**
- * Fetch data from a topic.
- *
- * This is the only operation that will reset the internal marker that
- * indicates that a topic has been updated for a subscriber. Once poll
- * or check return indicating that an updaet is available, this call
- * must be used to update the subscription.
- *
- * @param meta		The uORB metadata (usually from the ORB_ID() macro)
- *			for the topic.
- * @param handle	A handle returned from orb_subscribe.
- * @param buffer	Pointer to the buffer receiving the data, or NULL
- *			if the caller wants to clear the updated flag without
- *			using the data.
- * @return		OK on success, ERROR otherwise with errno set accordingly.
- */
-extern int	orb_copy(const struct orb_metadata *meta, int handle, void *buffer) __EXPORT;
-
-/**
- * Check whether a topic has been published to since the last orb_copy.
- *
- * This check can be used to determine whether to copy the topic when
- * not using poll(), or to avoid the overhead of calling poll() when the
- * topic is likely to have updated.
- *
- * Updates are tracked on a per-handle basis; this call will continue to
- * return true until orb_copy is called using the same handle. This interface
- * should be preferred over calling orb_stat due to the race window between
- * stat and copy that can lead to missed updates.
- *
- * @param handle	A handle returned from orb_subscribe.
- * @param updated	Set to true if the topic has been updated since the
- *			last time it was copied using this handle.
- * @return		OK if the check was successful, ERROR otherwise with
- *			errno set accordingly.
- */
-extern int	orb_check(int handle, bool *updated) __EXPORT;
-
-/**
- * Return the last time that the topic was updated.
- *
- * @param handle	A handle returned from orb_subscribe.
- * @param time		Returns the absolute time that the topic was updated, or zero if it has
- *			never been updated. Time is measured in microseconds.
- * @return		OK on success, ERROR otherwise with errno set accordingly.
- */
-extern int	orb_stat(int handle, uint64_t *time) __EXPORT;
-
-/**
- * Set the minimum interval between which updates are seen for a subscription.
- *
- * If this interval is set, the subscriber will not see more than one update
- * within the period.
- *
- * Specifically, the first time an update is reported to the subscriber a timer
- * is started. The update will continue to be reported via poll and orb_check, but
- * once fetched via orb_copy another update will not be reported until the timer
- * expires.
- *
- * This feature can be used to pace a subscriber that is watching a topic that
- * would otherwise update too quickly.
- *
- * @param handle	A handle returned from orb_subscribe.
- * @param interval	An interval period in milliseconds.
- * @return		OK on success, ERROR otherwise with ERRNO set accordingly.
- */
-extern int	orb_set_interval(int handle, unsigned interval) __EXPORT;
-
-__END_DECLS
-
-#endif /* _UORB_UORB_H */
diff --git a/makefiles/config_px4fmu_default.mk b/makefiles/config_px4fmu_default.mk
index 47e15b344..bc3031cd6 100644
--- a/makefiles/config_px4fmu_default.mk
+++ b/makefiles/config_px4fmu_default.mk
@@ -10,6 +10,7 @@ ROMFS_ROOT	 = $(PX4_BASE)/ROMFS/px4fmu_common
 #
 # Board support modules
 #
+MODULES		+= drivers/device
 MODULES		+= drivers/stm32
 MODULES		+= drivers/stm32/adc
 MODULES		+= drivers/stm32/tone_alarm
@@ -74,6 +75,21 @@ MODULES		+= modules/multirotor_pos_control
 #
 MODULES		+= modules/sdlog
 
+#
+# Libraries
+#
+MODULES		+= modules/systemlib
+MODULES		+= modules/systemlib/mixer
+MODULES		+= modules/mathlib
+MODULES		+= modules/mathlib/CMSIS
+MODULES		+= modules/controllib
+MODULES		+= modules/uORB
+
+#
+# Demo apps
+#
+MODULES		+= examples/math_demo
+
 #
 # Transitional support - add commands from the NuttX export archive.
 #
diff --git a/makefiles/module.mk b/makefiles/module.mk
index 253b3cd52..86810627b 100644
--- a/makefiles/module.mk
+++ b/makefiles/module.mk
@@ -186,7 +186,7 @@ define SRC_SEARCH
 	$(abspath $(firstword $(wildcard $(MODULE_SRC)/$1) MISSING_$1))
 endef
 
-ABS_SRCS		:= $(foreach src,$(SRCS),$(call SRC_SEARCH,$(src)))
+ABS_SRCS		?= $(foreach src,$(SRCS),$(call SRC_SEARCH,$(src)))
 MISSING_SRCS		:= $(subst MISSING_,,$(filter MISSING_%,$(ABS_SRCS)))
 ifneq ($(MISSING_SRCS),)
 $(error $(MODULE_MK): missing in SRCS: $(MISSING_SRCS))
diff --git a/makefiles/setup.mk b/makefiles/setup.mk
index b798f7cab..3c910bcfa 100644
--- a/makefiles/setup.mk
+++ b/makefiles/setup.mk
@@ -56,6 +56,7 @@ export ARCHIVE_DIR	 = $(abspath $(PX4_BASE)/Archives)/
 # Default include paths
 #
 export INCLUDE_DIRS	:= $(PX4_MODULE_SRC) \
+			   $(PX4_MODULE_SRC)/modules/ \
 			   $(PX4_INCLUDE_DIR)
 
 # Include from legacy app/library path
diff --git a/src/drivers/device/cdev.cpp b/src/drivers/device/cdev.cpp
new file mode 100644
index 000000000..422321850
--- /dev/null
+++ b/src/drivers/device/cdev.cpp
@@ -0,0 +1,398 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file cdev.cpp
+ *
+ * Character device base class.
+ */
+
+#include "device.h"
+
+#include 
+#include 
+
+#include 
+#include 
+
+#ifdef CONFIG_DISABLE_POLL
+# error This driver is not compatible with CONFIG_DISABLE_POLL
+#endif
+
+namespace device
+{
+
+/* how much to grow the poll waiter set each time it has to be increased */
+static const unsigned pollset_increment = 0;
+
+/*
+ * The standard NuttX operation dispatch table can't call C++ member functions
+ * directly, so we have to bounce them through this dispatch table.
+ */
+static int	cdev_open(struct file *filp);
+static int	cdev_close(struct file *filp);
+static ssize_t	cdev_read(struct file *filp, char *buffer, size_t buflen);
+static ssize_t	cdev_write(struct file *filp, const char *buffer, size_t buflen);
+static off_t	cdev_seek(struct file *filp, off_t offset, int whence);
+static int	cdev_ioctl(struct file *filp, int cmd, unsigned long arg);
+static int	cdev_poll(struct file *filp, struct pollfd *fds, bool setup);
+
+/**
+ * Character device indirection table.
+ *
+ * Every cdev we register gets the same function table; we use the private data
+ * field in the inode to store the instance pointer.
+ *
+ * Note that we use the GNU extension syntax here because we don't get designated
+ * initialisers in gcc 4.6.
+ */
+const struct file_operations CDev::fops = {
+open	: cdev_open,
+close	: cdev_close,
+read	: cdev_read,
+write	: cdev_write,
+seek	: cdev_seek,
+ioctl	: cdev_ioctl,
+poll	: cdev_poll,
+};
+
+CDev::CDev(const char *name,
+	   const char *devname,
+	   int irq) :
+	// base class
+	Device(name, irq),
+	// public
+	// protected
+	// private
+	_devname(devname),
+	_registered(false),
+	_open_count(0)
+{
+	for (unsigned i = 0; i < _max_pollwaiters; i++)
+		_pollset[i] = nullptr;
+}
+
+CDev::~CDev()
+{
+	if (_registered)
+		unregister_driver(_devname);
+}
+
+int
+CDev::init()
+{
+	int ret = OK;
+
+	// base class init first
+	ret = Device::init();
+
+	if (ret != OK)
+		goto out;
+
+	// now register the driver
+	ret = register_driver(_devname, &fops, 0666, (void *)this);
+
+	if (ret != OK)
+		goto out;
+
+	_registered = true;
+
+out:
+	return ret;
+}
+
+/*
+ * Default implementations of the character device interface
+ */
+int
+CDev::open(struct file *filp)
+{
+	int ret = OK;
+
+	lock();
+	/* increment the open count */
+	_open_count++;
+
+	if (_open_count == 1) {
+
+		/* first-open callback may decline the open */
+		ret = open_first(filp);
+
+		if (ret != OK)
+			_open_count--;
+	}
+
+	unlock();
+
+	return ret;
+}
+
+int
+CDev::open_first(struct file *filp)
+{
+	return OK;
+}
+
+int
+CDev::close(struct file *filp)
+{
+	int ret = OK;
+
+	lock();
+
+	if (_open_count > 0) {
+		/* decrement the open count */
+		_open_count--;
+
+		/* callback cannot decline the close */
+		if (_open_count == 0)
+			ret = close_last(filp);
+
+	} else {
+		ret = -EBADF;
+	}
+
+	unlock();
+
+	return ret;
+}
+
+int
+CDev::close_last(struct file *filp)
+{
+	return OK;
+}
+
+ssize_t
+CDev::read(struct file *filp, char *buffer, size_t buflen)
+{
+	return -ENOSYS;
+}
+
+ssize_t
+CDev::write(struct file *filp, const char *buffer, size_t buflen)
+{
+	return -ENOSYS;
+}
+
+off_t
+CDev::seek(struct file *filp, off_t offset, int whence)
+{
+	return -ENOSYS;
+}
+
+int
+CDev::ioctl(struct file *filp, int cmd, unsigned long arg)
+{
+	switch (cmd) {
+
+		/* fetch a pointer to the driver's private data */
+	case DIOC_GETPRIV:
+		*(void **)(uintptr_t)arg = (void *)this;
+		return OK;
+	}
+
+	return -ENOTTY;
+}
+
+int
+CDev::poll(struct file *filp, struct pollfd *fds, bool setup)
+{
+	int ret = OK;
+
+	/*
+	 * Lock against pollnotify() (and possibly other callers)
+	 */
+	lock();
+
+	if (setup) {
+		/*
+		 * Save the file pointer in the pollfd for the subclass'
+		 * benefit.
+		 */
+		fds->priv = (void *)filp;
+
+		/*
+		 * Handle setup requests.
+		 */
+		ret = store_poll_waiter(fds);
+
+		if (ret == OK) {
+
+			/*
+			 * Check to see whether we should send a poll notification
+			 * immediately.
+			 */
+			fds->revents |= fds->events & poll_state(filp);
+
+			/* yes? post the notification */
+			if (fds->revents != 0)
+				sem_post(fds->sem);
+		}
+
+	} else {
+		/*
+		 * Handle a teardown request.
+		 */
+		ret = remove_poll_waiter(fds);
+	}
+
+	unlock();
+
+	return ret;
+}
+
+void
+CDev::poll_notify(pollevent_t events)
+{
+	/* lock against poll() as well as other wakeups */
+	irqstate_t state = irqsave();
+
+	for (unsigned i = 0; i < _max_pollwaiters; i++)
+		if (nullptr != _pollset[i])
+			poll_notify_one(_pollset[i], events);
+
+	irqrestore(state);
+}
+
+void
+CDev::poll_notify_one(struct pollfd *fds, pollevent_t events)
+{
+	/* update the reported event set */
+	fds->revents |= fds->events & events;
+
+	/* if the state is now interesting, wake the waiter if it's still asleep */
+	/* XXX semcount check here is a vile hack; counting semphores should not be abused as cvars */
+	if ((fds->revents != 0) && (fds->sem->semcount <= 0))
+		sem_post(fds->sem);
+}
+
+pollevent_t
+CDev::poll_state(struct file *filp)
+{
+	/* by default, no poll events to report */
+	return 0;
+}
+
+int
+CDev::store_poll_waiter(struct pollfd *fds)
+{
+	/*
+	 * Look for a free slot.
+	 */
+	for (unsigned i = 0; i < _max_pollwaiters; i++) {
+		if (nullptr == _pollset[i]) {
+
+			/* save the pollfd */
+			_pollset[i] = fds;
+
+			return OK;
+		}
+	}
+
+	return ENOMEM;
+}
+
+int
+CDev::remove_poll_waiter(struct pollfd *fds)
+{
+	for (unsigned i = 0; i < _max_pollwaiters; i++) {
+		if (fds == _pollset[i]) {
+
+			_pollset[i] = nullptr;
+			return OK;
+
+		}
+	}
+
+	puts("poll: bad fd state");
+	return -EINVAL;
+}
+
+static int
+cdev_open(struct file *filp)
+{
+	CDev *cdev = (CDev *)(filp->f_inode->i_private);
+
+	return cdev->open(filp);
+}
+
+static int
+cdev_close(struct file *filp)
+{
+	CDev *cdev = (CDev *)(filp->f_inode->i_private);
+
+	return cdev->close(filp);
+}
+
+static ssize_t
+cdev_read(struct file *filp, char *buffer, size_t buflen)
+{
+	CDev *cdev = (CDev *)(filp->f_inode->i_private);
+
+	return cdev->read(filp, buffer, buflen);
+}
+
+static ssize_t
+cdev_write(struct file *filp, const char *buffer, size_t buflen)
+{
+	CDev *cdev = (CDev *)(filp->f_inode->i_private);
+
+	return cdev->write(filp, buffer, buflen);
+}
+
+static off_t
+cdev_seek(struct file *filp, off_t offset, int whence)
+{
+	CDev *cdev = (CDev *)(filp->f_inode->i_private);
+
+	return cdev->seek(filp, offset, whence);
+}
+
+static int
+cdev_ioctl(struct file *filp, int cmd, unsigned long arg)
+{
+	CDev *cdev = (CDev *)(filp->f_inode->i_private);
+
+	return cdev->ioctl(filp, cmd, arg);
+}
+
+static int
+cdev_poll(struct file *filp, struct pollfd *fds, bool setup)
+{
+	CDev *cdev = (CDev *)(filp->f_inode->i_private);
+
+	return cdev->poll(filp, fds, setup);
+}
+
+} // namespace device
\ No newline at end of file
diff --git a/src/drivers/device/device.cpp b/src/drivers/device/device.cpp
new file mode 100644
index 000000000..04a5222c3
--- /dev/null
+++ b/src/drivers/device/device.cpp
@@ -0,0 +1,227 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file device.cpp
+ *
+ * Fundamental driver base class for the device framework.
+ */
+
+#include "device.h"
+
+#include 
+#include 
+#include 
+
+namespace device
+{
+
+/**
+ * Interrupt dispatch table entry.
+ */
+struct irq_entry {
+	int	irq;
+	Device	*owner;
+};
+
+static const unsigned	irq_nentries = 8;		/**< size of the interrupt dispatch table */
+static irq_entry	irq_entries[irq_nentries];	/**< interrupt dispatch table (XXX should be a vector) */
+
+/**
+ * Register an interrupt to a specific device.
+ *
+ * @param irq		The interrupt number to register.
+ * @param owner		The device receiving the interrupt.
+ * @return		OK if the interrupt was registered.
+ */
+static int	register_interrupt(int irq, Device *owner);
+
+/**
+ * Unregister an interrupt.
+ *
+ * @param irq		The previously-registered interrupt to be de-registered.
+ */
+static void	unregister_interrupt(int irq);
+
+/**
+ * Handle an interrupt.
+ *
+ * @param irq		The interrupt being invoked.
+ * @param context	The interrupt register context.
+ * @return		Always returns OK.
+ */
+static int	interrupt(int irq, void *context);
+
+Device::Device(const char *name,
+	       int irq) :
+	// public
+	// protected
+	_name(name),
+	_debug_enabled(false),
+	// private
+	_irq(irq),
+	_irq_attached(false)
+{
+	sem_init(&_lock, 0, 1);
+}
+
+Device::~Device()
+{
+	sem_destroy(&_lock);
+
+	if (_irq_attached)
+		unregister_interrupt(_irq);
+}
+
+int
+Device::init()
+{
+	int ret = OK;
+
+	// If assigned an interrupt, connect it
+	if (_irq) {
+		/* ensure it's disabled */
+		up_disable_irq(_irq);
+
+		/* register */
+		ret = register_interrupt(_irq, this);
+
+		if (ret != OK)
+			goto out;
+
+		_irq_attached = true;
+	}
+
+out:
+	return ret;
+}
+
+void
+Device::interrupt_enable()
+{
+	if (_irq_attached)
+		up_enable_irq(_irq);
+}
+
+void
+Device::interrupt_disable()
+{
+	if (_irq_attached)
+		up_disable_irq(_irq);
+}
+
+void
+Device::interrupt(void *context)
+{
+	// default action is to disable the interrupt so we don't get called again
+	interrupt_disable();
+}
+
+void
+Device::log(const char *fmt, ...)
+{
+	va_list	ap;
+
+	printf("[%s] ", _name);
+	va_start(ap, fmt);
+	vprintf(fmt, ap);
+	va_end(ap);
+	printf("\n");
+	fflush(stdout);
+}
+
+void
+Device::debug(const char *fmt, ...)
+{
+	va_list	ap;
+
+	if (_debug_enabled) {
+		printf("<%s> ", _name);
+		va_start(ap, fmt);
+		vprintf(fmt, ap);
+		va_end(ap);
+		printf("\n");
+		fflush(stdout);
+	}
+}
+
+static int
+register_interrupt(int irq, Device *owner)
+{
+	int ret = -ENOMEM;
+
+	// look for a slot where we can register the interrupt
+	for (unsigned i = 0; i < irq_nentries; i++) {
+		if (irq_entries[i].irq == 0) {
+
+			// great, we could put it here; try attaching it
+			ret = irq_attach(irq, &interrupt);
+
+			if (ret == OK) {
+				irq_entries[i].irq = irq;
+				irq_entries[i].owner = owner;
+			}
+
+			break;
+		}
+	}
+
+	return ret;
+}
+
+static void
+unregister_interrupt(int irq)
+{
+	for (unsigned i = 0; i < irq_nentries; i++) {
+		if (irq_entries[i].irq == irq) {
+			irq_entries[i].irq = 0;
+			irq_entries[i].owner = nullptr;
+		}
+	}
+}
+
+static int
+interrupt(int irq, void *context)
+{
+	for (unsigned i = 0; i < irq_nentries; i++) {
+		if (irq_entries[i].irq == irq) {
+			irq_entries[i].owner->interrupt(context);
+			break;
+		}
+	}
+
+	return OK;
+}
+
+
+} // namespace device
\ No newline at end of file
diff --git a/src/drivers/device/device.h b/src/drivers/device/device.h
new file mode 100644
index 000000000..7d375aab9
--- /dev/null
+++ b/src/drivers/device/device.h
@@ -0,0 +1,447 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file device.h
+ *
+ * Definitions for the generic base classes in the device framework.
+ */
+
+#ifndef _DEVICE_DEVICE_H
+#define _DEVICE_DEVICE_H
+
+/*
+ * Includes here should only cover the needs of the framework definitions.
+ */
+#include 
+
+#include 
+#include 
+#include 
+#include 
+#include 
+
+#include 
+
+/**
+ * Namespace encapsulating all device framework classes, functions and data.
+ */
+namespace device __EXPORT
+{
+
+/**
+ * Fundamental base class for all device drivers.
+ *
+ * This class handles the basic "being a driver" things, including
+ * interrupt registration and dispatch.
+ */
+class __EXPORT Device
+{
+public:
+	/**
+	 * Interrupt handler.
+	 */
+	virtual void	interrupt(void *ctx);	/**< interrupt handler */
+
+protected:
+	const char	*_name;			/**< driver name */
+	bool		_debug_enabled;		/**< if true, debug messages are printed */
+
+	/**
+	 * Constructor
+	 *
+	 * @param name		Driver name
+	 * @param irq		Interrupt assigned to the device.
+	 */
+	Device(const char *name,
+	       int irq = 0);
+	~Device();
+
+	/**
+	 * Initialise the driver and make it ready for use.
+	 *
+	 * @return	OK if the driver initialised OK.
+	 */
+	virtual int	init();
+
+	/**
+	 * Enable the device interrupt
+	 */
+	void		interrupt_enable();
+
+	/**
+	 * Disable the device interrupt
+	 */
+	void		interrupt_disable();
+
+	/**
+	 * Take the driver lock.
+	 *
+	 * Each driver instance has its own lock/semaphore.
+	 *
+	 * Note that we must loop as the wait may be interrupted by a signal.
+	 */
+	void		lock() {
+		do {} while (sem_wait(&_lock) != 0);
+	}
+
+	/**
+	 * Release the driver lock.
+	 */
+	void		unlock() {
+		sem_post(&_lock);
+	}
+
+	/**
+	 * Log a message.
+	 *
+	 * The message is prefixed with the driver name, and followed
+	 * by a newline.
+	 */
+	void		log(const char *fmt, ...);
+
+	/**
+	 * Print a debug message.
+	 *
+	 * The message is prefixed with the driver name, and followed
+	 * by a newline.
+	 */
+	void		debug(const char *fmt, ...);
+
+private:
+	int		_irq;
+	bool		_irq_attached;
+	sem_t		_lock;
+
+	/** disable copy construction for this and all subclasses */
+	Device(const Device &);
+
+	/** disable assignment for this and all subclasses */
+	Device &operator = (const Device &);
+
+	/**
+	 * Register ourselves as a handler for an interrupt
+	 *
+	 * @param irq		The interrupt to claim
+	 * @return		OK if the interrupt was registered
+	 */
+	int		dev_register_interrupt(int irq);
+
+	/**
+	 * Unregister ourselves as a handler for any interrupt
+	 */
+	void		dev_unregister_interrupt();
+
+	/**
+	 * Interrupt dispatcher
+	 *
+	 * @param irq		The interrupt that has been triggered.
+	 * @param context	Pointer to the interrupted context.
+	 */
+	static void	dev_interrupt(int irq, void *context);
+};
+
+/**
+ * Abstract class for any character device
+ */
+class __EXPORT CDev : public Device
+{
+public:
+	/**
+	 * Constructor
+	 *
+	 * @param name		Driver name
+	 * @param devname	Device node name
+	 * @param irq		Interrupt assigned to the device
+	 */
+	CDev(const char *name, const char *devname, int irq = 0);
+
+	/**
+	 * Destructor
+	 */
+	~CDev();
+
+	virtual int	init();
+
+	/**
+	 * Handle an open of the device.
+	 *
+	 * This function is called for every open of the device. The default
+	 * implementation maintains _open_count and always returns OK.
+	 *
+	 * @param filp		Pointer to the NuttX file structure.
+	 * @return		OK if the open is allowed, -errno otherwise.
+	 */
+	virtual int	open(struct file *filp);
+
+	/**
+	 * Handle a close of the device.
+	 *
+	 * This function is called for every close of the device. The default
+	 * implementation maintains _open_count and returns OK as long as it is not zero.
+	 *
+	 * @param filp		Pointer to the NuttX file structure.
+	 * @return		OK if the close was successful, -errno otherwise.
+	 */
+	virtual int	close(struct file *filp);
+
+	/**
+	 * Perform a read from the device.
+	 *
+	 * The default implementation returns -ENOSYS.
+	 *
+	 * @param filp		Pointer to the NuttX file structure.
+	 * @param buffer	Pointer to the buffer into which data should be placed.
+	 * @param buflen	The number of bytes to be read.
+	 * @return		The number of bytes read or -errno otherwise.
+	 */
+	virtual ssize_t	read(struct file *filp, char *buffer, size_t buflen);
+
+	/**
+	 * Perform a write to the device.
+	 *
+	 * The default implementation returns -ENOSYS.
+	 *
+	 * @param filp		Pointer to the NuttX file structure.
+	 * @param buffer	Pointer to the buffer from which data should be read.
+	 * @param buflen	The number of bytes to be written.
+	 * @return		The number of bytes written or -errno otherwise.
+	 */
+	virtual ssize_t	write(struct file *filp, const char *buffer, size_t buflen);
+
+	/**
+	 * Perform a logical seek operation on the device.
+	 *
+	 * The default implementation returns -ENOSYS.
+	 *
+	 * @param filp		Pointer to the NuttX file structure.
+	 * @param offset	The new file position relative to whence.
+	 * @param whence	SEEK_OFS, SEEK_CUR or SEEK_END.
+	 * @return		The previous offset, or -errno otherwise.
+	 */
+	virtual off_t	seek(struct file *filp, off_t offset, int whence);
+
+	/**
+	 * Perform an ioctl operation on the device.
+	 *
+	 * The default implementation handles DIOC_GETPRIV, and otherwise
+	 * returns -ENOTTY. Subclasses should call the default implementation
+	 * for any command they do not handle themselves.
+	 *
+	 * @param filp		Pointer to the NuttX file structure.
+	 * @param cmd		The ioctl command value.
+	 * @param arg		The ioctl argument value.
+	 * @return		OK on success, or -errno otherwise.
+	 */
+	virtual int	ioctl(struct file *filp, int cmd, unsigned long arg);
+
+	/**
+	 * Perform a poll setup/teardown operation.
+	 *
+	 * This is handled internally and should not normally be overridden.
+	 *
+	 * @param filp		Pointer to the NuttX file structure.
+	 * @param fds		Poll descriptor being waited on.
+	 * @param arg		True if this is establishing a request, false if
+	 *			it is being torn down.
+	 * @return		OK on success, or -errno otherwise.
+	 */
+	virtual int	poll(struct file *filp, struct pollfd *fds, bool setup);
+
+	/**
+	 * Test whether the device is currently open.
+	 *
+	 * This can be used to avoid tearing down a device that is still active.
+	 *
+	 * @return              True if the device is currently open.
+	 */
+	bool            is_open() { return _open_count > 0; }
+
+protected:
+	/**
+	 * Pointer to the default cdev file operations table; useful for
+	 * registering clone devices etc.
+	 */
+	static const struct file_operations	fops;
+
+	/**
+	 * Check the current state of the device for poll events from the
+	 * perspective of the file.
+	 *
+	 * This function is called by the default poll() implementation when
+	 * a poll is set up to determine whether the poll should return immediately.
+	 *
+	 * The default implementation returns no events.
+	 *
+	 * @param filp		The file that's interested.
+	 * @return		The current set of poll events.
+	 */
+	virtual pollevent_t poll_state(struct file *filp);
+
+	/**
+	 * Report new poll events.
+	 *
+	 * This function should be called anytime the state of the device changes
+	 * in a fashion that might be interesting to a poll waiter.
+	 *
+	 * @param events	The new event(s) being announced.
+	 */
+	virtual void	poll_notify(pollevent_t events);
+
+	/**
+	 * Internal implementation of poll_notify.
+	 *
+	 * @param fds		A poll waiter to notify.
+	 * @param events	The event(s) to send to the waiter.
+	 */
+	virtual void	poll_notify_one(struct pollfd *fds, pollevent_t events);
+
+	/**
+	 * Notification of the first open.
+	 *
+	 * This function is called when the device open count transitions from zero
+	 * to one.  The driver lock is held for the duration of the call.
+	 *
+	 * The default implementation returns OK.
+	 *
+	 * @param filp		Pointer to the NuttX file structure.
+	 * @return		OK if the open should proceed, -errno otherwise.
+	 */
+	virtual int	open_first(struct file *filp);
+
+	/**
+	 * Notification of the last close.
+	 *
+	 * This function is called when the device open count transitions from
+	 * one to zero.  The driver lock is held for the duration of the call.
+	 *
+	 * The default implementation returns OK.
+	 *
+	 * @param filp		Pointer to the NuttX file structure.
+	 * @return		OK if the open should return OK, -errno otherwise.
+	 */
+	virtual int	close_last(struct file *filp);
+
+private:
+	static const unsigned _max_pollwaiters = 8;
+
+	const char	*_devname;		/**< device node name */
+	bool		_registered;		/**< true if device name was registered */
+	unsigned	_open_count;		/**< number of successful opens */
+
+	struct pollfd	*_pollset[_max_pollwaiters];
+
+	/**
+	 * Store a pollwaiter in a slot where we can find it later.
+	 *
+	 * Expands the pollset as required.  Must be called with the driver locked.
+	 *
+	 * @return		OK, or -errno on error.
+	 */
+	int		store_poll_waiter(struct pollfd *fds);
+
+	/**
+	 * Remove a poll waiter.
+	 *
+	 * @return		OK, or -errno on error.
+	 */
+	int		remove_poll_waiter(struct pollfd *fds);
+};
+
+/**
+ * Abstract class for character device accessed via PIO
+ */
+class __EXPORT PIO : public CDev
+{
+public:
+	/**
+	 * Constructor
+	 *
+	 * @param name		Driver name
+	 * @param devname	Device node name
+	 * @param base		Base address of the device PIO area
+	 * @param irq		Interrupt assigned to the device (or zero if none)
+	 */
+	PIO(const char *name,
+	    const char *devname,
+	    uint32_t base,
+	    int irq = 0);
+	~PIO();
+
+	int		init();
+
+protected:
+
+	/**
+	 * Read a register
+	 *
+	 * @param offset	Register offset in bytes from the base address.
+	 */
+	uint32_t reg(uint32_t offset) {
+		return *(volatile uint32_t *)(_base + offset);
+	}
+
+	/**
+	 * Write a register
+	 *
+	 * @param offset	Register offset in bytes from the base address.
+	 * @param value	Value to write.
+	 */
+	void		reg(uint32_t offset, uint32_t value) {
+		*(volatile uint32_t *)(_base + offset) = value;
+	}
+
+	/**
+	 * Modify a register
+	 *
+	 * Note that there is a risk of a race during the read/modify/write cycle
+	 * that must be taken care of by the caller.
+	 *
+	 * @param offset	Register offset in bytes from the base address.
+	 * @param clearbits	Bits to clear in the register
+	 * @param setbits	Bits to set in the register
+	 */
+	void		modify(uint32_t offset, uint32_t clearbits, uint32_t setbits) {
+		uint32_t val = reg(offset);
+		val &= ~clearbits;
+		val |= setbits;
+		reg(offset, val);
+	}
+
+private:
+	uint32_t	_base;
+};
+
+} // namespace device
+
+#endif /* _DEVICE_DEVICE_H */
\ No newline at end of file
diff --git a/src/drivers/device/i2c.cpp b/src/drivers/device/i2c.cpp
new file mode 100644
index 000000000..a416801eb
--- /dev/null
+++ b/src/drivers/device/i2c.cpp
@@ -0,0 +1,204 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file i2c.cpp
+ *
+ * Base class for devices attached via the I2C bus.
+ *
+ * @todo Bus frequency changes; currently we do nothing with the value
+ *       that is supplied.  Should we just depend on the bus knowing?
+ */
+
+#include "i2c.h"
+
+namespace device
+{
+
+I2C::I2C(const char *name,
+	 const char *devname,
+	 int bus,
+	 uint16_t address,
+	 uint32_t frequency,
+	 int irq) :
+	// base class
+	CDev(name, devname, irq),
+	// public
+	// protected
+	_retries(0),
+	// private
+	_bus(bus),
+	_address(address),
+	_frequency(frequency),
+	_dev(nullptr)
+{
+}
+
+I2C::~I2C()
+{
+	if (_dev)
+		up_i2cuninitialize(_dev);
+}
+
+int
+I2C::init()
+{
+	int ret = OK;
+
+	/* attach to the i2c bus */
+	_dev = up_i2cinitialize(_bus);
+
+	if (_dev == nullptr) {
+		debug("failed to init I2C");
+		ret = -ENOENT;
+		goto out;
+	}
+
+	// call the probe function to check whether the device is present
+	ret = probe();
+
+	if (ret != OK) {
+		debug("probe failed");
+		goto out;
+	}
+
+	// do base class init, which will create device node, etc
+	ret = CDev::init();
+
+	if (ret != OK) {
+		debug("cdev init failed");
+		goto out;
+	}
+
+	// tell the world where we are
+	log("on I2C bus %d at 0x%02x", _bus, _address);
+
+out:
+	return ret;
+}
+
+int
+I2C::probe()
+{
+	// Assume the device is too stupid to be discoverable.
+	return OK;
+}
+
+int
+I2C::transfer(const uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len)
+{
+	struct i2c_msg_s msgv[2];
+	unsigned msgs;
+	int ret;
+	unsigned retry_count = 0;
+
+	do {
+		//	debug("transfer out %p/%u  in %p/%u", send, send_len, recv, recv_len);
+
+		msgs = 0;
+
+		if (send_len > 0) {
+			msgv[msgs].addr = _address;
+			msgv[msgs].flags = 0;
+			msgv[msgs].buffer = const_cast(send);
+			msgv[msgs].length = send_len;
+			msgs++;
+		}
+
+		if (recv_len > 0) {
+			msgv[msgs].addr = _address;
+			msgv[msgs].flags = I2C_M_READ;
+			msgv[msgs].buffer = recv;
+			msgv[msgs].length = recv_len;
+			msgs++;
+		}
+
+		if (msgs == 0)
+			return -EINVAL;
+
+		/*
+		 * I2C architecture means there is an unavoidable race here
+		 * if there are any devices on the bus with a different frequency
+		 * preference.  Really, this is pointless.
+		 */
+		I2C_SETFREQUENCY(_dev, _frequency);
+		ret = I2C_TRANSFER(_dev, &msgv[0], msgs);
+
+		/* success */
+		if (ret == OK)
+			break;
+
+		/* if we have already retried once, or we are going to give up, then reset the bus */
+		if ((retry_count >= 1) || (retry_count >= _retries))
+			up_i2creset(_dev);
+
+	} while (retry_count++ < _retries);
+
+	return ret;
+
+}
+
+int
+I2C::transfer(i2c_msg_s *msgv, unsigned msgs)
+{
+	int ret;
+	unsigned retry_count = 0;
+
+	/* force the device address into the message vector */
+	for (unsigned i = 0; i < msgs; i++)
+		msgv[i].addr = _address;
+
+
+	do {
+		/*
+		 * I2C architecture means there is an unavoidable race here
+		 * if there are any devices on the bus with a different frequency
+		 * preference.  Really, this is pointless.
+		 */
+		I2C_SETFREQUENCY(_dev, _frequency);
+		ret = I2C_TRANSFER(_dev, msgv, msgs);
+
+		/* success */
+		if (ret == OK)
+			break;
+
+		/* if we have already retried once, or we are going to give up, then reset the bus */
+		if ((retry_count >= 1) || (retry_count >= _retries))
+			up_i2creset(_dev);
+
+	} while (retry_count++ < _retries);
+
+	return ret;
+}
+
+} // namespace device
\ No newline at end of file
diff --git a/src/drivers/device/i2c.h b/src/drivers/device/i2c.h
new file mode 100644
index 000000000..7daba31be
--- /dev/null
+++ b/src/drivers/device/i2c.h
@@ -0,0 +1,138 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file i2c.h
+ *
+ * Base class for devices connected via I2C.
+ */
+
+#ifndef _DEVICE_I2C_H
+#define _DEVICE_I2C_H
+
+#include "device.h"
+
+#include 
+
+namespace device __EXPORT
+{
+
+/**
+ * Abstract class for character device on I2C
+ */
+class __EXPORT I2C : public CDev
+{
+
+protected:
+	/**
+	 * The number of times a read or write operation will be retried on
+	 * error.
+	 */
+	unsigned		_retries;
+
+	/**
+	 * The I2C bus number the device is attached to.
+	 */
+	int			_bus;
+
+	/**
+	 * @ Constructor
+	 *
+	 * @param name		Driver name
+	 * @param devname	Device node name
+	 * @param bus		I2C bus on which the device lives
+	 * @param address	I2C bus address, or zero if set_address will be used
+	 * @param frequency	I2C bus frequency for the device (currently not used)
+	 * @param irq		Interrupt assigned to the device (or zero if none)
+	 */
+	I2C(const char *name,
+	    const char *devname,
+	    int bus,
+	    uint16_t address,
+	    uint32_t frequency,
+	    int irq = 0);
+	~I2C();
+
+	virtual int	init();
+
+	/**
+	 * Check for the presence of the device on the bus.
+	 */
+	virtual int	probe();
+
+	/**
+	 * Perform an I2C transaction to the device.
+	 *
+	 * At least one of send_len and recv_len must be non-zero.
+	 *
+	 * @param send		Pointer to bytes to send.
+	 * @param send_len	Number of bytes to send.
+	 * @param recv		Pointer to buffer for bytes received.
+	 * @param recv_len	Number of bytes to receive.
+	 * @return		OK if the transfer was successful, -errno
+	 *			otherwise.
+	 */
+	int		transfer(const uint8_t *send, unsigned send_len,
+				 uint8_t *recv, unsigned recv_len);
+
+	/**
+	 * Perform a multi-part I2C transaction to the device.
+	 *
+	 * @param msgv		An I2C message vector.
+	 * @param msgs		The number of entries in the message vector.
+	 * @return		OK if the transfer was successful, -errno
+	 *			otherwise.
+	 */
+	int		transfer(i2c_msg_s *msgv, unsigned msgs);
+
+	/**
+	 * Change the bus address.
+	 *
+	 * Most often useful during probe() when the driver is testing
+	 * several possible bus addresses.
+	 *
+	 * @param address	The new bus address to set.
+	 */
+	void		set_address(uint16_t address) {
+		_address = address;
+	}
+
+private:
+	uint16_t		_address;
+	uint32_t		_frequency;
+	struct i2c_dev_s	*_dev;
+};
+
+} // namespace device
+
+#endif /* _DEVICE_I2C_H */
diff --git a/src/drivers/device/module.mk b/src/drivers/device/module.mk
new file mode 100644
index 000000000..8c716d9cd
--- /dev/null
+++ b/src/drivers/device/module.mk
@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Build the device driver framework.
+#
+
+SRCS		= cdev.cpp \
+		  device.cpp \
+		  i2c.cpp \
+		  pio.cpp \
+		  spi.cpp
diff --git a/src/drivers/device/pio.cpp b/src/drivers/device/pio.cpp
new file mode 100644
index 000000000..f3a805a5e
--- /dev/null
+++ b/src/drivers/device/pio.cpp
@@ -0,0 +1,74 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file pio.cpp
+ *
+ * Base class for devices accessed via PIO to registers.
+ */
+
+#include "device.h"
+
+namespace device
+{
+
+PIO::PIO(const char *name,
+	 const char *devname,
+	 uint32_t base,
+	 int irq) :
+	// base class
+	CDev(name, devname, irq),
+	// public
+	// protected
+	// private
+	_base(base)
+{
+}
+
+PIO::~PIO()
+{
+	// nothing to do here...
+}
+
+int
+PIO::init()
+{
+	int ret = OK;
+
+	// base class init first
+	ret = CDev::init();
+
+	return ret;
+}
+
+} // namespace device
\ No newline at end of file
diff --git a/src/drivers/device/spi.cpp b/src/drivers/device/spi.cpp
new file mode 100644
index 000000000..8fffd60cb
--- /dev/null
+++ b/src/drivers/device/spi.cpp
@@ -0,0 +1,160 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file spi.cpp
+ *
+ * Base class for devices connected via SPI.
+ *
+ * @todo Work out if caching the mode/frequency would save any time.
+ *
+ * @todo A separate bus/device abstraction would allow for mixed interrupt-mode
+ * and non-interrupt-mode clients to arbitrate for the bus.  As things stand,
+ * a bus shared between clients of both kinds is vulnerable to races between
+ * the two, where an interrupt-mode client will ignore the lock held by the
+ * non-interrupt-mode client.
+ */
+
+#include 
+
+#include "spi.h"
+
+#ifndef CONFIG_SPI_EXCHANGE
+# error This driver requires CONFIG_SPI_EXCHANGE
+#endif
+
+namespace device
+{
+
+SPI::SPI(const char *name,
+	 const char *devname,
+	 int bus,
+	 enum spi_dev_e device,
+	 enum spi_mode_e mode,
+	 uint32_t frequency,
+	 int irq) :
+	// base class
+	CDev(name, devname, irq),
+	// public
+	// protected
+	// private
+	_bus(bus),
+	_device(device),
+	_mode(mode),
+	_frequency(frequency),
+	_dev(nullptr)
+{
+}
+
+SPI::~SPI()
+{
+	// XXX no way to let go of the bus...
+}
+
+int
+SPI::init()
+{
+	int ret = OK;
+
+	/* attach to the spi bus */
+	if (_dev == nullptr)
+		_dev = up_spiinitialize(_bus);
+
+	if (_dev == nullptr) {
+		debug("failed to init SPI");
+		ret = -ENOENT;
+		goto out;
+	}
+
+	/* deselect device to ensure high to low transition of pin select */
+	SPI_SELECT(_dev, _device, false);
+
+	/* call the probe function to check whether the device is present */
+	ret = probe();
+
+	if (ret != OK) {
+		debug("probe failed");
+		goto out;
+	}
+
+	/* do base class init, which will create the device node, etc. */
+	ret = CDev::init();
+
+	if (ret != OK) {
+		debug("cdev init failed");
+		goto out;
+	}
+
+	/* tell the workd where we are */
+	log("on SPI bus %d at %d", _bus, _device);
+
+out:
+	return ret;
+}
+
+int
+SPI::probe()
+{
+	// assume the device is too stupid to be discoverable
+	return OK;
+}
+
+int
+SPI::transfer(uint8_t *send, uint8_t *recv, unsigned len)
+{
+
+	if ((send == nullptr) && (recv == nullptr))
+		return -EINVAL;
+
+	/* do common setup */
+	if (!up_interrupt_context())
+		SPI_LOCK(_dev, true);
+
+	SPI_SETFREQUENCY(_dev, _frequency);
+	SPI_SETMODE(_dev, _mode);
+	SPI_SETBITS(_dev, 8);
+	SPI_SELECT(_dev, _device, true);
+
+	/* do the transfer */
+	SPI_EXCHANGE(_dev, send, recv, len);
+
+	/* and clean up */
+	SPI_SELECT(_dev, _device, false);
+
+	if (!up_interrupt_context())
+		SPI_LOCK(_dev, false);
+
+	return OK;
+}
+
+} // namespace device
diff --git a/src/drivers/device/spi.h b/src/drivers/device/spi.h
new file mode 100644
index 000000000..d2d01efb3
--- /dev/null
+++ b/src/drivers/device/spi.h
@@ -0,0 +1,114 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file spi.h
+ *
+ * Base class for devices connected via SPI.
+ */
+
+#ifndef _DEVICE_SPI_H
+#define _DEVICE_SPI_H
+
+#include "device.h"
+
+#include 
+
+namespace device __EXPORT
+{
+
+/**
+ * Abstract class for character device on SPI
+ */
+class __EXPORT SPI : public CDev
+{
+protected:
+	/**
+	 * Constructor
+	 *
+	 * @param name		Driver name
+	 * @param devname	Device node name
+	 * @param bus		SPI bus on which the device lives
+	 * @param device	Device handle (used by SPI_SELECT)
+	 * @param mode		SPI clock/data mode
+	 * @param frequency	SPI clock frequency
+	 * @param irq		Interrupt assigned to the device (or zero if none)
+	 */
+	SPI(const char *name,
+	    const char *devname,
+	    int bus,
+	    enum spi_dev_e device,
+	    enum spi_mode_e mode,
+	    uint32_t frequency,
+	    int irq = 0);
+	~SPI();
+
+	virtual int	init();
+
+	/**
+	 * Check for the presence of the device on the bus.
+	 */
+	virtual int	probe();
+
+	/**
+	 * Perform a SPI transfer.
+	 *
+	 * If called from interrupt context, this interface does not lock
+	 * the bus and may interfere with non-interrupt-context callers.
+	 *
+	 * Clients in a mixed interrupt/non-interrupt configuration must
+	 * ensure appropriate interlocking.
+	 *
+	 * At least one of send or recv must be non-null.
+	 *
+	 * @param send		Bytes to send to the device, or nullptr if
+	 *			no data is to be sent.
+	 * @param recv		Buffer for receiving bytes from the device,
+	 *			or nullptr if no bytes are to be received.
+	 * @param len		Number of bytes to transfer.
+	 * @return		OK if the exchange was successful, -errno
+	 *			otherwise.
+	 */
+	int		transfer(uint8_t *send, uint8_t *recv, unsigned len);
+
+private:
+	int			_bus;
+	enum spi_dev_e		_device;
+	enum spi_mode_e		_mode;
+	uint32_t		_frequency;
+	struct spi_dev_s	*_dev;
+};
+
+} // namespace device
+
+#endif /* _DEVICE_SPI_H */
diff --git a/src/drivers/drv_accel.h b/src/drivers/drv_accel.h
new file mode 100644
index 000000000..794de584b
--- /dev/null
+++ b/src/drivers/drv_accel.h
@@ -0,0 +1,121 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Accelerometer driver interface.
+ */
+
+#ifndef _DRV_ACCEL_H
+#define _DRV_ACCEL_H
+
+#include 
+#include 
+
+#include "drv_sensor.h"
+#include "drv_orb_dev.h"
+
+#define ACCEL_DEVICE_PATH	"/dev/accel"
+
+/**
+ * accel report structure.  Reads from the device must be in multiples of this
+ * structure.
+ */
+struct accel_report {
+	uint64_t timestamp;
+	float x;		/**< acceleration in the NED X board axis in m/s^2 */
+	float y;		/**< acceleration in the NED Y board axis in m/s^2 */
+	float z;		/**< acceleration in the NED Z board axis in m/s^2 */
+	float temperature;	/**< temperature in degrees celsius */
+	float range_m_s2;	/**< range in m/s^2 (+- this value) */
+	float scaling;
+
+	int16_t x_raw;
+	int16_t y_raw;
+	int16_t z_raw;
+	int16_t temperature_raw;
+};
+
+/** accel scaling factors; Vout = (Vin * Vscale) + Voffset */
+struct accel_scale {
+	float	x_offset;
+	float	x_scale;
+	float	y_offset;
+	float	y_scale;
+	float	z_offset;
+	float	z_scale;
+};
+
+/*
+ * ObjDev tag for raw accelerometer data.
+ */
+ORB_DECLARE(sensor_accel);
+
+/*
+ * ioctl() definitions
+ *
+ * Accelerometer drivers also implement the generic sensor driver
+ * interfaces from drv_sensor.h
+ */
+
+#define _ACCELIOCBASE		(0x2100)
+#define _ACCELIOC(_n)		(_IOC(_ACCELIOCBASE, _n))
+
+
+/** set the accel internal sample rate to at least (arg) Hz */
+#define ACCELIOCSSAMPLERATE	_ACCELIOC(0)
+
+/** return the accel internal sample rate in Hz */
+#define ACCELIOCGSAMPLERATE	_ACCELIOC(1)
+
+/** set the accel internal lowpass filter to no lower than (arg) Hz */
+#define ACCELIOCSLOWPASS	_ACCELIOC(2)
+
+/** return the accel internal lowpass filter in Hz */
+#define ACCELIOCGLOWPASS	_ACCELIOC(3)
+
+/** set the accel scaling constants to the structure pointed to by (arg) */
+#define ACCELIOCSSCALE		_ACCELIOC(5)
+
+/** get the accel scaling constants into the structure pointed to by (arg) */
+#define ACCELIOCGSCALE		_ACCELIOC(6)
+
+/** set the accel measurement range to handle at least (arg) g */
+#define ACCELIOCSRANGE		_ACCELIOC(7)
+
+/** get the current accel measurement range in g */
+#define ACCELIOCGRANGE		_ACCELIOC(8)
+
+/** get the result of a sensor self-test */
+#define ACCELIOCSELFTEST	_ACCELIOC(9)
+
+#endif /* _DRV_ACCEL_H */
diff --git a/src/drivers/drv_adc.h b/src/drivers/drv_adc.h
new file mode 100644
index 000000000..8ec6d1233
--- /dev/null
+++ b/src/drivers/drv_adc.h
@@ -0,0 +1,52 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file drv_adc.h
+ *
+ * ADC driver interface.
+ *
+ * This defines additional operations over and above the standard NuttX
+ * ADC API.
+ */
+
+#pragma once
+
+#include 
+#include 
+
+#define ADC_DEVICE_PATH		"/dev/adc0"
+
+/*
+ * ioctl definitions
+ */
diff --git a/src/drivers/drv_baro.h b/src/drivers/drv_baro.h
new file mode 100644
index 000000000..176f798c0
--- /dev/null
+++ b/src/drivers/drv_baro.h
@@ -0,0 +1,78 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Barometric pressure sensor driver interface.
+ */
+
+#ifndef _DRV_BARO_H
+#define _DRV_BARO_H
+
+#include 
+#include 
+
+#include "drv_sensor.h"
+#include "drv_orb_dev.h"
+
+#define BARO_DEVICE_PATH	"/dev/baro"
+
+/**
+ * baro report structure.  Reads from the device must be in multiples of this
+ * structure.
+ */
+struct baro_report {
+	float pressure;
+	float altitude;
+	float temperature;
+	uint64_t timestamp;
+};
+
+/*
+ * ObjDev tag for raw barometer data.
+ */
+ORB_DECLARE(sensor_baro);
+
+/*
+ * ioctl() definitions
+ */
+
+#define _BAROIOCBASE		(0x2200)
+#define _BAROIOC(_n)		(_IOC(_BAROIOCBASE, _n))
+
+/** set corrected MSL pressure in pascals */
+#define BAROIOCSMSLPRESSURE	_BAROIOC(0)
+
+/** get current MSL pressure in pascals */
+#define BAROIOCGMSLPRESSURE	_BAROIOC(1)
+
+#endif /* _DRV_BARO_H */
diff --git a/src/drivers/drv_blinkm.h b/src/drivers/drv_blinkm.h
new file mode 100644
index 000000000..9c278f6c5
--- /dev/null
+++ b/src/drivers/drv_blinkm.h
@@ -0,0 +1,69 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file drv_blinkm.h
+ *
+ * BlinkM driver API
+ *
+ * This could probably become a more generalised API for multi-colour LED
+ * driver systems, or be merged with the generic LED driver.
+ */
+
+#pragma once
+
+#include 
+#include 
+
+#define BLINKM_DEVICE_PATH	"/dev/blinkm"
+
+/*
+ * ioctl() definitions
+ */
+
+#define _BLINKMIOCBASE		(0x2900)
+#define _BLINKMIOC(_n)		(_IOC(_BLINKMIOCBASE, _n))
+
+/** play the named script in *(char *)arg, repeating forever */
+#define BLINKM_PLAY_SCRIPT_NAMED	_BLINKMIOC(1)
+
+/** play the numbered script in (arg), repeating forever */
+#define BLINKM_PLAY_SCRIPT		_BLINKMIOC(2)
+
+/** 
+ * Set the user script; (arg) is a pointer to an array of script lines,
+ * where each line is an array of four bytes giving , , arg[0-2]
+ *
+ * The script is terminated by a zero command.
+ */
+#define BLINKM_SET_USER_SCRIPT		_BLINKMIOC(3)
diff --git a/src/drivers/drv_gpio.h b/src/drivers/drv_gpio.h
new file mode 100644
index 000000000..92d184326
--- /dev/null
+++ b/src/drivers/drv_gpio.h
@@ -0,0 +1,148 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file drv_gpio.h
+ *
+ * Generic GPIO ioctl interface.
+ */
+
+#ifndef _DRV_GPIO_H
+#define _DRV_GPIO_H
+
+#include 
+
+#ifdef CONFIG_ARCH_BOARD_PX4FMU
+/*
+ * PX4FMU GPIO numbers.
+ *
+ * For shared pins, alternate function 1 selects the non-GPIO mode 
+ * (USART2, CAN2, etc.)
+ */
+# define GPIO_EXT_1		(1<<0)		/**< high-power GPIO 1 */
+# define GPIO_EXT_2		(1<<1)		/**< high-power GPIO 1 */
+# define GPIO_MULTI_1		(1<<2)		/**< USART2 CTS */
+# define GPIO_MULTI_2		(1<<3)		/**< USART2 RTS */
+# define GPIO_MULTI_3		(1<<4)		/**< USART2 TX */
+# define GPIO_MULTI_4		(1<<5)		/**< USART2 RX */
+# define GPIO_CAN_TX		(1<<6)		/**< CAN2 TX */
+# define GPIO_CAN_RX		(1<<7)		/**< CAN2 RX */
+
+/**
+ * Default GPIO device - other devices may also support this protocol if
+ * they also export GPIO-like things.  This is always the GPIOs on the
+ * main board.
+ */
+# define GPIO_DEVICE_PATH	"/dev/px4fmu"
+
+#endif
+
+#ifdef CONFIG_ARCH_BOARD_PX4IO
+/*
+ * PX4IO GPIO numbers.
+ *
+ * XXX note that these are here for reference/future use; currently
+ * there is no good way to wire these up without a common STM32 GPIO
+ * driver, which isn't implemented yet.
+ */
+/* outputs */
+# define GPIO_ACC1_POWER	(1<<0)		/**< accessory power 1 */
+# define GPIO_ACC2_POWER	(1<<1)		/**< accessory power 2 */
+# define GPIO_SERVO_POWER	(1<<2)		/**< servo power */
+# define GPIO_RELAY1		(1<<3)		/**< relay 1 */
+# define GPIO_RELAY2		(1<<4)		/**< relay 2 */
+# define GPIO_LED_BLUE		(1<<5)		/**< blue LED */
+# define GPIO_LED_AMBER		(1<<6)		/**< amber/red LED */
+# define GPIO_LED_SAFETY	(1<<7)		/**< safety LED */
+
+/* inputs */
+# define GPIO_ACC_OVERCURRENT	(1<<8)		/**< accessory 1/2 overcurrent detect */
+# define GPIO_SERVO_OVERCURRENT	(1<<9)		/**< servo overcurrent detect */
+# define GPIO_SAFETY_BUTTON	(1<<10)		/**< safety button pressed */
+
+/**
+ * Default GPIO device - other devices may also support this protocol if
+ * they also export GPIO-like things.  This is always the GPIOs on the
+ * main board.
+ */
+# define GPIO_DEVICE_PATH	"/dev/px4io"
+
+#endif
+
+#ifndef GPIO_DEVICE_PATH
+#  error No GPIO support for this board.
+#endif
+
+/*
+ * IOCTL definitions.
+ *
+ * For all ioctls, the (arg) argument is a bitmask of GPIOs to be affected
+ * by the operation, with the LSB being the lowest-numbered GPIO.
+ *
+ * Note that there may be board-specific relationships between GPIOs;
+ * applications using GPIOs should be aware of this.
+ */
+#define _GPIOCBASE	0x2700
+#define GPIOC(_x)	_IOC(_GPIOCBASE, _x)
+
+/** reset all board GPIOs to their default state */
+#define GPIO_RESET	GPIOC(0)
+
+/** configure the board GPIOs in (arg) as outputs */
+#define GPIO_SET_OUTPUT	GPIOC(1)
+
+/** configure the board GPIOs in (arg) as inputs */
+#define GPIO_SET_INPUT	GPIOC(2)
+
+/** configure the board GPIOs in (arg) for the first alternate function (if supported) */
+#define GPIO_SET_ALT_1	GPIOC(3)
+
+/** configure the board GPIO (arg) for the second alternate function (if supported) */
+#define GPIO_SET_ALT_2	GPIOC(4)
+
+/** configure the board GPIO (arg) for the third alternate function (if supported) */
+#define GPIO_SET_ALT_3	GPIOC(5)
+
+/** configure the board GPIO (arg) for the fourth alternate function (if supported) */
+#define GPIO_SET_ALT_4	GPIOC(6)
+
+/** set the GPIOs in (arg) */
+#define GPIO_SET	GPIOC(10)
+
+/** clear the GPIOs in (arg) */
+#define GPIO_CLEAR	GPIOC(11)
+
+/** read all the GPIOs and return their values in *(uint32_t *)arg */
+#define GPIO_GET	GPIOC(12)
+
+#endif /* _DRV_GPIO_H */
\ No newline at end of file
diff --git a/src/drivers/drv_gps.h b/src/drivers/drv_gps.h
new file mode 100644
index 000000000..1dda8ef0b
--- /dev/null
+++ b/src/drivers/drv_gps.h
@@ -0,0 +1,70 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file GPS driver interface.
+ */
+
+#ifndef _DRV_GPS_H
+#define _DRV_GPS_H
+
+#include 
+#include 
+
+#include "drv_sensor.h"
+#include "drv_orb_dev.h"
+
+#define GPS_DEFAULT_UART_PORT "/dev/ttyS3"
+
+#define GPS_DEVICE_PATH	"/dev/gps"
+
+typedef enum {
+	GPS_DRIVER_MODE_NONE = 0,
+	GPS_DRIVER_MODE_UBX,
+	GPS_DRIVER_MODE_MTK,
+	GPS_DRIVER_MODE_NMEA,
+} gps_driver_mode_t;
+
+
+/*
+ * ObjDev tag for GPS data.
+ */
+ORB_DECLARE(gps);
+
+/*
+ * ioctl() definitions
+ */
+#define _GPSIOCBASE			(0x2800)            //TODO: arbitrary choice...
+#define _GPSIOC(_n)		(_IOC(_GPSIOCBASE, _n))
+
+#endif /* _DRV_GPS_H */
diff --git a/src/drivers/drv_gyro.h b/src/drivers/drv_gyro.h
new file mode 100644
index 000000000..1d0fef6fc
--- /dev/null
+++ b/src/drivers/drv_gyro.h
@@ -0,0 +1,117 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Gyroscope driver interface.
+ */
+
+#ifndef _DRV_GYRO_H
+#define _DRV_GYRO_H
+
+#include 
+#include 
+
+#include "drv_sensor.h"
+#include "drv_orb_dev.h"
+
+#define GYRO_DEVICE_PATH	"/dev/gyro"
+
+/**
+ * gyro report structure.  Reads from the device must be in multiples of this
+ * structure.
+ */
+struct gyro_report {
+	uint64_t timestamp;
+	float x;		/**< angular velocity in the NED X board axis in rad/s */
+	float y;		/**< angular velocity in the NED Y board axis in rad/s */
+	float z;		/**< angular velocity in the NED Z board axis in rad/s */
+	float temperature;	/**< temperature in degrees celcius */
+	float range_rad_s;
+	float scaling;
+
+	int16_t x_raw;
+	int16_t y_raw;
+	int16_t z_raw;
+	int16_t temperature_raw;
+};
+
+/** gyro scaling factors; Vout = (Vin * Vscale) + Voffset */
+struct gyro_scale {
+	float	x_offset;
+	float	x_scale;
+	float	y_offset;
+	float	y_scale;
+	float	z_offset;
+	float	z_scale;
+};
+
+/*
+ * ObjDev tag for raw gyro data.
+ */
+ORB_DECLARE(sensor_gyro);
+
+/*
+ * ioctl() definitions
+ */
+
+#define _GYROIOCBASE		(0x2300)
+#define _GYROIOC(_n)		(_IOC(_GYROIOCBASE, _n))
+
+/** set the gyro internal sample rate to at least (arg) Hz */
+#define GYROIOCSSAMPLERATE	_GYROIOC(0)
+
+/** return the gyro internal sample rate in Hz */
+#define GYROIOCGSAMPLERATE	_GYROIOC(1)
+
+/** set the gyro internal lowpass filter to no lower than (arg) Hz */
+#define GYROIOCSLOWPASS		_GYROIOC(2)
+
+/** set the gyro internal lowpass filter to no lower than (arg) Hz */
+#define GYROIOCGLOWPASS		_GYROIOC(3)
+
+/** set the gyro scaling constants to (arg) */
+#define GYROIOCSSCALE		_GYROIOC(4)
+
+/** get the gyro scaling constants into (arg) */
+#define GYROIOCGSCALE		_GYROIOC(5)
+
+/** set the gyro measurement range to handle at least (arg) degrees per second */
+#define GYROIOCSRANGE		_GYROIOC(6)
+
+/** get the current gyro measurement range in degrees per second */
+#define GYROIOCGRANGE		_GYROIOC(7)
+
+/** check the status of the sensor */
+#define GYROIOCSELFTEST		_GYROIOC(8)
+
+#endif /* _DRV_GYRO_H */
diff --git a/src/drivers/drv_hrt.h b/src/drivers/drv_hrt.h
new file mode 100644
index 000000000..8a99eeca7
--- /dev/null
+++ b/src/drivers/drv_hrt.h
@@ -0,0 +1,149 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file drv_hrt.h
+ *
+ * High-resolution timer with callouts and timekeeping.
+ */
+
+#pragma once
+
+#include 
+#include 
+
+#include 
+#include 
+
+__BEGIN_DECLS
+
+/*
+ * Absolute time, in microsecond units.
+ *
+ * Absolute time is measured from some arbitrary epoch shortly after
+ * system startup.  It should never wrap or go backwards.
+ */
+typedef uint64_t	hrt_abstime;
+
+/*
+ * Callout function type.
+ *
+ * Note that callouts run in the timer interrupt context, so
+ * they are serialised with respect to each other, and must not
+ * block.
+ */
+typedef void	(* hrt_callout)(void *arg);
+
+/*
+ * Callout record.
+ */
+typedef struct hrt_call {
+	struct sq_entry_s	link;
+
+	hrt_abstime		deadline;
+	hrt_abstime		period;
+	hrt_callout		callout;
+	void			*arg;
+} *hrt_call_t;
+
+/*
+ * Get absolute time.
+ */
+__EXPORT extern hrt_abstime hrt_absolute_time(void);
+
+/*
+ * Convert a timespec to absolute time.
+ */
+__EXPORT extern hrt_abstime ts_to_abstime(struct timespec *ts);
+
+/*
+ * Convert absolute time to a timespec.
+ */
+__EXPORT extern void	abstime_to_ts(struct timespec *ts, hrt_abstime abstime);
+
+/*
+ * Compute the delta between a timestamp taken in the past
+ * and now.
+ *
+ * This function is safe to use even if the timestamp is updated
+ * by an interrupt during execution.
+ */
+__EXPORT extern hrt_abstime hrt_elapsed_time(const volatile hrt_abstime *then);
+
+/*
+ * Store the absolute time in an interrupt-safe fashion.
+ *
+ * This function ensures that the timestamp cannot be seen half-written by an interrupt handler.
+ */
+__EXPORT extern hrt_abstime hrt_store_absolute_time(volatile hrt_abstime *now);
+
+/*
+ * Call callout(arg) after delay has elapsed.
+ *
+ * If callout is NULL, this can be used to implement a timeout by testing the call
+ * with hrt_called().
+ */
+__EXPORT extern void	hrt_call_after(struct hrt_call *entry, hrt_abstime delay, hrt_callout callout, void *arg);
+
+/*
+ * Call callout(arg) at absolute time calltime.
+ */
+__EXPORT extern void	hrt_call_at(struct hrt_call *entry, hrt_abstime calltime, hrt_callout callout, void *arg);
+
+/*
+ * Call callout(arg) after delay, and then after every interval.
+ *
+ * Note thet the interval is timed between scheduled, not actual, call times, so the call rate may
+ * jitter but should not drift.
+ */
+__EXPORT extern void	hrt_call_every(struct hrt_call *entry, hrt_abstime delay, hrt_abstime interval, hrt_callout callout, void *arg);
+
+/*
+ * If this returns true, the entry has been invoked and removed from the callout list,
+ * or it has never been entered.
+ *
+ * Always returns false for repeating callouts.
+ */
+__EXPORT extern bool	hrt_called(struct hrt_call *entry);
+
+/*
+ * Remove the entry from the callout list.
+ */
+__EXPORT extern void	hrt_cancel(struct hrt_call *entry);
+
+/*
+ * Initialise the HRT.
+ */
+__EXPORT extern void	hrt_init(void);
+
+__END_DECLS
diff --git a/src/drivers/drv_led.h b/src/drivers/drv_led.h
new file mode 100644
index 000000000..21044f620
--- /dev/null
+++ b/src/drivers/drv_led.h
@@ -0,0 +1,65 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file drv_led.h
+ *
+ * LED driver API
+ */
+
+#pragma once
+
+#include 
+#include 
+
+#define LED_DEVICE_PATH		"/dev/led"
+
+#define _LED_BASE		0x2800
+
+/* PX4 LED colour codes */
+#define LED_AMBER		1
+#define LED_RED			1	/* some boards have red rather than amber */
+#define LED_BLUE		0
+#define LED_SAFETY		2
+
+#define LED_ON			_IOC(_LED_BASE, 0)
+#define LED_OFF			_IOC(_LED_BASE, 1)
+
+__BEGIN_DECLS
+
+/*
+ * Initialise the LED driver.
+ */
+__EXPORT extern void drv_led_start(void);
+
+__END_DECLS
diff --git a/src/drivers/drv_mag.h b/src/drivers/drv_mag.h
new file mode 100644
index 000000000..9aab995a1
--- /dev/null
+++ b/src/drivers/drv_mag.h
@@ -0,0 +1,114 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Magnetometer driver interface.
+ */
+
+#ifndef _DRV_MAG_H
+#define _DRV_MAG_H
+
+#include 
+#include 
+
+#include "drv_sensor.h"
+#include "drv_orb_dev.h"
+
+#define MAG_DEVICE_PATH		"/dev/mag"
+
+/**
+ * mag report structure.  Reads from the device must be in multiples of this
+ * structure.
+ *
+ * Output values are in gauss.
+ */
+struct mag_report {
+	uint64_t timestamp;
+	float x;
+	float y;
+	float z;
+	float range_ga;
+	float scaling;
+
+	int16_t x_raw;
+	int16_t y_raw;
+	int16_t z_raw;
+};
+
+/** mag scaling factors; Vout = (Vin * Vscale) + Voffset */
+struct mag_scale {
+	float	x_offset;
+	float	x_scale;
+	float	y_offset;
+	float	y_scale;
+	float	z_offset;
+	float	z_scale;
+};
+
+/*
+ * ObjDev tag for raw magnetometer data.
+ */
+ORB_DECLARE(sensor_mag);
+
+/*
+ * ioctl() definitions
+ */
+
+#define _MAGIOCBASE		(0x2400)
+#define _MAGIOC(_n)		(_IOC(_MAGIOCBASE, _n))
+
+/** set the mag internal sample rate to at least (arg) Hz */
+#define MAGIOCSSAMPLERATE	_MAGIOC(0)
+
+/** set the mag internal lowpass filter to no lower than (arg) Hz */
+#define MAGIOCSLOWPASS		_MAGIOC(1)
+
+/** set the mag scaling constants to the structure pointed to by (arg) */
+#define MAGIOCSSCALE		_MAGIOC(2)
+
+/** copy the mag scaling constants to the structure pointed to by (arg) */
+#define MAGIOCGSCALE		_MAGIOC(3)
+
+/** set the measurement range to handle (at least) arg Gauss */
+#define MAGIOCSRANGE		_MAGIOC(4)
+
+/** perform self-calibration, update scale factors to canonical units */
+#define MAGIOCCALIBRATE		_MAGIOC(5)
+
+/** excite strap */
+#define MAGIOCEXSTRAP		_MAGIOC(6)
+
+/** perform self test and report status */
+#define MAGIOCSELFTEST		_MAGIOC(7)
+
+#endif /* _DRV_MAG_H */
diff --git a/src/drivers/drv_mixer.h b/src/drivers/drv_mixer.h
new file mode 100644
index 000000000..9f43015d9
--- /dev/null
+++ b/src/drivers/drv_mixer.h
@@ -0,0 +1,118 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file drv_mixer.h
+ *
+ * Mixer ioctl interfaces.
+ *
+ * Normal workflow is:
+ *
+ * - open mixer device
+ * - add mixer(s)
+ * loop:
+ *  - mix actuators to array
+ *
+ * Each client has its own configuration.
+ *
+ * When mixing, outputs are produced by mixers in the order they are
+ * added.  A simple mixer produces one output; a multotor mixer will
+ * produce several outputs, etc.
+ */
+
+#ifndef _DRV_MIXER_H
+#define _DRV_MIXER_H
+
+#include 
+#include 
+
+#define MIXER_DEVICE_PATH		"/dev/mixer"
+
+/*
+ * ioctl() definitions
+ */
+#define _MIXERIOCBASE		(0x2500)
+#define _MIXERIOC(_n)		(_IOC(_MIXERIOCBASE, _n))
+
+/** get the number of mixable outputs */
+#define MIXERIOCGETOUTPUTCOUNT	_MIXERIOC(0)
+
+/** reset (clear) the mixer configuration */
+#define MIXERIOCRESET		_MIXERIOC(1)
+
+/** simple channel scaler */
+struct mixer_scaler_s {
+	float			negative_scale;
+	float			positive_scale;
+	float			offset;
+	float			min_output;
+	float			max_output;
+};
+
+/** mixer input */
+struct mixer_control_s {
+	uint8_t			control_group;	/**< group from which the input reads */
+	uint8_t			control_index;	/**< index within the control group */
+	struct mixer_scaler_s 	scaler;		/**< scaling applied to the input before use */
+};
+
+/** simple mixer */
+struct mixer_simple_s {
+	uint8_t			control_count;	/**< number of inputs */
+	struct mixer_scaler_s	output_scaler;	/**< scaling for the output */
+	struct mixer_control_s	controls[0];	/**< actual size of the array is set by control_count */
+};
+
+#define MIXER_SIMPLE_SIZE(_icount)	(sizeof(struct mixer_simple_s) + (_icount) * sizeof(struct mixer_control_s))
+
+/**
+ * add a simple mixer in (struct mixer_simple_s *)arg
+ */
+#define MIXERIOCADDSIMPLE	_MIXERIOC(2)
+
+/* _MIXERIOC(3) was deprecated */
+/* _MIXERIOC(4) was deprecated */
+
+/**
+ * Add mixer(s) from the buffer in (const char *)arg
+ */
+#define MIXERIOCLOADBUF		_MIXERIOC(5)
+
+/*
+ * XXX Thoughts for additional operations:
+ *
+ * - get/set output scale, for tuning center/limit values.
+ * - save/serialise for saving tuned mixers.
+ */
+
+#endif /* _DRV_ACCEL_H */
diff --git a/src/drivers/drv_orb_dev.h b/src/drivers/drv_orb_dev.h
new file mode 100644
index 000000000..713618545
--- /dev/null
+++ b/src/drivers/drv_orb_dev.h
@@ -0,0 +1,87 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#ifndef _DRV_UORB_H
+#define _DRV_UORB_H
+
+/**
+ * @file uORB published object driver.
+ */
+
+#include 
+#include 
+#include 
+
+/* XXX for ORB_DECLARE used in many drivers */
+#include "../modules/uORB/uORB.h"
+
+/*
+ * ioctl() definitions
+ */
+
+/** path to the uORB control device for pub/sub topics */
+#define TOPIC_MASTER_DEVICE_PATH	"/obj/_obj_"
+
+/** path to the uORB control device for parameter topics */
+#define PARAM_MASTER_DEVICE_PATH	"/param/_param_"
+
+/** maximum ogbject name length */
+#define ORB_MAXNAME		32
+
+#define _ORBIOCBASE		(0x2600)
+#define _ORBIOC(_n)		(_IOC(_ORBIOCBASE, _n))
+
+/*
+ * IOCTLs for the uORB control device
+ */
+
+/** Advertise a new topic described by *(uorb_metadata *)arg */
+#define ORBIOCADVERTISE		_ORBIOC(0)
+
+/*
+ * IOCTLs for individual topics.
+ */
+
+/** Fetch the time at which the topic was last updated into *(uint64_t *)arg */
+#define ORBIOCLASTUPDATE	_ORBIOC(10)
+
+/** Check whether the topic has been updated since it was last read, sets *(bool *)arg */
+#define ORBIOCUPDATED		_ORBIOC(11)
+
+/** Set the minimum interval at which the topic can be seen to be updated for this subscription */
+#define ORBIOCSETINTERVAL	_ORBIOC(12)
+
+/** Get the global advertiser handle for the topic */
+#define ORBIOCGADVERTISER	_ORBIOC(13)
+
+#endif /* _DRV_UORB_H */
diff --git a/src/drivers/drv_pwm_output.h b/src/drivers/drv_pwm_output.h
new file mode 100644
index 000000000..07831f20c
--- /dev/null
+++ b/src/drivers/drv_pwm_output.h
@@ -0,0 +1,201 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file PWM servo output interface.
+ *
+ * Servo values can be set with the PWM_SERVO_SET ioctl, by writing a
+ * pwm_output_values structure to the device, or by publishing to the
+ * output_pwm ORB topic.
+ * Writing a value of 0 to a channel suppresses any output for that
+ * channel.
+ */
+
+#pragma once
+
+#include 
+#include 
+
+#include "drv_orb_dev.h"
+
+__BEGIN_DECLS
+
+/**
+ * Path for the default PWM output device.
+ *
+ * Note that on systems with more than one PWM output path (e.g.
+ * PX4FMU with PX4IO connected) there may be other devices that
+ * respond to this protocol.
+ */
+#define PWM_OUTPUT_DEVICE_PATH	"/dev/pwm_output"
+
+/**
+ * Maximum number of PWM output channels supported by the device.
+ */
+#define PWM_OUTPUT_MAX_CHANNELS	16
+
+/**
+ * Servo output signal type, value is actual servo output pulse
+ * width in microseconds.
+ */
+typedef uint16_t	servo_position_t;
+
+/**
+ * Servo output status structure.
+ *
+ * May be published to output_pwm, or written to a PWM output
+ * device.
+ */
+struct pwm_output_values {
+	/** desired pulse widths for each of the supported channels */
+	servo_position_t	values[PWM_OUTPUT_MAX_CHANNELS];
+};
+
+/*
+ * ORB tag for PWM outputs.
+ */
+ORB_DECLARE(output_pwm);
+
+/*
+ * ioctl() definitions
+ *
+ * Note that ioctls and ORB updates should not be mixed, as the
+ * behaviour of the system in this case is not defined.
+ */
+#define _PWM_SERVO_BASE		0x2a00
+
+/** arm all servo outputs handle by this driver */
+#define PWM_SERVO_ARM		_IOC(_PWM_SERVO_BASE, 0)
+
+/** disarm all servo outputs (stop generating pulses) */
+#define PWM_SERVO_DISARM	_IOC(_PWM_SERVO_BASE, 1)
+
+/** set alternate servo update rate */
+#define PWM_SERVO_SET_UPDATE_RATE _IOC(_PWM_SERVO_BASE, 2)
+
+/** get the number of servos in *(unsigned *)arg */
+#define PWM_SERVO_GET_COUNT	_IOC(_PWM_SERVO_BASE, 3)
+
+/** selects servo update rates, one bit per servo. 0 = default (50Hz), 1 = alternate */
+#define PWM_SERVO_SELECT_UPDATE_RATE _IOC(_PWM_SERVO_BASE, 4)
+
+/** set a single servo to a specific value */
+#define PWM_SERVO_SET(_servo)	_IOC(_PWM_SERVO_BASE, 0x20 + _servo)
+
+/** get a single specific servo value */
+#define PWM_SERVO_GET(_servo)	_IOC(_PWM_SERVO_BASE, 0x40 + _servo)
+
+/** get the _n'th rate group's channels; *(uint32_t *)arg returns a bitmap of channels
+ *  whose update rates must be the same.
+ */
+#define PWM_SERVO_GET_RATEGROUP(_n) _IOC(_PWM_SERVO_BASE, 0x60 + _n)
+
+/*
+ * Low-level PWM output interface.
+ *
+ * This is the low-level API to the platform-specific PWM driver.
+ */
+
+/**
+ * Intialise the PWM servo outputs using the specified configuration.
+ *
+ * @param channel_mask	Bitmask of channels (LSB = channel 0) to enable.
+ *			This allows some of the channels to remain configured
+ *			as GPIOs or as another function.
+ * @return		OK on success.
+ */
+__EXPORT extern int	up_pwm_servo_init(uint32_t channel_mask);
+
+/**
+ * De-initialise the PWM servo outputs.
+ */
+__EXPORT extern void	up_pwm_servo_deinit(void);
+
+/**
+ * Arm or disarm servo outputs.
+ *
+ * When disarmed, servos output no pulse.
+ *
+ * @bug This function should, but does not, guarantee that any pulse
+ *      currently in progress is cleanly completed.
+ *
+ * @param armed		If true, outputs are armed; if false they
+ *			are disarmed.
+ */
+__EXPORT extern void	up_pwm_servo_arm(bool armed);
+
+/**
+ * Set the servo update rate for all rate groups.
+ *
+ * @param rate		The update rate in Hz to set.
+ * @return		OK on success, -ERANGE if an unsupported update rate is set.
+ */
+__EXPORT extern int	up_pwm_servo_set_rate(unsigned rate);
+
+/**
+ * Get a bitmap of output channels assigned to a given rate group.
+ *
+ * @param group		The rate group to query. Rate groups are assigned contiguously
+ *			starting from zero.
+ * @return		A bitmap of channels assigned to the rate group, or zero if
+ *			the group number has no channels.
+ */
+__EXPORT extern uint32_t up_pwm_servo_get_rate_group(unsigned group);
+
+/**
+ * Set the update rate for a given rate group.
+ *
+ * @param group		The rate group whose update rate will be changed.
+ * @param rate		The update rate in Hz.
+ * @return		OK if the group was adjusted, -ERANGE if an unsupported update rate is set.
+ */
+__EXPORT extern int	up_pwm_servo_set_rate_group_update(unsigned group, unsigned rate);
+
+/**
+ * Set the current output value for a channel.
+ *
+ * @param channel	The channel to set.
+ * @param value		The output pulse width in microseconds.
+ */
+__EXPORT extern int	up_pwm_servo_set(unsigned channel, servo_position_t value);
+
+/**
+ * Get the current output value for a channel.
+ *
+ * @param channel	The channel to read.
+ * @return		The output pulse width in microseconds, or zero if
+ *			outputs are not armed or not configured.
+ */
+__EXPORT extern servo_position_t up_pwm_servo_get(unsigned channel);
+
+__END_DECLS
diff --git a/src/drivers/drv_range_finder.h b/src/drivers/drv_range_finder.h
new file mode 100644
index 000000000..03a82ec5d
--- /dev/null
+++ b/src/drivers/drv_range_finder.h
@@ -0,0 +1,81 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Rangefinder driver interface.
+ */
+
+#ifndef _DRV_RANGEFINDER_H
+#define _DRV_RANGEFINDER_H
+
+#include 
+#include 
+
+#include "drv_sensor.h"
+#include "drv_orb_dev.h"
+
+#define RANGE_FINDER_DEVICE_PATH	"/dev/range_finder"
+
+/**
+ * range finder report structure.  Reads from the device must be in multiples of this
+ * structure.
+ */
+struct range_finder_report {
+	uint64_t timestamp;
+	float distance; 			/** in meters */
+	uint8_t valid;				/** 1 == within sensor range, 0 = outside sensor range */
+};
+
+/*
+ * ObjDev tag for raw range finder data.
+ */
+ORB_DECLARE(sensor_range_finder);
+
+/*
+ * ioctl() definitions
+ *
+ * Rangefinder drivers also implement the generic sensor driver
+ * interfaces from drv_sensor.h
+ */
+
+#define _RANGEFINDERIOCBASE			(0x7900)
+#define __RANGEFINDERIOC(_n)		(_IOC(_RANGEFINDERIOCBASE, _n))
+
+/** set the minimum effective distance of the device */
+#define RANGEFINDERIOCSETMINIUMDISTANCE	__RANGEFINDERIOC(1)
+
+/** set the maximum effective distance of the device */
+#define RANGEFINDERIOCSETMAXIUMDISTANCE	__RANGEFINDERIOC(2)
+
+
+#endif /* _DRV_RANGEFINDER_H */
diff --git a/src/drivers/drv_rc_input.h b/src/drivers/drv_rc_input.h
new file mode 100644
index 000000000..4decc324e
--- /dev/null
+++ b/src/drivers/drv_rc_input.h
@@ -0,0 +1,110 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file R/C input interface.
+ *
+ */
+
+#ifndef _DRV_RC_INPUT_H
+#define _DRV_RC_INPUT_H
+
+#include 
+#include 
+
+#include "drv_orb_dev.h"
+
+/**
+ * Path for the default R/C input device.
+ *
+ * Note that on systems with more than one R/C input path (e.g.
+ * PX4FMU with PX4IO connected) there may be other devices that
+ * respond to this protocol.
+ *
+ * Input data may be obtained by subscribing to the input_rc
+ * object, or by poll/reading from the device.
+ */
+#define RC_INPUT_DEVICE_PATH	"/dev/input_rc"
+
+/**
+ * Maximum number of R/C input channels in the system. S.Bus has up to 18 channels.
+ */
+#define RC_INPUT_MAX_CHANNELS	18
+
+/**
+ * Input signal type, value is a control position from zero to 100
+ * percent.
+ */
+typedef uint16_t		rc_input_t;
+
+enum RC_INPUT_SOURCE {
+	RC_INPUT_SOURCE_UNKNOWN = 0,
+	RC_INPUT_SOURCE_PX4FMU_PPM,
+	RC_INPUT_SOURCE_PX4IO_PPM,
+	RC_INPUT_SOURCE_PX4IO_SPEKTRUM,
+	RC_INPUT_SOURCE_PX4IO_SBUS
+};
+
+/**
+ * R/C input status structure.
+ *
+ * Published to input_rc, may also be published to other names depending
+ * on the board involved.
+ */
+struct rc_input_values {
+	/** decoding time */
+	uint64_t		timestamp;
+
+	/** number of channels actually being seen */
+	uint32_t		channel_count;
+
+	/** Input source */
+	enum RC_INPUT_SOURCE 	input_source;
+
+	/** measured pulse widths for each of the supported channels */
+	rc_input_t		values[RC_INPUT_MAX_CHANNELS];
+};
+
+/*
+ * ObjDev tag for R/C inputs.
+ */
+ORB_DECLARE(input_rc);
+
+#define _RC_INPUT_BASE		0x2b00
+
+/** Fetch R/C input values into (rc_input_values *)arg */
+
+#define RC_INPUT_GET			_IOC(_RC_INPUT_BASE, 0)
+
+
+#endif /* _DRV_RC_INPUT_H */
diff --git a/src/drivers/drv_sensor.h b/src/drivers/drv_sensor.h
new file mode 100644
index 000000000..3a89cab9d
--- /dev/null
+++ b/src/drivers/drv_sensor.h
@@ -0,0 +1,87 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Common sensor API and ioctl definitions.
+ */
+
+#ifndef _DRV_SENSOR_H
+#define _DRV_SENSOR_H
+
+#include 
+#include 
+
+/*
+ * ioctl() definitions
+ *
+ * Note that a driver may not implement all of these operations, but
+ * if the operation is implemented it should conform to this API.
+ */
+
+#define _SENSORIOCBASE		(0x2000)
+#define _SENSORIOC(_n)		(_IOC(_SENSORIOCBASE, _n))
+
+/**
+ * Set the driver polling rate to (arg) Hz, or one of the SENSOR_POLLRATE
+ * constants
+ */
+#define SENSORIOCSPOLLRATE	_SENSORIOC(0)
+
+/**
+ * Return the driver's approximate polling rate in Hz, or one of the
+ * SENSOR_POLLRATE values.
+ */
+#define SENSORIOCGPOLLRATE	_SENSORIOC(1)
+
+#define SENSOR_POLLRATE_MANUAL		1000000	/**< poll when read */
+#define SENSOR_POLLRATE_EXTERNAL	1000001	/**< poll when device signals ready */
+#define SENSOR_POLLRATE_MAX		1000002	/**< poll at device maximum rate */
+#define SENSOR_POLLRATE_DEFAULT		1000003	/**< poll at driver normal rate */
+
+/**
+ * Set the internal queue depth to (arg) entries, must be at least 1
+ *
+ * This sets the upper bound on the number of readings that can be
+ * read from the driver.
+ */
+#define SENSORIOCSQUEUEDEPTH	_SENSORIOC(2)
+
+/** return the internal queue depth */
+#define SENSORIOCGQUEUEDEPTH	_SENSORIOC(3)
+
+/**
+ * Reset the sensor to its default configuration.
+ */
+#define SENSORIOCRESET		_SENSORIOC(4)
+
+#endif /* _DRV_SENSOR_H */
\ No newline at end of file
diff --git a/src/drivers/drv_tone_alarm.h b/src/drivers/drv_tone_alarm.h
new file mode 100644
index 000000000..0c6afc64c
--- /dev/null
+++ b/src/drivers/drv_tone_alarm.h
@@ -0,0 +1,128 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/*
+ * Driver for the PX4 audio alarm port, /dev/tone_alarm.
+ *
+ * The tone_alarm driver supports a set of predefined "alarm"
+ * patterns and one user-supplied pattern.  Patterns are ordered by
+ * priority, with a higher-priority pattern interrupting any
+ * lower-priority pattern that might be playing.
+ *
+ * The TONE_SET_ALARM ioctl can be used to select a predefined
+ * alarm pattern, from 1 - .  Selecting pattern zero silences
+ * the alarm.
+ *
+ * To supply a custom pattern, write an array of 1 -  tone_note
+ * structures to /dev/tone_alarm.  The custom pattern has a priority
+ * of zero.
+ *
+ * Patterns will normally play once and then silence (if a pattern
+ * was overridden it will not resume).  A pattern may be made to
+ * repeat by inserting a note with the duration set to
+ * DURATION_REPEAT.  This pattern will loop until either a
+ * higher-priority pattern is started or pattern zero is requested
+ * via the ioctl.
+ */
+
+#ifndef DRV_TONE_ALARM_H_
+#define DRV_TONE_ALARM_H_
+
+#include 
+
+#define _TONE_ALARM_BASE	0x7400
+#define TONE_SET_ALARM		_IOC(_TONE_ALARM_BASE, 1)
+
+/* structure describing one note in a tone pattern */
+struct tone_note {
+	uint8_t		pitch;
+	uint8_t		duration;	/* duration in multiples of 10ms */
+#define DURATION_END		0	/* ends the pattern */
+#define DURATION_REPEAT		255	/* resets the note counter to zero */
+};
+
+enum tone_pitch {
+	TONE_NOTE_E4,   /* E4 */
+	TONE_NOTE_F4,   /* F4 */
+	TONE_NOTE_F4S,  /* F#4/Gb4 */
+	TONE_NOTE_G4,   /* G4 */
+	TONE_NOTE_G4S,  /* G#4/Ab4 */
+	TONE_NOTE_A4,   /* A4 */
+	TONE_NOTE_A4S,  /* A#4/Bb4 */
+	TONE_NOTE_B4,   /* B4 */
+	TONE_NOTE_C5,   /* C5 */
+	TONE_NOTE_C5S,  /* C#5/Db5 */
+	TONE_NOTE_D5,   /* D5 */
+	TONE_NOTE_D5S,  /* D#5/Eb5 */
+	TONE_NOTE_E5,   /* E5 */
+	TONE_NOTE_F5,   /* F5 */
+	TONE_NOTE_F5S,  /* F#5/Gb5 */
+	TONE_NOTE_G5,   /* G5 */
+	TONE_NOTE_G5S,  /* G#5/Ab5 */
+	TONE_NOTE_A5,   /* A5 */
+	TONE_NOTE_A5S,  /* A#5/Bb5 */
+	TONE_NOTE_B5,   /* B5 */
+	TONE_NOTE_C6,   /* C6 */
+	TONE_NOTE_C6S,  /* C#6/Db6 */
+	TONE_NOTE_D6,   /* D6 */
+	TONE_NOTE_D6S,  /* D#6/Eb6 */
+	TONE_NOTE_E6,   /* E6 */
+	TONE_NOTE_F6,   /* F6 */
+	TONE_NOTE_F6S,  /* F#6/Gb6 */
+	TONE_NOTE_G6,   /* G6 */
+	TONE_NOTE_G6S,  /* G#6/Ab6 */
+	TONE_NOTE_A6,   /* A6 */
+	TONE_NOTE_A6S,  /* A#6/Bb6 */
+	TONE_NOTE_B6,   /* B6 */
+	TONE_NOTE_C7,   /* C7 */
+	TONE_NOTE_C7S,  /* C#7/Db7 */
+	TONE_NOTE_D7,   /* D7 */
+	TONE_NOTE_D7S,  /* D#7/Eb7 */
+	TONE_NOTE_E7,   /* E7 */
+	TONE_NOTE_F7,   /* F7 */
+	TONE_NOTE_F7S,  /* F#7/Gb7 */
+	TONE_NOTE_G7,   /* G7 */
+	TONE_NOTE_G7S,  /* G#7/Ab7 */
+	TONE_NOTE_A7,   /* A7 */
+	TONE_NOTE_A7S,  /* A#7/Bb7 */
+	TONE_NOTE_B7,   /* B7 */
+	TONE_NOTE_C8,   /* C8 */
+	TONE_NOTE_C8S,  /* C#8/Db8 */
+	TONE_NOTE_D8,   /* D8 */
+	TONE_NOTE_D8S,  /* D#8/Eb8 */
+
+	TONE_NOTE_SILENCE,
+	TONE_NOTE_MAX
+};
+
+#endif /* DRV_TONE_ALARM_H_ */
diff --git a/src/drivers/led/Makefile b/src/drivers/led/Makefile
new file mode 100644
index 000000000..7de188259
--- /dev/null
+++ b/src/drivers/led/Makefile
@@ -0,0 +1,38 @@
+############################################################################
+#
+#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Makefile to build the LED driver.
+#
+
+include $(APPDIR)/mk/app.mk
diff --git a/src/drivers/led/led.cpp b/src/drivers/led/led.cpp
new file mode 100644
index 000000000..c7c45525e
--- /dev/null
+++ b/src/drivers/led/led.cpp
@@ -0,0 +1,115 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file led.cpp
+ *
+ * LED driver.
+ */
+
+#include 
+#include 
+#include 
+
+/* Ideally we'd be able to get these from up_internal.h */
+//#include 
+__BEGIN_DECLS
+extern void up_ledinit();
+extern void up_ledon(int led);
+extern void up_ledoff(int led);
+__END_DECLS
+
+class LED : device::CDev
+{
+public:
+	LED();
+	virtual ~LED();
+
+	virtual int		init();
+	virtual int		ioctl(struct file *filp, int cmd, unsigned long arg);
+};
+
+LED::LED() :
+	CDev("led", LED_DEVICE_PATH)
+{
+	// force immediate init/device registration
+	init();
+}
+
+LED::~LED()
+{
+}
+
+int
+LED::init()
+{
+	CDev::init();
+	up_ledinit();
+
+	return 0;
+}
+
+int
+LED::ioctl(struct file *filp, int cmd, unsigned long arg)
+{
+	int result = OK;
+
+	switch (cmd) {
+	case LED_ON:
+		up_ledon(arg);
+		break;
+
+	case LED_OFF:
+		up_ledoff(arg);
+		break;
+
+	default:
+		result = CDev::ioctl(filp, cmd, arg);
+	}
+	return result;
+}
+
+namespace
+{
+LED	*gLED;
+}
+
+void
+drv_led_start()
+{
+	if (gLED == nullptr) {
+		gLED = new LED;
+		if (gLED != nullptr)
+			gLED->init();
+	}
+}
\ No newline at end of file
diff --git a/src/examples/math_demo/math_demo.cpp b/src/examples/math_demo/math_demo.cpp
new file mode 100644
index 000000000..36d3c2e84
--- /dev/null
+++ b/src/examples/math_demo/math_demo.cpp
@@ -0,0 +1,106 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+ *   Author: James Goppert
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file math_demo.cpp
+ * @author James Goppert
+ * Demonstration of math library
+ */
+
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+
+/**
+ * Management function.
+ */
+extern "C" __EXPORT int math_demo_main(int argc, char *argv[]);
+
+/**
+ * Test function
+ */
+void test();
+
+/**
+ * Print the correct usage.
+ */
+static void usage(const char *reason);
+
+static void
+usage(const char *reason)
+{
+    if (reason)
+        fprintf(stderr, "%s\n", reason);
+    fprintf(stderr, "usage: math_demo {test}\n\n");
+    exit(1);
+}
+
+/**
+ * The deamon app only briefly exists to start
+ * the background job. The stack size assigned in the
+ * Makefile does only apply to this management task.
+ * 
+ * The actual stack size should be set in the call
+ * to task_create().
+ */
+int math_demo_main(int argc, char *argv[])
+{
+
+    if (argc < 1)
+        usage("missing command");
+
+    if (!strcmp(argv[1], "test")) {
+        test();
+        exit(0);
+    }
+
+    usage("unrecognized command");
+    exit(1);
+}
+
+void test()
+{
+    printf("beginning math lib test\n");
+    using namespace math;
+    vectorTest();
+    matrixTest();
+    vector3Test();
+    eulerAnglesTest();
+    quaternionTest();
+    dcmTest();
+}
diff --git a/src/examples/math_demo/module.mk b/src/examples/math_demo/module.mk
new file mode 100644
index 000000000..deba13fd0
--- /dev/null
+++ b/src/examples/math_demo/module.mk
@@ -0,0 +1,41 @@
+############################################################################
+#
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Mathlib / operations demo application
+#
+
+MODULE_COMMAND		= math_demo
+MODULE_STACKSIZE	= 12000
+
+SRCS			= math_demo.cpp
diff --git a/src/modules/controllib/block/Block.cpp b/src/modules/controllib/block/Block.cpp
new file mode 100644
index 000000000..5994d2315
--- /dev/null
+++ b/src/modules/controllib/block/Block.cpp
@@ -0,0 +1,210 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Block.cpp
+ *
+ * Controller library code
+ */
+
+#include 
+#include 
+#include 
+
+#include "Block.hpp"
+#include "BlockParam.hpp"
+#include "UOrbSubscription.hpp"
+#include "UOrbPublication.hpp"
+
+namespace control
+{
+
+Block::Block(SuperBlock *parent, const char *name) :
+	_name(name),
+	_parent(parent),
+	_dt(0),
+	_subscriptions(),
+	_params()
+{
+	if (getParent() != NULL) {
+		getParent()->getChildren().add(this);
+	}
+}
+
+void Block::getName(char *buf, size_t n)
+{
+	if (getParent() == NULL) {
+		strncpy(buf, _name, n);
+
+	} else {
+		char parentName[blockNameLengthMax];
+		getParent()->getName(parentName, n);
+
+		if (!strcmp(_name, "")) {
+			strncpy(buf, parentName, blockNameLengthMax);
+
+		} else {
+			snprintf(buf, blockNameLengthMax, "%s_%s", parentName, _name);
+		}
+	}
+}
+
+void Block::updateParams()
+{
+	BlockParamBase *param = getParams().getHead();
+	int count = 0;
+
+	while (param != NULL) {
+		if (count++ > maxParamsPerBlock) {
+			char name[blockNameLengthMax];
+			getName(name, blockNameLengthMax);
+			printf("exceeded max params for block: %s\n", name);
+			break;
+		}
+
+		//printf("updating param: %s\n", param->getName());
+		param->update();
+		param = param->getSibling();
+	}
+}
+
+void Block::updateSubscriptions()
+{
+	UOrbSubscriptionBase *sub = getSubscriptions().getHead();
+	int count = 0;
+
+	while (sub != NULL) {
+		if (count++ > maxSubscriptionsPerBlock) {
+			char name[blockNameLengthMax];
+			getName(name, blockNameLengthMax);
+			printf("exceeded max subscriptions for block: %s\n", name);
+			break;
+		}
+
+		sub->update();
+		sub = sub->getSibling();
+	}
+}
+
+void Block::updatePublications()
+{
+	UOrbPublicationBase *pub = getPublications().getHead();
+	int count = 0;
+
+	while (pub != NULL) {
+		if (count++ > maxPublicationsPerBlock) {
+			char name[blockNameLengthMax];
+			getName(name, blockNameLengthMax);
+			printf("exceeded max publications for block: %s\n", name);
+			break;
+		}
+
+		pub->update();
+		pub = pub->getSibling();
+	}
+}
+
+void SuperBlock::setDt(float dt)
+{
+	Block::setDt(dt);
+	Block *child = getChildren().getHead();
+	int count = 0;
+
+	while (child != NULL) {
+		if (count++ > maxChildrenPerBlock) {
+			char name[40];
+			getName(name, 40);
+			printf("exceeded max children for block: %s\n", name);
+			break;
+		}
+
+		child->setDt(dt);
+		child = child->getSibling();
+	}
+}
+
+void SuperBlock::updateChildParams()
+{
+	Block *child = getChildren().getHead();
+	int count = 0;
+
+	while (child != NULL) {
+		if (count++ > maxChildrenPerBlock) {
+			char name[40];
+			getName(name, 40);
+			printf("exceeded max children for block: %s\n", name);
+			break;
+		}
+
+		child->updateParams();
+		child = child->getSibling();
+	}
+}
+
+void SuperBlock::updateChildSubscriptions()
+{
+	Block *child = getChildren().getHead();
+	int count = 0;
+
+	while (child != NULL) {
+		if (count++ > maxChildrenPerBlock) {
+			char name[40];
+			getName(name, 40);
+			printf("exceeded max children for block: %s\n", name);
+			break;
+		}
+
+		child->updateSubscriptions();
+		child = child->getSibling();
+	}
+}
+
+void SuperBlock::updateChildPublications()
+{
+	Block *child = getChildren().getHead();
+	int count = 0;
+
+	while (child != NULL) {
+		if (count++ > maxChildrenPerBlock) {
+			char name[40];
+			getName(name, 40);
+			printf("exceeded max children for block: %s\n", name);
+			break;
+		}
+
+		child->updatePublications();
+		child = child->getSibling();
+	}
+}
+
+} // namespace control
diff --git a/src/modules/controllib/block/Block.hpp b/src/modules/controllib/block/Block.hpp
new file mode 100644
index 000000000..258701f27
--- /dev/null
+++ b/src/modules/controllib/block/Block.hpp
@@ -0,0 +1,131 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Block.h
+ *
+ * Controller library code
+ */
+
+#pragma once
+
+#include 
+#include 
+
+#include "List.hpp"
+
+namespace control
+{
+
+static const uint16_t maxChildrenPerBlock = 100;
+static const uint16_t maxParamsPerBlock = 100;
+static const uint16_t maxSubscriptionsPerBlock = 100;
+static const uint16_t maxPublicationsPerBlock = 100;
+static const uint8_t blockNameLengthMax = 80;
+
+// forward declaration
+class BlockParamBase;
+class UOrbSubscriptionBase;
+class UOrbPublicationBase;
+class SuperBlock;
+
+/**
+ */
+class __EXPORT Block :
+	public ListNode
+{
+public:
+	friend class BlockParamBase;
+// methods
+	Block(SuperBlock *parent, const char *name);
+	void getName(char *name, size_t n);
+	virtual ~Block() {};
+	virtual void updateParams();
+	virtual void updateSubscriptions();
+	virtual void updatePublications();
+	virtual void setDt(float dt) { _dt = dt; }
+// accessors
+	float getDt() { return _dt; }
+protected:
+// accessors
+	SuperBlock *getParent() { return _parent; }
+	List & getSubscriptions() { return _subscriptions; }
+	List & getPublications() { return _publications; }
+	List & getParams() { return _params; }
+// attributes
+	const char *_name;
+	SuperBlock *_parent;
+	float _dt;
+	List _subscriptions;
+	List _publications;
+	List _params;
+};
+
+class __EXPORT SuperBlock :
+	public Block
+{
+public:
+	friend class Block;
+// methods
+	SuperBlock(SuperBlock *parent, const char *name) :
+		Block(parent, name),
+		_children() {
+	}
+	virtual ~SuperBlock() {};
+	virtual void setDt(float dt);
+	virtual void updateParams() {
+		Block::updateParams();
+
+		if (getChildren().getHead() != NULL) updateChildParams();
+	}
+	virtual void updateSubscriptions() {
+		Block::updateSubscriptions();
+
+		if (getChildren().getHead() != NULL) updateChildSubscriptions();
+	}
+	virtual void updatePublications() {
+		Block::updatePublications();
+
+		if (getChildren().getHead() != NULL) updateChildPublications();
+	}
+protected:
+// methods
+	List & getChildren() { return _children; }
+	void updateChildParams();
+	void updateChildSubscriptions();
+	void updateChildPublications();
+// attributes
+	List _children;
+};
+
+} // namespace control
diff --git a/src/modules/controllib/block/BlockParam.cpp b/src/modules/controllib/block/BlockParam.cpp
new file mode 100644
index 000000000..fd12e365d
--- /dev/null
+++ b/src/modules/controllib/block/BlockParam.cpp
@@ -0,0 +1,79 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Blockparam.cpp
+ *
+ * Controller library code
+ */
+
+#include 
+#include 
+#include 
+
+#include "BlockParam.hpp"
+
+namespace control
+{
+
+BlockParamBase::BlockParamBase(Block *parent, const char *name, bool parent_prefix) :
+	_handle(PARAM_INVALID)
+{
+	char fullname[blockNameLengthMax];
+
+	if (parent == NULL) {
+		strncpy(fullname, name, blockNameLengthMax);
+
+	} else {
+		char parentName[blockNameLengthMax];
+		parent->getName(parentName, blockNameLengthMax);
+
+		if (!strcmp(name, "")) {
+			strncpy(fullname, parentName, blockNameLengthMax);
+
+		} else if (parent_prefix) {
+			snprintf(fullname, blockNameLengthMax, "%s_%s", parentName, name);
+		} else {
+			strncpy(fullname, name, blockNameLengthMax);
+		}
+
+		parent->getParams().add(this);
+	}
+
+	_handle = param_find(fullname);
+
+	if (_handle == PARAM_INVALID)
+		printf("error finding param: %s\n", fullname);
+};
+
+} // namespace control
diff --git a/src/modules/controllib/block/BlockParam.hpp b/src/modules/controllib/block/BlockParam.hpp
new file mode 100644
index 000000000..58a9bfc0d
--- /dev/null
+++ b/src/modules/controllib/block/BlockParam.hpp
@@ -0,0 +1,90 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file BlockParam.h
+ *
+ * Controller library code
+ */
+
+#pragma once
+
+#include 
+
+#include "Block.hpp"
+#include "List.hpp"
+
+namespace control
+{
+
+/**
+ * A base class for block params that enables traversing linked list.
+ */
+class __EXPORT BlockParamBase : public ListNode
+{
+public:
+	/**
+	 * Instantiate a block param base.
+	 *
+	 * @param parent_prefix Set to true to include the parent name in the parameter name
+	 */
+	BlockParamBase(Block *parent, const char *name, bool parent_prefix=true);
+	virtual ~BlockParamBase() {};
+	virtual void update() = 0;
+	const char *getName() { return param_name(_handle); }
+protected:
+	param_t _handle;
+};
+
+/**
+ * Parameters that are tied to blocks for updating and nameing.
+ */
+template
+class __EXPORT BlockParam : public BlockParamBase
+{
+public:
+	BlockParam(Block *block, const char *name, bool parent_prefix=true) :
+		BlockParamBase(block, name, parent_prefix),
+		_val() {
+		update();
+	}
+	T get() { return _val; }
+	void set(T val) { _val = val; }
+	void update() {
+		if (_handle != PARAM_INVALID) param_get(_handle, &_val);
+	}
+protected:
+	T _val;
+};
+
+} // namespace control
diff --git a/src/modules/controllib/block/List.hpp b/src/modules/controllib/block/List.hpp
new file mode 100644
index 000000000..96b0b94d1
--- /dev/null
+++ b/src/modules/controllib/block/List.hpp
@@ -0,0 +1,71 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Node.h
+ *
+ * A node of a linked list.
+ */
+
+#pragma once
+
+template
+class __EXPORT ListNode
+{
+public:
+	ListNode() : _sibling(NULL) {
+	}
+	void setSibling(T sibling) { _sibling = sibling; }
+	T getSibling() { return _sibling; }
+	T get() {
+		return _sibling;
+	}
+protected:
+	T _sibling;
+};
+
+template
+class __EXPORT List
+{
+public:
+	List() : _head() {
+	}
+	void add(T newNode) {
+		newNode->setSibling(getHead());
+		setHead(newNode);
+	}
+	T getHead() { return _head; }
+private:
+	void setHead(T &head) { _head = head; }
+	T _head;
+};
diff --git a/src/modules/controllib/block/UOrbPublication.cpp b/src/modules/controllib/block/UOrbPublication.cpp
new file mode 100644
index 000000000..f69b39d90
--- /dev/null
+++ b/src/modules/controllib/block/UOrbPublication.cpp
@@ -0,0 +1,39 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file UOrbPublication.cpp
+ *
+ */
+
+#include "UOrbPublication.hpp"
diff --git a/src/modules/controllib/block/UOrbPublication.hpp b/src/modules/controllib/block/UOrbPublication.hpp
new file mode 100644
index 000000000..a36f4429f
--- /dev/null
+++ b/src/modules/controllib/block/UOrbPublication.hpp
@@ -0,0 +1,118 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file UOrbPublication.h
+ *
+ */
+
+#pragma once
+
+#include 
+#include "Block.hpp"
+#include "List.hpp"
+
+
+namespace control
+{
+
+class Block;
+
+/**
+ * Base publication warapper class, used in list traversal
+ * of various publications.
+ */
+class __EXPORT UOrbPublicationBase : public ListNode
+{
+public:
+
+	UOrbPublicationBase(
+		List * list,
+		const struct orb_metadata *meta) :
+		_meta(meta),
+		_handle() {
+		if (list != NULL) list->add(this);
+	}
+	void update() {
+		orb_publish(getMeta(), getHandle(), getDataVoidPtr());
+	}
+	virtual void *getDataVoidPtr() = 0;
+	virtual ~UOrbPublicationBase() {
+		orb_unsubscribe(getHandle());
+	}
+	const struct orb_metadata *getMeta() { return _meta; }
+	int getHandle() { return _handle; }
+protected:
+	void setHandle(orb_advert_t handle) { _handle = handle; }
+	const struct orb_metadata *_meta;
+	orb_advert_t _handle;
+};
+
+/**
+ * UOrb Publication wrapper class
+ */
+template
+class UOrbPublication :
+	public T, // this must be first!
+	public UOrbPublicationBase
+{
+public:
+	/**
+	 * Constructor
+	 *
+	 * @param list      A list interface for adding to list during construction
+	 * @param meta		The uORB metadata (usually from the ORB_ID() macro)
+	 *			for the topic.
+	 */
+	UOrbPublication(
+		List * list,
+		const struct orb_metadata *meta) :
+		T(), // initialize data structure to zero
+		UOrbPublicationBase(list, meta) {
+		// It is important that we call T()
+		// before we publish the data, so we
+		// call this here instead of the base class
+		setHandle(orb_advertise(getMeta(), getDataVoidPtr()));
+	}
+	virtual ~UOrbPublication() {}
+	/*
+	 * XXX
+	 * This function gets the T struct, assuming
+	 * the struct is the first base class, this
+	 * should use dynamic cast, but doesn't
+	 * seem to be available
+	 */
+	void *getDataVoidPtr() { return (void *)(T *)(this); }
+};
+
+} // namespace control
diff --git a/src/modules/controllib/block/UOrbSubscription.cpp b/src/modules/controllib/block/UOrbSubscription.cpp
new file mode 100644
index 000000000..022cadd24
--- /dev/null
+++ b/src/modules/controllib/block/UOrbSubscription.cpp
@@ -0,0 +1,51 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file UOrbSubscription.cpp
+ *
+ */
+
+#include "UOrbSubscription.hpp"
+
+namespace control
+{
+
+bool __EXPORT UOrbSubscriptionBase::updated()
+{
+	bool isUpdated = false;
+	orb_check(_handle, &isUpdated);
+	return isUpdated;
+}
+
+} // namespace control
diff --git a/src/modules/controllib/block/UOrbSubscription.hpp b/src/modules/controllib/block/UOrbSubscription.hpp
new file mode 100644
index 000000000..22cc2e114
--- /dev/null
+++ b/src/modules/controllib/block/UOrbSubscription.hpp
@@ -0,0 +1,137 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file UOrbSubscription.h
+ *
+ */
+
+#pragma once
+
+#include 
+#include "Block.hpp"
+#include "List.hpp"
+
+
+namespace control
+{
+
+class Block;
+
+/**
+ * Base subscription warapper class, used in list traversal
+ * of various subscriptions.
+ */
+class __EXPORT UOrbSubscriptionBase :
+	public ListNode
+{
+public:
+// methods
+
+	/**
+	 * Constructor
+	 *
+	 * @param meta		The uORB metadata (usually from the ORB_ID() macro)
+	 *			for the topic.
+	 */
+	UOrbSubscriptionBase(
+		List * list,
+		const struct orb_metadata *meta) :
+		_meta(meta),
+		_handle() {
+		if (list != NULL) list->add(this);
+	}
+	bool updated();
+	void update() {
+		if (updated()) {
+			orb_copy(_meta, _handle, getDataVoidPtr());
+		}
+	}
+	virtual void *getDataVoidPtr() = 0;
+	virtual ~UOrbSubscriptionBase() {
+		orb_unsubscribe(_handle);
+	}
+// accessors
+	const struct orb_metadata *getMeta() { return _meta; }
+	int getHandle() { return _handle; }
+protected:
+// accessors
+	void setHandle(int handle) { _handle = handle; }
+// attributes
+	const struct orb_metadata *_meta;
+	int _handle;
+};
+
+/**
+ * UOrb Subscription wrapper class
+ */
+template
+class __EXPORT UOrbSubscription :
+	public T, // this must be first!
+	public UOrbSubscriptionBase
+{
+public:
+	/**
+	 * Constructor
+	 *
+	 * @param list      A list interface for adding to list during construction
+	 * @param meta		The uORB metadata (usually from the ORB_ID() macro)
+	 *			for the topic.
+	 * @param interval  The minimum interval in milliseconds between updates
+	 */
+	UOrbSubscription(
+		List * list,
+		const struct orb_metadata *meta, unsigned interval) :
+		T(), // initialize data structure to zero
+		UOrbSubscriptionBase(list, meta) {
+		setHandle(orb_subscribe(getMeta()));
+		orb_set_interval(getHandle(), interval);
+	}
+
+	/**
+	 * Deconstructor
+	 */
+	virtual ~UOrbSubscription() {}
+
+	/*
+	 * XXX
+	 * This function gets the T struct, assuming
+	 * the struct is the first base class, this
+	 * should use dynamic cast, but doesn't
+	 * seem to be available
+	 */
+	void *getDataVoidPtr() { return (void *)(T *)(this); }
+	T getData() { return T(*this); }
+};
+
+} // namespace control
diff --git a/src/modules/controllib/blocks.cpp b/src/modules/controllib/blocks.cpp
new file mode 100644
index 000000000..c6c374300
--- /dev/null
+++ b/src/modules/controllib/blocks.cpp
@@ -0,0 +1,486 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file blocks.cpp
+ *
+ * Controller library code
+ */
+
+#include 
+#include 
+
+#include "blocks.hpp"
+
+namespace control
+{
+
+int basicBlocksTest()
+{
+	blockLimitTest();
+	blockLimitSymTest();
+	blockLowPassTest();
+	blockHighPassTest();
+	blockIntegralTest();
+	blockIntegralTrapTest();
+	blockDerivativeTest();
+	blockPTest();
+	blockPITest();
+	blockPDTest();
+	blockPIDTest();
+	blockOutputTest();
+	blockRandUniformTest();
+	blockRandGaussTest();
+	return 0;
+}
+
+float BlockLimit::update(float input)
+{
+	if (input > getMax()) {
+		input = _max.get();
+
+	} else if (input < getMin()) {
+		input = getMin();
+	}
+
+	return input;
+}
+
+int blockLimitTest()
+{
+	printf("Test BlockLimit\t\t\t: ");
+	BlockLimit limit(NULL, "TEST");
+	// initial state
+	ASSERT(equal(1.0f, limit.getMax()));
+	ASSERT(equal(-1.0f, limit.getMin()));
+	ASSERT(equal(0.0f, limit.getDt()));
+	// update
+	ASSERT(equal(-1.0f, limit.update(-2.0f)));
+	ASSERT(equal(1.0f, limit.update(2.0f)));
+	ASSERT(equal(0.0f, limit.update(0.0f)));
+	printf("PASS\n");
+	return 0;
+}
+
+float BlockLimitSym::update(float input)
+{
+	if (input > getMax()) {
+		input = _max.get();
+
+	} else if (input < -getMax()) {
+		input = -getMax();
+	}
+
+	return input;
+}
+
+int blockLimitSymTest()
+{
+	printf("Test BlockLimitSym\t\t: ");
+	BlockLimitSym limit(NULL, "TEST");
+	// initial state
+	ASSERT(equal(1.0f, limit.getMax()));
+	ASSERT(equal(0.0f, limit.getDt()));
+	// update
+	ASSERT(equal(-1.0f, limit.update(-2.0f)));
+	ASSERT(equal(1.0f, limit.update(2.0f)));
+	ASSERT(equal(0.0f, limit.update(0.0f)));
+	printf("PASS\n");
+	return 0;
+}
+
+float BlockLowPass::update(float input)
+{
+	float b = 2 * float(M_PI) * getFCut() * getDt();
+	float a = b / (1 + b);
+	setState(a * input + (1 - a)*getState());
+	return getState();
+}
+
+int blockLowPassTest()
+{
+	printf("Test BlockLowPass\t\t: ");
+	BlockLowPass lowPass(NULL, "TEST_LP");
+	// test initial state
+	ASSERT(equal(10.0f, lowPass.getFCut()));
+	ASSERT(equal(0.0f, lowPass.getState()));
+	ASSERT(equal(0.0f, lowPass.getDt()));
+	// set dt
+	lowPass.setDt(0.1f);
+	ASSERT(equal(0.1f, lowPass.getDt()));
+	// set state
+	lowPass.setState(1.0f);
+	ASSERT(equal(1.0f, lowPass.getState()));
+	// test update
+	ASSERT(equal(1.8626974f, lowPass.update(2.0f)));
+
+	// test end condition
+	for (int i = 0; i < 100; i++) {
+		lowPass.update(2.0f);
+	}
+
+	ASSERT(equal(2.0f, lowPass.getState()));
+	ASSERT(equal(2.0f, lowPass.update(2.0f)));
+	printf("PASS\n");
+	return 0;
+};
+
+float BlockHighPass::update(float input)
+{
+	float b = 2 * float(M_PI) * getFCut() * getDt();
+	float a = 1 / (1 + b);
+	setY(a * (getY() + input - getU()));
+	setU(input);
+	return getY();
+}
+
+int blockHighPassTest()
+{
+	printf("Test BlockHighPass\t\t: ");
+	BlockHighPass highPass(NULL, "TEST_HP");
+	// test initial state
+	ASSERT(equal(10.0f, highPass.getFCut()));
+	ASSERT(equal(0.0f, highPass.getU()));
+	ASSERT(equal(0.0f, highPass.getY()));
+	ASSERT(equal(0.0f, highPass.getDt()));
+	// set dt
+	highPass.setDt(0.1f);
+	ASSERT(equal(0.1f, highPass.getDt()));
+	// set state
+	highPass.setU(1.0f);
+	ASSERT(equal(1.0f, highPass.getU()));
+	highPass.setY(1.0f);
+	ASSERT(equal(1.0f, highPass.getY()));
+	// test update
+	ASSERT(equal(0.2746051f, highPass.update(2.0f)));
+
+	// test end condition
+	for (int i = 0; i < 100; i++) {
+		highPass.update(2.0f);
+	}
+
+	ASSERT(equal(0.0f, highPass.getY()));
+	ASSERT(equal(0.0f, highPass.update(2.0f)));
+	printf("PASS\n");
+	return 0;
+}
+
+float BlockIntegral::update(float input)
+{
+	// trapezoidal integration
+	setY(_limit.update(getY() + input * getDt()));
+	return getY();
+}
+
+int blockIntegralTest()
+{
+	printf("Test BlockIntegral\t\t: ");
+	BlockIntegral integral(NULL, "TEST_I");
+	// test initial state
+	ASSERT(equal(1.0f, integral.getMax()));
+	ASSERT(equal(0.0f, integral.getDt()));
+	// set dt
+	integral.setDt(0.1f);
+	ASSERT(equal(0.1f, integral.getDt()));
+	// set Y
+	integral.setY(0.9f);
+	ASSERT(equal(0.9f, integral.getY()));
+
+	// test exceed max
+	for (int i = 0; i < 100; i++) {
+		integral.update(1.0f);
+	}
+
+	ASSERT(equal(1.0f, integral.update(1.0f)));
+	// test exceed min
+	integral.setY(-0.9f);
+	ASSERT(equal(-0.9f, integral.getY()));
+
+	for (int i = 0; i < 100; i++) {
+		integral.update(-1.0f);
+	}
+
+	ASSERT(equal(-1.0f, integral.update(-1.0f)));
+	// test update
+	integral.setY(0.1f);
+	ASSERT(equal(0.2f, integral.update(1.0)));
+	ASSERT(equal(0.2f, integral.getY()));
+	printf("PASS\n");
+	return 0;
+}
+
+float BlockIntegralTrap::update(float input)
+{
+	// trapezoidal integration
+	setY(_limit.update(getY() +
+			   (getU() + input) / 2.0f * getDt()));
+	setU(input);
+	return getY();
+}
+
+int blockIntegralTrapTest()
+{
+	printf("Test BlockIntegralTrap\t\t: ");
+	BlockIntegralTrap integral(NULL, "TEST_I");
+	// test initial state
+	ASSERT(equal(1.0f, integral.getMax()));
+	ASSERT(equal(0.0f, integral.getDt()));
+	// set dt
+	integral.setDt(0.1f);
+	ASSERT(equal(0.1f, integral.getDt()));
+	// set U
+	integral.setU(1.0f);
+	ASSERT(equal(1.0f, integral.getU()));
+	// set Y
+	integral.setY(0.9f);
+	ASSERT(equal(0.9f, integral.getY()));
+
+	// test exceed max
+	for (int i = 0; i < 100; i++) {
+		integral.update(1.0f);
+	}
+
+	ASSERT(equal(1.0f, integral.update(1.0f)));
+	// test exceed min
+	integral.setU(-1.0f);
+	integral.setY(-0.9f);
+	ASSERT(equal(-0.9f, integral.getY()));
+
+	for (int i = 0; i < 100; i++) {
+		integral.update(-1.0f);
+	}
+
+	ASSERT(equal(-1.0f, integral.update(-1.0f)));
+	// test update
+	integral.setU(2.0f);
+	integral.setY(0.1f);
+	ASSERT(equal(0.25f, integral.update(1.0)));
+	ASSERT(equal(0.25f, integral.getY()));
+	ASSERT(equal(1.0f, integral.getU()));
+	printf("PASS\n");
+	return 0;
+}
+
+float BlockDerivative::update(float input)
+{
+	float output = _lowPass.update((input - getU()) / getDt());
+	setU(input);
+	return output;
+}
+
+int blockDerivativeTest()
+{
+	printf("Test BlockDerivative\t\t: ");
+	BlockDerivative derivative(NULL, "TEST_D");
+	// test initial state
+	ASSERT(equal(0.0f, derivative.getU()));
+	ASSERT(equal(10.0f, derivative.getLP()));
+	// set dt
+	derivative.setDt(0.1f);
+	ASSERT(equal(0.1f, derivative.getDt()));
+	// set U
+	derivative.setU(1.0f);
+	ASSERT(equal(1.0f, derivative.getU()));
+	// test  update
+	ASSERT(equal(8.6269744f, derivative.update(2.0f)));
+	ASSERT(equal(2.0f, derivative.getU()));
+	printf("PASS\n");
+	return 0;
+}
+
+int blockPTest()
+{
+	printf("Test BlockP\t\t\t: ");
+	BlockP blockP(NULL, "TEST_P");
+	// test initial state
+	ASSERT(equal(0.2f, blockP.getKP()));
+	ASSERT(equal(0.0f, blockP.getDt()));
+	// set dt
+	blockP.setDt(0.1f);
+	ASSERT(equal(0.1f, blockP.getDt()));
+	// test  update
+	ASSERT(equal(0.4f, blockP.update(2.0f)));
+	printf("PASS\n");
+	return 0;
+}
+
+int blockPITest()
+{
+	printf("Test BlockPI\t\t\t: ");
+	BlockPI blockPI(NULL, "TEST");
+	// test initial state
+	ASSERT(equal(0.2f, blockPI.getKP()));
+	ASSERT(equal(0.1f, blockPI.getKI()));
+	ASSERT(equal(0.0f, blockPI.getDt()));
+	ASSERT(equal(1.0f, blockPI.getIntegral().getMax()));
+	// set dt
+	blockPI.setDt(0.1f);
+	ASSERT(equal(0.1f, blockPI.getDt()));
+	// set integral state
+	blockPI.getIntegral().setY(0.1f);
+	ASSERT(equal(0.1f, blockPI.getIntegral().getY()));
+	// test  update
+	// 0.2*2 + 0.1*(2*0.1 + 0.1) = 0.43
+	ASSERT(equal(0.43f, blockPI.update(2.0f)));
+	printf("PASS\n");
+	return 0;
+}
+
+int blockPDTest()
+{
+	printf("Test BlockPD\t\t\t: ");
+	BlockPD blockPD(NULL, "TEST");
+	// test initial state
+	ASSERT(equal(0.2f, blockPD.getKP()));
+	ASSERT(equal(0.01f, blockPD.getKD()));
+	ASSERT(equal(0.0f, blockPD.getDt()));
+	ASSERT(equal(10.0f, blockPD.getDerivative().getLP()));
+	// set dt
+	blockPD.setDt(0.1f);
+	ASSERT(equal(0.1f, blockPD.getDt()));
+	// set derivative state
+	blockPD.getDerivative().setU(1.0f);
+	ASSERT(equal(1.0f, blockPD.getDerivative().getU()));
+	// test  update
+	// 0.2*2 + 0.1*(0.1*8.626...) = 0.486269744
+	ASSERT(equal(0.486269744f, blockPD.update(2.0f)));
+	printf("PASS\n");
+	return 0;
+}
+
+int blockPIDTest()
+{
+	printf("Test BlockPID\t\t\t: ");
+	BlockPID blockPID(NULL, "TEST");
+	// test initial state
+	ASSERT(equal(0.2f, blockPID.getKP()));
+	ASSERT(equal(0.1f, blockPID.getKI()));
+	ASSERT(equal(0.01f, blockPID.getKD()));
+	ASSERT(equal(0.0f, blockPID.getDt()));
+	ASSERT(equal(10.0f, blockPID.getDerivative().getLP()));
+	ASSERT(equal(1.0f, blockPID.getIntegral().getMax()));
+	// set dt
+	blockPID.setDt(0.1f);
+	ASSERT(equal(0.1f, blockPID.getDt()));
+	// set derivative state
+	blockPID.getDerivative().setU(1.0f);
+	ASSERT(equal(1.0f, blockPID.getDerivative().getU()));
+	// set integral state
+	blockPID.getIntegral().setY(0.1f);
+	ASSERT(equal(0.1f, blockPID.getIntegral().getY()));
+	// test  update
+	// 0.2*2 + 0.1*(2*0.1 + 0.1) + 0.1*(0.1*8.626...) = 0.5162697
+	ASSERT(equal(0.5162697f, blockPID.update(2.0f)));
+	printf("PASS\n");
+	return 0;
+}
+
+int blockOutputTest()
+{
+	printf("Test BlockOutput\t\t: ");
+	BlockOutput blockOutput(NULL, "TEST");
+	// test initial state
+	ASSERT(equal(0.0f, blockOutput.getDt()));
+	ASSERT(equal(0.5f, blockOutput.get()));
+	ASSERT(equal(-1.0f, blockOutput.getMin()));
+	ASSERT(equal(1.0f, blockOutput.getMax()));
+	// test update below min
+	blockOutput.update(-2.0f);
+	ASSERT(equal(-1.0f, blockOutput.get()));
+	// test update above max
+	blockOutput.update(2.0f);
+	ASSERT(equal(1.0f, blockOutput.get()));
+	// test trim
+	blockOutput.update(0.0f);
+	ASSERT(equal(0.5f, blockOutput.get()));
+	printf("PASS\n");
+	return 0;
+}
+
+int blockRandUniformTest()
+{
+	srand(1234);
+	printf("Test BlockRandUniform\t\t: ");
+	BlockRandUniform blockRandUniform(NULL, "TEST");
+	// test initial state
+	ASSERT(equal(0.0f, blockRandUniform.getDt()));
+	ASSERT(equal(-1.0f, blockRandUniform.getMin()));
+	ASSERT(equal(1.0f, blockRandUniform.getMax()));
+	// test update
+	int n = 10000;
+	float mean = blockRandUniform.update();
+
+	// recursive mean algorithm from Knuth
+	for (int i = 2; i < n + 1; i++) {
+		float val = blockRandUniform.update();
+		mean += (val - mean) / i;
+		ASSERT(val <= blockRandUniform.getMax());
+		ASSERT(val >= blockRandUniform.getMin());
+	}
+
+	ASSERT(equal(mean, (blockRandUniform.getMin() +
+			    blockRandUniform.getMax()) / 2, 1e-1));
+	printf("PASS\n");
+	return 0;
+}
+
+int blockRandGaussTest()
+{
+	srand(1234);
+	printf("Test BlockRandGauss\t\t: ");
+	BlockRandGauss blockRandGauss(NULL, "TEST");
+	// test initial state
+	ASSERT(equal(0.0f, blockRandGauss.getDt()));
+	ASSERT(equal(1.0f, blockRandGauss.getMean()));
+	ASSERT(equal(2.0f, blockRandGauss.getStdDev()));
+	// test update
+	int n = 10000;
+	float mean = blockRandGauss.update();
+	float sum = 0;
+
+	// recursive mean, stdev algorithm from Knuth
+	for (int i = 2; i < n + 1; i++) {
+		float val = blockRandGauss.update();
+		float newMean = mean + (val - mean) / i;
+		sum += (val - mean) * (val - newMean);
+		mean = newMean;
+	}
+
+	float stdDev = sqrt(sum / (n - 1));
+	ASSERT(equal(mean, blockRandGauss.getMean(), 1e-1));
+	ASSERT(equal(stdDev, blockRandGauss.getStdDev(), 1e-1));
+	printf("PASS\n");
+	return 0;
+}
+
+} // namespace control
diff --git a/src/modules/controllib/blocks.hpp b/src/modules/controllib/blocks.hpp
new file mode 100644
index 000000000..7a785d12e
--- /dev/null
+++ b/src/modules/controllib/blocks.hpp
@@ -0,0 +1,494 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file blocks.h
+ *
+ * Controller library code
+ */
+
+#pragma once
+
+#include 
+#include 
+#include 
+#include 
+
+#include "block/Block.hpp"
+#include "block/BlockParam.hpp"
+
+namespace control
+{
+
+int __EXPORT basicBlocksTest();
+
+/**
+ * A limiter/ saturation.
+ * The output of update is the input, bounded
+ * by min/max.
+ */
+class __EXPORT BlockLimit : public Block
+{
+public:
+// methods
+	BlockLimit(SuperBlock *parent, const char *name) :
+		Block(parent, name),
+		_min(this, "MIN"),
+		_max(this, "MAX")
+	{};
+	virtual ~BlockLimit() {};
+	float update(float input);
+// accessors
+	float getMin() { return _min.get(); }
+	float getMax() { return _max.get(); }
+protected:
+// attributes
+	BlockParam _min;
+	BlockParam _max;
+};
+
+int __EXPORT blockLimitTest();
+
+/**
+ * A symmetric limiter/ saturation.
+ * Same as limiter but with only a max, is used for
+ * upper limit of +max, and lower limit of -max
+ */
+class __EXPORT BlockLimitSym : public Block
+{
+public:
+// methods
+	BlockLimitSym(SuperBlock *parent, const char *name) :
+		Block(parent, name),
+		_max(this, "MAX")
+	{};
+	virtual ~BlockLimitSym() {};
+	float update(float input);
+// accessors
+	float getMax() { return _max.get(); }
+protected:
+// attributes
+	BlockParam _max;
+};
+
+int __EXPORT blockLimitSymTest();
+
+/**
+ * A low pass filter as described here:
+ * http://en.wikipedia.org/wiki/Low-pass_filter.
+ */
+class __EXPORT BlockLowPass : public Block
+{
+public:
+// methods
+	BlockLowPass(SuperBlock *parent, const char *name) :
+		Block(parent, name),
+		_state(0),
+		_fCut(this, "") // only one parameter, no need to name
+	{};
+	virtual ~BlockLowPass() {};
+	float update(float input);
+// accessors
+	float getState() { return _state; }
+	float getFCut() { return _fCut.get(); }
+	void setState(float state) { _state = state; }
+protected:
+// attributes
+	float _state;
+	BlockParam _fCut;
+};
+
+int __EXPORT blockLowPassTest();
+
+/**
+ * A high pass filter as described here:
+ * http://en.wikipedia.org/wiki/High-pass_filter.
+ */
+class __EXPORT BlockHighPass : public Block
+{
+public:
+// methods
+	BlockHighPass(SuperBlock *parent, const char *name) :
+		Block(parent, name),
+		_u(0),
+		_y(0),
+		_fCut(this, "") // only one parameter, no need to name
+	{};
+	virtual ~BlockHighPass() {};
+	float update(float input);
+// accessors
+	float getU() {return _u;}
+	float getY() {return _y;}
+	float getFCut() {return _fCut.get();}
+	void setU(float u) {_u = u;}
+	void setY(float y) {_y = y;}
+protected:
+// attributes
+	float _u; /**< previous input */
+	float _y; /**< previous output */
+	BlockParam _fCut; /**< cut-off frequency, Hz */
+};
+
+int __EXPORT blockHighPassTest();
+
+/**
+ * A rectangular integrator.
+ * A limiter is built into the class to bound the
+ * integral's internal state. This is important
+ * for windup protection.
+ * @see Limit
+ */
+class __EXPORT BlockIntegral: public SuperBlock
+{
+public:
+// methods
+	BlockIntegral(SuperBlock *parent, const char *name) :
+		SuperBlock(parent, name),
+		_y(0),
+		_limit(this, "") {};
+	virtual ~BlockIntegral() {};
+	float update(float input);
+// accessors
+	float getY() {return _y;}
+	float getMax() {return _limit.getMax();}
+	void setY(float y) {_y = y;}
+protected:
+// attributes
+	float _y; /**< previous output */
+	BlockLimitSym _limit; /**< limiter */
+};
+
+int __EXPORT blockIntegralTest();
+
+/**
+ * A trapezoidal integrator.
+ * http://en.wikipedia.org/wiki/Trapezoidal_rule
+ * A limiter is built into the class to bound the
+ * integral's internal state. This is important
+ * for windup protection.
+ * @see Limit
+ */
+class __EXPORT BlockIntegralTrap : public SuperBlock
+{
+public:
+// methods
+	BlockIntegralTrap(SuperBlock *parent, const char *name) :
+		SuperBlock(parent, name),
+		_u(0),
+		_y(0),
+		_limit(this, "") {};
+	virtual ~BlockIntegralTrap() {};
+	float update(float input);
+// accessors
+	float getU() {return _u;}
+	float getY() {return _y;}
+	float getMax() {return _limit.getMax();}
+	void setU(float u) {_u = u;}
+	void setY(float y) {_y = y;}
+protected:
+// attributes
+	float _u; /**< previous input */
+	float _y; /**< previous output */
+	BlockLimitSym _limit; /**< limiter */
+};
+
+int __EXPORT blockIntegralTrapTest();
+
+/**
+ * A simple derivative approximation.
+ * This uses the previous and current input.
+ * This has a built in low pass filter.
+ * @see LowPass
+ */
+class __EXPORT BlockDerivative : public SuperBlock
+{
+public:
+// methods
+	BlockDerivative(SuperBlock *parent, const char *name) :
+		SuperBlock(parent, name),
+		_u(0),
+		_lowPass(this, "LP")
+	{};
+	virtual ~BlockDerivative() {};
+	float update(float input);
+// accessors
+	void setU(float u) {_u = u;}
+	float getU() {return _u;}
+	float getLP() {return _lowPass.getFCut();}
+protected:
+// attributes
+	float _u; /**< previous input */
+	BlockLowPass _lowPass; /**< low pass filter */
+};
+
+int __EXPORT blockDerivativeTest();
+
+/**
+ * A proportional controller.
+ * @link http://en.wikipedia.org/wiki/PID_controller
+ */
+class __EXPORT BlockP: public Block
+{
+public:
+// methods
+	BlockP(SuperBlock *parent, const char *name) :
+		Block(parent, name),
+		_kP(this, "") // only one param, no need to name
+	{};
+	virtual ~BlockP() {};
+	float update(float input) {
+		return getKP() * input;
+	}
+// accessors
+	float getKP() { return _kP.get(); }
+protected:
+	BlockParam _kP;
+};
+
+int __EXPORT blockPTest();
+
+/**
+ * A proportional-integral controller.
+ * @link http://en.wikipedia.org/wiki/PID_controller
+ */
+class __EXPORT BlockPI: public SuperBlock
+{
+public:
+// methods
+	BlockPI(SuperBlock *parent, const char *name) :
+		SuperBlock(parent, name),
+		_integral(this, "I"),
+		_kP(this, "P"),
+		_kI(this, "I")
+	{};
+	virtual ~BlockPI() {};
+	float update(float input) {
+		return getKP() * input +
+		       getKI() * getIntegral().update(input);
+	}
+// accessors
+	float getKP() { return _kP.get(); }
+	float getKI() { return _kI.get(); }
+	BlockIntegral &getIntegral() { return _integral; }
+private:
+	BlockIntegral _integral;
+	BlockParam _kP;
+	BlockParam _kI;
+};
+
+int __EXPORT blockPITest();
+
+/**
+ * A proportional-derivative controller.
+ * @link http://en.wikipedia.org/wiki/PID_controller
+ */
+class __EXPORT BlockPD: public SuperBlock
+{
+public:
+// methods
+	BlockPD(SuperBlock *parent, const char *name) :
+		SuperBlock(parent, name),
+		_derivative(this, "D"),
+		_kP(this, "P"),
+		_kD(this, "D")
+	{};
+	virtual ~BlockPD() {};
+	float update(float input) {
+		return getKP() * input +
+		       getKD() * getDerivative().update(input);
+	}
+// accessors
+	float getKP() { return _kP.get(); }
+	float getKD() { return _kD.get(); }
+	BlockDerivative &getDerivative() { return _derivative; }
+private:
+	BlockDerivative _derivative;
+	BlockParam _kP;
+	BlockParam _kD;
+};
+
+int __EXPORT blockPDTest();
+
+/**
+ * A proportional-integral-derivative controller.
+ * @link http://en.wikipedia.org/wiki/PID_controller
+ */
+class __EXPORT BlockPID: public SuperBlock
+{
+public:
+// methods
+	BlockPID(SuperBlock *parent, const char *name) :
+		SuperBlock(parent, name),
+		_integral(this, "I"),
+		_derivative(this, "D"),
+		_kP(this, "P"),
+		_kI(this, "I"),
+		_kD(this, "D")
+	{};
+	virtual ~BlockPID() {};
+	float update(float input) {
+		return getKP() * input +
+		       getKI() * getIntegral().update(input) +
+		       getKD() * getDerivative().update(input);
+	}
+// accessors
+	float getKP() { return _kP.get(); }
+	float getKI() { return _kI.get(); }
+	float getKD() { return _kD.get(); }
+	BlockIntegral &getIntegral() { return _integral; }
+	BlockDerivative &getDerivative() { return _derivative; }
+private:
+// attributes
+	BlockIntegral _integral;
+	BlockDerivative _derivative;
+	BlockParam _kP;
+	BlockParam _kI;
+	BlockParam _kD;
+};
+
+int __EXPORT blockPIDTest();
+
+/**
+ * An output trim/ saturation block
+ */
+class __EXPORT BlockOutput: public SuperBlock
+{
+public:
+// methods
+	BlockOutput(SuperBlock *parent, const char *name) :
+		SuperBlock(parent, name),
+		_trim(this, "TRIM"),
+		_limit(this, ""),
+		_val(0) {
+		update(0);
+	};
+	virtual ~BlockOutput() {};
+	void update(float input) {
+		_val = _limit.update(input + getTrim());
+	}
+// accessors
+	float getMin() { return _limit.getMin(); }
+	float getMax() { return _limit.getMax(); }
+	float getTrim() { return _trim.get(); }
+	float get() { return _val; }
+private:
+// attributes
+	BlockParam _trim;
+	BlockLimit _limit;
+	float _val;
+};
+
+int __EXPORT blockOutputTest();
+
+/**
+ * A uniform random number generator
+ */
+class __EXPORT BlockRandUniform: public Block
+{
+public:
+// methods
+	BlockRandUniform(SuperBlock *parent,
+			 const char *name) :
+		Block(parent, name),
+		_min(this, "MIN"),
+		_max(this, "MAX") {
+		// seed should be initialized somewhere
+		// in main program for all calls to rand
+		// XXX currently in nuttx if you seed to 0, rand breaks
+	};
+	virtual ~BlockRandUniform() {};
+	float update() {
+		static float rand_max = MAX_RAND;
+		float rand_val = rand();
+		float bounds = getMax() - getMin();
+		return getMin() + (rand_val * bounds) / rand_max;
+	}
+// accessors
+	float getMin() { return _min.get(); }
+	float getMax() { return _max.get(); }
+private:
+// attributes
+	BlockParam _min;
+	BlockParam _max;
+};
+
+int __EXPORT blockRandUniformTest();
+
+class __EXPORT BlockRandGauss: public Block
+{
+public:
+// methods
+	BlockRandGauss(SuperBlock *parent,
+		       const char *name) :
+		Block(parent, name),
+		_mean(this, "MEAN"),
+		_stdDev(this, "DEV") {
+		// seed should be initialized somewhere
+		// in main program for all calls to rand
+		// XXX currently in nuttx if you seed to 0, rand breaks
+	};
+	virtual ~BlockRandGauss() {};
+	float update() {
+		static float V1, V2, S;
+		static int phase = 0;
+		float X;
+
+		if (phase == 0) {
+			do {
+				float U1 = (float)rand() / MAX_RAND;
+				float U2 = (float)rand() / MAX_RAND;
+				V1 = 2 * U1 - 1;
+				V2 = 2 * U2 - 1;
+				S = V1 * V1 + V2 * V2;
+			} while (S >= 1 || fabsf(S) < 1e-8f);
+
+			X = V1 * float(sqrt(-2 * float(log(S)) / S));
+
+		} else
+			X = V2 * float(sqrt(-2 * float(log(S)) / S));
+
+		phase = 1 - phase;
+		return X * getStdDev() + getMean();
+	}
+// accessors
+	float getMean() { return _mean.get(); }
+	float getStdDev() { return _stdDev.get(); }
+private:
+// attributes
+	BlockParam _mean;
+	BlockParam _stdDev;
+};
+
+int __EXPORT blockRandGaussTest();
+
+} // namespace control
diff --git a/src/modules/controllib/fixedwing.cpp b/src/modules/controllib/fixedwing.cpp
new file mode 100644
index 000000000..1cc28b9dd
--- /dev/null
+++ b/src/modules/controllib/fixedwing.cpp
@@ -0,0 +1,361 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file fixedwing.cpp
+ *
+ * Controller library code
+ */
+
+#include "fixedwing.hpp"
+
+namespace control
+{
+
+namespace fixedwing
+{
+
+BlockYawDamper::BlockYawDamper(SuperBlock *parent, const char *name) :
+	SuperBlock(parent, name),
+	_rLowPass(this, "R_LP"),
+	_rWashout(this, "R_HP"),
+	_r2Rdr(this, "R2RDR"),
+	_rudder(0)
+{
+}
+
+BlockYawDamper::~BlockYawDamper() {};
+
+void BlockYawDamper::update(float rCmd, float r)
+{
+	_rudder = _r2Rdr.update(rCmd -
+				_rWashout.update(_rLowPass.update(r)));
+}
+
+BlockStabilization::BlockStabilization(SuperBlock *parent, const char *name) :
+	SuperBlock(parent, name),
+	_yawDamper(this, ""),
+	_pLowPass(this, "P_LP"),
+	_qLowPass(this, "Q_LP"),
+	_p2Ail(this, "P2AIL"),
+	_q2Elv(this, "Q2ELV"),
+	_aileron(0),
+	_elevator(0)
+{
+}
+
+BlockStabilization::~BlockStabilization() {};
+
+void BlockStabilization::update(float pCmd, float qCmd, float rCmd,
+				float p, float q, float r)
+{
+	_aileron = _p2Ail.update(
+			   pCmd - _pLowPass.update(p));
+	_elevator = _q2Elv.update(
+			    qCmd - _qLowPass.update(q));
+	_yawDamper.update(rCmd, r);
+}
+
+BlockWaypointGuidance::BlockWaypointGuidance(SuperBlock *parent, const char *name) :
+	SuperBlock(parent, name),
+	_xtYawLimit(this, "XT2YAW"),
+	_xt2Yaw(this, "XT2YAW"),
+	_psiCmd(0)
+{
+}
+
+BlockWaypointGuidance::~BlockWaypointGuidance() {};
+
+void BlockWaypointGuidance::update(vehicle_global_position_s &pos,
+				   vehicle_attitude_s &att,
+				   vehicle_global_position_setpoint_s &posCmd,
+				   vehicle_global_position_setpoint_s &lastPosCmd)
+{
+
+	// heading to waypoint
+	float psiTrack = get_bearing_to_next_waypoint(
+				 (double)pos.lat / (double)1e7d,
+				 (double)pos.lon / (double)1e7d,
+				 (double)posCmd.lat / (double)1e7d,
+				 (double)posCmd.lon / (double)1e7d);
+
+	// cross track
+	struct crosstrack_error_s xtrackError;
+	get_distance_to_line(&xtrackError,
+			     (double)pos.lat / (double)1e7d,
+			     (double)pos.lon / (double)1e7d,
+			     (double)lastPosCmd.lat / (double)1e7d,
+			     (double)lastPosCmd.lon / (double)1e7d,
+			     (double)posCmd.lat / (double)1e7d,
+			     (double)posCmd.lon / (double)1e7d);
+
+	_psiCmd = _wrap_2pi(psiTrack -
+			    _xtYawLimit.update(_xt2Yaw.update(xtrackError.distance)));
+}
+
+BlockUorbEnabledAutopilot::BlockUorbEnabledAutopilot(SuperBlock *parent, const char *name) :
+	SuperBlock(parent, name),
+	// subscriptions
+	_att(&getSubscriptions(), ORB_ID(vehicle_attitude), 20),
+	_attCmd(&getSubscriptions(), ORB_ID(vehicle_attitude_setpoint), 20),
+	_ratesCmd(&getSubscriptions(), ORB_ID(vehicle_rates_setpoint), 20),
+	_pos(&getSubscriptions() , ORB_ID(vehicle_global_position), 20),
+	_posCmd(&getSubscriptions(), ORB_ID(vehicle_global_position_setpoint), 20),
+	_manual(&getSubscriptions(), ORB_ID(manual_control_setpoint), 20),
+	_status(&getSubscriptions(), ORB_ID(vehicle_status), 20),
+	_param_update(&getSubscriptions(), ORB_ID(parameter_update), 1000), // limit to 1 Hz
+	// publications
+	_actuators(&getPublications(), ORB_ID(actuator_controls_0))
+{
+}
+
+BlockUorbEnabledAutopilot::~BlockUorbEnabledAutopilot() {};
+
+BlockMultiModeBacksideAutopilot::BlockMultiModeBacksideAutopilot(SuperBlock *parent, const char *name) :
+	BlockUorbEnabledAutopilot(parent, name),
+	_stabilization(this, ""), // no name needed, already unique
+
+	// heading hold
+	_psi2Phi(this, "PSI2PHI"),
+	_phi2P(this, "PHI2P"),
+	_phiLimit(this, "PHI_LIM"),
+
+	// velocity hold
+	_v2Theta(this, "V2THE"),
+	_theta2Q(this, "THE2Q"),
+	_theLimit(this, "THE"),
+	_vLimit(this, "V"),
+
+	// altitude/roc hold
+	_h2Thr(this, "H2THR"),
+	_roc2Thr(this, "ROC2THR"),
+
+	// guidance block
+	_guide(this, ""),
+
+	// block params
+	_trimAil(this, "TRIM_ROLL", false), /* general roll trim (full name: TRIM_ROLL) */
+	_trimElv(this, "TRIM_PITCH", false), /* general pitch trim */
+	_trimRdr(this, "TRIM_YAW", false), /* general yaw trim */
+	_trimThr(this, "TRIM_THR", true), /* FWB_ specific throttle trim (full name: FWB_TRIM_THR) */
+
+	_vCmd(this, "V_CMD"),
+	_rocMax(this, "ROC_MAX"),
+	_attPoll(),
+	_lastPosCmd(),
+	_timeStamp(0)
+{
+	_attPoll.fd = _att.getHandle();
+	_attPoll.events = POLLIN;
+}
+
+void BlockMultiModeBacksideAutopilot::update()
+{
+	// wait for a sensor update, check for exit condition every 100 ms
+	if (poll(&_attPoll, 1, 100) < 0) return; // poll error
+
+	uint64_t newTimeStamp = hrt_absolute_time();
+	float dt = (newTimeStamp - _timeStamp) / 1.0e6f;
+	_timeStamp = newTimeStamp;
+
+	// check for sane values of dt
+	// to prevent large control responses
+	if (dt > 1.0f || dt < 0) return;
+
+	// set dt for all child blocks
+	setDt(dt);
+
+	// store old position command before update if new command sent
+	if (_posCmd.updated()) {
+		_lastPosCmd = _posCmd.getData();
+	}
+
+	// check for new updates
+	if (_param_update.updated()) updateParams();
+
+	// get new information from subscriptions
+	updateSubscriptions();
+
+	// default all output to zero unless handled by mode
+	for (unsigned i = 4; i < NUM_ACTUATOR_CONTROLS; i++)
+		_actuators.control[i] = 0.0f;
+
+	// only update guidance in auto mode
+	if (_status.state_machine == SYSTEM_STATE_AUTO) {
+		// update guidance
+		_guide.update(_pos, _att, _posCmd, _lastPosCmd);
+	}
+
+	// XXX handle STABILIZED (loiter on spot) as well
+	// once the system switches from manual or auto to stabilized
+	// the setpoint should update to loitering around this position
+
+	// handle autopilot modes
+	if (_status.state_machine == SYSTEM_STATE_AUTO ||
+	    _status.state_machine == SYSTEM_STATE_STABILIZED) {
+
+		// update guidance
+		_guide.update(_pos, _att, _posCmd, _lastPosCmd);
+
+		// calculate velocity, XXX should be airspeed, but using ground speed for now
+		float v = sqrtf(_pos.vx * _pos.vx + _pos.vy * _pos.vy + _pos.vz * _pos.vz);
+
+		// altitude hold
+		float dThrottle = _h2Thr.update(_posCmd.altitude - _pos.alt);
+
+		// heading hold
+		float psiError = _wrap_pi(_guide.getPsiCmd() - _att.yaw);
+		float phiCmd = _phiLimit.update(_psi2Phi.update(psiError));
+		float pCmd = _phi2P.update(phiCmd - _att.roll);
+
+		// velocity hold
+		// negative sign because nose over to increase speed
+		float thetaCmd = _theLimit.update(-_v2Theta.update(
+				_vLimit.update(_vCmd.get()) - v));
+		float qCmd = _theta2Q.update(thetaCmd - _att.pitch);
+
+		// yaw rate cmd
+		float rCmd = 0;
+
+		// stabilization
+		_stabilization.update(pCmd, qCmd, rCmd,
+				      _att.rollspeed, _att.pitchspeed, _att.yawspeed);
+
+		// output
+		_actuators.control[CH_AIL] = _stabilization.getAileron() + _trimAil.get();
+		_actuators.control[CH_ELV] = _stabilization.getElevator() + _trimElv.get();
+		_actuators.control[CH_RDR] = _stabilization.getRudder() + _trimRdr.get();
+		_actuators.control[CH_THR] = dThrottle + _trimThr.get();
+
+		// XXX limit throttle to manual setting (safety) for now.
+		// If it turns out to be confusing, it can be removed later once
+		// a first binary release can be targeted.
+		// This is not a hack, but a design choice.
+
+		/* do not limit in HIL */
+		if (!_status.flag_hil_enabled) {
+			/* limit to value of manual throttle */
+			_actuators.control[CH_THR] = (_actuators.control[CH_THR] < _manual.throttle) ?
+						     _actuators.control[CH_THR] : _manual.throttle;
+		}
+
+	} else if (_status.state_machine == SYSTEM_STATE_MANUAL) {
+
+		if (_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_DIRECT) {
+			_actuators.control[CH_AIL] = _manual.roll;
+			_actuators.control[CH_ELV] = _manual.pitch;
+			_actuators.control[CH_RDR] = _manual.yaw;
+			_actuators.control[CH_THR] = _manual.throttle;
+
+		} else if (_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS) {
+
+			// calculate velocity, XXX should be airspeed, but using ground speed for now
+			float v = sqrtf(_pos.vx * _pos.vx + _pos.vy * _pos.vy + _pos.vz * _pos.vz);
+
+			// pitch channel -> rate of climb
+			// TODO, might want to put a gain on this, otherwise commanding
+			// from +1 -> -1 m/s for rate of climb
+			//float dThrottle = _roc2Thr.update(
+			//_rocMax.get()*_manual.pitch - _pos.vz);
+
+			// roll channel -> bank angle
+			float phiCmd = _phiLimit.update(_manual.roll * _phiLimit.getMax());
+			float pCmd = _phi2P.update(phiCmd - _att.roll);
+
+			// throttle channel -> velocity
+			// negative sign because nose over to increase speed
+			float vCmd = _manual.throttle * (_vLimit.getMax() - _vLimit.getMin()) + _vLimit.getMin();
+			float thetaCmd = _theLimit.update(-_v2Theta.update(_vLimit.update(vCmd) - v));
+			float qCmd = _theta2Q.update(thetaCmd - _att.pitch);
+
+			// yaw rate cmd
+			float rCmd = 0;
+
+			// stabilization
+			_stabilization.update(pCmd, qCmd, rCmd,
+					      _att.rollspeed, _att.pitchspeed, _att.yawspeed);
+
+			// output
+			_actuators.control[CH_AIL] = _stabilization.getAileron() + _trimAil.get();
+			_actuators.control[CH_ELV] = _stabilization.getElevator() + _trimElv.get();
+			_actuators.control[CH_RDR] = _stabilization.getRudder() + _trimRdr.get();
+
+			// currenlty using manual throttle
+			// XXX if you enable this watch out, vz might be very noisy
+			//_actuators.control[CH_THR] = dThrottle + _trimThr.get();
+			_actuators.control[CH_THR] = _manual.throttle;
+
+			// XXX limit throttle to manual setting (safety) for now.
+			// If it turns out to be confusing, it can be removed later once
+			// a first binary release can be targeted.
+			// This is not a hack, but a design choice.
+
+			/* do not limit in HIL */
+			if (!_status.flag_hil_enabled) {
+				/* limit to value of manual throttle */
+				_actuators.control[CH_THR] = (_actuators.control[CH_THR] < _manual.throttle) ?
+							     _actuators.control[CH_THR] : _manual.throttle;
+			}
+		}
+
+		// body rates controller, disabled for now
+		else if (0 /*_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS*/) {
+
+			_stabilization.update(_manual.roll, _manual.pitch, _manual.yaw,
+					      _att.rollspeed, _att.pitchspeed, _att.yawspeed);
+
+			_actuators.control[CH_AIL] = _stabilization.getAileron();
+			_actuators.control[CH_ELV] = _stabilization.getElevator();
+			_actuators.control[CH_RDR] = _stabilization.getRudder();
+			_actuators.control[CH_THR] = _manual.throttle;
+		}
+	}
+
+	// update all publications
+	updatePublications();
+}
+
+BlockMultiModeBacksideAutopilot::~BlockMultiModeBacksideAutopilot()
+{
+	// send one last publication when destroyed, setting
+	// all output to zero
+	for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++)
+		_actuators.control[i] = 0.0f;
+
+	updatePublications();
+}
+
+} // namespace fixedwing
+
+} // namespace control
+
diff --git a/src/modules/controllib/fixedwing.hpp b/src/modules/controllib/fixedwing.hpp
new file mode 100644
index 000000000..281cbb4cb
--- /dev/null
+++ b/src/modules/controllib/fixedwing.hpp
@@ -0,0 +1,342 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file fixedwing.h
+ *
+ * Controller library code
+ */
+
+#pragma once
+
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+
+#include 
+#include 
+#include 
+#include 
+
+#include 
+#include 
+
+#include "blocks.hpp"
+#include "block/UOrbSubscription.hpp"
+#include "block/UOrbPublication.hpp"
+
+extern "C" {
+#include 
+}
+
+namespace control
+{
+
+namespace fixedwing
+{
+
+/**
+ * BlockYawDamper
+ *
+ * This block has more explations to help new developers
+ * add their own blocks. It includes a limited explanation
+ * of some C++ basics.
+ *
+ * Block: The generic class describing a typical block as you
+ * would expect in Simulink or ScicosLab. A block can have
+ * parameters. It cannot have other blocks.
+ *
+ * SuperBlock: A superblock is a block that can have other
+ * blocks. It has methods that manage the blocks beneath it.
+ *
+ * BlockYawDamper inherits from SuperBlock publically, this
+ * means that any public function in SuperBlock are public within
+ * BlockYawDamper and may be called from outside the
+ * class methods. Any protected function within block
+ * are private to the class and may not be called from
+ * outside this class. Protected should be preferred
+ * where possible to public as it is important to
+ * limit access to the bare minimum to prevent
+ * accidental errors.
+ */
+class __EXPORT BlockYawDamper : public SuperBlock
+{
+private:
+	/**
+	 * Declaring other blocks used by this block
+	 *
+	 * In this section we declare all child blocks that
+	 * this block is composed of. They are private
+	 * members so only this block has direct access to
+	 * them.
+	 */
+	BlockLowPass _rLowPass;
+	BlockHighPass _rWashout;
+	BlockP _r2Rdr;
+
+	/**
+	 * Declaring output values and accessors
+	 *
+	 * If we have any output values for the block we
+	 * declare them here. Output can be directly returned
+	 * through the update function, but outputs should be
+	 * declared here if the information will likely be requested
+	 * again, or if there are multiple outputs.
+	 *
+	 * You should only be able to set outputs from this block,
+	 * so the outputs are declared in the private section.
+	 * A get accessor is provided
+	 * in the public section for other blocks to get the
+	 * value of the output.
+	 */
+	float _rudder;
+public:
+	/**
+	 * BlockYawDamper Constructor
+	 *
+	 * The job of the constructor is to initialize all
+	 * parameter in this block and initialize all child
+	 * blocks. Note also, that the output values must be
+	 * initialized here. The order of the members in the
+	 * member initialization list should follow the
+	 * order in which they are declared within the class.
+	 * See the private member declarations above.
+	 *
+	 * Block Construction
+	 *
+	 * All blocks are constructed with their parent block
+	 * and their name. This allows parameters within the
+	 * block to construct a fully qualified name from
+	 * concatenating the two. If the name provided to the
+	 * block is "", then the block will use the parent
+	 * name as it's name. This is useful in cases where
+	 * you have a block that has parameters "MIN", "MAX",
+	 * such as BlockLimit and you do not want an extra name
+	 * to qualify them since the parent block has no "MIN",
+	 * "MAX" parameters.
+	 *
+	 * Block Parameter Construction
+	 *
+	 * Block parameters are named constants, they are
+	 * constructed using:
+	 * BlockParam::BlockParam(Block * parent, const char * name)
+	 * This funciton takes both a parent block and a name.
+	 * The constructore then uses the parent name and the name of
+	 * the paramter to ask the px4 param library if it has any
+	 * parameters with this name. If it does, a handle to the
+	 * parameter is retrieved.
+	 *
+	 * Block/ BlockParam Naming
+	 *
+	 * When desigining new blocks, the naming of the parameters and
+	 * blocks determines the fully qualified name of the parameters
+	 * within the ground station, so it is important to choose
+	 * short, easily understandable names. Again, when a name of
+	 * "" is passed, the parent block name is used as the value to
+	 * prepend to paramters names.
+	 */
+	BlockYawDamper(SuperBlock *parent, const char *name);
+	/**
+	 * Block deconstructor
+	 *
+	 * It is always a good idea to declare a virtual
+	 * deconstructor so that upon calling delete from
+	 * a class derived from this, all of the
+	 * deconstructors all called, the derived class first, and
+	 * then the base class
+	 */
+	virtual ~BlockYawDamper();
+
+	/**
+	 * Block update function
+	 *
+	 * The job of the update function is to compute the output
+	 * values for the block. In a simple block with one output,
+	 * the output may be returned directly. If the output is
+	 * required frequenly by other processses, it might be a
+	 * good idea to declare a member to store the temporary
+	 * variable.
+	 */
+	void update(float rCmd, float r);
+
+	/**
+	 * Rudder output value accessor
+	 *
+	 * This is a public accessor function, which means that the
+	 * private value _rudder is returned to anyone calling
+	 * BlockYawDamper::getRudder(). Note thate a setRudder() is
+	 * not provided, this is because the updateParams() call
+	 * for a block provides the mechanism for updating the
+	 * paramter.
+	 */
+	float getRudder() { return _rudder; }
+};
+
+/**
+ * Stability augmentation system.
+ * Aircraft Control and Simulation, Stevens and Lewis, pg. 292, 299
+ */
+class __EXPORT BlockStabilization : public SuperBlock
+{
+private:
+	BlockYawDamper _yawDamper;
+	BlockLowPass _pLowPass;
+	BlockLowPass _qLowPass;
+	BlockP _p2Ail;
+	BlockP _q2Elv;
+	float _aileron;
+	float _elevator;
+public:
+	BlockStabilization(SuperBlock *parent, const char *name);
+	virtual ~BlockStabilization();
+	void update(float pCmd, float qCmd, float rCmd,
+		    float p, float q, float r);
+	float getAileron() { return _aileron; }
+	float getElevator() { return _elevator; }
+	float getRudder() { return _yawDamper.getRudder(); }
+};
+
+/**
+ * Frontside/ Backside Control Systems
+ *
+ * Frontside :
+ *   velocity error -> throttle
+ *   altitude error -> elevator
+ *
+ * Backside :
+ *   velocity error -> elevator
+ *   altitude error -> throttle
+ *
+ * Backside control systems are more resilient at
+ * slow speeds on the back-side of the power
+ * required curve/ landing etc. Less performance
+ * than frontside at high speeds.
+ */
+
+/**
+ * Waypoint Guidance block
+ */
+class __EXPORT BlockWaypointGuidance : public SuperBlock
+{
+private:
+	BlockLimitSym _xtYawLimit;
+	BlockP _xt2Yaw;
+	float _psiCmd;
+public:
+	BlockWaypointGuidance(SuperBlock *parent, const char *name);
+	virtual ~BlockWaypointGuidance();
+	void update(vehicle_global_position_s &pos,
+		    vehicle_attitude_s &att,
+		    vehicle_global_position_setpoint_s &posCmd,
+		    vehicle_global_position_setpoint_s &lastPosCmd);
+	float getPsiCmd() { return _psiCmd; }
+};
+
+/**
+ * UorbEnabledAutopilot
+ */
+class __EXPORT BlockUorbEnabledAutopilot : public SuperBlock
+{
+protected:
+	// subscriptions
+	UOrbSubscription _att;
+	UOrbSubscription _attCmd;
+	UOrbSubscription _ratesCmd;
+	UOrbSubscription _pos;
+	UOrbSubscription _posCmd;
+	UOrbSubscription _manual;
+	UOrbSubscription _status;
+	UOrbSubscription _param_update;
+	// publications
+	UOrbPublication _actuators;
+public:
+	BlockUorbEnabledAutopilot(SuperBlock *parent, const char *name);
+	virtual ~BlockUorbEnabledAutopilot();
+};
+
+/**
+ * Multi-mode Autopilot
+ */
+class __EXPORT BlockMultiModeBacksideAutopilot : public BlockUorbEnabledAutopilot
+{
+private:
+	// stabilization
+	BlockStabilization _stabilization;
+
+	// heading hold
+	BlockP _psi2Phi;
+	BlockP _phi2P;
+	BlockLimitSym _phiLimit;
+
+	// velocity hold
+	BlockPID _v2Theta;
+	BlockPID _theta2Q;
+	BlockLimit _theLimit;
+	BlockLimit _vLimit;
+
+	// altitude/ roc hold
+	BlockPID _h2Thr;
+	BlockPID _roc2Thr;
+
+	// guidance
+	BlockWaypointGuidance _guide;
+
+	// block params
+	BlockParam _trimAil;
+	BlockParam _trimElv;
+	BlockParam _trimRdr;
+	BlockParam _trimThr;
+	BlockParam _vCmd;
+	BlockParam _rocMax;
+
+	struct pollfd _attPoll;
+	vehicle_global_position_setpoint_s _lastPosCmd;
+	enum {CH_AIL, CH_ELV, CH_RDR, CH_THR};
+	uint64_t _timeStamp;
+public:
+	BlockMultiModeBacksideAutopilot(SuperBlock *parent, const char *name);
+	void update();
+	virtual ~BlockMultiModeBacksideAutopilot();
+};
+
+
+} // namespace fixedwing
+
+} // namespace control
+
diff --git a/src/modules/controllib/module.mk b/src/modules/controllib/module.mk
new file mode 100644
index 000000000..13d1069c7
--- /dev/null
+++ b/src/modules/controllib/module.mk
@@ -0,0 +1,43 @@
+############################################################################
+#
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Control library
+#
+SRCS		 = test_params.c \
+		   block/Block.cpp \
+		   block/BlockParam.cpp \
+		   block/UOrbPublication.cpp \
+		   block/UOrbSubscription.cpp \
+		   blocks.cpp \
+		   fixedwing.cpp
diff --git a/src/modules/controllib/test_params.c b/src/modules/controllib/test_params.c
new file mode 100644
index 000000000..7c609cad3
--- /dev/null
+++ b/src/modules/controllib/test_params.c
@@ -0,0 +1,22 @@
+#include 
+// WARNING:
+//  do not changes these unless
+//  you want to recompute the
+//  answers for all of the unit tests
+
+PARAM_DEFINE_FLOAT(TEST_MIN, -1.0f);
+PARAM_DEFINE_FLOAT(TEST_MAX, 1.0f);
+PARAM_DEFINE_FLOAT(TEST_TRIM, 0.5f);
+PARAM_DEFINE_FLOAT(TEST_HP, 10.0f);
+PARAM_DEFINE_FLOAT(TEST_LP, 10.0f);
+
+PARAM_DEFINE_FLOAT(TEST_P, 0.2f);
+
+PARAM_DEFINE_FLOAT(TEST_I, 0.1f);
+PARAM_DEFINE_FLOAT(TEST_I_MAX, 1.0f);
+
+PARAM_DEFINE_FLOAT(TEST_D, 0.01f);
+PARAM_DEFINE_FLOAT(TEST_D_LP, 10.0f);
+
+PARAM_DEFINE_FLOAT(TEST_MEAN, 1.0f);
+PARAM_DEFINE_FLOAT(TEST_DEV, 2.0f);
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_f32.c
new file mode 100644
index 000000000..7070274da
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_f32.c
@@ -0,0 +1,159 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_abs_f32.c    
+*    
+* Description:	Vector absolute value.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+#include 
+
+/**        
+ * @ingroup groupMath        
+ */
+
+/**        
+ * @defgroup BasicAbs Vector Absolute Value        
+ *        
+ * Computes the absolute value of a vector on an element-by-element basis.        
+ *        
+ * 
        
+ *     pDst[n] = abs(pSrcA[n]),   0 <= n < blockSize.        
+ * 
        
+ *        
+ * The operation can be done in-place by setting the input and output pointers to the same buffer.        
+ * There are separate functions for floating-point, Q7, Q15, and Q31 data types.        
+ */
+
+/**        
+ * @addtogroup BasicAbs        
+ * @{        
+ */
+
+/**        
+ * @brief Floating-point vector absolute value.        
+ * @param[in]       *pSrc points to the input buffer        
+ * @param[out]      *pDst points to the output buffer        
+ * @param[in]       blockSize number of samples in each vector        
+ * @return none.        
+ */
+
+void arm_abs_f32(
+  float32_t * pSrc,
+  float32_t * pDst,
+  uint32_t blockSize)
+{
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  float32_t in1, in2, in3, in4;                  /* temporary variables */
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = |A| */
+    /* Calculate absolute and then store the results in the destination buffer. */
+    /* read sample from source */
+    in1 = *pSrc;
+    in2 = *(pSrc + 1);
+    in3 = *(pSrc + 2);
+
+    /* find absolute value */
+    in1 = fabsf(in1);
+
+    /* read sample from source */
+    in4 = *(pSrc + 3);
+
+    /* find absolute value */
+    in2 = fabsf(in2);
+
+    /* read sample from source */
+    *pDst = in1;
+
+    /* find absolute value */
+    in3 = fabsf(in3);
+
+    /* find absolute value */
+    in4 = fabsf(in4);
+
+    /* store result to destination */
+    *(pDst + 1) = in2;
+
+    /* store result to destination */
+    *(pDst + 2) = in3;
+
+    /* store result to destination */
+    *(pDst + 3) = in4;
+
+
+    /* Update source pointer to process next sampels */
+    pSrc += 4u;
+
+    /* Update destination pointer to process next sampels */
+    pDst += 4u;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Initialize blkCnt with number of samples */
+  blkCnt = blockSize;
+
+#endif /*   #ifndef ARM_MATH_CM0   */
+
+  while(blkCnt > 0u)
+  {
+    /* C = |A| */
+    /* Calculate absolute and then store the results in the destination buffer. */
+    *pDst++ = fabsf(*pSrc++);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+}
+
+/**        
+ * @} end of BasicAbs group        
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q15.c
new file mode 100644
index 000000000..6d6a4b6d8
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q15.c
@@ -0,0 +1,173 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_abs_q15.c    
+*    
+* Description:	Q15 vector absolute value.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupMath    
+ */
+
+/**    
+ * @addtogroup BasicAbs    
+ * @{    
+ */
+
+/**    
+ * @brief Q15 vector absolute value.    
+ * @param[in]       *pSrc points to the input buffer    
+ * @param[out]      *pDst points to the output buffer    
+ * @param[in]       blockSize number of samples in each vector    
+ * @return none.    
+ *    
+ * Scaling and Overflow Behavior:    
+ * \par    
+ * The function uses saturating arithmetic.    
+ * The Q15 value -1 (0x8000) will be saturated to the maximum allowable positive value 0x7FFF.    
+ */
+
+void arm_abs_q15(
+  q15_t * pSrc,
+  q15_t * pDst,
+  uint32_t blockSize)
+{
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+/* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q15_t in1;                                     /* Input value1 */
+  q15_t in2;                                     /* Input value2 */
+
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = |A| */
+    /* Read two inputs */
+    in1 = *pSrc++;
+    in2 = *pSrc++;
+
+
+    /* Store the Absolute result in the destination buffer by packing the two values, in a single cycle */
+
+#ifndef  ARM_MATH_BIG_ENDIAN
+
+    *__SIMD32(pDst)++ =
+      __PKHBT(((in1 > 0) ? in1 : __QSUB16(0, in1)),
+              ((in2 > 0) ? in2 : __QSUB16(0, in2)), 16);
+
+#else
+
+
+    *__SIMD32(pDst)++ =
+      __PKHBT(((in2 > 0) ? in2 : __QSUB16(0, in2)),
+              ((in1 > 0) ? in1 : __QSUB16(0, in1)), 16);
+
+#endif /* #ifndef  ARM_MATH_BIG_ENDIAN    */
+
+    in1 = *pSrc++;
+    in2 = *pSrc++;
+
+
+#ifndef  ARM_MATH_BIG_ENDIAN
+
+    *__SIMD32(pDst)++ =
+      __PKHBT(((in1 > 0) ? in1 : __QSUB16(0, in1)),
+              ((in2 > 0) ? in2 : __QSUB16(0, in2)), 16);
+
+#else
+
+
+    *__SIMD32(pDst)++ =
+      __PKHBT(((in2 > 0) ? in2 : __QSUB16(0, in2)),
+              ((in1 > 0) ? in1 : __QSUB16(0, in1)), 16);
+
+#endif /* #ifndef  ARM_MATH_BIG_ENDIAN    */
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C = |A| */
+    /* Read the input */
+    in1 = *pSrc++;
+
+    /* Calculate absolute value of input and then store the result in the destination buffer. */
+    *pDst++ = (in1 > 0) ? in1 : __QSUB16(0, in1);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  q15_t in;                                      /* Temporary input variable */
+
+  /* Initialize blkCnt with number of samples */
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* C = |A| */
+    /* Read the input */
+    in = *pSrc++;
+
+    /* Calculate absolute value of input and then store the result in the destination buffer. */
+    *pDst++ = (in > 0) ? in : ((in == (q15_t) 0x8000) ? 0x7fff : -in);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/**    
+ * @} end of BasicAbs group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q31.c
new file mode 100644
index 000000000..d9e3e7aa3
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q31.c
@@ -0,0 +1,125 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_abs_q31.c    
+*    
+* Description:	Q31 vector absolute value.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupMath    
+ */
+
+/**    
+ * @addtogroup BasicAbs    
+ * @{    
+ */
+
+
+/**    
+ * @brief Q31 vector absolute value.    
+ * @param[in]       *pSrc points to the input buffer    
+ * @param[out]      *pDst points to the output buffer    
+ * @param[in]       blockSize number of samples in each vector    
+ * @return none.    
+ *    
+ * Scaling and Overflow Behavior:    
+ * \par    
+ * The function uses saturating arithmetic.    
+ * The Q31 value -1 (0x80000000) will be saturated to the maximum allowable positive value 0x7FFFFFFF.    
+ */
+
+void arm_abs_q31(
+  q31_t * pSrc,
+  q31_t * pDst,
+  uint32_t blockSize)
+{
+  uint32_t blkCnt;                               /* loop counter */
+  q31_t in;                                      /* Input value */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  q31_t in1, in2, in3, in4;
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = |A| */
+    /* Calculate absolute of input (if -1 then saturated to 0x7fffffff) and then store the results in the destination buffer. */
+    in1 = *pSrc++;
+    in2 = *pSrc++;
+    in3 = *pSrc++;
+    in4 = *pSrc++;
+
+    *pDst++ = (in1 > 0) ? in1 : __QSUB(0, in1);
+    *pDst++ = (in2 > 0) ? in2 : __QSUB(0, in2);
+    *pDst++ = (in3 > 0) ? in3 : __QSUB(0, in3);
+    *pDst++ = (in4 > 0) ? in4 : __QSUB(0, in4);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Initialize blkCnt with number of samples */
+  blkCnt = blockSize;
+
+#endif /*   #ifndef ARM_MATH_CM0   */
+
+  while(blkCnt > 0u)
+  {
+    /* C = |A| */
+    /* Calculate absolute value of the input (if -1 then saturated to 0x7fffffff) and then store the results in the destination buffer. */
+    in = *pSrc++;
+    *pDst++ = (in > 0) ? in : ((in == 0x80000000) ? 0x7fffffff : -in);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+}
+
+/**    
+ * @} end of BasicAbs group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q7.c
new file mode 100644
index 000000000..258ecef2c
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_abs_q7.c
@@ -0,0 +1,152 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_abs_q7.c    
+*    
+* Description:	Q7 vector absolute value.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**        
+ * @ingroup groupMath        
+ */
+
+/**        
+ * @addtogroup BasicAbs        
+ * @{        
+ */
+
+/**        
+ * @brief Q7 vector absolute value.        
+ * @param[in]       *pSrc points to the input buffer        
+ * @param[out]      *pDst points to the output buffer        
+ * @param[in]       blockSize number of samples in each vector        
+ * @return none.        
+ *    
+ * \par Conditions for optimum performance    
+ *  Input and output buffers should be aligned by 32-bit    
+ *    
+ *        
+ * Scaling and Overflow Behavior:        
+ * \par        
+ * The function uses saturating arithmetic.        
+ * The Q7 value -1 (0x80) will be saturated to the maximum allowable positive value 0x7F.        
+ */
+
+void arm_abs_q7(
+  q7_t * pSrc,
+  q7_t * pDst,
+  uint32_t blockSize)
+{
+  uint32_t blkCnt;                               /* loop counter */
+  q7_t in;                                       /* Input value1 */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  q31_t in1, in2, in3, in4;                      /* temporary input variables */
+  q31_t out1, out2, out3, out4;                  /* temporary output variables */
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = |A| */
+    /* Read inputs */
+    in1 = (q31_t) * pSrc;
+    in2 = (q31_t) * (pSrc + 1);
+    in3 = (q31_t) * (pSrc + 2);
+
+    /* find absolute value */
+    out1 = (in1 > 0) ? in1 : __QSUB8(0, in1);
+
+    /* read input */
+    in4 = (q31_t) * (pSrc + 3);
+
+    /* find absolute value */
+    out2 = (in2 > 0) ? in2 : __QSUB8(0, in2);
+
+    /* store result to destination */
+    *pDst = (q7_t) out1;
+
+    /* find absolute value */
+    out3 = (in3 > 0) ? in3 : __QSUB8(0, in3);
+
+    /* find absolute value */
+    out4 = (in4 > 0) ? in4 : __QSUB8(0, in4);
+
+    /* store result to destination */
+    *(pDst + 1) = (q7_t) out2;
+
+    /* store result to destination */
+    *(pDst + 2) = (q7_t) out3;
+
+    /* store result to destination */
+    *(pDst + 3) = (q7_t) out4;
+
+    /* update pointers to process next samples */
+    pSrc += 4u;
+    pDst += 4u;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+#else
+
+  /* Run the below code for Cortex-M0 */
+  blkCnt = blockSize;
+
+#endif //      #define ARM_MATH_CM0
+
+  while(blkCnt > 0u)
+  {
+    /* C = |A| */
+    /* Read the input */
+    in = *pSrc++;
+
+    /* Store the Absolute result in the destination buffer */
+    *pDst++ = (in > 0) ? in : ((in == (q7_t) 0x80) ? 0x7f : -in);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+}
+
+/**        
+ * @} end of BasicAbs group        
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_f32.c
new file mode 100644
index 000000000..0961dd1db
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_f32.c
@@ -0,0 +1,145 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_add_f32.c    
+*    
+* Description:	Floating-point vector addition.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**        
+ * @ingroup groupMath        
+ */
+
+/**        
+ * @defgroup BasicAdd Vector Addition        
+ *        
+ * Element-by-element addition of two vectors.        
+ *        
+ * 
        
+ *     pDst[n] = pSrcA[n] + pSrcB[n],   0 <= n < blockSize.        
+ * 
        
+ *        
+ * There are separate functions for floating-point, Q7, Q15, and Q31 data types.        
+ */
+
+/**        
+ * @addtogroup BasicAdd        
+ * @{        
+ */
+
+/**        
+ * @brief Floating-point vector addition.        
+ * @param[in]       *pSrcA points to the first input vector        
+ * @param[in]       *pSrcB points to the second input vector        
+ * @param[out]      *pDst points to the output vector        
+ * @param[in]       blockSize number of samples in each vector        
+ * @return none.        
+ */
+
+void arm_add_f32(
+  float32_t * pSrcA,
+  float32_t * pSrcB,
+  float32_t * pDst,
+  uint32_t blockSize)
+{
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+/* Run the below code for Cortex-M4 and Cortex-M3 */
+  float32_t inA1, inA2, inA3, inA4;              /* temporary input variabels */
+  float32_t inB1, inB2, inB3, inB4;              /* temporary input variables */
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.        
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = A + B */
+    /* Add and then store the results in the destination buffer. */
+
+    /* read four inputs from sourceA and four inputs from sourceB */
+    inA1 = *pSrcA;
+    inB1 = *pSrcB;
+    inA2 = *(pSrcA + 1);
+    inB2 = *(pSrcB + 1);
+    inA3 = *(pSrcA + 2);
+    inB3 = *(pSrcB + 2);
+    inA4 = *(pSrcA + 3);
+    inB4 = *(pSrcB + 3);
+
+    /* C = A + B */
+    /* add and store result to destination */
+    *pDst = inA1 + inB1;
+    *(pDst + 1) = inA2 + inB2;
+    *(pDst + 2) = inA3 + inB3;
+    *(pDst + 3) = inA4 + inB4;
+
+    /* update pointers to process next samples */
+    pSrcA += 4u;
+    pSrcB += 4u;
+    pDst += 4u;
+
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.        
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Initialize blkCnt with number of samples */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C = A + B */
+    /* Add and then store the results in the destination buffer. */
+    *pDst++ = (*pSrcA++) + (*pSrcB++);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+}
+
+/**        
+ * @} end of BasicAdd group        
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q15.c
new file mode 100644
index 000000000..788b2ebb2
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q15.c
@@ -0,0 +1,135 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_add_q15.c    
+*    
+* Description:	Q15 vector addition    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupMath    
+ */
+
+/**    
+ * @addtogroup BasicAdd    
+ * @{    
+ */
+
+/**    
+ * @brief Q15 vector addition.    
+ * @param[in]       *pSrcA points to the first input vector    
+ * @param[in]       *pSrcB points to the second input vector    
+ * @param[out]      *pDst points to the output vector    
+ * @param[in]       blockSize number of samples in each vector    
+ * @return none.    
+ *    
+ * Scaling and Overflow Behavior:    
+ * \par    
+ * The function uses saturating arithmetic.    
+ * Results outside of the allowable Q15 range [0x8000 0x7FFF] will be saturated.    
+ */
+
+void arm_add_q15(
+  q15_t * pSrcA,
+  q15_t * pSrcB,
+  q15_t * pDst,
+  uint32_t blockSize)
+{
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+/* Run the below code for Cortex-M4 and Cortex-M3 */
+  q31_t inA1, inA2, inB1, inB2;
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = A + B */
+    /* Add and then store the results in the destination buffer. */
+    inA1 = *__SIMD32(pSrcA)++;
+    inA2 = *__SIMD32(pSrcA)++;
+    inB1 = *__SIMD32(pSrcB)++;
+    inB2 = *__SIMD32(pSrcB)++;
+
+    *__SIMD32(pDst)++ = __QADD16(inA1, inB1);
+    *__SIMD32(pDst)++ = __QADD16(inA2, inB2);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C = A + B */
+    /* Add and then store the results in the destination buffer. */
+    *pDst++ = (q15_t) __QADD16(*pSrcA++, *pSrcB++);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+
+
+  /* Initialize blkCnt with number of samples */
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* C = A + B */
+    /* Add and then store the results in the destination buffer. */
+    *pDst++ = (q15_t) __SSAT(((q31_t) * pSrcA++ + *pSrcB++), 16);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+
+}
+
+/**    
+ * @} end of BasicAdd group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q31.c
new file mode 100644
index 000000000..c5b18711d
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q31.c
@@ -0,0 +1,143 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_add_q31.c    
+*    
+* Description:	Q31 vector addition.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupMath    
+ */
+
+/**    
+ * @addtogroup BasicAdd    
+ * @{    
+ */
+
+
+/**    
+ * @brief Q31 vector addition.    
+ * @param[in]       *pSrcA points to the first input vector    
+ * @param[in]       *pSrcB points to the second input vector    
+ * @param[out]      *pDst points to the output vector    
+ * @param[in]       blockSize number of samples in each vector    
+ * @return none.    
+ *    
+ * Scaling and Overflow Behavior:    
+ * \par    
+ * The function uses saturating arithmetic.    
+ * Results outside of the allowable Q31 range[0x80000000 0x7FFFFFFF] will be saturated.    
+ */
+
+void arm_add_q31(
+  q31_t * pSrcA,
+  q31_t * pSrcB,
+  q31_t * pDst,
+  uint32_t blockSize)
+{
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+/* Run the below code for Cortex-M4 and Cortex-M3 */
+  q31_t inA1, inA2, inA3, inA4;
+  q31_t inB1, inB2, inB3, inB4;
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = A + B */
+    /* Add and then store the results in the destination buffer. */
+    inA1 = *pSrcA++;
+    inA2 = *pSrcA++;
+    inB1 = *pSrcB++;
+    inB2 = *pSrcB++;
+
+    inA3 = *pSrcA++;
+    inA4 = *pSrcA++;
+    inB3 = *pSrcB++;
+    inB4 = *pSrcB++;
+
+    *pDst++ = __QADD(inA1, inB1);
+    *pDst++ = __QADD(inA2, inB2);
+    *pDst++ = __QADD(inA3, inB3);
+    *pDst++ = __QADD(inA4, inB4);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C = A + B */
+    /* Add and then store the results in the destination buffer. */
+    *pDst++ = __QADD(*pSrcA++, *pSrcB++);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+
+
+  /* Initialize blkCnt with number of samples */
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* C = A + B */
+    /* Add and then store the results in the destination buffer. */
+    *pDst++ = (q31_t) clip_q63_to_q31((q63_t) * pSrcA++ + *pSrcB++);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/**    
+ * @} end of BasicAdd group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q7.c
new file mode 100644
index 000000000..5407c006f
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_add_q7.c
@@ -0,0 +1,129 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_add_q7.c    
+*    
+* Description:	Q7 vector addition.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupMath    
+ */
+
+/**    
+ * @addtogroup BasicAdd    
+ * @{    
+ */
+
+/**    
+ * @brief Q7 vector addition.    
+ * @param[in]       *pSrcA points to the first input vector    
+ * @param[in]       *pSrcB points to the second input vector    
+ * @param[out]      *pDst points to the output vector    
+ * @param[in]       blockSize number of samples in each vector    
+ * @return none.    
+ *    
+ * Scaling and Overflow Behavior:    
+ * \par    
+ * The function uses saturating arithmetic.    
+ * Results outside of the allowable Q7 range [0x80 0x7F] will be saturated.    
+ */
+
+void arm_add_q7(
+  q7_t * pSrcA,
+  q7_t * pSrcB,
+  q7_t * pDst,
+  uint32_t blockSize)
+{
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+/* Run the below code for Cortex-M4 and Cortex-M3 */
+
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = A + B */
+    /* Add and then store the results in the destination buffer. */
+    *__SIMD32(pDst)++ = __QADD8(*__SIMD32(pSrcA)++, *__SIMD32(pSrcB)++);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C = A + B */
+    /* Add and then store the results in the destination buffer. */
+    *pDst++ = (q7_t) __SSAT(*pSrcA++ + *pSrcB++, 8);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+
+
+  /* Initialize blkCnt with number of samples */
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* C = A + B */
+    /* Add and then store the results in the destination buffer. */
+    *pDst++ = (q7_t) __SSAT((q15_t) * pSrcA++ + *pSrcB++, 8);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+
+}
+
+/**    
+ * @} end of BasicAdd group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_f32.c
new file mode 100644
index 000000000..6f7fbcebf
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_f32.c
@@ -0,0 +1,125 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_dot_prod_f32.c    
+*    
+* Description:	Floating-point dot product.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupMath    
+ */
+
+/**    
+ * @defgroup dot_prod Vector Dot Product    
+ *    
+ * Computes the dot product of two vectors.    
+ * The vectors are multiplied element-by-element and then summed.    
+ * There are separate functions for floating-point, Q7, Q15, and Q31 data types.    
+ */
+
+/**    
+ * @addtogroup dot_prod    
+ * @{    
+ */
+
+/**    
+ * @brief Dot product of floating-point vectors.    
+ * @param[in]       *pSrcA points to the first input vector    
+ * @param[in]       *pSrcB points to the second input vector    
+ * @param[in]       blockSize number of samples in each vector    
+ * @param[out]      *result output result returned here    
+ * @return none.    
+ */
+
+
+void arm_dot_prod_f32(
+  float32_t * pSrcA,
+  float32_t * pSrcB,
+  uint32_t blockSize,
+  float32_t * result)
+{
+  float32_t sum = 0.0f;                          /* Temporary result storage */
+  uint32_t blkCnt;                               /* loop counter */
+
+
+#ifndef ARM_MATH_CM0
+
+/* Run the below code for Cortex-M4 and Cortex-M3 */
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = A[0]* B[0] + A[1]* B[1] + A[2]* B[2] + .....+ A[blockSize-1]* B[blockSize-1] */
+    /* Calculate dot product and then store the result in a temporary buffer */
+    sum += (*pSrcA++) * (*pSrcB++);
+    sum += (*pSrcA++) * (*pSrcB++);
+    sum += (*pSrcA++) * (*pSrcB++);
+    sum += (*pSrcA++) * (*pSrcB++);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Initialize blkCnt with number of samples */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+
+  while(blkCnt > 0u)
+  {
+    /* C = A[0]* B[0] + A[1]* B[1] + A[2]* B[2] + .....+ A[blockSize-1]* B[blockSize-1] */
+    /* Calculate dot product and then store the result in a temporary buffer. */
+    sum += (*pSrcA++) * (*pSrcB++);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+  /* Store the result back in the destination buffer */
+  *result = sum;
+}
+
+/**    
+ * @} end of dot_prod group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q15.c
new file mode 100644
index 000000000..24611a05f
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q15.c
@@ -0,0 +1,135 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_dot_prod_q15.c    
+*    
+* Description:	Q15 dot product.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupMath    
+ */
+
+/**    
+ * @addtogroup dot_prod    
+ * @{    
+ */
+
+/**    
+ * @brief Dot product of Q15 vectors.    
+ * @param[in]       *pSrcA points to the first input vector    
+ * @param[in]       *pSrcB points to the second input vector    
+ * @param[in]       blockSize number of samples in each vector    
+ * @param[out]      *result output result returned here    
+ * @return none.    
+ *    
+ * Scaling and Overflow Behavior:    
+ * \par    
+ * The intermediate multiplications are in 1.15 x 1.15 = 2.30 format and these    
+ * results are added to a 64-bit accumulator in 34.30 format.    
+ * Nonsaturating additions are used and given that there are 33 guard bits in the accumulator    
+ * there is no risk of overflow.    
+ * The return result is in 34.30 format.    
+ */
+
+void arm_dot_prod_q15(
+  q15_t * pSrcA,
+  q15_t * pSrcB,
+  uint32_t blockSize,
+  q63_t * result)
+{
+  q63_t sum = 0;                                 /* Temporary result storage */
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+/* Run the below code for Cortex-M4 and Cortex-M3 */
+
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = A[0]* B[0] + A[1]* B[1] + A[2]* B[2] + .....+ A[blockSize-1]* B[blockSize-1] */
+    /* Calculate dot product and then store the result in a temporary buffer. */
+    sum = __SMLALD(*__SIMD32(pSrcA)++, *__SIMD32(pSrcB)++, sum);
+    sum = __SMLALD(*__SIMD32(pSrcA)++, *__SIMD32(pSrcB)++, sum);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C = A[0]* B[0] + A[1]* B[1] + A[2]* B[2] + .....+ A[blockSize-1]* B[blockSize-1] */
+    /* Calculate dot product and then store the results in a temporary buffer. */
+    sum = __SMLALD(*pSrcA++, *pSrcB++, sum);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Initialize blkCnt with number of samples */
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* C = A[0]* B[0] + A[1]* B[1] + A[2]* B[2] + .....+ A[blockSize-1]* B[blockSize-1] */
+    /* Calculate dot product and then store the results in a temporary buffer. */
+    sum += (q63_t) ((q31_t) * pSrcA++ * *pSrcB++);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  /* Store the result in the destination buffer in 34.30 format */
+  *result = sum;
+
+}
+
+/**    
+ * @} end of dot_prod group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q31.c
new file mode 100644
index 000000000..5e4031338
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q31.c
@@ -0,0 +1,138 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_dot_prod_q31.c    
+*    
+* Description:	Q31 dot product.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupMath    
+ */
+
+/**    
+ * @addtogroup dot_prod    
+ * @{    
+ */
+
+/**    
+ * @brief Dot product of Q31 vectors.    
+ * @param[in]       *pSrcA points to the first input vector    
+ * @param[in]       *pSrcB points to the second input vector    
+ * @param[in]       blockSize number of samples in each vector    
+ * @param[out]      *result output result returned here    
+ * @return none.    
+ *    
+ * Scaling and Overflow Behavior:    
+ * \par    
+ * The intermediate multiplications are in 1.31 x 1.31 = 2.62 format and these    
+ * are truncated to 2.48 format by discarding the lower 14 bits.    
+ * The 2.48 result is then added without saturation to a 64-bit accumulator in 16.48 format.    
+ * There are 15 guard bits in the accumulator and there is no risk of overflow as long as    
+ * the length of the vectors is less than 2^16 elements.    
+ * The return result is in 16.48 format.    
+ */
+
+void arm_dot_prod_q31(
+  q31_t * pSrcA,
+  q31_t * pSrcB,
+  uint32_t blockSize,
+  q63_t * result)
+{
+  q63_t sum = 0;                                 /* Temporary result storage */
+  uint32_t blkCnt;                               /* loop counter */
+
+
+#ifndef ARM_MATH_CM0
+
+/* Run the below code for Cortex-M4 and Cortex-M3 */
+  q31_t inA1, inA2, inA3, inA4;
+  q31_t inB1, inB2, inB3, inB4;
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = A[0]* B[0] + A[1]* B[1] + A[2]* B[2] + .....+ A[blockSize-1]* B[blockSize-1] */
+    /* Calculate dot product and then store the result in a temporary buffer. */
+    inA1 = *pSrcA++;
+    inA2 = *pSrcA++;
+    inA3 = *pSrcA++;
+    inA4 = *pSrcA++;
+    inB1 = *pSrcB++;
+    inB2 = *pSrcB++;
+    inB3 = *pSrcB++;
+    inB4 = *pSrcB++;
+
+    sum += ((q63_t) inA1 * inB1) >> 14u;
+    sum += ((q63_t) inA2 * inB2) >> 14u;
+    sum += ((q63_t) inA3 * inB3) >> 14u;
+    sum += ((q63_t) inA4 * inB4) >> 14u;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Initialize blkCnt with number of samples */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+
+  while(blkCnt > 0u)
+  {
+    /* C = A[0]* B[0] + A[1]* B[1] + A[2]* B[2] + .....+ A[blockSize-1]* B[blockSize-1] */
+    /* Calculate dot product and then store the result in a temporary buffer. */
+    sum += ((q63_t) * pSrcA++ * *pSrcB++) >> 14u;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Store the result in the destination buffer in 16.48 format */
+  *result = sum;
+}
+
+/**    
+ * @} end of dot_prod group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q7.c
new file mode 100644
index 000000000..ddf2d0c24
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q7.c
@@ -0,0 +1,154 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_dot_prod_q7.c    
+*    
+* Description:	Q7 dot product.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupMath    
+ */
+
+/**    
+ * @addtogroup dot_prod    
+ * @{    
+ */
+
+/**    
+ * @brief Dot product of Q7 vectors.    
+ * @param[in]       *pSrcA points to the first input vector    
+ * @param[in]       *pSrcB points to the second input vector    
+ * @param[in]       blockSize number of samples in each vector    
+ * @param[out]      *result output result returned here    
+ * @return none.    
+ *    
+ * Scaling and Overflow Behavior:    
+ * \par    
+ * The intermediate multiplications are in 1.7 x 1.7 = 2.14 format and these    
+ * results are added to an accumulator in 18.14 format.    
+ * Nonsaturating additions are used and there is no danger of wrap around as long as    
+ * the vectors are less than 2^18 elements long.    
+ * The return result is in 18.14 format.    
+ */
+
+void arm_dot_prod_q7(
+  q7_t * pSrcA,
+  q7_t * pSrcB,
+  uint32_t blockSize,
+  q31_t * result)
+{
+  uint32_t blkCnt;                               /* loop counter */
+
+  q31_t sum = 0;                                 /* Temporary variables to store output */
+
+#ifndef ARM_MATH_CM0
+
+/* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q31_t input1, input2;                          /* Temporary variables to store input */
+  q31_t inA1, inA2, inB1, inB2;                  /* Temporary variables to store input */
+
+
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* read 4 samples at a time from sourceA */
+    input1 = *__SIMD32(pSrcA)++;
+    /* read 4 samples at a time from sourceB */
+    input2 = *__SIMD32(pSrcB)++;
+
+    /* extract two q7_t samples to q15_t samples */
+    inA1 = __SXTB16(__ROR(input1, 8));
+    /* extract reminaing two samples */
+    inA2 = __SXTB16(input1);
+    /* extract two q7_t samples to q15_t samples */
+    inB1 = __SXTB16(__ROR(input2, 8));
+    /* extract reminaing two samples */
+    inB2 = __SXTB16(input2);
+
+    /* multiply and accumulate two samples at a time */
+    sum = __SMLAD(inA1, inB1, sum);
+    sum = __SMLAD(inA2, inB2, sum);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C = A[0]* B[0] + A[1]* B[1] + A[2]* B[2] + .....+ A[blockSize-1]* B[blockSize-1] */
+    /* Dot product and then store the results in a temporary buffer. */
+    sum = __SMLAD(*pSrcA++, *pSrcB++, sum);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+
+
+  /* Initialize blkCnt with number of samples */
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* C = A[0]* B[0] + A[1]* B[1] + A[2]* B[2] + .....+ A[blockSize-1]* B[blockSize-1] */
+    /* Dot product and then store the results in a temporary buffer. */
+    sum += (q31_t) ((q15_t) * pSrcA++ * *pSrcB++);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+
+  /* Store the result in the destination buffer in 18.14 format */
+  *result = sum;
+}
+
+/**    
+ * @} end of dot_prod group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_f32.c
new file mode 100644
index 000000000..88a458b40
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_f32.c
@@ -0,0 +1,172 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_mult_f32.c    
+*    
+* Description:	Floating-point vector multiplication.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.5  2010/04/26     
+*    incorporated review comments and updated with latest CMSIS layer    
+*    
+* Version 0.0.3  2010/03/10     
+*    Initial version    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**        
+ * @ingroup groupMath        
+ */
+
+/**        
+ * @defgroup BasicMult Vector Multiplication        
+ *        
+ * Element-by-element multiplication of two vectors.        
+ *        
+ * 
        
+ *     pDst[n] = pSrcA[n] * pSrcB[n],   0 <= n < blockSize.        
+ * 
        
+ *        
+ * There are separate functions for floating-point, Q7, Q15, and Q31 data types.        
+ */
+
+/**        
+ * @addtogroup BasicMult        
+ * @{        
+ */
+
+/**        
+ * @brief Floating-point vector multiplication.        
+ * @param[in]       *pSrcA points to the first input vector        
+ * @param[in]       *pSrcB points to the second input vector        
+ * @param[out]      *pDst points to the output vector        
+ * @param[in]       blockSize number of samples in each vector        
+ * @return none.        
+ */
+
+void arm_mult_f32(
+  float32_t * pSrcA,
+  float32_t * pSrcB,
+  float32_t * pDst,
+  uint32_t blockSize)
+{
+  uint32_t blkCnt;                               /* loop counters */
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  float32_t inA1, inA2, inA3, inA4;              /* temporary input variables */
+  float32_t inB1, inB2, inB3, inB4;              /* temporary input variables */
+  float32_t out1, out2, out3, out4;              /* temporary output variables */
+
+  /* loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.        
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = A * B */
+    /* Multiply the inputs and store the results in output buffer */
+    /* read sample from sourceA */
+    inA1 = *pSrcA;
+    /* read sample from sourceB */
+    inB1 = *pSrcB;
+    /* read sample from sourceA */
+    inA2 = *(pSrcA + 1);
+    /* read sample from sourceB */
+    inB2 = *(pSrcB + 1);
+
+    /* out = sourceA * sourceB */
+    out1 = inA1 * inB1;
+
+    /* read sample from sourceA */
+    inA3 = *(pSrcA + 2);
+    /* read sample from sourceB */
+    inB3 = *(pSrcB + 2);
+
+    /* out = sourceA * sourceB */
+    out2 = inA2 * inB2;
+
+    /* read sample from sourceA */
+    inA4 = *(pSrcA + 3);
+
+    /* store result to destination buffer */
+    *pDst = out1;
+
+    /* read sample from sourceB */
+    inB4 = *(pSrcB + 3);
+
+    /* out = sourceA * sourceB */
+    out3 = inA3 * inB3;
+
+    /* store result to destination buffer */
+    *(pDst + 1) = out2;
+
+    /* out = sourceA * sourceB */
+    out4 = inA4 * inB4;
+    /* store result to destination buffer */
+    *(pDst + 2) = out3;
+    /* store result to destination buffer */
+    *(pDst + 3) = out4;
+
+
+    /* update pointers to process next samples */
+    pSrcA += 4u;
+    pSrcB += 4u;
+    pDst += 4u;
+
+    /* Decrement the blockSize loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.        
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Initialize blkCnt with number of samples */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C = A * B */
+    /* Multiply the inputs and store the results in output buffer */
+    *pDst++ = (*pSrcA++) * (*pSrcB++);
+
+    /* Decrement the blockSize loop counter */
+    blkCnt--;
+  }
+}
+
+/**        
+ * @} end of BasicMult group        
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q15.c
new file mode 100644
index 000000000..99d44a4ba
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q15.c
@@ -0,0 +1,152 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_mult_q15.c    
+*    
+* Description:	Q15 vector multiplication.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.5  2010/04/26     
+*    incorporated review comments and updated with latest CMSIS layer    
+*    
+* Version 0.0.3  2010/03/10     
+*    Initial version    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupMath    
+ */
+
+/**    
+ * @addtogroup BasicMult    
+ * @{    
+ */
+
+
+/**    
+ * @brief           Q15 vector multiplication    
+ * @param[in]       *pSrcA points to the first input vector    
+ * @param[in]       *pSrcB points to the second input vector    
+ * @param[out]      *pDst points to the output vector    
+ * @param[in]       blockSize number of samples in each vector    
+ * @return none.    
+ *    
+ * Scaling and Overflow Behavior:    
+ * \par    
+ * The function uses saturating arithmetic.    
+ * Results outside of the allowable Q15 range [0x8000 0x7FFF] will be saturated.    
+ */
+
+void arm_mult_q15(
+  q15_t * pSrcA,
+  q15_t * pSrcB,
+  q15_t * pDst,
+  uint32_t blockSize)
+{
+  uint32_t blkCnt;                               /* loop counters */
+
+#ifndef ARM_MATH_CM0
+
+/* Run the below code for Cortex-M4 and Cortex-M3 */
+  q31_t inA1, inA2, inB1, inB2;                  /* temporary input variables */
+  q15_t out1, out2, out3, out4;                  /* temporary output variables */
+  q31_t mul1, mul2, mul3, mul4;                  /* temporary variables */
+
+  /* loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.        
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* read two samples at a time from sourceA */
+    inA1 = *__SIMD32(pSrcA)++;
+    /* read two samples at a time from sourceB */
+    inB1 = *__SIMD32(pSrcB)++;
+    /* read two samples at a time from sourceA */
+    inA2 = *__SIMD32(pSrcA)++;
+    /* read two samples at a time from sourceB */
+    inB2 = *__SIMD32(pSrcB)++;
+
+    /* multiply mul = sourceA * sourceB */
+    mul1 = (q31_t) ((q15_t) (inA1 >> 16) * (q15_t) (inB1 >> 16));
+    mul2 = (q31_t) ((q15_t) inA1 * (q15_t) inB1);
+    mul3 = (q31_t) ((q15_t) (inA2 >> 16) * (q15_t) (inB2 >> 16));
+    mul4 = (q31_t) ((q15_t) inA2 * (q15_t) inB2);
+
+    /* saturate result to 16 bit */
+    out1 = (q15_t) __SSAT(mul1 >> 15, 16);
+    out2 = (q15_t) __SSAT(mul2 >> 15, 16);
+    out3 = (q15_t) __SSAT(mul3 >> 15, 16);
+    out4 = (q15_t) __SSAT(mul4 >> 15, 16);
+
+    /* store the result */
+#ifndef ARM_MATH_BIG_ENDIAN
+
+    *__SIMD32(pDst)++ = __PKHBT(out2, out1, 16);
+    *__SIMD32(pDst)++ = __PKHBT(out4, out3, 16);
+
+#else
+
+    *__SIMD32(pDst)++ = __PKHBT(out2, out1, 16);
+    *__SIMD32(pDst)++ = __PKHBT(out4, out3, 16);
+
+#endif //      #ifndef ARM_MATH_BIG_ENDIAN
+
+    /* Decrement the blockSize loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Initialize blkCnt with number of samples */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+
+  while(blkCnt > 0u)
+  {
+    /* C = A * B */
+    /* Multiply the inputs and store the result in the destination buffer */
+    *pDst++ = (q15_t) __SSAT((((q31_t) (*pSrcA++) * (*pSrcB++)) >> 15), 16);
+
+    /* Decrement the blockSize loop counter */
+    blkCnt--;
+  }
+}
+
+/**    
+ * @} end of BasicMult group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q31.c
new file mode 100644
index 000000000..37ec8e25e
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q31.c
@@ -0,0 +1,143 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_mult_q31.c    
+*    
+* Description:	Q31 vector multiplication.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.5  2010/04/26     
+*    incorporated review comments and updated with latest CMSIS layer    
+*    
+* Version 0.0.3  2010/03/10     
+*    Initial version    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupMath    
+ */
+
+/**    
+ * @addtogroup BasicMult    
+ * @{    
+ */
+
+/**    
+ * @brief Q31 vector multiplication.    
+ * @param[in]       *pSrcA points to the first input vector    
+ * @param[in]       *pSrcB points to the second input vector    
+ * @param[out]      *pDst points to the output vector    
+ * @param[in]       blockSize number of samples in each vector    
+ * @return none.    
+ *    
+ * Scaling and Overflow Behavior:    
+ * \par    
+ * The function uses saturating arithmetic.    
+ * Results outside of the allowable Q31 range[0x80000000 0x7FFFFFFF] will be saturated.    
+ */
+
+void arm_mult_q31(
+  q31_t * pSrcA,
+  q31_t * pSrcB,
+  q31_t * pDst,
+  uint32_t blockSize)
+{
+  uint32_t blkCnt;                               /* loop counters */
+
+#ifndef ARM_MATH_CM0
+
+/* Run the below code for Cortex-M4 and Cortex-M3 */
+  q31_t inA1, inA2, inA3, inA4;                  /* temporary input variables */
+  q31_t inB1, inB2, inB3, inB4;                  /* temporary input variables */
+  q31_t out1, out2, out3, out4;                  /* temporary output variables */
+
+  /* loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = A * B */
+    /* Multiply the inputs and then store the results in the destination buffer. */
+    inA1 = *pSrcA++;
+    inA2 = *pSrcA++;
+    inA3 = *pSrcA++;
+    inA4 = *pSrcA++;
+    inB1 = *pSrcB++;
+    inB2 = *pSrcB++;
+    inB3 = *pSrcB++;
+    inB4 = *pSrcB++;
+
+    out1 = ((q63_t) inA1 * inB1) >> 32;
+    out2 = ((q63_t) inA2 * inB2) >> 32;
+    out3 = ((q63_t) inA3 * inB3) >> 32;
+    out4 = ((q63_t) inA4 * inB4) >> 32;
+
+    out1 = __SSAT(out1, 31);
+    out2 = __SSAT(out2, 31);
+    out3 = __SSAT(out3, 31);
+    out4 = __SSAT(out4, 31);
+
+    *pDst++ = out1 << 1u;
+    *pDst++ = out2 << 1u;
+    *pDst++ = out3 << 1u;
+    *pDst++ = out4 << 1u;
+
+    /* Decrement the blockSize loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Initialize blkCnt with number of samples */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C = A * B */
+    /* Multiply the inputs and then store the results in the destination buffer. */
+    *pDst++ =
+      (q31_t) clip_q63_to_q31(((q63_t) (*pSrcA++) * (*pSrcB++)) >> 31);
+
+    /* Decrement the blockSize loop counter */
+    blkCnt--;
+  }
+}
+
+/**    
+ * @} end of BasicMult group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q7.c
new file mode 100644
index 000000000..14ee23ea6
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_mult_q7.c
@@ -0,0 +1,128 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_mult_q7.c    
+*    
+* Description:	Q7 vector multiplication.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+*    
+* Version 0.0.5  2010/04/26     
+*    incorporated review comments and updated with latest CMSIS layer    
+*    
+* Version 0.0.3  2010/03/10 DP    
+*    Initial version    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupMath    
+ */
+
+/**    
+ * @addtogroup BasicMult    
+ * @{    
+ */
+
+/**    
+ * @brief           Q7 vector multiplication    
+ * @param[in]       *pSrcA points to the first input vector    
+ * @param[in]       *pSrcB points to the second input vector    
+ * @param[out]      *pDst points to the output vector    
+ * @param[in]       blockSize number of samples in each vector    
+ * @return none.    
+ *    
+ * Scaling and Overflow Behavior:    
+ * \par    
+ * The function uses saturating arithmetic.    
+ * Results outside of the allowable Q7 range [0x80 0x7F] will be saturated.    
+ */
+
+void arm_mult_q7(
+  q7_t * pSrcA,
+  q7_t * pSrcB,
+  q7_t * pDst,
+  uint32_t blockSize)
+{
+  uint32_t blkCnt;                               /* loop counters */
+
+#ifndef ARM_MATH_CM0
+
+/* Run the below code for Cortex-M4 and Cortex-M3 */
+  q7_t out1, out2, out3, out4;                   /* Temporary variables to store the product */
+
+  /* loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = A * B */
+    /* Multiply the inputs and store the results in temporary variables */
+    out1 = (q7_t) __SSAT((((q15_t) (*pSrcA++) * (*pSrcB++)) >> 7), 8);
+    out2 = (q7_t) __SSAT((((q15_t) (*pSrcA++) * (*pSrcB++)) >> 7), 8);
+    out3 = (q7_t) __SSAT((((q15_t) (*pSrcA++) * (*pSrcB++)) >> 7), 8);
+    out4 = (q7_t) __SSAT((((q15_t) (*pSrcA++) * (*pSrcB++)) >> 7), 8);
+
+    /* Store the results of 4 inputs in the destination buffer in single cycle by packing */
+    *__SIMD32(pDst)++ = __PACKq7(out1, out2, out3, out4);
+
+    /* Decrement the blockSize loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Initialize blkCnt with number of samples */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+
+  while(blkCnt > 0u)
+  {
+    /* C = A * B */
+    /* Multiply the inputs and store the result in the destination buffer */
+    *pDst++ = (q7_t) __SSAT((((q15_t) (*pSrcA++) * (*pSrcB++)) >> 7), 8);
+
+    /* Decrement the blockSize loop counter */
+    blkCnt--;
+  }
+}
+
+/**    
+ * @} end of BasicMult group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_f32.c
new file mode 100644
index 000000000..4f4d423ac
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_f32.c
@@ -0,0 +1,137 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_negate_f32.c    
+*    
+* Description:	Negates floating-point vectors.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**        
+ * @ingroup groupMath        
+ */
+
+/**        
+ * @defgroup negate Vector Negate        
+ *        
+ * Negates the elements of a vector.        
+ *        
+ * 
        
+ *     pDst[n] = -pSrc[n],   0 <= n < blockSize.        
+ * 
        
+ */
+
+/**        
+ * @addtogroup negate        
+ * @{        
+ */
+
+/**        
+ * @brief  Negates the elements of a floating-point vector.        
+ * @param[in]  *pSrc points to the input vector        
+ * @param[out]  *pDst points to the output vector        
+ * @param[in]  blockSize number of samples in the vector        
+ * @return none.        
+ */
+
+void arm_negate_f32(
+  float32_t * pSrc,
+  float32_t * pDst,
+  uint32_t blockSize)
+{
+  uint32_t blkCnt;                               /* loop counter */
+
+
+#ifndef ARM_MATH_CM0
+
+/* Run the below code for Cortex-M4 and Cortex-M3 */
+  float32_t in1, in2, in3, in4;                  /* temporary variables */
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.        
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* read inputs from source */
+    in1 = *pSrc;
+    in2 = *(pSrc + 1);
+    in3 = *(pSrc + 2);
+    in4 = *(pSrc + 3);
+
+    /* negate the input */
+    in1 = -in1;
+    in2 = -in2;
+    in3 = -in3;
+    in4 = -in4;
+
+    /* store the result to destination */
+    *pDst = in1;
+    *(pDst + 1) = in2;
+    *(pDst + 2) = in3;
+    *(pDst + 3) = in4;
+
+    /* update pointers to process next samples */
+    pSrc += 4u;
+    pDst += 4u;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.        
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Initialize blkCnt with number of samples */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C = -A */
+    /* Negate and then store the results in the destination buffer. */
+    *pDst++ = -*pSrc++;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+}
+
+/**        
+ * @} end of negate group        
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q15.c
new file mode 100644
index 000000000..21d58d1a4
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q15.c
@@ -0,0 +1,137 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_negate_q15.c    
+*    
+* Description:	Negates Q15 vectors.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* -------------------------------------------------------------------- */
+#include "arm_math.h"
+
+/**        
+ * @ingroup groupMath        
+ */
+
+/**        
+ * @addtogroup negate        
+ * @{        
+ */
+
+/**        
+ * @brief  Negates the elements of a Q15 vector.        
+ * @param[in]  *pSrc points to the input vector        
+ * @param[out]  *pDst points to the output vector        
+ * @param[in]  blockSize number of samples in the vector        
+ * @return none.        
+ *    
+ * \par Conditions for optimum performance    
+ *  Input and output buffers should be aligned by 32-bit    
+ *    
+ *        
+ * Scaling and Overflow Behavior:        
+ * \par        
+ * The function uses saturating arithmetic.        
+ * The Q15 value -1 (0x8000) will be saturated to the maximum allowable positive value 0x7FFF.        
+ */
+
+void arm_negate_q15(
+  q15_t * pSrc,
+  q15_t * pDst,
+  uint32_t blockSize)
+{
+  uint32_t blkCnt;                               /* loop counter */
+  q15_t in;
+
+#ifndef ARM_MATH_CM0
+
+/* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q31_t in1, in2;                                /* Temporary variables */
+
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.        
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = -A */
+    /* Read two inputs at a time */
+    in1 = _SIMD32_OFFSET(pSrc);
+    in2 = _SIMD32_OFFSET(pSrc + 2);
+
+    /* negate two samples at a time */
+    in1 = __QSUB16(0, in1);
+
+    /* negate two samples at a time */
+    in2 = __QSUB16(0, in2);
+
+    /* store the result to destination 2 samples at a time */
+    _SIMD32_OFFSET(pDst) = in1;
+    /* store the result to destination 2 samples at a time */
+    _SIMD32_OFFSET(pDst + 2) = in2;
+
+
+    /* update pointers to process next samples */
+    pSrc += 4u;
+    pDst += 4u;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.        
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Initialize blkCnt with number of samples */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C = -A */
+    /* Negate and then store the result in the destination buffer. */
+    in = *pSrc++;
+    *pDst++ = (in == (q15_t) 0x8000) ? 0x7fff : -in;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+}
+
+/**        
+ * @} end of negate group        
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q31.c
new file mode 100644
index 000000000..fc28c3621
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q31.c
@@ -0,0 +1,124 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_negate_q31.c    
+*    
+* Description:	Negates Q31 vectors.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupMath    
+ */
+
+/**    
+ * @addtogroup negate    
+ * @{    
+ */
+
+/**    
+ * @brief  Negates the elements of a Q31 vector.    
+ * @param[in]  *pSrc points to the input vector    
+ * @param[out]  *pDst points to the output vector    
+ * @param[in]  blockSize number of samples in the vector    
+ * @return none.    
+ *    
+ * Scaling and Overflow Behavior:    
+ * \par    
+ * The function uses saturating arithmetic.    
+ * The Q31 value -1 (0x80000000) will be saturated to the maximum allowable positive value 0x7FFFFFFF.    
+ */
+
+void arm_negate_q31(
+  q31_t * pSrc,
+  q31_t * pDst,
+  uint32_t blockSize)
+{
+  q31_t in;                                      /* Temporary variable */
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+/* Run the below code for Cortex-M4 and Cortex-M3 */
+  q31_t in1, in2, in3, in4;
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = -A */
+    /* Negate and then store the results in the destination buffer. */
+    in1 = *pSrc++;
+    in2 = *pSrc++;
+    in3 = *pSrc++;
+    in4 = *pSrc++;
+
+    *pDst++ = __QSUB(0, in1);
+    *pDst++ = __QSUB(0, in2);
+    *pDst++ = __QSUB(0, in3);
+    *pDst++ = __QSUB(0, in4);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Initialize blkCnt with number of samples */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+
+  while(blkCnt > 0u)
+  {
+    /* C = -A */
+    /* Negate and then store the result in the destination buffer. */
+    in = *pSrc++;
+    *pDst++ = (in == 0x80000000) ? 0x7fffffff : -in;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+}
+
+/**    
+ * @} end of negate group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q7.c
new file mode 100644
index 000000000..601fb7393
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_negate_q7.c
@@ -0,0 +1,120 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_negate_q7.c    
+*    
+* Description:	Negates Q7 vectors.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupMath    
+ */
+
+/**    
+ * @addtogroup negate    
+ * @{    
+ */
+
+/**    
+ * @brief  Negates the elements of a Q7 vector.    
+ * @param[in]  *pSrc points to the input vector    
+ * @param[out]  *pDst points to the output vector    
+ * @param[in]  blockSize number of samples in the vector    
+ * @return none.    
+ *    
+ * Scaling and Overflow Behavior:    
+ * \par    
+ * The function uses saturating arithmetic.    
+ * The Q7 value -1 (0x80) will be saturated to the maximum allowable positive value 0x7F.    
+ */
+
+void arm_negate_q7(
+  q7_t * pSrc,
+  q7_t * pDst,
+  uint32_t blockSize)
+{
+  uint32_t blkCnt;                               /* loop counter */
+  q7_t in;
+
+#ifndef ARM_MATH_CM0
+
+/* Run the below code for Cortex-M4 and Cortex-M3 */
+  q31_t input;                                   /* Input values1-4 */
+  q31_t zero = 0x00000000;
+
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = -A */
+    /* Read four inputs */
+    input = *__SIMD32(pSrc)++;
+
+    /* Store the Negated results in the destination buffer in a single cycle by packing the results */
+    *__SIMD32(pDst)++ = __QSUB8(zero, input);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Initialize blkCnt with number of samples */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C = -A */
+    /* Negate and then store the results in the destination buffer. */ \
+      in = *pSrc++;
+    *pDst++ = (in == (q7_t) 0x80) ? 0x7f : -in;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+}
+
+/**    
+ * @} end of negate group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_f32.c
new file mode 100644
index 000000000..4bdf06ee8
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_f32.c
@@ -0,0 +1,158 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_offset_f32.c    
+*    
+* Description:	Floating-point vector offset.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* ---------------------------------------------------------------------------- */
+#include "arm_math.h"
+
+/**        
+ * @ingroup groupMath        
+ */
+
+/**        
+ * @defgroup offset Vector Offset        
+ *        
+ * Adds a constant offset to each element of a vector.        
+ *        
+ * 
        
+ *     pDst[n] = pSrc[n] + offset,   0 <= n < blockSize.        
+ * 
        
+ *        
+ * There are separate functions for floating-point, Q7, Q15, and Q31 data types.        
+ */
+
+/**        
+ * @addtogroup offset        
+ * @{        
+ */
+
+/**        
+ * @brief  Adds a constant offset to a floating-point vector.        
+ * @param[in]  *pSrc points to the input vector        
+ * @param[in]  offset is the offset to be added        
+ * @param[out]  *pDst points to the output vector        
+ * @param[in]  blockSize number of samples in the vector        
+ * @return none.        
+ */
+
+
+void arm_offset_f32(
+  float32_t * pSrc,
+  float32_t offset,
+  float32_t * pDst,
+  uint32_t blockSize)
+{
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+/* Run the below code for Cortex-M4 and Cortex-M3 */
+  float32_t in1, in2, in3, in4;
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.        
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = A + offset */
+    /* Add offset and then store the results in the destination buffer. */
+    /* read samples from source */
+    in1 = *pSrc;
+    in2 = *(pSrc + 1);
+
+    /* add offset to input */
+    in1 = in1 + offset;
+
+    /* read samples from source */
+    in3 = *(pSrc + 2);
+
+    /* add offset to input */
+    in2 = in2 + offset;
+
+    /* read samples from source */
+    in4 = *(pSrc + 3);
+
+    /* add offset to input */
+    in3 = in3 + offset;
+
+    /* store result to destination */
+    *pDst = in1;
+
+    /* add offset to input */
+    in4 = in4 + offset;
+
+    /* store result to destination */
+    *(pDst + 1) = in2;
+
+    /* store result to destination */
+    *(pDst + 2) = in3;
+
+    /* store result to destination */
+    *(pDst + 3) = in4;
+
+    /* update pointers to process next samples */
+    pSrc += 4u;
+    pDst += 4u;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.        
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Initialize blkCnt with number of samples */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C = A + offset */
+    /* Add offset and then store the result in the destination buffer. */
+    *pDst++ = (*pSrc++) + offset;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+}
+
+/**        
+ * @} end of offset group        
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q15.c
new file mode 100644
index 000000000..f8158f066
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q15.c
@@ -0,0 +1,131 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_offset_q15.c    
+*    
+* Description:	Q15 vector offset.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupMath    
+ */
+
+/**    
+ * @addtogroup offset    
+ * @{    
+ */
+
+/**    
+ * @brief  Adds a constant offset to a Q15 vector.    
+ * @param[in]  *pSrc points to the input vector    
+ * @param[in]  offset is the offset to be added    
+ * @param[out]  *pDst points to the output vector    
+ * @param[in]  blockSize number of samples in the vector    
+ * @return none.    
+ *    
+ * Scaling and Overflow Behavior:    
+ * \par    
+ * The function uses saturating arithmetic.    
+ * Results outside of the allowable Q15 range [0x8000 0x7FFF] are saturated.    
+ */
+
+void arm_offset_q15(
+  q15_t * pSrc,
+  q15_t offset,
+  q15_t * pDst,
+  uint32_t blockSize)
+{
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+/* Run the below code for Cortex-M4 and Cortex-M3 */
+  q31_t offset_packed;                           /* Offset packed to 32 bit */
+
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* Offset is packed to 32 bit in order to use SIMD32 for addition */
+  offset_packed = __PKHBT(offset, offset, 16);
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = A + offset */
+    /* Add offset and then store the results in the destination buffer, 2 samples at a time. */
+    *__SIMD32(pDst)++ = __QADD16(*__SIMD32(pSrc)++, offset_packed);
+    *__SIMD32(pDst)++ = __QADD16(*__SIMD32(pSrc)++, offset_packed);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C = A + offset */
+    /* Add offset and then store the results in the destination buffer. */
+    *pDst++ = (q15_t) __QADD16(*pSrc++, offset);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Initialize blkCnt with number of samples */
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* C = A + offset */
+    /* Add offset and then store the results in the destination buffer. */
+    *pDst++ = (q15_t) __SSAT(((q31_t) * pSrc++ + offset), 16);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/**    
+ * @} end of offset group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q31.c
new file mode 100644
index 000000000..8b03ee372
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q31.c
@@ -0,0 +1,135 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_offset_q31.c    
+*    
+* Description:	Q31 vector offset.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupMath    
+ */
+
+/**    
+ * @addtogroup offset    
+ * @{    
+ */
+
+/**    
+ * @brief  Adds a constant offset to a Q31 vector.    
+ * @param[in]  *pSrc points to the input vector    
+ * @param[in]  offset is the offset to be added    
+ * @param[out]  *pDst points to the output vector    
+ * @param[in]  blockSize number of samples in the vector    
+ * @return none.    
+ *    
+ * Scaling and Overflow Behavior:    
+ * \par    
+ * The function uses saturating arithmetic.    
+ * Results outside of the allowable Q31 range [0x80000000 0x7FFFFFFF] are saturated.    
+ */
+
+void arm_offset_q31(
+  q31_t * pSrc,
+  q31_t offset,
+  q31_t * pDst,
+  uint32_t blockSize)
+{
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+/* Run the below code for Cortex-M4 and Cortex-M3 */
+  q31_t in1, in2, in3, in4;
+
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = A + offset */
+    /* Add offset and then store the results in the destination buffer. */
+    in1 = *pSrc++;
+    in2 = *pSrc++;
+    in3 = *pSrc++;
+    in4 = *pSrc++;
+
+    *pDst++ = __QADD(in1, offset);
+    *pDst++ = __QADD(in2, offset);
+    *pDst++ = __QADD(in3, offset);
+    *pDst++ = __QADD(in4, offset);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C = A + offset */
+    /* Add offset and then store the result in the destination buffer. */
+    *pDst++ = __QADD(*pSrc++, offset);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Initialize blkCnt with number of samples */
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* C = A + offset */
+    /* Add offset and then store the result in the destination buffer. */
+    *pDst++ = (q31_t) clip_q63_to_q31((q63_t) * pSrc++ + offset);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/**    
+ * @} end of offset group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q7.c
new file mode 100644
index 000000000..56643816f
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_offset_q7.c
@@ -0,0 +1,130 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_offset_q7.c    
+*    
+* Description:	Q7 vector offset.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupMath    
+ */
+
+/**    
+ * @addtogroup offset    
+ * @{    
+ */
+
+/**    
+ * @brief  Adds a constant offset to a Q7 vector.    
+ * @param[in]  *pSrc points to the input vector    
+ * @param[in]  offset is the offset to be added    
+ * @param[out]  *pDst points to the output vector    
+ * @param[in]  blockSize number of samples in the vector    
+ * @return none.    
+ *    
+ * Scaling and Overflow Behavior:    
+ * \par    
+ * The function uses saturating arithmetic.    
+ * Results outside of the allowable Q7 range [0x80 0x7F] are saturated.    
+ */
+
+void arm_offset_q7(
+  q7_t * pSrc,
+  q7_t offset,
+  q7_t * pDst,
+  uint32_t blockSize)
+{
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+/* Run the below code for Cortex-M4 and Cortex-M3 */
+  q31_t offset_packed;                           /* Offset packed to 32 bit */
+
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* Offset is packed to 32 bit in order to use SIMD32 for addition */
+  offset_packed = __PACKq7(offset, offset, offset, offset);
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = A + offset */
+    /* Add offset and then store the results in the destination bufferfor 4 samples at a time. */
+    *__SIMD32(pDst)++ = __QADD8(*__SIMD32(pSrc)++, offset_packed);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C = A + offset */
+    /* Add offset and then store the result in the destination buffer. */
+    *pDst++ = (q7_t) __SSAT(*pSrc++ + offset, 8);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Initialize blkCnt with number of samples */
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* C = A + offset */
+    /* Add offset and then store the result in the destination buffer. */
+    *pDst++ = (q7_t) __SSAT((q15_t) * pSrc++ + offset, 8);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/**    
+ * @} end of offset group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_f32.c
new file mode 100644
index 000000000..b77144a3e
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_f32.c
@@ -0,0 +1,161 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_scale_f32.c    
+*    
+* Description:	Multiplies a floating-point vector by a scalar.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**        
+ * @ingroup groupMath        
+ */
+
+/**        
+ * @defgroup scale Vector Scale        
+ *        
+ * Multiply a vector by a scalar value.  For floating-point data, the algorithm used is:        
+ *        
+ * 
        
+ *     pDst[n] = pSrc[n] * scale,   0 <= n < blockSize.        
+ * 
        
+ *        
+ * In the fixed-point Q7, Q15, and Q31 functions, scale is represented by        
+ * a fractional multiplication scaleFract and an arithmetic shift shift.        
+ * The shift allows the gain of the scaling operation to exceed 1.0.        
+ * The algorithm used with fixed-point data is:        
+ *        
+ * 
        
+ *     pDst[n] = (pSrc[n] * scaleFract) << shift,   0 <= n < blockSize.        
+ * 
        
+ *        
+ * The overall scale factor applied to the fixed-point data is        
+ * 
        
+ *     scale = scaleFract * 2^shift.        
+ * 
        
+ */
+
+/**        
+ * @addtogroup scale        
+ * @{        
+ */
+
+/**        
+ * @brief Multiplies a floating-point vector by a scalar.        
+ * @param[in]       *pSrc points to the input vector        
+ * @param[in]       scale scale factor to be applied        
+ * @param[out]      *pDst points to the output vector        
+ * @param[in]       blockSize number of samples in the vector        
+ * @return none.        
+ */
+
+
+void arm_scale_f32(
+  float32_t * pSrc,
+  float32_t scale,
+  float32_t * pDst,
+  uint32_t blockSize)
+{
+  uint32_t blkCnt;                               /* loop counter */
+#ifndef ARM_MATH_CM0
+
+/* Run the below code for Cortex-M4 and Cortex-M3 */
+  float32_t in1, in2, in3, in4;                  /* temporary variabels */
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.        
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = A * scale */
+    /* Scale the input and then store the results in the destination buffer. */
+    /* read input samples from source */
+    in1 = *pSrc;
+    in2 = *(pSrc + 1);
+
+    /* multiply with scaling factor */
+    in1 = in1 * scale;
+
+    /* read input sample from source */
+    in3 = *(pSrc + 2);
+
+    /* multiply with scaling factor */
+    in2 = in2 * scale;
+
+    /* read input sample from source */
+    in4 = *(pSrc + 3);
+
+    /* multiply with scaling factor */
+    in3 = in3 * scale;
+    in4 = in4 * scale;
+    /* store the result to destination */
+    *pDst = in1;
+    *(pDst + 1) = in2;
+    *(pDst + 2) = in3;
+    *(pDst + 3) = in4;
+
+    /* update pointers to process next samples */
+    pSrc += 4u;
+    pDst += 4u;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.        
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Initialize blkCnt with number of samples */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C = A * scale */
+    /* Scale the input and then store the result in the destination buffer. */
+    *pDst++ = (*pSrc++) * scale;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+}
+
+/**        
+ * @} end of scale group        
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q15.c
new file mode 100644
index 000000000..9e79202fe
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q15.c
@@ -0,0 +1,157 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_scale_q15.c    
+*    
+* Description:	Multiplies a Q15 vector by a scalar.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupMath    
+ */
+
+/**    
+ * @addtogroup scale    
+ * @{    
+ */
+
+/**    
+ * @brief Multiplies a Q15 vector by a scalar.    
+ * @param[in]       *pSrc points to the input vector    
+ * @param[in]       scaleFract fractional portion of the scale value    
+ * @param[in]       shift number of bits to shift the result by    
+ * @param[out]      *pDst points to the output vector    
+ * @param[in]       blockSize number of samples in the vector    
+ * @return none.    
+ *    
+ * Scaling and Overflow Behavior:    
+ * \par    
+ * The input data *pSrc and scaleFract are in 1.15 format.    
+ * These are multiplied to yield a 2.30 intermediate result and this is shifted with saturation to 1.15 format.    
+ */
+
+
+void arm_scale_q15(
+  q15_t * pSrc,
+  q15_t scaleFract,
+  int8_t shift,
+  q15_t * pDst,
+  uint32_t blockSize)
+{
+  int8_t kShift = 15 - shift;                    /* shift to apply after scaling */
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+/* Run the below code for Cortex-M4 and Cortex-M3 */
+  q15_t in1, in2, in3, in4;
+  q31_t inA1, inA2;                              /* Temporary variables */
+  q31_t out1, out2, out3, out4;
+
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.        
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* Reading 2 inputs from memory */
+    inA1 = *__SIMD32(pSrc)++;
+    inA2 = *__SIMD32(pSrc)++;
+
+    /* C = A * scale */
+    /* Scale the inputs and then store the 2 results in the destination buffer        
+     * in single cycle by packing the outputs */
+    out1 = (q31_t) ((q15_t) (inA1 >> 16) * scaleFract);
+    out2 = (q31_t) ((q15_t) inA1 * scaleFract);
+    out3 = (q31_t) ((q15_t) (inA2 >> 16) * scaleFract);
+    out4 = (q31_t) ((q15_t) inA2 * scaleFract);
+
+    /* apply shifting */
+    out1 = out1 >> kShift;
+    out2 = out2 >> kShift;
+    out3 = out3 >> kShift;
+    out4 = out4 >> kShift;
+
+    /* saturate the output */
+    in1 = (q15_t) (__SSAT(out1, 16));
+    in2 = (q15_t) (__SSAT(out2, 16));
+    in3 = (q15_t) (__SSAT(out3, 16));
+    in4 = (q15_t) (__SSAT(out4, 16));
+
+    /* store the result to destination */
+    *__SIMD32(pDst)++ = __PKHBT(in2, in1, 16);
+    *__SIMD32(pDst)++ = __PKHBT(in4, in3, 16);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C = A * scale */
+    /* Scale the input and then store the result in the destination buffer. */
+    *pDst++ = (q15_t) (__SSAT(((*pSrc++) * scaleFract) >> kShift, 16));
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Initialize blkCnt with number of samples */
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* C = A * scale */
+    /* Scale the input and then store the result in the destination buffer. */
+    *pDst++ = (q15_t) (__SSAT(((q31_t) * pSrc++ * scaleFract) >> kShift, 16));
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/**    
+ * @} end of scale group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q31.c
new file mode 100644
index 000000000..8e9b50e72
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q31.c
@@ -0,0 +1,221 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_scale_q31.c    
+*    
+* Description:	Multiplies a Q31 vector by a scalar.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**       
+ * @ingroup groupMath       
+ */
+
+/**       
+ * @addtogroup scale       
+ * @{       
+ */
+
+/**       
+ * @brief Multiplies a Q31 vector by a scalar.       
+ * @param[in]       *pSrc points to the input vector       
+ * @param[in]       scaleFract fractional portion of the scale value       
+ * @param[in]       shift number of bits to shift the result by       
+ * @param[out]      *pDst points to the output vector       
+ * @param[in]       blockSize number of samples in the vector       
+ * @return none.       
+ *       
+ * Scaling and Overflow Behavior:       
+ * \par       
+ * The input data *pSrc and scaleFract are in 1.31 format.       
+ * These are multiplied to yield a 2.62 intermediate result and this is shifted with saturation to 1.31 format.       
+ */
+
+void arm_scale_q31(
+  q31_t * pSrc,
+  q31_t scaleFract,
+  int8_t shift,
+  q31_t * pDst,
+  uint32_t blockSize)
+{
+  int8_t kShift = shift + 1;                     /* Shift to apply after scaling */
+  int8_t sign = (kShift & 0x80);
+  uint32_t blkCnt;                               /* loop counter */
+  q31_t in, out;
+
+#ifndef ARM_MATH_CM0
+
+/* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q31_t in1, in2, in3, in4;                      /* temporary input variables */
+  q31_t out1, out2, out3, out4;                  /* temporary output variabels */
+
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  if(sign == 0u)
+  {
+    /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.       
+     ** a second loop below computes the remaining 1 to 3 samples. */
+    while(blkCnt > 0u)
+    {
+      /* read four inputs from source */
+      in1 = *pSrc;
+      in2 = *(pSrc + 1);
+      in3 = *(pSrc + 2);
+      in4 = *(pSrc + 3);
+
+      /* multiply input with scaler value */
+      in1 = ((q63_t) in1 * scaleFract) >> 32;
+      in2 = ((q63_t) in2 * scaleFract) >> 32;
+      in3 = ((q63_t) in3 * scaleFract) >> 32;
+      in4 = ((q63_t) in4 * scaleFract) >> 32;
+
+      /* apply shifting */
+      out1 = in1 << kShift;
+      out2 = in2 << kShift;
+
+      /* saturate the results. */
+      if(in1 != (out1 >> kShift))
+        out1 = 0x7FFFFFFF ^ (in1 >> 31);
+
+      if(in2 != (out2 >> kShift))
+        out2 = 0x7FFFFFFF ^ (in2 >> 31);
+
+      out3 = in3 << kShift;
+      out4 = in4 << kShift;
+
+      *pDst = out1;
+      *(pDst + 1) = out2;
+
+      if(in3 != (out3 >> kShift))
+        out3 = 0x7FFFFFFF ^ (in3 >> 31);
+
+      if(in4 != (out4 >> kShift))
+        out4 = 0x7FFFFFFF ^ (in4 >> 31);
+
+      /* Store result destination */
+      *(pDst + 2) = out3;
+      *(pDst + 3) = out4;
+
+      /* Update pointers to process next sampels */
+      pSrc += 4u;
+      pDst += 4u;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+  }
+  else
+  {
+    kShift = -kShift;
+
+    /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.       
+     ** a second loop below computes the remaining 1 to 3 samples. */
+    while(blkCnt > 0u)
+    {
+      /* read four inputs from source */
+      in1 = *pSrc;
+      in2 = *(pSrc + 1);
+      in3 = *(pSrc + 2);
+      in4 = *(pSrc + 3);
+
+      /* multiply input with scaler value */
+      in1 = ((q63_t) in1 * scaleFract) >> 32;
+      in2 = ((q63_t) in2 * scaleFract) >> 32;
+      in3 = ((q63_t) in3 * scaleFract) >> 32;
+      in4 = ((q63_t) in4 * scaleFract) >> 32;
+
+      /* apply shifting */
+      out1 = in1 >> kShift;
+      out2 = in2 >> kShift;
+
+      out3 = in3 >> kShift;
+      out4 = in4 >> kShift;
+
+      /* Store result destination */
+      *pDst = out1;
+      *(pDst + 1) = out2;
+
+      *(pDst + 2) = out3;
+      *(pDst + 3) = out4;
+
+      /* Update pointers to process next sampels */
+      pSrc += 4u;
+      pDst += 4u;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.       
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Initialize blkCnt with number of samples */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C = A * scale */
+    /* Scale the input and then store the result in the destination buffer. */
+    in = *pSrc++;
+    in = ((q63_t) in * scaleFract) >> 32;
+
+    if(sign == 0)
+    {
+      out = in << kShift;
+      if(in != (out >> kShift))
+        out = 0x7FFFFFFF ^ (in >> 31);
+    }
+    else
+    {
+      out = in >> kShift;
+    }
+
+    *pDst++ = out;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+}
+
+/**       
+ * @} end of scale group       
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q7.c
new file mode 100644
index 000000000..76c35e656
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_scale_q7.c
@@ -0,0 +1,144 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_scale_q7.c    
+*    
+* Description:	Multiplies a Q7 vector by a scalar.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupMath    
+ */
+
+/**    
+ * @addtogroup scale    
+ * @{    
+ */
+
+/**    
+ * @brief Multiplies a Q7 vector by a scalar.    
+ * @param[in]       *pSrc points to the input vector    
+ * @param[in]       scaleFract fractional portion of the scale value    
+ * @param[in]       shift number of bits to shift the result by    
+ * @param[out]      *pDst points to the output vector    
+ * @param[in]       blockSize number of samples in the vector    
+ * @return none.    
+ *    
+ * Scaling and Overflow Behavior:    
+ * \par    
+ * The input data *pSrc and scaleFract are in 1.7 format.    
+ * These are multiplied to yield a 2.14 intermediate result and this is shifted with saturation to 1.7 format.    
+ */
+
+void arm_scale_q7(
+  q7_t * pSrc,
+  q7_t scaleFract,
+  int8_t shift,
+  q7_t * pDst,
+  uint32_t blockSize)
+{
+  int8_t kShift = 7 - shift;                     /* shift to apply after scaling */
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+/* Run the below code for Cortex-M4 and Cortex-M3 */
+  q7_t in1, in2, in3, in4, out1, out2, out3, out4;      /* Temporary variables to store input & output */
+
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* Reading 4 inputs from memory */
+    in1 = *pSrc++;
+    in2 = *pSrc++;
+    in3 = *pSrc++;
+    in4 = *pSrc++;
+
+    /* C = A * scale */
+    /* Scale the inputs and then store the results in the temporary variables. */
+    out1 = (q7_t) (__SSAT(((in1) * scaleFract) >> kShift, 8));
+    out2 = (q7_t) (__SSAT(((in2) * scaleFract) >> kShift, 8));
+    out3 = (q7_t) (__SSAT(((in3) * scaleFract) >> kShift, 8));
+    out4 = (q7_t) (__SSAT(((in4) * scaleFract) >> kShift, 8));
+
+    /* Packing the individual outputs into 32bit and storing in    
+     * destination buffer in single write */
+    *__SIMD32(pDst)++ = __PACKq7(out1, out2, out3, out4);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C = A * scale */
+    /* Scale the input and then store the result in the destination buffer. */
+    *pDst++ = (q7_t) (__SSAT(((*pSrc++) * scaleFract) >> kShift, 8));
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Initialize blkCnt with number of samples */
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* C = A * scale */
+    /* Scale the input and then store the result in the destination buffer. */
+    *pDst++ = (q7_t) (__SSAT((((q15_t) * pSrc++ * scaleFract) >> kShift), 8));
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/**    
+ * @} end of scale group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_shift_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_shift_q15.c
new file mode 100644
index 000000000..b8301e63d
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_shift_q15.c
@@ -0,0 +1,243 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_shift_q15.c    
+*    
+* Description:	Shifts the elements of a Q15 vector by a specified number of bits.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupMath    
+ */
+
+/**    
+ * @addtogroup shift    
+ * @{    
+ */
+
+/**    
+ * @brief  Shifts the elements of a Q15 vector a specified number of bits.    
+ * @param[in]  *pSrc points to the input vector    
+ * @param[in]  shiftBits number of bits to shift.  A positive value shifts left; a negative value shifts right.    
+ * @param[out]  *pDst points to the output vector    
+ * @param[in]  blockSize number of samples in the vector    
+ * @return none.    
+ *    
+ * Scaling and Overflow Behavior:    
+ * \par    
+ * The function uses saturating arithmetic.    
+ * Results outside of the allowable Q15 range [0x8000 0x7FFF] will be saturated.    
+ */
+
+void arm_shift_q15(
+  q15_t * pSrc,
+  int8_t shiftBits,
+  q15_t * pDst,
+  uint32_t blockSize)
+{
+  uint32_t blkCnt;                               /* loop counter */
+  uint8_t sign;                                  /* Sign of shiftBits */
+
+#ifndef ARM_MATH_CM0
+
+/* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q15_t in1, in2;                                /* Temporary variables */
+
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* Getting the sign of shiftBits */
+  sign = (shiftBits & 0x80);
+
+  /* If the shift value is positive then do right shift else left shift */
+  if(sign == 0u)
+  {
+    /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+     ** a second loop below computes the remaining 1 to 3 samples. */
+    while(blkCnt > 0u)
+    {
+      /* Read 2 inputs */
+      in1 = *pSrc++;
+      in2 = *pSrc++;
+      /* C = A << shiftBits */
+      /* Shift the inputs and then store the results in the destination buffer. */
+#ifndef  ARM_MATH_BIG_ENDIAN
+
+      *__SIMD32(pDst)++ = __PKHBT(__SSAT((in1 << shiftBits), 16),
+                                  __SSAT((in2 << shiftBits), 16), 16);
+
+#else
+
+      *__SIMD32(pDst)++ = __PKHBT(__SSAT((in2 << shiftBits), 16),
+                                  __SSAT((in1 << shiftBits), 16), 16);
+
+#endif /* #ifndef  ARM_MATH_BIG_ENDIAN    */
+
+      in1 = *pSrc++;
+      in2 = *pSrc++;
+
+#ifndef  ARM_MATH_BIG_ENDIAN
+
+      *__SIMD32(pDst)++ = __PKHBT(__SSAT((in1 << shiftBits), 16),
+                                  __SSAT((in2 << shiftBits), 16), 16);
+
+#else
+
+      *__SIMD32(pDst)++ = __PKHBT(__SSAT((in2 << shiftBits), 16),
+                                  __SSAT((in1 << shiftBits), 16), 16);
+
+#endif /* #ifndef  ARM_MATH_BIG_ENDIAN    */
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+     ** No loop unrolling is used. */
+    blkCnt = blockSize % 0x4u;
+
+    while(blkCnt > 0u)
+    {
+      /* C = A << shiftBits */
+      /* Shift and then store the results in the destination buffer. */
+      *pDst++ = __SSAT((*pSrc++ << shiftBits), 16);
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+  else
+  {
+    /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+     ** a second loop below computes the remaining 1 to 3 samples. */
+    while(blkCnt > 0u)
+    {
+      /* Read 2 inputs */
+      in1 = *pSrc++;
+      in2 = *pSrc++;
+
+      /* C = A >> shiftBits */
+      /* Shift the inputs and then store the results in the destination buffer. */
+#ifndef  ARM_MATH_BIG_ENDIAN
+
+      *__SIMD32(pDst)++ = __PKHBT((in1 >> -shiftBits),
+                                  (in2 >> -shiftBits), 16);
+
+#else
+
+      *__SIMD32(pDst)++ = __PKHBT((in2 >> -shiftBits),
+                                  (in1 >> -shiftBits), 16);
+
+#endif /* #ifndef  ARM_MATH_BIG_ENDIAN    */
+
+      in1 = *pSrc++;
+      in2 = *pSrc++;
+
+#ifndef  ARM_MATH_BIG_ENDIAN
+
+      *__SIMD32(pDst)++ = __PKHBT((in1 >> -shiftBits),
+                                  (in2 >> -shiftBits), 16);
+
+#else
+
+      *__SIMD32(pDst)++ = __PKHBT((in2 >> -shiftBits),
+                                  (in1 >> -shiftBits), 16);
+
+#endif /* #ifndef  ARM_MATH_BIG_ENDIAN    */
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+     ** No loop unrolling is used. */
+    blkCnt = blockSize % 0x4u;
+
+    while(blkCnt > 0u)
+    {
+      /* C = A >> shiftBits */
+      /* Shift the inputs and then store the results in the destination buffer. */
+      *pDst++ = (*pSrc++ >> -shiftBits);
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Getting the sign of shiftBits */
+  sign = (shiftBits & 0x80);
+
+  /* If the shift value is positive then do right shift else left shift */
+  if(sign == 0u)
+  {
+    /* Initialize blkCnt with number of samples */
+    blkCnt = blockSize;
+
+    while(blkCnt > 0u)
+    {
+      /* C = A << shiftBits */
+      /* Shift and then store the results in the destination buffer. */
+      *pDst++ = __SSAT(((q31_t) * pSrc++ << shiftBits), 16);
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+  else
+  {
+    /* Initialize blkCnt with number of samples */
+    blkCnt = blockSize;
+
+    while(blkCnt > 0u)
+    {
+      /* C = A >> shiftBits */
+      /* Shift the inputs and then store the results in the destination buffer. */
+      *pDst++ = (*pSrc++ >> -shiftBits);
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/**    
+ * @} end of shift group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_shift_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_shift_q31.c
new file mode 100644
index 000000000..561225a89
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_shift_q31.c
@@ -0,0 +1,195 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_shift_q31.c    
+*    
+* Description:	Shifts the elements of a Q31 vector by a specified number of bits.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**        
+ * @ingroup groupMath        
+ */
+/**        
+ * @defgroup shift Vector Shift        
+ *        
+ * Shifts the elements of a fixed-point vector by a specified number of bits.        
+ * There are separate functions for Q7, Q15, and Q31 data types.        
+ * The underlying algorithm used is:        
+ *        
+ * 
        
+ *     pDst[n] = pSrc[n] << shift,   0 <= n < blockSize.        
+ * 
        
+ *        
+ * If shift is positive then the elements of the vector are shifted to the left.        
+ * If shift is negative then the elements of the vector are shifted to the right.        
+ */
+
+/**        
+ * @addtogroup shift        
+ * @{        
+ */
+
+/**        
+ * @brief  Shifts the elements of a Q31 vector a specified number of bits.        
+ * @param[in]  *pSrc points to the input vector        
+ * @param[in]  shiftBits number of bits to shift.  A positive value shifts left; a negative value shifts right.        
+ * @param[out]  *pDst points to the output vector        
+ * @param[in]  blockSize number of samples in the vector        
+ * @return none.        
+ *        
+ *        
+ * Scaling and Overflow Behavior:        
+ * \par        
+ * The function uses saturating arithmetic.        
+ * Results outside of the allowable Q31 range [0x80000000 0x7FFFFFFF] will be saturated.        
+ */
+
+void arm_shift_q31(
+  q31_t * pSrc,
+  int8_t shiftBits,
+  q31_t * pDst,
+  uint32_t blockSize)
+{
+  uint32_t blkCnt;                               /* loop counter */
+  uint8_t sign = (shiftBits & 0x80);             /* Sign of shiftBits */
+
+#ifndef ARM_MATH_CM0
+
+  q31_t in1, in2, in3, in4;                      /* Temporary input variables */
+  q31_t out1, out2, out3, out4;                  /* Temporary output variables */
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+
+  if(sign == 0u)
+  {
+    /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+     ** a second loop below computes the remaining 1 to 3 samples. */
+    while(blkCnt > 0u)
+    {
+      /* C = A  << shiftBits */
+      /* Shift the input and then store the results in the destination buffer. */
+      in1 = *pSrc;
+      in2 = *(pSrc + 1);
+      out1 = in1 << shiftBits;
+      in3 = *(pSrc + 2);
+      out2 = in2 << shiftBits;
+      in4 = *(pSrc + 3);
+      if(in1 != (out1 >> shiftBits))
+        out1 = 0x7FFFFFFF ^ (in1 >> 31);
+
+      if(in2 != (out2 >> shiftBits))
+        out2 = 0x7FFFFFFF ^ (in2 >> 31);
+
+      *pDst = out1;
+      out3 = in3 << shiftBits;
+      *(pDst + 1) = out2;
+      out4 = in4 << shiftBits;
+
+      if(in3 != (out3 >> shiftBits))
+        out3 = 0x7FFFFFFF ^ (in3 >> 31);
+
+      if(in4 != (out4 >> shiftBits))
+        out4 = 0x7FFFFFFF ^ (in4 >> 31);
+
+      *(pDst + 2) = out3;
+      *(pDst + 3) = out4;
+
+      /* Update destination pointer to process next sampels */
+      pSrc += 4u;
+      pDst += 4u;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+  else
+  {
+
+    /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+     ** a second loop below computes the remaining 1 to 3 samples. */
+    while(blkCnt > 0u)
+    {
+      /* C = A >>  shiftBits */
+      /* Shift the input and then store the results in the destination buffer. */
+      in1 = *pSrc;
+      in2 = *(pSrc + 1);
+      in3 = *(pSrc + 2);
+      in4 = *(pSrc + 3);
+
+      *pDst = (in1 >> -shiftBits);
+      *(pDst + 1) = (in2 >> -shiftBits);
+      *(pDst + 2) = (in3 >> -shiftBits);
+      *(pDst + 3) = (in4 >> -shiftBits);
+
+
+      pSrc += 4u;
+      pDst += 4u;
+
+      blkCnt--;
+    }
+
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+
+  /* Initialize blkCnt with number of samples */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+
+  while(blkCnt > 0u)
+  {
+    /* C = A (>> or <<) shiftBits */
+    /* Shift the input and then store the result in the destination buffer. */
+    *pDst++ = (sign == 0u) ? clip_q63_to_q31((q63_t) * pSrc++ << shiftBits) :
+      (*pSrc++ >> -shiftBits);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+
+}
+
+/**        
+ * @} end of shift group        
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_shift_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_shift_q7.c
new file mode 100644
index 000000000..6dfd25f65
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_shift_q7.c
@@ -0,0 +1,215 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_shift_q7.c    
+*    
+* Description:	Processing function for the Q7 Shifting    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**        
+ * @ingroup groupMath        
+ */
+
+/**        
+ * @addtogroup shift        
+ * @{        
+ */
+
+
+/**        
+ * @brief  Shifts the elements of a Q7 vector a specified number of bits.        
+ * @param[in]  *pSrc points to the input vector        
+ * @param[in]  shiftBits number of bits to shift.  A positive value shifts left; a negative value shifts right.        
+ * @param[out]  *pDst points to the output vector        
+ * @param[in]  blockSize number of samples in the vector        
+ * @return none.        
+ *    
+ * \par Conditions for optimum performance    
+ *  Input and output buffers should be aligned by 32-bit    
+ *    
+ *        
+ * Scaling and Overflow Behavior:        
+ * \par        
+ * The function uses saturating arithmetic.        
+ * Results outside of the allowable Q7 range [0x8 0x7F] will be saturated.        
+ */
+
+void arm_shift_q7(
+  q7_t * pSrc,
+  int8_t shiftBits,
+  q7_t * pDst,
+  uint32_t blockSize)
+{
+  uint32_t blkCnt;                               /* loop counter */
+  uint8_t sign;                                  /* Sign of shiftBits */
+
+#ifndef ARM_MATH_CM0
+
+/* Run the below code for Cortex-M4 and Cortex-M3 */
+  q7_t in1;                                      /* Input value1 */
+  q7_t in2;                                      /* Input value2 */
+  q7_t in3;                                      /* Input value3 */
+  q7_t in4;                                      /* Input value4 */
+
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* Getting the sign of shiftBits */
+  sign = (shiftBits & 0x80);
+
+  /* If the shift value is positive then do right shift else left shift */
+  if(sign == 0u)
+  {
+    /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+     ** a second loop below computes the remaining 1 to 3 samples. */
+    while(blkCnt > 0u)
+    {
+      /* C = A << shiftBits */
+      /* Read 4 inputs */
+      in1 = *pSrc;
+      in2 = *(pSrc + 1);
+      in3 = *(pSrc + 2);
+      in4 = *(pSrc + 3);
+
+      /* Store the Shifted result in the destination buffer in single cycle by packing the outputs */
+      *__SIMD32(pDst)++ = __PACKq7(__SSAT((in1 << shiftBits), 8),
+                                   __SSAT((in2 << shiftBits), 8),
+                                   __SSAT((in3 << shiftBits), 8),
+                                   __SSAT((in4 << shiftBits), 8));
+      /* Update source pointer to process next sampels */
+      pSrc += 4u;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* If the blockSize is not a multiple of 4, compute any remaining output samples here.        
+     ** No loop unrolling is used. */
+    blkCnt = blockSize % 0x4u;
+
+    while(blkCnt > 0u)
+    {
+      /* C = A << shiftBits */
+      /* Shift the input and then store the result in the destination buffer. */
+      *pDst++ = (q7_t) __SSAT((*pSrc++ << shiftBits), 8);
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+  else
+  {
+    shiftBits = -shiftBits;
+    /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+     ** a second loop below computes the remaining 1 to 3 samples. */
+    while(blkCnt > 0u)
+    {
+      /* C = A >> shiftBits */
+      /* Read 4 inputs */
+      in1 = *pSrc;
+      in2 = *(pSrc + 1);
+      in3 = *(pSrc + 2);
+      in4 = *(pSrc + 3);
+
+      /* Store the Shifted result in the destination buffer in single cycle by packing the outputs */
+      *__SIMD32(pDst)++ = __PACKq7((in1 >> shiftBits), (in2 >> shiftBits),
+                                   (in3 >> shiftBits), (in4 >> shiftBits));
+
+
+      pSrc += 4u;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+     ** No loop unrolling is used. */
+    blkCnt = blockSize % 0x4u;
+
+    while(blkCnt > 0u)
+    {
+      /* C = A >> shiftBits */
+      /* Shift the input and then store the result in the destination buffer. */
+      in1 = *pSrc++;
+      *pDst++ = (in1 >> shiftBits);
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Getting the sign of shiftBits */
+  sign = (shiftBits & 0x80);
+
+  /* If the shift value is positive then do right shift else left shift */
+  if(sign == 0u)
+  {
+    /* Initialize blkCnt with number of samples */
+    blkCnt = blockSize;
+
+    while(blkCnt > 0u)
+    {
+      /* C = A << shiftBits */
+      /* Shift the input and then store the result in the destination buffer. */
+      *pDst++ = (q7_t) __SSAT(((q15_t) * pSrc++ << shiftBits), 8);
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+  else
+  {
+    /* Initialize blkCnt with number of samples */
+    blkCnt = blockSize;
+
+    while(blkCnt > 0u)
+    {
+      /* C = A >> shiftBits */
+      /* Shift the input and then store the result in the destination buffer. */
+      *pDst++ = (*pSrc++ >> -shiftBits);
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+}
+
+/**        
+ * @} end of shift group        
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_f32.c
new file mode 100644
index 000000000..4a660db49
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_f32.c
@@ -0,0 +1,145 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_sub_f32.c    
+*    
+* Description:	Floating-point vector subtraction.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**        
+ * @ingroup groupMath        
+ */
+
+/**        
+ * @defgroup BasicSub Vector Subtraction        
+ *        
+ * Element-by-element subtraction of two vectors.        
+ *        
+ * 
        
+ *     pDst[n] = pSrcA[n] - pSrcB[n],   0 <= n < blockSize.        
+ * 
        
+ *        
+ * There are separate functions for floating-point, Q7, Q15, and Q31 data types.        
+ */
+
+/**        
+ * @addtogroup BasicSub        
+ * @{        
+ */
+
+
+/**        
+ * @brief Floating-point vector subtraction.        
+ * @param[in]       *pSrcA points to the first input vector        
+ * @param[in]       *pSrcB points to the second input vector        
+ * @param[out]      *pDst points to the output vector        
+ * @param[in]       blockSize number of samples in each vector        
+ * @return none.        
+ */
+
+void arm_sub_f32(
+  float32_t * pSrcA,
+  float32_t * pSrcB,
+  float32_t * pDst,
+  uint32_t blockSize)
+{
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+/* Run the below code for Cortex-M4 and Cortex-M3 */
+  float32_t inA1, inA2, inA3, inA4;              /* temporary variables */
+  float32_t inB1, inB2, inB3, inB4;              /* temporary variables */
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.        
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = A - B */
+    /* Subtract and then store the results in the destination buffer. */
+    /* Read 4 input samples from sourceA and sourceB */
+    inA1 = *pSrcA;
+    inB1 = *pSrcB;
+    inA2 = *(pSrcA + 1);
+    inB2 = *(pSrcB + 1);
+    inA3 = *(pSrcA + 2);
+    inB3 = *(pSrcB + 2);
+    inA4 = *(pSrcA + 3);
+    inB4 = *(pSrcB + 3);
+
+    /* dst = srcA - srcB */
+    /* subtract and store the result */
+    *pDst = inA1 - inB1;
+    *(pDst + 1) = inA2 - inB2;
+    *(pDst + 2) = inA3 - inB3;
+    *(pDst + 3) = inA4 - inB4;
+
+
+    /* Update pointers to process next sampels */
+    pSrcA += 4u;
+    pSrcB += 4u;
+    pDst += 4u;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.        
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Initialize blkCnt with number of samples */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C = A - B */
+    /* Subtract and then store the results in the destination buffer. */
+    *pDst++ = (*pSrcA++) - (*pSrcB++);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+}
+
+/**        
+ * @} end of BasicSub group        
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_q15.c
new file mode 100644
index 000000000..d8cc12220
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_q15.c
@@ -0,0 +1,135 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_sub_q15.c    
+*    
+* Description:	Q15 vector subtraction.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupMath    
+ */
+
+/**    
+ * @addtogroup BasicSub    
+ * @{    
+ */
+
+/**    
+ * @brief Q15 vector subtraction.    
+ * @param[in]       *pSrcA points to the first input vector    
+ * @param[in]       *pSrcB points to the second input vector    
+ * @param[out]      *pDst points to the output vector    
+ * @param[in]       blockSize number of samples in each vector    
+ * @return none.    
+ *    
+ * Scaling and Overflow Behavior:    
+ * \par    
+ * The function uses saturating arithmetic.    
+ * Results outside of the allowable Q15 range [0x8000 0x7FFF] will be saturated.    
+ */
+
+void arm_sub_q15(
+  q15_t * pSrcA,
+  q15_t * pSrcB,
+  q15_t * pDst,
+  uint32_t blockSize)
+{
+  uint32_t blkCnt;                               /* loop counter */
+
+
+#ifndef ARM_MATH_CM0
+
+/* Run the below code for Cortex-M4 and Cortex-M3 */
+  q31_t inA1, inA2;
+  q31_t inB1, inB2;
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = A - B */
+    /* Subtract and then store the results in the destination buffer two samples at a time. */
+    inA1 = *__SIMD32(pSrcA)++;
+    inA2 = *__SIMD32(pSrcA)++;
+    inB1 = *__SIMD32(pSrcB)++;
+    inB2 = *__SIMD32(pSrcB)++;
+
+    *__SIMD32(pDst)++ = __QSUB16(inA1, inB1);
+    *__SIMD32(pDst)++ = __QSUB16(inA2, inB2);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C = A - B */
+    /* Subtract and then store the result in the destination buffer. */
+    *pDst++ = (q15_t) __QSUB16(*pSrcA++, *pSrcB++);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Initialize blkCnt with number of samples */
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* C = A - B */
+    /* Subtract and then store the result in the destination buffer. */
+    *pDst++ = (q15_t) __SSAT(((q31_t) * pSrcA++ - *pSrcB++), 16);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+
+}
+
+/**    
+ * @} end of BasicSub group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_q31.c
new file mode 100644
index 000000000..34642f32e
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_q31.c
@@ -0,0 +1,141 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_sub_q31.c    
+*    
+* Description:	Q31 vector subtraction.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupMath    
+ */
+
+/**    
+ * @addtogroup BasicSub    
+ * @{    
+ */
+
+/**    
+ * @brief Q31 vector subtraction.    
+ * @param[in]       *pSrcA points to the first input vector    
+ * @param[in]       *pSrcB points to the second input vector    
+ * @param[out]      *pDst points to the output vector    
+ * @param[in]       blockSize number of samples in each vector    
+ * @return none.    
+ *    
+ * Scaling and Overflow Behavior:    
+ * \par    
+ * The function uses saturating arithmetic.    
+ * Results outside of the allowable Q31 range [0x80000000 0x7FFFFFFF] will be saturated.    
+ */
+
+void arm_sub_q31(
+  q31_t * pSrcA,
+  q31_t * pSrcB,
+  q31_t * pDst,
+  uint32_t blockSize)
+{
+  uint32_t blkCnt;                               /* loop counter */
+
+
+#ifndef ARM_MATH_CM0
+
+/* Run the below code for Cortex-M4 and Cortex-M3 */
+  q31_t inA1, inA2, inA3, inA4;
+  q31_t inB1, inB2, inB3, inB4;
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = A - B */
+    /* Subtract and then store the results in the destination buffer. */
+    inA1 = *pSrcA++;
+    inA2 = *pSrcA++;
+    inB1 = *pSrcB++;
+    inB2 = *pSrcB++;
+
+    inA3 = *pSrcA++;
+    inA4 = *pSrcA++;
+    inB3 = *pSrcB++;
+    inB4 = *pSrcB++;
+
+    *pDst++ = __QSUB(inA1, inB1);
+    *pDst++ = __QSUB(inA2, inB2);
+    *pDst++ = __QSUB(inA3, inB3);
+    *pDst++ = __QSUB(inA4, inB4);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C = A - B */
+    /* Subtract and then store the result in the destination buffer. */
+    *pDst++ = __QSUB(*pSrcA++, *pSrcB++);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Initialize blkCnt with number of samples */
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* C = A - B */
+    /* Subtract and then store the result in the destination buffer. */
+    *pDst++ = (q31_t) clip_q63_to_q31((q63_t) * pSrcA++ - *pSrcB++);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/**    
+ * @} end of BasicSub group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_q7.c
new file mode 100644
index 000000000..adbc7d0c0
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/BasicMathFunctions/arm_sub_q7.c
@@ -0,0 +1,126 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_sub_q7.c    
+*    
+* Description:	Q7 vector subtraction.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupMath    
+ */
+
+/**    
+ * @addtogroup BasicSub    
+ * @{    
+ */
+
+/**    
+ * @brief Q7 vector subtraction.    
+ * @param[in]       *pSrcA points to the first input vector    
+ * @param[in]       *pSrcB points to the second input vector    
+ * @param[out]      *pDst points to the output vector    
+ * @param[in]       blockSize number of samples in each vector    
+ * @return none.    
+ *    
+ * Scaling and Overflow Behavior:    
+ * \par    
+ * The function uses saturating arithmetic.    
+ * Results outside of the allowable Q7 range [0x80 0x7F] will be saturated.    
+ */
+
+void arm_sub_q7(
+  q7_t * pSrcA,
+  q7_t * pSrcB,
+  q7_t * pDst,
+  uint32_t blockSize)
+{
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+/* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = A - B */
+    /* Subtract and then store the results in the destination buffer 4 samples at a time. */
+    *__SIMD32(pDst)++ = __QSUB8(*__SIMD32(pSrcA)++, *__SIMD32(pSrcB)++);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C = A - B */
+    /* Subtract and then store the result in the destination buffer. */
+    *pDst++ = __SSAT(*pSrcA++ - *pSrcB++, 8);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Initialize blkCnt with number of samples */
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* C = A - B */
+    /* Subtract and then store the result in the destination buffer. */
+    *pDst++ = (q7_t) __SSAT((q15_t) * pSrcA++ - *pSrcB++, 8);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+
+}
+
+/**    
+ * @} end of BasicSub group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/CommonTables/arm_common_tables.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/CommonTables/arm_common_tables.c
new file mode 100644
index 000000000..bf7ab3bed
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/CommonTables/arm_common_tables.c
@@ -0,0 +1,4689 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_common_tables.c    
+*    
+* Description:	This file has common tables like fft twiddle factors, Bitreverse, reciprocal etc which are used across different functions    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* -------------------------------------------------------------------- */
+
+
+#include "arm_math.h"
+#include "arm_common_tables.h"
+
+/**    
+ * @ingroup groupTransforms    
+ */
+
+/**    
+ * @addtogroup CFFT_CIFFT Complex FFT Tables  
+ * @{    
+ */
+
+/**    
+* \par    
+* Pseudo code for Generation of Bit reversal Table is    
+* \par    
+* 
for(l=1;l <= N/4;l++)    
+* {    
+*   for(i=0;i> 1;    
+*  } 
    
+* \par    
+* where N = 4096	logN2 = 12   
+* \par    
+* N is the maximum FFT Size supported    
+*/
+
+/*    
+* @brief  Table for bit reversal process    
+*/
+const uint16_t armBitRevTable[1024] = {
+  0x400, 0x200, 0x600, 0x100, 0x500, 0x300, 0x700,
+  0x80, 0x480, 0x280, 0x680, 0x180, 0x580, 0x380,
+  0x780, 0x40, 0x440, 0x240, 0x640, 0x140, 0x540,
+  0x340, 0x740, 0xc0, 0x4c0, 0x2c0, 0x6c0, 0x1c0,
+  0x5c0, 0x3c0, 0x7c0, 0x20, 0x420, 0x220, 0x620,
+  0x120, 0x520, 0x320, 0x720, 0xa0, 0x4a0, 0x2a0,
+  0x6a0, 0x1a0, 0x5a0, 0x3a0, 0x7a0, 0x60, 0x460,
+  0x260, 0x660, 0x160, 0x560, 0x360, 0x760, 0xe0,
+  0x4e0, 0x2e0, 0x6e0, 0x1e0, 0x5e0, 0x3e0, 0x7e0,
+  0x10, 0x410, 0x210, 0x610, 0x110, 0x510, 0x310,
+  0x710, 0x90, 0x490, 0x290, 0x690, 0x190, 0x590,
+  0x390, 0x790, 0x50, 0x450, 0x250, 0x650, 0x150,
+  0x550, 0x350, 0x750, 0xd0, 0x4d0, 0x2d0, 0x6d0,
+  0x1d0, 0x5d0, 0x3d0, 0x7d0, 0x30, 0x430, 0x230,
+  0x630, 0x130, 0x530, 0x330, 0x730, 0xb0, 0x4b0,
+  0x2b0, 0x6b0, 0x1b0, 0x5b0, 0x3b0, 0x7b0, 0x70,
+  0x470, 0x270, 0x670, 0x170, 0x570, 0x370, 0x770,
+  0xf0, 0x4f0, 0x2f0, 0x6f0, 0x1f0, 0x5f0, 0x3f0,
+  0x7f0, 0x8, 0x408, 0x208, 0x608, 0x108, 0x508,
+  0x308, 0x708, 0x88, 0x488, 0x288, 0x688, 0x188,
+  0x588, 0x388, 0x788, 0x48, 0x448, 0x248, 0x648,
+  0x148, 0x548, 0x348, 0x748, 0xc8, 0x4c8, 0x2c8,
+  0x6c8, 0x1c8, 0x5c8, 0x3c8, 0x7c8, 0x28, 0x428,
+  0x228, 0x628, 0x128, 0x528, 0x328, 0x728, 0xa8,
+  0x4a8, 0x2a8, 0x6a8, 0x1a8, 0x5a8, 0x3a8, 0x7a8,
+  0x68, 0x468, 0x268, 0x668, 0x168, 0x568, 0x368,
+  0x768, 0xe8, 0x4e8, 0x2e8, 0x6e8, 0x1e8, 0x5e8,
+  0x3e8, 0x7e8, 0x18, 0x418, 0x218, 0x618, 0x118,
+  0x518, 0x318, 0x718, 0x98, 0x498, 0x298, 0x698,
+  0x198, 0x598, 0x398, 0x798, 0x58, 0x458, 0x258,
+  0x658, 0x158, 0x558, 0x358, 0x758, 0xd8, 0x4d8,
+  0x2d8, 0x6d8, 0x1d8, 0x5d8, 0x3d8, 0x7d8, 0x38,
+  0x438, 0x238, 0x638, 0x138, 0x538, 0x338, 0x738,
+  0xb8, 0x4b8, 0x2b8, 0x6b8, 0x1b8, 0x5b8, 0x3b8,
+  0x7b8, 0x78, 0x478, 0x278, 0x678, 0x178, 0x578,
+  0x378, 0x778, 0xf8, 0x4f8, 0x2f8, 0x6f8, 0x1f8,
+  0x5f8, 0x3f8, 0x7f8, 0x4, 0x404, 0x204, 0x604,
+  0x104, 0x504, 0x304, 0x704, 0x84, 0x484, 0x284,
+  0x684, 0x184, 0x584, 0x384, 0x784, 0x44, 0x444,
+  0x244, 0x644, 0x144, 0x544, 0x344, 0x744, 0xc4,
+  0x4c4, 0x2c4, 0x6c4, 0x1c4, 0x5c4, 0x3c4, 0x7c4,
+  0x24, 0x424, 0x224, 0x624, 0x124, 0x524, 0x324,
+  0x724, 0xa4, 0x4a4, 0x2a4, 0x6a4, 0x1a4, 0x5a4,
+  0x3a4, 0x7a4, 0x64, 0x464, 0x264, 0x664, 0x164,
+  0x564, 0x364, 0x764, 0xe4, 0x4e4, 0x2e4, 0x6e4,
+  0x1e4, 0x5e4, 0x3e4, 0x7e4, 0x14, 0x414, 0x214,
+  0x614, 0x114, 0x514, 0x314, 0x714, 0x94, 0x494,
+  0x294, 0x694, 0x194, 0x594, 0x394, 0x794, 0x54,
+  0x454, 0x254, 0x654, 0x154, 0x554, 0x354, 0x754,
+  0xd4, 0x4d4, 0x2d4, 0x6d4, 0x1d4, 0x5d4, 0x3d4,
+  0x7d4, 0x34, 0x434, 0x234, 0x634, 0x134, 0x534,
+  0x334, 0x734, 0xb4, 0x4b4, 0x2b4, 0x6b4, 0x1b4,
+  0x5b4, 0x3b4, 0x7b4, 0x74, 0x474, 0x274, 0x674,
+  0x174, 0x574, 0x374, 0x774, 0xf4, 0x4f4, 0x2f4,
+  0x6f4, 0x1f4, 0x5f4, 0x3f4, 0x7f4, 0xc, 0x40c,
+  0x20c, 0x60c, 0x10c, 0x50c, 0x30c, 0x70c, 0x8c,
+  0x48c, 0x28c, 0x68c, 0x18c, 0x58c, 0x38c, 0x78c,
+  0x4c, 0x44c, 0x24c, 0x64c, 0x14c, 0x54c, 0x34c,
+  0x74c, 0xcc, 0x4cc, 0x2cc, 0x6cc, 0x1cc, 0x5cc,
+  0x3cc, 0x7cc, 0x2c, 0x42c, 0x22c, 0x62c, 0x12c,
+  0x52c, 0x32c, 0x72c, 0xac, 0x4ac, 0x2ac, 0x6ac,
+  0x1ac, 0x5ac, 0x3ac, 0x7ac, 0x6c, 0x46c, 0x26c,
+  0x66c, 0x16c, 0x56c, 0x36c, 0x76c, 0xec, 0x4ec,
+  0x2ec, 0x6ec, 0x1ec, 0x5ec, 0x3ec, 0x7ec, 0x1c,
+  0x41c, 0x21c, 0x61c, 0x11c, 0x51c, 0x31c, 0x71c,
+  0x9c, 0x49c, 0x29c, 0x69c, 0x19c, 0x59c, 0x39c,
+  0x79c, 0x5c, 0x45c, 0x25c, 0x65c, 0x15c, 0x55c,
+  0x35c, 0x75c, 0xdc, 0x4dc, 0x2dc, 0x6dc, 0x1dc,
+  0x5dc, 0x3dc, 0x7dc, 0x3c, 0x43c, 0x23c, 0x63c,
+  0x13c, 0x53c, 0x33c, 0x73c, 0xbc, 0x4bc, 0x2bc,
+  0x6bc, 0x1bc, 0x5bc, 0x3bc, 0x7bc, 0x7c, 0x47c,
+  0x27c, 0x67c, 0x17c, 0x57c, 0x37c, 0x77c, 0xfc,
+  0x4fc, 0x2fc, 0x6fc, 0x1fc, 0x5fc, 0x3fc, 0x7fc,
+  0x2, 0x402, 0x202, 0x602, 0x102, 0x502, 0x302,
+  0x702, 0x82, 0x482, 0x282, 0x682, 0x182, 0x582,
+  0x382, 0x782, 0x42, 0x442, 0x242, 0x642, 0x142,
+  0x542, 0x342, 0x742, 0xc2, 0x4c2, 0x2c2, 0x6c2,
+  0x1c2, 0x5c2, 0x3c2, 0x7c2, 0x22, 0x422, 0x222,
+  0x622, 0x122, 0x522, 0x322, 0x722, 0xa2, 0x4a2,
+  0x2a2, 0x6a2, 0x1a2, 0x5a2, 0x3a2, 0x7a2, 0x62,
+  0x462, 0x262, 0x662, 0x162, 0x562, 0x362, 0x762,
+  0xe2, 0x4e2, 0x2e2, 0x6e2, 0x1e2, 0x5e2, 0x3e2,
+  0x7e2, 0x12, 0x412, 0x212, 0x612, 0x112, 0x512,
+  0x312, 0x712, 0x92, 0x492, 0x292, 0x692, 0x192,
+  0x592, 0x392, 0x792, 0x52, 0x452, 0x252, 0x652,
+  0x152, 0x552, 0x352, 0x752, 0xd2, 0x4d2, 0x2d2,
+  0x6d2, 0x1d2, 0x5d2, 0x3d2, 0x7d2, 0x32, 0x432,
+  0x232, 0x632, 0x132, 0x532, 0x332, 0x732, 0xb2,
+  0x4b2, 0x2b2, 0x6b2, 0x1b2, 0x5b2, 0x3b2, 0x7b2,
+  0x72, 0x472, 0x272, 0x672, 0x172, 0x572, 0x372,
+  0x772, 0xf2, 0x4f2, 0x2f2, 0x6f2, 0x1f2, 0x5f2,
+  0x3f2, 0x7f2, 0xa, 0x40a, 0x20a, 0x60a, 0x10a,
+  0x50a, 0x30a, 0x70a, 0x8a, 0x48a, 0x28a, 0x68a,
+  0x18a, 0x58a, 0x38a, 0x78a, 0x4a, 0x44a, 0x24a,
+  0x64a, 0x14a, 0x54a, 0x34a, 0x74a, 0xca, 0x4ca,
+  0x2ca, 0x6ca, 0x1ca, 0x5ca, 0x3ca, 0x7ca, 0x2a,
+  0x42a, 0x22a, 0x62a, 0x12a, 0x52a, 0x32a, 0x72a,
+  0xaa, 0x4aa, 0x2aa, 0x6aa, 0x1aa, 0x5aa, 0x3aa,
+  0x7aa, 0x6a, 0x46a, 0x26a, 0x66a, 0x16a, 0x56a,
+  0x36a, 0x76a, 0xea, 0x4ea, 0x2ea, 0x6ea, 0x1ea,
+  0x5ea, 0x3ea, 0x7ea, 0x1a, 0x41a, 0x21a, 0x61a,
+  0x11a, 0x51a, 0x31a, 0x71a, 0x9a, 0x49a, 0x29a,
+  0x69a, 0x19a, 0x59a, 0x39a, 0x79a, 0x5a, 0x45a,
+  0x25a, 0x65a, 0x15a, 0x55a, 0x35a, 0x75a, 0xda,
+  0x4da, 0x2da, 0x6da, 0x1da, 0x5da, 0x3da, 0x7da,
+  0x3a, 0x43a, 0x23a, 0x63a, 0x13a, 0x53a, 0x33a,
+  0x73a, 0xba, 0x4ba, 0x2ba, 0x6ba, 0x1ba, 0x5ba,
+  0x3ba, 0x7ba, 0x7a, 0x47a, 0x27a, 0x67a, 0x17a,
+  0x57a, 0x37a, 0x77a, 0xfa, 0x4fa, 0x2fa, 0x6fa,
+  0x1fa, 0x5fa, 0x3fa, 0x7fa, 0x6, 0x406, 0x206,
+  0x606, 0x106, 0x506, 0x306, 0x706, 0x86, 0x486,
+  0x286, 0x686, 0x186, 0x586, 0x386, 0x786, 0x46,
+  0x446, 0x246, 0x646, 0x146, 0x546, 0x346, 0x746,
+  0xc6, 0x4c6, 0x2c6, 0x6c6, 0x1c6, 0x5c6, 0x3c6,
+  0x7c6, 0x26, 0x426, 0x226, 0x626, 0x126, 0x526,
+  0x326, 0x726, 0xa6, 0x4a6, 0x2a6, 0x6a6, 0x1a6,
+  0x5a6, 0x3a6, 0x7a6, 0x66, 0x466, 0x266, 0x666,
+  0x166, 0x566, 0x366, 0x766, 0xe6, 0x4e6, 0x2e6,
+  0x6e6, 0x1e6, 0x5e6, 0x3e6, 0x7e6, 0x16, 0x416,
+  0x216, 0x616, 0x116, 0x516, 0x316, 0x716, 0x96,
+  0x496, 0x296, 0x696, 0x196, 0x596, 0x396, 0x796,
+  0x56, 0x456, 0x256, 0x656, 0x156, 0x556, 0x356,
+  0x756, 0xd6, 0x4d6, 0x2d6, 0x6d6, 0x1d6, 0x5d6,
+  0x3d6, 0x7d6, 0x36, 0x436, 0x236, 0x636, 0x136,
+  0x536, 0x336, 0x736, 0xb6, 0x4b6, 0x2b6, 0x6b6,
+  0x1b6, 0x5b6, 0x3b6, 0x7b6, 0x76, 0x476, 0x276,
+  0x676, 0x176, 0x576, 0x376, 0x776, 0xf6, 0x4f6,
+  0x2f6, 0x6f6, 0x1f6, 0x5f6, 0x3f6, 0x7f6, 0xe,
+  0x40e, 0x20e, 0x60e, 0x10e, 0x50e, 0x30e, 0x70e,
+  0x8e, 0x48e, 0x28e, 0x68e, 0x18e, 0x58e, 0x38e,
+  0x78e, 0x4e, 0x44e, 0x24e, 0x64e, 0x14e, 0x54e,
+  0x34e, 0x74e, 0xce, 0x4ce, 0x2ce, 0x6ce, 0x1ce,
+  0x5ce, 0x3ce, 0x7ce, 0x2e, 0x42e, 0x22e, 0x62e,
+  0x12e, 0x52e, 0x32e, 0x72e, 0xae, 0x4ae, 0x2ae,
+  0x6ae, 0x1ae, 0x5ae, 0x3ae, 0x7ae, 0x6e, 0x46e,
+  0x26e, 0x66e, 0x16e, 0x56e, 0x36e, 0x76e, 0xee,
+  0x4ee, 0x2ee, 0x6ee, 0x1ee, 0x5ee, 0x3ee, 0x7ee,
+  0x1e, 0x41e, 0x21e, 0x61e, 0x11e, 0x51e, 0x31e,
+  0x71e, 0x9e, 0x49e, 0x29e, 0x69e, 0x19e, 0x59e,
+  0x39e, 0x79e, 0x5e, 0x45e, 0x25e, 0x65e, 0x15e,
+  0x55e, 0x35e, 0x75e, 0xde, 0x4de, 0x2de, 0x6de,
+  0x1de, 0x5de, 0x3de, 0x7de, 0x3e, 0x43e, 0x23e,
+  0x63e, 0x13e, 0x53e, 0x33e, 0x73e, 0xbe, 0x4be,
+  0x2be, 0x6be, 0x1be, 0x5be, 0x3be, 0x7be, 0x7e,
+  0x47e, 0x27e, 0x67e, 0x17e, 0x57e, 0x37e, 0x77e,
+  0xfe, 0x4fe, 0x2fe, 0x6fe, 0x1fe, 0x5fe, 0x3fe,
+  0x7fe, 0x1
+};
+
+
+/*    
+* @brief  Floating-point Twiddle factors Table Generation    
+*/
+
+
+/**    
+* \par    
+* Example code for Floating-point Twiddle factors Generation:    
+* \par    
+* 
for(i = 0; i< 3N/4; i++)    
+* {    
+*	twiddleCoef[2*i]= cos(i * 2*PI/(float)N);    
+*	twiddleCoef[2*i+1]= sin(i * 2*PI/(float)N);    
+* } 
    
+* \par    
+* where N = 4096	and PI = 3.14159265358979    
+* \par    
+* Cos and Sin values are in interleaved fashion    
+*     
+*/
+const float32_t twiddleCoef[6144] = {
+  1.000000000000000000f, 0.000000000000000000f, 0.999998823451701880f,
+    0.001533980186284766f, 0.999995293809576190f, 0.003067956762965976f,
+  0.999989411081928400f, 0.004601926120448571f, 0.999981175282601110f,
+    0.006135884649154475f, 0.999970586430974140f, 0.007669828739531097f,
+  0.999957644551963900f, 0.009203754782059819f, 0.999942349676023910f,
+    0.010737659167264491f, 0.999924701839144500f, 0.012271538285719925f,
+  0.999904701082852900f, 0.013805388528060391f, 0.999882347454212560f,
+    0.015339206284988100f, 0.999857641005823860f, 0.016872987947281710f,
+  0.999830581795823400f, 0.018406729905804820f, 0.999801169887884260f,
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+  -0.123932975118512090f, -0.992290591348257370f, -0.122410675199215960f,
+    -0.992479534598710080f, -0.120888087235777570f, -0.992666142448947910f,
+  -0.119365214810991690f, -0.992850414459865100f, -0.117842061508325140f,
+    -0.993032350197851410f, -0.116318630911904770f, -0.993211949234794500f,
+  -0.114794926606509930f, -0.993389211148080650f, -0.113270952177564920f,
+    -0.993564135520595300f, -0.111746711211127000f, -0.993736721940724600f,
+  -0.110222207293883310f, -0.993906970002356060f, -0.108697444013138800f,
+    -0.994074879304879370f, -0.107172424956808770f, -0.994240449453187900f,
+  -0.105647153713410380f, -0.994403680057679100f, -0.104121633872055070f,
+    -0.994564570734255420f, -0.102595869022436610f, -0.994723121104325700f,
+  -0.101069862754827990f, -0.994879330794805620f, -0.099543618660069347f,
+    -0.995033199438118630f, -0.098017140329560451f, -0.995184726672196930f,
+  -0.096490431355253162f, -0.995333912140482170f, -0.094963495329639408f,
+    -0.995480755491926940f, -0.093436335845748036f, -0.995625256380994310f,
+  -0.091908956497132821f, -0.995767414467659820f, -0.090381360877864914f,
+    -0.995907229417411720f, -0.088853552582524364f, -0.996044700901251970f,
+  -0.087325535206192559f, -0.996179828595696870f, -0.085797312344440227f,
+    -0.996312612182778000f, -0.084268887593324238f, -0.996443051350042630f,
+  -0.082740264549375706f, -0.996571145790554840f, -0.081211446809592289f,
+    -0.996696895202896060f, -0.079682437971430695f, -0.996820299291165670f,
+  -0.078153241632794648f, -0.996941357764982050f, -0.076623861392031742f,
+    -0.997060070339482960f, -0.075094300847921402f, -0.997176436735326080f,
+  -0.073564563599667357f, -0.997290456678690210f, -0.072034653246889097f,
+    -0.997402129901275300f, -0.070504573389614356f, -0.997511456140303450f,
+  -0.068974327628267079f, -0.997618435138519550f, -0.067443919563664231f,
+    -0.997723066644191640f, -0.065913352797003832f, -0.997825350411111640f,
+  -0.064382630929857312f, -0.997925286198596000f, -0.062851757564161989f,
+    -0.998022873771486130f, -0.061320736302208995f, -0.998118112900149180f,
+  -0.059789570746640132f, -0.998211003360478190f, -0.058258264500435857f,
+    -0.998301544933892780f, -0.056726821166907686f, -0.998389737407340160f,
+  -0.055195244349689712f, -0.998475580573294770f, -0.053663537652731026f,
+    -0.998559074229759310f, -0.052131704680283657f, -0.998640218180265160f,
+  -0.050599749036899455f, -0.998719012233872940f, -0.049067674327418029f,
+    -0.998795456205172410f, -0.047535484156959157f, -0.998869549914283560f,
+  -0.046003182130915206f, -0.998941293186856870f, -0.044470771854939084f,
+    -0.999010685854073270f, -0.042938256934941084f, -0.999077727752645360f,
+  -0.041405640977076837f, -0.999142418724816910f, -0.039872927587739748f,
+    -0.999204758618363890f, -0.038340120373552472f, -0.999264747286594420f,
+  -0.036807222941359331f, -0.999322384588349430f, -0.035274238898214294f,
+    -0.999377670388002850f, -0.033741171851377760f, -0.999430604555461730f,
+  -0.032208025408304600f, -0.999481186966166950f, -0.030674803176636484f,
+    -0.999529417501093140f, -0.029141508764194309f, -0.999575296046749220f,
+  -0.027608145778966163f, -0.999618822495178640f, -0.026074717829104161f,
+    -0.999659996743959220f, -0.024541228522912389f, -0.999698818696204250f,
+  -0.023007681468839310f, -0.999735288260561680f, -0.021474080275469286f,
+    -0.999769405351215280f, -0.019940428551514944f, -0.999801169887884260f,
+  -0.018406729905805164f, -0.999830581795823400f, -0.016872987947281894f,
+    -0.999857641005823860f, -0.015339206284988121f, -0.999882347454212560f,
+  -0.013805388528060250f, -0.999904701082852900f, -0.012271538285720512f,
+    -0.999924701839144500f, -0.010737659167264916f, -0.999942349676023910f,
+  -0.009203754782060083f, -0.999957644551963900f, -0.007669828739531199f,
+    -0.999970586430974140f, -0.006135884649154416f, -0.999981175282601110f,
+  -0.004601926120448350f, -0.999989411081928400f, -0.003067956762966483f,
+    -0.999995293809576190f, -0.001533980186285111f, -0.999998823451701880f,
+};
+
+/*    
+* @brief  Q31 Twiddle factors Table    
+*/
+
+/**    
+* \par   
+* Example code for Q31 Twiddle factors Generation::    
+* \par    
+* 
for(i = 0; i< 3N/4; i++)    
+* {    
+*    twiddleCoefQ31[2*i]= cos(i * 2*PI/(float)N);    
+*    twiddleCoefQ31[2*i+1]= sin(i * 2*PI/(float)N);    
+* } 
    
+* \par    
+* where N = 4096	and PI = 3.14159265358979    
+* \par    
+* Cos and Sin values are interleaved fashion    
+* \par    
+* Convert Floating point to Q31(Fixed point 1.31):    
+*	round(twiddleCoefQ31(i) * pow(2, 31))    
+*    
+*/
+
+const q31_t twiddleCoefQ31[6144] = {
+  0x7fffffff, 0x0, 0x7ffff621, 0x3243f5, 0x7fffd886, 0x6487e3, 0x7fffa72c,
+    0x96cbc1,
+  0x7fff6216, 0xc90f88, 0x7fff0943, 0xfb5330, 0x7ffe9cb2, 0x12d96b1,
+    0x7ffe1c65, 0x15fda03,
+  0x7ffd885a, 0x1921d20, 0x7ffce093, 0x1c45ffe, 0x7ffc250f, 0x1f6a297,
+    0x7ffb55ce, 0x228e4e2,
+  0x7ffa72d1, 0x25b26d7, 0x7ff97c18, 0x28d6870, 0x7ff871a2, 0x2bfa9a4,
+    0x7ff75370, 0x2f1ea6c,
+  0x7ff62182, 0x3242abf, 0x7ff4dbd9, 0x3566a96, 0x7ff38274, 0x388a9ea,
+    0x7ff21553, 0x3bae8b2,
+  0x7ff09478, 0x3ed26e6, 0x7feeffe1, 0x41f6480, 0x7fed5791, 0x451a177,
+    0x7feb9b85, 0x483ddc3,
+  0x7fe9cbc0, 0x4b6195d, 0x7fe7e841, 0x4e8543e, 0x7fe5f108, 0x51a8e5c,
+    0x7fe3e616, 0x54cc7b1,
+  0x7fe1c76b, 0x57f0035, 0x7fdf9508, 0x5b137df, 0x7fdd4eec, 0x5e36ea9,
+    0x7fdaf519, 0x615a48b,
+  0x7fd8878e, 0x647d97c, 0x7fd6064c, 0x67a0d76, 0x7fd37153, 0x6ac406f,
+    0x7fd0c8a3, 0x6de7262,
+  0x7fce0c3e, 0x710a345, 0x7fcb3c23, 0x742d311, 0x7fc85854, 0x77501be,
+    0x7fc560cf, 0x7a72f45,
+  0x7fc25596, 0x7d95b9e, 0x7fbf36aa, 0x80b86c2, 0x7fbc040a, 0x83db0a7,
+    0x7fb8bdb8, 0x86fd947,
+  0x7fb563b3, 0x8a2009a, 0x7fb1f5fc, 0x8d42699, 0x7fae7495, 0x9064b3a,
+    0x7faadf7c, 0x9386e78,
+  0x7fa736b4, 0x96a9049, 0x7fa37a3c, 0x99cb0a7, 0x7f9faa15, 0x9cecf89,
+    0x7f9bc640, 0xa00ece8,
+  0x7f97cebd, 0xa3308bd, 0x7f93c38c, 0xa6522fe, 0x7f8fa4b0, 0xa973ba5,
+    0x7f8b7227, 0xac952aa,
+  0x7f872bf3, 0xafb6805, 0x7f82d214, 0xb2d7baf, 0x7f7e648c, 0xb5f8d9f,
+    0x7f79e35a, 0xb919dcf,
+  0x7f754e80, 0xbc3ac35, 0x7f70a5fe, 0xbf5b8cb, 0x7f6be9d4, 0xc27c389,
+    0x7f671a05, 0xc59cc68,
+  0x7f62368f, 0xc8bd35e, 0x7f5d3f75, 0xcbdd865, 0x7f5834b7, 0xcefdb76,
+    0x7f531655, 0xd21dc87,
+  0x7f4de451, 0xd53db92, 0x7f489eaa, 0xd85d88f, 0x7f434563, 0xdb7d376,
+    0x7f3dd87c, 0xde9cc40,
+  0x7f3857f6, 0xe1bc2e4, 0x7f32c3d1, 0xe4db75b, 0x7f2d1c0e, 0xe7fa99e,
+    0x7f2760af, 0xeb199a4,
+  0x7f2191b4, 0xee38766, 0x7f1baf1e, 0xf1572dc, 0x7f15b8ee, 0xf475bff,
+    0x7f0faf25, 0xf7942c7,
+  0x7f0991c4, 0xfab272b, 0x7f0360cb, 0xfdd0926, 0x7efd1c3c, 0x100ee8ad,
+    0x7ef6c418, 0x1040c5bb,
+  0x7ef05860, 0x1072a048, 0x7ee9d914, 0x10a4784b, 0x7ee34636, 0x10d64dbd,
+    0x7edc9fc6, 0x11082096,
+  0x7ed5e5c6, 0x1139f0cf, 0x7ecf1837, 0x116bbe60, 0x7ec8371a, 0x119d8941,
+    0x7ec14270, 0x11cf516a,
+  0x7eba3a39, 0x120116d5, 0x7eb31e78, 0x1232d979, 0x7eabef2c, 0x1264994e,
+    0x7ea4ac58, 0x1296564d,
+  0x7e9d55fc, 0x12c8106f, 0x7e95ec1a, 0x12f9c7aa, 0x7e8e6eb2, 0x132b7bf9,
+    0x7e86ddc6, 0x135d2d53,
+  0x7e7f3957, 0x138edbb1, 0x7e778166, 0x13c0870a, 0x7e6fb5f4, 0x13f22f58,
+    0x7e67d703, 0x1423d492,
+  0x7e5fe493, 0x145576b1, 0x7e57dea7, 0x148715ae, 0x7e4fc53e, 0x14b8b17f,
+    0x7e47985b, 0x14ea4a1f,
+  0x7e3f57ff, 0x151bdf86, 0x7e37042a, 0x154d71aa, 0x7e2e9cdf, 0x157f0086,
+    0x7e26221f, 0x15b08c12,
+  0x7e1d93ea, 0x15e21445, 0x7e14f242, 0x16139918, 0x7e0c3d29, 0x16451a83,
+    0x7e0374a0, 0x1676987f,
+  0x7dfa98a8, 0x16a81305, 0x7df1a942, 0x16d98a0c, 0x7de8a670, 0x170afd8d,
+    0x7ddf9034, 0x173c6d80,
+  0x7dd6668f, 0x176dd9de, 0x7dcd2981, 0x179f429f, 0x7dc3d90d, 0x17d0a7bc,
+    0x7dba7534, 0x1802092c,
+  0x7db0fdf8, 0x183366e9, 0x7da77359, 0x1864c0ea, 0x7d9dd55a, 0x18961728,
+    0x7d9423fc, 0x18c7699b,
+  0x7d8a5f40, 0x18f8b83c, 0x7d808728, 0x192a0304, 0x7d769bb5, 0x195b49ea,
+    0x7d6c9ce9, 0x198c8ce7,
+  0x7d628ac6, 0x19bdcbf3, 0x7d58654d, 0x19ef0707, 0x7d4e2c7f, 0x1a203e1b,
+    0x7d43e05e, 0x1a517128,
+  0x7d3980ec, 0x1a82a026, 0x7d2f0e2b, 0x1ab3cb0d, 0x7d24881b, 0x1ae4f1d6,
+    0x7d19eebf, 0x1b161479,
+  0x7d0f4218, 0x1b4732ef, 0x7d048228, 0x1b784d30, 0x7cf9aef0, 0x1ba96335,
+    0x7ceec873, 0x1bda74f6,
+  0x7ce3ceb2, 0x1c0b826a, 0x7cd8c1ae, 0x1c3c8b8c, 0x7ccda169, 0x1c6d9053,
+    0x7cc26de5, 0x1c9e90b8,
+  0x7cb72724, 0x1ccf8cb3, 0x7cabcd28, 0x1d00843d, 0x7ca05ff1, 0x1d31774d,
+    0x7c94df83, 0x1d6265dd,
+  0x7c894bde, 0x1d934fe5, 0x7c7da505, 0x1dc4355e, 0x7c71eaf9, 0x1df5163f,
+    0x7c661dbc, 0x1e25f282,
+  0x7c5a3d50, 0x1e56ca1e, 0x7c4e49b7, 0x1e879d0d, 0x7c4242f2, 0x1eb86b46,
+    0x7c362904, 0x1ee934c3,
+  0x7c29fbee, 0x1f19f97b, 0x7c1dbbb3, 0x1f4ab968, 0x7c116853, 0x1f7b7481,
+    0x7c0501d2, 0x1fac2abf,
+  0x7bf88830, 0x1fdcdc1b, 0x7bebfb70, 0x200d888d, 0x7bdf5b94, 0x203e300d,
+    0x7bd2a89e, 0x206ed295,
+  0x7bc5e290, 0x209f701c, 0x7bb9096b, 0x20d0089c, 0x7bac1d31, 0x21009c0c,
+    0x7b9f1de6, 0x21312a65,
+  0x7b920b89, 0x2161b3a0, 0x7b84e61f, 0x219237b5, 0x7b77ada8, 0x21c2b69c,
+    0x7b6a6227, 0x21f3304f,
+  0x7b5d039e, 0x2223a4c5, 0x7b4f920e, 0x225413f8, 0x7b420d7a, 0x22847de0,
+    0x7b3475e5, 0x22b4e274,
+  0x7b26cb4f, 0x22e541af, 0x7b190dbc, 0x23159b88, 0x7b0b3d2c, 0x2345eff8,
+    0x7afd59a4, 0x23763ef7,
+  0x7aef6323, 0x23a6887f, 0x7ae159ae, 0x23d6cc87, 0x7ad33d45, 0x24070b08,
+    0x7ac50dec, 0x243743fa,
+  0x7ab6cba4, 0x24677758, 0x7aa8766f, 0x2497a517, 0x7a9a0e50, 0x24c7cd33,
+    0x7a8b9348, 0x24f7efa2,
+  0x7a7d055b, 0x25280c5e, 0x7a6e648a, 0x2558235f, 0x7a5fb0d8, 0x2588349d,
+    0x7a50ea47, 0x25b84012,
+  0x7a4210d8, 0x25e845b6, 0x7a332490, 0x26184581, 0x7a24256f, 0x26483f6c,
+    0x7a151378, 0x26783370,
+  0x7a05eead, 0x26a82186, 0x79f6b711, 0x26d809a5, 0x79e76ca7, 0x2707ebc7,
+    0x79d80f6f, 0x2737c7e3,
+  0x79c89f6e, 0x27679df4, 0x79b91ca4, 0x27976df1, 0x79a98715, 0x27c737d3,
+    0x7999dec4, 0x27f6fb92,
+  0x798a23b1, 0x2826b928, 0x797a55e0, 0x2856708d, 0x796a7554, 0x288621b9,
+    0x795a820e, 0x28b5cca5,
+  0x794a7c12, 0x28e5714b, 0x793a6361, 0x29150fa1, 0x792a37fe, 0x2944a7a2,
+    0x7919f9ec, 0x29743946,
+  0x7909a92d, 0x29a3c485, 0x78f945c3, 0x29d34958, 0x78e8cfb2, 0x2a02c7b8,
+    0x78d846fb, 0x2a323f9e,
+  0x78c7aba2, 0x2a61b101, 0x78b6fda8, 0x2a911bdc, 0x78a63d11, 0x2ac08026,
+    0x789569df, 0x2aefddd8,
+  0x78848414, 0x2b1f34eb, 0x78738bb3, 0x2b4e8558, 0x786280bf, 0x2b7dcf17,
+    0x7851633b, 0x2bad1221,
+  0x78403329, 0x2bdc4e6f, 0x782ef08b, 0x2c0b83fa, 0x781d9b65, 0x2c3ab2b9,
+    0x780c33b8, 0x2c69daa6,
+  0x77fab989, 0x2c98fbba, 0x77e92cd9, 0x2cc815ee, 0x77d78daa, 0x2cf72939,
+    0x77c5dc01, 0x2d263596,
+  0x77b417df, 0x2d553afc, 0x77a24148, 0x2d843964, 0x7790583e, 0x2db330c7,
+    0x777e5cc3, 0x2de2211e,
+  0x776c4edb, 0x2e110a62, 0x775a2e89, 0x2e3fec8b, 0x7747fbce, 0x2e6ec792,
+    0x7735b6af, 0x2e9d9b70,
+  0x77235f2d, 0x2ecc681e, 0x7710f54c, 0x2efb2d95, 0x76fe790e, 0x2f29ebcc,
+    0x76ebea77, 0x2f58a2be,
+  0x76d94989, 0x2f875262, 0x76c69647, 0x2fb5fab2, 0x76b3d0b4, 0x2fe49ba7,
+    0x76a0f8d2, 0x30133539,
+  0x768e0ea6, 0x3041c761, 0x767b1231, 0x30705217, 0x76680376, 0x309ed556,
+    0x7654e279, 0x30cd5115,
+  0x7641af3d, 0x30fbc54d, 0x762e69c4, 0x312a31f8, 0x761b1211, 0x3158970e,
+    0x7607a828, 0x3186f487,
+  0x75f42c0b, 0x31b54a5e, 0x75e09dbd, 0x31e39889, 0x75ccfd42, 0x3211df04,
+    0x75b94a9c, 0x32401dc6,
+  0x75a585cf, 0x326e54c7, 0x7591aedd, 0x329c8402, 0x757dc5ca, 0x32caab6f,
+    0x7569ca99, 0x32f8cb07,
+  0x7555bd4c, 0x3326e2c3, 0x75419de7, 0x3354f29b, 0x752d6c6c, 0x3382fa88,
+    0x751928e0, 0x33b0fa84,
+  0x7504d345, 0x33def287, 0x74f06b9e, 0x340ce28b, 0x74dbf1ef, 0x343aca87,
+    0x74c7663a, 0x3468aa76,
+  0x74b2c884, 0x34968250, 0x749e18cd, 0x34c4520d, 0x7489571c, 0x34f219a8,
+    0x74748371, 0x351fd918,
+  0x745f9dd1, 0x354d9057, 0x744aa63f, 0x357b3f5d, 0x74359cbd, 0x35a8e625,
+    0x74208150, 0x35d684a6,
+  0x740b53fb, 0x36041ad9, 0x73f614c0, 0x3631a8b8, 0x73e0c3a3, 0x365f2e3b,
+    0x73cb60a8, 0x368cab5c,
+  0x73b5ebd1, 0x36ba2014, 0x73a06522, 0x36e78c5b, 0x738acc9e, 0x3714f02a,
+    0x73752249, 0x37424b7b,
+  0x735f6626, 0x376f9e46, 0x73499838, 0x379ce885, 0x7333b883, 0x37ca2a30,
+    0x731dc70a, 0x37f76341,
+  0x7307c3d0, 0x382493b0, 0x72f1aed9, 0x3851bb77, 0x72db8828, 0x387eda8e,
+    0x72c54fc1, 0x38abf0ef,
+  0x72af05a7, 0x38d8fe93, 0x7298a9dd, 0x39060373, 0x72823c67, 0x3932ff87,
+    0x726bbd48, 0x395ff2c9,
+  0x72552c85, 0x398cdd32, 0x723e8a20, 0x39b9bebc, 0x7227d61c, 0x39e6975e,
+    0x7211107e, 0x3a136712,
+  0x71fa3949, 0x3a402dd2, 0x71e35080, 0x3a6ceb96, 0x71cc5626, 0x3a99a057,
+    0x71b54a41, 0x3ac64c0f,
+  0x719e2cd2, 0x3af2eeb7, 0x7186fdde, 0x3b1f8848, 0x716fbd68, 0x3b4c18ba,
+    0x71586b74, 0x3b78a007,
+  0x71410805, 0x3ba51e29, 0x7129931f, 0x3bd19318, 0x71120cc5, 0x3bfdfecd,
+    0x70fa74fc, 0x3c2a6142,
+  0x70e2cbc6, 0x3c56ba70, 0x70cb1128, 0x3c830a50, 0x70b34525, 0x3caf50da,
+    0x709b67c0, 0x3cdb8e09,
+  0x708378ff, 0x3d07c1d6, 0x706b78e3, 0x3d33ec39, 0x70536771, 0x3d600d2c,
+    0x703b44ad, 0x3d8c24a8,
+  0x7023109a, 0x3db832a6, 0x700acb3c, 0x3de4371f, 0x6ff27497, 0x3e10320d,
+    0x6fda0cae, 0x3e3c2369,
+  0x6fc19385, 0x3e680b2c, 0x6fa90921, 0x3e93e950, 0x6f906d84, 0x3ebfbdcd,
+    0x6f77c0b3, 0x3eeb889c,
+  0x6f5f02b2, 0x3f1749b8, 0x6f463383, 0x3f430119, 0x6f2d532c, 0x3f6eaeb8,
+    0x6f1461b0, 0x3f9a5290,
+  0x6efb5f12, 0x3fc5ec98, 0x6ee24b57, 0x3ff17cca, 0x6ec92683, 0x401d0321,
+    0x6eaff099, 0x40487f94,
+  0x6e96a99d, 0x4073f21d, 0x6e7d5193, 0x409f5ab6, 0x6e63e87f, 0x40cab958,
+    0x6e4a6e66, 0x40f60dfb,
+  0x6e30e34a, 0x4121589b, 0x6e174730, 0x414c992f, 0x6dfd9a1c, 0x4177cfb1,
+    0x6de3dc11, 0x41a2fc1a,
+  0x6dca0d14, 0x41ce1e65, 0x6db02d29, 0x41f93689, 0x6d963c54, 0x42244481,
+    0x6d7c3a98, 0x424f4845,
+  0x6d6227fa, 0x427a41d0, 0x6d48047e, 0x42a5311b, 0x6d2dd027, 0x42d0161e,
+    0x6d138afb, 0x42faf0d4,
+  0x6cf934fc, 0x4325c135, 0x6cdece2f, 0x4350873c, 0x6cc45698, 0x437b42e1,
+    0x6ca9ce3b, 0x43a5f41e,
+  0x6c8f351c, 0x43d09aed, 0x6c748b3f, 0x43fb3746, 0x6c59d0a9, 0x4425c923,
+    0x6c3f055d, 0x4450507e,
+  0x6c242960, 0x447acd50, 0x6c093cb6, 0x44a53f93, 0x6bee3f62, 0x44cfa740,
+    0x6bd3316a, 0x44fa0450,
+  0x6bb812d1, 0x452456bd, 0x6b9ce39b, 0x454e9e80, 0x6b81a3cd, 0x4578db93,
+    0x6b66536b, 0x45a30df0,
+  0x6b4af279, 0x45cd358f, 0x6b2f80fb, 0x45f7526b, 0x6b13fef5, 0x4621647d,
+    0x6af86c6c, 0x464b6bbe,
+  0x6adcc964, 0x46756828, 0x6ac115e2, 0x469f59b4, 0x6aa551e9, 0x46c9405c,
+    0x6a897d7d, 0x46f31c1a,
+  0x6a6d98a4, 0x471cece7, 0x6a51a361, 0x4746b2bc, 0x6a359db9, 0x47706d93,
+    0x6a1987b0, 0x479a1d67,
+  0x69fd614a, 0x47c3c22f, 0x69e12a8c, 0x47ed5be6, 0x69c4e37a, 0x4816ea86,
+    0x69a88c19, 0x48406e08,
+  0x698c246c, 0x4869e665, 0x696fac78, 0x48935397, 0x69532442, 0x48bcb599,
+    0x69368bce, 0x48e60c62,
+  0x6919e320, 0x490f57ee, 0x68fd2a3d, 0x49389836, 0x68e06129, 0x4961cd33,
+    0x68c387e9, 0x498af6df,
+  0x68a69e81, 0x49b41533, 0x6889a4f6, 0x49dd282a, 0x686c9b4b, 0x4a062fbd,
+    0x684f8186, 0x4a2f2be6,
+  0x683257ab, 0x4a581c9e, 0x68151dbe, 0x4a8101de, 0x67f7d3c5, 0x4aa9dba2,
+    0x67da79c3, 0x4ad2a9e2,
+  0x67bd0fbd, 0x4afb6c98, 0x679f95b7, 0x4b2423be, 0x67820bb7, 0x4b4ccf4d,
+    0x676471c0, 0x4b756f40,
+  0x6746c7d8, 0x4b9e0390, 0x67290e02, 0x4bc68c36, 0x670b4444, 0x4bef092d,
+    0x66ed6aa1, 0x4c177a6e,
+  0x66cf8120, 0x4c3fdff4, 0x66b187c3, 0x4c6839b7, 0x66937e91, 0x4c9087b1,
+    0x6675658c, 0x4cb8c9dd,
+  0x66573cbb, 0x4ce10034, 0x66390422, 0x4d092ab0, 0x661abbc5, 0x4d31494b,
+    0x65fc63a9, 0x4d595bfe,
+  0x65ddfbd3, 0x4d8162c4, 0x65bf8447, 0x4da95d96, 0x65a0fd0b, 0x4dd14c6e,
+    0x65826622, 0x4df92f46,
+  0x6563bf92, 0x4e210617, 0x6545095f, 0x4e48d0dd, 0x6526438f, 0x4e708f8f,
+    0x65076e25, 0x4e984229,
+  0x64e88926, 0x4ebfe8a5, 0x64c99498, 0x4ee782fb, 0x64aa907f, 0x4f0f1126,
+    0x648b7ce0, 0x4f369320,
+  0x646c59bf, 0x4f5e08e3, 0x644d2722, 0x4f857269, 0x642de50d, 0x4faccfab,
+    0x640e9386, 0x4fd420a4,
+  0x63ef3290, 0x4ffb654d, 0x63cfc231, 0x50229da1, 0x63b0426d, 0x5049c999,
+    0x6390b34a, 0x5070e92f,
+  0x637114cc, 0x5097fc5e, 0x635166f9, 0x50bf031f, 0x6331a9d4, 0x50e5fd6d,
+    0x6311dd64, 0x510ceb40,
+  0x62f201ac, 0x5133cc94, 0x62d216b3, 0x515aa162, 0x62b21c7b, 0x518169a5,
+    0x6292130c, 0x51a82555,
+  0x6271fa69, 0x51ced46e, 0x6251d298, 0x51f576ea, 0x62319b9d, 0x521c0cc2,
+    0x6211557e, 0x524295f0,
+  0x61f1003f, 0x5269126e, 0x61d09be5, 0x528f8238, 0x61b02876, 0x52b5e546,
+    0x618fa5f7, 0x52dc3b92,
+  0x616f146c, 0x53028518, 0x614e73da, 0x5328c1d0, 0x612dc447, 0x534ef1b5,
+    0x610d05b7, 0x537514c2,
+  0x60ec3830, 0x539b2af0, 0x60cb5bb7, 0x53c13439, 0x60aa7050, 0x53e73097,
+    0x60897601, 0x540d2005,
+  0x60686ccf, 0x5433027d, 0x604754bf, 0x5458d7f9, 0x60262dd6, 0x547ea073,
+    0x6004f819, 0x54a45be6,
+  0x5fe3b38d, 0x54ca0a4b, 0x5fc26038, 0x54efab9c, 0x5fa0fe1f, 0x55153fd4,
+    0x5f7f8d46, 0x553ac6ee,
+  0x5f5e0db3, 0x556040e2, 0x5f3c7f6b, 0x5585adad, 0x5f1ae274, 0x55ab0d46,
+    0x5ef936d1, 0x55d05faa,
+  0x5ed77c8a, 0x55f5a4d2, 0x5eb5b3a2, 0x561adcb9, 0x5e93dc1f, 0x56400758,
+    0x5e71f606, 0x566524aa,
+  0x5e50015d, 0x568a34a9, 0x5e2dfe29, 0x56af3750, 0x5e0bec6e, 0x56d42c99,
+    0x5de9cc33, 0x56f9147e,
+  0x5dc79d7c, 0x571deefa, 0x5da5604f, 0x5742bc06, 0x5d8314b1, 0x57677b9d,
+    0x5d60baa7, 0x578c2dba,
+  0x5d3e5237, 0x57b0d256, 0x5d1bdb65, 0x57d5696d, 0x5cf95638, 0x57f9f2f8,
+    0x5cd6c2b5, 0x581e6ef1,
+  0x5cb420e0, 0x5842dd54, 0x5c9170bf, 0x58673e1b, 0x5c6eb258, 0x588b9140,
+    0x5c4be5b0, 0x58afd6bd,
+  0x5c290acc, 0x58d40e8c, 0x5c0621b2, 0x58f838a9, 0x5be32a67, 0x591c550e,
+    0x5bc024f0, 0x594063b5,
+  0x5b9d1154, 0x59646498, 0x5b79ef96, 0x598857b2, 0x5b56bfbd, 0x59ac3cfd,
+    0x5b3381ce, 0x59d01475,
+  0x5b1035cf, 0x59f3de12, 0x5aecdbc5, 0x5a1799d1, 0x5ac973b5, 0x5a3b47ab,
+    0x5aa5fda5, 0x5a5ee79a,
+  0x5a82799a, 0x5a82799a, 0x5a5ee79a, 0x5aa5fda5, 0x5a3b47ab, 0x5ac973b5,
+    0x5a1799d1, 0x5aecdbc5,
+  0x59f3de12, 0x5b1035cf, 0x59d01475, 0x5b3381ce, 0x59ac3cfd, 0x5b56bfbd,
+    0x598857b2, 0x5b79ef96,
+  0x59646498, 0x5b9d1154, 0x594063b5, 0x5bc024f0, 0x591c550e, 0x5be32a67,
+    0x58f838a9, 0x5c0621b2,
+  0x58d40e8c, 0x5c290acc, 0x58afd6bd, 0x5c4be5b0, 0x588b9140, 0x5c6eb258,
+    0x58673e1b, 0x5c9170bf,
+  0x5842dd54, 0x5cb420e0, 0x581e6ef1, 0x5cd6c2b5, 0x57f9f2f8, 0x5cf95638,
+    0x57d5696d, 0x5d1bdb65,
+  0x57b0d256, 0x5d3e5237, 0x578c2dba, 0x5d60baa7, 0x57677b9d, 0x5d8314b1,
+    0x5742bc06, 0x5da5604f,
+  0x571deefa, 0x5dc79d7c, 0x56f9147e, 0x5de9cc33, 0x56d42c99, 0x5e0bec6e,
+    0x56af3750, 0x5e2dfe29,
+  0x568a34a9, 0x5e50015d, 0x566524aa, 0x5e71f606, 0x56400758, 0x5e93dc1f,
+    0x561adcb9, 0x5eb5b3a2,
+  0x55f5a4d2, 0x5ed77c8a, 0x55d05faa, 0x5ef936d1, 0x55ab0d46, 0x5f1ae274,
+    0x5585adad, 0x5f3c7f6b,
+  0x556040e2, 0x5f5e0db3, 0x553ac6ee, 0x5f7f8d46, 0x55153fd4, 0x5fa0fe1f,
+    0x54efab9c, 0x5fc26038,
+  0x54ca0a4b, 0x5fe3b38d, 0x54a45be6, 0x6004f819, 0x547ea073, 0x60262dd6,
+    0x5458d7f9, 0x604754bf,
+  0x5433027d, 0x60686ccf, 0x540d2005, 0x60897601, 0x53e73097, 0x60aa7050,
+    0x53c13439, 0x60cb5bb7,
+  0x539b2af0, 0x60ec3830, 0x537514c2, 0x610d05b7, 0x534ef1b5, 0x612dc447,
+    0x5328c1d0, 0x614e73da,
+  0x53028518, 0x616f146c, 0x52dc3b92, 0x618fa5f7, 0x52b5e546, 0x61b02876,
+    0x528f8238, 0x61d09be5,
+  0x5269126e, 0x61f1003f, 0x524295f0, 0x6211557e, 0x521c0cc2, 0x62319b9d,
+    0x51f576ea, 0x6251d298,
+  0x51ced46e, 0x6271fa69, 0x51a82555, 0x6292130c, 0x518169a5, 0x62b21c7b,
+    0x515aa162, 0x62d216b3,
+  0x5133cc94, 0x62f201ac, 0x510ceb40, 0x6311dd64, 0x50e5fd6d, 0x6331a9d4,
+    0x50bf031f, 0x635166f9,
+  0x5097fc5e, 0x637114cc, 0x5070e92f, 0x6390b34a, 0x5049c999, 0x63b0426d,
+    0x50229da1, 0x63cfc231,
+  0x4ffb654d, 0x63ef3290, 0x4fd420a4, 0x640e9386, 0x4faccfab, 0x642de50d,
+    0x4f857269, 0x644d2722,
+  0x4f5e08e3, 0x646c59bf, 0x4f369320, 0x648b7ce0, 0x4f0f1126, 0x64aa907f,
+    0x4ee782fb, 0x64c99498,
+  0x4ebfe8a5, 0x64e88926, 0x4e984229, 0x65076e25, 0x4e708f8f, 0x6526438f,
+    0x4e48d0dd, 0x6545095f,
+  0x4e210617, 0x6563bf92, 0x4df92f46, 0x65826622, 0x4dd14c6e, 0x65a0fd0b,
+    0x4da95d96, 0x65bf8447,
+  0x4d8162c4, 0x65ddfbd3, 0x4d595bfe, 0x65fc63a9, 0x4d31494b, 0x661abbc5,
+    0x4d092ab0, 0x66390422,
+  0x4ce10034, 0x66573cbb, 0x4cb8c9dd, 0x6675658c, 0x4c9087b1, 0x66937e91,
+    0x4c6839b7, 0x66b187c3,
+  0x4c3fdff4, 0x66cf8120, 0x4c177a6e, 0x66ed6aa1, 0x4bef092d, 0x670b4444,
+    0x4bc68c36, 0x67290e02,
+  0x4b9e0390, 0x6746c7d8, 0x4b756f40, 0x676471c0, 0x4b4ccf4d, 0x67820bb7,
+    0x4b2423be, 0x679f95b7,
+  0x4afb6c98, 0x67bd0fbd, 0x4ad2a9e2, 0x67da79c3, 0x4aa9dba2, 0x67f7d3c5,
+    0x4a8101de, 0x68151dbe,
+  0x4a581c9e, 0x683257ab, 0x4a2f2be6, 0x684f8186, 0x4a062fbd, 0x686c9b4b,
+    0x49dd282a, 0x6889a4f6,
+  0x49b41533, 0x68a69e81, 0x498af6df, 0x68c387e9, 0x4961cd33, 0x68e06129,
+    0x49389836, 0x68fd2a3d,
+  0x490f57ee, 0x6919e320, 0x48e60c62, 0x69368bce, 0x48bcb599, 0x69532442,
+    0x48935397, 0x696fac78,
+  0x4869e665, 0x698c246c, 0x48406e08, 0x69a88c19, 0x4816ea86, 0x69c4e37a,
+    0x47ed5be6, 0x69e12a8c,
+  0x47c3c22f, 0x69fd614a, 0x479a1d67, 0x6a1987b0, 0x47706d93, 0x6a359db9,
+    0x4746b2bc, 0x6a51a361,
+  0x471cece7, 0x6a6d98a4, 0x46f31c1a, 0x6a897d7d, 0x46c9405c, 0x6aa551e9,
+    0x469f59b4, 0x6ac115e2,
+  0x46756828, 0x6adcc964, 0x464b6bbe, 0x6af86c6c, 0x4621647d, 0x6b13fef5,
+    0x45f7526b, 0x6b2f80fb,
+  0x45cd358f, 0x6b4af279, 0x45a30df0, 0x6b66536b, 0x4578db93, 0x6b81a3cd,
+    0x454e9e80, 0x6b9ce39b,
+  0x452456bd, 0x6bb812d1, 0x44fa0450, 0x6bd3316a, 0x44cfa740, 0x6bee3f62,
+    0x44a53f93, 0x6c093cb6,
+  0x447acd50, 0x6c242960, 0x4450507e, 0x6c3f055d, 0x4425c923, 0x6c59d0a9,
+    0x43fb3746, 0x6c748b3f,
+  0x43d09aed, 0x6c8f351c, 0x43a5f41e, 0x6ca9ce3b, 0x437b42e1, 0x6cc45698,
+    0x4350873c, 0x6cdece2f,
+  0x4325c135, 0x6cf934fc, 0x42faf0d4, 0x6d138afb, 0x42d0161e, 0x6d2dd027,
+    0x42a5311b, 0x6d48047e,
+  0x427a41d0, 0x6d6227fa, 0x424f4845, 0x6d7c3a98, 0x42244481, 0x6d963c54,
+    0x41f93689, 0x6db02d29,
+  0x41ce1e65, 0x6dca0d14, 0x41a2fc1a, 0x6de3dc11, 0x4177cfb1, 0x6dfd9a1c,
+    0x414c992f, 0x6e174730,
+  0x4121589b, 0x6e30e34a, 0x40f60dfb, 0x6e4a6e66, 0x40cab958, 0x6e63e87f,
+    0x409f5ab6, 0x6e7d5193,
+  0x4073f21d, 0x6e96a99d, 0x40487f94, 0x6eaff099, 0x401d0321, 0x6ec92683,
+    0x3ff17cca, 0x6ee24b57,
+  0x3fc5ec98, 0x6efb5f12, 0x3f9a5290, 0x6f1461b0, 0x3f6eaeb8, 0x6f2d532c,
+    0x3f430119, 0x6f463383,
+  0x3f1749b8, 0x6f5f02b2, 0x3eeb889c, 0x6f77c0b3, 0x3ebfbdcd, 0x6f906d84,
+    0x3e93e950, 0x6fa90921,
+  0x3e680b2c, 0x6fc19385, 0x3e3c2369, 0x6fda0cae, 0x3e10320d, 0x6ff27497,
+    0x3de4371f, 0x700acb3c,
+  0x3db832a6, 0x7023109a, 0x3d8c24a8, 0x703b44ad, 0x3d600d2c, 0x70536771,
+    0x3d33ec39, 0x706b78e3,
+  0x3d07c1d6, 0x708378ff, 0x3cdb8e09, 0x709b67c0, 0x3caf50da, 0x70b34525,
+    0x3c830a50, 0x70cb1128,
+  0x3c56ba70, 0x70e2cbc6, 0x3c2a6142, 0x70fa74fc, 0x3bfdfecd, 0x71120cc5,
+    0x3bd19318, 0x7129931f,
+  0x3ba51e29, 0x71410805, 0x3b78a007, 0x71586b74, 0x3b4c18ba, 0x716fbd68,
+    0x3b1f8848, 0x7186fdde,
+  0x3af2eeb7, 0x719e2cd2, 0x3ac64c0f, 0x71b54a41, 0x3a99a057, 0x71cc5626,
+    0x3a6ceb96, 0x71e35080,
+  0x3a402dd2, 0x71fa3949, 0x3a136712, 0x7211107e, 0x39e6975e, 0x7227d61c,
+    0x39b9bebc, 0x723e8a20,
+  0x398cdd32, 0x72552c85, 0x395ff2c9, 0x726bbd48, 0x3932ff87, 0x72823c67,
+    0x39060373, 0x7298a9dd,
+  0x38d8fe93, 0x72af05a7, 0x38abf0ef, 0x72c54fc1, 0x387eda8e, 0x72db8828,
+    0x3851bb77, 0x72f1aed9,
+  0x382493b0, 0x7307c3d0, 0x37f76341, 0x731dc70a, 0x37ca2a30, 0x7333b883,
+    0x379ce885, 0x73499838,
+  0x376f9e46, 0x735f6626, 0x37424b7b, 0x73752249, 0x3714f02a, 0x738acc9e,
+    0x36e78c5b, 0x73a06522,
+  0x36ba2014, 0x73b5ebd1, 0x368cab5c, 0x73cb60a8, 0x365f2e3b, 0x73e0c3a3,
+    0x3631a8b8, 0x73f614c0,
+  0x36041ad9, 0x740b53fb, 0x35d684a6, 0x74208150, 0x35a8e625, 0x74359cbd,
+    0x357b3f5d, 0x744aa63f,
+  0x354d9057, 0x745f9dd1, 0x351fd918, 0x74748371, 0x34f219a8, 0x7489571c,
+    0x34c4520d, 0x749e18cd,
+  0x34968250, 0x74b2c884, 0x3468aa76, 0x74c7663a, 0x343aca87, 0x74dbf1ef,
+    0x340ce28b, 0x74f06b9e,
+  0x33def287, 0x7504d345, 0x33b0fa84, 0x751928e0, 0x3382fa88, 0x752d6c6c,
+    0x3354f29b, 0x75419de7,
+  0x3326e2c3, 0x7555bd4c, 0x32f8cb07, 0x7569ca99, 0x32caab6f, 0x757dc5ca,
+    0x329c8402, 0x7591aedd,
+  0x326e54c7, 0x75a585cf, 0x32401dc6, 0x75b94a9c, 0x3211df04, 0x75ccfd42,
+    0x31e39889, 0x75e09dbd,
+  0x31b54a5e, 0x75f42c0b, 0x3186f487, 0x7607a828, 0x3158970e, 0x761b1211,
+    0x312a31f8, 0x762e69c4,
+  0x30fbc54d, 0x7641af3d, 0x30cd5115, 0x7654e279, 0x309ed556, 0x76680376,
+    0x30705217, 0x767b1231,
+  0x3041c761, 0x768e0ea6, 0x30133539, 0x76a0f8d2, 0x2fe49ba7, 0x76b3d0b4,
+    0x2fb5fab2, 0x76c69647,
+  0x2f875262, 0x76d94989, 0x2f58a2be, 0x76ebea77, 0x2f29ebcc, 0x76fe790e,
+    0x2efb2d95, 0x7710f54c,
+  0x2ecc681e, 0x77235f2d, 0x2e9d9b70, 0x7735b6af, 0x2e6ec792, 0x7747fbce,
+    0x2e3fec8b, 0x775a2e89,
+  0x2e110a62, 0x776c4edb, 0x2de2211e, 0x777e5cc3, 0x2db330c7, 0x7790583e,
+    0x2d843964, 0x77a24148,
+  0x2d553afc, 0x77b417df, 0x2d263596, 0x77c5dc01, 0x2cf72939, 0x77d78daa,
+    0x2cc815ee, 0x77e92cd9,
+  0x2c98fbba, 0x77fab989, 0x2c69daa6, 0x780c33b8, 0x2c3ab2b9, 0x781d9b65,
+    0x2c0b83fa, 0x782ef08b,
+  0x2bdc4e6f, 0x78403329, 0x2bad1221, 0x7851633b, 0x2b7dcf17, 0x786280bf,
+    0x2b4e8558, 0x78738bb3,
+  0x2b1f34eb, 0x78848414, 0x2aefddd8, 0x789569df, 0x2ac08026, 0x78a63d11,
+    0x2a911bdc, 0x78b6fda8,
+  0x2a61b101, 0x78c7aba2, 0x2a323f9e, 0x78d846fb, 0x2a02c7b8, 0x78e8cfb2,
+    0x29d34958, 0x78f945c3,
+  0x29a3c485, 0x7909a92d, 0x29743946, 0x7919f9ec, 0x2944a7a2, 0x792a37fe,
+    0x29150fa1, 0x793a6361,
+  0x28e5714b, 0x794a7c12, 0x28b5cca5, 0x795a820e, 0x288621b9, 0x796a7554,
+    0x2856708d, 0x797a55e0,
+  0x2826b928, 0x798a23b1, 0x27f6fb92, 0x7999dec4, 0x27c737d3, 0x79a98715,
+    0x27976df1, 0x79b91ca4,
+  0x27679df4, 0x79c89f6e, 0x2737c7e3, 0x79d80f6f, 0x2707ebc7, 0x79e76ca7,
+    0x26d809a5, 0x79f6b711,
+  0x26a82186, 0x7a05eead, 0x26783370, 0x7a151378, 0x26483f6c, 0x7a24256f,
+    0x26184581, 0x7a332490,
+  0x25e845b6, 0x7a4210d8, 0x25b84012, 0x7a50ea47, 0x2588349d, 0x7a5fb0d8,
+    0x2558235f, 0x7a6e648a,
+  0x25280c5e, 0x7a7d055b, 0x24f7efa2, 0x7a8b9348, 0x24c7cd33, 0x7a9a0e50,
+    0x2497a517, 0x7aa8766f,
+  0x24677758, 0x7ab6cba4, 0x243743fa, 0x7ac50dec, 0x24070b08, 0x7ad33d45,
+    0x23d6cc87, 0x7ae159ae,
+  0x23a6887f, 0x7aef6323, 0x23763ef7, 0x7afd59a4, 0x2345eff8, 0x7b0b3d2c,
+    0x23159b88, 0x7b190dbc,
+  0x22e541af, 0x7b26cb4f, 0x22b4e274, 0x7b3475e5, 0x22847de0, 0x7b420d7a,
+    0x225413f8, 0x7b4f920e,
+  0x2223a4c5, 0x7b5d039e, 0x21f3304f, 0x7b6a6227, 0x21c2b69c, 0x7b77ada8,
+    0x219237b5, 0x7b84e61f,
+  0x2161b3a0, 0x7b920b89, 0x21312a65, 0x7b9f1de6, 0x21009c0c, 0x7bac1d31,
+    0x20d0089c, 0x7bb9096b,
+  0x209f701c, 0x7bc5e290, 0x206ed295, 0x7bd2a89e, 0x203e300d, 0x7bdf5b94,
+    0x200d888d, 0x7bebfb70,
+  0x1fdcdc1b, 0x7bf88830, 0x1fac2abf, 0x7c0501d2, 0x1f7b7481, 0x7c116853,
+    0x1f4ab968, 0x7c1dbbb3,
+  0x1f19f97b, 0x7c29fbee, 0x1ee934c3, 0x7c362904, 0x1eb86b46, 0x7c4242f2,
+    0x1e879d0d, 0x7c4e49b7,
+  0x1e56ca1e, 0x7c5a3d50, 0x1e25f282, 0x7c661dbc, 0x1df5163f, 0x7c71eaf9,
+    0x1dc4355e, 0x7c7da505,
+  0x1d934fe5, 0x7c894bde, 0x1d6265dd, 0x7c94df83, 0x1d31774d, 0x7ca05ff1,
+    0x1d00843d, 0x7cabcd28,
+  0x1ccf8cb3, 0x7cb72724, 0x1c9e90b8, 0x7cc26de5, 0x1c6d9053, 0x7ccda169,
+    0x1c3c8b8c, 0x7cd8c1ae,
+  0x1c0b826a, 0x7ce3ceb2, 0x1bda74f6, 0x7ceec873, 0x1ba96335, 0x7cf9aef0,
+    0x1b784d30, 0x7d048228,
+  0x1b4732ef, 0x7d0f4218, 0x1b161479, 0x7d19eebf, 0x1ae4f1d6, 0x7d24881b,
+    0x1ab3cb0d, 0x7d2f0e2b,
+  0x1a82a026, 0x7d3980ec, 0x1a517128, 0x7d43e05e, 0x1a203e1b, 0x7d4e2c7f,
+    0x19ef0707, 0x7d58654d,
+  0x19bdcbf3, 0x7d628ac6, 0x198c8ce7, 0x7d6c9ce9, 0x195b49ea, 0x7d769bb5,
+    0x192a0304, 0x7d808728,
+  0x18f8b83c, 0x7d8a5f40, 0x18c7699b, 0x7d9423fc, 0x18961728, 0x7d9dd55a,
+    0x1864c0ea, 0x7da77359,
+  0x183366e9, 0x7db0fdf8, 0x1802092c, 0x7dba7534, 0x17d0a7bc, 0x7dc3d90d,
+    0x179f429f, 0x7dcd2981,
+  0x176dd9de, 0x7dd6668f, 0x173c6d80, 0x7ddf9034, 0x170afd8d, 0x7de8a670,
+    0x16d98a0c, 0x7df1a942,
+  0x16a81305, 0x7dfa98a8, 0x1676987f, 0x7e0374a0, 0x16451a83, 0x7e0c3d29,
+    0x16139918, 0x7e14f242,
+  0x15e21445, 0x7e1d93ea, 0x15b08c12, 0x7e26221f, 0x157f0086, 0x7e2e9cdf,
+    0x154d71aa, 0x7e37042a,
+  0x151bdf86, 0x7e3f57ff, 0x14ea4a1f, 0x7e47985b, 0x14b8b17f, 0x7e4fc53e,
+    0x148715ae, 0x7e57dea7,
+  0x145576b1, 0x7e5fe493, 0x1423d492, 0x7e67d703, 0x13f22f58, 0x7e6fb5f4,
+    0x13c0870a, 0x7e778166,
+  0x138edbb1, 0x7e7f3957, 0x135d2d53, 0x7e86ddc6, 0x132b7bf9, 0x7e8e6eb2,
+    0x12f9c7aa, 0x7e95ec1a,
+  0x12c8106f, 0x7e9d55fc, 0x1296564d, 0x7ea4ac58, 0x1264994e, 0x7eabef2c,
+    0x1232d979, 0x7eb31e78,
+  0x120116d5, 0x7eba3a39, 0x11cf516a, 0x7ec14270, 0x119d8941, 0x7ec8371a,
+    0x116bbe60, 0x7ecf1837,
+  0x1139f0cf, 0x7ed5e5c6, 0x11082096, 0x7edc9fc6, 0x10d64dbd, 0x7ee34636,
+    0x10a4784b, 0x7ee9d914,
+  0x1072a048, 0x7ef05860, 0x1040c5bb, 0x7ef6c418, 0x100ee8ad, 0x7efd1c3c,
+    0xfdd0926, 0x7f0360cb,
+  0xfab272b, 0x7f0991c4, 0xf7942c7, 0x7f0faf25, 0xf475bff, 0x7f15b8ee,
+    0xf1572dc, 0x7f1baf1e,
+  0xee38766, 0x7f2191b4, 0xeb199a4, 0x7f2760af, 0xe7fa99e, 0x7f2d1c0e,
+    0xe4db75b, 0x7f32c3d1,
+  0xe1bc2e4, 0x7f3857f6, 0xde9cc40, 0x7f3dd87c, 0xdb7d376, 0x7f434563,
+    0xd85d88f, 0x7f489eaa,
+  0xd53db92, 0x7f4de451, 0xd21dc87, 0x7f531655, 0xcefdb76, 0x7f5834b7,
+    0xcbdd865, 0x7f5d3f75,
+  0xc8bd35e, 0x7f62368f, 0xc59cc68, 0x7f671a05, 0xc27c389, 0x7f6be9d4,
+    0xbf5b8cb, 0x7f70a5fe,
+  0xbc3ac35, 0x7f754e80, 0xb919dcf, 0x7f79e35a, 0xb5f8d9f, 0x7f7e648c,
+    0xb2d7baf, 0x7f82d214,
+  0xafb6805, 0x7f872bf3, 0xac952aa, 0x7f8b7227, 0xa973ba5, 0x7f8fa4b0,
+    0xa6522fe, 0x7f93c38c,
+  0xa3308bd, 0x7f97cebd, 0xa00ece8, 0x7f9bc640, 0x9cecf89, 0x7f9faa15,
+    0x99cb0a7, 0x7fa37a3c,
+  0x96a9049, 0x7fa736b4, 0x9386e78, 0x7faadf7c, 0x9064b3a, 0x7fae7495,
+    0x8d42699, 0x7fb1f5fc,
+  0x8a2009a, 0x7fb563b3, 0x86fd947, 0x7fb8bdb8, 0x83db0a7, 0x7fbc040a,
+    0x80b86c2, 0x7fbf36aa,
+  0x7d95b9e, 0x7fc25596, 0x7a72f45, 0x7fc560cf, 0x77501be, 0x7fc85854,
+    0x742d311, 0x7fcb3c23,
+  0x710a345, 0x7fce0c3e, 0x6de7262, 0x7fd0c8a3, 0x6ac406f, 0x7fd37153,
+    0x67a0d76, 0x7fd6064c,
+  0x647d97c, 0x7fd8878e, 0x615a48b, 0x7fdaf519, 0x5e36ea9, 0x7fdd4eec,
+    0x5b137df, 0x7fdf9508,
+  0x57f0035, 0x7fe1c76b, 0x54cc7b1, 0x7fe3e616, 0x51a8e5c, 0x7fe5f108,
+    0x4e8543e, 0x7fe7e841,
+  0x4b6195d, 0x7fe9cbc0, 0x483ddc3, 0x7feb9b85, 0x451a177, 0x7fed5791,
+    0x41f6480, 0x7feeffe1,
+  0x3ed26e6, 0x7ff09478, 0x3bae8b2, 0x7ff21553, 0x388a9ea, 0x7ff38274,
+    0x3566a96, 0x7ff4dbd9,
+  0x3242abf, 0x7ff62182, 0x2f1ea6c, 0x7ff75370, 0x2bfa9a4, 0x7ff871a2,
+    0x28d6870, 0x7ff97c18,
+  0x25b26d7, 0x7ffa72d1, 0x228e4e2, 0x7ffb55ce, 0x1f6a297, 0x7ffc250f,
+    0x1c45ffe, 0x7ffce093,
+  0x1921d20, 0x7ffd885a, 0x15fda03, 0x7ffe1c65, 0x12d96b1, 0x7ffe9cb2,
+    0xfb5330, 0x7fff0943,
+  0xc90f88, 0x7fff6216, 0x96cbc1, 0x7fffa72c, 0x6487e3, 0x7fffd886, 0x3243f5,
+    0x7ffff621,
+  0x0, 0x7fffffff, 0xffcdbc0b, 0x7ffff621, 0xff9b781d, 0x7fffd886, 0xff69343f,
+    0x7fffa72c,
+  0xff36f078, 0x7fff6216, 0xff04acd0, 0x7fff0943, 0xfed2694f, 0x7ffe9cb2,
+    0xfea025fd, 0x7ffe1c65,
+  0xfe6de2e0, 0x7ffd885a, 0xfe3ba002, 0x7ffce093, 0xfe095d69, 0x7ffc250f,
+    0xfdd71b1e, 0x7ffb55ce,
+  0xfda4d929, 0x7ffa72d1, 0xfd729790, 0x7ff97c18, 0xfd40565c, 0x7ff871a2,
+    0xfd0e1594, 0x7ff75370,
+  0xfcdbd541, 0x7ff62182, 0xfca9956a, 0x7ff4dbd9, 0xfc775616, 0x7ff38274,
+    0xfc45174e, 0x7ff21553,
+  0xfc12d91a, 0x7ff09478, 0xfbe09b80, 0x7feeffe1, 0xfbae5e89, 0x7fed5791,
+    0xfb7c223d, 0x7feb9b85,
+  0xfb49e6a3, 0x7fe9cbc0, 0xfb17abc2, 0x7fe7e841, 0xfae571a4, 0x7fe5f108,
+    0xfab3384f, 0x7fe3e616,
+  0xfa80ffcb, 0x7fe1c76b, 0xfa4ec821, 0x7fdf9508, 0xfa1c9157, 0x7fdd4eec,
+    0xf9ea5b75, 0x7fdaf519,
+  0xf9b82684, 0x7fd8878e, 0xf985f28a, 0x7fd6064c, 0xf953bf91, 0x7fd37153,
+    0xf9218d9e, 0x7fd0c8a3,
+  0xf8ef5cbb, 0x7fce0c3e, 0xf8bd2cef, 0x7fcb3c23, 0xf88afe42, 0x7fc85854,
+    0xf858d0bb, 0x7fc560cf,
+  0xf826a462, 0x7fc25596, 0xf7f4793e, 0x7fbf36aa, 0xf7c24f59, 0x7fbc040a,
+    0xf79026b9, 0x7fb8bdb8,
+  0xf75dff66, 0x7fb563b3, 0xf72bd967, 0x7fb1f5fc, 0xf6f9b4c6, 0x7fae7495,
+    0xf6c79188, 0x7faadf7c,
+  0xf6956fb7, 0x7fa736b4, 0xf6634f59, 0x7fa37a3c, 0xf6313077, 0x7f9faa15,
+    0xf5ff1318, 0x7f9bc640,
+  0xf5ccf743, 0x7f97cebd, 0xf59add02, 0x7f93c38c, 0xf568c45b, 0x7f8fa4b0,
+    0xf536ad56, 0x7f8b7227,
+  0xf50497fb, 0x7f872bf3, 0xf4d28451, 0x7f82d214, 0xf4a07261, 0x7f7e648c,
+    0xf46e6231, 0x7f79e35a,
+  0xf43c53cb, 0x7f754e80, 0xf40a4735, 0x7f70a5fe, 0xf3d83c77, 0x7f6be9d4,
+    0xf3a63398, 0x7f671a05,
+  0xf3742ca2, 0x7f62368f, 0xf342279b, 0x7f5d3f75, 0xf310248a, 0x7f5834b7,
+    0xf2de2379, 0x7f531655,
+  0xf2ac246e, 0x7f4de451, 0xf27a2771, 0x7f489eaa, 0xf2482c8a, 0x7f434563,
+    0xf21633c0, 0x7f3dd87c,
+  0xf1e43d1c, 0x7f3857f6, 0xf1b248a5, 0x7f32c3d1, 0xf1805662, 0x7f2d1c0e,
+    0xf14e665c, 0x7f2760af,
+  0xf11c789a, 0x7f2191b4, 0xf0ea8d24, 0x7f1baf1e, 0xf0b8a401, 0x7f15b8ee,
+    0xf086bd39, 0x7f0faf25,
+  0xf054d8d5, 0x7f0991c4, 0xf022f6da, 0x7f0360cb, 0xeff11753, 0x7efd1c3c,
+    0xefbf3a45, 0x7ef6c418,
+  0xef8d5fb8, 0x7ef05860, 0xef5b87b5, 0x7ee9d914, 0xef29b243, 0x7ee34636,
+    0xeef7df6a, 0x7edc9fc6,
+  0xeec60f31, 0x7ed5e5c6, 0xee9441a0, 0x7ecf1837, 0xee6276bf, 0x7ec8371a,
+    0xee30ae96, 0x7ec14270,
+  0xedfee92b, 0x7eba3a39, 0xedcd2687, 0x7eb31e78, 0xed9b66b2, 0x7eabef2c,
+    0xed69a9b3, 0x7ea4ac58,
+  0xed37ef91, 0x7e9d55fc, 0xed063856, 0x7e95ec1a, 0xecd48407, 0x7e8e6eb2,
+    0xeca2d2ad, 0x7e86ddc6,
+  0xec71244f, 0x7e7f3957, 0xec3f78f6, 0x7e778166, 0xec0dd0a8, 0x7e6fb5f4,
+    0xebdc2b6e, 0x7e67d703,
+  0xebaa894f, 0x7e5fe493, 0xeb78ea52, 0x7e57dea7, 0xeb474e81, 0x7e4fc53e,
+    0xeb15b5e1, 0x7e47985b,
+  0xeae4207a, 0x7e3f57ff, 0xeab28e56, 0x7e37042a, 0xea80ff7a, 0x7e2e9cdf,
+    0xea4f73ee, 0x7e26221f,
+  0xea1debbb, 0x7e1d93ea, 0xe9ec66e8, 0x7e14f242, 0xe9bae57d, 0x7e0c3d29,
+    0xe9896781, 0x7e0374a0,
+  0xe957ecfb, 0x7dfa98a8, 0xe92675f4, 0x7df1a942, 0xe8f50273, 0x7de8a670,
+    0xe8c39280, 0x7ddf9034,
+  0xe8922622, 0x7dd6668f, 0xe860bd61, 0x7dcd2981, 0xe82f5844, 0x7dc3d90d,
+    0xe7fdf6d4, 0x7dba7534,
+  0xe7cc9917, 0x7db0fdf8, 0xe79b3f16, 0x7da77359, 0xe769e8d8, 0x7d9dd55a,
+    0xe7389665, 0x7d9423fc,
+  0xe70747c4, 0x7d8a5f40, 0xe6d5fcfc, 0x7d808728, 0xe6a4b616, 0x7d769bb5,
+    0xe6737319, 0x7d6c9ce9,
+  0xe642340d, 0x7d628ac6, 0xe610f8f9, 0x7d58654d, 0xe5dfc1e5, 0x7d4e2c7f,
+    0xe5ae8ed8, 0x7d43e05e,
+  0xe57d5fda, 0x7d3980ec, 0xe54c34f3, 0x7d2f0e2b, 0xe51b0e2a, 0x7d24881b,
+    0xe4e9eb87, 0x7d19eebf,
+  0xe4b8cd11, 0x7d0f4218, 0xe487b2d0, 0x7d048228, 0xe4569ccb, 0x7cf9aef0,
+    0xe4258b0a, 0x7ceec873,
+  0xe3f47d96, 0x7ce3ceb2, 0xe3c37474, 0x7cd8c1ae, 0xe3926fad, 0x7ccda169,
+    0xe3616f48, 0x7cc26de5,
+  0xe330734d, 0x7cb72724, 0xe2ff7bc3, 0x7cabcd28, 0xe2ce88b3, 0x7ca05ff1,
+    0xe29d9a23, 0x7c94df83,
+  0xe26cb01b, 0x7c894bde, 0xe23bcaa2, 0x7c7da505, 0xe20ae9c1, 0x7c71eaf9,
+    0xe1da0d7e, 0x7c661dbc,
+  0xe1a935e2, 0x7c5a3d50, 0xe17862f3, 0x7c4e49b7, 0xe14794ba, 0x7c4242f2,
+    0xe116cb3d, 0x7c362904,
+  0xe0e60685, 0x7c29fbee, 0xe0b54698, 0x7c1dbbb3, 0xe0848b7f, 0x7c116853,
+    0xe053d541, 0x7c0501d2,
+  0xe02323e5, 0x7bf88830, 0xdff27773, 0x7bebfb70, 0xdfc1cff3, 0x7bdf5b94,
+    0xdf912d6b, 0x7bd2a89e,
+  0xdf608fe4, 0x7bc5e290, 0xdf2ff764, 0x7bb9096b, 0xdeff63f4, 0x7bac1d31,
+    0xdeced59b, 0x7b9f1de6,
+  0xde9e4c60, 0x7b920b89, 0xde6dc84b, 0x7b84e61f, 0xde3d4964, 0x7b77ada8,
+    0xde0ccfb1, 0x7b6a6227,
+  0xdddc5b3b, 0x7b5d039e, 0xddabec08, 0x7b4f920e, 0xdd7b8220, 0x7b420d7a,
+    0xdd4b1d8c, 0x7b3475e5,
+  0xdd1abe51, 0x7b26cb4f, 0xdcea6478, 0x7b190dbc, 0xdcba1008, 0x7b0b3d2c,
+    0xdc89c109, 0x7afd59a4,
+  0xdc597781, 0x7aef6323, 0xdc293379, 0x7ae159ae, 0xdbf8f4f8, 0x7ad33d45,
+    0xdbc8bc06, 0x7ac50dec,
+  0xdb9888a8, 0x7ab6cba4, 0xdb685ae9, 0x7aa8766f, 0xdb3832cd, 0x7a9a0e50,
+    0xdb08105e, 0x7a8b9348,
+  0xdad7f3a2, 0x7a7d055b, 0xdaa7dca1, 0x7a6e648a, 0xda77cb63, 0x7a5fb0d8,
+    0xda47bfee, 0x7a50ea47,
+  0xda17ba4a, 0x7a4210d8, 0xd9e7ba7f, 0x7a332490, 0xd9b7c094, 0x7a24256f,
+    0xd987cc90, 0x7a151378,
+  0xd957de7a, 0x7a05eead, 0xd927f65b, 0x79f6b711, 0xd8f81439, 0x79e76ca7,
+    0xd8c8381d, 0x79d80f6f,
+  0xd898620c, 0x79c89f6e, 0xd868920f, 0x79b91ca4, 0xd838c82d, 0x79a98715,
+    0xd809046e, 0x7999dec4,
+  0xd7d946d8, 0x798a23b1, 0xd7a98f73, 0x797a55e0, 0xd779de47, 0x796a7554,
+    0xd74a335b, 0x795a820e,
+  0xd71a8eb5, 0x794a7c12, 0xd6eaf05f, 0x793a6361, 0xd6bb585e, 0x792a37fe,
+    0xd68bc6ba, 0x7919f9ec,
+  0xd65c3b7b, 0x7909a92d, 0xd62cb6a8, 0x78f945c3, 0xd5fd3848, 0x78e8cfb2,
+    0xd5cdc062, 0x78d846fb,
+  0xd59e4eff, 0x78c7aba2, 0xd56ee424, 0x78b6fda8, 0xd53f7fda, 0x78a63d11,
+    0xd5102228, 0x789569df,
+  0xd4e0cb15, 0x78848414, 0xd4b17aa8, 0x78738bb3, 0xd48230e9, 0x786280bf,
+    0xd452eddf, 0x7851633b,
+  0xd423b191, 0x78403329, 0xd3f47c06, 0x782ef08b, 0xd3c54d47, 0x781d9b65,
+    0xd396255a, 0x780c33b8,
+  0xd3670446, 0x77fab989, 0xd337ea12, 0x77e92cd9, 0xd308d6c7, 0x77d78daa,
+    0xd2d9ca6a, 0x77c5dc01,
+  0xd2aac504, 0x77b417df, 0xd27bc69c, 0x77a24148, 0xd24ccf39, 0x7790583e,
+    0xd21ddee2, 0x777e5cc3,
+  0xd1eef59e, 0x776c4edb, 0xd1c01375, 0x775a2e89, 0xd191386e, 0x7747fbce,
+    0xd1626490, 0x7735b6af,
+  0xd13397e2, 0x77235f2d, 0xd104d26b, 0x7710f54c, 0xd0d61434, 0x76fe790e,
+    0xd0a75d42, 0x76ebea77,
+  0xd078ad9e, 0x76d94989, 0xd04a054e, 0x76c69647, 0xd01b6459, 0x76b3d0b4,
+    0xcfeccac7, 0x76a0f8d2,
+  0xcfbe389f, 0x768e0ea6, 0xcf8fade9, 0x767b1231, 0xcf612aaa, 0x76680376,
+    0xcf32aeeb, 0x7654e279,
+  0xcf043ab3, 0x7641af3d, 0xced5ce08, 0x762e69c4, 0xcea768f2, 0x761b1211,
+    0xce790b79, 0x7607a828,
+  0xce4ab5a2, 0x75f42c0b, 0xce1c6777, 0x75e09dbd, 0xcdee20fc, 0x75ccfd42,
+    0xcdbfe23a, 0x75b94a9c,
+  0xcd91ab39, 0x75a585cf, 0xcd637bfe, 0x7591aedd, 0xcd355491, 0x757dc5ca,
+    0xcd0734f9, 0x7569ca99,
+  0xccd91d3d, 0x7555bd4c, 0xccab0d65, 0x75419de7, 0xcc7d0578, 0x752d6c6c,
+    0xcc4f057c, 0x751928e0,
+  0xcc210d79, 0x7504d345, 0xcbf31d75, 0x74f06b9e, 0xcbc53579, 0x74dbf1ef,
+    0xcb97558a, 0x74c7663a,
+  0xcb697db0, 0x74b2c884, 0xcb3badf3, 0x749e18cd, 0xcb0de658, 0x7489571c,
+    0xcae026e8, 0x74748371,
+  0xcab26fa9, 0x745f9dd1, 0xca84c0a3, 0x744aa63f, 0xca5719db, 0x74359cbd,
+    0xca297b5a, 0x74208150,
+  0xc9fbe527, 0x740b53fb, 0xc9ce5748, 0x73f614c0, 0xc9a0d1c5, 0x73e0c3a3,
+    0xc97354a4, 0x73cb60a8,
+  0xc945dfec, 0x73b5ebd1, 0xc91873a5, 0x73a06522, 0xc8eb0fd6, 0x738acc9e,
+    0xc8bdb485, 0x73752249,
+  0xc89061ba, 0x735f6626, 0xc863177b, 0x73499838, 0xc835d5d0, 0x7333b883,
+    0xc8089cbf, 0x731dc70a,
+  0xc7db6c50, 0x7307c3d0, 0xc7ae4489, 0x72f1aed9, 0xc7812572, 0x72db8828,
+    0xc7540f11, 0x72c54fc1,
+  0xc727016d, 0x72af05a7, 0xc6f9fc8d, 0x7298a9dd, 0xc6cd0079, 0x72823c67,
+    0xc6a00d37, 0x726bbd48,
+  0xc67322ce, 0x72552c85, 0xc6464144, 0x723e8a20, 0xc61968a2, 0x7227d61c,
+    0xc5ec98ee, 0x7211107e,
+  0xc5bfd22e, 0x71fa3949, 0xc593146a, 0x71e35080, 0xc5665fa9, 0x71cc5626,
+    0xc539b3f1, 0x71b54a41,
+  0xc50d1149, 0x719e2cd2, 0xc4e077b8, 0x7186fdde, 0xc4b3e746, 0x716fbd68,
+    0xc4875ff9, 0x71586b74,
+  0xc45ae1d7, 0x71410805, 0xc42e6ce8, 0x7129931f, 0xc4020133, 0x71120cc5,
+    0xc3d59ebe, 0x70fa74fc,
+  0xc3a94590, 0x70e2cbc6, 0xc37cf5b0, 0x70cb1128, 0xc350af26, 0x70b34525,
+    0xc32471f7, 0x709b67c0,
+  0xc2f83e2a, 0x708378ff, 0xc2cc13c7, 0x706b78e3, 0xc29ff2d4, 0x70536771,
+    0xc273db58, 0x703b44ad,
+  0xc247cd5a, 0x7023109a, 0xc21bc8e1, 0x700acb3c, 0xc1efcdf3, 0x6ff27497,
+    0xc1c3dc97, 0x6fda0cae,
+  0xc197f4d4, 0x6fc19385, 0xc16c16b0, 0x6fa90921, 0xc1404233, 0x6f906d84,
+    0xc1147764, 0x6f77c0b3,
+  0xc0e8b648, 0x6f5f02b2, 0xc0bcfee7, 0x6f463383, 0xc0915148, 0x6f2d532c,
+    0xc065ad70, 0x6f1461b0,
+  0xc03a1368, 0x6efb5f12, 0xc00e8336, 0x6ee24b57, 0xbfe2fcdf, 0x6ec92683,
+    0xbfb7806c, 0x6eaff099,
+  0xbf8c0de3, 0x6e96a99d, 0xbf60a54a, 0x6e7d5193, 0xbf3546a8, 0x6e63e87f,
+    0xbf09f205, 0x6e4a6e66,
+  0xbedea765, 0x6e30e34a, 0xbeb366d1, 0x6e174730, 0xbe88304f, 0x6dfd9a1c,
+    0xbe5d03e6, 0x6de3dc11,
+  0xbe31e19b, 0x6dca0d14, 0xbe06c977, 0x6db02d29, 0xbddbbb7f, 0x6d963c54,
+    0xbdb0b7bb, 0x6d7c3a98,
+  0xbd85be30, 0x6d6227fa, 0xbd5acee5, 0x6d48047e, 0xbd2fe9e2, 0x6d2dd027,
+    0xbd050f2c, 0x6d138afb,
+  0xbcda3ecb, 0x6cf934fc, 0xbcaf78c4, 0x6cdece2f, 0xbc84bd1f, 0x6cc45698,
+    0xbc5a0be2, 0x6ca9ce3b,
+  0xbc2f6513, 0x6c8f351c, 0xbc04c8ba, 0x6c748b3f, 0xbbda36dd, 0x6c59d0a9,
+    0xbbafaf82, 0x6c3f055d,
+  0xbb8532b0, 0x6c242960, 0xbb5ac06d, 0x6c093cb6, 0xbb3058c0, 0x6bee3f62,
+    0xbb05fbb0, 0x6bd3316a,
+  0xbadba943, 0x6bb812d1, 0xbab16180, 0x6b9ce39b, 0xba87246d, 0x6b81a3cd,
+    0xba5cf210, 0x6b66536b,
+  0xba32ca71, 0x6b4af279, 0xba08ad95, 0x6b2f80fb, 0xb9de9b83, 0x6b13fef5,
+    0xb9b49442, 0x6af86c6c,
+  0xb98a97d8, 0x6adcc964, 0xb960a64c, 0x6ac115e2, 0xb936bfa4, 0x6aa551e9,
+    0xb90ce3e6, 0x6a897d7d,
+  0xb8e31319, 0x6a6d98a4, 0xb8b94d44, 0x6a51a361, 0xb88f926d, 0x6a359db9,
+    0xb865e299, 0x6a1987b0,
+  0xb83c3dd1, 0x69fd614a, 0xb812a41a, 0x69e12a8c, 0xb7e9157a, 0x69c4e37a,
+    0xb7bf91f8, 0x69a88c19,
+  0xb796199b, 0x698c246c, 0xb76cac69, 0x696fac78, 0xb7434a67, 0x69532442,
+    0xb719f39e, 0x69368bce,
+  0xb6f0a812, 0x6919e320, 0xb6c767ca, 0x68fd2a3d, 0xb69e32cd, 0x68e06129,
+    0xb6750921, 0x68c387e9,
+  0xb64beacd, 0x68a69e81, 0xb622d7d6, 0x6889a4f6, 0xb5f9d043, 0x686c9b4b,
+    0xb5d0d41a, 0x684f8186,
+  0xb5a7e362, 0x683257ab, 0xb57efe22, 0x68151dbe, 0xb556245e, 0x67f7d3c5,
+    0xb52d561e, 0x67da79c3,
+  0xb5049368, 0x67bd0fbd, 0xb4dbdc42, 0x679f95b7, 0xb4b330b3, 0x67820bb7,
+    0xb48a90c0, 0x676471c0,
+  0xb461fc70, 0x6746c7d8, 0xb43973ca, 0x67290e02, 0xb410f6d3, 0x670b4444,
+    0xb3e88592, 0x66ed6aa1,
+  0xb3c0200c, 0x66cf8120, 0xb397c649, 0x66b187c3, 0xb36f784f, 0x66937e91,
+    0xb3473623, 0x6675658c,
+  0xb31effcc, 0x66573cbb, 0xb2f6d550, 0x66390422, 0xb2ceb6b5, 0x661abbc5,
+    0xb2a6a402, 0x65fc63a9,
+  0xb27e9d3c, 0x65ddfbd3, 0xb256a26a, 0x65bf8447, 0xb22eb392, 0x65a0fd0b,
+    0xb206d0ba, 0x65826622,
+  0xb1def9e9, 0x6563bf92, 0xb1b72f23, 0x6545095f, 0xb18f7071, 0x6526438f,
+    0xb167bdd7, 0x65076e25,
+  0xb140175b, 0x64e88926, 0xb1187d05, 0x64c99498, 0xb0f0eeda, 0x64aa907f,
+    0xb0c96ce0, 0x648b7ce0,
+  0xb0a1f71d, 0x646c59bf, 0xb07a8d97, 0x644d2722, 0xb0533055, 0x642de50d,
+    0xb02bdf5c, 0x640e9386,
+  0xb0049ab3, 0x63ef3290, 0xafdd625f, 0x63cfc231, 0xafb63667, 0x63b0426d,
+    0xaf8f16d1, 0x6390b34a,
+  0xaf6803a2, 0x637114cc, 0xaf40fce1, 0x635166f9, 0xaf1a0293, 0x6331a9d4,
+    0xaef314c0, 0x6311dd64,
+  0xaecc336c, 0x62f201ac, 0xaea55e9e, 0x62d216b3, 0xae7e965b, 0x62b21c7b,
+    0xae57daab, 0x6292130c,
+  0xae312b92, 0x6271fa69, 0xae0a8916, 0x6251d298, 0xade3f33e, 0x62319b9d,
+    0xadbd6a10, 0x6211557e,
+  0xad96ed92, 0x61f1003f, 0xad707dc8, 0x61d09be5, 0xad4a1aba, 0x61b02876,
+    0xad23c46e, 0x618fa5f7,
+  0xacfd7ae8, 0x616f146c, 0xacd73e30, 0x614e73da, 0xacb10e4b, 0x612dc447,
+    0xac8aeb3e, 0x610d05b7,
+  0xac64d510, 0x60ec3830, 0xac3ecbc7, 0x60cb5bb7, 0xac18cf69, 0x60aa7050,
+    0xabf2dffb, 0x60897601,
+  0xabccfd83, 0x60686ccf, 0xaba72807, 0x604754bf, 0xab815f8d, 0x60262dd6,
+    0xab5ba41a, 0x6004f819,
+  0xab35f5b5, 0x5fe3b38d, 0xab105464, 0x5fc26038, 0xaaeac02c, 0x5fa0fe1f,
+    0xaac53912, 0x5f7f8d46,
+  0xaa9fbf1e, 0x5f5e0db3, 0xaa7a5253, 0x5f3c7f6b, 0xaa54f2ba, 0x5f1ae274,
+    0xaa2fa056, 0x5ef936d1,
+  0xaa0a5b2e, 0x5ed77c8a, 0xa9e52347, 0x5eb5b3a2, 0xa9bff8a8, 0x5e93dc1f,
+    0xa99adb56, 0x5e71f606,
+  0xa975cb57, 0x5e50015d, 0xa950c8b0, 0x5e2dfe29, 0xa92bd367, 0x5e0bec6e,
+    0xa906eb82, 0x5de9cc33,
+  0xa8e21106, 0x5dc79d7c, 0xa8bd43fa, 0x5da5604f, 0xa8988463, 0x5d8314b1,
+    0xa873d246, 0x5d60baa7,
+  0xa84f2daa, 0x5d3e5237, 0xa82a9693, 0x5d1bdb65, 0xa8060d08, 0x5cf95638,
+    0xa7e1910f, 0x5cd6c2b5,
+  0xa7bd22ac, 0x5cb420e0, 0xa798c1e5, 0x5c9170bf, 0xa7746ec0, 0x5c6eb258,
+    0xa7502943, 0x5c4be5b0,
+  0xa72bf174, 0x5c290acc, 0xa707c757, 0x5c0621b2, 0xa6e3aaf2, 0x5be32a67,
+    0xa6bf9c4b, 0x5bc024f0,
+  0xa69b9b68, 0x5b9d1154, 0xa677a84e, 0x5b79ef96, 0xa653c303, 0x5b56bfbd,
+    0xa62feb8b, 0x5b3381ce,
+  0xa60c21ee, 0x5b1035cf, 0xa5e8662f, 0x5aecdbc5, 0xa5c4b855, 0x5ac973b5,
+    0xa5a11866, 0x5aa5fda5,
+  0xa57d8666, 0x5a82799a, 0xa55a025b, 0x5a5ee79a, 0xa5368c4b, 0x5a3b47ab,
+    0xa513243b, 0x5a1799d1,
+  0xa4efca31, 0x59f3de12, 0xa4cc7e32, 0x59d01475, 0xa4a94043, 0x59ac3cfd,
+    0xa486106a, 0x598857b2,
+  0xa462eeac, 0x59646498, 0xa43fdb10, 0x594063b5, 0xa41cd599, 0x591c550e,
+    0xa3f9de4e, 0x58f838a9,
+  0xa3d6f534, 0x58d40e8c, 0xa3b41a50, 0x58afd6bd, 0xa3914da8, 0x588b9140,
+    0xa36e8f41, 0x58673e1b,
+  0xa34bdf20, 0x5842dd54, 0xa3293d4b, 0x581e6ef1, 0xa306a9c8, 0x57f9f2f8,
+    0xa2e4249b, 0x57d5696d,
+  0xa2c1adc9, 0x57b0d256, 0xa29f4559, 0x578c2dba, 0xa27ceb4f, 0x57677b9d,
+    0xa25a9fb1, 0x5742bc06,
+  0xa2386284, 0x571deefa, 0xa21633cd, 0x56f9147e, 0xa1f41392, 0x56d42c99,
+    0xa1d201d7, 0x56af3750,
+  0xa1affea3, 0x568a34a9, 0xa18e09fa, 0x566524aa, 0xa16c23e1, 0x56400758,
+    0xa14a4c5e, 0x561adcb9,
+  0xa1288376, 0x55f5a4d2, 0xa106c92f, 0x55d05faa, 0xa0e51d8c, 0x55ab0d46,
+    0xa0c38095, 0x5585adad,
+  0xa0a1f24d, 0x556040e2, 0xa08072ba, 0x553ac6ee, 0xa05f01e1, 0x55153fd4,
+    0xa03d9fc8, 0x54efab9c,
+  0xa01c4c73, 0x54ca0a4b, 0x9ffb07e7, 0x54a45be6, 0x9fd9d22a, 0x547ea073,
+    0x9fb8ab41, 0x5458d7f9,
+  0x9f979331, 0x5433027d, 0x9f7689ff, 0x540d2005, 0x9f558fb0, 0x53e73097,
+    0x9f34a449, 0x53c13439,
+  0x9f13c7d0, 0x539b2af0, 0x9ef2fa49, 0x537514c2, 0x9ed23bb9, 0x534ef1b5,
+    0x9eb18c26, 0x5328c1d0,
+  0x9e90eb94, 0x53028518, 0x9e705a09, 0x52dc3b92, 0x9e4fd78a, 0x52b5e546,
+    0x9e2f641b, 0x528f8238,
+  0x9e0effc1, 0x5269126e, 0x9deeaa82, 0x524295f0, 0x9dce6463, 0x521c0cc2,
+    0x9dae2d68, 0x51f576ea,
+  0x9d8e0597, 0x51ced46e, 0x9d6decf4, 0x51a82555, 0x9d4de385, 0x518169a5,
+    0x9d2de94d, 0x515aa162,
+  0x9d0dfe54, 0x5133cc94, 0x9cee229c, 0x510ceb40, 0x9cce562c, 0x50e5fd6d,
+    0x9cae9907, 0x50bf031f,
+  0x9c8eeb34, 0x5097fc5e, 0x9c6f4cb6, 0x5070e92f, 0x9c4fbd93, 0x5049c999,
+    0x9c303dcf, 0x50229da1,
+  0x9c10cd70, 0x4ffb654d, 0x9bf16c7a, 0x4fd420a4, 0x9bd21af3, 0x4faccfab,
+    0x9bb2d8de, 0x4f857269,
+  0x9b93a641, 0x4f5e08e3, 0x9b748320, 0x4f369320, 0x9b556f81, 0x4f0f1126,
+    0x9b366b68, 0x4ee782fb,
+  0x9b1776da, 0x4ebfe8a5, 0x9af891db, 0x4e984229, 0x9ad9bc71, 0x4e708f8f,
+    0x9abaf6a1, 0x4e48d0dd,
+  0x9a9c406e, 0x4e210617, 0x9a7d99de, 0x4df92f46, 0x9a5f02f5, 0x4dd14c6e,
+    0x9a407bb9, 0x4da95d96,
+  0x9a22042d, 0x4d8162c4, 0x9a039c57, 0x4d595bfe, 0x99e5443b, 0x4d31494b,
+    0x99c6fbde, 0x4d092ab0,
+  0x99a8c345, 0x4ce10034, 0x998a9a74, 0x4cb8c9dd, 0x996c816f, 0x4c9087b1,
+    0x994e783d, 0x4c6839b7,
+  0x99307ee0, 0x4c3fdff4, 0x9912955f, 0x4c177a6e, 0x98f4bbbc, 0x4bef092d,
+    0x98d6f1fe, 0x4bc68c36,
+  0x98b93828, 0x4b9e0390, 0x989b8e40, 0x4b756f40, 0x987df449, 0x4b4ccf4d,
+    0x98606a49, 0x4b2423be,
+  0x9842f043, 0x4afb6c98, 0x9825863d, 0x4ad2a9e2, 0x98082c3b, 0x4aa9dba2,
+    0x97eae242, 0x4a8101de,
+  0x97cda855, 0x4a581c9e, 0x97b07e7a, 0x4a2f2be6, 0x979364b5, 0x4a062fbd,
+    0x97765b0a, 0x49dd282a,
+  0x9759617f, 0x49b41533, 0x973c7817, 0x498af6df, 0x971f9ed7, 0x4961cd33,
+    0x9702d5c3, 0x49389836,
+  0x96e61ce0, 0x490f57ee, 0x96c97432, 0x48e60c62, 0x96acdbbe, 0x48bcb599,
+    0x96905388, 0x48935397,
+  0x9673db94, 0x4869e665, 0x965773e7, 0x48406e08, 0x963b1c86, 0x4816ea86,
+    0x961ed574, 0x47ed5be6,
+  0x96029eb6, 0x47c3c22f, 0x95e67850, 0x479a1d67, 0x95ca6247, 0x47706d93,
+    0x95ae5c9f, 0x4746b2bc,
+  0x9592675c, 0x471cece7, 0x95768283, 0x46f31c1a, 0x955aae17, 0x46c9405c,
+    0x953eea1e, 0x469f59b4,
+  0x9523369c, 0x46756828, 0x95079394, 0x464b6bbe, 0x94ec010b, 0x4621647d,
+    0x94d07f05, 0x45f7526b,
+  0x94b50d87, 0x45cd358f, 0x9499ac95, 0x45a30df0, 0x947e5c33, 0x4578db93,
+    0x94631c65, 0x454e9e80,
+  0x9447ed2f, 0x452456bd, 0x942cce96, 0x44fa0450, 0x9411c09e, 0x44cfa740,
+    0x93f6c34a, 0x44a53f93,
+  0x93dbd6a0, 0x447acd50, 0x93c0faa3, 0x4450507e, 0x93a62f57, 0x4425c923,
+    0x938b74c1, 0x43fb3746,
+  0x9370cae4, 0x43d09aed, 0x935631c5, 0x43a5f41e, 0x933ba968, 0x437b42e1,
+    0x932131d1, 0x4350873c,
+  0x9306cb04, 0x4325c135, 0x92ec7505, 0x42faf0d4, 0x92d22fd9, 0x42d0161e,
+    0x92b7fb82, 0x42a5311b,
+  0x929dd806, 0x427a41d0, 0x9283c568, 0x424f4845, 0x9269c3ac, 0x42244481,
+    0x924fd2d7, 0x41f93689,
+  0x9235f2ec, 0x41ce1e65, 0x921c23ef, 0x41a2fc1a, 0x920265e4, 0x4177cfb1,
+    0x91e8b8d0, 0x414c992f,
+  0x91cf1cb6, 0x4121589b, 0x91b5919a, 0x40f60dfb, 0x919c1781, 0x40cab958,
+    0x9182ae6d, 0x409f5ab6,
+  0x91695663, 0x4073f21d, 0x91500f67, 0x40487f94, 0x9136d97d, 0x401d0321,
+    0x911db4a9, 0x3ff17cca,
+  0x9104a0ee, 0x3fc5ec98, 0x90eb9e50, 0x3f9a5290, 0x90d2acd4, 0x3f6eaeb8,
+    0x90b9cc7d, 0x3f430119,
+  0x90a0fd4e, 0x3f1749b8, 0x90883f4d, 0x3eeb889c, 0x906f927c, 0x3ebfbdcd,
+    0x9056f6df, 0x3e93e950,
+  0x903e6c7b, 0x3e680b2c, 0x9025f352, 0x3e3c2369, 0x900d8b69, 0x3e10320d,
+    0x8ff534c4, 0x3de4371f,
+  0x8fdcef66, 0x3db832a6, 0x8fc4bb53, 0x3d8c24a8, 0x8fac988f, 0x3d600d2c,
+    0x8f94871d, 0x3d33ec39,
+  0x8f7c8701, 0x3d07c1d6, 0x8f649840, 0x3cdb8e09, 0x8f4cbadb, 0x3caf50da,
+    0x8f34eed8, 0x3c830a50,
+  0x8f1d343a, 0x3c56ba70, 0x8f058b04, 0x3c2a6142, 0x8eedf33b, 0x3bfdfecd,
+    0x8ed66ce1, 0x3bd19318,
+  0x8ebef7fb, 0x3ba51e29, 0x8ea7948c, 0x3b78a007, 0x8e904298, 0x3b4c18ba,
+    0x8e790222, 0x3b1f8848,
+  0x8e61d32e, 0x3af2eeb7, 0x8e4ab5bf, 0x3ac64c0f, 0x8e33a9da, 0x3a99a057,
+    0x8e1caf80, 0x3a6ceb96,
+  0x8e05c6b7, 0x3a402dd2, 0x8deeef82, 0x3a136712, 0x8dd829e4, 0x39e6975e,
+    0x8dc175e0, 0x39b9bebc,
+  0x8daad37b, 0x398cdd32, 0x8d9442b8, 0x395ff2c9, 0x8d7dc399, 0x3932ff87,
+    0x8d675623, 0x39060373,
+  0x8d50fa59, 0x38d8fe93, 0x8d3ab03f, 0x38abf0ef, 0x8d2477d8, 0x387eda8e,
+    0x8d0e5127, 0x3851bb77,
+  0x8cf83c30, 0x382493b0, 0x8ce238f6, 0x37f76341, 0x8ccc477d, 0x37ca2a30,
+    0x8cb667c8, 0x379ce885,
+  0x8ca099da, 0x376f9e46, 0x8c8addb7, 0x37424b7b, 0x8c753362, 0x3714f02a,
+    0x8c5f9ade, 0x36e78c5b,
+  0x8c4a142f, 0x36ba2014, 0x8c349f58, 0x368cab5c, 0x8c1f3c5d, 0x365f2e3b,
+    0x8c09eb40, 0x3631a8b8,
+  0x8bf4ac05, 0x36041ad9, 0x8bdf7eb0, 0x35d684a6, 0x8bca6343, 0x35a8e625,
+    0x8bb559c1, 0x357b3f5d,
+  0x8ba0622f, 0x354d9057, 0x8b8b7c8f, 0x351fd918, 0x8b76a8e4, 0x34f219a8,
+    0x8b61e733, 0x34c4520d,
+  0x8b4d377c, 0x34968250, 0x8b3899c6, 0x3468aa76, 0x8b240e11, 0x343aca87,
+    0x8b0f9462, 0x340ce28b,
+  0x8afb2cbb, 0x33def287, 0x8ae6d720, 0x33b0fa84, 0x8ad29394, 0x3382fa88,
+    0x8abe6219, 0x3354f29b,
+  0x8aaa42b4, 0x3326e2c3, 0x8a963567, 0x32f8cb07, 0x8a823a36, 0x32caab6f,
+    0x8a6e5123, 0x329c8402,
+  0x8a5a7a31, 0x326e54c7, 0x8a46b564, 0x32401dc6, 0x8a3302be, 0x3211df04,
+    0x8a1f6243, 0x31e39889,
+  0x8a0bd3f5, 0x31b54a5e, 0x89f857d8, 0x3186f487, 0x89e4edef, 0x3158970e,
+    0x89d1963c, 0x312a31f8,
+  0x89be50c3, 0x30fbc54d, 0x89ab1d87, 0x30cd5115, 0x8997fc8a, 0x309ed556,
+    0x8984edcf, 0x30705217,
+  0x8971f15a, 0x3041c761, 0x895f072e, 0x30133539, 0x894c2f4c, 0x2fe49ba7,
+    0x893969b9, 0x2fb5fab2,
+  0x8926b677, 0x2f875262, 0x89141589, 0x2f58a2be, 0x890186f2, 0x2f29ebcc,
+    0x88ef0ab4, 0x2efb2d95,
+  0x88dca0d3, 0x2ecc681e, 0x88ca4951, 0x2e9d9b70, 0x88b80432, 0x2e6ec792,
+    0x88a5d177, 0x2e3fec8b,
+  0x8893b125, 0x2e110a62, 0x8881a33d, 0x2de2211e, 0x886fa7c2, 0x2db330c7,
+    0x885dbeb8, 0x2d843964,
+  0x884be821, 0x2d553afc, 0x883a23ff, 0x2d263596, 0x88287256, 0x2cf72939,
+    0x8816d327, 0x2cc815ee,
+  0x88054677, 0x2c98fbba, 0x87f3cc48, 0x2c69daa6, 0x87e2649b, 0x2c3ab2b9,
+    0x87d10f75, 0x2c0b83fa,
+  0x87bfccd7, 0x2bdc4e6f, 0x87ae9cc5, 0x2bad1221, 0x879d7f41, 0x2b7dcf17,
+    0x878c744d, 0x2b4e8558,
+  0x877b7bec, 0x2b1f34eb, 0x876a9621, 0x2aefddd8, 0x8759c2ef, 0x2ac08026,
+    0x87490258, 0x2a911bdc,
+  0x8738545e, 0x2a61b101, 0x8727b905, 0x2a323f9e, 0x8717304e, 0x2a02c7b8,
+    0x8706ba3d, 0x29d34958,
+  0x86f656d3, 0x29a3c485, 0x86e60614, 0x29743946, 0x86d5c802, 0x2944a7a2,
+    0x86c59c9f, 0x29150fa1,
+  0x86b583ee, 0x28e5714b, 0x86a57df2, 0x28b5cca5, 0x86958aac, 0x288621b9,
+    0x8685aa20, 0x2856708d,
+  0x8675dc4f, 0x2826b928, 0x8666213c, 0x27f6fb92, 0x865678eb, 0x27c737d3,
+    0x8646e35c, 0x27976df1,
+  0x86376092, 0x27679df4, 0x8627f091, 0x2737c7e3, 0x86189359, 0x2707ebc7,
+    0x860948ef, 0x26d809a5,
+  0x85fa1153, 0x26a82186, 0x85eaec88, 0x26783370, 0x85dbda91, 0x26483f6c,
+    0x85ccdb70, 0x26184581,
+  0x85bdef28, 0x25e845b6, 0x85af15b9, 0x25b84012, 0x85a04f28, 0x2588349d,
+    0x85919b76, 0x2558235f,
+  0x8582faa5, 0x25280c5e, 0x85746cb8, 0x24f7efa2, 0x8565f1b0, 0x24c7cd33,
+    0x85578991, 0x2497a517,
+  0x8549345c, 0x24677758, 0x853af214, 0x243743fa, 0x852cc2bb, 0x24070b08,
+    0x851ea652, 0x23d6cc87,
+  0x85109cdd, 0x23a6887f, 0x8502a65c, 0x23763ef7, 0x84f4c2d4, 0x2345eff8,
+    0x84e6f244, 0x23159b88,
+  0x84d934b1, 0x22e541af, 0x84cb8a1b, 0x22b4e274, 0x84bdf286, 0x22847de0,
+    0x84b06df2, 0x225413f8,
+  0x84a2fc62, 0x2223a4c5, 0x84959dd9, 0x21f3304f, 0x84885258, 0x21c2b69c,
+    0x847b19e1, 0x219237b5,
+  0x846df477, 0x2161b3a0, 0x8460e21a, 0x21312a65, 0x8453e2cf, 0x21009c0c,
+    0x8446f695, 0x20d0089c,
+  0x843a1d70, 0x209f701c, 0x842d5762, 0x206ed295, 0x8420a46c, 0x203e300d,
+    0x84140490, 0x200d888d,
+  0x840777d0, 0x1fdcdc1b, 0x83fafe2e, 0x1fac2abf, 0x83ee97ad, 0x1f7b7481,
+    0x83e2444d, 0x1f4ab968,
+  0x83d60412, 0x1f19f97b, 0x83c9d6fc, 0x1ee934c3, 0x83bdbd0e, 0x1eb86b46,
+    0x83b1b649, 0x1e879d0d,
+  0x83a5c2b0, 0x1e56ca1e, 0x8399e244, 0x1e25f282, 0x838e1507, 0x1df5163f,
+    0x83825afb, 0x1dc4355e,
+  0x8376b422, 0x1d934fe5, 0x836b207d, 0x1d6265dd, 0x835fa00f, 0x1d31774d,
+    0x835432d8, 0x1d00843d,
+  0x8348d8dc, 0x1ccf8cb3, 0x833d921b, 0x1c9e90b8, 0x83325e97, 0x1c6d9053,
+    0x83273e52, 0x1c3c8b8c,
+  0x831c314e, 0x1c0b826a, 0x8311378d, 0x1bda74f6, 0x83065110, 0x1ba96335,
+    0x82fb7dd8, 0x1b784d30,
+  0x82f0bde8, 0x1b4732ef, 0x82e61141, 0x1b161479, 0x82db77e5, 0x1ae4f1d6,
+    0x82d0f1d5, 0x1ab3cb0d,
+  0x82c67f14, 0x1a82a026, 0x82bc1fa2, 0x1a517128, 0x82b1d381, 0x1a203e1b,
+    0x82a79ab3, 0x19ef0707,
+  0x829d753a, 0x19bdcbf3, 0x82936317, 0x198c8ce7, 0x8289644b, 0x195b49ea,
+    0x827f78d8, 0x192a0304,
+  0x8275a0c0, 0x18f8b83c, 0x826bdc04, 0x18c7699b, 0x82622aa6, 0x18961728,
+    0x82588ca7, 0x1864c0ea,
+  0x824f0208, 0x183366e9, 0x82458acc, 0x1802092c, 0x823c26f3, 0x17d0a7bc,
+    0x8232d67f, 0x179f429f,
+  0x82299971, 0x176dd9de, 0x82206fcc, 0x173c6d80, 0x82175990, 0x170afd8d,
+    0x820e56be, 0x16d98a0c,
+  0x82056758, 0x16a81305, 0x81fc8b60, 0x1676987f, 0x81f3c2d7, 0x16451a83,
+    0x81eb0dbe, 0x16139918,
+  0x81e26c16, 0x15e21445, 0x81d9dde1, 0x15b08c12, 0x81d16321, 0x157f0086,
+    0x81c8fbd6, 0x154d71aa,
+  0x81c0a801, 0x151bdf86, 0x81b867a5, 0x14ea4a1f, 0x81b03ac2, 0x14b8b17f,
+    0x81a82159, 0x148715ae,
+  0x81a01b6d, 0x145576b1, 0x819828fd, 0x1423d492, 0x81904a0c, 0x13f22f58,
+    0x81887e9a, 0x13c0870a,
+  0x8180c6a9, 0x138edbb1, 0x8179223a, 0x135d2d53, 0x8171914e, 0x132b7bf9,
+    0x816a13e6, 0x12f9c7aa,
+  0x8162aa04, 0x12c8106f, 0x815b53a8, 0x1296564d, 0x815410d4, 0x1264994e,
+    0x814ce188, 0x1232d979,
+  0x8145c5c7, 0x120116d5, 0x813ebd90, 0x11cf516a, 0x8137c8e6, 0x119d8941,
+    0x8130e7c9, 0x116bbe60,
+  0x812a1a3a, 0x1139f0cf, 0x8123603a, 0x11082096, 0x811cb9ca, 0x10d64dbd,
+    0x811626ec, 0x10a4784b,
+  0x810fa7a0, 0x1072a048, 0x81093be8, 0x1040c5bb, 0x8102e3c4, 0x100ee8ad,
+    0x80fc9f35, 0xfdd0926,
+  0x80f66e3c, 0xfab272b, 0x80f050db, 0xf7942c7, 0x80ea4712, 0xf475bff,
+    0x80e450e2, 0xf1572dc,
+  0x80de6e4c, 0xee38766, 0x80d89f51, 0xeb199a4, 0x80d2e3f2, 0xe7fa99e,
+    0x80cd3c2f, 0xe4db75b,
+  0x80c7a80a, 0xe1bc2e4, 0x80c22784, 0xde9cc40, 0x80bcba9d, 0xdb7d376,
+    0x80b76156, 0xd85d88f,
+  0x80b21baf, 0xd53db92, 0x80ace9ab, 0xd21dc87, 0x80a7cb49, 0xcefdb76,
+    0x80a2c08b, 0xcbdd865,
+  0x809dc971, 0xc8bd35e, 0x8098e5fb, 0xc59cc68, 0x8094162c, 0xc27c389,
+    0x808f5a02, 0xbf5b8cb,
+  0x808ab180, 0xbc3ac35, 0x80861ca6, 0xb919dcf, 0x80819b74, 0xb5f8d9f,
+    0x807d2dec, 0xb2d7baf,
+  0x8078d40d, 0xafb6805, 0x80748dd9, 0xac952aa, 0x80705b50, 0xa973ba5,
+    0x806c3c74, 0xa6522fe,
+  0x80683143, 0xa3308bd, 0x806439c0, 0xa00ece8, 0x806055eb, 0x9cecf89,
+    0x805c85c4, 0x99cb0a7,
+  0x8058c94c, 0x96a9049, 0x80552084, 0x9386e78, 0x80518b6b, 0x9064b3a,
+    0x804e0a04, 0x8d42699,
+  0x804a9c4d, 0x8a2009a, 0x80474248, 0x86fd947, 0x8043fbf6, 0x83db0a7,
+    0x8040c956, 0x80b86c2,
+  0x803daa6a, 0x7d95b9e, 0x803a9f31, 0x7a72f45, 0x8037a7ac, 0x77501be,
+    0x8034c3dd, 0x742d311,
+  0x8031f3c2, 0x710a345, 0x802f375d, 0x6de7262, 0x802c8ead, 0x6ac406f,
+    0x8029f9b4, 0x67a0d76,
+  0x80277872, 0x647d97c, 0x80250ae7, 0x615a48b, 0x8022b114, 0x5e36ea9,
+    0x80206af8, 0x5b137df,
+  0x801e3895, 0x57f0035, 0x801c19ea, 0x54cc7b1, 0x801a0ef8, 0x51a8e5c,
+    0x801817bf, 0x4e8543e,
+  0x80163440, 0x4b6195d, 0x8014647b, 0x483ddc3, 0x8012a86f, 0x451a177,
+    0x8011001f, 0x41f6480,
+  0x800f6b88, 0x3ed26e6, 0x800deaad, 0x3bae8b2, 0x800c7d8c, 0x388a9ea,
+    0x800b2427, 0x3566a96,
+  0x8009de7e, 0x3242abf, 0x8008ac90, 0x2f1ea6c, 0x80078e5e, 0x2bfa9a4,
+    0x800683e8, 0x28d6870,
+  0x80058d2f, 0x25b26d7, 0x8004aa32, 0x228e4e2, 0x8003daf1, 0x1f6a297,
+    0x80031f6d, 0x1c45ffe,
+  0x800277a6, 0x1921d20, 0x8001e39b, 0x15fda03, 0x8001634e, 0x12d96b1,
+    0x8000f6bd, 0xfb5330,
+  0x80009dea, 0xc90f88, 0x800058d4, 0x96cbc1, 0x8000277a, 0x6487e3,
+    0x800009df, 0x3243f5,
+  0x80000000, 0x0, 0x800009df, 0xffcdbc0b, 0x8000277a, 0xff9b781d, 0x800058d4,
+    0xff69343f,
+  0x80009dea, 0xff36f078, 0x8000f6bd, 0xff04acd0, 0x8001634e, 0xfed2694f,
+    0x8001e39b, 0xfea025fd,
+  0x800277a6, 0xfe6de2e0, 0x80031f6d, 0xfe3ba002, 0x8003daf1, 0xfe095d69,
+    0x8004aa32, 0xfdd71b1e,
+  0x80058d2f, 0xfda4d929, 0x800683e8, 0xfd729790, 0x80078e5e, 0xfd40565c,
+    0x8008ac90, 0xfd0e1594,
+  0x8009de7e, 0xfcdbd541, 0x800b2427, 0xfca9956a, 0x800c7d8c, 0xfc775616,
+    0x800deaad, 0xfc45174e,
+  0x800f6b88, 0xfc12d91a, 0x8011001f, 0xfbe09b80, 0x8012a86f, 0xfbae5e89,
+    0x8014647b, 0xfb7c223d,
+  0x80163440, 0xfb49e6a3, 0x801817bf, 0xfb17abc2, 0x801a0ef8, 0xfae571a4,
+    0x801c19ea, 0xfab3384f,
+  0x801e3895, 0xfa80ffcb, 0x80206af8, 0xfa4ec821, 0x8022b114, 0xfa1c9157,
+    0x80250ae7, 0xf9ea5b75,
+  0x80277872, 0xf9b82684, 0x8029f9b4, 0xf985f28a, 0x802c8ead, 0xf953bf91,
+    0x802f375d, 0xf9218d9e,
+  0x8031f3c2, 0xf8ef5cbb, 0x8034c3dd, 0xf8bd2cef, 0x8037a7ac, 0xf88afe42,
+    0x803a9f31, 0xf858d0bb,
+  0x803daa6a, 0xf826a462, 0x8040c956, 0xf7f4793e, 0x8043fbf6, 0xf7c24f59,
+    0x80474248, 0xf79026b9,
+  0x804a9c4d, 0xf75dff66, 0x804e0a04, 0xf72bd967, 0x80518b6b, 0xf6f9b4c6,
+    0x80552084, 0xf6c79188,
+  0x8058c94c, 0xf6956fb7, 0x805c85c4, 0xf6634f59, 0x806055eb, 0xf6313077,
+    0x806439c0, 0xf5ff1318,
+  0x80683143, 0xf5ccf743, 0x806c3c74, 0xf59add02, 0x80705b50, 0xf568c45b,
+    0x80748dd9, 0xf536ad56,
+  0x8078d40d, 0xf50497fb, 0x807d2dec, 0xf4d28451, 0x80819b74, 0xf4a07261,
+    0x80861ca6, 0xf46e6231,
+  0x808ab180, 0xf43c53cb, 0x808f5a02, 0xf40a4735, 0x8094162c, 0xf3d83c77,
+    0x8098e5fb, 0xf3a63398,
+  0x809dc971, 0xf3742ca2, 0x80a2c08b, 0xf342279b, 0x80a7cb49, 0xf310248a,
+    0x80ace9ab, 0xf2de2379,
+  0x80b21baf, 0xf2ac246e, 0x80b76156, 0xf27a2771, 0x80bcba9d, 0xf2482c8a,
+    0x80c22784, 0xf21633c0,
+  0x80c7a80a, 0xf1e43d1c, 0x80cd3c2f, 0xf1b248a5, 0x80d2e3f2, 0xf1805662,
+    0x80d89f51, 0xf14e665c,
+  0x80de6e4c, 0xf11c789a, 0x80e450e2, 0xf0ea8d24, 0x80ea4712, 0xf0b8a401,
+    0x80f050db, 0xf086bd39,
+  0x80f66e3c, 0xf054d8d5, 0x80fc9f35, 0xf022f6da, 0x8102e3c4, 0xeff11753,
+    0x81093be8, 0xefbf3a45,
+  0x810fa7a0, 0xef8d5fb8, 0x811626ec, 0xef5b87b5, 0x811cb9ca, 0xef29b243,
+    0x8123603a, 0xeef7df6a,
+  0x812a1a3a, 0xeec60f31, 0x8130e7c9, 0xee9441a0, 0x8137c8e6, 0xee6276bf,
+    0x813ebd90, 0xee30ae96,
+  0x8145c5c7, 0xedfee92b, 0x814ce188, 0xedcd2687, 0x815410d4, 0xed9b66b2,
+    0x815b53a8, 0xed69a9b3,
+  0x8162aa04, 0xed37ef91, 0x816a13e6, 0xed063856, 0x8171914e, 0xecd48407,
+    0x8179223a, 0xeca2d2ad,
+  0x8180c6a9, 0xec71244f, 0x81887e9a, 0xec3f78f6, 0x81904a0c, 0xec0dd0a8,
+    0x819828fd, 0xebdc2b6e,
+  0x81a01b6d, 0xebaa894f, 0x81a82159, 0xeb78ea52, 0x81b03ac2, 0xeb474e81,
+    0x81b867a5, 0xeb15b5e1,
+  0x81c0a801, 0xeae4207a, 0x81c8fbd6, 0xeab28e56, 0x81d16321, 0xea80ff7a,
+    0x81d9dde1, 0xea4f73ee,
+  0x81e26c16, 0xea1debbb, 0x81eb0dbe, 0xe9ec66e8, 0x81f3c2d7, 0xe9bae57d,
+    0x81fc8b60, 0xe9896781,
+  0x82056758, 0xe957ecfb, 0x820e56be, 0xe92675f4, 0x82175990, 0xe8f50273,
+    0x82206fcc, 0xe8c39280,
+  0x82299971, 0xe8922622, 0x8232d67f, 0xe860bd61, 0x823c26f3, 0xe82f5844,
+    0x82458acc, 0xe7fdf6d4,
+  0x824f0208, 0xe7cc9917, 0x82588ca7, 0xe79b3f16, 0x82622aa6, 0xe769e8d8,
+    0x826bdc04, 0xe7389665,
+  0x8275a0c0, 0xe70747c4, 0x827f78d8, 0xe6d5fcfc, 0x8289644b, 0xe6a4b616,
+    0x82936317, 0xe6737319,
+  0x829d753a, 0xe642340d, 0x82a79ab3, 0xe610f8f9, 0x82b1d381, 0xe5dfc1e5,
+    0x82bc1fa2, 0xe5ae8ed8,
+  0x82c67f14, 0xe57d5fda, 0x82d0f1d5, 0xe54c34f3, 0x82db77e5, 0xe51b0e2a,
+    0x82e61141, 0xe4e9eb87,
+  0x82f0bde8, 0xe4b8cd11, 0x82fb7dd8, 0xe487b2d0, 0x83065110, 0xe4569ccb,
+    0x8311378d, 0xe4258b0a,
+  0x831c314e, 0xe3f47d96, 0x83273e52, 0xe3c37474, 0x83325e97, 0xe3926fad,
+    0x833d921b, 0xe3616f48,
+  0x8348d8dc, 0xe330734d, 0x835432d8, 0xe2ff7bc3, 0x835fa00f, 0xe2ce88b3,
+    0x836b207d, 0xe29d9a23,
+  0x8376b422, 0xe26cb01b, 0x83825afb, 0xe23bcaa2, 0x838e1507, 0xe20ae9c1,
+    0x8399e244, 0xe1da0d7e,
+  0x83a5c2b0, 0xe1a935e2, 0x83b1b649, 0xe17862f3, 0x83bdbd0e, 0xe14794ba,
+    0x83c9d6fc, 0xe116cb3d,
+  0x83d60412, 0xe0e60685, 0x83e2444d, 0xe0b54698, 0x83ee97ad, 0xe0848b7f,
+    0x83fafe2e, 0xe053d541,
+  0x840777d0, 0xe02323e5, 0x84140490, 0xdff27773, 0x8420a46c, 0xdfc1cff3,
+    0x842d5762, 0xdf912d6b,
+  0x843a1d70, 0xdf608fe4, 0x8446f695, 0xdf2ff764, 0x8453e2cf, 0xdeff63f4,
+    0x8460e21a, 0xdeced59b,
+  0x846df477, 0xde9e4c60, 0x847b19e1, 0xde6dc84b, 0x84885258, 0xde3d4964,
+    0x84959dd9, 0xde0ccfb1,
+  0x84a2fc62, 0xdddc5b3b, 0x84b06df2, 0xddabec08, 0x84bdf286, 0xdd7b8220,
+    0x84cb8a1b, 0xdd4b1d8c,
+  0x84d934b1, 0xdd1abe51, 0x84e6f244, 0xdcea6478, 0x84f4c2d4, 0xdcba1008,
+    0x8502a65c, 0xdc89c109,
+  0x85109cdd, 0xdc597781, 0x851ea652, 0xdc293379, 0x852cc2bb, 0xdbf8f4f8,
+    0x853af214, 0xdbc8bc06,
+  0x8549345c, 0xdb9888a8, 0x85578991, 0xdb685ae9, 0x8565f1b0, 0xdb3832cd,
+    0x85746cb8, 0xdb08105e,
+  0x8582faa5, 0xdad7f3a2, 0x85919b76, 0xdaa7dca1, 0x85a04f28, 0xda77cb63,
+    0x85af15b9, 0xda47bfee,
+  0x85bdef28, 0xda17ba4a, 0x85ccdb70, 0xd9e7ba7f, 0x85dbda91, 0xd9b7c094,
+    0x85eaec88, 0xd987cc90,
+  0x85fa1153, 0xd957de7a, 0x860948ef, 0xd927f65b, 0x86189359, 0xd8f81439,
+    0x8627f091, 0xd8c8381d,
+  0x86376092, 0xd898620c, 0x8646e35c, 0xd868920f, 0x865678eb, 0xd838c82d,
+    0x8666213c, 0xd809046e,
+  0x8675dc4f, 0xd7d946d8, 0x8685aa20, 0xd7a98f73, 0x86958aac, 0xd779de47,
+    0x86a57df2, 0xd74a335b,
+  0x86b583ee, 0xd71a8eb5, 0x86c59c9f, 0xd6eaf05f, 0x86d5c802, 0xd6bb585e,
+    0x86e60614, 0xd68bc6ba,
+  0x86f656d3, 0xd65c3b7b, 0x8706ba3d, 0xd62cb6a8, 0x8717304e, 0xd5fd3848,
+    0x8727b905, 0xd5cdc062,
+  0x8738545e, 0xd59e4eff, 0x87490258, 0xd56ee424, 0x8759c2ef, 0xd53f7fda,
+    0x876a9621, 0xd5102228,
+  0x877b7bec, 0xd4e0cb15, 0x878c744d, 0xd4b17aa8, 0x879d7f41, 0xd48230e9,
+    0x87ae9cc5, 0xd452eddf,
+  0x87bfccd7, 0xd423b191, 0x87d10f75, 0xd3f47c06, 0x87e2649b, 0xd3c54d47,
+    0x87f3cc48, 0xd396255a,
+  0x88054677, 0xd3670446, 0x8816d327, 0xd337ea12, 0x88287256, 0xd308d6c7,
+    0x883a23ff, 0xd2d9ca6a,
+  0x884be821, 0xd2aac504, 0x885dbeb8, 0xd27bc69c, 0x886fa7c2, 0xd24ccf39,
+    0x8881a33d, 0xd21ddee2,
+  0x8893b125, 0xd1eef59e, 0x88a5d177, 0xd1c01375, 0x88b80432, 0xd191386e,
+    0x88ca4951, 0xd1626490,
+  0x88dca0d3, 0xd13397e2, 0x88ef0ab4, 0xd104d26b, 0x890186f2, 0xd0d61434,
+    0x89141589, 0xd0a75d42,
+  0x8926b677, 0xd078ad9e, 0x893969b9, 0xd04a054e, 0x894c2f4c, 0xd01b6459,
+    0x895f072e, 0xcfeccac7,
+  0x8971f15a, 0xcfbe389f, 0x8984edcf, 0xcf8fade9, 0x8997fc8a, 0xcf612aaa,
+    0x89ab1d87, 0xcf32aeeb,
+  0x89be50c3, 0xcf043ab3, 0x89d1963c, 0xced5ce08, 0x89e4edef, 0xcea768f2,
+    0x89f857d8, 0xce790b79,
+  0x8a0bd3f5, 0xce4ab5a2, 0x8a1f6243, 0xce1c6777, 0x8a3302be, 0xcdee20fc,
+    0x8a46b564, 0xcdbfe23a,
+  0x8a5a7a31, 0xcd91ab39, 0x8a6e5123, 0xcd637bfe, 0x8a823a36, 0xcd355491,
+    0x8a963567, 0xcd0734f9,
+  0x8aaa42b4, 0xccd91d3d, 0x8abe6219, 0xccab0d65, 0x8ad29394, 0xcc7d0578,
+    0x8ae6d720, 0xcc4f057c,
+  0x8afb2cbb, 0xcc210d79, 0x8b0f9462, 0xcbf31d75, 0x8b240e11, 0xcbc53579,
+    0x8b3899c6, 0xcb97558a,
+  0x8b4d377c, 0xcb697db0, 0x8b61e733, 0xcb3badf3, 0x8b76a8e4, 0xcb0de658,
+    0x8b8b7c8f, 0xcae026e8,
+  0x8ba0622f, 0xcab26fa9, 0x8bb559c1, 0xca84c0a3, 0x8bca6343, 0xca5719db,
+    0x8bdf7eb0, 0xca297b5a,
+  0x8bf4ac05, 0xc9fbe527, 0x8c09eb40, 0xc9ce5748, 0x8c1f3c5d, 0xc9a0d1c5,
+    0x8c349f58, 0xc97354a4,
+  0x8c4a142f, 0xc945dfec, 0x8c5f9ade, 0xc91873a5, 0x8c753362, 0xc8eb0fd6,
+    0x8c8addb7, 0xc8bdb485,
+  0x8ca099da, 0xc89061ba, 0x8cb667c8, 0xc863177b, 0x8ccc477d, 0xc835d5d0,
+    0x8ce238f6, 0xc8089cbf,
+  0x8cf83c30, 0xc7db6c50, 0x8d0e5127, 0xc7ae4489, 0x8d2477d8, 0xc7812572,
+    0x8d3ab03f, 0xc7540f11,
+  0x8d50fa59, 0xc727016d, 0x8d675623, 0xc6f9fc8d, 0x8d7dc399, 0xc6cd0079,
+    0x8d9442b8, 0xc6a00d37,
+  0x8daad37b, 0xc67322ce, 0x8dc175e0, 0xc6464144, 0x8dd829e4, 0xc61968a2,
+    0x8deeef82, 0xc5ec98ee,
+  0x8e05c6b7, 0xc5bfd22e, 0x8e1caf80, 0xc593146a, 0x8e33a9da, 0xc5665fa9,
+    0x8e4ab5bf, 0xc539b3f1,
+  0x8e61d32e, 0xc50d1149, 0x8e790222, 0xc4e077b8, 0x8e904298, 0xc4b3e746,
+    0x8ea7948c, 0xc4875ff9,
+  0x8ebef7fb, 0xc45ae1d7, 0x8ed66ce1, 0xc42e6ce8, 0x8eedf33b, 0xc4020133,
+    0x8f058b04, 0xc3d59ebe,
+  0x8f1d343a, 0xc3a94590, 0x8f34eed8, 0xc37cf5b0, 0x8f4cbadb, 0xc350af26,
+    0x8f649840, 0xc32471f7,
+  0x8f7c8701, 0xc2f83e2a, 0x8f94871d, 0xc2cc13c7, 0x8fac988f, 0xc29ff2d4,
+    0x8fc4bb53, 0xc273db58,
+  0x8fdcef66, 0xc247cd5a, 0x8ff534c4, 0xc21bc8e1, 0x900d8b69, 0xc1efcdf3,
+    0x9025f352, 0xc1c3dc97,
+  0x903e6c7b, 0xc197f4d4, 0x9056f6df, 0xc16c16b0, 0x906f927c, 0xc1404233,
+    0x90883f4d, 0xc1147764,
+  0x90a0fd4e, 0xc0e8b648, 0x90b9cc7d, 0xc0bcfee7, 0x90d2acd4, 0xc0915148,
+    0x90eb9e50, 0xc065ad70,
+  0x9104a0ee, 0xc03a1368, 0x911db4a9, 0xc00e8336, 0x9136d97d, 0xbfe2fcdf,
+    0x91500f67, 0xbfb7806c,
+  0x91695663, 0xbf8c0de3, 0x9182ae6d, 0xbf60a54a, 0x919c1781, 0xbf3546a8,
+    0x91b5919a, 0xbf09f205,
+  0x91cf1cb6, 0xbedea765, 0x91e8b8d0, 0xbeb366d1, 0x920265e4, 0xbe88304f,
+    0x921c23ef, 0xbe5d03e6,
+  0x9235f2ec, 0xbe31e19b, 0x924fd2d7, 0xbe06c977, 0x9269c3ac, 0xbddbbb7f,
+    0x9283c568, 0xbdb0b7bb,
+  0x929dd806, 0xbd85be30, 0x92b7fb82, 0xbd5acee5, 0x92d22fd9, 0xbd2fe9e2,
+    0x92ec7505, 0xbd050f2c,
+  0x9306cb04, 0xbcda3ecb, 0x932131d1, 0xbcaf78c4, 0x933ba968, 0xbc84bd1f,
+    0x935631c5, 0xbc5a0be2,
+  0x9370cae4, 0xbc2f6513, 0x938b74c1, 0xbc04c8ba, 0x93a62f57, 0xbbda36dd,
+    0x93c0faa3, 0xbbafaf82,
+  0x93dbd6a0, 0xbb8532b0, 0x93f6c34a, 0xbb5ac06d, 0x9411c09e, 0xbb3058c0,
+    0x942cce96, 0xbb05fbb0,
+  0x9447ed2f, 0xbadba943, 0x94631c65, 0xbab16180, 0x947e5c33, 0xba87246d,
+    0x9499ac95, 0xba5cf210,
+  0x94b50d87, 0xba32ca71, 0x94d07f05, 0xba08ad95, 0x94ec010b, 0xb9de9b83,
+    0x95079394, 0xb9b49442,
+  0x9523369c, 0xb98a97d8, 0x953eea1e, 0xb960a64c, 0x955aae17, 0xb936bfa4,
+    0x95768283, 0xb90ce3e6,
+  0x9592675c, 0xb8e31319, 0x95ae5c9f, 0xb8b94d44, 0x95ca6247, 0xb88f926d,
+    0x95e67850, 0xb865e299,
+  0x96029eb6, 0xb83c3dd1, 0x961ed574, 0xb812a41a, 0x963b1c86, 0xb7e9157a,
+    0x965773e7, 0xb7bf91f8,
+  0x9673db94, 0xb796199b, 0x96905388, 0xb76cac69, 0x96acdbbe, 0xb7434a67,
+    0x96c97432, 0xb719f39e,
+  0x96e61ce0, 0xb6f0a812, 0x9702d5c3, 0xb6c767ca, 0x971f9ed7, 0xb69e32cd,
+    0x973c7817, 0xb6750921,
+  0x9759617f, 0xb64beacd, 0x97765b0a, 0xb622d7d6, 0x979364b5, 0xb5f9d043,
+    0x97b07e7a, 0xb5d0d41a,
+  0x97cda855, 0xb5a7e362, 0x97eae242, 0xb57efe22, 0x98082c3b, 0xb556245e,
+    0x9825863d, 0xb52d561e,
+  0x9842f043, 0xb5049368, 0x98606a49, 0xb4dbdc42, 0x987df449, 0xb4b330b3,
+    0x989b8e40, 0xb48a90c0,
+  0x98b93828, 0xb461fc70, 0x98d6f1fe, 0xb43973ca, 0x98f4bbbc, 0xb410f6d3,
+    0x9912955f, 0xb3e88592,
+  0x99307ee0, 0xb3c0200c, 0x994e783d, 0xb397c649, 0x996c816f, 0xb36f784f,
+    0x998a9a74, 0xb3473623,
+  0x99a8c345, 0xb31effcc, 0x99c6fbde, 0xb2f6d550, 0x99e5443b, 0xb2ceb6b5,
+    0x9a039c57, 0xb2a6a402,
+  0x9a22042d, 0xb27e9d3c, 0x9a407bb9, 0xb256a26a, 0x9a5f02f5, 0xb22eb392,
+    0x9a7d99de, 0xb206d0ba,
+  0x9a9c406e, 0xb1def9e9, 0x9abaf6a1, 0xb1b72f23, 0x9ad9bc71, 0xb18f7071,
+    0x9af891db, 0xb167bdd7,
+  0x9b1776da, 0xb140175b, 0x9b366b68, 0xb1187d05, 0x9b556f81, 0xb0f0eeda,
+    0x9b748320, 0xb0c96ce0,
+  0x9b93a641, 0xb0a1f71d, 0x9bb2d8de, 0xb07a8d97, 0x9bd21af3, 0xb0533055,
+    0x9bf16c7a, 0xb02bdf5c,
+  0x9c10cd70, 0xb0049ab3, 0x9c303dcf, 0xafdd625f, 0x9c4fbd93, 0xafb63667,
+    0x9c6f4cb6, 0xaf8f16d1,
+  0x9c8eeb34, 0xaf6803a2, 0x9cae9907, 0xaf40fce1, 0x9cce562c, 0xaf1a0293,
+    0x9cee229c, 0xaef314c0,
+  0x9d0dfe54, 0xaecc336c, 0x9d2de94d, 0xaea55e9e, 0x9d4de385, 0xae7e965b,
+    0x9d6decf4, 0xae57daab,
+  0x9d8e0597, 0xae312b92, 0x9dae2d68, 0xae0a8916, 0x9dce6463, 0xade3f33e,
+    0x9deeaa82, 0xadbd6a10,
+  0x9e0effc1, 0xad96ed92, 0x9e2f641b, 0xad707dc8, 0x9e4fd78a, 0xad4a1aba,
+    0x9e705a09, 0xad23c46e,
+  0x9e90eb94, 0xacfd7ae8, 0x9eb18c26, 0xacd73e30, 0x9ed23bb9, 0xacb10e4b,
+    0x9ef2fa49, 0xac8aeb3e,
+  0x9f13c7d0, 0xac64d510, 0x9f34a449, 0xac3ecbc7, 0x9f558fb0, 0xac18cf69,
+    0x9f7689ff, 0xabf2dffb,
+  0x9f979331, 0xabccfd83, 0x9fb8ab41, 0xaba72807, 0x9fd9d22a, 0xab815f8d,
+    0x9ffb07e7, 0xab5ba41a,
+  0xa01c4c73, 0xab35f5b5, 0xa03d9fc8, 0xab105464, 0xa05f01e1, 0xaaeac02c,
+    0xa08072ba, 0xaac53912,
+  0xa0a1f24d, 0xaa9fbf1e, 0xa0c38095, 0xaa7a5253, 0xa0e51d8c, 0xaa54f2ba,
+    0xa106c92f, 0xaa2fa056,
+  0xa1288376, 0xaa0a5b2e, 0xa14a4c5e, 0xa9e52347, 0xa16c23e1, 0xa9bff8a8,
+    0xa18e09fa, 0xa99adb56,
+  0xa1affea3, 0xa975cb57, 0xa1d201d7, 0xa950c8b0, 0xa1f41392, 0xa92bd367,
+    0xa21633cd, 0xa906eb82,
+  0xa2386284, 0xa8e21106, 0xa25a9fb1, 0xa8bd43fa, 0xa27ceb4f, 0xa8988463,
+    0xa29f4559, 0xa873d246,
+  0xa2c1adc9, 0xa84f2daa, 0xa2e4249b, 0xa82a9693, 0xa306a9c8, 0xa8060d08,
+    0xa3293d4b, 0xa7e1910f,
+  0xa34bdf20, 0xa7bd22ac, 0xa36e8f41, 0xa798c1e5, 0xa3914da8, 0xa7746ec0,
+    0xa3b41a50, 0xa7502943,
+  0xa3d6f534, 0xa72bf174, 0xa3f9de4e, 0xa707c757, 0xa41cd599, 0xa6e3aaf2,
+    0xa43fdb10, 0xa6bf9c4b,
+  0xa462eeac, 0xa69b9b68, 0xa486106a, 0xa677a84e, 0xa4a94043, 0xa653c303,
+    0xa4cc7e32, 0xa62feb8b,
+  0xa4efca31, 0xa60c21ee, 0xa513243b, 0xa5e8662f, 0xa5368c4b, 0xa5c4b855,
+    0xa55a025b, 0xa5a11866,
+  0xa57d8666, 0xa57d8666, 0xa5a11866, 0xa55a025b, 0xa5c4b855, 0xa5368c4b,
+    0xa5e8662f, 0xa513243b,
+  0xa60c21ee, 0xa4efca31, 0xa62feb8b, 0xa4cc7e32, 0xa653c303, 0xa4a94043,
+    0xa677a84e, 0xa486106a,
+  0xa69b9b68, 0xa462eeac, 0xa6bf9c4b, 0xa43fdb10, 0xa6e3aaf2, 0xa41cd599,
+    0xa707c757, 0xa3f9de4e,
+  0xa72bf174, 0xa3d6f534, 0xa7502943, 0xa3b41a50, 0xa7746ec0, 0xa3914da8,
+    0xa798c1e5, 0xa36e8f41,
+  0xa7bd22ac, 0xa34bdf20, 0xa7e1910f, 0xa3293d4b, 0xa8060d08, 0xa306a9c8,
+    0xa82a9693, 0xa2e4249b,
+  0xa84f2daa, 0xa2c1adc9, 0xa873d246, 0xa29f4559, 0xa8988463, 0xa27ceb4f,
+    0xa8bd43fa, 0xa25a9fb1,
+  0xa8e21106, 0xa2386284, 0xa906eb82, 0xa21633cd, 0xa92bd367, 0xa1f41392,
+    0xa950c8b0, 0xa1d201d7,
+  0xa975cb57, 0xa1affea3, 0xa99adb56, 0xa18e09fa, 0xa9bff8a8, 0xa16c23e1,
+    0xa9e52347, 0xa14a4c5e,
+  0xaa0a5b2e, 0xa1288376, 0xaa2fa056, 0xa106c92f, 0xaa54f2ba, 0xa0e51d8c,
+    0xaa7a5253, 0xa0c38095,
+  0xaa9fbf1e, 0xa0a1f24d, 0xaac53912, 0xa08072ba, 0xaaeac02c, 0xa05f01e1,
+    0xab105464, 0xa03d9fc8,
+  0xab35f5b5, 0xa01c4c73, 0xab5ba41a, 0x9ffb07e7, 0xab815f8d, 0x9fd9d22a,
+    0xaba72807, 0x9fb8ab41,
+  0xabccfd83, 0x9f979331, 0xabf2dffb, 0x9f7689ff, 0xac18cf69, 0x9f558fb0,
+    0xac3ecbc7, 0x9f34a449,
+  0xac64d510, 0x9f13c7d0, 0xac8aeb3e, 0x9ef2fa49, 0xacb10e4b, 0x9ed23bb9,
+    0xacd73e30, 0x9eb18c26,
+  0xacfd7ae8, 0x9e90eb94, 0xad23c46e, 0x9e705a09, 0xad4a1aba, 0x9e4fd78a,
+    0xad707dc8, 0x9e2f641b,
+  0xad96ed92, 0x9e0effc1, 0xadbd6a10, 0x9deeaa82, 0xade3f33e, 0x9dce6463,
+    0xae0a8916, 0x9dae2d68,
+  0xae312b92, 0x9d8e0597, 0xae57daab, 0x9d6decf4, 0xae7e965b, 0x9d4de385,
+    0xaea55e9e, 0x9d2de94d,
+  0xaecc336c, 0x9d0dfe54, 0xaef314c0, 0x9cee229c, 0xaf1a0293, 0x9cce562c,
+    0xaf40fce1, 0x9cae9907,
+  0xaf6803a2, 0x9c8eeb34, 0xaf8f16d1, 0x9c6f4cb6, 0xafb63667, 0x9c4fbd93,
+    0xafdd625f, 0x9c303dcf,
+  0xb0049ab3, 0x9c10cd70, 0xb02bdf5c, 0x9bf16c7a, 0xb0533055, 0x9bd21af3,
+    0xb07a8d97, 0x9bb2d8de,
+  0xb0a1f71d, 0x9b93a641, 0xb0c96ce0, 0x9b748320, 0xb0f0eeda, 0x9b556f81,
+    0xb1187d05, 0x9b366b68,
+  0xb140175b, 0x9b1776da, 0xb167bdd7, 0x9af891db, 0xb18f7071, 0x9ad9bc71,
+    0xb1b72f23, 0x9abaf6a1,
+  0xb1def9e9, 0x9a9c406e, 0xb206d0ba, 0x9a7d99de, 0xb22eb392, 0x9a5f02f5,
+    0xb256a26a, 0x9a407bb9,
+  0xb27e9d3c, 0x9a22042d, 0xb2a6a402, 0x9a039c57, 0xb2ceb6b5, 0x99e5443b,
+    0xb2f6d550, 0x99c6fbde,
+  0xb31effcc, 0x99a8c345, 0xb3473623, 0x998a9a74, 0xb36f784f, 0x996c816f,
+    0xb397c649, 0x994e783d,
+  0xb3c0200c, 0x99307ee0, 0xb3e88592, 0x9912955f, 0xb410f6d3, 0x98f4bbbc,
+    0xb43973ca, 0x98d6f1fe,
+  0xb461fc70, 0x98b93828, 0xb48a90c0, 0x989b8e40, 0xb4b330b3, 0x987df449,
+    0xb4dbdc42, 0x98606a49,
+  0xb5049368, 0x9842f043, 0xb52d561e, 0x9825863d, 0xb556245e, 0x98082c3b,
+    0xb57efe22, 0x97eae242,
+  0xb5a7e362, 0x97cda855, 0xb5d0d41a, 0x97b07e7a, 0xb5f9d043, 0x979364b5,
+    0xb622d7d6, 0x97765b0a,
+  0xb64beacd, 0x9759617f, 0xb6750921, 0x973c7817, 0xb69e32cd, 0x971f9ed7,
+    0xb6c767ca, 0x9702d5c3,
+  0xb6f0a812, 0x96e61ce0, 0xb719f39e, 0x96c97432, 0xb7434a67, 0x96acdbbe,
+    0xb76cac69, 0x96905388,
+  0xb796199b, 0x9673db94, 0xb7bf91f8, 0x965773e7, 0xb7e9157a, 0x963b1c86,
+    0xb812a41a, 0x961ed574,
+  0xb83c3dd1, 0x96029eb6, 0xb865e299, 0x95e67850, 0xb88f926d, 0x95ca6247,
+    0xb8b94d44, 0x95ae5c9f,
+  0xb8e31319, 0x9592675c, 0xb90ce3e6, 0x95768283, 0xb936bfa4, 0x955aae17,
+    0xb960a64c, 0x953eea1e,
+  0xb98a97d8, 0x9523369c, 0xb9b49442, 0x95079394, 0xb9de9b83, 0x94ec010b,
+    0xba08ad95, 0x94d07f05,
+  0xba32ca71, 0x94b50d87, 0xba5cf210, 0x9499ac95, 0xba87246d, 0x947e5c33,
+    0xbab16180, 0x94631c65,
+  0xbadba943, 0x9447ed2f, 0xbb05fbb0, 0x942cce96, 0xbb3058c0, 0x9411c09e,
+    0xbb5ac06d, 0x93f6c34a,
+  0xbb8532b0, 0x93dbd6a0, 0xbbafaf82, 0x93c0faa3, 0xbbda36dd, 0x93a62f57,
+    0xbc04c8ba, 0x938b74c1,
+  0xbc2f6513, 0x9370cae4, 0xbc5a0be2, 0x935631c5, 0xbc84bd1f, 0x933ba968,
+    0xbcaf78c4, 0x932131d1,
+  0xbcda3ecb, 0x9306cb04, 0xbd050f2c, 0x92ec7505, 0xbd2fe9e2, 0x92d22fd9,
+    0xbd5acee5, 0x92b7fb82,
+  0xbd85be30, 0x929dd806, 0xbdb0b7bb, 0x9283c568, 0xbddbbb7f, 0x9269c3ac,
+    0xbe06c977, 0x924fd2d7,
+  0xbe31e19b, 0x9235f2ec, 0xbe5d03e6, 0x921c23ef, 0xbe88304f, 0x920265e4,
+    0xbeb366d1, 0x91e8b8d0,
+  0xbedea765, 0x91cf1cb6, 0xbf09f205, 0x91b5919a, 0xbf3546a8, 0x919c1781,
+    0xbf60a54a, 0x9182ae6d,
+  0xbf8c0de3, 0x91695663, 0xbfb7806c, 0x91500f67, 0xbfe2fcdf, 0x9136d97d,
+    0xc00e8336, 0x911db4a9,
+  0xc03a1368, 0x9104a0ee, 0xc065ad70, 0x90eb9e50, 0xc0915148, 0x90d2acd4,
+    0xc0bcfee7, 0x90b9cc7d,
+  0xc0e8b648, 0x90a0fd4e, 0xc1147764, 0x90883f4d, 0xc1404233, 0x906f927c,
+    0xc16c16b0, 0x9056f6df,
+  0xc197f4d4, 0x903e6c7b, 0xc1c3dc97, 0x9025f352, 0xc1efcdf3, 0x900d8b69,
+    0xc21bc8e1, 0x8ff534c4,
+  0xc247cd5a, 0x8fdcef66, 0xc273db58, 0x8fc4bb53, 0xc29ff2d4, 0x8fac988f,
+    0xc2cc13c7, 0x8f94871d,
+  0xc2f83e2a, 0x8f7c8701, 0xc32471f7, 0x8f649840, 0xc350af26, 0x8f4cbadb,
+    0xc37cf5b0, 0x8f34eed8,
+  0xc3a94590, 0x8f1d343a, 0xc3d59ebe, 0x8f058b04, 0xc4020133, 0x8eedf33b,
+    0xc42e6ce8, 0x8ed66ce1,
+  0xc45ae1d7, 0x8ebef7fb, 0xc4875ff9, 0x8ea7948c, 0xc4b3e746, 0x8e904298,
+    0xc4e077b8, 0x8e790222,
+  0xc50d1149, 0x8e61d32e, 0xc539b3f1, 0x8e4ab5bf, 0xc5665fa9, 0x8e33a9da,
+    0xc593146a, 0x8e1caf80,
+  0xc5bfd22e, 0x8e05c6b7, 0xc5ec98ee, 0x8deeef82, 0xc61968a2, 0x8dd829e4,
+    0xc6464144, 0x8dc175e0,
+  0xc67322ce, 0x8daad37b, 0xc6a00d37, 0x8d9442b8, 0xc6cd0079, 0x8d7dc399,
+    0xc6f9fc8d, 0x8d675623,
+  0xc727016d, 0x8d50fa59, 0xc7540f11, 0x8d3ab03f, 0xc7812572, 0x8d2477d8,
+    0xc7ae4489, 0x8d0e5127,
+  0xc7db6c50, 0x8cf83c30, 0xc8089cbf, 0x8ce238f6, 0xc835d5d0, 0x8ccc477d,
+    0xc863177b, 0x8cb667c8,
+  0xc89061ba, 0x8ca099da, 0xc8bdb485, 0x8c8addb7, 0xc8eb0fd6, 0x8c753362,
+    0xc91873a5, 0x8c5f9ade,
+  0xc945dfec, 0x8c4a142f, 0xc97354a4, 0x8c349f58, 0xc9a0d1c5, 0x8c1f3c5d,
+    0xc9ce5748, 0x8c09eb40,
+  0xc9fbe527, 0x8bf4ac05, 0xca297b5a, 0x8bdf7eb0, 0xca5719db, 0x8bca6343,
+    0xca84c0a3, 0x8bb559c1,
+  0xcab26fa9, 0x8ba0622f, 0xcae026e8, 0x8b8b7c8f, 0xcb0de658, 0x8b76a8e4,
+    0xcb3badf3, 0x8b61e733,
+  0xcb697db0, 0x8b4d377c, 0xcb97558a, 0x8b3899c6, 0xcbc53579, 0x8b240e11,
+    0xcbf31d75, 0x8b0f9462,
+  0xcc210d79, 0x8afb2cbb, 0xcc4f057c, 0x8ae6d720, 0xcc7d0578, 0x8ad29394,
+    0xccab0d65, 0x8abe6219,
+  0xccd91d3d, 0x8aaa42b4, 0xcd0734f9, 0x8a963567, 0xcd355491, 0x8a823a36,
+    0xcd637bfe, 0x8a6e5123,
+  0xcd91ab39, 0x8a5a7a31, 0xcdbfe23a, 0x8a46b564, 0xcdee20fc, 0x8a3302be,
+    0xce1c6777, 0x8a1f6243,
+  0xce4ab5a2, 0x8a0bd3f5, 0xce790b79, 0x89f857d8, 0xcea768f2, 0x89e4edef,
+    0xced5ce08, 0x89d1963c,
+  0xcf043ab3, 0x89be50c3, 0xcf32aeeb, 0x89ab1d87, 0xcf612aaa, 0x8997fc8a,
+    0xcf8fade9, 0x8984edcf,
+  0xcfbe389f, 0x8971f15a, 0xcfeccac7, 0x895f072e, 0xd01b6459, 0x894c2f4c,
+    0xd04a054e, 0x893969b9,
+  0xd078ad9e, 0x8926b677, 0xd0a75d42, 0x89141589, 0xd0d61434, 0x890186f2,
+    0xd104d26b, 0x88ef0ab4,
+  0xd13397e2, 0x88dca0d3, 0xd1626490, 0x88ca4951, 0xd191386e, 0x88b80432,
+    0xd1c01375, 0x88a5d177,
+  0xd1eef59e, 0x8893b125, 0xd21ddee2, 0x8881a33d, 0xd24ccf39, 0x886fa7c2,
+    0xd27bc69c, 0x885dbeb8,
+  0xd2aac504, 0x884be821, 0xd2d9ca6a, 0x883a23ff, 0xd308d6c7, 0x88287256,
+    0xd337ea12, 0x8816d327,
+  0xd3670446, 0x88054677, 0xd396255a, 0x87f3cc48, 0xd3c54d47, 0x87e2649b,
+    0xd3f47c06, 0x87d10f75,
+  0xd423b191, 0x87bfccd7, 0xd452eddf, 0x87ae9cc5, 0xd48230e9, 0x879d7f41,
+    0xd4b17aa8, 0x878c744d,
+  0xd4e0cb15, 0x877b7bec, 0xd5102228, 0x876a9621, 0xd53f7fda, 0x8759c2ef,
+    0xd56ee424, 0x87490258,
+  0xd59e4eff, 0x8738545e, 0xd5cdc062, 0x8727b905, 0xd5fd3848, 0x8717304e,
+    0xd62cb6a8, 0x8706ba3d,
+  0xd65c3b7b, 0x86f656d3, 0xd68bc6ba, 0x86e60614, 0xd6bb585e, 0x86d5c802,
+    0xd6eaf05f, 0x86c59c9f,
+  0xd71a8eb5, 0x86b583ee, 0xd74a335b, 0x86a57df2, 0xd779de47, 0x86958aac,
+    0xd7a98f73, 0x8685aa20,
+  0xd7d946d8, 0x8675dc4f, 0xd809046e, 0x8666213c, 0xd838c82d, 0x865678eb,
+    0xd868920f, 0x8646e35c,
+  0xd898620c, 0x86376092, 0xd8c8381d, 0x8627f091, 0xd8f81439, 0x86189359,
+    0xd927f65b, 0x860948ef,
+  0xd957de7a, 0x85fa1153, 0xd987cc90, 0x85eaec88, 0xd9b7c094, 0x85dbda91,
+    0xd9e7ba7f, 0x85ccdb70,
+  0xda17ba4a, 0x85bdef28, 0xda47bfee, 0x85af15b9, 0xda77cb63, 0x85a04f28,
+    0xdaa7dca1, 0x85919b76,
+  0xdad7f3a2, 0x8582faa5, 0xdb08105e, 0x85746cb8, 0xdb3832cd, 0x8565f1b0,
+    0xdb685ae9, 0x85578991,
+  0xdb9888a8, 0x8549345c, 0xdbc8bc06, 0x853af214, 0xdbf8f4f8, 0x852cc2bb,
+    0xdc293379, 0x851ea652,
+  0xdc597781, 0x85109cdd, 0xdc89c109, 0x8502a65c, 0xdcba1008, 0x84f4c2d4,
+    0xdcea6478, 0x84e6f244,
+  0xdd1abe51, 0x84d934b1, 0xdd4b1d8c, 0x84cb8a1b, 0xdd7b8220, 0x84bdf286,
+    0xddabec08, 0x84b06df2,
+  0xdddc5b3b, 0x84a2fc62, 0xde0ccfb1, 0x84959dd9, 0xde3d4964, 0x84885258,
+    0xde6dc84b, 0x847b19e1,
+  0xde9e4c60, 0x846df477, 0xdeced59b, 0x8460e21a, 0xdeff63f4, 0x8453e2cf,
+    0xdf2ff764, 0x8446f695,
+  0xdf608fe4, 0x843a1d70, 0xdf912d6b, 0x842d5762, 0xdfc1cff3, 0x8420a46c,
+    0xdff27773, 0x84140490,
+  0xe02323e5, 0x840777d0, 0xe053d541, 0x83fafe2e, 0xe0848b7f, 0x83ee97ad,
+    0xe0b54698, 0x83e2444d,
+  0xe0e60685, 0x83d60412, 0xe116cb3d, 0x83c9d6fc, 0xe14794ba, 0x83bdbd0e,
+    0xe17862f3, 0x83b1b649,
+  0xe1a935e2, 0x83a5c2b0, 0xe1da0d7e, 0x8399e244, 0xe20ae9c1, 0x838e1507,
+    0xe23bcaa2, 0x83825afb,
+  0xe26cb01b, 0x8376b422, 0xe29d9a23, 0x836b207d, 0xe2ce88b3, 0x835fa00f,
+    0xe2ff7bc3, 0x835432d8,
+  0xe330734d, 0x8348d8dc, 0xe3616f48, 0x833d921b, 0xe3926fad, 0x83325e97,
+    0xe3c37474, 0x83273e52,
+  0xe3f47d96, 0x831c314e, 0xe4258b0a, 0x8311378d, 0xe4569ccb, 0x83065110,
+    0xe487b2d0, 0x82fb7dd8,
+  0xe4b8cd11, 0x82f0bde8, 0xe4e9eb87, 0x82e61141, 0xe51b0e2a, 0x82db77e5,
+    0xe54c34f3, 0x82d0f1d5,
+  0xe57d5fda, 0x82c67f14, 0xe5ae8ed8, 0x82bc1fa2, 0xe5dfc1e5, 0x82b1d381,
+    0xe610f8f9, 0x82a79ab3,
+  0xe642340d, 0x829d753a, 0xe6737319, 0x82936317, 0xe6a4b616, 0x8289644b,
+    0xe6d5fcfc, 0x827f78d8,
+  0xe70747c4, 0x8275a0c0, 0xe7389665, 0x826bdc04, 0xe769e8d8, 0x82622aa6,
+    0xe79b3f16, 0x82588ca7,
+  0xe7cc9917, 0x824f0208, 0xe7fdf6d4, 0x82458acc, 0xe82f5844, 0x823c26f3,
+    0xe860bd61, 0x8232d67f,
+  0xe8922622, 0x82299971, 0xe8c39280, 0x82206fcc, 0xe8f50273, 0x82175990,
+    0xe92675f4, 0x820e56be,
+  0xe957ecfb, 0x82056758, 0xe9896781, 0x81fc8b60, 0xe9bae57d, 0x81f3c2d7,
+    0xe9ec66e8, 0x81eb0dbe,
+  0xea1debbb, 0x81e26c16, 0xea4f73ee, 0x81d9dde1, 0xea80ff7a, 0x81d16321,
+    0xeab28e56, 0x81c8fbd6,
+  0xeae4207a, 0x81c0a801, 0xeb15b5e1, 0x81b867a5, 0xeb474e81, 0x81b03ac2,
+    0xeb78ea52, 0x81a82159,
+  0xebaa894f, 0x81a01b6d, 0xebdc2b6e, 0x819828fd, 0xec0dd0a8, 0x81904a0c,
+    0xec3f78f6, 0x81887e9a,
+  0xec71244f, 0x8180c6a9, 0xeca2d2ad, 0x8179223a, 0xecd48407, 0x8171914e,
+    0xed063856, 0x816a13e6,
+  0xed37ef91, 0x8162aa04, 0xed69a9b3, 0x815b53a8, 0xed9b66b2, 0x815410d4,
+    0xedcd2687, 0x814ce188,
+  0xedfee92b, 0x8145c5c7, 0xee30ae96, 0x813ebd90, 0xee6276bf, 0x8137c8e6,
+    0xee9441a0, 0x8130e7c9,
+  0xeec60f31, 0x812a1a3a, 0xeef7df6a, 0x8123603a, 0xef29b243, 0x811cb9ca,
+    0xef5b87b5, 0x811626ec,
+  0xef8d5fb8, 0x810fa7a0, 0xefbf3a45, 0x81093be8, 0xeff11753, 0x8102e3c4,
+    0xf022f6da, 0x80fc9f35,
+  0xf054d8d5, 0x80f66e3c, 0xf086bd39, 0x80f050db, 0xf0b8a401, 0x80ea4712,
+    0xf0ea8d24, 0x80e450e2,
+  0xf11c789a, 0x80de6e4c, 0xf14e665c, 0x80d89f51, 0xf1805662, 0x80d2e3f2,
+    0xf1b248a5, 0x80cd3c2f,
+  0xf1e43d1c, 0x80c7a80a, 0xf21633c0, 0x80c22784, 0xf2482c8a, 0x80bcba9d,
+    0xf27a2771, 0x80b76156,
+  0xf2ac246e, 0x80b21baf, 0xf2de2379, 0x80ace9ab, 0xf310248a, 0x80a7cb49,
+    0xf342279b, 0x80a2c08b,
+  0xf3742ca2, 0x809dc971, 0xf3a63398, 0x8098e5fb, 0xf3d83c77, 0x8094162c,
+    0xf40a4735, 0x808f5a02,
+  0xf43c53cb, 0x808ab180, 0xf46e6231, 0x80861ca6, 0xf4a07261, 0x80819b74,
+    0xf4d28451, 0x807d2dec,
+  0xf50497fb, 0x8078d40d, 0xf536ad56, 0x80748dd9, 0xf568c45b, 0x80705b50,
+    0xf59add02, 0x806c3c74,
+  0xf5ccf743, 0x80683143, 0xf5ff1318, 0x806439c0, 0xf6313077, 0x806055eb,
+    0xf6634f59, 0x805c85c4,
+  0xf6956fb7, 0x8058c94c, 0xf6c79188, 0x80552084, 0xf6f9b4c6, 0x80518b6b,
+    0xf72bd967, 0x804e0a04,
+  0xf75dff66, 0x804a9c4d, 0xf79026b9, 0x80474248, 0xf7c24f59, 0x8043fbf6,
+    0xf7f4793e, 0x8040c956,
+  0xf826a462, 0x803daa6a, 0xf858d0bb, 0x803a9f31, 0xf88afe42, 0x8037a7ac,
+    0xf8bd2cef, 0x8034c3dd,
+  0xf8ef5cbb, 0x8031f3c2, 0xf9218d9e, 0x802f375d, 0xf953bf91, 0x802c8ead,
+    0xf985f28a, 0x8029f9b4,
+  0xf9b82684, 0x80277872, 0xf9ea5b75, 0x80250ae7, 0xfa1c9157, 0x8022b114,
+    0xfa4ec821, 0x80206af8,
+  0xfa80ffcb, 0x801e3895, 0xfab3384f, 0x801c19ea, 0xfae571a4, 0x801a0ef8,
+    0xfb17abc2, 0x801817bf,
+  0xfb49e6a3, 0x80163440, 0xfb7c223d, 0x8014647b, 0xfbae5e89, 0x8012a86f,
+    0xfbe09b80, 0x8011001f,
+  0xfc12d91a, 0x800f6b88, 0xfc45174e, 0x800deaad, 0xfc775616, 0x800c7d8c,
+    0xfca9956a, 0x800b2427,
+  0xfcdbd541, 0x8009de7e, 0xfd0e1594, 0x8008ac90, 0xfd40565c, 0x80078e5e,
+    0xfd729790, 0x800683e8,
+  0xfda4d929, 0x80058d2f, 0xfdd71b1e, 0x8004aa32, 0xfe095d69, 0x8003daf1,
+    0xfe3ba002, 0x80031f6d,
+  0xfe6de2e0, 0x800277a6, 0xfea025fd, 0x8001e39b, 0xfed2694f, 0x8001634e,
+    0xff04acd0, 0x8000f6bd,
+  0xff36f078, 0x80009dea, 0xff69343f, 0x800058d4, 0xff9b781d, 0x8000277a,
+    0xffcdbc0b, 0x800009df,
+
+};
+
+
+/*    
+* @brief  Q15 Twiddle factors Table    
+*/
+
+/**   
+* \par    
+* Example code for Q15 Twiddle factors Generation::    
+* \par    
+* 
for(i = 0; i< 3N/4; i++)    
+* {    
+*	twiddleCoefQ15[2*i]= cos(i * 2*PI/(float)N);    
+*	twiddleCoefQ15[2*i+1]= sin(i * 2*PI/(float)N);    
+* } 
    
+* \par    
+* where N = 4096	and PI = 3.14159265358979    
+* \par    
+* Cos and Sin values are interleaved fashion    
+* \par    
+* Convert Floating point to Q15(Fixed point 1.15):    
+*	round(twiddleCoefQ15(i) * pow(2, 15))    
+*    
+*/
+
+const q15_t ALIGN4 twiddleCoefQ15[6144] = {
+
+  0x7fff, 0x0, 0x7fff, 0x32, 0x7fff, 0x65, 0x7fff, 0x97,
+  0x7fff, 0xc9, 0x7fff, 0xfb, 0x7fff, 0x12e, 0x7ffe, 0x160,
+  0x7ffe, 0x192, 0x7ffd, 0x1c4, 0x7ffc, 0x1f7, 0x7ffb, 0x229,
+  0x7ffa, 0x25b, 0x7ff9, 0x28d, 0x7ff8, 0x2c0, 0x7ff7, 0x2f2,
+  0x7ff6, 0x324, 0x7ff5, 0x356, 0x7ff4, 0x389, 0x7ff2, 0x3bb,
+  0x7ff1, 0x3ed, 0x7fef, 0x41f, 0x7fed, 0x452, 0x7fec, 0x484,
+  0x7fea, 0x4b6, 0x7fe8, 0x4e8, 0x7fe6, 0x51b, 0x7fe4, 0x54d,
+  0x7fe2, 0x57f, 0x7fe0, 0x5b1, 0x7fdd, 0x5e3, 0x7fdb, 0x616,
+  0x7fd9, 0x648, 0x7fd6, 0x67a, 0x7fd3, 0x6ac, 0x7fd1, 0x6de,
+  0x7fce, 0x711, 0x7fcb, 0x743, 0x7fc8, 0x775, 0x7fc5, 0x7a7,
+  0x7fc2, 0x7d9, 0x7fbf, 0x80c, 0x7fbc, 0x83e, 0x7fb9, 0x870,
+  0x7fb5, 0x8a2, 0x7fb2, 0x8d4, 0x7fae, 0x906, 0x7fab, 0x938,
+  0x7fa7, 0x96b, 0x7fa3, 0x99d, 0x7fa0, 0x9cf, 0x7f9c, 0xa01,
+  0x7f98, 0xa33, 0x7f94, 0xa65, 0x7f90, 0xa97, 0x7f8b, 0xac9,
+  0x7f87, 0xafb, 0x7f83, 0xb2d, 0x7f7e, 0xb60, 0x7f7a, 0xb92,
+  0x7f75, 0xbc4, 0x7f71, 0xbf6, 0x7f6c, 0xc28, 0x7f67, 0xc5a,
+  0x7f62, 0xc8c, 0x7f5d, 0xcbe, 0x7f58, 0xcf0, 0x7f53, 0xd22,
+  0x7f4e, 0xd54, 0x7f49, 0xd86, 0x7f43, 0xdb8, 0x7f3e, 0xdea,
+  0x7f38, 0xe1c, 0x7f33, 0xe4e, 0x7f2d, 0xe80, 0x7f27, 0xeb2,
+  0x7f22, 0xee4, 0x7f1c, 0xf15, 0x7f16, 0xf47, 0x7f10, 0xf79,
+  0x7f0a, 0xfab, 0x7f03, 0xfdd, 0x7efd, 0x100f, 0x7ef7, 0x1041,
+  0x7ef0, 0x1073, 0x7eea, 0x10a4, 0x7ee3, 0x10d6, 0x7edd, 0x1108,
+  0x7ed6, 0x113a, 0x7ecf, 0x116c, 0x7ec8, 0x119e, 0x7ec1, 0x11cf,
+  0x7eba, 0x1201, 0x7eb3, 0x1233, 0x7eac, 0x1265, 0x7ea5, 0x1296,
+  0x7e9d, 0x12c8, 0x7e96, 0x12fa, 0x7e8e, 0x132b, 0x7e87, 0x135d,
+  0x7e7f, 0x138f, 0x7e78, 0x13c1, 0x7e70, 0x13f2, 0x7e68, 0x1424,
+  0x7e60, 0x1455, 0x7e58, 0x1487, 0x7e50, 0x14b9, 0x7e48, 0x14ea,
+  0x7e3f, 0x151c, 0x7e37, 0x154d, 0x7e2f, 0x157f, 0x7e26, 0x15b1,
+  0x7e1e, 0x15e2, 0x7e15, 0x1614, 0x7e0c, 0x1645, 0x7e03, 0x1677,
+  0x7dfb, 0x16a8, 0x7df2, 0x16da, 0x7de9, 0x170b, 0x7de0, 0x173c,
+  0x7dd6, 0x176e, 0x7dcd, 0x179f, 0x7dc4, 0x17d1, 0x7dba, 0x1802,
+  0x7db1, 0x1833, 0x7da7, 0x1865, 0x7d9e, 0x1896, 0x7d94, 0x18c7,
+  0x7d8a, 0x18f9, 0x7d81, 0x192a, 0x7d77, 0x195b, 0x7d6d, 0x198d,
+  0x7d63, 0x19be, 0x7d58, 0x19ef, 0x7d4e, 0x1a20, 0x7d44, 0x1a51,
+  0x7d3a, 0x1a83, 0x7d2f, 0x1ab4, 0x7d25, 0x1ae5, 0x7d1a, 0x1b16,
+  0x7d0f, 0x1b47, 0x7d05, 0x1b78, 0x7cfa, 0x1ba9, 0x7cef, 0x1bda,
+  0x7ce4, 0x1c0c, 0x7cd9, 0x1c3d, 0x7cce, 0x1c6e, 0x7cc2, 0x1c9f,
+  0x7cb7, 0x1cd0, 0x7cac, 0x1d01, 0x7ca0, 0x1d31, 0x7c95, 0x1d62,
+  0x7c89, 0x1d93, 0x7c7e, 0x1dc4, 0x7c72, 0x1df5, 0x7c66, 0x1e26,
+  0x7c5a, 0x1e57, 0x7c4e, 0x1e88, 0x7c42, 0x1eb8, 0x7c36, 0x1ee9,
+  0x7c2a, 0x1f1a, 0x7c1e, 0x1f4b, 0x7c11, 0x1f7b, 0x7c05, 0x1fac,
+  0x7bf9, 0x1fdd, 0x7bec, 0x200e, 0x7bdf, 0x203e, 0x7bd3, 0x206f,
+  0x7bc6, 0x209f, 0x7bb9, 0x20d0, 0x7bac, 0x2101, 0x7b9f, 0x2131,
+  0x7b92, 0x2162, 0x7b85, 0x2192, 0x7b78, 0x21c3, 0x7b6a, 0x21f3,
+  0x7b5d, 0x2224, 0x7b50, 0x2254, 0x7b42, 0x2284, 0x7b34, 0x22b5,
+  0x7b27, 0x22e5, 0x7b19, 0x2316, 0x7b0b, 0x2346, 0x7afd, 0x2376,
+  0x7aef, 0x23a7, 0x7ae1, 0x23d7, 0x7ad3, 0x2407, 0x7ac5, 0x2437,
+  0x7ab7, 0x2467, 0x7aa8, 0x2498, 0x7a9a, 0x24c8, 0x7a8c, 0x24f8,
+  0x7a7d, 0x2528, 0x7a6e, 0x2558, 0x7a60, 0x2588, 0x7a51, 0x25b8,
+  0x7a42, 0x25e8, 0x7a33, 0x2618, 0x7a24, 0x2648, 0x7a15, 0x2678,
+  0x7a06, 0x26a8, 0x79f7, 0x26d8, 0x79e7, 0x2708, 0x79d8, 0x2738,
+  0x79c9, 0x2768, 0x79b9, 0x2797, 0x79aa, 0x27c7, 0x799a, 0x27f7,
+  0x798a, 0x2827, 0x797a, 0x2856, 0x796a, 0x2886, 0x795b, 0x28b6,
+  0x794a, 0x28e5, 0x793a, 0x2915, 0x792a, 0x2945, 0x791a, 0x2974,
+  0x790a, 0x29a4, 0x78f9, 0x29d3, 0x78e9, 0x2a03, 0x78d8, 0x2a32,
+  0x78c8, 0x2a62, 0x78b7, 0x2a91, 0x78a6, 0x2ac1, 0x7895, 0x2af0,
+  0x7885, 0x2b1f, 0x7874, 0x2b4f, 0x7863, 0x2b7e, 0x7851, 0x2bad,
+  0x7840, 0x2bdc, 0x782f, 0x2c0c, 0x781e, 0x2c3b, 0x780c, 0x2c6a,
+  0x77fb, 0x2c99, 0x77e9, 0x2cc8, 0x77d8, 0x2cf7, 0x77c6, 0x2d26,
+  0x77b4, 0x2d55, 0x77a2, 0x2d84, 0x7790, 0x2db3, 0x777e, 0x2de2,
+  0x776c, 0x2e11, 0x775a, 0x2e40, 0x7748, 0x2e6f, 0x7736, 0x2e9e,
+  0x7723, 0x2ecc, 0x7711, 0x2efb, 0x76fe, 0x2f2a, 0x76ec, 0x2f59,
+  0x76d9, 0x2f87, 0x76c7, 0x2fb6, 0x76b4, 0x2fe5, 0x76a1, 0x3013,
+  0x768e, 0x3042, 0x767b, 0x3070, 0x7668, 0x309f, 0x7655, 0x30cd,
+  0x7642, 0x30fc, 0x762e, 0x312a, 0x761b, 0x3159, 0x7608, 0x3187,
+  0x75f4, 0x31b5, 0x75e1, 0x31e4, 0x75cd, 0x3212, 0x75b9, 0x3240,
+  0x75a6, 0x326e, 0x7592, 0x329d, 0x757e, 0x32cb, 0x756a, 0x32f9,
+  0x7556, 0x3327, 0x7542, 0x3355, 0x752d, 0x3383, 0x7519, 0x33b1,
+  0x7505, 0x33df, 0x74f0, 0x340d, 0x74dc, 0x343b, 0x74c7, 0x3469,
+  0x74b3, 0x3497, 0x749e, 0x34c4, 0x7489, 0x34f2, 0x7475, 0x3520,
+  0x7460, 0x354e, 0x744b, 0x357b, 0x7436, 0x35a9, 0x7421, 0x35d7,
+  0x740b, 0x3604, 0x73f6, 0x3632, 0x73e1, 0x365f, 0x73cb, 0x368d,
+  0x73b6, 0x36ba, 0x73a0, 0x36e8, 0x738b, 0x3715, 0x7375, 0x3742,
+  0x735f, 0x3770, 0x734a, 0x379d, 0x7334, 0x37ca, 0x731e, 0x37f7,
+  0x7308, 0x3825, 0x72f2, 0x3852, 0x72dc, 0x387f, 0x72c5, 0x38ac,
+  0x72af, 0x38d9, 0x7299, 0x3906, 0x7282, 0x3933, 0x726c, 0x3960,
+  0x7255, 0x398d, 0x723f, 0x39ba, 0x7228, 0x39e7, 0x7211, 0x3a13,
+  0x71fa, 0x3a40, 0x71e3, 0x3a6d, 0x71cc, 0x3a9a, 0x71b5, 0x3ac6,
+  0x719e, 0x3af3, 0x7187, 0x3b20, 0x7170, 0x3b4c, 0x7158, 0x3b79,
+  0x7141, 0x3ba5, 0x712a, 0x3bd2, 0x7112, 0x3bfe, 0x70fa, 0x3c2a,
+  0x70e3, 0x3c57, 0x70cb, 0x3c83, 0x70b3, 0x3caf, 0x709b, 0x3cdc,
+  0x7083, 0x3d08, 0x706b, 0x3d34, 0x7053, 0x3d60, 0x703b, 0x3d8c,
+  0x7023, 0x3db8, 0x700b, 0x3de4, 0x6ff2, 0x3e10, 0x6fda, 0x3e3c,
+  0x6fc2, 0x3e68, 0x6fa9, 0x3e94, 0x6f90, 0x3ec0, 0x6f78, 0x3eec,
+  0x6f5f, 0x3f17, 0x6f46, 0x3f43, 0x6f2d, 0x3f6f, 0x6f14, 0x3f9a,
+  0x6efb, 0x3fc6, 0x6ee2, 0x3ff1, 0x6ec9, 0x401d, 0x6eb0, 0x4048,
+  0x6e97, 0x4074, 0x6e7d, 0x409f, 0x6e64, 0x40cb, 0x6e4a, 0x40f6,
+  0x6e31, 0x4121, 0x6e17, 0x414d, 0x6dfe, 0x4178, 0x6de4, 0x41a3,
+  0x6dca, 0x41ce, 0x6db0, 0x41f9, 0x6d96, 0x4224, 0x6d7c, 0x424f,
+  0x6d62, 0x427a, 0x6d48, 0x42a5, 0x6d2e, 0x42d0, 0x6d14, 0x42fb,
+  0x6cf9, 0x4326, 0x6cdf, 0x4351, 0x6cc4, 0x437b, 0x6caa, 0x43a6,
+  0x6c8f, 0x43d1, 0x6c75, 0x43fb, 0x6c5a, 0x4426, 0x6c3f, 0x4450,
+  0x6c24, 0x447b, 0x6c09, 0x44a5, 0x6bee, 0x44d0, 0x6bd3, 0x44fa,
+  0x6bb8, 0x4524, 0x6b9d, 0x454f, 0x6b82, 0x4579, 0x6b66, 0x45a3,
+  0x6b4b, 0x45cd, 0x6b30, 0x45f7, 0x6b14, 0x4621, 0x6af8, 0x464b,
+  0x6add, 0x4675, 0x6ac1, 0x469f, 0x6aa5, 0x46c9, 0x6a89, 0x46f3,
+  0x6a6e, 0x471d, 0x6a52, 0x4747, 0x6a36, 0x4770, 0x6a1a, 0x479a,
+  0x69fd, 0x47c4, 0x69e1, 0x47ed, 0x69c5, 0x4817, 0x69a9, 0x4840,
+  0x698c, 0x486a, 0x6970, 0x4893, 0x6953, 0x48bd, 0x6937, 0x48e6,
+  0x691a, 0x490f, 0x68fd, 0x4939, 0x68e0, 0x4962, 0x68c4, 0x498b,
+  0x68a7, 0x49b4, 0x688a, 0x49dd, 0x686d, 0x4a06, 0x6850, 0x4a2f,
+  0x6832, 0x4a58, 0x6815, 0x4a81, 0x67f8, 0x4aaa, 0x67da, 0x4ad3,
+  0x67bd, 0x4afb, 0x67a0, 0x4b24, 0x6782, 0x4b4d, 0x6764, 0x4b75,
+  0x6747, 0x4b9e, 0x6729, 0x4bc7, 0x670b, 0x4bef, 0x66ed, 0x4c17,
+  0x66d0, 0x4c40, 0x66b2, 0x4c68, 0x6693, 0x4c91, 0x6675, 0x4cb9,
+  0x6657, 0x4ce1, 0x6639, 0x4d09, 0x661b, 0x4d31, 0x65fc, 0x4d59,
+  0x65de, 0x4d81, 0x65c0, 0x4da9, 0x65a1, 0x4dd1, 0x6582, 0x4df9,
+  0x6564, 0x4e21, 0x6545, 0x4e49, 0x6526, 0x4e71, 0x6507, 0x4e98,
+  0x64e9, 0x4ec0, 0x64ca, 0x4ee8, 0x64ab, 0x4f0f, 0x648b, 0x4f37,
+  0x646c, 0x4f5e, 0x644d, 0x4f85, 0x642e, 0x4fad, 0x640f, 0x4fd4,
+  0x63ef, 0x4ffb, 0x63d0, 0x5023, 0x63b0, 0x504a, 0x6391, 0x5071,
+  0x6371, 0x5098, 0x6351, 0x50bf, 0x6332, 0x50e6, 0x6312, 0x510d,
+  0x62f2, 0x5134, 0x62d2, 0x515b, 0x62b2, 0x5181, 0x6292, 0x51a8,
+  0x6272, 0x51cf, 0x6252, 0x51f5, 0x6232, 0x521c, 0x6211, 0x5243,
+  0x61f1, 0x5269, 0x61d1, 0x5290, 0x61b0, 0x52b6, 0x6190, 0x52dc,
+  0x616f, 0x5303, 0x614e, 0x5329, 0x612e, 0x534f, 0x610d, 0x5375,
+  0x60ec, 0x539b, 0x60cb, 0x53c1, 0x60aa, 0x53e7, 0x6089, 0x540d,
+  0x6068, 0x5433, 0x6047, 0x5459, 0x6026, 0x547f, 0x6005, 0x54a4,
+  0x5fe4, 0x54ca, 0x5fc2, 0x54f0, 0x5fa1, 0x5515, 0x5f80, 0x553b,
+  0x5f5e, 0x5560, 0x5f3c, 0x5586, 0x5f1b, 0x55ab, 0x5ef9, 0x55d0,
+  0x5ed7, 0x55f6, 0x5eb6, 0x561b, 0x5e94, 0x5640, 0x5e72, 0x5665,
+  0x5e50, 0x568a, 0x5e2e, 0x56af, 0x5e0c, 0x56d4, 0x5dea, 0x56f9,
+  0x5dc8, 0x571e, 0x5da5, 0x5743, 0x5d83, 0x5767, 0x5d61, 0x578c,
+  0x5d3e, 0x57b1, 0x5d1c, 0x57d5, 0x5cf9, 0x57fa, 0x5cd7, 0x581e,
+  0x5cb4, 0x5843, 0x5c91, 0x5867, 0x5c6f, 0x588c, 0x5c4c, 0x58b0,
+  0x5c29, 0x58d4, 0x5c06, 0x58f8, 0x5be3, 0x591c, 0x5bc0, 0x5940,
+  0x5b9d, 0x5964, 0x5b7a, 0x5988, 0x5b57, 0x59ac, 0x5b34, 0x59d0,
+  0x5b10, 0x59f4, 0x5aed, 0x5a18, 0x5ac9, 0x5a3b, 0x5aa6, 0x5a5f,
+  0x5a82, 0x5a82, 0x5a5f, 0x5aa6, 0x5a3b, 0x5ac9, 0x5a18, 0x5aed,
+  0x59f4, 0x5b10, 0x59d0, 0x5b34, 0x59ac, 0x5b57, 0x5988, 0x5b7a,
+  0x5964, 0x5b9d, 0x5940, 0x5bc0, 0x591c, 0x5be3, 0x58f8, 0x5c06,
+  0x58d4, 0x5c29, 0x58b0, 0x5c4c, 0x588c, 0x5c6f, 0x5867, 0x5c91,
+  0x5843, 0x5cb4, 0x581e, 0x5cd7, 0x57fa, 0x5cf9, 0x57d5, 0x5d1c,
+  0x57b1, 0x5d3e, 0x578c, 0x5d61, 0x5767, 0x5d83, 0x5743, 0x5da5,
+  0x571e, 0x5dc8, 0x56f9, 0x5dea, 0x56d4, 0x5e0c, 0x56af, 0x5e2e,
+  0x568a, 0x5e50, 0x5665, 0x5e72, 0x5640, 0x5e94, 0x561b, 0x5eb6,
+  0x55f6, 0x5ed7, 0x55d0, 0x5ef9, 0x55ab, 0x5f1b, 0x5586, 0x5f3c,
+  0x5560, 0x5f5e, 0x553b, 0x5f80, 0x5515, 0x5fa1, 0x54f0, 0x5fc2,
+  0x54ca, 0x5fe4, 0x54a4, 0x6005, 0x547f, 0x6026, 0x5459, 0x6047,
+  0x5433, 0x6068, 0x540d, 0x6089, 0x53e7, 0x60aa, 0x53c1, 0x60cb,
+  0x539b, 0x60ec, 0x5375, 0x610d, 0x534f, 0x612e, 0x5329, 0x614e,
+  0x5303, 0x616f, 0x52dc, 0x6190, 0x52b6, 0x61b0, 0x5290, 0x61d1,
+  0x5269, 0x61f1, 0x5243, 0x6211, 0x521c, 0x6232, 0x51f5, 0x6252,
+  0x51cf, 0x6272, 0x51a8, 0x6292, 0x5181, 0x62b2, 0x515b, 0x62d2,
+  0x5134, 0x62f2, 0x510d, 0x6312, 0x50e6, 0x6332, 0x50bf, 0x6351,
+  0x5098, 0x6371, 0x5071, 0x6391, 0x504a, 0x63b0, 0x5023, 0x63d0,
+  0x4ffb, 0x63ef, 0x4fd4, 0x640f, 0x4fad, 0x642e, 0x4f85, 0x644d,
+  0x4f5e, 0x646c, 0x4f37, 0x648b, 0x4f0f, 0x64ab, 0x4ee8, 0x64ca,
+  0x4ec0, 0x64e9, 0x4e98, 0x6507, 0x4e71, 0x6526, 0x4e49, 0x6545,
+  0x4e21, 0x6564, 0x4df9, 0x6582, 0x4dd1, 0x65a1, 0x4da9, 0x65c0,
+  0x4d81, 0x65de, 0x4d59, 0x65fc, 0x4d31, 0x661b, 0x4d09, 0x6639,
+  0x4ce1, 0x6657, 0x4cb9, 0x6675, 0x4c91, 0x6693, 0x4c68, 0x66b2,
+  0x4c40, 0x66d0, 0x4c17, 0x66ed, 0x4bef, 0x670b, 0x4bc7, 0x6729,
+  0x4b9e, 0x6747, 0x4b75, 0x6764, 0x4b4d, 0x6782, 0x4b24, 0x67a0,
+  0x4afb, 0x67bd, 0x4ad3, 0x67da, 0x4aaa, 0x67f8, 0x4a81, 0x6815,
+  0x4a58, 0x6832, 0x4a2f, 0x6850, 0x4a06, 0x686d, 0x49dd, 0x688a,
+  0x49b4, 0x68a7, 0x498b, 0x68c4, 0x4962, 0x68e0, 0x4939, 0x68fd,
+  0x490f, 0x691a, 0x48e6, 0x6937, 0x48bd, 0x6953, 0x4893, 0x6970,
+  0x486a, 0x698c, 0x4840, 0x69a9, 0x4817, 0x69c5, 0x47ed, 0x69e1,
+  0x47c4, 0x69fd, 0x479a, 0x6a1a, 0x4770, 0x6a36, 0x4747, 0x6a52,
+  0x471d, 0x6a6e, 0x46f3, 0x6a89, 0x46c9, 0x6aa5, 0x469f, 0x6ac1,
+  0x4675, 0x6add, 0x464b, 0x6af8, 0x4621, 0x6b14, 0x45f7, 0x6b30,
+  0x45cd, 0x6b4b, 0x45a3, 0x6b66, 0x4579, 0x6b82, 0x454f, 0x6b9d,
+  0x4524, 0x6bb8, 0x44fa, 0x6bd3, 0x44d0, 0x6bee, 0x44a5, 0x6c09,
+  0x447b, 0x6c24, 0x4450, 0x6c3f, 0x4426, 0x6c5a, 0x43fb, 0x6c75,
+  0x43d1, 0x6c8f, 0x43a6, 0x6caa, 0x437b, 0x6cc4, 0x4351, 0x6cdf,
+  0x4326, 0x6cf9, 0x42fb, 0x6d14, 0x42d0, 0x6d2e, 0x42a5, 0x6d48,
+  0x427a, 0x6d62, 0x424f, 0x6d7c, 0x4224, 0x6d96, 0x41f9, 0x6db0,
+  0x41ce, 0x6dca, 0x41a3, 0x6de4, 0x4178, 0x6dfe, 0x414d, 0x6e17,
+  0x4121, 0x6e31, 0x40f6, 0x6e4a, 0x40cb, 0x6e64, 0x409f, 0x6e7d,
+  0x4074, 0x6e97, 0x4048, 0x6eb0, 0x401d, 0x6ec9, 0x3ff1, 0x6ee2,
+  0x3fc6, 0x6efb, 0x3f9a, 0x6f14, 0x3f6f, 0x6f2d, 0x3f43, 0x6f46,
+  0x3f17, 0x6f5f, 0x3eec, 0x6f78, 0x3ec0, 0x6f90, 0x3e94, 0x6fa9,
+  0x3e68, 0x6fc2, 0x3e3c, 0x6fda, 0x3e10, 0x6ff2, 0x3de4, 0x700b,
+  0x3db8, 0x7023, 0x3d8c, 0x703b, 0x3d60, 0x7053, 0x3d34, 0x706b,
+  0x3d08, 0x7083, 0x3cdc, 0x709b, 0x3caf, 0x70b3, 0x3c83, 0x70cb,
+  0x3c57, 0x70e3, 0x3c2a, 0x70fa, 0x3bfe, 0x7112, 0x3bd2, 0x712a,
+  0x3ba5, 0x7141, 0x3b79, 0x7158, 0x3b4c, 0x7170, 0x3b20, 0x7187,
+  0x3af3, 0x719e, 0x3ac6, 0x71b5, 0x3a9a, 0x71cc, 0x3a6d, 0x71e3,
+  0x3a40, 0x71fa, 0x3a13, 0x7211, 0x39e7, 0x7228, 0x39ba, 0x723f,
+  0x398d, 0x7255, 0x3960, 0x726c, 0x3933, 0x7282, 0x3906, 0x7299,
+  0x38d9, 0x72af, 0x38ac, 0x72c5, 0x387f, 0x72dc, 0x3852, 0x72f2,
+  0x3825, 0x7308, 0x37f7, 0x731e, 0x37ca, 0x7334, 0x379d, 0x734a,
+  0x3770, 0x735f, 0x3742, 0x7375, 0x3715, 0x738b, 0x36e8, 0x73a0,
+  0x36ba, 0x73b6, 0x368d, 0x73cb, 0x365f, 0x73e1, 0x3632, 0x73f6,
+  0x3604, 0x740b, 0x35d7, 0x7421, 0x35a9, 0x7436, 0x357b, 0x744b,
+  0x354e, 0x7460, 0x3520, 0x7475, 0x34f2, 0x7489, 0x34c4, 0x749e,
+  0x3497, 0x74b3, 0x3469, 0x74c7, 0x343b, 0x74dc, 0x340d, 0x74f0,
+  0x33df, 0x7505, 0x33b1, 0x7519, 0x3383, 0x752d, 0x3355, 0x7542,
+  0x3327, 0x7556, 0x32f9, 0x756a, 0x32cb, 0x757e, 0x329d, 0x7592,
+  0x326e, 0x75a6, 0x3240, 0x75b9, 0x3212, 0x75cd, 0x31e4, 0x75e1,
+  0x31b5, 0x75f4, 0x3187, 0x7608, 0x3159, 0x761b, 0x312a, 0x762e,
+  0x30fc, 0x7642, 0x30cd, 0x7655, 0x309f, 0x7668, 0x3070, 0x767b,
+  0x3042, 0x768e, 0x3013, 0x76a1, 0x2fe5, 0x76b4, 0x2fb6, 0x76c7,
+  0x2f87, 0x76d9, 0x2f59, 0x76ec, 0x2f2a, 0x76fe, 0x2efb, 0x7711,
+  0x2ecc, 0x7723, 0x2e9e, 0x7736, 0x2e6f, 0x7748, 0x2e40, 0x775a,
+  0x2e11, 0x776c, 0x2de2, 0x777e, 0x2db3, 0x7790, 0x2d84, 0x77a2,
+  0x2d55, 0x77b4, 0x2d26, 0x77c6, 0x2cf7, 0x77d8, 0x2cc8, 0x77e9,
+  0x2c99, 0x77fb, 0x2c6a, 0x780c, 0x2c3b, 0x781e, 0x2c0c, 0x782f,
+  0x2bdc, 0x7840, 0x2bad, 0x7851, 0x2b7e, 0x7863, 0x2b4f, 0x7874,
+  0x2b1f, 0x7885, 0x2af0, 0x7895, 0x2ac1, 0x78a6, 0x2a91, 0x78b7,
+  0x2a62, 0x78c8, 0x2a32, 0x78d8, 0x2a03, 0x78e9, 0x29d3, 0x78f9,
+  0x29a4, 0x790a, 0x2974, 0x791a, 0x2945, 0x792a, 0x2915, 0x793a,
+  0x28e5, 0x794a, 0x28b6, 0x795b, 0x2886, 0x796a, 0x2856, 0x797a,
+  0x2827, 0x798a, 0x27f7, 0x799a, 0x27c7, 0x79aa, 0x2797, 0x79b9,
+  0x2768, 0x79c9, 0x2738, 0x79d8, 0x2708, 0x79e7, 0x26d8, 0x79f7,
+  0x26a8, 0x7a06, 0x2678, 0x7a15, 0x2648, 0x7a24, 0x2618, 0x7a33,
+  0x25e8, 0x7a42, 0x25b8, 0x7a51, 0x2588, 0x7a60, 0x2558, 0x7a6e,
+  0x2528, 0x7a7d, 0x24f8, 0x7a8c, 0x24c8, 0x7a9a, 0x2498, 0x7aa8,
+  0x2467, 0x7ab7, 0x2437, 0x7ac5, 0x2407, 0x7ad3, 0x23d7, 0x7ae1,
+  0x23a7, 0x7aef, 0x2376, 0x7afd, 0x2346, 0x7b0b, 0x2316, 0x7b19,
+  0x22e5, 0x7b27, 0x22b5, 0x7b34, 0x2284, 0x7b42, 0x2254, 0x7b50,
+  0x2224, 0x7b5d, 0x21f3, 0x7b6a, 0x21c3, 0x7b78, 0x2192, 0x7b85,
+  0x2162, 0x7b92, 0x2131, 0x7b9f, 0x2101, 0x7bac, 0x20d0, 0x7bb9,
+  0x209f, 0x7bc6, 0x206f, 0x7bd3, 0x203e, 0x7bdf, 0x200e, 0x7bec,
+  0x1fdd, 0x7bf9, 0x1fac, 0x7c05, 0x1f7b, 0x7c11, 0x1f4b, 0x7c1e,
+  0x1f1a, 0x7c2a, 0x1ee9, 0x7c36, 0x1eb8, 0x7c42, 0x1e88, 0x7c4e,
+  0x1e57, 0x7c5a, 0x1e26, 0x7c66, 0x1df5, 0x7c72, 0x1dc4, 0x7c7e,
+  0x1d93, 0x7c89, 0x1d62, 0x7c95, 0x1d31, 0x7ca0, 0x1d01, 0x7cac,
+  0x1cd0, 0x7cb7, 0x1c9f, 0x7cc2, 0x1c6e, 0x7cce, 0x1c3d, 0x7cd9,
+  0x1c0c, 0x7ce4, 0x1bda, 0x7cef, 0x1ba9, 0x7cfa, 0x1b78, 0x7d05,
+  0x1b47, 0x7d0f, 0x1b16, 0x7d1a, 0x1ae5, 0x7d25, 0x1ab4, 0x7d2f,
+  0x1a83, 0x7d3a, 0x1a51, 0x7d44, 0x1a20, 0x7d4e, 0x19ef, 0x7d58,
+  0x19be, 0x7d63, 0x198d, 0x7d6d, 0x195b, 0x7d77, 0x192a, 0x7d81,
+  0x18f9, 0x7d8a, 0x18c7, 0x7d94, 0x1896, 0x7d9e, 0x1865, 0x7da7,
+  0x1833, 0x7db1, 0x1802, 0x7dba, 0x17d1, 0x7dc4, 0x179f, 0x7dcd,
+  0x176e, 0x7dd6, 0x173c, 0x7de0, 0x170b, 0x7de9, 0x16da, 0x7df2,
+  0x16a8, 0x7dfb, 0x1677, 0x7e03, 0x1645, 0x7e0c, 0x1614, 0x7e15,
+  0x15e2, 0x7e1e, 0x15b1, 0x7e26, 0x157f, 0x7e2f, 0x154d, 0x7e37,
+  0x151c, 0x7e3f, 0x14ea, 0x7e48, 0x14b9, 0x7e50, 0x1487, 0x7e58,
+  0x1455, 0x7e60, 0x1424, 0x7e68, 0x13f2, 0x7e70, 0x13c1, 0x7e78,
+  0x138f, 0x7e7f, 0x135d, 0x7e87, 0x132b, 0x7e8e, 0x12fa, 0x7e96,
+  0x12c8, 0x7e9d, 0x1296, 0x7ea5, 0x1265, 0x7eac, 0x1233, 0x7eb3,
+  0x1201, 0x7eba, 0x11cf, 0x7ec1, 0x119e, 0x7ec8, 0x116c, 0x7ecf,
+  0x113a, 0x7ed6, 0x1108, 0x7edd, 0x10d6, 0x7ee3, 0x10a4, 0x7eea,
+  0x1073, 0x7ef0, 0x1041, 0x7ef7, 0x100f, 0x7efd, 0xfdd, 0x7f03,
+  0xfab, 0x7f0a, 0xf79, 0x7f10, 0xf47, 0x7f16, 0xf15, 0x7f1c,
+  0xee4, 0x7f22, 0xeb2, 0x7f27, 0xe80, 0x7f2d, 0xe4e, 0x7f33,
+  0xe1c, 0x7f38, 0xdea, 0x7f3e, 0xdb8, 0x7f43, 0xd86, 0x7f49,
+  0xd54, 0x7f4e, 0xd22, 0x7f53, 0xcf0, 0x7f58, 0xcbe, 0x7f5d,
+  0xc8c, 0x7f62, 0xc5a, 0x7f67, 0xc28, 0x7f6c, 0xbf6, 0x7f71,
+  0xbc4, 0x7f75, 0xb92, 0x7f7a, 0xb60, 0x7f7e, 0xb2d, 0x7f83,
+  0xafb, 0x7f87, 0xac9, 0x7f8b, 0xa97, 0x7f90, 0xa65, 0x7f94,
+  0xa33, 0x7f98, 0xa01, 0x7f9c, 0x9cf, 0x7fa0, 0x99d, 0x7fa3,
+  0x96b, 0x7fa7, 0x938, 0x7fab, 0x906, 0x7fae, 0x8d4, 0x7fb2,
+  0x8a2, 0x7fb5, 0x870, 0x7fb9, 0x83e, 0x7fbc, 0x80c, 0x7fbf,
+  0x7d9, 0x7fc2, 0x7a7, 0x7fc5, 0x775, 0x7fc8, 0x743, 0x7fcb,
+  0x711, 0x7fce, 0x6de, 0x7fd1, 0x6ac, 0x7fd3, 0x67a, 0x7fd6,
+  0x648, 0x7fd9, 0x616, 0x7fdb, 0x5e3, 0x7fdd, 0x5b1, 0x7fe0,
+  0x57f, 0x7fe2, 0x54d, 0x7fe4, 0x51b, 0x7fe6, 0x4e8, 0x7fe8,
+  0x4b6, 0x7fea, 0x484, 0x7fec, 0x452, 0x7fed, 0x41f, 0x7fef,
+  0x3ed, 0x7ff1, 0x3bb, 0x7ff2, 0x389, 0x7ff4, 0x356, 0x7ff5,
+  0x324, 0x7ff6, 0x2f2, 0x7ff7, 0x2c0, 0x7ff8, 0x28d, 0x7ff9,
+  0x25b, 0x7ffa, 0x229, 0x7ffb, 0x1f7, 0x7ffc, 0x1c4, 0x7ffd,
+  0x192, 0x7ffe, 0x160, 0x7ffe, 0x12e, 0x7fff, 0xfb, 0x7fff,
+  0xc9, 0x7fff, 0x97, 0x7fff, 0x65, 0x7fff, 0x32, 0x7fff,
+  0x0, 0x7fff, 0xffce, 0x7fff, 0xff9b, 0x7fff, 0xff69, 0x7fff,
+  0xff37, 0x7fff, 0xff05, 0x7fff, 0xfed2, 0x7fff, 0xfea0, 0x7ffe,
+  0xfe6e, 0x7ffe, 0xfe3c, 0x7ffd, 0xfe09, 0x7ffc, 0xfdd7, 0x7ffb,
+  0xfda5, 0x7ffa, 0xfd73, 0x7ff9, 0xfd40, 0x7ff8, 0xfd0e, 0x7ff7,
+  0xfcdc, 0x7ff6, 0xfcaa, 0x7ff5, 0xfc77, 0x7ff4, 0xfc45, 0x7ff2,
+  0xfc13, 0x7ff1, 0xfbe1, 0x7fef, 0xfbae, 0x7fed, 0xfb7c, 0x7fec,
+  0xfb4a, 0x7fea, 0xfb18, 0x7fe8, 0xfae5, 0x7fe6, 0xfab3, 0x7fe4,
+  0xfa81, 0x7fe2, 0xfa4f, 0x7fe0, 0xfa1d, 0x7fdd, 0xf9ea, 0x7fdb,
+  0xf9b8, 0x7fd9, 0xf986, 0x7fd6, 0xf954, 0x7fd3, 0xf922, 0x7fd1,
+  0xf8ef, 0x7fce, 0xf8bd, 0x7fcb, 0xf88b, 0x7fc8, 0xf859, 0x7fc5,
+  0xf827, 0x7fc2, 0xf7f4, 0x7fbf, 0xf7c2, 0x7fbc, 0xf790, 0x7fb9,
+  0xf75e, 0x7fb5, 0xf72c, 0x7fb2, 0xf6fa, 0x7fae, 0xf6c8, 0x7fab,
+  0xf695, 0x7fa7, 0xf663, 0x7fa3, 0xf631, 0x7fa0, 0xf5ff, 0x7f9c,
+  0xf5cd, 0x7f98, 0xf59b, 0x7f94, 0xf569, 0x7f90, 0xf537, 0x7f8b,
+  0xf505, 0x7f87, 0xf4d3, 0x7f83, 0xf4a0, 0x7f7e, 0xf46e, 0x7f7a,
+  0xf43c, 0x7f75, 0xf40a, 0x7f71, 0xf3d8, 0x7f6c, 0xf3a6, 0x7f67,
+  0xf374, 0x7f62, 0xf342, 0x7f5d, 0xf310, 0x7f58, 0xf2de, 0x7f53,
+  0xf2ac, 0x7f4e, 0xf27a, 0x7f49, 0xf248, 0x7f43, 0xf216, 0x7f3e,
+  0xf1e4, 0x7f38, 0xf1b2, 0x7f33, 0xf180, 0x7f2d, 0xf14e, 0x7f27,
+  0xf11c, 0x7f22, 0xf0eb, 0x7f1c, 0xf0b9, 0x7f16, 0xf087, 0x7f10,
+  0xf055, 0x7f0a, 0xf023, 0x7f03, 0xeff1, 0x7efd, 0xefbf, 0x7ef7,
+  0xef8d, 0x7ef0, 0xef5c, 0x7eea, 0xef2a, 0x7ee3, 0xeef8, 0x7edd,
+  0xeec6, 0x7ed6, 0xee94, 0x7ecf, 0xee62, 0x7ec8, 0xee31, 0x7ec1,
+  0xedff, 0x7eba, 0xedcd, 0x7eb3, 0xed9b, 0x7eac, 0xed6a, 0x7ea5,
+  0xed38, 0x7e9d, 0xed06, 0x7e96, 0xecd5, 0x7e8e, 0xeca3, 0x7e87,
+  0xec71, 0x7e7f, 0xec3f, 0x7e78, 0xec0e, 0x7e70, 0xebdc, 0x7e68,
+  0xebab, 0x7e60, 0xeb79, 0x7e58, 0xeb47, 0x7e50, 0xeb16, 0x7e48,
+  0xeae4, 0x7e3f, 0xeab3, 0x7e37, 0xea81, 0x7e2f, 0xea4f, 0x7e26,
+  0xea1e, 0x7e1e, 0xe9ec, 0x7e15, 0xe9bb, 0x7e0c, 0xe989, 0x7e03,
+  0xe958, 0x7dfb, 0xe926, 0x7df2, 0xe8f5, 0x7de9, 0xe8c4, 0x7de0,
+  0xe892, 0x7dd6, 0xe861, 0x7dcd, 0xe82f, 0x7dc4, 0xe7fe, 0x7dba,
+  0xe7cd, 0x7db1, 0xe79b, 0x7da7, 0xe76a, 0x7d9e, 0xe739, 0x7d94,
+  0xe707, 0x7d8a, 0xe6d6, 0x7d81, 0xe6a5, 0x7d77, 0xe673, 0x7d6d,
+  0xe642, 0x7d63, 0xe611, 0x7d58, 0xe5e0, 0x7d4e, 0xe5af, 0x7d44,
+  0xe57d, 0x7d3a, 0xe54c, 0x7d2f, 0xe51b, 0x7d25, 0xe4ea, 0x7d1a,
+  0xe4b9, 0x7d0f, 0xe488, 0x7d05, 0xe457, 0x7cfa, 0xe426, 0x7cef,
+  0xe3f4, 0x7ce4, 0xe3c3, 0x7cd9, 0xe392, 0x7cce, 0xe361, 0x7cc2,
+  0xe330, 0x7cb7, 0xe2ff, 0x7cac, 0xe2cf, 0x7ca0, 0xe29e, 0x7c95,
+  0xe26d, 0x7c89, 0xe23c, 0x7c7e, 0xe20b, 0x7c72, 0xe1da, 0x7c66,
+  0xe1a9, 0x7c5a, 0xe178, 0x7c4e, 0xe148, 0x7c42, 0xe117, 0x7c36,
+  0xe0e6, 0x7c2a, 0xe0b5, 0x7c1e, 0xe085, 0x7c11, 0xe054, 0x7c05,
+  0xe023, 0x7bf9, 0xdff2, 0x7bec, 0xdfc2, 0x7bdf, 0xdf91, 0x7bd3,
+  0xdf61, 0x7bc6, 0xdf30, 0x7bb9, 0xdeff, 0x7bac, 0xdecf, 0x7b9f,
+  0xde9e, 0x7b92, 0xde6e, 0x7b85, 0xde3d, 0x7b78, 0xde0d, 0x7b6a,
+  0xdddc, 0x7b5d, 0xddac, 0x7b50, 0xdd7c, 0x7b42, 0xdd4b, 0x7b34,
+  0xdd1b, 0x7b27, 0xdcea, 0x7b19, 0xdcba, 0x7b0b, 0xdc8a, 0x7afd,
+  0xdc59, 0x7aef, 0xdc29, 0x7ae1, 0xdbf9, 0x7ad3, 0xdbc9, 0x7ac5,
+  0xdb99, 0x7ab7, 0xdb68, 0x7aa8, 0xdb38, 0x7a9a, 0xdb08, 0x7a8c,
+  0xdad8, 0x7a7d, 0xdaa8, 0x7a6e, 0xda78, 0x7a60, 0xda48, 0x7a51,
+  0xda18, 0x7a42, 0xd9e8, 0x7a33, 0xd9b8, 0x7a24, 0xd988, 0x7a15,
+  0xd958, 0x7a06, 0xd928, 0x79f7, 0xd8f8, 0x79e7, 0xd8c8, 0x79d8,
+  0xd898, 0x79c9, 0xd869, 0x79b9, 0xd839, 0x79aa, 0xd809, 0x799a,
+  0xd7d9, 0x798a, 0xd7aa, 0x797a, 0xd77a, 0x796a, 0xd74a, 0x795b,
+  0xd71b, 0x794a, 0xd6eb, 0x793a, 0xd6bb, 0x792a, 0xd68c, 0x791a,
+  0xd65c, 0x790a, 0xd62d, 0x78f9, 0xd5fd, 0x78e9, 0xd5ce, 0x78d8,
+  0xd59e, 0x78c8, 0xd56f, 0x78b7, 0xd53f, 0x78a6, 0xd510, 0x7895,
+  0xd4e1, 0x7885, 0xd4b1, 0x7874, 0xd482, 0x7863, 0xd453, 0x7851,
+  0xd424, 0x7840, 0xd3f4, 0x782f, 0xd3c5, 0x781e, 0xd396, 0x780c,
+  0xd367, 0x77fb, 0xd338, 0x77e9, 0xd309, 0x77d8, 0xd2da, 0x77c6,
+  0xd2ab, 0x77b4, 0xd27c, 0x77a2, 0xd24d, 0x7790, 0xd21e, 0x777e,
+  0xd1ef, 0x776c, 0xd1c0, 0x775a, 0xd191, 0x7748, 0xd162, 0x7736,
+  0xd134, 0x7723, 0xd105, 0x7711, 0xd0d6, 0x76fe, 0xd0a7, 0x76ec,
+  0xd079, 0x76d9, 0xd04a, 0x76c7, 0xd01b, 0x76b4, 0xcfed, 0x76a1,
+  0xcfbe, 0x768e, 0xcf90, 0x767b, 0xcf61, 0x7668, 0xcf33, 0x7655,
+  0xcf04, 0x7642, 0xced6, 0x762e, 0xcea7, 0x761b, 0xce79, 0x7608,
+  0xce4b, 0x75f4, 0xce1c, 0x75e1, 0xcdee, 0x75cd, 0xcdc0, 0x75b9,
+  0xcd92, 0x75a6, 0xcd63, 0x7592, 0xcd35, 0x757e, 0xcd07, 0x756a,
+  0xccd9, 0x7556, 0xccab, 0x7542, 0xcc7d, 0x752d, 0xcc4f, 0x7519,
+  0xcc21, 0x7505, 0xcbf3, 0x74f0, 0xcbc5, 0x74dc, 0xcb97, 0x74c7,
+  0xcb69, 0x74b3, 0xcb3c, 0x749e, 0xcb0e, 0x7489, 0xcae0, 0x7475,
+  0xcab2, 0x7460, 0xca85, 0x744b, 0xca57, 0x7436, 0xca29, 0x7421,
+  0xc9fc, 0x740b, 0xc9ce, 0x73f6, 0xc9a1, 0x73e1, 0xc973, 0x73cb,
+  0xc946, 0x73b6, 0xc918, 0x73a0, 0xc8eb, 0x738b, 0xc8be, 0x7375,
+  0xc890, 0x735f, 0xc863, 0x734a, 0xc836, 0x7334, 0xc809, 0x731e,
+  0xc7db, 0x7308, 0xc7ae, 0x72f2, 0xc781, 0x72dc, 0xc754, 0x72c5,
+  0xc727, 0x72af, 0xc6fa, 0x7299, 0xc6cd, 0x7282, 0xc6a0, 0x726c,
+  0xc673, 0x7255, 0xc646, 0x723f, 0xc619, 0x7228, 0xc5ed, 0x7211,
+  0xc5c0, 0x71fa, 0xc593, 0x71e3, 0xc566, 0x71cc, 0xc53a, 0x71b5,
+  0xc50d, 0x719e, 0xc4e0, 0x7187, 0xc4b4, 0x7170, 0xc487, 0x7158,
+  0xc45b, 0x7141, 0xc42e, 0x712a, 0xc402, 0x7112, 0xc3d6, 0x70fa,
+  0xc3a9, 0x70e3, 0xc37d, 0x70cb, 0xc351, 0x70b3, 0xc324, 0x709b,
+  0xc2f8, 0x7083, 0xc2cc, 0x706b, 0xc2a0, 0x7053, 0xc274, 0x703b,
+  0xc248, 0x7023, 0xc21c, 0x700b, 0xc1f0, 0x6ff2, 0xc1c4, 0x6fda,
+  0xc198, 0x6fc2, 0xc16c, 0x6fa9, 0xc140, 0x6f90, 0xc114, 0x6f78,
+  0xc0e9, 0x6f5f, 0xc0bd, 0x6f46, 0xc091, 0x6f2d, 0xc066, 0x6f14,
+  0xc03a, 0x6efb, 0xc00f, 0x6ee2, 0xbfe3, 0x6ec9, 0xbfb8, 0x6eb0,
+  0xbf8c, 0x6e97, 0xbf61, 0x6e7d, 0xbf35, 0x6e64, 0xbf0a, 0x6e4a,
+  0xbedf, 0x6e31, 0xbeb3, 0x6e17, 0xbe88, 0x6dfe, 0xbe5d, 0x6de4,
+  0xbe32, 0x6dca, 0xbe07, 0x6db0, 0xbddc, 0x6d96, 0xbdb1, 0x6d7c,
+  0xbd86, 0x6d62, 0xbd5b, 0x6d48, 0xbd30, 0x6d2e, 0xbd05, 0x6d14,
+  0xbcda, 0x6cf9, 0xbcaf, 0x6cdf, 0xbc85, 0x6cc4, 0xbc5a, 0x6caa,
+  0xbc2f, 0x6c8f, 0xbc05, 0x6c75, 0xbbda, 0x6c5a, 0xbbb0, 0x6c3f,
+  0xbb85, 0x6c24, 0xbb5b, 0x6c09, 0xbb30, 0x6bee, 0xbb06, 0x6bd3,
+  0xbadc, 0x6bb8, 0xbab1, 0x6b9d, 0xba87, 0x6b82, 0xba5d, 0x6b66,
+  0xba33, 0x6b4b, 0xba09, 0x6b30, 0xb9df, 0x6b14, 0xb9b5, 0x6af8,
+  0xb98b, 0x6add, 0xb961, 0x6ac1, 0xb937, 0x6aa5, 0xb90d, 0x6a89,
+  0xb8e3, 0x6a6e, 0xb8b9, 0x6a52, 0xb890, 0x6a36, 0xb866, 0x6a1a,
+  0xb83c, 0x69fd, 0xb813, 0x69e1, 0xb7e9, 0x69c5, 0xb7c0, 0x69a9,
+  0xb796, 0x698c, 0xb76d, 0x6970, 0xb743, 0x6953, 0xb71a, 0x6937,
+  0xb6f1, 0x691a, 0xb6c7, 0x68fd, 0xb69e, 0x68e0, 0xb675, 0x68c4,
+  0xb64c, 0x68a7, 0xb623, 0x688a, 0xb5fa, 0x686d, 0xb5d1, 0x6850,
+  0xb5a8, 0x6832, 0xb57f, 0x6815, 0xb556, 0x67f8, 0xb52d, 0x67da,
+  0xb505, 0x67bd, 0xb4dc, 0x67a0, 0xb4b3, 0x6782, 0xb48b, 0x6764,
+  0xb462, 0x6747, 0xb439, 0x6729, 0xb411, 0x670b, 0xb3e9, 0x66ed,
+  0xb3c0, 0x66d0, 0xb398, 0x66b2, 0xb36f, 0x6693, 0xb347, 0x6675,
+  0xb31f, 0x6657, 0xb2f7, 0x6639, 0xb2cf, 0x661b, 0xb2a7, 0x65fc,
+  0xb27f, 0x65de, 0xb257, 0x65c0, 0xb22f, 0x65a1, 0xb207, 0x6582,
+  0xb1df, 0x6564, 0xb1b7, 0x6545, 0xb18f, 0x6526, 0xb168, 0x6507,
+  0xb140, 0x64e9, 0xb118, 0x64ca, 0xb0f1, 0x64ab, 0xb0c9, 0x648b,
+  0xb0a2, 0x646c, 0xb07b, 0x644d, 0xb053, 0x642e, 0xb02c, 0x640f,
+  0xb005, 0x63ef, 0xafdd, 0x63d0, 0xafb6, 0x63b0, 0xaf8f, 0x6391,
+  0xaf68, 0x6371, 0xaf41, 0x6351, 0xaf1a, 0x6332, 0xaef3, 0x6312,
+  0xaecc, 0x62f2, 0xaea5, 0x62d2, 0xae7f, 0x62b2, 0xae58, 0x6292,
+  0xae31, 0x6272, 0xae0b, 0x6252, 0xade4, 0x6232, 0xadbd, 0x6211,
+  0xad97, 0x61f1, 0xad70, 0x61d1, 0xad4a, 0x61b0, 0xad24, 0x6190,
+  0xacfd, 0x616f, 0xacd7, 0x614e, 0xacb1, 0x612e, 0xac8b, 0x610d,
+  0xac65, 0x60ec, 0xac3f, 0x60cb, 0xac19, 0x60aa, 0xabf3, 0x6089,
+  0xabcd, 0x6068, 0xaba7, 0x6047, 0xab81, 0x6026, 0xab5c, 0x6005,
+  0xab36, 0x5fe4, 0xab10, 0x5fc2, 0xaaeb, 0x5fa1, 0xaac5, 0x5f80,
+  0xaaa0, 0x5f5e, 0xaa7a, 0x5f3c, 0xaa55, 0x5f1b, 0xaa30, 0x5ef9,
+  0xaa0a, 0x5ed7, 0xa9e5, 0x5eb6, 0xa9c0, 0x5e94, 0xa99b, 0x5e72,
+  0xa976, 0x5e50, 0xa951, 0x5e2e, 0xa92c, 0x5e0c, 0xa907, 0x5dea,
+  0xa8e2, 0x5dc8, 0xa8bd, 0x5da5, 0xa899, 0x5d83, 0xa874, 0x5d61,
+  0xa84f, 0x5d3e, 0xa82b, 0x5d1c, 0xa806, 0x5cf9, 0xa7e2, 0x5cd7,
+  0xa7bd, 0x5cb4, 0xa799, 0x5c91, 0xa774, 0x5c6f, 0xa750, 0x5c4c,
+  0xa72c, 0x5c29, 0xa708, 0x5c06, 0xa6e4, 0x5be3, 0xa6c0, 0x5bc0,
+  0xa69c, 0x5b9d, 0xa678, 0x5b7a, 0xa654, 0x5b57, 0xa630, 0x5b34,
+  0xa60c, 0x5b10, 0xa5e8, 0x5aed, 0xa5c5, 0x5ac9, 0xa5a1, 0x5aa6,
+  0xa57e, 0x5a82, 0xa55a, 0x5a5f, 0xa537, 0x5a3b, 0xa513, 0x5a18,
+  0xa4f0, 0x59f4, 0xa4cc, 0x59d0, 0xa4a9, 0x59ac, 0xa486, 0x5988,
+  0xa463, 0x5964, 0xa440, 0x5940, 0xa41d, 0x591c, 0xa3fa, 0x58f8,
+  0xa3d7, 0x58d4, 0xa3b4, 0x58b0, 0xa391, 0x588c, 0xa36f, 0x5867,
+  0xa34c, 0x5843, 0xa329, 0x581e, 0xa307, 0x57fa, 0xa2e4, 0x57d5,
+  0xa2c2, 0x57b1, 0xa29f, 0x578c, 0xa27d, 0x5767, 0xa25b, 0x5743,
+  0xa238, 0x571e, 0xa216, 0x56f9, 0xa1f4, 0x56d4, 0xa1d2, 0x56af,
+  0xa1b0, 0x568a, 0xa18e, 0x5665, 0xa16c, 0x5640, 0xa14a, 0x561b,
+  0xa129, 0x55f6, 0xa107, 0x55d0, 0xa0e5, 0x55ab, 0xa0c4, 0x5586,
+  0xa0a2, 0x5560, 0xa080, 0x553b, 0xa05f, 0x5515, 0xa03e, 0x54f0,
+  0xa01c, 0x54ca, 0x9ffb, 0x54a4, 0x9fda, 0x547f, 0x9fb9, 0x5459,
+  0x9f98, 0x5433, 0x9f77, 0x540d, 0x9f56, 0x53e7, 0x9f35, 0x53c1,
+  0x9f14, 0x539b, 0x9ef3, 0x5375, 0x9ed2, 0x534f, 0x9eb2, 0x5329,
+  0x9e91, 0x5303, 0x9e70, 0x52dc, 0x9e50, 0x52b6, 0x9e2f, 0x5290,
+  0x9e0f, 0x5269, 0x9def, 0x5243, 0x9dce, 0x521c, 0x9dae, 0x51f5,
+  0x9d8e, 0x51cf, 0x9d6e, 0x51a8, 0x9d4e, 0x5181, 0x9d2e, 0x515b,
+  0x9d0e, 0x5134, 0x9cee, 0x510d, 0x9cce, 0x50e6, 0x9caf, 0x50bf,
+  0x9c8f, 0x5098, 0x9c6f, 0x5071, 0x9c50, 0x504a, 0x9c30, 0x5023,
+  0x9c11, 0x4ffb, 0x9bf1, 0x4fd4, 0x9bd2, 0x4fad, 0x9bb3, 0x4f85,
+  0x9b94, 0x4f5e, 0x9b75, 0x4f37, 0x9b55, 0x4f0f, 0x9b36, 0x4ee8,
+  0x9b17, 0x4ec0, 0x9af9, 0x4e98, 0x9ada, 0x4e71, 0x9abb, 0x4e49,
+  0x9a9c, 0x4e21, 0x9a7e, 0x4df9, 0x9a5f, 0x4dd1, 0x9a40, 0x4da9,
+  0x9a22, 0x4d81, 0x9a04, 0x4d59, 0x99e5, 0x4d31, 0x99c7, 0x4d09,
+  0x99a9, 0x4ce1, 0x998b, 0x4cb9, 0x996d, 0x4c91, 0x994e, 0x4c68,
+  0x9930, 0x4c40, 0x9913, 0x4c17, 0x98f5, 0x4bef, 0x98d7, 0x4bc7,
+  0x98b9, 0x4b9e, 0x989c, 0x4b75, 0x987e, 0x4b4d, 0x9860, 0x4b24,
+  0x9843, 0x4afb, 0x9826, 0x4ad3, 0x9808, 0x4aaa, 0x97eb, 0x4a81,
+  0x97ce, 0x4a58, 0x97b0, 0x4a2f, 0x9793, 0x4a06, 0x9776, 0x49dd,
+  0x9759, 0x49b4, 0x973c, 0x498b, 0x9720, 0x4962, 0x9703, 0x4939,
+  0x96e6, 0x490f, 0x96c9, 0x48e6, 0x96ad, 0x48bd, 0x9690, 0x4893,
+  0x9674, 0x486a, 0x9657, 0x4840, 0x963b, 0x4817, 0x961f, 0x47ed,
+  0x9603, 0x47c4, 0x95e6, 0x479a, 0x95ca, 0x4770, 0x95ae, 0x4747,
+  0x9592, 0x471d, 0x9577, 0x46f3, 0x955b, 0x46c9, 0x953f, 0x469f,
+  0x9523, 0x4675, 0x9508, 0x464b, 0x94ec, 0x4621, 0x94d0, 0x45f7,
+  0x94b5, 0x45cd, 0x949a, 0x45a3, 0x947e, 0x4579, 0x9463, 0x454f,
+  0x9448, 0x4524, 0x942d, 0x44fa, 0x9412, 0x44d0, 0x93f7, 0x44a5,
+  0x93dc, 0x447b, 0x93c1, 0x4450, 0x93a6, 0x4426, 0x938b, 0x43fb,
+  0x9371, 0x43d1, 0x9356, 0x43a6, 0x933c, 0x437b, 0x9321, 0x4351,
+  0x9307, 0x4326, 0x92ec, 0x42fb, 0x92d2, 0x42d0, 0x92b8, 0x42a5,
+  0x929e, 0x427a, 0x9284, 0x424f, 0x926a, 0x4224, 0x9250, 0x41f9,
+  0x9236, 0x41ce, 0x921c, 0x41a3, 0x9202, 0x4178, 0x91e9, 0x414d,
+  0x91cf, 0x4121, 0x91b6, 0x40f6, 0x919c, 0x40cb, 0x9183, 0x409f,
+  0x9169, 0x4074, 0x9150, 0x4048, 0x9137, 0x401d, 0x911e, 0x3ff1,
+  0x9105, 0x3fc6, 0x90ec, 0x3f9a, 0x90d3, 0x3f6f, 0x90ba, 0x3f43,
+  0x90a1, 0x3f17, 0x9088, 0x3eec, 0x9070, 0x3ec0, 0x9057, 0x3e94,
+  0x903e, 0x3e68, 0x9026, 0x3e3c, 0x900e, 0x3e10, 0x8ff5, 0x3de4,
+  0x8fdd, 0x3db8, 0x8fc5, 0x3d8c, 0x8fad, 0x3d60, 0x8f95, 0x3d34,
+  0x8f7d, 0x3d08, 0x8f65, 0x3cdc, 0x8f4d, 0x3caf, 0x8f35, 0x3c83,
+  0x8f1d, 0x3c57, 0x8f06, 0x3c2a, 0x8eee, 0x3bfe, 0x8ed6, 0x3bd2,
+  0x8ebf, 0x3ba5, 0x8ea8, 0x3b79, 0x8e90, 0x3b4c, 0x8e79, 0x3b20,
+  0x8e62, 0x3af3, 0x8e4b, 0x3ac6, 0x8e34, 0x3a9a, 0x8e1d, 0x3a6d,
+  0x8e06, 0x3a40, 0x8def, 0x3a13, 0x8dd8, 0x39e7, 0x8dc1, 0x39ba,
+  0x8dab, 0x398d, 0x8d94, 0x3960, 0x8d7e, 0x3933, 0x8d67, 0x3906,
+  0x8d51, 0x38d9, 0x8d3b, 0x38ac, 0x8d24, 0x387f, 0x8d0e, 0x3852,
+  0x8cf8, 0x3825, 0x8ce2, 0x37f7, 0x8ccc, 0x37ca, 0x8cb6, 0x379d,
+  0x8ca1, 0x3770, 0x8c8b, 0x3742, 0x8c75, 0x3715, 0x8c60, 0x36e8,
+  0x8c4a, 0x36ba, 0x8c35, 0x368d, 0x8c1f, 0x365f, 0x8c0a, 0x3632,
+  0x8bf5, 0x3604, 0x8bdf, 0x35d7, 0x8bca, 0x35a9, 0x8bb5, 0x357b,
+  0x8ba0, 0x354e, 0x8b8b, 0x3520, 0x8b77, 0x34f2, 0x8b62, 0x34c4,
+  0x8b4d, 0x3497, 0x8b39, 0x3469, 0x8b24, 0x343b, 0x8b10, 0x340d,
+  0x8afb, 0x33df, 0x8ae7, 0x33b1, 0x8ad3, 0x3383, 0x8abe, 0x3355,
+  0x8aaa, 0x3327, 0x8a96, 0x32f9, 0x8a82, 0x32cb, 0x8a6e, 0x329d,
+  0x8a5a, 0x326e, 0x8a47, 0x3240, 0x8a33, 0x3212, 0x8a1f, 0x31e4,
+  0x8a0c, 0x31b5, 0x89f8, 0x3187, 0x89e5, 0x3159, 0x89d2, 0x312a,
+  0x89be, 0x30fc, 0x89ab, 0x30cd, 0x8998, 0x309f, 0x8985, 0x3070,
+  0x8972, 0x3042, 0x895f, 0x3013, 0x894c, 0x2fe5, 0x8939, 0x2fb6,
+  0x8927, 0x2f87, 0x8914, 0x2f59, 0x8902, 0x2f2a, 0x88ef, 0x2efb,
+  0x88dd, 0x2ecc, 0x88ca, 0x2e9e, 0x88b8, 0x2e6f, 0x88a6, 0x2e40,
+  0x8894, 0x2e11, 0x8882, 0x2de2, 0x8870, 0x2db3, 0x885e, 0x2d84,
+  0x884c, 0x2d55, 0x883a, 0x2d26, 0x8828, 0x2cf7, 0x8817, 0x2cc8,
+  0x8805, 0x2c99, 0x87f4, 0x2c6a, 0x87e2, 0x2c3b, 0x87d1, 0x2c0c,
+  0x87c0, 0x2bdc, 0x87af, 0x2bad, 0x879d, 0x2b7e, 0x878c, 0x2b4f,
+  0x877b, 0x2b1f, 0x876b, 0x2af0, 0x875a, 0x2ac1, 0x8749, 0x2a91,
+  0x8738, 0x2a62, 0x8728, 0x2a32, 0x8717, 0x2a03, 0x8707, 0x29d3,
+  0x86f6, 0x29a4, 0x86e6, 0x2974, 0x86d6, 0x2945, 0x86c6, 0x2915,
+  0x86b6, 0x28e5, 0x86a5, 0x28b6, 0x8696, 0x2886, 0x8686, 0x2856,
+  0x8676, 0x2827, 0x8666, 0x27f7, 0x8656, 0x27c7, 0x8647, 0x2797,
+  0x8637, 0x2768, 0x8628, 0x2738, 0x8619, 0x2708, 0x8609, 0x26d8,
+  0x85fa, 0x26a8, 0x85eb, 0x2678, 0x85dc, 0x2648, 0x85cd, 0x2618,
+  0x85be, 0x25e8, 0x85af, 0x25b8, 0x85a0, 0x2588, 0x8592, 0x2558,
+  0x8583, 0x2528, 0x8574, 0x24f8, 0x8566, 0x24c8, 0x8558, 0x2498,
+  0x8549, 0x2467, 0x853b, 0x2437, 0x852d, 0x2407, 0x851f, 0x23d7,
+  0x8511, 0x23a7, 0x8503, 0x2376, 0x84f5, 0x2346, 0x84e7, 0x2316,
+  0x84d9, 0x22e5, 0x84cc, 0x22b5, 0x84be, 0x2284, 0x84b0, 0x2254,
+  0x84a3, 0x2224, 0x8496, 0x21f3, 0x8488, 0x21c3, 0x847b, 0x2192,
+  0x846e, 0x2162, 0x8461, 0x2131, 0x8454, 0x2101, 0x8447, 0x20d0,
+  0x843a, 0x209f, 0x842d, 0x206f, 0x8421, 0x203e, 0x8414, 0x200e,
+  0x8407, 0x1fdd, 0x83fb, 0x1fac, 0x83ef, 0x1f7b, 0x83e2, 0x1f4b,
+  0x83d6, 0x1f1a, 0x83ca, 0x1ee9, 0x83be, 0x1eb8, 0x83b2, 0x1e88,
+  0x83a6, 0x1e57, 0x839a, 0x1e26, 0x838e, 0x1df5, 0x8382, 0x1dc4,
+  0x8377, 0x1d93, 0x836b, 0x1d62, 0x8360, 0x1d31, 0x8354, 0x1d01,
+  0x8349, 0x1cd0, 0x833e, 0x1c9f, 0x8332, 0x1c6e, 0x8327, 0x1c3d,
+  0x831c, 0x1c0c, 0x8311, 0x1bda, 0x8306, 0x1ba9, 0x82fb, 0x1b78,
+  0x82f1, 0x1b47, 0x82e6, 0x1b16, 0x82db, 0x1ae5, 0x82d1, 0x1ab4,
+  0x82c6, 0x1a83, 0x82bc, 0x1a51, 0x82b2, 0x1a20, 0x82a8, 0x19ef,
+  0x829d, 0x19be, 0x8293, 0x198d, 0x8289, 0x195b, 0x827f, 0x192a,
+  0x8276, 0x18f9, 0x826c, 0x18c7, 0x8262, 0x1896, 0x8259, 0x1865,
+  0x824f, 0x1833, 0x8246, 0x1802, 0x823c, 0x17d1, 0x8233, 0x179f,
+  0x822a, 0x176e, 0x8220, 0x173c, 0x8217, 0x170b, 0x820e, 0x16da,
+  0x8205, 0x16a8, 0x81fd, 0x1677, 0x81f4, 0x1645, 0x81eb, 0x1614,
+  0x81e2, 0x15e2, 0x81da, 0x15b1, 0x81d1, 0x157f, 0x81c9, 0x154d,
+  0x81c1, 0x151c, 0x81b8, 0x14ea, 0x81b0, 0x14b9, 0x81a8, 0x1487,
+  0x81a0, 0x1455, 0x8198, 0x1424, 0x8190, 0x13f2, 0x8188, 0x13c1,
+  0x8181, 0x138f, 0x8179, 0x135d, 0x8172, 0x132b, 0x816a, 0x12fa,
+  0x8163, 0x12c8, 0x815b, 0x1296, 0x8154, 0x1265, 0x814d, 0x1233,
+  0x8146, 0x1201, 0x813f, 0x11cf, 0x8138, 0x119e, 0x8131, 0x116c,
+  0x812a, 0x113a, 0x8123, 0x1108, 0x811d, 0x10d6, 0x8116, 0x10a4,
+  0x8110, 0x1073, 0x8109, 0x1041, 0x8103, 0x100f, 0x80fd, 0xfdd,
+  0x80f6, 0xfab, 0x80f0, 0xf79, 0x80ea, 0xf47, 0x80e4, 0xf15,
+  0x80de, 0xee4, 0x80d9, 0xeb2, 0x80d3, 0xe80, 0x80cd, 0xe4e,
+  0x80c8, 0xe1c, 0x80c2, 0xdea, 0x80bd, 0xdb8, 0x80b7, 0xd86,
+  0x80b2, 0xd54, 0x80ad, 0xd22, 0x80a8, 0xcf0, 0x80a3, 0xcbe,
+  0x809e, 0xc8c, 0x8099, 0xc5a, 0x8094, 0xc28, 0x808f, 0xbf6,
+  0x808b, 0xbc4, 0x8086, 0xb92, 0x8082, 0xb60, 0x807d, 0xb2d,
+  0x8079, 0xafb, 0x8075, 0xac9, 0x8070, 0xa97, 0x806c, 0xa65,
+  0x8068, 0xa33, 0x8064, 0xa01, 0x8060, 0x9cf, 0x805d, 0x99d,
+  0x8059, 0x96b, 0x8055, 0x938, 0x8052, 0x906, 0x804e, 0x8d4,
+  0x804b, 0x8a2, 0x8047, 0x870, 0x8044, 0x83e, 0x8041, 0x80c,
+  0x803e, 0x7d9, 0x803b, 0x7a7, 0x8038, 0x775, 0x8035, 0x743,
+  0x8032, 0x711, 0x802f, 0x6de, 0x802d, 0x6ac, 0x802a, 0x67a,
+  0x8027, 0x648, 0x8025, 0x616, 0x8023, 0x5e3, 0x8020, 0x5b1,
+  0x801e, 0x57f, 0x801c, 0x54d, 0x801a, 0x51b, 0x8018, 0x4e8,
+  0x8016, 0x4b6, 0x8014, 0x484, 0x8013, 0x452, 0x8011, 0x41f,
+  0x800f, 0x3ed, 0x800e, 0x3bb, 0x800c, 0x389, 0x800b, 0x356,
+  0x800a, 0x324, 0x8009, 0x2f2, 0x8008, 0x2c0, 0x8007, 0x28d,
+  0x8006, 0x25b, 0x8005, 0x229, 0x8004, 0x1f7, 0x8003, 0x1c4,
+  0x8002, 0x192, 0x8002, 0x160, 0x8001, 0x12e, 0x8001, 0xfb,
+  0x8001, 0xc9, 0x8000, 0x97, 0x8000, 0x65, 0x8000, 0x32,
+  0x8000, 0x0, 0x8000, 0xffce, 0x8000, 0xff9b, 0x8000, 0xff69,
+  0x8001, 0xff37, 0x8001, 0xff05, 0x8001, 0xfed2, 0x8002, 0xfea0,
+  0x8002, 0xfe6e, 0x8003, 0xfe3c, 0x8004, 0xfe09, 0x8005, 0xfdd7,
+  0x8006, 0xfda5, 0x8007, 0xfd73, 0x8008, 0xfd40, 0x8009, 0xfd0e,
+  0x800a, 0xfcdc, 0x800b, 0xfcaa, 0x800c, 0xfc77, 0x800e, 0xfc45,
+  0x800f, 0xfc13, 0x8011, 0xfbe1, 0x8013, 0xfbae, 0x8014, 0xfb7c,
+  0x8016, 0xfb4a, 0x8018, 0xfb18, 0x801a, 0xfae5, 0x801c, 0xfab3,
+  0x801e, 0xfa81, 0x8020, 0xfa4f, 0x8023, 0xfa1d, 0x8025, 0xf9ea,
+  0x8027, 0xf9b8, 0x802a, 0xf986, 0x802d, 0xf954, 0x802f, 0xf922,
+  0x8032, 0xf8ef, 0x8035, 0xf8bd, 0x8038, 0xf88b, 0x803b, 0xf859,
+  0x803e, 0xf827, 0x8041, 0xf7f4, 0x8044, 0xf7c2, 0x8047, 0xf790,
+  0x804b, 0xf75e, 0x804e, 0xf72c, 0x8052, 0xf6fa, 0x8055, 0xf6c8,
+  0x8059, 0xf695, 0x805d, 0xf663, 0x8060, 0xf631, 0x8064, 0xf5ff,
+  0x8068, 0xf5cd, 0x806c, 0xf59b, 0x8070, 0xf569, 0x8075, 0xf537,
+  0x8079, 0xf505, 0x807d, 0xf4d3, 0x8082, 0xf4a0, 0x8086, 0xf46e,
+  0x808b, 0xf43c, 0x808f, 0xf40a, 0x8094, 0xf3d8, 0x8099, 0xf3a6,
+  0x809e, 0xf374, 0x80a3, 0xf342, 0x80a8, 0xf310, 0x80ad, 0xf2de,
+  0x80b2, 0xf2ac, 0x80b7, 0xf27a, 0x80bd, 0xf248, 0x80c2, 0xf216,
+  0x80c8, 0xf1e4, 0x80cd, 0xf1b2, 0x80d3, 0xf180, 0x80d9, 0xf14e,
+  0x80de, 0xf11c, 0x80e4, 0xf0eb, 0x80ea, 0xf0b9, 0x80f0, 0xf087,
+  0x80f6, 0xf055, 0x80fd, 0xf023, 0x8103, 0xeff1, 0x8109, 0xefbf,
+  0x8110, 0xef8d, 0x8116, 0xef5c, 0x811d, 0xef2a, 0x8123, 0xeef8,
+  0x812a, 0xeec6, 0x8131, 0xee94, 0x8138, 0xee62, 0x813f, 0xee31,
+  0x8146, 0xedff, 0x814d, 0xedcd, 0x8154, 0xed9b, 0x815b, 0xed6a,
+  0x8163, 0xed38, 0x816a, 0xed06, 0x8172, 0xecd5, 0x8179, 0xeca3,
+  0x8181, 0xec71, 0x8188, 0xec3f, 0x8190, 0xec0e, 0x8198, 0xebdc,
+  0x81a0, 0xebab, 0x81a8, 0xeb79, 0x81b0, 0xeb47, 0x81b8, 0xeb16,
+  0x81c1, 0xeae4, 0x81c9, 0xeab3, 0x81d1, 0xea81, 0x81da, 0xea4f,
+  0x81e2, 0xea1e, 0x81eb, 0xe9ec, 0x81f4, 0xe9bb, 0x81fd, 0xe989,
+  0x8205, 0xe958, 0x820e, 0xe926, 0x8217, 0xe8f5, 0x8220, 0xe8c4,
+  0x822a, 0xe892, 0x8233, 0xe861, 0x823c, 0xe82f, 0x8246, 0xe7fe,
+  0x824f, 0xe7cd, 0x8259, 0xe79b, 0x8262, 0xe76a, 0x826c, 0xe739,
+  0x8276, 0xe707, 0x827f, 0xe6d6, 0x8289, 0xe6a5, 0x8293, 0xe673,
+  0x829d, 0xe642, 0x82a8, 0xe611, 0x82b2, 0xe5e0, 0x82bc, 0xe5af,
+  0x82c6, 0xe57d, 0x82d1, 0xe54c, 0x82db, 0xe51b, 0x82e6, 0xe4ea,
+  0x82f1, 0xe4b9, 0x82fb, 0xe488, 0x8306, 0xe457, 0x8311, 0xe426,
+  0x831c, 0xe3f4, 0x8327, 0xe3c3, 0x8332, 0xe392, 0x833e, 0xe361,
+  0x8349, 0xe330, 0x8354, 0xe2ff, 0x8360, 0xe2cf, 0x836b, 0xe29e,
+  0x8377, 0xe26d, 0x8382, 0xe23c, 0x838e, 0xe20b, 0x839a, 0xe1da,
+  0x83a6, 0xe1a9, 0x83b2, 0xe178, 0x83be, 0xe148, 0x83ca, 0xe117,
+  0x83d6, 0xe0e6, 0x83e2, 0xe0b5, 0x83ef, 0xe085, 0x83fb, 0xe054,
+  0x8407, 0xe023, 0x8414, 0xdff2, 0x8421, 0xdfc2, 0x842d, 0xdf91,
+  0x843a, 0xdf61, 0x8447, 0xdf30, 0x8454, 0xdeff, 0x8461, 0xdecf,
+  0x846e, 0xde9e, 0x847b, 0xde6e, 0x8488, 0xde3d, 0x8496, 0xde0d,
+  0x84a3, 0xdddc, 0x84b0, 0xddac, 0x84be, 0xdd7c, 0x84cc, 0xdd4b,
+  0x84d9, 0xdd1b, 0x84e7, 0xdcea, 0x84f5, 0xdcba, 0x8503, 0xdc8a,
+  0x8511, 0xdc59, 0x851f, 0xdc29, 0x852d, 0xdbf9, 0x853b, 0xdbc9,
+  0x8549, 0xdb99, 0x8558, 0xdb68, 0x8566, 0xdb38, 0x8574, 0xdb08,
+  0x8583, 0xdad8, 0x8592, 0xdaa8, 0x85a0, 0xda78, 0x85af, 0xda48,
+  0x85be, 0xda18, 0x85cd, 0xd9e8, 0x85dc, 0xd9b8, 0x85eb, 0xd988,
+  0x85fa, 0xd958, 0x8609, 0xd928, 0x8619, 0xd8f8, 0x8628, 0xd8c8,
+  0x8637, 0xd898, 0x8647, 0xd869, 0x8656, 0xd839, 0x8666, 0xd809,
+  0x8676, 0xd7d9, 0x8686, 0xd7aa, 0x8696, 0xd77a, 0x86a5, 0xd74a,
+  0x86b6, 0xd71b, 0x86c6, 0xd6eb, 0x86d6, 0xd6bb, 0x86e6, 0xd68c,
+  0x86f6, 0xd65c, 0x8707, 0xd62d, 0x8717, 0xd5fd, 0x8728, 0xd5ce,
+  0x8738, 0xd59e, 0x8749, 0xd56f, 0x875a, 0xd53f, 0x876b, 0xd510,
+  0x877b, 0xd4e1, 0x878c, 0xd4b1, 0x879d, 0xd482, 0x87af, 0xd453,
+  0x87c0, 0xd424, 0x87d1, 0xd3f4, 0x87e2, 0xd3c5, 0x87f4, 0xd396,
+  0x8805, 0xd367, 0x8817, 0xd338, 0x8828, 0xd309, 0x883a, 0xd2da,
+  0x884c, 0xd2ab, 0x885e, 0xd27c, 0x8870, 0xd24d, 0x8882, 0xd21e,
+  0x8894, 0xd1ef, 0x88a6, 0xd1c0, 0x88b8, 0xd191, 0x88ca, 0xd162,
+  0x88dd, 0xd134, 0x88ef, 0xd105, 0x8902, 0xd0d6, 0x8914, 0xd0a7,
+  0x8927, 0xd079, 0x8939, 0xd04a, 0x894c, 0xd01b, 0x895f, 0xcfed,
+  0x8972, 0xcfbe, 0x8985, 0xcf90, 0x8998, 0xcf61, 0x89ab, 0xcf33,
+  0x89be, 0xcf04, 0x89d2, 0xced6, 0x89e5, 0xcea7, 0x89f8, 0xce79,
+  0x8a0c, 0xce4b, 0x8a1f, 0xce1c, 0x8a33, 0xcdee, 0x8a47, 0xcdc0,
+  0x8a5a, 0xcd92, 0x8a6e, 0xcd63, 0x8a82, 0xcd35, 0x8a96, 0xcd07,
+  0x8aaa, 0xccd9, 0x8abe, 0xccab, 0x8ad3, 0xcc7d, 0x8ae7, 0xcc4f,
+  0x8afb, 0xcc21, 0x8b10, 0xcbf3, 0x8b24, 0xcbc5, 0x8b39, 0xcb97,
+  0x8b4d, 0xcb69, 0x8b62, 0xcb3c, 0x8b77, 0xcb0e, 0x8b8b, 0xcae0,
+  0x8ba0, 0xcab2, 0x8bb5, 0xca85, 0x8bca, 0xca57, 0x8bdf, 0xca29,
+  0x8bf5, 0xc9fc, 0x8c0a, 0xc9ce, 0x8c1f, 0xc9a1, 0x8c35, 0xc973,
+  0x8c4a, 0xc946, 0x8c60, 0xc918, 0x8c75, 0xc8eb, 0x8c8b, 0xc8be,
+  0x8ca1, 0xc890, 0x8cb6, 0xc863, 0x8ccc, 0xc836, 0x8ce2, 0xc809,
+  0x8cf8, 0xc7db, 0x8d0e, 0xc7ae, 0x8d24, 0xc781, 0x8d3b, 0xc754,
+  0x8d51, 0xc727, 0x8d67, 0xc6fa, 0x8d7e, 0xc6cd, 0x8d94, 0xc6a0,
+  0x8dab, 0xc673, 0x8dc1, 0xc646, 0x8dd8, 0xc619, 0x8def, 0xc5ed,
+  0x8e06, 0xc5c0, 0x8e1d, 0xc593, 0x8e34, 0xc566, 0x8e4b, 0xc53a,
+  0x8e62, 0xc50d, 0x8e79, 0xc4e0, 0x8e90, 0xc4b4, 0x8ea8, 0xc487,
+  0x8ebf, 0xc45b, 0x8ed6, 0xc42e, 0x8eee, 0xc402, 0x8f06, 0xc3d6,
+  0x8f1d, 0xc3a9, 0x8f35, 0xc37d, 0x8f4d, 0xc351, 0x8f65, 0xc324,
+  0x8f7d, 0xc2f8, 0x8f95, 0xc2cc, 0x8fad, 0xc2a0, 0x8fc5, 0xc274,
+  0x8fdd, 0xc248, 0x8ff5, 0xc21c, 0x900e, 0xc1f0, 0x9026, 0xc1c4,
+  0x903e, 0xc198, 0x9057, 0xc16c, 0x9070, 0xc140, 0x9088, 0xc114,
+  0x90a1, 0xc0e9, 0x90ba, 0xc0bd, 0x90d3, 0xc091, 0x90ec, 0xc066,
+  0x9105, 0xc03a, 0x911e, 0xc00f, 0x9137, 0xbfe3, 0x9150, 0xbfb8,
+  0x9169, 0xbf8c, 0x9183, 0xbf61, 0x919c, 0xbf35, 0x91b6, 0xbf0a,
+  0x91cf, 0xbedf, 0x91e9, 0xbeb3, 0x9202, 0xbe88, 0x921c, 0xbe5d,
+  0x9236, 0xbe32, 0x9250, 0xbe07, 0x926a, 0xbddc, 0x9284, 0xbdb1,
+  0x929e, 0xbd86, 0x92b8, 0xbd5b, 0x92d2, 0xbd30, 0x92ec, 0xbd05,
+  0x9307, 0xbcda, 0x9321, 0xbcaf, 0x933c, 0xbc85, 0x9356, 0xbc5a,
+  0x9371, 0xbc2f, 0x938b, 0xbc05, 0x93a6, 0xbbda, 0x93c1, 0xbbb0,
+  0x93dc, 0xbb85, 0x93f7, 0xbb5b, 0x9412, 0xbb30, 0x942d, 0xbb06,
+  0x9448, 0xbadc, 0x9463, 0xbab1, 0x947e, 0xba87, 0x949a, 0xba5d,
+  0x94b5, 0xba33, 0x94d0, 0xba09, 0x94ec, 0xb9df, 0x9508, 0xb9b5,
+  0x9523, 0xb98b, 0x953f, 0xb961, 0x955b, 0xb937, 0x9577, 0xb90d,
+  0x9592, 0xb8e3, 0x95ae, 0xb8b9, 0x95ca, 0xb890, 0x95e6, 0xb866,
+  0x9603, 0xb83c, 0x961f, 0xb813, 0x963b, 0xb7e9, 0x9657, 0xb7c0,
+  0x9674, 0xb796, 0x9690, 0xb76d, 0x96ad, 0xb743, 0x96c9, 0xb71a,
+  0x96e6, 0xb6f1, 0x9703, 0xb6c7, 0x9720, 0xb69e, 0x973c, 0xb675,
+  0x9759, 0xb64c, 0x9776, 0xb623, 0x9793, 0xb5fa, 0x97b0, 0xb5d1,
+  0x97ce, 0xb5a8, 0x97eb, 0xb57f, 0x9808, 0xb556, 0x9826, 0xb52d,
+  0x9843, 0xb505, 0x9860, 0xb4dc, 0x987e, 0xb4b3, 0x989c, 0xb48b,
+  0x98b9, 0xb462, 0x98d7, 0xb439, 0x98f5, 0xb411, 0x9913, 0xb3e9,
+  0x9930, 0xb3c0, 0x994e, 0xb398, 0x996d, 0xb36f, 0x998b, 0xb347,
+  0x99a9, 0xb31f, 0x99c7, 0xb2f7, 0x99e5, 0xb2cf, 0x9a04, 0xb2a7,
+  0x9a22, 0xb27f, 0x9a40, 0xb257, 0x9a5f, 0xb22f, 0x9a7e, 0xb207,
+  0x9a9c, 0xb1df, 0x9abb, 0xb1b7, 0x9ada, 0xb18f, 0x9af9, 0xb168,
+  0x9b17, 0xb140, 0x9b36, 0xb118, 0x9b55, 0xb0f1, 0x9b75, 0xb0c9,
+  0x9b94, 0xb0a2, 0x9bb3, 0xb07b, 0x9bd2, 0xb053, 0x9bf1, 0xb02c,
+  0x9c11, 0xb005, 0x9c30, 0xafdd, 0x9c50, 0xafb6, 0x9c6f, 0xaf8f,
+  0x9c8f, 0xaf68, 0x9caf, 0xaf41, 0x9cce, 0xaf1a, 0x9cee, 0xaef3,
+  0x9d0e, 0xaecc, 0x9d2e, 0xaea5, 0x9d4e, 0xae7f, 0x9d6e, 0xae58,
+  0x9d8e, 0xae31, 0x9dae, 0xae0b, 0x9dce, 0xade4, 0x9def, 0xadbd,
+  0x9e0f, 0xad97, 0x9e2f, 0xad70, 0x9e50, 0xad4a, 0x9e70, 0xad24,
+  0x9e91, 0xacfd, 0x9eb2, 0xacd7, 0x9ed2, 0xacb1, 0x9ef3, 0xac8b,
+  0x9f14, 0xac65, 0x9f35, 0xac3f, 0x9f56, 0xac19, 0x9f77, 0xabf3,
+  0x9f98, 0xabcd, 0x9fb9, 0xaba7, 0x9fda, 0xab81, 0x9ffb, 0xab5c,
+  0xa01c, 0xab36, 0xa03e, 0xab10, 0xa05f, 0xaaeb, 0xa080, 0xaac5,
+  0xa0a2, 0xaaa0, 0xa0c4, 0xaa7a, 0xa0e5, 0xaa55, 0xa107, 0xaa30,
+  0xa129, 0xaa0a, 0xa14a, 0xa9e5, 0xa16c, 0xa9c0, 0xa18e, 0xa99b,
+  0xa1b0, 0xa976, 0xa1d2, 0xa951, 0xa1f4, 0xa92c, 0xa216, 0xa907,
+  0xa238, 0xa8e2, 0xa25b, 0xa8bd, 0xa27d, 0xa899, 0xa29f, 0xa874,
+  0xa2c2, 0xa84f, 0xa2e4, 0xa82b, 0xa307, 0xa806, 0xa329, 0xa7e2,
+  0xa34c, 0xa7bd, 0xa36f, 0xa799, 0xa391, 0xa774, 0xa3b4, 0xa750,
+  0xa3d7, 0xa72c, 0xa3fa, 0xa708, 0xa41d, 0xa6e4, 0xa440, 0xa6c0,
+  0xa463, 0xa69c, 0xa486, 0xa678, 0xa4a9, 0xa654, 0xa4cc, 0xa630,
+  0xa4f0, 0xa60c, 0xa513, 0xa5e8, 0xa537, 0xa5c5, 0xa55a, 0xa5a1,
+  0xa57e, 0xa57e, 0xa5a1, 0xa55a, 0xa5c5, 0xa537, 0xa5e8, 0xa513,
+  0xa60c, 0xa4f0, 0xa630, 0xa4cc, 0xa654, 0xa4a9, 0xa678, 0xa486,
+  0xa69c, 0xa463, 0xa6c0, 0xa440, 0xa6e4, 0xa41d, 0xa708, 0xa3fa,
+  0xa72c, 0xa3d7, 0xa750, 0xa3b4, 0xa774, 0xa391, 0xa799, 0xa36f,
+  0xa7bd, 0xa34c, 0xa7e2, 0xa329, 0xa806, 0xa307, 0xa82b, 0xa2e4,
+  0xa84f, 0xa2c2, 0xa874, 0xa29f, 0xa899, 0xa27d, 0xa8bd, 0xa25b,
+  0xa8e2, 0xa238, 0xa907, 0xa216, 0xa92c, 0xa1f4, 0xa951, 0xa1d2,
+  0xa976, 0xa1b0, 0xa99b, 0xa18e, 0xa9c0, 0xa16c, 0xa9e5, 0xa14a,
+  0xaa0a, 0xa129, 0xaa30, 0xa107, 0xaa55, 0xa0e5, 0xaa7a, 0xa0c4,
+  0xaaa0, 0xa0a2, 0xaac5, 0xa080, 0xaaeb, 0xa05f, 0xab10, 0xa03e,
+  0xab36, 0xa01c, 0xab5c, 0x9ffb, 0xab81, 0x9fda, 0xaba7, 0x9fb9,
+  0xabcd, 0x9f98, 0xabf3, 0x9f77, 0xac19, 0x9f56, 0xac3f, 0x9f35,
+  0xac65, 0x9f14, 0xac8b, 0x9ef3, 0xacb1, 0x9ed2, 0xacd7, 0x9eb2,
+  0xacfd, 0x9e91, 0xad24, 0x9e70, 0xad4a, 0x9e50, 0xad70, 0x9e2f,
+  0xad97, 0x9e0f, 0xadbd, 0x9def, 0xade4, 0x9dce, 0xae0b, 0x9dae,
+  0xae31, 0x9d8e, 0xae58, 0x9d6e, 0xae7f, 0x9d4e, 0xaea5, 0x9d2e,
+  0xaecc, 0x9d0e, 0xaef3, 0x9cee, 0xaf1a, 0x9cce, 0xaf41, 0x9caf,
+  0xaf68, 0x9c8f, 0xaf8f, 0x9c6f, 0xafb6, 0x9c50, 0xafdd, 0x9c30,
+  0xb005, 0x9c11, 0xb02c, 0x9bf1, 0xb053, 0x9bd2, 0xb07b, 0x9bb3,
+  0xb0a2, 0x9b94, 0xb0c9, 0x9b75, 0xb0f1, 0x9b55, 0xb118, 0x9b36,
+  0xb140, 0x9b17, 0xb168, 0x9af9, 0xb18f, 0x9ada, 0xb1b7, 0x9abb,
+  0xb1df, 0x9a9c, 0xb207, 0x9a7e, 0xb22f, 0x9a5f, 0xb257, 0x9a40,
+  0xb27f, 0x9a22, 0xb2a7, 0x9a04, 0xb2cf, 0x99e5, 0xb2f7, 0x99c7,
+  0xb31f, 0x99a9, 0xb347, 0x998b, 0xb36f, 0x996d, 0xb398, 0x994e,
+  0xb3c0, 0x9930, 0xb3e9, 0x9913, 0xb411, 0x98f5, 0xb439, 0x98d7,
+  0xb462, 0x98b9, 0xb48b, 0x989c, 0xb4b3, 0x987e, 0xb4dc, 0x9860,
+  0xb505, 0x9843, 0xb52d, 0x9826, 0xb556, 0x9808, 0xb57f, 0x97eb,
+  0xb5a8, 0x97ce, 0xb5d1, 0x97b0, 0xb5fa, 0x9793, 0xb623, 0x9776,
+  0xb64c, 0x9759, 0xb675, 0x973c, 0xb69e, 0x9720, 0xb6c7, 0x9703,
+  0xb6f1, 0x96e6, 0xb71a, 0x96c9, 0xb743, 0x96ad, 0xb76d, 0x9690,
+  0xb796, 0x9674, 0xb7c0, 0x9657, 0xb7e9, 0x963b, 0xb813, 0x961f,
+  0xb83c, 0x9603, 0xb866, 0x95e6, 0xb890, 0x95ca, 0xb8b9, 0x95ae,
+  0xb8e3, 0x9592, 0xb90d, 0x9577, 0xb937, 0x955b, 0xb961, 0x953f,
+  0xb98b, 0x9523, 0xb9b5, 0x9508, 0xb9df, 0x94ec, 0xba09, 0x94d0,
+  0xba33, 0x94b5, 0xba5d, 0x949a, 0xba87, 0x947e, 0xbab1, 0x9463,
+  0xbadc, 0x9448, 0xbb06, 0x942d, 0xbb30, 0x9412, 0xbb5b, 0x93f7,
+  0xbb85, 0x93dc, 0xbbb0, 0x93c1, 0xbbda, 0x93a6, 0xbc05, 0x938b,
+  0xbc2f, 0x9371, 0xbc5a, 0x9356, 0xbc85, 0x933c, 0xbcaf, 0x9321,
+  0xbcda, 0x9307, 0xbd05, 0x92ec, 0xbd30, 0x92d2, 0xbd5b, 0x92b8,
+  0xbd86, 0x929e, 0xbdb1, 0x9284, 0xbddc, 0x926a, 0xbe07, 0x9250,
+  0xbe32, 0x9236, 0xbe5d, 0x921c, 0xbe88, 0x9202, 0xbeb3, 0x91e9,
+  0xbedf, 0x91cf, 0xbf0a, 0x91b6, 0xbf35, 0x919c, 0xbf61, 0x9183,
+  0xbf8c, 0x9169, 0xbfb8, 0x9150, 0xbfe3, 0x9137, 0xc00f, 0x911e,
+  0xc03a, 0x9105, 0xc066, 0x90ec, 0xc091, 0x90d3, 0xc0bd, 0x90ba,
+  0xc0e9, 0x90a1, 0xc114, 0x9088, 0xc140, 0x9070, 0xc16c, 0x9057,
+  0xc198, 0x903e, 0xc1c4, 0x9026, 0xc1f0, 0x900e, 0xc21c, 0x8ff5,
+  0xc248, 0x8fdd, 0xc274, 0x8fc5, 0xc2a0, 0x8fad, 0xc2cc, 0x8f95,
+  0xc2f8, 0x8f7d, 0xc324, 0x8f65, 0xc351, 0x8f4d, 0xc37d, 0x8f35,
+  0xc3a9, 0x8f1d, 0xc3d6, 0x8f06, 0xc402, 0x8eee, 0xc42e, 0x8ed6,
+  0xc45b, 0x8ebf, 0xc487, 0x8ea8, 0xc4b4, 0x8e90, 0xc4e0, 0x8e79,
+  0xc50d, 0x8e62, 0xc53a, 0x8e4b, 0xc566, 0x8e34, 0xc593, 0x8e1d,
+  0xc5c0, 0x8e06, 0xc5ed, 0x8def, 0xc619, 0x8dd8, 0xc646, 0x8dc1,
+  0xc673, 0x8dab, 0xc6a0, 0x8d94, 0xc6cd, 0x8d7e, 0xc6fa, 0x8d67,
+  0xc727, 0x8d51, 0xc754, 0x8d3b, 0xc781, 0x8d24, 0xc7ae, 0x8d0e,
+  0xc7db, 0x8cf8, 0xc809, 0x8ce2, 0xc836, 0x8ccc, 0xc863, 0x8cb6,
+  0xc890, 0x8ca1, 0xc8be, 0x8c8b, 0xc8eb, 0x8c75, 0xc918, 0x8c60,
+  0xc946, 0x8c4a, 0xc973, 0x8c35, 0xc9a1, 0x8c1f, 0xc9ce, 0x8c0a,
+  0xc9fc, 0x8bf5, 0xca29, 0x8bdf, 0xca57, 0x8bca, 0xca85, 0x8bb5,
+  0xcab2, 0x8ba0, 0xcae0, 0x8b8b, 0xcb0e, 0x8b77, 0xcb3c, 0x8b62,
+  0xcb69, 0x8b4d, 0xcb97, 0x8b39, 0xcbc5, 0x8b24, 0xcbf3, 0x8b10,
+  0xcc21, 0x8afb, 0xcc4f, 0x8ae7, 0xcc7d, 0x8ad3, 0xccab, 0x8abe,
+  0xccd9, 0x8aaa, 0xcd07, 0x8a96, 0xcd35, 0x8a82, 0xcd63, 0x8a6e,
+  0xcd92, 0x8a5a, 0xcdc0, 0x8a47, 0xcdee, 0x8a33, 0xce1c, 0x8a1f,
+  0xce4b, 0x8a0c, 0xce79, 0x89f8, 0xcea7, 0x89e5, 0xced6, 0x89d2,
+  0xcf04, 0x89be, 0xcf33, 0x89ab, 0xcf61, 0x8998, 0xcf90, 0x8985,
+  0xcfbe, 0x8972, 0xcfed, 0x895f, 0xd01b, 0x894c, 0xd04a, 0x8939,
+  0xd079, 0x8927, 0xd0a7, 0x8914, 0xd0d6, 0x8902, 0xd105, 0x88ef,
+  0xd134, 0x88dd, 0xd162, 0x88ca, 0xd191, 0x88b8, 0xd1c0, 0x88a6,
+  0xd1ef, 0x8894, 0xd21e, 0x8882, 0xd24d, 0x8870, 0xd27c, 0x885e,
+  0xd2ab, 0x884c, 0xd2da, 0x883a, 0xd309, 0x8828, 0xd338, 0x8817,
+  0xd367, 0x8805, 0xd396, 0x87f4, 0xd3c5, 0x87e2, 0xd3f4, 0x87d1,
+  0xd424, 0x87c0, 0xd453, 0x87af, 0xd482, 0x879d, 0xd4b1, 0x878c,
+  0xd4e1, 0x877b, 0xd510, 0x876b, 0xd53f, 0x875a, 0xd56f, 0x8749,
+  0xd59e, 0x8738, 0xd5ce, 0x8728, 0xd5fd, 0x8717, 0xd62d, 0x8707,
+  0xd65c, 0x86f6, 0xd68c, 0x86e6, 0xd6bb, 0x86d6, 0xd6eb, 0x86c6,
+  0xd71b, 0x86b6, 0xd74a, 0x86a5, 0xd77a, 0x8696, 0xd7aa, 0x8686,
+  0xd7d9, 0x8676, 0xd809, 0x8666, 0xd839, 0x8656, 0xd869, 0x8647,
+  0xd898, 0x8637, 0xd8c8, 0x8628, 0xd8f8, 0x8619, 0xd928, 0x8609,
+  0xd958, 0x85fa, 0xd988, 0x85eb, 0xd9b8, 0x85dc, 0xd9e8, 0x85cd,
+  0xda18, 0x85be, 0xda48, 0x85af, 0xda78, 0x85a0, 0xdaa8, 0x8592,
+  0xdad8, 0x8583, 0xdb08, 0x8574, 0xdb38, 0x8566, 0xdb68, 0x8558,
+  0xdb99, 0x8549, 0xdbc9, 0x853b, 0xdbf9, 0x852d, 0xdc29, 0x851f,
+  0xdc59, 0x8511, 0xdc8a, 0x8503, 0xdcba, 0x84f5, 0xdcea, 0x84e7,
+  0xdd1b, 0x84d9, 0xdd4b, 0x84cc, 0xdd7c, 0x84be, 0xddac, 0x84b0,
+  0xdddc, 0x84a3, 0xde0d, 0x8496, 0xde3d, 0x8488, 0xde6e, 0x847b,
+  0xde9e, 0x846e, 0xdecf, 0x8461, 0xdeff, 0x8454, 0xdf30, 0x8447,
+  0xdf61, 0x843a, 0xdf91, 0x842d, 0xdfc2, 0x8421, 0xdff2, 0x8414,
+  0xe023, 0x8407, 0xe054, 0x83fb, 0xe085, 0x83ef, 0xe0b5, 0x83e2,
+  0xe0e6, 0x83d6, 0xe117, 0x83ca, 0xe148, 0x83be, 0xe178, 0x83b2,
+  0xe1a9, 0x83a6, 0xe1da, 0x839a, 0xe20b, 0x838e, 0xe23c, 0x8382,
+  0xe26d, 0x8377, 0xe29e, 0x836b, 0xe2cf, 0x8360, 0xe2ff, 0x8354,
+  0xe330, 0x8349, 0xe361, 0x833e, 0xe392, 0x8332, 0xe3c3, 0x8327,
+  0xe3f4, 0x831c, 0xe426, 0x8311, 0xe457, 0x8306, 0xe488, 0x82fb,
+  0xe4b9, 0x82f1, 0xe4ea, 0x82e6, 0xe51b, 0x82db, 0xe54c, 0x82d1,
+  0xe57d, 0x82c6, 0xe5af, 0x82bc, 0xe5e0, 0x82b2, 0xe611, 0x82a8,
+  0xe642, 0x829d, 0xe673, 0x8293, 0xe6a5, 0x8289, 0xe6d6, 0x827f,
+  0xe707, 0x8276, 0xe739, 0x826c, 0xe76a, 0x8262, 0xe79b, 0x8259,
+  0xe7cd, 0x824f, 0xe7fe, 0x8246, 0xe82f, 0x823c, 0xe861, 0x8233,
+  0xe892, 0x822a, 0xe8c4, 0x8220, 0xe8f5, 0x8217, 0xe926, 0x820e,
+  0xe958, 0x8205, 0xe989, 0x81fd, 0xe9bb, 0x81f4, 0xe9ec, 0x81eb,
+  0xea1e, 0x81e2, 0xea4f, 0x81da, 0xea81, 0x81d1, 0xeab3, 0x81c9,
+  0xeae4, 0x81c1, 0xeb16, 0x81b8, 0xeb47, 0x81b0, 0xeb79, 0x81a8,
+  0xebab, 0x81a0, 0xebdc, 0x8198, 0xec0e, 0x8190, 0xec3f, 0x8188,
+  0xec71, 0x8181, 0xeca3, 0x8179, 0xecd5, 0x8172, 0xed06, 0x816a,
+  0xed38, 0x8163, 0xed6a, 0x815b, 0xed9b, 0x8154, 0xedcd, 0x814d,
+  0xedff, 0x8146, 0xee31, 0x813f, 0xee62, 0x8138, 0xee94, 0x8131,
+  0xeec6, 0x812a, 0xeef8, 0x8123, 0xef2a, 0x811d, 0xef5c, 0x8116,
+  0xef8d, 0x8110, 0xefbf, 0x8109, 0xeff1, 0x8103, 0xf023, 0x80fd,
+  0xf055, 0x80f6, 0xf087, 0x80f0, 0xf0b9, 0x80ea, 0xf0eb, 0x80e4,
+  0xf11c, 0x80de, 0xf14e, 0x80d9, 0xf180, 0x80d3, 0xf1b2, 0x80cd,
+  0xf1e4, 0x80c8, 0xf216, 0x80c2, 0xf248, 0x80bd, 0xf27a, 0x80b7,
+  0xf2ac, 0x80b2, 0xf2de, 0x80ad, 0xf310, 0x80a8, 0xf342, 0x80a3,
+  0xf374, 0x809e, 0xf3a6, 0x8099, 0xf3d8, 0x8094, 0xf40a, 0x808f,
+  0xf43c, 0x808b, 0xf46e, 0x8086, 0xf4a0, 0x8082, 0xf4d3, 0x807d,
+  0xf505, 0x8079, 0xf537, 0x8075, 0xf569, 0x8070, 0xf59b, 0x806c,
+  0xf5cd, 0x8068, 0xf5ff, 0x8064, 0xf631, 0x8060, 0xf663, 0x805d,
+  0xf695, 0x8059, 0xf6c8, 0x8055, 0xf6fa, 0x8052, 0xf72c, 0x804e,
+  0xf75e, 0x804b, 0xf790, 0x8047, 0xf7c2, 0x8044, 0xf7f4, 0x8041,
+  0xf827, 0x803e, 0xf859, 0x803b, 0xf88b, 0x8038, 0xf8bd, 0x8035,
+  0xf8ef, 0x8032, 0xf922, 0x802f, 0xf954, 0x802d, 0xf986, 0x802a,
+  0xf9b8, 0x8027, 0xf9ea, 0x8025, 0xfa1d, 0x8023, 0xfa4f, 0x8020,
+  0xfa81, 0x801e, 0xfab3, 0x801c, 0xfae5, 0x801a, 0xfb18, 0x8018,
+  0xfb4a, 0x8016, 0xfb7c, 0x8014, 0xfbae, 0x8013, 0xfbe1, 0x8011,
+  0xfc13, 0x800f, 0xfc45, 0x800e, 0xfc77, 0x800c, 0xfcaa, 0x800b,
+  0xfcdc, 0x800a, 0xfd0e, 0x8009, 0xfd40, 0x8008, 0xfd73, 0x8007,
+  0xfda5, 0x8006, 0xfdd7, 0x8005, 0xfe09, 0x8004, 0xfe3c, 0x8003,
+  0xfe6e, 0x8002, 0xfea0, 0x8002, 0xfed2, 0x8001, 0xff05, 0x8001,
+  0xff37, 0x8001, 0xff69, 0x8000, 0xff9b, 0x8000, 0xffce, 0x8000,
+};
+
+/**    
+ * @} end of CFFT_CIFFT group    
+ */
+
+/*    
+* @brief  Q15 table for reciprocal    
+*/
+const q15_t ALIGN4 armRecipTableQ15[64] = {
+  0x7F03, 0x7D13, 0x7B31, 0x795E, 0x7798, 0x75E0,
+  0x7434, 0x7294, 0x70FF, 0x6F76, 0x6DF6, 0x6C82,
+  0x6B16, 0x69B5, 0x685C, 0x670C, 0x65C4, 0x6484,
+  0x634C, 0x621C, 0x60F3, 0x5FD0, 0x5EB5, 0x5DA0,
+  0x5C91, 0x5B88, 0x5A85, 0x5988, 0x5890, 0x579E,
+  0x56B0, 0x55C8, 0x54E4, 0x5405, 0x532B, 0x5255,
+  0x5183, 0x50B6, 0x4FEC, 0x4F26, 0x4E64, 0x4DA6,
+  0x4CEC, 0x4C34, 0x4B81, 0x4AD0, 0x4A23, 0x4978,
+  0x48D1, 0x482D, 0x478C, 0x46ED, 0x4651, 0x45B8,
+  0x4521, 0x448D, 0x43FC, 0x436C, 0x42DF, 0x4255,
+  0x41CC, 0x4146, 0x40C2, 0x4040
+};
+
+/*    
+* @brief  Q31 table for reciprocal    
+*/
+const q31_t armRecipTableQ31[64] = {
+  0x7F03F03F, 0x7D137420, 0x7B31E739, 0x795E9F94, 0x7798FD29, 0x75E06928,
+  0x7434554D, 0x72943B4B, 0x70FF9C40, 0x6F760031, 0x6DF6F593, 0x6C8210E3,
+  0x6B16EC3A, 0x69B526F6, 0x685C655F, 0x670C505D, 0x65C4952D, 0x6484E519,
+  0x634CF53E, 0x621C7E4F, 0x60F33C61, 0x5FD0EEB3, 0x5EB55785, 0x5DA03BEB,
+  0x5C9163A1, 0x5B8898E6, 0x5A85A85A, 0x598860DF, 0x58909373, 0x579E1318,
+  0x56B0B4B8, 0x55C84F0B, 0x54E4BA80, 0x5405D124, 0x532B6E8F, 0x52556FD0,
+  0x5183B35A, 0x50B618F3, 0x4FEC81A2, 0x4F26CFA2, 0x4E64E64E, 0x4DA6AA1D,
+  0x4CEC008B, 0x4C34D010, 0x4B810016, 0x4AD078EF, 0x4A2323C4, 0x4978EA96,
+  0x48D1B827, 0x482D77FE, 0x478C1657, 0x46ED801D, 0x4651A2E5, 0x45B86CE2,
+  0x4521CCE1, 0x448DB244, 0x43FC0CFA, 0x436CCD78, 0x42DFE4B4, 0x42554426,
+  0x41CCDDB6, 0x4146A3C6, 0x40C28923, 0x40408102
+};
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_f32.c
new file mode 100644
index 000000000..31bbaa7a8
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_f32.c
@@ -0,0 +1,174 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_cmplx_conj_f32.c    
+*    
+* Description:	Floating-point complex conjugate.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* ---------------------------------------------------------------------------- */
+#include "arm_math.h"
+
+/**        
+ * @ingroup groupCmplxMath        
+ */
+
+/**        
+ * @defgroup cmplx_conj Complex Conjugate        
+ *        
+ * Conjugates the elements of a complex data vector.        
+ *       
+ * The pSrc points to the source data and        
+ * pDst points to the where the result should be written.        
+ * numSamples specifies the number of complex samples        
+ * and the data in each array is stored in an interleaved fashion        
+ * (real, imag, real, imag, ...).        
+ * Each array has a total of 2*numSamples values.        
+ * The underlying algorithm is used:        
+ *        
+ * 
        
+ * for(n=0; n        
+ *        
+ * There are separate functions for floating-point, Q15, and Q31 data types.        
+ */
+
+/**        
+ * @addtogroup cmplx_conj        
+ * @{        
+ */
+
+/**        
+ * @brief  Floating-point complex conjugate.        
+ * @param  *pSrc points to the input vector        
+ * @param  *pDst points to the output vector        
+ * @param  numSamples number of complex samples in each vector        
+ * @return none.        
+ */
+
+void arm_cmplx_conj_f32(
+  float32_t * pSrc,
+  float32_t * pDst,
+  uint32_t numSamples)
+{
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  float32_t inR1, inR2, inR3, inR4;
+  float32_t inI1, inI2, inI3, inI4;
+
+  /*loop Unrolling */
+  blkCnt = numSamples >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.        
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C[0]+jC[1] = A[0]+ j (-1) A[1] */
+    /* Calculate Complex Conjugate and then store the results in the destination buffer. */
+    /* read real input samples */
+    inR1 = pSrc[0];
+    /* store real samples to destination */
+    pDst[0] = inR1;
+    inR2 = pSrc[2];
+    pDst[2] = inR2;
+    inR3 = pSrc[4];
+    pDst[4] = inR3;
+    inR4 = pSrc[6];
+    pDst[6] = inR4;
+
+    /* read imaginary input samples */
+    inI1 = pSrc[1];
+    inI2 = pSrc[3];
+
+    /* conjugate input */
+    inI1 = -inI1;
+
+    /* read imaginary input samples */
+    inI3 = pSrc[5];
+
+    /* conjugate input */
+    inI2 = -inI2;
+
+    /* read imaginary input samples */
+    inI4 = pSrc[7];
+
+    /* conjugate input */
+    inI3 = -inI3;
+
+    /* store imaginary samples to destination */
+    pDst[1] = inI1;
+    pDst[3] = inI2;
+
+    /* conjugate input */
+    inI4 = -inI4;
+
+    /* store imaginary samples to destination */
+    pDst[5] = inI3;
+
+    /* increment source pointer by 8 to process next sampels */
+    pSrc += 8u;
+
+    /* store imaginary sample to destination */
+    pDst[7] = inI4;
+
+    /* increment destination pointer by 8 to store next samples */
+    pDst += 8u;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.        
+   ** No loop unrolling is used. */
+  blkCnt = numSamples % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+  blkCnt = numSamples;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* realOut + j (imagOut) = realIn + j (-1) imagIn */
+    /* Calculate Complex Conjugate and then store the results in the destination buffer. */
+    *pDst++ = *pSrc++;
+    *pDst++ = -*pSrc++;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+}
+
+/**        
+ * @} end of cmplx_conj group        
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q15.c
new file mode 100644
index 000000000..c5a370315
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q15.c
@@ -0,0 +1,153 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_cmplx_conj_q15.c    
+*    
+* Description:	Q15 complex conjugate.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupCmplxMath    
+ */
+
+/**    
+ * @addtogroup cmplx_conj    
+ * @{    
+ */
+
+/**    
+ * @brief  Q15 complex conjugate.    
+ * @param  *pSrc points to the input vector    
+ * @param  *pDst points to the output vector    
+ * @param  numSamples number of complex samples in each vector    
+ * @return none.    
+ *    
+ * Scaling and Overflow Behavior:    
+ * \par    
+ * The function uses saturating arithmetic.    
+ * The Q15 value -1 (0x8000) will be saturated to the maximum allowable positive value 0x7FFF.    
+ */
+
+void arm_cmplx_conj_q15(
+  q15_t * pSrc,
+  q15_t * pDst,
+  uint32_t numSamples)
+{
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  uint32_t blkCnt;                               /* loop counter */
+  q31_t in1, in2, in3, in4;
+  q31_t zero = 0;
+
+  /*loop Unrolling */
+  blkCnt = numSamples >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C[0]+jC[1] = A[0]+ j (-1) A[1] */
+    /* Calculate Complex Conjugate and then store the results in the destination buffer. */
+    in1 = *__SIMD32(pSrc)++;
+    in2 = *__SIMD32(pSrc)++;
+    in3 = *__SIMD32(pSrc)++;
+    in4 = *__SIMD32(pSrc)++;
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+    in1 = __QASX(zero, in1);
+    in2 = __QASX(zero, in2);
+    in3 = __QASX(zero, in3);
+    in4 = __QASX(zero, in4);
+
+#else
+
+    in1 = __QSAX(zero, in1);
+    in2 = __QSAX(zero, in2);
+    in3 = __QSAX(zero, in3);
+    in4 = __QSAX(zero, in4);
+
+#endif //       #ifndef ARM_MATH_BIG_ENDIAN
+
+    in1 = ((uint32_t) in1 >> 16) | ((uint32_t) in1 << 16);
+    in2 = ((uint32_t) in2 >> 16) | ((uint32_t) in2 << 16);
+    in3 = ((uint32_t) in3 >> 16) | ((uint32_t) in3 << 16);
+    in4 = ((uint32_t) in4 >> 16) | ((uint32_t) in4 << 16);
+
+    *__SIMD32(pDst)++ = in1;
+    *__SIMD32(pDst)++ = in2;
+    *__SIMD32(pDst)++ = in3;
+    *__SIMD32(pDst)++ = in4;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = numSamples % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C[0]+jC[1] = A[0]+ j (-1) A[1] */
+    /* Calculate Complex Conjugate and then store the results in the destination buffer. */
+    *pDst++ = *pSrc++;
+    *pDst++ = __SSAT(-*pSrc++, 16);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#else
+
+  q15_t in;
+
+  /* Run the below code for Cortex-M0 */
+
+  while(numSamples > 0u)
+  {
+    /* realOut + j (imagOut) = realIn+ j (-1) imagIn */
+    /* Calculate Complex Conjugate and then store the results in the destination buffer. */
+    *pDst++ = *pSrc++;
+    in = *pSrc++;
+    *pDst++ = (in == (q15_t) 0x8000) ? 0x7fff : -in;
+
+    /* Decrement the loop counter */
+    numSamples--;
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/**    
+ * @} end of cmplx_conj group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q31.c
new file mode 100644
index 000000000..7475962d5
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q31.c
@@ -0,0 +1,172 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_cmplx_conj_q31.c    
+*    
+* Description:	Q31 complex conjugate.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* ---------------------------------------------------------------------------- */
+#include "arm_math.h"
+
+/**        
+ * @ingroup groupCmplxMath        
+ */
+
+/**        
+ * @addtogroup cmplx_conj        
+ * @{        
+ */
+
+/**        
+ * @brief  Q31 complex conjugate.        
+ * @param  *pSrc points to the input vector        
+ * @param  *pDst points to the output vector        
+ * @param  numSamples number of complex samples in each vector        
+ * @return none.        
+ *        
+ * Scaling and Overflow Behavior:        
+ * \par        
+ * The function uses saturating arithmetic.        
+ * The Q31 value -1 (0x80000000) will be saturated to the maximum allowable positive value 0x7FFFFFFF.        
+ */
+
+void arm_cmplx_conj_q31(
+  q31_t * pSrc,
+  q31_t * pDst,
+  uint32_t numSamples)
+{
+  uint32_t blkCnt;                               /* loop counter */
+  q31_t in;                                      /* Input value */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  q31_t inR1, inR2, inR3, inR4;                  /* Temporary real variables */
+  q31_t inI1, inI2, inI3, inI4;                  /* Temporary imaginary variables */
+
+  /*loop Unrolling */
+  blkCnt = numSamples >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.        
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C[0]+jC[1] = A[0]+ j (-1) A[1] */
+    /* Calculate Complex Conjugate and then store the results in the destination buffer. */
+    /* Saturated to 0x7fffffff if the input is -1(0x80000000) */
+    /* read real input sample */
+    inR1 = pSrc[0];
+    /* store real input sample */
+    pDst[0] = inR1;
+
+    /* read imaginary input sample */
+    inI1 = pSrc[1];
+
+    /* read real input sample */
+    inR2 = pSrc[2];
+    /* store real input sample */
+    pDst[2] = inR2;
+
+    /* read imaginary input sample */
+    inI2 = pSrc[3];
+
+    /* negate imaginary input sample */
+    inI1 = __QSUB(0, inI1);
+
+    /* read real input sample */
+    inR3 = pSrc[4];
+    /* store real input sample */
+    pDst[4] = inR3;
+
+    /* read imaginary input sample */
+    inI3 = pSrc[5];
+
+    /* negate imaginary input sample */
+    inI2 = __QSUB(0, inI2);
+
+    /* read real input sample */
+    inR4 = pSrc[6];
+    /* store real input sample */
+    pDst[6] = inR4;
+
+    /* negate imaginary input sample */
+    inI3 = __QSUB(0, inI3);
+
+    /* store imaginary input sample */
+    inI4 = pSrc[7];
+
+    /* store imaginary input samples */
+    pDst[1] = inI1;
+
+    /* negate imaginary input sample */
+    inI4 = __QSUB(0, inI4);
+
+    /* store imaginary input samples */
+    pDst[3] = inI2;
+
+    /* increment source pointer by 8 to proecess next samples */
+    pSrc += 8u;
+
+    /* store imaginary input samples */
+    pDst[5] = inI3;
+    pDst[7] = inI4;
+
+    /* increment destination pointer by 8 to process next samples */
+    pDst += 8u;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.        
+   ** No loop unrolling is used. */
+  blkCnt = numSamples % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+  blkCnt = numSamples;
+
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C[0]+jC[1] = A[0]+ j (-1) A[1] */
+    /* Calculate Complex Conjugate and then store the results in the destination buffer. */
+    /* Saturated to 0x7fffffff if the input is -1(0x80000000) */
+    *pDst++ = *pSrc++;
+    in = *pSrc++;
+    *pDst++ = (in == 0x80000000) ? 0x7fffffff : -in;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+}
+
+/**        
+ * @} end of cmplx_conj group        
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_f32.c
new file mode 100644
index 000000000..4f265d690
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_f32.c
@@ -0,0 +1,160 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_cmplx_dot_prod_f32.c    
+*    
+* Description:	Floating-point complex dot product    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupCmplxMath    
+ */
+
+/**    
+ * @defgroup cmplx_dot_prod Complex Dot Product    
+ *    
+ * Computes the dot product of two complex vectors.    
+ * The vectors are multiplied element-by-element and then summed.    
+ *   
+ * The pSrcA points to the first complex input vector and    
+ * pSrcB points to the second complex input vector.    
+ * numSamples specifies the number of complex samples    
+ * and the data in each array is stored in an interleaved fashion    
+ * (real, imag, real, imag, ...).    
+ * Each array has a total of 2*numSamples values.    
+ *    
+ * The underlying algorithm is used:    
+ * 
    
+ * realResult=0;    
+ * imagResult=0;    
+ * for(n=0; n    
+ *    
+ * There are separate functions for floating-point, Q15, and Q31 data types.    
+ */
+
+/**    
+ * @addtogroup cmplx_dot_prod    
+ * @{    
+ */
+
+/**    
+ * @brief  Floating-point complex dot product    
+ * @param  *pSrcA points to the first input vector    
+ * @param  *pSrcB points to the second input vector    
+ * @param  numSamples number of complex samples in each vector    
+ * @param  *realResult real part of the result returned here    
+ * @param  *imagResult imaginary part of the result returned here    
+ * @return none.    
+ */
+
+void arm_cmplx_dot_prod_f32(
+  float32_t * pSrcA,
+  float32_t * pSrcB,
+  uint32_t numSamples,
+  float32_t * realResult,
+  float32_t * imagResult)
+{
+  float32_t real_sum = 0.0f, imag_sum = 0.0f;    /* Temporary result storage */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  uint32_t blkCnt;                               /* loop counter */
+
+  /*loop Unrolling */
+  blkCnt = numSamples >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* CReal = A[0]* B[0] + A[2]* B[2] + A[4]* B[4] + .....+ A[numSamples-2]* B[numSamples-2] */
+    real_sum += (*pSrcA++) * (*pSrcB++);
+    /* CImag = A[1]* B[1] + A[3]* B[3] + A[5]* B[5] + .....+ A[numSamples-1]* B[numSamples-1] */
+    imag_sum += (*pSrcA++) * (*pSrcB++);
+
+    real_sum += (*pSrcA++) * (*pSrcB++);
+    imag_sum += (*pSrcA++) * (*pSrcB++);
+
+    real_sum += (*pSrcA++) * (*pSrcB++);
+    imag_sum += (*pSrcA++) * (*pSrcB++);
+
+    real_sum += (*pSrcA++) * (*pSrcB++);
+    imag_sum += (*pSrcA++) * (*pSrcB++);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = numSamples % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* CReal = A[0]* B[0] + A[2]* B[2] + A[4]* B[4] + .....+ A[numSamples-2]* B[numSamples-2] */
+    real_sum += (*pSrcA++) * (*pSrcB++);
+    /* CImag = A[1]* B[1] + A[3]* B[3] + A[5]* B[5] + .....+ A[numSamples-1]* B[numSamples-1] */
+    imag_sum += (*pSrcA++) * (*pSrcB++);
+
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  while(numSamples > 0u)
+  {
+    /* CReal = A[0]* B[0] + A[2]* B[2] + A[4]* B[4] + .....+ A[numSamples-2]* B[numSamples-2] */
+    real_sum += (*pSrcA++) * (*pSrcB++);
+    /* CImag = A[1]* B[1] + A[3]* B[3] + A[5]* B[5] + .....+ A[numSamples-1]* B[numSamples-1] */
+    imag_sum += (*pSrcA++) * (*pSrcB++);
+
+
+    /* Decrement the loop counter */
+    numSamples--;
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  /* Store the real and imaginary results in the destination buffers */
+  *realResult = real_sum;
+  *imagResult = imag_sum;
+}
+
+/**    
+ * @} end of cmplx_dot_prod group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q15.c
new file mode 100644
index 000000000..33df820a5
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q15.c
@@ -0,0 +1,144 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_cmplx_dot_prod_q15.c    
+*    
+* Description:	Processing function for the Q15 Complex Dot product    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupCmplxMath    
+ */
+
+/**    
+ * @addtogroup cmplx_dot_prod    
+ * @{    
+ */
+
+/**    
+ * @brief  Q15 complex dot product    
+ * @param  *pSrcA points to the first input vector    
+ * @param  *pSrcB points to the second input vector    
+ * @param  numSamples number of complex samples in each vector    
+ * @param  *realResult real part of the result returned here    
+ * @param  *imagResult imaginary part of the result returned here    
+ * @return none.    
+ *    
+ * Scaling and Overflow Behavior:    
+ * \par    
+ * The function is implemented using an internal 64-bit accumulator.    
+ * The intermediate 1.15 by 1.15 multiplications are performed with full precision and yield a 2.30 result.    
+ * These are accumulated in a 64-bit accumulator with 34.30 precision.    
+ * As a final step, the accumulators are converted to 8.24 format.    
+ * The return results realResult and imagResult are in 8.24 format.    
+ */
+
+void arm_cmplx_dot_prod_q15(
+  q15_t * pSrcA,
+  q15_t * pSrcB,
+  uint32_t numSamples,
+  q31_t * realResult,
+  q31_t * imagResult)
+{
+  q63_t real_sum = 0, imag_sum = 0;              /* Temporary result storage */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  uint32_t blkCnt;                               /* loop counter */
+
+
+  /*loop Unrolling */
+  blkCnt = numSamples >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* CReal = A[0]* B[0] + A[2]* B[2] + A[4]* B[4] + .....+ A[numSamples-2]* B[numSamples-2] */
+    real_sum += ((q31_t) * pSrcA++ * *pSrcB++);
+
+    /* CImag = A[1]* B[1] + A[3]* B[3] + A[5]* B[5] + .....+ A[numSamples-1]* B[numSamples-1] */
+    imag_sum += ((q31_t) * pSrcA++ * *pSrcB++);
+
+    real_sum += ((q31_t) * pSrcA++ * *pSrcB++);
+    imag_sum += ((q31_t) * pSrcA++ * *pSrcB++);
+
+    real_sum += ((q31_t) * pSrcA++ * *pSrcB++);
+    imag_sum += ((q31_t) * pSrcA++ * *pSrcB++);
+
+    real_sum += ((q31_t) * pSrcA++ * *pSrcB++);
+    imag_sum += ((q31_t) * pSrcA++ * *pSrcB++);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = numSamples % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* CReal = A[0]* B[0] + A[2]* B[2] + A[4]* B[4] + .....+ A[numSamples-2]* B[numSamples-2] */
+    real_sum += ((q31_t) * pSrcA++ * *pSrcB++);
+    /* CImag = A[1]* B[1] + A[3]* B[3] + A[5]* B[5] + .....+ A[numSamples-1]* B[numSamples-1] */
+    imag_sum += ((q31_t) * pSrcA++ * *pSrcB++);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  while(numSamples > 0u)
+  {
+    /* CReal = A[0]* B[0] + A[2]* B[2] + A[4]* B[4] + .....+ A[numSamples-2]* B[numSamples-2] */
+    real_sum += ((q31_t) * pSrcA++ * *pSrcB++);
+    /* CImag = A[1]* B[1] + A[3]* B[3] + A[5]* B[5] + .....+ A[numSamples-1]* B[numSamples-1] */
+    imag_sum += ((q31_t) * pSrcA++ * *pSrcB++);
+
+    /* Decrement the loop counter */
+    numSamples--;
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  /* Store the real and imaginary results in 8.24 format  */
+  /* Convert real data in 34.30 to 8.24 by 6 right shifts */
+  *realResult = (q31_t) (real_sum) >> 6;
+  /* Convert imaginary data in 34.30 to 8.24 by 6 right shifts */
+  *imagResult = (q31_t) (imag_sum) >> 6;
+}
+
+/**    
+ * @} end of cmplx_dot_prod group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q31.c
new file mode 100644
index 000000000..d371dff8b
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q31.c
@@ -0,0 +1,145 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_cmplx_dot_prod_q31.c    
+*    
+* Description:	Q31 complex dot product    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupCmplxMath    
+ */
+
+/**    
+ * @addtogroup cmplx_dot_prod    
+ * @{    
+ */
+
+/**    
+ * @brief  Q31 complex dot product    
+ * @param  *pSrcA points to the first input vector    
+ * @param  *pSrcB points to the second input vector    
+ * @param  numSamples number of complex samples in each vector    
+ * @param  *realResult real part of the result returned here    
+ * @param  *imagResult imaginary part of the result returned here    
+ * @return none.    
+ *    
+ * Scaling and Overflow Behavior:    
+ * \par    
+ * The function is implemented using an internal 64-bit accumulator.    
+ * The intermediate 1.31 by 1.31 multiplications are performed with 64-bit precision and then shifted to 16.48 format.    
+ * The internal real and imaginary accumulators are in 16.48 format and provide 15 guard bits.    
+ * Additions are nonsaturating and no overflow will occur as long as numSamples is less than 32768.    
+ * The return results realResult and imagResult are in 16.48 format.    
+ * Input down scaling is not required.    
+ */
+
+void arm_cmplx_dot_prod_q31(
+  q31_t * pSrcA,
+  q31_t * pSrcB,
+  uint32_t numSamples,
+  q63_t * realResult,
+  q63_t * imagResult)
+{
+  q63_t real_sum = 0, imag_sum = 0;              /* Temporary result storage */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  uint32_t blkCnt;                               /* loop counter */
+
+
+  /*loop Unrolling */
+  blkCnt = numSamples >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* CReal = A[0]* B[0] + A[2]* B[2] + A[4]* B[4] + .....+ A[numSamples-2]* B[numSamples-2] */
+    /* Convert real data in 2.62 to 16.48 by 14 right shifts */
+    real_sum += (q63_t) * pSrcA++ * (*pSrcB++) >> 14;
+    /* CImag = A[1]* B[1] + A[3]* B[3] + A[5]* B[5] + .....+ A[numSamples-1]* B[numSamples-1] */
+    /* Convert imag data in 2.62 to 16.48 by 14 right shifts */
+    imag_sum += (q63_t) * pSrcA++ * (*pSrcB++) >> 14;
+
+    real_sum += (q63_t) * pSrcA++ * (*pSrcB++) >> 14;
+    imag_sum += (q63_t) * pSrcA++ * (*pSrcB++) >> 14;
+
+    real_sum += (q63_t) * pSrcA++ * (*pSrcB++) >> 14;
+    imag_sum += (q63_t) * pSrcA++ * (*pSrcB++) >> 14;
+
+    real_sum += (q63_t) * pSrcA++ * (*pSrcB++) >> 14;
+    imag_sum += (q63_t) * pSrcA++ * (*pSrcB++) >> 14;
+
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the numSamples  is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = numSamples % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* CReal = A[0]* B[0] + A[2]* B[2] + A[4]* B[4] + .....+ A[numSamples-2]* B[numSamples-2] */
+    real_sum += (q63_t) * pSrcA++ * (*pSrcB++) >> 14;
+    /* CImag = A[1]* B[1] + A[3]* B[3] + A[5]* B[5] + .....+ A[numSamples-1]* B[numSamples-1] */
+    imag_sum += (q63_t) * pSrcA++ * (*pSrcB++) >> 14;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  while(numSamples > 0u)
+  {
+    /* outReal = realA[0]* realB[0] + realA[2]* realB[2] + realA[4]* realB[4] + .....+ realA[numSamples-2]* realB[numSamples-2] */
+    real_sum += (q63_t) * pSrcA++ * (*pSrcB++) >> 14;
+    /* outImag = imagA[1]* imagB[1] + imagA[3]* imagB[3] + imagA[5]* imagB[5] + .....+ imagA[numSamples-1]* imagB[numSamples-1] */
+    imag_sum += (q63_t) * pSrcA++ * (*pSrcB++) >> 14;
+
+    /* Decrement the loop counter */
+    numSamples--;
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  /* Store the real and imaginary results in 16.48 format  */
+  *realResult = real_sum;
+  *imagResult = imag_sum;
+}
+
+/**    
+ * @} end of cmplx_dot_prod group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_f32.c
new file mode 100644
index 000000000..59bbc2742
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_f32.c
@@ -0,0 +1,157 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_cmplx_mag_f32.c    
+*    
+* Description:	Floating-point complex magnitude.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupCmplxMath    
+ */
+
+/**    
+ * @defgroup cmplx_mag Complex Magnitude    
+ *    
+ * Computes the magnitude of the elements of a complex data vector.    
+ *   
+ * The pSrc points to the source data and    
+ * pDst points to the where the result should be written.    
+ * numSamples specifies the number of complex samples    
+ * in the input array and the data is stored in an interleaved fashion    
+ * (real, imag, real, imag, ...).    
+ * The input array has a total of 2*numSamples values;    
+ * the output array has a total of numSamples values.    
+ * The underlying algorithm is used:    
+ *    
+ * 
    
+ * for(n=0; n    
+ *    
+ * There are separate functions for floating-point, Q15, and Q31 data types.    
+ */
+
+/**    
+ * @addtogroup cmplx_mag    
+ * @{    
+ */
+/**    
+ * @brief Floating-point complex magnitude.    
+ * @param[in]       *pSrc points to complex input buffer    
+ * @param[out]      *pDst points to real output buffer    
+ * @param[in]       numSamples number of complex samples in the input vector    
+ * @return none.    
+ *    
+ */
+
+
+void arm_cmplx_mag_f32(
+  float32_t * pSrc,
+  float32_t * pDst,
+  uint32_t numSamples)
+{
+  float32_t realIn, imagIn;                      /* Temporary variables to hold input values */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  uint32_t blkCnt;                               /* loop counter */
+
+  /*loop Unrolling */
+  blkCnt = numSamples >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+
+    /* C[0] = sqrt(A[0] * A[0] + A[1] * A[1]) */
+    realIn = *pSrc++;
+    imagIn = *pSrc++;
+    /* store the result in the destination buffer. */
+    arm_sqrt_f32((realIn * realIn) + (imagIn * imagIn), pDst++);
+
+    realIn = *pSrc++;
+    imagIn = *pSrc++;
+    arm_sqrt_f32((realIn * realIn) + (imagIn * imagIn), pDst++);
+
+    realIn = *pSrc++;
+    imagIn = *pSrc++;
+    arm_sqrt_f32((realIn * realIn) + (imagIn * imagIn), pDst++);
+
+    realIn = *pSrc++;
+    imagIn = *pSrc++;
+    arm_sqrt_f32((realIn * realIn) + (imagIn * imagIn), pDst++);
+
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = numSamples % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C[0] = sqrt(A[0] * A[0] + A[1] * A[1]) */
+    realIn = *pSrc++;
+    imagIn = *pSrc++;
+    /* store the result in the destination buffer. */
+    arm_sqrt_f32((realIn * realIn) + (imagIn * imagIn), pDst++);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  while(numSamples > 0u)
+  {
+    /* out = sqrt((real * real) + (imag * imag)) */
+    realIn = *pSrc++;
+    imagIn = *pSrc++;
+    /* store the result in the destination buffer. */
+    arm_sqrt_f32((realIn * realIn) + (imagIn * imagIn), pDst++);
+
+    /* Decrement the loop counter */
+    numSamples--;
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/**    
+ * @} end of cmplx_mag group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q15.c
new file mode 100644
index 000000000..122ca8bc1
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q15.c
@@ -0,0 +1,145 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_cmplx_mag_q15.c    
+*    
+* Description:	Q15 complex magnitude.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupCmplxMath    
+ */
+
+/**    
+ * @addtogroup cmplx_mag    
+ * @{    
+ */
+
+
+/**    
+ * @brief  Q15 complex magnitude    
+ * @param  *pSrc points to the complex input vector    
+ * @param  *pDst points to the real output vector    
+ * @param  numSamples number of complex samples in the input vector    
+ * @return none.    
+ *    
+ * Scaling and Overflow Behavior:    
+ * \par    
+ * The function implements 1.15 by 1.15 multiplications and finally output is converted into 2.14 format.    
+ */
+
+void arm_cmplx_mag_q15(
+  q15_t * pSrc,
+  q15_t * pDst,
+  uint32_t numSamples)
+{
+  q31_t acc0, acc1;                              /* Accumulators */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  uint32_t blkCnt;                               /* loop counter */
+  q31_t in1, in2, in3, in4;
+  q31_t acc2, acc3;
+
+
+  /*loop Unrolling */
+  blkCnt = numSamples >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+
+    /* C[0] = sqrt(A[0] * A[0] + A[1] * A[1]) */
+    in1 = *__SIMD32(pSrc)++;
+    in2 = *__SIMD32(pSrc)++;
+    in3 = *__SIMD32(pSrc)++;
+    in4 = *__SIMD32(pSrc)++;
+
+    acc0 = __SMUAD(in1, in1);
+    acc1 = __SMUAD(in2, in2);
+    acc2 = __SMUAD(in3, in3);
+    acc3 = __SMUAD(in4, in4);
+
+    /* store the result in 2.14 format in the destination buffer. */
+    arm_sqrt_q15((q15_t) ((acc0) >> 17), pDst++);
+    arm_sqrt_q15((q15_t) ((acc1) >> 17), pDst++);
+    arm_sqrt_q15((q15_t) ((acc2) >> 17), pDst++);
+    arm_sqrt_q15((q15_t) ((acc3) >> 17), pDst++);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = numSamples % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C[0] = sqrt(A[0] * A[0] + A[1] * A[1]) */
+    in1 = *__SIMD32(pSrc)++;
+    acc0 = __SMUAD(in1, in1);
+
+    /* store the result in 2.14 format in the destination buffer. */
+    arm_sqrt_q15((q15_t) (acc0 >> 17), pDst++);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+  q15_t real, imag;                              /* Temporary variables to hold input values */
+
+  while(numSamples > 0u)
+  {
+    /* out = sqrt(real * real + imag * imag) */
+    real = *pSrc++;
+    imag = *pSrc++;
+
+    acc0 = (real * real);
+    acc1 = (imag * imag);
+
+    /* store the result in 2.14 format in the destination buffer. */
+    arm_sqrt_q15((q15_t) (((q63_t) acc0 + acc1) >> 17), pDst++);
+
+    /* Decrement the loop counter */
+    numSamples--;
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/**    
+ * @} end of cmplx_mag group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q31.c
new file mode 100644
index 000000000..59384f5dc
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q31.c
@@ -0,0 +1,177 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_cmplx_mag_q31.c    
+*    
+* Description:	Q31 complex magnitude    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**        
+ * @ingroup groupCmplxMath        
+ */
+
+/**        
+ * @addtogroup cmplx_mag        
+ * @{        
+ */
+
+/**        
+ * @brief  Q31 complex magnitude        
+ * @param  *pSrc points to the complex input vector        
+ * @param  *pDst points to the real output vector        
+ * @param  numSamples number of complex samples in the input vector        
+ * @return none.        
+ *        
+ * Scaling and Overflow Behavior:        
+ * \par        
+ * The function implements 1.31 by 1.31 multiplications and finally output is converted into 2.30 format.        
+ * Input down scaling is not required.        
+ */
+
+void arm_cmplx_mag_q31(
+  q31_t * pSrc,
+  q31_t * pDst,
+  uint32_t numSamples)
+{
+  q31_t real, imag;                              /* Temporary variables to hold input values */
+  q31_t acc0, acc1;                              /* Accumulators */
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  q31_t real1, real2, imag1, imag2;              /* Temporary variables to hold input values */
+  q31_t out1, out2, out3, out4;                  /* Accumulators */
+  q63_t mul1, mul2, mul3, mul4;                  /* Temporary variables */
+
+
+  /*loop Unrolling */
+  blkCnt = numSamples >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.        
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* read complex input from source buffer */
+    real1 = pSrc[0];
+    imag1 = pSrc[1];
+    real2 = pSrc[2];
+    imag2 = pSrc[3];
+
+    /* calculate power of input values */
+    mul1 = (q63_t) real1 *real1;
+    mul2 = (q63_t) imag1 *imag1;
+    mul3 = (q63_t) real2 *real2;
+    mul4 = (q63_t) imag2 *imag2;
+
+    /* get the result to 3.29 format */
+    out1 = (q31_t) (mul1 >> 33);
+    out2 = (q31_t) (mul2 >> 33);
+    out3 = (q31_t) (mul3 >> 33);
+    out4 = (q31_t) (mul4 >> 33);
+
+    /* add real and imaginary accumulators */
+    out1 = out1 + out2;
+    out3 = out3 + out4;
+
+    /* read complex input from source buffer */
+    real1 = pSrc[4];
+    imag1 = pSrc[5];
+    real2 = pSrc[6];
+    imag2 = pSrc[7];
+
+    /* calculate square root */
+    arm_sqrt_q31(out1, &pDst[0]);
+
+    /* calculate power of input values */
+    mul1 = (q63_t) real1 *real1;
+
+    /* calculate square root */
+    arm_sqrt_q31(out3, &pDst[1]);
+
+    /* calculate power of input values */
+    mul2 = (q63_t) imag1 *imag1;
+    mul3 = (q63_t) real2 *real2;
+    mul4 = (q63_t) imag2 *imag2;
+
+    /* get the result to 3.29 format */
+    out1 = (q31_t) (mul1 >> 33);
+    out2 = (q31_t) (mul2 >> 33);
+    out3 = (q31_t) (mul3 >> 33);
+    out4 = (q31_t) (mul4 >> 33);
+
+    /* add real and imaginary accumulators */
+    out1 = out1 + out2;
+    out3 = out3 + out4;
+
+    /* calculate square root */
+    arm_sqrt_q31(out1, &pDst[2]);
+
+    /* increment destination by 8 to process next samples */
+    pSrc += 8u;
+
+    /* calculate square root */
+    arm_sqrt_q31(out3, &pDst[3]);
+
+    /* increment destination by 4 to process next samples */
+    pDst += 4u;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.        
+   ** No loop unrolling is used. */
+  blkCnt = numSamples % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+  blkCnt = numSamples;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C[0] = sqrt(A[0] * A[0] + A[1] * A[1]) */
+    real = *pSrc++;
+    imag = *pSrc++;
+    acc0 = (q31_t) (((q63_t) real * real) >> 33);
+    acc1 = (q31_t) (((q63_t) imag * imag) >> 33);
+    /* store the result in 2.30 format in the destination buffer. */
+    arm_sqrt_q31(acc0 + acc1, pDst++);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+}
+
+/**        
+ * @} end of cmplx_mag group        
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_f32.c
new file mode 100644
index 000000000..7350fd1c9
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_f32.c
@@ -0,0 +1,207 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_cmplx_mag_squared_f32.c    
+*    
+* Description:	Floating-point complex magnitude squared.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* ---------------------------------------------------------------------------- */
+#include "arm_math.h"
+
+/**        
+ * @ingroup groupCmplxMath        
+ */
+
+/**        
+ * @defgroup cmplx_mag_squared Complex Magnitude Squared        
+ *        
+ * Computes the magnitude squared of the elements of a complex data vector.        
+ *       
+ * The pSrc points to the source data and        
+ * pDst points to the where the result should be written.        
+ * numSamples specifies the number of complex samples        
+ * in the input array and the data is stored in an interleaved fashion        
+ * (real, imag, real, imag, ...).        
+ * The input array has a total of 2*numSamples values;        
+ * the output array has a total of numSamples values.        
+ *        
+ * The underlying algorithm is used:        
+ *        
+ * 
        
+ * for(n=0; n        
+ *        
+ * There are separate functions for floating-point, Q15, and Q31 data types.        
+ */
+
+/**        
+ * @addtogroup cmplx_mag_squared        
+ * @{        
+ */
+
+
+/**        
+ * @brief  Floating-point complex magnitude squared        
+ * @param[in]  *pSrc points to the complex input vector        
+ * @param[out]  *pDst points to the real output vector        
+ * @param[in]  numSamples number of complex samples in the input vector        
+ * @return none.        
+ */
+
+void arm_cmplx_mag_squared_f32(
+  float32_t * pSrc,
+  float32_t * pDst,
+  uint32_t numSamples)
+{
+  float32_t real, imag;                          /* Temporary variables to store real and imaginary values */
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+  float32_t real1, real2, real3, real4;          /* Temporary variables to hold real values */
+  float32_t imag1, imag2, imag3, imag4;          /* Temporary variables to hold imaginary values */
+  float32_t mul1, mul2, mul3, mul4;              /* Temporary variables */
+  float32_t mul5, mul6, mul7, mul8;              /* Temporary variables */
+  float32_t out1, out2, out3, out4;              /* Temporary variables to hold output values */
+
+  /*loop Unrolling */
+  blkCnt = numSamples >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.        
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C[0] = (A[0] * A[0] + A[1] * A[1]) */
+    /* read real input sample from source buffer */
+    real1 = pSrc[0];
+    /* read imaginary input sample from source buffer */
+    imag1 = pSrc[1];
+
+    /* calculate power of real value */
+    mul1 = real1 * real1;
+
+    /* read real input sample from source buffer */
+    real2 = pSrc[2];
+
+    /* calculate power of imaginary value */
+    mul2 = imag1 * imag1;
+
+    /* read imaginary input sample from source buffer */
+    imag2 = pSrc[3];
+
+    /* calculate power of real value */
+    mul3 = real2 * real2;
+
+    /* read real input sample from source buffer */
+    real3 = pSrc[4];
+
+    /* calculate power of imaginary value */
+    mul4 = imag2 * imag2;
+
+    /* read imaginary input sample from source buffer */
+    imag3 = pSrc[5];
+
+    /* calculate power of real value */
+    mul5 = real3 * real3;
+    /* calculate power of imaginary value */
+    mul6 = imag3 * imag3;
+
+    /* read real input sample from source buffer */
+    real4 = pSrc[6];
+
+    /* accumulate real and imaginary powers */
+    out1 = mul1 + mul2;
+
+    /* read imaginary input sample from source buffer */
+    imag4 = pSrc[7];
+
+    /* accumulate real and imaginary powers */
+    out2 = mul3 + mul4;
+
+    /* calculate power of real value */
+    mul7 = real4 * real4;
+    /* calculate power of imaginary value */
+    mul8 = imag4 * imag4;
+
+    /* store output to destination */
+    pDst[0] = out1;
+
+    /* accumulate real and imaginary powers */
+    out3 = mul5 + mul6;
+
+    /* store output to destination */
+    pDst[1] = out2;
+
+    /* accumulate real and imaginary powers */
+    out4 = mul7 + mul8;
+
+    /* store output to destination */
+    pDst[2] = out3;
+
+    /* increment destination pointer by 8 to process next samples */
+    pSrc += 8u;
+
+    /* store output to destination */
+    pDst[3] = out4;
+
+    /* increment destination pointer by 4 to process next samples */
+    pDst += 4u;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.        
+   ** No loop unrolling is used. */
+  blkCnt = numSamples % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  blkCnt = numSamples;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C[0] = (A[0] * A[0] + A[1] * A[1]) */
+    real = *pSrc++;
+    imag = *pSrc++;
+
+    /* out = (real * real) + (imag * imag) */
+    /* store the result in the destination buffer. */
+    *pDst++ = (real * real) + (imag * imag);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+}
+
+/**        
+ * @} end of cmplx_mag_squared group        
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q15.c
new file mode 100644
index 000000000..623229b8f
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q15.c
@@ -0,0 +1,140 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_cmplx_mag_squared_q15.c    
+*    
+* Description:	Q15 complex magnitude squared.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupCmplxMath    
+ */
+
+/**    
+ * @addtogroup cmplx_mag_squared    
+ * @{    
+ */
+
+/**    
+ * @brief  Q15 complex magnitude squared    
+ * @param  *pSrc points to the complex input vector    
+ * @param  *pDst points to the real output vector    
+ * @param  numSamples number of complex samples in the input vector    
+ * @return none.    
+ *    
+ * Scaling and Overflow Behavior:    
+ * \par    
+ * The function implements 1.15 by 1.15 multiplications and finally output is converted into 3.13 format.    
+ */
+
+void arm_cmplx_mag_squared_q15(
+  q15_t * pSrc,
+  q15_t * pDst,
+  uint32_t numSamples)
+{
+  q31_t acc0, acc1;                              /* Accumulators */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  uint32_t blkCnt;                               /* loop counter */
+  q31_t in1, in2, in3, in4;
+  q31_t acc2, acc3;
+
+  /*loop Unrolling */
+  blkCnt = numSamples >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C[0] = (A[0] * A[0] + A[1] * A[1]) */
+    in1 = *__SIMD32(pSrc)++;
+    in2 = *__SIMD32(pSrc)++;
+    in3 = *__SIMD32(pSrc)++;
+    in4 = *__SIMD32(pSrc)++;
+
+    acc0 = __SMUAD(in1, in1);
+    acc1 = __SMUAD(in2, in2);
+    acc2 = __SMUAD(in3, in3);
+    acc3 = __SMUAD(in4, in4);
+
+    /* store the result in 3.13 format in the destination buffer. */
+    *pDst++ = (q15_t) (acc0 >> 17);
+    *pDst++ = (q15_t) (acc1 >> 17);
+    *pDst++ = (q15_t) (acc2 >> 17);
+    *pDst++ = (q15_t) (acc3 >> 17);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = numSamples % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C[0] = (A[0] * A[0] + A[1] * A[1]) */
+    in1 = *__SIMD32(pSrc)++;
+    acc0 = __SMUAD(in1, in1);
+
+    /* store the result in 3.13 format in the destination buffer. */
+    *pDst++ = (q15_t) (acc0 >> 17);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+  q15_t real, imag;                              /* Temporary variables to store real and imaginary values */
+
+  while(numSamples > 0u)
+  {
+    /* out = ((real * real) + (imag * imag)) */
+    real = *pSrc++;
+    imag = *pSrc++;
+    acc0 = (real * real);
+    acc1 = (imag * imag);
+    /* store the result in 3.13 format in the destination buffer. */
+    *pDst++ = (q15_t) (((q63_t) acc0 + acc1) >> 17);
+
+    /* Decrement the loop counter */
+    numSamples--;
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/**    
+ * @} end of cmplx_mag_squared group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q31.c
new file mode 100644
index 000000000..d45ccfab2
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q31.c
@@ -0,0 +1,153 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_cmplx_mag_squared_q31.c    
+*    
+* Description:	Q31 complex magnitude squared.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupCmplxMath    
+ */
+
+/**    
+ * @addtogroup cmplx_mag_squared    
+ * @{    
+ */
+
+
+/**    
+ * @brief  Q31 complex magnitude squared    
+ * @param  *pSrc points to the complex input vector    
+ * @param  *pDst points to the real output vector    
+ * @param  numSamples number of complex samples in the input vector    
+ * @return none.    
+ *    
+ * Scaling and Overflow Behavior:    
+ * \par    
+ * The function implements 1.31 by 1.31 multiplications and finally output is converted into 3.29 format.    
+ * Input down scaling is not required.    
+ */
+
+void arm_cmplx_mag_squared_q31(
+  q31_t * pSrc,
+  q31_t * pDst,
+  uint32_t numSamples)
+{
+  q31_t real, imag;                              /* Temporary variables to store real and imaginary values */
+  q31_t acc0, acc1;                              /* Accumulators */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  uint32_t blkCnt;                               /* loop counter */
+
+  /* loop Unrolling */
+  blkCnt = numSamples >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C[0] = (A[0] * A[0] + A[1] * A[1]) */
+    real = *pSrc++;
+    imag = *pSrc++;
+    acc0 = (q31_t) (((q63_t) real * real) >> 33);
+    acc1 = (q31_t) (((q63_t) imag * imag) >> 33);
+    /* store the result in 3.29 format in the destination buffer. */
+    *pDst++ = acc0 + acc1;
+
+    real = *pSrc++;
+    imag = *pSrc++;
+    acc0 = (q31_t) (((q63_t) real * real) >> 33);
+    acc1 = (q31_t) (((q63_t) imag * imag) >> 33);
+    /* store the result in 3.29 format in the destination buffer. */
+    *pDst++ = acc0 + acc1;
+
+    real = *pSrc++;
+    imag = *pSrc++;
+    acc0 = (q31_t) (((q63_t) real * real) >> 33);
+    acc1 = (q31_t) (((q63_t) imag * imag) >> 33);
+    /* store the result in 3.29 format in the destination buffer. */
+    *pDst++ = acc0 + acc1;
+
+    real = *pSrc++;
+    imag = *pSrc++;
+    acc0 = (q31_t) (((q63_t) real * real) >> 33);
+    acc1 = (q31_t) (((q63_t) imag * imag) >> 33);
+    /* store the result in 3.29 format in the destination buffer. */
+    *pDst++ = acc0 + acc1;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = numSamples % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C[0] = (A[0] * A[0] + A[1] * A[1]) */
+    real = *pSrc++;
+    imag = *pSrc++;
+    acc0 = (q31_t) (((q63_t) real * real) >> 33);
+    acc1 = (q31_t) (((q63_t) imag * imag) >> 33);
+    /* store the result in 3.29 format in the destination buffer. */
+    *pDst++ = acc0 + acc1;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  while(numSamples > 0u)
+  {
+    /* out = ((real * real) + (imag * imag)) */
+    real = *pSrc++;
+    imag = *pSrc++;
+    acc0 = (q31_t) (((q63_t) real * real) >> 33);
+    acc1 = (q31_t) (((q63_t) imag * imag) >> 33);
+    /* store the result in 3.29 format in the destination buffer. */
+    *pDst++ = acc0 + acc1;
+
+    /* Decrement the loop counter */
+    numSamples--;
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/**    
+ * @} end of cmplx_mag_squared group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_f32.c
new file mode 100644
index 000000000..2ec9ee862
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_f32.c
@@ -0,0 +1,199 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_cmplx_mult_cmplx_f32.c    
+*    
+* Description:	Floating-point complex-by-complex multiplication    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* -------------------------------------------------------------------- */
+#include "arm_math.h"
+
+/**        
+ * @ingroup groupCmplxMath        
+ */
+
+/**        
+ * @defgroup CmplxByCmplxMult Complex-by-Complex Multiplication        
+ *        
+ * Multiplies a complex vector by another complex vector and generates a complex result.        
+ * The data in the complex arrays is stored in an interleaved fashion        
+ * (real, imag, real, imag, ...).        
+ * The parameter numSamples represents the number of complex        
+ * samples processed.  The complex arrays have a total of 2*numSamples        
+ * real values.        
+ *        
+ * The underlying algorithm is used:        
+ *        
+ * 
        
+ * for(n=0; n        
+ *        
+ * There are separate functions for floating-point, Q15, and Q31 data types.        
+ */
+
+/**        
+ * @addtogroup CmplxByCmplxMult        
+ * @{        
+ */
+
+
+/**        
+ * @brief  Floating-point complex-by-complex multiplication        
+ * @param[in]  *pSrcA points to the first input vector        
+ * @param[in]  *pSrcB points to the second input vector        
+ * @param[out]  *pDst  points to the output vector        
+ * @param[in]  numSamples number of complex samples in each vector        
+ * @return none.        
+ */
+
+void arm_cmplx_mult_cmplx_f32(
+  float32_t * pSrcA,
+  float32_t * pSrcB,
+  float32_t * pDst,
+  uint32_t numSamples)
+{
+  float32_t a1, b1, c1, d1;                      /* Temporary variables to store real and imaginary values */
+  uint32_t blkCnt;                               /* loop counters */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  float32_t a2, b2, c2, d2;                      /* Temporary variables to store real and imaginary values */
+  float32_t acc1, acc2, acc3, acc4;
+
+
+  /* loop Unrolling */
+  blkCnt = numSamples >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.        
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C[2 * i] = A[2 * i] * B[2 * i] - A[2 * i + 1] * B[2 * i + 1].  */
+    /* C[2 * i + 1] = A[2 * i] * B[2 * i + 1] + A[2 * i + 1] * B[2 * i].  */
+    a1 = *pSrcA;                /* A[2 * i] */
+    c1 = *pSrcB;                /* B[2 * i] */
+
+    b1 = *(pSrcA + 1);          /* A[2 * i + 1] */
+    acc1 = a1 * c1;             /* acc1 = A[2 * i] * B[2 * i] */
+
+    a2 = *(pSrcA + 2);          /* A[2 * i + 2] */
+    acc2 = (b1 * c1);           /* acc2 = A[2 * i + 1] * B[2 * i] */
+
+    d1 = *(pSrcB + 1);          /* B[2 * i + 1] */
+    c2 = *(pSrcB + 2);          /* B[2 * i + 2] */
+    acc1 -= b1 * d1;            /* acc1 =      A[2 * i] * B[2 * i] - A[2 * i + 1] * B[2 * i + 1] */
+
+    d2 = *(pSrcB + 3);          /* B[2 * i + 3] */
+    acc3 = a2 * c2;             /* acc3 =       A[2 * i + 2] * B[2 * i + 2] */
+
+    b2 = *(pSrcA + 3);          /* A[2 * i + 3] */
+    acc2 += (a1 * d1);          /* acc2 =      A[2 * i + 1] * B[2 * i] + A[2 * i] * B[2 * i + 1] */
+
+    a1 = *(pSrcA + 4);          /* A[2 * i + 4] */
+    acc4 = (a2 * d2);           /* acc4 =   A[2 * i + 2] * B[2 * i + 3] */
+
+    c1 = *(pSrcB + 4);          /* B[2 * i + 4] */
+    acc3 -= (b2 * d2);          /* acc3 =       A[2 * i + 2] * B[2 * i + 2] - A[2 * i + 3] * B[2 * i + 3] */
+    *pDst = acc1;               /* C[2 * i] = A[2 * i] * B[2 * i] - A[2 * i + 1] * B[2 * i + 1] */
+
+    b1 = *(pSrcA + 5);          /* A[2 * i + 5] */
+    acc4 += b2 * c2;            /* acc4 =   A[2 * i + 2] * B[2 * i + 3] + A[2 * i + 3] * B[2 * i + 2] */
+
+    *(pDst + 1) = acc2;         /* C[2 * i + 1] = A[2 * i + 1] * B[2 * i] + A[2 * i] * B[2 * i + 1]  */
+    acc1 = (a1 * c1);
+
+    d1 = *(pSrcB + 5);
+    acc2 = (b1 * c1);
+
+    *(pDst + 2) = acc3;
+    *(pDst + 3) = acc4;
+
+    a2 = *(pSrcA + 6);
+    acc1 -= (b1 * d1);
+
+    c2 = *(pSrcB + 6);
+    acc2 += (a1 * d1);
+
+    b2 = *(pSrcA + 7);
+    acc3 = (a2 * c2);
+
+    d2 = *(pSrcB + 7);
+    acc4 = (b2 * c2);
+
+    *(pDst + 4) = acc1;
+    pSrcA += 8u;
+
+    acc3 -= (b2 * d2);
+    acc4 += (a2 * d2);
+
+    *(pDst + 5) = acc2;
+    pSrcB += 8u;
+
+    *(pDst + 6) = acc3;
+    *(pDst + 7) = acc4;
+
+    pDst += 8u;
+
+    /* Decrement the numSamples loop counter */
+    blkCnt--;
+  }
+
+  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.        
+   ** No loop unrolling is used. */
+  blkCnt = numSamples % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+  blkCnt = numSamples;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C[2 * i] = A[2 * i] * B[2 * i] - A[2 * i + 1] * B[2 * i + 1].  */
+    /* C[2 * i + 1] = A[2 * i] * B[2 * i + 1] + A[2 * i + 1] * B[2 * i].  */
+    a1 = *pSrcA++;
+    b1 = *pSrcA++;
+    c1 = *pSrcB++;
+    d1 = *pSrcB++;
+
+    /* store the result in the destination buffer. */
+    *pDst++ = (a1 * c1) - (b1 * d1);
+    *pDst++ = (a1 * d1) + (b1 * c1);
+
+    /* Decrement the numSamples loop counter */
+    blkCnt--;
+  }
+}
+
+/**        
+ * @} end of CmplxByCmplxMult group        
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q15.c
new file mode 100644
index 000000000..0219aea48
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q15.c
@@ -0,0 +1,185 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_cmplx_mult_cmplx_q15.c    
+*    
+* Description:	Q15 complex-by-complex multiplication    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupCmplxMath    
+ */
+
+/**    
+ * @addtogroup CmplxByCmplxMult    
+ * @{    
+ */
+
+/**    
+ * @brief  Q15 complex-by-complex multiplication    
+ * @param[in]  *pSrcA points to the first input vector    
+ * @param[in]  *pSrcB points to the second input vector    
+ * @param[out]  *pDst  points to the output vector    
+ * @param[in]  numSamples number of complex samples in each vector    
+ * @return none.    
+ *    
+ * Scaling and Overflow Behavior:    
+ * \par    
+ * The function implements 1.15 by 1.15 multiplications and finally output is converted into 3.13 format.    
+ */
+
+void arm_cmplx_mult_cmplx_q15(
+  q15_t * pSrcA,
+  q15_t * pSrcB,
+  q15_t * pDst,
+  uint32_t numSamples)
+{
+  q15_t a, b, c, d;                              /* Temporary variables to store real and imaginary values */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  uint32_t blkCnt;                               /* loop counters */
+
+  /* loop Unrolling */
+  blkCnt = numSamples >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C[2 * i] = A[2 * i] * B[2 * i] - A[2 * i + 1] * B[2 * i + 1].  */
+    /* C[2 * i + 1] = A[2 * i] * B[2 * i + 1] + A[2 * i + 1] * B[2 * i].  */
+    a = *pSrcA++;
+    b = *pSrcA++;
+    c = *pSrcB++;
+    d = *pSrcB++;
+
+    /* store the result in 3.13 format in the destination buffer. */
+    *pDst++ =
+      (q15_t) (q31_t) (((q31_t) a * c) >> 17) - (((q31_t) b * d) >> 17);
+    /* store the result in 3.13 format in the destination buffer. */
+    *pDst++ =
+      (q15_t) (q31_t) (((q31_t) a * d) >> 17) + (((q31_t) b * c) >> 17);
+
+    a = *pSrcA++;
+    b = *pSrcA++;
+    c = *pSrcB++;
+    d = *pSrcB++;
+
+    /* store the result in 3.13 format in the destination buffer. */
+    *pDst++ =
+      (q15_t) (q31_t) (((q31_t) a * c) >> 17) - (((q31_t) b * d) >> 17);
+    /* store the result in 3.13 format in the destination buffer. */
+    *pDst++ =
+      (q15_t) (q31_t) (((q31_t) a * d) >> 17) + (((q31_t) b * c) >> 17);
+
+    a = *pSrcA++;
+    b = *pSrcA++;
+    c = *pSrcB++;
+    d = *pSrcB++;
+
+    /* store the result in 3.13 format in the destination buffer. */
+    *pDst++ =
+      (q15_t) (q31_t) (((q31_t) a * c) >> 17) - (((q31_t) b * d) >> 17);
+    /* store the result in 3.13 format in the destination buffer. */
+    *pDst++ =
+      (q15_t) (q31_t) (((q31_t) a * d) >> 17) + (((q31_t) b * c) >> 17);
+
+    a = *pSrcA++;
+    b = *pSrcA++;
+    c = *pSrcB++;
+    d = *pSrcB++;
+
+    /* store the result in 3.13 format in the destination buffer. */
+    *pDst++ =
+      (q15_t) (q31_t) (((q31_t) a * c) >> 17) - (((q31_t) b * d) >> 17);
+    /* store the result in 3.13 format in the destination buffer. */
+    *pDst++ =
+      (q15_t) (q31_t) (((q31_t) a * d) >> 17) + (((q31_t) b * c) >> 17);
+
+    /* Decrement the blockSize loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = numSamples % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C[2 * i] = A[2 * i] * B[2 * i] - A[2 * i + 1] * B[2 * i + 1].  */
+    /* C[2 * i + 1] = A[2 * i] * B[2 * i + 1] + A[2 * i + 1] * B[2 * i].  */
+    a = *pSrcA++;
+    b = *pSrcA++;
+    c = *pSrcB++;
+    d = *pSrcB++;
+
+    /* store the result in 3.13 format in the destination buffer. */
+    *pDst++ =
+      (q15_t) (q31_t) (((q31_t) a * c) >> 17) - (((q31_t) b * d) >> 17);
+    /* store the result in 3.13 format in the destination buffer. */
+    *pDst++ =
+      (q15_t) (q31_t) (((q31_t) a * d) >> 17) + (((q31_t) b * c) >> 17);
+
+    /* Decrement the blockSize loop counter */
+    blkCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  while(numSamples > 0u)
+  {
+    /* C[2 * i] = A[2 * i] * B[2 * i] - A[2 * i + 1] * B[2 * i + 1].  */
+    /* C[2 * i + 1] = A[2 * i] * B[2 * i + 1] + A[2 * i + 1] * B[2 * i].  */
+    a = *pSrcA++;
+    b = *pSrcA++;
+    c = *pSrcB++;
+    d = *pSrcB++;
+
+    /* store the result in 3.13 format in the destination buffer. */
+    *pDst++ =
+      (q15_t) (q31_t) (((q31_t) a * c) >> 17) - (((q31_t) b * d) >> 17);
+    /* store the result in 3.13 format in the destination buffer. */
+    *pDst++ =
+      (q15_t) (q31_t) (((q31_t) a * d) >> 17) + (((q31_t) b * c) >> 17);
+
+    /* Decrement the blockSize loop counter */
+    numSamples--;
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/**    
+ * @} end of CmplxByCmplxMult group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q31.c
new file mode 100644
index 000000000..13fc060a2
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q31.c
@@ -0,0 +1,318 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_cmplx_mult_cmplx_q31.c    
+*    
+* Description:	Q31 complex-by-complex multiplication    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupCmplxMath    
+ */
+
+/**    
+ * @addtogroup CmplxByCmplxMult    
+ * @{    
+ */
+
+
+/**    
+ * @brief  Q31 complex-by-complex multiplication    
+ * @param[in]  *pSrcA points to the first input vector    
+ * @param[in]  *pSrcB points to the second input vector    
+ * @param[out]  *pDst  points to the output vector    
+ * @param[in]  numSamples number of complex samples in each vector    
+ * @return none.    
+ *    
+ * Scaling and Overflow Behavior:    
+ * \par    
+ * The function implements 1.31 by 1.31 multiplications and finally output is converted into 3.29 format.    
+ * Input down scaling is not required.    
+ */
+
+void arm_cmplx_mult_cmplx_q31(
+  q31_t * pSrcA,
+  q31_t * pSrcB,
+  q31_t * pDst,
+  uint32_t numSamples)
+{
+  q31_t a, b, c, d;                              /* Temporary variables to store real and imaginary values */
+  uint32_t blkCnt;                               /* loop counters */
+  q31_t mul1, mul2, mul3, mul4;
+  q31_t out1, out2;
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /* loop Unrolling */
+  blkCnt = numSamples >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C[2 * i] = A[2 * i] * B[2 * i] - A[2 * i + 1] * B[2 * i + 1].  */
+    /* C[2 * i + 1] = A[2 * i] * B[2 * i + 1] + A[2 * i + 1] * B[2 * i].  */
+    a = *pSrcA++;
+    b = *pSrcA++;
+    c = *pSrcB++;
+    d = *pSrcB++;
+
+    mul1 = (q31_t) (((q63_t) a * c) >> 32);
+    mul2 = (q31_t) (((q63_t) b * d) >> 32);
+    mul3 = (q31_t) (((q63_t) a * d) >> 32);
+    mul4 = (q31_t) (((q63_t) b * c) >> 32);
+
+    mul1 = (mul1 >> 1);
+    mul2 = (mul2 >> 1);
+    mul3 = (mul3 >> 1);
+    mul4 = (mul4 >> 1);
+
+    out1 = mul1 - mul2;
+    out2 = mul3 + mul4;
+
+    /* store the real result in 3.29 format in the destination buffer. */
+    *pDst++ = out1;
+    /* store the imag result in 3.29 format in the destination buffer. */
+    *pDst++ = out2;
+
+    a = *pSrcA++;
+    b = *pSrcA++;
+    c = *pSrcB++;
+    d = *pSrcB++;
+
+    mul1 = (q31_t) (((q63_t) a * c) >> 32);
+    mul2 = (q31_t) (((q63_t) b * d) >> 32);
+    mul3 = (q31_t) (((q63_t) a * d) >> 32);
+    mul4 = (q31_t) (((q63_t) b * c) >> 32);
+
+    mul1 = (mul1 >> 1);
+    mul2 = (mul2 >> 1);
+    mul3 = (mul3 >> 1);
+    mul4 = (mul4 >> 1);
+
+    out1 = mul1 - mul2;
+    out2 = mul3 + mul4;
+
+    /* store the real result in 3.29 format in the destination buffer. */
+    *pDst++ = out1;
+    /* store the imag result in 3.29 format in the destination buffer. */
+    *pDst++ = out2;
+
+    a = *pSrcA++;
+    b = *pSrcA++;
+    c = *pSrcB++;
+    d = *pSrcB++;
+
+    mul1 = (q31_t) (((q63_t) a * c) >> 32);
+    mul2 = (q31_t) (((q63_t) b * d) >> 32);
+    mul3 = (q31_t) (((q63_t) a * d) >> 32);
+    mul4 = (q31_t) (((q63_t) b * c) >> 32);
+
+    mul1 = (mul1 >> 1);
+    mul2 = (mul2 >> 1);
+    mul3 = (mul3 >> 1);
+    mul4 = (mul4 >> 1);
+
+    out1 = mul1 - mul2;
+    out2 = mul3 + mul4;
+
+    /* store the real result in 3.29 format in the destination buffer. */
+    *pDst++ = out1;
+    /* store the imag result in 3.29 format in the destination buffer. */
+    *pDst++ = out2;
+
+    a = *pSrcA++;
+    b = *pSrcA++;
+    c = *pSrcB++;
+    d = *pSrcB++;
+
+    mul1 = (q31_t) (((q63_t) a * c) >> 32);
+    mul2 = (q31_t) (((q63_t) b * d) >> 32);
+    mul3 = (q31_t) (((q63_t) a * d) >> 32);
+    mul4 = (q31_t) (((q63_t) b * c) >> 32);
+
+    mul1 = (mul1 >> 1);
+    mul2 = (mul2 >> 1);
+    mul3 = (mul3 >> 1);
+    mul4 = (mul4 >> 1);
+
+    out1 = mul1 - mul2;
+    out2 = mul3 + mul4;
+
+    /* store the real result in 3.29 format in the destination buffer. */
+    *pDst++ = out1;
+    /* store the imag result in 3.29 format in the destination buffer. */
+    *pDst++ = out2;
+
+    /* Decrement the blockSize loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = numSamples % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C[2 * i] = A[2 * i] * B[2 * i] - A[2 * i + 1] * B[2 * i + 1].  */
+    /* C[2 * i + 1] = A[2 * i] * B[2 * i + 1] + A[2 * i + 1] * B[2 * i].  */
+    a = *pSrcA++;
+    b = *pSrcA++;
+    c = *pSrcB++;
+    d = *pSrcB++;
+
+    mul1 = (q31_t) (((q63_t) a * c) >> 32);
+    mul2 = (q31_t) (((q63_t) b * d) >> 32);
+    mul3 = (q31_t) (((q63_t) a * d) >> 32);
+    mul4 = (q31_t) (((q63_t) b * c) >> 32);
+
+    mul1 = (mul1 >> 1);
+    mul2 = (mul2 >> 1);
+    mul3 = (mul3 >> 1);
+    mul4 = (mul4 >> 1);
+
+    out1 = mul1 - mul2;
+    out2 = mul3 + mul4;
+
+    /* store the real result in 3.29 format in the destination buffer. */
+    *pDst++ = out1;
+    /* store the imag result in 3.29 format in the destination buffer. */
+    *pDst++ = out2;
+
+    /* Decrement the blockSize loop counter */
+    blkCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* loop Unrolling */
+  blkCnt = numSamples >> 1u;
+
+  /* First part of the processing with loop unrolling.  Compute 2 outputs at a time.     
+   ** a second loop below computes the remaining 1 sample. */
+  while(blkCnt > 0u)
+  {
+    /* C[2 * i] = A[2 * i] * B[2 * i] - A[2 * i + 1] * B[2 * i + 1].  */
+    /* C[2 * i + 1] = A[2 * i] * B[2 * i + 1] + A[2 * i + 1] * B[2 * i].  */
+    a = *pSrcA++;
+    b = *pSrcA++;
+    c = *pSrcB++;
+    d = *pSrcB++;
+
+    mul1 = (q31_t) (((q63_t) a * c) >> 32);
+    mul2 = (q31_t) (((q63_t) b * d) >> 32);
+    mul3 = (q31_t) (((q63_t) a * d) >> 32);
+    mul4 = (q31_t) (((q63_t) b * c) >> 32);
+
+    mul1 = (mul1 >> 1);
+    mul2 = (mul2 >> 1);
+    mul3 = (mul3 >> 1);
+    mul4 = (mul4 >> 1);
+
+    out1 = mul1 - mul2;
+    out2 = mul3 + mul4;
+
+    /* store the real result in 3.29 format in the destination buffer. */
+    *pDst++ = out1;
+    /* store the imag result in 3.29 format in the destination buffer. */
+    *pDst++ = out2;
+
+    a = *pSrcA++;
+    b = *pSrcA++;
+    c = *pSrcB++;
+    d = *pSrcB++;
+
+    mul1 = (q31_t) (((q63_t) a * c) >> 32);
+    mul2 = (q31_t) (((q63_t) b * d) >> 32);
+    mul3 = (q31_t) (((q63_t) a * d) >> 32);
+    mul4 = (q31_t) (((q63_t) b * c) >> 32);
+
+    mul1 = (mul1 >> 1);
+    mul2 = (mul2 >> 1);
+    mul3 = (mul3 >> 1);
+    mul4 = (mul4 >> 1);
+
+    out1 = mul1 - mul2;
+    out2 = mul3 + mul4;
+
+    /* store the real result in 3.29 format in the destination buffer. */
+    *pDst++ = out1;
+    /* store the imag result in 3.29 format in the destination buffer. */
+    *pDst++ = out2;
+
+    /* Decrement the blockSize loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 2, compute any remaining output samples here.     
+   ** No loop unrolling is used. */
+  blkCnt = numSamples % 0x2u;
+
+  while(blkCnt > 0u)
+  {
+    /* C[2 * i] = A[2 * i] * B[2 * i] - A[2 * i + 1] * B[2 * i + 1].  */
+    /* C[2 * i + 1] = A[2 * i] * B[2 * i + 1] + A[2 * i + 1] * B[2 * i].  */
+    a = *pSrcA++;
+    b = *pSrcA++;
+    c = *pSrcB++;
+    d = *pSrcB++;
+
+    mul1 = (q31_t) (((q63_t) a * c) >> 32);
+    mul2 = (q31_t) (((q63_t) b * d) >> 32);
+    mul3 = (q31_t) (((q63_t) a * d) >> 32);
+    mul4 = (q31_t) (((q63_t) b * c) >> 32);
+
+    mul1 = (mul1 >> 1);
+    mul2 = (mul2 >> 1);
+    mul3 = (mul3 >> 1);
+    mul4 = (mul4 >> 1);
+
+    out1 = mul1 - mul2;
+    out2 = mul3 + mul4;
+
+    /* store the real result in 3.29 format in the destination buffer. */
+    *pDst++ = out1;
+    /* store the imag result in 3.29 format in the destination buffer. */
+    *pDst++ = out2;
+
+    /* Decrement the blockSize loop counter */
+    blkCnt--;
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/**    
+ * @} end of CmplxByCmplxMult group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_f32.c
new file mode 100644
index 000000000..7a5bdf9cd
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_f32.c
@@ -0,0 +1,217 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_cmplx_mult_real_f32.c    
+*    
+* Description:	Floating-point complex by real multiplication    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**        
+ * @ingroup groupCmplxMath        
+ */
+
+/**        
+ * @defgroup CmplxByRealMult Complex-by-Real Multiplication        
+ *        
+ * Multiplies a complex vector by a real vector and generates a complex result.        
+ * The data in the complex arrays is stored in an interleaved fashion        
+ * (real, imag, real, imag, ...).        
+ * The parameter numSamples represents the number of complex        
+ * samples processed.  The complex arrays have a total of 2*numSamples        
+ * real values while the real array has a total of numSamples        
+ * real values.        
+ *        
+ * The underlying algorithm is used:        
+ *        
+ * 
        
+ * for(n=0; n        
+ *        
+ * There are separate functions for floating-point, Q15, and Q31 data types.        
+ */
+
+/**        
+ * @addtogroup CmplxByRealMult        
+ * @{        
+ */
+
+
+/**        
+ * @brief  Floating-point complex-by-real multiplication        
+ * @param[in]  *pSrcCmplx points to the complex input vector        
+ * @param[in]  *pSrcReal points to the real input vector        
+ * @param[out]  *pCmplxDst points to the complex output vector        
+ * @param[in]  numSamples number of samples in each vector        
+ * @return none.        
+ */
+
+void arm_cmplx_mult_real_f32(
+  float32_t * pSrcCmplx,
+  float32_t * pSrcReal,
+  float32_t * pCmplxDst,
+  uint32_t numSamples)
+{
+  float32_t in;                                  /* Temporary variable to store input value */
+  uint32_t blkCnt;                               /* loop counters */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  float32_t inA1, inA2, inA3, inA4;              /* Temporary variables to hold input data */
+  float32_t inA5, inA6, inA7, inA8;              /* Temporary variables to hold input data */
+  float32_t inB1, inB2, inB3, inB4;              /* Temporary variables to hold input data */
+  float32_t out1, out2, out3, out4;              /* Temporary variables to hold output data */
+  float32_t out5, out6, out7, out8;              /* Temporary variables to hold output data */
+
+  /* loop Unrolling */
+  blkCnt = numSamples >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.        
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C[2 * i] = A[2 * i] * B[i].            */
+    /* C[2 * i + 1] = A[2 * i + 1] * B[i].        */
+    /* read input from complex input buffer */
+    inA1 = pSrcCmplx[0];
+    inA2 = pSrcCmplx[1];
+    /* read input from real input buffer */
+    inB1 = pSrcReal[0];
+
+    /* read input from complex input buffer */
+    inA3 = pSrcCmplx[2];
+
+    /* multiply complex buffer real input with real buffer input */
+    out1 = inA1 * inB1;
+
+    /* read input from complex input buffer */
+    inA4 = pSrcCmplx[3];
+
+    /* multiply complex buffer imaginary input with real buffer input */
+    out2 = inA2 * inB1;
+
+    /* read input from real input buffer */
+    inB2 = pSrcReal[1];
+    /* read input from complex input buffer */
+    inA5 = pSrcCmplx[4];
+
+    /* multiply complex buffer real input with real buffer input */
+    out3 = inA3 * inB2;
+
+    /* read input from complex input buffer */
+    inA6 = pSrcCmplx[5];
+    /* read input from real input buffer */
+    inB3 = pSrcReal[2];
+
+    /* multiply complex buffer imaginary input with real buffer input */
+    out4 = inA4 * inB2;
+
+    /* read input from complex input buffer */
+    inA7 = pSrcCmplx[6];
+
+    /* multiply complex buffer real input with real buffer input */
+    out5 = inA5 * inB3;
+
+    /* read input from complex input buffer */
+    inA8 = pSrcCmplx[7];
+
+    /* multiply complex buffer imaginary input with real buffer input */
+    out6 = inA6 * inB3;
+
+    /* read input from real input buffer */
+    inB4 = pSrcReal[3];
+
+    /* store result to destination bufer */
+    pCmplxDst[0] = out1;
+
+    /* multiply complex buffer real input with real buffer input */
+    out7 = inA7 * inB4;
+
+    /* store result to destination bufer */
+    pCmplxDst[1] = out2;
+
+    /* multiply complex buffer imaginary input with real buffer input */
+    out8 = inA8 * inB4;
+
+    /* store result to destination bufer */
+    pCmplxDst[2] = out3;
+    pCmplxDst[3] = out4;
+    pCmplxDst[4] = out5;
+
+    /* incremnet complex input buffer by 8 to process next samples */
+    pSrcCmplx += 8u;
+
+    /* store result to destination bufer */
+    pCmplxDst[5] = out6;
+
+    /* increment real input buffer by 4 to process next samples */
+    pSrcReal += 4u;
+
+    /* store result to destination bufer */
+    pCmplxDst[6] = out7;
+    pCmplxDst[7] = out8;
+
+    /* increment destination buffer by 8 to process next sampels */
+    pCmplxDst += 8u;
+
+    /* Decrement the numSamples loop counter */
+    blkCnt--;
+  }
+
+  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.        
+   ** No loop unrolling is used. */
+  blkCnt = numSamples % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+  blkCnt = numSamples;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C[2 * i] = A[2 * i] * B[i].            */
+    /* C[2 * i + 1] = A[2 * i + 1] * B[i].        */
+    in = *pSrcReal++;
+    /* store the result in the destination buffer. */
+    *pCmplxDst++ = (*pSrcCmplx++) * (in);
+    *pCmplxDst++ = (*pSrcCmplx++) * (in);
+
+    /* Decrement the numSamples loop counter */
+    blkCnt--;
+  }
+}
+
+/**        
+ * @} end of CmplxByRealMult group        
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_q15.c
new file mode 100644
index 000000000..a44158c4f
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_q15.c
@@ -0,0 +1,195 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_cmplx_mult_real_q15.c    
+*    
+* Description:	Q15 complex by real multiplication    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupCmplxMath    
+ */
+
+/**    
+ * @addtogroup CmplxByRealMult    
+ * @{    
+ */
+
+
+/**    
+ * @brief  Q15 complex-by-real multiplication    
+ * @param[in]  *pSrcCmplx points to the complex input vector    
+ * @param[in]  *pSrcReal points to the real input vector    
+ * @param[out]  *pCmplxDst points to the complex output vector    
+ * @param[in]  numSamples number of samples in each vector    
+ * @return none.    
+ *    
+ * Scaling and Overflow Behavior:    
+ * \par    
+ * The function uses saturating arithmetic.    
+ * Results outside of the allowable Q15 range [0x8000 0x7FFF] will be saturated.    
+ */
+
+void arm_cmplx_mult_real_q15(
+  q15_t * pSrcCmplx,
+  q15_t * pSrcReal,
+  q15_t * pCmplxDst,
+  uint32_t numSamples)
+{
+  q15_t in;                                      /* Temporary variable to store input value */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  uint32_t blkCnt;                               /* loop counters */
+  q31_t inA1, inA2;                              /* Temporary variables to hold input data */
+  q31_t inB1;                                    /* Temporary variables to hold input data */
+  q15_t out1, out2, out3, out4;                  /* Temporary variables to hold output data */
+  q31_t mul1, mul2, mul3, mul4;                  /* Temporary variables to hold intermediate data */
+
+  /* loop Unrolling */
+  blkCnt = numSamples >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C[2 * i] = A[2 * i] * B[i].            */
+    /* C[2 * i + 1] = A[2 * i + 1] * B[i].        */
+    /* read complex number both real and imaginary from complex input buffer */
+    inA1 = *__SIMD32(pSrcCmplx)++;
+    /* read two real values at a time from real input buffer */
+    inB1 = *__SIMD32(pSrcReal)++;
+    /* read complex number both real and imaginary from complex input buffer */
+    inA2 = *__SIMD32(pSrcCmplx)++;
+
+    /* multiply complex number with real numbers */
+#ifndef ARM_MATH_BIG_ENDIAN
+
+    mul1 = (q31_t) ((q15_t) (inA1) * (q15_t) (inB1));
+    mul2 = (q31_t) ((q15_t) (inA1 >> 16) * (q15_t) (inB1));
+    mul3 = (q31_t) ((q15_t) (inA2) * (q15_t) (inB1 >> 16));
+    mul4 = (q31_t) ((q15_t) (inA2 >> 16) * (q15_t) (inB1 >> 16));
+
+#else
+
+    mul2 = (q31_t) ((q15_t) (inA1 >> 16) * (q15_t) (inB1 >> 16));
+    mul1 = (q31_t) ((q15_t) inA1 * (q15_t) (inB1 >> 16));
+    mul4 = (q31_t) ((q15_t) (inA2 >> 16) * (q15_t) inB1);
+    mul3 = (q31_t) ((q15_t) inA2 * (q15_t) inB1);
+
+#endif //      #ifndef ARM_MATH_BIG_ENDIAN
+
+    /* saturate the result */
+    out1 = (q15_t) __SSAT(mul1 >> 15u, 16);
+    out2 = (q15_t) __SSAT(mul2 >> 15u, 16);
+    out3 = (q15_t) __SSAT(mul3 >> 15u, 16);
+    out4 = (q15_t) __SSAT(mul4 >> 15u, 16);
+
+    /* pack real and imaginary outputs and store them to destination */
+    *__SIMD32(pCmplxDst)++ = __PKHBT(out1, out2, 16);
+    *__SIMD32(pCmplxDst)++ = __PKHBT(out3, out4, 16);
+
+    inA1 = *__SIMD32(pSrcCmplx)++;
+    inB1 = *__SIMD32(pSrcReal)++;
+    inA2 = *__SIMD32(pSrcCmplx)++;
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+    mul1 = (q31_t) ((q15_t) (inA1) * (q15_t) (inB1));
+    mul2 = (q31_t) ((q15_t) (inA1 >> 16) * (q15_t) (inB1));
+    mul3 = (q31_t) ((q15_t) (inA2) * (q15_t) (inB1 >> 16));
+    mul4 = (q31_t) ((q15_t) (inA2 >> 16) * (q15_t) (inB1 >> 16));
+
+#else
+
+    mul2 = (q31_t) ((q15_t) (inA1 >> 16) * (q15_t) (inB1 >> 16));
+    mul1 = (q31_t) ((q15_t) inA1 * (q15_t) (inB1 >> 16));
+    mul4 = (q31_t) ((q15_t) (inA2 >> 16) * (q15_t) inB1);
+    mul3 = (q31_t) ((q15_t) inA2 * (q15_t) inB1);
+
+#endif //      #ifndef ARM_MATH_BIG_ENDIAN
+
+    out1 = (q15_t) __SSAT(mul1 >> 15u, 16);
+    out2 = (q15_t) __SSAT(mul2 >> 15u, 16);
+    out3 = (q15_t) __SSAT(mul3 >> 15u, 16);
+    out4 = (q15_t) __SSAT(mul4 >> 15u, 16);
+
+    *__SIMD32(pCmplxDst)++ = __PKHBT(out1, out2, 16);
+    *__SIMD32(pCmplxDst)++ = __PKHBT(out3, out4, 16);
+
+    /* Decrement the numSamples loop counter */
+    blkCnt--;
+  }
+
+  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = numSamples % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C[2 * i] = A[2 * i] * B[i].            */
+    /* C[2 * i + 1] = A[2 * i + 1] * B[i].        */
+    in = *pSrcReal++;
+    /* store the result in the destination buffer. */
+    *pCmplxDst++ =
+      (q15_t) __SSAT((((q31_t) (*pSrcCmplx++) * (in)) >> 15), 16);
+    *pCmplxDst++ =
+      (q15_t) __SSAT((((q31_t) (*pSrcCmplx++) * (in)) >> 15), 16);
+
+    /* Decrement the numSamples loop counter */
+    blkCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  while(numSamples > 0u)
+  {
+    /* realOut = realA * realB.            */
+    /* imagOut = imagA * realB.                */
+    in = *pSrcReal++;
+    /* store the result in the destination buffer. */
+    *pCmplxDst++ =
+      (q15_t) __SSAT((((q31_t) (*pSrcCmplx++) * (in)) >> 15), 16);
+    *pCmplxDst++ =
+      (q15_t) __SSAT((((q31_t) (*pSrcCmplx++) * (in)) >> 15), 16);
+
+    /* Decrement the numSamples loop counter */
+    numSamples--;
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/**    
+ * @} end of CmplxByRealMult group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_q31.c
new file mode 100644
index 000000000..b286acdb6
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_q31.c
@@ -0,0 +1,215 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_cmplx_mult_real_q31.c    
+*    
+* Description:	Q31 complex by real multiplication    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupCmplxMath    
+ */
+
+/**    
+ * @addtogroup CmplxByRealMult    
+ * @{    
+ */
+
+
+/**    
+ * @brief  Q31 complex-by-real multiplication    
+ * @param[in]  *pSrcCmplx points to the complex input vector    
+ * @param[in]  *pSrcReal points to the real input vector    
+ * @param[out]  *pCmplxDst points to the complex output vector    
+ * @param[in]  numSamples number of samples in each vector    
+ * @return none.    
+ *    
+ * Scaling and Overflow Behavior:    
+ * \par    
+ * The function uses saturating arithmetic.    
+ * Results outside of the allowable Q31 range[0x80000000 0x7FFFFFFF] will be saturated.    
+ */
+
+void arm_cmplx_mult_real_q31(
+  q31_t * pSrcCmplx,
+  q31_t * pSrcReal,
+  q31_t * pCmplxDst,
+  uint32_t numSamples)
+{
+  q31_t inA1;                                    /* Temporary variable to store input value */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  uint32_t blkCnt;                               /* loop counters */
+  q31_t inA2, inA3, inA4;                        /* Temporary variables to hold input data */
+  q31_t inB1, inB2;                              /* Temporary variabels to hold input data */
+  q31_t out1, out2, out3, out4;                  /* Temporary variables to hold output data */
+
+  /* loop Unrolling */
+  blkCnt = numSamples >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C[2 * i] = A[2 * i] * B[i].            */
+    /* C[2 * i + 1] = A[2 * i + 1] * B[i].        */
+    /* read real input from complex input buffer */
+    inA1 = *pSrcCmplx++;
+    inA2 = *pSrcCmplx++;
+    /* read input from real input bufer */
+    inB1 = *pSrcReal++;
+    inB2 = *pSrcReal++;
+    /* read imaginary input from complex input buffer */
+    inA3 = *pSrcCmplx++;
+    inA4 = *pSrcCmplx++;
+
+    /* multiply complex input with real input */
+    out1 = ((q63_t) inA1 * inB1) >> 32;
+    out2 = ((q63_t) inA2 * inB1) >> 32;
+    out3 = ((q63_t) inA3 * inB2) >> 32;
+    out4 = ((q63_t) inA4 * inB2) >> 32;
+
+    /* sature the result */
+    out1 = __SSAT(out1, 31);
+    out2 = __SSAT(out2, 31);
+    out3 = __SSAT(out3, 31);
+    out4 = __SSAT(out4, 31);
+
+    /* get result in 1.31 format */
+    out1 = out1 << 1;
+    out2 = out2 << 1;
+    out3 = out3 << 1;
+    out4 = out4 << 1;
+
+    /* store the result to destination buffer */
+    *pCmplxDst++ = out1;
+    *pCmplxDst++ = out2;
+    *pCmplxDst++ = out3;
+    *pCmplxDst++ = out4;
+
+    /* read real input from complex input buffer */
+    inA1 = *pSrcCmplx++;
+    inA2 = *pSrcCmplx++;
+    /* read input from real input bufer */
+    inB1 = *pSrcReal++;
+    inB2 = *pSrcReal++;
+    /* read imaginary input from complex input buffer */
+    inA3 = *pSrcCmplx++;
+    inA4 = *pSrcCmplx++;
+
+    /* multiply complex input with real input */
+    out1 = ((q63_t) inA1 * inB1) >> 32;
+    out2 = ((q63_t) inA2 * inB1) >> 32;
+    out3 = ((q63_t) inA3 * inB2) >> 32;
+    out4 = ((q63_t) inA4 * inB2) >> 32;
+
+    /* sature the result */
+    out1 = __SSAT(out1, 31);
+    out2 = __SSAT(out2, 31);
+    out3 = __SSAT(out3, 31);
+    out4 = __SSAT(out4, 31);
+
+    /* get result in 1.31 format */
+    out1 = out1 << 1;
+    out2 = out2 << 1;
+    out3 = out3 << 1;
+    out4 = out4 << 1;
+
+    /* store the result to destination buffer */
+    *pCmplxDst++ = out1;
+    *pCmplxDst++ = out2;
+    *pCmplxDst++ = out3;
+    *pCmplxDst++ = out4;
+
+    /* Decrement the numSamples loop counter */
+    blkCnt--;
+  }
+
+  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = numSamples % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C[2 * i] = A[2 * i] * B[i].            */
+    /* C[2 * i + 1] = A[2 * i + 1] * B[i].        */
+    /* read real input from complex input buffer */
+    inA1 = *pSrcCmplx++;
+    inA2 = *pSrcCmplx++;
+    /* read input from real input bufer */
+    inB1 = *pSrcReal++;
+
+    /* multiply complex input with real input */
+    out1 = ((q63_t) inA1 * inB1) >> 32;
+    out2 = ((q63_t) inA2 * inB1) >> 32;
+
+    /* sature the result */
+    out1 = __SSAT(out1, 31);
+    out2 = __SSAT(out2, 31);
+
+    /* get result in 1.31 format */
+    out1 = out1 << 1;
+    out2 = out2 << 1;
+
+    /* store the result to destination buffer */
+    *pCmplxDst++ = out1;
+    *pCmplxDst++ = out2;
+
+    /* Decrement the numSamples loop counter */
+    blkCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  while(numSamples > 0u)
+  {
+    /* realOut = realA * realB.            */
+    /* imagReal = imagA * realB.               */
+    inA1 = *pSrcReal++;
+    /* store the result in the destination buffer. */
+    *pCmplxDst++ =
+      (q31_t) clip_q63_to_q31(((q63_t) * pSrcCmplx++ * inA1) >> 31);
+    *pCmplxDst++ =
+      (q31_t) clip_q63_to_q31(((q63_t) * pSrcCmplx++ * inA1) >> 31);
+
+    /* Decrement the numSamples loop counter */
+    numSamples--;
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/**    
+ * @} end of CmplxByRealMult group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_f32.c
new file mode 100644
index 000000000..37e48f609
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_f32.c
@@ -0,0 +1,79 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_pid_init_f32.c    
+*    
+* Description:	Floating-point PID Control initialization function    
+*				   
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* ------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+ /**    
+ * @addtogroup PID    
+ * @{    
+ */
+
+/**    
+ * @brief  Initialization function for the floating-point PID Control.   
+ * @param[in,out] *S points to an instance of the PID structure.   
+ * @param[in]     resetStateFlag  flag to reset the state. 0 = no change in state & 1 = reset the state.   
+ * @return none.   
+ * \par Description:   
+ * \par    
+ * The resetStateFlag specifies whether to set state to zero or not. \n   
+ * The function computes the structure fields: A0, A1 A2    
+ * using the proportional gain( \c Kp), integral gain( \c Ki) and derivative gain( \c Kd)    
+ * also sets the state variables to all zeros.    
+ */
+
+void arm_pid_init_f32(
+  arm_pid_instance_f32 * S,
+  int32_t resetStateFlag)
+{
+
+  /* Derived coefficient A0 */
+  S->A0 = S->Kp + S->Ki + S->Kd;
+
+  /* Derived coefficient A1 */
+  S->A1 = (-S->Kp) - ((float32_t) 2.0 * S->Kd);
+
+  /* Derived coefficient A2 */
+  S->A2 = S->Kd;
+
+  /* Check whether state needs reset or not */
+  if(resetStateFlag)
+  {
+    /* Clear the state buffer.  The size will be always 3 samples */
+    memset(S->state, 0, 3u * sizeof(float32_t));
+  }
+
+}
+
+/**    
+ * @} end of PID group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q15.c
new file mode 100644
index 000000000..1816bc9aa
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q15.c
@@ -0,0 +1,114 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_pid_init_q15.c    
+*    
+* Description:	Q15 PID Control initialization function    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+ /**    
+ * @addtogroup PID    
+ * @{    
+ */
+
+/**    
+ * @details    
+ * @param[in,out] *S points to an instance of the Q15 PID structure.    
+ * @param[in]     resetStateFlag  flag to reset the state. 0 = no change in state 1 = reset the state.    
+ * @return none.    
+ * \par Description:   
+ * \par    
+ * The resetStateFlag specifies whether to set state to zero or not. \n   
+ * The function computes the structure fields: A0, A1 A2    
+ * using the proportional gain( \c Kp), integral gain( \c Ki) and derivative gain( \c Kd)    
+ * also sets the state variables to all zeros.    
+ */
+
+void arm_pid_init_q15(
+  arm_pid_instance_q15 * S,
+  int32_t resetStateFlag)
+{
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /* Derived coefficient A0 */
+  S->A0 = __QADD16(__QADD16(S->Kp, S->Ki), S->Kd);
+
+  /* Derived coefficients and pack into A1 */
+
+#ifndef  ARM_MATH_BIG_ENDIAN
+
+  S->A1 = __PKHBT(-__QADD16(__QADD16(S->Kd, S->Kd), S->Kp), S->Kd, 16);
+
+#else
+
+  S->A1 = __PKHBT(S->Kd, -__QADD16(__QADD16(S->Kd, S->Kd), S->Kp), 16);
+
+#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
+
+  /* Check whether state needs reset or not */
+  if(resetStateFlag)
+  {
+    /* Clear the state buffer.  The size will be always 3 samples */
+    memset(S->state, 0, 3u * sizeof(q15_t));
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  q31_t temp;                                    /*to store the sum */
+
+  /* Derived coefficient A0 */
+  temp = S->Kp + S->Ki + S->Kd;
+  S->A0 = (q15_t) __SSAT(temp, 16);
+
+  /* Derived coefficients and pack into A1 */
+  temp = -(S->Kd + S->Kd + S->Kp);
+  S->A1 = (q15_t) __SSAT(temp, 16);
+  S->A2 = S->Kd;
+
+
+
+  /* Check whether state needs reset or not */
+  if(resetStateFlag)
+  {
+    /* Clear the state buffer.  The size will be always 3 samples */
+    memset(S->state, 0, 3u * sizeof(q15_t));
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/**    
+ * @} end of PID group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q31.c
new file mode 100644
index 000000000..da40ce973
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q31.c
@@ -0,0 +1,99 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_pid_init_q31.c    
+*    
+* Description:	Q31 PID Control initialization function     
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* ------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+ /**    
+ * @addtogroup PID    
+ * @{    
+ */
+
+/**    
+ * @brief  Initialization function for the Q31 PID Control.   
+ * @param[in,out] *S points to an instance of the Q31 PID structure.   
+ * @param[in]     resetStateFlag  flag to reset the state. 0 = no change in state 1 = reset the state.   
+ * @return none.    
+ * \par Description:   
+ * \par    
+ * The resetStateFlag specifies whether to set state to zero or not. \n   
+ * The function computes the structure fields: A0, A1 A2    
+ * using the proportional gain( \c Kp), integral gain( \c Ki) and derivative gain( \c Kd)    
+ * also sets the state variables to all zeros.    
+ */
+
+void arm_pid_init_q31(
+  arm_pid_instance_q31 * S,
+  int32_t resetStateFlag)
+{
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /* Derived coefficient A0 */
+  S->A0 = __QADD(__QADD(S->Kp, S->Ki), S->Kd);
+
+  /* Derived coefficient A1 */
+  S->A1 = -__QADD(__QADD(S->Kd, S->Kd), S->Kp);
+
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  q31_t temp;
+
+  /* Derived coefficient A0 */
+  temp = clip_q63_to_q31((q63_t) S->Kp + S->Ki);
+  S->A0 = clip_q63_to_q31((q63_t) temp + S->Kd);
+
+  /* Derived coefficient A1 */
+  temp = clip_q63_to_q31((q63_t) S->Kd + S->Kd);
+  S->A1 = -clip_q63_to_q31((q63_t) temp + S->Kp);
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  /* Derived coefficient A2 */
+  S->A2 = S->Kd;
+
+  /* Check whether state needs reset or not */
+  if(resetStateFlag)
+  {
+    /* Clear the state buffer.  The size will be always 3 samples */
+    memset(S->state, 0, 3u * sizeof(q31_t));
+  }
+
+}
+
+/**    
+ * @} end of PID group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_f32.c
new file mode 100644
index 000000000..491ad5268
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_f32.c
@@ -0,0 +1,57 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_pid_reset_f32.c    
+*    
+* Description:	Floating-point PID Control reset function   
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* ------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+ /**    
+ * @addtogroup PID    
+ * @{    
+ */
+
+/**    
+* @brief  Reset function for the floating-point PID Control.   
+* @param[in] *S	Instance pointer of PID control data structure.   
+* @return none.    
+* \par Description:   
+* The function resets the state buffer to zeros.    
+*/
+void arm_pid_reset_f32(
+  arm_pid_instance_f32 * S)
+{
+
+  /* Clear the state buffer.  The size will be always 3 samples */
+  memset(S->state, 0, 3u * sizeof(float32_t));
+}
+
+/**    
+ * @} end of PID group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q15.c
new file mode 100644
index 000000000..dc0078746
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q15.c
@@ -0,0 +1,56 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_pid_reset_q15.c    
+*    
+* Description:	Q15 PID Control reset function   
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+ /**    
+ * @addtogroup PID    
+ * @{    
+ */
+
+/**    
+* @brief  Reset function for the Q15 PID Control.   
+* @param[in] *S		Instance pointer of PID control data structure.   
+* @return none.    
+* \par Description:   
+* The function resets the state buffer to zeros.    
+*/
+void arm_pid_reset_q15(
+  arm_pid_instance_q15 * S)
+{
+  /* Reset state to zero, The size will be always 3 samples */
+  memset(S->state, 0, 3u * sizeof(q15_t));
+}
+
+/**    
+ * @} end of PID group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q31.c
new file mode 100644
index 000000000..b1ff753af
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q31.c
@@ -0,0 +1,57 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_pid_reset_q31.c    
+*    
+* Description:	Q31 PID Control reset function   
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* ------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+ /**    
+ * @addtogroup PID    
+ * @{    
+ */
+
+/**    
+* @brief  Reset function for the Q31 PID Control.   
+* @param[in] *S	Instance pointer of PID control data structure.   
+* @return none.    
+* \par Description:   
+* The function resets the state buffer to zeros.    
+*/
+void arm_pid_reset_q31(
+  arm_pid_instance_q31 * S)
+{
+
+  /* Clear the state buffer.  The size will be always 3 samples */
+  memset(S->state, 0, 3u * sizeof(q31_t));
+}
+
+/**    
+ * @} end of PID group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_f32.c
new file mode 100644
index 000000000..1679a780c
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_f32.c
@@ -0,0 +1,428 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_sin_cos_f32.c    
+*    
+* Description:	Sine and Cosine calculation for floating-point values.   
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupController    
+ */
+
+/**    
+ * @defgroup SinCos Sine Cosine   
+ *    
+ * Computes the trigonometric sine and cosine values using a combination of table lookup   
+ * and linear interpolation.     
+ * There are separate functions for Q31 and floating-point data types.   
+ * The input to the floating-point version is in degrees while the   
+ * fixed-point Q31 have a scaled input with the range   
+ * [-1 0.9999] mapping to [-180 179] degrees.   
+ *   
+ * The implementation is based on table lookup using 360 values together with linear interpolation.   
+ * The steps used are:   
+ *  -# Calculation of the nearest integer table index.   
+ *  -# Compute the fractional portion (fract) of the input.   
+ *  -# Fetch the value corresponding to \c index from sine table to \c y0 and also value from \c index+1 to \c y1.      
+ *  -# Sine value is computed as  *psinVal = y0 + (fract * (y1 - y0)).    
+ *  -# Fetch the value corresponding to \c index from cosine table to \c y0 and also value from \c index+1 to \c y1.      
+ *  -# Cosine value is computed as  *pcosVal = y0 + (fract * (y1 - y0)).    
+ */
+
+ /**    
+ * @addtogroup SinCos    
+ * @{    
+ */
+
+
+/**    
+* \par    
+* Cosine Table is generated from following loop    
+* 
for(i = 0; i < 360; i++)    
+* {    
+*    cosTable[i]= cos((i-180) * PI/180.0);    
+* } 
   
+*/
+
+static const float32_t cosTable[360] = {
+  -0.999847695156391270f, -0.999390827019095760f, -0.998629534754573830f,
+  -0.997564050259824200f, -0.996194698091745550f, -0.994521895368273290f,
+  -0.992546151641321980f, -0.990268068741570250f,
+  -0.987688340595137660f, -0.984807753012208020f, -0.981627183447663980f,
+  -0.978147600733805690f, -0.974370064785235250f, -0.970295726275996470f,
+  -0.965925826289068200f, -0.961261695938318670f,
+  -0.956304755963035440f, -0.951056516295153530f, -0.945518575599316740f,
+  -0.939692620785908320f, -0.933580426497201740f, -0.927183854566787310f,
+  -0.920504853452440150f, -0.913545457642600760f,
+  -0.906307787036649940f, -0.898794046299167040f, -0.891006524188367790f,
+  -0.882947592858926770f, -0.874619707139395740f, -0.866025403784438710f,
+  -0.857167300702112220f, -0.848048096156425960f,
+  -0.838670567945424160f, -0.829037572555041620f, -0.819152044288991580f,
+  -0.809016994374947340f, -0.798635510047292940f, -0.788010753606721900f,
+  -0.777145961456970680f, -0.766044443118977900f,
+  -0.754709580222772010f, -0.743144825477394130f, -0.731353701619170460f,
+  -0.719339800338651300f, -0.707106781186547460f, -0.694658370458997030f,
+  -0.681998360062498370f, -0.669130606358858240f,
+  -0.656059028990507500f, -0.642787609686539360f, -0.629320391049837280f,
+  -0.615661475325658290f, -0.601815023152048380f, -0.587785252292473030f,
+  -0.573576436351045830f, -0.559192903470746680f,
+  -0.544639035015027080f, -0.529919264233204790f, -0.515038074910054270f,
+  -0.499999999999999780f, -0.484809620246337000f, -0.469471562785890530f,
+  -0.453990499739546750f, -0.438371146789077510f,
+  -0.422618261740699330f, -0.406736643075800100f, -0.390731128489273600f,
+  -0.374606593415912070f, -0.358367949545300270f, -0.342020143325668710f,
+  -0.325568154457156420f, -0.309016994374947340f,
+  -0.292371704722736660f, -0.275637355816999050f, -0.258819045102520850f,
+  -0.241921895599667790f, -0.224951054343864810f, -0.207911690817759120f,
+  -0.190808995376544800f, -0.173648177666930300f,
+  -0.156434465040231040f, -0.139173100960065350f, -0.121869343405147370f,
+  -0.104528463267653330f, -0.087155742747658235f, -0.069756473744125330f,
+  -0.052335956242943620f, -0.034899496702500733f,
+  -0.017452406437283477f, 0.000000000000000061f, 0.017452406437283376f,
+  0.034899496702501080f, 0.052335956242943966f, 0.069756473744125455f,
+  0.087155742747658138f, 0.104528463267653460f,
+  0.121869343405147490f, 0.139173100960065690f, 0.156434465040230920f,
+  0.173648177666930410f, 0.190808995376544920f, 0.207911690817759450f,
+  0.224951054343864920f, 0.241921895599667900f,
+  0.258819045102520740f, 0.275637355816999160f, 0.292371704722736770f,
+  0.309016994374947450f, 0.325568154457156760f, 0.342020143325668820f,
+  0.358367949545300380f, 0.374606593415911960f,
+  0.390731128489273940f, 0.406736643075800210f, 0.422618261740699440f,
+  0.438371146789077460f, 0.453990499739546860f, 0.469471562785890860f,
+  0.484809620246337110f, 0.500000000000000110f,
+  0.515038074910054380f, 0.529919264233204900f, 0.544639035015027200f,
+  0.559192903470746790f, 0.573576436351046050f, 0.587785252292473140f,
+  0.601815023152048270f, 0.615661475325658290f,
+  0.629320391049837500f, 0.642787609686539360f, 0.656059028990507280f,
+  0.669130606358858240f, 0.681998360062498480f, 0.694658370458997370f,
+  0.707106781186547570f, 0.719339800338651190f,
+  0.731353701619170570f, 0.743144825477394240f, 0.754709580222772010f,
+  0.766044443118978010f, 0.777145961456970900f, 0.788010753606722010f,
+  0.798635510047292830f, 0.809016994374947450f,
+  0.819152044288991800f, 0.829037572555041620f, 0.838670567945424050f,
+  0.848048096156425960f, 0.857167300702112330f, 0.866025403784438710f,
+  0.874619707139395740f, 0.882947592858926990f,
+  0.891006524188367900f, 0.898794046299167040f, 0.906307787036649940f,
+  0.913545457642600870f, 0.920504853452440370f, 0.927183854566787420f,
+  0.933580426497201740f, 0.939692620785908430f,
+  0.945518575599316850f, 0.951056516295153530f, 0.956304755963035440f,
+  0.961261695938318890f, 0.965925826289068310f, 0.970295726275996470f,
+  0.974370064785235250f, 0.978147600733805690f,
+  0.981627183447663980f, 0.984807753012208020f, 0.987688340595137770f,
+  0.990268068741570360f, 0.992546151641321980f, 0.994521895368273290f,
+  0.996194698091745550f, 0.997564050259824200f,
+  0.998629534754573830f, 0.999390827019095760f, 0.999847695156391270f,
+  1.000000000000000000f, 0.999847695156391270f, 0.999390827019095760f,
+  0.998629534754573830f, 0.997564050259824200f,
+  0.996194698091745550f, 0.994521895368273290f, 0.992546151641321980f,
+  0.990268068741570360f, 0.987688340595137770f, 0.984807753012208020f,
+  0.981627183447663980f, 0.978147600733805690f,
+  0.974370064785235250f, 0.970295726275996470f, 0.965925826289068310f,
+  0.961261695938318890f, 0.956304755963035440f, 0.951056516295153530f,
+  0.945518575599316850f, 0.939692620785908430f,
+  0.933580426497201740f, 0.927183854566787420f, 0.920504853452440370f,
+  0.913545457642600870f, 0.906307787036649940f, 0.898794046299167040f,
+  0.891006524188367900f, 0.882947592858926990f,
+  0.874619707139395740f, 0.866025403784438710f, 0.857167300702112330f,
+  0.848048096156425960f, 0.838670567945424050f, 0.829037572555041620f,
+  0.819152044288991800f, 0.809016994374947450f,
+  0.798635510047292830f, 0.788010753606722010f, 0.777145961456970900f,
+  0.766044443118978010f, 0.754709580222772010f, 0.743144825477394240f,
+  0.731353701619170570f, 0.719339800338651190f,
+  0.707106781186547570f, 0.694658370458997370f, 0.681998360062498480f,
+  0.669130606358858240f, 0.656059028990507280f, 0.642787609686539360f,
+  0.629320391049837500f, 0.615661475325658290f,
+  0.601815023152048270f, 0.587785252292473140f, 0.573576436351046050f,
+  0.559192903470746790f, 0.544639035015027200f, 0.529919264233204900f,
+  0.515038074910054380f, 0.500000000000000110f,
+  0.484809620246337110f, 0.469471562785890860f, 0.453990499739546860f,
+  0.438371146789077460f, 0.422618261740699440f, 0.406736643075800210f,
+  0.390731128489273940f, 0.374606593415911960f,
+  0.358367949545300380f, 0.342020143325668820f, 0.325568154457156760f,
+  0.309016994374947450f, 0.292371704722736770f, 0.275637355816999160f,
+  0.258819045102520740f, 0.241921895599667900f,
+  0.224951054343864920f, 0.207911690817759450f, 0.190808995376544920f,
+  0.173648177666930410f, 0.156434465040230920f, 0.139173100960065690f,
+  0.121869343405147490f, 0.104528463267653460f,
+  0.087155742747658138f, 0.069756473744125455f, 0.052335956242943966f,
+  0.034899496702501080f, 0.017452406437283376f, 0.000000000000000061f,
+  -0.017452406437283477f, -0.034899496702500733f,
+  -0.052335956242943620f, -0.069756473744125330f, -0.087155742747658235f,
+  -0.104528463267653330f, -0.121869343405147370f, -0.139173100960065350f,
+  -0.156434465040231040f, -0.173648177666930300f,
+  -0.190808995376544800f, -0.207911690817759120f, -0.224951054343864810f,
+  -0.241921895599667790f, -0.258819045102520850f, -0.275637355816999050f,
+  -0.292371704722736660f, -0.309016994374947340f,
+  -0.325568154457156420f, -0.342020143325668710f, -0.358367949545300270f,
+  -0.374606593415912070f, -0.390731128489273600f, -0.406736643075800100f,
+  -0.422618261740699330f, -0.438371146789077510f,
+  -0.453990499739546750f, -0.469471562785890530f, -0.484809620246337000f,
+  -0.499999999999999780f, -0.515038074910054270f, -0.529919264233204790f,
+  -0.544639035015027080f, -0.559192903470746680f,
+  -0.573576436351045830f, -0.587785252292473030f, -0.601815023152048380f,
+  -0.615661475325658290f, -0.629320391049837280f, -0.642787609686539360f,
+  -0.656059028990507500f, -0.669130606358858240f,
+  -0.681998360062498370f, -0.694658370458997030f, -0.707106781186547460f,
+  -0.719339800338651300f, -0.731353701619170460f, -0.743144825477394130f,
+  -0.754709580222772010f, -0.766044443118977900f,
+  -0.777145961456970680f, -0.788010753606721900f, -0.798635510047292940f,
+  -0.809016994374947340f, -0.819152044288991580f, -0.829037572555041620f,
+  -0.838670567945424160f, -0.848048096156425960f,
+  -0.857167300702112220f, -0.866025403784438710f, -0.874619707139395740f,
+  -0.882947592858926770f, -0.891006524188367790f, -0.898794046299167040f,
+  -0.906307787036649940f, -0.913545457642600760f,
+  -0.920504853452440150f, -0.927183854566787310f, -0.933580426497201740f,
+  -0.939692620785908320f, -0.945518575599316740f, -0.951056516295153530f,
+  -0.956304755963035440f, -0.961261695938318670f,
+  -0.965925826289068200f, -0.970295726275996470f, -0.974370064785235250f,
+  -0.978147600733805690f, -0.981627183447663980f, -0.984807753012208020f,
+  -0.987688340595137660f, -0.990268068741570250f,
+  -0.992546151641321980f, -0.994521895368273290f, -0.996194698091745550f,
+  -0.997564050259824200f, -0.998629534754573830f, -0.999390827019095760f,
+  -0.999847695156391270f, -1.000000000000000000f
+};
+
+/**    
+* \par    
+* Sine Table is generated from following loop    
+* 
for(i = 0; i < 360; i++)    
+* {    
+*    sinTable[i]= sin((i-180) * PI/180.0);    
+* } 
    
+*/
+
+
+static const float32_t sinTable[360] = {
+  -0.017452406437283439f, -0.034899496702500699f, -0.052335956242943807f,
+  -0.069756473744125524f, -0.087155742747658638f, -0.104528463267653730f,
+  -0.121869343405147550f, -0.139173100960065740f,
+  -0.156434465040230980f, -0.173648177666930280f, -0.190808995376544970f,
+  -0.207911690817759310f, -0.224951054343864780f, -0.241921895599667730f,
+  -0.258819045102521020f, -0.275637355816999660f,
+  -0.292371704722737050f, -0.309016994374947510f, -0.325568154457156980f,
+  -0.342020143325668880f, -0.358367949545300210f, -0.374606593415912240f,
+  -0.390731128489274160f, -0.406736643075800430f,
+  -0.422618261740699500f, -0.438371146789077290f, -0.453990499739546860f,
+  -0.469471562785891080f, -0.484809620246337170f, -0.499999999999999940f,
+  -0.515038074910054380f, -0.529919264233204900f,
+  -0.544639035015026860f, -0.559192903470746900f, -0.573576436351046380f,
+  -0.587785252292473250f, -0.601815023152048160f, -0.615661475325658400f,
+  -0.629320391049837720f, -0.642787609686539470f,
+  -0.656059028990507280f, -0.669130606358858350f, -0.681998360062498590f,
+  -0.694658370458997140f, -0.707106781186547570f, -0.719339800338651410f,
+  -0.731353701619170570f, -0.743144825477394240f,
+  -0.754709580222771790f, -0.766044443118978010f, -0.777145961456971010f,
+  -0.788010753606722010f, -0.798635510047292720f, -0.809016994374947450f,
+  -0.819152044288992020f, -0.829037572555041740f,
+  -0.838670567945424050f, -0.848048096156426070f, -0.857167300702112330f,
+  -0.866025403784438710f, -0.874619707139395850f, -0.882947592858927100f,
+  -0.891006524188367900f, -0.898794046299166930f,
+  -0.906307787036650050f, -0.913545457642600980f, -0.920504853452440370f,
+  -0.927183854566787420f, -0.933580426497201740f, -0.939692620785908430f,
+  -0.945518575599316850f, -0.951056516295153640f,
+  -0.956304755963035550f, -0.961261695938318890f, -0.965925826289068310f,
+  -0.970295726275996470f, -0.974370064785235250f, -0.978147600733805690f,
+  -0.981627183447663980f, -0.984807753012208020f,
+  -0.987688340595137660f, -0.990268068741570360f, -0.992546151641322090f,
+  -0.994521895368273400f, -0.996194698091745550f, -0.997564050259824200f,
+  -0.998629534754573830f, -0.999390827019095760f,
+  -0.999847695156391270f, -1.000000000000000000f, -0.999847695156391270f,
+  -0.999390827019095760f, -0.998629534754573830f, -0.997564050259824200f,
+  -0.996194698091745550f, -0.994521895368273290f,
+  -0.992546151641321980f, -0.990268068741570250f, -0.987688340595137770f,
+  -0.984807753012208020f, -0.981627183447663980f, -0.978147600733805580f,
+  -0.974370064785235250f, -0.970295726275996470f,
+  -0.965925826289068310f, -0.961261695938318890f, -0.956304755963035440f,
+  -0.951056516295153530f, -0.945518575599316740f, -0.939692620785908320f,
+  -0.933580426497201740f, -0.927183854566787420f,
+  -0.920504853452440260f, -0.913545457642600870f, -0.906307787036649940f,
+  -0.898794046299167040f, -0.891006524188367790f, -0.882947592858926880f,
+  -0.874619707139395740f, -0.866025403784438600f,
+  -0.857167300702112220f, -0.848048096156426070f, -0.838670567945423940f,
+  -0.829037572555041740f, -0.819152044288991800f, -0.809016994374947450f,
+  -0.798635510047292830f, -0.788010753606722010f,
+  -0.777145961456970790f, -0.766044443118978010f, -0.754709580222772010f,
+  -0.743144825477394240f, -0.731353701619170460f, -0.719339800338651080f,
+  -0.707106781186547460f, -0.694658370458997250f,
+  -0.681998360062498480f, -0.669130606358858240f, -0.656059028990507160f,
+  -0.642787609686539250f, -0.629320391049837390f, -0.615661475325658180f,
+  -0.601815023152048270f, -0.587785252292473140f,
+  -0.573576436351046050f, -0.559192903470746900f, -0.544639035015027080f,
+  -0.529919264233204900f, -0.515038074910054160f, -0.499999999999999940f,
+  -0.484809620246337060f, -0.469471562785890810f,
+  -0.453990499739546750f, -0.438371146789077400f, -0.422618261740699440f,
+  -0.406736643075800150f, -0.390731128489273720f, -0.374606593415912010f,
+  -0.358367949545300270f, -0.342020143325668710f,
+  -0.325568154457156640f, -0.309016994374947400f, -0.292371704722736770f,
+  -0.275637355816999160f, -0.258819045102520740f, -0.241921895599667730f,
+  -0.224951054343865000f, -0.207911690817759310f,
+  -0.190808995376544800f, -0.173648177666930330f, -0.156434465040230870f,
+  -0.139173100960065440f, -0.121869343405147480f, -0.104528463267653460f,
+  -0.087155742747658166f, -0.069756473744125302f,
+  -0.052335956242943828f, -0.034899496702500969f, -0.017452406437283512f,
+  0.000000000000000000f, 0.017452406437283512f, 0.034899496702500969f,
+  0.052335956242943828f, 0.069756473744125302f,
+  0.087155742747658166f, 0.104528463267653460f, 0.121869343405147480f,
+  0.139173100960065440f, 0.156434465040230870f, 0.173648177666930330f,
+  0.190808995376544800f, 0.207911690817759310f,
+  0.224951054343865000f, 0.241921895599667730f, 0.258819045102520740f,
+  0.275637355816999160f, 0.292371704722736770f, 0.309016994374947400f,
+  0.325568154457156640f, 0.342020143325668710f,
+  0.358367949545300270f, 0.374606593415912010f, 0.390731128489273720f,
+  0.406736643075800150f, 0.422618261740699440f, 0.438371146789077400f,
+  0.453990499739546750f, 0.469471562785890810f,
+  0.484809620246337060f, 0.499999999999999940f, 0.515038074910054160f,
+  0.529919264233204900f, 0.544639035015027080f, 0.559192903470746900f,
+  0.573576436351046050f, 0.587785252292473140f,
+  0.601815023152048270f, 0.615661475325658180f, 0.629320391049837390f,
+  0.642787609686539250f, 0.656059028990507160f, 0.669130606358858240f,
+  0.681998360062498480f, 0.694658370458997250f,
+  0.707106781186547460f, 0.719339800338651080f, 0.731353701619170460f,
+  0.743144825477394240f, 0.754709580222772010f, 0.766044443118978010f,
+  0.777145961456970790f, 0.788010753606722010f,
+  0.798635510047292830f, 0.809016994374947450f, 0.819152044288991800f,
+  0.829037572555041740f, 0.838670567945423940f, 0.848048096156426070f,
+  0.857167300702112220f, 0.866025403784438600f,
+  0.874619707139395740f, 0.882947592858926880f, 0.891006524188367790f,
+  0.898794046299167040f, 0.906307787036649940f, 0.913545457642600870f,
+  0.920504853452440260f, 0.927183854566787420f,
+  0.933580426497201740f, 0.939692620785908320f, 0.945518575599316740f,
+  0.951056516295153530f, 0.956304755963035440f, 0.961261695938318890f,
+  0.965925826289068310f, 0.970295726275996470f,
+  0.974370064785235250f, 0.978147600733805580f, 0.981627183447663980f,
+  0.984807753012208020f, 0.987688340595137770f, 0.990268068741570250f,
+  0.992546151641321980f, 0.994521895368273290f,
+  0.996194698091745550f, 0.997564050259824200f, 0.998629534754573830f,
+  0.999390827019095760f, 0.999847695156391270f, 1.000000000000000000f,
+  0.999847695156391270f, 0.999390827019095760f,
+  0.998629534754573830f, 0.997564050259824200f, 0.996194698091745550f,
+  0.994521895368273400f, 0.992546151641322090f, 0.990268068741570360f,
+  0.987688340595137660f, 0.984807753012208020f,
+  0.981627183447663980f, 0.978147600733805690f, 0.974370064785235250f,
+  0.970295726275996470f, 0.965925826289068310f, 0.961261695938318890f,
+  0.956304755963035550f, 0.951056516295153640f,
+  0.945518575599316850f, 0.939692620785908430f, 0.933580426497201740f,
+  0.927183854566787420f, 0.920504853452440370f, 0.913545457642600980f,
+  0.906307787036650050f, 0.898794046299166930f,
+  0.891006524188367900f, 0.882947592858927100f, 0.874619707139395850f,
+  0.866025403784438710f, 0.857167300702112330f, 0.848048096156426070f,
+  0.838670567945424050f, 0.829037572555041740f,
+  0.819152044288992020f, 0.809016994374947450f, 0.798635510047292720f,
+  0.788010753606722010f, 0.777145961456971010f, 0.766044443118978010f,
+  0.754709580222771790f, 0.743144825477394240f,
+  0.731353701619170570f, 0.719339800338651410f, 0.707106781186547570f,
+  0.694658370458997140f, 0.681998360062498590f, 0.669130606358858350f,
+  0.656059028990507280f, 0.642787609686539470f,
+  0.629320391049837720f, 0.615661475325658400f, 0.601815023152048160f,
+  0.587785252292473250f, 0.573576436351046380f, 0.559192903470746900f,
+  0.544639035015026860f, 0.529919264233204900f,
+  0.515038074910054380f, 0.499999999999999940f, 0.484809620246337170f,
+  0.469471562785891080f, 0.453990499739546860f, 0.438371146789077290f,
+  0.422618261740699500f, 0.406736643075800430f,
+  0.390731128489274160f, 0.374606593415912240f, 0.358367949545300210f,
+  0.342020143325668880f, 0.325568154457156980f, 0.309016994374947510f,
+  0.292371704722737050f, 0.275637355816999660f,
+  0.258819045102521020f, 0.241921895599667730f, 0.224951054343864780f,
+  0.207911690817759310f, 0.190808995376544970f, 0.173648177666930280f,
+  0.156434465040230980f, 0.139173100960065740f,
+  0.121869343405147550f, 0.104528463267653730f, 0.087155742747658638f,
+  0.069756473744125524f, 0.052335956242943807f, 0.034899496702500699f,
+  0.017452406437283439f, 0.000000000000000122f
+};
+
+
+/**    
+ * @brief  Floating-point sin_cos function.   
+ * @param[in]  theta    input value in degrees    
+ * @param[out] *pSinVal points to the processed sine output.    
+ * @param[out] *pCosVal points to the processed cos output.    
+ * @return none.   
+ */
+
+
+void arm_sin_cos_f32(
+  float32_t theta,
+  float32_t * pSinVal,
+  float32_t * pCosVal)
+{
+  int32_t i;                                     /* Index for reading nearwst output values */
+  float32_t x1 = -179.0f;                        /* Initial input value */
+  float32_t y0, y1;                              /* nearest output values */
+  float32_t y2, y3;
+  float32_t fract;                               /* fractional part of input */
+
+  /* Calculation of fractional part */
+  if(theta > 0.0f)
+  {
+    fract = theta - (float32_t) ((int32_t) theta);
+  }
+  else
+  {
+    fract = (theta - (float32_t) ((int32_t) theta)) + 1.0f;
+  }
+
+  /* index calculation for reading nearest output values */
+  i = (uint32_t) (theta - x1);
+
+  /* Checking min and max index of table */
+  if(i < 0)
+  {
+    i = 0;
+  }
+  else if(i >= 359)
+  {
+    i = 358;
+  }
+
+  /* reading nearest sine output values */
+  y0 = sinTable[i];
+  y1 = sinTable[i + 1u];
+
+  /* reading nearest cosine output values */
+  y2 = cosTable[i];
+  y3 = cosTable[i + 1u];
+
+  y1 = y1 - y0;
+  y3 = y3 - y2;
+
+  y1 = fract * y1;
+  y3 = fract * y3;
+
+  /* Calculation of sine value */
+  *pSinVal = y0 + y1;
+
+  /* Calculation of cosine value */
+  *pCosVal = y2 + y3;
+
+}
+
+/**    
+ * @} end of SinCos group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_q31.c
new file mode 100644
index 000000000..e22d25e53
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_q31.c
@@ -0,0 +1,324 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_sin_cos_q31.c    
+*    
+* Description:	Cosine & Sine calculation for Q31 values.   
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupController    
+ */
+
+ /**    
+ * @addtogroup SinCos    
+ * @{    
+ */
+
+/**    
+* \par    
+* Sine Table is generated from following loop    
+* 
for(i = 0; i < 360; i++)    
+* {    
+*    sinTable[i]= sin((i-180) * PI/180.0);    
+* } 
   
+* Convert above coefficients to fixed point 1.31 format.    
+*/
+
+static const int32_t sinTableQ31[360] = {
+
+  0x0, 0xfdc41e9b, 0xfb8869ce, 0xf94d0e2e, 0xf7123849, 0xf4d814a4, 0xf29ecfb2,
+  0xf06695da,
+  0xee2f9369, 0xebf9f498, 0xe9c5e582, 0xe7939223, 0xe5632654, 0xe334cdc9,
+  0xe108b40d, 0xdedf047d,
+  0xdcb7ea46, 0xda939061, 0xd8722192, 0xd653c860, 0xd438af17, 0xd220ffc0,
+  0xd00ce422, 0xcdfc85bb,
+  0xcbf00dbe, 0xc9e7a512, 0xc7e3744b, 0xc5e3a3a9, 0xc3e85b18, 0xc1f1c224,
+  0xc0000000, 0xbe133b7c,
+  0xbc2b9b05, 0xba4944a2, 0xb86c5df0, 0xb6950c1e, 0xb4c373ee, 0xb2f7b9af,
+  0xb1320139, 0xaf726def,
+  0xadb922b7, 0xac0641fb, 0xaa59eda4, 0xa8b4471a, 0xa7156f3c, 0xa57d8666,
+  0xa3ecac65, 0xa263007d,
+  0xa0e0a15f, 0x9f65ad2d, 0x9df24175, 0x9c867b2c, 0x9b2276b0, 0x99c64fc5,
+  0x98722192, 0x9726069c,
+  0x95e218c9, 0x94a6715d, 0x937328f5, 0x92485786, 0x9126145f, 0x900c7621,
+  0x8efb92c2, 0x8df37f8b,
+  0x8cf45113, 0x8bfe1b3f, 0x8b10f144, 0x8a2ce59f, 0x89520a1a, 0x88806fc4,
+  0x87b826f7, 0x86f93f50,
+  0x8643c7b3, 0x8597ce46, 0x84f56073, 0x845c8ae3, 0x83cd5982, 0x8347d77b,
+  0x82cc0f36, 0x825a0a5b,
+  0x81f1d1ce, 0x81936daf, 0x813ee55b, 0x80f43f69, 0x80b381ac, 0x807cb130,
+  0x804fd23a, 0x802ce84c,
+  0x8013f61d, 0x8004fda0, 0x80000000, 0x8004fda0, 0x8013f61d, 0x802ce84c,
+  0x804fd23a, 0x807cb130,
+  0x80b381ac, 0x80f43f69, 0x813ee55b, 0x81936daf, 0x81f1d1ce, 0x825a0a5b,
+  0x82cc0f36, 0x8347d77b,
+  0x83cd5982, 0x845c8ae3, 0x84f56073, 0x8597ce46, 0x8643c7b3, 0x86f93f50,
+  0x87b826f7, 0x88806fc4,
+  0x89520a1a, 0x8a2ce59f, 0x8b10f144, 0x8bfe1b3f, 0x8cf45113, 0x8df37f8b,
+  0x8efb92c2, 0x900c7621,
+  0x9126145f, 0x92485786, 0x937328f5, 0x94a6715d, 0x95e218c9, 0x9726069c,
+  0x98722192, 0x99c64fc5,
+  0x9b2276b0, 0x9c867b2c, 0x9df24175, 0x9f65ad2d, 0xa0e0a15f, 0xa263007d,
+  0xa3ecac65, 0xa57d8666,
+  0xa7156f3c, 0xa8b4471a, 0xaa59eda4, 0xac0641fb, 0xadb922b7, 0xaf726def,
+  0xb1320139, 0xb2f7b9af,
+  0xb4c373ee, 0xb6950c1e, 0xb86c5df0, 0xba4944a2, 0xbc2b9b05, 0xbe133b7c,
+  0xc0000000, 0xc1f1c224,
+  0xc3e85b18, 0xc5e3a3a9, 0xc7e3744b, 0xc9e7a512, 0xcbf00dbe, 0xcdfc85bb,
+  0xd00ce422, 0xd220ffc0,
+  0xd438af17, 0xd653c860, 0xd8722192, 0xda939061, 0xdcb7ea46, 0xdedf047d,
+  0xe108b40d, 0xe334cdc9,
+  0xe5632654, 0xe7939223, 0xe9c5e582, 0xebf9f498, 0xee2f9369, 0xf06695da,
+  0xf29ecfb2, 0xf4d814a4,
+  0xf7123849, 0xf94d0e2e, 0xfb8869ce, 0xfdc41e9b, 0x0, 0x23be165, 0x4779632,
+  0x6b2f1d2,
+  0x8edc7b7, 0xb27eb5c, 0xd61304e, 0xf996a26, 0x11d06c97, 0x14060b68,
+  0x163a1a7e, 0x186c6ddd,
+  0x1a9cd9ac, 0x1ccb3237, 0x1ef74bf3, 0x2120fb83, 0x234815ba, 0x256c6f9f,
+  0x278dde6e, 0x29ac37a0,
+  0x2bc750e9, 0x2ddf0040, 0x2ff31bde, 0x32037a45, 0x340ff242, 0x36185aee,
+  0x381c8bb5, 0x3a1c5c57,
+  0x3c17a4e8, 0x3e0e3ddc, 0x40000000, 0x41ecc484, 0x43d464fb, 0x45b6bb5e,
+  0x4793a210, 0x496af3e2,
+  0x4b3c8c12, 0x4d084651, 0x4ecdfec7, 0x508d9211, 0x5246dd49, 0x53f9be05,
+  0x55a6125c, 0x574bb8e6,
+  0x58ea90c4, 0x5a82799a, 0x5c13539b, 0x5d9cff83, 0x5f1f5ea1, 0x609a52d3,
+  0x620dbe8b, 0x637984d4,
+  0x64dd8950, 0x6639b03b, 0x678dde6e, 0x68d9f964, 0x6a1de737, 0x6b598ea3,
+  0x6c8cd70b, 0x6db7a87a,
+  0x6ed9eba1, 0x6ff389df, 0x71046d3e, 0x720c8075, 0x730baeed, 0x7401e4c1,
+  0x74ef0ebc, 0x75d31a61,
+  0x76adf5e6, 0x777f903c, 0x7847d909, 0x7906c0b0, 0x79bc384d, 0x7a6831ba,
+  0x7b0a9f8d, 0x7ba3751d,
+  0x7c32a67e, 0x7cb82885, 0x7d33f0ca, 0x7da5f5a5, 0x7e0e2e32, 0x7e6c9251,
+  0x7ec11aa5, 0x7f0bc097,
+  0x7f4c7e54, 0x7f834ed0, 0x7fb02dc6, 0x7fd317b4, 0x7fec09e3, 0x7ffb0260,
+  0x7fffffff, 0x7ffb0260,
+  0x7fec09e3, 0x7fd317b4, 0x7fb02dc6, 0x7f834ed0, 0x7f4c7e54, 0x7f0bc097,
+  0x7ec11aa5, 0x7e6c9251,
+  0x7e0e2e32, 0x7da5f5a5, 0x7d33f0ca, 0x7cb82885, 0x7c32a67e, 0x7ba3751d,
+  0x7b0a9f8d, 0x7a6831ba,
+  0x79bc384d, 0x7906c0b0, 0x7847d909, 0x777f903c, 0x76adf5e6, 0x75d31a61,
+  0x74ef0ebc, 0x7401e4c1,
+  0x730baeed, 0x720c8075, 0x71046d3e, 0x6ff389df, 0x6ed9eba1, 0x6db7a87a,
+  0x6c8cd70b, 0x6b598ea3,
+  0x6a1de737, 0x68d9f964, 0x678dde6e, 0x6639b03b, 0x64dd8950, 0x637984d4,
+  0x620dbe8b, 0x609a52d3,
+  0x5f1f5ea1, 0x5d9cff83, 0x5c13539b, 0x5a82799a, 0x58ea90c4, 0x574bb8e6,
+  0x55a6125c, 0x53f9be05,
+  0x5246dd49, 0x508d9211, 0x4ecdfec7, 0x4d084651, 0x4b3c8c12, 0x496af3e2,
+  0x4793a210, 0x45b6bb5e,
+  0x43d464fb, 0x41ecc484, 0x40000000, 0x3e0e3ddc, 0x3c17a4e8, 0x3a1c5c57,
+  0x381c8bb5, 0x36185aee,
+  0x340ff242, 0x32037a45, 0x2ff31bde, 0x2ddf0040, 0x2bc750e9, 0x29ac37a0,
+  0x278dde6e, 0x256c6f9f,
+  0x234815ba, 0x2120fb83, 0x1ef74bf3, 0x1ccb3237, 0x1a9cd9ac, 0x186c6ddd,
+  0x163a1a7e, 0x14060b68,
+  0x11d06c97, 0xf996a26, 0xd61304e, 0xb27eb5c, 0x8edc7b7, 0x6b2f1d2,
+  0x4779632, 0x23be165,
+
+
+};
+
+/**    
+* \par    
+* Cosine Table is generated from following loop    
+* 
for(i = 0; i < 360; i++)    
+* {    
+*    cosTable[i]= cos((i-180) * PI/180.0);    
+* } 
   
+* \par    
+* Convert above coefficients to fixed point 1.31 format.    
+*/
+static const int32_t cosTableQ31[360] = {
+  0x80000000, 0x8004fda0, 0x8013f61d, 0x802ce84c, 0x804fd23a, 0x807cb130,
+  0x80b381ac, 0x80f43f69,
+  0x813ee55b, 0x81936daf, 0x81f1d1ce, 0x825a0a5b, 0x82cc0f36, 0x8347d77b,
+  0x83cd5982, 0x845c8ae3,
+  0x84f56073, 0x8597ce46, 0x8643c7b3, 0x86f93f50, 0x87b826f7, 0x88806fc4,
+  0x89520a1a, 0x8a2ce59f,
+  0x8b10f144, 0x8bfe1b3f, 0x8cf45113, 0x8df37f8b, 0x8efb92c2, 0x900c7621,
+  0x9126145f, 0x92485786,
+  0x937328f5, 0x94a6715d, 0x95e218c9, 0x9726069c, 0x98722192, 0x99c64fc5,
+  0x9b2276b0, 0x9c867b2c,
+  0x9df24175, 0x9f65ad2d, 0xa0e0a15f, 0xa263007d, 0xa3ecac65, 0xa57d8666,
+  0xa7156f3c, 0xa8b4471a,
+  0xaa59eda4, 0xac0641fb, 0xadb922b7, 0xaf726def, 0xb1320139, 0xb2f7b9af,
+  0xb4c373ee, 0xb6950c1e,
+  0xb86c5df0, 0xba4944a2, 0xbc2b9b05, 0xbe133b7c, 0xc0000000, 0xc1f1c224,
+  0xc3e85b18, 0xc5e3a3a9,
+  0xc7e3744b, 0xc9e7a512, 0xcbf00dbe, 0xcdfc85bb, 0xd00ce422, 0xd220ffc0,
+  0xd438af17, 0xd653c860,
+  0xd8722192, 0xda939061, 0xdcb7ea46, 0xdedf047d, 0xe108b40d, 0xe334cdc9,
+  0xe5632654, 0xe7939223,
+  0xe9c5e582, 0xebf9f498, 0xee2f9369, 0xf06695da, 0xf29ecfb2, 0xf4d814a4,
+  0xf7123849, 0xf94d0e2e,
+  0xfb8869ce, 0xfdc41e9b, 0x0, 0x23be165, 0x4779632, 0x6b2f1d2, 0x8edc7b7,
+  0xb27eb5c,
+  0xd61304e, 0xf996a26, 0x11d06c97, 0x14060b68, 0x163a1a7e, 0x186c6ddd,
+  0x1a9cd9ac, 0x1ccb3237,
+  0x1ef74bf3, 0x2120fb83, 0x234815ba, 0x256c6f9f, 0x278dde6e, 0x29ac37a0,
+  0x2bc750e9, 0x2ddf0040,
+  0x2ff31bde, 0x32037a45, 0x340ff242, 0x36185aee, 0x381c8bb5, 0x3a1c5c57,
+  0x3c17a4e8, 0x3e0e3ddc,
+  0x40000000, 0x41ecc484, 0x43d464fb, 0x45b6bb5e, 0x4793a210, 0x496af3e2,
+  0x4b3c8c12, 0x4d084651,
+  0x4ecdfec7, 0x508d9211, 0x5246dd49, 0x53f9be05, 0x55a6125c, 0x574bb8e6,
+  0x58ea90c4, 0x5a82799a,
+  0x5c13539b, 0x5d9cff83, 0x5f1f5ea1, 0x609a52d3, 0x620dbe8b, 0x637984d4,
+  0x64dd8950, 0x6639b03b,
+  0x678dde6e, 0x68d9f964, 0x6a1de737, 0x6b598ea3, 0x6c8cd70b, 0x6db7a87a,
+  0x6ed9eba1, 0x6ff389df,
+  0x71046d3e, 0x720c8075, 0x730baeed, 0x7401e4c1, 0x74ef0ebc, 0x75d31a61,
+  0x76adf5e6, 0x777f903c,
+  0x7847d909, 0x7906c0b0, 0x79bc384d, 0x7a6831ba, 0x7b0a9f8d, 0x7ba3751d,
+  0x7c32a67e, 0x7cb82885,
+  0x7d33f0ca, 0x7da5f5a5, 0x7e0e2e32, 0x7e6c9251, 0x7ec11aa5, 0x7f0bc097,
+  0x7f4c7e54, 0x7f834ed0,
+  0x7fb02dc6, 0x7fd317b4, 0x7fec09e3, 0x7ffb0260, 0x7fffffff, 0x7ffb0260,
+  0x7fec09e3, 0x7fd317b4,
+  0x7fb02dc6, 0x7f834ed0, 0x7f4c7e54, 0x7f0bc097, 0x7ec11aa5, 0x7e6c9251,
+  0x7e0e2e32, 0x7da5f5a5,
+  0x7d33f0ca, 0x7cb82885, 0x7c32a67e, 0x7ba3751d, 0x7b0a9f8d, 0x7a6831ba,
+  0x79bc384d, 0x7906c0b0,
+  0x7847d909, 0x777f903c, 0x76adf5e6, 0x75d31a61, 0x74ef0ebc, 0x7401e4c1,
+  0x730baeed, 0x720c8075,
+  0x71046d3e, 0x6ff389df, 0x6ed9eba1, 0x6db7a87a, 0x6c8cd70b, 0x6b598ea3,
+  0x6a1de737, 0x68d9f964,
+  0x678dde6e, 0x6639b03b, 0x64dd8950, 0x637984d4, 0x620dbe8b, 0x609a52d3,
+  0x5f1f5ea1, 0x5d9cff83,
+  0x5c13539b, 0x5a82799a, 0x58ea90c4, 0x574bb8e6, 0x55a6125c, 0x53f9be05,
+  0x5246dd49, 0x508d9211,
+  0x4ecdfec7, 0x4d084651, 0x4b3c8c12, 0x496af3e2, 0x4793a210, 0x45b6bb5e,
+  0x43d464fb, 0x41ecc484,
+  0x40000000, 0x3e0e3ddc, 0x3c17a4e8, 0x3a1c5c57, 0x381c8bb5, 0x36185aee,
+  0x340ff242, 0x32037a45,
+  0x2ff31bde, 0x2ddf0040, 0x2bc750e9, 0x29ac37a0, 0x278dde6e, 0x256c6f9f,
+  0x234815ba, 0x2120fb83,
+  0x1ef74bf3, 0x1ccb3237, 0x1a9cd9ac, 0x186c6ddd, 0x163a1a7e, 0x14060b68,
+  0x11d06c97, 0xf996a26,
+  0xd61304e, 0xb27eb5c, 0x8edc7b7, 0x6b2f1d2, 0x4779632, 0x23be165, 0x0,
+  0xfdc41e9b,
+  0xfb8869ce, 0xf94d0e2e, 0xf7123849, 0xf4d814a4, 0xf29ecfb2, 0xf06695da,
+  0xee2f9369, 0xebf9f498,
+  0xe9c5e582, 0xe7939223, 0xe5632654, 0xe334cdc9, 0xe108b40d, 0xdedf047d,
+  0xdcb7ea46, 0xda939061,
+  0xd8722192, 0xd653c860, 0xd438af17, 0xd220ffc0, 0xd00ce422, 0xcdfc85bb,
+  0xcbf00dbe, 0xc9e7a512,
+  0xc7e3744b, 0xc5e3a3a9, 0xc3e85b18, 0xc1f1c224, 0xc0000000, 0xbe133b7c,
+  0xbc2b9b05, 0xba4944a2,
+  0xb86c5df0, 0xb6950c1e, 0xb4c373ee, 0xb2f7b9af, 0xb1320139, 0xaf726def,
+  0xadb922b7, 0xac0641fb,
+  0xaa59eda4, 0xa8b4471a, 0xa7156f3c, 0xa57d8666, 0xa3ecac65, 0xa263007d,
+  0xa0e0a15f, 0x9f65ad2d,
+  0x9df24175, 0x9c867b2c, 0x9b2276b0, 0x99c64fc5, 0x98722192, 0x9726069c,
+  0x95e218c9, 0x94a6715d,
+  0x937328f5, 0x92485786, 0x9126145f, 0x900c7621, 0x8efb92c2, 0x8df37f8b,
+  0x8cf45113, 0x8bfe1b3f,
+  0x8b10f144, 0x8a2ce59f, 0x89520a1a, 0x88806fc4, 0x87b826f7, 0x86f93f50,
+  0x8643c7b3, 0x8597ce46,
+  0x84f56073, 0x845c8ae3, 0x83cd5982, 0x8347d77b, 0x82cc0f36, 0x825a0a5b,
+  0x81f1d1ce, 0x81936daf,
+  0x813ee55b, 0x80f43f69, 0x80b381ac, 0x807cb130, 0x804fd23a, 0x802ce84c,
+  0x8013f61d, 0x8004fda0,
+
+};
+
+
+/**    
+ * @brief  Q31 sin_cos function.   
+ * @param[in]  theta    scaled input value in degrees    
+ * @param[out] *pSinVal points to the processed sine output.    
+ * @param[out] *pCosVal points to the processed cosine output.    
+ * @return none.   
+ *    
+ * The Q31 input value is in the range [-1 0.999999] and is mapped to a degree value in the range [-180 179].   
+ *    
+ */
+
+
+void arm_sin_cos_q31(
+  q31_t theta,
+  q31_t * pSinVal,
+  q31_t * pCosVal)
+{
+  q31_t x0;                                      /* Nearest input value */
+  q31_t y0, y1;                                  /* Nearest output values */
+  q31_t xSpacing = INPUT_SPACING;                /* Spaing between inputs */
+  int32_t i;                                     /* Index */
+  q31_t oneByXSpacing;                           /* 1/ xSpacing value */
+  q31_t out;                                     /* temporary variable */
+  uint32_t sign_bits;                            /* No.of sign bits */
+  uint32_t firstX = 0x80000000;                  /* First X value */
+
+  /* Calculation of index */
+  i = ((uint32_t) theta - firstX) / (uint32_t) xSpacing;
+
+  /* Checking min and max index of table */
+  if(i < 0)
+  {
+    i = 0;
+  }
+  else if(i >= 359)
+  {
+    i = 358;
+  }
+
+  /* Calculation of first nearest input value */
+  x0 = (q31_t) firstX + ((q31_t) i * xSpacing);
+
+  /* Reading nearest sine output values from table */
+  y0 = sinTableQ31[i];
+  y1 = sinTableQ31[i + 1u];
+
+  /* Calculation of 1/(x1-x0) */
+  /* (x1-x0) is xSpacing which is fixed value */
+  sign_bits = 8u;
+  oneByXSpacing = 0x5A000000;
+
+  /* Calculation of (theta - x0)/(x1-x0) */
+  out =
+    (((q31_t) (((q63_t) (theta - x0) * oneByXSpacing) >> 32)) << sign_bits);
+
+  /* Calculation of y0 + (y1 - y0) * ((theta - x0)/(x1-x0)) */
+  *pSinVal = __QADD(y0, ((q31_t) (((q63_t) (y1 - y0) * out) >> 30)));
+
+  /* Reading nearest cosine output values from table */
+  y0 = cosTableQ31[i];
+  y1 = cosTableQ31[i + 1u];
+
+  /* Calculation of y0 + (y1 - y0) * ((theta - x0)/(x1-x0)) */
+  *pCosVal = __QADD(y0, ((q31_t) (((q63_t) (y1 - y0) * out) >> 30)));
+
+}
+
+/**    
+ * @} end of SinCos group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_cos_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_cos_f32.c
new file mode 100644
index 000000000..bee758bff
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_cos_f32.c
@@ -0,0 +1,280 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_cos_f32.c    
+*    
+* Description:	Fast cosine calculation for floating-point values.   
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+/**    
+ * @ingroup groupFastMath    
+ */
+
+/**    
+ * @defgroup cos Cosine    
+ *    
+ * Computes the trigonometric cosine function using a combination of table lookup   
+ * and cubic interpolation.  There are separate functions for   
+ * Q15, Q31, and floating-point data types.   
+ * The input to the floating-point version is in radians while the   
+ * fixed-point Q15 and Q31 have a scaled input with the range   
+ * [0 +0.9999] mapping to [0 2*pi), Where range excludes 2*pi.   
+ *   
+ * The implementation is based on table lookup using 256 values together with cubic interpolation.   
+ * The steps used are:   
+ *  -# Calculation of the nearest integer table index   
+ *  -# Fetch the four table values a, b, c, and d     
+ *  -# Compute the fractional portion (fract) of the table index.   
+ *  -# Calculation of wa, wb, wc, wd    
+ *  -# The final result equals a*wa + b*wb + c*wc + d*wd   
+ *   
+ * where   
+ * 
    
+ *    a=Table[index-1];    
+ *    b=Table[index+0];    
+ *    c=Table[index+1];    
+ *    d=Table[index+2];    
+ * 
   
+ * and   
+ * 
    
+ *    wa=-(1/6)*fract.^3 + (1/2)*fract.^2 - (1/3)*fract;    
+ *    wb=(1/2)*fract.^3 - fract.^2 - (1/2)*fract + 1;    
+ *    wc=-(1/2)*fract.^3+(1/2)*fract.^2+fract;    
+ *    wd=(1/6)*fract.^3 - (1/6)*fract;    
+ * 
    
+ */
+
+ /**    
+ * @addtogroup cos    
+ * @{    
+ */
+
+
+/**    
+* \par    
+* Example code for Generation of Cos Table:   
+* tableSize = 256;    
+* 
for(n = -1; n < (tableSize + 2); n++)    
+* {    
+*	cosTable[n+1]= cos(2*pi*n/tableSize);    
+* } 
    
+* where pi value is  3.14159265358979    
+*/
+
+static const float32_t cosTable[260] = {
+  0.999698817729949950f, 1.000000000000000000f, 0.999698817729949950f,
+  0.998795449733734130f, 0.997290432453155520f, 0.995184719562530520f,
+  0.992479562759399410f, 0.989176511764526370f,
+  0.985277652740478520f, 0.980785250663757320f, 0.975702106952667240f,
+  0.970031261444091800f, 0.963776051998138430f, 0.956940352916717530f,
+  0.949528157711029050f, 0.941544055938720700f,
+  0.932992815971374510f, 0.923879504203796390f, 0.914209783077239990f,
+  0.903989315032958980f, 0.893224298954010010f, 0.881921291351318360f,
+  0.870086967945098880f, 0.857728600502014160f,
+  0.844853579998016360f, 0.831469595432281490f, 0.817584812641143800f,
+  0.803207516670227050f, 0.788346409797668460f, 0.773010432720184330f,
+  0.757208824157714840f, 0.740951120853424070f,
+  0.724247097969055180f, 0.707106769084930420f, 0.689540565013885500f,
+  0.671558976173400880f, 0.653172850608825680f, 0.634393274784088130f,
+  0.615231573581695560f, 0.595699310302734380f,
+  0.575808167457580570f, 0.555570244789123540f, 0.534997642040252690f,
+  0.514102756977081300f, 0.492898195981979370f, 0.471396744251251220f,
+  0.449611335992813110f, 0.427555084228515630f,
+  0.405241310596466060f, 0.382683426141738890f, 0.359895050525665280f,
+  0.336889863014221190f, 0.313681751489639280f, 0.290284663438797000f,
+  0.266712754964828490f, 0.242980182170867920f,
+  0.219101235270500180f, 0.195090323686599730f, 0.170961886644363400f,
+  0.146730467677116390f, 0.122410677373409270f, 0.098017141222953796f,
+  0.073564566671848297f, 0.049067676067352295f,
+  0.024541229009628296f, 0.000000000000000061f, -0.024541229009628296f,
+  -0.049067676067352295f, -0.073564566671848297f, -0.098017141222953796f,
+  -0.122410677373409270f, -0.146730467677116390f,
+  -0.170961886644363400f, -0.195090323686599730f, -0.219101235270500180f,
+  -0.242980182170867920f, -0.266712754964828490f, -0.290284663438797000f,
+  -0.313681751489639280f, -0.336889863014221190f,
+  -0.359895050525665280f, -0.382683426141738890f, -0.405241310596466060f,
+  -0.427555084228515630f, -0.449611335992813110f, -0.471396744251251220f,
+  -0.492898195981979370f, -0.514102756977081300f,
+  -0.534997642040252690f, -0.555570244789123540f, -0.575808167457580570f,
+  -0.595699310302734380f, -0.615231573581695560f, -0.634393274784088130f,
+  -0.653172850608825680f, -0.671558976173400880f,
+  -0.689540565013885500f, -0.707106769084930420f, -0.724247097969055180f,
+  -0.740951120853424070f, -0.757208824157714840f, -0.773010432720184330f,
+  -0.788346409797668460f, -0.803207516670227050f,
+  -0.817584812641143800f, -0.831469595432281490f, -0.844853579998016360f,
+  -0.857728600502014160f, -0.870086967945098880f, -0.881921291351318360f,
+  -0.893224298954010010f, -0.903989315032958980f,
+  -0.914209783077239990f, -0.923879504203796390f, -0.932992815971374510f,
+  -0.941544055938720700f, -0.949528157711029050f, -0.956940352916717530f,
+  -0.963776051998138430f, -0.970031261444091800f,
+  -0.975702106952667240f, -0.980785250663757320f, -0.985277652740478520f,
+  -0.989176511764526370f, -0.992479562759399410f, -0.995184719562530520f,
+  -0.997290432453155520f, -0.998795449733734130f,
+  -0.999698817729949950f, -1.000000000000000000f, -0.999698817729949950f,
+  -0.998795449733734130f, -0.997290432453155520f, -0.995184719562530520f,
+  -0.992479562759399410f, -0.989176511764526370f,
+  -0.985277652740478520f, -0.980785250663757320f, -0.975702106952667240f,
+  -0.970031261444091800f, -0.963776051998138430f, -0.956940352916717530f,
+  -0.949528157711029050f, -0.941544055938720700f,
+  -0.932992815971374510f, -0.923879504203796390f, -0.914209783077239990f,
+  -0.903989315032958980f, -0.893224298954010010f, -0.881921291351318360f,
+  -0.870086967945098880f, -0.857728600502014160f,
+  -0.844853579998016360f, -0.831469595432281490f, -0.817584812641143800f,
+  -0.803207516670227050f, -0.788346409797668460f, -0.773010432720184330f,
+  -0.757208824157714840f, -0.740951120853424070f,
+  -0.724247097969055180f, -0.707106769084930420f, -0.689540565013885500f,
+  -0.671558976173400880f, -0.653172850608825680f, -0.634393274784088130f,
+  -0.615231573581695560f, -0.595699310302734380f,
+  -0.575808167457580570f, -0.555570244789123540f, -0.534997642040252690f,
+  -0.514102756977081300f, -0.492898195981979370f, -0.471396744251251220f,
+  -0.449611335992813110f, -0.427555084228515630f,
+  -0.405241310596466060f, -0.382683426141738890f, -0.359895050525665280f,
+  -0.336889863014221190f, -0.313681751489639280f, -0.290284663438797000f,
+  -0.266712754964828490f, -0.242980182170867920f,
+  -0.219101235270500180f, -0.195090323686599730f, -0.170961886644363400f,
+  -0.146730467677116390f, -0.122410677373409270f, -0.098017141222953796f,
+  -0.073564566671848297f, -0.049067676067352295f,
+  -0.024541229009628296f, -0.000000000000000184f, 0.024541229009628296f,
+  0.049067676067352295f, 0.073564566671848297f, 0.098017141222953796f,
+  0.122410677373409270f, 0.146730467677116390f,
+  0.170961886644363400f, 0.195090323686599730f, 0.219101235270500180f,
+  0.242980182170867920f, 0.266712754964828490f, 0.290284663438797000f,
+  0.313681751489639280f, 0.336889863014221190f,
+  0.359895050525665280f, 0.382683426141738890f, 0.405241310596466060f,
+  0.427555084228515630f, 0.449611335992813110f, 0.471396744251251220f,
+  0.492898195981979370f, 0.514102756977081300f,
+  0.534997642040252690f, 0.555570244789123540f, 0.575808167457580570f,
+  0.595699310302734380f, 0.615231573581695560f, 0.634393274784088130f,
+  0.653172850608825680f, 0.671558976173400880f,
+  0.689540565013885500f, 0.707106769084930420f, 0.724247097969055180f,
+  0.740951120853424070f, 0.757208824157714840f, 0.773010432720184330f,
+  0.788346409797668460f, 0.803207516670227050f,
+  0.817584812641143800f, 0.831469595432281490f, 0.844853579998016360f,
+  0.857728600502014160f, 0.870086967945098880f, 0.881921291351318360f,
+  0.893224298954010010f, 0.903989315032958980f,
+  0.914209783077239990f, 0.923879504203796390f, 0.932992815971374510f,
+  0.941544055938720700f, 0.949528157711029050f, 0.956940352916717530f,
+  0.963776051998138430f, 0.970031261444091800f,
+  0.975702106952667240f, 0.980785250663757320f, 0.985277652740478520f,
+  0.989176511764526370f, 0.992479562759399410f, 0.995184719562530520f,
+  0.997290432453155520f, 0.998795449733734130f,
+  0.999698817729949950f, 1.000000000000000000f, 0.999698817729949950f,
+  0.998795449733734130f
+};
+
+/**   
+ * @brief  Fast approximation to the trigonometric cosine function for floating-point data.   
+ * @param[in] x input value in radians.   
+ * @return cos(x).   
+ */
+
+
+float32_t arm_cos_f32(
+  float32_t x)
+{
+  float32_t cosVal, fract, in;
+  int32_t index;
+  uint32_t tableSize = (uint32_t) TABLE_SIZE;
+  float32_t wa, wb, wc, wd;
+  float32_t a, b, c, d;
+  float32_t *tablePtr;
+  int32_t n;
+  float32_t fractsq, fractby2, fractby6, fractby3, fractsqby2;
+  float32_t oneminusfractby2;
+  float32_t frby2xfrsq, frby6xfrsq;
+
+  /* input x is in radians */
+  /* Scale the input to [0 1] range from [0 2*PI] , divide input by 2*pi */
+  in = x * 0.159154943092f;
+
+  /* Calculation of floor value of input */
+  n = (int32_t) in;
+
+  /* Make negative values towards -infinity */
+  if(x < 0.0f)
+  {
+    n = n - 1;
+  }
+
+  /* Map input value to [0 1] */
+  in = in - (float32_t) n;
+
+  /* Calculation of index of the table */
+  index = (uint32_t) (tableSize * in);
+
+  /* fractional value calculation */
+  fract = ((float32_t) tableSize * in) - (float32_t) index;
+
+  /* Checking min and max index of table */
+  if(index < 0)
+  {
+    index = 0;
+  }
+  else if(index > 256)
+  {
+    index = 256;
+  }
+
+  /* Initialise table pointer */
+  tablePtr = (float32_t *) & cosTable[index];
+
+  /* Read four nearest values of input value from the cos table */
+  a = tablePtr[0];
+  b = tablePtr[1];
+  c = tablePtr[2];
+  d = tablePtr[3];
+
+  /* Cubic interpolation process */
+  fractsq = fract * fract;
+  fractby2 = fract * 0.5f;
+  fractby6 = fract * 0.166666667f;
+  fractby3 = fract * 0.3333333333333f;
+  fractsqby2 = fractsq * 0.5f;
+  frby2xfrsq = (fractby2) * fractsq;
+  frby6xfrsq = (fractby6) * fractsq;
+  oneminusfractby2 = 1.0f - fractby2;
+  wb = fractsqby2 - fractby3;
+  wc = (fractsqby2 + fract);
+  wa = wb - frby6xfrsq;
+  wb = frby2xfrsq - fractsq;
+  cosVal = wa * a;
+  wc = wc - frby2xfrsq;
+  wd = (frby6xfrsq) - fractby6;
+  wb = wb + oneminusfractby2;
+
+  /* Calculate cos value */
+  cosVal = (cosVal + (b * wb)) + ((c * wc) + (d * wd));
+
+  /* Return the output value */
+  return (cosVal);
+
+}
+
+/**    
+ * @} end of cos group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_cos_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_cos_q15.c
new file mode 100644
index 000000000..0edf68b89
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_cos_q15.c
@@ -0,0 +1,205 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_cos_q15.c    
+*    
+* Description:	Fast cosine calculation for Q15 values.   
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFastMath    
+ */
+
+ /**    
+ * @addtogroup cos    
+ * @{    
+ */
+
+/**   
+* \par    
+* Table Values are in Q15(1.15 Fixed point format) and generation is done in three steps    
+* \par    
+* First Generate cos values in floating point:    
+* tableSize = 256;     
+* 
for(n = -1; n < (tableSize + 1); n++)    
+* {    
+*	cosTable[n+1]= cos(2*pi*n/tableSize);    
+* }
   
+* where pi value is  3.14159265358979    
+* \par    
+* Secondly Convert Floating point to Q15(Fixed point):    
+*	(cosTable[i] * pow(2, 15))    
+* \par    
+* Finally Rounding to nearest integer is done    
+* 	cosTable[i] += (cosTable[i] > 0 ? 0.5 :-0.5);    
+*/
+
+static const q15_t cosTableQ15[259] = {
+  0x7ff6, 0x7fff, 0x7ff6, 0x7fd9, 0x7fa7, 0x7f62, 0x7f0a, 0x7e9d,
+  0x7e1e, 0x7d8a, 0x7ce4, 0x7c2a, 0x7b5d, 0x7a7d, 0x798a, 0x7885,
+  0x776c, 0x7642, 0x7505, 0x73b6, 0x7255, 0x70e3, 0x6f5f, 0x6dca,
+  0x6c24, 0x6a6e, 0x68a7, 0x66d0, 0x64e9, 0x62f2, 0x60ec, 0x5ed7,
+  0x5cb4, 0x5a82, 0x5843, 0x55f6, 0x539b, 0x5134, 0x4ec0, 0x4c40,
+  0x49b4, 0x471d, 0x447b, 0x41ce, 0x3f17, 0x3c57, 0x398d, 0x36ba,
+  0x33df, 0x30fc, 0x2e11, 0x2b1f, 0x2827, 0x2528, 0x2224, 0x1f1a,
+  0x1c0c, 0x18f9, 0x15e2, 0x12c8, 0xfab, 0xc8c, 0x96b, 0x648,
+  0x324, 0x0, 0xfcdc, 0xf9b8, 0xf695, 0xf374, 0xf055, 0xed38,
+  0xea1e, 0xe707, 0xe3f4, 0xe0e6, 0xdddc, 0xdad8, 0xd7d9, 0xd4e1,
+  0xd1ef, 0xcf04, 0xcc21, 0xc946, 0xc673, 0xc3a9, 0xc0e9, 0xbe32,
+  0xbb85, 0xb8e3, 0xb64c, 0xb3c0, 0xb140, 0xaecc, 0xac65, 0xaa0a,
+  0xa7bd, 0xa57e, 0xa34c, 0xa129, 0x9f14, 0x9d0e, 0x9b17, 0x9930,
+  0x9759, 0x9592, 0x93dc, 0x9236, 0x90a1, 0x8f1d, 0x8dab, 0x8c4a,
+  0x8afb, 0x89be, 0x8894, 0x877b, 0x8676, 0x8583, 0x84a3, 0x83d6,
+  0x831c, 0x8276, 0x81e2, 0x8163, 0x80f6, 0x809e, 0x8059, 0x8027,
+  0x800a, 0x8000, 0x800a, 0x8027, 0x8059, 0x809e, 0x80f6, 0x8163,
+  0x81e2, 0x8276, 0x831c, 0x83d6, 0x84a3, 0x8583, 0x8676, 0x877b,
+  0x8894, 0x89be, 0x8afb, 0x8c4a, 0x8dab, 0x8f1d, 0x90a1, 0x9236,
+  0x93dc, 0x9592, 0x9759, 0x9930, 0x9b17, 0x9d0e, 0x9f14, 0xa129,
+  0xa34c, 0xa57e, 0xa7bd, 0xaa0a, 0xac65, 0xaecc, 0xb140, 0xb3c0,
+  0xb64c, 0xb8e3, 0xbb85, 0xbe32, 0xc0e9, 0xc3a9, 0xc673, 0xc946,
+  0xcc21, 0xcf04, 0xd1ef, 0xd4e1, 0xd7d9, 0xdad8, 0xdddc, 0xe0e6,
+  0xe3f4, 0xe707, 0xea1e, 0xed38, 0xf055, 0xf374, 0xf695, 0xf9b8,
+  0xfcdc, 0x0, 0x324, 0x648, 0x96b, 0xc8c, 0xfab, 0x12c8,
+  0x15e2, 0x18f9, 0x1c0c, 0x1f1a, 0x2224, 0x2528, 0x2827, 0x2b1f,
+  0x2e11, 0x30fc, 0x33df, 0x36ba, 0x398d, 0x3c57, 0x3f17, 0x41ce,
+  0x447b, 0x471d, 0x49b4, 0x4c40, 0x4ec0, 0x5134, 0x539b, 0x55f6,
+  0x5843, 0x5a82, 0x5cb4, 0x5ed7, 0x60ec, 0x62f2, 0x64e9, 0x66d0,
+  0x68a7, 0x6a6e, 0x6c24, 0x6dca, 0x6f5f, 0x70e3, 0x7255, 0x73b6,
+  0x7505, 0x7642, 0x776c, 0x7885, 0x798a, 0x7a7d, 0x7b5d, 0x7c2a,
+  0x7ce4, 0x7d8a, 0x7e1e, 0x7e9d, 0x7f0a, 0x7f62, 0x7fa7, 0x7fd9,
+  0x7ff6, 0x7fff, 0x7ff6
+};
+
+
+/**   
+ * @brief Fast approximation to the trigonometric cosine function for Q15 data.   
+ * @param[in] x Scaled input value in radians.   
+ * @return  cos(x).   
+ *   
+ * The Q15 input value is in the range [0 +0.9999] and is mapped to a radian value in the range [0 2*pi), Here range excludes 2*pi.   
+ */
+
+q15_t arm_cos_q15(
+  q15_t x)
+{
+  q31_t cosVal;                                  /* Temporary variable for output */
+  q15_t *tablePtr;                               /* Pointer to table */
+  q15_t in, in2;                                 /* Temporary variables for input */
+  q31_t wa, wb, wc, wd;                          /* Cubic interpolation coefficients */
+  q15_t a, b, c, d;                              /* Four nearest output values */
+  q15_t fract, fractCube, fractSquare;           /* Variables for fractional value */
+  q15_t oneBy6 = 0x1555;                         /* Fixed point value of 1/6 */
+  q15_t tableSpacing = TABLE_SPACING_Q15;        /* Table spacing */
+  int32_t index;                                 /* Index variable */
+
+  in = x;
+
+  /* Calculate the nearest index */
+  index = (int32_t) in / tableSpacing;
+
+  /* Calculate the nearest value of input */
+  in2 = (q15_t) index *tableSpacing;
+
+  /* Calculation of fractional value */
+  fract = (in - in2) << 8;
+
+  /* fractSquare = fract * fract */
+  fractSquare = (q15_t) ((fract * fract) >> 15);
+
+  /* fractCube = fract * fract * fract */
+  fractCube = (q15_t) ((fractSquare * fract) >> 15);
+
+  /* Checking min and max index of table */
+  if(index < 0)
+  {
+    index = 0;
+  }
+  else if(index > 256)
+  {
+    index = 256;
+  }
+
+  /* Initialise table pointer */
+  tablePtr = (q15_t *) & cosTableQ15[index];
+
+  /* Cubic interpolation process */
+  /* Calculation of wa */
+  /* wa = -(oneBy6)*fractCube + (fractSquare >> 1u) - (0x2AAA)*fract; */
+  wa = (q31_t) oneBy6 *fractCube;
+  wa += (q31_t) 0x2AAA *fract;
+  wa = -(wa >> 15);
+  wa += (fractSquare >> 1u);
+
+  /* Read first nearest value of output from the cos table */
+  a = *tablePtr++;
+
+  /* cosVal = a * wa */
+  cosVal = a * wa;
+
+  /* Calculation of wb */
+  wb = (((fractCube >> 1u) - fractSquare) - (fract >> 1u)) + 0x7FFF;
+
+  /* Read second nearest value of output from the cos table */
+  b = *tablePtr++;
+
+  /*      cosVal += b*wb */
+  cosVal += b * wb;
+
+  /* Calculation of wc */
+  wc = -(q31_t) fractCube + fractSquare;
+  wc = (wc >> 1u) + fract;
+
+  /* Read third nearest value of output from the cos table */
+  c = *tablePtr++;
+
+  /* cosVal += c*wc */
+  cosVal += c * wc;
+
+  /* Calculation of wd */
+  /* wd = (oneBy6)*fractCube - (oneBy6)*fract; */
+  fractCube = fractCube - fract;
+  wd = ((q15_t) (((q31_t) oneBy6 * fractCube) >> 15));
+
+  /* Read fourth nearest value of output from the cos table */
+  d = *tablePtr++;
+
+  /* cosVal += d*wd; */
+  cosVal += d * wd;
+
+  /* Convert output value in 1.15(q15) format and saturate */
+  cosVal = __SSAT((cosVal >> 15), 16);
+
+  /* Return the output value in 1.15(q15) format */
+  return ((q15_t) cosVal);
+
+}
+
+/**    
+ * @} end of cos group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_cos_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_cos_q31.c
new file mode 100644
index 000000000..1326215fe
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_cos_q31.c
@@ -0,0 +1,239 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_cos_q31.c    
+*    
+* Description:	Fast cosine calculation for Q31 values.   
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFastMath    
+ */
+
+ /**    
+ * @addtogroup cos    
+ * @{    
+ */
+
+/**    
+ * \par    
+ * Table Values are in Q31(1.31 Fixed point format) and generation is done in three steps    
+ * First Generate cos values in floating point:    
+ * tableSize = 256;      
+ * 
for(n = -1; n < (tableSize + 1); n++)    
+ * {    
+ *	cosTable[n+1]= cos(2*pi*n/tableSize);    
+ * } 
     
+ * where pi value is  3.14159265358979    
+ * \par    
+ * Secondly Convert Floating point to Q31(Fixed point):    
+ *	(cosTable[i] * pow(2, 31))    
+ * \par    
+ * Finally Rounding to nearest integer is done    
+ * 	cosTable[i] += (cosTable[i] > 0 ? 0.5 :-0.5);    
+ */
+
+
+static const q31_t cosTableQ31[259] = {
+  0x7ff62182, 0x7fffffff, 0x7ff62182, 0x7fd8878e, 0x7fa736b4, 0x7f62368f,
+  0x7f0991c4, 0x7e9d55fc,
+  0x7e1d93ea, 0x7d8a5f40, 0x7ce3ceb2, 0x7c29fbee, 0x7b5d039e, 0x7a7d055b,
+  0x798a23b1, 0x78848414,
+  0x776c4edb, 0x7641af3d, 0x7504d345, 0x73b5ebd1, 0x72552c85, 0x70e2cbc6,
+  0x6f5f02b2, 0x6dca0d14,
+  0x6c242960, 0x6a6d98a4, 0x68a69e81, 0x66cf8120, 0x64e88926, 0x62f201ac,
+  0x60ec3830, 0x5ed77c8a,
+  0x5cb420e0, 0x5a82799a, 0x5842dd54, 0x55f5a4d2, 0x539b2af0, 0x5133cc94,
+  0x4ebfe8a5, 0x4c3fdff4,
+  0x49b41533, 0x471cece7, 0x447acd50, 0x41ce1e65, 0x3f1749b8, 0x3c56ba70,
+  0x398cdd32, 0x36ba2014,
+  0x33def287, 0x30fbc54d, 0x2e110a62, 0x2b1f34eb, 0x2826b928, 0x25280c5e,
+  0x2223a4c5, 0x1f19f97b,
+  0x1c0b826a, 0x18f8b83c, 0x15e21445, 0x12c8106f, 0xfab272b, 0xc8bd35e,
+  0x96a9049, 0x647d97c,
+  0x3242abf, 0x0, 0xfcdbd541, 0xf9b82684, 0xf6956fb7, 0xf3742ca2, 0xf054d8d5,
+  0xed37ef91,
+  0xea1debbb, 0xe70747c4, 0xe3f47d96, 0xe0e60685, 0xdddc5b3b, 0xdad7f3a2,
+  0xd7d946d8, 0xd4e0cb15,
+  0xd1eef59e, 0xcf043ab3, 0xcc210d79, 0xc945dfec, 0xc67322ce, 0xc3a94590,
+  0xc0e8b648, 0xbe31e19b,
+  0xbb8532b0, 0xb8e31319, 0xb64beacd, 0xb3c0200c, 0xb140175b, 0xaecc336c,
+  0xac64d510, 0xaa0a5b2e,
+  0xa7bd22ac, 0xa57d8666, 0xa34bdf20, 0xa1288376, 0x9f13c7d0, 0x9d0dfe54,
+  0x9b1776da, 0x99307ee0,
+  0x9759617f, 0x9592675c, 0x93dbd6a0, 0x9235f2ec, 0x90a0fd4e, 0x8f1d343a,
+  0x8daad37b, 0x8c4a142f,
+  0x8afb2cbb, 0x89be50c3, 0x8893b125, 0x877b7bec, 0x8675dc4f, 0x8582faa5,
+  0x84a2fc62, 0x83d60412,
+  0x831c314e, 0x8275a0c0, 0x81e26c16, 0x8162aa04, 0x80f66e3c, 0x809dc971,
+  0x8058c94c, 0x80277872,
+  0x8009de7e, 0x80000000, 0x8009de7e, 0x80277872, 0x8058c94c, 0x809dc971,
+  0x80f66e3c, 0x8162aa04,
+  0x81e26c16, 0x8275a0c0, 0x831c314e, 0x83d60412, 0x84a2fc62, 0x8582faa5,
+  0x8675dc4f, 0x877b7bec,
+  0x8893b125, 0x89be50c3, 0x8afb2cbb, 0x8c4a142f, 0x8daad37b, 0x8f1d343a,
+  0x90a0fd4e, 0x9235f2ec,
+  0x93dbd6a0, 0x9592675c, 0x9759617f, 0x99307ee0, 0x9b1776da, 0x9d0dfe54,
+  0x9f13c7d0, 0xa1288376,
+  0xa34bdf20, 0xa57d8666, 0xa7bd22ac, 0xaa0a5b2e, 0xac64d510, 0xaecc336c,
+  0xb140175b, 0xb3c0200c,
+  0xb64beacd, 0xb8e31319, 0xbb8532b0, 0xbe31e19b, 0xc0e8b648, 0xc3a94590,
+  0xc67322ce, 0xc945dfec,
+  0xcc210d79, 0xcf043ab3, 0xd1eef59e, 0xd4e0cb15, 0xd7d946d8, 0xdad7f3a2,
+  0xdddc5b3b, 0xe0e60685,
+  0xe3f47d96, 0xe70747c4, 0xea1debbb, 0xed37ef91, 0xf054d8d5, 0xf3742ca2,
+  0xf6956fb7, 0xf9b82684,
+  0xfcdbd541, 0x0, 0x3242abf, 0x647d97c, 0x96a9049, 0xc8bd35e, 0xfab272b,
+  0x12c8106f,
+  0x15e21445, 0x18f8b83c, 0x1c0b826a, 0x1f19f97b, 0x2223a4c5, 0x25280c5e,
+  0x2826b928, 0x2b1f34eb,
+  0x2e110a62, 0x30fbc54d, 0x33def287, 0x36ba2014, 0x398cdd32, 0x3c56ba70,
+  0x3f1749b8, 0x41ce1e65,
+  0x447acd50, 0x471cece7, 0x49b41533, 0x4c3fdff4, 0x4ebfe8a5, 0x5133cc94,
+  0x539b2af0, 0x55f5a4d2,
+  0x5842dd54, 0x5a82799a, 0x5cb420e0, 0x5ed77c8a, 0x60ec3830, 0x62f201ac,
+  0x64e88926, 0x66cf8120,
+  0x68a69e81, 0x6a6d98a4, 0x6c242960, 0x6dca0d14, 0x6f5f02b2, 0x70e2cbc6,
+  0x72552c85, 0x73b5ebd1,
+  0x7504d345, 0x7641af3d, 0x776c4edb, 0x78848414, 0x798a23b1, 0x7a7d055b,
+  0x7b5d039e, 0x7c29fbee,
+  0x7ce3ceb2, 0x7d8a5f40, 0x7e1d93ea, 0x7e9d55fc, 0x7f0991c4, 0x7f62368f,
+  0x7fa736b4, 0x7fd8878e,
+  0x7ff62182, 0x7fffffff, 0x7ff62182
+};
+
+/**   
+ * @brief Fast approximation to the trigonometric cosine function for Q31 data.   
+ * @param[in] x Scaled input value in radians.   
+ * @return  cos(x).   
+ *   
+ * The Q31 input value is in the range [0 +0.9999] and is mapped to a radian value in the range [0 2*pi), Here range excludes 2*pi.   
+ */
+
+q31_t arm_cos_q31(
+  q31_t x)
+{
+  q31_t cosVal, in, in2;                         /* Temporary variables for input, output */
+  q31_t wa, wb, wc, wd;                          /* Cubic interpolation coefficients */
+  q31_t a, b, c, d;                              /* Four nearest output values */
+  q31_t *tablePtr;                               /* Pointer to table */
+  q31_t fract, fractCube, fractSquare;           /* Temporary values for fractional values */
+  q31_t oneBy6 = 0x15555555;                     /* Fixed point value of 1/6 */
+  q31_t tableSpacing = TABLE_SPACING_Q31;        /* Table spacing */
+  q31_t temp;                                    /* Temporary variable for intermediate process */
+  int32_t index;                                 /* Index variable */
+
+  in = x;
+
+  /* Calculate the nearest index */
+  index = in / tableSpacing;
+
+  /* Calculate the nearest value of input */
+  in2 = ((q31_t) index) * tableSpacing;
+
+  /* Calculation of fractional value */
+  fract = (in - in2) << 8;
+
+  /* fractSquare = fract * fract */
+  fractSquare = ((q31_t) (((q63_t) fract * fract) >> 32));
+  fractSquare = fractSquare << 1;
+
+  /* fractCube = fract * fract * fract */
+  fractCube = ((q31_t) (((q63_t) fractSquare * fract) >> 32));
+  fractCube = fractCube << 1;
+
+  /* Checking min and max index of table */
+  if(index < 0)
+  {
+    index = 0;
+  }
+  else if(index > 256)
+  {
+    index = 256;
+  }
+
+  /* Initialise table pointer */
+  tablePtr = (q31_t *) & cosTableQ31[index];
+
+  /* Cubic interpolation process */
+  /* Calculation of wa */
+  /* wa = -(oneBy6)*fractCube + (fractSquare >> 1u) - (0x2AAAAAAA)*fract; */
+  wa = ((q31_t) (((q63_t) oneBy6 * fractCube) >> 32));
+  temp = 0x2AAAAAAA;
+  wa = (q31_t) ((((q63_t) wa << 32) + ((q63_t) temp * fract)) >> 32);
+  wa = -(wa << 1u);
+  wa += (fractSquare >> 1u);
+
+  /* Read first nearest value of output from the cos table */
+  a = *tablePtr++;
+
+  /* cosVal = a*wa */
+  cosVal = ((q31_t) (((q63_t) a * wa) >> 32));
+
+  /* q31(1.31) Fixed point value of 1 */
+  temp = 0x7FFFFFFF;
+
+  /* Calculation of wb */
+  wb = ((fractCube >> 1u) - (fractSquare + (fract >> 1u))) + temp;
+  /* Read second nearest value of output from the cos table */
+  b = *tablePtr++;
+
+  /*      cosVal += b*wb */
+  cosVal = (q31_t) ((((q63_t) cosVal << 32) + ((q63_t) b * (wb))) >> 32);
+
+  /* Calculation of wc */
+  wc = -fractCube + fractSquare;
+  wc = (wc >> 1u) + fract;
+  /* Read third nearest values of output value from the cos table */
+  c = *tablePtr++;
+
+  /*      cosVal += c*wc */
+  cosVal = (q31_t) ((((q63_t) cosVal << 32) + ((q63_t) c * (wc))) >> 32);
+
+  /* Calculation of wd */
+  /* wd = (oneBy6)*fractCube - (oneBy6)*fract; */
+  fractCube = fractCube - fract;
+  wd = ((q31_t) (((q63_t) oneBy6 * fractCube) >> 32));
+  wd = (wd << 1u);
+
+  /* Read fourth nearest value of output from the cos table */
+  d = *tablePtr++;
+
+  /* cosVal += d*wd; */
+  cosVal = (q31_t) ((((q63_t) cosVal << 32) + ((q63_t) d * (wd))) >> 32);
+
+
+  /* convert cosVal in 2.30 format to 1.31 format */
+  return (__QADD(cosVal, cosVal));
+
+}
+
+/**    
+ * @} end of cos group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sin_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sin_f32.c
new file mode 100644
index 000000000..bfe58d5c8
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sin_f32.c
@@ -0,0 +1,281 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_sin_f32.c    
+*    
+* Description:	Fast sine calculation for floating-point values.   
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFastMath    
+ */
+
+/**    
+ * @defgroup sin Sine    
+ *    
+ * Computes the trigonometric sine function using a combination of table lookup   
+ * and cubic interpolation.  There are separate functions for   
+ * Q15, Q31, and floating-point data types.   
+ * The input to the floating-point version is in radians while the   
+ * fixed-point Q15 and Q31 have a scaled input with the range   
+ * [0 +0.9999] mapping to [0 2*pi), Where range excludes 2*pi.   
+ *   
+ * The implementation is based on table lookup using 256 values together with cubic interpolation.   
+ * The steps used are:   
+ *  -# Calculation of the nearest integer table index   
+ *  -# Fetch the four table values a, b, c, and d     
+ *  -# Compute the fractional portion (fract) of the table index.   
+ *  -# Calculation of wa, wb, wc, wd    
+ *  -# The final result equals a*wa + b*wb + c*wc + d*wd   
+ *   
+ * where   
+ * 
    
+ *    a=Table[index-1];    
+ *    b=Table[index+0];    
+ *    c=Table[index+1];    
+ *    d=Table[index+2];    
+ * 
   
+ * and   
+ * 
    
+ *    wa=-(1/6)*fract.^3 + (1/2)*fract.^2 - (1/3)*fract;    
+ *    wb=(1/2)*fract.^3 - fract.^2 - (1/2)*fract + 1;    
+ *    wc=-(1/2)*fract.^3+(1/2)*fract.^2+fract;    
+ *    wd=(1/6)*fract.^3 - (1/6)*fract;    
+ * 
    
+ */
+
+/**    
+ * @addtogroup sin    
+ * @{    
+ */
+
+
+/**   
+ * \par    
+ * Example code for Generation of Floating-point Sin Table:   
+ * tableSize = 256;    
+ * 
for(n = -1; n < (tableSize + 1); n++)    
+ * {    
+ *	sinTable[n+1]=sin(2*pi*n/tableSize);    
+ * }
    
+ * \par    
+ * where pi value is  3.14159265358979    
+ */
+
+static const float32_t sinTable[259] = {
+  -0.024541229009628296f, 0.000000000000000000f, 0.024541229009628296f,
+  0.049067676067352295f, 0.073564566671848297f, 0.098017141222953796f,
+  0.122410677373409270f, 0.146730467677116390f,
+  0.170961886644363400f, 0.195090323686599730f, 0.219101235270500180f,
+  0.242980182170867920f, 0.266712754964828490f, 0.290284663438797000f,
+  0.313681751489639280f, 0.336889863014221190f,
+  0.359895050525665280f, 0.382683426141738890f, 0.405241310596466060f,
+  0.427555084228515630f, 0.449611335992813110f, 0.471396744251251220f,
+  0.492898195981979370f, 0.514102756977081300f,
+  0.534997642040252690f, 0.555570244789123540f, 0.575808167457580570f,
+  0.595699310302734380f, 0.615231573581695560f, 0.634393274784088130f,
+  0.653172850608825680f, 0.671558976173400880f,
+  0.689540565013885500f, 0.707106769084930420f, 0.724247097969055180f,
+  0.740951120853424070f, 0.757208824157714840f, 0.773010432720184330f,
+  0.788346409797668460f, 0.803207516670227050f,
+  0.817584812641143800f, 0.831469595432281490f, 0.844853579998016360f,
+  0.857728600502014160f, 0.870086967945098880f, 0.881921291351318360f,
+  0.893224298954010010f, 0.903989315032958980f,
+  0.914209783077239990f, 0.923879504203796390f, 0.932992815971374510f,
+  0.941544055938720700f, 0.949528157711029050f, 0.956940352916717530f,
+  0.963776051998138430f, 0.970031261444091800f,
+  0.975702106952667240f, 0.980785250663757320f, 0.985277652740478520f,
+  0.989176511764526370f, 0.992479562759399410f, 0.995184719562530520f,
+  0.997290432453155520f, 0.998795449733734130f,
+  0.999698817729949950f, 1.000000000000000000f, 0.999698817729949950f,
+  0.998795449733734130f, 0.997290432453155520f, 0.995184719562530520f,
+  0.992479562759399410f, 0.989176511764526370f,
+  0.985277652740478520f, 0.980785250663757320f, 0.975702106952667240f,
+  0.970031261444091800f, 0.963776051998138430f, 0.956940352916717530f,
+  0.949528157711029050f, 0.941544055938720700f,
+  0.932992815971374510f, 0.923879504203796390f, 0.914209783077239990f,
+  0.903989315032958980f, 0.893224298954010010f, 0.881921291351318360f,
+  0.870086967945098880f, 0.857728600502014160f,
+  0.844853579998016360f, 0.831469595432281490f, 0.817584812641143800f,
+  0.803207516670227050f, 0.788346409797668460f, 0.773010432720184330f,
+  0.757208824157714840f, 0.740951120853424070f,
+  0.724247097969055180f, 0.707106769084930420f, 0.689540565013885500f,
+  0.671558976173400880f, 0.653172850608825680f, 0.634393274784088130f,
+  0.615231573581695560f, 0.595699310302734380f,
+  0.575808167457580570f, 0.555570244789123540f, 0.534997642040252690f,
+  0.514102756977081300f, 0.492898195981979370f, 0.471396744251251220f,
+  0.449611335992813110f, 0.427555084228515630f,
+  0.405241310596466060f, 0.382683426141738890f, 0.359895050525665280f,
+  0.336889863014221190f, 0.313681751489639280f, 0.290284663438797000f,
+  0.266712754964828490f, 0.242980182170867920f,
+  0.219101235270500180f, 0.195090323686599730f, 0.170961886644363400f,
+  0.146730467677116390f, 0.122410677373409270f, 0.098017141222953796f,
+  0.073564566671848297f, 0.049067676067352295f,
+  0.024541229009628296f, 0.000000000000000122f, -0.024541229009628296f,
+  -0.049067676067352295f, -0.073564566671848297f, -0.098017141222953796f,
+  -0.122410677373409270f, -0.146730467677116390f,
+  -0.170961886644363400f, -0.195090323686599730f, -0.219101235270500180f,
+  -0.242980182170867920f, -0.266712754964828490f, -0.290284663438797000f,
+  -0.313681751489639280f, -0.336889863014221190f,
+  -0.359895050525665280f, -0.382683426141738890f, -0.405241310596466060f,
+  -0.427555084228515630f, -0.449611335992813110f, -0.471396744251251220f,
+  -0.492898195981979370f, -0.514102756977081300f,
+  -0.534997642040252690f, -0.555570244789123540f, -0.575808167457580570f,
+  -0.595699310302734380f, -0.615231573581695560f, -0.634393274784088130f,
+  -0.653172850608825680f, -0.671558976173400880f,
+  -0.689540565013885500f, -0.707106769084930420f, -0.724247097969055180f,
+  -0.740951120853424070f, -0.757208824157714840f, -0.773010432720184330f,
+  -0.788346409797668460f, -0.803207516670227050f,
+  -0.817584812641143800f, -0.831469595432281490f, -0.844853579998016360f,
+  -0.857728600502014160f, -0.870086967945098880f, -0.881921291351318360f,
+  -0.893224298954010010f, -0.903989315032958980f,
+  -0.914209783077239990f, -0.923879504203796390f, -0.932992815971374510f,
+  -0.941544055938720700f, -0.949528157711029050f, -0.956940352916717530f,
+  -0.963776051998138430f, -0.970031261444091800f,
+  -0.975702106952667240f, -0.980785250663757320f, -0.985277652740478520f,
+  -0.989176511764526370f, -0.992479562759399410f, -0.995184719562530520f,
+  -0.997290432453155520f, -0.998795449733734130f,
+  -0.999698817729949950f, -1.000000000000000000f, -0.999698817729949950f,
+  -0.998795449733734130f, -0.997290432453155520f, -0.995184719562530520f,
+  -0.992479562759399410f, -0.989176511764526370f,
+  -0.985277652740478520f, -0.980785250663757320f, -0.975702106952667240f,
+  -0.970031261444091800f, -0.963776051998138430f, -0.956940352916717530f,
+  -0.949528157711029050f, -0.941544055938720700f,
+  -0.932992815971374510f, -0.923879504203796390f, -0.914209783077239990f,
+  -0.903989315032958980f, -0.893224298954010010f, -0.881921291351318360f,
+  -0.870086967945098880f, -0.857728600502014160f,
+  -0.844853579998016360f, -0.831469595432281490f, -0.817584812641143800f,
+  -0.803207516670227050f, -0.788346409797668460f, -0.773010432720184330f,
+  -0.757208824157714840f, -0.740951120853424070f,
+  -0.724247097969055180f, -0.707106769084930420f, -0.689540565013885500f,
+  -0.671558976173400880f, -0.653172850608825680f, -0.634393274784088130f,
+  -0.615231573581695560f, -0.595699310302734380f,
+  -0.575808167457580570f, -0.555570244789123540f, -0.534997642040252690f,
+  -0.514102756977081300f, -0.492898195981979370f, -0.471396744251251220f,
+  -0.449611335992813110f, -0.427555084228515630f,
+  -0.405241310596466060f, -0.382683426141738890f, -0.359895050525665280f,
+  -0.336889863014221190f, -0.313681751489639280f, -0.290284663438797000f,
+  -0.266712754964828490f, -0.242980182170867920f,
+  -0.219101235270500180f, -0.195090323686599730f, -0.170961886644363400f,
+  -0.146730467677116390f, -0.122410677373409270f, -0.098017141222953796f,
+  -0.073564566671848297f, -0.049067676067352295f,
+  -0.024541229009628296f, -0.000000000000000245f, 0.024541229009628296f
+};
+
+
+/**   
+ * @brief  Fast approximation to the trigonometric sine function for floating-point data.   
+ * @param[in] x input value in radians.   
+ * @return  sin(x).   
+ */
+
+float32_t arm_sin_f32(
+  float32_t x)
+{
+  float32_t sinVal, fract, in;                   /* Temporary variables for input, output */
+  int32_t index;                                 /* Index variable */
+  uint32_t tableSize = (uint32_t) TABLE_SIZE;    /* Initialise tablesize */
+  float32_t wa, wb, wc, wd;                      /* Cubic interpolation coefficients */
+  float32_t a, b, c, d;                          /* Four nearest output values */
+  float32_t *tablePtr;                           /* Pointer to table */
+  int32_t n;
+  float32_t fractsq, fractby2, fractby6, fractby3, fractsqby2;
+  float32_t oneminusfractby2;
+  float32_t frby2xfrsq, frby6xfrsq;
+
+  /* input x is in radians */
+  /* Scale the input to [0 1] range from [0 2*PI] , divide input by 2*pi */
+  in = x * 0.159154943092f;
+
+  /* Calculation of floor value of input */
+  n = (int32_t) in;
+
+  /* Make negative values towards -infinity */
+  if(x < 0.0f)
+  {
+    n = n - 1;
+  }
+
+  /* Map input value to [0 1] */
+  in = in - (float32_t) n;
+
+  /* Calculation of index of the table */
+  index = (uint32_t) (tableSize * in);
+
+  /* fractional value calculation */
+  fract = ((float32_t) tableSize * in) - (float32_t) index;
+
+  /* Checking min and max index of table */
+  if(index < 0)
+  {
+    index = 0;
+  }
+  else if(index > 256)
+  {
+    index = 256;
+  }
+
+  /* Initialise table pointer */
+  tablePtr = (float32_t *) & sinTable[index];
+
+  /* Read four nearest values of input value from the sin table */
+  a = tablePtr[0];
+  b = tablePtr[1];
+  c = tablePtr[2];
+  d = tablePtr[3];
+
+  /* Cubic interpolation process */
+  fractsq = fract * fract;
+  fractby2 = fract * 0.5f;
+  fractby6 = fract * 0.166666667f;
+  fractby3 = fract * 0.3333333333333f;
+  fractsqby2 = fractsq * 0.5f;
+  frby2xfrsq = (fractby2) * fractsq;
+  frby6xfrsq = (fractby6) * fractsq;
+  oneminusfractby2 = 1.0f - fractby2;
+  wb = fractsqby2 - fractby3;
+  wc = (fractsqby2 + fract);
+  wa = wb - frby6xfrsq;
+  wb = frby2xfrsq - fractsq;
+  sinVal = wa * a;
+  wc = wc - frby2xfrsq;
+  wd = (frby6xfrsq) - fractby6;
+  wb = wb + oneminusfractby2;
+
+  /* Calculate sin value */
+  sinVal = (sinVal + (b * wb)) + ((c * wc) + (d * wd));
+
+  /* Return the output value */
+  return (sinVal);
+
+}
+
+/**    
+ * @} end of sin group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sin_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sin_q15.c
new file mode 100644
index 000000000..b53ca3ecc
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sin_q15.c
@@ -0,0 +1,208 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_sin_q15.c    
+*    
+* Description:	Fast sine calculation for Q15 values.   
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFastMath    
+ */
+
+ /**    
+ * @addtogroup sin    
+ * @{    
+ */
+
+
+/**    
+ * \par    
+ * Example code for Generation of Q15 Sin Table:   
+ * \par    
+ * 
tableSize = 256;    
+ * for(n = -1; n < (tableSize + 1); n++)    
+ * {    
+ *	sinTable[n+1]=sin(2*pi*n/tableSize);    
+ * } 
    
+ * where pi value is  3.14159265358979    
+ * \par    
+ * Convert Floating point to Q15(Fixed point):    
+ *	(sinTable[i] * pow(2, 15))    
+ * \par    
+ * rounding to nearest integer is done    
+ * 	sinTable[i] += (sinTable[i] > 0 ? 0.5 :-0.5);    
+ */
+
+
+static const q15_t sinTableQ15[259] = {
+  0xfcdc, 0x0, 0x324, 0x648, 0x96b, 0xc8c, 0xfab, 0x12c8,
+  0x15e2, 0x18f9, 0x1c0c, 0x1f1a, 0x2224, 0x2528, 0x2827, 0x2b1f,
+  0x2e11, 0x30fc, 0x33df, 0x36ba, 0x398d, 0x3c57, 0x3f17, 0x41ce,
+  0x447b, 0x471d, 0x49b4, 0x4c40, 0x4ec0, 0x5134, 0x539b, 0x55f6,
+  0x5843, 0x5a82, 0x5cb4, 0x5ed7, 0x60ec, 0x62f2, 0x64e9, 0x66d0,
+  0x68a7, 0x6a6e, 0x6c24, 0x6dca, 0x6f5f, 0x70e3, 0x7255, 0x73b6,
+  0x7505, 0x7642, 0x776c, 0x7885, 0x798a, 0x7a7d, 0x7b5d, 0x7c2a,
+  0x7ce4, 0x7d8a, 0x7e1e, 0x7e9d, 0x7f0a, 0x7f62, 0x7fa7, 0x7fd9,
+  0x7ff6, 0x7fff, 0x7ff6, 0x7fd9, 0x7fa7, 0x7f62, 0x7f0a, 0x7e9d,
+  0x7e1e, 0x7d8a, 0x7ce4, 0x7c2a, 0x7b5d, 0x7a7d, 0x798a, 0x7885,
+  0x776c, 0x7642, 0x7505, 0x73b6, 0x7255, 0x70e3, 0x6f5f, 0x6dca,
+  0x6c24, 0x6a6e, 0x68a7, 0x66d0, 0x64e9, 0x62f2, 0x60ec, 0x5ed7,
+  0x5cb4, 0x5a82, 0x5843, 0x55f6, 0x539b, 0x5134, 0x4ec0, 0x4c40,
+  0x49b4, 0x471d, 0x447b, 0x41ce, 0x3f17, 0x3c57, 0x398d, 0x36ba,
+  0x33df, 0x30fc, 0x2e11, 0x2b1f, 0x2827, 0x2528, 0x2224, 0x1f1a,
+  0x1c0c, 0x18f9, 0x15e2, 0x12c8, 0xfab, 0xc8c, 0x96b, 0x648,
+  0x324, 0x0, 0xfcdc, 0xf9b8, 0xf695, 0xf374, 0xf055, 0xed38,
+  0xea1e, 0xe707, 0xe3f4, 0xe0e6, 0xdddc, 0xdad8, 0xd7d9, 0xd4e1,
+  0xd1ef, 0xcf04, 0xcc21, 0xc946, 0xc673, 0xc3a9, 0xc0e9, 0xbe32,
+  0xbb85, 0xb8e3, 0xb64c, 0xb3c0, 0xb140, 0xaecc, 0xac65, 0xaa0a,
+  0xa7bd, 0xa57e, 0xa34c, 0xa129, 0x9f14, 0x9d0e, 0x9b17, 0x9930,
+  0x9759, 0x9592, 0x93dc, 0x9236, 0x90a1, 0x8f1d, 0x8dab, 0x8c4a,
+  0x8afb, 0x89be, 0x8894, 0x877b, 0x8676, 0x8583, 0x84a3, 0x83d6,
+  0x831c, 0x8276, 0x81e2, 0x8163, 0x80f6, 0x809e, 0x8059, 0x8027,
+  0x800a, 0x8000, 0x800a, 0x8027, 0x8059, 0x809e, 0x80f6, 0x8163,
+  0x81e2, 0x8276, 0x831c, 0x83d6, 0x84a3, 0x8583, 0x8676, 0x877b,
+  0x8894, 0x89be, 0x8afb, 0x8c4a, 0x8dab, 0x8f1d, 0x90a1, 0x9236,
+  0x93dc, 0x9592, 0x9759, 0x9930, 0x9b17, 0x9d0e, 0x9f14, 0xa129,
+  0xa34c, 0xa57e, 0xa7bd, 0xaa0a, 0xac65, 0xaecc, 0xb140, 0xb3c0,
+  0xb64c, 0xb8e3, 0xbb85, 0xbe32, 0xc0e9, 0xc3a9, 0xc673, 0xc946,
+  0xcc21, 0xcf04, 0xd1ef, 0xd4e1, 0xd7d9, 0xdad8, 0xdddc, 0xe0e6,
+  0xe3f4, 0xe707, 0xea1e, 0xed38, 0xf055, 0xf374, 0xf695, 0xf9b8,
+  0xfcdc, 0x0, 0x324
+};
+
+
+/**   
+ * @brief Fast approximation to the trigonometric sine function for Q15 data.   
+ * @param[in] x Scaled input value in radians.   
+ * @return  sin(x).   
+ *   
+ * The Q15 input value is in the range [0 +0.9999] and is mapped to a radian value in the range [0 2*pi), Here range excludes 2*pi.   
+ */
+
+q15_t arm_sin_q15(
+  q15_t x)
+{
+  q31_t sinVal;                                  /* Temporary variables output */
+  q15_t *tablePtr;                               /* Pointer to table */
+  q15_t fract, in, in2;                          /* Temporary variables for input, output */
+  q31_t wa, wb, wc, wd;                          /* Cubic interpolation coefficients */
+  q15_t a, b, c, d;                              /* Four nearest output values */
+  q15_t fractCube, fractSquare;                  /* Temporary values for fractional value */
+  q15_t oneBy6 = 0x1555;                         /* Fixed point value of 1/6 */
+  q15_t tableSpacing = TABLE_SPACING_Q15;        /* Table spacing */
+  int32_t index;                                 /* Index variable */
+
+  in = x;
+
+  /* Calculate the nearest index */
+  index = (int32_t) in / tableSpacing;
+
+  /* Calculate the nearest value of input */
+  in2 = (q15_t) ((index) * tableSpacing);
+
+  /* Calculation of fractional value */
+  fract = (in - in2) << 8;
+
+  /* fractSquare = fract * fract */
+  fractSquare = (q15_t) ((fract * fract) >> 15);
+
+  /* fractCube = fract * fract * fract */
+  fractCube = (q15_t) ((fractSquare * fract) >> 15);
+
+  /* Checking min and max index of table */
+  if(index < 0)
+  {
+    index = 0;
+  }
+  else if(index > 256)
+  {
+    index = 256;
+  }
+
+  /* Initialise table pointer */
+  tablePtr = (q15_t *) & sinTableQ15[index];
+
+  /* Cubic interpolation process */
+  /* Calculation of wa */
+  /* wa = -(oneBy6)*fractCube + (fractSquare >> 1u) - (0x2AAA)*fract; */
+  wa = (q31_t) oneBy6 *fractCube;
+  wa += (q31_t) 0x2AAA *fract;
+  wa = -(wa >> 15);
+  wa += ((q31_t) fractSquare >> 1u);
+
+  /* Read first nearest value of output from the sin table */
+  a = *tablePtr++;
+
+  /* sinVal = a * wa */
+  sinVal = a * wa;
+
+  /* Calculation of wb */
+  wb = (((q31_t) fractCube >> 1u) - (q31_t) fractSquare) -
+    (((q31_t) fract >> 1u) - 0x7FFF);
+
+  /* Read second nearest value of output from the sin table */
+  b = *tablePtr++;
+
+  /*      sinVal += b*wb */
+  sinVal += b * wb;
+
+
+  /* Calculation of wc */
+  wc = -(q31_t) fractCube + fractSquare;
+  wc = (wc >> 1u) + fract;
+
+  /* Read third nearest value of output from the sin table */
+  c = *tablePtr++;
+
+  /* sinVal += c*wc */
+  sinVal += c * wc;
+
+  /* Calculation of wd */
+  /* wd = (oneBy6)*fractCube - (oneBy6)*fract; */
+  fractCube = fractCube - fract;
+  wd = ((q15_t) (((q31_t) oneBy6 * fractCube) >> 15));
+
+  /* Read fourth nearest value of output from the sin table */
+  d = *tablePtr++;
+
+  /* sinVal += d*wd; */
+  sinVal += d * wd;
+
+  /* Convert output value in 1.15(q15) format and saturate */
+  sinVal = __SSAT((sinVal >> 15), 16);
+
+  /* Return the output value in 1.15(q15) format */
+  return ((q15_t) sinVal);
+
+}
+
+/**    
+ * @} end of sin group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sin_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sin_q31.c
new file mode 100644
index 000000000..336796b5c
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sin_q31.c
@@ -0,0 +1,240 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_sin_q31.c    
+*    
+* Description:	Fast sine calculation for Q31 values.   
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFastMath    
+ */
+
+ /**    
+ * @addtogroup sin    
+ * @{    
+ */
+
+/**   
+ * \par    
+ * Tables generated are in Q31(1.31 Fixed point format)    
+ * Generation of sin values in floating point:    
+ * 
tableSize = 256;      
+ * for(n = -1; n < (tableSize + 1); n++)    
+ * {    
+ *	sinTable[n+1]= sin(2*pi*n/tableSize);    
+ * } 
    
+ * where pi value is  3.14159265358979    
+ * \par    
+ * Convert Floating point to Q31(Fixed point):    
+ *	(sinTable[i] * pow(2, 31))    
+ * \par    
+ * rounding to nearest integer is done    
+ * 	sinTable[i] += (sinTable[i] > 0 ? 0.5 :-0.5);    
+ */
+
+static const q31_t sinTableQ31[259] = {
+  0xfcdbd541, 0x0, 0x3242abf, 0x647d97c, 0x96a9049, 0xc8bd35e, 0xfab272b,
+  0x12c8106f,
+  0x15e21445, 0x18f8b83c, 0x1c0b826a, 0x1f19f97b, 0x2223a4c5, 0x25280c5e,
+  0x2826b928, 0x2b1f34eb,
+  0x2e110a62, 0x30fbc54d, 0x33def287, 0x36ba2014, 0x398cdd32, 0x3c56ba70,
+  0x3f1749b8, 0x41ce1e65,
+  0x447acd50, 0x471cece7, 0x49b41533, 0x4c3fdff4, 0x4ebfe8a5, 0x5133cc94,
+  0x539b2af0, 0x55f5a4d2,
+  0x5842dd54, 0x5a82799a, 0x5cb420e0, 0x5ed77c8a, 0x60ec3830, 0x62f201ac,
+  0x64e88926, 0x66cf8120,
+  0x68a69e81, 0x6a6d98a4, 0x6c242960, 0x6dca0d14, 0x6f5f02b2, 0x70e2cbc6,
+  0x72552c85, 0x73b5ebd1,
+  0x7504d345, 0x7641af3d, 0x776c4edb, 0x78848414, 0x798a23b1, 0x7a7d055b,
+  0x7b5d039e, 0x7c29fbee,
+  0x7ce3ceb2, 0x7d8a5f40, 0x7e1d93ea, 0x7e9d55fc, 0x7f0991c4, 0x7f62368f,
+  0x7fa736b4, 0x7fd8878e,
+  0x7ff62182, 0x7fffffff, 0x7ff62182, 0x7fd8878e, 0x7fa736b4, 0x7f62368f,
+  0x7f0991c4, 0x7e9d55fc,
+  0x7e1d93ea, 0x7d8a5f40, 0x7ce3ceb2, 0x7c29fbee, 0x7b5d039e, 0x7a7d055b,
+  0x798a23b1, 0x78848414,
+  0x776c4edb, 0x7641af3d, 0x7504d345, 0x73b5ebd1, 0x72552c85, 0x70e2cbc6,
+  0x6f5f02b2, 0x6dca0d14,
+  0x6c242960, 0x6a6d98a4, 0x68a69e81, 0x66cf8120, 0x64e88926, 0x62f201ac,
+  0x60ec3830, 0x5ed77c8a,
+  0x5cb420e0, 0x5a82799a, 0x5842dd54, 0x55f5a4d2, 0x539b2af0, 0x5133cc94,
+  0x4ebfe8a5, 0x4c3fdff4,
+  0x49b41533, 0x471cece7, 0x447acd50, 0x41ce1e65, 0x3f1749b8, 0x3c56ba70,
+  0x398cdd32, 0x36ba2014,
+  0x33def287, 0x30fbc54d, 0x2e110a62, 0x2b1f34eb, 0x2826b928, 0x25280c5e,
+  0x2223a4c5, 0x1f19f97b,
+  0x1c0b826a, 0x18f8b83c, 0x15e21445, 0x12c8106f, 0xfab272b, 0xc8bd35e,
+  0x96a9049, 0x647d97c,
+  0x3242abf, 0x0, 0xfcdbd541, 0xf9b82684, 0xf6956fb7, 0xf3742ca2, 0xf054d8d5,
+  0xed37ef91,
+  0xea1debbb, 0xe70747c4, 0xe3f47d96, 0xe0e60685, 0xdddc5b3b, 0xdad7f3a2,
+  0xd7d946d8, 0xd4e0cb15,
+  0xd1eef59e, 0xcf043ab3, 0xcc210d79, 0xc945dfec, 0xc67322ce, 0xc3a94590,
+  0xc0e8b648, 0xbe31e19b,
+  0xbb8532b0, 0xb8e31319, 0xb64beacd, 0xb3c0200c, 0xb140175b, 0xaecc336c,
+  0xac64d510, 0xaa0a5b2e,
+  0xa7bd22ac, 0xa57d8666, 0xa34bdf20, 0xa1288376, 0x9f13c7d0, 0x9d0dfe54,
+  0x9b1776da, 0x99307ee0,
+  0x9759617f, 0x9592675c, 0x93dbd6a0, 0x9235f2ec, 0x90a0fd4e, 0x8f1d343a,
+  0x8daad37b, 0x8c4a142f,
+  0x8afb2cbb, 0x89be50c3, 0x8893b125, 0x877b7bec, 0x8675dc4f, 0x8582faa5,
+  0x84a2fc62, 0x83d60412,
+  0x831c314e, 0x8275a0c0, 0x81e26c16, 0x8162aa04, 0x80f66e3c, 0x809dc971,
+  0x8058c94c, 0x80277872,
+  0x8009de7e, 0x80000000, 0x8009de7e, 0x80277872, 0x8058c94c, 0x809dc971,
+  0x80f66e3c, 0x8162aa04,
+  0x81e26c16, 0x8275a0c0, 0x831c314e, 0x83d60412, 0x84a2fc62, 0x8582faa5,
+  0x8675dc4f, 0x877b7bec,
+  0x8893b125, 0x89be50c3, 0x8afb2cbb, 0x8c4a142f, 0x8daad37b, 0x8f1d343a,
+  0x90a0fd4e, 0x9235f2ec,
+  0x93dbd6a0, 0x9592675c, 0x9759617f, 0x99307ee0, 0x9b1776da, 0x9d0dfe54,
+  0x9f13c7d0, 0xa1288376,
+  0xa34bdf20, 0xa57d8666, 0xa7bd22ac, 0xaa0a5b2e, 0xac64d510, 0xaecc336c,
+  0xb140175b, 0xb3c0200c,
+  0xb64beacd, 0xb8e31319, 0xbb8532b0, 0xbe31e19b, 0xc0e8b648, 0xc3a94590,
+  0xc67322ce, 0xc945dfec,
+  0xcc210d79, 0xcf043ab3, 0xd1eef59e, 0xd4e0cb15, 0xd7d946d8, 0xdad7f3a2,
+  0xdddc5b3b, 0xe0e60685,
+  0xe3f47d96, 0xe70747c4, 0xea1debbb, 0xed37ef91, 0xf054d8d5, 0xf3742ca2,
+  0xf6956fb7, 0xf9b82684,
+  0xfcdbd541, 0x0, 0x3242abf
+};
+
+
+/**   
+ * @brief Fast approximation to the trigonometric sine function for Q31 data.   
+ * @param[in] x Scaled input value in radians.   
+ * @return  sin(x).   
+ *   
+ * The Q31 input value is in the range [0 +0.9999] and is mapped to a radian value in the range [0 2*pi), Here range excludes 2*pi.   
+ */
+
+q31_t arm_sin_q31(
+  q31_t x)
+{
+  q31_t sinVal, in, in2;                         /* Temporary variables for input, output */
+  int32_t index;                                 /* Index variables */
+  q31_t wa, wb, wc, wd;                          /* Cubic interpolation coefficients */
+  q31_t a, b, c, d;                              /* Four nearest output values */
+  q31_t *tablePtr;                               /* Pointer to table */
+  q31_t fract, fractCube, fractSquare;           /* Temporary values for fractional values */
+  q31_t oneBy6 = 0x15555555;                     /* Fixed point value of 1/6 */
+  q31_t tableSpacing = TABLE_SPACING_Q31;        /* Table spacing */
+  q31_t temp;                                    /* Temporary variable for intermediate process */
+
+  in = x;
+
+  /* Calculate the nearest index */
+  index = (uint32_t) in / (uint32_t) tableSpacing;
+
+  /* Calculate the nearest value of input */
+  in2 = (q31_t) index *tableSpacing;
+
+  /* Calculation of fractional value */
+  fract = (in - in2) << 8;
+
+  /* fractSquare = fract * fract */
+  fractSquare = ((q31_t) (((q63_t) fract * fract) >> 32));
+  fractSquare = fractSquare << 1;
+
+  /* fractCube = fract * fract * fract */
+  fractCube = ((q31_t) (((q63_t) fractSquare * fract) >> 32));
+  fractCube = fractCube << 1;
+
+  /* Checking min and max index of table */
+  if(index < 0)
+  {
+    index = 0;
+  }
+  else if(index > 256)
+  {
+    index = 256;
+  }
+
+  /* Initialise table pointer */
+  tablePtr = (q31_t *) & sinTableQ31[index];
+
+  /* Cubic interpolation process */
+  /* Calculation of wa */
+  /* wa = -(oneBy6)*fractCube + (fractSquare >> 1u) - (0x2AAAAAAA)*fract; */
+  wa = ((q31_t) (((q63_t) oneBy6 * fractCube) >> 32));
+  temp = 0x2AAAAAAA;
+  wa = (q31_t) ((((q63_t) wa << 32) + ((q63_t) temp * fract)) >> 32);
+  wa = -(wa << 1u);
+  wa += (fractSquare >> 1u);
+
+  /* Read first nearest value of output from the sin table */
+  a = *tablePtr++;
+
+  /* sinVal = a*wa */
+  sinVal = ((q31_t) (((q63_t) a * wa) >> 32));
+
+  /* q31(1.31) Fixed point value of 1 */
+  temp = 0x7FFFFFFF;
+
+  /* Calculation of wb */
+  wb = ((fractCube >> 1u) - (fractSquare + (fract >> 1u))) + temp;
+
+  /* Read second nearest value of output from the sin table */
+  b = *tablePtr++;
+
+  /*  sinVal += b*wb */
+  sinVal = (q31_t) ((((q63_t) sinVal << 32) + (q63_t) b * (wb)) >> 32);
+
+  /* Calculation of wc */
+  wc = -fractCube + fractSquare;
+  wc = (wc >> 1u) + fract;
+
+  /* Read third nearest value of output from the sin table */
+  c = *tablePtr++;
+
+  /*      sinVal += c*wc */
+  sinVal = (q31_t) ((((q63_t) sinVal << 32) + ((q63_t) c * wc)) >> 32);
+
+  /* Calculation of wd */
+  /* wd = (oneBy6) * fractCube - (oneBy6) * fract; */
+  fractCube = fractCube - fract;
+  wd = ((q31_t) (((q63_t) oneBy6 * fractCube) >> 32));
+  wd = (wd << 1u);
+
+  /* Read fourth nearest value of output from the sin table */
+  d = *tablePtr++;
+
+  /* sinVal += d*wd; */
+  sinVal = (q31_t) ((((q63_t) sinVal << 32) + ((q63_t) d * wd)) >> 32);
+
+  /* convert sinVal in 2.30 format to 1.31 format */
+  return (__QADD(sinVal, sinVal));
+
+}
+
+/**    
+ * @} end of sin group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q15.c
new file mode 100644
index 000000000..0a6d6a53a
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q15.c
@@ -0,0 +1,131 @@
+/* ----------------------------------------------------------------------     
+* Copyright (C) 2011 ARM Limited. All rights reserved.  
+*     
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*     
+* Project:      CMSIS DSP Library  
+* Title:		arm_sqrt_q15.c     
+*     
+* Description:	Q15 square root function.    
+*     
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+* 
+* Version 1.0.0 2011/03/08 
+*     Alpha release. 
+* 
+* Version 1.0.1 2011/09/30 
+*     Beta release.  
+*     
+* -------------------------------------------------------------------- */
+#include "arm_math.h"
+#include "arm_common_tables.h"
+
+
+/**     
+ * @ingroup groupFastMath     
+ */
+
+/**     
+ * @addtogroup SQRT     
+ * @{     
+ */
+
+  /**    
+   * @brief  Q15 square root function.    
+   * @param[in]   in     input value.  The range of the input value is [0 +1) or 0x0000 to 0x7FFF.    
+   * @param[out]  *pOut  square root of input value.    
+   * @return The function returns ARM_MATH_SUCCESS if input value is positive value or ARM_MATH_ARGUMENT_ERROR if    
+   * in is negative value and returns zero output for negative values.    
+   */
+
+arm_status arm_sqrt_q15(
+  q15_t in,
+  q15_t * pOut)
+{
+  q15_t number, temp1, var1, signBits1, half;
+  q31_t bits_val1;
+  float32_t temp_float1;
+
+  number = in;
+
+  /* If the input is a positive number then compute the signBits. */
+  if(number > 0)
+  {
+    signBits1 = __CLZ(number) - 17;
+
+    /* Shift by the number of signBits1 */
+    if((signBits1 % 2) == 0)
+    {
+      number = number << signBits1;
+    }
+    else
+    {
+      number = number << (signBits1 - 1);
+    }
+
+    /* Calculate half value of the number */
+    half = number >> 1;
+    /* Store the number for later use */
+    temp1 = number;
+
+    /*Convert to float */
+    temp_float1 = number * 3.051757812500000e-005f;
+    /*Store as integer */
+    bits_val1 = *(int *) &temp_float1;
+    /* Subtract the shifted value from the magic number to give intial guess */
+    bits_val1 = 0x5f3759df - (bits_val1 >> 1);  // gives initial guess  
+    /* Store as float */
+    temp_float1 = *(float *) &bits_val1;
+    /* Convert to integer format */
+    var1 = (q31_t) (temp_float1 * 16384);
+
+    /* 1st iteration */
+    var1 = ((q15_t) ((q31_t) var1 * (0x3000 -
+                                     ((q15_t)
+                                      ((((q15_t)
+                                         (((q31_t) var1 * var1) >> 15)) *
+                                        (q31_t) half) >> 15))) >> 15)) << 2;
+    /* 2nd iteration */
+    var1 = ((q15_t) ((q31_t) var1 * (0x3000 -
+                                     ((q15_t)
+                                      ((((q15_t)
+                                         (((q31_t) var1 * var1) >> 15)) *
+                                        (q31_t) half) >> 15))) >> 15)) << 2;
+    /* 3rd iteration */
+    var1 = ((q15_t) ((q31_t) var1 * (0x3000 -
+                                     ((q15_t)
+                                      ((((q15_t)
+                                         (((q31_t) var1 * var1) >> 15)) *
+                                        (q31_t) half) >> 15))) >> 15)) << 2;
+
+    /* Multiply the inverse square root with the original value */
+    var1 = ((q15_t) (((q31_t) temp1 * var1) >> 15)) << 1;
+
+    /* Shift the output down accordingly */
+    if((signBits1 % 2) == 0)
+    {
+      var1 = var1 >> (signBits1 / 2);
+    }
+    else
+    {
+      var1 = var1 >> ((signBits1 - 1) / 2);
+    }
+    *pOut = var1;
+
+    return (ARM_MATH_SUCCESS);
+  }
+  /* If the number is a negative number then store zero as its square root value */
+  else
+  {
+    *pOut = 0;
+    return (ARM_MATH_ARGUMENT_ERROR);
+  }
+}
+
+/**     
+ * @} end of SQRT group     
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q31.c
new file mode 100644
index 000000000..2a3b7ac18
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q31.c
@@ -0,0 +1,129 @@
+/* ----------------------------------------------------------------------     
+* Copyright (C) 2011 ARM Limited. All rights reserved.  
+*     
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*     
+* Project:      CMSIS DSP Library  
+* Title:		arm_sqrt_q31.c     
+*     
+* Description:	Q31 square root function.    
+*     
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+* 
+* Version 1.0.0 2011/03/08 
+*     Alpha release. 
+* 
+* Version 1.0.1 2011/09/30 
+*     Beta release.  
+*     
+* -------------------------------------------------------------------- */
+#include "arm_math.h"
+#include "arm_common_tables.h"
+
+/**     
+ * @ingroup groupFastMath     
+ */
+
+/**     
+ * @addtogroup SQRT     
+ * @{     
+ */
+
+/**    
+ * @brief Q31 square root function.    
+ * @param[in]   in    input value.  The range of the input value is [0 +1) or 0x00000000 to 0x7FFFFFFF.    
+ * @param[out]  *pOut square root of input value.    
+ * @return The function returns ARM_MATH_SUCCESS if input value is positive value or ARM_MATH_ARGUMENT_ERROR if    
+ * in is negative value and returns zero output for negative values.    
+ */
+
+arm_status arm_sqrt_q31(
+  q31_t in,
+  q31_t * pOut)
+{
+  q31_t number, temp1, bits_val1, var1, signBits1, half;
+  float32_t temp_float1;
+
+  number = in;
+
+  /* If the input is a positive number then compute the signBits. */
+  if(number > 0)
+  {
+    signBits1 = __CLZ(number) - 1;
+
+    /* Shift by the number of signBits1 */
+    if((signBits1 % 2) == 0)
+    {
+      number = number << signBits1;
+    }
+    else
+    {
+      number = number << (signBits1 - 1);
+    }
+
+    /* Calculate half value of the number */
+    half = number >> 1;
+    /* Store the number for later use */
+    temp1 = number;
+
+    /*Convert to float */
+    temp_float1 = number * 4.6566128731e-010f;
+    /*Store as integer */
+    bits_val1 = *(int *) &temp_float1;
+    /* Subtract the shifted value from the magic number to give intial guess */
+    bits_val1 = 0x5f3759df - (bits_val1 >> 1);  // gives initial guess  
+    /* Store as float */
+    temp_float1 = *(float *) &bits_val1;
+    /* Convert to integer format */
+    var1 = (q31_t) (temp_float1 * 1073741824);
+
+    /* 1st iteration */
+    var1 = ((q31_t) ((q63_t) var1 * (0x30000000 -
+                                     ((q31_t)
+                                      ((((q31_t)
+                                         (((q63_t) var1 * var1) >> 31)) *
+                                        (q63_t) half) >> 31))) >> 31)) << 2;
+    /* 2nd iteration */
+    var1 = ((q31_t) ((q63_t) var1 * (0x30000000 -
+                                     ((q31_t)
+                                      ((((q31_t)
+                                         (((q63_t) var1 * var1) >> 31)) *
+                                        (q63_t) half) >> 31))) >> 31)) << 2;
+    /* 3rd iteration */
+    var1 = ((q31_t) ((q63_t) var1 * (0x30000000 -
+                                     ((q31_t)
+                                      ((((q31_t)
+                                         (((q63_t) var1 * var1) >> 31)) *
+                                        (q63_t) half) >> 31))) >> 31)) << 2;
+
+    /* Multiply the inverse square root with the original value */
+    var1 = ((q31_t) (((q63_t) temp1 * var1) >> 31)) << 1;
+
+    /* Shift the output down accordingly */
+    if((signBits1 % 2) == 0)
+    {
+      var1 = var1 >> (signBits1 / 2);
+    }
+    else
+    {
+      var1 = var1 >> ((signBits1 - 1) / 2);
+    }
+    *pOut = var1;
+
+    return (ARM_MATH_SUCCESS);
+  }
+  /* If the number is a negative number then store zero as its square root value */
+  else
+  {
+    *pOut = 0;
+    return (ARM_MATH_ARGUMENT_ERROR);
+  }
+}
+
+/**     
+ * @} end of SQRT group     
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_init_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_init_q31.c
new file mode 100644
index 000000000..a6745c0cd
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_init_q31.c
@@ -0,0 +1,105 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_biquad_cascade_df1_32x64_init_q31.c    
+*    
+* Description:	High precision Q31 Biquad cascade filter initialization function.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup BiquadCascadeDF1_32x64    
+ * @{    
+ */
+
+/**    
+ * @details    
+ *    
+ * @param[in,out] *S           	points to an instance of the high precision Q31 Biquad cascade filter structure.    
+ * @param[in]     numStages     number of 2nd order stages in the filter.    
+ * @param[in]     *pCoeffs      points to the filter coefficients.    
+ * @param[in]     *pState       points to the state buffer.    
+ * @param[in]     postShift     Shift to be applied after the accumulator.  Varies according to the coefficients format.    
+ * @return        none    
+ *    
+ * Coefficient and State Ordering:    
+ *    
+ * \par    
+ * The coefficients are stored in the array pCoeffs in the following order:    
+ * 
    
+ *     {b10, b11, b12, a11, a12, b20, b21, b22, a21, a22, ...}    
+ * 
    
+ * where b1x and a1x are the coefficients for the first stage,    
+ * b2x and a2x are the coefficients for the second stage,    
+ * and so on.  The pCoeffs array contains a total of 5*numStages values.    
+ *    
+ * \par    
+ * The pState points to state variables array and size of each state variable is 1.63 format.    
+ * Each Biquad stage has 4 state variables x[n-1], x[n-2], y[n-1], and y[n-2].    
+ * The state variables are arranged in the state array as:    
+ * 
    
+ *     {x[n-1], x[n-2], y[n-1], y[n-2]}    
+ * 
    
+ * The 4 state variables for stage 1 are first, then the 4 state variables for stage 2, and so on.    
+ * The state array has a total length of 4*numStages values.    
+ * The state variables are updated after each block of data is processed; the coefficients are untouched.    
+ */
+
+void arm_biquad_cas_df1_32x64_init_q31(
+  arm_biquad_cas_df1_32x64_ins_q31 * S,
+  uint8_t numStages,
+  q31_t * pCoeffs,
+  q63_t * pState,
+  uint8_t postShift)
+{
+  /* Assign filter stages */
+  S->numStages = numStages;
+
+  /* Assign postShift to be applied to the output */
+  S->postShift = postShift;
+
+  /* Assign coefficient pointer */
+  S->pCoeffs = pCoeffs;
+
+  /* Clear state buffer and size is always 4 * numStages */
+  memset(pState, 0, (4u * (uint32_t) numStages) * sizeof(q63_t));
+
+  /* Assign state pointer */
+  S->pState = pState;
+}
+
+/**    
+ * @} end of BiquadCascadeDF1_32x64 group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_q31.c
new file mode 100644
index 000000000..82d6164ee
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_q31.c
@@ -0,0 +1,553 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_biquad_cascade_df1_32x64_q31.c    
+*    
+* Description:	High precision Q31 Biquad cascade filter processing function    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @defgroup BiquadCascadeDF1_32x64 High Precision Q31 Biquad Cascade Filter    
+ *    
+ * This function implements a high precision Biquad cascade filter which operates on    
+ * Q31 data values.  The filter coefficients are in 1.31 format and the state variables    
+ * are in 1.63 format.  The double precision state variables reduce quantization noise    
+ * in the filter and provide a cleaner output.    
+ * These filters are particularly useful when implementing filters in which the    
+ * singularities are close to the unit circle.  This is common for low pass or high    
+ * pass filters with very low cutoff frequencies.    
+ *    
+ * The function operates on blocks of input and output data    
+ * and each call to the function processes blockSize samples through    
+ * the filter. pSrc and pDst points to input and output arrays    
+ * containing blockSize Q31 values.    
+ *    
+ * \par Algorithm    
+ * Each Biquad stage implements a second order filter using the difference equation:    
+ * 
    
+ *     y[n] = b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2]    
+ * 
    
+ * A Direct Form I algorithm is used with 5 coefficients and 4 state variables per stage.    
+ * \image html Biquad.gif "Single Biquad filter stage"    
+ * Coefficients b0, b1, and b2  multiply the input signal x[n] and are referred to as the feedforward coefficients.    
+ * Coefficients a1 and a2 multiply the output signal y[n] and are referred to as the feedback coefficients.    
+ * Pay careful attention to the sign of the feedback coefficients.    
+ * Some design tools use the difference equation    
+ * 
    
+ *     y[n] = b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] - a1 * y[n-1] - a2 * y[n-2]    
+ * 
    
+ * In this case the feedback coefficients a1 and a2 must be negated when used with the CMSIS DSP Library.    
+ *    
+ * \par    
+ * Higher order filters are realized as a cascade of second order sections.    
+ * numStages refers to the number of second order stages used.    
+ * For example, an 8th order filter would be realized with numStages=4 second order stages.    
+ * \image html BiquadCascade.gif "8th order filter using a cascade of Biquad stages"    
+ * A 9th order filter would be realized with numStages=5 second order stages with the coefficients for one of the stages configured as a first order filter (b2=0 and a2=0).    
+ *    
+ * \par    
+ * The pState points to state variables array .    
+ * Each Biquad stage has 4 state variables x[n-1], x[n-2], y[n-1], and y[n-2] and each state variable in 1.63 format to improve precision.    
+ * The state variables are arranged in the array as:    
+ * 
    
+ *     {x[n-1], x[n-2], y[n-1], y[n-2]}    
+ * 
    
+ *    
+ * \par    
+ * The 4 state variables for stage 1 are first, then the 4 state variables for stage 2, and so on.    
+ * The state array has a total length of 4*numStages values of data in 1.63 format.    
+ * The state variables are updated after each block of data is processed; the coefficients are untouched.    
+ *    
+ * \par Instance Structure    
+ * The coefficients and state variables for a filter are stored together in an instance data structure.    
+ * A separate instance structure must be defined for each filter.    
+ * Coefficient arrays may be shared among several instances while state variable arrays cannot be shared.    
+ *    
+ * \par Init Function    
+ * There is also an associated initialization function which performs the following operations:    
+ * - Sets the values of the internal structure fields.    
+ * - Zeros out the values in the state buffer.    
+ * \par    
+ * Use of the initialization function is optional.    
+ * However, if the initialization function is used, then the instance structure cannot be placed into a const data section.    
+ * To place an instance structure into a const data section, the instance structure must be manually initialized.    
+ * Set the values in the state buffer to zeros before static initialization.    
+ * For example, to statically initialize the filter instance structure use    
+ * 
    
+ *     arm_biquad_cas_df1_32x64_ins_q31 S1 = {numStages, pState, pCoeffs, postShift};    
+ * 
    
+ * where numStages is the number of Biquad stages in the filter; pState is the address of the state buffer;    
+ * pCoeffs is the address of the coefficient buffer; postShift shift to be applied which is described in detail below.    
+ * \par Fixed-Point Behavior    
+ * Care must be taken while using Biquad Cascade 32x64 filter function.    
+ * Following issues must be considered:    
+ * - Scaling of coefficients    
+ * - Filter gain    
+ * - Overflow and saturation    
+ *    
+ * \par    
+ * Filter coefficients are represented as fractional values and    
+ * restricted to lie in the range [-1 +1).    
+ * The processing function has an additional scaling parameter postShift    
+ * which allows the filter coefficients to exceed the range [+1 -1).    
+ * At the output of the filter's accumulator is a shift register which shifts the result by postShift bits.    
+ * \image html BiquadPostshift.gif "Fixed-point Biquad with shift by postShift bits after accumulator"    
+ * This essentially scales the filter coefficients by 2^postShift.    
+ * For example, to realize the coefficients    
+ * 
    
+ *    {1.5, -0.8, 1.2, 1.6, -0.9}    
+ * 
    
+ * set the Coefficient array to:    
+ * 
    
+ *    {0.75, -0.4, 0.6, 0.8, -0.45}    
+ * 
    
+ * and set postShift=1    
+ *    
+ * \par    
+ * The second thing to keep in mind is the gain through the filter.    
+ * The frequency response of a Biquad filter is a function of its coefficients.    
+ * It is possible for the gain through the filter to exceed 1.0 meaning that the filter increases the amplitude of certain frequencies.    
+ * This means that an input signal with amplitude < 1.0 may result in an output > 1.0 and these are saturated or overflowed based on the implementation of the filter.    
+ * To avoid this behavior the filter needs to be scaled down such that its peak gain < 1.0 or the input signal must be scaled down so that the combination of input and filter are never overflowed.    
+ *    
+ * \par    
+ * The third item to consider is the overflow and saturation behavior of the fixed-point Q31 version.    
+ * This is described in the function specific documentation below.    
+ */
+
+/**    
+ * @addtogroup BiquadCascadeDF1_32x64    
+ * @{    
+ */
+
+/**    
+ * @details    
+    
+ * @param[in]  *S points to an instance of the high precision Q31 Biquad cascade filter.    
+ * @param[in]  *pSrc points to the block of input data.    
+ * @param[out] *pDst points to the block of output data.    
+ * @param[in]  blockSize number of samples to process.    
+ * @return none.    
+ *    
+ * \par    
+ * The function is implemented using an internal 64-bit accumulator.    
+ * The accumulator has a 2.62 format and maintains full precision of the intermediate multiplication results but provides only a single guard bit.    
+ * Thus, if the accumulator result overflows it wraps around rather than clip.    
+ * In order to avoid overflows completely the input signal must be scaled down by 2 bits and lie in the range [-0.25 +0.25).    
+ * After all 5 multiply-accumulates are performed, the 2.62 accumulator is shifted by postShift bits and the result truncated to    
+ * 1.31 format by discarding the low 32 bits.    
+ *    
+ * \par    
+ * Two related functions are provided in the CMSIS DSP library.    
+ * arm_biquad_cascade_df1_q31() implements a Biquad cascade with 32-bit coefficients and state variables with a Q63 accumulator.    
+ * arm_biquad_cascade_df1_fast_q31() implements a Biquad cascade with 32-bit coefficients and state variables with a Q31 accumulator.    
+ */
+
+void arm_biquad_cas_df1_32x64_q31(
+  const arm_biquad_cas_df1_32x64_ins_q31 * S,
+  q31_t * pSrc,
+  q31_t * pDst,
+  uint32_t blockSize)
+{
+  q31_t *pIn = pSrc;                             /*  input pointer initialization  */
+  q31_t *pOut = pDst;                            /*  output pointer initialization */
+  q63_t *pState = S->pState;                     /*  state pointer initialization  */
+  q31_t *pCoeffs = S->pCoeffs;                   /*  coeff pointer initialization  */
+  q63_t acc;                                     /*  accumulator                   */
+  q31_t Xn1, Xn2;                                /*  Input Filter state variables        */
+  q63_t Yn1, Yn2;                                /*  Output Filter state variables        */
+  q31_t b0, b1, b2, a1, a2;                      /*  Filter coefficients           */
+  q31_t Xn;                                      /*  temporary input               */
+  int32_t shift = (int32_t) S->postShift + 1;    /*  Shift to be applied to the output */
+  uint32_t sample, stage = S->numStages;         /*  loop counters                     */
+  q31_t acc_l, acc_h;                            /*  temporary output               */
+  uint32_t uShift = ((uint32_t) S->postShift + 1u);
+  uint32_t lShift = 32u - uShift;                /*  Shift to be applied to the output */
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  do
+  {
+    /* Reading the coefficients */
+    b0 = *pCoeffs++;
+    b1 = *pCoeffs++;
+    b2 = *pCoeffs++;
+    a1 = *pCoeffs++;
+    a2 = *pCoeffs++;
+
+    /* Reading the state values */
+    Xn1 = (q31_t) (pState[0]);
+    Xn2 = (q31_t) (pState[1]);
+    Yn1 = pState[2];
+    Yn2 = pState[3];
+
+    /* Apply loop unrolling and compute 4 output values simultaneously. */
+    /* The variable acc hold output value that is being computed and    
+     * stored in the destination buffer    
+     * acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2]    
+     */
+
+    sample = blockSize >> 2u;
+
+    /* First part of the processing with loop unrolling. Compute 4 outputs at a time.    
+     ** a second loop below computes the remaining 1 to 3 samples. */
+    while(sample > 0u)
+    {
+      /* Read the input */
+      Xn = *pIn++;
+
+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
+
+      /* acc =  b0 * x[n] */
+      acc = (q63_t) Xn *b0;
+
+      /* acc +=  b1 * x[n-1] */
+      acc += (q63_t) Xn1 *b1;
+
+      /* acc +=  b[2] * x[n-2] */
+      acc += (q63_t) Xn2 *b2;
+
+      /* acc +=  a1 * y[n-1] */
+      acc += mult32x64(Yn1, a1);
+
+      /* acc +=  a2 * y[n-2] */
+      acc += mult32x64(Yn2, a2);
+
+      /* The result is converted to 1.63 , Yn2 variable is reused */
+      Yn2 = acc << shift;
+
+      /* Calc lower part of acc */
+      acc_l = acc & 0xffffffff;
+
+      /* Calc upper part of acc */
+      acc_h = (acc >> 32) & 0xffffffff;
+
+      /* Apply shift for lower part of acc and upper part of acc */
+      acc_h = (uint32_t) acc_l >> lShift | acc_h << uShift;
+
+      /* Store the output in the destination buffer in 1.31 format. */
+      *pOut = acc_h;
+
+      /* Read the second input into Xn2, to reuse the value */
+      Xn2 = *pIn++;
+
+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
+
+      /* acc +=  b1 * x[n-1] */
+      acc = (q63_t) Xn *b1;
+
+      /* acc =  b0 * x[n] */
+      acc += (q63_t) Xn2 *b0;
+
+      /* acc +=  b[2] * x[n-2] */
+      acc += (q63_t) Xn1 *b2;
+
+      /* acc +=  a1 * y[n-1] */
+      acc += mult32x64(Yn2, a1);
+
+      /* acc +=  a2 * y[n-2] */
+      acc += mult32x64(Yn1, a2);
+
+      /* The result is converted to 1.63, Yn1 variable is reused */
+      Yn1 = acc << shift;
+
+      /* Calc lower part of acc */
+      acc_l = acc & 0xffffffff;
+
+      /* Calc upper part of acc */
+      acc_h = (acc >> 32) & 0xffffffff;
+
+      /* Apply shift for lower part of acc and upper part of acc */
+      acc_h = (uint32_t) acc_l >> lShift | acc_h << uShift;
+
+      /* Read the third input into Xn1, to reuse the value */
+      Xn1 = *pIn++;
+
+      /* The result is converted to 1.31 */
+      /* Store the output in the destination buffer. */
+      *(pOut + 1u) = acc_h;
+
+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
+
+      /* acc =  b0 * x[n] */
+      acc = (q63_t) Xn1 *b0;
+
+      /* acc +=  b1 * x[n-1] */
+      acc += (q63_t) Xn2 *b1;
+
+      /* acc +=  b[2] * x[n-2] */
+      acc += (q63_t) Xn *b2;
+
+      /* acc +=  a1 * y[n-1] */
+      acc += mult32x64(Yn1, a1);
+
+      /* acc +=  a2 * y[n-2] */
+      acc += mult32x64(Yn2, a2);
+
+      /* The result is converted to 1.63, Yn2 variable is reused  */
+      Yn2 = acc << shift;
+
+      /* Calc lower part of acc */
+      acc_l = acc & 0xffffffff;
+
+      /* Calc upper part of acc */
+      acc_h = (acc >> 32) & 0xffffffff;
+
+      /* Apply shift for lower part of acc and upper part of acc */
+      acc_h = (uint32_t) acc_l >> lShift | acc_h << uShift;
+
+      /* Store the output in the destination buffer in 1.31 format. */
+      *(pOut + 2u) = acc_h;
+
+      /* Read the fourth input into Xn, to reuse the value */
+      Xn = *pIn++;
+
+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
+      /* acc =  b0 * x[n] */
+      acc = (q63_t) Xn *b0;
+
+      /* acc +=  b1 * x[n-1] */
+      acc += (q63_t) Xn1 *b1;
+
+      /* acc +=  b[2] * x[n-2] */
+      acc += (q63_t) Xn2 *b2;
+
+      /* acc +=  a1 * y[n-1] */
+      acc += mult32x64(Yn2, a1);
+
+      /* acc +=  a2 * y[n-2] */
+      acc += mult32x64(Yn1, a2);
+
+      /* The result is converted to 1.63, Yn1 variable is reused  */
+      Yn1 = acc << shift;
+
+      /* Calc lower part of acc */
+      acc_l = acc & 0xffffffff;
+
+      /* Calc upper part of acc */
+      acc_h = (acc >> 32) & 0xffffffff;
+
+      /* Apply shift for lower part of acc and upper part of acc */
+      acc_h = (uint32_t) acc_l >> lShift | acc_h << uShift;
+
+      /* Store the output in the destination buffer in 1.31 format. */
+      *(pOut + 3u) = acc_h;
+
+      /* Every time after the output is computed state should be updated. */
+      /* The states should be updated as:  */
+      /* Xn2 = Xn1    */
+      /* Xn1 = Xn     */
+      /* Yn2 = Yn1    */
+      /* Yn1 = acc    */
+      Xn2 = Xn1;
+      Xn1 = Xn;
+
+      /* update output pointer */
+      pOut += 4u;
+
+      /* decrement the loop counter */
+      sample--;
+    }
+
+    /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+     ** No loop unrolling is used. */
+    sample = (blockSize & 0x3u);
+
+    while(sample > 0u)
+    {
+      /* Read the input */
+      Xn = *pIn++;
+
+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
+
+      /* acc =  b0 * x[n] */
+      acc = (q63_t) Xn *b0;
+      /* acc +=  b1 * x[n-1] */
+      acc += (q63_t) Xn1 *b1;
+      /* acc +=  b[2] * x[n-2] */
+      acc += (q63_t) Xn2 *b2;
+      /* acc +=  a1 * y[n-1] */
+      acc += mult32x64(Yn1, a1);
+      /* acc +=  a2 * y[n-2] */
+      acc += mult32x64(Yn2, a2);
+
+      /* Every time after the output is computed state should be updated. */
+      /* The states should be updated as:  */
+      /* Xn2 = Xn1    */
+      /* Xn1 = Xn     */
+      /* Yn2 = Yn1    */
+      /* Yn1 = acc    */
+      Xn2 = Xn1;
+      Xn1 = Xn;
+      Yn2 = Yn1;
+      /* The result is converted to 1.63, Yn1 variable is reused  */
+      Yn1 = acc << shift;
+
+      /* Calc lower part of acc */
+      acc_l = acc & 0xffffffff;
+
+      /* Calc upper part of acc */
+      acc_h = (acc >> 32) & 0xffffffff;
+
+      /* Apply shift for lower part of acc and upper part of acc */
+      acc_h = (uint32_t) acc_l >> lShift | acc_h << uShift;
+
+      /* Store the output in the destination buffer in 1.31 format. */
+      *pOut++ = acc_h;
+      //Yn1 = acc << shift; 
+
+      /* Store the output in the destination buffer in 1.31 format. */
+//      *pOut++ = (q31_t) (acc >> (32 - shift)); 
+
+      /* decrement the loop counter */
+      sample--;
+    }
+
+    /*  The first stage output is given as input to the second stage. */
+    pIn = pDst;
+
+    /* Reset to destination buffer working pointer */
+    pOut = pDst;
+
+    /*  Store the updated state variables back into the pState array */
+    /*  Store the updated state variables back into the pState array */
+    *pState++ = (q63_t) Xn1;
+    *pState++ = (q63_t) Xn2;
+    *pState++ = Yn1;
+    *pState++ = Yn2;
+
+  } while(--stage);
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  do
+  {
+    /* Reading the coefficients */
+    b0 = *pCoeffs++;
+    b1 = *pCoeffs++;
+    b2 = *pCoeffs++;
+    a1 = *pCoeffs++;
+    a2 = *pCoeffs++;
+
+    /* Reading the state values */
+    Xn1 = pState[0];
+    Xn2 = pState[1];
+    Yn1 = pState[2];
+    Yn2 = pState[3];
+
+    /* The variable acc hold output value that is being computed and        
+     * stored in the destination buffer            
+     * acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2]            
+     */
+
+    sample = blockSize;
+
+    while(sample > 0u)
+    {
+      /* Read the input */
+      Xn = *pIn++;
+
+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
+      /* acc =  b0 * x[n] */
+      acc = (q63_t) Xn *b0;
+      /* acc +=  b1 * x[n-1] */
+      acc += (q63_t) Xn1 *b1;
+      /* acc +=  b[2] * x[n-2] */
+      acc += (q63_t) Xn2 *b2;
+      /* acc +=  a1 * y[n-1] */
+      acc += mult32x64(Yn1, a1);
+      /* acc +=  a2 * y[n-2] */
+      acc += mult32x64(Yn2, a2);
+
+      /* Every time after the output is computed state should be updated. */
+      /* The states should be updated as:  */
+      /* Xn2 = Xn1    */
+      /* Xn1 = Xn     */
+      /* Yn2 = Yn1    */
+      /* Yn1 = acc    */
+      Xn2 = Xn1;
+      Xn1 = Xn;
+      Yn2 = Yn1;
+
+      /* The result is converted to 1.63, Yn1 variable is reused  */
+      Yn1 = acc << shift;
+
+      /* Calc lower part of acc */
+      acc_l = acc & 0xffffffff;
+
+      /* Calc upper part of acc */
+      acc_h = (acc >> 32) & 0xffffffff;
+
+      /* Apply shift for lower part of acc and upper part of acc */
+      acc_h = (uint32_t) acc_l >> lShift | acc_h << uShift;
+
+      /* Store the output in the destination buffer in 1.31 format. */
+      *pOut++ = acc_h;
+
+      //Yn1 = acc << shift; 
+
+      /* Store the output in the destination buffer in 1.31 format. */
+      //*pOut++ = (q31_t) (acc >> (32 - shift)); 
+
+      /* decrement the loop counter */
+      sample--;
+    }
+
+    /*  The first stage output is given as input to the second stage. */
+    pIn = pDst;
+
+    /* Reset to destination buffer working pointer */
+    pOut = pDst;
+
+    /*  Store the updated state variables back into the pState array */
+    *pState++ = (q63_t) Xn1;
+    *pState++ = (q63_t) Xn2;
+    *pState++ = Yn1;
+    *pState++ = Yn2;
+
+  } while(--stage);
+
+#endif /*    #ifndef ARM_MATH_CM0     */
+}
+
+  /**    
+   * @} end of BiquadCascadeDF1_32x64 group    
+   */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_f32.c
new file mode 100644
index 000000000..ee20dfeec
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_f32.c
@@ -0,0 +1,421 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_biquad_cascade_df1_f32.c    
+*    
+* Description:	Processing function for the    
+*               floating-point Biquad cascade DirectFormI(DF1) filter.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.5  2010/04/26     
+* 	 incorporated review comments and updated with latest CMSIS layer    
+*    
+* Version 0.0.3  2010/03/10     
+*    Initial version    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @defgroup BiquadCascadeDF1 Biquad Cascade IIR Filters Using Direct Form I Structure    
+ *    
+ * This set of functions implements arbitrary order recursive (IIR) filters.    
+ * The filters are implemented as a cascade of second order Biquad sections.    
+ * The functions support Q15, Q31 and floating-point data types.  
+ * Fast version of Q15 and Q31 also supported on CortexM4 and Cortex-M3.    
+ *    
+ * The functions operate on blocks of input and output data and each call to the function    
+ * processes blockSize samples through the filter.    
+ * pSrc points to the array of input data and    
+ * pDst points to the array of output data.    
+ * Both arrays contain blockSize values.    
+ *    
+ * \par Algorithm    
+ * Each Biquad stage implements a second order filter using the difference equation:    
+ * 
    
+ *     y[n] = b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2]    
+ * 
    
+ * A Direct Form I algorithm is used with 5 coefficients and 4 state variables per stage.    
+ * \image html Biquad.gif "Single Biquad filter stage"    
+ * Coefficients b0, b1 and b2  multiply the input signal x[n] and are referred to as the feedforward coefficients.    
+ * Coefficients a1 and a2 multiply the output signal y[n] and are referred to as the feedback coefficients.    
+ * Pay careful attention to the sign of the feedback coefficients.    
+ * Some design tools use the difference equation    
+ * 
    
+ *     y[n] = b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] - a1 * y[n-1] - a2 * y[n-2]    
+ * 
    
+ * In this case the feedback coefficients a1 and a2 must be negated when used with the CMSIS DSP Library.    
+ *    
+ * \par    
+ * Higher order filters are realized as a cascade of second order sections.    
+ * numStages refers to the number of second order stages used.    
+ * For example, an 8th order filter would be realized with numStages=4 second order stages.    
+ * \image html BiquadCascade.gif "8th order filter using a cascade of Biquad stages"    
+ * A 9th order filter would be realized with numStages=5 second order stages with the coefficients for one of the stages configured as a first order filter (b2=0 and a2=0).    
+ *    
+ * \par    
+ * The pState points to state variables array.    
+ * Each Biquad stage has 4 state variables x[n-1], x[n-2], y[n-1], and y[n-2].    
+ * The state variables are arranged in the pState array as:    
+ * 
    
+ *     {x[n-1], x[n-2], y[n-1], y[n-2]}    
+ * 
    
+ *    
+ * \par    
+ * The 4 state variables for stage 1 are first, then the 4 state variables for stage 2, and so on.    
+ * The state array has a total length of 4*numStages values.    
+ * The state variables are updated after each block of data is processed, the coefficients are untouched.    
+ *    
+ * \par Instance Structure    
+ * The coefficients and state variables for a filter are stored together in an instance data structure.    
+ * A separate instance structure must be defined for each filter.    
+ * Coefficient arrays may be shared among several instances while state variable arrays cannot be shared.    
+ * There are separate instance structure declarations for each of the 3 supported data types.    
+ *    
+ * \par Init Functions    
+ * There is also an associated initialization function for each data type.    
+ * The initialization function performs following operations:    
+ * - Sets the values of the internal structure fields.    
+ * - Zeros out the values in the state buffer.    
+ *    
+ * \par    
+ * Use of the initialization function is optional.    
+ * However, if the initialization function is used, then the instance structure cannot be placed into a const data section.    
+ * To place an instance structure into a const data section, the instance structure must be manually initialized.    
+ * Set the values in the state buffer to zeros before static initialization.    
+ * The code below statically initializes each of the 3 different data type filter instance structures    
+ * 
    
+ *     arm_biquad_casd_df1_inst_f32 S1 = {numStages, pState, pCoeffs};    
+ *     arm_biquad_casd_df1_inst_q15 S2 = {numStages, pState, pCoeffs, postShift};    
+ *     arm_biquad_casd_df1_inst_q31 S3 = {numStages, pState, pCoeffs, postShift};    
+ * 
    
+ * where numStages is the number of Biquad stages in the filter; pState is the address of the state buffer;    
+ * pCoeffs is the address of the coefficient buffer; postShift shift to be applied.    
+ *    
+ * \par Fixed-Point Behavior    
+ * Care must be taken when using the Q15 and Q31 versions of the Biquad Cascade filter functions.    
+ * Following issues must be considered:    
+ * - Scaling of coefficients    
+ * - Filter gain    
+ * - Overflow and saturation    
+ *    
+ * \par    
+ * Scaling of coefficients:     
+ * Filter coefficients are represented as fractional values and    
+ * coefficients are restricted to lie in the range [-1 +1).    
+ * The fixed-point functions have an additional scaling parameter postShift    
+ * which allow the filter coefficients to exceed the range [+1 -1).    
+ * At the output of the filter's accumulator is a shift register which shifts the result by postShift bits.    
+ * \image html BiquadPostshift.gif "Fixed-point Biquad with shift by postShift bits after accumulator"    
+ * This essentially scales the filter coefficients by 2^postShift.    
+ * For example, to realize the coefficients    
+ * 
    
+ *    {1.5, -0.8, 1.2, 1.6, -0.9}    
+ * 
    
+ * set the pCoeffs array to:    
+ * 
    
+ *    {0.75, -0.4, 0.6, 0.8, -0.45}    
+ * 
    
+ * and set postShift=1    
+ *    
+ * \par    
+ * Filter gain:     
+ * The frequency response of a Biquad filter is a function of its coefficients.    
+ * It is possible for the gain through the filter to exceed 1.0 meaning that the filter increases the amplitude of certain frequencies.    
+ * This means that an input signal with amplitude < 1.0 may result in an output > 1.0 and these are saturated or overflowed based on the implementation of the filter.    
+ * To avoid this behavior the filter needs to be scaled down such that its peak gain < 1.0 or the input signal must be scaled down so that the combination of input and filter are never overflowed.    
+ *    
+ * \par    
+ * Overflow and saturation:     
+ * For Q15 and Q31 versions, it is described separately as part of the function specific documentation below.    
+ */
+
+/**    
+ * @addtogroup BiquadCascadeDF1    
+ * @{    
+ */
+
+/**    
+ * @param[in]  *S         points to an instance of the floating-point Biquad cascade structure.    
+ * @param[in]  *pSrc      points to the block of input data.    
+ * @param[out] *pDst      points to the block of output data.    
+ * @param[in]  blockSize  number of samples to process per call.    
+ * @return     none.    
+ *    
+ */
+
+void arm_biquad_cascade_df1_f32(
+  const arm_biquad_casd_df1_inst_f32 * S,
+  float32_t * pSrc,
+  float32_t * pDst,
+  uint32_t blockSize)
+{
+  float32_t *pIn = pSrc;                         /*  source pointer            */
+  float32_t *pOut = pDst;                        /*  destination pointer       */
+  float32_t *pState = S->pState;                 /*  pState pointer            */
+  float32_t *pCoeffs = S->pCoeffs;               /*  coefficient pointer       */
+  float32_t acc;                                 /*  Simulates the accumulator */
+  float32_t b0, b1, b2, a1, a2;                  /*  Filter coefficients       */
+  float32_t Xn1, Xn2, Yn1, Yn2;                  /*  Filter pState variables   */
+  float32_t Xn;                                  /*  temporary input           */
+  uint32_t sample, stage = S->numStages;         /*  loop counters             */
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  do
+  {
+    /* Reading the coefficients */
+    b0 = *pCoeffs++;
+    b1 = *pCoeffs++;
+    b2 = *pCoeffs++;
+    a1 = *pCoeffs++;
+    a2 = *pCoeffs++;
+
+    /* Reading the pState values */
+    Xn1 = pState[0];
+    Xn2 = pState[1];
+    Yn1 = pState[2];
+    Yn2 = pState[3];
+
+    /* Apply loop unrolling and compute 4 output values simultaneously. */
+    /*      The variable acc hold output values that are being computed:    
+     *    
+     *    acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1]   + a2 * y[n-2]    
+     *    acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1]   + a2 * y[n-2]    
+     *    acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1]   + a2 * y[n-2]    
+     *    acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1]   + a2 * y[n-2]    
+     */
+
+    sample = blockSize >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+     ** a second loop below computes the remaining 1 to 3 samples. */
+    while(sample > 0u)
+    {
+      /* Read the first input */
+      Xn = *pIn++;
+
+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
+      Yn2 = (b0 * Xn) + (b1 * Xn1) + (b2 * Xn2) + (a1 * Yn1) + (a2 * Yn2);
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = Yn2;
+
+      /* Every time after the output is computed state should be updated. */
+      /* The states should be updated as:  */
+      /* Xn2 = Xn1    */
+      /* Xn1 = Xn     */
+      /* Yn2 = Yn1    */
+      /* Yn1 = acc   */
+
+      /* Read the second input */
+      Xn2 = *pIn++;
+
+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
+      Yn1 = (b0 * Xn2) + (b1 * Xn) + (b2 * Xn1) + (a1 * Yn2) + (a2 * Yn1);
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = Yn1;
+
+      /* Every time after the output is computed state should be updated. */
+      /* The states should be updated as:  */
+      /* Xn2 = Xn1    */
+      /* Xn1 = Xn     */
+      /* Yn2 = Yn1    */
+      /* Yn1 = acc   */
+
+      /* Read the third input */
+      Xn1 = *pIn++;
+
+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
+      Yn2 = (b0 * Xn1) + (b1 * Xn2) + (b2 * Xn) + (a1 * Yn1) + (a2 * Yn2);
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = Yn2;
+
+      /* Every time after the output is computed state should be updated. */
+      /* The states should be updated as: */
+      /* Xn2 = Xn1    */
+      /* Xn1 = Xn     */
+      /* Yn2 = Yn1    */
+      /* Yn1 = acc   */
+
+      /* Read the forth input */
+      Xn = *pIn++;
+
+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
+      Yn1 = (b0 * Xn) + (b1 * Xn1) + (b2 * Xn2) + (a1 * Yn2) + (a2 * Yn1);
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = Yn1;
+
+      /* Every time after the output is computed state should be updated. */
+      /* The states should be updated as:  */
+      /* Xn2 = Xn1    */
+      /* Xn1 = Xn     */
+      /* Yn2 = Yn1    */
+      /* Yn1 = acc   */
+      Xn2 = Xn1;
+      Xn1 = Xn;
+
+      /* decrement the loop counter */
+      sample--;
+
+    }
+
+    /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+     ** No loop unrolling is used. */
+    sample = blockSize & 0x3u;
+
+    while(sample > 0u)
+    {
+      /* Read the input */
+      Xn = *pIn++;
+
+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
+      acc = (b0 * Xn) + (b1 * Xn1) + (b2 * Xn2) + (a1 * Yn1) + (a2 * Yn2);
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = acc;
+
+      /* Every time after the output is computed state should be updated. */
+      /* The states should be updated as:    */
+      /* Xn2 = Xn1    */
+      /* Xn1 = Xn     */
+      /* Yn2 = Yn1    */
+      /* Yn1 = acc   */
+      Xn2 = Xn1;
+      Xn1 = Xn;
+      Yn2 = Yn1;
+      Yn1 = acc;
+
+      /* decrement the loop counter */
+      sample--;
+
+    }
+
+    /*  Store the updated state variables back into the pState array */
+    *pState++ = Xn1;
+    *pState++ = Xn2;
+    *pState++ = Yn1;
+    *pState++ = Yn2;
+
+    /*  The first stage goes from the input buffer to the output buffer. */
+    /*  Subsequent numStages  occur in-place in the output buffer */
+    pIn = pDst;
+
+    /* Reset the output pointer */
+    pOut = pDst;
+
+    /* decrement the loop counter */
+    stage--;
+
+  } while(stage > 0u);
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  do
+  {
+    /* Reading the coefficients */
+    b0 = *pCoeffs++;
+    b1 = *pCoeffs++;
+    b2 = *pCoeffs++;
+    a1 = *pCoeffs++;
+    a2 = *pCoeffs++;
+
+    /* Reading the pState values */
+    Xn1 = pState[0];
+    Xn2 = pState[1];
+    Yn1 = pState[2];
+    Yn2 = pState[3];
+
+    /*      The variables acc holds the output value that is computed:        
+     *    acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1]   + a2 * y[n-2]        
+     */
+
+    sample = blockSize;
+
+    while(sample > 0u)
+    {
+      /* Read the input */
+      Xn = *pIn++;
+
+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
+      acc = (b0 * Xn) + (b1 * Xn1) + (b2 * Xn2) + (a1 * Yn1) + (a2 * Yn2);
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = acc;
+
+      /* Every time after the output is computed state should be updated. */
+      /* The states should be updated as:    */
+      /* Xn2 = Xn1    */
+      /* Xn1 = Xn     */
+      /* Yn2 = Yn1    */
+      /* Yn1 = acc   */
+      Xn2 = Xn1;
+      Xn1 = Xn;
+      Yn2 = Yn1;
+      Yn1 = acc;
+
+      /* decrement the loop counter */
+      sample--;
+    }
+
+    /*  Store the updated state variables back into the pState array */
+    *pState++ = Xn1;
+    *pState++ = Xn2;
+    *pState++ = Yn1;
+    *pState++ = Yn2;
+
+    /*  The first stage goes from the input buffer to the output buffer. */
+    /*  Subsequent numStages  occur in-place in the output buffer */
+    pIn = pDst;
+
+    /* Reset the output pointer */
+    pOut = pDst;
+
+    /* decrement the loop counter */
+    stage--;
+
+  } while(stage > 0u);
+
+#endif /*   #ifndef ARM_MATH_CM0         */
+
+}
+
+
+  /**    
+   * @} end of BiquadCascadeDF1 group    
+   */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q15.c
new file mode 100644
index 000000000..29afffa03
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q15.c
@@ -0,0 +1,283 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_biquad_cascade_df1_fast_q15.c    
+*    
+* Description:	Fast processing function for the    
+*				Q15 Biquad cascade filter.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.9  2010/08/16     
+*    Initial version    
+*    
+*    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup BiquadCascadeDF1    
+ * @{    
+ */
+
+/**    
+ * @details    
+ * @param[in]  *S points to an instance of the Q15 Biquad cascade structure.    
+ * @param[in]  *pSrc points to the block of input data.    
+ * @param[out] *pDst points to the block of output data.    
+ * @param[in]  blockSize number of samples to process per call.    
+ * @return none.    
+ *    
+ * Scaling and Overflow Behavior:    
+ * \par    
+ * This fast version uses a 32-bit accumulator with 2.30 format.    
+ * The accumulator maintains full precision of the intermediate multiplication results but provides only a single guard bit.    
+ * Thus, if the accumulator result overflows it wraps around and distorts the result.    
+ * In order to avoid overflows completely the input signal must be scaled down by two bits and lie in the range [-0.25 +0.25).    
+ * The 2.30 accumulator is then shifted by postShift bits and the result truncated to 1.15 format by discarding the low 16 bits.    
+ *    
+ * \par    
+ * Refer to the function arm_biquad_cascade_df1_q15() for a slower implementation of this function which uses 64-bit accumulation to avoid wrap around distortion.  Both the slow and the fast versions use the same instance structure.    
+ * Use the function arm_biquad_cascade_df1_init_q15() to initialize the filter structure.    
+ *    
+ */
+
+void arm_biquad_cascade_df1_fast_q15(
+  const arm_biquad_casd_df1_inst_q15 * S,
+  q15_t * pSrc,
+  q15_t * pDst,
+  uint32_t blockSize)
+{
+  q15_t *pIn = pSrc;                             /*  Source pointer                               */
+  q15_t *pOut = pDst;                            /*  Destination pointer                          */
+  q31_t in;                                      /*  Temporary variable to hold input value       */
+  q31_t out;                                     /*  Temporary variable to hold output value      */
+  q31_t b0;                                      /*  Temporary variable to hold bo value          */
+  q31_t b1, a1;                                  /*  Filter coefficients                          */
+  q31_t state_in, state_out;                     /*  Filter state variables                       */
+  q31_t acc;                                     /*  Accumulator                                  */
+  int32_t shift = (int32_t) (15 - S->postShift); /*  Post shift                                   */
+  q15_t *pState = S->pState;                     /*  State pointer                                */
+  q15_t *pCoeffs = S->pCoeffs;                   /*  Coefficient pointer                          */
+  uint32_t sample, stage = S->numStages;         /*  Stage loop counter                           */
+
+
+
+  do
+  {
+
+    /* Read the b0 and 0 coefficients using SIMD  */
+    b0 = *__SIMD32(pCoeffs)++;
+
+    /* Read the b1 and b2 coefficients using SIMD */
+    b1 = *__SIMD32(pCoeffs)++;
+
+    /* Read the a1 and a2 coefficients using SIMD */
+    a1 = *__SIMD32(pCoeffs)++;
+
+    /* Read the input state values from the state buffer:  x[n-1], x[n-2] */
+    state_in = *__SIMD32(pState)++;
+
+    /* Read the output state values from the state buffer:  y[n-1], y[n-2] */
+    state_out = *__SIMD32(pState)--;
+
+    /* Apply loop unrolling and compute 2 output values simultaneously. */
+    /*      The variable acc hold output values that are being computed:       
+     *    
+     *    acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2]       
+     *    acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2]       
+     */
+    sample = blockSize >> 1u;
+
+    /* First part of the processing with loop unrolling.  Compute 2 outputs at a time.    
+     ** a second loop below computes the remaining 1 sample. */
+    while(sample > 0u)
+    {
+
+      /* Read the input */
+      in = *__SIMD32(pIn)++;
+
+      /* out =  b0 * x[n] + 0 * 0 */
+      out = __SMUAD(b0, in);
+      /* acc =  b1 * x[n-1] + acc +=  b2 * x[n-2] + out */
+      acc = __SMLAD(b1, state_in, out);
+      /* acc +=  a1 * y[n-1] + acc +=  a2 * y[n-2] */
+      acc = __SMLAD(a1, state_out, acc);
+
+      /* The result is converted from 3.29 to 1.31 and then saturation is applied */
+      out = __SSAT((acc >> shift), 16);
+
+      /* Every time after the output is computed state should be updated. */
+      /* The states should be updated as:  */
+      /* Xn2 = Xn1    */
+      /* Xn1 = Xn     */
+      /* Yn2 = Yn1    */
+      /* Yn1 = acc   */
+      /* x[n-N], x[n-N-1] are packed together to make state_in of type q31 */
+      /* y[n-N], y[n-N-1] are packed together to make state_out of type q31 */
+
+#ifndef  ARM_MATH_BIG_ENDIAN
+
+      state_in = __PKHBT(in, state_in, 16);
+      state_out = __PKHBT(out, state_out, 16);
+
+#else
+
+      state_in = __PKHBT(state_in >> 16, (in >> 16), 16);
+      state_out = __PKHBT(state_out >> 16, (out), 16);
+
+#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
+
+      /* out =  b0 * x[n] + 0 * 0 */
+      out = __SMUADX(b0, in);
+      /* acc0 =  b1 * x[n-1] , acc0 +=  b2 * x[n-2] + out */
+      acc = __SMLAD(b1, state_in, out);
+      /* acc +=  a1 * y[n-1] + acc +=  a2 * y[n-2] */
+      acc = __SMLAD(a1, state_out, acc);
+
+      /* The result is converted from 3.29 to 1.31 and then saturation is applied */
+      out = __SSAT((acc >> shift), 16);
+
+
+      /* Store the output in the destination buffer. */
+
+#ifndef  ARM_MATH_BIG_ENDIAN
+
+      *__SIMD32(pOut)++ = __PKHBT(state_out, out, 16);
+
+#else
+
+      *__SIMD32(pOut)++ = __PKHBT(out, state_out >> 16, 16);
+
+#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
+
+      /* Every time after the output is computed state should be updated. */
+      /* The states should be updated as:  */
+      /* Xn2 = Xn1    */
+      /* Xn1 = Xn     */
+      /* Yn2 = Yn1    */
+      /* Yn1 = acc   */
+      /* x[n-N], x[n-N-1] are packed together to make state_in of type q31 */
+      /* y[n-N], y[n-N-1] are packed together to make state_out of type q31 */
+
+#ifndef  ARM_MATH_BIG_ENDIAN
+
+      state_in = __PKHBT(in >> 16, state_in, 16);
+      state_out = __PKHBT(out, state_out, 16);
+
+#else
+
+      state_in = __PKHBT(state_in >> 16, in, 16);
+      state_out = __PKHBT(state_out >> 16, out, 16);
+
+#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
+
+
+      /* Decrement the loop counter */
+      sample--;
+
+    }
+
+    /* If the blockSize is not a multiple of 2, compute any remaining output samples here.    
+     ** No loop unrolling is used. */
+
+    if((blockSize & 0x1u) != 0u)
+    {
+      /* Read the input */
+      in = *pIn++;
+
+      /* out =  b0 * x[n] + 0 * 0 */
+
+#ifndef  ARM_MATH_BIG_ENDIAN
+
+      out = __SMUAD(b0, in);
+
+#else
+
+      out = __SMUADX(b0, in);
+
+#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
+
+      /* acc =  b1 * x[n-1], acc +=  b2 * x[n-2] + out */
+      acc = __SMLAD(b1, state_in, out);
+      /* acc +=  a1 * y[n-1] + acc +=  a2 * y[n-2] */
+      acc = __SMLAD(a1, state_out, acc);
+
+      /* The result is converted from 3.29 to 1.31 and then saturation is applied */
+      out = __SSAT((acc >> shift), 16);
+
+      /* Store the output in the destination buffer. */
+      *pOut++ = (q15_t) out;
+
+      /* Every time after the output is computed state should be updated. */
+      /* The states should be updated as:  */
+      /* Xn2 = Xn1    */
+      /* Xn1 = Xn     */
+      /* Yn2 = Yn1    */
+      /* Yn1 = acc   */
+      /* x[n-N], x[n-N-1] are packed together to make state_in of type q31 */
+      /* y[n-N], y[n-N-1] are packed together to make state_out of type q31 */
+
+#ifndef  ARM_MATH_BIG_ENDIAN
+
+      state_in = __PKHBT(in, state_in, 16);
+      state_out = __PKHBT(out, state_out, 16);
+
+#else
+
+      state_in = __PKHBT(state_in >> 16, in, 16);
+      state_out = __PKHBT(state_out >> 16, out, 16);
+
+#endif /*   #ifndef  ARM_MATH_BIG_ENDIAN    */
+
+    }
+
+    /*  The first stage goes from the input buffer to the output buffer.  */
+    /*  Subsequent (numStages - 1) occur in-place in the output buffer  */
+    pIn = pDst;
+
+    /* Reset the output pointer */
+    pOut = pDst;
+
+    /*  Store the updated state variables back into the state array */
+    *__SIMD32(pState)++ = state_in;
+    *__SIMD32(pState)++ = state_out;
+
+
+    /* Decrement the loop counter */
+    stage--;
+
+  } while(stage > 0u);
+}
+
+
+/**    
+ * @} end of BiquadCascadeDF1 group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q31.c
new file mode 100644
index 000000000..0a479fe6b
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q31.c
@@ -0,0 +1,275 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_biquad_cascade_df1_fast_q31.c    
+*    
+* Description:	Processing function for the    
+*				Q31 Fast Biquad cascade DirectFormI(DF1) filter.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.9  2010/08/27     
+*    Initial version    
+*    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup BiquadCascadeDF1    
+ * @{    
+ */
+
+/**    
+ * @details    
+ *    
+ * @param[in]  *S        points to an instance of the Q31 Biquad cascade structure.    
+ * @param[in]  *pSrc     points to the block of input data.    
+ * @param[out] *pDst     points to the block of output data.    
+ * @param[in]  blockSize number of samples to process per call.    
+ * @return 	   none.    
+ *    
+ * Scaling and Overflow Behavior:    
+ * \par    
+ * This function is optimized for speed at the expense of fixed-point precision and overflow protection.    
+ * The result of each 1.31 x 1.31 multiplication is truncated to 2.30 format.    
+ * These intermediate results are added to a 2.30 accumulator.    
+ * Finally, the accumulator is saturated and converted to a 1.31 result.    
+ * The fast version has the same overflow behavior as the standard version and provides less precision since it discards the low 32 bits of each multiplication result.    
+ * In order to avoid overflows completely the input signal must be scaled down by two bits and lie in the range [-0.25 +0.25). Use the intialization function    
+ * arm_biquad_cascade_df1_init_q31() to initialize filter structure.    
+ *    
+ * \par    
+ * Refer to the function arm_biquad_cascade_df1_q31() for a slower implementation of this function which uses 64-bit accumulation to provide higher precision.  Both the slow and the fast versions use the same instance structure.    
+ * Use the function arm_biquad_cascade_df1_init_q31() to initialize the filter structure.    
+ */
+
+void arm_biquad_cascade_df1_fast_q31(
+  const arm_biquad_casd_df1_inst_q31 * S,
+  q31_t * pSrc,
+  q31_t * pDst,
+  uint32_t blockSize)
+{
+  q31_t acc;                                     /*  accumulator                   */
+  q31_t Xn1, Xn2, Yn1, Yn2;                      /*  Filter state variables        */
+  q31_t b0, b1, b2, a1, a2;                      /*  Filter coefficients           */
+  q31_t *pIn = pSrc;                             /*  input pointer initialization  */
+  q31_t *pOut = pDst;                            /*  output pointer initialization */
+  q31_t *pState = S->pState;                     /*  pState pointer initialization */
+  q31_t *pCoeffs = S->pCoeffs;                   /*  coeff pointer initialization  */
+  q31_t Xn;                                      /*  temporary input               */
+  int32_t shift = (int32_t) S->postShift + 1;    /*  Shift to be applied to the output */
+  uint32_t sample, stage = S->numStages;         /*  loop counters                     */
+
+
+  do
+  {
+    /* Reading the coefficients */
+    b0 = *pCoeffs++;
+    b1 = *pCoeffs++;
+    b2 = *pCoeffs++;
+    a1 = *pCoeffs++;
+    a2 = *pCoeffs++;
+
+    /* Reading the state values */
+    Xn1 = pState[0];
+    Xn2 = pState[1];
+    Yn1 = pState[2];
+    Yn2 = pState[3];
+
+    /* Apply loop unrolling and compute 4 output values simultaneously. */
+    /*      The variables acc ... acc3 hold output values that are being computed:       
+     *       
+     *    acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2]       
+     */
+
+    sample = blockSize >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.       
+     ** a second loop below computes the remaining 1 to 3 samples. */
+    while(sample > 0u)
+    {
+      /* Read the input */
+      Xn = *pIn;
+
+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
+      /* acc =  b0 * x[n] */
+      acc = (q31_t) (((q63_t) b1 * Xn1) >> 32);
+      /* acc +=  b1 * x[n-1] */
+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) b0 * (Xn))) >> 32);
+      /* acc +=  b[2] * x[n-2] */
+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) b2 * (Xn2))) >> 32);
+      /* acc +=  a1 * y[n-1] */
+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) a1 * (Yn1))) >> 32);
+      /* acc +=  a2 * y[n-2] */
+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) a2 * (Yn2))) >> 32);
+
+      /* The result is converted to 1.31 , Yn2 variable is reused */
+      Yn2 = acc << shift;
+
+      /* Read the second input */
+      Xn2 = *(pIn + 1u);
+
+      /* Store the output in the destination buffer. */
+      *pOut = Yn2;
+
+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
+      /* acc =  b0 * x[n] */
+      acc = (q31_t) (((q63_t) b0 * (Xn2)) >> 32);
+      /* acc +=  b1 * x[n-1] */
+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) b1 * (Xn))) >> 32);
+      /* acc +=  b[2] * x[n-2] */
+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) b2 * (Xn1))) >> 32);
+      /* acc +=  a1 * y[n-1] */
+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) a1 * (Yn2))) >> 32);
+      /* acc +=  a2 * y[n-2] */
+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) a2 * (Yn1))) >> 32);
+
+      /* The result is converted to 1.31, Yn1 variable is reused  */
+      Yn1 = acc << shift;
+
+      /* Read the third input  */
+      Xn1 = *(pIn + 2u);
+
+      /* Store the output in the destination buffer. */
+      *(pOut + 1u) = Yn1;
+
+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
+      /* acc =  b0 * x[n] */
+      acc = (q31_t) (((q63_t) b0 * (Xn1)) >> 32);
+      /* acc +=  b1 * x[n-1] */
+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) b1 * (Xn2))) >> 32);
+      /* acc +=  b[2] * x[n-2] */
+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) b2 * (Xn))) >> 32);
+      /* acc +=  a1 * y[n-1] */
+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) a1 * (Yn1))) >> 32);
+      /* acc +=  a2 * y[n-2] */
+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) a2 * (Yn2))) >> 32);
+
+      /* The result is converted to 1.31, Yn2 variable is reused  */
+      Yn2 = acc << shift;
+
+      /* Read the forth input */
+      Xn = *(pIn + 3u);
+
+      /* Store the output in the destination buffer. */
+      *(pOut + 2u) = Yn2;
+      pIn += 4u;
+
+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
+      /* acc =  b0 * x[n] */
+      acc = (q31_t) (((q63_t) b0 * (Xn)) >> 32);
+      /* acc +=  b1 * x[n-1] */
+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) b1 * (Xn1))) >> 32);
+      /* acc +=  b[2] * x[n-2] */
+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) b2 * (Xn2))) >> 32);
+      /* acc +=  a1 * y[n-1] */
+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) a1 * (Yn2))) >> 32);
+      /* acc +=  a2 * y[n-2] */
+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) a2 * (Yn1))) >> 32);
+
+      /* Every time after the output is computed state should be updated. */
+      /* The states should be updated as:  */
+      /* Xn2 = Xn1    */
+      Xn2 = Xn1;
+
+      /* The result is converted to 1.31, Yn1 variable is reused  */
+      Yn1 = acc << shift;
+
+      /* Xn1 = Xn     */
+      Xn1 = Xn;
+
+      /* Store the output in the destination buffer. */
+      *(pOut + 3u) = Yn1;
+      pOut += 4u;
+
+      /* decrement the loop counter */
+      sample--;
+    }
+
+    /* If the blockSize is not a multiple of 4, compute any remaining output samples here.       
+     ** No loop unrolling is used. */
+    sample = (blockSize & 0x3u);
+
+    while(sample > 0u)
+    {
+      /* Read the input */
+      Xn = *pIn++;
+
+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
+      /* acc =  b0 * x[n] */
+      acc = (q31_t) (((q63_t) b0 * (Xn)) >> 32);
+      /* acc +=  b1 * x[n-1] */
+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) b1 * (Xn1))) >> 32);
+      /* acc +=  b[2] * x[n-2] */
+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) b2 * (Xn2))) >> 32);
+      /* acc +=  a1 * y[n-1] */
+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) a1 * (Yn1))) >> 32);
+      /* acc +=  a2 * y[n-2] */
+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) a2 * (Yn2))) >> 32);
+      /* The result is converted to 1.31  */
+      acc = acc << shift;
+
+      /* Every time after the output is computed state should be updated. */
+      /* The states should be updated as:  */
+      /* Xn2 = Xn1    */
+      /* Xn1 = Xn     */
+      /* Yn2 = Yn1    */
+      /* Yn1 = acc    */
+      Xn2 = Xn1;
+      Xn1 = Xn;
+      Yn2 = Yn1;
+      Yn1 = acc;
+
+      /* Store the output in the destination buffer. */
+      *pOut++ = acc;
+
+      /* decrement the loop counter */
+      sample--;
+    }
+
+    /*  The first stage goes from the input buffer to the output buffer. */
+    /*  Subsequent stages occur in-place in the output buffer */
+    pIn = pDst;
+
+    /* Reset to destination pointer */
+    pOut = pDst;
+
+    /*  Store the updated state variables back into the pState array */
+    *pState++ = Xn1;
+    *pState++ = Xn2;
+    *pState++ = Yn1;
+    *pState++ = Yn2;
+
+  } while(--stage);
+}
+
+/**    
+  * @} end of BiquadCascadeDF1 group    
+  */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_f32.c
new file mode 100644
index 000000000..d50b69f3c
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_f32.c
@@ -0,0 +1,107 @@
+/*-----------------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:        arm_biquad_cascade_df1_init_f32.c    
+*    
+* Description:  floating-point Biquad cascade DirectFormI(DF1) filter initialization function.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.5  2010/04/26     
+* 	 incorporated review comments and updated with latest CMSIS layer    
+*    
+* Version 0.0.3  2010/03/10     
+*    Initial version    
+* ---------------------------------------------------------------------------*/
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup BiquadCascadeDF1    
+ * @{    
+ */
+
+/**    
+ * @details    
+ * @brief  Initialization function for the floating-point Biquad cascade filter.    
+ * @param[in,out] *S           points to an instance of the floating-point Biquad cascade structure.    
+ * @param[in]     numStages    number of 2nd order stages in the filter.    
+ * @param[in]     *pCoeffs     points to the filter coefficients array.    
+ * @param[in]     *pState      points to the state array.    
+ * @return        none    
+ *    
+ *    
+ * Coefficient and State Ordering:    
+ *    
+ * \par    
+ * The coefficients are stored in the array pCoeffs in the following order:    
+ * 
    
+ *     {b10, b11, b12, a11, a12, b20, b21, b22, a21, a22, ...}    
+ * 
    
+ *    
+ * \par    
+ * where b1x and a1x are the coefficients for the first stage,    
+ * b2x and a2x are the coefficients for the second stage,    
+ * and so on.  The pCoeffs array contains a total of 5*numStages values.    
+ *    
+ * \par    
+ * The pState is a pointer to state array.    
+ * Each Biquad stage has 4 state variables x[n-1], x[n-2], y[n-1], and y[n-2].    
+ * The state variables are arranged in the pState array as:    
+ * 
    
+ *     {x[n-1], x[n-2], y[n-1], y[n-2]}    
+ * 
    
+ * The 4 state variables for stage 1 are first, then the 4 state variables for stage 2, and so on.    
+ * The state array has a total length of 4*numStages values.    
+ * The state variables are updated after each block of data is processed; the coefficients are untouched.    
+ *    
+ */
+
+void arm_biquad_cascade_df1_init_f32(
+  arm_biquad_casd_df1_inst_f32 * S,
+  uint8_t numStages,
+  float32_t * pCoeffs,
+  float32_t * pState)
+{
+  /* Assign filter stages */
+  S->numStages = numStages;
+
+  /* Assign coefficient pointer */
+  S->pCoeffs = pCoeffs;
+
+  /* Clear state buffer and size is always 4 * numStages */
+  memset(pState, 0, (4u * (uint32_t) numStages) * sizeof(float32_t));
+
+  /* Assign state pointer */
+  S->pState = pState;
+}
+
+/**    
+ * @} end of BiquadCascadeDF1 group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q15.c
new file mode 100644
index 000000000..d5fda28ac
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q15.c
@@ -0,0 +1,109 @@
+/*-----------------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:        arm_biquad_cascade_df1_init_q15.c    
+*    
+* Description:  Q15 Biquad cascade DirectFormI(DF1) filter initialization function.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.5  2010/04/26     
+* 	 incorporated review comments and updated with latest CMSIS layer    
+*    
+* Version 0.0.3  2010/03/10     
+*    Initial version    
+* ---------------------------------------------------------------------------*/
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup BiquadCascadeDF1    
+ * @{    
+ */
+
+/**    
+ * @details    
+ *    
+ * @param[in,out] *S           points to an instance of the Q15 Biquad cascade structure.    
+ * @param[in]     numStages    number of 2nd order stages in the filter.    
+ * @param[in]     *pCoeffs     points to the filter coefficients.    
+ * @param[in]     *pState      points to the state buffer.    
+ * @param[in]     postShift    Shift to be applied to the accumulator result. Varies according to the coefficients format    
+ * @return        none    
+ *    
+ * Coefficient and State Ordering:    
+ *    
+ * \par    
+ * The coefficients are stored in the array pCoeffs in the following order:    
+ * 
    
+ *     {b10, 0, b11, b12, a11, a12, b20, 0, b21, b22, a21, a22, ...}    
+ * 
    
+ * where b1x and a1x are the coefficients for the first stage,    
+ * b2x and a2x are the coefficients for the second stage,    
+ * and so on.  The pCoeffs array contains a total of 6*numStages values.    
+ * The zero coefficient between b1 and b2 facilities  use of 16-bit SIMD instructions on the Cortex-M4.    
+ *    
+ * \par    
+ * The state variables are stored in the array pState.    
+ * Each Biquad stage has 4 state variables x[n-1], x[n-2], y[n-1], and y[n-2].    
+ * The state variables are arranged in the pState array as:    
+ * 
    
+ *     {x[n-1], x[n-2], y[n-1], y[n-2]}    
+ * 
    
+ * The 4 state variables for stage 1 are first, then the 4 state variables for stage 2, and so on.    
+ * The state array has a total length of 4*numStages values.    
+ * The state variables are updated after each block of data is processed; the coefficients are untouched.    
+ */
+
+void arm_biquad_cascade_df1_init_q15(
+  arm_biquad_casd_df1_inst_q15 * S,
+  uint8_t numStages,
+  q15_t * pCoeffs,
+  q15_t * pState,
+  int8_t postShift)
+{
+  /* Assign filter stages */
+  S->numStages = numStages;
+
+  /* Assign postShift to be applied to the output */
+  S->postShift = postShift;
+
+  /* Assign coefficient pointer */
+  S->pCoeffs = pCoeffs;
+
+  /* Clear state buffer and size is always 4 * numStages */
+  memset(pState, 0, (4u * (uint32_t) numStages) * sizeof(q15_t));
+
+  /* Assign state pointer */
+  S->pState = pState;
+}
+
+/**    
+ * @} end of BiquadCascadeDF1 group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q31.c
new file mode 100644
index 000000000..dbbb8aa2b
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q31.c
@@ -0,0 +1,109 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_biquad_cascade_df1_init_q31.c    
+*    
+* Description:	Q31 Biquad cascade DirectFormI(DF1) filter initialization function.    
+*    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.5  2010/04/26     
+* 	 incorporated review comments and updated with latest CMSIS layer    
+*    
+* Version 0.0.3  2010/03/10     
+*    Initial version    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup BiquadCascadeDF1    
+ * @{    
+ */
+
+/**    
+ * @details    
+ *    
+ * @param[in,out] *S           points to an instance of the Q31 Biquad cascade structure.    
+ * @param[in]     numStages    number of 2nd order stages in the filter.    
+ * @param[in]     *pCoeffs     points to the filter coefficients buffer.    
+ * @param[in]     *pState      points to the state buffer.    
+ * @param[in]     postShift    Shift to be applied after the accumulator.  Varies according to the coefficients format    
+ * @return        none    
+ *    
+ * Coefficient and State Ordering:    
+ *    
+ * \par    
+ * The coefficients are stored in the array pCoeffs in the following order:    
+ * 
    
+ *     {b10, b11, b12, a11, a12, b20, b21, b22, a21, a22, ...}    
+ * 
    
+ * where b1x and a1x are the coefficients for the first stage,    
+ * b2x and a2x are the coefficients for the second stage,    
+ * and so on.  The pCoeffs array contains a total of 5*numStages values.    
+ *    
+ * \par    
+ * The pState points to state variables array.    
+ * Each Biquad stage has 4 state variables x[n-1], x[n-2], y[n-1], and y[n-2].    
+ * The state variables are arranged in the pState array as:    
+ * 
    
+ *     {x[n-1], x[n-2], y[n-1], y[n-2]}    
+ * 
    
+ * The 4 state variables for stage 1 are first, then the 4 state variables for stage 2, and so on.    
+ * The state array has a total length of 4*numStages values.    
+ * The state variables are updated after each block of data is processed; the coefficients are untouched.    
+ */
+
+void arm_biquad_cascade_df1_init_q31(
+  arm_biquad_casd_df1_inst_q31 * S,
+  uint8_t numStages,
+  q31_t * pCoeffs,
+  q31_t * pState,
+  int8_t postShift)
+{
+  /* Assign filter stages */
+  S->numStages = numStages;
+
+  /* Assign postShift to be applied to the output */
+  S->postShift = postShift;
+
+  /* Assign coefficient pointer */
+  S->pCoeffs = pCoeffs;
+
+  /* Clear state buffer and size is always 4 * numStages */
+  memset(pState, 0, (4u * (uint32_t) numStages) * sizeof(q31_t));
+
+  /* Assign state pointer */
+  S->pState = pState;
+}
+
+/**    
+ * @} end of BiquadCascadeDF1 group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_q15.c
new file mode 100644
index 000000000..484cd85e8
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_q15.c
@@ -0,0 +1,408 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_biquad_cascade_df1_q15.c    
+*    
+* Description:	Processing function for the    
+*				Q15 Biquad cascade DirectFormI(DF1) filter.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.5  2010/04/26     
+* 	 incorporated review comments and updated with latest CMSIS layer    
+*    
+* Version 0.0.3  2010/03/10     
+*    Initial version    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup BiquadCascadeDF1    
+ * @{    
+ */
+
+/**    
+ * @brief Processing function for the Q15 Biquad cascade filter.    
+ * @param[in]  *S points to an instance of the Q15 Biquad cascade structure.    
+ * @param[in]  *pSrc points to the block of input data.    
+ * @param[out] *pDst points to the location where the output result is written.    
+ * @param[in]  blockSize number of samples to process per call.    
+ * @return none.    
+ *    
+ *    
+ * Scaling and Overflow Behavior:    
+ * \par    
+ * The function is implemented using a 64-bit internal accumulator.    
+ * Both coefficients and state variables are represented in 1.15 format and multiplications yield a 2.30 result.    
+ * The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format.    
+ * There is no risk of internal overflow with this approach and the full precision of intermediate multiplications is preserved.    
+ * The accumulator is then shifted by postShift bits to truncate the result to 1.15 format by discarding the low 16 bits.    
+ * Finally, the result is saturated to 1.15 format.    
+ *    
+ * \par    
+ * Refer to the function arm_biquad_cascade_df1_fast_q15() for a faster but less precise implementation of this filter for Cortex-M3 and Cortex-M4.    
+ */
+
+void arm_biquad_cascade_df1_q15(
+  const arm_biquad_casd_df1_inst_q15 * S,
+  q15_t * pSrc,
+  q15_t * pDst,
+  uint32_t blockSize)
+{
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q15_t *pIn = pSrc;                             /*  Source pointer                               */
+  q15_t *pOut = pDst;                            /*  Destination pointer                          */
+  q31_t in;                                      /*  Temporary variable to hold input value       */
+  q31_t out;                                     /*  Temporary variable to hold output value      */
+  q31_t b0;                                      /*  Temporary variable to hold bo value          */
+  q31_t b1, a1;                                  /*  Filter coefficients                          */
+  q31_t state_in, state_out;                     /*  Filter state variables                       */
+  q31_t acc_l, acc_h;
+  q63_t acc;                                     /*  Accumulator                                  */
+  int32_t lShift = (15 - (int32_t) S->postShift);       /*  Post shift                                   */
+  q15_t *pState = S->pState;                     /*  State pointer                                */
+  q15_t *pCoeffs = S->pCoeffs;                   /*  Coefficient pointer                          */
+  uint32_t sample, stage = (uint32_t) S->numStages;     /*  Stage loop counter                           */
+  int32_t uShift = (32 - lShift);
+
+  do
+  {
+    /* Read the b0 and 0 coefficients using SIMD  */
+    b0 = *__SIMD32(pCoeffs)++;
+
+    /* Read the b1 and b2 coefficients using SIMD */
+    b1 = *__SIMD32(pCoeffs)++;
+
+    /* Read the a1 and a2 coefficients using SIMD */
+    a1 = *__SIMD32(pCoeffs)++;
+
+    /* Read the input state values from the state buffer:  x[n-1], x[n-2] */
+    state_in = *__SIMD32(pState)++;
+
+    /* Read the output state values from the state buffer:  y[n-1], y[n-2] */
+    state_out = *__SIMD32(pState)--;
+
+    /* Apply loop unrolling and compute 2 output values simultaneously. */
+    /*      The variable acc hold output values that are being computed:    
+     *    
+     *    acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2]    
+     *    acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2]    
+     */
+    sample = blockSize >> 1u;
+
+    /* First part of the processing with loop unrolling.  Compute 2 outputs at a time.    
+     ** a second loop below computes the remaining 1 sample. */
+    while(sample > 0u)
+    {
+
+      /* Read the input */
+      in = *__SIMD32(pIn)++;
+
+      /* out =  b0 * x[n] + 0 * 0 */
+      out = __SMUAD(b0, in);
+
+      /* acc +=  b1 * x[n-1] +  b2 * x[n-2] + out */
+      acc = __SMLALD(b1, state_in, out);
+      /* acc +=  a1 * y[n-1] +  a2 * y[n-2] */
+      acc = __SMLALD(a1, state_out, acc);
+
+      /* The result is converted from 3.29 to 1.31 if postShift = 1, and then saturation is applied */
+      /* Calc lower part of acc */
+      acc_l = acc & 0xffffffff;
+
+      /* Calc upper part of acc */
+      acc_h = (acc >> 32) & 0xffffffff;
+
+      /* Apply shift for lower part of acc and upper part of acc */
+      out = (uint32_t) acc_l >> lShift | acc_h << uShift;
+
+      out = __SSAT(out, 16);
+
+      /* Every time after the output is computed state should be updated. */
+      /* The states should be updated as:  */
+      /* Xn2 = Xn1    */
+      /* Xn1 = Xn     */
+      /* Yn2 = Yn1    */
+      /* Yn1 = acc   */
+      /* x[n-N], x[n-N-1] are packed together to make state_in of type q31 */
+      /* y[n-N], y[n-N-1] are packed together to make state_out of type q31 */
+
+#ifndef  ARM_MATH_BIG_ENDIAN
+
+      state_in = __PKHBT(in, state_in, 16);
+      state_out = __PKHBT(out, state_out, 16);
+
+#else
+
+      state_in = __PKHBT(state_in >> 16, (in >> 16), 16);
+      state_out = __PKHBT(state_out >> 16, (out), 16);
+
+#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
+
+      /* out =  b0 * x[n] + 0 * 0 */
+      out = __SMUADX(b0, in);
+      /* acc +=  b1 * x[n-1] +  b2 * x[n-2] + out */
+      acc = __SMLALD(b1, state_in, out);
+      /* acc +=  a1 * y[n-1] + a2 * y[n-2] */
+      acc = __SMLALD(a1, state_out, acc);
+
+      /* The result is converted from 3.29 to 1.31 if postShift = 1, and then saturation is applied */
+      /* Calc lower part of acc */
+      acc_l = acc & 0xffffffff;
+
+      /* Calc upper part of acc */
+      acc_h = (acc >> 32) & 0xffffffff;
+
+      /* Apply shift for lower part of acc and upper part of acc */
+      out = (uint32_t) acc_l >> lShift | acc_h << uShift;
+
+      out = __SSAT(out, 16);
+
+      /* Store the output in the destination buffer. */
+
+#ifndef  ARM_MATH_BIG_ENDIAN
+
+      *__SIMD32(pOut)++ = __PKHBT(state_out, out, 16);
+
+#else
+
+      *__SIMD32(pOut)++ = __PKHBT(out, state_out >> 16, 16);
+
+#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
+
+      /* Every time after the output is computed state should be updated. */
+      /* The states should be updated as:  */
+      /* Xn2 = Xn1    */
+      /* Xn1 = Xn     */
+      /* Yn2 = Yn1    */
+      /* Yn1 = acc   */
+      /* x[n-N], x[n-N-1] are packed together to make state_in of type q31 */
+      /* y[n-N], y[n-N-1] are packed together to make state_out of type q31 */
+#ifndef  ARM_MATH_BIG_ENDIAN
+
+      state_in = __PKHBT(in >> 16, state_in, 16);
+      state_out = __PKHBT(out, state_out, 16);
+
+#else
+
+      state_in = __PKHBT(state_in >> 16, in, 16);
+      state_out = __PKHBT(state_out >> 16, out, 16);
+
+#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
+
+
+      /* Decrement the loop counter */
+      sample--;
+
+    }
+
+    /* If the blockSize is not a multiple of 2, compute any remaining output samples here.    
+     ** No loop unrolling is used. */
+
+    if((blockSize & 0x1u) != 0u)
+    {
+      /* Read the input */
+      in = *pIn++;
+
+      /* out =  b0 * x[n] + 0 * 0 */
+
+#ifndef  ARM_MATH_BIG_ENDIAN
+
+      out = __SMUAD(b0, in);
+
+#else
+
+      out = __SMUADX(b0, in);
+
+#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
+
+      /* acc =  b1 * x[n-1] + b2 * x[n-2] + out */
+      acc = __SMLALD(b1, state_in, out);
+      /* acc +=  a1 * y[n-1] + a2 * y[n-2] */
+      acc = __SMLALD(a1, state_out, acc);
+
+      /* The result is converted from 3.29 to 1.31 if postShift = 1, and then saturation is applied */
+      /* Calc lower part of acc */
+      acc_l = acc & 0xffffffff;
+
+      /* Calc upper part of acc */
+      acc_h = (acc >> 32) & 0xffffffff;
+
+      /* Apply shift for lower part of acc and upper part of acc */
+      out = (uint32_t) acc_l >> lShift | acc_h << uShift;
+
+      out = __SSAT(out, 16);
+
+      /* Store the output in the destination buffer. */
+      *pOut++ = (q15_t) out;
+
+      /* Every time after the output is computed state should be updated. */
+      /* The states should be updated as:  */
+      /* Xn2 = Xn1    */
+      /* Xn1 = Xn     */
+      /* Yn2 = Yn1    */
+      /* Yn1 = acc   */
+      /* x[n-N], x[n-N-1] are packed together to make state_in of type q31 */
+      /* y[n-N], y[n-N-1] are packed together to make state_out of type q31 */
+
+#ifndef  ARM_MATH_BIG_ENDIAN
+
+      state_in = __PKHBT(in, state_in, 16);
+      state_out = __PKHBT(out, state_out, 16);
+
+#else
+
+      state_in = __PKHBT(state_in >> 16, in, 16);
+      state_out = __PKHBT(state_out >> 16, out, 16);
+
+#endif /*   #ifndef  ARM_MATH_BIG_ENDIAN    */
+
+    }
+
+    /*  The first stage goes from the input wire to the output wire.  */
+    /*  Subsequent numStages occur in-place in the output wire  */
+    pIn = pDst;
+
+    /* Reset the output pointer */
+    pOut = pDst;
+
+    /*  Store the updated state variables back into the state array */
+    *__SIMD32(pState)++ = state_in;
+    *__SIMD32(pState)++ = state_out;
+
+
+    /* Decrement the loop counter */
+    stage--;
+
+  } while(stage > 0u);
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  q15_t *pIn = pSrc;                             /*  Source pointer                               */
+  q15_t *pOut = pDst;                            /*  Destination pointer                          */
+  q15_t b0, b1, b2, a1, a2;                      /*  Filter coefficients           */
+  q15_t Xn1, Xn2, Yn1, Yn2;                      /*  Filter state variables        */
+  q15_t Xn;                                      /*  temporary input               */
+  q63_t acc;                                     /*  Accumulator                                  */
+  int32_t shift = (15 - (int32_t) S->postShift); /*  Post shift                                   */
+  q15_t *pState = S->pState;                     /*  State pointer                                */
+  q15_t *pCoeffs = S->pCoeffs;                   /*  Coefficient pointer                          */
+  uint32_t sample, stage = (uint32_t) S->numStages;     /*  Stage loop counter                           */
+
+  do
+  {
+    /* Reading the coefficients */
+    b0 = *pCoeffs++;
+    b1 = *pCoeffs++;
+    b2 = *pCoeffs++;
+    a1 = *pCoeffs++;
+    a2 = *pCoeffs++;
+
+    /* Reading the state values */
+    Xn1 = pState[0];
+    Xn2 = pState[1];
+    Yn1 = pState[2];
+    Yn2 = pState[3];
+
+    /*      The variables acc holds the output value that is computed:         
+     *    acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2]         
+     */
+
+    sample = blockSize;
+
+    while(sample > 0u)
+    {
+      /* Read the input */
+      Xn = *pIn++;
+
+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
+      /* acc =  b0 * x[n] */
+      acc = (q31_t) b0 *Xn;
+
+      /* acc +=  b1 * x[n-1] */
+      acc += (q31_t) b1 *Xn1;
+      /* acc +=  b[2] * x[n-2] */
+      acc += (q31_t) b2 *Xn2;
+      /* acc +=  a1 * y[n-1] */
+      acc += (q31_t) a1 *Yn1;
+      /* acc +=  a2 * y[n-2] */
+      acc += (q31_t) a2 *Yn2;
+
+      /* The result is converted to 1.31  */
+      acc = __SSAT((acc >> shift), 16);
+
+      /* Every time after the output is computed state should be updated. */
+      /* The states should be updated as:  */
+      /* Xn2 = Xn1    */
+      /* Xn1 = Xn     */
+      /* Yn2 = Yn1    */
+      /* Yn1 = acc    */
+      Xn2 = Xn1;
+      Xn1 = Xn;
+      Yn2 = Yn1;
+      Yn1 = (q15_t) acc;
+
+      /* Store the output in the destination buffer. */
+      *pOut++ = (q15_t) acc;
+
+      /* decrement the loop counter */
+      sample--;
+    }
+
+    /*  The first stage goes from the input buffer to the output buffer. */
+    /*  Subsequent stages occur in-place in the output buffer */
+    pIn = pDst;
+
+    /* Reset to destination pointer */
+    pOut = pDst;
+
+    /*  Store the updated state variables back into the pState array */
+    *pState++ = Xn1;
+    *pState++ = Xn2;
+    *pState++ = Yn1;
+    *pState++ = Yn2;
+
+  } while(--stage);
+
+#endif /*     #ifndef ARM_MATH_CM0 */
+
+}
+
+
+/**    
+ * @} end of BiquadCascadeDF1 group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_q31.c
new file mode 100644
index 000000000..5626bdd1c
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_q31.c
@@ -0,0 +1,400 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_biquad_cascade_df1_q31.c    
+*    
+* Description:	Processing function for the    
+*				Q31 Biquad cascade filter    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.5  2010/04/26     
+* 	 incorporated review comments and updated with latest CMSIS layer    
+*    
+* Version 0.0.3  2010/03/10     
+*    Initial version    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup BiquadCascadeDF1    
+ * @{    
+ */
+
+/**    
+ * @brief Processing function for the Q31 Biquad cascade filter.    
+ * @param[in]  *S         points to an instance of the Q31 Biquad cascade structure.    
+ * @param[in]  *pSrc      points to the block of input data.    
+ * @param[out] *pDst      points to the block of output data.    
+ * @param[in]  blockSize  number of samples to process per call.    
+ * @return none.    
+ *    
+ * Scaling and Overflow Behavior:    
+ * \par    
+ * The function is implemented using an internal 64-bit accumulator.    
+ * The accumulator has a 2.62 format and maintains full precision of the intermediate multiplication results but provides only a single guard bit.    
+ * Thus, if the accumulator result overflows it wraps around rather than clip.    
+ * In order to avoid overflows completely the input signal must be scaled down by 2 bits and lie in the range [-0.25 +0.25).    
+ * After all 5 multiply-accumulates are performed, the 2.62 accumulator is shifted by postShift bits and the result truncated to    
+ * 1.31 format by discarding the low 32 bits.    
+ *    
+ * \par    
+ * Refer to the function arm_biquad_cascade_df1_fast_q31() for a faster but less precise implementation of this filter for Cortex-M3 and Cortex-M4.    
+ */
+
+void arm_biquad_cascade_df1_q31(
+  const arm_biquad_casd_df1_inst_q31 * S,
+  q31_t * pSrc,
+  q31_t * pDst,
+  uint32_t blockSize)
+{
+  q63_t acc;                                     /*  accumulator                   */
+  uint32_t uShift = ((uint32_t) S->postShift + 1u);
+  uint32_t lShift = 32u - uShift;                /*  Shift to be applied to the output */
+  q31_t *pIn = pSrc;                             /*  input pointer initialization  */
+  q31_t *pOut = pDst;                            /*  output pointer initialization */
+  q31_t *pState = S->pState;                     /*  pState pointer initialization */
+  q31_t *pCoeffs = S->pCoeffs;                   /*  coeff pointer initialization  */
+  q31_t Xn1, Xn2, Yn1, Yn2;                      /*  Filter state variables        */
+  q31_t b0, b1, b2, a1, a2;                      /*  Filter coefficients           */
+  q31_t Xn;                                      /*  temporary input               */
+  uint32_t sample, stage = S->numStages;         /*  loop counters                     */
+
+
+#ifndef ARM_MATH_CM0
+
+  q31_t acc_l, acc_h;                            /*  temporary output variables    */
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  do
+  {
+    /* Reading the coefficients */
+    b0 = *pCoeffs++;
+    b1 = *pCoeffs++;
+    b2 = *pCoeffs++;
+    a1 = *pCoeffs++;
+    a2 = *pCoeffs++;
+
+    /* Reading the state values */
+    Xn1 = pState[0];
+    Xn2 = pState[1];
+    Yn1 = pState[2];
+    Yn2 = pState[3];
+
+    /* Apply loop unrolling and compute 4 output values simultaneously. */
+    /*      The variable acc hold output values that are being computed:    
+     *    
+     *    acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2]    
+     */
+
+    sample = blockSize >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+     ** a second loop below computes the remaining 1 to 3 samples. */
+    while(sample > 0u)
+    {
+      /* Read the input */
+      Xn = *pIn++;
+
+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
+
+      /* acc =  b0 * x[n] */
+      acc = (q63_t) b0 *Xn;
+      /* acc +=  b1 * x[n-1] */
+      acc += (q63_t) b1 *Xn1;
+      /* acc +=  b[2] * x[n-2] */
+      acc += (q63_t) b2 *Xn2;
+      /* acc +=  a1 * y[n-1] */
+      acc += (q63_t) a1 *Yn1;
+      /* acc +=  a2 * y[n-2] */
+      acc += (q63_t) a2 *Yn2;
+
+      /* The result is converted to 1.31 , Yn2 variable is reused */
+
+      /* Calc lower part of acc */
+      acc_l = acc & 0xffffffff;
+
+      /* Calc upper part of acc */
+      acc_h = (acc >> 32) & 0xffffffff;
+
+      /* Apply shift for lower part of acc and upper part of acc */
+      Yn2 = (uint32_t) acc_l >> lShift | acc_h << uShift;
+
+      /* Store the output in the destination buffer. */
+      *pOut++ = Yn2;
+
+      /* Read the second input */
+      Xn2 = *pIn++;
+
+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
+
+      /* acc =  b0 * x[n] */
+      acc = (q63_t) b0 *Xn2;
+      /* acc +=  b1 * x[n-1] */
+      acc += (q63_t) b1 *Xn;
+      /* acc +=  b[2] * x[n-2] */
+      acc += (q63_t) b2 *Xn1;
+      /* acc +=  a1 * y[n-1] */
+      acc += (q63_t) a1 *Yn2;
+      /* acc +=  a2 * y[n-2] */
+      acc += (q63_t) a2 *Yn1;
+
+
+      /* The result is converted to 1.31, Yn1 variable is reused  */
+
+      /* Calc lower part of acc */
+      acc_l = acc & 0xffffffff;
+
+      /* Calc upper part of acc */
+      acc_h = (acc >> 32) & 0xffffffff;
+
+
+      /* Apply shift for lower part of acc and upper part of acc */
+      Yn1 = (uint32_t) acc_l >> lShift | acc_h << uShift;
+
+      /* Store the output in the destination buffer. */
+      *pOut++ = Yn1;
+
+      /* Read the third input  */
+      Xn1 = *pIn++;
+
+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
+
+      /* acc =  b0 * x[n] */
+      acc = (q63_t) b0 *Xn1;
+      /* acc +=  b1 * x[n-1] */
+      acc += (q63_t) b1 *Xn2;
+      /* acc +=  b[2] * x[n-2] */
+      acc += (q63_t) b2 *Xn;
+      /* acc +=  a1 * y[n-1] */
+      acc += (q63_t) a1 *Yn1;
+      /* acc +=  a2 * y[n-2] */
+      acc += (q63_t) a2 *Yn2;
+
+      /* The result is converted to 1.31, Yn2 variable is reused  */
+      /* Calc lower part of acc */
+      acc_l = acc & 0xffffffff;
+
+      /* Calc upper part of acc */
+      acc_h = (acc >> 32) & 0xffffffff;
+
+
+      /* Apply shift for lower part of acc and upper part of acc */
+      Yn2 = (uint32_t) acc_l >> lShift | acc_h << uShift;
+
+      /* Store the output in the destination buffer. */
+      *pOut++ = Yn2;
+
+      /* Read the forth input */
+      Xn = *pIn++;
+
+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
+
+      /* acc =  b0 * x[n] */
+      acc = (q63_t) b0 *Xn;
+      /* acc +=  b1 * x[n-1] */
+      acc += (q63_t) b1 *Xn1;
+      /* acc +=  b[2] * x[n-2] */
+      acc += (q63_t) b2 *Xn2;
+      /* acc +=  a1 * y[n-1] */
+      acc += (q63_t) a1 *Yn2;
+      /* acc +=  a2 * y[n-2] */
+      acc += (q63_t) a2 *Yn1;
+
+      /* The result is converted to 1.31, Yn1 variable is reused  */
+      /* Calc lower part of acc */
+      acc_l = acc & 0xffffffff;
+
+      /* Calc upper part of acc */
+      acc_h = (acc >> 32) & 0xffffffff;
+
+      /* Apply shift for lower part of acc and upper part of acc */
+      Yn1 = (uint32_t) acc_l >> lShift | acc_h << uShift;
+
+      /* Every time after the output is computed state should be updated. */
+      /* The states should be updated as:  */
+      /* Xn2 = Xn1    */
+      /* Xn1 = Xn     */
+      /* Yn2 = Yn1    */
+      /* Yn1 = acc    */
+      Xn2 = Xn1;
+      Xn1 = Xn;
+
+      /* Store the output in the destination buffer. */
+      *pOut++ = Yn1;
+
+      /* decrement the loop counter */
+      sample--;
+    }
+
+    /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+     ** No loop unrolling is used. */
+    sample = (blockSize & 0x3u);
+
+    while(sample > 0u)
+    {
+      /* Read the input */
+      Xn = *pIn++;
+
+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
+
+      /* acc =  b0 * x[n] */
+      acc = (q63_t) b0 *Xn;
+      /* acc +=  b1 * x[n-1] */
+      acc += (q63_t) b1 *Xn1;
+      /* acc +=  b[2] * x[n-2] */
+      acc += (q63_t) b2 *Xn2;
+      /* acc +=  a1 * y[n-1] */
+      acc += (q63_t) a1 *Yn1;
+      /* acc +=  a2 * y[n-2] */
+      acc += (q63_t) a2 *Yn2;
+
+      /* The result is converted to 1.31  */
+      acc = acc >> lShift;
+
+      /* Every time after the output is computed state should be updated. */
+      /* The states should be updated as:  */
+      /* Xn2 = Xn1    */
+      /* Xn1 = Xn     */
+      /* Yn2 = Yn1    */
+      /* Yn1 = acc    */
+      Xn2 = Xn1;
+      Xn1 = Xn;
+      Yn2 = Yn1;
+      Yn1 = (q31_t) acc;
+
+      /* Store the output in the destination buffer. */
+      *pOut++ = (q31_t) acc;
+
+      /* decrement the loop counter */
+      sample--;
+    }
+
+    /*  The first stage goes from the input buffer to the output buffer. */
+    /*  Subsequent stages occur in-place in the output buffer */
+    pIn = pDst;
+
+    /* Reset to destination pointer */
+    pOut = pDst;
+
+    /*  Store the updated state variables back into the pState array */
+    *pState++ = Xn1;
+    *pState++ = Xn2;
+    *pState++ = Yn1;
+    *pState++ = Yn2;
+
+  } while(--stage);
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  do
+  {
+    /* Reading the coefficients */
+    b0 = *pCoeffs++;
+    b1 = *pCoeffs++;
+    b2 = *pCoeffs++;
+    a1 = *pCoeffs++;
+    a2 = *pCoeffs++;
+
+    /* Reading the state values */
+    Xn1 = pState[0];
+    Xn2 = pState[1];
+    Yn1 = pState[2];
+    Yn2 = pState[3];
+
+    /*      The variables acc holds the output value that is computed:         
+     *    acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2]         
+     */
+
+    sample = blockSize;
+
+    while(sample > 0u)
+    {
+      /* Read the input */
+      Xn = *pIn++;
+
+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
+      /* acc =  b0 * x[n] */
+      acc = (q63_t) b0 *Xn;
+
+      /* acc +=  b1 * x[n-1] */
+      acc += (q63_t) b1 *Xn1;
+      /* acc +=  b[2] * x[n-2] */
+      acc += (q63_t) b2 *Xn2;
+      /* acc +=  a1 * y[n-1] */
+      acc += (q63_t) a1 *Yn1;
+      /* acc +=  a2 * y[n-2] */
+      acc += (q63_t) a2 *Yn2;
+
+      /* The result is converted to 1.31  */
+      acc = acc >> lShift;
+
+      /* Every time after the output is computed state should be updated. */
+      /* The states should be updated as:  */
+      /* Xn2 = Xn1    */
+      /* Xn1 = Xn     */
+      /* Yn2 = Yn1    */
+      /* Yn1 = acc    */
+      Xn2 = Xn1;
+      Xn1 = Xn;
+      Yn2 = Yn1;
+      Yn1 = (q31_t) acc;
+
+      /* Store the output in the destination buffer. */
+      *pOut++ = (q31_t) acc;
+
+      /* decrement the loop counter */
+      sample--;
+    }
+
+    /*  The first stage goes from the input buffer to the output buffer. */
+    /*  Subsequent stages occur in-place in the output buffer */
+    pIn = pDst;
+
+    /* Reset to destination pointer */
+    pOut = pDst;
+
+    /*  Store the updated state variables back into the pState array */
+    *pState++ = Xn1;
+    *pState++ = Xn2;
+    *pState++ = Yn1;
+    *pState++ = Yn2;
+
+  } while(--stage);
+
+#endif /*  #ifndef ARM_MATH_CM0 */
+}
+
+/**    
+  * @} end of BiquadCascadeDF1 group    
+  */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_f32.c
new file mode 100644
index 000000000..a8cb0c98c
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_f32.c
@@ -0,0 +1,377 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_biquad_cascade_df2T_f32.c    
+*    
+* Description:  Processing function for the floating-point transposed    
+*               direct form II Biquad cascade filter.   
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**       
+ * @ingroup groupFilters       
+ */
+
+/**       
+ * @defgroup BiquadCascadeDF2T Biquad Cascade IIR Filters Using a Direct Form II Transposed Structure       
+ *       
+ * This set of functions implements arbitrary order recursive (IIR) filters using a transposed direct form II structure.       
+ * The filters are implemented as a cascade of second order Biquad sections.       
+ * These functions provide a slight memory savings as compared to the direct form I Biquad filter functions.      
+ * Only floating-point data is supported.       
+ *       
+ * This function operate on blocks of input and output data and each call to the function       
+ * processes blockSize samples through the filter.       
+ * pSrc points to the array of input data and       
+ * pDst points to the array of output data.       
+ * Both arrays contain blockSize values.       
+ *       
+ * \par Algorithm       
+ * Each Biquad stage implements a second order filter using the difference equation:       
+ * 
       
+ *    y[n] = b0 * x[n] + d1       
+ *    d1 = b1 * x[n] + a1 * y[n] + d2       
+ *    d2 = b2 * x[n] + a2 * y[n]       
+ * 
       
+ * where d1 and d2 represent the two state values.       
+ *       
+ * \par       
+ * A Biquad filter using a transposed Direct Form II structure is shown below.       
+ * \image html BiquadDF2Transposed.gif "Single transposed Direct Form II Biquad"       
+ * Coefficients b0, b1, and b2  multiply the input signal x[n] and are referred to as the feedforward coefficients.       
+ * Coefficients a1 and a2 multiply the output signal y[n] and are referred to as the feedback coefficients.       
+ * Pay careful attention to the sign of the feedback coefficients.       
+ * Some design tools flip the sign of the feedback coefficients:       
+ * 
       
+ *    y[n] = b0 * x[n] + d1;       
+ *    d1 = b1 * x[n] - a1 * y[n] + d2;       
+ *    d2 = b2 * x[n] - a2 * y[n];       
+ * 
       
+ * In this case the feedback coefficients a1 and a2 must be negated when used with the CMSIS DSP Library.       
+ *       
+ * \par       
+ * Higher order filters are realized as a cascade of second order sections.       
+ * numStages refers to the number of second order stages used.       
+ * For example, an 8th order filter would be realized with numStages=4 second order stages.       
+ * A 9th order filter would be realized with numStages=5 second order stages with the       
+ * coefficients for one of the stages configured as a first order filter (b2=0 and a2=0).       
+ *       
+ * \par       
+ * pState points to the state variable array.       
+ * Each Biquad stage has 2 state variables d1 and d2.       
+ * The state variables are arranged in the pState array as:       
+ * 
       
+ *     {d11, d12, d21, d22, ...}       
+ * 
       
+ * where d1x refers to the state variables for the first Biquad and       
+ * d2x refers to the state variables for the second Biquad.       
+ * The state array has a total length of 2*numStages values.       
+ * The state variables are updated after each block of data is processed; the coefficients are untouched.       
+ *       
+ * \par       
+ * The CMSIS library contains Biquad filters in both Direct Form I and transposed Direct Form II.    
+ * The advantage of the Direct Form I structure is that it is numerically more robust for fixed-point data types.    
+ * That is why the Direct Form I structure supports Q15 and Q31 data types.    
+ * The transposed Direct Form II structure, on the other hand, requires a wide dynamic range for the state variables d1 and d2.    
+ * Because of this, the CMSIS library only has a floating-point version of the Direct Form II Biquad.    
+ * The advantage of the Direct Form II Biquad is that it requires half the number of state variables, 2 rather than 4, per Biquad stage.    
+ *       
+ * \par Instance Structure       
+ * The coefficients and state variables for a filter are stored together in an instance data structure.       
+ * A separate instance structure must be defined for each filter.       
+ * Coefficient arrays may be shared among several instances while state variable arrays cannot be shared.       
+ *       
+ * \par Init Functions       
+ * There is also an associated initialization function.      
+ * The initialization function performs following operations:       
+ * - Sets the values of the internal structure fields.       
+ * - Zeros out the values in the state buffer.       
+ *       
+ * \par       
+ * Use of the initialization function is optional.       
+ * However, if the initialization function is used, then the instance structure cannot be placed into a const data section.       
+ * To place an instance structure into a const data section, the instance structure must be manually initialized.       
+ * Set the values in the state buffer to zeros before static initialization.       
+ * For example, to statically initialize the instance structure use       
+ * 
       
+ *     arm_biquad_cascade_df2T_instance_f32 S1 = {numStages, pState, pCoeffs};       
+ * 
       
+ * where numStages is the number of Biquad stages in the filter; pState is the address of the state buffer.       
+ * pCoeffs is the address of the coefficient buffer;        
+ *       
+ */
+
+/**       
+ * @addtogroup BiquadCascadeDF2T       
+ * @{       
+ */
+
+/**      
+ * @brief Processing function for the floating-point transposed direct form II Biquad cascade filter.      
+ * @param[in]  *S        points to an instance of the filter data structure.      
+ * @param[in]  *pSrc     points to the block of input data.      
+ * @param[out] *pDst     points to the block of output data      
+ * @param[in]  blockSize number of samples to process.      
+ * @return none.      
+ */
+
+void arm_biquad_cascade_df2T_f32(
+  const arm_biquad_cascade_df2T_instance_f32 * S,
+  float32_t * pSrc,
+  float32_t * pDst,
+  uint32_t blockSize)
+{
+
+  float32_t *pIn = pSrc;                         /*  source pointer            */
+  float32_t *pOut = pDst;                        /*  destination pointer       */
+  float32_t *pState = S->pState;                 /*  State pointer             */
+  float32_t *pCoeffs = S->pCoeffs;               /*  coefficient pointer       */
+  float32_t acc0;                                /*  accumulator               */
+  float32_t b0, b1, b2, a1, a2;                  /*  Filter coefficients       */
+  float32_t Xn;                                  /*  temporary input           */
+  float32_t d1, d2;                              /*  state variables           */
+  uint32_t sample, stage = S->numStages;         /*  loop counters             */
+
+#ifndef ARM_MATH_CM0
+
+  float32_t Xn1, Xn2;                            /*  Input State variables     */
+  float32_t acc1;                                /*  accumulator               */
+
+
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  do
+  {
+    /* Reading the coefficients */
+    b0 = *pCoeffs++;
+    b1 = *pCoeffs++;
+    b2 = *pCoeffs++;
+    a1 = *pCoeffs++;
+    a2 = *pCoeffs++;
+
+    /*Reading the state values */
+    d1 = pState[0];
+    d2 = pState[1];
+
+    /* Apply loop unrolling and compute 4 output values simultaneously. */
+    sample = blockSize >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.       
+     ** a second loop below computes the remaining 1 to 3 samples. */
+    while(sample > 0u)
+    {
+
+      /* y[n] = b0 * x[n] + d1 */
+      /* d1 = b1 * x[n] + a1 * y[n] + d2 */
+      /* d2 = b2 * x[n] + a2 * y[n] */
+
+      /* Read the first input */
+      Xn1 = *pIn++;
+
+      /* y[n] = b0 * x[n] + d1 */
+      acc0 = (b0 * Xn1) + d1;
+
+      /* d1 = b1 * x[n] + d2 */
+      d1 = (b1 * Xn1) + d2;
+
+      /* d2 = b2 * x[n] */
+      d2 = (b2 * Xn1);
+
+      /* Read the second input */
+      Xn2 = *pIn++;
+
+      /* d1 = b1 * x[n] + a1 * y[n] */
+      d1 = (a1 * acc0) + d1;
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = acc0;
+
+      d2 = (a2 * acc0) + d2;
+
+      /* y[n] = b0 * x[n] + d1 */
+      acc1 = (b0 * Xn2) + d1;
+
+      /* Read the third input */
+      Xn1 = *pIn++;
+
+      d1 = (b1 * Xn2) + d2;
+
+      d2 = (b2 * Xn2);
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = acc1;
+
+      d1 = (a1 * acc1) + d1;
+
+      d2 = (a2 * acc1) + d2;
+
+      /* y[n] = b0 * x[n] + d1 */
+      acc0 = (b0 * Xn1) + d1;
+
+      d1 = (b1 * Xn1) + d2;
+
+      d2 = (b2 * Xn1);
+
+      /* Read the fourth input */
+      Xn2 = *pIn++;
+
+      d1 = (a1 * acc0) + d1;
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = acc0;
+
+      d2 = (a2 * acc0) + d2;
+
+      /* y[n] = b0 * x[n] + d1 */
+      acc1 = (b0 * Xn2) + d1;
+
+      d1 = (b1 * Xn2) + d2;
+
+      d2 = (b2 * Xn2);
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = acc1;
+
+      d1 = (a1 * acc1) + d1;
+
+      d2 = (a2 * acc1) + d2;
+
+      /* decrement the loop counter */
+      sample--;
+
+    }
+
+    /* If the blockSize is not a multiple of 4, compute any remaining output samples here.       
+     ** No loop unrolling is used. */
+    sample = blockSize & 0x3u;
+
+    while(sample > 0u)
+    {
+      /* Read the input */
+      Xn = *pIn++;
+
+      /* y[n] = b0 * x[n] + d1 */
+      acc0 = (b0 * Xn) + d1;
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = acc0;
+
+      /* Every time after the output is computed state should be updated. */
+      /* d1 = b1 * x[n] + a1 * y[n] + d2 */
+      d1 = ((b1 * Xn) + (a1 * acc0)) + d2;
+
+      /* d2 = b2 * x[n] + a2 * y[n] */
+      d2 = (b2 * Xn) + (a2 * acc0);
+
+      /* decrement the loop counter */
+      sample--;
+    }
+
+    /* Store the updated state variables back into the state array */
+    *pState++ = d1;
+    *pState++ = d2;
+
+    /* The current stage input is given as the output to the next stage */
+    pIn = pDst;
+
+    /*Reset the output working pointer */
+    pOut = pDst;
+
+    /* decrement the loop counter */
+    stage--;
+
+  } while(stage > 0u);
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  do
+  {
+    /* Reading the coefficients */
+    b0 = *pCoeffs++;
+    b1 = *pCoeffs++;
+    b2 = *pCoeffs++;
+    a1 = *pCoeffs++;
+    a2 = *pCoeffs++;
+
+    /*Reading the state values */
+    d1 = pState[0];
+    d2 = pState[1];
+
+
+    sample = blockSize;
+
+    while(sample > 0u)
+    {
+      /* Read the input */
+      Xn = *pIn++;
+
+      /* y[n] = b0 * x[n] + d1 */
+      acc0 = (b0 * Xn) + d1;
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = acc0;
+
+      /* Every time after the output is computed state should be updated. */
+      /* d1 = b1 * x[n] + a1 * y[n] + d2 */
+      d1 = ((b1 * Xn) + (a1 * acc0)) + d2;
+
+      /* d2 = b2 * x[n] + a2 * y[n] */
+      d2 = (b2 * Xn) + (a2 * acc0);
+
+      /* decrement the loop counter */
+      sample--;
+    }
+
+    /* Store the updated state variables back into the state array */
+    *pState++ = d1;
+    *pState++ = d2;
+
+    /* The current stage input is given as the output to the next stage */
+    pIn = pDst;
+
+    /*Reset the output working pointer */
+    pOut = pDst;
+
+    /* decrement the loop counter */
+    stage--;
+
+  } while(stage > 0u);
+
+#endif /*  #ifndef ARM_MATH_CM0         */
+
+}
+
+
+  /**       
+   * @} end of BiquadCascadeDF2T group       
+   */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_init_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_init_f32.c
new file mode 100644
index 000000000..e4225d008
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_init_f32.c
@@ -0,0 +1,97 @@
+/*-----------------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:        arm_biquad_cascade_df2T_init_f32.c    
+*    
+* Description:  Initialization function for the floating-point transposed   
+*               direct form II Biquad cascade filter.   
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* ---------------------------------------------------------------------------*/
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup BiquadCascadeDF2T    
+ * @{    
+ */
+
+/**   
+ * @brief  Initialization function for the floating-point transposed direct form II Biquad cascade filter.   
+ * @param[in,out] *S           points to an instance of the filter data structure.   
+ * @param[in]     numStages    number of 2nd order stages in the filter.   
+ * @param[in]     *pCoeffs     points to the filter coefficients.   
+ * @param[in]     *pState      points to the state buffer.   
+ * @return        none   
+ *    
+ * Coefficient and State Ordering:    
+ * \par    
+ * The coefficients are stored in the array pCoeffs in the following order:    
+ * 
    
+ *     {b10, b11, b12, a11, a12, b20, b21, b22, a21, a22, ...}    
+ * 
    
+ *    
+ * \par    
+ * where b1x and a1x are the coefficients for the first stage,    
+ * b2x and a2x are the coefficients for the second stage,    
+ * and so on.  The pCoeffs array contains a total of 5*numStages values.    
+ *    
+ * \par    
+ * The pState is a pointer to state array.    
+ * Each Biquad stage has 2 state variables d1, and d2.    
+ * The 2 state variables for stage 1 are first, then the 2 state variables for stage 2, and so on.    
+ * The state array has a total length of 2*numStages values.    
+ * The state variables are updated after each block of data is processed; the coefficients are untouched.    
+ */
+
+void arm_biquad_cascade_df2T_init_f32(
+  arm_biquad_cascade_df2T_instance_f32 * S,
+  uint8_t numStages,
+  float32_t * pCoeffs,
+  float32_t * pState)
+{
+  /* Assign filter stages */
+  S->numStages = numStages;
+
+  /* Assign coefficient pointer */
+  S->pCoeffs = pCoeffs;
+
+  /* Clear state buffer and size is always 2 * numStages */
+  memset(pState, 0, (2u * (uint32_t) numStages) * sizeof(float32_t));
+
+  /* Assign state pointer */
+  S->pState = pState;
+}
+
+/**    
+ * @} end of BiquadCascadeDF2T group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_f32.c
new file mode 100644
index 000000000..48dd45f2b
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_f32.c
@@ -0,0 +1,646 @@
+/* ----------------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_conv_f32.c    
+*    
+* Description:	Convolution of floating-point sequences.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*  
+* Version 1.0.11 2011/10/18  
+*    Bug Fix in conv, correlation, partial convolution.  
+* 
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+*    
+* -------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @defgroup Conv Convolution    
+ *    
+ * Convolution is a mathematical operation that operates on two finite length vectors to generate a finite length output vector.    
+ * Convolution is similar to correlation and is frequently used in filtering and data analysis.    
+ * The CMSIS DSP library contains functions for convolving Q7, Q15, Q31, and floating-point data types.    
+ * The library also provides fast versions of the Q15 and Q31 functions on Cortex-M4 and Cortex-M3.    
+ *    
+ * \par Algorithm    
+ * Let a[n] and b[n] be sequences of length srcALen and srcBLen samples respectively.    
+ * Then the convolution    
+ *    
+ * 
    
+ *                   c[n] = a[n] * b[n]    
+ * 
    
+ *    
+ * \par    
+ * is defined as    
+ * \image html ConvolutionEquation.gif    
+ * \par    
+ * Note that c[n] is of length srcALen + srcBLen - 1 and is defined over the interval n=0, 1, 2, ..., srcALen + srcBLen - 2.    
+ * pSrcA points to the first input vector of length srcALen and    
+ * pSrcB points to the second input vector of length srcBLen.    
+ * The output result is written to pDst and the calling function must allocate srcALen+srcBLen-1 words for the result.    
+ *    
+ * \par    
+ * Conceptually, when two signals a[n] and b[n] are convolved,    
+ * the signal b[n] slides over a[n].    
+ * For each offset \c n, the overlapping portions of a[n] and b[n] are multiplied and summed together.    
+ *    
+ * \par    
+ * Note that convolution is a commutative operation:    
+ *    
+ * 
    
+ *                   a[n] * b[n] = b[n] * a[n].    
+ * 
    
+ *    
+ * \par    
+ * This means that switching the A and B arguments to the convolution functions has no effect.    
+ *    
+ * Fixed-Point Behavior    
+ *    
+ * \par    
+ * Convolution requires summing up a large number of intermediate products.    
+ * As such, the Q7, Q15, and Q31 functions run a risk of overflow and saturation.    
+ * Refer to the function specific documentation below for further details of the particular algorithm used.    
+ *
+ *
+ * Fast Versions
+ *
+ * \par 
+ * Fast versions are supported for Q31 and Q15.  Cycles for Fast versions are less compared to Q31 and Q15 of conv and the design requires
+ * the input signals should be scaled down to avoid intermediate overflows.   
+ *
+ *
+ * Opt Versions
+ *
+ * \par 
+ * Opt versions are supported for Q15 and Q7.  Design uses internal scratch buffer for getting good optimisation.
+ * These versions are optimised in cycles and consumes more memory(Scratch memory) compared to Q15 and Q7 versions 
+ */
+
+/**    
+ * @addtogroup Conv    
+ * @{    
+ */
+
+/**    
+ * @brief Convolution of floating-point sequences.    
+ * @param[in] *pSrcA points to the first input sequence.    
+ * @param[in] srcALen length of the first input sequence.    
+ * @param[in] *pSrcB points to the second input sequence.    
+ * @param[in] srcBLen length of the second input sequence.    
+ * @param[out] *pDst points to the location where the output result is written.  Length srcALen+srcBLen-1.    
+ * @return none.    
+ */
+
+void arm_conv_f32(
+  float32_t * pSrcA,
+  uint32_t srcALen,
+  float32_t * pSrcB,
+  uint32_t srcBLen,
+  float32_t * pDst)
+{
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  float32_t *pIn1;                               /* inputA pointer */
+  float32_t *pIn2;                               /* inputB pointer */
+  float32_t *pOut = pDst;                        /* output pointer */
+  float32_t *px;                                 /* Intermediate inputA pointer */
+  float32_t *py;                                 /* Intermediate inputB pointer */
+  float32_t *pSrc1, *pSrc2;                      /* Intermediate pointers */
+  float32_t sum, acc0, acc1, acc2, acc3;         /* Accumulator */
+  float32_t x0, x1, x2, x3, c0;                  /* Temporary variables to hold state and coefficient values */
+  uint32_t j, k, count, blkCnt, blockSize1, blockSize2, blockSize3;     /* loop counters */
+
+  /* The algorithm implementation is based on the lengths of the inputs. */
+  /* srcB is always made to slide across srcA. */
+  /* So srcBLen is always considered as shorter or equal to srcALen */
+  if(srcALen >= srcBLen)
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = pSrcA;
+
+    /* Initialization of inputB pointer */
+    pIn2 = pSrcB;
+  }
+  else
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = pSrcB;
+
+    /* Initialization of inputB pointer */
+    pIn2 = pSrcA;
+
+    /* srcBLen is always considered as shorter or equal to srcALen */
+    j = srcBLen;
+    srcBLen = srcALen;
+    srcALen = j;
+  }
+
+  /* conv(x,y) at n = x[n] * y[0] + x[n-1] * y[1] + x[n-2] * y[2] + ...+ x[n-N+1] * y[N -1] */
+  /* The function is internally    
+   * divided into three stages according to the number of multiplications that has to be    
+   * taken place between inputA samples and inputB samples. In the first stage of the    
+   * algorithm, the multiplications increase by one for every iteration.    
+   * In the second stage of the algorithm, srcBLen number of multiplications are done.    
+   * In the third stage of the algorithm, the multiplications decrease by one    
+   * for every iteration. */
+
+  /* The algorithm is implemented in three stages.    
+     The loop counters of each stage is initiated here. */
+  blockSize1 = srcBLen - 1u;
+  blockSize2 = srcALen - (srcBLen - 1u);
+  blockSize3 = blockSize1;
+
+  /* --------------------------    
+   * initializations of stage1    
+   * -------------------------*/
+
+  /* sum = x[0] * y[0]    
+   * sum = x[0] * y[1] + x[1] * y[0]    
+   * ....    
+   * sum = x[0] * y[srcBlen - 1] + x[1] * y[srcBlen - 2] +...+ x[srcBLen - 1] * y[0]    
+   */
+
+  /* In this stage the MAC operations are increased by 1 for every iteration.    
+     The count variable holds the number of MAC operations performed */
+  count = 1u;
+
+  /* Working pointer of inputA */
+  px = pIn1;
+
+  /* Working pointer of inputB */
+  py = pIn2;
+
+
+  /* ------------------------    
+   * Stage1 process    
+   * ----------------------*/
+
+  /* The first stage starts here */
+  while(blockSize1 > 0u)
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0.0f;
+
+    /* Apply loop unrolling and compute 4 MACs simultaneously. */
+    k = count >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* x[0] * y[srcBLen - 1] */
+      sum += *px++ * *py--;
+
+      /* x[1] * y[srcBLen - 2] */
+      sum += *px++ * *py--;
+
+      /* x[2] * y[srcBLen - 3] */
+      sum += *px++ * *py--;
+
+      /* x[3] * y[srcBLen - 4] */
+      sum += *px++ * *py--;
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* If the count is not a multiple of 4, compute any remaining MACs here.    
+     ** No loop unrolling is used. */
+    k = count % 0x4u;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      sum += *px++ * *py--;
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut++ = sum;
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    py = pIn2 + count;
+    px = pIn1;
+
+    /* Increment the MAC count */
+    count++;
+
+    /* Decrement the loop counter */
+    blockSize1--;
+  }
+
+  /* --------------------------    
+   * Initializations of stage2    
+   * ------------------------*/
+
+  /* sum = x[0] * y[srcBLen-1] + x[1] * y[srcBLen-2] +...+ x[srcBLen-1] * y[0]    
+   * sum = x[1] * y[srcBLen-1] + x[2] * y[srcBLen-2] +...+ x[srcBLen] * y[0]    
+   * ....    
+   * sum = x[srcALen-srcBLen-2] * y[srcBLen-1] + x[srcALen] * y[srcBLen-2] +...+ x[srcALen-1] * y[0]    
+   */
+
+  /* Working pointer of inputA */
+  px = pIn1;
+
+  /* Working pointer of inputB */
+  pSrc2 = pIn2 + (srcBLen - 1u);
+  py = pSrc2;
+
+  /* count is index by which the pointer pIn1 to be incremented */
+  count = 0u;
+
+  /* -------------------    
+   * Stage2 process    
+   * ------------------*/
+
+  /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.    
+   * So, to loop unroll over blockSize2,    
+   * srcBLen should be greater than or equal to 4 */
+  if(srcBLen >= 4u)
+  {
+    /* Loop unroll over blockSize2, by 4 */
+    blkCnt = blockSize2 >> 2u;
+
+    while(blkCnt > 0u)
+    {
+      /* Set all accumulators to zero */
+      acc0 = 0.0f;
+      acc1 = 0.0f;
+      acc2 = 0.0f;
+      acc3 = 0.0f;
+
+      /* read x[0], x[1], x[2] samples */
+      x0 = *(px++);
+      x1 = *(px++);
+      x2 = *(px++);
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = srcBLen >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      do
+      {
+        /* Read y[srcBLen - 1] sample */
+        c0 = *(py--);
+
+        /* Read x[3] sample */
+        x3 = *(px);
+
+        /* Perform the multiply-accumulate */
+        /* acc0 +=  x[0] * y[srcBLen - 1] */
+        acc0 += x0 * c0;
+
+        /* acc1 +=  x[1] * y[srcBLen - 1] */
+        acc1 += x1 * c0;
+
+        /* acc2 +=  x[2] * y[srcBLen - 1] */
+        acc2 += x2 * c0;
+
+        /* acc3 +=  x[3] * y[srcBLen - 1] */
+        acc3 += x3 * c0;
+
+        /* Read y[srcBLen - 2] sample */
+        c0 = *(py--);
+
+        /* Read x[4] sample */
+        x0 = *(px + 1u);
+
+        /* Perform the multiply-accumulate */
+        /* acc0 +=  x[1] * y[srcBLen - 2] */
+        acc0 += x1 * c0;
+        /* acc1 +=  x[2] * y[srcBLen - 2] */
+        acc1 += x2 * c0;
+        /* acc2 +=  x[3] * y[srcBLen - 2] */
+        acc2 += x3 * c0;
+        /* acc3 +=  x[4] * y[srcBLen - 2] */
+        acc3 += x0 * c0;
+
+        /* Read y[srcBLen - 3] sample */
+        c0 = *(py--);
+
+        /* Read x[5] sample */
+        x1 = *(px + 2u);
+
+        /* Perform the multiply-accumulates */
+        /* acc0 +=  x[2] * y[srcBLen - 3] */
+        acc0 += x2 * c0;
+        /* acc1 +=  x[3] * y[srcBLen - 2] */
+        acc1 += x3 * c0;
+        /* acc2 +=  x[4] * y[srcBLen - 2] */
+        acc2 += x0 * c0;
+        /* acc3 +=  x[5] * y[srcBLen - 2] */
+        acc3 += x1 * c0;
+
+        /* Read y[srcBLen - 4] sample */
+        c0 = *(py--);
+
+        /* Read x[6] sample */
+        x2 = *(px + 3u);
+        px += 4u;
+
+        /* Perform the multiply-accumulates */
+        /* acc0 +=  x[3] * y[srcBLen - 4] */
+        acc0 += x3 * c0;
+        /* acc1 +=  x[4] * y[srcBLen - 4] */
+        acc1 += x0 * c0;
+        /* acc2 +=  x[5] * y[srcBLen - 4] */
+        acc2 += x1 * c0;
+        /* acc3 +=  x[6] * y[srcBLen - 4] */
+        acc3 += x2 * c0;
+
+
+      } while(--k);
+
+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.    
+       ** No loop unrolling is used. */
+      k = srcBLen % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Read y[srcBLen - 5] sample */
+        c0 = *(py--);
+
+        /* Read x[7] sample */
+        x3 = *(px++);
+
+        /* Perform the multiply-accumulates */
+        /* acc0 +=  x[4] * y[srcBLen - 5] */
+        acc0 += x0 * c0;
+        /* acc1 +=  x[5] * y[srcBLen - 5] */
+        acc1 += x1 * c0;
+        /* acc2 +=  x[6] * y[srcBLen - 5] */
+        acc2 += x2 * c0;
+        /* acc3 +=  x[7] * y[srcBLen - 5] */
+        acc3 += x3 * c0;
+
+        /* Reuse the present samples for the next MAC */
+        x0 = x1;
+        x1 = x2;
+        x2 = x3;
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = acc0;
+      *pOut++ = acc1;
+      *pOut++ = acc2;
+      *pOut++ = acc3;
+
+      /* Increment the pointer pIn1 index, count by 4 */
+      count += 4u;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pSrc2;
+
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+
+    /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.    
+     ** No loop unrolling is used. */
+    blkCnt = blockSize2 % 0x4u;
+
+    while(blkCnt > 0u)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0.0f;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = srcBLen >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        sum += *px++ * *py--;
+        sum += *px++ * *py--;
+        sum += *px++ * *py--;
+        sum += *px++ * *py--;
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.    
+       ** No loop unrolling is used. */
+      k = srcBLen % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulate */
+        sum += *px++ * *py--;
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = sum;
+
+      /* Increment the MAC count */
+      count++;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pSrc2;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+  else
+  {
+    /* If the srcBLen is not a multiple of 4,    
+     * the blockSize2 loop cannot be unrolled by 4 */
+    blkCnt = blockSize2;
+
+    while(blkCnt > 0u)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0.0f;
+
+      /* srcBLen number of MACS should be performed */
+      k = srcBLen;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulate */
+        sum += *px++ * *py--;
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = sum;
+
+      /* Increment the MAC count */
+      count++;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pSrc2;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+
+
+  /* --------------------------    
+   * Initializations of stage3    
+   * -------------------------*/
+
+  /* sum += x[srcALen-srcBLen+1] * y[srcBLen-1] + x[srcALen-srcBLen+2] * y[srcBLen-2] +...+ x[srcALen-1] * y[1]    
+   * sum += x[srcALen-srcBLen+2] * y[srcBLen-1] + x[srcALen-srcBLen+3] * y[srcBLen-2] +...+ x[srcALen-1] * y[2]    
+   * ....    
+   * sum +=  x[srcALen-2] * y[srcBLen-1] + x[srcALen-1] * y[srcBLen-2]    
+   * sum +=  x[srcALen-1] * y[srcBLen-1]    
+   */
+
+  /* In this stage the MAC operations are decreased by 1 for every iteration.    
+     The blockSize3 variable holds the number of MAC operations performed */
+
+  /* Working pointer of inputA */
+  pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);
+  px = pSrc1;
+
+  /* Working pointer of inputB */
+  pSrc2 = pIn2 + (srcBLen - 1u);
+  py = pSrc2;
+
+  /* -------------------    
+   * Stage3 process    
+   * ------------------*/
+
+  while(blockSize3 > 0u)
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0.0f;
+
+    /* Apply loop unrolling and compute 4 MACs simultaneously. */
+    k = blockSize3 >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* sum += x[srcALen - srcBLen + 1] * y[srcBLen - 1] */
+      sum += *px++ * *py--;
+
+      /* sum += x[srcALen - srcBLen + 2] * y[srcBLen - 2] */
+      sum += *px++ * *py--;
+
+      /* sum += x[srcALen - srcBLen + 3] * y[srcBLen - 3] */
+      sum += *px++ * *py--;
+
+      /* sum += x[srcALen - srcBLen + 4] * y[srcBLen - 4] */
+      sum += *px++ * *py--;
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* If the blockSize3 is not a multiple of 4, compute any remaining MACs here.    
+     ** No loop unrolling is used. */
+    k = blockSize3 % 0x4u;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+      /* sum +=  x[srcALen-1] * y[srcBLen-1] */
+      sum += *px++ * *py--;
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut++ = sum;
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    px = ++pSrc1;
+    py = pSrc2;
+
+    /* Decrement the loop counter */
+    blockSize3--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  float32_t *pIn1 = pSrcA;                       /* inputA pointer */
+  float32_t *pIn2 = pSrcB;                       /* inputB pointer */
+  float32_t sum;                                 /* Accumulator */
+  uint32_t i, j;                                 /* loop counters */
+
+  /* Loop to calculate convolution for output length number of times */
+  for (i = 0u; i < ((srcALen + srcBLen) - 1u); i++)
+  {
+    /* Initialize sum with zero to carry out MAC operations */
+    sum = 0.0f;
+
+    /* Loop to perform MAC operations according to convolution equation */
+    for (j = 0u; j <= i; j++)
+    {
+      /* Check the array limitations */
+      if((((i - j) < srcBLen) && (j < srcALen)))
+      {
+        /* z[i] += x[i-j] * y[j] */
+        sum += pIn1[j] * pIn2[i - j];
+      }
+    }
+    /* Store the output in the destination buffer */
+    pDst[i] = sum;
+  }
+
+#endif /*   #ifndef ARM_MATH_CM0        */
+
+}
+
+/**    
+ * @} end of Conv group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_opt_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_opt_q15.c
new file mode 100644
index 000000000..3e85a25ba
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_opt_q15.c
@@ -0,0 +1,538 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_conv_fast_opt_q15.c    
+*    
+* Description:	Fast Q15 Convolution.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*  
+* Version 1.0.11 2011/10/18  
+*    Bug Fix in conv, correlation, partial convolution.  
+* 
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup Conv    
+ * @{    
+ */
+
+/**    
+ * @brief Convolution of Q15 sequences (fast version) for Cortex-M3 and Cortex-M4.    
+ * @param[in] *pSrcA points to the first input sequence.    
+ * @param[in] srcALen length of the first input sequence.    
+ * @param[in] *pSrcB points to the second input sequence.    
+ * @param[in] srcBLen length of the second input sequence.    
+ * @param[out] *pDst points to the location where the output result is written.  Length srcALen+srcBLen-1.    
+ * @param[in]  *pScratch1 points to scratch buffer of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2.   
+ * @param[in]  *pScratch2 points to scratch buffer of size min(srcALen, srcBLen).   
+ * @return none.    
+ *    
+ * \par Restrictions    
+ *  If the silicon does not support unaligned memory access enable the macro UNALIGNED_SUPPORT_DISABLE    
+ *	In this case input, output, scratch1 and scratch2 buffers should be aligned by 32-bit    
+ *     
+ * Scaling and Overflow Behavior:    
+ *    
+ * \par    
+ * This fast version uses a 32-bit accumulator with 2.30 format.    
+ * The accumulator maintains full precision of the intermediate multiplication results    
+ * but provides only a single guard bit. There is no saturation on intermediate additions.    
+ * Thus, if the accumulator overflows it wraps around and distorts the result.    
+ * The input signals should be scaled down to avoid intermediate overflows.    
+ * Scale down the inputs by log2(min(srcALen, srcBLen)) (log2 is read as log to the base 2) times to avoid overflows,    
+ * as maximum of min(srcALen, srcBLen) number of additions are carried internally.    
+ * The 2.30 accumulator is right shifted by 15 bits and then saturated to 1.15 format to yield the final result.    
+ *    
+ * \par    
+ * See arm_conv_q15() for a slower implementation of this function which uses 64-bit accumulation to avoid wrap around distortion.    
+ */
+
+void arm_conv_fast_opt_q15(
+  q15_t * pSrcA,
+  uint32_t srcALen,
+  q15_t * pSrcB,
+  uint32_t srcBLen,
+  q15_t * pDst,
+  q15_t * pScratch1,
+  q15_t * pScratch2)
+{
+  q31_t acc0, acc1, acc2, acc3;                  /* Accumulators */
+  q31_t x1, x2, x3;                              /* Temporary variables to hold state and coefficient values */
+  q31_t y1, y2;                                  /* State variables */
+  q15_t *pOut = pDst;                            /* output pointer */
+  q15_t *pScr1 = pScratch1;                      /* Temporary pointer for scratch1 */
+  q15_t *pScr2 = pScratch2;                      /* Temporary pointer for scratch1 */
+  q15_t *pIn1;                                   /* inputA pointer */
+  q15_t *pIn2;                                   /* inputB pointer */
+  q15_t *px;                                     /* Intermediate inputA pointer  */
+  q15_t *py;                                     /* Intermediate inputB pointer  */
+  uint32_t j, k, blkCnt;                         /* loop counter */
+  uint32_t tapCnt;                               /* loop count */
+#ifdef UNALIGNED_SUPPORT_DISABLE
+
+  q15_t a, b;
+
+#endif	/*	#ifdef UNALIGNED_SUPPORT_DISABLE	*/
+
+  /* The algorithm implementation is based on the lengths of the inputs. */
+  /* srcB is always made to slide across srcA. */
+  /* So srcBLen is always considered as shorter or equal to srcALen */
+  if(srcALen >= srcBLen)
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = pSrcA;
+
+    /* Initialization of inputB pointer */
+    pIn2 = pSrcB;
+  }
+  else
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = pSrcB;
+
+    /* Initialization of inputB pointer */
+    pIn2 = pSrcA;
+
+    /* srcBLen is always considered as shorter or equal to srcALen */
+    j = srcBLen;
+    srcBLen = srcALen;
+    srcALen = j;
+  }
+
+  /* Pointer to take end of scratch2 buffer */
+  pScr2 = pScratch2 + srcBLen - 1;
+
+  /* points to smaller length sequence */
+  px = pIn2;
+
+  /* Apply loop unrolling and do 4 Copies simultaneously. */
+  k = srcBLen >> 2u;
+
+  /* First part of the processing with loop unrolling copies 4 data points at a time.       
+   ** a second loop below copies for the remaining 1 to 3 samples. */
+
+  /* Copy smaller length input sequence in reverse order into second scratch buffer */
+  while(k > 0u)
+  {
+    /* copy second buffer in reversal manner */
+    *pScr2-- = *px++;
+    *pScr2-- = *px++;
+    *pScr2-- = *px++;
+    *pScr2-- = *px++;
+
+    /* Decrement the loop counter */
+    k--;
+  }
+
+  /* If the count is not a multiple of 4, copy remaining samples here.       
+   ** No loop unrolling is used. */
+  k = srcBLen % 0x4u;
+
+  while(k > 0u)
+  {
+    /* copy second buffer in reversal manner for remaining samples */
+    *pScr2-- = *px++;
+
+    /* Decrement the loop counter */
+    k--;
+  }
+
+  /* Initialze temporary scratch pointer */
+  pScr1 = pScratch1;
+
+  /* Assuming scratch1 buffer is aligned by 32-bit */
+  /* Fill (srcBLen - 1u) zeros in scratch1 buffer */
+  arm_fill_q15(0, pScr1, (srcBLen - 1u));
+
+  /* Update temporary scratch pointer */
+  pScr1 += (srcBLen - 1u);
+
+  /* Copy bigger length sequence(srcALen) samples in scratch1 buffer */
+
+#ifndef UNALIGNED_SUPPORT_DISABLE
+
+  /* Copy (srcALen) samples in scratch buffer */
+  arm_copy_q15(pIn1, pScr1, srcALen);
+
+  /* Update pointers */
+  pScr1 += srcALen;
+
+#else
+
+  /* Apply loop unrolling and do 4 Copies simultaneously. */
+  k = srcALen >> 2u;
+
+  /* First part of the processing with loop unrolling copies 4 data points at a time.       
+   ** a second loop below copies for the remaining 1 to 3 samples. */
+  while(k > 0u)
+  {
+    /* copy second buffer in reversal manner */
+    *pScr1++ = *pIn1++;
+    *pScr1++ = *pIn1++;
+    *pScr1++ = *pIn1++;
+    *pScr1++ = *pIn1++;
+
+    /* Decrement the loop counter */
+    k--;
+  }
+
+  /* If the count is not a multiple of 4, copy remaining samples here.       
+   ** No loop unrolling is used. */
+  k = srcALen % 0x4u;
+
+  while(k > 0u)
+  {
+    /* copy second buffer in reversal manner for remaining samples */
+    *pScr1++ = *pIn1++;
+
+    /* Decrement the loop counter */
+    k--;
+  }
+
+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
+
+
+#ifndef UNALIGNED_SUPPORT_DISABLE
+
+  /* Fill (srcBLen - 1u) zeros at end of scratch buffer */
+  arm_fill_q15(0, pScr1, (srcBLen - 1u));
+
+  /* Update pointer */
+  pScr1 += (srcBLen - 1u);
+
+#else
+
+  /* Apply loop unrolling and do 4 Copies simultaneously. */
+  k = (srcBLen - 1u) >> 2u;
+
+  /* First part of the processing with loop unrolling copies 4 data points at a time.       
+   ** a second loop below copies for the remaining 1 to 3 samples. */
+  while(k > 0u)
+  {
+    /* copy second buffer in reversal manner */
+    *pScr1++ = 0;
+    *pScr1++ = 0;
+    *pScr1++ = 0;
+    *pScr1++ = 0;
+
+    /* Decrement the loop counter */
+    k--;
+  }
+
+  /* If the count is not a multiple of 4, copy remaining samples here.       
+   ** No loop unrolling is used. */
+  k = (srcBLen - 1u) % 0x4u;
+
+  while(k > 0u)
+  {
+    /* copy second buffer in reversal manner for remaining samples */
+    *pScr1++ = 0;
+
+    /* Decrement the loop counter */
+    k--;
+  }
+
+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
+
+  /* Temporary pointer for scratch2 */
+  py = pScratch2;
+
+
+  /* Initialization of pIn2 pointer */
+  pIn2 = py;
+
+  /* First part of the processing with loop unrolling process 4 data points at a time.       
+   ** a second loop below process for the remaining 1 to 3 samples. */
+
+  /* Actual convolution process starts here */
+  blkCnt = (srcALen + srcBLen - 1u) >> 2;
+
+  while(blkCnt > 0)
+  {
+    /* Initialze temporary scratch pointer as scratch1 */
+    pScr1 = pScratch1;
+
+    /* Clear Accumlators */
+    acc0 = 0;
+    acc1 = 0;
+    acc2 = 0;
+    acc3 = 0;
+
+    /* Read two samples from scratch1 buffer */
+    x1 = *__SIMD32(pScr1)++;
+
+    /* Read next two samples from scratch1 buffer */
+    x2 = *__SIMD32(pScr1)++;
+
+    tapCnt = (srcBLen) >> 2u;
+
+    while(tapCnt > 0u)
+    {
+
+#ifndef UNALIGNED_SUPPORT_DISABLE
+
+      /* Read four samples from smaller buffer */
+      y1 = _SIMD32_OFFSET(pIn2);
+      y2 = _SIMD32_OFFSET(pIn2 + 2u);
+
+      /* multiply and accumlate */
+      acc0 = __SMLAD(x1, y1, acc0);
+      acc2 = __SMLAD(x2, y1, acc2);
+
+      /* pack input data */
+#ifndef ARM_MATH_BIG_ENDIAN
+      x3 = __PKHBT(x2, x1, 0);
+#else
+      x3 = __PKHBT(x1, x2, 0);
+#endif
+
+      /* multiply and accumlate */
+      acc1 = __SMLADX(x3, y1, acc1);
+
+      /* Read next two samples from scratch1 buffer */
+      x1 = _SIMD32_OFFSET(pScr1);
+
+      /* multiply and accumlate */
+      acc0 = __SMLAD(x2, y2, acc0);
+      acc2 = __SMLAD(x1, y2, acc2);
+
+      /* pack input data */
+#ifndef ARM_MATH_BIG_ENDIAN
+      x3 = __PKHBT(x1, x2, 0);
+#else
+      x3 = __PKHBT(x2, x1, 0);
+#endif
+
+      acc3 = __SMLADX(x3, y1, acc3);
+      acc1 = __SMLADX(x3, y2, acc1);
+
+      x2 = _SIMD32_OFFSET(pScr1 + 2u);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+      x3 = __PKHBT(x2, x1, 0);
+#else
+      x3 = __PKHBT(x1, x2, 0);
+#endif
+
+      acc3 = __SMLADX(x3, y2, acc3);
+
+#else	 
+
+      /* Read four samples from smaller buffer */
+	  a = *pIn2;
+	  b = *(pIn2 + 1);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+      y1 = __PKHBT(a, b, 16);
+#else
+      y1 = __PKHBT(b, a, 16);
+#endif
+	  
+	  a = *(pIn2 + 2);
+	  b = *(pIn2 + 3);
+#ifndef ARM_MATH_BIG_ENDIAN
+      y2 = __PKHBT(a, b, 16);
+#else
+      y2 = __PKHBT(b, a, 16);
+#endif				
+
+      acc0 = __SMLAD(x1, y1, acc0);
+
+      acc2 = __SMLAD(x2, y1, acc2);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+      x3 = __PKHBT(x2, x1, 0);
+#else
+      x3 = __PKHBT(x1, x2, 0);
+#endif
+
+      acc1 = __SMLADX(x3, y1, acc1);
+
+	  a = *pScr1;
+	  b = *(pScr1 + 1);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+      x1 = __PKHBT(a, b, 16);
+#else
+      x1 = __PKHBT(b, a, 16);
+#endif
+
+      acc0 = __SMLAD(x2, y2, acc0);
+
+      acc2 = __SMLAD(x1, y2, acc2);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+      x3 = __PKHBT(x1, x2, 0);
+#else
+      x3 = __PKHBT(x2, x1, 0);
+#endif
+
+      acc3 = __SMLADX(x3, y1, acc3);
+
+      acc1 = __SMLADX(x3, y2, acc1);
+
+	  a = *(pScr1 + 2);
+	  b = *(pScr1 + 3);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+      x2 = __PKHBT(a, b, 16);
+#else
+      x2 = __PKHBT(b, a, 16);
+#endif
+
+#ifndef ARM_MATH_BIG_ENDIAN
+      x3 = __PKHBT(x2, x1, 0);
+#else
+      x3 = __PKHBT(x1, x2, 0);
+#endif
+
+      acc3 = __SMLADX(x3, y2, acc3);
+
+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
+
+      /* update scratch pointers */
+      pIn2 += 4u;
+      pScr1 += 4u;
+
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Update scratch pointer for remaining samples of smaller length sequence */
+    pScr1 -= 4u;
+
+    /* apply same above for remaining samples of smaller length sequence */
+    tapCnt = (srcBLen) & 3u;
+
+    while(tapCnt > 0u)
+    {
+
+      /* accumlate the results */
+      acc0 += (*pScr1++ * *pIn2);
+      acc1 += (*pScr1++ * *pIn2);
+      acc2 += (*pScr1++ * *pIn2);
+      acc3 += (*pScr1++ * *pIn2++);
+
+      pScr1 -= 3u;
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    blkCnt--;
+
+
+    /* Store the results in the accumulators in the destination buffer. */
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+    *__SIMD32(pOut)++ =
+      __PKHBT(__SSAT((acc0 >> 15), 16), __SSAT((acc1 >> 15), 16), 16);
+
+    *__SIMD32(pOut)++ =
+      __PKHBT(__SSAT((acc2 >> 15), 16), __SSAT((acc3 >> 15), 16), 16);
+
+
+#else
+
+    *__SIMD32(pOut)++ =
+      __PKHBT(__SSAT((acc1 >> 15), 16), __SSAT((acc0 >> 15), 16), 16);
+
+    *__SIMD32(pOut)++ =
+      __PKHBT(__SSAT((acc3 >> 15), 16), __SSAT((acc2 >> 15), 16), 16);
+
+
+
+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN       */
+
+    /* Initialization of inputB pointer */
+    pIn2 = py;
+
+    pScratch1 += 4u;
+
+  }
+
+
+  blkCnt = (srcALen + srcBLen - 1u) & 0x3;
+
+  /* Calculate convolution for remaining samples of Bigger length sequence */
+  while(blkCnt > 0)
+  {
+    /* Initialze temporary scratch pointer as scratch1 */
+    pScr1 = pScratch1;
+
+    /* Clear Accumlators */
+    acc0 = 0;
+
+    tapCnt = (srcBLen) >> 1u;
+
+    while(tapCnt > 0u)
+    {
+
+      acc0 += (*pScr1++ * *pIn2++);
+      acc0 += (*pScr1++ * *pIn2++);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    tapCnt = (srcBLen) & 1u;
+
+    /* apply same above for remaining samples of smaller length sequence */
+    while(tapCnt > 0u)
+    {
+
+      /* accumlate the results */
+      acc0 += (*pScr1++ * *pIn2++);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    blkCnt--;
+
+    /* The result is in 2.30 format.  Convert to 1.15 with saturation.       
+     ** Then store the output in the destination buffer. */
+    *pOut++ = (q15_t) (__SSAT((acc0 >> 15), 16));
+
+    /* Initialization of inputB pointer */
+    pIn2 = py;
+
+    pScratch1 += 1u;
+
+  }
+
+}
+
+/**    
+ * @} end of Conv group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_q15.c
new file mode 100644
index 000000000..e21be3523
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_q15.c
@@ -0,0 +1,1405 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_conv_fast_q15.c   
+*   
+* Description:	Fast Q15 Convolution.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3
+* 
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+* 
+* Version 1.0.11 2011/10/18 
+*    Bug Fix in conv, correlation, partial convolution. 
+*
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup Conv   
+ * @{   
+ */
+
+/**   
+ * @brief Convolution of Q15 sequences (fast version) for Cortex-M3 and Cortex-M4.   
+ * @param[in] *pSrcA points to the first input sequence.   
+ * @param[in] srcALen length of the first input sequence.   
+ * @param[in] *pSrcB points to the second input sequence.   
+ * @param[in] srcBLen length of the second input sequence.   
+ * @param[out] *pDst points to the location where the output result is written.  Length srcALen+srcBLen-1.   
+ * @return none.   
+ *   
+ * Scaling and Overflow Behavior:   
+ *   
+ * \par   
+ * This fast version uses a 32-bit accumulator with 2.30 format.   
+ * The accumulator maintains full precision of the intermediate multiplication results   
+ * but provides only a single guard bit. There is no saturation on intermediate additions.   
+ * Thus, if the accumulator overflows it wraps around and distorts the result.   
+ * The input signals should be scaled down to avoid intermediate overflows.   
+ * Scale down the inputs by log2(min(srcALen, srcBLen)) (log2 is read as log to the base 2) times to avoid overflows,   
+ * as maximum of min(srcALen, srcBLen) number of additions are carried internally.   
+ * The 2.30 accumulator is right shifted by 15 bits and then saturated to 1.15 format to yield the final result.   
+ *   
+ * \par   
+ * See arm_conv_q15() for a slower implementation of this function which uses 64-bit accumulation to avoid wrap around distortion.   
+ */
+
+void arm_conv_fast_q15(
+  q15_t * pSrcA,
+  uint32_t srcALen,
+  q15_t * pSrcB,
+  uint32_t srcBLen,
+  q15_t * pDst)
+{
+#ifndef UNALIGNED_SUPPORT_DISABLE
+  q15_t *pIn1;                                   /* inputA pointer */
+  q15_t *pIn2;                                   /* inputB pointer */
+  q15_t *pOut = pDst;                            /* output pointer */
+  q31_t sum, acc0, acc1, acc2, acc3;             /* Accumulator */
+  q15_t *px;                                     /* Intermediate inputA pointer  */
+  q15_t *py;                                     /* Intermediate inputB pointer  */
+  q15_t *pSrc1, *pSrc2;                          /* Intermediate pointers */
+  q31_t x0, x1, x2, x3, c0;                      /* Temporary variables to hold state and coefficient values */
+  uint32_t blockSize1, blockSize2, blockSize3, j, k, count, blkCnt;     /* loop counter */
+
+  /* The algorithm implementation is based on the lengths of the inputs. */
+  /* srcB is always made to slide across srcA. */
+  /* So srcBLen is always considered as shorter or equal to srcALen */
+  if(srcALen >= srcBLen)
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = pSrcA;
+
+    /* Initialization of inputB pointer */
+    pIn2 = pSrcB;
+  }
+  else
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = pSrcB;
+
+    /* Initialization of inputB pointer */
+    pIn2 = pSrcA;
+
+    /* srcBLen is always considered as shorter or equal to srcALen */
+    j = srcBLen;
+    srcBLen = srcALen;
+    srcALen = j;
+  }
+
+  /* conv(x,y) at n = x[n] * y[0] + x[n-1] * y[1] + x[n-2] * y[2] + ...+ x[n-N+1] * y[N -1] */
+  /* The function is internally   
+   * divided into three stages according to the number of multiplications that has to be   
+   * taken place between inputA samples and inputB samples. In the first stage of the   
+   * algorithm, the multiplications increase by one for every iteration.   
+   * In the second stage of the algorithm, srcBLen number of multiplications are done.   
+   * In the third stage of the algorithm, the multiplications decrease by one   
+   * for every iteration. */
+
+  /* The algorithm is implemented in three stages.   
+     The loop counters of each stage is initiated here. */
+  blockSize1 = srcBLen - 1u;
+  blockSize2 = srcALen - (srcBLen - 1u);
+  blockSize3 = blockSize1;
+
+  /* --------------------------   
+   * Initializations of stage1   
+   * -------------------------*/
+
+  /* sum = x[0] * y[0]   
+   * sum = x[0] * y[1] + x[1] * y[0]   
+   * ....   
+   * sum = x[0] * y[srcBlen - 1] + x[1] * y[srcBlen - 2] +...+ x[srcBLen - 1] * y[0]   
+   */
+
+  /* In this stage the MAC operations are increased by 1 for every iteration.   
+     The count variable holds the number of MAC operations performed */
+  count = 1u;
+
+  /* Working pointer of inputA */
+  px = pIn1;
+
+  /* Working pointer of inputB */
+  py = pIn2;
+
+
+  /* ------------------------   
+   * Stage1 process   
+   * ----------------------*/
+
+  /* For loop unrolling by 4, this stage is divided into two. */
+  /* First part of this stage computes the MAC operations less than 4 */
+  /* Second part of this stage computes the MAC operations greater than or equal to 4 */
+
+  /* The first part of the stage starts here */
+  while((count < 4u) && (blockSize1 > 0u))
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0;
+
+    /* Loop over number of MAC operations between   
+     * inputA samples and inputB samples */
+    k = count;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+      sum = __SMLAD(*px++, *py--, sum);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut++ = (q15_t) (sum >> 15);
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    py = pIn2 + count;
+    px = pIn1;
+
+    /* Increment the MAC count */
+    count++;
+
+    /* Decrement the loop counter */
+    blockSize1--;
+  }
+
+  /* The second part of the stage starts here */
+  /* The internal loop, over count, is unrolled by 4 */
+  /* To, read the last two inputB samples using SIMD:   
+   * y[srcBLen] and y[srcBLen-1] coefficients, py is decremented by 1 */
+  py = py - 1;
+
+  while(blockSize1 > 0u)
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0;
+
+    /* Apply loop unrolling and compute 4 MACs simultaneously. */
+    k = count >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+      /* x[0], x[1] are multiplied with y[srcBLen - 1], y[srcBLen - 2] respectively */
+      sum = __SMLADX(*__SIMD32(px)++, *__SIMD32(py)--, sum);
+      /* x[2], x[3] are multiplied with y[srcBLen - 3], y[srcBLen - 4] respectively */
+      sum = __SMLADX(*__SIMD32(px)++, *__SIMD32(py)--, sum);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* For the next MAC operations, the pointer py is used without SIMD   
+     * So, py is incremented by 1 */
+    py = py + 1u;
+
+    /* If the count is not a multiple of 4, compute any remaining MACs here.   
+     ** No loop unrolling is used. */
+    k = count % 0x4u;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+      sum = __SMLAD(*px++, *py--, sum);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut++ = (q15_t) (sum >> 15);
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    py = pIn2 + (count - 1u);
+    px = pIn1;
+
+    /* Increment the MAC count */
+    count++;
+
+    /* Decrement the loop counter */
+    blockSize1--;
+  }
+
+  /* --------------------------   
+   * Initializations of stage2   
+   * ------------------------*/
+
+  /* sum = x[0] * y[srcBLen-1] + x[1] * y[srcBLen-2] +...+ x[srcBLen-1] * y[0]   
+   * sum = x[1] * y[srcBLen-1] + x[2] * y[srcBLen-2] +...+ x[srcBLen] * y[0]   
+   * ....   
+   * sum = x[srcALen-srcBLen-2] * y[srcBLen-1] + x[srcALen] * y[srcBLen-2] +...+ x[srcALen-1] * y[0]   
+   */
+
+  /* Working pointer of inputA */
+  px = pIn1;
+
+  /* Working pointer of inputB */
+  pSrc2 = pIn2 + (srcBLen - 1u);
+  py = pSrc2;
+
+  /* count is the index by which the pointer pIn1 to be incremented */
+  count = 0u;
+
+
+  /* --------------------   
+   * Stage2 process   
+   * -------------------*/
+
+  /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.   
+   * So, to loop unroll over blockSize2,   
+   * srcBLen should be greater than or equal to 4 */
+  if(srcBLen >= 4u)
+  {
+    /* Loop unroll over blockSize2, by 4 */
+    blkCnt = blockSize2 >> 2u;
+
+    while(blkCnt > 0u)
+    {
+      py = py - 1u;
+
+      /* Set all accumulators to zero */
+      acc0 = 0;
+      acc1 = 0;
+      acc2 = 0;
+      acc3 = 0;
+
+
+      /* read x[0], x[1] samples */
+      x0 = *__SIMD32(px);
+      /* read x[1], x[2] samples */
+      x1 = _SIMD32_OFFSET(px+1);
+	  px+= 2u;
+
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = srcBLen >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      do
+      {
+        /* Read the last two inputB samples using SIMD:   
+         * y[srcBLen - 1] and y[srcBLen - 2] */
+        c0 = *__SIMD32(py)--;
+
+        /* acc0 +=  x[0] * y[srcBLen - 1] + x[1] * y[srcBLen - 2] */
+        acc0 = __SMLADX(x0, c0, acc0);
+
+        /* acc1 +=  x[1] * y[srcBLen - 1] + x[2] * y[srcBLen - 2] */
+        acc1 = __SMLADX(x1, c0, acc1);
+
+        /* Read x[2], x[3] */
+        x2 = *__SIMD32(px);
+
+        /* Read x[3], x[4] */
+        x3 = _SIMD32_OFFSET(px+1);
+
+        /* acc2 +=  x[2] * y[srcBLen - 1] + x[3] * y[srcBLen - 2] */
+        acc2 = __SMLADX(x2, c0, acc2);
+
+        /* acc3 +=  x[3] * y[srcBLen - 1] + x[4] * y[srcBLen - 2] */
+        acc3 = __SMLADX(x3, c0, acc3);
+
+        /* Read y[srcBLen - 3] and y[srcBLen - 4] */
+        c0 = *__SIMD32(py)--;
+
+        /* acc0 +=  x[2] * y[srcBLen - 3] + x[3] * y[srcBLen - 4] */
+        acc0 = __SMLADX(x2, c0, acc0);
+
+        /* acc1 +=  x[3] * y[srcBLen - 3] + x[4] * y[srcBLen - 4] */
+        acc1 = __SMLADX(x3, c0, acc1);
+
+        /* Read x[4], x[5] */
+        x0 = _SIMD32_OFFSET(px+2);
+
+        /* Read x[5], x[6] */
+        x1 = _SIMD32_OFFSET(px+3);
+		px += 4u;
+
+        /* acc2 +=  x[4] * y[srcBLen - 3] + x[5] * y[srcBLen - 4] */
+        acc2 = __SMLADX(x0, c0, acc2);
+
+        /* acc3 +=  x[5] * y[srcBLen - 3] + x[6] * y[srcBLen - 4] */
+        acc3 = __SMLADX(x1, c0, acc3);
+
+      } while(--k);
+
+      /* For the next MAC operations, SIMD is not used   
+       * So, the 16 bit pointer if inputB, py is updated */
+
+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = srcBLen % 0x4u;
+
+      if(k == 1u)
+      {
+        /* Read y[srcBLen - 5] */
+        c0 = *(py+1);
+
+#ifdef  ARM_MATH_BIG_ENDIAN
+
+        c0 = c0 << 16u;
+
+#else
+
+        c0 = c0 & 0x0000FFFF;
+
+#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */
+
+        /* Read x[7] */
+        x3 = *__SIMD32(px);
+		px++;
+
+        /* Perform the multiply-accumulates */
+        acc0 = __SMLAD(x0, c0, acc0);
+        acc1 = __SMLAD(x1, c0, acc1);
+        acc2 = __SMLADX(x1, c0, acc2);
+        acc3 = __SMLADX(x3, c0, acc3);
+      }
+
+      if(k == 2u)
+      {
+        /* Read y[srcBLen - 5], y[srcBLen - 6] */
+        c0 = _SIMD32_OFFSET(py);
+
+        /* Read x[7], x[8] */
+        x3 = *__SIMD32(px);
+
+        /* Read x[9] */
+        x2 = _SIMD32_OFFSET(px+1);
+		px += 2u;
+
+        /* Perform the multiply-accumulates */
+        acc0 = __SMLADX(x0, c0, acc0);
+        acc1 = __SMLADX(x1, c0, acc1);
+        acc2 = __SMLADX(x3, c0, acc2);
+        acc3 = __SMLADX(x2, c0, acc3);
+      }
+
+      if(k == 3u)
+      {
+        /* Read y[srcBLen - 5], y[srcBLen - 6] */
+        c0 = _SIMD32_OFFSET(py);
+
+        /* Read x[7], x[8] */
+        x3 = *__SIMD32(px);
+
+        /* Read x[9] */
+        x2 = _SIMD32_OFFSET(px+1);
+
+        /* Perform the multiply-accumulates */
+        acc0 = __SMLADX(x0, c0, acc0);
+        acc1 = __SMLADX(x1, c0, acc1);
+        acc2 = __SMLADX(x3, c0, acc2);
+        acc3 = __SMLADX(x2, c0, acc3);
+
+        /* Read y[srcBLen - 7] */
+		c0 = *(py-1);
+#ifdef  ARM_MATH_BIG_ENDIAN
+
+        c0 = c0 << 16u;
+#else
+
+        c0 = c0 & 0x0000FFFF;
+#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */
+
+        /* Read x[10] */
+        x3 =  _SIMD32_OFFSET(px+2);
+		px += 3u;
+
+        /* Perform the multiply-accumulates */
+        acc0 = __SMLADX(x1, c0, acc0);
+        acc1 = __SMLAD(x2, c0, acc1);
+        acc2 = __SMLADX(x2, c0, acc2);
+        acc3 = __SMLADX(x3, c0, acc3);
+      }
+
+      /* Store the results in the accumulators in the destination buffer. */
+#ifndef ARM_MATH_BIG_ENDIAN
+
+      *__SIMD32(pOut)++ = __PKHBT((acc0 >> 15), (acc1 >> 15), 16);
+      *__SIMD32(pOut)++ = __PKHBT((acc2 >> 15), (acc3 >> 15), 16);
+
+#else
+
+      *__SIMD32(pOut)++ = __PKHBT((acc1 >> 15), (acc0 >> 15), 16);
+      *__SIMD32(pOut)++ = __PKHBT((acc3 >> 15), (acc2 >> 15), 16);
+
+#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
+
+      /* Increment the pointer pIn1 index, count by 4 */
+      count += 4u;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pSrc2;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.   
+     ** No loop unrolling is used. */
+    blkCnt = blockSize2 % 0x4u;
+
+    while(blkCnt > 0u)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = srcBLen >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        sum += ((q31_t) * px++ * *py--);
+        sum += ((q31_t) * px++ * *py--);
+        sum += ((q31_t) * px++ * *py--);
+        sum += ((q31_t) * px++ * *py--);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = srcBLen % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        sum += ((q31_t) * px++ * *py--);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = (q15_t) (sum >> 15);
+
+      /* Increment the pointer pIn1 index, count by 1 */
+      count++;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pSrc2;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+  else
+  {
+    /* If the srcBLen is not a multiple of 4,   
+     * the blockSize2 loop cannot be unrolled by 4 */
+    blkCnt = blockSize2;
+
+    while(blkCnt > 0u)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* srcBLen number of MACS should be performed */
+      k = srcBLen;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulate */
+        sum += ((q31_t) * px++ * *py--);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = (q15_t) (sum >> 15);
+
+      /* Increment the MAC count */
+      count++;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pSrc2;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+
+
+  /* --------------------------   
+   * Initializations of stage3   
+   * -------------------------*/
+
+  /* sum += x[srcALen-srcBLen+1] * y[srcBLen-1] + x[srcALen-srcBLen+2] * y[srcBLen-2] +...+ x[srcALen-1] * y[1]   
+   * sum += x[srcALen-srcBLen+2] * y[srcBLen-1] + x[srcALen-srcBLen+3] * y[srcBLen-2] +...+ x[srcALen-1] * y[2]   
+   * ....   
+   * sum +=  x[srcALen-2] * y[srcBLen-1] + x[srcALen-1] * y[srcBLen-2]   
+   * sum +=  x[srcALen-1] * y[srcBLen-1]   
+   */
+
+  /* In this stage the MAC operations are decreased by 1 for every iteration.   
+     The blockSize3 variable holds the number of MAC operations performed */
+
+  /* Working pointer of inputA */
+  pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);
+  px = pSrc1;
+
+  /* Working pointer of inputB */
+  pSrc2 = pIn2 + (srcBLen - 1u);
+  pIn2 = pSrc2 - 1u;
+  py = pIn2;
+
+  /* -------------------   
+   * Stage3 process   
+   * ------------------*/
+
+  /* For loop unrolling by 4, this stage is divided into two. */
+  /* First part of this stage computes the MAC operations greater than 4 */
+  /* Second part of this stage computes the MAC operations less than or equal to 4 */
+
+  /* The first part of the stage starts here */
+  j = blockSize3 >> 2u;
+
+  while((j > 0u) && (blockSize3 > 0u))
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0;
+
+    /* Apply loop unrolling and compute 4 MACs simultaneously. */
+    k = blockSize3 >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* x[srcALen - srcBLen + 1], x[srcALen - srcBLen + 2] are multiplied   
+       * with y[srcBLen - 1], y[srcBLen - 2] respectively */
+      sum = __SMLADX(*__SIMD32(px)++, *__SIMD32(py)--, sum);
+      /* x[srcALen - srcBLen + 3], x[srcALen - srcBLen + 4] are multiplied   
+       * with y[srcBLen - 3], y[srcBLen - 4] respectively */
+      sum = __SMLADX(*__SIMD32(px)++, *__SIMD32(py)--, sum);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* For the next MAC operations, the pointer py is used without SIMD   
+     * So, py is incremented by 1 */
+    py = py + 1u;
+
+    /* If the blockSize3 is not a multiple of 4, compute any remaining MACs here.   
+     ** No loop unrolling is used. */
+    k = blockSize3 % 0x4u;
+
+    while(k > 0u)
+    {
+      /* sum += x[srcALen - srcBLen + 5] * y[srcBLen - 5] */
+      sum = __SMLAD(*px++, *py--, sum);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut++ = (q15_t) (sum >> 15);
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    px = ++pSrc1;
+    py = pIn2;
+
+    /* Decrement the loop counter */
+    blockSize3--;
+
+    j--;
+  }
+
+  /* The second part of the stage starts here */
+  /* SIMD is not used for the next MAC operations,   
+   * so pointer py is updated to read only one sample at a time */
+  py = py + 1u;
+
+  while(blockSize3 > 0u)
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0;
+
+    /* Apply loop unrolling and compute 4 MACs simultaneously. */
+    k = blockSize3;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+      /* sum +=  x[srcALen-1] * y[srcBLen-1] */
+      sum = __SMLAD(*px++, *py--, sum);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut++ = (q15_t) (sum >> 15);
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    px = ++pSrc1;
+    py = pSrc2;
+
+    /* Decrement the loop counter */
+    blockSize3--;
+  }
+
+#else
+  q15_t *pIn1;                                   /* inputA pointer */
+  q15_t *pIn2;                                   /* inputB pointer */
+  q15_t *pOut = pDst;                            /* output pointer */
+  q31_t sum, acc0, acc1, acc2, acc3;             /* Accumulator */
+  q15_t *px;                                     /* Intermediate inputA pointer  */
+  q15_t *py;                                     /* Intermediate inputB pointer  */
+  q15_t *pSrc1, *pSrc2;                          /* Intermediate pointers */
+  q31_t x0, x1, x2, x3, c0;                      /* Temporary variables to hold state and coefficient values */
+  uint32_t blockSize1, blockSize2, blockSize3, j, k, count, blkCnt;     /* loop counter */
+  q15_t a, b;
+
+  /* The algorithm implementation is based on the lengths of the inputs. */
+  /* srcB is always made to slide across srcA. */
+  /* So srcBLen is always considered as shorter or equal to srcALen */
+  if(srcALen >= srcBLen)
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = pSrcA;
+
+    /* Initialization of inputB pointer */
+    pIn2 = pSrcB;
+  }
+  else
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = pSrcB;
+
+    /* Initialization of inputB pointer */
+    pIn2 = pSrcA;
+
+    /* srcBLen is always considered as shorter or equal to srcALen */
+    j = srcBLen;
+    srcBLen = srcALen;
+    srcALen = j;
+  }
+
+  /* conv(x,y) at n = x[n] * y[0] + x[n-1] * y[1] + x[n-2] * y[2] + ...+ x[n-N+1] * y[N -1] */
+  /* The function is internally   
+   * divided into three stages according to the number of multiplications that has to be   
+   * taken place between inputA samples and inputB samples. In the first stage of the   
+   * algorithm, the multiplications increase by one for every iteration.   
+   * In the second stage of the algorithm, srcBLen number of multiplications are done.   
+   * In the third stage of the algorithm, the multiplications decrease by one   
+   * for every iteration. */
+
+  /* The algorithm is implemented in three stages.   
+     The loop counters of each stage is initiated here. */
+  blockSize1 = srcBLen - 1u;
+  blockSize2 = srcALen - (srcBLen - 1u);
+  blockSize3 = blockSize1;
+
+  /* --------------------------   
+   * Initializations of stage1   
+   * -------------------------*/
+
+  /* sum = x[0] * y[0]   
+   * sum = x[0] * y[1] + x[1] * y[0]   
+   * ....   
+   * sum = x[0] * y[srcBlen - 1] + x[1] * y[srcBlen - 2] +...+ x[srcBLen - 1] * y[0]   
+   */
+
+  /* In this stage the MAC operations are increased by 1 for every iteration.   
+     The count variable holds the number of MAC operations performed */
+  count = 1u;
+
+  /* Working pointer of inputA */
+  px = pIn1;
+
+  /* Working pointer of inputB */
+  py = pIn2;
+
+
+  /* ------------------------   
+   * Stage1 process   
+   * ----------------------*/
+
+  /* For loop unrolling by 4, this stage is divided into two. */
+  /* First part of this stage computes the MAC operations less than 4 */
+  /* Second part of this stage computes the MAC operations greater than or equal to 4 */
+
+  /* The first part of the stage starts here */
+  while((count < 4u) && (blockSize1 > 0u))
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0;
+
+    /* Loop over number of MAC operations between   
+     * inputA samples and inputB samples */
+    k = count;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+      sum += ((q31_t) * px++ * *py--);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut++ = (q15_t) (sum >> 15);
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    py = pIn2 + count;
+    px = pIn1;
+
+    /* Increment the MAC count */
+    count++;
+
+    /* Decrement the loop counter */
+    blockSize1--;
+  }
+
+  /* The second part of the stage starts here */
+  /* The internal loop, over count, is unrolled by 4 */
+  /* To, read the last two inputB samples using SIMD:   
+   * y[srcBLen] and y[srcBLen-1] coefficients, py is decremented by 1 */
+  py = py - 1;
+
+  while(blockSize1 > 0u)
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0;
+
+    /* Apply loop unrolling and compute 4 MACs simultaneously. */
+    k = count >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+	py++;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+        sum += ((q31_t) * px++ * *py--);
+        sum += ((q31_t) * px++ * *py--);
+        sum += ((q31_t) * px++ * *py--);
+        sum += ((q31_t) * px++ * *py--);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* If the count is not a multiple of 4, compute any remaining MACs here.   
+     ** No loop unrolling is used. */
+    k = count % 0x4u;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+      sum += ((q31_t) * px++ * *py--);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut++ = (q15_t) (sum >> 15);
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    py = pIn2 + (count - 1u);
+    px = pIn1;
+
+    /* Increment the MAC count */
+    count++;
+
+    /* Decrement the loop counter */
+    blockSize1--;
+  }
+
+  /* --------------------------   
+   * Initializations of stage2   
+   * ------------------------*/
+
+  /* sum = x[0] * y[srcBLen-1] + x[1] * y[srcBLen-2] +...+ x[srcBLen-1] * y[0]   
+   * sum = x[1] * y[srcBLen-1] + x[2] * y[srcBLen-2] +...+ x[srcBLen] * y[0]   
+   * ....   
+   * sum = x[srcALen-srcBLen-2] * y[srcBLen-1] + x[srcALen] * y[srcBLen-2] +...+ x[srcALen-1] * y[0]   
+   */
+
+  /* Working pointer of inputA */
+  px = pIn1;
+
+  /* Working pointer of inputB */
+  pSrc2 = pIn2 + (srcBLen - 1u);
+  py = pSrc2;
+
+  /* count is the index by which the pointer pIn1 to be incremented */
+  count = 0u;
+
+
+  /* --------------------   
+   * Stage2 process   
+   * -------------------*/
+
+  /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.   
+   * So, to loop unroll over blockSize2,   
+   * srcBLen should be greater than or equal to 4 */
+  if(srcBLen >= 4u)
+  {
+    /* Loop unroll over blockSize2, by 4 */
+    blkCnt = blockSize2 >> 2u;
+
+    while(blkCnt > 0u)
+    {
+      py = py - 1u;
+
+      /* Set all accumulators to zero */
+      acc0 = 0;
+      acc1 = 0;
+      acc2 = 0;
+      acc3 = 0;	  
+
+      /* read x[0], x[1] samples */
+	  a = *px++;
+	  b = *px++;
+
+#ifndef ARM_MATH_BIG_ENDIAN
+	
+	  x0 = __PKHBT(a, b, 16);
+	  a = *px;
+	  x1 = __PKHBT(b, a, 16);
+
+#else
+
+	  x0 = __PKHBT(b, a, 16);
+	  a = *px;
+	  x1 = __PKHBT(a, b, 16);
+
+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	   */
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = srcBLen >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      do
+      {
+        /* Read the last two inputB samples using SIMD:   
+         * y[srcBLen - 1] and y[srcBLen - 2] */
+		a = *py;
+		b = *(py+1);
+		py -= 2;
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+		c0 = __PKHBT(a, b, 16);
+
+#else
+
+ 		c0 = __PKHBT(b, a, 16);;
+
+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/
+
+        /* acc0 +=  x[0] * y[srcBLen - 1] + x[1] * y[srcBLen - 2] */
+        acc0 = __SMLADX(x0, c0, acc0);
+
+        /* acc1 +=  x[1] * y[srcBLen - 1] + x[2] * y[srcBLen - 2] */
+        acc1 = __SMLADX(x1, c0, acc1);
+
+	  a = *px;
+	  b = *(px + 1);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+	
+	  x2 = __PKHBT(a, b, 16);
+	  a = *(px + 2);
+	  x3 = __PKHBT(b, a, 16);
+
+#else
+
+	  x2 = __PKHBT(b, a, 16);
+	  a = *(px + 2);
+	  x3 = __PKHBT(a, b, 16);
+
+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	   */
+
+        /* acc2 +=  x[2] * y[srcBLen - 1] + x[3] * y[srcBLen - 2] */
+        acc2 = __SMLADX(x2, c0, acc2);
+
+        /* acc3 +=  x[3] * y[srcBLen - 1] + x[4] * y[srcBLen - 2] */
+        acc3 = __SMLADX(x3, c0, acc3);
+
+        /* Read y[srcBLen - 3] and y[srcBLen - 4] */
+		a = *py;
+		b = *(py+1);
+		py -= 2;
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+		c0 = __PKHBT(a, b, 16);
+
+#else
+
+ 		c0 = __PKHBT(b, a, 16);;
+
+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/
+
+        /* acc0 +=  x[2] * y[srcBLen - 3] + x[3] * y[srcBLen - 4] */
+        acc0 = __SMLADX(x2, c0, acc0);
+
+        /* acc1 +=  x[3] * y[srcBLen - 3] + x[4] * y[srcBLen - 4] */
+        acc1 = __SMLADX(x3, c0, acc1);
+
+        /* Read x[4], x[5], x[6] */
+	  a = *(px + 2);
+	  b = *(px + 3);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+	
+	  x0 = __PKHBT(a, b, 16);
+	  a = *(px + 4);
+	  x1 = __PKHBT(b, a, 16);
+
+#else
+
+	  x0 = __PKHBT(b, a, 16);
+	  a = *(px + 4);
+	  x1 = __PKHBT(a, b, 16);
+
+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	   */
+
+		px += 4u;
+
+        /* acc2 +=  x[4] * y[srcBLen - 3] + x[5] * y[srcBLen - 4] */
+        acc2 = __SMLADX(x0, c0, acc2);
+
+        /* acc3 +=  x[5] * y[srcBLen - 3] + x[6] * y[srcBLen - 4] */
+        acc3 = __SMLADX(x1, c0, acc3);
+
+      } while(--k);
+
+      /* For the next MAC operations, SIMD is not used   
+       * So, the 16 bit pointer if inputB, py is updated */
+
+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = srcBLen % 0x4u;
+
+      if(k == 1u)
+      {
+        /* Read y[srcBLen - 5] */
+        c0 = *(py+1);
+
+#ifdef  ARM_MATH_BIG_ENDIAN
+
+        c0 = c0 << 16u;
+
+#else
+
+        c0 = c0 & 0x0000FFFF;
+
+#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */
+
+        /* Read x[7] */
+		a = *px;
+		b = *(px+1);
+		px++;
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+		x3 = __PKHBT(a, b, 16);
+
+#else
+
+ 		x3 = __PKHBT(b, a, 16);;
+
+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/
+
+
+        /* Perform the multiply-accumulates */
+        acc0 = __SMLAD(x0, c0, acc0);
+        acc1 = __SMLAD(x1, c0, acc1);
+        acc2 = __SMLADX(x1, c0, acc2);
+        acc3 = __SMLADX(x3, c0, acc3);
+      }
+
+      if(k == 2u)
+      {
+        /* Read y[srcBLen - 5], y[srcBLen - 6] */
+		a = *py;
+		b = *(py+1);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+		c0 = __PKHBT(a, b, 16);
+
+#else
+
+ 		c0 = __PKHBT(b, a, 16);;
+
+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/
+
+        /* Read x[7], x[8], x[9] */
+	  a = *px;
+	  b = *(px + 1);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+	
+	  x3 = __PKHBT(a, b, 16);
+	  a = *(px + 2);
+	  x2 = __PKHBT(b, a, 16);
+
+#else
+
+	  x3 = __PKHBT(b, a, 16);
+	  a = *(px + 2);
+	  x2 = __PKHBT(a, b, 16);
+
+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	   */
+		px += 2u;
+
+        /* Perform the multiply-accumulates */
+        acc0 = __SMLADX(x0, c0, acc0);
+        acc1 = __SMLADX(x1, c0, acc1);
+        acc2 = __SMLADX(x3, c0, acc2);
+        acc3 = __SMLADX(x2, c0, acc3);
+      }
+
+      if(k == 3u)
+      {
+        /* Read y[srcBLen - 5], y[srcBLen - 6] */
+		a = *py;
+		b = *(py+1);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+		c0 = __PKHBT(a, b, 16);
+
+#else
+
+ 		c0 = __PKHBT(b, a, 16);;
+
+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/
+
+        /* Read x[7], x[8], x[9] */
+	  a = *px;
+	  b = *(px + 1);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+	
+	  x3 = __PKHBT(a, b, 16);
+	  a = *(px + 2);
+	  x2 = __PKHBT(b, a, 16);
+
+#else
+
+	  x3 = __PKHBT(b, a, 16);
+	  a = *(px + 2);
+	  x2 = __PKHBT(a, b, 16);
+
+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	   */
+
+        /* Perform the multiply-accumulates */
+        acc0 = __SMLADX(x0, c0, acc0);
+        acc1 = __SMLADX(x1, c0, acc1);
+        acc2 = __SMLADX(x3, c0, acc2);
+        acc3 = __SMLADX(x2, c0, acc3);
+
+        /* Read y[srcBLen - 7] */
+		c0 = *(py-1);
+#ifdef  ARM_MATH_BIG_ENDIAN
+
+        c0 = c0 << 16u;
+#else
+
+        c0 = c0 & 0x0000FFFF;
+#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */
+
+        /* Read x[10] */
+		a = *(px+2);
+		b = *(px+3);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+		x3 = __PKHBT(a, b, 16);
+
+#else
+
+ 		x3 = __PKHBT(b, a, 16);;
+
+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/
+
+		px += 3u;
+
+        /* Perform the multiply-accumulates */
+        acc0 = __SMLADX(x1, c0, acc0);
+        acc1 = __SMLAD(x2, c0, acc1);
+        acc2 = __SMLADX(x2, c0, acc2);
+        acc3 = __SMLADX(x3, c0, acc3);
+      }
+
+      /* Store the results in the accumulators in the destination buffer. */
+	  *pOut++ = (q15_t)(acc0 >> 15);
+	  *pOut++ = (q15_t)(acc1 >> 15);
+	  *pOut++ = (q15_t)(acc2 >> 15);
+	  *pOut++ = (q15_t)(acc3 >> 15);
+
+      /* Increment the pointer pIn1 index, count by 4 */
+      count += 4u;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pSrc2;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.   
+     ** No loop unrolling is used. */
+    blkCnt = blockSize2 % 0x4u;
+
+    while(blkCnt > 0u)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = srcBLen >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        sum += ((q31_t) * px++ * *py--);
+        sum += ((q31_t) * px++ * *py--);
+        sum += ((q31_t) * px++ * *py--);
+        sum += ((q31_t) * px++ * *py--);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = srcBLen % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        sum += ((q31_t) * px++ * *py--);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = (q15_t) (sum >> 15);
+
+      /* Increment the pointer pIn1 index, count by 1 */
+      count++;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pSrc2;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+  else
+  {
+    /* If the srcBLen is not a multiple of 4,   
+     * the blockSize2 loop cannot be unrolled by 4 */
+    blkCnt = blockSize2;
+
+    while(blkCnt > 0u)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* srcBLen number of MACS should be performed */
+      k = srcBLen;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulate */
+        sum += ((q31_t) * px++ * *py--);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = (q15_t) (sum >> 15);
+
+      /* Increment the MAC count */
+      count++;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pSrc2;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+
+
+  /* --------------------------   
+   * Initializations of stage3   
+   * -------------------------*/
+
+  /* sum += x[srcALen-srcBLen+1] * y[srcBLen-1] + x[srcALen-srcBLen+2] * y[srcBLen-2] +...+ x[srcALen-1] * y[1]   
+   * sum += x[srcALen-srcBLen+2] * y[srcBLen-1] + x[srcALen-srcBLen+3] * y[srcBLen-2] +...+ x[srcALen-1] * y[2]   
+   * ....   
+   * sum +=  x[srcALen-2] * y[srcBLen-1] + x[srcALen-1] * y[srcBLen-2]   
+   * sum +=  x[srcALen-1] * y[srcBLen-1]   
+   */
+
+  /* In this stage the MAC operations are decreased by 1 for every iteration.   
+     The blockSize3 variable holds the number of MAC operations performed */
+
+  /* Working pointer of inputA */
+  pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);
+  px = pSrc1;
+
+  /* Working pointer of inputB */
+  pSrc2 = pIn2 + (srcBLen - 1u);
+  pIn2 = pSrc2 - 1u;
+  py = pIn2;
+
+  /* -------------------   
+   * Stage3 process   
+   * ------------------*/
+
+  /* For loop unrolling by 4, this stage is divided into two. */
+  /* First part of this stage computes the MAC operations greater than 4 */
+  /* Second part of this stage computes the MAC operations less than or equal to 4 */
+
+  /* The first part of the stage starts here */
+  j = blockSize3 >> 2u;
+
+  while((j > 0u) && (blockSize3 > 0u))
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0;
+
+    /* Apply loop unrolling and compute 4 MACs simultaneously. */
+    k = blockSize3 >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+	py++;
+
+    while(k > 0u)
+    {	
+        sum += ((q31_t) * px++ * *py--);
+        sum += ((q31_t) * px++ * *py--);
+        sum += ((q31_t) * px++ * *py--);
+        sum += ((q31_t) * px++ * *py--);
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* If the blockSize3 is not a multiple of 4, compute any remaining MACs here.   
+     ** No loop unrolling is used. */
+    k = blockSize3 % 0x4u;
+
+    while(k > 0u)
+    {
+      /* sum += x[srcALen - srcBLen + 5] * y[srcBLen - 5] */
+        sum += ((q31_t) * px++ * *py--);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut++ = (q15_t) (sum >> 15);
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    px = ++pSrc1;
+    py = pIn2;
+
+    /* Decrement the loop counter */
+    blockSize3--;
+
+    j--;
+  }
+
+  /* The second part of the stage starts here */
+  /* SIMD is not used for the next MAC operations,   
+   * so pointer py is updated to read only one sample at a time */
+  py = py + 1u;
+
+  while(blockSize3 > 0u)
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0;
+
+    /* Apply loop unrolling and compute 4 MACs simultaneously. */
+    k = blockSize3;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+      /* sum +=  x[srcALen-1] * y[srcBLen-1] */
+        sum += ((q31_t) * px++ * *py--);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut++ = (q15_t) (sum >> 15);
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    px = ++pSrc1;
+    py = pSrc2;
+
+    /* Decrement the loop counter */
+    blockSize3--;
+  }
+
+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
+}
+
+/**   
+ * @} end of Conv group   
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_q31.c
new file mode 100644
index 000000000..e675c11ce
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_q31.c
@@ -0,0 +1,572 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_conv_fast_q31.c    
+*    
+* Description:	Q31 Convolution (fast version).    
+*    
+* Target Processor: Cortex-M4/Cortex-M3
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*  
+* Version 1.0.11 2011/10/18  
+*    Bug Fix in conv, correlation, partial convolution.  
+* 
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup Conv    
+ * @{    
+ */
+
+/**    
+ * @param[in] *pSrcA points to the first input sequence.    
+ * @param[in] srcALen length of the first input sequence.    
+ * @param[in] *pSrcB points to the second input sequence.    
+ * @param[in] srcBLen length of the second input sequence.    
+ * @param[out] *pDst points to the location where the output result is written.  Length srcALen+srcBLen-1.    
+ * @return none.    
+ *    
+ * @details    
+ * Scaling and Overflow Behavior:    
+ *    
+ * \par    
+ * This function is optimized for speed at the expense of fixed-point precision and overflow protection.    
+ * The result of each 1.31 x 1.31 multiplication is truncated to 2.30 format.    
+ * These intermediate results are accumulated in a 32-bit register in 2.30 format.    
+ * Finally, the accumulator is saturated and converted to a 1.31 result.    
+ *    
+ * \par    
+ * The fast version has the same overflow behavior as the standard version but provides less precision since it discards the low 32 bits of each multiplication result.    
+ * In order to avoid overflows completely the input signals must be scaled down.    
+ * Scale down the inputs by log2(min(srcALen, srcBLen)) (log2 is read as log to the base 2) times to avoid overflows,    
+ * as maximum of min(srcALen, srcBLen) number of additions are carried internally.    
+ *    
+ * \par    
+ * See arm_conv_q31() for a slower implementation of this function which uses 64-bit accumulation to provide higher precision.    
+ */
+
+void arm_conv_fast_q31(
+  q31_t * pSrcA,
+  uint32_t srcALen,
+  q31_t * pSrcB,
+  uint32_t srcBLen,
+  q31_t * pDst)
+{
+  q31_t *pIn1;                                   /* inputA pointer */
+  q31_t *pIn2;                                   /* inputB pointer */
+  q31_t *pOut = pDst;                            /* output pointer */
+  q31_t *px;                                     /* Intermediate inputA pointer  */
+  q31_t *py;                                     /* Intermediate inputB pointer  */
+  q31_t *pSrc1, *pSrc2;                          /* Intermediate pointers */
+  q31_t sum, acc0, acc1, acc2, acc3;             /* Accumulator */
+  q31_t x0, x1, x2, x3, c0;                      /* Temporary variables to hold state and coefficient values */
+  uint32_t j, k, count, blkCnt, blockSize1, blockSize2, blockSize3;     /* loop counter */
+
+  /* The algorithm implementation is based on the lengths of the inputs. */
+  /* srcB is always made to slide across srcA. */
+  /* So srcBLen is always considered as shorter or equal to srcALen */
+  if(srcALen >= srcBLen)
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = pSrcA;
+
+    /* Initialization of inputB pointer */
+    pIn2 = pSrcB;
+  }
+  else
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = pSrcB;
+
+    /* Initialization of inputB pointer */
+    pIn2 = pSrcA;
+
+    /* srcBLen is always considered as shorter or equal to srcALen */
+    j = srcBLen;
+    srcBLen = srcALen;
+    srcALen = j;
+  }
+
+  /* conv(x,y) at n = x[n] * y[0] + x[n-1] * y[1] + x[n-2] * y[2] + ...+ x[n-N+1] * y[N -1] */
+  /* The function is internally    
+   * divided into three stages according to the number of multiplications that has to be    
+   * taken place between inputA samples and inputB samples. In the first stage of the    
+   * algorithm, the multiplications increase by one for every iteration.    
+   * In the second stage of the algorithm, srcBLen number of multiplications are done.    
+   * In the third stage of the algorithm, the multiplications decrease by one    
+   * for every iteration. */
+
+  /* The algorithm is implemented in three stages.    
+     The loop counters of each stage is initiated here. */
+  blockSize1 = srcBLen - 1u;
+  blockSize2 = srcALen - (srcBLen - 1u);
+  blockSize3 = blockSize1;
+
+  /* --------------------------    
+   * Initializations of stage1    
+   * -------------------------*/
+
+  /* sum = x[0] * y[0]    
+   * sum = x[0] * y[1] + x[1] * y[0]    
+   * ....    
+   * sum = x[0] * y[srcBlen - 1] + x[1] * y[srcBlen - 2] +...+ x[srcBLen - 1] * y[0]    
+   */
+
+  /* In this stage the MAC operations are increased by 1 for every iteration.    
+     The count variable holds the number of MAC operations performed */
+  count = 1u;
+
+  /* Working pointer of inputA */
+  px = pIn1;
+
+  /* Working pointer of inputB */
+  py = pIn2;
+
+
+  /* ------------------------    
+   * Stage1 process    
+   * ----------------------*/
+
+  /* The first stage starts here */
+  while(blockSize1 > 0u)
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0;
+
+    /* Apply loop unrolling and compute 4 MACs simultaneously. */
+    k = count >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* x[0] * y[srcBLen - 1] */
+      sum = (q31_t) ((((q63_t) sum << 32) +
+                      ((q63_t) * px++ * (*py--))) >> 32);
+
+      /* x[1] * y[srcBLen - 2] */
+      sum = (q31_t) ((((q63_t) sum << 32) +
+                      ((q63_t) * px++ * (*py--))) >> 32);
+
+      /* x[2] * y[srcBLen - 3] */
+      sum = (q31_t) ((((q63_t) sum << 32) +
+                      ((q63_t) * px++ * (*py--))) >> 32);
+
+      /* x[3] * y[srcBLen - 4] */
+      sum = (q31_t) ((((q63_t) sum << 32) +
+                      ((q63_t) * px++ * (*py--))) >> 32);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* If the count is not a multiple of 4, compute any remaining MACs here.    
+     ** No loop unrolling is used. */
+    k = count % 0x4u;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      sum = (q31_t) ((((q63_t) sum << 32) +
+                      ((q63_t) * px++ * (*py--))) >> 32);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut++ = sum << 1;
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    py = pIn2 + count;
+    px = pIn1;
+
+    /* Increment the MAC count */
+    count++;
+
+    /* Decrement the loop counter */
+    blockSize1--;
+  }
+
+  /* --------------------------    
+   * Initializations of stage2    
+   * ------------------------*/
+
+  /* sum = x[0] * y[srcBLen-1] + x[1] * y[srcBLen-2] +...+ x[srcBLen-1] * y[0]    
+   * sum = x[1] * y[srcBLen-1] + x[2] * y[srcBLen-2] +...+ x[srcBLen] * y[0]    
+   * ....    
+   * sum = x[srcALen-srcBLen-2] * y[srcBLen-1] + x[srcALen] * y[srcBLen-2] +...+ x[srcALen-1] * y[0]    
+   */
+
+  /* Working pointer of inputA */
+  px = pIn1;
+
+  /* Working pointer of inputB */
+  pSrc2 = pIn2 + (srcBLen - 1u);
+  py = pSrc2;
+
+  /* count is index by which the pointer pIn1 to be incremented */
+  count = 0u;
+
+  /* -------------------    
+   * Stage2 process    
+   * ------------------*/
+
+  /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.    
+   * So, to loop unroll over blockSize2,    
+   * srcBLen should be greater than or equal to 4 */
+  if(srcBLen >= 4u)
+  {
+    /* Loop unroll over blockSize2, by 4 */
+    blkCnt = blockSize2 >> 2u;
+
+    while(blkCnt > 0u)
+    {
+      /* Set all accumulators to zero */
+      acc0 = 0;
+      acc1 = 0;
+      acc2 = 0;
+      acc3 = 0;
+
+      /* read x[0], x[1], x[2] samples */
+      x0 = *(px++);
+      x1 = *(px++);
+      x2 = *(px++);
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = srcBLen >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      do
+      {
+        /* Read y[srcBLen - 1] sample */
+        c0 = *(py--);
+
+        /* Read x[3] sample */
+        x3 = *(px++);
+
+        /* Perform the multiply-accumulates */
+        /* acc0 +=  x[0] * y[srcBLen - 1] */
+        acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x0 * c0)) >> 32);
+
+        /* acc1 +=  x[1] * y[srcBLen - 1] */
+        acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x1 * c0)) >> 32);
+
+        /* acc2 +=  x[2] * y[srcBLen - 1] */
+        acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x2 * c0)) >> 32);
+
+        /* acc3 +=  x[3] * y[srcBLen - 1] */
+        acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x3 * c0)) >> 32);
+
+        /* Read y[srcBLen - 2] sample */
+        c0 = *(py--);
+
+        /* Read x[4] sample */
+        x0 = *(px++);
+
+        /* Perform the multiply-accumulate */
+        /* acc0 +=  x[1] * y[srcBLen - 2] */
+        acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x1 * c0)) >> 32);
+        /* acc1 +=  x[2] * y[srcBLen - 2] */
+        acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x2 * c0)) >> 32);
+        /* acc2 +=  x[3] * y[srcBLen - 2] */
+        acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x3 * c0)) >> 32);
+        /* acc3 +=  x[4] * y[srcBLen - 2] */
+        acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x0 * c0)) >> 32);
+
+        /* Read y[srcBLen - 3] sample */
+        c0 = *(py--);
+
+        /* Read x[5] sample */
+        x1 = *(px++);
+
+        /* Perform the multiply-accumulates */
+        /* acc0 +=  x[2] * y[srcBLen - 3] */
+        acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x2 * c0)) >> 32);
+        /* acc1 +=  x[3] * y[srcBLen - 3] */
+        acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x3 * c0)) >> 32);
+        /* acc2 +=  x[4] * y[srcBLen - 3] */
+        acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x0 * c0)) >> 32);
+        /* acc3 +=  x[5] * y[srcBLen - 3] */
+        acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x1 * c0)) >> 32);
+
+        /* Read y[srcBLen - 4] sample */
+        c0 = *(py--);
+
+        /* Read x[6] sample */
+        x2 = *(px++);
+
+        /* Perform the multiply-accumulates */
+        /* acc0 +=  x[3] * y[srcBLen - 4] */
+        acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x3 * c0)) >> 32);
+        /* acc1 +=  x[4] * y[srcBLen - 4] */
+        acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x0 * c0)) >> 32);
+        /* acc2 +=  x[5] * y[srcBLen - 4] */
+        acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x1 * c0)) >> 32);
+        /* acc3 +=  x[6] * y[srcBLen - 4] */
+        acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x2 * c0)) >> 32);
+
+
+      } while(--k);
+
+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.    
+       ** No loop unrolling is used. */
+      k = srcBLen % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Read y[srcBLen - 5] sample */
+        c0 = *(py--);
+
+        /* Read x[7] sample */
+        x3 = *(px++);
+
+        /* Perform the multiply-accumulates */
+        /* acc0 +=  x[4] * y[srcBLen - 5] */
+        acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x0 * c0)) >> 32);
+        /* acc1 +=  x[5] * y[srcBLen - 5] */
+        acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x1 * c0)) >> 32);
+        /* acc2 +=  x[6] * y[srcBLen - 5] */
+        acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x2 * c0)) >> 32);
+        /* acc3 +=  x[7] * y[srcBLen - 5] */
+        acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x3 * c0)) >> 32);
+
+        /* Reuse the present samples for the next MAC */
+        x0 = x1;
+        x1 = x2;
+        x2 = x3;
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the results in the accumulators in the destination buffer. */
+      *pOut++ = (q31_t) (acc0 << 1);
+      *pOut++ = (q31_t) (acc1 << 1);
+      *pOut++ = (q31_t) (acc2 << 1);
+      *pOut++ = (q31_t) (acc3 << 1);
+
+      /* Increment the pointer pIn1 index, count by 4 */
+      count += 4u;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pSrc2;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.    
+     ** No loop unrolling is used. */
+    blkCnt = blockSize2 % 0x4u;
+
+    while(blkCnt > 0u)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = srcBLen >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        sum = (q31_t) ((((q63_t) sum << 32) +
+                        ((q63_t) * px++ * (*py--))) >> 32);
+        sum = (q31_t) ((((q63_t) sum << 32) +
+                        ((q63_t) * px++ * (*py--))) >> 32);
+        sum = (q31_t) ((((q63_t) sum << 32) +
+                        ((q63_t) * px++ * (*py--))) >> 32);
+        sum = (q31_t) ((((q63_t) sum << 32) +
+                        ((q63_t) * px++ * (*py--))) >> 32);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.    
+       ** No loop unrolling is used. */
+      k = srcBLen % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulate */
+        sum = (q31_t) ((((q63_t) sum << 32) +
+                        ((q63_t) * px++ * (*py--))) >> 32);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = sum << 1;
+
+      /* Increment the MAC count */
+      count++;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pSrc2;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+  else
+  {
+    /* If the srcBLen is not a multiple of 4,    
+     * the blockSize2 loop cannot be unrolled by 4 */
+    blkCnt = blockSize2;
+
+    while(blkCnt > 0u)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* srcBLen number of MACS should be performed */
+      k = srcBLen;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulate */
+        sum = (q31_t) ((((q63_t) sum << 32) +
+                        ((q63_t) * px++ * (*py--))) >> 32);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = sum << 1;
+
+      /* Increment the MAC count */
+      count++;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pSrc2;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+
+
+  /* --------------------------    
+   * Initializations of stage3    
+   * -------------------------*/
+
+  /* sum += x[srcALen-srcBLen+1] * y[srcBLen-1] + x[srcALen-srcBLen+2] * y[srcBLen-2] +...+ x[srcALen-1] * y[1]    
+   * sum += x[srcALen-srcBLen+2] * y[srcBLen-1] + x[srcALen-srcBLen+3] * y[srcBLen-2] +...+ x[srcALen-1] * y[2]    
+   * ....    
+   * sum +=  x[srcALen-2] * y[srcBLen-1] + x[srcALen-1] * y[srcBLen-2]    
+   * sum +=  x[srcALen-1] * y[srcBLen-1]    
+   */
+
+  /* In this stage the MAC operations are decreased by 1 for every iteration.    
+     The blockSize3 variable holds the number of MAC operations performed */
+
+  /* Working pointer of inputA */
+  pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);
+  px = pSrc1;
+
+  /* Working pointer of inputB */
+  pSrc2 = pIn2 + (srcBLen - 1u);
+  py = pSrc2;
+
+  /* -------------------    
+   * Stage3 process    
+   * ------------------*/
+
+  while(blockSize3 > 0u)
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0;
+
+    /* Apply loop unrolling and compute 4 MACs simultaneously. */
+    k = blockSize3 >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* sum += x[srcALen - srcBLen + 1] * y[srcBLen - 1] */
+      sum = (q31_t) ((((q63_t) sum << 32) +
+                      ((q63_t) * px++ * (*py--))) >> 32);
+
+      /* sum += x[srcALen - srcBLen + 2] * y[srcBLen - 2] */
+      sum = (q31_t) ((((q63_t) sum << 32) +
+                      ((q63_t) * px++ * (*py--))) >> 32);
+
+      /* sum += x[srcALen - srcBLen + 3] * y[srcBLen - 3] */
+      sum = (q31_t) ((((q63_t) sum << 32) +
+                      ((q63_t) * px++ * (*py--))) >> 32);
+
+      /* sum += x[srcALen - srcBLen + 4] * y[srcBLen - 4] */
+      sum = (q31_t) ((((q63_t) sum << 32) +
+                      ((q63_t) * px++ * (*py--))) >> 32);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* If the blockSize3 is not a multiple of 4, compute any remaining MACs here.    
+     ** No loop unrolling is used. */
+    k = blockSize3 % 0x4u;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      sum = (q31_t) ((((q63_t) sum << 32) +
+                      ((q63_t) * px++ * (*py--))) >> 32);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut++ = sum << 1;
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    px = ++pSrc1;
+    py = pSrc2;
+
+    /* Decrement the loop counter */
+    blockSize3--;
+  }
+
+}
+
+/**    
+ * @} end of Conv group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_opt_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_opt_q15.c
new file mode 100644
index 000000000..70b4125d9
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_opt_q15.c
@@ -0,0 +1,544 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_conv_opt_q15.c    
+*    
+* Description:	Convolution of Q15 sequences.      
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.11 2011/10/18  
+*    Bug Fix in conv, correlation, partial convolution.  
+* 
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+*    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup Conv    
+ * @{    
+ */
+
+/**    
+ * @brief Convolution of Q15 sequences.    
+ * @param[in] *pSrcA points to the first input sequence.    
+ * @param[in] srcALen length of the first input sequence.    
+ * @param[in] *pSrcB points to the second input sequence.    
+ * @param[in] srcBLen length of the second input sequence.    
+ * @param[out] *pDst points to the location where the output result is written.  Length srcALen+srcBLen-1.    
+ * @param[in]  *pScratch1 points to scratch buffer of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2.    
+ * @param[in]  *pScratch2 points to scratch buffer of size min(srcALen, srcBLen).    
+ * @return none.    
+ *    
+ * \par Restrictions    
+ *  If the silicon does not support unaligned memory access enable the macro UNALIGNED_SUPPORT_DISABLE    
+ *	In this case input, output, scratch1 and scratch2 buffers should be aligned by 32-bit    
+ *    
+ *       
+ * @details    
+ * Scaling and Overflow Behavior:    
+ *    
+ * \par    
+ * The function is implemented using a 64-bit internal accumulator.    
+ * Both inputs are in 1.15 format and multiplications yield a 2.30 result.    
+ * The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format.    
+ * This approach provides 33 guard bits and there is no risk of overflow.    
+ * The 34.30 result is then truncated to 34.15 format by discarding the low 15 bits and then saturated to 1.15 format.    
+ *  
+ *   
+ * \par    
+ * Refer to arm_conv_fast_q15() for a faster but less precise version of this function for Cortex-M3 and Cortex-M4.     
+ * 
+ *  
+ */
+
+void arm_conv_opt_q15(
+  q15_t * pSrcA,
+  uint32_t srcALen,
+  q15_t * pSrcB,
+  uint32_t srcBLen,
+  q15_t * pDst,
+  q15_t * pScratch1,
+  q15_t * pScratch2)
+{
+  q63_t acc0, acc1, acc2, acc3;                  /* Accumulator */
+  q31_t x1, x2, x3;                              /* Temporary variables to hold state and coefficient values */
+  q31_t y1, y2;                                  /* State variables */
+  q15_t *pOut = pDst;                            /* output pointer */
+  q15_t *pScr1 = pScratch1;                      /* Temporary pointer for scratch1 */
+  q15_t *pScr2 = pScratch2;                      /* Temporary pointer for scratch1 */
+  q15_t *pIn1;                                   /* inputA pointer */
+  q15_t *pIn2;                                   /* inputB pointer */
+  q15_t *px;                                     /* Intermediate inputA pointer  */
+  q15_t *py;                                     /* Intermediate inputB pointer  */
+  uint32_t j, k, blkCnt;                         /* loop counter */
+  uint32_t tapCnt;                               /* loop count */
+#ifdef UNALIGNED_SUPPORT_DISABLE
+
+  q15_t a, b;
+
+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
+
+  /* The algorithm implementation is based on the lengths of the inputs. */
+  /* srcB is always made to slide across srcA. */
+  /* So srcBLen is always considered as shorter or equal to srcALen */
+  if(srcALen >= srcBLen)
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = pSrcA;
+
+    /* Initialization of inputB pointer */
+    pIn2 = pSrcB;
+
+  }
+  else
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = pSrcB;
+
+    /* Initialization of inputB pointer */
+    pIn2 = pSrcA;
+
+    /* srcBLen is always considered as shorter or equal to srcALen */
+    j = srcBLen;
+    srcBLen = srcALen;
+    srcALen = j;
+  }
+
+  /* pointer to take end of scratch2 buffer */
+  pScr2 = pScratch2 + srcBLen - 1;
+
+  /* points to smaller length sequence */
+  px = pIn2;
+
+  /* Apply loop unrolling and do 4 Copies simultaneously. */
+  k = srcBLen >> 2u;
+
+  /* First part of the processing with loop unrolling copies 4 data points at a time.       
+   ** a second loop below copies for the remaining 1 to 3 samples. */
+  /* Copy smaller length input sequence in reverse order into second scratch buffer */
+  while(k > 0u)
+  {
+    /* copy second buffer in reversal manner */
+    *pScr2-- = *px++;
+    *pScr2-- = *px++;
+    *pScr2-- = *px++;
+    *pScr2-- = *px++;
+
+    /* Decrement the loop counter */
+    k--;
+  }
+
+  /* If the count is not a multiple of 4, copy remaining samples here.       
+   ** No loop unrolling is used. */
+  k = srcBLen % 0x4u;
+
+  while(k > 0u)
+  {
+    /* copy second buffer in reversal manner for remaining samples */
+    *pScr2-- = *px++;
+
+    /* Decrement the loop counter */
+    k--;
+  }
+
+  /* Initialze temporary scratch pointer */
+  pScr1 = pScratch1;
+
+  /* Assuming scratch1 buffer is aligned by 32-bit */
+  /* Fill (srcBLen - 1u) zeros in scratch buffer */
+  arm_fill_q15(0, pScr1, (srcBLen - 1u));
+
+  /* Update temporary scratch pointer */
+  pScr1 += (srcBLen - 1u);
+
+  /* Copy bigger length sequence(srcALen) samples in scratch1 buffer */
+
+#ifndef UNALIGNED_SUPPORT_DISABLE
+
+  /* Copy (srcALen) samples in scratch buffer */
+  arm_copy_q15(pIn1, pScr1, srcALen);
+
+  /* Update pointers */
+  pScr1 += srcALen;
+
+#else
+
+  /* Apply loop unrolling and do 4 Copies simultaneously. */
+  k = srcALen >> 2u;
+
+  /* First part of the processing with loop unrolling copies 4 data points at a time.       
+   ** a second loop below copies for the remaining 1 to 3 samples. */
+  while(k > 0u)
+  {
+    /* copy second buffer in reversal manner */
+    *pScr1++ = *pIn1++;
+    *pScr1++ = *pIn1++;
+    *pScr1++ = *pIn1++;
+    *pScr1++ = *pIn1++;
+
+    /* Decrement the loop counter */
+    k--;
+  }
+
+  /* If the count is not a multiple of 4, copy remaining samples here.       
+   ** No loop unrolling is used. */
+  k = srcALen % 0x4u;
+
+  while(k > 0u)
+  {
+    /* copy second buffer in reversal manner for remaining samples */
+    *pScr1++ = *pIn1++;
+
+    /* Decrement the loop counter */
+    k--;
+  }
+
+#endif
+
+
+#ifndef UNALIGNED_SUPPORT_DISABLE
+
+  /* Fill (srcBLen - 1u) zeros at end of scratch buffer */
+  arm_fill_q15(0, pScr1, (srcBLen - 1u));
+
+  /* Update pointer */
+  pScr1 += (srcBLen - 1u);
+
+#else
+
+  /* Apply loop unrolling and do 4 Copies simultaneously. */
+  k = (srcBLen - 1u) >> 2u;
+
+  /* First part of the processing with loop unrolling copies 4 data points at a time.       
+   ** a second loop below copies for the remaining 1 to 3 samples. */
+  while(k > 0u)
+  {
+    /* copy second buffer in reversal manner */
+    *pScr1++ = 0;
+    *pScr1++ = 0;
+    *pScr1++ = 0;
+    *pScr1++ = 0;
+
+    /* Decrement the loop counter */
+    k--;
+  }
+
+  /* If the count is not a multiple of 4, copy remaining samples here.       
+   ** No loop unrolling is used. */
+  k = (srcBLen - 1u) % 0x4u;
+
+  while(k > 0u)
+  {
+    /* copy second buffer in reversal manner for remaining samples */
+    *pScr1++ = 0;
+
+    /* Decrement the loop counter */
+    k--;
+  }
+
+#endif
+
+  /* Temporary pointer for scratch2 */
+  py = pScratch2;
+
+
+  /* Initialization of pIn2 pointer */
+  pIn2 = py;
+
+  /* First part of the processing with loop unrolling process 4 data points at a time.       
+   ** a second loop below process for the remaining 1 to 3 samples. */
+
+  /* Actual convolution process starts here */
+  blkCnt = (srcALen + srcBLen - 1u) >> 2;
+
+  while(blkCnt > 0)
+  {
+    /* Initialze temporary scratch pointer as scratch1 */
+    pScr1 = pScratch1;
+
+    /* Clear Accumlators */
+    acc0 = 0;
+    acc1 = 0;
+    acc2 = 0;
+    acc3 = 0;
+
+    /* Read two samples from scratch1 buffer */
+    x1 = *__SIMD32(pScr1)++;
+
+    /* Read next two samples from scratch1 buffer */
+    x2 = *__SIMD32(pScr1)++;
+
+    tapCnt = (srcBLen) >> 2u;
+
+    while(tapCnt > 0u)
+    {
+
+#ifndef UNALIGNED_SUPPORT_DISABLE
+
+      /* Read four samples from smaller buffer */
+      y1 = _SIMD32_OFFSET(pIn2);
+      y2 = _SIMD32_OFFSET(pIn2 + 2u);
+
+      /* multiply and accumlate */
+      acc0 = __SMLALD(x1, y1, acc0);
+      acc2 = __SMLALD(x2, y1, acc2);
+
+      /* pack input data */
+#ifndef ARM_MATH_BIG_ENDIAN
+      x3 = __PKHBT(x2, x1, 0);
+#else
+      x3 = __PKHBT(x1, x2, 0);
+#endif
+
+      /* multiply and accumlate */
+      acc1 = __SMLALDX(x3, y1, acc1);
+
+      /* Read next two samples from scratch1 buffer */
+      x1 = _SIMD32_OFFSET(pScr1);
+
+      /* multiply and accumlate */
+      acc0 = __SMLALD(x2, y2, acc0);
+      acc2 = __SMLALD(x1, y2, acc2);
+
+      /* pack input data */
+#ifndef ARM_MATH_BIG_ENDIAN
+      x3 = __PKHBT(x1, x2, 0);
+#else
+      x3 = __PKHBT(x2, x1, 0);
+#endif
+
+      acc3 = __SMLALDX(x3, y1, acc3);
+      acc1 = __SMLALDX(x3, y2, acc1);
+
+      x2 = _SIMD32_OFFSET(pScr1 + 2u);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+      x3 = __PKHBT(x2, x1, 0);
+#else
+      x3 = __PKHBT(x1, x2, 0);
+#endif
+
+      acc3 = __SMLALDX(x3, y2, acc3);
+
+#else	 
+
+      /* Read four samples from smaller buffer */
+	  a = *pIn2;
+	  b = *(pIn2 + 1);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+      y1 = __PKHBT(a, b, 16);
+#else
+      y1 = __PKHBT(b, a, 16);
+#endif
+	  
+	  a = *(pIn2 + 2);
+	  b = *(pIn2 + 3);
+#ifndef ARM_MATH_BIG_ENDIAN
+      y2 = __PKHBT(a, b, 16);
+#else
+      y2 = __PKHBT(b, a, 16);
+#endif				
+
+      acc0 = __SMLALD(x1, y1, acc0);
+
+      acc2 = __SMLALD(x2, y1, acc2);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+      x3 = __PKHBT(x2, x1, 0);
+#else
+      x3 = __PKHBT(x1, x2, 0);
+#endif
+
+      acc1 = __SMLALDX(x3, y1, acc1);
+
+	  a = *pScr1;
+	  b = *(pScr1 + 1);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+      x1 = __PKHBT(a, b, 16);
+#else
+      x1 = __PKHBT(b, a, 16);
+#endif
+
+      acc0 = __SMLALD(x2, y2, acc0);
+
+      acc2 = __SMLALD(x1, y2, acc2);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+      x3 = __PKHBT(x1, x2, 0);
+#else
+      x3 = __PKHBT(x2, x1, 0);
+#endif
+
+      acc3 = __SMLALDX(x3, y1, acc3);
+
+      acc1 = __SMLALDX(x3, y2, acc1);
+
+	  a = *(pScr1 + 2);
+	  b = *(pScr1 + 3);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+      x2 = __PKHBT(a, b, 16);
+#else
+      x2 = __PKHBT(b, a, 16);
+#endif
+
+#ifndef ARM_MATH_BIG_ENDIAN
+      x3 = __PKHBT(x2, x1, 0);
+#else
+      x3 = __PKHBT(x1, x2, 0);
+#endif
+
+      acc3 = __SMLALDX(x3, y2, acc3);
+
+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
+
+      pIn2 += 4u;
+      pScr1 += 4u;
+
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Update scratch pointer for remaining samples of smaller length sequence */
+    pScr1 -= 4u;
+
+    /* apply same above for remaining samples of smaller length sequence */
+    tapCnt = (srcBLen) & 3u;
+
+    while(tapCnt > 0u)
+    {
+
+      /* accumlate the results */
+      acc0 += (*pScr1++ * *pIn2);
+      acc1 += (*pScr1++ * *pIn2);
+      acc2 += (*pScr1++ * *pIn2);
+      acc3 += (*pScr1++ * *pIn2++);
+
+      pScr1 -= 3u;
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    blkCnt--;
+
+
+    /* Store the results in the accumulators in the destination buffer. */
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+    *__SIMD32(pOut)++ =
+      __PKHBT(__SSAT((acc0 >> 15), 16), __SSAT((acc1 >> 15), 16), 16);
+
+    *__SIMD32(pOut)++ =
+      __PKHBT(__SSAT((acc2 >> 15), 16), __SSAT((acc3 >> 15), 16), 16);
+
+#else
+
+    *__SIMD32(pOut)++ =
+      __PKHBT(__SSAT((acc1 >> 15), 16), __SSAT((acc0 >> 15), 16), 16);
+
+    *__SIMD32(pOut)++ =
+      __PKHBT(__SSAT((acc3 >> 15), 16), __SSAT((acc2 >> 15), 16), 16);
+
+
+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN       */
+
+    /* Initialization of inputB pointer */
+    pIn2 = py;
+
+    pScratch1 += 4u;
+
+  }
+
+
+  blkCnt = (srcALen + srcBLen - 1u) & 0x3;
+
+  /* Calculate convolution for remaining samples of Bigger length sequence */
+  while(blkCnt > 0)
+  {
+    /* Initialze temporary scratch pointer as scratch1 */
+    pScr1 = pScratch1;
+
+    /* Clear Accumlators */
+    acc0 = 0;
+
+    tapCnt = (srcBLen) >> 1u;
+
+    while(tapCnt > 0u)
+    {
+
+      /* Read next two samples from scratch1 buffer */
+      acc0 += (*pScr1++ * *pIn2++);
+      acc0 += (*pScr1++ * *pIn2++);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    tapCnt = (srcBLen) & 1u;
+
+    /* apply same above for remaining samples of smaller length sequence */
+    while(tapCnt > 0u)
+    {
+
+      /* accumlate the results */
+      acc0 += (*pScr1++ * *pIn2++);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    blkCnt--;
+
+    /* The result is in 2.30 format.  Convert to 1.15 with saturation.       
+     ** Then store the output in the destination buffer. */
+    *pOut++ = (q15_t) (__SSAT((acc0 >> 15), 16));
+
+
+    /* Initialization of inputB pointer */
+    pIn2 = py;
+
+    pScratch1 += 1u;
+
+  }
+
+}
+
+
+/**    
+ * @} end of Conv group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_opt_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_opt_q7.c
new file mode 100644
index 000000000..7fe9f55cf
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_opt_q7.c
@@ -0,0 +1,434 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_conv_opt_q7.c    
+*    
+* Description:	Convolution of Q7 sequences.  
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*  
+* Version 1.0.11 2011/10/18  
+*    Bug Fix in conv, correlation, partial convolution.  
+* 
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+*    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup Conv    
+ * @{    
+ */
+
+/**    
+ * @brief Convolution of Q7 sequences.    
+ * @param[in] *pSrcA points to the first input sequence.    
+ * @param[in] srcALen length of the first input sequence.    
+ * @param[in] *pSrcB points to the second input sequence.    
+ * @param[in] srcBLen length of the second input sequence.    
+ * @param[out] *pDst points to the location where the output result is written.  Length srcALen+srcBLen-1.    
+ * @param[in]  *pScratch1 points to scratch buffer(of type q15_t) of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2.   
+ * @param[in]  *pScratch2 points to scratch buffer (of type q15_t) of size min(srcALen, srcBLen).   
+ * @return none.    
+ *    
+ * \par Restrictions    
+ *  If the silicon does not support unaligned memory access enable the macro UNALIGNED_SUPPORT_DISABLE    
+ *	In this case input, output, scratch1 and scratch2 buffers should be aligned by 32-bit     
+ *       
+ * @details    
+ * Scaling and Overflow Behavior:    
+ *    
+ * \par    
+ * The function is implemented using a 32-bit internal accumulator.    
+ * Both the inputs are represented in 1.7 format and multiplications yield a 2.14 result.    
+ * The 2.14 intermediate results are accumulated in a 32-bit accumulator in 18.14 format.    
+ * This approach provides 17 guard bits and there is no risk of overflow as long as max(srcALen, srcBLen)<131072.    
+ * The 18.14 result is then truncated to 18.7 format by discarding the low 7 bits and then saturated to 1.7 format.    
+ *
+ */
+
+void arm_conv_opt_q7(
+  q7_t * pSrcA,
+  uint32_t srcALen,
+  q7_t * pSrcB,
+  uint32_t srcBLen,
+  q7_t * pDst,
+  q15_t * pScratch1,
+  q15_t * pScratch2)
+{
+
+  q15_t *pScr2, *pScr1;                          /* Intermediate pointers for scratch pointers */
+  q15_t x4;                                      /* Temporary input variable */
+  q7_t *pIn1, *pIn2;                             /* inputA and inputB pointer */
+  uint32_t j, k, blkCnt, tapCnt;                 /* loop counter */
+  q7_t *px;                                      /* Temporary input1 pointer */
+  q15_t *py;                                     /* Temporary input2 pointer */
+  q31_t acc0, acc1, acc2, acc3;                  /* Accumulator */
+  q31_t x1, x2, x3, y1;                          /* Temporary input variables */
+  q7_t *pOut = pDst;                             /* output pointer */
+  q7_t out0, out1, out2, out3;                   /* temporary variables */
+
+  /* The algorithm implementation is based on the lengths of the inputs. */
+  /* srcB is always made to slide across srcA. */
+  /* So srcBLen is always considered as shorter or equal to srcALen */
+  if(srcALen >= srcBLen)
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = pSrcA;
+
+    /* Initialization of inputB pointer */
+    pIn2 = pSrcB;
+  }
+  else
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = pSrcB;
+
+    /* Initialization of inputB pointer */
+    pIn2 = pSrcA;
+
+    /* srcBLen is always considered as shorter or equal to srcALen */
+    j = srcBLen;
+    srcBLen = srcALen;
+    srcALen = j;
+  }
+
+  /* pointer to take end of scratch2 buffer */
+  pScr2 = pScratch2;
+
+  /* points to smaller length sequence */
+  px = pIn2 + srcBLen - 1;
+
+  /* Apply loop unrolling and do 4 Copies simultaneously. */
+  k = srcBLen >> 2u;
+
+  /* First part of the processing with loop unrolling copies 4 data points at a time.       
+   ** a second loop below copies for the remaining 1 to 3 samples. */
+  while(k > 0u)
+  {
+    /* copy second buffer in reversal manner */
+    x4 = (q15_t) * px--;
+    *pScr2++ = x4;
+    x4 = (q15_t) * px--;
+    *pScr2++ = x4;
+    x4 = (q15_t) * px--;
+    *pScr2++ = x4;
+    x4 = (q15_t) * px--;
+    *pScr2++ = x4;
+
+    /* Decrement the loop counter */
+    k--;
+  }
+
+  /* If the count is not a multiple of 4, copy remaining samples here.       
+   ** No loop unrolling is used. */
+  k = srcBLen % 0x4u;
+
+  while(k > 0u)
+  {
+    /* copy second buffer in reversal manner for remaining samples */
+    x4 = (q15_t) * px--;
+    *pScr2++ = x4;
+
+    /* Decrement the loop counter */
+    k--;
+  }
+
+  /* Initialze temporary scratch pointer */
+  pScr1 = pScratch1;
+
+  /* Fill (srcBLen - 1u) zeros in scratch buffer */
+  arm_fill_q15(0, pScr1, (srcBLen - 1u));
+
+  /* Update temporary scratch pointer */
+  pScr1 += (srcBLen - 1u);
+
+  /* Copy (srcALen) samples in scratch buffer */
+  /* Apply loop unrolling and do 4 Copies simultaneously. */
+  k = srcALen >> 2u;
+
+  /* First part of the processing with loop unrolling copies 4 data points at a time.       
+   ** a second loop below copies for the remaining 1 to 3 samples. */
+  while(k > 0u)
+  {
+    /* copy second buffer in reversal manner */
+    x4 = (q15_t) * pIn1++;
+    *pScr1++ = x4;
+    x4 = (q15_t) * pIn1++;
+    *pScr1++ = x4;
+    x4 = (q15_t) * pIn1++;
+    *pScr1++ = x4;
+    x4 = (q15_t) * pIn1++;
+    *pScr1++ = x4;
+
+    /* Decrement the loop counter */
+    k--;
+  }
+
+  /* If the count is not a multiple of 4, copy remaining samples here.       
+   ** No loop unrolling is used. */
+  k = srcALen % 0x4u;
+
+  while(k > 0u)
+  {
+    /* copy second buffer in reversal manner for remaining samples */
+    x4 = (q15_t) * pIn1++;
+    *pScr1++ = x4;
+
+    /* Decrement the loop counter */
+    k--;
+  }
+
+#ifndef UNALIGNED_SUPPORT_DISABLE
+
+  /* Fill (srcBLen - 1u) zeros at end of scratch buffer */
+  arm_fill_q15(0, pScr1, (srcBLen - 1u));
+
+  /* Update pointer */
+  pScr1 += (srcBLen - 1u);
+
+#else
+
+  /* Apply loop unrolling and do 4 Copies simultaneously. */
+  k = (srcBLen - 1u) >> 2u;
+
+  /* First part of the processing with loop unrolling copies 4 data points at a time.       
+   ** a second loop below copies for the remaining 1 to 3 samples. */
+  while(k > 0u)
+  {
+    /* copy second buffer in reversal manner */
+    *pScr1++ = 0;
+    *pScr1++ = 0;
+    *pScr1++ = 0;
+    *pScr1++ = 0;
+
+    /* Decrement the loop counter */
+    k--;
+  }
+
+  /* If the count is not a multiple of 4, copy remaining samples here.       
+   ** No loop unrolling is used. */
+  k = (srcBLen - 1u) % 0x4u;
+
+  while(k > 0u)
+  {
+    /* copy second buffer in reversal manner for remaining samples */
+    *pScr1++ = 0;
+
+    /* Decrement the loop counter */
+    k--;
+  }
+
+#endif
+
+  /* Temporary pointer for scratch2 */
+  py = pScratch2;
+
+  /* Initialization of pIn2 pointer */
+  pIn2 = (q7_t *) py;
+
+  pScr2 = py;
+
+  /* Actual convolution process starts here */
+  blkCnt = (srcALen + srcBLen - 1u) >> 2;
+
+  while(blkCnt > 0)
+  {
+    /* Initialze temporary scratch pointer as scratch1 */
+    pScr1 = pScratch1;
+
+    /* Clear Accumlators */
+    acc0 = 0;
+    acc1 = 0;
+    acc2 = 0;
+    acc3 = 0;
+
+    /* Read two samples from scratch1 buffer */
+    x1 = *__SIMD32(pScr1)++;
+
+    /* Read next two samples from scratch1 buffer */
+    x2 = *__SIMD32(pScr1)++;
+
+    tapCnt = (srcBLen) >> 2u;
+
+    while(tapCnt > 0u)
+    {
+
+      /* Read four samples from smaller buffer */
+      y1 = _SIMD32_OFFSET(pScr2);
+
+      /* multiply and accumlate */
+      acc0 = __SMLAD(x1, y1, acc0);
+      acc2 = __SMLAD(x2, y1, acc2);
+
+      /* pack input data */
+#ifndef ARM_MATH_BIG_ENDIAN
+      x3 = __PKHBT(x2, x1, 0);
+#else
+      x3 = __PKHBT(x1, x2, 0);
+#endif
+
+      /* multiply and accumlate */
+      acc1 = __SMLADX(x3, y1, acc1);
+
+      /* Read next two samples from scratch1 buffer */
+      x1 = *__SIMD32(pScr1)++;
+
+      /* pack input data */
+#ifndef ARM_MATH_BIG_ENDIAN
+      x3 = __PKHBT(x1, x2, 0);
+#else
+      x3 = __PKHBT(x2, x1, 0);
+#endif
+
+      acc3 = __SMLADX(x3, y1, acc3);
+
+      /* Read four samples from smaller buffer */
+      y1 = _SIMD32_OFFSET(pScr2 + 2u);
+
+      acc0 = __SMLAD(x2, y1, acc0);
+
+      acc2 = __SMLAD(x1, y1, acc2);
+
+      acc1 = __SMLADX(x3, y1, acc1);
+
+      x2 = *__SIMD32(pScr1)++;
+
+#ifndef ARM_MATH_BIG_ENDIAN
+      x3 = __PKHBT(x2, x1, 0);
+#else
+      x3 = __PKHBT(x1, x2, 0);
+#endif
+
+      acc3 = __SMLADX(x3, y1, acc3);
+
+      pScr2 += 4u;
+
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+
+
+    /* Update scratch pointer for remaining samples of smaller length sequence */
+    pScr1 -= 4u;
+
+
+    /* apply same above for remaining samples of smaller length sequence */
+    tapCnt = (srcBLen) & 3u;
+
+    while(tapCnt > 0u)
+    {
+
+      /* accumlate the results */
+      acc0 += (*pScr1++ * *pScr2);
+      acc1 += (*pScr1++ * *pScr2);
+      acc2 += (*pScr1++ * *pScr2);
+      acc3 += (*pScr1++ * *pScr2++);
+
+      pScr1 -= 3u;
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    blkCnt--;
+
+    /* Store the result in the accumulator in the destination buffer. */
+    out0 = (q7_t) (__SSAT(acc0 >> 7u, 8));
+    out1 = (q7_t) (__SSAT(acc1 >> 7u, 8));
+    out2 = (q7_t) (__SSAT(acc2 >> 7u, 8));
+    out3 = (q7_t) (__SSAT(acc3 >> 7u, 8));
+
+    *__SIMD32(pOut)++ = __PACKq7(out0, out1, out2, out3);
+
+    /* Initialization of inputB pointer */
+    pScr2 = py;
+
+    pScratch1 += 4u;
+
+  }
+
+
+  blkCnt = (srcALen + srcBLen - 1u) & 0x3;
+
+  /* Calculate convolution for remaining samples of Bigger length sequence */
+  while(blkCnt > 0)
+  {
+    /* Initialze temporary scratch pointer as scratch1 */
+    pScr1 = pScratch1;
+
+    /* Clear Accumlators */
+    acc0 = 0;
+
+    tapCnt = (srcBLen) >> 1u;
+
+    while(tapCnt > 0u)
+    {
+      acc0 += (*pScr1++ * *pScr2++);
+      acc0 += (*pScr1++ * *pScr2++);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    tapCnt = (srcBLen) & 1u;
+
+    /* apply same above for remaining samples of smaller length sequence */
+    while(tapCnt > 0u)
+    {
+
+      /* accumlate the results */
+      acc0 += (*pScr1++ * *pScr2++);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    blkCnt--;
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut++ = (q7_t) (__SSAT(acc0 >> 7u, 8));
+
+    /* Initialization of inputB pointer */
+    pScr2 = py;
+
+    pScratch1 += 1u;
+
+  }
+
+}
+
+
+/**    
+ * @} end of Conv group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_f32.c
new file mode 100644
index 000000000..58f572735
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_f32.c
@@ -0,0 +1,661 @@
+/* ----------------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_conv_partial_f32.c    
+*    
+* Description:	Partial convolution of floating-point sequences.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+* 
+* Version 1.0.11 2011/10/18  
+*    Bug Fix in conv, correlation, partial convolution.  
+* 
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+*    
+* -------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @defgroup PartialConv Partial Convolution    
+ *    
+ * Partial Convolution is equivalent to Convolution except that a subset of the output samples is generated.    
+ * Each function has two additional arguments.    
+ * firstIndex specifies the starting index of the subset of output samples.    
+ * numPoints is the number of output samples to compute.    
+ * The function computes the output in the range    
+ * [firstIndex, ..., firstIndex+numPoints-1].    
+ * The output array pDst contains numPoints values.    
+ *    
+ * The allowable range of output indices is [0 srcALen+srcBLen-2].    
+ * If the requested subset does not fall in this range then the functions return ARM_MATH_ARGUMENT_ERROR.    
+ * Otherwise the functions return ARM_MATH_SUCCESS.    
+ * \note Refer arm_conv_f32() for details on fixed point behavior.   
+ *
+ * 
+ * Fast Versions
+ *
+ * \par 
+ * Fast versions are supported for Q31 and Q15 of partial convolution.  Cycles for Fast versions are less compared to Q31 and Q15 of partial conv and the design requires
+ * the input signals should be scaled down to avoid intermediate overflows.   
+ *
+ *
+ * Opt Versions
+ *
+ * \par 
+ * Opt versions are supported for Q15 and Q7.  Design uses internal scratch buffer for getting good optimisation.
+ * These versions are optimised in cycles and consumes more memory(Scratch memory) compared to Q15 and Q7 versions of partial convolution
+ */
+
+/**    
+ * @addtogroup PartialConv    
+ * @{    
+ */
+
+/**    
+ * @brief Partial convolution of floating-point sequences.    
+ * @param[in]       *pSrcA points to the first input sequence.    
+ * @param[in]       srcALen length of the first input sequence.    
+ * @param[in]       *pSrcB points to the second input sequence.    
+ * @param[in]       srcBLen length of the second input sequence.    
+ * @param[out]      *pDst points to the location where the output result is written.    
+ * @param[in]       firstIndex is the first output sample to start with.    
+ * @param[in]       numPoints is the number of output points to be computed.    
+ * @return  Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].    
+ */
+
+arm_status arm_conv_partial_f32(
+  float32_t * pSrcA,
+  uint32_t srcALen,
+  float32_t * pSrcB,
+  uint32_t srcBLen,
+  float32_t * pDst,
+  uint32_t firstIndex,
+  uint32_t numPoints)
+{
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  float32_t *pIn1 = pSrcA;                       /* inputA pointer */
+  float32_t *pIn2 = pSrcB;                       /* inputB pointer */
+  float32_t *pOut = pDst;                        /* output pointer */
+  float32_t *px;                                 /* Intermediate inputA pointer */
+  float32_t *py;                                 /* Intermediate inputB pointer */
+  float32_t *pSrc1, *pSrc2;                      /* Intermediate pointers */
+  float32_t sum, acc0, acc1, acc2, acc3;         /* Accumulator */
+  float32_t x0, x1, x2, x3, c0;                  /* Temporary variables to hold state and coefficient values */
+  uint32_t j, k, count = 0u, blkCnt, check;
+  int32_t blockSize1, blockSize2, blockSize3;    /* loop counters */
+  arm_status status;                             /* status of Partial convolution */
+
+
+  /* Check for range of output samples to be calculated */
+  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))
+  {
+    /* Set status as ARM_MATH_ARGUMENT_ERROR */
+    status = ARM_MATH_ARGUMENT_ERROR;
+  }
+  else
+  {
+
+    /* The algorithm implementation is based on the lengths of the inputs. */
+    /* srcB is always made to slide across srcA. */
+    /* So srcBLen is always considered as shorter or equal to srcALen */
+    if(srcALen >= srcBLen)
+    {
+      /* Initialization of inputA pointer */
+      pIn1 = pSrcA;
+
+      /* Initialization of inputB pointer */
+      pIn2 = pSrcB;
+    }
+    else
+    {
+      /* Initialization of inputA pointer */
+      pIn1 = pSrcB;
+
+      /* Initialization of inputB pointer */
+      pIn2 = pSrcA;
+
+      /* srcBLen is always considered as shorter or equal to srcALen */
+      j = srcBLen;
+      srcBLen = srcALen;
+      srcALen = j;
+    }
+
+    /* Conditions to check which loopCounter holds    
+     * the first and last indices of the output samples to be calculated. */
+    check = firstIndex + numPoints;
+    blockSize3 = (int32_t) check - (int32_t) srcALen;
+    blockSize3 = (blockSize3 > 0) ? blockSize3 : 0;
+    blockSize1 = ((int32_t) srcBLen - 1) - (int32_t) firstIndex;
+    blockSize1 = (blockSize1 > 0) ? ((check > (srcBLen - 1u)) ? blockSize1 :
+                                     (int32_t) numPoints) : 0;
+    blockSize2 = ((int32_t) check - blockSize3) -
+      (blockSize1 + (int32_t) firstIndex);
+    blockSize2 = (blockSize2 > 0) ? blockSize2 : 0;
+
+    /* conv(x,y) at n = x[n] * y[0] + x[n-1] * y[1] + x[n-2] * y[2] + ...+ x[n-N+1] * y[N -1] */
+    /* The function is internally    
+     * divided into three stages according to the number of multiplications that has to be    
+     * taken place between inputA samples and inputB samples. In the first stage of the    
+     * algorithm, the multiplications increase by one for every iteration.    
+     * In the second stage of the algorithm, srcBLen number of multiplications are done.    
+     * In the third stage of the algorithm, the multiplications decrease by one    
+     * for every iteration. */
+
+    /* Set the output pointer to point to the firstIndex    
+     * of the output sample to be calculated. */
+    pOut = pDst + firstIndex;
+
+    /* --------------------------    
+     * Initializations of stage1    
+     * -------------------------*/
+
+    /* sum = x[0] * y[0]    
+     * sum = x[0] * y[1] + x[1] * y[0]    
+     * ....    
+     * sum = x[0] * y[srcBlen - 1] + x[1] * y[srcBlen - 2] +...+ x[srcBLen - 1] * y[0]    
+     */
+
+    /* In this stage the MAC operations are increased by 1 for every iteration.    
+       The count variable holds the number of MAC operations performed.    
+       Since the partial convolution starts from from firstIndex    
+       Number of Macs to be performed is firstIndex + 1 */
+    count = 1u + firstIndex;
+
+    /* Working pointer of inputA */
+    px = pIn1;
+
+    /* Working pointer of inputB */
+    pSrc1 = pIn2 + firstIndex;
+    py = pSrc1;
+
+    /* ------------------------    
+     * Stage1 process    
+     * ----------------------*/
+
+    /* The first stage starts here */
+    while(blockSize1 > 0)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0.0f;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = count >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      while(k > 0u)
+      {
+        /* x[0] * y[srcBLen - 1] */
+        sum += *px++ * *py--;
+
+        /* x[1] * y[srcBLen - 2] */
+        sum += *px++ * *py--;
+
+        /* x[2] * y[srcBLen - 3] */
+        sum += *px++ * *py--;
+
+        /* x[3] * y[srcBLen - 4] */
+        sum += *px++ * *py--;
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* If the count is not a multiple of 4, compute any remaining MACs here.    
+       ** No loop unrolling is used. */
+      k = count % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        sum += *px++ * *py--;
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = sum;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      py = ++pSrc1;
+      px = pIn1;
+
+      /* Increment the MAC count */
+      count++;
+
+      /* Decrement the loop counter */
+      blockSize1--;
+    }
+
+    /* --------------------------    
+     * Initializations of stage2    
+     * ------------------------*/
+
+    /* sum = x[0] * y[srcBLen-1] + x[1] * y[srcBLen-2] +...+ x[srcBLen-1] * y[0]    
+     * sum = x[1] * y[srcBLen-1] + x[2] * y[srcBLen-2] +...+ x[srcBLen] * y[0]    
+     * ....    
+     * sum = x[srcALen-srcBLen-2] * y[srcBLen-1] + x[srcALen] * y[srcBLen-2] +...+ x[srcALen-1] * y[0]    
+     */
+
+    /* Working pointer of inputA */
+    px = pIn1;
+
+    /* Working pointer of inputB */
+    pSrc2 = pIn2 + (srcBLen - 1u);
+    py = pSrc2;
+
+    /* count is index by which the pointer pIn1 to be incremented */
+    count = 0u;
+
+    /* -------------------    
+     * Stage2 process    
+     * ------------------*/
+
+    /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.    
+     * So, to loop unroll over blockSize2,    
+     * srcBLen should be greater than or equal to 4 */
+    if(srcBLen >= 4u)
+    {
+      /* Loop unroll over blockSize2, by 4 */
+      blkCnt = ((uint32_t) blockSize2 >> 2u);
+
+      while(blkCnt > 0u)
+      {
+        /* Set all accumulators to zero */
+        acc0 = 0.0f;
+        acc1 = 0.0f;
+        acc2 = 0.0f;
+        acc3 = 0.0f;
+
+        /* read x[0], x[1], x[2] samples */
+        x0 = *(px++);
+        x1 = *(px++);
+        x2 = *(px++);
+
+        /* Apply loop unrolling and compute 4 MACs simultaneously. */
+        k = srcBLen >> 2u;
+
+        /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
+         ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+        do
+        {
+          /* Read y[srcBLen - 1] sample */
+          c0 = *(py--);
+
+          /* Read x[3] sample */
+          x3 = *(px++);
+
+          /* Perform the multiply-accumulate */
+          /* acc0 +=  x[0] * y[srcBLen - 1] */
+          acc0 += x0 * c0;
+
+          /* acc1 +=  x[1] * y[srcBLen - 1] */
+          acc1 += x1 * c0;
+
+          /* acc2 +=  x[2] * y[srcBLen - 1] */
+          acc2 += x2 * c0;
+
+          /* acc3 +=  x[3] * y[srcBLen - 1] */
+          acc3 += x3 * c0;
+
+          /* Read y[srcBLen - 2] sample */
+          c0 = *(py--);
+
+          /* Read x[4] sample */
+          x0 = *(px++);
+
+          /* Perform the multiply-accumulate */
+          /* acc0 +=  x[1] * y[srcBLen - 2] */
+          acc0 += x1 * c0;
+          /* acc1 +=  x[2] * y[srcBLen - 2] */
+          acc1 += x2 * c0;
+          /* acc2 +=  x[3] * y[srcBLen - 2] */
+          acc2 += x3 * c0;
+          /* acc3 +=  x[4] * y[srcBLen - 2] */
+          acc3 += x0 * c0;
+
+          /* Read y[srcBLen - 3] sample */
+          c0 = *(py--);
+
+          /* Read x[5] sample */
+          x1 = *(px++);
+
+          /* Perform the multiply-accumulates */
+          /* acc0 +=  x[2] * y[srcBLen - 3] */
+          acc0 += x2 * c0;
+          /* acc1 +=  x[3] * y[srcBLen - 2] */
+          acc1 += x3 * c0;
+          /* acc2 +=  x[4] * y[srcBLen - 2] */
+          acc2 += x0 * c0;
+          /* acc3 +=  x[5] * y[srcBLen - 2] */
+          acc3 += x1 * c0;
+
+          /* Read y[srcBLen - 4] sample */
+          c0 = *(py--);
+
+          /* Read x[6] sample */
+          x2 = *(px++);
+
+          /* Perform the multiply-accumulates */
+          /* acc0 +=  x[3] * y[srcBLen - 4] */
+          acc0 += x3 * c0;
+          /* acc1 +=  x[4] * y[srcBLen - 4] */
+          acc1 += x0 * c0;
+          /* acc2 +=  x[5] * y[srcBLen - 4] */
+          acc2 += x1 * c0;
+          /* acc3 +=  x[6] * y[srcBLen - 4] */
+          acc3 += x2 * c0;
+
+
+        } while(--k);
+
+        /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.    
+         ** No loop unrolling is used. */
+        k = srcBLen % 0x4u;
+
+        while(k > 0u)
+        {
+          /* Read y[srcBLen - 5] sample */
+          c0 = *(py--);
+
+          /* Read x[7] sample */
+          x3 = *(px++);
+
+          /* Perform the multiply-accumulates */
+          /* acc0 +=  x[4] * y[srcBLen - 5] */
+          acc0 += x0 * c0;
+          /* acc1 +=  x[5] * y[srcBLen - 5] */
+          acc1 += x1 * c0;
+          /* acc2 +=  x[6] * y[srcBLen - 5] */
+          acc2 += x2 * c0;
+          /* acc3 +=  x[7] * y[srcBLen - 5] */
+          acc3 += x3 * c0;
+
+          /* Reuse the present samples for the next MAC */
+          x0 = x1;
+          x1 = x2;
+          x2 = x3;
+
+          /* Decrement the loop counter */
+          k--;
+        }
+
+        /* Store the result in the accumulator in the destination buffer. */
+        *pOut++ = acc0;
+        *pOut++ = acc1;
+        *pOut++ = acc2;
+        *pOut++ = acc3;
+
+        /* Increment the pointer pIn1 index, count by 1 */
+        count += 4u;
+
+        /* Update the inputA and inputB pointers for next MAC calculation */
+        px = pIn1 + count;
+        py = pSrc2;
+
+        /* Decrement the loop counter */
+        blkCnt--;
+      }
+
+      /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.    
+       ** No loop unrolling is used. */
+      blkCnt = (uint32_t) blockSize2 % 0x4u;
+
+      while(blkCnt > 0u)
+      {
+        /* Accumulator is made zero for every iteration */
+        sum = 0.0f;
+
+        /* Apply loop unrolling and compute 4 MACs simultaneously. */
+        k = srcBLen >> 2u;
+
+        /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
+         ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+        while(k > 0u)
+        {
+          /* Perform the multiply-accumulates */
+          sum += *px++ * *py--;
+          sum += *px++ * *py--;
+          sum += *px++ * *py--;
+          sum += *px++ * *py--;
+
+          /* Decrement the loop counter */
+          k--;
+        }
+
+        /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.    
+         ** No loop unrolling is used. */
+        k = srcBLen % 0x4u;
+
+        while(k > 0u)
+        {
+          /* Perform the multiply-accumulate */
+          sum += *px++ * *py--;
+
+          /* Decrement the loop counter */
+          k--;
+        }
+
+        /* Store the result in the accumulator in the destination buffer. */
+        *pOut++ = sum;
+
+        /* Increment the MAC count */
+        count++;
+
+        /* Update the inputA and inputB pointers for next MAC calculation */
+        px = pIn1 + count;
+        py = pSrc2;
+
+        /* Decrement the loop counter */
+        blkCnt--;
+      }
+    }
+    else
+    {
+      /* If the srcBLen is not a multiple of 4,    
+       * the blockSize2 loop cannot be unrolled by 4 */
+      blkCnt = (uint32_t) blockSize2;
+
+      while(blkCnt > 0u)
+      {
+        /* Accumulator is made zero for every iteration */
+        sum = 0.0f;
+
+        /* srcBLen number of MACS should be performed */
+        k = srcBLen;
+
+        while(k > 0u)
+        {
+          /* Perform the multiply-accumulate */
+          sum += *px++ * *py--;
+
+          /* Decrement the loop counter */
+          k--;
+        }
+
+        /* Store the result in the accumulator in the destination buffer. */
+        *pOut++ = sum;
+
+        /* Increment the MAC count */
+        count++;
+
+        /* Update the inputA and inputB pointers for next MAC calculation */
+        px = pIn1 + count;
+        py = pSrc2;
+
+        /* Decrement the loop counter */
+        blkCnt--;
+      }
+    }
+
+
+    /* --------------------------    
+     * Initializations of stage3    
+     * -------------------------*/
+
+    /* sum += x[srcALen-srcBLen+1] * y[srcBLen-1] + x[srcALen-srcBLen+2] * y[srcBLen-2] +...+ x[srcALen-1] * y[1]    
+     * sum += x[srcALen-srcBLen+2] * y[srcBLen-1] + x[srcALen-srcBLen+3] * y[srcBLen-2] +...+ x[srcALen-1] * y[2]    
+     * ....    
+     * sum +=  x[srcALen-2] * y[srcBLen-1] + x[srcALen-1] * y[srcBLen-2]    
+     * sum +=  x[srcALen-1] * y[srcBLen-1]    
+     */
+
+    /* In this stage the MAC operations are decreased by 1 for every iteration.    
+       The count variable holds the number of MAC operations performed */
+    count = srcBLen - 1u;
+
+    /* Working pointer of inputA */
+    pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);
+    px = pSrc1;
+
+    /* Working pointer of inputB */
+    pSrc2 = pIn2 + (srcBLen - 1u);
+    py = pSrc2;
+
+    while(blockSize3 > 0)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0.0f;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = count >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      while(k > 0u)
+      {
+        /* sum += x[srcALen - srcBLen + 1] * y[srcBLen - 1] */
+        sum += *px++ * *py--;
+
+        /* sum += x[srcALen - srcBLen + 2] * y[srcBLen - 2] */
+        sum += *px++ * *py--;
+
+        /* sum += x[srcALen - srcBLen + 3] * y[srcBLen - 3] */
+        sum += *px++ * *py--;
+
+        /* sum += x[srcALen - srcBLen + 4] * y[srcBLen - 4] */
+        sum += *px++ * *py--;
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* If the count is not a multiple of 4, compute any remaining MACs here.    
+       ** No loop unrolling is used. */
+      k = count % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        /* sum +=  x[srcALen-1] * y[srcBLen-1] */
+        sum += *px++ * *py--;
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = sum;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = ++pSrc1;
+      py = pSrc2;
+
+      /* Decrement the MAC count */
+      count--;
+
+      /* Decrement the loop counter */
+      blockSize3--;
+
+    }
+
+    /* set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  float32_t *pIn1 = pSrcA;                       /* inputA pointer */
+  float32_t *pIn2 = pSrcB;                       /* inputB pointer */
+  float32_t sum;                                 /* Accumulator */
+  uint32_t i, j;                                 /* loop counters */
+  arm_status status;                             /* status of Partial convolution */
+
+  /* Check for range of output samples to be calculated */
+  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))
+  {
+    /* Set status as ARM_ARGUMENT_ERROR */
+    status = ARM_MATH_ARGUMENT_ERROR;
+  }
+  else
+  {
+    /* Loop to calculate convolution for output length number of values */
+    for (i = firstIndex; i <= (firstIndex + numPoints - 1); i++)
+    {
+      /* Initialize sum with zero to carry on MAC operations */
+      sum = 0.0f;
+
+      /* Loop to perform MAC operations according to convolution equation */
+      for (j = 0u; j <= i; j++)
+      {
+        /* Check the array limitations for inputs */
+        if((((i - j) < srcBLen) && (j < srcALen)))
+        {
+          /* z[i] += x[i-j] * y[j] */
+          sum += pIn1[j] * pIn2[i - j];
+        }
+      }
+      /* Store the output in the destination buffer */
+      pDst[i] = sum;
+    }
+    /* set status as ARM_SUCCESS as there are no argument errors */
+    status = ARM_MATH_SUCCESS;
+  }
+  return (status);
+
+#endif /*   #ifndef ARM_MATH_CM0 */
+
+}
+
+/**    
+ * @} end of PartialConv group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_opt_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_opt_q15.c
new file mode 100644
index 000000000..25b3ba8c3
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_opt_q15.c
@@ -0,0 +1,763 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_conv_partial_fast_opt_q15.c    
+*    
+* Description:	Fast Q15 Partial convolution.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+* 
+* Version 1.0.11 2011/10/18  
+*    Bug Fix in conv, correlation, partial convolution.  
+* 
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup PartialConv    
+ * @{    
+ */
+
+/**    
+ * @brief Partial convolution of Q15 sequences (fast version) for Cortex-M3 and Cortex-M4.    
+ * @param[in]       *pSrcA points to the first input sequence.    
+ * @param[in]       srcALen length of the first input sequence.    
+ * @param[in]       *pSrcB points to the second input sequence.    
+ * @param[in]       srcBLen length of the second input sequence.    
+ * @param[out]      *pDst points to the location where the output result is written.    
+ * @param[in]       firstIndex is the first output sample to start with.    
+ * @param[in]       numPoints is the number of output points to be computed.    
+ * @param[in]       *pScratch1 points to scratch buffer of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2.   
+ * @param[in]       *pScratch2 points to scratch buffer of size min(srcALen, srcBLen).   
+ * @return Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].    
+ *    
+ * See arm_conv_partial_q15() for a slower implementation of this function which uses a 64-bit accumulator to avoid wrap around distortion.    
+ *    
+ * \par Restrictions    
+ *  If the silicon does not support unaligned memory access enable the macro UNALIGNED_SUPPORT_DISABLE    
+ *	In this case input, output, scratch1 and scratch2 buffers should be aligned by 32-bit    
+ *     
+ */
+
+#ifndef UNALIGNED_SUPPORT_DISABLE
+
+arm_status arm_conv_partial_fast_opt_q15(
+  q15_t * pSrcA,
+  uint32_t srcALen,
+  q15_t * pSrcB,
+  uint32_t srcBLen,
+  q15_t * pDst,
+  uint32_t firstIndex,
+  uint32_t numPoints,
+  q15_t * pScratch1,
+  q15_t * pScratch2)
+{
+
+  q15_t *pOut = pDst;                            /* output pointer */
+  q15_t *pScr1 = pScratch1;                      /* Temporary pointer for scratch1 */
+  q15_t *pScr2 = pScratch2;                      /* Temporary pointer for scratch1 */
+  q31_t acc0, acc1, acc2, acc3;                  /* Accumulator */
+  q31_t x1, x2, x3;                              /* Temporary variables to hold state and coefficient values */
+  q31_t y1, y2;                                  /* State variables */
+  q15_t *pIn1;                                   /* inputA pointer */
+  q15_t *pIn2;                                   /* inputB pointer */
+  q15_t *px;                                     /* Intermediate inputA pointer  */
+  q15_t *py;                                     /* Intermediate inputB pointer  */
+  uint32_t j, k, blkCnt;                         /* loop counter */
+  arm_status status;
+
+  uint32_t tapCnt;                               /* loop count */
+
+  /* Check for range of output samples to be calculated */
+  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))
+  {
+    /* Set status as ARM_MATH_ARGUMENT_ERROR */
+    status = ARM_MATH_ARGUMENT_ERROR;
+  }
+  else
+  {
+
+    /* The algorithm implementation is based on the lengths of the inputs. */
+    /* srcB is always made to slide across srcA. */
+    /* So srcBLen is always considered as shorter or equal to srcALen */
+    if(srcALen >= srcBLen)
+    {
+      /* Initialization of inputA pointer */
+      pIn1 = pSrcA;
+
+      /* Initialization of inputB pointer */
+      pIn2 = pSrcB;
+    }
+    else
+    {
+      /* Initialization of inputA pointer */
+      pIn1 = pSrcB;
+
+      /* Initialization of inputB pointer */
+      pIn2 = pSrcA;
+
+      /* srcBLen is always considered as shorter or equal to srcALen */
+      j = srcBLen;
+      srcBLen = srcALen;
+      srcALen = j;
+    }
+
+    /* Temporary pointer for scratch2 */
+    py = pScratch2;
+
+    /* pointer to take end of scratch2 buffer */
+    pScr2 = pScratch2 + srcBLen - 1;
+
+    /* points to smaller length sequence */
+    px = pIn2;
+
+    /* Apply loop unrolling and do 4 Copies simultaneously. */
+    k = srcBLen >> 2u;
+
+    /* First part of the processing with loop unrolling copies 4 data points at a time.       
+     ** a second loop below copies for the remaining 1 to 3 samples. */
+
+    /* Copy smaller length input sequence in reverse order into second scratch buffer */
+    while(k > 0u)
+    {
+      /* copy second buffer in reversal manner */
+      *pScr2-- = *px++;
+      *pScr2-- = *px++;
+      *pScr2-- = *px++;
+      *pScr2-- = *px++;
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* If the count is not a multiple of 4, copy remaining samples here.       
+     ** No loop unrolling is used. */
+    k = srcBLen % 0x4u;
+
+    while(k > 0u)
+    {
+      /* copy second buffer in reversal manner for remaining samples */
+      *pScr2-- = *px++;
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Initialze temporary scratch pointer */
+    pScr1 = pScratch1;
+
+    /* Assuming scratch1 buffer is aligned by 32-bit */
+    /* Fill (srcBLen - 1u) zeros in scratch buffer */
+    arm_fill_q15(0, pScr1, (srcBLen - 1u));
+
+    /* Update temporary scratch pointer */
+    pScr1 += (srcBLen - 1u);
+
+    /* Copy bigger length sequence(srcALen) samples in scratch1 buffer */
+
+    /* Copy (srcALen) samples in scratch buffer */
+    arm_copy_q15(pIn1, pScr1, srcALen);
+
+    /* Update pointers */
+    pScr1 += srcALen;
+
+    /* Fill (srcBLen - 1u) zeros at end of scratch buffer */
+    arm_fill_q15(0, pScr1, (srcBLen - 1u));
+
+    /* Update pointer */
+    pScr1 += (srcBLen - 1u);
+
+    /* Initialization of pIn2 pointer */
+    pIn2 = py;
+
+    pScratch1 += firstIndex;
+
+    pOut = pDst + firstIndex;
+
+    /* First part of the processing with loop unrolling process 4 data points at a time.       
+     ** a second loop below process for the remaining 1 to 3 samples. */
+
+    /* Actual convolution process starts here */
+    blkCnt = (numPoints) >> 2;
+
+    while(blkCnt > 0)
+    {
+      /* Initialze temporary scratch pointer as scratch1 */
+      pScr1 = pScratch1;
+
+      /* Clear Accumlators */
+      acc0 = 0;
+      acc1 = 0;
+      acc2 = 0;
+      acc3 = 0;
+
+      /* Read two samples from scratch1 buffer */
+      x1 = *__SIMD32(pScr1)++;
+
+      /* Read next two samples from scratch1 buffer */
+      x2 = *__SIMD32(pScr1)++;
+
+      tapCnt = (srcBLen) >> 2u;
+
+      while(tapCnt > 0u)
+      {
+
+        /* Read four samples from smaller buffer */
+        y1 = _SIMD32_OFFSET(pIn2);
+        y2 = _SIMD32_OFFSET(pIn2 + 2u);
+
+        /* multiply and accumlate */
+        acc0 = __SMLAD(x1, y1, acc0);
+        acc2 = __SMLAD(x2, y1, acc2);
+
+        /* pack input data */
+#ifndef ARM_MATH_BIG_ENDIAN
+        x3 = __PKHBT(x2, x1, 0);
+#else
+        x3 = __PKHBT(x1, x2, 0);
+#endif
+
+        /* multiply and accumlate */
+        acc1 = __SMLADX(x3, y1, acc1);
+
+        /* Read next two samples from scratch1 buffer */
+        x1 = _SIMD32_OFFSET(pScr1);
+
+        /* multiply and accumlate */
+        acc0 = __SMLAD(x2, y2, acc0);
+
+        acc2 = __SMLAD(x1, y2, acc2);
+
+        /* pack input data */
+#ifndef ARM_MATH_BIG_ENDIAN
+        x3 = __PKHBT(x1, x2, 0);
+#else
+        x3 = __PKHBT(x2, x1, 0);
+#endif
+
+        acc3 = __SMLADX(x3, y1, acc3);
+        acc1 = __SMLADX(x3, y2, acc1);
+
+        x2 = _SIMD32_OFFSET(pScr1 + 2u);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+        x3 = __PKHBT(x2, x1, 0);
+#else
+        x3 = __PKHBT(x1, x2, 0);
+#endif
+
+        acc3 = __SMLADX(x3, y2, acc3);
+
+        /* update scratch pointers */
+        pIn2 += 4u;
+        pScr1 += 4u;
+
+
+        /* Decrement the loop counter */
+        tapCnt--;
+      }
+
+      /* Update scratch pointer for remaining samples of smaller length sequence */
+      pScr1 -= 4u;
+
+      /* apply same above for remaining samples of smaller length sequence */
+      tapCnt = (srcBLen) & 3u;
+
+      while(tapCnt > 0u)
+      {
+
+        /* accumlate the results */
+        acc0 += (*pScr1++ * *pIn2);
+        acc1 += (*pScr1++ * *pIn2);
+        acc2 += (*pScr1++ * *pIn2);
+        acc3 += (*pScr1++ * *pIn2++);
+
+        pScr1 -= 3u;
+
+        /* Decrement the loop counter */
+        tapCnt--;
+      }
+
+      blkCnt--;
+
+
+      /* Store the results in the accumulators in the destination buffer. */
+
+#ifndef  ARM_MATH_BIG_ENDIAN
+
+      *__SIMD32(pOut)++ =
+        __PKHBT(__SSAT((acc0 >> 15), 16), __SSAT((acc1 >> 15), 16), 16);
+      *__SIMD32(pOut)++ =
+        __PKHBT(__SSAT((acc2 >> 15), 16), __SSAT((acc3 >> 15), 16), 16);
+
+#else
+
+      *__SIMD32(pOut)++ =
+        __PKHBT(__SSAT((acc1 >> 15), 16), __SSAT((acc0 >> 15), 16), 16);
+      *__SIMD32(pOut)++ =
+        __PKHBT(__SSAT((acc3 >> 15), 16), __SSAT((acc2 >> 15), 16), 16);
+
+#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
+
+      /* Initialization of inputB pointer */
+      pIn2 = py;
+
+      pScratch1 += 4u;
+
+    }
+
+
+    blkCnt = numPoints & 0x3;
+
+    /* Calculate convolution for remaining samples of Bigger length sequence */
+    while(blkCnt > 0)
+    {
+      /* Initialze temporary scratch pointer as scratch1 */
+      pScr1 = pScratch1;
+
+      /* Clear Accumlators */
+      acc0 = 0;
+
+      tapCnt = (srcBLen) >> 1u;
+
+      while(tapCnt > 0u)
+      {
+
+        /* Read next two samples from scratch1 buffer */
+        x1 = *__SIMD32(pScr1)++;
+
+        /* Read two samples from smaller buffer */
+        y1 = *__SIMD32(pIn2)++;
+
+        acc0 = __SMLAD(x1, y1, acc0);
+
+        /* Decrement the loop counter */
+        tapCnt--;
+      }
+
+      tapCnt = (srcBLen) & 1u;
+
+      /* apply same above for remaining samples of smaller length sequence */
+      while(tapCnt > 0u)
+      {
+
+        /* accumlate the results */
+        acc0 += (*pScr1++ * *pIn2++);
+
+        /* Decrement the loop counter */
+        tapCnt--;
+      }
+
+      blkCnt--;
+
+      /* The result is in 2.30 format.  Convert to 1.15 with saturation.       
+       ** Then store the output in the destination buffer. */
+      *pOut++ = (q15_t) (__SSAT((acc0 >> 15), 16));
+
+      /* Initialization of inputB pointer */
+      pIn2 = py;
+
+      pScratch1 += 1u;
+
+    }
+    /* set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+  /* Return to application */
+  return (status);
+}
+
+#else
+
+arm_status arm_conv_partial_fast_opt_q15(
+  q15_t * pSrcA,
+  uint32_t srcALen,
+  q15_t * pSrcB,
+  uint32_t srcBLen,
+  q15_t * pDst,
+  uint32_t firstIndex,
+  uint32_t numPoints,
+  q15_t * pScratch1,
+  q15_t * pScratch2)
+{
+
+  q15_t *pOut = pDst;                            /* output pointer */
+  q15_t *pScr1 = pScratch1;                      /* Temporary pointer for scratch1 */
+  q15_t *pScr2 = pScratch2;                      /* Temporary pointer for scratch1 */
+  q31_t acc0, acc1, acc2, acc3;                  /* Accumulator */
+  q15_t *pIn1;                                   /* inputA pointer */
+  q15_t *pIn2;                                   /* inputB pointer */
+  q15_t *px;                                     /* Intermediate inputA pointer  */
+  q15_t *py;                                     /* Intermediate inputB pointer  */
+  uint32_t j, k, blkCnt;                         /* loop counter */
+  arm_status status;                             /* Status variable */
+  uint32_t tapCnt;                               /* loop count */
+  q15_t x10, x11, x20, x21;                      /* Temporary variables to hold srcA buffer */
+  q15_t y10, y11;                                /* Temporary variables to hold srcB buffer */
+
+
+  /* Check for range of output samples to be calculated */
+  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))
+  {
+    /* Set status as ARM_MATH_ARGUMENT_ERROR */
+    status = ARM_MATH_ARGUMENT_ERROR;
+  }
+  else
+  {
+
+    /* The algorithm implementation is based on the lengths of the inputs. */
+    /* srcB is always made to slide across srcA. */
+    /* So srcBLen is always considered as shorter or equal to srcALen */
+    if(srcALen >= srcBLen)
+    {
+      /* Initialization of inputA pointer */
+      pIn1 = pSrcA;
+
+      /* Initialization of inputB pointer */
+      pIn2 = pSrcB;
+    }
+    else
+    {
+      /* Initialization of inputA pointer */
+      pIn1 = pSrcB;
+
+      /* Initialization of inputB pointer */
+      pIn2 = pSrcA;
+
+      /* srcBLen is always considered as shorter or equal to srcALen */
+      j = srcBLen;
+      srcBLen = srcALen;
+      srcALen = j;
+    }
+
+    /* Temporary pointer for scratch2 */
+    py = pScratch2;
+
+    /* pointer to take end of scratch2 buffer */
+    pScr2 = pScratch2 + srcBLen - 1;
+
+    /* points to smaller length sequence */
+    px = pIn2;
+
+    /* Apply loop unrolling and do 4 Copies simultaneously. */
+    k = srcBLen >> 2u;
+
+    /* First part of the processing with loop unrolling copies 4 data points at a time.       
+     ** a second loop below copies for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* copy second buffer in reversal manner */
+      *pScr2-- = *px++;
+      *pScr2-- = *px++;
+      *pScr2-- = *px++;
+      *pScr2-- = *px++;
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* If the count is not a multiple of 4, copy remaining samples here.       
+     ** No loop unrolling is used. */
+    k = srcBLen % 0x4u;
+
+    while(k > 0u)
+    {
+      /* copy second buffer in reversal manner for remaining samples */
+      *pScr2-- = *px++;
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Initialze temporary scratch pointer */
+    pScr1 = pScratch1;
+
+    /* Fill (srcBLen - 1u) zeros in scratch buffer */
+    arm_fill_q15(0, pScr1, (srcBLen - 1u));
+
+    /* Update temporary scratch pointer */
+    pScr1 += (srcBLen - 1u);
+
+    /* Copy bigger length sequence(srcALen) samples in scratch1 buffer */
+
+
+    /* Apply loop unrolling and do 4 Copies simultaneously. */
+    k = srcALen >> 2u;
+
+    /* First part of the processing with loop unrolling copies 4 data points at a time.       
+     ** a second loop below copies for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* copy second buffer in reversal manner */
+      *pScr1++ = *pIn1++;
+      *pScr1++ = *pIn1++;
+      *pScr1++ = *pIn1++;
+      *pScr1++ = *pIn1++;
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* If the count is not a multiple of 4, copy remaining samples here.       
+     ** No loop unrolling is used. */
+    k = srcALen % 0x4u;
+
+    while(k > 0u)
+    {
+      /* copy second buffer in reversal manner for remaining samples */
+      *pScr1++ = *pIn1++;
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+
+    /* Apply loop unrolling and do 4 Copies simultaneously. */
+    k = (srcBLen - 1u) >> 2u;
+
+    /* First part of the processing with loop unrolling copies 4 data points at a time.       
+     ** a second loop below copies for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* copy second buffer in reversal manner */
+      *pScr1++ = 0;
+      *pScr1++ = 0;
+      *pScr1++ = 0;
+      *pScr1++ = 0;
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* If the count is not a multiple of 4, copy remaining samples here.       
+     ** No loop unrolling is used. */
+    k = (srcBLen - 1u) % 0x4u;
+
+    while(k > 0u)
+    {
+      /* copy second buffer in reversal manner for remaining samples */
+      *pScr1++ = 0;
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+
+    /* Initialization of pIn2 pointer */
+    pIn2 = py;
+
+    pScratch1 += firstIndex;
+
+    pOut = pDst + firstIndex;
+
+    /* Actual convolution process starts here */
+    blkCnt = (numPoints) >> 2;
+
+    while(blkCnt > 0)
+    {
+      /* Initialze temporary scratch pointer as scratch1 */
+      pScr1 = pScratch1;
+
+      /* Clear Accumlators */
+      acc0 = 0;
+      acc1 = 0;
+      acc2 = 0;
+      acc3 = 0;
+
+      /* Read two samples from scratch1 buffer */
+      x10 = *pScr1++;
+      x11 = *pScr1++;
+
+      /* Read next two samples from scratch1 buffer */
+      x20 = *pScr1++;
+      x21 = *pScr1++;
+
+      tapCnt = (srcBLen) >> 2u;
+
+      while(tapCnt > 0u)
+      {
+
+        /* Read two samples from smaller buffer */
+        y10 = *pIn2;
+        y11 = *(pIn2 + 1u);
+
+        /* multiply and accumlate */
+        acc0 += (q31_t) x10 *y10;
+        acc0 += (q31_t) x11 *y11;
+        acc2 += (q31_t) x20 *y10;
+        acc2 += (q31_t) x21 *y11;
+
+        /* multiply and accumlate */
+        acc1 += (q31_t) x11 *y10;
+        acc1 += (q31_t) x20 *y11;
+
+        /* Read next two samples from scratch1 buffer */
+        x10 = *pScr1;
+        x11 = *(pScr1 + 1u);
+
+        /* multiply and accumlate */
+        acc3 += (q31_t) x21 *y10;
+        acc3 += (q31_t) x10 *y11;
+
+        /* Read next two samples from scratch2 buffer */
+        y10 = *(pIn2 + 2u);
+        y11 = *(pIn2 + 3u);
+
+        /* multiply and accumlate */
+        acc0 += (q31_t) x20 *y10;
+        acc0 += (q31_t) x21 *y11;
+        acc2 += (q31_t) x10 *y10;
+        acc2 += (q31_t) x11 *y11;
+        acc1 += (q31_t) x21 *y10;
+        acc1 += (q31_t) x10 *y11;
+
+        /* Read next two samples from scratch1 buffer */
+        x20 = *(pScr1 + 2);
+        x21 = *(pScr1 + 3);
+
+        /* multiply and accumlate */
+        acc3 += (q31_t) x11 *y10;
+        acc3 += (q31_t) x20 *y11;
+
+        /* update scratch pointers */
+        pIn2 += 4u;
+        pScr1 += 4u;
+
+        /* Decrement the loop counter */
+        tapCnt--;
+      }
+
+      /* Update scratch pointer for remaining samples of smaller length sequence */
+      pScr1 -= 4u;
+
+      /* apply same above for remaining samples of smaller length sequence */
+      tapCnt = (srcBLen) & 3u;
+
+      while(tapCnt > 0u)
+      {
+        /* accumlate the results */
+        acc0 += (*pScr1++ * *pIn2);
+        acc1 += (*pScr1++ * *pIn2);
+        acc2 += (*pScr1++ * *pIn2);
+        acc3 += (*pScr1++ * *pIn2++);
+
+        pScr1 -= 3u;
+
+        /* Decrement the loop counter */
+        tapCnt--;
+      }
+
+      blkCnt--;
+
+
+      /* Store the results in the accumulators in the destination buffer. */
+      *pOut++ = __SSAT((acc0 >> 15), 16);
+      *pOut++ = __SSAT((acc1 >> 15), 16);
+      *pOut++ = __SSAT((acc2 >> 15), 16);
+      *pOut++ = __SSAT((acc3 >> 15), 16);
+
+      /* Initialization of inputB pointer */
+      pIn2 = py;
+
+      pScratch1 += 4u;
+
+    }
+
+
+    blkCnt = numPoints & 0x3;
+
+    /* Calculate convolution for remaining samples of Bigger length sequence */
+    while(blkCnt > 0)
+    {
+      /* Initialze temporary scratch pointer as scratch1 */
+      pScr1 = pScratch1;
+
+      /* Clear Accumlators */
+      acc0 = 0;
+
+      tapCnt = (srcBLen) >> 1u;
+
+      while(tapCnt > 0u)
+      {
+
+        /* Read next two samples from scratch1 buffer */
+        x10 = *pScr1++;
+        x11 = *pScr1++;
+
+        /* Read two samples from smaller buffer */
+        y10 = *pIn2++;
+        y11 = *pIn2++;
+
+        /* multiply and accumlate */
+        acc0 += (q31_t) x10 *y10;
+        acc0 += (q31_t) x11 *y11;
+
+        /* Decrement the loop counter */
+        tapCnt--;
+      }
+
+      tapCnt = (srcBLen) & 1u;
+
+      /* apply same above for remaining samples of smaller length sequence */
+      while(tapCnt > 0u)
+      {
+
+        /* accumlate the results */
+        acc0 += (*pScr1++ * *pIn2++);
+
+        /* Decrement the loop counter */
+        tapCnt--;
+      }
+
+      blkCnt--;
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = (q15_t) (__SSAT((acc0 >> 15), 16));
+
+      /* Initialization of inputB pointer */
+      pIn2 = py;
+
+      pScratch1 += 1u;
+
+    }
+
+    /* set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+
+  }
+
+  /* Return to application */
+  return (status);
+}
+
+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
+
+/**    
+ * @} end of PartialConv group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_q15.c
new file mode 100644
index 000000000..98216bb6a
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_q15.c
@@ -0,0 +1,1473 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_conv_partial_fast_q15.c   
+*   
+* Description:	Fast Q15 Partial convolution.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+* 
+* Version 1.0.11 2011/10/18 
+*    Bug Fix in conv, correlation, partial convolution. 
+*
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup PartialConv   
+ * @{   
+ */
+
+/**   
+ * @brief Partial convolution of Q15 sequences (fast version) for Cortex-M3 and Cortex-M4.   
+ * @param[in]       *pSrcA points to the first input sequence.   
+ * @param[in]       srcALen length of the first input sequence.   
+ * @param[in]       *pSrcB points to the second input sequence.   
+ * @param[in]       srcBLen length of the second input sequence.   
+ * @param[out]      *pDst points to the location where the output result is written.   
+ * @param[in]       firstIndex is the first output sample to start with.   
+ * @param[in]       numPoints is the number of output points to be computed.   
+ * @return Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].   
+ *   
+ * See arm_conv_partial_q15() for a slower implementation of this function which uses a 64-bit accumulator to avoid wrap around distortion.   
+ */
+
+
+arm_status arm_conv_partial_fast_q15(
+  q15_t * pSrcA,
+  uint32_t srcALen,
+  q15_t * pSrcB,
+  uint32_t srcBLen,
+  q15_t * pDst,
+  uint32_t firstIndex,
+  uint32_t numPoints)
+{
+#ifndef UNALIGNED_SUPPORT_DISABLE
+
+  q15_t *pIn1;                                   /* inputA pointer               */
+  q15_t *pIn2;                                   /* inputB pointer               */
+  q15_t *pOut = pDst;                            /* output pointer               */
+  q31_t sum, acc0, acc1, acc2, acc3;             /* Accumulator                  */
+  q15_t *px;                                     /* Intermediate inputA pointer  */
+  q15_t *py;                                     /* Intermediate inputB pointer  */
+  q15_t *pSrc1, *pSrc2;                          /* Intermediate pointers        */
+  q31_t x0, x1, x2, x3, c0;
+  uint32_t j, k, count, check, blkCnt;
+  int32_t blockSize1, blockSize2, blockSize3;    /* loop counters                 */
+  arm_status status;                             /* status of Partial convolution */
+
+  /* Check for range of output samples to be calculated */
+  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))
+  {
+    /* Set status as ARM_MATH_ARGUMENT_ERROR */
+    status = ARM_MATH_ARGUMENT_ERROR;
+  }
+  else
+  {
+
+    /* The algorithm implementation is based on the lengths of the inputs. */
+    /* srcB is always made to slide across srcA. */
+    /* So srcBLen is always considered as shorter or equal to srcALen */
+    if(srcALen >=srcBLen)
+    {
+      /* Initialization of inputA pointer */
+      pIn1 = pSrcA;
+
+      /* Initialization of inputB pointer */
+      pIn2 = pSrcB;
+    }
+    else
+    {
+      /* Initialization of inputA pointer */
+      pIn1 = pSrcB;
+
+      /* Initialization of inputB pointer */
+      pIn2 = pSrcA;
+
+      /* srcBLen is always considered as shorter or equal to srcALen */
+      j = srcBLen;
+      srcBLen = srcALen;
+      srcALen = j;
+    }
+
+    /* Conditions to check which loopCounter holds   
+     * the first and last indices of the output samples to be calculated. */
+    check = firstIndex + numPoints;
+    blockSize3 = ((int32_t) check - (int32_t) srcALen);
+    blockSize3 = (blockSize3 > 0) ? blockSize3 : 0;
+    blockSize1 = (((int32_t) srcBLen - 1) - (int32_t) firstIndex);
+    blockSize1 = (blockSize1 > 0) ? ((check > (srcBLen - 1u)) ? blockSize1 :
+                                     (int32_t) numPoints) : 0;
+    blockSize2 = (int32_t) check - ((blockSize3 + blockSize1) +
+                                    (int32_t) firstIndex);
+    blockSize2 = (blockSize2 > 0) ? blockSize2 : 0;
+
+    /* conv(x,y) at n = x[n] * y[0] + x[n-1] * y[1] + x[n-2] * y[2] + ...+ x[n-N+1] * y[N -1] */
+    /* The function is internally   
+     * divided into three stages according to the number of multiplications that has to be   
+     * taken place between inputA samples and inputB samples. In the first stage of the   
+     * algorithm, the multiplications increase by one for every iteration.   
+     * In the second stage of the algorithm, srcBLen number of multiplications are done.   
+     * In the third stage of the algorithm, the multiplications decrease by one   
+     * for every iteration. */
+
+    /* Set the output pointer to point to the firstIndex   
+     * of the output sample to be calculated. */
+    pOut = pDst + firstIndex;
+
+    /* --------------------------   
+     * Initializations of stage1   
+     * -------------------------*/
+
+    /* sum = x[0] * y[0]   
+     * sum = x[0] * y[1] + x[1] * y[0]   
+     * ....   
+     * sum = x[0] * y[srcBlen - 1] + x[1] * y[srcBlen - 2] +...+ x[srcBLen - 1] * y[0]   
+     */
+
+    /* In this stage the MAC operations are increased by 1 for every iteration.   
+       The count variable holds the number of MAC operations performed.   
+       Since the partial convolution starts from firstIndex   
+       Number of Macs to be performed is firstIndex + 1 */
+    count = 1u + firstIndex;
+
+    /* Working pointer of inputA */
+    px = pIn1;
+
+    /* Working pointer of inputB */
+    pSrc2 = pIn2 + firstIndex;
+    py = pSrc2;
+
+    /* ------------------------   
+     * Stage1 process   
+     * ----------------------*/
+
+    /* For loop unrolling by 4, this stage is divided into two. */
+    /* First part of this stage computes the MAC operations less than 4 */
+    /* Second part of this stage computes the MAC operations greater than or equal to 4 */
+
+    /* The first part of the stage starts here */
+    while((count < 4u) && (blockSize1 > 0))
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Loop over number of MAC operations between   
+       * inputA samples and inputB samples */
+      k = count;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        sum = __SMLAD(*px++, *py--, sum);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = (q15_t) (sum >> 15);
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      py = ++pSrc2;
+      px = pIn1;
+
+      /* Increment the MAC count */
+      count++;
+
+      /* Decrement the loop counter */
+      blockSize1--;
+    }
+
+    /* The second part of the stage starts here */
+    /* The internal loop, over count, is unrolled by 4 */
+    /* To, read the last two inputB samples using SIMD:   
+     * y[srcBLen] and y[srcBLen-1] coefficients, py is decremented by 1 */
+    py = py - 1;
+
+    while(blockSize1 > 0)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = count >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        /* x[0], x[1] are multiplied with y[srcBLen - 1], y[srcBLen - 2] respectively */
+        sum = __SMLADX(*__SIMD32(px)++, *__SIMD32(py)--, sum);
+        /* x[2], x[3] are multiplied with y[srcBLen - 3], y[srcBLen - 4] respectively */
+        sum = __SMLADX(*__SIMD32(px)++, *__SIMD32(py)--, sum);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* For the next MAC operations, the pointer py is used without SIMD   
+       * So, py is incremented by 1 */
+      py = py + 1u;
+
+      /* If the count is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = count % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        sum = __SMLAD(*px++, *py--, sum);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = (q15_t) (sum >> 15);
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      py = ++pSrc2 - 1u;
+      px = pIn1;
+
+      /* Increment the MAC count */
+      count++;
+
+      /* Decrement the loop counter */
+      blockSize1--;
+    }
+
+    /* --------------------------   
+     * Initializations of stage2   
+     * ------------------------*/
+
+    /* sum = x[0] * y[srcBLen-1] + x[1] * y[srcBLen-2] +...+ x[srcBLen-1] * y[0]   
+     * sum = x[1] * y[srcBLen-1] + x[2] * y[srcBLen-2] +...+ x[srcBLen] * y[0]   
+     * ....   
+     * sum = x[srcALen-srcBLen-2] * y[srcBLen-1] + x[srcALen] * y[srcBLen-2] +...+ x[srcALen-1] * y[0]   
+     */
+
+    /* Working pointer of inputA */
+    px = pIn1;
+
+    /* Working pointer of inputB */
+    pSrc2 = pIn2 + (srcBLen - 1u);
+    py = pSrc2;
+
+    /* count is the index by which the pointer pIn1 to be incremented */
+    count = 0u;
+
+
+    /* --------------------   
+     * Stage2 process   
+     * -------------------*/
+
+    /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.   
+     * So, to loop unroll over blockSize2,   
+     * srcBLen should be greater than or equal to 4 */
+    if(srcBLen >= 4u)
+    {
+      /* Loop unroll over blockSize2, by 4 */
+      blkCnt = ((uint32_t) blockSize2 >> 2u);
+
+      while(blkCnt > 0u)
+      {
+      py = py - 1u;
+
+        /* Set all accumulators to zero */
+        acc0 = 0;
+        acc1 = 0;
+        acc2 = 0;
+        acc3 = 0;
+
+
+        /* read x[0], x[1] samples */
+      x0 = *__SIMD32(px);
+        /* read x[1], x[2] samples */
+      x1 = _SIMD32_OFFSET(px+1);
+	  px+= 2u;
+
+
+        /* Apply loop unrolling and compute 4 MACs simultaneously. */
+        k = srcBLen >> 2u;
+
+        /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+         ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+        do
+        {
+          /* Read the last two inputB samples using SIMD:   
+           * y[srcBLen - 1] and y[srcBLen - 2] */
+        c0 = *__SIMD32(py)--;
+
+          /* acc0 +=  x[0] * y[srcBLen - 1] + x[1] * y[srcBLen - 2] */
+          acc0 = __SMLADX(x0, c0, acc0);
+
+          /* acc1 +=  x[1] * y[srcBLen - 1] + x[2] * y[srcBLen - 2] */
+          acc1 = __SMLADX(x1, c0, acc1);
+
+          /* Read x[2], x[3] */
+        x2 = *__SIMD32(px);
+
+          /* Read x[3], x[4] */
+        x3 = _SIMD32_OFFSET(px+1);
+
+          /* acc2 +=  x[2] * y[srcBLen - 1] + x[3] * y[srcBLen - 2] */
+          acc2 = __SMLADX(x2, c0, acc2);
+
+          /* acc3 +=  x[3] * y[srcBLen - 1] + x[4] * y[srcBLen - 2] */
+          acc3 = __SMLADX(x3, c0, acc3);
+
+          /* Read y[srcBLen - 3] and y[srcBLen - 4] */
+        c0 = *__SIMD32(py)--;
+
+          /* acc0 +=  x[2] * y[srcBLen - 3] + x[3] * y[srcBLen - 4] */
+          acc0 = __SMLADX(x2, c0, acc0);
+
+          /* acc1 +=  x[3] * y[srcBLen - 3] + x[4] * y[srcBLen - 4] */
+          acc1 = __SMLADX(x3, c0, acc1);
+
+          /* Read x[4], x[5] */
+        x0 = _SIMD32_OFFSET(px+2);
+
+          /* Read x[5], x[6] */
+        x1 = _SIMD32_OFFSET(px+3);
+		px += 4u;
+
+          /* acc2 +=  x[4] * y[srcBLen - 3] + x[5] * y[srcBLen - 4] */
+          acc2 = __SMLADX(x0, c0, acc2);
+
+          /* acc3 +=  x[5] * y[srcBLen - 3] + x[6] * y[srcBLen - 4] */
+          acc3 = __SMLADX(x1, c0, acc3);
+
+        } while(--k);
+
+        /* For the next MAC operations, SIMD is not used   
+         * So, the 16 bit pointer if inputB, py is updated */
+
+        /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+         ** No loop unrolling is used. */
+        k = srcBLen % 0x4u;
+
+        if(k == 1u)
+        {
+          /* Read y[srcBLen - 5] */
+        c0 = *(py+1);
+#ifdef  ARM_MATH_BIG_ENDIAN
+
+        c0 = c0 << 16u;
+
+#else
+
+        c0 = c0 & 0x0000FFFF;
+
+#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */
+
+          /* Read x[7] */
+        x3 = *__SIMD32(px);
+		px++;
+
+          /* Perform the multiply-accumulates */
+          acc0 = __SMLAD(x0, c0, acc0);
+          acc1 = __SMLAD(x1, c0, acc1);
+          acc2 = __SMLADX(x1, c0, acc2);
+          acc3 = __SMLADX(x3, c0, acc3);
+        }
+
+        if(k == 2u)
+        {
+          /* Read y[srcBLen - 5], y[srcBLen - 6] */
+        c0 = _SIMD32_OFFSET(py);
+
+          /* Read x[7], x[8] */
+        x3 = *__SIMD32(px);
+
+        /* Read x[9] */
+        x2 = _SIMD32_OFFSET(px+1);
+		px += 2u;
+
+          /* Perform the multiply-accumulates */
+          acc0 = __SMLADX(x0, c0, acc0);
+          acc1 = __SMLADX(x1, c0, acc1);
+          acc2 = __SMLADX(x3, c0, acc2);
+          acc3 = __SMLADX(x2, c0, acc3);
+        }
+
+        if(k == 3u)
+        {
+          /* Read y[srcBLen - 5], y[srcBLen - 6] */
+        c0 = _SIMD32_OFFSET(py);
+
+          /* Read x[7], x[8] */
+        x3 = *__SIMD32(px);
+
+          /* Read x[9] */
+        x2 = _SIMD32_OFFSET(px+1);
+
+          /* Perform the multiply-accumulates */
+          acc0 = __SMLADX(x0, c0, acc0);
+          acc1 = __SMLADX(x1, c0, acc1);
+          acc2 = __SMLADX(x3, c0, acc2);
+          acc3 = __SMLADX(x2, c0, acc3);
+
+		c0 = *(py-1);
+#ifdef  ARM_MATH_BIG_ENDIAN
+
+        c0 = c0 << 16u;
+#else
+
+        c0 = c0 & 0x0000FFFF;
+#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */
+
+          /* Read x[10] */
+        x3 =  _SIMD32_OFFSET(px+2);
+		px += 3u;
+
+          /* Perform the multiply-accumulates */
+          acc0 = __SMLADX(x1, c0, acc0);
+          acc1 = __SMLAD(x2, c0, acc1);
+          acc2 = __SMLADX(x2, c0, acc2);
+          acc3 = __SMLADX(x3, c0, acc3);
+        }
+
+        /* Store the results in the accumulators in the destination buffer. */
+#ifndef ARM_MATH_BIG_ENDIAN
+
+        *__SIMD32(pOut)++ = __PKHBT(acc0 >> 15, acc1 >> 15, 16);
+        *__SIMD32(pOut)++ = __PKHBT(acc2 >> 15, acc3 >> 15, 16);
+
+#else
+
+        *__SIMD32(pOut)++ = __PKHBT(acc1 >> 15, acc0 >> 15, 16);
+        *__SIMD32(pOut)++ = __PKHBT(acc3 >> 15, acc2 >> 15, 16);
+
+#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
+
+        /* Increment the pointer pIn1 index, count by 4 */
+        count += 4u;
+
+        /* Update the inputA and inputB pointers for next MAC calculation */
+        px = pIn1 + count;
+        py = pSrc2;
+
+        /* Decrement the loop counter */
+        blkCnt--;
+      }
+
+      /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.   
+       ** No loop unrolling is used. */
+      blkCnt = (uint32_t) blockSize2 % 0x4u;
+
+      while(blkCnt > 0u)
+      {
+        /* Accumulator is made zero for every iteration */
+        sum = 0;
+
+        /* Apply loop unrolling and compute 4 MACs simultaneously. */
+        k = srcBLen >> 2u;
+
+        /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+         ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+        while(k > 0u)
+        {
+          /* Perform the multiply-accumulates */
+          sum += ((q31_t) * px++ * *py--);
+          sum += ((q31_t) * px++ * *py--);
+          sum += ((q31_t) * px++ * *py--);
+          sum += ((q31_t) * px++ * *py--);
+
+          /* Decrement the loop counter */
+          k--;
+        }
+
+        /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+         ** No loop unrolling is used. */
+        k = srcBLen % 0x4u;
+
+        while(k > 0u)
+        {
+          /* Perform the multiply-accumulates */
+          sum += ((q31_t) * px++ * *py--);
+
+          /* Decrement the loop counter */
+          k--;
+        }
+
+        /* Store the result in the accumulator in the destination buffer. */
+        *pOut++ = (q15_t) (sum >> 15);
+
+        /* Increment the pointer pIn1 index, count by 1 */
+        count++;
+
+        /* Update the inputA and inputB pointers for next MAC calculation */
+        px = pIn1 + count;
+        py = pSrc2;
+
+        /* Decrement the loop counter */
+        blkCnt--;
+      }
+    }
+    else
+    {
+      /* If the srcBLen is not a multiple of 4,   
+       * the blockSize2 loop cannot be unrolled by 4 */
+      blkCnt = (uint32_t) blockSize2;
+
+      while(blkCnt > 0u)
+      {
+        /* Accumulator is made zero for every iteration */
+        sum = 0;
+
+        /* srcBLen number of MACS should be performed */
+        k = srcBLen;
+
+        while(k > 0u)
+        {
+          /* Perform the multiply-accumulate */
+          sum += ((q31_t) * px++ * *py--);
+
+          /* Decrement the loop counter */
+          k--;
+        }
+
+        /* Store the result in the accumulator in the destination buffer. */
+        *pOut++ = (q15_t) (sum >> 15);
+
+        /* Increment the MAC count */
+        count++;
+
+        /* Update the inputA and inputB pointers for next MAC calculation */
+        px = pIn1 + count;
+        py = pSrc2;
+
+        /* Decrement the loop counter */
+        blkCnt--;
+      }
+    }
+
+
+    /* --------------------------   
+     * Initializations of stage3   
+     * -------------------------*/
+
+    /* sum += x[srcALen-srcBLen+1] * y[srcBLen-1] + x[srcALen-srcBLen+2] * y[srcBLen-2] +...+ x[srcALen-1] * y[1]   
+     * sum += x[srcALen-srcBLen+2] * y[srcBLen-1] + x[srcALen-srcBLen+3] * y[srcBLen-2] +...+ x[srcALen-1] * y[2]   
+     * ....   
+     * sum +=  x[srcALen-2] * y[srcBLen-1] + x[srcALen-1] * y[srcBLen-2]   
+     * sum +=  x[srcALen-1] * y[srcBLen-1]   
+     */
+
+    /* In this stage the MAC operations are decreased by 1 for every iteration.   
+       The count variable holds the number of MAC operations performed */
+    count = srcBLen - 1u;
+
+    /* Working pointer of inputA */
+    pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);
+    px = pSrc1;
+
+    /* Working pointer of inputB */
+    pSrc2 = pIn2 + (srcBLen - 1u);
+    pIn2 = pSrc2 - 1u;
+    py = pIn2;
+
+    /* -------------------   
+     * Stage3 process   
+     * ------------------*/
+
+    /* For loop unrolling by 4, this stage is divided into two. */
+    /* First part of this stage computes the MAC operations greater than 4 */
+    /* Second part of this stage computes the MAC operations less than or equal to 4 */
+
+    /* The first part of the stage starts here */
+    j = count >> 2u;
+
+    while((j > 0u) && (blockSize3 > 0))
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = count >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      while(k > 0u)
+      {
+        /* x[srcALen - srcBLen + 1], x[srcALen - srcBLen + 2] are multiplied   
+         * with y[srcBLen - 1], y[srcBLen - 2] respectively */
+        sum = __SMLADX(*__SIMD32(px)++, *__SIMD32(py)--, sum);
+        /* x[srcALen - srcBLen + 3], x[srcALen - srcBLen + 4] are multiplied   
+         * with y[srcBLen - 3], y[srcBLen - 4] respectively */
+        sum = __SMLADX(*__SIMD32(px)++, *__SIMD32(py)--, sum);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* For the next MAC operations, the pointer py is used without SIMD   
+       * So, py is incremented by 1 */
+      py = py + 1u;
+
+      /* If the count is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = count % 0x4u;
+
+      while(k > 0u)
+      {
+        /* sum += x[srcALen - srcBLen + 5] * y[srcBLen - 5] */
+        sum = __SMLAD(*px++, *py--, sum);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = (q15_t) (sum >> 15);
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = ++pSrc1;
+      py = pIn2;
+
+      /* Decrement the MAC count */
+      count--;
+
+      /* Decrement the loop counter */
+      blockSize3--;
+
+      j--;
+    }
+
+    /* The second part of the stage starts here */
+    /* SIMD is not used for the next MAC operations,   
+     * so pointer py is updated to read only one sample at a time */
+    py = py + 1u;
+
+    while(blockSize3 > 0)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = count;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        /* sum +=  x[srcALen-1] * y[srcBLen-1] */
+        sum = __SMLAD(*px++, *py--, sum);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = (q15_t) (sum >> 15);
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = ++pSrc1;
+      py = pSrc2;
+
+      /* Decrement the MAC count */
+      count--;
+
+      /* Decrement the loop counter */
+      blockSize3--;
+    }
+
+    /* set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+
+#else
+
+  q15_t *pIn1;                                   /* inputA pointer               */
+  q15_t *pIn2;                                   /* inputB pointer               */
+  q15_t *pOut = pDst;                            /* output pointer               */
+  q31_t sum, acc0, acc1, acc2, acc3;             /* Accumulator                  */
+  q15_t *px;                                     /* Intermediate inputA pointer  */
+  q15_t *py;                                     /* Intermediate inputB pointer  */
+  q15_t *pSrc1, *pSrc2;                          /* Intermediate pointers        */
+  q31_t x0, x1, x2, x3, c0;
+  uint32_t j, k, count, check, blkCnt;
+  int32_t blockSize1, blockSize2, blockSize3;    /* loop counters                 */
+  arm_status status;                             /* status of Partial convolution */
+  q15_t a, b;
+
+  /* Check for range of output samples to be calculated */
+  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))
+  {
+    /* Set status as ARM_MATH_ARGUMENT_ERROR */
+    status = ARM_MATH_ARGUMENT_ERROR;
+  }
+  else
+  {
+
+    /* The algorithm implementation is based on the lengths of the inputs. */
+    /* srcB is always made to slide across srcA. */
+    /* So srcBLen is always considered as shorter or equal to srcALen */
+    if(srcALen >=srcBLen)
+    {
+      /* Initialization of inputA pointer */
+      pIn1 = pSrcA;
+
+      /* Initialization of inputB pointer */
+      pIn2 = pSrcB;
+    }
+    else
+    {
+      /* Initialization of inputA pointer */
+      pIn1 = pSrcB;
+
+      /* Initialization of inputB pointer */
+      pIn2 = pSrcA;
+
+      /* srcBLen is always considered as shorter or equal to srcALen */
+      j = srcBLen;
+      srcBLen = srcALen;
+      srcALen = j;
+    }
+
+    /* Conditions to check which loopCounter holds   
+     * the first and last indices of the output samples to be calculated. */
+    check = firstIndex + numPoints;
+    blockSize3 = ((int32_t) check - (int32_t) srcALen);
+    blockSize3 = (blockSize3 > 0) ? blockSize3 : 0;
+    blockSize1 = (((int32_t) srcBLen - 1) - (int32_t) firstIndex);
+    blockSize1 = (blockSize1 > 0) ? ((check > (srcBLen - 1u)) ? blockSize1 :
+                                     (int32_t) numPoints) : 0;
+    blockSize2 = (int32_t) check - ((blockSize3 + blockSize1) +
+                                    (int32_t) firstIndex);
+    blockSize2 = (blockSize2 > 0) ? blockSize2 : 0;
+
+    /* conv(x,y) at n = x[n] * y[0] + x[n-1] * y[1] + x[n-2] * y[2] + ...+ x[n-N+1] * y[N -1] */
+    /* The function is internally   
+     * divided into three stages according to the number of multiplications that has to be   
+     * taken place between inputA samples and inputB samples. In the first stage of the   
+     * algorithm, the multiplications increase by one for every iteration.   
+     * In the second stage of the algorithm, srcBLen number of multiplications are done.   
+     * In the third stage of the algorithm, the multiplications decrease by one   
+     * for every iteration. */
+
+    /* Set the output pointer to point to the firstIndex   
+     * of the output sample to be calculated. */
+    pOut = pDst + firstIndex;
+
+    /* --------------------------   
+     * Initializations of stage1   
+     * -------------------------*/
+
+    /* sum = x[0] * y[0]   
+     * sum = x[0] * y[1] + x[1] * y[0]   
+     * ....   
+     * sum = x[0] * y[srcBlen - 1] + x[1] * y[srcBlen - 2] +...+ x[srcBLen - 1] * y[0]   
+     */
+
+    /* In this stage the MAC operations are increased by 1 for every iteration.   
+       The count variable holds the number of MAC operations performed.   
+       Since the partial convolution starts from firstIndex   
+       Number of Macs to be performed is firstIndex + 1 */
+    count = 1u + firstIndex;
+
+    /* Working pointer of inputA */
+    px = pIn1;
+
+    /* Working pointer of inputB */
+    pSrc2 = pIn2 + firstIndex;
+    py = pSrc2;
+
+    /* ------------------------   
+     * Stage1 process   
+     * ----------------------*/
+
+    /* For loop unrolling by 4, this stage is divided into two. */
+    /* First part of this stage computes the MAC operations less than 4 */
+    /* Second part of this stage computes the MAC operations greater than or equal to 4 */
+
+    /* The first part of the stage starts here */
+  while((count < 4u) && (blockSize1 > 0u))
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Loop over number of MAC operations between   
+       * inputA samples and inputB samples */
+      k = count;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+      sum += ((q31_t) * px++ * *py--);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = (q15_t) (sum >> 15);
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      py = ++pSrc2;
+      px = pIn1;
+
+      /* Increment the MAC count */
+      count++;
+
+      /* Decrement the loop counter */
+      blockSize1--;
+    }
+
+    /* The second part of the stage starts here */
+    /* The internal loop, over count, is unrolled by 4 */
+    /* To, read the last two inputB samples using SIMD:   
+     * y[srcBLen] and y[srcBLen-1] coefficients, py is decremented by 1 */
+    py = py - 1;
+
+  while(blockSize1 > 0u)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = count >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+	py++;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+        sum += ((q31_t) * px++ * *py--);
+        sum += ((q31_t) * px++ * *py--);
+        sum += ((q31_t) * px++ * *py--);
+        sum += ((q31_t) * px++ * *py--);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+      /* If the count is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = count % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+      sum += ((q31_t) * px++ * *py--);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = (q15_t) (sum >> 15);
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      py = ++pSrc2 - 1u;
+      px = pIn1;
+
+      /* Increment the MAC count */
+      count++;
+
+      /* Decrement the loop counter */
+      blockSize1--;
+    }
+
+    /* --------------------------   
+     * Initializations of stage2   
+     * ------------------------*/
+
+    /* sum = x[0] * y[srcBLen-1] + x[1] * y[srcBLen-2] +...+ x[srcBLen-1] * y[0]   
+     * sum = x[1] * y[srcBLen-1] + x[2] * y[srcBLen-2] +...+ x[srcBLen] * y[0]   
+     * ....   
+     * sum = x[srcALen-srcBLen-2] * y[srcBLen-1] + x[srcALen] * y[srcBLen-2] +...+ x[srcALen-1] * y[0]   
+     */
+
+    /* Working pointer of inputA */
+    px = pIn1;
+
+    /* Working pointer of inputB */
+    pSrc2 = pIn2 + (srcBLen - 1u);
+    py = pSrc2;
+
+    /* count is the index by which the pointer pIn1 to be incremented */
+    count = 0u;
+
+
+    /* --------------------   
+     * Stage2 process   
+     * -------------------*/
+
+    /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.   
+     * So, to loop unroll over blockSize2,   
+     * srcBLen should be greater than or equal to 4 */
+    if(srcBLen >= 4u)
+    {
+      /* Loop unroll over blockSize2, by 4 */
+      blkCnt = ((uint32_t) blockSize2 >> 2u);
+
+      while(blkCnt > 0u)
+      {
+      py = py - 1u;
+
+        /* Set all accumulators to zero */
+        acc0 = 0;
+        acc1 = 0;
+        acc2 = 0;
+        acc3 = 0;
+
+      /* read x[0], x[1] samples */
+	  a = *px++;
+	  b = *px++;
+
+#ifndef ARM_MATH_BIG_ENDIAN
+	
+	  x0 = __PKHBT(a, b, 16);
+	  a = *px;
+	  x1 = __PKHBT(b, a, 16);
+
+#else
+
+	  x0 = __PKHBT(b, a, 16);
+	  a = *px;
+	  x1 = __PKHBT(a, b, 16);
+
+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	   */
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = srcBLen >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      do
+      {
+        /* Read the last two inputB samples using SIMD:   
+         * y[srcBLen - 1] and y[srcBLen - 2] */
+		a = *py;
+		b = *(py+1);
+		py -= 2;
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+		c0 = __PKHBT(a, b, 16);
+
+#else
+
+ 		c0 = __PKHBT(b, a, 16);;
+
+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/
+
+        /* acc0 +=  x[0] * y[srcBLen - 1] + x[1] * y[srcBLen - 2] */
+        acc0 = __SMLADX(x0, c0, acc0);
+
+        /* acc1 +=  x[1] * y[srcBLen - 1] + x[2] * y[srcBLen - 2] */
+        acc1 = __SMLADX(x1, c0, acc1);
+
+	  a = *px;
+	  b = *(px + 1);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+	
+	  x2 = __PKHBT(a, b, 16);
+	  a = *(px + 2);
+	  x3 = __PKHBT(b, a, 16);
+
+#else
+
+	  x2 = __PKHBT(b, a, 16);
+	  a = *(px + 2);
+	  x3 = __PKHBT(a, b, 16);
+
+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	   */
+
+        /* acc2 +=  x[2] * y[srcBLen - 1] + x[3] * y[srcBLen - 2] */
+        acc2 = __SMLADX(x2, c0, acc2);
+
+        /* acc3 +=  x[3] * y[srcBLen - 1] + x[4] * y[srcBLen - 2] */
+        acc3 = __SMLADX(x3, c0, acc3);
+
+        /* Read y[srcBLen - 3] and y[srcBLen - 4] */
+		a = *py;
+		b = *(py+1);
+		py -= 2;
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+		c0 = __PKHBT(a, b, 16);
+
+#else
+
+ 		c0 = __PKHBT(b, a, 16);;
+
+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/
+
+        /* acc0 +=  x[2] * y[srcBLen - 3] + x[3] * y[srcBLen - 4] */
+        acc0 = __SMLADX(x2, c0, acc0);
+
+        /* acc1 +=  x[3] * y[srcBLen - 3] + x[4] * y[srcBLen - 4] */
+        acc1 = __SMLADX(x3, c0, acc1);
+
+        /* Read x[4], x[5], x[6] */
+	  a = *(px + 2);
+	  b = *(px + 3);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+	
+	  x0 = __PKHBT(a, b, 16);
+	  a = *(px + 4);
+	  x1 = __PKHBT(b, a, 16);
+
+#else
+
+	  x0 = __PKHBT(b, a, 16);
+	  a = *(px + 4);
+	  x1 = __PKHBT(a, b, 16);
+
+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	   */
+
+		px += 4u;
+
+        /* acc2 +=  x[4] * y[srcBLen - 3] + x[5] * y[srcBLen - 4] */
+        acc2 = __SMLADX(x0, c0, acc2);
+
+        /* acc3 +=  x[5] * y[srcBLen - 3] + x[6] * y[srcBLen - 4] */
+        acc3 = __SMLADX(x1, c0, acc3);
+
+      } while(--k);
+
+      /* For the next MAC operations, SIMD is not used   
+       * So, the 16 bit pointer if inputB, py is updated */
+
+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = srcBLen % 0x4u;
+
+      if(k == 1u)
+      {
+        /* Read y[srcBLen - 5] */
+        c0 = *(py+1);
+
+#ifdef  ARM_MATH_BIG_ENDIAN
+
+        c0 = c0 << 16u;
+
+#else
+
+        c0 = c0 & 0x0000FFFF;
+
+#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */
+
+        /* Read x[7] */
+		a = *px;
+		b = *(px+1);
+		px++;
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+		x3 = __PKHBT(a, b, 16);
+
+#else
+
+ 		x3 = __PKHBT(b, a, 16);;
+
+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/
+
+
+        /* Perform the multiply-accumulates */
+        acc0 = __SMLAD(x0, c0, acc0);
+        acc1 = __SMLAD(x1, c0, acc1);
+        acc2 = __SMLADX(x1, c0, acc2);
+        acc3 = __SMLADX(x3, c0, acc3);
+      }
+
+      if(k == 2u)
+      {
+        /* Read y[srcBLen - 5], y[srcBLen - 6] */
+		a = *py;
+		b = *(py+1);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+		c0 = __PKHBT(a, b, 16);
+
+#else
+
+ 		c0 = __PKHBT(b, a, 16);;
+
+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/
+
+        /* Read x[7], x[8], x[9] */
+	  a = *px;
+	  b = *(px + 1);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+	
+	  x3 = __PKHBT(a, b, 16);
+	  a = *(px + 2);
+	  x2 = __PKHBT(b, a, 16);
+
+#else
+
+	  x3 = __PKHBT(b, a, 16);
+	  a = *(px + 2);
+	  x2 = __PKHBT(a, b, 16);
+
+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	   */
+		px += 2u;
+
+        /* Perform the multiply-accumulates */
+        acc0 = __SMLADX(x0, c0, acc0);
+        acc1 = __SMLADX(x1, c0, acc1);
+        acc2 = __SMLADX(x3, c0, acc2);
+        acc3 = __SMLADX(x2, c0, acc3);
+      }
+
+      if(k == 3u)
+      {
+        /* Read y[srcBLen - 5], y[srcBLen - 6] */
+		a = *py;
+		b = *(py+1);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+		c0 = __PKHBT(a, b, 16);
+
+#else
+
+ 		c0 = __PKHBT(b, a, 16);;
+
+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/
+
+        /* Read x[7], x[8], x[9] */
+	  a = *px;
+	  b = *(px + 1);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+	
+	  x3 = __PKHBT(a, b, 16);
+	  a = *(px + 2);
+	  x2 = __PKHBT(b, a, 16);
+
+#else
+
+	  x3 = __PKHBT(b, a, 16);
+	  a = *(px + 2);
+	  x2 = __PKHBT(a, b, 16);
+
+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	   */
+
+        /* Perform the multiply-accumulates */
+        acc0 = __SMLADX(x0, c0, acc0);
+        acc1 = __SMLADX(x1, c0, acc1);
+        acc2 = __SMLADX(x3, c0, acc2);
+        acc3 = __SMLADX(x2, c0, acc3);
+
+        /* Read y[srcBLen - 7] */
+		c0 = *(py-1);
+#ifdef  ARM_MATH_BIG_ENDIAN
+
+        c0 = c0 << 16u;
+#else
+
+        c0 = c0 & 0x0000FFFF;
+#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */
+
+        /* Read x[10] */
+		a = *(px+2);
+		b = *(px+3);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+		x3 = __PKHBT(a, b, 16);
+
+#else
+
+ 		x3 = __PKHBT(b, a, 16);;
+
+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/
+
+		px += 3u;
+
+        /* Perform the multiply-accumulates */
+        acc0 = __SMLADX(x1, c0, acc0);
+        acc1 = __SMLAD(x2, c0, acc1);
+        acc2 = __SMLADX(x2, c0, acc2);
+        acc3 = __SMLADX(x3, c0, acc3);
+      }
+
+      /* Store the results in the accumulators in the destination buffer. */
+	  *pOut++ = (q15_t)(acc0 >> 15);
+	  *pOut++ = (q15_t)(acc1 >> 15);
+	  *pOut++ = (q15_t)(acc2 >> 15);
+	  *pOut++ = (q15_t)(acc3 >> 15);
+
+        /* Increment the pointer pIn1 index, count by 4 */
+        count += 4u;
+
+        /* Update the inputA and inputB pointers for next MAC calculation */
+        px = pIn1 + count;
+        py = pSrc2;
+
+        /* Decrement the loop counter */
+        blkCnt--;
+      }
+
+      /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.   
+       ** No loop unrolling is used. */
+      blkCnt = (uint32_t) blockSize2 % 0x4u;
+
+      while(blkCnt > 0u)
+      {
+        /* Accumulator is made zero for every iteration */
+        sum = 0;
+
+        /* Apply loop unrolling and compute 4 MACs simultaneously. */
+        k = srcBLen >> 2u;
+
+        /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+         ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+        while(k > 0u)
+        {
+          /* Perform the multiply-accumulates */
+          sum += ((q31_t) * px++ * *py--);
+          sum += ((q31_t) * px++ * *py--);
+          sum += ((q31_t) * px++ * *py--);
+          sum += ((q31_t) * px++ * *py--);
+
+          /* Decrement the loop counter */
+          k--;
+        }
+
+        /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+         ** No loop unrolling is used. */
+        k = srcBLen % 0x4u;
+
+        while(k > 0u)
+        {
+          /* Perform the multiply-accumulates */
+          sum += ((q31_t) * px++ * *py--);
+
+          /* Decrement the loop counter */
+          k--;
+        }
+
+        /* Store the result in the accumulator in the destination buffer. */
+        *pOut++ = (q15_t) (sum >> 15);
+
+        /* Increment the pointer pIn1 index, count by 1 */
+        count++;
+
+        /* Update the inputA and inputB pointers for next MAC calculation */
+        px = pIn1 + count;
+        py = pSrc2;
+
+        /* Decrement the loop counter */
+        blkCnt--;
+      }
+    }
+    else
+    {
+      /* If the srcBLen is not a multiple of 4,   
+       * the blockSize2 loop cannot be unrolled by 4 */
+      blkCnt = (uint32_t) blockSize2;
+
+      while(blkCnt > 0u)
+      {
+        /* Accumulator is made zero for every iteration */
+        sum = 0;
+
+        /* srcBLen number of MACS should be performed */
+        k = srcBLen;
+
+        while(k > 0u)
+        {
+          /* Perform the multiply-accumulate */
+          sum += ((q31_t) * px++ * *py--);
+
+          /* Decrement the loop counter */
+          k--;
+        }
+
+        /* Store the result in the accumulator in the destination buffer. */
+        *pOut++ = (q15_t) (sum >> 15);
+
+        /* Increment the MAC count */
+        count++;
+
+        /* Update the inputA and inputB pointers for next MAC calculation */
+        px = pIn1 + count;
+        py = pSrc2;
+
+        /* Decrement the loop counter */
+        blkCnt--;
+      }
+    }
+
+
+    /* --------------------------   
+     * Initializations of stage3   
+     * -------------------------*/
+
+    /* sum += x[srcALen-srcBLen+1] * y[srcBLen-1] + x[srcALen-srcBLen+2] * y[srcBLen-2] +...+ x[srcALen-1] * y[1]   
+     * sum += x[srcALen-srcBLen+2] * y[srcBLen-1] + x[srcALen-srcBLen+3] * y[srcBLen-2] +...+ x[srcALen-1] * y[2]   
+     * ....   
+     * sum +=  x[srcALen-2] * y[srcBLen-1] + x[srcALen-1] * y[srcBLen-2]   
+     * sum +=  x[srcALen-1] * y[srcBLen-1]   
+     */
+
+    /* In this stage the MAC operations are decreased by 1 for every iteration.   
+       The count variable holds the number of MAC operations performed */
+    count = srcBLen - 1u;
+
+    /* Working pointer of inputA */
+    pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);
+    px = pSrc1;
+
+    /* Working pointer of inputB */
+    pSrc2 = pIn2 + (srcBLen - 1u);
+    pIn2 = pSrc2 - 1u;
+    py = pIn2;
+
+    /* -------------------   
+     * Stage3 process   
+     * ------------------*/
+
+    /* For loop unrolling by 4, this stage is divided into two. */
+    /* First part of this stage computes the MAC operations greater than 4 */
+    /* Second part of this stage computes the MAC operations less than or equal to 4 */
+
+    /* The first part of the stage starts here */
+    j = count >> 2u;
+
+    while((j > 0u) && (blockSize3 > 0))
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = count >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+	py++;
+
+    while(k > 0u)
+    {	
+      /* Perform the multiply-accumulates */
+        sum += ((q31_t) * px++ * *py--);
+        sum += ((q31_t) * px++ * *py--);
+        sum += ((q31_t) * px++ * *py--);
+        sum += ((q31_t) * px++ * *py--);
+      /* Decrement the loop counter */
+      k--;
+    }
+
+
+      /* If the count is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = count % 0x4u;
+
+      while(k > 0u)
+      {
+      /* Perform the multiply-accumulates */
+        sum += ((q31_t) * px++ * *py--);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = (q15_t) (sum >> 15);
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = ++pSrc1;
+      py = pIn2;
+
+      /* Decrement the MAC count */
+      count--;
+
+      /* Decrement the loop counter */
+      blockSize3--;
+
+      j--;
+    }
+
+    /* The second part of the stage starts here */
+    /* SIMD is not used for the next MAC operations,   
+     * so pointer py is updated to read only one sample at a time */
+    py = py + 1u;
+
+  while(blockSize3 > 0u)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = count;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        /* sum +=  x[srcALen-1] * y[srcBLen-1] */
+        sum += ((q31_t) * px++ * *py--);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = (q15_t) (sum >> 15);
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = ++pSrc1;
+      py = pSrc2;
+
+      /* Decrement the MAC count */
+      count--;
+
+      /* Decrement the loop counter */
+      blockSize3--;
+    }
+
+    /* set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+
+#endif /*     #ifndef UNALIGNED_SUPPORT_DISABLE      */
+}
+
+/**   
+ * @} end of PartialConv group   
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_q31.c
new file mode 100644
index 000000000..17902f593
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_q31.c
@@ -0,0 +1,599 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_conv_partial_fast_q31.c    
+*    
+* Description:	Fast Q31 Partial convolution.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.11 2011/10/18  
+*    Bug Fix in conv, correlation, partial convolution.  
+* 
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup PartialConv    
+ * @{    
+ */
+
+/**    
+ * @brief Partial convolution of Q31 sequences (fast version) for Cortex-M3 and Cortex-M4.    
+ * @param[in]       *pSrcA points to the first input sequence.    
+ * @param[in]       srcALen length of the first input sequence.    
+ * @param[in]       *pSrcB points to the second input sequence.    
+ * @param[in]       srcBLen length of the second input sequence.    
+ * @param[out]      *pDst points to the location where the output result is written.    
+ * @param[in]       firstIndex is the first output sample to start with.    
+ * @param[in]       numPoints is the number of output points to be computed.    
+ * @return Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].    
+ *    
+ * \par    
+ * See arm_conv_partial_q31() for a slower implementation of this function which uses a 64-bit accumulator to provide higher precision.    
+ */
+
+arm_status arm_conv_partial_fast_q31(
+  q31_t * pSrcA,
+  uint32_t srcALen,
+  q31_t * pSrcB,
+  uint32_t srcBLen,
+  q31_t * pDst,
+  uint32_t firstIndex,
+  uint32_t numPoints)
+{
+  q31_t *pIn1;                                   /* inputA pointer               */
+  q31_t *pIn2;                                   /* inputB pointer               */
+  q31_t *pOut = pDst;                            /* output pointer               */
+  q31_t *px;                                     /* Intermediate inputA pointer  */
+  q31_t *py;                                     /* Intermediate inputB pointer  */
+  q31_t *pSrc1, *pSrc2;                          /* Intermediate pointers        */
+  q31_t sum, acc0, acc1, acc2, acc3;             /* Accumulators                  */
+  q31_t x0, x1, x2, x3, c0;
+  uint32_t j, k, count, check, blkCnt;
+  int32_t blockSize1, blockSize2, blockSize3;    /* loop counters                 */
+  arm_status status;                             /* status of Partial convolution */
+
+
+  /* Check for range of output samples to be calculated */
+  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))
+  {
+    /* Set status as ARM_MATH_ARGUMENT_ERROR */
+    status = ARM_MATH_ARGUMENT_ERROR;
+  }
+  else
+  {
+
+    /* The algorithm implementation is based on the lengths of the inputs. */
+    /* srcB is always made to slide across srcA. */
+    /* So srcBLen is always considered as shorter or equal to srcALen */
+    if(srcALen >= srcBLen)
+    {
+      /* Initialization of inputA pointer */
+      pIn1 = pSrcA;
+
+      /* Initialization of inputB pointer */
+      pIn2 = pSrcB;
+    }
+    else
+    {
+      /* Initialization of inputA pointer */
+      pIn1 = pSrcB;
+
+      /* Initialization of inputB pointer */
+      pIn2 = pSrcA;
+
+      /* srcBLen is always considered as shorter or equal to srcALen */
+      j = srcBLen;
+      srcBLen = srcALen;
+      srcALen = j;
+    }
+
+    /* Conditions to check which loopCounter holds    
+     * the first and last indices of the output samples to be calculated. */
+    check = firstIndex + numPoints;
+    blockSize3 = ((int32_t) check - (int32_t) srcALen);
+    blockSize3 = (blockSize3 > 0) ? blockSize3 : 0;
+    blockSize1 = (((int32_t) srcBLen - 1) - (int32_t) firstIndex);
+    blockSize1 = (blockSize1 > 0) ? ((check > (srcBLen - 1u)) ? blockSize1 :
+                                     (int32_t) numPoints) : 0;
+    blockSize2 = (int32_t) check - ((blockSize3 + blockSize1) +
+                                    (int32_t) firstIndex);
+    blockSize2 = (blockSize2 > 0) ? blockSize2 : 0;
+
+    /* conv(x,y) at n = x[n] * y[0] + x[n-1] * y[1] + x[n-2] * y[2] + ...+ x[n-N+1] * y[N -1] */
+    /* The function is internally    
+     * divided into three stages according to the number of multiplications that has to be    
+     * taken place between inputA samples and inputB samples. In the first stage of the    
+     * algorithm, the multiplications increase by one for every iteration.    
+     * In the second stage of the algorithm, srcBLen number of multiplications are done.    
+     * In the third stage of the algorithm, the multiplications decrease by one    
+     * for every iteration. */
+
+    /* Set the output pointer to point to the firstIndex    
+     * of the output sample to be calculated. */
+    pOut = pDst + firstIndex;
+
+    /* --------------------------    
+     * Initializations of stage1    
+     * -------------------------*/
+
+    /* sum = x[0] * y[0]    
+     * sum = x[0] * y[1] + x[1] * y[0]    
+     * ....    
+     * sum = x[0] * y[srcBlen - 1] + x[1] * y[srcBlen - 2] +...+ x[srcBLen - 1] * y[0]    
+     */
+
+    /* In this stage the MAC operations are increased by 1 for every iteration.    
+       The count variable holds the number of MAC operations performed.    
+       Since the partial convolution starts from firstIndex    
+       Number of Macs to be performed is firstIndex + 1 */
+    count = 1u + firstIndex;
+
+    /* Working pointer of inputA */
+    px = pIn1;
+
+    /* Working pointer of inputB */
+    pSrc2 = pIn2 + firstIndex;
+    py = pSrc2;
+
+    /* ------------------------    
+     * Stage1 process    
+     * ----------------------*/
+
+    /* The first loop starts here */
+    while(blockSize1 > 0)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = count >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      while(k > 0u)
+      {
+        /* x[0] * y[srcBLen - 1] */
+        sum = (q31_t) ((((q63_t) sum << 32) +
+                        ((q63_t) * px++ * (*py--))) >> 32);
+
+        /* x[1] * y[srcBLen - 2] */
+        sum = (q31_t) ((((q63_t) sum << 32) +
+                        ((q63_t) * px++ * (*py--))) >> 32);
+
+        /* x[2] * y[srcBLen - 3] */
+        sum = (q31_t) ((((q63_t) sum << 32) +
+                        ((q63_t) * px++ * (*py--))) >> 32);
+
+        /* x[3] * y[srcBLen - 4] */
+        sum = (q31_t) ((((q63_t) sum << 32) +
+                        ((q63_t) * px++ * (*py--))) >> 32);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* If the count is not a multiple of 4, compute any remaining MACs here.    
+       ** No loop unrolling is used. */
+      k = count % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        sum = (q31_t) ((((q63_t) sum << 32) +
+                        ((q63_t) * px++ * (*py--))) >> 32);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = sum << 1;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      py = ++pSrc2;
+      px = pIn1;
+
+      /* Increment the MAC count */
+      count++;
+
+      /* Decrement the loop counter */
+      blockSize1--;
+    }
+
+    /* --------------------------    
+     * Initializations of stage2    
+     * ------------------------*/
+
+    /* sum = x[0] * y[srcBLen-1] + x[1] * y[srcBLen-2] +...+ x[srcBLen-1] * y[0]    
+     * sum = x[1] * y[srcBLen-1] + x[2] * y[srcBLen-2] +...+ x[srcBLen] * y[0]    
+     * ....    
+     * sum = x[srcALen-srcBLen-2] * y[srcBLen-1] + x[srcALen] * y[srcBLen-2] +...+ x[srcALen-1] * y[0]    
+     */
+
+    /* Working pointer of inputA */
+    px = pIn1;
+
+    /* Working pointer of inputB */
+    pSrc2 = pIn2 + (srcBLen - 1u);
+    py = pSrc2;
+
+    /* count is index by which the pointer pIn1 to be incremented */
+    count = 0u;
+
+    /* -------------------    
+     * Stage2 process    
+     * ------------------*/
+
+    /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.    
+     * So, to loop unroll over blockSize2,    
+     * srcBLen should be greater than or equal to 4 */
+    if(srcBLen >= 4u)
+    {
+      /* Loop unroll over blockSize2 */
+      blkCnt = ((uint32_t) blockSize2 >> 2u);
+
+      while(blkCnt > 0u)
+      {
+        /* Set all accumulators to zero */
+        acc0 = 0;
+        acc1 = 0;
+        acc2 = 0;
+        acc3 = 0;
+
+        /* read x[0], x[1], x[2] samples */
+        x0 = *(px++);
+        x1 = *(px++);
+        x2 = *(px++);
+
+        /* Apply loop unrolling and compute 4 MACs simultaneously. */
+        k = srcBLen >> 2u;
+
+        /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
+         ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+        do
+        {
+          /* Read y[srcBLen - 1] sample */
+          c0 = *(py--);
+
+          /* Read x[3] sample */
+          x3 = *(px++);
+
+          /* Perform the multiply-accumulate */
+          /* acc0 +=  x[0] * y[srcBLen - 1] */
+          acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x0 * c0)) >> 32);
+
+          /* acc1 +=  x[1] * y[srcBLen - 1] */
+          acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x1 * c0)) >> 32);
+
+          /* acc2 +=  x[2] * y[srcBLen - 1] */
+          acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x2 * c0)) >> 32);
+
+          /* acc3 +=  x[3] * y[srcBLen - 1] */
+          acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x3 * c0)) >> 32);
+
+          /* Read y[srcBLen - 2] sample */
+          c0 = *(py--);
+
+          /* Read x[4] sample */
+          x0 = *(px++);
+
+          /* Perform the multiply-accumulate */
+          /* acc0 +=  x[1] * y[srcBLen - 2] */
+          acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x1 * c0)) >> 32);
+          /* acc1 +=  x[2] * y[srcBLen - 2] */
+          acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x2 * c0)) >> 32);
+          /* acc2 +=  x[3] * y[srcBLen - 2] */
+          acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x3 * c0)) >> 32);
+          /* acc3 +=  x[4] * y[srcBLen - 2] */
+          acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x0 * c0)) >> 32);
+
+          /* Read y[srcBLen - 3] sample */
+          c0 = *(py--);
+
+          /* Read x[5] sample */
+          x1 = *(px++);
+
+          /* Perform the multiply-accumulates */
+          /* acc0 +=  x[2] * y[srcBLen - 3] */
+          acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x2 * c0)) >> 32);
+          /* acc1 +=  x[3] * y[srcBLen - 2] */
+          acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x3 * c0)) >> 32);
+          /* acc2 +=  x[4] * y[srcBLen - 2] */
+          acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x0 * c0)) >> 32);
+          /* acc3 +=  x[5] * y[srcBLen - 2] */
+          acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x1 * c0)) >> 32);
+
+          /* Read y[srcBLen - 4] sample */
+          c0 = *(py--);
+
+          /* Read x[6] sample */
+          x2 = *(px++);
+
+          /* Perform the multiply-accumulates */
+          /* acc0 +=  x[3] * y[srcBLen - 4] */
+          acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x3 * c0)) >> 32);
+          /* acc1 +=  x[4] * y[srcBLen - 4] */
+          acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x0 * c0)) >> 32);
+          /* acc2 +=  x[5] * y[srcBLen - 4] */
+          acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x1 * c0)) >> 32);
+          /* acc3 +=  x[6] * y[srcBLen - 4] */
+          acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x2 * c0)) >> 32);
+
+
+        } while(--k);
+
+        /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.    
+         ** No loop unrolling is used. */
+        k = srcBLen % 0x4u;
+
+        while(k > 0u)
+        {
+          /* Read y[srcBLen - 5] sample */
+          c0 = *(py--);
+
+          /* Read x[7] sample */
+          x3 = *(px++);
+
+          /* Perform the multiply-accumulates */
+          /* acc0 +=  x[4] * y[srcBLen - 5] */
+          acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x0 * c0)) >> 32);
+          /* acc1 +=  x[5] * y[srcBLen - 5] */
+          acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x1 * c0)) >> 32);
+          /* acc2 +=  x[6] * y[srcBLen - 5] */
+          acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x2 * c0)) >> 32);
+          /* acc3 +=  x[7] * y[srcBLen - 5] */
+          acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x3 * c0)) >> 32);
+
+          /* Reuse the present samples for the next MAC */
+          x0 = x1;
+          x1 = x2;
+          x2 = x3;
+
+          /* Decrement the loop counter */
+          k--;
+        }
+
+        /* Store the result in the accumulator in the destination buffer. */
+        *pOut++ = (q31_t) (acc0 << 1);
+        *pOut++ = (q31_t) (acc1 << 1);
+        *pOut++ = (q31_t) (acc2 << 1);
+        *pOut++ = (q31_t) (acc3 << 1);
+
+        /* Increment the pointer pIn1 index, count by 4 */
+        count += 4u;
+
+        /* Update the inputA and inputB pointers for next MAC calculation */
+        px = pIn1 + count;
+        py = pSrc2;
+
+        /* Decrement the loop counter */
+        blkCnt--;
+      }
+
+      /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.    
+       ** No loop unrolling is used. */
+      blkCnt = (uint32_t) blockSize2 % 0x4u;
+
+      while(blkCnt > 0u)
+      {
+        /* Accumulator is made zero for every iteration */
+        sum = 0;
+
+        /* Apply loop unrolling and compute 4 MACs simultaneously. */
+        k = srcBLen >> 2u;
+
+        /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
+         ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+        while(k > 0u)
+        {
+          /* Perform the multiply-accumulates */
+          sum = (q31_t) ((((q63_t) sum << 32) +
+                          ((q63_t) * px++ * (*py--))) >> 32);
+          sum = (q31_t) ((((q63_t) sum << 32) +
+                          ((q63_t) * px++ * (*py--))) >> 32);
+          sum = (q31_t) ((((q63_t) sum << 32) +
+                          ((q63_t) * px++ * (*py--))) >> 32);
+          sum = (q31_t) ((((q63_t) sum << 32) +
+                          ((q63_t) * px++ * (*py--))) >> 32);
+
+          /* Decrement the loop counter */
+          k--;
+        }
+
+        /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.    
+         ** No loop unrolling is used. */
+        k = srcBLen % 0x4u;
+
+        while(k > 0u)
+        {
+          /* Perform the multiply-accumulate */
+          sum = (q31_t) ((((q63_t) sum << 32) +
+                          ((q63_t) * px++ * (*py--))) >> 32);
+
+          /* Decrement the loop counter */
+          k--;
+        }
+
+        /* Store the result in the accumulator in the destination buffer. */
+        *pOut++ = sum << 1;
+
+        /* Increment the MAC count */
+        count++;
+
+        /* Update the inputA and inputB pointers for next MAC calculation */
+        px = pIn1 + count;
+        py = pSrc2;
+
+        /* Decrement the loop counter */
+        blkCnt--;
+      }
+    }
+    else
+    {
+      /* If the srcBLen is not a multiple of 4,    
+       * the blockSize2 loop cannot be unrolled by 4 */
+      blkCnt = (uint32_t) blockSize2;
+
+      while(blkCnt > 0u)
+      {
+        /* Accumulator is made zero for every iteration */
+        sum = 0;
+
+        /* srcBLen number of MACS should be performed */
+        k = srcBLen;
+
+        while(k > 0u)
+        {
+          /* Perform the multiply-accumulate */
+          sum = (q31_t) ((((q63_t) sum << 32) +
+                          ((q63_t) * px++ * (*py--))) >> 32);
+
+          /* Decrement the loop counter */
+          k--;
+        }
+
+        /* Store the result in the accumulator in the destination buffer. */
+        *pOut++ = sum << 1;
+
+        /* Increment the MAC count */
+        count++;
+
+        /* Update the inputA and inputB pointers for next MAC calculation */
+        px = pIn1 + count;
+        py = pSrc2;
+
+        /* Decrement the loop counter */
+        blkCnt--;
+      }
+    }
+
+
+    /* --------------------------    
+     * Initializations of stage3    
+     * -------------------------*/
+
+    /* sum += x[srcALen-srcBLen+1] * y[srcBLen-1] + x[srcALen-srcBLen+2] * y[srcBLen-2] +...+ x[srcALen-1] * y[1]    
+     * sum += x[srcALen-srcBLen+2] * y[srcBLen-1] + x[srcALen-srcBLen+3] * y[srcBLen-2] +...+ x[srcALen-1] * y[2]    
+     * ....    
+     * sum +=  x[srcALen-2] * y[srcBLen-1] + x[srcALen-1] * y[srcBLen-2]    
+     * sum +=  x[srcALen-1] * y[srcBLen-1]    
+     */
+
+    /* In this stage the MAC operations are decreased by 1 for every iteration.    
+       The count variable holds the number of MAC operations performed */
+    count = srcBLen - 1u;
+
+    /* Working pointer of inputA */
+    pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);
+    px = pSrc1;
+
+    /* Working pointer of inputB */
+    pSrc2 = pIn2 + (srcBLen - 1u);
+    py = pSrc2;
+
+    /* -------------------    
+     * Stage3 process    
+     * ------------------*/
+
+    while(blockSize3 > 0)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = count >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      while(k > 0u)
+      {
+        /* sum += x[srcALen - srcBLen + 1] * y[srcBLen - 1] */
+        sum = (q31_t) ((((q63_t) sum << 32) +
+                        ((q63_t) * px++ * (*py--))) >> 32);
+
+        /* sum += x[srcALen - srcBLen + 2] * y[srcBLen - 2] */
+        sum = (q31_t) ((((q63_t) sum << 32) +
+                        ((q63_t) * px++ * (*py--))) >> 32);
+
+        /* sum += x[srcALen - srcBLen + 3] * y[srcBLen - 3] */
+        sum = (q31_t) ((((q63_t) sum << 32) +
+                        ((q63_t) * px++ * (*py--))) >> 32);
+
+        /* sum += x[srcALen - srcBLen + 4] * y[srcBLen - 4] */
+        sum = (q31_t) ((((q63_t) sum << 32) +
+                        ((q63_t) * px++ * (*py--))) >> 32);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* If the count is not a multiple of 4, compute any remaining MACs here.    
+       ** No loop unrolling is used. */
+      k = count % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        /* sum +=  x[srcALen-1] * y[srcBLen-1] */
+        sum = (q31_t) ((((q63_t) sum << 32) +
+                        ((q63_t) * px++ * (*py--))) >> 32);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = sum << 1;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = ++pSrc1;
+      py = pSrc2;
+
+      /* Decrement the MAC count */
+      count--;
+
+      /* Decrement the loop counter */
+      blockSize3--;
+
+    }
+
+    /* set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+
+}
+
+/**    
+ * @} end of PartialConv group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_opt_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_opt_q15.c
new file mode 100644
index 000000000..fe14f9fd3
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_opt_q15.c
@@ -0,0 +1,764 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_conv_partial_opt_q15.c    
+*    
+* Description:	Partial convolution of Q15 sequences.   
+*    
+* Target Processor: Cortex-M4/Cortex-M3
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*  
+* Version 1.0.11 2011/10/18  
+*    Bug Fix in conv, correlation, partial convolution.  
+* 
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+*    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup PartialConv    
+ * @{    
+ */
+
+/**    
+ * @brief Partial convolution of Q15 sequences.    
+ * @param[in]       *pSrcA points to the first input sequence.    
+ * @param[in]       srcALen length of the first input sequence.    
+ * @param[in]       *pSrcB points to the second input sequence.    
+ * @param[in]       srcBLen length of the second input sequence.    
+ * @param[out]      *pDst points to the location where the output result is written.    
+ * @param[in]       firstIndex is the first output sample to start with.    
+ * @param[in]       numPoints is the number of output points to be computed.    
+ * @param[in]       *pScratch1 points to scratch buffer of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2.   
+ * @param[in]       *pScratch2 points to scratch buffer of size min(srcALen, srcBLen).   
+ * @return  Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].    
+ *    
+ * \par Restrictions    
+ *  If the silicon does not support unaligned memory access enable the macro UNALIGNED_SUPPORT_DISABLE    
+ *	In this case input, output, state buffers should be aligned by 32-bit    
+ *    
+ * Refer to arm_conv_partial_fast_q15() for a faster but less precise version of this function for Cortex-M3 and Cortex-M4.   
+ *  
+ * 
+ */
+
+#ifndef UNALIGNED_SUPPORT_DISABLE
+
+arm_status arm_conv_partial_opt_q15(
+  q15_t * pSrcA,
+  uint32_t srcALen,
+  q15_t * pSrcB,
+  uint32_t srcBLen,
+  q15_t * pDst,
+  uint32_t firstIndex,
+  uint32_t numPoints,
+  q15_t * pScratch1,
+  q15_t * pScratch2)
+{
+
+  q15_t *pOut = pDst;                            /* output pointer */
+  q15_t *pScr1 = pScratch1;                      /* Temporary pointer for scratch1 */
+  q15_t *pScr2 = pScratch2;                      /* Temporary pointer for scratch1 */
+  q63_t acc0, acc1, acc2, acc3;                  /* Accumulator */
+  q31_t x1, x2, x3;                              /* Temporary variables to hold state and coefficient values */
+  q31_t y1, y2;                                  /* State variables */
+  q15_t *pIn1;                                   /* inputA pointer */
+  q15_t *pIn2;                                   /* inputB pointer */
+  q15_t *px;                                     /* Intermediate inputA pointer  */
+  q15_t *py;                                     /* Intermediate inputB pointer  */
+  uint32_t j, k, blkCnt;                         /* loop counter */
+  arm_status status;                             /* Status variable */
+  uint32_t tapCnt;                               /* loop count */
+
+  /* Check for range of output samples to be calculated */
+  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))
+  {
+    /* Set status as ARM_MATH_ARGUMENT_ERROR */
+    status = ARM_MATH_ARGUMENT_ERROR;
+  }
+  else
+  {
+
+    /* The algorithm implementation is based on the lengths of the inputs. */
+    /* srcB is always made to slide across srcA. */
+    /* So srcBLen is always considered as shorter or equal to srcALen */
+    if(srcALen >= srcBLen)
+    {
+      /* Initialization of inputA pointer */
+      pIn1 = pSrcA;
+
+      /* Initialization of inputB pointer */
+      pIn2 = pSrcB;
+    }
+    else
+    {
+      /* Initialization of inputA pointer */
+      pIn1 = pSrcB;
+
+      /* Initialization of inputB pointer */
+      pIn2 = pSrcA;
+
+      /* srcBLen is always considered as shorter or equal to srcALen */
+      j = srcBLen;
+      srcBLen = srcALen;
+      srcALen = j;
+    }
+
+    /* Temporary pointer for scratch2 */
+    py = pScratch2;
+
+    /* pointer to take end of scratch2 buffer */
+    pScr2 = pScratch2 + srcBLen - 1;
+
+    /* points to smaller length sequence */
+    px = pIn2;
+
+    /* Apply loop unrolling and do 4 Copies simultaneously. */
+    k = srcBLen >> 2u;
+
+    /* First part of the processing with loop unrolling copies 4 data points at a time.       
+     ** a second loop below copies for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* copy second buffer in reversal manner */
+      *pScr2-- = *px++;
+      *pScr2-- = *px++;
+      *pScr2-- = *px++;
+      *pScr2-- = *px++;
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* If the count is not a multiple of 4, copy remaining samples here.       
+     ** No loop unrolling is used. */
+    k = srcBLen % 0x4u;
+
+    while(k > 0u)
+    {
+      /* copy second buffer in reversal manner for remaining samples */
+      *pScr2-- = *px++;
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Initialze temporary scratch pointer */
+    pScr1 = pScratch1;
+
+    /* Fill (srcBLen - 1u) zeros in scratch buffer */
+    arm_fill_q15(0, pScr1, (srcBLen - 1u));
+
+    /* Update temporary scratch pointer */
+    pScr1 += (srcBLen - 1u);
+
+    /* Copy bigger length sequence(srcALen) samples in scratch1 buffer */
+
+    /* Copy (srcALen) samples in scratch buffer */
+    arm_copy_q15(pIn1, pScr1, srcALen);
+
+    /* Update pointers */
+    pScr1 += srcALen;
+
+    /* Fill (srcBLen - 1u) zeros at end of scratch buffer */
+    arm_fill_q15(0, pScr1, (srcBLen - 1u));
+
+    /* Update pointer */
+    pScr1 += (srcBLen - 1u);
+
+    /* Initialization of pIn2 pointer */
+    pIn2 = py;
+
+    pScratch1 += firstIndex;
+
+    pOut = pDst + firstIndex;
+
+    /* Actual convolution process starts here */
+    blkCnt = (numPoints) >> 2;
+
+    while(blkCnt > 0)
+    {
+      /* Initialze temporary scratch pointer as scratch1 */
+      pScr1 = pScratch1;
+
+      /* Clear Accumlators */
+      acc0 = 0;
+      acc1 = 0;
+      acc2 = 0;
+      acc3 = 0;
+
+      /* Read two samples from scratch1 buffer */
+      x1 = *__SIMD32(pScr1)++;
+
+      /* Read next two samples from scratch1 buffer */
+      x2 = *__SIMD32(pScr1)++;
+
+      tapCnt = (srcBLen) >> 2u;
+
+      while(tapCnt > 0u)
+      {
+
+        /* Read four samples from smaller buffer */
+        y1 = _SIMD32_OFFSET(pIn2);
+        y2 = _SIMD32_OFFSET(pIn2 + 2u);
+
+        /* multiply and accumlate */
+        acc0 = __SMLALD(x1, y1, acc0);
+        acc2 = __SMLALD(x2, y1, acc2);
+
+        /* pack input data */
+#ifndef ARM_MATH_BIG_ENDIAN
+        x3 = __PKHBT(x2, x1, 0);
+#else
+        x3 = __PKHBT(x1, x2, 0);
+#endif
+
+        /* multiply and accumlate */
+        acc1 = __SMLALDX(x3, y1, acc1);
+
+        /* Read next two samples from scratch1 buffer */
+        x1 = _SIMD32_OFFSET(pScr1);
+
+        /* multiply and accumlate */
+        acc0 = __SMLALD(x2, y2, acc0);
+        acc2 = __SMLALD(x1, y2, acc2);
+
+        /* pack input data */
+#ifndef ARM_MATH_BIG_ENDIAN
+        x3 = __PKHBT(x1, x2, 0);
+#else
+        x3 = __PKHBT(x2, x1, 0);
+#endif
+
+        acc3 = __SMLALDX(x3, y1, acc3);
+        acc1 = __SMLALDX(x3, y2, acc1);
+
+        x2 = _SIMD32_OFFSET(pScr1 + 2u);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+        x3 = __PKHBT(x2, x1, 0);
+#else
+        x3 = __PKHBT(x1, x2, 0);
+#endif
+
+        acc3 = __SMLALDX(x3, y2, acc3);
+
+        /* update scratch pointers */
+        pIn2 += 4u;
+        pScr1 += 4u;
+
+
+        /* Decrement the loop counter */
+        tapCnt--;
+      }
+
+      /* Update scratch pointer for remaining samples of smaller length sequence */
+      pScr1 -= 4u;
+
+      /* apply same above for remaining samples of smaller length sequence */
+      tapCnt = (srcBLen) & 3u;
+
+      while(tapCnt > 0u)
+      {
+        /* accumlate the results */
+        acc0 += (*pScr1++ * *pIn2);
+        acc1 += (*pScr1++ * *pIn2);
+        acc2 += (*pScr1++ * *pIn2);
+        acc3 += (*pScr1++ * *pIn2++);
+
+        pScr1 -= 3u;
+
+        /* Decrement the loop counter */
+        tapCnt--;
+      }
+
+      blkCnt--;
+
+
+      /* Store the results in the accumulators in the destination buffer. */
+
+#ifndef  ARM_MATH_BIG_ENDIAN
+
+      *__SIMD32(pOut)++ =
+        __PKHBT(__SSAT((acc0 >> 15), 16), __SSAT((acc1 >> 15), 16), 16);
+      *__SIMD32(pOut)++ =
+        __PKHBT(__SSAT((acc2 >> 15), 16), __SSAT((acc3 >> 15), 16), 16);
+
+#else
+
+      *__SIMD32(pOut)++ =
+        __PKHBT(__SSAT((acc1 >> 15), 16), __SSAT((acc0 >> 15), 16), 16);
+      *__SIMD32(pOut)++ =
+        __PKHBT(__SSAT((acc3 >> 15), 16), __SSAT((acc2 >> 15), 16), 16);
+
+#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
+
+      /* Initialization of inputB pointer */
+      pIn2 = py;
+
+      pScratch1 += 4u;
+
+    }
+
+
+    blkCnt = numPoints & 0x3;
+
+    /* Calculate convolution for remaining samples of Bigger length sequence */
+    while(blkCnt > 0)
+    {
+      /* Initialze temporary scratch pointer as scratch1 */
+      pScr1 = pScratch1;
+
+      /* Clear Accumlators */
+      acc0 = 0;
+
+      tapCnt = (srcBLen) >> 1u;
+
+      while(tapCnt > 0u)
+      {
+
+        /* Read next two samples from scratch1 buffer */
+        x1 = *__SIMD32(pScr1)++;
+
+        /* Read two samples from smaller buffer */
+        y1 = *__SIMD32(pIn2)++;
+
+        acc0 = __SMLALD(x1, y1, acc0);
+
+        /* Decrement the loop counter */
+        tapCnt--;
+      }
+
+      tapCnt = (srcBLen) & 1u;
+
+      /* apply same above for remaining samples of smaller length sequence */
+      while(tapCnt > 0u)
+      {
+
+        /* accumlate the results */
+        acc0 += (*pScr1++ * *pIn2++);
+
+        /* Decrement the loop counter */
+        tapCnt--;
+      }
+
+      blkCnt--;
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = (q15_t) (__SSAT((acc0 >> 15), 16));
+
+      /* Initialization of inputB pointer */
+      pIn2 = py;
+
+      pScratch1 += 1u;
+
+    }
+
+    /* set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+
+  }
+
+  /* Return to application */
+  return (status);
+}
+
+#else
+
+arm_status arm_conv_partial_opt_q15(
+  q15_t * pSrcA,
+  uint32_t srcALen,
+  q15_t * pSrcB,
+  uint32_t srcBLen,
+  q15_t * pDst,
+  uint32_t firstIndex,
+  uint32_t numPoints,
+  q15_t * pScratch1,
+  q15_t * pScratch2)
+{
+
+  q15_t *pOut = pDst;                            /* output pointer */
+  q15_t *pScr1 = pScratch1;                      /* Temporary pointer for scratch1 */
+  q15_t *pScr2 = pScratch2;                      /* Temporary pointer for scratch1 */
+  q63_t acc0, acc1, acc2, acc3;                  /* Accumulator */
+  q15_t *pIn1;                                   /* inputA pointer */
+  q15_t *pIn2;                                   /* inputB pointer */
+  q15_t *px;                                     /* Intermediate inputA pointer  */
+  q15_t *py;                                     /* Intermediate inputB pointer  */
+  uint32_t j, k, blkCnt;                         /* loop counter */
+  arm_status status;                             /* Status variable */
+  uint32_t tapCnt;                               /* loop count */
+  q15_t x10, x11, x20, x21;                      /* Temporary variables to hold srcA buffer */
+  q15_t y10, y11;                                /* Temporary variables to hold srcB buffer */
+
+
+  /* Check for range of output samples to be calculated */
+  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))
+  {
+    /* Set status as ARM_MATH_ARGUMENT_ERROR */
+    status = ARM_MATH_ARGUMENT_ERROR;
+  }
+  else
+  {
+
+    /* The algorithm implementation is based on the lengths of the inputs. */
+    /* srcB is always made to slide across srcA. */
+    /* So srcBLen is always considered as shorter or equal to srcALen */
+    if(srcALen >= srcBLen)
+    {
+      /* Initialization of inputA pointer */
+      pIn1 = pSrcA;
+
+      /* Initialization of inputB pointer */
+      pIn2 = pSrcB;
+    }
+    else
+    {
+      /* Initialization of inputA pointer */
+      pIn1 = pSrcB;
+
+      /* Initialization of inputB pointer */
+      pIn2 = pSrcA;
+
+      /* srcBLen is always considered as shorter or equal to srcALen */
+      j = srcBLen;
+      srcBLen = srcALen;
+      srcALen = j;
+    }
+
+    /* Temporary pointer for scratch2 */
+    py = pScratch2;
+
+    /* pointer to take end of scratch2 buffer */
+    pScr2 = pScratch2 + srcBLen - 1;
+
+    /* points to smaller length sequence */
+    px = pIn2;
+
+    /* Apply loop unrolling and do 4 Copies simultaneously. */
+    k = srcBLen >> 2u;
+
+    /* First part of the processing with loop unrolling copies 4 data points at a time.       
+     ** a second loop below copies for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* copy second buffer in reversal manner */
+      *pScr2-- = *px++;
+      *pScr2-- = *px++;
+      *pScr2-- = *px++;
+      *pScr2-- = *px++;
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* If the count is not a multiple of 4, copy remaining samples here.       
+     ** No loop unrolling is used. */
+    k = srcBLen % 0x4u;
+
+    while(k > 0u)
+    {
+      /* copy second buffer in reversal manner for remaining samples */
+      *pScr2-- = *px++;
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Initialze temporary scratch pointer */
+    pScr1 = pScratch1;
+
+    /* Fill (srcBLen - 1u) zeros in scratch buffer */
+    arm_fill_q15(0, pScr1, (srcBLen - 1u));
+
+    /* Update temporary scratch pointer */
+    pScr1 += (srcBLen - 1u);
+
+    /* Copy bigger length sequence(srcALen) samples in scratch1 buffer */
+
+
+    /* Apply loop unrolling and do 4 Copies simultaneously. */
+    k = srcALen >> 2u;
+
+    /* First part of the processing with loop unrolling copies 4 data points at a time.       
+     ** a second loop below copies for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* copy second buffer in reversal manner */
+      *pScr1++ = *pIn1++;
+      *pScr1++ = *pIn1++;
+      *pScr1++ = *pIn1++;
+      *pScr1++ = *pIn1++;
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* If the count is not a multiple of 4, copy remaining samples here.       
+     ** No loop unrolling is used. */
+    k = srcALen % 0x4u;
+
+    while(k > 0u)
+    {
+      /* copy second buffer in reversal manner for remaining samples */
+      *pScr1++ = *pIn1++;
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+
+    /* Apply loop unrolling and do 4 Copies simultaneously. */
+    k = (srcBLen - 1u) >> 2u;
+
+    /* First part of the processing with loop unrolling copies 4 data points at a time.       
+     ** a second loop below copies for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* copy second buffer in reversal manner */
+      *pScr1++ = 0;
+      *pScr1++ = 0;
+      *pScr1++ = 0;
+      *pScr1++ = 0;
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* If the count is not a multiple of 4, copy remaining samples here.       
+     ** No loop unrolling is used. */
+    k = (srcBLen - 1u) % 0x4u;
+
+    while(k > 0u)
+    {
+      /* copy second buffer in reversal manner for remaining samples */
+      *pScr1++ = 0;
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+
+    /* Initialization of pIn2 pointer */
+    pIn2 = py;
+
+    pScratch1 += firstIndex;
+
+    pOut = pDst + firstIndex;
+
+    /* Actual convolution process starts here */
+    blkCnt = (numPoints) >> 2;
+
+    while(blkCnt > 0)
+    {
+      /* Initialze temporary scratch pointer as scratch1 */
+      pScr1 = pScratch1;
+
+      /* Clear Accumlators */
+      acc0 = 0;
+      acc1 = 0;
+      acc2 = 0;
+      acc3 = 0;
+
+      /* Read two samples from scratch1 buffer */
+      x10 = *pScr1++;
+      x11 = *pScr1++;
+
+      /* Read next two samples from scratch1 buffer */
+      x20 = *pScr1++;
+      x21 = *pScr1++;
+
+      tapCnt = (srcBLen) >> 2u;
+
+      while(tapCnt > 0u)
+      {
+
+        /* Read two samples from smaller buffer */
+        y10 = *pIn2;
+        y11 = *(pIn2 + 1u);
+
+        /* multiply and accumlate */
+        acc0 += (q63_t) x10 *y10;
+        acc0 += (q63_t) x11 *y11;
+        acc2 += (q63_t) x20 *y10;
+        acc2 += (q63_t) x21 *y11;
+
+        /* multiply and accumlate */
+        acc1 += (q63_t) x11 *y10;
+        acc1 += (q63_t) x20 *y11;
+
+        /* Read next two samples from scratch1 buffer */
+        x10 = *pScr1;
+        x11 = *(pScr1 + 1u);
+
+        /* multiply and accumlate */
+        acc3 += (q63_t) x21 *y10;
+        acc3 += (q63_t) x10 *y11;
+
+        /* Read next two samples from scratch2 buffer */
+        y10 = *(pIn2 + 2u);
+        y11 = *(pIn2 + 3u);
+
+        /* multiply and accumlate */
+        acc0 += (q63_t) x20 *y10;
+        acc0 += (q63_t) x21 *y11;
+        acc2 += (q63_t) x10 *y10;
+        acc2 += (q63_t) x11 *y11;
+        acc1 += (q63_t) x21 *y10;
+        acc1 += (q63_t) x10 *y11;
+
+        /* Read next two samples from scratch1 buffer */
+        x20 = *(pScr1 + 2);
+        x21 = *(pScr1 + 3);
+
+        /* multiply and accumlate */
+        acc3 += (q63_t) x11 *y10;
+        acc3 += (q63_t) x20 *y11;
+
+        /* update scratch pointers */
+        pIn2 += 4u;
+        pScr1 += 4u;
+
+        /* Decrement the loop counter */
+        tapCnt--;
+      }
+
+      /* Update scratch pointer for remaining samples of smaller length sequence */
+      pScr1 -= 4u;
+
+      /* apply same above for remaining samples of smaller length sequence */
+      tapCnt = (srcBLen) & 3u;
+
+      while(tapCnt > 0u)
+      {
+        /* accumlate the results */
+        acc0 += (*pScr1++ * *pIn2);
+        acc1 += (*pScr1++ * *pIn2);
+        acc2 += (*pScr1++ * *pIn2);
+        acc3 += (*pScr1++ * *pIn2++);
+
+        pScr1 -= 3u;
+
+        /* Decrement the loop counter */
+        tapCnt--;
+      }
+
+      blkCnt--;
+
+
+      /* Store the results in the accumulators in the destination buffer. */
+      *pOut++ = __SSAT((acc0 >> 15), 16);
+      *pOut++ = __SSAT((acc1 >> 15), 16);
+      *pOut++ = __SSAT((acc2 >> 15), 16);
+      *pOut++ = __SSAT((acc3 >> 15), 16);
+
+
+      /* Initialization of inputB pointer */
+      pIn2 = py;
+
+      pScratch1 += 4u;
+
+    }
+
+
+    blkCnt = numPoints & 0x3;
+
+    /* Calculate convolution for remaining samples of Bigger length sequence */
+    while(blkCnt > 0)
+    {
+      /* Initialze temporary scratch pointer as scratch1 */
+      pScr1 = pScratch1;
+
+      /* Clear Accumlators */
+      acc0 = 0;
+
+      tapCnt = (srcBLen) >> 1u;
+
+      while(tapCnt > 0u)
+      {
+
+        /* Read next two samples from scratch1 buffer */
+        x10 = *pScr1++;
+        x11 = *pScr1++;
+
+        /* Read two samples from smaller buffer */
+        y10 = *pIn2++;
+        y11 = *pIn2++;
+
+        /* multiply and accumlate */
+        acc0 += (q63_t) x10 *y10;
+        acc0 += (q63_t) x11 *y11;
+
+        /* Decrement the loop counter */
+        tapCnt--;
+      }
+
+      tapCnt = (srcBLen) & 1u;
+
+      /* apply same above for remaining samples of smaller length sequence */
+      while(tapCnt > 0u)
+      {
+
+        /* accumlate the results */
+        acc0 += (*pScr1++ * *pIn2++);
+
+        /* Decrement the loop counter */
+        tapCnt--;
+      }
+
+      blkCnt--;
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = (q15_t) (__SSAT((acc0 >> 15), 16));
+
+
+      /* Initialization of inputB pointer */
+      pIn2 = py;
+
+      pScratch1 += 1u;
+
+    }
+
+    /* set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+
+  }
+
+  /* Return to application */
+  return (status);
+}
+
+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
+
+
+/**    
+ * @} end of PartialConv group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_opt_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_opt_q7.c
new file mode 100644
index 000000000..513d89d87
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_opt_q7.c
@@ -0,0 +1,806 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_conv_partial_opt_q7.c    
+*    
+* Description:	Partial convolution of Q7 sequences.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*  
+* Version 1.0.11 2011/10/18  
+*    Bug Fix in conv, correlation, partial convolution.  
+* 
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+*    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup PartialConv    
+ * @{    
+ */
+
+/**    
+ * @brief Partial convolution of Q7 sequences.    
+ * @param[in]       *pSrcA points to the first input sequence.    
+ * @param[in]       srcALen length of the first input sequence.    
+ * @param[in]       *pSrcB points to the second input sequence.    
+ * @param[in]       srcBLen length of the second input sequence.    
+ * @param[out]      *pDst points to the location where the output result is written.    
+ * @param[in]       firstIndex is the first output sample to start with.    
+ * @param[in]       numPoints is the number of output points to be computed.    
+ * @param[in]      *pScratch1 points to scratch buffer(of type q15_t) of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2.    
+ * @param[in]      *pScratch2 points to scratch buffer (of type q15_t) of size min(srcALen, srcBLen).    
+ * @return  Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].    
+ *    
+ * \par Restrictions    
+ *  If the silicon does not support unaligned memory access enable the macro UNALIGNED_SUPPORT_DISABLE    
+ *	In this case input, output, scratch1 and scratch2 buffers should be aligned by 32-bit   
+ * 
+ *
+ * 
+ */
+
+
+#ifndef UNALIGNED_SUPPORT_DISABLE
+
+arm_status arm_conv_partial_opt_q7(
+  q7_t * pSrcA,
+  uint32_t srcALen,
+  q7_t * pSrcB,
+  uint32_t srcBLen,
+  q7_t * pDst,
+  uint32_t firstIndex,
+  uint32_t numPoints,
+  q15_t * pScratch1,
+  q15_t * pScratch2)
+{
+
+  q15_t *pScr2, *pScr1;                          /* Intermediate pointers for scratch pointers */
+  q15_t x4;                                      /* Temporary input variable */
+  q7_t *pIn1, *pIn2;                             /* inputA and inputB pointer */
+  uint32_t j, k, blkCnt, tapCnt;                 /* loop counter */
+  q7_t *px;                                      /* Temporary input1 pointer */
+  q15_t *py;                                     /* Temporary input2 pointer */
+  q31_t acc0, acc1, acc2, acc3;                  /* Accumulator */
+  q31_t x1, x2, x3, y1;                          /* Temporary input variables */
+  arm_status status;
+  q7_t *pOut = pDst;                             /* output pointer */
+  q7_t out0, out1, out2, out3;                   /* temporary variables */
+
+  /* Check for range of output samples to be calculated */
+  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))
+  {
+    /* Set status as ARM_MATH_ARGUMENT_ERROR */
+    status = ARM_MATH_ARGUMENT_ERROR;
+  }
+  else
+  {
+
+    /* The algorithm implementation is based on the lengths of the inputs. */
+    /* srcB is always made to slide across srcA. */
+    /* So srcBLen is always considered as shorter or equal to srcALen */
+    if(srcALen >= srcBLen)
+    {
+      /* Initialization of inputA pointer */
+      pIn1 = pSrcA;
+
+      /* Initialization of inputB pointer */
+      pIn2 = pSrcB;
+    }
+    else
+    {
+      /* Initialization of inputA pointer */
+      pIn1 = pSrcB;
+
+      /* Initialization of inputB pointer */
+      pIn2 = pSrcA;
+
+      /* srcBLen is always considered as shorter or equal to srcALen */
+      j = srcBLen;
+      srcBLen = srcALen;
+      srcALen = j;
+    }
+
+    /* pointer to take end of scratch2 buffer */
+    pScr2 = pScratch2;
+
+    /* points to smaller length sequence */
+    px = pIn2 + srcBLen - 1;
+
+    /* Apply loop unrolling and do 4 Copies simultaneously. */
+    k = srcBLen >> 2u;
+
+    /* First part of the processing with loop unrolling copies 4 data points at a time.       
+     ** a second loop below copies for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* copy second buffer in reversal manner */
+      x4 = (q15_t) * px--;
+      *pScr2++ = x4;
+      x4 = (q15_t) * px--;
+      *pScr2++ = x4;
+      x4 = (q15_t) * px--;
+      *pScr2++ = x4;
+      x4 = (q15_t) * px--;
+      *pScr2++ = x4;
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* If the count is not a multiple of 4, copy remaining samples here.       
+     ** No loop unrolling is used. */
+    k = srcBLen % 0x4u;
+
+    while(k > 0u)
+    {
+      /* copy second buffer in reversal manner for remaining samples */
+      x4 = (q15_t) * px--;
+      *pScr2++ = x4;
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Initialze temporary scratch pointer */
+    pScr1 = pScratch1;
+
+    /* Fill (srcBLen - 1u) zeros in scratch buffer */
+    arm_fill_q15(0, pScr1, (srcBLen - 1u));
+
+    /* Update temporary scratch pointer */
+    pScr1 += (srcBLen - 1u);
+
+    /* Copy (srcALen) samples in scratch buffer */
+    /* Apply loop unrolling and do 4 Copies simultaneously. */
+    k = srcALen >> 2u;
+
+    /* First part of the processing with loop unrolling copies 4 data points at a time.       
+     ** a second loop below copies for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* copy second buffer in reversal manner */
+      x4 = (q15_t) * pIn1++;
+      *pScr1++ = x4;
+      x4 = (q15_t) * pIn1++;
+      *pScr1++ = x4;
+      x4 = (q15_t) * pIn1++;
+      *pScr1++ = x4;
+      x4 = (q15_t) * pIn1++;
+      *pScr1++ = x4;
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* If the count is not a multiple of 4, copy remaining samples here.       
+     ** No loop unrolling is used. */
+    k = srcALen % 0x4u;
+
+    while(k > 0u)
+    {
+      /* copy second buffer in reversal manner for remaining samples */
+      x4 = (q15_t) * pIn1++;
+      *pScr1++ = x4;
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Fill (srcBLen - 1u) zeros at end of scratch buffer */
+    arm_fill_q15(0, pScr1, (srcBLen - 1u));
+
+    /* Update pointer */
+    pScr1 += (srcBLen - 1u);
+
+
+    /* Temporary pointer for scratch2 */
+    py = pScratch2;
+
+    /* Initialization of pIn2 pointer */
+    pIn2 = (q7_t *) py;
+
+    pScr2 = py;
+
+    pOut = pDst + firstIndex;
+
+    pScratch1 += firstIndex;
+
+    /* Actual convolution process starts here */
+    blkCnt = (numPoints) >> 2;
+
+
+    while(blkCnt > 0)
+    {
+      /* Initialze temporary scratch pointer as scratch1 */
+      pScr1 = pScratch1;
+
+      /* Clear Accumlators */
+      acc0 = 0;
+      acc1 = 0;
+      acc2 = 0;
+      acc3 = 0;
+
+      /* Read two samples from scratch1 buffer */
+      x1 = *__SIMD32(pScr1)++;
+
+      /* Read next two samples from scratch1 buffer */
+      x2 = *__SIMD32(pScr1)++;
+
+      tapCnt = (srcBLen) >> 2u;
+
+      while(tapCnt > 0u)
+      {
+
+        /* Read four samples from smaller buffer */
+        y1 = _SIMD32_OFFSET(pScr2);
+
+        /* multiply and accumlate */
+        acc0 = __SMLAD(x1, y1, acc0);
+        acc2 = __SMLAD(x2, y1, acc2);
+
+        /* pack input data */
+#ifndef ARM_MATH_BIG_ENDIAN
+        x3 = __PKHBT(x2, x1, 0);
+#else
+        x3 = __PKHBT(x1, x2, 0);
+#endif
+
+        /* multiply and accumlate */
+        acc1 = __SMLADX(x3, y1, acc1);
+
+        /* Read next two samples from scratch1 buffer */
+        x1 = *__SIMD32(pScr1)++;
+
+        /* pack input data */
+#ifndef ARM_MATH_BIG_ENDIAN
+        x3 = __PKHBT(x1, x2, 0);
+#else
+        x3 = __PKHBT(x2, x1, 0);
+#endif
+
+        acc3 = __SMLADX(x3, y1, acc3);
+
+        /* Read four samples from smaller buffer */
+        y1 = _SIMD32_OFFSET(pScr2 + 2u);
+
+        acc0 = __SMLAD(x2, y1, acc0);
+
+        acc2 = __SMLAD(x1, y1, acc2);
+
+        acc1 = __SMLADX(x3, y1, acc1);
+
+        x2 = *__SIMD32(pScr1)++;
+
+#ifndef ARM_MATH_BIG_ENDIAN
+        x3 = __PKHBT(x2, x1, 0);
+#else
+        x3 = __PKHBT(x1, x2, 0);
+#endif
+
+        acc3 = __SMLADX(x3, y1, acc3);
+
+        pScr2 += 4u;
+
+
+        /* Decrement the loop counter */
+        tapCnt--;
+      }
+
+
+
+      /* Update scratch pointer for remaining samples of smaller length sequence */
+      pScr1 -= 4u;
+
+
+      /* apply same above for remaining samples of smaller length sequence */
+      tapCnt = (srcBLen) & 3u;
+
+      while(tapCnt > 0u)
+      {
+
+        /* accumlate the results */
+        acc0 += (*pScr1++ * *pScr2);
+        acc1 += (*pScr1++ * *pScr2);
+        acc2 += (*pScr1++ * *pScr2);
+        acc3 += (*pScr1++ * *pScr2++);
+
+        pScr1 -= 3u;
+
+        /* Decrement the loop counter */
+        tapCnt--;
+      }
+
+      blkCnt--;
+
+      /* Store the result in the accumulator in the destination buffer. */
+      out0 = (q7_t) (__SSAT(acc0 >> 7u, 8));
+      out1 = (q7_t) (__SSAT(acc1 >> 7u, 8));
+      out2 = (q7_t) (__SSAT(acc2 >> 7u, 8));
+      out3 = (q7_t) (__SSAT(acc3 >> 7u, 8));
+
+      *__SIMD32(pOut)++ = __PACKq7(out0, out1, out2, out3);
+
+      /* Initialization of inputB pointer */
+      pScr2 = py;
+
+      pScratch1 += 4u;
+
+    }
+
+    blkCnt = (numPoints) & 0x3;
+
+    /* Calculate convolution for remaining samples of Bigger length sequence */
+    while(blkCnt > 0)
+    {
+      /* Initialze temporary scratch pointer as scratch1 */
+      pScr1 = pScratch1;
+
+      /* Clear Accumlators */
+      acc0 = 0;
+
+      tapCnt = (srcBLen) >> 1u;
+
+      while(tapCnt > 0u)
+      {
+
+        /* Read next two samples from scratch1 buffer */
+        x1 = *__SIMD32(pScr1)++;
+
+        /* Read two samples from smaller buffer */
+        y1 = *__SIMD32(pScr2)++;
+
+        acc0 = __SMLAD(x1, y1, acc0);
+
+        /* Decrement the loop counter */
+        tapCnt--;
+      }
+
+      tapCnt = (srcBLen) & 1u;
+
+      /* apply same above for remaining samples of smaller length sequence */
+      while(tapCnt > 0u)
+      {
+
+        /* accumlate the results */
+        acc0 += (*pScr1++ * *pScr2++);
+
+        /* Decrement the loop counter */
+        tapCnt--;
+      }
+
+      blkCnt--;
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = (q7_t) (__SSAT(acc0 >> 7u, 8));
+
+      /* Initialization of inputB pointer */
+      pScr2 = py;
+
+      pScratch1 += 1u;
+
+    }
+
+    /* set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+
+
+  }
+
+  return (status);
+
+}
+
+#else
+
+arm_status arm_conv_partial_opt_q7(
+  q7_t * pSrcA,
+  uint32_t srcALen,
+  q7_t * pSrcB,
+  uint32_t srcBLen,
+  q7_t * pDst,
+  uint32_t firstIndex,
+  uint32_t numPoints,
+  q15_t * pScratch1,
+  q15_t * pScratch2)
+{
+
+  q15_t *pScr2, *pScr1;                          /* Intermediate pointers for scratch pointers */
+  q15_t x4;                                      /* Temporary input variable */
+  q7_t *pIn1, *pIn2;                             /* inputA and inputB pointer */
+  uint32_t j, k, blkCnt, tapCnt;                 /* loop counter */
+  q7_t *px;                                      /* Temporary input1 pointer */
+  q15_t *py;                                     /* Temporary input2 pointer */
+  q31_t acc0, acc1, acc2, acc3;                  /* Accumulator */
+  arm_status status;
+  q7_t *pOut = pDst;                             /* output pointer */
+  q15_t x10, x11, x20, x21;                      /* Temporary input variables */
+  q15_t y10, y11;                                /* Temporary input variables */
+  q7_t out0, out1, out2, out3;                   /* temporary variables */
+
+  /* Check for range of output samples to be calculated */
+  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))
+  {
+    /* Set status as ARM_MATH_ARGUMENT_ERROR */
+    status = ARM_MATH_ARGUMENT_ERROR;
+  }
+  else
+  {
+
+    /* The algorithm implementation is based on the lengths of the inputs. */
+    /* srcB is always made to slide across srcA. */
+    /* So srcBLen is always considered as shorter or equal to srcALen */
+    if(srcALen >= srcBLen)
+    {
+      /* Initialization of inputA pointer */
+      pIn1 = pSrcA;
+
+      /* Initialization of inputB pointer */
+      pIn2 = pSrcB;
+    }
+    else
+    {
+      /* Initialization of inputA pointer */
+      pIn1 = pSrcB;
+
+      /* Initialization of inputB pointer */
+      pIn2 = pSrcA;
+
+      /* srcBLen is always considered as shorter or equal to srcALen */
+      j = srcBLen;
+      srcBLen = srcALen;
+      srcALen = j;
+    }
+
+    /* pointer to take end of scratch2 buffer */
+    pScr2 = pScratch2;
+
+    /* points to smaller length sequence */
+    px = pIn2 + srcBLen - 1;
+
+    /* Apply loop unrolling and do 4 Copies simultaneously. */
+    k = srcBLen >> 2u;
+
+    /* First part of the processing with loop unrolling copies 4 data points at a time.       
+     ** a second loop below copies for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* copy second buffer in reversal manner */
+      x4 = (q15_t) * px--;
+      *pScr2++ = x4;
+      x4 = (q15_t) * px--;
+      *pScr2++ = x4;
+      x4 = (q15_t) * px--;
+      *pScr2++ = x4;
+      x4 = (q15_t) * px--;
+      *pScr2++ = x4;
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* If the count is not a multiple of 4, copy remaining samples here.       
+     ** No loop unrolling is used. */
+    k = srcBLen % 0x4u;
+
+    while(k > 0u)
+    {
+      /* copy second buffer in reversal manner for remaining samples */
+      x4 = (q15_t) * px--;
+      *pScr2++ = x4;
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Initialze temporary scratch pointer */
+    pScr1 = pScratch1;
+
+    /* Fill (srcBLen - 1u) zeros in scratch buffer */
+    arm_fill_q15(0, pScr1, (srcBLen - 1u));
+
+    /* Update temporary scratch pointer */
+    pScr1 += (srcBLen - 1u);
+
+    /* Copy (srcALen) samples in scratch buffer */
+    /* Apply loop unrolling and do 4 Copies simultaneously. */
+    k = srcALen >> 2u;
+
+    /* First part of the processing with loop unrolling copies 4 data points at a time.       
+     ** a second loop below copies for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* copy second buffer in reversal manner */
+      x4 = (q15_t) * pIn1++;
+      *pScr1++ = x4;
+      x4 = (q15_t) * pIn1++;
+      *pScr1++ = x4;
+      x4 = (q15_t) * pIn1++;
+      *pScr1++ = x4;
+      x4 = (q15_t) * pIn1++;
+      *pScr1++ = x4;
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* If the count is not a multiple of 4, copy remaining samples here.       
+     ** No loop unrolling is used. */
+    k = srcALen % 0x4u;
+
+    while(k > 0u)
+    {
+      /* copy second buffer in reversal manner for remaining samples */
+      x4 = (q15_t) * pIn1++;
+      *pScr1++ = x4;
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Apply loop unrolling and do 4 Copies simultaneously. */
+    k = (srcBLen - 1u) >> 2u;
+
+    /* First part of the processing with loop unrolling copies 4 data points at a time.       
+     ** a second loop below copies for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* copy second buffer in reversal manner */
+      *pScr1++ = 0;
+      *pScr1++ = 0;
+      *pScr1++ = 0;
+      *pScr1++ = 0;
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* If the count is not a multiple of 4, copy remaining samples here.       
+     ** No loop unrolling is used. */
+    k = (srcBLen - 1u) % 0x4u;
+
+    while(k > 0u)
+    {
+      /* copy second buffer in reversal manner for remaining samples */
+      *pScr1++ = 0;
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+
+    /* Temporary pointer for scratch2 */
+    py = pScratch2;
+
+    /* Initialization of pIn2 pointer */
+    pIn2 = (q7_t *) py;
+
+    pScr2 = py;
+
+    pOut = pDst + firstIndex;
+
+    pScratch1 += firstIndex;
+
+    /* Actual convolution process starts here */
+    blkCnt = (numPoints) >> 2;
+
+
+    while(blkCnt > 0)
+    {
+      /* Initialze temporary scratch pointer as scratch1 */
+      pScr1 = pScratch1;
+
+      /* Clear Accumlators */
+      acc0 = 0;
+      acc1 = 0;
+      acc2 = 0;
+      acc3 = 0;
+
+      /* Read two samples from scratch1 buffer */
+      x10 = *pScr1++;
+      x11 = *pScr1++;
+
+      /* Read next two samples from scratch1 buffer */
+      x20 = *pScr1++;
+      x21 = *pScr1++;
+
+      tapCnt = (srcBLen) >> 2u;
+
+      while(tapCnt > 0u)
+      {
+
+        /* Read four samples from smaller buffer */
+        y10 = *pScr2;
+        y11 = *(pScr2 + 1u);
+
+        /* multiply and accumlate */
+        acc0 += (q31_t) x10 *y10;
+        acc0 += (q31_t) x11 *y11;
+        acc2 += (q31_t) x20 *y10;
+        acc2 += (q31_t) x21 *y11;
+
+
+        acc1 += (q31_t) x11 *y10;
+        acc1 += (q31_t) x20 *y11;
+
+        /* Read next two samples from scratch1 buffer */
+        x10 = *pScr1;
+        x11 = *(pScr1 + 1u);
+
+        /* multiply and accumlate */
+        acc3 += (q31_t) x21 *y10;
+        acc3 += (q31_t) x10 *y11;
+
+        /* Read next two samples from scratch2 buffer */
+        y10 = *(pScr2 + 2u);
+        y11 = *(pScr2 + 3u);
+
+        /* multiply and accumlate */
+        acc0 += (q31_t) x20 *y10;
+        acc0 += (q31_t) x21 *y11;
+        acc2 += (q31_t) x10 *y10;
+        acc2 += (q31_t) x11 *y11;
+        acc1 += (q31_t) x21 *y10;
+        acc1 += (q31_t) x10 *y11;
+
+        /* Read next two samples from scratch1 buffer */
+        x20 = *(pScr1 + 2);
+        x21 = *(pScr1 + 3);
+
+        /* multiply and accumlate */
+        acc3 += (q31_t) x11 *y10;
+        acc3 += (q31_t) x20 *y11;
+
+        /* update scratch pointers */
+
+        pScr1 += 4u;
+        pScr2 += 4u;
+
+        /* Decrement the loop counter */
+        tapCnt--;
+      }
+
+
+
+      /* Update scratch pointer for remaining samples of smaller length sequence */
+      pScr1 -= 4u;
+
+
+      /* apply same above for remaining samples of smaller length sequence */
+      tapCnt = (srcBLen) & 3u;
+
+      while(tapCnt > 0u)
+      {
+
+        /* accumlate the results */
+        acc0 += (*pScr1++ * *pScr2);
+        acc1 += (*pScr1++ * *pScr2);
+        acc2 += (*pScr1++ * *pScr2);
+        acc3 += (*pScr1++ * *pScr2++);
+
+        pScr1 -= 3u;
+
+        /* Decrement the loop counter */
+        tapCnt--;
+      }
+
+      blkCnt--;
+
+      /* Store the result in the accumulator in the destination buffer. */
+      out0 = (q7_t) (__SSAT(acc0 >> 7u, 8));
+      out1 = (q7_t) (__SSAT(acc1 >> 7u, 8));
+      out2 = (q7_t) (__SSAT(acc2 >> 7u, 8));
+      out3 = (q7_t) (__SSAT(acc3 >> 7u, 8));
+
+
+      *__SIMD32(pOut)++ = __PACKq7(out0, out1, out2, out3);
+
+      /* Initialization of inputB pointer */
+      pScr2 = py;
+
+      pScratch1 += 4u;
+
+    }
+
+    blkCnt = (numPoints) & 0x3;
+
+    /* Calculate convolution for remaining samples of Bigger length sequence */
+    while(blkCnt > 0)
+    {
+      /* Initialze temporary scratch pointer as scratch1 */
+      pScr1 = pScratch1;
+
+      /* Clear Accumlators */
+      acc0 = 0;
+
+      tapCnt = (srcBLen) >> 1u;
+
+      while(tapCnt > 0u)
+      {
+
+        /* Read next two samples from scratch1 buffer */
+        x10 = *pScr1++;
+        x11 = *pScr1++;
+
+        /* Read two samples from smaller buffer */
+        y10 = *pScr2++;
+        y11 = *pScr2++;
+
+        /* multiply and accumlate */
+        acc0 += (q31_t) x10 *y10;
+        acc0 += (q31_t) x11 *y11;
+
+        /* Decrement the loop counter */
+        tapCnt--;
+      }
+
+      tapCnt = (srcBLen) & 1u;
+
+      /* apply same above for remaining samples of smaller length sequence */
+      while(tapCnt > 0u)
+      {
+
+        /* accumlate the results */
+        acc0 += (*pScr1++ * *pScr2++);
+
+        /* Decrement the loop counter */
+        tapCnt--;
+      }
+
+      blkCnt--;
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = (q7_t) (__SSAT(acc0 >> 7u, 8));
+
+      /* Initialization of inputB pointer */
+      pScr2 = py;
+
+      pScratch1 += 1u;
+
+    }
+
+    /* set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+
+  }
+
+  return (status);
+
+}
+
+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
+
+
+
+/**    
+ * @} end of PartialConv group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q15.c
new file mode 100644
index 000000000..8c7ed5f86
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q15.c
@@ -0,0 +1,778 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_conv_partial_q15.c   
+*   
+* Description:	Partial convolution of Q15 sequences.  
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+* 
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*  
+* Version 1.0.11 2011/10/18 
+*    Bug Fix in conv, correlation, partial convolution. 
+*
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+*   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup PartialConv   
+ * @{   
+ */
+
+/**   
+ * @brief Partial convolution of Q15 sequences.   
+ * @param[in]       *pSrcA points to the first input sequence.   
+ * @param[in]       srcALen length of the first input sequence.   
+ * @param[in]       *pSrcB points to the second input sequence.   
+ * @param[in]       srcBLen length of the second input sequence.   
+ * @param[out]      *pDst points to the location where the output result is written.   
+ * @param[in]       firstIndex is the first output sample to start with.   
+ * @param[in]       numPoints is the number of output points to be computed.   
+ * @return  Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].   
+ *   
+ * Refer to arm_conv_partial_fast_q15() for a faster but less precise version of this function for Cortex-M3 and Cortex-M4.  
+ * 
+ * \par    
+ * Refer the function arm_conv_partial_opt_q15() for a faster implementation of this function using scratch buffers.
+ * 
+ */
+
+
+arm_status arm_conv_partial_q15(
+  q15_t * pSrcA,
+  uint32_t srcALen,
+  q15_t * pSrcB,
+  uint32_t srcBLen,
+  q15_t * pDst,
+  uint32_t firstIndex,
+  uint32_t numPoints)
+{
+
+#if (defined(ARM_MATH_CM4) || defined(ARM_MATH_CM3)) && !defined(UNALIGNED_SUPPORT_DISABLE)
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q15_t *pIn1;                                   /* inputA pointer               */
+  q15_t *pIn2;                                   /* inputB pointer               */
+  q15_t *pOut = pDst;                            /* output pointer               */
+  q63_t sum, acc0, acc1, acc2, acc3;             /* Accumulator                  */
+  q15_t *px;                                     /* Intermediate inputA pointer  */
+  q15_t *py;                                     /* Intermediate inputB pointer  */
+  q15_t *pSrc1, *pSrc2;                          /* Intermediate pointers        */
+  q31_t x0, x1, x2, x3, c0;                      /* Temporary input variables */
+  uint32_t j, k, count, check, blkCnt;
+  int32_t blockSize1, blockSize2, blockSize3;    /* loop counter                 */
+  arm_status status;                             /* status of Partial convolution */
+
+  /* Check for range of output samples to be calculated */
+  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))
+  {
+    /* Set status as ARM_MATH_ARGUMENT_ERROR */
+    status = ARM_MATH_ARGUMENT_ERROR;
+  }
+  else
+  {
+
+    /* The algorithm implementation is based on the lengths of the inputs. */
+    /* srcB is always made to slide across srcA. */
+    /* So srcBLen is always considered as shorter or equal to srcALen */
+    if(srcALen >= srcBLen)
+    {
+      /* Initialization of inputA pointer */
+      pIn1 = pSrcA;
+
+      /* Initialization of inputB pointer */
+      pIn2 = pSrcB;
+    }
+    else
+    {
+      /* Initialization of inputA pointer */
+      pIn1 = pSrcB;
+
+      /* Initialization of inputB pointer */
+      pIn2 = pSrcA;
+
+      /* srcBLen is always considered as shorter or equal to srcALen */
+      j = srcBLen;
+      srcBLen = srcALen;
+      srcALen = j;
+    }
+
+    /* Conditions to check which loopCounter holds   
+     * the first and last indices of the output samples to be calculated. */
+    check = firstIndex + numPoints;
+    blockSize3 = ((int32_t) check - (int32_t) srcALen);
+    blockSize3 = (blockSize3 > 0) ? blockSize3 : 0;
+    blockSize1 = (((int32_t) srcBLen - 1) - (int32_t) firstIndex);
+    blockSize1 = (blockSize1 > 0) ? ((check > (srcBLen - 1u)) ? blockSize1 :
+                                     (int32_t) numPoints) : 0;
+    blockSize2 = (int32_t) check - ((blockSize3 + blockSize1) +
+                                    (int32_t) firstIndex);
+    blockSize2 = (blockSize2 > 0) ? blockSize2 : 0;
+
+    /* conv(x,y) at n = x[n] * y[0] + x[n-1] * y[1] + x[n-2] * y[2] + ...+ x[n-N+1] * y[N -1] */
+    /* The function is internally   
+     * divided into three stages according to the number of multiplications that has to be   
+     * taken place between inputA samples and inputB samples. In the first stage of the   
+     * algorithm, the multiplications increase by one for every iteration.   
+     * In the second stage of the algorithm, srcBLen number of multiplications are done.   
+     * In the third stage of the algorithm, the multiplications decrease by one   
+     * for every iteration. */
+
+    /* Set the output pointer to point to the firstIndex   
+     * of the output sample to be calculated. */
+    pOut = pDst + firstIndex;
+
+    /* --------------------------   
+     * Initializations of stage1   
+     * -------------------------*/
+
+    /* sum = x[0] * y[0]   
+     * sum = x[0] * y[1] + x[1] * y[0]   
+     * ....   
+     * sum = x[0] * y[srcBlen - 1] + x[1] * y[srcBlen - 2] +...+ x[srcBLen - 1] * y[0]   
+     */
+
+    /* In this stage the MAC operations are increased by 1 for every iteration.   
+       The count variable holds the number of MAC operations performed.   
+       Since the partial convolution starts from firstIndex   
+       Number of Macs to be performed is firstIndex + 1 */
+    count = 1u + firstIndex;
+
+    /* Working pointer of inputA */
+    px = pIn1;
+
+    /* Working pointer of inputB */
+    pSrc2 = pIn2 + firstIndex;
+    py = pSrc2;
+
+    /* ------------------------   
+     * Stage1 process   
+     * ----------------------*/
+
+    /* For loop unrolling by 4, this stage is divided into two. */
+    /* First part of this stage computes the MAC operations less than 4 */
+    /* Second part of this stage computes the MAC operations greater than or equal to 4 */
+
+    /* The first part of the stage starts here */
+    while((count < 4u) && (blockSize1 > 0))
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Loop over number of MAC operations between   
+       * inputA samples and inputB samples */
+      k = count;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        sum = __SMLALD(*px++, *py--, sum);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = (q15_t) (__SSAT((sum >> 15), 16));
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      py = ++pSrc2;
+      px = pIn1;
+
+      /* Increment the MAC count */
+      count++;
+
+      /* Decrement the loop counter */
+      blockSize1--;
+    }
+
+    /* The second part of the stage starts here */
+    /* The internal loop, over count, is unrolled by 4 */
+    /* To, read the last two inputB samples using SIMD:   
+     * y[srcBLen] and y[srcBLen-1] coefficients, py is decremented by 1 */
+    py = py - 1;
+
+    while(blockSize1 > 0)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = count >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        /* x[0], x[1] are multiplied with y[srcBLen - 1], y[srcBLen - 2] respectively */
+        sum = __SMLALDX(*__SIMD32(px)++, *__SIMD32(py)--, sum);
+        /* x[2], x[3] are multiplied with y[srcBLen - 3], y[srcBLen - 4] respectively */
+        sum = __SMLALDX(*__SIMD32(px)++, *__SIMD32(py)--, sum);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* For the next MAC operations, the pointer py is used without SIMD   
+       * So, py is incremented by 1 */
+      py = py + 1u;
+
+      /* If the count is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = count % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        sum = __SMLALD(*px++, *py--, sum);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = (q15_t) (__SSAT((sum >> 15), 16));
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      py = ++pSrc2 - 1u;
+      px = pIn1;
+
+      /* Increment the MAC count */
+      count++;
+
+      /* Decrement the loop counter */
+      blockSize1--;
+    }
+
+    /* --------------------------   
+     * Initializations of stage2   
+     * ------------------------*/
+
+    /* sum = x[0] * y[srcBLen-1] + x[1] * y[srcBLen-2] +...+ x[srcBLen-1] * y[0]   
+     * sum = x[1] * y[srcBLen-1] + x[2] * y[srcBLen-2] +...+ x[srcBLen] * y[0]   
+     * ....   
+     * sum = x[srcALen-srcBLen-2] * y[srcBLen-1] + x[srcALen] * y[srcBLen-2] +...+ x[srcALen-1] * y[0]   
+     */
+
+    /* Working pointer of inputA */
+    px = pIn1;
+
+    /* Working pointer of inputB */
+    pSrc2 = pIn2 + (srcBLen - 1u);
+    py = pSrc2;
+
+  /* count is the index by which the pointer pIn1 to be incremented */
+  count = 0u;
+
+
+  /* --------------------   
+   * Stage2 process   
+   * -------------------*/
+
+  /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.   
+   * So, to loop unroll over blockSize2,   
+   * srcBLen should be greater than or equal to 4 */
+  if(srcBLen >= 4u)
+  {
+    /* Loop unroll over blockSize2, by 4 */
+    blkCnt = blockSize2 >> 2u;
+
+    while(blkCnt > 0u)
+    {
+      py = py - 1u;
+
+      /* Set all accumulators to zero */
+      acc0 = 0;
+      acc1 = 0;
+      acc2 = 0;
+      acc3 = 0;
+
+
+      /* read x[0], x[1] samples */
+      x0 = *__SIMD32(px);
+      /* read x[1], x[2] samples */
+      x1 = _SIMD32_OFFSET(px+1);
+	  px+= 2u;
+
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = srcBLen >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      do
+      {
+        /* Read the last two inputB samples using SIMD:   
+         * y[srcBLen - 1] and y[srcBLen - 2] */
+        c0 = *__SIMD32(py)--;
+
+        /* acc0 +=  x[0] * y[srcBLen - 1] + x[1] * y[srcBLen - 2] */
+        acc0 = __SMLALDX(x0, c0, acc0);
+
+        /* acc1 +=  x[1] * y[srcBLen - 1] + x[2] * y[srcBLen - 2] */
+        acc1 = __SMLALDX(x1, c0, acc1);
+
+        /* Read x[2], x[3] */
+        x2 = *__SIMD32(px);
+
+        /* Read x[3], x[4] */
+        x3 = _SIMD32_OFFSET(px+1);
+
+        /* acc2 +=  x[2] * y[srcBLen - 1] + x[3] * y[srcBLen - 2] */
+        acc2 = __SMLALDX(x2, c0, acc2);
+
+        /* acc3 +=  x[3] * y[srcBLen - 1] + x[4] * y[srcBLen - 2] */
+        acc3 = __SMLALDX(x3, c0, acc3);
+
+        /* Read y[srcBLen - 3] and y[srcBLen - 4] */
+        c0 = *__SIMD32(py)--;
+
+        /* acc0 +=  x[2] * y[srcBLen - 3] + x[3] * y[srcBLen - 4] */
+        acc0 = __SMLALDX(x2, c0, acc0);
+
+        /* acc1 +=  x[3] * y[srcBLen - 3] + x[4] * y[srcBLen - 4] */
+        acc1 = __SMLALDX(x3, c0, acc1);
+
+        /* Read x[4], x[5] */
+        x0 = _SIMD32_OFFSET(px+2);
+
+        /* Read x[5], x[6] */
+        x1 = _SIMD32_OFFSET(px+3);
+		px += 4u;
+
+        /* acc2 +=  x[4] * y[srcBLen - 3] + x[5] * y[srcBLen - 4] */
+        acc2 = __SMLALDX(x0, c0, acc2);
+
+        /* acc3 +=  x[5] * y[srcBLen - 3] + x[6] * y[srcBLen - 4] */
+        acc3 = __SMLALDX(x1, c0, acc3);
+
+      } while(--k);
+
+      /* For the next MAC operations, SIMD is not used   
+       * So, the 16 bit pointer if inputB, py is updated */
+
+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = srcBLen % 0x4u;
+
+      if(k == 1u)
+      {
+        /* Read y[srcBLen - 5] */
+        c0 = *(py+1);
+
+#ifdef  ARM_MATH_BIG_ENDIAN
+
+        c0 = c0 << 16u;
+
+#else
+
+        c0 = c0 & 0x0000FFFF;
+
+#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */
+
+        /* Read x[7] */
+        x3 = *__SIMD32(px);
+		px++;
+
+        /* Perform the multiply-accumulates */
+        acc0 = __SMLALD(x0, c0, acc0);
+        acc1 = __SMLALD(x1, c0, acc1);
+        acc2 = __SMLALDX(x1, c0, acc2);
+        acc3 = __SMLALDX(x3, c0, acc3);
+      }
+
+      if(k == 2u)
+      {
+        /* Read y[srcBLen - 5], y[srcBLen - 6] */
+        c0 = _SIMD32_OFFSET(py);
+
+        /* Read x[7], x[8] */
+        x3 = *__SIMD32(px);
+
+        /* Read x[9] */
+        x2 = _SIMD32_OFFSET(px+1);
+		px += 2u;
+
+        /* Perform the multiply-accumulates */
+        acc0 = __SMLALDX(x0, c0, acc0);
+        acc1 = __SMLALDX(x1, c0, acc1);
+        acc2 = __SMLALDX(x3, c0, acc2);
+        acc3 = __SMLALDX(x2, c0, acc3);
+      }
+
+      if(k == 3u)
+      {
+        /* Read y[srcBLen - 5], y[srcBLen - 6] */
+        c0 = _SIMD32_OFFSET(py);
+
+        /* Read x[7], x[8] */
+        x3 = *__SIMD32(px);
+
+        /* Read x[9] */
+        x2 = _SIMD32_OFFSET(px+1);
+
+        /* Perform the multiply-accumulates */
+        acc0 = __SMLALDX(x0, c0, acc0);
+        acc1 = __SMLALDX(x1, c0, acc1);
+        acc2 = __SMLALDX(x3, c0, acc2);
+        acc3 = __SMLALDX(x2, c0, acc3);
+
+		c0 = *(py-1);
+
+#ifdef  ARM_MATH_BIG_ENDIAN
+
+        c0 = c0 << 16u;
+#else
+
+        c0 = c0 & 0x0000FFFF;
+#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */
+
+        /* Read x[10] */
+        x3 =  _SIMD32_OFFSET(px+2);
+		px += 3u;
+
+        /* Perform the multiply-accumulates */
+        acc0 = __SMLALDX(x1, c0, acc0);
+        acc1 = __SMLALD(x2, c0, acc1);
+        acc2 = __SMLALDX(x2, c0, acc2);
+        acc3 = __SMLALDX(x3, c0, acc3);
+      }
+
+
+      /* Store the results in the accumulators in the destination buffer. */
+
+#ifndef  ARM_MATH_BIG_ENDIAN
+
+      *__SIMD32(pOut)++ =
+        __PKHBT(__SSAT((acc0 >> 15), 16), __SSAT((acc1 >> 15), 16), 16);
+      *__SIMD32(pOut)++ =
+        __PKHBT(__SSAT((acc2 >> 15), 16), __SSAT((acc3 >> 15), 16), 16);
+
+#else
+
+      *__SIMD32(pOut)++ =
+        __PKHBT(__SSAT((acc1 >> 15), 16), __SSAT((acc0 >> 15), 16), 16);
+      *__SIMD32(pOut)++ =
+        __PKHBT(__SSAT((acc3 >> 15), 16), __SSAT((acc2 >> 15), 16), 16);
+
+#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
+
+      /* Increment the pointer pIn1 index, count by 4 */
+      count += 4u;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pSrc2;
+
+        /* Decrement the loop counter */
+        blkCnt--;
+      }
+
+      /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.   
+       ** No loop unrolling is used. */
+      blkCnt = (uint32_t) blockSize2 % 0x4u;
+  	  
+      while(blkCnt > 0u)
+      {
+        /* Accumulator is made zero for every iteration */
+        sum = 0;
+
+        /* Apply loop unrolling and compute 4 MACs simultaneously. */
+        k = srcBLen >> 2u;
+
+        /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+         ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+        while(k > 0u)
+        {
+          /* Perform the multiply-accumulates */
+          sum += (q63_t) ((q31_t) * px++ * *py--);
+          sum += (q63_t) ((q31_t) * px++ * *py--);
+          sum += (q63_t) ((q31_t) * px++ * *py--);
+          sum += (q63_t) ((q31_t) * px++ * *py--);
+
+          /* Decrement the loop counter */
+          k--;
+        }
+
+        /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+         ** No loop unrolling is used. */
+        k = srcBLen % 0x4u;
+
+        while(k > 0u)
+        {
+          /* Perform the multiply-accumulates */
+          sum += (q63_t) ((q31_t) * px++ * *py--);
+
+          /* Decrement the loop counter */
+          k--;
+        }
+
+        /* Store the result in the accumulator in the destination buffer. */
+        *pOut++ = (q15_t) (__SSAT(sum >> 15, 16));
+
+        /* Increment the pointer pIn1 index, count by 1 */
+        count++;
+
+        /* Update the inputA and inputB pointers for next MAC calculation */
+        px = pIn1 + count;
+        py = pSrc2;
+
+        /* Decrement the loop counter */
+        blkCnt--;
+      }
+    }
+    else
+    {
+      /* If the srcBLen is not a multiple of 4,   
+       * the blockSize2 loop cannot be unrolled by 4 */
+      blkCnt = (uint32_t) blockSize2;
+
+      while(blkCnt > 0u)
+      {
+        /* Accumulator is made zero for every iteration */
+        sum = 0;
+
+        /* srcBLen number of MACS should be performed */
+        k = srcBLen;
+
+        while(k > 0u)
+        {
+          /* Perform the multiply-accumulate */
+          sum += (q63_t) ((q31_t) * px++ * *py--);
+
+          /* Decrement the loop counter */
+          k--;
+        }
+
+        /* Store the result in the accumulator in the destination buffer. */
+        *pOut++ = (q15_t) (__SSAT(sum >> 15, 16));
+
+        /* Increment the MAC count */
+        count++;
+
+        /* Update the inputA and inputB pointers for next MAC calculation */
+        px = pIn1 + count;
+        py = pSrc2;
+  
+        /* Decrement the loop counter */
+        blkCnt--;
+      }
+    }
+
+
+    /* --------------------------   
+     * Initializations of stage3   
+     * -------------------------*/
+
+    /* sum += x[srcALen-srcBLen+1] * y[srcBLen-1] + x[srcALen-srcBLen+2] * y[srcBLen-2] +...+ x[srcALen-1] * y[1]   
+     * sum += x[srcALen-srcBLen+2] * y[srcBLen-1] + x[srcALen-srcBLen+3] * y[srcBLen-2] +...+ x[srcALen-1] * y[2]   
+     * ....   
+     * sum +=  x[srcALen-2] * y[srcBLen-1] + x[srcALen-1] * y[srcBLen-2]   
+     * sum +=  x[srcALen-1] * y[srcBLen-1]   
+     */
+
+    /* In this stage the MAC operations are decreased by 1 for every iteration.   
+       The count variable holds the number of MAC operations performed */
+    count = srcBLen - 1u;
+
+    /* Working pointer of inputA */
+    pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);
+    px = pSrc1;
+
+    /* Working pointer of inputB */
+    pSrc2 = pIn2 + (srcBLen - 1u);
+    pIn2 = pSrc2 - 1u;
+    py = pIn2;
+
+    /* -------------------   
+     * Stage3 process   
+     * ------------------*/
+
+    /* For loop unrolling by 4, this stage is divided into two. */
+    /* First part of this stage computes the MAC operations greater than 4 */
+    /* Second part of this stage computes the MAC operations less than or equal to 4 */
+
+    /* The first part of the stage starts here */
+    j = count >> 2u;
+
+    while((j > 0u) && (blockSize3 > 0))
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = count >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      while(k > 0u)
+      {
+        /* x[srcALen - srcBLen + 1], x[srcALen - srcBLen + 2] are multiplied   
+         * with y[srcBLen - 1], y[srcBLen - 2] respectively */
+        sum = __SMLALDX(*__SIMD32(px)++, *__SIMD32(py)--, sum);
+        /* x[srcALen - srcBLen + 3], x[srcALen - srcBLen + 4] are multiplied   
+         * with y[srcBLen - 3], y[srcBLen - 4] respectively */
+        sum = __SMLALDX(*__SIMD32(px)++, *__SIMD32(py)--, sum);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* For the next MAC operations, the pointer py is used without SIMD   
+       * So, py is incremented by 1 */
+      py = py + 1u;
+
+      /* If the count is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = count % 0x4u;
+
+      while(k > 0u)
+      {
+        /* sum += x[srcALen - srcBLen + 5] * y[srcBLen - 5] */
+        sum = __SMLALD(*px++, *py--, sum);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = (q15_t) (__SSAT((sum >> 15), 16));
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = ++pSrc1;
+      py = pIn2;
+
+      /* Decrement the MAC count */
+      count--;
+
+      /* Decrement the loop counter */
+      blockSize3--;
+
+      j--;
+    }
+
+    /* The second part of the stage starts here */
+    /* SIMD is not used for the next MAC operations,   
+     * so pointer py is updated to read only one sample at a time */
+    py = py + 1u;
+
+    while(blockSize3 > 0)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = count;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        /* sum +=  x[srcALen-1] * y[srcBLen-1] */
+        sum = __SMLALD(*px++, *py--, sum);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = (q15_t) (__SSAT((sum >> 15), 16));
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = ++pSrc1;
+      py = pSrc2;
+
+      /* Decrement the MAC count */
+      count--;
+
+      /* Decrement the loop counter */
+      blockSize3--;
+    }
+
+    /* set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  q15_t *pIn1 = pSrcA;                           /* inputA pointer */
+  q15_t *pIn2 = pSrcB;                           /* inputB pointer */
+  q63_t sum;                                     /* Accumulator */
+  uint32_t i, j;                                 /* loop counters */
+  arm_status status;                             /* status of Partial convolution */
+
+  /* Check for range of output samples to be calculated */
+  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))
+  {
+    /* Set status as ARM_ARGUMENT_ERROR */
+    status = ARM_MATH_ARGUMENT_ERROR;
+  }
+  else
+  {
+    /* Loop to calculate convolution for output length number of values */
+    for (i = firstIndex; i <= (firstIndex + numPoints - 1); i++)
+    {
+      /* Initialize sum with zero to carry on MAC operations */
+      sum = 0;
+
+      /* Loop to perform MAC operations according to convolution equation */
+      for (j = 0; j <= i; j++)
+      {
+        /* Check the array limitations */
+        if(((i - j) < srcBLen) && (j < srcALen))
+        {
+          /* z[i] += x[i-j] * y[j] */
+          sum += ((q31_t) pIn1[j] * (pIn2[i - j]));
+        }
+      }
+
+      /* Store the output in the destination buffer */
+      pDst[i] = (q15_t) __SSAT((sum >> 15u), 16u);
+    }
+    /* set status as ARM_SUCCESS as there are no argument errors */
+    status = ARM_MATH_SUCCESS;
+  }
+  return (status);
+
+#endif /* #if (defined(ARM_MATH_CM4) || defined(ARM_MATH_CM3)) && !defined(UNALIGNED_SUPPORT_DISABLE)  */
+
+}
+
+/**   
+ * @} end of PartialConv group   
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q31.c
new file mode 100644
index 000000000..16a060648
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q31.c
@@ -0,0 +1,599 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_conv_partial_q31.c    
+*    
+* Description:	Partial convolution of Q31 sequences.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*  
+* Version 1.0.11 2011/10/18  
+*    Bug Fix in conv, correlation, partial convolution.  
+* 
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+*    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup PartialConv    
+ * @{    
+ */
+
+/**    
+ * @brief Partial convolution of Q31 sequences.    
+ * @param[in]       *pSrcA points to the first input sequence.    
+ * @param[in]       srcALen length of the first input sequence.    
+ * @param[in]       *pSrcB points to the second input sequence.    
+ * @param[in]       srcBLen length of the second input sequence.    
+ * @param[out]      *pDst points to the location where the output result is written.    
+ * @param[in]       firstIndex is the first output sample to start with.    
+ * @param[in]       numPoints is the number of output points to be computed.    
+ * @return Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].    
+ *    
+ * See arm_conv_partial_fast_q31() for a faster but less precise implementation of this function for Cortex-M3 and Cortex-M4.    
+ */
+
+arm_status arm_conv_partial_q31(
+  q31_t * pSrcA,
+  uint32_t srcALen,
+  q31_t * pSrcB,
+  uint32_t srcBLen,
+  q31_t * pDst,
+  uint32_t firstIndex,
+  uint32_t numPoints)
+{
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q31_t *pIn1;                                   /* inputA pointer               */
+  q31_t *pIn2;                                   /* inputB pointer               */
+  q31_t *pOut = pDst;                            /* output pointer               */
+  q31_t *px;                                     /* Intermediate inputA pointer  */
+  q31_t *py;                                     /* Intermediate inputB pointer  */
+  q31_t *pSrc1, *pSrc2;                          /* Intermediate pointers        */
+  q63_t sum, acc0, acc1, acc2;                   /* Accumulator                  */
+  q31_t x0, x1, x2, c0;
+  uint32_t j, k, count, check, blkCnt;
+  int32_t blockSize1, blockSize2, blockSize3;    /* loop counter                 */
+  arm_status status;                             /* status of Partial convolution */
+
+
+  /* Check for range of output samples to be calculated */
+  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))
+  {
+    /* Set status as ARM_MATH_ARGUMENT_ERROR */
+    status = ARM_MATH_ARGUMENT_ERROR;
+  }
+  else
+  {
+
+    /* The algorithm implementation is based on the lengths of the inputs. */
+    /* srcB is always made to slide across srcA. */
+    /* So srcBLen is always considered as shorter or equal to srcALen */
+    if(srcALen >= srcBLen)
+    {
+      /* Initialization of inputA pointer */
+      pIn1 = pSrcA;
+
+      /* Initialization of inputB pointer */
+      pIn2 = pSrcB;
+    }
+    else
+    {
+      /* Initialization of inputA pointer */
+      pIn1 = pSrcB;
+
+      /* Initialization of inputB pointer */
+      pIn2 = pSrcA;
+
+      /* srcBLen is always considered as shorter or equal to srcALen */
+      j = srcBLen;
+      srcBLen = srcALen;
+      srcALen = j;
+    }
+
+    /* Conditions to check which loopCounter holds    
+     * the first and last indices of the output samples to be calculated. */
+    check = firstIndex + numPoints;
+    blockSize3 = ((int32_t) check - (int32_t) srcALen);
+    blockSize3 = (blockSize3 > 0) ? blockSize3 : 0;
+    blockSize1 = (((int32_t) srcBLen - 1) - (int32_t) firstIndex);
+    blockSize1 = (blockSize1 > 0) ? ((check > (srcBLen - 1u)) ? blockSize1 :
+                                     (int32_t) numPoints) : 0;
+    blockSize2 = (int32_t) check - ((blockSize3 + blockSize1) +
+                                    (int32_t) firstIndex);
+    blockSize2 = (blockSize2 > 0) ? blockSize2 : 0;
+
+    /* conv(x,y) at n = x[n] * y[0] + x[n-1] * y[1] + x[n-2] * y[2] + ...+ x[n-N+1] * y[N -1] */
+    /* The function is internally    
+     * divided into three stages according to the number of multiplications that has to be    
+     * taken place between inputA samples and inputB samples. In the first stage of the    
+     * algorithm, the multiplications increase by one for every iteration.    
+     * In the second stage of the algorithm, srcBLen number of multiplications are done.    
+     * In the third stage of the algorithm, the multiplications decrease by one    
+     * for every iteration. */
+
+    /* Set the output pointer to point to the firstIndex    
+     * of the output sample to be calculated. */
+    pOut = pDst + firstIndex;
+
+    /* --------------------------    
+     * Initializations of stage1    
+     * -------------------------*/
+
+    /* sum = x[0] * y[0]    
+     * sum = x[0] * y[1] + x[1] * y[0]    
+     * ....    
+     * sum = x[0] * y[srcBlen - 1] + x[1] * y[srcBlen - 2] +...+ x[srcBLen - 1] * y[0]    
+     */
+
+    /* In this stage the MAC operations are increased by 1 for every iteration.    
+       The count variable holds the number of MAC operations performed.    
+       Since the partial convolution starts from firstIndex    
+       Number of Macs to be performed is firstIndex + 1 */
+    count = 1u + firstIndex;
+
+    /* Working pointer of inputA */
+    px = pIn1;
+
+    /* Working pointer of inputB */
+    pSrc2 = pIn2 + firstIndex;
+    py = pSrc2;
+
+    /* ------------------------    
+     * Stage1 process    
+     * ----------------------*/
+
+    /* The first loop starts here */
+    while(blockSize1 > 0)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = count >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      while(k > 0u)
+      {
+        /* x[0] * y[srcBLen - 1] */
+        sum += (q63_t) * px++ * (*py--);
+        /* x[1] * y[srcBLen - 2] */
+        sum += (q63_t) * px++ * (*py--);
+        /* x[2] * y[srcBLen - 3] */
+        sum += (q63_t) * px++ * (*py--);
+        /* x[3] * y[srcBLen - 4] */
+        sum += (q63_t) * px++ * (*py--);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* If the count is not a multiple of 4, compute any remaining MACs here.    
+       ** No loop unrolling is used. */
+      k = count % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulate */
+        sum += (q63_t) * px++ * (*py--);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = (q31_t) (sum >> 31);
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      py = ++pSrc2;
+      px = pIn1;
+
+      /* Increment the MAC count */
+      count++;
+
+      /* Decrement the loop counter */
+      blockSize1--;
+    }
+
+    /* --------------------------    
+     * Initializations of stage2    
+     * ------------------------*/
+
+    /* sum = x[0] * y[srcBLen-1] + x[1] * y[srcBLen-2] +...+ x[srcBLen-1] * y[0]    
+     * sum = x[1] * y[srcBLen-1] + x[2] * y[srcBLen-2] +...+ x[srcBLen] * y[0]    
+     * ....    
+     * sum = x[srcALen-srcBLen-2] * y[srcBLen-1] + x[srcALen] * y[srcBLen-2] +...+ x[srcALen-1] * y[0]    
+     */
+
+    /* Working pointer of inputA */
+    px = pIn1;
+
+    /* Working pointer of inputB */
+    pSrc2 = pIn2 + (srcBLen - 1u);
+    py = pSrc2;
+
+    /* count is index by which the pointer pIn1 to be incremented */
+    count = 0u;
+
+    /* -------------------    
+     * Stage2 process    
+     * ------------------*/
+
+    /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.    
+     * So, to loop unroll over blockSize2,    
+     * srcBLen should be greater than or equal to 4 */
+    if(srcBLen >= 4u)
+    {
+      /* Loop unroll over blkCnt */
+
+      blkCnt = blockSize2 / 3;
+      while(blkCnt > 0u)
+      {
+        /* Set all accumulators to zero */
+        acc0 = 0;
+        acc1 = 0;
+        acc2 = 0;
+
+        /* read x[0], x[1] samples */
+        x0 = *(px++);
+        x1 = *(px++);
+
+        /* Apply loop unrolling and compute 3 MACs simultaneously. */
+        k = srcBLen / 3;
+
+        /* First part of the processing with loop unrolling.  Compute 3 MACs at a time.        
+         ** a second loop below computes MACs for the remaining 1 to 2 samples. */
+        do
+        {
+          /* Read y[srcBLen - 1] sample */
+          c0 = *(py);
+
+          /* Read x[2] sample */
+          x2 = *(px);
+
+          /* Perform the multiply-accumulates */
+          /* acc0 +=  x[0] * y[srcBLen - 1] */
+          acc0 += (q63_t) x0 *c0;
+          /* acc1 +=  x[1] * y[srcBLen - 1] */
+          acc1 += (q63_t) x1 *c0;
+          /* acc2 +=  x[2] * y[srcBLen - 1] */
+          acc2 += (q63_t) x2 *c0;
+
+          /* Read y[srcBLen - 2] sample */
+          c0 = *(py - 1u);
+
+          /* Read x[3] sample */
+          x0 = *(px + 1u);
+
+          /* Perform the multiply-accumulate */
+          /* acc0 +=  x[1] * y[srcBLen - 2] */
+          acc0 += (q63_t) x1 *c0;
+          /* acc1 +=  x[2] * y[srcBLen - 2] */
+          acc1 += (q63_t) x2 *c0;
+          /* acc2 +=  x[3] * y[srcBLen - 2] */
+          acc2 += (q63_t) x0 *c0;
+
+          /* Read y[srcBLen - 3] sample */
+          c0 = *(py - 2u);
+
+          /* Read x[4] sample */
+          x1 = *(px + 2u);
+
+          /* Perform the multiply-accumulates */
+          /* acc0 +=  x[2] * y[srcBLen - 3] */
+          acc0 += (q63_t) x2 *c0;
+          /* acc1 +=  x[3] * y[srcBLen - 2] */
+          acc1 += (q63_t) x0 *c0;
+          /* acc2 +=  x[4] * y[srcBLen - 2] */
+          acc2 += (q63_t) x1 *c0;
+
+
+          px += 3u;
+
+          py -= 3u;
+
+        } while(--k);
+
+        /* If the srcBLen is not a multiple of 3, compute any remaining MACs here.        
+         ** No loop unrolling is used. */
+        k = srcBLen - (3 * (srcBLen / 3));
+
+        while(k > 0u)
+        {
+          /* Read y[srcBLen - 5] sample */
+          c0 = *(py--);
+
+          /* Read x[7] sample */
+          x2 = *(px++);
+
+          /* Perform the multiply-accumulates */
+          /* acc0 +=  x[4] * y[srcBLen - 5] */
+          acc0 += (q63_t) x0 *c0;
+          /* acc1 +=  x[5] * y[srcBLen - 5] */
+          acc1 += (q63_t) x1 *c0;
+          /* acc2 +=  x[6] * y[srcBLen - 5] */
+          acc2 += (q63_t) x2 *c0;
+
+          /* Reuse the present samples for the next MAC */
+          x0 = x1;
+          x1 = x2;
+
+          /* Decrement the loop counter */
+          k--;
+        }
+
+        /* Store the result in the accumulator in the destination buffer. */
+        *pOut++ = (q31_t) (acc0 >> 31);
+        *pOut++ = (q31_t) (acc1 >> 31);
+        *pOut++ = (q31_t) (acc2 >> 31);
+
+        /* Increment the pointer pIn1 index, count by 3 */
+        count += 3u;
+
+        /* Update the inputA and inputB pointers for next MAC calculation */
+        px = pIn1 + count;
+        py = pSrc2;
+
+        /* Decrement the loop counter */
+        blkCnt--;
+      }
+
+      /* If the blockSize2 is not a multiple of 3, compute any remaining output samples here.        
+       ** No loop unrolling is used. */
+      blkCnt = blockSize2 - 3 * (blockSize2 / 3);
+
+      while(blkCnt > 0u)
+      {
+        /* Accumulator is made zero for every iteration */
+        sum = 0;
+
+        /* Apply loop unrolling and compute 4 MACs simultaneously. */
+        k = srcBLen >> 2u;
+
+        /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
+         ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+        while(k > 0u)
+        {
+          /* Perform the multiply-accumulates */
+          sum += (q63_t) * px++ * (*py--);
+          sum += (q63_t) * px++ * (*py--);
+          sum += (q63_t) * px++ * (*py--);
+          sum += (q63_t) * px++ * (*py--);
+
+          /* Decrement the loop counter */
+          k--;
+        }
+
+        /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.    
+         ** No loop unrolling is used. */
+        k = srcBLen % 0x4u;
+
+        while(k > 0u)
+        {
+          /* Perform the multiply-accumulate */
+          sum += (q63_t) * px++ * (*py--);
+
+          /* Decrement the loop counter */
+          k--;
+        }
+
+        /* Store the result in the accumulator in the destination buffer. */
+        *pOut++ = (q31_t) (sum >> 31);
+
+        /* Increment the MAC count */
+        count++;
+
+        /* Update the inputA and inputB pointers for next MAC calculation */
+        px = pIn1 + count;
+        py = pSrc2;
+
+        /* Decrement the loop counter */
+        blkCnt--;
+      }
+    }
+    else
+    {
+      /* If the srcBLen is not a multiple of 4,    
+       * the blockSize2 loop cannot be unrolled by 4 */
+      blkCnt = (uint32_t) blockSize2;
+
+      while(blkCnt > 0u)
+      {
+        /* Accumulator is made zero for every iteration */
+        sum = 0;
+
+        /* srcBLen number of MACS should be performed */
+        k = srcBLen;
+
+        while(k > 0u)
+        {
+          /* Perform the multiply-accumulate */
+          sum += (q63_t) * px++ * (*py--);
+
+          /* Decrement the loop counter */
+          k--;
+        }
+
+        /* Store the result in the accumulator in the destination buffer. */
+        *pOut++ = (q31_t) (sum >> 31);
+
+        /* Increment the MAC count */
+        count++;
+
+        /* Update the inputA and inputB pointers for next MAC calculation */
+        px = pIn1 + count;
+        py = pSrc2;
+
+        /* Decrement the loop counter */
+        blkCnt--;
+      }
+    }
+
+
+    /* --------------------------    
+     * Initializations of stage3    
+     * -------------------------*/
+
+    /* sum += x[srcALen-srcBLen+1] * y[srcBLen-1] + x[srcALen-srcBLen+2] * y[srcBLen-2] +...+ x[srcALen-1] * y[1]    
+     * sum += x[srcALen-srcBLen+2] * y[srcBLen-1] + x[srcALen-srcBLen+3] * y[srcBLen-2] +...+ x[srcALen-1] * y[2]    
+     * ....    
+     * sum +=  x[srcALen-2] * y[srcBLen-1] + x[srcALen-1] * y[srcBLen-2]    
+     * sum +=  x[srcALen-1] * y[srcBLen-1]    
+     */
+
+    /* In this stage the MAC operations are decreased by 1 for every iteration.    
+       The blockSize3 variable holds the number of MAC operations performed */
+    count = srcBLen - 1u;
+
+    /* Working pointer of inputA */
+    pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);
+    px = pSrc1;
+
+    /* Working pointer of inputB */
+    pSrc2 = pIn2 + (srcBLen - 1u);
+    py = pSrc2;
+
+    /* -------------------    
+     * Stage3 process    
+     * ------------------*/
+
+    while(blockSize3 > 0)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = count >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      while(k > 0u)
+      {
+        sum += (q63_t) * px++ * (*py--);
+        sum += (q63_t) * px++ * (*py--);
+        sum += (q63_t) * px++ * (*py--);
+        sum += (q63_t) * px++ * (*py--);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* If the blockSize3 is not a multiple of 4, compute any remaining MACs here.    
+       ** No loop unrolling is used. */
+      k = count % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulate */
+        sum += (q63_t) * px++ * (*py--);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = (q31_t) (sum >> 31);
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = ++pSrc1;
+      py = pSrc2;
+
+      /* Decrement the MAC count */
+      count--;
+
+      /* Decrement the loop counter */
+      blockSize3--;
+
+    }
+
+    /* set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  q31_t *pIn1 = pSrcA;                           /* inputA pointer */
+  q31_t *pIn2 = pSrcB;                           /* inputB pointer */
+  q63_t sum;                                     /* Accumulator */
+  uint32_t i, j;                                 /* loop counters */
+  arm_status status;                             /* status of Partial convolution */
+
+  /* Check for range of output samples to be calculated */
+  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))
+  {
+    /* Set status as ARM_ARGUMENT_ERROR */
+    status = ARM_MATH_ARGUMENT_ERROR;
+  }
+  else
+  {
+    /* Loop to calculate convolution for output length number of values */
+    for (i = firstIndex; i <= (firstIndex + numPoints - 1); i++)
+    {
+      /* Initialize sum with zero to carry on MAC operations */
+      sum = 0;
+
+      /* Loop to perform MAC operations according to convolution equation */
+      for (j = 0; j <= i; j++)
+      {
+        /* Check the array limitations */
+        if(((i - j) < srcBLen) && (j < srcALen))
+        {
+          /* z[i] += x[i-j] * y[j] */
+          sum += ((q63_t) pIn1[j] * (pIn2[i - j]));
+        }
+      }
+
+      /* Store the output in the destination buffer */
+      pDst[i] = (q31_t) (sum >> 31u);
+    }
+    /* set status as ARM_SUCCESS as there are no argument errors */
+    status = ARM_MATH_SUCCESS;
+  }
+  return (status);
+
+#endif /*    #ifndef ARM_MATH_CM0      */
+
+}
+
+/**    
+ * @} end of PartialConv group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q7.c
new file mode 100644
index 000000000..ed205838e
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q7.c
@@ -0,0 +1,733 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_conv_partial_q7.c   
+*   
+* Description:	Partial convolution of Q7 sequences.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*  
+* Version 1.0.11 2011/10/18 
+*    Bug Fix in conv, correlation, partial convolution. 
+*
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+*   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup PartialConv   
+ * @{   
+ */
+
+/**   
+ * @brief Partial convolution of Q7 sequences.   
+ * @param[in]       *pSrcA points to the first input sequence.   
+ * @param[in]       srcALen length of the first input sequence.   
+ * @param[in]       *pSrcB points to the second input sequence.   
+ * @param[in]       srcBLen length of the second input sequence.   
+ * @param[out]      *pDst points to the location where the output result is written.   
+ * @param[in]       firstIndex is the first output sample to start with.   
+ * @param[in]       numPoints is the number of output points to be computed.   
+ * @return  Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].   
+ *  
+ * \par    
+ * Refer the function arm_conv_partial_opt_q7() for a faster implementation of this function.
+ *  
+ */
+
+arm_status arm_conv_partial_q7(
+  q7_t * pSrcA,
+  uint32_t srcALen,
+  q7_t * pSrcB,
+  uint32_t srcBLen,
+  q7_t * pDst,
+  uint32_t firstIndex,
+  uint32_t numPoints)
+{
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q7_t *pIn1;                                    /* inputA pointer */
+  q7_t *pIn2;                                    /* inputB pointer */
+  q7_t *pOut = pDst;                             /* output pointer */
+  q7_t *px;                                      /* Intermediate inputA pointer */
+  q7_t *py;                                      /* Intermediate inputB pointer */
+  q7_t *pSrc1, *pSrc2;                           /* Intermediate pointers */
+  q31_t sum, acc0, acc1, acc2, acc3;             /* Accumulator */
+  q31_t input1, input2;
+  q15_t in1, in2;
+  q7_t x0, x1, x2, x3, c0, c1;
+  uint32_t j, k, count, check, blkCnt;
+  int32_t blockSize1, blockSize2, blockSize3;    /* loop counter */
+  arm_status status;
+
+
+  /* Check for range of output samples to be calculated */
+  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))
+  {
+    /* Set status as ARM_MATH_ARGUMENT_ERROR */
+    status = ARM_MATH_ARGUMENT_ERROR;
+  }
+  else
+  {
+
+    /* The algorithm implementation is based on the lengths of the inputs. */
+    /* srcB is always made to slide across srcA. */
+    /* So srcBLen is always considered as shorter or equal to srcALen */
+    if(srcALen >= srcBLen)
+    {
+      /* Initialization of inputA pointer */
+      pIn1 = pSrcA;
+
+      /* Initialization of inputB pointer */
+      pIn2 = pSrcB;
+    }
+    else
+    {
+      /* Initialization of inputA pointer */
+      pIn1 = pSrcB;
+
+      /* Initialization of inputB pointer */
+      pIn2 = pSrcA;
+
+      /* srcBLen is always considered as shorter or equal to srcALen */
+      j = srcBLen;
+      srcBLen = srcALen;
+      srcALen = j;
+    }
+
+    /* Conditions to check which loopCounter holds   
+     * the first and last indices of the output samples to be calculated. */
+    check = firstIndex + numPoints;
+    blockSize3 = ((int32_t) check - (int32_t) srcALen);
+    blockSize3 = (blockSize3 > 0) ? blockSize3 : 0;
+    blockSize1 = (((int32_t) srcBLen - 1) - (int32_t) firstIndex);
+    blockSize1 = (blockSize1 > 0) ? ((check > (srcBLen - 1u)) ? blockSize1 :
+                                     (int32_t) numPoints) : 0;
+    blockSize2 = (int32_t) check - ((blockSize3 + blockSize1) +
+                                    (int32_t) firstIndex);
+    blockSize2 = (blockSize2 > 0) ? blockSize2 : 0;
+
+    /* conv(x,y) at n = x[n] * y[0] + x[n-1] * y[1] + x[n-2] * y[2] + ...+ x[n-N+1] * y[N -1] */
+    /* The function is internally   
+     * divided into three stages according to the number of multiplications that has to be   
+     * taken place between inputA samples and inputB samples. In the first stage of the   
+     * algorithm, the multiplications increase by one for every iteration.   
+     * In the second stage of the algorithm, srcBLen number of multiplications are done.   
+     * In the third stage of the algorithm, the multiplications decrease by one   
+     * for every iteration. */
+
+    /* Set the output pointer to point to the firstIndex   
+     * of the output sample to be calculated. */
+    pOut = pDst + firstIndex;
+
+    /* --------------------------   
+     * Initializations of stage1   
+     * -------------------------*/
+
+    /* sum = x[0] * y[0]   
+     * sum = x[0] * y[1] + x[1] * y[0]   
+     * ....   
+     * sum = x[0] * y[srcBlen - 1] + x[1] * y[srcBlen - 2] +...+ x[srcBLen - 1] * y[0]   
+     */
+
+    /* In this stage the MAC operations are increased by 1 for every iteration.   
+       The count variable holds the number of MAC operations performed.   
+       Since the partial convolution starts from from firstIndex   
+       Number of Macs to be performed is firstIndex + 1 */
+    count = 1u + firstIndex;
+
+    /* Working pointer of inputA */
+    px = pIn1;
+
+    /* Working pointer of inputB */
+    pSrc2 = pIn2 + firstIndex;
+    py = pSrc2;
+
+    /* ------------------------   
+     * Stage1 process   
+     * ----------------------*/
+
+    /* The first stage starts here */
+    while(blockSize1 > 0)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = count >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      while(k > 0u)
+      {
+        /* x[0] , x[1] */
+        in1 = (q15_t) * px++;
+        in2 = (q15_t) * px++;
+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+        /* y[srcBLen - 1] , y[srcBLen - 2] */
+        in1 = (q15_t) * py--;
+        in2 = (q15_t) * py--;
+        input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+        /* x[0] * y[srcBLen - 1] */
+        /* x[1] * y[srcBLen - 2] */
+        sum = __SMLAD(input1, input2, sum);
+
+        /* x[2] , x[3] */
+        in1 = (q15_t) * px++;
+        in2 = (q15_t) * px++;
+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+        /* y[srcBLen - 3] , y[srcBLen - 4] */
+        in1 = (q15_t) * py--;
+        in2 = (q15_t) * py--;
+        input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+        /* x[2] * y[srcBLen - 3] */
+        /* x[3] * y[srcBLen - 4] */
+        sum = __SMLAD(input1, input2, sum);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* If the count is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = count % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        sum += ((q31_t) * px++ * *py--);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = (q7_t) (__SSAT(sum >> 7, 8));
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      py = ++pSrc2;
+      px = pIn1;
+
+      /* Increment the MAC count */
+      count++;
+
+      /* Decrement the loop counter */
+      blockSize1--;
+    }
+
+    /* --------------------------   
+     * Initializations of stage2   
+     * ------------------------*/
+
+    /* sum = x[0] * y[srcBLen-1] + x[1] * y[srcBLen-2] +...+ x[srcBLen-1] * y[0]   
+     * sum = x[1] * y[srcBLen-1] + x[2] * y[srcBLen-2] +...+ x[srcBLen] * y[0]   
+     * ....   
+     * sum = x[srcALen-srcBLen-2] * y[srcBLen-1] + x[srcALen] * y[srcBLen-2] +...+ x[srcALen-1] * y[0]   
+     */
+
+    /* Working pointer of inputA */
+    px = pIn1;
+
+    /* Working pointer of inputB */
+    pSrc2 = pIn2 + (srcBLen - 1u);
+    py = pSrc2;
+
+    /* count is index by which the pointer pIn1 to be incremented */
+    count = 0u;
+
+    /* -------------------   
+     * Stage2 process   
+     * ------------------*/
+
+    /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.   
+     * So, to loop unroll over blockSize2,   
+     * srcBLen should be greater than or equal to 4 */
+    if(srcBLen >= 4u)
+    {
+      /* Loop unroll over blockSize2, by 4 */
+      blkCnt = ((uint32_t) blockSize2 >> 2u);
+
+      while(blkCnt > 0u)
+      {
+        /* Set all accumulators to zero */
+        acc0 = 0;
+        acc1 = 0;
+        acc2 = 0;
+        acc3 = 0;
+
+        /* read x[0], x[1], x[2] samples */
+        x0 = *(px++);
+        x1 = *(px++);
+        x2 = *(px++);
+
+        /* Apply loop unrolling and compute 4 MACs simultaneously. */
+        k = srcBLen >> 2u;
+
+        /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+         ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+        do
+        {
+          /* Read y[srcBLen - 1] sample */
+          c0 = *(py--);
+          /* Read y[srcBLen - 2] sample */
+          c1 = *(py--);
+
+          /* Read x[3] sample */
+          x3 = *(px++);
+
+          /* x[0] and x[1] are packed */
+          in1 = (q15_t) x0;
+          in2 = (q15_t) x1;
+
+          input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+          /* y[srcBLen - 1]   and y[srcBLen - 2] are packed */
+          in1 = (q15_t) c0;
+          in2 = (q15_t) c1;
+
+          input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+          /* acc0 += x[0] * y[srcBLen - 1] + x[1] * y[srcBLen - 2]  */
+          acc0 = __SMLAD(input1, input2, acc0);
+
+          /* x[1] and x[2] are packed */
+          in1 = (q15_t) x1;
+          in2 = (q15_t) x2;
+
+          input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+          /* acc1 += x[1] * y[srcBLen - 1] + x[2] * y[srcBLen - 2]  */
+          acc1 = __SMLAD(input1, input2, acc1);
+
+          /* x[2] and x[3] are packed */
+          in1 = (q15_t) x2;
+          in2 = (q15_t) x3;
+
+          input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+          /* acc2 += x[2] * y[srcBLen - 1] + x[3] * y[srcBLen - 2]  */
+          acc2 = __SMLAD(input1, input2, acc2);
+
+          /* Read x[4] sample */
+          x0 = *(px++);
+
+          /* x[3] and x[4] are packed */
+          in1 = (q15_t) x3;
+          in2 = (q15_t) x0;
+
+          input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+          /* acc3 += x[3] * y[srcBLen - 1] + x[4] * y[srcBLen - 2]  */
+          acc3 = __SMLAD(input1, input2, acc3);
+
+          /* Read y[srcBLen - 3] sample */
+          c0 = *(py--);
+          /* Read y[srcBLen - 4] sample */
+          c1 = *(py--);
+
+          /* Read x[5] sample */
+          x1 = *(px++);
+
+          /* x[2] and x[3] are packed */
+          in1 = (q15_t) x2;
+          in2 = (q15_t) x3;
+
+          input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+          /* y[srcBLen - 3] and y[srcBLen - 4] are packed */
+          in1 = (q15_t) c0;
+          in2 = (q15_t) c1;
+
+          input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+          /* acc0 += x[2] * y[srcBLen - 3] + x[3] * y[srcBLen - 4]  */
+          acc0 = __SMLAD(input1, input2, acc0);
+
+          /* x[3] and x[4] are packed */
+          in1 = (q15_t) x3;
+          in2 = (q15_t) x0;
+
+          input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+          /* acc1 += x[3] * y[srcBLen - 3] + x[4] * y[srcBLen - 4]  */
+          acc1 = __SMLAD(input1, input2, acc1);
+
+          /* x[4] and x[5] are packed */
+          in1 = (q15_t) x0;
+          in2 = (q15_t) x1;
+
+          input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+          /* acc2 += x[4] * y[srcBLen - 3] + x[5] * y[srcBLen - 4]  */
+          acc2 = __SMLAD(input1, input2, acc2);
+
+          /* Read x[6] sample */
+          x2 = *(px++);
+
+          /* x[5] and x[6] are packed */
+          in1 = (q15_t) x1;
+          in2 = (q15_t) x2;
+
+          input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+          /* acc3 += x[5] * y[srcBLen - 3] + x[6] * y[srcBLen - 4]  */
+          acc3 = __SMLAD(input1, input2, acc3);
+
+        } while(--k);
+
+        /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+         ** No loop unrolling is used. */
+        k = srcBLen % 0x4u;
+
+        while(k > 0u)
+        {
+          /* Read y[srcBLen - 5] sample */
+          c0 = *(py--);
+
+          /* Read x[7] sample */
+          x3 = *(px++);
+
+          /* Perform the multiply-accumulates */
+          /* acc0 +=  x[4] * y[srcBLen - 5] */
+          acc0 += ((q31_t) x0 * c0);
+          /* acc1 +=  x[5] * y[srcBLen - 5] */
+          acc1 += ((q31_t) x1 * c0);
+          /* acc2 +=  x[6] * y[srcBLen - 5] */
+          acc2 += ((q31_t) x2 * c0);
+          /* acc3 +=  x[7] * y[srcBLen - 5] */
+          acc3 += ((q31_t) x3 * c0);
+
+          /* Reuse the present samples for the next MAC */
+          x0 = x1;
+          x1 = x2;
+          x2 = x3;
+
+          /* Decrement the loop counter */
+          k--;
+        }
+
+        /* Store the result in the accumulator in the destination buffer. */
+        *pOut++ = (q7_t) (__SSAT(acc0 >> 7, 8));
+        *pOut++ = (q7_t) (__SSAT(acc1 >> 7, 8));
+        *pOut++ = (q7_t) (__SSAT(acc2 >> 7, 8));
+        *pOut++ = (q7_t) (__SSAT(acc3 >> 7, 8));
+
+        /* Increment the pointer pIn1 index, count by 4 */
+        count += 4u;
+
+        /* Update the inputA and inputB pointers for next MAC calculation */
+        px = pIn1 + count;
+        py = pSrc2;
+
+
+        /* Decrement the loop counter */
+        blkCnt--;
+      }
+
+      /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.   
+       ** No loop unrolling is used. */
+      blkCnt = (uint32_t) blockSize2 % 0x4u;
+
+      while(blkCnt > 0u)
+      {
+        /* Accumulator is made zero for every iteration */
+        sum = 0;
+
+        /* Apply loop unrolling and compute 4 MACs simultaneously. */
+        k = srcBLen >> 2u;
+
+        /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+         ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+        while(k > 0u)
+        {
+
+          /* Reading two inputs of SrcA buffer and packing */
+          in1 = (q15_t) * px++;
+          in2 = (q15_t) * px++;
+          input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+          /* Reading two inputs of SrcB buffer and packing */
+          in1 = (q15_t) * py--;
+          in2 = (q15_t) * py--;
+          input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+          /* Perform the multiply-accumulates */
+          sum = __SMLAD(input1, input2, sum);
+
+          /* Reading two inputs of SrcA buffer and packing */
+          in1 = (q15_t) * px++;
+          in2 = (q15_t) * px++;
+          input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+          /* Reading two inputs of SrcB buffer and packing */
+          in1 = (q15_t) * py--;
+          in2 = (q15_t) * py--;
+          input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+          /* Perform the multiply-accumulates */
+          sum = __SMLAD(input1, input2, sum);
+
+          /* Decrement the loop counter */
+          k--;
+        }
+
+        /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+         ** No loop unrolling is used. */
+        k = srcBLen % 0x4u;
+
+        while(k > 0u)
+        {
+          /* Perform the multiply-accumulates */
+          sum += ((q31_t) * px++ * *py--);
+
+          /* Decrement the loop counter */
+          k--;
+        }
+
+        /* Store the result in the accumulator in the destination buffer. */
+        *pOut++ = (q7_t) (__SSAT(sum >> 7, 8));
+
+        /* Increment the pointer pIn1 index, count by 1 */
+ 	    count++;
+
+        /* Update the inputA and inputB pointers for next MAC calculation */
+      	px = pIn1 + count;
+        py = pSrc2;	
+
+        /* Decrement the loop counter */
+        blkCnt--;
+      }
+    }
+    else
+    {
+      /* If the srcBLen is not a multiple of 4,   
+       * the blockSize2 loop cannot be unrolled by 4 */
+      blkCnt = (uint32_t) blockSize2;
+
+      while(blkCnt > 0u)
+      {
+        /* Accumulator is made zero for every iteration */
+        sum = 0;
+
+        /* srcBLen number of MACS should be performed */
+        k = srcBLen;
+
+        while(k > 0u)
+        {
+          /* Perform the multiply-accumulate */
+          sum += ((q31_t) * px++ * *py--);
+
+          /* Decrement the loop counter */
+          k--;
+        }
+
+        /* Store the result in the accumulator in the destination buffer. */
+        *pOut++ = (q7_t) (__SSAT(sum >> 7, 8));
+
+        /* Increment the MAC count */
+        count++;
+
+        /* Update the inputA and inputB pointers for next MAC calculation */
+        px = pIn1 + count;
+        py = pSrc2;
+
+        /* Decrement the loop counter */
+        blkCnt--;
+      }
+    }
+
+
+    /* --------------------------   
+     * Initializations of stage3   
+     * -------------------------*/
+
+    /* sum += x[srcALen-srcBLen+1] * y[srcBLen-1] + x[srcALen-srcBLen+2] * y[srcBLen-2] +...+ x[srcALen-1] * y[1]   
+     * sum += x[srcALen-srcBLen+2] * y[srcBLen-1] + x[srcALen-srcBLen+3] * y[srcBLen-2] +...+ x[srcALen-1] * y[2]   
+     * ....   
+     * sum +=  x[srcALen-2] * y[srcBLen-1] + x[srcALen-1] * y[srcBLen-2]   
+     * sum +=  x[srcALen-1] * y[srcBLen-1]   
+     */
+
+    /* In this stage the MAC operations are decreased by 1 for every iteration.   
+       The count variable holds the number of MAC operations performed */
+    count = srcBLen - 1u;
+
+    /* Working pointer of inputA */
+    pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);
+    px = pSrc1;
+
+    /* Working pointer of inputB */
+    pSrc2 = pIn2 + (srcBLen - 1u);
+    py = pSrc2;
+
+    /* -------------------   
+     * Stage3 process   
+     * ------------------*/
+
+    while(blockSize3 > 0)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = count >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      while(k > 0u)
+      {
+        /* Reading two inputs, x[srcALen - srcBLen + 1] and x[srcALen - srcBLen + 2] of SrcA buffer and packing */
+        in1 = (q15_t) * px++;
+        in2 = (q15_t) * px++;
+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+        /* Reading two inputs, y[srcBLen - 1] and y[srcBLen - 2] of SrcB buffer and packing */
+        in1 = (q15_t) * py--;
+        in2 = (q15_t) * py--;
+        input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+        /* sum += x[srcALen - srcBLen + 1] * y[srcBLen - 1] */
+        /* sum += x[srcALen - srcBLen + 2] * y[srcBLen - 2] */
+        sum = __SMLAD(input1, input2, sum);
+
+        /* Reading two inputs, x[srcALen - srcBLen + 3] and x[srcALen - srcBLen + 4] of SrcA buffer and packing */
+        in1 = (q15_t) * px++;
+        in2 = (q15_t) * px++;
+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+        /* Reading two inputs, y[srcBLen - 3] and y[srcBLen - 4] of SrcB buffer and packing */
+        in1 = (q15_t) * py--;
+        in2 = (q15_t) * py--;
+        input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+        /* sum += x[srcALen - srcBLen + 3] * y[srcBLen - 3] */
+        /* sum += x[srcALen - srcBLen + 4] * y[srcBLen - 4] */
+        sum = __SMLAD(input1, input2, sum);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* If the count is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = count % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        /* sum +=  x[srcALen-1] * y[srcBLen-1] */
+        sum += ((q31_t) * px++ * *py--);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = (q7_t) (__SSAT(sum >> 7, 8));
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = ++pSrc1;
+      py = pSrc2;
+
+      /* Decrement the MAC count */
+      count--;
+
+      /* Decrement the loop counter */
+      blockSize3--;
+
+    }
+
+    /* set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  q7_t *pIn1 = pSrcA;                            /* inputA pointer */
+  q7_t *pIn2 = pSrcB;                            /* inputB pointer */
+  q31_t sum;                                     /* Accumulator */
+  uint32_t i, j;                                 /* loop counters */
+  arm_status status;                             /* status of Partial convolution */
+
+  /* Check for range of output samples to be calculated */
+  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))
+  {
+    /* Set status as ARM_ARGUMENT_ERROR */
+    status = ARM_MATH_ARGUMENT_ERROR;
+  }
+  else
+  {
+    /* Loop to calculate convolution for output length number of values */
+    for (i = firstIndex; i <= (firstIndex + numPoints - 1); i++)
+    {
+      /* Initialize sum with zero to carry on MAC operations */
+      sum = 0;
+
+      /* Loop to perform MAC operations according to convolution equation */
+      for (j = 0; j <= i; j++)
+      {
+        /* Check the array limitations */
+        if(((i - j) < srcBLen) && (j < srcALen))
+        {
+          /* z[i] += x[i-j] * y[j] */
+          sum += ((q15_t) pIn1[j] * (pIn2[i - j]));
+        }
+      }
+
+      /* Store the output in the destination buffer */
+      pDst[i] = (q7_t) __SSAT((sum >> 7u), 8u);
+    }
+    /* set status as ARM_SUCCESS as there are no argument errors */
+    status = ARM_MATH_SUCCESS;
+  }
+  return (status);
+
+#endif /*  #ifndef ARM_MATH_CM0 */
+
+}
+
+/**   
+ * @} end of PartialConv group   
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_q15.c
new file mode 100644
index 000000000..1907719e7
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_q15.c
@@ -0,0 +1,733 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_conv_q15.c   
+*   
+* Description:	Convolution of Q15 sequences.     
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.11 2011/10/18 
+*    Bug Fix in conv, correlation, partial convolution. 
+*
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+*   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup Conv   
+ * @{   
+ */
+
+/**   
+ * @brief Convolution of Q15 sequences.   
+ * @param[in] *pSrcA points to the first input sequence.   
+ * @param[in] srcALen length of the first input sequence.   
+ * @param[in] *pSrcB points to the second input sequence.   
+ * @param[in] srcBLen length of the second input sequence.   
+ * @param[out] *pDst points to the location where the output result is written.  Length srcALen+srcBLen-1.   
+ * @return none.   
+ *   
+ * @details   
+ * Scaling and Overflow Behavior:   
+ *   
+ * \par   
+ * The function is implemented using a 64-bit internal accumulator.   
+ * Both inputs are in 1.15 format and multiplications yield a 2.30 result.   
+ * The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format.   
+ * This approach provides 33 guard bits and there is no risk of overflow.   
+ * The 34.30 result is then truncated to 34.15 format by discarding the low 15 bits and then saturated to 1.15 format.   
+ *   
+ * \par   
+ * Refer to arm_conv_fast_q15() for a faster but less precise version of this function for Cortex-M3 and Cortex-M4. 
+ *
+ * \par    
+ * Refer the function arm_conv_opt_q15() for a faster implementation of this function using scratch buffers.
+ *  
+ */
+
+void arm_conv_q15(
+  q15_t * pSrcA,
+  uint32_t srcALen,
+  q15_t * pSrcB,
+  uint32_t srcBLen,
+  q15_t * pDst)
+{
+
+#if (defined(ARM_MATH_CM4) || defined(ARM_MATH_CM3)) && !defined(UNALIGNED_SUPPORT_DISABLE)
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q15_t *pIn1;                                   /* inputA pointer */
+  q15_t *pIn2;                                   /* inputB pointer */
+  q15_t *pOut = pDst;                            /* output pointer */
+  q63_t sum, acc0, acc1, acc2, acc3;             /* Accumulator */
+  q15_t *px;                                     /* Intermediate inputA pointer  */
+  q15_t *py;                                     /* Intermediate inputB pointer  */
+  q15_t *pSrc1, *pSrc2;                          /* Intermediate pointers */
+  q31_t x0, x1, x2, x3, c0;                      /* Temporary variables to hold state and coefficient values */
+  uint32_t blockSize1, blockSize2, blockSize3, j, k, count, blkCnt;     /* loop counter */
+
+  /* The algorithm implementation is based on the lengths of the inputs. */
+  /* srcB is always made to slide across srcA. */
+  /* So srcBLen is always considered as shorter or equal to srcALen */
+  if(srcALen >= srcBLen)
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = pSrcA;
+
+    /* Initialization of inputB pointer */
+    pIn2 = pSrcB;
+  }
+  else
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = pSrcB;
+
+    /* Initialization of inputB pointer */
+    pIn2 = pSrcA;
+
+    /* srcBLen is always considered as shorter or equal to srcALen */
+    j = srcBLen;
+    srcBLen = srcALen;
+    srcALen = j;
+  }
+
+  /* conv(x,y) at n = x[n] * y[0] + x[n-1] * y[1] + x[n-2] * y[2] + ...+ x[n-N+1] * y[N -1] */
+  /* The function is internally   
+   * divided into three stages according to the number of multiplications that has to be   
+   * taken place between inputA samples and inputB samples. In the first stage of the   
+   * algorithm, the multiplications increase by one for every iteration.   
+   * In the second stage of the algorithm, srcBLen number of multiplications are done.   
+   * In the third stage of the algorithm, the multiplications decrease by one   
+   * for every iteration. */
+
+  /* The algorithm is implemented in three stages.   
+     The loop counters of each stage is initiated here. */
+  blockSize1 = srcBLen - 1u;
+  blockSize2 = srcALen - (srcBLen - 1u);
+
+  /* --------------------------   
+   * Initializations of stage1   
+   * -------------------------*/
+
+  /* sum = x[0] * y[0]   
+   * sum = x[0] * y[1] + x[1] * y[0]   
+   * ....   
+   * sum = x[0] * y[srcBlen - 1] + x[1] * y[srcBlen - 2] +...+ x[srcBLen - 1] * y[0]   
+   */
+
+  /* In this stage the MAC operations are increased by 1 for every iteration.   
+     The count variable holds the number of MAC operations performed */
+  count = 1u;
+
+  /* Working pointer of inputA */
+  px = pIn1;
+
+  /* Working pointer of inputB */
+  py = pIn2;
+
+
+  /* ------------------------   
+   * Stage1 process   
+   * ----------------------*/
+
+  /* For loop unrolling by 4, this stage is divided into two. */
+  /* First part of this stage computes the MAC operations less than 4 */
+  /* Second part of this stage computes the MAC operations greater than or equal to 4 */
+
+  /* The first part of the stage starts here */
+  while((count < 4u) && (blockSize1 > 0u))
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0;
+
+    /* Loop over number of MAC operations between   
+     * inputA samples and inputB samples */
+    k = count;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+      sum = __SMLALD(*px++, *py--, sum);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut++ = (q15_t) (__SSAT((sum >> 15), 16));
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    py = pIn2 + count;
+    px = pIn1;
+
+    /* Increment the MAC count */
+    count++;
+
+    /* Decrement the loop counter */
+    blockSize1--;
+  }
+
+  /* The second part of the stage starts here */
+  /* The internal loop, over count, is unrolled by 4 */
+  /* To, read the last two inputB samples using SIMD:   
+   * y[srcBLen] and y[srcBLen-1] coefficients, py is decremented by 1 */
+  py = py - 1;
+
+  while(blockSize1 > 0u)
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0;
+
+    /* Apply loop unrolling and compute 4 MACs simultaneously. */
+    k = count >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+      /* x[0], x[1] are multiplied with y[srcBLen - 1], y[srcBLen - 2] respectively */
+      sum = __SMLALDX(*__SIMD32(px)++, *__SIMD32(py)--, sum);
+      /* x[2], x[3] are multiplied with y[srcBLen - 3], y[srcBLen - 4] respectively */
+      sum = __SMLALDX(*__SIMD32(px)++, *__SIMD32(py)--, sum);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* For the next MAC operations, the pointer py is used without SIMD   
+     * So, py is incremented by 1 */
+    py = py + 1u;
+
+    /* If the count is not a multiple of 4, compute any remaining MACs here.   
+     ** No loop unrolling is used. */
+    k = count % 0x4u;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+      sum = __SMLALD(*px++, *py--, sum);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut++ = (q15_t) (__SSAT((sum >> 15), 16));
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    py = pIn2 + (count - 1u);
+    px = pIn1;
+
+    /* Increment the MAC count */
+    count++;
+
+    /* Decrement the loop counter */
+    blockSize1--;
+  }
+
+  /* --------------------------   
+   * Initializations of stage2   
+   * ------------------------*/
+
+  /* sum = x[0] * y[srcBLen-1] + x[1] * y[srcBLen-2] +...+ x[srcBLen-1] * y[0]   
+   * sum = x[1] * y[srcBLen-1] + x[2] * y[srcBLen-2] +...+ x[srcBLen] * y[0]   
+   * ....   
+   * sum = x[srcALen-srcBLen-2] * y[srcBLen-1] + x[srcALen] * y[srcBLen-2] +...+ x[srcALen-1] * y[0]   
+   */
+
+  /* Working pointer of inputA */
+  px = pIn1;
+
+  /* Working pointer of inputB */
+  pSrc2 = pIn2 + (srcBLen - 1u);
+  py = pSrc2;
+
+  /* count is the index by which the pointer pIn1 to be incremented */
+  count = 0u;
+
+
+  /* --------------------   
+   * Stage2 process   
+   * -------------------*/
+
+  /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.   
+   * So, to loop unroll over blockSize2,   
+   * srcBLen should be greater than or equal to 4 */
+  if(srcBLen >= 4u)
+  {
+    /* Loop unroll over blockSize2, by 4 */
+    blkCnt = blockSize2 >> 2u;
+
+    while(blkCnt > 0u)
+    {
+      py = py - 1u;
+
+      /* Set all accumulators to zero */
+      acc0 = 0;
+      acc1 = 0;
+      acc2 = 0;
+      acc3 = 0;
+
+
+      /* read x[0], x[1] samples */
+      x0 = *__SIMD32(px);
+      /* read x[1], x[2] samples */
+      x1 = _SIMD32_OFFSET(px+1);
+	  px+= 2u;
+
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = srcBLen >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      do
+      {
+        /* Read the last two inputB samples using SIMD:   
+         * y[srcBLen - 1] and y[srcBLen - 2] */
+        c0 = *__SIMD32(py)--;
+
+        /* acc0 +=  x[0] * y[srcBLen - 1] + x[1] * y[srcBLen - 2] */
+        acc0 = __SMLALDX(x0, c0, acc0);
+
+        /* acc1 +=  x[1] * y[srcBLen - 1] + x[2] * y[srcBLen - 2] */
+        acc1 = __SMLALDX(x1, c0, acc1);
+
+        /* Read x[2], x[3] */
+        x2 = *__SIMD32(px);
+
+        /* Read x[3], x[4] */
+        x3 = _SIMD32_OFFSET(px+1);
+
+        /* acc2 +=  x[2] * y[srcBLen - 1] + x[3] * y[srcBLen - 2] */
+        acc2 = __SMLALDX(x2, c0, acc2);
+
+        /* acc3 +=  x[3] * y[srcBLen - 1] + x[4] * y[srcBLen - 2] */
+        acc3 = __SMLALDX(x3, c0, acc3);
+
+        /* Read y[srcBLen - 3] and y[srcBLen - 4] */
+        c0 = *__SIMD32(py)--;
+
+        /* acc0 +=  x[2] * y[srcBLen - 3] + x[3] * y[srcBLen - 4] */
+        acc0 = __SMLALDX(x2, c0, acc0);
+
+        /* acc1 +=  x[3] * y[srcBLen - 3] + x[4] * y[srcBLen - 4] */
+        acc1 = __SMLALDX(x3, c0, acc1);
+
+        /* Read x[4], x[5] */
+        x0 = _SIMD32_OFFSET(px+2);
+
+        /* Read x[5], x[6] */
+        x1 = _SIMD32_OFFSET(px+3);
+		px += 4u;
+
+        /* acc2 +=  x[4] * y[srcBLen - 3] + x[5] * y[srcBLen - 4] */
+        acc2 = __SMLALDX(x0, c0, acc2);
+
+        /* acc3 +=  x[5] * y[srcBLen - 3] + x[6] * y[srcBLen - 4] */
+        acc3 = __SMLALDX(x1, c0, acc3);
+
+      } while(--k);
+
+      /* For the next MAC operations, SIMD is not used   
+       * So, the 16 bit pointer if inputB, py is updated */
+
+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = srcBLen % 0x4u;
+
+      if(k == 1u)
+      {
+        /* Read y[srcBLen - 5] */
+        c0 = *(py+1);
+
+#ifdef  ARM_MATH_BIG_ENDIAN
+
+        c0 = c0 << 16u;
+
+#else
+
+        c0 = c0 & 0x0000FFFF;
+
+#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */
+        /* Read x[7] */
+        x3 = *__SIMD32(px);
+		px++;
+
+        /* Perform the multiply-accumulates */
+        acc0 = __SMLALD(x0, c0, acc0);
+        acc1 = __SMLALD(x1, c0, acc1);
+        acc2 = __SMLALDX(x1, c0, acc2);
+        acc3 = __SMLALDX(x3, c0, acc3);
+      }
+
+      if(k == 2u)
+      {
+        /* Read y[srcBLen - 5], y[srcBLen - 6] */
+        c0 = _SIMD32_OFFSET(py);
+
+        /* Read x[7], x[8] */
+        x3 = *__SIMD32(px);
+
+        /* Read x[9] */
+        x2 = _SIMD32_OFFSET(px+1);
+		px += 2u;
+
+        /* Perform the multiply-accumulates */
+        acc0 = __SMLALDX(x0, c0, acc0);
+        acc1 = __SMLALDX(x1, c0, acc1);
+        acc2 = __SMLALDX(x3, c0, acc2);
+        acc3 = __SMLALDX(x2, c0, acc3);
+      }
+
+      if(k == 3u)
+      {
+        /* Read y[srcBLen - 5], y[srcBLen - 6] */
+        c0 = _SIMD32_OFFSET(py);
+
+        /* Read x[7], x[8] */
+        x3 = *__SIMD32(px);
+
+        /* Read x[9] */
+        x2 = _SIMD32_OFFSET(px+1);
+
+        /* Perform the multiply-accumulates */
+        acc0 = __SMLALDX(x0, c0, acc0);
+        acc1 = __SMLALDX(x1, c0, acc1);
+        acc2 = __SMLALDX(x3, c0, acc2);
+        acc3 = __SMLALDX(x2, c0, acc3);
+
+		c0 = *(py-1);
+
+#ifdef  ARM_MATH_BIG_ENDIAN
+
+        c0 = c0 << 16u;
+#else
+
+        c0 = c0 & 0x0000FFFF;
+#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */
+        /* Read x[10] */
+        x3 =  _SIMD32_OFFSET(px+2);
+		px += 3u;
+
+        /* Perform the multiply-accumulates */
+        acc0 = __SMLALDX(x1, c0, acc0);
+        acc1 = __SMLALD(x2, c0, acc1);
+        acc2 = __SMLALDX(x2, c0, acc2);
+        acc3 = __SMLALDX(x3, c0, acc3);
+      }
+
+
+      /* Store the results in the accumulators in the destination buffer. */
+
+#ifndef  ARM_MATH_BIG_ENDIAN
+
+      *__SIMD32(pOut)++ =
+        __PKHBT(__SSAT((acc0 >> 15), 16), __SSAT((acc1 >> 15), 16), 16);
+      *__SIMD32(pOut)++ =
+        __PKHBT(__SSAT((acc2 >> 15), 16), __SSAT((acc3 >> 15), 16), 16);
+
+#else
+
+      *__SIMD32(pOut)++ =
+        __PKHBT(__SSAT((acc1 >> 15), 16), __SSAT((acc0 >> 15), 16), 16);
+      *__SIMD32(pOut)++ =
+        __PKHBT(__SSAT((acc3 >> 15), 16), __SSAT((acc2 >> 15), 16), 16);
+
+#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
+
+      /* Increment the pointer pIn1 index, count by 4 */
+      count += 4u;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pSrc2;
+
+       /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.   
+     ** No loop unrolling is used. */
+    blkCnt = blockSize2 % 0x4u;
+
+    while(blkCnt > 0u)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = srcBLen >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        sum += (q63_t) ((q31_t) * px++ * *py--);
+        sum += (q63_t) ((q31_t) * px++ * *py--);
+        sum += (q63_t) ((q31_t) * px++ * *py--);
+        sum += (q63_t) ((q31_t) * px++ * *py--);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = srcBLen % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        sum += (q63_t) ((q31_t) * px++ * *py--);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = (q15_t) (__SSAT(sum >> 15, 16));
+
+      /* Increment the pointer pIn1 index, count by 1 */
+      count++;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pSrc2;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+  else
+  {
+    /* If the srcBLen is not a multiple of 4,   
+     * the blockSize2 loop cannot be unrolled by 4 */
+    blkCnt = blockSize2;
+
+    while(blkCnt > 0u)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* srcBLen number of MACS should be performed */
+      k = srcBLen;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulate */
+        sum += (q63_t) ((q31_t) * px++ * *py--);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = (q15_t) (__SSAT(sum >> 15, 16));
+
+      /* Increment the MAC count */
+      count++;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pSrc2;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+
+
+  /* --------------------------   
+   * Initializations of stage3   
+   * -------------------------*/
+
+  /* sum += x[srcALen-srcBLen+1] * y[srcBLen-1] + x[srcALen-srcBLen+2] * y[srcBLen-2] +...+ x[srcALen-1] * y[1]   
+   * sum += x[srcALen-srcBLen+2] * y[srcBLen-1] + x[srcALen-srcBLen+3] * y[srcBLen-2] +...+ x[srcALen-1] * y[2]   
+   * ....   
+   * sum +=  x[srcALen-2] * y[srcBLen-1] + x[srcALen-1] * y[srcBLen-2]   
+   * sum +=  x[srcALen-1] * y[srcBLen-1]   
+   */
+
+  /* In this stage the MAC operations are decreased by 1 for every iteration.   
+     The blockSize3 variable holds the number of MAC operations performed */
+
+  blockSize3 = srcBLen - 1u;
+
+  /* Working pointer of inputA */
+  pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);
+  px = pSrc1;
+
+  /* Working pointer of inputB */
+  pSrc2 = pIn2 + (srcBLen - 1u);
+  pIn2 = pSrc2 - 1u;
+  py = pIn2;
+
+  /* -------------------   
+   * Stage3 process   
+   * ------------------*/
+
+  /* For loop unrolling by 4, this stage is divided into two. */
+  /* First part of this stage computes the MAC operations greater than 4 */
+  /* Second part of this stage computes the MAC operations less than or equal to 4 */
+
+  /* The first part of the stage starts here */
+  j = blockSize3 >> 2u;
+
+  while((j > 0u) && (blockSize3 > 0u))
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0;
+
+    /* Apply loop unrolling and compute 4 MACs simultaneously. */
+    k = blockSize3 >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* x[srcALen - srcBLen + 1], x[srcALen - srcBLen + 2] are multiplied   
+       * with y[srcBLen - 1], y[srcBLen - 2] respectively */
+      sum = __SMLALDX(*__SIMD32(px)++, *__SIMD32(py)--, sum);
+      /* x[srcALen - srcBLen + 3], x[srcALen - srcBLen + 4] are multiplied   
+       * with y[srcBLen - 3], y[srcBLen - 4] respectively */
+      sum = __SMLALDX(*__SIMD32(px)++, *__SIMD32(py)--, sum);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* For the next MAC operations, the pointer py is used without SIMD   
+     * So, py is incremented by 1 */
+    py = py + 1u;
+
+    /* If the blockSize3 is not a multiple of 4, compute any remaining MACs here.   
+     ** No loop unrolling is used. */
+    k = blockSize3 % 0x4u;
+
+    while(k > 0u)
+    {
+      /* sum += x[srcALen - srcBLen + 5] * y[srcBLen - 5] */
+      sum = __SMLALD(*px++, *py--, sum);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut++ = (q15_t) (__SSAT((sum >> 15), 16));
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    px = ++pSrc1;
+    py = pIn2;
+
+    /* Decrement the loop counter */
+    blockSize3--;
+
+    j--;
+  }
+
+  /* The second part of the stage starts here */
+  /* SIMD is not used for the next MAC operations,   
+   * so pointer py is updated to read only one sample at a time */
+  py = py + 1u;
+
+  while(blockSize3 > 0u)
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0;
+
+    /* Apply loop unrolling and compute 4 MACs simultaneously. */
+    k = blockSize3;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+      /* sum +=  x[srcALen-1] * y[srcBLen-1] */
+      sum = __SMLALD(*px++, *py--, sum);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut++ = (q15_t) (__SSAT((sum >> 15), 16));
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    px = ++pSrc1;
+    py = pSrc2;
+
+    /* Decrement the loop counter */
+    blockSize3--;
+  }
+
+#else
+
+/* Run the below code for Cortex-M0 */
+
+  q15_t *pIn1 = pSrcA;                           /* input pointer */
+  q15_t *pIn2 = pSrcB;                           /* coefficient pointer */
+  q63_t sum;                                     /* Accumulator */
+  uint32_t i, j;                                 /* loop counter */
+
+  /* Loop to calculate output of convolution for output length number of times */
+  for (i = 0; i < (srcALen + srcBLen - 1); i++)
+  {
+    /* Initialize sum with zero to carry on MAC operations */
+    sum = 0;
+
+    /* Loop to perform MAC operations according to convolution equation */
+    for (j = 0; j <= i; j++)
+    {
+      /* Check the array limitations */
+      if(((i - j) < srcBLen) && (j < srcALen))
+      {
+        /* z[i] += x[i-j] * y[j] */
+        sum += (q31_t) pIn1[j] * (pIn2[i - j]);
+      }
+    }
+
+    /* Store the output in the destination buffer */
+    pDst[i] = (q15_t) __SSAT((sum >> 15u), 16u);
+  }
+
+#endif /*  #if (defined(ARM_MATH_CM4) || defined(ARM_MATH_CM3)) && !defined(UNALIGNED_SUPPORT_DISABLE)*/
+
+}
+
+/**   
+ * @} end of Conv group   
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_q31.c
new file mode 100644
index 000000000..769b95abb
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_q31.c
@@ -0,0 +1,564 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_conv_q31.c    
+*    
+* Description:	Convolution of Q31 sequences.  
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+* 
+* Version 1.0.11 2011/10/18  
+*    Bug Fix in conv, correlation, partial convolution.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+*    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup Conv    
+ * @{    
+ */
+
+/**    
+ * @brief Convolution of Q31 sequences.    
+ * @param[in] *pSrcA points to the first input sequence.    
+ * @param[in] srcALen length of the first input sequence.    
+ * @param[in] *pSrcB points to the second input sequence.    
+ * @param[in] srcBLen length of the second input sequence.    
+ * @param[out] *pDst points to the location where the output result is written.  Length srcALen+srcBLen-1.    
+ * @return none.    
+ *    
+ * @details    
+ * Scaling and Overflow Behavior:    
+ *    
+ * \par    
+ * The function is implemented using an internal 64-bit accumulator.    
+ * The accumulator has a 2.62 format and maintains full precision of the intermediate multiplication results but provides only a single guard bit.    
+ * There is no saturation on intermediate additions.    
+ * Thus, if the accumulator overflows it wraps around and distorts the result.    
+ * The input signals should be scaled down to avoid intermediate overflows.    
+ * Scale down the inputs by log2(min(srcALen, srcBLen)) (log2 is read as log to the base 2) times to avoid overflows,    
+ * as maximum of min(srcALen, srcBLen) number of additions are carried internally.    
+ * The 2.62 accumulator is right shifted by 31 bits and saturated to 1.31 format to yield the final result.    
+ *    
+ * \par    
+ * See arm_conv_fast_q31() for a faster but less precise implementation of this function for Cortex-M3 and Cortex-M4.    
+ */
+
+void arm_conv_q31(
+  q31_t * pSrcA,
+  uint32_t srcALen,
+  q31_t * pSrcB,
+  uint32_t srcBLen,
+  q31_t * pDst)
+{
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q31_t *pIn1;                                   /* inputA pointer */
+  q31_t *pIn2;                                   /* inputB pointer */
+  q31_t *pOut = pDst;                            /* output pointer */
+  q31_t *px;                                     /* Intermediate inputA pointer  */
+  q31_t *py;                                     /* Intermediate inputB pointer  */
+  q31_t *pSrc1, *pSrc2;                          /* Intermediate pointers */
+  q63_t sum;                                     /* Accumulator */
+  q63_t acc0, acc1, acc2;                        /* Accumulator */
+  q31_t x0, x1, x2, c0;                          /* Temporary variables to hold state and coefficient values */
+  uint32_t j, k, count, blkCnt, blockSize1, blockSize2, blockSize3;     /* loop counter */
+
+  /* The algorithm implementation is based on the lengths of the inputs. */
+  /* srcB is always made to slide across srcA. */
+  /* So srcBLen is always considered as shorter or equal to srcALen */
+  if(srcALen >= srcBLen)
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = pSrcA;
+
+    /* Initialization of inputB pointer */
+    pIn2 = pSrcB;
+  }
+  else
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = (q31_t *) pSrcB;
+
+    /* Initialization of inputB pointer */
+    pIn2 = (q31_t *) pSrcA;
+
+    /* srcBLen is always considered as shorter or equal to srcALen */
+    j = srcBLen;
+    srcBLen = srcALen;
+    srcALen = j;
+  }
+
+  /* conv(x,y) at n = x[n] * y[0] + x[n-1] * y[1] + x[n-2] * y[2] + ...+ x[n-N+1] * y[N -1] */
+  /* The function is internally    
+   * divided into three stages according to the number of multiplications that has to be    
+   * taken place between inputA samples and inputB samples. In the first stage of the    
+   * algorithm, the multiplications increase by one for every iteration.    
+   * In the second stage of the algorithm, srcBLen number of multiplications are done.    
+   * In the third stage of the algorithm, the multiplications decrease by one    
+   * for every iteration. */
+
+  /* The algorithm is implemented in three stages.    
+     The loop counters of each stage is initiated here. */
+  blockSize1 = srcBLen - 1u;
+  blockSize2 = srcALen - (srcBLen - 1u);
+  blockSize3 = blockSize1;
+
+  /* --------------------------    
+   * Initializations of stage1    
+   * -------------------------*/
+
+  /* sum = x[0] * y[0]    
+   * sum = x[0] * y[1] + x[1] * y[0]    
+   * ....    
+   * sum = x[0] * y[srcBlen - 1] + x[1] * y[srcBlen - 2] +...+ x[srcBLen - 1] * y[0]    
+   */
+
+  /* In this stage the MAC operations are increased by 1 for every iteration.    
+     The count variable holds the number of MAC operations performed */
+  count = 1u;
+
+  /* Working pointer of inputA */
+  px = pIn1;
+
+  /* Working pointer of inputB */
+  py = pIn2;
+
+
+  /* ------------------------    
+   * Stage1 process    
+   * ----------------------*/
+
+  /* The first stage starts here */
+  while(blockSize1 > 0u)
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0;
+
+    /* Apply loop unrolling and compute 4 MACs simultaneously. */
+    k = count >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* x[0] * y[srcBLen - 1] */
+      sum += (q63_t) * px++ * (*py--);
+      /* x[1] * y[srcBLen - 2] */
+      sum += (q63_t) * px++ * (*py--);
+      /* x[2] * y[srcBLen - 3] */
+      sum += (q63_t) * px++ * (*py--);
+      /* x[3] * y[srcBLen - 4] */
+      sum += (q63_t) * px++ * (*py--);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* If the count is not a multiple of 4, compute any remaining MACs here.    
+     ** No loop unrolling is used. */
+    k = count % 0x4u;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      sum += (q63_t) * px++ * (*py--);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut++ = (q31_t) (sum >> 31);
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    py = pIn2 + count;
+    px = pIn1;
+
+    /* Increment the MAC count */
+    count++;
+
+    /* Decrement the loop counter */
+    blockSize1--;
+  }
+
+  /* --------------------------    
+   * Initializations of stage2    
+   * ------------------------*/
+
+  /* sum = x[0] * y[srcBLen-1] + x[1] * y[srcBLen-2] +...+ x[srcBLen-1] * y[0]    
+   * sum = x[1] * y[srcBLen-1] + x[2] * y[srcBLen-2] +...+ x[srcBLen] * y[0]    
+   * ....    
+   * sum = x[srcALen-srcBLen-2] * y[srcBLen-1] + x[srcALen] * y[srcBLen-2] +...+ x[srcALen-1] * y[0]    
+   */
+
+  /* Working pointer of inputA */
+  px = pIn1;
+
+  /* Working pointer of inputB */
+  pSrc2 = pIn2 + (srcBLen - 1u);
+  py = pSrc2;
+
+  /* count is index by which the pointer pIn1 to be incremented */
+  count = 0u;
+
+  /* -------------------    
+   * Stage2 process    
+   * ------------------*/
+
+  /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.    
+   * So, to loop unroll over blockSize2,    
+   * srcBLen should be greater than or equal to 4 */
+  if(srcBLen >= 4u)
+  {
+    /* Loop unroll by 3 */
+    blkCnt = blockSize2 / 3;
+
+    while(blkCnt > 0u)
+    {
+      /* Set all accumulators to zero */
+      acc0 = 0;
+      acc1 = 0;
+      acc2 = 0;
+
+      /* read x[0], x[1], x[2] samples */
+      x0 = *(px++);
+      x1 = *(px++);
+
+      /* Apply loop unrolling and compute 3 MACs simultaneously. */
+      k = srcBLen / 3;
+
+      /* First part of the processing with loop unrolling.  Compute 3 MACs at a time.        
+       ** a second loop below computes MACs for the remaining 1 to 2 samples. */
+      do
+      {
+        /* Read y[srcBLen - 1] sample */
+        c0 = *(py);
+
+        /* Read x[3] sample */
+        x2 = *(px);
+
+        /* Perform the multiply-accumulates */
+        /* acc0 +=  x[0] * y[srcBLen - 1] */
+        acc0 += ((q63_t) x0 * c0);
+        /* acc1 +=  x[1] * y[srcBLen - 1] */
+        acc1 += ((q63_t) x1 * c0);
+        /* acc2 +=  x[2] * y[srcBLen - 1] */
+        acc2 += ((q63_t) x2 * c0);
+
+        /* Read y[srcBLen - 2] sample */
+        c0 = *(py - 1u);
+
+        /* Read x[4] sample */
+        x0 = *(px + 1u);
+
+        /* Perform the multiply-accumulate */
+        /* acc0 +=  x[1] * y[srcBLen - 2] */
+        acc0 += ((q63_t) x1 * c0);
+        /* acc1 +=  x[2] * y[srcBLen - 2] */
+        acc1 += ((q63_t) x2 * c0);
+        /* acc2 +=  x[3] * y[srcBLen - 2] */
+        acc2 += ((q63_t) x0 * c0);
+
+        /* Read y[srcBLen - 3] sample */
+        c0 = *(py - 2u);
+
+        /* Read x[5] sample */
+        x1 = *(px + 2u);
+
+        /* Perform the multiply-accumulates */
+        /* acc0 +=  x[2] * y[srcBLen - 3] */
+        acc0 += ((q63_t) x2 * c0);
+        /* acc1 +=  x[3] * y[srcBLen - 2] */
+        acc1 += ((q63_t) x0 * c0);
+        /* acc2 +=  x[4] * y[srcBLen - 2] */
+        acc2 += ((q63_t) x1 * c0);
+
+        /* update scratch pointers */
+        px += 3u;
+        py -= 3u;
+
+      } while(--k);
+
+      /* If the srcBLen is not a multiple of 3, compute any remaining MACs here.        
+       ** No loop unrolling is used. */
+      k = srcBLen - (3 * (srcBLen / 3));
+
+      while(k > 0u)
+      {
+        /* Read y[srcBLen - 5] sample */
+        c0 = *(py--);
+
+        /* Read x[7] sample */
+        x2 = *(px++);
+
+        /* Perform the multiply-accumulates */
+        /* acc0 +=  x[4] * y[srcBLen - 5] */
+        acc0 += ((q63_t) x0 * c0);
+        /* acc1 +=  x[5] * y[srcBLen - 5] */
+        acc1 += ((q63_t) x1 * c0);
+        /* acc2 +=  x[6] * y[srcBLen - 5] */
+        acc2 += ((q63_t) x2 * c0);
+
+        /* Reuse the present samples for the next MAC */
+        x0 = x1;
+        x1 = x2;
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the results in the accumulators in the destination buffer. */
+      *pOut++ = (q31_t) (acc0 >> 31);
+      *pOut++ = (q31_t) (acc1 >> 31);
+      *pOut++ = (q31_t) (acc2 >> 31);
+
+      /* Increment the pointer pIn1 index, count by 3 */
+      count += 3u;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pSrc2;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* If the blockSize2 is not a multiple of 3, compute any remaining output samples here.        
+     ** No loop unrolling is used. */
+    blkCnt = blockSize2 - 3 * (blockSize2 / 3);
+
+    while(blkCnt > 0u)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = srcBLen >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        sum += (q63_t) * px++ * (*py--);
+        sum += (q63_t) * px++ * (*py--);
+        sum += (q63_t) * px++ * (*py--);
+        sum += (q63_t) * px++ * (*py--);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.    
+       ** No loop unrolling is used. */
+      k = srcBLen % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulate */
+        sum += (q63_t) * px++ * (*py--);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = (q31_t) (sum >> 31);
+
+      /* Increment the MAC count */
+      count++;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pSrc2;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+  else
+  {
+    /* If the srcBLen is not a multiple of 4,    
+     * the blockSize2 loop cannot be unrolled by 4 */
+    blkCnt = blockSize2;
+
+    while(blkCnt > 0u)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* srcBLen number of MACS should be performed */
+      k = srcBLen;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulate */
+        sum += (q63_t) * px++ * (*py--);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = (q31_t) (sum >> 31);
+
+      /* Increment the MAC count */
+      count++;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pSrc2;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+
+
+  /* --------------------------    
+   * Initializations of stage3    
+   * -------------------------*/
+
+  /* sum += x[srcALen-srcBLen+1] * y[srcBLen-1] + x[srcALen-srcBLen+2] * y[srcBLen-2] +...+ x[srcALen-1] * y[1]    
+   * sum += x[srcALen-srcBLen+2] * y[srcBLen-1] + x[srcALen-srcBLen+3] * y[srcBLen-2] +...+ x[srcALen-1] * y[2]    
+   * ....    
+   * sum +=  x[srcALen-2] * y[srcBLen-1] + x[srcALen-1] * y[srcBLen-2]    
+   * sum +=  x[srcALen-1] * y[srcBLen-1]    
+   */
+
+  /* In this stage the MAC operations are decreased by 1 for every iteration.    
+     The blockSize3 variable holds the number of MAC operations performed */
+
+  /* Working pointer of inputA */
+  pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);
+  px = pSrc1;
+
+  /* Working pointer of inputB */
+  pSrc2 = pIn2 + (srcBLen - 1u);
+  py = pSrc2;
+
+  /* -------------------    
+   * Stage3 process    
+   * ------------------*/
+
+  while(blockSize3 > 0u)
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0;
+
+    /* Apply loop unrolling and compute 4 MACs simultaneously. */
+    k = blockSize3 >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* sum += x[srcALen - srcBLen + 1] * y[srcBLen - 1] */
+      sum += (q63_t) * px++ * (*py--);
+      /* sum += x[srcALen - srcBLen + 2] * y[srcBLen - 2] */
+      sum += (q63_t) * px++ * (*py--);
+      /* sum += x[srcALen - srcBLen + 3] * y[srcBLen - 3] */
+      sum += (q63_t) * px++ * (*py--);
+      /* sum += x[srcALen - srcBLen + 4] * y[srcBLen - 4] */
+      sum += (q63_t) * px++ * (*py--);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* If the blockSize3 is not a multiple of 4, compute any remaining MACs here.    
+     ** No loop unrolling is used. */
+    k = blockSize3 % 0x4u;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      sum += (q63_t) * px++ * (*py--);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut++ = (q31_t) (sum >> 31);
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    px = ++pSrc1;
+    py = pSrc2;
+
+    /* Decrement the loop counter */
+    blockSize3--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  q31_t *pIn1 = pSrcA;                           /* input pointer */
+  q31_t *pIn2 = pSrcB;                           /* coefficient pointer */
+  q63_t sum;                                     /* Accumulator */
+  uint32_t i, j;                                 /* loop counter */
+
+  /* Loop to calculate output of convolution for output length number of times */
+  for (i = 0; i < (srcALen + srcBLen - 1); i++)
+  {
+    /* Initialize sum with zero to carry on MAC operations */
+    sum = 0;
+
+    /* Loop to perform MAC operations according to convolution equation */
+    for (j = 0; j <= i; j++)
+    {
+      /* Check the array limitations */
+      if(((i - j) < srcBLen) && (j < srcALen))
+      {
+        /* z[i] += x[i-j] * y[j] */
+        sum += ((q63_t) pIn1[j] * (pIn2[i - j]));
+      }
+    }
+
+    /* Store the output in the destination buffer */
+    pDst[i] = (q31_t) (sum >> 31u);
+  }
+
+#endif /*     #ifndef ARM_MATH_CM0 */
+
+}
+
+/**    
+ * @} end of Conv group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_q7.c
new file mode 100644
index 000000000..eb78fd533
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_conv_q7.c
@@ -0,0 +1,689 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_conv_q7.c   
+*   
+* Description:	Convolution of Q7 sequences. 
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*  
+* Version 1.0.11 2011/10/18 
+*    Bug Fix in conv, correlation, partial convolution. 
+*
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+*   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup Conv   
+ * @{   
+ */
+
+/**   
+ * @brief Convolution of Q7 sequences.   
+ * @param[in] *pSrcA points to the first input sequence.   
+ * @param[in] srcALen length of the first input sequence.   
+ * @param[in] *pSrcB points to the second input sequence.   
+ * @param[in] srcBLen length of the second input sequence.   
+ * @param[out] *pDst points to the location where the output result is written.  Length srcALen+srcBLen-1.   
+ * @return none.   
+ *   
+ * @details   
+ * Scaling and Overflow Behavior:   
+ *   
+ * \par   
+ * The function is implemented using a 32-bit internal accumulator.   
+ * Both the inputs are represented in 1.7 format and multiplications yield a 2.14 result.   
+ * The 2.14 intermediate results are accumulated in a 32-bit accumulator in 18.14 format.   
+ * This approach provides 17 guard bits and there is no risk of overflow as long as max(srcALen, srcBLen)<131072.   
+ * The 18.14 result is then truncated to 18.7 format by discarding the low 7 bits and then saturated to 1.7 format.   
+ *
+ * \par    
+ * Refer the function arm_conv_opt_q7() for a faster implementation of this function.
+ * 
+ */
+
+void arm_conv_q7(
+  q7_t * pSrcA,
+  uint32_t srcALen,
+  q7_t * pSrcB,
+  uint32_t srcBLen,
+  q7_t * pDst)
+{
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q7_t *pIn1;                                    /* inputA pointer */
+  q7_t *pIn2;                                    /* inputB pointer */
+  q7_t *pOut = pDst;                             /* output pointer */
+  q7_t *px;                                      /* Intermediate inputA pointer */
+  q7_t *py;                                      /* Intermediate inputB pointer */
+  q7_t *pSrc1, *pSrc2;                           /* Intermediate pointers */
+  q7_t x0, x1, x2, x3, c0, c1;                   /* Temporary variables to hold state and coefficient values */
+  q31_t sum, acc0, acc1, acc2, acc3;             /* Accumulator */
+  q31_t input1, input2;                          /* Temporary input variables */
+  q15_t in1, in2;                                /* Temporary input variables */
+  uint32_t j, k, count, blkCnt, blockSize1, blockSize2, blockSize3;     /* loop counter */
+
+  /* The algorithm implementation is based on the lengths of the inputs. */
+  /* srcB is always made to slide across srcA. */
+  /* So srcBLen is always considered as shorter or equal to srcALen */
+  if(srcALen >= srcBLen)
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = pSrcA;
+
+    /* Initialization of inputB pointer */
+    pIn2 = pSrcB;
+  }
+  else
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = pSrcB;
+
+    /* Initialization of inputB pointer */
+    pIn2 = pSrcA;
+
+    /* srcBLen is always considered as shorter or equal to srcALen */
+    j = srcBLen;
+    srcBLen = srcALen;
+    srcALen = j;
+  }
+
+  /* conv(x,y) at n = x[n] * y[0] + x[n-1] * y[1] + x[n-2] * y[2] + ...+ x[n-N+1] * y[N -1] */
+  /* The function is internally   
+   * divided into three stages according to the number of multiplications that has to be   
+   * taken place between inputA samples and inputB samples. In the first stage of the   
+   * algorithm, the multiplications increase by one for every iteration.   
+   * In the second stage of the algorithm, srcBLen number of multiplications are done.   
+   * In the third stage of the algorithm, the multiplications decrease by one   
+   * for every iteration. */
+
+  /* The algorithm is implemented in three stages.   
+     The loop counters of each stage is initiated here. */
+  blockSize1 = srcBLen - 1u;
+  blockSize2 = (srcALen - srcBLen) + 1u;
+  blockSize3 = blockSize1;
+
+  /* --------------------------   
+   * Initializations of stage1   
+   * -------------------------*/
+
+  /* sum = x[0] * y[0]   
+   * sum = x[0] * y[1] + x[1] * y[0]   
+   * ....   
+   * sum = x[0] * y[srcBlen - 1] + x[1] * y[srcBlen - 2] +...+ x[srcBLen - 1] * y[0]   
+   */
+
+  /* In this stage the MAC operations are increased by 1 for every iteration.   
+     The count variable holds the number of MAC operations performed */
+  count = 1u;
+
+  /* Working pointer of inputA */
+  px = pIn1;
+
+  /* Working pointer of inputB */
+  py = pIn2;
+
+
+  /* ------------------------   
+   * Stage1 process   
+   * ----------------------*/
+
+  /* The first stage starts here */
+  while(blockSize1 > 0u)
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0;
+
+    /* Apply loop unrolling and compute 4 MACs simultaneously. */
+    k = count >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* x[0] , x[1] */
+      in1 = (q15_t) * px++;
+      in2 = (q15_t) * px++;
+      input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
+
+      /* y[srcBLen - 1] , y[srcBLen - 2] */
+      in1 = (q15_t) * py--;
+      in2 = (q15_t) * py--;
+      input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
+
+      /* x[0] * y[srcBLen - 1] */
+      /* x[1] * y[srcBLen - 2] */
+      sum = __SMLAD(input1, input2, sum);
+
+      /* x[2] , x[3] */
+      in1 = (q15_t) * px++;
+      in2 = (q15_t) * px++;
+      input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
+
+      /* y[srcBLen - 3] , y[srcBLen - 4] */
+      in1 = (q15_t) * py--;
+      in2 = (q15_t) * py--;
+      input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
+
+      /* x[2] * y[srcBLen - 3] */
+      /* x[3] * y[srcBLen - 4] */
+      sum = __SMLAD(input1, input2, sum);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* If the count is not a multiple of 4, compute any remaining MACs here.   
+     ** No loop unrolling is used. */
+    k = count % 0x4u;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+      sum += ((q15_t) * px++ * *py--);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut++ = (q7_t) (__SSAT(sum >> 7u, 8));
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    py = pIn2 + count;
+    px = pIn1;
+
+    /* Increment the MAC count */
+    count++;
+
+    /* Decrement the loop counter */
+    blockSize1--;
+  }
+
+  /* --------------------------   
+   * Initializations of stage2   
+   * ------------------------*/
+
+  /* sum = x[0] * y[srcBLen-1] + x[1] * y[srcBLen-2] +...+ x[srcBLen-1] * y[0]   
+   * sum = x[1] * y[srcBLen-1] + x[2] * y[srcBLen-2] +...+ x[srcBLen] * y[0]   
+   * ....   
+   * sum = x[srcALen-srcBLen-2] * y[srcBLen-1] + x[srcALen] * y[srcBLen-2] +...+ x[srcALen-1] * y[0]   
+   */
+
+  /* Working pointer of inputA */
+  px = pIn1;
+
+  /* Working pointer of inputB */
+  pSrc2 = pIn2 + (srcBLen - 1u);
+  py = pSrc2;
+
+  /* count is index by which the pointer pIn1 to be incremented */
+  count = 0u;
+
+  /* -------------------   
+   * Stage2 process   
+   * ------------------*/
+
+  /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.   
+   * So, to loop unroll over blockSize2,   
+   * srcBLen should be greater than or equal to 4 */
+  if(srcBLen >= 4u)
+  {
+    /* Loop unroll over blockSize2, by 4 */
+    blkCnt = blockSize2 >> 2u;
+
+    while(blkCnt > 0u)
+    {
+      /* Set all accumulators to zero */
+      acc0 = 0;
+      acc1 = 0;
+      acc2 = 0;
+      acc3 = 0;
+
+      /* read x[0], x[1], x[2] samples */
+      x0 = *(px++);
+      x1 = *(px++);
+      x2 = *(px++);
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = srcBLen >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      do
+      {
+        /* Read y[srcBLen - 1] sample */
+        c0 = *(py--);
+        /* Read y[srcBLen - 2] sample */
+        c1 = *(py--);
+
+        /* Read x[3] sample */
+        x3 = *(px++);
+
+        /* x[0] and x[1] are packed */
+        in1 = (q15_t) x0;
+        in2 = (q15_t) x1;
+
+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
+
+        /* y[srcBLen - 1]   and y[srcBLen - 2] are packed */
+        in1 = (q15_t) c0;
+        in2 = (q15_t) c1;
+
+        input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
+
+        /* acc0 += x[0] * y[srcBLen - 1] + x[1] * y[srcBLen - 2]  */
+        acc0 = __SMLAD(input1, input2, acc0);
+
+        /* x[1] and x[2] are packed */
+        in1 = (q15_t) x1;
+        in2 = (q15_t) x2;
+
+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
+
+        /* acc1 += x[1] * y[srcBLen - 1] + x[2] * y[srcBLen - 2]  */
+        acc1 = __SMLAD(input1, input2, acc1);
+
+        /* x[2] and x[3] are packed */
+        in1 = (q15_t) x2;
+        in2 = (q15_t) x3;
+
+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
+
+        /* acc2 += x[2] * y[srcBLen - 1] + x[3] * y[srcBLen - 2]  */
+        acc2 = __SMLAD(input1, input2, acc2);
+
+        /* Read x[4] sample */
+        x0 = *(px++);
+
+        /* x[3] and x[4] are packed */
+        in1 = (q15_t) x3;
+        in2 = (q15_t) x0;
+
+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
+
+        /* acc3 += x[3] * y[srcBLen - 1] + x[4] * y[srcBLen - 2]  */
+        acc3 = __SMLAD(input1, input2, acc3);
+
+        /* Read y[srcBLen - 3] sample */
+        c0 = *(py--);
+        /* Read y[srcBLen - 4] sample */
+        c1 = *(py--);
+
+        /* Read x[5] sample */
+        x1 = *(px++);
+
+        /* x[2] and x[3] are packed */
+        in1 = (q15_t) x2;
+        in2 = (q15_t) x3;
+
+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
+
+        /* y[srcBLen - 3] and y[srcBLen - 4] are packed */
+        in1 = (q15_t) c0;
+        in2 = (q15_t) c1;
+
+        input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
+
+        /* acc0 += x[2] * y[srcBLen - 3] + x[3] * y[srcBLen - 4]  */
+        acc0 = __SMLAD(input1, input2, acc0);
+
+        /* x[3] and x[4] are packed */
+        in1 = (q15_t) x3;
+        in2 = (q15_t) x0;
+
+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
+
+        /* acc1 += x[3] * y[srcBLen - 3] + x[4] * y[srcBLen - 4]  */
+        acc1 = __SMLAD(input1, input2, acc1);
+
+        /* x[4] and x[5] are packed */
+        in1 = (q15_t) x0;
+        in2 = (q15_t) x1;
+
+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
+
+        /* acc2 += x[4] * y[srcBLen - 3] + x[5] * y[srcBLen - 4]  */
+        acc2 = __SMLAD(input1, input2, acc2);
+
+        /* Read x[6] sample */
+        x2 = *(px++);
+
+        /* x[5] and x[6] are packed */
+        in1 = (q15_t) x1;
+        in2 = (q15_t) x2;
+
+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
+
+        /* acc3 += x[5] * y[srcBLen - 3] + x[6] * y[srcBLen - 4]  */
+        acc3 = __SMLAD(input1, input2, acc3);
+
+      } while(--k);
+
+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = srcBLen % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Read y[srcBLen - 5] sample */
+        c0 = *(py--);
+
+        /* Read x[7] sample */
+        x3 = *(px++);
+
+        /* Perform the multiply-accumulates */
+        /* acc0 +=  x[4] * y[srcBLen - 5] */
+        acc0 += ((q15_t) x0 * c0);
+        /* acc1 +=  x[5] * y[srcBLen - 5] */
+        acc1 += ((q15_t) x1 * c0);
+        /* acc2 +=  x[6] * y[srcBLen - 5] */
+        acc2 += ((q15_t) x2 * c0);
+        /* acc3 +=  x[7] * y[srcBLen - 5] */
+        acc3 += ((q15_t) x3 * c0);
+
+        /* Reuse the present samples for the next MAC */
+        x0 = x1;
+        x1 = x2;
+        x2 = x3;
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = (q7_t) (__SSAT(acc0 >> 7u, 8));
+      *pOut++ = (q7_t) (__SSAT(acc1 >> 7u, 8));
+      *pOut++ = (q7_t) (__SSAT(acc2 >> 7u, 8));
+      *pOut++ = (q7_t) (__SSAT(acc3 >> 7u, 8));
+
+      /* Increment the pointer pIn1 index, count by 4 */
+      count += 4u;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pSrc2;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.   
+     ** No loop unrolling is used. */
+    blkCnt = blockSize2 % 0x4u;
+
+    while(blkCnt > 0u)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = srcBLen >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      while(k > 0u)
+      {
+
+        /* Reading two inputs of SrcA buffer and packing */
+        in1 = (q15_t) * px++;
+        in2 = (q15_t) * px++;
+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
+
+        /* Reading two inputs of SrcB buffer and packing */
+        in1 = (q15_t) * py--;
+        in2 = (q15_t) * py--;
+        input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
+
+        /* Perform the multiply-accumulates */
+        sum = __SMLAD(input1, input2, sum);
+
+        /* Reading two inputs of SrcA buffer and packing */
+        in1 = (q15_t) * px++;
+        in2 = (q15_t) * px++;
+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
+
+        /* Reading two inputs of SrcB buffer and packing */
+        in1 = (q15_t) * py--;
+        in2 = (q15_t) * py--;
+        input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
+
+        /* Perform the multiply-accumulates */
+        sum = __SMLAD(input1, input2, sum);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = srcBLen % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        sum += ((q15_t) * px++ * *py--);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = (q7_t) (__SSAT(sum >> 7u, 8));
+
+      /* Increment the pointer pIn1 index, count by 1 */
+      count++;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pSrc2;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+  else
+  {
+    /* If the srcBLen is not a multiple of 4,   
+     * the blockSize2 loop cannot be unrolled by 4 */
+    blkCnt = blockSize2;
+
+    while(blkCnt > 0u)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* srcBLen number of MACS should be performed */
+      k = srcBLen;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulate */
+        sum += ((q15_t) * px++ * *py--);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = (q7_t) (__SSAT(sum >> 7u, 8));
+
+      /* Increment the MAC count */
+      count++;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pSrc2;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+
+
+  /* --------------------------   
+   * Initializations of stage3   
+   * -------------------------*/
+
+  /* sum += x[srcALen-srcBLen+1] * y[srcBLen-1] + x[srcALen-srcBLen+2] * y[srcBLen-2] +...+ x[srcALen-1] * y[1]   
+   * sum += x[srcALen-srcBLen+2] * y[srcBLen-1] + x[srcALen-srcBLen+3] * y[srcBLen-2] +...+ x[srcALen-1] * y[2]   
+   * ....   
+   * sum +=  x[srcALen-2] * y[srcBLen-1] + x[srcALen-1] * y[srcBLen-2]   
+   * sum +=  x[srcALen-1] * y[srcBLen-1]   
+   */
+
+  /* In this stage the MAC operations are decreased by 1 for every iteration.   
+     The blockSize3 variable holds the number of MAC operations performed */
+
+  /* Working pointer of inputA */
+  pSrc1 = pIn1 + (srcALen - (srcBLen - 1u));
+  px = pSrc1;
+
+  /* Working pointer of inputB */
+  pSrc2 = pIn2 + (srcBLen - 1u);
+  py = pSrc2;
+
+  /* -------------------   
+   * Stage3 process   
+   * ------------------*/
+
+  while(blockSize3 > 0u)
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0;
+
+    /* Apply loop unrolling and compute 4 MACs simultaneously. */
+    k = blockSize3 >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* Reading two inputs, x[srcALen - srcBLen + 1] and x[srcALen - srcBLen + 2] of SrcA buffer and packing */
+      in1 = (q15_t) * px++;
+      in2 = (q15_t) * px++;
+      input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
+
+      /* Reading two inputs, y[srcBLen - 1] and y[srcBLen - 2] of SrcB buffer and packing */
+      in1 = (q15_t) * py--;
+      in2 = (q15_t) * py--;
+      input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
+
+      /* sum += x[srcALen - srcBLen + 1] * y[srcBLen - 1] */
+      /* sum += x[srcALen - srcBLen + 2] * y[srcBLen - 2] */
+      sum = __SMLAD(input1, input2, sum);
+
+      /* Reading two inputs, x[srcALen - srcBLen + 3] and x[srcALen - srcBLen + 4] of SrcA buffer and packing */
+      in1 = (q15_t) * px++;
+      in2 = (q15_t) * px++;
+      input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
+
+      /* Reading two inputs, y[srcBLen - 3] and y[srcBLen - 4] of SrcB buffer and packing */
+      in1 = (q15_t) * py--;
+      in2 = (q15_t) * py--;
+      input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
+
+      /* sum += x[srcALen - srcBLen + 3] * y[srcBLen - 3] */
+      /* sum += x[srcALen - srcBLen + 4] * y[srcBLen - 4] */
+      sum = __SMLAD(input1, input2, sum);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* If the blockSize3 is not a multiple of 4, compute any remaining MACs here.   
+     ** No loop unrolling is used. */
+    k = blockSize3 % 0x4u;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+      sum += ((q15_t) * px++ * *py--);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut++ = (q7_t) (__SSAT(sum >> 7u, 8));
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    px = ++pSrc1;
+    py = pSrc2;
+
+    /* Decrement the loop counter */
+    blockSize3--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  q7_t *pIn1 = pSrcA;                            /* input pointer */
+  q7_t *pIn2 = pSrcB;                            /* coefficient pointer */
+  q31_t sum;                                     /* Accumulator */
+  uint32_t i, j;                                 /* loop counter */
+
+  /* Loop to calculate output of convolution for output length number of times */
+  for (i = 0; i < (srcALen + srcBLen - 1); i++)
+  {
+    /* Initialize sum with zero to carry on MAC operations */
+    sum = 0;
+
+    /* Loop to perform MAC operations according to convolution equation */
+    for (j = 0; j <= i; j++)
+    {
+      /* Check the array limitations */
+      if(((i - j) < srcBLen) && (j < srcALen))
+      {
+        /* z[i] += x[i-j] * y[j] */
+        sum += (q15_t) pIn1[j] * (pIn2[i - j]);
+      }
+    }
+
+    /* Store the output in the destination buffer */
+    pDst[i] = (q7_t) __SSAT((sum >> 7u), 8u);
+  }
+
+#endif /*   #ifndef ARM_MATH_CM0        */
+
+}
+
+/**   
+ * @} end of Conv group   
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_f32.c
new file mode 100644
index 000000000..6a99eafc1
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_f32.c
@@ -0,0 +1,738 @@
+/* ----------------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_correlate_f32.c    
+*    
+* Description:	 Correlation of floating-point sequences.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+* 
+* Version 1.0.11 2011/10/18  
+*    Bug Fix in conv, correlation, partial convolution.  
+* 
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+*    
+* -------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @defgroup Corr Correlation    
+ *    
+ * Correlation is a mathematical operation that is similar to convolution.    
+ * As with convolution, correlation uses two signals to produce a third signal.    
+ * The underlying algorithms in correlation and convolution are identical except that one of the inputs is flipped in convolution.    
+ * Correlation is commonly used to measure the similarity between two signals.    
+ * It has applications in pattern recognition, cryptanalysis, and searching.    
+ * The CMSIS library provides correlation functions for Q7, Q15, Q31 and floating-point data types.    
+ * Fast versions of the Q15 and Q31 functions are also provided.    
+ *    
+ * \par Algorithm    
+ * Let a[n] and b[n] be sequences of length srcALen and srcBLen samples respectively.    
+ * The convolution of the two signals is denoted by    
+ * 
    
+ *                   c[n] = a[n] * b[n]    
+ * 
    
+ * In correlation, one of the signals is flipped in time    
+ * 
    
+ *                   c[n] = a[n] * b[-n]    
+ * 
    
+ *    
+ * \par    
+ * and this is mathematically defined as    
+ * \image html CorrelateEquation.gif    
+ * \par    
+ * The pSrcA points to the first input vector of length srcALen and pSrcB points to the second input vector of length srcBLen.    
+ * The result c[n] is of length 2 * max(srcALen, srcBLen) - 1 and is defined over the interval n=0, 1, 2, ..., (2 * max(srcALen, srcBLen) - 2).    
+ * The output result is written to pDst and the calling function must allocate 2 * max(srcALen, srcBLen) - 1 words for the result.    
+ *    
+ * Note   
+ * \par  
+ * The pDst should be initialized to all zeros before being used.  
+ *  
+ * Fixed-Point Behavior    
+ * \par    
+ * Correlation requires summing up a large number of intermediate products.    
+ * As such, the Q7, Q15, and Q31 functions run a risk of overflow and saturation.    
+ * Refer to the function specific documentation below for further details of the particular algorithm used.    
+ *
+ *
+ * Fast Versions
+ *
+ * \par 
+ * Fast versions are supported for Q31 and Q15.  Cycles for Fast versions are less compared to Q31 and Q15 of correlate and the design requires
+ * the input signals should be scaled down to avoid intermediate overflows.   
+ *
+ *
+ * Opt Versions
+ *
+ * \par 
+ * Opt versions are supported for Q15 and Q7.  Design uses internal scratch buffer for getting good optimisation.
+ * These versions are optimised in cycles and consumes more memory(Scratch memory) compared to Q15 and Q7 versions of correlate 
+ */
+
+/**    
+ * @addtogroup Corr    
+ * @{    
+ */
+/**    
+ * @brief Correlation of floating-point sequences.    
+ * @param[in]  *pSrcA points to the first input sequence.    
+ * @param[in]  srcALen length of the first input sequence.    
+ * @param[in]  *pSrcB points to the second input sequence.    
+ * @param[in]  srcBLen length of the second input sequence.    
+ * @param[out] *pDst points to the location where the output result is written.  Length 2 * max(srcALen, srcBLen) - 1.    
+ * @return none.    
+ */
+
+void arm_correlate_f32(
+  float32_t * pSrcA,
+  uint32_t srcALen,
+  float32_t * pSrcB,
+  uint32_t srcBLen,
+  float32_t * pDst)
+{
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  float32_t *pIn1;                               /* inputA pointer */
+  float32_t *pIn2;                               /* inputB pointer */
+  float32_t *pOut = pDst;                        /* output pointer */
+  float32_t *px;                                 /* Intermediate inputA pointer */
+  float32_t *py;                                 /* Intermediate inputB pointer */
+  float32_t *pSrc1;                              /* Intermediate pointers */
+  float32_t sum, acc0, acc1, acc2, acc3;         /* Accumulators */
+  float32_t x0, x1, x2, x3, c0;                  /* temporary variables for holding input and coefficient values */
+  uint32_t j, k = 0u, count, blkCnt, outBlockSize, blockSize1, blockSize2, blockSize3;  /* loop counters */
+  int32_t inc = 1;                               /* Destination address modifier */
+
+
+  /* The algorithm implementation is based on the lengths of the inputs. */
+  /* srcB is always made to slide across srcA. */
+  /* So srcBLen is always considered as shorter or equal to srcALen */
+  /* But CORR(x, y) is reverse of CORR(y, x) */
+  /* So, when srcBLen > srcALen, output pointer is made to point to the end of the output buffer */
+  /* and the destination pointer modifier, inc is set to -1 */
+  /* If srcALen > srcBLen, zero pad has to be done to srcB to make the two inputs of same length */
+  /* But to improve the performance,    
+   * we include zeroes in the output instead of zero padding either of the the inputs*/
+  /* If srcALen > srcBLen,    
+   * (srcALen - srcBLen) zeroes has to included in the starting of the output buffer */
+  /* If srcALen < srcBLen,    
+   * (srcALen - srcBLen) zeroes has to included in the ending of the output buffer */
+  if(srcALen >= srcBLen)
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = pSrcA;
+
+    /* Initialization of inputB pointer */
+    pIn2 = pSrcB;
+
+    /* Number of output samples is calculated */
+    outBlockSize = (2u * srcALen) - 1u;
+
+    /* When srcALen > srcBLen, zero padding has to be done to srcB    
+     * to make their lengths equal.    
+     * Instead, (outBlockSize - (srcALen + srcBLen - 1))    
+     * number of output samples are made zero */
+    j = outBlockSize - (srcALen + (srcBLen - 1u));
+
+    /* Updating the pointer position to non zero value */
+    pOut += j;
+
+    //while(j > 0u)   
+    //{   
+    //  /* Zero is stored in the destination buffer */   
+    //  *pOut++ = 0.0f;   
+
+    //  /* Decrement the loop counter */   
+    //  j--;   
+    //}   
+
+  }
+  else
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = pSrcB;
+
+    /* Initialization of inputB pointer */
+    pIn2 = pSrcA;
+
+    /* srcBLen is always considered as shorter or equal to srcALen */
+    j = srcBLen;
+    srcBLen = srcALen;
+    srcALen = j;
+
+    /* CORR(x, y) = Reverse order(CORR(y, x)) */
+    /* Hence set the destination pointer to point to the last output sample */
+    pOut = pDst + ((srcALen + srcBLen) - 2u);
+
+    /* Destination address modifier is set to -1 */
+    inc = -1;
+
+  }
+
+  /* The function is internally    
+   * divided into three parts according to the number of multiplications that has to be    
+   * taken place between inputA samples and inputB samples. In the first part of the    
+   * algorithm, the multiplications increase by one for every iteration.    
+   * In the second part of the algorithm, srcBLen number of multiplications are done.    
+   * In the third part of the algorithm, the multiplications decrease by one    
+   * for every iteration.*/
+  /* The algorithm is implemented in three stages.    
+   * The loop counters of each stage is initiated here. */
+  blockSize1 = srcBLen - 1u;
+  blockSize2 = srcALen - (srcBLen - 1u);
+  blockSize3 = blockSize1;
+
+  /* --------------------------    
+   * Initializations of stage1    
+   * -------------------------*/
+
+  /* sum = x[0] * y[srcBlen - 1]    
+   * sum = x[0] * y[srcBlen-2] + x[1] * y[srcBlen - 1]    
+   * ....    
+   * sum = x[0] * y[0] + x[1] * y[1] +...+ x[srcBLen - 1] * y[srcBLen - 1]    
+   */
+
+  /* In this stage the MAC operations are increased by 1 for every iteration.    
+     The count variable holds the number of MAC operations performed */
+  count = 1u;
+
+  /* Working pointer of inputA */
+  px = pIn1;
+
+  /* Working pointer of inputB */
+  pSrc1 = pIn2 + (srcBLen - 1u);
+  py = pSrc1;
+
+  /* ------------------------    
+   * Stage1 process    
+   * ----------------------*/
+
+  /* The first stage starts here */
+  while(blockSize1 > 0u)
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0.0f;
+
+    /* Apply loop unrolling and compute 4 MACs simultaneously. */
+    k = count >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* x[0] * y[srcBLen - 4] */
+      sum += *px++ * *py++;
+      /* x[1] * y[srcBLen - 3] */
+      sum += *px++ * *py++;
+      /* x[2] * y[srcBLen - 2] */
+      sum += *px++ * *py++;
+      /* x[3] * y[srcBLen - 1] */
+      sum += *px++ * *py++;
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* If the count is not a multiple of 4, compute any remaining MACs here.    
+     ** No loop unrolling is used. */
+    k = count % 0x4u;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      /* x[0] * y[srcBLen - 1] */
+      sum += *px++ * *py++;
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut = sum;
+    /* Destination pointer is updated according to the address modifier, inc */
+    pOut += inc;
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    py = pSrc1 - count;
+    px = pIn1;
+
+    /* Increment the MAC count */
+    count++;
+
+    /* Decrement the loop counter */
+    blockSize1--;
+  }
+
+  /* --------------------------    
+   * Initializations of stage2    
+   * ------------------------*/
+
+  /* sum = x[0] * y[0] + x[1] * y[1] +...+ x[srcBLen-1] * y[srcBLen-1]    
+   * sum = x[1] * y[0] + x[2] * y[1] +...+ x[srcBLen] * y[srcBLen-1]    
+   * ....    
+   * sum = x[srcALen-srcBLen-2] * y[0] + x[srcALen-srcBLen-1] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]    
+   */
+
+  /* Working pointer of inputA */
+  px = pIn1;
+
+  /* Working pointer of inputB */
+  py = pIn2;
+
+  /* count is index by which the pointer pIn1 to be incremented */
+  count = 0u;
+
+  /* -------------------    
+   * Stage2 process    
+   * ------------------*/
+
+  /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.    
+   * So, to loop unroll over blockSize2,    
+   * srcBLen should be greater than or equal to 4, to loop unroll the srcBLen loop */
+  if(srcBLen >= 4u)
+  {
+    /* Loop unroll over blockSize2, by 4 */
+    blkCnt = blockSize2 >> 2u;
+
+    while(blkCnt > 0u)
+    {
+      /* Set all accumulators to zero */
+      acc0 = 0.0f;
+      acc1 = 0.0f;
+      acc2 = 0.0f;
+      acc3 = 0.0f;
+
+      /* read x[0], x[1], x[2] samples */
+      x0 = *(px++);
+      x1 = *(px++);
+      x2 = *(px++);
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = srcBLen >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      do
+      {
+        /* Read y[0] sample */
+        c0 = *(py++);
+
+        /* Read x[3] sample */
+        x3 = *(px++);
+
+        /* Perform the multiply-accumulate */
+        /* acc0 +=  x[0] * y[0] */
+        acc0 += x0 * c0;
+        /* acc1 +=  x[1] * y[0] */
+        acc1 += x1 * c0;
+        /* acc2 +=  x[2] * y[0] */
+        acc2 += x2 * c0;
+        /* acc3 +=  x[3] * y[0] */
+        acc3 += x3 * c0;
+
+        /* Read y[1] sample */
+        c0 = *(py++);
+
+        /* Read x[4] sample */
+        x0 = *(px++);
+
+        /* Perform the multiply-accumulate */
+        /* acc0 +=  x[1] * y[1] */
+        acc0 += x1 * c0;
+        /* acc1 +=  x[2] * y[1] */
+        acc1 += x2 * c0;
+        /* acc2 +=  x[3] * y[1] */
+        acc2 += x3 * c0;
+        /* acc3 +=  x[4] * y[1] */
+        acc3 += x0 * c0;
+
+        /* Read y[2] sample */
+        c0 = *(py++);
+
+        /* Read x[5] sample */
+        x1 = *(px++);
+
+        /* Perform the multiply-accumulates */
+        /* acc0 +=  x[2] * y[2] */
+        acc0 += x2 * c0;
+        /* acc1 +=  x[3] * y[2] */
+        acc1 += x3 * c0;
+        /* acc2 +=  x[4] * y[2] */
+        acc2 += x0 * c0;
+        /* acc3 +=  x[5] * y[2] */
+        acc3 += x1 * c0;
+
+        /* Read y[3] sample */
+        c0 = *(py++);
+
+        /* Read x[6] sample */
+        x2 = *(px++);
+
+        /* Perform the multiply-accumulates */
+        /* acc0 +=  x[3] * y[3] */
+        acc0 += x3 * c0;
+        /* acc1 +=  x[4] * y[3] */
+        acc1 += x0 * c0;
+        /* acc2 +=  x[5] * y[3] */
+        acc2 += x1 * c0;
+        /* acc3 +=  x[6] * y[3] */
+        acc3 += x2 * c0;
+
+
+      } while(--k);
+
+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.    
+       ** No loop unrolling is used. */
+      k = srcBLen % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Read y[4] sample */
+        c0 = *(py++);
+
+        /* Read x[7] sample */
+        x3 = *(px++);
+
+        /* Perform the multiply-accumulates */
+        /* acc0 +=  x[4] * y[4] */
+        acc0 += x0 * c0;
+        /* acc1 +=  x[5] * y[4] */
+        acc1 += x1 * c0;
+        /* acc2 +=  x[6] * y[4] */
+        acc2 += x2 * c0;
+        /* acc3 +=  x[7] * y[4] */
+        acc3 += x3 * c0;
+
+        /* Reuse the present samples for the next MAC */
+        x0 = x1;
+        x1 = x2;
+        x2 = x3;
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut = acc0;
+      /* Destination pointer is updated according to the address modifier, inc */
+      pOut += inc;
+
+      *pOut = acc1;
+      pOut += inc;
+
+      *pOut = acc2;
+      pOut += inc;
+
+      *pOut = acc3;
+      pOut += inc;
+
+      /* Increment the pointer pIn1 index, count by 4 */
+      count += 4u;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pIn2;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.    
+     ** No loop unrolling is used. */
+    blkCnt = blockSize2 % 0x4u;
+
+    while(blkCnt > 0u)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0.0f;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = srcBLen >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        sum += *px++ * *py++;
+        sum += *px++ * *py++;
+        sum += *px++ * *py++;
+        sum += *px++ * *py++;
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.    
+       ** No loop unrolling is used. */
+      k = srcBLen % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulate */
+        sum += *px++ * *py++;
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut = sum;
+      /* Destination pointer is updated according to the address modifier, inc */
+      pOut += inc;
+
+      /* Increment the pointer pIn1 index, count by 1 */
+      count++;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pIn2;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+  else
+  {
+    /* If the srcBLen is not a multiple of 4,    
+     * the blockSize2 loop cannot be unrolled by 4 */
+    blkCnt = blockSize2;
+
+    while(blkCnt > 0u)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0.0f;
+
+      /* Loop over srcBLen */
+      k = srcBLen;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulate */
+        sum += *px++ * *py++;
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut = sum;
+      /* Destination pointer is updated according to the address modifier, inc */
+      pOut += inc;
+
+      /* Increment the pointer pIn1 index, count by 1 */
+      count++;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pIn2;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+
+  /* --------------------------    
+   * Initializations of stage3    
+   * -------------------------*/
+
+  /* sum += x[srcALen-srcBLen+1] * y[0] + x[srcALen-srcBLen+2] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]    
+   * sum += x[srcALen-srcBLen+2] * y[0] + x[srcALen-srcBLen+3] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]    
+   * ....    
+   * sum +=  x[srcALen-2] * y[0] + x[srcALen-1] * y[1]    
+   * sum +=  x[srcALen-1] * y[0]    
+   */
+
+  /* In this stage the MAC operations are decreased by 1 for every iteration.    
+     The count variable holds the number of MAC operations performed */
+  count = srcBLen - 1u;
+
+  /* Working pointer of inputA */
+  pSrc1 = pIn1 + (srcALen - (srcBLen - 1u));
+  px = pSrc1;
+
+  /* Working pointer of inputB */
+  py = pIn2;
+
+  /* -------------------    
+   * Stage3 process    
+   * ------------------*/
+
+  while(blockSize3 > 0u)
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0.0f;
+
+    /* Apply loop unrolling and compute 4 MACs simultaneously. */
+    k = count >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+      /* sum += x[srcALen - srcBLen + 4] * y[3] */
+      sum += *px++ * *py++;
+      /* sum += x[srcALen - srcBLen + 3] * y[2] */
+      sum += *px++ * *py++;
+      /* sum += x[srcALen - srcBLen + 2] * y[1] */
+      sum += *px++ * *py++;
+      /* sum += x[srcALen - srcBLen + 1] * y[0] */
+      sum += *px++ * *py++;
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* If the count is not a multiple of 4, compute any remaining MACs here.    
+     ** No loop unrolling is used. */
+    k = count % 0x4u;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+      sum += *px++ * *py++;
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut = sum;
+    /* Destination pointer is updated according to the address modifier, inc */
+    pOut += inc;
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    px = ++pSrc1;
+    py = pIn2;
+
+    /* Decrement the MAC count */
+    count--;
+
+    /* Decrement the loop counter */
+    blockSize3--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  float32_t *pIn1 = pSrcA;                       /* inputA pointer */
+  float32_t *pIn2 = pSrcB + (srcBLen - 1u);      /* inputB pointer */
+  float32_t sum;                                 /* Accumulator */
+  uint32_t i = 0u, j;                            /* loop counters */
+  uint32_t inv = 0u;                             /* Reverse order flag */
+  uint32_t tot = 0u;                             /* Length */
+
+  /* The algorithm implementation is based on the lengths of the inputs. */
+  /* srcB is always made to slide across srcA. */
+  /* So srcBLen is always considered as shorter or equal to srcALen */
+  /* But CORR(x, y) is reverse of CORR(y, x) */
+  /* So, when srcBLen > srcALen, output pointer is made to point to the end of the output buffer */
+  /* and a varaible, inv is set to 1 */
+  /* If lengths are not equal then zero pad has to be done to  make the two    
+   * inputs of same length. But to improve the performance, we include zeroes    
+   * in the output instead of zero padding either of the the inputs*/
+  /* If srcALen > srcBLen, (srcALen - srcBLen) zeroes has to included in the    
+   * starting of the output buffer */
+  /* If srcALen < srcBLen, (srcALen - srcBLen) zeroes has to included in the   
+   * ending of the output buffer */
+  /* Once the zero padding is done the remaining of the output is calcualted   
+   * using convolution but with the shorter signal time shifted. */
+
+  /* Calculate the length of the remaining sequence */
+  tot = ((srcALen + srcBLen) - 2u);
+
+  if(srcALen > srcBLen)
+  {
+    /* Calculating the number of zeros to be padded to the output */
+    j = srcALen - srcBLen;
+
+    /* Initialise the pointer after zero padding */
+    pDst += j;
+  }
+
+  else if(srcALen < srcBLen)
+  {
+    /* Initialization to inputB pointer */
+    pIn1 = pSrcB;
+
+    /* Initialization to the end of inputA pointer */
+    pIn2 = pSrcA + (srcALen - 1u);
+
+    /* Initialisation of the pointer after zero padding */
+    pDst = pDst + tot;
+
+    /* Swapping the lengths */
+    j = srcALen;
+    srcALen = srcBLen;
+    srcBLen = j;
+
+    /* Setting the reverse flag */
+    inv = 1;
+
+  }
+
+  /* Loop to calculate convolution for output length number of times */
+  for (i = 0u; i <= tot; i++)
+  {
+    /* Initialize sum with zero to carry on MAC operations */
+    sum = 0.0f;
+
+    /* Loop to perform MAC operations according to convolution equation */
+    for (j = 0u; j <= i; j++)
+    {
+      /* Check the array limitations */
+      if((((i - j) < srcBLen) && (j < srcALen)))
+      {
+        /* z[i] += x[i-j] * y[j] */
+        sum += pIn1[j] * pIn2[-((int32_t) i - j)];
+      }
+    }
+    /* Store the output in the destination buffer */
+    if(inv == 1)
+      *pDst-- = sum;
+    else
+      *pDst++ = sum;
+  }
+
+#endif /*   #ifndef ARM_MATH_CM0 */
+
+}
+
+/**    
+ * @} end of Corr group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_opt_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_opt_q15.c
new file mode 100644
index 000000000..a99225a2f
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_opt_q15.c
@@ -0,0 +1,507 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_correlate_fast_opt_q15.c    
+*    
+* Description:	Fast Q15 Correlation.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+* 
+* Version 1.0.11 2011/10/18  
+*    Bug Fix in conv, correlation, partial convolution.  
+* 
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup Corr    
+ * @{    
+ */
+
+/**    
+ * @brief Correlation of Q15 sequences (fast version) for Cortex-M3 and Cortex-M4.    
+ * @param[in] *pSrcA points to the first input sequence.    
+ * @param[in] srcALen length of the first input sequence.    
+ * @param[in] *pSrcB points to the second input sequence.    
+ * @param[in] srcBLen length of the second input sequence.    
+ * @param[out] *pDst points to the location where the output result is written.  Length 2 * max(srcALen, srcBLen) - 1.    
+ * @param[in]  *pScratch points to scratch buffer of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2.   
+ * @return none.    
+ *    
+ *    
+ * \par Restrictions    
+ *  If the silicon does not support unaligned memory access enable the macro UNALIGNED_SUPPORT_DISABLE    
+ *	In this case input, output, scratch buffers should be aligned by 32-bit    
+ *    
+ *     
+ * Scaling and Overflow Behavior:    
+ *    
+ * \par    
+ * This fast version uses a 32-bit accumulator with 2.30 format.    
+ * The accumulator maintains full precision of the intermediate multiplication results but provides only a single guard bit.    
+ * There is no saturation on intermediate additions.    
+ * Thus, if the accumulator overflows it wraps around and distorts the result.    
+ * The input signals should be scaled down to avoid intermediate overflows.    
+ * Scale down one of the inputs by 1/min(srcALen, srcBLen) to avoid overflow since a    
+ * maximum of min(srcALen, srcBLen) number of additions is carried internally.    
+ * The 2.30 accumulator is right shifted by 15 bits and then saturated to 1.15 format to yield the final result.    
+ *    
+ * \par    
+ * See arm_correlate_q15() for a slower implementation of this function which uses a 64-bit accumulator to avoid wrap around distortion.    
+ */
+
+void arm_correlate_fast_opt_q15(
+  q15_t * pSrcA,
+  uint32_t srcALen,
+  q15_t * pSrcB,
+  uint32_t srcBLen,
+  q15_t * pDst,
+  q15_t * pScratch)
+{
+  q15_t *pIn1;                                   /* inputA pointer               */
+  q15_t *pIn2;                                   /* inputB pointer               */
+  q31_t acc0, acc1, acc2, acc3;                  /* Accumulators                  */
+  q15_t *py;                                     /* Intermediate inputB pointer  */
+  q31_t x1, x2, x3;                              /* temporary variables for holding input and coefficient values */
+  uint32_t j, blkCnt, outBlockSize;              /* loop counter                 */
+  int32_t inc = 1;                               /* Destination address modifier */
+  uint32_t tapCnt;
+  q31_t y1, y2;
+  q15_t *pScr;                                   /* Intermediate pointers        */
+  q15_t *pOut = pDst;                            /* output pointer               */
+#ifdef UNALIGNED_SUPPORT_DISABLE
+
+  q15_t a, b;
+
+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
+
+  /* The algorithm implementation is based on the lengths of the inputs. */
+  /* srcB is always made to slide across srcA. */
+  /* So srcBLen is always considered as shorter or equal to srcALen */
+  /* But CORR(x, y) is reverse of CORR(y, x) */
+  /* So, when srcBLen > srcALen, output pointer is made to point to the end of the output buffer */
+  /* and the destination pointer modifier, inc is set to -1 */
+  /* If srcALen > srcBLen, zero pad has to be done to srcB to make the two inputs of same length */
+  /* But to improve the performance,        
+   * we include zeroes in the output instead of zero padding either of the the inputs*/
+  /* If srcALen > srcBLen,        
+   * (srcALen - srcBLen) zeroes has to included in the starting of the output buffer */
+  /* If srcALen < srcBLen,        
+   * (srcALen - srcBLen) zeroes has to included in the ending of the output buffer */
+  if(srcALen >= srcBLen)
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = (pSrcA);
+
+    /* Initialization of inputB pointer */
+    pIn2 = (pSrcB);
+
+    /* Number of output samples is calculated */
+    outBlockSize = (2u * srcALen) - 1u;
+
+    /* When srcALen > srcBLen, zero padding is done to srcB        
+     * to make their lengths equal.        
+     * Instead, (outBlockSize - (srcALen + srcBLen - 1))        
+     * number of output samples are made zero */
+    j = outBlockSize - (srcALen + (srcBLen - 1u));
+
+    /* Updating the pointer position to non zero value */
+    pOut += j;
+
+  }
+  else
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = (pSrcB);
+
+    /* Initialization of inputB pointer */
+    pIn2 = (pSrcA);
+
+    /* srcBLen is always considered as shorter or equal to srcALen */
+    j = srcBLen;
+    srcBLen = srcALen;
+    srcALen = j;
+
+    /* CORR(x, y) = Reverse order(CORR(y, x)) */
+    /* Hence set the destination pointer to point to the last output sample */
+    pOut = pDst + ((srcALen + srcBLen) - 2u);
+
+    /* Destination address modifier is set to -1 */
+    inc = -1;
+
+  }
+
+  pScr = pScratch;
+
+  /* Fill (srcBLen - 1u) zeros in scratch buffer */
+  arm_fill_q15(0, pScr, (srcBLen - 1u));
+
+  /* Update temporary scratch pointer */
+  pScr += (srcBLen - 1u);
+
+#ifndef UNALIGNED_SUPPORT_DISABLE
+
+  /* Copy (srcALen) samples in scratch buffer */
+  arm_copy_q15(pIn1, pScr, srcALen);
+
+  /* Update pointers */
+  pScr += srcALen;
+
+#else
+
+  /* Apply loop unrolling and do 4 Copies simultaneously. */
+  j = srcALen >> 2u;
+
+  /* First part of the processing with loop unrolling copies 4 data points at a time.       
+   ** a second loop below copies for the remaining 1 to 3 samples. */
+  while(j > 0u)
+  {
+    /* copy second buffer in reversal manner */
+    *pScr++ = *pIn1++;
+    *pScr++ = *pIn1++;
+    *pScr++ = *pIn1++;
+    *pScr++ = *pIn1++;
+
+    /* Decrement the loop counter */
+    j--;
+  }
+
+  /* If the count is not a multiple of 4, copy remaining samples here.       
+   ** No loop unrolling is used. */
+  j = srcALen % 0x4u;
+
+  while(j > 0u)
+  {
+    /* copy second buffer in reversal manner for remaining samples */
+    *pScr++ = *pIn1++;
+
+    /* Decrement the loop counter */
+    j--;
+  }
+
+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
+
+#ifndef UNALIGNED_SUPPORT_DISABLE
+
+  /* Fill (srcBLen - 1u) zeros at end of scratch buffer */
+  arm_fill_q15(0, pScr, (srcBLen - 1u));
+
+  /* Update pointer */
+  pScr += (srcBLen - 1u);
+
+#else
+
+/* Apply loop unrolling and do 4 Copies simultaneously. */
+  j = (srcBLen - 1u) >> 2u;
+
+  /* First part of the processing with loop unrolling copies 4 data points at a time.       
+   ** a second loop below copies for the remaining 1 to 3 samples. */
+  while(j > 0u)
+  {
+    /* copy second buffer in reversal manner */
+    *pScr++ = 0;
+    *pScr++ = 0;
+    *pScr++ = 0;
+    *pScr++ = 0;
+
+    /* Decrement the loop counter */
+    j--;
+  }
+
+  /* If the count is not a multiple of 4, copy remaining samples here.       
+   ** No loop unrolling is used. */
+  j = (srcBLen - 1u) % 0x4u;
+
+  while(j > 0u)
+  {
+    /* copy second buffer in reversal manner for remaining samples */
+    *pScr++ = 0;
+
+    /* Decrement the loop counter */
+    j--;
+  }
+
+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
+
+  /* Temporary pointer for scratch2 */
+  py = pIn2;
+
+
+  /* Actual correlation process starts here */
+  blkCnt = (srcALen + srcBLen - 1u) >> 2;
+
+  while(blkCnt > 0)
+  {
+    /* Initialze temporary scratch pointer as scratch1 */
+    pScr = pScratch;
+
+    /* Clear Accumlators */
+    acc0 = 0;
+    acc1 = 0;
+    acc2 = 0;
+    acc3 = 0;
+
+    /* Read four samples from scratch1 buffer */
+    x1 = *__SIMD32(pScr)++;
+
+    /* Read next four samples from scratch1 buffer */
+    x2 = *__SIMD32(pScr)++;
+
+    tapCnt = (srcBLen) >> 2u;
+
+    while(tapCnt > 0u)
+    {
+
+#ifndef UNALIGNED_SUPPORT_DISABLE
+
+      /* Read four samples from smaller buffer */
+      y1 = _SIMD32_OFFSET(pIn2);
+      y2 = _SIMD32_OFFSET(pIn2 + 2u);
+
+      acc0 = __SMLAD(x1, y1, acc0);
+
+      acc2 = __SMLAD(x2, y1, acc2);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+      x3 = __PKHBT(x2, x1, 0);
+#else
+      x3 = __PKHBT(x1, x2, 0);
+#endif
+
+      acc1 = __SMLADX(x3, y1, acc1);
+
+      x1 = _SIMD32_OFFSET(pScr);
+
+      acc0 = __SMLAD(x2, y2, acc0);
+
+      acc2 = __SMLAD(x1, y2, acc2);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+      x3 = __PKHBT(x1, x2, 0);
+#else
+      x3 = __PKHBT(x2, x1, 0);
+#endif
+
+      acc3 = __SMLADX(x3, y1, acc3);
+
+      acc1 = __SMLADX(x3, y2, acc1);
+
+      x2 = _SIMD32_OFFSET(pScr + 2u);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+      x3 = __PKHBT(x2, x1, 0);
+#else
+      x3 = __PKHBT(x1, x2, 0);
+#endif
+
+      acc3 = __SMLADX(x3, y2, acc3);
+#else	 
+
+      /* Read four samples from smaller buffer */
+	  a = *pIn2;
+	  b = *(pIn2 + 1);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+      y1 = __PKHBT(a, b, 16);
+#else
+      y1 = __PKHBT(b, a, 16);
+#endif
+	  
+	  a = *(pIn2 + 2);
+	  b = *(pIn2 + 3);
+#ifndef ARM_MATH_BIG_ENDIAN
+      y2 = __PKHBT(a, b, 16);
+#else
+      y2 = __PKHBT(b, a, 16);
+#endif				
+
+      acc0 = __SMLAD(x1, y1, acc0);
+
+      acc2 = __SMLAD(x2, y1, acc2);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+      x3 = __PKHBT(x2, x1, 0);
+#else
+      x3 = __PKHBT(x1, x2, 0);
+#endif
+
+      acc1 = __SMLADX(x3, y1, acc1);
+
+	  a = *pScr;
+	  b = *(pScr + 1);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+      x1 = __PKHBT(a, b, 16);
+#else
+      x1 = __PKHBT(b, a, 16);
+#endif
+
+      acc0 = __SMLAD(x2, y2, acc0);
+
+      acc2 = __SMLAD(x1, y2, acc2);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+      x3 = __PKHBT(x1, x2, 0);
+#else
+      x3 = __PKHBT(x2, x1, 0);
+#endif
+
+      acc3 = __SMLADX(x3, y1, acc3);
+
+      acc1 = __SMLADX(x3, y2, acc1);
+
+	  a = *(pScr + 2);
+	  b = *(pScr + 3);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+      x2 = __PKHBT(a, b, 16);
+#else
+      x2 = __PKHBT(b, a, 16);
+#endif
+
+#ifndef ARM_MATH_BIG_ENDIAN
+      x3 = __PKHBT(x2, x1, 0);
+#else
+      x3 = __PKHBT(x1, x2, 0);
+#endif
+
+      acc3 = __SMLADX(x3, y2, acc3);
+
+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
+
+      pIn2 += 4u;
+
+      pScr += 4u;
+
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+
+
+    /* Update scratch pointer for remaining samples of smaller length sequence */
+    pScr -= 4u;
+
+
+    /* apply same above for remaining samples of smaller length sequence */
+    tapCnt = (srcBLen) & 3u;
+
+    while(tapCnt > 0u)
+    {
+
+      /* accumlate the results */
+      acc0 += (*pScr++ * *pIn2);
+      acc1 += (*pScr++ * *pIn2);
+      acc2 += (*pScr++ * *pIn2);
+      acc3 += (*pScr++ * *pIn2++);
+
+      pScr -= 3u;
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    blkCnt--;
+
+
+    /* Store the results in the accumulators in the destination buffer. */
+    *pOut = (__SSAT(acc0 >> 15u, 16));
+    pOut += inc;
+    *pOut = (__SSAT(acc1 >> 15u, 16));
+    pOut += inc;
+    *pOut = (__SSAT(acc2 >> 15u, 16));
+    pOut += inc;
+    *pOut = (__SSAT(acc3 >> 15u, 16));
+    pOut += inc;
+
+
+    /* Initialization of inputB pointer */
+    pIn2 = py;
+
+    pScratch += 4u;
+
+  }
+
+
+  blkCnt = (srcALen + srcBLen - 1u) & 0x3;
+
+  /* Calculate correlation for remaining samples of Bigger length sequence */
+  while(blkCnt > 0)
+  {
+    /* Initialze temporary scratch pointer as scratch1 */
+    pScr = pScratch;
+
+    /* Clear Accumlators */
+    acc0 = 0;
+
+    tapCnt = (srcBLen) >> 1u;
+
+    while(tapCnt > 0u)
+    {
+
+      acc0 += (*pScr++ * *pIn2++);
+      acc0 += (*pScr++ * *pIn2++);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    tapCnt = (srcBLen) & 1u;
+
+    /* apply same above for remaining samples of smaller length sequence */
+    while(tapCnt > 0u)
+    {
+
+      /* accumlate the results */
+      acc0 += (*pScr++ * *pIn2++);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    blkCnt--;
+
+    /* Store the result in the accumulator in the destination buffer. */
+
+    *pOut = (q15_t) (__SSAT((acc0 >> 15), 16));
+
+    pOut += inc;
+
+    /* Initialization of inputB pointer */
+    pIn2 = py;
+
+    pScratch += 1u;
+
+  }
+}
+
+/**    
+ * @} end of Corr group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q15.c
new file mode 100644
index 000000000..0c79bc896
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q15.c
@@ -0,0 +1,1314 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_correlate_fast_q15.c   
+*   
+* Description:	Fast Q15 Correlation.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+* 
+* Version 1.0.11 2011/10/18 
+*    Bug Fix in conv, correlation, partial convolution. 
+*
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup Corr   
+ * @{   
+ */
+
+/**   
+ * @brief Correlation of Q15 sequences (fast version) for Cortex-M3 and Cortex-M4.   
+ * @param[in] *pSrcA points to the first input sequence.   
+ * @param[in] srcALen length of the first input sequence.   
+ * @param[in] *pSrcB points to the second input sequence.   
+ * @param[in] srcBLen length of the second input sequence.   
+ * @param[out] *pDst points to the location where the output result is written.  Length 2 * max(srcALen, srcBLen) - 1.   
+ * @return none.   
+ *   
+ * Scaling and Overflow Behavior:   
+ *   
+ * \par   
+ * This fast version uses a 32-bit accumulator with 2.30 format.   
+ * The accumulator maintains full precision of the intermediate multiplication results but provides only a single guard bit.   
+ * There is no saturation on intermediate additions.   
+ * Thus, if the accumulator overflows it wraps around and distorts the result.   
+ * The input signals should be scaled down to avoid intermediate overflows.   
+ * Scale down one of the inputs by 1/min(srcALen, srcBLen) to avoid overflow since a   
+ * maximum of min(srcALen, srcBLen) number of additions is carried internally.   
+ * The 2.30 accumulator is right shifted by 15 bits and then saturated to 1.15 format to yield the final result.   
+ *   
+ * \par   
+ * See arm_correlate_q15() for a slower implementation of this function which uses a 64-bit accumulator to avoid wrap around distortion.   
+ */
+
+void arm_correlate_fast_q15(
+  q15_t * pSrcA,
+  uint32_t srcALen,
+  q15_t * pSrcB,
+  uint32_t srcBLen,
+  q15_t * pDst)
+{
+#ifndef UNALIGNED_SUPPORT_DISABLE
+
+  q15_t *pIn1;                                   /* inputA pointer               */
+  q15_t *pIn2;                                   /* inputB pointer               */
+  q15_t *pOut = pDst;                            /* output pointer               */
+  q31_t sum, acc0, acc1, acc2, acc3;             /* Accumulators                  */
+  q15_t *px;                                     /* Intermediate inputA pointer  */
+  q15_t *py;                                     /* Intermediate inputB pointer  */
+  q15_t *pSrc1;                                  /* Intermediate pointers        */
+  q31_t x0, x1, x2, x3, c0;                      /* temporary variables for holding input and coefficient values */
+  uint32_t j, k = 0u, count, blkCnt, outBlockSize, blockSize1, blockSize2, blockSize3;  /* loop counter                 */
+  int32_t inc = 1;                               /* Destination address modifier */
+
+
+  /* The algorithm implementation is based on the lengths of the inputs. */
+  /* srcB is always made to slide across srcA. */
+  /* So srcBLen is always considered as shorter or equal to srcALen */
+  /* But CORR(x, y) is reverse of CORR(y, x) */
+  /* So, when srcBLen > srcALen, output pointer is made to point to the end of the output buffer */
+  /* and the destination pointer modifier, inc is set to -1 */
+  /* If srcALen > srcBLen, zero pad has to be done to srcB to make the two inputs of same length */
+  /* But to improve the performance,   
+   * we include zeroes in the output instead of zero padding either of the the inputs*/
+  /* If srcALen > srcBLen,   
+   * (srcALen - srcBLen) zeroes has to included in the starting of the output buffer */
+  /* If srcALen < srcBLen,   
+   * (srcALen - srcBLen) zeroes has to included in the ending of the output buffer */
+  if(srcALen >= srcBLen)
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = (pSrcA);
+
+    /* Initialization of inputB pointer */
+    pIn2 = (pSrcB);
+
+    /* Number of output samples is calculated */
+    outBlockSize = (2u * srcALen) - 1u;
+
+    /* When srcALen > srcBLen, zero padding is done to srcB   
+     * to make their lengths equal.   
+     * Instead, (outBlockSize - (srcALen + srcBLen - 1))   
+     * number of output samples are made zero */
+    j = outBlockSize - (srcALen + (srcBLen - 1u));
+
+    /* Updating the pointer position to non zero value */
+    pOut += j;
+
+  }
+  else
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = (pSrcB);
+
+    /* Initialization of inputB pointer */
+    pIn2 = (pSrcA);
+
+    /* srcBLen is always considered as shorter or equal to srcALen */
+    j = srcBLen;
+    srcBLen = srcALen;
+    srcALen = j;
+
+    /* CORR(x, y) = Reverse order(CORR(y, x)) */
+    /* Hence set the destination pointer to point to the last output sample */
+    pOut = pDst + ((srcALen + srcBLen) - 2u);
+
+    /* Destination address modifier is set to -1 */
+    inc = -1;
+
+  }
+
+  /* The function is internally   
+   * divided into three parts according to the number of multiplications that has to be   
+   * taken place between inputA samples and inputB samples. In the first part of the   
+   * algorithm, the multiplications increase by one for every iteration.   
+   * In the second part of the algorithm, srcBLen number of multiplications are done.   
+   * In the third part of the algorithm, the multiplications decrease by one   
+   * for every iteration.*/
+  /* The algorithm is implemented in three stages.   
+   * The loop counters of each stage is initiated here. */
+  blockSize1 = srcBLen - 1u;
+  blockSize2 = srcALen - (srcBLen - 1u);
+  blockSize3 = blockSize1;
+
+  /* --------------------------   
+   * Initializations of stage1   
+   * -------------------------*/
+
+  /* sum = x[0] * y[srcBlen - 1]   
+   * sum = x[0] * y[srcBlen - 2] + x[1] * y[srcBlen - 1]   
+   * ....   
+   * sum = x[0] * y[0] + x[1] * y[1] +...+ x[srcBLen - 1] * y[srcBLen - 1]   
+   */
+
+  /* In this stage the MAC operations are increased by 1 for every iteration.   
+     The count variable holds the number of MAC operations performed */
+  count = 1u;
+
+  /* Working pointer of inputA */
+  px = pIn1;
+
+  /* Working pointer of inputB */
+  pSrc1 = pIn2 + (srcBLen - 1u);
+  py = pSrc1;
+
+  /* ------------------------   
+   * Stage1 process   
+   * ----------------------*/
+
+  /* The first loop starts here */
+  while(blockSize1 > 0u)
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0;
+
+    /* Apply loop unrolling and compute 4 MACs simultaneously. */
+    k = count >> 2;
+
+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* x[0] * y[srcBLen - 4] , x[1] * y[srcBLen - 3] */
+      sum = __SMLAD(*__SIMD32(px)++, *__SIMD32(py)++, sum);
+      /* x[3] * y[srcBLen - 1] , x[2] * y[srcBLen - 2] */
+      sum = __SMLAD(*__SIMD32(px)++, *__SIMD32(py)++, sum);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* If the count is not a multiple of 4, compute any remaining MACs here.   
+     ** No loop unrolling is used. */
+    k = count % 0x4u;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+      /* x[0] * y[srcBLen - 1] */
+      sum = __SMLAD(*px++, *py++, sum);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut = (q15_t) (sum >> 15);
+    /* Destination pointer is updated according to the address modifier, inc */
+    pOut += inc;
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    py = pSrc1 - count;
+    px = pIn1;
+
+    /* Increment the MAC count */
+    count++;
+
+    /* Decrement the loop counter */
+    blockSize1--;
+  }
+
+  /* --------------------------   
+   * Initializations of stage2   
+   * ------------------------*/
+
+  /* sum = x[0] * y[0] + x[1] * y[1] +...+ x[srcBLen-1] * y[srcBLen-1]   
+   * sum = x[1] * y[0] + x[2] * y[1] +...+ x[srcBLen] * y[srcBLen-1]   
+   * ....   
+   * sum = x[srcALen-srcBLen-2] * y[0] + x[srcALen-srcBLen-1] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]   
+   */
+
+  /* Working pointer of inputA */
+  px = pIn1;
+
+  /* Working pointer of inputB */
+  py = pIn2;
+
+  /* count is index by which the pointer pIn1 to be incremented */
+  count = 0u;
+
+  /* -------------------   
+   * Stage2 process   
+   * ------------------*/
+
+  /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.   
+   * So, to loop unroll over blockSize2,   
+   * srcBLen should be greater than or equal to 4, to loop unroll the srcBLen loop */
+  if(srcBLen >= 4u)
+  {
+    /* Loop unroll over blockSize2, by 4 */
+    blkCnt = blockSize2 >> 2u;
+
+    while(blkCnt > 0u)
+    {
+      /* Set all accumulators to zero */
+      acc0 = 0;
+      acc1 = 0;
+      acc2 = 0;
+      acc3 = 0;
+
+      /* read x[0], x[1] samples */
+      x0 = *__SIMD32(px);
+      /* read x[1], x[2] samples */
+      x1 = _SIMD32_OFFSET(px + 1);
+	  px += 2u;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = srcBLen >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      do
+      {
+        /* Read the first two inputB samples using SIMD:   
+         * y[0] and y[1] */
+        c0 = *__SIMD32(py)++;
+
+        /* acc0 +=  x[0] * y[0] + x[1] * y[1] */
+        acc0 = __SMLAD(x0, c0, acc0);
+
+        /* acc1 +=  x[1] * y[0] + x[2] * y[1] */
+        acc1 = __SMLAD(x1, c0, acc1);
+
+        /* Read x[2], x[3] */
+        x2 = *__SIMD32(px);
+
+        /* Read x[3], x[4] */
+        x3 = _SIMD32_OFFSET(px + 1);
+
+        /* acc2 +=  x[2] * y[0] + x[3] * y[1] */
+        acc2 = __SMLAD(x2, c0, acc2);
+
+        /* acc3 +=  x[3] * y[0] + x[4] * y[1] */
+        acc3 = __SMLAD(x3, c0, acc3);
+
+        /* Read y[2] and y[3] */
+        c0 = *__SIMD32(py)++;
+
+        /* acc0 +=  x[2] * y[2] + x[3] * y[3] */
+        acc0 = __SMLAD(x2, c0, acc0);
+
+        /* acc1 +=  x[3] * y[2] + x[4] * y[3] */
+        acc1 = __SMLAD(x3, c0, acc1);
+
+        /* Read x[4], x[5] */
+        x0 = _SIMD32_OFFSET(px + 2);
+
+        /* Read x[5], x[6] */
+        x1 = _SIMD32_OFFSET(px + 3);
+		px += 4u;
+
+        /* acc2 +=  x[4] * y[2] + x[5] * y[3] */
+        acc2 = __SMLAD(x0, c0, acc2);
+
+        /* acc3 +=  x[5] * y[2] + x[6] * y[3] */
+        acc3 = __SMLAD(x1, c0, acc3);
+
+      } while(--k);
+
+      /* For the next MAC operations, SIMD is not used   
+       * So, the 16 bit pointer if inputB, py is updated */
+
+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = srcBLen % 0x4u;
+
+      if(k == 1u)
+      {
+        /* Read y[4] */
+        c0 = *py;
+#ifdef  ARM_MATH_BIG_ENDIAN
+
+        c0 = c0 << 16u;
+
+#else
+
+        c0 = c0 & 0x0000FFFF;
+
+#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */
+
+        /* Read x[7] */
+        x3 = *__SIMD32(px);
+		px++;
+
+        /* Perform the multiply-accumulates */
+        acc0 = __SMLAD(x0, c0, acc0);
+        acc1 = __SMLAD(x1, c0, acc1);
+        acc2 = __SMLADX(x1, c0, acc2);
+        acc3 = __SMLADX(x3, c0, acc3);
+      }
+
+      if(k == 2u)
+      {
+        /* Read y[4], y[5] */
+        c0 = *__SIMD32(py);
+
+        /* Read x[7], x[8] */
+        x3 = *__SIMD32(px);
+
+        /* Read x[9] */
+        x2 = _SIMD32_OFFSET(px + 1);
+		px += 2u;
+
+        /* Perform the multiply-accumulates */
+        acc0 = __SMLAD(x0, c0, acc0);
+        acc1 = __SMLAD(x1, c0, acc1);
+        acc2 = __SMLAD(x3, c0, acc2);
+        acc3 = __SMLAD(x2, c0, acc3);
+      }
+
+      if(k == 3u)
+      {
+        /* Read y[4], y[5] */
+        c0 = *__SIMD32(py)++;
+
+        /* Read x[7], x[8] */
+        x3 = *__SIMD32(px);
+
+        /* Read x[9] */
+        x2 = _SIMD32_OFFSET(px + 1);
+
+        /* Perform the multiply-accumulates */
+        acc0 = __SMLAD(x0, c0, acc0);
+        acc1 = __SMLAD(x1, c0, acc1);
+        acc2 = __SMLAD(x3, c0, acc2);
+        acc3 = __SMLAD(x2, c0, acc3);
+
+        c0 = (*py);
+        /* Read y[6] */
+#ifdef  ARM_MATH_BIG_ENDIAN
+
+        c0 = c0 << 16u;
+#else
+
+        c0 = c0 & 0x0000FFFF;
+#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */
+
+        /* Read x[10] */
+        x3 = _SIMD32_OFFSET(px + 2);
+		px += 3u;
+
+        /* Perform the multiply-accumulates */
+        acc0 = __SMLADX(x1, c0, acc0);
+        acc1 = __SMLAD(x2, c0, acc1);
+        acc2 = __SMLADX(x2, c0, acc2);
+        acc3 = __SMLADX(x3, c0, acc3);
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut = (q15_t) (acc0 >> 15);
+      /* Destination pointer is updated according to the address modifier, inc */
+      pOut += inc;
+
+      *pOut = (q15_t) (acc1 >> 15);
+      pOut += inc;
+
+      *pOut = (q15_t) (acc2 >> 15);
+      pOut += inc;
+
+      *pOut = (q15_t) (acc3 >> 15);
+      pOut += inc;
+
+      /* Increment the pointer pIn1 index, count by 1 */
+      count += 4u;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pIn2;
+
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.   
+     ** No loop unrolling is used. */
+    blkCnt = blockSize2 % 0x4u;
+
+    while(blkCnt > 0u)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = srcBLen >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        sum += ((q31_t) * px++ * *py++);
+        sum += ((q31_t) * px++ * *py++);
+        sum += ((q31_t) * px++ * *py++);
+        sum += ((q31_t) * px++ * *py++);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = srcBLen % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        sum += ((q31_t) * px++ * *py++);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut = (q15_t) (sum >> 15);
+      /* Destination pointer is updated according to the address modifier, inc */
+      pOut += inc;
+
+      /* Increment the pointer pIn1 index, count by 1 */
+      count++;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pIn2;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+  else
+  {
+    /* If the srcBLen is not a multiple of 4,   
+     * the blockSize2 loop cannot be unrolled by 4 */
+    blkCnt = blockSize2;
+
+    while(blkCnt > 0u)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Loop over srcBLen */
+      k = srcBLen;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulate */
+        sum += ((q31_t) * px++ * *py++);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut = (q15_t) (sum >> 15);
+      /* Destination pointer is updated according to the address modifier, inc */
+      pOut += inc;
+
+      /* Increment the MAC count */
+      count++;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pIn2;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+
+  /* --------------------------   
+   * Initializations of stage3   
+   * -------------------------*/
+
+  /* sum += x[srcALen-srcBLen+1] * y[0] + x[srcALen-srcBLen+2] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]   
+   * sum += x[srcALen-srcBLen+2] * y[0] + x[srcALen-srcBLen+3] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]   
+   * ....   
+   * sum +=  x[srcALen-2] * y[0] + x[srcALen-1] * y[1]   
+   * sum +=  x[srcALen-1] * y[0]   
+   */
+
+  /* In this stage the MAC operations are decreased by 1 for every iteration.   
+     The count variable holds the number of MAC operations performed */
+  count = srcBLen - 1u;
+
+  /* Working pointer of inputA */
+  pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);
+  px = pSrc1;
+
+  /* Working pointer of inputB */
+  py = pIn2;
+
+  /* -------------------   
+   * Stage3 process   
+   * ------------------*/
+
+  while(blockSize3 > 0u)
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0;
+
+    /* Apply loop unrolling and compute 4 MACs simultaneously. */
+    k = count >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+      /* sum += x[srcALen - srcBLen + 4] * y[3] , sum += x[srcALen - srcBLen + 3] * y[2] */
+      sum = __SMLAD(*__SIMD32(px)++, *__SIMD32(py)++, sum);
+      /* sum += x[srcALen - srcBLen + 2] * y[1] , sum += x[srcALen - srcBLen + 1] * y[0] */
+      sum = __SMLAD(*__SIMD32(px)++, *__SIMD32(py)++, sum);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* If the count is not a multiple of 4, compute any remaining MACs here.   
+     ** No loop unrolling is used. */
+    k = count % 0x4u;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+      sum = __SMLAD(*px++, *py++, sum);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut = (q15_t) (sum >> 15);
+    /* Destination pointer is updated according to the address modifier, inc */
+    pOut += inc;
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    px = ++pSrc1;
+    py = pIn2;
+
+    /* Decrement the MAC count */
+    count--;
+
+    /* Decrement the loop counter */
+    blockSize3--;
+  }
+
+#else
+
+  q15_t *pIn1;                                   /* inputA pointer               */
+  q15_t *pIn2;                                   /* inputB pointer               */
+  q15_t *pOut = pDst;                            /* output pointer               */
+  q31_t sum, acc0, acc1, acc2, acc3;             /* Accumulators                  */
+  q15_t *px;                                     /* Intermediate inputA pointer  */
+  q15_t *py;                                     /* Intermediate inputB pointer  */
+  q15_t *pSrc1;                                  /* Intermediate pointers        */
+  q31_t x0, x1, x2, x3, c0;                      /* temporary variables for holding input and coefficient values */
+  uint32_t j, k = 0u, count, blkCnt, outBlockSize, blockSize1, blockSize2, blockSize3;  /* loop counter                 */
+  int32_t inc = 1;                               /* Destination address modifier */
+  q15_t a, b;
+
+
+  /* The algorithm implementation is based on the lengths of the inputs. */
+  /* srcB is always made to slide across srcA. */
+  /* So srcBLen is always considered as shorter or equal to srcALen */
+  /* But CORR(x, y) is reverse of CORR(y, x) */
+  /* So, when srcBLen > srcALen, output pointer is made to point to the end of the output buffer */
+  /* and the destination pointer modifier, inc is set to -1 */
+  /* If srcALen > srcBLen, zero pad has to be done to srcB to make the two inputs of same length */
+  /* But to improve the performance,   
+   * we include zeroes in the output instead of zero padding either of the the inputs*/
+  /* If srcALen > srcBLen,   
+   * (srcALen - srcBLen) zeroes has to included in the starting of the output buffer */
+  /* If srcALen < srcBLen,   
+   * (srcALen - srcBLen) zeroes has to included in the ending of the output buffer */
+  if(srcALen >= srcBLen)
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = (pSrcA);
+
+    /* Initialization of inputB pointer */
+    pIn2 = (pSrcB);
+
+    /* Number of output samples is calculated */
+    outBlockSize = (2u * srcALen) - 1u;
+
+    /* When srcALen > srcBLen, zero padding is done to srcB   
+     * to make their lengths equal.   
+     * Instead, (outBlockSize - (srcALen + srcBLen - 1))   
+     * number of output samples are made zero */
+    j = outBlockSize - (srcALen + (srcBLen - 1u));
+
+    /* Updating the pointer position to non zero value */
+    pOut += j;
+
+  }
+  else
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = (pSrcB);
+
+    /* Initialization of inputB pointer */
+    pIn2 = (pSrcA);
+
+    /* srcBLen is always considered as shorter or equal to srcALen */
+    j = srcBLen;
+    srcBLen = srcALen;
+    srcALen = j;
+
+    /* CORR(x, y) = Reverse order(CORR(y, x)) */
+    /* Hence set the destination pointer to point to the last output sample */
+    pOut = pDst + ((srcALen + srcBLen) - 2u);
+
+    /* Destination address modifier is set to -1 */
+    inc = -1;
+
+  }
+
+  /* The function is internally   
+   * divided into three parts according to the number of multiplications that has to be   
+   * taken place between inputA samples and inputB samples. In the first part of the   
+   * algorithm, the multiplications increase by one for every iteration.   
+   * In the second part of the algorithm, srcBLen number of multiplications are done.   
+   * In the third part of the algorithm, the multiplications decrease by one   
+   * for every iteration.*/
+  /* The algorithm is implemented in three stages.   
+   * The loop counters of each stage is initiated here. */
+  blockSize1 = srcBLen - 1u;
+  blockSize2 = srcALen - (srcBLen - 1u);
+  blockSize3 = blockSize1;
+
+  /* --------------------------   
+   * Initializations of stage1   
+   * -------------------------*/
+
+  /* sum = x[0] * y[srcBlen - 1]   
+   * sum = x[0] * y[srcBlen - 2] + x[1] * y[srcBlen - 1]   
+   * ....   
+   * sum = x[0] * y[0] + x[1] * y[1] +...+ x[srcBLen - 1] * y[srcBLen - 1]   
+   */
+
+  /* In this stage the MAC operations are increased by 1 for every iteration.   
+     The count variable holds the number of MAC operations performed */
+  count = 1u;
+
+  /* Working pointer of inputA */
+  px = pIn1;
+
+  /* Working pointer of inputB */
+  pSrc1 = pIn2 + (srcBLen - 1u);
+  py = pSrc1;
+
+  /* ------------------------   
+   * Stage1 process   
+   * ----------------------*/
+
+  /* The first loop starts here */
+  while(blockSize1 > 0u)
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0;
+
+    /* Apply loop unrolling and compute 4 MACs simultaneously. */
+    k = count >> 2;
+
+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* x[0] * y[srcBLen - 4] , x[1] * y[srcBLen - 3] */
+        sum += ((q31_t) * px++ * *py++);
+        sum += ((q31_t) * px++ * *py++);
+        sum += ((q31_t) * px++ * *py++);
+        sum += ((q31_t) * px++ * *py++);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* If the count is not a multiple of 4, compute any remaining MACs here.   
+     ** No loop unrolling is used. */
+    k = count % 0x4u;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+      /* x[0] * y[srcBLen - 1] */
+        sum += ((q31_t) * px++ * *py++);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut = (q15_t) (sum >> 15);
+    /* Destination pointer is updated according to the address modifier, inc */
+    pOut += inc;
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    py = pSrc1 - count;
+    px = pIn1;
+
+    /* Increment the MAC count */
+    count++;
+
+    /* Decrement the loop counter */
+    blockSize1--;
+  }
+
+  /* --------------------------   
+   * Initializations of stage2   
+   * ------------------------*/
+
+  /* sum = x[0] * y[0] + x[1] * y[1] +...+ x[srcBLen-1] * y[srcBLen-1]   
+   * sum = x[1] * y[0] + x[2] * y[1] +...+ x[srcBLen] * y[srcBLen-1]   
+   * ....   
+   * sum = x[srcALen-srcBLen-2] * y[0] + x[srcALen-srcBLen-1] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]   
+   */
+
+  /* Working pointer of inputA */
+  px = pIn1;
+
+  /* Working pointer of inputB */
+  py = pIn2;
+
+  /* count is index by which the pointer pIn1 to be incremented */
+  count = 0u;
+
+  /* -------------------   
+   * Stage2 process   
+   * ------------------*/
+
+  /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.   
+   * So, to loop unroll over blockSize2,   
+   * srcBLen should be greater than or equal to 4, to loop unroll the srcBLen loop */
+  if(srcBLen >= 4u)
+  {
+    /* Loop unroll over blockSize2, by 4 */
+    blkCnt = blockSize2 >> 2u;
+
+    while(blkCnt > 0u)
+    {
+      /* Set all accumulators to zero */
+      acc0 = 0;
+      acc1 = 0;
+      acc2 = 0;
+      acc3 = 0;
+
+      /* read x[0], x[1], x[2] samples */
+	  a = *px;
+	  b = *(px + 1);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+	  x0 = __PKHBT(a, b, 16);
+	  a = *(px + 2);
+	  x1 = __PKHBT(b, a, 16);
+
+#else
+
+	  x0 = __PKHBT(b, a, 16);
+	  a = *(px + 2);
+	  x1 = __PKHBT(a, b, 16);
+
+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/
+
+	  px += 2u;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = srcBLen >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      do
+      {
+        /* Read the first two inputB samples using SIMD:   
+         * y[0] and y[1] */
+		  a = *py;
+		  b = *(py + 1);
+	
+#ifndef ARM_MATH_BIG_ENDIAN
+	
+		  c0 = __PKHBT(a, b, 16);
+	
+#else
+	
+		  c0 = __PKHBT(b, a, 16);
+	
+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/
+
+        /* acc0 +=  x[0] * y[0] + x[1] * y[1] */
+        acc0 = __SMLAD(x0, c0, acc0);
+
+        /* acc1 +=  x[1] * y[0] + x[2] * y[1] */
+        acc1 = __SMLAD(x1, c0, acc1);
+
+        /* Read x[2], x[3], x[4] */
+	  	a = *px;
+	  	b = *(px + 1);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+	  	x2 = __PKHBT(a, b, 16);
+	  	a = *(px + 2);
+	  	x3 = __PKHBT(b, a, 16);
+
+#else
+
+	  	x2 = __PKHBT(b, a, 16);
+	  	a = *(px + 2);
+	  	x3 = __PKHBT(a, b, 16);
+
+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/
+
+        /* acc2 +=  x[2] * y[0] + x[3] * y[1] */
+        acc2 = __SMLAD(x2, c0, acc2);
+
+        /* acc3 +=  x[3] * y[0] + x[4] * y[1] */
+        acc3 = __SMLAD(x3, c0, acc3);
+
+        /* Read y[2] and y[3] */
+		  a = *(py + 2);
+		  b = *(py + 3);
+
+		  py += 4u;
+	
+#ifndef ARM_MATH_BIG_ENDIAN
+	
+		  c0 = __PKHBT(a, b, 16);
+	
+#else
+	
+		  c0 = __PKHBT(b, a, 16);
+	
+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/
+
+        /* acc0 +=  x[2] * y[2] + x[3] * y[3] */
+        acc0 = __SMLAD(x2, c0, acc0);
+
+        /* acc1 +=  x[3] * y[2] + x[4] * y[3] */
+        acc1 = __SMLAD(x3, c0, acc1);
+
+        /* Read x[4], x[5], x[6] */
+	  	a = *(px + 2);
+	  	b = *(px + 3);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+	  	x0 = __PKHBT(a, b, 16);
+	  	a = *(px + 4);
+	  	x1 = __PKHBT(b, a, 16);
+
+#else
+
+	  	x0 = __PKHBT(b, a, 16);
+	  	a = *(px + 4);
+	  	x1 = __PKHBT(a, b, 16);
+
+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/
+
+		px += 4u;
+
+        /* acc2 +=  x[4] * y[2] + x[5] * y[3] */
+        acc2 = __SMLAD(x0, c0, acc2);
+
+        /* acc3 +=  x[5] * y[2] + x[6] * y[3] */
+        acc3 = __SMLAD(x1, c0, acc3);
+
+      } while(--k);
+
+      /* For the next MAC operations, SIMD is not used   
+       * So, the 16 bit pointer if inputB, py is updated */
+
+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = srcBLen % 0x4u;
+
+      if(k == 1u)
+      {
+        /* Read y[4] */
+        c0 = *py;
+#ifdef  ARM_MATH_BIG_ENDIAN
+
+        c0 = c0 << 16u;
+
+#else
+
+        c0 = c0 & 0x0000FFFF;
+
+#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */
+
+        /* Read x[7] */
+		a = *px;
+		b = *(px + 1);
+
+		px++;;
+	
+#ifndef ARM_MATH_BIG_ENDIAN
+	
+		x3 = __PKHBT(a, b, 16);
+	
+#else
+	
+		x3 = __PKHBT(b, a, 16);
+	
+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/
+
+		px++;
+
+        /* Perform the multiply-accumulates */
+        acc0 = __SMLAD(x0, c0, acc0);
+        acc1 = __SMLAD(x1, c0, acc1);
+        acc2 = __SMLADX(x1, c0, acc2);
+        acc3 = __SMLADX(x3, c0, acc3);
+      }
+
+      if(k == 2u)
+      {
+        /* Read y[4], y[5] */
+		  a = *py;
+		  b = *(py + 1);
+	
+#ifndef ARM_MATH_BIG_ENDIAN
+	
+		  c0 = __PKHBT(a, b, 16);
+	
+#else
+	
+		  c0 = __PKHBT(b, a, 16);
+	
+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/
+
+        /* Read x[7], x[8], x[9] */
+	  	a = *px;
+	  	b = *(px + 1);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+	  	x3 = __PKHBT(a, b, 16);
+	  	a = *(px + 2);
+	  	x2 = __PKHBT(b, a, 16);
+
+#else
+
+	  	x3 = __PKHBT(b, a, 16);
+	  	a = *(px + 2);
+	  	x2 = __PKHBT(a, b, 16);
+
+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/
+
+		px += 2u;
+
+        /* Perform the multiply-accumulates */
+        acc0 = __SMLAD(x0, c0, acc0);
+        acc1 = __SMLAD(x1, c0, acc1);
+        acc2 = __SMLAD(x3, c0, acc2);
+        acc3 = __SMLAD(x2, c0, acc3);
+      }
+
+      if(k == 3u)
+      {
+        /* Read y[4], y[5] */
+		  a = *py;
+		  b = *(py + 1);
+	
+#ifndef ARM_MATH_BIG_ENDIAN
+	
+		  c0 = __PKHBT(a, b, 16);
+	
+#else
+	
+		  c0 = __PKHBT(b, a, 16);
+	
+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/
+
+		py += 2u;
+
+        /* Read x[7], x[8], x[9] */
+	  	a = *px;
+	  	b = *(px + 1);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+	  	x3 = __PKHBT(a, b, 16);
+	  	a = *(px + 2);
+	  	x2 = __PKHBT(b, a, 16);
+
+#else
+
+	  	x3 = __PKHBT(b, a, 16);
+	  	a = *(px + 2);
+	  	x2 = __PKHBT(a, b, 16);
+
+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/
+
+        /* Perform the multiply-accumulates */
+        acc0 = __SMLAD(x0, c0, acc0);
+        acc1 = __SMLAD(x1, c0, acc1);
+        acc2 = __SMLAD(x3, c0, acc2);
+        acc3 = __SMLAD(x2, c0, acc3);
+
+        c0 = (*py);
+        /* Read y[6] */
+#ifdef  ARM_MATH_BIG_ENDIAN
+
+        c0 = c0 << 16u;
+#else
+
+        c0 = c0 & 0x0000FFFF;
+#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */
+
+        /* Read x[10] */
+		b = *(px + 3);
+	
+#ifndef ARM_MATH_BIG_ENDIAN
+	
+		x3 = __PKHBT(a, b, 16);
+	
+#else
+	
+		x3 = __PKHBT(b, a, 16);
+	
+#endif	/*	#ifndef ARM_MATH_BIG_ENDIAN	*/
+
+		px += 3u;
+
+        /* Perform the multiply-accumulates */
+        acc0 = __SMLADX(x1, c0, acc0);
+        acc1 = __SMLAD(x2, c0, acc1);
+        acc2 = __SMLADX(x2, c0, acc2);
+        acc3 = __SMLADX(x3, c0, acc3);
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut = (q15_t) (acc0 >> 15);
+      /* Destination pointer is updated according to the address modifier, inc */
+      pOut += inc;
+
+      *pOut = (q15_t) (acc1 >> 15);
+      pOut += inc;
+
+      *pOut = (q15_t) (acc2 >> 15);
+      pOut += inc;
+
+      *pOut = (q15_t) (acc3 >> 15);
+      pOut += inc;
+
+      /* Increment the pointer pIn1 index, count by 1 */
+      count += 4u;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pIn2;
+
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.   
+     ** No loop unrolling is used. */
+    blkCnt = blockSize2 % 0x4u;
+
+    while(blkCnt > 0u)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = srcBLen >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        sum += ((q31_t) * px++ * *py++);
+        sum += ((q31_t) * px++ * *py++);
+        sum += ((q31_t) * px++ * *py++);
+        sum += ((q31_t) * px++ * *py++);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = srcBLen % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        sum += ((q31_t) * px++ * *py++);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut = (q15_t) (sum >> 15);
+      /* Destination pointer is updated according to the address modifier, inc */
+      pOut += inc;
+
+      /* Increment the pointer pIn1 index, count by 1 */
+      count++;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pIn2;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+  else
+  {
+    /* If the srcBLen is not a multiple of 4,   
+     * the blockSize2 loop cannot be unrolled by 4 */
+    blkCnt = blockSize2;
+
+    while(blkCnt > 0u)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Loop over srcBLen */
+      k = srcBLen;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulate */
+        sum += ((q31_t) * px++ * *py++);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut = (q15_t) (sum >> 15);
+      /* Destination pointer is updated according to the address modifier, inc */
+      pOut += inc;
+
+      /* Increment the MAC count */
+      count++;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pIn2;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+
+  /* --------------------------   
+   * Initializations of stage3   
+   * -------------------------*/
+
+  /* sum += x[srcALen-srcBLen+1] * y[0] + x[srcALen-srcBLen+2] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]   
+   * sum += x[srcALen-srcBLen+2] * y[0] + x[srcALen-srcBLen+3] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]   
+   * ....   
+   * sum +=  x[srcALen-2] * y[0] + x[srcALen-1] * y[1]   
+   * sum +=  x[srcALen-1] * y[0]   
+   */
+
+  /* In this stage the MAC operations are decreased by 1 for every iteration.   
+     The count variable holds the number of MAC operations performed */
+  count = srcBLen - 1u;
+
+  /* Working pointer of inputA */
+  pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);
+  px = pSrc1;
+
+  /* Working pointer of inputB */
+  py = pIn2;
+
+  /* -------------------   
+   * Stage3 process   
+   * ------------------*/
+
+  while(blockSize3 > 0u)
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0;
+
+    /* Apply loop unrolling and compute 4 MACs simultaneously. */
+    k = count >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+        sum += ((q31_t) * px++ * *py++);
+        sum += ((q31_t) * px++ * *py++);
+        sum += ((q31_t) * px++ * *py++);
+        sum += ((q31_t) * px++ * *py++);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* If the count is not a multiple of 4, compute any remaining MACs here.   
+     ** No loop unrolling is used. */
+    k = count % 0x4u;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+        sum += ((q31_t) * px++ * *py++);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut = (q15_t) (sum >> 15);
+    /* Destination pointer is updated according to the address modifier, inc */
+    pOut += inc;
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    px = ++pSrc1;
+    py = pIn2;
+
+    /* Decrement the MAC count */
+    count--;
+
+    /* Decrement the loop counter */
+    blockSize3--;
+  }
+
+#endif /*   #ifndef UNALIGNED_SUPPORT_DISABLE */
+
+}
+
+/**   
+ * @} end of Corr group   
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q31.c
new file mode 100644
index 000000000..628fd3ea5
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q31.c
@@ -0,0 +1,607 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_correlate_fast_q31.c    
+*    
+* Description:	Fast Q31 Correlation.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+* 
+* Version 1.0.11 2011/10/18  
+*    Bug Fix in conv, correlation, partial convolution.  
+* 
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup Corr    
+ * @{    
+ */
+
+/**    
+ * @brief Correlation of Q31 sequences (fast version) for Cortex-M3 and Cortex-M4.    
+ * @param[in] *pSrcA points to the first input sequence.    
+ * @param[in] srcALen length of the first input sequence.    
+ * @param[in] *pSrcB points to the second input sequence.    
+ * @param[in] srcBLen length of the second input sequence.    
+ * @param[out] *pDst points to the location where the output result is written.  Length 2 * max(srcALen, srcBLen) - 1.    
+ * @return none.    
+ *    
+ * @details    
+ * Scaling and Overflow Behavior:    
+ *    
+ * \par    
+ * This function is optimized for speed at the expense of fixed-point precision and overflow protection.    
+ * The result of each 1.31 x 1.31 multiplication is truncated to 2.30 format.    
+ * These intermediate results are accumulated in a 32-bit register in 2.30 format.    
+ * Finally, the accumulator is saturated and converted to a 1.31 result.    
+ *    
+ * \par    
+ * The fast version has the same overflow behavior as the standard version but provides less precision since it discards the low 32 bits of each multiplication result.    
+ * In order to avoid overflows completely the input signals must be scaled down.    
+ * The input signals should be scaled down to avoid intermediate overflows.    
+ * Scale down one of the inputs by 1/min(srcALen, srcBLen)to avoid overflows since a    
+ * maximum of min(srcALen, srcBLen) number of additions is carried internally.    
+ *    
+ * \par    
+ * See arm_correlate_q31() for a slower implementation of this function which uses 64-bit accumulation to provide higher precision.    
+ */
+
+void arm_correlate_fast_q31(
+  q31_t * pSrcA,
+  uint32_t srcALen,
+  q31_t * pSrcB,
+  uint32_t srcBLen,
+  q31_t * pDst)
+{
+  q31_t *pIn1;                                   /* inputA pointer               */
+  q31_t *pIn2;                                   /* inputB pointer               */
+  q31_t *pOut = pDst;                            /* output pointer               */
+  q31_t *px;                                     /* Intermediate inputA pointer  */
+  q31_t *py;                                     /* Intermediate inputB pointer  */
+  q31_t *pSrc1;                                  /* Intermediate pointers        */
+  q31_t sum, acc0, acc1, acc2, acc3;             /* Accumulators                  */
+  q31_t x0, x1, x2, x3, c0;                      /* temporary variables for holding input and coefficient values */
+  uint32_t j, k = 0u, count, blkCnt, outBlockSize, blockSize1, blockSize2, blockSize3;  /* loop counter                 */
+  int32_t inc = 1;                               /* Destination address modifier */
+
+
+  /* The algorithm implementation is based on the lengths of the inputs. */
+  /* srcB is always made to slide across srcA. */
+  /* So srcBLen is always considered as shorter or equal to srcALen */
+  if(srcALen >= srcBLen)
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = (pSrcA);
+
+    /* Initialization of inputB pointer */
+    pIn2 = (pSrcB);
+
+    /* Number of output samples is calculated */
+    outBlockSize = (2u * srcALen) - 1u;
+
+    /* When srcALen > srcBLen, zero padding is done to srcB    
+     * to make their lengths equal.    
+     * Instead, (outBlockSize - (srcALen + srcBLen - 1))    
+     * number of output samples are made zero */
+    j = outBlockSize - (srcALen + (srcBLen - 1u));
+
+    /* Updating the pointer position to non zero value */
+    pOut += j;
+
+  }
+  else
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = (pSrcB);
+
+    /* Initialization of inputB pointer */
+    pIn2 = (pSrcA);
+
+    /* srcBLen is always considered as shorter or equal to srcALen */
+    j = srcBLen;
+    srcBLen = srcALen;
+    srcALen = j;
+
+    /* CORR(x, y) = Reverse order(CORR(y, x)) */
+    /* Hence set the destination pointer to point to the last output sample */
+    pOut = pDst + ((srcALen + srcBLen) - 2u);
+
+    /* Destination address modifier is set to -1 */
+    inc = -1;
+
+  }
+
+  /* The function is internally    
+   * divided into three parts according to the number of multiplications that has to be    
+   * taken place between inputA samples and inputB samples. In the first part of the    
+   * algorithm, the multiplications increase by one for every iteration.    
+   * In the second part of the algorithm, srcBLen number of multiplications are done.    
+   * In the third part of the algorithm, the multiplications decrease by one    
+   * for every iteration.*/
+  /* The algorithm is implemented in three stages.    
+   * The loop counters of each stage is initiated here. */
+  blockSize1 = srcBLen - 1u;
+  blockSize2 = srcALen - (srcBLen - 1u);
+  blockSize3 = blockSize1;
+
+  /* --------------------------    
+   * Initializations of stage1    
+   * -------------------------*/
+
+  /* sum = x[0] * y[srcBlen - 1]    
+   * sum = x[0] * y[srcBlen - 2] + x[1] * y[srcBlen - 1]    
+   * ....    
+   * sum = x[0] * y[0] + x[1] * y[1] +...+ x[srcBLen - 1] * y[srcBLen - 1]    
+   */
+
+  /* In this stage the MAC operations are increased by 1 for every iteration.    
+     The count variable holds the number of MAC operations performed */
+  count = 1u;
+
+  /* Working pointer of inputA */
+  px = pIn1;
+
+  /* Working pointer of inputB */
+  pSrc1 = pIn2 + (srcBLen - 1u);
+  py = pSrc1;
+
+  /* ------------------------    
+   * Stage1 process    
+   * ----------------------*/
+
+  /* The first stage starts here */
+  while(blockSize1 > 0u)
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0;
+
+    /* Apply loop unrolling and compute 4 MACs simultaneously. */
+    k = count >> 2;
+
+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* x[0] * y[srcBLen - 4] */
+      sum = (q31_t) ((((q63_t) sum << 32) +
+                      ((q63_t) * px++ * (*py++))) >> 32);
+      /* x[1] * y[srcBLen - 3] */
+      sum = (q31_t) ((((q63_t) sum << 32) +
+                      ((q63_t) * px++ * (*py++))) >> 32);
+      /* x[2] * y[srcBLen - 2] */
+      sum = (q31_t) ((((q63_t) sum << 32) +
+                      ((q63_t) * px++ * (*py++))) >> 32);
+      /* x[3] * y[srcBLen - 1] */
+      sum = (q31_t) ((((q63_t) sum << 32) +
+                      ((q63_t) * px++ * (*py++))) >> 32);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* If the count is not a multiple of 4, compute any remaining MACs here.    
+     ** No loop unrolling is used. */
+    k = count % 0x4u;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+      /* x[0] * y[srcBLen - 1] */
+      sum = (q31_t) ((((q63_t) sum << 32) +
+                      ((q63_t) * px++ * (*py++))) >> 32);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut = sum << 1;
+    /* Destination pointer is updated according to the address modifier, inc */
+    pOut += inc;
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    py = pSrc1 - count;
+    px = pIn1;
+
+    /* Increment the MAC count */
+    count++;
+
+    /* Decrement the loop counter */
+    blockSize1--;
+  }
+
+  /* --------------------------    
+   * Initializations of stage2    
+   * ------------------------*/
+
+  /* sum = x[0] * y[0] + x[1] * y[1] +...+ x[srcBLen-1] * y[srcBLen-1]    
+   * sum = x[1] * y[0] + x[2] * y[1] +...+ x[srcBLen] * y[srcBLen-1]    
+   * ....    
+   * sum = x[srcALen-srcBLen-2] * y[0] + x[srcALen-srcBLen-1] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]    
+   */
+
+  /* Working pointer of inputA */
+  px = pIn1;
+
+  /* Working pointer of inputB */
+  py = pIn2;
+
+  /* count is index by which the pointer pIn1 to be incremented */
+  count = 0u;
+
+  /* -------------------    
+   * Stage2 process    
+   * ------------------*/
+
+  /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.    
+   * So, to loop unroll over blockSize2,    
+   * srcBLen should be greater than or equal to 4 */
+  if(srcBLen >= 4u)
+  {
+    /* Loop unroll over blockSize2, by 4 */
+    blkCnt = blockSize2 >> 2u;
+
+    while(blkCnt > 0u)
+    {
+      /* Set all accumulators to zero */
+      acc0 = 0;
+      acc1 = 0;
+      acc2 = 0;
+      acc3 = 0;
+
+      /* read x[0], x[1], x[2] samples */
+      x0 = *(px++);
+      x1 = *(px++);
+      x2 = *(px++);
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = srcBLen >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      do
+      {
+        /* Read y[0] sample */
+        c0 = *(py++);
+
+        /* Read x[3] sample */
+        x3 = *(px++);
+
+        /* Perform the multiply-accumulate */
+        /* acc0 +=  x[0] * y[0] */
+        acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x0 * c0)) >> 32);
+        /* acc1 +=  x[1] * y[0] */
+        acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x1 * c0)) >> 32);
+        /* acc2 +=  x[2] * y[0] */
+        acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x2 * c0)) >> 32);
+        /* acc3 +=  x[3] * y[0] */
+        acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x3 * c0)) >> 32);
+
+        /* Read y[1] sample */
+        c0 = *(py++);
+
+        /* Read x[4] sample */
+        x0 = *(px++);
+
+        /* Perform the multiply-accumulates */
+        /* acc0 +=  x[1] * y[1] */
+        acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x1 * c0)) >> 32);
+        /* acc1 +=  x[2] * y[1] */
+        acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x2 * c0)) >> 32);
+        /* acc2 +=  x[3] * y[1] */
+        acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x3 * c0)) >> 32);
+        /* acc3 +=  x[4] * y[1] */
+        acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x0 * c0)) >> 32);
+
+        /* Read y[2] sample */
+        c0 = *(py++);
+
+        /* Read x[5] sample */
+        x1 = *(px++);
+
+        /* Perform the multiply-accumulates */
+        /* acc0 +=  x[2] * y[2] */
+        acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x2 * c0)) >> 32);
+        /* acc1 +=  x[3] * y[2] */
+        acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x3 * c0)) >> 32);
+        /* acc2 +=  x[4] * y[2] */
+        acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x0 * c0)) >> 32);
+        /* acc3 +=  x[5] * y[2] */
+        acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x1 * c0)) >> 32);
+
+        /* Read y[3] sample */
+        c0 = *(py++);
+
+        /* Read x[6] sample */
+        x2 = *(px++);
+
+        /* Perform the multiply-accumulates */
+        /* acc0 +=  x[3] * y[3] */
+        acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x3 * c0)) >> 32);
+        /* acc1 +=  x[4] * y[3] */
+        acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x0 * c0)) >> 32);
+        /* acc2 +=  x[5] * y[3] */
+        acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x1 * c0)) >> 32);
+        /* acc3 +=  x[6] * y[3] */
+        acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x2 * c0)) >> 32);
+
+
+      } while(--k);
+
+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.    
+       ** No loop unrolling is used. */
+      k = srcBLen % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Read y[4] sample */
+        c0 = *(py++);
+
+        /* Read x[7] sample */
+        x3 = *(px++);
+
+        /* Perform the multiply-accumulates */
+        /* acc0 +=  x[4] * y[4] */
+        acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x0 * c0)) >> 32);
+        /* acc1 +=  x[5] * y[4] */
+        acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x1 * c0)) >> 32);
+        /* acc2 +=  x[6] * y[4] */
+        acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x2 * c0)) >> 32);
+        /* acc3 +=  x[7] * y[4] */
+        acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x3 * c0)) >> 32);
+
+        /* Reuse the present samples for the next MAC */
+        x0 = x1;
+        x1 = x2;
+        x2 = x3;
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut = (q31_t) (acc0 << 1);
+      /* Destination pointer is updated according to the address modifier, inc */
+      pOut += inc;
+
+      *pOut = (q31_t) (acc1 << 1);
+      pOut += inc;
+
+      *pOut = (q31_t) (acc2 << 1);
+      pOut += inc;
+
+      *pOut = (q31_t) (acc3 << 1);
+      pOut += inc;
+
+      /* Increment the pointer pIn1 index, count by 4 */
+      count += 4u;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pIn2;
+
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.    
+     ** No loop unrolling is used. */
+    blkCnt = blockSize2 % 0x4u;
+
+    while(blkCnt > 0u)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = srcBLen >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        sum = (q31_t) ((((q63_t) sum << 32) +
+                        ((q63_t) * px++ * (*py++))) >> 32);
+        sum = (q31_t) ((((q63_t) sum << 32) +
+                        ((q63_t) * px++ * (*py++))) >> 32);
+        sum = (q31_t) ((((q63_t) sum << 32) +
+                        ((q63_t) * px++ * (*py++))) >> 32);
+        sum = (q31_t) ((((q63_t) sum << 32) +
+                        ((q63_t) * px++ * (*py++))) >> 32);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.    
+       ** No loop unrolling is used. */
+      k = srcBLen % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulate */
+        sum = (q31_t) ((((q63_t) sum << 32) +
+                        ((q63_t) * px++ * (*py++))) >> 32);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut = sum << 1;
+      /* Destination pointer is updated according to the address modifier, inc */
+      pOut += inc;
+
+      /* Increment the MAC count */
+      count++;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pIn2;
+
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+  else
+  {
+    /* If the srcBLen is not a multiple of 4,    
+     * the blockSize2 loop cannot be unrolled by 4 */
+    blkCnt = blockSize2;
+
+    while(blkCnt > 0u)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Loop over srcBLen */
+      k = srcBLen;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulate */
+        sum = (q31_t) ((((q63_t) sum << 32) +
+                        ((q63_t) * px++ * (*py++))) >> 32);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut = sum << 1;
+      /* Destination pointer is updated according to the address modifier, inc */
+      pOut += inc;
+
+      /* Increment the MAC count */
+      count++;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pIn2;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+
+  /* --------------------------    
+   * Initializations of stage3    
+   * -------------------------*/
+
+  /* sum += x[srcALen-srcBLen+1] * y[0] + x[srcALen-srcBLen+2] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]    
+   * sum += x[srcALen-srcBLen+2] * y[0] + x[srcALen-srcBLen+3] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]    
+   * ....    
+   * sum +=  x[srcALen-2] * y[0] + x[srcALen-1] * y[1]    
+   * sum +=  x[srcALen-1] * y[0]    
+   */
+
+  /* In this stage the MAC operations are decreased by 1 for every iteration.    
+     The count variable holds the number of MAC operations performed */
+  count = srcBLen - 1u;
+
+  /* Working pointer of inputA */
+  pSrc1 = ((pIn1 + srcALen) - srcBLen) + 1u;
+  px = pSrc1;
+
+  /* Working pointer of inputB */
+  py = pIn2;
+
+  /* -------------------    
+   * Stage3 process    
+   * ------------------*/
+
+  while(blockSize3 > 0u)
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0;
+
+    /* Apply loop unrolling and compute 4 MACs simultaneously. */
+    k = count >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+      /* sum += x[srcALen - srcBLen + 4] * y[3] */
+      sum = (q31_t) ((((q63_t) sum << 32) +
+                      ((q63_t) * px++ * (*py++))) >> 32);
+      /* sum += x[srcALen - srcBLen + 3] * y[2] */
+      sum = (q31_t) ((((q63_t) sum << 32) +
+                      ((q63_t) * px++ * (*py++))) >> 32);
+      /* sum += x[srcALen - srcBLen + 2] * y[1] */
+      sum = (q31_t) ((((q63_t) sum << 32) +
+                      ((q63_t) * px++ * (*py++))) >> 32);
+      /* sum += x[srcALen - srcBLen + 1] * y[0] */
+      sum = (q31_t) ((((q63_t) sum << 32) +
+                      ((q63_t) * px++ * (*py++))) >> 32);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* If the count is not a multiple of 4, compute any remaining MACs here.    
+     ** No loop unrolling is used. */
+    k = count % 0x4u;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+      sum = (q31_t) ((((q63_t) sum << 32) +
+                      ((q63_t) * px++ * (*py++))) >> 32);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut = sum << 1;
+    /* Destination pointer is updated according to the address modifier, inc */
+    pOut += inc;
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    px = ++pSrc1;
+    py = pIn2;
+
+    /* Decrement the MAC count */
+    count--;
+
+    /* Decrement the loop counter */
+    blockSize3--;
+  }
+
+}
+
+/**    
+ * @} end of Corr group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_opt_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_opt_q15.c
new file mode 100644
index 000000000..cc33b54f5
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_opt_q15.c
@@ -0,0 +1,512 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_correlate_opt_q15.c    
+*    
+* Description:	Correlation of Q15 sequences.  
+*    
+* Target Processor: Cortex-M4/Cortex-M3
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+* 
+* Version 1.0.11 2011/10/18  
+*    Bug Fix in conv, correlation, partial convolution.  
+* 
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+*    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup Corr    
+ * @{    
+ */
+
+/**    
+ * @brief Correlation of Q15 sequences.  
+ * @param[in] *pSrcA points to the first input sequence.    
+ * @param[in] srcALen length of the first input sequence.    
+ * @param[in] *pSrcB points to the second input sequence.    
+ * @param[in] srcBLen length of the second input sequence.    
+ * @param[out] *pDst points to the location where the output result is written.  Length 2 * max(srcALen, srcBLen) - 1.    
+ * @param[in]  *pScratch points to scratch buffer of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2.    
+ * @return none.    
+ *    
+ * \par Restrictions    
+ *  If the silicon does not support unaligned memory access enable the macro UNALIGNED_SUPPORT_DISABLE    
+ *	In this case input, output, scratch buffers should be aligned by 32-bit    
+ *     
+ * @details    
+ * Scaling and Overflow Behavior:    
+ *    
+ * \par    
+ * The function is implemented using a 64-bit internal accumulator.    
+ * Both inputs are in 1.15 format and multiplications yield a 2.30 result.    
+ * The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format.    
+ * This approach provides 33 guard bits and there is no risk of overflow.    
+ * The 34.30 result is then truncated to 34.15 format by discarding the low 15 bits and then saturated to 1.15 format.    
+ *    
+ * \par    
+ * Refer to arm_correlate_fast_q15() for a faster but less precise version of this function for Cortex-M3 and Cortex-M4.   
+ *  
+ * 
+ */
+
+
+void arm_correlate_opt_q15(
+  q15_t * pSrcA,
+  uint32_t srcALen,
+  q15_t * pSrcB,
+  uint32_t srcBLen,
+  q15_t * pDst,
+  q15_t * pScratch)
+{
+  q15_t *pIn1;                                   /* inputA pointer               */
+  q15_t *pIn2;                                   /* inputB pointer               */
+  q63_t acc0, acc1, acc2, acc3;                  /* Accumulators                  */
+  q15_t *py;                                     /* Intermediate inputB pointer  */
+  q31_t x1, x2, x3;                              /* temporary variables for holding input1 and input2 values */
+  uint32_t j, blkCnt, outBlockSize;              /* loop counter                 */
+  int32_t inc = 1;                               /* output pointer increment     */
+  uint32_t tapCnt;
+  q31_t y1, y2;
+  q15_t *pScr;                                   /* Intermediate pointers        */
+  q15_t *pOut = pDst;                            /* output pointer               */
+#ifdef UNALIGNED_SUPPORT_DISABLE
+
+  q15_t a, b;
+
+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
+
+  /* The algorithm implementation is based on the lengths of the inputs. */
+  /* srcB is always made to slide across srcA. */
+  /* So srcBLen is always considered as shorter or equal to srcALen */
+  /* But CORR(x, y) is reverse of CORR(y, x) */
+  /* So, when srcBLen > srcALen, output pointer is made to point to the end of the output buffer */
+  /* and the destination pointer modifier, inc is set to -1 */
+  /* If srcALen > srcBLen, zero pad has to be done to srcB to make the two inputs of same length */
+  /* But to improve the performance,        
+   * we include zeroes in the output instead of zero padding either of the the inputs*/
+  /* If srcALen > srcBLen,        
+   * (srcALen - srcBLen) zeroes has to included in the starting of the output buffer */
+  /* If srcALen < srcBLen,        
+   * (srcALen - srcBLen) zeroes has to included in the ending of the output buffer */
+  if(srcALen >= srcBLen)
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = (pSrcA);
+
+    /* Initialization of inputB pointer */
+    pIn2 = (pSrcB);
+
+    /* Number of output samples is calculated */
+    outBlockSize = (2u * srcALen) - 1u;
+
+    /* When srcALen > srcBLen, zero padding is done to srcB        
+     * to make their lengths equal.        
+     * Instead, (outBlockSize - (srcALen + srcBLen - 1))        
+     * number of output samples are made zero */
+    j = outBlockSize - (srcALen + (srcBLen - 1u));
+
+    /* Updating the pointer position to non zero value */
+    pOut += j;
+
+  }
+  else
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = (pSrcB);
+
+    /* Initialization of inputB pointer */
+    pIn2 = (pSrcA);
+
+    /* srcBLen is always considered as shorter or equal to srcALen */
+    j = srcBLen;
+    srcBLen = srcALen;
+    srcALen = j;
+
+    /* CORR(x, y) = Reverse order(CORR(y, x)) */
+    /* Hence set the destination pointer to point to the last output sample */
+    pOut = pDst + ((srcALen + srcBLen) - 2u);
+
+    /* Destination address modifier is set to -1 */
+    inc = -1;
+
+  }
+
+  pScr = pScratch;
+
+  /* Fill (srcBLen - 1u) zeros in scratch buffer */
+  arm_fill_q15(0, pScr, (srcBLen - 1u));
+
+  /* Update temporary scratch pointer */
+  pScr += (srcBLen - 1u);
+
+#ifndef UNALIGNED_SUPPORT_DISABLE
+
+  /* Copy (srcALen) samples in scratch buffer */
+  arm_copy_q15(pIn1, pScr, srcALen);
+
+  /* Update pointers */
+  //pIn1 += srcALen;    
+  pScr += srcALen;
+
+#else
+
+  /* Apply loop unrolling and do 4 Copies simultaneously. */
+  j = srcALen >> 2u;
+
+  /* First part of the processing with loop unrolling copies 4 data points at a time.       
+   ** a second loop below copies for the remaining 1 to 3 samples. */
+  while(j > 0u)
+  {
+    /* copy second buffer in reversal manner */
+    *pScr++ = *pIn1++;
+    *pScr++ = *pIn1++;
+    *pScr++ = *pIn1++;
+    *pScr++ = *pIn1++;
+
+    /* Decrement the loop counter */
+    j--;
+  }
+
+  /* If the count is not a multiple of 4, copy remaining samples here.       
+   ** No loop unrolling is used. */
+  j = srcALen % 0x4u;
+
+  while(j > 0u)
+  {
+    /* copy second buffer in reversal manner for remaining samples */
+    *pScr++ = *pIn1++;
+
+    /* Decrement the loop counter */
+    j--;
+  }
+
+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
+
+#ifndef UNALIGNED_SUPPORT_DISABLE
+
+  /* Fill (srcBLen - 1u) zeros at end of scratch buffer */
+  arm_fill_q15(0, pScr, (srcBLen - 1u));
+
+  /* Update pointer */
+  pScr += (srcBLen - 1u);
+
+#else
+
+/* Apply loop unrolling and do 4 Copies simultaneously. */
+  j = (srcBLen - 1u) >> 2u;
+
+  /* First part of the processing with loop unrolling copies 4 data points at a time.       
+   ** a second loop below copies for the remaining 1 to 3 samples. */
+  while(j > 0u)
+  {
+    /* copy second buffer in reversal manner */
+    *pScr++ = 0;
+    *pScr++ = 0;
+    *pScr++ = 0;
+    *pScr++ = 0;
+
+    /* Decrement the loop counter */
+    j--;
+  }
+
+  /* If the count is not a multiple of 4, copy remaining samples here.       
+   ** No loop unrolling is used. */
+  j = (srcBLen - 1u) % 0x4u;
+
+  while(j > 0u)
+  {
+    /* copy second buffer in reversal manner for remaining samples */
+    *pScr++ = 0;
+
+    /* Decrement the loop counter */
+    j--;
+  }
+
+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
+
+  /* Temporary pointer for scratch2 */
+  py = pIn2;
+
+
+  /* Actual correlation process starts here */
+  blkCnt = (srcALen + srcBLen - 1u) >> 2;
+
+  while(blkCnt > 0)
+  {
+    /* Initialze temporary scratch pointer as scratch1 */
+    pScr = pScratch;
+
+    /* Clear Accumlators */
+    acc0 = 0;
+    acc1 = 0;
+    acc2 = 0;
+    acc3 = 0;
+
+    /* Read four samples from scratch1 buffer */
+    x1 = *__SIMD32(pScr)++;
+
+    /* Read next four samples from scratch1 buffer */
+    x2 = *__SIMD32(pScr)++;
+
+    tapCnt = (srcBLen) >> 2u;
+
+    while(tapCnt > 0u)
+    {
+
+#ifndef UNALIGNED_SUPPORT_DISABLE
+
+      /* Read four samples from smaller buffer */
+      y1 = _SIMD32_OFFSET(pIn2);
+      y2 = _SIMD32_OFFSET(pIn2 + 2u);
+
+      acc0 = __SMLALD(x1, y1, acc0);
+
+      acc2 = __SMLALD(x2, y1, acc2);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+      x3 = __PKHBT(x2, x1, 0);
+#else
+      x3 = __PKHBT(x1, x2, 0);
+#endif
+
+      acc1 = __SMLALDX(x3, y1, acc1);
+
+      x1 = _SIMD32_OFFSET(pScr);
+
+      acc0 = __SMLALD(x2, y2, acc0);
+
+      acc2 = __SMLALD(x1, y2, acc2);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+      x3 = __PKHBT(x1, x2, 0);
+#else
+      x3 = __PKHBT(x2, x1, 0);
+#endif
+
+      acc3 = __SMLALDX(x3, y1, acc3);
+
+      acc1 = __SMLALDX(x3, y2, acc1);
+
+      x2 = _SIMD32_OFFSET(pScr + 2u);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+      x3 = __PKHBT(x2, x1, 0);
+#else
+      x3 = __PKHBT(x1, x2, 0);
+#endif
+
+      acc3 = __SMLALDX(x3, y2, acc3);
+
+#else	 
+
+      /* Read four samples from smaller buffer */
+	  a = *pIn2;
+	  b = *(pIn2 + 1);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+      y1 = __PKHBT(a, b, 16);
+#else
+      y1 = __PKHBT(b, a, 16);
+#endif
+	  
+	  a = *(pIn2 + 2);
+	  b = *(pIn2 + 3);
+#ifndef ARM_MATH_BIG_ENDIAN
+      y2 = __PKHBT(a, b, 16);
+#else
+      y2 = __PKHBT(b, a, 16);
+#endif				
+
+      acc0 = __SMLALD(x1, y1, acc0);
+
+      acc2 = __SMLALD(x2, y1, acc2);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+      x3 = __PKHBT(x2, x1, 0);
+#else
+      x3 = __PKHBT(x1, x2, 0);
+#endif
+
+      acc1 = __SMLALDX(x3, y1, acc1);
+
+	  a = *pScr;
+	  b = *(pScr + 1);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+      x1 = __PKHBT(a, b, 16);
+#else
+      x1 = __PKHBT(b, a, 16);
+#endif
+
+      acc0 = __SMLALD(x2, y2, acc0);
+
+      acc2 = __SMLALD(x1, y2, acc2);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+      x3 = __PKHBT(x1, x2, 0);
+#else
+      x3 = __PKHBT(x2, x1, 0);
+#endif
+
+      acc3 = __SMLALDX(x3, y1, acc3);
+
+      acc1 = __SMLALDX(x3, y2, acc1);
+
+	  a = *(pScr + 2);
+	  b = *(pScr + 3);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+      x2 = __PKHBT(a, b, 16);
+#else
+      x2 = __PKHBT(b, a, 16);
+#endif
+
+#ifndef ARM_MATH_BIG_ENDIAN
+      x3 = __PKHBT(x2, x1, 0);
+#else
+      x3 = __PKHBT(x1, x2, 0);
+#endif
+
+      acc3 = __SMLALDX(x3, y2, acc3);
+
+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
+
+      pIn2 += 4u;
+
+      pScr += 4u;
+
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+
+
+    /* Update scratch pointer for remaining samples of smaller length sequence */
+    pScr -= 4u;
+
+
+    /* apply same above for remaining samples of smaller length sequence */
+    tapCnt = (srcBLen) & 3u;
+
+    while(tapCnt > 0u)
+    {
+
+      /* accumlate the results */
+      acc0 += (*pScr++ * *pIn2);
+      acc1 += (*pScr++ * *pIn2);
+      acc2 += (*pScr++ * *pIn2);
+      acc3 += (*pScr++ * *pIn2++);
+
+      pScr -= 3u;
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    blkCnt--;
+
+
+    /* Store the results in the accumulators in the destination buffer. */
+    *pOut = (__SSAT(acc0 >> 15u, 16));
+    pOut += inc;
+    *pOut = (__SSAT(acc1 >> 15u, 16));
+    pOut += inc;
+    *pOut = (__SSAT(acc2 >> 15u, 16));
+    pOut += inc;
+    *pOut = (__SSAT(acc3 >> 15u, 16));
+    pOut += inc;
+
+    /* Initialization of inputB pointer */
+    pIn2 = py;
+
+    pScratch += 4u;
+
+  }
+
+
+  blkCnt = (srcALen + srcBLen - 1u) & 0x3;
+
+  /* Calculate correlation for remaining samples of Bigger length sequence */
+  while(blkCnt > 0)
+  {
+    /* Initialze temporary scratch pointer as scratch1 */
+    pScr = pScratch;
+
+    /* Clear Accumlators */
+    acc0 = 0;
+
+    tapCnt = (srcBLen) >> 1u;
+
+    while(tapCnt > 0u)
+    {
+
+      acc0 += (*pScr++ * *pIn2++);
+      acc0 += (*pScr++ * *pIn2++);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    tapCnt = (srcBLen) & 1u;
+
+    /* apply same above for remaining samples of smaller length sequence */
+    while(tapCnt > 0u)
+    {
+
+      /* accumlate the results */
+      acc0 += (*pScr++ * *pIn2++);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    blkCnt--;
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut = (q15_t) (__SSAT((acc0 >> 15), 16));
+
+    pOut += inc;
+
+    /* Initialization of inputB pointer */
+    pIn2 = py;
+
+    pScratch += 1u;
+
+  }
+
+
+}
+
+/**    
+ * @} end of Corr group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_opt_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_opt_q7.c
new file mode 100644
index 000000000..6749b01b3
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_opt_q7.c
@@ -0,0 +1,463 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_correlate_opt_q7.c    
+*    
+* Description:	Correlation of Q7 sequences.  
+*    
+* Target Processor: Cortex-M4/Cortex-M3
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+* 
+* Version 1.0.11 2011/10/18  
+*    Bug Fix in conv, correlation, partial convolution.  
+* 
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+*    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup Corr    
+ * @{    
+ */
+
+/**    
+ * @brief Correlation of Q7 sequences.    
+ * @param[in] *pSrcA points to the first input sequence.    
+ * @param[in] srcALen length of the first input sequence.    
+ * @param[in] *pSrcB points to the second input sequence.    
+ * @param[in] srcBLen length of the second input sequence.    
+ * @param[out] *pDst points to the location where the output result is written.  Length 2 * max(srcALen, srcBLen) - 1.    
+ * @param[in]  *pScratch1 points to scratch buffer(of type q15_t) of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2.    
+ * @param[in]  *pScratch2 points to scratch buffer (of type q15_t) of size min(srcALen, srcBLen).    
+ * @return none.    
+ *    
+ *    
+ * \par Restrictions    
+ *  If the silicon does not support unaligned memory access enable the macro UNALIGNED_SUPPORT_DISABLE    
+ *	In this case input, output, scratch1 and scratch2 buffers should be aligned by 32-bit     
+ *        
+ * @details    
+ * Scaling and Overflow Behavior:    
+ *    
+ * \par    
+ * The function is implemented using a 32-bit internal accumulator.    
+ * Both the inputs are represented in 1.7 format and multiplications yield a 2.14 result.    
+ * The 2.14 intermediate results are accumulated in a 32-bit accumulator in 18.14 format.    
+ * This approach provides 17 guard bits and there is no risk of overflow as long as max(srcALen, srcBLen)<131072.    
+ * The 18.14 result is then truncated to 18.7 format by discarding the low 7 bits and saturated to 1.7 format.  
+ *  
+ * 
+ */
+
+
+
+void arm_correlate_opt_q7(
+  q7_t * pSrcA,
+  uint32_t srcALen,
+  q7_t * pSrcB,
+  uint32_t srcBLen,
+  q7_t * pDst,
+  q15_t * pScratch1,
+  q15_t * pScratch2)
+{
+  q7_t *pOut = pDst;                             /* output pointer                */
+  q15_t *pScr1 = pScratch1;                      /* Temporary pointer for scratch */
+  q15_t *pScr2 = pScratch2;                      /* Temporary pointer for scratch */
+  q7_t *pIn1;                                    /* inputA pointer                */
+  q7_t *pIn2;                                    /* inputB pointer                */
+  q15_t *py;                                     /* Intermediate inputB pointer   */
+  q31_t acc0, acc1, acc2, acc3;                  /* Accumulators                  */
+  uint32_t j, k = 0u, blkCnt;                    /* loop counter                  */
+  int32_t inc = 1;                               /* output pointer increment          */
+  uint32_t outBlockSize;                         /* loop counter                  */
+  q15_t x4;                                      /* Temporary input variable      */
+  uint32_t tapCnt;                               /* loop counter                  */
+  q31_t x1, x2, x3, y1;                          /* Temporary input variables     */
+
+  /* The algorithm implementation is based on the lengths of the inputs. */
+  /* srcB is always made to slide across srcA. */
+  /* So srcBLen is always considered as shorter or equal to srcALen */
+  /* But CORR(x, y) is reverse of CORR(y, x) */
+  /* So, when srcBLen > srcALen, output pointer is made to point to the end of the output buffer */
+  /* and the destination pointer modifier, inc is set to -1 */
+  /* If srcALen > srcBLen, zero pad has to be done to srcB to make the two inputs of same length */
+  /* But to improve the performance,        
+   * we include zeroes in the output instead of zero padding either of the the inputs*/
+  /* If srcALen > srcBLen,        
+   * (srcALen - srcBLen) zeroes has to included in the starting of the output buffer */
+  /* If srcALen < srcBLen,        
+   * (srcALen - srcBLen) zeroes has to included in the ending of the output buffer */
+  if(srcALen >= srcBLen)
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = (pSrcA);
+
+    /* Initialization of inputB pointer */
+    pIn2 = (pSrcB);
+
+    /* Number of output samples is calculated */
+    outBlockSize = (2u * srcALen) - 1u;
+
+    /* When srcALen > srcBLen, zero padding is done to srcB        
+     * to make their lengths equal.        
+     * Instead, (outBlockSize - (srcALen + srcBLen - 1))        
+     * number of output samples are made zero */
+    j = outBlockSize - (srcALen + (srcBLen - 1u));
+
+    /* Updating the pointer position to non zero value */
+    pOut += j;
+
+  }
+  else
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = (pSrcB);
+
+    /* Initialization of inputB pointer */
+    pIn2 = (pSrcA);
+
+    /* srcBLen is always considered as shorter or equal to srcALen */
+    j = srcBLen;
+    srcBLen = srcALen;
+    srcALen = j;
+
+    /* CORR(x, y) = Reverse order(CORR(y, x)) */
+    /* Hence set the destination pointer to point to the last output sample */
+    pOut = pDst + ((srcALen + srcBLen) - 2u);
+
+    /* Destination address modifier is set to -1 */
+    inc = -1;
+
+  }
+
+
+  /* Copy (srcBLen) samples in scratch buffer */
+  k = srcBLen >> 2u;
+
+  /* First part of the processing with loop unrolling copies 4 data points at a time.       
+   ** a second loop below copies for the remaining 1 to 3 samples. */
+  while(k > 0u)
+  {
+    /* copy second buffer in reversal manner */
+    x4 = (q15_t) * pIn2++;
+    *pScr2++ = x4;
+    x4 = (q15_t) * pIn2++;
+    *pScr2++ = x4;
+    x4 = (q15_t) * pIn2++;
+    *pScr2++ = x4;
+    x4 = (q15_t) * pIn2++;
+    *pScr2++ = x4;
+
+    /* Decrement the loop counter */
+    k--;
+  }
+
+  /* If the count is not a multiple of 4, copy remaining samples here.       
+   ** No loop unrolling is used. */
+  k = srcBLen % 0x4u;
+
+  while(k > 0u)
+  {
+    /* copy second buffer in reversal manner for remaining samples */
+    x4 = (q15_t) * pIn2++;
+    *pScr2++ = x4;
+
+    /* Decrement the loop counter */
+    k--;
+  }
+
+  /* Fill (srcBLen - 1u) zeros in scratch buffer */
+  arm_fill_q15(0, pScr1, (srcBLen - 1u));
+
+  /* Update temporary scratch pointer */
+  pScr1 += (srcBLen - 1u);
+
+  /* Copy (srcALen) samples in scratch buffer */
+  k = srcALen >> 2u;
+
+  /* First part of the processing with loop unrolling copies 4 data points at a time.       
+   ** a second loop below copies for the remaining 1 to 3 samples. */
+  while(k > 0u)
+  {
+    /* copy second buffer in reversal manner */
+    x4 = (q15_t) * pIn1++;
+    *pScr1++ = x4;
+    x4 = (q15_t) * pIn1++;
+    *pScr1++ = x4;
+    x4 = (q15_t) * pIn1++;
+    *pScr1++ = x4;
+    x4 = (q15_t) * pIn1++;
+    *pScr1++ = x4;
+
+    /* Decrement the loop counter */
+    k--;
+  }
+
+  /* If the count is not a multiple of 4, copy remaining samples here.       
+   ** No loop unrolling is used. */
+  k = srcALen % 0x4u;
+
+  while(k > 0u)
+  {
+    /* copy second buffer in reversal manner for remaining samples */
+    x4 = (q15_t) * pIn1++;
+    *pScr1++ = x4;
+
+    /* Decrement the loop counter */
+    k--;
+  }
+
+#ifndef UNALIGNED_SUPPORT_DISABLE
+
+  /* Fill (srcBLen - 1u) zeros at end of scratch buffer */
+  arm_fill_q15(0, pScr1, (srcBLen - 1u));
+
+  /* Update pointer */
+  pScr1 += (srcBLen - 1u);
+
+#else
+
+/* Apply loop unrolling and do 4 Copies simultaneously. */
+  k = (srcBLen - 1u) >> 2u;
+
+  /* First part of the processing with loop unrolling copies 4 data points at a time.       
+   ** a second loop below copies for the remaining 1 to 3 samples. */
+  while(k > 0u)
+  {
+    /* copy second buffer in reversal manner */
+    *pScr1++ = 0;
+    *pScr1++ = 0;
+    *pScr1++ = 0;
+    *pScr1++ = 0;
+
+    /* Decrement the loop counter */
+    k--;
+  }
+
+  /* If the count is not a multiple of 4, copy remaining samples here.       
+   ** No loop unrolling is used. */
+  k = (srcBLen - 1u) % 0x4u;
+
+  while(k > 0u)
+  {
+    /* copy second buffer in reversal manner for remaining samples */
+    *pScr1++ = 0;
+
+    /* Decrement the loop counter */
+    k--;
+  }
+
+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
+
+  /* Temporary pointer for second sequence */
+  py = pScratch2;
+
+  /* Initialization of pScr2 pointer */
+  pScr2 = pScratch2;
+
+  /* Actual correlation process starts here */
+  blkCnt = (srcALen + srcBLen - 1u) >> 2;
+
+  while(blkCnt > 0)
+  {
+    /* Initialze temporary scratch pointer as scratch1 */
+    pScr1 = pScratch1;
+
+    /* Clear Accumlators */
+    acc0 = 0;
+    acc1 = 0;
+    acc2 = 0;
+    acc3 = 0;
+
+    /* Read two samples from scratch1 buffer */
+    x1 = *__SIMD32(pScr1)++;
+
+    /* Read next two samples from scratch1 buffer */
+    x2 = *__SIMD32(pScr1)++;
+
+    tapCnt = (srcBLen) >> 2u;
+
+    while(tapCnt > 0u)
+    {
+
+      /* Read four samples from smaller buffer */
+      y1 = _SIMD32_OFFSET(pScr2);
+
+      /* multiply and accumlate */
+      acc0 = __SMLAD(x1, y1, acc0);
+      acc2 = __SMLAD(x2, y1, acc2);
+
+      /* pack input data */
+#ifndef ARM_MATH_BIG_ENDIAN
+      x3 = __PKHBT(x2, x1, 0);
+#else
+      x3 = __PKHBT(x1, x2, 0);
+#endif
+
+      /* multiply and accumlate */
+      acc1 = __SMLADX(x3, y1, acc1);
+
+      /* Read next two samples from scratch1 buffer */
+      x1 = *__SIMD32(pScr1)++;
+
+      /* pack input data */
+#ifndef ARM_MATH_BIG_ENDIAN
+      x3 = __PKHBT(x1, x2, 0);
+#else
+      x3 = __PKHBT(x2, x1, 0);
+#endif
+
+      acc3 = __SMLADX(x3, y1, acc3);
+
+      /* Read four samples from smaller buffer */
+      y1 = _SIMD32_OFFSET(pScr2 + 2u);
+
+      acc0 = __SMLAD(x2, y1, acc0);
+
+      acc2 = __SMLAD(x1, y1, acc2);
+
+      acc1 = __SMLADX(x3, y1, acc1);
+
+      x2 = *__SIMD32(pScr1)++;
+
+#ifndef ARM_MATH_BIG_ENDIAN
+      x3 = __PKHBT(x2, x1, 0);
+#else
+      x3 = __PKHBT(x1, x2, 0);
+#endif
+
+      acc3 = __SMLADX(x3, y1, acc3);
+
+      pScr2 += 4u;
+
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+
+
+    /* Update scratch pointer for remaining samples of smaller length sequence */
+    pScr1 -= 4u;
+
+
+    /* apply same above for remaining samples of smaller length sequence */
+    tapCnt = (srcBLen) & 3u;
+
+    while(tapCnt > 0u)
+    {
+
+      /* accumlate the results */
+      acc0 += (*pScr1++ * *pScr2);
+      acc1 += (*pScr1++ * *pScr2);
+      acc2 += (*pScr1++ * *pScr2);
+      acc3 += (*pScr1++ * *pScr2++);
+
+      pScr1 -= 3u;
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    blkCnt--;
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut = (q7_t) (__SSAT(acc0 >> 7u, 8));
+    pOut += inc;
+    *pOut = (q7_t) (__SSAT(acc1 >> 7u, 8));
+    pOut += inc;
+    *pOut = (q7_t) (__SSAT(acc2 >> 7u, 8));
+    pOut += inc;
+    *pOut = (q7_t) (__SSAT(acc3 >> 7u, 8));
+    pOut += inc;
+
+    /* Initialization of inputB pointer */
+    pScr2 = py;
+
+    pScratch1 += 4u;
+
+  }
+
+
+  blkCnt = (srcALen + srcBLen - 1u) & 0x3;
+
+  /* Calculate correlation for remaining samples of Bigger length sequence */
+  while(blkCnt > 0)
+  {
+    /* Initialze temporary scratch pointer as scratch1 */
+    pScr1 = pScratch1;
+
+    /* Clear Accumlators */
+    acc0 = 0;
+
+    tapCnt = (srcBLen) >> 1u;
+
+    while(tapCnt > 0u)
+    {
+      acc0 += (*pScr1++ * *pScr2++);
+      acc0 += (*pScr1++ * *pScr2++);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    tapCnt = (srcBLen) & 1u;
+
+    /* apply same above for remaining samples of smaller length sequence */
+    while(tapCnt > 0u)
+    {
+
+      /* accumlate the results */
+      acc0 += (*pScr1++ * *pScr2++);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    blkCnt--;
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut = (q7_t) (__SSAT(acc0 >> 7u, 8));
+
+    pOut += inc;
+
+    /* Initialization of inputB pointer */
+    pScr2 = py;
+
+    pScratch1 += 1u;
+
+  }
+
+}
+
+/**    
+ * @} end of Corr group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_q15.c
new file mode 100644
index 000000000..fc4134b7b
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_q15.c
@@ -0,0 +1,718 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_correlate_q15.c   
+*   
+* Description:	Correlation of Q15 sequences. 
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*
+* Version 1.0.11 2011/10/18 
+*    Bug Fix in conv, correlation, partial convolution. 
+*
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+*   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup Corr   
+ * @{   
+ */
+
+/**   
+ * @brief Correlation of Q15 sequences. 
+ * @param[in] *pSrcA points to the first input sequence.   
+ * @param[in] srcALen length of the first input sequence.   
+ * @param[in] *pSrcB points to the second input sequence.   
+ * @param[in] srcBLen length of the second input sequence.   
+ * @param[out] *pDst points to the location where the output result is written.  Length 2 * max(srcALen, srcBLen) - 1.   
+ * @return none.   
+ *   
+ * @details   
+ * Scaling and Overflow Behavior:   
+ *   
+ * \par   
+ * The function is implemented using a 64-bit internal accumulator.   
+ * Both inputs are in 1.15 format and multiplications yield a 2.30 result.   
+ * The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format.   
+ * This approach provides 33 guard bits and there is no risk of overflow.   
+ * The 34.30 result is then truncated to 34.15 format by discarding the low 15 bits and then saturated to 1.15 format.   
+ *   
+ * \par   
+ * Refer to arm_correlate_fast_q15() for a faster but less precise version of this function for Cortex-M3 and Cortex-M4. 
+ *
+ * \par    
+ * Refer the function arm_correlate_opt_q15() for a faster implementation of this function using scratch buffers.
+ * 
+ */
+
+void arm_correlate_q15(
+  q15_t * pSrcA,
+  uint32_t srcALen,
+  q15_t * pSrcB,
+  uint32_t srcBLen,
+  q15_t * pDst)
+{
+
+#if (defined(ARM_MATH_CM4) || defined(ARM_MATH_CM3)) && !defined(UNALIGNED_SUPPORT_DISABLE)
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q15_t *pIn1;                                   /* inputA pointer               */
+  q15_t *pIn2;                                   /* inputB pointer               */
+  q15_t *pOut = pDst;                            /* output pointer               */
+  q63_t sum, acc0, acc1, acc2, acc3;             /* Accumulators                  */
+  q15_t *px;                                     /* Intermediate inputA pointer  */
+  q15_t *py;                                     /* Intermediate inputB pointer  */
+  q15_t *pSrc1;                                  /* Intermediate pointers        */
+  q31_t x0, x1, x2, x3, c0;                      /* temporary variables for holding input and coefficient values */
+  uint32_t j, k = 0u, count, blkCnt, outBlockSize, blockSize1, blockSize2, blockSize3;  /* loop counter                 */
+  int32_t inc = 1;                               /* Destination address modifier */
+
+
+  /* The algorithm implementation is based on the lengths of the inputs. */
+  /* srcB is always made to slide across srcA. */
+  /* So srcBLen is always considered as shorter or equal to srcALen */
+  /* But CORR(x, y) is reverse of CORR(y, x) */
+  /* So, when srcBLen > srcALen, output pointer is made to point to the end of the output buffer */
+  /* and the destination pointer modifier, inc is set to -1 */
+  /* If srcALen > srcBLen, zero pad has to be done to srcB to make the two inputs of same length */
+  /* But to improve the performance,   
+   * we include zeroes in the output instead of zero padding either of the the inputs*/
+  /* If srcALen > srcBLen,   
+   * (srcALen - srcBLen) zeroes has to included in the starting of the output buffer */
+  /* If srcALen < srcBLen,   
+   * (srcALen - srcBLen) zeroes has to included in the ending of the output buffer */
+  if(srcALen >= srcBLen)
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = (pSrcA);
+
+    /* Initialization of inputB pointer */
+    pIn2 = (pSrcB);
+
+    /* Number of output samples is calculated */
+    outBlockSize = (2u * srcALen) - 1u;
+
+    /* When srcALen > srcBLen, zero padding is done to srcB   
+     * to make their lengths equal.   
+     * Instead, (outBlockSize - (srcALen + srcBLen - 1))   
+     * number of output samples are made zero */
+    j = outBlockSize - (srcALen + (srcBLen - 1u));
+
+    /* Updating the pointer position to non zero value */
+    pOut += j;
+
+  }
+  else
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = (pSrcB);
+
+    /* Initialization of inputB pointer */
+    pIn2 = (pSrcA);
+
+    /* srcBLen is always considered as shorter or equal to srcALen */
+    j = srcBLen;
+    srcBLen = srcALen;
+    srcALen = j;
+
+    /* CORR(x, y) = Reverse order(CORR(y, x)) */
+    /* Hence set the destination pointer to point to the last output sample */
+    pOut = pDst + ((srcALen + srcBLen) - 2u);
+
+    /* Destination address modifier is set to -1 */
+    inc = -1;
+
+  }
+
+  /* The function is internally   
+   * divided into three parts according to the number of multiplications that has to be   
+   * taken place between inputA samples and inputB samples. In the first part of the   
+   * algorithm, the multiplications increase by one for every iteration.   
+   * In the second part of the algorithm, srcBLen number of multiplications are done.   
+   * In the third part of the algorithm, the multiplications decrease by one   
+   * for every iteration.*/
+  /* The algorithm is implemented in three stages.   
+   * The loop counters of each stage is initiated here. */
+  blockSize1 = srcBLen - 1u;
+  blockSize2 = srcALen - (srcBLen - 1u);
+  blockSize3 = blockSize1;
+
+  /* --------------------------   
+   * Initializations of stage1   
+   * -------------------------*/
+
+  /* sum = x[0] * y[srcBlen - 1]   
+   * sum = x[0] * y[srcBlen - 2] + x[1] * y[srcBlen - 1]   
+   * ....   
+   * sum = x[0] * y[0] + x[1] * y[1] +...+ x[srcBLen - 1] * y[srcBLen - 1]   
+   */
+
+  /* In this stage the MAC operations are increased by 1 for every iteration.   
+     The count variable holds the number of MAC operations performed */
+  count = 1u;
+
+  /* Working pointer of inputA */
+  px = pIn1;
+
+  /* Working pointer of inputB */
+  pSrc1 = pIn2 + (srcBLen - 1u);
+  py = pSrc1;
+
+  /* ------------------------   
+   * Stage1 process   
+   * ----------------------*/
+
+  /* The first loop starts here */
+  while(blockSize1 > 0u)
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0;
+
+    /* Apply loop unrolling and compute 4 MACs simultaneously. */
+    k = count >> 2;
+
+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* x[0] * y[srcBLen - 4] , x[1] * y[srcBLen - 3] */
+      sum = __SMLALD(*__SIMD32(px)++, *__SIMD32(py)++, sum);
+      /* x[3] * y[srcBLen - 1] , x[2] * y[srcBLen - 2] */
+      sum = __SMLALD(*__SIMD32(px)++, *__SIMD32(py)++, sum);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* If the count is not a multiple of 4, compute any remaining MACs here.   
+     ** No loop unrolling is used. */
+    k = count % 0x4u;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+      /* x[0] * y[srcBLen - 1] */
+      sum = __SMLALD(*px++, *py++, sum);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut = (q15_t) (__SSAT((sum >> 15), 16));
+    /* Destination pointer is updated according to the address modifier, inc */
+    pOut += inc;
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    py = pSrc1 - count;
+    px = pIn1;
+
+    /* Increment the MAC count */
+    count++;
+
+    /* Decrement the loop counter */
+    blockSize1--;
+  }
+
+  /* --------------------------   
+   * Initializations of stage2   
+   * ------------------------*/
+
+  /* sum = x[0] * y[0] + x[1] * y[1] +...+ x[srcBLen-1] * y[srcBLen-1]   
+   * sum = x[1] * y[0] + x[2] * y[1] +...+ x[srcBLen] * y[srcBLen-1]   
+   * ....   
+   * sum = x[srcALen-srcBLen-2] * y[0] + x[srcALen-srcBLen-1] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]   
+   */
+
+  /* Working pointer of inputA */
+  px = pIn1;
+
+  /* Working pointer of inputB */
+  py = pIn2;
+
+  /* count is index by which the pointer pIn1 to be incremented */
+  count = 0u;
+
+  /* -------------------   
+   * Stage2 process   
+   * ------------------*/
+
+  /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.   
+   * So, to loop unroll over blockSize2,   
+   * srcBLen should be greater than or equal to 4, to loop unroll the srcBLen loop */
+  if(srcBLen >= 4u)
+  {
+    /* Loop unroll over blockSize2, by 4 */
+    blkCnt = blockSize2 >> 2u;
+
+    while(blkCnt > 0u)
+    {
+      /* Set all accumulators to zero */
+      acc0 = 0;
+      acc1 = 0;
+      acc2 = 0;
+      acc3 = 0;
+
+      /* read x[0], x[1] samples */
+      x0 = *__SIMD32(px);
+      /* read x[1], x[2] samples */
+      x1 = _SIMD32_OFFSET(px + 1);
+	  px += 2u;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = srcBLen >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      do
+      {
+        /* Read the first two inputB samples using SIMD:   
+         * y[0] and y[1] */
+        c0 = *__SIMD32(py)++;
+
+        /* acc0 +=  x[0] * y[0] + x[1] * y[1] */
+        acc0 = __SMLALD(x0, c0, acc0);
+
+        /* acc1 +=  x[1] * y[0] + x[2] * y[1] */
+        acc1 = __SMLALD(x1, c0, acc1);
+
+        /* Read x[2], x[3] */
+        x2 = *__SIMD32(px);
+
+        /* Read x[3], x[4] */
+        x3 = _SIMD32_OFFSET(px + 1);
+
+        /* acc2 +=  x[2] * y[0] + x[3] * y[1] */
+        acc2 = __SMLALD(x2, c0, acc2);
+
+        /* acc3 +=  x[3] * y[0] + x[4] * y[1] */
+        acc3 = __SMLALD(x3, c0, acc3);
+
+        /* Read y[2] and y[3] */
+        c0 = *__SIMD32(py)++;
+
+        /* acc0 +=  x[2] * y[2] + x[3] * y[3] */
+        acc0 = __SMLALD(x2, c0, acc0);
+
+        /* acc1 +=  x[3] * y[2] + x[4] * y[3] */
+        acc1 = __SMLALD(x3, c0, acc1);
+
+        /* Read x[4], x[5] */
+        x0 = _SIMD32_OFFSET(px + 2);
+
+        /* Read x[5], x[6] */
+        x1 = _SIMD32_OFFSET(px + 3);
+
+		px += 4u;
+
+        /* acc2 +=  x[4] * y[2] + x[5] * y[3] */
+        acc2 = __SMLALD(x0, c0, acc2);
+
+        /* acc3 +=  x[5] * y[2] + x[6] * y[3] */
+        acc3 = __SMLALD(x1, c0, acc3);
+
+      } while(--k);
+
+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = srcBLen % 0x4u;
+
+      if(k == 1u)
+      {
+        /* Read y[4] */
+        c0 = *py;
+#ifdef  ARM_MATH_BIG_ENDIAN
+
+        c0 = c0 << 16u;
+
+#else
+
+        c0 = c0 & 0x0000FFFF;
+
+#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */
+        /* Read x[7] */
+        x3 = *__SIMD32(px);
+		px++;
+
+        /* Perform the multiply-accumulates */
+        acc0 = __SMLALD(x0, c0, acc0);
+        acc1 = __SMLALD(x1, c0, acc1);
+        acc2 = __SMLALDX(x1, c0, acc2);
+        acc3 = __SMLALDX(x3, c0, acc3);
+      }
+
+      if(k == 2u)
+      {
+        /* Read y[4], y[5] */
+        c0 = *__SIMD32(py);
+
+        /* Read x[7], x[8] */
+        x3 = *__SIMD32(px);
+
+        /* Read x[9] */
+        x2 = _SIMD32_OFFSET(px + 1);
+		px += 2u;
+
+        /* Perform the multiply-accumulates */
+        acc0 = __SMLALD(x0, c0, acc0);
+        acc1 = __SMLALD(x1, c0, acc1);
+        acc2 = __SMLALD(x3, c0, acc2);
+        acc3 = __SMLALD(x2, c0, acc3);
+      }
+
+      if(k == 3u)
+      {
+        /* Read y[4], y[5] */
+        c0 = *__SIMD32(py)++;
+
+        /* Read x[7], x[8] */
+        x3 = *__SIMD32(px);
+
+        /* Read x[9] */
+        x2 = _SIMD32_OFFSET(px + 1);
+
+        /* Perform the multiply-accumulates */
+        acc0 = __SMLALD(x0, c0, acc0);
+        acc1 = __SMLALD(x1, c0, acc1);
+        acc2 = __SMLALD(x3, c0, acc2);
+        acc3 = __SMLALD(x2, c0, acc3);
+
+        c0 = (*py);
+
+        /* Read y[6] */
+#ifdef  ARM_MATH_BIG_ENDIAN
+
+        c0 = c0 << 16u;
+#else
+
+        c0 = c0 & 0x0000FFFF;
+#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */
+        /* Read x[10] */
+        x3 = _SIMD32_OFFSET(px + 2);
+		px += 3u;
+
+        /* Perform the multiply-accumulates */
+        acc0 = __SMLALDX(x1, c0, acc0);
+        acc1 = __SMLALD(x2, c0, acc1);
+        acc2 = __SMLALDX(x2, c0, acc2);
+        acc3 = __SMLALDX(x3, c0, acc3);
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut = (q15_t) (__SSAT(acc0 >> 15, 16));
+      /* Destination pointer is updated according to the address modifier, inc */
+      pOut += inc;
+
+      *pOut = (q15_t) (__SSAT(acc1 >> 15, 16));
+      pOut += inc;
+
+      *pOut = (q15_t) (__SSAT(acc2 >> 15, 16));
+      pOut += inc;
+
+      *pOut = (q15_t) (__SSAT(acc3 >> 15, 16));
+      pOut += inc;
+
+      /* Increment the count by 4 as 4 output values are computed */
+      count += 4u;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pIn2;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.   
+     ** No loop unrolling is used. */
+    blkCnt = blockSize2 % 0x4u;
+
+    while(blkCnt > 0u)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = srcBLen >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        sum += ((q63_t) * px++ * *py++);
+        sum += ((q63_t) * px++ * *py++);
+        sum += ((q63_t) * px++ * *py++);
+        sum += ((q63_t) * px++ * *py++);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = srcBLen % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        sum += ((q63_t) * px++ * *py++);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut = (q15_t) (__SSAT(sum >> 15, 16));
+      /* Destination pointer is updated according to the address modifier, inc */
+      pOut += inc;
+
+      /* Increment count by 1, as one output value is computed */
+      count++;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pIn2;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+  else
+  {
+    /* If the srcBLen is not a multiple of 4,   
+     * the blockSize2 loop cannot be unrolled by 4 */
+    blkCnt = blockSize2;
+
+    while(blkCnt > 0u)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Loop over srcBLen */
+      k = srcBLen;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulate */
+        sum += ((q63_t) * px++ * *py++);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut = (q15_t) (__SSAT(sum >> 15, 16));
+      /* Destination pointer is updated according to the address modifier, inc */
+      pOut += inc;
+
+      /* Increment the MAC count */
+      count++;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pIn2;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+
+  /* --------------------------   
+   * Initializations of stage3   
+   * -------------------------*/
+
+  /* sum += x[srcALen-srcBLen+1] * y[0] + x[srcALen-srcBLen+2] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]   
+   * sum += x[srcALen-srcBLen+2] * y[0] + x[srcALen-srcBLen+3] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]   
+   * ....   
+   * sum +=  x[srcALen-2] * y[0] + x[srcALen-1] * y[1]   
+   * sum +=  x[srcALen-1] * y[0]   
+   */
+
+  /* In this stage the MAC operations are decreased by 1 for every iteration.   
+     The count variable holds the number of MAC operations performed */
+  count = srcBLen - 1u;
+
+  /* Working pointer of inputA */
+  pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);
+  px = pSrc1;
+
+  /* Working pointer of inputB */
+  py = pIn2;
+
+  /* -------------------   
+   * Stage3 process   
+   * ------------------*/
+
+  while(blockSize3 > 0u)
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0;
+
+    /* Apply loop unrolling and compute 4 MACs simultaneously. */
+    k = count >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+      /* sum += x[srcALen - srcBLen + 4] * y[3] , sum += x[srcALen - srcBLen + 3] * y[2] */
+      sum = __SMLALD(*__SIMD32(px)++, *__SIMD32(py)++, sum);
+      /* sum += x[srcALen - srcBLen + 2] * y[1] , sum += x[srcALen - srcBLen + 1] * y[0] */
+      sum = __SMLALD(*__SIMD32(px)++, *__SIMD32(py)++, sum);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* If the count is not a multiple of 4, compute any remaining MACs here.   
+     ** No loop unrolling is used. */
+    k = count % 0x4u;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+      sum = __SMLALD(*px++, *py++, sum);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut = (q15_t) (__SSAT((sum >> 15), 16));
+    /* Destination pointer is updated according to the address modifier, inc */
+    pOut += inc;
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    px = ++pSrc1;
+    py = pIn2;
+
+    /* Decrement the MAC count */
+    count--;
+
+    /* Decrement the loop counter */
+    blockSize3--;
+  }
+
+#else
+
+/* Run the below code for Cortex-M0 */
+
+  q15_t *pIn1 = pSrcA;                           /* inputA pointer               */
+  q15_t *pIn2 = pSrcB + (srcBLen - 1u);          /* inputB pointer               */
+  q63_t sum;                                     /* Accumulators                  */
+  uint32_t i = 0u, j;                            /* loop counters */
+  uint32_t inv = 0u;                             /* Reverse order flag */
+  uint32_t tot = 0u;                             /* Length */
+
+  /* The algorithm implementation is based on the lengths of the inputs. */
+  /* srcB is always made to slide across srcA. */
+  /* So srcBLen is always considered as shorter or equal to srcALen */
+  /* But CORR(x, y) is reverse of CORR(y, x) */
+  /* So, when srcBLen > srcALen, output pointer is made to point to the end of the output buffer */
+  /* and a varaible, inv is set to 1 */
+  /* If lengths are not equal then zero pad has to be done to  make the two   
+   * inputs of same length. But to improve the performance, we include zeroes   
+   * in the output instead of zero padding either of the the inputs*/
+  /* If srcALen > srcBLen, (srcALen - srcBLen) zeroes has to included in the   
+   * starting of the output buffer */
+  /* If srcALen < srcBLen, (srcALen - srcBLen) zeroes has to included in the  
+   * ending of the output buffer */
+  /* Once the zero padding is done the remaining of the output is calcualted  
+   * using convolution but with the shorter signal time shifted. */
+
+  /* Calculate the length of the remaining sequence */
+  tot = ((srcALen + srcBLen) - 2u);
+
+  if(srcALen > srcBLen)
+  {
+    /* Calculating the number of zeros to be padded to the output */
+    j = srcALen - srcBLen;
+
+    /* Initialise the pointer after zero padding */
+    pDst += j;
+  }
+
+  else if(srcALen < srcBLen)
+  {
+    /* Initialization to inputB pointer */
+    pIn1 = pSrcB;
+
+    /* Initialization to the end of inputA pointer */
+    pIn2 = pSrcA + (srcALen - 1u);
+
+    /* Initialisation of the pointer after zero padding */
+    pDst = pDst + tot;
+
+    /* Swapping the lengths */
+    j = srcALen;
+    srcALen = srcBLen;
+    srcBLen = j;
+
+    /* Setting the reverse flag */
+    inv = 1;
+
+  }
+
+  /* Loop to calculate convolution for output length number of times */
+  for (i = 0u; i <= tot; i++)
+  {
+    /* Initialize sum with zero to carry on MAC operations */
+    sum = 0;
+
+    /* Loop to perform MAC operations according to convolution equation */
+    for (j = 0u; j <= i; j++)
+    {
+      /* Check the array limitations */
+      if((((i - j) < srcBLen) && (j < srcALen)))
+      {
+        /* z[i] += x[i-j] * y[j] */
+        sum += ((q31_t) pIn1[j] * pIn2[-((int32_t) i - j)]);
+      }
+    }
+    /* Store the output in the destination buffer */
+    if(inv == 1)
+      *pDst-- = (q15_t) __SSAT((sum >> 15u), 16u);
+    else
+      *pDst++ = (q15_t) __SSAT((sum >> 15u), 16u);
+  }
+
+#endif /*#if (defined(ARM_MATH_CM4) || defined(ARM_MATH_CM3)) && !defined(UNALIGNED_SUPPORT_DISABLE) */
+
+}
+
+/**   
+ * @} end of Corr group   
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_q31.c
new file mode 100644
index 000000000..c81f8600d
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_q31.c
@@ -0,0 +1,664 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_correlate_q31.c    
+*    
+* Description:	Correlation of Q31 sequences.  
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.11 2011/10/18  
+*    Bug Fix in conv, correlation, partial convolution.  
+* 
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+*    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup Corr    
+ * @{    
+ */
+
+/**    
+ * @brief Correlation of Q31 sequences.    
+ * @param[in] *pSrcA points to the first input sequence.    
+ * @param[in] srcALen length of the first input sequence.    
+ * @param[in] *pSrcB points to the second input sequence.    
+ * @param[in] srcBLen length of the second input sequence.    
+ * @param[out] *pDst points to the location where the output result is written.  Length 2 * max(srcALen, srcBLen) - 1.    
+ * @return none.    
+ *    
+ * @details    
+ * Scaling and Overflow Behavior:    
+ *    
+ * \par    
+ * The function is implemented using an internal 64-bit accumulator.    
+ * The accumulator has a 2.62 format and maintains full precision of the intermediate multiplication results but provides only a single guard bit.    
+ * There is no saturation on intermediate additions.    
+ * Thus, if the accumulator overflows it wraps around and distorts the result.    
+ * The input signals should be scaled down to avoid intermediate overflows.    
+ * Scale down one of the inputs by 1/min(srcALen, srcBLen)to avoid overflows since a    
+ * maximum of min(srcALen, srcBLen) number of additions is carried internally.    
+ * The 2.62 accumulator is right shifted by 31 bits and saturated to 1.31 format to yield the final result.    
+ *    
+ * \par    
+ * See arm_correlate_fast_q31() for a faster but less precise implementation of this function for Cortex-M3 and Cortex-M4.    
+ */
+
+void arm_correlate_q31(
+  q31_t * pSrcA,
+  uint32_t srcALen,
+  q31_t * pSrcB,
+  uint32_t srcBLen,
+  q31_t * pDst)
+{
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q31_t *pIn1;                                   /* inputA pointer               */
+  q31_t *pIn2;                                   /* inputB pointer               */
+  q31_t *pOut = pDst;                            /* output pointer               */
+  q31_t *px;                                     /* Intermediate inputA pointer  */
+  q31_t *py;                                     /* Intermediate inputB pointer  */
+  q31_t *pSrc1;                                  /* Intermediate pointers        */
+  q63_t sum, acc0, acc1, acc2;                   /* Accumulators                  */
+  q31_t x0, x1, x2, c0;                          /* temporary variables for holding input and coefficient values */
+  uint32_t j, k = 0u, count, blkCnt, outBlockSize, blockSize1, blockSize2, blockSize3;  /* loop counter                 */
+  int32_t inc = 1;                               /* Destination address modifier */
+
+
+  /* The algorithm implementation is based on the lengths of the inputs. */
+  /* srcB is always made to slide across srcA. */
+  /* So srcBLen is always considered as shorter or equal to srcALen */
+  /* But CORR(x, y) is reverse of CORR(y, x) */
+  /* So, when srcBLen > srcALen, output pointer is made to point to the end of the output buffer */
+  /* and the destination pointer modifier, inc is set to -1 */
+  /* If srcALen > srcBLen, zero pad has to be done to srcB to make the two inputs of same length */
+  /* But to improve the performance,    
+   * we include zeroes in the output instead of zero padding either of the the inputs*/
+  /* If srcALen > srcBLen,    
+   * (srcALen - srcBLen) zeroes has to included in the starting of the output buffer */
+  /* If srcALen < srcBLen,    
+   * (srcALen - srcBLen) zeroes has to included in the ending of the output buffer */
+  if(srcALen >= srcBLen)
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = (pSrcA);
+
+    /* Initialization of inputB pointer */
+    pIn2 = (pSrcB);
+
+    /* Number of output samples is calculated */
+    outBlockSize = (2u * srcALen) - 1u;
+
+    /* When srcALen > srcBLen, zero padding is done to srcB    
+     * to make their lengths equal.    
+     * Instead, (outBlockSize - (srcALen + srcBLen - 1))    
+     * number of output samples are made zero */
+    j = outBlockSize - (srcALen + (srcBLen - 1u));
+
+    /* Updating the pointer position to non zero value */
+    pOut += j;
+
+  }
+  else
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = (pSrcB);
+
+    /* Initialization of inputB pointer */
+    pIn2 = (pSrcA);
+
+    /* srcBLen is always considered as shorter or equal to srcALen */
+    j = srcBLen;
+    srcBLen = srcALen;
+    srcALen = j;
+
+    /* CORR(x, y) = Reverse order(CORR(y, x)) */
+    /* Hence set the destination pointer to point to the last output sample */
+    pOut = pDst + ((srcALen + srcBLen) - 2u);
+
+    /* Destination address modifier is set to -1 */
+    inc = -1;
+
+  }
+
+  /* The function is internally    
+   * divided into three parts according to the number of multiplications that has to be    
+   * taken place between inputA samples and inputB samples. In the first part of the    
+   * algorithm, the multiplications increase by one for every iteration.    
+   * In the second part of the algorithm, srcBLen number of multiplications are done.    
+   * In the third part of the algorithm, the multiplications decrease by one    
+   * for every iteration.*/
+  /* The algorithm is implemented in three stages.    
+   * The loop counters of each stage is initiated here. */
+  blockSize1 = srcBLen - 1u;
+  blockSize2 = srcALen - (srcBLen - 1u);
+  blockSize3 = blockSize1;
+
+  /* --------------------------    
+   * Initializations of stage1    
+   * -------------------------*/
+
+  /* sum = x[0] * y[srcBlen - 1]    
+   * sum = x[0] * y[srcBlen - 2] + x[1] * y[srcBlen - 1]    
+   * ....    
+   * sum = x[0] * y[0] + x[1] * y[1] +...+ x[srcBLen - 1] * y[srcBLen - 1]    
+   */
+
+  /* In this stage the MAC operations are increased by 1 for every iteration.    
+     The count variable holds the number of MAC operations performed */
+  count = 1u;
+
+  /* Working pointer of inputA */
+  px = pIn1;
+
+  /* Working pointer of inputB */
+  pSrc1 = pIn2 + (srcBLen - 1u);
+  py = pSrc1;
+
+  /* ------------------------    
+   * Stage1 process    
+   * ----------------------*/
+
+  /* The first stage starts here */
+  while(blockSize1 > 0u)
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0;
+
+    /* Apply loop unrolling and compute 4 MACs simultaneously. */
+    k = count >> 2;
+
+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* x[0] * y[srcBLen - 4] */
+      sum += (q63_t) * px++ * (*py++);
+      /* x[1] * y[srcBLen - 3] */
+      sum += (q63_t) * px++ * (*py++);
+      /* x[2] * y[srcBLen - 2] */
+      sum += (q63_t) * px++ * (*py++);
+      /* x[3] * y[srcBLen - 1] */
+      sum += (q63_t) * px++ * (*py++);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* If the count is not a multiple of 4, compute any remaining MACs here.    
+     ** No loop unrolling is used. */
+    k = count % 0x4u;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+      /* x[0] * y[srcBLen - 1] */
+      sum += (q63_t) * px++ * (*py++);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut = (q31_t) (sum >> 31);
+    /* Destination pointer is updated according to the address modifier, inc */
+    pOut += inc;
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    py = pSrc1 - count;
+    px = pIn1;
+
+    /* Increment the MAC count */
+    count++;
+
+    /* Decrement the loop counter */
+    blockSize1--;
+  }
+
+  /* --------------------------    
+   * Initializations of stage2    
+   * ------------------------*/
+
+  /* sum = x[0] * y[0] + x[1] * y[1] +...+ x[srcBLen-1] * y[srcBLen-1]    
+   * sum = x[1] * y[0] + x[2] * y[1] +...+ x[srcBLen] * y[srcBLen-1]    
+   * ....    
+   * sum = x[srcALen-srcBLen-2] * y[0] + x[srcALen-srcBLen-1] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]    
+   */
+
+  /* Working pointer of inputA */
+  px = pIn1;
+
+  /* Working pointer of inputB */
+  py = pIn2;
+
+  /* count is index by which the pointer pIn1 to be incremented */
+  count = 0u;
+
+  /* -------------------    
+   * Stage2 process    
+   * ------------------*/
+
+  /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.    
+   * So, to loop unroll over blockSize2,    
+   * srcBLen should be greater than or equal to 4 */
+  if(srcBLen >= 4u)
+  {
+    /* Loop unroll by 3 */
+    blkCnt = blockSize2 / 3;
+
+    while(blkCnt > 0u)
+    {
+      /* Set all accumulators to zero */
+      acc0 = 0;
+      acc1 = 0;
+      acc2 = 0;
+
+      /* read x[0], x[1] samples */
+      x0 = *(px++);
+      x1 = *(px++);
+
+      /* Apply loop unrolling and compute 3 MACs simultaneously. */
+      k = srcBLen / 3;
+
+      /* First part of the processing with loop unrolling.  Compute 3 MACs at a time.        
+       ** a second loop below computes MACs for the remaining 1 to 2 samples. */
+      do
+      {
+        /* Read y[0] sample */
+        c0 = *(py);
+
+        /* Read x[2] sample */
+        x2 = *(px);
+
+        /* Perform the multiply-accumulate */
+        /* acc0 +=  x[0] * y[0] */
+        acc0 += ((q63_t) x0 * c0);
+        /* acc1 +=  x[1] * y[0] */
+        acc1 += ((q63_t) x1 * c0);
+        /* acc2 +=  x[2] * y[0] */
+        acc2 += ((q63_t) x2 * c0);
+
+        /* Read y[1] sample */
+        c0 = *(py + 1u);
+
+        /* Read x[3] sample */
+        x0 = *(px + 1u);
+
+        /* Perform the multiply-accumulates */
+        /* acc0 +=  x[1] * y[1] */
+        acc0 += ((q63_t) x1 * c0);
+        /* acc1 +=  x[2] * y[1] */
+        acc1 += ((q63_t) x2 * c0);
+        /* acc2 +=  x[3] * y[1] */
+        acc2 += ((q63_t) x0 * c0);
+
+        /* Read y[2] sample */
+        c0 = *(py + 2u);
+
+        /* Read x[4] sample */
+        x1 = *(px + 2u);
+
+        /* Perform the multiply-accumulates */
+        /* acc0 +=  x[2] * y[2] */
+        acc0 += ((q63_t) x2 * c0);
+        /* acc1 +=  x[3] * y[2] */
+        acc1 += ((q63_t) x0 * c0);
+        /* acc2 +=  x[4] * y[2] */
+        acc2 += ((q63_t) x1 * c0);
+
+        /* update scratch pointers */
+        px += 3u;
+        py += 3u;
+
+      } while(--k);
+
+      /* If the srcBLen is not a multiple of 3, compute any remaining MACs here.        
+       ** No loop unrolling is used. */
+      k = srcBLen - (3 * (srcBLen / 3));
+
+      while(k > 0u)
+      {
+        /* Read y[4] sample */
+        c0 = *(py++);
+
+        /* Read x[7] sample */
+        x2 = *(px++);
+
+        /* Perform the multiply-accumulates */
+        /* acc0 +=  x[4] * y[4] */
+        acc0 += ((q63_t) x0 * c0);
+        /* acc1 +=  x[5] * y[4] */
+        acc1 += ((q63_t) x1 * c0);
+        /* acc2 +=  x[6] * y[4] */
+        acc2 += ((q63_t) x2 * c0);
+
+        /* Reuse the present samples for the next MAC */
+        x0 = x1;
+        x1 = x2;
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut = (q31_t) (acc0 >> 31);
+      /* Destination pointer is updated according to the address modifier, inc */
+      pOut += inc;
+
+      *pOut = (q31_t) (acc1 >> 31);
+      pOut += inc;
+
+      *pOut = (q31_t) (acc2 >> 31);
+      pOut += inc;
+
+      /* Increment the pointer pIn1 index, count by 3 */
+      count += 3u;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pIn2;
+
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* If the blockSize2 is not a multiple of 3, compute any remaining output samples here.        
+     ** No loop unrolling is used. */
+    blkCnt = blockSize2 - 3 * (blockSize2 / 3);
+
+    while(blkCnt > 0u)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = srcBLen >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        sum += (q63_t) * px++ * (*py++);
+        sum += (q63_t) * px++ * (*py++);
+        sum += (q63_t) * px++ * (*py++);
+        sum += (q63_t) * px++ * (*py++);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.    
+       ** No loop unrolling is used. */
+      k = srcBLen % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulate */
+        sum += (q63_t) * px++ * (*py++);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut = (q31_t) (sum >> 31);
+      /* Destination pointer is updated according to the address modifier, inc */
+      pOut += inc;
+
+      /* Increment the MAC count */
+      count++;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pIn2;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+  else
+  {
+    /* If the srcBLen is not a multiple of 4,    
+     * the blockSize2 loop cannot be unrolled by 4 */
+    blkCnt = blockSize2;
+
+    while(blkCnt > 0u)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Loop over srcBLen */
+      k = srcBLen;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulate */
+        sum += (q63_t) * px++ * (*py++);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut = (q31_t) (sum >> 31);
+      /* Destination pointer is updated according to the address modifier, inc */
+      pOut += inc;
+
+      /* Increment the MAC count */
+      count++;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pIn2;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+
+  /* --------------------------    
+   * Initializations of stage3    
+   * -------------------------*/
+
+  /* sum += x[srcALen-srcBLen+1] * y[0] + x[srcALen-srcBLen+2] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]    
+   * sum += x[srcALen-srcBLen+2] * y[0] + x[srcALen-srcBLen+3] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]    
+   * ....    
+   * sum +=  x[srcALen-2] * y[0] + x[srcALen-1] * y[1]    
+   * sum +=  x[srcALen-1] * y[0]    
+   */
+
+  /* In this stage the MAC operations are decreased by 1 for every iteration.    
+     The count variable holds the number of MAC operations performed */
+  count = srcBLen - 1u;
+
+  /* Working pointer of inputA */
+  pSrc1 = pIn1 + (srcALen - (srcBLen - 1u));
+  px = pSrc1;
+
+  /* Working pointer of inputB */
+  py = pIn2;
+
+  /* -------------------    
+   * Stage3 process    
+   * ------------------*/
+
+  while(blockSize3 > 0u)
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0;
+
+    /* Apply loop unrolling and compute 4 MACs simultaneously. */
+    k = count >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.    
+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+      /* sum += x[srcALen - srcBLen + 4] * y[3] */
+      sum += (q63_t) * px++ * (*py++);
+      /* sum += x[srcALen - srcBLen + 3] * y[2] */
+      sum += (q63_t) * px++ * (*py++);
+      /* sum += x[srcALen - srcBLen + 2] * y[1] */
+      sum += (q63_t) * px++ * (*py++);
+      /* sum += x[srcALen - srcBLen + 1] * y[0] */
+      sum += (q63_t) * px++ * (*py++);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* If the count is not a multiple of 4, compute any remaining MACs here.    
+     ** No loop unrolling is used. */
+    k = count % 0x4u;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+      sum += (q63_t) * px++ * (*py++);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut = (q31_t) (sum >> 31);
+    /* Destination pointer is updated according to the address modifier, inc */
+    pOut += inc;
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    px = ++pSrc1;
+    py = pIn2;
+
+    /* Decrement the MAC count */
+    count--;
+
+    /* Decrement the loop counter */
+    blockSize3--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  q31_t *pIn1 = pSrcA;                           /* inputA pointer               */
+  q31_t *pIn2 = pSrcB + (srcBLen - 1u);          /* inputB pointer               */
+  q63_t sum;                                     /* Accumulators                  */
+  uint32_t i = 0u, j;                            /* loop counters */
+  uint32_t inv = 0u;                             /* Reverse order flag */
+  uint32_t tot = 0u;                             /* Length */
+
+  /* The algorithm implementation is based on the lengths of the inputs. */
+  /* srcB is always made to slide across srcA. */
+  /* So srcBLen is always considered as shorter or equal to srcALen */
+  /* But CORR(x, y) is reverse of CORR(y, x) */
+  /* So, when srcBLen > srcALen, output pointer is made to point to the end of the output buffer */
+  /* and a varaible, inv is set to 1 */
+  /* If lengths are not equal then zero pad has to be done to  make the two    
+   * inputs of same length. But to improve the performance, we include zeroes    
+   * in the output instead of zero padding either of the the inputs*/
+  /* If srcALen > srcBLen, (srcALen - srcBLen) zeroes has to included in the    
+   * starting of the output buffer */
+  /* If srcALen < srcBLen, (srcALen - srcBLen) zeroes has to included in the   
+   * ending of the output buffer */
+  /* Once the zero padding is done the remaining of the output is calcualted   
+   * using correlation but with the shorter signal time shifted. */
+
+  /* Calculate the length of the remaining sequence */
+  tot = ((srcALen + srcBLen) - 2u);
+
+  if(srcALen > srcBLen)
+  {
+    /* Calculating the number of zeros to be padded to the output */
+    j = srcALen - srcBLen;
+
+    /* Initialise the pointer after zero padding */
+    pDst += j;
+  }
+
+  else if(srcALen < srcBLen)
+  {
+    /* Initialization to inputB pointer */
+    pIn1 = pSrcB;
+
+    /* Initialization to the end of inputA pointer */
+    pIn2 = pSrcA + (srcALen - 1u);
+
+    /* Initialisation of the pointer after zero padding */
+    pDst = pDst + tot;
+
+    /* Swapping the lengths */
+    j = srcALen;
+    srcALen = srcBLen;
+    srcBLen = j;
+
+    /* Setting the reverse flag */
+    inv = 1;
+
+  }
+
+  /* Loop to calculate correlation for output length number of times */
+  for (i = 0u; i <= tot; i++)
+  {
+    /* Initialize sum with zero to carry on MAC operations */
+    sum = 0;
+
+    /* Loop to perform MAC operations according to correlation equation */
+    for (j = 0u; j <= i; j++)
+    {
+      /* Check the array limitations */
+      if((((i - j) < srcBLen) && (j < srcALen)))
+      {
+        /* z[i] += x[i-j] * y[j] */
+        sum += ((q63_t) pIn1[j] * pIn2[-((int32_t) i - j)]);
+      }
+    }
+    /* Store the output in the destination buffer */
+    if(inv == 1)
+      *pDst-- = (q31_t) (sum >> 31u);
+    else
+      *pDst++ = (q31_t) (sum >> 31u);
+  }
+
+#endif /*   #ifndef ARM_MATH_CM0 */
+
+}
+
+/**    
+ * @} end of Corr group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_q7.c
new file mode 100644
index 000000000..e03e4997b
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_correlate_q7.c
@@ -0,0 +1,789 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_correlate_q7.c   
+*   
+* Description:	Correlation of Q7 sequences. 
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*
+* Version 1.0.11 2011/10/18 
+*    Bug Fix in conv, correlation, partial convolution. 
+*
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+*   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup Corr   
+ * @{   
+ */
+
+/**   
+ * @brief Correlation of Q7 sequences.   
+ * @param[in] *pSrcA points to the first input sequence.   
+ * @param[in] srcALen length of the first input sequence.   
+ * @param[in] *pSrcB points to the second input sequence.   
+ * @param[in] srcBLen length of the second input sequence.   
+ * @param[out] *pDst points to the location where the output result is written.  Length 2 * max(srcALen, srcBLen) - 1.   
+ * @return none.   
+ *   
+ * @details   
+ * Scaling and Overflow Behavior:   
+ *   
+ * \par   
+ * The function is implemented using a 32-bit internal accumulator.   
+ * Both the inputs are represented in 1.7 format and multiplications yield a 2.14 result.   
+ * The 2.14 intermediate results are accumulated in a 32-bit accumulator in 18.14 format.   
+ * This approach provides 17 guard bits and there is no risk of overflow as long as max(srcALen, srcBLen)<131072.   
+ * The 18.14 result is then truncated to 18.7 format by discarding the low 7 bits and saturated to 1.7 format.   
+ *
+ * \par    
+ * Refer the function arm_correlate_opt_q7() for a faster implementation of this function.
+ * 
+ */
+
+void arm_correlate_q7(
+  q7_t * pSrcA,
+  uint32_t srcALen,
+  q7_t * pSrcB,
+  uint32_t srcBLen,
+  q7_t * pDst)
+{
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q7_t *pIn1;                                    /* inputA pointer               */
+  q7_t *pIn2;                                    /* inputB pointer               */
+  q7_t *pOut = pDst;                             /* output pointer               */
+  q7_t *px;                                      /* Intermediate inputA pointer  */
+  q7_t *py;                                      /* Intermediate inputB pointer  */
+  q7_t *pSrc1;                                   /* Intermediate pointers        */
+  q31_t sum, acc0, acc1, acc2, acc3;             /* Accumulators                  */
+  q31_t input1, input2;                          /* temporary variables */
+  q15_t in1, in2;                                /* temporary variables */
+  q7_t x0, x1, x2, x3, c0, c1;                   /* temporary variables for holding input and coefficient values */
+  uint32_t j, k = 0u, count, blkCnt, outBlockSize, blockSize1, blockSize2, blockSize3;  /* loop counter                 */
+  int32_t inc = 1;
+
+
+  /* The algorithm implementation is based on the lengths of the inputs. */
+  /* srcB is always made to slide across srcA. */
+  /* So srcBLen is always considered as shorter or equal to srcALen */
+  /* But CORR(x, y) is reverse of CORR(y, x) */
+  /* So, when srcBLen > srcALen, output pointer is made to point to the end of the output buffer */
+  /* and the destination pointer modifier, inc is set to -1 */
+  /* If srcALen > srcBLen, zero pad has to be done to srcB to make the two inputs of same length */
+  /* But to improve the performance,   
+   * we include zeroes in the output instead of zero padding either of the the inputs*/
+  /* If srcALen > srcBLen,   
+   * (srcALen - srcBLen) zeroes has to included in the starting of the output buffer */
+  /* If srcALen < srcBLen,   
+   * (srcALen - srcBLen) zeroes has to included in the ending of the output buffer */
+  if(srcALen >= srcBLen)
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = (pSrcA);
+
+    /* Initialization of inputB pointer */
+    pIn2 = (pSrcB);
+
+    /* Number of output samples is calculated */
+    outBlockSize = (2u * srcALen) - 1u;
+
+    /* When srcALen > srcBLen, zero padding is done to srcB   
+     * to make their lengths equal.   
+     * Instead, (outBlockSize - (srcALen + srcBLen - 1))   
+     * number of output samples are made zero */
+    j = outBlockSize - (srcALen + (srcBLen - 1u));
+
+    /* Updating the pointer position to non zero value */
+    pOut += j;
+
+  }
+  else
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = (pSrcB);
+
+    /* Initialization of inputB pointer */
+    pIn2 = (pSrcA);
+
+    /* srcBLen is always considered as shorter or equal to srcALen */
+    j = srcBLen;
+    srcBLen = srcALen;
+    srcALen = j;
+
+    /* CORR(x, y) = Reverse order(CORR(y, x)) */
+    /* Hence set the destination pointer to point to the last output sample */
+    pOut = pDst + ((srcALen + srcBLen) - 2u);
+
+    /* Destination address modifier is set to -1 */
+    inc = -1;
+
+  }
+
+  /* The function is internally   
+   * divided into three parts according to the number of multiplications that has to be   
+   * taken place between inputA samples and inputB samples. In the first part of the   
+   * algorithm, the multiplications increase by one for every iteration.   
+   * In the second part of the algorithm, srcBLen number of multiplications are done.   
+   * In the third part of the algorithm, the multiplications decrease by one   
+   * for every iteration.*/
+  /* The algorithm is implemented in three stages.   
+   * The loop counters of each stage is initiated here. */
+  blockSize1 = srcBLen - 1u;
+  blockSize2 = srcALen - (srcBLen - 1u);
+  blockSize3 = blockSize1;
+
+  /* --------------------------   
+   * Initializations of stage1   
+   * -------------------------*/
+
+  /* sum = x[0] * y[srcBlen - 1]   
+   * sum = x[0] * y[srcBlen - 2] + x[1] * y[srcBlen - 1]   
+   * ....   
+   * sum = x[0] * y[0] + x[1] * y[1] +...+ x[srcBLen - 1] * y[srcBLen - 1]   
+   */
+
+  /* In this stage the MAC operations are increased by 1 for every iteration.   
+     The count variable holds the number of MAC operations performed */
+  count = 1u;
+
+  /* Working pointer of inputA */
+  px = pIn1;
+
+  /* Working pointer of inputB */
+  pSrc1 = pIn2 + (srcBLen - 1u);
+  py = pSrc1;
+
+  /* ------------------------   
+   * Stage1 process   
+   * ----------------------*/
+
+  /* The first stage starts here */
+  while(blockSize1 > 0u)
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0;
+
+    /* Apply loop unrolling and compute 4 MACs simultaneously. */
+    k = count >> 2;
+
+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* x[0] , x[1] */
+      in1 = (q15_t) * px++;
+      in2 = (q15_t) * px++;
+      input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+      /* y[srcBLen - 4] , y[srcBLen - 3] */
+      in1 = (q15_t) * py++;
+      in2 = (q15_t) * py++;
+      input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+      /* x[0] * y[srcBLen - 4] */
+      /* x[1] * y[srcBLen - 3] */
+      sum = __SMLAD(input1, input2, sum);
+
+      /* x[2] , x[3] */
+      in1 = (q15_t) * px++;
+      in2 = (q15_t) * px++;
+      input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+      /* y[srcBLen - 2] , y[srcBLen - 1] */
+      in1 = (q15_t) * py++;
+      in2 = (q15_t) * py++;
+      input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+      /* x[2] * y[srcBLen - 2] */
+      /* x[3] * y[srcBLen - 1] */
+      sum = __SMLAD(input1, input2, sum);
+
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* If the count is not a multiple of 4, compute any remaining MACs here.   
+     ** No loop unrolling is used. */
+    k = count % 0x4u;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+      /* x[0] * y[srcBLen - 1] */
+      sum += (q31_t) ((q15_t) * px++ * *py++);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut = (q7_t) (__SSAT(sum >> 7, 8));
+    /* Destination pointer is updated according to the address modifier, inc */
+    pOut += inc;
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    py = pSrc1 - count;
+    px = pIn1;
+
+    /* Increment the MAC count */
+    count++;
+
+    /* Decrement the loop counter */
+    blockSize1--;
+  }
+
+  /* --------------------------   
+   * Initializations of stage2   
+   * ------------------------*/
+
+  /* sum = x[0] * y[0] + x[1] * y[1] +...+ x[srcBLen-1] * y[srcBLen-1]   
+   * sum = x[1] * y[0] + x[2] * y[1] +...+ x[srcBLen] * y[srcBLen-1]   
+   * ....   
+   * sum = x[srcALen-srcBLen-2] * y[0] + x[srcALen-srcBLen-1] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]   
+   */
+
+  /* Working pointer of inputA */
+  px = pIn1;
+
+  /* Working pointer of inputB */
+  py = pIn2;
+
+  /* count is index by which the pointer pIn1 to be incremented */
+  count = 0u;
+
+  /* -------------------   
+   * Stage2 process   
+   * ------------------*/
+
+  /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.   
+   * So, to loop unroll over blockSize2,   
+   * srcBLen should be greater than or equal to 4 */
+  if(srcBLen >= 4u)
+  {
+    /* Loop unroll over blockSize2, by 4 */
+    blkCnt = blockSize2 >> 2u;
+
+    while(blkCnt > 0u)
+    {
+      /* Set all accumulators to zero */
+      acc0 = 0;
+      acc1 = 0;
+      acc2 = 0;
+      acc3 = 0;
+
+      /* read x[0], x[1], x[2] samples */
+      x0 = *px++;
+      x1 = *px++;
+      x2 = *px++;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = srcBLen >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      do
+      {
+        /* Read y[0] sample */
+        c0 = *py++;
+        /* Read y[1] sample */
+        c1 = *py++;
+
+        /* Read x[3] sample */
+        x3 = *px++;
+
+        /* x[0] and x[1] are packed */
+        in1 = (q15_t) x0;
+        in2 = (q15_t) x1;
+
+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+        /* y[0] and y[1] are packed */
+        in1 = (q15_t) c0;
+        in2 = (q15_t) c1;
+
+        input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+        /* acc0 += x[0] * y[0] + x[1] * y[1]  */
+        acc0 = __SMLAD(input1, input2, acc0);
+
+        /* x[1] and x[2] are packed */
+        in1 = (q15_t) x1;
+        in2 = (q15_t) x2;
+
+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+        /* acc1 += x[1] * y[0] + x[2] * y[1] */
+        acc1 = __SMLAD(input1, input2, acc1);
+
+        /* x[2] and x[3] are packed */
+        in1 = (q15_t) x2;
+        in2 = (q15_t) x3;
+
+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+        /* acc2 += x[2] * y[0] + x[3] * y[1]  */
+        acc2 = __SMLAD(input1, input2, acc2);
+
+        /* Read x[4] sample */
+        x0 = *(px++);
+
+        /* x[3] and x[4] are packed */
+        in1 = (q15_t) x3;
+        in2 = (q15_t) x0;
+
+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+        /* acc3 += x[3] * y[0] + x[4] * y[1]  */
+        acc3 = __SMLAD(input1, input2, acc3);
+
+        /* Read y[2] sample */
+        c0 = *py++;
+        /* Read y[3] sample */
+        c1 = *py++;
+
+        /* Read x[5] sample */
+        x1 = *px++;
+
+        /* x[2] and x[3] are packed */
+        in1 = (q15_t) x2;
+        in2 = (q15_t) x3;
+
+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+        /* y[2] and y[3] are packed */
+        in1 = (q15_t) c0;
+        in2 = (q15_t) c1;
+
+        input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+        /* acc0 += x[2] * y[2] + x[3] * y[3]  */
+        acc0 = __SMLAD(input1, input2, acc0);
+
+        /* x[3] and x[4] are packed */
+        in1 = (q15_t) x3;
+        in2 = (q15_t) x0;
+
+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+        /* acc1 += x[3] * y[2] + x[4] * y[3]  */
+        acc1 = __SMLAD(input1, input2, acc1);
+
+        /* x[4] and x[5] are packed */
+        in1 = (q15_t) x0;
+        in2 = (q15_t) x1;
+
+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+        /* acc2 += x[4] * y[2] + x[5] * y[3]  */
+        acc2 = __SMLAD(input1, input2, acc2);
+
+        /* Read x[6] sample */
+        x2 = *px++;
+
+        /* x[5] and x[6] are packed */
+        in1 = (q15_t) x1;
+        in2 = (q15_t) x2;
+
+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+        /* acc3 += x[5] * y[2] + x[6] * y[3]  */
+        acc3 = __SMLAD(input1, input2, acc3);
+
+      } while(--k);
+
+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = srcBLen % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Read y[4] sample */
+        c0 = *py++;
+
+        /* Read x[7] sample */
+        x3 = *px++;
+
+        /* Perform the multiply-accumulates */
+        /* acc0 +=  x[4] * y[4] */
+        acc0 += ((q15_t) x0 * c0);
+        /* acc1 +=  x[5] * y[4] */
+        acc1 += ((q15_t) x1 * c0);
+        /* acc2 +=  x[6] * y[4] */
+        acc2 += ((q15_t) x2 * c0);
+        /* acc3 +=  x[7] * y[4] */
+        acc3 += ((q15_t) x3 * c0);
+
+        /* Reuse the present samples for the next MAC */
+        x0 = x1;
+        x1 = x2;
+        x2 = x3;
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut = (q7_t) (__SSAT(acc0 >> 7, 8));
+      /* Destination pointer is updated according to the address modifier, inc */
+      pOut += inc;
+
+      *pOut = (q7_t) (__SSAT(acc1 >> 7, 8));
+      pOut += inc;
+
+      *pOut = (q7_t) (__SSAT(acc2 >> 7, 8));
+      pOut += inc;
+
+      *pOut = (q7_t) (__SSAT(acc3 >> 7, 8));
+      pOut += inc;
+
+	  count += 4u;
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pIn2;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.   
+     ** No loop unrolling is used. */
+    blkCnt = blockSize2 % 0x4u;
+
+    while(blkCnt > 0u)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = srcBLen >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      while(k > 0u)
+      {
+        /* Reading two inputs of SrcA buffer and packing */
+        in1 = (q15_t) * px++;
+        in2 = (q15_t) * px++;
+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+        /* Reading two inputs of SrcB buffer and packing */
+        in1 = (q15_t) * py++;
+        in2 = (q15_t) * py++;
+        input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+        /* Perform the multiply-accumulates */
+        sum = __SMLAD(input1, input2, sum);
+
+        /* Reading two inputs of SrcA buffer and packing */
+        in1 = (q15_t) * px++;
+        in2 = (q15_t) * px++;
+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+        /* Reading two inputs of SrcB buffer and packing */
+        in1 = (q15_t) * py++;
+        in2 = (q15_t) * py++;
+        input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+        /* Perform the multiply-accumulates */
+        sum = __SMLAD(input1, input2, sum);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = srcBLen % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        sum += ((q15_t) * px++ * *py++);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut = (q7_t) (__SSAT(sum >> 7, 8));
+      /* Destination pointer is updated according to the address modifier, inc */
+      pOut += inc;
+
+      /* Increment the pointer pIn1 index, count by 1 */
+	  count++;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pIn2;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+  else
+  {
+    /* If the srcBLen is not a multiple of 4,   
+     * the blockSize2 loop cannot be unrolled by 4 */
+    blkCnt = blockSize2;
+
+    while(blkCnt > 0u)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Loop over srcBLen */
+      k = srcBLen;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulate */
+        sum += ((q15_t) * px++ * *py++);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut = (q7_t) (__SSAT(sum >> 7, 8));
+      /* Destination pointer is updated according to the address modifier, inc */
+      pOut += inc;
+
+      /* Increment the MAC count */
+      count++;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pIn2;
+
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+
+  /* --------------------------   
+   * Initializations of stage3   
+   * -------------------------*/
+
+  /* sum += x[srcALen-srcBLen+1] * y[0] + x[srcALen-srcBLen+2] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]   
+   * sum += x[srcALen-srcBLen+2] * y[0] + x[srcALen-srcBLen+3] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]   
+   * ....   
+   * sum +=  x[srcALen-2] * y[0] + x[srcALen-1] * y[1]   
+   * sum +=  x[srcALen-1] * y[0]   
+   */
+
+  /* In this stage the MAC operations are decreased by 1 for every iteration.   
+     The count variable holds the number of MAC operations performed */
+  count = srcBLen - 1u;
+
+  /* Working pointer of inputA */
+  pSrc1 = pIn1 + (srcALen - (srcBLen - 1u));
+  px = pSrc1;
+
+  /* Working pointer of inputB */
+  py = pIn2;
+
+  /* -------------------   
+   * Stage3 process   
+   * ------------------*/
+
+  while(blockSize3 > 0u)
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0;
+
+    /* Apply loop unrolling and compute 4 MACs simultaneously. */
+    k = count >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* x[srcALen - srcBLen + 1] , x[srcALen - srcBLen + 2]  */
+      in1 = (q15_t) * px++;
+      in2 = (q15_t) * px++;
+      input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+      /* y[0] , y[1] */
+      in1 = (q15_t) * py++;
+      in2 = (q15_t) * py++;
+      input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+      /* sum += x[srcALen - srcBLen + 1] * y[0] */
+      /* sum += x[srcALen - srcBLen + 2] * y[1] */
+      sum = __SMLAD(input1, input2, sum);
+
+      /* x[srcALen - srcBLen + 3] , x[srcALen - srcBLen + 4] */
+      in1 = (q15_t) * px++;
+      in2 = (q15_t) * px++;
+      input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+      /* y[2] , y[3] */
+      in1 = (q15_t) * py++;
+      in2 = (q15_t) * py++;
+      input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+      /* sum += x[srcALen - srcBLen + 3] * y[2] */
+      /* sum += x[srcALen - srcBLen + 4] * y[3] */
+      sum = __SMLAD(input1, input2, sum);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* If the count is not a multiple of 4, compute any remaining MACs here.   
+     ** No loop unrolling is used. */
+    k = count % 0x4u;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+      sum += ((q15_t) * px++ * *py++);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut = (q7_t) (__SSAT(sum >> 7, 8));
+    /* Destination pointer is updated according to the address modifier, inc */
+    pOut += inc;
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    px = ++pSrc1;
+    py = pIn2;
+
+    /* Decrement the MAC count */
+    count--;
+
+    /* Decrement the loop counter */
+    blockSize3--;
+  }
+
+#else
+
+/* Run the below code for Cortex-M0 */
+
+  q7_t *pIn1 = pSrcA;                            /* inputA pointer */
+  q7_t *pIn2 = pSrcB + (srcBLen - 1u);           /* inputB pointer */
+  q31_t sum;                                     /* Accumulator */
+  uint32_t i = 0u, j;                            /* loop counters */
+  uint32_t inv = 0u;                             /* Reverse order flag */
+  uint32_t tot = 0u;                             /* Length */
+
+  /* The algorithm implementation is based on the lengths of the inputs. */
+  /* srcB is always made to slide across srcA. */
+  /* So srcBLen is always considered as shorter or equal to srcALen */
+  /* But CORR(x, y) is reverse of CORR(y, x) */
+  /* So, when srcBLen > srcALen, output pointer is made to point to the end of the output buffer */
+  /* and a varaible, inv is set to 1 */
+  /* If lengths are not equal then zero pad has to be done to  make the two   
+   * inputs of same length. But to improve the performance, we include zeroes   
+   * in the output instead of zero padding either of the the inputs*/
+  /* If srcALen > srcBLen, (srcALen - srcBLen) zeroes has to included in the   
+   * starting of the output buffer */
+  /* If srcALen < srcBLen, (srcALen - srcBLen) zeroes has to included in the  
+   * ending of the output buffer */
+  /* Once the zero padding is done the remaining of the output is calcualted  
+   * using convolution but with the shorter signal time shifted. */
+
+  /* Calculate the length of the remaining sequence */
+  tot = ((srcALen + srcBLen) - 2u);
+
+  if(srcALen > srcBLen)
+  {
+    /* Calculating the number of zeros to be padded to the output */
+    j = srcALen - srcBLen;
+
+    /* Initialise the pointer after zero padding */
+    pDst += j;
+  }
+
+  else if(srcALen < srcBLen)
+  {
+    /* Initialization to inputB pointer */
+    pIn1 = pSrcB;
+
+    /* Initialization to the end of inputA pointer */
+    pIn2 = pSrcA + (srcALen - 1u);
+
+    /* Initialisation of the pointer after zero padding */
+    pDst = pDst + tot;
+
+    /* Swapping the lengths */
+    j = srcALen;
+    srcALen = srcBLen;
+    srcBLen = j;
+
+    /* Setting the reverse flag */
+    inv = 1;
+
+  }
+
+  /* Loop to calculate convolution for output length number of times */
+  for (i = 0u; i <= tot; i++)
+  {
+    /* Initialize sum with zero to carry on MAC operations */
+    sum = 0;
+
+    /* Loop to perform MAC operations according to convolution equation */
+    for (j = 0u; j <= i; j++)
+    {
+      /* Check the array limitations */
+      if((((i - j) < srcBLen) && (j < srcALen)))
+      {
+        /* z[i] += x[i-j] * y[j] */
+        sum += ((q15_t) pIn1[j] * pIn2[-((int32_t) i - j)]);
+      }
+    }
+    /* Store the output in the destination buffer */
+    if(inv == 1)
+      *pDst-- = (q7_t) __SSAT((sum >> 7u), 8u);
+    else
+      *pDst++ = (q7_t) __SSAT((sum >> 7u), 8u);
+  }
+
+#endif /*   #ifndef ARM_MATH_CM0 */
+
+}
+
+/**   
+ * @} end of Corr group   
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_f32.c
new file mode 100644
index 000000000..1546f407d
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_f32.c
@@ -0,0 +1,518 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_fir_decimate_f32.c    
+*    
+* Description:	FIR decimation for floating-point sequences.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+*    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @defgroup FIR_decimate Finite Impulse Response (FIR) Decimator    
+ *    
+ * These functions combine an FIR filter together with a decimator.    
+ * They are used in multirate systems for reducing the sample rate of a signal without introducing aliasing distortion.    
+ * Conceptually, the functions are equivalent to the block diagram below:    
+ * \image html FIRDecimator.gif "Components included in the FIR Decimator functions"    
+ * When decimating by a factor of M, the signal should be prefiltered by a lowpass filter with a normalized    
+ * cutoff frequency of 1/M in order to prevent aliasing distortion.    
+ * The user of the function is responsible for providing the filter coefficients.    
+ *    
+ * The FIR decimator functions provided in the CMSIS DSP Library combine the FIR filter and the decimator in an efficient manner.    
+ * Instead of calculating all of the FIR filter outputs and discarding M-1 out of every M, only the    
+ * samples output by the decimator are computed.    
+ * The functions operate on blocks of input and output data.    
+ * pSrc points to an array of blockSize input values and    
+ * pDst points to an array of blockSize/M output values.    
+ * In order to have an integer number of output samples blockSize    
+ * must always be a multiple of the decimation factor M.    
+ *    
+ * The library provides separate functions for Q15, Q31 and floating-point data types.    
+ *    
+ * \par Algorithm:    
+ * The FIR portion of the algorithm uses the standard form filter:    
+ * 
    
+ *    y[n] = b[0] * x[n] + b[1] * x[n-1] + b[2] * x[n-2] + ...+ b[numTaps-1] * x[n-numTaps+1]    
+ * 
    
+ * where, b[n] are the filter coefficients.    
+ * \par   
+ * The pCoeffs points to a coefficient array of size numTaps.    
+ * Coefficients are stored in time reversed order.    
+ * \par    
+ * 
    
+ *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}    
+ * 
    
+ * \par    
+ * pState points to a state array of size numTaps + blockSize - 1.    
+ * Samples in the state buffer are stored in the order:    
+ * \par    
+ * 
    
+ *    {x[n-numTaps+1], x[n-numTaps], x[n-numTaps-1], x[n-numTaps-2]....x[0], x[1], ..., x[blockSize-1]}    
+ * 
    
+ * The state variables are updated after each block of data is processed, the coefficients are untouched.    
+ *    
+ * \par Instance Structure    
+ * The coefficients and state variables for a filter are stored together in an instance data structure.    
+ * A separate instance structure must be defined for each filter.    
+ * Coefficient arrays may be shared among several instances while state variable array should be allocated separately.    
+ * There are separate instance structure declarations for each of the 3 supported data types.    
+ *    
+ * \par Initialization Functions    
+ * There is also an associated initialization function for each data type.    
+ * The initialization function performs the following operations:    
+ * - Sets the values of the internal structure fields.    
+ * - Zeros out the values in the state buffer.    
+ * - Checks to make sure that the size of the input is a multiple of the decimation factor.    
+ *    
+ * \par    
+ * Use of the initialization function is optional.    
+ * However, if the initialization function is used, then the instance structure cannot be placed into a const data section.    
+ * To place an instance structure into a const data section, the instance structure must be manually initialized.    
+ * The code below statically initializes each of the 3 different data type filter instance structures    
+ * 
    
+ *arm_fir_decimate_instance_f32 S = {M, numTaps, pCoeffs, pState};    
+ *arm_fir_decimate_instance_q31 S = {M, numTaps, pCoeffs, pState};    
+ *arm_fir_decimate_instance_q15 S = {M, numTaps, pCoeffs, pState};    
+ * 
    
+ * where M is the decimation factor; numTaps is the number of filter coefficients in the filter;    
+ * pCoeffs is the address of the coefficient buffer;    
+ * pState is the address of the state buffer.    
+ * Be sure to set the values in the state buffer to zeros when doing static initialization.    
+ *    
+ * \par Fixed-Point Behavior    
+ * Care must be taken when using the fixed-point versions of the FIR decimate filter functions.    
+ * In particular, the overflow and saturation behavior of the accumulator used in each function must be considered.    
+ * Refer to the function specific documentation below for usage guidelines.    
+ */
+
+/**    
+ * @addtogroup FIR_decimate    
+ * @{    
+ */
+
+  /**    
+   * @brief Processing function for the floating-point FIR decimator.    
+   * @param[in] *S        points to an instance of the floating-point FIR decimator structure.    
+   * @param[in] *pSrc     points to the block of input data.    
+   * @param[out] *pDst    points to the block of output data.    
+   * @param[in] blockSize number of input samples to process per call.    
+   * @return none.    
+   */
+
+void arm_fir_decimate_f32(
+  const arm_fir_decimate_instance_f32 * S,
+  float32_t * pSrc,
+  float32_t * pDst,
+  uint32_t blockSize)
+{
+  float32_t *pState = S->pState;                 /* State pointer */
+  float32_t *pCoeffs = S->pCoeffs;               /* Coefficient pointer */
+  float32_t *pStateCurnt;                        /* Points to the current sample of the state */
+  float32_t *px, *pb;                            /* Temporary pointers for state and coefficient buffers */
+  float32_t sum0;                                /* Accumulator */
+  float32_t x0, c0;                              /* Temporary variables to hold state and coefficient values */
+  uint32_t numTaps = S->numTaps;                 /* Number of filter coefficients in the filter */
+  uint32_t i, tapCnt, blkCnt, outBlockSize = blockSize / S->M;  /* Loop counters */
+
+#ifndef ARM_MATH_CM0
+
+  uint32_t blkCntN4;
+  float32_t *px0, *px1, *px2, *px3;
+  float32_t acc0, acc1, acc2, acc3;
+  float32_t x1, x2, x3;
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /* S->pState buffer contains previous frame (numTaps - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = S->pState + (numTaps - 1u);
+
+  /* Total number of output samples to be computed */
+  blkCnt = outBlockSize / 4;
+  blkCntN4 = outBlockSize - (4 * blkCnt);
+
+  while(blkCnt > 0u)
+  {
+    /* Copy 4 * decimation factor number of new input samples into the state buffer */
+    i = 4 * S->M;
+
+    do
+    {
+      *pStateCurnt++ = *pSrc++;
+
+    } while(--i);
+
+    /* Set accumulators to zero */
+    acc0 = 0.0f;
+    acc1 = 0.0f;
+    acc2 = 0.0f;
+    acc3 = 0.0f;
+
+    /* Initialize state pointer for all the samples */
+    px0 = pState;
+    px1 = pState + S->M;
+    px2 = pState + 2 * S->M;
+    px3 = pState + 3 * S->M;
+
+    /* Initialize coeff pointer */
+    pb = pCoeffs;
+
+    /* Loop unrolling.  Process 4 taps at a time. */
+    tapCnt = numTaps >> 2;
+
+    /* Loop over the number of taps.  Unroll by a factor of 4.       
+     ** Repeat until we've computed numTaps-4 coefficients. */
+
+    while(tapCnt > 0u)
+    {
+      /* Read the b[numTaps-1] coefficient */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-1] sample for acc0 */
+      x0 = *(px0++);
+      /* Read x[n-numTaps-1] sample for acc1 */
+      x1 = *(px1++);
+      /* Read x[n-numTaps-1] sample for acc2 */
+      x2 = *(px2++);
+      /* Read x[n-numTaps-1] sample for acc3 */
+      x3 = *(px3++);
+
+      /* Perform the multiply-accumulate */
+      acc0 += x0 * c0;
+      acc1 += x1 * c0;
+      acc2 += x2 * c0;
+      acc3 += x3 * c0;
+
+      /* Read the b[numTaps-2] coefficient */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-2] sample for acc0, acc1, acc2, acc3 */
+      x0 = *(px0++);
+      x1 = *(px1++);
+      x2 = *(px2++);
+      x3 = *(px3++);
+
+      /* Perform the multiply-accumulate */
+      acc0 += x0 * c0;
+      acc1 += x1 * c0;
+      acc2 += x2 * c0;
+      acc3 += x3 * c0;
+
+      /* Read the b[numTaps-3] coefficient */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-3] sample acc0, acc1, acc2, acc3 */
+      x0 = *(px0++);
+      x1 = *(px1++);
+      x2 = *(px2++);
+      x3 = *(px3++);
+
+      /* Perform the multiply-accumulate */
+      acc0 += x0 * c0;
+      acc1 += x1 * c0;
+      acc2 += x2 * c0;
+      acc3 += x3 * c0;
+
+      /* Read the b[numTaps-4] coefficient */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-4] sample acc0, acc1, acc2, acc3 */
+      x0 = *(px0++);
+      x1 = *(px1++);
+      x2 = *(px2++);
+      x3 = *(px3++);
+
+      /* Perform the multiply-accumulate */
+      acc0 += x0 * c0;
+      acc1 += x1 * c0;
+      acc2 += x2 * c0;
+      acc3 += x3 * c0;
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
+    tapCnt = numTaps % 0x4u;
+
+    while(tapCnt > 0u)
+    {
+      /* Read coefficients */
+      c0 = *(pb++);
+
+      /* Fetch  state variables for acc0, acc1, acc2, acc3 */
+      x0 = *(px0++);
+      x1 = *(px1++);
+      x2 = *(px2++);
+      x3 = *(px3++);
+
+      /* Perform the multiply-accumulate */
+      acc0 += x0 * c0;
+      acc1 += x1 * c0;
+      acc2 += x2 * c0;
+      acc3 += x3 * c0;
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Advance the state pointer by the decimation factor       
+     * to process the next group of decimation factor number samples */
+    pState = pState + 4 * S->M;
+
+    /* The result is in the accumulator, store in the destination buffer. */
+    *pDst++ = acc0;
+    *pDst++ = acc1;
+    *pDst++ = acc2;
+    *pDst++ = acc3;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  while(blkCntN4 > 0u)
+  {
+    /* Copy decimation factor number of new input samples into the state buffer */
+    i = S->M;
+
+    do
+    {
+      *pStateCurnt++ = *pSrc++;
+
+    } while(--i);
+
+    /* Set accumulator to zero */
+    sum0 = 0.0f;
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* Initialize coeff pointer */
+    pb = pCoeffs;
+
+    /* Loop unrolling.  Process 4 taps at a time. */
+    tapCnt = numTaps >> 2;
+
+    /* Loop over the number of taps.  Unroll by a factor of 4.       
+     ** Repeat until we've computed numTaps-4 coefficients. */
+    while(tapCnt > 0u)
+    {
+      /* Read the b[numTaps-1] coefficient */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-1] sample */
+      x0 = *(px++);
+
+      /* Perform the multiply-accumulate */
+      sum0 += x0 * c0;
+
+      /* Read the b[numTaps-2] coefficient */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-2] sample */
+      x0 = *(px++);
+
+      /* Perform the multiply-accumulate */
+      sum0 += x0 * c0;
+
+      /* Read the b[numTaps-3] coefficient */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-3] sample */
+      x0 = *(px++);
+
+      /* Perform the multiply-accumulate */
+      sum0 += x0 * c0;
+
+      /* Read the b[numTaps-4] coefficient */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-4] sample */
+      x0 = *(px++);
+
+      /* Perform the multiply-accumulate */
+      sum0 += x0 * c0;
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
+    tapCnt = numTaps % 0x4u;
+
+    while(tapCnt > 0u)
+    {
+      /* Read coefficients */
+      c0 = *(pb++);
+
+      /* Fetch 1 state variable */
+      x0 = *(px++);
+
+      /* Perform the multiply-accumulate */
+      sum0 += x0 * c0;
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Advance the state pointer by the decimation factor       
+     * to process the next group of decimation factor number samples */
+    pState = pState + S->M;
+
+    /* The result is in the accumulator, store in the destination buffer. */
+    *pDst++ = sum0;
+
+    /* Decrement the loop counter */
+    blkCntN4--;
+  }
+
+  /* Processing is complete.    
+   ** Now copy the last numTaps - 1 samples to the satrt of the state buffer.    
+   ** This prepares the state buffer for the next function call. */
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = S->pState;
+
+  i = (numTaps - 1u) >> 2;
+
+  /* copy data */
+  while(i > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    i--;
+  }
+
+  i = (numTaps - 1u) % 0x04u;
+
+  /* copy data */
+  while(i > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    i--;
+  }
+
+#else
+
+/* Run the below code for Cortex-M0 */
+
+  /* S->pState buffer contains previous frame (numTaps - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = S->pState + (numTaps - 1u);
+
+  /* Total number of output samples to be computed */
+  blkCnt = outBlockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* Copy decimation factor number of new input samples into the state buffer */
+    i = S->M;
+
+    do
+    {
+      *pStateCurnt++ = *pSrc++;
+
+    } while(--i);
+
+    /* Set accumulator to zero */
+    sum0 = 0.0f;
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* Initialize coeff pointer */
+    pb = pCoeffs;
+
+    tapCnt = numTaps;
+
+    while(tapCnt > 0u)
+    {
+      /* Read coefficients */
+      c0 = *pb++;
+
+      /* Fetch 1 state variable */
+      x0 = *px++;
+
+      /* Perform the multiply-accumulate */
+      sum0 += x0 * c0;
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Advance the state pointer by the decimation factor           
+     * to process the next group of decimation factor number samples */
+    pState = pState + S->M;
+
+    /* The result is in the accumulator, store in the destination buffer. */
+    *pDst++ = sum0;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Processing is complete.         
+   ** Now copy the last numTaps - 1 samples to the start of the state buffer.       
+   ** This prepares the state buffer for the next function call. */
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = S->pState;
+
+  /* Copy numTaps number of values */
+  i = (numTaps - 1u);
+
+  /* copy data */
+  while(i > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    i--;
+  }
+
+#endif /*   #ifndef ARM_MATH_CM0        */
+
+}
+
+/**    
+ * @} end of FIR_decimate group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q15.c
new file mode 100644
index 000000000..96f50e6f2
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q15.c
@@ -0,0 +1,590 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_fir_decimate_fast_q15.c    
+*    
+* Description:	Fast Q15 FIR Decimator.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup FIR_decimate    
+ * @{    
+ */
+
+/**    
+ * @brief Processing function for the Q15 FIR decimator (fast variant) for Cortex-M3 and Cortex-M4.    
+ * @param[in] *S points to an instance of the Q15 FIR decimator structure.    
+ * @param[in] *pSrc points to the block of input data.    
+ * @param[out] *pDst points to the block of output data    
+ * @param[in] blockSize number of input samples to process per call.    
+ * @return none    
+ *    
+ * \par Restrictions   
+ *  If the silicon does not support unaligned memory access enable the macro UNALIGNED_SUPPORT_DISABLE   
+ *	In this case input, output, state buffers should be aligned by 32-bit   
+ *    
+ * Scaling and Overflow Behavior:    
+ * \par    
+ * This fast version uses a 32-bit accumulator with 2.30 format.    
+ * The accumulator maintains full precision of the intermediate multiplication results but provides only a single guard bit.    
+ * Thus, if the accumulator result overflows it wraps around and distorts the result.    
+ * In order to avoid overflows completely the input signal must be scaled down by log2(numTaps) bits (log2 is read as log to the base 2).    
+ * The 2.30 accumulator is then truncated to 2.15 format and saturated to yield the 1.15 result.    
+ *    
+ * \par    
+ * Refer to the function arm_fir_decimate_q15() for a slower implementation of this function which uses 64-bit accumulation to avoid wrap around distortion.    
+ * Both the slow and the fast versions use the same instance structure.    
+ * Use the function arm_fir_decimate_init_q15() to initialize the filter structure.    
+ */
+
+#ifndef UNALIGNED_SUPPORT_DISABLE
+
+void arm_fir_decimate_fast_q15(
+  const arm_fir_decimate_instance_q15 * S,
+  q15_t * pSrc,
+  q15_t * pDst,
+  uint32_t blockSize)
+{
+  q15_t *pState = S->pState;                     /* State pointer */
+  q15_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
+  q15_t *pStateCurnt;                            /* Points to the current sample of the state */
+  q15_t *px;                                     /* Temporary pointer for state buffer */
+  q15_t *pb;                                     /* Temporary pointer coefficient buffer */
+  q31_t x0, x1, c0, c1;                          /* Temporary variables to hold state and coefficient values */
+  q31_t sum0;                                    /* Accumulators */
+  q31_t acc0, acc1;
+  q15_t *px0, *px1;
+  uint32_t blkCntN3;
+  uint32_t numTaps = S->numTaps;                 /* Number of taps */
+  uint32_t i, blkCnt, tapCnt, outBlockSize = blockSize / S->M;  /* Loop counters */
+
+
+  /* S->pState buffer contains previous frame (numTaps - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = S->pState + (numTaps - 1u);
+
+
+  /* Total number of output samples to be computed */
+  blkCnt = outBlockSize / 2;
+  blkCntN3 = outBlockSize - (2 * blkCnt);
+
+
+  while(blkCnt > 0u)
+  {
+    /* Copy decimation factor number of new input samples into the state buffer */
+    i = 2 * S->M;
+
+    do
+    {
+      *pStateCurnt++ = *pSrc++;
+
+    } while(--i);
+
+    /* Set accumulator to zero */
+    acc0 = 0;
+    acc1 = 0;
+
+    /* Initialize state pointer */
+    px0 = pState;
+
+    px1 = pState + S->M;
+
+
+    /* Initialize coeff pointer */
+    pb = pCoeffs;
+
+    /* Loop unrolling.  Process 4 taps at a time. */
+    tapCnt = numTaps >> 2;
+
+    /* Loop over the number of taps.  Unroll by a factor of 4.       
+     ** Repeat until we've computed numTaps-4 coefficients. */
+    while(tapCnt > 0u)
+    {
+      /* Read the Read b[numTaps-1] and b[numTaps-2]  coefficients */
+      c0 = *__SIMD32(pb)++;
+
+      /* Read x[n-numTaps-1] and x[n-numTaps-2]sample */
+      x0 = *__SIMD32(px0)++;
+
+      x1 = *__SIMD32(px1)++;
+
+      /* Perform the multiply-accumulate */
+      acc0 = __SMLAD(x0, c0, acc0);
+
+      acc1 = __SMLAD(x1, c0, acc1);
+
+      /* Read the b[numTaps-3] and b[numTaps-4] coefficient */
+      c0 = *__SIMD32(pb)++;
+
+      /* Read x[n-numTaps-2] and x[n-numTaps-3] sample */
+      x0 = *__SIMD32(px0)++;
+
+      x1 = *__SIMD32(px1)++;
+
+      /* Perform the multiply-accumulate */
+      acc0 = __SMLAD(x0, c0, acc0);
+
+      acc1 = __SMLAD(x1, c0, acc1);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
+    tapCnt = numTaps % 0x4u;
+
+    while(tapCnt > 0u)
+    {
+      /* Read coefficients */
+      c0 = *pb++;
+
+      /* Fetch 1 state variable */
+      x0 = *px0++;
+
+      x1 = *px1++;
+
+      /* Perform the multiply-accumulate */
+      acc0 = __SMLAD(x0, c0, acc0);
+      acc1 = __SMLAD(x1, c0, acc1);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Advance the state pointer by the decimation factor       
+     * to process the next group of decimation factor number samples */
+    pState = pState + S->M * 2;
+
+    /* Store filter output, smlad returns the values in 2.14 format */
+    /* so downsacle by 15 to get output in 1.15 */
+    *pDst++ = (q15_t) (__SSAT((acc0 >> 15), 16));
+    *pDst++ = (q15_t) (__SSAT((acc1 >> 15), 16));
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+
+
+  while(blkCntN3 > 0u)
+  {
+    /* Copy decimation factor number of new input samples into the state buffer */
+    i = S->M;
+
+    do
+    {
+      *pStateCurnt++ = *pSrc++;
+
+    } while(--i);
+
+    /*Set sum to zero */
+    sum0 = 0;
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* Initialize coeff pointer */
+    pb = pCoeffs;
+
+    /* Loop unrolling.  Process 4 taps at a time. */
+    tapCnt = numTaps >> 2;
+
+    /* Loop over the number of taps.  Unroll by a factor of 4.       
+     ** Repeat until we've computed numTaps-4 coefficients. */
+    while(tapCnt > 0u)
+    {
+      /* Read the Read b[numTaps-1] and b[numTaps-2]  coefficients */
+      c0 = *__SIMD32(pb)++;
+
+      /* Read x[n-numTaps-1] and x[n-numTaps-2]sample */
+      x0 = *__SIMD32(px)++;
+
+      /* Read the b[numTaps-3] and b[numTaps-4] coefficient */
+      c1 = *__SIMD32(pb)++;
+
+      /* Perform the multiply-accumulate */
+      sum0 = __SMLAD(x0, c0, sum0);
+
+      /* Read x[n-numTaps-2] and x[n-numTaps-3] sample */
+      x0 = *__SIMD32(px)++;
+
+      /* Perform the multiply-accumulate */
+      sum0 = __SMLAD(x0, c1, sum0);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
+    tapCnt = numTaps % 0x4u;
+
+    while(tapCnt > 0u)
+    {
+      /* Read coefficients */
+      c0 = *pb++;
+
+      /* Fetch 1 state variable */
+      x0 = *px++;
+
+      /* Perform the multiply-accumulate */
+      sum0 = __SMLAD(x0, c0, sum0);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Advance the state pointer by the decimation factor       
+     * to process the next group of decimation factor number samples */
+    pState = pState + S->M;
+
+    /* Store filter output, smlad returns the values in 2.14 format */
+    /* so downsacle by 15 to get output in 1.15 */
+    *pDst++ = (q15_t) (__SSAT((sum0 >> 15), 16));
+
+    /* Decrement the loop counter */
+    blkCntN3--;
+  }
+
+  /* Processing is complete.       
+   ** Now copy the last numTaps - 1 samples to the satrt of the state buffer.       
+   ** This prepares the state buffer for the next function call. */
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = S->pState;
+
+  i = (numTaps - 1u) >> 2u;
+
+  /* copy data */
+  while(i > 0u)
+  {
+    *__SIMD32(pStateCurnt)++ = *__SIMD32(pState)++;
+    *__SIMD32(pStateCurnt)++ = *__SIMD32(pState)++;
+
+    /* Decrement the loop counter */
+    i--;
+  }
+
+  i = (numTaps - 1u) % 0x04u;
+
+  /* copy data */
+  while(i > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    i--;
+  }
+}
+
+#else
+
+
+void arm_fir_decimate_fast_q15(
+  const arm_fir_decimate_instance_q15 * S,
+  q15_t * pSrc,
+  q15_t * pDst,
+  uint32_t blockSize)
+{
+  q15_t *pState = S->pState;                     /* State pointer */
+  q15_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
+  q15_t *pStateCurnt;                            /* Points to the current sample of the state */
+  q15_t *px;                                     /* Temporary pointer for state buffer */
+  q15_t *pb;                                     /* Temporary pointer coefficient buffer */
+  q15_t x0, x1, c0;                              /* Temporary variables to hold state and coefficient values */
+  q31_t sum0;                                    /* Accumulators */
+  q31_t acc0, acc1;
+  q15_t *px0, *px1;
+  uint32_t blkCntN3;
+  uint32_t numTaps = S->numTaps;                 /* Number of taps */
+  uint32_t i, blkCnt, tapCnt, outBlockSize = blockSize / S->M;  /* Loop counters */
+
+
+  /* S->pState buffer contains previous frame (numTaps - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = S->pState + (numTaps - 1u);
+
+
+  /* Total number of output samples to be computed */
+  blkCnt = outBlockSize / 2;
+  blkCntN3 = outBlockSize - (2 * blkCnt);
+
+  while(blkCnt > 0u)
+  {
+    /* Copy decimation factor number of new input samples into the state buffer */
+    i = 2 * S->M;
+
+    do
+    {
+      *pStateCurnt++ = *pSrc++;
+
+    } while(--i);
+
+    /* Set accumulator to zero */
+    acc0 = 0;
+    acc1 = 0;
+
+    /* Initialize state pointer */
+    px0 = pState;
+
+    px1 = pState + S->M;
+
+
+    /* Initialize coeff pointer */
+    pb = pCoeffs;
+
+    /* Loop unrolling.  Process 4 taps at a time. */
+    tapCnt = numTaps >> 2;
+
+    /* Loop over the number of taps.  Unroll by a factor of 4.       
+     ** Repeat until we've computed numTaps-4 coefficients. */
+    while(tapCnt > 0u)
+    {
+      /* Read the Read b[numTaps-1] coefficients */
+      c0 = *pb++;
+
+      /* Read x[n-numTaps-1] for sample 0 and for sample 1 */
+      x0 = *px0++;
+      x1 = *px1++;
+
+      /* Perform the multiply-accumulate */
+      acc0 += x0 * c0;
+      acc1 += x1 * c0;
+
+      /* Read the b[numTaps-2] coefficient */
+      c0 = *pb++;
+
+      /* Read x[n-numTaps-2] for sample 0 and sample 1 */
+      x0 = *px0++;
+      x1 = *px1++;
+
+      /* Perform the multiply-accumulate */
+      acc0 += x0 * c0;
+      acc1 += x1 * c0;
+
+      /* Read the b[numTaps-3]  coefficients */
+      c0 = *pb++;
+
+      /* Read x[n-numTaps-3] for sample 0 and sample 1 */
+      x0 = *px0++;
+      x1 = *px1++;
+
+      /* Perform the multiply-accumulate */
+      acc0 += x0 * c0;
+      acc1 += x1 * c0;
+
+      /* Read the b[numTaps-4] coefficient */
+      c0 = *pb++;
+
+      /* Read x[n-numTaps-4] for sample 0 and sample 1 */
+      x0 = *px0++;
+      x1 = *px1++;
+
+      /* Perform the multiply-accumulate */
+      acc0 += x0 * c0;
+      acc1 += x1 * c0;
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
+    tapCnt = numTaps % 0x4u;
+
+    while(tapCnt > 0u)
+    {
+      /* Read coefficients */
+      c0 = *pb++;
+
+      /* Fetch 1 state variable */
+      x0 = *px0++;
+      x1 = *px1++;
+
+      /* Perform the multiply-accumulate */
+      acc0 += x0 * c0;
+      acc1 += x1 * c0;
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Advance the state pointer by the decimation factor       
+     * to process the next group of decimation factor number samples */
+    pState = pState + S->M * 2;
+
+    /* Store filter output, smlad returns the values in 2.14 format */
+    /* so downsacle by 15 to get output in 1.15 */
+
+    *pDst++ = (q15_t) (__SSAT((acc0 >> 15), 16));
+    *pDst++ = (q15_t) (__SSAT((acc1 >> 15), 16));
+
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  while(blkCntN3 > 0u)
+  {
+    /* Copy decimation factor number of new input samples into the state buffer */
+    i = S->M;
+
+    do
+    {
+      *pStateCurnt++ = *pSrc++;
+
+    } while(--i);
+
+    /*Set sum to zero */
+    sum0 = 0;
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* Initialize coeff pointer */
+    pb = pCoeffs;
+
+    /* Loop unrolling.  Process 4 taps at a time. */
+    tapCnt = numTaps >> 2;
+
+    /* Loop over the number of taps.  Unroll by a factor of 4.       
+     ** Repeat until we've computed numTaps-4 coefficients. */
+    while(tapCnt > 0u)
+    {
+      /* Read the Read b[numTaps-1] coefficients */
+      c0 = *pb++;
+
+      /* Read x[n-numTaps-1] and sample */
+      x0 = *px++;
+
+      /* Perform the multiply-accumulate */
+      sum0 += x0 * c0;
+
+      /* Read the b[numTaps-2] coefficient */
+      c0 = *pb++;
+
+      /* Read x[n-numTaps-2] and  sample */
+      x0 = *px++;
+
+      /* Perform the multiply-accumulate */
+      sum0 += x0 * c0;
+
+      /* Read the b[numTaps-3]  coefficients */
+      c0 = *pb++;
+
+      /* Read x[n-numTaps-3] sample */
+      x0 = *px++;
+
+      /* Perform the multiply-accumulate */
+      sum0 += x0 * c0;
+
+      /* Read the b[numTaps-4] coefficient */
+      c0 = *pb++;
+
+      /* Read x[n-numTaps-4] sample */
+      x0 = *px++;
+
+      /* Perform the multiply-accumulate */
+      sum0 += x0 * c0;
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
+    tapCnt = numTaps % 0x4u;
+
+    while(tapCnt > 0u)
+    {
+      /* Read coefficients */
+      c0 = *pb++;
+
+      /* Fetch 1 state variable */
+      x0 = *px++;
+
+      /* Perform the multiply-accumulate */
+      sum0 += x0 * c0;
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Advance the state pointer by the decimation factor       
+     * to process the next group of decimation factor number samples */
+    pState = pState + S->M;
+
+    /* Store filter output, smlad returns the values in 2.14 format */
+    /* so downsacle by 15 to get output in 1.15 */
+    *pDst++ = (q15_t) (__SSAT((sum0 >> 15), 16));
+
+    /* Decrement the loop counter */
+    blkCntN3--;
+  }
+
+  /* Processing is complete.       
+   ** Now copy the last numTaps - 1 samples to the satrt of the state buffer.       
+   ** This prepares the state buffer for the next function call. */
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = S->pState;
+
+  i = (numTaps - 1u) >> 2u;
+
+  /* copy data */
+  while(i > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    i--;
+  }
+
+  i = (numTaps - 1u) % 0x04u;
+
+  /* copy data */
+  while(i > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    i--;
+  }
+}
+
+
+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
+
+/**    
+ * @} end of FIR_decimate group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q31.c
new file mode 100644
index 000000000..a43fd0b4c
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q31.c
@@ -0,0 +1,343 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_fir_decimate_fast_q31.c    
+*    
+* Description:	Fast Q31 FIR Decimator.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup FIR_decimate    
+ * @{    
+ */
+
+/**    
+ * @brief Processing function for the Q31 FIR decimator (fast variant) for Cortex-M3 and Cortex-M4.    
+ * @param[in] *S points to an instance of the Q31 FIR decimator structure.    
+ * @param[in] *pSrc points to the block of input data.    
+ * @param[out] *pDst points to the block of output data    
+ * @param[in] blockSize number of input samples to process per call.    
+ * @return none    
+ *    
+ * Scaling and Overflow Behavior:    
+ *    
+ * \par    
+ * This function is optimized for speed at the expense of fixed-point precision and overflow protection.    
+ * The result of each 1.31 x 1.31 multiplication is truncated to 2.30 format.    
+ * These intermediate results are added to a 2.30 accumulator.    
+ * Finally, the accumulator is saturated and converted to a 1.31 result.    
+ * The fast version has the same overflow behavior as the standard version and provides less precision since it discards the low 32 bits of each multiplication result.    
+ * In order to avoid overflows completely the input signal must be scaled down by log2(numTaps) bits (where log2 is read as log to the base 2).    
+ *    
+ * \par    
+ * Refer to the function arm_fir_decimate_q31() for a slower implementation of this function which uses a 64-bit accumulator to provide higher precision.    
+ * Both the slow and the fast versions use the same instance structure.    
+ * Use the function arm_fir_decimate_init_q31() to initialize the filter structure.    
+ */
+
+void arm_fir_decimate_fast_q31(
+  arm_fir_decimate_instance_q31 * S,
+  q31_t * pSrc,
+  q31_t * pDst,
+  uint32_t blockSize)
+{
+  q31_t *pState = S->pState;                     /* State pointer */
+  q31_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
+  q31_t *pStateCurnt;                            /* Points to the current sample of the state */
+  q31_t x0, c0;                                  /* Temporary variables to hold state and coefficient values */
+  q31_t *px;                                     /* Temporary pointers for state buffer */
+  q31_t *pb;                                     /* Temporary pointers for coefficient buffer */
+  q31_t sum0;                                    /* Accumulator */
+  uint32_t numTaps = S->numTaps;                 /* Number of taps */
+  uint32_t i, tapCnt, blkCnt, outBlockSize = blockSize / S->M;  /* Loop counters */
+  uint32_t blkCntN2;
+  q31_t x1;
+  q31_t acc0, acc1;
+  q31_t *px0, *px1;
+
+  /* S->pState buffer contains previous frame (numTaps - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = S->pState + (numTaps - 1u);
+
+  /* Total number of output samples to be computed */
+
+  blkCnt = outBlockSize / 2;
+  blkCntN2 = outBlockSize - (2 * blkCnt);
+
+  while(blkCnt > 0u)
+  {
+    /* Copy decimation factor number of new input samples into the state buffer */
+    i = 2 * S->M;
+
+    do
+    {
+      *pStateCurnt++ = *pSrc++;
+
+    } while(--i);
+
+    /* Set accumulator to zero */
+    acc0 = 0;
+    acc1 = 0;
+
+    /* Initialize state pointer */
+    px0 = pState;
+    px1 = pState + S->M;
+
+    /* Initialize coeff pointer */
+    pb = pCoeffs;
+
+    /* Loop unrolling.  Process 4 taps at a time. */
+    tapCnt = numTaps >> 2;
+
+    /* Loop over the number of taps.  Unroll by a factor of 4.       
+     ** Repeat until we've computed numTaps-4 coefficients. */
+    while(tapCnt > 0u)
+    {
+      /* Read the b[numTaps-1] coefficient */
+      c0 = *(pb);
+
+      /* Read x[n-numTaps-1] for sample 0 sample 1 */
+      x0 = *(px0);
+      x1 = *(px1);
+
+      /* Perform the multiply-accumulate */
+      acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x0 * c0)) >> 32);
+      acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x1 * c0)) >> 32);
+
+      /* Read the b[numTaps-2] coefficient */
+      c0 = *(pb + 1u);
+
+      /* Read x[n-numTaps-2]  for sample 0 sample 1  */
+      x0 = *(px0 + 1u);
+      x1 = *(px1 + 1u);
+
+      /* Perform the multiply-accumulate */
+      acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x0 * c0)) >> 32);
+      acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x1 * c0)) >> 32);
+
+      /* Read the b[numTaps-3] coefficient */
+      c0 = *(pb + 2u);
+
+      /* Read x[n-numTaps-3]  for sample 0 sample 1 */
+      x0 = *(px0 + 2u);
+      x1 = *(px1 + 2u);
+      pb += 4u;
+
+      /* Perform the multiply-accumulate */
+      acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x0 * c0)) >> 32);
+      acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x1 * c0)) >> 32);
+
+      /* Read the b[numTaps-4] coefficient */
+      c0 = *(pb - 1u);
+
+      /* Read x[n-numTaps-4] for sample 0 sample 1 */
+      x0 = *(px0 + 3u);
+      x1 = *(px1 + 3u);
+
+
+      /* Perform the multiply-accumulate */
+      acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x0 * c0)) >> 32);
+      acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x1 * c0)) >> 32);
+
+      /* update state pointers */
+      px0 += 4u;
+      px1 += 4u;
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
+    tapCnt = numTaps % 0x4u;
+
+    while(tapCnt > 0u)
+    {
+      /* Read coefficients */
+      c0 = *(pb++);
+
+      /* Fetch 1 state variable */
+      x0 = *(px0++);
+      x1 = *(px1++);
+
+      /* Perform the multiply-accumulate */
+      acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x0 * c0)) >> 32);
+      acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x1 * c0)) >> 32);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Advance the state pointer by the decimation factor       
+     * to process the next group of decimation factor number samples */
+    pState = pState + S->M * 2;
+
+    /* The result is in the accumulator, store in the destination buffer. */
+    *pDst++ = (q31_t) (acc0 << 1);
+    *pDst++ = (q31_t) (acc1 << 1);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  while(blkCntN2 > 0u)
+  {
+    /* Copy decimation factor number of new input samples into the state buffer */
+    i = S->M;
+
+    do
+    {
+      *pStateCurnt++ = *pSrc++;
+
+    } while(--i);
+
+    /* Set accumulator to zero */
+    sum0 = 0;
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* Initialize coeff pointer */
+    pb = pCoeffs;
+
+    /* Loop unrolling.  Process 4 taps at a time. */
+    tapCnt = numTaps >> 2;
+
+    /* Loop over the number of taps.  Unroll by a factor of 4.       
+     ** Repeat until we've computed numTaps-4 coefficients. */
+    while(tapCnt > 0u)
+    {
+      /* Read the b[numTaps-1] coefficient */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-1] sample */
+      x0 = *(px++);
+
+      /* Perform the multiply-accumulate */
+      sum0 = (q31_t) ((((q63_t) sum0 << 32) + ((q63_t) x0 * c0)) >> 32);
+
+      /* Read the b[numTaps-2] coefficient */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-2] sample */
+      x0 = *(px++);
+
+      /* Perform the multiply-accumulate */
+      sum0 = (q31_t) ((((q63_t) sum0 << 32) + ((q63_t) x0 * c0)) >> 32);
+
+      /* Read the b[numTaps-3] coefficient */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-3] sample */
+      x0 = *(px++);
+
+      /* Perform the multiply-accumulate */
+      sum0 = (q31_t) ((((q63_t) sum0 << 32) + ((q63_t) x0 * c0)) >> 32);
+
+      /* Read the b[numTaps-4] coefficient */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-4] sample */
+      x0 = *(px++);
+
+      /* Perform the multiply-accumulate */
+      sum0 = (q31_t) ((((q63_t) sum0 << 32) + ((q63_t) x0 * c0)) >> 32);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
+    tapCnt = numTaps % 0x4u;
+
+    while(tapCnt > 0u)
+    {
+      /* Read coefficients */
+      c0 = *(pb++);
+
+      /* Fetch 1 state variable */
+      x0 = *(px++);
+
+      /* Perform the multiply-accumulate */
+      sum0 = (q31_t) ((((q63_t) sum0 << 32) + ((q63_t) x0 * c0)) >> 32);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Advance the state pointer by the decimation factor       
+     * to process the next group of decimation factor number samples */
+    pState = pState + S->M;
+
+    /* The result is in the accumulator, store in the destination buffer. */
+    *pDst++ = (q31_t) (sum0 << 1);
+
+    /* Decrement the loop counter */
+    blkCntN2--;
+  }
+
+  /* Processing is complete.       
+   ** Now copy the last numTaps - 1 samples to the satrt of the state buffer.       
+   ** This prepares the state buffer for the next function call. */
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = S->pState;
+
+  i = (numTaps - 1u) >> 2u;
+
+  /* copy data */
+  while(i > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    i--;
+  }
+
+  i = (numTaps - 1u) % 0x04u;
+
+  /* copy data */
+  while(i > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    i--;
+  }
+}
+
+/**    
+ * @} end of FIR_decimate group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_f32.c
new file mode 100644
index 000000000..b655a6be6
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_f32.c
@@ -0,0 +1,112 @@
+/*-----------------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:        arm_fir_decimate_init_f32.c    
+*    
+* Description:  Floating-point FIR Decimator initialization function.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* ---------------------------------------------------------------------------*/
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup FIR_decimate    
+ * @{    
+ */
+
+/**    
+ * @brief  Initialization function for the floating-point FIR decimator.    
+ * @param[in,out] *S points to an instance of the floating-point FIR decimator structure.    
+ * @param[in] numTaps  number of coefficients in the filter.    
+ * @param[in] M  decimation factor.    
+ * @param[in] *pCoeffs points to the filter coefficients.    
+ * @param[in] *pState points to the state buffer.    
+ * @param[in] blockSize number of input samples to process per call.    
+ * @return    The function returns ARM_MATH_SUCCESS if initialization was successful or ARM_MATH_LENGTH_ERROR if    
+ * blockSize is not a multiple of M.    
+ *    
+ * Description:    
+ * \par    
+ * pCoeffs points to the array of filter coefficients stored in time reversed order:    
+ * 
    
+ *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}    
+ * 
    
+ * \par    
+ * pState points to the array of state variables.    
+ * pState is of length numTaps+blockSize-1 words where blockSize is the number of input samples passed to arm_fir_decimate_f32().    
+ * M is the decimation factor.    
+ */
+
+arm_status arm_fir_decimate_init_f32(
+  arm_fir_decimate_instance_f32 * S,
+  uint16_t numTaps,
+  uint8_t M,
+  float32_t * pCoeffs,
+  float32_t * pState,
+  uint32_t blockSize)
+{
+  arm_status status;
+
+  /* The size of the input block must be a multiple of the decimation factor */
+  if((blockSize % M) != 0u)
+  {
+    /* Set status as ARM_MATH_LENGTH_ERROR */
+    status = ARM_MATH_LENGTH_ERROR;
+  }
+  else
+  {
+    /* Assign filter taps */
+    S->numTaps = numTaps;
+
+    /* Assign coefficient pointer */
+    S->pCoeffs = pCoeffs;
+
+    /* Clear state buffer and size is always (blockSize + numTaps - 1) */
+    memset(pState, 0, (numTaps + (blockSize - 1u)) * sizeof(float32_t));
+
+    /* Assign state pointer */
+    S->pState = pState;
+
+    /* Assign Decimation Factor */
+    S->M = M;
+
+    status = ARM_MATH_SUCCESS;
+  }
+
+  return (status);
+
+}
+
+/**    
+ * @} end of FIR_decimate group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q15.c
new file mode 100644
index 000000000..1a1fee8a2
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q15.c
@@ -0,0 +1,114 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:        arm_fir_decimate_init_q15.c    
+*    
+* Description:  Initialization function for the Q15 FIR Decimator.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* ------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup FIR_decimate    
+ * @{    
+ */
+
+/**    
+ * @brief  Initialization function for the Q15 FIR decimator.    
+ * @param[in,out] *S points to an instance of the Q15 FIR decimator structure.    
+ * @param[in] numTaps  number of coefficients in the filter.    
+ * @param[in] M  decimation factor.    
+ * @param[in] *pCoeffs points to the filter coefficients.    
+ * @param[in] *pState points to the state buffer.    
+ * @param[in] blockSize number of input samples to process per call.    
+ * @return    The function returns ARM_MATH_SUCCESS if initialization was successful or ARM_MATH_LENGTH_ERROR if    
+ * blockSize is not a multiple of M.    
+ *    
+ * Description:    
+ * \par    
+ * pCoeffs points to the array of filter coefficients stored in time reversed order:    
+ * 
    
+ *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}    
+ * 
    
+ * \par    
+ * pState points to the array of state variables.    
+ * pState is of length numTaps+blockSize-1 words where blockSize is the number of input samples    
+ * to the call arm_fir_decimate_q15().    
+ * M is the decimation factor.    
+ */
+
+arm_status arm_fir_decimate_init_q15(
+  arm_fir_decimate_instance_q15 * S,
+  uint16_t numTaps,
+  uint8_t M,
+  q15_t * pCoeffs,
+  q15_t * pState,
+  uint32_t blockSize)
+{
+
+  arm_status status;
+
+  /* The size of the input block must be a multiple of the decimation factor */
+  if((blockSize % M) != 0u)
+  {
+    /* Set status as ARM_MATH_LENGTH_ERROR */
+    status = ARM_MATH_LENGTH_ERROR;
+  }
+  else
+  {
+    /* Assign filter taps */
+    S->numTaps = numTaps;
+
+    /* Assign coefficient pointer */
+    S->pCoeffs = pCoeffs;
+
+    /* Clear the state buffer.  The size of buffer is always (blockSize + numTaps - 1) */
+    memset(pState, 0, (numTaps + (blockSize - 1u)) * sizeof(q15_t));
+
+    /* Assign state pointer */
+    S->pState = pState;
+
+    /* Assign Decimation factor */
+    S->M = M;
+
+    status = ARM_MATH_SUCCESS;
+  }
+
+  return (status);
+
+}
+
+/**    
+ * @} end of FIR_decimate group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q31.c
new file mode 100644
index 000000000..e2ac8165e
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q31.c
@@ -0,0 +1,112 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:        arm_fir_decimate_init_q31.c    
+*    
+* Description:  Initialization function for Q31 FIR Decimation filter.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* ------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup FIR_decimate    
+ * @{    
+ */
+
+/**    
+ * @brief  Initialization function for the Q31 FIR decimator.    
+ * @param[in,out] *S points to an instance of the Q31 FIR decimator structure.    
+ * @param[in] numTaps  number of coefficients in the filter.    
+ * @param[in] M  decimation factor.    
+ * @param[in] *pCoeffs points to the filter coefficients.    
+ * @param[in] *pState points to the state buffer.    
+ * @param[in] blockSize number of input samples to process per call.    
+ * @return    The function returns ARM_MATH_SUCCESS if initialization was successful or ARM_MATH_LENGTH_ERROR if    
+ * blockSize is not a multiple of M.    
+ *    
+ * Description:    
+ * \par    
+ * pCoeffs points to the array of filter coefficients stored in time reversed order:    
+ * 
    
+ *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}    
+ * 
    
+ * \par    
+ * pState points to the array of state variables.    
+ * pState is of length numTaps+blockSize-1 words where blockSize is the number of input samples passed to arm_fir_decimate_q31().    
+ * M is the decimation factor.    
+ */
+
+arm_status arm_fir_decimate_init_q31(
+  arm_fir_decimate_instance_q31 * S,
+  uint16_t numTaps,
+  uint8_t M,
+  q31_t * pCoeffs,
+  q31_t * pState,
+  uint32_t blockSize)
+{
+  arm_status status;
+
+  /* The size of the input block must be a multiple of the decimation factor */
+  if((blockSize % M) != 0u)
+  {
+    /* Set status as ARM_MATH_LENGTH_ERROR */
+    status = ARM_MATH_LENGTH_ERROR;
+  }
+  else
+  {
+    /* Assign filter taps */
+    S->numTaps = numTaps;
+
+    /* Assign coefficient pointer */
+    S->pCoeffs = pCoeffs;
+
+    /* Clear the state buffer.  The size is always (blockSize + numTaps - 1) */
+    memset(pState, 0, (numTaps + (blockSize - 1)) * sizeof(q31_t));
+
+    /* Assign state pointer */
+    S->pState = pState;
+
+    /* Assign Decimation factor */
+    S->M = M;
+
+    status = ARM_MATH_SUCCESS;
+  }
+
+  return (status);
+
+}
+
+/**    
+ * @} end of FIR_decimate group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q15.c
new file mode 100644
index 000000000..28b5f13dd
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q15.c
@@ -0,0 +1,691 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_fir_decimate_q15.c    
+*    
+* Description:	Q15 FIR Decimator.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup FIR_decimate    
+ * @{    
+ */
+
+/**    
+ * @brief Processing function for the Q15 FIR decimator.    
+ * @param[in] *S points to an instance of the Q15 FIR decimator structure.    
+ * @param[in] *pSrc points to the block of input data.    
+ * @param[out] *pDst points to the location where the output result is written.    
+ * @param[in] blockSize number of input samples to process per call.    
+ * @return none.    
+ *    
+ * Scaling and Overflow Behavior:    
+ * \par    
+ * The function is implemented using a 64-bit internal accumulator.    
+ * Both coefficients and state variables are represented in 1.15 format and multiplications yield a 2.30 result.    
+ * The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format.    
+ * There is no risk of internal overflow with this approach and the full precision of intermediate multiplications is preserved.    
+ * After all additions have been performed, the accumulator is truncated to 34.15 format by discarding low 15 bits.    
+ * Lastly, the accumulator is saturated to yield a result in 1.15 format.    
+ *    
+ * \par    
+ * Refer to the function arm_fir_decimate_fast_q15() for a faster but less precise implementation of this function for Cortex-M3 and Cortex-M4.    
+ */
+
+#ifndef ARM_MATH_CM0
+
+#ifndef UNALIGNED_SUPPORT_DISABLE
+
+void arm_fir_decimate_q15(
+  const arm_fir_decimate_instance_q15 * S,
+  q15_t * pSrc,
+  q15_t * pDst,
+  uint32_t blockSize)
+{
+  q15_t *pState = S->pState;                     /* State pointer */
+  q15_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
+  q15_t *pStateCurnt;                            /* Points to the current sample of the state */
+  q15_t *px;                                     /* Temporary pointer for state buffer */
+  q15_t *pb;                                     /* Temporary pointer coefficient buffer */
+  q31_t x0, x1, c0, c1;                          /* Temporary variables to hold state and coefficient values */
+  q63_t sum0;                                    /* Accumulators */
+  q63_t acc0, acc1;
+  q15_t *px0, *px1;
+  uint32_t blkCntN3;
+  uint32_t numTaps = S->numTaps;                 /* Number of taps */
+  uint32_t i, blkCnt, tapCnt, outBlockSize = blockSize / S->M;  /* Loop counters */
+
+
+  /* S->pState buffer contains previous frame (numTaps - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = S->pState + (numTaps - 1u);
+
+
+  /* Total number of output samples to be computed */
+  blkCnt = outBlockSize / 2;
+  blkCntN3 = outBlockSize - (2 * blkCnt);
+
+
+  while(blkCnt > 0u)
+  {
+    /* Copy decimation factor number of new input samples into the state buffer */
+    i = 2 * S->M;
+
+    do
+    {
+      *pStateCurnt++ = *pSrc++;
+
+    } while(--i);
+
+    /* Set accumulator to zero */
+    acc0 = 0;
+    acc1 = 0;
+
+    /* Initialize state pointer */
+    px0 = pState;
+
+    px1 = pState + S->M;
+
+
+    /* Initialize coeff pointer */
+    pb = pCoeffs;
+
+    /* Loop unrolling.  Process 4 taps at a time. */
+    tapCnt = numTaps >> 2;
+
+    /* Loop over the number of taps.  Unroll by a factor of 4.       
+     ** Repeat until we've computed numTaps-4 coefficients. */
+    while(tapCnt > 0u)
+    {
+      /* Read the Read b[numTaps-1] and b[numTaps-2]  coefficients */
+      c0 = *__SIMD32(pb)++;
+
+      /* Read x[n-numTaps-1] and x[n-numTaps-2]sample */
+      x0 = *__SIMD32(px0)++;
+
+      x1 = *__SIMD32(px1)++;
+
+      /* Perform the multiply-accumulate */
+      acc0 = __SMLALD(x0, c0, acc0);
+
+      acc1 = __SMLALD(x1, c0, acc1);
+
+      /* Read the b[numTaps-3] and b[numTaps-4] coefficient */
+      c0 = *__SIMD32(pb)++;
+
+      /* Read x[n-numTaps-2] and x[n-numTaps-3] sample */
+      x0 = *__SIMD32(px0)++;
+
+      x1 = *__SIMD32(px1)++;
+
+      /* Perform the multiply-accumulate */
+      acc0 = __SMLALD(x0, c0, acc0);
+
+      acc1 = __SMLALD(x1, c0, acc1);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
+    tapCnt = numTaps % 0x4u;
+
+    while(tapCnt > 0u)
+    {
+      /* Read coefficients */
+      c0 = *pb++;
+
+      /* Fetch 1 state variable */
+      x0 = *px0++;
+
+      x1 = *px1++;
+
+      /* Perform the multiply-accumulate */
+      acc0 = __SMLALD(x0, c0, acc0);
+      acc1 = __SMLALD(x1, c0, acc1);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Advance the state pointer by the decimation factor       
+     * to process the next group of decimation factor number samples */
+    pState = pState + S->M * 2;
+
+    /* Store filter output, smlad returns the values in 2.14 format */
+    /* so downsacle by 15 to get output in 1.15 */
+    *pDst++ = (q15_t) (__SSAT((acc0 >> 15), 16));
+    *pDst++ = (q15_t) (__SSAT((acc1 >> 15), 16));
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+
+
+  while(blkCntN3 > 0u)
+  {
+    /* Copy decimation factor number of new input samples into the state buffer */
+    i = S->M;
+
+    do
+    {
+      *pStateCurnt++ = *pSrc++;
+
+    } while(--i);
+
+    /*Set sum to zero */
+    sum0 = 0;
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* Initialize coeff pointer */
+    pb = pCoeffs;
+
+    /* Loop unrolling.  Process 4 taps at a time. */
+    tapCnt = numTaps >> 2;
+
+    /* Loop over the number of taps.  Unroll by a factor of 4.       
+     ** Repeat until we've computed numTaps-4 coefficients. */
+    while(tapCnt > 0u)
+    {
+      /* Read the Read b[numTaps-1] and b[numTaps-2]  coefficients */
+      c0 = *__SIMD32(pb)++;
+
+      /* Read x[n-numTaps-1] and x[n-numTaps-2]sample */
+      x0 = *__SIMD32(px)++;
+
+      /* Read the b[numTaps-3] and b[numTaps-4] coefficient */
+      c1 = *__SIMD32(pb)++;
+
+      /* Perform the multiply-accumulate */
+      sum0 = __SMLALD(x0, c0, sum0);
+
+      /* Read x[n-numTaps-2] and x[n-numTaps-3] sample */
+      x0 = *__SIMD32(px)++;
+
+      /* Perform the multiply-accumulate */
+      sum0 = __SMLALD(x0, c1, sum0);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
+    tapCnt = numTaps % 0x4u;
+
+    while(tapCnt > 0u)
+    {
+      /* Read coefficients */
+      c0 = *pb++;
+
+      /* Fetch 1 state variable */
+      x0 = *px++;
+
+      /* Perform the multiply-accumulate */
+      sum0 = __SMLALD(x0, c0, sum0);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Advance the state pointer by the decimation factor       
+     * to process the next group of decimation factor number samples */
+    pState = pState + S->M;
+
+    /* Store filter output, smlad returns the values in 2.14 format */
+    /* so downsacle by 15 to get output in 1.15 */
+    *pDst++ = (q15_t) (__SSAT((sum0 >> 15), 16));
+
+    /* Decrement the loop counter */
+    blkCntN3--;
+  }
+
+  /* Processing is complete.       
+   ** Now copy the last numTaps - 1 samples to the satrt of the state buffer.       
+   ** This prepares the state buffer for the next function call. */
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = S->pState;
+
+  i = (numTaps - 1u) >> 2u;
+
+  /* copy data */
+  while(i > 0u)
+  {
+    *__SIMD32(pStateCurnt)++ = *__SIMD32(pState)++;
+    *__SIMD32(pStateCurnt)++ = *__SIMD32(pState)++;
+
+    /* Decrement the loop counter */
+    i--;
+  }
+
+  i = (numTaps - 1u) % 0x04u;
+
+  /* copy data */
+  while(i > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    i--;
+  }
+}
+
+#else
+
+
+void arm_fir_decimate_q15(
+  const arm_fir_decimate_instance_q15 * S,
+  q15_t * pSrc,
+  q15_t * pDst,
+  uint32_t blockSize)
+{
+  q15_t *pState = S->pState;                     /* State pointer */
+  q15_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
+  q15_t *pStateCurnt;                            /* Points to the current sample of the state */
+  q15_t *px;                                     /* Temporary pointer for state buffer */
+  q15_t *pb;                                     /* Temporary pointer coefficient buffer */
+  q15_t x0, x1, c0;                              /* Temporary variables to hold state and coefficient values */
+  q63_t sum0;                                    /* Accumulators */
+  q63_t acc0, acc1;
+  q15_t *px0, *px1;
+  uint32_t blkCntN3;
+  uint32_t numTaps = S->numTaps;                 /* Number of taps */
+  uint32_t i, blkCnt, tapCnt, outBlockSize = blockSize / S->M;  /* Loop counters */
+
+
+  /* S->pState buffer contains previous frame (numTaps - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = S->pState + (numTaps - 1u);
+
+
+  /* Total number of output samples to be computed */
+  blkCnt = outBlockSize / 2;
+  blkCntN3 = outBlockSize - (2 * blkCnt);
+
+  while(blkCnt > 0u)
+  {
+    /* Copy decimation factor number of new input samples into the state buffer */
+    i = 2 * S->M;
+
+    do
+    {
+      *pStateCurnt++ = *pSrc++;
+
+    } while(--i);
+
+    /* Set accumulator to zero */
+    acc0 = 0;
+    acc1 = 0;
+
+    /* Initialize state pointer */
+    px0 = pState;
+
+    px1 = pState + S->M;
+
+
+    /* Initialize coeff pointer */
+    pb = pCoeffs;
+
+    /* Loop unrolling.  Process 4 taps at a time. */
+    tapCnt = numTaps >> 2;
+
+    /* Loop over the number of taps.  Unroll by a factor of 4.       
+     ** Repeat until we've computed numTaps-4 coefficients. */
+    while(tapCnt > 0u)
+    {
+      /* Read the Read b[numTaps-1] coefficients */
+      c0 = *pb++;
+
+      /* Read x[n-numTaps-1] for sample 0 and for sample 1 */
+      x0 = *px0++;
+      x1 = *px1++;
+
+      /* Perform the multiply-accumulate */
+      acc0 += x0 * c0;
+      acc1 += x1 * c0;
+
+      /* Read the b[numTaps-2] coefficient */
+      c0 = *pb++;
+
+      /* Read x[n-numTaps-2] for sample 0 and sample 1 */
+      x0 = *px0++;
+      x1 = *px1++;
+
+      /* Perform the multiply-accumulate */
+      acc0 += x0 * c0;
+      acc1 += x1 * c0;
+
+      /* Read the b[numTaps-3] coefficients */
+      c0 = *pb++;
+
+      /* Read x[n-numTaps-3] for sample 0 and sample 1 */
+      x0 = *px0++;
+      x1 = *px1++;
+
+      /* Perform the multiply-accumulate */
+      acc0 += x0 * c0;
+      acc1 += x1 * c0;
+
+      /* Read the b[numTaps-4] coefficient */
+      c0 = *pb++;
+
+      /* Read x[n-numTaps-4] for sample 0 and sample 1 */
+      x0 = *px0++;
+      x1 = *px1++;
+
+      /* Perform the multiply-accumulate */
+      acc0 += x0 * c0;
+      acc1 += x1 * c0;
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
+    tapCnt = numTaps % 0x4u;
+
+    while(tapCnt > 0u)
+    {
+      /* Read coefficients */
+      c0 = *pb++;
+
+      /* Fetch 1 state variable */
+      x0 = *px0++;
+      x1 = *px1++;
+
+      /* Perform the multiply-accumulate */
+      acc0 += x0 * c0;
+      acc1 += x1 * c0;
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Advance the state pointer by the decimation factor       
+     * to process the next group of decimation factor number samples */
+    pState = pState + S->M * 2;
+
+    /* Store filter output, smlad returns the values in 2.14 format */
+    /* so downsacle by 15 to get output in 1.15 */
+
+    *pDst++ = (q15_t) (__SSAT((acc0 >> 15), 16));
+    *pDst++ = (q15_t) (__SSAT((acc1 >> 15), 16));
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  while(blkCntN3 > 0u)
+  {
+    /* Copy decimation factor number of new input samples into the state buffer */
+    i = S->M;
+
+    do
+    {
+      *pStateCurnt++ = *pSrc++;
+
+    } while(--i);
+
+    /*Set sum to zero */
+    sum0 = 0;
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* Initialize coeff pointer */
+    pb = pCoeffs;
+
+    /* Loop unrolling.  Process 4 taps at a time. */
+    tapCnt = numTaps >> 2;
+
+    /* Loop over the number of taps.  Unroll by a factor of 4.       
+     ** Repeat until we've computed numTaps-4 coefficients. */
+    while(tapCnt > 0u)
+    {
+      /* Read the Read b[numTaps-1] coefficients */
+      c0 = *pb++;
+
+      /* Read x[n-numTaps-1] and sample */
+      x0 = *px++;
+
+      /* Perform the multiply-accumulate */
+      sum0 += x0 * c0;
+
+      /* Read the b[numTaps-2] coefficient */
+      c0 = *pb++;
+
+      /* Read x[n-numTaps-2] and  sample */
+      x0 = *px++;
+
+      /* Perform the multiply-accumulate */
+      sum0 += x0 * c0;
+
+      /* Read the b[numTaps-3]  coefficients */
+      c0 = *pb++;
+
+      /* Read x[n-numTaps-3] sample */
+      x0 = *px++;
+
+      /* Perform the multiply-accumulate */
+      sum0 += x0 * c0;
+
+      /* Read the b[numTaps-4] coefficient */
+      c0 = *pb++;
+
+      /* Read x[n-numTaps-4] sample */
+      x0 = *px++;
+
+      /* Perform the multiply-accumulate */
+      sum0 += x0 * c0;
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
+    tapCnt = numTaps % 0x4u;
+
+    while(tapCnt > 0u)
+    {
+      /* Read coefficients */
+      c0 = *pb++;
+
+      /* Fetch 1 state variable */
+      x0 = *px++;
+
+      /* Perform the multiply-accumulate */
+      sum0 += x0 * c0;
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Advance the state pointer by the decimation factor       
+     * to process the next group of decimation factor number samples */
+    pState = pState + S->M;
+
+    /* Store filter output, smlad returns the values in 2.14 format */
+    /* so downsacle by 15 to get output in 1.15 */
+    *pDst++ = (q15_t) (__SSAT((sum0 >> 15), 16));
+
+    /* Decrement the loop counter */
+    blkCntN3--;
+  }
+
+  /* Processing is complete.       
+   ** Now copy the last numTaps - 1 samples to the satrt of the state buffer.       
+   ** This prepares the state buffer for the next function call. */
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = S->pState;
+
+  i = (numTaps - 1u) >> 2u;
+
+  /* copy data */
+  while(i > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    i--;
+  }
+
+  i = (numTaps - 1u) % 0x04u;
+
+  /* copy data */
+  while(i > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    i--;
+  }
+}
+
+
+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
+
+#else
+
+
+void arm_fir_decimate_q15(
+  const arm_fir_decimate_instance_q15 * S,
+  q15_t * pSrc,
+  q15_t * pDst,
+  uint32_t blockSize)
+{
+  q15_t *pState = S->pState;                     /* State pointer */
+  q15_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
+  q15_t *pStateCurnt;                            /* Points to the current sample of the state */
+  q15_t *px;                                     /* Temporary pointer for state buffer */
+  q15_t *pb;                                     /* Temporary pointer coefficient buffer */
+  q31_t x0, c0;                                  /* Temporary variables to hold state and coefficient values */
+  q63_t sum0;                                    /* Accumulators */
+  uint32_t numTaps = S->numTaps;                 /* Number of taps */
+  uint32_t i, blkCnt, tapCnt, outBlockSize = blockSize / S->M;  /* Loop counters */
+
+
+
+/* Run the below code for Cortex-M0 */
+
+  /* S->pState buffer contains previous frame (numTaps - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = S->pState + (numTaps - 1u);
+
+  /* Total number of output samples to be computed */
+  blkCnt = outBlockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* Copy decimation factor number of new input samples into the state buffer */
+    i = S->M;
+
+    do
+    {
+      *pStateCurnt++ = *pSrc++;
+
+    } while(--i);
+
+    /*Set sum to zero */
+    sum0 = 0;
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* Initialize coeff pointer */
+    pb = pCoeffs;
+
+    tapCnt = numTaps;
+
+    while(tapCnt > 0u)
+    {
+      /* Read coefficients */
+      c0 = *pb++;
+
+      /* Fetch 1 state variable */
+      x0 = *px++;
+
+      /* Perform the multiply-accumulate */
+      sum0 += (q31_t) x0 *c0;
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Advance the state pointer by the decimation factor           
+     * to process the next group of decimation factor number samples */
+    pState = pState + S->M;
+
+    /*Store filter output , smlad will return the values in 2.14 format */
+    /* so downsacle by 15 to get output in 1.15 */
+    *pDst++ = (q15_t) (__SSAT((sum0 >> 15), 16));
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Processing is complete.         
+   ** Now copy the last numTaps - 1 samples to the start of the state buffer.       
+   ** This prepares the state buffer for the next function call. */
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = S->pState;
+
+  i = numTaps - 1u;
+
+  /* copy data */
+  while(i > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    i--;
+  }
+
+
+}
+#endif /*   #ifndef ARM_MATH_CM0 */
+
+
+/**    
+ * @} end of FIR_decimate group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q31.c
new file mode 100644
index 000000000..59c0fed7f
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q31.c
@@ -0,0 +1,306 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_fir_decimate_q31.c    
+*    
+* Description:	Q31 FIR Decimator.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup FIR_decimate    
+ * @{    
+ */
+
+/**    
+ * @brief Processing function for the Q31 FIR decimator.    
+ * @param[in] *S points to an instance of the Q31 FIR decimator structure.    
+ * @param[in] *pSrc points to the block of input data.    
+ * @param[out] *pDst points to the block of output data    
+ * @param[in] blockSize number of input samples to process per call.    
+ * @return none    
+ *    
+ * Scaling and Overflow Behavior:    
+ * \par    
+ * The function is implemented using an internal 64-bit accumulator.    
+ * The accumulator has a 2.62 format and maintains full precision of the intermediate multiplication results but provides only a single guard bit.    
+ * Thus, if the accumulator result overflows it wraps around rather than clip.    
+ * In order to avoid overflows completely the input signal must be scaled down by log2(numTaps) bits (where log2 is read as log to the base 2).    
+ * After all multiply-accumulates are performed, the 2.62 accumulator is truncated to 1.32 format and then saturated to 1.31 format.    
+ *    
+ * \par    
+ * Refer to the function arm_fir_decimate_fast_q31() for a faster but less precise implementation of this function for Cortex-M3 and Cortex-M4.    
+ */
+
+void arm_fir_decimate_q31(
+  const arm_fir_decimate_instance_q31 * S,
+  q31_t * pSrc,
+  q31_t * pDst,
+  uint32_t blockSize)
+{
+  q31_t *pState = S->pState;                     /* State pointer */
+  q31_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
+  q31_t *pStateCurnt;                            /* Points to the current sample of the state */
+  q31_t x0, c0;                                  /* Temporary variables to hold state and coefficient values */
+  q31_t *px;                                     /* Temporary pointers for state buffer */
+  q31_t *pb;                                     /* Temporary pointers for coefficient buffer */
+  q63_t sum0;                                    /* Accumulator */
+  uint32_t numTaps = S->numTaps;                 /* Number of taps */
+  uint32_t i, tapCnt, blkCnt, outBlockSize = blockSize / S->M;  /* Loop counters */
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /* S->pState buffer contains previous frame (numTaps - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = S->pState + (numTaps - 1u);
+
+  /* Total number of output samples to be computed */
+  blkCnt = outBlockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* Copy decimation factor number of new input samples into the state buffer */
+    i = S->M;
+
+    do
+    {
+      *pStateCurnt++ = *pSrc++;
+
+    } while(--i);
+
+    /* Set accumulator to zero */
+    sum0 = 0;
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* Initialize coeff pointer */
+    pb = pCoeffs;
+
+    /* Loop unrolling.  Process 4 taps at a time. */
+    tapCnt = numTaps >> 2;
+
+    /* Loop over the number of taps.  Unroll by a factor of 4.    
+     ** Repeat until we've computed numTaps-4 coefficients. */
+    while(tapCnt > 0u)
+    {
+      /* Read the b[numTaps-1] coefficient */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-1] sample */
+      x0 = *(px++);
+
+      /* Perform the multiply-accumulate */
+      sum0 += (q63_t) x0 *c0;
+
+      /* Read the b[numTaps-2] coefficient */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-2] sample */
+      x0 = *(px++);
+
+      /* Perform the multiply-accumulate */
+      sum0 += (q63_t) x0 *c0;
+
+      /* Read the b[numTaps-3] coefficient */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-3] sample */
+      x0 = *(px++);
+
+      /* Perform the multiply-accumulate */
+      sum0 += (q63_t) x0 *c0;
+
+      /* Read the b[numTaps-4] coefficient */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-4] sample */
+      x0 = *(px++);
+
+      /* Perform the multiply-accumulate */
+      sum0 += (q63_t) x0 *c0;
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
+    tapCnt = numTaps % 0x4u;
+
+    while(tapCnt > 0u)
+    {
+      /* Read coefficients */
+      c0 = *(pb++);
+
+      /* Fetch 1 state variable */
+      x0 = *(px++);
+
+      /* Perform the multiply-accumulate */
+      sum0 += (q63_t) x0 *c0;
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Advance the state pointer by the decimation factor    
+     * to process the next group of decimation factor number samples */
+    pState = pState + S->M;
+
+    /* The result is in the accumulator, store in the destination buffer. */
+    *pDst++ = (q31_t) (sum0 >> 31);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Processing is complete.    
+   ** Now copy the last numTaps - 1 samples to the satrt of the state buffer.    
+   ** This prepares the state buffer for the next function call. */
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = S->pState;
+
+  i = (numTaps - 1u) >> 2u;
+
+  /* copy data */
+  while(i > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    i--;
+  }
+
+  i = (numTaps - 1u) % 0x04u;
+
+  /* copy data */
+  while(i > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    i--;
+  }
+
+#else
+
+/* Run the below code for Cortex-M0 */
+
+  /* S->pState buffer contains previous frame (numTaps - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = S->pState + (numTaps - 1u);
+
+  /* Total number of output samples to be computed */
+  blkCnt = outBlockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* Copy decimation factor number of new input samples into the state buffer */
+    i = S->M;
+
+    do
+    {
+      *pStateCurnt++ = *pSrc++;
+
+    } while(--i);
+
+    /* Set accumulator to zero */
+    sum0 = 0;
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* Initialize coeff pointer */
+    pb = pCoeffs;
+
+    tapCnt = numTaps;
+
+    while(tapCnt > 0u)
+    {
+      /* Read coefficients */
+      c0 = *pb++;
+
+      /* Fetch 1 state variable */
+      x0 = *px++;
+
+      /* Perform the multiply-accumulate */
+      sum0 += (q63_t) x0 *c0;
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Advance the state pointer by the decimation factor           
+     * to process the next group of decimation factor number samples */
+    pState = pState + S->M;
+
+    /* The result is in the accumulator, store in the destination buffer. */
+    *pDst++ = (q31_t) (sum0 >> 31);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Processing is complete.         
+   ** Now copy the last numTaps - 1 samples to the start of the state buffer.       
+   ** This prepares the state buffer for the next function call. */
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = S->pState;
+
+  i = numTaps - 1u;
+
+  /* copy data */
+  while(i > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    i--;
+  }
+
+#endif /*   #ifndef ARM_MATH_CM0 */
+
+}
+
+/**    
+ * @} end of FIR_decimate group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_f32.c
new file mode 100644
index 000000000..7f951f86b
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_f32.c
@@ -0,0 +1,554 @@
+/* ----------------------------------------------------------------------  
+* Copyright (C) 2010 ARM Limited. All rights reserved.  
+*  
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*  
+* Project: 	    CMSIS DSP Library  
+* Title:	    arm_fir_f32.c  
+*  
+* Description:	Floating-point FIR filter processing function.  
+*  
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.2 2010/11/11  
+*    Documentation updated.   
+*  
+* Version 1.0.1 2010/10/05   
+*    Production release and review comments incorporated.  
+*  
+* Version 1.0.0 2010/09/20   
+*    Production release and review comments incorporated.  
+*  
+* Version 0.0.5  2010/04/26   
+* 	 incorporated review comments and updated with latest CMSIS layer  
+*  
+* Version 0.0.3  2010/03/10   
+*    Initial version  
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**  
+ * @ingroup groupFilters  
+ */
+
+/**  
+ * @defgroup FIR Finite Impulse Response (FIR) Filters  
+ *  
+ * This set of functions implements Finite Impulse Response (FIR) filters  
+ * for Q7, Q15, Q31, and floating-point data types.  Fast versions of Q15 and Q31 are also provided.  
+ * The functions operate on blocks of input and output data and each call to the function processes  
+ * blockSize samples through the filter.  pSrc and  
+ * pDst points to input and output arrays containing blockSize values.  
+ *  
+ * \par Algorithm:  
+ * The FIR filter algorithm is based upon a sequence of multiply-accumulate (MAC) operations.  
+ * Each filter coefficient b[n] is multiplied by a state variable which equals a previous input sample x[n].  
+ * 
  
+ *    y[n] = b[0] * x[n] + b[1] * x[n-1] + b[2] * x[n-2] + ...+ b[numTaps-1] * x[n-numTaps+1]  
+ * 
  
+ * \par  
+ * \image html FIR.gif "Finite Impulse Response filter"  
+ * \par  
+ * pCoeffs points to a coefficient array of size numTaps.  
+ * Coefficients are stored in time reversed order.  
+ * \par  
+ * 
  
+ *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}  
+ * 
  
+ * \par  
+ * pState points to a state array of size numTaps + blockSize - 1.  
+ * Samples in the state buffer are stored in the following order.  
+ * \par  
+ * 
  
+ *    {x[n-numTaps+1], x[n-numTaps], x[n-numTaps-1], x[n-numTaps-2]....x[0], x[1], ..., x[blockSize-1]}  
+ * 
  
+ * \par  
+ * Note that the length of the state buffer exceeds the length of the coefficient array by blockSize-1.  
+ * The increased state buffer length allows circular addressing, which is traditionally used in the FIR filters,  
+ * to be avoided and yields a significant speed improvement.  
+ * The state variables are updated after each block of data is processed; the coefficients are untouched.  
+ * \par Instance Structure  
+ * The coefficients and state variables for a filter are stored together in an instance data structure.  
+ * A separate instance structure must be defined for each filter.  
+ * Coefficient arrays may be shared among several instances while state variable arrays cannot be shared.  
+ * There are separate instance structure declarations for each of the 4 supported data types.  
+ *  
+ * \par Initialization Functions  
+ * There is also an associated initialization function for each data type.  
+ * The initialization function performs the following operations:  
+ * - Sets the values of the internal structure fields.  
+ * - Zeros out the values in the state buffer.  
+ *  
+ * \par  
+ * Use of the initialization function is optional.  
+ * However, if the initialization function is used, then the instance structure cannot be placed into a const data section.  
+ * To place an instance structure into a const data section, the instance structure must be manually initialized.  
+ * Set the values in the state buffer to zeros before static initialization.  
+ * The code below statically initializes each of the 4 different data type filter instance structures  
+ * 
  
+ *arm_fir_instance_f32 S = {numTaps, pState, pCoeffs};  
+ *arm_fir_instance_q31 S = {numTaps, pState, pCoeffs};  
+ *arm_fir_instance_q15 S = {numTaps, pState, pCoeffs};  
+ *arm_fir_instance_q7 S =  {numTaps, pState, pCoeffs};  
+ * 
  
+ *  
+ * where numTaps is the number of filter coefficients in the filter; pState is the address of the state buffer;  
+ * pCoeffs is the address of the coefficient buffer.  
+ *  
+ * \par Fixed-Point Behavior  
+ * Care must be taken when using the fixed-point versions of the FIR filter functions.  
+ * In particular, the overflow and saturation behavior of the accumulator used in each function must be considered.  
+ * Refer to the function specific documentation below for usage guidelines.  
+ */
+
+/**  
+ * @addtogroup FIR  
+ * @{  
+ */
+
+/**  
+ *  
+ * @param[in]  *S points to an instance of the floating-point FIR filter structure.  
+ * @param[in]  *pSrc points to the block of input data.  
+ * @param[out] *pDst points to the block of output data.  
+ * @param[in]  blockSize number of samples to process per call.  
+ * @return     none.  
+ *  
+ */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+void arm_fir_f32(
+  const arm_fir_instance_f32 * S,
+  float32_t * pSrc,
+  float32_t * pDst,
+  uint32_t blockSize)
+{
+  float32_t *pState = S->pState;                 /* State pointer */
+  float32_t *pCoeffs = S->pCoeffs;               /* Coefficient pointer */
+  float32_t *pStateCurnt;                        /* Points to the current sample of the state */
+  float32_t *px, *pb;                            /* Temporary pointers for state and coefficient buffers */
+  float32_t acc0, acc1, acc2, acc3, acc4, acc5, acc6, acc7;     /* Accumulators */
+  float32_t x0, x1, x2, x3, x4, x5, x6, x7, c0;  /* Temporary variables to hold state and coefficient values */
+  uint32_t numTaps = S->numTaps;                 /* Number of filter coefficients in the filter */
+  uint32_t i, tapCnt, blkCnt;                    /* Loop counters */
+
+  /* S->pState points to state array which contains previous frame (numTaps - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = &(S->pState[(numTaps - 1u)]);
+
+  /* Apply loop unrolling and compute 4 output values simultaneously.  
+   * The variables acc0 ... acc3 hold output values that are being computed:  
+   *  
+   *    acc0 =  b[numTaps-1] * x[n-numTaps-1] + b[numTaps-2] * x[n-numTaps-2] + b[numTaps-3] * x[n-numTaps-3] +...+ b[0] * x[0]  
+   *    acc1 =  b[numTaps-1] * x[n-numTaps] +   b[numTaps-2] * x[n-numTaps-1] + b[numTaps-3] * x[n-numTaps-2] +...+ b[0] * x[1]  
+   *    acc2 =  b[numTaps-1] * x[n-numTaps+1] + b[numTaps-2] * x[n-numTaps] +   b[numTaps-3] * x[n-numTaps-1] +...+ b[0] * x[2]  
+   *    acc3 =  b[numTaps-1] * x[n-numTaps+2] + b[numTaps-2] * x[n-numTaps+1] + b[numTaps-3] * x[n-numTaps]   +...+ b[0] * x[3]  
+   */
+  blkCnt = blockSize >> 3;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.  
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* Copy four new input samples into the state buffer */
+    *pStateCurnt++ = *pSrc++;
+    *pStateCurnt++ = *pSrc++;
+    *pStateCurnt++ = *pSrc++;
+    *pStateCurnt++ = *pSrc++;
+    *pStateCurnt++ = *pSrc++;
+    *pStateCurnt++ = *pSrc++;
+    *pStateCurnt++ = *pSrc++;
+    *pStateCurnt++ = *pSrc++;
+
+    /* Set all accumulators to zero */
+    acc0 = 0.0f;
+    acc1 = 0.0f;
+    acc2 = 0.0f;
+    acc3 = 0.0f;
+    acc4 = 0.0f;
+    acc5 = 0.0f;
+    acc6 = 0.0f;
+    acc7 = 0.0f;
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* Initialize coeff pointer */
+    pb = (pCoeffs);
+
+    /* Read the first three samples from the state buffer:  x[n-numTaps], x[n-numTaps-1], x[n-numTaps-2] */
+    x0 = *px++;
+    x1 = *px++;
+    x2 = *px++;
+    x3 = *px++;
+    x4 = *px++;
+    x5 = *px++;
+    x6 = *px++;
+
+    /* Loop unrolling.  Process 4 taps at a time. */
+    tapCnt = numTaps >> 3u;
+
+    /* Loop over the number of taps.  Unroll by a factor of 4.  
+     ** Repeat until we've computed numTaps-4 coefficients. */
+    while(tapCnt > 0u)
+    {
+      /* Read the b[numTaps-1] coefficient */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-3] sample */
+      x7 = *(px++);
+
+      /* acc0 +=  b[numTaps-1] * x[n-numTaps] */
+      acc0 += x0 * c0;
+
+      /* acc1 +=  b[numTaps-1] * x[n-numTaps-1] */
+      acc1 += x1 * c0;
+
+      /* acc2 +=  b[numTaps-1] * x[n-numTaps-2] */
+      acc2 += x2 * c0;
+
+      /* acc3 +=  b[numTaps-1] * x[n-numTaps-3] */
+      acc3 += x3 * c0;
+
+      /* acc4 +=  b[numTaps-1] * x[n-numTaps-4] */
+      acc4 += x4 * c0;
+
+      /* acc1 +=  b[numTaps-1] * x[n-numTaps-5] */
+      acc5 += x5 * c0;
+
+      /* acc2 +=  b[numTaps-1] * x[n-numTaps-6] */
+      acc6 += x6 * c0;
+
+      /* acc3 +=  b[numTaps-1] * x[n-numTaps-7] */
+      acc7 += x7 * c0;
+
+      /* Read the b[numTaps-2] coefficient */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-4] sample */
+      x0 = *(px++);
+
+      /* Perform the multiply-accumulate */
+      acc0 += x1 * c0;
+      acc1 += x2 * c0;
+      acc2 += x3 * c0;
+      acc3 += x4 * c0;
+      acc4 += x5 * c0;
+      acc5 += x6 * c0;
+      acc6 += x7 * c0;
+      acc7 += x0 * c0;
+
+      /* Read the b[numTaps-3] coefficient */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-5] sample */
+      x1 = *(px++);
+
+      /* Perform the multiply-accumulates */
+      acc0 += x2 * c0;
+      acc1 += x3 * c0;
+      acc2 += x4 * c0;
+      acc3 += x5 * c0;
+      acc4 += x6 * c0;
+      acc5 += x7 * c0;
+      acc6 += x0 * c0;
+      acc7 += x1 * c0;
+
+      /* Read the b[numTaps-4] coefficient */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-6] sample */
+      x2 = *(px++);
+
+      /* Perform the multiply-accumulates */
+      acc0 += x3 * c0;
+      acc1 += x4 * c0;
+      acc2 += x5 * c0;
+      acc3 += x6 * c0;
+      acc4 += x7 * c0;
+      acc5 += x0 * c0;
+      acc6 += x1 * c0;
+      acc7 += x2 * c0;
+
+      /* Read the b[numTaps-4] coefficient */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-6] sample */
+      x3 = *(px++);
+
+      /* Perform the multiply-accumulates */
+      acc0 += x4 * c0;
+      acc1 += x5 * c0;
+      acc2 += x6 * c0;
+      acc3 += x7 * c0;
+      acc4 += x0 * c0;
+      acc5 += x1 * c0;
+      acc6 += x2 * c0;
+      acc7 += x3 * c0;
+
+      /* Read the b[numTaps-4] coefficient */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-6] sample */
+      x4 = *(px++);
+
+      /* Perform the multiply-accumulates */
+      acc0 += x5 * c0;
+      acc1 += x6 * c0;
+      acc2 += x7 * c0;
+      acc3 += x0 * c0;
+      acc4 += x1 * c0;
+      acc5 += x2 * c0;
+      acc6 += x3 * c0;
+      acc7 += x4 * c0;
+
+      /* Read the b[numTaps-4] coefficient */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-6] sample */
+      x5 = *(px++);
+
+      /* Perform the multiply-accumulates */
+      acc0 += x6 * c0;
+      acc1 += x7 * c0;
+      acc2 += x0 * c0;
+      acc3 += x1 * c0;
+      acc4 += x2 * c0;
+      acc5 += x3 * c0;
+      acc6 += x4 * c0;
+      acc7 += x5 * c0;
+
+      /* Read the b[numTaps-4] coefficient */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-6] sample */
+      x6 = *(px++);
+
+      /* Perform the multiply-accumulates */
+      acc0 += x7 * c0;
+      acc1 += x0 * c0;
+      acc2 += x1 * c0;
+      acc3 += x2 * c0;
+      acc4 += x3 * c0;
+      acc5 += x4 * c0;
+      acc6 += x5 * c0;
+      acc7 += x6 * c0;
+
+      tapCnt--;
+    }
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
+    tapCnt = numTaps % 0x8u;
+
+    while(tapCnt > 0u)
+    {
+      /* Read coefficients */
+      c0 = *(pb++);
+
+      /* Fetch 1 state variable */
+      x7 = *(px++);
+
+      /* Perform the multiply-accumulates */
+      acc0 += x0 * c0;
+      acc1 += x1 * c0;
+      acc2 += x2 * c0;
+      acc3 += x3 * c0;
+      acc4 += x4 * c0;
+      acc5 += x5 * c0;
+      acc6 += x6 * c0;
+      acc7 += x7 * c0;
+
+      /* Reuse the present sample states for next sample */
+      x0 = x1;
+      x1 = x2;
+      x2 = x3;
+      x3 = x4;
+      x4 = x5;
+      x5 = x6;
+      x6 = x7;
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Advance the state pointer by 4 to process the next group of 4 samples */
+    pState = pState + 8;
+
+    /* The results in the 4 accumulators, store in the destination buffer. */
+    *pDst++ = acc0;
+    *pDst++ = acc1;
+    *pDst++ = acc2;
+    *pDst++ = acc3;
+    *pDst++ = acc4;
+    *pDst++ = acc5;
+    *pDst++ = acc6;
+    *pDst++ = acc7;
+
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.  
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x8u;
+
+  while(blkCnt > 0u)
+  {
+    /* Copy one sample at a time into state buffer */
+    *pStateCurnt++ = *pSrc++;
+
+    /* Set the accumulator to zero */
+    acc0 = 0.0f;
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* Initialize Coefficient pointer */
+    pb = (pCoeffs);
+
+    i = numTaps;
+
+    /* Perform the multiply-accumulates */
+    do
+    {
+      acc0 += *px++ * *pb++;
+      i--;
+
+    } while(i > 0u);
+
+    /* The result is store in the destination buffer. */
+    *pDst++ = acc0;
+
+    /* Advance state pointer by 1 for the next sample */
+    pState = pState + 1;
+
+    blkCnt--;
+  }
+
+  /* Processing is complete.  
+   ** Now copy the last numTaps - 1 samples to the satrt of the state buffer.  
+   ** This prepares the state buffer for the next function call. */
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = S->pState;
+
+  tapCnt = (numTaps - 1u) >> 2u;
+
+  /* copy data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+  /* Calculate remaining number of copies */
+  tapCnt = (numTaps - 1u) % 0x4u;
+
+  /* Copy the remaining q31_t data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+}
+
+#else
+
+void arm_fir_f32(
+  const arm_fir_instance_f32 * S,
+  float32_t * pSrc,
+  float32_t * pDst,
+  uint32_t blockSize)
+{
+  float32_t *pState = S->pState;                 /* State pointer */
+  float32_t *pCoeffs = S->pCoeffs;               /* Coefficient pointer */
+  float32_t *pStateCurnt;                        /* Points to the current sample of the state */
+  float32_t *px, *pb;                            /* Temporary pointers for state and coefficient buffers */
+  uint32_t numTaps = S->numTaps;                 /* Number of filter coefficients in the filter */
+  uint32_t i, tapCnt, blkCnt;                    /* Loop counters */
+
+  /* Run the below code for Cortex-M0 */
+
+  float32_t acc;
+
+  /* S->pState points to state array which contains previous frame (numTaps - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = &(S->pState[(numTaps - 1u)]);
+
+  /* Initialize blkCnt with blockSize */
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* Copy one sample at a time into state buffer */
+    *pStateCurnt++ = *pSrc++;
+
+    /* Set the accumulator to zero */
+    acc = 0.0f;
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* Initialize Coefficient pointer */
+    pb = pCoeffs;
+
+    i = numTaps;
+
+    /* Perform the multiply-accumulates */
+    do
+    {
+      /* acc =  b[numTaps-1] * x[n-numTaps-1] + b[numTaps-2] * x[n-numTaps-2] + b[numTaps-3] * x[n-numTaps-3] +...+ b[0] * x[0] */
+      acc += *px++ * *pb++;
+      i--;
+
+    } while(i > 0u);
+
+    /* The result is store in the destination buffer. */
+    *pDst++ = acc;
+
+    /* Advance state pointer by 1 for the next sample */
+    pState = pState + 1;
+
+    blkCnt--;
+  }
+
+  /* Processing is complete.         
+   ** Now copy the last numTaps - 1 samples to the starting of the state buffer.       
+   ** This prepares the state buffer for the next function call. */
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = S->pState;
+
+  /* Copy numTaps number of values */
+  tapCnt = numTaps - 1u;
+
+  /* Copy data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+}
+
+#endif /*   #ifndef ARM_MATH_CM0 */
+
+/**  
+ * @} end of FIR group  
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_fast_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_fast_q15.c
new file mode 100644
index 000000000..59abff2f5
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_fast_q15.c
@@ -0,0 +1,341 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:        arm_fir_fast_q15.c    
+*    
+* Description:  Q15 Fast FIR filter processing function.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.9  2010/08/16     
+*    Initial version    
+*    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup FIR    
+ * @{    
+ */
+
+/**    
+ * @param[in] *S points to an instance of the Q15 FIR filter structure.    
+ * @param[in] *pSrc points to the block of input data.    
+ * @param[out] *pDst points to the block of output data.    
+ * @param[in] blockSize number of samples to process per call.    
+ * @return none.    
+ *    
+ * Scaling and Overflow Behavior:    
+ * \par    
+ * This fast version uses a 32-bit accumulator with 2.30 format.    
+ * The accumulator maintains full precision of the intermediate multiplication results but provides only a single guard bit.    
+ * Thus, if the accumulator result overflows it wraps around and distorts the result.    
+ * In order to avoid overflows completely the input signal must be scaled down by log2(numTaps) bits.    
+ * The 2.30 accumulator is then truncated to 2.15 format and saturated to yield the 1.15 result.    
+ *    
+ * \par    
+ * Refer to the function arm_fir_q15() for a slower implementation of this function which uses 64-bit accumulation to avoid wrap around distortion.  Both the slow and the fast versions use the same instance structure.    
+ * Use the function arm_fir_init_q15() to initialize the filter structure.    
+ */
+
+void arm_fir_fast_q15(
+  const arm_fir_instance_q15 * S,
+  q15_t * pSrc,
+  q15_t * pDst,
+  uint32_t blockSize)
+{
+  q15_t *pState = S->pState;                     /* State pointer */
+  q15_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
+  q15_t *pStateCurnt;                            /* Points to the current sample of the state */
+  q31_t acc0, acc1, acc2, acc3;                  /* Accumulators */
+  q15_t *pb;                                     /* Temporary pointer for coefficient buffer */
+  q15_t *px;                                     /* Temporary q31 pointer for SIMD state buffer accesses */
+  q31_t x0, x1, x2, c0;                          /* Temporary variables to hold SIMD state and coefficient values */
+  uint32_t numTaps = S->numTaps;                 /* Number of taps in the filter */
+  uint32_t tapCnt, blkCnt;                       /* Loop counters */
+
+
+  /* S->pState points to state array which contains previous frame (numTaps - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = &(S->pState[(numTaps - 1u)]);
+
+  /* Apply loop unrolling and compute 4 output values simultaneously.      
+   * The variables acc0 ... acc3 hold output values that are being computed:      
+   *      
+   *    acc0 =  b[numTaps-1] * x[n-numTaps-1] + b[numTaps-2] * x[n-numTaps-2] + b[numTaps-3] * x[n-numTaps-3] +...+ b[0] * x[0]      
+   *    acc1 =  b[numTaps-1] * x[n-numTaps] +   b[numTaps-2] * x[n-numTaps-1] + b[numTaps-3] * x[n-numTaps-2] +...+ b[0] * x[1]      
+   *    acc2 =  b[numTaps-1] * x[n-numTaps+1] + b[numTaps-2] * x[n-numTaps] +   b[numTaps-3] * x[n-numTaps-1] +...+ b[0] * x[2]      
+   *    acc3 =  b[numTaps-1] * x[n-numTaps+2] + b[numTaps-2] * x[n-numTaps+1] + b[numTaps-3] * x[n-numTaps]   +...+ b[0] * x[3]      
+   */
+
+  blkCnt = blockSize >> 2;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.      
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* Copy four new input samples into the state buffer.      
+     ** Use 32-bit SIMD to move the 16-bit data.  Only requires two copies. */
+    *pStateCurnt++ = *pSrc++;
+    *pStateCurnt++ = *pSrc++;
+    *pStateCurnt++ = *pSrc++;
+    *pStateCurnt++ = *pSrc++;
+
+
+    /* Set all accumulators to zero */
+    acc0 = 0;
+    acc1 = 0;
+    acc2 = 0;
+    acc3 = 0;
+
+    /* Typecast q15_t pointer to q31_t pointer for state reading in q31_t */
+    px = pState;
+
+    /* Typecast q15_t pointer to q31_t pointer for coefficient reading in q31_t */
+    pb = pCoeffs;
+
+    /* Read the first two samples from the state buffer:  x[n-N], x[n-N-1] */
+    x0 = *__SIMD32(px)++;
+
+    /* Read the third and forth samples from the state buffer: x[n-N-2], x[n-N-3] */
+    x2 = *__SIMD32(px)++;
+
+    /* Loop over the number of taps.  Unroll by a factor of 4.      
+     ** Repeat until we've computed numTaps-(numTaps%4) coefficients. */
+    tapCnt = numTaps >> 2;
+
+    while(tapCnt > 0)
+    {
+      /* Read the first two coefficients using SIMD:  b[N] and b[N-1] coefficients */
+      c0 = *__SIMD32(pb)++;
+
+      /* acc0 +=  b[N] * x[n-N] + b[N-1] * x[n-N-1] */
+      acc0 = __SMLAD(x0, c0, acc0);
+
+      /* acc2 +=  b[N] * x[n-N-2] + b[N-1] * x[n-N-3] */
+      acc2 = __SMLAD(x2, c0, acc2);
+
+      /* pack  x[n-N-1] and x[n-N-2] */
+#ifndef ARM_MATH_BIG_ENDIAN
+      x1 = __PKHBT(x2, x0, 0);
+#else
+      x1 = __PKHBT(x0, x2, 0);
+#endif
+
+      /* Read state x[n-N-4], x[n-N-5] */
+      x0 = _SIMD32_OFFSET(px);
+
+      /* acc1 +=  b[N] * x[n-N-1] + b[N-1] * x[n-N-2] */
+      acc1 = __SMLADX(x1, c0, acc1);
+
+      /* pack  x[n-N-3] and x[n-N-4] */
+#ifndef ARM_MATH_BIG_ENDIAN
+      x1 = __PKHBT(x0, x2, 0);
+#else
+      x1 = __PKHBT(x2, x0, 0);
+#endif
+
+      /* acc3 +=  b[N] * x[n-N-3] + b[N-1] * x[n-N-4] */
+      acc3 = __SMLADX(x1, c0, acc3);
+
+      /* Read coefficients b[N-2], b[N-3] */
+      c0 = *__SIMD32(pb)++;
+
+      /* acc0 +=  b[N-2] * x[n-N-2] + b[N-3] * x[n-N-3] */
+      acc0 = __SMLAD(x2, c0, acc0);
+
+      /* Read state x[n-N-6], x[n-N-7] with offset */
+      x2 = _SIMD32_OFFSET(px + 2u);
+
+      /* acc2 +=  b[N-2] * x[n-N-4] + b[N-3] * x[n-N-5] */
+      acc2 = __SMLAD(x0, c0, acc2);
+
+      /* acc1 +=  b[N-2] * x[n-N-3] + b[N-3] * x[n-N-4] */
+      acc1 = __SMLADX(x1, c0, acc1);
+
+      /* pack  x[n-N-5] and x[n-N-6] */
+#ifndef ARM_MATH_BIG_ENDIAN
+      x1 = __PKHBT(x2, x0, 0);
+#else
+      x1 = __PKHBT(x0, x2, 0);
+#endif
+
+      /* acc3 +=  b[N-2] * x[n-N-5] + b[N-3] * x[n-N-6] */
+      acc3 = __SMLADX(x1, c0, acc3);
+
+      /* Update state pointer for next state reading */
+      px += 4u;
+
+      /* Decrement tap count */
+      tapCnt--;
+
+    }
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps.       
+     ** This is always be 2 taps since the filter length is even. */
+    if((numTaps & 0x3u) != 0u)
+    {
+
+      /* Read last two coefficients */
+      c0 = *__SIMD32(pb)++;
+
+      /* Perform the multiply-accumulates */
+      acc0 = __SMLAD(x0, c0, acc0);
+      acc2 = __SMLAD(x2, c0, acc2);
+
+      /* pack state variables */
+#ifndef ARM_MATH_BIG_ENDIAN
+      x1 = __PKHBT(x2, x0, 0);
+#else
+      x1 = __PKHBT(x0, x2, 0);
+#endif
+
+      /* Read last state variables */
+      x0 = *__SIMD32(px);
+
+      /* Perform the multiply-accumulates */
+      acc1 = __SMLADX(x1, c0, acc1);
+
+      /* pack state variables */
+#ifndef ARM_MATH_BIG_ENDIAN
+      x1 = __PKHBT(x0, x2, 0);
+#else
+      x1 = __PKHBT(x2, x0, 0);
+#endif
+
+      /* Perform the multiply-accumulates */
+      acc3 = __SMLADX(x1, c0, acc3);
+    }
+
+    /* The results in the 4 accumulators are in 2.30 format.  Convert to 1.15 with saturation.       
+     ** Then store the 4 outputs in the destination buffer. */
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+    *__SIMD32(pDst)++ =
+      __PKHBT(__SSAT((acc0 >> 15), 16), __SSAT((acc1 >> 15), 16), 16);
+
+    *__SIMD32(pDst)++ =
+      __PKHBT(__SSAT((acc2 >> 15), 16), __SSAT((acc3 >> 15), 16), 16);
+
+#else
+
+    *__SIMD32(pDst)++ =
+      __PKHBT(__SSAT((acc1 >> 15), 16), __SSAT((acc0 >> 15), 16), 16);
+
+    *__SIMD32(pDst)++ =
+      __PKHBT(__SSAT((acc3 >> 15), 16), __SSAT((acc2 >> 15), 16), 16);
+
+
+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN       */
+
+    /* Advance the state pointer by 4 to process the next group of 4 samples */
+    pState = pState + 4u;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.      
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+  while(blkCnt > 0u)
+  {
+    /* Copy two samples into state buffer */
+    *pStateCurnt++ = *pSrc++;
+
+    /* Set the accumulator to zero */
+    acc0 = 0;
+
+    /* Use SIMD to hold states and coefficients */
+    px = pState;
+    pb = pCoeffs;
+
+    tapCnt = numTaps >> 1u;
+
+    do
+    {
+
+      acc0 += (q31_t) * px++ * *pb++;
+	  acc0 += (q31_t) * px++ * *pb++;
+
+      tapCnt--;
+    }
+    while(tapCnt > 0u);
+
+    /* The result is in 2.30 format.  Convert to 1.15 with saturation.      
+     ** Then store the output in the destination buffer. */
+    *pDst++ = (q15_t) (__SSAT((acc0 >> 15), 16));
+
+    /* Advance state pointer by 1 for the next sample */
+    pState = pState + 1u;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Processing is complete.      
+   ** Now copy the last numTaps - 1 samples to the satrt of the state buffer.      
+   ** This prepares the state buffer for the next function call. */
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = S->pState;
+
+  /* Calculation of count for copying integer writes */
+  tapCnt = (numTaps - 1u) >> 2;
+
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+
+    tapCnt--;
+
+  }
+
+  /* Calculation of count for remaining q15_t data */
+  tapCnt = (numTaps - 1u) % 0x4u;
+
+  /* copy remaining data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+}
+
+/**    
+ * @} end of FIR group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_fast_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_fast_q31.c
new file mode 100644
index 000000000..e384ff973
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_fast_q31.c
@@ -0,0 +1,309 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_fir_fast_q31.c    
+*    
+* Description:	Processing function for the Q31 Fast FIR filter.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.9  2010/08/27     
+*    Initial version    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup FIR    
+ * @{    
+ */
+
+/**    
+ * @param[in] *S points to an instance of the Q31 structure.    
+ * @param[in] *pSrc points to the block of input data.    
+ * @param[out] *pDst points to the block output data.    
+ * @param[in] blockSize number of samples to process per call.    
+ * @return none.    
+ *    
+ * Scaling and Overflow Behavior:    
+ *    
+ * \par    
+ * This function is optimized for speed at the expense of fixed-point precision and overflow protection.    
+ * The result of each 1.31 x 1.31 multiplication is truncated to 2.30 format.    
+ * These intermediate results are added to a 2.30 accumulator.    
+ * Finally, the accumulator is saturated and converted to a 1.31 result.    
+ * The fast version has the same overflow behavior as the standard version and provides less precision since it discards the low 32 bits of each multiplication result.    
+ * In order to avoid overflows completely the input signal must be scaled down by log2(numTaps) bits.    
+ *    
+ * \par    
+ * Refer to the function arm_fir_q31() for a slower implementation of this function which uses a 64-bit accumulator to provide higher precision.  Both the slow and the fast versions use the same instance structure.    
+ * Use the function arm_fir_init_q31() to initialize the filter structure.    
+ */
+
+void arm_fir_fast_q31(
+  const arm_fir_instance_q31 * S,
+  q31_t * pSrc,
+  q31_t * pDst,
+  uint32_t blockSize)
+{
+  q31_t *pState = S->pState;                     /* State pointer */
+  q31_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
+  q31_t *pStateCurnt;                            /* Points to the current sample of the state */
+  q31_t x0, x1, x2, x3;                          /* Temporary variables to hold state */
+  q31_t c0;                                      /* Temporary variable to hold coefficient value */
+  q31_t *px;                                     /* Temporary pointer for state */
+  q31_t *pb;                                     /* Temporary pointer for coefficient buffer */
+  q31_t acc0, acc1, acc2, acc3;                  /* Accumulators */
+  uint32_t numTaps = S->numTaps;                 /* Number of filter coefficients in the filter */
+  uint32_t i, tapCnt, blkCnt;                    /* Loop counters */
+
+  /* S->pState points to buffer which contains previous frame (numTaps - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = &(S->pState[(numTaps - 1u)]);
+
+  /* Apply loop unrolling and compute 4 output values simultaneously.    
+   * The variables acc0 ... acc3 hold output values that are being computed:    
+   *    
+   *    acc0 =  b[numTaps-1] * x[n-numTaps-1] + b[numTaps-2] * x[n-numTaps-2] + b[numTaps-3] * x[n-numTaps-3] +...+ b[0] * x[0]    
+   *    acc1 =  b[numTaps-1] * x[n-numTaps] +   b[numTaps-2] * x[n-numTaps-1] + b[numTaps-3] * x[n-numTaps-2] +...+ b[0] * x[1]    
+   *    acc2 =  b[numTaps-1] * x[n-numTaps+1] + b[numTaps-2] * x[n-numTaps] +   b[numTaps-3] * x[n-numTaps-1] +...+ b[0] * x[2]    
+   *    acc3 =  b[numTaps-1] * x[n-numTaps+2] + b[numTaps-2] * x[n-numTaps+1] + b[numTaps-3] * x[n-numTaps]   +...+ b[0] * x[3]    
+   */
+  blkCnt = blockSize >> 2;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* Copy four new input samples into the state buffer */
+    *pStateCurnt++ = *pSrc++;
+    *pStateCurnt++ = *pSrc++;
+    *pStateCurnt++ = *pSrc++;
+    *pStateCurnt++ = *pSrc++;
+
+    /* Set all accumulators to zero */
+    acc0 = 0;
+    acc1 = 0;
+    acc2 = 0;
+    acc3 = 0;
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* Initialize coefficient pointer */
+    pb = pCoeffs;
+
+    /* Read the first three samples from the state buffer:    
+     *  x[n-numTaps], x[n-numTaps-1], x[n-numTaps-2] */
+    x0 = *(px++);
+    x1 = *(px++);
+    x2 = *(px++);
+
+    /* Loop unrolling.  Process 4 taps at a time. */
+    tapCnt = numTaps >> 2;
+    i = tapCnt;
+
+    while(i > 0u)
+    {
+      /* Read the b[numTaps] coefficient */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-3] sample */
+      x3 = *(px++);
+
+      /* acc0 +=  b[numTaps] * x[n-numTaps] */
+      acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x0 * c0)) >> 32);
+
+      /* acc1 +=  b[numTaps] * x[n-numTaps-1] */
+      acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x1 * c0)) >> 32);
+
+      /* acc2 +=  b[numTaps] * x[n-numTaps-2] */
+      acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x2 * c0)) >> 32);
+
+      /* acc3 +=  b[numTaps] * x[n-numTaps-3] */
+      acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x3 * c0)) >> 32);
+
+      /* Read the b[numTaps-1] coefficient */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-4] sample */
+      x0 = *(px++);
+
+      /* Perform the multiply-accumulates */
+      acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x1 * c0)) >> 32);
+      acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x2 * c0)) >> 32);
+      acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x3 * c0)) >> 32);
+      acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x0 * c0)) >> 32);
+
+      /* Read the b[numTaps-2] coefficient */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-5] sample */
+      x1 = *(px++);
+
+      /* Perform the multiply-accumulates */
+      acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x2 * c0)) >> 32);
+      acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x3 * c0)) >> 32);
+      acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x0 * c0)) >> 32);
+      acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x1 * c0)) >> 32);
+
+      /* Read the b[numTaps-3] coefficients */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-6] sample */
+      x2 = *(px++);
+
+      /* Perform the multiply-accumulates */
+      acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x3 * c0)) >> 32);
+      acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x0 * c0)) >> 32);
+      acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x1 * c0)) >> 32);
+      acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x2 * c0)) >> 32);
+      i--;
+    }
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
+
+    i = numTaps - (tapCnt * 4u);
+    while(i > 0u)
+    {
+      /* Read coefficients */
+      c0 = *(pb++);
+
+      /* Fetch 1 state variable */
+      x3 = *(px++);
+
+      /* Perform the multiply-accumulates */
+      acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x0 * c0)) >> 32);
+      acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x1 * c0)) >> 32);
+      acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x2 * c0)) >> 32);
+      acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x3 * c0)) >> 32);
+
+      /* Reuse the present sample states for next sample */
+      x0 = x1;
+      x1 = x2;
+      x2 = x3;
+
+      /* Decrement the loop counter */
+      i--;
+    }
+
+    /* Advance the state pointer by 4 to process the next group of 4 samples */
+    pState = pState + 4;
+
+    /* The results in the 4 accumulators are in 2.30 format.  Convert to 1.31    
+     ** Then store the 4 outputs in the destination buffer. */
+    *pDst++ = (q31_t) (acc0 << 1);
+    *pDst++ = (q31_t) (acc1 << 1);
+    *pDst++ = (q31_t) (acc2 << 1);
+    *pDst++ = (q31_t) (acc3 << 1);
+
+    /* Decrement the samples loop counter */
+    blkCnt--;
+  }
+
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 4u;
+
+  while(blkCnt > 0u)
+  {
+    /* Copy one sample at a time into state buffer */
+    *pStateCurnt++ = *pSrc++;
+
+    /* Set the accumulator to zero */
+    acc0 = 0;
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* Initialize Coefficient pointer */
+    pb = (pCoeffs);
+
+    i = numTaps;
+
+    /* Perform the multiply-accumulates */
+    do
+    {
+      acc0 =
+        (q31_t) ((((q63_t) acc0 << 32) +
+                  ((q63_t) (*px++) * (*(pb++)))) >> 32);
+      i--;
+    } while(i > 0u);
+
+    /* The result is in 2.30 format.  Convert to 1.31    
+     ** Then store the output in the destination buffer. */
+    *pDst++ = (q31_t) (acc0 << 1);
+
+    /* Advance state pointer by 1 for the next sample */
+    pState = pState + 1;
+
+    /* Decrement the samples loop counter */
+    blkCnt--;
+  }
+
+  /* Processing is complete.    
+   ** Now copy the last numTaps - 1 samples to the satrt of the state buffer.    
+   ** This prepares the state buffer for the next function call. */
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = S->pState;
+
+  tapCnt = (numTaps - 1u) >> 2u;
+
+  /* copy data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+  /* Calculate remaining number of copies */
+  tapCnt = (numTaps - 1u) % 0x4u;
+
+  /* Copy the remaining q31_t data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+
+}
+
+/**    
+ * @} end of FIR group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_init_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_init_f32.c
new file mode 100644
index 000000000..aaeddf5f6
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_init_f32.c
@@ -0,0 +1,94 @@
+/*-----------------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:        arm_fir_init_f32.c    
+*    
+* Description:  Floating-point FIR filter initialization function.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.5  2010/04/26     
+* 	 incorporated review comments and updated with latest CMSIS layer    
+*    
+* Version 0.0.3  2010/03/10     
+*    Initial version    
+* ---------------------------------------------------------------------------*/
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup FIR    
+ * @{    
+ */
+
+/**    
+ * @details    
+ *    
+ * @param[in,out] *S points to an instance of the floating-point FIR filter structure.    
+ * @param[in] 	  numTaps  Number of filter coefficients in the filter.    
+ * @param[in]     *pCoeffs points to the filter coefficients buffer.    
+ * @param[in]     *pState points to the state buffer.    
+ * @param[in] 	  blockSize number of samples that are processed per call.    
+ * @return 		  none.    
+ *    
+ * Description:    
+ * \par    
+ * pCoeffs points to the array of filter coefficients stored in time reversed order:    
+ * 
    
+ *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}    
+ * 
    
+ * \par    
+ * pState points to the array of state variables.    
+ * pState is of length numTaps+blockSize-1 samples, where blockSize is the number of input samples processed by each call to arm_fir_f32().    
+ */
+
+void arm_fir_init_f32(
+  arm_fir_instance_f32 * S,
+  uint16_t numTaps,
+  float32_t * pCoeffs,
+  float32_t * pState,
+  uint32_t blockSize)
+{
+  /* Assign filter taps */
+  S->numTaps = numTaps;
+
+  /* Assign coefficient pointer */
+  S->pCoeffs = pCoeffs;
+
+  /* Clear state buffer and the size of state buffer is (blockSize + numTaps - 1) */
+  memset(pState, 0, (numTaps + (blockSize - 1u)) * sizeof(float32_t));
+
+  /* Assign state pointer */
+  S->pState = pState;
+
+}
+
+/**    
+ * @} end of FIR group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q15.c
new file mode 100644
index 000000000..02bb33623
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q15.c
@@ -0,0 +1,152 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:        arm_fir_init_q15.c    
+*    
+* Description:  Q15 FIR filter initialization function.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.5  2010/04/26     
+* 	 incorporated review comments and updated with latest CMSIS layer    
+*    
+* Version 0.0.3  2010/03/10     
+*    Initial version    
+* ------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup FIR    
+ * @{    
+ */
+
+/**    
+ * @param[in,out]  *S points to an instance of the Q15 FIR filter structure.    
+ * @param[in] 	   numTaps  Number of filter coefficients in the filter. Must be even and greater than or equal to 4.    
+ * @param[in]      *pCoeffs points to the filter coefficients buffer.    
+ * @param[in]      *pState points to the state buffer.    
+ * @param[in]      blockSize is number of samples processed per call.    
+ * @return The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if    
+ * numTaps is not greater than or equal to 4 and even.    
+ *    
+ * Description:    
+ * \par    
+ * pCoeffs points to the array of filter coefficients stored in time reversed order:    
+ * 
    
+ *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}    
+ * 
    
+ * Note that numTaps must be even and greater than or equal to 4.    
+ * To implement an odd length filter simply increase numTaps by 1 and set the last coefficient to zero.    
+ * For example, to implement a filter with numTaps=3 and coefficients    
+ * 
    
+ *     {0.3, -0.8, 0.3}    
+ * 
    
+ * set numTaps=4 and use the coefficients:    
+ * 
    
+ *     {0.3, -0.8, 0.3, 0}.    
+ * 
    
+ * Similarly, to implement a two point filter    
+ * 
    
+ *     {0.3, -0.3}    
+ * 
    
+ * set numTaps=4 and use the coefficients:    
+ * 
    
+ *     {0.3, -0.3, 0, 0}.    
+ * 
    
+ * \par    
+ * pState points to the array of state variables.    
+ * pState is of length numTaps+blockSize, when running on Cortex-M4 and Cortex-M3  and is of length numTaps+blockSize-1, when running on Cortex-M0 where blockSize is the number of input samples processed by each call to arm_fir_q15().    
+ */
+
+arm_status arm_fir_init_q15(
+  arm_fir_instance_q15 * S,
+  uint16_t numTaps,
+  q15_t * pCoeffs,
+  q15_t * pState,
+  uint32_t blockSize)
+{
+  arm_status status;
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /* The Number of filter coefficients in the filter must be even and at least 4 */
+  if(numTaps & 0x1u)
+  {
+    status = ARM_MATH_ARGUMENT_ERROR;
+  }
+  else
+  {
+    /* Assign filter taps */
+    S->numTaps = numTaps;
+
+    /* Assign coefficient pointer */
+    S->pCoeffs = pCoeffs;
+
+    /* Clear the state buffer.  The size is always (blockSize + numTaps ) */
+    memset(pState, 0, (numTaps + (blockSize)) * sizeof(q15_t));
+
+    /* Assign state pointer */
+    S->pState = pState;
+
+    status = ARM_MATH_SUCCESS;
+  }
+
+  return (status);
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Assign filter taps */
+  S->numTaps = numTaps;
+
+  /* Assign coefficient pointer */
+  S->pCoeffs = pCoeffs;
+
+  /* Clear the state buffer.  The size is always (blockSize + numTaps - 1) */
+  memset(pState, 0, (numTaps + (blockSize - 1u)) * sizeof(q15_t));
+
+  /* Assign state pointer */
+  S->pState = pState;
+
+  status = ARM_MATH_SUCCESS;
+
+  return (status);
+
+#endif /*  #ifndef ARM_MATH_CM0 */
+
+}
+
+/**    
+ * @} end of FIR group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q31.c
new file mode 100644
index 000000000..997a78427
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q31.c
@@ -0,0 +1,94 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_fir_init_q31.c    
+*    
+* Description:	Q31 FIR filter initialization function.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.5  2010/04/26     
+* 	 incorporated review comments and updated with latest CMSIS layer    
+*    
+* Version 0.0.3  2010/03/10     
+*    Initial version    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup FIR    
+ * @{    
+ */
+
+/**    
+ * @details    
+ *    
+ * @param[in,out] *S points to an instance of the Q31 FIR filter structure.    
+ * @param[in] 	  numTaps  Number of filter coefficients in the filter.    
+ * @param[in] 	  *pCoeffs points to the filter coefficients buffer.    
+ * @param[in] 	  *pState points to the state buffer.    
+ * @param[in] 	  blockSize number of samples that are processed per call.    
+ * @return        none.    
+ *    
+ * Description:    
+ * \par    
+ * pCoeffs points to the array of filter coefficients stored in time reversed order:    
+ * 
    
+ *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}    
+ * 
    
+ * \par    
+ * pState points to the array of state variables.    
+ * pState is of length numTaps+blockSize-1 samples, where blockSize is the number of input samples processed by each call to arm_fir_q31().    
+ */
+
+void arm_fir_init_q31(
+  arm_fir_instance_q31 * S,
+  uint16_t numTaps,
+  q31_t * pCoeffs,
+  q31_t * pState,
+  uint32_t blockSize)
+{
+  /* Assign filter taps */
+  S->numTaps = numTaps;
+
+  /* Assign coefficient pointer */
+  S->pCoeffs = pCoeffs;
+
+  /* Clear state buffer and state array size is (blockSize + numTaps - 1) */
+  memset(pState, 0, (blockSize + ((uint32_t) numTaps - 1u)) * sizeof(q31_t));
+
+  /* Assign state pointer */
+  S->pState = pState;
+
+}
+
+/**    
+ * @} end of FIR group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q7.c
new file mode 100644
index 000000000..65a49a823
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q7.c
@@ -0,0 +1,92 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:        arm_fir_init_q7.c    
+*    
+* Description:  Q7 FIR filter initialization function.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.5  2010/04/26     
+* 	 incorporated review comments and updated with latest CMSIS layer    
+*    
+* Version 0.0.3  2010/03/10     
+*    Initial version    
+* ------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup FIR    
+ * @{    
+ */
+/**    
+ * @param[in,out] *S points to an instance of the Q7 FIR filter structure.    
+ * @param[in] 	  numTaps  Number of filter coefficients in the filter.    
+ * @param[in] 	  *pCoeffs points to the filter coefficients buffer.    
+ * @param[in]     *pState points to the state buffer.    
+ * @param[in]     blockSize number of samples that are processed per call.    
+ * @return     	  none    
+ *    
+ * Description:    
+ * \par    
+ * pCoeffs points to the array of filter coefficients stored in time reversed order:    
+ * 
    
+ *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}    
+ * 
    
+ * \par    
+ * pState points to the array of state variables.    
+ * pState is of length numTaps+blockSize-1 samples, where blockSize is the number of input samples processed by each call to arm_fir_q7().    
+ */
+
+void arm_fir_init_q7(
+  arm_fir_instance_q7 * S,
+  uint16_t numTaps,
+  q7_t * pCoeffs,
+  q7_t * pState,
+  uint32_t blockSize)
+{
+
+  /* Assign filter taps */
+  S->numTaps = numTaps;
+
+  /* Assign coefficient pointer */
+  S->pCoeffs = pCoeffs;
+
+  /* Clear the state buffer.  The size is always (blockSize + numTaps - 1) */
+  memset(pState, 0, (numTaps + (blockSize - 1u)) * sizeof(q7_t));
+
+  /* Assign state pointer */
+  S->pState = pState;
+
+}
+
+/**    
+ * @} end of FIR group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_f32.c
new file mode 100644
index 000000000..c966a0ced
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_f32.c
@@ -0,0 +1,574 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_fir_interpolate_f32.c    
+*    
+* Description:	FIR interpolation for floating-point sequences.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @defgroup FIR_Interpolate Finite Impulse Response (FIR) Interpolator    
+ *    
+ * These functions combine an upsampler (zero stuffer) and an FIR filter.    
+ * They are used in multirate systems for increasing the sample rate of a signal without introducing high frequency images.    
+ * Conceptually, the functions are equivalent to the block diagram below:    
+ * \image html FIRInterpolator.gif "Components included in the FIR Interpolator functions"    
+ * After upsampling by a factor of L, the signal should be filtered by a lowpass filter with a normalized    
+ * cutoff frequency of 1/L in order to eliminate high frequency copies of the spectrum.    
+ * The user of the function is responsible for providing the filter coefficients.    
+ *    
+ * The FIR interpolator functions provided in the CMSIS DSP Library combine the upsampler and FIR filter in an efficient manner.    
+ * The upsampler inserts L-1 zeros between each sample.    
+ * Instead of multiplying by these zero values, the FIR filter is designed to skip them.    
+ * This leads to an efficient implementation without any wasted effort.    
+ * The functions operate on blocks of input and output data.    
+ * pSrc points to an array of blockSize input values and    
+ * pDst points to an array of blockSize*L output values.    
+ *    
+ * The library provides separate functions for Q15, Q31, and floating-point data types.    
+ *    
+ * \par Algorithm:    
+ * The functions use a polyphase filter structure:    
+ * 
    
+ *    y[n] = b[0] * x[n] + b[L]   * x[n-1] + ... + b[L*(phaseLength-1)] * x[n-phaseLength+1]    
+ *    y[n+1] = b[1] * x[n] + b[L+1] * x[n-1] + ... + b[L*(phaseLength-1)+1] * x[n-phaseLength+1]    
+ *    ...    
+ *    y[n+(L-1)] = b[L-1] * x[n] + b[2*L-1] * x[n-1] + ....+ b[L*(phaseLength-1)+(L-1)] * x[n-phaseLength+1]    
+ * 
    
+ * This approach is more efficient than straightforward upsample-then-filter algorithms.    
+ * With this method the computation is reduced by a factor of 1/L when compared to using a standard FIR filter.    
+ * \par    
+ * pCoeffs points to a coefficient array of size numTaps.    
+ * numTaps must be a multiple of the interpolation factor L and this is checked by the    
+ * initialization functions.    
+ * Internally, the function divides the FIR filter's impulse response into shorter filters of length    
+ * phaseLength=numTaps/L.    
+ * Coefficients are stored in time reversed order.    
+ * \par    
+ * 
    
+ *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}    
+ * 
    
+ * \par    
+ * pState points to a state array of size blockSize + phaseLength - 1.    
+ * Samples in the state buffer are stored in the order:    
+ * \par    
+ * 
    
+ *    {x[n-phaseLength+1], x[n-phaseLength], x[n-phaseLength-1], x[n-phaseLength-2]....x[0], x[1], ..., x[blockSize-1]}    
+ * 
    
+ * The state variables are updated after each block of data is processed, the coefficients are untouched.    
+ *    
+ * \par Instance Structure    
+ * The coefficients and state variables for a filter are stored together in an instance data structure.    
+ * A separate instance structure must be defined for each filter.    
+ * Coefficient arrays may be shared among several instances while state variable array should be allocated separately.    
+ * There are separate instance structure declarations for each of the 3 supported data types.    
+ *    
+ * \par Initialization Functions    
+ * There is also an associated initialization function for each data type.    
+ * The initialization function performs the following operations:    
+ * - Sets the values of the internal structure fields.    
+ * - Zeros out the values in the state buffer.    
+ * - Checks to make sure that the length of the filter is a multiple of the interpolation factor.    
+ *    
+ * \par    
+ * Use of the initialization function is optional.    
+ * However, if the initialization function is used, then the instance structure cannot be placed into a const data section.    
+ * To place an instance structure into a const data section, the instance structure must be manually initialized.    
+ * The code below statically initializes each of the 3 different data type filter instance structures    
+ * 
    
+ * arm_fir_interpolate_instance_f32 S = {L, phaseLength, pCoeffs, pState};    
+ * arm_fir_interpolate_instance_q31 S = {L, phaseLength, pCoeffs, pState};    
+ * arm_fir_interpolate_instance_q15 S = {L, phaseLength, pCoeffs, pState};    
+ * 
    
+ * where L is the interpolation factor; phaseLength=numTaps/L is the    
+ * length of each of the shorter FIR filters used internally,    
+ * pCoeffs is the address of the coefficient buffer;    
+ * pState is the address of the state buffer.    
+ * Be sure to set the values in the state buffer to zeros when doing static initialization.    
+ *    
+ * \par Fixed-Point Behavior    
+ * Care must be taken when using the fixed-point versions of the FIR interpolate filter functions.    
+ * In particular, the overflow and saturation behavior of the accumulator used in each function must be considered.    
+ * Refer to the function specific documentation below for usage guidelines.    
+ */
+
+/**    
+ * @addtogroup FIR_Interpolate    
+ * @{    
+ */
+
+/**    
+ * @brief Processing function for the floating-point FIR interpolator.    
+ * @param[in] *S        points to an instance of the floating-point FIR interpolator structure.    
+ * @param[in] *pSrc     points to the block of input data.    
+ * @param[out] *pDst    points to the block of output data.    
+ * @param[in] blockSize number of input samples to process per call.    
+ * @return none.    
+ */
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+void arm_fir_interpolate_f32(
+  const arm_fir_interpolate_instance_f32 * S,
+  float32_t * pSrc,
+  float32_t * pDst,
+  uint32_t blockSize)
+{
+  float32_t *pState = S->pState;                 /* State pointer */
+  float32_t *pCoeffs = S->pCoeffs;               /* Coefficient pointer */
+  float32_t *pStateCurnt;                        /* Points to the current sample of the state */
+  float32_t *ptr1, *ptr2;                        /* Temporary pointers for state and coefficient buffers */
+  float32_t sum0;                                /* Accumulators */
+  float32_t x0, c0;                              /* Temporary variables to hold state and coefficient values */
+  uint32_t i, blkCnt, j;                         /* Loop counters */
+  uint16_t phaseLen = S->phaseLength, tapCnt;    /* Length of each polyphase filter component */
+  float32_t acc0, acc1, acc2, acc3;
+  float32_t x1, x2, x3;
+  uint32_t blkCntN4;
+  float32_t c1, c2, c3;
+
+  /* S->pState buffer contains previous frame (phaseLen - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = S->pState + (phaseLen - 1u);
+
+  /* Initialise  blkCnt */
+  blkCnt = blockSize / 4;
+  blkCntN4 = blockSize - (4 * blkCnt);
+
+  /* Samples loop unrolled by 4 */
+  while(blkCnt > 0u)
+  {
+    /* Copy new input sample into the state buffer */
+    *pStateCurnt++ = *pSrc++;
+    *pStateCurnt++ = *pSrc++;
+    *pStateCurnt++ = *pSrc++;
+    *pStateCurnt++ = *pSrc++;
+
+    /* Address modifier index of coefficient buffer */
+    j = 1u;
+
+    /* Loop over the Interpolation factor. */
+    i = (S->L);
+
+    while(i > 0u)
+    {
+      /* Set accumulator to zero */
+      acc0 = 0.0f;
+      acc1 = 0.0f;
+      acc2 = 0.0f;
+      acc3 = 0.0f;
+
+      /* Initialize state pointer */
+      ptr1 = pState;
+
+      /* Initialize coefficient pointer */
+      ptr2 = pCoeffs + (S->L - j);
+
+      /* Loop over the polyPhase length. Unroll by a factor of 4.        
+       ** Repeat until we've computed numTaps-(4*S->L) coefficients. */
+      tapCnt = phaseLen >> 2u;
+
+      x0 = *(ptr1++);
+      x1 = *(ptr1++);
+      x2 = *(ptr1++);
+
+      while(tapCnt > 0u)
+      {
+
+        /* Read the input sample */
+        x3 = *(ptr1++);
+
+        /* Read the coefficient */
+        c0 = *(ptr2);
+
+        /* Perform the multiply-accumulate */
+        acc0 += x0 * c0;
+        acc1 += x1 * c0;
+        acc2 += x2 * c0;
+        acc3 += x3 * c0;
+
+        /* Read the coefficient */
+        c1 = *(ptr2 + S->L);
+
+        /* Read the input sample */
+        x0 = *(ptr1++);
+
+        /* Perform the multiply-accumulate */
+        acc0 += x1 * c1;
+        acc1 += x2 * c1;
+        acc2 += x3 * c1;
+        acc3 += x0 * c1;
+
+        /* Read the coefficient */
+        c2 = *(ptr2 + S->L * 2);
+
+        /* Read the input sample */
+        x1 = *(ptr1++);
+
+        /* Perform the multiply-accumulate */
+        acc0 += x2 * c2;
+        acc1 += x3 * c2;
+        acc2 += x0 * c2;
+        acc3 += x1 * c2;
+
+        /* Read the coefficient */
+        c3 = *(ptr2 + S->L * 3);
+
+        /* Read the input sample */
+        x2 = *(ptr1++);
+
+        /* Perform the multiply-accumulate */
+        acc0 += x3 * c3;
+        acc1 += x0 * c3;
+        acc2 += x1 * c3;
+        acc3 += x2 * c3;
+
+
+        /* Upsampling is done by stuffing L-1 zeros between each sample.        
+         * So instead of multiplying zeros with coefficients,        
+         * Increment the coefficient pointer by interpolation factor times. */
+        ptr2 += 4 * S->L;
+
+        /* Decrement the loop counter */
+        tapCnt--;
+      }
+
+      /* If the polyPhase length is not a multiple of 4, compute the remaining filter taps */
+      tapCnt = phaseLen % 0x4u;
+
+      while(tapCnt > 0u)
+      {
+
+        /* Read the input sample */
+        x3 = *(ptr1++);
+
+        /* Read the coefficient */
+        c0 = *(ptr2);
+
+        /* Perform the multiply-accumulate */
+        acc0 += x0 * c0;
+        acc1 += x1 * c0;
+        acc2 += x2 * c0;
+        acc3 += x3 * c0;
+
+        /* Increment the coefficient pointer by interpolation factor times. */
+        ptr2 += S->L;
+
+        /* update states for next sample processing */
+        x0 = x1;
+        x1 = x2;
+        x2 = x3;
+
+        /* Decrement the loop counter */
+        tapCnt--;
+      }
+
+      /* The result is in the accumulator, store in the destination buffer. */
+      *pDst = acc0;
+      *(pDst + S->L) = acc1;
+      *(pDst + 2 * S->L) = acc2;
+      *(pDst + 3 * S->L) = acc3;
+
+      pDst++;
+
+      /* Increment the address modifier index of coefficient buffer */
+      j++;
+
+      /* Decrement the loop counter */
+      i--;
+    }
+
+    /* Advance the state pointer by 1        
+     * to process the next group of interpolation factor number samples */
+    pState = pState + 4;
+
+    pDst += S->L * 3;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.        
+   ** No loop unrolling is used. */
+
+  while(blkCntN4 > 0u)
+  {
+    /* Copy new input sample into the state buffer */
+    *pStateCurnt++ = *pSrc++;
+
+    /* Address modifier index of coefficient buffer */
+    j = 1u;
+
+    /* Loop over the Interpolation factor. */
+    i = S->L;
+    while(i > 0u)
+    {
+      /* Set accumulator to zero */
+      sum0 = 0.0f;
+
+      /* Initialize state pointer */
+      ptr1 = pState;
+
+      /* Initialize coefficient pointer */
+      ptr2 = pCoeffs + (S->L - j);
+
+      /* Loop over the polyPhase length. Unroll by a factor of 4.        
+       ** Repeat until we've computed numTaps-(4*S->L) coefficients. */
+      tapCnt = phaseLen >> 2u;
+      while(tapCnt > 0u)
+      {
+
+        /* Read the coefficient */
+        c0 = *(ptr2);
+
+        /* Upsampling is done by stuffing L-1 zeros between each sample.        
+         * So instead of multiplying zeros with coefficients,        
+         * Increment the coefficient pointer by interpolation factor times. */
+        ptr2 += S->L;
+
+        /* Read the input sample */
+        x0 = *(ptr1++);
+
+        /* Perform the multiply-accumulate */
+        sum0 += x0 * c0;
+
+        /* Read the coefficient */
+        c0 = *(ptr2);
+
+        /* Increment the coefficient pointer by interpolation factor times. */
+        ptr2 += S->L;
+
+        /* Read the input sample */
+        x0 = *(ptr1++);
+
+        /* Perform the multiply-accumulate */
+        sum0 += x0 * c0;
+
+        /* Read the coefficient */
+        c0 = *(ptr2);
+
+        /* Increment the coefficient pointer by interpolation factor times. */
+        ptr2 += S->L;
+
+        /* Read the input sample */
+        x0 = *(ptr1++);
+
+        /* Perform the multiply-accumulate */
+        sum0 += x0 * c0;
+
+        /* Read the coefficient */
+        c0 = *(ptr2);
+
+        /* Increment the coefficient pointer by interpolation factor times. */
+        ptr2 += S->L;
+
+        /* Read the input sample */
+        x0 = *(ptr1++);
+
+        /* Perform the multiply-accumulate */
+        sum0 += x0 * c0;
+
+        /* Decrement the loop counter */
+        tapCnt--;
+      }
+
+      /* If the polyPhase length is not a multiple of 4, compute the remaining filter taps */
+      tapCnt = phaseLen % 0x4u;
+
+      while(tapCnt > 0u)
+      {
+        /* Perform the multiply-accumulate */
+        sum0 += *(ptr1++) * (*ptr2);
+
+        /* Increment the coefficient pointer by interpolation factor times. */
+        ptr2 += S->L;
+
+        /* Decrement the loop counter */
+        tapCnt--;
+      }
+
+      /* The result is in the accumulator, store in the destination buffer. */
+      *pDst++ = sum0;
+
+      /* Increment the address modifier index of coefficient buffer */
+      j++;
+
+      /* Decrement the loop counter */
+      i--;
+    }
+
+    /* Advance the state pointer by 1        
+     * to process the next group of interpolation factor number samples */
+    pState = pState + 1;
+
+    /* Decrement the loop counter */
+    blkCntN4--;
+  }
+
+  /* Processing is complete.        
+   ** Now copy the last phaseLen - 1 samples to the satrt of the state buffer.        
+   ** This prepares the state buffer for the next function call. */
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = S->pState;
+
+  tapCnt = (phaseLen - 1u) >> 2u;
+
+  /* copy data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+  tapCnt = (phaseLen - 1u) % 0x04u;
+
+  /* copy data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+}
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+void arm_fir_interpolate_f32(
+  const arm_fir_interpolate_instance_f32 * S,
+  float32_t * pSrc,
+  float32_t * pDst,
+  uint32_t blockSize)
+{
+  float32_t *pState = S->pState;                 /* State pointer */
+  float32_t *pCoeffs = S->pCoeffs;               /* Coefficient pointer */
+  float32_t *pStateCurnt;                        /* Points to the current sample of the state */
+  float32_t *ptr1, *ptr2;                        /* Temporary pointers for state and coefficient buffers */
+
+
+  float32_t sum;                                 /* Accumulator */
+  uint32_t i, blkCnt;                            /* Loop counters */
+  uint16_t phaseLen = S->phaseLength, tapCnt;    /* Length of each polyphase filter component */
+
+
+  /* S->pState buffer contains previous frame (phaseLen - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = S->pState + (phaseLen - 1u);
+
+  /* Total number of intput samples */
+  blkCnt = blockSize;
+
+  /* Loop over the blockSize. */
+  while(blkCnt > 0u)
+  {
+    /* Copy new input sample into the state buffer */
+    *pStateCurnt++ = *pSrc++;
+
+    /* Loop over the Interpolation factor. */
+    i = S->L;
+
+    while(i > 0u)
+    {
+      /* Set accumulator to zero */
+      sum = 0.0f;
+
+      /* Initialize state pointer */
+      ptr1 = pState;
+
+      /* Initialize coefficient pointer */
+      ptr2 = pCoeffs + (i - 1u);
+
+      /* Loop over the polyPhase length */
+      tapCnt = phaseLen;
+
+      while(tapCnt > 0u)
+      {
+        /* Perform the multiply-accumulate */
+        sum += *ptr1++ * *ptr2;
+
+        /* Increment the coefficient pointer by interpolation factor times. */
+        ptr2 += S->L;
+
+        /* Decrement the loop counter */
+        tapCnt--;
+      }
+
+      /* The result is in the accumulator, store in the destination buffer. */
+      *pDst++ = sum;
+
+      /* Decrement the loop counter */
+      i--;
+    }
+
+    /* Advance the state pointer by 1           
+     * to process the next group of interpolation factor number samples */
+    pState = pState + 1;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Processing is complete.         
+   ** Now copy the last phaseLen - 1 samples to the start of the state buffer.       
+   ** This prepares the state buffer for the next function call. */
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = S->pState;
+
+  tapCnt = phaseLen - 1u;
+
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+}
+
+#endif /*   #ifndef ARM_MATH_CM0 */
+
+
+
+ /**    
+  * @} end of FIR_Interpolate group    
+  */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_f32.c
new file mode 100644
index 000000000..b19347264
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_f32.c
@@ -0,0 +1,116 @@
+/*-----------------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:        arm_fir_interpolate_init_f32.c    
+*    
+* Description:  Floating-point FIR interpolator initialization function    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* ---------------------------------------------------------------------------*/
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup FIR_Interpolate    
+ * @{    
+ */
+
+/**    
+ * @brief  Initialization function for the floating-point FIR interpolator.    
+ * @param[in,out] *S        points to an instance of the floating-point FIR interpolator structure.    
+ * @param[in]     L         upsample factor.    
+ * @param[in]     numTaps   number of filter coefficients in the filter.    
+ * @param[in]     *pCoeffs  points to the filter coefficient buffer.    
+ * @param[in]     *pState   points to the state buffer.    
+ * @param[in]     blockSize number of input samples to process per call.    
+ * @return        The function returns ARM_MATH_SUCCESS if initialization was successful or ARM_MATH_LENGTH_ERROR if    
+ * the filter length numTaps is not a multiple of the interpolation factor L.    
+ *    
+ * Description:    
+ * \par    
+ * pCoeffs points to the array of filter coefficients stored in time reversed order:    
+ * 
    
+ *    {b[numTaps-1], b[numTaps-2], b[numTaps-2], ..., b[1], b[0]}    
+ * 
    
+ * The length of the filter numTaps must be a multiple of the interpolation factor L.    
+ * \par    
+ * pState points to the array of state variables.    
+ * pState is of length (numTaps/L)+blockSize-1 words    
+ * where blockSize is the number of input samples processed by each call to arm_fir_interpolate_f32().    
+ */
+
+arm_status arm_fir_interpolate_init_f32(
+  arm_fir_interpolate_instance_f32 * S,
+  uint8_t L,
+  uint16_t numTaps,
+  float32_t * pCoeffs,
+  float32_t * pState,
+  uint32_t blockSize)
+{
+  arm_status status;
+
+  /* The filter length must be a multiple of the interpolation factor */
+  if((numTaps % L) != 0u)
+  {
+    /* Set status as ARM_MATH_LENGTH_ERROR */
+    status = ARM_MATH_LENGTH_ERROR;
+  }
+  else
+  {
+
+    /* Assign coefficient pointer */
+    S->pCoeffs = pCoeffs;
+
+    /* Assign Interpolation factor */
+    S->L = L;
+
+    /* Assign polyPhaseLength */
+    S->phaseLength = numTaps / L;
+
+    /* Clear state buffer and size of state array is always phaseLength + blockSize - 1 */
+    memset(pState, 0,
+           (blockSize +
+            ((uint32_t) S->phaseLength - 1u)) * sizeof(float32_t));
+
+    /* Assign state pointer */
+    S->pState = pState;
+
+    status = ARM_MATH_SUCCESS;
+  }
+
+  return (status);
+
+}
+
+ /**    
+  * @} end of FIR_Interpolate group    
+  */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_q15.c
new file mode 100644
index 000000000..b344fc785
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_q15.c
@@ -0,0 +1,115 @@
+/*-----------------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:        arm_fir_interpolate_init_q15.c    
+*    
+* Description:  Q15 FIR interpolator initialization function    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* ---------------------------------------------------------------------------*/
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup FIR_Interpolate    
+ * @{    
+ */
+
+/**    
+ * @brief  Initialization function for the Q15 FIR interpolator.    
+ * @param[in,out] *S        points to an instance of the Q15 FIR interpolator structure.    
+ * @param[in]     L         upsample factor.    
+ * @param[in]     numTaps   number of filter coefficients in the filter.    
+ * @param[in]     *pCoeffs  points to the filter coefficient buffer.    
+ * @param[in]     *pState   points to the state buffer.    
+ * @param[in]     blockSize number of input samples to process per call.    
+ * @return        The function returns ARM_MATH_SUCCESS if initialization was successful or ARM_MATH_LENGTH_ERROR if    
+ * the filter length numTaps is not a multiple of the interpolation factor L.    
+ *    
+ * Description:    
+ * \par    
+ * pCoeffs points to the array of filter coefficients stored in time reversed order:    
+ * 
    
+ *    {b[numTaps-1], b[numTaps-2], b[numTaps-2], ..., b[1], b[0]}    
+ * 
    
+ * The length of the filter numTaps must be a multiple of the interpolation factor L.    
+ * \par    
+ * pState points to the array of state variables.    
+ * pState is of length (numTaps/L)+blockSize-1 words    
+ * where blockSize is the number of input samples processed by each call to arm_fir_interpolate_q15().    
+ */
+
+arm_status arm_fir_interpolate_init_q15(
+  arm_fir_interpolate_instance_q15 * S,
+  uint8_t L,
+  uint16_t numTaps,
+  q15_t * pCoeffs,
+  q15_t * pState,
+  uint32_t blockSize)
+{
+  arm_status status;
+
+  /* The filter length must be a multiple of the interpolation factor */
+  if((numTaps % L) != 0u)
+  {
+    /* Set status as ARM_MATH_LENGTH_ERROR */
+    status = ARM_MATH_LENGTH_ERROR;
+  }
+  else
+  {
+
+    /* Assign coefficient pointer */
+    S->pCoeffs = pCoeffs;
+
+    /* Assign Interpolation factor */
+    S->L = L;
+
+    /* Assign polyPhaseLength */
+    S->phaseLength = numTaps / L;
+
+    /* Clear state buffer and size of buffer is always phaseLength + blockSize - 1 */
+    memset(pState, 0,
+           (blockSize + ((uint32_t) S->phaseLength - 1u)) * sizeof(q15_t));
+
+    /* Assign state pointer */
+    S->pState = pState;
+
+    status = ARM_MATH_SUCCESS;
+  }
+
+  return (status);
+
+}
+
+ /**    
+  * @} end of FIR_Interpolate group    
+  */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_q31.c
new file mode 100644
index 000000000..f0383b8e9
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_q31.c
@@ -0,0 +1,116 @@
+/*-----------------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:        arm_fir_interpolate_init_q31.c    
+*    
+* Description:  Q31 FIR interpolator initialization function    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* ---------------------------------------------------------------------------*/
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup FIR_Interpolate    
+ * @{    
+ */
+
+
+/**    
+ * @brief  Initialization function for the Q31 FIR interpolator.    
+ * @param[in,out] *S        points to an instance of the Q31 FIR interpolator structure.    
+ * @param[in]     L         upsample factor.    
+ * @param[in]     numTaps   number of filter coefficients in the filter.    
+ * @param[in]     *pCoeffs  points to the filter coefficient buffer.    
+ * @param[in]     *pState   points to the state buffer.    
+ * @param[in]     blockSize number of input samples to process per call.    
+ * @return        The function returns ARM_MATH_SUCCESS if initialization was successful or ARM_MATH_LENGTH_ERROR if    
+ * the filter length numTaps is not a multiple of the interpolation factor L.    
+ *    
+ * Description:    
+ * \par    
+ * pCoeffs points to the array of filter coefficients stored in time reversed order:    
+ * 
    
+ *    {b[numTaps-1], b[numTaps-2], b[numTaps-2], ..., b[1], b[0]}    
+ * 
    
+ * The length of the filter numTaps must be a multiple of the interpolation factor L.    
+ * \par    
+ * pState points to the array of state variables.    
+ * pState is of length (numTaps/L)+blockSize-1 words    
+ * where blockSize is the number of input samples processed by each call to arm_fir_interpolate_q31().    
+ */
+
+arm_status arm_fir_interpolate_init_q31(
+  arm_fir_interpolate_instance_q31 * S,
+  uint8_t L,
+  uint16_t numTaps,
+  q31_t * pCoeffs,
+  q31_t * pState,
+  uint32_t blockSize)
+{
+  arm_status status;
+
+  /* The filter length must be a multiple of the interpolation factor */
+  if((numTaps % L) != 0u)
+  {
+    /* Set status as ARM_MATH_LENGTH_ERROR */
+    status = ARM_MATH_LENGTH_ERROR;
+  }
+  else
+  {
+
+    /* Assign coefficient pointer */
+    S->pCoeffs = pCoeffs;
+
+    /* Assign Interpolation factor */
+    S->L = L;
+
+    /* Assign polyPhaseLength */
+    S->phaseLength = numTaps / L;
+
+    /* Clear state buffer and size of buffer is always phaseLength + blockSize - 1 */
+    memset(pState, 0,
+           (blockSize + ((uint32_t) S->phaseLength - 1u)) * sizeof(q31_t));
+
+    /* Assign state pointer */
+    S->pState = pState;
+
+    status = ARM_MATH_SUCCESS;
+  }
+
+  return (status);
+
+}
+
+ /**    
+  * @} end of FIR_Interpolate group    
+  */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_q15.c
new file mode 100644
index 000000000..d17d8d803
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_q15.c
@@ -0,0 +1,503 @@
+/*-----------------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_fir_interpolate_q15.c    
+*    
+* Description:	Q15 FIR interpolation.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* ---------------------------------------------------------------------------*/
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup FIR_Interpolate    
+ * @{    
+ */
+
+/**    
+ * @brief Processing function for the Q15 FIR interpolator.    
+ * @param[in] *S        points to an instance of the Q15 FIR interpolator structure.    
+ * @param[in] *pSrc     points to the block of input data.    
+ * @param[out] *pDst    points to the block of output data.    
+ * @param[in] blockSize number of input samples to process per call.    
+ * @return none.    
+ *    
+ * Scaling and Overflow Behavior:    
+ * \par    
+ * The function is implemented using a 64-bit internal accumulator.    
+ * Both coefficients and state variables are represented in 1.15 format and multiplications yield a 2.30 result.    
+ * The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format.    
+ * There is no risk of internal overflow with this approach and the full precision of intermediate multiplications is preserved.    
+ * After all additions have been performed, the accumulator is truncated to 34.15 format by discarding low 15 bits.    
+ * Lastly, the accumulator is saturated to yield a result in 1.15 format.    
+ */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+void arm_fir_interpolate_q15(
+  const arm_fir_interpolate_instance_q15 * S,
+  q15_t * pSrc,
+  q15_t * pDst,
+  uint32_t blockSize)
+{
+  q15_t *pState = S->pState;                     /* State pointer                                            */
+  q15_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer                                      */
+  q15_t *pStateCurnt;                            /* Points to the current sample of the state                */
+  q15_t *ptr1, *ptr2;                            /* Temporary pointers for state and coefficient buffers     */
+  q63_t sum0;                                    /* Accumulators                                             */
+  q15_t x0, c0;                                  /* Temporary variables to hold state and coefficient values */
+  uint32_t i, blkCnt, j, tapCnt;                 /* Loop counters                                            */
+  uint16_t phaseLen = S->phaseLength;            /* Length of each polyphase filter component */
+  uint32_t blkCntN2;
+  q63_t acc0, acc1;
+  q15_t x1;
+
+  /* S->pState buffer contains previous frame (phaseLen - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = S->pState + ((q31_t) phaseLen - 1);
+
+  /* Initialise  blkCnt */
+  blkCnt = blockSize / 2;
+  blkCntN2 = blockSize - (2 * blkCnt);
+
+  /* Samples loop unrolled by 2 */
+  while(blkCnt > 0u)
+  {
+    /* Copy new input sample into the state buffer */
+    *pStateCurnt++ = *pSrc++;
+    *pStateCurnt++ = *pSrc++;
+
+    /* Address modifier index of coefficient buffer */
+    j = 1u;
+
+    /* Loop over the Interpolation factor. */
+    i = (S->L);
+
+    while(i > 0u)
+    {
+      /* Set accumulator to zero */
+      acc0 = 0;
+      acc1 = 0;
+
+      /* Initialize state pointer */
+      ptr1 = pState;
+
+      /* Initialize coefficient pointer */
+      ptr2 = pCoeffs + (S->L - j);
+
+      /* Loop over the polyPhase length. Unroll by a factor of 4.        
+       ** Repeat until we've computed numTaps-(4*S->L) coefficients. */
+      tapCnt = phaseLen >> 2u;
+
+      x0 = *(ptr1++);
+
+      while(tapCnt > 0u)
+      {
+
+        /* Read the input sample */
+        x1 = *(ptr1++);
+
+        /* Read the coefficient */
+        c0 = *(ptr2);
+
+        /* Perform the multiply-accumulate */
+        acc0 += (q63_t) x0 *c0;
+        acc1 += (q63_t) x1 *c0;
+
+
+        /* Read the coefficient */
+        c0 = *(ptr2 + S->L);
+
+        /* Read the input sample */
+        x0 = *(ptr1++);
+
+        /* Perform the multiply-accumulate */
+        acc0 += (q63_t) x1 *c0;
+        acc1 += (q63_t) x0 *c0;
+
+
+        /* Read the coefficient */
+        c0 = *(ptr2 + S->L * 2);
+
+        /* Read the input sample */
+        x1 = *(ptr1++);
+
+        /* Perform the multiply-accumulate */
+        acc0 += (q63_t) x0 *c0;
+        acc1 += (q63_t) x1 *c0;
+
+        /* Read the coefficient */
+        c0 = *(ptr2 + S->L * 3);
+
+        /* Read the input sample */
+        x0 = *(ptr1++);
+
+        /* Perform the multiply-accumulate */
+        acc0 += (q63_t) x1 *c0;
+        acc1 += (q63_t) x0 *c0;
+
+
+        /* Upsampling is done by stuffing L-1 zeros between each sample.        
+         * So instead of multiplying zeros with coefficients,        
+         * Increment the coefficient pointer by interpolation factor times. */
+        ptr2 += 4 * S->L;
+
+        /* Decrement the loop counter */
+        tapCnt--;
+      }
+
+      /* If the polyPhase length is not a multiple of 4, compute the remaining filter taps */
+      tapCnt = phaseLen % 0x4u;
+
+      while(tapCnt > 0u)
+      {
+
+        /* Read the input sample */
+        x1 = *(ptr1++);
+
+        /* Read the coefficient */
+        c0 = *(ptr2);
+
+        /* Perform the multiply-accumulate */
+        acc0 += (q63_t) x0 *c0;
+        acc1 += (q63_t) x1 *c0;
+
+        /* Increment the coefficient pointer by interpolation factor times. */
+        ptr2 += S->L;
+
+        /* update states for next sample processing */
+        x0 = x1;
+
+        /* Decrement the loop counter */
+        tapCnt--;
+      }
+
+      /* The result is in the accumulator, store in the destination buffer. */
+      *pDst = (q15_t) (__SSAT((acc0 >> 15), 16));
+      *(pDst + S->L) = (q15_t) (__SSAT((acc1 >> 15), 16));
+
+      pDst++;
+
+      /* Increment the address modifier index of coefficient buffer */
+      j++;
+
+      /* Decrement the loop counter */
+      i--;
+    }
+
+    /* Advance the state pointer by 1        
+     * to process the next group of interpolation factor number samples */
+    pState = pState + 2;
+
+    pDst += S->L;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 2, compute any remaining output samples here.        
+   ** No loop unrolling is used. */
+  blkCnt = blkCntN2;
+
+  /* Loop over the blockSize. */
+  while(blkCnt > 0u)
+  {
+    /* Copy new input sample into the state buffer */
+    *pStateCurnt++ = *pSrc++;
+
+    /* Address modifier index of coefficient buffer */
+    j = 1u;
+
+    /* Loop over the Interpolation factor. */
+    i = S->L;
+    while(i > 0u)
+    {
+      /* Set accumulator to zero */
+      sum0 = 0;
+
+      /* Initialize state pointer */
+      ptr1 = pState;
+
+      /* Initialize coefficient pointer */
+      ptr2 = pCoeffs + (S->L - j);
+
+      /* Loop over the polyPhase length. Unroll by a factor of 4.        
+       ** Repeat until we've computed numTaps-(4*S->L) coefficients. */
+      tapCnt = phaseLen >> 2;
+      while(tapCnt > 0u)
+      {
+
+        /* Read the coefficient */
+        c0 = *(ptr2);
+
+        /* Upsampling is done by stuffing L-1 zeros between each sample.        
+         * So instead of multiplying zeros with coefficients,        
+         * Increment the coefficient pointer by interpolation factor times. */
+        ptr2 += S->L;
+
+        /* Read the input sample */
+        x0 = *(ptr1++);
+
+        /* Perform the multiply-accumulate */
+        sum0 += (q63_t) x0 *c0;
+
+        /* Read the coefficient */
+        c0 = *(ptr2);
+
+        /* Increment the coefficient pointer by interpolation factor times. */
+        ptr2 += S->L;
+
+        /* Read the input sample */
+        x0 = *(ptr1++);
+
+        /* Perform the multiply-accumulate */
+        sum0 += (q63_t) x0 *c0;
+
+        /* Read the coefficient */
+        c0 = *(ptr2);
+
+        /* Increment the coefficient pointer by interpolation factor times. */
+        ptr2 += S->L;
+
+        /* Read the input sample */
+        x0 = *(ptr1++);
+
+        /* Perform the multiply-accumulate */
+        sum0 += (q63_t) x0 *c0;
+
+        /* Read the coefficient */
+        c0 = *(ptr2);
+
+        /* Increment the coefficient pointer by interpolation factor times. */
+        ptr2 += S->L;
+
+        /* Read the input sample */
+        x0 = *(ptr1++);
+
+        /* Perform the multiply-accumulate */
+        sum0 += (q63_t) x0 *c0;
+
+        /* Decrement the loop counter */
+        tapCnt--;
+      }
+
+      /* If the polyPhase length is not a multiple of 4, compute the remaining filter taps */
+      tapCnt = phaseLen & 0x3u;
+
+      while(tapCnt > 0u)
+      {
+        /* Read the coefficient */
+        c0 = *(ptr2);
+
+        /* Increment the coefficient pointer by interpolation factor times. */
+        ptr2 += S->L;
+
+        /* Read the input sample */
+        x0 = *(ptr1++);
+
+        /* Perform the multiply-accumulate */
+        sum0 += (q63_t) x0 *c0;
+
+        /* Decrement the loop counter */
+        tapCnt--;
+      }
+
+      /* The result is in the accumulator, store in the destination buffer. */
+      *pDst++ = (q15_t) (__SSAT((sum0 >> 15), 16));
+
+      j++;
+
+      /* Decrement the loop counter */
+      i--;
+    }
+
+    /* Advance the state pointer by 1        
+     * to process the next group of interpolation factor number samples */
+    pState = pState + 1;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+
+  /* Processing is complete.    
+   ** Now copy the last phaseLen - 1 samples to the satrt of the state buffer.    
+   ** This prepares the state buffer for the next function call. */
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = S->pState;
+
+  i = ((uint32_t) phaseLen - 1u) >> 2u;
+
+  /* copy data */
+  while(i > 0u)
+  {
+#ifndef UNALIGNED_SUPPORT_DISABLE
+
+    *__SIMD32(pStateCurnt)++ = *__SIMD32(pState)++;
+    *__SIMD32(pStateCurnt)++ = *__SIMD32(pState)++;
+
+#else
+
+    *pStateCurnt++ = *pState++;
+	*pStateCurnt++ = *pState++;
+	*pStateCurnt++ = *pState++;
+	*pStateCurnt++ = *pState++;
+	
+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
+	
+	/* Decrement the loop counter */
+    i--;
+  }
+
+  i = ((uint32_t) phaseLen - 1u) % 0x04u;
+
+  while(i > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    i--;
+  }
+}
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+void arm_fir_interpolate_q15(
+  const arm_fir_interpolate_instance_q15 * S,
+  q15_t * pSrc,
+  q15_t * pDst,
+  uint32_t blockSize)
+{
+  q15_t *pState = S->pState;                     /* State pointer                                            */
+  q15_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer                                      */
+  q15_t *pStateCurnt;                            /* Points to the current sample of the state                */
+  q15_t *ptr1, *ptr2;                            /* Temporary pointers for state and coefficient buffers     */
+  q63_t sum;                                     /* Accumulator */
+  q15_t x0, c0;                                  /* Temporary variables to hold state and coefficient values */
+  uint32_t i, blkCnt, tapCnt;                    /* Loop counters                                            */
+  uint16_t phaseLen = S->phaseLength;            /* Length of each polyphase filter component */
+
+
+  /* S->pState buffer contains previous frame (phaseLen - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = S->pState + (phaseLen - 1u);
+
+  /* Total number of intput samples */
+  blkCnt = blockSize;
+
+  /* Loop over the blockSize. */
+  while(blkCnt > 0u)
+  {
+    /* Copy new input sample into the state buffer */
+    *pStateCurnt++ = *pSrc++;
+
+    /* Loop over the Interpolation factor. */
+    i = S->L;
+
+    while(i > 0u)
+    {
+      /* Set accumulator to zero */
+      sum = 0;
+
+      /* Initialize state pointer */
+      ptr1 = pState;
+
+      /* Initialize coefficient pointer */
+      ptr2 = pCoeffs + (i - 1u);
+
+      /* Loop over the polyPhase length */
+      tapCnt = (uint32_t) phaseLen;
+
+      while(tapCnt > 0u)
+      {
+        /* Read the coefficient */
+        c0 = *ptr2;
+
+        /* Increment the coefficient pointer by interpolation factor times. */
+        ptr2 += S->L;
+
+        /* Read the input sample */
+        x0 = *ptr1++;
+
+        /* Perform the multiply-accumulate */
+        sum += ((q31_t) x0 * c0);
+
+        /* Decrement the loop counter */
+        tapCnt--;
+      }
+
+      /* Store the result after converting to 1.15 format in the destination buffer */
+      *pDst++ = (q15_t) (__SSAT((sum >> 15), 16));
+
+      /* Decrement the loop counter */
+      i--;
+    }
+
+    /* Advance the state pointer by 1           
+     * to process the next group of interpolation factor number samples */
+    pState = pState + 1;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Processing is complete.         
+   ** Now copy the last phaseLen - 1 samples to the start of the state buffer.       
+   ** This prepares the state buffer for the next function call. */
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = S->pState;
+
+  i = (uint32_t) phaseLen - 1u;
+
+  while(i > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    i--;
+  }
+
+}
+
+#endif /*   #ifndef ARM_MATH_CM0 */
+
+
+ /**    
+  * @} end of FIR_Interpolate group    
+  */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_q31.c
new file mode 100644
index 000000000..689b4d337
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_q31.c
@@ -0,0 +1,499 @@
+/*-----------------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_fir_interpolate_q31.c    
+*    
+* Description:	Q31 FIR interpolation.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* ---------------------------------------------------------------------------*/
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup FIR_Interpolate    
+ * @{    
+ */
+
+/**    
+ * @brief Processing function for the Q31 FIR interpolator.    
+ * @param[in] *S        points to an instance of the Q31 FIR interpolator structure.    
+ * @param[in] *pSrc     points to the block of input data.    
+ * @param[out] *pDst    points to the block of output data.    
+ * @param[in] blockSize number of input samples to process per call.    
+ * @return none.    
+ *    
+ * Scaling and Overflow Behavior:    
+ * \par    
+ * The function is implemented using an internal 64-bit accumulator.    
+ * The accumulator has a 2.62 format and maintains full precision of the intermediate multiplication results but provides only a single guard bit.    
+ * Thus, if the accumulator result overflows it wraps around rather than clip.    
+ * In order to avoid overflows completely the input signal must be scaled down by 1/(numTaps/L).    
+ * since numTaps/L additions occur per output sample.    
+ * After all multiply-accumulates are performed, the 2.62 accumulator is truncated to 1.32 format and then saturated to 1.31 format.    
+ */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+void arm_fir_interpolate_q31(
+  const arm_fir_interpolate_instance_q31 * S,
+  q31_t * pSrc,
+  q31_t * pDst,
+  uint32_t blockSize)
+{
+  q31_t *pState = S->pState;                     /* State pointer */
+  q31_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
+  q31_t *pStateCurnt;                            /* Points to the current sample of the state */
+  q31_t *ptr1, *ptr2;                            /* Temporary pointers for state and coefficient buffers */
+  q63_t sum0;                                    /* Accumulators */
+  q31_t x0, c0;                                  /* Temporary variables to hold state and coefficient values */
+  uint32_t i, blkCnt, j;                         /* Loop counters */
+  uint16_t phaseLen = S->phaseLength, tapCnt;    /* Length of each polyphase filter component */
+
+  uint32_t blkCntN2;
+  q63_t acc0, acc1;
+  q31_t x1;
+
+  /* S->pState buffer contains previous frame (phaseLen - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = S->pState + ((q31_t) phaseLen - 1);
+
+  /* Initialise  blkCnt */
+  blkCnt = blockSize / 2;
+  blkCntN2 = blockSize - (2 * blkCnt);
+
+  /* Samples loop unrolled by 2 */
+  while(blkCnt > 0u)
+  {
+    /* Copy new input sample into the state buffer */
+    *pStateCurnt++ = *pSrc++;
+    *pStateCurnt++ = *pSrc++;
+
+    /* Address modifier index of coefficient buffer */
+    j = 1u;
+
+    /* Loop over the Interpolation factor. */
+    i = (S->L);
+
+    while(i > 0u)
+    {
+      /* Set accumulator to zero */
+      acc0 = 0;
+      acc1 = 0;
+
+      /* Initialize state pointer */
+      ptr1 = pState;
+
+      /* Initialize coefficient pointer */
+      ptr2 = pCoeffs + (S->L - j);
+
+      /* Loop over the polyPhase length. Unroll by a factor of 4.        
+       ** Repeat until we've computed numTaps-(4*S->L) coefficients. */
+      tapCnt = phaseLen >> 2u;
+
+      x0 = *(ptr1++);
+
+      while(tapCnt > 0u)
+      {
+
+        /* Read the input sample */
+        x1 = *(ptr1++);
+
+        /* Read the coefficient */
+        c0 = *(ptr2);
+
+        /* Perform the multiply-accumulate */
+        acc0 += (q63_t) x0 *c0;
+        acc1 += (q63_t) x1 *c0;
+
+
+        /* Read the coefficient */
+        c0 = *(ptr2 + S->L);
+
+        /* Read the input sample */
+        x0 = *(ptr1++);
+
+        /* Perform the multiply-accumulate */
+        acc0 += (q63_t) x1 *c0;
+        acc1 += (q63_t) x0 *c0;
+
+
+        /* Read the coefficient */
+        c0 = *(ptr2 + S->L * 2);
+
+        /* Read the input sample */
+        x1 = *(ptr1++);
+
+        /* Perform the multiply-accumulate */
+        acc0 += (q63_t) x0 *c0;
+        acc1 += (q63_t) x1 *c0;
+
+        /* Read the coefficient */
+        c0 = *(ptr2 + S->L * 3);
+
+        /* Read the input sample */
+        x0 = *(ptr1++);
+
+        /* Perform the multiply-accumulate */
+        acc0 += (q63_t) x1 *c0;
+        acc1 += (q63_t) x0 *c0;
+
+
+        /* Upsampling is done by stuffing L-1 zeros between each sample.        
+         * So instead of multiplying zeros with coefficients,        
+         * Increment the coefficient pointer by interpolation factor times. */
+        ptr2 += 4 * S->L;
+
+        /* Decrement the loop counter */
+        tapCnt--;
+      }
+
+      /* If the polyPhase length is not a multiple of 4, compute the remaining filter taps */
+      tapCnt = phaseLen % 0x4u;
+
+      while(tapCnt > 0u)
+      {
+
+        /* Read the input sample */
+        x1 = *(ptr1++);
+
+        /* Read the coefficient */
+        c0 = *(ptr2);
+
+        /* Perform the multiply-accumulate */
+        acc0 += (q63_t) x0 *c0;
+        acc1 += (q63_t) x1 *c0;
+
+        /* Increment the coefficient pointer by interpolation factor times. */
+        ptr2 += S->L;
+
+        /* update states for next sample processing */
+        x0 = x1;
+
+        /* Decrement the loop counter */
+        tapCnt--;
+      }
+
+      /* The result is in the accumulator, store in the destination buffer. */
+      *pDst = (q31_t) (acc0 >> 31);
+      *(pDst + S->L) = (q31_t) (acc1 >> 31);
+
+
+      pDst++;
+
+      /* Increment the address modifier index of coefficient buffer */
+      j++;
+
+      /* Decrement the loop counter */
+      i--;
+    }
+
+    /* Advance the state pointer by 1        
+     * to process the next group of interpolation factor number samples */
+    pState = pState + 2;
+
+    pDst += S->L;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 2, compute any remaining output samples here.        
+   ** No loop unrolling is used. */
+  blkCnt = blkCntN2;
+
+  /* Loop over the blockSize. */
+  while(blkCnt > 0u)
+  {
+    /* Copy new input sample into the state buffer */
+    *pStateCurnt++ = *pSrc++;
+
+    /* Address modifier index of coefficient buffer */
+    j = 1u;
+
+    /* Loop over the Interpolation factor. */
+    i = S->L;
+    while(i > 0u)
+    {
+      /* Set accumulator to zero */
+      sum0 = 0;
+
+      /* Initialize state pointer */
+      ptr1 = pState;
+
+      /* Initialize coefficient pointer */
+      ptr2 = pCoeffs + (S->L - j);
+
+      /* Loop over the polyPhase length. Unroll by a factor of 4.        
+       ** Repeat until we've computed numTaps-(4*S->L) coefficients. */
+      tapCnt = phaseLen >> 2;
+      while(tapCnt > 0u)
+      {
+
+        /* Read the coefficient */
+        c0 = *(ptr2);
+
+        /* Upsampling is done by stuffing L-1 zeros between each sample.        
+         * So instead of multiplying zeros with coefficients,        
+         * Increment the coefficient pointer by interpolation factor times. */
+        ptr2 += S->L;
+
+        /* Read the input sample */
+        x0 = *(ptr1++);
+
+        /* Perform the multiply-accumulate */
+        sum0 += (q63_t) x0 *c0;
+
+        /* Read the coefficient */
+        c0 = *(ptr2);
+
+        /* Increment the coefficient pointer by interpolation factor times. */
+        ptr2 += S->L;
+
+        /* Read the input sample */
+        x0 = *(ptr1++);
+
+        /* Perform the multiply-accumulate */
+        sum0 += (q63_t) x0 *c0;
+
+        /* Read the coefficient */
+        c0 = *(ptr2);
+
+        /* Increment the coefficient pointer by interpolation factor times. */
+        ptr2 += S->L;
+
+        /* Read the input sample */
+        x0 = *(ptr1++);
+
+        /* Perform the multiply-accumulate */
+        sum0 += (q63_t) x0 *c0;
+
+        /* Read the coefficient */
+        c0 = *(ptr2);
+
+        /* Increment the coefficient pointer by interpolation factor times. */
+        ptr2 += S->L;
+
+        /* Read the input sample */
+        x0 = *(ptr1++);
+
+        /* Perform the multiply-accumulate */
+        sum0 += (q63_t) x0 *c0;
+
+        /* Decrement the loop counter */
+        tapCnt--;
+      }
+
+      /* If the polyPhase length is not a multiple of 4, compute the remaining filter taps */
+      tapCnt = phaseLen & 0x3u;
+
+      while(tapCnt > 0u)
+      {
+        /* Read the coefficient */
+        c0 = *(ptr2);
+
+        /* Increment the coefficient pointer by interpolation factor times. */
+        ptr2 += S->L;
+
+        /* Read the input sample */
+        x0 = *(ptr1++);
+
+        /* Perform the multiply-accumulate */
+        sum0 += (q63_t) x0 *c0;
+
+        /* Decrement the loop counter */
+        tapCnt--;
+      }
+
+      /* The result is in the accumulator, store in the destination buffer. */
+      *pDst++ = (q31_t) (sum0 >> 31);
+
+      /* Increment the address modifier index of coefficient buffer */
+      j++;
+
+      /* Decrement the loop counter */
+      i--;
+    }
+
+    /* Advance the state pointer by 1        
+     * to process the next group of interpolation factor number samples */
+    pState = pState + 1;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Processing is complete.        
+   ** Now copy the last phaseLen - 1 samples to the satrt of the state buffer.        
+   ** This prepares the state buffer for the next function call. */
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = S->pState;
+
+  tapCnt = (phaseLen - 1u) >> 2u;
+
+  /* copy data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+  tapCnt = (phaseLen - 1u) % 0x04u;
+
+  /* copy data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+}
+
+
+#else
+
+void arm_fir_interpolate_q31(
+  const arm_fir_interpolate_instance_q31 * S,
+  q31_t * pSrc,
+  q31_t * pDst,
+  uint32_t blockSize)
+{
+  q31_t *pState = S->pState;                     /* State pointer */
+  q31_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
+  q31_t *pStateCurnt;                            /* Points to the current sample of the state */
+  q31_t *ptr1, *ptr2;                            /* Temporary pointers for state and coefficient buffers */
+
+  /* Run the below code for Cortex-M0 */
+
+  q63_t sum;                                     /* Accumulator */
+  q31_t x0, c0;                                  /* Temporary variables to hold state and coefficient values */
+  uint32_t i, blkCnt;                            /* Loop counters */
+  uint16_t phaseLen = S->phaseLength, tapCnt;    /* Length of each polyphase filter component */
+
+
+  /* S->pState buffer contains previous frame (phaseLen - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = S->pState + ((q31_t) phaseLen - 1);
+
+  /* Total number of intput samples */
+  blkCnt = blockSize;
+
+  /* Loop over the blockSize. */
+  while(blkCnt > 0u)
+  {
+    /* Copy new input sample into the state buffer */
+    *pStateCurnt++ = *pSrc++;
+
+    /* Loop over the Interpolation factor. */
+    i = S->L;
+
+    while(i > 0u)
+    {
+      /* Set accumulator to zero */
+      sum = 0;
+
+      /* Initialize state pointer */
+      ptr1 = pState;
+
+      /* Initialize coefficient pointer */
+      ptr2 = pCoeffs + (i - 1u);
+
+      tapCnt = phaseLen;
+
+      while(tapCnt > 0u)
+      {
+        /* Read the coefficient */
+        c0 = *(ptr2);
+
+        /* Increment the coefficient pointer by interpolation factor times. */
+        ptr2 += S->L;
+
+        /* Read the input sample */
+        x0 = *ptr1++;
+
+        /* Perform the multiply-accumulate */
+        sum += (q63_t) x0 *c0;
+
+        /* Decrement the loop counter */
+        tapCnt--;
+      }
+
+      /* The result is in the accumulator, store in the destination buffer. */
+      *pDst++ = (q31_t) (sum >> 31);
+
+      /* Decrement the loop counter */
+      i--;
+    }
+
+    /* Advance the state pointer by 1           
+     * to process the next group of interpolation factor number samples */
+    pState = pState + 1;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Processing is complete.         
+   ** Now copy the last phaseLen - 1 samples to the satrt of the state buffer.       
+   ** This prepares the state buffer for the next function call. */
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = S->pState;
+
+  tapCnt = phaseLen - 1u;
+
+  /* copy data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+}
+
+#endif /*   #ifndef ARM_MATH_CM0 */
+
+ /**    
+  * @} end of FIR_Interpolate group    
+  */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_f32.c
new file mode 100644
index 000000000..3745ffb6a
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_f32.c
@@ -0,0 +1,499 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_fir_lattice_f32.c    
+*    
+* Description:	Processing function for the floating-point FIR Lattice filter.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @defgroup FIR_Lattice Finite Impulse Response (FIR) Lattice Filters    
+ *    
+ * This set of functions implements Finite Impulse Response (FIR) lattice filters    
+ * for Q15, Q31 and floating-point data types.  Lattice filters are used in a     
+ * variety of adaptive filter applications.  The filter structure is feedforward and    
+ * the net impulse response is finite length.    
+ * The functions operate on blocks    
+ * of input and output data and each call to the function processes    
+ * blockSize samples through the filter.  pSrc and    
+ * pDst point to input and output arrays containing blockSize values.    
+ *    
+ * \par Algorithm:    
+ * \image html FIRLattice.gif "Finite Impulse Response Lattice filter"    
+ * The following difference equation is implemented:    
+ * 
    
+ *    f0[n] = g0[n] = x[n]    
+ *    fm[n] = fm-1[n] + km * gm-1[n-1] for m = 1, 2, ...M    
+ *    gm[n] = km * fm-1[n] + gm-1[n-1] for m = 1, 2, ...M    
+ *    y[n] = fM[n]    
+ * 
    
+ * \par    
+ * pCoeffs points to tha array of reflection coefficients of size numStages.    
+ * Reflection Coefficients are stored in the following order.    
+ * \par    
+ * 
    
+ *    {k1, k2, ..., kM}    
+ * 
    
+ * where M is number of stages    
+ * \par    
+ * pState points to a state array of size numStages.    
+ * The state variables (g values) hold previous inputs and are stored in the following order.    
+ * 
    
+ *    {g0[n], g1[n], g2[n] ...gM-1[n]}    
+ * 
    
+ * The state variables are updated after each block of data is processed; the coefficients are untouched.    
+ * \par Instance Structure    
+ * The coefficients and state variables for a filter are stored together in an instance data structure.    
+ * A separate instance structure must be defined for each filter.    
+ * Coefficient arrays may be shared among several instances while state variable arrays cannot be shared.    
+ * There are separate instance structure declarations for each of the 3 supported data types.    
+ *    
+ * \par Initialization Functions    
+ * There is also an associated initialization function for each data type.    
+ * The initialization function performs the following operations:    
+ * - Sets the values of the internal structure fields.    
+ * - Zeros out the values in the state buffer.    
+ *    
+ * \par    
+ * Use of the initialization function is optional.    
+ * However, if the initialization function is used, then the instance structure cannot be placed into a const data section.    
+ * To place an instance structure into a const data section, the instance structure must be manually initialized.    
+ * Set the values in the state buffer to zeros and then manually initialize the instance structure as follows:    
+ * 
    
+ *arm_fir_lattice_instance_f32 S = {numStages, pState, pCoeffs};    
+ *arm_fir_lattice_instance_q31 S = {numStages, pState, pCoeffs};    
+ *arm_fir_lattice_instance_q15 S = {numStages, pState, pCoeffs};    
+ * 
    
+ * \par    
+ * where numStages is the number of stages in the filter; pState is the address of the state buffer;    
+ * pCoeffs is the address of the coefficient buffer.    
+ * \par Fixed-Point Behavior    
+ * Care must be taken when using the fixed-point versions of the FIR Lattice filter functions.    
+ * In particular, the overflow and saturation behavior of the accumulator used in each function must be considered.    
+ * Refer to the function specific documentation below for usage guidelines.    
+ */
+
+/**    
+ * @addtogroup FIR_Lattice    
+ * @{    
+ */
+
+
+  /**    
+   * @brief Processing function for the floating-point FIR lattice filter.    
+   * @param[in]  *S        points to an instance of the floating-point FIR lattice structure.    
+   * @param[in]  *pSrc     points to the block of input data.    
+   * @param[out] *pDst     points to the block of output data    
+   * @param[in]  blockSize number of samples to process.    
+   * @return none.    
+   */
+
+void arm_fir_lattice_f32(
+  const arm_fir_lattice_instance_f32 * S,
+  float32_t * pSrc,
+  float32_t * pDst,
+  uint32_t blockSize)
+{
+  float32_t *pState;                             /* State pointer */
+  float32_t *pCoeffs = S->pCoeffs;               /* Coefficient pointer */
+  float32_t *px;                                 /* temporary state pointer */
+  float32_t *pk;                                 /* temporary coefficient pointer */
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  float32_t fcurr1, fnext1, gcurr1, gnext1;      /* temporary variables for first sample in loop unrolling */
+  float32_t fcurr2, fnext2, gnext2;              /* temporary variables for second sample in loop unrolling */
+  float32_t fcurr3, fnext3, gnext3;              /* temporary variables for third sample in loop unrolling */
+  float32_t fcurr4, fnext4, gnext4;              /* temporary variables for fourth sample in loop unrolling */
+  uint32_t numStages = S->numStages;             /* Number of stages in the filter */
+  uint32_t blkCnt, stageCnt;                     /* temporary variables for counts */
+
+  gcurr1 = 0.0f;
+  pState = &S->pState[0];
+
+  blkCnt = blockSize >> 2;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+     a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+
+    /* Read two samples from input buffer */
+    /* f0(n) = x(n) */
+    fcurr1 = *pSrc++;
+    fcurr2 = *pSrc++;
+
+    /* Initialize coeff pointer */
+    pk = (pCoeffs);
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* Read g0(n-1) from state */
+    gcurr1 = *px;
+
+    /* Process first sample for first tap */
+    /* f1(n) = f0(n) +  K1 * g0(n-1) */
+    fnext1 = fcurr1 + ((*pk) * gcurr1);
+    /* g1(n) = f0(n) * K1  +  g0(n-1) */
+    gnext1 = (fcurr1 * (*pk)) + gcurr1;
+
+    /* Process second sample for first tap */
+    /* for sample 2 processing */
+    fnext2 = fcurr2 + ((*pk) * fcurr1);
+    gnext2 = (fcurr2 * (*pk)) + fcurr1;
+
+    /* Read next two samples from input buffer */
+    /* f0(n+2) = x(n+2) */
+    fcurr3 = *pSrc++;
+    fcurr4 = *pSrc++;
+
+    /* Copy only last input samples into the state buffer    
+       which will be used for next four samples processing */
+    *px++ = fcurr4;
+
+    /* Process third sample for first tap */
+    fnext3 = fcurr3 + ((*pk) * fcurr2);
+    gnext3 = (fcurr3 * (*pk)) + fcurr2;
+
+    /* Process fourth sample for first tap */
+    fnext4 = fcurr4 + ((*pk) * fcurr3);
+    gnext4 = (fcurr4 * (*pk++)) + fcurr3;
+
+    /* Update of f values for next coefficient set processing */
+    fcurr1 = fnext1;
+    fcurr2 = fnext2;
+    fcurr3 = fnext3;
+    fcurr4 = fnext4;
+
+    /* Loop unrolling.  Process 4 taps at a time . */
+    stageCnt = (numStages - 1u) >> 2u;
+
+    /* Loop over the number of taps.  Unroll by a factor of 4.    
+     ** Repeat until we've computed numStages-3 coefficients. */
+
+    /* Process 2nd, 3rd, 4th and 5th taps ... here */
+    while(stageCnt > 0u)
+    {
+      /* Read g1(n-1), g3(n-1) .... from state */
+      gcurr1 = *px;
+
+      /* save g1(n) in state buffer */
+      *px++ = gnext4;
+
+      /* Process first sample for 2nd, 6th .. tap */
+      /* Sample processing for K2, K6.... */
+      /* f2(n) = f1(n) +  K2 * g1(n-1) */
+      fnext1 = fcurr1 + ((*pk) * gcurr1);
+      /* Process second sample for 2nd, 6th .. tap */
+      /* for sample 2 processing */
+      fnext2 = fcurr2 + ((*pk) * gnext1);
+      /* Process third sample for 2nd, 6th .. tap */
+      fnext3 = fcurr3 + ((*pk) * gnext2);
+      /* Process fourth sample for 2nd, 6th .. tap */
+      fnext4 = fcurr4 + ((*pk) * gnext3);
+
+      /* g2(n) = f1(n) * K2  +  g1(n-1) */
+      /* Calculation of state values for next stage */
+      gnext4 = (fcurr4 * (*pk)) + gnext3;
+      gnext3 = (fcurr3 * (*pk)) + gnext2;
+      gnext2 = (fcurr2 * (*pk)) + gnext1;
+      gnext1 = (fcurr1 * (*pk++)) + gcurr1;
+
+
+      /* Read g2(n-1), g4(n-1) .... from state */
+      gcurr1 = *px;
+
+      /* save g2(n) in state buffer */
+      *px++ = gnext4;
+
+      /* Sample processing for K3, K7.... */
+      /* Process first sample for 3rd, 7th .. tap */
+      /* f3(n) = f2(n) +  K3 * g2(n-1) */
+      fcurr1 = fnext1 + ((*pk) * gcurr1);
+      /* Process second sample for 3rd, 7th .. tap */
+      fcurr2 = fnext2 + ((*pk) * gnext1);
+      /* Process third sample for 3rd, 7th .. tap */
+      fcurr3 = fnext3 + ((*pk) * gnext2);
+      /* Process fourth sample for 3rd, 7th .. tap */
+      fcurr4 = fnext4 + ((*pk) * gnext3);
+
+      /* Calculation of state values for next stage */
+      /* g3(n) = f2(n) * K3  +  g2(n-1) */
+      gnext4 = (fnext4 * (*pk)) + gnext3;
+      gnext3 = (fnext3 * (*pk)) + gnext2;
+      gnext2 = (fnext2 * (*pk)) + gnext1;
+      gnext1 = (fnext1 * (*pk++)) + gcurr1;
+
+
+      /* Read g1(n-1), g3(n-1) .... from state */
+      gcurr1 = *px;
+
+      /* save g3(n) in state buffer */
+      *px++ = gnext4;
+
+      /* Sample processing for K4, K8.... */
+      /* Process first sample for 4th, 8th .. tap */
+      /* f4(n) = f3(n) +  K4 * g3(n-1) */
+      fnext1 = fcurr1 + ((*pk) * gcurr1);
+      /* Process second sample for 4th, 8th .. tap */
+      /* for sample 2 processing */
+      fnext2 = fcurr2 + ((*pk) * gnext1);
+      /* Process third sample for 4th, 8th .. tap */
+      fnext3 = fcurr3 + ((*pk) * gnext2);
+      /* Process fourth sample for 4th, 8th .. tap */
+      fnext4 = fcurr4 + ((*pk) * gnext3);
+
+      /* g4(n) = f3(n) * K4  +  g3(n-1) */
+      /* Calculation of state values for next stage */
+      gnext4 = (fcurr4 * (*pk)) + gnext3;
+      gnext3 = (fcurr3 * (*pk)) + gnext2;
+      gnext2 = (fcurr2 * (*pk)) + gnext1;
+      gnext1 = (fcurr1 * (*pk++)) + gcurr1;
+
+      /* Read g2(n-1), g4(n-1) .... from state */
+      gcurr1 = *px;
+
+      /* save g4(n) in state buffer */
+      *px++ = gnext4;
+
+      /* Sample processing for K5, K9.... */
+      /* Process first sample for 5th, 9th .. tap */
+      /* f5(n) = f4(n) +  K5 * g4(n-1) */
+      fcurr1 = fnext1 + ((*pk) * gcurr1);
+      /* Process second sample for 5th, 9th .. tap */
+      fcurr2 = fnext2 + ((*pk) * gnext1);
+      /* Process third sample for 5th, 9th .. tap */
+      fcurr3 = fnext3 + ((*pk) * gnext2);
+      /* Process fourth sample for 5th, 9th .. tap */
+      fcurr4 = fnext4 + ((*pk) * gnext3);
+
+      /* Calculation of state values for next stage */
+      /* g5(n) = f4(n) * K5  +  g4(n-1) */
+      gnext4 = (fnext4 * (*pk)) + gnext3;
+      gnext3 = (fnext3 * (*pk)) + gnext2;
+      gnext2 = (fnext2 * (*pk)) + gnext1;
+      gnext1 = (fnext1 * (*pk++)) + gcurr1;
+
+      stageCnt--;
+    }
+
+    /* If the (filter length -1) is not a multiple of 4, compute the remaining filter taps */
+    stageCnt = (numStages - 1u) % 0x4u;
+
+    while(stageCnt > 0u)
+    {
+      gcurr1 = *px;
+
+      /* save g value in state buffer */
+      *px++ = gnext4;
+
+      /* Process four samples for last three taps here */
+      fnext1 = fcurr1 + ((*pk) * gcurr1);
+      fnext2 = fcurr2 + ((*pk) * gnext1);
+      fnext3 = fcurr3 + ((*pk) * gnext2);
+      fnext4 = fcurr4 + ((*pk) * gnext3);
+
+      /* g1(n) = f0(n) * K1  +  g0(n-1) */
+      gnext4 = (fcurr4 * (*pk)) + gnext3;
+      gnext3 = (fcurr3 * (*pk)) + gnext2;
+      gnext2 = (fcurr2 * (*pk)) + gnext1;
+      gnext1 = (fcurr1 * (*pk++)) + gcurr1;
+
+      /* Update of f values for next coefficient set processing */
+      fcurr1 = fnext1;
+      fcurr2 = fnext2;
+      fcurr3 = fnext3;
+      fcurr4 = fnext4;
+
+      stageCnt--;
+
+    }
+
+    /* The results in the 4 accumulators, store in the destination buffer. */
+    /* y(n) = fN(n) */
+    *pDst++ = fcurr1;
+    *pDst++ = fcurr2;
+    *pDst++ = fcurr3;
+    *pDst++ = fcurr4;
+
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* f0(n) = x(n) */
+    fcurr1 = *pSrc++;
+
+    /* Initialize coeff pointer */
+    pk = (pCoeffs);
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* read g2(n) from state buffer */
+    gcurr1 = *px;
+
+    /* for sample 1 processing */
+    /* f1(n) = f0(n) +  K1 * g0(n-1) */
+    fnext1 = fcurr1 + ((*pk) * gcurr1);
+    /* g1(n) = f0(n) * K1  +  g0(n-1) */
+    gnext1 = (fcurr1 * (*pk++)) + gcurr1;
+
+    /* save g1(n) in state buffer */
+    *px++ = fcurr1;
+
+    /* f1(n) is saved in fcurr1    
+       for next stage processing */
+    fcurr1 = fnext1;
+
+    stageCnt = (numStages - 1u);
+
+    /* stage loop */
+    while(stageCnt > 0u)
+    {
+      /* read g2(n) from state buffer */
+      gcurr1 = *px;
+
+      /* save g1(n) in state buffer */
+      *px++ = gnext1;
+
+      /* Sample processing for K2, K3.... */
+      /* f2(n) = f1(n) +  K2 * g1(n-1) */
+      fnext1 = fcurr1 + ((*pk) * gcurr1);
+      /* g2(n) = f1(n) * K2  +  g1(n-1) */
+      gnext1 = (fcurr1 * (*pk++)) + gcurr1;
+
+      /* f1(n) is saved in fcurr1    
+         for next stage processing */
+      fcurr1 = fnext1;
+
+      stageCnt--;
+
+    }
+
+    /* y(n) = fN(n) */
+    *pDst++ = fcurr1;
+
+    blkCnt--;
+
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  float32_t fcurr, fnext, gcurr, gnext;          /* temporary variables */
+  uint32_t numStages = S->numStages;             /* Length of the filter */
+  uint32_t blkCnt, stageCnt;                     /* temporary variables for counts */
+
+  pState = &S->pState[0];
+
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* f0(n) = x(n) */
+    fcurr = *pSrc++;
+
+    /* Initialize coeff pointer */
+    pk = pCoeffs;
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* read g0(n-1) from state buffer */
+    gcurr = *px;
+
+    /* for sample 1 processing */
+    /* f1(n) = f0(n) +  K1 * g0(n-1) */
+    fnext = fcurr + ((*pk) * gcurr);
+    /* g1(n) = f0(n) * K1  +  g0(n-1) */
+    gnext = (fcurr * (*pk++)) + gcurr;
+
+    /* save f0(n) in state buffer */
+    *px++ = fcurr;
+
+    /* f1(n) is saved in fcurr            
+       for next stage processing */
+    fcurr = fnext;
+
+    stageCnt = (numStages - 1u);
+
+    /* stage loop */
+    while(stageCnt > 0u)
+    {
+      /* read g2(n) from state buffer */
+      gcurr = *px;
+
+      /* save g1(n) in state buffer */
+      *px++ = gnext;
+
+      /* Sample processing for K2, K3.... */
+      /* f2(n) = f1(n) +  K2 * g1(n-1) */
+      fnext = fcurr + ((*pk) * gcurr);
+      /* g2(n) = f1(n) * K2  +  g1(n-1) */
+      gnext = (fcurr * (*pk++)) + gcurr;
+
+      /* f1(n) is saved in fcurr1            
+         for next stage processing */
+      fcurr = fnext;
+
+      stageCnt--;
+
+    }
+
+    /* y(n) = fN(n) */
+    *pDst++ = fcurr;
+
+    blkCnt--;
+
+  }
+
+#endif /*   #ifndef ARM_MATH_CM0 */
+
+}
+
+/**    
+ * @} end of FIR_Lattice group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_f32.c
new file mode 100644
index 000000000..a53ae92e2
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_f32.c
@@ -0,0 +1,78 @@
+/*-----------------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:        arm_fir_lattice_init_f32.c    
+*    
+* Description:  Floating-point FIR Lattice filter initialization function.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* ---------------------------------------------------------------------------*/
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup FIR_Lattice    
+ * @{    
+ */
+
+/**    
+ * @brief Initialization function for the floating-point FIR lattice filter.    
+ * @param[in] *S points to an instance of the floating-point FIR lattice structure.    
+ * @param[in] numStages  number of filter stages.    
+ * @param[in] *pCoeffs points to the coefficient buffer.  The array is of length numStages.    
+ * @param[in] *pState points to the state buffer.  The array is of length numStages.    
+ * @return none.    
+ */
+
+void arm_fir_lattice_init_f32(
+  arm_fir_lattice_instance_f32 * S,
+  uint16_t numStages,
+  float32_t * pCoeffs,
+  float32_t * pState)
+{
+  /* Assign filter taps */
+  S->numStages = numStages;
+
+  /* Assign coefficient pointer */
+  S->pCoeffs = pCoeffs;
+
+  /* Clear state buffer and size is always numStages */
+  memset(pState, 0, (numStages) * sizeof(float32_t));
+
+  /* Assign state pointer */
+  S->pState = pState;
+
+}
+
+/**    
+ * @} end of FIR_Lattice group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_q15.c
new file mode 100644
index 000000000..8db498509
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_q15.c
@@ -0,0 +1,78 @@
+/*-----------------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:        arm_fir_lattice_init_q15.c    
+*    
+* Description:  Q15 FIR Lattice filter initialization function.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* ---------------------------------------------------------------------------*/
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup FIR_Lattice    
+ * @{    
+ */
+
+  /**    
+   * @brief Initialization function for the Q15 FIR lattice filter.    
+   * @param[in] *S points to an instance of the Q15 FIR lattice structure.    
+   * @param[in] numStages  number of filter stages.    
+   * @param[in] *pCoeffs points to the coefficient buffer.  The array is of length numStages.     
+   * @param[in] *pState points to the state buffer.  The array is of length numStages.     
+   * @return none.    
+   */
+
+void arm_fir_lattice_init_q15(
+  arm_fir_lattice_instance_q15 * S,
+  uint16_t numStages,
+  q15_t * pCoeffs,
+  q15_t * pState)
+{
+  /* Assign filter taps */
+  S->numStages = numStages;
+
+  /* Assign coefficient pointer */
+  S->pCoeffs = pCoeffs;
+
+  /* Clear state buffer and size is always numStages */
+  memset(pState, 0, (numStages) * sizeof(q15_t));
+
+  /* Assign state pointer */
+  S->pState = pState;
+
+}
+
+/**    
+ * @} end of FIR_Lattice group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_q31.c
new file mode 100644
index 000000000..035c5e056
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_q31.c
@@ -0,0 +1,78 @@
+/*-----------------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:        arm_fir_lattice_init_q31.c    
+*    
+* Description:  Q31 FIR lattice filter initialization function.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* ---------------------------------------------------------------------------*/
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup FIR_Lattice    
+ * @{    
+ */
+
+  /**    
+   * @brief Initialization function for the Q31 FIR lattice filter.    
+   * @param[in] *S points to an instance of the Q31 FIR lattice structure.    
+   * @param[in] numStages  number of filter stages.    
+   * @param[in] *pCoeffs points to the coefficient buffer.  The array is of length numStages.    
+   * @param[in] *pState points to the state buffer.   The array is of length numStages.    
+   * @return none.    
+   */
+
+void arm_fir_lattice_init_q31(
+  arm_fir_lattice_instance_q31 * S,
+  uint16_t numStages,
+  q31_t * pCoeffs,
+  q31_t * pState)
+{
+  /* Assign filter taps */
+  S->numStages = numStages;
+
+  /* Assign coefficient pointer */
+  S->pCoeffs = pCoeffs;
+
+  /* Clear state buffer and size is always numStages */
+  memset(pState, 0, (numStages) * sizeof(q31_t));
+
+  /* Assign state pointer */
+  S->pState = pState;
+
+}
+
+/**    
+ * @} end of FIR_Lattice group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_q15.c
new file mode 100644
index 000000000..abfb33cf2
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_q15.c
@@ -0,0 +1,531 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_fir_lattice_q15.c    
+*    
+* Description:	Q15 FIR lattice filter processing function.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup FIR_Lattice    
+ * @{    
+ */
+
+
+/**    
+ * @brief Processing function for the Q15 FIR lattice filter.    
+ * @param[in]  *S        points to an instance of the Q15 FIR lattice structure.    
+ * @param[in]  *pSrc     points to the block of input data.    
+ * @param[out] *pDst     points to the block of output data    
+ * @param[in]  blockSize number of samples to process.    
+ * @return none.    
+ */
+
+void arm_fir_lattice_q15(
+  const arm_fir_lattice_instance_q15 * S,
+  q15_t * pSrc,
+  q15_t * pDst,
+  uint32_t blockSize)
+{
+  q15_t *pState;                                 /* State pointer */
+  q15_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
+  q15_t *px;                                     /* temporary state pointer */
+  q15_t *pk;                                     /* temporary coefficient pointer */
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q31_t fcurnt1, fnext1, gcurnt1 = 0, gnext1;    /* temporary variables for first sample in loop unrolling */
+  q31_t fcurnt2, fnext2, gnext2;                 /* temporary variables for second sample in loop unrolling */
+  q31_t fcurnt3, fnext3, gnext3;                 /* temporary variables for third sample in loop unrolling */
+  q31_t fcurnt4, fnext4, gnext4;                 /* temporary variables for fourth sample in loop unrolling */
+  uint32_t numStages = S->numStages;             /* Number of stages in the filter */
+  uint32_t blkCnt, stageCnt;                     /* temporary variables for counts */
+
+  pState = &S->pState[0];
+
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+
+    /* Read two samples from input buffer */
+    /* f0(n) = x(n) */
+    fcurnt1 = *pSrc++;
+    fcurnt2 = *pSrc++;
+
+    /* Initialize coeff pointer */
+    pk = (pCoeffs);
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* Read g0(n-1) from state */
+    gcurnt1 = *px;
+
+    /* Process first sample for first tap */
+    /* f1(n) = f0(n) +  K1 * g0(n-1) */
+    fnext1 = (q31_t) ((gcurnt1 * (*pk)) >> 15u) + fcurnt1;
+    fnext1 = __SSAT(fnext1, 16);
+
+    /* g1(n) = f0(n) * K1  +  g0(n-1) */
+    gnext1 = (q31_t) ((fcurnt1 * (*pk)) >> 15u) + gcurnt1;
+    gnext1 = __SSAT(gnext1, 16);
+
+    /* Process second sample for first tap */
+    /* for sample 2 processing */
+    fnext2 = (q31_t) ((fcurnt1 * (*pk)) >> 15u) + fcurnt2;
+    fnext2 = __SSAT(fnext2, 16);
+
+    gnext2 = (q31_t) ((fcurnt2 * (*pk)) >> 15u) + fcurnt1;
+    gnext2 = __SSAT(gnext2, 16);
+
+
+    /* Read next two samples from input buffer */
+    /* f0(n+2) = x(n+2) */
+    fcurnt3 = *pSrc++;
+    fcurnt4 = *pSrc++;
+
+    /* Copy only last input samples into the state buffer    
+       which is used for next four samples processing */
+    *px++ = (q15_t) fcurnt4;
+
+    /* Process third sample for first tap */
+    fnext3 = (q31_t) ((fcurnt2 * (*pk)) >> 15u) + fcurnt3;
+    fnext3 = __SSAT(fnext3, 16);
+    gnext3 = (q31_t) ((fcurnt3 * (*pk)) >> 15u) + fcurnt2;
+    gnext3 = __SSAT(gnext3, 16);
+
+    /* Process fourth sample for first tap */
+    fnext4 = (q31_t) ((fcurnt3 * (*pk)) >> 15u) + fcurnt4;
+    fnext4 = __SSAT(fnext4, 16);
+    gnext4 = (q31_t) ((fcurnt4 * (*pk++)) >> 15u) + fcurnt3;
+    gnext4 = __SSAT(gnext4, 16);
+
+    /* Update of f values for next coefficient set processing */
+    fcurnt1 = fnext1;
+    fcurnt2 = fnext2;
+    fcurnt3 = fnext3;
+    fcurnt4 = fnext4;
+
+
+    /* Loop unrolling.  Process 4 taps at a time . */
+    stageCnt = (numStages - 1u) >> 2;
+
+
+    /* Loop over the number of taps.  Unroll by a factor of 4.    
+     ** Repeat until we've computed numStages-3 coefficients. */
+
+    /* Process 2nd, 3rd, 4th and 5th taps ... here */
+    while(stageCnt > 0u)
+    {
+      /* Read g1(n-1), g3(n-1) .... from state */
+      gcurnt1 = *px;
+
+      /* save g1(n) in state buffer */
+      *px++ = (q15_t) gnext4;
+
+      /* Process first sample for 2nd, 6th .. tap */
+      /* Sample processing for K2, K6.... */
+      /* f1(n) = f0(n) +  K1 * g0(n-1) */
+      fnext1 = (q31_t) ((gcurnt1 * (*pk)) >> 15u) + fcurnt1;
+      fnext1 = __SSAT(fnext1, 16);
+
+
+      /* Process second sample for 2nd, 6th .. tap */
+      /* for sample 2 processing */
+      fnext2 = (q31_t) ((gnext1 * (*pk)) >> 15u) + fcurnt2;
+      fnext2 = __SSAT(fnext2, 16);
+      /* Process third sample for 2nd, 6th .. tap */
+      fnext3 = (q31_t) ((gnext2 * (*pk)) >> 15u) + fcurnt3;
+      fnext3 = __SSAT(fnext3, 16);
+      /* Process fourth sample for 2nd, 6th .. tap */
+      /* fnext4 = fcurnt4 + (*pk) * gnext3; */
+      fnext4 = (q31_t) ((gnext3 * (*pk)) >> 15u) + fcurnt4;
+      fnext4 = __SSAT(fnext4, 16);
+
+      /* g1(n) = f0(n) * K1  +  g0(n-1) */
+      /* Calculation of state values for next stage */
+      gnext4 = (q31_t) ((fcurnt4 * (*pk)) >> 15u) + gnext3;
+      gnext4 = __SSAT(gnext4, 16);
+      gnext3 = (q31_t) ((fcurnt3 * (*pk)) >> 15u) + gnext2;
+      gnext3 = __SSAT(gnext3, 16);
+
+      gnext2 = (q31_t) ((fcurnt2 * (*pk)) >> 15u) + gnext1;
+      gnext2 = __SSAT(gnext2, 16);
+
+      gnext1 = (q31_t) ((fcurnt1 * (*pk++)) >> 15u) + gcurnt1;
+      gnext1 = __SSAT(gnext1, 16);
+
+
+      /* Read g2(n-1), g4(n-1) .... from state */
+      gcurnt1 = *px;
+
+      /* save g1(n) in state buffer */
+      *px++ = (q15_t) gnext4;
+
+      /* Sample processing for K3, K7.... */
+      /* Process first sample for 3rd, 7th .. tap */
+      /* f3(n) = f2(n) +  K3 * g2(n-1) */
+      fcurnt1 = (q31_t) ((gcurnt1 * (*pk)) >> 15u) + fnext1;
+      fcurnt1 = __SSAT(fcurnt1, 16);
+
+      /* Process second sample for 3rd, 7th .. tap */
+      fcurnt2 = (q31_t) ((gnext1 * (*pk)) >> 15u) + fnext2;
+      fcurnt2 = __SSAT(fcurnt2, 16);
+
+      /* Process third sample for 3rd, 7th .. tap */
+      fcurnt3 = (q31_t) ((gnext2 * (*pk)) >> 15u) + fnext3;
+      fcurnt3 = __SSAT(fcurnt3, 16);
+
+      /* Process fourth sample for 3rd, 7th .. tap */
+      fcurnt4 = (q31_t) ((gnext3 * (*pk)) >> 15u) + fnext4;
+      fcurnt4 = __SSAT(fcurnt4, 16);
+
+      /* Calculation of state values for next stage */
+      /* g3(n) = f2(n) * K3  +  g2(n-1) */
+      gnext4 = (q31_t) ((fnext4 * (*pk)) >> 15u) + gnext3;
+      gnext4 = __SSAT(gnext4, 16);
+
+      gnext3 = (q31_t) ((fnext3 * (*pk)) >> 15u) + gnext2;
+      gnext3 = __SSAT(gnext3, 16);
+
+      gnext2 = (q31_t) ((fnext2 * (*pk)) >> 15u) + gnext1;
+      gnext2 = __SSAT(gnext2, 16);
+
+      gnext1 = (q31_t) ((fnext1 * (*pk++)) >> 15u) + gcurnt1;
+      gnext1 = __SSAT(gnext1, 16);
+
+      /* Read g1(n-1), g3(n-1) .... from state */
+      gcurnt1 = *px;
+
+      /* save g1(n) in state buffer */
+      *px++ = (q15_t) gnext4;
+
+      /* Sample processing for K4, K8.... */
+      /* Process first sample for 4th, 8th .. tap */
+      /* f4(n) = f3(n) +  K4 * g3(n-1) */
+      fnext1 = (q31_t) ((gcurnt1 * (*pk)) >> 15u) + fcurnt1;
+      fnext1 = __SSAT(fnext1, 16);
+
+      /* Process second sample for 4th, 8th .. tap */
+      /* for sample 2 processing */
+      fnext2 = (q31_t) ((gnext1 * (*pk)) >> 15u) + fcurnt2;
+      fnext2 = __SSAT(fnext2, 16);
+
+      /* Process third sample for 4th, 8th .. tap */
+      fnext3 = (q31_t) ((gnext2 * (*pk)) >> 15u) + fcurnt3;
+      fnext3 = __SSAT(fnext3, 16);
+
+      /* Process fourth sample for 4th, 8th .. tap */
+      fnext4 = (q31_t) ((gnext3 * (*pk)) >> 15u) + fcurnt4;
+      fnext4 = __SSAT(fnext4, 16);
+
+      /* g4(n) = f3(n) * K4  +  g3(n-1) */
+      /* Calculation of state values for next stage */
+      gnext4 = (q31_t) ((fcurnt4 * (*pk)) >> 15u) + gnext3;
+      gnext4 = __SSAT(gnext4, 16);
+
+      gnext3 = (q31_t) ((fcurnt3 * (*pk)) >> 15u) + gnext2;
+      gnext3 = __SSAT(gnext3, 16);
+
+      gnext2 = (q31_t) ((fcurnt2 * (*pk)) >> 15u) + gnext1;
+      gnext2 = __SSAT(gnext2, 16);
+      gnext1 = (q31_t) ((fcurnt1 * (*pk++)) >> 15u) + gcurnt1;
+      gnext1 = __SSAT(gnext1, 16);
+
+
+      /* Read g2(n-1), g4(n-1) .... from state */
+      gcurnt1 = *px;
+
+      /* save g4(n) in state buffer */
+      *px++ = (q15_t) gnext4;
+
+      /* Sample processing for K5, K9.... */
+      /* Process first sample for 5th, 9th .. tap */
+      /* f5(n) = f4(n) +  K5 * g4(n-1) */
+      fcurnt1 = (q31_t) ((gcurnt1 * (*pk)) >> 15u) + fnext1;
+      fcurnt1 = __SSAT(fcurnt1, 16);
+
+      /* Process second sample for 5th, 9th .. tap */
+      fcurnt2 = (q31_t) ((gnext1 * (*pk)) >> 15u) + fnext2;
+      fcurnt2 = __SSAT(fcurnt2, 16);
+
+      /* Process third sample for 5th, 9th .. tap */
+      fcurnt3 = (q31_t) ((gnext2 * (*pk)) >> 15u) + fnext3;
+      fcurnt3 = __SSAT(fcurnt3, 16);
+
+      /* Process fourth sample for 5th, 9th .. tap */
+      fcurnt4 = (q31_t) ((gnext3 * (*pk)) >> 15u) + fnext4;
+      fcurnt4 = __SSAT(fcurnt4, 16);
+
+      /* Calculation of state values for next stage */
+      /* g5(n) = f4(n) * K5  +  g4(n-1) */
+      gnext4 = (q31_t) ((fnext4 * (*pk)) >> 15u) + gnext3;
+      gnext4 = __SSAT(gnext4, 16);
+      gnext3 = (q31_t) ((fnext3 * (*pk)) >> 15u) + gnext2;
+      gnext3 = __SSAT(gnext3, 16);
+      gnext2 = (q31_t) ((fnext2 * (*pk)) >> 15u) + gnext1;
+      gnext2 = __SSAT(gnext2, 16);
+      gnext1 = (q31_t) ((fnext1 * (*pk++)) >> 15u) + gcurnt1;
+      gnext1 = __SSAT(gnext1, 16);
+
+      stageCnt--;
+    }
+
+    /* If the (filter length -1) is not a multiple of 4, compute the remaining filter taps */
+    stageCnt = (numStages - 1u) % 0x4u;
+
+    while(stageCnt > 0u)
+    {
+      gcurnt1 = *px;
+
+      /* save g value in state buffer */
+      *px++ = (q15_t) gnext4;
+
+      /* Process four samples for last three taps here */
+      fnext1 = (q31_t) ((gcurnt1 * (*pk)) >> 15u) + fcurnt1;
+      fnext1 = __SSAT(fnext1, 16);
+      fnext2 = (q31_t) ((gnext1 * (*pk)) >> 15u) + fcurnt2;
+      fnext2 = __SSAT(fnext2, 16);
+
+      fnext3 = (q31_t) ((gnext2 * (*pk)) >> 15u) + fcurnt3;
+      fnext3 = __SSAT(fnext3, 16);
+
+      fnext4 = (q31_t) ((gnext3 * (*pk)) >> 15u) + fcurnt4;
+      fnext4 = __SSAT(fnext4, 16);
+
+      /* g1(n) = f0(n) * K1  +  g0(n-1) */
+      gnext4 = (q31_t) ((fcurnt4 * (*pk)) >> 15u) + gnext3;
+      gnext4 = __SSAT(gnext4, 16);
+      gnext3 = (q31_t) ((fcurnt3 * (*pk)) >> 15u) + gnext2;
+      gnext3 = __SSAT(gnext3, 16);
+      gnext2 = (q31_t) ((fcurnt2 * (*pk)) >> 15u) + gnext1;
+      gnext2 = __SSAT(gnext2, 16);
+      gnext1 = (q31_t) ((fcurnt1 * (*pk++)) >> 15u) + gcurnt1;
+      gnext1 = __SSAT(gnext1, 16);
+
+      /* Update of f values for next coefficient set processing */
+      fcurnt1 = fnext1;
+      fcurnt2 = fnext2;
+      fcurnt3 = fnext3;
+      fcurnt4 = fnext4;
+
+      stageCnt--;
+
+    }
+
+    /* The results in the 4 accumulators, store in the destination buffer. */
+    /* y(n) = fN(n) */
+
+#ifndef  ARM_MATH_BIG_ENDIAN
+
+    *__SIMD32(pDst)++ = __PKHBT(fcurnt1, fcurnt2, 16);
+    *__SIMD32(pDst)++ = __PKHBT(fcurnt3, fcurnt4, 16);
+
+#else
+
+    *__SIMD32(pDst)++ = __PKHBT(fcurnt2, fcurnt1, 16);
+    *__SIMD32(pDst)++ = __PKHBT(fcurnt4, fcurnt3, 16);
+
+#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
+
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* f0(n) = x(n) */
+    fcurnt1 = *pSrc++;
+
+    /* Initialize coeff pointer */
+    pk = (pCoeffs);
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* read g2(n) from state buffer */
+    gcurnt1 = *px;
+
+    /* for sample 1 processing */
+    /* f1(n) = f0(n) +  K1 * g0(n-1) */
+    fnext1 = (((q31_t) gcurnt1 * (*pk)) >> 15u) + fcurnt1;
+    fnext1 = __SSAT(fnext1, 16);
+
+
+    /* g1(n) = f0(n) * K1  +  g0(n-1) */
+    gnext1 = (((q31_t) fcurnt1 * (*pk++)) >> 15u) + gcurnt1;
+    gnext1 = __SSAT(gnext1, 16);
+
+    /* save g1(n) in state buffer */
+    *px++ = (q15_t) fcurnt1;
+
+    /* f1(n) is saved in fcurnt1    
+       for next stage processing */
+    fcurnt1 = fnext1;
+
+    stageCnt = (numStages - 1u);
+
+    /* stage loop */
+    while(stageCnt > 0u)
+    {
+      /* read g2(n) from state buffer */
+      gcurnt1 = *px;
+
+      /* save g1(n) in state buffer */
+      *px++ = (q15_t) gnext1;
+
+      /* Sample processing for K2, K3.... */
+      /* f2(n) = f1(n) +  K2 * g1(n-1) */
+      fnext1 = (((q31_t) gcurnt1 * (*pk)) >> 15u) + fcurnt1;
+      fnext1 = __SSAT(fnext1, 16);
+
+      /* g2(n) = f1(n) * K2  +  g1(n-1) */
+      gnext1 = (((q31_t) fcurnt1 * (*pk++)) >> 15u) + gcurnt1;
+      gnext1 = __SSAT(gnext1, 16);
+
+
+      /* f1(n) is saved in fcurnt1    
+         for next stage processing */
+      fcurnt1 = fnext1;
+
+      stageCnt--;
+
+    }
+
+    /* y(n) = fN(n) */
+    *pDst++ = __SSAT(fcurnt1, 16);
+
+
+    blkCnt--;
+
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  q31_t fcurnt, fnext, gcurnt, gnext;            /* temporary variables */
+  uint32_t numStages = S->numStages;             /* Length of the filter */
+  uint32_t blkCnt, stageCnt;                     /* temporary variables for counts */
+
+  pState = &S->pState[0];
+
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* f0(n) = x(n) */
+    fcurnt = *pSrc++;
+
+    /* Initialize coeff pointer */
+    pk = (pCoeffs);
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* read g0(n-1) from state buffer */
+    gcurnt = *px;
+
+    /* for sample 1 processing */
+    /* f1(n) = f0(n) +  K1 * g0(n-1) */
+    fnext = ((gcurnt * (*pk)) >> 15u) + fcurnt;
+    fnext = __SSAT(fnext, 16);
+
+
+    /* g1(n) = f0(n) * K1  +  g0(n-1) */
+    gnext = ((fcurnt * (*pk++)) >> 15u) + gcurnt;
+    gnext = __SSAT(gnext, 16);
+
+    /* save f0(n) in state buffer */
+    *px++ = (q15_t) fcurnt;
+
+    /* f1(n) is saved in fcurnt            
+       for next stage processing */
+    fcurnt = fnext;
+
+    stageCnt = (numStages - 1u);
+
+    /* stage loop */
+    while(stageCnt > 0u)
+    {
+      /* read g1(n-1) from state buffer */
+      gcurnt = *px;
+
+      /* save g0(n-1) in state buffer */
+      *px++ = (q15_t) gnext;
+
+      /* Sample processing for K2, K3.... */
+      /* f2(n) = f1(n) +  K2 * g1(n-1) */
+      fnext = ((gcurnt * (*pk)) >> 15u) + fcurnt;
+      fnext = __SSAT(fnext, 16);
+
+      /* g2(n) = f1(n) * K2  +  g1(n-1) */
+      gnext = ((fcurnt * (*pk++)) >> 15u) + gcurnt;
+      gnext = __SSAT(gnext, 16);
+
+
+      /* f1(n) is saved in fcurnt            
+         for next stage processing */
+      fcurnt = fnext;
+
+      stageCnt--;
+
+    }
+
+    /* y(n) = fN(n) */
+    *pDst++ = __SSAT(fcurnt, 16);
+
+
+    blkCnt--;
+
+  }
+
+#endif /*   #ifndef ARM_MATH_CM0 */
+
+}
+
+/**    
+ * @} end of FIR_Lattice group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_q31.c
new file mode 100644
index 000000000..9fb46459d
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_q31.c
@@ -0,0 +1,348 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_fir_lattice_q31.c    
+*    
+* Description:	Q31 FIR lattice filter processing function.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup FIR_Lattice    
+ * @{    
+ */
+
+
+/**    
+ * @brief Processing function for the Q31 FIR lattice filter.    
+ * @param[in]  *S        points to an instance of the Q31 FIR lattice structure.    
+ * @param[in]  *pSrc     points to the block of input data.    
+ * @param[out] *pDst     points to the block of output data    
+ * @param[in]  blockSize number of samples to process.    
+ * @return none.    
+ *    
+ * @details    
+ * Scaling and Overflow Behavior:    
+ * In order to avoid overflows the input signal must be scaled down by 2*log2(numStages) bits.    
+ */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+void arm_fir_lattice_q31(
+  const arm_fir_lattice_instance_q31 * S,
+  q31_t * pSrc,
+  q31_t * pDst,
+  uint32_t blockSize)
+{
+  q31_t *pState;                                 /* State pointer */
+  q31_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
+  q31_t *px;                                     /* temporary state pointer */
+  q31_t *pk;                                     /* temporary coefficient pointer */
+  q31_t fcurr1, fnext1, gcurr1 = 0, gnext1;      /* temporary variables for first sample in loop unrolling */
+  q31_t fcurr2, fnext2, gnext2;                  /* temporary variables for second sample in loop unrolling */
+  uint32_t numStages = S->numStages;             /* Length of the filter */
+  uint32_t blkCnt, stageCnt;                     /* temporary variables for counts */
+  q31_t k;
+
+  pState = &S->pState[0];
+
+  blkCnt = blockSize >> 1u;
+
+  /* First part of the processing with loop unrolling.  Compute 2 outputs at a time.        
+     a second loop below computes the remaining 1 sample. */
+  while(blkCnt > 0u)
+  {
+    /* f0(n) = x(n) */
+    fcurr1 = *pSrc++;
+
+    /* f0(n) = x(n) */
+    fcurr2 = *pSrc++;
+
+    /* Initialize coeff pointer */
+    pk = (pCoeffs);
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* read g0(n - 1) from state buffer */
+    gcurr1 = *px;
+
+    /* Read the reflection coefficient */
+    k = *pk++;
+
+    /* for sample 1 processing */
+    /* f1(n) = f0(n) +  K1 * g0(n-1) */
+    fnext1 = (q31_t) (((q63_t) gcurr1 * k) >> 32);
+
+    /* g1(n) = f0(n) * K1  +  g0(n-1) */
+    gnext1 = (q31_t) (((q63_t) fcurr1 * (k)) >> 32);
+    fnext1 = fcurr1 + (fnext1 << 1u);
+    gnext1 = gcurr1 + (gnext1 << 1u);
+
+    /* for sample 1 processing */
+    /* f1(n) = f0(n) +  K1 * g0(n-1) */
+    fnext2 = (q31_t) (((q63_t) fcurr1 * k) >> 32);
+
+    /* g1(n) = f0(n) * K1  +  g0(n-1) */
+    gnext2 = (q31_t) (((q63_t) fcurr2 * (k)) >> 32);
+    fnext2 = fcurr2 + (fnext2 << 1u);
+    gnext2 = fcurr1 + (gnext2 << 1u);
+
+    /* save g1(n) in state buffer */
+    *px++ = fcurr2;
+
+    /* f1(n) is saved in fcurr1        
+       for next stage processing */
+    fcurr1 = fnext1;
+    fcurr2 = fnext2;
+
+    stageCnt = (numStages - 1u);
+
+    /* stage loop */
+    while(stageCnt > 0u)
+    {
+
+      /* Read the reflection coefficient */
+      k = *pk++;
+
+      /* read g2(n) from state buffer */
+      gcurr1 = *px;
+
+      /* save g1(n) in state buffer */
+      *px++ = gnext2;
+
+      /* Sample processing for K2, K3.... */
+      /* f2(n) = f1(n) +  K2 * g1(n-1) */
+      fnext1 = (q31_t) (((q63_t) gcurr1 * k) >> 32);
+      fnext2 = (q31_t) (((q63_t) gnext1 * k) >> 32);
+
+      fnext1 = fcurr1 + (fnext1 << 1u);
+      fnext2 = fcurr2 + (fnext2 << 1u);
+
+      /* g2(n) = f1(n) * K2  +  g1(n-1) */
+      gnext2 = (q31_t) (((q63_t) fcurr2 * (k)) >> 32);
+      gnext2 = gnext1 + (gnext2 << 1u);
+
+      /* g2(n) = f1(n) * K2  +  g1(n-1) */
+      gnext1 = (q31_t) (((q63_t) fcurr1 * (k)) >> 32);
+      gnext1 = gcurr1 + (gnext1 << 1u);
+
+      /* f1(n) is saved in fcurr1        
+         for next stage processing */
+      fcurr1 = fnext1;
+      fcurr2 = fnext2;
+
+      stageCnt--;
+
+    }
+
+    /* y(n) = fN(n) */
+    *pDst++ = fcurr1;
+    *pDst++ = fcurr2;
+
+    blkCnt--;
+
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.        
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x2u;
+
+  while(blkCnt > 0u)
+  {
+    /* f0(n) = x(n) */
+    fcurr1 = *pSrc++;
+
+    /* Initialize coeff pointer */
+    pk = (pCoeffs);
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* read g0(n - 1) from state buffer */
+    gcurr1 = *px;
+
+    /* Read the reflection coefficient */
+    k = *pk++;
+
+    /* for sample 1 processing */
+    /* f1(n) = f0(n) +  K1 * g0(n-1) */
+    fnext1 = (q31_t) (((q63_t) gcurr1 * k) >> 32);
+    fnext1 = fcurr1 + (fnext1 << 1u);
+
+    /* g1(n) = f0(n) * K1  +  g0(n-1) */
+    gnext1 = (q31_t) (((q63_t) fcurr1 * (k)) >> 32);
+    gnext1 = gcurr1 + (gnext1 << 1u);
+
+    /* save g1(n) in state buffer */
+    *px++ = fcurr1;
+
+    /* f1(n) is saved in fcurr1        
+       for next stage processing */
+    fcurr1 = fnext1;
+
+    stageCnt = (numStages - 1u);
+
+    /* stage loop */
+    while(stageCnt > 0u)
+    {
+      /* Read the reflection coefficient */
+      k = *pk++;
+
+      /* read g2(n) from state buffer */
+      gcurr1 = *px;
+
+      /* save g1(n) in state buffer */
+      *px++ = gnext1;
+
+      /* Sample processing for K2, K3.... */
+      /* f2(n) = f1(n) +  K2 * g1(n-1) */
+      fnext1 = (q31_t) (((q63_t) gcurr1 * k) >> 32);
+      fnext1 = fcurr1 + (fnext1 << 1u);
+
+      /* g2(n) = f1(n) * K2  +  g1(n-1) */
+      gnext1 = (q31_t) (((q63_t) fcurr1 * (k)) >> 32);
+      gnext1 = gcurr1 + (gnext1 << 1u);
+
+      /* f1(n) is saved in fcurr1        
+         for next stage processing */
+      fcurr1 = fnext1;
+
+      stageCnt--;
+
+    }
+
+
+    /* y(n) = fN(n) */
+    *pDst++ = fcurr1;
+
+    blkCnt--;
+
+  }
+
+
+}
+
+
+#else
+
+/* Run the below code for Cortex-M0 */
+
+void arm_fir_lattice_q31(
+  const arm_fir_lattice_instance_q31 * S,
+  q31_t * pSrc,
+  q31_t * pDst,
+  uint32_t blockSize)
+{
+  q31_t *pState;                                 /* State pointer */
+  q31_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
+  q31_t *px;                                     /* temporary state pointer */
+  q31_t *pk;                                     /* temporary coefficient pointer */
+  q31_t fcurr, fnext, gcurr, gnext;              /* temporary variables */
+  uint32_t numStages = S->numStages;             /* Length of the filter */
+  uint32_t blkCnt, stageCnt;                     /* temporary variables for counts */
+
+  pState = &S->pState[0];
+
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* f0(n) = x(n) */
+    fcurr = *pSrc++;
+
+    /* Initialize coeff pointer */
+    pk = (pCoeffs);
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* read g0(n-1) from state buffer */
+    gcurr = *px;
+
+    /* for sample 1 processing */
+    /* f1(n) = f0(n) +  K1 * g0(n-1) */
+    fnext = (q31_t) (((q63_t) gcurr * (*pk)) >> 31) + fcurr;
+    /* g1(n) = f0(n) * K1  +  g0(n-1) */
+    gnext = (q31_t) (((q63_t) fcurr * (*pk++)) >> 31) + gcurr;
+    /* save g1(n) in state buffer */
+    *px++ = fcurr;
+
+    /* f1(n) is saved in fcurr1            
+       for next stage processing */
+    fcurr = fnext;
+
+    stageCnt = (numStages - 1u);
+
+    /* stage loop */
+    while(stageCnt > 0u)
+    {
+      /* read g2(n) from state buffer */
+      gcurr = *px;
+
+      /* save g1(n) in state buffer */
+      *px++ = gnext;
+
+      /* Sample processing for K2, K3.... */
+      /* f2(n) = f1(n) +  K2 * g1(n-1) */
+      fnext = (q31_t) (((q63_t) gcurr * (*pk)) >> 31) + fcurr;
+      /* g2(n) = f1(n) * K2  +  g1(n-1) */
+      gnext = (q31_t) (((q63_t) fcurr * (*pk++)) >> 31) + gcurr;
+
+      /* f1(n) is saved in fcurr1            
+         for next stage processing */
+      fcurr = fnext;
+
+      stageCnt--;
+
+    }
+
+    /* y(n) = fN(n) */
+    *pDst++ = fcurr;
+
+    blkCnt--;
+
+  }
+
+}
+
+#endif /*   #ifndef ARM_MATH_CM0 */
+
+
+/**    
+ * @} end of FIR_Lattice group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_q15.c
new file mode 100644
index 000000000..368014f43
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_q15.c
@@ -0,0 +1,689 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:        arm_fir_q15.c    
+*    
+* Description:  Q15 FIR filter processing function.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.5  2010/04/26     
+* 	 incorporated review comments and updated with latest CMSIS layer    
+*    
+* Version 0.0.3  2010/03/10     
+*    Initial version    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**       
+ * @ingroup groupFilters       
+ */
+
+/**       
+ * @addtogroup FIR       
+ * @{       
+ */
+
+/**       
+ * @brief Processing function for the Q15 FIR filter.       
+ * @param[in] *S points to an instance of the Q15 FIR structure.       
+ * @param[in] *pSrc points to the block of input data.       
+ * @param[out] *pDst points to the block of output data.       
+ * @param[in]  blockSize number of samples to process per call.       
+ * @return none.       
+ *   
+ *   
+ * \par Restrictions   
+ *  If the silicon does not support unaligned memory access enable the macro UNALIGNED_SUPPORT_DISABLE   
+ *	In this case input, output, state buffers should be aligned by 32-bit   
+ *   
+ * Scaling and Overflow Behavior:       
+ * \par       
+ * The function is implemented using a 64-bit internal accumulator.       
+ * Both coefficients and state variables are represented in 1.15 format and multiplications yield a 2.30 result.       
+ * The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format.       
+ * There is no risk of internal overflow with this approach and the full precision of intermediate multiplications is preserved.       
+ * After all additions have been performed, the accumulator is truncated to 34.15 format by discarding low 15 bits.       
+ * Lastly, the accumulator is saturated to yield a result in 1.15 format.       
+ *       
+ * \par       
+ * Refer to the function arm_fir_fast_q15() for a faster but less precise implementation of this function.       
+ */
+
+#ifndef ARM_MATH_CM0
+
+/* Run the below code for Cortex-M4 and Cortex-M3 */
+
+#ifndef UNALIGNED_SUPPORT_DISABLE
+
+
+void arm_fir_q15(
+  const arm_fir_instance_q15 * S,
+  q15_t * pSrc,
+  q15_t * pDst,
+  uint32_t blockSize)
+{
+  q15_t *pState = S->pState;                     /* State pointer */
+  q15_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
+  q15_t *pStateCurnt;                            /* Points to the current sample of the state */
+  q15_t *px1;                                    /* Temporary q15 pointer for state buffer */
+  q15_t *pb;                                     /* Temporary pointer for coefficient buffer */
+  q31_t x0, x1, x2, x3, c0;                      /* Temporary variables to hold SIMD state and coefficient values */
+  q63_t acc0, acc1, acc2, acc3;                  /* Accumulators */
+  uint32_t numTaps = S->numTaps;                 /* Number of taps in the filter */
+  uint32_t tapCnt, blkCnt;                       /* Loop counters */
+
+
+  /* S->pState points to state array which contains previous frame (numTaps - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = &(S->pState[(numTaps - 1u)]);
+
+  /* Apply loop unrolling and compute 4 output values simultaneously.       
+   * The variables acc0 ... acc3 hold output values that are being computed:       
+   *       
+   *    acc0 =  b[numTaps-1] * x[n-numTaps-1] + b[numTaps-2] * x[n-numTaps-2] + b[numTaps-3] * x[n-numTaps-3] +...+ b[0] * x[0]       
+   *    acc1 =  b[numTaps-1] * x[n-numTaps] +   b[numTaps-2] * x[n-numTaps-1] + b[numTaps-3] * x[n-numTaps-2] +...+ b[0] * x[1]       
+   *    acc2 =  b[numTaps-1] * x[n-numTaps+1] + b[numTaps-2] * x[n-numTaps] +   b[numTaps-3] * x[n-numTaps-1] +...+ b[0] * x[2]       
+   *    acc3 =  b[numTaps-1] * x[n-numTaps+2] + b[numTaps-2] * x[n-numTaps+1] + b[numTaps-3] * x[n-numTaps]   +...+ b[0] * x[3]       
+   */
+
+  blkCnt = blockSize >> 2;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.       
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* Copy four new input samples into the state buffer.       
+     ** Use 32-bit SIMD to move the 16-bit data.  Only requires two copies. */
+    *__SIMD32(pStateCurnt)++ = *__SIMD32(pSrc)++;
+    *__SIMD32(pStateCurnt)++ = *__SIMD32(pSrc)++;
+
+    /* Set all accumulators to zero */
+    acc0 = 0;
+    acc1 = 0;
+    acc2 = 0;
+    acc3 = 0;
+
+    /* Initialize state pointer of type q15 */
+    px1 = pState;
+
+    /* Initialize coeff pointer of type q31 */
+    pb = pCoeffs;
+
+    /* Read the first two samples from the state buffer:  x[n-N], x[n-N-1] */
+    x0 = _SIMD32_OFFSET(px1);
+
+    /* Read the third and forth samples from the state buffer: x[n-N-1], x[n-N-2] */
+    x1 = _SIMD32_OFFSET(px1 + 1u);
+
+    px1 += 2u;
+
+    /* Loop over the number of taps.  Unroll by a factor of 4.       
+     ** Repeat until we've computed numTaps-4 coefficients. */
+    tapCnt = numTaps >> 2;
+
+    while(tapCnt > 0u)
+    {
+      /* Read the first two coefficients using SIMD:  b[N] and b[N-1] coefficients */
+      c0 = *__SIMD32(pb)++;
+
+      /* acc0 +=  b[N] * x[n-N] + b[N-1] * x[n-N-1] */
+      acc0 = __SMLALD(x0, c0, acc0);
+
+      /* acc1 +=  b[N] * x[n-N-1] + b[N-1] * x[n-N-2] */
+      acc1 = __SMLALD(x1, c0, acc1);
+
+      /* Read state x[n-N-2], x[n-N-3] */
+      x2 = _SIMD32_OFFSET(px1);
+
+      /* Read state x[n-N-3], x[n-N-4] */
+      x3 = _SIMD32_OFFSET(px1 + 1u);
+
+      /* acc2 +=  b[N] * x[n-N-2] + b[N-1] * x[n-N-3] */
+      acc2 = __SMLALD(x2, c0, acc2);
+
+      /* acc3 +=  b[N] * x[n-N-3] + b[N-1] * x[n-N-4] */
+      acc3 = __SMLALD(x3, c0, acc3);
+
+      /* Read coefficients b[N-2], b[N-3] */
+      c0 = *__SIMD32(pb)++;
+
+      /* acc0 +=  b[N-2] * x[n-N-2] + b[N-3] * x[n-N-3] */
+      acc0 = __SMLALD(x2, c0, acc0);
+
+      /* acc1 +=  b[N-2] * x[n-N-3] + b[N-3] * x[n-N-4] */
+      acc1 = __SMLALD(x3, c0, acc1);
+
+      /* Read state x[n-N-4], x[n-N-5] */
+      x0 = _SIMD32_OFFSET(px1 + 2u);
+
+      /* Read state x[n-N-5], x[n-N-6] */
+      x1 = _SIMD32_OFFSET(px1 + 3u);
+
+      /* acc2 +=  b[N-2] * x[n-N-4] + b[N-3] * x[n-N-5] */
+      acc2 = __SMLALD(x0, c0, acc2);
+
+      /* acc3 +=  b[N-2] * x[n-N-5] + b[N-3] * x[n-N-6] */
+      acc3 = __SMLALD(x1, c0, acc3);
+
+      px1 += 4u;
+
+      tapCnt--;
+
+    }
+
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps.       
+     ** This is always be 2 taps since the filter length is even. */
+    if((numTaps & 0x3u) != 0u)
+    {
+      /* Read 2 coefficients */
+      c0 = *__SIMD32(pb)++;
+
+      /* Fetch 4 state variables */
+      x2 = _SIMD32_OFFSET(px1);
+
+      x3 = _SIMD32_OFFSET(px1 + 1u);
+
+      /* Perform the multiply-accumulates */
+      acc0 = __SMLALD(x0, c0, acc0);
+
+      px1 += 2u;
+
+      acc1 = __SMLALD(x1, c0, acc1);
+      acc2 = __SMLALD(x2, c0, acc2);
+      acc3 = __SMLALD(x3, c0, acc3);
+    }
+
+    /* The results in the 4 accumulators are in 2.30 format.  Convert to 1.15 with saturation.       
+     ** Then store the 4 outputs in the destination buffer. */
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+    *__SIMD32(pDst)++ =
+      __PKHBT(__SSAT((acc0 >> 15), 16), __SSAT((acc1 >> 15), 16), 16);
+    *__SIMD32(pDst)++ =
+      __PKHBT(__SSAT((acc2 >> 15), 16), __SSAT((acc3 >> 15), 16), 16);
+
+#else
+
+    *__SIMD32(pDst)++ =
+      __PKHBT(__SSAT((acc1 >> 15), 16), __SSAT((acc0 >> 15), 16), 16);
+    *__SIMD32(pDst)++ =
+      __PKHBT(__SSAT((acc3 >> 15), 16), __SSAT((acc2 >> 15), 16), 16);
+
+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN       */
+
+
+
+    /* Advance the state pointer by 4 to process the next group of 4 samples */
+    pState = pState + 4;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.       
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+  while(blkCnt > 0u)
+  {
+    /* Copy two samples into state buffer */
+    *pStateCurnt++ = *pSrc++;
+
+    /* Set the accumulator to zero */
+    acc0 = 0;
+
+    /* Initialize state pointer of type q15 */
+    px1 = pState;
+
+    /* Initialize coeff pointer of type q31 */
+    pb = pCoeffs;
+
+    tapCnt = numTaps >> 1;
+
+    do
+    {
+
+      c0 = *__SIMD32(pb)++;
+      x0 = *__SIMD32(px1)++;
+
+      acc0 = __SMLALD(x0, c0, acc0);
+      tapCnt--;
+    }
+    while(tapCnt > 0u);
+
+    /* The result is in 2.30 format.  Convert to 1.15 with saturation.       
+     ** Then store the output in the destination buffer. */
+    *pDst++ = (q15_t) (__SSAT((acc0 >> 15), 16));
+
+    /* Advance state pointer by 1 for the next sample */
+    pState = pState + 1;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Processing is complete.       
+   ** Now copy the last numTaps - 1 samples to the satrt of the state buffer.       
+   ** This prepares the state buffer for the next function call. */
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = S->pState;
+
+  /* Calculation of count for copying integer writes */
+  tapCnt = (numTaps - 1u) >> 2;
+
+  while(tapCnt > 0u)
+  {
+
+    /* Copy state values to start of state buffer */
+    *__SIMD32(pStateCurnt)++ = *__SIMD32(pState)++;
+    *__SIMD32(pStateCurnt)++ = *__SIMD32(pState)++;
+
+    tapCnt--;
+
+  }
+
+  /* Calculation of count for remaining q15_t data */
+  tapCnt = (numTaps - 1u) % 0x4u;
+
+  /* copy remaining data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+}
+
+#else /* UNALIGNED_SUPPORT_DISABLE */
+
+void arm_fir_q15(
+  const arm_fir_instance_q15 * S,
+  q15_t * pSrc,
+  q15_t * pDst,
+  uint32_t blockSize)
+{
+  q15_t *pState = S->pState;                     /* State pointer */
+  q15_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
+  q15_t *pStateCurnt;                            /* Points to the current sample of the state */
+  q63_t acc0, acc1, acc2, acc3;                  /* Accumulators */
+  q15_t *pb;                                     /* Temporary pointer for coefficient buffer */
+  q15_t *px;                                     /* Temporary q31 pointer for SIMD state buffer accesses */
+  q31_t x0, x1, x2, c0;                          /* Temporary variables to hold SIMD state and coefficient values */
+  uint32_t numTaps = S->numTaps;                 /* Number of taps in the filter */
+  uint32_t tapCnt, blkCnt;                       /* Loop counters */
+
+
+  /* S->pState points to state array which contains previous frame (numTaps - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = &(S->pState[(numTaps - 1u)]);
+
+  /* Apply loop unrolling and compute 4 output values simultaneously.      
+   * The variables acc0 ... acc3 hold output values that are being computed:      
+   *      
+   *    acc0 =  b[numTaps-1] * x[n-numTaps-1] + b[numTaps-2] * x[n-numTaps-2] + b[numTaps-3] * x[n-numTaps-3] +...+ b[0] * x[0]      
+   *    acc1 =  b[numTaps-1] * x[n-numTaps] +   b[numTaps-2] * x[n-numTaps-1] + b[numTaps-3] * x[n-numTaps-2] +...+ b[0] * x[1]      
+   *    acc2 =  b[numTaps-1] * x[n-numTaps+1] + b[numTaps-2] * x[n-numTaps] +   b[numTaps-3] * x[n-numTaps-1] +...+ b[0] * x[2]      
+   *    acc3 =  b[numTaps-1] * x[n-numTaps+2] + b[numTaps-2] * x[n-numTaps+1] + b[numTaps-3] * x[n-numTaps]   +...+ b[0] * x[3]      
+   */
+
+  blkCnt = blockSize >> 2;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.      
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* Copy four new input samples into the state buffer.      
+     ** Use 32-bit SIMD to move the 16-bit data.  Only requires two copies. */
+    *pStateCurnt++ = *pSrc++;
+    *pStateCurnt++ = *pSrc++;
+    *pStateCurnt++ = *pSrc++;
+    *pStateCurnt++ = *pSrc++;
+
+
+    /* Set all accumulators to zero */
+    acc0 = 0;
+    acc1 = 0;
+    acc2 = 0;
+    acc3 = 0;
+
+    /* Typecast q15_t pointer to q31_t pointer for state reading in q31_t */
+    px = pState;
+
+    /* Typecast q15_t pointer to q31_t pointer for coefficient reading in q31_t */
+    pb = pCoeffs;
+
+    /* Read the first two samples from the state buffer:  x[n-N], x[n-N-1] */
+    x0 = *__SIMD32(px)++;
+
+    /* Read the third and forth samples from the state buffer: x[n-N-2], x[n-N-3] */
+    x2 = *__SIMD32(px)++;
+
+    /* Loop over the number of taps.  Unroll by a factor of 4.      
+     ** Repeat until we've computed numTaps-(numTaps%4) coefficients. */
+    tapCnt = numTaps >> 2;
+
+    while(tapCnt > 0)
+    {
+      /* Read the first two coefficients using SIMD:  b[N] and b[N-1] coefficients */
+      c0 = *__SIMD32(pb)++;
+
+      /* acc0 +=  b[N] * x[n-N] + b[N-1] * x[n-N-1] */
+      acc0 = __SMLALD(x0, c0, acc0);
+
+      /* acc2 +=  b[N] * x[n-N-2] + b[N-1] * x[n-N-3] */
+      acc2 = __SMLALD(x2, c0, acc2);
+
+      /* pack  x[n-N-1] and x[n-N-2] */
+#ifndef ARM_MATH_BIG_ENDIAN
+      x1 = __PKHBT(x2, x0, 0);
+#else
+      x1 = __PKHBT(x0, x2, 0);
+#endif
+
+      /* Read state x[n-N-4], x[n-N-5] */
+      x0 = _SIMD32_OFFSET(px);
+
+      /* acc1 +=  b[N] * x[n-N-1] + b[N-1] * x[n-N-2] */
+      acc1 = __SMLALDX(x1, c0, acc1);
+
+      /* pack  x[n-N-3] and x[n-N-4] */
+#ifndef ARM_MATH_BIG_ENDIAN
+      x1 = __PKHBT(x0, x2, 0);
+#else
+      x1 = __PKHBT(x2, x0, 0);
+#endif
+
+      /* acc3 +=  b[N] * x[n-N-3] + b[N-1] * x[n-N-4] */
+      acc3 = __SMLALDX(x1, c0, acc3);
+
+      /* Read coefficients b[N-2], b[N-3] */
+      c0 = *__SIMD32(pb)++;
+
+      /* acc0 +=  b[N-2] * x[n-N-2] + b[N-3] * x[n-N-3] */
+      acc0 = __SMLALD(x2, c0, acc0);
+
+      /* Read state x[n-N-6], x[n-N-7] with offset */
+      x2 = _SIMD32_OFFSET(px + 2u);
+
+      /* acc2 +=  b[N-2] * x[n-N-4] + b[N-3] * x[n-N-5] */
+      acc2 = __SMLALD(x0, c0, acc2);
+
+      /* acc1 +=  b[N-2] * x[n-N-3] + b[N-3] * x[n-N-4] */
+      acc1 = __SMLALDX(x1, c0, acc1);
+
+      /* pack  x[n-N-5] and x[n-N-6] */
+#ifndef ARM_MATH_BIG_ENDIAN
+      x1 = __PKHBT(x2, x0, 0);
+#else
+      x1 = __PKHBT(x0, x2, 0);
+#endif
+
+      /* acc3 +=  b[N-2] * x[n-N-5] + b[N-3] * x[n-N-6] */
+      acc3 = __SMLALDX(x1, c0, acc3);
+
+      /* Update state pointer for next state reading */
+      px += 4u;
+
+      /* Decrement tap count */
+      tapCnt--;
+
+    }
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps.       
+     ** This is always be 2 taps since the filter length is even. */
+    if((numTaps & 0x3u) != 0u)
+    {
+
+      /* Read last two coefficients */
+      c0 = *__SIMD32(pb)++;
+
+      /* Perform the multiply-accumulates */
+      acc0 = __SMLALD(x0, c0, acc0);
+      acc2 = __SMLALD(x2, c0, acc2);
+
+      /* pack state variables */
+#ifndef ARM_MATH_BIG_ENDIAN
+      x1 = __PKHBT(x2, x0, 0);
+#else
+      x1 = __PKHBT(x0, x2, 0);
+#endif
+
+      /* Read last state variables */
+      x0 = *__SIMD32(px);
+
+      /* Perform the multiply-accumulates */
+      acc1 = __SMLALDX(x1, c0, acc1);
+
+      /* pack state variables */
+#ifndef ARM_MATH_BIG_ENDIAN
+      x1 = __PKHBT(x0, x2, 0);
+#else
+      x1 = __PKHBT(x2, x0, 0);
+#endif
+
+      /* Perform the multiply-accumulates */
+      acc3 = __SMLALDX(x1, c0, acc3);
+    }
+
+    /* The results in the 4 accumulators are in 2.30 format.  Convert to 1.15 with saturation.       
+     ** Then store the 4 outputs in the destination buffer. */
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+    *__SIMD32(pDst)++ =
+      __PKHBT(__SSAT((acc0 >> 15), 16), __SSAT((acc1 >> 15), 16), 16);
+
+    *__SIMD32(pDst)++ =
+      __PKHBT(__SSAT((acc2 >> 15), 16), __SSAT((acc3 >> 15), 16), 16);
+
+#else
+
+    *__SIMD32(pDst)++ =
+      __PKHBT(__SSAT((acc1 >> 15), 16), __SSAT((acc0 >> 15), 16), 16);
+
+    *__SIMD32(pDst)++ =
+      __PKHBT(__SSAT((acc3 >> 15), 16), __SSAT((acc2 >> 15), 16), 16);
+
+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN       */
+
+    /* Advance the state pointer by 4 to process the next group of 4 samples */
+    pState = pState + 4;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.      
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+  while(blkCnt > 0u)
+  {
+    /* Copy two samples into state buffer */
+    *pStateCurnt++ = *pSrc++;
+
+    /* Set the accumulator to zero */
+    acc0 = 0;
+
+    /* Use SIMD to hold states and coefficients */
+    px = pState;
+    pb = pCoeffs;
+
+    tapCnt = numTaps >> 1u;
+
+    do
+    {
+      acc0 += (q31_t) * px++ * *pb++;
+	  acc0 += (q31_t) * px++ * *pb++;
+      tapCnt--;
+    }
+    while(tapCnt > 0u);
+
+    /* The result is in 2.30 format.  Convert to 1.15 with saturation.      
+     ** Then store the output in the destination buffer. */
+    *pDst++ = (q15_t) (__SSAT((acc0 >> 15), 16));
+
+    /* Advance state pointer by 1 for the next sample */
+    pState = pState + 1u;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Processing is complete.      
+   ** Now copy the last numTaps - 1 samples to the satrt of the state buffer.      
+   ** This prepares the state buffer for the next function call. */
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = S->pState;
+
+  /* Calculation of count for copying integer writes */
+  tapCnt = (numTaps - 1u) >> 2;
+
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+
+    tapCnt--;
+
+  }
+
+  /* Calculation of count for remaining q15_t data */
+  tapCnt = (numTaps - 1u) % 0x4u;
+
+  /* copy remaining data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+}
+
+
+#endif /* #ifndef UNALIGNED_SUPPORT_DISABLE */
+
+#else /* ARM_MATH_CM0 */
+
+
+/* Run the below code for Cortex-M0 */
+
+void arm_fir_q15(
+  const arm_fir_instance_q15 * S,
+  q15_t * pSrc,
+  q15_t * pDst,
+  uint32_t blockSize)
+{
+  q15_t *pState = S->pState;                     /* State pointer */
+  q15_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
+  q15_t *pStateCurnt;                            /* Points to the current sample of the state */
+
+
+
+  q15_t *px;                                     /* Temporary pointer for state buffer */
+  q15_t *pb;                                     /* Temporary pointer for coefficient buffer */
+  q63_t acc;                                     /* Accumulator */
+  uint32_t numTaps = S->numTaps;                 /* Number of nTaps in the filter */
+  uint32_t tapCnt, blkCnt;                       /* Loop counters */
+
+  /* S->pState buffer contains previous frame (numTaps - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = &(S->pState[(numTaps - 1u)]);
+
+  /* Initialize blkCnt with blockSize */
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* Copy one sample at a time into state buffer */
+    *pStateCurnt++ = *pSrc++;
+
+    /* Set the accumulator to zero */
+    acc = 0;
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* Initialize Coefficient pointer */
+    pb = pCoeffs;
+
+    tapCnt = numTaps;
+
+    /* Perform the multiply-accumulates */
+    do
+    {
+      /* acc =  b[numTaps-1] * x[n-numTaps-1] + b[numTaps-2] * x[n-numTaps-2] + b[numTaps-3] * x[n-numTaps-3] +...+ b[0] * x[0] */
+      acc += (q31_t) * px++ * *pb++;
+      tapCnt--;
+    } while(tapCnt > 0u);
+
+    /* The result is in 2.30 format.  Convert to 1.15         
+     ** Then store the output in the destination buffer. */
+    *pDst++ = (q15_t) __SSAT((acc >> 15u), 16);
+
+    /* Advance state pointer by 1 for the next sample */
+    pState = pState + 1;
+
+    /* Decrement the samples loop counter */
+    blkCnt--;
+  }
+
+  /* Processing is complete.         
+   ** Now copy the last numTaps - 1 samples to the satrt of the state buffer.       
+   ** This prepares the state buffer for the next function call. */
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = S->pState;
+
+  /* Copy numTaps number of values */
+  tapCnt = (numTaps - 1u);
+
+  /* copy data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+}
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+
+
+
+/**       
+ * @} end of FIR group       
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_q31.c
new file mode 100644
index 000000000..b3b84ec51
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_q31.c
@@ -0,0 +1,363 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_fir_q31.c    
+*    
+* Description:	Q31 FIR filter processing function.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.5  2010/04/26     
+* 	 incorporated review comments and updated with latest CMSIS layer    
+*    
+* Version 0.0.3  2010/03/10     
+*    Initial version    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup FIR    
+ * @{    
+ */
+
+/**    
+ * @param[in] *S points to an instance of the Q31 FIR filter structure.    
+ * @param[in] *pSrc points to the block of input data.    
+ * @param[out] *pDst points to the block of output data.    
+ * @param[in] blockSize number of samples to process per call.    
+ * @return none.    
+ *    
+ * @details    
+ * Scaling and Overflow Behavior:    
+ * \par    
+ * The function is implemented using an internal 64-bit accumulator.    
+ * The accumulator has a 2.62 format and maintains full precision of the intermediate multiplication results but provides only a single guard bit.    
+ * Thus, if the accumulator result overflows it wraps around rather than clip.    
+ * In order to avoid overflows completely the input signal must be scaled down by log2(numTaps) bits.    
+ * After all multiply-accumulates are performed, the 2.62 accumulator is right shifted by 31 bits and saturated to 1.31 format to yield the final result.  
+ *    
+ * \par    
+ * Refer to the function arm_fir_fast_q31() for a faster but less precise implementation of this filter for Cortex-M3 and Cortex-M4.    
+ */
+
+void arm_fir_q31(
+  const arm_fir_instance_q31 * S,
+  q31_t * pSrc,
+  q31_t * pDst,
+  uint32_t blockSize)
+{
+  q31_t *pState = S->pState;                     /* State pointer */
+  q31_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
+  q31_t *pStateCurnt;                            /* Points to the current sample of the state */
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q31_t x0, x1, x2;                              /* Temporary variables to hold state */
+  q31_t c0;                                      /* Temporary variable to hold coefficient value */
+  q31_t *px;                                     /* Temporary pointer for state */
+  q31_t *pb;                                     /* Temporary pointer for coefficient buffer */
+  q63_t acc0, acc1, acc2;                        /* Accumulators */
+  uint32_t numTaps = S->numTaps;                 /* Number of filter coefficients in the filter */
+  uint32_t i, tapCnt, blkCnt, tapCntN3;          /* Loop counters */
+
+  /* S->pState points to state array which contains previous frame (numTaps - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = &(S->pState[(numTaps - 1u)]);
+
+  /* Apply loop unrolling and compute 4 output values simultaneously.    
+   * The variables acc0 ... acc3 hold output values that are being computed:    
+   *    
+   *    acc0 =  b[numTaps-1] * x[n-numTaps-1] + b[numTaps-2] * x[n-numTaps-2] + b[numTaps-3] * x[n-numTaps-3] +...+ b[0] * x[0]    
+   *    acc1 =  b[numTaps-1] * x[n-numTaps] +   b[numTaps-2] * x[n-numTaps-1] + b[numTaps-3] * x[n-numTaps-2] +...+ b[0] * x[1]    
+   *    acc2 =  b[numTaps-1] * x[n-numTaps+1] + b[numTaps-2] * x[n-numTaps] +   b[numTaps-3] * x[n-numTaps-1] +...+ b[0] * x[2]    
+   *    acc3 =  b[numTaps-1] * x[n-numTaps+2] + b[numTaps-2] * x[n-numTaps+1] + b[numTaps-3] * x[n-numTaps]   +...+ b[0] * x[3]    
+   */
+  blkCnt = blockSize / 3;
+  blockSize = blockSize - (3 * blkCnt);
+
+  tapCnt = numTaps / 3;
+  tapCntN3 = numTaps - (3 * tapCnt);
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* Copy three new input samples into the state buffer */
+    *pStateCurnt++ = *pSrc++;
+    *pStateCurnt++ = *pSrc++;
+    *pStateCurnt++ = *pSrc++;
+
+    /* Set all accumulators to zero */
+    acc0 = 0;
+    acc1 = 0;
+    acc2 = 0;
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* Initialize coefficient pointer */
+    pb = pCoeffs;
+
+    /* Read the first two samples from the state buffer:    
+     *  x[n-numTaps], x[n-numTaps-1] */
+    x0 = *(px++);
+    x1 = *(px++);
+
+    /* Loop unrolling.  Process 3 taps at a time. */
+    i = tapCnt;
+
+    while(i > 0u)
+    {
+      /* Read the b[numTaps] coefficient */
+      c0 = *pb;
+
+      /* Read x[n-numTaps-2] sample */
+      x2 = *(px++);
+
+      /* Perform the multiply-accumulates */
+      acc0 += ((q63_t) x0 * c0);
+      acc1 += ((q63_t) x1 * c0);
+      acc2 += ((q63_t) x2 * c0);
+
+      /* Read the coefficient and state */
+      c0 = *(pb + 1u);
+      x0 = *(px++);
+
+      /* Perform the multiply-accumulates */
+      acc0 += ((q63_t) x1 * c0);
+      acc1 += ((q63_t) x2 * c0);
+      acc2 += ((q63_t) x0 * c0);
+
+      /* Read the coefficient and state */
+      c0 = *(pb + 2u);
+      x1 = *(px++);
+
+      /* update coefficient pointer */
+      pb += 3u;
+
+      /* Perform the multiply-accumulates */
+      acc0 += ((q63_t) x2 * c0);
+      acc1 += ((q63_t) x0 * c0);
+      acc2 += ((q63_t) x1 * c0);
+
+      /* Decrement the loop counter */
+      i--;
+    }
+
+    /* If the filter length is not a multiple of 3, compute the remaining filter taps */
+
+    i = tapCntN3;
+
+    while(i > 0u)
+    {
+      /* Read coefficients */
+      c0 = *(pb++);
+
+      /* Fetch 1 state variable */
+      x2 = *(px++);
+
+      /* Perform the multiply-accumulates */
+      acc0 += ((q63_t) x0 * c0);
+      acc1 += ((q63_t) x1 * c0);
+      acc2 += ((q63_t) x2 * c0);
+
+      /* Reuse the present sample states for next sample */
+      x0 = x1;
+      x1 = x2;
+
+      /* Decrement the loop counter */
+      i--;
+    }
+
+    /* Advance the state pointer by 3 to process the next group of 3 samples */
+    pState = pState + 3;
+
+    /* The results in the 3 accumulators are in 2.30 format.  Convert to 1.31    
+     ** Then store the 3 outputs in the destination buffer. */
+    *pDst++ = (q31_t) (acc0 >> 31u);
+    *pDst++ = (q31_t) (acc1 >> 31u);
+    *pDst++ = (q31_t) (acc2 >> 31u);
+
+    /* Decrement the samples loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 3, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+
+  while(blockSize > 0u)
+  {
+    /* Copy one sample at a time into state buffer */
+    *pStateCurnt++ = *pSrc++;
+
+    /* Set the accumulator to zero */
+    acc0 = 0;
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* Initialize Coefficient pointer */
+    pb = (pCoeffs);
+
+    i = numTaps;
+
+    /* Perform the multiply-accumulates */
+    do
+    {
+      acc0 += (q63_t) * (px++) * (*(pb++));
+      i--;
+    } while(i > 0u);
+
+    /* The result is in 2.62 format.  Convert to 1.31    
+     ** Then store the output in the destination buffer. */
+    *pDst++ = (q31_t) (acc0 >> 31u);
+
+    /* Advance state pointer by 1 for the next sample */
+    pState = pState + 1;
+
+    /* Decrement the samples loop counter */
+    blockSize--;
+  }
+
+  /* Processing is complete.    
+   ** Now copy the last numTaps - 1 samples to the satrt of the state buffer.    
+   ** This prepares the state buffer for the next function call. */
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = S->pState;
+
+  tapCnt = (numTaps - 1u) >> 2u;
+
+  /* copy data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+  /* Calculate remaining number of copies */
+  tapCnt = (numTaps - 1u) % 0x4u;
+
+  /* Copy the remaining q31_t data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+#else
+
+/* Run the below code for Cortex-M0 */
+
+  q31_t *px;                                     /* Temporary pointer for state */
+  q31_t *pb;                                     /* Temporary pointer for coefficient buffer */
+  q63_t acc;                                     /* Accumulator */
+  uint32_t numTaps = S->numTaps;                 /* Length of the filter */
+  uint32_t i, tapCnt, blkCnt;                    /* Loop counters */
+
+  /* S->pState buffer contains previous frame (numTaps - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = &(S->pState[(numTaps - 1u)]);
+
+  /* Initialize blkCnt with blockSize */
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* Copy one sample at a time into state buffer */
+    *pStateCurnt++ = *pSrc++;
+
+    /* Set the accumulator to zero */
+    acc = 0;
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* Initialize Coefficient pointer */
+    pb = pCoeffs;
+
+    i = numTaps;
+
+    /* Perform the multiply-accumulates */
+    do
+    {
+      /* acc =  b[numTaps-1] * x[n-numTaps-1] + b[numTaps-2] * x[n-numTaps-2] + b[numTaps-3] * x[n-numTaps-3] +...+ b[0] * x[0] */
+      acc += (q63_t) * px++ * *pb++;
+      i--;
+    } while(i > 0u);
+
+    /* The result is in 2.62 format.  Convert to 1.31         
+     ** Then store the output in the destination buffer. */
+    *pDst++ = (q31_t) (acc >> 31u);
+
+    /* Advance state pointer by 1 for the next sample */
+    pState = pState + 1;
+
+    /* Decrement the samples loop counter */
+    blkCnt--;
+  }
+
+  /* Processing is complete.         
+   ** Now copy the last numTaps - 1 samples to the starting of the state buffer.       
+   ** This prepares the state buffer for the next function call. */
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = S->pState;
+
+  /* Copy numTaps number of values */
+  tapCnt = numTaps - 1u;
+
+  /* Copy the data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+
+#endif /*  #ifndef ARM_MATH_CM0 */
+
+}
+
+/**    
+ * @} end of FIR group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_q7.c
new file mode 100644
index 000000000..624afa130
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_q7.c
@@ -0,0 +1,388 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:        arm_fir_q7.c    
+*    
+* Description:  Q7 FIR filter processing function.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.5  2010/04/26     
+* 	 incorporated review comments and updated with latest CMSIS layer    
+*    
+* Version 0.0.3  2010/03/10     
+*    Initial version    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup FIR    
+ * @{    
+ */
+
+/**    
+ * @param[in]   *S points to an instance of the Q7 FIR filter structure.    
+ * @param[in]   *pSrc points to the block of input data.    
+ * @param[out]  *pDst points to the block of output data.    
+ * @param[in]   blockSize number of samples to process per call.    
+ * @return 	none.    
+ *    
+ * Scaling and Overflow Behavior:    
+ * \par    
+ * The function is implemented using a 32-bit internal accumulator.    
+ * Both coefficients and state variables are represented in 1.7 format and multiplications yield a 2.14 result.    
+ * The 2.14 intermediate results are accumulated in a 32-bit accumulator in 18.14 format.    
+ * There is no risk of internal overflow with this approach and the full precision of intermediate multiplications is preserved.    
+ * The accumulator is converted to 18.7 format by discarding the low 7 bits.    
+ * Finally, the result is truncated to 1.7 format.    
+ */
+
+void arm_fir_q7(
+  const arm_fir_instance_q7 * S,
+  q7_t * pSrc,
+  q7_t * pDst,
+  uint32_t blockSize)
+{
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q7_t *pState = S->pState;                      /* State pointer */
+  q7_t *pCoeffs = S->pCoeffs;                    /* Coefficient pointer */
+  q7_t *pStateCurnt;                             /* Points to the current sample of the state */
+  q7_t x0, x1, x2, x3;                           /* Temporary variables to hold state */
+  q7_t c0;                                       /* Temporary variable to hold coefficient value */
+  q7_t *px;                                      /* Temporary pointer for state */
+  q7_t *pb;                                      /* Temporary pointer for coefficient buffer */
+  q31_t acc0, acc1, acc2, acc3;                  /* Accumulators */
+  uint32_t numTaps = S->numTaps;                 /* Number of filter coefficients in the filter */
+  uint32_t i, tapCnt, blkCnt;                    /* Loop counters */
+
+  /* S->pState points to state array which contains previous frame (numTaps - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = &(S->pState[(numTaps - 1u)]);
+
+  /* Apply loop unrolling and compute 4 output values simultaneously.    
+   * The variables acc0 ... acc3 hold output values that are being computed:    
+   *    
+   *    acc0 =  b[numTaps-1] * x[n-numTaps-1] + b[numTaps-2] * x[n-numTaps-2] + b[numTaps-3] * x[n-numTaps-3] +...+ b[0] * x[0]    
+   *    acc1 =  b[numTaps-1] * x[n-numTaps] +   b[numTaps-2] * x[n-numTaps-1] + b[numTaps-3] * x[n-numTaps-2] +...+ b[0] * x[1]    
+   *    acc2 =  b[numTaps-1] * x[n-numTaps+1] + b[numTaps-2] * x[n-numTaps] +   b[numTaps-3] * x[n-numTaps-1] +...+ b[0] * x[2]    
+   *    acc3 =  b[numTaps-1] * x[n-numTaps+2] + b[numTaps-2] * x[n-numTaps+1] + b[numTaps-3] * x[n-numTaps]   +...+ b[0] * x[3]    
+   */
+  blkCnt = blockSize >> 2;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* Copy four new input samples into the state buffer */
+    *pStateCurnt++ = *pSrc++;
+    *pStateCurnt++ = *pSrc++;
+    *pStateCurnt++ = *pSrc++;
+    *pStateCurnt++ = *pSrc++;
+
+    /* Set all accumulators to zero */
+    acc0 = 0;
+    acc1 = 0;
+    acc2 = 0;
+    acc3 = 0;
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* Initialize coefficient pointer */
+    pb = pCoeffs;
+
+    /* Read the first three samples from the state buffer:    
+     *  x[n-numTaps], x[n-numTaps-1], x[n-numTaps-2] */
+    x0 = *(px++);
+    x1 = *(px++);
+    x2 = *(px++);
+
+    /* Loop unrolling.  Process 4 taps at a time. */
+    tapCnt = numTaps >> 2;
+    i = tapCnt;
+
+    while(i > 0u)
+    {
+      /* Read the b[numTaps] coefficient */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-3] sample */
+      x3 = *(px++);
+
+      /* acc0 +=  b[numTaps] * x[n-numTaps] */
+      acc0 += ((q15_t) x0 * c0);
+
+      /* acc1 +=  b[numTaps] * x[n-numTaps-1] */
+      acc1 += ((q15_t) x1 * c0);
+
+      /* acc2 +=  b[numTaps] * x[n-numTaps-2] */
+      acc2 += ((q15_t) x2 * c0);
+
+      /* acc3 +=  b[numTaps] * x[n-numTaps-3] */
+      acc3 += ((q15_t) x3 * c0);
+
+      /* Read the b[numTaps-1] coefficient */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-4] sample */
+      x0 = *(px++);
+
+      /* Perform the multiply-accumulates */
+      acc0 += ((q15_t) x1 * c0);
+      acc1 += ((q15_t) x2 * c0);
+      acc2 += ((q15_t) x3 * c0);
+      acc3 += ((q15_t) x0 * c0);
+
+      /* Read the b[numTaps-2] coefficient */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-5] sample */
+      x1 = *(px++);
+
+      /* Perform the multiply-accumulates */
+      acc0 += ((q15_t) x2 * c0);
+      acc1 += ((q15_t) x3 * c0);
+      acc2 += ((q15_t) x0 * c0);
+      acc3 += ((q15_t) x1 * c0);
+      /* Read the b[numTaps-3] coefficients */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-6] sample */
+      x2 = *(px++);
+
+      /* Perform the multiply-accumulates */
+      acc0 += ((q15_t) x3 * c0);
+      acc1 += ((q15_t) x0 * c0);
+      acc2 += ((q15_t) x1 * c0);
+      acc3 += ((q15_t) x2 * c0);
+      i--;
+    }
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
+
+    i = numTaps - (tapCnt * 4u);
+    while(i > 0u)
+    {
+      /* Read coefficients */
+      c0 = *(pb++);
+
+      /* Fetch 1 state variable */
+      x3 = *(px++);
+
+      /* Perform the multiply-accumulates */
+      acc0 += ((q15_t) x0 * c0);
+      acc1 += ((q15_t) x1 * c0);
+      acc2 += ((q15_t) x2 * c0);
+      acc3 += ((q15_t) x3 * c0);
+
+      /* Reuse the present sample states for next sample */
+      x0 = x1;
+      x1 = x2;
+      x2 = x3;
+
+      /* Decrement the loop counter */
+      i--;
+    }
+
+    /* Advance the state pointer by 4 to process the next group of 4 samples */
+    pState = pState + 4;
+
+    /* The results in the 4 accumulators are in 2.62 format.  Convert to 1.31    
+     ** Then store the 4 outputs in the destination buffer. */
+    acc0 = __SSAT((acc0 >> 7u), 8);
+    *pDst++ = acc0;
+    acc1 = __SSAT((acc1 >> 7u), 8);
+    *pDst++ = acc1;
+    acc2 = __SSAT((acc2 >> 7u), 8);
+    *pDst++ = acc2;
+    acc3 = __SSAT((acc3 >> 7u), 8);
+    *pDst++ = acc3;
+
+    /* Decrement the samples loop counter */
+    blkCnt--;
+  }
+
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 4u;
+
+  while(blkCnt > 0u)
+  {
+    /* Copy one sample at a time into state buffer */
+    *pStateCurnt++ = *pSrc++;
+
+    /* Set the accumulator to zero */
+    acc0 = 0;
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* Initialize Coefficient pointer */
+    pb = (pCoeffs);
+
+    i = numTaps;
+
+    /* Perform the multiply-accumulates */
+    do
+    {
+      acc0 += (q15_t) * (px++) * (*(pb++));
+      i--;
+    } while(i > 0u);
+
+    /* The result is in 2.14 format.  Convert to 1.7    
+     ** Then store the output in the destination buffer. */
+    *pDst++ = __SSAT((acc0 >> 7u), 8);
+
+    /* Advance state pointer by 1 for the next sample */
+    pState = pState + 1;
+
+    /* Decrement the samples loop counter */
+    blkCnt--;
+  }
+
+  /* Processing is complete.    
+   ** Now copy the last numTaps - 1 samples to the satrt of the state buffer.    
+   ** This prepares the state buffer for the next function call. */
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = S->pState;
+
+  tapCnt = (numTaps - 1u) >> 2u;
+
+  /* copy data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+  /* Calculate remaining number of copies */
+  tapCnt = (numTaps - 1u) % 0x4u;
+
+  /* Copy the remaining q31_t data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+#else
+
+/* Run the below code for Cortex-M0 */
+
+  uint32_t numTaps = S->numTaps;                 /* Number of taps in the filter */
+  uint32_t i, blkCnt;                            /* Loop counters */
+  q7_t *pState = S->pState;                      /* State pointer */
+  q7_t *pCoeffs = S->pCoeffs;                    /* Coefficient pointer */
+  q7_t *px, *pb;                                 /* Temporary pointers to state and coeff */
+  q31_t acc = 0;                                 /* Accumlator */
+  q7_t *pStateCurnt;                             /* Points to the current sample of the state */
+
+
+  /* S->pState points to state array which contains previous frame (numTaps - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = S->pState + (numTaps - 1u);
+
+  /* Initialize blkCnt with blockSize */
+  blkCnt = blockSize;
+
+  /* Perform filtering upto BlockSize - BlockSize%4  */
+  while(blkCnt > 0u)
+  {
+    /* Copy one sample at a time into state buffer */
+    *pStateCurnt++ = *pSrc++;
+
+    /* Set accumulator to zero */
+    acc = 0;
+
+    /* Initialize state pointer of type q7 */
+    px = pState;
+
+    /* Initialize coeff pointer of type q7 */
+    pb = pCoeffs;
+
+
+    i = numTaps;
+
+    while(i > 0u)
+    {
+      /* acc =  b[numTaps-1] * x[n-numTaps-1] + b[numTaps-2] * x[n-numTaps-2] + b[numTaps-3] * x[n-numTaps-3] +...+ b[0] * x[0] */
+      acc += (q15_t) * px++ * *pb++;
+      i--;
+    }
+
+    /* Store the 1.7 format filter output in destination buffer */
+    *pDst++ = (q7_t) __SSAT((acc >> 7), 8);
+
+    /* Advance the state pointer by 1 to process the next sample */
+    pState = pState + 1;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Processing is complete.         
+   ** Now copy the last numTaps - 1 samples to the satrt of the state buffer.       
+   ** This prepares the state buffer for the next function call. */
+
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = S->pState;
+
+
+  /* Copy numTaps number of values */
+  i = (numTaps - 1u);
+
+  /* Copy q7_t data */
+  while(i > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+    i--;
+  }
+
+#endif /*   #ifndef ARM_MATH_CM0 */
+
+}
+
+/**    
+ * @} end of FIR group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_f32.c
new file mode 100644
index 000000000..e969d5c84
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_f32.c
@@ -0,0 +1,365 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_fir_sparse_f32.c    
+*    
+* Description:	Floating-point sparse FIR filter processing function.   
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* ------------------------------------------------------------------- */
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @defgroup FIR_Sparse Finite Impulse Response (FIR) Sparse Filters    
+ *    
+ * This group of functions implements sparse FIR filters.     
+ * Sparse FIR filters are equivalent to standard FIR filters except that most of the coefficients are equal to zero.   
+ * Sparse filters are used for simulating reflections in communications and audio applications.   
+ *   
+ * There are separate functions for Q7, Q15, Q31, and floating-point data types.    
+ * The functions operate on blocks  of input and output data and each call to the function processes    
+ * blockSize samples through the filter.  pSrc and    
+ * pDst points to input and output arrays respectively containing blockSize values.    
+ *    
+ * \par Algorithm:    
+ * The sparse filter instant structure contains an array of tap indices pTapDelay which specifies the locations of the non-zero coefficients.   
+ * This is in addition to the coefficient array b.   
+ * The implementation essentially skips the multiplications by zero and leads to an efficient realization.   
+ * 
   
+ *     y[n] = b[0] * x[n-pTapDelay[0]] + b[1] * x[n-pTapDelay[1]] + b[2] * x[n-pTapDelay[2]] + ...+ b[numTaps-1] * x[n-pTapDelay[numTaps-1]]    
+ * 
    
+ * \par    
+ * \image html FIRSparse.gif "Sparse FIR filter.  b[n] represents the filter coefficients"   
+ * \par    
+ * pCoeffs points to a coefficient array of size numTaps;    
+ * pTapDelay points to an array of nonzero indices and is also of size numTaps;   
+ * pState points to a state array of size maxDelay + blockSize, where   
+ * maxDelay is the largest offset value that is ever used in the pTapDelay array.   
+ * Some of the processing functions also require temporary working buffers.   
+ *   
+ * \par Instance Structure    
+ * The coefficients and state variables for a filter are stored together in an instance data structure.    
+ * A separate instance structure must be defined for each filter.    
+ * Coefficient and offset arrays may be shared among several instances while state variable arrays cannot be shared.    
+ * There are separate instance structure declarations for each of the 4 supported data types.    
+ *    
+ * \par Initialization Functions    
+ * There is also an associated initialization function for each data type.    
+ * The initialization function performs the following operations:    
+ * - Sets the values of the internal structure fields.    
+ * - Zeros out the values in the state buffer.    
+ *    
+ * \par    
+ * Use of the initialization function is optional.    
+ * However, if the initialization function is used, then the instance structure cannot be placed into a const data section.    
+ * To place an instance structure into a const data section, the instance structure must be manually initialized.    
+ * Set the values in the state buffer to zeros before static initialization.    
+ * The code below statically initializes each of the 4 different data type filter instance structures    
+ * 
    
+ *arm_fir_sparse_instance_f32 S = {numTaps, 0, pState, pCoeffs, maxDelay, pTapDelay};    
+ *arm_fir_sparse_instance_q31 S = {numTaps, 0, pState, pCoeffs, maxDelay, pTapDelay};    
+ *arm_fir_sparse_instance_q15 S = {numTaps, 0, pState, pCoeffs, maxDelay, pTapDelay};    
+ *arm_fir_sparse_instance_q7 S =  {numTaps, 0, pState, pCoeffs, maxDelay, pTapDelay};    
+ * 
    
+ * \par    
+ *    
+ * \par Fixed-Point Behavior    
+ * Care must be taken when using the fixed-point versions of the sparse FIR filter functions.    
+ * In particular, the overflow and saturation behavior of the accumulator used in each function must be considered.    
+ * Refer to the function specific documentation below for usage guidelines.    
+ */
+
+/**    
+ * @addtogroup FIR_Sparse    
+ * @{    
+ */
+
+/**   
+ * @brief Processing function for the floating-point sparse FIR filter.   
+ * @param[in]  *S          points to an instance of the floating-point sparse FIR structure.   
+ * @param[in]  *pSrc       points to the block of input data.   
+ * @param[out] *pDst       points to the block of output data   
+ * @param[in]  *pScratchIn points to a temporary buffer of size blockSize.   
+ * @param[in]  blockSize   number of input samples to process per call.   
+ * @return none.   
+ */
+
+void arm_fir_sparse_f32(
+  arm_fir_sparse_instance_f32 * S,
+  float32_t * pSrc,
+  float32_t * pDst,
+  float32_t * pScratchIn,
+  uint32_t blockSize)
+{
+
+  float32_t *pState = S->pState;                 /* State pointer */
+  float32_t *pCoeffs = S->pCoeffs;               /* Coefficient pointer */
+  float32_t *px;                                 /* Scratch buffer pointer */
+  float32_t *py = pState;                        /* Temporary pointers for state buffer */
+  float32_t *pb = pScratchIn;                    /* Temporary pointers for scratch buffer */
+  float32_t *pOut;                               /* Destination pointer */
+  int32_t *pTapDelay = S->pTapDelay;             /* Pointer to the array containing offset of the non-zero tap values. */
+  uint32_t delaySize = S->maxDelay + blockSize;  /* state length */
+  uint16_t numTaps = S->numTaps;                 /* Number of filter coefficients in the filter  */
+  int32_t readIndex;                             /* Read index of the state buffer */
+  uint32_t tapCnt, blkCnt;                       /* loop counters */
+  float32_t coeff = *pCoeffs++;                  /* Read the first coefficient value */
+
+
+
+  /* BlockSize of Input samples are copied into the state buffer */
+  /* StateIndex points to the starting position to write in the state buffer */
+  arm_circularWrite_f32((int32_t *) py, delaySize, &S->stateIndex, 1,
+                        (int32_t *) pSrc, 1, blockSize);
+
+
+  /* Read Index, from where the state buffer should be read, is calculated. */
+  readIndex = ((int32_t) S->stateIndex - (int32_t) blockSize) - *pTapDelay++;
+
+  /* Wraparound of readIndex */
+  if(readIndex < 0)
+  {
+    readIndex += (int32_t) delaySize;
+  }
+
+  /* Working pointer for state buffer is updated */
+  py = pState;
+
+  /* blockSize samples are read from the state buffer */
+  arm_circularRead_f32((int32_t *) py, delaySize, &readIndex, 1,
+                       (int32_t *) pb, (int32_t *) pb, blockSize, 1,
+                       blockSize);
+
+  /* Working pointer for the scratch buffer */
+  px = pb;
+
+  /* Working pointer for destination buffer */
+  pOut = pDst;
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /* Loop over the blockSize. Unroll by a factor of 4.    
+   * Compute 4 Multiplications at a time. */
+  blkCnt = blockSize >> 2u;
+
+  while(blkCnt > 0u)
+  {
+    /* Perform Multiplications and store in destination buffer */
+    *pOut++ = *px++ * coeff;
+    *pOut++ = *px++ * coeff;
+    *pOut++ = *px++ * coeff;
+    *pOut++ = *px++ * coeff;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4,    
+   * compute the remaining samples */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* Perform Multiplications and store in destination buffer */
+    *pOut++ = *px++ * coeff;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Load the coefficient value and    
+   * increment the coefficient buffer for the next set of state values */
+  coeff = *pCoeffs++;
+
+  /* Read Index, from where the state buffer should be read, is calculated. */
+  readIndex = ((int32_t) S->stateIndex - (int32_t) blockSize) - *pTapDelay++;
+
+  /* Wraparound of readIndex */
+  if(readIndex < 0)
+  {
+    readIndex += (int32_t) delaySize;
+  }
+
+  /* Loop over the number of taps. */
+  tapCnt = (uint32_t) numTaps - 1u;
+
+  while(tapCnt > 0u)
+  {
+
+    /* Working pointer for state buffer is updated */
+    py = pState;
+
+    /* blockSize samples are read from the state buffer */
+    arm_circularRead_f32((int32_t *) py, delaySize, &readIndex, 1,
+                         (int32_t *) pb, (int32_t *) pb, blockSize, 1,
+                         blockSize);
+
+    /* Working pointer for the scratch buffer */
+    px = pb;
+
+    /* Working pointer for destination buffer */
+    pOut = pDst;
+
+    /* Loop over the blockSize. Unroll by a factor of 4.    
+     * Compute 4 MACS at a time. */
+    blkCnt = blockSize >> 2u;
+
+    while(blkCnt > 0u)
+    {
+      /* Perform Multiply-Accumulate */
+      *pOut++ += *px++ * coeff;
+      *pOut++ += *px++ * coeff;
+      *pOut++ += *px++ * coeff;
+      *pOut++ += *px++ * coeff;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* If the blockSize is not a multiple of 4,    
+     * compute the remaining samples */
+    blkCnt = blockSize % 0x4u;
+
+    while(blkCnt > 0u)
+    {
+      /* Perform Multiply-Accumulate */
+      *pOut++ += *px++ * coeff;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* Load the coefficient value and    
+     * increment the coefficient buffer for the next set of state values */
+    coeff = *pCoeffs++;
+
+    /* Read Index, from where the state buffer should be read, is calculated. */
+    readIndex = ((int32_t) S->stateIndex -
+                 (int32_t) blockSize) - *pTapDelay++;
+
+    /* Wraparound of readIndex */
+    if(readIndex < 0)
+    {
+      readIndex += (int32_t) delaySize;
+    }
+
+    /* Decrement the tap loop counter */
+    tapCnt--;
+  }
+
+#else
+
+/* Run the below code for Cortex-M0 */
+
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* Perform Multiplications and store in destination buffer */
+    *pOut++ = *px++ * coeff;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Load the coefficient value and           
+   * increment the coefficient buffer for the next set of state values */
+  coeff = *pCoeffs++;
+
+  /* Read Index, from where the state buffer should be read, is calculated. */
+  readIndex = ((int32_t) S->stateIndex - (int32_t) blockSize) - *pTapDelay++;
+
+  /* Wraparound of readIndex */
+  if(readIndex < 0)
+  {
+    readIndex += (int32_t) delaySize;
+  }
+
+  /* Loop over the number of taps. */
+  tapCnt = (uint32_t) numTaps - 1u;
+
+  while(tapCnt > 0u)
+  {
+
+    /* Working pointer for state buffer is updated */
+    py = pState;
+
+    /* blockSize samples are read from the state buffer */
+    arm_circularRead_f32((int32_t *) py, delaySize, &readIndex, 1,
+                         (int32_t *) pb, (int32_t *) pb, blockSize, 1,
+                         blockSize);
+
+    /* Working pointer for the scratch buffer */
+    px = pb;
+
+    /* Working pointer for destination buffer */
+    pOut = pDst;
+
+    blkCnt = blockSize;
+
+    while(blkCnt > 0u)
+    {
+      /* Perform Multiply-Accumulate */
+      *pOut++ += *px++ * coeff;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* Load the coefficient value and           
+     * increment the coefficient buffer for the next set of state values */
+    coeff = *pCoeffs++;
+
+    /* Read Index, from where the state buffer should be read, is calculated. */
+    readIndex =
+      ((int32_t) S->stateIndex - (int32_t) blockSize) - *pTapDelay++;
+
+    /* Wraparound of readIndex */
+    if(readIndex < 0)
+    {
+      readIndex += (int32_t) delaySize;
+    }
+
+    /* Decrement the tap loop counter */
+    tapCnt--;
+  }
+
+#endif /*   #ifndef ARM_MATH_CM0        */
+
+}
+
+/**    
+ * @} end of FIR_Sparse group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_f32.c
new file mode 100644
index 000000000..2934352d0
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_f32.c
@@ -0,0 +1,102 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:        arm_fir_sparse_init_f32.c    
+*    
+* Description:	Floating-point sparse FIR filter initialization function.   
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* ---------------------------------------------------------------------------*/
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup FIR_Sparse    
+ * @{    
+ */
+
+/**   
+ * @brief  Initialization function for the floating-point sparse FIR filter.   
+ * @param[in,out] *S         points to an instance of the floating-point sparse FIR structure.   
+ * @param[in]     numTaps    number of nonzero coefficients in the filter.   
+ * @param[in]     *pCoeffs   points to the array of filter coefficients.   
+ * @param[in]     *pState    points to the state buffer.   
+ * @param[in]     *pTapDelay points to the array of offset times.   
+ * @param[in]     maxDelay   maximum offset time supported.   
+ * @param[in]     blockSize  number of samples that will be processed per block.   
+ * @return none   
+ *    
+ * Description:    
+ * \par    
+ * pCoeffs holds the filter coefficients and has length numTaps.    
+ * pState holds the filter's state variables and must be of length    
+ * maxDelay + blockSize, where maxDelay    
+ * is the maximum number of delay line values.    
+ * blockSize is the    
+ * number of samples processed by the arm_fir_sparse_f32() function.    
+ */
+
+void arm_fir_sparse_init_f32(
+  arm_fir_sparse_instance_f32 * S,
+  uint16_t numTaps,
+  float32_t * pCoeffs,
+  float32_t * pState,
+  int32_t * pTapDelay,
+  uint16_t maxDelay,
+  uint32_t blockSize)
+{
+  /* Assign filter taps */
+  S->numTaps = numTaps;
+
+  /* Assign coefficient pointer */
+  S->pCoeffs = pCoeffs;
+
+  /* Assign TapDelay pointer */
+  S->pTapDelay = pTapDelay;
+
+  /* Assign MaxDelay */
+  S->maxDelay = maxDelay;
+
+  /* reset the stateIndex to 0 */
+  S->stateIndex = 0u;
+
+  /* Clear state buffer and size is always maxDelay + blockSize */
+  memset(pState, 0, (maxDelay + blockSize) * sizeof(float32_t));
+
+  /* Assign state pointer */
+  S->pState = pState;
+
+}
+
+/**    
+ * @} end of FIR_Sparse group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q15.c
new file mode 100644
index 000000000..47a116e95
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q15.c
@@ -0,0 +1,102 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:        arm_fir_sparse_init_q15.c    
+*    
+* Description:	Q15 sparse FIR filter initialization function.   
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* ---------------------------------------------------------------------------*/
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup FIR_Sparse    
+ * @{    
+ */
+
+/**   
+ * @brief  Initialization function for the Q15 sparse FIR filter.   
+ * @param[in,out] *S         points to an instance of the Q15 sparse FIR structure.   
+ * @param[in]     numTaps    number of nonzero coefficients in the filter.   
+ * @param[in]     *pCoeffs   points to the array of filter coefficients.   
+ * @param[in]     *pState    points to the state buffer.   
+ * @param[in]     *pTapDelay points to the array of offset times.   
+ * @param[in]     maxDelay   maximum offset time supported.   
+ * @param[in]     blockSize  number of samples that will be processed per block.   
+ * @return none   
+ *    
+ * Description:    
+ * \par    
+ * pCoeffs holds the filter coefficients and has length numTaps.    
+ * pState holds the filter's state variables and must be of length    
+ * maxDelay + blockSize, where maxDelay    
+ * is the maximum number of delay line values.    
+ * blockSize is the    
+ * number of words processed by arm_fir_sparse_q15() function.    
+ */
+
+void arm_fir_sparse_init_q15(
+  arm_fir_sparse_instance_q15 * S,
+  uint16_t numTaps,
+  q15_t * pCoeffs,
+  q15_t * pState,
+  int32_t * pTapDelay,
+  uint16_t maxDelay,
+  uint32_t blockSize)
+{
+  /* Assign filter taps */
+  S->numTaps = numTaps;
+
+  /* Assign coefficient pointer */
+  S->pCoeffs = pCoeffs;
+
+  /* Assign TapDelay pointer */
+  S->pTapDelay = pTapDelay;
+
+  /* Assign MaxDelay */
+  S->maxDelay = maxDelay;
+
+  /* reset the stateIndex to 0 */
+  S->stateIndex = 0u;
+
+  /* Clear state buffer and size is always maxDelay + blockSize */
+  memset(pState, 0, (maxDelay + blockSize) * sizeof(q15_t));
+
+  /* Assign state pointer */
+  S->pState = pState;
+
+}
+
+/**    
+ * @} end of FIR_Sparse group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q31.c
new file mode 100644
index 000000000..360a219b2
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q31.c
@@ -0,0 +1,101 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:        arm_fir_sparse_init_q31.c    
+*    
+* Description:	Q31 sparse FIR filter initialization function.   
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* ---------------------------------------------------------------------------*/
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup FIR_Sparse    
+ * @{    
+ */
+
+/**   
+ * @brief  Initialization function for the Q31 sparse FIR filter.   
+ * @param[in,out] *S         points to an instance of the Q31 sparse FIR structure.   
+ * @param[in]     numTaps    number of nonzero coefficients in the filter.   
+ * @param[in]     *pCoeffs   points to the array of filter coefficients.   
+ * @param[in]     *pState    points to the state buffer.   
+ * @param[in]     *pTapDelay points to the array of offset times.   
+ * @param[in]     maxDelay   maximum offset time supported.   
+ * @param[in]     blockSize  number of samples that will be processed per block.   
+ * @return none   
+ *    
+ * Description:    
+ * \par    
+ * pCoeffs holds the filter coefficients and has length numTaps.    
+ * pState holds the filter's state variables and must be of length    
+ * maxDelay + blockSize, where maxDelay    
+ * is the maximum number of delay line values.    
+ * blockSize is the number of words processed by arm_fir_sparse_q31() function.    
+ */
+
+void arm_fir_sparse_init_q31(
+  arm_fir_sparse_instance_q31 * S,
+  uint16_t numTaps,
+  q31_t * pCoeffs,
+  q31_t * pState,
+  int32_t * pTapDelay,
+  uint16_t maxDelay,
+  uint32_t blockSize)
+{
+  /* Assign filter taps */
+  S->numTaps = numTaps;
+
+  /* Assign coefficient pointer */
+  S->pCoeffs = pCoeffs;
+
+  /* Assign TapDelay pointer */
+  S->pTapDelay = pTapDelay;
+
+  /* Assign MaxDelay */
+  S->maxDelay = maxDelay;
+
+  /* reset the stateIndex to 0 */
+  S->stateIndex = 0u;
+
+  /* Clear state buffer and size is always maxDelay + blockSize */
+  memset(pState, 0, (maxDelay + blockSize) * sizeof(q31_t));
+
+  /* Assign state pointer */
+  S->pState = pState;
+
+}
+
+/**    
+ * @} end of FIR_Sparse group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q7.c
new file mode 100644
index 000000000..b400297ca
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q7.c
@@ -0,0 +1,102 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:        arm_fir_sparse_init_q7.c    
+*    
+* Description:	Q7 sparse FIR filter initialization function.   
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* ---------------------------------------------------------------------------*/
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup FIR_Sparse    
+ * @{    
+ */
+
+/**   
+ * @brief  Initialization function for the Q7 sparse FIR filter.   
+ * @param[in,out] *S         points to an instance of the Q7 sparse FIR structure.   
+ * @param[in]     numTaps    number of nonzero coefficients in the filter.   
+ * @param[in]     *pCoeffs   points to the array of filter coefficients.   
+ * @param[in]     *pState    points to the state buffer.   
+ * @param[in]     *pTapDelay points to the array of offset times.   
+ * @param[in]     maxDelay   maximum offset time supported.   
+ * @param[in]     blockSize  number of samples that will be processed per block.   
+ * @return none   
+ *    
+ * Description:    
+ * \par    
+ * pCoeffs holds the filter coefficients and has length numTaps.    
+ * pState holds the filter's state variables and must be of length    
+ * maxDelay + blockSize, where maxDelay    
+ * is the maximum number of delay line values.    
+ * blockSize is the    
+ * number of samples processed by the arm_fir_sparse_q7() function.    
+ */
+
+void arm_fir_sparse_init_q7(
+  arm_fir_sparse_instance_q7 * S,
+  uint16_t numTaps,
+  q7_t * pCoeffs,
+  q7_t * pState,
+  int32_t * pTapDelay,
+  uint16_t maxDelay,
+  uint32_t blockSize)
+{
+  /* Assign filter taps */
+  S->numTaps = numTaps;
+
+  /* Assign coefficient pointer */
+  S->pCoeffs = pCoeffs;
+
+  /* Assign TapDelay pointer */
+  S->pTapDelay = pTapDelay;
+
+  /* Assign MaxDelay */
+  S->maxDelay = maxDelay;
+
+  /* reset the stateIndex to 0 */
+  S->stateIndex = 0u;
+
+  /* Clear state buffer and size is always maxDelay + blockSize */
+  memset(pState, 0, (maxDelay + blockSize) * sizeof(q7_t));
+
+  /* Assign state pointer */
+  S->pState = pState;
+
+}
+
+/**    
+ * @} end of FIR_Sparse group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q15.c
new file mode 100644
index 000000000..016f83345
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q15.c
@@ -0,0 +1,406 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_fir_sparse_q15.c    
+*    
+* Description:	Q15 sparse FIR filter processing function.   
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* ------------------------------------------------------------------- */
+#include "arm_math.h"
+
+/**    
+ * @addtogroup FIR_Sparse    
+ * @{    
+ */
+
+/**   
+ * @brief Processing function for the Q15 sparse FIR filter.   
+ * @param[in]  *S           points to an instance of the Q15 sparse FIR structure.   
+ * @param[in]  *pSrc        points to the block of input data.   
+ * @param[out] *pDst        points to the block of output data   
+ * @param[in]  *pScratchIn  points to a temporary buffer of size blockSize.   
+ * @param[in]  *pScratchOut points to a temporary buffer of size blockSize.   
+ * @param[in]  blockSize    number of input samples to process per call.   
+ * @return none.   
+ *    
+ * Scaling and Overflow Behavior:    
+ * \par    
+ * The function is implemented using an internal 32-bit accumulator.   
+ * The 1.15 x 1.15 multiplications yield a 2.30 result and these are added to a 2.30 accumulator.   
+ * Thus the full precision of the multiplications is maintained but there is only a single guard bit in the accumulator.   
+ * If the accumulator result overflows it will wrap around rather than saturate.   
+ * After all multiply-accumulates are performed, the 2.30 accumulator is truncated to 2.15 format and then saturated to 1.15 format.    
+ * In order to avoid overflows the input signal or coefficients must be scaled down by log2(numTaps) bits.   
+ */
+
+
+void arm_fir_sparse_q15(
+  arm_fir_sparse_instance_q15 * S,
+  q15_t * pSrc,
+  q15_t * pDst,
+  q15_t * pScratchIn,
+  q31_t * pScratchOut,
+  uint32_t blockSize)
+{
+
+  q15_t *pState = S->pState;                     /* State pointer */
+  q15_t *pIn = pSrc;                             /* Working pointer for input */
+  q15_t *pOut = pDst;                            /* Working pointer for output */
+  q15_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
+  q15_t *px;                                     /* Temporary pointers for scratch buffer */
+  q15_t *pb = pScratchIn;                        /* Temporary pointers for scratch buffer */
+  q15_t *py = pState;                            /* Temporary pointers for state buffer */
+  int32_t *pTapDelay = S->pTapDelay;             /* Pointer to the array containing offset of the non-zero tap values. */
+  uint32_t delaySize = S->maxDelay + blockSize;  /* state length */
+  uint16_t numTaps = S->numTaps;                 /* Filter order */
+  int32_t readIndex;                             /* Read index of the state buffer */
+  uint32_t tapCnt, blkCnt;                       /* loop counters */
+  q15_t coeff = *pCoeffs++;                      /* Read the first coefficient value */
+  q31_t *pScr2 = pScratchOut;                    /* Working pointer for pScratchOut */
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q31_t in1, in2;                                /* Temporary variables */
+
+
+  /* BlockSize of Input samples are copied into the state buffer */
+  /* StateIndex points to the starting position to write in the state buffer */
+  arm_circularWrite_q15(py, delaySize, &S->stateIndex, 1, pIn, 1, blockSize);
+
+  /* Loop over the number of taps. */
+  tapCnt = numTaps;
+
+  /* Read Index, from where the state buffer should be read, is calculated. */
+  readIndex = (S->stateIndex - blockSize) - *pTapDelay++;
+
+  /* Wraparound of readIndex */
+  if(readIndex < 0)
+  {
+    readIndex += (int32_t) delaySize;
+  }
+
+  /* Working pointer for state buffer is updated */
+  py = pState;
+
+  /* blockSize samples are read from the state buffer */
+  arm_circularRead_q15(py, delaySize, &readIndex, 1,
+                       pb, pb, blockSize, 1, blockSize);
+
+  /* Working pointer for the scratch buffer of state values */
+  px = pb;
+
+  /* Working pointer for scratch buffer of output values */
+  pScratchOut = pScr2;
+
+  /* Loop over the blockSize. Unroll by a factor of 4.    
+   * Compute 4 multiplications at a time. */
+  blkCnt = blockSize >> 2;
+
+  while(blkCnt > 0u)
+  {
+    /* Perform multiplication and store in the scratch buffer */
+    *pScratchOut++ = ((q31_t) * px++ * coeff);
+    *pScratchOut++ = ((q31_t) * px++ * coeff);
+    *pScratchOut++ = ((q31_t) * px++ * coeff);
+    *pScratchOut++ = ((q31_t) * px++ * coeff);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4,    
+   * compute the remaining samples */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* Perform multiplication and store in the scratch buffer */
+    *pScratchOut++ = ((q31_t) * px++ * coeff);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Load the coefficient value and    
+   * increment the coefficient buffer for the next set of state values */
+  coeff = *pCoeffs++;
+
+  /* Read Index, from where the state buffer should be read, is calculated. */
+  readIndex = (S->stateIndex - blockSize) - *pTapDelay++;
+
+  /* Wraparound of readIndex */
+  if(readIndex < 0)
+  {
+    readIndex += (int32_t) delaySize;
+  }
+
+  /* Loop over the number of taps. */
+  tapCnt = (uint32_t) numTaps - 1u;
+
+  while(tapCnt > 0u)
+  {
+    /* Working pointer for state buffer is updated */
+    py = pState;
+
+    /* blockSize samples are read from the state buffer */
+    arm_circularRead_q15(py, delaySize, &readIndex, 1,
+                         pb, pb, blockSize, 1, blockSize);
+
+    /* Working pointer for the scratch buffer of state values */
+    px = pb;
+
+    /* Working pointer for scratch buffer of output values */
+    pScratchOut = pScr2;
+
+    /* Loop over the blockSize. Unroll by a factor of 4.    
+     * Compute 4 MACS at a time. */
+    blkCnt = blockSize >> 2;
+
+    while(blkCnt > 0u)
+    {
+      /* Perform Multiply-Accumulate */
+      *pScratchOut++ += (q31_t) * px++ * coeff;
+      *pScratchOut++ += (q31_t) * px++ * coeff;
+      *pScratchOut++ += (q31_t) * px++ * coeff;
+      *pScratchOut++ += (q31_t) * px++ * coeff;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* If the blockSize is not a multiple of 4,    
+     * compute the remaining samples */
+    blkCnt = blockSize % 0x4u;
+
+    while(blkCnt > 0u)
+    {
+      /* Perform Multiply-Accumulate */
+      *pScratchOut++ += (q31_t) * px++ * coeff;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* Load the coefficient value and    
+     * increment the coefficient buffer for the next set of state values */
+    coeff = *pCoeffs++;
+
+    /* Read Index, from where the state buffer should be read, is calculated. */
+    readIndex = (S->stateIndex - blockSize) - *pTapDelay++;
+
+    /* Wraparound of readIndex */
+    if(readIndex < 0)
+    {
+      readIndex += (int32_t) delaySize;
+    }
+
+    /* Decrement the tap loop counter */
+    tapCnt--;
+  }
+
+  /* All the output values are in pScratchOut buffer.    
+     Convert them into 1.15 format, saturate and store in the destination buffer. */
+  /* Loop over the blockSize. */
+  blkCnt = blockSize >> 2;
+
+  while(blkCnt > 0u)
+  {
+    in1 = *pScr2++;
+    in2 = *pScr2++;
+
+#ifndef  ARM_MATH_BIG_ENDIAN
+
+    *__SIMD32(pOut)++ =
+      __PKHBT((q15_t) __SSAT(in1 >> 15, 16), (q15_t) __SSAT(in2 >> 15, 16),
+              16);
+
+#else
+    *__SIMD32(pOut)++ =
+      __PKHBT((q15_t) __SSAT(in2 >> 15, 16), (q15_t) __SSAT(in1 >> 15, 16),
+              16);
+
+#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
+
+    in1 = *pScr2++;
+
+    in2 = *pScr2++;
+
+#ifndef  ARM_MATH_BIG_ENDIAN
+
+    *__SIMD32(pOut)++ =
+      __PKHBT((q15_t) __SSAT(in1 >> 15, 16), (q15_t) __SSAT(in2 >> 15, 16),
+              16);
+
+#else
+
+    *__SIMD32(pOut)++ =
+      __PKHBT((q15_t) __SSAT(in2 >> 15, 16), (q15_t) __SSAT(in1 >> 15, 16),
+              16);
+
+#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
+
+
+    blkCnt--;
+
+  }
+
+  /* If the blockSize is not a multiple of 4,    
+     remaining samples are processed in the below loop */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    *pOut++ = (q15_t) __SSAT(*pScr2++ >> 15, 16);
+    blkCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* BlockSize of Input samples are copied into the state buffer */
+  /* StateIndex points to the starting position to write in the state buffer */
+  arm_circularWrite_q15(py, delaySize, &S->stateIndex, 1, pIn, 1, blockSize);
+
+  /* Loop over the number of taps. */
+  tapCnt = numTaps;
+
+  /* Read Index, from where the state buffer should be read, is calculated. */
+  readIndex = (S->stateIndex - blockSize) - *pTapDelay++;
+
+  /* Wraparound of readIndex */
+  if(readIndex < 0)
+  {
+    readIndex += (int32_t) delaySize;
+  }
+
+  /* Working pointer for state buffer is updated */
+  py = pState;
+
+  /* blockSize samples are read from the state buffer */
+  arm_circularRead_q15(py, delaySize, &readIndex, 1,
+                       pb, pb, blockSize, 1, blockSize);
+
+  /* Working pointer for the scratch buffer of state values */
+  px = pb;
+
+  /* Working pointer for scratch buffer of output values */
+  pScratchOut = pScr2;
+
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* Perform multiplication and store in the scratch buffer */
+    *pScratchOut++ = ((q31_t) * px++ * coeff);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Load the coefficient value and           
+   * increment the coefficient buffer for the next set of state values */
+  coeff = *pCoeffs++;
+
+  /* Read Index, from where the state buffer should be read, is calculated. */
+  readIndex = (S->stateIndex - blockSize) - *pTapDelay++;
+
+  /* Wraparound of readIndex */
+  if(readIndex < 0)
+  {
+    readIndex += (int32_t) delaySize;
+  }
+
+  /* Loop over the number of taps. */
+  tapCnt = (uint32_t) numTaps - 1u;
+
+  while(tapCnt > 0u)
+  {
+    /* Working pointer for state buffer is updated */
+    py = pState;
+
+    /* blockSize samples are read from the state buffer */
+    arm_circularRead_q15(py, delaySize, &readIndex, 1,
+                         pb, pb, blockSize, 1, blockSize);
+
+    /* Working pointer for the scratch buffer of state values */
+    px = pb;
+
+    /* Working pointer for scratch buffer of output values */
+    pScratchOut = pScr2;
+
+    blkCnt = blockSize;
+
+    while(blkCnt > 0u)
+    {
+      /* Perform Multiply-Accumulate */
+      *pScratchOut++ += (q31_t) * px++ * coeff;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* Load the coefficient value and           
+     * increment the coefficient buffer for the next set of state values */
+    coeff = *pCoeffs++;
+
+    /* Read Index, from where the state buffer should be read, is calculated. */
+    readIndex = (S->stateIndex - blockSize) - *pTapDelay++;
+
+    /* Wraparound of readIndex */
+    if(readIndex < 0)
+    {
+      readIndex += (int32_t) delaySize;
+    }
+
+    /* Decrement the tap loop counter */
+    tapCnt--;
+  }
+
+  /* All the output values are in pScratchOut buffer.       
+     Convert them into 1.15 format, saturate and store in the destination buffer. */
+  /* Loop over the blockSize. */
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    *pOut++ = (q15_t) __SSAT(*pScr2++ >> 15, 16);
+    blkCnt--;
+  }
+
+#endif /*   #ifndef ARM_MATH_CM0 */
+
+}
+
+/**    
+ * @} end of FIR_Sparse group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q31.c
new file mode 100644
index 000000000..3d2f6d402
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q31.c
@@ -0,0 +1,370 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_fir_sparse_q31.c    
+*    
+* Description:	Q31 sparse FIR filter processing function.   
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* ------------------------------------------------------------------- */
+#include "arm_math.h"
+
+
+/**    
+ * @addtogroup FIR_Sparse    
+ * @{    
+ */
+
+/**   
+ * @brief Processing function for the Q31 sparse FIR filter.   
+ * @param[in]  *S          points to an instance of the Q31 sparse FIR structure.   
+ * @param[in]  *pSrc       points to the block of input data.   
+ * @param[out] *pDst       points to the block of output data   
+ * @param[in]  *pScratchIn points to a temporary buffer of size blockSize.   
+ * @param[in]  blockSize   number of input samples to process per call.   
+ * @return none.   
+ *    
+ * Scaling and Overflow Behavior:    
+ * \par    
+ * The function is implemented using an internal 32-bit accumulator.   
+ * The 1.31 x 1.31 multiplications are truncated to 2.30 format.   
+ * This leads to loss of precision on the intermediate multiplications and provides only a single guard bit.    
+ * If the accumulator result overflows, it wraps around rather than saturate.   
+ * In order to avoid overflows the input signal or coefficients must be scaled down by log2(numTaps) bits.   
+ */
+
+void arm_fir_sparse_q31(
+  arm_fir_sparse_instance_q31 * S,
+  q31_t * pSrc,
+  q31_t * pDst,
+  q31_t * pScratchIn,
+  uint32_t blockSize)
+{
+
+  q31_t *pState = S->pState;                     /* State pointer */
+  q31_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
+  q31_t *px;                                     /* Scratch buffer pointer */
+  q31_t *py = pState;                            /* Temporary pointers for state buffer */
+  q31_t *pb = pScratchIn;                        /* Temporary pointers for scratch buffer */
+  q31_t *pOut;                                   /* Destination pointer */
+  q63_t out;                                     /* Temporary output variable */
+  int32_t *pTapDelay = S->pTapDelay;             /* Pointer to the array containing offset of the non-zero tap values. */
+  uint32_t delaySize = S->maxDelay + blockSize;  /* state length */
+  uint16_t numTaps = S->numTaps;                 /* Filter order */
+  int32_t readIndex;                             /* Read index of the state buffer */
+  uint32_t tapCnt, blkCnt;                       /* loop counters */
+  q31_t coeff = *pCoeffs++;                      /* Read the first coefficient value */
+  q31_t in;
+
+
+  /* BlockSize of Input samples are copied into the state buffer */
+  /* StateIndex points to the starting position to write in the state buffer */
+  arm_circularWrite_f32((int32_t *) py, delaySize, &S->stateIndex, 1,
+                        (int32_t *) pSrc, 1, blockSize);
+
+  /* Read Index, from where the state buffer should be read, is calculated. */
+  readIndex = (int32_t) (S->stateIndex - blockSize) - *pTapDelay++;
+
+  /* Wraparound of readIndex */
+  if(readIndex < 0)
+  {
+    readIndex += (int32_t) delaySize;
+  }
+
+  /* Working pointer for state buffer is updated */
+  py = pState;
+
+  /* blockSize samples are read from the state buffer */
+  arm_circularRead_f32((int32_t *) py, delaySize, &readIndex, 1,
+                       (int32_t *) pb, (int32_t *) pb, blockSize, 1,
+                       blockSize);
+
+  /* Working pointer for the scratch buffer of state values */
+  px = pb;
+
+  /* Working pointer for scratch buffer of output values */
+  pOut = pDst;
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /* Loop over the blockSize. Unroll by a factor of 4.    
+   * Compute 4 Multiplications at a time. */
+  blkCnt = blockSize >> 2;
+
+  while(blkCnt > 0u)
+  {
+    /* Perform Multiplications and store in the destination buffer */
+    *pOut++ = (q31_t) (((q63_t) * px++ * coeff) >> 32);
+    *pOut++ = (q31_t) (((q63_t) * px++ * coeff) >> 32);
+    *pOut++ = (q31_t) (((q63_t) * px++ * coeff) >> 32);
+    *pOut++ = (q31_t) (((q63_t) * px++ * coeff) >> 32);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4,    
+   * compute the remaining samples */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* Perform Multiplications and store in the destination buffer */
+    *pOut++ = (q31_t) (((q63_t) * px++ * coeff) >> 32);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Load the coefficient value and    
+   * increment the coefficient buffer for the next set of state values */
+  coeff = *pCoeffs++;
+
+  /* Read Index, from where the state buffer should be read, is calculated. */
+  readIndex = (int32_t) (S->stateIndex - blockSize) - *pTapDelay++;
+
+  /* Wraparound of readIndex */
+  if(readIndex < 0)
+  {
+    readIndex += (int32_t) delaySize;
+  }
+
+  /* Loop over the number of taps. */
+  tapCnt = (uint32_t) numTaps - 1u;
+
+  while(tapCnt > 0u)
+  {
+    /* Working pointer for state buffer is updated */
+    py = pState;
+
+    /* blockSize samples are read from the state buffer */
+    arm_circularRead_f32((int32_t *) py, delaySize, &readIndex, 1,
+                         (int32_t *) pb, (int32_t *) pb, blockSize, 1,
+                         blockSize);
+
+    /* Working pointer for the scratch buffer of state values */
+    px = pb;
+
+    /* Working pointer for scratch buffer of output values */
+    pOut = pDst;
+
+    /* Loop over the blockSize. Unroll by a factor of 4.    
+     * Compute 4 MACS at a time. */
+    blkCnt = blockSize >> 2;
+
+    while(blkCnt > 0u)
+    {
+      out = *pOut;
+      out += ((q63_t) * px++ * coeff) >> 32;
+      *pOut++ = (q31_t) (out);
+
+      out = *pOut;
+      out += ((q63_t) * px++ * coeff) >> 32;
+      *pOut++ = (q31_t) (out);
+
+      out = *pOut;
+      out += ((q63_t) * px++ * coeff) >> 32;
+      *pOut++ = (q31_t) (out);
+
+      out = *pOut;
+      out += ((q63_t) * px++ * coeff) >> 32;
+      *pOut++ = (q31_t) (out);
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* If the blockSize is not a multiple of 4,    
+     * compute the remaining samples */
+    blkCnt = blockSize % 0x4u;
+
+    while(blkCnt > 0u)
+    {
+      /* Perform Multiply-Accumulate */
+      out = *pOut;
+      out += ((q63_t) * px++ * coeff) >> 32;
+      *pOut++ = (q31_t) (out);
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* Load the coefficient value and    
+     * increment the coefficient buffer for the next set of state values */
+    coeff = *pCoeffs++;
+
+    /* Read Index, from where the state buffer should be read, is calculated. */
+    readIndex = (int32_t) (S->stateIndex - blockSize) - *pTapDelay++;
+
+    /* Wraparound of readIndex */
+    if(readIndex < 0)
+    {
+      readIndex += (int32_t) delaySize;
+    }
+
+    /* Decrement the tap loop counter */
+    tapCnt--;
+  }
+
+  /* Working output pointer is updated */
+  pOut = pDst;
+
+  /* Output is converted into 1.31 format. */
+  /* Loop over the blockSize. Unroll by a factor of 4.    
+   * process 4 output samples at a time. */
+  blkCnt = blockSize >> 2;
+
+  while(blkCnt > 0u)
+  {
+    in = *pOut << 1;
+    *pOut++ = in;
+    in = *pOut << 1;
+    *pOut++ = in;
+    in = *pOut << 1;
+    *pOut++ = in;
+    in = *pOut << 1;
+    *pOut++ = in;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4,    
+   * process the remaining output samples */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    in = *pOut << 1;
+    *pOut++ = in;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* Perform Multiplications and store in the destination buffer */
+    *pOut++ = (q31_t) (((q63_t) * px++ * coeff) >> 32);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Load the coefficient value and           
+   * increment the coefficient buffer for the next set of state values */
+  coeff = *pCoeffs++;
+
+  /* Read Index, from where the state buffer should be read, is calculated. */
+  readIndex = (int32_t) (S->stateIndex - blockSize) - *pTapDelay++;
+
+  /* Wraparound of readIndex */
+  if(readIndex < 0)
+  {
+    readIndex += (int32_t) delaySize;
+  }
+
+  /* Loop over the number of taps. */
+  tapCnt = (uint32_t) numTaps - 1u;
+
+  while(tapCnt > 0u)
+  {
+    /* Working pointer for state buffer is updated */
+    py = pState;
+
+    /* blockSize samples are read from the state buffer */
+    arm_circularRead_f32((int32_t *) py, delaySize, &readIndex, 1,
+                         (int32_t *) pb, (int32_t *) pb, blockSize, 1,
+                         blockSize);
+
+    /* Working pointer for the scratch buffer of state values */
+    px = pb;
+
+    /* Working pointer for scratch buffer of output values */
+    pOut = pDst;
+
+    blkCnt = blockSize;
+
+    while(blkCnt > 0u)
+    {
+      /* Perform Multiply-Accumulate */
+      out = *pOut;
+      out += ((q63_t) * px++ * coeff) >> 32;
+      *pOut++ = (q31_t) (out);
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* Load the coefficient value and           
+     * increment the coefficient buffer for the next set of state values */
+    coeff = *pCoeffs++;
+
+    /* Read Index, from where the state buffer should be read, is calculated. */
+    readIndex = (int32_t) (S->stateIndex - blockSize) - *pTapDelay++;
+
+    /* Wraparound of readIndex */
+    if(readIndex < 0)
+    {
+      readIndex += (int32_t) delaySize;
+    }
+
+    /* Decrement the tap loop counter */
+    tapCnt--;
+  }
+
+  /* Working output pointer is updated */
+  pOut = pDst;
+
+  /* Output is converted into 1.31 format. */
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    in = *pOut << 1;
+    *pOut++ = in;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#endif /*   #ifndef ARM_MATH_CM0 */
+
+}
+
+/**    
+ * @} end of FIR_Sparse group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q7.c
new file mode 100644
index 000000000..ace5d0703
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q7.c
@@ -0,0 +1,398 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_fir_sparse_q7.c    
+*    
+* Description:	Q7 sparse FIR filter processing function.   
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* ------------------------------------------------------------------- */
+#include "arm_math.h"
+
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup FIR_Sparse    
+ * @{    
+ */
+
+
+/**   
+ * @brief Processing function for the Q7 sparse FIR filter.   
+ * @param[in]  *S           points to an instance of the Q7 sparse FIR structure.   
+ * @param[in]  *pSrc        points to the block of input data.   
+ * @param[out] *pDst        points to the block of output data   
+ * @param[in]  *pScratchIn  points to a temporary buffer of size blockSize.   
+ * @param[in]  *pScratchOut points to a temporary buffer of size blockSize.   
+ * @param[in]  blockSize    number of input samples to process per call.   
+ * @return none.   
+ *    
+ * Scaling and Overflow Behavior:    
+ * \par    
+ * The function is implemented using a 32-bit internal accumulator.    
+ * Both coefficients and state variables are represented in 1.7 format and multiplications yield a 2.14 result.    
+ * The 2.14 intermediate results are accumulated in a 32-bit accumulator in 18.14 format.    
+ * There is no risk of internal overflow with this approach and the full precision of intermediate multiplications is preserved.    
+ * The accumulator is then converted to 18.7 format by discarding the low 7 bits.   
+ * Finally, the result is truncated to 1.7 format.   
+ */
+
+void arm_fir_sparse_q7(
+  arm_fir_sparse_instance_q7 * S,
+  q7_t * pSrc,
+  q7_t * pDst,
+  q7_t * pScratchIn,
+  q31_t * pScratchOut,
+  uint32_t blockSize)
+{
+
+  q7_t *pState = S->pState;                      /* State pointer */
+  q7_t *pCoeffs = S->pCoeffs;                    /* Coefficient pointer */
+  q7_t *px;                                      /* Scratch buffer pointer */
+  q7_t *py = pState;                             /* Temporary pointers for state buffer */
+  q7_t *pb = pScratchIn;                         /* Temporary pointers for scratch buffer */
+  q7_t *pOut = pDst;                             /* Destination pointer */
+  int32_t *pTapDelay = S->pTapDelay;             /* Pointer to the array containing offset of the non-zero tap values. */
+  uint32_t delaySize = S->maxDelay + blockSize;  /* state length */
+  uint16_t numTaps = S->numTaps;                 /* Filter order */
+  int32_t readIndex;                             /* Read index of the state buffer */
+  uint32_t tapCnt, blkCnt;                       /* loop counters */
+  q7_t coeff = *pCoeffs++;                       /* Read the coefficient value */
+  q31_t *pScr2 = pScratchOut;                    /* Working pointer for scratch buffer of output values */
+  q31_t in;
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q7_t in1, in2, in3, in4;
+
+  /* BlockSize of Input samples are copied into the state buffer */
+  /* StateIndex points to the starting position to write in the state buffer */
+  arm_circularWrite_q7(py, (int32_t) delaySize, &S->stateIndex, 1, pSrc, 1,
+                       blockSize);
+
+  /* Loop over the number of taps. */
+  tapCnt = numTaps;
+
+  /* Read Index, from where the state buffer should be read, is calculated. */
+  readIndex = ((int32_t) S->stateIndex - (int32_t) blockSize) - *pTapDelay++;
+
+  /* Wraparound of readIndex */
+  if(readIndex < 0)
+  {
+    readIndex += (int32_t) delaySize;
+  }
+
+  /* Working pointer for state buffer is updated */
+  py = pState;
+
+  /* blockSize samples are read from the state buffer */
+  arm_circularRead_q7(py, (int32_t) delaySize, &readIndex, 1, pb, pb,
+                      (int32_t) blockSize, 1, blockSize);
+
+  /* Working pointer for the scratch buffer of state values */
+  px = pb;
+
+  /* Working pointer for scratch buffer of output values */
+  pScratchOut = pScr2;
+
+  /* Loop over the blockSize. Unroll by a factor of 4.    
+   * Compute 4 multiplications at a time. */
+  blkCnt = blockSize >> 2;
+
+  while(blkCnt > 0u)
+  {
+    /* Perform multiplication and store in the scratch buffer */
+    *pScratchOut++ = ((q31_t) * px++ * coeff);
+    *pScratchOut++ = ((q31_t) * px++ * coeff);
+    *pScratchOut++ = ((q31_t) * px++ * coeff);
+    *pScratchOut++ = ((q31_t) * px++ * coeff);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4,    
+   * compute the remaining samples */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* Perform multiplication and store in the scratch buffer */
+    *pScratchOut++ = ((q31_t) * px++ * coeff);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Load the coefficient value and    
+   * increment the coefficient buffer for the next set of state values */
+  coeff = *pCoeffs++;
+
+  /* Read Index, from where the state buffer should be read, is calculated. */
+  readIndex = ((int32_t) S->stateIndex - (int32_t) blockSize) - *pTapDelay++;
+
+  /* Wraparound of readIndex */
+  if(readIndex < 0)
+  {
+    readIndex += (int32_t) delaySize;
+  }
+
+  /* Loop over the number of taps. */
+  tapCnt = (uint32_t) numTaps - 1u;
+
+  while(tapCnt > 0u)
+  {
+    /* Working pointer for state buffer is updated */
+    py = pState;
+
+    /* blockSize samples are read from the state buffer */
+    arm_circularRead_q7(py, (int32_t) delaySize, &readIndex, 1, pb, pb,
+                        (int32_t) blockSize, 1, blockSize);
+
+    /* Working pointer for the scratch buffer of state values */
+    px = pb;
+
+    /* Working pointer for scratch buffer of output values */
+    pScratchOut = pScr2;
+
+    /* Loop over the blockSize. Unroll by a factor of 4.    
+     * Compute 4 MACS at a time. */
+    blkCnt = blockSize >> 2;
+
+    while(blkCnt > 0u)
+    {
+      /* Perform Multiply-Accumulate */
+      in = *pScratchOut + ((q31_t) * px++ * coeff);
+      *pScratchOut++ = in;
+      in = *pScratchOut + ((q31_t) * px++ * coeff);
+      *pScratchOut++ = in;
+      in = *pScratchOut + ((q31_t) * px++ * coeff);
+      *pScratchOut++ = in;
+      in = *pScratchOut + ((q31_t) * px++ * coeff);
+      *pScratchOut++ = in;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* If the blockSize is not a multiple of 4,    
+     * compute the remaining samples */
+    blkCnt = blockSize % 0x4u;
+
+    while(blkCnt > 0u)
+    {
+      /* Perform Multiply-Accumulate */
+      in = *pScratchOut + ((q31_t) * px++ * coeff);
+      *pScratchOut++ = in;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* Load the coefficient value and    
+     * increment the coefficient buffer for the next set of state values */
+    coeff = *pCoeffs++;
+
+    /* Read Index, from where the state buffer should be read, is calculated. */
+    readIndex = ((int32_t) S->stateIndex -
+                 (int32_t) blockSize) - *pTapDelay++;
+
+    /* Wraparound of readIndex */
+    if(readIndex < 0)
+    {
+      readIndex += (int32_t) delaySize;
+    }
+
+    /* Decrement the tap loop counter */
+    tapCnt--;
+  }
+
+  /* All the output values are in pScratchOut buffer.    
+     Convert them into 1.15 format, saturate and store in the destination buffer. */
+  /* Loop over the blockSize. */
+  blkCnt = blockSize >> 2;
+
+  while(blkCnt > 0u)
+  {
+    in1 = (q7_t) __SSAT(*pScr2++ >> 7, 8);
+    in2 = (q7_t) __SSAT(*pScr2++ >> 7, 8);
+    in3 = (q7_t) __SSAT(*pScr2++ >> 7, 8);
+    in4 = (q7_t) __SSAT(*pScr2++ >> 7, 8);
+
+    *__SIMD32(pOut)++ = __PACKq7(in1, in2, in3, in4);
+
+    /* Decrement the blockSize loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4,    
+     remaining samples are processed in the below loop */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    *pOut++ = (q7_t) __SSAT(*pScr2++ >> 7, 8);
+
+    /* Decrement the blockSize loop counter */
+    blkCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* BlockSize of Input samples are copied into the state buffer */
+  /* StateIndex points to the starting position to write in the state buffer */
+  arm_circularWrite_q7(py, (int32_t) delaySize, &S->stateIndex, 1, pSrc, 1,
+                       blockSize);
+
+  /* Loop over the number of taps. */
+  tapCnt = numTaps;
+
+  /* Read Index, from where the state buffer should be read, is calculated. */
+  readIndex = ((int32_t) S->stateIndex - (int32_t) blockSize) - *pTapDelay++;
+
+  /* Wraparound of readIndex */
+  if(readIndex < 0)
+  {
+    readIndex += (int32_t) delaySize;
+  }
+
+  /* Working pointer for state buffer is updated */
+  py = pState;
+
+  /* blockSize samples are read from the state buffer */
+  arm_circularRead_q7(py, (int32_t) delaySize, &readIndex, 1, pb, pb,
+                      (int32_t) blockSize, 1, blockSize);
+
+  /* Working pointer for the scratch buffer of state values */
+  px = pb;
+
+  /* Working pointer for scratch buffer of output values */
+  pScratchOut = pScr2;
+
+  /* Loop over the blockSize */
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* Perform multiplication and store in the scratch buffer */
+    *pScratchOut++ = ((q31_t) * px++ * coeff);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Load the coefficient value and           
+   * increment the coefficient buffer for the next set of state values */
+  coeff = *pCoeffs++;
+
+  /* Read Index, from where the state buffer should be read, is calculated. */
+  readIndex = ((int32_t) S->stateIndex - (int32_t) blockSize) - *pTapDelay++;
+
+  /* Wraparound of readIndex */
+  if(readIndex < 0)
+  {
+    readIndex += (int32_t) delaySize;
+  }
+
+  /* Loop over the number of taps. */
+  tapCnt = (uint32_t) numTaps - 1u;
+
+  while(tapCnt > 0u)
+  {
+    /* Working pointer for state buffer is updated */
+    py = pState;
+
+    /* blockSize samples are read from the state buffer */
+    arm_circularRead_q7(py, (int32_t) delaySize, &readIndex, 1, pb, pb,
+                        (int32_t) blockSize, 1, blockSize);
+
+    /* Working pointer for the scratch buffer of state values */
+    px = pb;
+
+    /* Working pointer for scratch buffer of output values */
+    pScratchOut = pScr2;
+
+    /* Loop over the blockSize */
+    blkCnt = blockSize;
+
+    while(blkCnt > 0u)
+    {
+      /* Perform Multiply-Accumulate */
+      in = *pScratchOut + ((q31_t) * px++ * coeff);
+      *pScratchOut++ = in;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* Load the coefficient value and           
+     * increment the coefficient buffer for the next set of state values */
+    coeff = *pCoeffs++;
+
+    /* Read Index, from where the state buffer should be read, is calculated. */
+    readIndex =
+      ((int32_t) S->stateIndex - (int32_t) blockSize) - *pTapDelay++;
+
+    /* Wraparound of readIndex */
+    if(readIndex < 0)
+    {
+      readIndex += (int32_t) delaySize;
+    }
+
+    /* Decrement the tap loop counter */
+    tapCnt--;
+  }
+
+  /* All the output values are in pScratchOut buffer.       
+     Convert them into 1.15 format, saturate and store in the destination buffer. */
+  /* Loop over the blockSize. */
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    *pOut++ = (q7_t) __SSAT(*pScr2++ >> 7, 8);
+
+    /* Decrement the blockSize loop counter */
+    blkCnt--;
+  }
+
+#endif /*   #ifndef ARM_MATH_CM0 */
+
+}
+
+/**    
+ * @} end of FIR_Sparse group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_f32.c
new file mode 100644
index 000000000..074605553
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_f32.c
@@ -0,0 +1,440 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_iir_lattice_f32.c    
+*    
+* Description:	Floating-point IIR Lattice filter processing function.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @defgroup IIR_Lattice Infinite Impulse Response (IIR) Lattice Filters    
+ *    
+ * This set of functions implements lattice filters    
+ * for Q15, Q31 and floating-point data types.  Lattice filters are used in a     
+ * variety of adaptive filter applications.  The filter structure has feedforward and    
+ * feedback components and the net impulse response is infinite length.    
+ * The functions operate on blocks    
+ * of input and output data and each call to the function processes    
+ * blockSize samples through the filter.  pSrc and    
+ * pDst point to input and output arrays containing blockSize values.    
+    
+ * \par Algorithm:    
+ * \image html IIRLattice.gif "Infinite Impulse Response Lattice filter"    
+ * 
    
+ *    fN(n)   =  x(n)    
+ *    fm-1(n) = fm(n) - km * gm-1(n-1)   for m = N, N-1, ...1    
+ *    gm(n)   = km * fm-1(n) + gm-1(n-1) for m = N, N-1, ...1    
+ *    y(n)    = vN * gN(n) + vN-1 * gN-1(n) + ...+ v0 * g0(n)    
+ * 
    
+ * \par    
+ * pkCoeffs points to array of reflection coefficients of size numStages.     
+ * Reflection coefficients are stored in time-reversed order.    
+ * \par    
+ * 
    
+ *    {kN, kN-1, ....k1}    
+ * 
    
+ * pvCoeffs points to the array of ladder coefficients of size (numStages+1).     
+ * Ladder coefficients are stored in time-reversed order.    
+ * \par    
+ * 
    
+ *    {vN, vN-1, ...v0}    
+ * 
    
+ * pState points to a state array of size numStages + blockSize.    
+ * The state variables shown in the figure above (the g values) are stored in the pState array.    
+ * The state variables are updated after each block of data is processed; the coefficients are untouched.    
+ * \par Instance Structure    
+ * The coefficients and state variables for a filter are stored together in an instance data structure.    
+ * A separate instance structure must be defined for each filter.    
+ * Coefficient arrays may be shared among several instances while state variable arrays cannot be shared.    
+ * There are separate instance structure declarations for each of the 3 supported data types.    
+  *    
+ * \par Initialization Functions    
+ * There is also an associated initialization function for each data type.    
+ * The initialization function performs the following operations:    
+ * - Sets the values of the internal structure fields.    
+ * - Zeros out the values in the state buffer.    
+ *    
+ * \par    
+ * Use of the initialization function is optional.    
+ * However, if the initialization function is used, then the instance structure cannot be placed into a const data section.    
+ * To place an instance structure into a const data section, the instance structure must be manually initialized.    
+ * Set the values in the state buffer to zeros and then manually initialize the instance structure as follows:    
+ * 
    
+ *arm_iir_lattice_instance_f32 S = {numStages, pState, pkCoeffs, pvCoeffs};    
+ *arm_iir_lattice_instance_q31 S = {numStages, pState, pkCoeffs, pvCoeffs};    
+ *arm_iir_lattice_instance_q15 S = {numStages, pState, pkCoeffs, pvCoeffs};    
+ * 
    
+ * \par    
+ * where numStages is the number of stages in the filter; pState points to the state buffer array;    
+ * pkCoeffs points to array of the reflection coefficients; pvCoeffs points to the array of ladder coefficients.    
+ * \par Fixed-Point Behavior    
+ * Care must be taken when using the fixed-point versions of the IIR lattice filter functions.    
+ * In particular, the overflow and saturation behavior of the accumulator used in each function must be considered.    
+ * Refer to the function specific documentation below for usage guidelines.    
+ */
+
+/**    
+ * @addtogroup IIR_Lattice    
+ * @{    
+ */
+
+/**    
+ * @brief Processing function for the floating-point IIR lattice filter.    
+ * @param[in] *S points to an instance of the floating-point IIR lattice structure.    
+ * @param[in] *pSrc points to the block of input data.    
+ * @param[out] *pDst points to the block of output data.    
+ * @param[in] blockSize number of samples to process.    
+ * @return none.    
+ */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+void arm_iir_lattice_f32(
+  const arm_iir_lattice_instance_f32 * S,
+  float32_t * pSrc,
+  float32_t * pDst,
+  uint32_t blockSize)
+{
+  float32_t fnext1, gcurr1, gnext;               /* Temporary variables for lattice stages */
+  float32_t acc;                                 /* Accumlator */
+  uint32_t blkCnt, tapCnt;                       /* temporary variables for counts */
+  float32_t *px1, *px2, *pk, *pv;                /* temporary pointers for state and coef */
+  uint32_t numStages = S->numStages;             /* number of stages */
+  float32_t *pState;                             /* State pointer */
+  float32_t *pStateCurnt;                        /* State current pointer */
+  float32_t k1, k2;
+  float32_t v1, v2, v3, v4;
+  float32_t gcurr2;
+  float32_t fnext2;
+
+  /* initialise loop count */
+  blkCnt = blockSize;
+
+  /* initialise state pointer */
+  pState = &S->pState[0];
+
+  /* Sample processing */
+  while(blkCnt > 0u)
+  {
+    /* Read Sample from input buffer */
+    /* fN(n) = x(n) */
+    fnext2 = *pSrc++;
+
+    /* Initialize Ladder coeff pointer */
+    pv = &S->pvCoeffs[0];
+    /* Initialize Reflection coeff pointer */
+    pk = &S->pkCoeffs[0];
+
+    /* Initialize state read pointer */
+    px1 = pState;
+    /* Initialize state write pointer */
+    px2 = pState;
+
+    /* Set accumulator to zero */
+    acc = 0.0;
+
+    /* Loop unrolling.  Process 4 taps at a time. */
+    tapCnt = (numStages) >> 2;
+
+    while(tapCnt > 0u)
+    {
+      /* Read gN-1(n-1) from state buffer */
+      gcurr1 = *px1;
+
+      /* read reflection coefficient kN */
+      k1 = *pk;
+
+      /* fN-1(n) = fN(n) - kN * gN-1(n-1) */
+      fnext1 = fnext2 - (k1 * gcurr1);
+
+      /* read ladder coefficient vN */
+      v1 = *pv;
+
+      /* read next reflection coefficient kN-1 */
+      k2 = *(pk + 1u);
+
+      /* Read gN-2(n-1) from state buffer */
+      gcurr2 = *(px1 + 1u);
+
+      /* read next ladder coefficient vN-1 */
+      v2 = *(pv + 1u);
+
+      /* fN-2(n) = fN-1(n) - kN-1 * gN-2(n-1) */
+      fnext2 = fnext1 - (k2 * gcurr2);
+
+      /* gN(n)   = kN * fN-1(n) + gN-1(n-1) */
+      gnext = gcurr1 + (k1 * fnext1);
+
+      /* read reflection coefficient kN-2 */
+      k1 = *(pk + 2u);
+
+      /* write gN(n) into state for next sample processing */
+      *px2++ = gnext;
+
+      /* Read gN-3(n-1) from state buffer */
+      gcurr1 = *(px1 + 2u);
+
+      /* y(n) += gN(n) * vN  */
+      acc += (gnext * v1);
+
+      /* fN-3(n) = fN-2(n) - kN-2 * gN-3(n-1) */
+      fnext1 = fnext2 - (k1 * gcurr1);
+
+      /* gN-1(n)   = kN-1 * fN-2(n) + gN-2(n-1) */
+      gnext = gcurr2 + (k2 * fnext2);
+
+      /* Read gN-4(n-1) from state buffer */
+      gcurr2 = *(px1 + 3u);
+
+      /* y(n) += gN-1(n) * vN-1  */
+      acc += (gnext * v2);
+
+      /* read reflection coefficient kN-3 */
+      k2 = *(pk + 3u);
+
+      /* write gN-1(n) into state for next sample processing */
+      *px2++ = gnext;
+
+      /* fN-4(n) = fN-3(n) - kN-3 * gN-4(n-1) */
+      fnext2 = fnext1 - (k2 * gcurr2);
+
+      /* gN-2(n) = kN-2 * fN-3(n) + gN-3(n-1) */
+      gnext = gcurr1 + (k1 * fnext1);
+
+      /* read ladder coefficient vN-2 */
+      v3 = *(pv + 2u);
+
+      /* y(n) += gN-2(n) * vN-2  */
+      acc += (gnext * v3);
+
+      /* write gN-2(n) into state for next sample processing */
+      *px2++ = gnext;
+
+      /* update pointer */
+      pk += 4u;
+
+      /* gN-3(n) = kN-3 * fN-4(n) + gN-4(n-1) */
+      gnext = (fnext2 * k2) + gcurr2;
+
+      /* read next ladder coefficient vN-3 */
+      v4 = *(pv + 3u);
+
+      /* y(n) += gN-4(n) * vN-4  */
+      acc += (gnext * v4);
+
+      /* write gN-3(n) into state for next sample processing */
+      *px2++ = gnext;
+
+      /* update pointers */
+      px1 += 4u;
+      pv += 4u;
+
+      tapCnt--;
+
+    }
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
+    tapCnt = (numStages) % 0x4u;
+
+    while(tapCnt > 0u)
+    {
+      gcurr1 = *px1++;
+      /* Process sample for last taps */
+      fnext1 = fnext2 - ((*pk) * gcurr1);
+      gnext = (fnext1 * (*pk++)) + gcurr1;
+      /* Output samples for last taps */
+      acc += (gnext * (*pv++));
+      *px2++ = gnext;
+      fnext2 = fnext1;
+
+      tapCnt--;
+
+    }
+
+    /* y(n) += g0(n) * v0 */
+    acc += (fnext2 * (*pv));
+
+    *px2++ = fnext2;
+
+    /* write out into pDst */
+    *pDst++ = acc;
+
+    /* Advance the state pointer by 4 to process the next group of 4 samples */
+    pState = pState + 1u;
+
+    blkCnt--;
+
+  }
+
+  /* Processing is complete. Now copy last S->numStages samples to start of the buffer        
+     for the preperation of next frame process */
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = &S->pState[0];
+  pState = &S->pState[blockSize];
+
+  tapCnt = numStages >> 2u;
+
+  /* copy data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+
+  }
+
+  /* Calculate remaining number of copies */
+  tapCnt = (numStages) % 0x4u;
+
+  /* Copy the remaining q31_t data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+}
+
+#else
+
+void arm_iir_lattice_f32(
+  const arm_iir_lattice_instance_f32 * S,
+  float32_t * pSrc,
+  float32_t * pDst,
+  uint32_t blockSize)
+{
+  float32_t fcurr, fnext = 0, gcurr, gnext;      /* Temporary variables for lattice stages */
+  float32_t acc;                                 /* Accumlator */
+  uint32_t blkCnt, tapCnt;                       /* temporary variables for counts */
+  float32_t *px1, *px2, *pk, *pv;                /* temporary pointers for state and coef */
+  uint32_t numStages = S->numStages;             /* number of stages */
+  float32_t *pState;                             /* State pointer */
+  float32_t *pStateCurnt;                        /* State current pointer */
+
+
+  /* Run the below code for Cortex-M0 */
+
+  blkCnt = blockSize;
+
+  pState = &S->pState[0];
+
+  /* Sample processing */
+  while(blkCnt > 0u)
+  {
+    /* Read Sample from input buffer */
+    /* fN(n) = x(n) */
+    fcurr = *pSrc++;
+
+    /* Initialize state read pointer */
+    px1 = pState;
+    /* Initialize state write pointer */
+    px2 = pState;
+    /* Set accumulator to zero */
+    acc = 0.0f;
+    /* Initialize Ladder coeff pointer */
+    pv = &S->pvCoeffs[0];
+    /* Initialize Reflection coeff pointer */
+    pk = &S->pkCoeffs[0];
+
+
+    /* Process sample for numStages */
+    tapCnt = numStages;
+
+    while(tapCnt > 0u)
+    {
+      gcurr = *px1++;
+      /* Process sample for last taps */
+      fnext = fcurr - ((*pk) * gcurr);
+      gnext = (fnext * (*pk++)) + gcurr;
+
+      /* Output samples for last taps */
+      acc += (gnext * (*pv++));
+      *px2++ = gnext;
+      fcurr = fnext;
+
+      /* Decrementing loop counter */
+      tapCnt--;
+
+    }
+
+    /* y(n) += g0(n) * v0 */
+    acc += (fnext * (*pv));
+
+    *px2++ = fnext;
+
+    /* write out into pDst */
+    *pDst++ = acc;
+
+    /* Advance the state pointer by 1 to process the next group of samples */
+    pState = pState + 1u;
+    blkCnt--;
+
+  }
+
+  /* Processing is complete. Now copy last S->numStages samples to start of the buffer           
+     for the preperation of next frame process */
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = &S->pState[0];
+  pState = &S->pState[blockSize];
+
+  tapCnt = numStages;
+
+  /* Copy the data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+}
+
+#endif /*   #ifndef ARM_MATH_CM0 */
+
+
+/**    
+ * @} end of IIR_Lattice group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_f32.c
new file mode 100644
index 000000000..89c00c24d
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_f32.c
@@ -0,0 +1,86 @@
+/*-----------------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:        arm_iir_lattice_init_f32.c    
+*    
+* Description:  Floating-point IIR lattice filter initialization function.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* ---------------------------------------------------------------------------*/
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup IIR_Lattice    
+ * @{    
+ */
+
+/**    
+ * @brief Initialization function for the floating-point IIR lattice filter.    
+ * @param[in] *S points to an instance of the floating-point IIR lattice structure.    
+ * @param[in] numStages number of stages in the filter.    
+ * @param[in] *pkCoeffs points to the reflection coefficient buffer.  The array is of length numStages.    
+ * @param[in] *pvCoeffs points to the ladder coefficient buffer.  The array is of length numStages+1.    
+ * @param[in] *pState points to the state buffer.  The array is of length numStages+blockSize.    
+ * @param[in] blockSize number of samples to process.    
+ * @return none.    
+ */
+
+void arm_iir_lattice_init_f32(
+  arm_iir_lattice_instance_f32 * S,
+  uint16_t numStages,
+  float32_t * pkCoeffs,
+  float32_t * pvCoeffs,
+  float32_t * pState,
+  uint32_t blockSize)
+{
+  /* Assign filter taps */
+  S->numStages = numStages;
+
+  /* Assign reflection coefficient pointer */
+  S->pkCoeffs = pkCoeffs;
+
+  /* Assign ladder coefficient pointer */
+  S->pvCoeffs = pvCoeffs;
+
+  /* Clear state buffer and size is always blockSize + numStages */
+  memset(pState, 0, (numStages + blockSize) * sizeof(float32_t));
+
+  /* Assign state pointer */
+  S->pState = pState;
+
+
+}
+
+  /**    
+   * @} end of IIR_Lattice group    
+   */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_q15.c
new file mode 100644
index 000000000..7dac99fca
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_q15.c
@@ -0,0 +1,86 @@
+/*-----------------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:        arm_iir_lattice_init_q15.c    
+*    
+* Description:  Q15 IIR lattice filter initialization function.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* ---------------------------------------------------------------------------*/
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup IIR_Lattice    
+ * @{    
+ */
+
+  /**    
+   * @brief Initialization function for the Q15 IIR lattice filter.    
+   * @param[in] *S points to an instance of the Q15 IIR lattice structure.    
+   * @param[in] numStages  number of stages in the filter.    
+   * @param[in] *pkCoeffs points to reflection coefficient buffer.  The array is of length numStages.    
+   * @param[in] *pvCoeffs points to ladder coefficient buffer.  The array is of length numStages+1.    
+   * @param[in] *pState points to state buffer.  The array is of length numStages+blockSize.    
+   * @param[in] blockSize number of samples to process per call.    
+   * @return none.    
+   */
+
+void arm_iir_lattice_init_q15(
+  arm_iir_lattice_instance_q15 * S,
+  uint16_t numStages,
+  q15_t * pkCoeffs,
+  q15_t * pvCoeffs,
+  q15_t * pState,
+  uint32_t blockSize)
+{
+  /* Assign filter taps */
+  S->numStages = numStages;
+
+  /* Assign reflection coefficient pointer */
+  S->pkCoeffs = pkCoeffs;
+
+  /* Assign ladder coefficient pointer */
+  S->pvCoeffs = pvCoeffs;
+
+  /* Clear state buffer and size is always blockSize + numStages */
+  memset(pState, 0, (numStages + blockSize) * sizeof(q15_t));
+
+  /* Assign state pointer */
+  S->pState = pState;
+
+
+}
+
+/**    
+ * @} end of IIR_Lattice group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_q31.c
new file mode 100644
index 000000000..73b18a597
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_q31.c
@@ -0,0 +1,86 @@
+/*-----------------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:        arm_iir_lattice_init_q31.c    
+*    
+* Description:  Initialization function for the Q31 IIR lattice filter.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* ---------------------------------------------------------------------------*/
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup IIR_Lattice    
+ * @{    
+ */
+
+  /**    
+   * @brief Initialization function for the Q31 IIR lattice filter.    
+   * @param[in] *S points to an instance of the Q31 IIR lattice structure.    
+   * @param[in] numStages number of stages in the filter.    
+   * @param[in] *pkCoeffs points to the reflection coefficient buffer.  The array is of length numStages.    
+   * @param[in] *pvCoeffs points to the ladder coefficient buffer.  The array is of length numStages+1.    
+   * @param[in] *pState points to the state buffer.  The array is of length numStages+blockSize.    
+   * @param[in] blockSize number of samples to process.    
+   * @return none.    
+   */
+
+void arm_iir_lattice_init_q31(
+  arm_iir_lattice_instance_q31 * S,
+  uint16_t numStages,
+  q31_t * pkCoeffs,
+  q31_t * pvCoeffs,
+  q31_t * pState,
+  uint32_t blockSize)
+{
+  /* Assign filter taps */
+  S->numStages = numStages;
+
+  /* Assign reflection coefficient pointer */
+  S->pkCoeffs = pkCoeffs;
+
+  /* Assign ladder coefficient pointer */
+  S->pvCoeffs = pvCoeffs;
+
+  /* Clear state buffer and size is always blockSize + numStages */
+  memset(pState, 0, (numStages + blockSize) * sizeof(q31_t));
+
+  /* Assign state pointer */
+  S->pState = pState;
+
+
+}
+
+/**    
+ * @} end of IIR_Lattice group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_q15.c
new file mode 100644
index 000000000..5f0f891d1
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_q15.c
@@ -0,0 +1,457 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_iir_lattice_q15.c    
+*    
+* Description:	Q15 IIR lattice filter processing function.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup IIR_Lattice    
+ * @{    
+ */
+
+/**    
+ * @brief Processing function for the Q15 IIR lattice filter.    
+ * @param[in] *S points to an instance of the Q15 IIR lattice structure.    
+ * @param[in] *pSrc points to the block of input data.    
+ * @param[out] *pDst points to the block of output data.    
+ * @param[in] blockSize number of samples to process.    
+ * @return none.    
+ *    
+ * @details    
+ * Scaling and Overflow Behavior:    
+ * \par    
+ * The function is implemented using a 64-bit internal accumulator.    
+ * Both coefficients and state variables are represented in 1.15 format and multiplications yield a 2.30 result.    
+ * The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format.    
+ * There is no risk of internal overflow with this approach and the full precision of intermediate multiplications is preserved.    
+ * After all additions have been performed, the accumulator is truncated to 34.15 format by discarding low 15 bits.    
+ * Lastly, the accumulator is saturated to yield a result in 1.15 format.    
+ */
+
+void arm_iir_lattice_q15(
+  const arm_iir_lattice_instance_q15 * S,
+  q15_t * pSrc,
+  q15_t * pDst,
+  uint32_t blockSize)
+{
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q31_t fcurr, fnext, gcurr = 0, gnext;          /* Temporary variables for lattice stages */
+  q15_t gnext1, gnext2;                          /* Temporary variables for lattice stages */
+  uint32_t stgCnt;                               /* Temporary variables for counts */
+  q63_t acc;                                     /* Accumlator */
+  uint32_t blkCnt, tapCnt;                       /* Temporary variables for counts */
+  q15_t *px1, *px2, *pk, *pv;                    /* temporary pointers for state and coef */
+  uint32_t numStages = S->numStages;             /* number of stages */
+  q15_t *pState;                                 /* State pointer */
+  q15_t *pStateCurnt;                            /* State current pointer */
+  q15_t out;                                     /* Temporary variable for output */
+  q15_t v1, v2;
+  q31_t v;                                       /* Temporary variable for ladder coefficient */
+
+
+  blkCnt = blockSize;
+
+  pState = &S->pState[0];
+
+  /* Sample processing */
+  while(blkCnt > 0u)
+  {
+    /* Read Sample from input buffer */
+    /* fN(n) = x(n) */
+    fcurr = *pSrc++;
+
+    /* Initialize state read pointer */
+    px1 = pState;
+    /* Initialize state write pointer */
+    px2 = pState;
+    /* Set accumulator to zero */
+    acc = 0;
+    /* Initialize Ladder coeff pointer */
+    pv = &S->pvCoeffs[0];
+    /* Initialize Reflection coeff pointer */
+    pk = &S->pkCoeffs[0];
+
+
+    /* Process sample for first tap */
+    gcurr = *px1++;
+    /* fN-1(n) = fN(n) - kN * gN-1(n-1) */
+    fnext = fcurr - (((q31_t) gcurr * (*pk)) >> 15);
+    fnext = __SSAT(fnext, 16);
+    /* gN(n) = kN * fN-1(n) + gN-1(n-1) */
+    gnext = (((q31_t) fnext * (*pk++)) >> 15) + gcurr;
+    gnext = __SSAT(gnext, 16);
+    /* write gN(n) into state for next sample processing */
+    *px2++ = (q15_t) gnext;
+    /* y(n) += gN(n) * vN  */
+    acc += (q31_t) ((gnext * (*pv++)));
+
+
+    /* Update f values for next coefficient processing */
+    fcurr = fnext;
+
+    /* Loop unrolling.  Process 4 taps at a time. */
+    tapCnt = (numStages - 1u) >> 2;
+
+    while(tapCnt > 0u)
+    {
+
+      /* Process sample for 2nd, 6th ...taps */
+      /* Read gN-2(n-1) from state buffer */
+      gcurr = *px1++;
+      /* Process sample for 2nd, 6th .. taps */
+      /* fN-2(n) = fN-1(n) - kN-1 * gN-2(n-1) */
+      fnext = fcurr - (((q31_t) gcurr * (*pk)) >> 15);
+      fnext = __SSAT(fnext, 16);
+      /* gN-1(n) = kN-1 * fN-2(n) + gN-2(n-1) */
+      gnext = (((q31_t) fnext * (*pk++)) >> 15) + gcurr;
+      gnext1 = (q15_t) __SSAT(gnext, 16);
+      /* write gN-1(n) into state */
+      *px2++ = (q15_t) gnext1;
+
+
+      /* Process sample for 3nd, 7th ...taps */
+      /* Read gN-3(n-1) from state */
+      gcurr = *px1++;
+      /* Process sample for 3rd, 7th .. taps */
+      /* fN-3(n) = fN-2(n) - kN-2 * gN-3(n-1) */
+      fcurr = fnext - (((q31_t) gcurr * (*pk)) >> 15);
+      fcurr = __SSAT(fcurr, 16);
+      /* gN-2(n) = kN-2 * fN-3(n) + gN-3(n-1) */
+      gnext = (((q31_t) fcurr * (*pk++)) >> 15) + gcurr;
+      gnext2 = (q15_t) __SSAT(gnext, 16);
+      /* write gN-2(n) into state */
+      *px2++ = (q15_t) gnext2;
+
+      /* Read vN-1 and vN-2 at a time */
+#ifndef UNALIGNED_SUPPORT_DISABLE
+
+      v = *__SIMD32(pv)++;
+
+#else
+
+	  v1 = *pv++;
+	  v2 = *pv++;
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+	  v = __PKHBT(v1, v2, 16);
+
+#else
+
+	  v = __PKHBT(v2, v1, 16);
+
+#endif	/* 	#ifndef ARM_MATH_BIG_ENDIAN		*/
+
+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE */
+
+
+      /* Pack gN-1(n) and gN-2(n) */
+
+#ifndef  ARM_MATH_BIG_ENDIAN
+
+      gnext = __PKHBT(gnext1, gnext2, 16);
+
+#else
+
+      gnext = __PKHBT(gnext2, gnext1, 16);
+
+#endif /*   #ifndef  ARM_MATH_BIG_ENDIAN    */
+
+      /* y(n) += gN-1(n) * vN-1  */
+      /* process for gN-5(n) * vN-5, gN-9(n) * vN-9 ... */
+      /* y(n) += gN-2(n) * vN-2  */
+      /* process for gN-6(n) * vN-6, gN-10(n) * vN-10 ... */
+      acc = __SMLALD(gnext, v, acc);
+
+
+      /* Process sample for 4th, 8th ...taps */
+      /* Read gN-4(n-1) from state */
+      gcurr = *px1++;
+      /* Process sample for 4th, 8th .. taps */
+      /* fN-4(n) = fN-3(n) - kN-3 * gN-4(n-1) */
+      fnext = fcurr - (((q31_t) gcurr * (*pk)) >> 15);
+      fnext = __SSAT(fnext, 16);
+      /* gN-3(n) = kN-3 * fN-1(n) + gN-1(n-1) */
+      gnext = (((q31_t) fnext * (*pk++)) >> 15) + gcurr;
+      gnext1 = (q15_t) __SSAT(gnext, 16);
+      /* write  gN-3(n) for the next sample process */
+      *px2++ = (q15_t) gnext1;
+
+
+      /* Process sample for 5th, 9th ...taps */
+      /* Read gN-5(n-1) from state */
+      gcurr = *px1++;
+      /* Process sample for 5th, 9th .. taps */
+      /* fN-5(n) = fN-4(n) - kN-4 * gN-5(n-1) */
+      fcurr = fnext - (((q31_t) gcurr * (*pk)) >> 15);
+      fcurr = __SSAT(fcurr, 16);
+      /* gN-4(n) = kN-4 * fN-5(n) + gN-5(n-1) */
+      gnext = (((q31_t) fcurr * (*pk++)) >> 15) + gcurr;
+      gnext2 = (q15_t) __SSAT(gnext, 16);
+      /* write      gN-4(n) for the next sample process */
+      *px2++ = (q15_t) gnext2;
+
+      /* Read vN-3 and vN-4 at a time */
+#ifndef UNALIGNED_SUPPORT_DISABLE
+
+      v = *__SIMD32(pv)++;
+
+#else
+
+	  v1 = *pv++;
+	  v2 = *pv++;
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+	  v = __PKHBT(v1, v2, 16);
+
+#else
+
+	  v = __PKHBT(v2, v1, 16);
+
+#endif	/* #ifndef ARM_MATH_BIG_ENDIAN	 */
+
+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE */
+
+
+      /* Pack gN-3(n) and gN-4(n) */
+#ifndef  ARM_MATH_BIG_ENDIAN
+
+      gnext = __PKHBT(gnext1, gnext2, 16);
+
+#else
+
+      gnext = __PKHBT(gnext2, gnext1, 16);
+
+#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
+
+      /* y(n) += gN-4(n) * vN-4  */
+      /* process for gN-8(n) * vN-8, gN-12(n) * vN-12 ... */
+      /* y(n) += gN-3(n) * vN-3  */
+      /* process for gN-7(n) * vN-7, gN-11(n) * vN-11 ... */
+      acc = __SMLALD(gnext, v, acc);
+
+      tapCnt--;
+
+    }
+
+    fnext = fcurr;
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
+    tapCnt = (numStages - 1u) % 0x4u;
+
+    while(tapCnt > 0u)
+    {
+      gcurr = *px1++;
+      /* Process sample for last taps */
+      fnext = fcurr - (((q31_t) gcurr * (*pk)) >> 15);
+      fnext = __SSAT(fnext, 16);
+      gnext = (((q31_t) fnext * (*pk++)) >> 15) + gcurr;
+      gnext = __SSAT(gnext, 16);
+      /* Output samples for last taps */
+      acc += (q31_t) (((q31_t) gnext * (*pv++)));
+      *px2++ = (q15_t) gnext;
+      fcurr = fnext;
+
+      tapCnt--;
+    }
+
+    /* y(n) += g0(n) * v0 */
+    acc += (q31_t) (((q31_t) fnext * (*pv++)));
+
+    out = (q15_t) __SSAT(acc >> 15, 16);
+    *px2++ = (q15_t) fnext;
+
+    /* write out into pDst */
+    *pDst++ = out;
+
+    /* Advance the state pointer by 4 to process the next group of 4 samples */
+    pState = pState + 1u;
+    blkCnt--;
+
+  }
+
+  /* Processing is complete. Now copy last S->numStages samples to start of the buffer    
+     for the preperation of next frame process */
+  /* Points to the start of the state buffer */
+  pStateCurnt = &S->pState[0];
+  pState = &S->pState[blockSize];
+
+  stgCnt = (numStages >> 2u);
+
+  /* copy data */
+  while(stgCnt > 0u)
+  {
+#ifndef UNALIGNED_SUPPORT_DISABLE
+
+    *__SIMD32(pStateCurnt)++ = *__SIMD32(pState)++;
+    *__SIMD32(pStateCurnt)++ = *__SIMD32(pState)++;
+
+#else
+
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+
+#endif /*	#ifndef UNALIGNED_SUPPORT_DISABLE */
+
+    /* Decrement the loop counter */
+    stgCnt--;
+
+  }
+
+  /* Calculation of count for remaining q15_t data */
+  stgCnt = (numStages) % 0x4u;
+
+  /* copy data */
+  while(stgCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    stgCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  q31_t fcurr, fnext = 0, gcurr = 0, gnext;      /* Temporary variables for lattice stages */
+  uint32_t stgCnt;                               /* Temporary variables for counts */
+  q63_t acc;                                     /* Accumlator */
+  uint32_t blkCnt, tapCnt;                       /* Temporary variables for counts */
+  q15_t *px1, *px2, *pk, *pv;                    /* temporary pointers for state and coef */
+  uint32_t numStages = S->numStages;             /* number of stages */
+  q15_t *pState;                                 /* State pointer */
+  q15_t *pStateCurnt;                            /* State current pointer */
+  q15_t out;                                     /* Temporary variable for output */
+
+
+  blkCnt = blockSize;
+
+  pState = &S->pState[0];
+
+  /* Sample processing */
+  while(blkCnt > 0u)
+  {
+    /* Read Sample from input buffer */
+    /* fN(n) = x(n) */
+    fcurr = *pSrc++;
+
+    /* Initialize state read pointer */
+    px1 = pState;
+    /* Initialize state write pointer */
+    px2 = pState;
+    /* Set accumulator to zero */
+    acc = 0;
+    /* Initialize Ladder coeff pointer */
+    pv = &S->pvCoeffs[0];
+    /* Initialize Reflection coeff pointer */
+    pk = &S->pkCoeffs[0];
+
+    tapCnt = numStages;
+
+    while(tapCnt > 0u)
+    {
+      gcurr = *px1++;
+      /* Process sample */
+      /* fN-1(n) = fN(n) - kN * gN-1(n-1) */
+      fnext = fcurr - ((gcurr * (*pk)) >> 15);
+      fnext = __SSAT(fnext, 16);
+      /* gN(n) = kN * fN-1(n) + gN-1(n-1) */
+      gnext = ((fnext * (*pk++)) >> 15) + gcurr;
+      gnext = __SSAT(gnext, 16);
+      /* Output samples */
+      /* y(n) += gN(n) * vN */
+      acc += (q31_t) ((gnext * (*pv++)));
+      /* write gN(n) into state for next sample processing */
+      *px2++ = (q15_t) gnext;
+      /* Update f values for next coefficient processing */
+      fcurr = fnext;
+
+      tapCnt--;
+    }
+
+    /* y(n) += g0(n) * v0 */
+    acc += (q31_t) ((fnext * (*pv++)));
+
+    out = (q15_t) __SSAT(acc >> 15, 16);
+    *px2++ = (q15_t) fnext;
+
+    /* write out into pDst */
+    *pDst++ = out;
+
+    /* Advance the state pointer by 1 to process the next group of samples */
+    pState = pState + 1u;
+    blkCnt--;
+
+  }
+
+  /* Processing is complete. Now copy last S->numStages samples to start of the buffer           
+     for the preperation of next frame process */
+  /* Points to the start of the state buffer */
+  pStateCurnt = &S->pState[0];
+  pState = &S->pState[blockSize];
+
+  stgCnt = numStages;
+
+  /* copy data */
+  while(stgCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    stgCnt--;
+  }
+
+#endif /*   #ifndef ARM_MATH_CM0 */
+
+}
+
+
+
+
+/**    
+ * @} end of IIR_Lattice group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_q31.c
new file mode 100644
index 000000000..adfd4dfb5
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_q31.c
@@ -0,0 +1,345 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_iir_lattice_q31.c    
+*    
+* Description:	Q31 IIR lattice filter processing function.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup IIR_Lattice    
+ * @{    
+ */
+
+/**    
+ * @brief Processing function for the Q31 IIR lattice filter.    
+ * @param[in] *S points to an instance of the Q31 IIR lattice structure.    
+ * @param[in] *pSrc points to the block of input data.    
+ * @param[out] *pDst points to the block of output data.    
+ * @param[in] blockSize number of samples to process.    
+ * @return none.    
+ *    
+ * @details    
+ * Scaling and Overflow Behavior:    
+ * \par    
+ * The function is implemented using an internal 64-bit accumulator.    
+ * The accumulator has a 2.62 format and maintains full precision of the intermediate multiplication results but provides only a single guard bit.    
+ * Thus, if the accumulator result overflows it wraps around rather than clip.    
+ * In order to avoid overflows completely the input signal must be scaled down by 2*log2(numStages) bits.    
+ * After all multiply-accumulates are performed, the 2.62 accumulator is saturated to 1.32 format and then truncated to 1.31 format.    
+ */
+
+void arm_iir_lattice_q31(
+  const arm_iir_lattice_instance_q31 * S,
+  q31_t * pSrc,
+  q31_t * pDst,
+  uint32_t blockSize)
+{
+  q31_t fcurr, fnext = 0, gcurr = 0, gnext;      /* Temporary variables for lattice stages */
+  q63_t acc;                                     /* Accumlator */
+  uint32_t blkCnt, tapCnt;                       /* Temporary variables for counts */
+  q31_t *px1, *px2, *pk, *pv;                    /* Temporary pointers for state and coef */
+  uint32_t numStages = S->numStages;             /* number of stages */
+  q31_t *pState;                                 /* State pointer */
+  q31_t *pStateCurnt;                            /* State current pointer */
+
+  blkCnt = blockSize;
+
+  pState = &S->pState[0];
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /* Sample processing */
+  while(blkCnt > 0u)
+  {
+    /* Read Sample from input buffer */
+    /* fN(n) = x(n) */
+    fcurr = *pSrc++;
+
+    /* Initialize state read pointer */
+    px1 = pState;
+    /* Initialize state write pointer */
+    px2 = pState;
+    /* Set accumulator to zero */
+    acc = 0;
+    /* Initialize Ladder coeff pointer */
+    pv = &S->pvCoeffs[0];
+    /* Initialize Reflection coeff pointer */
+    pk = &S->pkCoeffs[0];
+
+
+    /* Process sample for first tap */
+    gcurr = *px1++;
+    /* fN-1(n) = fN(n) - kN * gN-1(n-1) */
+    fnext = __QSUB(fcurr, (q31_t) (((q63_t) gcurr * (*pk)) >> 31));
+    /* gN(n) = kN * fN-1(n) + gN-1(n-1) */
+    gnext = __QADD(gcurr, (q31_t) (((q63_t) fnext * (*pk++)) >> 31));
+    /* write gN-1(n-1) into state for next sample processing */
+    *px2++ = gnext;
+    /* y(n) += gN(n) * vN  */
+    acc += ((q63_t) gnext * *pv++);
+
+    /* Update f values for next coefficient processing */
+    fcurr = fnext;
+
+    /* Loop unrolling.  Process 4 taps at a time. */
+    tapCnt = (numStages - 1u) >> 2;
+
+    while(tapCnt > 0u)
+    {
+
+      /* Process sample for 2nd, 6th .. taps */
+      /* Read gN-2(n-1) from state buffer */
+      gcurr = *px1++;
+      /* fN-2(n) = fN-1(n) - kN-1 * gN-2(n-1) */
+      fnext = __QSUB(fcurr, (q31_t) (((q63_t) gcurr * (*pk)) >> 31));
+      /* gN-1(n) = kN-1 * fN-2(n) + gN-2(n-1) */
+      gnext = __QADD(gcurr, (q31_t) (((q63_t) fnext * (*pk++)) >> 31));
+      /* y(n) += gN-1(n) * vN-1  */
+      /* process for gN-5(n) * vN-5, gN-9(n) * vN-9 ... */
+      acc += ((q63_t) gnext * *pv++);
+      /* write gN-1(n) into state for next sample processing */
+      *px2++ = gnext;
+
+      /* Process sample for 3nd, 7th ...taps */
+      /* Read gN-3(n-1) from state buffer */
+      gcurr = *px1++;
+      /* Process sample for 3rd, 7th .. taps */
+      /* fN-3(n) = fN-2(n) - kN-2 * gN-3(n-1) */
+      fcurr = __QSUB(fnext, (q31_t) (((q63_t) gcurr * (*pk)) >> 31));
+      /* gN-2(n) = kN-2 * fN-3(n) + gN-3(n-1) */
+      gnext = __QADD(gcurr, (q31_t) (((q63_t) fcurr * (*pk++)) >> 31));
+      /* y(n) += gN-2(n) * vN-2  */
+      /* process for gN-6(n) * vN-6, gN-10(n) * vN-10 ... */
+      acc += ((q63_t) gnext * *pv++);
+      /* write gN-2(n) into state for next sample processing */
+      *px2++ = gnext;
+
+
+      /* Process sample for 4th, 8th ...taps */
+      /* Read gN-4(n-1) from state buffer */
+      gcurr = *px1++;
+      /* Process sample for 4th, 8th .. taps */
+      /* fN-4(n) = fN-3(n) - kN-3 * gN-4(n-1) */
+      fnext = __QSUB(fcurr, (q31_t) (((q63_t) gcurr * (*pk)) >> 31));
+      /* gN-3(n) = kN-3 * fN-4(n) + gN-4(n-1) */
+      gnext = __QADD(gcurr, (q31_t) (((q63_t) fnext * (*pk++)) >> 31));
+      /* y(n) += gN-3(n) * vN-3  */
+      /* process for gN-7(n) * vN-7, gN-11(n) * vN-11 ... */
+      acc += ((q63_t) gnext * *pv++);
+      /* write gN-3(n) into state for next sample processing */
+      *px2++ = gnext;
+
+
+      /* Process sample for 5th, 9th ...taps */
+      /* Read gN-5(n-1) from state buffer */
+      gcurr = *px1++;
+      /* Process sample for 5th, 9th .. taps */
+      /* fN-5(n) = fN-4(n) - kN-4 * gN-1(n-1) */
+      fcurr = __QSUB(fnext, (q31_t) (((q63_t) gcurr * (*pk)) >> 31));
+      /* gN-4(n) = kN-4 * fN-5(n) + gN-5(n-1) */
+      gnext = __QADD(gcurr, (q31_t) (((q63_t) fcurr * (*pk++)) >> 31));
+      /* y(n) += gN-4(n) * vN-4  */
+      /* process for gN-8(n) * vN-8, gN-12(n) * vN-12 ... */
+      acc += ((q63_t) gnext * *pv++);
+      /* write gN-4(n) into state for next sample processing */
+      *px2++ = gnext;
+
+      tapCnt--;
+
+    }
+
+    fnext = fcurr;
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
+    tapCnt = (numStages - 1u) % 0x4u;
+
+    while(tapCnt > 0u)
+    {
+      gcurr = *px1++;
+      /* Process sample for last taps */
+      fnext = __QSUB(fcurr, (q31_t) (((q63_t) gcurr * (*pk)) >> 31));
+      gnext = __QADD(gcurr, (q31_t) (((q63_t) fnext * (*pk++)) >> 31));
+      /* Output samples for last taps */
+      acc += ((q63_t) gnext * *pv++);
+      *px2++ = gnext;
+      fcurr = fnext;
+
+      tapCnt--;
+
+    }
+
+    /* y(n) += g0(n) * v0 */
+    acc += (q63_t) fnext *(
+  *pv++);
+
+    *px2++ = fnext;
+
+    /* write out into pDst */
+    *pDst++ = (q31_t) (acc >> 31u);
+
+    /* Advance the state pointer by 4 to process the next group of 4 samples */
+    pState = pState + 1u;
+    blkCnt--;
+
+  }
+
+  /* Processing is complete. Now copy last S->numStages samples to start of the buffer    
+     for the preperation of next frame process */
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = &S->pState[0];
+  pState = &S->pState[blockSize];
+
+  tapCnt = numStages >> 2u;
+
+  /* copy data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+
+  }
+
+  /* Calculate remaining number of copies */
+  tapCnt = (numStages) % 0x4u;
+
+  /* Copy the remaining q31_t data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  };
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+  /* Sample processing */
+  while(blkCnt > 0u)
+  {
+    /* Read Sample from input buffer */
+    /* fN(n) = x(n) */
+    fcurr = *pSrc++;
+
+    /* Initialize state read pointer */
+    px1 = pState;
+    /* Initialize state write pointer */
+    px2 = pState;
+    /* Set accumulator to zero */
+    acc = 0;
+    /* Initialize Ladder coeff pointer */
+    pv = &S->pvCoeffs[0];
+    /* Initialize Reflection coeff pointer */
+    pk = &S->pkCoeffs[0];
+
+    tapCnt = numStages;
+
+    while(tapCnt > 0u)
+    {
+      gcurr = *px1++;
+      /* Process sample */
+      /* fN-1(n) = fN(n) - kN * gN-1(n-1) */
+      fnext =
+        clip_q63_to_q31(((q63_t) fcurr -
+                         ((q31_t) (((q63_t) gcurr * (*pk)) >> 31))));
+      /* gN(n) = kN * fN-1(n) + gN-1(n-1) */
+      gnext =
+        clip_q63_to_q31(((q63_t) gcurr +
+                         ((q31_t) (((q63_t) fnext * (*pk++)) >> 31))));
+      /* Output samples */
+      /* y(n) += gN(n) * vN  */
+      acc += ((q63_t) gnext * *pv++);
+      /* write gN-1(n-1) into state for next sample processing */
+      *px2++ = gnext;
+      /* Update f values for next coefficient processing */
+      fcurr = fnext;
+
+      tapCnt--;
+    }
+
+    /* y(n) += g0(n) * v0 */
+    acc += (q63_t) fnext *(
+  *pv++);
+
+    *px2++ = fnext;
+
+    /* write out into pDst */
+    *pDst++ = (q31_t) (acc >> 31u);
+
+    /* Advance the state pointer by 1 to process the next group of samples */
+    pState = pState + 1u;
+    blkCnt--;
+
+  }
+
+  /* Processing is complete. Now copy last S->numStages samples to start of the buffer           
+     for the preperation of next frame process */
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = &S->pState[0];
+  pState = &S->pState[blockSize];
+
+  tapCnt = numStages;
+
+  /* Copy the remaining q31_t data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+#endif /*   #ifndef ARM_MATH_CM0 */
+
+}
+
+
+
+
+/**    
+ * @} end of IIR_Lattice group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_f32.c
new file mode 100644
index 000000000..90fa8ae1e
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_f32.c
@@ -0,0 +1,434 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_lms_f32.c    
+*    
+* Description:	Processing function for the floating-point LMS filter.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @defgroup LMS Least Mean Square (LMS) Filters    
+ *    
+ * LMS filters are a class of adaptive filters that are able to "learn" an unknown transfer functions.    
+ * LMS filters use a gradient descent method in which the filter coefficients are updated based on the instantaneous error signal.    
+ * Adaptive filters are often used in communication systems, equalizers, and noise removal.    
+ * The CMSIS DSP Library contains LMS filter functions that operate on Q15, Q31, and floating-point data types.    
+ * The library also contains normalized LMS filters in which the filter coefficient adaptation is indepedent of the level of the input signal.    
+ *    
+ * An LMS filter consists of two components as shown below.    
+ * The first component is a standard transversal or FIR filter.    
+ * The second component is a coefficient update mechanism.    
+ * The LMS filter has two input signals.    
+ * The "input" feeds the FIR filter while the "reference input" corresponds to the desired output of the FIR filter.    
+ * That is, the FIR filter coefficients are updated so that the output of the FIR filter matches the reference input.    
+ * The filter coefficient update mechanism is based on the difference between the FIR filter output and the reference input.    
+ * This "error signal" tends towards zero as the filter adapts.    
+ * The LMS processing functions accept the input and reference input signals and generate the filter output and error signal.    
+ * \image html LMS.gif "Internal structure of the Least Mean Square filter"    
+ *    
+ * The functions operate on blocks of data and each call to the function processes    
+ * blockSize samples through the filter.    
+ * pSrc points to input signal, pRef points to reference signal,    
+ * pOut points to output signal and pErr points to error signal.    
+ * All arrays contain blockSize values.    
+ *    
+ * The functions operate on a block-by-block basis.    
+ * Internally, the filter coefficients b[n] are updated on a sample-by-sample basis.    
+ * The convergence of the LMS filter is slower compared to the normalized LMS algorithm.    
+ *    
+ * \par Algorithm:    
+ * The output signal y[n] is computed by a standard FIR filter:    
+ * 
    
+ *     y[n] = b[0] * x[n] + b[1] * x[n-1] + b[2] * x[n-2] + ...+ b[numTaps-1] * x[n-numTaps+1]    
+ * 
    
+ *    
+ * \par    
+ * The error signal equals the difference between the reference signal d[n] and the filter output:    
+ * 
    
+ *     e[n] = d[n] - y[n].    
+ * 
    
+ *    
+ * \par    
+ * After each sample of the error signal is computed, the filter coefficients b[k] are updated on a sample-by-sample basis:    
+ * 
    
+ *     b[k] = b[k] + e[n] * mu * x[n-k],  for k=0, 1, ..., numTaps-1    
+ * 
    
+ * where mu is the step size and controls the rate of coefficient convergence.    
+ *\par    
+ * In the APIs, pCoeffs points to a coefficient array of size numTaps.    
+ * Coefficients are stored in time reversed order.    
+ * \par    
+ * 
    
+ *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}    
+ * 
    
+ * \par    
+ * pState points to a state array of size numTaps + blockSize - 1.    
+ * Samples in the state buffer are stored in the order:    
+ * \par    
+ * 
    
+ *    {x[n-numTaps+1], x[n-numTaps], x[n-numTaps-1], x[n-numTaps-2]....x[0], x[1], ..., x[blockSize-1]}    
+ * 
    
+ * \par    
+ * Note that the length of the state buffer exceeds the length of the coefficient array by blockSize-1 samples.    
+ * The increased state buffer length allows circular addressing, which is traditionally used in FIR filters,    
+ * to be avoided and yields a significant speed improvement.    
+ * The state variables are updated after each block of data is processed.    
+ * \par Instance Structure    
+ * The coefficients and state variables for a filter are stored together in an instance data structure.    
+ * A separate instance structure must be defined for each filter and    
+ * coefficient and state arrays cannot be shared among instances.    
+ * There are separate instance structure declarations for each of the 3 supported data types.    
+ *    
+ * \par Initialization Functions    
+ * There is also an associated initialization function for each data type.    
+ * The initialization function performs the following operations:    
+ * - Sets the values of the internal structure fields.    
+ * - Zeros out the values in the state buffer.    
+ * \par    
+ * Use of the initialization function is optional.    
+ * However, if the initialization function is used, then the instance structure cannot be placed into a const data section.    
+ * To place an instance structure into a const data section, the instance structure must be manually initialized.    
+ * Set the values in the state buffer to zeros before static initialization.    
+ * The code below statically initializes each of the 3 different data type filter instance structures    
+ * 
    
+ *    arm_lms_instance_f32 S = {numTaps, pState, pCoeffs, mu};    
+ *    arm_lms_instance_q31 S = {numTaps, pState, pCoeffs, mu, postShift};    
+ *    arm_lms_instance_q15 S = {numTaps, pState, pCoeffs, mu, postShift};    
+ * 
    
+ * where numTaps is the number of filter coefficients in the filter; pState is the address of the state buffer;    
+ * pCoeffs is the address of the coefficient buffer; mu is the step size parameter; and postShift is the shift applied to coefficients.    
+ *    
+ * \par Fixed-Point Behavior:    
+ * Care must be taken when using the Q15 and Q31 versions of the LMS filter.    
+ * The following issues must be considered:    
+ * - Scaling of coefficients    
+ * - Overflow and saturation    
+ *    
+ * \par Scaling of Coefficients:    
+ * Filter coefficients are represented as fractional values and    
+ * coefficients are restricted to lie in the range [-1 +1).    
+ * The fixed-point functions have an additional scaling parameter postShift.    
+ * At the output of the filter's accumulator is a shift register which shifts the result by postShift bits.    
+ * This essentially scales the filter coefficients by 2^postShift and    
+ * allows the filter coefficients to exceed the range [+1 -1).    
+ * The value of postShift is set by the user based on the expected gain through the system being modeled.    
+ *    
+ * \par Overflow and Saturation:    
+ * Overflow and saturation behavior of the fixed-point Q15 and Q31 versions are    
+ * described separately as part of the function specific documentation below.    
+ */
+
+/**    
+ * @addtogroup LMS    
+ * @{    
+ */
+
+/**           
+ * @details           
+ * This function operates on floating-point data types.       
+ *    
+ * @brief Processing function for floating-point LMS filter.    
+ * @param[in]  *S points to an instance of the floating-point LMS filter structure.    
+ * @param[in]  *pSrc points to the block of input data.    
+ * @param[in]  *pRef points to the block of reference data.    
+ * @param[out] *pOut points to the block of output data.    
+ * @param[out] *pErr points to the block of error data.    
+ * @param[in]  blockSize number of samples to process.    
+ * @return     none.    
+ */
+
+void arm_lms_f32(
+  const arm_lms_instance_f32 * S,
+  float32_t * pSrc,
+  float32_t * pRef,
+  float32_t * pOut,
+  float32_t * pErr,
+  uint32_t blockSize)
+{
+  float32_t *pState = S->pState;                 /* State pointer */
+  float32_t *pCoeffs = S->pCoeffs;               /* Coefficient pointer */
+  float32_t *pStateCurnt;                        /* Points to the current sample of the state */
+  float32_t *px, *pb;                            /* Temporary pointers for state and coefficient buffers */
+  float32_t mu = S->mu;                          /* Adaptive factor */
+  uint32_t numTaps = S->numTaps;                 /* Number of filter coefficients in the filter */
+  uint32_t tapCnt, blkCnt;                       /* Loop counters */
+  float32_t sum, e, d;                           /* accumulator, error, reference data sample */
+  float32_t w = 0.0f;                            /* weight factor */
+
+  e = 0.0f;
+  d = 0.0f;
+
+  /* S->pState points to state array which contains previous frame (numTaps - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = &(S->pState[(numTaps - 1u)]);
+
+  blkCnt = blockSize;
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  while(blkCnt > 0u)
+  {
+    /* Copy the new input sample into the state buffer */
+    *pStateCurnt++ = *pSrc++;
+
+    /* Initialize pState pointer */
+    px = pState;
+
+    /* Initialize coeff pointer */
+    pb = (pCoeffs);
+
+    /* Set the accumulator to zero */
+    sum = 0.0f;
+
+    /* Loop unrolling.  Process 4 taps at a time. */
+    tapCnt = numTaps >> 2;
+
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      sum += (*px++) * (*pb++);
+      sum += (*px++) * (*pb++);
+      sum += (*px++) * (*pb++);
+      sum += (*px++) * (*pb++);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
+    tapCnt = numTaps % 0x4u;
+
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      sum += (*px++) * (*pb++);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* The result in the accumulator, store in the destination buffer. */
+    *pOut++ = sum;
+
+    /* Compute and store error */
+    d = (float32_t) (*pRef++);
+    e = d - sum;
+    *pErr++ = e;
+
+    /* Calculation of Weighting factor for the updating filter coefficients */
+    w = e * mu;
+
+    /* Initialize pState pointer */
+    px = pState;
+
+    /* Initialize coeff pointer */
+    pb = (pCoeffs);
+
+    /* Loop unrolling.  Process 4 taps at a time. */
+    tapCnt = numTaps >> 2;
+
+    /* Update filter coefficients */
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      *pb = *pb + (w * (*px++));
+      pb++;
+
+      *pb = *pb + (w * (*px++));
+      pb++;
+
+      *pb = *pb + (w * (*px++));
+      pb++;
+
+      *pb = *pb + (w * (*px++));
+      pb++;
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
+    tapCnt = numTaps % 0x4u;
+
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      *pb = *pb + (w * (*px++));
+      pb++;
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Advance state pointer by 1 for the next sample */
+    pState = pState + 1;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+
+  /* Processing is complete. Now copy the last numTaps - 1 samples to the    
+     satrt of the state buffer. This prepares the state buffer for the    
+     next function call. */
+
+  /* Points to the start of the pState buffer */
+  pStateCurnt = S->pState;
+
+  /* Loop unrolling for (numTaps - 1u) samples copy */
+  tapCnt = (numTaps - 1u) >> 2u;
+
+  /* copy data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+  /* Calculate remaining number of copies */
+  tapCnt = (numTaps - 1u) % 0x4u;
+
+  /* Copy the remaining q31_t data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  while(blkCnt > 0u)
+  {
+    /* Copy the new input sample into the state buffer */
+    *pStateCurnt++ = *pSrc++;
+
+    /* Initialize pState pointer */
+    px = pState;
+
+    /* Initialize pCoeffs pointer */
+    pb = pCoeffs;
+
+    /* Set the accumulator to zero */
+    sum = 0.0f;
+
+    /* Loop over numTaps number of values */
+    tapCnt = numTaps;
+
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      sum += (*px++) * (*pb++);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* The result is stored in the destination buffer. */
+    *pOut++ = sum;
+
+    /* Compute and store error */
+    d = (float32_t) (*pRef++);
+    e = d - sum;
+    *pErr++ = e;
+
+    /* Weighting factor for the LMS version */
+    w = e * mu;
+
+    /* Initialize pState pointer */
+    px = pState;
+
+    /* Initialize pCoeffs pointer */
+    pb = pCoeffs;
+
+    /* Loop over numTaps number of values */
+    tapCnt = numTaps;
+
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      *pb = *pb + (w * (*px++));
+      pb++;
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Advance state pointer by 1 for the next sample */
+    pState = pState + 1;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+
+  /* Processing is complete. Now copy the last numTaps - 1 samples to the        
+   * start of the state buffer. This prepares the state buffer for the        
+   * next function call. */
+
+  /* Points to the start of the pState buffer */
+  pStateCurnt = S->pState;
+
+  /*  Copy (numTaps - 1u) samples  */
+  tapCnt = (numTaps - 1u);
+
+  /* Copy the data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+#endif /*   #ifndef ARM_MATH_CM0 */
+
+}
+
+/**    
+   * @} end of LMS group    
+   */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_init_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_init_f32.c
new file mode 100644
index 000000000..a2f51240a
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_init_f32.c
@@ -0,0 +1,90 @@
+/*-----------------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:        arm_lms_init_f32.c    
+*    
+* Description:  Floating-point LMS filter initialization function.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* ---------------------------------------------------------------------------*/
+
+#include "arm_math.h"
+
+/**    
+ * @addtogroup LMS    
+ * @{    
+ */
+
+  /**    
+   * @brief Initialization function for floating-point LMS filter.    
+   * @param[in] *S points to an instance of the floating-point LMS filter structure.    
+   * @param[in] numTaps  number of filter coefficients.    
+   * @param[in] *pCoeffs points to the coefficient buffer.    
+   * @param[in] *pState points to state buffer.    
+   * @param[in] mu step size that controls filter coefficient updates.    
+   * @param[in] blockSize number of samples to process.    
+   * @return none.    
+   */
+
+/**    
+ * \par Description:    
+ * pCoeffs points to the array of filter coefficients stored in time reversed order:    
+ * 
    
+ *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}    
+ * 
    
+ * The initial filter coefficients serve as a starting point for the adaptive filter.    
+ * pState points to an array of length numTaps+blockSize-1 samples, where blockSize is the number of input samples processed by each call to arm_lms_f32().    
+ */
+
+void arm_lms_init_f32(
+  arm_lms_instance_f32 * S,
+  uint16_t numTaps,
+  float32_t * pCoeffs,
+  float32_t * pState,
+  float32_t mu,
+  uint32_t blockSize)
+{
+  /* Assign filter taps */
+  S->numTaps = numTaps;
+
+  /* Assign coefficient pointer */
+  S->pCoeffs = pCoeffs;
+
+  /* Clear state buffer and size is always blockSize + numTaps */
+  memset(pState, 0, (numTaps + (blockSize - 1)) * sizeof(float32_t));
+
+  /* Assign state pointer */
+  S->pState = pState;
+
+  /* Assign Step size value */
+  S->mu = mu;
+}
+
+/**    
+ * @} end of LMS group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_init_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_init_q15.c
new file mode 100644
index 000000000..8f42949a6
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_init_q15.c
@@ -0,0 +1,100 @@
+/*-----------------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:        arm_lms_init_q15.c    
+*    
+* Description:  Q15 LMS filter initialization function.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* ---------------------------------------------------------------------------*/
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup LMS    
+ * @{    
+ */
+
+/**    
+* @brief Initialization function for the Q15 LMS filter.    
+* @param[in] *S points to an instance of the Q15 LMS filter structure.    
+* @param[in] numTaps  number of filter coefficients.    
+* @param[in] *pCoeffs points to the coefficient buffer.    
+* @param[in] *pState points to the state buffer.    
+* @param[in] mu step size that controls filter coefficient updates.    
+* @param[in] blockSize number of samples to process.    
+* @param[in] postShift bit shift applied to coefficients.    
+* @return    none.    
+*    
+* \par Description:    
+* pCoeffs points to the array of filter coefficients stored in time reversed order:    
+* 
    
+*    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}    
+* 
    
+* The initial filter coefficients serve as a starting point for the adaptive filter.    
+* pState points to the array of state variables and size of array is    
+* numTaps+blockSize-1 samples, where blockSize is the number of    
+* input samples processed by each call to arm_lms_q15().    
+*/
+
+void arm_lms_init_q15(
+  arm_lms_instance_q15 * S,
+  uint16_t numTaps,
+  q15_t * pCoeffs,
+  q15_t * pState,
+  q15_t mu,
+  uint32_t blockSize,
+  uint32_t postShift)
+{
+  /* Assign filter taps */
+  S->numTaps = numTaps;
+
+  /* Assign coefficient pointer */
+  S->pCoeffs = pCoeffs;
+
+  /* Clear state buffer and size is always blockSize + numTaps - 1 */
+  memset(pState, 0, (numTaps + (blockSize - 1u)) * sizeof(q15_t));
+
+  /* Assign state pointer */
+  S->pState = pState;
+
+  /* Assign Step size value */
+  S->mu = mu;
+
+  /* Assign postShift value to be applied */
+  S->postShift = postShift;
+
+}
+
+/**    
+ * @} end of LMS group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_init_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_init_q31.c
new file mode 100644
index 000000000..58edb659b
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_init_q31.c
@@ -0,0 +1,100 @@
+/*-----------------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:        arm_lms_init_q31.c    
+*    
+* Description:  Q31 LMS filter initialization function.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* ---------------------------------------------------------------------------*/
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup LMS    
+ * @{    
+ */
+
+  /**    
+   * @brief Initialization function for Q31 LMS filter.    
+   * @param[in] *S points to an instance of the Q31 LMS filter structure.    
+   * @param[in] numTaps  number of filter coefficients.    
+   * @param[in] *pCoeffs points to coefficient buffer.    
+   * @param[in] *pState points to state buffer.    
+   * @param[in] mu step size that controls filter coefficient updates.    
+   * @param[in] blockSize number of samples to process.    
+   * @param[in] postShift bit shift applied to coefficients.    
+   * @return none.    
+ *    
+ * \par Description:    
+ * pCoeffs points to the array of filter coefficients stored in time reversed order:    
+ * 
    
+ *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}    
+ * 
    
+ * The initial filter coefficients serve as a starting point for the adaptive filter.    
+ * pState points to an array of length numTaps+blockSize-1 samples,    
+ * where blockSize is the number of input samples processed by each call to    
+ * arm_lms_q31().    
+ */
+
+void arm_lms_init_q31(
+  arm_lms_instance_q31 * S,
+  uint16_t numTaps,
+  q31_t * pCoeffs,
+  q31_t * pState,
+  q31_t mu,
+  uint32_t blockSize,
+  uint32_t postShift)
+{
+  /* Assign filter taps */
+  S->numTaps = numTaps;
+
+  /* Assign coefficient pointer */
+  S->pCoeffs = pCoeffs;
+
+  /* Clear state buffer and size is always blockSize + numTaps - 1 */
+  memset(pState, 0, ((uint32_t) numTaps + (blockSize - 1u)) * sizeof(q31_t));
+
+  /* Assign state pointer */
+  S->pState = pState;
+
+  /* Assign Step size value */
+  S->mu = mu;
+
+  /* Assign postShift value to be applied */
+  S->postShift = postShift;
+
+}
+
+/**    
+ * @} end of LMS group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_f32.c
new file mode 100644
index 000000000..b2ac45206
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_f32.c
@@ -0,0 +1,456 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_lms_norm_f32.c    
+*    
+* Description:	Processing function for the floating-point Normalised LMS.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @defgroup LMS_NORM Normalized LMS Filters    
+ *    
+ * This set of functions implements a commonly used adaptive filter.    
+ * It is related to the Least Mean Square (LMS) adaptive filter and includes an additional normalization    
+ * factor which increases the adaptation rate of the filter.    
+ * The CMSIS DSP Library contains normalized LMS filter functions that operate on Q15, Q31, and floating-point data types.    
+ *    
+ * A normalized least mean square (NLMS) filter consists of two components as shown below.    
+ * The first component is a standard transversal or FIR filter.    
+ * The second component is a coefficient update mechanism.    
+ * The NLMS filter has two input signals.    
+ * The "input" feeds the FIR filter while the "reference input" corresponds to the desired output of the FIR filter.    
+ * That is, the FIR filter coefficients are updated so that the output of the FIR filter matches the reference input.    
+ * The filter coefficient update mechanism is based on the difference between the FIR filter output and the reference input.    
+ * This "error signal" tends towards zero as the filter adapts.    
+ * The NLMS processing functions accept the input and reference input signals and generate the filter output and error signal.    
+ * \image html LMS.gif "Internal structure of the NLMS adaptive filter"    
+ *    
+ * The functions operate on blocks of data and each call to the function processes    
+ * blockSize samples through the filter.    
+ * pSrc points to input signal, pRef points to reference signal,    
+ * pOut points to output signal and pErr points to error signal.    
+ * All arrays contain blockSize values.    
+ *    
+ * The functions operate on a block-by-block basis.    
+ * Internally, the filter coefficients b[n] are updated on a sample-by-sample basis.    
+ * The convergence of the LMS filter is slower compared to the normalized LMS algorithm.    
+ *    
+ * \par Algorithm:    
+ * The output signal y[n] is computed by a standard FIR filter:    
+ * 
    
+ *     y[n] = b[0] * x[n] + b[1] * x[n-1] + b[2] * x[n-2] + ...+ b[numTaps-1] * x[n-numTaps+1]    
+ * 
    
+ *    
+ * \par    
+ * The error signal equals the difference between the reference signal d[n] and the filter output:    
+ * 
    
+ *     e[n] = d[n] - y[n].    
+ * 
    
+ *    
+ * \par    
+ * After each sample of the error signal is computed the instanteous energy of the filter state variables is calculated:    
+ * 
    
+ *    E = x[n]^2 + x[n-1]^2 + ... + x[n-numTaps+1]^2.    
+ * 
    
+ * The filter coefficients b[k] are then updated on a sample-by-sample basis:    
+ * 
    
+ *     b[k] = b[k] + e[n] * (mu/E) * x[n-k],  for k=0, 1, ..., numTaps-1    
+ * 
    
+ * where mu is the step size and controls the rate of coefficient convergence.    
+ *\par    
+ * In the APIs, pCoeffs points to a coefficient array of size numTaps.    
+ * Coefficients are stored in time reversed order.    
+ * \par    
+ * 
    
+ *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}    
+ * 
    
+ * \par    
+ * pState points to a state array of size numTaps + blockSize - 1.    
+ * Samples in the state buffer are stored in the order:    
+ * \par    
+ * 
    
+ *    {x[n-numTaps+1], x[n-numTaps], x[n-numTaps-1], x[n-numTaps-2]....x[0], x[1], ..., x[blockSize-1]}    
+ * 
    
+ * \par    
+ * Note that the length of the state buffer exceeds the length of the coefficient array by blockSize-1 samples.    
+ * The increased state buffer length allows circular addressing, which is traditionally used in FIR filters,    
+ * to be avoided and yields a significant speed improvement.    
+ * The state variables are updated after each block of data is processed.    
+ * \par Instance Structure    
+ * The coefficients and state variables for a filter are stored together in an instance data structure.    
+ * A separate instance structure must be defined for each filter and    
+ * coefficient and state arrays cannot be shared among instances.    
+ * There are separate instance structure declarations for each of the 3 supported data types.    
+ *    
+ * \par Initialization Functions    
+ * There is also an associated initialization function for each data type.    
+ * The initialization function performs the following operations:    
+ * - Sets the values of the internal structure fields.    
+ * - Zeros out the values in the state buffer.    
+ * \par    
+ * Instance structure cannot be placed into a const data section and it is recommended to use the initialization function.    
+ * \par Fixed-Point Behavior:    
+ * Care must be taken when using the Q15 and Q31 versions of the normalised LMS filter.    
+ * The following issues must be considered:    
+ * - Scaling of coefficients    
+ * - Overflow and saturation    
+ *    
+ * \par Scaling of Coefficients:    
+ * Filter coefficients are represented as fractional values and    
+ * coefficients are restricted to lie in the range [-1 +1).    
+ * The fixed-point functions have an additional scaling parameter postShift.    
+ * At the output of the filter's accumulator is a shift register which shifts the result by postShift bits.    
+ * This essentially scales the filter coefficients by 2^postShift and    
+ * allows the filter coefficients to exceed the range [+1 -1).    
+ * The value of postShift is set by the user based on the expected gain through the system being modeled.    
+ *    
+ * \par Overflow and Saturation:    
+ * Overflow and saturation behavior of the fixed-point Q15 and Q31 versions are    
+ * described separately as part of the function specific documentation below.    
+ */
+
+
+/**    
+ * @addtogroup LMS_NORM    
+ * @{    
+ */
+
+
+  /**    
+   * @brief Processing function for floating-point normalized LMS filter.    
+   * @param[in] *S points to an instance of the floating-point normalized LMS filter structure.    
+   * @param[in] *pSrc points to the block of input data.    
+   * @param[in] *pRef points to the block of reference data.    
+   * @param[out] *pOut points to the block of output data.    
+   * @param[out] *pErr points to the block of error data.    
+   * @param[in] blockSize number of samples to process.    
+   * @return none.    
+   */
+
+void arm_lms_norm_f32(
+  arm_lms_norm_instance_f32 * S,
+  float32_t * pSrc,
+  float32_t * pRef,
+  float32_t * pOut,
+  float32_t * pErr,
+  uint32_t blockSize)
+{
+  float32_t *pState = S->pState;                 /* State pointer */
+  float32_t *pCoeffs = S->pCoeffs;               /* Coefficient pointer */
+  float32_t *pStateCurnt;                        /* Points to the current sample of the state */
+  float32_t *px, *pb;                            /* Temporary pointers for state and coefficient buffers */
+  float32_t mu = S->mu;                          /* Adaptive factor */
+  uint32_t numTaps = S->numTaps;                 /* Number of filter coefficients in the filter */
+  uint32_t tapCnt, blkCnt;                       /* Loop counters */
+  float32_t energy;                              /* Energy of the input */
+  float32_t sum, e, d;                           /* accumulator, error, reference data sample */
+  float32_t w, x0, in;                           /* weight factor, temporary variable to hold input sample and state */
+
+  /* Initializations of error,  difference, Coefficient update */
+  e = 0.0f;
+  d = 0.0f;
+  w = 0.0f;
+
+  energy = S->energy;
+  x0 = S->x0;
+
+  /* S->pState points to buffer which contains previous frame (numTaps - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = &(S->pState[(numTaps - 1u)]);
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  while(blkCnt > 0u)
+  {
+    /* Copy the new input sample into the state buffer */
+    *pStateCurnt++ = *pSrc;
+
+    /* Initialize pState pointer */
+    px = pState;
+
+    /* Initialize coeff pointer */
+    pb = (pCoeffs);
+
+    /* Read the sample from input buffer */
+    in = *pSrc++;
+
+    /* Update the energy calculation */
+    energy -= x0 * x0;
+    energy += in * in;
+
+    /* Set the accumulator to zero */
+    sum = 0.0f;
+
+    /* Loop unrolling.  Process 4 taps at a time. */
+    tapCnt = numTaps >> 2;
+
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      sum += (*px++) * (*pb++);
+      sum += (*px++) * (*pb++);
+      sum += (*px++) * (*pb++);
+      sum += (*px++) * (*pb++);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
+    tapCnt = numTaps % 0x4u;
+
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      sum += (*px++) * (*pb++);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* The result in the accumulator, store in the destination buffer. */
+    *pOut++ = sum;
+
+    /* Compute and store error */
+    d = (float32_t) (*pRef++);
+    e = d - sum;
+    *pErr++ = e;
+
+    /* Calculation of Weighting factor for updating filter coefficients */
+    /* epsilon value 0.000000119209289f */
+    w = (e * mu) / (energy + 0.000000119209289f);
+
+    /* Initialize pState pointer */
+    px = pState;
+
+    /* Initialize coeff pointer */
+    pb = (pCoeffs);
+
+    /* Loop unrolling.  Process 4 taps at a time. */
+    tapCnt = numTaps >> 2;
+
+    /* Update filter coefficients */
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      *pb += w * (*px++);
+      pb++;
+
+      *pb += w * (*px++);
+      pb++;
+
+      *pb += w * (*px++);
+      pb++;
+
+      *pb += w * (*px++);
+      pb++;
+
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
+    tapCnt = numTaps % 0x4u;
+
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      *pb += w * (*px++);
+      pb++;
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    x0 = *pState;
+
+    /* Advance state pointer by 1 for the next sample */
+    pState = pState + 1;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  S->energy = energy;
+  S->x0 = x0;
+
+  /* Processing is complete. Now copy the last numTaps - 1 samples to the    
+     satrt of the state buffer. This prepares the state buffer for the    
+     next function call. */
+
+  /* Points to the start of the pState buffer */
+  pStateCurnt = S->pState;
+
+  /* Loop unrolling for (numTaps - 1u)/4 samples copy */
+  tapCnt = (numTaps - 1u) >> 2u;
+
+  /* copy data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+  /* Calculate remaining number of copies */
+  tapCnt = (numTaps - 1u) % 0x4u;
+
+  /* Copy the remaining q31_t data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  while(blkCnt > 0u)
+  {
+    /* Copy the new input sample into the state buffer */
+    *pStateCurnt++ = *pSrc;
+
+    /* Initialize pState pointer */
+    px = pState;
+
+    /* Initialize pCoeffs pointer */
+    pb = pCoeffs;
+
+    /* Read the sample from input buffer */
+    in = *pSrc++;
+
+    /* Update the energy calculation */
+    energy -= x0 * x0;
+    energy += in * in;
+
+    /* Set the accumulator to zero */
+    sum = 0.0f;
+
+    /* Loop over numTaps number of values */
+    tapCnt = numTaps;
+
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      sum += (*px++) * (*pb++);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* The result in the accumulator is stored in the destination buffer. */
+    *pOut++ = sum;
+
+    /* Compute and store error */
+    d = (float32_t) (*pRef++);
+    e = d - sum;
+    *pErr++ = e;
+
+    /* Calculation of Weighting factor for updating filter coefficients */
+    /* epsilon value 0.000000119209289f */
+    w = (e * mu) / (energy + 0.000000119209289f);
+
+    /* Initialize pState pointer */
+    px = pState;
+
+    /* Initialize pCcoeffs pointer */
+    pb = pCoeffs;
+
+    /* Loop over numTaps number of values */
+    tapCnt = numTaps;
+
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      *pb += w * (*px++);
+      pb++;
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    x0 = *pState;
+
+    /* Advance state pointer by 1 for the next sample */
+    pState = pState + 1;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  S->energy = energy;
+  S->x0 = x0;
+
+  /* Processing is complete. Now copy the last numTaps - 1 samples to the        
+     satrt of the state buffer. This prepares the state buffer for the        
+     next function call. */
+
+  /* Points to the start of the pState buffer */
+  pStateCurnt = S->pState;
+
+  /* Copy (numTaps - 1u) samples  */
+  tapCnt = (numTaps - 1u);
+
+  /* Copy the remaining q31_t data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+#endif /*   #ifndef ARM_MATH_CM0 */
+
+}
+
+/**    
+   * @} end of LMS_NORM group    
+   */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_f32.c
new file mode 100644
index 000000000..3d31cfb25
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_f32.c
@@ -0,0 +1,100 @@
+/*-----------------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:        arm_lms_norm_init_f32.c    
+*    
+* Description:  Floating-point NLMS filter initialization function.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* ---------------------------------------------------------------------------*/
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup LMS_NORM    
+ * @{    
+ */
+
+  /**    
+   * @brief Initialization function for floating-point normalized LMS filter.    
+   * @param[in] *S points to an instance of the floating-point LMS filter structure.    
+   * @param[in] numTaps  number of filter coefficients.    
+   * @param[in] *pCoeffs points to coefficient buffer.    
+   * @param[in] *pState points to state buffer.    
+   * @param[in] mu step size that controls filter coefficient updates.    
+   * @param[in] blockSize number of samples to process.    
+   * @return none.    
+   *    
+ * \par Description:    
+ * pCoeffs points to the array of filter coefficients stored in time reversed order:    
+ * 
    
+ *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}    
+ * 
    
+ * The initial filter coefficients serve as a starting point for the adaptive filter.    
+ * pState points to an array of length numTaps+blockSize-1 samples,    
+ * where blockSize is the number of input samples processed by each call to arm_lms_norm_f32().    
+ */
+
+void arm_lms_norm_init_f32(
+  arm_lms_norm_instance_f32 * S,
+  uint16_t numTaps,
+  float32_t * pCoeffs,
+  float32_t * pState,
+  float32_t mu,
+  uint32_t blockSize)
+{
+  /* Assign filter taps */
+  S->numTaps = numTaps;
+
+  /* Assign coefficient pointer */
+  S->pCoeffs = pCoeffs;
+
+  /* Clear state buffer and size is always blockSize + numTaps - 1 */
+  memset(pState, 0, (numTaps + (blockSize - 1u)) * sizeof(float32_t));
+
+  /* Assign state pointer */
+  S->pState = pState;
+
+  /* Assign Step size value */
+  S->mu = mu;
+
+  /* Initialise Energy to zero */
+  S->energy = 0.0f;
+
+  /* Initialise x0 to zero */
+  S->x0 = 0.0f;
+
+}
+
+/**    
+ * @} end of LMS_NORM group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_q15.c
new file mode 100644
index 000000000..a1cf1b001
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_q15.c
@@ -0,0 +1,107 @@
+/*-----------------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:        arm_lms_norm_init_q15.c    
+*    
+* Description:  Q15 NLMS initialization function.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* ---------------------------------------------------------------------------*/
+
+#include "arm_math.h"
+#include "arm_common_tables.h"
+
+/**    
+ * @addtogroup LMS_NORM    
+ * @{    
+ */
+
+  /**    
+   * @brief Initialization function for Q15 normalized LMS filter.    
+   * @param[in] *S points to an instance of the Q15 normalized LMS filter structure.    
+   * @param[in] numTaps  number of filter coefficients.    
+   * @param[in] *pCoeffs points to coefficient buffer.    
+   * @param[in] *pState points to state buffer.    
+   * @param[in] mu step size that controls filter coefficient updates.    
+   * @param[in] blockSize number of samples to process.    
+   * @param[in] postShift bit shift applied to coefficients.    
+   * @return none.    
+ *    
+ * Description:    
+ * \par    
+ * pCoeffs points to the array of filter coefficients stored in time reversed order:    
+ * 
    
+ *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}    
+ * 
    
+ * The initial filter coefficients serve as a starting point for the adaptive filter.    
+ * pState points to the array of state variables and size of array is    
+ * numTaps+blockSize-1 samples, where blockSize is the number of input samples processed    
+ * by each call to arm_lms_norm_q15().    
+ */
+
+void arm_lms_norm_init_q15(
+  arm_lms_norm_instance_q15 * S,
+  uint16_t numTaps,
+  q15_t * pCoeffs,
+  q15_t * pState,
+  q15_t mu,
+  uint32_t blockSize,
+  uint8_t postShift)
+{
+  /* Assign filter taps */
+  S->numTaps = numTaps;
+
+  /* Assign coefficient pointer */
+  S->pCoeffs = pCoeffs;
+
+  /* Clear state buffer and size is always blockSize + numTaps - 1 */
+  memset(pState, 0, (numTaps + (blockSize - 1u)) * sizeof(q15_t));
+
+  /* Assign post Shift value applied to coefficients */
+  S->postShift = postShift;
+
+  /* Assign state pointer */
+  S->pState = pState;
+
+  /* Assign Step size value */
+  S->mu = mu;
+
+  /* Initialize reciprocal pointer table */
+  S->recipTable = (q15_t *) armRecipTableQ15;
+
+  /* Initialise Energy to zero */
+  S->energy = 0;
+
+  /* Initialise x0 to zero */
+  S->x0 = 0;
+
+}
+
+/**    
+ * @} end of LMS_NORM group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_q31.c
new file mode 100644
index 000000000..a2fae7b38
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_q31.c
@@ -0,0 +1,106 @@
+/*-----------------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:        arm_lms_norm_init_q31.c    
+*    
+* Description:  Q31 NLMS initialization function.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* ---------------------------------------------------------------------------*/
+
+#include "arm_math.h"
+#include "arm_common_tables.h"
+
+/**    
+ * @addtogroup LMS_NORM    
+ * @{    
+ */
+
+  /**    
+   * @brief Initialization function for Q31 normalized LMS filter.    
+   * @param[in] *S points to an instance of the Q31 normalized LMS filter structure.    
+   * @param[in] numTaps  number of filter coefficients.    
+   * @param[in] *pCoeffs points to coefficient buffer.    
+   * @param[in] *pState points to state buffer.    
+   * @param[in] mu step size that controls filter coefficient updates.    
+   * @param[in] blockSize number of samples to process.    
+   * @param[in] postShift bit shift applied to coefficients.    
+   * @return none.    
+ *    
+ * Description:    
+ * \par    
+ * pCoeffs points to the array of filter coefficients stored in time reversed order:    
+ * 
    
+ *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}    
+ * 
    
+ * The initial filter coefficients serve as a starting point for the adaptive filter.    
+ * pState points to an array of length numTaps+blockSize-1 samples,    
+ * where blockSize is the number of input samples processed by each call to arm_lms_norm_q31().    
+ */
+
+void arm_lms_norm_init_q31(
+  arm_lms_norm_instance_q31 * S,
+  uint16_t numTaps,
+  q31_t * pCoeffs,
+  q31_t * pState,
+  q31_t mu,
+  uint32_t blockSize,
+  uint8_t postShift)
+{
+  /* Assign filter taps */
+  S->numTaps = numTaps;
+
+  /* Assign coefficient pointer */
+  S->pCoeffs = pCoeffs;
+
+  /* Clear state buffer and size is always blockSize + numTaps - 1  */
+  memset(pState, 0, (numTaps + (blockSize - 1u)) * sizeof(q31_t));
+
+  /* Assign post Shift value applied to coefficients */
+  S->postShift = postShift;
+
+  /* Assign state pointer */
+  S->pState = pState;
+
+  /* Assign Step size value */
+  S->mu = mu;
+
+  /* Initialize reciprocal pointer table */
+  S->recipTable = (q31_t *) armRecipTableQ31;
+
+  /* Initialise Energy to zero */
+  S->energy = 0;
+
+  /* Initialise x0 to zero */
+  S->x0 = 0;
+
+}
+
+/**    
+ * @} end of LMS_NORM group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_q15.c
new file mode 100644
index 000000000..a1229a203
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_q15.c
@@ -0,0 +1,435 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_lms_norm_q15.c    
+*    
+* Description:	Q15 NLMS filter.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup LMS_NORM    
+ * @{    
+ */
+
+/**    
+* @brief Processing function for Q15 normalized LMS filter.    
+* @param[in] *S points to an instance of the Q15 normalized LMS filter structure.    
+* @param[in] *pSrc points to the block of input data.    
+* @param[in] *pRef points to the block of reference data.    
+* @param[out] *pOut points to the block of output data.    
+* @param[out] *pErr points to the block of error data.    
+* @param[in] blockSize number of samples to process.    
+* @return none.    
+*    
+* Scaling and Overflow Behavior:     
+* \par     
+* The function is implemented using a 64-bit internal accumulator.     
+* Both coefficients and state variables are represented in 1.15 format and    
+* multiplications yield a 2.30 result. The 2.30 intermediate results are    
+* accumulated in a 64-bit accumulator in 34.30 format.     
+* There is no risk of internal overflow with this approach and the full    
+* precision of intermediate multiplications is preserved. After all additions    
+* have been performed, the accumulator is truncated to 34.15 format by    
+* discarding low 15 bits. Lastly, the accumulator is saturated to yield a    
+* result in 1.15 format.    
+*    
+* \par   
+* 	In this filter, filter coefficients are updated for each sample and the updation of filter cofficients are saturted.    
+*    
+ */
+
+void arm_lms_norm_q15(
+  arm_lms_norm_instance_q15 * S,
+  q15_t * pSrc,
+  q15_t * pRef,
+  q15_t * pOut,
+  q15_t * pErr,
+  uint32_t blockSize)
+{
+  q15_t *pState = S->pState;                     /* State pointer */
+  q15_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
+  q15_t *pStateCurnt;                            /* Points to the current sample of the state */
+  q15_t *px, *pb;                                /* Temporary pointers for state and coefficient buffers */
+  q15_t mu = S->mu;                              /* Adaptive factor */
+  uint32_t numTaps = S->numTaps;                 /* Number of filter coefficients in the filter */
+  uint32_t tapCnt, blkCnt;                       /* Loop counters */
+  q31_t energy;                                  /* Energy of the input */
+  q63_t acc;                                     /* Accumulator */
+  q15_t e = 0, d = 0;                            /* error, reference data sample */
+  q15_t w = 0, in;                               /* weight factor and state */
+  q15_t x0;                                      /* temporary variable to hold input sample */
+  //uint32_t shift = (uint32_t) S->postShift + 1u; /* Shift to be applied to the output */ 
+  q15_t errorXmu, oneByEnergy;                   /* Temporary variables to store error and mu product and reciprocal of energy */
+  q15_t postShift;                               /* Post shift to be applied to weight after reciprocal calculation */
+  q31_t coef;                                    /* Teporary variable for coefficient */
+  q31_t acc_l, acc_h;
+  int32_t lShift = (15 - (int32_t) S->postShift);       /*  Post shift  */
+  int32_t uShift = (32 - lShift);
+
+  energy = S->energy;
+  x0 = S->x0;
+
+  /* S->pState points to buffer which contains previous frame (numTaps - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = &(S->pState[(numTaps - 1u)]);
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  while(blkCnt > 0u)
+  {
+    /* Copy the new input sample into the state buffer */
+    *pStateCurnt++ = *pSrc;
+
+    /* Initialize pState pointer */
+    px = pState;
+
+    /* Initialize coeff pointer */
+    pb = (pCoeffs);
+
+    /* Read the sample from input buffer */
+    in = *pSrc++;
+
+    /* Update the energy calculation */
+    energy -= (((q31_t) x0 * (x0)) >> 15);
+    energy += (((q31_t) in * (in)) >> 15);
+
+    /* Set the accumulator to zero */
+    acc = 0;
+
+    /* Loop unrolling.  Process 4 taps at a time. */
+    tapCnt = numTaps >> 2;
+
+    while(tapCnt > 0u)
+    {
+
+      /* Perform the multiply-accumulate */
+#ifndef UNALIGNED_SUPPORT_DISABLE
+
+      acc = __SMLALD(*__SIMD32(px)++, (*__SIMD32(pb)++), acc);
+      acc = __SMLALD(*__SIMD32(px)++, (*__SIMD32(pb)++), acc);
+
+#else
+
+      acc += (((q31_t) * px++ * (*pb++)));
+      acc += (((q31_t) * px++ * (*pb++)));
+      acc += (((q31_t) * px++ * (*pb++)));
+      acc += (((q31_t) * px++ * (*pb++)));
+
+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
+    tapCnt = numTaps % 0x4u;
+
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      acc += (((q31_t) * px++ * (*pb++)));
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Calc lower part of acc */
+    acc_l = acc & 0xffffffff;
+
+    /* Calc upper part of acc */
+    acc_h = (acc >> 32) & 0xffffffff;
+
+    /* Apply shift for lower part of acc and upper part of acc */
+    acc = (uint32_t) acc_l >> lShift | acc_h << uShift;
+
+    /* Converting the result to 1.15 format and saturate the output */
+    acc = __SSAT(acc, 16u);
+
+    /* Store the result from accumulator into the destination buffer. */
+    *pOut++ = (q15_t) acc;
+
+    /* Compute and store error */
+    d = *pRef++;
+    e = d - (q15_t) acc;
+    *pErr++ = e;
+
+    /* Calculation of 1/energy */
+    postShift = arm_recip_q15((q15_t) energy + DELTA_Q15,
+                              &oneByEnergy, S->recipTable);
+
+    /* Calculation of e * mu value */
+    errorXmu = (q15_t) (((q31_t) e * mu) >> 15);
+
+    /* Calculation of (e * mu) * (1/energy) value */
+    acc = (((q31_t) errorXmu * oneByEnergy) >> (15 - postShift));
+
+    /* Weighting factor for the normalized version */
+    w = (q15_t) __SSAT((q31_t) acc, 16);
+
+    /* Initialize pState pointer */
+    px = pState;
+
+    /* Initialize coeff pointer */
+    pb = (pCoeffs);
+
+    /* Loop unrolling.  Process 4 taps at a time. */
+    tapCnt = numTaps >> 2;
+
+    /* Update filter coefficients */
+    while(tapCnt > 0u)
+    {
+      coef = *pb + (((q31_t) w * (*px++)) >> 15);
+      *pb++ = (q15_t) __SSAT((coef), 16);
+      coef = *pb + (((q31_t) w * (*px++)) >> 15);
+      *pb++ = (q15_t) __SSAT((coef), 16);
+      coef = *pb + (((q31_t) w * (*px++)) >> 15);
+      *pb++ = (q15_t) __SSAT((coef), 16);
+      coef = *pb + (((q31_t) w * (*px++)) >> 15);
+      *pb++ = (q15_t) __SSAT((coef), 16);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
+    tapCnt = numTaps % 0x4u;
+
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      coef = *pb + (((q31_t) w * (*px++)) >> 15);
+      *pb++ = (q15_t) __SSAT((coef), 16);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Read the sample from state buffer */
+    x0 = *pState;
+
+    /* Advance state pointer by 1 for the next sample */
+    pState = pState + 1u;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Save energy and x0 values for the next frame */
+  S->energy = (q15_t) energy;
+  S->x0 = x0;
+
+  /* Processing is complete. Now copy the last numTaps - 1 samples to the    
+     satrt of the state buffer. This prepares the state buffer for the    
+     next function call. */
+
+  /* Points to the start of the pState buffer */
+  pStateCurnt = S->pState;
+
+  /* Calculation of count for copying integer writes */
+  tapCnt = (numTaps - 1u) >> 2;
+
+  while(tapCnt > 0u)
+  {
+
+#ifndef UNALIGNED_SUPPORT_DISABLE
+
+    *__SIMD32(pStateCurnt)++ = *__SIMD32(pState)++;
+    *__SIMD32(pStateCurnt)++ = *__SIMD32(pState)++;
+
+#else
+
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+
+#endif
+
+    tapCnt--;
+
+  }
+
+  /* Calculation of count for remaining q15_t data */
+  tapCnt = (numTaps - 1u) % 0x4u;
+
+  /* copy data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  while(blkCnt > 0u)
+  {
+    /* Copy the new input sample into the state buffer */
+    *pStateCurnt++ = *pSrc;
+
+    /* Initialize pState pointer */
+    px = pState;
+
+    /* Initialize pCoeffs pointer */
+    pb = pCoeffs;
+
+    /* Read the sample from input buffer */
+    in = *pSrc++;
+
+    /* Update the energy calculation */
+    energy -= (((q31_t) x0 * (x0)) >> 15);
+    energy += (((q31_t) in * (in)) >> 15);
+
+    /* Set the accumulator to zero */
+    acc = 0;
+
+    /* Loop over numTaps number of values */
+    tapCnt = numTaps;
+
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      acc += (((q31_t) * px++ * (*pb++)));
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Calc lower part of acc */
+    acc_l = acc & 0xffffffff;
+
+    /* Calc upper part of acc */
+    acc_h = (acc >> 32) & 0xffffffff;
+
+    /* Apply shift for lower part of acc and upper part of acc */
+    acc = (uint32_t) acc_l >> lShift | acc_h << uShift;
+
+    /* Converting the result to 1.15 format and saturate the output */
+    acc = __SSAT(acc, 16u);
+
+    /* Converting the result to 1.15 format */
+    //acc = __SSAT((acc >> (16u - shift)), 16u); 
+
+    /* Store the result from accumulator into the destination buffer. */
+    *pOut++ = (q15_t) acc;
+
+    /* Compute and store error */
+    d = *pRef++;
+    e = d - (q15_t) acc;
+    *pErr++ = e;
+
+    /* Calculation of 1/energy */
+    postShift = arm_recip_q15((q15_t) energy + DELTA_Q15,
+                              &oneByEnergy, S->recipTable);
+
+    /* Calculation of e * mu value */
+    errorXmu = (q15_t) (((q31_t) e * mu) >> 15);
+
+    /* Calculation of (e * mu) * (1/energy) value */
+    acc = (((q31_t) errorXmu * oneByEnergy) >> (15 - postShift));
+
+    /* Weighting factor for the normalized version */
+    w = (q15_t) __SSAT((q31_t) acc, 16);
+
+    /* Initialize pState pointer */
+    px = pState;
+
+    /* Initialize coeff pointer */
+    pb = (pCoeffs);
+
+    /* Loop over numTaps number of values */
+    tapCnt = numTaps;
+
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      coef = *pb + (((q31_t) w * (*px++)) >> 15);
+      *pb++ = (q15_t) __SSAT((coef), 16);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Read the sample from state buffer */
+    x0 = *pState;
+
+    /* Advance state pointer by 1 for the next sample */
+    pState = pState + 1u;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Save energy and x0 values for the next frame */
+  S->energy = (q15_t) energy;
+  S->x0 = x0;
+
+  /* Processing is complete. Now copy the last numTaps - 1 samples to the        
+     satrt of the state buffer. This prepares the state buffer for the        
+     next function call. */
+
+  /* Points to the start of the pState buffer */
+  pStateCurnt = S->pState;
+
+  /* copy (numTaps - 1u) data */
+  tapCnt = (numTaps - 1u);
+
+  /* copy data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+#endif /*   #ifndef ARM_MATH_CM0 */
+
+}
+
+
+/**    
+   * @} end of LMS_NORM group    
+   */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_q31.c
new file mode 100644
index 000000000..791a8637c
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_q31.c
@@ -0,0 +1,426 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_lms_norm_q31.c    
+*    
+* Description:	Processing function for the Q31 NLMS filter.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup LMS_NORM    
+ * @{    
+ */
+
+/**    
+* @brief Processing function for Q31 normalized LMS filter.    
+* @param[in] *S points to an instance of the Q31 normalized LMS filter structure.    
+* @param[in] *pSrc points to the block of input data.    
+* @param[in] *pRef points to the block of reference data.    
+* @param[out] *pOut points to the block of output data.    
+* @param[out] *pErr points to the block of error data.    
+* @param[in] blockSize number of samples to process.    
+* @return none.    
+*    
+* Scaling and Overflow Behavior:     
+* \par     
+* The function is implemented using an internal 64-bit accumulator.     
+* The accumulator has a 2.62 format and maintains full precision of the intermediate   
+* multiplication results but provides only a single guard bit.     
+* Thus, if the accumulator result overflows it wraps around rather than clip.     
+* In order to avoid overflows completely the input signal must be scaled down by    
+* log2(numTaps) bits. The reference signal should not be scaled down.     
+* After all multiply-accumulates are performed, the 2.62 accumulator is shifted    
+* and saturated to 1.31 format to yield the final result.     
+* The output signal and error signal are in 1.31 format.     
+*    
+* \par    
+* 	In this filter, filter coefficients are updated for each sample and the    
+* updation of filter cofficients are saturted.    
+*     
+*/
+
+void arm_lms_norm_q31(
+  arm_lms_norm_instance_q31 * S,
+  q31_t * pSrc,
+  q31_t * pRef,
+  q31_t * pOut,
+  q31_t * pErr,
+  uint32_t blockSize)
+{
+  q31_t *pState = S->pState;                     /* State pointer */
+  q31_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
+  q31_t *pStateCurnt;                            /* Points to the current sample of the state */
+  q31_t *px, *pb;                                /* Temporary pointers for state and coefficient buffers */
+  q31_t mu = S->mu;                              /* Adaptive factor */
+  uint32_t numTaps = S->numTaps;                 /* Number of filter coefficients in the filter */
+  uint32_t tapCnt, blkCnt;                       /* Loop counters */
+  q63_t energy;                                  /* Energy of the input */
+  q63_t acc;                                     /* Accumulator */
+  q31_t e = 0, d = 0;                            /* error, reference data sample */
+  q31_t w = 0, in;                               /* weight factor and state */
+  q31_t x0;                                      /* temporary variable to hold input sample */
+//  uint32_t shift = 32u - ((uint32_t) S->postShift + 1u);        /* Shift to be applied to the output */      
+  q31_t errorXmu, oneByEnergy;                   /* Temporary variables to store error and mu product and reciprocal of energy */
+  q31_t postShift;                               /* Post shift to be applied to weight after reciprocal calculation */
+  q31_t coef;                                    /* Temporary variable for coef */
+  q31_t acc_l, acc_h;                            /*  temporary input */
+  uint32_t uShift = ((uint32_t) S->postShift + 1u);
+  uint32_t lShift = 32u - uShift;                /*  Shift to be applied to the output */
+
+  energy = S->energy;
+  x0 = S->x0;
+
+  /* S->pState points to buffer which contains previous frame (numTaps - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = &(S->pState[(numTaps - 1u)]);
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  while(blkCnt > 0u)
+  {
+
+    /* Copy the new input sample into the state buffer */
+    *pStateCurnt++ = *pSrc;
+
+    /* Initialize pState pointer */
+    px = pState;
+
+    /* Initialize coeff pointer */
+    pb = (pCoeffs);
+
+    /* Read the sample from input buffer */
+    in = *pSrc++;
+
+    /* Update the energy calculation */
+    energy = (q31_t) ((((q63_t) energy << 32) -
+                       (((q63_t) x0 * x0) << 1)) >> 32);
+    energy = (q31_t) (((((q63_t) in * in) << 1) + (energy << 32)) >> 32);
+
+    /* Set the accumulator to zero */
+    acc = 0;
+
+    /* Loop unrolling.  Process 4 taps at a time. */
+    tapCnt = numTaps >> 2;
+
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      acc += ((q63_t) (*px++)) * (*pb++);
+      acc += ((q63_t) (*px++)) * (*pb++);
+      acc += ((q63_t) (*px++)) * (*pb++);
+      acc += ((q63_t) (*px++)) * (*pb++);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
+    tapCnt = numTaps % 0x4u;
+
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      acc += ((q63_t) (*px++)) * (*pb++);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Converting the result to 1.31 format */
+    /* Calc lower part of acc */
+    acc_l = acc & 0xffffffff;
+
+    /* Calc upper part of acc */
+    acc_h = (acc >> 32) & 0xffffffff;
+
+    acc = (uint32_t) acc_l >> lShift | acc_h << uShift;
+
+    /* Store the result from accumulator into the destination buffer. */
+    *pOut++ = (q31_t) acc;
+
+    /* Compute and store error */
+    d = *pRef++;
+    e = d - (q31_t) acc;
+    *pErr++ = e;
+
+    /* Calculates the reciprocal of energy */
+    postShift = arm_recip_q31(energy + DELTA_Q31,
+                              &oneByEnergy, &S->recipTable[0]);
+
+    /* Calculation of product of (e * mu) */
+    errorXmu = (q31_t) (((q63_t) e * mu) >> 31);
+
+    /* Weighting factor for the normalized version */
+    w = clip_q63_to_q31(((q63_t) errorXmu * oneByEnergy) >> (31 - postShift));
+
+    /* Initialize pState pointer */
+    px = pState;
+
+    /* Initialize coeff pointer */
+    pb = (pCoeffs);
+
+    /* Loop unrolling.  Process 4 taps at a time. */
+    tapCnt = numTaps >> 2;
+
+    /* Update filter coefficients */
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+
+      /* coef is in 2.30 format */
+      coef = (q31_t) (((q63_t) w * (*px++)) >> (32));
+      /* get coef in 1.31 format by left shifting */
+      *pb = clip_q63_to_q31((q63_t) * pb + (coef << 1u));
+      /* update coefficient buffer to next coefficient */
+      pb++;
+
+      coef = (q31_t) (((q63_t) w * (*px++)) >> (32));
+      *pb = clip_q63_to_q31((q63_t) * pb + (coef << 1u));
+      pb++;
+
+      coef = (q31_t) (((q63_t) w * (*px++)) >> (32));
+      *pb = clip_q63_to_q31((q63_t) * pb + (coef << 1u));
+      pb++;
+
+      coef = (q31_t) (((q63_t) w * (*px++)) >> (32));
+      *pb = clip_q63_to_q31((q63_t) * pb + (coef << 1u));
+      pb++;
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
+    tapCnt = numTaps % 0x4u;
+
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      coef = (q31_t) (((q63_t) w * (*px++)) >> (32));
+      *pb = clip_q63_to_q31((q63_t) * pb + (coef << 1u));
+      pb++;
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Read the sample from state buffer */
+    x0 = *pState;
+
+    /* Advance state pointer by 1 for the next sample */
+    pState = pState + 1;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Save energy and x0 values for the next frame */
+  S->energy = (q31_t) energy;
+  S->x0 = x0;
+
+  /* Processing is complete. Now copy the last numTaps - 1 samples to the    
+     satrt of the state buffer. This prepares the state buffer for the    
+     next function call. */
+
+  /* Points to the start of the pState buffer */
+  pStateCurnt = S->pState;
+
+  /* Loop unrolling for (numTaps - 1u) samples copy */
+  tapCnt = (numTaps - 1u) >> 2u;
+
+  /* copy data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+  /* Calculate remaining number of copies */
+  tapCnt = (numTaps - 1u) % 0x4u;
+
+  /* Copy the remaining q31_t data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  while(blkCnt > 0u)
+  {
+
+    /* Copy the new input sample into the state buffer */
+    *pStateCurnt++ = *pSrc;
+
+    /* Initialize pState pointer */
+    px = pState;
+
+    /* Initialize pCoeffs pointer */
+    pb = pCoeffs;
+
+    /* Read the sample from input buffer */
+    in = *pSrc++;
+
+    /* Update the energy calculation */
+    energy =
+      (q31_t) ((((q63_t) energy << 32) - (((q63_t) x0 * x0) << 1)) >> 32);
+    energy = (q31_t) (((((q63_t) in * in) << 1) + (energy << 32)) >> 32);
+
+    /* Set the accumulator to zero */
+    acc = 0;
+
+    /* Loop over numTaps number of values */
+    tapCnt = numTaps;
+
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      acc += ((q63_t) (*px++)) * (*pb++);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Converting the result to 1.31 format */
+    /* Converting the result to 1.31 format */
+    /* Calc lower part of acc */
+    acc_l = acc & 0xffffffff;
+
+    /* Calc upper part of acc */
+    acc_h = (acc >> 32) & 0xffffffff;
+
+    acc = (uint32_t) acc_l >> lShift | acc_h << uShift;
+
+
+    //acc = (q31_t) (acc >> shift); 
+
+    /* Store the result from accumulator into the destination buffer. */
+    *pOut++ = (q31_t) acc;
+
+    /* Compute and store error */
+    d = *pRef++;
+    e = d - (q31_t) acc;
+    *pErr++ = e;
+
+    /* Calculates the reciprocal of energy */
+    postShift =
+      arm_recip_q31(energy + DELTA_Q31, &oneByEnergy, &S->recipTable[0]);
+
+    /* Calculation of product of (e * mu) */
+    errorXmu = (q31_t) (((q63_t) e * mu) >> 31);
+
+    /* Weighting factor for the normalized version */
+    w = clip_q63_to_q31(((q63_t) errorXmu * oneByEnergy) >> (31 - postShift));
+
+    /* Initialize pState pointer */
+    px = pState;
+
+    /* Initialize coeff pointer */
+    pb = (pCoeffs);
+
+    /* Loop over numTaps number of values */
+    tapCnt = numTaps;
+
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      /* coef is in 2.30 format */
+      coef = (q31_t) (((q63_t) w * (*px++)) >> (32));
+      /* get coef in 1.31 format by left shifting */
+      *pb = clip_q63_to_q31((q63_t) * pb + (coef << 1u));
+      /* update coefficient buffer to next coefficient */
+      pb++;
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Read the sample from state buffer */
+    x0 = *pState;
+
+    /* Advance state pointer by 1 for the next sample */
+    pState = pState + 1;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Save energy and x0 values for the next frame */
+  S->energy = (q31_t) energy;
+  S->x0 = x0;
+
+  /* Processing is complete. Now copy the last numTaps - 1 samples to the     
+     start of the state buffer. This prepares the state buffer for the        
+     next function call. */
+
+  /* Points to the start of the pState buffer */
+  pStateCurnt = S->pState;
+
+  /* Loop for (numTaps - 1u) samples copy */
+  tapCnt = (numTaps - 1u);
+
+  /* Copy the remaining q31_t data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+#endif /*   #ifndef ARM_MATH_CM0 */
+
+}
+
+/**    
+ * @} end of LMS_NORM group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_q15.c
new file mode 100644
index 000000000..91237c12d
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_q15.c
@@ -0,0 +1,374 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_lms_q15.c    
+*    
+* Description:	Processing function for the Q15 LMS filter.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup LMS    
+ * @{    
+ */
+
+ /**    
+ * @brief Processing function for Q15 LMS filter.    
+ * @param[in] *S points to an instance of the Q15 LMS filter structure.    
+ * @param[in] *pSrc points to the block of input data.    
+ * @param[in] *pRef points to the block of reference data.    
+ * @param[out] *pOut points to the block of output data.    
+ * @param[out] *pErr points to the block of error data.    
+ * @param[in] blockSize number of samples to process.    
+ * @return none.    
+ *    
+ * \par Scaling and Overflow Behavior:    
+ * The function is implemented using a 64-bit internal accumulator.    
+ * Both coefficients and state variables are represented in 1.15 format and multiplications yield a 2.30 result.    
+ * The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format.    
+ * There is no risk of internal overflow with this approach and the full precision of intermediate multiplications is preserved.    
+ * After all additions have been performed, the accumulator is truncated to 34.15 format by discarding low 15 bits.    
+ * Lastly, the accumulator is saturated to yield a result in 1.15 format.    
+ *   
+ * \par   
+ * 	In this filter, filter coefficients are updated for each sample and the updation of filter cofficients are saturted.   
+ *    
+ */
+
+void arm_lms_q15(
+  const arm_lms_instance_q15 * S,
+  q15_t * pSrc,
+  q15_t * pRef,
+  q15_t * pOut,
+  q15_t * pErr,
+  uint32_t blockSize)
+{
+  q15_t *pState = S->pState;                     /* State pointer */
+  uint32_t numTaps = S->numTaps;                 /* Number of filter coefficients in the filter */
+  q15_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
+  q15_t *pStateCurnt;                            /* Points to the current sample of the state */
+  q15_t mu = S->mu;                              /* Adaptive factor */
+  q15_t *px;                                     /* Temporary pointer for state */
+  q15_t *pb;                                     /* Temporary pointer for coefficient buffer */
+  uint32_t tapCnt, blkCnt;                       /* Loop counters */
+  q63_t acc;                                     /* Accumulator */
+  q15_t e = 0;                                   /* error of data sample */
+  q15_t alpha;                                   /* Intermediate constant for taps update */
+  q31_t acc_l, acc_h;
+  int32_t lShift = (15 - (int32_t) S->postShift);       /*  Post shift  */
+  int32_t uShift = (32 - lShift);
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q31_t coef;                                    /* Teporary variable for coefficient */
+
+  /* S->pState points to buffer which contains previous frame (numTaps - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = &(S->pState[(numTaps - 1u)]);
+
+  /* Initializing blkCnt with blockSize */
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* Copy the new input sample into the state buffer */
+    *pStateCurnt++ = *pSrc++;
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* Initialize coefficient pointer */
+    pb = pCoeffs;
+
+    /* Set the accumulator to zero */
+    acc = 0;
+
+    /* Loop unrolling.  Process 4 taps at a time. */
+    tapCnt = numTaps >> 2u;
+
+    while(tapCnt > 0u)
+    {
+      /* acc +=  b[N] * x[n-N] + b[N-1] * x[n-N-1] */
+      /* Perform the multiply-accumulate */
+#ifndef UNALIGNED_SUPPORT_DISABLE
+
+      acc = __SMLALD(*__SIMD32(px)++, (*__SIMD32(pb)++), acc);
+      acc = __SMLALD(*__SIMD32(px)++, (*__SIMD32(pb)++), acc);
+
+#else
+
+      acc += (q63_t) (((q31_t) (*px++) * (*pb++)));
+      acc += (q63_t) (((q31_t) (*px++) * (*pb++)));
+      acc += (q63_t) (((q31_t) (*px++) * (*pb++)));
+      acc += (q63_t) (((q31_t) (*px++) * (*pb++)));
+
+
+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
+    tapCnt = numTaps % 0x4u;
+
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      acc += (q63_t) (((q31_t) (*px++) * (*pb++)));
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Calc lower part of acc */
+    acc_l = acc & 0xffffffff;
+
+    /* Calc upper part of acc */
+    acc_h = (acc >> 32) & 0xffffffff;
+
+    /* Apply shift for lower part of acc and upper part of acc */
+    acc = (uint32_t) acc_l >> lShift | acc_h << uShift;
+
+    /* Converting the result to 1.15 format and saturate the output */
+    acc = __SSAT(acc, 16);
+
+    /* Store the result from accumulator into the destination buffer. */
+    *pOut++ = (q15_t) acc;
+
+    /* Compute and store error */
+    e = *pRef++ - (q15_t) acc;
+
+    *pErr++ = (q15_t) e;
+
+    /* Compute alpha i.e. intermediate constant for taps update */
+    alpha = (q15_t) (((q31_t) e * (mu)) >> 15);
+
+    /* Initialize state pointer */
+    /* Advance state pointer by 1 for the next sample */
+    px = pState++;
+
+    /* Initialize coefficient pointer */
+    pb = pCoeffs;
+
+    /* Loop unrolling.  Process 4 taps at a time. */
+    tapCnt = numTaps >> 2u;
+
+    /* Update filter coefficients */
+    while(tapCnt > 0u)
+    {
+      coef = (q31_t) * pb + (((q31_t) alpha * (*px++)) >> 15);
+      *pb++ = (q15_t) __SSAT((coef), 16);
+      coef = (q31_t) * pb + (((q31_t) alpha * (*px++)) >> 15);
+      *pb++ = (q15_t) __SSAT((coef), 16);
+      coef = (q31_t) * pb + (((q31_t) alpha * (*px++)) >> 15);
+      *pb++ = (q15_t) __SSAT((coef), 16);
+      coef = (q31_t) * pb + (((q31_t) alpha * (*px++)) >> 15);
+      *pb++ = (q15_t) __SSAT((coef), 16);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
+    tapCnt = numTaps % 0x4u;
+
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      coef = (q31_t) * pb + (((q31_t) alpha * (*px++)) >> 15);
+      *pb++ = (q15_t) __SSAT((coef), 16);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Decrement the loop counter */
+    blkCnt--;
+
+  }
+
+  /* Processing is complete. Now copy the last numTaps - 1 samples to the    
+     satrt of the state buffer. This prepares the state buffer for the    
+     next function call. */
+
+  /* Points to the start of the pState buffer */
+  pStateCurnt = S->pState;
+
+  /* Calculation of count for copying integer writes */
+  tapCnt = (numTaps - 1u) >> 2;
+
+  while(tapCnt > 0u)
+  {
+
+#ifndef UNALIGNED_SUPPORT_DISABLE
+
+    *__SIMD32(pStateCurnt)++ = *__SIMD32(pState)++;
+    *__SIMD32(pStateCurnt)++ = *__SIMD32(pState)++;
+#else
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+#endif
+
+    tapCnt--;
+
+  }
+
+  /* Calculation of count for remaining q15_t data */
+  tapCnt = (numTaps - 1u) % 0x4u;
+
+  /* copy data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* S->pState points to buffer which contains previous frame (numTaps - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = &(S->pState[(numTaps - 1u)]);
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* Copy the new input sample into the state buffer */
+    *pStateCurnt++ = *pSrc++;
+
+    /* Initialize pState pointer */
+    px = pState;
+
+    /* Initialize pCoeffs pointer */
+    pb = pCoeffs;
+
+    /* Set the accumulator to zero */
+    acc = 0;
+
+    /* Loop over numTaps number of values */
+    tapCnt = numTaps;
+
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      acc += (q63_t) ((q31_t) (*px++) * (*pb++));
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Calc lower part of acc */
+    acc_l = acc & 0xffffffff;
+
+    /* Calc upper part of acc */
+    acc_h = (acc >> 32) & 0xffffffff;
+
+    /* Apply shift for lower part of acc and upper part of acc */
+    acc = (uint32_t) acc_l >> lShift | acc_h << uShift;
+
+    /* Converting the result to 1.15 format and saturate the output */
+    acc = __SSAT(acc, 16);
+
+    /* Store the result from accumulator into the destination buffer. */
+    *pOut++ = (q15_t) acc;
+
+    /* Compute and store error */
+    e = *pRef++ - (q15_t) acc;
+
+    *pErr++ = (q15_t) e;
+
+    /* Compute alpha i.e. intermediate constant for taps update */
+    alpha = (q15_t) (((q31_t) e * (mu)) >> 15);
+
+    /* Initialize pState pointer */
+    /* Advance state pointer by 1 for the next sample */
+    px = pState++;
+
+    /* Initialize pCoeffs pointer */
+    pb = pCoeffs;
+
+    /* Loop over numTaps number of values */
+    tapCnt = numTaps;
+
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      *pb++ += (q15_t) (((q31_t) alpha * (*px++)) >> 15);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Decrement the loop counter */
+    blkCnt--;
+
+  }
+
+  /* Processing is complete. Now copy the last numTaps - 1 samples to the        
+     start of the state buffer. This prepares the state buffer for the   
+     next function call. */
+
+  /* Points to the start of the pState buffer */
+  pStateCurnt = S->pState;
+
+  /*  Copy (numTaps - 1u) samples  */
+  tapCnt = (numTaps - 1u);
+
+  /* Copy the data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+#endif /*   #ifndef ARM_MATH_CM0 */
+
+}
+
+/**    
+   * @} end of LMS group    
+   */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_q31.c
new file mode 100644
index 000000000..c43d55d1d
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/FilteringFunctions/arm_lms_q31.c
@@ -0,0 +1,364 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_lms_q31.c    
+*    
+* Description:	Processing function for the Q31 LMS filter.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+/**    
+ * @ingroup groupFilters    
+ */
+
+/**    
+ * @addtogroup LMS    
+ * @{    
+ */
+
+ /**    
+ * @brief Processing function for Q31 LMS filter.    
+ * @param[in]  *S points to an instance of the Q15 LMS filter structure.    
+ * @param[in]  *pSrc points to the block of input data.    
+ * @param[in]  *pRef points to the block of reference data.    
+ * @param[out] *pOut points to the block of output data.    
+ * @param[out] *pErr points to the block of error data.    
+ * @param[in]  blockSize number of samples to process.    
+ * @return     none.    
+ *    
+ * \par Scaling and Overflow Behavior:     
+ * The function is implemented using an internal 64-bit accumulator.     
+ * The accumulator has a 2.62 format and maintains full precision of the intermediate    
+ * multiplication results but provides only a single guard bit.     
+ * Thus, if the accumulator result overflows it wraps around rather than clips.     
+ * In order to avoid overflows completely the input signal must be scaled down by    
+ * log2(numTaps) bits.     
+ * The reference signal should not be scaled down.     
+ * After all multiply-accumulates are performed, the 2.62 accumulator is shifted    
+ * and saturated to 1.31 format to yield the final result.     
+ * The output signal and error signal are in 1.31 format.     
+ *    
+ * \par    
+ * 	In this filter, filter coefficients are updated for each sample and the updation of filter cofficients are saturted.    
+ */
+
+void arm_lms_q31(
+  const arm_lms_instance_q31 * S,
+  q31_t * pSrc,
+  q31_t * pRef,
+  q31_t * pOut,
+  q31_t * pErr,
+  uint32_t blockSize)
+{
+  q31_t *pState = S->pState;                     /* State pointer */
+  uint32_t numTaps = S->numTaps;                 /* Number of filter coefficients in the filter */
+  q31_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
+  q31_t *pStateCurnt;                            /* Points to the current sample of the state */
+  q31_t mu = S->mu;                              /* Adaptive factor */
+  q31_t *px;                                     /* Temporary pointer for state */
+  q31_t *pb;                                     /* Temporary pointer for coefficient buffer */
+  uint32_t tapCnt, blkCnt;                       /* Loop counters */
+  q63_t acc;                                     /* Accumulator */
+  q31_t e = 0;                                   /* error of data sample */
+  q31_t alpha;                                   /* Intermediate constant for taps update */
+  q31_t coef;                                    /* Temporary variable for coef */
+  q31_t acc_l, acc_h;                            /*  temporary input */
+  uint32_t uShift = ((uint32_t) S->postShift + 1u);
+  uint32_t lShift = 32u - uShift;                /*  Shift to be applied to the output */
+
+  /* S->pState points to buffer which contains previous frame (numTaps - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = &(S->pState[(numTaps - 1u)]);
+
+  /* Initializing blkCnt with blockSize */
+  blkCnt = blockSize;
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  while(blkCnt > 0u)
+  {
+    /* Copy the new input sample into the state buffer */
+    *pStateCurnt++ = *pSrc++;
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* Initialize coefficient pointer */
+    pb = pCoeffs;
+
+    /* Set the accumulator to zero */
+    acc = 0;
+
+    /* Loop unrolling.  Process 4 taps at a time. */
+    tapCnt = numTaps >> 2;
+
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      /* acc +=  b[N] * x[n-N] */
+      acc += ((q63_t) (*px++)) * (*pb++);
+
+      /* acc +=  b[N-1] * x[n-N-1] */
+      acc += ((q63_t) (*px++)) * (*pb++);
+
+      /* acc +=  b[N-2] * x[n-N-2] */
+      acc += ((q63_t) (*px++)) * (*pb++);
+
+      /* acc +=  b[N-3] * x[n-N-3] */
+      acc += ((q63_t) (*px++)) * (*pb++);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
+    tapCnt = numTaps % 0x4u;
+
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      acc += ((q63_t) (*px++)) * (*pb++);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Converting the result to 1.31 format */
+    /* Calc lower part of acc */
+    acc_l = acc & 0xffffffff;
+
+    /* Calc upper part of acc */
+    acc_h = (acc >> 32) & 0xffffffff;
+
+    acc = (uint32_t) acc_l >> lShift | acc_h << uShift;
+
+    /* Store the result from accumulator into the destination buffer. */
+    *pOut++ = (q31_t) acc;
+
+    /* Compute and store error */
+    e = *pRef++ - (q31_t) acc;
+
+    *pErr++ = (q31_t) e;
+
+    /* Compute alpha i.e. intermediate constant for taps update */
+    alpha = (q31_t) (((q63_t) e * mu) >> 31);
+
+    /* Initialize state pointer */
+    /* Advance state pointer by 1 for the next sample */
+    px = pState++;
+
+    /* Initialize coefficient pointer */
+    pb = pCoeffs;
+
+    /* Loop unrolling.  Process 4 taps at a time. */
+    tapCnt = numTaps >> 2;
+
+    /* Update filter coefficients */
+    while(tapCnt > 0u)
+    {
+      /* coef is in 2.30 format */
+      coef = (q31_t) (((q63_t) alpha * (*px++)) >> (32));
+      /* get coef in 1.31 format by left shifting */
+      *pb = clip_q63_to_q31((q63_t) * pb + (coef << 1u));
+      /* update coefficient buffer to next coefficient */
+      pb++;
+
+      coef = (q31_t) (((q63_t) alpha * (*px++)) >> (32));
+      *pb = clip_q63_to_q31((q63_t) * pb + (coef << 1u));
+      pb++;
+
+      coef = (q31_t) (((q63_t) alpha * (*px++)) >> (32));
+      *pb = clip_q63_to_q31((q63_t) * pb + (coef << 1u));
+      pb++;
+
+      coef = (q31_t) (((q63_t) alpha * (*px++)) >> (32));
+      *pb = clip_q63_to_q31((q63_t) * pb + (coef << 1u));
+      pb++;
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
+    tapCnt = numTaps % 0x4u;
+
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      coef = (q31_t) (((q63_t) alpha * (*px++)) >> (32));
+      *pb = clip_q63_to_q31((q63_t) * pb + (coef << 1u));
+      pb++;
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Processing is complete. Now copy the last numTaps - 1 samples to the    
+     satrt of the state buffer. This prepares the state buffer for the    
+     next function call. */
+
+  /* Points to the start of the pState buffer */
+  pStateCurnt = S->pState;
+
+  /* Loop unrolling for (numTaps - 1u) samples copy */
+  tapCnt = (numTaps - 1u) >> 2u;
+
+  /* copy data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+  /* Calculate remaining number of copies */
+  tapCnt = (numTaps - 1u) % 0x4u;
+
+  /* Copy the remaining q31_t data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  while(blkCnt > 0u)
+  {
+    /* Copy the new input sample into the state buffer */
+    *pStateCurnt++ = *pSrc++;
+
+    /* Initialize pState pointer */
+    px = pState;
+
+    /* Initialize pCoeffs pointer */
+    pb = pCoeffs;
+
+    /* Set the accumulator to zero */
+    acc = 0;
+
+    /* Loop over numTaps number of values */
+    tapCnt = numTaps;
+
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      acc += ((q63_t) (*px++)) * (*pb++);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Converting the result to 1.31 format */
+    /* Store the result from accumulator into the destination buffer. */
+    /* Calc lower part of acc */
+    acc_l = acc & 0xffffffff;
+
+    /* Calc upper part of acc */
+    acc_h = (acc >> 32) & 0xffffffff;
+
+    acc = (uint32_t) acc_l >> lShift | acc_h << uShift;
+
+    *pOut++ = (q31_t) acc;
+
+    /* Compute and store error */
+    e = *pRef++ - (q31_t) acc;
+
+    *pErr++ = (q31_t) e;
+
+    /* Weighting factor for the LMS version */
+    alpha = (q31_t) (((q63_t) e * mu) >> 31);
+
+    /* Initialize pState pointer */
+    /* Advance state pointer by 1 for the next sample */
+    px = pState++;
+
+    /* Initialize pCoeffs pointer */
+    pb = pCoeffs;
+
+    /* Loop over numTaps number of values */
+    tapCnt = numTaps;
+
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      coef = (q31_t) (((q63_t) alpha * (*px++)) >> (32));
+      *pb += (coef << 1u);
+      pb++;
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Processing is complete. Now copy the last numTaps - 1 samples to the     
+     start of the state buffer. This prepares the state buffer for the   
+     next function call. */
+
+  /* Points to the start of the pState buffer */
+  pStateCurnt = S->pState;
+
+  /*  Copy (numTaps - 1u) samples  */
+  tapCnt = (numTaps - 1u);
+
+  /* Copy the data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+#endif /*   #ifndef ARM_MATH_CM0 */
+
+}
+
+/**    
+   * @} end of LMS group    
+   */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_add_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_add_f32.c
new file mode 100644
index 000000000..09099ccb8
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_add_f32.c
@@ -0,0 +1,206 @@
+/* ----------------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:        arm_mat_add_f32.c    
+*    
+* Description:	Floating-point matrix addition    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.5  2010/04/26     
+*    incorporated review comments and updated with latest CMSIS layer    
+*    
+* Version 0.0.3  2010/03/10     
+*    Initial version    
+* -------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**        
+ * @ingroup groupMatrix        
+ */
+
+/**        
+ * @defgroup MatrixAdd Matrix Addition        
+ *        
+ * Adds two matrices.        
+ * \image html MatrixAddition.gif "Addition of two 3 x 3 matrices"        
+ *        
+ * The functions check to make sure that        
+ * pSrcA, pSrcB, and pDst have the same        
+ * number of rows and columns.        
+ */
+
+/**        
+ * @addtogroup MatrixAdd        
+ * @{        
+ */
+
+
+/**        
+ * @brief Floating-point matrix addition.        
+ * @param[in]       *pSrcA points to the first input matrix structure        
+ * @param[in]       *pSrcB points to the second input matrix structure        
+ * @param[out]      *pDst points to output matrix structure        
+ * @return     		The function returns either        
+ * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.        
+ */
+
+arm_status arm_mat_add_f32(
+  const arm_matrix_instance_f32 * pSrcA,
+  const arm_matrix_instance_f32 * pSrcB,
+  arm_matrix_instance_f32 * pDst)
+{
+  float32_t *pIn1 = pSrcA->pData;                /* input data matrix pointer A  */
+  float32_t *pIn2 = pSrcB->pData;                /* input data matrix pointer B  */
+  float32_t *pOut = pDst->pData;                 /* output data matrix pointer   */
+
+#ifndef ARM_MATH_CM0
+
+  float32_t inA1, inA2, inB1, inB2, out1, out2;  /* temporary variables */
+
+#endif //      #ifndef ARM_MATH_CM0
+
+  uint32_t numSamples;                           /* total number of elements in the matrix  */
+  uint32_t blkCnt;                               /* loop counters */
+  arm_status status;                             /* status of matrix addition */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+  /* Check for matrix mismatch condition */
+  if((pSrcA->numRows != pSrcB->numRows) ||
+     (pSrcA->numCols != pSrcB->numCols) ||
+     (pSrcA->numRows != pDst->numRows) || (pSrcA->numCols != pDst->numCols))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif
+  {
+
+    /* Total number of samples in the input matrix */
+    numSamples = (uint32_t) pSrcA->numRows * pSrcA->numCols;
+
+#ifndef ARM_MATH_CM0
+
+    /* Loop unrolling */
+    blkCnt = numSamples >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+     ** a second loop below computes the remaining 1 to 3 samples. */
+    while(blkCnt > 0u)
+    {
+      /* C(m,n) = A(m,n) + B(m,n) */
+      /* Add and then store the results in the destination buffer. */
+      /* Read values from source A */
+      inA1 = pIn1[0];
+
+      /* Read values from source B */
+      inB1 = pIn2[0];
+
+      /* Read values from source A */
+      inA2 = pIn1[1];
+
+      /* out = sourceA + sourceB */
+      out1 = inA1 + inB1;
+
+      /* Read values from source B */
+      inB2 = pIn2[1];
+
+      /* Read values from source A */
+      inA1 = pIn1[2];
+
+      /* out = sourceA + sourceB */
+      out2 = inA2 + inB2;
+
+      /* Read values from source B */
+      inB1 = pIn2[2];
+
+      /* Store result in destination */
+      pOut[0] = out1;
+      pOut[1] = out2;
+
+      /* Read values from source A */
+      inA2 = pIn1[3];
+
+      /* Read values from source B */
+      inB2 = pIn2[3];
+
+      /* out = sourceA + sourceB */
+      out1 = inA1 + inB1;
+
+      /* out = sourceA + sourceB */
+      out2 = inA2 + inB2;
+
+      /* Store result in destination */
+      pOut[2] = out1;
+
+      /* Store result in destination */
+      pOut[3] = out2;
+
+
+      /* update pointers to process next sampels */
+      pIn1 += 4u;
+      pIn2 += 4u;
+      pOut += 4u;
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* If the numSamples is not a multiple of 4, compute any remaining output samples here.    
+     ** No loop unrolling is used. */
+    blkCnt = numSamples % 0x4u;
+
+#else
+
+    /* Run the below code for Cortex-M0 */
+
+    /* Initialize blkCnt with number of samples */
+    blkCnt = numSamples;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+    while(blkCnt > 0u)
+    {
+      /* C(m,n) = A(m,n) + B(m,n) */
+      /* Add and then store the results in the destination buffer. */
+      *pOut++ = (*pIn1++) + (*pIn2++);
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+
+  }
+
+  /* Return to application */
+  return (status);
+}
+
+/**        
+ * @} end of MatrixAdd group        
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_add_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_add_q15.c
new file mode 100644
index 000000000..4bfc87862
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_add_q15.c
@@ -0,0 +1,161 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_mat_add_q15.c    
+*    
+* Description:	Q15 matrix addition    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.5  2010/04/26     
+*    incorporated review comments and updated with latest CMSIS layer    
+*    
+* Version 0.0.3  2010/03/10     
+*    Initial version    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupMatrix    
+ */
+
+/**    
+ * @addtogroup MatrixAdd    
+ * @{    
+ */
+
+/**    
+ * @brief Q15 matrix addition.    
+ * @param[in]       *pSrcA points to the first input matrix structure    
+ * @param[in]       *pSrcB points to the second input matrix structure    
+ * @param[out]      *pDst points to output matrix structure    
+ * @return     		The function returns either    
+ * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.    
+ *    
+ * Scaling and Overflow Behavior:    
+ * \par    
+ * The function uses saturating arithmetic.    
+ * Results outside of the allowable Q15 range [0x8000 0x7FFF] will be saturated.    
+ */
+
+arm_status arm_mat_add_q15(
+  const arm_matrix_instance_q15 * pSrcA,
+  const arm_matrix_instance_q15 * pSrcB,
+  arm_matrix_instance_q15 * pDst)
+{
+  q15_t *pInA = pSrcA->pData;                    /* input data matrix pointer A  */
+  q15_t *pInB = pSrcB->pData;                    /* input data matrix pointer B */
+  q15_t *pOut = pDst->pData;                     /* output data matrix pointer */
+  uint16_t numSamples;                           /* total number of elements in the matrix  */
+  uint32_t blkCnt;                               /* loop counters  */
+  arm_status status;                             /* status of matrix addition  */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+
+  /* Check for matrix mismatch condition */
+  if((pSrcA->numRows != pSrcB->numRows) ||
+     (pSrcA->numCols != pSrcB->numCols) ||
+     (pSrcA->numRows != pDst->numRows) || (pSrcA->numCols != pDst->numCols))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */
+
+  {
+    /* Total number of samples in the input matrix */
+    numSamples = (uint16_t) (pSrcA->numRows * pSrcA->numCols);
+
+#ifndef ARM_MATH_CM0
+
+    /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+    /* Loop unrolling */
+    blkCnt = (uint32_t) numSamples >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+     ** a second loop below computes the remaining 1 to 3 samples. */
+    while(blkCnt > 0u)
+    {
+      /* C(m,n) = A(m,n) + B(m,n) */
+      /* Add, Saturate and then store the results in the destination buffer. */
+      *__SIMD32(pOut)++ = __QADD16(*__SIMD32(pInA)++, *__SIMD32(pInB)++);
+      *__SIMD32(pOut)++ = __QADD16(*__SIMD32(pInA)++, *__SIMD32(pInB)++);
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+     ** No loop unrolling is used. */
+    blkCnt = (uint32_t) numSamples % 0x4u;
+
+    /* q15 pointers of input and output are initialized */
+
+    while(blkCnt > 0u)
+    {
+      /* C(m,n) = A(m,n) + B(m,n) */
+      /* Add, Saturate and then store the results in the destination buffer. */
+      *pOut++ = (q15_t) __QADD16(*pInA++, *pInB++);
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+#else
+
+    /* Run the below code for Cortex-M0 */
+
+    /* Initialize blkCnt with number of samples */
+    blkCnt = (uint32_t) numSamples;
+
+
+    /* q15 pointers of input and output are initialized */
+    while(blkCnt > 0u)
+    {
+      /* C(m,n) = A(m,n) + B(m,n) */
+      /* Add, Saturate and then store the results in the destination buffer. */
+      *pOut++ = (q15_t) __SSAT(((q31_t) * pInA++ + *pInB++), 16);
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+    /* set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+
+/**    
+ * @} end of MatrixAdd group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_add_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_add_q31.c
new file mode 100644
index 000000000..1f7be21c5
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_add_q31.c
@@ -0,0 +1,205 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_mat_add_q31.c    
+*    
+* Description:	Q31 matrix addition    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.5  2010/04/26     
+*    incorporated review comments and updated with latest CMSIS layer    
+*    
+* Version 0.0.3  2010/03/10     
+*    Initial version    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**      
+ * @ingroup groupMatrix      
+ */
+
+/**      
+ * @addtogroup MatrixAdd      
+ * @{      
+ */
+
+/**      
+ * @brief Q31 matrix addition.      
+ * @param[in]       *pSrcA points to the first input matrix structure      
+ * @param[in]       *pSrcB points to the second input matrix structure      
+ * @param[out]      *pDst points to output matrix structure      
+ * @return     		The function returns either      
+ * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.      
+ *      
+ * Scaling and Overflow Behavior:      
+ * \par      
+ * The function uses saturating arithmetic.      
+ * Results outside of the allowable Q31 range [0x80000000 0x7FFFFFFF] will be saturated.      
+ */
+
+arm_status arm_mat_add_q31(
+  const arm_matrix_instance_q31 * pSrcA,
+  const arm_matrix_instance_q31 * pSrcB,
+  arm_matrix_instance_q31 * pDst)
+{
+  q31_t *pIn1 = pSrcA->pData;                    /* input data matrix pointer A */
+  q31_t *pIn2 = pSrcB->pData;                    /* input data matrix pointer B */
+  q31_t *pOut = pDst->pData;                     /* output data matrix pointer */
+  q31_t inA1, inB1;                              /* temporary variables */
+
+#ifndef ARM_MATH_CM0
+
+  q31_t inA2, inB2;                              /* temporary variables */
+  q31_t out1, out2;                              /* temporary variables */
+
+#endif //      #ifndef ARM_MATH_CM0
+
+  uint32_t numSamples;                           /* total number of elements in the matrix  */
+  uint32_t blkCnt;                               /* loop counters */
+  arm_status status;                             /* status of matrix addition */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+  /* Check for matrix mismatch condition */
+  if((pSrcA->numRows != pSrcB->numRows) ||
+     (pSrcA->numCols != pSrcB->numCols) ||
+     (pSrcA->numRows != pDst->numRows) || (pSrcA->numCols != pDst->numCols))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif
+  {
+    /* Total number of samples in the input matrix */
+    numSamples = (uint32_t) pSrcA->numRows * pSrcA->numCols;
+
+#ifndef ARM_MATH_CM0
+
+    /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+    /* Loop Unrolling */
+    blkCnt = numSamples >> 2u;
+
+
+    /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+     ** a second loop below computes the remaining 1 to 3 samples. */
+    while(blkCnt > 0u)
+    {
+      /* C(m,n) = A(m,n) + B(m,n) */
+      /* Add, saturate and then store the results in the destination buffer. */
+      /* Read values from source A */
+      inA1 = pIn1[0];
+
+      /* Read values from source B */
+      inB1 = pIn2[0];
+
+      /* Read values from source A */
+      inA2 = pIn1[1];
+
+      /* Add and saturate */
+      out1 = __QADD(inA1, inB1);
+
+      /* Read values from source B */
+      inB2 = pIn2[1];
+
+      /* Read values from source A */
+      inA1 = pIn1[2];
+
+      /* Add and saturate */
+      out2 = __QADD(inA2, inB2);
+
+      /* Read values from source B */
+      inB1 = pIn2[2];
+
+      /* Store result in destination */
+      pOut[0] = out1;
+      pOut[1] = out2;
+
+      /* Read values from source A */
+      inA2 = pIn1[3];
+
+      /* Read values from source B */
+      inB2 = pIn2[3];
+
+      /* Add and saturate */
+      out1 = __QADD(inA1, inB1);
+      out2 = __QADD(inA2, inB2);
+
+      /* Store result in destination */
+      pOut[2] = out1;
+      pOut[3] = out2;
+
+      /* update pointers to process next sampels */
+      pIn1 += 4u;
+      pIn2 += 4u;
+      pOut += 4u;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* If the numSamples is not a multiple of 4, compute any remaining output samples here.      
+     ** No loop unrolling is used. */
+    blkCnt = numSamples % 0x4u;
+
+#else
+
+    /* Run the below code for Cortex-M0 */
+
+    /* Initialize blkCnt with number of samples */
+    blkCnt = numSamples;
+
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+    while(blkCnt > 0u)
+    {
+      /* C(m,n) = A(m,n) + B(m,n) */
+      /* Add, saturate and then store the results in the destination buffer. */
+      inA1 = *pIn1++;
+      inB1 = *pIn2++;
+
+      inA1 = __QADD(inA1, inB1);
+
+      /* Decrement the loop counter */
+      blkCnt--;
+
+      *pOut++ = inA1;
+
+    }
+
+    /* set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+
+/**      
+ * @} end of MatrixAdd group      
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_init_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_init_f32.c
new file mode 100644
index 000000000..9ffc96ee3
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_init_f32.c
@@ -0,0 +1,86 @@
+/* ----------------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:        arm_mat_init_f32.c    
+*    
+* Description:	Floating-point matrix initialization.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.5  2010/04/26     
+*    incorporated review comments and updated with latest CMSIS layer    
+*    
+* Version 0.0.3  2010/03/10     
+*    Initial version    
+* -------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupMatrix    
+ */
+
+/**    
+ * @defgroup MatrixInit Matrix Initialization    
+ *    
+ * Initializes the underlying matrix data structure.    
+ * The functions set the numRows,    
+ * numCols, and pData fields    
+ * of the matrix data structure.    
+ */
+
+/**    
+ * @addtogroup MatrixInit    
+ * @{    
+ */
+
+/**    
+   * @brief  Floating-point matrix initialization.    
+   * @param[in,out] *S             points to an instance of the floating-point matrix structure.    
+   * @param[in]     nRows          number of rows in the matrix.    
+   * @param[in]     nColumns       number of columns in the matrix.    
+   * @param[in]     *pData	   points to the matrix data array.    
+   * @return        none    
+   */
+
+void arm_mat_init_f32(
+  arm_matrix_instance_f32 * S,
+  uint16_t nRows,
+  uint16_t nColumns,
+  float32_t * pData)
+{
+  /* Assign Number of Rows */
+  S->numRows = nRows;
+
+  /* Assign Number of Columns */
+  S->numCols = nColumns;
+
+  /* Assign Data pointer */
+  S->pData = pData;
+}
+
+/**    
+ * @} end of MatrixInit group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_init_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_init_q15.c
new file mode 100644
index 000000000..2bada7fed
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_init_q15.c
@@ -0,0 +1,78 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:        arm_mat_init_q15.c    
+*    
+* Description:	Q15 matrix initialization.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.5  2010/04/26     
+*    incorporated review comments and updated with latest CMSIS layer    
+*    
+* Version 0.0.3  2010/03/10     
+*    Initial version    
+* -------------------------------------------------------------------------- */
+
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupMatrix    
+ */
+
+/**    
+ * @addtogroup MatrixInit    
+ * @{    
+ */
+
+  /**    
+   * @brief  Q15 matrix initialization.    
+   * @param[in,out] *S             points to an instance of the floating-point matrix structure.    
+   * @param[in]     nRows          number of rows in the matrix.    
+   * @param[in]     nColumns       number of columns in the matrix.    
+   * @param[in]     *pData	   points to the matrix data array.    
+   * @return        none    
+   */
+
+void arm_mat_init_q15(
+  arm_matrix_instance_q15 * S,
+  uint16_t nRows,
+  uint16_t nColumns,
+  q15_t * pData)
+{
+  /* Assign Number of Rows */
+  S->numRows = nRows;
+
+  /* Assign Number of Columns */
+  S->numCols = nColumns;
+
+  /* Assign Data pointer */
+  S->pData = pData;
+}
+
+/**    
+ * @} end of MatrixInit group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_init_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_init_q31.c
new file mode 100644
index 000000000..8828c2d2e
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_init_q31.c
@@ -0,0 +1,82 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:        arm_mat_init_q31.c    
+*    
+* Description:	Q31 matrix initialization.    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.5  2010/04/26     
+*    incorporated review comments and updated with latest CMSIS layer    
+*    
+* Version 0.0.3  2010/03/10     
+*    Initial version    
+* -------------------------------------------------------------------------- */
+
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupMatrix    
+ */
+
+/**    
+ * @defgroup MatrixInit Matrix Initialization    
+ *    
+ */
+
+/**    
+ * @addtogroup MatrixInit    
+ * @{    
+ */
+
+  /**    
+   * @brief  Q31 matrix initialization.    
+   * @param[in,out] *S             points to an instance of the floating-point matrix structure.    
+   * @param[in]     nRows          number of rows in the matrix.    
+   * @param[in]     nColumns       number of columns in the matrix.    
+   * @param[in]     *pData	   points to the matrix data array.    
+   * @return        none    
+   */
+
+void arm_mat_init_q31(
+  arm_matrix_instance_q31 * S,
+  uint16_t nRows,
+  uint16_t nColumns,
+  q31_t * pData)
+{
+  /* Assign Number of Rows */
+  S->numRows = nRows;
+
+  /* Assign Number of Columns */
+  S->numCols = nColumns;
+
+  /* Assign Data pointer */
+  S->pData = pData;
+}
+
+/**    
+ * @} end of MatrixInit group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_inverse_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_inverse_f32.c
new file mode 100644
index 000000000..f346916e0
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_inverse_f32.c
@@ -0,0 +1,668 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_mat_inverse_f32.c    
+*    
+* Description:	Floating-point matrix inverse.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupMatrix    
+ */
+
+/**    
+ * @defgroup MatrixInv Matrix Inverse    
+ *    
+ * Computes the inverse of a matrix.    
+ *    
+ * The inverse is defined only if the input matrix is square and non-singular (the determinant    
+ * is non-zero). The function checks that the input and output matrices are square and of the    
+ * same size.    
+ *    
+ * Matrix inversion is numerically sensitive and the CMSIS DSP library only supports matrix    
+ * inversion of floating-point matrices.    
+ *    
+ * \par Algorithm    
+ * The Gauss-Jordan method is used to find the inverse.    
+ * The algorithm performs a sequence of elementary row-operations till it    
+ * reduces the input matrix to an identity matrix. Applying the same sequence    
+ * of elementary row-operations to an identity matrix yields the inverse matrix.    
+ * If the input matrix is singular, then the algorithm terminates and returns error status    
+ * ARM_MATH_SINGULAR.    
+ * \image html MatrixInverse.gif "Matrix Inverse of a 3 x 3 matrix using Gauss-Jordan Method"    
+ */
+
+/**    
+ * @addtogroup MatrixInv    
+ * @{    
+ */
+
+/**    
+ * @brief Floating-point matrix inverse.    
+ * @param[in]       *pSrc points to input matrix structure    
+ * @param[out]      *pDst points to output matrix structure    
+ * @return     		The function returns    
+ * ARM_MATH_SIZE_MISMATCH if the input matrix is not square or if the size    
+ * of the output matrix does not match the size of the input matrix.    
+ * If the input matrix is found to be singular (non-invertible), then the function returns    
+ * ARM_MATH_SINGULAR.  Otherwise, the function returns ARM_MATH_SUCCESS.    
+ */
+
+arm_status arm_mat_inverse_f32(
+  const arm_matrix_instance_f32 * pSrc,
+  arm_matrix_instance_f32 * pDst)
+{
+  float32_t *pIn = pSrc->pData;                  /* input data matrix pointer */
+  float32_t *pOut = pDst->pData;                 /* output data matrix pointer */
+  float32_t *pInT1, *pInT2;                      /* Temporary input data matrix pointer */
+  float32_t *pInT3, *pInT4;                      /* Temporary output data matrix pointer */
+  float32_t *pPivotRowIn, *pPRT_in, *pPivotRowDst, *pPRT_pDst;  /* Temporary input and output data matrix pointer */
+  uint32_t numRows = pSrc->numRows;              /* Number of rows in the matrix  */
+  uint32_t numCols = pSrc->numCols;              /* Number of Cols in the matrix  */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  float32_t Xchg, in = 0.0f, in1;                /* Temporary input values  */
+  uint32_t i, rowCnt, flag = 0u, j, loopCnt, k, l;      /* loop counters */
+  arm_status status;                             /* status of matrix inverse */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+
+  /* Check for matrix mismatch condition */
+  if((pSrc->numRows != pSrc->numCols) || (pDst->numRows != pDst->numCols)
+     || (pSrc->numRows != pDst->numRows))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */
+
+  {
+
+    /*--------------------------------------------------------------------------------------------------------------    
+	 * Matrix Inverse can be solved using elementary row operations.    
+	 *    
+	 *	Gauss-Jordan Method:    
+	 *    
+	 *	   1. First combine the identity matrix and the input matrix separated by a bar to form an    
+	 *        augmented matrix as follows:    
+	 *				        _ 	      	       _         _	       _    
+	 *					   |  a11  a12 | 1   0  |       |  X11 X12  |    
+	 *					   |           |        |   =   |           |    
+	 *					   |_ a21  a22 | 0   1 _|       |_ X21 X21 _|    
+	 *    
+	 *		2. In our implementation, pDst Matrix is used as identity matrix.    
+	 *    
+	 *		3. Begin with the first row. Let i = 1.    
+	 *    
+	 *	    4. Check to see if the pivot for row i is zero.    
+	 *		   The pivot is the element of the main diagonal that is on the current row.    
+	 *		   For instance, if working with row i, then the pivot element is aii.    
+	 *		   If the pivot is zero, exchange that row with a row below it that does not    
+	 *		   contain a zero in column i. If this is not possible, then an inverse    
+	 *		   to that matrix does not exist.    
+	 *    
+	 *	    5. Divide every element of row i by the pivot.    
+	 *    
+	 *	    6. For every row below and  row i, replace that row with the sum of that row and    
+	 *		   a multiple of row i so that each new element in column i below row i is zero.    
+	 *    
+	 *	    7. Move to the next row and column and repeat steps 2 through 5 until you have zeros    
+	 *		   for every element below and above the main diagonal.    
+	 *    
+	 *		8. Now an identical matrix is formed to the left of the bar(input matrix, pSrc).    
+	 *		   Therefore, the matrix to the right of the bar is our solution(pDst matrix, pDst).    
+	 *----------------------------------------------------------------------------------------------------------------*/
+
+    /* Working pointer for destination matrix */
+    pInT2 = pOut;
+
+    /* Loop over the number of rows */
+    rowCnt = numRows;
+
+    /* Making the destination matrix as identity matrix */
+    while(rowCnt > 0u)
+    {
+      /* Writing all zeroes in lower triangle of the destination matrix */
+      j = numRows - rowCnt;
+      while(j > 0u)
+      {
+        *pInT2++ = 0.0f;
+        j--;
+      }
+
+      /* Writing all ones in the diagonal of the destination matrix */
+      *pInT2++ = 1.0f;
+
+      /* Writing all zeroes in upper triangle of the destination matrix */
+      j = rowCnt - 1u;
+      while(j > 0u)
+      {
+        *pInT2++ = 0.0f;
+        j--;
+      }
+
+      /* Decrement the loop counter */
+      rowCnt--;
+    }
+
+    /* Loop over the number of columns of the input matrix.    
+       All the elements in each column are processed by the row operations */
+    loopCnt = numCols;
+
+    /* Index modifier to navigate through the columns */
+    l = 0u;
+
+    while(loopCnt > 0u)
+    {
+      /* Check if the pivot element is zero..    
+       * If it is zero then interchange the row with non zero row below.    
+       * If there is no non zero element to replace in the rows below,    
+       * then the matrix is Singular. */
+
+      /* Working pointer for the input matrix that points    
+       * to the pivot element of the particular row  */
+      pInT1 = pIn + (l * numCols);
+
+      /* Working pointer for the destination matrix that points    
+       * to the pivot element of the particular row  */
+      pInT3 = pOut + (l * numCols);
+
+      /* Temporary variable to hold the pivot value */
+      in = *pInT1;
+
+      /* Destination pointer modifier */
+      k = 1u;
+
+      /* Check if the pivot element is zero */
+      if(*pInT1 == 0.0f)
+      {
+        /* Loop over the number rows present below */
+        i = numRows - (l + 1u);
+
+        while(i > 0u)
+        {
+          /* Update the input and destination pointers */
+          pInT2 = pInT1 + (numCols * l);
+          pInT4 = pInT3 + (numCols * k);
+
+          /* Check if there is a non zero pivot element to    
+           * replace in the rows below */
+          if(*pInT2 != 0.0f)
+          {
+            /* Loop over number of columns    
+             * to the right of the pilot element */
+            j = numCols - l;
+
+            while(j > 0u)
+            {
+              /* Exchange the row elements of the input matrix */
+              Xchg = *pInT2;
+              *pInT2++ = *pInT1;
+              *pInT1++ = Xchg;
+
+              /* Decrement the loop counter */
+              j--;
+            }
+
+            /* Loop over number of columns of the destination matrix */
+            j = numCols;
+
+            while(j > 0u)
+            {
+              /* Exchange the row elements of the destination matrix */
+              Xchg = *pInT4;
+              *pInT4++ = *pInT3;
+              *pInT3++ = Xchg;
+
+              /* Decrement the loop counter */
+              j--;
+            }
+
+            /* Flag to indicate whether exchange is done or not */
+            flag = 1u;
+
+            /* Break after exchange is done */
+            break;
+          }
+
+          /* Update the destination pointer modifier */
+          k++;
+
+          /* Decrement the loop counter */
+          i--;
+        }
+      }
+
+      /* Update the status if the matrix is singular */
+      if((flag != 1u) && (in == 0.0f))
+      {
+        status = ARM_MATH_SINGULAR;
+
+        break;
+      }
+
+      /* Points to the pivot row of input and destination matrices */
+      pPivotRowIn = pIn + (l * numCols);
+      pPivotRowDst = pOut + (l * numCols);
+
+      /* Temporary pointers to the pivot row pointers */
+      pInT1 = pPivotRowIn;
+      pInT2 = pPivotRowDst;
+
+      /* Pivot element of the row */
+      in = *(pIn + (l * numCols));
+
+      /* Loop over number of columns    
+       * to the right of the pilot element */
+      j = (numCols - l);
+
+      while(j > 0u)
+      {
+        /* Divide each element of the row of the input matrix    
+         * by the pivot element */
+        in1 = *pInT1;
+        *pInT1++ = in1 / in;
+
+        /* Decrement the loop counter */
+        j--;
+      }
+
+      /* Loop over number of columns of the destination matrix */
+      j = numCols;
+
+      while(j > 0u)
+      {
+        /* Divide each element of the row of the destination matrix    
+         * by the pivot element */
+        in1 = *pInT2;
+        *pInT2++ = in1 / in;
+
+        /* Decrement the loop counter */
+        j--;
+      }
+
+      /* Replace the rows with the sum of that row and a multiple of row i    
+       * so that each new element in column i above row i is zero.*/
+
+      /* Temporary pointers for input and destination matrices */
+      pInT1 = pIn;
+      pInT2 = pOut;
+
+      /* index used to check for pivot element */
+      i = 0u;
+
+      /* Loop over number of rows */
+      /*  to be replaced by the sum of that row and a multiple of row i */
+      k = numRows;
+
+      while(k > 0u)
+      {
+        /* Check for the pivot element */
+        if(i == l)
+        {
+          /* If the processing element is the pivot element,    
+             only the columns to the right are to be processed */
+          pInT1 += numCols - l;
+
+          pInT2 += numCols;
+        }
+        else
+        {
+          /* Element of the reference row */
+          in = *pInT1;
+
+          /* Working pointers for input and destination pivot rows */
+          pPRT_in = pPivotRowIn;
+          pPRT_pDst = pPivotRowDst;
+
+          /* Loop over the number of columns to the right of the pivot element,    
+             to replace the elements in the input matrix */
+          j = (numCols - l);
+
+          while(j > 0u)
+          {
+            /* Replace the element by the sum of that row    
+               and a multiple of the reference row  */
+            in1 = *pInT1;
+            *pInT1++ = in1 - (in * *pPRT_in++);
+
+            /* Decrement the loop counter */
+            j--;
+          }
+
+          /* Loop over the number of columns to    
+             replace the elements in the destination matrix */
+          j = numCols;
+
+          while(j > 0u)
+          {
+            /* Replace the element by the sum of that row    
+               and a multiple of the reference row  */
+            in1 = *pInT2;
+            *pInT2++ = in1 - (in * *pPRT_pDst++);
+
+            /* Decrement the loop counter */
+            j--;
+          }
+
+        }
+
+        /* Increment the temporary input pointer */
+        pInT1 = pInT1 + l;
+
+        /* Decrement the loop counter */
+        k--;
+
+        /* Increment the pivot index */
+        i++;
+      }
+
+      /* Increment the input pointer */
+      pIn++;
+
+      /* Decrement the loop counter */
+      loopCnt--;
+
+      /* Increment the index modifier */
+      l++;
+    }
+
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  float32_t Xchg, in = 0.0f;                     /* Temporary input values  */
+  uint32_t i, rowCnt, flag = 0u, j, loopCnt, k, l;      /* loop counters */
+  arm_status status;                             /* status of matrix inverse */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if((pSrc->numRows != pSrc->numCols) || (pDst->numRows != pDst->numCols)
+     || (pSrc->numRows != pDst->numRows))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif /*      #ifdef ARM_MATH_MATRIX_CHECK    */
+  {
+
+    /*--------------------------------------------------------------------------------------------------------------       
+	 * Matrix Inverse can be solved using elementary row operations.        
+	 *        
+	 *	Gauss-Jordan Method:       
+	 *	 	       
+	 *	   1. First combine the identity matrix and the input matrix separated by a bar to form an        
+	 *        augmented matrix as follows:        
+	 *				        _  _	      _	    _	   _   _         _	       _       
+	 *					   |  |  a11  a12  | | | 1   0  |   |       |  X11 X12  |         
+	 *					   |  |            | | |        |   |   =   |           |        
+	 *					   |_ |_ a21  a22 _| | |_0   1 _|  _|       |_ X21 X21 _|       
+	 *					          
+	 *		2. In our implementation, pDst Matrix is used as identity matrix.    
+	 *       
+	 *		3. Begin with the first row. Let i = 1.       
+	 *       
+	 *	    4. Check to see if the pivot for row i is zero.       
+	 *		   The pivot is the element of the main diagonal that is on the current row.       
+	 *		   For instance, if working with row i, then the pivot element is aii.       
+	 *		   If the pivot is zero, exchange that row with a row below it that does not        
+	 *		   contain a zero in column i. If this is not possible, then an inverse        
+	 *		   to that matrix does not exist.       
+	 *	       
+	 *	    5. Divide every element of row i by the pivot.       
+	 *	       
+	 *	    6. For every row below and  row i, replace that row with the sum of that row and        
+	 *		   a multiple of row i so that each new element in column i below row i is zero.       
+	 *	       
+	 *	    7. Move to the next row and column and repeat steps 2 through 5 until you have zeros       
+	 *		   for every element below and above the main diagonal.        
+	 *		   		          
+	 *		8. Now an identical matrix is formed to the left of the bar(input matrix, src).       
+	 *		   Therefore, the matrix to the right of the bar is our solution(dst matrix, dst).         
+	 *----------------------------------------------------------------------------------------------------------------*/
+
+    /* Working pointer for destination matrix */
+    pInT2 = pOut;
+
+    /* Loop over the number of rows */
+    rowCnt = numRows;
+
+    /* Making the destination matrix as identity matrix */
+    while(rowCnt > 0u)
+    {
+      /* Writing all zeroes in lower triangle of the destination matrix */
+      j = numRows - rowCnt;
+      while(j > 0u)
+      {
+        *pInT2++ = 0.0f;
+        j--;
+      }
+
+      /* Writing all ones in the diagonal of the destination matrix */
+      *pInT2++ = 1.0f;
+
+      /* Writing all zeroes in upper triangle of the destination matrix */
+      j = rowCnt - 1u;
+      while(j > 0u)
+      {
+        *pInT2++ = 0.0f;
+        j--;
+      }
+
+      /* Decrement the loop counter */
+      rowCnt--;
+    }
+
+    /* Loop over the number of columns of the input matrix.     
+       All the elements in each column are processed by the row operations */
+    loopCnt = numCols;
+
+    /* Index modifier to navigate through the columns */
+    l = 0u;
+    //for(loopCnt = 0u; loopCnt < numCols; loopCnt++)   
+    while(loopCnt > 0u)
+    {
+      /* Check if the pivot element is zero..    
+       * If it is zero then interchange the row with non zero row below.   
+       * If there is no non zero element to replace in the rows below,   
+       * then the matrix is Singular. */
+
+      /* Working pointer for the input matrix that points     
+       * to the pivot element of the particular row  */
+      pInT1 = pIn + (l * numCols);
+
+      /* Working pointer for the destination matrix that points     
+       * to the pivot element of the particular row  */
+      pInT3 = pOut + (l * numCols);
+
+      /* Temporary variable to hold the pivot value */
+      in = *pInT1;
+
+      /* Destination pointer modifier */
+      k = 1u;
+
+      /* Check if the pivot element is zero */
+      if(*pInT1 == 0.0f)
+      {
+        /* Loop over the number rows present below */
+        for (i = (l + 1u); i < numRows; i++)
+        {
+          /* Update the input and destination pointers */
+          pInT2 = pInT1 + (numCols * l);
+          pInT4 = pInT3 + (numCols * k);
+
+          /* Check if there is a non zero pivot element to     
+           * replace in the rows below */
+          if(*pInT2 != 0.0f)
+          {
+            /* Loop over number of columns     
+             * to the right of the pilot element */
+            for (j = 0u; j < (numCols - l); j++)
+            {
+              /* Exchange the row elements of the input matrix */
+              Xchg = *pInT2;
+              *pInT2++ = *pInT1;
+              *pInT1++ = Xchg;
+            }
+
+            for (j = 0u; j < numCols; j++)
+            {
+              Xchg = *pInT4;
+              *pInT4++ = *pInT3;
+              *pInT3++ = Xchg;
+            }
+
+            /* Flag to indicate whether exchange is done or not */
+            flag = 1u;
+
+            /* Break after exchange is done */
+            break;
+          }
+
+          /* Update the destination pointer modifier */
+          k++;
+        }
+      }
+
+      /* Update the status if the matrix is singular */
+      if((flag != 1u) && (in == 0.0f))
+      {
+        status = ARM_MATH_SINGULAR;
+
+        break;
+      }
+
+      /* Points to the pivot row of input and destination matrices */
+      pPivotRowIn = pIn + (l * numCols);
+      pPivotRowDst = pOut + (l * numCols);
+
+      /* Temporary pointers to the pivot row pointers */
+      pInT1 = pPivotRowIn;
+      pInT2 = pPivotRowDst;
+
+      /* Pivot element of the row */
+      in = *(pIn + (l * numCols));
+
+      /* Loop over number of columns     
+       * to the right of the pilot element */
+      for (j = 0u; j < (numCols - l); j++)
+      {
+        /* Divide each element of the row of the input matrix     
+         * by the pivot element */
+        *pInT1++ = *pInT1 / in;
+      }
+      for (j = 0u; j < numCols; j++)
+      {
+        /* Divide each element of the row of the destination matrix     
+         * by the pivot element */
+        *pInT2++ = *pInT2 / in;
+      }
+
+      /* Replace the rows with the sum of that row and a multiple of row i     
+       * so that each new element in column i above row i is zero.*/
+
+      /* Temporary pointers for input and destination matrices */
+      pInT1 = pIn;
+      pInT2 = pOut;
+
+      for (i = 0u; i < numRows; i++)
+      {
+        /* Check for the pivot element */
+        if(i == l)
+        {
+          /* If the processing element is the pivot element,     
+             only the columns to the right are to be processed */
+          pInT1 += numCols - l;
+          pInT2 += numCols;
+        }
+        else
+        {
+          /* Element of the reference row */
+          in = *pInT1;
+
+          /* Working pointers for input and destination pivot rows */
+          pPRT_in = pPivotRowIn;
+          pPRT_pDst = pPivotRowDst;
+
+          /* Loop over the number of columns to the right of the pivot element,     
+             to replace the elements in the input matrix */
+          for (j = 0u; j < (numCols - l); j++)
+          {
+            /* Replace the element by the sum of that row     
+               and a multiple of the reference row  */
+            *pInT1++ = *pInT1 - (in * *pPRT_in++);
+          }
+          /* Loop over the number of columns to     
+             replace the elements in the destination matrix */
+          for (j = 0u; j < numCols; j++)
+          {
+            /* Replace the element by the sum of that row     
+               and a multiple of the reference row  */
+            *pInT2++ = *pInT2 - (in * *pPRT_pDst++);
+          }
+
+        }
+        /* Increment the temporary input pointer */
+        pInT1 = pInT1 + l;
+      }
+      /* Increment the input pointer */
+      pIn++;
+
+      /* Decrement the loop counter */
+      loopCnt--;
+      /* Increment the index modifier */
+      l++;
+    }
+
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+    /* Set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+
+    if((flag != 1u) && (in == 0.0f))
+    {
+      status = ARM_MATH_SINGULAR;
+    }
+  }
+  /* Return to application */
+  return (status);
+}
+
+/**    
+ * @} end of MatrixInv group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_f32.c
new file mode 100644
index 000000000..a2f513628
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_f32.c
@@ -0,0 +1,284 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_mat_mult_f32.c    
+*    
+* Description:  Floating-point matrix multiplication.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.5  2010/04/26     
+*    incorporated review comments and updated with latest CMSIS layer    
+*    
+* Version 0.0.3  2010/03/10     
+*    Initial version    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupMatrix    
+ */
+
+/**    
+ * @defgroup MatrixMult Matrix Multiplication    
+ *    
+ * Multiplies two matrices.    
+ *    
+ * \image html MatrixMultiplication.gif "Multiplication of two 3 x 3 matrices"    
+    
+ * Matrix multiplication is only defined if the number of columns of the    
+ * first matrix equals the number of rows of the second matrix.    
+ * Multiplying an M x N matrix with an N x P matrix results    
+ * in an M x P matrix.    
+ * When matrix size checking is enabled, the functions check: (1) that the inner dimensions of    
+ * pSrcA and pSrcB are equal; and (2) that the size of the output    
+ * matrix equals the outer dimensions of pSrcA and pSrcB.    
+ */
+
+
+/**    
+ * @addtogroup MatrixMult    
+ * @{    
+ */
+
+/**    
+ * @brief Floating-point matrix multiplication.    
+ * @param[in]       *pSrcA points to the first input matrix structure    
+ * @param[in]       *pSrcB points to the second input matrix structure    
+ * @param[out]      *pDst points to output matrix structure    
+ * @return     		The function returns either    
+ * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.    
+ */
+
+arm_status arm_mat_mult_f32(
+  const arm_matrix_instance_f32 * pSrcA,
+  const arm_matrix_instance_f32 * pSrcB,
+  arm_matrix_instance_f32 * pDst)
+{
+  float32_t *pIn1 = pSrcA->pData;                /* input data matrix pointer A */
+  float32_t *pIn2 = pSrcB->pData;                /* input data matrix pointer B */
+  float32_t *pInA = pSrcA->pData;                /* input data matrix pointer A  */
+  float32_t *pOut = pDst->pData;                 /* output data matrix pointer */
+  float32_t *px;                                 /* Temporary output data matrix pointer */
+  float32_t sum;                                 /* Accumulator */
+  uint16_t numRowsA = pSrcA->numRows;            /* number of rows of input matrix A */
+  uint16_t numColsB = pSrcB->numCols;            /* number of columns of input matrix B */
+  uint16_t numColsA = pSrcA->numCols;            /* number of columns of input matrix A */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  float32_t in1, in2, in3, in4;
+  uint16_t col, i = 0u, j, row = numRowsA, colCnt;      /* loop counters */
+  arm_status status;                             /* status of matrix multiplication */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+
+  /* Check for matrix mismatch condition */
+  if((pSrcA->numCols != pSrcB->numRows) ||
+     (pSrcA->numRows != pDst->numRows) || (pSrcB->numCols != pDst->numCols))
+  {
+
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif /*      #ifdef ARM_MATH_MATRIX_CHECK    */
+
+  {
+    /* The following loop performs the dot-product of each row in pSrcA with each column in pSrcB */
+    /* row loop */
+    do
+    {
+      /* Output pointer is set to starting address of the row being processed */
+      px = pOut + i;
+
+      /* For every row wise process, the column loop counter is to be initiated */
+      col = numColsB;
+
+      /* For every row wise process, the pIn2 pointer is set    
+       ** to the starting address of the pSrcB data */
+      pIn2 = pSrcB->pData;
+
+      j = 0u;
+
+      /* column loop */
+      do
+      {
+        /* Set the variable sum, that acts as accumulator, to zero */
+        sum = 0.0f;
+
+        /* Initiate the pointer pIn1 to point to the starting address of the column being processed */
+        pIn1 = pInA;
+
+        /* Apply loop unrolling and compute 4 MACs simultaneously. */
+        colCnt = numColsA >> 2u;
+
+        /* matrix multiplication        */
+        while(colCnt > 0u)
+        {
+          /* c(m,n) = a(1,1)*b(1,1) + a(1,2) * b(2,1) + .... + a(m,p)*b(p,n) */
+          in3 = *pIn2;
+          pIn2 += numColsB;
+          in1 = pIn1[0];
+          in2 = pIn1[1];
+          sum += in1 * in3;
+          in4 = *pIn2;
+          pIn2 += numColsB;
+          sum += in2 * in4;
+
+          in3 = *pIn2;
+          pIn2 += numColsB;
+          in1 = pIn1[2];
+          in2 = pIn1[3];
+          sum += in1 * in3;
+          in4 = *pIn2;
+          pIn2 += numColsB;
+          sum += in2 * in4;
+          pIn1 += 4u;
+
+          /* Decrement the loop count */
+          colCnt--;
+        }
+
+        /* If the columns of pSrcA is not a multiple of 4, compute any remaining MACs here.    
+         ** No loop unrolling is used. */
+        colCnt = numColsA % 0x4u;
+
+        while(colCnt > 0u)
+        {
+          /* c(m,n) = a(1,1)*b(1,1) + a(1,2) * b(2,1) + .... + a(m,p)*b(p,n) */
+          sum += *pIn1++ * (*pIn2);
+          pIn2 += numColsB;
+
+          /* Decrement the loop counter */
+          colCnt--;
+        }
+
+        /* Store the result in the destination buffer */
+        *px++ = sum;
+
+        /* Update the pointer pIn2 to point to the  starting address of the next column */
+        j++;
+        pIn2 = pSrcB->pData + j;
+
+        /* Decrement the column loop counter */
+        col--;
+
+      } while(col > 0u);
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  float32_t *pInB = pSrcB->pData;                /* input data matrix pointer B */
+  uint16_t col, i = 0u, row = numRowsA, colCnt;  /* loop counters */
+  arm_status status;                             /* status of matrix multiplication */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if((pSrcA->numCols != pSrcB->numRows) ||
+     (pSrcA->numRows != pDst->numRows) || (pSrcB->numCols != pDst->numCols))
+  {
+
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif /*      #ifdef ARM_MATH_MATRIX_CHECK    */
+
+  {
+    /* The following loop performs the dot-product of each row in pInA with each column in pInB */
+    /* row loop */
+    do
+    {
+      /* Output pointer is set to starting address of the row being processed */
+      px = pOut + i;
+
+      /* For every row wise process, the column loop counter is to be initiated */
+      col = numColsB;
+
+      /* For every row wise process, the pIn2 pointer is set     
+       ** to the starting address of the pSrcB data */
+      pIn2 = pSrcB->pData;
+
+      /* column loop */
+      do
+      {
+        /* Set the variable sum, that acts as accumulator, to zero */
+        sum = 0.0f;
+
+        /* Initialize the pointer pIn1 to point to the starting address of the row being processed */
+        pIn1 = pInA;
+
+        /* Matrix A columns number of MAC operations are to be performed */
+        colCnt = numColsA;
+
+        while(colCnt > 0u)
+        {
+          /* c(m,n) = a(1,1)*b(1,1) + a(1,2) * b(2,1) + .... + a(m,p)*b(p,n) */
+          sum += *pIn1++ * (*pIn2);
+          pIn2 += numColsB;
+
+          /* Decrement the loop counter */
+          colCnt--;
+        }
+
+        /* Store the result in the destination buffer */
+        *px++ = sum;
+
+        /* Decrement the column loop counter */
+        col--;
+
+        /* Update the pointer pIn2 to point to the  starting address of the next column */
+        pIn2 = pInB + (numColsB - col);
+
+      } while(col > 0u);
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+      /* Update the pointer pInA to point to the  starting address of the next row */
+      i = i + numColsB;
+      pInA = pInA + numColsA;
+
+      /* Decrement the row loop counter */
+      row--;
+
+    } while(row > 0u);
+    /* Set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+
+/**    
+ * @} end of MatrixMult group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_fast_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_fast_q15.c
new file mode 100644
index 000000000..a88e3cdd1
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_fast_q15.c
@@ -0,0 +1,361 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_mat_mult_fast_q15.c    
+*    
+* Description:	 Q15 matrix multiplication (fast variant)    
+*    
+* Target Processor: Cortex-M4/Cortex-M3
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupMatrix    
+ */
+
+/**    
+ * @addtogroup MatrixMult    
+ * @{    
+ */
+
+
+/**    
+ * @brief Q15 matrix multiplication (fast variant) for Cortex-M3 and Cortex-M4    
+ * @param[in]       *pSrcA points to the first input matrix structure    
+ * @param[in]       *pSrcB points to the second input matrix structure    
+ * @param[out]      *pDst points to output matrix structure    
+ * @param[in]		*pState points to the array for storing intermediate results    
+ * @return     		The function returns either    
+ * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.    
+ *    
+ * @details    
+ * Scaling and Overflow Behavior:    
+ *    
+ * \par    
+ * The difference between the function arm_mat_mult_q15() and this fast variant is that    
+ * the fast variant use a 32-bit rather than a 64-bit accumulator.    
+ * The result of each 1.15 x 1.15 multiplication is truncated to        
+ * 2.30 format. These intermediate results are accumulated in a 32-bit register in 2.30        
+ * format. Finally, the accumulator is saturated and converted to a 1.15 result.        
+ *        
+ * \par        
+ * The fast version has the same overflow behavior as the standard version but provides        
+ * less precision since it discards the low 16 bits of each multiplication result.        
+ * In order to avoid overflows completely the input signals must be scaled down.        
+ * Scale down one of the input matrices by log2(numColsA) bits to        
+ * avoid overflows, as a total of numColsA additions are computed internally for each        
+ * output element.        
+ *        
+ * \par    
+ * See arm_mat_mult_q15() for a slower implementation of this function    
+ * which uses 64-bit accumulation to provide higher precision.    
+ */
+
+arm_status arm_mat_mult_fast_q15(
+  const arm_matrix_instance_q15 * pSrcA,
+  const arm_matrix_instance_q15 * pSrcB,
+  arm_matrix_instance_q15 * pDst,
+  q15_t * pState)
+{
+  q31_t sum;                                     /* accumulator */
+  q15_t *pSrcBT = pState;                        /* input data matrix pointer for transpose */
+  q15_t *pInA = pSrcA->pData;                    /* input data matrix pointer A of Q15 type */
+  q15_t *pInB = pSrcB->pData;                    /* input data matrix pointer B of Q15 type */
+  q15_t *px;                                     /* Temporary output data matrix pointer */
+  uint16_t numRowsA = pSrcA->numRows;            /* number of rows of input matrix A    */
+  uint16_t numColsB = pSrcB->numCols;            /* number of columns of input matrix B */
+  uint16_t numColsA = pSrcA->numCols;            /* number of columns of input matrix A */
+  uint16_t numRowsB = pSrcB->numRows;            /* number of rows of input matrix A    */
+  uint16_t col, i = 0u, row = numRowsB, colCnt;  /* loop counters */
+  arm_status status;                             /* status of matrix multiplication */
+
+#ifndef UNALIGNED_SUPPORT_DISABLE
+
+  q31_t in;                                      /* Temporary variable to hold the input value */
+  q31_t inA1, inA2, inB1, inB2;
+
+#else
+
+  q15_t in;                                      /* Temporary variable to hold the input value */
+  q15_t inA1, inA2, inB1, inB2;
+
+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
+
+#ifdef ARM_MATH_MATRIX_CHECK
+  /* Check for matrix mismatch condition */
+  if((pSrcA->numCols != pSrcB->numRows) ||
+     (pSrcA->numRows != pDst->numRows) || (pSrcB->numCols != pDst->numCols))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif
+  {
+    /* Matrix transpose */
+    do
+    {
+      /* Apply loop unrolling and exchange the columns with row elements */
+      col = numColsB >> 2;
+
+      /* The pointer px is set to starting address of the column being processed */
+      px = pSrcBT + i;
+
+      /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.        
+       ** a second loop below computes the remaining 1 to 3 samples. */
+      while(col > 0u)
+      {
+#ifndef UNALIGNED_SUPPORT_DISABLE
+        /* Read two elements from the row */
+        in = *__SIMD32(pInB)++;
+
+        /* Unpack and store one element in the destination */
+#ifndef ARM_MATH_BIG_ENDIAN
+
+        *px = (q15_t) in;
+
+#else
+
+        *px = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
+
+#endif /*    #ifndef ARM_MATH_BIG_ENDIAN    */
+
+        /* Update the pointer px to point to the next row of the transposed matrix */
+        px += numRowsB;
+
+        /* Unpack and store the second element in the destination */
+#ifndef ARM_MATH_BIG_ENDIAN
+
+        *px = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
+
+#else
+
+        *px = (q15_t) in;
+
+#endif /*    #ifndef ARM_MATH_BIG_ENDIAN    */
+
+        /* Update the pointer px to point to the next row of the transposed matrix */
+        px += numRowsB;
+
+        /* Read two elements from the row */
+        in = *__SIMD32(pInB)++;
+
+        /* Unpack and store one element in the destination */
+#ifndef ARM_MATH_BIG_ENDIAN
+
+        *px = (q15_t) in;
+
+#else
+
+        *px = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
+
+#endif /*    #ifndef ARM_MATH_BIG_ENDIAN    */
+
+        /* Update the pointer px to point to the next row of the transposed matrix */
+        px += numRowsB;
+
+        /* Unpack and store the second element in the destination */
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+        *px = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
+
+#else
+
+        *px = (q15_t) in;
+
+#endif /*    #ifndef ARM_MATH_BIG_ENDIAN    */
+
+#else
+
+        /* Read one element from the row */
+        in = *pInB++;
+
+        /* Store one element in the destination */
+        *px = in;
+ 
+        /* Update the pointer px to point to the next row of the transposed matrix */
+        px += numRowsB;
+
+        /* Read one element from the row */
+        in = *pInB++;
+
+        /* Store one element in the destination */
+        *px = in;
+ 
+        /* Update the pointer px to point to the next row of the transposed matrix */
+        px += numRowsB;
+
+        /* Read one element from the row */
+        in = *pInB++;
+
+        /* Store one element in the destination */
+        *px = in;
+ 
+        /* Update the pointer px to point to the next row of the transposed matrix */
+        px += numRowsB;
+
+        /* Read one element from the row */
+        in = *pInB++;
+
+        /* Store one element in the destination */
+        *px = in;
+
+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
+        
+		/* Update the pointer px to point to the next row of the transposed matrix */
+        px += numRowsB;
+
+        /* Decrement the column loop counter */
+        col--;
+      }
+
+      /* If the columns of pSrcB is not a multiple of 4, compute any remaining output samples here.        
+       ** No loop unrolling is used. */
+      col = numColsB % 0x4u;
+
+      while(col > 0u)
+      {
+        /* Read and store the input element in the destination */
+        *px = *pInB++;
+
+        /* Update the pointer px to point to the next row of the transposed matrix */
+        px += numRowsB;
+
+        /* Decrement the column loop counter */
+        col--;
+      }
+
+      i++;
+
+      /* Decrement the row loop counter */
+      row--;
+
+    } while(row > 0u);
+
+    /* Reset the variables for the usage in the following multiplication process */
+    row = numRowsA;
+    i = 0u;
+    px = pDst->pData;
+
+    /* The following loop performs the dot-product of each row in pSrcA with each column in pSrcB */
+    /* row loop */
+    do
+    {
+      /* For every row wise process, the column loop counter is to be initiated */
+      col = numColsB;
+
+      /* For every row wise process, the pIn2 pointer is set        
+       ** to the starting address of the transposed pSrcB data */
+      pInB = pSrcBT;
+
+      /* column loop */
+      do
+      {
+        /* Set the variable sum, that acts as accumulator, to zero */
+        sum = 0;
+
+        /* Apply loop unrolling and compute 2 MACs simultaneously. */
+        colCnt = numColsA >> 2;
+
+        /* Initiate the pointer pIn1 to point to the starting address of the column being processed */
+        pInA = pSrcA->pData + i;
+
+        /* matrix multiplication */
+        while(colCnt > 0u)
+        {
+          /* c(m,n) = a(1,1)*b(1,1) + a(1,2) * b(2,1) + .... + a(m,p)*b(p,n) */
+#ifndef UNALIGNED_SUPPORT_DISABLE
+
+          inA1 = *__SIMD32(pInA)++;
+          inB1 = *__SIMD32(pInB)++;
+          inA2 = *__SIMD32(pInA)++;
+          inB2 = *__SIMD32(pInB)++;
+
+          sum = __SMLAD(inA1, inB1, sum);
+          sum = __SMLAD(inA2, inB2, sum);
+
+#else
+
+          inA1 = *pInA++;
+          inB1 = *pInB++;
+          inA2 = *pInA++;
+          sum += inA1 * inB1;
+          inB2 = *pInB++;
+
+          inA1 = *pInA++;
+          inB1 = *pInB++;
+          sum += inA2 * inB2;
+          inA2 = *pInA++;
+          inB2 = *pInB++;
+
+          sum += inA1 * inB1;
+          sum += inA2 * inB2;
+
+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
+
+          /* Decrement the loop counter */
+          colCnt--;
+        }
+
+        /* process odd column samples */
+        colCnt = numColsA % 0x4u;
+
+        while(colCnt > 0u)
+        {
+          /* c(m,n) = a(1,1)*b(1,1) + a(1,2) * b(2,1) + .... + a(m,p)*b(p,n) */
+          sum += (q31_t) (*pInA++) * (*pInB++);
+
+          colCnt--;
+        }
+
+        /* Saturate and store the result in the destination buffer */
+        *px = (q15_t) (sum >> 15);
+        px++;
+
+        /* Decrement the column loop counter */
+        col--;
+
+      } while(col > 0u);
+
+      i = i + numColsA;
+
+      /* Decrement the row loop counter */
+      row--;
+
+    } while(row > 0u);
+
+    /* set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+
+/**        
+ * @} end of MatrixMult group        
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_fast_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_fast_q31.c
new file mode 100644
index 000000000..7fdbb1cb8
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_fast_q31.c
@@ -0,0 +1,218 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_mat_mult_fast_q31.c    
+*    
+* Description:	 Q31 matrix multiplication (fast variant).    
+*    
+* Target Processor: Cortex-M4/Cortex-M3
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupMatrix    
+ */
+
+/**    
+ * @addtogroup MatrixMult    
+ * @{    
+ */
+
+/**    
+ * @brief Q31 matrix multiplication (fast variant) for Cortex-M3 and Cortex-M4    
+ * @param[in]       *pSrcA points to the first input matrix structure    
+ * @param[in]       *pSrcB points to the second input matrix structure    
+ * @param[out]      *pDst points to output matrix structure    
+ * @return     		The function returns either    
+ * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.    
+ *    
+ * @details    
+ * Scaling and Overflow Behavior:    
+ *    
+ * \par    
+ * The difference between the function arm_mat_mult_q31() and this fast variant is that    
+ * the fast variant use a 32-bit rather than a 64-bit accumulator.    
+ * The result of each 1.31 x 1.31 multiplication is truncated to    
+ * 2.30 format. These intermediate results are accumulated in a 32-bit register in 2.30    
+ * format. Finally, the accumulator is saturated and converted to a 1.31 result.    
+ *    
+ * \par    
+ * The fast version has the same overflow behavior as the standard version but provides    
+ * less precision since it discards the low 32 bits of each multiplication result.    
+ * In order to avoid overflows completely the input signals must be scaled down.    
+ * Scale down one of the input matrices by log2(numColsA) bits to    
+ * avoid overflows, as a total of numColsA additions are computed internally for each    
+ * output element.    
+ *    
+ * \par    
+ * See arm_mat_mult_q31() for a slower implementation of this function    
+ * which uses 64-bit accumulation to provide higher precision.    
+ */
+
+arm_status arm_mat_mult_fast_q31(
+  const arm_matrix_instance_q31 * pSrcA,
+  const arm_matrix_instance_q31 * pSrcB,
+  arm_matrix_instance_q31 * pDst)
+{
+  q31_t *pIn1 = pSrcA->pData;                    /* input data matrix pointer A */
+  q31_t *pIn2 = pSrcB->pData;                    /* input data matrix pointer B */
+  q31_t *pInA = pSrcA->pData;                    /* input data matrix pointer A */
+//  q31_t *pSrcB = pSrcB->pData;                    /* input data matrix pointer B */    
+  q31_t *pOut = pDst->pData;                     /* output data matrix pointer */
+  q31_t *px;                                     /* Temporary output data matrix pointer */
+  q31_t sum;                                     /* Accumulator */
+  uint16_t numRowsA = pSrcA->numRows;            /* number of rows of input matrix A    */
+  uint16_t numColsB = pSrcB->numCols;            /* number of columns of input matrix B */
+  uint16_t numColsA = pSrcA->numCols;            /* number of columns of input matrix A */
+  uint16_t col, i = 0u, j, row = numRowsA, colCnt;      /* loop counters */
+  arm_status status;                             /* status of matrix multiplication */
+  q31_t inA1, inA2, inA3, inA4, inB1, inB2, inB3, inB4;
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+
+  /* Check for matrix mismatch condition */
+  if((pSrcA->numCols != pSrcB->numRows) ||
+     (pSrcA->numRows != pDst->numRows) || (pSrcB->numCols != pDst->numCols))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif /*      #ifdef ARM_MATH_MATRIX_CHECK    */
+
+  {
+    /* The following loop performs the dot-product of each row in pSrcA with each column in pSrcB */
+    /* row loop */
+    do
+    {
+      /* Output pointer is set to starting address of the row being processed */
+      px = pOut + i;
+
+      /* For every row wise process, the column loop counter is to be initiated */
+      col = numColsB;
+
+      /* For every row wise process, the pIn2 pointer is set    
+       ** to the starting address of the pSrcB data */
+      pIn2 = pSrcB->pData;
+
+      j = 0u;
+
+      /* column loop */
+      do
+      {
+        /* Set the variable sum, that acts as accumulator, to zero */
+        sum = 0;
+
+        /* Initiate the pointer pIn1 to point to the starting address of pInA */
+        pIn1 = pInA;
+
+        /* Apply loop unrolling and compute 4 MACs simultaneously. */
+        colCnt = numColsA >> 2;
+
+
+        /* matrix multiplication */
+        while(colCnt > 0u)
+        {
+          /* c(m,n) = a(1,1)*b(1,1) + a(1,2) * b(2,1) + .... + a(m,p)*b(p,n) */
+          /* Perform the multiply-accumulates */
+          inB1 = *pIn2;
+          pIn2 += numColsB;
+
+          inA1 = pIn1[0];
+          inA2 = pIn1[1];
+
+          inB2 = *pIn2;
+          pIn2 += numColsB;
+
+          inB3 = *pIn2;
+          pIn2 += numColsB;
+
+          sum = (q31_t) ((((q63_t) sum << 32) + ((q63_t) inA1 * inB1)) >> 32);
+          sum = (q31_t) ((((q63_t) sum << 32) + ((q63_t) inA2 * inB2)) >> 32);
+
+          inA3 = pIn1[2];
+          inA4 = pIn1[3];
+
+          inB4 = *pIn2;
+          pIn2 += numColsB;
+
+          sum = (q31_t) ((((q63_t) sum << 32) + ((q63_t) inA3 * inB3)) >> 32);
+          sum = (q31_t) ((((q63_t) sum << 32) + ((q63_t) inA4 * inB4)) >> 32);
+
+          pIn1 += 4u;
+
+          /* Decrement the loop counter */
+          colCnt--;
+        }
+
+        /* If the columns of pSrcA is not a multiple of 4, compute any remaining output samples here.    
+         ** No loop unrolling is used. */
+        colCnt = numColsA % 0x4u;
+
+        while(colCnt > 0u)
+        {
+          /* c(m,n) = a(1,1)*b(1,1) + a(1,2) * b(2,1) + .... + a(m,p)*b(p,n) */
+          /* Perform the multiply-accumulates */
+          sum = (q31_t) ((((q63_t) sum << 32) +
+                          ((q63_t) * pIn1++ * (*pIn2))) >> 32);
+          pIn2 += numColsB;
+
+          /* Decrement the loop counter */
+          colCnt--;
+        }
+
+        /* Convert the result from 2.30 to 1.31 format and store in destination buffer */
+        *px++ = sum << 1;
+
+        /* Update the pointer pIn2 to point to the  starting address of the next column */
+        j++;
+        pIn2 = pSrcB->pData + j;
+
+        /* Decrement the column loop counter */
+        col--;
+
+      } while(col > 0u);
+
+      /* Update the pointer pInA to point to the  starting address of the next row */
+      i = i + numColsB;
+      pInA = pInA + numColsA;
+
+      /* Decrement the row loop counter */
+      row--;
+
+    } while(row > 0u);
+
+    /* set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+  /* Return to application */
+  return (status);
+}
+
+/**    
+ * @} end of MatrixMult group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q15.c
new file mode 100644
index 000000000..b48d204ed
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q15.c
@@ -0,0 +1,467 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_mat_mult_q15.c    
+*    
+* Description:	 Q15 matrix multiplication.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.5  2010/04/26     
+*    incorporated review comments and updated with latest CMSIS layer    
+*    
+* Version 0.0.3  2010/03/10     
+*    Initial version    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupMatrix    
+ */
+
+/**    
+ * @addtogroup MatrixMult    
+ * @{    
+ */
+
+
+/**    
+ * @brief Q15 matrix multiplication    
+ * @param[in]       *pSrcA points to the first input matrix structure    
+ * @param[in]       *pSrcB points to the second input matrix structure    
+ * @param[out]      *pDst points to output matrix structure    
+ * @param[in]		*pState points to the array for storing intermediate results   
+ * @return     		The function returns either    
+ * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.    
+ *    
+ * @details    
+ * Scaling and Overflow Behavior:    
+ *    
+ * \par    
+ * The function is implemented using a 64-bit internal accumulator. The inputs to the    
+ * multiplications are in 1.15 format and multiplications yield a 2.30 result.    
+ * The 2.30 intermediate    
+ * results are accumulated in a 64-bit accumulator in 34.30 format. This approach    
+ * provides 33 guard bits and there is no risk of overflow. The 34.30 result is then    
+ * truncated to 34.15 format by discarding the low 15 bits and then saturated to    
+ * 1.15 format.    
+ *    
+ * \par    
+ * Refer to arm_mat_mult_fast_q15() for a faster but less precise version of this function for Cortex-M3 and Cortex-M4.    
+ *    
+ */
+
+arm_status arm_mat_mult_q15(
+  const arm_matrix_instance_q15 * pSrcA,
+  const arm_matrix_instance_q15 * pSrcB,
+  arm_matrix_instance_q15 * pDst,
+  q15_t * pState)
+{
+  q63_t sum;                                     /* accumulator */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q15_t *pSrcBT = pState;                        /* input data matrix pointer for transpose */
+  q15_t *pInA = pSrcA->pData;                    /* input data matrix pointer A of Q15 type */
+  q15_t *pInB = pSrcB->pData;                    /* input data matrix pointer B of Q15 type */
+  q15_t *px;                                     /* Temporary output data matrix pointer */
+  uint16_t numRowsA = pSrcA->numRows;            /* number of rows of input matrix A    */
+  uint16_t numColsB = pSrcB->numCols;            /* number of columns of input matrix B */
+  uint16_t numColsA = pSrcA->numCols;            /* number of columns of input matrix A */
+  uint16_t numRowsB = pSrcB->numRows;            /* number of rows of input matrix A    */
+  uint16_t col, i = 0u, row = numRowsB, colCnt;  /* loop counters */
+  arm_status status;                             /* status of matrix multiplication */
+
+#ifndef UNALIGNED_SUPPORT_DISABLE
+
+  q31_t in;                                      /* Temporary variable to hold the input value */
+  q31_t pSourceA1, pSourceB1, pSourceA2, pSourceB2;
+
+#else
+
+  q15_t in;                                      /* Temporary variable to hold the input value */
+  q15_t inA1, inB1, inA2, inB2;
+
+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
+
+#ifdef ARM_MATH_MATRIX_CHECK
+  /* Check for matrix mismatch condition */
+  if((pSrcA->numCols != pSrcB->numRows) ||
+     (pSrcA->numRows != pDst->numRows) || (pSrcB->numCols != pDst->numCols))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */
+  {
+    /* Matrix transpose */
+    do
+    {
+      /* Apply loop unrolling and exchange the columns with row elements */
+      col = numColsB >> 2;
+
+      /* The pointer px is set to starting address of the column being processed */
+      px = pSrcBT + i;
+
+      /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.        
+       ** a second loop below computes the remaining 1 to 3 samples. */
+      while(col > 0u)
+      {
+#ifndef UNALIGNED_SUPPORT_DISABLE
+
+        /* Read two elements from the row */
+        in = *__SIMD32(pInB)++;
+
+        /* Unpack and store one element in the destination */
+#ifndef ARM_MATH_BIG_ENDIAN
+
+        *px = (q15_t) in;
+
+#else
+
+        *px = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
+
+#endif /*    #ifndef ARM_MATH_BIG_ENDIAN    */
+
+        /* Update the pointer px to point to the next row of the transposed matrix */
+        px += numRowsB;
+
+        /* Unpack and store the second element in the destination */
+#ifndef ARM_MATH_BIG_ENDIAN
+
+        *px = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
+
+#else
+
+        *px = (q15_t) in;
+
+#endif /*    #ifndef ARM_MATH_BIG_ENDIAN    */
+
+        /* Update the pointer px to point to the next row of the transposed matrix */
+        px += numRowsB;
+
+        /* Read two elements from the row */
+        in = *__SIMD32(pInB)++;
+
+        /* Unpack and store one element in the destination */
+#ifndef ARM_MATH_BIG_ENDIAN
+
+        *px = (q15_t) in;
+
+#else
+
+        *px = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
+
+#endif /*    #ifndef ARM_MATH_BIG_ENDIAN    */
+
+        /* Update the pointer px to point to the next row of the transposed matrix */
+        px += numRowsB;
+
+        /* Unpack and store the second element in the destination */
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+        *px = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
+
+#else
+
+        *px = (q15_t) in;
+
+#endif /*    #ifndef ARM_MATH_BIG_ENDIAN    */
+
+        /* Update the pointer px to point to the next row of the transposed matrix */
+        px += numRowsB;
+
+#else
+
+        /* Read one element from the row */
+        in = *pInB++;
+
+        /* Store one element in the destination */
+        *px = in;
+ 
+        /* Update the pointer px to point to the next row of the transposed matrix */
+        px += numRowsB;
+
+        /* Read one element from the row */
+        in = *pInB++;
+
+        /* Store one element in the destination */
+        *px = in;
+ 
+        /* Update the pointer px to point to the next row of the transposed matrix */
+        px += numRowsB;
+
+        /* Read one element from the row */
+        in = *pInB++;
+
+        /* Store one element in the destination */
+        *px = in;
+ 
+        /* Update the pointer px to point to the next row of the transposed matrix */
+        px += numRowsB;
+
+        /* Read one element from the row */
+        in = *pInB++;
+
+        /* Store one element in the destination */
+        *px = in;
+ 
+        /* Update the pointer px to point to the next row of the transposed matrix */
+        px += numRowsB;
+
+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
+
+       /* Decrement the column loop counter */
+        col--;
+      }
+
+      /* If the columns of pSrcB is not a multiple of 4, compute any remaining output samples here.        
+       ** No loop unrolling is used. */
+      col = numColsB % 0x4u;
+
+      while(col > 0u)
+      {
+        /* Read and store the input element in the destination */
+        *px = *pInB++;
+
+        /* Update the pointer px to point to the next row of the transposed matrix */
+        px += numRowsB;
+
+        /* Decrement the column loop counter */
+        col--;
+      }
+
+      i++;
+
+      /* Decrement the row loop counter */
+      row--;
+
+    } while(row > 0u);
+
+    /* Reset the variables for the usage in the following multiplication process */
+    row = numRowsA;
+    i = 0u;
+    px = pDst->pData;
+
+    /* The following loop performs the dot-product of each row in pSrcA with each column in pSrcB */
+    /* row loop */
+    do
+    {
+      /* For every row wise process, the column loop counter is to be initiated */
+      col = numColsB;
+
+      /* For every row wise process, the pIn2 pointer is set        
+       ** to the starting address of the transposed pSrcB data */
+      pInB = pSrcBT;
+
+      /* column loop */
+      do
+      {
+        /* Set the variable sum, that acts as accumulator, to zero */
+        sum = 0;
+
+        /* Apply loop unrolling and compute 2 MACs simultaneously. */
+        colCnt = numColsA >> 2;
+
+        /* Initiate the pointer pIn1 to point to the starting address of the column being processed */
+        pInA = pSrcA->pData + i;
+
+
+        /* matrix multiplication */
+        while(colCnt > 0u)
+        {
+          /* c(m,n) = a(1,1)*b(1,1) + a(1,2) * b(2,1) + .... + a(m,p)*b(p,n) */
+#ifndef UNALIGNED_SUPPORT_DISABLE
+
+          /* read real and imag values from pSrcA and pSrcB buffer */
+          pSourceA1 = *__SIMD32(pInA)++;
+          pSourceB1 = *__SIMD32(pInB)++;
+
+          pSourceA2 = *__SIMD32(pInA)++;
+          pSourceB2 = *__SIMD32(pInB)++;
+
+          /* Multiply and Accumlates */
+          sum = __SMLALD(pSourceA1, pSourceB1, sum);
+          sum = __SMLALD(pSourceA2, pSourceB2, sum);
+
+#else
+          /* read real and imag values from pSrcA and pSrcB buffer */
+          inA1 = *pInA++;
+          inB1 = *pInB++;
+          inA2 = *pInA++;
+          /* Multiply and Accumlates */
+          sum += inA1 * inB1;
+          inB2 = *pInB++;
+
+          inA1 = *pInA++;
+          inB1 = *pInB++;
+          /* Multiply and Accumlates */
+          sum += inA2 * inB2;
+          inA2 = *pInA++;
+          inB2 = *pInB++;
+
+          /* Multiply and Accumlates */
+          sum += inA1 * inB1;
+          sum += inA2 * inB2;
+
+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
+
+          /* Decrement the loop counter */
+          colCnt--;
+        }
+
+        /* process remaining column samples */
+        colCnt = numColsA & 3u;
+
+        while(colCnt > 0u)
+        {
+          /* c(m,n) = a(1,1)*b(1,1) + a(1,2) * b(2,1) + .... + a(m,p)*b(p,n) */
+          sum += *pInA++ * *pInB++;
+
+          /* Decrement the loop counter */
+          colCnt--;
+        }
+
+        /* Saturate and store the result in the destination buffer */
+        *px = (q15_t) (__SSAT((sum >> 15), 16));
+        px++;
+
+        /* Decrement the column loop counter */
+        col--;
+
+      } while(col > 0u);
+
+      i = i + numColsA;
+
+      /* Decrement the row loop counter */
+      row--;
+
+    } while(row > 0u);
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  q15_t *pIn1 = pSrcA->pData;                    /* input data matrix pointer A */
+  q15_t *pIn2 = pSrcB->pData;                    /* input data matrix pointer B */
+  q15_t *pInA = pSrcA->pData;                    /* input data matrix pointer A of Q15 type */
+  q15_t *pInB = pSrcB->pData;                    /* input data matrix pointer B of Q15 type */
+  q15_t *pOut = pDst->pData;                     /* output data matrix pointer */
+  q15_t *px;                                     /* Temporary output data matrix pointer */
+  uint16_t numColsB = pSrcB->numCols;            /* number of columns of input matrix B */
+  uint16_t numColsA = pSrcA->numCols;            /* number of columns of input matrix A */
+  uint16_t numRowsA = pSrcA->numRows;            /* number of rows of input matrix A    */
+  uint16_t col, i = 0u, row = numRowsA, colCnt;  /* loop counters */
+  arm_status status;                             /* status of matrix multiplication */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if((pSrcA->numCols != pSrcB->numRows) ||
+     (pSrcA->numRows != pDst->numRows) || (pSrcB->numCols != pDst->numCols))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */
+
+  {
+    /* The following loop performs the dot-product of each row in pSrcA with each column in pSrcB */
+    /* row loop */
+    do
+    {
+      /* Output pointer is set to starting address of the row being processed */
+      px = pOut + i;
+
+      /* For every row wise process, the column loop counter is to be initiated */
+      col = numColsB;
+
+      /* For every row wise process, the pIn2 pointer is set          
+       ** to the starting address of the pSrcB data */
+      pIn2 = pSrcB->pData;
+
+      /* column loop */
+      do
+      {
+        /* Set the variable sum, that acts as accumulator, to zero */
+        sum = 0;
+
+        /* Initiate the pointer pIn1 to point to the starting address of pSrcA */
+        pIn1 = pInA;
+
+        /* Matrix A columns number of MAC operations are to be performed */
+        colCnt = numColsA;
+
+        /* matrix multiplication */
+        while(colCnt > 0u)
+        {
+          /* c(m,n) = a(1,1)*b(1,1) + a(1,2) * b(2,1) + .... + a(m,p)*b(p,n) */
+          /* Perform the multiply-accumulates */
+          sum += (q31_t) * pIn1++ * *pIn2;
+          pIn2 += numColsB;
+
+          /* Decrement the loop counter */
+          colCnt--;
+        }
+
+        /* Convert the result from 34.30 to 1.15 format and store the saturated value in destination buffer */
+        /* Saturate and store the result in the destination buffer */
+        *px++ = (q15_t) __SSAT((sum >> 15), 16);
+
+        /* Decrement the column loop counter */
+        col--;
+
+        /* Update the pointer pIn2 to point to the  starting address of the next column */
+        pIn2 = pInB + (numColsB - col);
+
+      } while(col > 0u);
+
+      /* Update the pointer pSrcA to point to the  starting address of the next row */
+      i = i + numColsB;
+      pInA = pInA + numColsA;
+
+      /* Decrement the row loop counter */
+      row--;
+
+    } while(row > 0u);
+
+#endif /* #ifndef ARM_MATH_CM0 */
+    /* set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+
+/**        
+ * @} end of MatrixMult group        
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q31.c
new file mode 100644
index 000000000..eb7652204
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q31.c
@@ -0,0 +1,292 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_mat_mult_q31.c    
+*    
+* Description:	 Q31 matrix multiplication.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.5  2010/04/26     
+*    incorporated review comments and updated with latest CMSIS layer    
+*    
+* Version 0.0.3  2010/03/10     
+*    Initial version    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupMatrix    
+ */
+
+/**    
+ * @addtogroup MatrixMult    
+ * @{    
+ */
+
+/**    
+ * @brief Q31 matrix multiplication    
+ * @param[in]       *pSrcA points to the first input matrix structure    
+ * @param[in]       *pSrcB points to the second input matrix structure    
+ * @param[out]      *pDst points to output matrix structure    
+ * @return     		The function returns either    
+ * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.    
+ *    
+ * @details    
+ * Scaling and Overflow Behavior:    
+ *    
+ * \par    
+ * The function is implemented using an internal 64-bit accumulator.    
+ * The accumulator has a 2.62 format and maintains full precision of the intermediate    
+ * multiplication results but provides only a single guard bit. There is no saturation    
+ * on intermediate additions. Thus, if the accumulator overflows it wraps around and    
+ * distorts the result. The input signals should be scaled down to avoid intermediate    
+ * overflows. The input is thus scaled down by log2(numColsA) bits    
+ * to avoid overflows, as a total of numColsA additions are performed internally.    
+ * The 2.62 accumulator is right shifted by 31 bits and saturated to 1.31 format to yield the final result.    
+ *    
+ * \par    
+ * See arm_mat_mult_fast_q31() for a faster but less precise implementation of this function for Cortex-M3 and Cortex-M4.    
+ *    
+ */
+
+arm_status arm_mat_mult_q31(
+  const arm_matrix_instance_q31 * pSrcA,
+  const arm_matrix_instance_q31 * pSrcB,
+  arm_matrix_instance_q31 * pDst)
+{
+  q31_t *pIn1 = pSrcA->pData;                    /* input data matrix pointer A */
+  q31_t *pIn2 = pSrcB->pData;                    /* input data matrix pointer B */
+  q31_t *pInA = pSrcA->pData;                    /* input data matrix pointer A */
+  q31_t *pOut = pDst->pData;                     /* output data matrix pointer */
+  q31_t *px;                                     /* Temporary output data matrix pointer */
+  q63_t sum;                                     /* Accumulator */
+  uint16_t numRowsA = pSrcA->numRows;            /* number of rows of input matrix A    */
+  uint16_t numColsB = pSrcB->numCols;            /* number of columns of input matrix B */
+  uint16_t numColsA = pSrcA->numCols;            /* number of columns of input matrix A */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  uint16_t col, i = 0u, j, row = numRowsA, colCnt;      /* loop counters */
+  arm_status status;                             /* status of matrix multiplication */
+  q31_t a0, a1, a2, a3, b0, b1, b2, b3;
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+
+  /* Check for matrix mismatch condition */
+  if((pSrcA->numCols != pSrcB->numRows) ||
+     (pSrcA->numRows != pDst->numRows) || (pSrcB->numCols != pDst->numCols))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */
+
+  {
+    /* The following loop performs the dot-product of each row in pSrcA with each column in pSrcB */
+    /* row loop */
+    do
+    {
+      /* Output pointer is set to starting address of the row being processed */
+      px = pOut + i;
+
+      /* For every row wise process, the column loop counter is to be initiated */
+      col = numColsB;
+
+      /* For every row wise process, the pIn2 pointer is set    
+       ** to the starting address of the pSrcB data */
+      pIn2 = pSrcB->pData;
+
+      j = 0u;
+
+      /* column loop */
+      do
+      {
+        /* Set the variable sum, that acts as accumulator, to zero */
+        sum = 0;
+
+        /* Initiate the pointer pIn1 to point to the starting address of pInA */
+        pIn1 = pInA;
+
+        /* Apply loop unrolling and compute 4 MACs simultaneously. */
+        colCnt = numColsA >> 2;
+
+
+        /* matrix multiplication */
+        while(colCnt > 0u)
+        {
+          /* c(m,n) = a(1,1)*b(1,1) + a(1,2) * b(2,1) + .... + a(m,p)*b(p,n) */
+          /* Perform the multiply-accumulates */
+          b0 = *pIn2;
+          pIn2 += numColsB;
+
+          a0 = *pIn1++;
+          a1 = *pIn1++;
+
+          b1 = *pIn2;
+          pIn2 += numColsB;
+          b2 = *pIn2;
+          pIn2 += numColsB;
+
+          sum += (q63_t) a0 *b0;
+          sum += (q63_t) a1 *b1;
+
+          a2 = *pIn1++;
+          a3 = *pIn1++;
+
+          b3 = *pIn2;
+          pIn2 += numColsB;
+
+          sum += (q63_t) a2 *b2;
+          sum += (q63_t) a3 *b3;
+
+          /* Decrement the loop counter */
+          colCnt--;
+        }
+
+        /* If the columns of pSrcA is not a multiple of 4, compute any remaining output samples here.    
+         ** No loop unrolling is used. */
+        colCnt = numColsA % 0x4u;
+
+        while(colCnt > 0u)
+        {
+          /* c(m,n) = a(1,1)*b(1,1) + a(1,2) * b(2,1) + .... + a(m,p)*b(p,n) */
+          /* Perform the multiply-accumulates */
+          sum += (q63_t) * pIn1++ * *pIn2;
+          pIn2 += numColsB;
+
+          /* Decrement the loop counter */
+          colCnt--;
+        }
+
+        /* Convert the result from 2.62 to 1.31 format and store in destination buffer */
+        *px++ = (q31_t) (sum >> 31);
+
+        /* Update the pointer pIn2 to point to the  starting address of the next column */
+        j++;
+        pIn2 = (pSrcB->pData) + j;
+
+        /* Decrement the column loop counter */
+        col--;
+
+      } while(col > 0u);
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  q31_t *pInB = pSrcB->pData;                    /* input data matrix pointer B */
+  uint16_t col, i = 0u, row = numRowsA, colCnt;  /* loop counters */
+  arm_status status;                             /* status of matrix multiplication */
+
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if((pSrcA->numCols != pSrcB->numRows) ||
+     (pSrcA->numRows != pDst->numRows) || (pSrcB->numCols != pDst->numCols))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */
+
+  {
+    /* The following loop performs the dot-product of each row in pSrcA with each column in pSrcB */
+    /* row loop */
+    do
+    {
+      /* Output pointer is set to starting address of the row being processed */
+      px = pOut + i;
+
+      /* For every row wise process, the column loop counter is to be initiated */
+      col = numColsB;
+
+      /* For every row wise process, the pIn2 pointer is set          
+       ** to the starting address of the pSrcB data */
+      pIn2 = pSrcB->pData;
+
+      /* column loop */
+      do
+      {
+        /* Set the variable sum, that acts as accumulator, to zero */
+        sum = 0;
+
+        /* Initiate the pointer pIn1 to point to the starting address of pInA */
+        pIn1 = pInA;
+
+        /* Matrix A columns number of MAC operations are to be performed */
+        colCnt = numColsA;
+
+        /* matrix multiplication */
+        while(colCnt > 0u)
+        {
+          /* c(m,n) = a(1,1)*b(1,1) + a(1,2) * b(2,1) + .... + a(m,p)*b(p,n) */
+          /* Perform the multiply-accumulates */
+          sum += (q63_t) * pIn1++ * *pIn2;
+          pIn2 += numColsB;
+
+          /* Decrement the loop counter */
+          colCnt--;
+        }
+
+        /* Convert the result from 2.62 to 1.31 format and store in destination buffer */
+        *px++ = (q31_t) (sum >> 31);
+
+        /* Decrement the column loop counter */
+        col--;
+
+        /* Update the pointer pIn2 to point to the  starting address of the next column */
+        pIn2 = pInB + (numColsB - col);
+
+      } while(col > 0u);
+
+#endif
+
+      /* Update the pointer pInA to point to the  starting address of the next row */
+      i = i + numColsB;
+      pInA = pInA + numColsA;
+
+      /* Decrement the row loop counter */
+      row--;
+
+    } while(row > 0u);
+
+    /* set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+  /* Return to application */
+  return (status);
+}
+
+/**    
+ * @} end of MatrixMult group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_f32.c
new file mode 100644
index 000000000..e64cfd1d1
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_f32.c
@@ -0,0 +1,179 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:        arm_mat_scale_f32.c    
+*    
+* Description:	Multiplies a floating-point matrix by a scalar.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.5  2010/04/26     
+*    incorporated review comments and updated with latest CMSIS layer    
+*    
+* Version 0.0.3  2010/03/10     
+*    Initial version    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**        
+ * @ingroup groupMatrix        
+ */
+
+/**        
+ * @defgroup MatrixScale Matrix Scale        
+ *        
+ * Multiplies a matrix by a scalar.  This is accomplished by multiplying each element in the        
+ * matrix by the scalar.  For example:        
+ * \image html MatrixScale.gif "Matrix Scaling of a 3 x 3 matrix"        
+ *        
+ * The function checks to make sure that the input and output matrices are of the same size.        
+ *        
+ * In the fixed-point Q15 and Q31 functions, scale is represented by        
+ * a fractional multiplication scaleFract and an arithmetic shift shift.        
+ * The shift allows the gain of the scaling operation to exceed 1.0.        
+ * The overall scale factor applied to the fixed-point data is        
+ * 
        
+ *     scale = scaleFract * 2^shift.        
+ * 
        
+ */
+
+/**        
+ * @addtogroup MatrixScale        
+ * @{        
+ */
+
+/**        
+ * @brief Floating-point matrix scaling.        
+ * @param[in]       *pSrc points to input matrix structure        
+ * @param[in]       scale scale factor to be applied         
+ * @param[out]      *pDst points to output matrix structure        
+ * @return     		The function returns either ARM_MATH_SIZE_MISMATCH         
+ * or ARM_MATH_SUCCESS based on the outcome of size checking.        
+ *        
+ */
+
+arm_status arm_mat_scale_f32(
+  const arm_matrix_instance_f32 * pSrc,
+  float32_t scale,
+  arm_matrix_instance_f32 * pDst)
+{
+  float32_t *pIn = pSrc->pData;                  /* input data matrix pointer */
+  float32_t *pOut = pDst->pData;                 /* output data matrix pointer */
+  uint32_t numSamples;                           /* total number of elements in the matrix */
+  uint32_t blkCnt;                               /* loop counters */
+  arm_status status;                             /* status of matrix scaling     */
+
+#ifndef ARM_MATH_CM0
+
+  float32_t in1, in2, in3, in4;                  /* temporary variables */
+  float32_t out1, out2, out3, out4;              /* temporary variables */
+
+#endif //      #ifndef ARM_MATH_CM0
+
+#ifdef ARM_MATH_MATRIX_CHECK
+  /* Check for matrix mismatch condition */
+  if((pSrc->numRows != pDst->numRows) || (pSrc->numCols != pDst->numCols))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */
+  {
+    /* Total number of samples in the input matrix */
+    numSamples = (uint32_t) pSrc->numRows * pSrc->numCols;
+
+#ifndef ARM_MATH_CM0
+
+    /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+    /* Loop Unrolling */
+    blkCnt = numSamples >> 2;
+
+    /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+     ** a second loop below computes the remaining 1 to 3 samples. */
+    while(blkCnt > 0u)
+    {
+      /* C(m,n) = A(m,n) * scale */
+      /* Scaling and results are stored in the destination buffer. */
+      in1 = pIn[0];
+      in2 = pIn[1];
+      in3 = pIn[2];
+      in4 = pIn[3];
+
+      out1 = in1 * scale;
+      out2 = in2 * scale;
+      out3 = in3 * scale;
+      out4 = in4 * scale;
+
+
+      pOut[0] = out1;
+      pOut[1] = out2;
+      pOut[2] = out3;
+      pOut[3] = out4;
+
+      /* update pointers to process next sampels */
+      pIn += 4u;
+      pOut += 4u;
+
+      /* Decrement the numSamples loop counter */
+      blkCnt--;
+    }
+
+    /* If the numSamples is not a multiple of 4, compute any remaining output samples here.    
+     ** No loop unrolling is used. */
+    blkCnt = numSamples % 0x4u;
+
+#else
+
+    /* Run the below code for Cortex-M0 */
+
+    /* Initialize blkCnt with number of samples */
+    blkCnt = numSamples;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+    while(blkCnt > 0u)
+    {
+      /* C(m,n) = A(m,n) * scale */
+      /* The results are stored in the destination buffer. */
+      *pOut++ = (*pIn++) * scale;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* Set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+
+/**        
+ * @} end of MatrixScale group        
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_q15.c
new file mode 100644
index 000000000..58011254c
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_q15.c
@@ -0,0 +1,181 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_mat_scale_q15.c    
+*    
+* Description:	Multiplies a Q15 matrix by a scalar.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.5  2010/04/26     
+*    incorporated review comments and updated with latest CMSIS layer    
+*    
+* Version 0.0.3  2010/03/10     
+*    Initial version    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupMatrix    
+ */
+
+/**    
+ * @addtogroup MatrixScale    
+ * @{    
+ */
+
+/**    
+ * @brief Q15 matrix scaling.    
+ * @param[in]       *pSrc points to input matrix    
+ * @param[in]       scaleFract fractional portion of the scale factor    
+ * @param[in]       shift number of bits to shift the result by    
+ * @param[out]      *pDst points to output matrix structure    
+ * @return     		The function returns either    
+ * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.    
+ *    
+ * @details    
+ * Scaling and Overflow Behavior:    
+ * \par    
+ * The input data *pSrc and scaleFract are in 1.15 format.    
+ * These are multiplied to yield a 2.30 intermediate result and this is shifted with saturation to 1.15 format.    
+ */
+
+arm_status arm_mat_scale_q15(
+  const arm_matrix_instance_q15 * pSrc,
+  q15_t scaleFract,
+  int32_t shift,
+  arm_matrix_instance_q15 * pDst)
+{
+  q15_t *pIn = pSrc->pData;                      /* input data matrix pointer */
+  q15_t *pOut = pDst->pData;                     /* output data matrix pointer */
+  uint32_t numSamples;                           /* total number of elements in the matrix */
+  int32_t totShift = 15 - shift;                 /* total shift to apply after scaling */
+  uint32_t blkCnt;                               /* loop counters */
+  arm_status status;                             /* status of matrix scaling     */
+
+#ifndef ARM_MATH_CM0
+
+  q15_t in1, in2, in3, in4;
+  q31_t out1, out2, out3, out4;
+  q31_t inA1, inA2;
+
+#endif //     #ifndef ARM_MATH_CM0
+
+#ifdef ARM_MATH_MATRIX_CHECK
+  /* Check for matrix mismatch */
+  if((pSrc->numRows != pDst->numRows) || (pSrc->numCols != pDst->numCols))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif //    #ifdef ARM_MATH_MATRIX_CHECK
+  {
+    /* Total number of samples in the input matrix */
+    numSamples = (uint32_t) pSrc->numRows * pSrc->numCols;
+
+#ifndef ARM_MATH_CM0
+
+    /* Run the below code for Cortex-M4 and Cortex-M3 */
+    /* Loop Unrolling */
+    blkCnt = numSamples >> 2;
+
+    /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+     ** a second loop below computes the remaining 1 to 3 samples. */
+    while(blkCnt > 0u)
+    {
+      /* C(m,n) = A(m,n) * k */
+      /* Scale, saturate and then store the results in the destination buffer. */
+      /* Reading 2 inputs from memory */
+      inA1 = _SIMD32_OFFSET(pIn);
+      inA2 = _SIMD32_OFFSET(pIn + 2);
+
+      /* C = A * scale */
+      /* Scale the inputs and then store the 2 results in the destination buffer        
+       * in single cycle by packing the outputs */
+      out1 = (q31_t) ((q15_t) (inA1 >> 16) * scaleFract);
+      out2 = (q31_t) ((q15_t) inA1 * scaleFract);
+      out3 = (q31_t) ((q15_t) (inA2 >> 16) * scaleFract);
+      out4 = (q31_t) ((q15_t) inA2 * scaleFract);
+
+      out1 = out1 >> totShift;
+      inA1 = _SIMD32_OFFSET(pIn + 4);
+      out2 = out2 >> totShift;
+      inA2 = _SIMD32_OFFSET(pIn + 6);
+      out3 = out3 >> totShift;
+      out4 = out4 >> totShift;
+
+      in1 = (q15_t) (__SSAT(out1, 16));
+      in2 = (q15_t) (__SSAT(out2, 16));
+      in3 = (q15_t) (__SSAT(out3, 16));
+      in4 = (q15_t) (__SSAT(out4, 16));
+
+      _SIMD32_OFFSET(pOut) = __PKHBT(in2, in1, 16);
+      _SIMD32_OFFSET(pOut + 2) = __PKHBT(in4, in3, 16);
+
+      /* update pointers to process next sampels */
+      pIn += 4u;
+      pOut += 4u;
+
+
+      /* Decrement the numSamples loop counter */
+      blkCnt--;
+    }
+
+    /* If the numSamples is not a multiple of 4, compute any remaining output samples here.        
+     ** No loop unrolling is used. */
+    blkCnt = numSamples % 0x4u;
+
+#else
+
+    /* Run the below code for Cortex-M0 */
+
+    /* Initialize blkCnt with number of samples */
+    blkCnt = numSamples;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+    while(blkCnt > 0u)
+    {
+      /* C(m,n) = A(m,n) * k */
+      /* Scale, saturate and then store the results in the destination buffer. */
+      *pOut++ =
+        (q15_t) (__SSAT(((q31_t) (*pIn++) * scaleFract) >> totShift, 16));
+
+      /* Decrement the numSamples loop counter */
+      blkCnt--;
+    }
+    /* Set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+
+/**        
+ * @} end of MatrixScale group        
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_q31.c
new file mode 100644
index 000000000..e5e124125
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_q31.c
@@ -0,0 +1,201 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_mat_scale_q31.c    
+*    
+* Description:	Multiplies a Q31 matrix by a scalar.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.5  2010/04/26     
+*    incorporated review comments and updated with latest CMSIS layer    
+*    
+* Version 0.0.3  2010/03/10     
+*    Initial version    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**        
+ * @ingroup groupMatrix        
+ */
+
+/**        
+ * @addtogroup MatrixScale        
+ * @{        
+ */
+
+/**        
+ * @brief Q31 matrix scaling.        
+ * @param[in]       *pSrc points to input matrix        
+ * @param[in]       scaleFract fractional portion of the scale factor        
+ * @param[in]       shift number of bits to shift the result by        
+ * @param[out]      *pDst points to output matrix structure        
+ * @return     		The function returns either        
+ * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.        
+ *        
+ * @details        
+ * Scaling and Overflow Behavior:        
+ * \par        
+ * The input data *pSrc and scaleFract are in 1.31 format.        
+ * These are multiplied to yield a 2.62 intermediate result and this is shifted with saturation to 1.31 format.        
+ */
+
+arm_status arm_mat_scale_q31(
+  const arm_matrix_instance_q31 * pSrc,
+  q31_t scaleFract,
+  int32_t shift,
+  arm_matrix_instance_q31 * pDst)
+{
+  q31_t *pIn = pSrc->pData;                      /* input data matrix pointer */
+  q31_t *pOut = pDst->pData;                     /* output data matrix pointer */
+  uint32_t numSamples;                           /* total number of elements in the matrix */
+  int32_t totShift = shift + 1;                  /* shift to apply after scaling */
+  uint32_t blkCnt;                               /* loop counters  */
+  arm_status status;                             /* status of matrix scaling      */
+  q31_t in1, in2, out1;                          /* temporary variabels */
+
+#ifndef ARM_MATH_CM0
+
+  q31_t in3, in4, out2, out3, out4;              /* temporary variables */
+
+#endif //      #ifndef ARM_MAT_CM0
+
+#ifdef ARM_MATH_MATRIX_CHECK
+  /* Check for matrix mismatch  */
+  if((pSrc->numRows != pDst->numRows) || (pSrc->numCols != pDst->numCols))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif //    #ifdef ARM_MATH_MATRIX_CHECK
+  {
+    /* Total number of samples in the input matrix */
+    numSamples = (uint32_t) pSrc->numRows * pSrc->numCols;
+
+#ifndef ARM_MATH_CM0
+
+    /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+    /* Loop Unrolling */
+    blkCnt = numSamples >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+     ** a second loop below computes the remaining 1 to 3 samples. */
+    while(blkCnt > 0u)
+    {
+      /* C(m,n) = A(m,n) * k */
+      /* Read values from input */
+      in1 = *pIn;
+      in2 = *(pIn + 1);
+      in3 = *(pIn + 2);
+      in4 = *(pIn + 3);
+
+      /* multiply input with scaler value */
+      in1 = ((q63_t) in1 * scaleFract) >> 32;
+      in2 = ((q63_t) in2 * scaleFract) >> 32;
+      in3 = ((q63_t) in3 * scaleFract) >> 32;
+      in4 = ((q63_t) in4 * scaleFract) >> 32;
+
+      /* apply shifting */
+      out1 = in1 << totShift;
+      out2 = in2 << totShift;
+
+      /* saturate the results. */
+      if(in1 != (out1 >> totShift))
+        out1 = 0x7FFFFFFF ^ (in1 >> 31);
+
+      if(in2 != (out2 >> totShift))
+        out2 = 0x7FFFFFFF ^ (in2 >> 31);
+
+      out3 = in3 << totShift;
+      out4 = in4 << totShift;
+
+      *pOut = out1;
+      *(pOut + 1) = out2;
+
+      if(in3 != (out3 >> totShift))
+        out3 = 0x7FFFFFFF ^ (in3 >> 31);
+
+      if(in4 != (out4 >> totShift))
+        out4 = 0x7FFFFFFF ^ (in4 >> 31);
+
+
+      *(pOut + 2) = out3;
+      *(pOut + 3) = out4;
+
+      /* update pointers to process next sampels */
+      pIn += 4u;
+      pOut += 4u;
+
+
+      /* Decrement the numSamples loop counter */
+      blkCnt--;
+    }
+
+    /* If the numSamples is not a multiple of 4, compute any remaining output samples here.    
+     ** No loop unrolling is used. */
+    blkCnt = numSamples % 0x4u;
+
+#else
+
+    /* Run the below code for Cortex-M0 */
+
+    /* Initialize blkCnt with number of samples */
+    blkCnt = numSamples;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+    while(blkCnt > 0u)
+    {
+      /* C(m,n) = A(m,n) * k */
+      /* Scale, saturate and then store the results in the destination buffer. */
+      in1 = *pIn++;
+
+      in2 = ((q63_t) in1 * scaleFract) >> 32;
+
+      out1 = in2 << totShift;
+
+      if(in2 != (out1 >> totShift))
+        out1 = 0x7FFFFFFF ^ (in2 >> 31);
+
+      *pOut++ = out1;
+
+      /* Decrement the numSamples loop counter */
+      blkCnt--;
+    }
+
+    /* Set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+
+/**        
+ * @} end of MatrixScale group        
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_f32.c
new file mode 100644
index 000000000..3544d8e82
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_f32.c
@@ -0,0 +1,207 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_mat_sub_f32.c    
+*    
+* Description:	Floating-point matrix subtraction.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.5  2010/04/26     
+*    incorporated review comments and updated with latest CMSIS layer    
+*    
+* Version 0.0.3  2010/03/10     
+*    Initial version    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**        
+ * @ingroup groupMatrix        
+ */
+
+/**        
+ * @defgroup MatrixSub Matrix Subtraction        
+ *        
+ * Subtract two matrices.        
+ * \image html MatrixSubtraction.gif "Subraction of two 3 x 3 matrices"        
+ *        
+ * The functions check to make sure that        
+ * pSrcA, pSrcB, and pDst have the same        
+ * number of rows and columns.        
+ */
+
+/**        
+ * @addtogroup MatrixSub        
+ * @{        
+ */
+
+/**        
+ * @brief Floating-point matrix subtraction        
+ * @param[in]       *pSrcA points to the first input matrix structure        
+ * @param[in]       *pSrcB points to the second input matrix structure        
+ * @param[out]      *pDst points to output matrix structure        
+ * @return     		The function returns either        
+ * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.        
+ */
+
+arm_status arm_mat_sub_f32(
+  const arm_matrix_instance_f32 * pSrcA,
+  const arm_matrix_instance_f32 * pSrcB,
+  arm_matrix_instance_f32 * pDst)
+{
+  float32_t *pIn1 = pSrcA->pData;                /* input data matrix pointer A */
+  float32_t *pIn2 = pSrcB->pData;                /* input data matrix pointer B */
+  float32_t *pOut = pDst->pData;                 /* output data matrix pointer  */
+
+#ifndef ARM_MATH_CM0
+
+  float32_t inA1, inA2, inB1, inB2, out1, out2;  /* temporary variables */
+
+#endif //      #ifndef ARM_MATH_CM0
+
+  uint32_t numSamples;                           /* total number of elements in the matrix  */
+  uint32_t blkCnt;                               /* loop counters */
+  arm_status status;                             /* status of matrix subtraction */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+  /* Check for matrix mismatch condition */
+  if((pSrcA->numRows != pSrcB->numRows) ||
+     (pSrcA->numCols != pSrcB->numCols) ||
+     (pSrcA->numRows != pDst->numRows) || (pSrcA->numCols != pDst->numCols))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */
+  {
+    /* Total number of samples in the input matrix */
+    numSamples = (uint32_t) pSrcA->numRows * pSrcA->numCols;
+
+#ifndef ARM_MATH_CM0
+
+    /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+    /* Loop Unrolling */
+    blkCnt = numSamples >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+     ** a second loop below computes the remaining 1 to 3 samples. */
+    while(blkCnt > 0u)
+    {
+      /* C(m,n) = A(m,n) - B(m,n) */
+      /* Subtract and then store the results in the destination buffer. */
+      /* Read values from source A */
+      inA1 = pIn1[0];
+
+      /* Read values from source B */
+      inB1 = pIn2[0];
+
+      /* Read values from source A */
+      inA2 = pIn1[1];
+
+      /* out = sourceA - sourceB */
+      out1 = inA1 - inB1;
+
+      /* Read values from source B */
+      inB2 = pIn2[1];
+
+      /* Read values from source A */
+      inA1 = pIn1[2];
+
+      /* out = sourceA - sourceB */
+      out2 = inA2 - inB2;
+
+      /* Read values from source B */
+      inB1 = pIn2[2];
+
+      /* Store result in destination */
+      pOut[0] = out1;
+      pOut[1] = out2;
+
+      /* Read values from source A */
+      inA2 = pIn1[3];
+
+      /* Read values from source B */
+      inB2 = pIn2[3];
+
+      /* out = sourceA - sourceB */
+      out1 = inA1 - inB1;
+
+
+      /* out = sourceA - sourceB */
+      out2 = inA2 - inB2;
+
+      /* Store result in destination */
+      pOut[2] = out1;
+
+      /* Store result in destination */
+      pOut[3] = out2;
+
+
+      /* update pointers to process next sampels */
+      pIn1 += 4u;
+      pIn2 += 4u;
+      pOut += 4u;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* If the numSamples is not a multiple of 4, compute any remaining output samples here.    
+     ** No loop unrolling is used. */
+    blkCnt = numSamples % 0x4u;
+
+#else
+
+    /* Run the below code for Cortex-M0 */
+
+    /* Initialize blkCnt with number of samples */
+    blkCnt = numSamples;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+    while(blkCnt > 0u)
+    {
+      /* C(m,n) = A(m,n) - B(m,n) */
+      /* Subtract and then store the results in the destination buffer. */
+      *pOut++ = (*pIn1++) - (*pIn2++);
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* Set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+
+/**        
+ * @} end of MatrixSub group        
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_q15.c
new file mode 100644
index 000000000..1857fd837
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_q15.c
@@ -0,0 +1,158 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_mat_sub_q15.c    
+*    
+* Description:	Q15 Matrix subtraction    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.5  2010/04/26     
+*    incorporated review comments and updated with latest CMSIS layer    
+*    
+* Version 0.0.3  2010/03/10     
+*    Initial version    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupMatrix    
+ */
+
+/**    
+ * @addtogroup MatrixSub    
+ * @{    
+ */
+
+/**    
+ * @brief Q15 matrix subtraction.    
+ * @param[in]       *pSrcA points to the first input matrix structure    
+ * @param[in]       *pSrcB points to the second input matrix structure    
+ * @param[out]      *pDst points to output matrix structure    
+ * @return     		The function returns either    
+ * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.    
+ *    
+ * Scaling and Overflow Behavior:    
+ * \par    
+ * The function uses saturating arithmetic.    
+ * Results outside of the allowable Q15 range [0x8000 0x7FFF] will be saturated.    
+ */
+
+arm_status arm_mat_sub_q15(
+  const arm_matrix_instance_q15 * pSrcA,
+  const arm_matrix_instance_q15 * pSrcB,
+  arm_matrix_instance_q15 * pDst)
+{
+  q15_t *pInA = pSrcA->pData;                    /* input data matrix pointer A */
+  q15_t *pInB = pSrcB->pData;                    /* input data matrix pointer B */
+  q15_t *pOut = pDst->pData;                     /* output data matrix pointer */
+  uint32_t numSamples;                           /* total number of elements in the matrix */
+  uint32_t blkCnt;                               /* loop counters  */
+  arm_status status;                             /* status of matrix subtraction  */
+
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+
+  /* Check for matrix mismatch condition */
+  if((pSrcA->numRows != pSrcB->numRows) ||
+     (pSrcA->numCols != pSrcB->numCols) ||
+     (pSrcA->numRows != pDst->numRows) || (pSrcA->numCols != pDst->numCols))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */
+
+  {
+    /* Total number of samples in the input matrix */
+    numSamples = (uint32_t) pSrcA->numRows * pSrcA->numCols;
+
+#ifndef ARM_MATH_CM0
+
+    /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+    /* Apply loop unrolling */
+    blkCnt = numSamples >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+     ** a second loop below computes the remaining 1 to 3 samples. */
+    while(blkCnt > 0u)
+    {
+      /* C(m,n) = A(m,n) - B(m,n) */
+      /* Subtract, Saturate and then store the results in the destination buffer. */
+      *__SIMD32(pOut)++ = __QSUB16(*__SIMD32(pInA)++, *__SIMD32(pInB)++);
+      *__SIMD32(pOut)++ = __QSUB16(*__SIMD32(pInA)++, *__SIMD32(pInB)++);
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+     ** No loop unrolling is used. */
+    blkCnt = numSamples % 0x4u;
+
+    while(blkCnt > 0u)
+    {
+      /* C(m,n) = A(m,n) - B(m,n) */
+      /* Subtract and then store the results in the destination buffer. */
+      *pOut++ = (q15_t) __QSUB16(*pInA++, *pInB++);
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+#else
+
+    /* Run the below code for Cortex-M0 */
+
+    /* Initialize blkCnt with number of samples */
+    blkCnt = numSamples;
+
+    while(blkCnt > 0u)
+    {
+      /* C(m,n) = A(m,n) - B(m,n) */
+      /* Subtract and then store the results in the destination buffer. */
+      *pOut++ = (q15_t) __SSAT(((q31_t) * pInA++ - *pInB++), 16);
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+    /* Set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+
+/**    
+ * @} end of MatrixSub group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_q31.c
new file mode 100644
index 000000000..279fd7f7c
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_q31.c
@@ -0,0 +1,206 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_mat_sub_q31.c    
+*    
+* Description:	Q31 matrix subtraction    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.5  2010/04/26     
+*    incorporated review comments and updated with latest CMSIS layer    
+*    
+* Version 0.0.3  2010/03/10     
+*    Initial version    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**        
+ * @ingroup groupMatrix        
+ */
+
+/**        
+ * @addtogroup MatrixSub        
+ * @{        
+ */
+
+/**        
+ * @brief Q31 matrix subtraction.        
+ * @param[in]       *pSrcA points to the first input matrix structure        
+ * @param[in]       *pSrcB points to the second input matrix structure        
+ * @param[out]      *pDst points to output matrix structure        
+ * @return     		The function returns either        
+ * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.        
+ *        
+ * Scaling and Overflow Behavior:        
+ * \par        
+ * The function uses saturating arithmetic.        
+ * Results outside of the allowable Q31 range [0x80000000 0x7FFFFFFF] will be saturated.        
+ */
+
+
+arm_status arm_mat_sub_q31(
+  const arm_matrix_instance_q31 * pSrcA,
+  const arm_matrix_instance_q31 * pSrcB,
+  arm_matrix_instance_q31 * pDst)
+{
+  q31_t *pIn1 = pSrcA->pData;                    /* input data matrix pointer A */
+  q31_t *pIn2 = pSrcB->pData;                    /* input data matrix pointer B */
+  q31_t *pOut = pDst->pData;                     /* output data matrix pointer */
+  q31_t inA1, inB1;                              /* temporary variables */
+
+#ifndef ARM_MATH_CM0
+
+  q31_t inA2, inB2;                              /* temporary variables */
+  q31_t out1, out2;                              /* temporary variables */
+
+#endif //      #ifndef ARM_MATH_CM0
+
+  uint32_t numSamples;                           /* total number of elements in the matrix  */
+  uint32_t blkCnt;                               /* loop counters */
+  arm_status status;                             /* status of matrix subtraction */
+
+
+#ifdef ARM_MATH_MATRIX_CHECK
+  /* Check for matrix mismatch condition  */
+  if((pSrcA->numRows != pSrcB->numRows) ||
+     (pSrcA->numCols != pSrcB->numCols) ||
+     (pSrcA->numRows != pDst->numRows) || (pSrcA->numCols != pDst->numCols))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif
+  {
+    /* Total number of samples in the input matrix */
+    numSamples = (uint32_t) pSrcA->numRows * pSrcA->numCols;
+
+#ifndef ARM_MATH_CM0
+
+    /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+    /* Loop Unrolling */
+    blkCnt = numSamples >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+     ** a second loop below computes the remaining 1 to 3 samples. */
+    while(blkCnt > 0u)
+    {
+      /* C(m,n) = A(m,n) - B(m,n) */
+      /* Subtract, saturate and then store the results in the destination buffer. */
+      /* Read values from source A */
+      inA1 = pIn1[0];
+
+      /* Read values from source B */
+      inB1 = pIn2[0];
+
+      /* Read values from source A */
+      inA2 = pIn1[1];
+
+      /* Subtract and saturate */
+      out1 = __QSUB(inA1, inB1);
+
+      /* Read values from source B */
+      inB2 = pIn2[1];
+
+      /* Read values from source A */
+      inA1 = pIn1[2];
+
+      /* Subtract and saturate */
+      out2 = __QSUB(inA2, inB2);
+
+      /* Read values from source B */
+      inB1 = pIn2[2];
+
+      /* Store result in destination */
+      pOut[0] = out1;
+      pOut[1] = out2;
+
+      /* Read values from source A */
+      inA2 = pIn1[3];
+
+      /* Read values from source B */
+      inB2 = pIn2[3];
+
+      /* Subtract and saturate */
+      out1 = __QSUB(inA1, inB1);
+
+      /* Subtract and saturate */
+      out2 = __QSUB(inA2, inB2);
+
+      /* Store result in destination */
+      pOut[2] = out1;
+      pOut[3] = out2;
+
+      /* update pointers to process next samples */
+      pIn1 += 4u;
+      pIn2 += 4u;
+      pOut += 4u;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* If the numSamples is not a multiple of 4, compute any remaining output samples here.        
+     ** No loop unrolling is used. */
+    blkCnt = numSamples % 0x4u;
+
+#else
+
+    /* Run the below code for Cortex-M0 */
+
+    /* Initialize blkCnt with number of samples */
+    blkCnt = numSamples;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+    while(blkCnt > 0u)
+    {
+      /* C(m,n) = A(m,n) - B(m,n) */
+      /* Subtract, saturate and then store the results in the destination buffer. */
+      inA1 = *pIn1++;
+      inB1 = *pIn2++;
+
+      inA1 = __QSUB(inA1, inB1);
+
+      *pOut++ = inA1;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* Set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+
+/**        
+ * @} end of MatrixSub group        
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_f32.c
new file mode 100644
index 000000000..235028f5a
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_f32.c
@@ -0,0 +1,216 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_mat_trans_f32.c    
+*    
+* Description:	Floating-point matrix transpose.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.5  2010/04/26     
+*    incorporated review comments and updated with latest CMSIS layer    
+*    
+* Version 0.0.3  2010/03/10     
+*    Initial version    
+* -------------------------------------------------------------------- */
+
+/**    
+ * @defgroup MatrixTrans Matrix Transpose    
+ *    
+ * Tranposes a matrix.    
+ * Transposing an M x N matrix flips it around the center diagonal and results in an N x M matrix.    
+ * \image html MatrixTranspose.gif "Transpose of a 3 x 3 matrix"    
+ */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupMatrix    
+ */
+
+/**    
+ * @addtogroup MatrixTrans    
+ * @{    
+ */
+
+/**    
+  * @brief Floating-point matrix transpose.    
+  * @param[in]  *pSrc points to the input matrix    
+  * @param[out] *pDst points to the output matrix    
+  * @return 	The function returns either  ARM_MATH_SIZE_MISMATCH    
+  * or ARM_MATH_SUCCESS based on the outcome of size checking.    
+  */
+
+
+arm_status arm_mat_trans_f32(
+  const arm_matrix_instance_f32 * pSrc,
+  arm_matrix_instance_f32 * pDst)
+{
+  float32_t *pIn = pSrc->pData;                  /* input data matrix pointer */
+  float32_t *pOut = pDst->pData;                 /* output data matrix pointer */
+  float32_t *px;                                 /* Temporary output data matrix pointer */
+  uint16_t nRows = pSrc->numRows;                /* number of rows */
+  uint16_t nColumns = pSrc->numCols;             /* number of columns */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  uint16_t blkCnt, i = 0u, row = nRows;          /* loop counters */
+  arm_status status;                             /* status of matrix transpose  */
+
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+
+  /* Check for matrix mismatch condition */
+  if((pSrc->numRows != pDst->numCols) || (pSrc->numCols != pDst->numRows))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */
+
+  {
+    /* Matrix transpose by exchanging the rows with columns */
+    /* row loop     */
+    do
+    {
+      /* Loop Unrolling */
+      blkCnt = nColumns >> 2;
+
+      /* The pointer px is set to starting address of the column being processed */
+      px = pOut + i;
+
+      /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+       ** a second loop below computes the remaining 1 to 3 samples. */
+      while(blkCnt > 0u)        /* column loop */
+      {
+        /* Read and store the input element in the destination */
+        *px = *pIn++;
+
+        /* Update the pointer px to point to the next row of the transposed matrix */
+        px += nRows;
+
+        /* Read and store the input element in the destination */
+        *px = *pIn++;
+
+        /* Update the pointer px to point to the next row of the transposed matrix */
+        px += nRows;
+
+        /* Read and store the input element in the destination */
+        *px = *pIn++;
+
+        /* Update the pointer px to point to the next row of the transposed matrix */
+        px += nRows;
+
+        /* Read and store the input element in the destination */
+        *px = *pIn++;
+
+        /* Update the pointer px to point to the next row of the transposed matrix */
+        px += nRows;
+
+        /* Decrement the column loop counter */
+        blkCnt--;
+      }
+
+      /* Perform matrix transpose for last 3 samples here. */
+      blkCnt = nColumns % 0x4u;
+
+      while(blkCnt > 0u)
+      {
+        /* Read and store the input element in the destination */
+        *px = *pIn++;
+
+        /* Update the pointer px to point to the next row of the transposed matrix */
+        px += nRows;
+
+        /* Decrement the column loop counter */
+        blkCnt--;
+      }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  uint16_t col, i = 0u, row = nRows;             /* loop counters */
+  arm_status status;                             /* status of matrix transpose  */
+
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if((pSrc->numRows != pDst->numCols) || (pSrc->numCols != pDst->numRows))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif /*      #ifdef ARM_MATH_MATRIX_CHECK    */
+
+  {
+    /* Matrix transpose by exchanging the rows with columns */
+    /* row loop     */
+    do
+    {
+      /* The pointer px is set to starting address of the column being processed */
+      px = pOut + i;
+
+      /* Initialize column loop counter */
+      col = nColumns;
+
+      while(col > 0u)
+      {
+        /* Read and store the input element in the destination */
+        *px = *pIn++;
+
+        /* Update the pointer px to point to the next row of the transposed matrix */
+        px += nRows;
+
+        /* Decrement the column loop counter */
+        col--;
+      }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+      i++;
+
+      /* Decrement the row loop counter */
+      row--;
+
+    } while(row > 0u);          /* row loop end  */
+
+    /* Set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+
+/**    
+ * @} end of MatrixTrans group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_q15.c
new file mode 100644
index 000000000..be9c78e00
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_q15.c
@@ -0,0 +1,282 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_mat_trans_q15.c    
+*    
+* Description:	Q15 matrix transpose.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.5  2010/04/26     
+*    incorporated review comments and updated with latest CMSIS layer    
+*    
+* Version 0.0.3  2010/03/10     
+*    Initial version    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupMatrix    
+ */
+
+/**    
+ * @addtogroup MatrixTrans    
+ * @{    
+ */
+
+/*    
+ * @brief Q15 matrix transpose.    
+ * @param[in]  *pSrc points to the input matrix    
+ * @param[out] *pDst points to the output matrix    
+ * @return 	The function returns either  ARM_MATH_SIZE_MISMATCH    
+ * or ARM_MATH_SUCCESS based on the outcome of size checking.    
+ */
+
+arm_status arm_mat_trans_q15(
+  const arm_matrix_instance_q15 * pSrc,
+  arm_matrix_instance_q15 * pDst)
+{
+  q15_t *pSrcA = pSrc->pData;                    /* input data matrix pointer */
+  q15_t *pOut = pDst->pData;                     /* output data matrix pointer */
+  uint16_t nRows = pSrc->numRows;                /* number of nRows */
+  uint16_t nColumns = pSrc->numCols;             /* number of nColumns */
+  uint16_t col, row = nRows, i = 0u;             /* row and column loop counters */
+  arm_status status;                             /* status of matrix transpose */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+#ifndef UNALIGNED_SUPPORT_DISABLE
+
+  q31_t in;                                      /* variable to hold temporary output  */
+
+#else
+
+  q15_t in;
+
+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+
+  /* Check for matrix mismatch condition */
+  if((pSrc->numRows != pDst->numCols) || (pSrc->numCols != pDst->numRows))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif /*      #ifdef ARM_MATH_MATRIX_CHECK    */
+
+  {
+    /* Matrix transpose by exchanging the rows with columns */
+    /* row loop     */
+    do
+    {
+
+      /* Apply loop unrolling and exchange the columns with row elements */
+      col = nColumns >> 2u;
+
+      /* The pointer pOut is set to starting address of the column being processed */
+      pOut = pDst->pData + i;
+
+      /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+       ** a second loop below computes the remaining 1 to 3 samples. */
+      while(col > 0u)
+      {
+#ifndef UNALIGNED_SUPPORT_DISABLE
+
+        /* Read two elements from the row */
+        in = *__SIMD32(pSrcA)++;
+
+        /* Unpack and store one element in the destination */
+#ifndef ARM_MATH_BIG_ENDIAN
+
+        *pOut = (q15_t) in;
+
+#else
+
+        *pOut = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
+
+#endif /*    #ifndef ARM_MATH_BIG_ENDIAN    */
+
+        /* Update the pointer pOut to point to the next row of the transposed matrix */
+        pOut += nRows;
+
+        /* Unpack and store the second element in the destination */
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+        *pOut = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
+
+#else
+
+        *pOut = (q15_t) in;
+
+#endif /*    #ifndef ARM_MATH_BIG_ENDIAN    */
+
+        /* Update the pointer pOut to point to the next row of the transposed matrix */
+        pOut += nRows;
+
+        /* Read two elements from the row */
+#ifndef ARM_MATH_BIG_ENDIAN
+
+        in = *__SIMD32(pSrcA)++;
+
+#else
+
+        in = *__SIMD32(pSrcA)++;
+
+#endif /*    #ifndef ARM_MATH_BIG_ENDIAN    */
+
+        /* Unpack and store one element in the destination */
+#ifndef ARM_MATH_BIG_ENDIAN
+
+        *pOut = (q15_t) in;
+
+#else
+
+        *pOut = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
+
+#endif /*    #ifndef ARM_MATH_BIG_ENDIAN    */
+
+        /* Update the pointer pOut to point to the next row of the transposed matrix */
+        pOut += nRows;
+
+        /* Unpack and store the second element in the destination */
+#ifndef ARM_MATH_BIG_ENDIAN
+
+        *pOut = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
+
+#else
+
+        *pOut = (q15_t) in;
+
+#endif /*    #ifndef ARM_MATH_BIG_ENDIAN    */
+
+#else	 
+        /* Read one element from the row */
+        in = *pSrcA++;
+
+        /* Store one element in the destination */
+        *pOut = in;
+ 
+        /* Update the pointer px to point to the next row of the transposed matrix */
+        pOut += nRows;
+
+        /* Read one element from the row */
+        in = *pSrcA++;
+
+        /* Store one element in the destination */
+        *pOut = in;
+ 
+        /* Update the pointer px to point to the next row of the transposed matrix */
+        pOut += nRows;
+
+        /* Read one element from the row */
+        in = *pSrcA++;
+
+        /* Store one element in the destination */
+        *pOut = in;
+ 
+        /* Update the pointer px to point to the next row of the transposed matrix */
+        pOut += nRows;
+
+        /* Read one element from the row */
+        in = *pSrcA++;
+
+        /* Store one element in the destination */
+        *pOut = in;
+
+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
+
+        /* Update the pointer pOut to point to the next row of the transposed matrix */
+        pOut += nRows;
+
+        /* Decrement the column loop counter */
+        col--;
+      }
+
+      /* Perform matrix transpose for last 3 samples here. */
+      col = nColumns % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if((pSrc->numRows != pDst->numCols) || (pSrc->numCols != pDst->numRows))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */
+
+  {
+    /* Matrix transpose by exchanging the rows with columns */
+    /* row loop     */
+    do
+    {
+      /* The pointer pOut is set to starting address of the column being processed */
+      pOut = pDst->pData + i;
+
+      /* Initialize column loop counter */
+      col = nColumns;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+      while(col > 0u)
+      {
+        /* Read and store the input element in the destination */
+        *pOut = *pSrcA++;
+
+        /* Update the pointer pOut to point to the next row of the transposed matrix */
+        pOut += nRows;
+
+        /* Decrement the column loop counter */
+        col--;
+      }
+
+      i++;
+
+      /* Decrement the row loop counter */
+      row--;
+
+    } while(row > 0u);
+
+    /* set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+  /* Return to application */
+  return (status);
+}
+
+/**    
+ * @} end of MatrixTrans group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_q31.c
new file mode 100644
index 000000000..253a923d1
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_q31.c
@@ -0,0 +1,208 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_mat_trans_q31.c    
+*    
+* Description:	Q31 matrix transpose.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.5  2010/04/26     
+*    incorporated review comments and updated with latest CMSIS layer    
+*    
+* Version 0.0.3  2010/03/10     
+*    Initial version    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupMatrix    
+ */
+
+/**    
+ * @addtogroup MatrixTrans    
+ * @{    
+ */
+
+/*    
+  * @brief Q31 matrix transpose.    
+  * @param[in]  *pSrc points to the input matrix    
+  * @param[out] *pDst points to the output matrix    
+  * @return 	The function returns either  ARM_MATH_SIZE_MISMATCH    
+  * or ARM_MATH_SUCCESS based on the outcome of size checking.    
+ */
+
+arm_status arm_mat_trans_q31(
+  const arm_matrix_instance_q31 * pSrc,
+  arm_matrix_instance_q31 * pDst)
+{
+  q31_t *pIn = pSrc->pData;                      /* input data matrix pointer  */
+  q31_t *pOut = pDst->pData;                     /* output data matrix pointer  */
+  q31_t *px;                                     /* Temporary output data matrix pointer */
+  uint16_t nRows = pSrc->numRows;                /* number of nRows */
+  uint16_t nColumns = pSrc->numCols;             /* number of nColumns  */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  uint16_t blkCnt, i = 0u, row = nRows;          /* loop counters */
+  arm_status status;                             /* status of matrix transpose */
+
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+
+  /* Check for matrix mismatch condition */
+  if((pSrc->numRows != pDst->numCols) || (pSrc->numCols != pDst->numRows))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */
+
+  {
+    /* Matrix transpose by exchanging the rows with columns */
+    /* row loop     */
+    do
+    {
+      /* Apply loop unrolling and exchange the columns with row elements */
+      blkCnt = nColumns >> 2u;
+
+      /* The pointer px is set to starting address of the column being processed */
+      px = pOut + i;
+
+      /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+       ** a second loop below computes the remaining 1 to 3 samples. */
+      while(blkCnt > 0u)
+      {
+        /* Read and store the input element in the destination */
+        *px = *pIn++;
+
+        /* Update the pointer px to point to the next row of the transposed matrix */
+        px += nRows;
+
+        /* Read and store the input element in the destination */
+        *px = *pIn++;
+
+        /* Update the pointer px to point to the next row of the transposed matrix */
+        px += nRows;
+
+        /* Read and store the input element in the destination */
+        *px = *pIn++;
+
+        /* Update the pointer px to point to the next row of the transposed matrix */
+        px += nRows;
+
+        /* Read and store the input element in the destination */
+        *px = *pIn++;
+
+        /* Update the pointer px to point to the next row of the transposed matrix */
+        px += nRows;
+
+        /* Decrement the column loop counter */
+        blkCnt--;
+      }
+
+      /* Perform matrix transpose for last 3 samples here. */
+      blkCnt = nColumns % 0x4u;
+
+      while(blkCnt > 0u)
+      {
+        /* Read and store the input element in the destination */
+        *px = *pIn++;
+
+        /* Update the pointer px to point to the next row of the transposed matrix */
+        px += nRows;
+
+        /* Decrement the column loop counter */
+        blkCnt--;
+      }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  uint16_t col, i = 0u, row = nRows;             /* loop counters */
+  arm_status status;                             /* status of matrix transpose */
+
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if((pSrc->numRows != pDst->numCols) || (pSrc->numCols != pDst->numRows))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */
+
+  {
+    /* Matrix transpose by exchanging the rows with columns */
+    /* row loop     */
+    do
+    {
+      /* The pointer px is set to starting address of the column being processed */
+      px = pOut + i;
+
+      /* Initialize column loop counter */
+      col = nColumns;
+
+      while(col > 0u)
+      {
+        /* Read and store the input element in the destination */
+        *px = *pIn++;
+
+        /* Update the pointer px to point to the next row of the transposed matrix */
+        px += nRows;
+
+        /* Decrement the column loop counter */
+        col--;
+      }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+      i++;
+
+      /* Decrement the row loop counter */
+      row--;
+
+    }
+    while(row > 0u);            /* row loop end */
+
+    /* set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+
+/**    
+ * @} end of MatrixTrans group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_max_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_max_f32.c
new file mode 100644
index 000000000..afd964885
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_max_f32.c
@@ -0,0 +1,178 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_max_f32.c    
+*    
+* Description:	Maximum value of a floating-point vector.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupStats    
+ */
+
+/**    
+ * @defgroup Max Maximum    
+ *    
+ * Computes the maximum value of an array of data.     
+ * The function returns both the maximum value and its position within the array.     
+ * There are separate functions for floating-point, Q31, Q15, and Q7 data types.    
+ */
+
+/**    
+ * @addtogroup Max    
+ * @{    
+ */
+
+
+/**    
+ * @brief Maximum value of a floating-point vector.    
+ * @param[in]       *pSrc points to the input vector    
+ * @param[in]       blockSize length of the input vector    
+ * @param[out]      *pResult maximum value returned here    
+ * @param[out]      *pIndex index of maximum value returned here    
+ * @return none.    
+ */
+
+void arm_max_f32(
+  float32_t * pSrc,
+  uint32_t blockSize,
+  float32_t * pResult,
+  uint32_t * pIndex)
+{
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  float32_t maxVal1, maxVal2, out;               /* Temporary variables to store the output value. */
+  uint32_t blkCnt, outIndex, count;              /* loop counter */
+
+  /* Initialise the count value. */
+  count = 0u;
+  /* Initialise the index value to zero. */
+  outIndex = 0u;
+  /* Load first input value that act as reference value for comparision */
+  out = *pSrc++;
+
+  /* Loop unrolling */
+  blkCnt = (blockSize - 1u) >> 2u;
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  while(blkCnt > 0u)
+  {
+    /* Initialize maxVal to the next consecutive values one by one */
+    maxVal1 = *pSrc++;
+
+    maxVal2 = *pSrc++;
+
+    /* compare for the maximum value */
+    if(out < maxVal1)
+    {
+      /* Update the maximum value and its index */
+      out = maxVal1;
+      outIndex = count + 1u;
+    }
+
+    maxVal1 = *pSrc++;
+
+    /* compare for the maximum value */
+    if(out < maxVal2)
+    {
+      /* Update the maximum value and its index */
+      out = maxVal2;
+      outIndex = count + 2u;
+    }
+
+    maxVal2 = *pSrc++;
+
+    /* compare for the maximum value */
+    if(out < maxVal1)
+    {
+      /* Update the maximum value and its index */
+      out = maxVal1;
+      outIndex = count + 3u;
+    }
+
+    /* compare for the maximum value */
+    if(out < maxVal2)
+    {
+      /* Update the maximum value and its index */
+      out = maxVal2;
+      outIndex = count + 4u;
+    }
+
+    count += 4u;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* if (blockSize - 1u) is not multiple of 4 */
+  blkCnt = (blockSize - 1u) % 4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+  float32_t maxVal1, out;                        /* Temporary variables to store the output value. */
+  uint32_t blkCnt, outIndex;                     /* loop counter */
+
+  /* Initialise the index value to zero. */
+  outIndex = 0u;
+  /* Load first input value that act as reference value for comparision */
+  out = *pSrc++;
+
+  blkCnt = (blockSize - 1u);
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* Initialize maxVal to the next consecutive values one by one */
+    maxVal1 = *pSrc++;
+
+    /* compare for the maximum value */
+    if(out < maxVal1)
+    {
+      /* Update the maximum value and it's index */
+      out = maxVal1;
+      outIndex = blockSize - blkCnt;
+    }
+
+
+    /* Decrement the loop counter */
+    blkCnt--;
+
+  }
+
+  /* Store the maximum value and it's index into destination pointers */
+  *pResult = out;
+  *pIndex = outIndex;
+}
+
+/**    
+ * @} end of Max group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_max_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_max_q15.c
new file mode 100644
index 000000000..939b5236f
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_max_q15.c
@@ -0,0 +1,168 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_max_q15.c    
+*    
+* Description:	Maximum value of a Q15 vector.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupStats    
+ */
+
+/**    
+ * @addtogroup Max    
+ * @{    
+ */
+
+
+/**    
+ * @brief Maximum value of a Q15 vector.    
+ * @param[in]       *pSrc points to the input vector    
+ * @param[in]       blockSize length of the input vector    
+ * @param[out]      *pResult maximum value returned here    
+ * @param[out]      *pIndex index of maximum value returned here    
+ * @return none.    
+ */
+
+void arm_max_q15(
+  q15_t * pSrc,
+  uint32_t blockSize,
+  q15_t * pResult,
+  uint32_t * pIndex)
+{
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  q15_t maxVal1, maxVal2, out;                   /* Temporary variables to store the output value. */
+  uint32_t blkCnt, outIndex, count;              /* loop counter */
+
+  /* Initialise the count value. */
+  count = 0u;
+  /* Initialise the index value to zero. */
+  outIndex = 0u;
+  /* Load first input value that act as reference value for comparision */
+  out = *pSrc++;
+
+  /* Loop unrolling */
+  blkCnt = (blockSize - 1u) >> 2u;
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  while(blkCnt > 0u)
+  {
+    /* Initialize maxVal to the next consecutive values one by one */
+    maxVal1 = *pSrc++;
+
+    maxVal2 = *pSrc++;
+
+    /* compare for the maximum value */
+    if(out < maxVal1)
+    {
+      /* Update the maximum value and its index */
+      out = maxVal1;
+      outIndex = count + 1u;
+    }
+
+    maxVal1 = *pSrc++;
+
+    /* compare for the maximum value */
+    if(out < maxVal2)
+    {
+      /* Update the maximum value and its index */
+      out = maxVal2;
+      outIndex = count + 2u;
+    }
+
+    maxVal2 = *pSrc++;
+
+    /* compare for the maximum value */
+    if(out < maxVal1)
+    {
+      /* Update the maximum value and its index */
+      out = maxVal1;
+      outIndex = count + 3u;
+    }
+
+    /* compare for the maximum value */
+    if(out < maxVal2)
+    {
+      /* Update the maximum value and its index */
+      out = maxVal2;
+      outIndex = count + 4u;
+    }
+
+    count += 4u;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* if (blockSize - 1u) is not multiple of 4 */
+  blkCnt = (blockSize - 1u) % 4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+  q15_t maxVal1, out;                            /* Temporary variables to store the output value. */
+  uint32_t blkCnt, outIndex;                     /* loop counter */
+
+  blkCnt = (blockSize - 1u);
+
+  /* Initialise the index value to zero. */
+  outIndex = 0u;
+  /* Load first input value that act as reference value for comparision */
+  out = *pSrc++;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* Initialize maxVal to the next consecutive values one by one */
+    maxVal1 = *pSrc++;
+
+    /* compare for the maximum value */
+    if(out < maxVal1)
+    {
+      /* Update the maximum value and it's index */
+      out = maxVal1;
+      outIndex = blockSize - blkCnt;
+    }
+    /* Decrement the loop counter */
+    blkCnt--;
+
+  }
+
+  /* Store the maximum value and its index into destination pointers */
+  *pResult = out;
+  *pIndex = outIndex;
+}
+
+/**    
+ * @} end of Max group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_max_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_max_q31.c
new file mode 100644
index 000000000..18e757297
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_max_q31.c
@@ -0,0 +1,169 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_max_q31.c    
+*    
+* Description:	Maximum value of a Q31 vector.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupStats    
+ */
+
+/**    
+ * @addtogroup Max    
+ * @{    
+ */
+
+
+/**    
+ * @brief Maximum value of a Q31 vector.    
+ * @param[in]       *pSrc points to the input vector    
+ * @param[in]       blockSize length of the input vector    
+ * @param[out]      *pResult maximum value returned here    
+ * @param[out]      *pIndex index of maximum value returned here    
+ * @return none.    
+ */
+
+void arm_max_q31(
+  q31_t * pSrc,
+  uint32_t blockSize,
+  q31_t * pResult,
+  uint32_t * pIndex)
+{
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  q31_t maxVal1, maxVal2, out;                   /* Temporary variables to store the output value. */
+  uint32_t blkCnt, outIndex, count;              /* loop counter */
+
+  /* Initialise the count value. */
+  count = 0u;
+  /* Initialise the index value to zero. */
+  outIndex = 0u;
+  /* Load first input value that act as reference value for comparision */
+  out = *pSrc++;
+
+  /* Loop unrolling */
+  blkCnt = (blockSize - 1u) >> 2u;
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  while(blkCnt > 0u)
+  {
+    /* Initialize maxVal to the next consecutive values one by one */
+    maxVal1 = *pSrc++;
+
+    maxVal2 = *pSrc++;
+
+    /* compare for the maximum value */
+    if(out < maxVal1)
+    {
+      /* Update the maximum value and its index */
+      out = maxVal1;
+      outIndex = count + 1u;
+    }
+
+    maxVal1 = *pSrc++;
+
+    /* compare for the maximum value */
+    if(out < maxVal2)
+    {
+      /* Update the maximum value and its index */
+      out = maxVal2;
+      outIndex = count + 2u;
+    }
+
+    maxVal2 = *pSrc++;
+
+    /* compare for the maximum value */
+    if(out < maxVal1)
+    {
+      /* Update the maximum value and its index */
+      out = maxVal1;
+      outIndex = count + 3u;
+    }
+
+    /* compare for the maximum value */
+    if(out < maxVal2)
+    {
+      /* Update the maximum value and its index */
+      out = maxVal2;
+      outIndex = count + 4u;
+    }
+
+    count += 4u;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* if (blockSize - 1u) is not multiple of 4 */
+  blkCnt = (blockSize - 1u) % 4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+  q31_t maxVal1, out;                            /* Temporary variables to store the output value. */
+  uint32_t blkCnt, outIndex;                     /* loop counter */
+
+  /* Initialise the index value to zero. */
+  outIndex = 0u;
+  /* Load first input value that act as reference value for comparision */
+  out = *pSrc++;
+
+  blkCnt = (blockSize - 1u);
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* Initialize maxVal to the next consecutive values one by one */
+    maxVal1 = *pSrc++;
+
+    /* compare for the maximum value */
+    if(out < maxVal1)
+    {
+      /* Update the maximum value and it's index */
+      out = maxVal1;
+      outIndex = blockSize - blkCnt;
+    }
+
+    /* Decrement the loop counter */
+    blkCnt--;
+
+  }
+
+  /* Store the maximum value and its index into destination pointers */
+  *pResult = out;
+  *pIndex = outIndex;
+}
+
+/**    
+ * @} end of Max group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_max_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_max_q7.c
new file mode 100644
index 000000000..110a8fe5f
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_max_q7.c
@@ -0,0 +1,169 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_max_q7.c    
+*    
+* Description:	Maximum value of a Q7 vector.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupStats    
+ */
+
+/**    
+ * @addtogroup Max    
+ * @{    
+ */
+
+
+/**    
+ * @brief Maximum value of a Q7 vector.    
+ * @param[in]       *pSrc points to the input vector    
+ * @param[in]       blockSize length of the input vector    
+ * @param[out]      *pResult maximum value returned here    
+ * @param[out]      *pIndex index of maximum value returned here    
+  * @return none.    
+ */
+
+void arm_max_q7(
+  q7_t * pSrc,
+  uint32_t blockSize,
+  q7_t * pResult,
+  uint32_t * pIndex)
+{
+#ifndef ARM_MATH_CM0
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q7_t maxVal1, maxVal2, out;                    /* Temporary variables to store the output value. */
+  uint32_t blkCnt, outIndex, count;              /* loop counter */
+
+  /* Initialise the count value. */
+  count = 0u;
+  /* Initialise the index value to zero. */
+  outIndex = 0u;
+  /* Load first input value that act as reference value for comparision */
+  out = *pSrc++;
+
+  /* Loop unrolling */
+  blkCnt = (blockSize - 1u) >> 2u;
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  while(blkCnt > 0u)
+  {
+    /* Initialize maxVal to the next consecutive values one by one */
+    maxVal1 = *pSrc++;
+
+    maxVal2 = *pSrc++;
+
+    /* compare for the maximum value */
+    if(out < maxVal1)
+    {
+      /* Update the maximum value and its index */
+      out = maxVal1;
+      outIndex = count + 1u;
+    }
+
+    maxVal1 = *pSrc++;
+
+    /* compare for the maximum value */
+    if(out < maxVal2)
+    {
+      /* Update the maximum value and its index */
+      out = maxVal2;
+      outIndex = count + 2u;
+    }
+
+    maxVal2 = *pSrc++;
+
+    /* compare for the maximum value */
+    if(out < maxVal1)
+    {
+      /* Update the maximum value and its index */
+      out = maxVal1;
+      outIndex = count + 3u;
+    }
+
+    /* compare for the maximum value */
+    if(out < maxVal2)
+    {
+      /* Update the maximum value and its index */
+      out = maxVal2;
+      outIndex = count + 4u;
+    }
+
+    count += 4u;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* if (blockSize - 1u) is not multiple of 4 */
+  blkCnt = (blockSize - 1u) % 4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+  q7_t maxVal1, out;                             /* Temporary variables to store the output value. */
+  uint32_t blkCnt, outIndex;                     /* loop counter */
+
+  /* Initialise the index value to zero. */
+  outIndex = 0u;
+  /* Load first input value that act as reference value for comparision */
+  out = *pSrc++;
+
+  blkCnt = (blockSize - 1u);
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* Initialize maxVal to the next consecutive values one by one */
+    maxVal1 = *pSrc++;
+
+    /* compare for the maximum value */
+    if(out < maxVal1)
+    {
+      /* Update the maximum value and it's index */
+      out = maxVal1;
+      outIndex = blockSize - blkCnt;
+    }
+    /* Decrement the loop counter */
+    blkCnt--;
+
+  }
+
+  /* Store the maximum value and its index into destination pointers */
+  *pResult = out;
+  *pIndex = outIndex;
+
+}
+
+/**    
+ * @} end of Max group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_mean_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_mean_f32.c
new file mode 100644
index 000000000..7823d746c
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_mean_f32.c
@@ -0,0 +1,131 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_mean_f32.c    
+*    
+* Description:	Mean value of a floating-point vector.   
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupStats    
+ */
+
+/**    
+ * @defgroup mean Mean    
+ *    
+ * Calculates the mean of the input vector. Mean is defined as the average of the elements in the vector.    
+ * The underlying algorithm is used:    
+ *    
+ * 
    
+ * 	Result = (pSrc[0] + pSrc[1] + pSrc[2] + ... + pSrc[blockSize-1]) / blockSize;    
+ * 
    
+ *    
+ * There are separate functions for floating-point, Q31, Q15, and Q7 data types.    
+ */
+
+/**    
+ * @addtogroup mean    
+ * @{    
+ */
+
+
+/**    
+ * @brief Mean value of a floating-point vector.    
+ * @param[in]       *pSrc points to the input vector    
+ * @param[in]       blockSize length of the input vector    
+ * @param[out]      *pResult mean value returned here    
+ * @return none.    
+ */
+
+
+void arm_mean_f32(
+  float32_t * pSrc,
+  uint32_t blockSize,
+  float32_t * pResult)
+{
+  float32_t sum = 0.0f;                          /* Temporary result storage */
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  float32_t in1, in2, in3, in4;
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) */
+    in1 = *pSrc++;
+    in2 = *pSrc++;
+    in3 = *pSrc++;
+    in4 = *pSrc++;
+
+    sum += in1;
+    sum += in2;
+    sum += in3;
+    sum += in4;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) */
+    sum += *pSrc++;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) / blockSize  */
+  /* Store the result to the destination */
+  *pResult = sum / (float32_t) blockSize;
+}
+
+/**    
+ * @} end of mean group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_mean_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_mean_q15.c
new file mode 100644
index 000000000..49ec1e62e
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_mean_q15.c
@@ -0,0 +1,125 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_mean_q15.c    
+*    
+* Description:	Mean value of a Q15 vector.   
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupStats    
+ */
+
+/**    
+ * @addtogroup mean    
+ * @{    
+ */
+
+/**    
+ * @brief Mean value of a Q15 vector.    
+ * @param[in]       *pSrc points to the input vector    
+ * @param[in]       blockSize length of the input vector    
+ * @param[out]      *pResult mean value returned here    
+ * @return none.    
+ *    
+ * @details    
+ * Scaling and Overflow Behavior:    
+ * \par    
+ * The function is implemented using a 32-bit internal accumulator.    
+ * The input is represented in 1.15 format and is accumulated in a 32-bit     
+ * accumulator in 17.15 format.     
+ * There is no risk of internal overflow with this approach, and the     
+ * full precision of intermediate result is preserved.     
+ * Finally, the accumulator is saturated and truncated to yield a result of 1.15 format.    
+ *    
+ */
+
+
+void arm_mean_q15(
+  q15_t * pSrc,
+  uint32_t blockSize,
+  q15_t * pResult)
+{
+  q31_t sum = 0;                                 /* Temporary result storage */
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  q31_t in;
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) */
+    in = *__SIMD32(pSrc)++;
+    sum += ((in << 16) >> 16);
+    sum += (in >> 16);
+    in = *__SIMD32(pSrc)++;
+    sum += ((in << 16) >> 16);
+    sum += (in >> 16);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) */
+    sum += *pSrc++;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) / blockSize  */
+  /* Store the result to the destination */
+  *pResult = (q15_t) (sum / blockSize);
+}
+
+/**    
+ * @} end of mean group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_mean_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_mean_q31.c
new file mode 100644
index 000000000..88a5de299
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_mean_q31.c
@@ -0,0 +1,128 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_mean_q31.c    
+*    
+* Description:	Mean value of a Q31 vector.   
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupStats    
+ */
+
+/**    
+ * @addtogroup mean    
+ * @{    
+ */
+
+/**    
+ * @brief Mean value of a Q31 vector.    
+ * @param[in]       *pSrc points to the input vector    
+ * @param[in]       blockSize length of the input vector    
+ * @param[out]      *pResult mean value returned here    
+ * @return none.    
+ *    
+ * @details    
+ * Scaling and Overflow Behavior:    
+ *\par    
+ * The function is implemented using a 64-bit internal accumulator.    
+ * The input is represented in 1.31 format and is accumulated in a 64-bit    
+ * accumulator in 33.31 format.    
+ * There is no risk of internal overflow with this approach, and the     
+ * full precision of intermediate result is preserved.     
+ * Finally, the accumulator is truncated to yield a result of 1.31 format.    
+ *    
+ */
+
+
+void arm_mean_q31(
+  q31_t * pSrc,
+  uint32_t blockSize,
+  q31_t * pResult)
+{
+  q63_t sum = 0;                                 /* Temporary result storage */
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  q31_t in1, in2, in3, in4;
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) */
+    in1 = *pSrc++;
+    in2 = *pSrc++;
+    in3 = *pSrc++;
+    in4 = *pSrc++;
+
+    sum += in1;
+    sum += in2;
+    sum += in3;
+    sum += in4;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) */
+    sum += *pSrc++;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) / blockSize  */
+  /* Store the result to the destination */
+  *pResult = (q31_t) (sum / (int32_t) blockSize);
+}
+
+/**    
+ * @} end of mean group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_mean_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_mean_q7.c
new file mode 100644
index 000000000..a34c011bc
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_mean_q7.c
@@ -0,0 +1,125 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_mean_q7.c    
+*    
+* Description:	Mean value of a Q7 vector.   
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupStats    
+ */
+
+/**    
+ * @addtogroup mean    
+ * @{    
+ */
+
+/**    
+ * @brief Mean value of a Q7 vector.    
+ * @param[in]       *pSrc points to the input vector    
+ * @param[in]       blockSize length of the input vector    
+ * @param[out]      *pResult mean value returned here    
+ * @return none.    
+ *    
+ * @details    
+ * Scaling and Overflow Behavior:    
+ * \par    
+ * The function is implemented using a 32-bit internal accumulator.     
+ * The input is represented in 1.7 format and is accumulated in a 32-bit    
+ * accumulator in 25.7 format.    
+ * There is no risk of internal overflow with this approach, and the     
+ * full precision of intermediate result is preserved.     
+ * Finally, the accumulator is truncated to yield a result of 1.7 format.    
+ *    
+ */
+
+
+void arm_mean_q7(
+  q7_t * pSrc,
+  uint32_t blockSize,
+  q7_t * pResult)
+{
+  q31_t sum = 0;                                 /* Temporary result storage */
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  q31_t in;
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) */
+    in = *__SIMD32(pSrc)++;
+
+    sum += ((in << 24) >> 24);
+    sum += ((in << 16) >> 24);
+    sum += ((in << 8) >> 24);
+    sum += (in >> 24);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) */
+    sum += *pSrc++;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) / blockSize  */
+  /* Store the result to the destination */
+  *pResult = (q7_t) (sum / (int32_t) blockSize);
+}
+
+/**    
+ * @} end of mean group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_min_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_min_f32.c
new file mode 100644
index 000000000..dc2fdf624
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_min_f32.c
@@ -0,0 +1,175 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_min_f32.c    
+*    
+* Description:	Minimum value of a floating-point vector.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupStats    
+ */
+
+/**    
+ * @defgroup Min Minimum    
+ *    
+ * Computes the minimum value of an array of data.     
+ * The function returns both the minimum value and its position within the array.     
+ * There are separate functions for floating-point, Q31, Q15, and Q7 data types.    
+ */
+
+/**    
+ * @addtogroup Min    
+ * @{    
+ */
+
+
+/**    
+ * @brief Minimum value of a floating-point vector.    
+ * @param[in]       *pSrc points to the input vector    
+ * @param[in]       blockSize length of the input vector    
+ * @param[out]      *pResult minimum value returned here    
+ * @param[out]      *pIndex index of minimum value returned here    
+  * @return none.    
+ *    
+ */
+
+void arm_min_f32(
+  float32_t * pSrc,
+  uint32_t blockSize,
+  float32_t * pResult,
+  uint32_t * pIndex)
+{
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  float32_t minVal1, minVal2, out;               /* Temporary variables to store the output value. */
+  uint32_t blkCnt, outIndex, count;              /* loop counter */
+
+  /* Initialise the count value. */
+  count = 0u;
+  /* Initialise the index value to zero. */
+  outIndex = 0u;
+  /* Load first input value that act as reference value for comparision */
+  out = *pSrc++;
+
+  /* Loop unrolling */
+  blkCnt = (blockSize - 1u) >> 2u;
+
+  while(blkCnt > 0)
+  {
+    /* Initialize minVal to the next consecutive values one by one */
+    minVal1 = *pSrc++;
+    minVal2 = *pSrc++;
+
+    /* compare for the minimum value */
+    if(out > minVal1)
+    {
+      /* Update the minimum value and its index */
+      out = minVal1;
+      outIndex = count + 1u;
+    }
+
+    minVal1 = *pSrc++;
+
+    /* compare for the minimum value */
+    if(out > minVal2)
+    {
+      /* Update the minimum value and its index */
+      out = minVal2;
+      outIndex = count + 2u;
+    }
+
+    minVal2 = *pSrc++;
+
+    /* compare for the minimum value */
+    if(out > minVal1)
+    {
+      /* Update the minimum value and its index */
+      out = minVal1;
+      outIndex = count + 3u;
+    }
+
+    /* compare for the minimum value */
+    if(out > minVal2)
+    {
+      /* Update the minimum value and its index */
+      out = minVal2;
+      outIndex = count + 4u;
+    }
+
+    count += 4u;
+
+    blkCnt--;
+  }
+
+  /* if (blockSize - 1u ) is not multiple of 4 */
+  blkCnt = (blockSize - 1u) % 4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+  float32_t minVal1, out;                        /* Temporary variables to store the output value. */
+  uint32_t blkCnt, outIndex;                     /* loop counter */
+
+  /* Initialise the index value to zero. */
+  outIndex = 0u;
+  /* Load first input value that act as reference value for comparision */
+  out = *pSrc++;
+
+  blkCnt = (blockSize - 1u);
+
+#endif //      #ifndef ARM_MATH_CM0
+
+  while(blkCnt > 0)
+  {
+    /* Initialize minVal to the next consecutive values one by one */
+    minVal1 = *pSrc++;
+
+    /* compare for the minimum value */
+    if(out > minVal1)
+    {
+      /* Update the minimum value and it's index */
+      out = minVal1;
+      outIndex = blockSize - blkCnt;
+    }
+
+    blkCnt--;
+
+  }
+
+  /* Store the minimum value and it's index into destination pointers */
+  *pResult = out;
+  *pIndex = outIndex;
+}
+
+/**    
+ * @} end of Min group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_min_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_min_q15.c
new file mode 100644
index 000000000..35b67bb1e
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_min_q15.c
@@ -0,0 +1,169 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_min_q15.c    
+*    
+* Description:	Minimum value of a Q15 vector.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupStats    
+ */
+
+
+/**    
+ * @addtogroup Min    
+ * @{    
+ */
+
+
+/**    
+ * @brief Minimum value of a Q15 vector.    
+ * @param[in]       *pSrc points to the input vector    
+ * @param[in]       blockSize length of the input vector    
+ * @param[out]      *pResult minimum value returned here    
+ * @param[out]      *pIndex index of minimum value returned here    
+ * @return none.    
+ *    
+ */
+
+void arm_min_q15(
+  q15_t * pSrc,
+  uint32_t blockSize,
+  q15_t * pResult,
+  uint32_t * pIndex)
+{
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  q15_t minVal1, minVal2, out;                   /* Temporary variables to store the output value. */
+  uint32_t blkCnt, outIndex, count;              /* loop counter */
+
+  /* Initialise the count value. */
+  count = 0u;
+  /* Initialise the index value to zero. */
+  outIndex = 0u;
+  /* Load first input value that act as reference value for comparision */
+  out = *pSrc++;
+
+  /* Loop unrolling */
+  blkCnt = (blockSize - 1u) >> 2u;
+
+  while(blkCnt > 0)
+  {
+    /* Initialize minVal to the next consecutive values one by one */
+    minVal1 = *pSrc++;
+    minVal2 = *pSrc++;
+
+    /* compare for the minimum value */
+    if(out > minVal1)
+    {
+      /* Update the minimum value and its index */
+      out = minVal1;
+      outIndex = count + 1u;
+    }
+
+    minVal1 = *pSrc++;
+
+    /* compare for the minimum value */
+    if(out > minVal2)
+    {
+      /* Update the minimum value and its index */
+      out = minVal2;
+      outIndex = count + 2u;
+    }
+
+    minVal2 = *pSrc++;
+
+    /* compare for the minimum value */
+    if(out > minVal1)
+    {
+      /* Update the minimum value and its index */
+      out = minVal1;
+      outIndex = count + 3u;
+    }
+
+    /* compare for the minimum value */
+    if(out > minVal2)
+    {
+      /* Update the minimum value and its index */
+      out = minVal2;
+      outIndex = count + 4u;
+    }
+
+    count += 4u;
+
+    blkCnt--;
+  }
+
+  /* if (blockSize - 1u ) is not multiple of 4 */
+  blkCnt = (blockSize - 1u) % 4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+  q15_t minVal1, out;                            /* Temporary variables to store the output value. */
+  uint32_t blkCnt, outIndex;                     /* loop counter */
+
+  blkCnt = (blockSize - 1u);
+
+  /* Initialise the index value to zero. */
+  outIndex = 0u;
+  /* Load first input value that act as reference value for comparision */
+  out = *pSrc++;
+
+#endif //      #ifndef ARM_MATH_CM0
+
+  while(blkCnt > 0)
+  {
+    /* Initialize minVal to the next consecutive values one by one */
+    minVal1 = *pSrc++;
+
+    /* compare for the minimum value */
+    if(out > minVal1)
+    {
+      /* Update the minimum value and it's index */
+      out = minVal1;
+      outIndex = blockSize - blkCnt;
+    }
+
+    blkCnt--;
+
+  }
+
+
+
+  /* Store the minimum value and its index into destination pointers */
+  *pResult = out;
+  *pIndex = outIndex;
+}
+
+/**    
+ * @} end of Min group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_min_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_min_q31.c
new file mode 100644
index 000000000..4a9befc75
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_min_q31.c
@@ -0,0 +1,168 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_min_q31.c    
+*    
+* Description:	Minimum value of a Q31 vector.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupStats    
+ */
+
+
+/**    
+ * @addtogroup Min    
+ * @{    
+ */
+
+
+/**    
+ * @brief Minimum value of a Q31 vector.    
+ * @param[in]       *pSrc points to the input vector    
+ * @param[in]       blockSize length of the input vector    
+ * @param[out]      *pResult minimum value returned here    
+ * @param[out]      *pIndex index of minimum value returned here    
+ * @return none.    
+ *    
+ */
+
+void arm_min_q31(
+  q31_t * pSrc,
+  uint32_t blockSize,
+  q31_t * pResult,
+  uint32_t * pIndex)
+{
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  q31_t minVal1, minVal2, out;                   /* Temporary variables to store the output value. */
+  uint32_t blkCnt, outIndex, count;              /* loop counter */
+
+  /* Initialise the count value. */
+  count = 0u;
+  /* Initialise the index value to zero. */
+  outIndex = 0u;
+  /* Load first input value that act as reference value for comparision */
+  out = *pSrc++;
+
+
+  /* Loop unrolling */
+  blkCnt = (blockSize - 1u) >> 2u;
+
+  while(blkCnt > 0)
+  {
+    /* Initialize minVal to the next consecutive values one by one */
+    minVal1 = *pSrc++;
+    minVal2 = *pSrc++;
+
+    /* compare for the minimum value */
+    if(out > minVal1)
+    {
+      /* Update the minimum value and its index */
+      out = minVal1;
+      outIndex = count + 1u;
+    }
+
+    minVal1 = *pSrc++;
+
+    /* compare for the minimum value */
+    if(out > minVal2)
+    {
+      /* Update the minimum value and its index */
+      out = minVal2;
+      outIndex = count + 2u;
+    }
+
+    minVal2 = *pSrc++;
+
+    /* compare for the minimum value */
+    if(out > minVal1)
+    {
+      /* Update the minimum value and its index */
+      out = minVal1;
+      outIndex = count + 3u;
+    }
+
+    /* compare for the minimum value */
+    if(out > minVal2)
+    {
+      /* Update the minimum value and its index */
+      out = minVal2;
+      outIndex = count + 4u;
+    }
+
+    count += 4u;
+
+    blkCnt--;
+  }
+
+  /* if (blockSize - 1u ) is not multiple of 4 */
+  blkCnt = (blockSize - 1u) % 4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+  q31_t minVal1, out;                            /* Temporary variables to store the output value. */
+  uint32_t blkCnt, outIndex;                     /* loop counter */
+
+  blkCnt = (blockSize - 1u);
+
+  /* Initialise the index value to zero. */
+  outIndex = 0u;
+  /* Load first input value that act as reference value for comparision */
+  out = *pSrc++;
+
+#endif //      #ifndef ARM_MATH_CM0
+
+  while(blkCnt > 0)
+  {
+    /* Initialize minVal to the next consecutive values one by one */
+    minVal1 = *pSrc++;
+
+    /* compare for the minimum value */
+    if(out > minVal1)
+    {
+      /* Update the minimum value and it's index */
+      out = minVal1;
+      outIndex = blockSize - blkCnt;
+    }
+
+    blkCnt--;
+
+  }
+
+  /* Store the minimum value and its index into destination pointers */
+  *pResult = out;
+  *pIndex = outIndex;
+}
+
+/**    
+ * @} end of Min group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_min_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_min_q7.c
new file mode 100644
index 000000000..aaf8ad9ff
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_min_q7.c
@@ -0,0 +1,170 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_min_q7.c    
+*    
+* Description:	Minimum value of a Q7 vector.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupStats    
+ */
+
+/**    
+ * @addtogroup Min    
+ * @{    
+ */
+
+
+/**    
+ * @brief Minimum value of a Q7 vector.    
+ * @param[in]       *pSrc points to the input vector    
+ * @param[in]       blockSize length of the input vector    
+ * @param[out]      *pResult minimum value returned here    
+ * @param[out]      *pIndex index of minimum value returned here    
+ * @return none.    
+ *    
+ */
+
+void arm_min_q7(
+  q7_t * pSrc,
+  uint32_t blockSize,
+  q7_t * pResult,
+  uint32_t * pIndex)
+{
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q7_t minVal1, minVal2, out;                    /* Temporary variables to store the output value. */
+  uint32_t blkCnt, outIndex, count;              /* loop counter */
+
+  /* Initialise the count value. */
+  count = 0u;
+  /* Initialise the index value to zero. */
+  outIndex = 0u;
+  /* Load first input value that act as reference value for comparision */
+  out = *pSrc++;
+
+  /* Loop unrolling */
+  blkCnt = (blockSize - 1u) >> 2u;
+
+  while(blkCnt > 0)
+  {
+    /* Initialize minVal to the next consecutive values one by one */
+    minVal1 = *pSrc++;
+    minVal2 = *pSrc++;
+
+    /* compare for the minimum value */
+    if(out > minVal1)
+    {
+      /* Update the minimum value and its index */
+      out = minVal1;
+      outIndex = count + 1u;
+    }
+
+    minVal1 = *pSrc++;
+
+    /* compare for the minimum value */
+    if(out > minVal2)
+    {
+      /* Update the minimum value and its index */
+      out = minVal2;
+      outIndex = count + 2u;
+    }
+
+    minVal2 = *pSrc++;
+
+    /* compare for the minimum value */
+    if(out > minVal1)
+    {
+      /* Update the minimum value and its index */
+      out = minVal1;
+      outIndex = count + 3u;
+    }
+
+    /* compare for the minimum value */
+    if(out > minVal2)
+    {
+      /* Update the minimum value and its index */
+      out = minVal2;
+      outIndex = count + 4u;
+    }
+
+    count += 4u;
+
+    blkCnt--;
+  }
+
+  /* if (blockSize - 1u ) is not multiple of 4 */
+  blkCnt = (blockSize - 1u) % 4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  q7_t minVal1, out;                             /* Temporary variables to store the output value. */
+  uint32_t blkCnt, outIndex;                     /* loop counter */
+
+  /* Initialise the index value to zero. */
+  outIndex = 0u;
+  /* Load first input value that act as reference value for comparision */
+  out = *pSrc++;
+
+  blkCnt = (blockSize - 1u);
+
+#endif //      #ifndef ARM_MATH_CM0
+
+  while(blkCnt > 0)
+  {
+    /* Initialize minVal to the next consecutive values one by one */
+    minVal1 = *pSrc++;
+
+    /* compare for the minimum value */
+    if(out > minVal1)
+    {
+      /* Update the minimum value and it's index */
+      out = minVal1;
+      outIndex = blockSize - blkCnt;
+    }
+
+    blkCnt--;
+
+  }
+
+  /* Store the minimum value and its index into destination pointers */
+  *pResult = out;
+  *pIndex = outIndex;
+
+
+}
+
+/**    
+ * @} end of Min group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_power_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_power_f32.c
new file mode 100644
index 000000000..5ee0060d8
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_power_f32.c
@@ -0,0 +1,138 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_power_f32.c    
+*    
+* Description:	Sum of the squares of the elements of a floating-point vector.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupStats    
+ */
+
+/**    
+ * @defgroup power Power    
+ *    
+ * Calculates the sum of the squares of the elements in the input vector.    
+ * The underlying algorithm is used:    
+ *    
+ * 
    
+ * 	Result = pSrc[0] * pSrc[0] + pSrc[1] * pSrc[1] + pSrc[2] * pSrc[2] + ... + pSrc[blockSize-1] * pSrc[blockSize-1];    
+ * 
    
+ *   
+ * There are separate functions for floating point, Q31, Q15, and Q7 data types.     
+ */
+
+/**    
+ * @addtogroup power    
+ * @{    
+ */
+
+
+/**    
+ * @brief Sum of the squares of the elements of a floating-point vector.    
+ * @param[in]       *pSrc points to the input vector    
+ * @param[in]       blockSize length of the input vector    
+ * @param[out]      *pResult sum of the squares value returned here    
+ * @return none.    
+ *    
+ */
+
+
+void arm_power_f32(
+  float32_t * pSrc,
+  uint32_t blockSize,
+  float32_t * pResult)
+{
+  float32_t sum = 0.0f;                          /* accumulator */
+  float32_t in;                                  /* Temporary variable to store input value */
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = A[0] * A[0] + A[1] * A[1] + A[2] * A[2] + ... + A[blockSize-1] * A[blockSize-1] */
+    /* Compute Power and then store the result in a temporary variable, sum. */
+    in = *pSrc++;
+    sum += in * in;
+    in = *pSrc++;
+    sum += in * in;
+    in = *pSrc++;
+    sum += in * in;
+    in = *pSrc++;
+    sum += in * in;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+
+  while(blkCnt > 0u)
+  {
+    /* C = A[0] * A[0] + A[1] * A[1] + A[2] * A[2] + ... + A[blockSize-1] * A[blockSize-1] */
+    /* compute power and then store the result in a temporary variable, sum. */
+    in = *pSrc++;
+    sum += in * in;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Store the result to the destination */
+  *pResult = sum;
+}
+
+/**    
+ * @} end of power group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_power_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_power_q15.c
new file mode 100644
index 000000000..aed06a17a
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_power_q15.c
@@ -0,0 +1,144 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_power_q15.c    
+*    
+* Description:	Sum of the squares of the elements of a Q15 vector.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupStats    
+ */
+
+/**    
+ * @addtogroup power    
+ * @{    
+ */
+
+/**    
+ * @brief Sum of the squares of the elements of a Q15 vector.    
+ * @param[in]       *pSrc points to the input vector    
+ * @param[in]       blockSize length of the input vector    
+ * @param[out]      *pResult sum of the squares value returned here    
+ * @return none.    
+ *    
+ * @details    
+ * Scaling and Overflow Behavior:    
+ *    
+ * \par    
+ * The function is implemented using a 64-bit internal accumulator.     
+ * The input is represented in 1.15 format.   
+ * Intermediate multiplication yields a 2.30 format, and this    
+ * result is added without saturation to a 64-bit accumulator in 34.30 format.    
+ * With 33 guard bits in the accumulator, there is no risk of overflow, and the    
+ * full precision of the intermediate multiplication is preserved.    
+ * Finally, the return result is in 34.30 format.     
+ *    
+ */
+
+void arm_power_q15(
+  q15_t * pSrc,
+  uint32_t blockSize,
+  q63_t * pResult)
+{
+  q63_t sum = 0;                                 /* Temporary result storage */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q31_t in32;                                    /* Temporary variable to store input value */
+  q15_t in16;                                    /* Temporary variable to store input value */
+  uint32_t blkCnt;                               /* loop counter */
+
+
+  /* loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = A[0] * A[0] + A[1] * A[1] + A[2] * A[2] + ... + A[blockSize-1] * A[blockSize-1] */
+    /* Compute Power and then store the result in a temporary variable, sum. */
+    in32 = *__SIMD32(pSrc)++;
+    sum = __SMLALD(in32, in32, sum);
+    in32 = *__SIMD32(pSrc)++;
+    sum = __SMLALD(in32, in32, sum);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C = A[0] * A[0] + A[1] * A[1] + A[2] * A[2] + ... + A[blockSize-1] * A[blockSize-1] */
+    /* Compute Power and then store the result in a temporary variable, sum. */
+    in16 = *pSrc++;
+    sum = __SMLALD(in16, in16, sum);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  q15_t in;                                      /* Temporary variable to store input value */
+  uint32_t blkCnt;                               /* loop counter */
+
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* C = A[0] * A[0] + A[1] * A[1] + A[2] * A[2] + ... + A[blockSize-1] * A[blockSize-1] */
+    /* Compute Power and then store the result in a temporary variable, sum. */
+    in = *pSrc++;
+    sum += ((q31_t) in * in);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  /* Store the results in 34.30 format  */
+  *pResult = sum;
+}
+
+/**    
+ * @} end of power group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_power_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_power_q31.c
new file mode 100644
index 000000000..43f03f757
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_power_q31.c
@@ -0,0 +1,135 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_power_q31.c    
+*    
+* Description:	Sum of the squares of the elements of a Q31 vector.   
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupStats    
+ */
+
+/**    
+ * @addtogroup power    
+ * @{    
+ */
+
+/**    
+ * @brief Sum of the squares of the elements of a Q31 vector.    
+ * @param[in]       *pSrc points to the input vector    
+ * @param[in]       blockSize length of the input vector    
+ * @param[out]      *pResult sum of the squares value returned here    
+ * @return none.    
+ *    
+ * @details    
+ * Scaling and Overflow Behavior:    
+ *    
+ * \par    
+ * The function is implemented using a 64-bit internal accumulator.    
+ * The input is represented in 1.31 format.    
+ * Intermediate multiplication yields a 2.62 format, and this    
+ * result is truncated to 2.48 format by discarding the lower 14 bits.    
+ * The 2.48 result is then added without saturation to a 64-bit accumulator in 16.48 format.    
+ * With 15 guard bits in the accumulator, there is no risk of overflow, and the    
+ * full precision of the intermediate multiplication is preserved.    
+ * Finally, the return result is in 16.48 format.     
+ *    
+ */
+
+void arm_power_q31(
+  q31_t * pSrc,
+  uint32_t blockSize,
+  q63_t * pResult)
+{
+  q63_t sum = 0;                                 /* Temporary result storage */
+  q31_t in;
+  uint32_t blkCnt;                               /* loop counter */
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = A[0] * A[0] + A[1] * A[1] + A[2] * A[2] + ... + A[blockSize-1] * A[blockSize-1] */
+    /* Compute Power then shift intermediate results by 14 bits to maintain 16.48 format and then store the result in a temporary variable sum, providing 15 guard bits. */
+    in = *pSrc++;
+    sum += ((q63_t) in * in) >> 14u;
+
+    in = *pSrc++;
+    sum += ((q63_t) in * in) >> 14u;
+
+    in = *pSrc++;
+    sum += ((q63_t) in * in) >> 14u;
+
+    in = *pSrc++;
+    sum += ((q63_t) in * in) >> 14u;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C = A[0] * A[0] + A[1] * A[1] + A[2] * A[2] + ... + A[blockSize-1] * A[blockSize-1] */
+    /* Compute Power and then store the result in a temporary variable, sum. */
+    in = *pSrc++;
+    sum += ((q63_t) in * in) >> 14u;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Store the results in 16.48 format  */
+  *pResult = sum;
+}
+
+/**    
+ * @} end of power group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_power_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_power_q7.c
new file mode 100644
index 000000000..5cb99b4c2
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_power_q7.c
@@ -0,0 +1,133 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_power_q7.c    
+*    
+* Description:	Sum of the squares of the elements of a Q7 vector.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupStats    
+ */
+
+/**    
+ * @addtogroup power    
+ * @{    
+ */
+
+/**    
+ * @brief Sum of the squares of the elements of a Q7 vector.    
+ * @param[in]       *pSrc points to the input vector    
+ * @param[in]       blockSize length of the input vector    
+ * @param[out]      *pResult sum of the squares value returned here    
+ * @return none.    
+ *    
+ * @details    
+ * Scaling and Overflow Behavior:    
+ *    
+ * \par    
+ * The function is implemented using a 32-bit internal accumulator.     
+ * The input is represented in 1.7 format.   
+ * Intermediate multiplication yields a 2.14 format, and this    
+ * result is added without saturation to an accumulator in 18.14 format.    
+ * With 17 guard bits in the accumulator, there is no risk of overflow, and the    
+ * full precision of the intermediate multiplication is preserved.    
+ * Finally, the return result is in 18.14 format.     
+ *    
+ */
+
+void arm_power_q7(
+  q7_t * pSrc,
+  uint32_t blockSize,
+  q31_t * pResult)
+{
+  q31_t sum = 0;                                 /* Temporary result storage */
+  q7_t in;                                       /* Temporary variable to store input */
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q31_t input1;                                  /* Temporary variable to store packed input */
+  q31_t in1, in2;                                /* Temporary variables to store input */
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* Reading two inputs of pSrc vector and packing */
+    input1 = *__SIMD32(pSrc)++;
+
+    in1 = __SXTB16(__ROR(input1, 8));
+    in2 = __SXTB16(input1);
+
+    /* C = A[0] * A[0] + A[1] * A[1] + A[2] * A[2] + ... + A[blockSize-1] * A[blockSize-1] */
+    /* calculate power and accumulate to accumulator */
+    sum = __SMLAD(in1, in1, sum);
+    sum = __SMLAD(in2, in2, sum);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C = A[0] * A[0] + A[1] * A[1] + A[2] * A[2] + ... + A[blockSize-1] * A[blockSize-1] */
+    /* Compute Power and then store the result in a temporary variable, sum. */
+    in = *pSrc++;
+    sum += ((q15_t) in * in);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Store the result in 18.14 format  */
+  *pResult = sum;
+}
+
+/**    
+ * @} end of power group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_rms_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_rms_f32.c
new file mode 100644
index 000000000..573896ed4
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_rms_f32.c
@@ -0,0 +1,133 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_rms_f32.c    
+*    
+* Description:	Root mean square value of an array of F32 type    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupStats    
+ */
+
+/**    
+ * @defgroup RMS Root mean square (RMS)    
+ *    
+ *     
+ * Calculates the Root Mean Sqaure of the elements in the input vector.    
+ * The underlying algorithm is used:    
+ *    
+ * 
    
+ * 	Result = sqrt(((pSrc[0] * pSrc[0] + pSrc[1] * pSrc[1] + ... + pSrc[blockSize-1] * pSrc[blockSize-1]) / blockSize));    
+ * 
    
+ *   
+ * There are separate functions for floating point, Q31, and Q15 data types.     
+ */
+
+/**    
+ * @addtogroup RMS    
+ * @{    
+ */
+
+
+/**    
+ * @brief Root Mean Square of the elements of a floating-point vector.    
+ * @param[in]       *pSrc points to the input vector    
+ * @param[in]       blockSize length of the input vector    
+ * @param[out]      *pResult rms value returned here    
+ * @return none.    
+ *    
+ */
+
+void arm_rms_f32(
+  float32_t * pSrc,
+  uint32_t blockSize,
+  float32_t * pResult)
+{
+  float32_t sum = 0.0f;                          /* Accumulator */
+  float32_t in;                                  /* Tempoprary variable to store input value */
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /* loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = A[0] * A[0] + A[1] * A[1] + A[2] * A[2] + ... + A[blockSize-1] * A[blockSize-1] */
+    /* Compute sum of the squares and then store the result in a temporary variable, sum  */
+    in = *pSrc++;
+    sum += in * in;
+    in = *pSrc++;
+    sum += in * in;
+    in = *pSrc++;
+    sum += in * in;
+    in = *pSrc++;
+    sum += in * in;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C = A[0] * A[0] + A[1] * A[1] + A[2] * A[2] + ... + A[blockSize-1] * A[blockSize-1] */
+    /* Compute sum of the squares and then store the results in a temporary variable, sum  */
+    in = *pSrc++;
+    sum += in * in;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Compute Rms and store the result in the destination */
+  arm_sqrt_f32(sum / (float32_t) blockSize, pResult);
+}
+
+/**    
+ * @} end of RMS group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_rms_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_rms_q15.c
new file mode 100644
index 000000000..491c652e7
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_rms_q15.c
@@ -0,0 +1,153 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_rms_q15.c    
+*    
+* Description:	Root Mean Square of the elements of a Q15 vector.  
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @addtogroup RMS    
+ * @{    
+ */
+
+/**    
+ * @brief Root Mean Square of the elements of a Q15 vector.    
+ * @param[in]       *pSrc points to the input vector    
+ * @param[in]       blockSize length of the input vector    
+ * @param[out]      *pResult rms value returned here    
+ * @return none.    
+ *    
+ * @details    
+ * Scaling and Overflow Behavior:    
+ *    
+ * \par    
+ * The function is implemented using a 64-bit internal accumulator.    
+ * The input is represented in 1.15 format.    
+ * Intermediate multiplication yields a 2.30 format, and this    
+ * result is added without saturation to a 64-bit accumulator in 34.30 format.    
+ * With 33 guard bits in the accumulator, there is no risk of overflow, and the    
+ * full precision of the intermediate multiplication is preserved.    
+ * Finally, the 34.30 result is truncated to 34.15 format by discarding the lower     
+ * 15 bits, and then saturated to yield a result in 1.15 format.    
+ *    
+ */
+
+void arm_rms_q15(
+  q15_t * pSrc,
+  uint32_t blockSize,
+  q15_t * pResult)
+{
+  q63_t sum = 0;                                 /* accumulator */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q31_t in;                                      /* temporary variable to store the input value */
+  q15_t in1;                                     /* temporary variable to store the input value */
+  uint32_t blkCnt;                               /* loop counter */
+
+  /* loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1]) */
+    /* Compute sum of the squares and then store the results in a temporary variable, sum */
+    in = *__SIMD32(pSrc)++;
+    sum = __SMLALD(in, in, sum);
+    in = *__SIMD32(pSrc)++;
+    sum = __SMLALD(in, in, sum);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1]) */
+    /* Compute sum of the squares and then store the results in a temporary variable, sum */
+    in1 = *pSrc++;
+    sum = __SMLALD(in1, in1, sum);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Truncating and saturating the accumulator to 1.15 format */
+  sum = __SSAT((q31_t) (sum >> 15), 16);
+
+  in1 = (q15_t) (sum / blockSize);
+
+  /* Store the result in the destination */
+  arm_sqrt_q15(in1, pResult);
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  q15_t in;                                      /* temporary variable to store the input value */
+  uint32_t blkCnt;                               /* loop counter */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1]) */
+    /* Compute sum of the squares and then store the results in a temporary variable, sum */
+    in = *pSrc++;
+    sum += ((q31_t) in * in);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Truncating and saturating the accumulator to 1.15 format */
+  sum = __SSAT((q31_t) (sum >> 15), 16);
+
+  in = (q15_t) (sum / blockSize);
+
+  /* Store the result in the destination */
+  arm_sqrt_q15(in, pResult);
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/**    
+ * @} end of RMS group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_rms_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_rms_q31.c
new file mode 100644
index 000000000..54038eb12
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_rms_q31.c
@@ -0,0 +1,146 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_rms_q31.c    
+*    
+* Description:	Root Mean Square of the elements of a Q31 vector.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**        
+ * @addtogroup RMS        
+ * @{        
+ */
+
+
+/**        
+ * @brief Root Mean Square of the elements of a Q31 vector.        
+ * @param[in]       *pSrc points to the input vector        
+ * @param[in]       blockSize length of the input vector        
+ * @param[out]      *pResult rms value returned here        
+ * @return none.        
+ *        
+ * @details        
+ * Scaling and Overflow Behavior:        
+ *        
+ *\par        
+ * The function is implemented using an internal 64-bit accumulator.        
+ * The input is represented in 1.31 format, and intermediate multiplication        
+ * yields a 2.62 format.        
+ * The accumulator maintains full precision of the intermediate multiplication results,         
+ * but provides only a single guard bit.        
+ * There is no saturation on intermediate additions.        
+ * If the accumulator overflows, it wraps around and distorts the result.         
+ * In order to avoid overflows completely, the input signal must be scaled down by         
+ * log2(blockSize) bits, as a total of blockSize additions are performed internally.         
+ * Finally, the 2.62 accumulator is right shifted by 31 bits to yield a 1.31 format value.        
+ *        
+ */
+
+void arm_rms_q31(
+  q31_t * pSrc,
+  uint32_t blockSize,
+  q31_t * pResult)
+{
+  q63_t sum = 0;                                 /* accumulator */
+  q31_t in;                                      /* Temporary variable to store the input */
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q31_t in1, in2, in3, in4;                      /* Temporary input variables */
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 8 outputs at a time.        
+   ** a second loop below computes the remaining 1 to 7 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = A[0] * A[0] + A[1] * A[1] + A[2] * A[2] + ... + A[blockSize-1] * A[blockSize-1] */
+    /* Compute sum of the squares and then store the result in a temporary variable, sum */
+    /* read two samples from source buffer */
+    in1 = pSrc[0];
+    in2 = pSrc[1];
+
+    /* calculate power and accumulate to accumulator */
+    sum += (q63_t) in1 *in1;
+    sum += (q63_t) in2 *in2;
+
+    /* read two samples from source buffer */
+    in3 = pSrc[2];
+    in4 = pSrc[3];
+
+    /* calculate power and accumulate to accumulator */
+    sum += (q63_t) in3 *in3;
+    sum += (q63_t) in4 *in4;
+
+
+    /* update source buffer to process next samples */
+    pSrc += 4u;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 8, compute any remaining output samples here.        
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C = A[0] * A[0] + A[1] * A[1] + A[2] * A[2] + ... + A[blockSize-1] * A[blockSize-1] */
+    /* Compute sum of the squares and then store the results in a temporary variable, sum */
+    in = *pSrc++;
+    sum += (q63_t) in *in;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Convert data in 2.62 to 1.31 by 31 right shifts and saturate */
+
+  sum = __SSAT(sum >> 31, 31);
+
+
+  /* Compute Rms and store the result in the destination vector */
+  arm_sqrt_q31((q31_t) ((q31_t) sum / (int32_t) blockSize), pResult);
+}
+
+/**        
+ * @} end of RMS group        
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_std_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_std_f32.c
new file mode 100644
index 000000000..6442d5c29
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_std_f32.c
@@ -0,0 +1,188 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_std_f32.c    
+*    
+* Description:	Standard deviation of the elements of a floating-point vector.  
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupStats    
+ */
+
+/**    
+ * @defgroup STD Standard deviation    
+ *    
+ * Calculates the standard deviation of the elements in the input vector.     
+ * The underlying algorithm is used:    
+ *   
+ * 
    
+ * 	Result = sqrt((sumOfSquares - sum2 / blockSize) / (blockSize - 1))   
+ *   
+ *	   where, sumOfSquares = pSrc[0] * pSrc[0] + pSrc[1] * pSrc[1] + ... + pSrc[blockSize-1] * pSrc[blockSize-1]   
+ *   
+ *	                   sum = pSrc[0] + pSrc[1] + pSrc[2] + ... + pSrc[blockSize-1]   
+ * 
   
+ *    
+ * There are separate functions for floating point, Q31, and Q15 data types.    
+ */
+
+/**    
+ * @addtogroup STD    
+ * @{    
+ */
+
+
+/**    
+ * @brief Standard deviation of the elements of a floating-point vector.    
+ * @param[in]       *pSrc points to the input vector    
+ * @param[in]       blockSize length of the input vector    
+ * @param[out]      *pResult standard deviation value returned here    
+ * @return none.    
+ *    
+ */
+
+
+void arm_std_f32(
+  float32_t * pSrc,
+  uint32_t blockSize,
+  float32_t * pResult)
+{
+  float32_t sum = 0.0f;                          /* Temporary result storage */
+  float32_t sumOfSquares = 0.0f;                 /* Sum of squares */
+  float32_t in;                                  /* input value */
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  float32_t meanOfSquares, mean, squareOfMean;
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1])  */
+    /* Compute Sum of squares of the input samples    
+     * and then store the result in a temporary variable, sum. */
+    in = *pSrc++;
+    sum += in;
+    sumOfSquares += in * in;
+    in = *pSrc++;
+    sum += in;
+    sumOfSquares += in * in;
+    in = *pSrc++;
+    sum += in;
+    sumOfSquares += in * in;
+    in = *pSrc++;
+    sum += in;
+    sumOfSquares += in * in;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1]) */
+    /* Compute Sum of squares of the input samples    
+     * and then store the result in a temporary variable, sum. */
+    in = *pSrc++;
+    sum += in;
+    sumOfSquares += in * in;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Compute Mean of squares of the input samples    
+   * and then store the result in a temporary variable, meanOfSquares. */
+  meanOfSquares = sumOfSquares / ((float32_t) blockSize - 1.0f);
+
+  /* Compute mean of all input values */
+  mean = sum / (float32_t) blockSize;
+
+  /* Compute square of mean */
+  squareOfMean = (mean * mean) * (((float32_t) blockSize) /
+                                  ((float32_t) blockSize - 1.0f));
+
+  /* Compute standard deviation and then store the result to the destination */
+  arm_sqrt_f32((meanOfSquares - squareOfMean), pResult);
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  float32_t squareOfSum;                         /* Square of Sum */
+  float32_t var;                                 /* Temporary varaince storage */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1]) */
+    /* Compute Sum of squares of the input samples     
+     * and then store the result in a temporary variable, sumOfSquares. */
+    in = *pSrc++;
+    sumOfSquares += in * in;
+
+    /* C = (A[0] + A[1] + ... + A[blockSize-1]) */
+    /* Compute Sum of the input samples     
+     * and then store the result in a temporary variable, sum. */
+    sum += in;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Compute the square of sum */
+  squareOfSum = ((sum * sum) / (float32_t) blockSize);
+
+  /* Compute the variance */
+  var = ((sumOfSquares - squareOfSum) / (float32_t) (blockSize - 1.0f));
+
+  /* Compute standard deviation and then store the result to the destination */
+  arm_sqrt_f32(var, pResult);
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/**    
+ * @} end of STD group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_std_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_std_q15.c
new file mode 100644
index 000000000..2d1a49a50
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_std_q15.c
@@ -0,0 +1,197 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_std_q15.c    
+*    
+* Description:	Standard deviation of an array of Q15 type.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupStats    
+ */
+
+/**    
+ * @addtogroup STD    
+ * @{    
+ */
+
+/**    
+ * @brief Standard deviation of the elements of a Q15 vector.    
+ * @param[in]       *pSrc points to the input vector    
+ * @param[in]       blockSize length of the input vector    
+ * @param[out]      *pResult standard deviation value returned here    
+ * @return none.    
+ *    
+ * @details    
+ * Scaling and Overflow Behavior:    
+ *    
+ * \par    
+ * The function is implemented using a 64-bit internal accumulator.    
+ * The input is represented in 1.15 format.   
+ * Intermediate multiplication yields a 2.30 format, and this    
+ * result is added without saturation to a 64-bit accumulator in 34.30 format.    
+ * With 33 guard bits in the accumulator, there is no risk of overflow, and the    
+ * full precision of the intermediate multiplication is preserved.    
+ * Finally, the 34.30 result is truncated to 34.15 format by discarding the lower     
+ * 15 bits, and then saturated to yield a result in 1.15 format.    
+ */
+
+void arm_std_q15(
+  q15_t * pSrc,
+  uint32_t blockSize,
+  q15_t * pResult)
+{
+  q31_t sum = 0;                                 /* Accumulator */
+  q31_t meanOfSquares, squareOfMean;             /* square of mean and mean of square */
+  q15_t mean;                                    /* mean */
+  uint32_t blkCnt;                               /* loop counter */
+  q15_t t;                                       /* Temporary variable */
+  q63_t sumOfSquares = 0;                        /* Accumulator */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q31_t in;                                      /* input value */
+  q15_t in1;                                     /* input value */
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1])  */
+    /* Compute Sum of squares of the input samples    
+     * and then store the result in a temporary variable, sum. */
+    in = *__SIMD32(pSrc)++;
+    sum += ((in << 16) >> 16);
+    sum += (in >> 16);
+    sumOfSquares = __SMLALD(in, in, sumOfSquares);
+    in = *__SIMD32(pSrc)++;
+    sum += ((in << 16) >> 16);
+    sum += (in >> 16);
+    sumOfSquares = __SMLALD(in, in, sumOfSquares);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1]) */
+    /* Compute Sum of squares of the input samples    
+     * and then store the result in a temporary variable, sum. */
+    in1 = *pSrc++;
+    sumOfSquares = __SMLALD(in1, in1, sumOfSquares);
+    sum += in1;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Compute Mean of squares of the input samples    
+   * and then store the result in a temporary variable, meanOfSquares. */
+  t = (q15_t) ((1.0 / (blockSize - 1)) * 16384LL);
+  sumOfSquares = __SSAT((sumOfSquares >> 15u), 16u);
+
+  meanOfSquares = (q31_t) ((sumOfSquares * t) >> 14u);
+
+  /* Compute mean of all input values */
+  t = (q15_t) ((1.0 / (blockSize * (blockSize - 1))) * 32768LL);
+  mean = (q15_t) __SSAT(sum, 16u);
+
+  /* Compute square of mean */
+  squareOfMean = ((q31_t) mean * mean) >> 15;
+  squareOfMean = (q31_t) (((q63_t) squareOfMean * t) >> 15);
+
+  /* mean of the squares minus the square of the mean. */
+  in1 = (q15_t) (meanOfSquares - squareOfMean);
+
+  /* Compute standard deviation and store the result to the destination */
+  arm_sqrt_q15(in1, pResult);
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+  q15_t in;                                      /* input value */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1]) */
+    /* Compute Sum of squares of the input samples     
+     * and then store the result in a temporary variable, sumOfSquares. */
+    in = *pSrc++;
+    sumOfSquares += (in * in);
+
+    /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) */
+    /* Compute sum of all input values and then store the result in a temporary variable, sum. */
+    sum += in;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Compute Mean of squares of the input samples     
+   * and then store the result in a temporary variable, meanOfSquares. */
+  t = (q15_t) ((1.0 / (blockSize - 1)) * 16384LL);
+  sumOfSquares = __SSAT((sumOfSquares >> 15u), 16u);
+  meanOfSquares = (q31_t) ((sumOfSquares * t) >> 14u);
+
+  /* Compute mean of all input values */
+  mean = (q15_t) __SSAT(sum, 16u);
+
+  /* Compute square of mean of the input samples   
+   * and then store the result in a temporary variable, squareOfMean.*/
+  t = (q15_t) ((1.0 / (blockSize * (blockSize - 1))) * 32768LL);
+  squareOfMean = ((q31_t) mean * mean) >> 15;
+  squareOfMean = (q31_t) (((q63_t) squareOfMean * t) >> 15);
+
+  /* mean of the squares minus the square of the mean. */
+  in = (q15_t) (meanOfSquares - squareOfMean);
+
+  /* Compute standard deviation and store the result to the destination */
+  arm_sqrt_q15(in, pResult);
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+
+}
+
+/**    
+ * @} end of STD group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_std_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_std_q31.c
new file mode 100644
index 000000000..45bec01a1
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_std_q31.c
@@ -0,0 +1,184 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_std_q31.c    
+*    
+* Description:	Standard deviation of an array of Q31 type.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupStats    
+ */
+
+/**    
+ * @addtogroup STD    
+ * @{    
+ */
+
+
+/**    
+ * @brief Standard deviation of the elements of a Q31 vector.    
+ * @param[in]       *pSrc points to the input vector    
+ * @param[in]       blockSize length of the input vector    
+ * @param[out]      *pResult standard deviation value returned here    
+ * @return none.    
+ * @details    
+ * Scaling and Overflow Behavior:    
+ *    
+ *\par    
+ * The function is implemented using an internal 64-bit accumulator.    
+ * The input is represented in 1.31 format, and intermediate multiplication    
+ * yields a 2.62 format.    
+ * The accumulator maintains full precision of the intermediate multiplication results,     
+ * but provides only a single guard bit.    
+ * There is no saturation on intermediate additions.    
+ * If the accumulator overflows it wraps around and distorts the result.    
+ * In order to avoid overflows completely the input signal must be scaled down by     
+ * log2(blockSize) bits, as a total of blockSize additions are performed internally.     
+ * Finally, the 2.62 accumulator is right shifted by 31 bits to yield a 1.31 format value.    
+ *    
+ */
+
+
+void arm_std_q31(
+  q31_t * pSrc,
+  uint32_t blockSize,
+  q31_t * pResult)
+{
+  q63_t sum = 0;                                 /* Accumulator */
+  q31_t meanOfSquares, squareOfMean;             /* square of mean and mean of square */
+  q31_t mean;                                    /* mean */
+  q31_t in;                                      /* input value */
+  q31_t t;                                       /* Temporary variable */
+  uint32_t blkCnt;                               /* loop counter */
+  q63_t sumOfSquares = 0;                        /* Accumulator */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1])  */
+    /* Compute Sum of squares of the input samples    
+     * and then store the result in a temporary variable, sum. */
+    in = *pSrc++;
+    sum += in;
+    sumOfSquares += ((q63_t) (in) * (in));
+    in = *pSrc++;
+    sum += in;
+    sumOfSquares += ((q63_t) (in) * (in));
+    in = *pSrc++;
+    sum += in;
+    sumOfSquares += ((q63_t) (in) * (in));
+    in = *pSrc++;
+    sum += in;
+    sumOfSquares += ((q63_t) (in) * (in));
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1]) */
+    /* Compute Sum of squares of the input samples    
+     * and then store the result in a temporary variable, sum. */
+    in = *pSrc++;
+    sum += in;
+    sumOfSquares += ((q63_t) (in) * (in));
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  t = (q31_t) ((1.0f / (float32_t) (blockSize - 1u)) * 1073741824.0f);
+
+  /* Compute Mean of squares of the input samples    
+   * and then store the result in a temporary variable, meanOfSquares. */
+  sumOfSquares = (sumOfSquares >> 31);
+  meanOfSquares = (q31_t) ((sumOfSquares * t) >> 30);
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1]) */
+    /* Compute Sum of squares of the input samples     
+     * and then store the result in a temporary variable, sumOfSquares. */
+    in = *pSrc++;
+    sumOfSquares += ((q63_t) (in) * (in));
+
+    /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) */
+    /* Compute sum of all input values and then store the result in a temporary variable, sum. */
+    sum += in;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Compute Mean of squares of the input samples     
+   * and then store the result in a temporary variable, meanOfSquares. */
+  t = (q31_t) ((1.0f / (float32_t) (blockSize - 1u)) * 1073741824.0f);
+  sumOfSquares = (sumOfSquares >> 31);
+  meanOfSquares = (q31_t) ((sumOfSquares * t) >> 30);
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  /* Compute mean of all input values */
+  t = (q31_t) ((1.0f / (blockSize * (blockSize - 1u))) * 2147483648.0f);
+  mean = (q31_t) (sum);
+
+  /* Compute square of mean */
+  squareOfMean = (q31_t) (((q63_t) mean * mean) >> 31);
+  squareOfMean = (q31_t) (((q63_t) squareOfMean * t) >> 31);
+
+
+  /* Compute standard deviation and then store the result to the destination */
+  arm_sqrt_q31(meanOfSquares - squareOfMean, pResult);
+
+}
+
+/**    
+ * @} end of STD group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_var_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_var_f32.c
new file mode 100644
index 000000000..2adcfb443
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_var_f32.c
@@ -0,0 +1,184 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_var_f32.c    
+*    
+* Description:	Variance of the elements of a floating-point vector.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupStats    
+ */
+
+/**    
+ * @defgroup variance  Variance    
+ *    
+ * Calculates the variance of the elements in the input vector.    
+ * The underlying algorithm is used:    
+ *    
+ * 
    
+ * 	Result = (sumOfSquares - sum2 / blockSize) / (blockSize - 1)   
+ *   
+ *	   where, sumOfSquares = pSrc[0] * pSrc[0] + pSrc[1] * pSrc[1] + ... + pSrc[blockSize-1] * pSrc[blockSize-1]   
+ *   
+ *	                   sum = pSrc[0] + pSrc[1] + pSrc[2] + ... + pSrc[blockSize-1]   
+ * 
   
+ *    
+ * There are separate functions for floating point, Q31, and Q15 data types.    
+ */
+
+/**    
+ * @addtogroup variance    
+ * @{    
+ */
+
+
+/**    
+ * @brief Variance of the elements of a floating-point vector.    
+ * @param[in]       *pSrc points to the input vector    
+ * @param[in]       blockSize length of the input vector    
+ * @param[out]      *pResult variance value returned here    
+ * @return none.    
+ *    
+ */
+
+
+void arm_var_f32(
+  float32_t * pSrc,
+  uint32_t blockSize,
+  float32_t * pResult)
+{
+
+  float32_t sum = 0.0f;                          /* Temporary result storage */
+  float32_t sumOfSquares = 0.0f;                 /* Sum of squares */
+  float32_t in;                                  /* input value */
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  float32_t meanOfSquares, mean, squareOfMean;   /* Temporary variables */
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1])  */
+    /* Compute Sum of squares of the input samples    
+     * and then store the result in a temporary variable, sum. */
+    in = *pSrc++;
+    sum += in;
+    sumOfSquares += in * in;
+    in = *pSrc++;
+    sum += in;
+    sumOfSquares += in * in;
+    in = *pSrc++;
+    sum += in;
+    sumOfSquares += in * in;
+    in = *pSrc++;
+    sum += in;
+    sumOfSquares += in * in;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1]) */
+    /* Compute Sum of squares of the input samples    
+     * and then store the result in a temporary variable, sum. */
+    in = *pSrc++;
+    sum += in;
+    sumOfSquares += in * in;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Compute Mean of squares of the input samples    
+   * and then store the result in a temporary variable, meanOfSquares. */
+  meanOfSquares = sumOfSquares / ((float32_t) blockSize - 1.0f);
+
+  /* Compute mean of all input values */
+  mean = sum / (float32_t) blockSize;
+
+  /* Compute square of mean */
+  squareOfMean = (mean * mean) * (((float32_t) blockSize) /
+                                  ((float32_t) blockSize - 1.0f));
+
+  /* Compute variance and then store the result to the destination */
+  *pResult = meanOfSquares - squareOfMean;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+  float32_t squareOfSum;                         /* Square of Sum */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1]) */
+    /* Compute Sum of squares of the input samples     
+     * and then store the result in a temporary variable, sumOfSquares. */
+    in = *pSrc++;
+    sumOfSquares += in * in;
+
+    /* C = (A[0] + A[1] + ... + A[blockSize-1]) */
+    /* Compute Sum of the input samples     
+     * and then store the result in a temporary variable, sum. */
+    sum += in;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Compute the square of sum */
+  squareOfSum = ((sum * sum) / (float32_t) blockSize);
+
+  /* Compute the variance */
+  *pResult = ((sumOfSquares - squareOfSum) / (float32_t) (blockSize - 1.0f));
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/**    
+ * @} end of variance group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_var_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_var_q15.c
new file mode 100644
index 000000000..08dbc6587
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_var_q15.c
@@ -0,0 +1,180 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_var_q15.c    
+*    
+* Description:	Variance of an array of Q15 type.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupStats    
+ */
+
+/**    
+ * @addtogroup variance    
+ * @{    
+ */
+
+/**    
+ * @brief Variance of the elements of a Q15 vector.    
+ * @param[in]       *pSrc points to the input vector    
+ * @param[in]       blockSize length of the input vector    
+ * @param[out]      *pResult variance value returned here    
+ * @return none.    
+ *    
+ * @details    
+ * Scaling and Overflow Behavior:    
+ *    
+ * \par    
+ * The function is implemented using a 64-bit internal accumulator.    
+ * The input is represented in 1.15 format.   
+ * Intermediate multiplication yields a 2.30 format, and this    
+ * result is added without saturation to a 64-bit accumulator in 34.30 format.    
+ * With 33 guard bits in the accumulator, there is no risk of overflow, and the    
+ * full precision of the intermediate multiplication is preserved.    
+ * Finally, the 34.30 result is truncated to 34.15 format by discarding the lower     
+ * 15 bits, and then saturated to yield a result in 1.15 format.    
+ *    
+ */
+
+
+void arm_var_q15(
+  q15_t * pSrc,
+  uint32_t blockSize,
+  q31_t * pResult)
+{
+  q31_t sum = 0;                                 /* Accumulator */
+  q31_t meanOfSquares, squareOfMean;             /* Mean of square and square of mean */
+  q15_t mean;                                    /* mean */
+  uint32_t blkCnt;                               /* loop counter */
+  q15_t t;                                       /* Temporary variable */
+  q63_t sumOfSquares = 0;                        /* Accumulator */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q31_t in;                                      /* Input variable */
+  q15_t in1;                                     /* Temporary variable */
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1])  */
+    /* Compute Sum of squares of the input samples    
+     * and then store the result in a temporary variable, sum. */
+    in = *__SIMD32(pSrc)++;
+    sum += ((in << 16) >> 16);
+    sum += (in >> 16);
+    sumOfSquares = __SMLALD(in, in, sumOfSquares);
+    in = *__SIMD32(pSrc)++;
+    sum += ((in << 16) >> 16);
+    sum += (in >> 16);
+    sumOfSquares = __SMLALD(in, in, sumOfSquares);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1]) */
+    /* Compute Sum of squares of the input samples    
+     * and then store the result in a temporary variable, sum. */
+    in1 = *pSrc++;
+    sum += in1;
+    sumOfSquares = __SMLALD(in1, in1, sumOfSquares);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Compute Mean of squares of the input samples    
+   * and then store the result in a temporary variable, meanOfSquares. */
+  t = (q15_t) ((1.0f / (float32_t) (blockSize - 1u)) * 16384);
+  sumOfSquares = __SSAT((sumOfSquares >> 15u), 16u);
+
+  meanOfSquares = (q31_t) ((sumOfSquares * t) >> 14u);
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  q15_t in;                                      /* Temporary variable */
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1]) */
+    /* Compute Sum of squares of the input samples     
+     * and then store the result in a temporary variable, sumOfSquares. */
+    in = *pSrc++;
+    sumOfSquares += (in * in);
+
+    /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) */
+    /* Compute sum of all input values and then store the result in a temporary variable, sum. */
+    sum += in;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Compute Mean of squares of the input samples     
+   * and then store the result in a temporary variable, meanOfSquares. */
+  t = (q15_t) ((1.0f / (float32_t) (blockSize - 1u)) * 16384);
+  sumOfSquares = __SSAT((sumOfSquares >> 15u), 16u);
+  meanOfSquares = (q31_t) ((sumOfSquares * t) >> 14u);
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  /* Compute mean of all input values */
+  t = (q15_t) ((1.0f / (float32_t) (blockSize * (blockSize - 1u))) * 32768);
+  mean = __SSAT(sum, 16u);
+
+  /* Compute square of mean */
+  squareOfMean = ((q31_t) mean * mean) >> 15;
+  squareOfMean = (q31_t) (((q63_t) squareOfMean * t) >> 15);
+
+  /* Compute variance and then store the result to the destination */
+  *pResult = (meanOfSquares - squareOfMean);
+
+}
+
+/**    
+ * @} end of variance group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_var_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_var_q31.c
new file mode 100644
index 000000000..13d6c15cb
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/StatisticsFunctions/arm_var_q31.c
@@ -0,0 +1,170 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_var_q31.c    
+*    
+* Description:	Variance of an array of Q31 type.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**        
+ * @ingroup groupStats        
+ */
+
+/**        
+ * @addtogroup variance        
+ * @{        
+ */
+
+/**        
+ * @brief Variance of the elements of a Q31 vector.        
+ * @param[in]       *pSrc points to the input vector        
+ * @param[in]       blockSize length of the input vector        
+ * @param[out]      *pResult variance value returned here        
+ * @return none.        
+ *        
+ * @details        
+ * Scaling and Overflow Behavior:        
+ *        
+ *\par        
+ * The function is implemented using an internal 64-bit accumulator.        
+ * The input is represented in 1.31 format, and intermediate multiplication        
+ * yields a 2.62 format.        
+ * The accumulator maintains full precision of the intermediate multiplication results,         
+ * but provides only a single guard bit.        
+ * There is no saturation on intermediate additions.        
+ * If the accumulator overflows it wraps around and distorts the result.        
+ * In order to avoid overflows completely the input signal must be scaled down by         
+ * log2(blockSize) bits, as a total of blockSize additions are performed internally.         
+ * Finally, the 2.62 accumulator is right shifted by 31 bits to yield a 1.31 format value.        
+ *        
+ */
+
+
+void arm_var_q31(
+  q31_t * pSrc,
+  uint32_t blockSize,
+  q63_t * pResult)
+{
+  q63_t sum = 0, sumSquare = 0;                  /* Accumulator */
+  q31_t meanOfSquares, squareOfMean;             /* square of mean and mean of square */
+  q31_t mean;                                    /* mean */
+  q31_t in;                                      /* input value */
+  q31_t t;                                       /* Temporary variable */
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  q63_t sumSquare1 = 0;                          /* Accumulator */
+  q31_t in1, in2, in3, in4;                      /* Temporary input variables */
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1])  */
+    /* Compute Sum of squares of the input samples        
+     * and then store the result in a temporary variable, sum. */
+    /* read input samples from source buffer */
+    in1 = pSrc[0];
+    in2 = pSrc[1];
+
+    /* calculate sum of inputs */
+    sum += in1;
+    /* calculate sum of squares */
+    sumSquare += ((q63_t) (in1) * (in1));
+    in3 = pSrc[2];
+    sum += in2;
+    sumSquare1 += ((q63_t) (in2) * (in2));
+    in4 = pSrc[3];
+    sum += in3;
+    sumSquare += ((q63_t) (in3) * (in3));
+    sum += in4;
+    sumSquare1 += ((q63_t) (in4) * (in4));
+
+    /* update input pointer to process next samples */
+    pSrc += 4u;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* add two accumulators */
+  sumSquare = sumSquare + sumSquare1;
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1]) */
+    /* Compute Sum of squares of the input samples        
+     * and then store the result in a temporary variable, sum. */
+    in = *pSrc++;
+    sumSquare += ((q63_t) (in) * (in));
+    sum += in;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  t = (q31_t) ((1.0f / (float32_t) (blockSize - 1u)) * 1073741824.0f);
+
+  /* Compute Mean of squares of the input samples        
+   * and then store the result in a temporary variable, meanOfSquares. */
+  sumSquare = (sumSquare >> 31);
+  meanOfSquares = (q31_t) ((sumSquare * t) >> 30);
+
+  /* Compute mean of all input values */
+  t = (q31_t) ((1.0f / (blockSize * (blockSize - 1u))) * 2147483648.0f);
+  mean = (q31_t) (sum);
+
+  /* Compute square of mean */
+  squareOfMean = (q31_t) (((q63_t) mean * mean) >> 31);
+  squareOfMean = (q31_t) (((q63_t) squareOfMean * t) >> 31);
+
+  /* Compute variance and then store the result to the destination */
+  *pResult = (q63_t) meanOfSquares - squareOfMean;
+
+}
+
+/**        
+ * @} end of variance group        
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_copy_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_copy_f32.c
new file mode 100644
index 000000000..619c1577a
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_copy_f32.c
@@ -0,0 +1,130 @@
+/* ----------------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_copy_f32.c    
+*    
+* Description:	Copies the elements of a floating-point vector.  
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupSupport    
+ */
+
+/**    
+ * @defgroup copy Vector Copy    
+ *    
+ * Copies sample by sample from source vector to destination vector.    
+ *    
+ * 
    
+ * 	pDst[n] = pSrc[n];   0 <= n < blockSize.    
+ * 
    
+ *   
+ * There are separate functions for floating point, Q31, Q15, and Q7 data types.     
+ */
+
+/**    
+ * @addtogroup copy    
+ * @{    
+ */
+
+/**    
+ * @brief Copies the elements of a floating-point vector.     
+ * @param[in]       *pSrc points to input vector    
+ * @param[out]      *pDst points to output vector    
+ * @param[in]       blockSize length of the input vector   
+ * @return none.    
+ *    
+ */
+
+
+void arm_copy_f32(
+  float32_t * pSrc,
+  float32_t * pDst,
+  uint32_t blockSize)
+{
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  float32_t in1, in2, in3, in4;
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = A */
+    /* Copy and then store the results in the destination buffer */
+    in1 = *pSrc++;
+    in2 = *pSrc++;
+    in3 = *pSrc++;
+    in4 = *pSrc++;
+
+    *pDst++ = in1;
+    *pDst++ = in2;
+    *pDst++ = in3;
+    *pDst++ = in4;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C = A */
+    /* Copy and then store the results in the destination buffer */
+    *pDst++ = *pSrc++;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+}
+
+/**    
+ * @} end of BasicCopy group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_copy_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_copy_q15.c
new file mode 100644
index 000000000..00be9dc0b
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_copy_q15.c
@@ -0,0 +1,109 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_copy_q15.c    
+*    
+* Description:	Copies the elements of a Q15 vector.   
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupSupport    
+ */
+
+/**    
+ * @addtogroup copy    
+ * @{    
+ */
+/**    
+ * @brief Copies the elements of a Q15 vector.     
+ * @param[in]       *pSrc points to input vector    
+ * @param[out]      *pDst points to output vector    
+ * @param[in]       blockSize length of the input vector   
+ * @return none.    
+ *    
+ */
+
+void arm_copy_q15(
+  q15_t * pSrc,
+  q15_t * pDst,
+  uint32_t blockSize)
+{
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = A */
+    /* Read two inputs */
+    *__SIMD32(pDst)++ = *__SIMD32(pSrc)++;
+    *__SIMD32(pDst)++ = *__SIMD32(pSrc)++;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C = A */
+    /* Copy and then store the value in the destination buffer */
+    *pDst++ = *pSrc++;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+}
+
+/**    
+ * @} end of BasicCopy group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_copy_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_copy_q31.c
new file mode 100644
index 000000000..7ab0849f6
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_copy_q31.c
@@ -0,0 +1,118 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_copy_q31.c    
+*    
+* Description:	Copies the elements of a Q31 vector.   
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupSupport    
+ */
+
+/**    
+ * @addtogroup copy    
+ * @{    
+ */
+
+/**    
+ * @brief Copies the elements of a Q31 vector.     
+ * @param[in]       *pSrc points to input vector    
+ * @param[out]      *pDst points to output vector    
+ * @param[in]       blockSize length of the input vector   
+ * @return none.    
+ *    
+ */
+
+void arm_copy_q31(
+  q31_t * pSrc,
+  q31_t * pDst,
+  uint32_t blockSize)
+{
+  uint32_t blkCnt;                               /* loop counter */
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  q31_t in1, in2, in3, in4;
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = A */
+    /* Copy and then store the values in the destination buffer */
+    in1 = *pSrc++;
+    in2 = *pSrc++;
+    in3 = *pSrc++;
+    in4 = *pSrc++;
+
+    *pDst++ = in1;
+    *pDst++ = in2;
+    *pDst++ = in3;
+    *pDst++ = in4;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C = A */
+    /* Copy and then store the value in the destination buffer */
+    *pDst++ = *pSrc++;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+}
+
+/**    
+ * @} end of BasicCopy group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_copy_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_copy_q7.c
new file mode 100644
index 000000000..425885753
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_copy_q7.c
@@ -0,0 +1,110 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_copy_q7.c    
+*    
+* Description:	Copies the elements of a Q7 vector.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupSupport    
+ */
+
+/**    
+ * @addtogroup copy    
+ * @{    
+ */
+
+/**    
+ * @brief Copies the elements of a Q7 vector.    
+ * @param[in]       *pSrc points to input vector    
+ * @param[out]      *pDst points to output vector    
+ * @param[in]       blockSize length of the input vector   
+ * @return none.    
+ *    
+ */
+
+void arm_copy_q7(
+  q7_t * pSrc,
+  q7_t * pDst,
+  uint32_t blockSize)
+{
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = A */
+    /* Copy and then store the results in the destination buffer */
+    /* 4 samples are copied and stored at a time using SIMD */
+    *__SIMD32(pDst)++ = *__SIMD32(pSrc)++;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+
+  while(blkCnt > 0u)
+  {
+    /* C = A */
+    /* Copy and then store the results in the destination buffer */
+    *pDst++ = *pSrc++;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+}
+
+/**    
+ * @} end of BasicCopy group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_fill_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_fill_f32.c
new file mode 100644
index 000000000..439e60db0
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_fill_f32.c
@@ -0,0 +1,129 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_fill_f32.c    
+*    
+* Description:	Fills a constant value into a floating-point vector.   
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupSupport    
+ */
+
+/**    
+ * @defgroup Fill Vector Fill    
+ *    
+ * Fills the destination vector with a constant value.    
+ *    
+ * 
    
+ * 	pDst[n] = value;   0 <= n < blockSize.    
+ * 
    
+ *   
+ * There are separate functions for floating point, Q31, Q15, and Q7 data types.     
+ */
+
+/**    
+ * @addtogroup Fill    
+ * @{    
+ */
+
+/**    
+ * @brief Fills a constant value into a floating-point vector.     
+ * @param[in]       value input value to be filled   
+ * @param[out]      *pDst points to output vector    
+ * @param[in]       blockSize length of the output vector   
+ * @return none.    
+ *    
+ */
+
+
+void arm_fill_f32(
+  float32_t value,
+  float32_t * pDst,
+  uint32_t blockSize)
+{
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  float32_t in1 = value;
+  float32_t in2 = value;
+  float32_t in3 = value;
+  float32_t in4 = value;
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = value */
+    /* Fill the value in the destination buffer */
+    *pDst++ = in1;
+    *pDst++ = in2;
+    *pDst++ = in3;
+    *pDst++ = in4;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+
+  while(blkCnt > 0u)
+  {
+    /* C = value */
+    /* Fill the value in the destination buffer */
+    *pDst++ = value;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+}
+
+/**    
+ * @} end of Fill group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_fill_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_fill_q15.c
new file mode 100644
index 000000000..8f60d3b4e
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_fill_q15.c
@@ -0,0 +1,115 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_fill_q15.c    
+*    
+* Description:	Fills a constant value into a Q15 vector.   
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupSupport    
+ */
+
+/**    
+ * @addtogroup Fill    
+ * @{    
+ */
+
+/**    
+ * @brief Fills a constant value into a Q15 vector.    
+ * @param[in]       value input value to be filled   
+ * @param[out]      *pDst points to output vector    
+ * @param[in]       blockSize length of the output vector   
+ * @return none.    
+ *    
+ */
+
+void arm_fill_q15(
+  q15_t value,
+  q15_t * pDst,
+  uint32_t blockSize)
+{
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q31_t packedValue;                             /* value packed to 32 bits */
+
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* Packing two 16 bit values to 32 bit value in order to use SIMD */
+  packedValue = __PKHBT(value, value, 16u);
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = value */
+    /* Fill the value in the destination buffer */
+    *__SIMD32(pDst)++ = packedValue;
+    *__SIMD32(pDst)++ = packedValue;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C = value */
+    /* Fill the value in the destination buffer */
+    *pDst++ = value;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+}
+
+/**    
+ * @} end of Fill group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_fill_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_fill_q31.c
new file mode 100644
index 000000000..35565c3cf
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_fill_q31.c
@@ -0,0 +1,116 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_fill_q31.c    
+*    
+* Description:	Fills a constant value into a Q31 vector.   
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupSupport    
+ */
+
+/**    
+ * @addtogroup Fill    
+ * @{    
+ */
+
+/**    
+ * @brief Fills a constant value into a Q31 vector.    
+ * @param[in]       value input value to be filled   
+ * @param[out]      *pDst points to output vector    
+ * @param[in]       blockSize length of the output vector   
+ * @return none.    
+ *    
+ */
+
+void arm_fill_q31(
+  q31_t value,
+  q31_t * pDst,
+  uint32_t blockSize)
+{
+  uint32_t blkCnt;                               /* loop counter */
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  q31_t in1 = value;
+  q31_t in2 = value;
+  q31_t in3 = value;
+  q31_t in4 = value;
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = value */
+    /* Fill the value in the destination buffer */
+    *pDst++ = in1;
+    *pDst++ = in2;
+    *pDst++ = in3;
+    *pDst++ = in4;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C = value */
+    /* Fill the value in the destination buffer */
+    *pDst++ = value;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+}
+
+/**    
+ * @} end of Fill group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_fill_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_fill_q7.c
new file mode 100644
index 000000000..481d4c8f7
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_fill_q7.c
@@ -0,0 +1,113 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_fill_q7.c    
+*    
+* Description:	Fills a constant value into a Q7 vector.   
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupSupport    
+ */
+
+/**    
+ * @addtogroup Fill    
+ * @{    
+ */
+
+/**    
+ * @brief Fills a constant value into a Q7 vector.    
+ * @param[in]       value input value to be filled   
+ * @param[out]      *pDst points to output vector    
+ * @param[in]       blockSize length of the output vector   
+ * @return none.    
+ *    
+ */
+
+void arm_fill_q7(
+  q7_t value,
+  q7_t * pDst,
+  uint32_t blockSize)
+{
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q31_t packedValue;                             /* value packed to 32 bits */
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* Packing four 8 bit values to 32 bit value in order to use SIMD */
+  packedValue = __PACKq7(value, value, value, value);
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = value */
+    /* Fill the value in the destination buffer */
+    *__SIMD32(pDst)++ = packedValue;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C = value */
+    /* Fill the value in the destination buffer */
+    *pDst++ = value;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+}
+
+/**    
+ * @} end of Fill group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_float_to_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_float_to_q15.c
new file mode 100644
index 000000000..1537b93ab
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_float_to_q15.c
@@ -0,0 +1,196 @@
+/* ----------------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_float_to_q15.c    
+*    
+* Description:	Converts the elements of the floating-point vector to Q15 vector.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupSupport    
+ */
+
+/**    
+ * @addtogroup float_to_x    
+ * @{    
+ */
+
+/**    
+ * @brief Converts the elements of the floating-point vector to Q15 vector.    
+ * @param[in]       *pSrc points to the floating-point input vector    
+ * @param[out]      *pDst points to the Q15 output vector   
+ * @param[in]       blockSize length of the input vector    
+ * @return none.    
+ *    
+ * \par Description:    
+ * \par   
+ * The equation used for the conversion process is:    
+ * 
    
+ * 	pDst[n] = (q15_t)(pSrc[n] * 32768);   0 <= n < blockSize.    
+ * 
    
+ * \par Scaling and Overflow Behavior:    
+ * \par    
+ * The function uses saturating arithmetic.    
+ * Results outside of the allowable Q15 range [0x8000 0x7FFF] will be saturated.    
+ * \note   
+ * In order to apply rounding, the library should be rebuilt with the ROUNDING macro     
+ * defined in the preprocessor section of project options.     
+ *    
+ */
+
+
+void arm_float_to_q15(
+  float32_t * pSrc,
+  q15_t * pDst,
+  uint32_t blockSize)
+{
+  float32_t *pIn = pSrc;                         /* Src pointer */
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifdef ARM_MATH_ROUNDING
+
+  float32_t in;
+
+#endif /*      #ifdef ARM_MATH_ROUNDING        */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+
+#ifdef ARM_MATH_ROUNDING
+    /* C = A * 32768 */
+    /* convert from float to q15 and then store the results in the destination buffer */
+    in = *pIn++;
+    in = (in * 32768.0f);
+    in += in > 0 ? 0.5 : -0.5;
+    *pDst++ = (q15_t) (__SSAT((q31_t) (in), 16));
+
+    in = *pIn++;
+    in = (in * 32768.0f);
+    in += in > 0 ? 0.5 : -0.5;
+    *pDst++ = (q15_t) (__SSAT((q31_t) (in), 16));
+
+    in = *pIn++;
+    in = (in * 32768.0f);
+    in += in > 0 ? 0.5 : -0.5;
+    *pDst++ = (q15_t) (__SSAT((q31_t) (in), 16));
+
+    in = *pIn++;
+    in = (in * 32768.0f);
+    in += in > 0 ? 0.5 : -0.5;
+    *pDst++ = (q15_t) (__SSAT((q31_t) (in), 16));
+
+#else
+
+    /* C = A * 32768 */
+    /* convert from float to q15 and then store the results in the destination buffer */
+    *pDst++ = (q15_t) __SSAT((q31_t) (*pIn++ * 32768.0f), 16);
+    *pDst++ = (q15_t) __SSAT((q31_t) (*pIn++ * 32768.0f), 16);
+    *pDst++ = (q15_t) __SSAT((q31_t) (*pIn++ * 32768.0f), 16);
+    *pDst++ = (q15_t) __SSAT((q31_t) (*pIn++ * 32768.0f), 16);
+
+#endif /*      #ifdef ARM_MATH_ROUNDING        */
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+
+#ifdef ARM_MATH_ROUNDING
+    /* C = A * 32768 */
+    /* convert from float to q15 and then store the results in the destination buffer */
+    in = *pIn++;
+    in = (in * 32768.0f);
+    in += in > 0 ? 0.5 : -0.5;
+    *pDst++ = (q15_t) (__SSAT((q31_t) (in), 16));
+
+#else
+
+    /* C = A * 32768 */
+    /* convert from float to q15 and then store the results in the destination buffer */
+    *pDst++ = (q15_t) __SSAT((q31_t) (*pIn++ * 32768.0f), 16);
+
+#endif /*      #ifdef ARM_MATH_ROUNDING        */
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+
+#ifdef ARM_MATH_ROUNDING
+    /* C = A * 32768 */
+    /* convert from float to q15 and then store the results in the destination buffer */
+    in = *pIn++;
+    in = (in * 32768.0f);
+    in += in > 0 ? 0.5f : -0.5f;
+    *pDst++ = (q15_t) (__SSAT((q31_t) (in), 16));
+
+#else
+
+    /* C = A * 32768 */
+    /* convert from float to q15 and then store the results in the destination buffer */
+    *pDst++ = (q15_t) __SSAT((q31_t) (*pIn++ * 32768.0f), 16);
+
+#endif /*      #ifdef ARM_MATH_ROUNDING        */
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/**    
+ * @} end of float_to_x group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_float_to_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_float_to_q31.c
new file mode 100644
index 000000000..3ab52b9ff
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_float_to_q31.c
@@ -0,0 +1,203 @@
+/* ----------------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_float_to_q31.c    
+*    
+* Description:	Converts the elements of the floating-point vector to Q31 vector.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupSupport    
+ */
+
+/**    
+ * @defgroup float_to_x  Convert 32-bit floating point value    
+ */
+
+/**    
+ * @addtogroup float_to_x    
+ * @{    
+ */
+
+/**    
+ * @brief Converts the elements of the floating-point vector to Q31 vector.    
+ * @param[in]       *pSrc points to the floating-point input vector    
+ * @param[out]      *pDst points to the Q31 output vector   
+ * @param[in]       blockSize length of the input vector    
+ * @return none.    
+ *    
+ *\par Description:    
+ * \par   
+ * The equation used for the conversion process is:    
+ *   
+ * 
    
+ * 	pDst[n] = (q31_t)(pSrc[n] * 2147483648);   0 <= n < blockSize.    
+ * 
    
+ * Scaling and Overflow Behavior:    
+ * \par    
+ * The function uses saturating arithmetic.    
+ * Results outside of the allowable Q31 range[0x80000000 0x7FFFFFFF] will be saturated.    
+ *   
+ * \note In order to apply rounding, the library should be rebuilt with the ROUNDING macro     
+ * defined in the preprocessor section of project options.     
+ */
+
+
+void arm_float_to_q31(
+  float32_t * pSrc,
+  q31_t * pDst,
+  uint32_t blockSize)
+{
+  float32_t *pIn = pSrc;                         /* Src pointer */
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifdef ARM_MATH_ROUNDING
+
+  float32_t in;
+
+#endif /*      #ifdef ARM_MATH_ROUNDING        */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+
+#ifdef ARM_MATH_ROUNDING
+
+    /* C = A * 32768 */
+    /* convert from float to Q31 and then store the results in the destination buffer */
+    in = *pIn++;
+    in = (in * 2147483648.0f);
+    in += in > 0 ? 0.5 : -0.5;
+    *pDst++ = clip_q63_to_q31((q63_t) (in));
+
+    in = *pIn++;
+    in = (in * 2147483648.0f);
+    in += in > 0 ? 0.5 : -0.5;
+    *pDst++ = clip_q63_to_q31((q63_t) (in));
+
+    in = *pIn++;
+    in = (in * 2147483648.0f);
+    in += in > 0 ? 0.5 : -0.5;
+    *pDst++ = clip_q63_to_q31((q63_t) (in));
+
+    in = *pIn++;
+    in = (in * 2147483648.0f);
+    in += in > 0 ? 0.5 : -0.5;
+    *pDst++ = clip_q63_to_q31((q63_t) (in));
+
+#else
+
+    /* C = A * 2147483648 */
+    /* convert from float to Q31 and then store the results in the destination buffer */
+    *pDst++ = clip_q63_to_q31((q63_t) (*pIn++ * 2147483648.0f));
+    *pDst++ = clip_q63_to_q31((q63_t) (*pIn++ * 2147483648.0f));
+    *pDst++ = clip_q63_to_q31((q63_t) (*pIn++ * 2147483648.0f));
+    *pDst++ = clip_q63_to_q31((q63_t) (*pIn++ * 2147483648.0f));
+
+#endif /*      #ifdef ARM_MATH_ROUNDING        */
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+
+#ifdef ARM_MATH_ROUNDING
+
+    /* C = A * 2147483648 */
+    /* convert from float to Q31 and then store the results in the destination buffer */
+    in = *pIn++;
+    in = (in * 2147483648.0f);
+    in += in > 0 ? 0.5 : -0.5;
+    *pDst++ = clip_q63_to_q31((q63_t) (in));
+
+#else
+
+    /* C = A * 2147483648 */
+    /* convert from float to Q31 and then store the results in the destination buffer */
+    *pDst++ = clip_q63_to_q31((q63_t) (*pIn++ * 2147483648.0f));
+
+#endif /*      #ifdef ARM_MATH_ROUNDING        */
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+
+#ifdef ARM_MATH_ROUNDING
+
+    /* C = A * 2147483648 */
+    /* convert from float to Q31 and then store the results in the destination buffer */
+    in = *pIn++;
+    in = (in * 2147483648.0f);
+    in += in > 0 ? 0.5f : -0.5f;
+    *pDst++ = clip_q63_to_q31((q63_t) (in));
+
+#else
+
+    /* C = A * 2147483648 */
+    /* convert from float to Q31 and then store the results in the destination buffer */
+    *pDst++ = clip_q63_to_q31((q63_t) (*pIn++ * 2147483648.0f));
+
+#endif /*      #ifdef ARM_MATH_ROUNDING        */
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/**    
+ * @} end of float_to_x group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_float_to_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_float_to_q7.c
new file mode 100644
index 000000000..dea14c6a1
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_float_to_q7.c
@@ -0,0 +1,195 @@
+/* ----------------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_float_to_q7.c    
+*    
+* Description:	Converts the elements of the floating-point vector to Q7 vector.   
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupSupport    
+ */
+
+/**    
+ * @addtogroup float_to_x    
+ * @{    
+ */
+
+/**    
+ * @brief Converts the elements of the floating-point vector to Q7 vector.    
+ * @param[in]       *pSrc points to the floating-point input vector    
+ * @param[out]      *pDst points to the Q7 output vector   
+ * @param[in]       blockSize length of the input vector    
+ * @return none.    
+ *    
+ *\par Description:    
+ * \par   
+ * The equation used for the conversion process is:    
+ * 
    
+ * 	pDst[n] = (q7_t)(pSrc[n] * 128);   0 <= n < blockSize.    
+ * 
    
+ * \par Scaling and Overflow Behavior:    
+ * \par    
+ * The function uses saturating arithmetic.    
+ * Results outside of the allowable Q7 range [0x80 0x7F] will be saturated.    
+ * \note   
+ * In order to apply rounding, the library should be rebuilt with the ROUNDING macro     
+ * defined in the preprocessor section of project options.     
+ */
+
+
+void arm_float_to_q7(
+  float32_t * pSrc,
+  q7_t * pDst,
+  uint32_t blockSize)
+{
+  float32_t *pIn = pSrc;                         /* Src pointer */
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifdef ARM_MATH_ROUNDING
+
+  float32_t in;
+
+#endif /*      #ifdef ARM_MATH_ROUNDING        */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+
+#ifdef ARM_MATH_ROUNDING
+    /* C = A * 128 */
+    /* convert from float to q7 and then store the results in the destination buffer */
+    in = *pIn++;
+    in = (in * 128);
+    in += in > 0 ? 0.5 : -0.5;
+    *pDst++ = (q7_t) (__SSAT((q15_t) (in), 8));
+
+    in = *pIn++;
+    in = (in * 128);
+    in += in > 0 ? 0.5 : -0.5;
+    *pDst++ = (q7_t) (__SSAT((q15_t) (in), 8));
+
+    in = *pIn++;
+    in = (in * 128);
+    in += in > 0 ? 0.5 : -0.5;
+    *pDst++ = (q7_t) (__SSAT((q15_t) (in), 8));
+
+    in = *pIn++;
+    in = (in * 128);
+    in += in > 0 ? 0.5 : -0.5;
+    *pDst++ = (q7_t) (__SSAT((q15_t) (in), 8));
+
+#else
+
+    /* C = A * 128 */
+    /* convert from float to q7 and then store the results in the destination buffer */
+    *pDst++ = __SSAT((q31_t) (*pIn++ * 128.0f), 8);
+    *pDst++ = __SSAT((q31_t) (*pIn++ * 128.0f), 8);
+    *pDst++ = __SSAT((q31_t) (*pIn++ * 128.0f), 8);
+    *pDst++ = __SSAT((q31_t) (*pIn++ * 128.0f), 8);
+
+#endif /*      #ifdef ARM_MATH_ROUNDING        */
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+
+#ifdef ARM_MATH_ROUNDING
+    /* C = A * 128 */
+    /* convert from float to q7 and then store the results in the destination buffer */
+    in = *pIn++;
+    in = (in * 128);
+    in += in > 0 ? 0.5 : -0.5;
+    *pDst++ = (q7_t) (__SSAT((q15_t) (in), 8));
+
+#else
+
+    /* C = A * 128 */
+    /* convert from float to q7 and then store the results in the destination buffer */
+    *pDst++ = __SSAT((q31_t) (*pIn++ * 128.0f), 8);
+
+#endif /*      #ifdef ARM_MATH_ROUNDING        */
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+#ifdef ARM_MATH_ROUNDING
+    /* C = A * 128 */
+    /* convert from float to q7 and then store the results in the destination buffer */
+    in = *pIn++;
+    in = (in * 128.0f);
+    in += in > 0 ? 0.5f : -0.5f;
+    *pDst++ = (q7_t) (__SSAT((q31_t) (in), 8));
+
+#else
+
+    /* C = A * 128 */
+    /* convert from float to q7 and then store the results in the destination buffer */
+    *pDst++ = (q7_t) __SSAT((q31_t) (*pIn++ * 128.0f), 8);
+
+#endif /*      #ifdef ARM_MATH_ROUNDING        */
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/**    
+ * @} end of float_to_x group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q15_to_float.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q15_to_float.c
new file mode 100644
index 000000000..ce51e9a39
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q15_to_float.c
@@ -0,0 +1,126 @@
+/* ----------------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_q15_to_float.c    
+*    
+* Description:	Converts the elements of the Q15 vector to floating-point vector.     
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupSupport    
+ */
+
+/**    
+ * @defgroup q15_to_x  Convert 16-bit Integer value    
+ */
+
+/**    
+ * @addtogroup q15_to_x    
+ * @{    
+ */
+
+
+
+
+/**    
+ * @brief  Converts the elements of the Q15 vector to floating-point vector.     
+ * @param[in]       *pSrc points to the Q15 input vector    
+ * @param[out]      *pDst points to the floating-point output vector   
+ * @param[in]       blockSize length of the input vector    
+ * @return none.    
+ *    
+ * \par Description:    
+ *    
+ * The equation used for the conversion process is:    
+ *   
+ * 
    
+ * 	pDst[n] = (float32_t) pSrc[n] / 32768;   0 <= n < blockSize.    
+ * 
    
+ *   
+ */
+
+
+void arm_q15_to_float(
+  q15_t * pSrc,
+  float32_t * pDst,
+  uint32_t blockSize)
+{
+  q15_t *pIn = pSrc;                             /* Src pointer */
+  uint32_t blkCnt;                               /* loop counter */
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = (float32_t) A / 32768 */
+    /* convert from q15 to float and then store the results in the destination buffer */
+    *pDst++ = ((float32_t) * pIn++ / 32768.0f);
+    *pDst++ = ((float32_t) * pIn++ / 32768.0f);
+    *pDst++ = ((float32_t) * pIn++ / 32768.0f);
+    *pDst++ = ((float32_t) * pIn++ / 32768.0f);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C = (float32_t) A / 32768 */
+    /* convert from q15 to float and then store the results in the destination buffer */
+    *pDst++ = ((float32_t) * pIn++ / 32768.0f);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+}
+
+/**    
+ * @} end of q15_to_x group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q15_to_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q15_to_q31.c
new file mode 100644
index 000000000..a0f66c29e
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q15_to_q31.c
@@ -0,0 +1,148 @@
+/* ----------------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_q15_to_q31.c    
+*    
+* Description:	Converts the elements of the Q15 vector to Q31 vector.  
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupSupport    
+ */
+
+/**    
+ * @addtogroup q15_to_x    
+ * @{    
+ */
+
+/**    
+ * @brief Converts the elements of the Q15 vector to Q31 vector.     
+ * @param[in]       *pSrc points to the Q15 input vector    
+ * @param[out]      *pDst points to the Q31 output vector   
+ * @param[in]       blockSize length of the input vector    
+ * @return none.    
+ *    
+ * \par Description:    
+ *    
+ * The equation used for the conversion process is:   
+ *   
+ * 
    
+ * 	pDst[n] = (q31_t) pSrc[n] << 16;   0 <= n < blockSize.    
+ * 
    
+ *   
+ */
+
+
+void arm_q15_to_q31(
+  q15_t * pSrc,
+  q31_t * pDst,
+  uint32_t blockSize)
+{
+  q15_t *pIn = pSrc;                             /* Src pointer */
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  q31_t in1, in2;
+  q31_t out1, out2, out3, out4;
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = (q31_t)A << 16 */
+    /* convert from q15 to q31 and then store the results in the destination buffer */
+    in1 = *__SIMD32(pIn)++;
+    in2 = *__SIMD32(pIn)++;
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+    /* extract lower 16 bits to 32 bit result */
+    out1 = in1 << 16u;
+    /* extract upper 16 bits to 32 bit result */
+    out2 = in1 & 0xFFFF0000;
+    /* extract lower 16 bits to 32 bit result */
+    out3 = in2 << 16u;
+    /* extract upper 16 bits to 32 bit result */
+    out4 = in2 & 0xFFFF0000;
+
+#else
+
+    /* extract upper 16 bits to 32 bit result */
+    out1 = in1 & 0xFFFF0000;
+    /* extract lower 16 bits to 32 bit result */
+    out2 = in1 << 16u;
+    /* extract upper 16 bits to 32 bit result */
+    out3 = in2 & 0xFFFF0000;
+    /* extract lower 16 bits to 32 bit result */
+    out4 = in2 << 16u;
+
+#endif //      #ifndef ARM_MATH_BIG_ENDIAN
+
+    *pDst++ = out1;
+    *pDst++ = out2;
+    *pDst++ = out3;
+    *pDst++ = out4;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C = (q31_t)A << 16 */
+    /* convert from q15 to q31 and then store the results in the destination buffer */
+    *pDst++ = (q31_t) * pIn++ << 16;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+}
+
+/**    
+ * @} end of q15_to_x group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q15_to_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q15_to_q7.c
new file mode 100644
index 000000000..87fe63d9e
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q15_to_q7.c
@@ -0,0 +1,146 @@
+/* ----------------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_q15_to_q7.c    
+*    
+* Description:	Converts the elements of the Q15 vector to Q7 vector.  
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupSupport    
+ */
+
+/**    
+ * @addtogroup q15_to_x    
+ * @{    
+ */
+
+
+/**    
+ * @brief Converts the elements of the Q15 vector to Q7 vector.     
+ * @param[in]       *pSrc points to the Q15 input vector    
+ * @param[out]      *pDst points to the Q7 output vector   
+ * @param[in]       blockSize length of the input vector    
+ * @return none.    
+ *    
+ * \par Description:    
+ *    
+ * The equation used for the conversion process is:    
+ *   
+ * 
    
+ * 	pDst[n] = (q7_t) pSrc[n] >> 8;   0 <= n < blockSize.    
+ * 
   
+ *   
+ */
+
+
+void arm_q15_to_q7(
+  q15_t * pSrc,
+  q7_t * pDst,
+  uint32_t blockSize)
+{
+  q15_t *pIn = pSrc;                             /* Src pointer */
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  q31_t in1, in2;
+  q31_t out1, out2;
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = (q7_t) A >> 8 */
+    /* convert from q15 to q7 and then store the results in the destination buffer */
+    in1 = *__SIMD32(pIn)++;
+    in2 = *__SIMD32(pIn)++;
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+    out1 = __PKHTB(in2, in1, 16);
+    out2 = __PKHBT(in2, in1, 16);
+
+#else
+
+    out1 = __PKHTB(in1, in2, 16);
+    out2 = __PKHBT(in1, in2, 16);
+
+#endif //      #ifndef ARM_MATH_BIG_ENDIAN
+
+    /* rotate packed value by 24 */
+    out2 = ((uint32_t) out2 << 8) | ((uint32_t) out2 >> 24);
+
+    /* anding with 0xff00ff00 to get two 8 bit values */
+    out1 = out1 & 0xFF00FF00;
+    /* anding with 0x00ff00ff to get two 8 bit values */
+    out2 = out2 & 0x00FF00FF;
+
+    /* oring two values(contains two 8 bit values) to get four packed 8 bit values */
+    out1 = out1 | out2;
+
+    /* store 4 samples at a time to destiantion buffer */
+    *__SIMD32(pDst)++ = out1;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C = (q7_t) A >> 8 */
+    /* convert from q15 to q7 and then store the results in the destination buffer */
+    *pDst++ = (q7_t) (*pIn++ >> 8);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+}
+
+/**    
+ * @} end of q15_to_x group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q31_to_float.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q31_to_float.c
new file mode 100644
index 000000000..94deec9a1
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q31_to_float.c
@@ -0,0 +1,123 @@
+/* ----------------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_q31_to_float.c    
+*    
+* Description:	Converts the elements of the Q31 vector to floating-point vector.      
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupSupport    
+ */
+
+/**    
+ * @defgroup q31_to_x  Convert 32-bit Integer value    
+ */
+
+/**    
+ * @addtogroup q31_to_x    
+ * @{    
+ */
+
+/**    
+ * @brief Converts the elements of the Q31 vector to floating-point vector.    
+ * @param[in]       *pSrc points to the Q31 input vector    
+ * @param[out]      *pDst points to the floating-point output vector   
+ * @param[in]       blockSize length of the input vector    
+ * @return none.    
+ *    
+ * \par Description:    
+ *    
+ * The equation used for the conversion process is:    
+ *   
+ * 
    
+ * 	pDst[n] = (float32_t) pSrc[n] / 2147483648;   0 <= n < blockSize.    
+ * 
    
+ *   
+ */
+
+
+void arm_q31_to_float(
+  q31_t * pSrc,
+  float32_t * pDst,
+  uint32_t blockSize)
+{
+  q31_t *pIn = pSrc;                             /* Src pointer */
+  uint32_t blkCnt;                               /* loop counter */
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = (float32_t) A / 2147483648 */
+    /* convert from q31 to float and then store the results in the destination buffer */
+    *pDst++ = ((float32_t) * pIn++ / 2147483648.0f);
+    *pDst++ = ((float32_t) * pIn++ / 2147483648.0f);
+    *pDst++ = ((float32_t) * pIn++ / 2147483648.0f);
+    *pDst++ = ((float32_t) * pIn++ / 2147483648.0f);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C = (float32_t) A / 2147483648 */
+    /* convert from q31 to float and then store the results in the destination buffer */
+    *pDst++ = ((float32_t) * pIn++ / 2147483648.0f);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+}
+
+/**    
+ * @} end of q31_to_x group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q31_to_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q31_to_q15.c
new file mode 100644
index 000000000..ba79f85a1
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q31_to_q15.c
@@ -0,0 +1,137 @@
+/* ----------------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_q31_to_q15.c    
+*    
+* Description:	Converts the elements of the Q31 vector to Q15 vector.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupSupport    
+ */
+
+/**    
+ * @addtogroup q31_to_x    
+ * @{    
+ */
+
+/**    
+ * @brief Converts the elements of the Q31 vector to Q15 vector.    
+ * @param[in]       *pSrc points to the Q31 input vector    
+ * @param[out]      *pDst points to the Q15 output vector   
+ * @param[in]       blockSize length of the input vector    
+ * @return none.    
+ *     
+ * \par Description:    
+ *    
+ * The equation used for the conversion process is:    
+ *   
+ * 
    
+ * 	pDst[n] = (q15_t) pSrc[n] >> 16;   0 <= n < blockSize.    
+ * 
    
+ *   
+ */
+
+
+void arm_q31_to_q15(
+  q31_t * pSrc,
+  q15_t * pDst,
+  uint32_t blockSize)
+{
+  q31_t *pIn = pSrc;                             /* Src pointer */
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  q31_t in1, in2, in3, in4;
+  q31_t out1, out2;
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = (q15_t) A >> 16 */
+    /* convert from q31 to q15 and then store the results in the destination buffer */
+    in1 = *pIn++;
+    in2 = *pIn++;
+    in3 = *pIn++;
+    in4 = *pIn++;
+
+    /* pack two higher 16-bit values from two 32-bit values */
+#ifndef ARM_MATH_BIG_ENDIAN
+
+    out1 = __PKHTB(in2, in1, 16);
+    out2 = __PKHTB(in4, in3, 16);
+
+#else
+
+    out1 = __PKHTB(in1, in2, 16);
+    out2 = __PKHTB(in3, in4, 16);
+
+#endif //      #ifdef ARM_MATH_BIG_ENDIAN
+
+    *__SIMD32(pDst)++ = out1;
+    *__SIMD32(pDst)++ = out2;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C = (q15_t) A >> 16 */
+    /* convert from q31 to q15 and then store the results in the destination buffer */
+    *pDst++ = (q15_t) (*pIn++ >> 16);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+}
+
+/**    
+ * @} end of q31_to_x group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q31_to_q7.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q31_to_q7.c
new file mode 100644
index 000000000..afc8fdbed
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q31_to_q7.c
@@ -0,0 +1,128 @@
+/* ----------------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_q31_to_q7.c    
+*    
+* Description:	Converts the elements of the Q31 vector to Q7 vector.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupSupport    
+ */
+
+/**    
+ * @addtogroup q31_to_x    
+ * @{    
+ */
+
+/**    
+ * @brief Converts the elements of the Q31 vector to Q7 vector.    
+ * @param[in]       *pSrc points to the Q31 input vector    
+ * @param[out]      *pDst points to the Q7 output vector   
+ * @param[in]       blockSize length of the input vector    
+ * @return none.    
+ *    
+ * \par Description:    
+ *    
+ * The equation used for the conversion process is:    
+ *   
+ * 
    
+ * 	pDst[n] = (q7_t) pSrc[n] >> 24;   0 <= n < blockSize.     
+ * 
    
+ *   
+ */
+
+
+void arm_q31_to_q7(
+  q31_t * pSrc,
+  q7_t * pDst,
+  uint32_t blockSize)
+{
+  q31_t *pIn = pSrc;                             /* Src pointer */
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  q31_t in1, in2, in3, in4;
+  q7_t out1, out2, out3, out4;
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = (q7_t) A >> 24 */
+    /* convert from q31 to q7 and then store the results in the destination buffer */
+    in1 = *pIn++;
+    in2 = *pIn++;
+    in3 = *pIn++;
+    in4 = *pIn++;
+
+    out1 = (q7_t) (in1 >> 24);
+    out2 = (q7_t) (in2 >> 24);
+    out3 = (q7_t) (in3 >> 24);
+    out4 = (q7_t) (in4 >> 24);
+
+    *__SIMD32(pDst)++ = __PACKq7(out1, out2, out3, out4);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C = (q7_t) A >> 24 */
+    /* convert from q31 to q7 and then store the results in the destination buffer */
+    *pDst++ = (q7_t) (*pIn++ >> 24);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+}
+
+/**    
+ * @} end of q31_to_x group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q7_to_float.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q7_to_float.c
new file mode 100644
index 000000000..be4ac5fe3
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q7_to_float.c
@@ -0,0 +1,123 @@
+/* ----------------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_q7_to_float.c    
+*    
+* Description:	Converts the elements of the Q7 vector to floating-point vector.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupSupport    
+ */
+
+/**    
+ * @defgroup q7_to_x  Convert 8-bit Integer value    
+ */
+
+/**    
+ * @addtogroup q7_to_x    
+ * @{    
+ */
+
+/**    
+ * @brief Converts the elements of the Q7 vector to floating-point vector.    
+ * @param[in]       *pSrc points to the Q7 input vector    
+ * @param[out]      *pDst points to the floating-point output vector   
+ * @param[in]       blockSize length of the input vector    
+ * @return none.    
+ *		     
+ * \par Description:    
+ *    
+ * The equation used for the conversion process is:    
+ *   
+ * 
    
+ * 	pDst[n] = (float32_t) pSrc[n] / 128;   0 <= n < blockSize.    
+ * 
    
+ *   
+ */
+
+
+void arm_q7_to_float(
+  q7_t * pSrc,
+  float32_t * pDst,
+  uint32_t blockSize)
+{
+  q7_t *pIn = pSrc;                              /* Src pointer */
+  uint32_t blkCnt;                               /* loop counter */
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = (float32_t) A / 128 */
+    /* convert from q7 to float and then store the results in the destination buffer */
+    *pDst++ = ((float32_t) * pIn++ / 128.0f);
+    *pDst++ = ((float32_t) * pIn++ / 128.0f);
+    *pDst++ = ((float32_t) * pIn++ / 128.0f);
+    *pDst++ = ((float32_t) * pIn++ / 128.0f);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C = (float32_t) A / 128 */
+    /* convert from q7 to float and then store the results in the destination buffer */
+    *pDst++ = ((float32_t) * pIn++ / 128.0f);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+}
+
+/**    
+ * @} end of q7_to_x group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q7_to_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q7_to_q15.c
new file mode 100644
index 000000000..019ca4815
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q7_to_q15.c
@@ -0,0 +1,149 @@
+/* ----------------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_q7_to_q15.c    
+*    
+* Description:	Converts the elements of the Q7 vector to Q15 vector.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupSupport    
+ */
+
+/**    
+ * @addtogroup q7_to_x    
+ * @{    
+ */
+
+
+
+
+/**    
+ * @brief Converts the elements of the Q7 vector to Q15 vector.    
+ * @param[in]       *pSrc points to the Q7 input vector    
+ * @param[out]      *pDst points to the Q15 output vector   
+ * @param[in]       blockSize length of the input vector    
+ * @return none.    
+ *    
+ * \par Description:    
+ *    
+ * The equation used for the conversion process is:    
+ *   
+ * 
    
+ * 	pDst[n] = (q15_t) pSrc[n] << 8;   0 <= n < blockSize.    
+ * 
    
+ *   
+ */
+
+
+void arm_q7_to_q15(
+  q7_t * pSrc,
+  q15_t * pDst,
+  uint32_t blockSize)
+{
+  q7_t *pIn = pSrc;                              /* Src pointer */
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+  q31_t in;
+  q31_t in1, in2;
+  q31_t out1, out2;
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = (q15_t) A << 8 */
+    /* convert from q7 to q15 and then store the results in the destination buffer */
+    in = *__SIMD32(pIn)++;
+
+    /* rotatate in by 8 and extend two q7_t values to q15_t values */
+    in1 = __SXTB16(__ROR(in, 8));
+
+    /* extend remainig two q7_t values to q15_t values */
+    in2 = __SXTB16(in);
+
+    in1 = in1 << 8u;
+    in2 = in2 << 8u;
+
+    in1 = in1 & 0xFF00FF00;
+    in2 = in2 & 0xFF00FF00;
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+    out2 = __PKHTB(in1, in2, 16);
+    out1 = __PKHBT(in2, in1, 16);
+
+#else
+
+    out1 = __PKHTB(in1, in2, 16);
+    out2 = __PKHBT(in2, in1, 16);
+
+#endif
+
+    *__SIMD32(pDst)++ = out1;
+    *__SIMD32(pDst)++ = out2;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C = (q15_t) A << 8 */
+    /* convert from q7 to q15 and then store the results in the destination buffer */
+    *pDst++ = (q15_t) * pIn++ << 8;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+}
+
+/**    
+ * @} end of q7_to_x group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q7_to_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q7_to_q31.c
new file mode 100644
index 000000000..bbbcc6f4a
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/SupportFunctions/arm_q7_to_q31.c
@@ -0,0 +1,134 @@
+/* ----------------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_q7_to_q31.c    
+*    
+* Description:	Converts the elements of the Q7 vector to Q31 vector.  
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupSupport    
+ */
+
+/**    
+ * @addtogroup q7_to_x    
+ * @{    
+ */
+
+/**    
+ * @brief Converts the elements of the Q7 vector to Q31 vector.    
+ * @param[in]       *pSrc points to the Q7 input vector    
+ * @param[out]      *pDst points to the Q31 output vector   
+ * @param[in]       blockSize length of the input vector    
+ * @return none.    
+ *    
+ * \par Description:    
+ *    
+ * The equation used for the conversion process is:    
+ *   
+ * 
    
+ * 	pDst[n] = (q31_t) pSrc[n] << 24;   0 <= n < blockSize.   
+ * 
     
+ *   
+ */
+
+
+void arm_q7_to_q31(
+  q7_t * pSrc,
+  q31_t * pDst,
+  uint32_t blockSize)
+{
+  q7_t *pIn = pSrc;                              /* Src pointer */
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+  q31_t in;
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = (q31_t) A << 24 */
+    /* convert from q7 to q31 and then store the results in the destination buffer */
+    in = *__SIMD32(pIn)++;
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+    *pDst++ = (__ROR(in, 8)) & 0xFF000000;
+    *pDst++ = (__ROR(in, 16)) & 0xFF000000;
+    *pDst++ = (__ROR(in, 24)) & 0xFF000000;
+    *pDst++ = (in & 0xFF000000);
+
+#else
+
+    *pDst++ = (in & 0xFF000000);
+    *pDst++ = (__ROR(in, 24)) & 0xFF000000;
+    *pDst++ = (__ROR(in, 16)) & 0xFF000000;
+    *pDst++ = (__ROR(in, 8)) & 0xFF000000;
+
+#endif //              #ifndef ARM_MATH_BIG_ENDIAN
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C = (q31_t) A << 24 */
+    /* convert from q7 to q31 and then store the results in the destination buffer */
+    *pDst++ = (q31_t) * pIn++ << 24;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+}
+
+/**    
+ * @} end of q7_to_x group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_bitreversal.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_bitreversal.c
new file mode 100644
index 000000000..3da790ebb
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_bitreversal.c
@@ -0,0 +1,222 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_bitreversal.c    
+*    
+* Description:	This file has common tables like Bitreverse, reciprocal etc which are used across different functions    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Initial Version  
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+#include "arm_common_tables.h"
+
+/*    
+ * @brief  In-place bit reversal function.   
+ * @param[in, out] *pSrc        points to the in-place buffer of floating-point data type.   
+ * @param[in]      fftSize      length of the FFT.   
+ * @param[in]      bitRevFactor bit reversal modifier that supports different size FFTs with the same bit reversal table.   
+ * @param[in]      *pBitRevTab  points to the bit reversal table.   
+ * @return none.   
+ */
+
+void arm_bitreversal_f32(
+  float32_t * pSrc,
+  uint16_t fftSize,
+  uint16_t bitRevFactor,
+  uint16_t * pBitRevTab)
+{
+  uint16_t fftLenBy2, fftLenBy2p1;
+  uint16_t i, j;
+  float32_t in;
+
+  /*  Initializations */
+  j = 0u;
+  fftLenBy2 = fftSize >> 1u;
+  fftLenBy2p1 = (fftSize >> 1u) + 1u;
+
+  /* Bit Reversal Implementation */
+  for (i = 0u; i <= (fftLenBy2 - 2u); i += 2u)
+  {
+    if(i < j)
+    {
+      /*  pSrc[i] <-> pSrc[j]; */
+      in = pSrc[2u * i];
+      pSrc[2u * i] = pSrc[2u * j];
+      pSrc[2u * j] = in;
+
+      /*  pSrc[i+1u] <-> pSrc[j+1u] */
+      in = pSrc[(2u * i) + 1u];
+      pSrc[(2u * i) + 1u] = pSrc[(2u * j) + 1u];
+      pSrc[(2u * j) + 1u] = in;
+
+      /*  pSrc[i+fftLenBy2p1] <-> pSrc[j+fftLenBy2p1] */
+      in = pSrc[2u * (i + fftLenBy2p1)];
+      pSrc[2u * (i + fftLenBy2p1)] = pSrc[2u * (j + fftLenBy2p1)];
+      pSrc[2u * (j + fftLenBy2p1)] = in;
+
+      /*  pSrc[i+fftLenBy2p1+1u] <-> pSrc[j+fftLenBy2p1+1u] */
+      in = pSrc[(2u * (i + fftLenBy2p1)) + 1u];
+      pSrc[(2u * (i + fftLenBy2p1)) + 1u] =
+        pSrc[(2u * (j + fftLenBy2p1)) + 1u];
+      pSrc[(2u * (j + fftLenBy2p1)) + 1u] = in;
+
+    }
+
+    /*  pSrc[i+1u] <-> pSrc[j+1u] */
+    in = pSrc[2u * (i + 1u)];
+    pSrc[2u * (i + 1u)] = pSrc[2u * (j + fftLenBy2)];
+    pSrc[2u * (j + fftLenBy2)] = in;
+
+    /*  pSrc[i+2u] <-> pSrc[j+2u] */
+    in = pSrc[(2u * (i + 1u)) + 1u];
+    pSrc[(2u * (i + 1u)) + 1u] = pSrc[(2u * (j + fftLenBy2)) + 1u];
+    pSrc[(2u * (j + fftLenBy2)) + 1u] = in;
+
+    /*  Reading the index for the bit reversal */
+    j = *pBitRevTab;
+
+    /*  Updating the bit reversal index depending on the fft length  */
+    pBitRevTab += bitRevFactor;
+  }
+}
+
+
+
+/*    
+ * @brief  In-place bit reversal function.   
+ * @param[in, out] *pSrc        points to the in-place buffer of Q31 data type.   
+ * @param[in]      fftLen       length of the FFT.   
+ * @param[in]      bitRevFactor bit reversal modifier that supports different size FFTs with the same bit reversal table   
+ * @param[in]      *pBitRevTab  points to bit reversal table.   
+ * @return none.   
+ */
+
+void arm_bitreversal_q31(
+  q31_t * pSrc,
+  uint32_t fftLen,
+  uint16_t bitRevFactor,
+  uint16_t * pBitRevTable)
+{
+  uint32_t fftLenBy2, fftLenBy2p1, i, j;
+  q31_t in;
+
+  /*  Initializations      */
+  j = 0u;
+  fftLenBy2 = fftLen / 2u;
+  fftLenBy2p1 = (fftLen / 2u) + 1u;
+
+  /* Bit Reversal Implementation */
+  for (i = 0u; i <= (fftLenBy2 - 2u); i += 2u)
+  {
+    if(i < j)
+    {
+      /*  pSrc[i] <-> pSrc[j]; */
+      in = pSrc[2u * i];
+      pSrc[2u * i] = pSrc[2u * j];
+      pSrc[2u * j] = in;
+
+      /*  pSrc[i+1u] <-> pSrc[j+1u] */
+      in = pSrc[(2u * i) + 1u];
+      pSrc[(2u * i) + 1u] = pSrc[(2u * j) + 1u];
+      pSrc[(2u * j) + 1u] = in;
+
+      /*  pSrc[i+fftLenBy2p1] <-> pSrc[j+fftLenBy2p1] */
+      in = pSrc[2u * (i + fftLenBy2p1)];
+      pSrc[2u * (i + fftLenBy2p1)] = pSrc[2u * (j + fftLenBy2p1)];
+      pSrc[2u * (j + fftLenBy2p1)] = in;
+
+      /*  pSrc[i+fftLenBy2p1+1u] <-> pSrc[j+fftLenBy2p1+1u] */
+      in = pSrc[(2u * (i + fftLenBy2p1)) + 1u];
+      pSrc[(2u * (i + fftLenBy2p1)) + 1u] =
+        pSrc[(2u * (j + fftLenBy2p1)) + 1u];
+      pSrc[(2u * (j + fftLenBy2p1)) + 1u] = in;
+
+    }
+
+    /*  pSrc[i+1u] <-> pSrc[j+1u] */
+    in = pSrc[2u * (i + 1u)];
+    pSrc[2u * (i + 1u)] = pSrc[2u * (j + fftLenBy2)];
+    pSrc[2u * (j + fftLenBy2)] = in;
+
+    /*  pSrc[i+2u] <-> pSrc[j+2u] */
+    in = pSrc[(2u * (i + 1u)) + 1u];
+    pSrc[(2u * (i + 1u)) + 1u] = pSrc[(2u * (j + fftLenBy2)) + 1u];
+    pSrc[(2u * (j + fftLenBy2)) + 1u] = in;
+
+    /*  Reading the index for the bit reversal */
+    j = *pBitRevTable;
+
+    /*  Updating the bit reversal index depending on the fft length */
+    pBitRevTable += bitRevFactor;
+  }
+}
+
+
+
+/*    
+   * @brief  In-place bit reversal function.   
+   * @param[in, out] *pSrc        points to the in-place buffer of Q15 data type.   
+   * @param[in]      fftLen       length of the FFT.   
+   * @param[in]      bitRevFactor bit reversal modifier that supports different size FFTs with the same bit reversal table   
+   * @param[in]      *pBitRevTab  points to bit reversal table.   
+   * @return none.   
+ */
+
+void arm_bitreversal_q15(
+  q15_t * pSrc16,
+  uint32_t fftLen,
+  uint16_t bitRevFactor,
+  uint16_t * pBitRevTab)
+{
+  q31_t *pSrc = (q31_t *) pSrc16;
+  q31_t in;
+  uint32_t fftLenBy2, fftLenBy2p1;
+  uint32_t i, j;
+
+  /*  Initializations */
+  j = 0u;
+  fftLenBy2 = fftLen / 2u;
+  fftLenBy2p1 = (fftLen / 2u) + 1u;
+
+  /* Bit Reversal Implementation */
+  for (i = 0u; i <= (fftLenBy2 - 2u); i += 2u)
+  {
+    if(i < j)
+    {
+      /*  pSrc[i] <-> pSrc[j]; */
+      /*  pSrc[i+1u] <-> pSrc[j+1u] */
+      in = pSrc[i];
+      pSrc[i] = pSrc[j];
+      pSrc[j] = in;
+
+      /*  pSrc[i + fftLenBy2p1] <-> pSrc[j + fftLenBy2p1];  */
+      /*  pSrc[i + fftLenBy2p1+1u] <-> pSrc[j + fftLenBy2p1+1u] */
+      in = pSrc[i + fftLenBy2p1];
+      pSrc[i + fftLenBy2p1] = pSrc[j + fftLenBy2p1];
+      pSrc[j + fftLenBy2p1] = in;
+    }
+
+    /*  pSrc[i+1u] <-> pSrc[j+fftLenBy2];         */
+    /*  pSrc[i+2] <-> pSrc[j+fftLenBy2+1u]  */
+    in = pSrc[i + 1u];
+    pSrc[i + 1u] = pSrc[j + fftLenBy2];
+    pSrc[j + fftLenBy2] = in;
+
+    /*  Reading the index for the bit reversal */
+    j = *pBitRevTab;
+
+    /*  Updating the bit reversal index depending on the fft length  */
+    pBitRevTab += bitRevFactor;
+  }
+}
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_f32.c
new file mode 100644
index 000000000..274b69928
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_f32.c
@@ -0,0 +1,511 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_cfft_radix2_f32.c   
+*   
+* Description:	Radix-2 Decimation in Frequency CFFT & CIFFT Floating point processing function   
+*   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Initial version   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupTransforms   
+ */
+
+/**   
+ * @defgroup Radix2_CFFT_CIFFT Radix-2 Complex FFT Functions   
+ *   
+ * \par   
+ * Complex Fast Fourier Transform(CFFT) and Complex Inverse Fast Fourier Transform(CIFFT) is an efficient algorithm to compute Discrete Fourier Transform(DFT) and Inverse Discrete Fourier Transform(IDFT).   
+ * Computational complexity of CFFT reduces drastically when compared to DFT.   
+ * \par   
+ * This set of functions implements CFFT/CIFFT   
+ * for Q15, Q31, and floating-point data types.  The functions operates on in-place buffer which uses same buffer for input and output.   
+ * Complex input is stored in input buffer in an interleaved fashion.   
+ *   
+ * \par   
+ * The functions operate on blocks of input and output data and each call to the function processes   
+ * 2*fftLen samples through the transform.  pSrc  points to In-place arrays containing 2*fftLen values.   
+ * \par  
+ * The pSrc points to the array of in-place buffer of size 2*fftLen and inputs and outputs are stored in an interleaved fashion as shown below.   
+ * 
 {real[0], imag[0], real[1], imag[1],..} 
   
+ *   
+ * \par Lengths supported by the transform:  
+ * \par   
+ * Internally, the function utilize a radix-2 decimation in frequency(DIF) algorithm   
+ * and the size of the FFT supported are of the lengths [16, 32, 64, 128, 256, 512, 1024, 2048, 4096].  
+ *    
+ *   
+ * \par Algorithm:   
+ *   
+ * Complex Fast Fourier Transform:   
+ * \par    
+ * Input real and imaginary data:   
+ * 
   
+ * x(n) = xa + j * ya   
+ * x(n+N/2 ) = xb + j * yb   
+ * 
   
+ * where N is length of FFT   
+ * \par   
+ * Output real and imaginary data:   
+ * 
   
+ * X(2r) = xa'+ j * ya'   
+ * X(2r+1) = xb'+ j * yb'   
+ * 
   
+ * \par   
+ * Twiddle factors for radix-2 FFT:   
+ * 
   
+ * Wn = cosVal + j * (- sinVal)   
+ * 
   
+ *   
+ * \par   
+ * \image html CFFT_Radix2.gif "Radix-2 Decimation-in Frequency Complex Fast Fourier Transform"   
+ *   
+ * \par   
+ * Output from Radix-2 CFFT Results in Digit reversal order. Interchange middle two branches of every butterfly results in Bit reversed output.   
+ * \par   
+ *  Butterfly CFFT equations:   
+ * 
   
+ * xa' = xa + xb  
+ * ya' = ya + yb  
+ * xb' = (xa-xb)* cosVal + (ya-yb) * sinVal   
+ * yb' = (ya-yb)* cosVal - (xa-xb) * sinVal   
+ * 
   
+ *   
+ *   
+ * Complex Inverse Fast Fourier Transform:   
+ * \par   
+ * CIFFT uses same twiddle factor table as CFFT with modifications in the design equation as shown below.   
+ *   
+ * \par   
+ *  Modified Butterfly CIFFT equations:   
+ * 
   
+ * xa' = xa + xb  
+ * ya' = ya + yb  
+ * xb' = (xa-xb)* cosVal - (ya-yb) * sinVal   
+ * yb' = (ya-yb)* cosVal + (xa-xb) * sinVal   
+ * 
   
+ *   
+ * \par Instance Structure   
+ * A separate instance structure must be defined for each Instance but the twiddle factors and bit reversal tables can be reused.   
+ * There are separate instance structure declarations for each of the 3 supported data types.   
+ *   
+ * \par Initialization Functions   
+ * There is also an associated initialization function for each data type.   
+ * The initialization function performs the following operations:   
+ * - Sets the values of the internal structure fields.   
+ * - Initializes twiddle factor table and bit reversal table pointers   
+ * \par   
+ * Use of the initialization function is optional.   
+ * However, if the initialization function is used, then the instance structure cannot be placed into a const data section.   
+ * To place an instance structure into a const data section, the instance structure must be manually initialized.   
+ * Manually initialize the instance structure as follows:   
+ * 
   
+ *arm_cfft_radix2_instance_f32 S = {fftLen, ifftFlag, bitReverseFlag, pTwiddle, pBitRevTable, twidCoefModifier, bitRevFactor, onebyfftLen};   
+ *arm_cfft_radix2_instance_q31 S = {fftLen, ifftFlag, bitReverseFlag, pTwiddle, pBitRevTable, twidCoefModifier, bitRevFactor};   
+ *arm_cfft_radix2_instance_q15 S = {fftLen, ifftFlag, bitReverseFlag, pTwiddle, pBitRevTable, twidCoefModifier, bitRevFactor};   
+ * 
   
+ * \par   
+ * where fftLen length of CFFT/CIFFT; ifftFlag Flag for selection of CFFT or CIFFT(Set ifftFlag to calculate CIFFT otherwise calculates CFFT);   
+ * bitReverseFlag Flag for selection of output order(Set bitReverseFlag to output in normal order otherwise output in bit reversed order);    
+ * pTwiddlepoints to array of twiddle coefficients; pBitRevTable points to the array of bit reversal table.   
+ * twidCoefModifier modifier for twiddle factor table which supports all FFT lengths with same table;    
+ * pBitRevTable modifier for bit reversal table which supports all FFT lengths with same table.   
+ * onebyfftLen value of 1/fftLen to calculate CIFFT;   
+ *  
+ * \par Fixed-Point Behavior   
+ * Care must be taken when using the fixed-point versions of the CFFT/CIFFT function.   
+ * Refer to the function specific documentation below for usage guidelines.   
+ */
+
+
+/**   
+ * @addtogroup Radix2_CFFT_CIFFT   
+ * @{   
+ */
+
+/**   
+ * @details   
+ * @brief Processing function for the floating-point Radix-2 CFFT/CIFFT.  
+ * @param[in]      *S    points to an instance of the floating-point Radix-2 CFFT/CIFFT structure.  
+ * @param[in, out] *pSrc points to the complex data buffer of size 2*fftLen. Processing occurs in-place.  
+ * @return none.  
+ */
+
+void arm_cfft_radix2_f32(
+  const arm_cfft_radix2_instance_f32 * S,
+  float32_t * pSrc)
+{
+
+  if(S->ifftFlag == 1u)
+  {
+    /*  Complex IFFT radix-2  */
+    arm_radix2_butterfly_inverse_f32(pSrc, S->fftLen, S->pTwiddle,
+                                     S->twidCoefModifier, S->onebyfftLen);
+  }
+  else
+  {
+    /*  Complex FFT radix-2  */
+    arm_radix2_butterfly_f32(pSrc, S->fftLen, S->pTwiddle,
+                             S->twidCoefModifier);
+  }
+
+  if(S->bitReverseFlag == 1u)
+  {
+    /*  Bit Reversal */
+    arm_bitreversal_f32(pSrc, S->fftLen, S->bitRevFactor, S->pBitRevTable);
+  }
+
+}
+
+
+/**    
+ * @} end of Radix2_CFFT_CIFFT group    
+ */
+
+
+
+/* ----------------------------------------------------------------------    
+** Internal helper function used by the FFTs    
+** ------------------------------------------------------------------- */
+
+/*    
+ * @brief  Core function for the floating-point CFFT butterfly process.   
+ * @param[in, out] *pSrc            points to the in-place buffer of floating-point data type.   
+ * @param[in]      fftLen           length of the FFT.   
+ * @param[in]      *pCoef           points to the twiddle coefficient buffer.   
+ * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.   
+ * @return none.   
+ */
+
+void arm_radix2_butterfly_f32(
+  float32_t * pSrc,
+  uint32_t fftLen,
+  float32_t * pCoef,
+  uint16_t twidCoefModifier)
+{
+
+  int i, j, k, l;
+  int n1, n2, ia;
+  float32_t xt, yt, cosVal, sinVal;
+
+#ifndef ARM_MATH_CM0
+
+  /*  Initializations for the first stage */
+  n2 = fftLen;
+
+  n1 = n2;
+  n2 = n2 >> 1;
+  ia = 0;
+
+  // loop for groups 
+  for (i = 0; i < n2; i++)
+  {
+    cosVal = pCoef[ia * 2];
+    sinVal = pCoef[(ia * 2) + 1];
+
+    /*  Twiddle coefficients index modifier */
+    ia = ia + twidCoefModifier;
+
+    /*  index calculation for the input as, */
+    /*  pSrc[i + 0], pSrc[i + fftLen/1] */
+    l = i + n2;
+
+    /*  Butterfly implementation */
+    xt = pSrc[2 * i] - pSrc[2 * l];
+    pSrc[2 * i] = pSrc[2 * i] + pSrc[2 * l];
+
+    yt = pSrc[2 * i + 1] - pSrc[2 * l + 1];
+    pSrc[2 * i + 1] = pSrc[2 * l + 1] + pSrc[2 * i + 1];
+
+    pSrc[2u * l] = xt * cosVal + yt * sinVal;
+
+    pSrc[2u * l + 1u] = yt * cosVal - xt * sinVal;
+
+  }                             // groups loop end 
+
+  twidCoefModifier = twidCoefModifier << 1u;
+
+  // loop for stage 
+  for (k = fftLen / 2; k > 2; k = k >> 1)
+  {
+    n1 = n2;
+    n2 = n2 >> 1;
+    ia = 0;
+
+    // loop for groups 
+    for (j = 0; j < n2; j++)
+    {
+      cosVal = pCoef[ia * 2];
+      sinVal = pCoef[(ia * 2) + 1];
+      ia = ia + twidCoefModifier;
+
+      // loop for butterfly 
+      for (i = j; i < fftLen; i += n1)
+      {
+        l = i + n2;
+        xt = pSrc[2 * i] - pSrc[2 * l];
+        pSrc[2 * i] = pSrc[2 * i] + pSrc[2 * l];
+
+        yt = pSrc[2 * i + 1] - pSrc[2 * l + 1];
+        pSrc[2 * i + 1] = pSrc[2 * l + 1] + pSrc[2 * i + 1];
+
+        pSrc[2u * l] = xt * cosVal + yt * sinVal;
+
+        pSrc[2u * l + 1u] = yt * cosVal - xt * sinVal;
+
+      }                         // butterfly loop end 
+
+    }                           // groups loop end 
+
+    twidCoefModifier = twidCoefModifier << 1u;
+  }                             // stages loop end 
+
+  n1 = n2;
+  n2 = n2 >> 1;
+  ia = 0;
+
+  cosVal = pCoef[ia * 2];
+  sinVal = pCoef[(ia * 2) + 1];
+  ia = ia + twidCoefModifier;
+
+  // loop for butterfly 
+  for (i = 0; i < fftLen; i += n1)
+  {
+    l = i + n2;
+    xt = pSrc[2 * i] - pSrc[2 * l];
+    pSrc[2 * i] = (pSrc[2 * i] + pSrc[2 * l]);
+
+    yt = pSrc[2 * i + 1] - pSrc[2 * l + 1];
+    pSrc[2 * i + 1] = (pSrc[2 * l + 1] + pSrc[2 * i + 1]);
+
+    pSrc[2u * l] = xt;
+
+    pSrc[2u * l + 1u] = yt;
+
+  }                             // groups loop end 
+
+#else
+
+  //N = fftLen; 
+  n2 = fftLen;
+
+  // loop for stage 
+  for (k = fftLen; k > 1; k = k >> 1)
+  {
+    n1 = n2;
+    n2 = n2 >> 1;
+    ia = 0;
+
+    // loop for groups 
+    for (j = 0; j < n2; j++)
+    {
+      cosVal = pCoef[ia * 2];
+      sinVal = pCoef[(ia * 2) + 1];
+      ia = ia + twidCoefModifier;
+
+      // loop for butterfly 
+      for (i = j; i < fftLen; i += n1)
+      {
+        l = i + n2;
+        xt = pSrc[2 * i] - pSrc[2 * l];
+        pSrc[2 * i] = pSrc[2 * i] + pSrc[2 * l];
+
+        yt = pSrc[2 * i + 1] - pSrc[2 * l + 1];
+        pSrc[2 * i + 1] = pSrc[2 * l + 1] + pSrc[2 * i + 1];
+
+        pSrc[2 * l] = (cosVal * xt + sinVal * yt);      // >> 15; 
+        pSrc[2 * l + 1] = (cosVal * yt - sinVal * xt);  // >> 15; 
+
+      }
+    }
+    twidCoefModifier = twidCoefModifier << 1u;
+  }
+
+#endif //    #ifndef ARM_MATH_CM0
+
+}
+
+
+void arm_radix2_butterfly_inverse_f32(
+  float32_t * pSrc,
+  uint32_t fftLen,
+  float32_t * pCoef,
+  uint16_t twidCoefModifier,
+  float32_t onebyfftLen)
+{
+
+  int i, j, k, l;
+  int n1, n2, ia;
+  float32_t xt, yt, cosVal, sinVal;
+
+#ifndef ARM_MATH_CM0
+
+  //N = fftLen; 
+  n2 = fftLen;
+
+  n1 = n2;
+  n2 = n2 >> 1;
+  ia = 0;
+
+  // loop for groups 
+  for (i = 0; i < n2; i++)
+  {
+    cosVal = pCoef[ia * 2];
+    sinVal = pCoef[(ia * 2) + 1];
+    ia = ia + twidCoefModifier;
+
+    l = i + n2;
+    xt = pSrc[2 * i] - pSrc[2 * l];
+    pSrc[2 * i] = pSrc[2 * i] + pSrc[2 * l];
+
+    yt = pSrc[2 * i + 1] - pSrc[2 * l + 1];
+    pSrc[2 * i + 1] = pSrc[2 * l + 1] + pSrc[2 * i + 1];
+
+    pSrc[2u * l] = xt * cosVal - yt * sinVal;
+
+    pSrc[2u * l + 1u] = yt * cosVal + xt * sinVal;
+
+  }                             // groups loop end 
+
+  twidCoefModifier = twidCoefModifier << 1u;
+
+  // loop for stage 
+  for (k = fftLen / 2; k > 2; k = k >> 1)
+  {
+    n1 = n2;
+    n2 = n2 >> 1;
+    ia = 0;
+
+    // loop for groups 
+    for (j = 0; j < n2; j++)
+    {
+      cosVal = pCoef[ia * 2];
+      sinVal = pCoef[(ia * 2) + 1];
+      ia = ia + twidCoefModifier;
+
+      // loop for butterfly 
+      for (i = j; i < fftLen; i += n1)
+      {
+        l = i + n2;
+        xt = pSrc[2 * i] - pSrc[2 * l];
+        pSrc[2 * i] = pSrc[2 * i] + pSrc[2 * l];
+
+        yt = pSrc[2 * i + 1] - pSrc[2 * l + 1];
+        pSrc[2 * i + 1] = pSrc[2 * l + 1] + pSrc[2 * i + 1];
+
+        pSrc[2u * l] = xt * cosVal - yt * sinVal;
+
+        pSrc[2u * l + 1u] = yt * cosVal + xt * sinVal;
+
+      }                         // butterfly loop end 
+
+    }                           // groups loop end 
+
+    twidCoefModifier = twidCoefModifier << 1u;
+  }                             // stages loop end 
+
+  n1 = n2;
+  n2 = n2 >> 1;
+  ia = 0;
+
+  cosVal = pCoef[ia * 2];
+  sinVal = pCoef[(ia * 2) + 1];
+  ia = ia + twidCoefModifier;
+
+  // loop for butterfly 
+  for (i = 0; i < fftLen; i += n1)
+  {
+    l = i + n2;
+    xt = pSrc[2 * i] - pSrc[2 * l];
+    pSrc[2 * i] = (pSrc[2 * i] + pSrc[2 * l]) * onebyfftLen;
+
+    yt = pSrc[2 * i + 1] - pSrc[2 * l + 1];
+    pSrc[2 * i + 1] = (pSrc[2 * l + 1] + pSrc[2 * i + 1]) * onebyfftLen;
+
+    pSrc[2u * l] = xt * onebyfftLen;
+
+    pSrc[2u * l + 1u] = yt * onebyfftLen;
+
+  }                             // butterfly loop end 
+
+#else
+
+  //N = fftLen; 
+  n2 = fftLen;
+
+  // loop for stage 
+  for (k = fftLen; k > 2; k = k >> 1)
+  {
+    n1 = n2;
+    n2 = n2 >> 1;
+    ia = 0;
+
+    // loop for groups 
+    for (j = 0; j < n2; j++)
+    {
+      cosVal = pCoef[ia * 2];
+      sinVal = pCoef[(ia * 2) + 1];
+      ia = ia + twidCoefModifier;
+
+      // loop for butterfly 
+      for (i = j; i < fftLen; i += n1)
+      {
+        l = i + n2;
+        xt = pSrc[2 * i] - pSrc[2 * l];
+        pSrc[2 * i] = pSrc[2 * i] + pSrc[2 * l];
+
+        yt = pSrc[2 * i + 1] - pSrc[2 * l + 1];
+        pSrc[2 * i + 1] = pSrc[2 * l + 1] + pSrc[2 * i + 1];
+
+        pSrc[2u * l] = xt * cosVal - yt * sinVal;
+
+        pSrc[2u * l + 1u] = yt * cosVal + xt * sinVal;
+
+      }                         // butterfly loop end 
+
+    }                           // groups loop end 
+
+    twidCoefModifier = twidCoefModifier << 1u;
+  }                             // stages loop end 
+
+  n1 = n2;
+  n2 = n2 >> 1;
+  ia = 0;
+
+  cosVal = pCoef[ia * 2];
+  sinVal = pCoef[(ia * 2) + 1];
+  ia = ia + twidCoefModifier;
+
+  // loop for butterfly 
+  for (i = 0; i < fftLen; i += n1)
+  {
+    l = i + n2;
+    xt = pSrc[2 * i] - pSrc[2 * l];
+    pSrc[2 * i] = (pSrc[2 * i] + pSrc[2 * l]) * onebyfftLen;
+
+    yt = pSrc[2 * i + 1] - pSrc[2 * l + 1];
+    pSrc[2 * i + 1] = (pSrc[2 * l + 1] + pSrc[2 * i + 1]) * onebyfftLen;
+
+    pSrc[2u * l] = xt * onebyfftLen;
+
+    pSrc[2u * l + 1u] = yt * onebyfftLen;
+
+  }                             // butterfly loop end 
+
+#endif //      #ifndef ARM_MATH_CM0
+
+}
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_init_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_init_f32.c
new file mode 100644
index 000000000..a41ed25d2
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_init_f32.c
@@ -0,0 +1,198 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_cfft_radix4_init_f32.c   
+*   
+* Description:	Radix-4 Decimation in Frequency Floating-point CFFT & CIFFT Initialization function   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+*   
+* Version 0.0.5  2010/04/26    
+* 	 incorporated review comments and updated with latest CMSIS layer   
+*   
+* Version 0.0.3  2010/03/10    
+*    Initial version   
+* -------------------------------------------------------------------- */
+
+
+#include "arm_math.h"
+#include "arm_common_tables.h"
+
+/**   
+ * @ingroup groupTransforms   
+ */
+
+/**   
+ * @addtogroup Radix2_CFFT_CIFFT   
+ * @{   
+ */
+
+/**   
+* @brief  Initialization function for the floating-point CFFT/CIFFT.  
+* @param[in,out] *S             points to an instance of the floating-point CFFT/CIFFT structure.  
+* @param[in]     fftLen         length of the FFT.  
+* @param[in]     ifftFlag       flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform.  
+* @param[in]     bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.  
+* @return        The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if fftLen is not a supported value.  
+*   
+* \par Description:  
+* \par   
+* The parameter ifftFlag controls whether a forward or inverse transform is computed.   
+* Set(=1) ifftFlag for calculation of CIFFT otherwise  CFFT is calculated  
+* \par   
+* The parameter bitReverseFlag controls whether output is in normal order or bit reversed order.   
+* Set(=1) bitReverseFlag for output to be in normal order otherwise output is in bit reversed order.   
+* \par   
+* The parameter fftLen	Specifies length of CFFT/CIFFT process. Supported FFT Lengths are 16, 64, 256, 1024.   
+* \par   
+* This Function also initializes Twiddle factor table pointer and Bit reversal table pointer.   
+*/
+arm_status arm_cfft_radix2_init_f32(
+  arm_cfft_radix2_instance_f32 * S,
+  uint16_t fftLen,
+  uint8_t ifftFlag,
+  uint8_t bitReverseFlag)
+{
+  /*  Initialise the default arm status */
+  arm_status status = ARM_MATH_SUCCESS;
+
+  /*  Initialise the FFT length */
+  S->fftLen = fftLen;
+
+  /*  Initialise the Twiddle coefficient pointer */
+  S->pTwiddle = (float32_t *) twiddleCoef;
+
+  /*  Initialise the Flag for selection of CFFT or CIFFT */
+  S->ifftFlag = ifftFlag;
+
+  /*  Initialise the Flag for calculation Bit reversal or not */
+  S->bitReverseFlag = bitReverseFlag;
+
+  /*  Initializations of structure parameters depending on the FFT length */
+  switch (S->fftLen)
+  {
+
+  case 4096u:
+    /*  Initializations of structure parameters for 4096 point FFT */
+
+    /*  Initialise the twiddle coef modifier value */
+    S->twidCoefModifier = 1u;
+    /*  Initialise the bit reversal table modifier */
+    S->bitRevFactor = 1u;
+    /*  Initialise the bit reversal table pointer */
+    S->pBitRevTable = (uint16_t *) armBitRevTable;
+    /*  Initialise the 1/fftLen Value */
+    S->onebyfftLen = 0.000244140625;
+    break;
+
+  case 2048u:
+    /*  Initializations of structure parameters for 2048 point FFT */
+
+    /*  Initialise the twiddle coef modifier value */
+    S->twidCoefModifier = 2u;
+    /*  Initialise the bit reversal table modifier */
+    S->bitRevFactor = 2u;
+    /*  Initialise the bit reversal table pointer */
+    S->pBitRevTable = (uint16_t *) & armBitRevTable[1];
+    /*  Initialise the 1/fftLen Value */
+    S->onebyfftLen = 0.00048828125;
+    break;
+
+  case 1024u:
+    /*  Initializations of structure parameters for 1024 point FFT */
+
+    /*  Initialise the twiddle coef modifier value */
+    S->twidCoefModifier = 4u;
+    /*  Initialise the bit reversal table modifier */
+    S->bitRevFactor = 4u;
+    /*  Initialise the bit reversal table pointer */
+    S->pBitRevTable = (uint16_t *) & armBitRevTable[3];
+    /*  Initialise the 1/fftLen Value */
+    S->onebyfftLen = 0.0009765625f;
+    break;
+
+  case 512u:
+    /*  Initializations of structure parameters for 512 point FFT */
+
+    /*  Initialise the twiddle coef modifier value */
+    S->twidCoefModifier = 8u;
+    /*  Initialise the bit reversal table modifier */
+    S->bitRevFactor = 8u;
+    /*  Initialise the bit reversal table pointer */
+    S->pBitRevTable = (uint16_t *) & armBitRevTable[7];
+    /*  Initialise the 1/fftLen Value */
+    S->onebyfftLen = 0.001953125;
+    break;
+
+  case 256u:
+    /*  Initializations of structure parameters for 256 point FFT */
+    S->twidCoefModifier = 16u;
+    S->bitRevFactor = 16u;
+    S->pBitRevTable = (uint16_t *) & armBitRevTable[15];
+    S->onebyfftLen = 0.00390625f;
+    break;
+
+  case 128u:
+    /*  Initializations of structure parameters for 128 point FFT */
+    S->twidCoefModifier = 32u;
+    S->bitRevFactor = 32u;
+    S->pBitRevTable = (uint16_t *) & armBitRevTable[31];
+    S->onebyfftLen = 0.0078125;
+    break;
+
+  case 64u:
+    /*  Initializations of structure parameters for 64 point FFT */
+    S->twidCoefModifier = 64u;
+    S->bitRevFactor = 64u;
+    S->pBitRevTable = (uint16_t *) & armBitRevTable[63];
+    S->onebyfftLen = 0.015625f;
+    break;
+
+  case 32u:
+    /*  Initializations of structure parameters for 64 point FFT */
+    S->twidCoefModifier = 128u;
+    S->bitRevFactor = 128u;
+    S->pBitRevTable = (uint16_t *) & armBitRevTable[127];
+    S->onebyfftLen = 0.03125;
+    break;
+
+  case 16u:
+    /*  Initializations of structure parameters for 16 point FFT */
+    S->twidCoefModifier = 256u;
+    S->bitRevFactor = 256u;
+    S->pBitRevTable = (uint16_t *) & armBitRevTable[255];
+    S->onebyfftLen = 0.0625f;
+    break;
+
+
+  default:
+    /*  Reporting argument error if fftSize is not valid value */
+    status = ARM_MATH_ARGUMENT_ERROR;
+    break;
+  }
+
+  return (status);
+}
+
+/**   
+ * @} end of Radix2_CFFT_CIFFT group   
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_init_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_init_q15.c
new file mode 100644
index 000000000..86aa149b2
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_init_q15.c
@@ -0,0 +1,186 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_cfft_radix2_init_q15.c    
+*    
+* Description:	Radix-2 Decimation in Frequency Q15 FFT & IFFT initialization function    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.5  2010/04/26     
+* 	 incorporated review comments and updated with latest CMSIS layer    
+*    
+* Version 0.0.3  2010/03/10     
+*    Initial version    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+#include "arm_common_tables.h"
+
+/**    
+ * @ingroup groupTransforms    
+ */
+
+
+/**    
+ * @addtogroup Radix2_CFFT_CIFFT    
+ * @{    
+ */
+
+/**   
+* @brief Initialization function for the Q15 CFFT/CIFFT.   
+* @param[in,out] *S             points to an instance of the Q15 CFFT/CIFFT structure.   
+* @param[in]     fftLen         length of the FFT.   
+* @param[in]     ifftFlag       flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform.  
+* @param[in]     bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.  
+* @return        The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if fftLen is not a supported value.  
+*   
+* \par Description:  
+* \par   
+* The parameter ifftFlag controls whether a forward or inverse transform is computed.   
+* Set(=1) ifftFlag for calculation of CIFFT otherwise  CFFT is calculated  
+* \par   
+* The parameter bitReverseFlag controls whether output is in normal order or bit reversed order.   
+* Set(=1) bitReverseFlag for output to be in normal order otherwise output is in bit reversed order.   
+* \par   
+* The parameter fftLen	Specifies length of CFFT/CIFFT process. Supported FFT Lengths are 16, 64, 256, 1024.   
+* \par   
+* This Function also initializes Twiddle factor table pointer and Bit reversal table pointer.   
+*/
+
+arm_status arm_cfft_radix2_init_q15(
+  arm_cfft_radix2_instance_q15 * S,
+  uint16_t fftLen,
+  uint8_t ifftFlag,
+  uint8_t bitReverseFlag)
+{
+  /*  Initialise the default arm status */
+  arm_status status = ARM_MATH_SUCCESS;
+
+  /*  Initialise the FFT length */
+  S->fftLen = fftLen;
+
+  /*  Initialise the Twiddle coefficient pointer */
+  S->pTwiddle = (q15_t *) twiddleCoefQ15;
+  /*  Initialise the Flag for selection of CFFT or CIFFT */
+  S->ifftFlag = ifftFlag;
+  /*  Initialise the Flag for calculation Bit reversal or not */
+  S->bitReverseFlag = bitReverseFlag;
+
+  /*  Initializations of structure parameters depending on the FFT length */
+  switch (S->fftLen)
+  {
+  case 4096u:
+    /*  Initializations of structure parameters for 4096 point FFT */
+
+    /*  Initialise the twiddle coef modifier value */
+    S->twidCoefModifier = 1u;
+    /*  Initialise the bit reversal table modifier */
+    S->bitRevFactor = 1u;
+    /*  Initialise the bit reversal table pointer */
+    S->pBitRevTable = (uint16_t *) armBitRevTable;
+
+    break;
+
+  case 2048u:
+    /*  Initializations of structure parameters for 2048 point FFT */
+
+    /*  Initialise the twiddle coef modifier value */
+    S->twidCoefModifier = 2u;
+    /*  Initialise the bit reversal table modifier */
+    S->bitRevFactor = 2u;
+    /*  Initialise the bit reversal table pointer */
+    S->pBitRevTable = (uint16_t *) & armBitRevTable[1];
+
+    break;
+
+  case 1024u:
+    /*  Initializations of structure parameters for 1024 point FFT */
+    S->twidCoefModifier = 4u;
+    S->bitRevFactor = 4u;
+    S->pBitRevTable = (uint16_t *) & armBitRevTable[3];
+
+    break;
+
+  case 512u:
+    /*  Initializations of structure parameters for 512 point FFT */
+    S->twidCoefModifier = 8u;
+    S->bitRevFactor = 8u;
+    S->pBitRevTable = (uint16_t *) & armBitRevTable[7];
+
+    break;
+
+  case 256u:
+    /*  Initializations of structure parameters for 256 point FFT */
+    S->twidCoefModifier = 16u;
+    S->bitRevFactor = 16u;
+    S->pBitRevTable = (uint16_t *) & armBitRevTable[15];
+
+    break;
+
+  case 128u:
+    /*  Initializations of structure parameters for 128 point FFT */
+    S->twidCoefModifier = 32u;
+    S->bitRevFactor = 32u;
+    S->pBitRevTable = (uint16_t *) & armBitRevTable[31];
+
+    break;
+
+  case 64u:
+    /*  Initializations of structure parameters for 64 point FFT */
+    S->twidCoefModifier = 64u;
+    S->bitRevFactor = 64u;
+    S->pBitRevTable = (uint16_t *) & armBitRevTable[63];
+
+    break;
+
+  case 32u:
+    /*  Initializations of structure parameters for 32 point FFT */
+    S->twidCoefModifier = 128u;
+    S->bitRevFactor = 128u;
+    S->pBitRevTable = (uint16_t *) & armBitRevTable[127];
+
+    break;
+
+  case 16u:
+    /*  Initializations of structure parameters for 16 point FFT */
+    S->twidCoefModifier = 256u;
+    S->bitRevFactor = 256u;
+    S->pBitRevTable = (uint16_t *) & armBitRevTable[255];
+
+    break;
+
+  default:
+    /*  Reporting argument error if fftSize is not valid value */
+    status = ARM_MATH_ARGUMENT_ERROR;
+    break;
+  }
+
+  return (status);
+}
+
+/**    
+ * @} end of Radix2_CFFT_CIFFT group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_init_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_init_q31.c
new file mode 100644
index 000000000..29aa9a74b
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_init_q31.c
@@ -0,0 +1,164 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_cfft_radix2_init_q31.c   
+*   
+* Description:	Radix-2 Decimation in Frequency Fixed-point CFFT & CIFFT Initialization function   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* -------------------------------------------------------------------- */
+
+
+#include "arm_math.h"
+#include "arm_common_tables.h"
+
+/**   
+ * @ingroup groupTransforms   
+ */
+
+/**   
+ * @addtogroup Radix2_CFFT_CIFFT   
+ * @{   
+ */
+
+
+/**    
+*    
+* @brief  Initialization function for the Q31 CFFT/CIFFT.   
+* @param[in,out] *S             points to an instance of the Q31 CFFT/CIFFT structure.   
+* @param[in]     fftLen         length of the FFT.  
+* @param[in]     ifftFlag       flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform.  
+* @param[in]     bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.  
+* @return        The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if fftLen is not a supported value.  
+*   
+* \par Description:  
+* \par   
+* The parameter ifftFlag controls whether a forward or inverse transform is computed.   
+* Set(=1) ifftFlag for calculation of CIFFT otherwise  CFFT is calculated  
+* \par   
+* The parameter bitReverseFlag controls whether output is in normal order or bit reversed order.   
+* Set(=1) bitReverseFlag for output to be in normal order otherwise output is in bit reversed order.   
+* \par   
+* The parameter fftLen	Specifies length of CFFT/CIFFT process. Supported FFT Lengths are 16, 64, 256, 1024.   
+* \par   
+* This Function also initializes Twiddle factor table pointer and Bit reversal table pointer.   
+*/
+
+arm_status arm_cfft_radix2_init_q31(
+  arm_cfft_radix2_instance_q31 * S,
+  uint16_t fftLen,
+  uint8_t ifftFlag,
+  uint8_t bitReverseFlag)
+{
+  /*  Initialise the default arm status */
+  arm_status status = ARM_MATH_SUCCESS;
+
+  /*  Initialise the FFT length */
+  S->fftLen = fftLen;
+
+  /*  Initialise the Twiddle coefficient pointer */
+  S->pTwiddle = (q31_t *) twiddleCoefQ31;
+  /*  Initialise the Flag for selection of CFFT or CIFFT */
+  S->ifftFlag = ifftFlag;
+  /*  Initialise the Flag for calculation Bit reversal or not */
+  S->bitReverseFlag = bitReverseFlag;
+
+  /*  Initializations of Instance structure depending on the FFT length */
+  switch (S->fftLen)
+  {
+    /*  Initializations of structure parameters for 4096 point FFT */
+  case 4096u:
+    /*  Initialise the twiddle coef modifier value */
+    S->twidCoefModifier = 1u;
+    /*  Initialise the bit reversal table modifier */
+    S->bitRevFactor = 1u;
+    /*  Initialise the bit reversal table pointer */
+    S->pBitRevTable = (uint16_t *) armBitRevTable;
+    break;
+
+    /*  Initializations of structure parameters for 2048 point FFT */
+  case 2048u:
+    /*  Initialise the twiddle coef modifier value */
+    S->twidCoefModifier = 2u;
+    /*  Initialise the bit reversal table modifier */
+    S->bitRevFactor = 2u;
+    /*  Initialise the bit reversal table pointer */
+    S->pBitRevTable = (uint16_t *) & armBitRevTable[1];
+    break;
+
+    /*  Initializations of structure parameters for 1024 point FFT */
+  case 1024u:
+    /*  Initialise the twiddle coef modifier value */
+    S->twidCoefModifier = 4u;
+    /*  Initialise the bit reversal table modifier */
+    S->bitRevFactor = 4u;
+    /*  Initialise the bit reversal table pointer */
+    S->pBitRevTable = (uint16_t *) & armBitRevTable[3];
+    break;
+
+    /*  Initializations of structure parameters for 512 point FFT */
+  case 512u:
+    /*  Initialise the twiddle coef modifier value */
+    S->twidCoefModifier = 8u;
+    /*  Initialise the bit reversal table modifier */
+    S->bitRevFactor = 8u;
+    /*  Initialise the bit reversal table pointer */
+    S->pBitRevTable = (uint16_t *) & armBitRevTable[7];
+    break;
+
+  case 256u:
+    /*  Initializations of structure parameters for 256 point FFT */
+    S->twidCoefModifier = 16u;
+    S->bitRevFactor = 16u;
+    S->pBitRevTable = (uint16_t *) & armBitRevTable[15];
+    break;
+
+  case 128u:
+    /*  Initializations of structure parameters for 128 point FFT */
+    S->twidCoefModifier = 32u;
+    S->bitRevFactor = 32u;
+    S->pBitRevTable = (uint16_t *) & armBitRevTable[31];
+    break;
+
+  case 64u:
+    /*  Initializations of structure parameters for 64 point FFT */
+    S->twidCoefModifier = 64u;
+    S->bitRevFactor = 64u;
+    S->pBitRevTable = (uint16_t *) & armBitRevTable[63];
+    break;
+
+  case 32u:
+    /*  Initializations of structure parameters for 32 point FFT */
+    S->twidCoefModifier = 128u;
+    S->bitRevFactor = 128u;
+    S->pBitRevTable = (uint16_t *) & armBitRevTable[127];
+    break;
+
+  case 16u:
+    /*  Initializations of structure parameters for 16 point FFT */
+    S->twidCoefModifier = 256u;
+    S->bitRevFactor = 256u;
+    S->pBitRevTable = (uint16_t *) & armBitRevTable[255];
+    break;
+
+
+  default:
+    /*  Reporting argument error if fftSize is not valid value */
+    status = ARM_MATH_ARGUMENT_ERROR;
+    break;
+  }
+
+  return (status);
+}
+
+/**   
+ * @} end of Radix2_CFFT_CIFFT group   
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_q15.c
new file mode 100644
index 000000000..00c7420cf
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_q15.c
@@ -0,0 +1,712 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_cfft_radix2_q15.c   
+*   
+* Description:	Radix-2 Decimation in Frequency CFFT & CIFFT Fixed point processing function   
+*   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 0.0.3  2010/03/10    
+*    Initial version   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupTransforms   
+ */
+
+/**   
+ * @defgroup Radix2_CFFT_CIFFT Radix-2 Complex FFT Functions   
+ *   
+ * \par   
+ * Complex Fast Fourier Transform(CFFT) and Complex Inverse Fast Fourier Transform(CIFFT) is an efficient algorithm to compute Discrete Fourier Transform(DFT) and Inverse Discrete Fourier Transform(IDFT).   
+ * Computational complexity of CFFT reduces drastically when compared to DFT.    
+ */
+
+
+/**   
+ * @addtogroup Radix2_CFFT_CIFFT   
+ * @{   
+ */
+
+/**   
+ * @details   
+ * @brief Processing function for the fixed-point CFFT/CIFFT.  
+ * @param[in]      *S    points to an instance of the fixed-point CFFT/CIFFT structure.  
+ * @param[in, out] *pSrc points to the complex data buffer of size 2*fftLen. Processing occurs in-place.  
+ * @return none.  
+ */
+
+void arm_cfft_radix2_q15(
+  const arm_cfft_radix2_instance_q15 * S,
+  q15_t * pSrc)
+{
+
+  if(S->ifftFlag == 1u)
+  {
+    arm_radix2_butterfly_inverse_q15(pSrc, S->fftLen,
+                                     S->pTwiddle, S->twidCoefModifier);
+  }
+  else
+  {
+    arm_radix2_butterfly_q15(pSrc, S->fftLen,
+                             S->pTwiddle, S->twidCoefModifier);
+  }
+
+  arm_bitreversal_q15(pSrc, S->fftLen, S->bitRevFactor, S->pBitRevTable);
+}
+
+/**   
+ * @} end of Radix2_CFFT_CIFFT group   
+ */
+
+void arm_radix2_butterfly_q15(
+  q15_t * pSrc,
+  uint32_t fftLen,
+  q15_t * pCoef,
+  uint16_t twidCoefModifier)
+{
+#ifndef ARM_MATH_CM0
+
+  int i, j, k, l;
+  int n1, n2, ia;
+  q15_t in;
+  q31_t T, S, R;
+  q31_t coeff, out1, out2;
+
+  //N = fftLen; 
+  n2 = fftLen;
+
+  n1 = n2;
+  n2 = n2 >> 1;
+  ia = 0;
+
+  // loop for groups 
+  for (i = 0; i < n2; i++)
+  {
+    coeff = _SIMD32_OFFSET(pCoef + (ia * 2u));
+
+    ia = ia + twidCoefModifier;
+
+    l = i + n2;
+
+    T = _SIMD32_OFFSET(pSrc + (2 * i));
+    in = ((int16_t) (T & 0xFFFF)) >> 2;
+    T = ((T >> 2) & 0xFFFF0000) | (in & 0xFFFF);
+
+    S = _SIMD32_OFFSET(pSrc + (2 * l));
+    in = ((int16_t) (S & 0xFFFF)) >> 2;
+    S = ((S >> 2) & 0xFFFF0000) | (in & 0xFFFF);
+
+    R = __QSUB16(T, S);
+
+    _SIMD32_OFFSET(pSrc + (2 * i)) = __SHADD16(T, S);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+    out1 = __SMUAD(coeff, R) >> 16;
+    out2 = __SMUSDX(coeff, R);
+
+#else
+
+    out1 = __SMUSDX(R, coeff) >> 16u;
+    out2 = __SMUAD(coeff, R);
+
+#endif //     #ifndef ARM_MATH_BIG_ENDIAN
+
+    _SIMD32_OFFSET(pSrc + (2u * l)) =
+      (q31_t) ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);
+
+    coeff = _SIMD32_OFFSET(pCoef + (ia * 2u));
+
+    ia = ia + twidCoefModifier;
+
+    // loop for butterfly 
+    i++;
+    l++;
+
+    T = _SIMD32_OFFSET(pSrc + (2 * i));
+    in = ((int16_t) (T & 0xFFFF)) >> 2;
+    T = ((T >> 2) & 0xFFFF0000) | (in & 0xFFFF);
+
+    S = _SIMD32_OFFSET(pSrc + (2 * l));
+    in = ((int16_t) (S & 0xFFFF)) >> 2;
+    S = ((S >> 2) & 0xFFFF0000) | (in & 0xFFFF);
+
+    R = __QSUB16(T, S);
+
+    _SIMD32_OFFSET(pSrc + (2 * i)) = __SHADD16(T, S);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+    out1 = __SMUAD(coeff, R) >> 16;
+    out2 = __SMUSDX(coeff, R);
+
+#else
+
+    out1 = __SMUSDX(R, coeff) >> 16u;
+    out2 = __SMUAD(coeff, R);
+
+#endif //     #ifndef ARM_MATH_BIG_ENDIAN
+
+    _SIMD32_OFFSET(pSrc + (2u * l)) =
+      (q31_t) ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);
+
+  }                             // groups loop end 
+
+  twidCoefModifier = twidCoefModifier << 1u;
+
+  // loop for stage 
+  for (k = fftLen / 2; k > 2; k = k >> 1)
+  {
+    n1 = n2;
+    n2 = n2 >> 1;
+    ia = 0;
+
+    // loop for groups 
+    for (j = 0; j < n2; j++)
+    {
+      coeff = _SIMD32_OFFSET(pCoef + (ia * 2u));
+
+      ia = ia + twidCoefModifier;
+
+      // loop for butterfly 
+      for (i = j; i < fftLen; i += n1)
+      {
+        l = i + n2;
+
+        T = _SIMD32_OFFSET(pSrc + (2 * i));
+
+        S = _SIMD32_OFFSET(pSrc + (2 * l));
+
+        R = __QSUB16(T, S);
+
+        _SIMD32_OFFSET(pSrc + (2 * i)) = __SHADD16(T, S);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+        out1 = __SMUAD(coeff, R) >> 16;
+        out2 = __SMUSDX(coeff, R);
+
+#else
+
+        out1 = __SMUSDX(R, coeff) >> 16u;
+        out2 = __SMUAD(coeff, R);
+
+#endif //     #ifndef ARM_MATH_BIG_ENDIAN
+
+        _SIMD32_OFFSET(pSrc + (2u * l)) =
+          (q31_t) ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);
+
+        i += n1;
+
+        l = i + n2;
+
+        T = _SIMD32_OFFSET(pSrc + (2 * i));
+
+        S = _SIMD32_OFFSET(pSrc + (2 * l));
+
+        R = __QSUB16(T, S);
+
+        _SIMD32_OFFSET(pSrc + (2 * i)) = __SHADD16(T, S);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+        out1 = __SMUAD(coeff, R) >> 16;
+        out2 = __SMUSDX(coeff, R);
+
+#else
+
+        out1 = __SMUSDX(R, coeff) >> 16u;
+        out2 = __SMUAD(coeff, R);
+
+#endif //     #ifndef ARM_MATH_BIG_ENDIAN
+
+        _SIMD32_OFFSET(pSrc + (2u * l)) =
+          (q31_t) ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);
+
+      }                         // butterfly loop end 
+
+    }                           // groups loop end 
+
+    twidCoefModifier = twidCoefModifier << 1u;
+  }                             // stages loop end 
+
+  n1 = n2;
+  n2 = n2 >> 1;
+  ia = 0;
+
+  coeff = _SIMD32_OFFSET(pCoef + (ia * 2u));
+
+  ia = ia + twidCoefModifier;
+
+  // loop for butterfly 
+  for (i = 0; i < fftLen; i += n1)
+  {
+    l = i + n2;
+
+    T = _SIMD32_OFFSET(pSrc + (2 * i));
+
+    S = _SIMD32_OFFSET(pSrc + (2 * l));
+
+    R = __QSUB16(T, S);
+
+    _SIMD32_OFFSET(pSrc + (2 * i)) = __QADD16(T, S);
+
+    _SIMD32_OFFSET(pSrc + (2u * l)) = R;
+
+    i += n1;
+    l = i + n2;
+
+    T = _SIMD32_OFFSET(pSrc + (2 * i));
+
+    S = _SIMD32_OFFSET(pSrc + (2 * l));
+
+    R = __QSUB16(T, S);
+
+    _SIMD32_OFFSET(pSrc + (2 * i)) = __QADD16(T, S);
+
+    _SIMD32_OFFSET(pSrc + (2u * l)) = R;
+
+  }                             // groups loop end 
+
+
+#else
+
+  int i, j, k, l;
+  int n1, n2, ia;
+  q15_t xt, yt, cosVal, sinVal;
+
+
+  //N = fftLen; 
+  n2 = fftLen;
+
+  n1 = n2;
+  n2 = n2 >> 1;
+  ia = 0;
+
+  // loop for groups 
+  for (j = 0; j < n2; j++)
+  {
+    cosVal = pCoef[ia * 2];
+    sinVal = pCoef[(ia * 2) + 1];
+    ia = ia + twidCoefModifier;
+
+    // loop for butterfly 
+    for (i = j; i < fftLen; i += n1)
+    {
+      l = i + n2;
+      xt = (pSrc[2 * i] >> 2u) - (pSrc[2 * l] >> 2u);
+      pSrc[2 * i] = ((pSrc[2 * i] >> 2u) + (pSrc[2 * l] >> 2u)) >> 1u;
+
+      yt = (pSrc[2 * i + 1] >> 2u) - (pSrc[2 * l + 1] >> 2u);
+      pSrc[2 * i + 1] =
+        ((pSrc[2 * l + 1] >> 2u) + (pSrc[2 * i + 1] >> 2u)) >> 1u;
+
+      pSrc[2u * l] = (((int16_t) (((q31_t) xt * cosVal) >> 16)) +
+                      ((int16_t) (((q31_t) yt * sinVal) >> 16)));
+
+      pSrc[2u * l + 1u] = (((int16_t) (((q31_t) yt * cosVal) >> 16)) -
+                           ((int16_t) (((q31_t) xt * sinVal) >> 16)));
+
+    }                           // butterfly loop end 
+
+  }                             // groups loop end 
+
+  twidCoefModifier = twidCoefModifier << 1u;
+
+  // loop for stage 
+  for (k = fftLen / 2; k > 2; k = k >> 1)
+  {
+    n1 = n2;
+    n2 = n2 >> 1;
+    ia = 0;
+
+    // loop for groups 
+    for (j = 0; j < n2; j++)
+    {
+      cosVal = pCoef[ia * 2];
+      sinVal = pCoef[(ia * 2) + 1];
+      ia = ia + twidCoefModifier;
+
+      // loop for butterfly 
+      for (i = j; i < fftLen; i += n1)
+      {
+        l = i + n2;
+        xt = pSrc[2 * i] - pSrc[2 * l];
+        pSrc[2 * i] = (pSrc[2 * i] + pSrc[2 * l]) >> 1u;
+
+        yt = pSrc[2 * i + 1] - pSrc[2 * l + 1];
+        pSrc[2 * i + 1] = (pSrc[2 * l + 1] + pSrc[2 * i + 1]) >> 1u;
+
+        pSrc[2u * l] = (((int16_t) (((q31_t) xt * cosVal) >> 16)) +
+                        ((int16_t) (((q31_t) yt * sinVal) >> 16)));
+
+        pSrc[2u * l + 1u] = (((int16_t) (((q31_t) yt * cosVal) >> 16)) -
+                             ((int16_t) (((q31_t) xt * sinVal) >> 16)));
+
+      }                         // butterfly loop end 
+
+    }                           // groups loop end 
+
+    twidCoefModifier = twidCoefModifier << 1u;
+  }                             // stages loop end 
+
+  n1 = n2;
+  n2 = n2 >> 1;
+  ia = 0;
+
+  // loop for groups 
+  for (j = 0; j < n2; j++)
+  {
+    cosVal = pCoef[ia * 2];
+    sinVal = pCoef[(ia * 2) + 1];
+
+    ia = ia + twidCoefModifier;
+
+    // loop for butterfly 
+    for (i = j; i < fftLen; i += n1)
+    {
+      l = i + n2;
+      xt = pSrc[2 * i] - pSrc[2 * l];
+      pSrc[2 * i] = (pSrc[2 * i] + pSrc[2 * l]);
+
+      yt = pSrc[2 * i + 1] - pSrc[2 * l + 1];
+      pSrc[2 * i + 1] = (pSrc[2 * l + 1] + pSrc[2 * i + 1]);
+
+      pSrc[2u * l] = xt;
+
+      pSrc[2u * l + 1u] = yt;
+
+    }                           // butterfly loop end 
+
+  }                             // groups loop end 
+
+  twidCoefModifier = twidCoefModifier << 1u;
+
+#endif //             #ifndef ARM_MATH_CM0
+
+}
+
+
+void arm_radix2_butterfly_inverse_q15(
+  q15_t * pSrc,
+  uint32_t fftLen,
+  q15_t * pCoef,
+  uint16_t twidCoefModifier)
+{
+#ifndef ARM_MATH_CM0
+
+  int i, j, k, l;
+  int n1, n2, ia;
+  q15_t in;
+  q31_t T, S, R;
+  q31_t coeff, out1, out2;
+
+  //N = fftLen; 
+  n2 = fftLen;
+
+  n1 = n2;
+  n2 = n2 >> 1;
+  ia = 0;
+
+  // loop for groups 
+  for (i = 0; i < n2; i++)
+  {
+    coeff = _SIMD32_OFFSET(pCoef + (ia * 2u));
+
+    ia = ia + twidCoefModifier;
+
+    l = i + n2;
+
+    T = _SIMD32_OFFSET(pSrc + (2 * i));
+    in = ((int16_t) (T & 0xFFFF)) >> 2;
+    T = ((T >> 2) & 0xFFFF0000) | (in & 0xFFFF);
+
+    S = _SIMD32_OFFSET(pSrc + (2 * l));
+    in = ((int16_t) (S & 0xFFFF)) >> 2;
+    S = ((S >> 2) & 0xFFFF0000) | (in & 0xFFFF);
+
+    R = __QSUB16(T, S);
+
+    _SIMD32_OFFSET(pSrc + (2 * i)) = __SHADD16(T, S);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+    out1 = __SMUSD(coeff, R) >> 16;
+    out2 = __SMUADX(coeff, R);
+#else
+
+    out1 = __SMUADX(R, coeff) >> 16u;
+    out2 = __SMUSD(__QSUB(0, coeff), R);
+
+#endif //     #ifndef ARM_MATH_BIG_ENDIAN
+
+    _SIMD32_OFFSET(pSrc + (2u * l)) =
+      (q31_t) ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);
+
+    coeff = _SIMD32_OFFSET(pCoef + (ia * 2u));
+
+    ia = ia + twidCoefModifier;
+
+    // loop for butterfly 
+    i++;
+    l++;
+
+    T = _SIMD32_OFFSET(pSrc + (2 * i));
+    in = ((int16_t) (T & 0xFFFF)) >> 2;
+    T = ((T >> 2) & 0xFFFF0000) | (in & 0xFFFF);
+
+    S = _SIMD32_OFFSET(pSrc + (2 * l));
+    in = ((int16_t) (S & 0xFFFF)) >> 2;
+    S = ((S >> 2) & 0xFFFF0000) | (in & 0xFFFF);
+
+    R = __QSUB16(T, S);
+
+    _SIMD32_OFFSET(pSrc + (2 * i)) = __SHADD16(T, S);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+    out1 = __SMUSD(coeff, R) >> 16;
+    out2 = __SMUADX(coeff, R);
+#else
+
+    out1 = __SMUADX(R, coeff) >> 16u;
+    out2 = __SMUSD(__QSUB(0, coeff), R);
+
+#endif //     #ifndef ARM_MATH_BIG_ENDIAN
+
+    _SIMD32_OFFSET(pSrc + (2u * l)) =
+      (q31_t) ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);
+
+  }                             // groups loop end 
+
+  twidCoefModifier = twidCoefModifier << 1u;
+
+  // loop for stage 
+  for (k = fftLen / 2; k > 2; k = k >> 1)
+  {
+    n1 = n2;
+    n2 = n2 >> 1;
+    ia = 0;
+
+    // loop for groups 
+    for (j = 0; j < n2; j++)
+    {
+      coeff = _SIMD32_OFFSET(pCoef + (ia * 2u));
+
+      ia = ia + twidCoefModifier;
+
+      // loop for butterfly 
+      for (i = j; i < fftLen; i += n1)
+      {
+        l = i + n2;
+
+        T = _SIMD32_OFFSET(pSrc + (2 * i));
+
+        S = _SIMD32_OFFSET(pSrc + (2 * l));
+
+        R = __QSUB16(T, S);
+
+        _SIMD32_OFFSET(pSrc + (2 * i)) = __SHADD16(T, S);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+        out1 = __SMUSD(coeff, R) >> 16;
+        out2 = __SMUADX(coeff, R);
+
+#else
+
+        out1 = __SMUADX(R, coeff) >> 16u;
+        out2 = __SMUSD(__QSUB(0, coeff), R);
+
+#endif //     #ifndef ARM_MATH_BIG_ENDIAN
+
+        _SIMD32_OFFSET(pSrc + (2u * l)) =
+          (q31_t) ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);
+
+        i += n1;
+
+        l = i + n2;
+
+        T = _SIMD32_OFFSET(pSrc + (2 * i));
+
+        S = _SIMD32_OFFSET(pSrc + (2 * l));
+
+        R = __QSUB16(T, S);
+
+        _SIMD32_OFFSET(pSrc + (2 * i)) = __SHADD16(T, S);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+        out1 = __SMUSD(coeff, R) >> 16;
+        out2 = __SMUADX(coeff, R);
+#else
+
+        out1 = __SMUADX(R, coeff) >> 16u;
+        out2 = __SMUSD(__QSUB(0, coeff), R);
+
+#endif //     #ifndef ARM_MATH_BIG_ENDIAN
+
+        _SIMD32_OFFSET(pSrc + (2u * l)) =
+          (q31_t) ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);
+
+      }                         // butterfly loop end 
+
+    }                           // groups loop end 
+
+    twidCoefModifier = twidCoefModifier << 1u;
+  }                             // stages loop end 
+
+  n1 = n2;
+  n2 = n2 >> 1;
+  ia = 0;
+
+  // loop for groups 
+  for (j = 0; j < n2; j++)
+  {
+    coeff = _SIMD32_OFFSET(pCoef + (ia * 2u));
+
+    ia = ia + twidCoefModifier;
+
+    // loop for butterfly 
+    for (i = j; i < fftLen; i += n1)
+    {
+      l = i + n2;
+
+      T = _SIMD32_OFFSET(pSrc + (2 * i));
+
+      S = _SIMD32_OFFSET(pSrc + (2 * l));
+
+      R = __QSUB16(T, S);
+
+      _SIMD32_OFFSET(pSrc + (2 * i)) = __QADD16(T, S);
+
+      _SIMD32_OFFSET(pSrc + (2u * l)) = R;
+
+    }                           // butterfly loop end 
+
+  }                             // groups loop end 
+
+  twidCoefModifier = twidCoefModifier << 1u;
+
+#else
+
+
+  int i, j, k, l;
+  int n1, n2, ia;
+  q15_t xt, yt, cosVal, sinVal;
+
+  //N = fftLen; 
+  n2 = fftLen;
+
+  n1 = n2;
+  n2 = n2 >> 1;
+  ia = 0;
+
+  // loop for groups 
+  for (j = 0; j < n2; j++)
+  {
+    cosVal = pCoef[ia * 2];
+    sinVal = pCoef[(ia * 2) + 1];
+    ia = ia + twidCoefModifier;
+
+    // loop for butterfly 
+    for (i = j; i < fftLen; i += n1)
+    {
+      l = i + n2;
+      xt = (pSrc[2 * i] >> 2u) - (pSrc[2 * l] >> 2u);
+      pSrc[2 * i] = ((pSrc[2 * i] >> 2u) + (pSrc[2 * l] >> 2u)) >> 1u;
+
+      yt = (pSrc[2 * i + 1] >> 2u) - (pSrc[2 * l + 1] >> 2u);
+      pSrc[2 * i + 1] =
+        ((pSrc[2 * l + 1] >> 2u) + (pSrc[2 * i + 1] >> 2u)) >> 1u;
+
+      pSrc[2u * l] = (((int16_t) (((q31_t) xt * cosVal) >> 16)) -
+                      ((int16_t) (((q31_t) yt * sinVal) >> 16)));
+
+      pSrc[2u * l + 1u] = (((int16_t) (((q31_t) yt * cosVal) >> 16)) +
+                           ((int16_t) (((q31_t) xt * sinVal) >> 16)));
+
+    }                           // butterfly loop end 
+
+  }                             // groups loop end 
+
+  twidCoefModifier = twidCoefModifier << 1u;
+
+  // loop for stage 
+  for (k = fftLen / 2; k > 2; k = k >> 1)
+  {
+    n1 = n2;
+    n2 = n2 >> 1;
+    ia = 0;
+
+    // loop for groups 
+    for (j = 0; j < n2; j++)
+    {
+      cosVal = pCoef[ia * 2];
+      sinVal = pCoef[(ia * 2) + 1];
+      ia = ia + twidCoefModifier;
+
+      // loop for butterfly 
+      for (i = j; i < fftLen; i += n1)
+      {
+        l = i + n2;
+        xt = pSrc[2 * i] - pSrc[2 * l];
+        pSrc[2 * i] = (pSrc[2 * i] + pSrc[2 * l]) >> 1u;
+
+        yt = pSrc[2 * i + 1] - pSrc[2 * l + 1];
+        pSrc[2 * i + 1] = (pSrc[2 * l + 1] + pSrc[2 * i + 1]) >> 1u;
+
+        pSrc[2u * l] = (((int16_t) (((q31_t) xt * cosVal) >> 16)) -
+                        ((int16_t) (((q31_t) yt * sinVal) >> 16)));
+
+        pSrc[2u * l + 1u] = (((int16_t) (((q31_t) yt * cosVal) >> 16)) +
+                             ((int16_t) (((q31_t) xt * sinVal) >> 16)));
+
+      }                         // butterfly loop end 
+
+    }                           // groups loop end 
+
+    twidCoefModifier = twidCoefModifier << 1u;
+  }                             // stages loop end 
+
+  n1 = n2;
+  n2 = n2 >> 1;
+  ia = 0;
+
+  cosVal = pCoef[ia * 2];
+  sinVal = pCoef[(ia * 2) + 1];
+
+  ia = ia + twidCoefModifier;
+
+  // loop for butterfly 
+  for (i = 0; i < fftLen; i += n1)
+  {
+    l = i + n2;
+    xt = pSrc[2 * i] - pSrc[2 * l];
+    pSrc[2 * i] = (pSrc[2 * i] + pSrc[2 * l]);
+
+    yt = pSrc[2 * i + 1] - pSrc[2 * l + 1];
+    pSrc[2 * i + 1] = (pSrc[2 * l + 1] + pSrc[2 * i + 1]);
+
+    pSrc[2u * l] = xt;
+
+    pSrc[2u * l + 1u] = yt;
+
+  }                             // groups loop end 
+
+
+#endif //             #ifndef ARM_MATH_CM0
+
+}
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_q31.c
new file mode 100644
index 000000000..dd4b9e6b2
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix2_q31.c
@@ -0,0 +1,310 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_cfft_radix2_q31.c   
+*   
+* Description:	Radix-2 Decimation in Frequency CFFT & CIFFT Fixed point processing function   
+*   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 0.0.3  2010/03/10    
+*    Initial version   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupTransforms   
+ */
+
+/**   
+ * @defgroup Radix2_CFFT_CIFFT Radix-2 Complex FFT Functions   
+ *   
+ * \par   
+ * Complex Fast Fourier Transform(CFFT) and Complex Inverse Fast Fourier Transform(CIFFT) is an efficient algorithm to compute Discrete Fourier Transform(DFT) and Inverse Discrete Fourier Transform(IDFT).   
+ * Computational complexity of CFFT reduces drastically when compared to DFT.    
+ */
+
+
+/**   
+ * @addtogroup Radix2_CFFT_CIFFT   
+ * @{   
+ */
+
+/**   
+ * @details   
+ * @brief Processing function for the fixed-point CFFT/CIFFT.  
+ * @param[in]      *S    points to an instance of the fixed-point CFFT/CIFFT structure.  
+ * @param[in, out] *pSrc points to the complex data buffer of size 2*fftLen. Processing occurs in-place.  
+ * @return none.  
+ */
+
+void arm_cfft_radix2_q31(
+  const arm_cfft_radix2_instance_q31 * S,
+  q31_t * pSrc)
+{
+
+  if(S->ifftFlag == 1u)
+  {
+    arm_radix2_butterfly_inverse_q31(pSrc, S->fftLen,
+                                     S->pTwiddle, S->twidCoefModifier);
+  }
+  else
+  {
+    arm_radix2_butterfly_q31(pSrc, S->fftLen,
+                             S->pTwiddle, S->twidCoefModifier);
+  }
+
+  arm_bitreversal_q31(pSrc, S->fftLen, S->bitRevFactor, S->pBitRevTable);
+}
+
+/**   
+ * @} end of Radix2_CFFT_CIFFT group   
+ */
+
+void arm_radix2_butterfly_q31(
+  q31_t * pSrc,
+  uint32_t fftLen,
+  q31_t * pCoef,
+  uint16_t twidCoefModifier)
+{
+
+  int i, j, k, l;
+  int n1, n2, ia;
+  q31_t xt, yt, cosVal, sinVal;
+
+  //N = fftLen; 
+  n2 = fftLen;
+
+  n1 = n2;
+  n2 = n2 >> 1;
+  ia = 0;
+
+  // loop for groups 
+  for (i = 0; i < n2; i++)
+  {
+    cosVal = pCoef[ia * 2];
+    sinVal = pCoef[(ia * 2) + 1];
+    ia = ia + twidCoefModifier;
+
+    l = i + n2;
+    xt = (pSrc[2 * i] >> 2u) - (pSrc[2 * l] >> 2u);
+    pSrc[2 * i] = ((pSrc[2 * i] >> 2u) + (pSrc[2 * l] >> 2u)) >> 1u;
+
+    yt = (pSrc[2 * i + 1] >> 2u) - (pSrc[2 * l + 1] >> 2u);
+    pSrc[2 * i + 1] =
+      ((pSrc[2 * l + 1] >> 2u) + (pSrc[2 * i + 1] >> 2u)) >> 1u;
+
+    pSrc[2u * l] = (((int32_t) (((q63_t) xt * cosVal) >> 32)) +
+                    ((int32_t) (((q63_t) yt * sinVal) >> 32)));
+
+    pSrc[2u * l + 1u] = (((int32_t) (((q63_t) yt * cosVal) >> 32)) -
+                         ((int32_t) (((q63_t) xt * sinVal) >> 32)));
+
+  }                             // groups loop end 
+
+  twidCoefModifier = twidCoefModifier << 1u;
+
+  // loop for stage 
+  for (k = fftLen / 2; k > 2; k = k >> 1)
+  {
+    n1 = n2;
+    n2 = n2 >> 1;
+    ia = 0;
+
+    // loop for groups 
+    for (j = 0; j < n2; j++)
+    {
+      cosVal = pCoef[ia * 2];
+      sinVal = pCoef[(ia * 2) + 1];
+      ia = ia + twidCoefModifier;
+
+      // loop for butterfly 
+      for (i = j; i < fftLen; i += n1)
+      {
+        l = i + n2;
+        xt = pSrc[2 * i] - pSrc[2 * l];
+        pSrc[2 * i] = (pSrc[2 * i] + pSrc[2 * l]) >> 1u;
+
+        yt = pSrc[2 * i + 1] - pSrc[2 * l + 1];
+        pSrc[2 * i + 1] = (pSrc[2 * l + 1] + pSrc[2 * i + 1]) >> 1u;
+
+        pSrc[2u * l] = (((int32_t) (((q63_t) xt * cosVal) >> 32)) +
+                        ((int32_t) (((q63_t) yt * sinVal) >> 32)));
+
+        pSrc[2u * l + 1u] = (((int32_t) (((q63_t) yt * cosVal) >> 32)) -
+                             ((int32_t) (((q63_t) xt * sinVal) >> 32)));
+
+      }                         // butterfly loop end 
+
+    }                           // groups loop end 
+
+    twidCoefModifier = twidCoefModifier << 1u;
+  }                             // stages loop end 
+
+  n1 = n2;
+  n2 = n2 >> 1;
+  ia = 0;
+
+  cosVal = pCoef[ia * 2];
+  sinVal = pCoef[(ia * 2) + 1];
+  ia = ia + twidCoefModifier;
+
+  // loop for butterfly 
+  for (i = 0; i < fftLen; i += n1)
+  {
+    l = i + n2;
+    xt = pSrc[2 * i] - pSrc[2 * l];
+    pSrc[2 * i] = (pSrc[2 * i] + pSrc[2 * l]);
+
+    yt = pSrc[2 * i + 1] - pSrc[2 * l + 1];
+    pSrc[2 * i + 1] = (pSrc[2 * l + 1] + pSrc[2 * i + 1]);
+
+    pSrc[2u * l] = xt;
+
+    pSrc[2u * l + 1u] = yt;
+
+    i += n1;
+    l = i + n2;
+
+    xt = pSrc[2 * i] - pSrc[2 * l];
+    pSrc[2 * i] = (pSrc[2 * i] + pSrc[2 * l]);
+
+    yt = pSrc[2 * i + 1] - pSrc[2 * l + 1];
+    pSrc[2 * i + 1] = (pSrc[2 * l + 1] + pSrc[2 * i + 1]);
+
+    pSrc[2u * l] = xt;
+
+    pSrc[2u * l + 1u] = yt;
+
+  }                             // butterfly loop end 
+
+}
+
+
+void arm_radix2_butterfly_inverse_q31(
+  q31_t * pSrc,
+  uint32_t fftLen,
+  q31_t * pCoef,
+  uint16_t twidCoefModifier)
+{
+
+  int i, j, k, l;
+  int n1, n2, ia;
+  q31_t xt, yt, cosVal, sinVal;
+
+  //N = fftLen; 
+  n2 = fftLen;
+
+  n1 = n2;
+  n2 = n2 >> 1;
+  ia = 0;
+
+  // loop for groups 
+  for (i = 0; i < n2; i++)
+  {
+    cosVal = pCoef[ia * 2];
+    sinVal = pCoef[(ia * 2) + 1];
+    ia = ia + twidCoefModifier;
+
+    l = i + n2;
+    xt = (pSrc[2 * i] >> 2u) - (pSrc[2 * l] >> 2u);
+    pSrc[2 * i] = ((pSrc[2 * i] >> 2u) + (pSrc[2 * l] >> 2u)) >> 1u;
+
+    yt = (pSrc[2 * i + 1] >> 2u) - (pSrc[2 * l + 1] >> 2u);
+    pSrc[2 * i + 1] =
+      ((pSrc[2 * l + 1] >> 2u) + (pSrc[2 * i + 1] >> 2u)) >> 1u;
+
+    pSrc[2u * l] = (((int32_t) (((q63_t) xt * cosVal) >> 32)) -
+                    ((int32_t) (((q63_t) yt * sinVal) >> 32)));
+
+    pSrc[2u * l + 1u] = (((int32_t) (((q63_t) yt * cosVal) >> 32)) +
+                         ((int32_t) (((q63_t) xt * sinVal) >> 32)));
+
+  }                             // groups loop end 
+
+  twidCoefModifier = twidCoefModifier << 1u;
+
+  // loop for stage 
+  for (k = fftLen / 2; k > 2; k = k >> 1)
+  {
+    n1 = n2;
+    n2 = n2 >> 1;
+    ia = 0;
+
+    // loop for groups 
+    for (j = 0; j < n2; j++)
+    {
+      cosVal = pCoef[ia * 2];
+      sinVal = pCoef[(ia * 2) + 1];
+      ia = ia + twidCoefModifier;
+
+      // loop for butterfly 
+      for (i = j; i < fftLen; i += n1)
+      {
+        l = i + n2;
+        xt = pSrc[2 * i] - pSrc[2 * l];
+        pSrc[2 * i] = (pSrc[2 * i] + pSrc[2 * l]) >> 1u;
+
+        yt = pSrc[2 * i + 1] - pSrc[2 * l + 1];
+        pSrc[2 * i + 1] = (pSrc[2 * l + 1] + pSrc[2 * i + 1]) >> 1u;
+
+        pSrc[2u * l] = (((int32_t) (((q63_t) xt * cosVal) >> 32)) -
+                        ((int32_t) (((q63_t) yt * sinVal) >> 32)));
+
+        pSrc[2u * l + 1u] = (((int32_t) (((q63_t) yt * cosVal) >> 32)) +
+                             ((int32_t) (((q63_t) xt * sinVal) >> 32)));
+
+      }                         // butterfly loop end 
+
+    }                           // groups loop end 
+
+    twidCoefModifier = twidCoefModifier << 1u;
+  }                             // stages loop end 
+
+  n1 = n2;
+  n2 = n2 >> 1;
+  ia = 0;
+
+  cosVal = pCoef[ia * 2];
+  sinVal = pCoef[(ia * 2) + 1];
+  ia = ia + twidCoefModifier;
+
+  // loop for butterfly 
+  for (i = 0; i < fftLen; i += n1)
+  {
+    l = i + n2;
+    xt = pSrc[2 * i] - pSrc[2 * l];
+    pSrc[2 * i] = (pSrc[2 * i] + pSrc[2 * l]);
+
+    yt = pSrc[2 * i + 1] - pSrc[2 * l + 1];
+    pSrc[2 * i + 1] = (pSrc[2 * l + 1] + pSrc[2 * i + 1]);
+
+    pSrc[2u * l] = xt;
+
+    pSrc[2u * l + 1u] = yt;
+
+    i += n1;
+    l = i + n2;
+
+    xt = pSrc[2 * i] - pSrc[2 * l];
+    pSrc[2 * i] = (pSrc[2 * i] + pSrc[2 * l]);
+
+    yt = pSrc[2 * i + 1] - pSrc[2 * l + 1];
+    pSrc[2 * i + 1] = (pSrc[2 * l + 1] + pSrc[2 * i + 1]);
+
+    pSrc[2u * l] = xt;
+
+    pSrc[2u * l + 1u] = yt;
+
+  }                             // butterfly loop end 
+
+}
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_f32.c
new file mode 100644
index 000000000..d51e9830b
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_f32.c
@@ -0,0 +1,1236 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_cfft_radix4_f32.c    
+*    
+* Description:	Radix-4 Decimation in Frequency CFFT & CIFFT Floating point processing function    
+*    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.5  2010/04/26     
+* 	 incorporated review comments and updated with latest CMSIS layer    
+*    
+* Version 0.0.3  2010/03/10     
+*    Initial version    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupTransforms    
+ */
+
+/**    
+ * @defgroup Radix4_CFFT_CIFFT Radix-4 Complex FFT Functions    
+ *    
+ * \par    
+ * Complex Fast Fourier Transform(CFFT) and Complex Inverse Fast Fourier Transform(CIFFT) is an efficient algorithm to compute Discrete Fourier Transform(DFT) and Inverse Discrete Fourier Transform(IDFT).    
+ * Computational complexity of CFFT reduces drastically when compared to DFT.    
+ * \par    
+ * This set of functions implements CFFT/CIFFT    
+ * for Q15, Q31, and floating-point data types.  The functions operates on in-place buffer which uses same buffer for input and output.    
+ * Complex input is stored in input buffer in an interleaved fashion.    
+ *    
+ * \par    
+ * The functions operate on blocks of input and output data and each call to the function processes    
+ * 2*fftLen samples through the transform.  pSrc  points to In-place arrays containing 2*fftLen values.    
+ * \par   
+ * The pSrc points to the array of in-place buffer of size 2*fftLen and inputs and outputs are stored in an interleaved fashion as shown below.    
+ * 
 {real[0], imag[0], real[1], imag[1],..} 
    
+ *    
+ * \par Lengths supported by the transform:   
+ * \par    
+ * Internally, the function utilize a radix-4 decimation in frequency(DIF) algorithm    
+ * and the size of the FFT supported are of the lengths [16, 64, 256, 1024].   
+ *     
+ *    
+ * \par Algorithm:    
+ *    
+ * Complex Fast Fourier Transform:    
+ * \par     
+ * Input real and imaginary data:    
+ * 
    
+ * x(n) = xa + j * ya    
+ * x(n+N/4 ) = xb + j * yb    
+ * x(n+N/2 ) = xc + j * yc    
+ * x(n+3N 4) = xd + j * yd    
+ * 
    
+ * where N is length of FFT    
+ * \par    
+ * Output real and imaginary data:    
+ * 
    
+ * X(4r) = xa'+ j * ya'    
+ * X(4r+1) = xb'+ j * yb'    
+ * X(4r+2) = xc'+ j * yc'    
+ * X(4r+3) = xd'+ j * yd'    
+ * 
    
+ * \par    
+ * Twiddle factors for radix-4 FFT:    
+ * 
    
+ * Wn = co1 + j * (- si1)    
+ * W2n = co2 + j * (- si2)    
+ * W3n = co3 + j * (- si3)    
+ * 
    
+ *    
+ * \par    
+ * \image html CFFT.gif "Radix-4 Decimation-in Frequency Complex Fast Fourier Transform"    
+ *    
+ * \par    
+ * Output from Radix-4 CFFT Results in Digit reversal order. Interchange middle two branches of every butterfly results in Bit reversed output.    
+ * \par    
+ *  Butterfly CFFT equations:    
+ * 
    
+ * xa' = xa + xb + xc + xd    
+ * ya' = ya + yb + yc + yd    
+ * xc' = (xa+yb-xc-yd)* co1 + (ya-xb-yc+xd)* (si1)    
+ * yc' = (ya-xb-yc+xd)* co1 - (xa+yb-xc-yd)* (si1)    
+ * xb' = (xa-xb+xc-xd)* co2 + (ya-yb+yc-yd)* (si2)    
+ * yb' = (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2)    
+ * xd' = (xa-yb-xc+yd)* co3 + (ya+xb-yc-xd)* (si3)    
+ * yd' = (ya+xb-yc-xd)* co3 - (xa-yb-xc+yd)* (si3)    
+ * 
    
+ *    
+ *    
+ * Complex Inverse Fast Fourier Transform:    
+ * \par    
+ * CIFFT uses same twiddle factor table as CFFT with modifications in the design equation as shown below.    
+ *    
+ * \par    
+ *  Modified Butterfly CIFFT equations:    
+ * 
    
+ * xa' = xa + xb + xc + xd    
+ * ya' = ya + yb + yc + yd    
+ * xc' = (xa-yb-xc+yd)* co1 - (ya+xb-yc-xd)* (si1)    
+ * yc' = (ya+xb-yc-xd)* co1 + (xa-yb-xc+yd)* (si1)    
+ * xb' = (xa-xb+xc-xd)* co2 - (ya-yb+yc-yd)* (si2)    
+ * yb' = (ya-yb+yc-yd)* co2 + (xa-xb+xc-xd)* (si2)    
+ * xd' = (xa+yb-xc-yd)* co3 - (ya-xb-yc+xd)* (si3)    
+ * yd' = (ya-xb-yc+xd)* co3 + (xa+yb-xc-yd)* (si3)    
+ * 
    
+ *    
+ * \par Instance Structure    
+ * A separate instance structure must be defined for each Instance but the twiddle factors and bit reversal tables can be reused.    
+ * There are separate instance structure declarations for each of the 3 supported data types.    
+ *    
+ * \par Initialization Functions    
+ * There is also an associated initialization function for each data type.    
+ * The initialization function performs the following operations:    
+ * - Sets the values of the internal structure fields.    
+ * - Initializes twiddle factor table and bit reversal table pointers    
+ * \par    
+ * Use of the initialization function is optional.    
+ * However, if the initialization function is used, then the instance structure cannot be placed into a const data section.    
+ * To place an instance structure into a const data section, the instance structure must be manually initialized.    
+ * Manually initialize the instance structure as follows:    
+ * 
    
+ *arm_cfft_radix4_instance_f32 S = {fftLen, ifftFlag, bitReverseFlag, pTwiddle, pBitRevTable, twidCoefModifier, bitRevFactor, onebyfftLen};    
+ *arm_cfft_radix4_instance_q31 S = {fftLen, ifftFlag, bitReverseFlag, pTwiddle, pBitRevTable, twidCoefModifier, bitRevFactor};    
+ *arm_cfft_radix4_instance_q15 S = {fftLen, ifftFlag, bitReverseFlag, pTwiddle, pBitRevTable, twidCoefModifier, bitRevFactor};    
+ * 
    
+ * \par    
+ * where fftLen length of CFFT/CIFFT; ifftFlag Flag for selection of CFFT or CIFFT(Set ifftFlag to calculate CIFFT otherwise calculates CFFT);    
+ * bitReverseFlag Flag for selection of output order(Set bitReverseFlag to output in normal order otherwise output in bit reversed order);     
+ * pTwiddlepoints to array of twiddle coefficients; pBitRevTable points to the array of bit reversal table.    
+ * twidCoefModifier modifier for twiddle factor table which supports all FFT lengths with same table;     
+ * pBitRevTable modifier for bit reversal table which supports all FFT lengths with same table.    
+ * onebyfftLen value of 1/fftLen to calculate CIFFT;    
+ *   
+ * \par Fixed-Point Behavior    
+ * Care must be taken when using the fixed-point versions of the CFFT/CIFFT function.    
+ * Refer to the function specific documentation below for usage guidelines.    
+ */
+
+
+/**    
+ * @addtogroup Radix4_CFFT_CIFFT    
+ * @{    
+ */
+
+/**    
+ * @details    
+ * @brief Processing function for the floating-point Radix-4 CFFT/CIFFT.   
+ * @param[in]      *S    points to an instance of the floating-point Radix-4 CFFT/CIFFT structure.   
+ * @param[in, out] *pSrc points to the complex data buffer of size 2*fftLen. Processing occurs in-place.   
+ * @return none.   
+ */
+
+void arm_cfft_radix4_f32(
+  const arm_cfft_radix4_instance_f32 * S,
+  float32_t * pSrc)
+{
+
+  if(S->ifftFlag == 1u)
+  {
+    /*  Complex IFFT radix-4  */
+    arm_radix4_butterfly_inverse_f32(pSrc, S->fftLen, S->pTwiddle,
+                                     S->twidCoefModifier, S->onebyfftLen);
+  }
+  else
+  {
+    /*  Complex FFT radix-4  */
+    arm_radix4_butterfly_f32(pSrc, S->fftLen, S->pTwiddle,
+                             S->twidCoefModifier);
+  }
+
+  if(S->bitReverseFlag == 1u)
+  {
+    /*  Bit Reversal */
+    arm_bitreversal_f32(pSrc, S->fftLen, S->bitRevFactor, S->pBitRevTable);
+  }
+
+}
+
+
+/**    
+ * @} end of Radix4_CFFT_CIFFT group    
+ */
+
+
+/* ----------------------------------------------------------------------    
+** Internal helper function used by the FFTs    
+** ------------------------------------------------------------------- */
+
+/*    
+ * @brief  Core function for the floating-point CFFT butterfly process.   
+ * @param[in, out] *pSrc            points to the in-place buffer of floating-point data type.   
+ * @param[in]      fftLen           length of the FFT.   
+ * @param[in]      *pCoef           points to the twiddle coefficient buffer.   
+ * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.   
+ * @return none.   
+ */
+
+void arm_radix4_butterfly_f32(
+  float32_t * pSrc,
+  uint16_t fftLen,
+  float32_t * pCoef,
+  uint16_t twidCoefModifier)
+{
+
+  float32_t co1, co2, co3, si1, si2, si3;
+  uint32_t ia1, ia2, ia3;
+  uint32_t i0, i1, i2, i3;
+  uint32_t n1, n2, j, k;
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  float32_t xaIn, yaIn, xbIn, ybIn, xcIn, ycIn, xdIn, ydIn;
+  float32_t Xaplusc, Xbplusd, Yaplusc, Ybplusd, Xaminusc, Xbminusd, Yaminusc,
+    Ybminusd;
+  float32_t Xb12C_out, Yb12C_out, Xc12C_out, Yc12C_out, Xd12C_out, Yd12C_out;
+  float32_t Xb12_out, Yb12_out, Xc12_out, Yc12_out, Xd12_out, Yd12_out;
+  float32_t *ptr1;
+
+  /*  Initializations for the first stage */
+  n2 = fftLen;
+  n1 = n2;
+
+  /* n2 = fftLen/4 */
+  n2 >>= 2u;
+  i0 = 0u;
+  ia1 = 0u;
+
+  j = n2;
+
+  /*  Calculation of first stage */
+  do
+  {
+    /*  index calculation for the input as, */
+    /*  pSrc[i0 + 0], pSrc[i0 + fftLen/4], pSrc[i0 + fftLen/2], pSrc[i0 + 3fftLen/4] */
+    i1 = i0 + n2;
+    i2 = i1 + n2;
+    i3 = i2 + n2;
+
+    xaIn = pSrc[(2u * i0)];
+    yaIn = pSrc[(2u * i0) + 1u];
+
+    xcIn = pSrc[(2u * i2)];
+    ycIn = pSrc[(2u * i2) + 1u];
+
+    xbIn = pSrc[(2u * i1)];
+    ybIn = pSrc[(2u * i1) + 1u];
+
+    xdIn = pSrc[(2u * i3)];
+    ydIn = pSrc[(2u * i3) + 1u];
+
+    /* xa + xc */
+    Xaplusc = xaIn + xcIn;
+    /* xb + xd */
+    Xbplusd = xbIn + xdIn;
+    /* ya + yc */
+    Yaplusc = yaIn + ycIn;
+    /* yb + yd */
+    Ybplusd = ybIn + ydIn;
+
+    /*  index calculation for the coefficients */
+    ia2 = ia1 + ia1;
+    co2 = pCoef[ia2 * 2u];
+    si2 = pCoef[(ia2 * 2u) + 1u];
+
+    /* xa - xc */
+    Xaminusc = xaIn - xcIn;
+    /* xb - xd */
+    Xbminusd = xbIn - xdIn;
+    /* ya - yc */
+    Yaminusc = yaIn - ycIn;
+    /* yb + yd */
+    Ybminusd = ybIn - ydIn;
+
+    /* xa' = xa + xb + xc + xd */
+    pSrc[(2u * i0)] = Xaplusc + Xbplusd;
+    /* ya' = ya + yb + yc + yd */
+    pSrc[(2u * i0) + 1u] = Yaplusc + Ybplusd;
+
+    /* (xa - xc) + (yb - yd) */
+    Xb12C_out = (Xaminusc + Ybminusd);
+    /* (ya - yc) + (xb - xd) */
+    Yb12C_out = (Yaminusc - Xbminusd);
+    /* (xa + xc) - (xb + xd) */
+    Xc12C_out = (Xaplusc - Xbplusd);
+    /* (ya + yc) - (yb + yd) */
+    Yc12C_out = (Yaplusc - Ybplusd);
+    /* (xa - xc) - (yb - yd) */
+    Xd12C_out = (Xaminusc - Ybminusd);
+    /* (ya - yc) + (xb - xd) */
+    Yd12C_out = (Xbminusd + Yaminusc);
+
+    co1 = pCoef[ia1 * 2u];
+    si1 = pCoef[(ia1 * 2u) + 1u];
+
+    /*  index calculation for the coefficients */
+    ia3 = ia2 + ia1;
+    co3 = pCoef[ia3 * 2u];
+    si3 = pCoef[(ia3 * 2u) + 1u];
+
+    Xb12_out = Xb12C_out * co1;
+    Yb12_out = Yb12C_out * co1;
+    Xc12_out = Xc12C_out * co2;
+    Yc12_out = Yc12C_out * co2;
+    Xd12_out = Xd12C_out * co3;
+    Yd12_out = Yd12C_out * co3;
+
+    /* xb' = (xa+yb-xc-yd)co1 + (ya-xb-yc+xd)(si1) */
+    Xb12_out += Yb12C_out * si1;
+    /* yb' = (ya-xb-yc+xd)co1 - (xa+yb-xc-yd)(si1) */
+    Yb12_out -= Xb12C_out * si1;
+    /* xc' = (xa-xb+xc-xd)co2 + (ya-yb+yc-yd)(si2) */
+    Xc12_out += Yc12C_out * si2;
+    /* yc' = (ya-yb+yc-yd)co2 - (xa-xb+xc-xd)(si2) */
+    Yc12_out -= Xc12C_out * si2;
+    /* xd' = (xa-yb-xc+yd)co3 + (ya+xb-yc-xd)(si3) */
+    Xd12_out += Yd12C_out * si3;
+    /* yd' = (ya+xb-yc-xd)co3 - (xa-yb-xc+yd)(si3) */
+    Yd12_out -= Xd12C_out * si3;
+
+
+    /* xc' = (xa-xb+xc-xd)co2 + (ya-yb+yc-yd)(si2) */
+    pSrc[2u * i1] = Xc12_out;
+
+    /* yc' = (ya-yb+yc-yd)co2 - (xa-xb+xc-xd)(si2) */
+    pSrc[(2u * i1) + 1u] = Yc12_out;
+
+    /* xb' = (xa+yb-xc-yd)co1 + (ya-xb-yc+xd)(si1) */
+    pSrc[2u * i2] = Xb12_out;
+
+    /* yb' = (ya-xb-yc+xd)co1 - (xa+yb-xc-yd)(si1) */
+    pSrc[(2u * i2) + 1u] = Yb12_out;
+
+    /* xd' = (xa-yb-xc+yd)co3 + (ya+xb-yc-xd)(si3) */
+    pSrc[2u * i3] = Xd12_out;
+
+    /* yd' = (ya+xb-yc-xd)co3 - (xa-yb-xc+yd)(si3) */
+    pSrc[(2u * i3) + 1u] = Yd12_out;
+
+    /*  Twiddle coefficients index modifier */
+    ia1 = ia1 + twidCoefModifier;
+
+    /*  Updating input index */
+    i0 = i0 + 1u;
+
+  }
+  while(--j);
+
+  twidCoefModifier <<= 2u;
+
+  /*  Calculation of second stage to excluding last stage */
+  for (k = fftLen / 4; k > 4u; k >>= 2u)
+  {
+    /*  Initializations for the first stage */
+    n1 = n2;
+    n2 >>= 2u;
+    ia1 = 0u;
+
+    /*  Calculation of first stage */
+    for (j = 0u; j <= (n2 - 1u); j++)
+    {
+      /*  index calculation for the coefficients */
+      ia2 = ia1 + ia1;
+      ia3 = ia2 + ia1;
+      co1 = pCoef[ia1 * 2u];
+      si1 = pCoef[(ia1 * 2u) + 1u];
+      co2 = pCoef[ia2 * 2u];
+      si2 = pCoef[(ia2 * 2u) + 1u];
+      co3 = pCoef[ia3 * 2u];
+      si3 = pCoef[(ia3 * 2u) + 1u];
+
+      /*  Twiddle coefficients index modifier */
+      ia1 = ia1 + twidCoefModifier;
+
+      for (i0 = j; i0 < fftLen; i0 += n1)
+      {
+        /*  index calculation for the input as, */
+        /*  pSrc[i0 + 0], pSrc[i0 + fftLen/4], pSrc[i0 + fftLen/2], pSrc[i0 + 3fftLen/4] */
+        i1 = i0 + n2;
+        i2 = i1 + n2;
+        i3 = i2 + n2;
+
+        xaIn = pSrc[(2u * i0)];
+        yaIn = pSrc[(2u * i0) + 1u];
+
+        xbIn = pSrc[(2u * i1)];
+        ybIn = pSrc[(2u * i1) + 1u];
+
+        xcIn = pSrc[(2u * i2)];
+        ycIn = pSrc[(2u * i2) + 1u];
+
+        xdIn = pSrc[(2u * i3)];
+        ydIn = pSrc[(2u * i3) + 1u];
+
+        /* xa - xc */
+        Xaminusc = xaIn - xcIn;
+        /* (xb - xd) */
+        Xbminusd = xbIn - xdIn;
+        /* ya - yc */
+        Yaminusc = yaIn - ycIn;
+        /* (yb - yd) */
+        Ybminusd = ybIn - ydIn;
+
+        /* xa + xc */
+        Xaplusc = xaIn + xcIn;
+        /* xb + xd */
+        Xbplusd = xbIn + xdIn;
+        /* ya + yc */
+        Yaplusc = yaIn + ycIn;
+        /* yb + yd */
+        Ybplusd = ybIn + ydIn;
+
+        /* (xa - xc) + (yb - yd) */
+        Xb12C_out = (Xaminusc + Ybminusd);
+        /* (ya - yc) -  (xb - xd) */
+        Yb12C_out = (Yaminusc - Xbminusd);
+        /* xa + xc -(xb + xd) */
+        Xc12C_out = (Xaplusc - Xbplusd);
+        /* (ya + yc) - (yb + yd) */
+        Yc12C_out = (Yaplusc - Ybplusd);
+        /* (xa - xc) - (yb - yd) */
+        Xd12C_out = (Xaminusc - Ybminusd);
+        /* (ya - yc) +  (xb - xd) */
+        Yd12C_out = (Xbminusd + Yaminusc);
+
+        pSrc[(2u * i0)] = Xaplusc + Xbplusd;
+        pSrc[(2u * i0) + 1u] = Yaplusc + Ybplusd;
+
+        Xb12_out = Xb12C_out * co1;
+        Yb12_out = Yb12C_out * co1;
+        Xc12_out = Xc12C_out * co2;
+        Yc12_out = Yc12C_out * co2;
+        Xd12_out = Xd12C_out * co3;
+        Yd12_out = Yd12C_out * co3;
+
+        /* xb' = (xa+yb-xc-yd)co1 + (ya-xb-yc+xd)(si1) */
+        Xb12_out += Yb12C_out * si1;
+        /* yb' = (ya-xb-yc+xd)co1 - (xa+yb-xc-yd)(si1) */
+        Yb12_out -= Xb12C_out * si1;
+        /* xc' = (xa-xb+xc-xd)co2 + (ya-yb+yc-yd)(si2) */
+        Xc12_out += Yc12C_out * si2;
+        /* yc' = (ya-yb+yc-yd)co2 - (xa-xb+xc-xd)(si2) */
+        Yc12_out -= Xc12C_out * si2;
+        /* xd' = (xa-yb-xc+yd)co3 + (ya+xb-yc-xd)(si3) */
+        Xd12_out += Yd12C_out * si3;
+        /* yd' = (ya+xb-yc-xd)co3 - (xa-yb-xc+yd)(si3) */
+        Yd12_out -= Xd12C_out * si3;
+
+        /* xc' = (xa-xb+xc-xd)co2 + (ya-yb+yc-yd)(si2) */
+        pSrc[2u * i1] = Xc12_out;
+
+        /* yc' = (ya-yb+yc-yd)co2 - (xa-xb+xc-xd)(si2) */
+        pSrc[(2u * i1) + 1u] = Yc12_out;
+
+        /* xb' = (xa+yb-xc-yd)co1 + (ya-xb-yc+xd)(si1) */
+        pSrc[2u * i2] = Xb12_out;
+
+        /* yb' = (ya-xb-yc+xd)co1 - (xa+yb-xc-yd)(si1) */
+        pSrc[(2u * i2) + 1u] = Yb12_out;
+
+        /* xd' = (xa-yb-xc+yd)co3 + (ya+xb-yc-xd)(si3) */
+        pSrc[2u * i3] = Xd12_out;
+
+        /* yd' = (ya+xb-yc-xd)co3 - (xa-yb-xc+yd)(si3) */
+        pSrc[(2u * i3) + 1u] = Yd12_out;
+
+      }
+    }
+    twidCoefModifier <<= 2u;
+  }
+
+  j = fftLen >> 2;
+  ptr1 = &pSrc[0];
+
+  /*  Calculations of last stage */
+  do
+  {
+
+    xaIn = ptr1[0];
+    xcIn = ptr1[4];
+    yaIn = ptr1[1];
+    ycIn = ptr1[5];
+
+    /* xa + xc */
+    Xaplusc = xaIn + xcIn;
+
+    xbIn = ptr1[2];
+
+    /* xa - xc */
+    Xaminusc = xaIn - xcIn;
+
+    xdIn = ptr1[6];
+
+    /* ya + yc */
+    Yaplusc = yaIn + ycIn;
+
+    ybIn = ptr1[3];
+
+    /* ya - yc */
+    Yaminusc = yaIn - ycIn;
+
+    ydIn = ptr1[7];
+
+    /* xb + xd */
+    Xbplusd = xbIn + xdIn;
+
+    /* yb + yd */
+    Ybplusd = ybIn + ydIn;
+
+    /* xa' = xa + xb + xc + xd */
+    ptr1[0] = (Xaplusc + Xbplusd);
+
+    /* (xb-xd) */
+    Xbminusd = xbIn - xdIn;
+
+    /* ya' = ya + yb + yc + yd */
+    ptr1[1] = (Yaplusc + Ybplusd);
+
+    /* (yb-yd) */
+    Ybminusd = ybIn - ydIn;
+
+    /* xc' = (xa-xb+xc-xd) */
+    ptr1[2] = (Xaplusc - Xbplusd);
+    /* yc' = (ya-yb+yc-yd) */
+    ptr1[3] = (Yaplusc - Ybplusd);
+    /* xb' = (xa+yb-xc-yd) */
+    ptr1[4] = (Xaminusc + Ybminusd);
+    /* yb' = (ya-xb-yc+xd) */
+    ptr1[5] = (Yaminusc - Xbminusd);
+    /* xd' = (xa-yb-xc+yd)) */
+    ptr1[6] = (Xaminusc - Ybminusd);
+    /* yd' = (ya+xb-yc-xd) */
+    ptr1[7] = (Xbminusd + Yaminusc);
+
+    /* increment pointer by 8 */
+    ptr1 = ptr1 + 8u;
+
+  } while(--j);
+
+#else
+
+  float32_t t1, t2, r1, r2, s1, s2;
+
+  /* Run the below code for Cortex-M0 */
+
+  /*  Initializations for the fft calculation */
+  n2 = fftLen;
+  n1 = n2;
+  for (k = fftLen; k > 1u; k >>= 2u)
+  {
+    /*  Initializations for the fft calculation */
+    n1 = n2;
+    n2 >>= 2u;
+    ia1 = 0u;
+
+    /*  FFT Calculation */
+    for (j = 0u; j <= (n2 - 1u); j++)
+    {
+      /*  index calculation for the coefficients */
+      ia2 = ia1 + ia1;
+      ia3 = ia2 + ia1;
+      co1 = pCoef[ia1 * 2u];
+      si1 = pCoef[(ia1 * 2u) + 1u];
+      co2 = pCoef[ia2 * 2u];
+      si2 = pCoef[(ia2 * 2u) + 1u];
+      co3 = pCoef[ia3 * 2u];
+      si3 = pCoef[(ia3 * 2u) + 1u];
+
+      /*  Twiddle coefficients index modifier */
+      ia1 = ia1 + twidCoefModifier;
+
+      for (i0 = j; i0 < fftLen; i0 += n1)
+      {
+        /*  index calculation for the input as, */
+        /*  pSrc[i0 + 0], pSrc[i0 + fftLen/4], pSrc[i0 + fftLen/2], pSrc[i0 + 3fftLen/4] */
+        i1 = i0 + n2;
+        i2 = i1 + n2;
+        i3 = i2 + n2;
+
+        /* xa + xc */
+        r1 = pSrc[(2u * i0)] + pSrc[(2u * i2)];
+
+        /* xa - xc */
+        r2 = pSrc[(2u * i0)] - pSrc[(2u * i2)];
+
+        /* ya + yc */
+        s1 = pSrc[(2u * i0) + 1u] + pSrc[(2u * i2) + 1u];
+
+        /* ya - yc */
+        s2 = pSrc[(2u * i0) + 1u] - pSrc[(2u * i2) + 1u];
+
+        /* xb + xd */
+        t1 = pSrc[2u * i1] + pSrc[2u * i3];
+
+        /* xa' = xa + xb + xc + xd */
+        pSrc[2u * i0] = r1 + t1;
+
+        /* xa + xc -(xb + xd) */
+        r1 = r1 - t1;
+
+        /* yb + yd */
+        t2 = pSrc[(2u * i1) + 1u] + pSrc[(2u * i3) + 1u];
+
+        /* ya' = ya + yb + yc + yd */
+        pSrc[(2u * i0) + 1u] = s1 + t2;
+
+        /* (ya + yc) - (yb + yd) */
+        s1 = s1 - t2;
+
+        /* (yb - yd) */
+        t1 = pSrc[(2u * i1) + 1u] - pSrc[(2u * i3) + 1u];
+
+        /* (xb - xd) */
+        t2 = pSrc[2u * i1] - pSrc[2u * i3];
+
+        /* xc' = (xa-xb+xc-xd)co2 + (ya-yb+yc-yd)(si2) */
+        pSrc[2u * i1] = (r1 * co2) + (s1 * si2);
+
+        /* yc' = (ya-yb+yc-yd)co2 - (xa-xb+xc-xd)(si2) */
+        pSrc[(2u * i1) + 1u] = (s1 * co2) - (r1 * si2);
+
+        /* (xa - xc) + (yb - yd) */
+        r1 = r2 + t1;
+
+        /* (xa - xc) - (yb - yd) */
+        r2 = r2 - t1;
+
+        /* (ya - yc) -  (xb - xd) */
+        s1 = s2 - t2;
+
+        /* (ya - yc) +  (xb - xd) */
+        s2 = s2 + t2;
+
+        /* xb' = (xa+yb-xc-yd)co1 + (ya-xb-yc+xd)(si1) */
+        pSrc[2u * i2] = (r1 * co1) + (s1 * si1);
+
+        /* yb' = (ya-xb-yc+xd)co1 - (xa+yb-xc-yd)(si1) */
+        pSrc[(2u * i2) + 1u] = (s1 * co1) - (r1 * si1);
+
+        /* xd' = (xa-yb-xc+yd)co3 + (ya+xb-yc-xd)(si3) */
+        pSrc[2u * i3] = (r2 * co3) + (s2 * si3);
+
+        /* yd' = (ya+xb-yc-xd)co3 - (xa-yb-xc+yd)(si3) */
+        pSrc[(2u * i3) + 1u] = (s2 * co3) - (r2 * si3);
+      }
+    }
+    twidCoefModifier <<= 2u;
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/*    
+ * @brief  Core function for the floating-point CIFFT butterfly process.   
+ * @param[in, out] *pSrc            points to the in-place buffer of floating-point data type.   
+ * @param[in]      fftLen           length of the FFT.   
+ * @param[in]      *pCoef           points to twiddle coefficient buffer.   
+ * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.   
+ * @param[in]      onebyfftLen      value of 1/fftLen.   
+ * @return none.   
+ */
+
+void arm_radix4_butterfly_inverse_f32(
+  float32_t * pSrc,
+  uint16_t fftLen,
+  float32_t * pCoef,
+  uint16_t twidCoefModifier,
+  float32_t onebyfftLen)
+{
+  float32_t co1, co2, co3, si1, si2, si3;
+  uint32_t ia1, ia2, ia3;
+  uint32_t i0, i1, i2, i3;
+  uint32_t n1, n2, j, k;
+
+#ifndef ARM_MATH_CM0
+
+  float32_t xaIn, yaIn, xbIn, ybIn, xcIn, ycIn, xdIn, ydIn;
+  float32_t Xaplusc, Xbplusd, Yaplusc, Ybplusd, Xaminusc, Xbminusd, Yaminusc,
+    Ybminusd;
+  float32_t Xb12C_out, Yb12C_out, Xc12C_out, Yc12C_out, Xd12C_out, Yd12C_out;
+  float32_t Xb12_out, Yb12_out, Xc12_out, Yc12_out, Xd12_out, Yd12_out;
+  float32_t *ptr1;
+
+
+  /*  Initializations for the first stage */
+  n2 = fftLen;
+  n1 = n2;
+
+  /* n2 = fftLen/4 */
+  n2 >>= 2u;
+  i0 = 0u;
+  ia1 = 0u;
+
+  j = n2;
+
+  /*  Calculation of first stage */
+  do
+  {
+    /*  index calculation for the input as, */
+    /*  pSrc[i0 + 0], pSrc[i0 + fftLen/4], pSrc[i0 + fftLen/2], pSrc[i0 + 3fftLen/4] */
+    i1 = i0 + n2;
+    i2 = i1 + n2;
+    i3 = i2 + n2;
+
+    /*  Butterfly implementation */
+    xaIn = pSrc[(2u * i0)];
+    yaIn = pSrc[(2u * i0) + 1u];
+
+    xcIn = pSrc[(2u * i2)];
+    ycIn = pSrc[(2u * i2) + 1u];
+
+    xbIn = pSrc[(2u * i1)];
+    ybIn = pSrc[(2u * i1) + 1u];
+
+    xdIn = pSrc[(2u * i3)];
+    ydIn = pSrc[(2u * i3) + 1u];
+
+    /* xa + xc */
+    Xaplusc = xaIn + xcIn;
+    /* xb + xd */
+    Xbplusd = xbIn + xdIn;
+    /* ya + yc */
+    Yaplusc = yaIn + ycIn;
+    /* yb + yd */
+    Ybplusd = ybIn + ydIn;
+
+    /*  index calculation for the coefficients */
+    ia2 = ia1 + ia1;
+    co2 = pCoef[ia2 * 2u];
+    si2 = pCoef[(ia2 * 2u) + 1u];
+
+    /* xa - xc */
+    Xaminusc = xaIn - xcIn;
+    /* xb - xd */
+    Xbminusd = xbIn - xdIn;
+    /* ya - yc */
+    Yaminusc = yaIn - ycIn;
+    /* yb - yd */
+    Ybminusd = ybIn - ydIn;
+
+    /* xa' = xa + xb + xc + xd */
+    pSrc[(2u * i0)] = Xaplusc + Xbplusd;
+
+    /* ya' = ya + yb + yc + yd */
+    pSrc[(2u * i0) + 1u] = Yaplusc + Ybplusd;
+
+    /* (xa - xc) - (yb - yd) */
+    Xb12C_out = (Xaminusc - Ybminusd);
+    /* (ya - yc) + (xb - xd) */
+    Yb12C_out = (Yaminusc + Xbminusd);
+    /* (xa + xc) - (xb + xd) */
+    Xc12C_out = (Xaplusc - Xbplusd);
+    /* (ya + yc) - (yb + yd) */
+    Yc12C_out = (Yaplusc - Ybplusd);
+    /* (xa - xc) + (yb - yd) */
+    Xd12C_out = (Xaminusc + Ybminusd);
+    /* (ya - yc) - (xb - xd) */
+    Yd12C_out = (Yaminusc - Xbminusd);
+
+    co1 = pCoef[ia1 * 2u];
+    si1 = pCoef[(ia1 * 2u) + 1u];
+
+    /*  index calculation for the coefficients */
+    ia3 = ia2 + ia1;
+    co3 = pCoef[ia3 * 2u];
+    si3 = pCoef[(ia3 * 2u) + 1u];
+
+    Xb12_out = Xb12C_out * co1;
+    Yb12_out = Yb12C_out * co1;
+    Xc12_out = Xc12C_out * co2;
+    Yc12_out = Yc12C_out * co2;
+    Xd12_out = Xd12C_out * co3;
+    Yd12_out = Yd12C_out * co3;
+
+    /* xb' = (xa+yb-xc-yd)co1 - (ya-xb-yc+xd)(si1) */
+    Xb12_out -= Yb12C_out * si1;
+    /* yb' = (ya-xb-yc+xd)co1 + (xa+yb-xc-yd)(si1) */
+    Yb12_out += Xb12C_out * si1;
+    /* xc' = (xa-xb+xc-xd)co2 - (ya-yb+yc-yd)(si2) */
+    Xc12_out -= Yc12C_out * si2;
+    /* yc' = (ya-yb+yc-yd)co2 + (xa-xb+xc-xd)(si2) */
+    Yc12_out += Xc12C_out * si2;
+    /* xd' = (xa-yb-xc+yd)co3 - (ya+xb-yc-xd)(si3) */
+    Xd12_out -= Yd12C_out * si3;
+    /* yd' = (ya+xb-yc-xd)co3 + (xa-yb-xc+yd)(si3) */
+    Yd12_out += Xd12C_out * si3;
+
+    /* xc' = (xa-xb+xc-xd)co2 - (ya-yb+yc-yd)(si2) */
+    pSrc[2u * i1] = Xc12_out;
+
+    /* yc' = (ya-yb+yc-yd)co2 + (xa-xb+xc-xd)(si2) */
+    pSrc[(2u * i1) + 1u] = Yc12_out;
+
+    /* xb' = (xa+yb-xc-yd)co1 - (ya-xb-yc+xd)(si1) */
+    pSrc[2u * i2] = Xb12_out;
+
+    /* yb' = (ya-xb-yc+xd)co1 + (xa+yb-xc-yd)(si1) */
+    pSrc[(2u * i2) + 1u] = Yb12_out;
+
+    /* xd' = (xa-yb-xc+yd)co3 - (ya+xb-yc-xd)(si3) */
+    pSrc[2u * i3] = Xd12_out;
+
+    /* yd' = (ya+xb-yc-xd)co3 + (xa-yb-xc+yd)(si3) */
+    pSrc[(2u * i3) + 1u] = Yd12_out;
+
+    /*  Twiddle coefficients index modifier */
+    ia1 = ia1 + twidCoefModifier;
+
+    /*  Updating input index */
+    i0 = i0 + 1u;
+
+  } while(--j);
+
+  twidCoefModifier <<= 2u;
+
+  /*  Calculation of second stage to excluding last stage */
+  for (k = fftLen / 4; k > 4u; k >>= 2u)
+  {
+    /*  Initializations for the first stage */
+    n1 = n2;
+    n2 >>= 2u;
+    ia1 = 0u;
+
+    /*  Calculation of first stage */
+    for (j = 0u; j <= (n2 - 1u); j++)
+    {
+      /*  index calculation for the coefficients */
+      ia2 = ia1 + ia1;
+      ia3 = ia2 + ia1;
+      co1 = pCoef[ia1 * 2u];
+      si1 = pCoef[(ia1 * 2u) + 1u];
+      co2 = pCoef[ia2 * 2u];
+      si2 = pCoef[(ia2 * 2u) + 1u];
+      co3 = pCoef[ia3 * 2u];
+      si3 = pCoef[(ia3 * 2u) + 1u];
+
+      /*  Twiddle coefficients index modifier */
+      ia1 = ia1 + twidCoefModifier;
+
+      for (i0 = j; i0 < fftLen; i0 += n1)
+      {
+        /*  index calculation for the input as, */
+        /*  pSrc[i0 + 0], pSrc[i0 + fftLen/4], pSrc[i0 + fftLen/2], pSrc[i0 + 3fftLen/4] */
+        i1 = i0 + n2;
+        i2 = i1 + n2;
+        i3 = i2 + n2;
+
+        xaIn = pSrc[(2u * i0)];
+        yaIn = pSrc[(2u * i0) + 1u];
+
+        xbIn = pSrc[(2u * i1)];
+        ybIn = pSrc[(2u * i1) + 1u];
+
+        xcIn = pSrc[(2u * i2)];
+        ycIn = pSrc[(2u * i2) + 1u];
+
+        xdIn = pSrc[(2u * i3)];
+        ydIn = pSrc[(2u * i3) + 1u];
+
+        /* xa - xc */
+        Xaminusc = xaIn - xcIn;
+        /* (xb - xd) */
+        Xbminusd = xbIn - xdIn;
+        /* ya - yc */
+        Yaminusc = yaIn - ycIn;
+        /* (yb - yd) */
+        Ybminusd = ybIn - ydIn;
+
+        /* xa + xc */
+        Xaplusc = xaIn + xcIn;
+        /* xb + xd */
+        Xbplusd = xbIn + xdIn;
+        /* ya + yc */
+        Yaplusc = yaIn + ycIn;
+        /* yb + yd */
+        Ybplusd = ybIn + ydIn;
+
+        /* (xa - xc) - (yb - yd) */
+        Xb12C_out = (Xaminusc - Ybminusd);
+        /* (ya - yc) +  (xb - xd) */
+        Yb12C_out = (Yaminusc + Xbminusd);
+        /* xa + xc -(xb + xd) */
+        Xc12C_out = (Xaplusc - Xbplusd);
+        /* (ya + yc) - (yb + yd) */
+        Yc12C_out = (Yaplusc - Ybplusd);
+        /* (xa - xc) + (yb - yd) */
+        Xd12C_out = (Xaminusc + Ybminusd);
+        /* (ya - yc) -  (xb - xd) */
+        Yd12C_out = (Yaminusc - Xbminusd);
+
+        pSrc[(2u * i0)] = Xaplusc + Xbplusd;
+        pSrc[(2u * i0) + 1u] = Yaplusc + Ybplusd;
+
+        Xb12_out = Xb12C_out * co1;
+        Yb12_out = Yb12C_out * co1;
+        Xc12_out = Xc12C_out * co2;
+        Yc12_out = Yc12C_out * co2;
+        Xd12_out = Xd12C_out * co3;
+        Yd12_out = Yd12C_out * co3;
+
+        /* xb' = (xa+yb-xc-yd)co1 - (ya-xb-yc+xd)(si1) */
+        Xb12_out -= Yb12C_out * si1;
+        /* yb' = (ya-xb-yc+xd)co1 + (xa+yb-xc-yd)(si1) */
+        Yb12_out += Xb12C_out * si1;
+        /* xc' = (xa-xb+xc-xd)co2 - (ya-yb+yc-yd)(si2) */
+        Xc12_out -= Yc12C_out * si2;
+        /* yc' = (ya-yb+yc-yd)co2 + (xa-xb+xc-xd)(si2) */
+        Yc12_out += Xc12C_out * si2;
+        /* xd' = (xa-yb-xc+yd)co3 - (ya+xb-yc-xd)(si3) */
+        Xd12_out -= Yd12C_out * si3;
+        /* yd' = (ya+xb-yc-xd)co3 + (xa-yb-xc+yd)(si3) */
+        Yd12_out += Xd12C_out * si3;
+
+        /* xc' = (xa-xb+xc-xd)co2 - (ya-yb+yc-yd)(si2) */
+        pSrc[2u * i1] = Xc12_out;
+
+        /* yc' = (ya-yb+yc-yd)co2 + (xa-xb+xc-xd)(si2) */
+        pSrc[(2u * i1) + 1u] = Yc12_out;
+
+        /* xb' = (xa+yb-xc-yd)co1 - (ya-xb-yc+xd)(si1) */
+        pSrc[2u * i2] = Xb12_out;
+
+        /* yb' = (ya-xb-yc+xd)co1 + (xa+yb-xc-yd)(si1) */
+        pSrc[(2u * i2) + 1u] = Yb12_out;
+
+        /* xd' = (xa-yb-xc+yd)co3 - (ya+xb-yc-xd)(si3) */
+        pSrc[2u * i3] = Xd12_out;
+
+        /* yd' = (ya+xb-yc-xd)co3 + (xa-yb-xc+yd)(si3) */
+        pSrc[(2u * i3) + 1u] = Yd12_out;
+
+      }
+    }
+    twidCoefModifier <<= 2u;
+  }
+  /*  Initializations of last stage */
+
+  j = fftLen >> 2;
+  ptr1 = &pSrc[0];
+
+  /*  Calculations of last stage */
+  do
+  {
+
+    xaIn = ptr1[0];
+    xcIn = ptr1[4];
+    yaIn = ptr1[1];
+    ycIn = ptr1[5];
+
+    /*  Butterfly implementation */
+    /* xa + xc */
+    Xaplusc = xaIn + xcIn;
+
+    xbIn = ptr1[2];
+
+    /* xa - xc */
+    Xaminusc = xaIn - xcIn;
+
+    xdIn = ptr1[6];
+
+    /* ya + yc */
+    Yaplusc = yaIn + ycIn;
+
+    ybIn = ptr1[3];
+
+    /* ya - yc */
+    Yaminusc = yaIn - ycIn;
+
+    ydIn = ptr1[7];
+
+    /* xc + xd */
+    Xbplusd = xbIn + xdIn;
+
+    /* yb + yd */
+    Ybplusd = ybIn + ydIn;
+
+    /* xa' = xa + xb + xc + xd */
+    ptr1[0] = (Xaplusc + Xbplusd) * onebyfftLen;
+
+    /* (xb-xd) */
+    Xbminusd = xbIn - xdIn;
+
+    /* ya' = ya + yb + yc + yd */
+    ptr1[1] = (Yaplusc + Ybplusd) * onebyfftLen;
+
+    /* (yb-yd) */
+    Ybminusd = ybIn - ydIn;
+
+    /* xc' = (xa-xb+xc-xd) * onebyfftLen */
+    ptr1[2] = (Xaplusc - Xbplusd) * onebyfftLen;
+
+    /* yc' = (ya-yb+yc-yd) * onebyfftLen  */
+    ptr1[3] = (Yaplusc - Ybplusd) * onebyfftLen;
+
+    /* xb' = (xa-yb-xc+yd) * onebyfftLen */
+    ptr1[4] = (Xaminusc - Ybminusd) * onebyfftLen;
+
+    /* yb' = (ya+xb-yc-xd) * onebyfftLen */
+    ptr1[5] = (Yaminusc + Xbminusd) * onebyfftLen;
+
+    /* xd' = (xa-yb-xc+yd) * onebyfftLen */
+    ptr1[6] = (Xaminusc + Ybminusd) * onebyfftLen;
+
+    /* yd' = (ya-xb-yc+xd) * onebyfftLen */
+    ptr1[7] = (Yaminusc - Xbminusd) * onebyfftLen;
+
+    /* increment source pointer by 8 for next calculations */
+    ptr1 = ptr1 + 8u;
+
+  } while(--j);
+
+#else
+
+  float32_t t1, t2, r1, r2, s1, s2;
+
+  /* Run the below code for Cortex-M0 */
+
+  /*  Initializations for the first stage */
+  n2 = fftLen;
+  n1 = n2;
+
+  /*  Calculation of first stage */
+  for (k = fftLen; k > 4u; k >>= 2u)
+  {
+    /*  Initializations for the first stage */
+    n1 = n2;
+    n2 >>= 2u;
+    ia1 = 0u;
+
+    /*  Calculation of first stage */
+    for (j = 0u; j <= (n2 - 1u); j++)
+    {
+      /*  index calculation for the coefficients */
+      ia2 = ia1 + ia1;
+      ia3 = ia2 + ia1;
+      co1 = pCoef[ia1 * 2u];
+      si1 = pCoef[(ia1 * 2u) + 1u];
+      co2 = pCoef[ia2 * 2u];
+      si2 = pCoef[(ia2 * 2u) + 1u];
+      co3 = pCoef[ia3 * 2u];
+      si3 = pCoef[(ia3 * 2u) + 1u];
+
+      /*  Twiddle coefficients index modifier */
+      ia1 = ia1 + twidCoefModifier;
+
+      for (i0 = j; i0 < fftLen; i0 += n1)
+      {
+        /*  index calculation for the input as, */
+        /*  pSrc[i0 + 0], pSrc[i0 + fftLen/4], pSrc[i0 + fftLen/2], pSrc[i0 + 3fftLen/4] */
+        i1 = i0 + n2;
+        i2 = i1 + n2;
+        i3 = i2 + n2;
+
+        /* xa + xc */
+        r1 = pSrc[(2u * i0)] + pSrc[(2u * i2)];
+
+        /* xa - xc */
+        r2 = pSrc[(2u * i0)] - pSrc[(2u * i2)];
+
+        /* ya + yc */
+        s1 = pSrc[(2u * i0) + 1u] + pSrc[(2u * i2) + 1u];
+
+        /* ya - yc */
+        s2 = pSrc[(2u * i0) + 1u] - pSrc[(2u * i2) + 1u];
+
+        /* xb + xd */
+        t1 = pSrc[2u * i1] + pSrc[2u * i3];
+
+        /* xa' = xa + xb + xc + xd */
+        pSrc[2u * i0] = r1 + t1;
+
+        /* xa + xc -(xb + xd) */
+        r1 = r1 - t1;
+
+        /* yb + yd */
+        t2 = pSrc[(2u * i1) + 1u] + pSrc[(2u * i3) + 1u];
+
+        /* ya' = ya + yb + yc + yd */
+        pSrc[(2u * i0) + 1u] = s1 + t2;
+
+        /* (ya + yc) - (yb + yd) */
+        s1 = s1 - t2;
+
+        /* (yb - yd) */
+        t1 = pSrc[(2u * i1) + 1u] - pSrc[(2u * i3) + 1u];
+
+        /* (xb - xd) */
+        t2 = pSrc[2u * i1] - pSrc[2u * i3];
+
+        /* xc' = (xa-xb+xc-xd)co2 - (ya-yb+yc-yd)(si2) */
+        pSrc[2u * i1] = (r1 * co2) - (s1 * si2);
+
+        /* yc' = (ya-yb+yc-yd)co2 + (xa-xb+xc-xd)(si2) */
+        pSrc[(2u * i1) + 1u] = (s1 * co2) + (r1 * si2);
+
+        /* (xa - xc) - (yb - yd) */
+        r1 = r2 - t1;
+
+        /* (xa - xc) + (yb - yd) */
+        r2 = r2 + t1;
+
+        /* (ya - yc) +  (xb - xd) */
+        s1 = s2 + t2;
+
+        /* (ya - yc) -  (xb - xd) */
+        s2 = s2 - t2;
+
+        /* xb' = (xa+yb-xc-yd)co1 - (ya-xb-yc+xd)(si1) */
+        pSrc[2u * i2] = (r1 * co1) - (s1 * si1);
+
+        /* yb' = (ya-xb-yc+xd)co1 + (xa+yb-xc-yd)(si1) */
+        pSrc[(2u * i2) + 1u] = (s1 * co1) + (r1 * si1);
+
+        /* xd' = (xa-yb-xc+yd)co3 - (ya+xb-yc-xd)(si3) */
+        pSrc[2u * i3] = (r2 * co3) - (s2 * si3);
+
+        /* yd' = (ya+xb-yc-xd)co3 + (xa-yb-xc+yd)(si3) */
+        pSrc[(2u * i3) + 1u] = (s2 * co3) + (r2 * si3);
+      }
+    }
+    twidCoefModifier <<= 2u;
+  }
+  /*  Initializations of last stage */
+  n1 = n2;
+  n2 >>= 2u;
+
+  /*  Calculations of last stage */
+  for (i0 = 0u; i0 <= (fftLen - n1); i0 += n1)
+  {
+    /*  index calculation for the input as, */
+    /*  pSrc[i0 + 0], pSrc[i0 + fftLen/4], pSrc[i0 + fftLen/2], pSrc[i0 + 3fftLen/4] */
+    i1 = i0 + n2;
+    i2 = i1 + n2;
+    i3 = i2 + n2;
+
+    /*  Butterfly implementation */
+    /* xa + xc */
+    r1 = pSrc[2u * i0] + pSrc[2u * i2];
+
+    /* xa - xc */
+    r2 = pSrc[2u * i0] - pSrc[2u * i2];
+
+    /* ya + yc */
+    s1 = pSrc[(2u * i0) + 1u] + pSrc[(2u * i2) + 1u];
+
+    /* ya - yc */
+    s2 = pSrc[(2u * i0) + 1u] - pSrc[(2u * i2) + 1u];
+
+    /* xc + xd */
+    t1 = pSrc[2u * i1] + pSrc[2u * i3];
+
+    /* xa' = xa + xb + xc + xd */
+    pSrc[2u * i0] = (r1 + t1) * onebyfftLen;
+
+    /* (xa + xb) - (xc + xd) */
+    r1 = r1 - t1;
+
+    /* yb + yd */
+    t2 = pSrc[(2u * i1) + 1u] + pSrc[(2u * i3) + 1u];
+
+    /* ya' = ya + yb + yc + yd */
+    pSrc[(2u * i0) + 1u] = (s1 + t2) * onebyfftLen;
+
+    /* (ya + yc) - (yb + yd) */
+    s1 = s1 - t2;
+
+    /* (yb-yd) */
+    t1 = pSrc[(2u * i1) + 1u] - pSrc[(2u * i3) + 1u];
+
+    /* (xb-xd) */
+    t2 = pSrc[2u * i1] - pSrc[2u * i3];
+
+    /* xc' = (xa-xb+xc-xd)co2 - (ya-yb+yc-yd)(si2) */
+    pSrc[2u * i1] = r1 * onebyfftLen;
+
+    /* yc' = (ya-yb+yc-yd)co2 + (xa-xb+xc-xd)(si2) */
+    pSrc[(2u * i1) + 1u] = s1 * onebyfftLen;
+
+
+    /* (xa - xc) - (yb-yd) */
+    r1 = r2 - t1;
+
+    /* (xa - xc) + (yb-yd) */
+    r2 = r2 + t1;
+
+    /* (ya - yc) + (xb-xd) */
+    s1 = s2 + t2;
+
+    /* (ya - yc) - (xb-xd) */
+    s2 = s2 - t2;
+
+    /* xb' = (xa+yb-xc-yd)co1 - (ya-xb-yc+xd)(si1) */
+    pSrc[2u * i2] = r1 * onebyfftLen;
+
+    /* yb' = (ya-xb-yc+xd)co1 + (xa+yb-xc-yd)(si1) */
+    pSrc[(2u * i2) + 1u] = s1 * onebyfftLen;
+
+    /* xd' = (xa-yb-xc+yd)co3 - (ya+xb-yc-xd)(si3) */
+    pSrc[2u * i3] = r2 * onebyfftLen;
+
+    /* yd' = (ya+xb-yc-xd)co3 + (xa-yb-xc+yd)(si3) */
+    pSrc[(2u * i3) + 1u] = s2 * onebyfftLen;
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_f32.c
new file mode 100644
index 000000000..f354e1dde
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_f32.c
@@ -0,0 +1,161 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_cfft_radix4_init_f32.c    
+*    
+* Description:	Radix-4 Decimation in Frequency Floating-point CFFT & CIFFT Initialization function    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.5  2010/04/26     
+* 	 incorporated review comments and updated with latest CMSIS layer    
+*    
+* Version 0.0.3  2010/03/10     
+*    Initial version    
+* -------------------------------------------------------------------- */
+
+
+#include "arm_math.h"
+#include "arm_common_tables.h"
+
+/**    
+ * @ingroup groupTransforms    
+ */
+
+/**    
+ * @addtogroup Radix4_CFFT_CIFFT    
+ * @{    
+ */
+
+/**    
+* @brief  Initialization function for the floating-point CFFT/CIFFT.   
+* @param[in,out] *S             points to an instance of the floating-point CFFT/CIFFT structure.   
+* @param[in]     fftLen         length of the FFT.   
+* @param[in]     ifftFlag       flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform.   
+* @param[in]     bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.   
+* @return        The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if fftLen is not a supported value.   
+*    
+* \par Description:   
+* \par    
+* The parameter ifftFlag controls whether a forward or inverse transform is computed.    
+* Set(=1) ifftFlag for calculation of CIFFT otherwise  CFFT is calculated   
+* \par    
+* The parameter bitReverseFlag controls whether output is in normal order or bit reversed order.    
+* Set(=1) bitReverseFlag for output to be in normal order otherwise output is in bit reversed order.    
+* \par    
+* The parameter fftLen	Specifies length of CFFT/CIFFT process. Supported FFT Lengths are 16, 64, 256, 1024.    
+* \par    
+* This Function also initializes Twiddle factor table pointer and Bit reversal table pointer.    
+*/
+
+arm_status arm_cfft_radix4_init_f32(
+  arm_cfft_radix4_instance_f32 * S,
+  uint16_t fftLen,
+  uint8_t ifftFlag,
+  uint8_t bitReverseFlag)
+{
+  /*  Initialise the default arm status */
+  arm_status status = ARM_MATH_SUCCESS;
+
+  /*  Initialise the FFT length */
+  S->fftLen = fftLen;
+
+  /*  Initialise the Twiddle coefficient pointer */
+  S->pTwiddle = (float32_t *) twiddleCoef;
+
+  /*  Initialise the Flag for selection of CFFT or CIFFT */
+  S->ifftFlag = ifftFlag;
+
+  /*  Initialise the Flag for calculation Bit reversal or not */
+  S->bitReverseFlag = bitReverseFlag;
+
+  /*  Initializations of structure parameters depending on the FFT length */
+  switch (S->fftLen)
+  {
+
+  case 4096u:
+    /*  Initializations of structure parameters for 4096 point FFT */
+
+    /*  Initialise the twiddle coef modifier value */
+    S->twidCoefModifier = 1u;
+    /*  Initialise the bit reversal table modifier */
+    S->bitRevFactor = 1u;
+    /*  Initialise the bit reversal table pointer */
+    S->pBitRevTable = (uint16_t *) armBitRevTable;
+    /*  Initialise the 1/fftLen Value */
+    S->onebyfftLen = 0.000244140625;
+    break;
+
+  case 1024u:
+    /*  Initializations of structure parameters for 1024 point FFT */
+
+    /*  Initialise the twiddle coef modifier value */
+    S->twidCoefModifier = 4u;
+    /*  Initialise the bit reversal table modifier */
+    S->bitRevFactor = 4u;
+    /*  Initialise the bit reversal table pointer */
+    S->pBitRevTable = (uint16_t *) & armBitRevTable[3];
+    /*  Initialise the 1/fftLen Value */
+    S->onebyfftLen = 0.0009765625f;
+    break;
+
+
+  case 256u:
+    /*  Initializations of structure parameters for 256 point FFT */
+    S->twidCoefModifier = 16u;
+    S->bitRevFactor = 16u;
+    S->pBitRevTable = (uint16_t *) & armBitRevTable[15];
+    S->onebyfftLen = 0.00390625f;
+    break;
+
+  case 64u:
+    /*  Initializations of structure parameters for 64 point FFT */
+    S->twidCoefModifier = 64u;
+    S->bitRevFactor = 64u;
+    S->pBitRevTable = (uint16_t *) & armBitRevTable[63];
+    S->onebyfftLen = 0.015625f;
+    break;
+
+  case 16u:
+    /*  Initializations of structure parameters for 16 point FFT */
+    S->twidCoefModifier = 256u;
+    S->bitRevFactor = 256u;
+    S->pBitRevTable = (uint16_t *) & armBitRevTable[255];
+    S->onebyfftLen = 0.0625f;
+    break;
+
+
+  default:
+    /*  Reporting argument error if fftSize is not valid value */
+    status = ARM_MATH_ARGUMENT_ERROR;
+    break;
+  }
+
+  return (status);
+}
+
+/**    
+ * @} end of Radix4_CFFT_CIFFT group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_q15.c
new file mode 100644
index 000000000..5ace3483d
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_q15.c
@@ -0,0 +1,149 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_cfft_radix4_init_q15.c    
+*    
+* Description:	Radix-4 Decimation in Frequency Q15 FFT & IFFT initialization function    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.5  2010/04/26     
+* 	 incorporated review comments and updated with latest CMSIS layer    
+*    
+* Version 0.0.3  2010/03/10     
+*    Initial version    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+#include "arm_common_tables.h"
+
+/**    
+ * @ingroup groupTransforms    
+ */
+
+
+/**    
+ * @addtogroup Radix4_CFFT_CIFFT    
+ * @{    
+ */
+
+
+/**    
+* @brief Initialization function for the Q15 CFFT/CIFFT.   
+* @param[in,out] *S             points to an instance of the Q15 CFFT/CIFFT structure.   
+* @param[in]     fftLen         length of the FFT.   
+* @param[in]     ifftFlag       flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform.   
+* @param[in]     bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.   
+* @return        The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if fftLen is not a supported value.   
+*    
+* \par Description:   
+* \par    
+* The parameter ifftFlag controls whether a forward or inverse transform is computed.    
+* Set(=1) ifftFlag for calculation of CIFFT otherwise  CFFT is calculated   
+* \par    
+* The parameter bitReverseFlag controls whether output is in normal order or bit reversed order.    
+* Set(=1) bitReverseFlag for output to be in normal order otherwise output is in bit reversed order.    
+* \par    
+* The parameter fftLen	Specifies length of CFFT/CIFFT process. Supported FFT Lengths are 16, 64, 256, 1024.    
+* \par    
+* This Function also initializes Twiddle factor table pointer and Bit reversal table pointer.    
+*/
+
+arm_status arm_cfft_radix4_init_q15(
+  arm_cfft_radix4_instance_q15 * S,
+  uint16_t fftLen,
+  uint8_t ifftFlag,
+  uint8_t bitReverseFlag)
+{
+  /*  Initialise the default arm status */
+  arm_status status = ARM_MATH_SUCCESS;
+  /*  Initialise the FFT length */
+  S->fftLen = fftLen;
+  /*  Initialise the Twiddle coefficient pointer */
+  S->pTwiddle = (q15_t *) twiddleCoefQ15;
+  /*  Initialise the Flag for selection of CFFT or CIFFT */
+  S->ifftFlag = ifftFlag;
+  /*  Initialise the Flag for calculation Bit reversal or not */
+  S->bitReverseFlag = bitReverseFlag;
+
+  /*  Initializations of structure parameters depending on the FFT length */
+  switch (S->fftLen)
+  {
+  case 4096u:
+    /*  Initializations of structure parameters for 4096 point FFT */
+
+    /*  Initialise the twiddle coef modifier value */
+    S->twidCoefModifier = 1u;
+    /*  Initialise the bit reversal table modifier */
+    S->bitRevFactor = 1u;
+    /*  Initialise the bit reversal table pointer */
+    S->pBitRevTable = (uint16_t *) armBitRevTable;
+
+    break;
+
+  case 1024u:
+    /*  Initializations of structure parameters for 1024 point FFT */
+    S->twidCoefModifier = 4u;
+    S->bitRevFactor = 4u;
+    S->pBitRevTable = (uint16_t *) & armBitRevTable[3];
+
+    break;
+
+  case 256u:
+    /*  Initializations of structure parameters for 256 point FFT */
+    S->twidCoefModifier = 16u;
+    S->bitRevFactor = 16u;
+    S->pBitRevTable = (uint16_t *) & armBitRevTable[15];
+
+    break;
+
+  case 64u:
+    /*  Initializations of structure parameters for 64 point FFT */
+    S->twidCoefModifier = 64u;
+    S->bitRevFactor = 64u;
+    S->pBitRevTable = (uint16_t *) & armBitRevTable[63];
+
+    break;
+
+  case 16u:
+    /*  Initializations of structure parameters for 16 point FFT */
+    S->twidCoefModifier = 256u;
+    S->bitRevFactor = 256u;
+    S->pBitRevTable = (uint16_t *) & armBitRevTable[255];
+
+    break;
+
+  default:
+    /*  Reporting argument error if fftSize is not valid value */
+    status = ARM_MATH_ARGUMENT_ERROR;
+    break;
+  }
+
+  return (status);
+}
+
+/**    
+ * @} end of Radix4_CFFT_CIFFT group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_q31.c
new file mode 100644
index 000000000..6614994f7
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_q31.c
@@ -0,0 +1,145 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_cfft_radix4_init_q31.c    
+*    
+* Description:	Radix-4 Decimation in Frequency Q31 FFT & IFFT initialization function    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.5  2010/04/26     
+* 	 incorporated review comments and updated with latest CMSIS layer    
+*    
+* Version 0.0.3  2010/03/10     
+*    Initial version    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+#include "arm_common_tables.h"
+
+/**    
+ * @ingroup groupTransforms    
+ */
+
+/**    
+ * @addtogroup Radix4_CFFT_CIFFT    
+ * @{    
+ */
+
+/**    
+*    
+* @brief  Initialization function for the Q31 CFFT/CIFFT.   
+* @param[in,out] *S             points to an instance of the Q31 CFFT/CIFFT structure.   
+* @param[in]     fftLen         length of the FFT.   
+* @param[in]     ifftFlag       flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform.   
+* @param[in]     bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.   
+* @return        The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if fftLen is not a supported value.   
+*    
+* \par Description:   
+* \par    
+* The parameter ifftFlag controls whether a forward or inverse transform is computed.    
+* Set(=1) ifftFlag for calculation of CIFFT otherwise  CFFT is calculated   
+* \par    
+* The parameter bitReverseFlag controls whether output is in normal order or bit reversed order.    
+* Set(=1) bitReverseFlag for output to be in normal order otherwise output is in bit reversed order.    
+* \par    
+* The parameter fftLen	Specifies length of CFFT/CIFFT process. Supported FFT Lengths are 16, 64, 256, 1024.    
+* \par    
+* This Function also initializes Twiddle factor table pointer and Bit reversal table pointer.    
+*/
+
+arm_status arm_cfft_radix4_init_q31(
+  arm_cfft_radix4_instance_q31 * S,
+  uint16_t fftLen,
+  uint8_t ifftFlag,
+  uint8_t bitReverseFlag)
+{
+  /*  Initialise the default arm status */
+  arm_status status = ARM_MATH_SUCCESS;
+  /*  Initialise the FFT length */
+  S->fftLen = fftLen;
+  /*  Initialise the Twiddle coefficient pointer */
+  S->pTwiddle = (q31_t *) twiddleCoefQ31;
+  /*  Initialise the Flag for selection of CFFT or CIFFT */
+  S->ifftFlag = ifftFlag;
+  /*  Initialise the Flag for calculation Bit reversal or not */
+  S->bitReverseFlag = bitReverseFlag;
+
+  /*  Initializations of Instance structure depending on the FFT length */
+  switch (S->fftLen)
+  {
+    /*  Initializations of structure parameters for 4096 point FFT */
+  case 4096u:
+    /*  Initialise the twiddle coef modifier value */
+    S->twidCoefModifier = 1u;
+    /*  Initialise the bit reversal table modifier */
+    S->bitRevFactor = 1u;
+    /*  Initialise the bit reversal table pointer */
+    S->pBitRevTable = (uint16_t *) armBitRevTable;
+    break;
+
+    /*  Initializations of structure parameters for 1024 point FFT */
+  case 1024u:
+    /*  Initialise the twiddle coef modifier value */
+    S->twidCoefModifier = 4u;
+    /*  Initialise the bit reversal table modifier */
+    S->bitRevFactor = 4u;
+    /*  Initialise the bit reversal table pointer */
+    S->pBitRevTable = (uint16_t *) & armBitRevTable[3];
+    break;
+
+  case 256u:
+    /*  Initializations of structure parameters for 256 point FFT */
+    S->twidCoefModifier = 16u;
+    S->bitRevFactor = 16u;
+    S->pBitRevTable = (uint16_t *) & armBitRevTable[15];
+    break;
+
+  case 64u:
+    /*  Initializations of structure parameters for 64 point FFT */
+    S->twidCoefModifier = 64u;
+    S->bitRevFactor = 64u;
+    S->pBitRevTable = (uint16_t *) & armBitRevTable[63];
+    break;
+
+  case 16u:
+    /*  Initializations of structure parameters for 16 point FFT */
+    S->twidCoefModifier = 256u;
+    S->bitRevFactor = 256u;
+    S->pBitRevTable = (uint16_t *) & armBitRevTable[255];
+    break;
+
+  default:
+    /*  Reporting argument error if fftSize is not valid value */
+    status = ARM_MATH_ARGUMENT_ERROR;
+    break;
+  }
+
+  return (status);
+}
+
+/**    
+ * @} end of Radix4_CFFT_CIFFT group    
+ */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_q15.c
new file mode 100644
index 000000000..01d476e6c
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_q15.c
@@ -0,0 +1,1896 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_cfft_radix4_q15.c    
+*    
+* Description:	This file has function definition of Radix-4 FFT & IFFT function and    
+*				In-place bit reversal using bit reversal table    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.5  2010/04/26     
+* 	 incorporated review comments and updated with latest CMSIS layer    
+*    
+* Version 0.0.3  2010/03/10     
+*    Initial version    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupTransforms    
+ */
+
+/**    
+ * @addtogroup Radix4_CFFT_CIFFT    
+ * @{    
+ */
+
+
+/**    
+ * @details    
+ * @brief Processing function for the Q15 CFFT/CIFFT.   
+ * @param[in]      *S    points to an instance of the Q15 CFFT/CIFFT structure.   
+ * @param[in, out] *pSrc points to the complex data buffer. Processing occurs in-place.   
+ * @return none.   
+ *     
+ * \par Input and output formats:    
+ * \par    
+ * Internally input is downscaled by 2 for every stage to avoid saturations inside CFFT/CIFFT process.   
+ * Hence the output format is different for different FFT sizes.    
+ * The input and output formats for different FFT sizes and number of bits to upscale are mentioned in the tables below for CFFT and CIFFT:   
+ * \par   
+ * \image html CFFTQ15.gif "Input and Output Formats for Q15 CFFT"    
+ * \image html CIFFTQ15.gif "Input and Output Formats for Q15 CIFFT"    
+ */
+
+void arm_cfft_radix4_q15(
+  const arm_cfft_radix4_instance_q15 * S,
+  q15_t * pSrc)
+{
+  if(S->ifftFlag == 1u)
+  {
+    /*  Complex IFFT radix-4  */
+    arm_radix4_butterfly_inverse_q15(pSrc, S->fftLen, S->pTwiddle,
+                                     S->twidCoefModifier);
+  }
+  else
+  {
+    /*  Complex FFT radix-4  */
+    arm_radix4_butterfly_q15(pSrc, S->fftLen, S->pTwiddle,
+                             S->twidCoefModifier);
+  }
+
+  if(S->bitReverseFlag == 1u)
+  {
+    /*  Bit Reversal */
+    arm_bitreversal_q15(pSrc, S->fftLen, S->bitRevFactor, S->pBitRevTable);
+  }
+
+}
+
+/**    
+ * @} end of Radix4_CFFT_CIFFT group    
+ */
+
+/*    
+* Radix-4 FFT algorithm used is :    
+*    
+* Input real and imaginary data:    
+* x(n) = xa + j * ya    
+* x(n+N/4 ) = xb + j * yb    
+* x(n+N/2 ) = xc + j * yc    
+* x(n+3N 4) = xd + j * yd    
+*    
+*    
+* Output real and imaginary data:    
+* x(4r) = xa'+ j * ya'    
+* x(4r+1) = xb'+ j * yb'    
+* x(4r+2) = xc'+ j * yc'    
+* x(4r+3) = xd'+ j * yd'    
+*    
+*    
+* Twiddle factors for radix-4 FFT:    
+* Wn = co1 + j * (- si1)    
+* W2n = co2 + j * (- si2)    
+* W3n = co3 + j * (- si3)    
+    
+* The real and imaginary output values for the radix-4 butterfly are    
+* xa' = xa + xb + xc + xd    
+* ya' = ya + yb + yc + yd    
+* xb' = (xa+yb-xc-yd)* co1 + (ya-xb-yc+xd)* (si1)    
+* yb' = (ya-xb-yc+xd)* co1 - (xa+yb-xc-yd)* (si1)    
+* xc' = (xa-xb+xc-xd)* co2 + (ya-yb+yc-yd)* (si2)    
+* yc' = (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2)    
+* xd' = (xa-yb-xc+yd)* co3 + (ya+xb-yc-xd)* (si3)    
+* yd' = (ya+xb-yc-xd)* co3 - (xa-yb-xc+yd)* (si3)    
+*    
+*/
+
+/**    
+ * @brief  Core function for the Q15 CFFT butterfly process.   
+ * @param[in, out] *pSrc16          points to the in-place buffer of Q15 data type.   
+ * @param[in]      fftLen           length of the FFT.   
+ * @param[in]      *pCoef16         points to twiddle coefficient buffer.   
+ * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.   
+ * @return none.   
+ */
+
+void arm_radix4_butterfly_q15(
+  q15_t * pSrc16,
+  uint32_t fftLen,
+  q15_t * pCoef16,
+  uint32_t twidCoefModifier)
+{
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q31_t R, S, T, U;
+  q31_t C1, C2, C3, out1, out2;
+  uint32_t n1, n2, ic, i0, i1, i2, i3, j, k;
+  q15_t in;
+
+  q15_t *ptr1;
+
+
+
+  q31_t xaya, xbyb, xcyc, xdyd;
+
+  /* Total process is divided into three stages */
+
+  /* process first stage, middle stages, & last stage */
+
+  /*  Initializations for the first stage */
+  n2 = fftLen;
+  n1 = n2;
+
+  /* n2 = fftLen/4 */
+  n2 >>= 2u;
+
+  /* Index for twiddle coefficient */
+  ic = 0u;
+
+  /* Index for input read and output write */
+  i0 = 0u;
+  j = n2;
+
+  /* Input is in 1.15(q15) format */
+
+  /*  start of first stage process */
+  do
+  {
+    /*  Butterfly implementation */
+
+    /*  index calculation for the input as, */
+    /*  pSrc16[i0 + 0], pSrc16[i0 + fftLen/4], pSrc16[i0 + fftLen/2], pSrc16[i0 + 3fftLen/4] */
+    i1 = i0 + n2;
+    i2 = i1 + n2;
+    i3 = i2 + n2;
+
+    /*  Reading i0, i0+fftLen/2 inputs */
+    /* Read ya (real), xa(imag) input */
+    T = _SIMD32_OFFSET(pSrc16 + (2u * i0));
+    in = ((int16_t) (T & 0xFFFF)) >> 2;
+    T = ((T >> 2) & 0xFFFF0000) | (in & 0xFFFF);
+
+    /* Read yc (real), xc(imag) input */
+    S = _SIMD32_OFFSET(pSrc16 + (2u * i2));
+    in = ((int16_t) (S & 0xFFFF)) >> 2;
+    S = ((S >> 2) & 0xFFFF0000) | (in & 0xFFFF);
+
+    /* R = packed((ya + yc), (xa + xc) ) */
+    R = __QADD16(T, S);
+
+    /* S = packed((ya - yc), (xa - xc) ) */
+    S = __QSUB16(T, S);
+
+    /*  Reading i0+fftLen/4 , i0+3fftLen/4 inputs */
+    /* Read yb (real), xb(imag) input */
+    T = _SIMD32_OFFSET(pSrc16 + (2u * i1));
+    in = ((int16_t) (T & 0xFFFF)) >> 2;
+    T = ((T >> 2) & 0xFFFF0000) | (in & 0xFFFF);
+
+    /* Read yd (real), xd(imag) input */
+    U = _SIMD32_OFFSET(pSrc16 + (2u * i3));
+    in = ((int16_t) (U & 0xFFFF)) >> 2;
+    U = ((U >> 2) & 0xFFFF0000) | (in & 0xFFFF);
+
+    /* T = packed((yb + yd), (xb + xd) ) */
+    T = __QADD16(T, U);
+
+    /*  writing the butterfly processed i0 sample */
+    /* xa' = xa + xb + xc + xd */
+    /* ya' = ya + yb + yc + yd */
+    _SIMD32_OFFSET(pSrc16 + (2u * i0)) = __SHADD16(R, T);
+
+    /* R = packed((ya + yc) - (yb + yd), (xa + xc)- (xb + xd)) */
+    R = __QSUB16(R, T);
+
+    /* co2 & si2 are read from SIMD Coefficient pointer */
+    C2 = _SIMD32_OFFSET(pCoef16 + (4u * ic));
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+    /* xc' = (xa-xb+xc-xd)* co2 + (ya-yb+yc-yd)* (si2) */
+    out1 = __SMUAD(C2, R) >> 16u;
+    /* yc' = (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */
+    out2 = __SMUSDX(C2, R);
+
+#else
+
+    /* xc' = (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */
+    out1 = __SMUSDX(R, C2) >> 16u;
+    /* yc' = (xa-xb+xc-xd)* co2 + (ya-yb+yc-yd)* (si2) */
+    out2 = __SMUAD(C2, R);
+
+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
+
+    /*  Reading i0+fftLen/4 */
+    /* T = packed(yb, xb) */
+    T = _SIMD32_OFFSET(pSrc16 + (2u * i1));
+    in = ((int16_t) (T & 0xFFFF)) >> 2;
+    T = ((T >> 2) & 0xFFFF0000) | (in & 0xFFFF);
+
+    /* writing the butterfly processed i0 + fftLen/4 sample */
+    /* writing output(xc', yc') in little endian format */
+    _SIMD32_OFFSET(pSrc16 + (2u * i1)) =
+      (q31_t) ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);
+
+    /*  Butterfly calculations */
+    /* U = packed(yd, xd) */
+    U = _SIMD32_OFFSET(pSrc16 + (2u * i3));
+    in = ((int16_t) (U & 0xFFFF)) >> 2;
+    U = ((U >> 2) & 0xFFFF0000) | (in & 0xFFFF);
+
+    /* T = packed(yb-yd, xb-xd) */
+    T = __QSUB16(T, U);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+    /* R = packed((ya-yc) + (xb- xd) , (xa-xc) - (yb-yd)) */
+    R = __QASX(S, T);
+    /* S = packed((ya-yc) - (xb- xd),  (xa-xc) + (yb-yd)) */
+    S = __QSAX(S, T);
+
+#else
+
+    /* R = packed((ya-yc) + (xb- xd) , (xa-xc) - (yb-yd)) */
+    R = __QSAX(S, T);
+    /* S = packed((ya-yc) - (xb- xd),  (xa-xc) + (yb-yd)) */
+    S = __QASX(S, T);
+
+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
+
+    /* co1 & si1 are read from SIMD Coefficient pointer */
+    C1 = _SIMD32_OFFSET(pCoef16 + (2u * ic));
+    /*  Butterfly process for the i0+fftLen/2 sample */
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+    /* xb' = (xa+yb-xc-yd)* co1 + (ya-xb-yc+xd)* (si1) */
+    out1 = __SMUAD(C1, S) >> 16u;
+    /* yb' = (ya-xb-yc+xd)* co1 - (xa+yb-xc-yd)* (si1) */
+    out2 = __SMUSDX(C1, S);
+
+#else
+
+    /* xb' = (ya-xb-yc+xd)* co1 - (xa+yb-xc-yd)* (si1) */
+    out1 = __SMUSDX(S, C1) >> 16u;
+    /* yb' = (xa+yb-xc-yd)* co1 + (ya-xb-yc+xd)* (si1) */
+    out2 = __SMUAD(C1, S);
+
+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
+
+    /* writing output(xb', yb') in little endian format */
+    _SIMD32_OFFSET(pSrc16 + (2u * i2)) =
+      ((out2) & 0xFFFF0000) | ((out1) & 0x0000FFFF);
+
+
+    /* co3 & si3 are read from SIMD Coefficient pointer */
+    C3 = _SIMD32_OFFSET(pCoef16 + (6u * ic));
+    /*  Butterfly process for the i0+3fftLen/4 sample */
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+    /* xd' = (xa-yb-xc+yd)* co3 + (ya+xb-yc-xd)* (si3) */
+    out1 = __SMUAD(C3, R) >> 16u;
+    /* yd' = (ya+xb-yc-xd)* co3 - (xa-yb-xc+yd)* (si3) */
+    out2 = __SMUSDX(C3, R);
+
+#else
+
+    /* xd' = (ya+xb-yc-xd)* co3 - (xa-yb-xc+yd)* (si3) */
+    out1 = __SMUSDX(R, C3) >> 16u;
+    /* yd' = (xa-yb-xc+yd)* co3 + (ya+xb-yc-xd)* (si3) */
+    out2 = __SMUAD(C3, R);
+
+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
+
+    /* writing output(xd', yd') in little endian format */
+    _SIMD32_OFFSET(pSrc16 + (2u * i3)) =
+      ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);
+
+    /*  Twiddle coefficients index modifier */
+    ic = ic + twidCoefModifier;
+
+    /*  Updating input index */
+    i0 = i0 + 1u;
+
+  } while(--j);
+  /* data is in 4.11(q11) format */
+
+  /* end of first stage process */
+
+
+  /* start of middle stage process */
+
+  /*  Twiddle coefficients index modifier */
+  twidCoefModifier <<= 2u;
+
+  /*  Calculation of Middle stage */
+  for (k = fftLen / 4u; k > 4u; k >>= 2u)
+  {
+    /*  Initializations for the middle stage */
+    n1 = n2;
+    n2 >>= 2u;
+    ic = 0u;
+
+    for (j = 0u; j <= (n2 - 1u); j++)
+    {
+      /*  index calculation for the coefficients */
+      C1 = _SIMD32_OFFSET(pCoef16 + (2u * ic));
+      C2 = _SIMD32_OFFSET(pCoef16 + (4u * ic));
+      C3 = _SIMD32_OFFSET(pCoef16 + (6u * ic));
+
+      /*  Twiddle coefficients index modifier */
+      ic = ic + twidCoefModifier;
+
+      /*  Butterfly implementation */
+      for (i0 = j; i0 < fftLen; i0 += n1)
+      {
+        /*  index calculation for the input as, */
+        /*  pSrc16[i0 + 0], pSrc16[i0 + fftLen/4], pSrc16[i0 + fftLen/2], pSrc16[i0 + 3fftLen/4] */
+        i1 = i0 + n2;
+        i2 = i1 + n2;
+        i3 = i2 + n2;
+
+        /*  Reading i0, i0+fftLen/2 inputs */
+        /* Read ya (real), xa(imag) input */
+        T = _SIMD32_OFFSET(pSrc16 + (2u * i0));
+
+        /* Read yc (real), xc(imag) input */
+        S = _SIMD32_OFFSET(pSrc16 + (2u * i2));
+
+        /* R = packed( (ya + yc), (xa + xc)) */
+        R = __QADD16(T, S);
+
+        /* S = packed((ya - yc), (xa - xc)) */
+        S = __QSUB16(T, S);
+
+        /*  Reading i0+fftLen/4 , i0+3fftLen/4 inputs */
+        /* Read yb (real), xb(imag) input */
+        T = _SIMD32_OFFSET(pSrc16 + (2u * i1));
+
+        /* Read yd (real), xd(imag) input */
+        U = _SIMD32_OFFSET(pSrc16 + (2u * i3));
+
+        /* T = packed( (yb + yd), (xb + xd)) */
+        T = __QADD16(T, U);
+
+        /*  writing the butterfly processed i0 sample */
+
+        /* xa' = xa + xb + xc + xd */
+        /* ya' = ya + yb + yc + yd */
+        out1 = __SHADD16(R, T);
+        in = ((int16_t) (out1 & 0xFFFF)) >> 1;
+        out1 = ((out1 >> 1) & 0xFFFF0000) | (in & 0xFFFF);
+        _SIMD32_OFFSET(pSrc16 + (2u * i0)) = out1;
+
+        /* R = packed( (ya + yc) - (yb + yd), (xa + xc) - (xb + xd)) */
+        R = __SHSUB16(R, T);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+        /* (ya-yb+yc-yd)* (si2) + (xa-xb+xc-xd)* co2 */
+        out1 = __SMUAD(C2, R) >> 16u;
+
+        /* (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */
+        out2 = __SMUSDX(C2, R);
+
+#else
+
+        /* (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */
+        out1 = __SMUSDX(R, C2) >> 16u;
+
+        /* (ya-yb+yc-yd)* (si2) + (xa-xb+xc-xd)* co2 */
+        out2 = __SMUAD(C2, R);
+
+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
+
+        /*  Reading i0+3fftLen/4 */
+        /* Read yb (real), xb(imag) input */
+        T = _SIMD32_OFFSET(pSrc16 + (2u * i1));
+
+        /*  writing the butterfly processed i0 + fftLen/4 sample */
+        /* xc' = (xa-xb+xc-xd)* co2 + (ya-yb+yc-yd)* (si2) */
+        /* yc' = (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */
+        _SIMD32_OFFSET(pSrc16 + (2u * i1)) =
+          ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);
+
+        /*  Butterfly calculations */
+
+        /* Read yd (real), xd(imag) input */
+        U = _SIMD32_OFFSET(pSrc16 + (2u * i3));
+
+        /* T = packed(yb-yd, xb-xd) */
+        T = __QSUB16(T, U);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+        /* R = packed((ya-yc) + (xb- xd) , (xa-xc) - (yb-yd)) */
+        R = __SHASX(S, T);
+
+        /* S = packed((ya-yc) - (xb- xd),  (xa-xc) + (yb-yd)) */
+        S = __SHSAX(S, T);
+
+
+        /*  Butterfly process for the i0+fftLen/2 sample */
+        out1 = __SMUAD(C1, S) >> 16u;
+        out2 = __SMUSDX(C1, S);
+
+#else
+
+        /* R = packed((ya-yc) + (xb- xd) , (xa-xc) - (yb-yd)) */
+        R = __SHSAX(S, T);
+
+        /* S = packed((ya-yc) - (xb- xd),  (xa-xc) + (yb-yd)) */
+        S = __SHASX(S, T);
+
+
+        /*  Butterfly process for the i0+fftLen/2 sample */
+        out1 = __SMUSDX(S, C1) >> 16u;
+        out2 = __SMUAD(C1, S);
+
+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
+
+        /* xb' = (xa+yb-xc-yd)* co1 + (ya-xb-yc+xd)* (si1) */
+        /* yb' = (ya-xb-yc+xd)* co1 - (xa+yb-xc-yd)* (si1) */
+        _SIMD32_OFFSET(pSrc16 + (2u * i2)) =
+          ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);
+
+        /*  Butterfly process for the i0+3fftLen/4 sample */
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+        out1 = __SMUAD(C3, R) >> 16u;
+        out2 = __SMUSDX(C3, R);
+
+#else
+
+        out1 = __SMUSDX(R, C3) >> 16u;
+        out2 = __SMUAD(C3, R);
+
+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
+
+        /* xd' = (xa-yb-xc+yd)* co3 + (ya+xb-yc-xd)* (si3) */
+        /* yd' = (ya+xb-yc-xd)* co3 - (xa-yb-xc+yd)* (si3) */
+        _SIMD32_OFFSET(pSrc16 + (2u * i3)) =
+          ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);
+      }
+    }
+    /*  Twiddle coefficients index modifier */
+    twidCoefModifier <<= 2u;
+  }
+  /* end of middle stage process */
+
+
+  /* data is in 10.6(q6) format for the 1024 point */
+  /* data is in 8.8(q8) format for the 256 point */
+  /* data is in 6.10(q10) format for the 64 point */
+  /* data is in 4.12(q12) format for the 16 point */
+
+  /*  Initializations for the last stage */
+  j = fftLen >> 2;
+
+  ptr1 = &pSrc16[0];
+
+  /* start of last stage process */
+
+  /*  Butterfly implementation */
+  do
+  {
+    /* Read xa (real), ya(imag) input */
+    xaya = *__SIMD32(ptr1)++;
+
+    /* Read xb (real), yb(imag) input */
+    xbyb = *__SIMD32(ptr1)++;
+
+    /* Read xc (real), yc(imag) input */
+    xcyc = *__SIMD32(ptr1)++;
+
+    /* Read xd (real), yd(imag) input */
+    xdyd = *__SIMD32(ptr1)++;
+
+    /* R = packed((ya + yc), (xa + xc)) */
+    R = __QADD16(xaya, xcyc);
+
+    /* T = packed((yb + yd), (xb + xd)) */
+    T = __QADD16(xbyb, xdyd);
+
+    /* pointer updation for writing */
+    ptr1 = ptr1 - 8u;
+
+
+    /* xa' = xa + xb + xc + xd */
+    /* ya' = ya + yb + yc + yd */
+    *__SIMD32(ptr1)++ = __SHADD16(R, T);
+
+    /* T = packed((yb + yd), (xb + xd)) */
+    T = __QADD16(xbyb, xdyd);
+
+    /* xc' = (xa-xb+xc-xd) */
+    /* yc' = (ya-yb+yc-yd) */
+    *__SIMD32(ptr1)++ = __SHSUB16(R, T);
+
+    /* S = packed((ya - yc), (xa - xc)) */
+    S = __QSUB16(xaya, xcyc);
+
+    /* Read yd (real), xd(imag) input */
+    /* T = packed( (yb - yd), (xb - xd))  */
+    U = __QSUB16(xbyb, xdyd);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+    /* xb' = (xa+yb-xc-yd) */
+    /* yb' = (ya-xb-yc+xd) */
+    *__SIMD32(ptr1)++ = __SHSAX(S, U);
+
+
+    /* xd' = (xa-yb-xc+yd) */
+    /* yd' = (ya+xb-yc-xd) */
+    *__SIMD32(ptr1)++ = __SHASX(S, U);
+
+#else
+
+    /* xb' = (xa+yb-xc-yd) */
+    /* yb' = (ya-xb-yc+xd) */
+    *__SIMD32(ptr1)++ = __SHASX(S, U);
+
+
+    /* xd' = (xa-yb-xc+yd) */
+    /* yd' = (ya+xb-yc-xd) */
+    *__SIMD32(ptr1)++ = __SHSAX(S, U);
+
+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
+
+  } while(--j);
+
+  /* end of last stage process */
+
+  /* output is in 11.5(q5) format for the 1024 point */
+  /* output is in 9.7(q7) format for the 256 point   */
+  /* output is in 7.9(q9) format for the 64 point  */
+  /* output is in 5.11(q11) format for the 16 point  */
+
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  q15_t R0, R1, S0, S1, T0, T1, U0, U1;
+  q15_t Co1, Si1, Co2, Si2, Co3, Si3, out1, out2;
+  uint32_t n1, n2, ic, i0, i1, i2, i3, j, k;
+
+  /* Total process is divided into three stages */
+
+  /* process first stage, middle stages, & last stage */
+
+  /*  Initializations for the first stage */
+  n2 = fftLen;
+  n1 = n2;
+
+  /* n2 = fftLen/4 */
+  n2 >>= 2u;
+
+  /* Index for twiddle coefficient */
+  ic = 0u;
+
+  /* Index for input read and output write */
+  i0 = 0u;
+  j = n2;
+
+  /* Input is in 1.15(q15) format */
+
+  /*  start of first stage process */
+  do
+  {
+    /*  Butterfly implementation */
+
+    /*  index calculation for the input as, */
+    /*  pSrc16[i0 + 0], pSrc16[i0 + fftLen/4], pSrc16[i0 + fftLen/2], pSrc16[i0 + 3fftLen/4] */
+    i1 = i0 + n2;
+    i2 = i1 + n2;
+    i3 = i2 + n2;
+
+    /*  Reading i0, i0+fftLen/2 inputs */
+
+    /* input is down scale by 4 to avoid overflow */
+    /* Read ya (real), xa(imag) input */
+    T0 = pSrc16[i0 * 2u] >> 2u;
+    T1 = pSrc16[(i0 * 2u) + 1u] >> 2u;
+
+    /* input is down scale by 4 to avoid overflow */
+    /* Read yc (real), xc(imag) input */
+    S0 = pSrc16[i2 * 2u] >> 2u;
+    S1 = pSrc16[(i2 * 2u) + 1u] >> 2u;
+
+    /* R0 = (ya + yc) */
+    R0 = __SSAT(T0 + S0, 16u);
+    /* R1 = (xa + xc) */
+    R1 = __SSAT(T1 + S1, 16u);
+
+    /* S0 = (ya - yc) */
+    S0 = __SSAT(T0 - S0, 16);
+    /* S1 = (xa - xc) */
+    S1 = __SSAT(T1 - S1, 16);
+
+    /*  Reading i0+fftLen/4 , i0+3fftLen/4 inputs */
+    /* input is down scale by 4 to avoid overflow */
+    /* Read yb (real), xb(imag) input */
+    T0 = pSrc16[i1 * 2u] >> 2u;
+    T1 = pSrc16[(i1 * 2u) + 1u] >> 2u;
+
+    /* input is down scale by 4 to avoid overflow */
+    /* Read yd (real), xd(imag) input */
+    U0 = pSrc16[i3 * 2u] >> 2u;
+    U1 = pSrc16[(i3 * 2u) + 1] >> 2u;
+
+    /* T0 = (yb + yd) */
+    T0 = __SSAT(T0 + U0, 16u);
+    /* T1 = (xb + xd) */
+    T1 = __SSAT(T1 + U1, 16u);
+
+    /*  writing the butterfly processed i0 sample */
+    /* ya' = ya + yb + yc + yd */
+    /* xa' = xa + xb + xc + xd */
+    pSrc16[i0 * 2u] = (R0 >> 1u) + (T0 >> 1u);
+    pSrc16[(i0 * 2u) + 1u] = (R1 >> 1u) + (T1 >> 1u);
+
+    /* R0 = (ya + yc) - (yb + yd) */
+    /* R1 = (xa + xc) - (xb + xd) */
+    R0 = __SSAT(R0 - T0, 16u);
+    R1 = __SSAT(R1 - T1, 16u);
+
+    /* co2 & si2 are read from Coefficient pointer */
+    Co2 = pCoef16[2u * ic * 2u];
+    Si2 = pCoef16[(2u * ic * 2u) + 1];
+
+    /* xc' = (xa-xb+xc-xd)* co2 + (ya-yb+yc-yd)* (si2) */
+    out1 = (short) ((Co2 * R0 + Si2 * R1) >> 16u);
+    /* yc' = (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */
+    out2 = (short) ((-Si2 * R0 + Co2 * R1) >> 16u);
+
+    /*  Reading i0+fftLen/4 */
+    /* input is down scale by 4 to avoid overflow */
+    /* T0 = yb, T1 =  xb */
+    T0 = pSrc16[i1 * 2u] >> 2;
+    T1 = pSrc16[(i1 * 2u) + 1] >> 2;
+
+    /* writing the butterfly processed i0 + fftLen/4 sample */
+    /* writing output(xc', yc') in little endian format */
+    pSrc16[i1 * 2u] = out1;
+    pSrc16[(i1 * 2u) + 1] = out2;
+
+    /*  Butterfly calculations */
+    /* input is down scale by 4 to avoid overflow */
+    /* U0 = yd, U1 = xd */
+    U0 = pSrc16[i3 * 2u] >> 2;
+    U1 = pSrc16[(i3 * 2u) + 1] >> 2;
+    /* T0 = yb-yd */
+    T0 = __SSAT(T0 - U0, 16);
+    /* T1 = xb-xd */
+    T1 = __SSAT(T1 - U1, 16);
+
+    /* R1 = (ya-yc) + (xb- xd),  R0 = (xa-xc) - (yb-yd)) */
+    R0 = (short) __SSAT((q31_t) (S0 - T1), 16);
+    R1 = (short) __SSAT((q31_t) (S1 + T0), 16);
+
+    /* S1 = (ya-yc) - (xb- xd), S0 = (xa-xc) + (yb-yd)) */
+    S0 = (short) __SSAT(((q31_t) S0 + T1), 16u);
+    S1 = (short) __SSAT(((q31_t) S1 - T0), 16u);
+
+    /* co1 & si1 are read from Coefficient pointer */
+    Co1 = pCoef16[ic * 2u];
+    Si1 = pCoef16[(ic * 2u) + 1];
+    /*  Butterfly process for the i0+fftLen/2 sample */
+    /* xb' = (xa+yb-xc-yd)* co1 + (ya-xb-yc+xd)* (si1) */
+    out1 = (short) ((Si1 * S1 + Co1 * S0) >> 16);
+    /* yb' = (ya-xb-yc+xd)* co1 - (xa+yb-xc-yd)* (si1) */
+    out2 = (short) ((-Si1 * S0 + Co1 * S1) >> 16);
+
+    /* writing output(xb', yb') in little endian format */
+    pSrc16[i2 * 2u] = out1;
+    pSrc16[(i2 * 2u) + 1] = out2;
+
+    /* Co3 & si3 are read from Coefficient pointer */
+    Co3 = pCoef16[3u * (ic * 2u)];
+    Si3 = pCoef16[(3u * (ic * 2u)) + 1];
+    /*  Butterfly process for the i0+3fftLen/4 sample */
+    /* xd' = (xa-yb-xc+yd)* Co3 + (ya+xb-yc-xd)* (si3) */
+    out1 = (short) ((Si3 * R1 + Co3 * R0) >> 16u);
+    /* yd' = (ya+xb-yc-xd)* Co3 - (xa-yb-xc+yd)* (si3) */
+    out2 = (short) ((-Si3 * R0 + Co3 * R1) >> 16u);
+    /* writing output(xd', yd') in little endian format */
+    pSrc16[i3 * 2u] = out1;
+    pSrc16[(i3 * 2u) + 1] = out2;
+
+    /*  Twiddle coefficients index modifier */
+    ic = ic + twidCoefModifier;
+
+    /*  Updating input index */
+    i0 = i0 + 1u;
+
+  } while(--j);
+  /* data is in 4.11(q11) format */
+
+  /* end of first stage process */
+
+
+  /* start of middle stage process */
+
+  /*  Twiddle coefficients index modifier */
+  twidCoefModifier <<= 2u;
+
+  /*  Calculation of Middle stage */
+  for (k = fftLen / 4u; k > 4u; k >>= 2u)
+  {
+    /*  Initializations for the middle stage */
+    n1 = n2;
+    n2 >>= 2u;
+    ic = 0u;
+
+    for (j = 0u; j <= (n2 - 1u); j++)
+    {
+      /*  index calculation for the coefficients */
+      Co1 = pCoef16[ic * 2u];
+      Si1 = pCoef16[(ic * 2u) + 1u];
+      Co2 = pCoef16[2u * (ic * 2u)];
+      Si2 = pCoef16[(2u * (ic * 2u)) + 1u];
+      Co3 = pCoef16[3u * (ic * 2u)];
+      Si3 = pCoef16[(3u * (ic * 2u)) + 1u];
+
+      /*  Twiddle coefficients index modifier */
+      ic = ic + twidCoefModifier;
+
+      /*  Butterfly implementation */
+      for (i0 = j; i0 < fftLen; i0 += n1)
+      {
+        /*  index calculation for the input as, */
+        /*  pSrc16[i0 + 0], pSrc16[i0 + fftLen/4], pSrc16[i0 + fftLen/2], pSrc16[i0 + 3fftLen/4] */
+        i1 = i0 + n2;
+        i2 = i1 + n2;
+        i3 = i2 + n2;
+
+        /*  Reading i0, i0+fftLen/2 inputs */
+        /* Read ya (real), xa(imag) input */
+        T0 = pSrc16[i0 * 2u];
+        T1 = pSrc16[(i0 * 2u) + 1u];
+
+        /* Read yc (real), xc(imag) input */
+        S0 = pSrc16[i2 * 2u];
+        S1 = pSrc16[(i2 * 2u) + 1u];
+
+        /* R0 = (ya + yc), R1 = (xa + xc) */
+        R0 = __SSAT(T0 + S0, 16);
+        R1 = __SSAT(T1 + S1, 16);
+
+        /* S0 = (ya - yc), S1 =(xa - xc) */
+        S0 = __SSAT(T0 - S0, 16);
+        S1 = __SSAT(T1 - S1, 16);
+
+        /*  Reading i0+fftLen/4 , i0+3fftLen/4 inputs */
+        /* Read yb (real), xb(imag) input */
+        T0 = pSrc16[i1 * 2u];
+        T1 = pSrc16[(i1 * 2u) + 1u];
+
+        /* Read yd (real), xd(imag) input */
+        U0 = pSrc16[i3 * 2u];
+        U1 = pSrc16[(i3 * 2u) + 1u];
+
+
+        /* T0 = (yb + yd), T1 = (xb + xd) */
+        T0 = __SSAT(T0 + U0, 16);
+        T1 = __SSAT(T1 + U1, 16);
+
+        /*  writing the butterfly processed i0 sample */
+
+        /* xa' = xa + xb + xc + xd */
+        /* ya' = ya + yb + yc + yd */
+        out1 = ((R0 >> 1u) + (T0 >> 1u)) >> 1u;
+        out2 = ((R1 >> 1u) + (T1 >> 1u)) >> 1u;
+
+        pSrc16[i0 * 2u] = out1;
+        pSrc16[(2u * i0) + 1u] = out2;
+
+        /* R0 = (ya + yc) - (yb + yd), R1 = (xa + xc) - (xb + xd) */
+        R0 = (R0 >> 1u) - (T0 >> 1u);
+        R1 = (R1 >> 1u) - (T1 >> 1u);
+
+        /* (ya-yb+yc-yd)* (si2) + (xa-xb+xc-xd)* co2 */
+        out1 = (short) ((Co2 * R0 + Si2 * R1) >> 16u);
+
+        /* (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */
+        out2 = (short) ((-Si2 * R0 + Co2 * R1) >> 16u);
+
+        /*  Reading i0+3fftLen/4 */
+        /* Read yb (real), xb(imag) input */
+        T0 = pSrc16[i1 * 2u];
+        T1 = pSrc16[(i1 * 2u) + 1u];
+
+        /*  writing the butterfly processed i0 + fftLen/4 sample */
+        /* xc' = (xa-xb+xc-xd)* co2 + (ya-yb+yc-yd)* (si2) */
+        /* yc' = (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */
+        pSrc16[i1 * 2u] = out1;
+        pSrc16[(i1 * 2u) + 1u] = out2;
+
+        /*  Butterfly calculations */
+
+        /* Read yd (real), xd(imag) input */
+        U0 = pSrc16[i3 * 2u];
+        U1 = pSrc16[(i3 * 2u) + 1u];
+
+        /* T0 = yb-yd, T1 = xb-xd */
+        T0 = __SSAT(T0 - U0, 16);
+        T1 = __SSAT(T1 - U1, 16);
+
+        /* R0 = (ya-yc) + (xb- xd), R1 = (xa-xc) - (yb-yd)) */
+        R0 = (S0 >> 1u) - (T1 >> 1u);
+        R1 = (S1 >> 1u) + (T0 >> 1u);
+
+        /* S0 = (ya-yc) - (xb- xd), S1 = (xa-xc) + (yb-yd)) */
+        S0 = (S0 >> 1u) + (T1 >> 1u);
+        S1 = (S1 >> 1u) - (T0 >> 1u);
+
+        /*  Butterfly process for the i0+fftLen/2 sample */
+        out1 = (short) ((Co1 * S0 + Si1 * S1) >> 16u);
+
+        out2 = (short) ((-Si1 * S0 + Co1 * S1) >> 16u);
+
+        /* xb' = (xa+yb-xc-yd)* co1 + (ya-xb-yc+xd)* (si1) */
+        /* yb' = (ya-xb-yc+xd)* co1 - (xa+yb-xc-yd)* (si1) */
+        pSrc16[i2 * 2u] = out1;
+        pSrc16[(i2 * 2u) + 1u] = out2;
+
+        /*  Butterfly process for the i0+3fftLen/4 sample */
+        out1 = (short) ((Si3 * R1 + Co3 * R0) >> 16u);
+
+        out2 = (short) ((-Si3 * R0 + Co3 * R1) >> 16u);
+        /* xd' = (xa-yb-xc+yd)* Co3 + (ya+xb-yc-xd)* (si3) */
+        /* yd' = (ya+xb-yc-xd)* Co3 - (xa-yb-xc+yd)* (si3) */
+        pSrc16[i3 * 2u] = out1;
+        pSrc16[(i3 * 2u) + 1u] = out2;
+      }
+    }
+    /*  Twiddle coefficients index modifier */
+    twidCoefModifier <<= 2u;
+  }
+  /* end of middle stage process */
+
+
+  /* data is in 10.6(q6) format for the 1024 point */
+  /* data is in 8.8(q8) format for the 256 point */
+  /* data is in 6.10(q10) format for the 64 point */
+  /* data is in 4.12(q12) format for the 16 point */
+
+  /*  Initializations for the last stage */
+  n1 = n2;
+  n2 >>= 2u;
+
+  /* start of last stage process */
+
+  /*  Butterfly implementation */
+  for (i0 = 0u; i0 <= (fftLen - n1); i0 += n1)
+  {
+    /*  index calculation for the input as, */
+    /*  pSrc16[i0 + 0], pSrc16[i0 + fftLen/4], pSrc16[i0 + fftLen/2], pSrc16[i0 + 3fftLen/4] */
+    i1 = i0 + n2;
+    i2 = i1 + n2;
+    i3 = i2 + n2;
+
+    /*  Reading i0, i0+fftLen/2 inputs */
+    /* Read ya (real), xa(imag) input */
+    T0 = pSrc16[i0 * 2u];
+    T1 = pSrc16[(i0 * 2u) + 1u];
+
+    /* Read yc (real), xc(imag) input */
+    S0 = pSrc16[i2 * 2u];
+    S1 = pSrc16[(i2 * 2u) + 1u];
+
+    /* R0 = (ya + yc), R1 = (xa + xc) */
+    R0 = __SSAT(T0 + S0, 16u);
+    R1 = __SSAT(T1 + S1, 16u);
+
+    /* S0 = (ya - yc), S1 = (xa - xc) */
+    S0 = __SSAT(T0 - S0, 16u);
+    S1 = __SSAT(T1 - S1, 16u);
+
+    /*  Reading i0+fftLen/4 , i0+3fftLen/4 inputs */
+    /* Read yb (real), xb(imag) input */
+    T0 = pSrc16[i1 * 2u];
+    T1 = pSrc16[(i1 * 2u) + 1u];
+    /* Read yd (real), xd(imag) input */
+    U0 = pSrc16[i3 * 2u];
+    U1 = pSrc16[(i3 * 2u) + 1u];
+
+    /* T0 = (yb + yd), T1 = (xb + xd)) */
+    T0 = __SSAT(T0 + U0, 16u);
+    T1 = __SSAT(T1 + U1, 16u);
+
+    /*  writing the butterfly processed i0 sample */
+    /* xa' = xa + xb + xc + xd */
+    /* ya' = ya + yb + yc + yd */
+    pSrc16[i0 * 2u] = (R0 >> 1u) + (T0 >> 1u);
+    pSrc16[(i0 * 2u) + 1u] = (R1 >> 1u) + (T1 >> 1u);
+
+    /* R0 = (ya + yc) - (yb + yd), R1 = (xa + xc) - (xb + xd) */
+    R0 = (R0 >> 1u) - (T0 >> 1u);
+    R1 = (R1 >> 1u) - (T1 >> 1u);
+    /* Read yb (real), xb(imag) input */
+    T0 = pSrc16[i1 * 2u];
+    T1 = pSrc16[(i1 * 2u) + 1u];
+
+    /*  writing the butterfly processed i0 + fftLen/4 sample */
+    /* xc' = (xa-xb+xc-xd) */
+    /* yc' = (ya-yb+yc-yd) */
+    pSrc16[i1 * 2u] = R0;
+    pSrc16[(i1 * 2u) + 1u] = R1;
+
+    /* Read yd (real), xd(imag) input */
+    U0 = pSrc16[i3 * 2u];
+    U1 = pSrc16[(i3 * 2u) + 1u];
+    /* T0 = (yb - yd), T1 = (xb - xd)  */
+    T0 = __SSAT(T0 - U0, 16u);
+    T1 = __SSAT(T1 - U1, 16u);
+
+    /*  writing the butterfly processed i0 + fftLen/2 sample */
+    /* xb' = (xa+yb-xc-yd) */
+    /* yb' = (ya-xb-yc+xd) */
+    pSrc16[i2 * 2u] = (S0 >> 1u) + (T1 >> 1u);
+    pSrc16[(i2 * 2u) + 1u] = (S1 >> 1u) - (T0 >> 1u);
+
+    /*  writing the butterfly processed i0 + 3fftLen/4 sample */
+    /* xd' = (xa-yb-xc+yd) */
+    /* yd' = (ya+xb-yc-xd) */
+    pSrc16[i3 * 2u] = (S0 >> 1u) - (T1 >> 1u);
+    pSrc16[(i3 * 2u) + 1u] = (S1 >> 1u) + (T0 >> 1u);
+
+  }
+
+  /* end of last stage process */
+
+  /* output is in 11.5(q5) format for the 1024 point */
+  /* output is in 9.7(q7) format for the 256 point   */
+  /* output is in 7.9(q9) format for the 64 point  */
+  /* output is in 5.11(q11) format for the 16 point  */
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+
+/**    
+ * @brief  Core function for the Q15 CIFFT butterfly process.   
+ * @param[in, out] *pSrc16          points to the in-place buffer of Q15 data type.   
+ * @param[in]      fftLen           length of the FFT.   
+ * @param[in]      *pCoef16         points to twiddle coefficient buffer.   
+ * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.   
+ * @return none.   
+ */
+
+/*    
+* Radix-4 IFFT algorithm used is :    
+*    
+* CIFFT uses same twiddle coefficients as CFFT function    
+*  x[k] = x[n] + (j)k * x[n + fftLen/4] + (-1)k * x[n+fftLen/2] + (-j)k * x[n+3*fftLen/4]    
+*    
+*    
+* IFFT is implemented with following changes in equations from FFT    
+*    
+* Input real and imaginary data:    
+* x(n) = xa + j * ya    
+* x(n+N/4 ) = xb + j * yb    
+* x(n+N/2 ) = xc + j * yc    
+* x(n+3N 4) = xd + j * yd    
+*    
+*    
+* Output real and imaginary data:    
+* x(4r) = xa'+ j * ya'    
+* x(4r+1) = xb'+ j * yb'    
+* x(4r+2) = xc'+ j * yc'    
+* x(4r+3) = xd'+ j * yd'    
+*    
+*    
+* Twiddle factors for radix-4 IFFT:    
+* Wn = co1 + j * (si1)    
+* W2n = co2 + j * (si2)    
+* W3n = co3 + j * (si3)    
+    
+* The real and imaginary output values for the radix-4 butterfly are    
+* xa' = xa + xb + xc + xd    
+* ya' = ya + yb + yc + yd    
+* xb' = (xa-yb-xc+yd)* co1 - (ya+xb-yc-xd)* (si1)    
+* yb' = (ya+xb-yc-xd)* co1 + (xa-yb-xc+yd)* (si1)    
+* xc' = (xa-xb+xc-xd)* co2 - (ya-yb+yc-yd)* (si2)    
+* yc' = (ya-yb+yc-yd)* co2 + (xa-xb+xc-xd)* (si2)    
+* xd' = (xa+yb-xc-yd)* co3 - (ya-xb-yc+xd)* (si3)    
+* yd' = (ya-xb-yc+xd)* co3 + (xa+yb-xc-yd)* (si3)    
+*    
+*/
+
+void arm_radix4_butterfly_inverse_q15(
+  q15_t * pSrc16,
+  uint32_t fftLen,
+  q15_t * pCoef16,
+  uint32_t twidCoefModifier)
+{
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q31_t R, S, T, U;
+  q31_t C1, C2, C3, out1, out2;
+  uint32_t n1, n2, ic, i0, i1, i2, i3, j, k;
+  q15_t in;
+
+  q15_t *ptr1;
+
+
+
+  q31_t xaya, xbyb, xcyc, xdyd;
+
+  /* Total process is divided into three stages */
+
+  /* process first stage, middle stages, & last stage */
+
+  /*  Initializations for the first stage */
+  n2 = fftLen;
+  n1 = n2;
+
+  /* n2 = fftLen/4 */
+  n2 >>= 2u;
+
+  /* Index for twiddle coefficient */
+  ic = 0u;
+
+  /* Index for input read and output write */
+  i0 = 0u;
+  j = n2;
+
+  /* Input is in 1.15(q15) format */
+
+  /*  start of first stage process */
+  do
+  {
+    /*  Butterfly implementation */
+
+    /*  index calculation for the input as, */
+    /*  pSrc16[i0 + 0], pSrc16[i0 + fftLen/4], pSrc16[i0 + fftLen/2], pSrc16[i0 + 3fftLen/4] */
+    i1 = i0 + n2;
+    i2 = i1 + n2;
+    i3 = i2 + n2;
+
+    /*  Reading i0, i0+fftLen/2 inputs */
+    /* Read ya (real), xa(imag) input */
+    T = _SIMD32_OFFSET(pSrc16 + (2u * i0));
+    in = ((int16_t) (T & 0xFFFF)) >> 2;
+    T = ((T >> 2) & 0xFFFF0000) | (in & 0xFFFF);
+
+    /* Read yc (real), xc(imag) input */
+    S = _SIMD32_OFFSET(pSrc16 + (2u * i2));
+    in = ((int16_t) (S & 0xFFFF)) >> 2;
+    S = ((S >> 2) & 0xFFFF0000) | (in & 0xFFFF);
+
+    /* R = packed((ya + yc), (xa + xc) ) */
+    R = __QADD16(T, S);
+
+    /* S = packed((ya - yc), (xa - xc) ) */
+    S = __QSUB16(T, S);
+
+    /*  Reading i0+fftLen/4 , i0+3fftLen/4 inputs */
+    /* Read yb (real), xb(imag) input */
+    T = _SIMD32_OFFSET(pSrc16 + (2u * i1));
+    in = ((int16_t) (T & 0xFFFF)) >> 2;
+    T = ((T >> 2) & 0xFFFF0000) | (in & 0xFFFF);
+
+    /* Read yd (real), xd(imag) input */
+    U = _SIMD32_OFFSET(pSrc16 + (2u * i3));
+    in = ((int16_t) (U & 0xFFFF)) >> 2;
+    U = ((U >> 2) & 0xFFFF0000) | (in & 0xFFFF);
+
+    /* T = packed((yb + yd), (xb + xd) ) */
+    T = __QADD16(T, U);
+
+    /*  writing the butterfly processed i0 sample */
+    /* xa' = xa + xb + xc + xd */
+    /* ya' = ya + yb + yc + yd */
+    _SIMD32_OFFSET(pSrc16 + (2u * i0)) = __SHADD16(R, T);
+
+    /* R = packed((ya + yc) - (yb + yd), (xa + xc)- (xb + xd)) */
+    R = __QSUB16(R, T);
+
+    /* co2 & si2 are read from SIMD Coefficient pointer */
+    C2 = _SIMD32_OFFSET(pCoef16 + (4u * ic));
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+    /* xc' = (xa-xb+xc-xd)* co2 + (ya-yb+yc-yd)* (si2) */
+    out1 = __SMUSD(C2, R) >> 16u;
+    /* yc' = (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */
+    out2 = __SMUADX(C2, R);
+
+#else
+
+    /* xc' = (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */
+    out1 = __SMUADX(C2, R) >> 16u;
+    /* yc' = (xa-xb+xc-xd)* co2 + (ya-yb+yc-yd)* (si2) */
+    out2 = __SMUSD(__QSUB16(0, C2), R);
+
+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
+
+    /*  Reading i0+fftLen/4 */
+    /* T = packed(yb, xb) */
+    T = _SIMD32_OFFSET(pSrc16 + (2u * i1));
+    in = ((int16_t) (T & 0xFFFF)) >> 2;
+    T = ((T >> 2) & 0xFFFF0000) | (in & 0xFFFF);
+
+    /* writing the butterfly processed i0 + fftLen/4 sample */
+    /* writing output(xc', yc') in little endian format */
+    _SIMD32_OFFSET(pSrc16 + (2u * i1)) =
+      (q31_t) ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);
+
+    /*  Butterfly calculations */
+    /* U = packed(yd, xd) */
+    U = _SIMD32_OFFSET(pSrc16 + (2u * i3));
+    in = ((int16_t) (U & 0xFFFF)) >> 2;
+    U = ((U >> 2) & 0xFFFF0000) | (in & 0xFFFF);
+
+    /* T = packed(yb-yd, xb-xd) */
+    T = __QSUB16(T, U);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+    /* R = packed((ya-yc) + (xb- xd) , (xa-xc) - (yb-yd)) */
+    R = __QSAX(S, T);
+    /* S = packed((ya-yc) + (xb- xd),  (xa-xc) - (yb-yd)) */
+    S = __QASX(S, T);
+
+#else
+
+    /* R = packed((ya-yc) + (xb- xd) , (xa-xc) - (yb-yd)) */
+    R = __QASX(S, T);
+    /* S = packed((ya-yc) - (xb- xd),  (xa-xc) + (yb-yd)) */
+    S = __QSAX(S, T);
+
+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
+
+    /* co1 & si1 are read from SIMD Coefficient pointer */
+    C1 = _SIMD32_OFFSET(pCoef16 + (2u * ic));
+    /*  Butterfly process for the i0+fftLen/2 sample */
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+    /* xb' = (xa+yb-xc-yd)* co1 + (ya-xb-yc+xd)* (si1) */
+    out1 = __SMUSD(C1, S) >> 16u;
+    /* yb' = (ya-xb-yc+xd)* co1 - (xa+yb-xc-yd)* (si1) */
+    out2 = __SMUADX(C1, S);
+
+#else
+
+    /* xb' = (ya-xb-yc+xd)* co1 - (xa+yb-xc-yd)* (si1) */
+    out1 = __SMUADX(C1, S) >> 16u;
+    /* yb' = (xa+yb-xc-yd)* co1 + (ya-xb-yc+xd)* (si1) */
+    out2 = __SMUSD(__QSUB16(0, C1), S);
+
+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
+
+    /* writing output(xb', yb') in little endian format */
+    _SIMD32_OFFSET(pSrc16 + (2u * i2)) =
+      ((out2) & 0xFFFF0000) | ((out1) & 0x0000FFFF);
+
+
+    /* co3 & si3 are read from SIMD Coefficient pointer */
+    C3 = _SIMD32_OFFSET(pCoef16 + (6u * ic));
+    /*  Butterfly process for the i0+3fftLen/4 sample */
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+    /* xd' = (xa-yb-xc+yd)* co3 + (ya+xb-yc-xd)* (si3) */
+    out1 = __SMUSD(C3, R) >> 16u;
+    /* yd' = (ya+xb-yc-xd)* co3 - (xa-yb-xc+yd)* (si3) */
+    out2 = __SMUADX(C3, R);
+
+#else
+
+    /* xd' = (ya+xb-yc-xd)* co3 - (xa-yb-xc+yd)* (si3) */
+    out1 = __SMUADX(C3, R) >> 16u;
+    /* yd' = (xa-yb-xc+yd)* co3 + (ya+xb-yc-xd)* (si3) */
+    out2 = __SMUSD(__QSUB16(0, C3), R);
+
+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
+
+    /* writing output(xd', yd') in little endian format */
+    _SIMD32_OFFSET(pSrc16 + (2u * i3)) =
+      ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);
+
+    /*  Twiddle coefficients index modifier */
+    ic = ic + twidCoefModifier;
+
+    /*  Updating input index */
+    i0 = i0 + 1u;
+
+  } while(--j);
+  /* data is in 4.11(q11) format */
+
+  /* end of first stage process */
+
+
+  /* start of middle stage process */
+
+  /*  Twiddle coefficients index modifier */
+  twidCoefModifier <<= 2u;
+
+  /*  Calculation of Middle stage */
+  for (k = fftLen / 4u; k > 4u; k >>= 2u)
+  {
+    /*  Initializations for the middle stage */
+    n1 = n2;
+    n2 >>= 2u;
+    ic = 0u;
+
+    for (j = 0u; j <= (n2 - 1u); j++)
+    {
+      /*  index calculation for the coefficients */
+      C1 = _SIMD32_OFFSET(pCoef16 + (2u * ic));
+      C2 = _SIMD32_OFFSET(pCoef16 + (4u * ic));
+      C3 = _SIMD32_OFFSET(pCoef16 + (6u * ic));
+
+      /*  Twiddle coefficients index modifier */
+      ic = ic + twidCoefModifier;
+
+      /*  Butterfly implementation */
+      for (i0 = j; i0 < fftLen; i0 += n1)
+      {
+        /*  index calculation for the input as, */
+        /*  pSrc16[i0 + 0], pSrc16[i0 + fftLen/4], pSrc16[i0 + fftLen/2], pSrc16[i0 + 3fftLen/4] */
+        i1 = i0 + n2;
+        i2 = i1 + n2;
+        i3 = i2 + n2;
+
+        /*  Reading i0, i0+fftLen/2 inputs */
+        /* Read ya (real), xa(imag) input */
+        T = _SIMD32_OFFSET(pSrc16 + (2u * i0));
+
+        /* Read yc (real), xc(imag) input */
+        S = _SIMD32_OFFSET(pSrc16 + (2u * i2));
+
+        /* R = packed( (ya + yc), (xa + xc)) */
+        R = __QADD16(T, S);
+
+        /* S = packed((ya - yc), (xa - xc)) */
+        S = __QSUB16(T, S);
+
+        /*  Reading i0+fftLen/4 , i0+3fftLen/4 inputs */
+        /* Read yb (real), xb(imag) input */
+        T = _SIMD32_OFFSET(pSrc16 + (2u * i1));
+
+        /* Read yd (real), xd(imag) input */
+        U = _SIMD32_OFFSET(pSrc16 + (2u * i3));
+
+        /* T = packed( (yb + yd), (xb + xd)) */
+        T = __QADD16(T, U);
+
+        /*  writing the butterfly processed i0 sample */
+
+        /* xa' = xa + xb + xc + xd */
+        /* ya' = ya + yb + yc + yd */
+        out1 = __SHADD16(R, T);
+        in = ((int16_t) (out1 & 0xFFFF)) >> 1;
+        out1 = ((out1 >> 1) & 0xFFFF0000) | (in & 0xFFFF);
+        _SIMD32_OFFSET(pSrc16 + (2u * i0)) = out1;
+
+        /* R = packed( (ya + yc) - (yb + yd), (xa + xc) - (xb + xd)) */
+        R = __SHSUB16(R, T);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+        /* (ya-yb+yc-yd)* (si2) + (xa-xb+xc-xd)* co2 */
+        out1 = __SMUSD(C2, R) >> 16u;
+
+        /* (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */
+        out2 = __SMUADX(C2, R);
+
+#else
+
+        /* (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */
+        out1 = __SMUADX(R, C2) >> 16u;
+
+        /* (ya-yb+yc-yd)* (si2) + (xa-xb+xc-xd)* co2 */
+        out2 = __SMUSD(__QSUB16(0, C2), R);
+
+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
+
+        /*  Reading i0+3fftLen/4 */
+        /* Read yb (real), xb(imag) input */
+        T = _SIMD32_OFFSET(pSrc16 + (2u * i1));
+
+        /*  writing the butterfly processed i0 + fftLen/4 sample */
+        /* xc' = (xa-xb+xc-xd)* co2 + (ya-yb+yc-yd)* (si2) */
+        /* yc' = (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */
+        _SIMD32_OFFSET(pSrc16 + (2u * i1)) =
+          ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);
+
+        /*  Butterfly calculations */
+
+        /* Read yd (real), xd(imag) input */
+        U = _SIMD32_OFFSET(pSrc16 + (2u * i3));
+
+        /* T = packed(yb-yd, xb-xd) */
+        T = __QSUB16(T, U);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+        /* R = packed((ya-yc) + (xb- xd) , (xa-xc) - (yb-yd)) */
+        R = __SHSAX(S, T);
+
+        /* S = packed((ya-yc) - (xb- xd),  (xa-xc) + (yb-yd)) */
+        S = __SHASX(S, T);
+
+
+        /*  Butterfly process for the i0+fftLen/2 sample */
+        out1 = __SMUSD(C1, S) >> 16u;
+        out2 = __SMUADX(C1, S);
+
+#else
+
+        /* R = packed((ya-yc) + (xb- xd) , (xa-xc) - (yb-yd)) */
+        R = __SHASX(S, T);
+
+        /* S = packed((ya-yc) - (xb- xd),  (xa-xc) + (yb-yd)) */
+        S = __SHSAX(S, T);
+
+
+        /*  Butterfly process for the i0+fftLen/2 sample */
+        out1 = __SMUADX(S, C1) >> 16u;
+        out2 = __SMUSD(__QSUB16(0, C1), S);
+
+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
+
+        /* xb' = (xa+yb-xc-yd)* co1 + (ya-xb-yc+xd)* (si1) */
+        /* yb' = (ya-xb-yc+xd)* co1 - (xa+yb-xc-yd)* (si1) */
+        _SIMD32_OFFSET(pSrc16 + (2u * i2)) =
+          ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);
+
+        /*  Butterfly process for the i0+3fftLen/4 sample */
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+        out1 = __SMUSD(C3, R) >> 16u;
+        out2 = __SMUADX(C3, R);
+
+#else
+
+        out1 = __SMUADX(C3, R) >> 16u;
+        out2 = __SMUSD(__QSUB16(0, C3), R);
+
+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
+
+        /* xd' = (xa-yb-xc+yd)* co3 + (ya+xb-yc-xd)* (si3) */
+        /* yd' = (ya+xb-yc-xd)* co3 - (xa-yb-xc+yd)* (si3) */
+        _SIMD32_OFFSET(pSrc16 + (2u * i3)) =
+          ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);
+      }
+    }
+    /*  Twiddle coefficients index modifier */
+    twidCoefModifier <<= 2u;
+  }
+  /* end of middle stage process */
+
+  /* data is in 10.6(q6) format for the 1024 point */
+  /* data is in 8.8(q8) format for the 256 point */
+  /* data is in 6.10(q10) format for the 64 point */
+  /* data is in 4.12(q12) format for the 16 point */
+
+  /*  Initializations for the last stage */
+  j = fftLen >> 2;
+
+  ptr1 = &pSrc16[0];
+
+  /* start of last stage process */
+
+  /*  Butterfly implementation */
+  do
+  {
+    /* Read xa (real), ya(imag) input */
+    xaya = *__SIMD32(ptr1)++;
+
+    /* Read xb (real), yb(imag) input */
+    xbyb = *__SIMD32(ptr1)++;
+
+    /* Read xc (real), yc(imag) input */
+    xcyc = *__SIMD32(ptr1)++;
+
+    /* Read xd (real), yd(imag) input */
+    xdyd = *__SIMD32(ptr1)++;
+
+    /* R = packed((ya + yc), (xa + xc)) */
+    R = __QADD16(xaya, xcyc);
+
+    /* T = packed((yb + yd), (xb + xd)) */
+    T = __QADD16(xbyb, xdyd);
+
+    /* pointer updation for writing */
+    ptr1 = ptr1 - 8u;
+
+
+    /* xa' = xa + xb + xc + xd */
+    /* ya' = ya + yb + yc + yd */
+    *__SIMD32(ptr1)++ = __SHADD16(R, T);
+
+    /* T = packed((yb + yd), (xb + xd)) */
+    T = __QADD16(xbyb, xdyd);
+
+    /* xc' = (xa-xb+xc-xd) */
+    /* yc' = (ya-yb+yc-yd) */
+    *__SIMD32(ptr1)++ = __SHSUB16(R, T);
+
+    /* S = packed((ya - yc), (xa - xc)) */
+    S = __QSUB16(xaya, xcyc);
+
+    /* Read yd (real), xd(imag) input */
+    /* T = packed( (yb - yd), (xb - xd))  */
+    U = __QSUB16(xbyb, xdyd);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+    /* xb' = (xa+yb-xc-yd) */
+    /* yb' = (ya-xb-yc+xd) */
+    *__SIMD32(ptr1)++ = __SHASX(S, U);
+
+
+    /* xd' = (xa-yb-xc+yd) */
+    /* yd' = (ya+xb-yc-xd) */
+    *__SIMD32(ptr1)++ = __SHSAX(S, U);
+
+#else
+
+    /* xb' = (xa+yb-xc-yd) */
+    /* yb' = (ya-xb-yc+xd) */
+    *__SIMD32(ptr1)++ = __SHSAX(S, U);
+
+
+    /* xd' = (xa-yb-xc+yd) */
+    /* yd' = (ya+xb-yc-xd) */
+    *__SIMD32(ptr1)++ = __SHASX(S, U);
+
+
+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
+
+  } while(--j);
+
+  /* end of last stage  process */
+
+  /* output is in 11.5(q5) format for the 1024 point */
+  /* output is in 9.7(q7) format for the 256 point   */
+  /* output is in 7.9(q9) format for the 64 point  */
+  /* output is in 5.11(q11) format for the 16 point  */
+
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  q15_t R0, R1, S0, S1, T0, T1, U0, U1;
+  q15_t Co1, Si1, Co2, Si2, Co3, Si3, out1, out2;
+  uint32_t n1, n2, ic, i0, i1, i2, i3, j, k;
+
+  /* Total process is divided into three stages */
+
+  /* process first stage, middle stages, & last stage */
+
+  /*  Initializations for the first stage */
+  n2 = fftLen;
+  n1 = n2;
+
+  /* n2 = fftLen/4 */
+  n2 >>= 2u;
+
+  /* Index for twiddle coefficient */
+  ic = 0u;
+
+  /* Index for input read and output write */
+  i0 = 0u;
+
+  j = n2;
+
+  /* Input is in 1.15(q15) format */
+
+  /*  Start of first stage process */
+  do
+  {
+    /*  Butterfly implementation */
+
+    /*  index calculation for the input as, */
+    /*  pSrc16[i0 + 0], pSrc16[i0 + fftLen/4], pSrc16[i0 + fftLen/2], pSrc16[i0 + 3fftLen/4] */
+    i1 = i0 + n2;
+    i2 = i1 + n2;
+    i3 = i2 + n2;
+
+    /*  Reading i0, i0+fftLen/2 inputs */
+    /* input is down scale by 4 to avoid overflow */
+    /* Read ya (real), xa(imag) input */
+    T0 = pSrc16[i0 * 2u] >> 2u;
+    T1 = pSrc16[(i0 * 2u) + 1u] >> 2u;
+    /* input is down scale by 4 to avoid overflow */
+    /* Read yc (real), xc(imag) input */
+    S0 = pSrc16[i2 * 2u] >> 2u;
+    S1 = pSrc16[(i2 * 2u) + 1u] >> 2u;
+
+    /* R0 = (ya + yc), R1 = (xa + xc) */
+    R0 = __SSAT(T0 + S0, 16u);
+    R1 = __SSAT(T1 + S1, 16u);
+    /* S0 = (ya - yc), S1 = (xa - xc) */
+    S0 = __SSAT(T0 - S0, 16u);
+    S1 = __SSAT(T1 - S1, 16u);
+
+    /*  Reading i0+fftLen/4 , i0+3fftLen/4 inputs */
+    /* input is down scale by 4 to avoid overflow */
+    /* Read yb (real), xb(imag) input */
+    T0 = pSrc16[i1 * 2u] >> 2u;
+    T1 = pSrc16[(i1 * 2u) + 1u] >> 2u;
+    /* Read yd (real), xd(imag) input */
+    /* input is down scale by 4 to avoid overflow */
+    U0 = pSrc16[i3 * 2u] >> 2u;
+    U1 = pSrc16[(i3 * 2u) + 1u] >> 2u;
+
+    /* T0 = (yb + yd), T1 = (xb + xd) */
+    T0 = __SSAT(T0 + U0, 16u);
+    T1 = __SSAT(T1 + U1, 16u);
+
+    /*  writing the butterfly processed i0 sample */
+    /* xa' = xa + xb + xc + xd */
+    /* ya' = ya + yb + yc + yd */
+    pSrc16[i0 * 2u] = (R0 >> 1u) + (T0 >> 1u);
+    pSrc16[(i0 * 2u) + 1u] = (R1 >> 1u) + (T1 >> 1u);
+
+    /* R0 = (ya + yc) - (yb + yd), R1 = (xa + xc)- (xb + xd) */
+    R0 = __SSAT(R0 - T0, 16u);
+    R1 = __SSAT(R1 - T1, 16u);
+    /* co2 & si2 are read from Coefficient pointer */
+    Co2 = pCoef16[2u * ic * 2u];
+    Si2 = pCoef16[(2u * ic * 2u) + 1u];
+    /* xc' = (xa-xb+xc-xd)* co2 - (ya-yb+yc-yd)* (si2) */
+    out1 = (short) ((Co2 * R0 - Si2 * R1) >> 16u);
+    /* yc' = (ya-yb+yc-yd)* co2 + (xa-xb+xc-xd)* (si2) */
+    out2 = (short) ((Si2 * R0 + Co2 * R1) >> 16u);
+
+    /*  Reading i0+fftLen/4 */
+    /* input is down scale by 4 to avoid overflow */
+    /* T0 = yb, T1 = xb */
+    T0 = pSrc16[i1 * 2u] >> 2u;
+    T1 = pSrc16[(i1 * 2u) + 1u] >> 2u;
+
+    /* writing the butterfly processed i0 + fftLen/4 sample */
+    /* writing output(xc', yc') in little endian format */
+    pSrc16[i1 * 2u] = out1;
+    pSrc16[(i1 * 2u) + 1u] = out2;
+
+    /*  Butterfly calculations */
+    /* input is down scale by 4 to avoid overflow */
+    /* U0 = yd, U1 = xd) */
+    U0 = pSrc16[i3 * 2u] >> 2u;
+    U1 = pSrc16[(i3 * 2u) + 1u] >> 2u;
+
+    /* T0 = yb-yd, T1 = xb-xd) */
+    T0 = __SSAT(T0 - U0, 16u);
+    T1 = __SSAT(T1 - U1, 16u);
+    /* R0 = (ya-yc) - (xb- xd) , R1 = (xa-xc) + (yb-yd) */
+    R0 = (short) __SSAT((q31_t) (S0 + T1), 16);
+    R1 = (short) __SSAT((q31_t) (S1 - T0), 16);
+    /* S = (ya-yc) + (xb- xd), S1 = (xa-xc) - (yb-yd) */
+    S0 = (short) __SSAT((q31_t) (S0 - T1), 16);
+    S1 = (short) __SSAT((q31_t) (S1 + T0), 16);
+
+    /* co1 & si1 are read from Coefficient pointer */
+    Co1 = pCoef16[ic * 2u];
+    Si1 = pCoef16[(ic * 2u) + 1u];
+    /*  Butterfly process for the i0+fftLen/2 sample */
+    /* xb' = (xa-yb-xc+yd)* co1 - (ya+xb-yc-xd)* (si1) */
+    out1 = (short) ((Co1 * S0 - Si1 * S1) >> 16u);
+    /* yb' = (ya+xb-yc-xd)* co1 + (xa-yb-xc+yd)* (si1) */
+    out2 = (short) ((Si1 * S0 + Co1 * S1) >> 16u);
+    /* writing output(xb', yb') in little endian format */
+    pSrc16[i2 * 2u] = out1;
+    pSrc16[(i2 * 2u) + 1u] = out2;
+
+    /* Co3 & si3 are read from Coefficient pointer */
+    Co3 = pCoef16[3u * ic * 2u];
+    Si3 = pCoef16[(3u * ic * 2u) + 1u];
+    /*  Butterfly process for the i0+3fftLen/4 sample */
+    /* xd' = (xa+yb-xc-yd)* Co3 - (ya-xb-yc+xd)* (si3) */
+    out1 = (short) ((Co3 * R0 - Si3 * R1) >> 16u);
+    /* yd' = (ya-xb-yc+xd)* Co3 + (xa+yb-xc-yd)* (si3) */
+    out2 = (short) ((Si3 * R0 + Co3 * R1) >> 16u);
+    /* writing output(xd', yd') in little endian format */
+    pSrc16[i3 * 2u] = out1;
+    pSrc16[(i3 * 2u) + 1u] = out2;
+
+    /*  Twiddle coefficients index modifier */
+    ic = ic + twidCoefModifier;
+
+    /*  Updating input index */
+    i0 = i0 + 1u;
+
+  } while(--j);
+
+  /*  End of first stage process */
+
+  /* data is in 4.11(q11) format */
+
+
+  /*  Start of Middle stage process */
+
+  /*  Twiddle coefficients index modifier */
+  twidCoefModifier <<= 2u;
+
+  /*  Calculation of Middle stage */
+  for (k = fftLen / 4u; k > 4u; k >>= 2u)
+  {
+    /*  Initializations for the middle stage */
+    n1 = n2;
+    n2 >>= 2u;
+    ic = 0u;
+
+    for (j = 0u; j <= (n2 - 1u); j++)
+    {
+      /*  index calculation for the coefficients */
+      Co1 = pCoef16[ic * 2u];
+      Si1 = pCoef16[(ic * 2u) + 1u];
+      Co2 = pCoef16[2u * ic * 2u];
+      Si2 = pCoef16[2u * ic * 2u + 1u];
+      Co3 = pCoef16[3u * ic * 2u];
+      Si3 = pCoef16[(3u * ic * 2u) + 1u];
+
+      /*  Twiddle coefficients index modifier */
+      ic = ic + twidCoefModifier;
+
+      /*  Butterfly implementation */
+      for (i0 = j; i0 < fftLen; i0 += n1)
+      {
+        /*  index calculation for the input as, */
+        /*  pSrc16[i0 + 0], pSrc16[i0 + fftLen/4], pSrc16[i0 + fftLen/2], pSrc16[i0 + 3fftLen/4] */
+        i1 = i0 + n2;
+        i2 = i1 + n2;
+        i3 = i2 + n2;
+
+        /*  Reading i0, i0+fftLen/2 inputs */
+        /* Read ya (real), xa(imag) input */
+        T0 = pSrc16[i0 * 2u];
+        T1 = pSrc16[(i0 * 2u) + 1u];
+
+        /* Read yc (real), xc(imag) input */
+        S0 = pSrc16[i2 * 2u];
+        S1 = pSrc16[(i2 * 2u) + 1u];
+
+
+        /* R0 = (ya + yc), R1 = (xa + xc) */
+        R0 = __SSAT(T0 + S0, 16u);
+        R1 = __SSAT(T1 + S1, 16u);
+        /* S0 = (ya - yc), S1 = (xa - xc) */
+        S0 = __SSAT(T0 - S0, 16u);
+        S1 = __SSAT(T1 - S1, 16u);
+
+        /*  Reading i0+fftLen/4 , i0+3fftLen/4 inputs */
+        /* Read yb (real), xb(imag) input */
+        T0 = pSrc16[i1 * 2u];
+        T1 = pSrc16[(i1 * 2u) + 1u];
+
+        /* Read yd (real), xd(imag) input */
+        U0 = pSrc16[i3 * 2u];
+        U1 = pSrc16[(i3 * 2u) + 1u];
+
+        /* T0 = (yb + yd), T1 = (xb + xd) */
+        T0 = __SSAT(T0 + U0, 16u);
+        T1 = __SSAT(T1 + U1, 16u);
+
+        /*  writing the butterfly processed i0 sample */
+        /* xa' = xa + xb + xc + xd */
+        /* ya' = ya + yb + yc + yd */
+        pSrc16[i0 * 2u] = ((R0 >> 1u) + (T0 >> 1u)) >> 1u;
+        pSrc16[(i0 * 2u) + 1u] = ((R1 >> 1u) + (T1 >> 1u)) >> 1u;
+
+        /* R0 = (ya + yc) - (yb + yd), R1 = (xa + xc) - (xb + xd) */
+        R0 = (R0 >> 1u) - (T0 >> 1u);
+        R1 = (R1 >> 1u) - (T1 >> 1u);
+
+        /* (ya-yb+yc-yd)* (si2) - (xa-xb+xc-xd)* co2 */
+        out1 = (short) ((Co2 * R0 - Si2 * R1) >> 16);
+        /* (ya-yb+yc-yd)* co2 + (xa-xb+xc-xd)* (si2) */
+        out2 = (short) ((Si2 * R0 + Co2 * R1) >> 16);
+
+        /*  Reading i0+3fftLen/4 */
+        /* Read yb (real), xb(imag) input */
+        T0 = pSrc16[i1 * 2u];
+        T1 = pSrc16[(i1 * 2u) + 1u];
+
+        /*  writing the butterfly processed i0 + fftLen/4 sample */
+        /* xc' = (xa-xb+xc-xd)* co2 - (ya-yb+yc-yd)* (si2) */
+        /* yc' = (ya-yb+yc-yd)* co2 + (xa-xb+xc-xd)* (si2) */
+        pSrc16[i1 * 2u] = out1;
+        pSrc16[(i1 * 2u) + 1u] = out2;
+
+        /*  Butterfly calculations */
+        /* Read yd (real), xd(imag) input */
+        U0 = pSrc16[i3 * 2u];
+        U1 = pSrc16[(i3 * 2u) + 1u];
+
+        /* T0 = yb-yd, T1 = xb-xd) */
+        T0 = __SSAT(T0 - U0, 16u);
+        T1 = __SSAT(T1 - U1, 16u);
+
+        /* R0 = (ya-yc) - (xb- xd) , R1 = (xa-xc) + (yb-yd) */
+        R0 = (S0 >> 1u) + (T1 >> 1u);
+        R1 = (S1 >> 1u) - (T0 >> 1u);
+
+        /* S1 = (ya-yc) + (xb- xd), S1 = (xa-xc) - (yb-yd) */
+        S0 = (S0 >> 1u) - (T1 >> 1u);
+        S1 = (S1 >> 1u) + (T0 >> 1u);
+
+        /*  Butterfly process for the i0+fftLen/2 sample */
+        out1 = (short) ((Co1 * S0 - Si1 * S1) >> 16u);
+        out2 = (short) ((Si1 * S0 + Co1 * S1) >> 16u);
+        /* xb' = (xa-yb-xc+yd)* co1 - (ya+xb-yc-xd)* (si1) */
+        /* yb' = (ya+xb-yc-xd)* co1 + (xa-yb-xc+yd)* (si1) */
+        pSrc16[i2 * 2u] = out1;
+        pSrc16[(i2 * 2u) + 1u] = out2;
+
+        /*  Butterfly process for the i0+3fftLen/4 sample */
+        out1 = (short) ((Co3 * R0 - Si3 * R1) >> 16u);
+
+        out2 = (short) ((Si3 * R0 + Co3 * R1) >> 16u);
+        /* xd' = (xa+yb-xc-yd)* Co3 - (ya-xb-yc+xd)* (si3) */
+        /* yd' = (ya-xb-yc+xd)* Co3 + (xa+yb-xc-yd)* (si3) */
+        pSrc16[i3 * 2u] = out1;
+        pSrc16[(i3 * 2u) + 1u] = out2;
+
+
+      }
+    }
+    /*  Twiddle coefficients index modifier */
+    twidCoefModifier <<= 2u;
+  }
+  /*  End of Middle stages process */
+
+
+  /* data is in 10.6(q6) format for the 1024 point */
+  /* data is in 8.8(q8) format for the 256 point   */
+  /* data is in 6.10(q10) format for the 64 point  */
+  /* data is in 4.12(q12) format for the 16 point  */
+
+  /* start of last stage process */
+
+
+  /*  Initializations for the last stage */
+  n1 = n2;
+  n2 >>= 2u;
+
+  /*  Butterfly implementation */
+  for (i0 = 0u; i0 <= (fftLen - n1); i0 += n1)
+  {
+    /*  index calculation for the input as, */
+    /*  pSrc16[i0 + 0], pSrc16[i0 + fftLen/4], pSrc16[i0 + fftLen/2], pSrc16[i0 + 3fftLen/4] */
+    i1 = i0 + n2;
+    i2 = i1 + n2;
+    i3 = i2 + n2;
+
+    /*  Reading i0, i0+fftLen/2 inputs */
+    /* Read ya (real), xa(imag) input */
+    T0 = pSrc16[i0 * 2u];
+    T1 = pSrc16[(i0 * 2u) + 1u];
+    /* Read yc (real), xc(imag) input */
+    S0 = pSrc16[i2 * 2u];
+    S1 = pSrc16[(i2 * 2u) + 1u];
+
+    /* R0 = (ya + yc), R1 = (xa + xc) */
+    R0 = __SSAT(T0 + S0, 16u);
+    R1 = __SSAT(T1 + S1, 16u);
+    /* S0 = (ya - yc), S1 = (xa - xc) */
+    S0 = __SSAT(T0 - S0, 16u);
+    S1 = __SSAT(T1 - S1, 16u);
+
+    /*  Reading i0+fftLen/4 , i0+3fftLen/4 inputs */
+    /* Read yb (real), xb(imag) input */
+    T0 = pSrc16[i1 * 2u];
+    T1 = pSrc16[(i1 * 2u) + 1u];
+    /* Read yd (real), xd(imag) input */
+    U0 = pSrc16[i3 * 2u];
+    U1 = pSrc16[(i3 * 2u) + 1u];
+
+    /* T0 = (yb + yd), T1 = (xb + xd) */
+    T0 = __SSAT(T0 + U0, 16u);
+    T1 = __SSAT(T1 + U1, 16u);
+
+    /*  writing the butterfly processed i0 sample */
+    /* xa' = xa + xb + xc + xd */
+    /* ya' = ya + yb + yc + yd */
+    pSrc16[i0 * 2u] = (R0 >> 1u) + (T0 >> 1u);
+    pSrc16[(i0 * 2u) + 1u] = (R1 >> 1u) + (T1 >> 1u);
+
+    /* R0 = (ya + yc) - (yb + yd), R1 = (xa + xc) - (xb + xd) */
+    R0 = (R0 >> 1u) - (T0 >> 1u);
+    R1 = (R1 >> 1u) - (T1 >> 1u);
+
+    /* Read yb (real), xb(imag) input */
+    T0 = pSrc16[i1 * 2u];
+    T1 = pSrc16[(i1 * 2u) + 1u];
+
+    /*  writing the butterfly processed i0 + fftLen/4 sample */
+    /* xc' = (xa-xb+xc-xd) */
+    /* yc' = (ya-yb+yc-yd) */
+    pSrc16[i1 * 2u] = R0;
+    pSrc16[(i1 * 2u) + 1u] = R1;
+
+    /* Read yd (real), xd(imag) input */
+    U0 = pSrc16[i3 * 2u];
+    U1 = pSrc16[(i3 * 2u) + 1u];
+    /* T0 = (yb - yd), T1 = (xb - xd) */
+    T0 = __SSAT(T0 - U0, 16u);
+    T1 = __SSAT(T1 - U1, 16u);
+
+    /*  writing the butterfly processed i0 + fftLen/2 sample */
+    /* xb' = (xa-yb-xc+yd) */
+    /* yb' = (ya+xb-yc-xd) */
+    pSrc16[i2 * 2u] = (S0 >> 1u) - (T1 >> 1u);
+    pSrc16[(i2 * 2u) + 1u] = (S1 >> 1u) + (T0 >> 1u);
+
+
+    /*  writing the butterfly processed i0 + 3fftLen/4 sample */
+    /* xd' = (xa+yb-xc-yd) */
+    /* yd' = (ya-xb-yc+xd) */
+    pSrc16[i3 * 2u] = (S0 >> 1u) + (T1 >> 1u);
+    pSrc16[(i3 * 2u) + 1u] = (S1 >> 1u) - (T0 >> 1u);
+  }
+  /* end of last stage  process */
+
+  /* output is in 11.5(q5) format for the 1024 point */
+  /* output is in 9.7(q7) format for the 256 point   */
+  /* output is in 7.9(q9) format for the 64 point  */
+  /* output is in 5.11(q11) format for the 16 point  */
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_q31.c
new file mode 100644
index 000000000..3a5c523df
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_q31.c
@@ -0,0 +1,891 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_cfft_radix4_q31.c    
+*    
+* Description:	This file has function definition of Radix-4 FFT & IFFT function and    
+*				In-place bit reversal using bit reversal table    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.5  2010/04/26     
+* 	 incorporated review comments and updated with latest CMSIS layer    
+*    
+* Version 0.0.3  2010/03/10     
+*    Initial version    
+* -------------------------------------------------------------------- */
+#include "arm_math.h"
+
+
+/**    
+ * @ingroup groupTransforms    
+ */
+
+/**    
+ * @addtogroup Radix4_CFFT_CIFFT    
+ * @{    
+ */
+
+/**    
+ * @details    
+ * @brief Processing function for the Q31 CFFT/CIFFT.    
+ * @param[in]      *S    points to an instance of the Q31 CFFT/CIFFT structure.   
+ * @param[in, out] *pSrc points to the complex data buffer of size 2*fftLen. Processing occurs in-place.   
+ * @return none.    
+ *     
+ * \par Input and output formats:    
+ * \par    
+ * Internally input is downscaled by 2 for every stage to avoid saturations inside CFFT/CIFFT process.   
+ * Hence the output format is different for different FFT sizes.    
+ * The input and output formats for different FFT sizes and number of bits to upscale are mentioned in the tables below for CFFT and CIFFT:   
+ * \par   
+ * \image html CFFTQ31.gif "Input and Output Formats for Q31 CFFT"    
+ * \image html CIFFTQ31.gif "Input and Output Formats for Q31 CIFFT"    
+ *    
+ */
+
+void arm_cfft_radix4_q31(
+  const arm_cfft_radix4_instance_q31 * S,
+  q31_t * pSrc)
+{
+  if(S->ifftFlag == 1u)
+  {
+    /* Complex IFFT radix-4 */
+    arm_radix4_butterfly_inverse_q31(pSrc, S->fftLen, S->pTwiddle,
+                                     S->twidCoefModifier);
+  }
+  else
+  {
+    /* Complex FFT radix-4 */
+    arm_radix4_butterfly_q31(pSrc, S->fftLen, S->pTwiddle,
+                             S->twidCoefModifier);
+  }
+
+
+  if(S->bitReverseFlag == 1u)
+  {
+    /*  Bit Reversal */
+    arm_bitreversal_q31(pSrc, S->fftLen, S->bitRevFactor, S->pBitRevTable);
+  }
+
+}
+
+/**    
+ * @} end of Radix4_CFFT_CIFFT group    
+ */
+
+/*    
+* Radix-4 FFT algorithm used is :    
+*    
+* Input real and imaginary data:    
+* x(n) = xa + j * ya    
+* x(n+N/4 ) = xb + j * yb    
+* x(n+N/2 ) = xc + j * yc    
+* x(n+3N 4) = xd + j * yd    
+*    
+*    
+* Output real and imaginary data:    
+* x(4r) = xa'+ j * ya'    
+* x(4r+1) = xb'+ j * yb'    
+* x(4r+2) = xc'+ j * yc'    
+* x(4r+3) = xd'+ j * yd'    
+*    
+*    
+* Twiddle factors for radix-4 FFT:    
+* Wn = co1 + j * (- si1)    
+* W2n = co2 + j * (- si2)    
+* W3n = co3 + j * (- si3)    
+*    
+*  Butterfly implementation:    
+* xa' = xa + xb + xc + xd    
+* ya' = ya + yb + yc + yd    
+* xb' = (xa+yb-xc-yd)* co1 + (ya-xb-yc+xd)* (si1)    
+* yb' = (ya-xb-yc+xd)* co1 - (xa+yb-xc-yd)* (si1)    
+* xc' = (xa-xb+xc-xd)* co2 + (ya-yb+yc-yd)* (si2)    
+* yc' = (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2)    
+* xd' = (xa-yb-xc+yd)* co3 + (ya+xb-yc-xd)* (si3)    
+* yd' = (ya+xb-yc-xd)* co3 - (xa-yb-xc+yd)* (si3)    
+*    
+*/
+
+/**    
+ * @brief  Core function for the Q31 CFFT butterfly process.   
+ * @param[in, out] *pSrc            points to the in-place buffer of Q31 data type.   
+ * @param[in]      fftLen           length of the FFT.   
+ * @param[in]      *pCoef           points to twiddle coefficient buffer.   
+ * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.   
+ * @return none.   
+ */
+
+void arm_radix4_butterfly_q31(
+  q31_t * pSrc,
+  uint32_t fftLen,
+  q31_t * pCoef,
+  uint32_t twidCoefModifier)
+{
+  uint32_t n1, n2, ia1, ia2, ia3, i0, i1, i2, i3, j, k;
+  q31_t t1, t2, r1, r2, s1, s2, co1, co2, co3, si1, si2, si3;
+
+  q31_t xa, xb, xc, xd;
+  q31_t ya, yb, yc, yd;
+  q31_t xa_out, xb_out, xc_out, xd_out;
+  q31_t ya_out, yb_out, yc_out, yd_out;
+
+  q31_t *ptr1;
+  q63_t xaya, xbyb, xcyc, xdyd;
+  /* Total process is divided into three stages */
+
+  /* process first stage, middle stages, & last stage */
+
+
+  /* start of first stage process */
+
+  /*  Initializations for the first stage */
+  n2 = fftLen;
+  n1 = n2;
+  /* n2 = fftLen/4 */
+  n2 >>= 2u;
+  i0 = 0u;
+  ia1 = 0u;
+
+  j = n2;
+
+  /*  Calculation of first stage */
+  do
+  {
+    /*  index calculation for the input as, */
+    /*  pSrc[i0 + 0], pSrc[i0 + fftLen/4], pSrc[i0 + fftLen/2u], pSrc[i0 + 3fftLen/4] */
+    i1 = i0 + n2;
+    i2 = i1 + n2;
+    i3 = i2 + n2;
+
+    /* input is in 1.31(q31) format and provide 4 guard bits for the input */
+
+    /*  Butterfly implementation */
+    /* xa + xc */
+    r1 = (pSrc[(2u * i0)] >> 4u) + (pSrc[(2u * i2)] >> 4u);
+    /* xa - xc */
+    r2 = (pSrc[2u * i0] >> 4u) - (pSrc[2u * i2] >> 4u);
+
+    /* xb + xd */
+    t1 = (pSrc[2u * i1] >> 4u) + (pSrc[2u * i3] >> 4u);
+
+    /* ya + yc */
+    s1 = (pSrc[(2u * i0) + 1u] >> 4u) + (pSrc[(2u * i2) + 1u] >> 4u);
+    /* ya - yc */
+    s2 = (pSrc[(2u * i0) + 1u] >> 4u) - (pSrc[(2u * i2) + 1u] >> 4u);
+
+    /* xa' = xa + xb + xc + xd */
+    pSrc[2u * i0] = (r1 + t1);
+    /* (xa + xc) - (xb + xd) */
+    r1 = r1 - t1;
+    /* yb + yd */
+    t2 = (pSrc[(2u * i1) + 1u] >> 4u) + (pSrc[(2u * i3) + 1u] >> 4u);
+
+    /* ya' = ya + yb + yc + yd */
+    pSrc[(2u * i0) + 1u] = (s1 + t2);
+
+    /* (ya + yc) - (yb + yd) */
+    s1 = s1 - t2;
+
+    /* yb - yd */
+    t1 = (pSrc[(2u * i1) + 1u] >> 4u) - (pSrc[(2u * i3) + 1u] >> 4u);
+    /* xb - xd */
+    t2 = (pSrc[2u * i1] >> 4u) - (pSrc[2u * i3] >> 4u);
+
+    /*  index calculation for the coefficients */
+    ia2 = 2u * ia1;
+    co2 = pCoef[ia2 * 2u];
+    si2 = pCoef[(ia2 * 2u) + 1u];
+
+    /* xc' = (xa-xb+xc-xd)co2 + (ya-yb+yc-yd)(si2) */
+    pSrc[2u * i1] = (((int32_t) (((q63_t) r1 * co2) >> 32)) +
+                     ((int32_t) (((q63_t) s1 * si2) >> 32))) << 1u;
+
+    /* yc' = (ya-yb+yc-yd)co2 - (xa-xb+xc-xd)(si2) */
+    pSrc[(2u * i1) + 1u] = (((int32_t) (((q63_t) s1 * co2) >> 32)) -
+                            ((int32_t) (((q63_t) r1 * si2) >> 32))) << 1u;
+
+    /* (xa - xc) + (yb - yd) */
+    r1 = r2 + t1;
+    /* (xa - xc) - (yb - yd) */
+    r2 = r2 - t1;
+
+    /* (ya - yc) - (xb - xd) */
+    s1 = s2 - t2;
+    /* (ya - yc) + (xb - xd) */
+    s2 = s2 + t2;
+
+    co1 = pCoef[ia1 * 2u];
+    si1 = pCoef[(ia1 * 2u) + 1u];
+
+    /* xb' = (xa+yb-xc-yd)co1 + (ya-xb-yc+xd)(si1) */
+    pSrc[2u * i2] = (((int32_t) (((q63_t) r1 * co1) >> 32)) +
+                     ((int32_t) (((q63_t) s1 * si1) >> 32))) << 1u;
+
+    /* yb' = (ya-xb-yc+xd)co1 - (xa+yb-xc-yd)(si1) */
+    pSrc[(2u * i2) + 1u] = (((int32_t) (((q63_t) s1 * co1) >> 32)) -
+                            ((int32_t) (((q63_t) r1 * si1) >> 32))) << 1u;
+
+    /*  index calculation for the coefficients */
+    ia3 = 3u * ia1;
+    co3 = pCoef[ia3 * 2u];
+    si3 = pCoef[(ia3 * 2u) + 1u];
+
+    /* xd' = (xa-yb-xc+yd)co3 + (ya+xb-yc-xd)(si3) */
+    pSrc[2u * i3] = (((int32_t) (((q63_t) r2 * co3) >> 32)) +
+                     ((int32_t) (((q63_t) s2 * si3) >> 32))) << 1u;
+
+    /* yd' = (ya+xb-yc-xd)co3 - (xa-yb-xc+yd)(si3) */
+    pSrc[(2u * i3) + 1u] = (((int32_t) (((q63_t) s2 * co3) >> 32)) -
+                            ((int32_t) (((q63_t) r2 * si3) >> 32))) << 1u;
+
+    /*  Twiddle coefficients index modifier */
+    ia1 = ia1 + twidCoefModifier;
+
+    /*  Updating input index */
+    i0 = i0 + 1u;
+
+  } while(--j);
+
+  /* end of first stage process */
+
+  /* data is in 5.27(q27) format */
+
+
+  /* start of Middle stages process */
+
+
+  /* each stage in middle stages provides two down scaling of the input */
+
+  twidCoefModifier <<= 2u;
+
+
+  for (k = fftLen / 4u; k > 4u; k >>= 2u)
+  {
+    /*  Initializations for the first stage */
+    n1 = n2;
+    n2 >>= 2u;
+    ia1 = 0u;
+
+    /*  Calculation of first stage */
+    for (j = 0u; j <= (n2 - 1u); j++)
+    {
+      /*  index calculation for the coefficients */
+      ia2 = ia1 + ia1;
+      ia3 = ia2 + ia1;
+      co1 = pCoef[ia1 * 2u];
+      si1 = pCoef[(ia1 * 2u) + 1u];
+      co2 = pCoef[ia2 * 2u];
+      si2 = pCoef[(ia2 * 2u) + 1u];
+      co3 = pCoef[ia3 * 2u];
+      si3 = pCoef[(ia3 * 2u) + 1u];
+      /*  Twiddle coefficients index modifier */
+      ia1 = ia1 + twidCoefModifier;
+
+      for (i0 = j; i0 < fftLen; i0 += n1)
+      {
+        /*  index calculation for the input as, */
+        /*  pSrc[i0 + 0], pSrc[i0 + fftLen/4], pSrc[i0 + fftLen/2u], pSrc[i0 + 3fftLen/4] */
+        i1 = i0 + n2;
+        i2 = i1 + n2;
+        i3 = i2 + n2;
+
+        /*  Butterfly implementation */
+        /* xa + xc */
+        r1 = pSrc[2u * i0] + pSrc[2u * i2];
+        /* xa - xc */
+        r2 = pSrc[2u * i0] - pSrc[2u * i2];
+
+        /* ya + yc */
+        s1 = pSrc[(2u * i0) + 1u] + pSrc[(2u * i2) + 1u];
+        /* ya - yc */
+        s2 = pSrc[(2u * i0) + 1u] - pSrc[(2u * i2) + 1u];
+
+        /* xb + xd */
+        t1 = pSrc[2u * i1] + pSrc[2u * i3];
+
+        /* xa' = xa + xb + xc + xd */
+        pSrc[2u * i0] = (r1 + t1) >> 2u;
+        /* xa + xc -(xb + xd) */
+        r1 = r1 - t1;
+
+        /* yb + yd */
+        t2 = pSrc[(2u * i1) + 1u] + pSrc[(2u * i3) + 1u];
+        /* ya' = ya + yb + yc + yd */
+        pSrc[(2u * i0) + 1u] = (s1 + t2) >> 2u;
+
+        /* (ya + yc) - (yb + yd) */
+        s1 = s1 - t2;
+
+        /* (yb - yd) */
+        t1 = pSrc[(2u * i1) + 1u] - pSrc[(2u * i3) + 1u];
+        /* (xb - xd) */
+        t2 = pSrc[2u * i1] - pSrc[2u * i3];
+
+        /* xc' = (xa-xb+xc-xd)co2 + (ya-yb+yc-yd)(si2) */
+        pSrc[2u * i1] = (((int32_t) (((q63_t) r1 * co2) >> 32)) +
+                         ((int32_t) (((q63_t) s1 * si2) >> 32))) >> 1u;
+
+        /* yc' = (ya-yb+yc-yd)co2 - (xa-xb+xc-xd)(si2) */
+        pSrc[(2u * i1) + 1u] = (((int32_t) (((q63_t) s1 * co2) >> 32)) -
+                                ((int32_t) (((q63_t) r1 * si2) >> 32))) >> 1u;
+
+        /* (xa - xc) + (yb - yd) */
+        r1 = r2 + t1;
+        /* (xa - xc) - (yb - yd) */
+        r2 = r2 - t1;
+
+        /* (ya - yc) -  (xb - xd) */
+        s1 = s2 - t2;
+        /* (ya - yc) +  (xb - xd) */
+        s2 = s2 + t2;
+
+        /* xb' = (xa+yb-xc-yd)co1 + (ya-xb-yc+xd)(si1) */
+        pSrc[2u * i2] = (((int32_t) (((q63_t) r1 * co1) >> 32)) +
+                         ((int32_t) (((q63_t) s1 * si1) >> 32))) >> 1u;
+
+        /* yb' = (ya-xb-yc+xd)co1 - (xa+yb-xc-yd)(si1) */
+        pSrc[(2u * i2) + 1u] = (((int32_t) (((q63_t) s1 * co1) >> 32)) -
+                                ((int32_t) (((q63_t) r1 * si1) >> 32))) >> 1u;
+
+        /* xd' = (xa-yb-xc+yd)co3 + (ya+xb-yc-xd)(si3) */
+        pSrc[2u * i3] = (((int32_t) (((q63_t) r2 * co3) >> 32)) +
+                         ((int32_t) (((q63_t) s2 * si3) >> 32))) >> 1u;
+
+        /* yd' = (ya+xb-yc-xd)co3 - (xa-yb-xc+yd)(si3) */
+        pSrc[(2u * i3) + 1u] = (((int32_t) (((q63_t) s2 * co3) >> 32)) -
+                                ((int32_t) (((q63_t) r2 * si3) >> 32))) >> 1u;
+      }
+    }
+    twidCoefModifier <<= 2u;
+  }
+
+  /* End of Middle stages process */
+
+  /* data is in 11.21(q21) format for the 1024 point as there are 3 middle stages */
+  /* data is in 9.23(q23) format for the 256 point as there are 2 middle stages */
+  /* data is in 7.25(q25) format for the 64 point as there are 1 middle stage */
+  /* data is in 5.27(q27) format for the 16 point as there are no middle stages */
+
+
+  /* start of Last stage process */
+  /*  Initializations for the last stage */
+  j = fftLen >> 2;
+  ptr1 = &pSrc[0];
+
+  /*  Calculations of last stage */
+  do
+  {
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+    /* Read xa (real), ya(imag) input */
+    xaya = *__SIMD64(ptr1)++;
+    xa = (q31_t) xaya;
+    ya = (q31_t) (xaya >> 32);
+
+    /* Read xb (real), yb(imag) input */
+    xbyb = *__SIMD64(ptr1)++;
+    xb = (q31_t) xbyb;
+    yb = (q31_t) (xbyb >> 32);
+
+    /* Read xc (real), yc(imag) input */
+    xcyc = *__SIMD64(ptr1)++;
+    xc = (q31_t) xcyc;
+    yc = (q31_t) (xcyc >> 32);
+
+    /* Read xc (real), yc(imag) input */
+    xdyd = *__SIMD64(ptr1)++;
+    xd = (q31_t) xdyd;
+    yd = (q31_t) (xdyd >> 32);
+
+#else
+
+    /* Read xa (real), ya(imag) input */
+    xaya = *__SIMD64(ptr1)++;
+    ya = (q31_t) xaya;
+    xa = (q31_t) (xaya >> 32);
+
+    /* Read xb (real), yb(imag) input */
+    xbyb = *__SIMD64(ptr1)++;
+    yb = (q31_t) xbyb;
+    xb = (q31_t) (xbyb >> 32);
+
+    /* Read xc (real), yc(imag) input */
+    xcyc = *__SIMD64(ptr1)++;
+    yc = (q31_t) xcyc;
+    xc = (q31_t) (xcyc >> 32);
+
+    /* Read xc (real), yc(imag) input */
+    xdyd = *__SIMD64(ptr1)++;
+    yd = (q31_t) xdyd;
+    xd = (q31_t) (xdyd >> 32);
+
+
+#endif
+
+    /* xa' = xa + xb + xc + xd */
+    xa_out = xa + xb + xc + xd;
+
+    /* ya' = ya + yb + yc + yd */
+    ya_out = ya + yb + yc + yd;
+
+    /* pointer updation for writing */
+    ptr1 = ptr1 - 8u;
+
+    /* writing xa' and ya' */
+    *ptr1++ = xa_out;
+    *ptr1++ = ya_out;
+
+    xc_out = (xa - xb + xc - xd);
+    yc_out = (ya - yb + yc - yd);
+
+    /* writing xc' and yc' */
+    *ptr1++ = xc_out;
+    *ptr1++ = yc_out;
+
+    xb_out = (xa + yb - xc - yd);
+    yb_out = (ya - xb - yc + xd);
+
+    /* writing xb' and yb' */
+    *ptr1++ = xb_out;
+    *ptr1++ = yb_out;
+
+    xd_out = (xa - yb - xc + yd);
+    yd_out = (ya + xb - yc - xd);
+
+    /* writing xd' and yd' */
+    *ptr1++ = xd_out;
+    *ptr1++ = yd_out;
+
+
+  } while(--j);
+
+  /* output is in 11.21(q21) format for the 1024 point */
+  /* output is in 9.23(q23) format for the 256 point */
+  /* output is in 7.25(q25) format for the 64 point */
+  /* output is in 5.27(q27) format for the 16 point */
+
+  /* End of last stage process */
+
+}
+
+
+/**    
+ * @brief  Core function for the Q31 CIFFT butterfly process.   
+ * @param[in, out] *pSrc            points to the in-place buffer of Q31 data type.   
+ * @param[in]      fftLen           length of the FFT.   
+ * @param[in]      *pCoef           points to twiddle coefficient buffer.   
+ * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.   
+ * @return none.   
+ */
+
+
+/*    
+* Radix-4 IFFT algorithm used is :    
+*    
+* CIFFT uses same twiddle coefficients as CFFT Function    
+*  x[k] = x[n] + (j)k * x[n + fftLen/4] + (-1)k * x[n+fftLen/2] + (-j)k * x[n+3*fftLen/4]    
+*    
+*    
+* IFFT is implemented with following changes in equations from FFT    
+*    
+* Input real and imaginary data:    
+* x(n) = xa + j * ya    
+* x(n+N/4 ) = xb + j * yb    
+* x(n+N/2 ) = xc + j * yc    
+* x(n+3N 4) = xd + j * yd    
+*    
+*    
+* Output real and imaginary data:    
+* x(4r) = xa'+ j * ya'    
+* x(4r+1) = xb'+ j * yb'    
+* x(4r+2) = xc'+ j * yc'    
+* x(4r+3) = xd'+ j * yd'    
+*    
+*    
+* Twiddle factors for radix-4 IFFT:    
+* Wn = co1 + j * (si1)    
+* W2n = co2 + j * (si2)    
+* W3n = co3 + j * (si3)    
+    
+* The real and imaginary output values for the radix-4 butterfly are    
+* xa' = xa + xb + xc + xd    
+* ya' = ya + yb + yc + yd    
+* xb' = (xa-yb-xc+yd)* co1 - (ya+xb-yc-xd)* (si1)    
+* yb' = (ya+xb-yc-xd)* co1 + (xa-yb-xc+yd)* (si1)    
+* xc' = (xa-xb+xc-xd)* co2 - (ya-yb+yc-yd)* (si2)    
+* yc' = (ya-yb+yc-yd)* co2 + (xa-xb+xc-xd)* (si2)    
+* xd' = (xa+yb-xc-yd)* co3 - (ya-xb-yc+xd)* (si3)    
+* yd' = (ya-xb-yc+xd)* co3 + (xa+yb-xc-yd)* (si3)    
+*    
+*/
+
+void arm_radix4_butterfly_inverse_q31(
+  q31_t * pSrc,
+  uint32_t fftLen,
+  q31_t * pCoef,
+  uint32_t twidCoefModifier)
+{
+  uint32_t n1, n2, ia1, ia2, ia3, i0, i1, i2, i3, j, k;
+  q31_t t1, t2, r1, r2, s1, s2, co1, co2, co3, si1, si2, si3;
+  q31_t xa, xb, xc, xd;
+  q31_t ya, yb, yc, yd;
+  q31_t xa_out, xb_out, xc_out, xd_out;
+  q31_t ya_out, yb_out, yc_out, yd_out;
+
+  q31_t *ptr1;
+  q63_t xaya, xbyb, xcyc, xdyd;
+
+  /* input is be 1.31(q31) format for all FFT sizes */
+  /* Total process is divided into three stages */
+  /* process first stage, middle stages, & last stage */
+
+  /* Start of first stage process */
+
+  /* Initializations for the first stage */
+  n2 = fftLen;
+  n1 = n2;
+  /* n2 = fftLen/4 */
+  n2 >>= 2u;
+  i0 = 0u;
+  ia1 = 0u;
+
+  j = n2;
+
+  do
+  {
+
+    /* input is in 1.31(q31) format and provide 4 guard bits for the input */
+
+    /*  index calculation for the input as, */
+    /*  pSrc[i0 + 0], pSrc[i0 + fftLen/4], pSrc[i0 + fftLen/2u], pSrc[i0 + 3fftLen/4] */
+    i1 = i0 + n2;
+    i2 = i1 + n2;
+    i3 = i2 + n2;
+
+    /*  Butterfly implementation */
+    /* xa + xc */
+    r1 = (pSrc[2u * i0] >> 4u) + (pSrc[2u * i2] >> 4u);
+    /* xa - xc */
+    r2 = (pSrc[2u * i0] >> 4u) - (pSrc[2u * i2] >> 4u);
+
+    /* xb + xd */
+    t1 = (pSrc[2u * i1] >> 4u) + (pSrc[2u * i3] >> 4u);
+
+    /* ya + yc */
+    s1 = (pSrc[(2u * i0) + 1u] >> 4u) + (pSrc[(2u * i2) + 1u] >> 4u);
+    /* ya - yc */
+    s2 = (pSrc[(2u * i0) + 1u] >> 4u) - (pSrc[(2u * i2) + 1u] >> 4u);
+
+    /* xa' = xa + xb + xc + xd */
+    pSrc[2u * i0] = (r1 + t1);
+    /* (xa + xc) - (xb + xd) */
+    r1 = r1 - t1;
+    /* yb + yd */
+    t2 = (pSrc[(2u * i1) + 1u] >> 4u) + (pSrc[(2u * i3) + 1u] >> 4u);
+    /* ya' = ya + yb + yc + yd */
+    pSrc[(2u * i0) + 1u] = (s1 + t2);
+
+    /* (ya + yc) - (yb + yd) */
+    s1 = s1 - t2;
+
+    /* yb - yd */
+    t1 = (pSrc[(2u * i1) + 1u] >> 4u) - (pSrc[(2u * i3) + 1u] >> 4u);
+    /* xb - xd */
+    t2 = (pSrc[2u * i1] >> 4u) - (pSrc[2u * i3] >> 4u);
+
+    /*  index calculation for the coefficients */
+    ia2 = 2u * ia1;
+    co2 = pCoef[ia2 * 2u];
+    si2 = pCoef[(ia2 * 2u) + 1u];
+
+    /* xc' = (xa-xb+xc-xd)co2 - (ya-yb+yc-yd)(si2) */
+    pSrc[2u * i1] = (((int32_t) (((q63_t) r1 * co2) >> 32)) -
+                     ((int32_t) (((q63_t) s1 * si2) >> 32))) << 1u;
+
+    /* yc' = (ya-yb+yc-yd)co2 + (xa-xb+xc-xd)(si2) */
+    pSrc[2u * i1 + 1u] = (((int32_t) (((q63_t) s1 * co2) >> 32)) +
+                          ((int32_t) (((q63_t) r1 * si2) >> 32))) << 1u;
+
+    /* (xa - xc) - (yb - yd) */
+    r1 = r2 - t1;
+    /* (xa - xc) + (yb - yd) */
+    r2 = r2 + t1;
+
+    /* (ya - yc) + (xb - xd) */
+    s1 = s2 + t2;
+    /* (ya - yc) - (xb - xd) */
+    s2 = s2 - t2;
+
+    co1 = pCoef[ia1 * 2u];
+    si1 = pCoef[(ia1 * 2u) + 1u];
+
+    /* xb' = (xa+yb-xc-yd)co1 - (ya-xb-yc+xd)(si1) */
+    pSrc[2u * i2] = (((int32_t) (((q63_t) r1 * co1) >> 32)) -
+                     ((int32_t) (((q63_t) s1 * si1) >> 32))) << 1u;
+
+    /* yb' = (ya-xb-yc+xd)co1 + (xa+yb-xc-yd)(si1) */
+    pSrc[(2u * i2) + 1u] = (((int32_t) (((q63_t) s1 * co1) >> 32)) +
+                            ((int32_t) (((q63_t) r1 * si1) >> 32))) << 1u;
+
+    /*  index calculation for the coefficients */
+    ia3 = 3u * ia1;
+    co3 = pCoef[ia3 * 2u];
+    si3 = pCoef[(ia3 * 2u) + 1u];
+
+    /* xd' = (xa-yb-xc+yd)co3 - (ya+xb-yc-xd)(si3) */
+    pSrc[2u * i3] = (((int32_t) (((q63_t) r2 * co3) >> 32)) -
+                     ((int32_t) (((q63_t) s2 * si3) >> 32))) << 1u;
+
+    /* yd' = (ya+xb-yc-xd)co3 + (xa-yb-xc+yd)(si3) */
+    pSrc[(2u * i3) + 1u] = (((int32_t) (((q63_t) s2 * co3) >> 32)) +
+                            ((int32_t) (((q63_t) r2 * si3) >> 32))) << 1u;
+
+    /*  Twiddle coefficients index modifier */
+    ia1 = ia1 + twidCoefModifier;
+
+    /*  Updating input index */
+    i0 = i0 + 1u;
+
+  } while(--j);
+
+  /* data is in 5.27(q27) format */
+  /* each stage provides two down scaling of the input */
+
+
+  /* Start of Middle stages process */
+
+  twidCoefModifier <<= 2u;
+
+  /*  Calculation of second stage to excluding last stage */
+  for (k = fftLen / 4u; k > 4u; k >>= 2u)
+  {
+    /*  Initializations for the first stage */
+    n1 = n2;
+    n2 >>= 2u;
+    ia1 = 0u;
+
+    for (j = 0; j <= (n2 - 1u); j++)
+    {
+      /*  index calculation for the coefficients */
+      ia2 = ia1 + ia1;
+      ia3 = ia2 + ia1;
+      co1 = pCoef[ia1 * 2u];
+      si1 = pCoef[(ia1 * 2u) + 1u];
+      co2 = pCoef[ia2 * 2u];
+      si2 = pCoef[(ia2 * 2u) + 1u];
+      co3 = pCoef[ia3 * 2u];
+      si3 = pCoef[(ia3 * 2u) + 1u];
+      /*  Twiddle coefficients index modifier */
+      ia1 = ia1 + twidCoefModifier;
+
+      for (i0 = j; i0 < fftLen; i0 += n1)
+      {
+        /*  index calculation for the input as, */
+        /*  pSrc[i0 + 0], pSrc[i0 + fftLen/4], pSrc[i0 + fftLen/2u], pSrc[i0 + 3fftLen/4] */
+        i1 = i0 + n2;
+        i2 = i1 + n2;
+        i3 = i2 + n2;
+
+        /*  Butterfly implementation */
+        /* xa + xc */
+        r1 = pSrc[2u * i0] + pSrc[2u * i2];
+        /* xa - xc */
+        r2 = pSrc[2u * i0] - pSrc[2u * i2];
+
+        /* ya + yc */
+        s1 = pSrc[(2u * i0) + 1u] + pSrc[(2u * i2) + 1u];
+        /* ya - yc */
+        s2 = pSrc[(2u * i0) + 1u] - pSrc[(2u * i2) + 1u];
+
+        /* xb + xd */
+        t1 = pSrc[2u * i1] + pSrc[2u * i3];
+
+        /* xa' = xa + xb + xc + xd */
+        pSrc[2u * i0] = (r1 + t1) >> 2u;
+        /* xa + xc -(xb + xd) */
+        r1 = r1 - t1;
+        /* yb + yd */
+        t2 = pSrc[(2u * i1) + 1u] + pSrc[(2u * i3) + 1u];
+        /* ya' = ya + yb + yc + yd */
+        pSrc[(2u * i0) + 1u] = (s1 + t2) >> 2u;
+
+        /* (ya + yc) - (yb + yd) */
+        s1 = s1 - t2;
+
+        /* (yb - yd) */
+        t1 = pSrc[(2u * i1) + 1u] - pSrc[(2u * i3) + 1u];
+        /* (xb - xd) */
+        t2 = pSrc[2u * i1] - pSrc[2u * i3];
+
+        /* xc' = (xa-xb+xc-xd)co2 - (ya-yb+yc-yd)(si2) */
+        pSrc[2u * i1] = (((int32_t) (((q63_t) r1 * co2) >> 32u)) -
+                         ((int32_t) (((q63_t) s1 * si2) >> 32u))) >> 1u;
+
+        /* yc' = (ya-yb+yc-yd)co2 + (xa-xb+xc-xd)(si2) */
+        pSrc[(2u * i1) + 1u] =
+          (((int32_t) (((q63_t) s1 * co2) >> 32u)) +
+           ((int32_t) (((q63_t) r1 * si2) >> 32u))) >> 1u;
+
+        /* (xa - xc) - (yb - yd) */
+        r1 = r2 - t1;
+        /* (xa - xc) + (yb - yd) */
+        r2 = r2 + t1;
+
+        /* (ya - yc) +  (xb - xd) */
+        s1 = s2 + t2;
+        /* (ya - yc) -  (xb - xd) */
+        s2 = s2 - t2;
+
+        /* xb' = (xa+yb-xc-yd)co1 - (ya-xb-yc+xd)(si1) */
+        pSrc[2u * i2] = (((int32_t) (((q63_t) r1 * co1) >> 32)) -
+                         ((int32_t) (((q63_t) s1 * si1) >> 32))) >> 1u;
+
+        /* yb' = (ya-xb-yc+xd)co1 + (xa+yb-xc-yd)(si1) */
+        pSrc[(2u * i2) + 1u] = (((int32_t) (((q63_t) s1 * co1) >> 32)) +
+                                ((int32_t) (((q63_t) r1 * si1) >> 32))) >> 1u;
+
+        /* xd' = (xa-yb-xc+yd)co3 - (ya+xb-yc-xd)(si3) */
+        pSrc[(2u * i3)] = (((int32_t) (((q63_t) r2 * co3) >> 32)) -
+                           ((int32_t) (((q63_t) s2 * si3) >> 32))) >> 1u;
+
+        /* yd' = (ya+xb-yc-xd)co3 + (xa-yb-xc+yd)(si3) */
+        pSrc[(2u * i3) + 1u] = (((int32_t) (((q63_t) s2 * co3) >> 32)) +
+                                ((int32_t) (((q63_t) r2 * si3) >> 32))) >> 1u;
+      }
+    }
+    twidCoefModifier <<= 2u;
+  }
+
+  /* End of Middle stages process */
+
+  /* data is in 11.21(q21) format for the 1024 point as there are 3 middle stages */
+  /* data is in 9.23(q23) format for the 256 point as there are 2 middle stages */
+  /* data is in 7.25(q25) format for the 64 point as there are 1 middle stage */
+  /* data is in 5.27(q27) format for the 16 point as there are no middle stages */
+
+
+  /* Start of last stage process */
+
+
+  /*  Initializations for the last stage */
+  j = fftLen >> 2;
+  ptr1 = &pSrc[0];
+
+  /*  Calculations of last stage */
+  do
+  {
+#ifndef ARM_MATH_BIG_ENDIAN
+    /* Read xa (real), ya(imag) input */
+    xaya = *__SIMD64(ptr1)++;
+    xa = (q31_t) xaya;
+    ya = (q31_t) (xaya >> 32);
+
+    /* Read xb (real), yb(imag) input */
+    xbyb = *__SIMD64(ptr1)++;
+    xb = (q31_t) xbyb;
+    yb = (q31_t) (xbyb >> 32);
+
+    /* Read xc (real), yc(imag) input */
+    xcyc = *__SIMD64(ptr1)++;
+    xc = (q31_t) xcyc;
+    yc = (q31_t) (xcyc >> 32);
+
+    /* Read xc (real), yc(imag) input */
+    xdyd = *__SIMD64(ptr1)++;
+    xd = (q31_t) xdyd;
+    yd = (q31_t) (xdyd >> 32);
+
+#else
+
+    /* Read xa (real), ya(imag) input */
+    xaya = *__SIMD64(ptr1)++;
+    ya = (q31_t) xaya;
+    xa = (q31_t) (xaya >> 32);
+
+    /* Read xb (real), yb(imag) input */
+    xbyb = *__SIMD64(ptr1)++;
+    yb = (q31_t) xbyb;
+    xb = (q31_t) (xbyb >> 32);
+
+    /* Read xc (real), yc(imag) input */
+    xcyc = *__SIMD64(ptr1)++;
+    yc = (q31_t) xcyc;
+    xc = (q31_t) (xcyc >> 32);
+
+    /* Read xc (real), yc(imag) input */
+    xdyd = *__SIMD64(ptr1)++;
+    yd = (q31_t) xdyd;
+    xd = (q31_t) (xdyd >> 32);
+
+
+#endif
+
+    /* xa' = xa + xb + xc + xd */
+    xa_out = xa + xb + xc + xd;
+
+    /* ya' = ya + yb + yc + yd */
+    ya_out = ya + yb + yc + yd;
+
+    /* pointer updation for writing */
+    ptr1 = ptr1 - 8u;
+
+    /* writing xa' and ya' */
+    *ptr1++ = xa_out;
+    *ptr1++ = ya_out;
+
+    xc_out = (xa - xb + xc - xd);
+    yc_out = (ya - yb + yc - yd);
+
+    /* writing xc' and yc' */
+    *ptr1++ = xc_out;
+    *ptr1++ = yc_out;
+
+    xb_out = (xa - yb - xc + yd);
+    yb_out = (ya + xb - yc - xd);
+
+    /* writing xb' and yb' */
+    *ptr1++ = xb_out;
+    *ptr1++ = yb_out;
+
+    xd_out = (xa + yb - xc - yd);
+    yd_out = (ya - xb - yc + xd);
+
+    /* writing xd' and yd' */
+    *ptr1++ = xd_out;
+    *ptr1++ = yd_out;
+
+
+  } while(--j);
+
+  /* output is in 11.21(q21) format for the 1024 point */
+  /* output is in 9.23(q23) format for the 256 point */
+  /* output is in 7.25(q25) format for the 64 point */
+  /* output is in 5.27(q27) format for the 16 point */
+
+  /* End of last stage process */
+}
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_f32.c
new file mode 100644
index 000000000..fb79e3172
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_f32.c
@@ -0,0 +1,453 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_dct4_f32.c    
+*    
+* Description:	Processing function of DCT4 & IDCT4 F32.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupTransforms    
+ */
+
+/**    
+ * @defgroup DCT4_IDCT4 DCT Type IV Functions    
+ * Representation of signals by minimum number of values is important for storage and transmission.    
+ * The possibility of large discontinuity between the beginning and end of a period of a signal    
+ * in DFT can be avoided by extending the signal so that it is even-symmetric.    
+ * Discrete Cosine Transform (DCT) is constructed such that its energy is heavily concentrated in the lower part of the    
+ * spectrum and is very widely used in signal and image coding applications.    
+ * The family of DCTs (DCT type- 1,2,3,4) is the outcome of different combinations of homogeneous boundary conditions.    
+ * DCT has an excellent energy-packing capability, hence has many applications and in data compression in particular.    
+ *    
+ * DCT is essentially the Discrete Fourier Transform(DFT) of an even-extended real signal.    
+ * Reordering of the input data makes the computation of DCT just a problem of    
+ * computing the DFT of a real signal with a few additional operations.    
+ * This approach provides regular, simple, and very efficient DCT algorithms for practical hardware and software implementations.    
+ *     
+ * DCT type-II can be implemented using Fast fourier transform (FFT) internally, as the transform is applied on real values, Real FFT can be used.    
+ * DCT4 is implemented using DCT2 as their implementations are similar except with some added pre-processing and post-processing.    
+ * DCT2 implementation can be described in the following steps:    
+ * - Re-ordering input    
+ * - Calculating Real FFT    
+ * - Multiplication of weights and Real FFT output and getting real part from the product.    
+ *    
+ * This process is explained by the block diagram below:    
+ * \image html DCT4.gif "Discrete Cosine Transform - type-IV"    
+ *    
+ * \par Algorithm:    
+ * The N-point type-IV DCT is defined as a real, linear transformation by the formula:    
+ * \image html DCT4Equation.gif    
+ * where k = 0,1,2,.....N-1    
+ *\par    
+ * Its inverse is defined as follows:    
+ * \image html IDCT4Equation.gif    
+ * where n = 0,1,2,.....N-1    
+ *\par    
+ * The DCT4 matrices become involutory (i.e. they are self-inverse) by multiplying with an overall scale factor of sqrt(2/N).    
+ * The symmetry of the transform matrix indicates that the fast algorithms for the forward    
+ * and inverse transform computation are identical.    
+ * Note that the implementation of Inverse DCT4 and DCT4 is same, hence same process function can be used for both.    
+ *    
+ * \par Lengths supported by the transform:    
+ *  As DCT4 internally uses Real FFT, it supports all the lengths supported by arm_rfft_f32().    
+ * The library provides separate functions for Q15, Q31, and floating-point data types.    
+ * \par Instance Structure    
+ * The instances for Real FFT and FFT, cosine values table and twiddle factor table are stored in an instance data structure.    
+ * A separate instance structure must be defined for each transform.    
+ * There are separate instance structure declarations for each of the 3 supported data types.    
+ *    
+ * \par Initialization Functions    
+ * There is also an associated initialization function for each data type.    
+ * The initialization function performs the following operations:    
+ * - Sets the values of the internal structure fields.    
+ * - Initializes Real FFT as its process function is used internally in DCT4, by calling arm_rfft_init_f32().    
+ * \par    
+ * Use of the initialization function is optional.    
+ * However, if the initialization function is used, then the instance structure cannot be placed into a const data section.    
+ * To place an instance structure into a const data section, the instance structure must be manually initialized.    
+ * Manually initialize the instance structure as follows:    
+ * 
    
+ *arm_dct4_instance_f32 S = {N, Nby2, normalize, pTwiddle, pCosFactor, pRfft, pCfft};    
+ *arm_dct4_instance_q31 S = {N, Nby2, normalize, pTwiddle, pCosFactor, pRfft, pCfft};   
+ *arm_dct4_instance_q15 S = {N, Nby2, normalize, pTwiddle, pCosFactor, pRfft, pCfft};   
+ * 
   
+ * where \c N is the length of the DCT4; \c Nby2 is half of the length of the DCT4;   
+ * \c normalize is normalizing factor used and is equal to sqrt(2/N);    
+ * \c pTwiddle points to the twiddle factor table;   
+ * \c pCosFactor points to the cosFactor table;   
+ * \c pRfft points to the real FFT instance;   
+ * \c pCfft points to the complex FFT instance;   
+ * The CFFT and RFFT structures also needs to be initialized, refer to arm_cfft_radix4_f32()   
+ * and arm_rfft_f32() respectively for details regarding static initialization.   
+ *   
+ * \par Fixed-Point Behavior    
+ * Care must be taken when using the fixed-point versions of the DCT4 transform functions.    
+ * In particular, the overflow and saturation behavior of the accumulator used in each function must be considered.    
+ * Refer to the function specific documentation below for usage guidelines.    
+ */
+
+ /**    
+ * @addtogroup DCT4_IDCT4    
+ * @{    
+ */
+
+/**    
+ * @brief Processing function for the floating-point DCT4/IDCT4.   
+ * @param[in]       *S             points to an instance of the floating-point DCT4/IDCT4 structure.   
+ * @param[in]       *pState        points to state buffer.   
+ * @param[in,out]   *pInlineBuffer points to the in-place input and output buffer.   
+ * @return none.   
+ */
+
+void arm_dct4_f32(
+  const arm_dct4_instance_f32 * S,
+  float32_t * pState,
+  float32_t * pInlineBuffer)
+{
+  uint32_t i;                                    /* Loop counter */
+  float32_t *weights = S->pTwiddle;              /* Pointer to the Weights table */
+  float32_t *cosFact = S->pCosFactor;            /* Pointer to the cos factors table */
+  float32_t *pS1, *pS2, *pbuff;                  /* Temporary pointers for input buffer and pState buffer */
+  float32_t in;                                  /* Temporary variable */
+
+
+  /* DCT4 computation involves DCT2 (which is calculated using RFFT)    
+   * along with some pre-processing and post-processing.    
+   * Computational procedure is explained as follows:    
+   * (a) Pre-processing involves multiplying input with cos factor,    
+   *     r(n) = 2 * u(n) * cos(pi*(2*n+1)/(4*n))    
+   *              where,    
+   *                 r(n) -- output of preprocessing    
+   *                 u(n) -- input to preprocessing(actual Source buffer)    
+   * (b) Calculation of DCT2 using FFT is divided into three steps:    
+   *                  Step1: Re-ordering of even and odd elements of input.    
+   *                  Step2: Calculating FFT of the re-ordered input.    
+   *                  Step3: Taking the real part of the product of FFT output and weights.    
+   * (c) Post-processing - DCT4 can be obtained from DCT2 output using the following equation:    
+   *                   Y4(k) = Y2(k) - Y4(k-1) and Y4(-1) = Y4(0)    
+   *                        where,    
+   *                           Y4 -- DCT4 output,   Y2 -- DCT2 output    
+   * (d) Multiplying the output with the normalizing factor sqrt(2/N).    
+   */
+
+        /*-------- Pre-processing ------------*/
+  /* Multiplying input with cos factor i.e. r(n) = 2 * x(n) * cos(pi*(2*n+1)/(4*n)) */
+  arm_scale_f32(pInlineBuffer, 2.0f, pInlineBuffer, S->N);
+  arm_mult_f32(pInlineBuffer, cosFact, pInlineBuffer, S->N);
+
+  /* ----------------------------------------------------------------    
+   * Step1: Re-ordering of even and odd elements as,    
+   *             pState[i] =  pInlineBuffer[2*i] and    
+   *             pState[N-i-1] = pInlineBuffer[2*i+1] where i = 0 to N/2    
+   ---------------------------------------------------------------------*/
+
+  /* pS1 initialized to pState */
+  pS1 = pState;
+
+  /* pS2 initialized to pState+N-1, so that it points to the end of the state buffer */
+  pS2 = pState + (S->N - 1u);
+
+  /* pbuff initialized to input buffer */
+  pbuff = pInlineBuffer;
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /* Initializing the loop counter to N/2 >> 2 for loop unrolling by 4 */
+  i = (uint32_t) S->Nby2 >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  do
+  {
+    /* Re-ordering of even and odd elements */
+    /* pState[i] =  pInlineBuffer[2*i] */
+    *pS1++ = *pbuff++;
+    /* pState[N-i-1] = pInlineBuffer[2*i+1] */
+    *pS2-- = *pbuff++;
+
+    *pS1++ = *pbuff++;
+    *pS2-- = *pbuff++;
+
+    *pS1++ = *pbuff++;
+    *pS2-- = *pbuff++;
+
+    *pS1++ = *pbuff++;
+    *pS2-- = *pbuff++;
+
+    /* Decrement the loop counter */
+    i--;
+  } while(i > 0u);
+
+  /* pbuff initialized to input buffer */
+  pbuff = pInlineBuffer;
+
+  /* pS1 initialized to pState */
+  pS1 = pState;
+
+  /* Initializing the loop counter to N/4 instead of N for loop unrolling */
+  i = (uint32_t) S->N >> 2u;
+
+  /* Processing with loop unrolling 4 times as N is always multiple of 4.    
+   * Compute 4 outputs at a time */
+  do
+  {
+    /* Writing the re-ordered output back to inplace input buffer */
+    *pbuff++ = *pS1++;
+    *pbuff++ = *pS1++;
+    *pbuff++ = *pS1++;
+    *pbuff++ = *pS1++;
+
+    /* Decrement the loop counter */
+    i--;
+  } while(i > 0u);
+
+
+  /* ---------------------------------------------------------    
+   *     Step2: Calculate RFFT for N-point input    
+   * ---------------------------------------------------------- */
+  /* pInlineBuffer is real input of length N , pState is the complex output of length 2N */
+  arm_rfft_f32(S->pRfft, pInlineBuffer, pState);
+
+        /*----------------------------------------------------------------------    
+	 *  Step3: Multiply the FFT output with the weights.    
+	 *----------------------------------------------------------------------*/
+  arm_cmplx_mult_cmplx_f32(pState, weights, pState, S->N);
+
+  /* ----------- Post-processing ---------- */
+  /* DCT-IV can be obtained from DCT-II by the equation,    
+   *       Y4(k) = Y2(k) - Y4(k-1) and Y4(-1) = Y4(0)    
+   *       Hence, Y4(0) = Y2(0)/2  */
+  /* Getting only real part from the output and Converting to DCT-IV */
+
+  /* Initializing the loop counter to N >> 2 for loop unrolling by 4 */
+  i = ((uint32_t) S->N - 1u) >> 2u;
+
+  /* pbuff initialized to input buffer. */
+  pbuff = pInlineBuffer;
+
+  /* pS1 initialized to pState */
+  pS1 = pState;
+
+  /* Calculating Y4(0) from Y2(0) using Y4(0) = Y2(0)/2 */
+  in = *pS1++ * (float32_t) 0.5;
+  /* input buffer acts as inplace, so output values are stored in the input itself. */
+  *pbuff++ = in;
+
+  /* pState pointer is incremented twice as the real values are located alternatively in the array */
+  pS1++;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  do
+  {
+    /* Calculating Y4(1) to Y4(N-1) from Y2 using equation Y4(k) = Y2(k) - Y4(k-1) */
+    /* pState pointer (pS1) is incremented twice as the real values are located alternatively in the array */
+    in = *pS1++ - in;
+    *pbuff++ = in;
+    /* points to the next real value */
+    pS1++;
+
+    in = *pS1++ - in;
+    *pbuff++ = in;
+    pS1++;
+
+    in = *pS1++ - in;
+    *pbuff++ = in;
+    pS1++;
+
+    in = *pS1++ - in;
+    *pbuff++ = in;
+    pS1++;
+
+    /* Decrement the loop counter */
+    i--;
+  } while(i > 0u);
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  i = ((uint32_t) S->N - 1u) % 0x4u;
+
+  while(i > 0u)
+  {
+    /* Calculating Y4(1) to Y4(N-1) from Y2 using equation Y4(k) = Y2(k) - Y4(k-1) */
+    /* pState pointer (pS1) is incremented twice as the real values are located alternatively in the array */
+    in = *pS1++ - in;
+    *pbuff++ = in;
+    /* points to the next real value */
+    pS1++;
+
+    /* Decrement the loop counter */
+    i--;
+  }
+
+
+        /*------------ Normalizing the output by multiplying with the normalizing factor ----------*/
+
+  /* Initializing the loop counter to N/4 instead of N for loop unrolling */
+  i = (uint32_t) S->N >> 2u;
+
+  /* pbuff initialized to the pInlineBuffer(now contains the output values) */
+  pbuff = pInlineBuffer;
+
+  /* Processing with loop unrolling 4 times as N is always multiple of 4.  Compute 4 outputs at a time */
+  do
+  {
+    /* Multiplying pInlineBuffer with the normalizing factor sqrt(2/N) */
+    in = *pbuff;
+    *pbuff++ = in * S->normalize;
+
+    in = *pbuff;
+    *pbuff++ = in * S->normalize;
+
+    in = *pbuff;
+    *pbuff++ = in * S->normalize;
+
+    in = *pbuff;
+    *pbuff++ = in * S->normalize;
+
+    /* Decrement the loop counter */
+    i--;
+  } while(i > 0u);
+
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Initializing the loop counter to N/2 */
+  i = (uint32_t) S->Nby2;
+
+  do
+  {
+    /* Re-ordering of even and odd elements */
+    /* pState[i] =  pInlineBuffer[2*i] */
+    *pS1++ = *pbuff++;
+    /* pState[N-i-1] = pInlineBuffer[2*i+1] */
+    *pS2-- = *pbuff++;
+
+    /* Decrement the loop counter */
+    i--;
+  } while(i > 0u);
+
+  /* pbuff initialized to input buffer */
+  pbuff = pInlineBuffer;
+
+  /* pS1 initialized to pState */
+  pS1 = pState;
+
+  /* Initializing the loop counter */
+  i = (uint32_t) S->N;
+
+  do
+  {
+    /* Writing the re-ordered output back to inplace input buffer */
+    *pbuff++ = *pS1++;
+
+    /* Decrement the loop counter */
+    i--;
+  } while(i > 0u);
+
+
+  /* ---------------------------------------------------------    
+   *     Step2: Calculate RFFT for N-point input    
+   * ---------------------------------------------------------- */
+  /* pInlineBuffer is real input of length N , pState is the complex output of length 2N */
+  arm_rfft_f32(S->pRfft, pInlineBuffer, pState);
+
+        /*----------------------------------------------------------------------    
+	 *  Step3: Multiply the FFT output with the weights.    
+	 *----------------------------------------------------------------------*/
+  arm_cmplx_mult_cmplx_f32(pState, weights, pState, S->N);
+
+  /* ----------- Post-processing ---------- */
+  /* DCT-IV can be obtained from DCT-II by the equation,    
+   *       Y4(k) = Y2(k) - Y4(k-1) and Y4(-1) = Y4(0)    
+   *       Hence, Y4(0) = Y2(0)/2  */
+  /* Getting only real part from the output and Converting to DCT-IV */
+
+  /* pbuff initialized to input buffer. */
+  pbuff = pInlineBuffer;
+
+  /* pS1 initialized to pState */
+  pS1 = pState;
+
+  /* Calculating Y4(0) from Y2(0) using Y4(0) = Y2(0)/2 */
+  in = *pS1++ * (float32_t) 0.5;
+  /* input buffer acts as inplace, so output values are stored in the input itself. */
+  *pbuff++ = in;
+
+  /* pState pointer is incremented twice as the real values are located alternatively in the array */
+  pS1++;
+
+  /* Initializing the loop counter */
+  i = ((uint32_t) S->N - 1u);
+
+  do
+  {
+    /* Calculating Y4(1) to Y4(N-1) from Y2 using equation Y4(k) = Y2(k) - Y4(k-1) */
+    /* pState pointer (pS1) is incremented twice as the real values are located alternatively in the array */
+    in = *pS1++ - in;
+    *pbuff++ = in;
+    /* points to the next real value */
+    pS1++;
+
+
+    /* Decrement the loop counter */
+    i--;
+  } while(i > 0u);
+
+
+        /*------------ Normalizing the output by multiplying with the normalizing factor ----------*/
+
+  /* Initializing the loop counter */
+  i = (uint32_t) S->N;
+
+  /* pbuff initialized to the pInlineBuffer(now contains the output values) */
+  pbuff = pInlineBuffer;
+
+  do
+  {
+    /* Multiplying pInlineBuffer with the normalizing factor sqrt(2/N) */
+    in = *pbuff;
+    *pbuff++ = in * S->normalize;
+
+    /* Decrement the loop counter */
+    i--;
+  } while(i > 0u);
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/**    
+   * @} end of DCT4_IDCT4 group    
+   */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_init_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_init_f32.c
new file mode 100644
index 000000000..b5f91ea32
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_init_f32.c
@@ -0,0 +1,16511 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_dct4_init_f32.c    
+*    
+* Description:	Initialization function of DCT-4 & IDCT4 F32    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* -------------------------------------------------------------------- */
+
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupTransforms    
+ */
+
+/**    
+ * @addtogroup DCT4_IDCT4    
+ * @{    
+ */
+
+/*    
+* @brief  Weights Table    
+*/
+
+/**    
+* \par    
+* Weights tables are generated using the formula : 
weights[n] = e^(-j*n*pi/(2*N))
    
+* \par    
+* C command to generate the table    
+* 
    
+* for(i = 0; i< N; i++)    
+* {    
+*    weights[2*i]= cos(i*c);    
+*    weights[(2*i)+1]= -sin(i * c);    
+* } 
    
+* \par    
+* Where N is the Number of weights to be calculated and c is pi/(2*N)    
+* \par    
+* In the tables below the real and imaginary values are placed alternatively, hence the    
+* array length is 2*N.    
+*/
+
+static const float32_t Weights_128[256] = {
+  1.000000000000000000f, 0.000000000000000000f, 0.999924701839144500f,
+  -0.012271538285719925f,
+  0.999698818696204250f, -0.024541228522912288f, 0.999322384588349540f,
+  -0.036807222941358832f,
+  0.998795456205172410f, -0.049067674327418015f, 0.998118112900149180f,
+  -0.061320736302208578f,
+  0.997290456678690210f, -0.073564563599667426f, 0.996312612182778000f,
+  -0.085797312344439894f,
+  0.995184726672196930f, -0.098017140329560604f, 0.993906970002356060f,
+  -0.110222207293883060f,
+  0.992479534598709970f, -0.122410675199216200f, 0.990902635427780010f,
+  -0.134580708507126170f,
+  0.989176509964781010f, -0.146730474455361750f, 0.987301418157858430f,
+  -0.158858143333861450f,
+  0.985277642388941220f, -0.170961888760301220f, 0.983105487431216290f,
+  -0.183039887955140950f,
+  0.980785280403230430f, -0.195090322016128250f, 0.978317370719627650f,
+  -0.207111376192218560f,
+  0.975702130038528570f, -0.219101240156869800f, 0.972939952205560180f,
+  -0.231058108280671110f,
+  0.970031253194543970f, -0.242980179903263870f, 0.966976471044852070f,
+  -0.254865659604514570f,
+  0.963776065795439840f, -0.266712757474898370f, 0.960430519415565790f,
+  -0.278519689385053060f,
+  0.956940335732208820f, -0.290284677254462330f, 0.953306040354193860f,
+  -0.302005949319228080f,
+  0.949528180593036670f, -0.313681740398891520f, 0.945607325380521280f,
+  -0.325310292162262930f,
+  0.941544065183020810f, -0.336889853392220050f, 0.937339011912574960f,
+  -0.348418680249434560f,
+  0.932992798834738960f, -0.359895036534988110f, 0.928506080473215590f,
+  -0.371317193951837540f,
+  0.923879532511286740f, -0.382683432365089780f, 0.919113851690057770f,
+  -0.393992040061048100f,
+  0.914209755703530690f, -0.405241314004989860f, 0.909167983090522380f,
+  -0.416429560097637150f,
+  0.903989293123443340f, -0.427555093430282080f, 0.898674465693953820f,
+  -0.438616238538527660f,
+  0.893224301195515320f, -0.449611329654606540f, 0.887639620402853930f,
+  -0.460538710958240010f,
+  0.881921264348355050f, -0.471396736825997640f, 0.876070094195406600f,
+  -0.482183772079122720f,
+  0.870086991108711460f, -0.492898192229784040f, 0.863972856121586810f,
+  -0.503538383725717580f,
+  0.857728610000272120f, -0.514102744193221660f, 0.851355193105265200f,
+  -0.524589682678468950f,
+  0.844853565249707120f, -0.534997619887097150f, 0.838224705554838080f,
+  -0.545324988422046460f,
+  0.831469612302545240f, -0.555570233019602180f, 0.824589302785025290f,
+  -0.565731810783613120f,
+  0.817584813151583710f, -0.575808191417845340f, 0.810457198252594770f,
+  -0.585797857456438860f,
+  0.803207531480644940f, -0.595699304492433360f, 0.795836904608883570f,
+  -0.605511041404325550f,
+  0.788346427626606340f, -0.615231590580626820f, 0.780737228572094490f,
+  -0.624859488142386340f,
+  0.773010453362736990f, -0.634393284163645490f, 0.765167265622458960f,
+  -0.643831542889791390f,
+  0.757208846506484570f, -0.653172842953776760f, 0.749136394523459370f,
+  -0.662415777590171780f,
+  0.740951125354959110f, -0.671558954847018330f, 0.732654271672412820f,
+  -0.680600997795453020f,
+  0.724247082951467000f, -0.689540544737066830f, 0.715730825283818590f,
+  -0.698376249408972920f,
+  0.707106781186547570f, -0.707106781186547460f, 0.698376249408972920f,
+  -0.715730825283818590f,
+  0.689540544737066940f, -0.724247082951466890f, 0.680600997795453130f,
+  -0.732654271672412820f,
+  0.671558954847018330f, -0.740951125354959110f, 0.662415777590171780f,
+  -0.749136394523459260f,
+  0.653172842953776760f, -0.757208846506484460f, 0.643831542889791500f,
+  -0.765167265622458960f,
+  0.634393284163645490f, -0.773010453362736990f, 0.624859488142386450f,
+  -0.780737228572094380f,
+  0.615231590580626820f, -0.788346427626606230f, 0.605511041404325550f,
+  -0.795836904608883460f,
+  0.595699304492433470f, -0.803207531480644830f, 0.585797857456438860f,
+  -0.810457198252594770f,
+  0.575808191417845340f, -0.817584813151583710f, 0.565731810783613230f,
+  -0.824589302785025290f,
+  0.555570233019602290f, -0.831469612302545240f, 0.545324988422046460f,
+  -0.838224705554837970f,
+  0.534997619887097260f, -0.844853565249707010f, 0.524589682678468840f,
+  -0.851355193105265200f,
+  0.514102744193221660f, -0.857728610000272120f, 0.503538383725717580f,
+  -0.863972856121586700f,
+  0.492898192229784090f, -0.870086991108711350f, 0.482183772079122830f,
+  -0.876070094195406600f,
+  0.471396736825997810f, -0.881921264348354940f, 0.460538710958240010f,
+  -0.887639620402853930f,
+  0.449611329654606600f, -0.893224301195515320f, 0.438616238538527710f,
+  -0.898674465693953820f,
+  0.427555093430282200f, -0.903989293123443340f, 0.416429560097637320f,
+  -0.909167983090522270f,
+  0.405241314004989860f, -0.914209755703530690f, 0.393992040061048100f,
+  -0.919113851690057770f,
+  0.382683432365089840f, -0.923879532511286740f, 0.371317193951837600f,
+  -0.928506080473215480f,
+  0.359895036534988280f, -0.932992798834738850f, 0.348418680249434510f,
+  -0.937339011912574960f,
+  0.336889853392220050f, -0.941544065183020810f, 0.325310292162262980f,
+  -0.945607325380521280f,
+  0.313681740398891570f, -0.949528180593036670f, 0.302005949319228200f,
+  -0.953306040354193750f,
+  0.290284677254462330f, -0.956940335732208940f, 0.278519689385053060f,
+  -0.960430519415565790f,
+  0.266712757474898420f, -0.963776065795439840f, 0.254865659604514630f,
+  -0.966976471044852070f,
+  0.242980179903263980f, -0.970031253194543970f, 0.231058108280671280f,
+  -0.972939952205560070f,
+  0.219101240156869770f, -0.975702130038528570f, 0.207111376192218560f,
+  -0.978317370719627650f,
+  0.195090322016128330f, -0.980785280403230430f, 0.183039887955141060f,
+  -0.983105487431216290f,
+  0.170961888760301360f, -0.985277642388941220f, 0.158858143333861390f,
+  -0.987301418157858430f,
+  0.146730474455361750f, -0.989176509964781010f, 0.134580708507126220f,
+  -0.990902635427780010f,
+  0.122410675199216280f, -0.992479534598709970f, 0.110222207293883180f,
+  -0.993906970002356060f,
+  0.098017140329560770f, -0.995184726672196820f, 0.085797312344439880f,
+  -0.996312612182778000f,
+  0.073564563599667454f, -0.997290456678690210f, 0.061320736302208648f,
+  -0.998118112900149180f,
+  0.049067674327418126f, -0.998795456205172410f, 0.036807222941358991f,
+  -0.999322384588349540f,
+  0.024541228522912264f, -0.999698818696204250f, 0.012271538285719944f,
+  -0.999924701839144500f
+};
+
+static const float32_t Weights_512[1024] = {
+  1.000000000000000000f, 0.000000000000000000f, 0.999995293809576190f,
+  -0.003067956762965976f,
+  0.999981175282601110f, -0.006135884649154475f, 0.999957644551963900f,
+  -0.009203754782059819f,
+  0.999924701839144500f, -0.012271538285719925f, 0.999882347454212560f,
+  -0.015339206284988100f,
+  0.999830581795823400f, -0.018406729905804820f, 0.999769405351215280f,
+  -0.021474080275469508f,
+  0.999698818696204250f, -0.024541228522912288f, 0.999618822495178640f,
+  -0.027608145778965740f,
+  0.999529417501093140f, -0.030674803176636626f, 0.999430604555461730f,
+  -0.033741171851377580f,
+  0.999322384588349540f, -0.036807222941358832f, 0.999204758618363890f,
+  -0.039872927587739811f,
+  0.999077727752645360f, -0.042938256934940820f, 0.998941293186856870f,
+  -0.046003182130914623f,
+  0.998795456205172410f, -0.049067674327418015f, 0.998640218180265270f,
+  -0.052131704680283324f,
+  0.998475580573294770f, -0.055195244349689934f, 0.998301544933892890f,
+  -0.058258264500435752f,
+  0.998118112900149180f, -0.061320736302208578f, 0.997925286198596000f,
+  -0.064382630929857465f,
+  0.997723066644191640f, -0.067443919563664051f, 0.997511456140303450f,
+  -0.070504573389613856f,
+  0.997290456678690210f, -0.073564563599667426f, 0.997060070339482960f,
+  -0.076623861392031492f,
+  0.996820299291165670f, -0.079682437971430126f, 0.996571145790554840f,
+  -0.082740264549375692f,
+  0.996312612182778000f, -0.085797312344439894f, 0.996044700901251970f,
+  -0.088853552582524600f,
+  0.995767414467659820f, -0.091908956497132724f, 0.995480755491926940f,
+  -0.094963495329638992f,
+  0.995184726672196930f, -0.098017140329560604f, 0.994879330794805620f,
+  -0.101069862754827820f,
+  0.994564570734255420f, -0.104121633872054590f, 0.994240449453187900f,
+  -0.107172424956808840f,
+  0.993906970002356060f, -0.110222207293883060f, 0.993564135520595300f,
+  -0.113270952177564350f,
+  0.993211949234794500f, -0.116318630911904750f, 0.992850414459865100f,
+  -0.119365214810991350f,
+  0.992479534598709970f, -0.122410675199216200f, 0.992099313142191800f,
+  -0.125454983411546230f,
+  0.991709753669099530f, -0.128498110793793170f, 0.991310859846115440f,
+  -0.131540028702883120f,
+  0.990902635427780010f, -0.134580708507126170f, 0.990485084256457090f,
+  -0.137620121586486040f,
+  0.990058210262297120f, -0.140658239332849210f, 0.989622017463200890f,
+  -0.143695033150294470f,
+  0.989176509964781010f, -0.146730474455361750f, 0.988721691960323780f,
+  -0.149764534677321510f,
+  0.988257567730749460f, -0.152797185258443440f, 0.987784141644572180f,
+  -0.155828397654265230f,
+  0.987301418157858430f, -0.158858143333861450f, 0.986809401814185530f,
+  -0.161886393780111830f,
+  0.986308097244598670f, -0.164913120489969890f, 0.985797509167567480f,
+  -0.167938294974731170f,
+  0.985277642388941220f, -0.170961888760301220f, 0.984748501801904210f,
+  -0.173983873387463820f,
+  0.984210092386929030f, -0.177004220412148750f, 0.983662419211730250f,
+  -0.180022901405699510f,
+  0.983105487431216290f, -0.183039887955140950f, 0.982539302287441240f,
+  -0.186055151663446630f,
+  0.981963869109555240f, -0.189068664149806190f, 0.981379193313754560f,
+  -0.192080397049892440f,
+  0.980785280403230430f, -0.195090322016128250f, 0.980182135968117430f,
+  -0.198098410717953560f,
+  0.979569765685440520f, -0.201104634842091900f, 0.978948175319062200f,
+  -0.204108966092816870f,
+  0.978317370719627650f, -0.207111376192218560f, 0.977677357824509930f,
+  -0.210111836880469610f,
+  0.977028142657754390f, -0.213110319916091360f, 0.976369731330021140f,
+  -0.216106797076219520f,
+  0.975702130038528570f, -0.219101240156869800f, 0.975025345066994120f,
+  -0.222093620973203510f,
+  0.974339382785575860f, -0.225083911359792830f, 0.973644249650811980f,
+  -0.228072083170885730f,
+  0.972939952205560180f, -0.231058108280671110f, 0.972226497078936270f,
+  -0.234041958583543430f,
+  0.971503890986251780f, -0.237023605994367200f, 0.970772140728950350f,
+  -0.240003022448741500f,
+  0.970031253194543970f, -0.242980179903263870f, 0.969281235356548530f,
+  -0.245955050335794590f,
+  0.968522094274417380f, -0.248927605745720150f, 0.967753837093475510f,
+  -0.251897818154216970f,
+  0.966976471044852070f, -0.254865659604514570f, 0.966190003445412500f,
+  -0.257831102162158990f,
+  0.965394441697689400f, -0.260794117915275510f, 0.964589793289812760f,
+  -0.263754678974831350f,
+  0.963776065795439840f, -0.266712757474898370f, 0.962953266873683880f,
+  -0.269668325572915090f,
+  0.962121404269041580f, -0.272621355449948980f, 0.961280485811320640f,
+  -0.275571819310958140f,
+  0.960430519415565790f, -0.278519689385053060f, 0.959571513081984520f,
+  -0.281464937925757940f,
+  0.958703474895871600f, -0.284407537211271880f, 0.957826413027532910f,
+  -0.287347459544729510f,
+  0.956940335732208820f, -0.290284677254462330f, 0.956045251349996410f,
+  -0.293219162694258630f,
+  0.955141168305770780f, -0.296150888243623790f, 0.954228095109105670f,
+  -0.299079826308040480f,
+  0.953306040354193860f, -0.302005949319228080f, 0.952375012719765880f,
+  -0.304929229735402370f,
+  0.951435020969008340f, -0.307849640041534870f, 0.950486073949481700f,
+  -0.310767152749611470f,
+  0.949528180593036670f, -0.313681740398891520f, 0.948561349915730270f,
+  -0.316593375556165850f,
+  0.947585591017741090f, -0.319502030816015690f, 0.946600913083283530f,
+  -0.322407678801069850f,
+  0.945607325380521280f, -0.325310292162262930f, 0.944604837261480260f,
+  -0.328209843579092500f,
+  0.943593458161960390f, -0.331106305759876430f, 0.942573197601446870f,
+  -0.333999651442009380f,
+  0.941544065183020810f, -0.336889853392220050f, 0.940506070593268300f,
+  -0.339776884406826850f,
+  0.939459223602189920f, -0.342660717311994380f, 0.938403534063108060f,
+  -0.345541324963989090f,
+  0.937339011912574960f, -0.348418680249434560f, 0.936265667170278260f,
+  -0.351292756085567090f,
+  0.935183509938947610f, -0.354163525420490340f, 0.934092550404258980f,
+  -0.357030961233429980f,
+  0.932992798834738960f, -0.359895036534988110f, 0.931884265581668150f,
+  -0.362755724367397230f,
+  0.930766961078983710f, -0.365612997804773850f, 0.929640895843181330f,
+  -0.368466829953372320f,
+  0.928506080473215590f, -0.371317193951837540f, 0.927362525650401110f,
+  -0.374164062971457930f,
+  0.926210242138311380f, -0.377007410216418260f, 0.925049240782677580f,
+  -0.379847208924051160f,
+  0.923879532511286740f, -0.382683432365089780f, 0.922701128333878630f,
+  -0.385516053843918850f,
+  0.921514039342042010f, -0.388345046698826250f, 0.920318276709110590f,
+  -0.391170384302253870f,
+  0.919113851690057770f, -0.393992040061048100f, 0.917900775621390500f,
+  -0.396809987416710310f,
+  0.916679059921042700f, -0.399624199845646790f, 0.915448716088267830f,
+  -0.402434650859418430f,
+  0.914209755703530690f, -0.405241314004989860f, 0.912962190428398210f,
+  -0.408044162864978690f,
+  0.911706032005429880f, -0.410843171057903910f, 0.910441292258067250f,
+  -0.413638312238434500f,
+  0.909167983090522380f, -0.416429560097637150f, 0.907886116487666260f,
+  -0.419216888363223910f,
+  0.906595704514915330f, -0.422000270799799680f, 0.905296759318118820f,
+  -0.424779681209108810f,
+  0.903989293123443340f, -0.427555093430282080f, 0.902673318237258830f,
+  -0.430326481340082610f,
+  0.901348847046022030f, -0.433093818853151960f, 0.900015892016160280f,
+  -0.435857079922255470f,
+  0.898674465693953820f, -0.438616238538527660f, 0.897324580705418320f,
+  -0.441371268731716670f,
+  0.895966249756185220f, -0.444122144570429200f, 0.894599485631382700f,
+  -0.446868840162374160f,
+  0.893224301195515320f, -0.449611329654606540f, 0.891840709392342720f,
+  -0.452349587233770890f,
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+  -0.977677357824509930f,
+  0.207111376192218560f, -0.978317370719627650f, 0.204108966092817010f,
+  -0.978948175319062200f,
+  0.201104634842091960f, -0.979569765685440520f, 0.198098410717953730f,
+  -0.980182135968117320f,
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+  -0.981379193313754560f,
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+  -0.982539302287441240f,
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+  -0.983662419211730250f,
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+  -0.986809401814185420f,
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+  -0.987784141644572180f,
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+  -0.988721691960323780f,
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+  -0.989622017463200780f,
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+  -0.994240449453187900f,
+  0.104121633872054730f, -0.994564570734255420f, 0.101069862754827880f,
+  -0.994879330794805620f,
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+  -0.995480755491926940f,
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+  -0.996044700901251970f,
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+  -0.996571145790554840f,
+  0.079682437971430126f, -0.996820299291165670f, 0.076623861392031617f,
+  -0.997060070339482960f,
+  0.073564563599667454f, -0.997290456678690210f, 0.070504573389614009f,
+  -0.997511456140303450f,
+  0.067443919563664106f, -0.997723066644191640f, 0.064382630929857410f,
+  -0.997925286198596000f,
+  0.061320736302208648f, -0.998118112900149180f, 0.058258264500435732f,
+  -0.998301544933892890f,
+  0.055195244349690031f, -0.998475580573294770f, 0.052131704680283317f,
+  -0.998640218180265270f,
+  0.049067674327418126f, -0.998795456205172410f, 0.046003182130914644f,
+  -0.998941293186856870f,
+  0.042938256934940959f, -0.999077727752645360f, 0.039872927587739845f,
+  -0.999204758618363890f,
+  0.036807222941358991f, -0.999322384588349540f, 0.033741171851377642f,
+  -0.999430604555461730f,
+  0.030674803176636581f, -0.999529417501093140f, 0.027608145778965820f,
+  -0.999618822495178640f,
+  0.024541228522912264f, -0.999698818696204250f, 0.021474080275469605f,
+  -0.999769405351215280f,
+  0.018406729905804820f, -0.999830581795823400f, 0.015339206284988220f,
+  -0.999882347454212560f,
+  0.012271538285719944f, -0.999924701839144500f, 0.009203754782059960f,
+  -0.999957644551963900f,
+  0.006135884649154515f, -0.999981175282601110f, 0.003067956762966138f,
+  -0.999995293809576190f
+};
+
+static const float32_t Weights_2048[4096] = {
+  1.000000000000000000f, 0.000000000000000000f, 0.999999705862882230f,
+  -0.000766990318742704f,
+  0.999998823451701880f, -0.001533980186284766f, 0.999997352766978210f,
+  -0.002300969151425805f,
+  0.999995293809576190f, -0.003067956762965976f, 0.999992646580707190f,
+  -0.003834942569706228f,
+  0.999989411081928400f, -0.004601926120448571f, 0.999985587315143200f,
+  -0.005368906963996343f,
+  0.999981175282601110f, -0.006135884649154475f, 0.999976174986897610f,
+  -0.006902858724729756f,
+  0.999970586430974140f, -0.007669828739531097f, 0.999964409618118280f,
+  -0.008436794242369799f,
+  0.999957644551963900f, -0.009203754782059819f, 0.999950291236490480f,
+  -0.009970709907418031f,
+  0.999942349676023910f, -0.010737659167264491f, 0.999933819875236000f,
+  -0.011504602110422714f,
+  0.999924701839144500f, -0.012271538285719925f, 0.999914995573113470f,
+  -0.013038467241987334f,
+  0.999904701082852900f, -0.013805388528060391f, 0.999893818374418490f,
+  -0.014572301692779064f,
+  0.999882347454212560f, -0.015339206284988100f, 0.999870288328982950f,
+  -0.016106101853537287f,
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+  -0.017639864115082053f,
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+  -0.019173584868322623f,
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+  -0.020707260504265895f,
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+  -0.022240887414024961f,
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+  -0.023774461988827555f,
+  0.999698818696204250f, -0.024541228522912288f, 0.999679701762987930f,
+  -0.025307980620024571f,
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+  -0.026841439699098531f,
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+  -0.028374835617672099f,
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+  -0.031441423540560301f,
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+  -0.032974608328897335f,
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+  -0.034507715524795750f,
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+  -0.043704527250063421f,
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+  -0.045236990298804590f,
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+  -0.046769346900537863f,
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+  -0.048301593449480144f,
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+  -0.049833726340107277f,
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+  -0.051365741967162593f,
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+  -0.052897636725665324f,
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+  -0.054429407010919133f,
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+  -0.055961049218520569f,
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+  -0.999999705862882230f
+};
+
+static const float32_t Weights_8192[16384] = {
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+  0.014572301692779104, -0.999893818374418490, 0.014380574187649138,
+    -0.999896594196636680,
+  0.014188846153786343, -0.999899333255515390, 0.013997117598240459,
+    -0.999902035550953920,
+  0.013805388528060349, -0.999904701082852900, 0.013613658950295789,
+    -0.999907329851114300,
+  0.013421928871995907, -0.999909921855641540, 0.013230198300209845,
+    -0.999912477096339240,
+  0.013038467241987433, -0.999914995573113470, 0.012846735704377631,
+    -0.999917477285871770,
+  0.012655003694430301, -0.999919922234522750, 0.012463271219194662,
+    -0.999922330418976490,
+  0.012271538285719944, -0.999924701839144500, 0.012079804901056066,
+    -0.999927036494939640,
+  0.011888071072252072, -0.999929334386276070, 0.011696336806357907,
+    -0.999931595513069200,
+  0.011504602110422875, -0.999933819875236000, 0.011312866991496287,
+    -0.999936007472694620,
+  0.011121131456628141, -0.999938158305364590, 0.010929395512867561,
+    -0.999940272373166960,
+  0.010737659167264572, -0.999942349676023910, 0.010545922426868548,
+    -0.999944390213859060,
+  0.010354185298728884, -0.999946393986597460, 0.010162447789895645,
+    -0.999948360994165400,
+  0.009970709907418029, -0.999950291236490480, 0.009778971658346134,
+    -0.999952184713501780,
+  0.009587233049729183, -0.999954041425129780, 0.009395494088617302,
+    -0.999955861371306100,
+  0.009203754782059960, -0.999957644551963900, 0.009012015137106642,
+    -0.999959390967037450,
+  0.008820275160807512, -0.999961100616462820, 0.008628534860211857,
+    -0.999962773500176930,
+  0.008436794242369860, -0.999964409618118280, 0.008245053314331058,
+    -0.999966008970226920,
+  0.008053312083144991, -0.999967571556443780, 0.007861570555861883,
+    -0.999969097376711580,
+  0.007669828739531077, -0.999970586430974140, 0.007478086641202815,
+    -0.999972038719176730,
+  0.007286344267926684, -0.999973454241265940, 0.007094601626752279,
+    -0.999974832997189810,
+  0.006902858724729877, -0.999976174986897610, 0.006711115568908869,
+    -0.999977480210339940,
+  0.006519372166339549, -0.999978748667468830, 0.006327628524071549,
+    -0.999979980358237650,
+  0.006135884649154515, -0.999981175282601110, 0.005944140548638765,
+    -0.999982333440515350,
+  0.005752396229573737, -0.999983454831937730, 0.005560651699009764,
+    -0.999984539456826970,
+  0.005368906963996303, -0.999985587315143200, 0.005177162031583702,
+    -0.999986598406848000,
+  0.004985416908821652, -0.999987572731904080, 0.004793671602759852,
+    -0.999988510290275690,
+  0.004601926120448672, -0.999989411081928400, 0.004410180468937601,
+    -0.999990275106828920,
+  0.004218434655277024, -0.999991102364945590, 0.004026688686516664,
+    -0.999991892856248010,
+  0.003834942569706248, -0.999992646580707190, 0.003643196311896179,
+    -0.999993363538295150,
+  0.003451449920135975, -0.999994043728985820, 0.003259703401476044,
+    -0.999994687152754080,
+  0.003067956762966138, -0.999995293809576190, 0.002876210011656010,
+    -0.999995863699429940,
+  0.002684463154596083, -0.999996396822294350, 0.002492716198835898,
+    -0.999996893178149880,
+  0.002300969151425887, -0.999997352766978210, 0.002109222019415816,
+    -0.999997775588762350,
+  0.001917474809855460, -0.999998161643486980, 0.001725727529795258,
+    -0.999998510931137790,
+  0.001533980186284766, -0.999998823451701880, 0.001342232786374430,
+    -0.999999099205167830,
+  0.001150485337113809, -0.999999338191525530, 0.000958737845553352,
+    -0.999999540410766110,
+  0.000766990318742846, -0.999999705862882230, 0.000575242763732077,
+    -0.999999834547867670,
+  0.000383495187571497, -0.999999926465717890, 0.000191747597310674,
+    -0.999999981616429330,
+
+};
+
+/**    
+* \par    
+* cosFactor tables are generated using the formula : 
cos_factors[n] = 2 * cos((2n+1)*pi/(4*N))
    
+* \par    
+* C command to generate the table    
+* \par    
+* 
 for(i = 0; i< N; i++)    
+* {    
+*    cos_factors[i]= 2 * cos((2*i+1)*c/2);    
+* } 
    
+* \par    
+* where N is the number of factors to generate and c is pi/(2*N)    
+*/
+static const float32_t cos_factors_128[128] = {
+  0.999981175282601110f, 0.999830581795823400f, 0.999529417501093140f,
+  0.999077727752645360f,
+  0.998475580573294770f, 0.997723066644191640f, 0.996820299291165670f,
+  0.995767414467659820f,
+  0.994564570734255420f, 0.993211949234794500f, 0.991709753669099530f,
+  0.990058210262297120f,
+  0.988257567730749460f, 0.986308097244598670f, 0.984210092386929030f,
+  0.981963869109555240f,
+  0.979569765685440520f, 0.977028142657754390f, 0.974339382785575860f,
+  0.971503890986251780f,
+  0.968522094274417380f, 0.965394441697689400f, 0.962121404269041580f,
+  0.958703474895871600f,
+  0.955141168305770780f, 0.951435020969008340f, 0.947585591017741090f,
+  0.943593458161960390f,
+  0.939459223602189920f, 0.935183509938947610f, 0.930766961078983710f,
+  0.926210242138311380f,
+  0.921514039342042010f, 0.916679059921042700f, 0.911706032005429880f,
+  0.906595704514915330f,
+  0.901348847046022030f, 0.895966249756185220f, 0.890448723244757880f,
+  0.884797098430937790f,
+  0.879012226428633530f, 0.873094978418290090f, 0.867046245515692650f,
+  0.860866938637767310f,
+  0.854557988365400530f, 0.848120344803297230f, 0.841554977436898440f,
+  0.834862874986380010f,
+  0.828045045257755800f, 0.821102514991104650f, 0.814036329705948410f,
+  0.806847553543799330f,
+  0.799537269107905010f, 0.792106577300212390f, 0.784556597155575240f,
+  0.776888465673232440f,
+  0.769103337645579700f, 0.761202385484261780f, 0.753186799043612520f,
+  0.745057785441466060f,
+  0.736816568877369900f, 0.728464390448225200f, 0.720002507961381650f,
+  0.711432195745216430f,
+  0.702754744457225300f, 0.693971460889654000f, 0.685083667772700360f,
+  0.676092703575316030f,
+  0.666999922303637470f, 0.657806693297078640f, 0.648514401022112550f,
+  0.639124444863775730f,
+  0.629638238914927100f, 0.620057211763289210f, 0.610382806276309480f,
+  0.600616479383868970f,
+  0.590759701858874280f, 0.580813958095764530f, 0.570780745886967370f,
+  0.560661576197336030f,
+  0.550457972936604810f, 0.540171472729892970f, 0.529803624686294830f,
+  0.519355990165589530f,
+  0.508830142543106990f, 0.498227666972781870f, 0.487550160148436050f,
+  0.476799230063322250f,
+  0.465976495767966130f, 0.455083587126343840f, 0.444122144570429260f,
+  0.433093818853152010f,
+  0.422000270799799790f, 0.410843171057903910f, 0.399624199845646790f,
+  0.388345046698826300f,
+  0.377007410216418310f, 0.365612997804773960f, 0.354163525420490510f,
+  0.342660717311994380f,
+  0.331106305759876430f, 0.319502030816015750f, 0.307849640041534980f,
+  0.296150888243623960f,
+  0.284407537211271820f, 0.272621355449948980f, 0.260794117915275570f,
+  0.248927605745720260f,
+  0.237023605994367340f, 0.225083911359792780f, 0.213110319916091360f,
+  0.201104634842091960f,
+  0.189068664149806280f, 0.177004220412148860f, 0.164913120489970090f,
+  0.152797185258443410f,
+  0.140658239332849240f, 0.128498110793793220f, 0.116318630911904880f,
+  0.104121633872054730f,
+  0.091908956497132696f, 0.079682437971430126f, 0.067443919563664106f,
+  0.055195244349690031f,
+  0.042938256934940959f, 0.030674803176636581f, 0.018406729905804820f,
+  0.006135884649154515f
+};
+
+static const float32_t cos_factors_512[512] = {
+  0.999998823451701880f, 0.999989411081928400f, 0.999970586430974140f,
+  0.999942349676023910f,
+  0.999904701082852900f, 0.999857641005823860f, 0.999801169887884260f,
+  0.999735288260561680f,
+  0.999659996743959220f, 0.999575296046749220f, 0.999481186966166950f,
+  0.999377670388002850f,
+  0.999264747286594420f, 0.999142418724816910f, 0.999010685854073380f,
+  0.998869549914283560f,
+  0.998719012233872940f, 0.998559074229759310f, 0.998389737407340160f,
+  0.998211003360478190f,
+  0.998022873771486240f, 0.997825350411111640f, 0.997618435138519550f,
+  0.997402129901275300f,
+  0.997176436735326190f, 0.996941357764982160f, 0.996696895202896060f,
+  0.996443051350042630f,
+  0.996179828595696980f, 0.995907229417411720f, 0.995625256380994310f,
+  0.995333912140482280f,
+  0.995033199438118630f, 0.994723121104325700f, 0.994403680057679100f,
+  0.994074879304879370f,
+  0.993736721940724600f, 0.993389211148080650f, 0.993032350197851410f,
+  0.992666142448948020f,
+  0.992290591348257370f, 0.991905700430609330f, 0.991511473318743900f,
+  0.991107913723276890f,
+  0.990695025442664630f, 0.990272812363169110f, 0.989841278458820530f,
+  0.989400427791380380f,
+  0.988950264510302990f, 0.988490792852696590f, 0.988022017143283530f,
+  0.987543941794359230f,
+  0.987056571305750970f, 0.986559910264775410f, 0.986053963346195440f,
+  0.985538735312176060f,
+  0.985014231012239840f, 0.984480455383220930f, 0.983937413449218920f,
+  0.983385110321551180f,
+  0.982823551198705240f, 0.982252741366289370f, 0.981672686196983110f,
+  0.981083391150486710f,
+  0.980484861773469380f, 0.979877103699517640f, 0.979260122649082020f,
+  0.978633924429423210f,
+  0.977998514934557140f, 0.977353900145199960f, 0.976700086128711840f,
+  0.976037079039039020f,
+  0.975364885116656980f, 0.974683510688510670f, 0.973992962167955830f,
+  0.973293246054698250f,
+  0.972584368934732210f, 0.971866337480279400f, 0.971139158449725090f,
+  0.970402838687555500f,
+  0.969657385124292450f, 0.968902804776428870f, 0.968139104746362440f,
+  0.967366292222328510f,
+  0.966584374478333120f, 0.965793358874083680f, 0.964993252854920320f,
+  0.964184063951745830f,
+  0.963365799780954050f, 0.962538468044359160f, 0.961702076529122540f,
+  0.960856633107679660f,
+  0.960002145737665960f, 0.959138622461841890f, 0.958266071408017670f,
+  0.957384500788975860f,
+  0.956493918902395100f, 0.955594334130771110f, 0.954685754941338340f,
+  0.953768189885990330f,
+  0.952841647601198720f, 0.951906136807932350f, 0.950961666311575080f,
+  0.950008245001843000f,
+  0.949045881852700560f, 0.948074585922276230f, 0.947094366352777220f,
+  0.946105232370403450f,
+  0.945107193285260610f, 0.944100258491272660f, 0.943084437466093490f,
+  0.942059739771017310f,
+  0.941026175050889260f, 0.939983753034014050f, 0.938932483532064600f,
+  0.937872376439989890f,
+  0.936803441735921560f, 0.935725689481080370f, 0.934639129819680780f,
+  0.933543772978836170f,
+  0.932439629268462360f, 0.931326709081180430f, 0.930205022892219070f,
+  0.929074581259315860f,
+  0.927935394822617890f, 0.926787474304581750f, 0.925630830509872720f,
+  0.924465474325262600f,
+  0.923291416719527640f, 0.922108668743345180f, 0.920917241529189520f,
+  0.919717146291227360f,
+  0.918508394325212250f, 0.917290997008377910f, 0.916064965799331720f,
+  0.914830312237946200f,
+  0.913587047945250810f, 0.912335184623322750f, 0.911074734055176360f,
+  0.909805708104652220f,
+  0.908528118716306120f, 0.907241977915295820f, 0.905947297807268460f,
+  0.904644090578246240f,
+  0.903332368494511820f, 0.902012143902493180f, 0.900683429228646970f,
+  0.899346236979341570f,
+  0.898000579740739880f, 0.896646470178680150f, 0.895283921038557580f,
+  0.893912945145203250f,
+  0.892533555402764580f, 0.891145764794583180f, 0.889749586383072780f,
+  0.888345033309596350f,
+  0.886932118794342190f, 0.885510856136199950f, 0.884081258712634990f,
+  0.882643339979562790f,
+  0.881197113471222090f, 0.879742592800047410f, 0.878279791656541580f,
+  0.876808723809145650f,
+  0.875329403104110890f, 0.873841843465366860f, 0.872346058894391540f,
+  0.870842063470078980f,
+  0.869329871348606840f, 0.867809496763303320f, 0.866280954024512990f,
+  0.864744257519462380f,
+  0.863199421712124160f, 0.861646461143081300f, 0.860085390429390140f,
+  0.858516224264442740f,
+  0.856938977417828760f, 0.855353664735196030f, 0.853760301138111410f,
+  0.852158901623919830f,
+  0.850549481265603480f, 0.848932055211639610f, 0.847306638685858320f,
+  0.845673246987299070f,
+  0.844031895490066410f, 0.842382599643185850f, 0.840725374970458070f,
+  0.839060237070312740f,
+  0.837387201615661940f, 0.835706284353752600f, 0.834017501106018130f,
+  0.832320867767929680f,
+  0.830616400308846310f, 0.828904114771864870f, 0.827184027273669130f,
+  0.825456154004377550f,
+  0.823720511227391430f, 0.821977115279241550f, 0.820225982569434690f,
+  0.818467129580298660f,
+  0.816700572866827850f, 0.814926329056526620f, 0.813144414849253590f,
+  0.811354847017063730f,
+  0.809557642404051260f, 0.807752817926190360f, 0.805940390571176280f,
+  0.804120377398265810f,
+  0.802292795538115720f, 0.800457662192622820f, 0.798614994634760820f,
+  0.796764810208418830f,
+  0.794907126328237010f, 0.793041960479443640f, 0.791169330217690200f,
+  0.789289253168885650f,
+  0.787401747029031430f, 0.785506829564053930f, 0.783604518609638200f,
+  0.781694832071059390f,
+  0.779777787923014550f, 0.777853404209453150f, 0.775921699043407690f,
+  0.773982690606822900f,
+  0.772036397150384520f, 0.770082836993347900f, 0.768122028523365420f,
+  0.766153990196312920f,
+  0.764178740536116670f, 0.762196298134578900f, 0.760206681651202420f,
+  0.758209909813015280f,
+  0.756206001414394540f, 0.754194975316889170f, 0.752176850449042810f,
+  0.750151645806215070f,
+  0.748119380450403600f, 0.746080073510063780f, 0.744033744179929290f,
+  0.741980411720831070f,
+  0.739920095459516200f, 0.737852814788465980f, 0.735778589165713590f,
+  0.733697438114660370f,
+  0.731609381223892630f, 0.729514438146997010f, 0.727412628602375770f,
+  0.725303972373060770f,
+  0.723188489306527460f, 0.721066199314508110f, 0.718937122372804490f,
+  0.716801278521099540f,
+  0.714658687862769090f, 0.712509370564692320f, 0.710353346857062420f,
+  0.708190637033195400f,
+  0.706021261449339740f, 0.703845240524484940f, 0.701662594740168570f,
+  0.699473344640283770f,
+  0.697277510830886630f, 0.695075113980000880f, 0.692866174817424740f,
+  0.690650714134534720f,
+  0.688428752784090550f, 0.686200311680038700f, 0.683965411797315510f,
+  0.681724074171649820f,
+  0.679476319899365080f, 0.677222170137180450f, 0.674961646102012040f,
+  0.672694769070772970f,
+  0.670421560380173090f, 0.668142041426518560f, 0.665856233665509720f,
+  0.663564158612039880f,
+  0.661265837839992270f, 0.658961292982037320f, 0.656650545729429050f,
+  0.654333617831800550f,
+  0.652010531096959500f, 0.649681307390683190f, 0.647345968636512060f,
+  0.645004536815544040f,
+  0.642657033966226860f, 0.640303482184151670f, 0.637943903621844170f,
+  0.635578320488556230f,
+  0.633206755050057190f, 0.630829229628424470f, 0.628445766601832710f,
+  0.626056388404343520f,
+  0.623661117525694640f, 0.621259976511087660f, 0.618852987960976320f,
+  0.616440174530853650f,
+  0.614021558931038490f, 0.611597163926462020f, 0.609167012336453210f,
+  0.606731127034524480f,
+  0.604289530948156070f, 0.601842247058580030f, 0.599389298400564540f,
+  0.596930708062196500f,
+  0.594466499184664540f, 0.591996694962040990f, 0.589521318641063940f,
+  0.587040393520918080f,
+  0.584553942953015330f, 0.582061990340775550f, 0.579564559139405740f,
+  0.577061672855679550f,
+  0.574553355047715760f, 0.572039629324757050f, 0.569520519346947250f,
+  0.566996048825108680f,
+  0.564466241520519500f, 0.561931121244689470f, 0.559390711859136140f,
+  0.556845037275160100f,
+  0.554294121453620110f, 0.551737988404707450f, 0.549176662187719770f,
+  0.546610166910834860f,
+  0.544038526730883930f, 0.541461765853123560f, 0.538879908531008420f,
+  0.536292979065963180f,
+  0.533701001807152960f, 0.531104001151255000f, 0.528502001542228480f,
+  0.525895027471084740f,
+  0.523283103475656430f, 0.520666254140367270f, 0.518044504095999340f,
+  0.515417878019463150f,
+  0.512786400633563070f, 0.510150096706766700f, 0.507508991052970870f,
+  0.504863108531267480f,
+  0.502212474045710900f, 0.499557112545081890f, 0.496897049022654640f,
+  0.494232308515959730f,
+  0.491562916106550060f, 0.488888896919763230f, 0.486210276124486530f,
+  0.483527078932918740f,
+  0.480839330600333900f, 0.478147056424843120f, 0.475450281747155870f,
+  0.472749031950342900f,
+  0.470043332459595620f, 0.467333208741988530f, 0.464618686306237820f,
+  0.461899790702462840f,
+  0.459176547521944150f, 0.456448982396883860f, 0.453717121000163930f,
+  0.450980989045103810f,
+  0.448240612285220000f, 0.445496016513981740f, 0.442747227564570130f,
+  0.439994271309633260f,
+  0.437237173661044200f, 0.434475960569655710f, 0.431710658025057370f,
+  0.428941292055329550f,
+  0.426167888726799620f, 0.423390474143796100f, 0.420609074448402510f,
+  0.417823715820212380f,
+  0.415034424476081630f, 0.412241226669883000f, 0.409444148692257590f,
+  0.406643216870369140f,
+  0.403838457567654130f, 0.401029897183575790f, 0.398217562153373620f,
+  0.395401478947816300f,
+  0.392581674072951530f, 0.389758174069856410f, 0.386931005514388690f,
+  0.384100195016935040f,
+  0.381265769222162490f, 0.378427754808765620f, 0.375586178489217330f,
+  0.372741067009515810f,
+  0.369892447148934270f, 0.367040345719767240f, 0.364184789567079840f,
+  0.361325805568454340f,
+  0.358463420633736540f, 0.355597661704783960f, 0.352728555755210730f,
+  0.349856129790135030f,
+  0.346980410845923680f, 0.344101425989938980f, 0.341219202320282410f,
+  0.338333766965541290f,
+  0.335445147084531660f, 0.332553369866044220f, 0.329658462528587550f,
+  0.326760452320131790f,
+  0.323859366517852960f, 0.320955232427875210f, 0.318048077385015060f,
+  0.315137928752522440f,
+  0.312224813921825050f, 0.309308760312268780f, 0.306389795370861080f,
+  0.303467946572011370f,
+  0.300543241417273400f, 0.297615707435086310f, 0.294685372180514330f,
+  0.291752263234989370f,
+  0.288816408206049480f, 0.285877834727080730f, 0.282936570457055390f,
+  0.279992643080273380f,
+  0.277046080306099950f, 0.274096909868706330f, 0.271145159526808070f,
+  0.268190857063403180f,
+  0.265234030285511900f, 0.262274707023913590f, 0.259312915132886350f,
+  0.256348682489942910f,
+  0.253382036995570270f, 0.250413006572965280f, 0.247441619167773440f,
+  0.244467902747824210f,
+  0.241491885302869300f, 0.238513594844318500f, 0.235533059404975460f,
+  0.232550307038775330f,
+  0.229565365820518870f, 0.226578263845610110f, 0.223589029229790020f,
+  0.220597690108873650f,
+  0.217604274638483670f, 0.214608810993786920f, 0.211611327369227610f,
+  0.208611851978263460f,
+  0.205610413053099320f, 0.202607038844421110f, 0.199601757621131050f,
+  0.196594597670080220f,
+  0.193585587295803750f, 0.190574754820252800f, 0.187562128582529740f,
+  0.184547736938619640f,
+  0.181531608261125130f, 0.178513770938997590f, 0.175494253377271400f,
+  0.172473083996796030f,
+  0.169450291233967930f, 0.166425903540464220f, 0.163399949382973230f,
+  0.160372457242928400f,
+  0.157343455616238280f, 0.154312973013020240f, 0.151281037957330250f,
+  0.148247678986896200f,
+  0.145212924652847520f, 0.142176803519448000f, 0.139139344163826280f,
+  0.136100575175706200f,
+  0.133060525157139180f, 0.130019222722233350f, 0.126976696496885980f,
+  0.123932975118512200f,
+  0.120888087235777220f, 0.117842061508325020f, 0.114794926606510250f,
+  0.111746711211126660f,
+  0.108697444013138670f, 0.105647153713410700f, 0.102595869022436280f,
+  0.099543618660069444f,
+  0.096490431355252607f, 0.093436335845747912f, 0.090381360877865011f,
+  0.087325535206192226f,
+  0.084268887593324127f, 0.081211446809592386f, 0.078153241632794315f,
+  0.075094300847921291f,
+  0.072034653246889416f, 0.068974327628266732f, 0.065913352797003930f,
+  0.062851757564161420f,
+  0.059789570746640007f, 0.056726821166907783f, 0.053663537652730679f,
+  0.050599749036899337f,
+  0.047535484156959261f, 0.044470771854938744f, 0.041405640977076712f,
+  0.038340120373552791f,
+  0.035274238898213947f, 0.032208025408304704f, 0.029141508764193740f,
+  0.026074717829104040f,
+  0.023007681468839410f, 0.019940428551514598f, 0.016872987947281773f,
+  0.013805388528060349f,
+  0.010737659167264572f, 0.007669828739531077f, 0.004601926120448672f,
+  0.001533980186284766f
+};
+
+static const float32_t cos_factors_2048[2048] = {
+  0.999999926465717890f, 0.999999338191525530f, 0.999998161643486980f,
+  0.999996396822294350f,
+  0.999994043728985820f, 0.999991102364945590f, 0.999987572731904080f,
+  0.999983454831937730f,
+  0.999978748667468830f, 0.999973454241265940f, 0.999967571556443780f,
+  0.999961100616462820f,
+  0.999954041425129780f, 0.999946393986597460f, 0.999938158305364590f,
+  0.999929334386276070f,
+  0.999919922234522750f, 0.999909921855641540f, 0.999899333255515390f,
+  0.999888156440373320f,
+  0.999876391416790410f, 0.999864038191687680f, 0.999851096772332190f,
+  0.999837567166337090f,
+  0.999823449381661570f, 0.999808743426610520f, 0.999793449309835270f,
+  0.999777567040332940f,
+  0.999761096627446610f, 0.999744038080865430f, 0.999726391410624470f,
+  0.999708156627104880f,
+  0.999689333741033640f, 0.999669922763483760f, 0.999649923705874240f,
+  0.999629336579970110f,
+  0.999608161397882110f, 0.999586398172067070f, 0.999564046915327740f,
+  0.999541107640812940f,
+  0.999517580362016990f, 0.999493465092780590f, 0.999468761847290050f,
+  0.999443470640077770f,
+  0.999417591486021720f, 0.999391124400346050f, 0.999364069398620550f,
+  0.999336426496761240f,
+  0.999308195711029470f, 0.999279377058032710f, 0.999249970554724420f,
+  0.999219976218403530f,
+  0.999189394066714920f, 0.999158224117649430f, 0.999126466389543390f,
+  0.999094120901079070f,
+  0.999061187671284600f, 0.999027666719533690f, 0.998993558065545680f,
+  0.998958861729386080f,
+  0.998923577731465780f, 0.998887706092541290f, 0.998851246833715180f,
+  0.998814199976435390f,
+  0.998776565542495610f, 0.998738343554035230f, 0.998699534033539280f,
+  0.998660137003838490f,
+  0.998620152488108870f, 0.998579580509872500f, 0.998538421092996730f,
+  0.998496674261694640f,
+  0.998454340040524800f, 0.998411418454391300f, 0.998367909528543820f,
+  0.998323813288577560f,
+  0.998279129760433200f, 0.998233858970396850f, 0.998188000945100300f,
+  0.998141555711520520f,
+  0.998094523296980010f, 0.998046903729146840f, 0.997998697036034390f,
+  0.997949903246001190f,
+  0.997900522387751620f, 0.997850554490335110f, 0.997799999583146470f,
+  0.997748857695925690f,
+  0.997697128858758500f, 0.997644813102075420f, 0.997591910456652630f,
+  0.997538420953611340f,
+  0.997484344624417930f, 0.997429681500884180f, 0.997374431615167150f,
+  0.997318594999768600f,
+  0.997262171687536170f, 0.997205161711661850f, 0.997147565105683480f,
+  0.997089381903483400f,
+  0.997030612139289450f, 0.996971255847674320f, 0.996911313063555740f,
+  0.996850783822196610f,
+  0.996789668159204560f, 0.996727966110532490f, 0.996665677712478160f,
+  0.996602803001684130f,
+  0.996539342015137940f, 0.996475294790172160f, 0.996410661364464100f,
+  0.996345441776035900f,
+  0.996279636063254650f, 0.996213244264832040f, 0.996146266419824620f,
+  0.996078702567633980f,
+  0.996010552748005870f, 0.995941817001031350f, 0.995872495367145730f,
+  0.995802587887129160f,
+  0.995732094602106430f, 0.995661015553546910f, 0.995589350783264600f,
+  0.995517100333418110f,
+  0.995444264246510340f, 0.995370842565388990f, 0.995296835333246090f,
+  0.995222242593618360f,
+  0.995147064390386470f, 0.995071300767776170f, 0.994994951770357020f,
+  0.994918017443043200f,
+  0.994840497831093180f, 0.994762392980109930f, 0.994683702936040250f,
+  0.994604427745175660f,
+  0.994524567454151740f, 0.994444122109948040f, 0.994363091759888570f,
+  0.994281476451641550f,
+  0.994199276233218910f, 0.994116491152977070f, 0.994033121259616400f,
+  0.993949166602181130f,
+  0.993864627230059750f, 0.993779503192984580f, 0.993693794541031790f,
+  0.993607501324621610f,
+  0.993520623594518090f, 0.993433161401829360f, 0.993345114798006910f,
+  0.993256483834846440f,
+  0.993167268564487230f, 0.993077469039412300f, 0.992987085312448390f,
+  0.992896117436765980f,
+  0.992804565465879140f, 0.992712429453645460f, 0.992619709454266140f,
+  0.992526405522286100f,
+  0.992432517712593660f, 0.992338046080420420f, 0.992242990681341700f,
+  0.992147351571276090f,
+  0.992051128806485720f, 0.991954322443575950f, 0.991856932539495470f,
+  0.991758959151536110f,
+  0.991660402337333210f, 0.991561262154865290f, 0.991461538662453790f,
+  0.991361231918763460f,
+  0.991260341982802440f, 0.991158868913921350f, 0.991056812771814340f,
+  0.990954173616518500f,
+  0.990850951508413620f, 0.990747146508222710f, 0.990642758677011570f,
+  0.990537788076188750f,
+  0.990432234767505970f, 0.990326098813057330f, 0.990219380275280000f,
+  0.990112079216953770f,
+  0.990004195701200910f, 0.989895729791486660f, 0.989786681551618640f,
+  0.989677051045747210f,
+  0.989566838338365120f, 0.989456043494307710f, 0.989344666578752640f,
+  0.989232707657220050f,
+  0.989120166795572690f, 0.989007044060015270f, 0.988893339517095130f,
+  0.988779053233701520f,
+  0.988664185277066230f, 0.988548735714763200f, 0.988432704614708340f,
+  0.988316092045159690f,
+  0.988198898074717610f, 0.988081122772324070f, 0.987962766207263420f,
+  0.987843828449161740f,
+  0.987724309567986960f, 0.987604209634049160f, 0.987483528717999710f,
+  0.987362266890832400f,
+  0.987240424223882250f, 0.987118000788826280f, 0.986994996657682980f,
+  0.986871411902812470f,
+  0.986747246596916590f, 0.986622500813038480f, 0.986497174624562880f,
+  0.986371268105216030f,
+  0.986244781329065460f, 0.986117714370520090f, 0.985990067304330140f,
+  0.985861840205586980f,
+  0.985733033149723490f, 0.985603646212513400f, 0.985473679470071810f,
+  0.985343132998854790f,
+  0.985212006875659350f, 0.985080301177623800f, 0.984948015982227030f,
+  0.984815151367289140f,
+  0.984681707410970940f, 0.984547684191773960f, 0.984413081788540700f,
+  0.984277900280454370f,
+  0.984142139747038570f, 0.984005800268157870f, 0.983868881924017220f,
+  0.983731384795162090f,
+  0.983593308962478650f, 0.983454654507193270f, 0.983315421510872810f,
+  0.983175610055424420f,
+  0.983035220223095640f, 0.982894252096474070f, 0.982752705758487830f,
+  0.982610581292404750f,
+  0.982467878781833170f, 0.982324598310721280f, 0.982180739963357090f,
+  0.982036303824369020f,
+  0.981891289978725100f, 0.981745698511732990f, 0.981599529509040720f,
+  0.981452783056635520f,
+  0.981305459240844670f, 0.981157558148334830f, 0.981009079866112630f,
+  0.980860024481523870f,
+  0.980710392082253970f, 0.980560182756327840f, 0.980409396592109910f,
+  0.980258033678303550f,
+  0.980106094103951770f, 0.979953577958436740f, 0.979800485331479790f,
+  0.979646816313141210f,
+  0.979492570993820810f, 0.979337749464256780f, 0.979182351815526930f,
+  0.979026378139047580f,
+  0.978869828526574120f, 0.978712703070200420f, 0.978555001862359550f,
+  0.978396724995823090f,
+  0.978237872563701090f, 0.978078444659442380f, 0.977918441376834370f,
+  0.977757862810002760f,
+  0.977596709053411890f, 0.977434980201864260f, 0.977272676350500860f,
+  0.977109797594800880f,
+  0.976946344030581670f, 0.976782315753998650f, 0.976617712861545640f,
+  0.976452535450054060f,
+  0.976286783616693630f, 0.976120457458971910f, 0.975953557074734300f,
+  0.975786082562163930f,
+  0.975618034019781750f, 0.975449411546446380f, 0.975280215241354220f,
+  0.975110445204038890f,
+  0.974940101534371830f, 0.974769184332561770f, 0.974597693699155050f,
+  0.974425629735034990f,
+  0.974252992541422500f, 0.974079782219875680f, 0.973905998872289570f,
+  0.973731642600896400f,
+  0.973556713508265560f, 0.973381211697303290f, 0.973205137271252800f,
+  0.973028490333694210f,
+  0.972851270988544180f, 0.972673479340056430f, 0.972495115492821190f,
+  0.972316179551765300f,
+  0.972136671622152230f, 0.971956591809581720f, 0.971775940219990140f,
+  0.971594716959650160f,
+  0.971412922135170940f, 0.971230555853497380f, 0.971047618221911100f,
+  0.970864109348029470f,
+  0.970680029339806130f, 0.970495378305530560f, 0.970310156353828110f,
+  0.970124363593660280f,
+  0.969938000134323960f, 0.969751066085452140f, 0.969563561557013180f,
+  0.969375486659311280f,
+  0.969186841502985950f, 0.968997626199012420f, 0.968807840858700970f,
+  0.968617485593697540f,
+  0.968426560515983190f, 0.968235065737874320f, 0.968043001372022260f,
+  0.967850367531413620f,
+  0.967657164329369880f, 0.967463391879547550f, 0.967269050295937790f,
+  0.967074139692867040f,
+  0.966878660184995910f, 0.966682611887320080f, 0.966485994915169840f,
+  0.966288809384209690f,
+  0.966091055410438830f, 0.965892733110190860f, 0.965693842600133690f,
+  0.965494383997269500f,
+  0.965294357418934660f, 0.965093762982799590f, 0.964892600806868890f,
+  0.964690871009481030f,
+  0.964488573709308410f, 0.964285709025357480f, 0.964082277076968140f,
+  0.963878277983814200f,
+  0.963673711865903230f, 0.963468578843575950f, 0.963262879037507070f,
+  0.963056612568704340f,
+  0.962849779558509030f, 0.962642380128595710f, 0.962434414400972100f,
+  0.962225882497979020f,
+  0.962016784542290560f, 0.961807120656913540f, 0.961596890965187860f,
+  0.961386095590786250f,
+  0.961174734657714080f, 0.960962808290309780f, 0.960750316613243950f,
+  0.960537259751520050f,
+  0.960323637830473920f, 0.960109450975773940f, 0.959894699313420530f,
+  0.959679382969746750f,
+  0.959463502071417510f, 0.959247056745430090f, 0.959030047119113660f,
+  0.958812473320129310f,
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+  0.365969915570008910f,
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+  0.363113070823639530f,
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+  0.360252808318756830f,
+  0.359537211821973180f, 0.358821403818710860f, 0.358105384730061760f,
+  0.357389154977241000f,
+  0.356672714981588260f, 0.355956065164567010f, 0.355239205947763370f,
+  0.354522137752887430f,
+  0.353804861001772160f, 0.353087376116372530f, 0.352369683518766630f,
+  0.351651783631154680f,
+  0.350933676875858360f, 0.350215363675321740f, 0.349496844452109600f,
+  0.348778119628908420f,
+  0.348059189628525780f, 0.347340054873889190f, 0.346620715788047320f,
+  0.345901172794169100f,
+  0.345181426315542610f, 0.344461476775576480f, 0.343741324597798600f,
+  0.343020970205855540f,
+  0.342300414023513690f, 0.341579656474657210f, 0.340858697983289440f,
+  0.340137538973531880f,
+  0.339416179869623410f, 0.338694621095921190f, 0.337972863076899830f,
+  0.337250906237150650f,
+  0.336528751001382350f, 0.335806397794420560f, 0.335083847041206580f,
+  0.334361099166798900f,
+  0.333638154596370920f, 0.332915013755212650f, 0.332191677068729320f,
+  0.331468144962440920f,
+  0.330744417861982890f, 0.330020496193105530f, 0.329296380381672800f,
+  0.328572070853663690f,
+  0.327847568035170960f, 0.327122872352400510f, 0.326397984231672660f,
+  0.325672904099419900f,
+  0.324947632382188430f, 0.324222169506637130f, 0.323496515899536760f,
+  0.322770671987770710f,
+  0.322044638198334620f, 0.321318414958334910f, 0.320592002694990330f,
+  0.319865401835630610f,
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+  0.316957120988508150f,
+  0.316229583562890490f, 0.315501860107556040f, 0.314773951050606070f,
+  0.314045856820250820f,
+  0.313317577844809070f, 0.312589114552708660f, 0.311860467372486130f,
+  0.311131636732785270f,
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+  0.308214488155861220f,
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+  0.305294438546791720f,
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+  0.302371515390196130f,
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+  0.299445746197739950f,
+  0.298713862433100390f, 0.297981802942791920f, 0.297249568157465890f,
+  0.296517158507877410f,
+  0.295784574424884370f, 0.295051816339446720f, 0.294318884682627570f,
+  0.293585779885591310f,
+  0.292852502379604810f, 0.292119052596036540f, 0.291385430966355720f,
+  0.290651637922133220f,
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+  0.287714760234765280f,
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+  0.284775174466498300f,
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+  0.281832908285833460f,
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+  0.278887989386500280f,
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+  0.275940445487197320f,
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+  0.272990304331329980f,
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+  0.270037593686750510f,
+  0.269299017799346230f, 0.268560283490267890f, 0.267821391194094320f,
+  0.267082341345496350f,
+  0.266343134379238180f, 0.265603770730176440f, 0.264864250833259320f,
+  0.264124575123527490f,
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+  0.261164322860466590f,
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+  0.258201612419334870f,
+  0.257460553986133210f, 0.256719344095520720f, 0.255977983183532380f,
+  0.255236471686291820f,
+  0.254494810040010790f, 0.253752998680989940f, 0.253011038045617980f,
+  0.252268928570370810f,
+  0.251526670691812780f, 0.250784264846594550f, 0.250041711471454650f,
+  0.249299011003218300f,
+  0.248556163878796620f, 0.247813170535187620f, 0.247070031409475370f,
+  0.246326746938829060f,
+  0.245583317560504000f, 0.244839743711840750f, 0.244096025830264210f,
+  0.243352164353284880f,
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+  0.240375291244489500f,
+  0.239630718356093560f, 0.238886004499120170f, 0.238141150111664870f,
+  0.237396155631906550f,
+  0.236651021498106460f, 0.235905748148607370f, 0.235160336021834860f,
+  0.234414785556295250f,
+  0.233669097190576820f, 0.232923271363349120f, 0.232177308513361770f,
+  0.231431209079445730f,
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+  0.228445454283916550f,
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+  0.225457549272768540f,
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+  0.222467522169301990f,
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+  0.219475401116790340f,
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+  0.216481214278216900f,
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+  0.213484989836008080f,
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+  0.210486755991769890f,
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+  0.207486540966020700f,
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+  0.204484372997927180f,
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+  0.201480280345037820f,
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+  0.198474291283016360f,
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+  0.195466434105377090f,
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+  0.192456737123216840f,
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+  0.189445228664950340f,
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+  0.186431937076041640f,
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+  0.183416890718739230f,
+  0.182662858272129360f, 0.181908718369666160f, 0.181154471454990920f,
+  0.180400117971807270f,
+  0.179645658363882100f, 0.178891093075044830f, 0.178136422549186320f,
+  0.177381647230260200f,
+  0.176626767562280960f, 0.175871783989325040f, 0.175116696955530060f,
+  0.174361506905093830f,
+  0.173606214282275410f, 0.172850819531394200f, 0.172095323096829040f,
+  0.171339725423019260f,
+  0.170584026954463700f, 0.169828228135719880f, 0.169072329411405180f,
+  0.168316331226194910f,
+  0.167560234024823590f, 0.166804038252083870f, 0.166047744352825850f,
+  0.165291352771957970f,
+  0.164534863954446110f, 0.163778278345312690f, 0.163021596389637810f,
+  0.162264818532558110f,
+  0.161507945219266150f, 0.160750976895011390f, 0.159993914005098350f,
+  0.159236756994887850f,
+  0.158479506309796100f, 0.157722162395293690f, 0.156964725696906750f,
+  0.156207196660216040f,
+  0.155449575730855880f, 0.154691863354515400f, 0.153934059976937460f,
+  0.153176166043917870f,
+  0.152418182001306500f, 0.151660108295005400f, 0.150901945370970040f,
+  0.150143693675208330f,
+  0.149385353653779810f, 0.148626925752796540f, 0.147868410418422360f,
+  0.147109808096871850f,
+  0.146351119234411440f, 0.145592344277358450f, 0.144833483672080240f,
+  0.144074537864995330f,
+  0.143315507302571590f, 0.142556392431327340f, 0.141797193697830530f,
+  0.141037911548697770f,
+  0.140278546430595420f, 0.139519098790238600f, 0.138759569074390380f,
+  0.137999957729862760f,
+  0.137240265203515700f, 0.136480491942256310f, 0.135720638393040080f,
+  0.134960705002868830f,
+  0.134200692218792020f, 0.133440600487905820f, 0.132680430257352130f,
+  0.131920181974319760f,
+  0.131159856086043410f, 0.130399453039802740f, 0.129638973282923540f,
+  0.128878417262776660f,
+  0.128117785426777150f, 0.127357078222385570f, 0.126596296097105960f,
+  0.125835439498487020f,
+  0.125074508874121300f, 0.124313504671644300f, 0.123552427338735370f,
+  0.122791277323116900f,
+  0.122030055072553410f, 0.121268761034852550f, 0.120507395657864240f,
+  0.119745959389479630f,
+  0.118984452677632520f, 0.118222875970297250f, 0.117461229715489990f,
+  0.116699514361267840f,
+  0.115937730355727850f, 0.115175878147008180f, 0.114413958183287050f,
+  0.113651970912781920f,
+  0.112889916783750470f, 0.112127796244489750f, 0.111365609743335190f,
+  0.110603357728661910f,
+  0.109841040648882680f, 0.109078658952449240f, 0.108316213087851300f,
+  0.107553703503615710f,
+  0.106791130648307380f, 0.106028494970528530f, 0.105265796918917650f,
+  0.104503036942150550f,
+  0.103740215488939480f, 0.102977333008032250f, 0.102214389948213370f,
+  0.101451386758302160f,
+  0.100688323887153970f, 0.099925201783659226f, 0.099162020896742573f,
+  0.098398781675363881f,
+  0.097635484568517339f, 0.096872130025230527f, 0.096108718494565468f,
+  0.095345250425617742f,
+  0.094581726267515473f, 0.093818146469420494f, 0.093054511480527333f,
+  0.092290821750062355f,
+  0.091527077727284981f, 0.090763279861485704f, 0.089999428601987341f,
+  0.089235524398144139f,
+  0.088471567699340822f, 0.087707558954993645f, 0.086943498614549489f,
+  0.086179387127484922f,
+  0.085415224943307277f, 0.084651012511553700f, 0.083886750281790226f,
+  0.083122438703613077f,
+  0.082358078226646619f, 0.081593669300544638f, 0.080829212374989468f,
+  0.080064707899690932f,
+  0.079300156324387569f, 0.078535558098845590f, 0.077770913672857989f,
+  0.077006223496245585f,
+  0.076241488018856149f, 0.075476707690563416f, 0.074711882961268378f,
+  0.073947014280897269f,
+  0.073182102099402888f, 0.072417146866763538f, 0.071652149032982254f,
+  0.070887109048087787f,
+  0.070122027362133646f, 0.069356904425197236f, 0.068591740687380900f,
+  0.067826536598810966f,
+  0.067061292609636836f, 0.066296009170032283f, 0.065530686730193397f,
+  0.064765325740339871f,
+  0.063999926650714078f, 0.063234489911580136f, 0.062469015973224969f,
+  0.061703505285957416f,
+  0.060937958300107238f, 0.060172375466026218f, 0.059406757234087247f,
+  0.058641104054683348f,
+  0.057875416378229017f, 0.057109694655158132f, 0.056343939335925283f,
+  0.055578150871004817f,
+  0.054812329710889909f, 0.054046476306093640f, 0.053280591107148056f,
+  0.052514674564603257f,
+  0.051748727129028414f, 0.050982749251010900f, 0.050216741381155325f,
+  0.049450703970084824f,
+  0.048684637468439020f, 0.047918542326875327f, 0.047152418996068000f,
+  0.046386267926707213f,
+  0.045620089569500123f, 0.044853884375169933f, 0.044087652794454979f,
+  0.043321395278109784f,
+  0.042555112276904117f, 0.041788804241622082f, 0.041022471623063397f,
+  0.040256114872041358f,
+  0.039489734439384118f, 0.038723330775933762f, 0.037956904332545366f,
+  0.037190455560088091f,
+  0.036423984909444228f, 0.035657492831508264f, 0.034890979777187955f,
+  0.034124446197403423f,
+  0.033357892543086159f, 0.032591319265180385f, 0.031824726814640963f,
+  0.031058115642434700f,
+  0.030291486199539423f, 0.029524838936943035f, 0.028758174305644590f,
+  0.027991492756653365f,
+  0.027224794740987910f, 0.026458080709677145f, 0.025691351113759395f,
+  0.024924606404281485f,
+  0.024157847032300020f, 0.023391073448879338f, 0.022624286105092803f,
+  0.021857485452021874f,
+  0.021090671940755180f, 0.020323846022389572f, 0.019557008148029204f,
+  0.018790158768784596f,
+  0.018023298335773701f, 0.017256427300120978f, 0.016489546112956454f,
+  0.015722655225417017f,
+  0.014955755088644378f, 0.014188846153786343f, 0.013421928871995907f,
+  0.012655003694430301f,
+  0.011888071072252072f, 0.011121131456628141f, 0.010354185298728884f,
+  0.009587233049729183f,
+  0.008820275160807512f, 0.008053312083144991f, 0.007286344267926684f,
+  0.006519372166339549f,
+  0.005752396229573737f, 0.004985416908821652f, 0.004218434655277024f,
+  0.003451449920135975f,
+  0.002684463154596083f, 0.001917474809855460f, 0.001150485337113809f,
+  0.000383495187571497f
+};
+
+static const float32_t cos_factors_8192[8192] = {
+  1.999999990808214700, 1.999999917273932200, 1.999999770205369800,
+    1.999999549602533100,
+  1.999999255465430200, 1.999998887794072000, 1.999998446588471700,
+    1.999997931848645600,
+  1.999997343574612800, 1.999996681766395000, 1.999995946424016200,
+    1.999995137547503600,
+  1.999994255136887000, 1.999993299192198700, 1.999992269713474200,
+    1.999991166700750800,
+  1.999989990154069600, 1.999988740073473500, 1.999987416459008600,
+    1.999986019310723500,
+  1.999984548628669600, 1.999983004412901000, 1.999981386663474400,
+    1.999979695380449400,
+  1.999977930563888100, 1.999976092213855400, 1.999974180330418700,
+    1.999972194913648900,
+  1.999970135963618400, 1.999968003480403000, 1.999965797464081200,
+    1.999963517914734100,
+  1.999961164832445800, 1.999958738217302300, 1.999956238069392900,
+    1.999953664388809800,
+  1.999951017175647600, 1.999948296430003500, 1.999945502151977600,
+    1.999942634341672600,
+  1.999939692999193900, 1.999936678124649700, 1.999933589718150700,
+    1.999930427779810900,
+  1.999927192309745900, 1.999923883308075200, 1.999920500774920300,
+    1.999917044710405500,
+  1.999913515114657900, 1.999909911987807200, 1.999906235329986100,
+    1.999902485141329400,
+  1.999898661421975400, 1.999894764172064600, 1.999890793391740000,
+    1.999886749081147800,
+  1.999882631240436700, 1.999878439869758200, 1.999874174969266300,
+    1.999869836539117700,
+  1.999865424579472000, 1.999860939090491600, 1.999856380072341000,
+    1.999851747525188200,
+  1.999847041449203300, 1.999842261844559700, 1.999837408711432600,
+    1.999832482050000900,
+  1.999827481860445300, 1.999822408142949900, 1.999817260897701400,
+    1.999812040124888700,
+  1.999806745824704000, 1.999801377997341800, 1.999795936642999600,
+    1.999790421761877400,
+  1.999784833354177900, 1.999779171420106700, 1.999773435959872000,
+    1.999767626973684400,
+  1.999761744461757700, 1.999755788424308200, 1.999749758861554900,
+    1.999743655773719400,
+  1.999737479161026100, 1.999731229023702200, 1.999724905361977200,
+    1.999718508176084000,
+  1.999712037466257600, 1.999705493232735800, 1.999698875475759600,
+    1.999692184195571900,
+  1.999685419392419000, 1.999678581066549400, 1.999671669218214600,
+    1.999664683847668800,
+  1.999657624955168700, 1.999650492540973900, 1.999643286605346800,
+    1.999636007148552400,
+  1.999628654170857900, 1.999621227672533800, 1.999613727653853500,
+    1.999606154115092500,
+  1.999598507056529000, 1.999590786478444600, 1.999582992381123000,
+    1.999575124764850800,
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+  0.157644575743395960, 0.157262270825699210, 0.156879960125918730,
+    0.156497643658110590,
+  0.156115321436331000, 0.155732993474637760, 0.155350659787087090,
+    0.154968320387737170,
+  0.154585975290645110, 0.154203624509868190, 0.153821268059465250,
+    0.153438905953493550,
+  0.153056538206012340, 0.152674164831079730, 0.152291785842754070,
+    0.151909401255095250,
+  0.151527011082161540, 0.151144615338013210, 0.150762214036709470,
+    0.150379807192309620,
+  0.149997394818874590, 0.149614976930463660, 0.149232553541138180,
+    0.148850124664957870,
+  0.148467690315984390, 0.148085250508278370, 0.147702805255900570,
+    0.147320354572913260,
+  0.146937898473377210, 0.146555436971355090, 0.146172970080908520,
+    0.145790497816099230,
+  0.145408020190990560, 0.145025537219644170, 0.144643048916123810,
+    0.144260555294492000,
+  0.143878056368811510, 0.143495552153146630, 0.143113042661560050,
+    0.142730527908116440,
+  0.142348007906879320, 0.141965482671912420, 0.141582952217280980,
+    0.141200416557048680,
+  0.140817875705281120, 0.140435329676042390, 0.140052778483398480,
+    0.139670222141414250,
+  0.139287660664154770, 0.138905094065686600, 0.138522522360074780,
+    0.138139945561386200,
+  0.137757363683686740, 0.137374776741042340, 0.136992184747520560,
+    0.136609587717187310,
+  0.136226985664110460, 0.135844378602356760, 0.135461766545993150,
+    0.135079149509088060,
+  0.134696527505708320, 0.134313900549922760, 0.133931268655799020,
+    0.133548631837404950,
+  0.133165990108809860, 0.132783343484081580, 0.132400691977289760,
+    0.132018035602502530,
+  0.131635374373789940, 0.131252708305220960, 0.130870037410864640,
+    0.130487361704791580,
+  0.130104681201070800, 0.129721995913773260, 0.129339305856968730,
+    0.128956611044727220,
+  0.128573911491120210, 0.128191207210217570, 0.127808498216091110,
+    0.127425784522811530,
+  0.127043066144449680, 0.126660343095077900, 0.126277615388766920,
+    0.125894883039589430,
+  0.125512146061616980, 0.125129404468921260, 0.124746658275575490,
+    0.124363907495651240,
+  0.123981152143222060, 0.123598392232359880, 0.123215627777138580,
+    0.122832858791630880,
+  0.122450085289909640, 0.122067307286049230, 0.121684524794122440,
+    0.121301737828203960,
+  0.120918946402367330, 0.120536150530686250, 0.120153350227235940,
+    0.119770545506089950,
+  0.119387736381323830, 0.119004922867011920, 0.118622104977228730,
+    0.118239282726050290,
+  0.117856456127550970, 0.117473625195807100, 0.117090789944893860,
+    0.116707950388886520,
+  0.116325106541861910, 0.115942258417895240, 0.115559406031063570,
+    0.115176549395442460,
+  0.114793688525109290, 0.114410823434140360, 0.114027954136612060,
+    0.113645080646602280,
+  0.113262202978187320, 0.112879321145445350, 0.112496435162453430,
+    0.112113545043288730,
+  0.111730650802029900, 0.111347752452754000, 0.110964850009539970,
+    0.110581943486465610,
+  0.110199032897608850, 0.109816118257049110, 0.109433199578864170,
+    0.109050276877133770,
+  0.108667350165936400, 0.108284419459350770, 0.107901484771457020,
+    0.107518546116333660,
+  0.107135603508061170, 0.106752656960718350, 0.106369706488385940,
+    0.105986752105143480,
+  0.105603793825070680, 0.105220831662248700, 0.104837865630757090,
+    0.104454895744677270,
+  0.104071922018089540, 0.103688944465074300, 0.103305963099713400,
+    0.102922977936087120,
+  0.102539988988277600, 0.102156996270365800, 0.101773999796432830,
+    0.101390999580561250,
+  0.101007995636832020, 0.100624987979327970, 0.100241976622130760,
+    0.099858961579322170,
+  0.099475942864985456, 0.099092920493202258, 0.098709894478056073,
+    0.098326864833628791,
+  0.097943831574004214, 0.097560794713264939, 0.097177754265493674,
+    0.096794710244774623,
+  0.096411662665190329, 0.096028611540825232, 0.095645556885762609,
+    0.095262498714085819,
+  0.094879437039879722, 0.094496371877227495, 0.094113303240214247,
+    0.093730231142923864,
+  0.093347155599440373, 0.092964076623849271, 0.092580994230234359,
+    0.092197908432681386,
+  0.091814819245274432, 0.091431726682099479, 0.091048630757241303,
+    0.090665531484784803,
+  0.090282428878816323, 0.089899322953420582, 0.089516213722684160,
+    0.089133101200692441,
+  0.088749985401530951, 0.088366866339286629, 0.087983744028044805,
+    0.087600618481892656,
+  0.087217489714916191, 0.086834357741201490, 0.086451222574836131,
+    0.086068084229906014,
+  0.085684942720498897, 0.085301798060701386, 0.084918650264600160,
+    0.084535499346283349,
+  0.084152345319837438, 0.083769188199350780, 0.083386027998910095,
+    0.083002864732603973,
+  0.082619698414519799, 0.082236529058745025, 0.081853356679368619,
+    0.081470181290477811,
+  0.081087002906161790, 0.080703821540508452, 0.080320637207605849,
+    0.079937449921543474,
+  0.079554259696409127, 0.079171066546292510, 0.078787870485282088,
+    0.078404671527466441,
+  0.078021469686935602, 0.077638264977777913, 0.077255057414083589,
+    0.076871847009941652,
+  0.076488633779441206, 0.076105417736672773, 0.075722198895725248,
+    0.075338977270689375,
+  0.074955752875654230, 0.074572525724710764, 0.074189295831948693,
+    0.073806063211457842,
+  0.073422827877329483, 0.073039589843653177, 0.072656349124520389,
+    0.072273105734021334,
+  0.071889859686246352, 0.071506610995287156, 0.071123359675233852,
+    0.070740105740178361,
+  0.070356849204211397, 0.069973590081423773, 0.069590328385907715,
+    0.069207064131753759,
+  0.068823797333054326, 0.068440528003900616, 0.068057256158383886,
+    0.067673981810596848,
+  0.067290704974630494, 0.066907425664577733, 0.066524143894529736,
+    0.066140859678579578,
+  0.065757573030819083, 0.065374283965340146, 0.064990992496236119,
+    0.064607698637598646,
+  0.064224402403521202, 0.063841103808096086, 0.063457802865415636,
+    0.063074499589573618,
+  0.062691193994662109, 0.062307886094775049, 0.061924575904005130,
+    0.061541263436445129,
+  0.061157948706189229, 0.060774631727329942, 0.060391312513961619,
+    0.060007991080177375,
+  0.059624667440070382, 0.059241341607735261, 0.058858013597264912,
+    0.058474683422754095,
+  0.058091351098295878, 0.057708016637985186, 0.057324680055915692,
+    0.056941341366181127,
+  0.056558000582876661, 0.056174657720095743, 0.055791312791933681,
+    0.055407965812484541,
+  0.055024616795842439, 0.054641265756102911, 0.054257912707359794,
+    0.053874557663708772,
+  0.053491200639244271, 0.053107841648060788, 0.052724480704254229,
+    0.052341117821918783,
+  0.051957753015150501, 0.051574386298044173, 0.051191017684694640,
+    0.050807647189198162,
+  0.050424274825649297, 0.050040900608144430, 0.049657524550778251,
+    0.049274146667647289,
+  0.048890766972846805, 0.048507385480472134, 0.048124002204620014,
+    0.047740617159385448,
+  0.047357230358865306, 0.046973841817155179, 0.046590451548350717,
+    0.046207059566548990,
+  0.045823665885845313, 0.045440270520336883, 0.045056873484119603,
+    0.044673474791289434,
+  0.044290074455943754, 0.043906672492178188, 0.043523268914090238,
+    0.043139863735776100,
+  0.042756456971332048, 0.042373048634855741, 0.041989638740443119,
+    0.041606227302191955,
+  0.041222814334198304, 0.040839399850560058, 0.040455983865373815,
+    0.040072566392736257,
+  0.039689147446745419, 0.039305727041497644, 0.038922305191091085,
+    0.038538881909622631,
+  0.038155457211189216, 0.037772031109889144, 0.037388603619819022,
+    0.037005174755077273,
+  0.036621744529761024, 0.036238312957967478, 0.035854880053795196,
+    0.035471445831341021,
+  0.035088010304703626, 0.034704573487980395, 0.034321135395268765,
+    0.033937696040667535,
+  0.033554255438273790, 0.033170813602186440, 0.032787370546502645,
+    0.032403926285321405,
+  0.032020480832740429, 0.031637034202857461, 0.031253586409771626,
+    0.030870137467580314,
+  0.030486687390382738, 0.030103236192276818, 0.029719783887360508,
+    0.029336330489733147,
+  0.028952876013492331, 0.028569420472737472, 0.028185963881566689,
+    0.027802506254078142,
+  0.027419047604371360, 0.027035587946544135, 0.026652127294696067,
+    0.026268665662925468,
+  0.025885203065330677, 0.025501739516011413, 0.025118275029065638,
+    0.024734809618593138,
+  0.024351343298691951, 0.023967876083461924, 0.023584407987001611,
+    0.023200939023409587,
+  0.022817469206785804, 0.022433998551228459, 0.022050527070837558,
+    0.021667054779711814,
+  0.021283581691949955, 0.020900107821652084, 0.020516633182916549,
+    0.020133157789843505,
+  0.019749681656531803, 0.019366204797080316, 0.018982727225589285,
+    0.018599248956157190,
+  0.018215770002884327, 0.017832290379869671, 0.017448810101212228,
+    0.017065329181012358,
+  0.016681847633368677, 0.016298365472381587, 0.015914882712149747,
+    0.015531399366773606,
+  0.015147915450352307, 0.014764430976985016, 0.014380945960772247,
+    0.013997460415812761,
+  0.013613974356207112, 0.013230487796054543, 0.012847000749454314,
+    0.012463513230507034,
+  0.012080025253311559, 0.011696536831968529, 0.011313047980577277,
+    0.010929558713237145,
+  0.010546069044048827, 0.010162578987111254, 0.009779088556525145,
+    0.009395597766389905,
+  0.009012106630804949, 0.008628615163871038, 0.008245123379687167,
+    0.007861631292354124,
+  0.007478138915970929, 0.007094646264638386, 0.006711153352455981,
+    0.006327660193523208,
+  0.005944166801940901, 0.005560673191808128, 0.005177179377225743,
+    0.004793685372293270,
+  0.004410191191110246, 0.004026696847777542, 0.003643202356394263,
+    0.003259707731061291,
+  0.002876212985878184, 0.002492718134944503, 0.002109223192361147,
+    0.001725728172227238,
+  0.001342233088643682, 0.000958737955710053, 0.000575242787525925,
+    0.000191747598192208,
+
+};
+
+/**    
+ * @brief  Initialization function for the floating-point DCT4/IDCT4.   
+ * @param[in,out] *S         points to an instance of floating-point DCT4/IDCT4 structure.   
+ * @param[in]     *S_RFFT    points to an instance of floating-point RFFT/RIFFT structure.   
+ * @param[in]     *S_CFFT    points to an instance of floating-point CFFT/CIFFT structure.   
+ * @param[in]     N			 length of the DCT4.   
+ * @param[in]     Nby2       half of the length of the DCT4.   
+ * @param[in]     normalize  normalizing factor.   
+ * @return        arm_status function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if fftLenReal is not a supported transform length.   
+ * \par Normalizing factor:    
+ * The normalizing factor is sqrt(2/N), which depends on the size of transform N.    
+ * Floating-point normalizing factors are mentioned in the table below for different DCT sizes:    
+ * \image html dct4NormalizingF32Table.gif    
+ */
+
+arm_status arm_dct4_init_f32(
+  arm_dct4_instance_f32 * S,
+  arm_rfft_instance_f32 * S_RFFT,
+  arm_cfft_radix4_instance_f32 * S_CFFT,
+  uint16_t N,
+  uint16_t Nby2,
+  float32_t normalize)
+{
+  /*  Initialize the default arm status */
+  arm_status status = ARM_MATH_SUCCESS;
+
+  /* Initializing the pointer array with the weight table base addresses of different lengths */
+  float32_t *twiddlePtr[4] =
+    { (float32_t *) Weights_128, (float32_t *) Weights_512,
+    (float32_t *) Weights_2048, (float32_t *) Weights_8192
+  };
+
+  /* Initializing the pointer array with the cos factor table base addresses of different lengths */
+  float32_t *pCosFactor[4] =
+    { (float32_t *) cos_factors_128, (float32_t *) cos_factors_512,
+    (float32_t *) cos_factors_2048, (float32_t *) cos_factors_8192
+  };
+
+  /* Initialize the DCT4 length */
+  S->N = N;
+
+  /* Initialize the half of DCT4 length */
+  S->Nby2 = Nby2;
+
+  /* Initialize the DCT4 Normalizing factor */
+  S->normalize = normalize;
+
+  /* Initialize Real FFT Instance */
+  S->pRfft = S_RFFT;
+
+  /* Initialize Complex FFT Instance */
+  S->pCfft = S_CFFT;
+
+  switch (N)
+  {
+    /* Initialize the table modifier values */
+  case 8192u:
+    S->pTwiddle = twiddlePtr[3];
+    S->pCosFactor = pCosFactor[3];
+    break;
+  case 2048u:
+    S->pTwiddle = twiddlePtr[2];
+    S->pCosFactor = pCosFactor[2];
+    break;
+  case 512u:
+    S->pTwiddle = twiddlePtr[1];
+    S->pCosFactor = pCosFactor[1];
+    break;
+  case 128u:
+    S->pTwiddle = twiddlePtr[0];
+    S->pCosFactor = pCosFactor[0];
+    break;
+  default:
+    status = ARM_MATH_ARGUMENT_ERROR;
+  }
+
+  /* Initialize the RFFT/RIFFT */
+  arm_rfft_init_f32(S->pRfft, S->pCfft, S->N, 0u, 1u);
+
+  /* return the status of DCT4 Init function */
+  return (status);
+}
+
+/**    
+   * @} end of DCT4_IDCT4 group    
+   */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_init_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_init_q15.c
new file mode 100644
index 000000000..c6452fe98
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_init_q15.c
@@ -0,0 +1,4276 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_dct4_init_q15.c    
+*    
+* Description:	Initialization function of DCT-4 & IDCT4 Q15    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* -------------------------------------------------------------------- */
+
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupTransforms    
+ */
+
+/**    
+ * @addtogroup DCT4_IDCT4    
+ * @{    
+ */
+
+/*    
+* @brief  Weights Table    
+*/
+
+/**    
+* \par    
+* Weights tables are generated using the formula : 
weights[n] = e^(-j*n*pi/(2*N))
    
+* \par    
+* C command to generate the table    
+* 
    
+* for(i = 0; i< N; i++)    
+* {    
+*   weights[2*i]= cos(i*c);    
+*   weights[(2*i)+1]= -sin(i * c);    
+* } 
    
+* \par    
+* where N is the Number of weights to be calculated and c is pi/(2*N)    
+* \par    
+* Converted the output to q15 format by multiplying with 2^31 and saturated if required.    
+* \par    
+* In the tables below the real and imaginary values are placed alternatively, hence the    
+* array length is 2*N.    
+*/
+
+static const q15_t ALIGN4 WeightsQ15_128[256] = {
+  0x7fff, 0x0, 0x7ffd, 0xfe6e, 0x7ff6, 0xfcdc, 0x7fe9, 0xfb4a,
+  0x7fd8, 0xf9b9, 0x7fc2, 0xf827, 0x7fa7, 0xf696, 0x7f87, 0xf505,
+  0x7f62, 0xf375, 0x7f38, 0xf1e5, 0x7f09, 0xf055, 0x7ed5, 0xeec7,
+  0x7e9d, 0xed38, 0x7e5f, 0xebab, 0x7e1d, 0xea1e, 0x7dd6, 0xe893,
+  0x7d8a, 0xe708, 0x7d39, 0xe57e, 0x7ce3, 0xe3f5, 0x7c89, 0xe26d,
+  0x7c29, 0xe0e7, 0x7bc5, 0xdf61, 0x7b5d, 0xdddd, 0x7aef, 0xdc5a,
+  0x7a7d, 0xdad8, 0x7a05, 0xd958, 0x798a, 0xd7da, 0x7909, 0xd65d,
+  0x7884, 0xd4e1, 0x77fa, 0xd368, 0x776c, 0xd1ef, 0x76d9, 0xd079,
+  0x7641, 0xcf05, 0x75a5, 0xcd92, 0x7504, 0xcc22, 0x745f, 0xcab3,
+  0x73b5, 0xc946, 0x7307, 0xc7dc, 0x7255, 0xc674, 0x719e, 0xc50e,
+  0x70e2, 0xc3aa, 0x7023, 0xc248, 0x6f5f, 0xc0e9, 0x6e96, 0xbf8d,
+  0x6dca, 0xbe32, 0x6cf9, 0xbcdb, 0x6c24, 0xbb86, 0x6b4a, 0xba33,
+  0x6a6d, 0xb8e4, 0x698c, 0xb797, 0x68a6, 0xb64c, 0x67bd, 0xb505,
+  0x66cf, 0xb3c1, 0x65dd, 0xb27f, 0x64e8, 0xb141, 0x63ef, 0xb005,
+  0x62f2, 0xaecd, 0x61f1, 0xad97, 0x60ec, 0xac65, 0x5fe3, 0xab36,
+  0x5ed7, 0xaa0b, 0x5dc7, 0xa8e3, 0x5cb4, 0xa7be, 0x5b9d, 0xa69c,
+  0x5a82, 0xa57e, 0x5964, 0xa463, 0x5842, 0xa34c, 0x571d, 0xa239,
+  0x55f5, 0xa129, 0x54ca, 0xa01d, 0x539b, 0x9f14, 0x5269, 0x9e0f,
+  0x5133, 0x9d0e, 0x4ffb, 0x9c11, 0x4ebf, 0x9b18, 0x4d81, 0x9a23,
+  0x4c3f, 0x9931, 0x4afb, 0x9843, 0x49b4, 0x975a, 0x4869, 0x9674,
+  0x471c, 0x9593, 0x45cd, 0x94b6, 0x447a, 0x93dc, 0x4325, 0x9307,
+  0x41ce, 0x9236, 0x4073, 0x916a, 0x3f17, 0x90a1, 0x3db8, 0x8fdd,
+  0x3c56, 0x8f1e, 0x3af2, 0x8e62, 0x398c, 0x8dab, 0x3824, 0x8cf9,
+  0x36ba, 0x8c4b, 0x354d, 0x8ba1, 0x33de, 0x8afc, 0x326e, 0x8a5b,
+  0x30fb, 0x89bf, 0x2f87, 0x8927, 0x2e11, 0x8894, 0x2c98, 0x8806,
+  0x2b1f, 0x877c, 0x29a3, 0x86f7, 0x2826, 0x8676, 0x26a8, 0x85fb,
+  0x2528, 0x8583, 0x23a6, 0x8511, 0x2223, 0x84a3, 0x209f, 0x843b,
+  0x1f19, 0x83d7, 0x1d93, 0x8377, 0x1c0b, 0x831d, 0x1a82, 0x82c7,
+  0x18f8, 0x8276, 0x176d, 0x822a, 0x15e2, 0x81e3, 0x1455, 0x81a1,
+  0x12c8, 0x8163, 0x1139, 0x812b, 0xfab, 0x80f7, 0xe1b, 0x80c8,
+  0xc8b, 0x809e, 0xafb, 0x8079, 0x96a, 0x8059, 0x7d9, 0x803e,
+  0x647, 0x8028, 0x4b6, 0x8017, 0x324, 0x800a, 0x192, 0x8003,
+};
+
+static const q15_t ALIGN4 WeightsQ15_512[1024] = {
+  0x7fff, 0x0, 0x7fff, 0xff9c, 0x7fff, 0xff37, 0x7ffe, 0xfed3,
+  0x7ffd, 0xfe6e, 0x7ffc, 0xfe0a, 0x7ffa, 0xfda5, 0x7ff8, 0xfd41,
+  0x7ff6, 0xfcdc, 0x7ff3, 0xfc78, 0x7ff0, 0xfc13, 0x7fed, 0xfbaf,
+  0x7fe9, 0xfb4a, 0x7fe5, 0xfae6, 0x7fe1, 0xfa81, 0x7fdd, 0xfa1d,
+  0x7fd8, 0xf9b9, 0x7fd3, 0xf954, 0x7fce, 0xf8f0, 0x7fc8, 0xf88b,
+  0x7fc2, 0xf827, 0x7fbc, 0xf7c3, 0x7fb5, 0xf75e, 0x7fae, 0xf6fa,
+  0x7fa7, 0xf696, 0x7f9f, 0xf632, 0x7f97, 0xf5cd, 0x7f8f, 0xf569,
+  0x7f87, 0xf505, 0x7f7e, 0xf4a1, 0x7f75, 0xf43d, 0x7f6b, 0xf3d9,
+  0x7f62, 0xf375, 0x7f58, 0xf311, 0x7f4d, 0xf2ad, 0x7f43, 0xf249,
+  0x7f38, 0xf1e5, 0x7f2d, 0xf181, 0x7f21, 0xf11d, 0x7f15, 0xf0b9,
+  0x7f09, 0xf055, 0x7efd, 0xeff2, 0x7ef0, 0xef8e, 0x7ee3, 0xef2a,
+  0x7ed5, 0xeec7, 0x7ec8, 0xee63, 0x7eba, 0xedff, 0x7eab, 0xed9c,
+  0x7e9d, 0xed38, 0x7e8e, 0xecd5, 0x7e7f, 0xec72, 0x7e6f, 0xec0e,
+  0x7e5f, 0xebab, 0x7e4f, 0xeb48, 0x7e3f, 0xeae5, 0x7e2e, 0xea81,
+  0x7e1d, 0xea1e, 0x7e0c, 0xe9bb, 0x7dfa, 0xe958, 0x7de8, 0xe8f6,
+  0x7dd6, 0xe893, 0x7dc3, 0xe830, 0x7db0, 0xe7cd, 0x7d9d, 0xe76a,
+  0x7d8a, 0xe708, 0x7d76, 0xe6a5, 0x7d62, 0xe643, 0x7d4e, 0xe5e0,
+  0x7d39, 0xe57e, 0x7d24, 0xe51c, 0x7d0f, 0xe4b9, 0x7cf9, 0xe457,
+  0x7ce3, 0xe3f5, 0x7ccd, 0xe393, 0x7cb7, 0xe331, 0x7ca0, 0xe2cf,
+  0x7c89, 0xe26d, 0x7c71, 0xe20b, 0x7c5a, 0xe1aa, 0x7c42, 0xe148,
+  0x7c29, 0xe0e7, 0x7c11, 0xe085, 0x7bf8, 0xe024, 0x7bdf, 0xdfc2,
+  0x7bc5, 0xdf61, 0x7bac, 0xdf00, 0x7b92, 0xde9f, 0x7b77, 0xde3e,
+  0x7b5d, 0xdddd, 0x7b42, 0xdd7c, 0x7b26, 0xdd1b, 0x7b0b, 0xdcbb,
+  0x7aef, 0xdc5a, 0x7ad3, 0xdbf9, 0x7ab6, 0xdb99, 0x7a9a, 0xdb39,
+  0x7a7d, 0xdad8, 0x7a5f, 0xda78, 0x7a42, 0xda18, 0x7a24, 0xd9b8,
+  0x7a05, 0xd958, 0x79e7, 0xd8f9, 0x79c8, 0xd899, 0x79a9, 0xd839,
+  0x798a, 0xd7da, 0x796a, 0xd77a, 0x794a, 0xd71b, 0x792a, 0xd6bc,
+  0x7909, 0xd65d, 0x78e8, 0xd5fe, 0x78c7, 0xd59f, 0x78a6, 0xd540,
+  0x7884, 0xd4e1, 0x7862, 0xd483, 0x7840, 0xd424, 0x781d, 0xd3c6,
+  0x77fa, 0xd368, 0x77d7, 0xd309, 0x77b4, 0xd2ab, 0x7790, 0xd24d,
+  0x776c, 0xd1ef, 0x7747, 0xd192, 0x7723, 0xd134, 0x76fe, 0xd0d7,
+  0x76d9, 0xd079, 0x76b3, 0xd01c, 0x768e, 0xcfbf, 0x7668, 0xcf62,
+  0x7641, 0xcf05, 0x761b, 0xcea8, 0x75f4, 0xce4b, 0x75cc, 0xcdef,
+  0x75a5, 0xcd92, 0x757d, 0xcd36, 0x7555, 0xccda, 0x752d, 0xcc7e,
+  0x7504, 0xcc22, 0x74db, 0xcbc6, 0x74b2, 0xcb6a, 0x7489, 0xcb0e,
+  0x745f, 0xcab3, 0x7435, 0xca58, 0x740b, 0xc9fc, 0x73e0, 0xc9a1,
+  0x73b5, 0xc946, 0x738a, 0xc8ec, 0x735f, 0xc891, 0x7333, 0xc836,
+  0x7307, 0xc7dc, 0x72db, 0xc782, 0x72af, 0xc728, 0x7282, 0xc6ce,
+  0x7255, 0xc674, 0x7227, 0xc61a, 0x71fa, 0xc5c0, 0x71cc, 0xc567,
+  0x719e, 0xc50e, 0x716f, 0xc4b4, 0x7141, 0xc45b, 0x7112, 0xc403,
+  0x70e2, 0xc3aa, 0x70b3, 0xc351, 0x7083, 0xc2f9, 0x7053, 0xc2a0,
+  0x7023, 0xc248, 0x6ff2, 0xc1f0, 0x6fc1, 0xc198, 0x6f90, 0xc141,
+  0x6f5f, 0xc0e9, 0x6f2d, 0xc092, 0x6efb, 0xc03b, 0x6ec9, 0xbfe3,
+  0x6e96, 0xbf8d, 0x6e63, 0xbf36, 0x6e30, 0xbedf, 0x6dfd, 0xbe89,
+  0x6dca, 0xbe32, 0x6d96, 0xbddc, 0x6d62, 0xbd86, 0x6d2d, 0xbd30,
+  0x6cf9, 0xbcdb, 0x6cc4, 0xbc85, 0x6c8f, 0xbc30, 0x6c59, 0xbbdb,
+  0x6c24, 0xbb86, 0x6bee, 0xbb31, 0x6bb8, 0xbadc, 0x6b81, 0xba88,
+  0x6b4a, 0xba33, 0x6b13, 0xb9df, 0x6adc, 0xb98b, 0x6aa5, 0xb937,
+  0x6a6d, 0xb8e4, 0x6a35, 0xb890, 0x69fd, 0xb83d, 0x69c4, 0xb7ea,
+  0x698c, 0xb797, 0x6953, 0xb744, 0x6919, 0xb6f1, 0x68e0, 0xb69f,
+  0x68a6, 0xb64c, 0x686c, 0xb5fa, 0x6832, 0xb5a8, 0x67f7, 0xb557,
+  0x67bd, 0xb505, 0x6782, 0xb4b4, 0x6746, 0xb462, 0x670b, 0xb411,
+  0x66cf, 0xb3c1, 0x6693, 0xb370, 0x6657, 0xb31f, 0x661a, 0xb2cf,
+  0x65dd, 0xb27f, 0x65a0, 0xb22f, 0x6563, 0xb1df, 0x6526, 0xb190,
+  0x64e8, 0xb141, 0x64aa, 0xb0f1, 0x646c, 0xb0a2, 0x642d, 0xb054,
+  0x63ef, 0xb005, 0x63b0, 0xafb7, 0x6371, 0xaf69, 0x6331, 0xaf1b,
+  0x62f2, 0xaecd, 0x62b2, 0xae7f, 0x6271, 0xae32, 0x6231, 0xade4,
+  0x61f1, 0xad97, 0x61b0, 0xad4b, 0x616f, 0xacfe, 0x612d, 0xacb2,
+  0x60ec, 0xac65, 0x60aa, 0xac19, 0x6068, 0xabcd, 0x6026, 0xab82,
+  0x5fe3, 0xab36, 0x5fa0, 0xaaeb, 0x5f5e, 0xaaa0, 0x5f1a, 0xaa55,
+  0x5ed7, 0xaa0b, 0x5e93, 0xa9c0, 0x5e50, 0xa976, 0x5e0b, 0xa92c,
+  0x5dc7, 0xa8e3, 0x5d83, 0xa899, 0x5d3e, 0xa850, 0x5cf9, 0xa807,
+  0x5cb4, 0xa7be, 0x5c6e, 0xa775, 0x5c29, 0xa72c, 0x5be3, 0xa6e4,
+  0x5b9d, 0xa69c, 0x5b56, 0xa654, 0x5b10, 0xa60d, 0x5ac9, 0xa5c5,
+  0x5a82, 0xa57e, 0x5a3b, 0xa537, 0x59f3, 0xa4f0, 0x59ac, 0xa4aa,
+  0x5964, 0xa463, 0x591c, 0xa41d, 0x58d4, 0xa3d7, 0x588b, 0xa392,
+  0x5842, 0xa34c, 0x57f9, 0xa307, 0x57b0, 0xa2c2, 0x5767, 0xa27d,
+  0x571d, 0xa239, 0x56d4, 0xa1f5, 0x568a, 0xa1b0, 0x5640, 0xa16d,
+  0x55f5, 0xa129, 0x55ab, 0xa0e6, 0x5560, 0xa0a2, 0x5515, 0xa060,
+  0x54ca, 0xa01d, 0x547e, 0x9fda, 0x5433, 0x9f98, 0x53e7, 0x9f56,
+  0x539b, 0x9f14, 0x534e, 0x9ed3, 0x5302, 0x9e91, 0x52b5, 0x9e50,
+  0x5269, 0x9e0f, 0x521c, 0x9dcf, 0x51ce, 0x9d8f, 0x5181, 0x9d4e,
+  0x5133, 0x9d0e, 0x50e5, 0x9ccf, 0x5097, 0x9c8f, 0x5049, 0x9c50,
+  0x4ffb, 0x9c11, 0x4fac, 0x9bd3, 0x4f5e, 0x9b94, 0x4f0f, 0x9b56,
+  0x4ebf, 0x9b18, 0x4e70, 0x9ada, 0x4e21, 0x9a9d, 0x4dd1, 0x9a60,
+  0x4d81, 0x9a23, 0x4d31, 0x99e6, 0x4ce1, 0x99a9, 0x4c90, 0x996d,
+  0x4c3f, 0x9931, 0x4bef, 0x98f5, 0x4b9e, 0x98ba, 0x4b4c, 0x987e,
+  0x4afb, 0x9843, 0x4aa9, 0x9809, 0x4a58, 0x97ce, 0x4a06, 0x9794,
+  0x49b4, 0x975a, 0x4961, 0x9720, 0x490f, 0x96e7, 0x48bc, 0x96ad,
+  0x4869, 0x9674, 0x4816, 0x963c, 0x47c3, 0x9603, 0x4770, 0x95cb,
+  0x471c, 0x9593, 0x46c9, 0x955b, 0x4675, 0x9524, 0x4621, 0x94ed,
+  0x45cd, 0x94b6, 0x4578, 0x947f, 0x4524, 0x9448, 0x44cf, 0x9412,
+  0x447a, 0x93dc, 0x4425, 0x93a7, 0x43d0, 0x9371, 0x437b, 0x933c,
+  0x4325, 0x9307, 0x42d0, 0x92d3, 0x427a, 0x929e, 0x4224, 0x926a,
+  0x41ce, 0x9236, 0x4177, 0x9203, 0x4121, 0x91d0, 0x40ca, 0x919d,
+  0x4073, 0x916a, 0x401d, 0x9137, 0x3fc5, 0x9105, 0x3f6e, 0x90d3,
+  0x3f17, 0x90a1, 0x3ebf, 0x9070, 0x3e68, 0x903f, 0x3e10, 0x900e,
+  0x3db8, 0x8fdd, 0x3d60, 0x8fad, 0x3d07, 0x8f7d, 0x3caf, 0x8f4d,
+  0x3c56, 0x8f1e, 0x3bfd, 0x8eee, 0x3ba5, 0x8ebf, 0x3b4c, 0x8e91,
+  0x3af2, 0x8e62, 0x3a99, 0x8e34, 0x3a40, 0x8e06, 0x39e6, 0x8dd9,
+  0x398c, 0x8dab, 0x3932, 0x8d7e, 0x38d8, 0x8d51, 0x387e, 0x8d25,
+  0x3824, 0x8cf9, 0x37ca, 0x8ccd, 0x376f, 0x8ca1, 0x3714, 0x8c76,
+  0x36ba, 0x8c4b, 0x365f, 0x8c20, 0x3604, 0x8bf5, 0x35a8, 0x8bcb,
+  0x354d, 0x8ba1, 0x34f2, 0x8b77, 0x3496, 0x8b4e, 0x343a, 0x8b25,
+  0x33de, 0x8afc, 0x3382, 0x8ad3, 0x3326, 0x8aab, 0x32ca, 0x8a83,
+  0x326e, 0x8a5b, 0x3211, 0x8a34, 0x31b5, 0x8a0c, 0x3158, 0x89e5,
+  0x30fb, 0x89bf, 0x309e, 0x8998, 0x3041, 0x8972, 0x2fe4, 0x894d,
+  0x2f87, 0x8927, 0x2f29, 0x8902, 0x2ecc, 0x88dd, 0x2e6e, 0x88b9,
+  0x2e11, 0x8894, 0x2db3, 0x8870, 0x2d55, 0x884c, 0x2cf7, 0x8829,
+  0x2c98, 0x8806, 0x2c3a, 0x87e3, 0x2bdc, 0x87c0, 0x2b7d, 0x879e,
+  0x2b1f, 0x877c, 0x2ac0, 0x875a, 0x2a61, 0x8739, 0x2a02, 0x8718,
+  0x29a3, 0x86f7, 0x2944, 0x86d6, 0x28e5, 0x86b6, 0x2886, 0x8696,
+  0x2826, 0x8676, 0x27c7, 0x8657, 0x2767, 0x8638, 0x2707, 0x8619,
+  0x26a8, 0x85fb, 0x2648, 0x85dc, 0x25e8, 0x85be, 0x2588, 0x85a1,
+  0x2528, 0x8583, 0x24c7, 0x8566, 0x2467, 0x854a, 0x2407, 0x852d,
+  0x23a6, 0x8511, 0x2345, 0x84f5, 0x22e5, 0x84da, 0x2284, 0x84be,
+  0x2223, 0x84a3, 0x21c2, 0x8489, 0x2161, 0x846e, 0x2100, 0x8454,
+  0x209f, 0x843b, 0x203e, 0x8421, 0x1fdc, 0x8408, 0x1f7b, 0x83ef,
+  0x1f19, 0x83d7, 0x1eb8, 0x83be, 0x1e56, 0x83a6, 0x1df5, 0x838f,
+  0x1d93, 0x8377, 0x1d31, 0x8360, 0x1ccf, 0x8349, 0x1c6d, 0x8333,
+  0x1c0b, 0x831d, 0x1ba9, 0x8307, 0x1b47, 0x82f1, 0x1ae4, 0x82dc,
+  0x1a82, 0x82c7, 0x1a20, 0x82b2, 0x19bd, 0x829e, 0x195b, 0x828a,
+  0x18f8, 0x8276, 0x1896, 0x8263, 0x1833, 0x8250, 0x17d0, 0x823d,
+  0x176d, 0x822a, 0x170a, 0x8218, 0x16a8, 0x8206, 0x1645, 0x81f4,
+  0x15e2, 0x81e3, 0x157f, 0x81d2, 0x151b, 0x81c1, 0x14b8, 0x81b1,
+  0x1455, 0x81a1, 0x13f2, 0x8191, 0x138e, 0x8181, 0x132b, 0x8172,
+  0x12c8, 0x8163, 0x1264, 0x8155, 0x1201, 0x8146, 0x119d, 0x8138,
+  0x1139, 0x812b, 0x10d6, 0x811d, 0x1072, 0x8110, 0x100e, 0x8103,
+  0xfab, 0x80f7, 0xf47, 0x80eb, 0xee3, 0x80df, 0xe7f, 0x80d3,
+  0xe1b, 0x80c8, 0xdb7, 0x80bd, 0xd53, 0x80b3, 0xcef, 0x80a8,
+  0xc8b, 0x809e, 0xc27, 0x8095, 0xbc3, 0x808b, 0xb5f, 0x8082,
+  0xafb, 0x8079, 0xa97, 0x8071, 0xa33, 0x8069, 0x9ce, 0x8061,
+  0x96a, 0x8059, 0x906, 0x8052, 0x8a2, 0x804b, 0x83d, 0x8044,
+  0x7d9, 0x803e, 0x775, 0x8038, 0x710, 0x8032, 0x6ac, 0x802d,
+  0x647, 0x8028, 0x5e3, 0x8023, 0x57f, 0x801f, 0x51a, 0x801b,
+  0x4b6, 0x8017, 0x451, 0x8013, 0x3ed, 0x8010, 0x388, 0x800d,
+  0x324, 0x800a, 0x2bf, 0x8008, 0x25b, 0x8006, 0x1f6, 0x8004,
+  0x192, 0x8003, 0x12d, 0x8002, 0xc9, 0x8001, 0x64, 0x8001,
+};
+
+static const q15_t ALIGN4 WeightsQ15_2048[4096] = {
+  0x7fff, 0x0, 0x7fff, 0xffe7, 0x7fff, 0xffce, 0x7fff, 0xffb5,
+  0x7fff, 0xff9c, 0x7fff, 0xff83, 0x7fff, 0xff6a, 0x7fff, 0xff51,
+  0x7fff, 0xff37, 0x7fff, 0xff1e, 0x7fff, 0xff05, 0x7ffe, 0xfeec,
+  0x7ffe, 0xfed3, 0x7ffe, 0xfeba, 0x7ffe, 0xfea1, 0x7ffd, 0xfe88,
+  0x7ffd, 0xfe6e, 0x7ffd, 0xfe55, 0x7ffc, 0xfe3c, 0x7ffc, 0xfe23,
+  0x7ffc, 0xfe0a, 0x7ffb, 0xfdf1, 0x7ffb, 0xfdd8, 0x7ffa, 0xfdbe,
+  0x7ffa, 0xfda5, 0x7ff9, 0xfd8c, 0x7ff9, 0xfd73, 0x7ff8, 0xfd5a,
+  0x7ff8, 0xfd41, 0x7ff7, 0xfd28, 0x7ff7, 0xfd0f, 0x7ff6, 0xfcf5,
+  0x7ff6, 0xfcdc, 0x7ff5, 0xfcc3, 0x7ff4, 0xfcaa, 0x7ff4, 0xfc91,
+  0x7ff3, 0xfc78, 0x7ff2, 0xfc5f, 0x7ff2, 0xfc46, 0x7ff1, 0xfc2c,
+  0x7ff0, 0xfc13, 0x7fef, 0xfbfa, 0x7fee, 0xfbe1, 0x7fee, 0xfbc8,
+  0x7fed, 0xfbaf, 0x7fec, 0xfb96, 0x7feb, 0xfb7d, 0x7fea, 0xfb64,
+  0x7fe9, 0xfb4a, 0x7fe8, 0xfb31, 0x7fe7, 0xfb18, 0x7fe6, 0xfaff,
+  0x7fe5, 0xfae6, 0x7fe4, 0xfacd, 0x7fe3, 0xfab4, 0x7fe2, 0xfa9b,
+  0x7fe1, 0xfa81, 0x7fe0, 0xfa68, 0x7fdf, 0xfa4f, 0x7fde, 0xfa36,
+  0x7fdd, 0xfa1d, 0x7fdc, 0xfa04, 0x7fda, 0xf9eb, 0x7fd9, 0xf9d2,
+  0x7fd8, 0xf9b9, 0x7fd7, 0xf9a0, 0x7fd6, 0xf986, 0x7fd4, 0xf96d,
+  0x7fd3, 0xf954, 0x7fd2, 0xf93b, 0x7fd0, 0xf922, 0x7fcf, 0xf909,
+  0x7fce, 0xf8f0, 0x7fcc, 0xf8d7, 0x7fcb, 0xf8be, 0x7fc9, 0xf8a5,
+  0x7fc8, 0xf88b, 0x7fc6, 0xf872, 0x7fc5, 0xf859, 0x7fc3, 0xf840,
+  0x7fc2, 0xf827, 0x7fc0, 0xf80e, 0x7fbf, 0xf7f5, 0x7fbd, 0xf7dc,
+  0x7fbc, 0xf7c3, 0x7fba, 0xf7aa, 0x7fb8, 0xf791, 0x7fb7, 0xf778,
+  0x7fb5, 0xf75e, 0x7fb3, 0xf745, 0x7fb1, 0xf72c, 0x7fb0, 0xf713,
+  0x7fae, 0xf6fa, 0x7fac, 0xf6e1, 0x7faa, 0xf6c8, 0x7fa9, 0xf6af,
+  0x7fa7, 0xf696, 0x7fa5, 0xf67d, 0x7fa3, 0xf664, 0x7fa1, 0xf64b,
+  0x7f9f, 0xf632, 0x7f9d, 0xf619, 0x7f9b, 0xf600, 0x7f99, 0xf5e7,
+  0x7f97, 0xf5cd, 0x7f95, 0xf5b4, 0x7f93, 0xf59b, 0x7f91, 0xf582,
+  0x7f8f, 0xf569, 0x7f8d, 0xf550, 0x7f8b, 0xf537, 0x7f89, 0xf51e,
+  0x7f87, 0xf505, 0x7f85, 0xf4ec, 0x7f82, 0xf4d3, 0x7f80, 0xf4ba,
+  0x7f7e, 0xf4a1, 0x7f7c, 0xf488, 0x7f79, 0xf46f, 0x7f77, 0xf456,
+  0x7f75, 0xf43d, 0x7f72, 0xf424, 0x7f70, 0xf40b, 0x7f6e, 0xf3f2,
+  0x7f6b, 0xf3d9, 0x7f69, 0xf3c0, 0x7f67, 0xf3a7, 0x7f64, 0xf38e,
+  0x7f62, 0xf375, 0x7f5f, 0xf35c, 0x7f5d, 0xf343, 0x7f5a, 0xf32a,
+  0x7f58, 0xf311, 0x7f55, 0xf2f8, 0x7f53, 0xf2df, 0x7f50, 0xf2c6,
+  0x7f4d, 0xf2ad, 0x7f4b, 0xf294, 0x7f48, 0xf27b, 0x7f45, 0xf262,
+  0x7f43, 0xf249, 0x7f40, 0xf230, 0x7f3d, 0xf217, 0x7f3b, 0xf1fe,
+  0x7f38, 0xf1e5, 0x7f35, 0xf1cc, 0x7f32, 0xf1b3, 0x7f2f, 0xf19a,
+  0x7f2d, 0xf181, 0x7f2a, 0xf168, 0x7f27, 0xf14f, 0x7f24, 0xf136,
+  0x7f21, 0xf11d, 0x7f1e, 0xf104, 0x7f1b, 0xf0eb, 0x7f18, 0xf0d2,
+  0x7f15, 0xf0b9, 0x7f12, 0xf0a0, 0x7f0f, 0xf087, 0x7f0c, 0xf06e,
+  0x7f09, 0xf055, 0x7f06, 0xf03c, 0x7f03, 0xf023, 0x7f00, 0xf00b,
+  0x7efd, 0xeff2, 0x7ef9, 0xefd9, 0x7ef6, 0xefc0, 0x7ef3, 0xefa7,
+  0x7ef0, 0xef8e, 0x7eed, 0xef75, 0x7ee9, 0xef5c, 0x7ee6, 0xef43,
+  0x7ee3, 0xef2a, 0x7edf, 0xef11, 0x7edc, 0xeef8, 0x7ed9, 0xeedf,
+  0x7ed5, 0xeec7, 0x7ed2, 0xeeae, 0x7ecf, 0xee95, 0x7ecb, 0xee7c,
+  0x7ec8, 0xee63, 0x7ec4, 0xee4a, 0x7ec1, 0xee31, 0x7ebd, 0xee18,
+  0x7eba, 0xedff, 0x7eb6, 0xede7, 0x7eb3, 0xedce, 0x7eaf, 0xedb5,
+  0x7eab, 0xed9c, 0x7ea8, 0xed83, 0x7ea4, 0xed6a, 0x7ea1, 0xed51,
+  0x7e9d, 0xed38, 0x7e99, 0xed20, 0x7e95, 0xed07, 0x7e92, 0xecee,
+  0x7e8e, 0xecd5, 0x7e8a, 0xecbc, 0x7e86, 0xeca3, 0x7e83, 0xec8a,
+  0x7e7f, 0xec72, 0x7e7b, 0xec59, 0x7e77, 0xec40, 0x7e73, 0xec27,
+  0x7e6f, 0xec0e, 0x7e6b, 0xebf5, 0x7e67, 0xebdd, 0x7e63, 0xebc4,
+  0x7e5f, 0xebab, 0x7e5b, 0xeb92, 0x7e57, 0xeb79, 0x7e53, 0xeb61,
+  0x7e4f, 0xeb48, 0x7e4b, 0xeb2f, 0x7e47, 0xeb16, 0x7e43, 0xeafd,
+  0x7e3f, 0xeae5, 0x7e3b, 0xeacc, 0x7e37, 0xeab3, 0x7e32, 0xea9a,
+  0x7e2e, 0xea81, 0x7e2a, 0xea69, 0x7e26, 0xea50, 0x7e21, 0xea37,
+  0x7e1d, 0xea1e, 0x7e19, 0xea06, 0x7e14, 0xe9ed, 0x7e10, 0xe9d4,
+  0x7e0c, 0xe9bb, 0x7e07, 0xe9a3, 0x7e03, 0xe98a, 0x7dff, 0xe971,
+  0x7dfa, 0xe958, 0x7df6, 0xe940, 0x7df1, 0xe927, 0x7ded, 0xe90e,
+  0x7de8, 0xe8f6, 0x7de4, 0xe8dd, 0x7ddf, 0xe8c4, 0x7dda, 0xe8ab,
+  0x7dd6, 0xe893, 0x7dd1, 0xe87a, 0x7dcd, 0xe861, 0x7dc8, 0xe849,
+  0x7dc3, 0xe830, 0x7dbf, 0xe817, 0x7dba, 0xe7fe, 0x7db5, 0xe7e6,
+  0x7db0, 0xe7cd, 0x7dac, 0xe7b4, 0x7da7, 0xe79c, 0x7da2, 0xe783,
+  0x7d9d, 0xe76a, 0x7d98, 0xe752, 0x7d94, 0xe739, 0x7d8f, 0xe720,
+  0x7d8a, 0xe708, 0x7d85, 0xe6ef, 0x7d80, 0xe6d6, 0x7d7b, 0xe6be,
+  0x7d76, 0xe6a5, 0x7d71, 0xe68d, 0x7d6c, 0xe674, 0x7d67, 0xe65b,
+  0x7d62, 0xe643, 0x7d5d, 0xe62a, 0x7d58, 0xe611, 0x7d53, 0xe5f9,
+  0x7d4e, 0xe5e0, 0x7d49, 0xe5c8, 0x7d43, 0xe5af, 0x7d3e, 0xe596,
+  0x7d39, 0xe57e, 0x7d34, 0xe565, 0x7d2f, 0xe54d, 0x7d29, 0xe534,
+  0x7d24, 0xe51c, 0x7d1f, 0xe503, 0x7d19, 0xe4ea, 0x7d14, 0xe4d2,
+  0x7d0f, 0xe4b9, 0x7d09, 0xe4a1, 0x7d04, 0xe488, 0x7cff, 0xe470,
+  0x7cf9, 0xe457, 0x7cf4, 0xe43f, 0x7cee, 0xe426, 0x7ce9, 0xe40e,
+  0x7ce3, 0xe3f5, 0x7cde, 0xe3dc, 0x7cd8, 0xe3c4, 0x7cd3, 0xe3ab,
+  0x7ccd, 0xe393, 0x7cc8, 0xe37a, 0x7cc2, 0xe362, 0x7cbc, 0xe349,
+  0x7cb7, 0xe331, 0x7cb1, 0xe318, 0x7cab, 0xe300, 0x7ca6, 0xe2e8,
+  0x7ca0, 0xe2cf, 0x7c9a, 0xe2b7, 0x7c94, 0xe29e, 0x7c8f, 0xe286,
+  0x7c89, 0xe26d, 0x7c83, 0xe255, 0x7c7d, 0xe23c, 0x7c77, 0xe224,
+  0x7c71, 0xe20b, 0x7c6c, 0xe1f3, 0x7c66, 0xe1db, 0x7c60, 0xe1c2,
+  0x7c5a, 0xe1aa, 0x7c54, 0xe191, 0x7c4e, 0xe179, 0x7c48, 0xe160,
+  0x7c42, 0xe148, 0x7c3c, 0xe130, 0x7c36, 0xe117, 0x7c30, 0xe0ff,
+  0x7c29, 0xe0e7, 0x7c23, 0xe0ce, 0x7c1d, 0xe0b6, 0x7c17, 0xe09d,
+  0x7c11, 0xe085, 0x7c0b, 0xe06d, 0x7c05, 0xe054, 0x7bfe, 0xe03c,
+  0x7bf8, 0xe024, 0x7bf2, 0xe00b, 0x7beb, 0xdff3, 0x7be5, 0xdfdb,
+  0x7bdf, 0xdfc2, 0x7bd9, 0xdfaa, 0x7bd2, 0xdf92, 0x7bcc, 0xdf79,
+  0x7bc5, 0xdf61, 0x7bbf, 0xdf49, 0x7bb9, 0xdf30, 0x7bb2, 0xdf18,
+  0x7bac, 0xdf00, 0x7ba5, 0xdee8, 0x7b9f, 0xdecf, 0x7b98, 0xdeb7,
+  0x7b92, 0xde9f, 0x7b8b, 0xde87, 0x7b84, 0xde6e, 0x7b7e, 0xde56,
+  0x7b77, 0xde3e, 0x7b71, 0xde26, 0x7b6a, 0xde0d, 0x7b63, 0xddf5,
+  0x7b5d, 0xdddd, 0x7b56, 0xddc5, 0x7b4f, 0xddac, 0x7b48, 0xdd94,
+  0x7b42, 0xdd7c, 0x7b3b, 0xdd64, 0x7b34, 0xdd4c, 0x7b2d, 0xdd33,
+  0x7b26, 0xdd1b, 0x7b1f, 0xdd03, 0x7b19, 0xdceb, 0x7b12, 0xdcd3,
+  0x7b0b, 0xdcbb, 0x7b04, 0xdca2, 0x7afd, 0xdc8a, 0x7af6, 0xdc72,
+  0x7aef, 0xdc5a, 0x7ae8, 0xdc42, 0x7ae1, 0xdc2a, 0x7ada, 0xdc12,
+  0x7ad3, 0xdbf9, 0x7acc, 0xdbe1, 0x7ac5, 0xdbc9, 0x7abd, 0xdbb1,
+  0x7ab6, 0xdb99, 0x7aaf, 0xdb81, 0x7aa8, 0xdb69, 0x7aa1, 0xdb51,
+  0x7a9a, 0xdb39, 0x7a92, 0xdb21, 0x7a8b, 0xdb09, 0x7a84, 0xdaf1,
+  0x7a7d, 0xdad8, 0x7a75, 0xdac0, 0x7a6e, 0xdaa8, 0x7a67, 0xda90,
+  0x7a5f, 0xda78, 0x7a58, 0xda60, 0x7a50, 0xda48, 0x7a49, 0xda30,
+  0x7a42, 0xda18, 0x7a3a, 0xda00, 0x7a33, 0xd9e8, 0x7a2b, 0xd9d0,
+  0x7a24, 0xd9b8, 0x7a1c, 0xd9a0, 0x7a15, 0xd988, 0x7a0d, 0xd970,
+  0x7a05, 0xd958, 0x79fe, 0xd940, 0x79f6, 0xd928, 0x79ef, 0xd911,
+  0x79e7, 0xd8f9, 0x79df, 0xd8e1, 0x79d8, 0xd8c9, 0x79d0, 0xd8b1,
+  0x79c8, 0xd899, 0x79c0, 0xd881, 0x79b9, 0xd869, 0x79b1, 0xd851,
+  0x79a9, 0xd839, 0x79a1, 0xd821, 0x7999, 0xd80a, 0x7992, 0xd7f2,
+  0x798a, 0xd7da, 0x7982, 0xd7c2, 0x797a, 0xd7aa, 0x7972, 0xd792,
+  0x796a, 0xd77a, 0x7962, 0xd763, 0x795a, 0xd74b, 0x7952, 0xd733,
+  0x794a, 0xd71b, 0x7942, 0xd703, 0x793a, 0xd6eb, 0x7932, 0xd6d4,
+  0x792a, 0xd6bc, 0x7922, 0xd6a4, 0x7919, 0xd68c, 0x7911, 0xd675,
+  0x7909, 0xd65d, 0x7901, 0xd645, 0x78f9, 0xd62d, 0x78f1, 0xd615,
+  0x78e8, 0xd5fe, 0x78e0, 0xd5e6, 0x78d8, 0xd5ce, 0x78cf, 0xd5b7,
+  0x78c7, 0xd59f, 0x78bf, 0xd587, 0x78b6, 0xd56f, 0x78ae, 0xd558,
+  0x78a6, 0xd540, 0x789d, 0xd528, 0x7895, 0xd511, 0x788c, 0xd4f9,
+  0x7884, 0xd4e1, 0x787c, 0xd4ca, 0x7873, 0xd4b2, 0x786b, 0xd49a,
+  0x7862, 0xd483, 0x7859, 0xd46b, 0x7851, 0xd453, 0x7848, 0xd43c,
+  0x7840, 0xd424, 0x7837, 0xd40d, 0x782e, 0xd3f5, 0x7826, 0xd3dd,
+  0x781d, 0xd3c6, 0x7814, 0xd3ae, 0x780c, 0xd397, 0x7803, 0xd37f,
+  0x77fa, 0xd368, 0x77f1, 0xd350, 0x77e9, 0xd338, 0x77e0, 0xd321,
+  0x77d7, 0xd309, 0x77ce, 0xd2f2, 0x77c5, 0xd2da, 0x77bc, 0xd2c3,
+  0x77b4, 0xd2ab, 0x77ab, 0xd294, 0x77a2, 0xd27c, 0x7799, 0xd265,
+  0x7790, 0xd24d, 0x7787, 0xd236, 0x777e, 0xd21e, 0x7775, 0xd207,
+  0x776c, 0xd1ef, 0x7763, 0xd1d8, 0x775a, 0xd1c1, 0x7751, 0xd1a9,
+  0x7747, 0xd192, 0x773e, 0xd17a, 0x7735, 0xd163, 0x772c, 0xd14b,
+  0x7723, 0xd134, 0x771a, 0xd11d, 0x7710, 0xd105, 0x7707, 0xd0ee,
+  0x76fe, 0xd0d7, 0x76f5, 0xd0bf, 0x76eb, 0xd0a8, 0x76e2, 0xd091,
+  0x76d9, 0xd079, 0x76cf, 0xd062, 0x76c6, 0xd04b, 0x76bd, 0xd033,
+  0x76b3, 0xd01c, 0x76aa, 0xd005, 0x76a0, 0xcfed, 0x7697, 0xcfd6,
+  0x768e, 0xcfbf, 0x7684, 0xcfa7, 0x767b, 0xcf90, 0x7671, 0xcf79,
+  0x7668, 0xcf62, 0x765e, 0xcf4a, 0x7654, 0xcf33, 0x764b, 0xcf1c,
+  0x7641, 0xcf05, 0x7638, 0xceee, 0x762e, 0xced6, 0x7624, 0xcebf,
+  0x761b, 0xcea8, 0x7611, 0xce91, 0x7607, 0xce7a, 0x75fd, 0xce62,
+  0x75f4, 0xce4b, 0x75ea, 0xce34, 0x75e0, 0xce1d, 0x75d6, 0xce06,
+  0x75cc, 0xcdef, 0x75c3, 0xcdd8, 0x75b9, 0xcdc0, 0x75af, 0xcda9,
+  0x75a5, 0xcd92, 0x759b, 0xcd7b, 0x7591, 0xcd64, 0x7587, 0xcd4d,
+  0x757d, 0xcd36, 0x7573, 0xcd1f, 0x7569, 0xcd08, 0x755f, 0xccf1,
+  0x7555, 0xccda, 0x754b, 0xccc3, 0x7541, 0xccac, 0x7537, 0xcc95,
+  0x752d, 0xcc7e, 0x7523, 0xcc67, 0x7519, 0xcc50, 0x750f, 0xcc39,
+  0x7504, 0xcc22, 0x74fa, 0xcc0b, 0x74f0, 0xcbf4, 0x74e6, 0xcbdd,
+  0x74db, 0xcbc6, 0x74d1, 0xcbaf, 0x74c7, 0xcb98, 0x74bd, 0xcb81,
+  0x74b2, 0xcb6a, 0x74a8, 0xcb53, 0x749e, 0xcb3c, 0x7493, 0xcb25,
+  0x7489, 0xcb0e, 0x747e, 0xcaf8, 0x7474, 0xcae1, 0x746a, 0xcaca,
+  0x745f, 0xcab3, 0x7455, 0xca9c, 0x744a, 0xca85, 0x7440, 0xca6e,
+  0x7435, 0xca58, 0x742b, 0xca41, 0x7420, 0xca2a, 0x7415, 0xca13,
+  0x740b, 0xc9fc, 0x7400, 0xc9e6, 0x73f6, 0xc9cf, 0x73eb, 0xc9b8,
+  0x73e0, 0xc9a1, 0x73d6, 0xc98b, 0x73cb, 0xc974, 0x73c0, 0xc95d,
+  0x73b5, 0xc946, 0x73ab, 0xc930, 0x73a0, 0xc919, 0x7395, 0xc902,
+  0x738a, 0xc8ec, 0x737f, 0xc8d5, 0x7375, 0xc8be, 0x736a, 0xc8a8,
+  0x735f, 0xc891, 0x7354, 0xc87a, 0x7349, 0xc864, 0x733e, 0xc84d,
+  0x7333, 0xc836, 0x7328, 0xc820, 0x731d, 0xc809, 0x7312, 0xc7f3,
+  0x7307, 0xc7dc, 0x72fc, 0xc7c5, 0x72f1, 0xc7af, 0x72e6, 0xc798,
+  0x72db, 0xc782, 0x72d0, 0xc76b, 0x72c5, 0xc755, 0x72ba, 0xc73e,
+  0x72af, 0xc728, 0x72a3, 0xc711, 0x7298, 0xc6fa, 0x728d, 0xc6e4,
+  0x7282, 0xc6ce, 0x7276, 0xc6b7, 0x726b, 0xc6a1, 0x7260, 0xc68a,
+  0x7255, 0xc674, 0x7249, 0xc65d, 0x723e, 0xc647, 0x7233, 0xc630,
+  0x7227, 0xc61a, 0x721c, 0xc603, 0x7211, 0xc5ed, 0x7205, 0xc5d7,
+  0x71fa, 0xc5c0, 0x71ee, 0xc5aa, 0x71e3, 0xc594, 0x71d7, 0xc57d,
+  0x71cc, 0xc567, 0x71c0, 0xc551, 0x71b5, 0xc53a, 0x71a9, 0xc524,
+  0x719e, 0xc50e, 0x7192, 0xc4f7, 0x7186, 0xc4e1, 0x717b, 0xc4cb,
+  0x716f, 0xc4b4, 0x7164, 0xc49e, 0x7158, 0xc488, 0x714c, 0xc472,
+  0x7141, 0xc45b, 0x7135, 0xc445, 0x7129, 0xc42f, 0x711d, 0xc419,
+  0x7112, 0xc403, 0x7106, 0xc3ec, 0x70fa, 0xc3d6, 0x70ee, 0xc3c0,
+  0x70e2, 0xc3aa, 0x70d6, 0xc394, 0x70cb, 0xc37d, 0x70bf, 0xc367,
+  0x70b3, 0xc351, 0x70a7, 0xc33b, 0x709b, 0xc325, 0x708f, 0xc30f,
+  0x7083, 0xc2f9, 0x7077, 0xc2e3, 0x706b, 0xc2cd, 0x705f, 0xc2b7,
+  0x7053, 0xc2a0, 0x7047, 0xc28a, 0x703b, 0xc274, 0x702f, 0xc25e,
+  0x7023, 0xc248, 0x7016, 0xc232, 0x700a, 0xc21c, 0x6ffe, 0xc206,
+  0x6ff2, 0xc1f0, 0x6fe6, 0xc1da, 0x6fda, 0xc1c4, 0x6fcd, 0xc1ae,
+  0x6fc1, 0xc198, 0x6fb5, 0xc183, 0x6fa9, 0xc16d, 0x6f9c, 0xc157,
+  0x6f90, 0xc141, 0x6f84, 0xc12b, 0x6f77, 0xc115, 0x6f6b, 0xc0ff,
+  0x6f5f, 0xc0e9, 0x6f52, 0xc0d3, 0x6f46, 0xc0bd, 0x6f39, 0xc0a8,
+  0x6f2d, 0xc092, 0x6f20, 0xc07c, 0x6f14, 0xc066, 0x6f07, 0xc050,
+  0x6efb, 0xc03b, 0x6eee, 0xc025, 0x6ee2, 0xc00f, 0x6ed5, 0xbff9,
+  0x6ec9, 0xbfe3, 0x6ebc, 0xbfce, 0x6eaf, 0xbfb8, 0x6ea3, 0xbfa2,
+  0x6e96, 0xbf8d, 0x6e89, 0xbf77, 0x6e7d, 0xbf61, 0x6e70, 0xbf4b,
+  0x6e63, 0xbf36, 0x6e57, 0xbf20, 0x6e4a, 0xbf0a, 0x6e3d, 0xbef5,
+  0x6e30, 0xbedf, 0x6e24, 0xbeca, 0x6e17, 0xbeb4, 0x6e0a, 0xbe9e,
+  0x6dfd, 0xbe89, 0x6df0, 0xbe73, 0x6de3, 0xbe5e, 0x6dd6, 0xbe48,
+  0x6dca, 0xbe32, 0x6dbd, 0xbe1d, 0x6db0, 0xbe07, 0x6da3, 0xbdf2,
+  0x6d96, 0xbddc, 0x6d89, 0xbdc7, 0x6d7c, 0xbdb1, 0x6d6f, 0xbd9c,
+  0x6d62, 0xbd86, 0x6d55, 0xbd71, 0x6d48, 0xbd5b, 0x6d3a, 0xbd46,
+  0x6d2d, 0xbd30, 0x6d20, 0xbd1b, 0x6d13, 0xbd06, 0x6d06, 0xbcf0,
+  0x6cf9, 0xbcdb, 0x6cec, 0xbcc5, 0x6cde, 0xbcb0, 0x6cd1, 0xbc9b,
+  0x6cc4, 0xbc85, 0x6cb7, 0xbc70, 0x6ca9, 0xbc5b, 0x6c9c, 0xbc45,
+  0x6c8f, 0xbc30, 0x6c81, 0xbc1b, 0x6c74, 0xbc05, 0x6c67, 0xbbf0,
+  0x6c59, 0xbbdb, 0x6c4c, 0xbbc5, 0x6c3f, 0xbbb0, 0x6c31, 0xbb9b,
+  0x6c24, 0xbb86, 0x6c16, 0xbb70, 0x6c09, 0xbb5b, 0x6bfb, 0xbb46,
+  0x6bee, 0xbb31, 0x6be0, 0xbb1c, 0x6bd3, 0xbb06, 0x6bc5, 0xbaf1,
+  0x6bb8, 0xbadc, 0x6baa, 0xbac7, 0x6b9c, 0xbab2, 0x6b8f, 0xba9d,
+  0x6b81, 0xba88, 0x6b73, 0xba73, 0x6b66, 0xba5d, 0x6b58, 0xba48,
+  0x6b4a, 0xba33, 0x6b3d, 0xba1e, 0x6b2f, 0xba09, 0x6b21, 0xb9f4,
+  0x6b13, 0xb9df, 0x6b06, 0xb9ca, 0x6af8, 0xb9b5, 0x6aea, 0xb9a0,
+  0x6adc, 0xb98b, 0x6ace, 0xb976, 0x6ac1, 0xb961, 0x6ab3, 0xb94c,
+  0x6aa5, 0xb937, 0x6a97, 0xb922, 0x6a89, 0xb90d, 0x6a7b, 0xb8f8,
+  0x6a6d, 0xb8e4, 0x6a5f, 0xb8cf, 0x6a51, 0xb8ba, 0x6a43, 0xb8a5,
+  0x6a35, 0xb890, 0x6a27, 0xb87b, 0x6a19, 0xb866, 0x6a0b, 0xb852,
+  0x69fd, 0xb83d, 0x69ef, 0xb828, 0x69e1, 0xb813, 0x69d3, 0xb7fe,
+  0x69c4, 0xb7ea, 0x69b6, 0xb7d5, 0x69a8, 0xb7c0, 0x699a, 0xb7ab,
+  0x698c, 0xb797, 0x697d, 0xb782, 0x696f, 0xb76d, 0x6961, 0xb758,
+  0x6953, 0xb744, 0x6944, 0xb72f, 0x6936, 0xb71a, 0x6928, 0xb706,
+  0x6919, 0xb6f1, 0x690b, 0xb6dd, 0x68fd, 0xb6c8, 0x68ee, 0xb6b3,
+  0x68e0, 0xb69f, 0x68d1, 0xb68a, 0x68c3, 0xb676, 0x68b5, 0xb661,
+  0x68a6, 0xb64c, 0x6898, 0xb638, 0x6889, 0xb623, 0x687b, 0xb60f,
+  0x686c, 0xb5fa, 0x685e, 0xb5e6, 0x684f, 0xb5d1, 0x6840, 0xb5bd,
+  0x6832, 0xb5a8, 0x6823, 0xb594, 0x6815, 0xb57f, 0x6806, 0xb56b,
+  0x67f7, 0xb557, 0x67e9, 0xb542, 0x67da, 0xb52e, 0x67cb, 0xb519,
+  0x67bd, 0xb505, 0x67ae, 0xb4f1, 0x679f, 0xb4dc, 0x6790, 0xb4c8,
+  0x6782, 0xb4b4, 0x6773, 0xb49f, 0x6764, 0xb48b, 0x6755, 0xb477,
+  0x6746, 0xb462, 0x6737, 0xb44e, 0x6729, 0xb43a, 0x671a, 0xb426,
+  0x670b, 0xb411, 0x66fc, 0xb3fd, 0x66ed, 0xb3e9, 0x66de, 0xb3d5,
+  0x66cf, 0xb3c1, 0x66c0, 0xb3ac, 0x66b1, 0xb398, 0x66a2, 0xb384,
+  0x6693, 0xb370, 0x6684, 0xb35c, 0x6675, 0xb348, 0x6666, 0xb334,
+  0x6657, 0xb31f, 0x6648, 0xb30b, 0x6639, 0xb2f7, 0x6629, 0xb2e3,
+  0x661a, 0xb2cf, 0x660b, 0xb2bb, 0x65fc, 0xb2a7, 0x65ed, 0xb293,
+  0x65dd, 0xb27f, 0x65ce, 0xb26b, 0x65bf, 0xb257, 0x65b0, 0xb243,
+  0x65a0, 0xb22f, 0x6591, 0xb21b, 0x6582, 0xb207, 0x6573, 0xb1f3,
+  0x6563, 0xb1df, 0x6554, 0xb1cc, 0x6545, 0xb1b8, 0x6535, 0xb1a4,
+  0x6526, 0xb190, 0x6516, 0xb17c, 0x6507, 0xb168, 0x64f7, 0xb154,
+  0x64e8, 0xb141, 0x64d9, 0xb12d, 0x64c9, 0xb119, 0x64ba, 0xb105,
+  0x64aa, 0xb0f1, 0x649b, 0xb0de, 0x648b, 0xb0ca, 0x647b, 0xb0b6,
+  0x646c, 0xb0a2, 0x645c, 0xb08f, 0x644d, 0xb07b, 0x643d, 0xb067,
+  0x642d, 0xb054, 0x641e, 0xb040, 0x640e, 0xb02c, 0x63fe, 0xb019,
+  0x63ef, 0xb005, 0x63df, 0xaff1, 0x63cf, 0xafde, 0x63c0, 0xafca,
+  0x63b0, 0xafb7, 0x63a0, 0xafa3, 0x6390, 0xaf90, 0x6380, 0xaf7c,
+  0x6371, 0xaf69, 0x6361, 0xaf55, 0x6351, 0xaf41, 0x6341, 0xaf2e,
+  0x6331, 0xaf1b, 0x6321, 0xaf07, 0x6311, 0xaef4, 0x6301, 0xaee0,
+  0x62f2, 0xaecd, 0x62e2, 0xaeb9, 0x62d2, 0xaea6, 0x62c2, 0xae92,
+  0x62b2, 0xae7f, 0x62a2, 0xae6c, 0x6292, 0xae58, 0x6282, 0xae45,
+  0x6271, 0xae32, 0x6261, 0xae1e, 0x6251, 0xae0b, 0x6241, 0xadf8,
+  0x6231, 0xade4, 0x6221, 0xadd1, 0x6211, 0xadbe, 0x6201, 0xadab,
+  0x61f1, 0xad97, 0x61e0, 0xad84, 0x61d0, 0xad71, 0x61c0, 0xad5e,
+  0x61b0, 0xad4b, 0x619f, 0xad37, 0x618f, 0xad24, 0x617f, 0xad11,
+  0x616f, 0xacfe, 0x615e, 0xaceb, 0x614e, 0xacd8, 0x613e, 0xacc5,
+  0x612d, 0xacb2, 0x611d, 0xac9e, 0x610d, 0xac8b, 0x60fc, 0xac78,
+  0x60ec, 0xac65, 0x60db, 0xac52, 0x60cb, 0xac3f, 0x60ba, 0xac2c,
+  0x60aa, 0xac19, 0x6099, 0xac06, 0x6089, 0xabf3, 0x6078, 0xabe0,
+  0x6068, 0xabcd, 0x6057, 0xabbb, 0x6047, 0xaba8, 0x6036, 0xab95,
+  0x6026, 0xab82, 0x6015, 0xab6f, 0x6004, 0xab5c, 0x5ff4, 0xab49,
+  0x5fe3, 0xab36, 0x5fd3, 0xab24, 0x5fc2, 0xab11, 0x5fb1, 0xaafe,
+  0x5fa0, 0xaaeb, 0x5f90, 0xaad8, 0x5f7f, 0xaac6, 0x5f6e, 0xaab3,
+  0x5f5e, 0xaaa0, 0x5f4d, 0xaa8e, 0x5f3c, 0xaa7b, 0x5f2b, 0xaa68,
+  0x5f1a, 0xaa55, 0x5f0a, 0xaa43, 0x5ef9, 0xaa30, 0x5ee8, 0xaa1d,
+  0x5ed7, 0xaa0b, 0x5ec6, 0xa9f8, 0x5eb5, 0xa9e6, 0x5ea4, 0xa9d3,
+  0x5e93, 0xa9c0, 0x5e82, 0xa9ae, 0x5e71, 0xa99b, 0x5e60, 0xa989,
+  0x5e50, 0xa976, 0x5e3f, 0xa964, 0x5e2d, 0xa951, 0x5e1c, 0xa93f,
+  0x5e0b, 0xa92c, 0x5dfa, 0xa91a, 0x5de9, 0xa907, 0x5dd8, 0xa8f5,
+  0x5dc7, 0xa8e3, 0x5db6, 0xa8d0, 0x5da5, 0xa8be, 0x5d94, 0xa8ab,
+  0x5d83, 0xa899, 0x5d71, 0xa887, 0x5d60, 0xa874, 0x5d4f, 0xa862,
+  0x5d3e, 0xa850, 0x5d2d, 0xa83d, 0x5d1b, 0xa82b, 0x5d0a, 0xa819,
+  0x5cf9, 0xa807, 0x5ce8, 0xa7f4, 0x5cd6, 0xa7e2, 0x5cc5, 0xa7d0,
+  0x5cb4, 0xa7be, 0x5ca2, 0xa7ab, 0x5c91, 0xa799, 0x5c80, 0xa787,
+  0x5c6e, 0xa775, 0x5c5d, 0xa763, 0x5c4b, 0xa751, 0x5c3a, 0xa73f,
+  0x5c29, 0xa72c, 0x5c17, 0xa71a, 0x5c06, 0xa708, 0x5bf4, 0xa6f6,
+  0x5be3, 0xa6e4, 0x5bd1, 0xa6d2, 0x5bc0, 0xa6c0, 0x5bae, 0xa6ae,
+  0x5b9d, 0xa69c, 0x5b8b, 0xa68a, 0x5b79, 0xa678, 0x5b68, 0xa666,
+  0x5b56, 0xa654, 0x5b45, 0xa642, 0x5b33, 0xa630, 0x5b21, 0xa61f,
+  0x5b10, 0xa60d, 0x5afe, 0xa5fb, 0x5aec, 0xa5e9, 0x5adb, 0xa5d7,
+  0x5ac9, 0xa5c5, 0x5ab7, 0xa5b3, 0x5aa5, 0xa5a2, 0x5a94, 0xa590,
+  0x5a82, 0xa57e, 0x5a70, 0xa56c, 0x5a5e, 0xa55b, 0x5a4d, 0xa549,
+  0x5a3b, 0xa537, 0x5a29, 0xa525, 0x5a17, 0xa514, 0x5a05, 0xa502,
+  0x59f3, 0xa4f0, 0x59e1, 0xa4df, 0x59d0, 0xa4cd, 0x59be, 0xa4bb,
+  0x59ac, 0xa4aa, 0x599a, 0xa498, 0x5988, 0xa487, 0x5976, 0xa475,
+  0x5964, 0xa463, 0x5952, 0xa452, 0x5940, 0xa440, 0x592e, 0xa42f,
+  0x591c, 0xa41d, 0x590a, 0xa40c, 0x58f8, 0xa3fa, 0x58e6, 0xa3e9,
+  0x58d4, 0xa3d7, 0x58c1, 0xa3c6, 0x58af, 0xa3b5, 0x589d, 0xa3a3,
+  0x588b, 0xa392, 0x5879, 0xa380, 0x5867, 0xa36f, 0x5855, 0xa35e,
+  0x5842, 0xa34c, 0x5830, 0xa33b, 0x581e, 0xa32a, 0x580c, 0xa318,
+  0x57f9, 0xa307, 0x57e7, 0xa2f6, 0x57d5, 0xa2e5, 0x57c3, 0xa2d3,
+  0x57b0, 0xa2c2, 0x579e, 0xa2b1, 0x578c, 0xa2a0, 0x5779, 0xa28f,
+  0x5767, 0xa27d, 0x5755, 0xa26c, 0x5742, 0xa25b, 0x5730, 0xa24a,
+  0x571d, 0xa239, 0x570b, 0xa228, 0x56f9, 0xa217, 0x56e6, 0xa206,
+  0x56d4, 0xa1f5, 0x56c1, 0xa1e4, 0x56af, 0xa1d3, 0x569c, 0xa1c1,
+  0x568a, 0xa1b0, 0x5677, 0xa1a0, 0x5665, 0xa18f, 0x5652, 0xa17e,
+  0x5640, 0xa16d, 0x562d, 0xa15c, 0x561a, 0xa14b, 0x5608, 0xa13a,
+  0x55f5, 0xa129, 0x55e3, 0xa118, 0x55d0, 0xa107, 0x55bd, 0xa0f6,
+  0x55ab, 0xa0e6, 0x5598, 0xa0d5, 0x5585, 0xa0c4, 0x5572, 0xa0b3,
+  0x5560, 0xa0a2, 0x554d, 0xa092, 0x553a, 0xa081, 0x5528, 0xa070,
+  0x5515, 0xa060, 0x5502, 0xa04f, 0x54ef, 0xa03e, 0x54dc, 0xa02d,
+  0x54ca, 0xa01d, 0x54b7, 0xa00c, 0x54a4, 0x9ffc, 0x5491, 0x9feb,
+  0x547e, 0x9fda, 0x546b, 0x9fca, 0x5458, 0x9fb9, 0x5445, 0x9fa9,
+  0x5433, 0x9f98, 0x5420, 0x9f88, 0x540d, 0x9f77, 0x53fa, 0x9f67,
+  0x53e7, 0x9f56, 0x53d4, 0x9f46, 0x53c1, 0x9f35, 0x53ae, 0x9f25,
+  0x539b, 0x9f14, 0x5388, 0x9f04, 0x5375, 0x9ef3, 0x5362, 0x9ee3,
+  0x534e, 0x9ed3, 0x533b, 0x9ec2, 0x5328, 0x9eb2, 0x5315, 0x9ea2,
+  0x5302, 0x9e91, 0x52ef, 0x9e81, 0x52dc, 0x9e71, 0x52c9, 0x9e61,
+  0x52b5, 0x9e50, 0x52a2, 0x9e40, 0x528f, 0x9e30, 0x527c, 0x9e20,
+  0x5269, 0x9e0f, 0x5255, 0x9dff, 0x5242, 0x9def, 0x522f, 0x9ddf,
+  0x521c, 0x9dcf, 0x5208, 0x9dbf, 0x51f5, 0x9daf, 0x51e2, 0x9d9f,
+  0x51ce, 0x9d8f, 0x51bb, 0x9d7e, 0x51a8, 0x9d6e, 0x5194, 0x9d5e,
+  0x5181, 0x9d4e, 0x516e, 0x9d3e, 0x515a, 0x9d2e, 0x5147, 0x9d1e,
+  0x5133, 0x9d0e, 0x5120, 0x9cff, 0x510c, 0x9cef, 0x50f9, 0x9cdf,
+  0x50e5, 0x9ccf, 0x50d2, 0x9cbf, 0x50bf, 0x9caf, 0x50ab, 0x9c9f,
+  0x5097, 0x9c8f, 0x5084, 0x9c80, 0x5070, 0x9c70, 0x505d, 0x9c60,
+  0x5049, 0x9c50, 0x5036, 0x9c40, 0x5022, 0x9c31, 0x500f, 0x9c21,
+  0x4ffb, 0x9c11, 0x4fe7, 0x9c02, 0x4fd4, 0x9bf2, 0x4fc0, 0x9be2,
+  0x4fac, 0x9bd3, 0x4f99, 0x9bc3, 0x4f85, 0x9bb3, 0x4f71, 0x9ba4,
+  0x4f5e, 0x9b94, 0x4f4a, 0x9b85, 0x4f36, 0x9b75, 0x4f22, 0x9b65,
+  0x4f0f, 0x9b56, 0x4efb, 0x9b46, 0x4ee7, 0x9b37, 0x4ed3, 0x9b27,
+  0x4ebf, 0x9b18, 0x4eac, 0x9b09, 0x4e98, 0x9af9, 0x4e84, 0x9aea,
+  0x4e70, 0x9ada, 0x4e5c, 0x9acb, 0x4e48, 0x9abb, 0x4e34, 0x9aac,
+  0x4e21, 0x9a9d, 0x4e0d, 0x9a8d, 0x4df9, 0x9a7e, 0x4de5, 0x9a6f,
+  0x4dd1, 0x9a60, 0x4dbd, 0x9a50, 0x4da9, 0x9a41, 0x4d95, 0x9a32,
+  0x4d81, 0x9a23, 0x4d6d, 0x9a13, 0x4d59, 0x9a04, 0x4d45, 0x99f5,
+  0x4d31, 0x99e6, 0x4d1d, 0x99d7, 0x4d09, 0x99c7, 0x4cf5, 0x99b8,
+  0x4ce1, 0x99a9, 0x4ccc, 0x999a, 0x4cb8, 0x998b, 0x4ca4, 0x997c,
+  0x4c90, 0x996d, 0x4c7c, 0x995e, 0x4c68, 0x994f, 0x4c54, 0x9940,
+  0x4c3f, 0x9931, 0x4c2b, 0x9922, 0x4c17, 0x9913, 0x4c03, 0x9904,
+  0x4bef, 0x98f5, 0x4bda, 0x98e6, 0x4bc6, 0x98d7, 0x4bb2, 0x98c9,
+  0x4b9e, 0x98ba, 0x4b89, 0x98ab, 0x4b75, 0x989c, 0x4b61, 0x988d,
+  0x4b4c, 0x987e, 0x4b38, 0x9870, 0x4b24, 0x9861, 0x4b0f, 0x9852,
+  0x4afb, 0x9843, 0x4ae7, 0x9835, 0x4ad2, 0x9826, 0x4abe, 0x9817,
+  0x4aa9, 0x9809, 0x4a95, 0x97fa, 0x4a81, 0x97eb, 0x4a6c, 0x97dd,
+  0x4a58, 0x97ce, 0x4a43, 0x97c0, 0x4a2f, 0x97b1, 0x4a1a, 0x97a2,
+  0x4a06, 0x9794, 0x49f1, 0x9785, 0x49dd, 0x9777, 0x49c8, 0x9768,
+  0x49b4, 0x975a, 0x499f, 0x974b, 0x498a, 0x973d, 0x4976, 0x972f,
+  0x4961, 0x9720, 0x494d, 0x9712, 0x4938, 0x9703, 0x4923, 0x96f5,
+  0x490f, 0x96e7, 0x48fa, 0x96d8, 0x48e6, 0x96ca, 0x48d1, 0x96bc,
+  0x48bc, 0x96ad, 0x48a8, 0x969f, 0x4893, 0x9691, 0x487e, 0x9683,
+  0x4869, 0x9674, 0x4855, 0x9666, 0x4840, 0x9658, 0x482b, 0x964a,
+  0x4816, 0x963c, 0x4802, 0x962d, 0x47ed, 0x961f, 0x47d8, 0x9611,
+  0x47c3, 0x9603, 0x47ae, 0x95f5, 0x479a, 0x95e7, 0x4785, 0x95d9,
+  0x4770, 0x95cb, 0x475b, 0x95bd, 0x4746, 0x95af, 0x4731, 0x95a1,
+  0x471c, 0x9593, 0x4708, 0x9585, 0x46f3, 0x9577, 0x46de, 0x9569,
+  0x46c9, 0x955b, 0x46b4, 0x954d, 0x469f, 0x953f, 0x468a, 0x9532,
+  0x4675, 0x9524, 0x4660, 0x9516, 0x464b, 0x9508, 0x4636, 0x94fa,
+  0x4621, 0x94ed, 0x460c, 0x94df, 0x45f7, 0x94d1, 0x45e2, 0x94c3,
+  0x45cd, 0x94b6, 0x45b8, 0x94a8, 0x45a3, 0x949a, 0x458d, 0x948d,
+  0x4578, 0x947f, 0x4563, 0x9471, 0x454e, 0x9464, 0x4539, 0x9456,
+  0x4524, 0x9448, 0x450f, 0x943b, 0x44fa, 0x942d, 0x44e4, 0x9420,
+  0x44cf, 0x9412, 0x44ba, 0x9405, 0x44a5, 0x93f7, 0x4490, 0x93ea,
+  0x447a, 0x93dc, 0x4465, 0x93cf, 0x4450, 0x93c1, 0x443b, 0x93b4,
+  0x4425, 0x93a7, 0x4410, 0x9399, 0x43fb, 0x938c, 0x43e5, 0x937f,
+  0x43d0, 0x9371, 0x43bb, 0x9364, 0x43a5, 0x9357, 0x4390, 0x9349,
+  0x437b, 0x933c, 0x4365, 0x932f, 0x4350, 0x9322, 0x433b, 0x9314,
+  0x4325, 0x9307, 0x4310, 0x92fa, 0x42fa, 0x92ed, 0x42e5, 0x92e0,
+  0x42d0, 0x92d3, 0x42ba, 0x92c6, 0x42a5, 0x92b8, 0x428f, 0x92ab,
+  0x427a, 0x929e, 0x4264, 0x9291, 0x424f, 0x9284, 0x4239, 0x9277,
+  0x4224, 0x926a, 0x420e, 0x925d, 0x41f9, 0x9250, 0x41e3, 0x9243,
+  0x41ce, 0x9236, 0x41b8, 0x922a, 0x41a2, 0x921d, 0x418d, 0x9210,
+  0x4177, 0x9203, 0x4162, 0x91f6, 0x414c, 0x91e9, 0x4136, 0x91dc,
+  0x4121, 0x91d0, 0x410b, 0x91c3, 0x40f6, 0x91b6, 0x40e0, 0x91a9,
+  0x40ca, 0x919d, 0x40b5, 0x9190, 0x409f, 0x9183, 0x4089, 0x9177,
+  0x4073, 0x916a, 0x405e, 0x915d, 0x4048, 0x9151, 0x4032, 0x9144,
+  0x401d, 0x9137, 0x4007, 0x912b, 0x3ff1, 0x911e, 0x3fdb, 0x9112,
+  0x3fc5, 0x9105, 0x3fb0, 0x90f9, 0x3f9a, 0x90ec, 0x3f84, 0x90e0,
+  0x3f6e, 0x90d3, 0x3f58, 0x90c7, 0x3f43, 0x90ba, 0x3f2d, 0x90ae,
+  0x3f17, 0x90a1, 0x3f01, 0x9095, 0x3eeb, 0x9089, 0x3ed5, 0x907c,
+  0x3ebf, 0x9070, 0x3ea9, 0x9064, 0x3e93, 0x9057, 0x3e7d, 0x904b,
+  0x3e68, 0x903f, 0x3e52, 0x9033, 0x3e3c, 0x9026, 0x3e26, 0x901a,
+  0x3e10, 0x900e, 0x3dfa, 0x9002, 0x3de4, 0x8ff6, 0x3dce, 0x8fea,
+  0x3db8, 0x8fdd, 0x3da2, 0x8fd1, 0x3d8c, 0x8fc5, 0x3d76, 0x8fb9,
+  0x3d60, 0x8fad, 0x3d49, 0x8fa1, 0x3d33, 0x8f95, 0x3d1d, 0x8f89,
+  0x3d07, 0x8f7d, 0x3cf1, 0x8f71, 0x3cdb, 0x8f65, 0x3cc5, 0x8f59,
+  0x3caf, 0x8f4d, 0x3c99, 0x8f41, 0x3c83, 0x8f35, 0x3c6c, 0x8f2a,
+  0x3c56, 0x8f1e, 0x3c40, 0x8f12, 0x3c2a, 0x8f06, 0x3c14, 0x8efa,
+  0x3bfd, 0x8eee, 0x3be7, 0x8ee3, 0x3bd1, 0x8ed7, 0x3bbb, 0x8ecb,
+  0x3ba5, 0x8ebf, 0x3b8e, 0x8eb4, 0x3b78, 0x8ea8, 0x3b62, 0x8e9c,
+  0x3b4c, 0x8e91, 0x3b35, 0x8e85, 0x3b1f, 0x8e7a, 0x3b09, 0x8e6e,
+  0x3af2, 0x8e62, 0x3adc, 0x8e57, 0x3ac6, 0x8e4b, 0x3aaf, 0x8e40,
+  0x3a99, 0x8e34, 0x3a83, 0x8e29, 0x3a6c, 0x8e1d, 0x3a56, 0x8e12,
+  0x3a40, 0x8e06, 0x3a29, 0x8dfb, 0x3a13, 0x8def, 0x39fd, 0x8de4,
+  0x39e6, 0x8dd9, 0x39d0, 0x8dcd, 0x39b9, 0x8dc2, 0x39a3, 0x8db7,
+  0x398c, 0x8dab, 0x3976, 0x8da0, 0x395f, 0x8d95, 0x3949, 0x8d8a,
+  0x3932, 0x8d7e, 0x391c, 0x8d73, 0x3906, 0x8d68, 0x38ef, 0x8d5d,
+  0x38d8, 0x8d51, 0x38c2, 0x8d46, 0x38ab, 0x8d3b, 0x3895, 0x8d30,
+  0x387e, 0x8d25, 0x3868, 0x8d1a, 0x3851, 0x8d0f, 0x383b, 0x8d04,
+  0x3824, 0x8cf9, 0x380d, 0x8cee, 0x37f7, 0x8ce3, 0x37e0, 0x8cd8,
+  0x37ca, 0x8ccd, 0x37b3, 0x8cc2, 0x379c, 0x8cb7, 0x3786, 0x8cac,
+  0x376f, 0x8ca1, 0x3758, 0x8c96, 0x3742, 0x8c8b, 0x372b, 0x8c81,
+  0x3714, 0x8c76, 0x36fe, 0x8c6b, 0x36e7, 0x8c60, 0x36d0, 0x8c55,
+  0x36ba, 0x8c4b, 0x36a3, 0x8c40, 0x368c, 0x8c35, 0x3675, 0x8c2a,
+  0x365f, 0x8c20, 0x3648, 0x8c15, 0x3631, 0x8c0a, 0x361a, 0x8c00,
+  0x3604, 0x8bf5, 0x35ed, 0x8beb, 0x35d6, 0x8be0, 0x35bf, 0x8bd5,
+  0x35a8, 0x8bcb, 0x3592, 0x8bc0, 0x357b, 0x8bb6, 0x3564, 0x8bab,
+  0x354d, 0x8ba1, 0x3536, 0x8b96, 0x351f, 0x8b8c, 0x3508, 0x8b82,
+  0x34f2, 0x8b77, 0x34db, 0x8b6d, 0x34c4, 0x8b62, 0x34ad, 0x8b58,
+  0x3496, 0x8b4e, 0x347f, 0x8b43, 0x3468, 0x8b39, 0x3451, 0x8b2f,
+  0x343a, 0x8b25, 0x3423, 0x8b1a, 0x340c, 0x8b10, 0x33f5, 0x8b06,
+  0x33de, 0x8afc, 0x33c7, 0x8af1, 0x33b0, 0x8ae7, 0x3399, 0x8add,
+  0x3382, 0x8ad3, 0x336b, 0x8ac9, 0x3354, 0x8abf, 0x333d, 0x8ab5,
+  0x3326, 0x8aab, 0x330f, 0x8aa1, 0x32f8, 0x8a97, 0x32e1, 0x8a8d,
+  0x32ca, 0x8a83, 0x32b3, 0x8a79, 0x329c, 0x8a6f, 0x3285, 0x8a65,
+  0x326e, 0x8a5b, 0x3257, 0x8a51, 0x3240, 0x8a47, 0x3228, 0x8a3d,
+  0x3211, 0x8a34, 0x31fa, 0x8a2a, 0x31e3, 0x8a20, 0x31cc, 0x8a16,
+  0x31b5, 0x8a0c, 0x319e, 0x8a03, 0x3186, 0x89f9, 0x316f, 0x89ef,
+  0x3158, 0x89e5, 0x3141, 0x89dc, 0x312a, 0x89d2, 0x3112, 0x89c8,
+  0x30fb, 0x89bf, 0x30e4, 0x89b5, 0x30cd, 0x89ac, 0x30b6, 0x89a2,
+  0x309e, 0x8998, 0x3087, 0x898f, 0x3070, 0x8985, 0x3059, 0x897c,
+  0x3041, 0x8972, 0x302a, 0x8969, 0x3013, 0x8960, 0x2ffb, 0x8956,
+  0x2fe4, 0x894d, 0x2fcd, 0x8943, 0x2fb5, 0x893a, 0x2f9e, 0x8931,
+  0x2f87, 0x8927, 0x2f6f, 0x891e, 0x2f58, 0x8915, 0x2f41, 0x890b,
+  0x2f29, 0x8902, 0x2f12, 0x88f9, 0x2efb, 0x88f0, 0x2ee3, 0x88e6,
+  0x2ecc, 0x88dd, 0x2eb5, 0x88d4, 0x2e9d, 0x88cb, 0x2e86, 0x88c2,
+  0x2e6e, 0x88b9, 0x2e57, 0x88af, 0x2e3f, 0x88a6, 0x2e28, 0x889d,
+  0x2e11, 0x8894, 0x2df9, 0x888b, 0x2de2, 0x8882, 0x2dca, 0x8879,
+  0x2db3, 0x8870, 0x2d9b, 0x8867, 0x2d84, 0x885e, 0x2d6c, 0x8855,
+  0x2d55, 0x884c, 0x2d3d, 0x8844, 0x2d26, 0x883b, 0x2d0e, 0x8832,
+  0x2cf7, 0x8829, 0x2cdf, 0x8820, 0x2cc8, 0x8817, 0x2cb0, 0x880f,
+  0x2c98, 0x8806, 0x2c81, 0x87fd, 0x2c69, 0x87f4, 0x2c52, 0x87ec,
+  0x2c3a, 0x87e3, 0x2c23, 0x87da, 0x2c0b, 0x87d2, 0x2bf3, 0x87c9,
+  0x2bdc, 0x87c0, 0x2bc4, 0x87b8, 0x2bad, 0x87af, 0x2b95, 0x87a7,
+  0x2b7d, 0x879e, 0x2b66, 0x8795, 0x2b4e, 0x878d, 0x2b36, 0x8784,
+  0x2b1f, 0x877c, 0x2b07, 0x8774, 0x2aef, 0x876b, 0x2ad8, 0x8763,
+  0x2ac0, 0x875a, 0x2aa8, 0x8752, 0x2a91, 0x874a, 0x2a79, 0x8741,
+  0x2a61, 0x8739, 0x2a49, 0x8731, 0x2a32, 0x8728, 0x2a1a, 0x8720,
+  0x2a02, 0x8718, 0x29eb, 0x870f, 0x29d3, 0x8707, 0x29bb, 0x86ff,
+  0x29a3, 0x86f7, 0x298b, 0x86ef, 0x2974, 0x86e7, 0x295c, 0x86de,
+  0x2944, 0x86d6, 0x292c, 0x86ce, 0x2915, 0x86c6, 0x28fd, 0x86be,
+  0x28e5, 0x86b6, 0x28cd, 0x86ae, 0x28b5, 0x86a6, 0x289d, 0x869e,
+  0x2886, 0x8696, 0x286e, 0x868e, 0x2856, 0x8686, 0x283e, 0x867e,
+  0x2826, 0x8676, 0x280e, 0x866e, 0x27f6, 0x8667, 0x27df, 0x865f,
+  0x27c7, 0x8657, 0x27af, 0x864f, 0x2797, 0x8647, 0x277f, 0x8640,
+  0x2767, 0x8638, 0x274f, 0x8630, 0x2737, 0x8628, 0x271f, 0x8621,
+  0x2707, 0x8619, 0x26ef, 0x8611, 0x26d8, 0x860a, 0x26c0, 0x8602,
+  0x26a8, 0x85fb, 0x2690, 0x85f3, 0x2678, 0x85eb, 0x2660, 0x85e4,
+  0x2648, 0x85dc, 0x2630, 0x85d5, 0x2618, 0x85cd, 0x2600, 0x85c6,
+  0x25e8, 0x85be, 0x25d0, 0x85b7, 0x25b8, 0x85b0, 0x25a0, 0x85a8,
+  0x2588, 0x85a1, 0x2570, 0x8599, 0x2558, 0x8592, 0x2540, 0x858b,
+  0x2528, 0x8583, 0x250f, 0x857c, 0x24f7, 0x8575, 0x24df, 0x856e,
+  0x24c7, 0x8566, 0x24af, 0x855f, 0x2497, 0x8558, 0x247f, 0x8551,
+  0x2467, 0x854a, 0x244f, 0x8543, 0x2437, 0x853b, 0x241f, 0x8534,
+  0x2407, 0x852d, 0x23ee, 0x8526, 0x23d6, 0x851f, 0x23be, 0x8518,
+  0x23a6, 0x8511, 0x238e, 0x850a, 0x2376, 0x8503, 0x235e, 0x84fc,
+  0x2345, 0x84f5, 0x232d, 0x84ee, 0x2315, 0x84e7, 0x22fd, 0x84e1,
+  0x22e5, 0x84da, 0x22cd, 0x84d3, 0x22b4, 0x84cc, 0x229c, 0x84c5,
+  0x2284, 0x84be, 0x226c, 0x84b8, 0x2254, 0x84b1, 0x223b, 0x84aa,
+  0x2223, 0x84a3, 0x220b, 0x849d, 0x21f3, 0x8496, 0x21da, 0x848f,
+  0x21c2, 0x8489, 0x21aa, 0x8482, 0x2192, 0x847c, 0x2179, 0x8475,
+  0x2161, 0x846e, 0x2149, 0x8468, 0x2131, 0x8461, 0x2118, 0x845b,
+  0x2100, 0x8454, 0x20e8, 0x844e, 0x20d0, 0x8447, 0x20b7, 0x8441,
+  0x209f, 0x843b, 0x2087, 0x8434, 0x206e, 0x842e, 0x2056, 0x8427,
+  0x203e, 0x8421, 0x2025, 0x841b, 0x200d, 0x8415, 0x1ff5, 0x840e,
+  0x1fdc, 0x8408, 0x1fc4, 0x8402, 0x1fac, 0x83fb, 0x1f93, 0x83f5,
+  0x1f7b, 0x83ef, 0x1f63, 0x83e9, 0x1f4a, 0x83e3, 0x1f32, 0x83dd,
+  0x1f19, 0x83d7, 0x1f01, 0x83d0, 0x1ee9, 0x83ca, 0x1ed0, 0x83c4,
+  0x1eb8, 0x83be, 0x1ea0, 0x83b8, 0x1e87, 0x83b2, 0x1e6f, 0x83ac,
+  0x1e56, 0x83a6, 0x1e3e, 0x83a0, 0x1e25, 0x839a, 0x1e0d, 0x8394,
+  0x1df5, 0x838f, 0x1ddc, 0x8389, 0x1dc4, 0x8383, 0x1dab, 0x837d,
+  0x1d93, 0x8377, 0x1d7a, 0x8371, 0x1d62, 0x836c, 0x1d49, 0x8366,
+  0x1d31, 0x8360, 0x1d18, 0x835a, 0x1d00, 0x8355, 0x1ce8, 0x834f,
+  0x1ccf, 0x8349, 0x1cb7, 0x8344, 0x1c9e, 0x833e, 0x1c86, 0x8338,
+  0x1c6d, 0x8333, 0x1c55, 0x832d, 0x1c3c, 0x8328, 0x1c24, 0x8322,
+  0x1c0b, 0x831d, 0x1bf2, 0x8317, 0x1bda, 0x8312, 0x1bc1, 0x830c,
+  0x1ba9, 0x8307, 0x1b90, 0x8301, 0x1b78, 0x82fc, 0x1b5f, 0x82f7,
+  0x1b47, 0x82f1, 0x1b2e, 0x82ec, 0x1b16, 0x82e7, 0x1afd, 0x82e1,
+  0x1ae4, 0x82dc, 0x1acc, 0x82d7, 0x1ab3, 0x82d1, 0x1a9b, 0x82cc,
+  0x1a82, 0x82c7, 0x1a6a, 0x82c2, 0x1a51, 0x82bd, 0x1a38, 0x82b7,
+  0x1a20, 0x82b2, 0x1a07, 0x82ad, 0x19ef, 0x82a8, 0x19d6, 0x82a3,
+  0x19bd, 0x829e, 0x19a5, 0x8299, 0x198c, 0x8294, 0x1973, 0x828f,
+  0x195b, 0x828a, 0x1942, 0x8285, 0x192a, 0x8280, 0x1911, 0x827b,
+  0x18f8, 0x8276, 0x18e0, 0x8271, 0x18c7, 0x826c, 0x18ae, 0x8268,
+  0x1896, 0x8263, 0x187d, 0x825e, 0x1864, 0x8259, 0x184c, 0x8254,
+  0x1833, 0x8250, 0x181a, 0x824b, 0x1802, 0x8246, 0x17e9, 0x8241,
+  0x17d0, 0x823d, 0x17b7, 0x8238, 0x179f, 0x8233, 0x1786, 0x822f,
+  0x176d, 0x822a, 0x1755, 0x8226, 0x173c, 0x8221, 0x1723, 0x821c,
+  0x170a, 0x8218, 0x16f2, 0x8213, 0x16d9, 0x820f, 0x16c0, 0x820a,
+  0x16a8, 0x8206, 0x168f, 0x8201, 0x1676, 0x81fd, 0x165d, 0x81f9,
+  0x1645, 0x81f4, 0x162c, 0x81f0, 0x1613, 0x81ec, 0x15fa, 0x81e7,
+  0x15e2, 0x81e3, 0x15c9, 0x81df, 0x15b0, 0x81da, 0x1597, 0x81d6,
+  0x157f, 0x81d2, 0x1566, 0x81ce, 0x154d, 0x81c9, 0x1534, 0x81c5,
+  0x151b, 0x81c1, 0x1503, 0x81bd, 0x14ea, 0x81b9, 0x14d1, 0x81b5,
+  0x14b8, 0x81b1, 0x149f, 0x81ad, 0x1487, 0x81a9, 0x146e, 0x81a5,
+  0x1455, 0x81a1, 0x143c, 0x819d, 0x1423, 0x8199, 0x140b, 0x8195,
+  0x13f2, 0x8191, 0x13d9, 0x818d, 0x13c0, 0x8189, 0x13a7, 0x8185,
+  0x138e, 0x8181, 0x1376, 0x817d, 0x135d, 0x817a, 0x1344, 0x8176,
+  0x132b, 0x8172, 0x1312, 0x816e, 0x12f9, 0x816b, 0x12e0, 0x8167,
+  0x12c8, 0x8163, 0x12af, 0x815f, 0x1296, 0x815c, 0x127d, 0x8158,
+  0x1264, 0x8155, 0x124b, 0x8151, 0x1232, 0x814d, 0x1219, 0x814a,
+  0x1201, 0x8146, 0x11e8, 0x8143, 0x11cf, 0x813f, 0x11b6, 0x813c,
+  0x119d, 0x8138, 0x1184, 0x8135, 0x116b, 0x8131, 0x1152, 0x812e,
+  0x1139, 0x812b, 0x1121, 0x8127, 0x1108, 0x8124, 0x10ef, 0x8121,
+  0x10d6, 0x811d, 0x10bd, 0x811a, 0x10a4, 0x8117, 0x108b, 0x8113,
+  0x1072, 0x8110, 0x1059, 0x810d, 0x1040, 0x810a, 0x1027, 0x8107,
+  0x100e, 0x8103, 0xff5, 0x8100, 0xfdd, 0x80fd, 0xfc4, 0x80fa,
+  0xfab, 0x80f7, 0xf92, 0x80f4, 0xf79, 0x80f1, 0xf60, 0x80ee,
+  0xf47, 0x80eb, 0xf2e, 0x80e8, 0xf15, 0x80e5, 0xefc, 0x80e2,
+  0xee3, 0x80df, 0xeca, 0x80dc, 0xeb1, 0x80d9, 0xe98, 0x80d6,
+  0xe7f, 0x80d3, 0xe66, 0x80d1, 0xe4d, 0x80ce, 0xe34, 0x80cb,
+  0xe1b, 0x80c8, 0xe02, 0x80c5, 0xde9, 0x80c3, 0xdd0, 0x80c0,
+  0xdb7, 0x80bd, 0xd9e, 0x80bb, 0xd85, 0x80b8, 0xd6c, 0x80b5,
+  0xd53, 0x80b3, 0xd3a, 0x80b0, 0xd21, 0x80ad, 0xd08, 0x80ab,
+  0xcef, 0x80a8, 0xcd6, 0x80a6, 0xcbd, 0x80a3, 0xca4, 0x80a1,
+  0xc8b, 0x809e, 0xc72, 0x809c, 0xc59, 0x8099, 0xc40, 0x8097,
+  0xc27, 0x8095, 0xc0e, 0x8092, 0xbf5, 0x8090, 0xbdc, 0x808e,
+  0xbc3, 0x808b, 0xbaa, 0x8089, 0xb91, 0x8087, 0xb78, 0x8084,
+  0xb5f, 0x8082, 0xb46, 0x8080, 0xb2d, 0x807e, 0xb14, 0x807b,
+  0xafb, 0x8079, 0xae2, 0x8077, 0xac9, 0x8075, 0xab0, 0x8073,
+  0xa97, 0x8071, 0xa7e, 0x806f, 0xa65, 0x806d, 0xa4c, 0x806b,
+  0xa33, 0x8069, 0xa19, 0x8067, 0xa00, 0x8065, 0x9e7, 0x8063,
+  0x9ce, 0x8061, 0x9b5, 0x805f, 0x99c, 0x805d, 0x983, 0x805b,
+  0x96a, 0x8059, 0x951, 0x8057, 0x938, 0x8056, 0x91f, 0x8054,
+  0x906, 0x8052, 0x8ed, 0x8050, 0x8d4, 0x804f, 0x8bb, 0x804d,
+  0x8a2, 0x804b, 0x888, 0x8049, 0x86f, 0x8048, 0x856, 0x8046,
+  0x83d, 0x8044, 0x824, 0x8043, 0x80b, 0x8041, 0x7f2, 0x8040,
+  0x7d9, 0x803e, 0x7c0, 0x803d, 0x7a7, 0x803b, 0x78e, 0x803a,
+  0x775, 0x8038, 0x75b, 0x8037, 0x742, 0x8035, 0x729, 0x8034,
+  0x710, 0x8032, 0x6f7, 0x8031, 0x6de, 0x8030, 0x6c5, 0x802e,
+  0x6ac, 0x802d, 0x693, 0x802c, 0x67a, 0x802a, 0x660, 0x8029,
+  0x647, 0x8028, 0x62e, 0x8027, 0x615, 0x8026, 0x5fc, 0x8024,
+  0x5e3, 0x8023, 0x5ca, 0x8022, 0x5b1, 0x8021, 0x598, 0x8020,
+  0x57f, 0x801f, 0x565, 0x801e, 0x54c, 0x801d, 0x533, 0x801c,
+  0x51a, 0x801b, 0x501, 0x801a, 0x4e8, 0x8019, 0x4cf, 0x8018,
+  0x4b6, 0x8017, 0x49c, 0x8016, 0x483, 0x8015, 0x46a, 0x8014,
+  0x451, 0x8013, 0x438, 0x8012, 0x41f, 0x8012, 0x406, 0x8011,
+  0x3ed, 0x8010, 0x3d4, 0x800f, 0x3ba, 0x800e, 0x3a1, 0x800e,
+  0x388, 0x800d, 0x36f, 0x800c, 0x356, 0x800c, 0x33d, 0x800b,
+  0x324, 0x800a, 0x30b, 0x800a, 0x2f1, 0x8009, 0x2d8, 0x8009,
+  0x2bf, 0x8008, 0x2a6, 0x8008, 0x28d, 0x8007, 0x274, 0x8007,
+  0x25b, 0x8006, 0x242, 0x8006, 0x228, 0x8005, 0x20f, 0x8005,
+  0x1f6, 0x8004, 0x1dd, 0x8004, 0x1c4, 0x8004, 0x1ab, 0x8003,
+  0x192, 0x8003, 0x178, 0x8003, 0x15f, 0x8002, 0x146, 0x8002,
+  0x12d, 0x8002, 0x114, 0x8002, 0xfb, 0x8001, 0xe2, 0x8001,
+  0xc9, 0x8001, 0xaf, 0x8001, 0x96, 0x8001, 0x7d, 0x8001,
+  0x64, 0x8001, 0x4b, 0x8001, 0x32, 0x8001, 0x19, 0x8001,
+};
+
+static const q15_t ALIGN4 WeightsQ15_8192[16384] = {
+  0x7fff, 0x0, 0x7fff, 0xfffa, 0x7fff, 0xfff4, 0x7fff, 0xffee,
+  0x7fff, 0xffe7, 0x7fff, 0xffe1, 0x7fff, 0xffdb, 0x7fff, 0xffd5,
+  0x7fff, 0xffce, 0x7fff, 0xffc8, 0x7fff, 0xffc2, 0x7fff, 0xffbb,
+  0x7fff, 0xffb5, 0x7fff, 0xffaf, 0x7fff, 0xffa9, 0x7fff, 0xffa2,
+  0x7fff, 0xff9c, 0x7fff, 0xff96, 0x7fff, 0xff8f, 0x7fff, 0xff89,
+  0x7fff, 0xff83, 0x7fff, 0xff7d, 0x7fff, 0xff76, 0x7fff, 0xff70,
+  0x7fff, 0xff6a, 0x7fff, 0xff63, 0x7fff, 0xff5d, 0x7fff, 0xff57,
+  0x7fff, 0xff51, 0x7fff, 0xff4a, 0x7fff, 0xff44, 0x7fff, 0xff3e,
+  0x7fff, 0xff37, 0x7fff, 0xff31, 0x7fff, 0xff2b, 0x7fff, 0xff25,
+  0x7fff, 0xff1e, 0x7fff, 0xff18, 0x7fff, 0xff12, 0x7fff, 0xff0b,
+  0x7fff, 0xff05, 0x7ffe, 0xfeff, 0x7ffe, 0xfef9, 0x7ffe, 0xfef2,
+  0x7ffe, 0xfeec, 0x7ffe, 0xfee6, 0x7ffe, 0xfedf, 0x7ffe, 0xfed9,
+  0x7ffe, 0xfed3, 0x7ffe, 0xfecd, 0x7ffe, 0xfec6, 0x7ffe, 0xfec0,
+  0x7ffe, 0xfeba, 0x7ffe, 0xfeb3, 0x7ffe, 0xfead, 0x7ffe, 0xfea7,
+  0x7ffe, 0xfea1, 0x7ffe, 0xfe9a, 0x7ffd, 0xfe94, 0x7ffd, 0xfe8e,
+  0x7ffd, 0xfe88, 0x7ffd, 0xfe81, 0x7ffd, 0xfe7b, 0x7ffd, 0xfe75,
+  0x7ffd, 0xfe6e, 0x7ffd, 0xfe68, 0x7ffd, 0xfe62, 0x7ffd, 0xfe5c,
+  0x7ffd, 0xfe55, 0x7ffd, 0xfe4f, 0x7ffd, 0xfe49, 0x7ffc, 0xfe42,
+  0x7ffc, 0xfe3c, 0x7ffc, 0xfe36, 0x7ffc, 0xfe30, 0x7ffc, 0xfe29,
+  0x7ffc, 0xfe23, 0x7ffc, 0xfe1d, 0x7ffc, 0xfe16, 0x7ffc, 0xfe10,
+  0x7ffc, 0xfe0a, 0x7ffc, 0xfe04, 0x7ffb, 0xfdfd, 0x7ffb, 0xfdf7,
+  0x7ffb, 0xfdf1, 0x7ffb, 0xfdea, 0x7ffb, 0xfde4, 0x7ffb, 0xfdde,
+  0x7ffb, 0xfdd8, 0x7ffb, 0xfdd1, 0x7ffb, 0xfdcb, 0x7ffb, 0xfdc5,
+  0x7ffa, 0xfdbe, 0x7ffa, 0xfdb8, 0x7ffa, 0xfdb2, 0x7ffa, 0xfdac,
+  0x7ffa, 0xfda5, 0x7ffa, 0xfd9f, 0x7ffa, 0xfd99, 0x7ffa, 0xfd93,
+  0x7ff9, 0xfd8c, 0x7ff9, 0xfd86, 0x7ff9, 0xfd80, 0x7ff9, 0xfd79,
+  0x7ff9, 0xfd73, 0x7ff9, 0xfd6d, 0x7ff9, 0xfd67, 0x7ff9, 0xfd60,
+  0x7ff8, 0xfd5a, 0x7ff8, 0xfd54, 0x7ff8, 0xfd4d, 0x7ff8, 0xfd47,
+  0x7ff8, 0xfd41, 0x7ff8, 0xfd3b, 0x7ff8, 0xfd34, 0x7ff8, 0xfd2e,
+  0x7ff7, 0xfd28, 0x7ff7, 0xfd21, 0x7ff7, 0xfd1b, 0x7ff7, 0xfd15,
+  0x7ff7, 0xfd0f, 0x7ff7, 0xfd08, 0x7ff7, 0xfd02, 0x7ff6, 0xfcfc,
+  0x7ff6, 0xfcf5, 0x7ff6, 0xfcef, 0x7ff6, 0xfce9, 0x7ff6, 0xfce3,
+  0x7ff6, 0xfcdc, 0x7ff5, 0xfcd6, 0x7ff5, 0xfcd0, 0x7ff5, 0xfcc9,
+  0x7ff5, 0xfcc3, 0x7ff5, 0xfcbd, 0x7ff5, 0xfcb7, 0x7ff5, 0xfcb0,
+  0x7ff4, 0xfcaa, 0x7ff4, 0xfca4, 0x7ff4, 0xfc9e, 0x7ff4, 0xfc97,
+  0x7ff4, 0xfc91, 0x7ff4, 0xfc8b, 0x7ff3, 0xfc84, 0x7ff3, 0xfc7e,
+  0x7ff3, 0xfc78, 0x7ff3, 0xfc72, 0x7ff3, 0xfc6b, 0x7ff2, 0xfc65,
+  0x7ff2, 0xfc5f, 0x7ff2, 0xfc58, 0x7ff2, 0xfc52, 0x7ff2, 0xfc4c,
+  0x7ff2, 0xfc46, 0x7ff1, 0xfc3f, 0x7ff1, 0xfc39, 0x7ff1, 0xfc33,
+  0x7ff1, 0xfc2c, 0x7ff1, 0xfc26, 0x7ff0, 0xfc20, 0x7ff0, 0xfc1a,
+  0x7ff0, 0xfc13, 0x7ff0, 0xfc0d, 0x7ff0, 0xfc07, 0x7fef, 0xfc01,
+  0x7fef, 0xfbfa, 0x7fef, 0xfbf4, 0x7fef, 0xfbee, 0x7fef, 0xfbe7,
+  0x7fee, 0xfbe1, 0x7fee, 0xfbdb, 0x7fee, 0xfbd5, 0x7fee, 0xfbce,
+  0x7fee, 0xfbc8, 0x7fed, 0xfbc2, 0x7fed, 0xfbbb, 0x7fed, 0xfbb5,
+  0x7fed, 0xfbaf, 0x7fed, 0xfba9, 0x7fec, 0xfba2, 0x7fec, 0xfb9c,
+  0x7fec, 0xfb96, 0x7fec, 0xfb8f, 0x7fec, 0xfb89, 0x7feb, 0xfb83,
+  0x7feb, 0xfb7d, 0x7feb, 0xfb76, 0x7feb, 0xfb70, 0x7fea, 0xfb6a,
+  0x7fea, 0xfb64, 0x7fea, 0xfb5d, 0x7fea, 0xfb57, 0x7fea, 0xfb51,
+  0x7fe9, 0xfb4a, 0x7fe9, 0xfb44, 0x7fe9, 0xfb3e, 0x7fe9, 0xfb38,
+  0x7fe8, 0xfb31, 0x7fe8, 0xfb2b, 0x7fe8, 0xfb25, 0x7fe8, 0xfb1e,
+  0x7fe7, 0xfb18, 0x7fe7, 0xfb12, 0x7fe7, 0xfb0c, 0x7fe7, 0xfb05,
+  0x7fe6, 0xfaff, 0x7fe6, 0xfaf9, 0x7fe6, 0xfaf3, 0x7fe6, 0xfaec,
+  0x7fe5, 0xfae6, 0x7fe5, 0xfae0, 0x7fe5, 0xfad9, 0x7fe5, 0xfad3,
+  0x7fe4, 0xfacd, 0x7fe4, 0xfac7, 0x7fe4, 0xfac0, 0x7fe4, 0xfaba,
+  0x7fe3, 0xfab4, 0x7fe3, 0xfaad, 0x7fe3, 0xfaa7, 0x7fe3, 0xfaa1,
+  0x7fe2, 0xfa9b, 0x7fe2, 0xfa94, 0x7fe2, 0xfa8e, 0x7fe2, 0xfa88,
+  0x7fe1, 0xfa81, 0x7fe1, 0xfa7b, 0x7fe1, 0xfa75, 0x7fe0, 0xfa6f,
+  0x7fe0, 0xfa68, 0x7fe0, 0xfa62, 0x7fe0, 0xfa5c, 0x7fdf, 0xfa56,
+  0x7fdf, 0xfa4f, 0x7fdf, 0xfa49, 0x7fdf, 0xfa43, 0x7fde, 0xfa3c,
+  0x7fde, 0xfa36, 0x7fde, 0xfa30, 0x7fdd, 0xfa2a, 0x7fdd, 0xfa23,
+  0x7fdd, 0xfa1d, 0x7fdd, 0xfa17, 0x7fdc, 0xfa11, 0x7fdc, 0xfa0a,
+  0x7fdc, 0xfa04, 0x7fdb, 0xf9fe, 0x7fdb, 0xf9f7, 0x7fdb, 0xf9f1,
+  0x7fda, 0xf9eb, 0x7fda, 0xf9e5, 0x7fda, 0xf9de, 0x7fda, 0xf9d8,
+  0x7fd9, 0xf9d2, 0x7fd9, 0xf9cb, 0x7fd9, 0xf9c5, 0x7fd8, 0xf9bf,
+  0x7fd8, 0xf9b9, 0x7fd8, 0xf9b2, 0x7fd7, 0xf9ac, 0x7fd7, 0xf9a6,
+  0x7fd7, 0xf9a0, 0x7fd6, 0xf999, 0x7fd6, 0xf993, 0x7fd6, 0xf98d,
+  0x7fd6, 0xf986, 0x7fd5, 0xf980, 0x7fd5, 0xf97a, 0x7fd5, 0xf974,
+  0x7fd4, 0xf96d, 0x7fd4, 0xf967, 0x7fd4, 0xf961, 0x7fd3, 0xf95b,
+  0x7fd3, 0xf954, 0x7fd3, 0xf94e, 0x7fd2, 0xf948, 0x7fd2, 0xf941,
+  0x7fd2, 0xf93b, 0x7fd1, 0xf935, 0x7fd1, 0xf92f, 0x7fd1, 0xf928,
+  0x7fd0, 0xf922, 0x7fd0, 0xf91c, 0x7fd0, 0xf916, 0x7fcf, 0xf90f,
+  0x7fcf, 0xf909, 0x7fcf, 0xf903, 0x7fce, 0xf8fc, 0x7fce, 0xf8f6,
+  0x7fce, 0xf8f0, 0x7fcd, 0xf8ea, 0x7fcd, 0xf8e3, 0x7fcd, 0xf8dd,
+  0x7fcc, 0xf8d7, 0x7fcc, 0xf8d0, 0x7fcb, 0xf8ca, 0x7fcb, 0xf8c4,
+  0x7fcb, 0xf8be, 0x7fca, 0xf8b7, 0x7fca, 0xf8b1, 0x7fca, 0xf8ab,
+  0x7fc9, 0xf8a5, 0x7fc9, 0xf89e, 0x7fc9, 0xf898, 0x7fc8, 0xf892,
+  0x7fc8, 0xf88b, 0x7fc7, 0xf885, 0x7fc7, 0xf87f, 0x7fc7, 0xf879,
+  0x7fc6, 0xf872, 0x7fc6, 0xf86c, 0x7fc6, 0xf866, 0x7fc5, 0xf860,
+  0x7fc5, 0xf859, 0x7fc5, 0xf853, 0x7fc4, 0xf84d, 0x7fc4, 0xf846,
+  0x7fc3, 0xf840, 0x7fc3, 0xf83a, 0x7fc3, 0xf834, 0x7fc2, 0xf82d,
+  0x7fc2, 0xf827, 0x7fc1, 0xf821, 0x7fc1, 0xf81b, 0x7fc1, 0xf814,
+  0x7fc0, 0xf80e, 0x7fc0, 0xf808, 0x7fc0, 0xf802, 0x7fbf, 0xf7fb,
+  0x7fbf, 0xf7f5, 0x7fbe, 0xf7ef, 0x7fbe, 0xf7e8, 0x7fbe, 0xf7e2,
+  0x7fbd, 0xf7dc, 0x7fbd, 0xf7d6, 0x7fbc, 0xf7cf, 0x7fbc, 0xf7c9,
+  0x7fbc, 0xf7c3, 0x7fbb, 0xf7bd, 0x7fbb, 0xf7b6, 0x7fba, 0xf7b0,
+  0x7fba, 0xf7aa, 0x7fb9, 0xf7a3, 0x7fb9, 0xf79d, 0x7fb9, 0xf797,
+  0x7fb8, 0xf791, 0x7fb8, 0xf78a, 0x7fb7, 0xf784, 0x7fb7, 0xf77e,
+  0x7fb7, 0xf778, 0x7fb6, 0xf771, 0x7fb6, 0xf76b, 0x7fb5, 0xf765,
+  0x7fb5, 0xf75e, 0x7fb4, 0xf758, 0x7fb4, 0xf752, 0x7fb4, 0xf74c,
+  0x7fb3, 0xf745, 0x7fb3, 0xf73f, 0x7fb2, 0xf739, 0x7fb2, 0xf733,
+  0x7fb1, 0xf72c, 0x7fb1, 0xf726, 0x7fb1, 0xf720, 0x7fb0, 0xf71a,
+  0x7fb0, 0xf713, 0x7faf, 0xf70d, 0x7faf, 0xf707, 0x7fae, 0xf700,
+  0x7fae, 0xf6fa, 0x7fae, 0xf6f4, 0x7fad, 0xf6ee, 0x7fad, 0xf6e7,
+  0x7fac, 0xf6e1, 0x7fac, 0xf6db, 0x7fab, 0xf6d5, 0x7fab, 0xf6ce,
+  0x7faa, 0xf6c8, 0x7faa, 0xf6c2, 0x7fa9, 0xf6bc, 0x7fa9, 0xf6b5,
+  0x7fa9, 0xf6af, 0x7fa8, 0xf6a9, 0x7fa8, 0xf6a2, 0x7fa7, 0xf69c,
+  0x7fa7, 0xf696, 0x7fa6, 0xf690, 0x7fa6, 0xf689, 0x7fa5, 0xf683,
+  0x7fa5, 0xf67d, 0x7fa4, 0xf677, 0x7fa4, 0xf670, 0x7fa3, 0xf66a,
+  0x7fa3, 0xf664, 0x7fa3, 0xf65e, 0x7fa2, 0xf657, 0x7fa2, 0xf651,
+  0x7fa1, 0xf64b, 0x7fa1, 0xf644, 0x7fa0, 0xf63e, 0x7fa0, 0xf638,
+  0x7f9f, 0xf632, 0x7f9f, 0xf62b, 0x7f9e, 0xf625, 0x7f9e, 0xf61f,
+  0x7f9d, 0xf619, 0x7f9d, 0xf612, 0x7f9c, 0xf60c, 0x7f9c, 0xf606,
+  0x7f9b, 0xf600, 0x7f9b, 0xf5f9, 0x7f9a, 0xf5f3, 0x7f9a, 0xf5ed,
+  0x7f99, 0xf5e7, 0x7f99, 0xf5e0, 0x7f98, 0xf5da, 0x7f98, 0xf5d4,
+  0x7f97, 0xf5cd, 0x7f97, 0xf5c7, 0x7f96, 0xf5c1, 0x7f96, 0xf5bb,
+  0x7f95, 0xf5b4, 0x7f95, 0xf5ae, 0x7f94, 0xf5a8, 0x7f94, 0xf5a2,
+  0x7f93, 0xf59b, 0x7f93, 0xf595, 0x7f92, 0xf58f, 0x7f92, 0xf589,
+  0x7f91, 0xf582, 0x7f91, 0xf57c, 0x7f90, 0xf576, 0x7f90, 0xf570,
+  0x7f8f, 0xf569, 0x7f8f, 0xf563, 0x7f8e, 0xf55d, 0x7f8e, 0xf556,
+  0x7f8d, 0xf550, 0x7f8d, 0xf54a, 0x7f8c, 0xf544, 0x7f8b, 0xf53d,
+  0x7f8b, 0xf537, 0x7f8a, 0xf531, 0x7f8a, 0xf52b, 0x7f89, 0xf524,
+  0x7f89, 0xf51e, 0x7f88, 0xf518, 0x7f88, 0xf512, 0x7f87, 0xf50b,
+  0x7f87, 0xf505, 0x7f86, 0xf4ff, 0x7f86, 0xf4f9, 0x7f85, 0xf4f2,
+  0x7f85, 0xf4ec, 0x7f84, 0xf4e6, 0x7f83, 0xf4e0, 0x7f83, 0xf4d9,
+  0x7f82, 0xf4d3, 0x7f82, 0xf4cd, 0x7f81, 0xf4c6, 0x7f81, 0xf4c0,
+  0x7f80, 0xf4ba, 0x7f80, 0xf4b4, 0x7f7f, 0xf4ad, 0x7f7e, 0xf4a7,
+  0x7f7e, 0xf4a1, 0x7f7d, 0xf49b, 0x7f7d, 0xf494, 0x7f7c, 0xf48e,
+  0x7f7c, 0xf488, 0x7f7b, 0xf482, 0x7f7b, 0xf47b, 0x7f7a, 0xf475,
+  0x7f79, 0xf46f, 0x7f79, 0xf469, 0x7f78, 0xf462, 0x7f78, 0xf45c,
+  0x7f77, 0xf456, 0x7f77, 0xf450, 0x7f76, 0xf449, 0x7f75, 0xf443,
+  0x7f75, 0xf43d, 0x7f74, 0xf437, 0x7f74, 0xf430, 0x7f73, 0xf42a,
+  0x7f72, 0xf424, 0x7f72, 0xf41e, 0x7f71, 0xf417, 0x7f71, 0xf411,
+  0x7f70, 0xf40b, 0x7f70, 0xf405, 0x7f6f, 0xf3fe, 0x7f6e, 0xf3f8,
+  0x7f6e, 0xf3f2, 0x7f6d, 0xf3ec, 0x7f6d, 0xf3e5, 0x7f6c, 0xf3df,
+  0x7f6b, 0xf3d9, 0x7f6b, 0xf3d2, 0x7f6a, 0xf3cc, 0x7f6a, 0xf3c6,
+  0x7f69, 0xf3c0, 0x7f68, 0xf3b9, 0x7f68, 0xf3b3, 0x7f67, 0xf3ad,
+  0x7f67, 0xf3a7, 0x7f66, 0xf3a0, 0x7f65, 0xf39a, 0x7f65, 0xf394,
+  0x7f64, 0xf38e, 0x7f64, 0xf387, 0x7f63, 0xf381, 0x7f62, 0xf37b,
+  0x7f62, 0xf375, 0x7f61, 0xf36e, 0x7f60, 0xf368, 0x7f60, 0xf362,
+  0x7f5f, 0xf35c, 0x7f5f, 0xf355, 0x7f5e, 0xf34f, 0x7f5d, 0xf349,
+  0x7f5d, 0xf343, 0x7f5c, 0xf33c, 0x7f5b, 0xf336, 0x7f5b, 0xf330,
+  0x7f5a, 0xf32a, 0x7f5a, 0xf323, 0x7f59, 0xf31d, 0x7f58, 0xf317,
+  0x7f58, 0xf311, 0x7f57, 0xf30a, 0x7f56, 0xf304, 0x7f56, 0xf2fe,
+  0x7f55, 0xf2f8, 0x7f55, 0xf2f1, 0x7f54, 0xf2eb, 0x7f53, 0xf2e5,
+  0x7f53, 0xf2df, 0x7f52, 0xf2d8, 0x7f51, 0xf2d2, 0x7f51, 0xf2cc,
+  0x7f50, 0xf2c6, 0x7f4f, 0xf2bf, 0x7f4f, 0xf2b9, 0x7f4e, 0xf2b3,
+  0x7f4d, 0xf2ad, 0x7f4d, 0xf2a6, 0x7f4c, 0xf2a0, 0x7f4b, 0xf29a,
+  0x7f4b, 0xf294, 0x7f4a, 0xf28d, 0x7f49, 0xf287, 0x7f49, 0xf281,
+  0x7f48, 0xf27b, 0x7f47, 0xf274, 0x7f47, 0xf26e, 0x7f46, 0xf268,
+  0x7f45, 0xf262, 0x7f45, 0xf25b, 0x7f44, 0xf255, 0x7f43, 0xf24f,
+  0x7f43, 0xf249, 0x7f42, 0xf242, 0x7f41, 0xf23c, 0x7f41, 0xf236,
+  0x7f40, 0xf230, 0x7f3f, 0xf229, 0x7f3f, 0xf223, 0x7f3e, 0xf21d,
+  0x7f3d, 0xf217, 0x7f3d, 0xf210, 0x7f3c, 0xf20a, 0x7f3b, 0xf204,
+  0x7f3b, 0xf1fe, 0x7f3a, 0xf1f7, 0x7f39, 0xf1f1, 0x7f39, 0xf1eb,
+  0x7f38, 0xf1e5, 0x7f37, 0xf1de, 0x7f36, 0xf1d8, 0x7f36, 0xf1d2,
+  0x7f35, 0xf1cc, 0x7f34, 0xf1c6, 0x7f34, 0xf1bf, 0x7f33, 0xf1b9,
+  0x7f32, 0xf1b3, 0x7f32, 0xf1ad, 0x7f31, 0xf1a6, 0x7f30, 0xf1a0,
+  0x7f2f, 0xf19a, 0x7f2f, 0xf194, 0x7f2e, 0xf18d, 0x7f2d, 0xf187,
+  0x7f2d, 0xf181, 0x7f2c, 0xf17b, 0x7f2b, 0xf174, 0x7f2a, 0xf16e,
+  0x7f2a, 0xf168, 0x7f29, 0xf162, 0x7f28, 0xf15b, 0x7f28, 0xf155,
+  0x7f27, 0xf14f, 0x7f26, 0xf149, 0x7f25, 0xf142, 0x7f25, 0xf13c,
+  0x7f24, 0xf136, 0x7f23, 0xf130, 0x7f23, 0xf129, 0x7f22, 0xf123,
+  0x7f21, 0xf11d, 0x7f20, 0xf117, 0x7f20, 0xf110, 0x7f1f, 0xf10a,
+  0x7f1e, 0xf104, 0x7f1d, 0xf0fe, 0x7f1d, 0xf0f8, 0x7f1c, 0xf0f1,
+  0x7f1b, 0xf0eb, 0x7f1a, 0xf0e5, 0x7f1a, 0xf0df, 0x7f19, 0xf0d8,
+  0x7f18, 0xf0d2, 0x7f17, 0xf0cc, 0x7f17, 0xf0c6, 0x7f16, 0xf0bf,
+  0x7f15, 0xf0b9, 0x7f14, 0xf0b3, 0x7f14, 0xf0ad, 0x7f13, 0xf0a6,
+  0x7f12, 0xf0a0, 0x7f11, 0xf09a, 0x7f11, 0xf094, 0x7f10, 0xf08d,
+  0x7f0f, 0xf087, 0x7f0e, 0xf081, 0x7f0e, 0xf07b, 0x7f0d, 0xf075,
+  0x7f0c, 0xf06e, 0x7f0b, 0xf068, 0x7f0b, 0xf062, 0x7f0a, 0xf05c,
+  0x7f09, 0xf055, 0x7f08, 0xf04f, 0x7f08, 0xf049, 0x7f07, 0xf043,
+  0x7f06, 0xf03c, 0x7f05, 0xf036, 0x7f04, 0xf030, 0x7f04, 0xf02a,
+  0x7f03, 0xf023, 0x7f02, 0xf01d, 0x7f01, 0xf017, 0x7f01, 0xf011,
+  0x7f00, 0xf00b, 0x7eff, 0xf004, 0x7efe, 0xeffe, 0x7efd, 0xeff8,
+  0x7efd, 0xeff2, 0x7efc, 0xefeb, 0x7efb, 0xefe5, 0x7efa, 0xefdf,
+  0x7ef9, 0xefd9, 0x7ef9, 0xefd2, 0x7ef8, 0xefcc, 0x7ef7, 0xefc6,
+  0x7ef6, 0xefc0, 0x7ef5, 0xefb9, 0x7ef5, 0xefb3, 0x7ef4, 0xefad,
+  0x7ef3, 0xefa7, 0x7ef2, 0xefa1, 0x7ef1, 0xef9a, 0x7ef1, 0xef94,
+  0x7ef0, 0xef8e, 0x7eef, 0xef88, 0x7eee, 0xef81, 0x7eed, 0xef7b,
+  0x7eed, 0xef75, 0x7eec, 0xef6f, 0x7eeb, 0xef68, 0x7eea, 0xef62,
+  0x7ee9, 0xef5c, 0x7ee9, 0xef56, 0x7ee8, 0xef50, 0x7ee7, 0xef49,
+  0x7ee6, 0xef43, 0x7ee5, 0xef3d, 0x7ee4, 0xef37, 0x7ee4, 0xef30,
+  0x7ee3, 0xef2a, 0x7ee2, 0xef24, 0x7ee1, 0xef1e, 0x7ee0, 0xef18,
+  0x7edf, 0xef11, 0x7edf, 0xef0b, 0x7ede, 0xef05, 0x7edd, 0xeeff,
+  0x7edc, 0xeef8, 0x7edb, 0xeef2, 0x7eda, 0xeeec, 0x7eda, 0xeee6,
+  0x7ed9, 0xeedf, 0x7ed8, 0xeed9, 0x7ed7, 0xeed3, 0x7ed6, 0xeecd,
+  0x7ed5, 0xeec7, 0x7ed5, 0xeec0, 0x7ed4, 0xeeba, 0x7ed3, 0xeeb4,
+  0x7ed2, 0xeeae, 0x7ed1, 0xeea7, 0x7ed0, 0xeea1, 0x7ecf, 0xee9b,
+  0x7ecf, 0xee95, 0x7ece, 0xee8f, 0x7ecd, 0xee88, 0x7ecc, 0xee82,
+  0x7ecb, 0xee7c, 0x7eca, 0xee76, 0x7ec9, 0xee6f, 0x7ec9, 0xee69,
+  0x7ec8, 0xee63, 0x7ec7, 0xee5d, 0x7ec6, 0xee57, 0x7ec5, 0xee50,
+  0x7ec4, 0xee4a, 0x7ec3, 0xee44, 0x7ec3, 0xee3e, 0x7ec2, 0xee37,
+  0x7ec1, 0xee31, 0x7ec0, 0xee2b, 0x7ebf, 0xee25, 0x7ebe, 0xee1f,
+  0x7ebd, 0xee18, 0x7ebc, 0xee12, 0x7ebb, 0xee0c, 0x7ebb, 0xee06,
+  0x7eba, 0xedff, 0x7eb9, 0xedf9, 0x7eb8, 0xedf3, 0x7eb7, 0xeded,
+  0x7eb6, 0xede7, 0x7eb5, 0xede0, 0x7eb4, 0xedda, 0x7eb4, 0xedd4,
+  0x7eb3, 0xedce, 0x7eb2, 0xedc7, 0x7eb1, 0xedc1, 0x7eb0, 0xedbb,
+  0x7eaf, 0xedb5, 0x7eae, 0xedaf, 0x7ead, 0xeda8, 0x7eac, 0xeda2,
+  0x7eab, 0xed9c, 0x7eab, 0xed96, 0x7eaa, 0xed8f, 0x7ea9, 0xed89,
+  0x7ea8, 0xed83, 0x7ea7, 0xed7d, 0x7ea6, 0xed77, 0x7ea5, 0xed70,
+  0x7ea4, 0xed6a, 0x7ea3, 0xed64, 0x7ea2, 0xed5e, 0x7ea1, 0xed58,
+  0x7ea1, 0xed51, 0x7ea0, 0xed4b, 0x7e9f, 0xed45, 0x7e9e, 0xed3f,
+  0x7e9d, 0xed38, 0x7e9c, 0xed32, 0x7e9b, 0xed2c, 0x7e9a, 0xed26,
+  0x7e99, 0xed20, 0x7e98, 0xed19, 0x7e97, 0xed13, 0x7e96, 0xed0d,
+  0x7e95, 0xed07, 0x7e94, 0xed01, 0x7e94, 0xecfa, 0x7e93, 0xecf4,
+  0x7e92, 0xecee, 0x7e91, 0xece8, 0x7e90, 0xece1, 0x7e8f, 0xecdb,
+  0x7e8e, 0xecd5, 0x7e8d, 0xeccf, 0x7e8c, 0xecc9, 0x7e8b, 0xecc2,
+  0x7e8a, 0xecbc, 0x7e89, 0xecb6, 0x7e88, 0xecb0, 0x7e87, 0xecaa,
+  0x7e86, 0xeca3, 0x7e85, 0xec9d, 0x7e84, 0xec97, 0x7e84, 0xec91,
+  0x7e83, 0xec8a, 0x7e82, 0xec84, 0x7e81, 0xec7e, 0x7e80, 0xec78,
+  0x7e7f, 0xec72, 0x7e7e, 0xec6b, 0x7e7d, 0xec65, 0x7e7c, 0xec5f,
+  0x7e7b, 0xec59, 0x7e7a, 0xec53, 0x7e79, 0xec4c, 0x7e78, 0xec46,
+  0x7e77, 0xec40, 0x7e76, 0xec3a, 0x7e75, 0xec34, 0x7e74, 0xec2d,
+  0x7e73, 0xec27, 0x7e72, 0xec21, 0x7e71, 0xec1b, 0x7e70, 0xec15,
+  0x7e6f, 0xec0e, 0x7e6e, 0xec08, 0x7e6d, 0xec02, 0x7e6c, 0xebfc,
+  0x7e6b, 0xebf5, 0x7e6a, 0xebef, 0x7e69, 0xebe9, 0x7e68, 0xebe3,
+  0x7e67, 0xebdd, 0x7e66, 0xebd6, 0x7e65, 0xebd0, 0x7e64, 0xebca,
+  0x7e63, 0xebc4, 0x7e62, 0xebbe, 0x7e61, 0xebb7, 0x7e60, 0xebb1,
+  0x7e5f, 0xebab, 0x7e5e, 0xeba5, 0x7e5d, 0xeb9f, 0x7e5c, 0xeb98,
+  0x7e5b, 0xeb92, 0x7e5a, 0xeb8c, 0x7e59, 0xeb86, 0x7e58, 0xeb80,
+  0x7e57, 0xeb79, 0x7e56, 0xeb73, 0x7e55, 0xeb6d, 0x7e54, 0xeb67,
+  0x7e53, 0xeb61, 0x7e52, 0xeb5a, 0x7e51, 0xeb54, 0x7e50, 0xeb4e,
+  0x7e4f, 0xeb48, 0x7e4e, 0xeb42, 0x7e4d, 0xeb3b, 0x7e4c, 0xeb35,
+  0x7e4b, 0xeb2f, 0x7e4a, 0xeb29, 0x7e49, 0xeb23, 0x7e48, 0xeb1c,
+  0x7e47, 0xeb16, 0x7e46, 0xeb10, 0x7e45, 0xeb0a, 0x7e44, 0xeb04,
+  0x7e43, 0xeafd, 0x7e42, 0xeaf7, 0x7e41, 0xeaf1, 0x7e40, 0xeaeb,
+  0x7e3f, 0xeae5, 0x7e3e, 0xeade, 0x7e3d, 0xead8, 0x7e3c, 0xead2,
+  0x7e3b, 0xeacc, 0x7e3a, 0xeac6, 0x7e39, 0xeabf, 0x7e38, 0xeab9,
+  0x7e37, 0xeab3, 0x7e35, 0xeaad, 0x7e34, 0xeaa7, 0x7e33, 0xeaa0,
+  0x7e32, 0xea9a, 0x7e31, 0xea94, 0x7e30, 0xea8e, 0x7e2f, 0xea88,
+  0x7e2e, 0xea81, 0x7e2d, 0xea7b, 0x7e2c, 0xea75, 0x7e2b, 0xea6f,
+  0x7e2a, 0xea69, 0x7e29, 0xea63, 0x7e28, 0xea5c, 0x7e27, 0xea56,
+  0x7e26, 0xea50, 0x7e25, 0xea4a, 0x7e24, 0xea44, 0x7e22, 0xea3d,
+  0x7e21, 0xea37, 0x7e20, 0xea31, 0x7e1f, 0xea2b, 0x7e1e, 0xea25,
+  0x7e1d, 0xea1e, 0x7e1c, 0xea18, 0x7e1b, 0xea12, 0x7e1a, 0xea0c,
+  0x7e19, 0xea06, 0x7e18, 0xe9ff, 0x7e17, 0xe9f9, 0x7e16, 0xe9f3,
+  0x7e14, 0xe9ed, 0x7e13, 0xe9e7, 0x7e12, 0xe9e1, 0x7e11, 0xe9da,
+  0x7e10, 0xe9d4, 0x7e0f, 0xe9ce, 0x7e0e, 0xe9c8, 0x7e0d, 0xe9c2,
+  0x7e0c, 0xe9bb, 0x7e0b, 0xe9b5, 0x7e0a, 0xe9af, 0x7e08, 0xe9a9,
+  0x7e07, 0xe9a3, 0x7e06, 0xe99c, 0x7e05, 0xe996, 0x7e04, 0xe990,
+  0x7e03, 0xe98a, 0x7e02, 0xe984, 0x7e01, 0xe97e, 0x7e00, 0xe977,
+  0x7dff, 0xe971, 0x7dfd, 0xe96b, 0x7dfc, 0xe965, 0x7dfb, 0xe95f,
+  0x7dfa, 0xe958, 0x7df9, 0xe952, 0x7df8, 0xe94c, 0x7df7, 0xe946,
+  0x7df6, 0xe940, 0x7df5, 0xe93a, 0x7df3, 0xe933, 0x7df2, 0xe92d,
+  0x7df1, 0xe927, 0x7df0, 0xe921, 0x7def, 0xe91b, 0x7dee, 0xe914,
+  0x7ded, 0xe90e, 0x7dec, 0xe908, 0x7dea, 0xe902, 0x7de9, 0xe8fc,
+  0x7de8, 0xe8f6, 0x7de7, 0xe8ef, 0x7de6, 0xe8e9, 0x7de5, 0xe8e3,
+  0x7de4, 0xe8dd, 0x7de2, 0xe8d7, 0x7de1, 0xe8d0, 0x7de0, 0xe8ca,
+  0x7ddf, 0xe8c4, 0x7dde, 0xe8be, 0x7ddd, 0xe8b8, 0x7ddc, 0xe8b2,
+  0x7dda, 0xe8ab, 0x7dd9, 0xe8a5, 0x7dd8, 0xe89f, 0x7dd7, 0xe899,
+  0x7dd6, 0xe893, 0x7dd5, 0xe88c, 0x7dd4, 0xe886, 0x7dd2, 0xe880,
+  0x7dd1, 0xe87a, 0x7dd0, 0xe874, 0x7dcf, 0xe86e, 0x7dce, 0xe867,
+  0x7dcd, 0xe861, 0x7dcc, 0xe85b, 0x7dca, 0xe855, 0x7dc9, 0xe84f,
+  0x7dc8, 0xe849, 0x7dc7, 0xe842, 0x7dc6, 0xe83c, 0x7dc5, 0xe836,
+  0x7dc3, 0xe830, 0x7dc2, 0xe82a, 0x7dc1, 0xe823, 0x7dc0, 0xe81d,
+  0x7dbf, 0xe817, 0x7dbd, 0xe811, 0x7dbc, 0xe80b, 0x7dbb, 0xe805,
+  0x7dba, 0xe7fe, 0x7db9, 0xe7f8, 0x7db8, 0xe7f2, 0x7db6, 0xe7ec,
+  0x7db5, 0xe7e6, 0x7db4, 0xe7e0, 0x7db3, 0xe7d9, 0x7db2, 0xe7d3,
+  0x7db0, 0xe7cd, 0x7daf, 0xe7c7, 0x7dae, 0xe7c1, 0x7dad, 0xe7bb,
+  0x7dac, 0xe7b4, 0x7dab, 0xe7ae, 0x7da9, 0xe7a8, 0x7da8, 0xe7a2,
+  0x7da7, 0xe79c, 0x7da6, 0xe796, 0x7da5, 0xe78f, 0x7da3, 0xe789,
+  0x7da2, 0xe783, 0x7da1, 0xe77d, 0x7da0, 0xe777, 0x7d9f, 0xe771,
+  0x7d9d, 0xe76a, 0x7d9c, 0xe764, 0x7d9b, 0xe75e, 0x7d9a, 0xe758,
+  0x7d98, 0xe752, 0x7d97, 0xe74c, 0x7d96, 0xe745, 0x7d95, 0xe73f,
+  0x7d94, 0xe739, 0x7d92, 0xe733, 0x7d91, 0xe72d, 0x7d90, 0xe727,
+  0x7d8f, 0xe720, 0x7d8e, 0xe71a, 0x7d8c, 0xe714, 0x7d8b, 0xe70e,
+  0x7d8a, 0xe708, 0x7d89, 0xe702, 0x7d87, 0xe6fb, 0x7d86, 0xe6f5,
+  0x7d85, 0xe6ef, 0x7d84, 0xe6e9, 0x7d82, 0xe6e3, 0x7d81, 0xe6dd,
+  0x7d80, 0xe6d6, 0x7d7f, 0xe6d0, 0x7d7e, 0xe6ca, 0x7d7c, 0xe6c4,
+  0x7d7b, 0xe6be, 0x7d7a, 0xe6b8, 0x7d79, 0xe6b2, 0x7d77, 0xe6ab,
+  0x7d76, 0xe6a5, 0x7d75, 0xe69f, 0x7d74, 0xe699, 0x7d72, 0xe693,
+  0x7d71, 0xe68d, 0x7d70, 0xe686, 0x7d6f, 0xe680, 0x7d6d, 0xe67a,
+  0x7d6c, 0xe674, 0x7d6b, 0xe66e, 0x7d6a, 0xe668, 0x7d68, 0xe661,
+  0x7d67, 0xe65b, 0x7d66, 0xe655, 0x7d65, 0xe64f, 0x7d63, 0xe649,
+  0x7d62, 0xe643, 0x7d61, 0xe63d, 0x7d60, 0xe636, 0x7d5e, 0xe630,
+  0x7d5d, 0xe62a, 0x7d5c, 0xe624, 0x7d5a, 0xe61e, 0x7d59, 0xe618,
+  0x7d58, 0xe611, 0x7d57, 0xe60b, 0x7d55, 0xe605, 0x7d54, 0xe5ff,
+  0x7d53, 0xe5f9, 0x7d52, 0xe5f3, 0x7d50, 0xe5ed, 0x7d4f, 0xe5e6,
+  0x7d4e, 0xe5e0, 0x7d4c, 0xe5da, 0x7d4b, 0xe5d4, 0x7d4a, 0xe5ce,
+  0x7d49, 0xe5c8, 0x7d47, 0xe5c2, 0x7d46, 0xe5bb, 0x7d45, 0xe5b5,
+  0x7d43, 0xe5af, 0x7d42, 0xe5a9, 0x7d41, 0xe5a3, 0x7d3f, 0xe59d,
+  0x7d3e, 0xe596, 0x7d3d, 0xe590, 0x7d3c, 0xe58a, 0x7d3a, 0xe584,
+  0x7d39, 0xe57e, 0x7d38, 0xe578, 0x7d36, 0xe572, 0x7d35, 0xe56b,
+  0x7d34, 0xe565, 0x7d32, 0xe55f, 0x7d31, 0xe559, 0x7d30, 0xe553,
+  0x7d2f, 0xe54d, 0x7d2d, 0xe547, 0x7d2c, 0xe540, 0x7d2b, 0xe53a,
+  0x7d29, 0xe534, 0x7d28, 0xe52e, 0x7d27, 0xe528, 0x7d25, 0xe522,
+  0x7d24, 0xe51c, 0x7d23, 0xe515, 0x7d21, 0xe50f, 0x7d20, 0xe509,
+  0x7d1f, 0xe503, 0x7d1d, 0xe4fd, 0x7d1c, 0xe4f7, 0x7d1b, 0xe4f1,
+  0x7d19, 0xe4ea, 0x7d18, 0xe4e4, 0x7d17, 0xe4de, 0x7d15, 0xe4d8,
+  0x7d14, 0xe4d2, 0x7d13, 0xe4cc, 0x7d11, 0xe4c6, 0x7d10, 0xe4bf,
+  0x7d0f, 0xe4b9, 0x7d0d, 0xe4b3, 0x7d0c, 0xe4ad, 0x7d0b, 0xe4a7,
+  0x7d09, 0xe4a1, 0x7d08, 0xe49b, 0x7d07, 0xe494, 0x7d05, 0xe48e,
+  0x7d04, 0xe488, 0x7d03, 0xe482, 0x7d01, 0xe47c, 0x7d00, 0xe476,
+  0x7cff, 0xe470, 0x7cfd, 0xe46a, 0x7cfc, 0xe463, 0x7cfb, 0xe45d,
+  0x7cf9, 0xe457, 0x7cf8, 0xe451, 0x7cf6, 0xe44b, 0x7cf5, 0xe445,
+  0x7cf4, 0xe43f, 0x7cf2, 0xe438, 0x7cf1, 0xe432, 0x7cf0, 0xe42c,
+  0x7cee, 0xe426, 0x7ced, 0xe420, 0x7cec, 0xe41a, 0x7cea, 0xe414,
+  0x7ce9, 0xe40e, 0x7ce7, 0xe407, 0x7ce6, 0xe401, 0x7ce5, 0xe3fb,
+  0x7ce3, 0xe3f5, 0x7ce2, 0xe3ef, 0x7ce1, 0xe3e9, 0x7cdf, 0xe3e3,
+  0x7cde, 0xe3dc, 0x7cdc, 0xe3d6, 0x7cdb, 0xe3d0, 0x7cda, 0xe3ca,
+  0x7cd8, 0xe3c4, 0x7cd7, 0xe3be, 0x7cd5, 0xe3b8, 0x7cd4, 0xe3b2,
+  0x7cd3, 0xe3ab, 0x7cd1, 0xe3a5, 0x7cd0, 0xe39f, 0x7ccf, 0xe399,
+  0x7ccd, 0xe393, 0x7ccc, 0xe38d, 0x7cca, 0xe387, 0x7cc9, 0xe381,
+  0x7cc8, 0xe37a, 0x7cc6, 0xe374, 0x7cc5, 0xe36e, 0x7cc3, 0xe368,
+  0x7cc2, 0xe362, 0x7cc1, 0xe35c, 0x7cbf, 0xe356, 0x7cbe, 0xe350,
+  0x7cbc, 0xe349, 0x7cbb, 0xe343, 0x7cb9, 0xe33d, 0x7cb8, 0xe337,
+  0x7cb7, 0xe331, 0x7cb5, 0xe32b, 0x7cb4, 0xe325, 0x7cb2, 0xe31f,
+  0x7cb1, 0xe318, 0x7cb0, 0xe312, 0x7cae, 0xe30c, 0x7cad, 0xe306,
+  0x7cab, 0xe300, 0x7caa, 0xe2fa, 0x7ca8, 0xe2f4, 0x7ca7, 0xe2ee,
+  0x7ca6, 0xe2e8, 0x7ca4, 0xe2e1, 0x7ca3, 0xe2db, 0x7ca1, 0xe2d5,
+  0x7ca0, 0xe2cf, 0x7c9e, 0xe2c9, 0x7c9d, 0xe2c3, 0x7c9c, 0xe2bd,
+  0x7c9a, 0xe2b7, 0x7c99, 0xe2b0, 0x7c97, 0xe2aa, 0x7c96, 0xe2a4,
+  0x7c94, 0xe29e, 0x7c93, 0xe298, 0x7c91, 0xe292, 0x7c90, 0xe28c,
+  0x7c8f, 0xe286, 0x7c8d, 0xe280, 0x7c8c, 0xe279, 0x7c8a, 0xe273,
+  0x7c89, 0xe26d, 0x7c87, 0xe267, 0x7c86, 0xe261, 0x7c84, 0xe25b,
+  0x7c83, 0xe255, 0x7c82, 0xe24f, 0x7c80, 0xe249, 0x7c7f, 0xe242,
+  0x7c7d, 0xe23c, 0x7c7c, 0xe236, 0x7c7a, 0xe230, 0x7c79, 0xe22a,
+  0x7c77, 0xe224, 0x7c76, 0xe21e, 0x7c74, 0xe218, 0x7c73, 0xe212,
+  0x7c71, 0xe20b, 0x7c70, 0xe205, 0x7c6e, 0xe1ff, 0x7c6d, 0xe1f9,
+  0x7c6c, 0xe1f3, 0x7c6a, 0xe1ed, 0x7c69, 0xe1e7, 0x7c67, 0xe1e1,
+  0x7c66, 0xe1db, 0x7c64, 0xe1d4, 0x7c63, 0xe1ce, 0x7c61, 0xe1c8,
+  0x7c60, 0xe1c2, 0x7c5e, 0xe1bc, 0x7c5d, 0xe1b6, 0x7c5b, 0xe1b0,
+  0x7c5a, 0xe1aa, 0x7c58, 0xe1a4, 0x7c57, 0xe19e, 0x7c55, 0xe197,
+  0x7c54, 0xe191, 0x7c52, 0xe18b, 0x7c51, 0xe185, 0x7c4f, 0xe17f,
+  0x7c4e, 0xe179, 0x7c4c, 0xe173, 0x7c4b, 0xe16d, 0x7c49, 0xe167,
+  0x7c48, 0xe160, 0x7c46, 0xe15a, 0x7c45, 0xe154, 0x7c43, 0xe14e,
+  0x7c42, 0xe148, 0x7c40, 0xe142, 0x7c3f, 0xe13c, 0x7c3d, 0xe136,
+  0x7c3c, 0xe130, 0x7c3a, 0xe12a, 0x7c39, 0xe123, 0x7c37, 0xe11d,
+  0x7c36, 0xe117, 0x7c34, 0xe111, 0x7c33, 0xe10b, 0x7c31, 0xe105,
+  0x7c30, 0xe0ff, 0x7c2e, 0xe0f9, 0x7c2d, 0xe0f3, 0x7c2b, 0xe0ed,
+  0x7c29, 0xe0e7, 0x7c28, 0xe0e0, 0x7c26, 0xe0da, 0x7c25, 0xe0d4,
+  0x7c23, 0xe0ce, 0x7c22, 0xe0c8, 0x7c20, 0xe0c2, 0x7c1f, 0xe0bc,
+  0x7c1d, 0xe0b6, 0x7c1c, 0xe0b0, 0x7c1a, 0xe0aa, 0x7c19, 0xe0a3,
+  0x7c17, 0xe09d, 0x7c16, 0xe097, 0x7c14, 0xe091, 0x7c12, 0xe08b,
+  0x7c11, 0xe085, 0x7c0f, 0xe07f, 0x7c0e, 0xe079, 0x7c0c, 0xe073,
+  0x7c0b, 0xe06d, 0x7c09, 0xe067, 0x7c08, 0xe061, 0x7c06, 0xe05a,
+  0x7c05, 0xe054, 0x7c03, 0xe04e, 0x7c01, 0xe048, 0x7c00, 0xe042,
+  0x7bfe, 0xe03c, 0x7bfd, 0xe036, 0x7bfb, 0xe030, 0x7bfa, 0xe02a,
+  0x7bf8, 0xe024, 0x7bf6, 0xe01e, 0x7bf5, 0xe017, 0x7bf3, 0xe011,
+  0x7bf2, 0xe00b, 0x7bf0, 0xe005, 0x7bef, 0xdfff, 0x7bed, 0xdff9,
+  0x7beb, 0xdff3, 0x7bea, 0xdfed, 0x7be8, 0xdfe7, 0x7be7, 0xdfe1,
+  0x7be5, 0xdfdb, 0x7be4, 0xdfd5, 0x7be2, 0xdfce, 0x7be0, 0xdfc8,
+  0x7bdf, 0xdfc2, 0x7bdd, 0xdfbc, 0x7bdc, 0xdfb6, 0x7bda, 0xdfb0,
+  0x7bd9, 0xdfaa, 0x7bd7, 0xdfa4, 0x7bd5, 0xdf9e, 0x7bd4, 0xdf98,
+  0x7bd2, 0xdf92, 0x7bd1, 0xdf8c, 0x7bcf, 0xdf86, 0x7bcd, 0xdf7f,
+  0x7bcc, 0xdf79, 0x7bca, 0xdf73, 0x7bc9, 0xdf6d, 0x7bc7, 0xdf67,
+  0x7bc5, 0xdf61, 0x7bc4, 0xdf5b, 0x7bc2, 0xdf55, 0x7bc1, 0xdf4f,
+  0x7bbf, 0xdf49, 0x7bbd, 0xdf43, 0x7bbc, 0xdf3d, 0x7bba, 0xdf37,
+  0x7bb9, 0xdf30, 0x7bb7, 0xdf2a, 0x7bb5, 0xdf24, 0x7bb4, 0xdf1e,
+  0x7bb2, 0xdf18, 0x7bb0, 0xdf12, 0x7baf, 0xdf0c, 0x7bad, 0xdf06,
+  0x7bac, 0xdf00, 0x7baa, 0xdefa, 0x7ba8, 0xdef4, 0x7ba7, 0xdeee,
+  0x7ba5, 0xdee8, 0x7ba3, 0xdee2, 0x7ba2, 0xdedb, 0x7ba0, 0xded5,
+  0x7b9f, 0xdecf, 0x7b9d, 0xdec9, 0x7b9b, 0xdec3, 0x7b9a, 0xdebd,
+  0x7b98, 0xdeb7, 0x7b96, 0xdeb1, 0x7b95, 0xdeab, 0x7b93, 0xdea5,
+  0x7b92, 0xde9f, 0x7b90, 0xde99, 0x7b8e, 0xde93, 0x7b8d, 0xde8d,
+  0x7b8b, 0xde87, 0x7b89, 0xde80, 0x7b88, 0xde7a, 0x7b86, 0xde74,
+  0x7b84, 0xde6e, 0x7b83, 0xde68, 0x7b81, 0xde62, 0x7b7f, 0xde5c,
+  0x7b7e, 0xde56, 0x7b7c, 0xde50, 0x7b7a, 0xde4a, 0x7b79, 0xde44,
+  0x7b77, 0xde3e, 0x7b76, 0xde38, 0x7b74, 0xde32, 0x7b72, 0xde2c,
+  0x7b71, 0xde26, 0x7b6f, 0xde1f, 0x7b6d, 0xde19, 0x7b6c, 0xde13,
+  0x7b6a, 0xde0d, 0x7b68, 0xde07, 0x7b67, 0xde01, 0x7b65, 0xddfb,
+  0x7b63, 0xddf5, 0x7b62, 0xddef, 0x7b60, 0xdde9, 0x7b5e, 0xdde3,
+  0x7b5d, 0xdddd, 0x7b5b, 0xddd7, 0x7b59, 0xddd1, 0x7b57, 0xddcb,
+  0x7b56, 0xddc5, 0x7b54, 0xddbf, 0x7b52, 0xddb9, 0x7b51, 0xddb2,
+  0x7b4f, 0xddac, 0x7b4d, 0xdda6, 0x7b4c, 0xdda0, 0x7b4a, 0xdd9a,
+  0x7b48, 0xdd94, 0x7b47, 0xdd8e, 0x7b45, 0xdd88, 0x7b43, 0xdd82,
+  0x7b42, 0xdd7c, 0x7b40, 0xdd76, 0x7b3e, 0xdd70, 0x7b3c, 0xdd6a,
+  0x7b3b, 0xdd64, 0x7b39, 0xdd5e, 0x7b37, 0xdd58, 0x7b36, 0xdd52,
+  0x7b34, 0xdd4c, 0x7b32, 0xdd46, 0x7b31, 0xdd40, 0x7b2f, 0xdd39,
+  0x7b2d, 0xdd33, 0x7b2b, 0xdd2d, 0x7b2a, 0xdd27, 0x7b28, 0xdd21,
+  0x7b26, 0xdd1b, 0x7b25, 0xdd15, 0x7b23, 0xdd0f, 0x7b21, 0xdd09,
+  0x7b1f, 0xdd03, 0x7b1e, 0xdcfd, 0x7b1c, 0xdcf7, 0x7b1a, 0xdcf1,
+  0x7b19, 0xdceb, 0x7b17, 0xdce5, 0x7b15, 0xdcdf, 0x7b13, 0xdcd9,
+  0x7b12, 0xdcd3, 0x7b10, 0xdccd, 0x7b0e, 0xdcc7, 0x7b0c, 0xdcc1,
+  0x7b0b, 0xdcbb, 0x7b09, 0xdcb5, 0x7b07, 0xdcae, 0x7b06, 0xdca8,
+  0x7b04, 0xdca2, 0x7b02, 0xdc9c, 0x7b00, 0xdc96, 0x7aff, 0xdc90,
+  0x7afd, 0xdc8a, 0x7afb, 0xdc84, 0x7af9, 0xdc7e, 0x7af8, 0xdc78,
+  0x7af6, 0xdc72, 0x7af4, 0xdc6c, 0x7af2, 0xdc66, 0x7af1, 0xdc60,
+  0x7aef, 0xdc5a, 0x7aed, 0xdc54, 0x7aeb, 0xdc4e, 0x7aea, 0xdc48,
+  0x7ae8, 0xdc42, 0x7ae6, 0xdc3c, 0x7ae4, 0xdc36, 0x7ae3, 0xdc30,
+  0x7ae1, 0xdc2a, 0x7adf, 0xdc24, 0x7add, 0xdc1e, 0x7adc, 0xdc18,
+  0x7ada, 0xdc12, 0x7ad8, 0xdc0c, 0x7ad6, 0xdc06, 0x7ad5, 0xdbff,
+  0x7ad3, 0xdbf9, 0x7ad1, 0xdbf3, 0x7acf, 0xdbed, 0x7acd, 0xdbe7,
+  0x7acc, 0xdbe1, 0x7aca, 0xdbdb, 0x7ac8, 0xdbd5, 0x7ac6, 0xdbcf,
+  0x7ac5, 0xdbc9, 0x7ac3, 0xdbc3, 0x7ac1, 0xdbbd, 0x7abf, 0xdbb7,
+  0x7abd, 0xdbb1, 0x7abc, 0xdbab, 0x7aba, 0xdba5, 0x7ab8, 0xdb9f,
+  0x7ab6, 0xdb99, 0x7ab5, 0xdb93, 0x7ab3, 0xdb8d, 0x7ab1, 0xdb87,
+  0x7aaf, 0xdb81, 0x7aad, 0xdb7b, 0x7aac, 0xdb75, 0x7aaa, 0xdb6f,
+  0x7aa8, 0xdb69, 0x7aa6, 0xdb63, 0x7aa4, 0xdb5d, 0x7aa3, 0xdb57,
+  0x7aa1, 0xdb51, 0x7a9f, 0xdb4b, 0x7a9d, 0xdb45, 0x7a9b, 0xdb3f,
+  0x7a9a, 0xdb39, 0x7a98, 0xdb33, 0x7a96, 0xdb2d, 0x7a94, 0xdb27,
+  0x7a92, 0xdb21, 0x7a91, 0xdb1b, 0x7a8f, 0xdb15, 0x7a8d, 0xdb0f,
+  0x7a8b, 0xdb09, 0x7a89, 0xdb03, 0x7a87, 0xdafd, 0x7a86, 0xdaf7,
+  0x7a84, 0xdaf1, 0x7a82, 0xdaea, 0x7a80, 0xdae4, 0x7a7e, 0xdade,
+  0x7a7d, 0xdad8, 0x7a7b, 0xdad2, 0x7a79, 0xdacc, 0x7a77, 0xdac6,
+  0x7a75, 0xdac0, 0x7a73, 0xdaba, 0x7a72, 0xdab4, 0x7a70, 0xdaae,
+  0x7a6e, 0xdaa8, 0x7a6c, 0xdaa2, 0x7a6a, 0xda9c, 0x7a68, 0xda96,
+  0x7a67, 0xda90, 0x7a65, 0xda8a, 0x7a63, 0xda84, 0x7a61, 0xda7e,
+  0x7a5f, 0xda78, 0x7a5d, 0xda72, 0x7a5c, 0xda6c, 0x7a5a, 0xda66,
+  0x7a58, 0xda60, 0x7a56, 0xda5a, 0x7a54, 0xda54, 0x7a52, 0xda4e,
+  0x7a50, 0xda48, 0x7a4f, 0xda42, 0x7a4d, 0xda3c, 0x7a4b, 0xda36,
+  0x7a49, 0xda30, 0x7a47, 0xda2a, 0x7a45, 0xda24, 0x7a43, 0xda1e,
+  0x7a42, 0xda18, 0x7a40, 0xda12, 0x7a3e, 0xda0c, 0x7a3c, 0xda06,
+  0x7a3a, 0xda00, 0x7a38, 0xd9fa, 0x7a36, 0xd9f4, 0x7a35, 0xd9ee,
+  0x7a33, 0xd9e8, 0x7a31, 0xd9e2, 0x7a2f, 0xd9dc, 0x7a2d, 0xd9d6,
+  0x7a2b, 0xd9d0, 0x7a29, 0xd9ca, 0x7a27, 0xd9c4, 0x7a26, 0xd9be,
+  0x7a24, 0xd9b8, 0x7a22, 0xd9b2, 0x7a20, 0xd9ac, 0x7a1e, 0xd9a6,
+  0x7a1c, 0xd9a0, 0x7a1a, 0xd99a, 0x7a18, 0xd994, 0x7a16, 0xd98e,
+  0x7a15, 0xd988, 0x7a13, 0xd982, 0x7a11, 0xd97c, 0x7a0f, 0xd976,
+  0x7a0d, 0xd970, 0x7a0b, 0xd96a, 0x7a09, 0xd964, 0x7a07, 0xd95e,
+  0x7a05, 0xd958, 0x7a04, 0xd952, 0x7a02, 0xd94c, 0x7a00, 0xd946,
+  0x79fe, 0xd940, 0x79fc, 0xd93a, 0x79fa, 0xd934, 0x79f8, 0xd92e,
+  0x79f6, 0xd928, 0x79f4, 0xd922, 0x79f2, 0xd91c, 0x79f0, 0xd917,
+  0x79ef, 0xd911, 0x79ed, 0xd90b, 0x79eb, 0xd905, 0x79e9, 0xd8ff,
+  0x79e7, 0xd8f9, 0x79e5, 0xd8f3, 0x79e3, 0xd8ed, 0x79e1, 0xd8e7,
+  0x79df, 0xd8e1, 0x79dd, 0xd8db, 0x79db, 0xd8d5, 0x79d9, 0xd8cf,
+  0x79d8, 0xd8c9, 0x79d6, 0xd8c3, 0x79d4, 0xd8bd, 0x79d2, 0xd8b7,
+  0x79d0, 0xd8b1, 0x79ce, 0xd8ab, 0x79cc, 0xd8a5, 0x79ca, 0xd89f,
+  0x79c8, 0xd899, 0x79c6, 0xd893, 0x79c4, 0xd88d, 0x79c2, 0xd887,
+  0x79c0, 0xd881, 0x79be, 0xd87b, 0x79bc, 0xd875, 0x79bb, 0xd86f,
+  0x79b9, 0xd869, 0x79b7, 0xd863, 0x79b5, 0xd85d, 0x79b3, 0xd857,
+  0x79b1, 0xd851, 0x79af, 0xd84b, 0x79ad, 0xd845, 0x79ab, 0xd83f,
+  0x79a9, 0xd839, 0x79a7, 0xd833, 0x79a5, 0xd82d, 0x79a3, 0xd827,
+  0x79a1, 0xd821, 0x799f, 0xd81b, 0x799d, 0xd815, 0x799b, 0xd80f,
+  0x7999, 0xd80a, 0x7997, 0xd804, 0x7995, 0xd7fe, 0x7993, 0xd7f8,
+  0x7992, 0xd7f2, 0x7990, 0xd7ec, 0x798e, 0xd7e6, 0x798c, 0xd7e0,
+  0x798a, 0xd7da, 0x7988, 0xd7d4, 0x7986, 0xd7ce, 0x7984, 0xd7c8,
+  0x7982, 0xd7c2, 0x7980, 0xd7bc, 0x797e, 0xd7b6, 0x797c, 0xd7b0,
+  0x797a, 0xd7aa, 0x7978, 0xd7a4, 0x7976, 0xd79e, 0x7974, 0xd798,
+  0x7972, 0xd792, 0x7970, 0xd78c, 0x796e, 0xd786, 0x796c, 0xd780,
+  0x796a, 0xd77a, 0x7968, 0xd774, 0x7966, 0xd76e, 0x7964, 0xd768,
+  0x7962, 0xd763, 0x7960, 0xd75d, 0x795e, 0xd757, 0x795c, 0xd751,
+  0x795a, 0xd74b, 0x7958, 0xd745, 0x7956, 0xd73f, 0x7954, 0xd739,
+  0x7952, 0xd733, 0x7950, 0xd72d, 0x794e, 0xd727, 0x794c, 0xd721,
+  0x794a, 0xd71b, 0x7948, 0xd715, 0x7946, 0xd70f, 0x7944, 0xd709,
+  0x7942, 0xd703, 0x7940, 0xd6fd, 0x793e, 0xd6f7, 0x793c, 0xd6f1,
+  0x793a, 0xd6eb, 0x7938, 0xd6e5, 0x7936, 0xd6e0, 0x7934, 0xd6da,
+  0x7932, 0xd6d4, 0x7930, 0xd6ce, 0x792e, 0xd6c8, 0x792c, 0xd6c2,
+  0x792a, 0xd6bc, 0x7928, 0xd6b6, 0x7926, 0xd6b0, 0x7924, 0xd6aa,
+  0x7922, 0xd6a4, 0x7920, 0xd69e, 0x791e, 0xd698, 0x791c, 0xd692,
+  0x7919, 0xd68c, 0x7917, 0xd686, 0x7915, 0xd680, 0x7913, 0xd67a,
+  0x7911, 0xd675, 0x790f, 0xd66f, 0x790d, 0xd669, 0x790b, 0xd663,
+  0x7909, 0xd65d, 0x7907, 0xd657, 0x7905, 0xd651, 0x7903, 0xd64b,
+  0x7901, 0xd645, 0x78ff, 0xd63f, 0x78fd, 0xd639, 0x78fb, 0xd633,
+  0x78f9, 0xd62d, 0x78f7, 0xd627, 0x78f5, 0xd621, 0x78f3, 0xd61b,
+  0x78f1, 0xd615, 0x78ee, 0xd610, 0x78ec, 0xd60a, 0x78ea, 0xd604,
+  0x78e8, 0xd5fe, 0x78e6, 0xd5f8, 0x78e4, 0xd5f2, 0x78e2, 0xd5ec,
+  0x78e0, 0xd5e6, 0x78de, 0xd5e0, 0x78dc, 0xd5da, 0x78da, 0xd5d4,
+  0x78d8, 0xd5ce, 0x78d6, 0xd5c8, 0x78d4, 0xd5c2, 0x78d2, 0xd5bc,
+  0x78cf, 0xd5b7, 0x78cd, 0xd5b1, 0x78cb, 0xd5ab, 0x78c9, 0xd5a5,
+  0x78c7, 0xd59f, 0x78c5, 0xd599, 0x78c3, 0xd593, 0x78c1, 0xd58d,
+  0x78bf, 0xd587, 0x78bd, 0xd581, 0x78bb, 0xd57b, 0x78b9, 0xd575,
+  0x78b6, 0xd56f, 0x78b4, 0xd569, 0x78b2, 0xd564, 0x78b0, 0xd55e,
+  0x78ae, 0xd558, 0x78ac, 0xd552, 0x78aa, 0xd54c, 0x78a8, 0xd546,
+  0x78a6, 0xd540, 0x78a4, 0xd53a, 0x78a2, 0xd534, 0x789f, 0xd52e,
+  0x789d, 0xd528, 0x789b, 0xd522, 0x7899, 0xd51c, 0x7897, 0xd517,
+  0x7895, 0xd511, 0x7893, 0xd50b, 0x7891, 0xd505, 0x788f, 0xd4ff,
+  0x788c, 0xd4f9, 0x788a, 0xd4f3, 0x7888, 0xd4ed, 0x7886, 0xd4e7,
+  0x7884, 0xd4e1, 0x7882, 0xd4db, 0x7880, 0xd4d5, 0x787e, 0xd4d0,
+  0x787c, 0xd4ca, 0x7879, 0xd4c4, 0x7877, 0xd4be, 0x7875, 0xd4b8,
+  0x7873, 0xd4b2, 0x7871, 0xd4ac, 0x786f, 0xd4a6, 0x786d, 0xd4a0,
+  0x786b, 0xd49a, 0x7868, 0xd494, 0x7866, 0xd48f, 0x7864, 0xd489,
+  0x7862, 0xd483, 0x7860, 0xd47d, 0x785e, 0xd477, 0x785c, 0xd471,
+  0x7859, 0xd46b, 0x7857, 0xd465, 0x7855, 0xd45f, 0x7853, 0xd459,
+  0x7851, 0xd453, 0x784f, 0xd44e, 0x784d, 0xd448, 0x784a, 0xd442,
+  0x7848, 0xd43c, 0x7846, 0xd436, 0x7844, 0xd430, 0x7842, 0xd42a,
+  0x7840, 0xd424, 0x783e, 0xd41e, 0x783b, 0xd418, 0x7839, 0xd412,
+  0x7837, 0xd40d, 0x7835, 0xd407, 0x7833, 0xd401, 0x7831, 0xd3fb,
+  0x782e, 0xd3f5, 0x782c, 0xd3ef, 0x782a, 0xd3e9, 0x7828, 0xd3e3,
+  0x7826, 0xd3dd, 0x7824, 0xd3d7, 0x7821, 0xd3d2, 0x781f, 0xd3cc,
+  0x781d, 0xd3c6, 0x781b, 0xd3c0, 0x7819, 0xd3ba, 0x7817, 0xd3b4,
+  0x7814, 0xd3ae, 0x7812, 0xd3a8, 0x7810, 0xd3a2, 0x780e, 0xd39d,
+  0x780c, 0xd397, 0x780a, 0xd391, 0x7807, 0xd38b, 0x7805, 0xd385,
+  0x7803, 0xd37f, 0x7801, 0xd379, 0x77ff, 0xd373, 0x77fc, 0xd36d,
+  0x77fa, 0xd368, 0x77f8, 0xd362, 0x77f6, 0xd35c, 0x77f4, 0xd356,
+  0x77f1, 0xd350, 0x77ef, 0xd34a, 0x77ed, 0xd344, 0x77eb, 0xd33e,
+  0x77e9, 0xd338, 0x77e6, 0xd333, 0x77e4, 0xd32d, 0x77e2, 0xd327,
+  0x77e0, 0xd321, 0x77de, 0xd31b, 0x77db, 0xd315, 0x77d9, 0xd30f,
+  0x77d7, 0xd309, 0x77d5, 0xd303, 0x77d3, 0xd2fe, 0x77d0, 0xd2f8,
+  0x77ce, 0xd2f2, 0x77cc, 0xd2ec, 0x77ca, 0xd2e6, 0x77c8, 0xd2e0,
+  0x77c5, 0xd2da, 0x77c3, 0xd2d4, 0x77c1, 0xd2cf, 0x77bf, 0xd2c9,
+  0x77bc, 0xd2c3, 0x77ba, 0xd2bd, 0x77b8, 0xd2b7, 0x77b6, 0xd2b1,
+  0x77b4, 0xd2ab, 0x77b1, 0xd2a5, 0x77af, 0xd2a0, 0x77ad, 0xd29a,
+  0x77ab, 0xd294, 0x77a8, 0xd28e, 0x77a6, 0xd288, 0x77a4, 0xd282,
+  0x77a2, 0xd27c, 0x77a0, 0xd276, 0x779d, 0xd271, 0x779b, 0xd26b,
+  0x7799, 0xd265, 0x7797, 0xd25f, 0x7794, 0xd259, 0x7792, 0xd253,
+  0x7790, 0xd24d, 0x778e, 0xd247, 0x778b, 0xd242, 0x7789, 0xd23c,
+  0x7787, 0xd236, 0x7785, 0xd230, 0x7782, 0xd22a, 0x7780, 0xd224,
+  0x777e, 0xd21e, 0x777c, 0xd219, 0x7779, 0xd213, 0x7777, 0xd20d,
+  0x7775, 0xd207, 0x7773, 0xd201, 0x7770, 0xd1fb, 0x776e, 0xd1f5,
+  0x776c, 0xd1ef, 0x776a, 0xd1ea, 0x7767, 0xd1e4, 0x7765, 0xd1de,
+  0x7763, 0xd1d8, 0x7760, 0xd1d2, 0x775e, 0xd1cc, 0x775c, 0xd1c6,
+  0x775a, 0xd1c1, 0x7757, 0xd1bb, 0x7755, 0xd1b5, 0x7753, 0xd1af,
+  0x7751, 0xd1a9, 0x774e, 0xd1a3, 0x774c, 0xd19d, 0x774a, 0xd198,
+  0x7747, 0xd192, 0x7745, 0xd18c, 0x7743, 0xd186, 0x7741, 0xd180,
+  0x773e, 0xd17a, 0x773c, 0xd174, 0x773a, 0xd16f, 0x7738, 0xd169,
+  0x7735, 0xd163, 0x7733, 0xd15d, 0x7731, 0xd157, 0x772e, 0xd151,
+  0x772c, 0xd14b, 0x772a, 0xd146, 0x7727, 0xd140, 0x7725, 0xd13a,
+  0x7723, 0xd134, 0x7721, 0xd12e, 0x771e, 0xd128, 0x771c, 0xd123,
+  0x771a, 0xd11d, 0x7717, 0xd117, 0x7715, 0xd111, 0x7713, 0xd10b,
+  0x7710, 0xd105, 0x770e, 0xd0ff, 0x770c, 0xd0fa, 0x770a, 0xd0f4,
+  0x7707, 0xd0ee, 0x7705, 0xd0e8, 0x7703, 0xd0e2, 0x7700, 0xd0dc,
+  0x76fe, 0xd0d7, 0x76fc, 0xd0d1, 0x76f9, 0xd0cb, 0x76f7, 0xd0c5,
+  0x76f5, 0xd0bf, 0x76f2, 0xd0b9, 0x76f0, 0xd0b4, 0x76ee, 0xd0ae,
+  0x76eb, 0xd0a8, 0x76e9, 0xd0a2, 0x76e7, 0xd09c, 0x76e4, 0xd096,
+  0x76e2, 0xd091, 0x76e0, 0xd08b, 0x76dd, 0xd085, 0x76db, 0xd07f,
+  0x76d9, 0xd079, 0x76d6, 0xd073, 0x76d4, 0xd06e, 0x76d2, 0xd068,
+  0x76cf, 0xd062, 0x76cd, 0xd05c, 0x76cb, 0xd056, 0x76c8, 0xd050,
+  0x76c6, 0xd04b, 0x76c4, 0xd045, 0x76c1, 0xd03f, 0x76bf, 0xd039,
+  0x76bd, 0xd033, 0x76ba, 0xd02d, 0x76b8, 0xd028, 0x76b6, 0xd022,
+  0x76b3, 0xd01c, 0x76b1, 0xd016, 0x76af, 0xd010, 0x76ac, 0xd00a,
+  0x76aa, 0xd005, 0x76a8, 0xcfff, 0x76a5, 0xcff9, 0x76a3, 0xcff3,
+  0x76a0, 0xcfed, 0x769e, 0xcfe7, 0x769c, 0xcfe2, 0x7699, 0xcfdc,
+  0x7697, 0xcfd6, 0x7695, 0xcfd0, 0x7692, 0xcfca, 0x7690, 0xcfc5,
+  0x768e, 0xcfbf, 0x768b, 0xcfb9, 0x7689, 0xcfb3, 0x7686, 0xcfad,
+  0x7684, 0xcfa7, 0x7682, 0xcfa2, 0x767f, 0xcf9c, 0x767d, 0xcf96,
+  0x767b, 0xcf90, 0x7678, 0xcf8a, 0x7676, 0xcf85, 0x7673, 0xcf7f,
+  0x7671, 0xcf79, 0x766f, 0xcf73, 0x766c, 0xcf6d, 0x766a, 0xcf67,
+  0x7668, 0xcf62, 0x7665, 0xcf5c, 0x7663, 0xcf56, 0x7660, 0xcf50,
+  0x765e, 0xcf4a, 0x765c, 0xcf45, 0x7659, 0xcf3f, 0x7657, 0xcf39,
+  0x7654, 0xcf33, 0x7652, 0xcf2d, 0x7650, 0xcf28, 0x764d, 0xcf22,
+  0x764b, 0xcf1c, 0x7648, 0xcf16, 0x7646, 0xcf10, 0x7644, 0xcf0b,
+  0x7641, 0xcf05, 0x763f, 0xceff, 0x763c, 0xcef9, 0x763a, 0xcef3,
+  0x7638, 0xceee, 0x7635, 0xcee8, 0x7633, 0xcee2, 0x7630, 0xcedc,
+  0x762e, 0xced6, 0x762b, 0xced1, 0x7629, 0xcecb, 0x7627, 0xcec5,
+  0x7624, 0xcebf, 0x7622, 0xceb9, 0x761f, 0xceb4, 0x761d, 0xceae,
+  0x761b, 0xcea8, 0x7618, 0xcea2, 0x7616, 0xce9c, 0x7613, 0xce97,
+  0x7611, 0xce91, 0x760e, 0xce8b, 0x760c, 0xce85, 0x760a, 0xce7f,
+  0x7607, 0xce7a, 0x7605, 0xce74, 0x7602, 0xce6e, 0x7600, 0xce68,
+  0x75fd, 0xce62, 0x75fb, 0xce5d, 0x75f9, 0xce57, 0x75f6, 0xce51,
+  0x75f4, 0xce4b, 0x75f1, 0xce45, 0x75ef, 0xce40, 0x75ec, 0xce3a,
+  0x75ea, 0xce34, 0x75e7, 0xce2e, 0x75e5, 0xce28, 0x75e3, 0xce23,
+  0x75e0, 0xce1d, 0x75de, 0xce17, 0x75db, 0xce11, 0x75d9, 0xce0c,
+  0x75d6, 0xce06, 0x75d4, 0xce00, 0x75d1, 0xcdfa, 0x75cf, 0xcdf4,
+  0x75cc, 0xcdef, 0x75ca, 0xcde9, 0x75c8, 0xcde3, 0x75c5, 0xcddd,
+  0x75c3, 0xcdd8, 0x75c0, 0xcdd2, 0x75be, 0xcdcc, 0x75bb, 0xcdc6,
+  0x75b9, 0xcdc0, 0x75b6, 0xcdbb, 0x75b4, 0xcdb5, 0x75b1, 0xcdaf,
+  0x75af, 0xcda9, 0x75ac, 0xcda3, 0x75aa, 0xcd9e, 0x75a7, 0xcd98,
+  0x75a5, 0xcd92, 0x75a3, 0xcd8c, 0x75a0, 0xcd87, 0x759e, 0xcd81,
+  0x759b, 0xcd7b, 0x7599, 0xcd75, 0x7596, 0xcd70, 0x7594, 0xcd6a,
+  0x7591, 0xcd64, 0x758f, 0xcd5e, 0x758c, 0xcd58, 0x758a, 0xcd53,
+  0x7587, 0xcd4d, 0x7585, 0xcd47, 0x7582, 0xcd41, 0x7580, 0xcd3c,
+  0x757d, 0xcd36, 0x757b, 0xcd30, 0x7578, 0xcd2a, 0x7576, 0xcd25,
+  0x7573, 0xcd1f, 0x7571, 0xcd19, 0x756e, 0xcd13, 0x756c, 0xcd0d,
+  0x7569, 0xcd08, 0x7567, 0xcd02, 0x7564, 0xccfc, 0x7562, 0xccf6,
+  0x755f, 0xccf1, 0x755d, 0xcceb, 0x755a, 0xcce5, 0x7558, 0xccdf,
+  0x7555, 0xccda, 0x7553, 0xccd4, 0x7550, 0xccce, 0x754e, 0xccc8,
+  0x754b, 0xccc3, 0x7549, 0xccbd, 0x7546, 0xccb7, 0x7544, 0xccb1,
+  0x7541, 0xccac, 0x753f, 0xcca6, 0x753c, 0xcca0, 0x753a, 0xcc9a,
+  0x7537, 0xcc95, 0x7535, 0xcc8f, 0x7532, 0xcc89, 0x752f, 0xcc83,
+  0x752d, 0xcc7e, 0x752a, 0xcc78, 0x7528, 0xcc72, 0x7525, 0xcc6c,
+  0x7523, 0xcc67, 0x7520, 0xcc61, 0x751e, 0xcc5b, 0x751b, 0xcc55,
+  0x7519, 0xcc50, 0x7516, 0xcc4a, 0x7514, 0xcc44, 0x7511, 0xcc3e,
+  0x750f, 0xcc39, 0x750c, 0xcc33, 0x7509, 0xcc2d, 0x7507, 0xcc27,
+  0x7504, 0xcc22, 0x7502, 0xcc1c, 0x74ff, 0xcc16, 0x74fd, 0xcc10,
+  0x74fa, 0xcc0b, 0x74f8, 0xcc05, 0x74f5, 0xcbff, 0x74f2, 0xcbf9,
+  0x74f0, 0xcbf4, 0x74ed, 0xcbee, 0x74eb, 0xcbe8, 0x74e8, 0xcbe2,
+  0x74e6, 0xcbdd, 0x74e3, 0xcbd7, 0x74e1, 0xcbd1, 0x74de, 0xcbcb,
+  0x74db, 0xcbc6, 0x74d9, 0xcbc0, 0x74d6, 0xcbba, 0x74d4, 0xcbb5,
+  0x74d1, 0xcbaf, 0x74cf, 0xcba9, 0x74cc, 0xcba3, 0x74c9, 0xcb9e,
+  0x74c7, 0xcb98, 0x74c4, 0xcb92, 0x74c2, 0xcb8c, 0x74bf, 0xcb87,
+  0x74bd, 0xcb81, 0x74ba, 0xcb7b, 0x74b7, 0xcb75, 0x74b5, 0xcb70,
+  0x74b2, 0xcb6a, 0x74b0, 0xcb64, 0x74ad, 0xcb5f, 0x74ab, 0xcb59,
+  0x74a8, 0xcb53, 0x74a5, 0xcb4d, 0x74a3, 0xcb48, 0x74a0, 0xcb42,
+  0x749e, 0xcb3c, 0x749b, 0xcb36, 0x7498, 0xcb31, 0x7496, 0xcb2b,
+  0x7493, 0xcb25, 0x7491, 0xcb20, 0x748e, 0xcb1a, 0x748b, 0xcb14,
+  0x7489, 0xcb0e, 0x7486, 0xcb09, 0x7484, 0xcb03, 0x7481, 0xcafd,
+  0x747e, 0xcaf8, 0x747c, 0xcaf2, 0x7479, 0xcaec, 0x7477, 0xcae6,
+  0x7474, 0xcae1, 0x7471, 0xcadb, 0x746f, 0xcad5, 0x746c, 0xcad0,
+  0x746a, 0xcaca, 0x7467, 0xcac4, 0x7464, 0xcabe, 0x7462, 0xcab9,
+  0x745f, 0xcab3, 0x745c, 0xcaad, 0x745a, 0xcaa8, 0x7457, 0xcaa2,
+  0x7455, 0xca9c, 0x7452, 0xca96, 0x744f, 0xca91, 0x744d, 0xca8b,
+  0x744a, 0xca85, 0x7448, 0xca80, 0x7445, 0xca7a, 0x7442, 0xca74,
+  0x7440, 0xca6e, 0x743d, 0xca69, 0x743a, 0xca63, 0x7438, 0xca5d,
+  0x7435, 0xca58, 0x7432, 0xca52, 0x7430, 0xca4c, 0x742d, 0xca46,
+  0x742b, 0xca41, 0x7428, 0xca3b, 0x7425, 0xca35, 0x7423, 0xca30,
+  0x7420, 0xca2a, 0x741d, 0xca24, 0x741b, 0xca1f, 0x7418, 0xca19,
+  0x7415, 0xca13, 0x7413, 0xca0d, 0x7410, 0xca08, 0x740d, 0xca02,
+  0x740b, 0xc9fc, 0x7408, 0xc9f7, 0x7406, 0xc9f1, 0x7403, 0xc9eb,
+  0x7400, 0xc9e6, 0x73fe, 0xc9e0, 0x73fb, 0xc9da, 0x73f8, 0xc9d5,
+  0x73f6, 0xc9cf, 0x73f3, 0xc9c9, 0x73f0, 0xc9c3, 0x73ee, 0xc9be,
+  0x73eb, 0xc9b8, 0x73e8, 0xc9b2, 0x73e6, 0xc9ad, 0x73e3, 0xc9a7,
+  0x73e0, 0xc9a1, 0x73de, 0xc99c, 0x73db, 0xc996, 0x73d8, 0xc990,
+  0x73d6, 0xc98b, 0x73d3, 0xc985, 0x73d0, 0xc97f, 0x73ce, 0xc97a,
+  0x73cb, 0xc974, 0x73c8, 0xc96e, 0x73c6, 0xc968, 0x73c3, 0xc963,
+  0x73c0, 0xc95d, 0x73bd, 0xc957, 0x73bb, 0xc952, 0x73b8, 0xc94c,
+  0x73b5, 0xc946, 0x73b3, 0xc941, 0x73b0, 0xc93b, 0x73ad, 0xc935,
+  0x73ab, 0xc930, 0x73a8, 0xc92a, 0x73a5, 0xc924, 0x73a3, 0xc91f,
+  0x73a0, 0xc919, 0x739d, 0xc913, 0x739b, 0xc90e, 0x7398, 0xc908,
+  0x7395, 0xc902, 0x7392, 0xc8fd, 0x7390, 0xc8f7, 0x738d, 0xc8f1,
+  0x738a, 0xc8ec, 0x7388, 0xc8e6, 0x7385, 0xc8e0, 0x7382, 0xc8db,
+  0x737f, 0xc8d5, 0x737d, 0xc8cf, 0x737a, 0xc8ca, 0x7377, 0xc8c4,
+  0x7375, 0xc8be, 0x7372, 0xc8b9, 0x736f, 0xc8b3, 0x736c, 0xc8ad,
+  0x736a, 0xc8a8, 0x7367, 0xc8a2, 0x7364, 0xc89c, 0x7362, 0xc897,
+  0x735f, 0xc891, 0x735c, 0xc88b, 0x7359, 0xc886, 0x7357, 0xc880,
+  0x7354, 0xc87a, 0x7351, 0xc875, 0x734f, 0xc86f, 0x734c, 0xc869,
+  0x7349, 0xc864, 0x7346, 0xc85e, 0x7344, 0xc858, 0x7341, 0xc853,
+  0x733e, 0xc84d, 0x733b, 0xc847, 0x7339, 0xc842, 0x7336, 0xc83c,
+  0x7333, 0xc836, 0x7330, 0xc831, 0x732e, 0xc82b, 0x732b, 0xc825,
+  0x7328, 0xc820, 0x7326, 0xc81a, 0x7323, 0xc814, 0x7320, 0xc80f,
+  0x731d, 0xc809, 0x731b, 0xc803, 0x7318, 0xc7fe, 0x7315, 0xc7f8,
+  0x7312, 0xc7f3, 0x7310, 0xc7ed, 0x730d, 0xc7e7, 0x730a, 0xc7e2,
+  0x7307, 0xc7dc, 0x7305, 0xc7d6, 0x7302, 0xc7d1, 0x72ff, 0xc7cb,
+  0x72fc, 0xc7c5, 0x72f9, 0xc7c0, 0x72f7, 0xc7ba, 0x72f4, 0xc7b4,
+  0x72f1, 0xc7af, 0x72ee, 0xc7a9, 0x72ec, 0xc7a3, 0x72e9, 0xc79e,
+  0x72e6, 0xc798, 0x72e3, 0xc793, 0x72e1, 0xc78d, 0x72de, 0xc787,
+  0x72db, 0xc782, 0x72d8, 0xc77c, 0x72d5, 0xc776, 0x72d3, 0xc771,
+  0x72d0, 0xc76b, 0x72cd, 0xc765, 0x72ca, 0xc760, 0x72c8, 0xc75a,
+  0x72c5, 0xc755, 0x72c2, 0xc74f, 0x72bf, 0xc749, 0x72bc, 0xc744,
+  0x72ba, 0xc73e, 0x72b7, 0xc738, 0x72b4, 0xc733, 0x72b1, 0xc72d,
+  0x72af, 0xc728, 0x72ac, 0xc722, 0x72a9, 0xc71c, 0x72a6, 0xc717,
+  0x72a3, 0xc711, 0x72a1, 0xc70b, 0x729e, 0xc706, 0x729b, 0xc700,
+  0x7298, 0xc6fa, 0x7295, 0xc6f5, 0x7293, 0xc6ef, 0x7290, 0xc6ea,
+  0x728d, 0xc6e4, 0x728a, 0xc6de, 0x7287, 0xc6d9, 0x7285, 0xc6d3,
+  0x7282, 0xc6ce, 0x727f, 0xc6c8, 0x727c, 0xc6c2, 0x7279, 0xc6bd,
+  0x7276, 0xc6b7, 0x7274, 0xc6b1, 0x7271, 0xc6ac, 0x726e, 0xc6a6,
+  0x726b, 0xc6a1, 0x7268, 0xc69b, 0x7266, 0xc695, 0x7263, 0xc690,
+  0x7260, 0xc68a, 0x725d, 0xc684, 0x725a, 0xc67f, 0x7257, 0xc679,
+  0x7255, 0xc674, 0x7252, 0xc66e, 0x724f, 0xc668, 0x724c, 0xc663,
+  0x7249, 0xc65d, 0x7247, 0xc658, 0x7244, 0xc652, 0x7241, 0xc64c,
+  0x723e, 0xc647, 0x723b, 0xc641, 0x7238, 0xc63c, 0x7236, 0xc636,
+  0x7233, 0xc630, 0x7230, 0xc62b, 0x722d, 0xc625, 0x722a, 0xc620,
+  0x7227, 0xc61a, 0x7224, 0xc614, 0x7222, 0xc60f, 0x721f, 0xc609,
+  0x721c, 0xc603, 0x7219, 0xc5fe, 0x7216, 0xc5f8, 0x7213, 0xc5f3,
+  0x7211, 0xc5ed, 0x720e, 0xc5e7, 0x720b, 0xc5e2, 0x7208, 0xc5dc,
+  0x7205, 0xc5d7, 0x7202, 0xc5d1, 0x71ff, 0xc5cc, 0x71fd, 0xc5c6,
+  0x71fa, 0xc5c0, 0x71f7, 0xc5bb, 0x71f4, 0xc5b5, 0x71f1, 0xc5b0,
+  0x71ee, 0xc5aa, 0x71eb, 0xc5a4, 0x71e9, 0xc59f, 0x71e6, 0xc599,
+  0x71e3, 0xc594, 0x71e0, 0xc58e, 0x71dd, 0xc588, 0x71da, 0xc583,
+  0x71d7, 0xc57d, 0x71d4, 0xc578, 0x71d2, 0xc572, 0x71cf, 0xc56c,
+  0x71cc, 0xc567, 0x71c9, 0xc561, 0x71c6, 0xc55c, 0x71c3, 0xc556,
+  0x71c0, 0xc551, 0x71bd, 0xc54b, 0x71bb, 0xc545, 0x71b8, 0xc540,
+  0x71b5, 0xc53a, 0x71b2, 0xc535, 0x71af, 0xc52f, 0x71ac, 0xc529,
+  0x71a9, 0xc524, 0x71a6, 0xc51e, 0x71a3, 0xc519, 0x71a1, 0xc513,
+  0x719e, 0xc50e, 0x719b, 0xc508, 0x7198, 0xc502, 0x7195, 0xc4fd,
+  0x7192, 0xc4f7, 0x718f, 0xc4f2, 0x718c, 0xc4ec, 0x7189, 0xc4e7,
+  0x7186, 0xc4e1, 0x7184, 0xc4db, 0x7181, 0xc4d6, 0x717e, 0xc4d0,
+  0x717b, 0xc4cb, 0x7178, 0xc4c5, 0x7175, 0xc4c0, 0x7172, 0xc4ba,
+  0x716f, 0xc4b4, 0x716c, 0xc4af, 0x7169, 0xc4a9, 0x7167, 0xc4a4,
+  0x7164, 0xc49e, 0x7161, 0xc499, 0x715e, 0xc493, 0x715b, 0xc48d,
+  0x7158, 0xc488, 0x7155, 0xc482, 0x7152, 0xc47d, 0x714f, 0xc477,
+  0x714c, 0xc472, 0x7149, 0xc46c, 0x7146, 0xc467, 0x7143, 0xc461,
+  0x7141, 0xc45b, 0x713e, 0xc456, 0x713b, 0xc450, 0x7138, 0xc44b,
+  0x7135, 0xc445, 0x7132, 0xc440, 0x712f, 0xc43a, 0x712c, 0xc434,
+  0x7129, 0xc42f, 0x7126, 0xc429, 0x7123, 0xc424, 0x7120, 0xc41e,
+  0x711d, 0xc419, 0x711a, 0xc413, 0x7117, 0xc40e, 0x7114, 0xc408,
+  0x7112, 0xc403, 0x710f, 0xc3fd, 0x710c, 0xc3f7, 0x7109, 0xc3f2,
+  0x7106, 0xc3ec, 0x7103, 0xc3e7, 0x7100, 0xc3e1, 0x70fd, 0xc3dc,
+  0x70fa, 0xc3d6, 0x70f7, 0xc3d1, 0x70f4, 0xc3cb, 0x70f1, 0xc3c5,
+  0x70ee, 0xc3c0, 0x70eb, 0xc3ba, 0x70e8, 0xc3b5, 0x70e5, 0xc3af,
+  0x70e2, 0xc3aa, 0x70df, 0xc3a4, 0x70dc, 0xc39f, 0x70d9, 0xc399,
+  0x70d6, 0xc394, 0x70d3, 0xc38e, 0x70d1, 0xc389, 0x70ce, 0xc383,
+  0x70cb, 0xc37d, 0x70c8, 0xc378, 0x70c5, 0xc372, 0x70c2, 0xc36d,
+  0x70bf, 0xc367, 0x70bc, 0xc362, 0x70b9, 0xc35c, 0x70b6, 0xc357,
+  0x70b3, 0xc351, 0x70b0, 0xc34c, 0x70ad, 0xc346, 0x70aa, 0xc341,
+  0x70a7, 0xc33b, 0x70a4, 0xc336, 0x70a1, 0xc330, 0x709e, 0xc32a,
+  0x709b, 0xc325, 0x7098, 0xc31f, 0x7095, 0xc31a, 0x7092, 0xc314,
+  0x708f, 0xc30f, 0x708c, 0xc309, 0x7089, 0xc304, 0x7086, 0xc2fe,
+  0x7083, 0xc2f9, 0x7080, 0xc2f3, 0x707d, 0xc2ee, 0x707a, 0xc2e8,
+  0x7077, 0xc2e3, 0x7074, 0xc2dd, 0x7071, 0xc2d8, 0x706e, 0xc2d2,
+  0x706b, 0xc2cd, 0x7068, 0xc2c7, 0x7065, 0xc2c2, 0x7062, 0xc2bc,
+  0x705f, 0xc2b7, 0x705c, 0xc2b1, 0x7059, 0xc2ab, 0x7056, 0xc2a6,
+  0x7053, 0xc2a0, 0x7050, 0xc29b, 0x704d, 0xc295, 0x704a, 0xc290,
+  0x7047, 0xc28a, 0x7044, 0xc285, 0x7041, 0xc27f, 0x703e, 0xc27a,
+  0x703b, 0xc274, 0x7038, 0xc26f, 0x7035, 0xc269, 0x7032, 0xc264,
+  0x702f, 0xc25e, 0x702c, 0xc259, 0x7029, 0xc253, 0x7026, 0xc24e,
+  0x7023, 0xc248, 0x7020, 0xc243, 0x701d, 0xc23d, 0x7019, 0xc238,
+  0x7016, 0xc232, 0x7013, 0xc22d, 0x7010, 0xc227, 0x700d, 0xc222,
+  0x700a, 0xc21c, 0x7007, 0xc217, 0x7004, 0xc211, 0x7001, 0xc20c,
+  0x6ffe, 0xc206, 0x6ffb, 0xc201, 0x6ff8, 0xc1fb, 0x6ff5, 0xc1f6,
+  0x6ff2, 0xc1f0, 0x6fef, 0xc1eb, 0x6fec, 0xc1e5, 0x6fe9, 0xc1e0,
+  0x6fe6, 0xc1da, 0x6fe3, 0xc1d5, 0x6fe0, 0xc1cf, 0x6fdd, 0xc1ca,
+  0x6fda, 0xc1c4, 0x6fd6, 0xc1bf, 0x6fd3, 0xc1b9, 0x6fd0, 0xc1b4,
+  0x6fcd, 0xc1ae, 0x6fca, 0xc1a9, 0x6fc7, 0xc1a3, 0x6fc4, 0xc19e,
+  0x6fc1, 0xc198, 0x6fbe, 0xc193, 0x6fbb, 0xc18d, 0x6fb8, 0xc188,
+  0x6fb5, 0xc183, 0x6fb2, 0xc17d, 0x6faf, 0xc178, 0x6fac, 0xc172,
+  0x6fa9, 0xc16d, 0x6fa5, 0xc167, 0x6fa2, 0xc162, 0x6f9f, 0xc15c,
+  0x6f9c, 0xc157, 0x6f99, 0xc151, 0x6f96, 0xc14c, 0x6f93, 0xc146,
+  0x6f90, 0xc141, 0x6f8d, 0xc13b, 0x6f8a, 0xc136, 0x6f87, 0xc130,
+  0x6f84, 0xc12b, 0x6f81, 0xc125, 0x6f7d, 0xc120, 0x6f7a, 0xc11a,
+  0x6f77, 0xc115, 0x6f74, 0xc10f, 0x6f71, 0xc10a, 0x6f6e, 0xc105,
+  0x6f6b, 0xc0ff, 0x6f68, 0xc0fa, 0x6f65, 0xc0f4, 0x6f62, 0xc0ef,
+  0x6f5f, 0xc0e9, 0x6f5b, 0xc0e4, 0x6f58, 0xc0de, 0x6f55, 0xc0d9,
+  0x6f52, 0xc0d3, 0x6f4f, 0xc0ce, 0x6f4c, 0xc0c8, 0x6f49, 0xc0c3,
+  0x6f46, 0xc0bd, 0x6f43, 0xc0b8, 0x6f3f, 0xc0b3, 0x6f3c, 0xc0ad,
+  0x6f39, 0xc0a8, 0x6f36, 0xc0a2, 0x6f33, 0xc09d, 0x6f30, 0xc097,
+  0x6f2d, 0xc092, 0x6f2a, 0xc08c, 0x6f27, 0xc087, 0x6f23, 0xc081,
+  0x6f20, 0xc07c, 0x6f1d, 0xc077, 0x6f1a, 0xc071, 0x6f17, 0xc06c,
+  0x6f14, 0xc066, 0x6f11, 0xc061, 0x6f0e, 0xc05b, 0x6f0b, 0xc056,
+  0x6f07, 0xc050, 0x6f04, 0xc04b, 0x6f01, 0xc045, 0x6efe, 0xc040,
+  0x6efb, 0xc03b, 0x6ef8, 0xc035, 0x6ef5, 0xc030, 0x6ef1, 0xc02a,
+  0x6eee, 0xc025, 0x6eeb, 0xc01f, 0x6ee8, 0xc01a, 0x6ee5, 0xc014,
+  0x6ee2, 0xc00f, 0x6edf, 0xc00a, 0x6edc, 0xc004, 0x6ed8, 0xbfff,
+  0x6ed5, 0xbff9, 0x6ed2, 0xbff4, 0x6ecf, 0xbfee, 0x6ecc, 0xbfe9,
+  0x6ec9, 0xbfe3, 0x6ec6, 0xbfde, 0x6ec2, 0xbfd9, 0x6ebf, 0xbfd3,
+  0x6ebc, 0xbfce, 0x6eb9, 0xbfc8, 0x6eb6, 0xbfc3, 0x6eb3, 0xbfbd,
+  0x6eaf, 0xbfb8, 0x6eac, 0xbfb3, 0x6ea9, 0xbfad, 0x6ea6, 0xbfa8,
+  0x6ea3, 0xbfa2, 0x6ea0, 0xbf9d, 0x6e9c, 0xbf97, 0x6e99, 0xbf92,
+  0x6e96, 0xbf8d, 0x6e93, 0xbf87, 0x6e90, 0xbf82, 0x6e8d, 0xbf7c,
+  0x6e89, 0xbf77, 0x6e86, 0xbf71, 0x6e83, 0xbf6c, 0x6e80, 0xbf67,
+  0x6e7d, 0xbf61, 0x6e7a, 0xbf5c, 0x6e76, 0xbf56, 0x6e73, 0xbf51,
+  0x6e70, 0xbf4b, 0x6e6d, 0xbf46, 0x6e6a, 0xbf41, 0x6e67, 0xbf3b,
+  0x6e63, 0xbf36, 0x6e60, 0xbf30, 0x6e5d, 0xbf2b, 0x6e5a, 0xbf26,
+  0x6e57, 0xbf20, 0x6e53, 0xbf1b, 0x6e50, 0xbf15, 0x6e4d, 0xbf10,
+  0x6e4a, 0xbf0a, 0x6e47, 0xbf05, 0x6e44, 0xbf00, 0x6e40, 0xbefa,
+  0x6e3d, 0xbef5, 0x6e3a, 0xbeef, 0x6e37, 0xbeea, 0x6e34, 0xbee5,
+  0x6e30, 0xbedf, 0x6e2d, 0xbeda, 0x6e2a, 0xbed4, 0x6e27, 0xbecf,
+  0x6e24, 0xbeca, 0x6e20, 0xbec4, 0x6e1d, 0xbebf, 0x6e1a, 0xbeb9,
+  0x6e17, 0xbeb4, 0x6e14, 0xbeae, 0x6e10, 0xbea9, 0x6e0d, 0xbea4,
+  0x6e0a, 0xbe9e, 0x6e07, 0xbe99, 0x6e04, 0xbe93, 0x6e00, 0xbe8e,
+  0x6dfd, 0xbe89, 0x6dfa, 0xbe83, 0x6df7, 0xbe7e, 0x6df3, 0xbe78,
+  0x6df0, 0xbe73, 0x6ded, 0xbe6e, 0x6dea, 0xbe68, 0x6de7, 0xbe63,
+  0x6de3, 0xbe5e, 0x6de0, 0xbe58, 0x6ddd, 0xbe53, 0x6dda, 0xbe4d,
+  0x6dd6, 0xbe48, 0x6dd3, 0xbe43, 0x6dd0, 0xbe3d, 0x6dcd, 0xbe38,
+  0x6dca, 0xbe32, 0x6dc6, 0xbe2d, 0x6dc3, 0xbe28, 0x6dc0, 0xbe22,
+  0x6dbd, 0xbe1d, 0x6db9, 0xbe17, 0x6db6, 0xbe12, 0x6db3, 0xbe0d,
+  0x6db0, 0xbe07, 0x6dac, 0xbe02, 0x6da9, 0xbdfd, 0x6da6, 0xbdf7,
+  0x6da3, 0xbdf2, 0x6d9f, 0xbdec, 0x6d9c, 0xbde7, 0x6d99, 0xbde2,
+  0x6d96, 0xbddc, 0x6d92, 0xbdd7, 0x6d8f, 0xbdd1, 0x6d8c, 0xbdcc,
+  0x6d89, 0xbdc7, 0x6d85, 0xbdc1, 0x6d82, 0xbdbc, 0x6d7f, 0xbdb7,
+  0x6d7c, 0xbdb1, 0x6d78, 0xbdac, 0x6d75, 0xbda6, 0x6d72, 0xbda1,
+  0x6d6f, 0xbd9c, 0x6d6b, 0xbd96, 0x6d68, 0xbd91, 0x6d65, 0xbd8c,
+  0x6d62, 0xbd86, 0x6d5e, 0xbd81, 0x6d5b, 0xbd7c, 0x6d58, 0xbd76,
+  0x6d55, 0xbd71, 0x6d51, 0xbd6b, 0x6d4e, 0xbd66, 0x6d4b, 0xbd61,
+  0x6d48, 0xbd5b, 0x6d44, 0xbd56, 0x6d41, 0xbd51, 0x6d3e, 0xbd4b,
+  0x6d3a, 0xbd46, 0x6d37, 0xbd40, 0x6d34, 0xbd3b, 0x6d31, 0xbd36,
+  0x6d2d, 0xbd30, 0x6d2a, 0xbd2b, 0x6d27, 0xbd26, 0x6d23, 0xbd20,
+  0x6d20, 0xbd1b, 0x6d1d, 0xbd16, 0x6d1a, 0xbd10, 0x6d16, 0xbd0b,
+  0x6d13, 0xbd06, 0x6d10, 0xbd00, 0x6d0c, 0xbcfb, 0x6d09, 0xbcf5,
+  0x6d06, 0xbcf0, 0x6d03, 0xbceb, 0x6cff, 0xbce5, 0x6cfc, 0xbce0,
+  0x6cf9, 0xbcdb, 0x6cf5, 0xbcd5, 0x6cf2, 0xbcd0, 0x6cef, 0xbccb,
+  0x6cec, 0xbcc5, 0x6ce8, 0xbcc0, 0x6ce5, 0xbcbb, 0x6ce2, 0xbcb5,
+  0x6cde, 0xbcb0, 0x6cdb, 0xbcab, 0x6cd8, 0xbca5, 0x6cd4, 0xbca0,
+  0x6cd1, 0xbc9b, 0x6cce, 0xbc95, 0x6cca, 0xbc90, 0x6cc7, 0xbc8b,
+  0x6cc4, 0xbc85, 0x6cc1, 0xbc80, 0x6cbd, 0xbc7b, 0x6cba, 0xbc75,
+  0x6cb7, 0xbc70, 0x6cb3, 0xbc6b, 0x6cb0, 0xbc65, 0x6cad, 0xbc60,
+  0x6ca9, 0xbc5b, 0x6ca6, 0xbc55, 0x6ca3, 0xbc50, 0x6c9f, 0xbc4b,
+  0x6c9c, 0xbc45, 0x6c99, 0xbc40, 0x6c95, 0xbc3b, 0x6c92, 0xbc35,
+  0x6c8f, 0xbc30, 0x6c8b, 0xbc2b, 0x6c88, 0xbc25, 0x6c85, 0xbc20,
+  0x6c81, 0xbc1b, 0x6c7e, 0xbc15, 0x6c7b, 0xbc10, 0x6c77, 0xbc0b,
+  0x6c74, 0xbc05, 0x6c71, 0xbc00, 0x6c6d, 0xbbfb, 0x6c6a, 0xbbf5,
+  0x6c67, 0xbbf0, 0x6c63, 0xbbeb, 0x6c60, 0xbbe5, 0x6c5d, 0xbbe0,
+  0x6c59, 0xbbdb, 0x6c56, 0xbbd5, 0x6c53, 0xbbd0, 0x6c4f, 0xbbcb,
+  0x6c4c, 0xbbc5, 0x6c49, 0xbbc0, 0x6c45, 0xbbbb, 0x6c42, 0xbbb5,
+  0x6c3f, 0xbbb0, 0x6c3b, 0xbbab, 0x6c38, 0xbba6, 0x6c34, 0xbba0,
+  0x6c31, 0xbb9b, 0x6c2e, 0xbb96, 0x6c2a, 0xbb90, 0x6c27, 0xbb8b,
+  0x6c24, 0xbb86, 0x6c20, 0xbb80, 0x6c1d, 0xbb7b, 0x6c1a, 0xbb76,
+  0x6c16, 0xbb70, 0x6c13, 0xbb6b, 0x6c0f, 0xbb66, 0x6c0c, 0xbb61,
+  0x6c09, 0xbb5b, 0x6c05, 0xbb56, 0x6c02, 0xbb51, 0x6bff, 0xbb4b,
+  0x6bfb, 0xbb46, 0x6bf8, 0xbb41, 0x6bf5, 0xbb3b, 0x6bf1, 0xbb36,
+  0x6bee, 0xbb31, 0x6bea, 0xbb2c, 0x6be7, 0xbb26, 0x6be4, 0xbb21,
+  0x6be0, 0xbb1c, 0x6bdd, 0xbb16, 0x6bd9, 0xbb11, 0x6bd6, 0xbb0c,
+  0x6bd3, 0xbb06, 0x6bcf, 0xbb01, 0x6bcc, 0xbafc, 0x6bc9, 0xbaf7,
+  0x6bc5, 0xbaf1, 0x6bc2, 0xbaec, 0x6bbe, 0xbae7, 0x6bbb, 0xbae1,
+  0x6bb8, 0xbadc, 0x6bb4, 0xbad7, 0x6bb1, 0xbad2, 0x6bad, 0xbacc,
+  0x6baa, 0xbac7, 0x6ba7, 0xbac2, 0x6ba3, 0xbabc, 0x6ba0, 0xbab7,
+  0x6b9c, 0xbab2, 0x6b99, 0xbaad, 0x6b96, 0xbaa7, 0x6b92, 0xbaa2,
+  0x6b8f, 0xba9d, 0x6b8b, 0xba97, 0x6b88, 0xba92, 0x6b85, 0xba8d,
+  0x6b81, 0xba88, 0x6b7e, 0xba82, 0x6b7a, 0xba7d, 0x6b77, 0xba78,
+  0x6b73, 0xba73, 0x6b70, 0xba6d, 0x6b6d, 0xba68, 0x6b69, 0xba63,
+  0x6b66, 0xba5d, 0x6b62, 0xba58, 0x6b5f, 0xba53, 0x6b5c, 0xba4e,
+  0x6b58, 0xba48, 0x6b55, 0xba43, 0x6b51, 0xba3e, 0x6b4e, 0xba39,
+  0x6b4a, 0xba33, 0x6b47, 0xba2e, 0x6b44, 0xba29, 0x6b40, 0xba23,
+  0x6b3d, 0xba1e, 0x6b39, 0xba19, 0x6b36, 0xba14, 0x6b32, 0xba0e,
+  0x6b2f, 0xba09, 0x6b2c, 0xba04, 0x6b28, 0xb9ff, 0x6b25, 0xb9f9,
+  0x6b21, 0xb9f4, 0x6b1e, 0xb9ef, 0x6b1a, 0xb9ea, 0x6b17, 0xb9e4,
+  0x6b13, 0xb9df, 0x6b10, 0xb9da, 0x6b0d, 0xb9d5, 0x6b09, 0xb9cf,
+  0x6b06, 0xb9ca, 0x6b02, 0xb9c5, 0x6aff, 0xb9c0, 0x6afb, 0xb9ba,
+  0x6af8, 0xb9b5, 0x6af4, 0xb9b0, 0x6af1, 0xb9ab, 0x6aee, 0xb9a5,
+  0x6aea, 0xb9a0, 0x6ae7, 0xb99b, 0x6ae3, 0xb996, 0x6ae0, 0xb990,
+  0x6adc, 0xb98b, 0x6ad9, 0xb986, 0x6ad5, 0xb981, 0x6ad2, 0xb97b,
+  0x6ace, 0xb976, 0x6acb, 0xb971, 0x6ac8, 0xb96c, 0x6ac4, 0xb966,
+  0x6ac1, 0xb961, 0x6abd, 0xb95c, 0x6aba, 0xb957, 0x6ab6, 0xb951,
+  0x6ab3, 0xb94c, 0x6aaf, 0xb947, 0x6aac, 0xb942, 0x6aa8, 0xb93c,
+  0x6aa5, 0xb937, 0x6aa1, 0xb932, 0x6a9e, 0xb92d, 0x6a9a, 0xb928,
+  0x6a97, 0xb922, 0x6a93, 0xb91d, 0x6a90, 0xb918, 0x6a8c, 0xb913,
+  0x6a89, 0xb90d, 0x6a86, 0xb908, 0x6a82, 0xb903, 0x6a7f, 0xb8fe,
+  0x6a7b, 0xb8f8, 0x6a78, 0xb8f3, 0x6a74, 0xb8ee, 0x6a71, 0xb8e9,
+  0x6a6d, 0xb8e4, 0x6a6a, 0xb8de, 0x6a66, 0xb8d9, 0x6a63, 0xb8d4,
+  0x6a5f, 0xb8cf, 0x6a5c, 0xb8c9, 0x6a58, 0xb8c4, 0x6a55, 0xb8bf,
+  0x6a51, 0xb8ba, 0x6a4e, 0xb8b5, 0x6a4a, 0xb8af, 0x6a47, 0xb8aa,
+  0x6a43, 0xb8a5, 0x6a40, 0xb8a0, 0x6a3c, 0xb89b, 0x6a39, 0xb895,
+  0x6a35, 0xb890, 0x6a32, 0xb88b, 0x6a2e, 0xb886, 0x6a2b, 0xb880,
+  0x6a27, 0xb87b, 0x6a24, 0xb876, 0x6a20, 0xb871, 0x6a1d, 0xb86c,
+  0x6a19, 0xb866, 0x6a16, 0xb861, 0x6a12, 0xb85c, 0x6a0e, 0xb857,
+  0x6a0b, 0xb852, 0x6a07, 0xb84c, 0x6a04, 0xb847, 0x6a00, 0xb842,
+  0x69fd, 0xb83d, 0x69f9, 0xb838, 0x69f6, 0xb832, 0x69f2, 0xb82d,
+  0x69ef, 0xb828, 0x69eb, 0xb823, 0x69e8, 0xb81e, 0x69e4, 0xb818,
+  0x69e1, 0xb813, 0x69dd, 0xb80e, 0x69da, 0xb809, 0x69d6, 0xb804,
+  0x69d3, 0xb7fe, 0x69cf, 0xb7f9, 0x69cb, 0xb7f4, 0x69c8, 0xb7ef,
+  0x69c4, 0xb7ea, 0x69c1, 0xb7e4, 0x69bd, 0xb7df, 0x69ba, 0xb7da,
+  0x69b6, 0xb7d5, 0x69b3, 0xb7d0, 0x69af, 0xb7ca, 0x69ac, 0xb7c5,
+  0x69a8, 0xb7c0, 0x69a5, 0xb7bb, 0x69a1, 0xb7b6, 0x699d, 0xb7b1,
+  0x699a, 0xb7ab, 0x6996, 0xb7a6, 0x6993, 0xb7a1, 0x698f, 0xb79c,
+  0x698c, 0xb797, 0x6988, 0xb791, 0x6985, 0xb78c, 0x6981, 0xb787,
+  0x697d, 0xb782, 0x697a, 0xb77d, 0x6976, 0xb778, 0x6973, 0xb772,
+  0x696f, 0xb76d, 0x696c, 0xb768, 0x6968, 0xb763, 0x6964, 0xb75e,
+  0x6961, 0xb758, 0x695d, 0xb753, 0x695a, 0xb74e, 0x6956, 0xb749,
+  0x6953, 0xb744, 0x694f, 0xb73f, 0x694b, 0xb739, 0x6948, 0xb734,
+  0x6944, 0xb72f, 0x6941, 0xb72a, 0x693d, 0xb725, 0x693a, 0xb720,
+  0x6936, 0xb71a, 0x6932, 0xb715, 0x692f, 0xb710, 0x692b, 0xb70b,
+  0x6928, 0xb706, 0x6924, 0xb701, 0x6921, 0xb6fb, 0x691d, 0xb6f6,
+  0x6919, 0xb6f1, 0x6916, 0xb6ec, 0x6912, 0xb6e7, 0x690f, 0xb6e2,
+  0x690b, 0xb6dd, 0x6907, 0xb6d7, 0x6904, 0xb6d2, 0x6900, 0xb6cd,
+  0x68fd, 0xb6c8, 0x68f9, 0xb6c3, 0x68f5, 0xb6be, 0x68f2, 0xb6b8,
+  0x68ee, 0xb6b3, 0x68eb, 0xb6ae, 0x68e7, 0xb6a9, 0x68e3, 0xb6a4,
+  0x68e0, 0xb69f, 0x68dc, 0xb69a, 0x68d9, 0xb694, 0x68d5, 0xb68f,
+  0x68d1, 0xb68a, 0x68ce, 0xb685, 0x68ca, 0xb680, 0x68c7, 0xb67b,
+  0x68c3, 0xb676, 0x68bf, 0xb670, 0x68bc, 0xb66b, 0x68b8, 0xb666,
+  0x68b5, 0xb661, 0x68b1, 0xb65c, 0x68ad, 0xb657, 0x68aa, 0xb652,
+  0x68a6, 0xb64c, 0x68a3, 0xb647, 0x689f, 0xb642, 0x689b, 0xb63d,
+  0x6898, 0xb638, 0x6894, 0xb633, 0x6890, 0xb62e, 0x688d, 0xb628,
+  0x6889, 0xb623, 0x6886, 0xb61e, 0x6882, 0xb619, 0x687e, 0xb614,
+  0x687b, 0xb60f, 0x6877, 0xb60a, 0x6873, 0xb605, 0x6870, 0xb5ff,
+  0x686c, 0xb5fa, 0x6868, 0xb5f5, 0x6865, 0xb5f0, 0x6861, 0xb5eb,
+  0x685e, 0xb5e6, 0x685a, 0xb5e1, 0x6856, 0xb5dc, 0x6853, 0xb5d6,
+  0x684f, 0xb5d1, 0x684b, 0xb5cc, 0x6848, 0xb5c7, 0x6844, 0xb5c2,
+  0x6840, 0xb5bd, 0x683d, 0xb5b8, 0x6839, 0xb5b3, 0x6835, 0xb5ae,
+  0x6832, 0xb5a8, 0x682e, 0xb5a3, 0x682b, 0xb59e, 0x6827, 0xb599,
+  0x6823, 0xb594, 0x6820, 0xb58f, 0x681c, 0xb58a, 0x6818, 0xb585,
+  0x6815, 0xb57f, 0x6811, 0xb57a, 0x680d, 0xb575, 0x680a, 0xb570,
+  0x6806, 0xb56b, 0x6802, 0xb566, 0x67ff, 0xb561, 0x67fb, 0xb55c,
+  0x67f7, 0xb557, 0x67f4, 0xb552, 0x67f0, 0xb54c, 0x67ec, 0xb547,
+  0x67e9, 0xb542, 0x67e5, 0xb53d, 0x67e1, 0xb538, 0x67de, 0xb533,
+  0x67da, 0xb52e, 0x67d6, 0xb529, 0x67d3, 0xb524, 0x67cf, 0xb51f,
+  0x67cb, 0xb519, 0x67c8, 0xb514, 0x67c4, 0xb50f, 0x67c0, 0xb50a,
+  0x67bd, 0xb505, 0x67b9, 0xb500, 0x67b5, 0xb4fb, 0x67b2, 0xb4f6,
+  0x67ae, 0xb4f1, 0x67aa, 0xb4ec, 0x67a6, 0xb4e7, 0x67a3, 0xb4e1,
+  0x679f, 0xb4dc, 0x679b, 0xb4d7, 0x6798, 0xb4d2, 0x6794, 0xb4cd,
+  0x6790, 0xb4c8, 0x678d, 0xb4c3, 0x6789, 0xb4be, 0x6785, 0xb4b9,
+  0x6782, 0xb4b4, 0x677e, 0xb4af, 0x677a, 0xb4aa, 0x6776, 0xb4a4,
+  0x6773, 0xb49f, 0x676f, 0xb49a, 0x676b, 0xb495, 0x6768, 0xb490,
+  0x6764, 0xb48b, 0x6760, 0xb486, 0x675d, 0xb481, 0x6759, 0xb47c,
+  0x6755, 0xb477, 0x6751, 0xb472, 0x674e, 0xb46d, 0x674a, 0xb468,
+  0x6746, 0xb462, 0x6743, 0xb45d, 0x673f, 0xb458, 0x673b, 0xb453,
+  0x6737, 0xb44e, 0x6734, 0xb449, 0x6730, 0xb444, 0x672c, 0xb43f,
+  0x6729, 0xb43a, 0x6725, 0xb435, 0x6721, 0xb430, 0x671d, 0xb42b,
+  0x671a, 0xb426, 0x6716, 0xb421, 0x6712, 0xb41c, 0x670e, 0xb417,
+  0x670b, 0xb411, 0x6707, 0xb40c, 0x6703, 0xb407, 0x6700, 0xb402,
+  0x66fc, 0xb3fd, 0x66f8, 0xb3f8, 0x66f4, 0xb3f3, 0x66f1, 0xb3ee,
+  0x66ed, 0xb3e9, 0x66e9, 0xb3e4, 0x66e5, 0xb3df, 0x66e2, 0xb3da,
+  0x66de, 0xb3d5, 0x66da, 0xb3d0, 0x66d6, 0xb3cb, 0x66d3, 0xb3c6,
+  0x66cf, 0xb3c1, 0x66cb, 0xb3bc, 0x66c8, 0xb3b7, 0x66c4, 0xb3b1,
+  0x66c0, 0xb3ac, 0x66bc, 0xb3a7, 0x66b9, 0xb3a2, 0x66b5, 0xb39d,
+  0x66b1, 0xb398, 0x66ad, 0xb393, 0x66aa, 0xb38e, 0x66a6, 0xb389,
+  0x66a2, 0xb384, 0x669e, 0xb37f, 0x669b, 0xb37a, 0x6697, 0xb375,
+  0x6693, 0xb370, 0x668f, 0xb36b, 0x668b, 0xb366, 0x6688, 0xb361,
+  0x6684, 0xb35c, 0x6680, 0xb357, 0x667c, 0xb352, 0x6679, 0xb34d,
+  0x6675, 0xb348, 0x6671, 0xb343, 0x666d, 0xb33e, 0x666a, 0xb339,
+  0x6666, 0xb334, 0x6662, 0xb32f, 0x665e, 0xb32a, 0x665b, 0xb325,
+  0x6657, 0xb31f, 0x6653, 0xb31a, 0x664f, 0xb315, 0x664b, 0xb310,
+  0x6648, 0xb30b, 0x6644, 0xb306, 0x6640, 0xb301, 0x663c, 0xb2fc,
+  0x6639, 0xb2f7, 0x6635, 0xb2f2, 0x6631, 0xb2ed, 0x662d, 0xb2e8,
+  0x6629, 0xb2e3, 0x6626, 0xb2de, 0x6622, 0xb2d9, 0x661e, 0xb2d4,
+  0x661a, 0xb2cf, 0x6616, 0xb2ca, 0x6613, 0xb2c5, 0x660f, 0xb2c0,
+  0x660b, 0xb2bb, 0x6607, 0xb2b6, 0x6603, 0xb2b1, 0x6600, 0xb2ac,
+  0x65fc, 0xb2a7, 0x65f8, 0xb2a2, 0x65f4, 0xb29d, 0x65f0, 0xb298,
+  0x65ed, 0xb293, 0x65e9, 0xb28e, 0x65e5, 0xb289, 0x65e1, 0xb284,
+  0x65dd, 0xb27f, 0x65da, 0xb27a, 0x65d6, 0xb275, 0x65d2, 0xb270,
+  0x65ce, 0xb26b, 0x65ca, 0xb266, 0x65c7, 0xb261, 0x65c3, 0xb25c,
+  0x65bf, 0xb257, 0x65bb, 0xb252, 0x65b7, 0xb24d, 0x65b4, 0xb248,
+  0x65b0, 0xb243, 0x65ac, 0xb23e, 0x65a8, 0xb239, 0x65a4, 0xb234,
+  0x65a0, 0xb22f, 0x659d, 0xb22a, 0x6599, 0xb225, 0x6595, 0xb220,
+  0x6591, 0xb21b, 0x658d, 0xb216, 0x658a, 0xb211, 0x6586, 0xb20c,
+  0x6582, 0xb207, 0x657e, 0xb202, 0x657a, 0xb1fd, 0x6576, 0xb1f8,
+  0x6573, 0xb1f3, 0x656f, 0xb1ee, 0x656b, 0xb1e9, 0x6567, 0xb1e4,
+  0x6563, 0xb1df, 0x655f, 0xb1da, 0x655c, 0xb1d6, 0x6558, 0xb1d1,
+  0x6554, 0xb1cc, 0x6550, 0xb1c7, 0x654c, 0xb1c2, 0x6548, 0xb1bd,
+  0x6545, 0xb1b8, 0x6541, 0xb1b3, 0x653d, 0xb1ae, 0x6539, 0xb1a9,
+  0x6535, 0xb1a4, 0x6531, 0xb19f, 0x652d, 0xb19a, 0x652a, 0xb195,
+  0x6526, 0xb190, 0x6522, 0xb18b, 0x651e, 0xb186, 0x651a, 0xb181,
+  0x6516, 0xb17c, 0x6513, 0xb177, 0x650f, 0xb172, 0x650b, 0xb16d,
+  0x6507, 0xb168, 0x6503, 0xb163, 0x64ff, 0xb15e, 0x64fb, 0xb159,
+  0x64f7, 0xb154, 0x64f4, 0xb14f, 0x64f0, 0xb14a, 0x64ec, 0xb146,
+  0x64e8, 0xb141, 0x64e4, 0xb13c, 0x64e0, 0xb137, 0x64dc, 0xb132,
+  0x64d9, 0xb12d, 0x64d5, 0xb128, 0x64d1, 0xb123, 0x64cd, 0xb11e,
+  0x64c9, 0xb119, 0x64c5, 0xb114, 0x64c1, 0xb10f, 0x64bd, 0xb10a,
+  0x64ba, 0xb105, 0x64b6, 0xb100, 0x64b2, 0xb0fb, 0x64ae, 0xb0f6,
+  0x64aa, 0xb0f1, 0x64a6, 0xb0ec, 0x64a2, 0xb0e8, 0x649e, 0xb0e3,
+  0x649b, 0xb0de, 0x6497, 0xb0d9, 0x6493, 0xb0d4, 0x648f, 0xb0cf,
+  0x648b, 0xb0ca, 0x6487, 0xb0c5, 0x6483, 0xb0c0, 0x647f, 0xb0bb,
+  0x647b, 0xb0b6, 0x6478, 0xb0b1, 0x6474, 0xb0ac, 0x6470, 0xb0a7,
+  0x646c, 0xb0a2, 0x6468, 0xb09e, 0x6464, 0xb099, 0x6460, 0xb094,
+  0x645c, 0xb08f, 0x6458, 0xb08a, 0x6454, 0xb085, 0x6451, 0xb080,
+  0x644d, 0xb07b, 0x6449, 0xb076, 0x6445, 0xb071, 0x6441, 0xb06c,
+  0x643d, 0xb067, 0x6439, 0xb062, 0x6435, 0xb05e, 0x6431, 0xb059,
+  0x642d, 0xb054, 0x6429, 0xb04f, 0x6426, 0xb04a, 0x6422, 0xb045,
+  0x641e, 0xb040, 0x641a, 0xb03b, 0x6416, 0xb036, 0x6412, 0xb031,
+  0x640e, 0xb02c, 0x640a, 0xb027, 0x6406, 0xb023, 0x6402, 0xb01e,
+  0x63fe, 0xb019, 0x63fa, 0xb014, 0x63f7, 0xb00f, 0x63f3, 0xb00a,
+  0x63ef, 0xb005, 0x63eb, 0xb000, 0x63e7, 0xaffb, 0x63e3, 0xaff6,
+  0x63df, 0xaff1, 0x63db, 0xafed, 0x63d7, 0xafe8, 0x63d3, 0xafe3,
+  0x63cf, 0xafde, 0x63cb, 0xafd9, 0x63c7, 0xafd4, 0x63c3, 0xafcf,
+  0x63c0, 0xafca, 0x63bc, 0xafc5, 0x63b8, 0xafc1, 0x63b4, 0xafbc,
+  0x63b0, 0xafb7, 0x63ac, 0xafb2, 0x63a8, 0xafad, 0x63a4, 0xafa8,
+  0x63a0, 0xafa3, 0x639c, 0xaf9e, 0x6398, 0xaf99, 0x6394, 0xaf94,
+  0x6390, 0xaf90, 0x638c, 0xaf8b, 0x6388, 0xaf86, 0x6384, 0xaf81,
+  0x6380, 0xaf7c, 0x637c, 0xaf77, 0x6378, 0xaf72, 0x6375, 0xaf6d,
+  0x6371, 0xaf69, 0x636d, 0xaf64, 0x6369, 0xaf5f, 0x6365, 0xaf5a,
+  0x6361, 0xaf55, 0x635d, 0xaf50, 0x6359, 0xaf4b, 0x6355, 0xaf46,
+  0x6351, 0xaf41, 0x634d, 0xaf3d, 0x6349, 0xaf38, 0x6345, 0xaf33,
+  0x6341, 0xaf2e, 0x633d, 0xaf29, 0x6339, 0xaf24, 0x6335, 0xaf1f,
+  0x6331, 0xaf1b, 0x632d, 0xaf16, 0x6329, 0xaf11, 0x6325, 0xaf0c,
+  0x6321, 0xaf07, 0x631d, 0xaf02, 0x6319, 0xaefd, 0x6315, 0xaef8,
+  0x6311, 0xaef4, 0x630d, 0xaeef, 0x6309, 0xaeea, 0x6305, 0xaee5,
+  0x6301, 0xaee0, 0x62fd, 0xaedb, 0x62f9, 0xaed6, 0x62f5, 0xaed2,
+  0x62f2, 0xaecd, 0x62ee, 0xaec8, 0x62ea, 0xaec3, 0x62e6, 0xaebe,
+  0x62e2, 0xaeb9, 0x62de, 0xaeb4, 0x62da, 0xaeb0, 0x62d6, 0xaeab,
+  0x62d2, 0xaea6, 0x62ce, 0xaea1, 0x62ca, 0xae9c, 0x62c6, 0xae97,
+  0x62c2, 0xae92, 0x62be, 0xae8e, 0x62ba, 0xae89, 0x62b6, 0xae84,
+  0x62b2, 0xae7f, 0x62ae, 0xae7a, 0x62aa, 0xae75, 0x62a6, 0xae71,
+  0x62a2, 0xae6c, 0x629e, 0xae67, 0x629a, 0xae62, 0x6296, 0xae5d,
+  0x6292, 0xae58, 0x628e, 0xae54, 0x628a, 0xae4f, 0x6286, 0xae4a,
+  0x6282, 0xae45, 0x627e, 0xae40, 0x627a, 0xae3b, 0x6275, 0xae37,
+  0x6271, 0xae32, 0x626d, 0xae2d, 0x6269, 0xae28, 0x6265, 0xae23,
+  0x6261, 0xae1e, 0x625d, 0xae1a, 0x6259, 0xae15, 0x6255, 0xae10,
+  0x6251, 0xae0b, 0x624d, 0xae06, 0x6249, 0xae01, 0x6245, 0xadfd,
+  0x6241, 0xadf8, 0x623d, 0xadf3, 0x6239, 0xadee, 0x6235, 0xade9,
+  0x6231, 0xade4, 0x622d, 0xade0, 0x6229, 0xaddb, 0x6225, 0xadd6,
+  0x6221, 0xadd1, 0x621d, 0xadcc, 0x6219, 0xadc8, 0x6215, 0xadc3,
+  0x6211, 0xadbe, 0x620d, 0xadb9, 0x6209, 0xadb4, 0x6205, 0xadaf,
+  0x6201, 0xadab, 0x61fd, 0xada6, 0x61f9, 0xada1, 0x61f5, 0xad9c,
+  0x61f1, 0xad97, 0x61ec, 0xad93, 0x61e8, 0xad8e, 0x61e4, 0xad89,
+  0x61e0, 0xad84, 0x61dc, 0xad7f, 0x61d8, 0xad7b, 0x61d4, 0xad76,
+  0x61d0, 0xad71, 0x61cc, 0xad6c, 0x61c8, 0xad67, 0x61c4, 0xad63,
+  0x61c0, 0xad5e, 0x61bc, 0xad59, 0x61b8, 0xad54, 0x61b4, 0xad4f,
+  0x61b0, 0xad4b, 0x61ac, 0xad46, 0x61a8, 0xad41, 0x61a3, 0xad3c,
+  0x619f, 0xad37, 0x619b, 0xad33, 0x6197, 0xad2e, 0x6193, 0xad29,
+  0x618f, 0xad24, 0x618b, 0xad1f, 0x6187, 0xad1b, 0x6183, 0xad16,
+  0x617f, 0xad11, 0x617b, 0xad0c, 0x6177, 0xad08, 0x6173, 0xad03,
+  0x616f, 0xacfe, 0x616b, 0xacf9, 0x6166, 0xacf4, 0x6162, 0xacf0,
+  0x615e, 0xaceb, 0x615a, 0xace6, 0x6156, 0xace1, 0x6152, 0xacdd,
+  0x614e, 0xacd8, 0x614a, 0xacd3, 0x6146, 0xacce, 0x6142, 0xacc9,
+  0x613e, 0xacc5, 0x613a, 0xacc0, 0x6135, 0xacbb, 0x6131, 0xacb6,
+  0x612d, 0xacb2, 0x6129, 0xacad, 0x6125, 0xaca8, 0x6121, 0xaca3,
+  0x611d, 0xac9e, 0x6119, 0xac9a, 0x6115, 0xac95, 0x6111, 0xac90,
+  0x610d, 0xac8b, 0x6108, 0xac87, 0x6104, 0xac82, 0x6100, 0xac7d,
+  0x60fc, 0xac78, 0x60f8, 0xac74, 0x60f4, 0xac6f, 0x60f0, 0xac6a,
+  0x60ec, 0xac65, 0x60e8, 0xac61, 0x60e4, 0xac5c, 0x60df, 0xac57,
+  0x60db, 0xac52, 0x60d7, 0xac4e, 0x60d3, 0xac49, 0x60cf, 0xac44,
+  0x60cb, 0xac3f, 0x60c7, 0xac3b, 0x60c3, 0xac36, 0x60bf, 0xac31,
+  0x60ba, 0xac2c, 0x60b6, 0xac28, 0x60b2, 0xac23, 0x60ae, 0xac1e,
+  0x60aa, 0xac19, 0x60a6, 0xac15, 0x60a2, 0xac10, 0x609e, 0xac0b,
+  0x6099, 0xac06, 0x6095, 0xac02, 0x6091, 0xabfd, 0x608d, 0xabf8,
+  0x6089, 0xabf3, 0x6085, 0xabef, 0x6081, 0xabea, 0x607d, 0xabe5,
+  0x6078, 0xabe0, 0x6074, 0xabdc, 0x6070, 0xabd7, 0x606c, 0xabd2,
+  0x6068, 0xabcd, 0x6064, 0xabc9, 0x6060, 0xabc4, 0x605c, 0xabbf,
+  0x6057, 0xabbb, 0x6053, 0xabb6, 0x604f, 0xabb1, 0x604b, 0xabac,
+  0x6047, 0xaba8, 0x6043, 0xaba3, 0x603f, 0xab9e, 0x603a, 0xab99,
+  0x6036, 0xab95, 0x6032, 0xab90, 0x602e, 0xab8b, 0x602a, 0xab87,
+  0x6026, 0xab82, 0x6022, 0xab7d, 0x601d, 0xab78, 0x6019, 0xab74,
+  0x6015, 0xab6f, 0x6011, 0xab6a, 0x600d, 0xab66, 0x6009, 0xab61,
+  0x6004, 0xab5c, 0x6000, 0xab57, 0x5ffc, 0xab53, 0x5ff8, 0xab4e,
+  0x5ff4, 0xab49, 0x5ff0, 0xab45, 0x5fec, 0xab40, 0x5fe7, 0xab3b,
+  0x5fe3, 0xab36, 0x5fdf, 0xab32, 0x5fdb, 0xab2d, 0x5fd7, 0xab28,
+  0x5fd3, 0xab24, 0x5fce, 0xab1f, 0x5fca, 0xab1a, 0x5fc6, 0xab16,
+  0x5fc2, 0xab11, 0x5fbe, 0xab0c, 0x5fba, 0xab07, 0x5fb5, 0xab03,
+  0x5fb1, 0xaafe, 0x5fad, 0xaaf9, 0x5fa9, 0xaaf5, 0x5fa5, 0xaaf0,
+  0x5fa0, 0xaaeb, 0x5f9c, 0xaae7, 0x5f98, 0xaae2, 0x5f94, 0xaadd,
+  0x5f90, 0xaad8, 0x5f8c, 0xaad4, 0x5f87, 0xaacf, 0x5f83, 0xaaca,
+  0x5f7f, 0xaac6, 0x5f7b, 0xaac1, 0x5f77, 0xaabc, 0x5f72, 0xaab8,
+  0x5f6e, 0xaab3, 0x5f6a, 0xaaae, 0x5f66, 0xaaaa, 0x5f62, 0xaaa5,
+  0x5f5e, 0xaaa0, 0x5f59, 0xaa9c, 0x5f55, 0xaa97, 0x5f51, 0xaa92,
+  0x5f4d, 0xaa8e, 0x5f49, 0xaa89, 0x5f44, 0xaa84, 0x5f40, 0xaa7f,
+  0x5f3c, 0xaa7b, 0x5f38, 0xaa76, 0x5f34, 0xaa71, 0x5f2f, 0xaa6d,
+  0x5f2b, 0xaa68, 0x5f27, 0xaa63, 0x5f23, 0xaa5f, 0x5f1f, 0xaa5a,
+  0x5f1a, 0xaa55, 0x5f16, 0xaa51, 0x5f12, 0xaa4c, 0x5f0e, 0xaa47,
+  0x5f0a, 0xaa43, 0x5f05, 0xaa3e, 0x5f01, 0xaa39, 0x5efd, 0xaa35,
+  0x5ef9, 0xaa30, 0x5ef5, 0xaa2b, 0x5ef0, 0xaa27, 0x5eec, 0xaa22,
+  0x5ee8, 0xaa1d, 0x5ee4, 0xaa19, 0x5edf, 0xaa14, 0x5edb, 0xaa10,
+  0x5ed7, 0xaa0b, 0x5ed3, 0xaa06, 0x5ecf, 0xaa02, 0x5eca, 0xa9fd,
+  0x5ec6, 0xa9f8, 0x5ec2, 0xa9f4, 0x5ebe, 0xa9ef, 0x5eb9, 0xa9ea,
+  0x5eb5, 0xa9e6, 0x5eb1, 0xa9e1, 0x5ead, 0xa9dc, 0x5ea9, 0xa9d8,
+  0x5ea4, 0xa9d3, 0x5ea0, 0xa9ce, 0x5e9c, 0xa9ca, 0x5e98, 0xa9c5,
+  0x5e93, 0xa9c0, 0x5e8f, 0xa9bc, 0x5e8b, 0xa9b7, 0x5e87, 0xa9b3,
+  0x5e82, 0xa9ae, 0x5e7e, 0xa9a9, 0x5e7a, 0xa9a5, 0x5e76, 0xa9a0,
+  0x5e71, 0xa99b, 0x5e6d, 0xa997, 0x5e69, 0xa992, 0x5e65, 0xa98d,
+  0x5e60, 0xa989, 0x5e5c, 0xa984, 0x5e58, 0xa980, 0x5e54, 0xa97b,
+  0x5e50, 0xa976, 0x5e4b, 0xa972, 0x5e47, 0xa96d, 0x5e43, 0xa968,
+  0x5e3f, 0xa964, 0x5e3a, 0xa95f, 0x5e36, 0xa95b, 0x5e32, 0xa956,
+  0x5e2d, 0xa951, 0x5e29, 0xa94d, 0x5e25, 0xa948, 0x5e21, 0xa943,
+  0x5e1c, 0xa93f, 0x5e18, 0xa93a, 0x5e14, 0xa936, 0x5e10, 0xa931,
+  0x5e0b, 0xa92c, 0x5e07, 0xa928, 0x5e03, 0xa923, 0x5dff, 0xa91e,
+  0x5dfa, 0xa91a, 0x5df6, 0xa915, 0x5df2, 0xa911, 0x5dee, 0xa90c,
+  0x5de9, 0xa907, 0x5de5, 0xa903, 0x5de1, 0xa8fe, 0x5ddc, 0xa8fa,
+  0x5dd8, 0xa8f5, 0x5dd4, 0xa8f0, 0x5dd0, 0xa8ec, 0x5dcb, 0xa8e7,
+  0x5dc7, 0xa8e3, 0x5dc3, 0xa8de, 0x5dbf, 0xa8d9, 0x5dba, 0xa8d5,
+  0x5db6, 0xa8d0, 0x5db2, 0xa8cc, 0x5dad, 0xa8c7, 0x5da9, 0xa8c2,
+  0x5da5, 0xa8be, 0x5da1, 0xa8b9, 0x5d9c, 0xa8b5, 0x5d98, 0xa8b0,
+  0x5d94, 0xa8ab, 0x5d8f, 0xa8a7, 0x5d8b, 0xa8a2, 0x5d87, 0xa89e,
+  0x5d83, 0xa899, 0x5d7e, 0xa894, 0x5d7a, 0xa890, 0x5d76, 0xa88b,
+  0x5d71, 0xa887, 0x5d6d, 0xa882, 0x5d69, 0xa87d, 0x5d65, 0xa879,
+  0x5d60, 0xa874, 0x5d5c, 0xa870, 0x5d58, 0xa86b, 0x5d53, 0xa867,
+  0x5d4f, 0xa862, 0x5d4b, 0xa85d, 0x5d46, 0xa859, 0x5d42, 0xa854,
+  0x5d3e, 0xa850, 0x5d3a, 0xa84b, 0x5d35, 0xa847, 0x5d31, 0xa842,
+  0x5d2d, 0xa83d, 0x5d28, 0xa839, 0x5d24, 0xa834, 0x5d20, 0xa830,
+  0x5d1b, 0xa82b, 0x5d17, 0xa827, 0x5d13, 0xa822, 0x5d0e, 0xa81d,
+  0x5d0a, 0xa819, 0x5d06, 0xa814, 0x5d01, 0xa810, 0x5cfd, 0xa80b,
+  0x5cf9, 0xa807, 0x5cf5, 0xa802, 0x5cf0, 0xa7fd, 0x5cec, 0xa7f9,
+  0x5ce8, 0xa7f4, 0x5ce3, 0xa7f0, 0x5cdf, 0xa7eb, 0x5cdb, 0xa7e7,
+  0x5cd6, 0xa7e2, 0x5cd2, 0xa7de, 0x5cce, 0xa7d9, 0x5cc9, 0xa7d4,
+  0x5cc5, 0xa7d0, 0x5cc1, 0xa7cb, 0x5cbc, 0xa7c7, 0x5cb8, 0xa7c2,
+  0x5cb4, 0xa7be, 0x5caf, 0xa7b9, 0x5cab, 0xa7b5, 0x5ca7, 0xa7b0,
+  0x5ca2, 0xa7ab, 0x5c9e, 0xa7a7, 0x5c9a, 0xa7a2, 0x5c95, 0xa79e,
+  0x5c91, 0xa799, 0x5c8d, 0xa795, 0x5c88, 0xa790, 0x5c84, 0xa78c,
+  0x5c80, 0xa787, 0x5c7b, 0xa783, 0x5c77, 0xa77e, 0x5c73, 0xa779,
+  0x5c6e, 0xa775, 0x5c6a, 0xa770, 0x5c66, 0xa76c, 0x5c61, 0xa767,
+  0x5c5d, 0xa763, 0x5c58, 0xa75e, 0x5c54, 0xa75a, 0x5c50, 0xa755,
+  0x5c4b, 0xa751, 0x5c47, 0xa74c, 0x5c43, 0xa748, 0x5c3e, 0xa743,
+  0x5c3a, 0xa73f, 0x5c36, 0xa73a, 0x5c31, 0xa735, 0x5c2d, 0xa731,
+  0x5c29, 0xa72c, 0x5c24, 0xa728, 0x5c20, 0xa723, 0x5c1b, 0xa71f,
+  0x5c17, 0xa71a, 0x5c13, 0xa716, 0x5c0e, 0xa711, 0x5c0a, 0xa70d,
+  0x5c06, 0xa708, 0x5c01, 0xa704, 0x5bfd, 0xa6ff, 0x5bf9, 0xa6fb,
+  0x5bf4, 0xa6f6, 0x5bf0, 0xa6f2, 0x5beb, 0xa6ed, 0x5be7, 0xa6e9,
+  0x5be3, 0xa6e4, 0x5bde, 0xa6e0, 0x5bda, 0xa6db, 0x5bd6, 0xa6d7,
+  0x5bd1, 0xa6d2, 0x5bcd, 0xa6ce, 0x5bc8, 0xa6c9, 0x5bc4, 0xa6c5,
+  0x5bc0, 0xa6c0, 0x5bbb, 0xa6bc, 0x5bb7, 0xa6b7, 0x5bb2, 0xa6b3,
+  0x5bae, 0xa6ae, 0x5baa, 0xa6aa, 0x5ba5, 0xa6a5, 0x5ba1, 0xa6a1,
+  0x5b9d, 0xa69c, 0x5b98, 0xa698, 0x5b94, 0xa693, 0x5b8f, 0xa68f,
+  0x5b8b, 0xa68a, 0x5b87, 0xa686, 0x5b82, 0xa681, 0x5b7e, 0xa67d,
+  0x5b79, 0xa678, 0x5b75, 0xa674, 0x5b71, 0xa66f, 0x5b6c, 0xa66b,
+  0x5b68, 0xa666, 0x5b63, 0xa662, 0x5b5f, 0xa65d, 0x5b5b, 0xa659,
+  0x5b56, 0xa654, 0x5b52, 0xa650, 0x5b4d, 0xa64b, 0x5b49, 0xa647,
+  0x5b45, 0xa642, 0x5b40, 0xa63e, 0x5b3c, 0xa639, 0x5b37, 0xa635,
+  0x5b33, 0xa630, 0x5b2f, 0xa62c, 0x5b2a, 0xa627, 0x5b26, 0xa623,
+  0x5b21, 0xa61f, 0x5b1d, 0xa61a, 0x5b19, 0xa616, 0x5b14, 0xa611,
+  0x5b10, 0xa60d, 0x5b0b, 0xa608, 0x5b07, 0xa604, 0x5b02, 0xa5ff,
+  0x5afe, 0xa5fb, 0x5afa, 0xa5f6, 0x5af5, 0xa5f2, 0x5af1, 0xa5ed,
+  0x5aec, 0xa5e9, 0x5ae8, 0xa5e4, 0x5ae4, 0xa5e0, 0x5adf, 0xa5dc,
+  0x5adb, 0xa5d7, 0x5ad6, 0xa5d3, 0x5ad2, 0xa5ce, 0x5acd, 0xa5ca,
+  0x5ac9, 0xa5c5, 0x5ac5, 0xa5c1, 0x5ac0, 0xa5bc, 0x5abc, 0xa5b8,
+  0x5ab7, 0xa5b3, 0x5ab3, 0xa5af, 0x5aae, 0xa5aa, 0x5aaa, 0xa5a6,
+  0x5aa5, 0xa5a2, 0x5aa1, 0xa59d, 0x5a9d, 0xa599, 0x5a98, 0xa594,
+  0x5a94, 0xa590, 0x5a8f, 0xa58b, 0x5a8b, 0xa587, 0x5a86, 0xa582,
+  0x5a82, 0xa57e, 0x5a7e, 0xa57a, 0x5a79, 0xa575, 0x5a75, 0xa571,
+  0x5a70, 0xa56c, 0x5a6c, 0xa568, 0x5a67, 0xa563, 0x5a63, 0xa55f,
+  0x5a5e, 0xa55b, 0x5a5a, 0xa556, 0x5a56, 0xa552, 0x5a51, 0xa54d,
+  0x5a4d, 0xa549, 0x5a48, 0xa544, 0x5a44, 0xa540, 0x5a3f, 0xa53b,
+  0x5a3b, 0xa537, 0x5a36, 0xa533, 0x5a32, 0xa52e, 0x5a2d, 0xa52a,
+  0x5a29, 0xa525, 0x5a24, 0xa521, 0x5a20, 0xa51c, 0x5a1c, 0xa518,
+  0x5a17, 0xa514, 0x5a13, 0xa50f, 0x5a0e, 0xa50b, 0x5a0a, 0xa506,
+  0x5a05, 0xa502, 0x5a01, 0xa4fe, 0x59fc, 0xa4f9, 0x59f8, 0xa4f5,
+  0x59f3, 0xa4f0, 0x59ef, 0xa4ec, 0x59ea, 0xa4e7, 0x59e6, 0xa4e3,
+  0x59e1, 0xa4df, 0x59dd, 0xa4da, 0x59d9, 0xa4d6, 0x59d4, 0xa4d1,
+  0x59d0, 0xa4cd, 0x59cb, 0xa4c9, 0x59c7, 0xa4c4, 0x59c2, 0xa4c0,
+  0x59be, 0xa4bb, 0x59b9, 0xa4b7, 0x59b5, 0xa4b3, 0x59b0, 0xa4ae,
+  0x59ac, 0xa4aa, 0x59a7, 0xa4a5, 0x59a3, 0xa4a1, 0x599e, 0xa49d,
+  0x599a, 0xa498, 0x5995, 0xa494, 0x5991, 0xa48f, 0x598c, 0xa48b,
+  0x5988, 0xa487, 0x5983, 0xa482, 0x597f, 0xa47e, 0x597a, 0xa479,
+  0x5976, 0xa475, 0x5971, 0xa471, 0x596d, 0xa46c, 0x5968, 0xa468,
+  0x5964, 0xa463, 0x595f, 0xa45f, 0x595b, 0xa45b, 0x5956, 0xa456,
+  0x5952, 0xa452, 0x594d, 0xa44e, 0x5949, 0xa449, 0x5944, 0xa445,
+  0x5940, 0xa440, 0x593b, 0xa43c, 0x5937, 0xa438, 0x5932, 0xa433,
+  0x592e, 0xa42f, 0x5929, 0xa42a, 0x5925, 0xa426, 0x5920, 0xa422,
+  0x591c, 0xa41d, 0x5917, 0xa419, 0x5913, 0xa415, 0x590e, 0xa410,
+  0x590a, 0xa40c, 0x5905, 0xa407, 0x5901, 0xa403, 0x58fc, 0xa3ff,
+  0x58f8, 0xa3fa, 0x58f3, 0xa3f6, 0x58ef, 0xa3f2, 0x58ea, 0xa3ed,
+  0x58e6, 0xa3e9, 0x58e1, 0xa3e5, 0x58dd, 0xa3e0, 0x58d8, 0xa3dc,
+  0x58d4, 0xa3d7, 0x58cf, 0xa3d3, 0x58cb, 0xa3cf, 0x58c6, 0xa3ca,
+  0x58c1, 0xa3c6, 0x58bd, 0xa3c2, 0x58b8, 0xa3bd, 0x58b4, 0xa3b9,
+  0x58af, 0xa3b5, 0x58ab, 0xa3b0, 0x58a6, 0xa3ac, 0x58a2, 0xa3a8,
+  0x589d, 0xa3a3, 0x5899, 0xa39f, 0x5894, 0xa39a, 0x5890, 0xa396,
+  0x588b, 0xa392, 0x5887, 0xa38d, 0x5882, 0xa389, 0x587d, 0xa385,
+  0x5879, 0xa380, 0x5874, 0xa37c, 0x5870, 0xa378, 0x586b, 0xa373,
+  0x5867, 0xa36f, 0x5862, 0xa36b, 0x585e, 0xa366, 0x5859, 0xa362,
+  0x5855, 0xa35e, 0x5850, 0xa359, 0x584b, 0xa355, 0x5847, 0xa351,
+  0x5842, 0xa34c, 0x583e, 0xa348, 0x5839, 0xa344, 0x5835, 0xa33f,
+  0x5830, 0xa33b, 0x582c, 0xa337, 0x5827, 0xa332, 0x5822, 0xa32e,
+  0x581e, 0xa32a, 0x5819, 0xa325, 0x5815, 0xa321, 0x5810, 0xa31d,
+  0x580c, 0xa318, 0x5807, 0xa314, 0x5803, 0xa310, 0x57fe, 0xa30b,
+  0x57f9, 0xa307, 0x57f5, 0xa303, 0x57f0, 0xa2ff, 0x57ec, 0xa2fa,
+  0x57e7, 0xa2f6, 0x57e3, 0xa2f2, 0x57de, 0xa2ed, 0x57d9, 0xa2e9,
+  0x57d5, 0xa2e5, 0x57d0, 0xa2e0, 0x57cc, 0xa2dc, 0x57c7, 0xa2d8,
+  0x57c3, 0xa2d3, 0x57be, 0xa2cf, 0x57b9, 0xa2cb, 0x57b5, 0xa2c6,
+  0x57b0, 0xa2c2, 0x57ac, 0xa2be, 0x57a7, 0xa2ba, 0x57a3, 0xa2b5,
+  0x579e, 0xa2b1, 0x5799, 0xa2ad, 0x5795, 0xa2a8, 0x5790, 0xa2a4,
+  0x578c, 0xa2a0, 0x5787, 0xa29b, 0x5783, 0xa297, 0x577e, 0xa293,
+  0x5779, 0xa28f, 0x5775, 0xa28a, 0x5770, 0xa286, 0x576c, 0xa282,
+  0x5767, 0xa27d, 0x5762, 0xa279, 0x575e, 0xa275, 0x5759, 0xa271,
+  0x5755, 0xa26c, 0x5750, 0xa268, 0x574b, 0xa264, 0x5747, 0xa25f,
+  0x5742, 0xa25b, 0x573e, 0xa257, 0x5739, 0xa253, 0x5734, 0xa24e,
+  0x5730, 0xa24a, 0x572b, 0xa246, 0x5727, 0xa241, 0x5722, 0xa23d,
+  0x571d, 0xa239, 0x5719, 0xa235, 0x5714, 0xa230, 0x5710, 0xa22c,
+  0x570b, 0xa228, 0x5706, 0xa224, 0x5702, 0xa21f, 0x56fd, 0xa21b,
+  0x56f9, 0xa217, 0x56f4, 0xa212, 0x56ef, 0xa20e, 0x56eb, 0xa20a,
+  0x56e6, 0xa206, 0x56e2, 0xa201, 0x56dd, 0xa1fd, 0x56d8, 0xa1f9,
+  0x56d4, 0xa1f5, 0x56cf, 0xa1f0, 0x56ca, 0xa1ec, 0x56c6, 0xa1e8,
+  0x56c1, 0xa1e4, 0x56bd, 0xa1df, 0x56b8, 0xa1db, 0x56b3, 0xa1d7,
+  0x56af, 0xa1d3, 0x56aa, 0xa1ce, 0x56a5, 0xa1ca, 0x56a1, 0xa1c6,
+  0x569c, 0xa1c1, 0x5698, 0xa1bd, 0x5693, 0xa1b9, 0x568e, 0xa1b5,
+  0x568a, 0xa1b0, 0x5685, 0xa1ac, 0x5680, 0xa1a8, 0x567c, 0xa1a4,
+  0x5677, 0xa1a0, 0x5673, 0xa19b, 0x566e, 0xa197, 0x5669, 0xa193,
+  0x5665, 0xa18f, 0x5660, 0xa18a, 0x565b, 0xa186, 0x5657, 0xa182,
+  0x5652, 0xa17e, 0x564d, 0xa179, 0x5649, 0xa175, 0x5644, 0xa171,
+  0x5640, 0xa16d, 0x563b, 0xa168, 0x5636, 0xa164, 0x5632, 0xa160,
+  0x562d, 0xa15c, 0x5628, 0xa157, 0x5624, 0xa153, 0x561f, 0xa14f,
+  0x561a, 0xa14b, 0x5616, 0xa147, 0x5611, 0xa142, 0x560c, 0xa13e,
+  0x5608, 0xa13a, 0x5603, 0xa136, 0x55fe, 0xa131, 0x55fa, 0xa12d,
+  0x55f5, 0xa129, 0x55f0, 0xa125, 0x55ec, 0xa121, 0x55e7, 0xa11c,
+  0x55e3, 0xa118, 0x55de, 0xa114, 0x55d9, 0xa110, 0x55d5, 0xa10b,
+  0x55d0, 0xa107, 0x55cb, 0xa103, 0x55c7, 0xa0ff, 0x55c2, 0xa0fb,
+  0x55bd, 0xa0f6, 0x55b9, 0xa0f2, 0x55b4, 0xa0ee, 0x55af, 0xa0ea,
+  0x55ab, 0xa0e6, 0x55a6, 0xa0e1, 0x55a1, 0xa0dd, 0x559d, 0xa0d9,
+  0x5598, 0xa0d5, 0x5593, 0xa0d1, 0x558f, 0xa0cc, 0x558a, 0xa0c8,
+  0x5585, 0xa0c4, 0x5581, 0xa0c0, 0x557c, 0xa0bc, 0x5577, 0xa0b7,
+  0x5572, 0xa0b3, 0x556e, 0xa0af, 0x5569, 0xa0ab, 0x5564, 0xa0a7,
+  0x5560, 0xa0a2, 0x555b, 0xa09e, 0x5556, 0xa09a, 0x5552, 0xa096,
+  0x554d, 0xa092, 0x5548, 0xa08e, 0x5544, 0xa089, 0x553f, 0xa085,
+  0x553a, 0xa081, 0x5536, 0xa07d, 0x5531, 0xa079, 0x552c, 0xa074,
+  0x5528, 0xa070, 0x5523, 0xa06c, 0x551e, 0xa068, 0x5519, 0xa064,
+  0x5515, 0xa060, 0x5510, 0xa05b, 0x550b, 0xa057, 0x5507, 0xa053,
+  0x5502, 0xa04f, 0x54fd, 0xa04b, 0x54f9, 0xa046, 0x54f4, 0xa042,
+  0x54ef, 0xa03e, 0x54ea, 0xa03a, 0x54e6, 0xa036, 0x54e1, 0xa032,
+  0x54dc, 0xa02d, 0x54d8, 0xa029, 0x54d3, 0xa025, 0x54ce, 0xa021,
+  0x54ca, 0xa01d, 0x54c5, 0xa019, 0x54c0, 0xa014, 0x54bb, 0xa010,
+  0x54b7, 0xa00c, 0x54b2, 0xa008, 0x54ad, 0xa004, 0x54a9, 0xa000,
+  0x54a4, 0x9ffc, 0x549f, 0x9ff7, 0x549a, 0x9ff3, 0x5496, 0x9fef,
+  0x5491, 0x9feb, 0x548c, 0x9fe7, 0x5488, 0x9fe3, 0x5483, 0x9fde,
+  0x547e, 0x9fda, 0x5479, 0x9fd6, 0x5475, 0x9fd2, 0x5470, 0x9fce,
+  0x546b, 0x9fca, 0x5467, 0x9fc6, 0x5462, 0x9fc1, 0x545d, 0x9fbd,
+  0x5458, 0x9fb9, 0x5454, 0x9fb5, 0x544f, 0x9fb1, 0x544a, 0x9fad,
+  0x5445, 0x9fa9, 0x5441, 0x9fa4, 0x543c, 0x9fa0, 0x5437, 0x9f9c,
+  0x5433, 0x9f98, 0x542e, 0x9f94, 0x5429, 0x9f90, 0x5424, 0x9f8c,
+  0x5420, 0x9f88, 0x541b, 0x9f83, 0x5416, 0x9f7f, 0x5411, 0x9f7b,
+  0x540d, 0x9f77, 0x5408, 0x9f73, 0x5403, 0x9f6f, 0x53fe, 0x9f6b,
+  0x53fa, 0x9f67, 0x53f5, 0x9f62, 0x53f0, 0x9f5e, 0x53eb, 0x9f5a,
+  0x53e7, 0x9f56, 0x53e2, 0x9f52, 0x53dd, 0x9f4e, 0x53d8, 0x9f4a,
+  0x53d4, 0x9f46, 0x53cf, 0x9f41, 0x53ca, 0x9f3d, 0x53c5, 0x9f39,
+  0x53c1, 0x9f35, 0x53bc, 0x9f31, 0x53b7, 0x9f2d, 0x53b2, 0x9f29,
+  0x53ae, 0x9f25, 0x53a9, 0x9f21, 0x53a4, 0x9f1c, 0x539f, 0x9f18,
+  0x539b, 0x9f14, 0x5396, 0x9f10, 0x5391, 0x9f0c, 0x538c, 0x9f08,
+  0x5388, 0x9f04, 0x5383, 0x9f00, 0x537e, 0x9efc, 0x5379, 0x9ef8,
+  0x5375, 0x9ef3, 0x5370, 0x9eef, 0x536b, 0x9eeb, 0x5366, 0x9ee7,
+  0x5362, 0x9ee3, 0x535d, 0x9edf, 0x5358, 0x9edb, 0x5353, 0x9ed7,
+  0x534e, 0x9ed3, 0x534a, 0x9ecf, 0x5345, 0x9ecb, 0x5340, 0x9ec6,
+  0x533b, 0x9ec2, 0x5337, 0x9ebe, 0x5332, 0x9eba, 0x532d, 0x9eb6,
+  0x5328, 0x9eb2, 0x5323, 0x9eae, 0x531f, 0x9eaa, 0x531a, 0x9ea6,
+  0x5315, 0x9ea2, 0x5310, 0x9e9e, 0x530c, 0x9e9a, 0x5307, 0x9e95,
+  0x5302, 0x9e91, 0x52fd, 0x9e8d, 0x52f8, 0x9e89, 0x52f4, 0x9e85,
+  0x52ef, 0x9e81, 0x52ea, 0x9e7d, 0x52e5, 0x9e79, 0x52e1, 0x9e75,
+  0x52dc, 0x9e71, 0x52d7, 0x9e6d, 0x52d2, 0x9e69, 0x52cd, 0x9e65,
+  0x52c9, 0x9e61, 0x52c4, 0x9e5d, 0x52bf, 0x9e58, 0x52ba, 0x9e54,
+  0x52b5, 0x9e50, 0x52b1, 0x9e4c, 0x52ac, 0x9e48, 0x52a7, 0x9e44,
+  0x52a2, 0x9e40, 0x529d, 0x9e3c, 0x5299, 0x9e38, 0x5294, 0x9e34,
+  0x528f, 0x9e30, 0x528a, 0x9e2c, 0x5285, 0x9e28, 0x5281, 0x9e24,
+  0x527c, 0x9e20, 0x5277, 0x9e1c, 0x5272, 0x9e18, 0x526d, 0x9e14,
+  0x5269, 0x9e0f, 0x5264, 0x9e0b, 0x525f, 0x9e07, 0x525a, 0x9e03,
+  0x5255, 0x9dff, 0x5251, 0x9dfb, 0x524c, 0x9df7, 0x5247, 0x9df3,
+  0x5242, 0x9def, 0x523d, 0x9deb, 0x5238, 0x9de7, 0x5234, 0x9de3,
+  0x522f, 0x9ddf, 0x522a, 0x9ddb, 0x5225, 0x9dd7, 0x5220, 0x9dd3,
+  0x521c, 0x9dcf, 0x5217, 0x9dcb, 0x5212, 0x9dc7, 0x520d, 0x9dc3,
+  0x5208, 0x9dbf, 0x5203, 0x9dbb, 0x51ff, 0x9db7, 0x51fa, 0x9db3,
+  0x51f5, 0x9daf, 0x51f0, 0x9dab, 0x51eb, 0x9da7, 0x51e6, 0x9da3,
+  0x51e2, 0x9d9f, 0x51dd, 0x9d9b, 0x51d8, 0x9d97, 0x51d3, 0x9d93,
+  0x51ce, 0x9d8f, 0x51c9, 0x9d8b, 0x51c5, 0x9d86, 0x51c0, 0x9d82,
+  0x51bb, 0x9d7e, 0x51b6, 0x9d7a, 0x51b1, 0x9d76, 0x51ac, 0x9d72,
+  0x51a8, 0x9d6e, 0x51a3, 0x9d6a, 0x519e, 0x9d66, 0x5199, 0x9d62,
+  0x5194, 0x9d5e, 0x518f, 0x9d5a, 0x518b, 0x9d56, 0x5186, 0x9d52,
+  0x5181, 0x9d4e, 0x517c, 0x9d4a, 0x5177, 0x9d46, 0x5172, 0x9d42,
+  0x516e, 0x9d3e, 0x5169, 0x9d3a, 0x5164, 0x9d36, 0x515f, 0x9d32,
+  0x515a, 0x9d2e, 0x5155, 0x9d2a, 0x5150, 0x9d26, 0x514c, 0x9d22,
+  0x5147, 0x9d1e, 0x5142, 0x9d1a, 0x513d, 0x9d16, 0x5138, 0x9d12,
+  0x5133, 0x9d0e, 0x512e, 0x9d0b, 0x512a, 0x9d07, 0x5125, 0x9d03,
+  0x5120, 0x9cff, 0x511b, 0x9cfb, 0x5116, 0x9cf7, 0x5111, 0x9cf3,
+  0x510c, 0x9cef, 0x5108, 0x9ceb, 0x5103, 0x9ce7, 0x50fe, 0x9ce3,
+  0x50f9, 0x9cdf, 0x50f4, 0x9cdb, 0x50ef, 0x9cd7, 0x50ea, 0x9cd3,
+  0x50e5, 0x9ccf, 0x50e1, 0x9ccb, 0x50dc, 0x9cc7, 0x50d7, 0x9cc3,
+  0x50d2, 0x9cbf, 0x50cd, 0x9cbb, 0x50c8, 0x9cb7, 0x50c3, 0x9cb3,
+  0x50bf, 0x9caf, 0x50ba, 0x9cab, 0x50b5, 0x9ca7, 0x50b0, 0x9ca3,
+  0x50ab, 0x9c9f, 0x50a6, 0x9c9b, 0x50a1, 0x9c97, 0x509c, 0x9c93,
+  0x5097, 0x9c8f, 0x5093, 0x9c8b, 0x508e, 0x9c88, 0x5089, 0x9c84,
+  0x5084, 0x9c80, 0x507f, 0x9c7c, 0x507a, 0x9c78, 0x5075, 0x9c74,
+  0x5070, 0x9c70, 0x506c, 0x9c6c, 0x5067, 0x9c68, 0x5062, 0x9c64,
+  0x505d, 0x9c60, 0x5058, 0x9c5c, 0x5053, 0x9c58, 0x504e, 0x9c54,
+  0x5049, 0x9c50, 0x5044, 0x9c4c, 0x503f, 0x9c48, 0x503b, 0x9c44,
+  0x5036, 0x9c40, 0x5031, 0x9c3d, 0x502c, 0x9c39, 0x5027, 0x9c35,
+  0x5022, 0x9c31, 0x501d, 0x9c2d, 0x5018, 0x9c29, 0x5013, 0x9c25,
+  0x500f, 0x9c21, 0x500a, 0x9c1d, 0x5005, 0x9c19, 0x5000, 0x9c15,
+  0x4ffb, 0x9c11, 0x4ff6, 0x9c0d, 0x4ff1, 0x9c09, 0x4fec, 0x9c06,
+  0x4fe7, 0x9c02, 0x4fe2, 0x9bfe, 0x4fdd, 0x9bfa, 0x4fd9, 0x9bf6,
+  0x4fd4, 0x9bf2, 0x4fcf, 0x9bee, 0x4fca, 0x9bea, 0x4fc5, 0x9be6,
+  0x4fc0, 0x9be2, 0x4fbb, 0x9bde, 0x4fb6, 0x9bda, 0x4fb1, 0x9bd7,
+  0x4fac, 0x9bd3, 0x4fa7, 0x9bcf, 0x4fa2, 0x9bcb, 0x4f9e, 0x9bc7,
+  0x4f99, 0x9bc3, 0x4f94, 0x9bbf, 0x4f8f, 0x9bbb, 0x4f8a, 0x9bb7,
+  0x4f85, 0x9bb3, 0x4f80, 0x9baf, 0x4f7b, 0x9bac, 0x4f76, 0x9ba8,
+  0x4f71, 0x9ba4, 0x4f6c, 0x9ba0, 0x4f67, 0x9b9c, 0x4f62, 0x9b98,
+  0x4f5e, 0x9b94, 0x4f59, 0x9b90, 0x4f54, 0x9b8c, 0x4f4f, 0x9b88,
+  0x4f4a, 0x9b85, 0x4f45, 0x9b81, 0x4f40, 0x9b7d, 0x4f3b, 0x9b79,
+  0x4f36, 0x9b75, 0x4f31, 0x9b71, 0x4f2c, 0x9b6d, 0x4f27, 0x9b69,
+  0x4f22, 0x9b65, 0x4f1d, 0x9b62, 0x4f18, 0x9b5e, 0x4f14, 0x9b5a,
+  0x4f0f, 0x9b56, 0x4f0a, 0x9b52, 0x4f05, 0x9b4e, 0x4f00, 0x9b4a,
+  0x4efb, 0x9b46, 0x4ef6, 0x9b43, 0x4ef1, 0x9b3f, 0x4eec, 0x9b3b,
+  0x4ee7, 0x9b37, 0x4ee2, 0x9b33, 0x4edd, 0x9b2f, 0x4ed8, 0x9b2b,
+  0x4ed3, 0x9b27, 0x4ece, 0x9b24, 0x4ec9, 0x9b20, 0x4ec4, 0x9b1c,
+  0x4ebf, 0x9b18, 0x4eba, 0x9b14, 0x4eb6, 0x9b10, 0x4eb1, 0x9b0c,
+  0x4eac, 0x9b09, 0x4ea7, 0x9b05, 0x4ea2, 0x9b01, 0x4e9d, 0x9afd,
+  0x4e98, 0x9af9, 0x4e93, 0x9af5, 0x4e8e, 0x9af1, 0x4e89, 0x9aed,
+  0x4e84, 0x9aea, 0x4e7f, 0x9ae6, 0x4e7a, 0x9ae2, 0x4e75, 0x9ade,
+  0x4e70, 0x9ada, 0x4e6b, 0x9ad6, 0x4e66, 0x9ad3, 0x4e61, 0x9acf,
+  0x4e5c, 0x9acb, 0x4e57, 0x9ac7, 0x4e52, 0x9ac3, 0x4e4d, 0x9abf,
+  0x4e48, 0x9abb, 0x4e43, 0x9ab8, 0x4e3e, 0x9ab4, 0x4e39, 0x9ab0,
+  0x4e34, 0x9aac, 0x4e2f, 0x9aa8, 0x4e2a, 0x9aa4, 0x4e26, 0x9aa1,
+  0x4e21, 0x9a9d, 0x4e1c, 0x9a99, 0x4e17, 0x9a95, 0x4e12, 0x9a91,
+  0x4e0d, 0x9a8d, 0x4e08, 0x9a8a, 0x4e03, 0x9a86, 0x4dfe, 0x9a82,
+  0x4df9, 0x9a7e, 0x4df4, 0x9a7a, 0x4def, 0x9a76, 0x4dea, 0x9a73,
+  0x4de5, 0x9a6f, 0x4de0, 0x9a6b, 0x4ddb, 0x9a67, 0x4dd6, 0x9a63,
+  0x4dd1, 0x9a60, 0x4dcc, 0x9a5c, 0x4dc7, 0x9a58, 0x4dc2, 0x9a54,
+  0x4dbd, 0x9a50, 0x4db8, 0x9a4c, 0x4db3, 0x9a49, 0x4dae, 0x9a45,
+  0x4da9, 0x9a41, 0x4da4, 0x9a3d, 0x4d9f, 0x9a39, 0x4d9a, 0x9a36,
+  0x4d95, 0x9a32, 0x4d90, 0x9a2e, 0x4d8b, 0x9a2a, 0x4d86, 0x9a26,
+  0x4d81, 0x9a23, 0x4d7c, 0x9a1f, 0x4d77, 0x9a1b, 0x4d72, 0x9a17,
+  0x4d6d, 0x9a13, 0x4d68, 0x9a10, 0x4d63, 0x9a0c, 0x4d5e, 0x9a08,
+  0x4d59, 0x9a04, 0x4d54, 0x9a00, 0x4d4f, 0x99fd, 0x4d4a, 0x99f9,
+  0x4d45, 0x99f5, 0x4d40, 0x99f1, 0x4d3b, 0x99ed, 0x4d36, 0x99ea,
+  0x4d31, 0x99e6, 0x4d2c, 0x99e2, 0x4d27, 0x99de, 0x4d22, 0x99da,
+  0x4d1d, 0x99d7, 0x4d18, 0x99d3, 0x4d13, 0x99cf, 0x4d0e, 0x99cb,
+  0x4d09, 0x99c7, 0x4d04, 0x99c4, 0x4cff, 0x99c0, 0x4cfa, 0x99bc,
+  0x4cf5, 0x99b8, 0x4cf0, 0x99b5, 0x4ceb, 0x99b1, 0x4ce6, 0x99ad,
+  0x4ce1, 0x99a9, 0x4cdb, 0x99a5, 0x4cd6, 0x99a2, 0x4cd1, 0x999e,
+  0x4ccc, 0x999a, 0x4cc7, 0x9996, 0x4cc2, 0x9993, 0x4cbd, 0x998f,
+  0x4cb8, 0x998b, 0x4cb3, 0x9987, 0x4cae, 0x9984, 0x4ca9, 0x9980,
+  0x4ca4, 0x997c, 0x4c9f, 0x9978, 0x4c9a, 0x9975, 0x4c95, 0x9971,
+  0x4c90, 0x996d, 0x4c8b, 0x9969, 0x4c86, 0x9965, 0x4c81, 0x9962,
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+  0x3e93, 0x9057, 0x3e8e, 0x9054, 0x3e88, 0x9051, 0x3e83, 0x904e,
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+  0x3e68, 0x903f, 0x3e62, 0x903c, 0x3e5d, 0x9039, 0x3e57, 0x9036,
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+  0x3e26, 0x901a, 0x3e20, 0x9017, 0x3e1b, 0x9014, 0x3e15, 0x9011,
+  0x3e10, 0x900e, 0x3e0a, 0x900b, 0x3e05, 0x9008, 0x3dff, 0x9005,
+  0x3dfa, 0x9002, 0x3df4, 0x8fff, 0x3def, 0x8ffc, 0x3de9, 0x8ff9,
+  0x3de4, 0x8ff6, 0x3dde, 0x8ff3, 0x3dd9, 0x8ff0, 0x3dd3, 0x8fed,
+  0x3dce, 0x8fea, 0x3dc8, 0x8fe7, 0x3dc3, 0x8fe3, 0x3dbd, 0x8fe0,
+  0x3db8, 0x8fdd, 0x3db2, 0x8fda, 0x3dad, 0x8fd7, 0x3da7, 0x8fd4,
+  0x3da2, 0x8fd1, 0x3d9c, 0x8fce, 0x3d97, 0x8fcb, 0x3d91, 0x8fc8,
+  0x3d8c, 0x8fc5, 0x3d86, 0x8fc2, 0x3d81, 0x8fbf, 0x3d7b, 0x8fbc,
+  0x3d76, 0x8fb9, 0x3d70, 0x8fb6, 0x3d6b, 0x8fb3, 0x3d65, 0x8fb0,
+  0x3d60, 0x8fad, 0x3d5a, 0x8faa, 0x3d55, 0x8fa7, 0x3d4f, 0x8fa4,
+  0x3d49, 0x8fa1, 0x3d44, 0x8f9e, 0x3d3e, 0x8f9b, 0x3d39, 0x8f98,
+  0x3d33, 0x8f95, 0x3d2e, 0x8f92, 0x3d28, 0x8f8f, 0x3d23, 0x8f8c,
+  0x3d1d, 0x8f89, 0x3d18, 0x8f86, 0x3d12, 0x8f83, 0x3d0d, 0x8f80,
+  0x3d07, 0x8f7d, 0x3d02, 0x8f7a, 0x3cfc, 0x8f77, 0x3cf7, 0x8f74,
+  0x3cf1, 0x8f71, 0x3cec, 0x8f6e, 0x3ce6, 0x8f6b, 0x3ce1, 0x8f68,
+  0x3cdb, 0x8f65, 0x3cd6, 0x8f62, 0x3cd0, 0x8f5f, 0x3cca, 0x8f5c,
+  0x3cc5, 0x8f59, 0x3cbf, 0x8f56, 0x3cba, 0x8f53, 0x3cb4, 0x8f50,
+  0x3caf, 0x8f4d, 0x3ca9, 0x8f4a, 0x3ca4, 0x8f47, 0x3c9e, 0x8f44,
+  0x3c99, 0x8f41, 0x3c93, 0x8f3e, 0x3c8e, 0x8f3b, 0x3c88, 0x8f38,
+  0x3c83, 0x8f35, 0x3c7d, 0x8f32, 0x3c77, 0x8f2f, 0x3c72, 0x8f2d,
+  0x3c6c, 0x8f2a, 0x3c67, 0x8f27, 0x3c61, 0x8f24, 0x3c5c, 0x8f21,
+  0x3c56, 0x8f1e, 0x3c51, 0x8f1b, 0x3c4b, 0x8f18, 0x3c46, 0x8f15,
+  0x3c40, 0x8f12, 0x3c3b, 0x8f0f, 0x3c35, 0x8f0c, 0x3c2f, 0x8f09,
+  0x3c2a, 0x8f06, 0x3c24, 0x8f03, 0x3c1f, 0x8f00, 0x3c19, 0x8efd,
+  0x3c14, 0x8efa, 0x3c0e, 0x8ef7, 0x3c09, 0x8ef4, 0x3c03, 0x8ef1,
+  0x3bfd, 0x8eee, 0x3bf8, 0x8eec, 0x3bf2, 0x8ee9, 0x3bed, 0x8ee6,
+  0x3be7, 0x8ee3, 0x3be2, 0x8ee0, 0x3bdc, 0x8edd, 0x3bd7, 0x8eda,
+  0x3bd1, 0x8ed7, 0x3bcc, 0x8ed4, 0x3bc6, 0x8ed1, 0x3bc0, 0x8ece,
+  0x3bbb, 0x8ecb, 0x3bb5, 0x8ec8, 0x3bb0, 0x8ec5, 0x3baa, 0x8ec2,
+  0x3ba5, 0x8ebf, 0x3b9f, 0x8ebd, 0x3b99, 0x8eba, 0x3b94, 0x8eb7,
+  0x3b8e, 0x8eb4, 0x3b89, 0x8eb1, 0x3b83, 0x8eae, 0x3b7e, 0x8eab,
+  0x3b78, 0x8ea8, 0x3b73, 0x8ea5, 0x3b6d, 0x8ea2, 0x3b67, 0x8e9f,
+  0x3b62, 0x8e9c, 0x3b5c, 0x8e99, 0x3b57, 0x8e97, 0x3b51, 0x8e94,
+  0x3b4c, 0x8e91, 0x3b46, 0x8e8e, 0x3b40, 0x8e8b, 0x3b3b, 0x8e88,
+  0x3b35, 0x8e85, 0x3b30, 0x8e82, 0x3b2a, 0x8e7f, 0x3b25, 0x8e7c,
+  0x3b1f, 0x8e7a, 0x3b19, 0x8e77, 0x3b14, 0x8e74, 0x3b0e, 0x8e71,
+  0x3b09, 0x8e6e, 0x3b03, 0x8e6b, 0x3afe, 0x8e68, 0x3af8, 0x8e65,
+  0x3af2, 0x8e62, 0x3aed, 0x8e5f, 0x3ae7, 0x8e5d, 0x3ae2, 0x8e5a,
+  0x3adc, 0x8e57, 0x3ad7, 0x8e54, 0x3ad1, 0x8e51, 0x3acb, 0x8e4e,
+  0x3ac6, 0x8e4b, 0x3ac0, 0x8e48, 0x3abb, 0x8e45, 0x3ab5, 0x8e43,
+  0x3aaf, 0x8e40, 0x3aaa, 0x8e3d, 0x3aa4, 0x8e3a, 0x3a9f, 0x8e37,
+  0x3a99, 0x8e34, 0x3a94, 0x8e31, 0x3a8e, 0x8e2e, 0x3a88, 0x8e2c,
+  0x3a83, 0x8e29, 0x3a7d, 0x8e26, 0x3a78, 0x8e23, 0x3a72, 0x8e20,
+  0x3a6c, 0x8e1d, 0x3a67, 0x8e1a, 0x3a61, 0x8e17, 0x3a5c, 0x8e15,
+  0x3a56, 0x8e12, 0x3a50, 0x8e0f, 0x3a4b, 0x8e0c, 0x3a45, 0x8e09,
+  0x3a40, 0x8e06, 0x3a3a, 0x8e03, 0x3a34, 0x8e01, 0x3a2f, 0x8dfe,
+  0x3a29, 0x8dfb, 0x3a24, 0x8df8, 0x3a1e, 0x8df5, 0x3a19, 0x8df2,
+  0x3a13, 0x8def, 0x3a0d, 0x8ded, 0x3a08, 0x8dea, 0x3a02, 0x8de7,
+  0x39fd, 0x8de4, 0x39f7, 0x8de1, 0x39f1, 0x8dde, 0x39ec, 0x8ddc,
+  0x39e6, 0x8dd9, 0x39e0, 0x8dd6, 0x39db, 0x8dd3, 0x39d5, 0x8dd0,
+  0x39d0, 0x8dcd, 0x39ca, 0x8dca, 0x39c4, 0x8dc8, 0x39bf, 0x8dc5,
+  0x39b9, 0x8dc2, 0x39b4, 0x8dbf, 0x39ae, 0x8dbc, 0x39a8, 0x8db9,
+  0x39a3, 0x8db7, 0x399d, 0x8db4, 0x3998, 0x8db1, 0x3992, 0x8dae,
+  0x398c, 0x8dab, 0x3987, 0x8da9, 0x3981, 0x8da6, 0x397c, 0x8da3,
+  0x3976, 0x8da0, 0x3970, 0x8d9d, 0x396b, 0x8d9a, 0x3965, 0x8d98,
+  0x395f, 0x8d95, 0x395a, 0x8d92, 0x3954, 0x8d8f, 0x394f, 0x8d8c,
+  0x3949, 0x8d8a, 0x3943, 0x8d87, 0x393e, 0x8d84, 0x3938, 0x8d81,
+  0x3932, 0x8d7e, 0x392d, 0x8d7b, 0x3927, 0x8d79, 0x3922, 0x8d76,
+  0x391c, 0x8d73, 0x3916, 0x8d70, 0x3911, 0x8d6d, 0x390b, 0x8d6b,
+  0x3906, 0x8d68, 0x3900, 0x8d65, 0x38fa, 0x8d62, 0x38f5, 0x8d5f,
+  0x38ef, 0x8d5d, 0x38e9, 0x8d5a, 0x38e4, 0x8d57, 0x38de, 0x8d54,
+  0x38d8, 0x8d51, 0x38d3, 0x8d4f, 0x38cd, 0x8d4c, 0x38c8, 0x8d49,
+  0x38c2, 0x8d46, 0x38bc, 0x8d44, 0x38b7, 0x8d41, 0x38b1, 0x8d3e,
+  0x38ab, 0x8d3b, 0x38a6, 0x8d38, 0x38a0, 0x8d36, 0x389b, 0x8d33,
+  0x3895, 0x8d30, 0x388f, 0x8d2d, 0x388a, 0x8d2b, 0x3884, 0x8d28,
+  0x387e, 0x8d25, 0x3879, 0x8d22, 0x3873, 0x8d1f, 0x386d, 0x8d1d,
+  0x3868, 0x8d1a, 0x3862, 0x8d17, 0x385d, 0x8d14, 0x3857, 0x8d12,
+  0x3851, 0x8d0f, 0x384c, 0x8d0c, 0x3846, 0x8d09, 0x3840, 0x8d07,
+  0x383b, 0x8d04, 0x3835, 0x8d01, 0x382f, 0x8cfe, 0x382a, 0x8cfb,
+  0x3824, 0x8cf9, 0x381e, 0x8cf6, 0x3819, 0x8cf3, 0x3813, 0x8cf0,
+  0x380d, 0x8cee, 0x3808, 0x8ceb, 0x3802, 0x8ce8, 0x37fd, 0x8ce5,
+  0x37f7, 0x8ce3, 0x37f1, 0x8ce0, 0x37ec, 0x8cdd, 0x37e6, 0x8cda,
+  0x37e0, 0x8cd8, 0x37db, 0x8cd5, 0x37d5, 0x8cd2, 0x37cf, 0x8cd0,
+  0x37ca, 0x8ccd, 0x37c4, 0x8cca, 0x37be, 0x8cc7, 0x37b9, 0x8cc5,
+  0x37b3, 0x8cc2, 0x37ad, 0x8cbf, 0x37a8, 0x8cbc, 0x37a2, 0x8cba,
+  0x379c, 0x8cb7, 0x3797, 0x8cb4, 0x3791, 0x8cb1, 0x378b, 0x8caf,
+  0x3786, 0x8cac, 0x3780, 0x8ca9, 0x377a, 0x8ca7, 0x3775, 0x8ca4,
+  0x376f, 0x8ca1, 0x3769, 0x8c9e, 0x3764, 0x8c9c, 0x375e, 0x8c99,
+  0x3758, 0x8c96, 0x3753, 0x8c94, 0x374d, 0x8c91, 0x3747, 0x8c8e,
+  0x3742, 0x8c8b, 0x373c, 0x8c89, 0x3736, 0x8c86, 0x3731, 0x8c83,
+  0x372b, 0x8c81, 0x3725, 0x8c7e, 0x3720, 0x8c7b, 0x371a, 0x8c78,
+  0x3714, 0x8c76, 0x370f, 0x8c73, 0x3709, 0x8c70, 0x3703, 0x8c6e,
+  0x36fe, 0x8c6b, 0x36f8, 0x8c68, 0x36f2, 0x8c65, 0x36ed, 0x8c63,
+  0x36e7, 0x8c60, 0x36e1, 0x8c5d, 0x36dc, 0x8c5b, 0x36d6, 0x8c58,
+  0x36d0, 0x8c55, 0x36cb, 0x8c53, 0x36c5, 0x8c50, 0x36bf, 0x8c4d,
+  0x36ba, 0x8c4b, 0x36b4, 0x8c48, 0x36ae, 0x8c45, 0x36a9, 0x8c43,
+  0x36a3, 0x8c40, 0x369d, 0x8c3d, 0x3698, 0x8c3a, 0x3692, 0x8c38,
+  0x368c, 0x8c35, 0x3686, 0x8c32, 0x3681, 0x8c30, 0x367b, 0x8c2d,
+  0x3675, 0x8c2a, 0x3670, 0x8c28, 0x366a, 0x8c25, 0x3664, 0x8c22,
+  0x365f, 0x8c20, 0x3659, 0x8c1d, 0x3653, 0x8c1a, 0x364e, 0x8c18,
+  0x3648, 0x8c15, 0x3642, 0x8c12, 0x363d, 0x8c10, 0x3637, 0x8c0d,
+  0x3631, 0x8c0a, 0x362b, 0x8c08, 0x3626, 0x8c05, 0x3620, 0x8c02,
+  0x361a, 0x8c00, 0x3615, 0x8bfd, 0x360f, 0x8bfa, 0x3609, 0x8bf8,
+  0x3604, 0x8bf5, 0x35fe, 0x8bf3, 0x35f8, 0x8bf0, 0x35f3, 0x8bed,
+  0x35ed, 0x8beb, 0x35e7, 0x8be8, 0x35e1, 0x8be5, 0x35dc, 0x8be3,
+  0x35d6, 0x8be0, 0x35d0, 0x8bdd, 0x35cb, 0x8bdb, 0x35c5, 0x8bd8,
+  0x35bf, 0x8bd5, 0x35ba, 0x8bd3, 0x35b4, 0x8bd0, 0x35ae, 0x8bce,
+  0x35a8, 0x8bcb, 0x35a3, 0x8bc8, 0x359d, 0x8bc6, 0x3597, 0x8bc3,
+  0x3592, 0x8bc0, 0x358c, 0x8bbe, 0x3586, 0x8bbb, 0x3580, 0x8bb8,
+  0x357b, 0x8bb6, 0x3575, 0x8bb3, 0x356f, 0x8bb1, 0x356a, 0x8bae,
+  0x3564, 0x8bab, 0x355e, 0x8ba9, 0x3558, 0x8ba6, 0x3553, 0x8ba4,
+  0x354d, 0x8ba1, 0x3547, 0x8b9e, 0x3542, 0x8b9c, 0x353c, 0x8b99,
+  0x3536, 0x8b96, 0x3530, 0x8b94, 0x352b, 0x8b91, 0x3525, 0x8b8f,
+  0x351f, 0x8b8c, 0x351a, 0x8b89, 0x3514, 0x8b87, 0x350e, 0x8b84,
+  0x3508, 0x8b82, 0x3503, 0x8b7f, 0x34fd, 0x8b7c, 0x34f7, 0x8b7a,
+  0x34f2, 0x8b77, 0x34ec, 0x8b75, 0x34e6, 0x8b72, 0x34e0, 0x8b6f,
+  0x34db, 0x8b6d, 0x34d5, 0x8b6a, 0x34cf, 0x8b68, 0x34ca, 0x8b65,
+  0x34c4, 0x8b62, 0x34be, 0x8b60, 0x34b8, 0x8b5d, 0x34b3, 0x8b5b,
+  0x34ad, 0x8b58, 0x34a7, 0x8b55, 0x34a1, 0x8b53, 0x349c, 0x8b50,
+  0x3496, 0x8b4e, 0x3490, 0x8b4b, 0x348b, 0x8b49, 0x3485, 0x8b46,
+  0x347f, 0x8b43, 0x3479, 0x8b41, 0x3474, 0x8b3e, 0x346e, 0x8b3c,
+  0x3468, 0x8b39, 0x3462, 0x8b37, 0x345d, 0x8b34, 0x3457, 0x8b31,
+  0x3451, 0x8b2f, 0x344b, 0x8b2c, 0x3446, 0x8b2a, 0x3440, 0x8b27,
+  0x343a, 0x8b25, 0x3435, 0x8b22, 0x342f, 0x8b1f, 0x3429, 0x8b1d,
+  0x3423, 0x8b1a, 0x341e, 0x8b18, 0x3418, 0x8b15, 0x3412, 0x8b13,
+  0x340c, 0x8b10, 0x3407, 0x8b0e, 0x3401, 0x8b0b, 0x33fb, 0x8b08,
+  0x33f5, 0x8b06, 0x33f0, 0x8b03, 0x33ea, 0x8b01, 0x33e4, 0x8afe,
+  0x33de, 0x8afc, 0x33d9, 0x8af9, 0x33d3, 0x8af7, 0x33cd, 0x8af4,
+  0x33c7, 0x8af1, 0x33c2, 0x8aef, 0x33bc, 0x8aec, 0x33b6, 0x8aea,
+  0x33b0, 0x8ae7, 0x33ab, 0x8ae5, 0x33a5, 0x8ae2, 0x339f, 0x8ae0,
+  0x3399, 0x8add, 0x3394, 0x8adb, 0x338e, 0x8ad8, 0x3388, 0x8ad6,
+  0x3382, 0x8ad3, 0x337d, 0x8ad1, 0x3377, 0x8ace, 0x3371, 0x8acb,
+  0x336b, 0x8ac9, 0x3366, 0x8ac6, 0x3360, 0x8ac4, 0x335a, 0x8ac1,
+  0x3354, 0x8abf, 0x334f, 0x8abc, 0x3349, 0x8aba, 0x3343, 0x8ab7,
+  0x333d, 0x8ab5, 0x3338, 0x8ab2, 0x3332, 0x8ab0, 0x332c, 0x8aad,
+  0x3326, 0x8aab, 0x3321, 0x8aa8, 0x331b, 0x8aa6, 0x3315, 0x8aa3,
+  0x330f, 0x8aa1, 0x330a, 0x8a9e, 0x3304, 0x8a9c, 0x32fe, 0x8a99,
+  0x32f8, 0x8a97, 0x32f3, 0x8a94, 0x32ed, 0x8a92, 0x32e7, 0x8a8f,
+  0x32e1, 0x8a8d, 0x32db, 0x8a8a, 0x32d6, 0x8a88, 0x32d0, 0x8a85,
+  0x32ca, 0x8a83, 0x32c4, 0x8a80, 0x32bf, 0x8a7e, 0x32b9, 0x8a7b,
+  0x32b3, 0x8a79, 0x32ad, 0x8a76, 0x32a8, 0x8a74, 0x32a2, 0x8a71,
+  0x329c, 0x8a6f, 0x3296, 0x8a6c, 0x3290, 0x8a6a, 0x328b, 0x8a67,
+  0x3285, 0x8a65, 0x327f, 0x8a62, 0x3279, 0x8a60, 0x3274, 0x8a5d,
+  0x326e, 0x8a5b, 0x3268, 0x8a59, 0x3262, 0x8a56, 0x325d, 0x8a54,
+  0x3257, 0x8a51, 0x3251, 0x8a4f, 0x324b, 0x8a4c, 0x3245, 0x8a4a,
+  0x3240, 0x8a47, 0x323a, 0x8a45, 0x3234, 0x8a42, 0x322e, 0x8a40,
+  0x3228, 0x8a3d, 0x3223, 0x8a3b, 0x321d, 0x8a38, 0x3217, 0x8a36,
+  0x3211, 0x8a34, 0x320c, 0x8a31, 0x3206, 0x8a2f, 0x3200, 0x8a2c,
+  0x31fa, 0x8a2a, 0x31f4, 0x8a27, 0x31ef, 0x8a25, 0x31e9, 0x8a22,
+  0x31e3, 0x8a20, 0x31dd, 0x8a1d, 0x31d8, 0x8a1b, 0x31d2, 0x8a19,
+  0x31cc, 0x8a16, 0x31c6, 0x8a14, 0x31c0, 0x8a11, 0x31bb, 0x8a0f,
+  0x31b5, 0x8a0c, 0x31af, 0x8a0a, 0x31a9, 0x8a07, 0x31a3, 0x8a05,
+  0x319e, 0x8a03, 0x3198, 0x8a00, 0x3192, 0x89fe, 0x318c, 0x89fb,
+  0x3186, 0x89f9, 0x3181, 0x89f6, 0x317b, 0x89f4, 0x3175, 0x89f2,
+  0x316f, 0x89ef, 0x3169, 0x89ed, 0x3164, 0x89ea, 0x315e, 0x89e8,
+  0x3158, 0x89e5, 0x3152, 0x89e3, 0x314c, 0x89e1, 0x3147, 0x89de,
+  0x3141, 0x89dc, 0x313b, 0x89d9, 0x3135, 0x89d7, 0x312f, 0x89d5,
+  0x312a, 0x89d2, 0x3124, 0x89d0, 0x311e, 0x89cd, 0x3118, 0x89cb,
+  0x3112, 0x89c8, 0x310d, 0x89c6, 0x3107, 0x89c4, 0x3101, 0x89c1,
+  0x30fb, 0x89bf, 0x30f5, 0x89bc, 0x30f0, 0x89ba, 0x30ea, 0x89b8,
+  0x30e4, 0x89b5, 0x30de, 0x89b3, 0x30d8, 0x89b0, 0x30d3, 0x89ae,
+  0x30cd, 0x89ac, 0x30c7, 0x89a9, 0x30c1, 0x89a7, 0x30bb, 0x89a4,
+  0x30b6, 0x89a2, 0x30b0, 0x89a0, 0x30aa, 0x899d, 0x30a4, 0x899b,
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+  0x1fdc, 0x8408, 0x1fd6, 0x8406, 0x1fd0, 0x8405, 0x1fca, 0x8403,
+  0x1fc4, 0x8402, 0x1fbe, 0x8400, 0x1fb8, 0x83ff, 0x1fb2, 0x83fd,
+  0x1fac, 0x83fb, 0x1fa6, 0x83fa, 0x1f9f, 0x83f8, 0x1f99, 0x83f7,
+  0x1f93, 0x83f5, 0x1f8d, 0x83f4, 0x1f87, 0x83f2, 0x1f81, 0x83f1,
+  0x1f7b, 0x83ef, 0x1f75, 0x83ee, 0x1f6f, 0x83ec, 0x1f69, 0x83ea,
+  0x1f63, 0x83e9, 0x1f5d, 0x83e7, 0x1f56, 0x83e6, 0x1f50, 0x83e4,
+  0x1f4a, 0x83e3, 0x1f44, 0x83e1, 0x1f3e, 0x83e0, 0x1f38, 0x83de,
+  0x1f32, 0x83dd, 0x1f2c, 0x83db, 0x1f26, 0x83da, 0x1f20, 0x83d8,
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+  0x1f01, 0x83d0, 0x1efb, 0x83cf, 0x1ef5, 0x83cd, 0x1eef, 0x83cc,
+  0x1ee9, 0x83ca, 0x1ee3, 0x83c9, 0x1edd, 0x83c7, 0x1ed6, 0x83c6,
+  0x1ed0, 0x83c4, 0x1eca, 0x83c3, 0x1ec4, 0x83c1, 0x1ebe, 0x83c0,
+  0x1eb8, 0x83be, 0x1eb2, 0x83bd, 0x1eac, 0x83bb, 0x1ea6, 0x83ba,
+  0x1ea0, 0x83b8, 0x1e99, 0x83b7, 0x1e93, 0x83b5, 0x1e8d, 0x83b4,
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+  0x1e3e, 0x83a0, 0x1e38, 0x839f, 0x1e32, 0x839d, 0x1e2c, 0x839c,
+  0x1e25, 0x839a, 0x1e1f, 0x8399, 0x1e19, 0x8397, 0x1e13, 0x8396,
+  0x1e0d, 0x8394, 0x1e07, 0x8393, 0x1e01, 0x8392, 0x1dfb, 0x8390,
+  0x1df5, 0x838f, 0x1dee, 0x838d, 0x1de8, 0x838c, 0x1de2, 0x838a,
+  0x1ddc, 0x8389, 0x1dd6, 0x8387, 0x1dd0, 0x8386, 0x1dca, 0x8384,
+  0x1dc4, 0x8383, 0x1dbe, 0x8381, 0x1db7, 0x8380, 0x1db1, 0x837e,
+  0x1dab, 0x837d, 0x1da5, 0x837c, 0x1d9f, 0x837a, 0x1d99, 0x8379,
+  0x1d93, 0x8377, 0x1d8d, 0x8376, 0x1d87, 0x8374, 0x1d80, 0x8373,
+  0x1d7a, 0x8371, 0x1d74, 0x8370, 0x1d6e, 0x836f, 0x1d68, 0x836d,
+  0x1d62, 0x836c, 0x1d5c, 0x836a, 0x1d56, 0x8369, 0x1d50, 0x8367,
+  0x1d49, 0x8366, 0x1d43, 0x8364, 0x1d3d, 0x8363, 0x1d37, 0x8362,
+  0x1d31, 0x8360, 0x1d2b, 0x835f, 0x1d25, 0x835d, 0x1d1f, 0x835c,
+  0x1d18, 0x835a, 0x1d12, 0x8359, 0x1d0c, 0x8358, 0x1d06, 0x8356,
+  0x1d00, 0x8355, 0x1cfa, 0x8353, 0x1cf4, 0x8352, 0x1cee, 0x8350,
+  0x1ce8, 0x834f, 0x1ce1, 0x834e, 0x1cdb, 0x834c, 0x1cd5, 0x834b,
+  0x1ccf, 0x8349, 0x1cc9, 0x8348, 0x1cc3, 0x8347, 0x1cbd, 0x8345,
+  0x1cb7, 0x8344, 0x1cb0, 0x8342, 0x1caa, 0x8341, 0x1ca4, 0x833f,
+  0x1c9e, 0x833e, 0x1c98, 0x833d, 0x1c92, 0x833b, 0x1c8c, 0x833a,
+  0x1c86, 0x8338, 0x1c7f, 0x8337, 0x1c79, 0x8336, 0x1c73, 0x8334,
+  0x1c6d, 0x8333, 0x1c67, 0x8331, 0x1c61, 0x8330, 0x1c5b, 0x832f,
+  0x1c55, 0x832d, 0x1c4e, 0x832c, 0x1c48, 0x832b, 0x1c42, 0x8329,
+  0x1c3c, 0x8328, 0x1c36, 0x8326, 0x1c30, 0x8325, 0x1c2a, 0x8324,
+  0x1c24, 0x8322, 0x1c1d, 0x8321, 0x1c17, 0x831f, 0x1c11, 0x831e,
+  0x1c0b, 0x831d, 0x1c05, 0x831b, 0x1bff, 0x831a, 0x1bf9, 0x8319,
+  0x1bf2, 0x8317, 0x1bec, 0x8316, 0x1be6, 0x8314, 0x1be0, 0x8313,
+  0x1bda, 0x8312, 0x1bd4, 0x8310, 0x1bce, 0x830f, 0x1bc8, 0x830e,
+  0x1bc1, 0x830c, 0x1bbb, 0x830b, 0x1bb5, 0x830a, 0x1baf, 0x8308,
+  0x1ba9, 0x8307, 0x1ba3, 0x8305, 0x1b9d, 0x8304, 0x1b96, 0x8303,
+  0x1b90, 0x8301, 0x1b8a, 0x8300, 0x1b84, 0x82ff, 0x1b7e, 0x82fd,
+  0x1b78, 0x82fc, 0x1b72, 0x82fb, 0x1b6c, 0x82f9, 0x1b65, 0x82f8,
+  0x1b5f, 0x82f7, 0x1b59, 0x82f5, 0x1b53, 0x82f4, 0x1b4d, 0x82f3,
+  0x1b47, 0x82f1, 0x1b41, 0x82f0, 0x1b3a, 0x82ef, 0x1b34, 0x82ed,
+  0x1b2e, 0x82ec, 0x1b28, 0x82eb, 0x1b22, 0x82e9, 0x1b1c, 0x82e8,
+  0x1b16, 0x82e7, 0x1b0f, 0x82e5, 0x1b09, 0x82e4, 0x1b03, 0x82e3,
+  0x1afd, 0x82e1, 0x1af7, 0x82e0, 0x1af1, 0x82df, 0x1aeb, 0x82dd,
+  0x1ae4, 0x82dc, 0x1ade, 0x82db, 0x1ad8, 0x82d9, 0x1ad2, 0x82d8,
+  0x1acc, 0x82d7, 0x1ac6, 0x82d5, 0x1ac0, 0x82d4, 0x1ab9, 0x82d3,
+  0x1ab3, 0x82d1, 0x1aad, 0x82d0, 0x1aa7, 0x82cf, 0x1aa1, 0x82ce,
+  0x1a9b, 0x82cc, 0x1a95, 0x82cb, 0x1a8e, 0x82ca, 0x1a88, 0x82c8,
+  0x1a82, 0x82c7, 0x1a7c, 0x82c6, 0x1a76, 0x82c4, 0x1a70, 0x82c3,
+  0x1a6a, 0x82c2, 0x1a63, 0x82c1, 0x1a5d, 0x82bf, 0x1a57, 0x82be,
+  0x1a51, 0x82bd, 0x1a4b, 0x82bb, 0x1a45, 0x82ba, 0x1a3e, 0x82b9,
+  0x1a38, 0x82b7, 0x1a32, 0x82b6, 0x1a2c, 0x82b5, 0x1a26, 0x82b4,
+  0x1a20, 0x82b2, 0x1a1a, 0x82b1, 0x1a13, 0x82b0, 0x1a0d, 0x82ae,
+  0x1a07, 0x82ad, 0x1a01, 0x82ac, 0x19fb, 0x82ab, 0x19f5, 0x82a9,
+  0x19ef, 0x82a8, 0x19e8, 0x82a7, 0x19e2, 0x82a6, 0x19dc, 0x82a4,
+  0x19d6, 0x82a3, 0x19d0, 0x82a2, 0x19ca, 0x82a0, 0x19c3, 0x829f,
+  0x19bd, 0x829e, 0x19b7, 0x829d, 0x19b1, 0x829b, 0x19ab, 0x829a,
+  0x19a5, 0x8299, 0x199f, 0x8298, 0x1998, 0x8296, 0x1992, 0x8295,
+  0x198c, 0x8294, 0x1986, 0x8293, 0x1980, 0x8291, 0x197a, 0x8290,
+  0x1973, 0x828f, 0x196d, 0x828e, 0x1967, 0x828c, 0x1961, 0x828b,
+  0x195b, 0x828a, 0x1955, 0x8289, 0x194e, 0x8287, 0x1948, 0x8286,
+  0x1942, 0x8285, 0x193c, 0x8284, 0x1936, 0x8282, 0x1930, 0x8281,
+  0x192a, 0x8280, 0x1923, 0x827f, 0x191d, 0x827e, 0x1917, 0x827c,
+  0x1911, 0x827b, 0x190b, 0x827a, 0x1905, 0x8279, 0x18fe, 0x8277,
+  0x18f8, 0x8276, 0x18f2, 0x8275, 0x18ec, 0x8274, 0x18e6, 0x8272,
+  0x18e0, 0x8271, 0x18d9, 0x8270, 0x18d3, 0x826f, 0x18cd, 0x826e,
+  0x18c7, 0x826c, 0x18c1, 0x826b, 0x18bb, 0x826a, 0x18b4, 0x8269,
+  0x18ae, 0x8268, 0x18a8, 0x8266, 0x18a2, 0x8265, 0x189c, 0x8264,
+  0x1896, 0x8263, 0x188f, 0x8261, 0x1889, 0x8260, 0x1883, 0x825f,
+  0x187d, 0x825e, 0x1877, 0x825d, 0x1871, 0x825b, 0x186a, 0x825a,
+  0x1864, 0x8259, 0x185e, 0x8258, 0x1858, 0x8257, 0x1852, 0x8255,
+  0x184c, 0x8254, 0x1845, 0x8253, 0x183f, 0x8252, 0x1839, 0x8251,
+  0x1833, 0x8250, 0x182d, 0x824e, 0x1827, 0x824d, 0x1820, 0x824c,
+  0x181a, 0x824b, 0x1814, 0x824a, 0x180e, 0x8248, 0x1808, 0x8247,
+  0x1802, 0x8246, 0x17fb, 0x8245, 0x17f5, 0x8244, 0x17ef, 0x8243,
+  0x17e9, 0x8241, 0x17e3, 0x8240, 0x17dd, 0x823f, 0x17d6, 0x823e,
+  0x17d0, 0x823d, 0x17ca, 0x823b, 0x17c4, 0x823a, 0x17be, 0x8239,
+  0x17b7, 0x8238, 0x17b1, 0x8237, 0x17ab, 0x8236, 0x17a5, 0x8234,
+  0x179f, 0x8233, 0x1799, 0x8232, 0x1792, 0x8231, 0x178c, 0x8230,
+  0x1786, 0x822f, 0x1780, 0x822e, 0x177a, 0x822c, 0x1774, 0x822b,
+  0x176d, 0x822a, 0x1767, 0x8229, 0x1761, 0x8228, 0x175b, 0x8227,
+  0x1755, 0x8226, 0x174e, 0x8224, 0x1748, 0x8223, 0x1742, 0x8222,
+  0x173c, 0x8221, 0x1736, 0x8220, 0x1730, 0x821f, 0x1729, 0x821e,
+  0x1723, 0x821c, 0x171d, 0x821b, 0x1717, 0x821a, 0x1711, 0x8219,
+  0x170a, 0x8218, 0x1704, 0x8217, 0x16fe, 0x8216, 0x16f8, 0x8214,
+  0x16f2, 0x8213, 0x16ec, 0x8212, 0x16e5, 0x8211, 0x16df, 0x8210,
+  0x16d9, 0x820f, 0x16d3, 0x820e, 0x16cd, 0x820d, 0x16c6, 0x820b,
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+  0x16a8, 0x8206, 0x16a1, 0x8205, 0x169b, 0x8204, 0x1695, 0x8203,
+  0x168f, 0x8201, 0x1689, 0x8200, 0x1682, 0x81ff, 0x167c, 0x81fe,
+  0x1676, 0x81fd, 0x1670, 0x81fc, 0x166a, 0x81fb, 0x1664, 0x81fa,
+  0x165d, 0x81f9, 0x1657, 0x81f8, 0x1651, 0x81f6, 0x164b, 0x81f5,
+  0x1645, 0x81f4, 0x163e, 0x81f3, 0x1638, 0x81f2, 0x1632, 0x81f1,
+  0x162c, 0x81f0, 0x1626, 0x81ef, 0x161f, 0x81ee, 0x1619, 0x81ed,
+  0x1613, 0x81ec, 0x160d, 0x81ea, 0x1607, 0x81e9, 0x1601, 0x81e8,
+  0x15fa, 0x81e7, 0x15f4, 0x81e6, 0x15ee, 0x81e5, 0x15e8, 0x81e4,
+  0x15e2, 0x81e3, 0x15db, 0x81e2, 0x15d5, 0x81e1, 0x15cf, 0x81e0,
+  0x15c9, 0x81df, 0x15c3, 0x81de, 0x15bc, 0x81dc, 0x15b6, 0x81db,
+  0x15b0, 0x81da, 0x15aa, 0x81d9, 0x15a4, 0x81d8, 0x159d, 0x81d7,
+  0x1597, 0x81d6, 0x1591, 0x81d5, 0x158b, 0x81d4, 0x1585, 0x81d3,
+  0x157f, 0x81d2, 0x1578, 0x81d1, 0x1572, 0x81d0, 0x156c, 0x81cf,
+  0x1566, 0x81ce, 0x1560, 0x81cd, 0x1559, 0x81cc, 0x1553, 0x81cb,
+  0x154d, 0x81c9, 0x1547, 0x81c8, 0x1541, 0x81c7, 0x153a, 0x81c6,
+  0x1534, 0x81c5, 0x152e, 0x81c4, 0x1528, 0x81c3, 0x1522, 0x81c2,
+  0x151b, 0x81c1, 0x1515, 0x81c0, 0x150f, 0x81bf, 0x1509, 0x81be,
+  0x1503, 0x81bd, 0x14fc, 0x81bc, 0x14f6, 0x81bb, 0x14f0, 0x81ba,
+  0x14ea, 0x81b9, 0x14e4, 0x81b8, 0x14dd, 0x81b7, 0x14d7, 0x81b6,
+  0x14d1, 0x81b5, 0x14cb, 0x81b4, 0x14c5, 0x81b3, 0x14be, 0x81b2,
+  0x14b8, 0x81b1, 0x14b2, 0x81b0, 0x14ac, 0x81af, 0x14a6, 0x81ae,
+  0x149f, 0x81ad, 0x1499, 0x81ac, 0x1493, 0x81ab, 0x148d, 0x81aa,
+  0x1487, 0x81a9, 0x1480, 0x81a8, 0x147a, 0x81a7, 0x1474, 0x81a6,
+  0x146e, 0x81a5, 0x1468, 0x81a4, 0x1461, 0x81a3, 0x145b, 0x81a2,
+  0x1455, 0x81a1, 0x144f, 0x81a0, 0x1449, 0x819f, 0x1442, 0x819e,
+  0x143c, 0x819d, 0x1436, 0x819c, 0x1430, 0x819b, 0x142a, 0x819a,
+  0x1423, 0x8199, 0x141d, 0x8198, 0x1417, 0x8197, 0x1411, 0x8196,
+  0x140b, 0x8195, 0x1404, 0x8194, 0x13fe, 0x8193, 0x13f8, 0x8192,
+  0x13f2, 0x8191, 0x13eb, 0x8190, 0x13e5, 0x818f, 0x13df, 0x818e,
+  0x13d9, 0x818d, 0x13d3, 0x818c, 0x13cc, 0x818b, 0x13c6, 0x818a,
+  0x13c0, 0x8189, 0x13ba, 0x8188, 0x13b4, 0x8187, 0x13ad, 0x8186,
+  0x13a7, 0x8185, 0x13a1, 0x8184, 0x139b, 0x8183, 0x1395, 0x8182,
+  0x138e, 0x8181, 0x1388, 0x8180, 0x1382, 0x817f, 0x137c, 0x817e,
+  0x1376, 0x817d, 0x136f, 0x817c, 0x1369, 0x817c, 0x1363, 0x817b,
+  0x135d, 0x817a, 0x1356, 0x8179, 0x1350, 0x8178, 0x134a, 0x8177,
+  0x1344, 0x8176, 0x133e, 0x8175, 0x1337, 0x8174, 0x1331, 0x8173,
+  0x132b, 0x8172, 0x1325, 0x8171, 0x131f, 0x8170, 0x1318, 0x816f,
+  0x1312, 0x816e, 0x130c, 0x816d, 0x1306, 0x816c, 0x12ff, 0x816c,
+  0x12f9, 0x816b, 0x12f3, 0x816a, 0x12ed, 0x8169, 0x12e7, 0x8168,
+  0x12e0, 0x8167, 0x12da, 0x8166, 0x12d4, 0x8165, 0x12ce, 0x8164,
+  0x12c8, 0x8163, 0x12c1, 0x8162, 0x12bb, 0x8161, 0x12b5, 0x8160,
+  0x12af, 0x815f, 0x12a8, 0x815f, 0x12a2, 0x815e, 0x129c, 0x815d,
+  0x1296, 0x815c, 0x1290, 0x815b, 0x1289, 0x815a, 0x1283, 0x8159,
+  0x127d, 0x8158, 0x1277, 0x8157, 0x1271, 0x8156, 0x126a, 0x8155,
+  0x1264, 0x8155, 0x125e, 0x8154, 0x1258, 0x8153, 0x1251, 0x8152,
+  0x124b, 0x8151, 0x1245, 0x8150, 0x123f, 0x814f, 0x1239, 0x814e,
+  0x1232, 0x814d, 0x122c, 0x814c, 0x1226, 0x814c, 0x1220, 0x814b,
+  0x1219, 0x814a, 0x1213, 0x8149, 0x120d, 0x8148, 0x1207, 0x8147,
+  0x1201, 0x8146, 0x11fa, 0x8145, 0x11f4, 0x8145, 0x11ee, 0x8144,
+  0x11e8, 0x8143, 0x11e1, 0x8142, 0x11db, 0x8141, 0x11d5, 0x8140,
+  0x11cf, 0x813f, 0x11c9, 0x813e, 0x11c2, 0x813d, 0x11bc, 0x813d,
+  0x11b6, 0x813c, 0x11b0, 0x813b, 0x11a9, 0x813a, 0x11a3, 0x8139,
+  0x119d, 0x8138, 0x1197, 0x8137, 0x1191, 0x8137, 0x118a, 0x8136,
+  0x1184, 0x8135, 0x117e, 0x8134, 0x1178, 0x8133, 0x1171, 0x8132,
+  0x116b, 0x8131, 0x1165, 0x8131, 0x115f, 0x8130, 0x1159, 0x812f,
+  0x1152, 0x812e, 0x114c, 0x812d, 0x1146, 0x812c, 0x1140, 0x812b,
+  0x1139, 0x812b, 0x1133, 0x812a, 0x112d, 0x8129, 0x1127, 0x8128,
+  0x1121, 0x8127, 0x111a, 0x8126, 0x1114, 0x8126, 0x110e, 0x8125,
+  0x1108, 0x8124, 0x1101, 0x8123, 0x10fb, 0x8122, 0x10f5, 0x8121,
+  0x10ef, 0x8121, 0x10e8, 0x8120, 0x10e2, 0x811f, 0x10dc, 0x811e,
+  0x10d6, 0x811d, 0x10d0, 0x811c, 0x10c9, 0x811c, 0x10c3, 0x811b,
+  0x10bd, 0x811a, 0x10b7, 0x8119, 0x10b0, 0x8118, 0x10aa, 0x8117,
+  0x10a4, 0x8117, 0x109e, 0x8116, 0x1098, 0x8115, 0x1091, 0x8114,
+  0x108b, 0x8113, 0x1085, 0x8113, 0x107f, 0x8112, 0x1078, 0x8111,
+  0x1072, 0x8110, 0x106c, 0x810f, 0x1066, 0x810f, 0x105f, 0x810e,
+  0x1059, 0x810d, 0x1053, 0x810c, 0x104d, 0x810b, 0x1047, 0x810b,
+  0x1040, 0x810a, 0x103a, 0x8109, 0x1034, 0x8108, 0x102e, 0x8107,
+  0x1027, 0x8107, 0x1021, 0x8106, 0x101b, 0x8105, 0x1015, 0x8104,
+  0x100e, 0x8103, 0x1008, 0x8103, 0x1002, 0x8102, 0xffc, 0x8101,
+  0xff5, 0x8100, 0xfef, 0x80ff, 0xfe9, 0x80ff, 0xfe3, 0x80fe,
+  0xfdd, 0x80fd, 0xfd6, 0x80fc, 0xfd0, 0x80fc, 0xfca, 0x80fb,
+  0xfc4, 0x80fa, 0xfbd, 0x80f9, 0xfb7, 0x80f8, 0xfb1, 0x80f8,
+  0xfab, 0x80f7, 0xfa4, 0x80f6, 0xf9e, 0x80f5, 0xf98, 0x80f5,
+  0xf92, 0x80f4, 0xf8b, 0x80f3, 0xf85, 0x80f2, 0xf7f, 0x80f2,
+  0xf79, 0x80f1, 0xf73, 0x80f0, 0xf6c, 0x80ef, 0xf66, 0x80ef,
+  0xf60, 0x80ee, 0xf5a, 0x80ed, 0xf53, 0x80ec, 0xf4d, 0x80ec,
+  0xf47, 0x80eb, 0xf41, 0x80ea, 0xf3a, 0x80e9, 0xf34, 0x80e9,
+  0xf2e, 0x80e8, 0xf28, 0x80e7, 0xf21, 0x80e6, 0xf1b, 0x80e6,
+  0xf15, 0x80e5, 0xf0f, 0x80e4, 0xf08, 0x80e3, 0xf02, 0x80e3,
+  0xefc, 0x80e2, 0xef6, 0x80e1, 0xef0, 0x80e0, 0xee9, 0x80e0,
+  0xee3, 0x80df, 0xedd, 0x80de, 0xed7, 0x80dd, 0xed0, 0x80dd,
+  0xeca, 0x80dc, 0xec4, 0x80db, 0xebe, 0x80db, 0xeb7, 0x80da,
+  0xeb1, 0x80d9, 0xeab, 0x80d8, 0xea5, 0x80d8, 0xe9e, 0x80d7,
+  0xe98, 0x80d6, 0xe92, 0x80d6, 0xe8c, 0x80d5, 0xe85, 0x80d4,
+  0xe7f, 0x80d3, 0xe79, 0x80d3, 0xe73, 0x80d2, 0xe6c, 0x80d1,
+  0xe66, 0x80d1, 0xe60, 0x80d0, 0xe5a, 0x80cf, 0xe53, 0x80ce,
+  0xe4d, 0x80ce, 0xe47, 0x80cd, 0xe41, 0x80cc, 0xe3a, 0x80cc,
+  0xe34, 0x80cb, 0xe2e, 0x80ca, 0xe28, 0x80ca, 0xe22, 0x80c9,
+  0xe1b, 0x80c8, 0xe15, 0x80c7, 0xe0f, 0x80c7, 0xe09, 0x80c6,
+  0xe02, 0x80c5, 0xdfc, 0x80c5, 0xdf6, 0x80c4, 0xdf0, 0x80c3,
+  0xde9, 0x80c3, 0xde3, 0x80c2, 0xddd, 0x80c1, 0xdd7, 0x80c1,
+  0xdd0, 0x80c0, 0xdca, 0x80bf, 0xdc4, 0x80bf, 0xdbe, 0x80be,
+  0xdb7, 0x80bd, 0xdb1, 0x80bd, 0xdab, 0x80bc, 0xda5, 0x80bb,
+  0xd9e, 0x80bb, 0xd98, 0x80ba, 0xd92, 0x80b9, 0xd8c, 0x80b9,
+  0xd85, 0x80b8, 0xd7f, 0x80b7, 0xd79, 0x80b7, 0xd73, 0x80b6,
+  0xd6c, 0x80b5, 0xd66, 0x80b5, 0xd60, 0x80b4, 0xd5a, 0x80b3,
+  0xd53, 0x80b3, 0xd4d, 0x80b2, 0xd47, 0x80b1, 0xd41, 0x80b1,
+  0xd3a, 0x80b0, 0xd34, 0x80af, 0xd2e, 0x80af, 0xd28, 0x80ae,
+  0xd21, 0x80ad, 0xd1b, 0x80ad, 0xd15, 0x80ac, 0xd0f, 0x80ab,
+  0xd08, 0x80ab, 0xd02, 0x80aa, 0xcfc, 0x80aa, 0xcf6, 0x80a9,
+  0xcef, 0x80a8, 0xce9, 0x80a8, 0xce3, 0x80a7, 0xcdd, 0x80a6,
+  0xcd6, 0x80a6, 0xcd0, 0x80a5, 0xcca, 0x80a5, 0xcc4, 0x80a4,
+  0xcbd, 0x80a3, 0xcb7, 0x80a3, 0xcb1, 0x80a2, 0xcab, 0x80a1,
+  0xca4, 0x80a1, 0xc9e, 0x80a0, 0xc98, 0x80a0, 0xc92, 0x809f,
+  0xc8b, 0x809e, 0xc85, 0x809e, 0xc7f, 0x809d, 0xc79, 0x809c,
+  0xc72, 0x809c, 0xc6c, 0x809b, 0xc66, 0x809b, 0xc60, 0x809a,
+  0xc59, 0x8099, 0xc53, 0x8099, 0xc4d, 0x8098, 0xc47, 0x8098,
+  0xc40, 0x8097, 0xc3a, 0x8096, 0xc34, 0x8096, 0xc2e, 0x8095,
+  0xc27, 0x8095, 0xc21, 0x8094, 0xc1b, 0x8093, 0xc14, 0x8093,
+  0xc0e, 0x8092, 0xc08, 0x8092, 0xc02, 0x8091, 0xbfb, 0x8090,
+  0xbf5, 0x8090, 0xbef, 0x808f, 0xbe9, 0x808f, 0xbe2, 0x808e,
+  0xbdc, 0x808e, 0xbd6, 0x808d, 0xbd0, 0x808c, 0xbc9, 0x808c,
+  0xbc3, 0x808b, 0xbbd, 0x808b, 0xbb7, 0x808a, 0xbb0, 0x8089,
+  0xbaa, 0x8089, 0xba4, 0x8088, 0xb9e, 0x8088, 0xb97, 0x8087,
+  0xb91, 0x8087, 0xb8b, 0x8086, 0xb85, 0x8085, 0xb7e, 0x8085,
+  0xb78, 0x8084, 0xb72, 0x8084, 0xb6c, 0x8083, 0xb65, 0x8083,
+  0xb5f, 0x8082, 0xb59, 0x8082, 0xb53, 0x8081, 0xb4c, 0x8080,
+  0xb46, 0x8080, 0xb40, 0x807f, 0xb3a, 0x807f, 0xb33, 0x807e,
+  0xb2d, 0x807e, 0xb27, 0x807d, 0xb20, 0x807d, 0xb1a, 0x807c,
+  0xb14, 0x807b, 0xb0e, 0x807b, 0xb07, 0x807a, 0xb01, 0x807a,
+  0xafb, 0x8079, 0xaf5, 0x8079, 0xaee, 0x8078, 0xae8, 0x8078,
+  0xae2, 0x8077, 0xadc, 0x8077, 0xad5, 0x8076, 0xacf, 0x8076,
+  0xac9, 0x8075, 0xac3, 0x8075, 0xabc, 0x8074, 0xab6, 0x8073,
+  0xab0, 0x8073, 0xaaa, 0x8072, 0xaa3, 0x8072, 0xa9d, 0x8071,
+  0xa97, 0x8071, 0xa90, 0x8070, 0xa8a, 0x8070, 0xa84, 0x806f,
+  0xa7e, 0x806f, 0xa77, 0x806e, 0xa71, 0x806e, 0xa6b, 0x806d,
+  0xa65, 0x806d, 0xa5e, 0x806c, 0xa58, 0x806c, 0xa52, 0x806b,
+  0xa4c, 0x806b, 0xa45, 0x806a, 0xa3f, 0x806a, 0xa39, 0x8069,
+  0xa33, 0x8069, 0xa2c, 0x8068, 0xa26, 0x8068, 0xa20, 0x8067,
+  0xa19, 0x8067, 0xa13, 0x8066, 0xa0d, 0x8066, 0xa07, 0x8065,
+  0xa00, 0x8065, 0x9fa, 0x8064, 0x9f4, 0x8064, 0x9ee, 0x8063,
+  0x9e7, 0x8063, 0x9e1, 0x8062, 0x9db, 0x8062, 0x9d5, 0x8061,
+  0x9ce, 0x8061, 0x9c8, 0x8060, 0x9c2, 0x8060, 0x9bc, 0x805f,
+  0x9b5, 0x805f, 0x9af, 0x805e, 0x9a9, 0x805e, 0x9a2, 0x805d,
+  0x99c, 0x805d, 0x996, 0x805d, 0x990, 0x805c, 0x989, 0x805c,
+  0x983, 0x805b, 0x97d, 0x805b, 0x977, 0x805a, 0x970, 0x805a,
+  0x96a, 0x8059, 0x964, 0x8059, 0x95e, 0x8058, 0x957, 0x8058,
+  0x951, 0x8057, 0x94b, 0x8057, 0x944, 0x8057, 0x93e, 0x8056,
+  0x938, 0x8056, 0x932, 0x8055, 0x92b, 0x8055, 0x925, 0x8054,
+  0x91f, 0x8054, 0x919, 0x8053, 0x912, 0x8053, 0x90c, 0x8052,
+  0x906, 0x8052, 0x900, 0x8052, 0x8f9, 0x8051, 0x8f3, 0x8051,
+  0x8ed, 0x8050, 0x8e6, 0x8050, 0x8e0, 0x804f, 0x8da, 0x804f,
+  0x8d4, 0x804f, 0x8cd, 0x804e, 0x8c7, 0x804e, 0x8c1, 0x804d,
+  0x8bb, 0x804d, 0x8b4, 0x804c, 0x8ae, 0x804c, 0x8a8, 0x804c,
+  0x8a2, 0x804b, 0x89b, 0x804b, 0x895, 0x804a, 0x88f, 0x804a,
+  0x888, 0x8049, 0x882, 0x8049, 0x87c, 0x8049, 0x876, 0x8048,
+  0x86f, 0x8048, 0x869, 0x8047, 0x863, 0x8047, 0x85d, 0x8047,
+  0x856, 0x8046, 0x850, 0x8046, 0x84a, 0x8045, 0x843, 0x8045,
+  0x83d, 0x8044, 0x837, 0x8044, 0x831, 0x8044, 0x82a, 0x8043,
+  0x824, 0x8043, 0x81e, 0x8042, 0x818, 0x8042, 0x811, 0x8042,
+  0x80b, 0x8041, 0x805, 0x8041, 0x7fe, 0x8040, 0x7f8, 0x8040,
+  0x7f2, 0x8040, 0x7ec, 0x803f, 0x7e5, 0x803f, 0x7df, 0x803f,
+  0x7d9, 0x803e, 0x7d3, 0x803e, 0x7cc, 0x803d, 0x7c6, 0x803d,
+  0x7c0, 0x803d, 0x7ba, 0x803c, 0x7b3, 0x803c, 0x7ad, 0x803b,
+  0x7a7, 0x803b, 0x7a0, 0x803b, 0x79a, 0x803a, 0x794, 0x803a,
+  0x78e, 0x803a, 0x787, 0x8039, 0x781, 0x8039, 0x77b, 0x8039,
+  0x775, 0x8038, 0x76e, 0x8038, 0x768, 0x8037, 0x762, 0x8037,
+  0x75b, 0x8037, 0x755, 0x8036, 0x74f, 0x8036, 0x749, 0x8036,
+  0x742, 0x8035, 0x73c, 0x8035, 0x736, 0x8035, 0x730, 0x8034,
+  0x729, 0x8034, 0x723, 0x8033, 0x71d, 0x8033, 0x716, 0x8033,
+  0x710, 0x8032, 0x70a, 0x8032, 0x704, 0x8032, 0x6fd, 0x8031,
+  0x6f7, 0x8031, 0x6f1, 0x8031, 0x6ea, 0x8030, 0x6e4, 0x8030,
+  0x6de, 0x8030, 0x6d8, 0x802f, 0x6d1, 0x802f, 0x6cb, 0x802f,
+  0x6c5, 0x802e, 0x6bf, 0x802e, 0x6b8, 0x802e, 0x6b2, 0x802d,
+  0x6ac, 0x802d, 0x6a5, 0x802d, 0x69f, 0x802c, 0x699, 0x802c,
+  0x693, 0x802c, 0x68c, 0x802b, 0x686, 0x802b, 0x680, 0x802b,
+  0x67a, 0x802a, 0x673, 0x802a, 0x66d, 0x802a, 0x667, 0x802a,
+  0x660, 0x8029, 0x65a, 0x8029, 0x654, 0x8029, 0x64e, 0x8028,
+  0x647, 0x8028, 0x641, 0x8028, 0x63b, 0x8027, 0x635, 0x8027,
+  0x62e, 0x8027, 0x628, 0x8026, 0x622, 0x8026, 0x61b, 0x8026,
+  0x615, 0x8026, 0x60f, 0x8025, 0x609, 0x8025, 0x602, 0x8025,
+  0x5fc, 0x8024, 0x5f6, 0x8024, 0x5ef, 0x8024, 0x5e9, 0x8023,
+  0x5e3, 0x8023, 0x5dd, 0x8023, 0x5d6, 0x8023, 0x5d0, 0x8022,
+  0x5ca, 0x8022, 0x5c4, 0x8022, 0x5bd, 0x8021, 0x5b7, 0x8021,
+  0x5b1, 0x8021, 0x5aa, 0x8021, 0x5a4, 0x8020, 0x59e, 0x8020,
+  0x598, 0x8020, 0x591, 0x8020, 0x58b, 0x801f, 0x585, 0x801f,
+  0x57f, 0x801f, 0x578, 0x801e, 0x572, 0x801e, 0x56c, 0x801e,
+  0x565, 0x801e, 0x55f, 0x801d, 0x559, 0x801d, 0x553, 0x801d,
+  0x54c, 0x801d, 0x546, 0x801c, 0x540, 0x801c, 0x539, 0x801c,
+  0x533, 0x801c, 0x52d, 0x801b, 0x527, 0x801b, 0x520, 0x801b,
+  0x51a, 0x801b, 0x514, 0x801a, 0x50d, 0x801a, 0x507, 0x801a,
+  0x501, 0x801a, 0x4fb, 0x8019, 0x4f4, 0x8019, 0x4ee, 0x8019,
+  0x4e8, 0x8019, 0x4e2, 0x8018, 0x4db, 0x8018, 0x4d5, 0x8018,
+  0x4cf, 0x8018, 0x4c8, 0x8017, 0x4c2, 0x8017, 0x4bc, 0x8017,
+  0x4b6, 0x8017, 0x4af, 0x8016, 0x4a9, 0x8016, 0x4a3, 0x8016,
+  0x49c, 0x8016, 0x496, 0x8016, 0x490, 0x8015, 0x48a, 0x8015,
+  0x483, 0x8015, 0x47d, 0x8015, 0x477, 0x8014, 0x471, 0x8014,
+  0x46a, 0x8014, 0x464, 0x8014, 0x45e, 0x8014, 0x457, 0x8013,
+  0x451, 0x8013, 0x44b, 0x8013, 0x445, 0x8013, 0x43e, 0x8013,
+  0x438, 0x8012, 0x432, 0x8012, 0x42b, 0x8012, 0x425, 0x8012,
+  0x41f, 0x8012, 0x419, 0x8011, 0x412, 0x8011, 0x40c, 0x8011,
+  0x406, 0x8011, 0x3ff, 0x8011, 0x3f9, 0x8010, 0x3f3, 0x8010,
+  0x3ed, 0x8010, 0x3e6, 0x8010, 0x3e0, 0x8010, 0x3da, 0x800f,
+  0x3d4, 0x800f, 0x3cd, 0x800f, 0x3c7, 0x800f, 0x3c1, 0x800f,
+  0x3ba, 0x800e, 0x3b4, 0x800e, 0x3ae, 0x800e, 0x3a8, 0x800e,
+  0x3a1, 0x800e, 0x39b, 0x800e, 0x395, 0x800d, 0x38e, 0x800d,
+  0x388, 0x800d, 0x382, 0x800d, 0x37c, 0x800d, 0x375, 0x800c,
+  0x36f, 0x800c, 0x369, 0x800c, 0x362, 0x800c, 0x35c, 0x800c,
+  0x356, 0x800c, 0x350, 0x800b, 0x349, 0x800b, 0x343, 0x800b,
+  0x33d, 0x800b, 0x337, 0x800b, 0x330, 0x800b, 0x32a, 0x800b,
+  0x324, 0x800a, 0x31d, 0x800a, 0x317, 0x800a, 0x311, 0x800a,
+  0x30b, 0x800a, 0x304, 0x800a, 0x2fe, 0x8009, 0x2f8, 0x8009,
+  0x2f1, 0x8009, 0x2eb, 0x8009, 0x2e5, 0x8009, 0x2df, 0x8009,
+  0x2d8, 0x8009, 0x2d2, 0x8008, 0x2cc, 0x8008, 0x2c5, 0x8008,
+  0x2bf, 0x8008, 0x2b9, 0x8008, 0x2b3, 0x8008, 0x2ac, 0x8008,
+  0x2a6, 0x8008, 0x2a0, 0x8007, 0x299, 0x8007, 0x293, 0x8007,
+  0x28d, 0x8007, 0x287, 0x8007, 0x280, 0x8007, 0x27a, 0x8007,
+  0x274, 0x8007, 0x26d, 0x8006, 0x267, 0x8006, 0x261, 0x8006,
+  0x25b, 0x8006, 0x254, 0x8006, 0x24e, 0x8006, 0x248, 0x8006,
+  0x242, 0x8006, 0x23b, 0x8005, 0x235, 0x8005, 0x22f, 0x8005,
+  0x228, 0x8005, 0x222, 0x8005, 0x21c, 0x8005, 0x216, 0x8005,
+  0x20f, 0x8005, 0x209, 0x8005, 0x203, 0x8005, 0x1fc, 0x8004,
+  0x1f6, 0x8004, 0x1f0, 0x8004, 0x1ea, 0x8004, 0x1e3, 0x8004,
+  0x1dd, 0x8004, 0x1d7, 0x8004, 0x1d0, 0x8004, 0x1ca, 0x8004,
+  0x1c4, 0x8004, 0x1be, 0x8004, 0x1b7, 0x8003, 0x1b1, 0x8003,
+  0x1ab, 0x8003, 0x1a4, 0x8003, 0x19e, 0x8003, 0x198, 0x8003,
+  0x192, 0x8003, 0x18b, 0x8003, 0x185, 0x8003, 0x17f, 0x8003,
+  0x178, 0x8003, 0x172, 0x8003, 0x16c, 0x8003, 0x166, 0x8002,
+  0x15f, 0x8002, 0x159, 0x8002, 0x153, 0x8002, 0x14d, 0x8002,
+  0x146, 0x8002, 0x140, 0x8002, 0x13a, 0x8002, 0x133, 0x8002,
+  0x12d, 0x8002, 0x127, 0x8002, 0x121, 0x8002, 0x11a, 0x8002,
+  0x114, 0x8002, 0x10e, 0x8002, 0x107, 0x8002, 0x101, 0x8002,
+  0xfb, 0x8001, 0xf5, 0x8001, 0xee, 0x8001, 0xe8, 0x8001,
+  0xe2, 0x8001, 0xdb, 0x8001, 0xd5, 0x8001, 0xcf, 0x8001,
+  0xc9, 0x8001, 0xc2, 0x8001, 0xbc, 0x8001, 0xb6, 0x8001,
+  0xaf, 0x8001, 0xa9, 0x8001, 0xa3, 0x8001, 0x9d, 0x8001,
+  0x96, 0x8001, 0x90, 0x8001, 0x8a, 0x8001, 0x83, 0x8001,
+  0x7d, 0x8001, 0x77, 0x8001, 0x71, 0x8001, 0x6a, 0x8001,
+  0x64, 0x8001, 0x5e, 0x8001, 0x57, 0x8001, 0x51, 0x8001,
+  0x4b, 0x8001, 0x45, 0x8001, 0x3e, 0x8001, 0x38, 0x8001,
+  0x32, 0x8001, 0x2b, 0x8001, 0x25, 0x8001, 0x1f, 0x8001,
+  0x19, 0x8001, 0x12, 0x8001, 0xc, 0x8001, 0x6, 0x8001,
+};
+
+
+/**    
+* \par    
+* cosFactor tables are generated using the formula : 
 cos_factors[n] = 2 * cos((2n+1)*pi/(4*N)) 
    
+* \par    
+* C command to generate the table    
+* 
    
+* for(i = 0; i< N; i++)    
+* {    
+*   cos_factors[i]= 2 * cos((2*i+1)*c/2);    
+* } 
    
+* \par    
+* where N is the number of factors to generate and c is pi/(2*N)    
+* \par    
+* Then converted to q15 format by multiplying with 2^31 and saturated if required.    
+    
+*/
+
+static const q15_t ALIGN4 cos_factorsQ15_128[128] = {
+  0x7fff, 0x7ffa, 0x7ff0, 0x7fe1, 0x7fce, 0x7fb5, 0x7f97, 0x7f75,
+  0x7f4d, 0x7f21, 0x7ef0, 0x7eba, 0x7e7f, 0x7e3f, 0x7dfa, 0x7db0,
+  0x7d62, 0x7d0f, 0x7cb7, 0x7c5a, 0x7bf8, 0x7b92, 0x7b26, 0x7ab6,
+  0x7a42, 0x79c8, 0x794a, 0x78c7, 0x7840, 0x77b4, 0x7723, 0x768e,
+  0x75f4, 0x7555, 0x74b2, 0x740b, 0x735f, 0x72af, 0x71fa, 0x7141,
+  0x7083, 0x6fc1, 0x6efb, 0x6e30, 0x6d62, 0x6c8f, 0x6bb8, 0x6adc,
+  0x69fd, 0x6919, 0x6832, 0x6746, 0x6657, 0x6563, 0x646c, 0x6371,
+  0x6271, 0x616f, 0x6068, 0x5f5e, 0x5e50, 0x5d3e, 0x5c29, 0x5b10,
+  0x59f3, 0x58d4, 0x57b0, 0x568a, 0x5560, 0x5433, 0x5302, 0x51ce,
+  0x5097, 0x4f5e, 0x4e21, 0x4ce1, 0x4b9e, 0x4a58, 0x490f, 0x47c3,
+  0x4675, 0x4524, 0x43d0, 0x427a, 0x4121, 0x3fc5, 0x3e68, 0x3d07,
+  0x3ba5, 0x3a40, 0x38d8, 0x376f, 0x3604, 0x3496, 0x3326, 0x31b5,
+  0x3041, 0x2ecc, 0x2d55, 0x2bdc, 0x2a61, 0x28e5, 0x2767, 0x25e8,
+  0x2467, 0x22e5, 0x2161, 0x1fdc, 0x1e56, 0x1ccf, 0x1b47, 0x19bd,
+  0x1833, 0x16a8, 0x151b, 0x138e, 0x1201, 0x1072, 0xee3, 0xd53,
+  0xbc3, 0xa33, 0x8a2, 0x710, 0x57f, 0x3ed, 0x25b, 0xc9
+};
+
+static const q15_t ALIGN4 cos_factorsQ15_512[512] = {
+  0x7fff, 0x7fff, 0x7fff, 0x7ffe, 0x7ffc, 0x7ffb, 0x7ff9, 0x7ff7,
+  0x7ff4, 0x7ff2, 0x7fee, 0x7feb, 0x7fe7, 0x7fe3, 0x7fdf, 0x7fda,
+  0x7fd6, 0x7fd0, 0x7fcb, 0x7fc5, 0x7fbf, 0x7fb8, 0x7fb1, 0x7faa,
+  0x7fa3, 0x7f9b, 0x7f93, 0x7f8b, 0x7f82, 0x7f79, 0x7f70, 0x7f67,
+  0x7f5d, 0x7f53, 0x7f48, 0x7f3d, 0x7f32, 0x7f27, 0x7f1b, 0x7f0f,
+  0x7f03, 0x7ef6, 0x7ee9, 0x7edc, 0x7ecf, 0x7ec1, 0x7eb3, 0x7ea4,
+  0x7e95, 0x7e86, 0x7e77, 0x7e67, 0x7e57, 0x7e47, 0x7e37, 0x7e26,
+  0x7e14, 0x7e03, 0x7df1, 0x7ddf, 0x7dcd, 0x7dba, 0x7da7, 0x7d94,
+  0x7d80, 0x7d6c, 0x7d58, 0x7d43, 0x7d2f, 0x7d19, 0x7d04, 0x7cee,
+  0x7cd8, 0x7cc2, 0x7cab, 0x7c94, 0x7c7d, 0x7c66, 0x7c4e, 0x7c36,
+  0x7c1d, 0x7c05, 0x7beb, 0x7bd2, 0x7bb9, 0x7b9f, 0x7b84, 0x7b6a,
+  0x7b4f, 0x7b34, 0x7b19, 0x7afd, 0x7ae1, 0x7ac5, 0x7aa8, 0x7a8b,
+  0x7a6e, 0x7a50, 0x7a33, 0x7a15, 0x79f6, 0x79d8, 0x79b9, 0x7999,
+  0x797a, 0x795a, 0x793a, 0x7919, 0x78f9, 0x78d8, 0x78b6, 0x7895,
+  0x7873, 0x7851, 0x782e, 0x780c, 0x77e9, 0x77c5, 0x77a2, 0x777e,
+  0x775a, 0x7735, 0x7710, 0x76eb, 0x76c6, 0x76a0, 0x767b, 0x7654,
+  0x762e, 0x7607, 0x75e0, 0x75b9, 0x7591, 0x7569, 0x7541, 0x7519,
+  0x74f0, 0x74c7, 0x749e, 0x7474, 0x744a, 0x7420, 0x73f6, 0x73cb,
+  0x73a0, 0x7375, 0x7349, 0x731d, 0x72f1, 0x72c5, 0x7298, 0x726b,
+  0x723e, 0x7211, 0x71e3, 0x71b5, 0x7186, 0x7158, 0x7129, 0x70fa,
+  0x70cb, 0x709b, 0x706b, 0x703b, 0x700a, 0x6fda, 0x6fa9, 0x6f77,
+  0x6f46, 0x6f14, 0x6ee2, 0x6eaf, 0x6e7d, 0x6e4a, 0x6e17, 0x6de3,
+  0x6db0, 0x6d7c, 0x6d48, 0x6d13, 0x6cde, 0x6ca9, 0x6c74, 0x6c3f,
+  0x6c09, 0x6bd3, 0x6b9c, 0x6b66, 0x6b2f, 0x6af8, 0x6ac1, 0x6a89,
+  0x6a51, 0x6a19, 0x69e1, 0x69a8, 0x696f, 0x6936, 0x68fd, 0x68c3,
+  0x6889, 0x684f, 0x6815, 0x67da, 0x679f, 0x6764, 0x6729, 0x66ed,
+  0x66b1, 0x6675, 0x6639, 0x65fc, 0x65bf, 0x6582, 0x6545, 0x6507,
+  0x64c9, 0x648b, 0x644d, 0x640e, 0x63cf, 0x6390, 0x6351, 0x6311,
+  0x62d2, 0x6292, 0x6251, 0x6211, 0x61d0, 0x618f, 0x614e, 0x610d,
+  0x60cb, 0x6089, 0x6047, 0x6004, 0x5fc2, 0x5f7f, 0x5f3c, 0x5ef9,
+  0x5eb5, 0x5e71, 0x5e2d, 0x5de9, 0x5da5, 0x5d60, 0x5d1b, 0x5cd6,
+  0x5c91, 0x5c4b, 0x5c06, 0x5bc0, 0x5b79, 0x5b33, 0x5aec, 0x5aa5,
+  0x5a5e, 0x5a17, 0x59d0, 0x5988, 0x5940, 0x58f8, 0x58af, 0x5867,
+  0x581e, 0x57d5, 0x578c, 0x5742, 0x56f9, 0x56af, 0x5665, 0x561a,
+  0x55d0, 0x5585, 0x553a, 0x54ef, 0x54a4, 0x5458, 0x540d, 0x53c1,
+  0x5375, 0x5328, 0x52dc, 0x528f, 0x5242, 0x51f5, 0x51a8, 0x515a,
+  0x510c, 0x50bf, 0x5070, 0x5022, 0x4fd4, 0x4f85, 0x4f36, 0x4ee7,
+  0x4e98, 0x4e48, 0x4df9, 0x4da9, 0x4d59, 0x4d09, 0x4cb8, 0x4c68,
+  0x4c17, 0x4bc6, 0x4b75, 0x4b24, 0x4ad2, 0x4a81, 0x4a2f, 0x49dd,
+  0x498a, 0x4938, 0x48e6, 0x4893, 0x4840, 0x47ed, 0x479a, 0x4746,
+  0x46f3, 0x469f, 0x464b, 0x45f7, 0x45a3, 0x454e, 0x44fa, 0x44a5,
+  0x4450, 0x43fb, 0x43a5, 0x4350, 0x42fa, 0x42a5, 0x424f, 0x41f9,
+  0x41a2, 0x414c, 0x40f6, 0x409f, 0x4048, 0x3ff1, 0x3f9a, 0x3f43,
+  0x3eeb, 0x3e93, 0x3e3c, 0x3de4, 0x3d8c, 0x3d33, 0x3cdb, 0x3c83,
+  0x3c2a, 0x3bd1, 0x3b78, 0x3b1f, 0x3ac6, 0x3a6c, 0x3a13, 0x39b9,
+  0x395f, 0x3906, 0x38ab, 0x3851, 0x37f7, 0x379c, 0x3742, 0x36e7,
+  0x368c, 0x3631, 0x35d6, 0x357b, 0x351f, 0x34c4, 0x3468, 0x340c,
+  0x33b0, 0x3354, 0x32f8, 0x329c, 0x3240, 0x31e3, 0x3186, 0x312a,
+  0x30cd, 0x3070, 0x3013, 0x2fb5, 0x2f58, 0x2efb, 0x2e9d, 0x2e3f,
+  0x2de2, 0x2d84, 0x2d26, 0x2cc8, 0x2c69, 0x2c0b, 0x2bad, 0x2b4e,
+  0x2aef, 0x2a91, 0x2a32, 0x29d3, 0x2974, 0x2915, 0x28b5, 0x2856,
+  0x27f6, 0x2797, 0x2737, 0x26d8, 0x2678, 0x2618, 0x25b8, 0x2558,
+  0x24f7, 0x2497, 0x2437, 0x23d6, 0x2376, 0x2315, 0x22b4, 0x2254,
+  0x21f3, 0x2192, 0x2131, 0x20d0, 0x206e, 0x200d, 0x1fac, 0x1f4a,
+  0x1ee9, 0x1e87, 0x1e25, 0x1dc4, 0x1d62, 0x1d00, 0x1c9e, 0x1c3c,
+  0x1bda, 0x1b78, 0x1b16, 0x1ab3, 0x1a51, 0x19ef, 0x198c, 0x192a,
+  0x18c7, 0x1864, 0x1802, 0x179f, 0x173c, 0x16d9, 0x1676, 0x1613,
+  0x15b0, 0x154d, 0x14ea, 0x1487, 0x1423, 0x13c0, 0x135d, 0x12f9,
+  0x1296, 0x1232, 0x11cf, 0x116b, 0x1108, 0x10a4, 0x1040, 0xfdd,
+  0xf79, 0xf15, 0xeb1, 0xe4d, 0xde9, 0xd85, 0xd21, 0xcbd,
+  0xc59, 0xbf5, 0xb91, 0xb2d, 0xac9, 0xa65, 0xa00, 0x99c,
+  0x938, 0x8d4, 0x86f, 0x80b, 0x7a7, 0x742, 0x6de, 0x67a,
+  0x615, 0x5b1, 0x54c, 0x4e8, 0x483, 0x41f, 0x3ba, 0x356,
+  0x2f1, 0x28d, 0x228, 0x1c4, 0x15f, 0xfb, 0x96, 0x32,
+};
+
+static const q15_t ALIGN4 cos_factorsQ15_2048[2048] = {
+  0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff,
+  0x7fff, 0x7fff, 0x7ffe, 0x7ffe, 0x7ffe, 0x7ffe, 0x7ffd, 0x7ffd,
+  0x7ffd, 0x7ffd, 0x7ffc, 0x7ffc, 0x7ffb, 0x7ffb, 0x7ffb, 0x7ffa,
+  0x7ffa, 0x7ff9, 0x7ff9, 0x7ff8, 0x7ff8, 0x7ff7, 0x7ff7, 0x7ff6,
+  0x7ff5, 0x7ff5, 0x7ff4, 0x7ff3, 0x7ff3, 0x7ff2, 0x7ff1, 0x7ff0,
+  0x7ff0, 0x7fef, 0x7fee, 0x7fed, 0x7fec, 0x7fec, 0x7feb, 0x7fea,
+  0x7fe9, 0x7fe8, 0x7fe7, 0x7fe6, 0x7fe5, 0x7fe4, 0x7fe3, 0x7fe2,
+  0x7fe1, 0x7fe0, 0x7fdf, 0x7fdd, 0x7fdc, 0x7fdb, 0x7fda, 0x7fd9,
+  0x7fd7, 0x7fd6, 0x7fd5, 0x7fd4, 0x7fd2, 0x7fd1, 0x7fd0, 0x7fce,
+  0x7fcd, 0x7fcb, 0x7fca, 0x7fc9, 0x7fc7, 0x7fc6, 0x7fc4, 0x7fc3,
+  0x7fc1, 0x7fc0, 0x7fbe, 0x7fbc, 0x7fbb, 0x7fb9, 0x7fb7, 0x7fb6,
+  0x7fb4, 0x7fb2, 0x7fb1, 0x7faf, 0x7fad, 0x7fab, 0x7fa9, 0x7fa8,
+  0x7fa6, 0x7fa4, 0x7fa2, 0x7fa0, 0x7f9e, 0x7f9c, 0x7f9a, 0x7f98,
+  0x7f96, 0x7f94, 0x7f92, 0x7f90, 0x7f8e, 0x7f8c, 0x7f8a, 0x7f88,
+  0x7f86, 0x7f83, 0x7f81, 0x7f7f, 0x7f7d, 0x7f7b, 0x7f78, 0x7f76,
+  0x7f74, 0x7f71, 0x7f6f, 0x7f6d, 0x7f6a, 0x7f68, 0x7f65, 0x7f63,
+  0x7f60, 0x7f5e, 0x7f5b, 0x7f59, 0x7f56, 0x7f54, 0x7f51, 0x7f4f,
+  0x7f4c, 0x7f49, 0x7f47, 0x7f44, 0x7f41, 0x7f3f, 0x7f3c, 0x7f39,
+  0x7f36, 0x7f34, 0x7f31, 0x7f2e, 0x7f2b, 0x7f28, 0x7f25, 0x7f23,
+  0x7f20, 0x7f1d, 0x7f1a, 0x7f17, 0x7f14, 0x7f11, 0x7f0e, 0x7f0b,
+  0x7f08, 0x7f04, 0x7f01, 0x7efe, 0x7efb, 0x7ef8, 0x7ef5, 0x7ef1,
+  0x7eee, 0x7eeb, 0x7ee8, 0x7ee4, 0x7ee1, 0x7ede, 0x7eda, 0x7ed7,
+  0x7ed4, 0x7ed0, 0x7ecd, 0x7ec9, 0x7ec6, 0x7ec3, 0x7ebf, 0x7ebb,
+  0x7eb8, 0x7eb4, 0x7eb1, 0x7ead, 0x7eaa, 0x7ea6, 0x7ea2, 0x7e9f,
+  0x7e9b, 0x7e97, 0x7e94, 0x7e90, 0x7e8c, 0x7e88, 0x7e84, 0x7e81,
+  0x7e7d, 0x7e79, 0x7e75, 0x7e71, 0x7e6d, 0x7e69, 0x7e65, 0x7e61,
+  0x7e5d, 0x7e59, 0x7e55, 0x7e51, 0x7e4d, 0x7e49, 0x7e45, 0x7e41,
+  0x7e3d, 0x7e39, 0x7e34, 0x7e30, 0x7e2c, 0x7e28, 0x7e24, 0x7e1f,
+  0x7e1b, 0x7e17, 0x7e12, 0x7e0e, 0x7e0a, 0x7e05, 0x7e01, 0x7dfc,
+  0x7df8, 0x7df3, 0x7def, 0x7dea, 0x7de6, 0x7de1, 0x7ddd, 0x7dd8,
+  0x7dd4, 0x7dcf, 0x7dca, 0x7dc6, 0x7dc1, 0x7dbc, 0x7db8, 0x7db3,
+  0x7dae, 0x7da9, 0x7da5, 0x7da0, 0x7d9b, 0x7d96, 0x7d91, 0x7d8c,
+  0x7d87, 0x7d82, 0x7d7e, 0x7d79, 0x7d74, 0x7d6f, 0x7d6a, 0x7d65,
+  0x7d60, 0x7d5a, 0x7d55, 0x7d50, 0x7d4b, 0x7d46, 0x7d41, 0x7d3c,
+  0x7d36, 0x7d31, 0x7d2c, 0x7d27, 0x7d21, 0x7d1c, 0x7d17, 0x7d11,
+  0x7d0c, 0x7d07, 0x7d01, 0x7cfc, 0x7cf6, 0x7cf1, 0x7cec, 0x7ce6,
+  0x7ce1, 0x7cdb, 0x7cd5, 0x7cd0, 0x7cca, 0x7cc5, 0x7cbf, 0x7cb9,
+  0x7cb4, 0x7cae, 0x7ca8, 0x7ca3, 0x7c9d, 0x7c97, 0x7c91, 0x7c8c,
+  0x7c86, 0x7c80, 0x7c7a, 0x7c74, 0x7c6e, 0x7c69, 0x7c63, 0x7c5d,
+  0x7c57, 0x7c51, 0x7c4b, 0x7c45, 0x7c3f, 0x7c39, 0x7c33, 0x7c2d,
+  0x7c26, 0x7c20, 0x7c1a, 0x7c14, 0x7c0e, 0x7c08, 0x7c01, 0x7bfb,
+  0x7bf5, 0x7bef, 0x7be8, 0x7be2, 0x7bdc, 0x7bd5, 0x7bcf, 0x7bc9,
+  0x7bc2, 0x7bbc, 0x7bb5, 0x7baf, 0x7ba8, 0x7ba2, 0x7b9b, 0x7b95,
+  0x7b8e, 0x7b88, 0x7b81, 0x7b7a, 0x7b74, 0x7b6d, 0x7b67, 0x7b60,
+  0x7b59, 0x7b52, 0x7b4c, 0x7b45, 0x7b3e, 0x7b37, 0x7b31, 0x7b2a,
+  0x7b23, 0x7b1c, 0x7b15, 0x7b0e, 0x7b07, 0x7b00, 0x7af9, 0x7af2,
+  0x7aeb, 0x7ae4, 0x7add, 0x7ad6, 0x7acf, 0x7ac8, 0x7ac1, 0x7aba,
+  0x7ab3, 0x7aac, 0x7aa4, 0x7a9d, 0x7a96, 0x7a8f, 0x7a87, 0x7a80,
+  0x7a79, 0x7a72, 0x7a6a, 0x7a63, 0x7a5c, 0x7a54, 0x7a4d, 0x7a45,
+  0x7a3e, 0x7a36, 0x7a2f, 0x7a27, 0x7a20, 0x7a18, 0x7a11, 0x7a09,
+  0x7a02, 0x79fa, 0x79f2, 0x79eb, 0x79e3, 0x79db, 0x79d4, 0x79cc,
+  0x79c4, 0x79bc, 0x79b5, 0x79ad, 0x79a5, 0x799d, 0x7995, 0x798e,
+  0x7986, 0x797e, 0x7976, 0x796e, 0x7966, 0x795e, 0x7956, 0x794e,
+  0x7946, 0x793e, 0x7936, 0x792e, 0x7926, 0x791e, 0x7915, 0x790d,
+  0x7905, 0x78fd, 0x78f5, 0x78ec, 0x78e4, 0x78dc, 0x78d4, 0x78cb,
+  0x78c3, 0x78bb, 0x78b2, 0x78aa, 0x78a2, 0x7899, 0x7891, 0x7888,
+  0x7880, 0x7877, 0x786f, 0x7866, 0x785e, 0x7855, 0x784d, 0x7844,
+  0x783b, 0x7833, 0x782a, 0x7821, 0x7819, 0x7810, 0x7807, 0x77ff,
+  0x77f6, 0x77ed, 0x77e4, 0x77db, 0x77d3, 0x77ca, 0x77c1, 0x77b8,
+  0x77af, 0x77a6, 0x779d, 0x7794, 0x778b, 0x7782, 0x7779, 0x7770,
+  0x7767, 0x775e, 0x7755, 0x774c, 0x7743, 0x773a, 0x7731, 0x7727,
+  0x771e, 0x7715, 0x770c, 0x7703, 0x76f9, 0x76f0, 0x76e7, 0x76dd,
+  0x76d4, 0x76cb, 0x76c1, 0x76b8, 0x76af, 0x76a5, 0x769c, 0x7692,
+  0x7689, 0x767f, 0x7676, 0x766c, 0x7663, 0x7659, 0x7650, 0x7646,
+  0x763c, 0x7633, 0x7629, 0x761f, 0x7616, 0x760c, 0x7602, 0x75f9,
+  0x75ef, 0x75e5, 0x75db, 0x75d1, 0x75c8, 0x75be, 0x75b4, 0x75aa,
+  0x75a0, 0x7596, 0x758c, 0x7582, 0x7578, 0x756e, 0x7564, 0x755a,
+  0x7550, 0x7546, 0x753c, 0x7532, 0x7528, 0x751e, 0x7514, 0x7509,
+  0x74ff, 0x74f5, 0x74eb, 0x74e1, 0x74d6, 0x74cc, 0x74c2, 0x74b7,
+  0x74ad, 0x74a3, 0x7498, 0x748e, 0x7484, 0x7479, 0x746f, 0x7464,
+  0x745a, 0x744f, 0x7445, 0x743a, 0x7430, 0x7425, 0x741b, 0x7410,
+  0x7406, 0x73fb, 0x73f0, 0x73e6, 0x73db, 0x73d0, 0x73c6, 0x73bb,
+  0x73b0, 0x73a5, 0x739b, 0x7390, 0x7385, 0x737a, 0x736f, 0x7364,
+  0x7359, 0x734f, 0x7344, 0x7339, 0x732e, 0x7323, 0x7318, 0x730d,
+  0x7302, 0x72f7, 0x72ec, 0x72e1, 0x72d5, 0x72ca, 0x72bf, 0x72b4,
+  0x72a9, 0x729e, 0x7293, 0x7287, 0x727c, 0x7271, 0x7266, 0x725a,
+  0x724f, 0x7244, 0x7238, 0x722d, 0x7222, 0x7216, 0x720b, 0x71ff,
+  0x71f4, 0x71e9, 0x71dd, 0x71d2, 0x71c6, 0x71bb, 0x71af, 0x71a3,
+  0x7198, 0x718c, 0x7181, 0x7175, 0x7169, 0x715e, 0x7152, 0x7146,
+  0x713b, 0x712f, 0x7123, 0x7117, 0x710c, 0x7100, 0x70f4, 0x70e8,
+  0x70dc, 0x70d1, 0x70c5, 0x70b9, 0x70ad, 0x70a1, 0x7095, 0x7089,
+  0x707d, 0x7071, 0x7065, 0x7059, 0x704d, 0x7041, 0x7035, 0x7029,
+  0x701d, 0x7010, 0x7004, 0x6ff8, 0x6fec, 0x6fe0, 0x6fd3, 0x6fc7,
+  0x6fbb, 0x6faf, 0x6fa2, 0x6f96, 0x6f8a, 0x6f7d, 0x6f71, 0x6f65,
+  0x6f58, 0x6f4c, 0x6f3f, 0x6f33, 0x6f27, 0x6f1a, 0x6f0e, 0x6f01,
+  0x6ef5, 0x6ee8, 0x6edc, 0x6ecf, 0x6ec2, 0x6eb6, 0x6ea9, 0x6e9c,
+  0x6e90, 0x6e83, 0x6e76, 0x6e6a, 0x6e5d, 0x6e50, 0x6e44, 0x6e37,
+  0x6e2a, 0x6e1d, 0x6e10, 0x6e04, 0x6df7, 0x6dea, 0x6ddd, 0x6dd0,
+  0x6dc3, 0x6db6, 0x6da9, 0x6d9c, 0x6d8f, 0x6d82, 0x6d75, 0x6d68,
+  0x6d5b, 0x6d4e, 0x6d41, 0x6d34, 0x6d27, 0x6d1a, 0x6d0c, 0x6cff,
+  0x6cf2, 0x6ce5, 0x6cd8, 0x6cca, 0x6cbd, 0x6cb0, 0x6ca3, 0x6c95,
+  0x6c88, 0x6c7b, 0x6c6d, 0x6c60, 0x6c53, 0x6c45, 0x6c38, 0x6c2a,
+  0x6c1d, 0x6c0f, 0x6c02, 0x6bf5, 0x6be7, 0x6bd9, 0x6bcc, 0x6bbe,
+  0x6bb1, 0x6ba3, 0x6b96, 0x6b88, 0x6b7a, 0x6b6d, 0x6b5f, 0x6b51,
+  0x6b44, 0x6b36, 0x6b28, 0x6b1a, 0x6b0d, 0x6aff, 0x6af1, 0x6ae3,
+  0x6ad5, 0x6ac8, 0x6aba, 0x6aac, 0x6a9e, 0x6a90, 0x6a82, 0x6a74,
+  0x6a66, 0x6a58, 0x6a4a, 0x6a3c, 0x6a2e, 0x6a20, 0x6a12, 0x6a04,
+  0x69f6, 0x69e8, 0x69da, 0x69cb, 0x69bd, 0x69af, 0x69a1, 0x6993,
+  0x6985, 0x6976, 0x6968, 0x695a, 0x694b, 0x693d, 0x692f, 0x6921,
+  0x6912, 0x6904, 0x68f5, 0x68e7, 0x68d9, 0x68ca, 0x68bc, 0x68ad,
+  0x689f, 0x6890, 0x6882, 0x6873, 0x6865, 0x6856, 0x6848, 0x6839,
+  0x682b, 0x681c, 0x680d, 0x67ff, 0x67f0, 0x67e1, 0x67d3, 0x67c4,
+  0x67b5, 0x67a6, 0x6798, 0x6789, 0x677a, 0x676b, 0x675d, 0x674e,
+  0x673f, 0x6730, 0x6721, 0x6712, 0x6703, 0x66f4, 0x66e5, 0x66d6,
+  0x66c8, 0x66b9, 0x66aa, 0x669b, 0x668b, 0x667c, 0x666d, 0x665e,
+  0x664f, 0x6640, 0x6631, 0x6622, 0x6613, 0x6603, 0x65f4, 0x65e5,
+  0x65d6, 0x65c7, 0x65b7, 0x65a8, 0x6599, 0x658a, 0x657a, 0x656b,
+  0x655c, 0x654c, 0x653d, 0x652d, 0x651e, 0x650f, 0x64ff, 0x64f0,
+  0x64e0, 0x64d1, 0x64c1, 0x64b2, 0x64a2, 0x6493, 0x6483, 0x6474,
+  0x6464, 0x6454, 0x6445, 0x6435, 0x6426, 0x6416, 0x6406, 0x63f7,
+  0x63e7, 0x63d7, 0x63c7, 0x63b8, 0x63a8, 0x6398, 0x6388, 0x6378,
+  0x6369, 0x6359, 0x6349, 0x6339, 0x6329, 0x6319, 0x6309, 0x62f9,
+  0x62ea, 0x62da, 0x62ca, 0x62ba, 0x62aa, 0x629a, 0x628a, 0x627a,
+  0x6269, 0x6259, 0x6249, 0x6239, 0x6229, 0x6219, 0x6209, 0x61f9,
+  0x61e8, 0x61d8, 0x61c8, 0x61b8, 0x61a8, 0x6197, 0x6187, 0x6177,
+  0x6166, 0x6156, 0x6146, 0x6135, 0x6125, 0x6115, 0x6104, 0x60f4,
+  0x60e4, 0x60d3, 0x60c3, 0x60b2, 0x60a2, 0x6091, 0x6081, 0x6070,
+  0x6060, 0x604f, 0x603f, 0x602e, 0x601d, 0x600d, 0x5ffc, 0x5fec,
+  0x5fdb, 0x5fca, 0x5fba, 0x5fa9, 0x5f98, 0x5f87, 0x5f77, 0x5f66,
+  0x5f55, 0x5f44, 0x5f34, 0x5f23, 0x5f12, 0x5f01, 0x5ef0, 0x5edf,
+  0x5ecf, 0x5ebe, 0x5ead, 0x5e9c, 0x5e8b, 0x5e7a, 0x5e69, 0x5e58,
+  0x5e47, 0x5e36, 0x5e25, 0x5e14, 0x5e03, 0x5df2, 0x5de1, 0x5dd0,
+  0x5dbf, 0x5dad, 0x5d9c, 0x5d8b, 0x5d7a, 0x5d69, 0x5d58, 0x5d46,
+  0x5d35, 0x5d24, 0x5d13, 0x5d01, 0x5cf0, 0x5cdf, 0x5cce, 0x5cbc,
+  0x5cab, 0x5c9a, 0x5c88, 0x5c77, 0x5c66, 0x5c54, 0x5c43, 0x5c31,
+  0x5c20, 0x5c0e, 0x5bfd, 0x5beb, 0x5bda, 0x5bc8, 0x5bb7, 0x5ba5,
+  0x5b94, 0x5b82, 0x5b71, 0x5b5f, 0x5b4d, 0x5b3c, 0x5b2a, 0x5b19,
+  0x5b07, 0x5af5, 0x5ae4, 0x5ad2, 0x5ac0, 0x5aae, 0x5a9d, 0x5a8b,
+  0x5a79, 0x5a67, 0x5a56, 0x5a44, 0x5a32, 0x5a20, 0x5a0e, 0x59fc,
+  0x59ea, 0x59d9, 0x59c7, 0x59b5, 0x59a3, 0x5991, 0x597f, 0x596d,
+  0x595b, 0x5949, 0x5937, 0x5925, 0x5913, 0x5901, 0x58ef, 0x58dd,
+  0x58cb, 0x58b8, 0x58a6, 0x5894, 0x5882, 0x5870, 0x585e, 0x584b,
+  0x5839, 0x5827, 0x5815, 0x5803, 0x57f0, 0x57de, 0x57cc, 0x57b9,
+  0x57a7, 0x5795, 0x5783, 0x5770, 0x575e, 0x574b, 0x5739, 0x5727,
+  0x5714, 0x5702, 0x56ef, 0x56dd, 0x56ca, 0x56b8, 0x56a5, 0x5693,
+  0x5680, 0x566e, 0x565b, 0x5649, 0x5636, 0x5624, 0x5611, 0x55fe,
+  0x55ec, 0x55d9, 0x55c7, 0x55b4, 0x55a1, 0x558f, 0x557c, 0x5569,
+  0x5556, 0x5544, 0x5531, 0x551e, 0x550b, 0x54f9, 0x54e6, 0x54d3,
+  0x54c0, 0x54ad, 0x549a, 0x5488, 0x5475, 0x5462, 0x544f, 0x543c,
+  0x5429, 0x5416, 0x5403, 0x53f0, 0x53dd, 0x53ca, 0x53b7, 0x53a4,
+  0x5391, 0x537e, 0x536b, 0x5358, 0x5345, 0x5332, 0x531f, 0x530c,
+  0x52f8, 0x52e5, 0x52d2, 0x52bf, 0x52ac, 0x5299, 0x5285, 0x5272,
+  0x525f, 0x524c, 0x5238, 0x5225, 0x5212, 0x51ff, 0x51eb, 0x51d8,
+  0x51c5, 0x51b1, 0x519e, 0x518b, 0x5177, 0x5164, 0x5150, 0x513d,
+  0x512a, 0x5116, 0x5103, 0x50ef, 0x50dc, 0x50c8, 0x50b5, 0x50a1,
+  0x508e, 0x507a, 0x5067, 0x5053, 0x503f, 0x502c, 0x5018, 0x5005,
+  0x4ff1, 0x4fdd, 0x4fca, 0x4fb6, 0x4fa2, 0x4f8f, 0x4f7b, 0x4f67,
+  0x4f54, 0x4f40, 0x4f2c, 0x4f18, 0x4f05, 0x4ef1, 0x4edd, 0x4ec9,
+  0x4eb6, 0x4ea2, 0x4e8e, 0x4e7a, 0x4e66, 0x4e52, 0x4e3e, 0x4e2a,
+  0x4e17, 0x4e03, 0x4def, 0x4ddb, 0x4dc7, 0x4db3, 0x4d9f, 0x4d8b,
+  0x4d77, 0x4d63, 0x4d4f, 0x4d3b, 0x4d27, 0x4d13, 0x4cff, 0x4ceb,
+  0x4cd6, 0x4cc2, 0x4cae, 0x4c9a, 0x4c86, 0x4c72, 0x4c5e, 0x4c49,
+  0x4c35, 0x4c21, 0x4c0d, 0x4bf9, 0x4be4, 0x4bd0, 0x4bbc, 0x4ba8,
+  0x4b93, 0x4b7f, 0x4b6b, 0x4b56, 0x4b42, 0x4b2e, 0x4b19, 0x4b05,
+  0x4af1, 0x4adc, 0x4ac8, 0x4ab4, 0x4a9f, 0x4a8b, 0x4a76, 0x4a62,
+  0x4a4d, 0x4a39, 0x4a24, 0x4a10, 0x49fb, 0x49e7, 0x49d2, 0x49be,
+  0x49a9, 0x4995, 0x4980, 0x496c, 0x4957, 0x4942, 0x492e, 0x4919,
+  0x4905, 0x48f0, 0x48db, 0x48c7, 0x48b2, 0x489d, 0x4888, 0x4874,
+  0x485f, 0x484a, 0x4836, 0x4821, 0x480c, 0x47f7, 0x47e2, 0x47ce,
+  0x47b9, 0x47a4, 0x478f, 0x477a, 0x4765, 0x4751, 0x473c, 0x4727,
+  0x4712, 0x46fd, 0x46e8, 0x46d3, 0x46be, 0x46a9, 0x4694, 0x467f,
+  0x466a, 0x4655, 0x4640, 0x462b, 0x4616, 0x4601, 0x45ec, 0x45d7,
+  0x45c2, 0x45ad, 0x4598, 0x4583, 0x456e, 0x4559, 0x4544, 0x452e,
+  0x4519, 0x4504, 0x44ef, 0x44da, 0x44c5, 0x44af, 0x449a, 0x4485,
+  0x4470, 0x445a, 0x4445, 0x4430, 0x441b, 0x4405, 0x43f0, 0x43db,
+  0x43c5, 0x43b0, 0x439b, 0x4385, 0x4370, 0x435b, 0x4345, 0x4330,
+  0x431b, 0x4305, 0x42f0, 0x42da, 0x42c5, 0x42af, 0x429a, 0x4284,
+  0x426f, 0x425a, 0x4244, 0x422f, 0x4219, 0x4203, 0x41ee, 0x41d8,
+  0x41c3, 0x41ad, 0x4198, 0x4182, 0x416d, 0x4157, 0x4141, 0x412c,
+  0x4116, 0x4100, 0x40eb, 0x40d5, 0x40bf, 0x40aa, 0x4094, 0x407e,
+  0x4069, 0x4053, 0x403d, 0x4027, 0x4012, 0x3ffc, 0x3fe6, 0x3fd0,
+  0x3fbb, 0x3fa5, 0x3f8f, 0x3f79, 0x3f63, 0x3f4d, 0x3f38, 0x3f22,
+  0x3f0c, 0x3ef6, 0x3ee0, 0x3eca, 0x3eb4, 0x3e9e, 0x3e88, 0x3e73,
+  0x3e5d, 0x3e47, 0x3e31, 0x3e1b, 0x3e05, 0x3def, 0x3dd9, 0x3dc3,
+  0x3dad, 0x3d97, 0x3d81, 0x3d6b, 0x3d55, 0x3d3e, 0x3d28, 0x3d12,
+  0x3cfc, 0x3ce6, 0x3cd0, 0x3cba, 0x3ca4, 0x3c8e, 0x3c77, 0x3c61,
+  0x3c4b, 0x3c35, 0x3c1f, 0x3c09, 0x3bf2, 0x3bdc, 0x3bc6, 0x3bb0,
+  0x3b99, 0x3b83, 0x3b6d, 0x3b57, 0x3b40, 0x3b2a, 0x3b14, 0x3afe,
+  0x3ae7, 0x3ad1, 0x3abb, 0x3aa4, 0x3a8e, 0x3a78, 0x3a61, 0x3a4b,
+  0x3a34, 0x3a1e, 0x3a08, 0x39f1, 0x39db, 0x39c4, 0x39ae, 0x3998,
+  0x3981, 0x396b, 0x3954, 0x393e, 0x3927, 0x3911, 0x38fa, 0x38e4,
+  0x38cd, 0x38b7, 0x38a0, 0x388a, 0x3873, 0x385d, 0x3846, 0x382f,
+  0x3819, 0x3802, 0x37ec, 0x37d5, 0x37be, 0x37a8, 0x3791, 0x377a,
+  0x3764, 0x374d, 0x3736, 0x3720, 0x3709, 0x36f2, 0x36dc, 0x36c5,
+  0x36ae, 0x3698, 0x3681, 0x366a, 0x3653, 0x363d, 0x3626, 0x360f,
+  0x35f8, 0x35e1, 0x35cb, 0x35b4, 0x359d, 0x3586, 0x356f, 0x3558,
+  0x3542, 0x352b, 0x3514, 0x34fd, 0x34e6, 0x34cf, 0x34b8, 0x34a1,
+  0x348b, 0x3474, 0x345d, 0x3446, 0x342f, 0x3418, 0x3401, 0x33ea,
+  0x33d3, 0x33bc, 0x33a5, 0x338e, 0x3377, 0x3360, 0x3349, 0x3332,
+  0x331b, 0x3304, 0x32ed, 0x32d6, 0x32bf, 0x32a8, 0x3290, 0x3279,
+  0x3262, 0x324b, 0x3234, 0x321d, 0x3206, 0x31ef, 0x31d8, 0x31c0,
+  0x31a9, 0x3192, 0x317b, 0x3164, 0x314c, 0x3135, 0x311e, 0x3107,
+  0x30f0, 0x30d8, 0x30c1, 0x30aa, 0x3093, 0x307b, 0x3064, 0x304d,
+  0x3036, 0x301e, 0x3007, 0x2ff0, 0x2fd8, 0x2fc1, 0x2faa, 0x2f92,
+  0x2f7b, 0x2f64, 0x2f4c, 0x2f35, 0x2f1e, 0x2f06, 0x2eef, 0x2ed8,
+  0x2ec0, 0x2ea9, 0x2e91, 0x2e7a, 0x2e63, 0x2e4b, 0x2e34, 0x2e1c,
+  0x2e05, 0x2ded, 0x2dd6, 0x2dbe, 0x2da7, 0x2d8f, 0x2d78, 0x2d60,
+  0x2d49, 0x2d31, 0x2d1a, 0x2d02, 0x2ceb, 0x2cd3, 0x2cbc, 0x2ca4,
+  0x2c8d, 0x2c75, 0x2c5e, 0x2c46, 0x2c2e, 0x2c17, 0x2bff, 0x2be8,
+  0x2bd0, 0x2bb8, 0x2ba1, 0x2b89, 0x2b71, 0x2b5a, 0x2b42, 0x2b2b,
+  0x2b13, 0x2afb, 0x2ae4, 0x2acc, 0x2ab4, 0x2a9c, 0x2a85, 0x2a6d,
+  0x2a55, 0x2a3e, 0x2a26, 0x2a0e, 0x29f6, 0x29df, 0x29c7, 0x29af,
+  0x2997, 0x2980, 0x2968, 0x2950, 0x2938, 0x2920, 0x2909, 0x28f1,
+  0x28d9, 0x28c1, 0x28a9, 0x2892, 0x287a, 0x2862, 0x284a, 0x2832,
+  0x281a, 0x2802, 0x27eb, 0x27d3, 0x27bb, 0x27a3, 0x278b, 0x2773,
+  0x275b, 0x2743, 0x272b, 0x2713, 0x26fb, 0x26e4, 0x26cc, 0x26b4,
+  0x269c, 0x2684, 0x266c, 0x2654, 0x263c, 0x2624, 0x260c, 0x25f4,
+  0x25dc, 0x25c4, 0x25ac, 0x2594, 0x257c, 0x2564, 0x254c, 0x2534,
+  0x251c, 0x2503, 0x24eb, 0x24d3, 0x24bb, 0x24a3, 0x248b, 0x2473,
+  0x245b, 0x2443, 0x242b, 0x2413, 0x23fa, 0x23e2, 0x23ca, 0x23b2,
+  0x239a, 0x2382, 0x236a, 0x2352, 0x2339, 0x2321, 0x2309, 0x22f1,
+  0x22d9, 0x22c0, 0x22a8, 0x2290, 0x2278, 0x2260, 0x2247, 0x222f,
+  0x2217, 0x21ff, 0x21e7, 0x21ce, 0x21b6, 0x219e, 0x2186, 0x216d,
+  0x2155, 0x213d, 0x2125, 0x210c, 0x20f4, 0x20dc, 0x20c3, 0x20ab,
+  0x2093, 0x207a, 0x2062, 0x204a, 0x2032, 0x2019, 0x2001, 0x1fe9,
+  0x1fd0, 0x1fb8, 0x1f9f, 0x1f87, 0x1f6f, 0x1f56, 0x1f3e, 0x1f26,
+  0x1f0d, 0x1ef5, 0x1edd, 0x1ec4, 0x1eac, 0x1e93, 0x1e7b, 0x1e62,
+  0x1e4a, 0x1e32, 0x1e19, 0x1e01, 0x1de8, 0x1dd0, 0x1db7, 0x1d9f,
+  0x1d87, 0x1d6e, 0x1d56, 0x1d3d, 0x1d25, 0x1d0c, 0x1cf4, 0x1cdb,
+  0x1cc3, 0x1caa, 0x1c92, 0x1c79, 0x1c61, 0x1c48, 0x1c30, 0x1c17,
+  0x1bff, 0x1be6, 0x1bce, 0x1bb5, 0x1b9d, 0x1b84, 0x1b6c, 0x1b53,
+  0x1b3a, 0x1b22, 0x1b09, 0x1af1, 0x1ad8, 0x1ac0, 0x1aa7, 0x1a8e,
+  0x1a76, 0x1a5d, 0x1a45, 0x1a2c, 0x1a13, 0x19fb, 0x19e2, 0x19ca,
+  0x19b1, 0x1998, 0x1980, 0x1967, 0x194e, 0x1936, 0x191d, 0x1905,
+  0x18ec, 0x18d3, 0x18bb, 0x18a2, 0x1889, 0x1871, 0x1858, 0x183f,
+  0x1827, 0x180e, 0x17f5, 0x17dd, 0x17c4, 0x17ab, 0x1792, 0x177a,
+  0x1761, 0x1748, 0x1730, 0x1717, 0x16fe, 0x16e5, 0x16cd, 0x16b4,
+  0x169b, 0x1682, 0x166a, 0x1651, 0x1638, 0x161f, 0x1607, 0x15ee,
+  0x15d5, 0x15bc, 0x15a4, 0x158b, 0x1572, 0x1559, 0x1541, 0x1528,
+  0x150f, 0x14f6, 0x14dd, 0x14c5, 0x14ac, 0x1493, 0x147a, 0x1461,
+  0x1449, 0x1430, 0x1417, 0x13fe, 0x13e5, 0x13cc, 0x13b4, 0x139b,
+  0x1382, 0x1369, 0x1350, 0x1337, 0x131f, 0x1306, 0x12ed, 0x12d4,
+  0x12bb, 0x12a2, 0x1289, 0x1271, 0x1258, 0x123f, 0x1226, 0x120d,
+  0x11f4, 0x11db, 0x11c2, 0x11a9, 0x1191, 0x1178, 0x115f, 0x1146,
+  0x112d, 0x1114, 0x10fb, 0x10e2, 0x10c9, 0x10b0, 0x1098, 0x107f,
+  0x1066, 0x104d, 0x1034, 0x101b, 0x1002, 0xfe9, 0xfd0, 0xfb7,
+  0xf9e, 0xf85, 0xf6c, 0xf53, 0xf3a, 0xf21, 0xf08, 0xef0,
+  0xed7, 0xebe, 0xea5, 0xe8c, 0xe73, 0xe5a, 0xe41, 0xe28,
+  0xe0f, 0xdf6, 0xddd, 0xdc4, 0xdab, 0xd92, 0xd79, 0xd60,
+  0xd47, 0xd2e, 0xd15, 0xcfc, 0xce3, 0xcca, 0xcb1, 0xc98,
+  0xc7f, 0xc66, 0xc4d, 0xc34, 0xc1b, 0xc02, 0xbe9, 0xbd0,
+  0xbb7, 0xb9e, 0xb85, 0xb6c, 0xb53, 0xb3a, 0xb20, 0xb07,
+  0xaee, 0xad5, 0xabc, 0xaa3, 0xa8a, 0xa71, 0xa58, 0xa3f,
+  0xa26, 0xa0d, 0x9f4, 0x9db, 0x9c2, 0x9a9, 0x990, 0x977,
+  0x95e, 0x944, 0x92b, 0x912, 0x8f9, 0x8e0, 0x8c7, 0x8ae,
+  0x895, 0x87c, 0x863, 0x84a, 0x831, 0x818, 0x7fe, 0x7e5,
+  0x7cc, 0x7b3, 0x79a, 0x781, 0x768, 0x74f, 0x736, 0x71d,
+  0x704, 0x6ea, 0x6d1, 0x6b8, 0x69f, 0x686, 0x66d, 0x654,
+  0x63b, 0x622, 0x609, 0x5ef, 0x5d6, 0x5bd, 0x5a4, 0x58b,
+  0x572, 0x559, 0x540, 0x527, 0x50d, 0x4f4, 0x4db, 0x4c2,
+  0x4a9, 0x490, 0x477, 0x45e, 0x445, 0x42b, 0x412, 0x3f9,
+  0x3e0, 0x3c7, 0x3ae, 0x395, 0x37c, 0x362, 0x349, 0x330,
+  0x317, 0x2fe, 0x2e5, 0x2cc, 0x2b3, 0x299, 0x280, 0x267,
+  0x24e, 0x235, 0x21c, 0x203, 0x1ea, 0x1d0, 0x1b7, 0x19e,
+  0x185, 0x16c, 0x153, 0x13a, 0x121, 0x107, 0xee, 0xd5,
+  0xbc, 0xa3, 0x8a, 0x71, 0x57, 0x3e, 0x25, 0xc,
+
+};
+
+static const q15_t ALIGN4 cos_factorsQ15_8192[8192] = {
+  0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff,
+  0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff,
+  0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff,
+  0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff,
+  0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff,
+  0x7fff, 0x7ffe, 0x7ffe, 0x7ffe, 0x7ffe, 0x7ffe, 0x7ffe, 0x7ffe,
+  0x7ffe, 0x7ffe, 0x7ffe, 0x7ffe, 0x7ffe, 0x7ffe, 0x7ffe, 0x7ffe,
+  0x7ffe, 0x7ffe, 0x7ffd, 0x7ffd, 0x7ffd, 0x7ffd, 0x7ffd, 0x7ffd,
+  0x7ffd, 0x7ffd, 0x7ffd, 0x7ffd, 0x7ffd, 0x7ffd, 0x7ffd, 0x7ffc,
+  0x7ffc, 0x7ffc, 0x7ffc, 0x7ffc, 0x7ffc, 0x7ffc, 0x7ffc, 0x7ffc,
+  0x7ffc, 0x7ffb, 0x7ffb, 0x7ffb, 0x7ffb, 0x7ffb, 0x7ffb, 0x7ffb,
+  0x7ffb, 0x7ffb, 0x7ffb, 0x7ffa, 0x7ffa, 0x7ffa, 0x7ffa, 0x7ffa,
+  0x7ffa, 0x7ffa, 0x7ffa, 0x7ffa, 0x7ff9, 0x7ff9, 0x7ff9, 0x7ff9,
+  0x7ff9, 0x7ff9, 0x7ff9, 0x7ff9, 0x7ff8, 0x7ff8, 0x7ff8, 0x7ff8,
+  0x7ff8, 0x7ff8, 0x7ff8, 0x7ff7, 0x7ff7, 0x7ff7, 0x7ff7, 0x7ff7,
+  0x7ff7, 0x7ff7, 0x7ff6, 0x7ff6, 0x7ff6, 0x7ff6, 0x7ff6, 0x7ff6,
+  0x7ff6, 0x7ff5, 0x7ff5, 0x7ff5, 0x7ff5, 0x7ff5, 0x7ff5, 0x7ff4,
+  0x7ff4, 0x7ff4, 0x7ff4, 0x7ff4, 0x7ff4, 0x7ff3, 0x7ff3, 0x7ff3,
+  0x7ff3, 0x7ff3, 0x7ff3, 0x7ff2, 0x7ff2, 0x7ff2, 0x7ff2, 0x7ff2,
+  0x7ff1, 0x7ff1, 0x7ff1, 0x7ff1, 0x7ff1, 0x7ff1, 0x7ff0, 0x7ff0,
+  0x7ff0, 0x7ff0, 0x7ff0, 0x7fef, 0x7fef, 0x7fef, 0x7fef, 0x7fef,
+  0x7fee, 0x7fee, 0x7fee, 0x7fee, 0x7fee, 0x7fed, 0x7fed, 0x7fed,
+  0x7fed, 0x7fed, 0x7fec, 0x7fec, 0x7fec, 0x7fec, 0x7feb, 0x7feb,
+  0x7feb, 0x7feb, 0x7feb, 0x7fea, 0x7fea, 0x7fea, 0x7fea, 0x7fe9,
+  0x7fe9, 0x7fe9, 0x7fe9, 0x7fe8, 0x7fe8, 0x7fe8, 0x7fe8, 0x7fe8,
+  0x7fe7, 0x7fe7, 0x7fe7, 0x7fe7, 0x7fe6, 0x7fe6, 0x7fe6, 0x7fe6,
+  0x7fe5, 0x7fe5, 0x7fe5, 0x7fe5, 0x7fe4, 0x7fe4, 0x7fe4, 0x7fe4,
+  0x7fe3, 0x7fe3, 0x7fe3, 0x7fe2, 0x7fe2, 0x7fe2, 0x7fe2, 0x7fe1,
+  0x7fe1, 0x7fe1, 0x7fe1, 0x7fe0, 0x7fe0, 0x7fe0, 0x7fdf, 0x7fdf,
+  0x7fdf, 0x7fdf, 0x7fde, 0x7fde, 0x7fde, 0x7fde, 0x7fdd, 0x7fdd,
+  0x7fdd, 0x7fdc, 0x7fdc, 0x7fdc, 0x7fdb, 0x7fdb, 0x7fdb, 0x7fdb,
+  0x7fda, 0x7fda, 0x7fda, 0x7fd9, 0x7fd9, 0x7fd9, 0x7fd8, 0x7fd8,
+  0x7fd8, 0x7fd8, 0x7fd7, 0x7fd7, 0x7fd7, 0x7fd6, 0x7fd6, 0x7fd6,
+  0x7fd5, 0x7fd5, 0x7fd5, 0x7fd4, 0x7fd4, 0x7fd4, 0x7fd3, 0x7fd3,
+  0x7fd3, 0x7fd2, 0x7fd2, 0x7fd2, 0x7fd1, 0x7fd1, 0x7fd1, 0x7fd0,
+  0x7fd0, 0x7fd0, 0x7fcf, 0x7fcf, 0x7fcf, 0x7fce, 0x7fce, 0x7fce,
+  0x7fcd, 0x7fcd, 0x7fcd, 0x7fcc, 0x7fcc, 0x7fcc, 0x7fcb, 0x7fcb,
+  0x7fcb, 0x7fca, 0x7fca, 0x7fc9, 0x7fc9, 0x7fc9, 0x7fc8, 0x7fc8,
+  0x7fc8, 0x7fc7, 0x7fc7, 0x7fc7, 0x7fc6, 0x7fc6, 0x7fc5, 0x7fc5,
+  0x7fc5, 0x7fc4, 0x7fc4, 0x7fc4, 0x7fc3, 0x7fc3, 0x7fc2, 0x7fc2,
+  0x7fc2, 0x7fc1, 0x7fc1, 0x7fc0, 0x7fc0, 0x7fc0, 0x7fbf, 0x7fbf,
+  0x7fbf, 0x7fbe, 0x7fbe, 0x7fbd, 0x7fbd, 0x7fbd, 0x7fbc, 0x7fbc,
+  0x7fbb, 0x7fbb, 0x7fbb, 0x7fba, 0x7fba, 0x7fb9, 0x7fb9, 0x7fb8,
+  0x7fb8, 0x7fb8, 0x7fb7, 0x7fb7, 0x7fb6, 0x7fb6, 0x7fb6, 0x7fb5,
+  0x7fb5, 0x7fb4, 0x7fb4, 0x7fb3, 0x7fb3, 0x7fb3, 0x7fb2, 0x7fb2,
+  0x7fb1, 0x7fb1, 0x7fb0, 0x7fb0, 0x7faf, 0x7faf, 0x7faf, 0x7fae,
+  0x7fae, 0x7fad, 0x7fad, 0x7fac, 0x7fac, 0x7fac, 0x7fab, 0x7fab,
+  0x7faa, 0x7faa, 0x7fa9, 0x7fa9, 0x7fa8, 0x7fa8, 0x7fa7, 0x7fa7,
+  0x7fa6, 0x7fa6, 0x7fa6, 0x7fa5, 0x7fa5, 0x7fa4, 0x7fa4, 0x7fa3,
+  0x7fa3, 0x7fa2, 0x7fa2, 0x7fa1, 0x7fa1, 0x7fa0, 0x7fa0, 0x7f9f,
+  0x7f9f, 0x7f9e, 0x7f9e, 0x7f9d, 0x7f9d, 0x7f9c, 0x7f9c, 0x7f9c,
+  0x7f9b, 0x7f9b, 0x7f9a, 0x7f9a, 0x7f99, 0x7f99, 0x7f98, 0x7f98,
+  0x7f97, 0x7f97, 0x7f96, 0x7f96, 0x7f95, 0x7f95, 0x7f94, 0x7f94,
+  0x7f93, 0x7f92, 0x7f92, 0x7f91, 0x7f91, 0x7f90, 0x7f90, 0x7f8f,
+  0x7f8f, 0x7f8e, 0x7f8e, 0x7f8d, 0x7f8d, 0x7f8c, 0x7f8c, 0x7f8b,
+  0x7f8b, 0x7f8a, 0x7f8a, 0x7f89, 0x7f89, 0x7f88, 0x7f87, 0x7f87,
+  0x7f86, 0x7f86, 0x7f85, 0x7f85, 0x7f84, 0x7f84, 0x7f83, 0x7f83,
+  0x7f82, 0x7f81, 0x7f81, 0x7f80, 0x7f80, 0x7f7f, 0x7f7f, 0x7f7e,
+  0x7f7e, 0x7f7d, 0x7f7c, 0x7f7c, 0x7f7b, 0x7f7b, 0x7f7a, 0x7f7a,
+  0x7f79, 0x7f79, 0x7f78, 0x7f77, 0x7f77, 0x7f76, 0x7f76, 0x7f75,
+  0x7f75, 0x7f74, 0x7f73, 0x7f73, 0x7f72, 0x7f72, 0x7f71, 0x7f70,
+  0x7f70, 0x7f6f, 0x7f6f, 0x7f6e, 0x7f6d, 0x7f6d, 0x7f6c, 0x7f6c,
+  0x7f6b, 0x7f6b, 0x7f6a, 0x7f69, 0x7f69, 0x7f68, 0x7f68, 0x7f67,
+  0x7f66, 0x7f66, 0x7f65, 0x7f64, 0x7f64, 0x7f63, 0x7f63, 0x7f62,
+  0x7f61, 0x7f61, 0x7f60, 0x7f60, 0x7f5f, 0x7f5e, 0x7f5e, 0x7f5d,
+  0x7f5c, 0x7f5c, 0x7f5b, 0x7f5b, 0x7f5a, 0x7f59, 0x7f59, 0x7f58,
+  0x7f57, 0x7f57, 0x7f56, 0x7f55, 0x7f55, 0x7f54, 0x7f54, 0x7f53,
+  0x7f52, 0x7f52, 0x7f51, 0x7f50, 0x7f50, 0x7f4f, 0x7f4e, 0x7f4e,
+  0x7f4d, 0x7f4c, 0x7f4c, 0x7f4b, 0x7f4a, 0x7f4a, 0x7f49, 0x7f48,
+  0x7f48, 0x7f47, 0x7f46, 0x7f46, 0x7f45, 0x7f44, 0x7f44, 0x7f43,
+  0x7f42, 0x7f42, 0x7f41, 0x7f40, 0x7f40, 0x7f3f, 0x7f3e, 0x7f3e,
+  0x7f3d, 0x7f3c, 0x7f3c, 0x7f3b, 0x7f3a, 0x7f3a, 0x7f39, 0x7f38,
+  0x7f37, 0x7f37, 0x7f36, 0x7f35, 0x7f35, 0x7f34, 0x7f33, 0x7f33,
+  0x7f32, 0x7f31, 0x7f31, 0x7f30, 0x7f2f, 0x7f2e, 0x7f2e, 0x7f2d,
+  0x7f2c, 0x7f2c, 0x7f2b, 0x7f2a, 0x7f29, 0x7f29, 0x7f28, 0x7f27,
+  0x7f27, 0x7f26, 0x7f25, 0x7f24, 0x7f24, 0x7f23, 0x7f22, 0x7f21,
+  0x7f21, 0x7f20, 0x7f1f, 0x7f1f, 0x7f1e, 0x7f1d, 0x7f1c, 0x7f1c,
+  0x7f1b, 0x7f1a, 0x7f19, 0x7f19, 0x7f18, 0x7f17, 0x7f16, 0x7f16,
+  0x7f15, 0x7f14, 0x7f13, 0x7f13, 0x7f12, 0x7f11, 0x7f10, 0x7f10,
+  0x7f0f, 0x7f0e, 0x7f0d, 0x7f0d, 0x7f0c, 0x7f0b, 0x7f0a, 0x7f09,
+  0x7f09, 0x7f08, 0x7f07, 0x7f06, 0x7f06, 0x7f05, 0x7f04, 0x7f03,
+  0x7f02, 0x7f02, 0x7f01, 0x7f00, 0x7eff, 0x7eff, 0x7efe, 0x7efd,
+  0x7efc, 0x7efb, 0x7efb, 0x7efa, 0x7ef9, 0x7ef8, 0x7ef7, 0x7ef7,
+  0x7ef6, 0x7ef5, 0x7ef4, 0x7ef3, 0x7ef3, 0x7ef2, 0x7ef1, 0x7ef0,
+  0x7eef, 0x7eef, 0x7eee, 0x7eed, 0x7eec, 0x7eeb, 0x7eeb, 0x7eea,
+  0x7ee9, 0x7ee8, 0x7ee7, 0x7ee6, 0x7ee6, 0x7ee5, 0x7ee4, 0x7ee3,
+  0x7ee2, 0x7ee2, 0x7ee1, 0x7ee0, 0x7edf, 0x7ede, 0x7edd, 0x7edd,
+  0x7edc, 0x7edb, 0x7eda, 0x7ed9, 0x7ed8, 0x7ed8, 0x7ed7, 0x7ed6,
+  0x7ed5, 0x7ed4, 0x7ed3, 0x7ed2, 0x7ed2, 0x7ed1, 0x7ed0, 0x7ecf,
+  0x7ece, 0x7ecd, 0x7ecc, 0x7ecc, 0x7ecb, 0x7eca, 0x7ec9, 0x7ec8,
+  0x7ec7, 0x7ec6, 0x7ec6, 0x7ec5, 0x7ec4, 0x7ec3, 0x7ec2, 0x7ec1,
+  0x7ec0, 0x7ebf, 0x7ebf, 0x7ebe, 0x7ebd, 0x7ebc, 0x7ebb, 0x7eba,
+  0x7eb9, 0x7eb8, 0x7eb8, 0x7eb7, 0x7eb6, 0x7eb5, 0x7eb4, 0x7eb3,
+  0x7eb2, 0x7eb1, 0x7eb0, 0x7eaf, 0x7eaf, 0x7eae, 0x7ead, 0x7eac,
+  0x7eab, 0x7eaa, 0x7ea9, 0x7ea8, 0x7ea7, 0x7ea6, 0x7ea6, 0x7ea5,
+  0x7ea4, 0x7ea3, 0x7ea2, 0x7ea1, 0x7ea0, 0x7e9f, 0x7e9e, 0x7e9d,
+  0x7e9c, 0x7e9b, 0x7e9b, 0x7e9a, 0x7e99, 0x7e98, 0x7e97, 0x7e96,
+  0x7e95, 0x7e94, 0x7e93, 0x7e92, 0x7e91, 0x7e90, 0x7e8f, 0x7e8e,
+  0x7e8d, 0x7e8d, 0x7e8c, 0x7e8b, 0x7e8a, 0x7e89, 0x7e88, 0x7e87,
+  0x7e86, 0x7e85, 0x7e84, 0x7e83, 0x7e82, 0x7e81, 0x7e80, 0x7e7f,
+  0x7e7e, 0x7e7d, 0x7e7c, 0x7e7b, 0x7e7a, 0x7e79, 0x7e78, 0x7e77,
+  0x7e77, 0x7e76, 0x7e75, 0x7e74, 0x7e73, 0x7e72, 0x7e71, 0x7e70,
+  0x7e6f, 0x7e6e, 0x7e6d, 0x7e6c, 0x7e6b, 0x7e6a, 0x7e69, 0x7e68,
+  0x7e67, 0x7e66, 0x7e65, 0x7e64, 0x7e63, 0x7e62, 0x7e61, 0x7e60,
+  0x7e5f, 0x7e5e, 0x7e5d, 0x7e5c, 0x7e5b, 0x7e5a, 0x7e59, 0x7e58,
+  0x7e57, 0x7e56, 0x7e55, 0x7e54, 0x7e53, 0x7e52, 0x7e51, 0x7e50,
+  0x7e4f, 0x7e4e, 0x7e4d, 0x7e4c, 0x7e4b, 0x7e4a, 0x7e49, 0x7e48,
+  0x7e47, 0x7e46, 0x7e45, 0x7e43, 0x7e42, 0x7e41, 0x7e40, 0x7e3f,
+  0x7e3e, 0x7e3d, 0x7e3c, 0x7e3b, 0x7e3a, 0x7e39, 0x7e38, 0x7e37,
+  0x7e36, 0x7e35, 0x7e34, 0x7e33, 0x7e32, 0x7e31, 0x7e30, 0x7e2f,
+  0x7e2e, 0x7e2d, 0x7e2b, 0x7e2a, 0x7e29, 0x7e28, 0x7e27, 0x7e26,
+  0x7e25, 0x7e24, 0x7e23, 0x7e22, 0x7e21, 0x7e20, 0x7e1f, 0x7e1e,
+  0x7e1d, 0x7e1b, 0x7e1a, 0x7e19, 0x7e18, 0x7e17, 0x7e16, 0x7e15,
+  0x7e14, 0x7e13, 0x7e12, 0x7e11, 0x7e10, 0x7e0e, 0x7e0d, 0x7e0c,
+  0x7e0b, 0x7e0a, 0x7e09, 0x7e08, 0x7e07, 0x7e06, 0x7e05, 0x7e04,
+  0x7e02, 0x7e01, 0x7e00, 0x7dff, 0x7dfe, 0x7dfd, 0x7dfc, 0x7dfb,
+  0x7dfa, 0x7df8, 0x7df7, 0x7df6, 0x7df5, 0x7df4, 0x7df3, 0x7df2,
+  0x7df1, 0x7def, 0x7dee, 0x7ded, 0x7dec, 0x7deb, 0x7dea, 0x7de9,
+  0x7de8, 0x7de6, 0x7de5, 0x7de4, 0x7de3, 0x7de2, 0x7de1, 0x7de0,
+  0x7dde, 0x7ddd, 0x7ddc, 0x7ddb, 0x7dda, 0x7dd9, 0x7dd8, 0x7dd6,
+  0x7dd5, 0x7dd4, 0x7dd3, 0x7dd2, 0x7dd1, 0x7dd0, 0x7dce, 0x7dcd,
+  0x7dcc, 0x7dcb, 0x7dca, 0x7dc9, 0x7dc7, 0x7dc6, 0x7dc5, 0x7dc4,
+  0x7dc3, 0x7dc2, 0x7dc0, 0x7dbf, 0x7dbe, 0x7dbd, 0x7dbc, 0x7dbb,
+  0x7db9, 0x7db8, 0x7db7, 0x7db6, 0x7db5, 0x7db3, 0x7db2, 0x7db1,
+  0x7db0, 0x7daf, 0x7dae, 0x7dac, 0x7dab, 0x7daa, 0x7da9, 0x7da8,
+  0x7da6, 0x7da5, 0x7da4, 0x7da3, 0x7da2, 0x7da0, 0x7d9f, 0x7d9e,
+  0x7d9d, 0x7d9c, 0x7d9a, 0x7d99, 0x7d98, 0x7d97, 0x7d95, 0x7d94,
+  0x7d93, 0x7d92, 0x7d91, 0x7d8f, 0x7d8e, 0x7d8d, 0x7d8c, 0x7d8a,
+  0x7d89, 0x7d88, 0x7d87, 0x7d86, 0x7d84, 0x7d83, 0x7d82, 0x7d81,
+  0x7d7f, 0x7d7e, 0x7d7d, 0x7d7c, 0x7d7a, 0x7d79, 0x7d78, 0x7d77,
+  0x7d75, 0x7d74, 0x7d73, 0x7d72, 0x7d70, 0x7d6f, 0x7d6e, 0x7d6d,
+  0x7d6b, 0x7d6a, 0x7d69, 0x7d68, 0x7d66, 0x7d65, 0x7d64, 0x7d63,
+  0x7d61, 0x7d60, 0x7d5f, 0x7d5e, 0x7d5c, 0x7d5b, 0x7d5a, 0x7d59,
+  0x7d57, 0x7d56, 0x7d55, 0x7d53, 0x7d52, 0x7d51, 0x7d50, 0x7d4e,
+  0x7d4d, 0x7d4c, 0x7d4a, 0x7d49, 0x7d48, 0x7d47, 0x7d45, 0x7d44,
+  0x7d43, 0x7d41, 0x7d40, 0x7d3f, 0x7d3e, 0x7d3c, 0x7d3b, 0x7d3a,
+  0x7d38, 0x7d37, 0x7d36, 0x7d34, 0x7d33, 0x7d32, 0x7d31, 0x7d2f,
+  0x7d2e, 0x7d2d, 0x7d2b, 0x7d2a, 0x7d29, 0x7d27, 0x7d26, 0x7d25,
+  0x7d23, 0x7d22, 0x7d21, 0x7d1f, 0x7d1e, 0x7d1d, 0x7d1b, 0x7d1a,
+  0x7d19, 0x7d17, 0x7d16, 0x7d15, 0x7d13, 0x7d12, 0x7d11, 0x7d0f,
+  0x7d0e, 0x7d0d, 0x7d0b, 0x7d0a, 0x7d09, 0x7d07, 0x7d06, 0x7d05,
+  0x7d03, 0x7d02, 0x7d01, 0x7cff, 0x7cfe, 0x7cfd, 0x7cfb, 0x7cfa,
+  0x7cf9, 0x7cf7, 0x7cf6, 0x7cf4, 0x7cf3, 0x7cf2, 0x7cf0, 0x7cef,
+  0x7cee, 0x7cec, 0x7ceb, 0x7ce9, 0x7ce8, 0x7ce7, 0x7ce5, 0x7ce4,
+  0x7ce3, 0x7ce1, 0x7ce0, 0x7cde, 0x7cdd, 0x7cdc, 0x7cda, 0x7cd9,
+  0x7cd8, 0x7cd6, 0x7cd5, 0x7cd3, 0x7cd2, 0x7cd1, 0x7ccf, 0x7cce,
+  0x7ccc, 0x7ccb, 0x7cca, 0x7cc8, 0x7cc7, 0x7cc5, 0x7cc4, 0x7cc3,
+  0x7cc1, 0x7cc0, 0x7cbe, 0x7cbd, 0x7cbc, 0x7cba, 0x7cb9, 0x7cb7,
+  0x7cb6, 0x7cb5, 0x7cb3, 0x7cb2, 0x7cb0, 0x7caf, 0x7cad, 0x7cac,
+  0x7cab, 0x7ca9, 0x7ca8, 0x7ca6, 0x7ca5, 0x7ca3, 0x7ca2, 0x7ca1,
+  0x7c9f, 0x7c9e, 0x7c9c, 0x7c9b, 0x7c99, 0x7c98, 0x7c97, 0x7c95,
+  0x7c94, 0x7c92, 0x7c91, 0x7c8f, 0x7c8e, 0x7c8c, 0x7c8b, 0x7c8a,
+  0x7c88, 0x7c87, 0x7c85, 0x7c84, 0x7c82, 0x7c81, 0x7c7f, 0x7c7e,
+  0x7c7c, 0x7c7b, 0x7c79, 0x7c78, 0x7c77, 0x7c75, 0x7c74, 0x7c72,
+  0x7c71, 0x7c6f, 0x7c6e, 0x7c6c, 0x7c6b, 0x7c69, 0x7c68, 0x7c66,
+  0x7c65, 0x7c63, 0x7c62, 0x7c60, 0x7c5f, 0x7c5d, 0x7c5c, 0x7c5a,
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+  0x7c4d, 0x7c4c, 0x7c4a, 0x7c49, 0x7c47, 0x7c46, 0x7c44, 0x7c43,
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+  0x51cc, 0x51c7, 0x51c2, 0x51bd, 0x51b9, 0x51b4, 0x51af, 0x51aa,
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+  0x50bc, 0x50b7, 0x50b2, 0x50ad, 0x50a9, 0x50a4, 0x509f, 0x509a,
+  0x5095, 0x5090, 0x508b, 0x5086, 0x5082, 0x507d, 0x5078, 0x5073,
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+  0x5047, 0x5042, 0x503d, 0x5038, 0x5033, 0x502e, 0x5029, 0x5025,
+  0x5020, 0x501b, 0x5016, 0x5011, 0x500c, 0x5007, 0x5002, 0x4ffd,
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+  0x4fd1, 0x4fcc, 0x4fc7, 0x4fc2, 0x4fbe, 0x4fb9, 0x4fb4, 0x4faf,
+  0x4faa, 0x4fa5, 0x4fa0, 0x4f9b, 0x4f96, 0x4f91, 0x4f8c, 0x4f87,
+  0x4f82, 0x4f7e, 0x4f79, 0x4f74, 0x4f6f, 0x4f6a, 0x4f65, 0x4f60,
+  0x4f5b, 0x4f56, 0x4f51, 0x4f4c, 0x4f47, 0x4f42, 0x4f3d, 0x4f39,
+  0x4f34, 0x4f2f, 0x4f2a, 0x4f25, 0x4f20, 0x4f1b, 0x4f16, 0x4f11,
+  0x4f0c, 0x4f07, 0x4f02, 0x4efd, 0x4ef8, 0x4ef3, 0x4eee, 0x4ee9,
+  0x4ee5, 0x4ee0, 0x4edb, 0x4ed6, 0x4ed1, 0x4ecc, 0x4ec7, 0x4ec2,
+  0x4ebd, 0x4eb8, 0x4eb3, 0x4eae, 0x4ea9, 0x4ea4, 0x4e9f, 0x4e9a,
+  0x4e95, 0x4e90, 0x4e8b, 0x4e86, 0x4e81, 0x4e7c, 0x4e78, 0x4e73,
+  0x4e6e, 0x4e69, 0x4e64, 0x4e5f, 0x4e5a, 0x4e55, 0x4e50, 0x4e4b,
+  0x4e46, 0x4e41, 0x4e3c, 0x4e37, 0x4e32, 0x4e2d, 0x4e28, 0x4e23,
+  0x4e1e, 0x4e19, 0x4e14, 0x4e0f, 0x4e0a, 0x4e05, 0x4e00, 0x4dfb,
+  0x4df6, 0x4df1, 0x4dec, 0x4de7, 0x4de2, 0x4ddd, 0x4dd8, 0x4dd3,
+  0x4dce, 0x4dc9, 0x4dc4, 0x4dbf, 0x4dba, 0x4db5, 0x4db0, 0x4dab,
+  0x4da6, 0x4da1, 0x4d9c, 0x4d97, 0x4d92, 0x4d8d, 0x4d88, 0x4d83,
+  0x4d7e, 0x4d79, 0x4d74, 0x4d6f, 0x4d6a, 0x4d65, 0x4d60, 0x4d5b,
+  0x4d56, 0x4d51, 0x4d4c, 0x4d47, 0x4d42, 0x4d3d, 0x4d38, 0x4d33,
+  0x4d2e, 0x4d29, 0x4d24, 0x4d1f, 0x4d1a, 0x4d15, 0x4d10, 0x4d0b,
+  0x4d06, 0x4d01, 0x4cfc, 0x4cf7, 0x4cf2, 0x4ced, 0x4ce8, 0x4ce3,
+  0x4cde, 0x4cd9, 0x4cd4, 0x4ccf, 0x4cca, 0x4cc5, 0x4cc0, 0x4cbb,
+  0x4cb6, 0x4cb1, 0x4cac, 0x4ca7, 0x4ca2, 0x4c9d, 0x4c98, 0x4c93,
+  0x4c8e, 0x4c88, 0x4c83, 0x4c7e, 0x4c79, 0x4c74, 0x4c6f, 0x4c6a,
+  0x4c65, 0x4c60, 0x4c5b, 0x4c56, 0x4c51, 0x4c4c, 0x4c47, 0x4c42,
+  0x4c3d, 0x4c38, 0x4c33, 0x4c2e, 0x4c29, 0x4c24, 0x4c1f, 0x4c1a,
+  0x4c14, 0x4c0f, 0x4c0a, 0x4c05, 0x4c00, 0x4bfb, 0x4bf6, 0x4bf1,
+  0x4bec, 0x4be7, 0x4be2, 0x4bdd, 0x4bd8, 0x4bd3, 0x4bce, 0x4bc9,
+  0x4bc4, 0x4bbe, 0x4bb9, 0x4bb4, 0x4baf, 0x4baa, 0x4ba5, 0x4ba0,
+  0x4b9b, 0x4b96, 0x4b91, 0x4b8c, 0x4b87, 0x4b82, 0x4b7d, 0x4b77,
+  0x4b72, 0x4b6d, 0x4b68, 0x4b63, 0x4b5e, 0x4b59, 0x4b54, 0x4b4f,
+  0x4b4a, 0x4b45, 0x4b40, 0x4b3b, 0x4b35, 0x4b30, 0x4b2b, 0x4b26,
+  0x4b21, 0x4b1c, 0x4b17, 0x4b12, 0x4b0d, 0x4b08, 0x4b03, 0x4afd,
+  0x4af8, 0x4af3, 0x4aee, 0x4ae9, 0x4ae4, 0x4adf, 0x4ada, 0x4ad5,
+  0x4ad0, 0x4acb, 0x4ac5, 0x4ac0, 0x4abb, 0x4ab6, 0x4ab1, 0x4aac,
+  0x4aa7, 0x4aa2, 0x4a9d, 0x4a97, 0x4a92, 0x4a8d, 0x4a88, 0x4a83,
+  0x4a7e, 0x4a79, 0x4a74, 0x4a6f, 0x4a6a, 0x4a64, 0x4a5f, 0x4a5a,
+  0x4a55, 0x4a50, 0x4a4b, 0x4a46, 0x4a41, 0x4a3b, 0x4a36, 0x4a31,
+  0x4a2c, 0x4a27, 0x4a22, 0x4a1d, 0x4a18, 0x4a12, 0x4a0d, 0x4a08,
+  0x4a03, 0x49fe, 0x49f9, 0x49f4, 0x49ef, 0x49e9, 0x49e4, 0x49df,
+  0x49da, 0x49d5, 0x49d0, 0x49cb, 0x49c6, 0x49c0, 0x49bb, 0x49b6,
+  0x49b1, 0x49ac, 0x49a7, 0x49a2, 0x499c, 0x4997, 0x4992, 0x498d,
+  0x4988, 0x4983, 0x497e, 0x4978, 0x4973, 0x496e, 0x4969, 0x4964,
+  0x495f, 0x495a, 0x4954, 0x494f, 0x494a, 0x4945, 0x4940, 0x493b,
+  0x4936, 0x4930, 0x492b, 0x4926, 0x4921, 0x491c, 0x4917, 0x4911,
+  0x490c, 0x4907, 0x4902, 0x48fd, 0x48f8, 0x48f2, 0x48ed, 0x48e8,
+  0x48e3, 0x48de, 0x48d9, 0x48d3, 0x48ce, 0x48c9, 0x48c4, 0x48bf,
+  0x48ba, 0x48b4, 0x48af, 0x48aa, 0x48a5, 0x48a0, 0x489b, 0x4895,
+  0x4890, 0x488b, 0x4886, 0x4881, 0x487c, 0x4876, 0x4871, 0x486c,
+  0x4867, 0x4862, 0x485c, 0x4857, 0x4852, 0x484d, 0x4848, 0x4843,
+  0x483d, 0x4838, 0x4833, 0x482e, 0x4829, 0x4823, 0x481e, 0x4819,
+  0x4814, 0x480f, 0x4809, 0x4804, 0x47ff, 0x47fa, 0x47f5, 0x47ef,
+  0x47ea, 0x47e5, 0x47e0, 0x47db, 0x47d5, 0x47d0, 0x47cb, 0x47c6,
+  0x47c1, 0x47bb, 0x47b6, 0x47b1, 0x47ac, 0x47a7, 0x47a1, 0x479c,
+  0x4797, 0x4792, 0x478d, 0x4787, 0x4782, 0x477d, 0x4778, 0x4773,
+  0x476d, 0x4768, 0x4763, 0x475e, 0x4758, 0x4753, 0x474e, 0x4749,
+  0x4744, 0x473e, 0x4739, 0x4734, 0x472f, 0x4729, 0x4724, 0x471f,
+  0x471a, 0x4715, 0x470f, 0x470a, 0x4705, 0x4700, 0x46fa, 0x46f5,
+  0x46f0, 0x46eb, 0x46e6, 0x46e0, 0x46db, 0x46d6, 0x46d1, 0x46cb,
+  0x46c6, 0x46c1, 0x46bc, 0x46b6, 0x46b1, 0x46ac, 0x46a7, 0x46a1,
+  0x469c, 0x4697, 0x4692, 0x468d, 0x4687, 0x4682, 0x467d, 0x4678,
+  0x4672, 0x466d, 0x4668, 0x4663, 0x465d, 0x4658, 0x4653, 0x464e,
+  0x4648, 0x4643, 0x463e, 0x4639, 0x4633, 0x462e, 0x4629, 0x4624,
+  0x461e, 0x4619, 0x4614, 0x460e, 0x4609, 0x4604, 0x45ff, 0x45f9,
+  0x45f4, 0x45ef, 0x45ea, 0x45e4, 0x45df, 0x45da, 0x45d5, 0x45cf,
+  0x45ca, 0x45c5, 0x45c0, 0x45ba, 0x45b5, 0x45b0, 0x45aa, 0x45a5,
+  0x45a0, 0x459b, 0x4595, 0x4590, 0x458b, 0x4586, 0x4580, 0x457b,
+  0x4576, 0x4570, 0x456b, 0x4566, 0x4561, 0x455b, 0x4556, 0x4551,
+  0x454b, 0x4546, 0x4541, 0x453c, 0x4536, 0x4531, 0x452c, 0x4526,
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+  0x44cd, 0x44c7, 0x44c2, 0x44bd, 0x44b7, 0x44b2, 0x44ad, 0x44a7,
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+  0x43cd, 0x43c8, 0x43c3, 0x43bd, 0x43b8, 0x43b3, 0x43ad, 0x43a8,
+  0x43a3, 0x439d, 0x4398, 0x4393, 0x438d, 0x4388, 0x4383, 0x437d,
+  0x4378, 0x4373, 0x436d, 0x4368, 0x4363, 0x435d, 0x4358, 0x4353,
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+  0x42f8, 0x42f2, 0x42ed, 0x42e8, 0x42e2, 0x42dd, 0x42d8, 0x42d2,
+  0x42cd, 0x42c8, 0x42c2, 0x42bd, 0x42b7, 0x42b2, 0x42ad, 0x42a7,
+  0x42a2, 0x429d, 0x4297, 0x4292, 0x428d, 0x4287, 0x4282, 0x427c,
+  0x4277, 0x4272, 0x426c, 0x4267, 0x4262, 0x425c, 0x4257, 0x4251,
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+  0x4221, 0x421c, 0x4216, 0x4211, 0x420c, 0x4206, 0x4201, 0x41fb,
+  0x41f6, 0x41f1, 0x41eb, 0x41e6, 0x41e0, 0x41db, 0x41d6, 0x41d0,
+  0x41cb, 0x41c6, 0x41c0, 0x41bb, 0x41b5, 0x41b0, 0x41ab, 0x41a5,
+  0x41a0, 0x419a, 0x4195, 0x4190, 0x418a, 0x4185, 0x417f, 0x417a,
+  0x4175, 0x416f, 0x416a, 0x4164, 0x415f, 0x415a, 0x4154, 0x414f,
+  0x4149, 0x4144, 0x413f, 0x4139, 0x4134, 0x412e, 0x4129, 0x4124,
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+  0x40f3, 0x40ed, 0x40e8, 0x40e3, 0x40dd, 0x40d8, 0x40d2, 0x40cd,
+  0x40c8, 0x40c2, 0x40bd, 0x40b7, 0x40b2, 0x40ac, 0x40a7, 0x40a2,
+  0x409c, 0x4097, 0x4091, 0x408c, 0x4086, 0x4081, 0x407c, 0x4076,
+  0x4071, 0x406b, 0x4066, 0x4060, 0x405b, 0x4056, 0x4050, 0x404b,
+  0x4045, 0x4040, 0x403a, 0x4035, 0x4030, 0x402a, 0x4025, 0x401f,
+  0x401a, 0x4014, 0x400f, 0x4009, 0x4004, 0x3fff, 0x3ff9, 0x3ff4,
+  0x3fee, 0x3fe9, 0x3fe3, 0x3fde, 0x3fd8, 0x3fd3, 0x3fce, 0x3fc8,
+  0x3fc3, 0x3fbd, 0x3fb8, 0x3fb2, 0x3fad, 0x3fa7, 0x3fa2, 0x3f9d,
+  0x3f97, 0x3f92, 0x3f8c, 0x3f87, 0x3f81, 0x3f7c, 0x3f76, 0x3f71,
+  0x3f6b, 0x3f66, 0x3f61, 0x3f5b, 0x3f56, 0x3f50, 0x3f4b, 0x3f45,
+  0x3f40, 0x3f3a, 0x3f35, 0x3f2f, 0x3f2a, 0x3f24, 0x3f1f, 0x3f1a,
+  0x3f14, 0x3f0f, 0x3f09, 0x3f04, 0x3efe, 0x3ef9, 0x3ef3, 0x3eee,
+  0x3ee8, 0x3ee3, 0x3edd, 0x3ed8, 0x3ed2, 0x3ecd, 0x3ec7, 0x3ec2,
+  0x3ebd, 0x3eb7, 0x3eb2, 0x3eac, 0x3ea7, 0x3ea1, 0x3e9c, 0x3e96,
+  0x3e91, 0x3e8b, 0x3e86, 0x3e80, 0x3e7b, 0x3e75, 0x3e70, 0x3e6a,
+  0x3e65, 0x3e5f, 0x3e5a, 0x3e54, 0x3e4f, 0x3e49, 0x3e44, 0x3e3e,
+  0x3e39, 0x3e33, 0x3e2e, 0x3e28, 0x3e23, 0x3e1d, 0x3e18, 0x3e12,
+  0x3e0d, 0x3e07, 0x3e02, 0x3dfc, 0x3df7, 0x3df1, 0x3dec, 0x3de6,
+  0x3de1, 0x3ddb, 0x3dd6, 0x3dd0, 0x3dcb, 0x3dc5, 0x3dc0, 0x3dba,
+  0x3db5, 0x3daf, 0x3daa, 0x3da4, 0x3d9f, 0x3d99, 0x3d94, 0x3d8e,
+  0x3d89, 0x3d83, 0x3d7e, 0x3d78, 0x3d73, 0x3d6d, 0x3d68, 0x3d62,
+  0x3d5d, 0x3d57, 0x3d52, 0x3d4c, 0x3d47, 0x3d41, 0x3d3c, 0x3d36,
+  0x3d31, 0x3d2b, 0x3d26, 0x3d20, 0x3d1b, 0x3d15, 0x3d10, 0x3d0a,
+  0x3d04, 0x3cff, 0x3cf9, 0x3cf4, 0x3cee, 0x3ce9, 0x3ce3, 0x3cde,
+  0x3cd8, 0x3cd3, 0x3ccd, 0x3cc8, 0x3cc2, 0x3cbd, 0x3cb7, 0x3cb2,
+  0x3cac, 0x3ca7, 0x3ca1, 0x3c9b, 0x3c96, 0x3c90, 0x3c8b, 0x3c85,
+  0x3c80, 0x3c7a, 0x3c75, 0x3c6f, 0x3c6a, 0x3c64, 0x3c5f, 0x3c59,
+  0x3c53, 0x3c4e, 0x3c48, 0x3c43, 0x3c3d, 0x3c38, 0x3c32, 0x3c2d,
+  0x3c27, 0x3c22, 0x3c1c, 0x3c16, 0x3c11, 0x3c0b, 0x3c06, 0x3c00,
+  0x3bfb, 0x3bf5, 0x3bf0, 0x3bea, 0x3be5, 0x3bdf, 0x3bd9, 0x3bd4,
+  0x3bce, 0x3bc9, 0x3bc3, 0x3bbe, 0x3bb8, 0x3bb3, 0x3bad, 0x3ba7,
+  0x3ba2, 0x3b9c, 0x3b97, 0x3b91, 0x3b8c, 0x3b86, 0x3b80, 0x3b7b,
+  0x3b75, 0x3b70, 0x3b6a, 0x3b65, 0x3b5f, 0x3b5a, 0x3b54, 0x3b4e,
+  0x3b49, 0x3b43, 0x3b3e, 0x3b38, 0x3b33, 0x3b2d, 0x3b27, 0x3b22,
+  0x3b1c, 0x3b17, 0x3b11, 0x3b0c, 0x3b06, 0x3b00, 0x3afb, 0x3af5,
+  0x3af0, 0x3aea, 0x3ae4, 0x3adf, 0x3ad9, 0x3ad4, 0x3ace, 0x3ac9,
+  0x3ac3, 0x3abd, 0x3ab8, 0x3ab2, 0x3aad, 0x3aa7, 0x3aa2, 0x3a9c,
+  0x3a96, 0x3a91, 0x3a8b, 0x3a86, 0x3a80, 0x3a7a, 0x3a75, 0x3a6f,
+  0x3a6a, 0x3a64, 0x3a5e, 0x3a59, 0x3a53, 0x3a4e, 0x3a48, 0x3a42,
+  0x3a3d, 0x3a37, 0x3a32, 0x3a2c, 0x3a26, 0x3a21, 0x3a1b, 0x3a16,
+  0x3a10, 0x3a0b, 0x3a05, 0x39ff, 0x39fa, 0x39f4, 0x39ee, 0x39e9,
+  0x39e3, 0x39de, 0x39d8, 0x39d2, 0x39cd, 0x39c7, 0x39c2, 0x39bc,
+  0x39b6, 0x39b1, 0x39ab, 0x39a6, 0x39a0, 0x399a, 0x3995, 0x398f,
+  0x398a, 0x3984, 0x397e, 0x3979, 0x3973, 0x396d, 0x3968, 0x3962,
+  0x395d, 0x3957, 0x3951, 0x394c, 0x3946, 0x3941, 0x393b, 0x3935,
+  0x3930, 0x392a, 0x3924, 0x391f, 0x3919, 0x3914, 0x390e, 0x3908,
+  0x3903, 0x38fd, 0x38f7, 0x38f2, 0x38ec, 0x38e7, 0x38e1, 0x38db,
+  0x38d6, 0x38d0, 0x38ca, 0x38c5, 0x38bf, 0x38ba, 0x38b4, 0x38ae,
+  0x38a9, 0x38a3, 0x389d, 0x3898, 0x3892, 0x388c, 0x3887, 0x3881,
+  0x387c, 0x3876, 0x3870, 0x386b, 0x3865, 0x385f, 0x385a, 0x3854,
+  0x384e, 0x3849, 0x3843, 0x383d, 0x3838, 0x3832, 0x382d, 0x3827,
+  0x3821, 0x381c, 0x3816, 0x3810, 0x380b, 0x3805, 0x37ff, 0x37fa,
+  0x37f4, 0x37ee, 0x37e9, 0x37e3, 0x37dd, 0x37d8, 0x37d2, 0x37cc,
+  0x37c7, 0x37c1, 0x37bc, 0x37b6, 0x37b0, 0x37ab, 0x37a5, 0x379f,
+  0x379a, 0x3794, 0x378e, 0x3789, 0x3783, 0x377d, 0x3778, 0x3772,
+  0x376c, 0x3767, 0x3761, 0x375b, 0x3756, 0x3750, 0x374a, 0x3745,
+  0x373f, 0x3739, 0x3734, 0x372e, 0x3728, 0x3723, 0x371d, 0x3717,
+  0x3712, 0x370c, 0x3706, 0x3701, 0x36fb, 0x36f5, 0x36f0, 0x36ea,
+  0x36e4, 0x36df, 0x36d9, 0x36d3, 0x36ce, 0x36c8, 0x36c2, 0x36bc,
+  0x36b7, 0x36b1, 0x36ab, 0x36a6, 0x36a0, 0x369a, 0x3695, 0x368f,
+  0x3689, 0x3684, 0x367e, 0x3678, 0x3673, 0x366d, 0x3667, 0x3662,
+  0x365c, 0x3656, 0x3650, 0x364b, 0x3645, 0x363f, 0x363a, 0x3634,
+  0x362e, 0x3629, 0x3623, 0x361d, 0x3618, 0x3612, 0x360c, 0x3606,
+  0x3601, 0x35fb, 0x35f5, 0x35f0, 0x35ea, 0x35e4, 0x35df, 0x35d9,
+  0x35d3, 0x35cd, 0x35c8, 0x35c2, 0x35bc, 0x35b7, 0x35b1, 0x35ab,
+  0x35a6, 0x35a0, 0x359a, 0x3594, 0x358f, 0x3589, 0x3583, 0x357e,
+  0x3578, 0x3572, 0x356c, 0x3567, 0x3561, 0x355b, 0x3556, 0x3550,
+  0x354a, 0x3544, 0x353f, 0x3539, 0x3533, 0x352e, 0x3528, 0x3522,
+  0x351c, 0x3517, 0x3511, 0x350b, 0x3506, 0x3500, 0x34fa, 0x34f4,
+  0x34ef, 0x34e9, 0x34e3, 0x34de, 0x34d8, 0x34d2, 0x34cc, 0x34c7,
+  0x34c1, 0x34bb, 0x34b6, 0x34b0, 0x34aa, 0x34a4, 0x349f, 0x3499,
+  0x3493, 0x348d, 0x3488, 0x3482, 0x347c, 0x3476, 0x3471, 0x346b,
+  0x3465, 0x3460, 0x345a, 0x3454, 0x344e, 0x3449, 0x3443, 0x343d,
+  0x3437, 0x3432, 0x342c, 0x3426, 0x3420, 0x341b, 0x3415, 0x340f,
+  0x340a, 0x3404, 0x33fe, 0x33f8, 0x33f3, 0x33ed, 0x33e7, 0x33e1,
+  0x33dc, 0x33d6, 0x33d0, 0x33ca, 0x33c5, 0x33bf, 0x33b9, 0x33b3,
+  0x33ae, 0x33a8, 0x33a2, 0x339c, 0x3397, 0x3391, 0x338b, 0x3385,
+  0x3380, 0x337a, 0x3374, 0x336e, 0x3369, 0x3363, 0x335d, 0x3357,
+  0x3352, 0x334c, 0x3346, 0x3340, 0x333b, 0x3335, 0x332f, 0x3329,
+  0x3324, 0x331e, 0x3318, 0x3312, 0x330c, 0x3307, 0x3301, 0x32fb,
+  0x32f5, 0x32f0, 0x32ea, 0x32e4, 0x32de, 0x32d9, 0x32d3, 0x32cd,
+  0x32c7, 0x32c2, 0x32bc, 0x32b6, 0x32b0, 0x32aa, 0x32a5, 0x329f,
+  0x3299, 0x3293, 0x328e, 0x3288, 0x3282, 0x327c, 0x3276, 0x3271,
+  0x326b, 0x3265, 0x325f, 0x325a, 0x3254, 0x324e, 0x3248, 0x3243,
+  0x323d, 0x3237, 0x3231, 0x322b, 0x3226, 0x3220, 0x321a, 0x3214,
+  0x320e, 0x3209, 0x3203, 0x31fd, 0x31f7, 0x31f2, 0x31ec, 0x31e6,
+  0x31e0, 0x31da, 0x31d5, 0x31cf, 0x31c9, 0x31c3, 0x31bd, 0x31b8,
+  0x31b2, 0x31ac, 0x31a6, 0x31a1, 0x319b, 0x3195, 0x318f, 0x3189,
+  0x3184, 0x317e, 0x3178, 0x3172, 0x316c, 0x3167, 0x3161, 0x315b,
+  0x3155, 0x314f, 0x314a, 0x3144, 0x313e, 0x3138, 0x3132, 0x312d,
+  0x3127, 0x3121, 0x311b, 0x3115, 0x3110, 0x310a, 0x3104, 0x30fe,
+  0x30f8, 0x30f3, 0x30ed, 0x30e7, 0x30e1, 0x30db, 0x30d6, 0x30d0,
+  0x30ca, 0x30c4, 0x30be, 0x30b8, 0x30b3, 0x30ad, 0x30a7, 0x30a1,
+  0x309b, 0x3096, 0x3090, 0x308a, 0x3084, 0x307e, 0x3079, 0x3073,
+  0x306d, 0x3067, 0x3061, 0x305b, 0x3056, 0x3050, 0x304a, 0x3044,
+  0x303e, 0x3039, 0x3033, 0x302d, 0x3027, 0x3021, 0x301b, 0x3016,
+  0x3010, 0x300a, 0x3004, 0x2ffe, 0x2ff8, 0x2ff3, 0x2fed, 0x2fe7,
+  0x2fe1, 0x2fdb, 0x2fd6, 0x2fd0, 0x2fca, 0x2fc4, 0x2fbe, 0x2fb8,
+  0x2fb3, 0x2fad, 0x2fa7, 0x2fa1, 0x2f9b, 0x2f95, 0x2f90, 0x2f8a,
+  0x2f84, 0x2f7e, 0x2f78, 0x2f72, 0x2f6d, 0x2f67, 0x2f61, 0x2f5b,
+  0x2f55, 0x2f4f, 0x2f4a, 0x2f44, 0x2f3e, 0x2f38, 0x2f32, 0x2f2c,
+  0x2f27, 0x2f21, 0x2f1b, 0x2f15, 0x2f0f, 0x2f09, 0x2f03, 0x2efe,
+  0x2ef8, 0x2ef2, 0x2eec, 0x2ee6, 0x2ee0, 0x2edb, 0x2ed5, 0x2ecf,
+  0x2ec9, 0x2ec3, 0x2ebd, 0x2eb7, 0x2eb2, 0x2eac, 0x2ea6, 0x2ea0,
+  0x2e9a, 0x2e94, 0x2e8e, 0x2e89, 0x2e83, 0x2e7d, 0x2e77, 0x2e71,
+  0x2e6b, 0x2e65, 0x2e60, 0x2e5a, 0x2e54, 0x2e4e, 0x2e48, 0x2e42,
+  0x2e3c, 0x2e37, 0x2e31, 0x2e2b, 0x2e25, 0x2e1f, 0x2e19, 0x2e13,
+  0x2e0e, 0x2e08, 0x2e02, 0x2dfc, 0x2df6, 0x2df0, 0x2dea, 0x2de5,
+  0x2ddf, 0x2dd9, 0x2dd3, 0x2dcd, 0x2dc7, 0x2dc1, 0x2dbb, 0x2db6,
+  0x2db0, 0x2daa, 0x2da4, 0x2d9e, 0x2d98, 0x2d92, 0x2d8d, 0x2d87,
+  0x2d81, 0x2d7b, 0x2d75, 0x2d6f, 0x2d69, 0x2d63, 0x2d5e, 0x2d58,
+  0x2d52, 0x2d4c, 0x2d46, 0x2d40, 0x2d3a, 0x2d34, 0x2d2f, 0x2d29,
+  0x2d23, 0x2d1d, 0x2d17, 0x2d11, 0x2d0b, 0x2d05, 0x2cff, 0x2cfa,
+  0x2cf4, 0x2cee, 0x2ce8, 0x2ce2, 0x2cdc, 0x2cd6, 0x2cd0, 0x2ccb,
+  0x2cc5, 0x2cbf, 0x2cb9, 0x2cb3, 0x2cad, 0x2ca7, 0x2ca1, 0x2c9b,
+  0x2c96, 0x2c90, 0x2c8a, 0x2c84, 0x2c7e, 0x2c78, 0x2c72, 0x2c6c,
+  0x2c66, 0x2c61, 0x2c5b, 0x2c55, 0x2c4f, 0x2c49, 0x2c43, 0x2c3d,
+  0x2c37, 0x2c31, 0x2c2b, 0x2c26, 0x2c20, 0x2c1a, 0x2c14, 0x2c0e,
+  0x2c08, 0x2c02, 0x2bfc, 0x2bf6, 0x2bf0, 0x2beb, 0x2be5, 0x2bdf,
+  0x2bd9, 0x2bd3, 0x2bcd, 0x2bc7, 0x2bc1, 0x2bbb, 0x2bb5, 0x2bb0,
+  0x2baa, 0x2ba4, 0x2b9e, 0x2b98, 0x2b92, 0x2b8c, 0x2b86, 0x2b80,
+  0x2b7a, 0x2b74, 0x2b6f, 0x2b69, 0x2b63, 0x2b5d, 0x2b57, 0x2b51,
+  0x2b4b, 0x2b45, 0x2b3f, 0x2b39, 0x2b33, 0x2b2d, 0x2b28, 0x2b22,
+  0x2b1c, 0x2b16, 0x2b10, 0x2b0a, 0x2b04, 0x2afe, 0x2af8, 0x2af2,
+  0x2aec, 0x2ae6, 0x2ae1, 0x2adb, 0x2ad5, 0x2acf, 0x2ac9, 0x2ac3,
+  0x2abd, 0x2ab7, 0x2ab1, 0x2aab, 0x2aa5, 0x2a9f, 0x2a99, 0x2a94,
+  0x2a8e, 0x2a88, 0x2a82, 0x2a7c, 0x2a76, 0x2a70, 0x2a6a, 0x2a64,
+  0x2a5e, 0x2a58, 0x2a52, 0x2a4c, 0x2a47, 0x2a41, 0x2a3b, 0x2a35,
+  0x2a2f, 0x2a29, 0x2a23, 0x2a1d, 0x2a17, 0x2a11, 0x2a0b, 0x2a05,
+  0x29ff, 0x29f9, 0x29f3, 0x29ee, 0x29e8, 0x29e2, 0x29dc, 0x29d6,
+  0x29d0, 0x29ca, 0x29c4, 0x29be, 0x29b8, 0x29b2, 0x29ac, 0x29a6,
+  0x29a0, 0x299a, 0x2994, 0x298e, 0x2989, 0x2983, 0x297d, 0x2977,
+  0x2971, 0x296b, 0x2965, 0x295f, 0x2959, 0x2953, 0x294d, 0x2947,
+  0x2941, 0x293b, 0x2935, 0x292f, 0x2929, 0x2923, 0x291d, 0x2918,
+  0x2912, 0x290c, 0x2906, 0x2900, 0x28fa, 0x28f4, 0x28ee, 0x28e8,
+  0x28e2, 0x28dc, 0x28d6, 0x28d0, 0x28ca, 0x28c4, 0x28be, 0x28b8,
+  0x28b2, 0x28ac, 0x28a6, 0x28a0, 0x289a, 0x2895, 0x288f, 0x2889,
+  0x2883, 0x287d, 0x2877, 0x2871, 0x286b, 0x2865, 0x285f, 0x2859,
+  0x2853, 0x284d, 0x2847, 0x2841, 0x283b, 0x2835, 0x282f, 0x2829,
+  0x2823, 0x281d, 0x2817, 0x2811, 0x280b, 0x2805, 0x27ff, 0x27f9,
+  0x27f3, 0x27ee, 0x27e8, 0x27e2, 0x27dc, 0x27d6, 0x27d0, 0x27ca,
+  0x27c4, 0x27be, 0x27b8, 0x27b2, 0x27ac, 0x27a6, 0x27a0, 0x279a,
+  0x2794, 0x278e, 0x2788, 0x2782, 0x277c, 0x2776, 0x2770, 0x276a,
+  0x2764, 0x275e, 0x2758, 0x2752, 0x274c, 0x2746, 0x2740, 0x273a,
+  0x2734, 0x272e, 0x2728, 0x2722, 0x271c, 0x2716, 0x2710, 0x270a,
+  0x2704, 0x26fe, 0x26f8, 0x26f2, 0x26ec, 0x26e7, 0x26e1, 0x26db,
+  0x26d5, 0x26cf, 0x26c9, 0x26c3, 0x26bd, 0x26b7, 0x26b1, 0x26ab,
+  0x26a5, 0x269f, 0x2699, 0x2693, 0x268d, 0x2687, 0x2681, 0x267b,
+  0x2675, 0x266f, 0x2669, 0x2663, 0x265d, 0x2657, 0x2651, 0x264b,
+  0x2645, 0x263f, 0x2639, 0x2633, 0x262d, 0x2627, 0x2621, 0x261b,
+  0x2615, 0x260f, 0x2609, 0x2603, 0x25fd, 0x25f7, 0x25f1, 0x25eb,
+  0x25e5, 0x25df, 0x25d9, 0x25d3, 0x25cd, 0x25c7, 0x25c1, 0x25bb,
+  0x25b5, 0x25af, 0x25a9, 0x25a3, 0x259d, 0x2597, 0x2591, 0x258b,
+  0x2585, 0x257f, 0x2579, 0x2573, 0x256d, 0x2567, 0x2561, 0x255b,
+  0x2555, 0x254f, 0x2549, 0x2543, 0x253d, 0x2537, 0x2531, 0x252b,
+  0x2525, 0x251f, 0x2519, 0x2513, 0x250c, 0x2506, 0x2500, 0x24fa,
+  0x24f4, 0x24ee, 0x24e8, 0x24e2, 0x24dc, 0x24d6, 0x24d0, 0x24ca,
+  0x24c4, 0x24be, 0x24b8, 0x24b2, 0x24ac, 0x24a6, 0x24a0, 0x249a,
+  0x2494, 0x248e, 0x2488, 0x2482, 0x247c, 0x2476, 0x2470, 0x246a,
+  0x2464, 0x245e, 0x2458, 0x2452, 0x244c, 0x2446, 0x2440, 0x243a,
+  0x2434, 0x242e, 0x2428, 0x2422, 0x241c, 0x2416, 0x2410, 0x240a,
+  0x2404, 0x23fd, 0x23f7, 0x23f1, 0x23eb, 0x23e5, 0x23df, 0x23d9,
+  0x23d3, 0x23cd, 0x23c7, 0x23c1, 0x23bb, 0x23b5, 0x23af, 0x23a9,
+  0x23a3, 0x239d, 0x2397, 0x2391, 0x238b, 0x2385, 0x237f, 0x2379,
+  0x2373, 0x236d, 0x2367, 0x2361, 0x235b, 0x2355, 0x234e, 0x2348,
+  0x2342, 0x233c, 0x2336, 0x2330, 0x232a, 0x2324, 0x231e, 0x2318,
+  0x2312, 0x230c, 0x2306, 0x2300, 0x22fa, 0x22f4, 0x22ee, 0x22e8,
+  0x22e2, 0x22dc, 0x22d6, 0x22d0, 0x22ca, 0x22c4, 0x22bd, 0x22b7,
+  0x22b1, 0x22ab, 0x22a5, 0x229f, 0x2299, 0x2293, 0x228d, 0x2287,
+  0x2281, 0x227b, 0x2275, 0x226f, 0x2269, 0x2263, 0x225d, 0x2257,
+  0x2251, 0x224a, 0x2244, 0x223e, 0x2238, 0x2232, 0x222c, 0x2226,
+  0x2220, 0x221a, 0x2214, 0x220e, 0x2208, 0x2202, 0x21fc, 0x21f6,
+  0x21f0, 0x21ea, 0x21e4, 0x21dd, 0x21d7, 0x21d1, 0x21cb, 0x21c5,
+  0x21bf, 0x21b9, 0x21b3, 0x21ad, 0x21a7, 0x21a1, 0x219b, 0x2195,
+  0x218f, 0x2189, 0x2183, 0x217c, 0x2176, 0x2170, 0x216a, 0x2164,
+  0x215e, 0x2158, 0x2152, 0x214c, 0x2146, 0x2140, 0x213a, 0x2134,
+  0x212e, 0x2128, 0x2121, 0x211b, 0x2115, 0x210f, 0x2109, 0x2103,
+  0x20fd, 0x20f7, 0x20f1, 0x20eb, 0x20e5, 0x20df, 0x20d9, 0x20d3,
+  0x20cc, 0x20c6, 0x20c0, 0x20ba, 0x20b4, 0x20ae, 0x20a8, 0x20a2,
+  0x209c, 0x2096, 0x2090, 0x208a, 0x2084, 0x207e, 0x2077, 0x2071,
+  0x206b, 0x2065, 0x205f, 0x2059, 0x2053, 0x204d, 0x2047, 0x2041,
+  0x203b, 0x2035, 0x202e, 0x2028, 0x2022, 0x201c, 0x2016, 0x2010,
+  0x200a, 0x2004, 0x1ffe, 0x1ff8, 0x1ff2, 0x1fec, 0x1fe5, 0x1fdf,
+  0x1fd9, 0x1fd3, 0x1fcd, 0x1fc7, 0x1fc1, 0x1fbb, 0x1fb5, 0x1faf,
+  0x1fa9, 0x1fa3, 0x1f9c, 0x1f96, 0x1f90, 0x1f8a, 0x1f84, 0x1f7e,
+  0x1f78, 0x1f72, 0x1f6c, 0x1f66, 0x1f60, 0x1f59, 0x1f53, 0x1f4d,
+  0x1f47, 0x1f41, 0x1f3b, 0x1f35, 0x1f2f, 0x1f29, 0x1f23, 0x1f1d,
+  0x1f16, 0x1f10, 0x1f0a, 0x1f04, 0x1efe, 0x1ef8, 0x1ef2, 0x1eec,
+  0x1ee6, 0x1ee0, 0x1ed9, 0x1ed3, 0x1ecd, 0x1ec7, 0x1ec1, 0x1ebb,
+  0x1eb5, 0x1eaf, 0x1ea9, 0x1ea3, 0x1e9c, 0x1e96, 0x1e90, 0x1e8a,
+  0x1e84, 0x1e7e, 0x1e78, 0x1e72, 0x1e6c, 0x1e66, 0x1e5f, 0x1e59,
+  0x1e53, 0x1e4d, 0x1e47, 0x1e41, 0x1e3b, 0x1e35, 0x1e2f, 0x1e29,
+  0x1e22, 0x1e1c, 0x1e16, 0x1e10, 0x1e0a, 0x1e04, 0x1dfe, 0x1df8,
+  0x1df2, 0x1deb, 0x1de5, 0x1ddf, 0x1dd9, 0x1dd3, 0x1dcd, 0x1dc7,
+  0x1dc1, 0x1dbb, 0x1db4, 0x1dae, 0x1da8, 0x1da2, 0x1d9c, 0x1d96,
+  0x1d90, 0x1d8a, 0x1d84, 0x1d7d, 0x1d77, 0x1d71, 0x1d6b, 0x1d65,
+  0x1d5f, 0x1d59, 0x1d53, 0x1d4c, 0x1d46, 0x1d40, 0x1d3a, 0x1d34,
+  0x1d2e, 0x1d28, 0x1d22, 0x1d1c, 0x1d15, 0x1d0f, 0x1d09, 0x1d03,
+  0x1cfd, 0x1cf7, 0x1cf1, 0x1ceb, 0x1ce4, 0x1cde, 0x1cd8, 0x1cd2,
+  0x1ccc, 0x1cc6, 0x1cc0, 0x1cba, 0x1cb3, 0x1cad, 0x1ca7, 0x1ca1,
+  0x1c9b, 0x1c95, 0x1c8f, 0x1c89, 0x1c83, 0x1c7c, 0x1c76, 0x1c70,
+  0x1c6a, 0x1c64, 0x1c5e, 0x1c58, 0x1c51, 0x1c4b, 0x1c45, 0x1c3f,
+  0x1c39, 0x1c33, 0x1c2d, 0x1c27, 0x1c20, 0x1c1a, 0x1c14, 0x1c0e,
+  0x1c08, 0x1c02, 0x1bfc, 0x1bf6, 0x1bef, 0x1be9, 0x1be3, 0x1bdd,
+  0x1bd7, 0x1bd1, 0x1bcb, 0x1bc4, 0x1bbe, 0x1bb8, 0x1bb2, 0x1bac,
+  0x1ba6, 0x1ba0, 0x1b9a, 0x1b93, 0x1b8d, 0x1b87, 0x1b81, 0x1b7b,
+  0x1b75, 0x1b6f, 0x1b68, 0x1b62, 0x1b5c, 0x1b56, 0x1b50, 0x1b4a,
+  0x1b44, 0x1b3d, 0x1b37, 0x1b31, 0x1b2b, 0x1b25, 0x1b1f, 0x1b19,
+  0x1b13, 0x1b0c, 0x1b06, 0x1b00, 0x1afa, 0x1af4, 0x1aee, 0x1ae8,
+  0x1ae1, 0x1adb, 0x1ad5, 0x1acf, 0x1ac9, 0x1ac3, 0x1abd, 0x1ab6,
+  0x1ab0, 0x1aaa, 0x1aa4, 0x1a9e, 0x1a98, 0x1a91, 0x1a8b, 0x1a85,
+  0x1a7f, 0x1a79, 0x1a73, 0x1a6d, 0x1a66, 0x1a60, 0x1a5a, 0x1a54,
+  0x1a4e, 0x1a48, 0x1a42, 0x1a3b, 0x1a35, 0x1a2f, 0x1a29, 0x1a23,
+  0x1a1d, 0x1a17, 0x1a10, 0x1a0a, 0x1a04, 0x19fe, 0x19f8, 0x19f2,
+  0x19eb, 0x19e5, 0x19df, 0x19d9, 0x19d3, 0x19cd, 0x19c7, 0x19c0,
+  0x19ba, 0x19b4, 0x19ae, 0x19a8, 0x19a2, 0x199b, 0x1995, 0x198f,
+  0x1989, 0x1983, 0x197d, 0x1977, 0x1970, 0x196a, 0x1964, 0x195e,
+  0x1958, 0x1952, 0x194b, 0x1945, 0x193f, 0x1939, 0x1933, 0x192d,
+  0x1926, 0x1920, 0x191a, 0x1914, 0x190e, 0x1908, 0x1901, 0x18fb,
+  0x18f5, 0x18ef, 0x18e9, 0x18e3, 0x18dc, 0x18d6, 0x18d0, 0x18ca,
+  0x18c4, 0x18be, 0x18b8, 0x18b1, 0x18ab, 0x18a5, 0x189f, 0x1899,
+  0x1893, 0x188c, 0x1886, 0x1880, 0x187a, 0x1874, 0x186e, 0x1867,
+  0x1861, 0x185b, 0x1855, 0x184f, 0x1848, 0x1842, 0x183c, 0x1836,
+  0x1830, 0x182a, 0x1823, 0x181d, 0x1817, 0x1811, 0x180b, 0x1805,
+  0x17fe, 0x17f8, 0x17f2, 0x17ec, 0x17e6, 0x17e0, 0x17d9, 0x17d3,
+  0x17cd, 0x17c7, 0x17c1, 0x17bb, 0x17b4, 0x17ae, 0x17a8, 0x17a2,
+  0x179c, 0x1795, 0x178f, 0x1789, 0x1783, 0x177d, 0x1777, 0x1770,
+  0x176a, 0x1764, 0x175e, 0x1758, 0x1752, 0x174b, 0x1745, 0x173f,
+  0x1739, 0x1733, 0x172c, 0x1726, 0x1720, 0x171a, 0x1714, 0x170e,
+  0x1707, 0x1701, 0x16fb, 0x16f5, 0x16ef, 0x16e8, 0x16e2, 0x16dc,
+  0x16d6, 0x16d0, 0x16ca, 0x16c3, 0x16bd, 0x16b7, 0x16b1, 0x16ab,
+  0x16a4, 0x169e, 0x1698, 0x1692, 0x168c, 0x1686, 0x167f, 0x1679,
+  0x1673, 0x166d, 0x1667, 0x1660, 0x165a, 0x1654, 0x164e, 0x1648,
+  0x1642, 0x163b, 0x1635, 0x162f, 0x1629, 0x1623, 0x161c, 0x1616,
+  0x1610, 0x160a, 0x1604, 0x15fd, 0x15f7, 0x15f1, 0x15eb, 0x15e5,
+  0x15de, 0x15d8, 0x15d2, 0x15cc, 0x15c6, 0x15c0, 0x15b9, 0x15b3,
+  0x15ad, 0x15a7, 0x15a1, 0x159a, 0x1594, 0x158e, 0x1588, 0x1582,
+  0x157b, 0x1575, 0x156f, 0x1569, 0x1563, 0x155c, 0x1556, 0x1550,
+  0x154a, 0x1544, 0x153d, 0x1537, 0x1531, 0x152b, 0x1525, 0x151e,
+  0x1518, 0x1512, 0x150c, 0x1506, 0x14ff, 0x14f9, 0x14f3, 0x14ed,
+  0x14e7, 0x14e0, 0x14da, 0x14d4, 0x14ce, 0x14c8, 0x14c1, 0x14bb,
+  0x14b5, 0x14af, 0x14a9, 0x14a2, 0x149c, 0x1496, 0x1490, 0x148a,
+  0x1483, 0x147d, 0x1477, 0x1471, 0x146b, 0x1464, 0x145e, 0x1458,
+  0x1452, 0x144c, 0x1445, 0x143f, 0x1439, 0x1433, 0x142d, 0x1426,
+  0x1420, 0x141a, 0x1414, 0x140e, 0x1407, 0x1401, 0x13fb, 0x13f5,
+  0x13ef, 0x13e8, 0x13e2, 0x13dc, 0x13d6, 0x13d0, 0x13c9, 0x13c3,
+  0x13bd, 0x13b7, 0x13b1, 0x13aa, 0x13a4, 0x139e, 0x1398, 0x1391,
+  0x138b, 0x1385, 0x137f, 0x1379, 0x1372, 0x136c, 0x1366, 0x1360,
+  0x135a, 0x1353, 0x134d, 0x1347, 0x1341, 0x133b, 0x1334, 0x132e,
+  0x1328, 0x1322, 0x131b, 0x1315, 0x130f, 0x1309, 0x1303, 0x12fc,
+  0x12f6, 0x12f0, 0x12ea, 0x12e4, 0x12dd, 0x12d7, 0x12d1, 0x12cb,
+  0x12c4, 0x12be, 0x12b8, 0x12b2, 0x12ac, 0x12a5, 0x129f, 0x1299,
+  0x1293, 0x128d, 0x1286, 0x1280, 0x127a, 0x1274, 0x126d, 0x1267,
+  0x1261, 0x125b, 0x1255, 0x124e, 0x1248, 0x1242, 0x123c, 0x1235,
+  0x122f, 0x1229, 0x1223, 0x121d, 0x1216, 0x1210, 0x120a, 0x1204,
+  0x11fd, 0x11f7, 0x11f1, 0x11eb, 0x11e5, 0x11de, 0x11d8, 0x11d2,
+  0x11cc, 0x11c5, 0x11bf, 0x11b9, 0x11b3, 0x11ad, 0x11a6, 0x11a0,
+  0x119a, 0x1194, 0x118d, 0x1187, 0x1181, 0x117b, 0x1175, 0x116e,
+  0x1168, 0x1162, 0x115c, 0x1155, 0x114f, 0x1149, 0x1143, 0x113d,
+  0x1136, 0x1130, 0x112a, 0x1124, 0x111d, 0x1117, 0x1111, 0x110b,
+  0x1105, 0x10fe, 0x10f8, 0x10f2, 0x10ec, 0x10e5, 0x10df, 0x10d9,
+  0x10d3, 0x10cc, 0x10c6, 0x10c0, 0x10ba, 0x10b4, 0x10ad, 0x10a7,
+  0x10a1, 0x109b, 0x1094, 0x108e, 0x1088, 0x1082, 0x107b, 0x1075,
+  0x106f, 0x1069, 0x1063, 0x105c, 0x1056, 0x1050, 0x104a, 0x1043,
+  0x103d, 0x1037, 0x1031, 0x102a, 0x1024, 0x101e, 0x1018, 0x1012,
+  0x100b, 0x1005, 0xfff, 0xff9, 0xff2, 0xfec, 0xfe6, 0xfe0,
+  0xfd9, 0xfd3, 0xfcd, 0xfc7, 0xfc0, 0xfba, 0xfb4, 0xfae,
+  0xfa8, 0xfa1, 0xf9b, 0xf95, 0xf8f, 0xf88, 0xf82, 0xf7c,
+  0xf76, 0xf6f, 0xf69, 0xf63, 0xf5d, 0xf56, 0xf50, 0xf4a,
+  0xf44, 0xf3e, 0xf37, 0xf31, 0xf2b, 0xf25, 0xf1e, 0xf18,
+  0xf12, 0xf0c, 0xf05, 0xeff, 0xef9, 0xef3, 0xeec, 0xee6,
+  0xee0, 0xeda, 0xed3, 0xecd, 0xec7, 0xec1, 0xeba, 0xeb4,
+  0xeae, 0xea8, 0xea1, 0xe9b, 0xe95, 0xe8f, 0xe89, 0xe82,
+  0xe7c, 0xe76, 0xe70, 0xe69, 0xe63, 0xe5d, 0xe57, 0xe50,
+  0xe4a, 0xe44, 0xe3e, 0xe37, 0xe31, 0xe2b, 0xe25, 0xe1e,
+  0xe18, 0xe12, 0xe0c, 0xe05, 0xdff, 0xdf9, 0xdf3, 0xdec,
+  0xde6, 0xde0, 0xdda, 0xdd3, 0xdcd, 0xdc7, 0xdc1, 0xdba,
+  0xdb4, 0xdae, 0xda8, 0xda1, 0xd9b, 0xd95, 0xd8f, 0xd88,
+  0xd82, 0xd7c, 0xd76, 0xd6f, 0xd69, 0xd63, 0xd5d, 0xd56,
+  0xd50, 0xd4a, 0xd44, 0xd3d, 0xd37, 0xd31, 0xd2b, 0xd24,
+  0xd1e, 0xd18, 0xd12, 0xd0b, 0xd05, 0xcff, 0xcf9, 0xcf2,
+  0xcec, 0xce6, 0xce0, 0xcd9, 0xcd3, 0xccd, 0xcc7, 0xcc0,
+  0xcba, 0xcb4, 0xcae, 0xca7, 0xca1, 0xc9b, 0xc95, 0xc8e,
+  0xc88, 0xc82, 0xc7c, 0xc75, 0xc6f, 0xc69, 0xc63, 0xc5c,
+  0xc56, 0xc50, 0xc4a, 0xc43, 0xc3d, 0xc37, 0xc31, 0xc2a,
+  0xc24, 0xc1e, 0xc18, 0xc11, 0xc0b, 0xc05, 0xbff, 0xbf8,
+  0xbf2, 0xbec, 0xbe6, 0xbdf, 0xbd9, 0xbd3, 0xbcd, 0xbc6,
+  0xbc0, 0xbba, 0xbb4, 0xbad, 0xba7, 0xba1, 0xb9b, 0xb94,
+  0xb8e, 0xb88, 0xb81, 0xb7b, 0xb75, 0xb6f, 0xb68, 0xb62,
+  0xb5c, 0xb56, 0xb4f, 0xb49, 0xb43, 0xb3d, 0xb36, 0xb30,
+  0xb2a, 0xb24, 0xb1d, 0xb17, 0xb11, 0xb0b, 0xb04, 0xafe,
+  0xaf8, 0xaf2, 0xaeb, 0xae5, 0xadf, 0xad8, 0xad2, 0xacc,
+  0xac6, 0xabf, 0xab9, 0xab3, 0xaad, 0xaa6, 0xaa0, 0xa9a,
+  0xa94, 0xa8d, 0xa87, 0xa81, 0xa7b, 0xa74, 0xa6e, 0xa68,
+  0xa62, 0xa5b, 0xa55, 0xa4f, 0xa48, 0xa42, 0xa3c, 0xa36,
+  0xa2f, 0xa29, 0xa23, 0xa1d, 0xa16, 0xa10, 0xa0a, 0xa04,
+  0x9fd, 0x9f7, 0x9f1, 0x9eb, 0x9e4, 0x9de, 0x9d8, 0x9d1,
+  0x9cb, 0x9c5, 0x9bf, 0x9b8, 0x9b2, 0x9ac, 0x9a6, 0x99f,
+  0x999, 0x993, 0x98d, 0x986, 0x980, 0x97a, 0x973, 0x96d,
+  0x967, 0x961, 0x95a, 0x954, 0x94e, 0x948, 0x941, 0x93b,
+  0x935, 0x92f, 0x928, 0x922, 0x91c, 0x915, 0x90f, 0x909,
+  0x903, 0x8fc, 0x8f6, 0x8f0, 0x8ea, 0x8e3, 0x8dd, 0x8d7,
+  0x8d1, 0x8ca, 0x8c4, 0x8be, 0x8b7, 0x8b1, 0x8ab, 0x8a5,
+  0x89e, 0x898, 0x892, 0x88c, 0x885, 0x87f, 0x879, 0x872,
+  0x86c, 0x866, 0x860, 0x859, 0x853, 0x84d, 0x847, 0x840,
+  0x83a, 0x834, 0x82e, 0x827, 0x821, 0x81b, 0x814, 0x80e,
+  0x808, 0x802, 0x7fb, 0x7f5, 0x7ef, 0x7e9, 0x7e2, 0x7dc,
+  0x7d6, 0x7cf, 0x7c9, 0x7c3, 0x7bd, 0x7b6, 0x7b0, 0x7aa,
+  0x7a4, 0x79d, 0x797, 0x791, 0x78a, 0x784, 0x77e, 0x778,
+  0x771, 0x76b, 0x765, 0x75f, 0x758, 0x752, 0x74c, 0x745,
+  0x73f, 0x739, 0x733, 0x72c, 0x726, 0x720, 0x71a, 0x713,
+  0x70d, 0x707, 0x700, 0x6fa, 0x6f4, 0x6ee, 0x6e7, 0x6e1,
+  0x6db, 0x6d5, 0x6ce, 0x6c8, 0x6c2, 0x6bb, 0x6b5, 0x6af,
+  0x6a9, 0x6a2, 0x69c, 0x696, 0x690, 0x689, 0x683, 0x67d,
+  0x676, 0x670, 0x66a, 0x664, 0x65d, 0x657, 0x651, 0x64a,
+  0x644, 0x63e, 0x638, 0x631, 0x62b, 0x625, 0x61f, 0x618,
+  0x612, 0x60c, 0x605, 0x5ff, 0x5f9, 0x5f3, 0x5ec, 0x5e6,
+  0x5e0, 0x5da, 0x5d3, 0x5cd, 0x5c7, 0x5c0, 0x5ba, 0x5b4,
+  0x5ae, 0x5a7, 0x5a1, 0x59b, 0x594, 0x58e, 0x588, 0x582,
+  0x57b, 0x575, 0x56f, 0x569, 0x562, 0x55c, 0x556, 0x54f,
+  0x549, 0x543, 0x53d, 0x536, 0x530, 0x52a, 0x523, 0x51d,
+  0x517, 0x511, 0x50a, 0x504, 0x4fe, 0x4f8, 0x4f1, 0x4eb,
+  0x4e5, 0x4de, 0x4d8, 0x4d2, 0x4cc, 0x4c5, 0x4bf, 0x4b9,
+  0x4b2, 0x4ac, 0x4a6, 0x4a0, 0x499, 0x493, 0x48d, 0x487,
+  0x480, 0x47a, 0x474, 0x46d, 0x467, 0x461, 0x45b, 0x454,
+  0x44e, 0x448, 0x441, 0x43b, 0x435, 0x42f, 0x428, 0x422,
+  0x41c, 0x415, 0x40f, 0x409, 0x403, 0x3fc, 0x3f6, 0x3f0,
+  0x3ea, 0x3e3, 0x3dd, 0x3d7, 0x3d0, 0x3ca, 0x3c4, 0x3be,
+  0x3b7, 0x3b1, 0x3ab, 0x3a4, 0x39e, 0x398, 0x392, 0x38b,
+  0x385, 0x37f, 0x378, 0x372, 0x36c, 0x366, 0x35f, 0x359,
+  0x353, 0x34c, 0x346, 0x340, 0x33a, 0x333, 0x32d, 0x327,
+  0x321, 0x31a, 0x314, 0x30e, 0x307, 0x301, 0x2fb, 0x2f5,
+  0x2ee, 0x2e8, 0x2e2, 0x2db, 0x2d5, 0x2cf, 0x2c9, 0x2c2,
+  0x2bc, 0x2b6, 0x2af, 0x2a9, 0x2a3, 0x29d, 0x296, 0x290,
+  0x28a, 0x283, 0x27d, 0x277, 0x271, 0x26a, 0x264, 0x25e,
+  0x258, 0x251, 0x24b, 0x245, 0x23e, 0x238, 0x232, 0x22c,
+  0x225, 0x21f, 0x219, 0x212, 0x20c, 0x206, 0x200, 0x1f9,
+  0x1f3, 0x1ed, 0x1e6, 0x1e0, 0x1da, 0x1d4, 0x1cd, 0x1c7,
+  0x1c1, 0x1ba, 0x1b4, 0x1ae, 0x1a8, 0x1a1, 0x19b, 0x195,
+  0x18e, 0x188, 0x182, 0x17c, 0x175, 0x16f, 0x169, 0x162,
+  0x15c, 0x156, 0x150, 0x149, 0x143, 0x13d, 0x137, 0x130,
+  0x12a, 0x124, 0x11d, 0x117, 0x111, 0x10b, 0x104, 0xfe,
+  0xf8, 0xf1, 0xeb, 0xe5, 0xdf, 0xd8, 0xd2, 0xcc,
+  0xc5, 0xbf, 0xb9, 0xb3, 0xac, 0xa6, 0xa0, 0x99,
+  0x93, 0x8d, 0x87, 0x80, 0x7a, 0x74, 0x6d, 0x67,
+  0x61, 0x5b, 0x54, 0x4e, 0x48, 0x41, 0x3b, 0x35,
+  0x2f, 0x28, 0x22, 0x1c, 0x15, 0xf, 0x9, 0x3,
+};
+
+/**    
+ * @brief  Initialization function for the Q15 DCT4/IDCT4.   
+ * @param[in,out] *S         points to an instance of Q15 DCT4/IDCT4 structure.   
+ * @param[in]     *S_RFFT    points to an instance of Q15 RFFT/RIFFT structure.   
+ * @param[in]     *S_CFFT    points to an instance of Q15 CFFT/CIFFT structure.   
+ * @param[in]     N          length of the DCT4.   
+ * @param[in]     Nby2       half of the length of the DCT4.   
+ * @param[in]     normalize  normalizing factor.   
+ * @return  	  arm_status function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if N is not a supported transform length.   
+ * \par Normalizing factor:    
+ * The normalizing factor is sqrt(2/N), which depends on the size of transform N.    
+ * Normalizing factors in 1.15 format are mentioned in the table below for different DCT sizes:    
+ * \image html dct4NormalizingQ15Table.gif    
+ */
+
+arm_status arm_dct4_init_q15(
+  arm_dct4_instance_q15 * S,
+  arm_rfft_instance_q15 * S_RFFT,
+  arm_cfft_radix4_instance_q15 * S_CFFT,
+  uint16_t N,
+  uint16_t Nby2,
+  q15_t normalize)
+{
+  /*  Initialise the default arm status */
+  arm_status status = ARM_MATH_SUCCESS;
+
+  /* Initializing the pointer array with the weight table base addresses of different lengths */
+  q15_t *twiddlePtr[4] = { (q15_t *) WeightsQ15_128, (q15_t *) WeightsQ15_512,
+    (q15_t *) WeightsQ15_2048, (q15_t *) WeightsQ15_8192
+  };
+
+  /* Initializing the pointer array with the cos factor table base addresses of different lengths */
+  q15_t *pCosFactor[4] =
+    { (q15_t *) cos_factorsQ15_128, (q15_t *) cos_factorsQ15_512,
+    (q15_t *) cos_factorsQ15_2048, (q15_t *) cos_factorsQ15_8192
+  };
+
+  /* Initialize the DCT4 length */
+  S->N = N;
+
+  /* Initialize the half of DCT4 length */
+  S->Nby2 = Nby2;
+
+  /* Initialize the DCT4 Normalizing factor */
+  S->normalize = normalize;
+
+  /* Initialize Real FFT Instance */
+  S->pRfft = S_RFFT;
+
+  /* Initialize Complex FFT Instance */
+  S->pCfft = S_CFFT;
+
+  switch (N)
+  {
+    /* Initialize the table modifier values */
+  case 8192u:
+    S->pTwiddle = twiddlePtr[3];
+    S->pCosFactor = pCosFactor[3];
+    break;
+  case 2048u:
+    S->pTwiddle = twiddlePtr[2];
+    S->pCosFactor = pCosFactor[2];
+    break;
+  case 512u:
+    S->pTwiddle = twiddlePtr[1];
+    S->pCosFactor = pCosFactor[1];
+    break;
+  case 128u:
+    S->pTwiddle = twiddlePtr[0];
+    S->pCosFactor = pCosFactor[0];
+    break;
+  default:
+    status = ARM_MATH_ARGUMENT_ERROR;
+  }
+
+  /* Initialize the RFFT/RIFFT */
+  arm_rfft_init_q15(S->pRfft, S->pCfft, S->N, 0u, 1u);
+
+  /* return the status of DCT4 Init function */
+  return (status);
+}
+
+/**    
+   * @} end of DCT4_IDCT4 group    
+   */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_init_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_init_q31.c
new file mode 100644
index 000000000..211cdadf3
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_init_q31.c
@@ -0,0 +1,8356 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_dct4_init_q31.c    
+*    
+* Description:	Initialization function of DCT-4 & IDCT4 Q31    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* -------------------------------------------------------------------- */
+
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupTransforms    
+ */
+
+/**    
+ * @addtogroup DCT4_IDCT4    
+ * @{    
+ */
+
+/*    
+* @brief  Weights Table    
+*/
+
+/**    
+* \par    
+* Weights tables are generated using the formula : 
weights[n] = e^(-j*n*pi/(2*N))
    
+* \par    
+* C command to generate the table    
+* 
    
+* for(i = 0; i< N; i++)    
+* {    
+*   weights[2*i]= cos(i*c);    
+*   weights[(2*i)+1]= -sin(i * c);    
+* } 
    
+* \par    
+* where N is the Number of weights to be calculated and c is pi/(2*N)    
+* \par    
+* Convert the output to q31 format by multiplying with 2^31 and saturated if required.    
+* \par    
+* In the tables below the real and imaginary values are placed alternatively, hence the    
+* array length is 2*N.    
+*/
+
+static const q31_t WeightsQ31_128[256] = {
+  0x7fffffff, 0x0, 0x7ffd885a, 0xfe6de2e0, 0x7ff62182, 0xfcdbd541, 0x7fe9cbc0,
+  0xfb49e6a3,
+  0x7fd8878e, 0xf9b82684, 0x7fc25596, 0xf826a462, 0x7fa736b4, 0xf6956fb7,
+  0x7f872bf3, 0xf50497fb,
+  0x7f62368f, 0xf3742ca2, 0x7f3857f6, 0xf1e43d1c, 0x7f0991c4, 0xf054d8d5,
+  0x7ed5e5c6, 0xeec60f31,
+  0x7e9d55fc, 0xed37ef91, 0x7e5fe493, 0xebaa894f, 0x7e1d93ea, 0xea1debbb,
+  0x7dd6668f, 0xe8922622,
+  0x7d8a5f40, 0xe70747c4, 0x7d3980ec, 0xe57d5fda, 0x7ce3ceb2, 0xe3f47d96,
+  0x7c894bde, 0xe26cb01b,
+  0x7c29fbee, 0xe0e60685, 0x7bc5e290, 0xdf608fe4, 0x7b5d039e, 0xdddc5b3b,
+  0x7aef6323, 0xdc597781,
+  0x7a7d055b, 0xdad7f3a2, 0x7a05eead, 0xd957de7a, 0x798a23b1, 0xd7d946d8,
+  0x7909a92d, 0xd65c3b7b,
+  0x78848414, 0xd4e0cb15, 0x77fab989, 0xd3670446, 0x776c4edb, 0xd1eef59e,
+  0x76d94989, 0xd078ad9e,
+  0x7641af3d, 0xcf043ab3, 0x75a585cf, 0xcd91ab39, 0x7504d345, 0xcc210d79,
+  0x745f9dd1, 0xcab26fa9,
+  0x73b5ebd1, 0xc945dfec, 0x7307c3d0, 0xc7db6c50, 0x72552c85, 0xc67322ce,
+  0x719e2cd2, 0xc50d1149,
+  0x70e2cbc6, 0xc3a94590, 0x7023109a, 0xc247cd5a, 0x6f5f02b2, 0xc0e8b648,
+  0x6e96a99d, 0xbf8c0de3,
+  0x6dca0d14, 0xbe31e19b, 0x6cf934fc, 0xbcda3ecb, 0x6c242960, 0xbb8532b0,
+  0x6b4af279, 0xba32ca71,
+  0x6a6d98a4, 0xb8e31319, 0x698c246c, 0xb796199b, 0x68a69e81, 0xb64beacd,
+  0x67bd0fbd, 0xb5049368,
+  0x66cf8120, 0xb3c0200c, 0x65ddfbd3, 0xb27e9d3c, 0x64e88926, 0xb140175b,
+  0x63ef3290, 0xb0049ab3,
+  0x62f201ac, 0xaecc336c, 0x61f1003f, 0xad96ed92, 0x60ec3830, 0xac64d510,
+  0x5fe3b38d, 0xab35f5b5,
+  0x5ed77c8a, 0xaa0a5b2e, 0x5dc79d7c, 0xa8e21106, 0x5cb420e0, 0xa7bd22ac,
+  0x5b9d1154, 0xa69b9b68,
+  0x5a82799a, 0xa57d8666, 0x59646498, 0xa462eeac, 0x5842dd54, 0xa34bdf20,
+  0x571deefa, 0xa2386284,
+  0x55f5a4d2, 0xa1288376, 0x54ca0a4b, 0xa01c4c73, 0x539b2af0, 0x9f13c7d0,
+  0x5269126e, 0x9e0effc1,
+  0x5133cc94, 0x9d0dfe54, 0x4ffb654d, 0x9c10cd70, 0x4ebfe8a5, 0x9b1776da,
+  0x4d8162c4, 0x9a22042d,
+  0x4c3fdff4, 0x99307ee0, 0x4afb6c98, 0x9842f043, 0x49b41533, 0x9759617f,
+  0x4869e665, 0x9673db94,
+  0x471cece7, 0x9592675c, 0x45cd358f, 0x94b50d87, 0x447acd50, 0x93dbd6a0,
+  0x4325c135, 0x9306cb04,
+  0x41ce1e65, 0x9235f2ec, 0x4073f21d, 0x91695663, 0x3f1749b8, 0x90a0fd4e,
+  0x3db832a6, 0x8fdcef66,
+  0x3c56ba70, 0x8f1d343a, 0x3af2eeb7, 0x8e61d32e, 0x398cdd32, 0x8daad37b,
+  0x382493b0, 0x8cf83c30,
+  0x36ba2014, 0x8c4a142f, 0x354d9057, 0x8ba0622f, 0x33def287, 0x8afb2cbb,
+  0x326e54c7, 0x8a5a7a31,
+  0x30fbc54d, 0x89be50c3, 0x2f875262, 0x8926b677, 0x2e110a62, 0x8893b125,
+  0x2c98fbba, 0x88054677,
+  0x2b1f34eb, 0x877b7bec, 0x29a3c485, 0x86f656d3, 0x2826b928, 0x8675dc4f,
+  0x26a82186, 0x85fa1153,
+  0x25280c5e, 0x8582faa5, 0x23a6887f, 0x85109cdd, 0x2223a4c5, 0x84a2fc62,
+  0x209f701c, 0x843a1d70,
+  0x1f19f97b, 0x83d60412, 0x1d934fe5, 0x8376b422, 0x1c0b826a, 0x831c314e,
+  0x1a82a026, 0x82c67f14,
+  0x18f8b83c, 0x8275a0c0, 0x176dd9de, 0x82299971, 0x15e21445, 0x81e26c16,
+  0x145576b1, 0x81a01b6d,
+  0x12c8106f, 0x8162aa04, 0x1139f0cf, 0x812a1a3a, 0xfab272b, 0x80f66e3c,
+  0xe1bc2e4, 0x80c7a80a,
+  0xc8bd35e, 0x809dc971, 0xafb6805, 0x8078d40d, 0x96a9049, 0x8058c94c,
+  0x7d95b9e, 0x803daa6a,
+  0x647d97c, 0x80277872, 0x4b6195d, 0x80163440, 0x3242abf, 0x8009de7e,
+  0x1921d20, 0x800277a6,
+};
+
+static const q31_t WeightsQ31_512[1024] = {
+  0x7fffffff, 0x0, 0x7fffd886, 0xff9b781d, 0x7fff6216, 0xff36f078, 0x7ffe9cb2,
+  0xfed2694f,
+  0x7ffd885a, 0xfe6de2e0, 0x7ffc250f, 0xfe095d69, 0x7ffa72d1, 0xfda4d929,
+  0x7ff871a2, 0xfd40565c,
+  0x7ff62182, 0xfcdbd541, 0x7ff38274, 0xfc775616, 0x7ff09478, 0xfc12d91a,
+  0x7fed5791, 0xfbae5e89,
+  0x7fe9cbc0, 0xfb49e6a3, 0x7fe5f108, 0xfae571a4, 0x7fe1c76b, 0xfa80ffcb,
+  0x7fdd4eec, 0xfa1c9157,
+  0x7fd8878e, 0xf9b82684, 0x7fd37153, 0xf953bf91, 0x7fce0c3e, 0xf8ef5cbb,
+  0x7fc85854, 0xf88afe42,
+  0x7fc25596, 0xf826a462, 0x7fbc040a, 0xf7c24f59, 0x7fb563b3, 0xf75dff66,
+  0x7fae7495, 0xf6f9b4c6,
+  0x7fa736b4, 0xf6956fb7, 0x7f9faa15, 0xf6313077, 0x7f97cebd, 0xf5ccf743,
+  0x7f8fa4b0, 0xf568c45b,
+  0x7f872bf3, 0xf50497fb, 0x7f7e648c, 0xf4a07261, 0x7f754e80, 0xf43c53cb,
+  0x7f6be9d4, 0xf3d83c77,
+  0x7f62368f, 0xf3742ca2, 0x7f5834b7, 0xf310248a, 0x7f4de451, 0xf2ac246e,
+  0x7f434563, 0xf2482c8a,
+  0x7f3857f6, 0xf1e43d1c, 0x7f2d1c0e, 0xf1805662, 0x7f2191b4, 0xf11c789a,
+  0x7f15b8ee, 0xf0b8a401,
+  0x7f0991c4, 0xf054d8d5, 0x7efd1c3c, 0xeff11753, 0x7ef05860, 0xef8d5fb8,
+  0x7ee34636, 0xef29b243,
+  0x7ed5e5c6, 0xeec60f31, 0x7ec8371a, 0xee6276bf, 0x7eba3a39, 0xedfee92b,
+  0x7eabef2c, 0xed9b66b2,
+  0x7e9d55fc, 0xed37ef91, 0x7e8e6eb2, 0xecd48407, 0x7e7f3957, 0xec71244f,
+  0x7e6fb5f4, 0xec0dd0a8,
+  0x7e5fe493, 0xebaa894f, 0x7e4fc53e, 0xeb474e81, 0x7e3f57ff, 0xeae4207a,
+  0x7e2e9cdf, 0xea80ff7a,
+  0x7e1d93ea, 0xea1debbb, 0x7e0c3d29, 0xe9bae57d, 0x7dfa98a8, 0xe957ecfb,
+  0x7de8a670, 0xe8f50273,
+  0x7dd6668f, 0xe8922622, 0x7dc3d90d, 0xe82f5844, 0x7db0fdf8, 0xe7cc9917,
+  0x7d9dd55a, 0xe769e8d8,
+  0x7d8a5f40, 0xe70747c4, 0x7d769bb5, 0xe6a4b616, 0x7d628ac6, 0xe642340d,
+  0x7d4e2c7f, 0xe5dfc1e5,
+  0x7d3980ec, 0xe57d5fda, 0x7d24881b, 0xe51b0e2a, 0x7d0f4218, 0xe4b8cd11,
+  0x7cf9aef0, 0xe4569ccb,
+  0x7ce3ceb2, 0xe3f47d96, 0x7ccda169, 0xe3926fad, 0x7cb72724, 0xe330734d,
+  0x7ca05ff1, 0xe2ce88b3,
+  0x7c894bde, 0xe26cb01b, 0x7c71eaf9, 0xe20ae9c1, 0x7c5a3d50, 0xe1a935e2,
+  0x7c4242f2, 0xe14794ba,
+  0x7c29fbee, 0xe0e60685, 0x7c116853, 0xe0848b7f, 0x7bf88830, 0xe02323e5,
+  0x7bdf5b94, 0xdfc1cff3,
+  0x7bc5e290, 0xdf608fe4, 0x7bac1d31, 0xdeff63f4, 0x7b920b89, 0xde9e4c60,
+  0x7b77ada8, 0xde3d4964,
+  0x7b5d039e, 0xdddc5b3b, 0x7b420d7a, 0xdd7b8220, 0x7b26cb4f, 0xdd1abe51,
+  0x7b0b3d2c, 0xdcba1008,
+  0x7aef6323, 0xdc597781, 0x7ad33d45, 0xdbf8f4f8, 0x7ab6cba4, 0xdb9888a8,
+  0x7a9a0e50, 0xdb3832cd,
+  0x7a7d055b, 0xdad7f3a2, 0x7a5fb0d8, 0xda77cb63, 0x7a4210d8, 0xda17ba4a,
+  0x7a24256f, 0xd9b7c094,
+  0x7a05eead, 0xd957de7a, 0x79e76ca7, 0xd8f81439, 0x79c89f6e, 0xd898620c,
+  0x79a98715, 0xd838c82d,
+  0x798a23b1, 0xd7d946d8, 0x796a7554, 0xd779de47, 0x794a7c12, 0xd71a8eb5,
+  0x792a37fe, 0xd6bb585e,
+  0x7909a92d, 0xd65c3b7b, 0x78e8cfb2, 0xd5fd3848, 0x78c7aba2, 0xd59e4eff,
+  0x78a63d11, 0xd53f7fda,
+  0x78848414, 0xd4e0cb15, 0x786280bf, 0xd48230e9, 0x78403329, 0xd423b191,
+  0x781d9b65, 0xd3c54d47,
+  0x77fab989, 0xd3670446, 0x77d78daa, 0xd308d6c7, 0x77b417df, 0xd2aac504,
+  0x7790583e, 0xd24ccf39,
+  0x776c4edb, 0xd1eef59e, 0x7747fbce, 0xd191386e, 0x77235f2d, 0xd13397e2,
+  0x76fe790e, 0xd0d61434,
+  0x76d94989, 0xd078ad9e, 0x76b3d0b4, 0xd01b6459, 0x768e0ea6, 0xcfbe389f,
+  0x76680376, 0xcf612aaa,
+  0x7641af3d, 0xcf043ab3, 0x761b1211, 0xcea768f2, 0x75f42c0b, 0xce4ab5a2,
+  0x75ccfd42, 0xcdee20fc,
+  0x75a585cf, 0xcd91ab39, 0x757dc5ca, 0xcd355491, 0x7555bd4c, 0xccd91d3d,
+  0x752d6c6c, 0xcc7d0578,
+  0x7504d345, 0xcc210d79, 0x74dbf1ef, 0xcbc53579, 0x74b2c884, 0xcb697db0,
+  0x7489571c, 0xcb0de658,
+  0x745f9dd1, 0xcab26fa9, 0x74359cbd, 0xca5719db, 0x740b53fb, 0xc9fbe527,
+  0x73e0c3a3, 0xc9a0d1c5,
+  0x73b5ebd1, 0xc945dfec, 0x738acc9e, 0xc8eb0fd6, 0x735f6626, 0xc89061ba,
+  0x7333b883, 0xc835d5d0,
+  0x7307c3d0, 0xc7db6c50, 0x72db8828, 0xc7812572, 0x72af05a7, 0xc727016d,
+  0x72823c67, 0xc6cd0079,
+  0x72552c85, 0xc67322ce, 0x7227d61c, 0xc61968a2, 0x71fa3949, 0xc5bfd22e,
+  0x71cc5626, 0xc5665fa9,
+  0x719e2cd2, 0xc50d1149, 0x716fbd68, 0xc4b3e746, 0x71410805, 0xc45ae1d7,
+  0x71120cc5, 0xc4020133,
+  0x70e2cbc6, 0xc3a94590, 0x70b34525, 0xc350af26, 0x708378ff, 0xc2f83e2a,
+  0x70536771, 0xc29ff2d4,
+  0x7023109a, 0xc247cd5a, 0x6ff27497, 0xc1efcdf3, 0x6fc19385, 0xc197f4d4,
+  0x6f906d84, 0xc1404233,
+  0x6f5f02b2, 0xc0e8b648, 0x6f2d532c, 0xc0915148, 0x6efb5f12, 0xc03a1368,
+  0x6ec92683, 0xbfe2fcdf,
+  0x6e96a99d, 0xbf8c0de3, 0x6e63e87f, 0xbf3546a8, 0x6e30e34a, 0xbedea765,
+  0x6dfd9a1c, 0xbe88304f,
+  0x6dca0d14, 0xbe31e19b, 0x6d963c54, 0xbddbbb7f, 0x6d6227fa, 0xbd85be30,
+  0x6d2dd027, 0xbd2fe9e2,
+  0x6cf934fc, 0xbcda3ecb, 0x6cc45698, 0xbc84bd1f, 0x6c8f351c, 0xbc2f6513,
+  0x6c59d0a9, 0xbbda36dd,
+  0x6c242960, 0xbb8532b0, 0x6bee3f62, 0xbb3058c0, 0x6bb812d1, 0xbadba943,
+  0x6b81a3cd, 0xba87246d,
+  0x6b4af279, 0xba32ca71, 0x6b13fef5, 0xb9de9b83, 0x6adcc964, 0xb98a97d8,
+  0x6aa551e9, 0xb936bfa4,
+  0x6a6d98a4, 0xb8e31319, 0x6a359db9, 0xb88f926d, 0x69fd614a, 0xb83c3dd1,
+  0x69c4e37a, 0xb7e9157a,
+  0x698c246c, 0xb796199b, 0x69532442, 0xb7434a67, 0x6919e320, 0xb6f0a812,
+  0x68e06129, 0xb69e32cd,
+  0x68a69e81, 0xb64beacd, 0x686c9b4b, 0xb5f9d043, 0x683257ab, 0xb5a7e362,
+  0x67f7d3c5, 0xb556245e,
+  0x67bd0fbd, 0xb5049368, 0x67820bb7, 0xb4b330b3, 0x6746c7d8, 0xb461fc70,
+  0x670b4444, 0xb410f6d3,
+  0x66cf8120, 0xb3c0200c, 0x66937e91, 0xb36f784f, 0x66573cbb, 0xb31effcc,
+  0x661abbc5, 0xb2ceb6b5,
+  0x65ddfbd3, 0xb27e9d3c, 0x65a0fd0b, 0xb22eb392, 0x6563bf92, 0xb1def9e9,
+  0x6526438f, 0xb18f7071,
+  0x64e88926, 0xb140175b, 0x64aa907f, 0xb0f0eeda, 0x646c59bf, 0xb0a1f71d,
+  0x642de50d, 0xb0533055,
+  0x63ef3290, 0xb0049ab3, 0x63b0426d, 0xafb63667, 0x637114cc, 0xaf6803a2,
+  0x6331a9d4, 0xaf1a0293,
+  0x62f201ac, 0xaecc336c, 0x62b21c7b, 0xae7e965b, 0x6271fa69, 0xae312b92,
+  0x62319b9d, 0xade3f33e,
+  0x61f1003f, 0xad96ed92, 0x61b02876, 0xad4a1aba, 0x616f146c, 0xacfd7ae8,
+  0x612dc447, 0xacb10e4b,
+  0x60ec3830, 0xac64d510, 0x60aa7050, 0xac18cf69, 0x60686ccf, 0xabccfd83,
+  0x60262dd6, 0xab815f8d,
+  0x5fe3b38d, 0xab35f5b5, 0x5fa0fe1f, 0xaaeac02c, 0x5f5e0db3, 0xaa9fbf1e,
+  0x5f1ae274, 0xaa54f2ba,
+  0x5ed77c8a, 0xaa0a5b2e, 0x5e93dc1f, 0xa9bff8a8, 0x5e50015d, 0xa975cb57,
+  0x5e0bec6e, 0xa92bd367,
+  0x5dc79d7c, 0xa8e21106, 0x5d8314b1, 0xa8988463, 0x5d3e5237, 0xa84f2daa,
+  0x5cf95638, 0xa8060d08,
+  0x5cb420e0, 0xa7bd22ac, 0x5c6eb258, 0xa7746ec0, 0x5c290acc, 0xa72bf174,
+  0x5be32a67, 0xa6e3aaf2,
+  0x5b9d1154, 0xa69b9b68, 0x5b56bfbd, 0xa653c303, 0x5b1035cf, 0xa60c21ee,
+  0x5ac973b5, 0xa5c4b855,
+  0x5a82799a, 0xa57d8666, 0x5a3b47ab, 0xa5368c4b, 0x59f3de12, 0xa4efca31,
+  0x59ac3cfd, 0xa4a94043,
+  0x59646498, 0xa462eeac, 0x591c550e, 0xa41cd599, 0x58d40e8c, 0xa3d6f534,
+  0x588b9140, 0xa3914da8,
+  0x5842dd54, 0xa34bdf20, 0x57f9f2f8, 0xa306a9c8, 0x57b0d256, 0xa2c1adc9,
+  0x57677b9d, 0xa27ceb4f,
+  0x571deefa, 0xa2386284, 0x56d42c99, 0xa1f41392, 0x568a34a9, 0xa1affea3,
+  0x56400758, 0xa16c23e1,
+  0x55f5a4d2, 0xa1288376, 0x55ab0d46, 0xa0e51d8c, 0x556040e2, 0xa0a1f24d,
+  0x55153fd4, 0xa05f01e1,
+  0x54ca0a4b, 0xa01c4c73, 0x547ea073, 0x9fd9d22a, 0x5433027d, 0x9f979331,
+  0x53e73097, 0x9f558fb0,
+  0x539b2af0, 0x9f13c7d0, 0x534ef1b5, 0x9ed23bb9, 0x53028518, 0x9e90eb94,
+  0x52b5e546, 0x9e4fd78a,
+  0x5269126e, 0x9e0effc1, 0x521c0cc2, 0x9dce6463, 0x51ced46e, 0x9d8e0597,
+  0x518169a5, 0x9d4de385,
+  0x5133cc94, 0x9d0dfe54, 0x50e5fd6d, 0x9cce562c, 0x5097fc5e, 0x9c8eeb34,
+  0x5049c999, 0x9c4fbd93,
+  0x4ffb654d, 0x9c10cd70, 0x4faccfab, 0x9bd21af3, 0x4f5e08e3, 0x9b93a641,
+  0x4f0f1126, 0x9b556f81,
+  0x4ebfe8a5, 0x9b1776da, 0x4e708f8f, 0x9ad9bc71, 0x4e210617, 0x9a9c406e,
+  0x4dd14c6e, 0x9a5f02f5,
+  0x4d8162c4, 0x9a22042d, 0x4d31494b, 0x99e5443b, 0x4ce10034, 0x99a8c345,
+  0x4c9087b1, 0x996c816f,
+  0x4c3fdff4, 0x99307ee0, 0x4bef092d, 0x98f4bbbc, 0x4b9e0390, 0x98b93828,
+  0x4b4ccf4d, 0x987df449,
+  0x4afb6c98, 0x9842f043, 0x4aa9dba2, 0x98082c3b, 0x4a581c9e, 0x97cda855,
+  0x4a062fbd, 0x979364b5,
+  0x49b41533, 0x9759617f, 0x4961cd33, 0x971f9ed7, 0x490f57ee, 0x96e61ce0,
+  0x48bcb599, 0x96acdbbe,
+  0x4869e665, 0x9673db94, 0x4816ea86, 0x963b1c86, 0x47c3c22f, 0x96029eb6,
+  0x47706d93, 0x95ca6247,
+  0x471cece7, 0x9592675c, 0x46c9405c, 0x955aae17, 0x46756828, 0x9523369c,
+  0x4621647d, 0x94ec010b,
+  0x45cd358f, 0x94b50d87, 0x4578db93, 0x947e5c33, 0x452456bd, 0x9447ed2f,
+  0x44cfa740, 0x9411c09e,
+  0x447acd50, 0x93dbd6a0, 0x4425c923, 0x93a62f57, 0x43d09aed, 0x9370cae4,
+  0x437b42e1, 0x933ba968,
+  0x4325c135, 0x9306cb04, 0x42d0161e, 0x92d22fd9, 0x427a41d0, 0x929dd806,
+  0x42244481, 0x9269c3ac,
+  0x41ce1e65, 0x9235f2ec, 0x4177cfb1, 0x920265e4, 0x4121589b, 0x91cf1cb6,
+  0x40cab958, 0x919c1781,
+  0x4073f21d, 0x91695663, 0x401d0321, 0x9136d97d, 0x3fc5ec98, 0x9104a0ee,
+  0x3f6eaeb8, 0x90d2acd4,
+  0x3f1749b8, 0x90a0fd4e, 0x3ebfbdcd, 0x906f927c, 0x3e680b2c, 0x903e6c7b,
+  0x3e10320d, 0x900d8b69,
+  0x3db832a6, 0x8fdcef66, 0x3d600d2c, 0x8fac988f, 0x3d07c1d6, 0x8f7c8701,
+  0x3caf50da, 0x8f4cbadb,
+  0x3c56ba70, 0x8f1d343a, 0x3bfdfecd, 0x8eedf33b, 0x3ba51e29, 0x8ebef7fb,
+  0x3b4c18ba, 0x8e904298,
+  0x3af2eeb7, 0x8e61d32e, 0x3a99a057, 0x8e33a9da, 0x3a402dd2, 0x8e05c6b7,
+  0x39e6975e, 0x8dd829e4,
+  0x398cdd32, 0x8daad37b, 0x3932ff87, 0x8d7dc399, 0x38d8fe93, 0x8d50fa59,
+  0x387eda8e, 0x8d2477d8,
+  0x382493b0, 0x8cf83c30, 0x37ca2a30, 0x8ccc477d, 0x376f9e46, 0x8ca099da,
+  0x3714f02a, 0x8c753362,
+  0x36ba2014, 0x8c4a142f, 0x365f2e3b, 0x8c1f3c5d, 0x36041ad9, 0x8bf4ac05,
+  0x35a8e625, 0x8bca6343,
+  0x354d9057, 0x8ba0622f, 0x34f219a8, 0x8b76a8e4, 0x34968250, 0x8b4d377c,
+  0x343aca87, 0x8b240e11,
+  0x33def287, 0x8afb2cbb, 0x3382fa88, 0x8ad29394, 0x3326e2c3, 0x8aaa42b4,
+  0x32caab6f, 0x8a823a36,
+  0x326e54c7, 0x8a5a7a31, 0x3211df04, 0x8a3302be, 0x31b54a5e, 0x8a0bd3f5,
+  0x3158970e, 0x89e4edef,
+  0x30fbc54d, 0x89be50c3, 0x309ed556, 0x8997fc8a, 0x3041c761, 0x8971f15a,
+  0x2fe49ba7, 0x894c2f4c,
+  0x2f875262, 0x8926b677, 0x2f29ebcc, 0x890186f2, 0x2ecc681e, 0x88dca0d3,
+  0x2e6ec792, 0x88b80432,
+  0x2e110a62, 0x8893b125, 0x2db330c7, 0x886fa7c2, 0x2d553afc, 0x884be821,
+  0x2cf72939, 0x88287256,
+  0x2c98fbba, 0x88054677, 0x2c3ab2b9, 0x87e2649b, 0x2bdc4e6f, 0x87bfccd7,
+  0x2b7dcf17, 0x879d7f41,
+  0x2b1f34eb, 0x877b7bec, 0x2ac08026, 0x8759c2ef, 0x2a61b101, 0x8738545e,
+  0x2a02c7b8, 0x8717304e,
+  0x29a3c485, 0x86f656d3, 0x2944a7a2, 0x86d5c802, 0x28e5714b, 0x86b583ee,
+  0x288621b9, 0x86958aac,
+  0x2826b928, 0x8675dc4f, 0x27c737d3, 0x865678eb, 0x27679df4, 0x86376092,
+  0x2707ebc7, 0x86189359,
+  0x26a82186, 0x85fa1153, 0x26483f6c, 0x85dbda91, 0x25e845b6, 0x85bdef28,
+  0x2588349d, 0x85a04f28,
+  0x25280c5e, 0x8582faa5, 0x24c7cd33, 0x8565f1b0, 0x24677758, 0x8549345c,
+  0x24070b08, 0x852cc2bb,
+  0x23a6887f, 0x85109cdd, 0x2345eff8, 0x84f4c2d4, 0x22e541af, 0x84d934b1,
+  0x22847de0, 0x84bdf286,
+  0x2223a4c5, 0x84a2fc62, 0x21c2b69c, 0x84885258, 0x2161b3a0, 0x846df477,
+  0x21009c0c, 0x8453e2cf,
+  0x209f701c, 0x843a1d70, 0x203e300d, 0x8420a46c, 0x1fdcdc1b, 0x840777d0,
+  0x1f7b7481, 0x83ee97ad,
+  0x1f19f97b, 0x83d60412, 0x1eb86b46, 0x83bdbd0e, 0x1e56ca1e, 0x83a5c2b0,
+  0x1df5163f, 0x838e1507,
+  0x1d934fe5, 0x8376b422, 0x1d31774d, 0x835fa00f, 0x1ccf8cb3, 0x8348d8dc,
+  0x1c6d9053, 0x83325e97,
+  0x1c0b826a, 0x831c314e, 0x1ba96335, 0x83065110, 0x1b4732ef, 0x82f0bde8,
+  0x1ae4f1d6, 0x82db77e5,
+  0x1a82a026, 0x82c67f14, 0x1a203e1b, 0x82b1d381, 0x19bdcbf3, 0x829d753a,
+  0x195b49ea, 0x8289644b,
+  0x18f8b83c, 0x8275a0c0, 0x18961728, 0x82622aa6, 0x183366e9, 0x824f0208,
+  0x17d0a7bc, 0x823c26f3,
+  0x176dd9de, 0x82299971, 0x170afd8d, 0x82175990, 0x16a81305, 0x82056758,
+  0x16451a83, 0x81f3c2d7,
+  0x15e21445, 0x81e26c16, 0x157f0086, 0x81d16321, 0x151bdf86, 0x81c0a801,
+  0x14b8b17f, 0x81b03ac2,
+  0x145576b1, 0x81a01b6d, 0x13f22f58, 0x81904a0c, 0x138edbb1, 0x8180c6a9,
+  0x132b7bf9, 0x8171914e,
+  0x12c8106f, 0x8162aa04, 0x1264994e, 0x815410d4, 0x120116d5, 0x8145c5c7,
+  0x119d8941, 0x8137c8e6,
+  0x1139f0cf, 0x812a1a3a, 0x10d64dbd, 0x811cb9ca, 0x1072a048, 0x810fa7a0,
+  0x100ee8ad, 0x8102e3c4,
+  0xfab272b, 0x80f66e3c, 0xf475bff, 0x80ea4712, 0xee38766, 0x80de6e4c,
+  0xe7fa99e, 0x80d2e3f2,
+  0xe1bc2e4, 0x80c7a80a, 0xdb7d376, 0x80bcba9d, 0xd53db92, 0x80b21baf,
+  0xcefdb76, 0x80a7cb49,
+  0xc8bd35e, 0x809dc971, 0xc27c389, 0x8094162c, 0xbc3ac35, 0x808ab180,
+  0xb5f8d9f, 0x80819b74,
+  0xafb6805, 0x8078d40d, 0xa973ba5, 0x80705b50, 0xa3308bd, 0x80683143,
+  0x9cecf89, 0x806055eb,
+  0x96a9049, 0x8058c94c, 0x9064b3a, 0x80518b6b, 0x8a2009a, 0x804a9c4d,
+  0x83db0a7, 0x8043fbf6,
+  0x7d95b9e, 0x803daa6a, 0x77501be, 0x8037a7ac, 0x710a345, 0x8031f3c2,
+  0x6ac406f, 0x802c8ead,
+  0x647d97c, 0x80277872, 0x5e36ea9, 0x8022b114, 0x57f0035, 0x801e3895,
+  0x51a8e5c, 0x801a0ef8,
+  0x4b6195d, 0x80163440, 0x451a177, 0x8012a86f, 0x3ed26e6, 0x800f6b88,
+  0x388a9ea, 0x800c7d8c,
+  0x3242abf, 0x8009de7e, 0x2bfa9a4, 0x80078e5e, 0x25b26d7, 0x80058d2f,
+  0x1f6a297, 0x8003daf1,
+  0x1921d20, 0x800277a6, 0x12d96b1, 0x8001634e, 0xc90f88, 0x80009dea,
+  0x6487e3, 0x8000277a,
+};
+
+static const q31_t WeightsQ31_2048[4096] = {
+  0x7fffffff, 0x0, 0x7ffffd88, 0xffe6de05, 0x7ffff621, 0xffcdbc0b, 0x7fffe9cb,
+  0xffb49a12,
+  0x7fffd886, 0xff9b781d, 0x7fffc251, 0xff82562c, 0x7fffa72c, 0xff69343f,
+  0x7fff8719, 0xff501258,
+  0x7fff6216, 0xff36f078, 0x7fff3824, 0xff1dcea0, 0x7fff0943, 0xff04acd0,
+  0x7ffed572, 0xfeeb8b0a,
+  0x7ffe9cb2, 0xfed2694f, 0x7ffe5f03, 0xfeb947a0, 0x7ffe1c65, 0xfea025fd,
+  0x7ffdd4d7, 0xfe870467,
+  0x7ffd885a, 0xfe6de2e0, 0x7ffd36ee, 0xfe54c169, 0x7ffce093, 0xfe3ba002,
+  0x7ffc8549, 0xfe227eac,
+  0x7ffc250f, 0xfe095d69, 0x7ffbbfe6, 0xfdf03c3a, 0x7ffb55ce, 0xfdd71b1e,
+  0x7ffae6c7, 0xfdbdfa18,
+  0x7ffa72d1, 0xfda4d929, 0x7ff9f9ec, 0xfd8bb850, 0x7ff97c18, 0xfd729790,
+  0x7ff8f954, 0xfd5976e9,
+  0x7ff871a2, 0xfd40565c, 0x7ff7e500, 0xfd2735ea, 0x7ff75370, 0xfd0e1594,
+  0x7ff6bcf0, 0xfcf4f55c,
+  0x7ff62182, 0xfcdbd541, 0x7ff58125, 0xfcc2b545, 0x7ff4dbd9, 0xfca9956a,
+  0x7ff4319d, 0xfc9075af,
+  0x7ff38274, 0xfc775616, 0x7ff2ce5b, 0xfc5e36a0, 0x7ff21553, 0xfc45174e,
+  0x7ff1575d, 0xfc2bf821,
+  0x7ff09478, 0xfc12d91a, 0x7fefcca4, 0xfbf9ba39, 0x7feeffe1, 0xfbe09b80,
+  0x7fee2e30, 0xfbc77cf0,
+  0x7fed5791, 0xfbae5e89, 0x7fec7c02, 0xfb95404d, 0x7feb9b85, 0xfb7c223d,
+  0x7feab61a, 0xfb630459,
+  0x7fe9cbc0, 0xfb49e6a3, 0x7fe8dc78, 0xfb30c91b, 0x7fe7e841, 0xfb17abc2,
+  0x7fe6ef1c, 0xfafe8e9b,
+  0x7fe5f108, 0xfae571a4, 0x7fe4ee06, 0xfacc54e0, 0x7fe3e616, 0xfab3384f,
+  0x7fe2d938, 0xfa9a1bf3,
+  0x7fe1c76b, 0xfa80ffcb, 0x7fe0b0b1, 0xfa67e3da, 0x7fdf9508, 0xfa4ec821,
+  0x7fde7471, 0xfa35ac9f,
+  0x7fdd4eec, 0xfa1c9157, 0x7fdc247a, 0xfa037648, 0x7fdaf519, 0xf9ea5b75,
+  0x7fd9c0ca, 0xf9d140de,
+  0x7fd8878e, 0xf9b82684, 0x7fd74964, 0xf99f0c68, 0x7fd6064c, 0xf985f28a,
+  0x7fd4be46, 0xf96cd8ed,
+  0x7fd37153, 0xf953bf91, 0x7fd21f72, 0xf93aa676, 0x7fd0c8a3, 0xf9218d9e,
+  0x7fcf6ce8, 0xf908750a,
+  0x7fce0c3e, 0xf8ef5cbb, 0x7fcca6a7, 0xf8d644b2, 0x7fcb3c23, 0xf8bd2cef,
+  0x7fc9ccb2, 0xf8a41574,
+  0x7fc85854, 0xf88afe42, 0x7fc6df08, 0xf871e759, 0x7fc560cf, 0xf858d0bb,
+  0x7fc3dda9, 0xf83fba68,
+  0x7fc25596, 0xf826a462, 0x7fc0c896, 0xf80d8ea9, 0x7fbf36aa, 0xf7f4793e,
+  0x7fbd9fd0, 0xf7db6423,
+  0x7fbc040a, 0xf7c24f59, 0x7fba6357, 0xf7a93ae0, 0x7fb8bdb8, 0xf79026b9,
+  0x7fb7132b, 0xf77712e5,
+  0x7fb563b3, 0xf75dff66, 0x7fb3af4e, 0xf744ec3b, 0x7fb1f5fc, 0xf72bd967,
+  0x7fb037bf, 0xf712c6ea,
+  0x7fae7495, 0xf6f9b4c6, 0x7facac7f, 0xf6e0a2fa, 0x7faadf7c, 0xf6c79188,
+  0x7fa90d8e, 0xf6ae8071,
+  0x7fa736b4, 0xf6956fb7, 0x7fa55aee, 0xf67c5f59, 0x7fa37a3c, 0xf6634f59,
+  0x7fa1949e, 0xf64a3fb8,
+  0x7f9faa15, 0xf6313077, 0x7f9dbaa0, 0xf6182196, 0x7f9bc640, 0xf5ff1318,
+  0x7f99ccf4, 0xf5e604fc,
+  0x7f97cebd, 0xf5ccf743, 0x7f95cb9a, 0xf5b3e9f0, 0x7f93c38c, 0xf59add02,
+  0x7f91b694, 0xf581d07b,
+  0x7f8fa4b0, 0xf568c45b, 0x7f8d8de1, 0xf54fb8a4, 0x7f8b7227, 0xf536ad56,
+  0x7f895182, 0xf51da273,
+  0x7f872bf3, 0xf50497fb, 0x7f850179, 0xf4eb8def, 0x7f82d214, 0xf4d28451,
+  0x7f809dc5, 0xf4b97b21,
+  0x7f7e648c, 0xf4a07261, 0x7f7c2668, 0xf4876a10, 0x7f79e35a, 0xf46e6231,
+  0x7f779b62, 0xf4555ac5,
+  0x7f754e80, 0xf43c53cb, 0x7f72fcb4, 0xf4234d45, 0x7f70a5fe, 0xf40a4735,
+  0x7f6e4a5e, 0xf3f1419a,
+  0x7f6be9d4, 0xf3d83c77, 0x7f698461, 0xf3bf37cb, 0x7f671a05, 0xf3a63398,
+  0x7f64aabf, 0xf38d2fe0,
+  0x7f62368f, 0xf3742ca2, 0x7f5fbd77, 0xf35b29e0, 0x7f5d3f75, 0xf342279b,
+  0x7f5abc8a, 0xf32925d3,
+  0x7f5834b7, 0xf310248a, 0x7f55a7fa, 0xf2f723c1, 0x7f531655, 0xf2de2379,
+  0x7f507fc7, 0xf2c523b2,
+  0x7f4de451, 0xf2ac246e, 0x7f4b43f2, 0xf29325ad, 0x7f489eaa, 0xf27a2771,
+  0x7f45f47b, 0xf26129ba,
+  0x7f434563, 0xf2482c8a, 0x7f409164, 0xf22f2fe1, 0x7f3dd87c, 0xf21633c0,
+  0x7f3b1aad, 0xf1fd3829,
+  0x7f3857f6, 0xf1e43d1c, 0x7f359057, 0xf1cb429a, 0x7f32c3d1, 0xf1b248a5,
+  0x7f2ff263, 0xf1994f3d,
+  0x7f2d1c0e, 0xf1805662, 0x7f2a40d2, 0xf1675e17, 0x7f2760af, 0xf14e665c,
+  0x7f247ba5, 0xf1356f32,
+  0x7f2191b4, 0xf11c789a, 0x7f1ea2dc, 0xf1038295, 0x7f1baf1e, 0xf0ea8d24,
+  0x7f18b679, 0xf0d19848,
+  0x7f15b8ee, 0xf0b8a401, 0x7f12b67c, 0xf09fb051, 0x7f0faf25, 0xf086bd39,
+  0x7f0ca2e7, 0xf06dcaba,
+  0x7f0991c4, 0xf054d8d5, 0x7f067bba, 0xf03be78a, 0x7f0360cb, 0xf022f6da,
+  0x7f0040f6, 0xf00a06c8,
+  0x7efd1c3c, 0xeff11753, 0x7ef9f29d, 0xefd8287c, 0x7ef6c418, 0xefbf3a45,
+  0x7ef390ae, 0xefa64cae,
+  0x7ef05860, 0xef8d5fb8, 0x7eed1b2c, 0xef747365, 0x7ee9d914, 0xef5b87b5,
+  0x7ee69217, 0xef429caa,
+  0x7ee34636, 0xef29b243, 0x7edff570, 0xef10c883, 0x7edc9fc6, 0xeef7df6a,
+  0x7ed94538, 0xeedef6f9,
+  0x7ed5e5c6, 0xeec60f31, 0x7ed28171, 0xeead2813, 0x7ecf1837, 0xee9441a0,
+  0x7ecbaa1a, 0xee7b5bd9,
+  0x7ec8371a, 0xee6276bf, 0x7ec4bf36, 0xee499253, 0x7ec14270, 0xee30ae96,
+  0x7ebdc0c6, 0xee17cb88,
+  0x7eba3a39, 0xedfee92b, 0x7eb6aeca, 0xede60780, 0x7eb31e78, 0xedcd2687,
+  0x7eaf8943, 0xedb44642,
+  0x7eabef2c, 0xed9b66b2, 0x7ea85033, 0xed8287d7, 0x7ea4ac58, 0xed69a9b3,
+  0x7ea1039b, 0xed50cc46,
+  0x7e9d55fc, 0xed37ef91, 0x7e99a37c, 0xed1f1396, 0x7e95ec1a, 0xed063856,
+  0x7e922fd6, 0xeced5dd0,
+  0x7e8e6eb2, 0xecd48407, 0x7e8aa8ac, 0xecbbaafb, 0x7e86ddc6, 0xeca2d2ad,
+  0x7e830dff, 0xec89fb1e,
+  0x7e7f3957, 0xec71244f, 0x7e7b5fce, 0xec584e41, 0x7e778166, 0xec3f78f6,
+  0x7e739e1d, 0xec26a46d,
+  0x7e6fb5f4, 0xec0dd0a8, 0x7e6bc8eb, 0xebf4fda8, 0x7e67d703, 0xebdc2b6e,
+  0x7e63e03b, 0xebc359fb,
+  0x7e5fe493, 0xebaa894f, 0x7e5be40c, 0xeb91b96c, 0x7e57dea7, 0xeb78ea52,
+  0x7e53d462, 0xeb601c04,
+  0x7e4fc53e, 0xeb474e81, 0x7e4bb13c, 0xeb2e81ca, 0x7e47985b, 0xeb15b5e1,
+  0x7e437a9c, 0xeafceac6,
+  0x7e3f57ff, 0xeae4207a, 0x7e3b3083, 0xeacb56ff, 0x7e37042a, 0xeab28e56,
+  0x7e32d2f4, 0xea99c67e,
+  0x7e2e9cdf, 0xea80ff7a, 0x7e2a61ed, 0xea683949, 0x7e26221f, 0xea4f73ee,
+  0x7e21dd73, 0xea36af69,
+  0x7e1d93ea, 0xea1debbb, 0x7e194584, 0xea0528e5, 0x7e14f242, 0xe9ec66e8,
+  0x7e109a24, 0xe9d3a5c5,
+  0x7e0c3d29, 0xe9bae57d, 0x7e07db52, 0xe9a22610, 0x7e0374a0, 0xe9896781,
+  0x7dff0911, 0xe970a9ce,
+  0x7dfa98a8, 0xe957ecfb, 0x7df62362, 0xe93f3107, 0x7df1a942, 0xe92675f4,
+  0x7ded2a47, 0xe90dbbc2,
+  0x7de8a670, 0xe8f50273, 0x7de41dc0, 0xe8dc4a07, 0x7ddf9034, 0xe8c39280,
+  0x7ddafdce, 0xe8aadbde,
+  0x7dd6668f, 0xe8922622, 0x7dd1ca75, 0xe879714d, 0x7dcd2981, 0xe860bd61,
+  0x7dc883b4, 0xe8480a5d,
+  0x7dc3d90d, 0xe82f5844, 0x7dbf298d, 0xe816a716, 0x7dba7534, 0xe7fdf6d4,
+  0x7db5bc02, 0xe7e5477f,
+  0x7db0fdf8, 0xe7cc9917, 0x7dac3b15, 0xe7b3eb9f, 0x7da77359, 0xe79b3f16,
+  0x7da2a6c6, 0xe782937e,
+  0x7d9dd55a, 0xe769e8d8, 0x7d98ff17, 0xe7513f25, 0x7d9423fc, 0xe7389665,
+  0x7d8f4409, 0xe71fee99,
+  0x7d8a5f40, 0xe70747c4, 0x7d85759f, 0xe6eea1e4, 0x7d808728, 0xe6d5fcfc,
+  0x7d7b93da, 0xe6bd590d,
+  0x7d769bb5, 0xe6a4b616, 0x7d719eba, 0xe68c141a, 0x7d6c9ce9, 0xe6737319,
+  0x7d679642, 0xe65ad315,
+  0x7d628ac6, 0xe642340d, 0x7d5d7a74, 0xe6299604, 0x7d58654d, 0xe610f8f9,
+  0x7d534b50, 0xe5f85cef,
+  0x7d4e2c7f, 0xe5dfc1e5, 0x7d4908d9, 0xe5c727dd, 0x7d43e05e, 0xe5ae8ed8,
+  0x7d3eb30f, 0xe595f6d7,
+  0x7d3980ec, 0xe57d5fda, 0x7d3449f5, 0xe564c9e3, 0x7d2f0e2b, 0xe54c34f3,
+  0x7d29cd8c, 0xe533a10a,
+  0x7d24881b, 0xe51b0e2a, 0x7d1f3dd6, 0xe5027c53, 0x7d19eebf, 0xe4e9eb87,
+  0x7d149ad5, 0xe4d15bc6,
+  0x7d0f4218, 0xe4b8cd11, 0x7d09e489, 0xe4a03f69, 0x7d048228, 0xe487b2d0,
+  0x7cff1af5, 0xe46f2745,
+  0x7cf9aef0, 0xe4569ccb, 0x7cf43e1a, 0xe43e1362, 0x7ceec873, 0xe4258b0a,
+  0x7ce94dfb, 0xe40d03c6,
+  0x7ce3ceb2, 0xe3f47d96, 0x7cde4a98, 0xe3dbf87a, 0x7cd8c1ae, 0xe3c37474,
+  0x7cd333f3, 0xe3aaf184,
+  0x7ccda169, 0xe3926fad, 0x7cc80a0f, 0xe379eeed, 0x7cc26de5, 0xe3616f48,
+  0x7cbcccec, 0xe348f0bd,
+  0x7cb72724, 0xe330734d, 0x7cb17c8d, 0xe317f6fa, 0x7cabcd28, 0xe2ff7bc3,
+  0x7ca618f3, 0xe2e701ac,
+  0x7ca05ff1, 0xe2ce88b3, 0x7c9aa221, 0xe2b610da, 0x7c94df83, 0xe29d9a23,
+  0x7c8f1817, 0xe285248d,
+  0x7c894bde, 0xe26cb01b, 0x7c837ad8, 0xe2543ccc, 0x7c7da505, 0xe23bcaa2,
+  0x7c77ca65, 0xe223599e,
+  0x7c71eaf9, 0xe20ae9c1, 0x7c6c06c0, 0xe1f27b0b, 0x7c661dbc, 0xe1da0d7e,
+  0x7c602fec, 0xe1c1a11b,
+  0x7c5a3d50, 0xe1a935e2, 0x7c5445e9, 0xe190cbd4, 0x7c4e49b7, 0xe17862f3,
+  0x7c4848ba, 0xe15ffb3f,
+  0x7c4242f2, 0xe14794ba, 0x7c3c3860, 0xe12f2f63, 0x7c362904, 0xe116cb3d,
+  0x7c3014de, 0xe0fe6848,
+  0x7c29fbee, 0xe0e60685, 0x7c23de35, 0xe0cda5f5, 0x7c1dbbb3, 0xe0b54698,
+  0x7c179467, 0xe09ce871,
+  0x7c116853, 0xe0848b7f, 0x7c0b3777, 0xe06c2fc4, 0x7c0501d2, 0xe053d541,
+  0x7bfec765, 0xe03b7bf6,
+  0x7bf88830, 0xe02323e5, 0x7bf24434, 0xe00acd0e, 0x7bebfb70, 0xdff27773,
+  0x7be5ade6, 0xdfda2314,
+  0x7bdf5b94, 0xdfc1cff3, 0x7bd9047c, 0xdfa97e0f, 0x7bd2a89e, 0xdf912d6b,
+  0x7bcc47fa, 0xdf78de07,
+  0x7bc5e290, 0xdf608fe4, 0x7bbf7860, 0xdf484302, 0x7bb9096b, 0xdf2ff764,
+  0x7bb295b0, 0xdf17ad0a,
+  0x7bac1d31, 0xdeff63f4, 0x7ba59fee, 0xdee71c24, 0x7b9f1de6, 0xdeced59b,
+  0x7b989719, 0xdeb69059,
+  0x7b920b89, 0xde9e4c60, 0x7b8b7b36, 0xde8609b1, 0x7b84e61f, 0xde6dc84b,
+  0x7b7e4c45, 0xde558831,
+  0x7b77ada8, 0xde3d4964, 0x7b710a49, 0xde250be3, 0x7b6a6227, 0xde0ccfb1,
+  0x7b63b543, 0xddf494ce,
+  0x7b5d039e, 0xdddc5b3b, 0x7b564d36, 0xddc422f8, 0x7b4f920e, 0xddabec08,
+  0x7b48d225, 0xdd93b66a,
+  0x7b420d7a, 0xdd7b8220, 0x7b3b4410, 0xdd634f2b, 0x7b3475e5, 0xdd4b1d8c,
+  0x7b2da2fa, 0xdd32ed43,
+  0x7b26cb4f, 0xdd1abe51, 0x7b1feee5, 0xdd0290b8, 0x7b190dbc, 0xdcea6478,
+  0x7b1227d3, 0xdcd23993,
+  0x7b0b3d2c, 0xdcba1008, 0x7b044dc7, 0xdca1e7da, 0x7afd59a4, 0xdc89c109,
+  0x7af660c2, 0xdc719b96,
+  0x7aef6323, 0xdc597781, 0x7ae860c7, 0xdc4154cd, 0x7ae159ae, 0xdc293379,
+  0x7ada4dd8, 0xdc111388,
+  0x7ad33d45, 0xdbf8f4f8, 0x7acc27f7, 0xdbe0d7cd, 0x7ac50dec, 0xdbc8bc06,
+  0x7abdef25, 0xdbb0a1a4,
+  0x7ab6cba4, 0xdb9888a8, 0x7aafa367, 0xdb807114, 0x7aa8766f, 0xdb685ae9,
+  0x7aa144bc, 0xdb504626,
+  0x7a9a0e50, 0xdb3832cd, 0x7a92d329, 0xdb2020e0, 0x7a8b9348, 0xdb08105e,
+  0x7a844eae, 0xdaf00149,
+  0x7a7d055b, 0xdad7f3a2, 0x7a75b74f, 0xdabfe76a, 0x7a6e648a, 0xdaa7dca1,
+  0x7a670d0d, 0xda8fd349,
+  0x7a5fb0d8, 0xda77cb63, 0x7a584feb, 0xda5fc4ef, 0x7a50ea47, 0xda47bfee,
+  0x7a497feb, 0xda2fbc61,
+  0x7a4210d8, 0xda17ba4a, 0x7a3a9d0f, 0xd9ffb9a9, 0x7a332490, 0xd9e7ba7f,
+  0x7a2ba75a, 0xd9cfbccd,
+  0x7a24256f, 0xd9b7c094, 0x7a1c9ece, 0xd99fc5d4, 0x7a151378, 0xd987cc90,
+  0x7a0d836d, 0xd96fd4c7,
+  0x7a05eead, 0xd957de7a, 0x79fe5539, 0xd93fe9ab, 0x79f6b711, 0xd927f65b,
+  0x79ef1436, 0xd910048a,
+  0x79e76ca7, 0xd8f81439, 0x79dfc064, 0xd8e0256a, 0x79d80f6f, 0xd8c8381d,
+  0x79d059c8, 0xd8b04c52,
+  0x79c89f6e, 0xd898620c, 0x79c0e062, 0xd880794b, 0x79b91ca4, 0xd868920f,
+  0x79b15435, 0xd850ac5a,
+  0x79a98715, 0xd838c82d, 0x79a1b545, 0xd820e589, 0x7999dec4, 0xd809046e,
+  0x79920392, 0xd7f124dd,
+  0x798a23b1, 0xd7d946d8, 0x79823f20, 0xd7c16a5f, 0x797a55e0, 0xd7a98f73,
+  0x797267f2, 0xd791b616,
+  0x796a7554, 0xd779de47, 0x79627e08, 0xd7620808, 0x795a820e, 0xd74a335b,
+  0x79528167, 0xd732603f,
+  0x794a7c12, 0xd71a8eb5, 0x79427210, 0xd702bec0, 0x793a6361, 0xd6eaf05f,
+  0x79325006, 0xd6d32393,
+  0x792a37fe, 0xd6bb585e, 0x79221b4b, 0xd6a38ec0, 0x7919f9ec, 0xd68bc6ba,
+  0x7911d3e2, 0xd674004e,
+  0x7909a92d, 0xd65c3b7b, 0x790179cd, 0xd6447844, 0x78f945c3, 0xd62cb6a8,
+  0x78f10d0f, 0xd614f6a9,
+  0x78e8cfb2, 0xd5fd3848, 0x78e08dab, 0xd5e57b85, 0x78d846fb, 0xd5cdc062,
+  0x78cffba3, 0xd5b606e0,
+  0x78c7aba2, 0xd59e4eff, 0x78bf56f9, 0xd58698c0, 0x78b6fda8, 0xd56ee424,
+  0x78ae9fb0, 0xd557312d,
+  0x78a63d11, 0xd53f7fda, 0x789dd5cb, 0xd527d02e, 0x789569df, 0xd5102228,
+  0x788cf94c, 0xd4f875ca,
+  0x78848414, 0xd4e0cb15, 0x787c0a36, 0xd4c92209, 0x78738bb3, 0xd4b17aa8,
+  0x786b088c, 0xd499d4f2,
+  0x786280bf, 0xd48230e9, 0x7859f44f, 0xd46a8e8d, 0x7851633b, 0xd452eddf,
+  0x7848cd83, 0xd43b4ee0,
+  0x78403329, 0xd423b191, 0x7837942b, 0xd40c15f3, 0x782ef08b, 0xd3f47c06,
+  0x78264849, 0xd3dce3cd,
+  0x781d9b65, 0xd3c54d47, 0x7814e9df, 0xd3adb876, 0x780c33b8, 0xd396255a,
+  0x780378f1, 0xd37e93f4,
+  0x77fab989, 0xd3670446, 0x77f1f581, 0xd34f764f, 0x77e92cd9, 0xd337ea12,
+  0x77e05f91, 0xd3205f8f,
+  0x77d78daa, 0xd308d6c7, 0x77ceb725, 0xd2f14fba, 0x77c5dc01, 0xd2d9ca6a,
+  0x77bcfc3f, 0xd2c246d8,
+  0x77b417df, 0xd2aac504, 0x77ab2ee2, 0xd29344f0, 0x77a24148, 0xd27bc69c,
+  0x77994f11, 0xd2644a0a,
+  0x7790583e, 0xd24ccf39, 0x77875cce, 0xd235562b, 0x777e5cc3, 0xd21ddee2,
+  0x7775581d, 0xd206695d,
+  0x776c4edb, 0xd1eef59e, 0x776340ff, 0xd1d783a6, 0x775a2e89, 0xd1c01375,
+  0x77511778, 0xd1a8a50d,
+  0x7747fbce, 0xd191386e, 0x773edb8b, 0xd179cd99, 0x7735b6af, 0xd1626490,
+  0x772c8d3a, 0xd14afd52,
+  0x77235f2d, 0xd13397e2, 0x771a2c88, 0xd11c343f, 0x7710f54c, 0xd104d26b,
+  0x7707b979, 0xd0ed7267,
+  0x76fe790e, 0xd0d61434, 0x76f5340e, 0xd0beb7d2, 0x76ebea77, 0xd0a75d42,
+  0x76e29c4b, 0xd0900486,
+  0x76d94989, 0xd078ad9e, 0x76cff232, 0xd061588b, 0x76c69647, 0xd04a054e,
+  0x76bd35c7, 0xd032b3e7,
+  0x76b3d0b4, 0xd01b6459, 0x76aa670d, 0xd00416a3, 0x76a0f8d2, 0xcfeccac7,
+  0x76978605, 0xcfd580c6,
+  0x768e0ea6, 0xcfbe389f, 0x768492b4, 0xcfa6f255, 0x767b1231, 0xcf8fade9,
+  0x76718d1c, 0xcf786b5a,
+  0x76680376, 0xcf612aaa, 0x765e7540, 0xcf49ebda, 0x7654e279, 0xcf32aeeb,
+  0x764b4b23, 0xcf1b73de,
+  0x7641af3d, 0xcf043ab3, 0x76380ec8, 0xceed036b, 0x762e69c4, 0xced5ce08,
+  0x7624c031, 0xcebe9a8a,
+  0x761b1211, 0xcea768f2, 0x76115f63, 0xce903942, 0x7607a828, 0xce790b79,
+  0x75fdec60, 0xce61df99,
+  0x75f42c0b, 0xce4ab5a2, 0x75ea672a, 0xce338d97, 0x75e09dbd, 0xce1c6777,
+  0x75d6cfc5, 0xce054343,
+  0x75ccfd42, 0xcdee20fc, 0x75c32634, 0xcdd700a4, 0x75b94a9c, 0xcdbfe23a,
+  0x75af6a7b, 0xcda8c5c1,
+  0x75a585cf, 0xcd91ab39, 0x759b9c9b, 0xcd7a92a2, 0x7591aedd, 0xcd637bfe,
+  0x7587bc98, 0xcd4c674d,
+  0x757dc5ca, 0xcd355491, 0x7573ca75, 0xcd1e43ca, 0x7569ca99, 0xcd0734f9,
+  0x755fc635, 0xccf0281f,
+  0x7555bd4c, 0xccd91d3d, 0x754bafdc, 0xccc21455, 0x75419de7, 0xccab0d65,
+  0x7537876c, 0xcc940871,
+  0x752d6c6c, 0xcc7d0578, 0x75234ce8, 0xcc66047b, 0x751928e0, 0xcc4f057c,
+  0x750f0054, 0xcc38087b,
+  0x7504d345, 0xcc210d79, 0x74faa1b3, 0xcc0a1477, 0x74f06b9e, 0xcbf31d75,
+  0x74e63108, 0xcbdc2876,
+  0x74dbf1ef, 0xcbc53579, 0x74d1ae55, 0xcbae447f, 0x74c7663a, 0xcb97558a,
+  0x74bd199f, 0xcb80689a,
+  0x74b2c884, 0xcb697db0, 0x74a872e8, 0xcb5294ce, 0x749e18cd, 0xcb3badf3,
+  0x7493ba34, 0xcb24c921,
+  0x7489571c, 0xcb0de658, 0x747eef85, 0xcaf7059a, 0x74748371, 0xcae026e8,
+  0x746a12df, 0xcac94a42,
+  0x745f9dd1, 0xcab26fa9, 0x74552446, 0xca9b971e, 0x744aa63f, 0xca84c0a3,
+  0x744023bc, 0xca6dec37,
+  0x74359cbd, 0xca5719db, 0x742b1144, 0xca404992, 0x74208150, 0xca297b5a,
+  0x7415ece2, 0xca12af37,
+  0x740b53fb, 0xc9fbe527, 0x7400b69a, 0xc9e51d2d, 0x73f614c0, 0xc9ce5748,
+  0x73eb6e6e, 0xc9b7937a,
+  0x73e0c3a3, 0xc9a0d1c5, 0x73d61461, 0xc98a1227, 0x73cb60a8, 0xc97354a4,
+  0x73c0a878, 0xc95c993a,
+  0x73b5ebd1, 0xc945dfec, 0x73ab2ab4, 0xc92f28ba, 0x73a06522, 0xc91873a5,
+  0x73959b1b, 0xc901c0ae,
+  0x738acc9e, 0xc8eb0fd6, 0x737ff9ae, 0xc8d4611d, 0x73752249, 0xc8bdb485,
+  0x736a4671, 0xc8a70a0e,
+  0x735f6626, 0xc89061ba, 0x73548168, 0xc879bb89, 0x73499838, 0xc863177b,
+  0x733eaa96, 0xc84c7593,
+  0x7333b883, 0xc835d5d0, 0x7328c1ff, 0xc81f3834, 0x731dc70a, 0xc8089cbf,
+  0x7312c7a5, 0xc7f20373,
+  0x7307c3d0, 0xc7db6c50, 0x72fcbb8c, 0xc7c4d757, 0x72f1aed9, 0xc7ae4489,
+  0x72e69db7, 0xc797b3e7,
+  0x72db8828, 0xc7812572, 0x72d06e2b, 0xc76a992a, 0x72c54fc1, 0xc7540f11,
+  0x72ba2cea, 0xc73d8727,
+  0x72af05a7, 0xc727016d, 0x72a3d9f7, 0xc7107de4, 0x7298a9dd, 0xc6f9fc8d,
+  0x728d7557, 0xc6e37d69,
+  0x72823c67, 0xc6cd0079, 0x7276ff0d, 0xc6b685bd, 0x726bbd48, 0xc6a00d37,
+  0x7260771b, 0xc68996e7,
+  0x72552c85, 0xc67322ce, 0x7249dd86, 0xc65cb0ed, 0x723e8a20, 0xc6464144,
+  0x72333251, 0xc62fd3d6,
+  0x7227d61c, 0xc61968a2, 0x721c7580, 0xc602ffaa, 0x7211107e, 0xc5ec98ee,
+  0x7205a716, 0xc5d6346f,
+  0x71fa3949, 0xc5bfd22e, 0x71eec716, 0xc5a9722c, 0x71e35080, 0xc593146a,
+  0x71d7d585, 0xc57cb8e9,
+  0x71cc5626, 0xc5665fa9, 0x71c0d265, 0xc55008ab, 0x71b54a41, 0xc539b3f1,
+  0x71a9bdba, 0xc523617a,
+  0x719e2cd2, 0xc50d1149, 0x71929789, 0xc4f6c35d, 0x7186fdde, 0xc4e077b8,
+  0x717b5fd3, 0xc4ca2e5b,
+  0x716fbd68, 0xc4b3e746, 0x7164169d, 0xc49da27a, 0x71586b74, 0xc4875ff9,
+  0x714cbbeb, 0xc4711fc2,
+  0x71410805, 0xc45ae1d7, 0x71354fc0, 0xc444a639, 0x7129931f, 0xc42e6ce8,
+  0x711dd220, 0xc41835e6,
+  0x71120cc5, 0xc4020133, 0x7106430e, 0xc3ebced0, 0x70fa74fc, 0xc3d59ebe,
+  0x70eea28e, 0xc3bf70fd,
+  0x70e2cbc6, 0xc3a94590, 0x70d6f0a4, 0xc3931c76, 0x70cb1128, 0xc37cf5b0,
+  0x70bf2d53, 0xc366d140,
+  0x70b34525, 0xc350af26, 0x70a7589f, 0xc33a8f62, 0x709b67c0, 0xc32471f7,
+  0x708f728b, 0xc30e56e4,
+  0x708378ff, 0xc2f83e2a, 0x70777b1c, 0xc2e227cb, 0x706b78e3, 0xc2cc13c7,
+  0x705f7255, 0xc2b6021f,
+  0x70536771, 0xc29ff2d4, 0x70475839, 0xc289e5e7, 0x703b44ad, 0xc273db58,
+  0x702f2ccd, 0xc25dd329,
+  0x7023109a, 0xc247cd5a, 0x7016f014, 0xc231c9ec, 0x700acb3c, 0xc21bc8e1,
+  0x6ffea212, 0xc205ca38,
+  0x6ff27497, 0xc1efcdf3, 0x6fe642ca, 0xc1d9d412, 0x6fda0cae, 0xc1c3dc97,
+  0x6fcdd241, 0xc1ade781,
+  0x6fc19385, 0xc197f4d4, 0x6fb5507a, 0xc182048d, 0x6fa90921, 0xc16c16b0,
+  0x6f9cbd79, 0xc1562b3d,
+  0x6f906d84, 0xc1404233, 0x6f841942, 0xc12a5b95, 0x6f77c0b3, 0xc1147764,
+  0x6f6b63d8, 0xc0fe959f,
+  0x6f5f02b2, 0xc0e8b648, 0x6f529d40, 0xc0d2d960, 0x6f463383, 0xc0bcfee7,
+  0x6f39c57d, 0xc0a726df,
+  0x6f2d532c, 0xc0915148, 0x6f20dc92, 0xc07b7e23, 0x6f1461b0, 0xc065ad70,
+  0x6f07e285, 0xc04fdf32,
+  0x6efb5f12, 0xc03a1368, 0x6eeed758, 0xc0244a14, 0x6ee24b57, 0xc00e8336,
+  0x6ed5bb10, 0xbff8bece,
+  0x6ec92683, 0xbfe2fcdf, 0x6ebc8db0, 0xbfcd3d69, 0x6eaff099, 0xbfb7806c,
+  0x6ea34f3d, 0xbfa1c5ea,
+  0x6e96a99d, 0xbf8c0de3, 0x6e89ffb9, 0xbf765858, 0x6e7d5193, 0xbf60a54a,
+  0x6e709f2a, 0xbf4af4ba,
+  0x6e63e87f, 0xbf3546a8, 0x6e572d93, 0xbf1f9b16, 0x6e4a6e66, 0xbf09f205,
+  0x6e3daaf8, 0xbef44b74,
+  0x6e30e34a, 0xbedea765, 0x6e24175c, 0xbec905d9, 0x6e174730, 0xbeb366d1,
+  0x6e0a72c5, 0xbe9dca4e,
+  0x6dfd9a1c, 0xbe88304f, 0x6df0bd35, 0xbe7298d7, 0x6de3dc11, 0xbe5d03e6,
+  0x6dd6f6b1, 0xbe47717c,
+  0x6dca0d14, 0xbe31e19b, 0x6dbd1f3c, 0xbe1c5444, 0x6db02d29, 0xbe06c977,
+  0x6da336dc, 0xbdf14135,
+  0x6d963c54, 0xbddbbb7f, 0x6d893d93, 0xbdc63856, 0x6d7c3a98, 0xbdb0b7bb,
+  0x6d6f3365, 0xbd9b39ad,
+  0x6d6227fa, 0xbd85be30, 0x6d551858, 0xbd704542, 0x6d48047e, 0xbd5acee5,
+  0x6d3aec6e, 0xbd455b1a,
+  0x6d2dd027, 0xbd2fe9e2, 0x6d20afac, 0xbd1a7b3d, 0x6d138afb, 0xbd050f2c,
+  0x6d066215, 0xbcefa5b0,
+  0x6cf934fc, 0xbcda3ecb, 0x6cec03af, 0xbcc4da7b, 0x6cdece2f, 0xbcaf78c4,
+  0x6cd1947c, 0xbc9a19a5,
+  0x6cc45698, 0xbc84bd1f, 0x6cb71482, 0xbc6f6333, 0x6ca9ce3b, 0xbc5a0be2,
+  0x6c9c83c3, 0xbc44b72c,
+  0x6c8f351c, 0xbc2f6513, 0x6c81e245, 0xbc1a1598, 0x6c748b3f, 0xbc04c8ba,
+  0x6c67300b, 0xbbef7e7c,
+  0x6c59d0a9, 0xbbda36dd, 0x6c4c6d1a, 0xbbc4f1df, 0x6c3f055d, 0xbbafaf82,
+  0x6c319975, 0xbb9a6fc7,
+  0x6c242960, 0xbb8532b0, 0x6c16b521, 0xbb6ff83c, 0x6c093cb6, 0xbb5ac06d,
+  0x6bfbc021, 0xbb458b43,
+  0x6bee3f62, 0xbb3058c0, 0x6be0ba7b, 0xbb1b28e4, 0x6bd3316a, 0xbb05fbb0,
+  0x6bc5a431, 0xbaf0d125,
+  0x6bb812d1, 0xbadba943, 0x6baa7d49, 0xbac6840c, 0x6b9ce39b, 0xbab16180,
+  0x6b8f45c7, 0xba9c41a0,
+  0x6b81a3cd, 0xba87246d, 0x6b73fdae, 0xba7209e7, 0x6b66536b, 0xba5cf210,
+  0x6b58a503, 0xba47dce8,
+  0x6b4af279, 0xba32ca71, 0x6b3d3bcb, 0xba1dbaaa, 0x6b2f80fb, 0xba08ad95,
+  0x6b21c208, 0xb9f3a332,
+  0x6b13fef5, 0xb9de9b83, 0x6b0637c1, 0xb9c99688, 0x6af86c6c, 0xb9b49442,
+  0x6aea9cf8, 0xb99f94b2,
+  0x6adcc964, 0xb98a97d8, 0x6acef1b2, 0xb9759db6, 0x6ac115e2, 0xb960a64c,
+  0x6ab335f4, 0xb94bb19b,
+  0x6aa551e9, 0xb936bfa4, 0x6a9769c1, 0xb921d067, 0x6a897d7d, 0xb90ce3e6,
+  0x6a7b8d1e, 0xb8f7fa21,
+  0x6a6d98a4, 0xb8e31319, 0x6a5fa010, 0xb8ce2ecf, 0x6a51a361, 0xb8b94d44,
+  0x6a43a29a, 0xb8a46e78,
+  0x6a359db9, 0xb88f926d, 0x6a2794c1, 0xb87ab922, 0x6a1987b0, 0xb865e299,
+  0x6a0b7689, 0xb8510ed4,
+  0x69fd614a, 0xb83c3dd1, 0x69ef47f6, 0xb8276f93, 0x69e12a8c, 0xb812a41a,
+  0x69d3090e, 0xb7fddb67,
+  0x69c4e37a, 0xb7e9157a, 0x69b6b9d3, 0xb7d45255, 0x69a88c19, 0xb7bf91f8,
+  0x699a5a4c, 0xb7aad465,
+  0x698c246c, 0xb796199b, 0x697dea7b, 0xb781619c, 0x696fac78, 0xb76cac69,
+  0x69616a65, 0xb757fa01,
+  0x69532442, 0xb7434a67, 0x6944da10, 0xb72e9d9b, 0x69368bce, 0xb719f39e,
+  0x6928397e, 0xb7054c6f,
+  0x6919e320, 0xb6f0a812, 0x690b88b5, 0xb6dc0685, 0x68fd2a3d, 0xb6c767ca,
+  0x68eec7b9, 0xb6b2cbe2,
+  0x68e06129, 0xb69e32cd, 0x68d1f68f, 0xb6899c8d, 0x68c387e9, 0xb6750921,
+  0x68b5153a, 0xb660788c,
+  0x68a69e81, 0xb64beacd, 0x689823bf, 0xb6375fe5, 0x6889a4f6, 0xb622d7d6,
+  0x687b2224, 0xb60e529f,
+  0x686c9b4b, 0xb5f9d043, 0x685e106c, 0xb5e550c1, 0x684f8186, 0xb5d0d41a,
+  0x6840ee9b, 0xb5bc5a50,
+  0x683257ab, 0xb5a7e362, 0x6823bcb7, 0xb5936f53, 0x68151dbe, 0xb57efe22,
+  0x68067ac3, 0xb56a8fd0,
+  0x67f7d3c5, 0xb556245e, 0x67e928c5, 0xb541bbcd, 0x67da79c3, 0xb52d561e,
+  0x67cbc6c0, 0xb518f351,
+  0x67bd0fbd, 0xb5049368, 0x67ae54ba, 0xb4f03663, 0x679f95b7, 0xb4dbdc42,
+  0x6790d2b6, 0xb4c78507,
+  0x67820bb7, 0xb4b330b3, 0x677340ba, 0xb49edf45, 0x676471c0, 0xb48a90c0,
+  0x67559eca, 0xb4764523,
+  0x6746c7d8, 0xb461fc70, 0x6737ecea, 0xb44db6a8, 0x67290e02, 0xb43973ca,
+  0x671a2b20, 0xb42533d8,
+  0x670b4444, 0xb410f6d3, 0x66fc596f, 0xb3fcbcbb, 0x66ed6aa1, 0xb3e88592,
+  0x66de77dc, 0xb3d45157,
+  0x66cf8120, 0xb3c0200c, 0x66c0866d, 0xb3abf1b2, 0x66b187c3, 0xb397c649,
+  0x66a28524, 0xb3839dd3,
+  0x66937e91, 0xb36f784f, 0x66847408, 0xb35b55bf, 0x6675658c, 0xb3473623,
+  0x6666531d, 0xb333197c,
+  0x66573cbb, 0xb31effcc, 0x66482267, 0xb30ae912, 0x66390422, 0xb2f6d550,
+  0x6629e1ec, 0xb2e2c486,
+  0x661abbc5, 0xb2ceb6b5, 0x660b91af, 0xb2baabde, 0x65fc63a9, 0xb2a6a402,
+  0x65ed31b5, 0xb2929f21,
+  0x65ddfbd3, 0xb27e9d3c, 0x65cec204, 0xb26a9e54, 0x65bf8447, 0xb256a26a,
+  0x65b0429f, 0xb242a97e,
+  0x65a0fd0b, 0xb22eb392, 0x6591b38c, 0xb21ac0a6, 0x65826622, 0xb206d0ba,
+  0x657314cf, 0xb1f2e3d0,
+  0x6563bf92, 0xb1def9e9, 0x6554666d, 0xb1cb1304, 0x6545095f, 0xb1b72f23,
+  0x6535a86b, 0xb1a34e47,
+  0x6526438f, 0xb18f7071, 0x6516dacd, 0xb17b95a0, 0x65076e25, 0xb167bdd7,
+  0x64f7fd98, 0xb153e915,
+  0x64e88926, 0xb140175b, 0x64d910d1, 0xb12c48ab, 0x64c99498, 0xb1187d05,
+  0x64ba147d, 0xb104b46a,
+  0x64aa907f, 0xb0f0eeda, 0x649b08a0, 0xb0dd2c56, 0x648b7ce0, 0xb0c96ce0,
+  0x647bed3f, 0xb0b5b077,
+  0x646c59bf, 0xb0a1f71d, 0x645cc260, 0xb08e40d2, 0x644d2722, 0xb07a8d97,
+  0x643d8806, 0xb066dd6d,
+  0x642de50d, 0xb0533055, 0x641e3e38, 0xb03f864f, 0x640e9386, 0xb02bdf5c,
+  0x63fee4f8, 0xb0183b7d,
+  0x63ef3290, 0xb0049ab3, 0x63df7c4d, 0xaff0fcfe, 0x63cfc231, 0xafdd625f,
+  0x63c0043b, 0xafc9cad7,
+  0x63b0426d, 0xafb63667, 0x63a07cc7, 0xafa2a50f, 0x6390b34a, 0xaf8f16d1,
+  0x6380e5f6, 0xaf7b8bac,
+  0x637114cc, 0xaf6803a2, 0x63613fcd, 0xaf547eb3, 0x635166f9, 0xaf40fce1,
+  0x63418a50, 0xaf2d7e2b,
+  0x6331a9d4, 0xaf1a0293, 0x6321c585, 0xaf068a1a, 0x6311dd64, 0xaef314c0,
+  0x6301f171, 0xaedfa285,
+  0x62f201ac, 0xaecc336c, 0x62e20e17, 0xaeb8c774, 0x62d216b3, 0xaea55e9e,
+  0x62c21b7e, 0xae91f8eb,
+  0x62b21c7b, 0xae7e965b, 0x62a219aa, 0xae6b36f0, 0x6292130c, 0xae57daab,
+  0x628208a1, 0xae44818b,
+  0x6271fa69, 0xae312b92, 0x6261e866, 0xae1dd8c0, 0x6251d298, 0xae0a8916,
+  0x6241b8ff, 0xadf73c96,
+  0x62319b9d, 0xade3f33e, 0x62217a72, 0xadd0ad12, 0x6211557e, 0xadbd6a10,
+  0x62012cc2, 0xadaa2a3b,
+  0x61f1003f, 0xad96ed92, 0x61e0cff5, 0xad83b416, 0x61d09be5, 0xad707dc8,
+  0x61c06410, 0xad5d4aaa,
+  0x61b02876, 0xad4a1aba, 0x619fe918, 0xad36edfc, 0x618fa5f7, 0xad23c46e,
+  0x617f5f12, 0xad109e12,
+  0x616f146c, 0xacfd7ae8, 0x615ec603, 0xacea5af2, 0x614e73da, 0xacd73e30,
+  0x613e1df0, 0xacc424a3,
+  0x612dc447, 0xacb10e4b, 0x611d66de, 0xac9dfb29, 0x610d05b7, 0xac8aeb3e,
+  0x60fca0d2, 0xac77de8b,
+  0x60ec3830, 0xac64d510, 0x60dbcbd1, 0xac51cecf, 0x60cb5bb7, 0xac3ecbc7,
+  0x60bae7e1, 0xac2bcbfa,
+  0x60aa7050, 0xac18cf69, 0x6099f505, 0xac05d613, 0x60897601, 0xabf2dffb,
+  0x6078f344, 0xabdfed1f,
+  0x60686ccf, 0xabccfd83, 0x6057e2a2, 0xabba1125, 0x604754bf, 0xaba72807,
+  0x6036c325, 0xab944229,
+  0x60262dd6, 0xab815f8d, 0x601594d1, 0xab6e8032, 0x6004f819, 0xab5ba41a,
+  0x5ff457ad, 0xab48cb46,
+  0x5fe3b38d, 0xab35f5b5, 0x5fd30bbc, 0xab23236a, 0x5fc26038, 0xab105464,
+  0x5fb1b104, 0xaafd88a4,
+  0x5fa0fe1f, 0xaaeac02c, 0x5f90478a, 0xaad7fafb, 0x5f7f8d46, 0xaac53912,
+  0x5f6ecf53, 0xaab27a73,
+  0x5f5e0db3, 0xaa9fbf1e, 0x5f4d4865, 0xaa8d0713, 0x5f3c7f6b, 0xaa7a5253,
+  0x5f2bb2c5, 0xaa67a0e0,
+  0x5f1ae274, 0xaa54f2ba, 0x5f0a0e77, 0xaa4247e1, 0x5ef936d1, 0xaa2fa056,
+  0x5ee85b82, 0xaa1cfc1a,
+  0x5ed77c8a, 0xaa0a5b2e, 0x5ec699e9, 0xa9f7bd92, 0x5eb5b3a2, 0xa9e52347,
+  0x5ea4c9b3, 0xa9d28c4e,
+  0x5e93dc1f, 0xa9bff8a8, 0x5e82eae5, 0xa9ad6855, 0x5e71f606, 0xa99adb56,
+  0x5e60fd84, 0xa98851ac,
+  0x5e50015d, 0xa975cb57, 0x5e3f0194, 0xa9634858, 0x5e2dfe29, 0xa950c8b0,
+  0x5e1cf71c, 0xa93e4c5f,
+  0x5e0bec6e, 0xa92bd367, 0x5dfade20, 0xa9195dc7, 0x5de9cc33, 0xa906eb82,
+  0x5dd8b6a7, 0xa8f47c97,
+  0x5dc79d7c, 0xa8e21106, 0x5db680b4, 0xa8cfa8d2, 0x5da5604f, 0xa8bd43fa,
+  0x5d943c4e, 0xa8aae280,
+  0x5d8314b1, 0xa8988463, 0x5d71e979, 0xa88629a5, 0x5d60baa7, 0xa873d246,
+  0x5d4f883b, 0xa8617e48,
+  0x5d3e5237, 0xa84f2daa, 0x5d2d189a, 0xa83ce06e, 0x5d1bdb65, 0xa82a9693,
+  0x5d0a9a9a, 0xa818501c,
+  0x5cf95638, 0xa8060d08, 0x5ce80e41, 0xa7f3cd59, 0x5cd6c2b5, 0xa7e1910f,
+  0x5cc57394, 0xa7cf582a,
+  0x5cb420e0, 0xa7bd22ac, 0x5ca2ca99, 0xa7aaf094, 0x5c9170bf, 0xa798c1e5,
+  0x5c801354, 0xa786969e,
+  0x5c6eb258, 0xa7746ec0, 0x5c5d4dcc, 0xa7624a4d, 0x5c4be5b0, 0xa7502943,
+  0x5c3a7a05, 0xa73e0ba5,
+  0x5c290acc, 0xa72bf174, 0x5c179806, 0xa719daae, 0x5c0621b2, 0xa707c757,
+  0x5bf4a7d2, 0xa6f5b76d,
+  0x5be32a67, 0xa6e3aaf2, 0x5bd1a971, 0xa6d1a1e7, 0x5bc024f0, 0xa6bf9c4b,
+  0x5bae9ce7, 0xa6ad9a21,
+  0x5b9d1154, 0xa69b9b68, 0x5b8b8239, 0xa689a022, 0x5b79ef96, 0xa677a84e,
+  0x5b68596d, 0xa665b3ee,
+  0x5b56bfbd, 0xa653c303, 0x5b452288, 0xa641d58c, 0x5b3381ce, 0xa62feb8b,
+  0x5b21dd90, 0xa61e0501,
+  0x5b1035cf, 0xa60c21ee, 0x5afe8a8b, 0xa5fa4252, 0x5aecdbc5, 0xa5e8662f,
+  0x5adb297d, 0xa5d68d85,
+  0x5ac973b5, 0xa5c4b855, 0x5ab7ba6c, 0xa5b2e6a0, 0x5aa5fda5, 0xa5a11866,
+  0x5a943d5e, 0xa58f4da8,
+  0x5a82799a, 0xa57d8666, 0x5a70b258, 0xa56bc2a2, 0x5a5ee79a, 0xa55a025b,
+  0x5a4d1960, 0xa5484594,
+  0x5a3b47ab, 0xa5368c4b, 0x5a29727b, 0xa524d683, 0x5a1799d1, 0xa513243b,
+  0x5a05bdae, 0xa5017575,
+  0x59f3de12, 0xa4efca31, 0x59e1faff, 0xa4de2270, 0x59d01475, 0xa4cc7e32,
+  0x59be2a74, 0xa4badd78,
+  0x59ac3cfd, 0xa4a94043, 0x599a4c12, 0xa497a693, 0x598857b2, 0xa486106a,
+  0x59765fde, 0xa4747dc7,
+  0x59646498, 0xa462eeac, 0x595265df, 0xa4516319, 0x594063b5, 0xa43fdb10,
+  0x592e5e19, 0xa42e568f,
+  0x591c550e, 0xa41cd599, 0x590a4893, 0xa40b582e, 0x58f838a9, 0xa3f9de4e,
+  0x58e62552, 0xa3e867fa,
+  0x58d40e8c, 0xa3d6f534, 0x58c1f45b, 0xa3c585fb, 0x58afd6bd, 0xa3b41a50,
+  0x589db5b3, 0xa3a2b234,
+  0x588b9140, 0xa3914da8, 0x58796962, 0xa37fecac, 0x58673e1b, 0xa36e8f41,
+  0x58550f6c, 0xa35d3567,
+  0x5842dd54, 0xa34bdf20, 0x5830a7d6, 0xa33a8c6c, 0x581e6ef1, 0xa3293d4b,
+  0x580c32a7, 0xa317f1bf,
+  0x57f9f2f8, 0xa306a9c8, 0x57e7afe4, 0xa2f56566, 0x57d5696d, 0xa2e4249b,
+  0x57c31f92, 0xa2d2e766,
+  0x57b0d256, 0xa2c1adc9, 0x579e81b8, 0xa2b077c5, 0x578c2dba, 0xa29f4559,
+  0x5779d65b, 0xa28e1687,
+  0x57677b9d, 0xa27ceb4f, 0x57551d80, 0xa26bc3b2, 0x5742bc06, 0xa25a9fb1,
+  0x5730572e, 0xa2497f4c,
+  0x571deefa, 0xa2386284, 0x570b8369, 0xa2274959, 0x56f9147e, 0xa21633cd,
+  0x56e6a239, 0xa20521e0,
+  0x56d42c99, 0xa1f41392, 0x56c1b3a1, 0xa1e308e4, 0x56af3750, 0xa1d201d7,
+  0x569cb7a8, 0xa1c0fe6c,
+  0x568a34a9, 0xa1affea3, 0x5677ae54, 0xa19f027c, 0x566524aa, 0xa18e09fa,
+  0x565297ab, 0xa17d151b,
+  0x56400758, 0xa16c23e1, 0x562d73b2, 0xa15b364d, 0x561adcb9, 0xa14a4c5e,
+  0x5608426e, 0xa1396617,
+  0x55f5a4d2, 0xa1288376, 0x55e303e6, 0xa117a47e, 0x55d05faa, 0xa106c92f,
+  0x55bdb81f, 0xa0f5f189,
+  0x55ab0d46, 0xa0e51d8c, 0x55985f20, 0xa0d44d3b, 0x5585adad, 0xa0c38095,
+  0x5572f8ed, 0xa0b2b79b,
+  0x556040e2, 0xa0a1f24d, 0x554d858d, 0xa09130ad, 0x553ac6ee, 0xa08072ba,
+  0x55280505, 0xa06fb876,
+  0x55153fd4, 0xa05f01e1, 0x5502775c, 0xa04e4efc, 0x54efab9c, 0xa03d9fc8,
+  0x54dcdc96, 0xa02cf444,
+  0x54ca0a4b, 0xa01c4c73, 0x54b734ba, 0xa00ba853, 0x54a45be6, 0x9ffb07e7,
+  0x54917fce, 0x9fea6b2f,
+  0x547ea073, 0x9fd9d22a, 0x546bbdd7, 0x9fc93cdb, 0x5458d7f9, 0x9fb8ab41,
+  0x5445eedb, 0x9fa81d5e,
+  0x5433027d, 0x9f979331, 0x542012e1, 0x9f870cbc, 0x540d2005, 0x9f7689ff,
+  0x53fa29ed, 0x9f660afb,
+  0x53e73097, 0x9f558fb0, 0x53d43406, 0x9f45181f, 0x53c13439, 0x9f34a449,
+  0x53ae3131, 0x9f24342f,
+  0x539b2af0, 0x9f13c7d0, 0x53882175, 0x9f035f2e, 0x537514c2, 0x9ef2fa49,
+  0x536204d7, 0x9ee29922,
+  0x534ef1b5, 0x9ed23bb9, 0x533bdb5d, 0x9ec1e210, 0x5328c1d0, 0x9eb18c26,
+  0x5315a50e, 0x9ea139fd,
+  0x53028518, 0x9e90eb94, 0x52ef61ee, 0x9e80a0ee, 0x52dc3b92, 0x9e705a09,
+  0x52c91204, 0x9e6016e8,
+  0x52b5e546, 0x9e4fd78a, 0x52a2b556, 0x9e3f9bf0, 0x528f8238, 0x9e2f641b,
+  0x527c4bea, 0x9e1f300b,
+  0x5269126e, 0x9e0effc1, 0x5255d5c5, 0x9dfed33e, 0x524295f0, 0x9deeaa82,
+  0x522f52ee, 0x9dde858e,
+  0x521c0cc2, 0x9dce6463, 0x5208c36a, 0x9dbe4701, 0x51f576ea, 0x9dae2d68,
+  0x51e22740, 0x9d9e179a,
+  0x51ced46e, 0x9d8e0597, 0x51bb7e75, 0x9d7df75f, 0x51a82555, 0x9d6decf4,
+  0x5194c910, 0x9d5de656,
+  0x518169a5, 0x9d4de385, 0x516e0715, 0x9d3de482, 0x515aa162, 0x9d2de94d,
+  0x5147388c, 0x9d1df1e9,
+  0x5133cc94, 0x9d0dfe54, 0x51205d7b, 0x9cfe0e8f, 0x510ceb40, 0x9cee229c,
+  0x50f975e6, 0x9cde3a7b,
+  0x50e5fd6d, 0x9cce562c, 0x50d281d5, 0x9cbe75b0, 0x50bf031f, 0x9cae9907,
+  0x50ab814d, 0x9c9ec033,
+  0x5097fc5e, 0x9c8eeb34, 0x50847454, 0x9c7f1a0a, 0x5070e92f, 0x9c6f4cb6,
+  0x505d5af1, 0x9c5f8339,
+  0x5049c999, 0x9c4fbd93, 0x50363529, 0x9c3ffbc5, 0x50229da1, 0x9c303dcf,
+  0x500f0302, 0x9c2083b3,
+  0x4ffb654d, 0x9c10cd70, 0x4fe7c483, 0x9c011b08, 0x4fd420a4, 0x9bf16c7a,
+  0x4fc079b1, 0x9be1c1c8,
+  0x4faccfab, 0x9bd21af3, 0x4f992293, 0x9bc277fa, 0x4f857269, 0x9bb2d8de,
+  0x4f71bf2e, 0x9ba33da0,
+  0x4f5e08e3, 0x9b93a641, 0x4f4a4f89, 0x9b8412c1, 0x4f369320, 0x9b748320,
+  0x4f22d3aa, 0x9b64f760,
+  0x4f0f1126, 0x9b556f81, 0x4efb4b96, 0x9b45eb83, 0x4ee782fb, 0x9b366b68,
+  0x4ed3b755, 0x9b26ef2f,
+  0x4ebfe8a5, 0x9b1776da, 0x4eac16eb, 0x9b080268, 0x4e984229, 0x9af891db,
+  0x4e846a60, 0x9ae92533,
+  0x4e708f8f, 0x9ad9bc71, 0x4e5cb1b9, 0x9aca5795, 0x4e48d0dd, 0x9abaf6a1,
+  0x4e34ecfc, 0x9aab9993,
+  0x4e210617, 0x9a9c406e, 0x4e0d1c30, 0x9a8ceb31, 0x4df92f46, 0x9a7d99de,
+  0x4de53f5a, 0x9a6e4c74,
+  0x4dd14c6e, 0x9a5f02f5, 0x4dbd5682, 0x9a4fbd61, 0x4da95d96, 0x9a407bb9,
+  0x4d9561ac, 0x9a313dfc,
+  0x4d8162c4, 0x9a22042d, 0x4d6d60df, 0x9a12ce4b, 0x4d595bfe, 0x9a039c57,
+  0x4d455422, 0x99f46e51,
+  0x4d31494b, 0x99e5443b, 0x4d1d3b7a, 0x99d61e14, 0x4d092ab0, 0x99c6fbde,
+  0x4cf516ee, 0x99b7dd99,
+  0x4ce10034, 0x99a8c345, 0x4ccce684, 0x9999ace3, 0x4cb8c9dd, 0x998a9a74,
+  0x4ca4aa41, 0x997b8bf8,
+  0x4c9087b1, 0x996c816f, 0x4c7c622d, 0x995d7adc, 0x4c6839b7, 0x994e783d,
+  0x4c540e4e, 0x993f7993,
+  0x4c3fdff4, 0x99307ee0, 0x4c2baea9, 0x99218824, 0x4c177a6e, 0x9912955f,
+  0x4c034345, 0x9903a691,
+  0x4bef092d, 0x98f4bbbc, 0x4bdacc28, 0x98e5d4e0, 0x4bc68c36, 0x98d6f1fe,
+  0x4bb24958, 0x98c81316,
+  0x4b9e0390, 0x98b93828, 0x4b89badd, 0x98aa6136, 0x4b756f40, 0x989b8e40,
+  0x4b6120bb, 0x988cbf46,
+  0x4b4ccf4d, 0x987df449, 0x4b387af9, 0x986f2d4a, 0x4b2423be, 0x98606a49,
+  0x4b0fc99d, 0x9851ab46,
+  0x4afb6c98, 0x9842f043, 0x4ae70caf, 0x98343940, 0x4ad2a9e2, 0x9825863d,
+  0x4abe4433, 0x9816d73b,
+  0x4aa9dba2, 0x98082c3b, 0x4a957030, 0x97f9853d, 0x4a8101de, 0x97eae242,
+  0x4a6c90ad, 0x97dc4349,
+  0x4a581c9e, 0x97cda855, 0x4a43a5b0, 0x97bf1165, 0x4a2f2be6, 0x97b07e7a,
+  0x4a1aaf3f, 0x97a1ef94,
+  0x4a062fbd, 0x979364b5, 0x49f1ad61, 0x9784dddc, 0x49dd282a, 0x97765b0a,
+  0x49c8a01b, 0x9767dc41,
+  0x49b41533, 0x9759617f, 0x499f8774, 0x974aeac6, 0x498af6df, 0x973c7817,
+  0x49766373, 0x972e0971,
+  0x4961cd33, 0x971f9ed7, 0x494d341e, 0x97113847, 0x49389836, 0x9702d5c3,
+  0x4923f97b, 0x96f4774b,
+  0x490f57ee, 0x96e61ce0, 0x48fab391, 0x96d7c682, 0x48e60c62, 0x96c97432,
+  0x48d16265, 0x96bb25f0,
+  0x48bcb599, 0x96acdbbe, 0x48a805ff, 0x969e959b, 0x48935397, 0x96905388,
+  0x487e9e64, 0x96821585,
+  0x4869e665, 0x9673db94, 0x48552b9b, 0x9665a5b4, 0x48406e08, 0x965773e7,
+  0x482badab, 0x9649462d,
+  0x4816ea86, 0x963b1c86, 0x48022499, 0x962cf6f2, 0x47ed5be6, 0x961ed574,
+  0x47d8906d, 0x9610b80a,
+  0x47c3c22f, 0x96029eb6, 0x47aef12c, 0x95f48977, 0x479a1d67, 0x95e67850,
+  0x478546de, 0x95d86b3f,
+  0x47706d93, 0x95ca6247, 0x475b9188, 0x95bc5d66, 0x4746b2bc, 0x95ae5c9f,
+  0x4731d131, 0x95a05ff0,
+  0x471cece7, 0x9592675c, 0x470805df, 0x958472e2, 0x46f31c1a, 0x95768283,
+  0x46de2f99, 0x9568963f,
+  0x46c9405c, 0x955aae17, 0x46b44e65, 0x954cca0c, 0x469f59b4, 0x953eea1e,
+  0x468a624a, 0x95310e4e,
+  0x46756828, 0x9523369c, 0x46606b4e, 0x95156308, 0x464b6bbe, 0x95079394,
+  0x46366978, 0x94f9c83f,
+  0x4621647d, 0x94ec010b, 0x460c5cce, 0x94de3df8, 0x45f7526b, 0x94d07f05,
+  0x45e24556, 0x94c2c435,
+  0x45cd358f, 0x94b50d87, 0x45b82318, 0x94a75afd, 0x45a30df0, 0x9499ac95,
+  0x458df619, 0x948c0252,
+  0x4578db93, 0x947e5c33, 0x4563be60, 0x9470ba39, 0x454e9e80, 0x94631c65,
+  0x45397bf4, 0x945582b7,
+  0x452456bd, 0x9447ed2f, 0x450f2edb, 0x943a5bcf, 0x44fa0450, 0x942cce96,
+  0x44e4d71c, 0x941f4585,
+  0x44cfa740, 0x9411c09e, 0x44ba74bd, 0x94043fdf, 0x44a53f93, 0x93f6c34a,
+  0x449007c4, 0x93e94adf,
+  0x447acd50, 0x93dbd6a0, 0x44659039, 0x93ce668b, 0x4450507e, 0x93c0faa3,
+  0x443b0e21, 0x93b392e6,
+  0x4425c923, 0x93a62f57, 0x44108184, 0x9398cff5, 0x43fb3746, 0x938b74c1,
+  0x43e5ea68, 0x937e1dbb,
+  0x43d09aed, 0x9370cae4, 0x43bb48d4, 0x93637c3d, 0x43a5f41e, 0x935631c5,
+  0x43909ccd, 0x9348eb7e,
+  0x437b42e1, 0x933ba968, 0x4365e65b, 0x932e6b84, 0x4350873c, 0x932131d1,
+  0x433b2585, 0x9313fc51,
+  0x4325c135, 0x9306cb04, 0x43105a50, 0x92f99deb, 0x42faf0d4, 0x92ec7505,
+  0x42e584c3, 0x92df5054,
+  0x42d0161e, 0x92d22fd9, 0x42baa4e6, 0x92c51392, 0x42a5311b, 0x92b7fb82,
+  0x428fbabe, 0x92aae7a8,
+  0x427a41d0, 0x929dd806, 0x4264c653, 0x9290cc9b, 0x424f4845, 0x9283c568,
+  0x4239c7aa, 0x9276c26d,
+  0x42244481, 0x9269c3ac, 0x420ebecb, 0x925cc924, 0x41f93689, 0x924fd2d7,
+  0x41e3abbc, 0x9242e0c4,
+  0x41ce1e65, 0x9235f2ec, 0x41b88e84, 0x9229094f, 0x41a2fc1a, 0x921c23ef,
+  0x418d6729, 0x920f42cb,
+  0x4177cfb1, 0x920265e4, 0x416235b2, 0x91f58d3b, 0x414c992f, 0x91e8b8d0,
+  0x4136fa27, 0x91dbe8a4,
+  0x4121589b, 0x91cf1cb6, 0x410bb48c, 0x91c25508, 0x40f60dfb, 0x91b5919a,
+  0x40e064ea, 0x91a8d26d,
+  0x40cab958, 0x919c1781, 0x40b50b46, 0x918f60d6, 0x409f5ab6, 0x9182ae6d,
+  0x4089a7a8, 0x91760047,
+  0x4073f21d, 0x91695663, 0x405e3a16, 0x915cb0c3, 0x40487f94, 0x91500f67,
+  0x4032c297, 0x91437250,
+  0x401d0321, 0x9136d97d, 0x40074132, 0x912a44f0, 0x3ff17cca, 0x911db4a9,
+  0x3fdbb5ec, 0x911128a8,
+  0x3fc5ec98, 0x9104a0ee, 0x3fb020ce, 0x90f81d7b, 0x3f9a5290, 0x90eb9e50,
+  0x3f8481dd, 0x90df236e,
+  0x3f6eaeb8, 0x90d2acd4, 0x3f58d921, 0x90c63a83, 0x3f430119, 0x90b9cc7d,
+  0x3f2d26a0, 0x90ad62c0,
+  0x3f1749b8, 0x90a0fd4e, 0x3f016a61, 0x90949c28, 0x3eeb889c, 0x90883f4d,
+  0x3ed5a46b, 0x907be6be,
+  0x3ebfbdcd, 0x906f927c, 0x3ea9d4c3, 0x90634287, 0x3e93e950, 0x9056f6df,
+  0x3e7dfb73, 0x904aaf86,
+  0x3e680b2c, 0x903e6c7b, 0x3e52187f, 0x90322dbf, 0x3e3c2369, 0x9025f352,
+  0x3e262bee, 0x9019bd36,
+  0x3e10320d, 0x900d8b69, 0x3dfa35c8, 0x90015dee, 0x3de4371f, 0x8ff534c4,
+  0x3dce3614, 0x8fe90fec,
+  0x3db832a6, 0x8fdcef66, 0x3da22cd7, 0x8fd0d333, 0x3d8c24a8, 0x8fc4bb53,
+  0x3d761a19, 0x8fb8a7c7,
+  0x3d600d2c, 0x8fac988f, 0x3d49fde1, 0x8fa08dab, 0x3d33ec39, 0x8f94871d,
+  0x3d1dd835, 0x8f8884e4,
+  0x3d07c1d6, 0x8f7c8701, 0x3cf1a91c, 0x8f708d75, 0x3cdb8e09, 0x8f649840,
+  0x3cc5709e, 0x8f58a761,
+  0x3caf50da, 0x8f4cbadb, 0x3c992ec0, 0x8f40d2ad, 0x3c830a50, 0x8f34eed8,
+  0x3c6ce38a, 0x8f290f5c,
+  0x3c56ba70, 0x8f1d343a, 0x3c408f03, 0x8f115d72, 0x3c2a6142, 0x8f058b04,
+  0x3c143130, 0x8ef9bcf2,
+  0x3bfdfecd, 0x8eedf33b, 0x3be7ca1a, 0x8ee22de0, 0x3bd19318, 0x8ed66ce1,
+  0x3bbb59c7, 0x8ecab040,
+  0x3ba51e29, 0x8ebef7fb, 0x3b8ee03e, 0x8eb34415, 0x3b78a007, 0x8ea7948c,
+  0x3b625d86, 0x8e9be963,
+  0x3b4c18ba, 0x8e904298, 0x3b35d1a5, 0x8e84a02d, 0x3b1f8848, 0x8e790222,
+  0x3b093ca3, 0x8e6d6877,
+  0x3af2eeb7, 0x8e61d32e, 0x3adc9e86, 0x8e564246, 0x3ac64c0f, 0x8e4ab5bf,
+  0x3aaff755, 0x8e3f2d9b,
+  0x3a99a057, 0x8e33a9da, 0x3a834717, 0x8e282a7b, 0x3a6ceb96, 0x8e1caf80,
+  0x3a568dd4, 0x8e1138ea,
+  0x3a402dd2, 0x8e05c6b7, 0x3a29cb91, 0x8dfa58ea, 0x3a136712, 0x8deeef82,
+  0x39fd0056, 0x8de38a80,
+  0x39e6975e, 0x8dd829e4, 0x39d02c2a, 0x8dcccdaf, 0x39b9bebc, 0x8dc175e0,
+  0x39a34f13, 0x8db6227a,
+  0x398cdd32, 0x8daad37b, 0x39766919, 0x8d9f88e5, 0x395ff2c9, 0x8d9442b8,
+  0x39497a43, 0x8d8900f3,
+  0x3932ff87, 0x8d7dc399, 0x391c8297, 0x8d728aa9, 0x39060373, 0x8d675623,
+  0x38ef821c, 0x8d5c2609,
+  0x38d8fe93, 0x8d50fa59, 0x38c278d9, 0x8d45d316, 0x38abf0ef, 0x8d3ab03f,
+  0x389566d6, 0x8d2f91d5,
+  0x387eda8e, 0x8d2477d8, 0x38684c19, 0x8d196249, 0x3851bb77, 0x8d0e5127,
+  0x383b28a9, 0x8d034474,
+  0x382493b0, 0x8cf83c30, 0x380dfc8d, 0x8ced385b, 0x37f76341, 0x8ce238f6,
+  0x37e0c7cc, 0x8cd73e01,
+  0x37ca2a30, 0x8ccc477d, 0x37b38a6d, 0x8cc1556a, 0x379ce885, 0x8cb667c8,
+  0x37864477, 0x8cab7e98,
+  0x376f9e46, 0x8ca099da, 0x3758f5f2, 0x8c95b98f, 0x37424b7b, 0x8c8addb7,
+  0x372b9ee3, 0x8c800652,
+  0x3714f02a, 0x8c753362, 0x36fe3f52, 0x8c6a64e5, 0x36e78c5b, 0x8c5f9ade,
+  0x36d0d746, 0x8c54d54c,
+  0x36ba2014, 0x8c4a142f, 0x36a366c6, 0x8c3f5788, 0x368cab5c, 0x8c349f58,
+  0x3675edd9, 0x8c29eb9f,
+  0x365f2e3b, 0x8c1f3c5d, 0x36486c86, 0x8c149192, 0x3631a8b8, 0x8c09eb40,
+  0x361ae2d3, 0x8bff4966,
+  0x36041ad9, 0x8bf4ac05, 0x35ed50c9, 0x8bea131e, 0x35d684a6, 0x8bdf7eb0,
+  0x35bfb66e, 0x8bd4eebc,
+  0x35a8e625, 0x8bca6343, 0x359213c9, 0x8bbfdc44, 0x357b3f5d, 0x8bb559c1,
+  0x356468e2, 0x8baadbba,
+  0x354d9057, 0x8ba0622f, 0x3536b5be, 0x8b95ed21, 0x351fd918, 0x8b8b7c8f,
+  0x3508fa66, 0x8b81107b,
+  0x34f219a8, 0x8b76a8e4, 0x34db36df, 0x8b6c45cc, 0x34c4520d, 0x8b61e733,
+  0x34ad6b32, 0x8b578d18,
+  0x34968250, 0x8b4d377c, 0x347f9766, 0x8b42e661, 0x3468aa76, 0x8b3899c6,
+  0x3451bb81, 0x8b2e51ab,
+  0x343aca87, 0x8b240e11, 0x3423d78a, 0x8b19cef8, 0x340ce28b, 0x8b0f9462,
+  0x33f5eb89, 0x8b055e4d,
+  0x33def287, 0x8afb2cbb, 0x33c7f785, 0x8af0ffac, 0x33b0fa84, 0x8ae6d720,
+  0x3399fb85, 0x8adcb318,
+  0x3382fa88, 0x8ad29394, 0x336bf78f, 0x8ac87894, 0x3354f29b, 0x8abe6219,
+  0x333debab, 0x8ab45024,
+  0x3326e2c3, 0x8aaa42b4, 0x330fd7e1, 0x8aa039cb, 0x32f8cb07, 0x8a963567,
+  0x32e1bc36, 0x8a8c358b,
+  0x32caab6f, 0x8a823a36, 0x32b398b3, 0x8a784368, 0x329c8402, 0x8a6e5123,
+  0x32856d5e, 0x8a646365,
+  0x326e54c7, 0x8a5a7a31, 0x32573a3f, 0x8a509585, 0x32401dc6, 0x8a46b564,
+  0x3228ff5c, 0x8a3cd9cc,
+  0x3211df04, 0x8a3302be, 0x31fabcbd, 0x8a29303b, 0x31e39889, 0x8a1f6243,
+  0x31cc7269, 0x8a1598d6,
+  0x31b54a5e, 0x8a0bd3f5, 0x319e2067, 0x8a0213a0, 0x3186f487, 0x89f857d8,
+  0x316fc6be, 0x89eea09d,
+  0x3158970e, 0x89e4edef, 0x31416576, 0x89db3fcf, 0x312a31f8, 0x89d1963c,
+  0x3112fc95, 0x89c7f138,
+  0x30fbc54d, 0x89be50c3, 0x30e48c22, 0x89b4b4dd, 0x30cd5115, 0x89ab1d87,
+  0x30b61426, 0x89a18ac0,
+  0x309ed556, 0x8997fc8a, 0x308794a6, 0x898e72e4, 0x30705217, 0x8984edcf,
+  0x30590dab, 0x897b6d4c,
+  0x3041c761, 0x8971f15a, 0x302a7f3a, 0x896879fb, 0x30133539, 0x895f072e,
+  0x2ffbe95d, 0x895598f3,
+  0x2fe49ba7, 0x894c2f4c, 0x2fcd4c19, 0x8942ca39, 0x2fb5fab2, 0x893969b9,
+  0x2f9ea775, 0x89300dce,
+  0x2f875262, 0x8926b677, 0x2f6ffb7a, 0x891d63b5, 0x2f58a2be, 0x89141589,
+  0x2f41482e, 0x890acbf2,
+  0x2f29ebcc, 0x890186f2, 0x2f128d99, 0x88f84687, 0x2efb2d95, 0x88ef0ab4,
+  0x2ee3cbc1, 0x88e5d378,
+  0x2ecc681e, 0x88dca0d3, 0x2eb502ae, 0x88d372c6, 0x2e9d9b70, 0x88ca4951,
+  0x2e863267, 0x88c12475,
+  0x2e6ec792, 0x88b80432, 0x2e575af3, 0x88aee888, 0x2e3fec8b, 0x88a5d177,
+  0x2e287c5a, 0x889cbf01,
+  0x2e110a62, 0x8893b125, 0x2df996a3, 0x888aa7e3, 0x2de2211e, 0x8881a33d,
+  0x2dcaa9d5, 0x8878a332,
+  0x2db330c7, 0x886fa7c2, 0x2d9bb5f6, 0x8866b0ef, 0x2d843964, 0x885dbeb8,
+  0x2d6cbb10, 0x8854d11e,
+  0x2d553afc, 0x884be821, 0x2d3db928, 0x884303c1, 0x2d263596, 0x883a23ff,
+  0x2d0eb046, 0x883148db,
+  0x2cf72939, 0x88287256, 0x2cdfa071, 0x881fa06f, 0x2cc815ee, 0x8816d327,
+  0x2cb089b1, 0x880e0a7f,
+  0x2c98fbba, 0x88054677, 0x2c816c0c, 0x87fc870f, 0x2c69daa6, 0x87f3cc48,
+  0x2c52478a, 0x87eb1621,
+  0x2c3ab2b9, 0x87e2649b, 0x2c231c33, 0x87d9b7b7, 0x2c0b83fa, 0x87d10f75,
+  0x2bf3ea0d, 0x87c86bd5,
+  0x2bdc4e6f, 0x87bfccd7, 0x2bc4b120, 0x87b7327d, 0x2bad1221, 0x87ae9cc5,
+  0x2b957173, 0x87a60bb1,
+  0x2b7dcf17, 0x879d7f41, 0x2b662b0e, 0x8794f774, 0x2b4e8558, 0x878c744d,
+  0x2b36ddf7, 0x8783f5ca,
+  0x2b1f34eb, 0x877b7bec, 0x2b078a36, 0x877306b4, 0x2aefddd8, 0x876a9621,
+  0x2ad82fd2, 0x87622a35,
+  0x2ac08026, 0x8759c2ef, 0x2aa8ced3, 0x87516050, 0x2a911bdc, 0x87490258,
+  0x2a796740, 0x8740a907,
+  0x2a61b101, 0x8738545e, 0x2a49f920, 0x8730045d, 0x2a323f9e, 0x8727b905,
+  0x2a1a847b, 0x871f7255,
+  0x2a02c7b8, 0x8717304e, 0x29eb0957, 0x870ef2f1, 0x29d34958, 0x8706ba3d,
+  0x29bb87bc, 0x86fe8633,
+  0x29a3c485, 0x86f656d3, 0x298bffb2, 0x86ee2c1e, 0x29743946, 0x86e60614,
+  0x295c7140, 0x86dde4b5,
+  0x2944a7a2, 0x86d5c802, 0x292cdc6d, 0x86cdaffa, 0x29150fa1, 0x86c59c9f,
+  0x28fd4140, 0x86bd8df0,
+  0x28e5714b, 0x86b583ee, 0x28cd9fc1, 0x86ad7e99, 0x28b5cca5, 0x86a57df2,
+  0x289df7f8, 0x869d81f8,
+  0x288621b9, 0x86958aac, 0x286e49ea, 0x868d980e, 0x2856708d, 0x8685aa20,
+  0x283e95a1, 0x867dc0e0,
+  0x2826b928, 0x8675dc4f, 0x280edb23, 0x866dfc6e, 0x27f6fb92, 0x8666213c,
+  0x27df1a77, 0x865e4abb,
+  0x27c737d3, 0x865678eb, 0x27af53a6, 0x864eabcb, 0x27976df1, 0x8646e35c,
+  0x277f86b5, 0x863f1f9e,
+  0x27679df4, 0x86376092, 0x274fb3ae, 0x862fa638, 0x2737c7e3, 0x8627f091,
+  0x271fda96, 0x86203f9c,
+  0x2707ebc7, 0x86189359, 0x26effb76, 0x8610ebca, 0x26d809a5, 0x860948ef,
+  0x26c01655, 0x8601aac7,
+  0x26a82186, 0x85fa1153, 0x26902b39, 0x85f27c93, 0x26783370, 0x85eaec88,
+  0x26603a2c, 0x85e36132,
+  0x26483f6c, 0x85dbda91, 0x26304333, 0x85d458a6, 0x26184581, 0x85ccdb70,
+  0x26004657, 0x85c562f1,
+  0x25e845b6, 0x85bdef28, 0x25d0439f, 0x85b68015, 0x25b84012, 0x85af15b9,
+  0x25a03b11, 0x85a7b015,
+  0x2588349d, 0x85a04f28, 0x25702cb7, 0x8598f2f3, 0x2558235f, 0x85919b76,
+  0x25401896, 0x858a48b1,
+  0x25280c5e, 0x8582faa5, 0x250ffeb7, 0x857bb152, 0x24f7efa2, 0x85746cb8,
+  0x24dfdf20, 0x856d2cd7,
+  0x24c7cd33, 0x8565f1b0, 0x24afb9da, 0x855ebb44, 0x2497a517, 0x85578991,
+  0x247f8eec, 0x85505c99,
+  0x24677758, 0x8549345c, 0x244f5e5c, 0x854210db, 0x243743fa, 0x853af214,
+  0x241f2833, 0x8533d809,
+  0x24070b08, 0x852cc2bb, 0x23eeec78, 0x8525b228, 0x23d6cc87, 0x851ea652,
+  0x23beab33, 0x85179f39,
+  0x23a6887f, 0x85109cdd, 0x238e646a, 0x85099f3e, 0x23763ef7, 0x8502a65c,
+  0x235e1826, 0x84fbb239,
+  0x2345eff8, 0x84f4c2d4, 0x232dc66d, 0x84edd82d, 0x23159b88, 0x84e6f244,
+  0x22fd6f48, 0x84e0111b,
+  0x22e541af, 0x84d934b1, 0x22cd12bd, 0x84d25d06, 0x22b4e274, 0x84cb8a1b,
+  0x229cb0d5, 0x84c4bbf0,
+  0x22847de0, 0x84bdf286, 0x226c4996, 0x84b72ddb, 0x225413f8, 0x84b06df2,
+  0x223bdd08, 0x84a9b2ca,
+  0x2223a4c5, 0x84a2fc62, 0x220b6b32, 0x849c4abd, 0x21f3304f, 0x84959dd9,
+  0x21daf41d, 0x848ef5b7,
+  0x21c2b69c, 0x84885258, 0x21aa77cf, 0x8481b3bb, 0x219237b5, 0x847b19e1,
+  0x2179f64f, 0x847484ca,
+  0x2161b3a0, 0x846df477, 0x21496fa7, 0x846768e7, 0x21312a65, 0x8460e21a,
+  0x2118e3dc, 0x845a6012,
+  0x21009c0c, 0x8453e2cf, 0x20e852f6, 0x844d6a50, 0x20d0089c, 0x8446f695,
+  0x20b7bcfe, 0x844087a0,
+  0x209f701c, 0x843a1d70, 0x208721f9, 0x8433b806, 0x206ed295, 0x842d5762,
+  0x205681f1, 0x8426fb84,
+  0x203e300d, 0x8420a46c, 0x2025dcec, 0x841a521a, 0x200d888d, 0x84140490,
+  0x1ff532f2, 0x840dbbcc,
+  0x1fdcdc1b, 0x840777d0, 0x1fc4840a, 0x8401389b, 0x1fac2abf, 0x83fafe2e,
+  0x1f93d03c, 0x83f4c889,
+  0x1f7b7481, 0x83ee97ad, 0x1f63178f, 0x83e86b99, 0x1f4ab968, 0x83e2444d,
+  0x1f325a0b, 0x83dc21cb,
+  0x1f19f97b, 0x83d60412, 0x1f0197b8, 0x83cfeb22, 0x1ee934c3, 0x83c9d6fc,
+  0x1ed0d09d, 0x83c3c7a0,
+  0x1eb86b46, 0x83bdbd0e, 0x1ea004c1, 0x83b7b746, 0x1e879d0d, 0x83b1b649,
+  0x1e6f342c, 0x83abba17,
+  0x1e56ca1e, 0x83a5c2b0, 0x1e3e5ee5, 0x839fd014, 0x1e25f282, 0x8399e244,
+  0x1e0d84f5, 0x8393f940,
+  0x1df5163f, 0x838e1507, 0x1ddca662, 0x8388359b, 0x1dc4355e, 0x83825afb,
+  0x1dabc334, 0x837c8528,
+  0x1d934fe5, 0x8376b422, 0x1d7adb73, 0x8370e7e9, 0x1d6265dd, 0x836b207d,
+  0x1d49ef26, 0x83655ddf,
+  0x1d31774d, 0x835fa00f, 0x1d18fe54, 0x8359e70d, 0x1d00843d, 0x835432d8,
+  0x1ce80906, 0x834e8373,
+  0x1ccf8cb3, 0x8348d8dc, 0x1cb70f43, 0x83433314, 0x1c9e90b8, 0x833d921b,
+  0x1c861113, 0x8337f5f1,
+  0x1c6d9053, 0x83325e97, 0x1c550e7c, 0x832ccc0d, 0x1c3c8b8c, 0x83273e52,
+  0x1c240786, 0x8321b568,
+  0x1c0b826a, 0x831c314e, 0x1bf2fc3a, 0x8316b205, 0x1bda74f6, 0x8311378d,
+  0x1bc1ec9e, 0x830bc1e6,
+  0x1ba96335, 0x83065110, 0x1b90d8bb, 0x8300e50b, 0x1b784d30, 0x82fb7dd8,
+  0x1b5fc097, 0x82f61b77,
+  0x1b4732ef, 0x82f0bde8, 0x1b2ea43a, 0x82eb652b, 0x1b161479, 0x82e61141,
+  0x1afd83ad, 0x82e0c22a,
+  0x1ae4f1d6, 0x82db77e5, 0x1acc5ef6, 0x82d63274, 0x1ab3cb0d, 0x82d0f1d5,
+  0x1a9b361d, 0x82cbb60b,
+  0x1a82a026, 0x82c67f14, 0x1a6a0929, 0x82c14cf1, 0x1a517128, 0x82bc1fa2,
+  0x1a38d823, 0x82b6f727,
+  0x1a203e1b, 0x82b1d381, 0x1a07a311, 0x82acb4b0, 0x19ef0707, 0x82a79ab3,
+  0x19d669fc, 0x82a2858c,
+  0x19bdcbf3, 0x829d753a, 0x19a52ceb, 0x829869be, 0x198c8ce7, 0x82936317,
+  0x1973ebe6, 0x828e6146,
+  0x195b49ea, 0x8289644b, 0x1942a6f3, 0x82846c26, 0x192a0304, 0x827f78d8,
+  0x19115e1c, 0x827a8a61,
+  0x18f8b83c, 0x8275a0c0, 0x18e01167, 0x8270bbf7, 0x18c7699b, 0x826bdc04,
+  0x18aec0db, 0x826700e9,
+  0x18961728, 0x82622aa6, 0x187d6c82, 0x825d593a, 0x1864c0ea, 0x82588ca7,
+  0x184c1461, 0x8253c4eb,
+  0x183366e9, 0x824f0208, 0x181ab881, 0x824a43fe, 0x1802092c, 0x82458acc,
+  0x17e958ea, 0x8240d673,
+  0x17d0a7bc, 0x823c26f3, 0x17b7f5a3, 0x82377c4c, 0x179f429f, 0x8232d67f,
+  0x17868eb3, 0x822e358b,
+  0x176dd9de, 0x82299971, 0x17552422, 0x82250232, 0x173c6d80, 0x82206fcc,
+  0x1723b5f9, 0x821be240,
+  0x170afd8d, 0x82175990, 0x16f2443e, 0x8212d5b9, 0x16d98a0c, 0x820e56be,
+  0x16c0cef9, 0x8209dc9e,
+  0x16a81305, 0x82056758, 0x168f5632, 0x8200f6ef, 0x1676987f, 0x81fc8b60,
+  0x165dd9f0, 0x81f824ae,
+  0x16451a83, 0x81f3c2d7, 0x162c5a3b, 0x81ef65dc, 0x16139918, 0x81eb0dbe,
+  0x15fad71b, 0x81e6ba7c,
+  0x15e21445, 0x81e26c16, 0x15c95097, 0x81de228d, 0x15b08c12, 0x81d9dde1,
+  0x1597c6b7, 0x81d59e13,
+  0x157f0086, 0x81d16321, 0x15663982, 0x81cd2d0c, 0x154d71aa, 0x81c8fbd6,
+  0x1534a901, 0x81c4cf7d,
+  0x151bdf86, 0x81c0a801, 0x1503153a, 0x81bc8564, 0x14ea4a1f, 0x81b867a5,
+  0x14d17e36, 0x81b44ec4,
+  0x14b8b17f, 0x81b03ac2, 0x149fe3fc, 0x81ac2b9e, 0x148715ae, 0x81a82159,
+  0x146e4694, 0x81a41bf4,
+  0x145576b1, 0x81a01b6d, 0x143ca605, 0x819c1fc5, 0x1423d492, 0x819828fd,
+  0x140b0258, 0x81943715,
+  0x13f22f58, 0x81904a0c, 0x13d95b93, 0x818c61e3, 0x13c0870a, 0x81887e9a,
+  0x13a7b1bf, 0x8184a032,
+  0x138edbb1, 0x8180c6a9, 0x137604e2, 0x817cf201, 0x135d2d53, 0x8179223a,
+  0x13445505, 0x81755754,
+  0x132b7bf9, 0x8171914e, 0x1312a230, 0x816dd02a, 0x12f9c7aa, 0x816a13e6,
+  0x12e0ec6a, 0x81665c84,
+  0x12c8106f, 0x8162aa04, 0x12af33ba, 0x815efc65, 0x1296564d, 0x815b53a8,
+  0x127d7829, 0x8157afcd,
+  0x1264994e, 0x815410d4, 0x124bb9be, 0x815076bd, 0x1232d979, 0x814ce188,
+  0x1219f880, 0x81495136,
+  0x120116d5, 0x8145c5c7, 0x11e83478, 0x81423f3a, 0x11cf516a, 0x813ebd90,
+  0x11b66dad, 0x813b40ca,
+  0x119d8941, 0x8137c8e6, 0x1184a427, 0x813455e6, 0x116bbe60, 0x8130e7c9,
+  0x1152d7ed, 0x812d7e8f,
+  0x1139f0cf, 0x812a1a3a, 0x11210907, 0x8126bac8, 0x11082096, 0x8123603a,
+  0x10ef377d, 0x81200a90,
+  0x10d64dbd, 0x811cb9ca, 0x10bd6356, 0x81196de9, 0x10a4784b, 0x811626ec,
+  0x108b8c9b, 0x8112e4d4,
+  0x1072a048, 0x810fa7a0, 0x1059b352, 0x810c6f52, 0x1040c5bb, 0x81093be8,
+  0x1027d784, 0x81060d63,
+  0x100ee8ad, 0x8102e3c4, 0xff5f938, 0x80ffbf0a, 0xfdd0926, 0x80fc9f35,
+  0xfc41876, 0x80f98446,
+  0xfab272b, 0x80f66e3c, 0xf923546, 0x80f35d19, 0xf7942c7, 0x80f050db,
+  0xf604faf, 0x80ed4984,
+  0xf475bff, 0x80ea4712, 0xf2e67b8, 0x80e74987, 0xf1572dc, 0x80e450e2,
+  0xefc7d6b, 0x80e15d24,
+  0xee38766, 0x80de6e4c, 0xeca90ce, 0x80db845b, 0xeb199a4, 0x80d89f51,
+  0xe98a1e9, 0x80d5bf2e,
+  0xe7fa99e, 0x80d2e3f2, 0xe66b0c3, 0x80d00d9d, 0xe4db75b, 0x80cd3c2f,
+  0xe34bd66, 0x80ca6fa9,
+  0xe1bc2e4, 0x80c7a80a, 0xe02c7d7, 0x80c4e553, 0xde9cc40, 0x80c22784,
+  0xdd0d01f, 0x80bf6e9c,
+  0xdb7d376, 0x80bcba9d, 0xd9ed646, 0x80ba0b85, 0xd85d88f, 0x80b76156,
+  0xd6cda53, 0x80b4bc0e,
+  0xd53db92, 0x80b21baf, 0xd3adc4e, 0x80af8039, 0xd21dc87, 0x80ace9ab,
+  0xd08dc3f, 0x80aa5806,
+  0xcefdb76, 0x80a7cb49, 0xcd6da2d, 0x80a54376, 0xcbdd865, 0x80a2c08b,
+  0xca4d620, 0x80a04289,
+  0xc8bd35e, 0x809dc971, 0xc72d020, 0x809b5541, 0xc59cc68, 0x8098e5fb,
+  0xc40c835, 0x80967b9f,
+  0xc27c389, 0x8094162c, 0xc0ebe66, 0x8091b5a2, 0xbf5b8cb, 0x808f5a02,
+  0xbdcb2bb, 0x808d034c,
+  0xbc3ac35, 0x808ab180, 0xbaaa53b, 0x8088649e, 0xb919dcf, 0x80861ca6,
+  0xb7895f0, 0x8083d998,
+  0xb5f8d9f, 0x80819b74, 0xb4684df, 0x807f623b, 0xb2d7baf, 0x807d2dec,
+  0xb147211, 0x807afe87,
+  0xafb6805, 0x8078d40d, 0xae25d8d, 0x8076ae7e, 0xac952aa, 0x80748dd9,
+  0xab0475c, 0x8072721f,
+  0xa973ba5, 0x80705b50, 0xa7e2f85, 0x806e496c, 0xa6522fe, 0x806c3c74,
+  0xa4c1610, 0x806a3466,
+  0xa3308bd, 0x80683143, 0xa19fb04, 0x8066330c, 0xa00ece8, 0x806439c0,
+  0x9e7de6a, 0x80624560,
+  0x9cecf89, 0x806055eb, 0x9b5c048, 0x805e6b62, 0x99cb0a7, 0x805c85c4,
+  0x983a0a7, 0x805aa512,
+  0x96a9049, 0x8058c94c, 0x9517f8f, 0x8056f272, 0x9386e78, 0x80552084,
+  0x91f5d06, 0x80535381,
+  0x9064b3a, 0x80518b6b, 0x8ed3916, 0x804fc841, 0x8d42699, 0x804e0a04,
+  0x8bb13c5, 0x804c50b2,
+  0x8a2009a, 0x804a9c4d, 0x888ed1b, 0x8048ecd5, 0x86fd947, 0x80474248,
+  0x856c520, 0x80459ca9,
+  0x83db0a7, 0x8043fbf6, 0x8249bdd, 0x80426030, 0x80b86c2, 0x8040c956,
+  0x7f27157, 0x803f376a,
+  0x7d95b9e, 0x803daa6a, 0x7c04598, 0x803c2257, 0x7a72f45, 0x803a9f31,
+  0x78e18a7, 0x803920f8,
+  0x77501be, 0x8037a7ac, 0x75bea8c, 0x8036334e, 0x742d311, 0x8034c3dd,
+  0x729bb4e, 0x80335959,
+  0x710a345, 0x8031f3c2, 0x6f78af6, 0x80309318, 0x6de7262, 0x802f375d,
+  0x6c5598a, 0x802de08e,
+  0x6ac406f, 0x802c8ead, 0x6932713, 0x802b41ba, 0x67a0d76, 0x8029f9b4,
+  0x660f398, 0x8028b69c,
+  0x647d97c, 0x80277872, 0x62ebf22, 0x80263f36, 0x615a48b, 0x80250ae7,
+  0x5fc89b8, 0x8023db86,
+  0x5e36ea9, 0x8022b114, 0x5ca5361, 0x80218b8f, 0x5b137df, 0x80206af8,
+  0x5981c26, 0x801f4f4f,
+  0x57f0035, 0x801e3895, 0x565e40d, 0x801d26c8, 0x54cc7b1, 0x801c19ea,
+  0x533ab20, 0x801b11fa,
+  0x51a8e5c, 0x801a0ef8, 0x5017165, 0x801910e4, 0x4e8543e, 0x801817bf,
+  0x4cf36e5, 0x80172388,
+  0x4b6195d, 0x80163440, 0x49cfba7, 0x801549e6, 0x483ddc3, 0x8014647b,
+  0x46abfb3, 0x801383fe,
+  0x451a177, 0x8012a86f, 0x4388310, 0x8011d1d0, 0x41f6480, 0x8011001f,
+  0x40645c7, 0x8010335c,
+  0x3ed26e6, 0x800f6b88, 0x3d407df, 0x800ea8a3, 0x3bae8b2, 0x800deaad,
+  0x3a1c960, 0x800d31a5,
+  0x388a9ea, 0x800c7d8c, 0x36f8a51, 0x800bce63, 0x3566a96, 0x800b2427,
+  0x33d4abb, 0x800a7edb,
+  0x3242abf, 0x8009de7e, 0x30b0aa4, 0x80094310, 0x2f1ea6c, 0x8008ac90,
+  0x2d8ca16, 0x80081b00,
+  0x2bfa9a4, 0x80078e5e, 0x2a68917, 0x800706ac, 0x28d6870, 0x800683e8,
+  0x27447b0, 0x80060614,
+  0x25b26d7, 0x80058d2f, 0x24205e8, 0x80051939, 0x228e4e2, 0x8004aa32,
+  0x20fc3c6, 0x8004401a,
+  0x1f6a297, 0x8003daf1, 0x1dd8154, 0x80037ab7, 0x1c45ffe, 0x80031f6d,
+  0x1ab3e97, 0x8002c912,
+  0x1921d20, 0x800277a6, 0x178fb99, 0x80022b29, 0x15fda03, 0x8001e39b,
+  0x146b860, 0x8001a0fd,
+  0x12d96b1, 0x8001634e, 0x11474f6, 0x80012a8e, 0xfb5330, 0x8000f6bd,
+  0xe23160, 0x8000c7dc,
+  0xc90f88, 0x80009dea, 0xafeda8, 0x800078e7, 0x96cbc1, 0x800058d4, 0x7da9d4,
+  0x80003daf,
+  0x6487e3, 0x8000277a, 0x4b65ee, 0x80001635, 0x3243f5, 0x800009df, 0x1921fb,
+  0x80000278,
+};
+
+static const q31_t WeightsQ31_8192[16384] = {
+  0x7fffffff, 0x0, 0x7fffffd9, 0xfff9b781, 0x7fffff62, 0xfff36f02, 0x7ffffe9d,
+    0xffed2684,
+  0x7ffffd88, 0xffe6de05, 0x7ffffc25, 0xffe09586, 0x7ffffa73, 0xffda4d08,
+    0x7ffff872, 0xffd40489,
+  0x7ffff621, 0xffcdbc0b, 0x7ffff382, 0xffc7738c, 0x7ffff094, 0xffc12b0e,
+    0x7fffed57, 0xffbae290,
+  0x7fffe9cb, 0xffb49a12, 0x7fffe5f0, 0xffae5195, 0x7fffe1c6, 0xffa80917,
+    0x7fffdd4d, 0xffa1c09a,
+  0x7fffd886, 0xff9b781d, 0x7fffd36f, 0xff952fa0, 0x7fffce09, 0xff8ee724,
+    0x7fffc854, 0xff889ea7,
+  0x7fffc251, 0xff82562c, 0x7fffbbfe, 0xff7c0db0, 0x7fffb55c, 0xff75c535,
+    0x7fffae6c, 0xff6f7cba,
+  0x7fffa72c, 0xff69343f, 0x7fff9f9e, 0xff62ebc5, 0x7fff97c1, 0xff5ca34b,
+    0x7fff8f94, 0xff565ad1,
+  0x7fff8719, 0xff501258, 0x7fff7e4f, 0xff49c9df, 0x7fff7536, 0xff438167,
+    0x7fff6bcd, 0xff3d38ef,
+  0x7fff6216, 0xff36f078, 0x7fff5810, 0xff30a801, 0x7fff4dbb, 0xff2a5f8b,
+    0x7fff4317, 0xff241715,
+  0x7fff3824, 0xff1dcea0, 0x7fff2ce2, 0xff17862b, 0x7fff2151, 0xff113db7,
+    0x7fff1572, 0xff0af543,
+  0x7fff0943, 0xff04acd0, 0x7ffefcc5, 0xfefe645e, 0x7ffeeff8, 0xfef81bec,
+    0x7ffee2dd, 0xfef1d37b,
+  0x7ffed572, 0xfeeb8b0a, 0x7ffec7b9, 0xfee5429a, 0x7ffeb9b0, 0xfedefa2b,
+    0x7ffeab59, 0xfed8b1bd,
+  0x7ffe9cb2, 0xfed2694f, 0x7ffe8dbd, 0xfecc20e2, 0x7ffe7e79, 0xfec5d876,
+    0x7ffe6ee5, 0xfebf900a,
+  0x7ffe5f03, 0xfeb947a0, 0x7ffe4ed2, 0xfeb2ff36, 0x7ffe3e52, 0xfeacb6cc,
+    0x7ffe2d83, 0xfea66e64,
+  0x7ffe1c65, 0xfea025fd, 0x7ffe0af8, 0xfe99dd96, 0x7ffdf93c, 0xfe939530,
+    0x7ffde731, 0xfe8d4ccb,
+  0x7ffdd4d7, 0xfe870467, 0x7ffdc22e, 0xfe80bc04, 0x7ffdaf37, 0xfe7a73a2,
+    0x7ffd9bf0, 0xfe742b41,
+  0x7ffd885a, 0xfe6de2e0, 0x7ffd7476, 0xfe679a81, 0x7ffd6042, 0xfe615223,
+    0x7ffd4bc0, 0xfe5b09c5,
+  0x7ffd36ee, 0xfe54c169, 0x7ffd21ce, 0xfe4e790d, 0x7ffd0c5f, 0xfe4830b3,
+    0x7ffcf6a0, 0xfe41e85a,
+  0x7ffce093, 0xfe3ba002, 0x7ffcca37, 0xfe3557ab, 0x7ffcb38c, 0xfe2f0f55,
+    0x7ffc9c92, 0xfe28c700,
+  0x7ffc8549, 0xfe227eac, 0x7ffc6db1, 0xfe1c365a, 0x7ffc55ca, 0xfe15ee09,
+    0x7ffc3d94, 0xfe0fa5b8,
+  0x7ffc250f, 0xfe095d69, 0x7ffc0c3b, 0xfe03151c, 0x7ffbf319, 0xfdfccccf,
+    0x7ffbd9a7, 0xfdf68484,
+  0x7ffbbfe6, 0xfdf03c3a, 0x7ffba5d7, 0xfde9f3f1, 0x7ffb8b78, 0xfde3aba9,
+    0x7ffb70cb, 0xfddd6363,
+  0x7ffb55ce, 0xfdd71b1e, 0x7ffb3a83, 0xfdd0d2db, 0x7ffb1ee9, 0xfdca8a99,
+    0x7ffb0300, 0xfdc44258,
+  0x7ffae6c7, 0xfdbdfa18, 0x7ffaca40, 0xfdb7b1da, 0x7ffaad6a, 0xfdb1699e,
+    0x7ffa9045, 0xfdab2162,
+  0x7ffa72d1, 0xfda4d929, 0x7ffa550e, 0xfd9e90f0, 0x7ffa36fc, 0xfd9848b9,
+    0x7ffa189c, 0xfd920084,
+  0x7ff9f9ec, 0xfd8bb850, 0x7ff9daed, 0xfd85701e, 0x7ff9bba0, 0xfd7f27ed,
+    0x7ff99c03, 0xfd78dfbd,
+  0x7ff97c18, 0xfd729790, 0x7ff95bdd, 0xfd6c4f64, 0x7ff93b54, 0xfd660739,
+    0x7ff91a7b, 0xfd5fbf10,
+  0x7ff8f954, 0xfd5976e9, 0x7ff8d7de, 0xfd532ec3, 0x7ff8b619, 0xfd4ce69f,
+    0x7ff89405, 0xfd469e7c,
+  0x7ff871a2, 0xfd40565c, 0x7ff84ef0, 0xfd3a0e3d, 0x7ff82bef, 0xfd33c61f,
+    0x7ff8089f, 0xfd2d7e04,
+  0x7ff7e500, 0xfd2735ea, 0x7ff7c113, 0xfd20edd2, 0x7ff79cd6, 0xfd1aa5bc,
+    0x7ff7784a, 0xfd145da7,
+  0x7ff75370, 0xfd0e1594, 0x7ff72e46, 0xfd07cd83, 0x7ff708ce, 0xfd018574,
+    0x7ff6e307, 0xfcfb3d67,
+  0x7ff6bcf0, 0xfcf4f55c, 0x7ff6968b, 0xfceead52, 0x7ff66fd7, 0xfce8654b,
+    0x7ff648d4, 0xfce21d45,
+  0x7ff62182, 0xfcdbd541, 0x7ff5f9e1, 0xfcd58d3f, 0x7ff5d1f1, 0xfccf453f,
+    0x7ff5a9b2, 0xfcc8fd41,
+  0x7ff58125, 0xfcc2b545, 0x7ff55848, 0xfcbc6d4c, 0x7ff52f1d, 0xfcb62554,
+    0x7ff505a2, 0xfcafdd5e,
+  0x7ff4dbd9, 0xfca9956a, 0x7ff4b1c0, 0xfca34d78, 0x7ff48759, 0xfc9d0588,
+    0x7ff45ca3, 0xfc96bd9b,
+  0x7ff4319d, 0xfc9075af, 0x7ff40649, 0xfc8a2dc6, 0x7ff3daa6, 0xfc83e5de,
+    0x7ff3aeb4, 0xfc7d9df9,
+  0x7ff38274, 0xfc775616, 0x7ff355e4, 0xfc710e36, 0x7ff32905, 0xfc6ac657,
+    0x7ff2fbd7, 0xfc647e7b,
+  0x7ff2ce5b, 0xfc5e36a0, 0x7ff2a08f, 0xfc57eec9, 0x7ff27275, 0xfc51a6f3,
+    0x7ff2440b, 0xfc4b5f20,
+  0x7ff21553, 0xfc45174e, 0x7ff1e64c, 0xfc3ecf80, 0x7ff1b6f6, 0xfc3887b3,
+    0x7ff18751, 0xfc323fe9,
+  0x7ff1575d, 0xfc2bf821, 0x7ff1271a, 0xfc25b05c, 0x7ff0f688, 0xfc1f6899,
+    0x7ff0c5a7, 0xfc1920d8,
+  0x7ff09478, 0xfc12d91a, 0x7ff062f9, 0xfc0c915e, 0x7ff0312c, 0xfc0649a5,
+    0x7fefff0f, 0xfc0001ee,
+  0x7fefcca4, 0xfbf9ba39, 0x7fef99ea, 0xfbf37287, 0x7fef66e1, 0xfbed2ad8,
+    0x7fef3388, 0xfbe6e32b,
+  0x7feeffe1, 0xfbe09b80, 0x7feecbec, 0xfbda53d8, 0x7fee97a7, 0xfbd40c33,
+    0x7fee6313, 0xfbcdc490,
+  0x7fee2e30, 0xfbc77cf0, 0x7fedf8ff, 0xfbc13552, 0x7fedc37e, 0xfbbaedb7,
+    0x7fed8daf, 0xfbb4a61f,
+  0x7fed5791, 0xfbae5e89, 0x7fed2123, 0xfba816f6, 0x7fecea67, 0xfba1cf66,
+    0x7fecb35c, 0xfb9b87d8,
+  0x7fec7c02, 0xfb95404d, 0x7fec4459, 0xfb8ef8c5, 0x7fec0c62, 0xfb88b13f,
+    0x7febd41b, 0xfb8269bd,
+  0x7feb9b85, 0xfb7c223d, 0x7feb62a1, 0xfb75dac0, 0x7feb296d, 0xfb6f9345,
+    0x7feaefeb, 0xfb694bce,
+  0x7feab61a, 0xfb630459, 0x7fea7bfa, 0xfb5cbce7, 0x7fea418b, 0xfb567578,
+    0x7fea06cd, 0xfb502e0c,
+  0x7fe9cbc0, 0xfb49e6a3, 0x7fe99064, 0xfb439f3c, 0x7fe954ba, 0xfb3d57d9,
+    0x7fe918c0, 0xfb371078,
+  0x7fe8dc78, 0xfb30c91b, 0x7fe89fe0, 0xfb2a81c0, 0x7fe862fa, 0xfb243a69,
+    0x7fe825c5, 0xfb1df314,
+  0x7fe7e841, 0xfb17abc2, 0x7fe7aa6e, 0xfb116474, 0x7fe76c4c, 0xfb0b1d28,
+    0x7fe72ddb, 0xfb04d5e0,
+  0x7fe6ef1c, 0xfafe8e9b, 0x7fe6b00d, 0xfaf84758, 0x7fe670b0, 0xfaf20019,
+    0x7fe63103, 0xfaebb8dd,
+  0x7fe5f108, 0xfae571a4, 0x7fe5b0be, 0xfadf2a6e, 0x7fe57025, 0xfad8e33c,
+    0x7fe52f3d, 0xfad29c0c,
+  0x7fe4ee06, 0xfacc54e0, 0x7fe4ac81, 0xfac60db7, 0x7fe46aac, 0xfabfc691,
+    0x7fe42889, 0xfab97f6e,
+  0x7fe3e616, 0xfab3384f, 0x7fe3a355, 0xfaacf133, 0x7fe36045, 0xfaa6aa1a,
+    0x7fe31ce6, 0xfaa06305,
+  0x7fe2d938, 0xfa9a1bf3, 0x7fe2953b, 0xfa93d4e4, 0x7fe250ef, 0xfa8d8dd8,
+    0x7fe20c55, 0xfa8746d0,
+  0x7fe1c76b, 0xfa80ffcb, 0x7fe18233, 0xfa7ab8ca, 0x7fe13cac, 0xfa7471cc,
+    0x7fe0f6d6, 0xfa6e2ad1,
+  0x7fe0b0b1, 0xfa67e3da, 0x7fe06a3d, 0xfa619ce7, 0x7fe0237a, 0xfa5b55f7,
+    0x7fdfdc69, 0xfa550f0a,
+  0x7fdf9508, 0xfa4ec821, 0x7fdf4d59, 0xfa48813b, 0x7fdf055a, 0xfa423a59,
+    0x7fdebd0d, 0xfa3bf37a,
+  0x7fde7471, 0xfa35ac9f, 0x7fde2b86, 0xfa2f65c8, 0x7fdde24d, 0xfa291ef4,
+    0x7fdd98c4, 0xfa22d823,
+  0x7fdd4eec, 0xfa1c9157, 0x7fdd04c6, 0xfa164a8e, 0x7fdcba51, 0xfa1003c8,
+    0x7fdc6f8d, 0xfa09bd06,
+  0x7fdc247a, 0xfa037648, 0x7fdbd918, 0xf9fd2f8e, 0x7fdb8d67, 0xf9f6e8d7,
+    0x7fdb4167, 0xf9f0a224,
+  0x7fdaf519, 0xf9ea5b75, 0x7fdaa87c, 0xf9e414ca, 0x7fda5b8f, 0xf9ddce22,
+    0x7fda0e54, 0xf9d7877e,
+  0x7fd9c0ca, 0xf9d140de, 0x7fd972f2, 0xf9cafa42, 0x7fd924ca, 0xf9c4b3a9,
+    0x7fd8d653, 0xf9be6d15,
+  0x7fd8878e, 0xf9b82684, 0x7fd8387a, 0xf9b1dff7, 0x7fd7e917, 0xf9ab996e,
+    0x7fd79965, 0xf9a552e9,
+  0x7fd74964, 0xf99f0c68, 0x7fd6f914, 0xf998c5ea, 0x7fd6a875, 0xf9927f71,
+    0x7fd65788, 0xf98c38fc,
+  0x7fd6064c, 0xf985f28a, 0x7fd5b4c1, 0xf97fac1d, 0x7fd562e7, 0xf97965b4,
+    0x7fd510be, 0xf9731f4e,
+  0x7fd4be46, 0xf96cd8ed, 0x7fd46b80, 0xf9669290, 0x7fd4186a, 0xf9604c37,
+    0x7fd3c506, 0xf95a05e2,
+  0x7fd37153, 0xf953bf91, 0x7fd31d51, 0xf94d7944, 0x7fd2c900, 0xf94732fb,
+    0x7fd27460, 0xf940ecb7,
+  0x7fd21f72, 0xf93aa676, 0x7fd1ca35, 0xf934603a, 0x7fd174a8, 0xf92e1a02,
+    0x7fd11ecd, 0xf927d3ce,
+  0x7fd0c8a3, 0xf9218d9e, 0x7fd0722b, 0xf91b4773, 0x7fd01b63, 0xf915014c,
+    0x7fcfc44d, 0xf90ebb29,
+  0x7fcf6ce8, 0xf908750a, 0x7fcf1533, 0xf9022ef0, 0x7fcebd31, 0xf8fbe8da,
+    0x7fce64df, 0xf8f5a2c9,
+  0x7fce0c3e, 0xf8ef5cbb, 0x7fcdb34f, 0xf8e916b2, 0x7fcd5a11, 0xf8e2d0ae,
+    0x7fcd0083, 0xf8dc8aae,
+  0x7fcca6a7, 0xf8d644b2, 0x7fcc4c7d, 0xf8cffebb, 0x7fcbf203, 0xf8c9b8c8,
+    0x7fcb973b, 0xf8c372d9,
+  0x7fcb3c23, 0xf8bd2cef, 0x7fcae0bd, 0xf8b6e70a, 0x7fca8508, 0xf8b0a129,
+    0x7fca2905, 0xf8aa5b4c,
+  0x7fc9ccb2, 0xf8a41574, 0x7fc97011, 0xf89dcfa1, 0x7fc91320, 0xf89789d2,
+    0x7fc8b5e1, 0xf8914407,
+  0x7fc85854, 0xf88afe42, 0x7fc7fa77, 0xf884b880, 0x7fc79c4b, 0xf87e72c4,
+    0x7fc73dd1, 0xf8782d0c,
+  0x7fc6df08, 0xf871e759, 0x7fc67ff0, 0xf86ba1aa, 0x7fc62089, 0xf8655c00,
+    0x7fc5c0d3, 0xf85f165b,
+  0x7fc560cf, 0xf858d0bb, 0x7fc5007c, 0xf8528b1f, 0x7fc49fda, 0xf84c4588,
+    0x7fc43ee9, 0xf845fff5,
+  0x7fc3dda9, 0xf83fba68, 0x7fc37c1b, 0xf83974df, 0x7fc31a3d, 0xf8332f5b,
+    0x7fc2b811, 0xf82ce9dc,
+  0x7fc25596, 0xf826a462, 0x7fc1f2cc, 0xf8205eec, 0x7fc18fb4, 0xf81a197b,
+    0x7fc12c4d, 0xf813d410,
+  0x7fc0c896, 0xf80d8ea9, 0x7fc06491, 0xf8074947, 0x7fc0003e, 0xf80103ea,
+    0x7fbf9b9b, 0xf7fabe92,
+  0x7fbf36aa, 0xf7f4793e, 0x7fbed16a, 0xf7ee33f0, 0x7fbe6bdb, 0xf7e7eea7,
+    0x7fbe05fd, 0xf7e1a963,
+  0x7fbd9fd0, 0xf7db6423, 0x7fbd3955, 0xf7d51ee9, 0x7fbcd28b, 0xf7ced9b4,
+    0x7fbc6b72, 0xf7c89484,
+  0x7fbc040a, 0xf7c24f59, 0x7fbb9c53, 0xf7bc0a33, 0x7fbb344e, 0xf7b5c512,
+    0x7fbacbfa, 0xf7af7ff6,
+  0x7fba6357, 0xf7a93ae0, 0x7fb9fa65, 0xf7a2f5ce, 0x7fb99125, 0xf79cb0c2,
+    0x7fb92796, 0xf7966bbb,
+  0x7fb8bdb8, 0xf79026b9, 0x7fb8538b, 0xf789e1bc, 0x7fb7e90f, 0xf7839cc4,
+    0x7fb77e45, 0xf77d57d2,
+  0x7fb7132b, 0xf77712e5, 0x7fb6a7c3, 0xf770cdfd, 0x7fb63c0d, 0xf76a891b,
+    0x7fb5d007, 0xf764443d,
+  0x7fb563b3, 0xf75dff66, 0x7fb4f710, 0xf757ba93, 0x7fb48a1e, 0xf75175c6,
+    0x7fb41cdd, 0xf74b30fe,
+  0x7fb3af4e, 0xf744ec3b, 0x7fb34170, 0xf73ea77e, 0x7fb2d343, 0xf73862c6,
+    0x7fb264c7, 0xf7321e14,
+  0x7fb1f5fc, 0xf72bd967, 0x7fb186e3, 0xf72594c0, 0x7fb1177b, 0xf71f501e,
+    0x7fb0a7c4, 0xf7190b81,
+  0x7fb037bf, 0xf712c6ea, 0x7fafc76a, 0xf70c8259, 0x7faf56c7, 0xf7063dcd,
+    0x7faee5d5, 0xf6fff946,
+  0x7fae7495, 0xf6f9b4c6, 0x7fae0305, 0xf6f3704a, 0x7fad9127, 0xf6ed2bd4,
+    0x7fad1efa, 0xf6e6e764,
+  0x7facac7f, 0xf6e0a2fa, 0x7fac39b4, 0xf6da5e95, 0x7fabc69b, 0xf6d41a36,
+    0x7fab5333, 0xf6cdd5dc,
+  0x7faadf7c, 0xf6c79188, 0x7faa6b77, 0xf6c14d3a, 0x7fa9f723, 0xf6bb08f1,
+    0x7fa98280, 0xf6b4c4ae,
+  0x7fa90d8e, 0xf6ae8071, 0x7fa8984e, 0xf6a83c3a, 0x7fa822bf, 0xf6a1f808,
+    0x7fa7ace1, 0xf69bb3dd,
+  0x7fa736b4, 0xf6956fb7, 0x7fa6c039, 0xf68f2b96, 0x7fa6496e, 0xf688e77c,
+    0x7fa5d256, 0xf682a367,
+  0x7fa55aee, 0xf67c5f59, 0x7fa4e338, 0xf6761b50, 0x7fa46b32, 0xf66fd74d,
+    0x7fa3f2df, 0xf6699350,
+  0x7fa37a3c, 0xf6634f59, 0x7fa3014b, 0xf65d0b68, 0x7fa2880b, 0xf656c77c,
+    0x7fa20e7c, 0xf6508397,
+  0x7fa1949e, 0xf64a3fb8, 0x7fa11a72, 0xf643fbdf, 0x7fa09ff7, 0xf63db80b,
+    0x7fa0252e, 0xf637743e,
+  0x7f9faa15, 0xf6313077, 0x7f9f2eae, 0xf62aecb5, 0x7f9eb2f8, 0xf624a8fa,
+    0x7f9e36f4, 0xf61e6545,
+  0x7f9dbaa0, 0xf6182196, 0x7f9d3dfe, 0xf611dded, 0x7f9cc10d, 0xf60b9a4b,
+    0x7f9c43ce, 0xf60556ae,
+  0x7f9bc640, 0xf5ff1318, 0x7f9b4863, 0xf5f8cf87, 0x7f9aca37, 0xf5f28bfd,
+    0x7f9a4bbd, 0xf5ec4879,
+  0x7f99ccf4, 0xf5e604fc, 0x7f994ddc, 0xf5dfc184, 0x7f98ce76, 0xf5d97e13,
+    0x7f984ec1, 0xf5d33aa8,
+  0x7f97cebd, 0xf5ccf743, 0x7f974e6a, 0xf5c6b3e5, 0x7f96cdc9, 0xf5c0708d,
+    0x7f964cd9, 0xf5ba2d3b,
+  0x7f95cb9a, 0xf5b3e9f0, 0x7f954a0d, 0xf5ada6ab, 0x7f94c831, 0xf5a7636c,
+    0x7f944606, 0xf5a12034,
+  0x7f93c38c, 0xf59add02, 0x7f9340c4, 0xf59499d6, 0x7f92bdad, 0xf58e56b1,
+    0x7f923a48, 0xf5881393,
+  0x7f91b694, 0xf581d07b, 0x7f913291, 0xf57b8d69, 0x7f90ae3f, 0xf5754a5e,
+    0x7f90299f, 0xf56f0759,
+  0x7f8fa4b0, 0xf568c45b, 0x7f8f1f72, 0xf5628163, 0x7f8e99e6, 0xf55c3e72,
+    0x7f8e140a, 0xf555fb88,
+  0x7f8d8de1, 0xf54fb8a4, 0x7f8d0768, 0xf54975c6, 0x7f8c80a1, 0xf54332ef,
+    0x7f8bf98b, 0xf53cf01f,
+  0x7f8b7227, 0xf536ad56, 0x7f8aea74, 0xf5306a93, 0x7f8a6272, 0xf52a27d7,
+    0x7f89da21, 0xf523e521,
+  0x7f895182, 0xf51da273, 0x7f88c894, 0xf5175fca, 0x7f883f58, 0xf5111d29,
+    0x7f87b5cd, 0xf50ada8f,
+  0x7f872bf3, 0xf50497fb, 0x7f86a1ca, 0xf4fe556e, 0x7f861753, 0xf4f812e7,
+    0x7f858c8d, 0xf4f1d068,
+  0x7f850179, 0xf4eb8def, 0x7f847616, 0xf4e54b7d, 0x7f83ea64, 0xf4df0912,
+    0x7f835e64, 0xf4d8c6ae,
+  0x7f82d214, 0xf4d28451, 0x7f824577, 0xf4cc41fb, 0x7f81b88a, 0xf4c5ffab,
+    0x7f812b4f, 0xf4bfbd63,
+  0x7f809dc5, 0xf4b97b21, 0x7f800fed, 0xf4b338e7, 0x7f7f81c6, 0xf4acf6b3,
+    0x7f7ef350, 0xf4a6b486,
+  0x7f7e648c, 0xf4a07261, 0x7f7dd579, 0xf49a3042, 0x7f7d4617, 0xf493ee2b,
+    0x7f7cb667, 0xf48dac1a,
+  0x7f7c2668, 0xf4876a10, 0x7f7b961b, 0xf481280e, 0x7f7b057e, 0xf47ae613,
+    0x7f7a7494, 0xf474a41f,
+  0x7f79e35a, 0xf46e6231, 0x7f7951d2, 0xf468204b, 0x7f78bffb, 0xf461de6d,
+    0x7f782dd6, 0xf45b9c95,
+  0x7f779b62, 0xf4555ac5, 0x7f77089f, 0xf44f18fb, 0x7f76758e, 0xf448d739,
+    0x7f75e22e, 0xf442957e,
+  0x7f754e80, 0xf43c53cb, 0x7f74ba83, 0xf436121e, 0x7f742637, 0xf42fd079,
+    0x7f73919d, 0xf4298edc,
+  0x7f72fcb4, 0xf4234d45, 0x7f72677c, 0xf41d0bb6, 0x7f71d1f6, 0xf416ca2e,
+    0x7f713c21, 0xf41088ae,
+  0x7f70a5fe, 0xf40a4735, 0x7f700f8c, 0xf40405c3, 0x7f6f78cb, 0xf3fdc459,
+    0x7f6ee1bc, 0xf3f782f6,
+  0x7f6e4a5e, 0xf3f1419a, 0x7f6db2b1, 0xf3eb0046, 0x7f6d1ab6, 0xf3e4bef9,
+    0x7f6c826d, 0xf3de7db4,
+  0x7f6be9d4, 0xf3d83c77, 0x7f6b50ed, 0xf3d1fb40, 0x7f6ab7b8, 0xf3cbba12,
+    0x7f6a1e34, 0xf3c578eb,
+  0x7f698461, 0xf3bf37cb, 0x7f68ea40, 0xf3b8f6b3, 0x7f684fd0, 0xf3b2b5a3,
+    0x7f67b512, 0xf3ac749a,
+  0x7f671a05, 0xf3a63398, 0x7f667ea9, 0xf39ff29f, 0x7f65e2ff, 0xf399b1ad,
+    0x7f654706, 0xf39370c2,
+  0x7f64aabf, 0xf38d2fe0, 0x7f640e29, 0xf386ef05, 0x7f637144, 0xf380ae31,
+    0x7f62d411, 0xf37a6d66,
+  0x7f62368f, 0xf3742ca2, 0x7f6198bf, 0xf36debe6, 0x7f60faa0, 0xf367ab31,
+    0x7f605c33, 0xf3616a85,
+  0x7f5fbd77, 0xf35b29e0, 0x7f5f1e6c, 0xf354e943, 0x7f5e7f13, 0xf34ea8ae,
+    0x7f5ddf6b, 0xf3486820,
+  0x7f5d3f75, 0xf342279b, 0x7f5c9f30, 0xf33be71d, 0x7f5bfe9d, 0xf335a6a7,
+    0x7f5b5dbb, 0xf32f6639,
+  0x7f5abc8a, 0xf32925d3, 0x7f5a1b0b, 0xf322e575, 0x7f59793e, 0xf31ca51f,
+    0x7f58d721, 0xf31664d1,
+  0x7f5834b7, 0xf310248a, 0x7f5791fd, 0xf309e44c, 0x7f56eef5, 0xf303a416,
+    0x7f564b9f, 0xf2fd63e8,
+  0x7f55a7fa, 0xf2f723c1, 0x7f550407, 0xf2f0e3a3, 0x7f545fc5, 0xf2eaa38d,
+    0x7f53bb34, 0xf2e4637f,
+  0x7f531655, 0xf2de2379, 0x7f527127, 0xf2d7e37b, 0x7f51cbab, 0xf2d1a385,
+    0x7f5125e0, 0xf2cb6398,
+  0x7f507fc7, 0xf2c523b2, 0x7f4fd95f, 0xf2bee3d5, 0x7f4f32a9, 0xf2b8a400,
+    0x7f4e8ba4, 0xf2b26433,
+  0x7f4de451, 0xf2ac246e, 0x7f4d3caf, 0xf2a5e4b1, 0x7f4c94be, 0xf29fa4fd,
+    0x7f4bec7f, 0xf2996551,
+  0x7f4b43f2, 0xf29325ad, 0x7f4a9b16, 0xf28ce612, 0x7f49f1eb, 0xf286a67e,
+    0x7f494872, 0xf28066f4,
+  0x7f489eaa, 0xf27a2771, 0x7f47f494, 0xf273e7f7, 0x7f474a30, 0xf26da885,
+    0x7f469f7d, 0xf267691b,
+  0x7f45f47b, 0xf26129ba, 0x7f45492b, 0xf25aea61, 0x7f449d8c, 0xf254ab11,
+    0x7f43f19f, 0xf24e6bc9,
+  0x7f434563, 0xf2482c8a, 0x7f4298d9, 0xf241ed53, 0x7f41ec01, 0xf23bae24,
+    0x7f413ed9, 0xf2356efe,
+  0x7f409164, 0xf22f2fe1, 0x7f3fe3a0, 0xf228f0cc, 0x7f3f358d, 0xf222b1c0,
+    0x7f3e872c, 0xf21c72bc,
+  0x7f3dd87c, 0xf21633c0, 0x7f3d297e, 0xf20ff4ce, 0x7f3c7a31, 0xf209b5e4,
+    0x7f3bca96, 0xf2037702,
+  0x7f3b1aad, 0xf1fd3829, 0x7f3a6a75, 0xf1f6f959, 0x7f39b9ee, 0xf1f0ba91,
+    0x7f390919, 0xf1ea7bd2,
+  0x7f3857f6, 0xf1e43d1c, 0x7f37a684, 0xf1ddfe6f, 0x7f36f4c3, 0xf1d7bfca,
+    0x7f3642b4, 0xf1d1812e,
+  0x7f359057, 0xf1cb429a, 0x7f34ddab, 0xf1c50410, 0x7f342ab1, 0xf1bec58e,
+    0x7f337768, 0xf1b88715,
+  0x7f32c3d1, 0xf1b248a5, 0x7f320feb, 0xf1ac0a3e, 0x7f315bb7, 0xf1a5cbdf,
+    0x7f30a734, 0xf19f8d89,
+  0x7f2ff263, 0xf1994f3d, 0x7f2f3d44, 0xf19310f9, 0x7f2e87d6, 0xf18cd2be,
+    0x7f2dd219, 0xf186948c,
+  0x7f2d1c0e, 0xf1805662, 0x7f2c65b5, 0xf17a1842, 0x7f2baf0d, 0xf173da2b,
+    0x7f2af817, 0xf16d9c1d,
+  0x7f2a40d2, 0xf1675e17, 0x7f29893f, 0xf161201b, 0x7f28d15d, 0xf15ae228,
+    0x7f28192d, 0xf154a43d,
+  0x7f2760af, 0xf14e665c, 0x7f26a7e2, 0xf1482884, 0x7f25eec7, 0xf141eab5,
+    0x7f25355d, 0xf13bacef,
+  0x7f247ba5, 0xf1356f32, 0x7f23c19e, 0xf12f317e, 0x7f230749, 0xf128f3d4,
+    0x7f224ca6, 0xf122b632,
+  0x7f2191b4, 0xf11c789a, 0x7f20d674, 0xf1163b0b, 0x7f201ae5, 0xf10ffd85,
+    0x7f1f5f08, 0xf109c009,
+  0x7f1ea2dc, 0xf1038295, 0x7f1de662, 0xf0fd452b, 0x7f1d299a, 0xf0f707ca,
+    0x7f1c6c83, 0xf0f0ca72,
+  0x7f1baf1e, 0xf0ea8d24, 0x7f1af16a, 0xf0e44fdf, 0x7f1a3368, 0xf0de12a3,
+    0x7f197518, 0xf0d7d571,
+  0x7f18b679, 0xf0d19848, 0x7f17f78c, 0xf0cb5b28, 0x7f173850, 0xf0c51e12,
+    0x7f1678c6, 0xf0bee105,
+  0x7f15b8ee, 0xf0b8a401, 0x7f14f8c7, 0xf0b26707, 0x7f143852, 0xf0ac2a16,
+    0x7f13778e, 0xf0a5ed2f,
+  0x7f12b67c, 0xf09fb051, 0x7f11f51c, 0xf099737d, 0x7f11336d, 0xf09336b2,
+    0x7f107170, 0xf08cf9f1,
+  0x7f0faf25, 0xf086bd39, 0x7f0eec8b, 0xf080808b, 0x7f0e29a3, 0xf07a43e7,
+    0x7f0d666c, 0xf074074c,
+  0x7f0ca2e7, 0xf06dcaba, 0x7f0bdf14, 0xf0678e32, 0x7f0b1af2, 0xf06151b4,
+    0x7f0a5682, 0xf05b1540,
+  0x7f0991c4, 0xf054d8d5, 0x7f08ccb7, 0xf04e9c73, 0x7f08075c, 0xf048601c,
+    0x7f0741b2, 0xf04223ce,
+  0x7f067bba, 0xf03be78a, 0x7f05b574, 0xf035ab4f, 0x7f04eedf, 0xf02f6f1f,
+    0x7f0427fc, 0xf02932f8,
+  0x7f0360cb, 0xf022f6da, 0x7f02994b, 0xf01cbac7, 0x7f01d17d, 0xf0167ebd,
+    0x7f010961, 0xf01042be,
+  0x7f0040f6, 0xf00a06c8, 0x7eff783d, 0xf003cadc, 0x7efeaf36, 0xeffd8ef9,
+    0x7efde5e0, 0xeff75321,
+  0x7efd1c3c, 0xeff11753, 0x7efc524a, 0xefeadb8e, 0x7efb8809, 0xefe49fd3,
+    0x7efabd7a, 0xefde6423,
+  0x7ef9f29d, 0xefd8287c, 0x7ef92771, 0xefd1ecdf, 0x7ef85bf7, 0xefcbb14c,
+    0x7ef7902f, 0xefc575c3,
+  0x7ef6c418, 0xefbf3a45, 0x7ef5f7b3, 0xefb8fed0, 0x7ef52b00, 0xefb2c365,
+    0x7ef45dfe, 0xefac8804,
+  0x7ef390ae, 0xefa64cae, 0x7ef2c310, 0xefa01161, 0x7ef1f524, 0xef99d61f,
+    0x7ef126e9, 0xef939ae6,
+  0x7ef05860, 0xef8d5fb8, 0x7eef8988, 0xef872494, 0x7eeeba62, 0xef80e97a,
+    0x7eedeaee, 0xef7aae6b,
+  0x7eed1b2c, 0xef747365, 0x7eec4b1b, 0xef6e386a, 0x7eeb7abc, 0xef67fd79,
+    0x7eeaaa0f, 0xef61c292,
+  0x7ee9d914, 0xef5b87b5, 0x7ee907ca, 0xef554ce3, 0x7ee83632, 0xef4f121b,
+    0x7ee7644c, 0xef48d75d,
+  0x7ee69217, 0xef429caa, 0x7ee5bf94, 0xef3c6201, 0x7ee4ecc3, 0xef362762,
+    0x7ee419a3, 0xef2feccd,
+  0x7ee34636, 0xef29b243, 0x7ee2727a, 0xef2377c4, 0x7ee19e6f, 0xef1d3d4e,
+    0x7ee0ca17, 0xef1702e4,
+  0x7edff570, 0xef10c883, 0x7edf207b, 0xef0a8e2d, 0x7ede4b38, 0xef0453e2,
+    0x7edd75a6, 0xeefe19a1,
+  0x7edc9fc6, 0xeef7df6a, 0x7edbc998, 0xeef1a53e, 0x7edaf31c, 0xeeeb6b1c,
+    0x7eda1c51, 0xeee53105,
+  0x7ed94538, 0xeedef6f9, 0x7ed86dd1, 0xeed8bcf7, 0x7ed7961c, 0xeed28300,
+    0x7ed6be18, 0xeecc4913,
+  0x7ed5e5c6, 0xeec60f31, 0x7ed50d26, 0xeebfd55a, 0x7ed43438, 0xeeb99b8d,
+    0x7ed35afb, 0xeeb361cb,
+  0x7ed28171, 0xeead2813, 0x7ed1a798, 0xeea6ee66, 0x7ed0cd70, 0xeea0b4c4,
+    0x7ecff2fb, 0xee9a7b2d,
+  0x7ecf1837, 0xee9441a0, 0x7ece3d25, 0xee8e081e, 0x7ecd61c5, 0xee87cea7,
+    0x7ecc8617, 0xee81953b,
+  0x7ecbaa1a, 0xee7b5bd9, 0x7ecacdd0, 0xee752283, 0x7ec9f137, 0xee6ee937,
+    0x7ec9144f, 0xee68aff6,
+  0x7ec8371a, 0xee6276bf, 0x7ec75996, 0xee5c3d94, 0x7ec67bc5, 0xee560473,
+    0x7ec59da5, 0xee4fcb5e,
+  0x7ec4bf36, 0xee499253, 0x7ec3e07a, 0xee435953, 0x7ec3016f, 0xee3d205e,
+    0x7ec22217, 0xee36e775,
+  0x7ec14270, 0xee30ae96, 0x7ec0627a, 0xee2a75c2, 0x7ebf8237, 0xee243cf9,
+    0x7ebea1a6, 0xee1e043b,
+  0x7ebdc0c6, 0xee17cb88, 0x7ebcdf98, 0xee1192e0, 0x7ebbfe1c, 0xee0b5a43,
+    0x7ebb1c52, 0xee0521b2,
+  0x7eba3a39, 0xedfee92b, 0x7eb957d2, 0xedf8b0b0, 0x7eb8751e, 0xedf2783f,
+    0x7eb7921b, 0xedec3fda,
+  0x7eb6aeca, 0xede60780, 0x7eb5cb2a, 0xeddfcf31, 0x7eb4e73d, 0xedd996ed,
+    0x7eb40301, 0xedd35eb5,
+  0x7eb31e78, 0xedcd2687, 0x7eb239a0, 0xedc6ee65, 0x7eb1547a, 0xedc0b64e,
+    0x7eb06f05, 0xedba7e43,
+  0x7eaf8943, 0xedb44642, 0x7eaea333, 0xedae0e4d, 0x7eadbcd4, 0xeda7d664,
+    0x7eacd627, 0xeda19e85,
+  0x7eabef2c, 0xed9b66b2, 0x7eab07e3, 0xed952eea, 0x7eaa204c, 0xed8ef72e,
+    0x7ea93867, 0xed88bf7d,
+  0x7ea85033, 0xed8287d7, 0x7ea767b2, 0xed7c503d, 0x7ea67ee2, 0xed7618ae,
+    0x7ea595c4, 0xed6fe12b,
+  0x7ea4ac58, 0xed69a9b3, 0x7ea3c29e, 0xed637246, 0x7ea2d896, 0xed5d3ae5,
+    0x7ea1ee3f, 0xed570390,
+  0x7ea1039b, 0xed50cc46, 0x7ea018a8, 0xed4a9507, 0x7e9f2d68, 0xed445dd5,
+    0x7e9e41d9, 0xed3e26ad,
+  0x7e9d55fc, 0xed37ef91, 0x7e9c69d1, 0xed31b881, 0x7e9b7d58, 0xed2b817d,
+    0x7e9a9091, 0xed254a84,
+  0x7e99a37c, 0xed1f1396, 0x7e98b618, 0xed18dcb5, 0x7e97c867, 0xed12a5df,
+    0x7e96da67, 0xed0c6f14,
+  0x7e95ec1a, 0xed063856, 0x7e94fd7e, 0xed0001a3, 0x7e940e94, 0xecf9cafb,
+    0x7e931f5c, 0xecf39460,
+  0x7e922fd6, 0xeced5dd0, 0x7e914002, 0xece7274c, 0x7e904fe0, 0xece0f0d4,
+    0x7e8f5f70, 0xecdaba67,
+  0x7e8e6eb2, 0xecd48407, 0x7e8d7da6, 0xecce4db2, 0x7e8c8c4b, 0xecc81769,
+    0x7e8b9aa3, 0xecc1e12c,
+  0x7e8aa8ac, 0xecbbaafb, 0x7e89b668, 0xecb574d5, 0x7e88c3d5, 0xecaf3ebc,
+    0x7e87d0f5, 0xeca908ae,
+  0x7e86ddc6, 0xeca2d2ad, 0x7e85ea49, 0xec9c9cb7, 0x7e84f67e, 0xec9666cd,
+    0x7e840265, 0xec9030f0,
+  0x7e830dff, 0xec89fb1e, 0x7e82194a, 0xec83c558, 0x7e812447, 0xec7d8f9e,
+    0x7e802ef6, 0xec7759f1,
+  0x7e7f3957, 0xec71244f, 0x7e7e436a, 0xec6aeeba, 0x7e7d4d2f, 0xec64b930,
+    0x7e7c56a5, 0xec5e83b3,
+  0x7e7b5fce, 0xec584e41, 0x7e7a68a9, 0xec5218dc, 0x7e797136, 0xec4be383,
+    0x7e787975, 0xec45ae36,
+  0x7e778166, 0xec3f78f6, 0x7e768908, 0xec3943c1, 0x7e75905d, 0xec330e99,
+    0x7e749764, 0xec2cd97d,
+  0x7e739e1d, 0xec26a46d, 0x7e72a488, 0xec206f69, 0x7e71aaa4, 0xec1a3a72,
+    0x7e70b073, 0xec140587,
+  0x7e6fb5f4, 0xec0dd0a8, 0x7e6ebb27, 0xec079bd6, 0x7e6dc00c, 0xec01670f,
+    0x7e6cc4a2, 0xebfb3256,
+  0x7e6bc8eb, 0xebf4fda8, 0x7e6acce6, 0xebeec907, 0x7e69d093, 0xebe89472,
+    0x7e68d3f2, 0xebe25fea,
+  0x7e67d703, 0xebdc2b6e, 0x7e66d9c6, 0xebd5f6fe, 0x7e65dc3b, 0xebcfc29b,
+    0x7e64de62, 0xebc98e45,
+  0x7e63e03b, 0xebc359fb, 0x7e62e1c6, 0xebbd25bd, 0x7e61e303, 0xebb6f18c,
+    0x7e60e3f2, 0xebb0bd67,
+  0x7e5fe493, 0xebaa894f, 0x7e5ee4e6, 0xeba45543, 0x7e5de4ec, 0xeb9e2144,
+    0x7e5ce4a3, 0xeb97ed52,
+  0x7e5be40c, 0xeb91b96c, 0x7e5ae328, 0xeb8b8593, 0x7e59e1f5, 0xeb8551c6,
+    0x7e58e075, 0xeb7f1e06,
+  0x7e57dea7, 0xeb78ea52, 0x7e56dc8a, 0xeb72b6ac, 0x7e55da20, 0xeb6c8312,
+    0x7e54d768, 0xeb664f84,
+  0x7e53d462, 0xeb601c04, 0x7e52d10e, 0xeb59e890, 0x7e51cd6c, 0xeb53b529,
+    0x7e50c97c, 0xeb4d81ce,
+  0x7e4fc53e, 0xeb474e81, 0x7e4ec0b2, 0xeb411b40, 0x7e4dbbd9, 0xeb3ae80c,
+    0x7e4cb6b1, 0xeb34b4e4,
+  0x7e4bb13c, 0xeb2e81ca, 0x7e4aab78, 0xeb284ebc, 0x7e49a567, 0xeb221bbb,
+    0x7e489f08, 0xeb1be8c8,
+  0x7e47985b, 0xeb15b5e1, 0x7e469160, 0xeb0f8307, 0x7e458a17, 0xeb095039,
+    0x7e448281, 0xeb031d79,
+  0x7e437a9c, 0xeafceac6, 0x7e427269, 0xeaf6b81f, 0x7e4169e9, 0xeaf08586,
+    0x7e40611b, 0xeaea52fa,
+  0x7e3f57ff, 0xeae4207a, 0x7e3e4e95, 0xeaddee08, 0x7e3d44dd, 0xead7bba3,
+    0x7e3c3ad7, 0xead1894b,
+  0x7e3b3083, 0xeacb56ff, 0x7e3a25e2, 0xeac524c1, 0x7e391af3, 0xeabef290,
+    0x7e380fb5, 0xeab8c06c,
+  0x7e37042a, 0xeab28e56, 0x7e35f851, 0xeaac5c4c, 0x7e34ec2b, 0xeaa62a4f,
+    0x7e33dfb6, 0xea9ff860,
+  0x7e32d2f4, 0xea99c67e, 0x7e31c5e3, 0xea9394a9, 0x7e30b885, 0xea8d62e1,
+    0x7e2faad9, 0xea873127,
+  0x7e2e9cdf, 0xea80ff7a, 0x7e2d8e97, 0xea7acdda, 0x7e2c8002, 0xea749c47,
+    0x7e2b711f, 0xea6e6ac2,
+  0x7e2a61ed, 0xea683949, 0x7e29526e, 0xea6207df, 0x7e2842a2, 0xea5bd681,
+    0x7e273287, 0xea55a531,
+  0x7e26221f, 0xea4f73ee, 0x7e251168, 0xea4942b9, 0x7e240064, 0xea431191,
+    0x7e22ef12, 0xea3ce077,
+  0x7e21dd73, 0xea36af69, 0x7e20cb85, 0xea307e6a, 0x7e1fb94a, 0xea2a4d78,
+    0x7e1ea6c1, 0xea241c93,
+  0x7e1d93ea, 0xea1debbb, 0x7e1c80c5, 0xea17baf2, 0x7e1b6d53, 0xea118a35,
+    0x7e1a5992, 0xea0b5987,
+  0x7e194584, 0xea0528e5, 0x7e183128, 0xe9fef852, 0x7e171c7f, 0xe9f8c7cc,
+    0x7e160787, 0xe9f29753,
+  0x7e14f242, 0xe9ec66e8, 0x7e13dcaf, 0xe9e6368b, 0x7e12c6ce, 0xe9e0063c,
+    0x7e11b0a0, 0xe9d9d5fa,
+  0x7e109a24, 0xe9d3a5c5, 0x7e0f835a, 0xe9cd759f, 0x7e0e6c42, 0xe9c74586,
+    0x7e0d54dc, 0xe9c1157a,
+  0x7e0c3d29, 0xe9bae57d, 0x7e0b2528, 0xe9b4b58d, 0x7e0a0cd9, 0xe9ae85ab,
+    0x7e08f43d, 0xe9a855d7,
+  0x7e07db52, 0xe9a22610, 0x7e06c21a, 0xe99bf658, 0x7e05a894, 0xe995c6ad,
+    0x7e048ec1, 0xe98f9710,
+  0x7e0374a0, 0xe9896781, 0x7e025a31, 0xe98337ff, 0x7e013f74, 0xe97d088c,
+    0x7e00246a, 0xe976d926,
+  0x7dff0911, 0xe970a9ce, 0x7dfded6c, 0xe96a7a85, 0x7dfcd178, 0xe9644b49,
+    0x7dfbb537, 0xe95e1c1b,
+  0x7dfa98a8, 0xe957ecfb, 0x7df97bcb, 0xe951bde9, 0x7df85ea0, 0xe94b8ee5,
+    0x7df74128, 0xe9455fef,
+  0x7df62362, 0xe93f3107, 0x7df5054f, 0xe939022d, 0x7df3e6ee, 0xe932d361,
+    0x7df2c83f, 0xe92ca4a4,
+  0x7df1a942, 0xe92675f4, 0x7df089f8, 0xe9204752, 0x7def6a60, 0xe91a18bf,
+    0x7dee4a7a, 0xe913ea39,
+  0x7ded2a47, 0xe90dbbc2, 0x7dec09c6, 0xe9078d59, 0x7deae8f7, 0xe9015efe,
+    0x7de9c7da, 0xe8fb30b1,
+  0x7de8a670, 0xe8f50273, 0x7de784b9, 0xe8eed443, 0x7de662b3, 0xe8e8a621,
+    0x7de54060, 0xe8e2780d,
+  0x7de41dc0, 0xe8dc4a07, 0x7de2fad1, 0xe8d61c10, 0x7de1d795, 0xe8cfee27,
+    0x7de0b40b, 0xe8c9c04c,
+  0x7ddf9034, 0xe8c39280, 0x7dde6c0f, 0xe8bd64c2, 0x7ddd479d, 0xe8b73712,
+    0x7ddc22dc, 0xe8b10971,
+  0x7ddafdce, 0xe8aadbde, 0x7dd9d873, 0xe8a4ae59, 0x7dd8b2ca, 0xe89e80e3,
+    0x7dd78cd3, 0xe898537b,
+  0x7dd6668f, 0xe8922622, 0x7dd53ffc, 0xe88bf8d7, 0x7dd4191d, 0xe885cb9a,
+    0x7dd2f1f0, 0xe87f9e6c,
+  0x7dd1ca75, 0xe879714d, 0x7dd0a2ac, 0xe873443c, 0x7dcf7a96, 0xe86d173a,
+    0x7dce5232, 0xe866ea46,
+  0x7dcd2981, 0xe860bd61, 0x7dcc0082, 0xe85a908a, 0x7dcad736, 0xe85463c2,
+    0x7dc9ad9c, 0xe84e3708,
+  0x7dc883b4, 0xe8480a5d, 0x7dc7597f, 0xe841ddc1, 0x7dc62efc, 0xe83bb133,
+    0x7dc5042b, 0xe83584b4,
+  0x7dc3d90d, 0xe82f5844, 0x7dc2ada2, 0xe8292be3, 0x7dc181e8, 0xe822ff90,
+    0x7dc055e2, 0xe81cd34b,
+  0x7dbf298d, 0xe816a716, 0x7dbdfceb, 0xe8107aef, 0x7dbccffc, 0xe80a4ed7,
+    0x7dbba2bf, 0xe80422ce,
+  0x7dba7534, 0xe7fdf6d4, 0x7db9475c, 0xe7f7cae8, 0x7db81936, 0xe7f19f0c,
+    0x7db6eac3, 0xe7eb733e,
+  0x7db5bc02, 0xe7e5477f, 0x7db48cf4, 0xe7df1bcf, 0x7db35d98, 0xe7d8f02d,
+    0x7db22def, 0xe7d2c49b,
+  0x7db0fdf8, 0xe7cc9917, 0x7dafcdb3, 0xe7c66da3, 0x7dae9d21, 0xe7c0423d,
+    0x7dad6c42, 0xe7ba16e7,
+  0x7dac3b15, 0xe7b3eb9f, 0x7dab099a, 0xe7adc066, 0x7da9d7d2, 0xe7a7953d,
+    0x7da8a5bc, 0xe7a16a22,
+  0x7da77359, 0xe79b3f16, 0x7da640a9, 0xe795141a, 0x7da50dab, 0xe78ee92c,
+    0x7da3da5f, 0xe788be4e,
+  0x7da2a6c6, 0xe782937e, 0x7da172df, 0xe77c68be, 0x7da03eab, 0xe7763e0d,
+    0x7d9f0a29, 0xe770136b,
+  0x7d9dd55a, 0xe769e8d8, 0x7d9ca03e, 0xe763be55, 0x7d9b6ad3, 0xe75d93e0,
+    0x7d9a351c, 0xe757697b,
+  0x7d98ff17, 0xe7513f25, 0x7d97c8c4, 0xe74b14de, 0x7d969224, 0xe744eaa6,
+    0x7d955b37, 0xe73ec07e,
+  0x7d9423fc, 0xe7389665, 0x7d92ec73, 0xe7326c5b, 0x7d91b49e, 0xe72c4260,
+    0x7d907c7a, 0xe7261875,
+  0x7d8f4409, 0xe71fee99, 0x7d8e0b4b, 0xe719c4cd, 0x7d8cd240, 0xe7139b10,
+    0x7d8b98e6, 0xe70d7162,
+  0x7d8a5f40, 0xe70747c4, 0x7d89254c, 0xe7011e35, 0x7d87eb0a, 0xe6faf4b5,
+    0x7d86b07c, 0xe6f4cb45,
+  0x7d85759f, 0xe6eea1e4, 0x7d843a76, 0xe6e87893, 0x7d82fefe, 0xe6e24f51,
+    0x7d81c33a, 0xe6dc261f,
+  0x7d808728, 0xe6d5fcfc, 0x7d7f4ac8, 0xe6cfd3e9, 0x7d7e0e1c, 0xe6c9aae5,
+    0x7d7cd121, 0xe6c381f1,
+  0x7d7b93da, 0xe6bd590d, 0x7d7a5645, 0xe6b73038, 0x7d791862, 0xe6b10772,
+    0x7d77da32, 0xe6aadebc,
+  0x7d769bb5, 0xe6a4b616, 0x7d755cea, 0xe69e8d80, 0x7d741dd2, 0xe69864f9,
+    0x7d72de6d, 0xe6923c82,
+  0x7d719eba, 0xe68c141a, 0x7d705eba, 0xe685ebc2, 0x7d6f1e6c, 0xe67fc37a,
+    0x7d6dddd2, 0xe6799b42,
+  0x7d6c9ce9, 0xe6737319, 0x7d6b5bb4, 0xe66d4b01, 0x7d6a1a31, 0xe66722f7,
+    0x7d68d860, 0xe660fafe,
+  0x7d679642, 0xe65ad315, 0x7d6653d7, 0xe654ab3b, 0x7d65111f, 0xe64e8371,
+    0x7d63ce19, 0xe6485bb7,
+  0x7d628ac6, 0xe642340d, 0x7d614725, 0xe63c0c73, 0x7d600338, 0xe635e4e9,
+    0x7d5ebefc, 0xe62fbd6e,
+  0x7d5d7a74, 0xe6299604, 0x7d5c359e, 0xe6236ea9, 0x7d5af07b, 0xe61d475e,
+    0x7d59ab0a, 0xe6172024,
+  0x7d58654d, 0xe610f8f9, 0x7d571f41, 0xe60ad1de, 0x7d55d8e9, 0xe604aad4,
+    0x7d549243, 0xe5fe83d9,
+  0x7d534b50, 0xe5f85cef, 0x7d520410, 0xe5f23614, 0x7d50bc82, 0xe5ec0f4a,
+    0x7d4f74a7, 0xe5e5e88f,
+  0x7d4e2c7f, 0xe5dfc1e5, 0x7d4ce409, 0xe5d99b4b, 0x7d4b9b46, 0xe5d374c1,
+    0x7d4a5236, 0xe5cd4e47,
+  0x7d4908d9, 0xe5c727dd, 0x7d47bf2e, 0xe5c10184, 0x7d467536, 0xe5badb3a,
+    0x7d452af1, 0xe5b4b501,
+  0x7d43e05e, 0xe5ae8ed8, 0x7d42957e, 0xe5a868bf, 0x7d414a51, 0xe5a242b7,
+    0x7d3ffed7, 0xe59c1cbf,
+  0x7d3eb30f, 0xe595f6d7, 0x7d3d66fa, 0xe58fd0ff, 0x7d3c1a98, 0xe589ab38,
+    0x7d3acde9, 0xe5838581,
+  0x7d3980ec, 0xe57d5fda, 0x7d3833a2, 0xe5773a44, 0x7d36e60b, 0xe57114be,
+    0x7d359827, 0xe56aef49,
+  0x7d3449f5, 0xe564c9e3, 0x7d32fb76, 0xe55ea48f, 0x7d31acaa, 0xe5587f4a,
+    0x7d305d91, 0xe5525a17,
+  0x7d2f0e2b, 0xe54c34f3, 0x7d2dbe77, 0xe5460fe0, 0x7d2c6e76, 0xe53feade,
+    0x7d2b1e28, 0xe539c5ec,
+  0x7d29cd8c, 0xe533a10a, 0x7d287ca4, 0xe52d7c39, 0x7d272b6e, 0xe5275779,
+    0x7d25d9eb, 0xe52132c9,
+  0x7d24881b, 0xe51b0e2a, 0x7d2335fe, 0xe514e99b, 0x7d21e393, 0xe50ec51d,
+    0x7d2090db, 0xe508a0b0,
+  0x7d1f3dd6, 0xe5027c53, 0x7d1dea84, 0xe4fc5807, 0x7d1c96e5, 0xe4f633cc,
+    0x7d1b42f9, 0xe4f00fa1,
+  0x7d19eebf, 0xe4e9eb87, 0x7d189a38, 0xe4e3c77d, 0x7d174564, 0xe4dda385,
+    0x7d15f043, 0xe4d77f9d,
+  0x7d149ad5, 0xe4d15bc6, 0x7d134519, 0xe4cb37ff, 0x7d11ef11, 0xe4c5144a,
+    0x7d1098bb, 0xe4bef0a5,
+  0x7d0f4218, 0xe4b8cd11, 0x7d0deb28, 0xe4b2a98e, 0x7d0c93eb, 0xe4ac861b,
+    0x7d0b3c60, 0xe4a662ba,
+  0x7d09e489, 0xe4a03f69, 0x7d088c64, 0xe49a1c29, 0x7d0733f3, 0xe493f8fb,
+    0x7d05db34, 0xe48dd5dd,
+  0x7d048228, 0xe487b2d0, 0x7d0328cf, 0xe4818fd4, 0x7d01cf29, 0xe47b6ce9,
+    0x7d007535, 0xe4754a0e,
+  0x7cff1af5, 0xe46f2745, 0x7cfdc068, 0xe469048d, 0x7cfc658d, 0xe462e1e6,
+    0x7cfb0a65, 0xe45cbf50,
+  0x7cf9aef0, 0xe4569ccb, 0x7cf8532f, 0xe4507a57, 0x7cf6f720, 0xe44a57f4,
+    0x7cf59ac4, 0xe44435a2,
+  0x7cf43e1a, 0xe43e1362, 0x7cf2e124, 0xe437f132, 0x7cf183e1, 0xe431cf14,
+    0x7cf02651, 0xe42bad07,
+  0x7ceec873, 0xe4258b0a, 0x7ced6a49, 0xe41f6920, 0x7cec0bd1, 0xe4194746,
+    0x7ceaad0c, 0xe413257d,
+  0x7ce94dfb, 0xe40d03c6, 0x7ce7ee9c, 0xe406e220, 0x7ce68ef0, 0xe400c08b,
+    0x7ce52ef7, 0xe3fa9f08,
+  0x7ce3ceb2, 0xe3f47d96, 0x7ce26e1f, 0xe3ee5c35, 0x7ce10d3f, 0xe3e83ae5,
+    0x7cdfac12, 0xe3e219a7,
+  0x7cde4a98, 0xe3dbf87a, 0x7cdce8d1, 0xe3d5d75e, 0x7cdb86bd, 0xe3cfb654,
+    0x7cda245c, 0xe3c9955b,
+  0x7cd8c1ae, 0xe3c37474, 0x7cd75eb3, 0xe3bd539e, 0x7cd5fb6a, 0xe3b732d9,
+    0x7cd497d5, 0xe3b11226,
+  0x7cd333f3, 0xe3aaf184, 0x7cd1cfc4, 0xe3a4d0f4, 0x7cd06b48, 0xe39eb075,
+    0x7ccf067f, 0xe3989008,
+  0x7ccda169, 0xe3926fad, 0x7ccc3c06, 0xe38c4f63, 0x7ccad656, 0xe3862f2a,
+    0x7cc97059, 0xe3800f03,
+  0x7cc80a0f, 0xe379eeed, 0x7cc6a378, 0xe373ceea, 0x7cc53c94, 0xe36daef7,
+    0x7cc3d563, 0xe3678f17,
+  0x7cc26de5, 0xe3616f48, 0x7cc1061a, 0xe35b4f8b, 0x7cbf9e03, 0xe3552fdf,
+    0x7cbe359e, 0xe34f1045,
+  0x7cbcccec, 0xe348f0bd, 0x7cbb63ee, 0xe342d146, 0x7cb9faa2, 0xe33cb1e1,
+    0x7cb8910a, 0xe336928e,
+  0x7cb72724, 0xe330734d, 0x7cb5bcf2, 0xe32a541d, 0x7cb45272, 0xe3243500,
+    0x7cb2e7a6, 0xe31e15f4,
+  0x7cb17c8d, 0xe317f6fa, 0x7cb01127, 0xe311d811, 0x7caea574, 0xe30bb93b,
+    0x7cad3974, 0xe3059a76,
+  0x7cabcd28, 0xe2ff7bc3, 0x7caa608e, 0xe2f95d23, 0x7ca8f3a7, 0xe2f33e94,
+    0x7ca78674, 0xe2ed2017,
+  0x7ca618f3, 0xe2e701ac, 0x7ca4ab26, 0xe2e0e352, 0x7ca33d0c, 0xe2dac50b,
+    0x7ca1cea5, 0xe2d4a6d6,
+  0x7ca05ff1, 0xe2ce88b3, 0x7c9ef0f0, 0xe2c86aa2, 0x7c9d81a3, 0xe2c24ca2,
+    0x7c9c1208, 0xe2bc2eb5,
+  0x7c9aa221, 0xe2b610da, 0x7c9931ec, 0xe2aff311, 0x7c97c16b, 0xe2a9d55a,
+    0x7c96509d, 0xe2a3b7b5,
+  0x7c94df83, 0xe29d9a23, 0x7c936e1b, 0xe2977ca2, 0x7c91fc66, 0xe2915f34,
+    0x7c908a65, 0xe28b41d7,
+  0x7c8f1817, 0xe285248d, 0x7c8da57c, 0xe27f0755, 0x7c8c3294, 0xe278ea30,
+    0x7c8abf5f, 0xe272cd1c,
+  0x7c894bde, 0xe26cb01b, 0x7c87d810, 0xe266932c, 0x7c8663f4, 0xe260764f,
+    0x7c84ef8c, 0xe25a5984,
+  0x7c837ad8, 0xe2543ccc, 0x7c8205d6, 0xe24e2026, 0x7c809088, 0xe2480393,
+    0x7c7f1aed, 0xe241e711,
+  0x7c7da505, 0xe23bcaa2, 0x7c7c2ed0, 0xe235ae46, 0x7c7ab84e, 0xe22f91fc,
+    0x7c794180, 0xe22975c4,
+  0x7c77ca65, 0xe223599e, 0x7c7652fd, 0xe21d3d8b, 0x7c74db48, 0xe217218b,
+    0x7c736347, 0xe211059d,
+  0x7c71eaf9, 0xe20ae9c1, 0x7c70725e, 0xe204cdf8, 0x7c6ef976, 0xe1feb241,
+    0x7c6d8041, 0xe1f8969d,
+  0x7c6c06c0, 0xe1f27b0b, 0x7c6a8cf2, 0xe1ec5f8c, 0x7c6912d7, 0xe1e64420,
+    0x7c679870, 0xe1e028c6,
+  0x7c661dbc, 0xe1da0d7e, 0x7c64a2bb, 0xe1d3f24a, 0x7c63276d, 0xe1cdd727,
+    0x7c61abd3, 0xe1c7bc18,
+  0x7c602fec, 0xe1c1a11b, 0x7c5eb3b8, 0xe1bb8631, 0x7c5d3737, 0xe1b56b59,
+    0x7c5bba6a, 0xe1af5094,
+  0x7c5a3d50, 0xe1a935e2, 0x7c58bfe9, 0xe1a31b42, 0x7c574236, 0xe19d00b6,
+    0x7c55c436, 0xe196e63c,
+  0x7c5445e9, 0xe190cbd4, 0x7c52c74f, 0xe18ab180, 0x7c514869, 0xe184973e,
+    0x7c4fc936, 0xe17e7d0f,
+  0x7c4e49b7, 0xe17862f3, 0x7c4cc9ea, 0xe17248ea, 0x7c4b49d2, 0xe16c2ef4,
+    0x7c49c96c, 0xe1661510,
+  0x7c4848ba, 0xe15ffb3f, 0x7c46c7bb, 0xe159e182, 0x7c45466f, 0xe153c7d7,
+    0x7c43c4d7, 0xe14dae3f,
+  0x7c4242f2, 0xe14794ba, 0x7c40c0c1, 0xe1417b48, 0x7c3f3e42, 0xe13b61e9,
+    0x7c3dbb78, 0xe135489d,
+  0x7c3c3860, 0xe12f2f63, 0x7c3ab4fc, 0xe129163d, 0x7c39314b, 0xe122fd2a,
+    0x7c37ad4e, 0xe11ce42a,
+  0x7c362904, 0xe116cb3d, 0x7c34a46d, 0xe110b263, 0x7c331f8a, 0xe10a999c,
+    0x7c319a5a, 0xe10480e9,
+  0x7c3014de, 0xe0fe6848, 0x7c2e8f15, 0xe0f84fbb, 0x7c2d08ff, 0xe0f23740,
+    0x7c2b829d, 0xe0ec1ed9,
+  0x7c29fbee, 0xe0e60685, 0x7c2874f3, 0xe0dfee44, 0x7c26edab, 0xe0d9d616,
+    0x7c256616, 0xe0d3bdfc,
+  0x7c23de35, 0xe0cda5f5, 0x7c225607, 0xe0c78e01, 0x7c20cd8d, 0xe0c17620,
+    0x7c1f44c6, 0xe0bb5e53,
+  0x7c1dbbb3, 0xe0b54698, 0x7c1c3253, 0xe0af2ef2, 0x7c1aa8a6, 0xe0a9175e,
+    0x7c191ead, 0xe0a2ffde,
+  0x7c179467, 0xe09ce871, 0x7c1609d5, 0xe096d117, 0x7c147ef6, 0xe090b9d1,
+    0x7c12f3cb, 0xe08aa29f,
+  0x7c116853, 0xe0848b7f, 0x7c0fdc8f, 0xe07e7473, 0x7c0e507e, 0xe0785d7b,
+    0x7c0cc421, 0xe0724696,
+  0x7c0b3777, 0xe06c2fc4, 0x7c09aa80, 0xe0661906, 0x7c081d3d, 0xe060025c,
+    0x7c068fae, 0xe059ebc5,
+  0x7c0501d2, 0xe053d541, 0x7c0373a9, 0xe04dbed1, 0x7c01e534, 0xe047a875,
+    0x7c005673, 0xe041922c,
+  0x7bfec765, 0xe03b7bf6, 0x7bfd380a, 0xe03565d5, 0x7bfba863, 0xe02f4fc6,
+    0x7bfa1870, 0xe02939cc,
+  0x7bf88830, 0xe02323e5, 0x7bf6f7a4, 0xe01d0e12, 0x7bf566cb, 0xe016f852,
+    0x7bf3d5a6, 0xe010e2a7,
+  0x7bf24434, 0xe00acd0e, 0x7bf0b276, 0xe004b78a, 0x7bef206b, 0xdffea219,
+    0x7bed8e14, 0xdff88cbc,
+  0x7bebfb70, 0xdff27773, 0x7bea6880, 0xdfec623e, 0x7be8d544, 0xdfe64d1c,
+    0x7be741bb, 0xdfe0380e,
+  0x7be5ade6, 0xdfda2314, 0x7be419c4, 0xdfd40e2e, 0x7be28556, 0xdfcdf95c,
+    0x7be0f09b, 0xdfc7e49d,
+  0x7bdf5b94, 0xdfc1cff3, 0x7bddc641, 0xdfbbbb5c, 0x7bdc30a1, 0xdfb5a6d9,
+    0x7bda9ab5, 0xdfaf926a,
+  0x7bd9047c, 0xdfa97e0f, 0x7bd76df7, 0xdfa369c8, 0x7bd5d726, 0xdf9d5595,
+    0x7bd44008, 0xdf974176,
+  0x7bd2a89e, 0xdf912d6b, 0x7bd110e8, 0xdf8b1974, 0x7bcf78e5, 0xdf850591,
+    0x7bcde095, 0xdf7ef1c2,
+  0x7bcc47fa, 0xdf78de07, 0x7bcaaf12, 0xdf72ca60, 0x7bc915dd, 0xdf6cb6cd,
+    0x7bc77c5d, 0xdf66a34e,
+  0x7bc5e290, 0xdf608fe4, 0x7bc44876, 0xdf5a7c8d, 0x7bc2ae10, 0xdf54694b,
+    0x7bc1135e, 0xdf4e561c,
+  0x7bbf7860, 0xdf484302, 0x7bbddd15, 0xdf422ffd, 0x7bbc417e, 0xdf3c1d0b,
+    0x7bbaa59a, 0xdf360a2d,
+  0x7bb9096b, 0xdf2ff764, 0x7bb76cef, 0xdf29e4af, 0x7bb5d026, 0xdf23d20e,
+    0x7bb43311, 0xdf1dbf82,
+  0x7bb295b0, 0xdf17ad0a, 0x7bb0f803, 0xdf119aa6, 0x7baf5a09, 0xdf0b8856,
+    0x7badbbc3, 0xdf05761b,
+  0x7bac1d31, 0xdeff63f4, 0x7baa7e53, 0xdef951e2, 0x7ba8df28, 0xdef33fe3,
+    0x7ba73fb1, 0xdeed2dfa,
+  0x7ba59fee, 0xdee71c24, 0x7ba3ffde, 0xdee10a63, 0x7ba25f82, 0xdedaf8b7,
+    0x7ba0beda, 0xded4e71f,
+  0x7b9f1de6, 0xdeced59b, 0x7b9d7ca5, 0xdec8c42c, 0x7b9bdb18, 0xdec2b2d1,
+    0x7b9a393f, 0xdebca18b,
+  0x7b989719, 0xdeb69059, 0x7b96f4a8, 0xdeb07f3c, 0x7b9551ea, 0xdeaa6e34,
+    0x7b93aee0, 0xdea45d40,
+  0x7b920b89, 0xde9e4c60, 0x7b9067e7, 0xde983b95, 0x7b8ec3f8, 0xde922adf,
+    0x7b8d1fbd, 0xde8c1a3e,
+  0x7b8b7b36, 0xde8609b1, 0x7b89d662, 0xde7ff938, 0x7b883143, 0xde79e8d5,
+    0x7b868bd7, 0xde73d886,
+  0x7b84e61f, 0xde6dc84b, 0x7b83401b, 0xde67b826, 0x7b8199ca, 0xde61a815,
+    0x7b7ff32e, 0xde5b9819,
+  0x7b7e4c45, 0xde558831, 0x7b7ca510, 0xde4f785f, 0x7b7afd8f, 0xde4968a1,
+    0x7b7955c2, 0xde4358f8,
+  0x7b77ada8, 0xde3d4964, 0x7b760542, 0xde3739e4, 0x7b745c91, 0xde312a7a,
+    0x7b72b393, 0xde2b1b24,
+  0x7b710a49, 0xde250be3, 0x7b6f60b2, 0xde1efcb7, 0x7b6db6d0, 0xde18eda0,
+    0x7b6c0ca2, 0xde12de9e,
+  0x7b6a6227, 0xde0ccfb1, 0x7b68b760, 0xde06c0d9, 0x7b670c4d, 0xde00b216,
+    0x7b6560ee, 0xddfaa367,
+  0x7b63b543, 0xddf494ce, 0x7b62094c, 0xddee8649, 0x7b605d09, 0xdde877da,
+    0x7b5eb079, 0xdde26980,
+  0x7b5d039e, 0xdddc5b3b, 0x7b5b5676, 0xddd64d0a, 0x7b59a902, 0xddd03eef,
+    0x7b57fb42, 0xddca30e9,
+  0x7b564d36, 0xddc422f8, 0x7b549ede, 0xddbe151d, 0x7b52f03a, 0xddb80756,
+    0x7b51414a, 0xddb1f9a4,
+  0x7b4f920e, 0xddabec08, 0x7b4de286, 0xdda5de81, 0x7b4c32b1, 0xdd9fd10f,
+    0x7b4a8291, 0xdd99c3b2,
+  0x7b48d225, 0xdd93b66a, 0x7b47216c, 0xdd8da938, 0x7b457068, 0xdd879c1b,
+    0x7b43bf17, 0xdd818f13,
+  0x7b420d7a, 0xdd7b8220, 0x7b405b92, 0xdd757543, 0x7b3ea95d, 0xdd6f687b,
+    0x7b3cf6dc, 0xdd695bc9,
+  0x7b3b4410, 0xdd634f2b, 0x7b3990f7, 0xdd5d42a3, 0x7b37dd92, 0xdd573631,
+    0x7b3629e1, 0xdd5129d4,
+  0x7b3475e5, 0xdd4b1d8c, 0x7b32c19c, 0xdd451159, 0x7b310d07, 0xdd3f053c,
+    0x7b2f5826, 0xdd38f935,
+  0x7b2da2fa, 0xdd32ed43, 0x7b2bed81, 0xdd2ce166, 0x7b2a37bc, 0xdd26d59f,
+    0x7b2881ac, 0xdd20c9ed,
+  0x7b26cb4f, 0xdd1abe51, 0x7b2514a6, 0xdd14b2ca, 0x7b235db2, 0xdd0ea759,
+    0x7b21a671, 0xdd089bfe,
+  0x7b1feee5, 0xdd0290b8, 0x7b1e370d, 0xdcfc8588, 0x7b1c7ee8, 0xdcf67a6d,
+    0x7b1ac678, 0xdcf06f68,
+  0x7b190dbc, 0xdcea6478, 0x7b1754b3, 0xdce4599e, 0x7b159b5f, 0xdcde4eda,
+    0x7b13e1bf, 0xdcd8442b,
+  0x7b1227d3, 0xdcd23993, 0x7b106d9b, 0xdccc2f0f, 0x7b0eb318, 0xdcc624a2,
+    0x7b0cf848, 0xdcc01a4a,
+  0x7b0b3d2c, 0xdcba1008, 0x7b0981c5, 0xdcb405dc, 0x7b07c612, 0xdcadfbc5,
+    0x7b060a12, 0xdca7f1c5,
+  0x7b044dc7, 0xdca1e7da, 0x7b029130, 0xdc9bde05, 0x7b00d44d, 0xdc95d446,
+    0x7aff171e, 0xdc8fca9c,
+  0x7afd59a4, 0xdc89c109, 0x7afb9bdd, 0xdc83b78b, 0x7af9ddcb, 0xdc7dae23,
+    0x7af81f6c, 0xdc77a4d2,
+  0x7af660c2, 0xdc719b96, 0x7af4a1cc, 0xdc6b9270, 0x7af2e28b, 0xdc658960,
+    0x7af122fd, 0xdc5f8066,
+  0x7aef6323, 0xdc597781, 0x7aeda2fe, 0xdc536eb3, 0x7aebe28d, 0xdc4d65fb,
+    0x7aea21d0, 0xdc475d59,
+  0x7ae860c7, 0xdc4154cd, 0x7ae69f73, 0xdc3b4c57, 0x7ae4ddd2, 0xdc3543f7,
+    0x7ae31be6, 0xdc2f3bad,
+  0x7ae159ae, 0xdc293379, 0x7adf972a, 0xdc232b5c, 0x7addd45b, 0xdc1d2354,
+    0x7adc113f, 0xdc171b63,
+  0x7ada4dd8, 0xdc111388, 0x7ad88a25, 0xdc0b0bc2, 0x7ad6c626, 0xdc050414,
+    0x7ad501dc, 0xdbfefc7b,
+  0x7ad33d45, 0xdbf8f4f8, 0x7ad17863, 0xdbf2ed8c, 0x7acfb336, 0xdbece636,
+    0x7acdedbc, 0xdbe6def6,
+  0x7acc27f7, 0xdbe0d7cd, 0x7aca61e6, 0xdbdad0b9, 0x7ac89b89, 0xdbd4c9bc,
+    0x7ac6d4e0, 0xdbcec2d6,
+  0x7ac50dec, 0xdbc8bc06, 0x7ac346ac, 0xdbc2b54c, 0x7ac17f20, 0xdbbcaea8,
+    0x7abfb749, 0xdbb6a81b,
+  0x7abdef25, 0xdbb0a1a4, 0x7abc26b7, 0xdbaa9b43, 0x7aba5dfc, 0xdba494f9,
+    0x7ab894f6, 0xdb9e8ec6,
+  0x7ab6cba4, 0xdb9888a8, 0x7ab50206, 0xdb9282a2, 0x7ab3381d, 0xdb8c7cb1,
+    0x7ab16de7, 0xdb8676d8,
+  0x7aafa367, 0xdb807114, 0x7aadd89a, 0xdb7a6b68, 0x7aac0d82, 0xdb7465d1,
+    0x7aaa421e, 0xdb6e6052,
+  0x7aa8766f, 0xdb685ae9, 0x7aa6aa74, 0xdb625596, 0x7aa4de2d, 0xdb5c505a,
+    0x7aa3119a, 0xdb564b35,
+  0x7aa144bc, 0xdb504626, 0x7a9f7793, 0xdb4a412e, 0x7a9daa1d, 0xdb443c4c,
+    0x7a9bdc5c, 0xdb3e3781,
+  0x7a9a0e50, 0xdb3832cd, 0x7a983ff7, 0xdb322e30, 0x7a967153, 0xdb2c29a9,
+    0x7a94a264, 0xdb262539,
+  0x7a92d329, 0xdb2020e0, 0x7a9103a2, 0xdb1a1c9d, 0x7a8f33d0, 0xdb141871,
+    0x7a8d63b2, 0xdb0e145c,
+  0x7a8b9348, 0xdb08105e, 0x7a89c293, 0xdb020c77, 0x7a87f192, 0xdafc08a6,
+    0x7a862046, 0xdaf604ec,
+  0x7a844eae, 0xdaf00149, 0x7a827ccb, 0xdae9fdbd, 0x7a80aa9c, 0xdae3fa48,
+    0x7a7ed821, 0xdaddf6ea,
+  0x7a7d055b, 0xdad7f3a2, 0x7a7b3249, 0xdad1f072, 0x7a795eec, 0xdacbed58,
+    0x7a778b43, 0xdac5ea56,
+  0x7a75b74f, 0xdabfe76a, 0x7a73e30f, 0xdab9e495, 0x7a720e84, 0xdab3e1d8,
+    0x7a7039ad, 0xdaaddf31,
+  0x7a6e648a, 0xdaa7dca1, 0x7a6c8f1c, 0xdaa1da29, 0x7a6ab963, 0xda9bd7c7,
+    0x7a68e35e, 0xda95d57d,
+  0x7a670d0d, 0xda8fd349, 0x7a653671, 0xda89d12d, 0x7a635f8a, 0xda83cf28,
+    0x7a618857, 0xda7dcd3a,
+  0x7a5fb0d8, 0xda77cb63, 0x7a5dd90e, 0xda71c9a3, 0x7a5c00f9, 0xda6bc7fa,
+    0x7a5a2898, 0xda65c669,
+  0x7a584feb, 0xda5fc4ef, 0x7a5676f3, 0xda59c38c, 0x7a549db0, 0xda53c240,
+    0x7a52c421, 0xda4dc10b,
+  0x7a50ea47, 0xda47bfee, 0x7a4f1021, 0xda41bee8, 0x7a4d35b0, 0xda3bbdf9,
+    0x7a4b5af3, 0xda35bd22,
+  0x7a497feb, 0xda2fbc61, 0x7a47a498, 0xda29bbb9, 0x7a45c8f9, 0xda23bb27,
+    0x7a43ed0e, 0xda1dbaad,
+  0x7a4210d8, 0xda17ba4a, 0x7a403457, 0xda11b9ff, 0x7a3e578b, 0xda0bb9cb,
+    0x7a3c7a73, 0xda05b9ae,
+  0x7a3a9d0f, 0xd9ffb9a9, 0x7a38bf60, 0xd9f9b9bb, 0x7a36e166, 0xd9f3b9e5,
+    0x7a350321, 0xd9edba26,
+  0x7a332490, 0xd9e7ba7f, 0x7a3145b3, 0xd9e1baef, 0x7a2f668c, 0xd9dbbb77,
+    0x7a2d8719, 0xd9d5bc16,
+  0x7a2ba75a, 0xd9cfbccd, 0x7a29c750, 0xd9c9bd9b, 0x7a27e6fb, 0xd9c3be81,
+    0x7a26065b, 0xd9bdbf7e,
+  0x7a24256f, 0xd9b7c094, 0x7a224437, 0xd9b1c1c0, 0x7a2062b5, 0xd9abc305,
+    0x7a1e80e7, 0xd9a5c461,
+  0x7a1c9ece, 0xd99fc5d4, 0x7a1abc69, 0xd999c75f, 0x7a18d9b9, 0xd993c902,
+    0x7a16f6be, 0xd98dcabd,
+  0x7a151378, 0xd987cc90, 0x7a132fe6, 0xd981ce7a, 0x7a114c09, 0xd97bd07c,
+    0x7a0f67e0, 0xd975d295,
+  0x7a0d836d, 0xd96fd4c7, 0x7a0b9eae, 0xd969d710, 0x7a09b9a4, 0xd963d971,
+    0x7a07d44e, 0xd95ddbea,
+  0x7a05eead, 0xd957de7a, 0x7a0408c1, 0xd951e123, 0x7a02228a, 0xd94be3e3,
+    0x7a003c07, 0xd945e6bb,
+  0x79fe5539, 0xd93fe9ab, 0x79fc6e20, 0xd939ecb3, 0x79fa86bc, 0xd933efd3,
+    0x79f89f0c, 0xd92df30b,
+  0x79f6b711, 0xd927f65b, 0x79f4cecb, 0xd921f9c3, 0x79f2e63a, 0xd91bfd43,
+    0x79f0fd5d, 0xd91600da,
+  0x79ef1436, 0xd910048a, 0x79ed2ac3, 0xd90a0852, 0x79eb4105, 0xd9040c32,
+    0x79e956fb, 0xd8fe1029,
+  0x79e76ca7, 0xd8f81439, 0x79e58207, 0xd8f21861, 0x79e3971c, 0xd8ec1ca1,
+    0x79e1abe6, 0xd8e620fa,
+  0x79dfc064, 0xd8e0256a, 0x79ddd498, 0xd8da29f2, 0x79dbe880, 0xd8d42e93,
+    0x79d9fc1d, 0xd8ce334c,
+  0x79d80f6f, 0xd8c8381d, 0x79d62276, 0xd8c23d06, 0x79d43532, 0xd8bc4207,
+    0x79d247a2, 0xd8b64720,
+  0x79d059c8, 0xd8b04c52, 0x79ce6ba2, 0xd8aa519c, 0x79cc7d31, 0xd8a456ff,
+    0x79ca8e75, 0xd89e5c79,
+  0x79c89f6e, 0xd898620c, 0x79c6b01b, 0xd89267b7, 0x79c4c07e, 0xd88c6d7b,
+    0x79c2d095, 0xd8867356,
+  0x79c0e062, 0xd880794b, 0x79beefe3, 0xd87a7f57, 0x79bcff19, 0xd874857c,
+    0x79bb0e04, 0xd86e8bb9,
+  0x79b91ca4, 0xd868920f, 0x79b72af9, 0xd862987d, 0x79b53903, 0xd85c9f04,
+    0x79b346c2, 0xd856a5a3,
+  0x79b15435, 0xd850ac5a, 0x79af615e, 0xd84ab32a, 0x79ad6e3c, 0xd844ba13,
+    0x79ab7ace, 0xd83ec114,
+  0x79a98715, 0xd838c82d, 0x79a79312, 0xd832cf5f, 0x79a59ec3, 0xd82cd6aa,
+    0x79a3aa29, 0xd826de0d,
+  0x79a1b545, 0xd820e589, 0x799fc015, 0xd81aed1d, 0x799dca9a, 0xd814f4ca,
+    0x799bd4d4, 0xd80efc8f,
+  0x7999dec4, 0xd809046e, 0x7997e868, 0xd8030c64, 0x7995f1c1, 0xd7fd1474,
+    0x7993facf, 0xd7f71c9c,
+  0x79920392, 0xd7f124dd, 0x79900c0a, 0xd7eb2d37, 0x798e1438, 0xd7e535a9,
+    0x798c1c1a, 0xd7df3e34,
+  0x798a23b1, 0xd7d946d8, 0x79882afd, 0xd7d34f94, 0x798631ff, 0xd7cd586a,
+    0x798438b5, 0xd7c76158,
+  0x79823f20, 0xd7c16a5f, 0x79804541, 0xd7bb737f, 0x797e4b16, 0xd7b57cb7,
+    0x797c50a1, 0xd7af8609,
+  0x797a55e0, 0xd7a98f73, 0x79785ad5, 0xd7a398f6, 0x79765f7f, 0xd79da293,
+    0x797463de, 0xd797ac48,
+  0x797267f2, 0xd791b616, 0x79706bbb, 0xd78bbffc, 0x796e6f39, 0xd785c9fc,
+    0x796c726c, 0xd77fd415,
+  0x796a7554, 0xd779de47, 0x796877f1, 0xd773e892, 0x79667a44, 0xd76df2f6,
+    0x79647c4c, 0xd767fd72,
+  0x79627e08, 0xd7620808, 0x79607f7a, 0xd75c12b7, 0x795e80a1, 0xd7561d7f,
+    0x795c817d, 0xd7502860,
+  0x795a820e, 0xd74a335b, 0x79588255, 0xd7443e6e, 0x79568250, 0xd73e499a,
+    0x79548201, 0xd73854e0,
+  0x79528167, 0xd732603f, 0x79508082, 0xd72c6bb6, 0x794e7f52, 0xd7267748,
+    0x794c7dd7, 0xd72082f2,
+  0x794a7c12, 0xd71a8eb5, 0x79487a01, 0xd7149a92, 0x794677a6, 0xd70ea688,
+    0x79447500, 0xd708b297,
+  0x79427210, 0xd702bec0, 0x79406ed4, 0xd6fccb01, 0x793e6b4e, 0xd6f6d75d,
+    0x793c677d, 0xd6f0e3d1,
+  0x793a6361, 0xd6eaf05f, 0x79385efa, 0xd6e4fd06, 0x79365a49, 0xd6df09c6,
+    0x7934554d, 0xd6d916a0,
+  0x79325006, 0xd6d32393, 0x79304a74, 0xd6cd30a0, 0x792e4497, 0xd6c73dc6,
+    0x792c3e70, 0xd6c14b05,
+  0x792a37fe, 0xd6bb585e, 0x79283141, 0xd6b565d0, 0x79262a3a, 0xd6af735c,
+    0x792422e8, 0xd6a98101,
+  0x79221b4b, 0xd6a38ec0, 0x79201363, 0xd69d9c98, 0x791e0b31, 0xd697aa8a,
+    0x791c02b4, 0xd691b895,
+  0x7919f9ec, 0xd68bc6ba, 0x7917f0d9, 0xd685d4f9, 0x7915e77c, 0xd67fe351,
+    0x7913ddd4, 0xd679f1c2,
+  0x7911d3e2, 0xd674004e, 0x790fc9a4, 0xd66e0ef2, 0x790dbf1d, 0xd6681db1,
+    0x790bb44a, 0xd6622c89,
+  0x7909a92d, 0xd65c3b7b, 0x79079dc5, 0xd6564a87, 0x79059212, 0xd65059ac,
+    0x79038615, 0xd64a68eb,
+  0x790179cd, 0xd6447844, 0x78ff6d3b, 0xd63e87b6, 0x78fd605d, 0xd6389742,
+    0x78fb5336, 0xd632a6e8,
+  0x78f945c3, 0xd62cb6a8, 0x78f73806, 0xd626c681, 0x78f529fe, 0xd620d675,
+    0x78f31bac, 0xd61ae682,
+  0x78f10d0f, 0xd614f6a9, 0x78eefe28, 0xd60f06ea, 0x78eceef6, 0xd6091745,
+    0x78eadf79, 0xd60327b9,
+  0x78e8cfb2, 0xd5fd3848, 0x78e6bfa0, 0xd5f748f0, 0x78e4af44, 0xd5f159b3,
+    0x78e29e9d, 0xd5eb6a8f,
+  0x78e08dab, 0xd5e57b85, 0x78de7c6f, 0xd5df8c96, 0x78dc6ae8, 0xd5d99dc0,
+    0x78da5917, 0xd5d3af04,
+  0x78d846fb, 0xd5cdc062, 0x78d63495, 0xd5c7d1db, 0x78d421e4, 0xd5c1e36d,
+    0x78d20ee9, 0xd5bbf519,
+  0x78cffba3, 0xd5b606e0, 0x78cde812, 0xd5b018c0, 0x78cbd437, 0xd5aa2abb,
+    0x78c9c012, 0xd5a43cd0,
+  0x78c7aba2, 0xd59e4eff, 0x78c596e7, 0xd5986148, 0x78c381e2, 0xd59273ab,
+    0x78c16c93, 0xd58c8628,
+  0x78bf56f9, 0xd58698c0, 0x78bd4114, 0xd580ab72, 0x78bb2ae5, 0xd57abe3d,
+    0x78b9146c, 0xd574d124,
+  0x78b6fda8, 0xd56ee424, 0x78b4e69a, 0xd568f73f, 0x78b2cf41, 0xd5630a74,
+    0x78b0b79e, 0xd55d1dc3,
+  0x78ae9fb0, 0xd557312d, 0x78ac8778, 0xd55144b0, 0x78aa6ef5, 0xd54b584f,
+    0x78a85628, 0xd5456c07,
+  0x78a63d11, 0xd53f7fda, 0x78a423af, 0xd53993c7, 0x78a20a03, 0xd533a7cf,
+    0x789ff00c, 0xd52dbbf1,
+  0x789dd5cb, 0xd527d02e, 0x789bbb3f, 0xd521e484, 0x7899a06a, 0xd51bf8f6,
+    0x78978549, 0xd5160d82,
+  0x789569df, 0xd5102228, 0x78934e2a, 0xd50a36e9, 0x7891322a, 0xd5044bc4,
+    0x788f15e0, 0xd4fe60ba,
+  0x788cf94c, 0xd4f875ca, 0x788adc6e, 0xd4f28af5, 0x7888bf45, 0xd4eca03a,
+    0x7886a1d1, 0xd4e6b59a,
+  0x78848414, 0xd4e0cb15, 0x7882660c, 0xd4dae0aa, 0x788047ba, 0xd4d4f65a,
+    0x787e291d, 0xd4cf0c24,
+  0x787c0a36, 0xd4c92209, 0x7879eb05, 0xd4c33809, 0x7877cb89, 0xd4bd4e23,
+    0x7875abc3, 0xd4b76458,
+  0x78738bb3, 0xd4b17aa8, 0x78716b59, 0xd4ab9112, 0x786f4ab4, 0xd4a5a798,
+    0x786d29c5, 0xd49fbe37,
+  0x786b088c, 0xd499d4f2, 0x7868e708, 0xd493ebc8, 0x7866c53a, 0xd48e02b8,
+    0x7864a322, 0xd48819c3,
+  0x786280bf, 0xd48230e9, 0x78605e13, 0xd47c4829, 0x785e3b1c, 0xd4765f85,
+    0x785c17db, 0xd47076fb,
+  0x7859f44f, 0xd46a8e8d, 0x7857d079, 0xd464a639, 0x7855ac5a, 0xd45ebe00,
+    0x785387ef, 0xd458d5e2,
+  0x7851633b, 0xd452eddf, 0x784f3e3c, 0xd44d05f6, 0x784d18f4, 0xd4471e29,
+    0x784af361, 0xd4413677,
+  0x7848cd83, 0xd43b4ee0, 0x7846a75c, 0xd4356763, 0x784480ea, 0xd42f8002,
+    0x78425a2f, 0xd42998bc,
+  0x78403329, 0xd423b191, 0x783e0bd9, 0xd41dca81, 0x783be43e, 0xd417e38c,
+    0x7839bc5a, 0xd411fcb2,
+  0x7837942b, 0xd40c15f3, 0x78356bb2, 0xd4062f4f, 0x783342ef, 0xd40048c6,
+    0x783119e2, 0xd3fa6259,
+  0x782ef08b, 0xd3f47c06, 0x782cc6ea, 0xd3ee95cf, 0x782a9cfe, 0xd3e8afb3,
+    0x782872c8, 0xd3e2c9b2,
+  0x78264849, 0xd3dce3cd, 0x78241d7f, 0xd3d6fe03, 0x7821f26b, 0xd3d11853,
+    0x781fc70d, 0xd3cb32c0,
+  0x781d9b65, 0xd3c54d47, 0x781b6f72, 0xd3bf67ea, 0x78194336, 0xd3b982a8,
+    0x781716b0, 0xd3b39d81,
+  0x7814e9df, 0xd3adb876, 0x7812bcc4, 0xd3a7d385, 0x78108f60, 0xd3a1eeb1,
+    0x780e61b1, 0xd39c09f7,
+  0x780c33b8, 0xd396255a, 0x780a0575, 0xd39040d7, 0x7807d6e9, 0xd38a5c70,
+    0x7805a812, 0xd3847824,
+  0x780378f1, 0xd37e93f4, 0x78014986, 0xd378afdf, 0x77ff19d1, 0xd372cbe6,
+    0x77fce9d2, 0xd36ce808,
+  0x77fab989, 0xd3670446, 0x77f888f6, 0xd361209f, 0x77f65819, 0xd35b3d13,
+    0x77f426f2, 0xd35559a4,
+  0x77f1f581, 0xd34f764f, 0x77efc3c5, 0xd3499317, 0x77ed91c0, 0xd343affa,
+    0x77eb5f71, 0xd33dccf8,
+  0x77e92cd9, 0xd337ea12, 0x77e6f9f6, 0xd3320748, 0x77e4c6c9, 0xd32c2499,
+    0x77e29352, 0xd3264206,
+  0x77e05f91, 0xd3205f8f, 0x77de2b86, 0xd31a7d33, 0x77dbf732, 0xd3149af3,
+    0x77d9c293, 0xd30eb8cf,
+  0x77d78daa, 0xd308d6c7, 0x77d55878, 0xd302f4da, 0x77d322fc, 0xd2fd1309,
+    0x77d0ed35, 0xd2f73154,
+  0x77ceb725, 0xd2f14fba, 0x77cc80cb, 0xd2eb6e3c, 0x77ca4a27, 0xd2e58cdb,
+    0x77c81339, 0xd2dfab95,
+  0x77c5dc01, 0xd2d9ca6a, 0x77c3a47f, 0xd2d3e95c, 0x77c16cb4, 0xd2ce0869,
+    0x77bf349f, 0xd2c82793,
+  0x77bcfc3f, 0xd2c246d8, 0x77bac396, 0xd2bc6639, 0x77b88aa3, 0xd2b685b6,
+    0x77b65166, 0xd2b0a54f,
+  0x77b417df, 0xd2aac504, 0x77b1de0f, 0xd2a4e4d5, 0x77afa3f5, 0xd29f04c2,
+    0x77ad6990, 0xd29924cb,
+  0x77ab2ee2, 0xd29344f0, 0x77a8f3ea, 0xd28d6531, 0x77a6b8a9, 0xd287858e,
+    0x77a47d1d, 0xd281a607,
+  0x77a24148, 0xd27bc69c, 0x77a00529, 0xd275e74d, 0x779dc8c0, 0xd270081b,
+    0x779b8c0e, 0xd26a2904,
+  0x77994f11, 0xd2644a0a, 0x779711cb, 0xd25e6b2b, 0x7794d43b, 0xd2588c69,
+    0x77929661, 0xd252adc3,
+  0x7790583e, 0xd24ccf39, 0x778e19d0, 0xd246f0cb, 0x778bdb19, 0xd241127a,
+    0x77899c19, 0xd23b3444,
+  0x77875cce, 0xd235562b, 0x77851d3a, 0xd22f782f, 0x7782dd5c, 0xd2299a4e,
+    0x77809d35, 0xd223bc8a,
+  0x777e5cc3, 0xd21ddee2, 0x777c1c08, 0xd2180156, 0x7779db03, 0xd21223e7,
+    0x777799b5, 0xd20c4694,
+  0x7775581d, 0xd206695d, 0x7773163b, 0xd2008c43, 0x7770d40f, 0xd1faaf45,
+    0x776e919a, 0xd1f4d263,
+  0x776c4edb, 0xd1eef59e, 0x776a0bd3, 0xd1e918f5, 0x7767c880, 0xd1e33c69,
+    0x776584e5, 0xd1dd5ff9,
+  0x776340ff, 0xd1d783a6, 0x7760fcd0, 0xd1d1a76f, 0x775eb857, 0xd1cbcb54,
+    0x775c7395, 0xd1c5ef56,
+  0x775a2e89, 0xd1c01375, 0x7757e933, 0xd1ba37b0, 0x7755a394, 0xd1b45c08,
+    0x77535dab, 0xd1ae807c,
+  0x77511778, 0xd1a8a50d, 0x774ed0fc, 0xd1a2c9ba, 0x774c8a36, 0xd19cee84,
+    0x774a4327, 0xd197136b,
+  0x7747fbce, 0xd191386e, 0x7745b42c, 0xd18b5d8e, 0x77436c40, 0xd18582ca,
+    0x7741240a, 0xd17fa823,
+  0x773edb8b, 0xd179cd99, 0x773c92c2, 0xd173f32c, 0x773a49b0, 0xd16e18db,
+    0x77380054, 0xd1683ea7,
+  0x7735b6af, 0xd1626490, 0x77336cc0, 0xd15c8a95, 0x77312287, 0xd156b0b7,
+    0x772ed805, 0xd150d6f6,
+  0x772c8d3a, 0xd14afd52, 0x772a4225, 0xd14523cb, 0x7727f6c6, 0xd13f4a60,
+    0x7725ab1f, 0xd1397113,
+  0x77235f2d, 0xd13397e2, 0x772112f2, 0xd12dbece, 0x771ec66e, 0xd127e5d7,
+    0x771c79a0, 0xd1220cfc,
+  0x771a2c88, 0xd11c343f, 0x7717df27, 0xd1165b9f, 0x7715917d, 0xd110831b,
+    0x77134389, 0xd10aaab5,
+  0x7710f54c, 0xd104d26b, 0x770ea6c5, 0xd0fefa3f, 0x770c57f5, 0xd0f9222f,
+    0x770a08dc, 0xd0f34a3d,
+  0x7707b979, 0xd0ed7267, 0x770569cc, 0xd0e79aaf, 0x770319d6, 0xd0e1c313,
+    0x7700c997, 0xd0dbeb95,
+  0x76fe790e, 0xd0d61434, 0x76fc283c, 0xd0d03cf0, 0x76f9d721, 0xd0ca65c9,
+    0x76f785bc, 0xd0c48ebf,
+  0x76f5340e, 0xd0beb7d2, 0x76f2e216, 0xd0b8e102, 0x76f08fd5, 0xd0b30a50,
+    0x76ee3d4b, 0xd0ad33ba,
+  0x76ebea77, 0xd0a75d42, 0x76e9975a, 0xd0a186e7, 0x76e743f4, 0xd09bb0aa,
+    0x76e4f044, 0xd095da89,
+  0x76e29c4b, 0xd0900486, 0x76e04808, 0xd08a2ea0, 0x76ddf37c, 0xd08458d7,
+    0x76db9ea7, 0xd07e832c,
+  0x76d94989, 0xd078ad9e, 0x76d6f421, 0xd072d82d, 0x76d49e70, 0xd06d02da,
+    0x76d24876, 0xd0672da3,
+  0x76cff232, 0xd061588b, 0x76cd9ba5, 0xd05b838f, 0x76cb44cf, 0xd055aeb1,
+    0x76c8edb0, 0xd04fd9f1,
+  0x76c69647, 0xd04a054e, 0x76c43e95, 0xd04430c8, 0x76c1e699, 0xd03e5c60,
+    0x76bf8e55, 0xd0388815,
+  0x76bd35c7, 0xd032b3e7, 0x76badcf0, 0xd02cdfd8, 0x76b883d0, 0xd0270be5,
+    0x76b62a66, 0xd0213810,
+  0x76b3d0b4, 0xd01b6459, 0x76b176b8, 0xd01590bf, 0x76af1c72, 0xd00fbd43,
+    0x76acc1e4, 0xd009e9e4,
+  0x76aa670d, 0xd00416a3, 0x76a80bec, 0xcffe4380, 0x76a5b082, 0xcff8707a,
+    0x76a354cf, 0xcff29d92,
+  0x76a0f8d2, 0xcfeccac7, 0x769e9c8d, 0xcfe6f81a, 0x769c3ffe, 0xcfe1258b,
+    0x7699e326, 0xcfdb531a,
+  0x76978605, 0xcfd580c6, 0x7695289b, 0xcfcfae8f, 0x7692cae8, 0xcfc9dc77,
+    0x76906ceb, 0xcfc40a7c,
+  0x768e0ea6, 0xcfbe389f, 0x768bb017, 0xcfb866e0, 0x7689513f, 0xcfb2953f,
+    0x7686f21e, 0xcfacc3bb,
+  0x768492b4, 0xcfa6f255, 0x76823301, 0xcfa1210d, 0x767fd304, 0xcf9b4fe3,
+    0x767d72bf, 0xcf957ed7,
+  0x767b1231, 0xcf8fade9, 0x7678b159, 0xcf89dd18, 0x76765038, 0xcf840c65,
+    0x7673eecf, 0xcf7e3bd1,
+  0x76718d1c, 0xcf786b5a, 0x766f2b20, 0xcf729b01, 0x766cc8db, 0xcf6ccac6,
+    0x766a664d, 0xcf66faa9,
+  0x76680376, 0xcf612aaa, 0x7665a056, 0xcf5b5ac9, 0x76633ced, 0xcf558b06,
+    0x7660d93b, 0xcf4fbb61,
+  0x765e7540, 0xcf49ebda, 0x765c10fc, 0xcf441c71, 0x7659ac6f, 0xcf3e4d26,
+    0x76574798, 0xcf387dfa,
+  0x7654e279, 0xcf32aeeb, 0x76527d11, 0xcf2cdffa, 0x76501760, 0xcf271128,
+    0x764db166, 0xcf214274,
+  0x764b4b23, 0xcf1b73de, 0x7648e497, 0xcf15a566, 0x76467dc2, 0xcf0fd70c,
+    0x764416a4, 0xcf0a08d0,
+  0x7641af3d, 0xcf043ab3, 0x763f478d, 0xcefe6cb3, 0x763cdf94, 0xcef89ed2,
+    0x763a7752, 0xcef2d110,
+  0x76380ec8, 0xceed036b, 0x7635a5f4, 0xcee735e5, 0x76333cd8, 0xcee1687d,
+    0x7630d372, 0xcedb9b33,
+  0x762e69c4, 0xced5ce08, 0x762bffcd, 0xced000fb, 0x7629958c, 0xceca340c,
+    0x76272b03, 0xcec4673c,
+  0x7624c031, 0xcebe9a8a, 0x76225517, 0xceb8cdf7, 0x761fe9b3, 0xceb30181,
+    0x761d7e06, 0xcead352b,
+  0x761b1211, 0xcea768f2, 0x7618a5d3, 0xcea19cd8, 0x7616394c, 0xce9bd0dd,
+    0x7613cc7c, 0xce960500,
+  0x76115f63, 0xce903942, 0x760ef201, 0xce8a6da2, 0x760c8457, 0xce84a220,
+    0x760a1664, 0xce7ed6bd,
+  0x7607a828, 0xce790b79, 0x760539a3, 0xce734053, 0x7602cad5, 0xce6d754c,
+    0x76005bbf, 0xce67aa63,
+  0x75fdec60, 0xce61df99, 0x75fb7cb8, 0xce5c14ed, 0x75f90cc7, 0xce564a60,
+    0x75f69c8d, 0xce507ff2,
+  0x75f42c0b, 0xce4ab5a2, 0x75f1bb40, 0xce44eb71, 0x75ef4a2c, 0xce3f215f,
+    0x75ecd8cf, 0xce39576c,
+  0x75ea672a, 0xce338d97, 0x75e7f53c, 0xce2dc3e1, 0x75e58305, 0xce27fa49,
+    0x75e31086, 0xce2230d0,
+  0x75e09dbd, 0xce1c6777, 0x75de2aac, 0xce169e3b, 0x75dbb753, 0xce10d51f,
+    0x75d943b0, 0xce0b0c21,
+  0x75d6cfc5, 0xce054343, 0x75d45b92, 0xcdff7a83, 0x75d1e715, 0xcdf9b1e2,
+    0x75cf7250, 0xcdf3e95f,
+  0x75ccfd42, 0xcdee20fc, 0x75ca87ec, 0xcde858b8, 0x75c8124d, 0xcde29092,
+    0x75c59c65, 0xcddcc88b,
+  0x75c32634, 0xcdd700a4, 0x75c0afbb, 0xcdd138db, 0x75be38fa, 0xcdcb7131,
+    0x75bbc1ef, 0xcdc5a9a6,
+  0x75b94a9c, 0xcdbfe23a, 0x75b6d301, 0xcdba1aee, 0x75b45b1d, 0xcdb453c0,
+    0x75b1e2f0, 0xcdae8cb1,
+  0x75af6a7b, 0xcda8c5c1, 0x75acf1bd, 0xcda2fef0, 0x75aa78b6, 0xcd9d383f,
+    0x75a7ff67, 0xcd9771ac,
+  0x75a585cf, 0xcd91ab39, 0x75a30bef, 0xcd8be4e4, 0x75a091c6, 0xcd861eaf,
+    0x759e1755, 0xcd805899,
+  0x759b9c9b, 0xcd7a92a2, 0x75992198, 0xcd74ccca, 0x7596a64d, 0xcd6f0711,
+    0x75942ab9, 0xcd694178,
+  0x7591aedd, 0xcd637bfe, 0x758f32b9, 0xcd5db6a3, 0x758cb64c, 0xcd57f167,
+    0x758a3996, 0xcd522c4a,
+  0x7587bc98, 0xcd4c674d, 0x75853f51, 0xcd46a26f, 0x7582c1c2, 0xcd40ddb0,
+    0x758043ea, 0xcd3b1911,
+  0x757dc5ca, 0xcd355491, 0x757b4762, 0xcd2f9030, 0x7578c8b0, 0xcd29cbee,
+    0x757649b7, 0xcd2407cc,
+  0x7573ca75, 0xcd1e43ca, 0x75714aea, 0xcd187fe6, 0x756ecb18, 0xcd12bc22,
+    0x756c4afc, 0xcd0cf87e,
+  0x7569ca99, 0xcd0734f9, 0x756749ec, 0xcd017193, 0x7564c8f8, 0xccfbae4d,
+    0x756247bb, 0xccf5eb26,
+  0x755fc635, 0xccf0281f, 0x755d4467, 0xccea6538, 0x755ac251, 0xcce4a26f,
+    0x75583ff3, 0xccdedfc7,
+  0x7555bd4c, 0xccd91d3d, 0x75533a5c, 0xccd35ad4, 0x7550b725, 0xcccd988a,
+    0x754e33a4, 0xccc7d65f,
+  0x754bafdc, 0xccc21455, 0x75492bcb, 0xccbc5269, 0x7546a772, 0xccb6909e,
+    0x754422d0, 0xccb0cef2,
+  0x75419de7, 0xccab0d65, 0x753f18b4, 0xcca54bf9, 0x753c933a, 0xcc9f8aac,
+    0x753a0d77, 0xcc99c97e,
+  0x7537876c, 0xcc940871, 0x75350118, 0xcc8e4783, 0x75327a7d, 0xcc8886b5,
+    0x752ff399, 0xcc82c607,
+  0x752d6c6c, 0xcc7d0578, 0x752ae4f8, 0xcc774509, 0x75285d3b, 0xcc7184ba,
+    0x7525d536, 0xcc6bc48b,
+  0x75234ce8, 0xcc66047b, 0x7520c453, 0xcc60448c, 0x751e3b75, 0xcc5a84bc,
+    0x751bb24f, 0xcc54c50c,
+  0x751928e0, 0xcc4f057c, 0x75169f2a, 0xcc49460c, 0x7514152b, 0xcc4386bc,
+    0x75118ae4, 0xcc3dc78b,
+  0x750f0054, 0xcc38087b, 0x750c757d, 0xcc32498a, 0x7509ea5d, 0xcc2c8aba,
+    0x75075ef5, 0xcc26cc09,
+  0x7504d345, 0xcc210d79, 0x7502474d, 0xcc1b4f08, 0x74ffbb0d, 0xcc1590b8,
+    0x74fd2e84, 0xcc0fd287,
+  0x74faa1b3, 0xcc0a1477, 0x74f8149a, 0xcc045686, 0x74f58739, 0xcbfe98b6,
+    0x74f2f990, 0xcbf8db05,
+  0x74f06b9e, 0xcbf31d75, 0x74eddd65, 0xcbed6005, 0x74eb4ee3, 0xcbe7a2b5,
+    0x74e8c01a, 0xcbe1e585,
+  0x74e63108, 0xcbdc2876, 0x74e3a1ae, 0xcbd66b86, 0x74e1120c, 0xcbd0aeb7,
+    0x74de8221, 0xcbcaf208,
+  0x74dbf1ef, 0xcbc53579, 0x74d96175, 0xcbbf790a, 0x74d6d0b2, 0xcbb9bcbb,
+    0x74d43fa8, 0xcbb4008d,
+  0x74d1ae55, 0xcbae447f, 0x74cf1cbb, 0xcba88891, 0x74cc8ad8, 0xcba2ccc4,
+    0x74c9f8ad, 0xcb9d1117,
+  0x74c7663a, 0xcb97558a, 0x74c4d380, 0xcb919a1d, 0x74c2407d, 0xcb8bded1,
+    0x74bfad32, 0xcb8623a5,
+  0x74bd199f, 0xcb80689a, 0x74ba85c4, 0xcb7aadaf, 0x74b7f1a1, 0xcb74f2e4,
+    0x74b55d36, 0xcb6f383a,
+  0x74b2c884, 0xcb697db0, 0x74b03389, 0xcb63c347, 0x74ad9e46, 0xcb5e08fe,
+    0x74ab08bb, 0xcb584ed6,
+  0x74a872e8, 0xcb5294ce, 0x74a5dccd, 0xcb4cdae6, 0x74a3466b, 0xcb47211f,
+    0x74a0afc0, 0xcb416779,
+  0x749e18cd, 0xcb3badf3, 0x749b8193, 0xcb35f48d, 0x7498ea11, 0xcb303b49,
+    0x74965246, 0xcb2a8224,
+  0x7493ba34, 0xcb24c921, 0x749121da, 0xcb1f103e, 0x748e8938, 0xcb19577b,
+    0x748bf04d, 0xcb139ed9,
+  0x7489571c, 0xcb0de658, 0x7486bda2, 0xcb082df8, 0x748423e0, 0xcb0275b8,
+    0x748189d7, 0xcafcbd99,
+  0x747eef85, 0xcaf7059a, 0x747c54ec, 0xcaf14dbd, 0x7479ba0b, 0xcaeb9600,
+    0x74771ee2, 0xcae5de64,
+  0x74748371, 0xcae026e8, 0x7471e7b8, 0xcada6f8d, 0x746f4bb8, 0xcad4b853,
+    0x746caf70, 0xcacf013a,
+  0x746a12df, 0xcac94a42, 0x74677608, 0xcac3936b, 0x7464d8e8, 0xcabddcb4,
+    0x74623b80, 0xcab8261e,
+  0x745f9dd1, 0xcab26fa9, 0x745cffda, 0xcaacb955, 0x745a619b, 0xcaa70322,
+    0x7457c314, 0xcaa14d10,
+  0x74552446, 0xca9b971e, 0x74528530, 0xca95e14e, 0x744fe5d2, 0xca902b9f,
+    0x744d462c, 0xca8a7610,
+  0x744aa63f, 0xca84c0a3, 0x7448060a, 0xca7f0b56, 0x7445658d, 0xca79562b,
+    0x7442c4c8, 0xca73a120,
+  0x744023bc, 0xca6dec37, 0x743d8268, 0xca68376e, 0x743ae0cc, 0xca6282c7,
+    0x74383ee9, 0xca5cce40,
+  0x74359cbd, 0xca5719db, 0x7432fa4b, 0xca516597, 0x74305790, 0xca4bb174,
+    0x742db48e, 0xca45fd72,
+  0x742b1144, 0xca404992, 0x74286db3, 0xca3a95d2, 0x7425c9da, 0xca34e234,
+    0x742325b9, 0xca2f2eb6,
+  0x74208150, 0xca297b5a, 0x741ddca0, 0xca23c820, 0x741b37a9, 0xca1e1506,
+    0x74189269, 0xca18620e,
+  0x7415ece2, 0xca12af37, 0x74134714, 0xca0cfc81, 0x7410a0fe, 0xca0749ec,
+    0x740dfaa0, 0xca019779,
+  0x740b53fb, 0xc9fbe527, 0x7408ad0e, 0xc9f632f6, 0x740605d9, 0xc9f080e7,
+    0x74035e5d, 0xc9eacef9,
+  0x7400b69a, 0xc9e51d2d, 0x73fe0e8f, 0xc9df6b81, 0x73fb663c, 0xc9d9b9f7,
+    0x73f8bda2, 0xc9d4088f,
+  0x73f614c0, 0xc9ce5748, 0x73f36b97, 0xc9c8a622, 0x73f0c226, 0xc9c2f51e,
+    0x73ee186e, 0xc9bd443c,
+  0x73eb6e6e, 0xc9b7937a, 0x73e8c426, 0xc9b1e2db, 0x73e61997, 0xc9ac325d,
+    0x73e36ec1, 0xc9a68200,
+  0x73e0c3a3, 0xc9a0d1c5, 0x73de183e, 0xc99b21ab, 0x73db6c91, 0xc99571b3,
+    0x73d8c09d, 0xc98fc1dc,
+  0x73d61461, 0xc98a1227, 0x73d367de, 0xc9846294, 0x73d0bb13, 0xc97eb322,
+    0x73ce0e01, 0xc97903d2,
+  0x73cb60a8, 0xc97354a4, 0x73c8b307, 0xc96da597, 0x73c6051f, 0xc967f6ac,
+    0x73c356ef, 0xc96247e2,
+  0x73c0a878, 0xc95c993a, 0x73bdf9b9, 0xc956eab4, 0x73bb4ab3, 0xc9513c50,
+    0x73b89b66, 0xc94b8e0d,
+  0x73b5ebd1, 0xc945dfec, 0x73b33bf5, 0xc94031ed, 0x73b08bd1, 0xc93a8410,
+    0x73addb67, 0xc934d654,
+  0x73ab2ab4, 0xc92f28ba, 0x73a879bb, 0xc9297b42, 0x73a5c87a, 0xc923cdec,
+    0x73a316f2, 0xc91e20b8,
+  0x73a06522, 0xc91873a5, 0x739db30b, 0xc912c6b5, 0x739b00ad, 0xc90d19e6,
+    0x73984e07, 0xc9076d39,
+  0x73959b1b, 0xc901c0ae, 0x7392e7e6, 0xc8fc1445, 0x7390346b, 0xc8f667fe,
+    0x738d80a8, 0xc8f0bbd9,
+  0x738acc9e, 0xc8eb0fd6, 0x7388184d, 0xc8e563f5, 0x738563b5, 0xc8dfb836,
+    0x7382aed5, 0xc8da0c99,
+  0x737ff9ae, 0xc8d4611d, 0x737d4440, 0xc8ceb5c4, 0x737a8e8a, 0xc8c90a8d,
+    0x7377d88d, 0xc8c35f78,
+  0x73752249, 0xc8bdb485, 0x73726bbe, 0xc8b809b4, 0x736fb4ec, 0xc8b25f06,
+    0x736cfdd2, 0xc8acb479,
+  0x736a4671, 0xc8a70a0e, 0x73678ec9, 0xc8a15fc6, 0x7364d6da, 0xc89bb5a0,
+    0x73621ea4, 0xc8960b9c,
+  0x735f6626, 0xc89061ba, 0x735cad61, 0xc88ab7fa, 0x7359f456, 0xc8850e5d,
+    0x73573b03, 0xc87f64e2,
+  0x73548168, 0xc879bb89, 0x7351c787, 0xc8741252, 0x734f0d5f, 0xc86e693d,
+    0x734c52ef, 0xc868c04b,
+  0x73499838, 0xc863177b, 0x7346dd3a, 0xc85d6ece, 0x734421f6, 0xc857c642,
+    0x7341666a, 0xc8521dd9,
+  0x733eaa96, 0xc84c7593, 0x733bee7c, 0xc846cd6e, 0x7339321b, 0xc841256d,
+    0x73367572, 0xc83b7d8d,
+  0x7333b883, 0xc835d5d0, 0x7330fb4d, 0xc8302e35, 0x732e3dcf, 0xc82a86bd,
+    0x732b800a, 0xc824df67,
+  0x7328c1ff, 0xc81f3834, 0x732603ac, 0xc8199123, 0x73234512, 0xc813ea35,
+    0x73208632, 0xc80e4369,
+  0x731dc70a, 0xc8089cbf, 0x731b079b, 0xc802f638, 0x731847e5, 0xc7fd4fd4,
+    0x731587e8, 0xc7f7a992,
+  0x7312c7a5, 0xc7f20373, 0x7310071a, 0xc7ec5d76, 0x730d4648, 0xc7e6b79c,
+    0x730a8530, 0xc7e111e5,
+  0x7307c3d0, 0xc7db6c50, 0x73050229, 0xc7d5c6de, 0x7302403c, 0xc7d0218e,
+    0x72ff7e07, 0xc7ca7c61,
+  0x72fcbb8c, 0xc7c4d757, 0x72f9f8c9, 0xc7bf3270, 0x72f735c0, 0xc7b98dab,
+    0x72f47270, 0xc7b3e909,
+  0x72f1aed9, 0xc7ae4489, 0x72eeeafb, 0xc7a8a02c, 0x72ec26d6, 0xc7a2fbf3,
+    0x72e9626a, 0xc79d57db,
+  0x72e69db7, 0xc797b3e7, 0x72e3d8be, 0xc7921015, 0x72e1137d, 0xc78c6c67,
+    0x72de4df6, 0xc786c8db,
+  0x72db8828, 0xc7812572, 0x72d8c213, 0xc77b822b, 0x72d5fbb7, 0xc775df08,
+    0x72d33514, 0xc7703c08,
+  0x72d06e2b, 0xc76a992a, 0x72cda6fb, 0xc764f66f, 0x72cadf83, 0xc75f53d7,
+    0x72c817c6, 0xc759b163,
+  0x72c54fc1, 0xc7540f11, 0x72c28775, 0xc74e6ce2, 0x72bfbee3, 0xc748cad6,
+    0x72bcf60a, 0xc74328ed,
+  0x72ba2cea, 0xc73d8727, 0x72b76383, 0xc737e584, 0x72b499d6, 0xc7324404,
+    0x72b1cfe1, 0xc72ca2a7,
+  0x72af05a7, 0xc727016d, 0x72ac3b25, 0xc7216056, 0x72a9705c, 0xc71bbf62,
+    0x72a6a54d, 0xc7161e92,
+  0x72a3d9f7, 0xc7107de4, 0x72a10e5b, 0xc70add5a, 0x729e4277, 0xc7053cf2,
+    0x729b764d, 0xc6ff9cae,
+  0x7298a9dd, 0xc6f9fc8d, 0x7295dd25, 0xc6f45c8f, 0x72931027, 0xc6eebcb5,
+    0x729042e3, 0xc6e91cfd,
+  0x728d7557, 0xc6e37d69, 0x728aa785, 0xc6ddddf8, 0x7287d96c, 0xc6d83eab,
+    0x72850b0d, 0xc6d29f80,
+  0x72823c67, 0xc6cd0079, 0x727f6d7a, 0xc6c76195, 0x727c9e47, 0xc6c1c2d4,
+    0x7279cecd, 0xc6bc2437,
+  0x7276ff0d, 0xc6b685bd, 0x72742f05, 0xc6b0e767, 0x72715eb8, 0xc6ab4933,
+    0x726e8e23, 0xc6a5ab23,
+  0x726bbd48, 0xc6a00d37, 0x7268ec27, 0xc69a6f6e, 0x72661abf, 0xc694d1c8,
+    0x72634910, 0xc68f3446,
+  0x7260771b, 0xc68996e7, 0x725da4df, 0xc683f9ab, 0x725ad25d, 0xc67e5c93,
+    0x7257ff94, 0xc678bf9f,
+  0x72552c85, 0xc67322ce, 0x7252592f, 0xc66d8620, 0x724f8593, 0xc667e996,
+    0x724cb1b0, 0xc6624d30,
+  0x7249dd86, 0xc65cb0ed, 0x72470916, 0xc65714cd, 0x72443460, 0xc65178d1,
+    0x72415f63, 0xc64bdcf9,
+  0x723e8a20, 0xc6464144, 0x723bb496, 0xc640a5b3, 0x7238dec5, 0xc63b0a46,
+    0x723608af, 0xc6356efc,
+  0x72333251, 0xc62fd3d6, 0x72305bae, 0xc62a38d4, 0x722d84c4, 0xc6249df5,
+    0x722aad93, 0xc61f033a,
+  0x7227d61c, 0xc61968a2, 0x7224fe5f, 0xc613ce2f, 0x7222265b, 0xc60e33df,
+    0x721f4e11, 0xc60899b2,
+  0x721c7580, 0xc602ffaa, 0x72199ca9, 0xc5fd65c5, 0x7216c38c, 0xc5f7cc04,
+    0x7213ea28, 0xc5f23267,
+  0x7211107e, 0xc5ec98ee, 0x720e368d, 0xc5e6ff98, 0x720b5c57, 0xc5e16667,
+    0x720881d9, 0xc5dbcd59,
+  0x7205a716, 0xc5d6346f, 0x7202cc0c, 0xc5d09ba9, 0x71fff0bc, 0xc5cb0307,
+    0x71fd1525, 0xc5c56a89,
+  0x71fa3949, 0xc5bfd22e, 0x71f75d25, 0xc5ba39f8, 0x71f480bc, 0xc5b4a1e5,
+    0x71f1a40c, 0xc5af09f7,
+  0x71eec716, 0xc5a9722c, 0x71ebe9da, 0xc5a3da86, 0x71e90c57, 0xc59e4303,
+    0x71e62e8f, 0xc598aba5,
+  0x71e35080, 0xc593146a, 0x71e0722a, 0xc58d7d54, 0x71dd938f, 0xc587e661,
+    0x71dab4ad, 0xc5824f93,
+  0x71d7d585, 0xc57cb8e9, 0x71d4f617, 0xc5772263, 0x71d21662, 0xc5718c00,
+    0x71cf3667, 0xc56bf5c2,
+  0x71cc5626, 0xc5665fa9, 0x71c9759f, 0xc560c9b3, 0x71c694d2, 0xc55b33e2,
+    0x71c3b3bf, 0xc5559e34,
+  0x71c0d265, 0xc55008ab, 0x71bdf0c5, 0xc54a7346, 0x71bb0edf, 0xc544de05,
+    0x71b82cb3, 0xc53f48e9,
+  0x71b54a41, 0xc539b3f1, 0x71b26788, 0xc5341f1d, 0x71af848a, 0xc52e8a6d,
+    0x71aca145, 0xc528f5e1,
+  0x71a9bdba, 0xc523617a, 0x71a6d9e9, 0xc51dcd37, 0x71a3f5d2, 0xc5183919,
+    0x71a11175, 0xc512a51f,
+  0x719e2cd2, 0xc50d1149, 0x719b47e9, 0xc5077d97, 0x719862b9, 0xc501ea0a,
+    0x71957d44, 0xc4fc56a2,
+  0x71929789, 0xc4f6c35d, 0x718fb187, 0xc4f1303d, 0x718ccb3f, 0xc4eb9d42,
+    0x7189e4b2, 0xc4e60a6b,
+  0x7186fdde, 0xc4e077b8, 0x718416c4, 0xc4dae52a, 0x71812f65, 0xc4d552c1,
+    0x717e47bf, 0xc4cfc07c,
+  0x717b5fd3, 0xc4ca2e5b, 0x717877a1, 0xc4c49c5f, 0x71758f29, 0xc4bf0a87,
+    0x7172a66c, 0xc4b978d4,
+  0x716fbd68, 0xc4b3e746, 0x716cd41e, 0xc4ae55dc, 0x7169ea8f, 0xc4a8c497,
+    0x716700b9, 0xc4a33376,
+  0x7164169d, 0xc49da27a, 0x71612c3c, 0xc49811a3, 0x715e4194, 0xc49280f0,
+    0x715b56a7, 0xc48cf062,
+  0x71586b74, 0xc4875ff9, 0x71557ffa, 0xc481cfb4, 0x7152943b, 0xc47c3f94,
+    0x714fa836, 0xc476af98,
+  0x714cbbeb, 0xc4711fc2, 0x7149cf5a, 0xc46b9010, 0x7146e284, 0xc4660083,
+    0x7143f567, 0xc460711b,
+  0x71410805, 0xc45ae1d7, 0x713e1a5c, 0xc45552b8, 0x713b2c6e, 0xc44fc3be,
+    0x71383e3a, 0xc44a34e9,
+  0x71354fc0, 0xc444a639, 0x71326101, 0xc43f17ad, 0x712f71fb, 0xc4398947,
+    0x712c82b0, 0xc433fb05,
+  0x7129931f, 0xc42e6ce8, 0x7126a348, 0xc428def0, 0x7123b32b, 0xc423511d,
+    0x7120c2c8, 0xc41dc36f,
+  0x711dd220, 0xc41835e6, 0x711ae132, 0xc412a882, 0x7117effe, 0xc40d1b42,
+    0x7114fe84, 0xc4078e28,
+  0x71120cc5, 0xc4020133, 0x710f1ac0, 0xc3fc7462, 0x710c2875, 0xc3f6e7b7,
+    0x710935e4, 0xc3f15b31,
+  0x7106430e, 0xc3ebced0, 0x71034ff2, 0xc3e64294, 0x71005c90, 0xc3e0b67d,
+    0x70fd68e9, 0xc3db2a8b,
+  0x70fa74fc, 0xc3d59ebe, 0x70f780c9, 0xc3d01316, 0x70f48c50, 0xc3ca8793,
+    0x70f19792, 0xc3c4fc36,
+  0x70eea28e, 0xc3bf70fd, 0x70ebad45, 0xc3b9e5ea, 0x70e8b7b5, 0xc3b45afc,
+    0x70e5c1e1, 0xc3aed034,
+  0x70e2cbc6, 0xc3a94590, 0x70dfd566, 0xc3a3bb12, 0x70dcdec0, 0xc39e30b8,
+    0x70d9e7d5, 0xc398a685,
+  0x70d6f0a4, 0xc3931c76, 0x70d3f92d, 0xc38d928d, 0x70d10171, 0xc38808c9,
+    0x70ce096f, 0xc3827f2a,
+  0x70cb1128, 0xc37cf5b0, 0x70c8189b, 0xc3776c5c, 0x70c51fc8, 0xc371e32d,
+    0x70c226b0, 0xc36c5a24,
+  0x70bf2d53, 0xc366d140, 0x70bc33b0, 0xc3614881, 0x70b939c7, 0xc35bbfe8,
+    0x70b63f99, 0xc3563774,
+  0x70b34525, 0xc350af26, 0x70b04a6b, 0xc34b26fc, 0x70ad4f6d, 0xc3459ef9,
+    0x70aa5428, 0xc340171b,
+  0x70a7589f, 0xc33a8f62, 0x70a45ccf, 0xc33507cf, 0x70a160ba, 0xc32f8061,
+    0x709e6460, 0xc329f919,
+  0x709b67c0, 0xc32471f7, 0x70986adb, 0xc31eeaf9, 0x70956db1, 0xc3196422,
+    0x70927041, 0xc313dd70,
+  0x708f728b, 0xc30e56e4, 0x708c7490, 0xc308d07d, 0x70897650, 0xc3034a3c,
+    0x708677ca, 0xc2fdc420,
+  0x708378ff, 0xc2f83e2a, 0x708079ee, 0xc2f2b85a, 0x707d7a98, 0xc2ed32af,
+    0x707a7afd, 0xc2e7ad2a,
+  0x70777b1c, 0xc2e227cb, 0x70747af6, 0xc2dca291, 0x70717a8a, 0xc2d71d7e,
+    0x706e79d9, 0xc2d1988f,
+  0x706b78e3, 0xc2cc13c7, 0x706877a7, 0xc2c68f24, 0x70657626, 0xc2c10aa7,
+    0x70627460, 0xc2bb8650,
+  0x705f7255, 0xc2b6021f, 0x705c7004, 0xc2b07e14, 0x70596d6d, 0xc2aafa2e,
+    0x70566a92, 0xc2a5766e,
+  0x70536771, 0xc29ff2d4, 0x7050640b, 0xc29a6f60, 0x704d6060, 0xc294ec12,
+    0x704a5c6f, 0xc28f68e9,
+  0x70475839, 0xc289e5e7, 0x704453be, 0xc284630a, 0x70414efd, 0xc27ee054,
+    0x703e49f8, 0xc2795dc3,
+  0x703b44ad, 0xc273db58, 0x70383f1d, 0xc26e5913, 0x70353947, 0xc268d6f5,
+    0x7032332d, 0xc26354fc,
+  0x702f2ccd, 0xc25dd329, 0x702c2628, 0xc258517c, 0x70291f3e, 0xc252cff5,
+    0x7026180e, 0xc24d4e95,
+  0x7023109a, 0xc247cd5a, 0x702008e0, 0xc2424c46, 0x701d00e1, 0xc23ccb57,
+    0x7019f89d, 0xc2374a8f,
+  0x7016f014, 0xc231c9ec, 0x7013e746, 0xc22c4970, 0x7010de32, 0xc226c91a,
+    0x700dd4da, 0xc22148ea,
+  0x700acb3c, 0xc21bc8e1, 0x7007c159, 0xc21648fd, 0x7004b731, 0xc210c940,
+    0x7001acc4, 0xc20b49a9,
+  0x6ffea212, 0xc205ca38, 0x6ffb971b, 0xc2004aed, 0x6ff88bde, 0xc1facbc9,
+    0x6ff5805d, 0xc1f54cca,
+  0x6ff27497, 0xc1efcdf3, 0x6fef688b, 0xc1ea4f41, 0x6fec5c3b, 0xc1e4d0b6,
+    0x6fe94fa5, 0xc1df5251,
+  0x6fe642ca, 0xc1d9d412, 0x6fe335ab, 0xc1d455f9, 0x6fe02846, 0xc1ced807,
+    0x6fdd1a9c, 0xc1c95a3c,
+  0x6fda0cae, 0xc1c3dc97, 0x6fd6fe7a, 0xc1be5f18, 0x6fd3f001, 0xc1b8e1bf,
+    0x6fd0e144, 0xc1b3648d,
+  0x6fcdd241, 0xc1ade781, 0x6fcac2fa, 0xc1a86a9c, 0x6fc7b36d, 0xc1a2edde,
+    0x6fc4a39c, 0xc19d7145,
+  0x6fc19385, 0xc197f4d4, 0x6fbe832a, 0xc1927888, 0x6fbb728a, 0xc18cfc63,
+    0x6fb861a4, 0xc1878065,
+  0x6fb5507a, 0xc182048d, 0x6fb23f0b, 0xc17c88dc, 0x6faf2d57, 0xc1770d52,
+    0x6fac1b5f, 0xc17191ee,
+  0x6fa90921, 0xc16c16b0, 0x6fa5f69e, 0xc1669b99, 0x6fa2e3d7, 0xc16120a9,
+    0x6f9fd0cb, 0xc15ba5df,
+  0x6f9cbd79, 0xc1562b3d, 0x6f99a9e3, 0xc150b0c0, 0x6f969608, 0xc14b366b,
+    0x6f9381e9, 0xc145bc3c,
+  0x6f906d84, 0xc1404233, 0x6f8d58db, 0xc13ac852, 0x6f8a43ed, 0xc1354e97,
+    0x6f872eba, 0xc12fd503,
+  0x6f841942, 0xc12a5b95, 0x6f810386, 0xc124e24f, 0x6f7ded84, 0xc11f692f,
+    0x6f7ad73e, 0xc119f036,
+  0x6f77c0b3, 0xc1147764, 0x6f74a9e4, 0xc10efeb8, 0x6f7192cf, 0xc1098634,
+    0x6f6e7b76, 0xc1040dd6,
+  0x6f6b63d8, 0xc0fe959f, 0x6f684bf6, 0xc0f91d8f, 0x6f6533ce, 0xc0f3a5a6,
+    0x6f621b62, 0xc0ee2de3,
+  0x6f5f02b2, 0xc0e8b648, 0x6f5be9bc, 0xc0e33ed4, 0x6f58d082, 0xc0ddc786,
+    0x6f55b703, 0xc0d8505f,
+  0x6f529d40, 0xc0d2d960, 0x6f4f8338, 0xc0cd6287, 0x6f4c68eb, 0xc0c7ebd6,
+    0x6f494e5a, 0xc0c2754b,
+  0x6f463383, 0xc0bcfee7, 0x6f431869, 0xc0b788ab, 0x6f3ffd09, 0xc0b21295,
+    0x6f3ce165, 0xc0ac9ca6,
+  0x6f39c57d, 0xc0a726df, 0x6f36a94f, 0xc0a1b13e, 0x6f338cde, 0xc09c3bc5,
+    0x6f307027, 0xc096c673,
+  0x6f2d532c, 0xc0915148, 0x6f2a35ed, 0xc08bdc44, 0x6f271868, 0xc0866767,
+    0x6f23faa0, 0xc080f2b1,
+  0x6f20dc92, 0xc07b7e23, 0x6f1dbe41, 0xc07609bb, 0x6f1a9faa, 0xc070957b,
+    0x6f1780cf, 0xc06b2162,
+  0x6f1461b0, 0xc065ad70, 0x6f11424c, 0xc06039a6, 0x6f0e22a3, 0xc05ac603,
+    0x6f0b02b6, 0xc0555287,
+  0x6f07e285, 0xc04fdf32, 0x6f04c20f, 0xc04a6c05, 0x6f01a155, 0xc044f8fe,
+    0x6efe8056, 0xc03f8620,
+  0x6efb5f12, 0xc03a1368, 0x6ef83d8a, 0xc034a0d8, 0x6ef51bbe, 0xc02f2e6f,
+    0x6ef1f9ad, 0xc029bc2e,
+  0x6eeed758, 0xc0244a14, 0x6eebb4bf, 0xc01ed821, 0x6ee891e1, 0xc0196656,
+    0x6ee56ebe, 0xc013f4b2,
+  0x6ee24b57, 0xc00e8336, 0x6edf27ac, 0xc00911e1, 0x6edc03bc, 0xc003a0b3,
+    0x6ed8df88, 0xbffe2fad,
+  0x6ed5bb10, 0xbff8bece, 0x6ed29653, 0xbff34e17, 0x6ecf7152, 0xbfeddd88,
+    0x6ecc4c0d, 0xbfe86d20,
+  0x6ec92683, 0xbfe2fcdf, 0x6ec600b5, 0xbfdd8cc6, 0x6ec2daa2, 0xbfd81cd5,
+    0x6ebfb44b, 0xbfd2ad0b,
+  0x6ebc8db0, 0xbfcd3d69, 0x6eb966d1, 0xbfc7cdee, 0x6eb63fad, 0xbfc25e9b,
+    0x6eb31845, 0xbfbcef70,
+  0x6eaff099, 0xbfb7806c, 0x6eacc8a8, 0xbfb21190, 0x6ea9a073, 0xbfaca2dc,
+    0x6ea677fa, 0xbfa7344f,
+  0x6ea34f3d, 0xbfa1c5ea, 0x6ea0263b, 0xbf9c57ac, 0x6e9cfcf5, 0xbf96e997,
+    0x6e99d36b, 0xbf917ba9,
+  0x6e96a99d, 0xbf8c0de3, 0x6e937f8a, 0xbf86a044, 0x6e905534, 0xbf8132ce,
+    0x6e8d2a99, 0xbf7bc57f,
+  0x6e89ffb9, 0xbf765858, 0x6e86d496, 0xbf70eb59, 0x6e83a92f, 0xbf6b7e81,
+    0x6e807d83, 0xbf6611d2,
+  0x6e7d5193, 0xbf60a54a, 0x6e7a255f, 0xbf5b38ea, 0x6e76f8e7, 0xbf55ccb2,
+    0x6e73cc2b, 0xbf5060a2,
+  0x6e709f2a, 0xbf4af4ba, 0x6e6d71e6, 0xbf4588fa, 0x6e6a445d, 0xbf401d61,
+    0x6e671690, 0xbf3ab1f1,
+  0x6e63e87f, 0xbf3546a8, 0x6e60ba2a, 0xbf2fdb88, 0x6e5d8b91, 0xbf2a708f,
+    0x6e5a5cb4, 0xbf2505bf,
+  0x6e572d93, 0xbf1f9b16, 0x6e53fe2e, 0xbf1a3096, 0x6e50ce84, 0xbf14c63d,
+    0x6e4d9e97, 0xbf0f5c0d,
+  0x6e4a6e66, 0xbf09f205, 0x6e473df0, 0xbf048824, 0x6e440d37, 0xbeff1e6c,
+    0x6e40dc39, 0xbef9b4dc,
+  0x6e3daaf8, 0xbef44b74, 0x6e3a7972, 0xbeeee234, 0x6e3747a9, 0xbee9791c,
+    0x6e34159b, 0xbee4102d,
+  0x6e30e34a, 0xbedea765, 0x6e2db0b4, 0xbed93ec6, 0x6e2a7ddb, 0xbed3d64f,
+    0x6e274abe, 0xbece6e00,
+  0x6e24175c, 0xbec905d9, 0x6e20e3b7, 0xbec39ddb, 0x6e1dafce, 0xbebe3605,
+    0x6e1a7ba1, 0xbeb8ce57,
+  0x6e174730, 0xbeb366d1, 0x6e14127b, 0xbeadff74, 0x6e10dd82, 0xbea8983f,
+    0x6e0da845, 0xbea33132,
+  0x6e0a72c5, 0xbe9dca4e, 0x6e073d00, 0xbe986391, 0x6e0406f8, 0xbe92fcfe,
+    0x6e00d0ac, 0xbe8d9692,
+  0x6dfd9a1c, 0xbe88304f, 0x6dfa6348, 0xbe82ca35, 0x6df72c30, 0xbe7d6442,
+    0x6df3f4d4, 0xbe77fe78,
+  0x6df0bd35, 0xbe7298d7, 0x6ded8552, 0xbe6d335e, 0x6dea4d2b, 0xbe67ce0d,
+    0x6de714c0, 0xbe6268e5,
+  0x6de3dc11, 0xbe5d03e6, 0x6de0a31f, 0xbe579f0f, 0x6ddd69e9, 0xbe523a60,
+    0x6dda306f, 0xbe4cd5da,
+  0x6dd6f6b1, 0xbe47717c, 0x6dd3bcaf, 0xbe420d47, 0x6dd0826a, 0xbe3ca93b,
+    0x6dcd47e1, 0xbe374557,
+  0x6dca0d14, 0xbe31e19b, 0x6dc6d204, 0xbe2c7e09, 0x6dc396b0, 0xbe271a9f,
+    0x6dc05b18, 0xbe21b75d,
+  0x6dbd1f3c, 0xbe1c5444, 0x6db9e31d, 0xbe16f154, 0x6db6a6ba, 0xbe118e8c,
+    0x6db36a14, 0xbe0c2bed,
+  0x6db02d29, 0xbe06c977, 0x6daceffb, 0xbe01672a, 0x6da9b28a, 0xbdfc0505,
+    0x6da674d5, 0xbdf6a309,
+  0x6da336dc, 0xbdf14135, 0x6d9ff89f, 0xbdebdf8b, 0x6d9cba1f, 0xbde67e09,
+    0x6d997b5b, 0xbde11cb0,
+  0x6d963c54, 0xbddbbb7f, 0x6d92fd09, 0xbdd65a78, 0x6d8fbd7a, 0xbdd0f999,
+    0x6d8c7da8, 0xbdcb98e3,
+  0x6d893d93, 0xbdc63856, 0x6d85fd39, 0xbdc0d7f2, 0x6d82bc9d, 0xbdbb77b7,
+    0x6d7f7bbc, 0xbdb617a4,
+  0x6d7c3a98, 0xbdb0b7bb, 0x6d78f931, 0xbdab57fa, 0x6d75b786, 0xbda5f862,
+    0x6d727597, 0xbda098f3,
+  0x6d6f3365, 0xbd9b39ad, 0x6d6bf0f0, 0xbd95da91, 0x6d68ae37, 0xbd907b9d,
+    0x6d656b3a, 0xbd8b1cd2,
+  0x6d6227fa, 0xbd85be30, 0x6d5ee477, 0xbd805fb7, 0x6d5ba0b0, 0xbd7b0167,
+    0x6d585ca6, 0xbd75a340,
+  0x6d551858, 0xbd704542, 0x6d51d3c6, 0xbd6ae76d, 0x6d4e8ef2, 0xbd6589c1,
+    0x6d4b49da, 0xbd602c3f,
+  0x6d48047e, 0xbd5acee5, 0x6d44bedf, 0xbd5571b5, 0x6d4178fd, 0xbd5014ad,
+    0x6d3e32d7, 0xbd4ab7cf,
+  0x6d3aec6e, 0xbd455b1a, 0x6d37a5c1, 0xbd3ffe8e, 0x6d345ed1, 0xbd3aa22c,
+    0x6d31179e, 0xbd3545f2,
+  0x6d2dd027, 0xbd2fe9e2, 0x6d2a886e, 0xbd2a8dfb, 0x6d274070, 0xbd25323d,
+    0x6d23f830, 0xbd1fd6a8,
+  0x6d20afac, 0xbd1a7b3d, 0x6d1d66e4, 0xbd151ffb, 0x6d1a1dda, 0xbd0fc4e2,
+    0x6d16d48c, 0xbd0a69f2,
+  0x6d138afb, 0xbd050f2c, 0x6d104126, 0xbcffb48f, 0x6d0cf70f, 0xbcfa5a1b,
+    0x6d09acb4, 0xbcf4ffd1,
+  0x6d066215, 0xbcefa5b0, 0x6d031734, 0xbcea4bb9, 0x6cffcc0f, 0xbce4f1eb,
+    0x6cfc80a7, 0xbcdf9846,
+  0x6cf934fc, 0xbcda3ecb, 0x6cf5e90d, 0xbcd4e579, 0x6cf29cdc, 0xbccf8c50,
+    0x6cef5067, 0xbcca3351,
+  0x6cec03af, 0xbcc4da7b, 0x6ce8b6b4, 0xbcbf81cf, 0x6ce56975, 0xbcba294d,
+    0x6ce21bf4, 0xbcb4d0f4,
+  0x6cdece2f, 0xbcaf78c4, 0x6cdb8027, 0xbcaa20be, 0x6cd831dc, 0xbca4c8e1,
+    0x6cd4e34e, 0xbc9f712e,
+  0x6cd1947c, 0xbc9a19a5, 0x6cce4568, 0xbc94c245, 0x6ccaf610, 0xbc8f6b0f,
+    0x6cc7a676, 0xbc8a1402,
+  0x6cc45698, 0xbc84bd1f, 0x6cc10677, 0xbc7f6665, 0x6cbdb613, 0xbc7a0fd6,
+    0x6cba656c, 0xbc74b96f,
+  0x6cb71482, 0xbc6f6333, 0x6cb3c355, 0xbc6a0d20, 0x6cb071e4, 0xbc64b737,
+    0x6cad2031, 0xbc5f6177,
+  0x6ca9ce3b, 0xbc5a0be2, 0x6ca67c01, 0xbc54b676, 0x6ca32985, 0xbc4f6134,
+    0x6c9fd6c6, 0xbc4a0c1b,
+  0x6c9c83c3, 0xbc44b72c, 0x6c99307e, 0xbc3f6267, 0x6c95dcf6, 0xbc3a0dcc,
+    0x6c92892a, 0xbc34b95b,
+  0x6c8f351c, 0xbc2f6513, 0x6c8be0cb, 0xbc2a10f6, 0x6c888c36, 0xbc24bd02,
+    0x6c85375f, 0xbc1f6938,
+  0x6c81e245, 0xbc1a1598, 0x6c7e8ce8, 0xbc14c221, 0x6c7b3748, 0xbc0f6ed5,
+    0x6c77e165, 0xbc0a1bb3,
+  0x6c748b3f, 0xbc04c8ba, 0x6c7134d7, 0xbbff75ec, 0x6c6dde2b, 0xbbfa2347,
+    0x6c6a873d, 0xbbf4d0cc,
+  0x6c67300b, 0xbbef7e7c, 0x6c63d897, 0xbbea2c55, 0x6c6080e0, 0xbbe4da58,
+    0x6c5d28e6, 0xbbdf8885,
+  0x6c59d0a9, 0xbbda36dd, 0x6c56782a, 0xbbd4e55e, 0x6c531f67, 0xbbcf940a,
+    0x6c4fc662, 0xbbca42df,
+  0x6c4c6d1a, 0xbbc4f1df, 0x6c49138f, 0xbbbfa108, 0x6c45b9c1, 0xbbba505c,
+    0x6c425fb1, 0xbbb4ffda,
+  0x6c3f055d, 0xbbafaf82, 0x6c3baac7, 0xbbaa5f54, 0x6c384fef, 0xbba50f50,
+    0x6c34f4d3, 0xbb9fbf77,
+  0x6c319975, 0xbb9a6fc7, 0x6c2e3dd4, 0xbb952042, 0x6c2ae1f0, 0xbb8fd0e7,
+    0x6c2785ca, 0xbb8a81b6,
+  0x6c242960, 0xbb8532b0, 0x6c20ccb4, 0xbb7fe3d3, 0x6c1d6fc6, 0xbb7a9521,
+    0x6c1a1295, 0xbb754699,
+  0x6c16b521, 0xbb6ff83c, 0x6c13576a, 0xbb6aaa09, 0x6c0ff971, 0xbb655c00,
+    0x6c0c9b35, 0xbb600e21,
+  0x6c093cb6, 0xbb5ac06d, 0x6c05ddf5, 0xbb5572e3, 0x6c027ef1, 0xbb502583,
+    0x6bff1faa, 0xbb4ad84e,
+  0x6bfbc021, 0xbb458b43, 0x6bf86055, 0xbb403e63, 0x6bf50047, 0xbb3af1ad,
+    0x6bf19ff6, 0xbb35a521,
+  0x6bee3f62, 0xbb3058c0, 0x6beade8c, 0xbb2b0c8a, 0x6be77d74, 0xbb25c07d,
+    0x6be41c18, 0xbb20749c,
+  0x6be0ba7b, 0xbb1b28e4, 0x6bdd589a, 0xbb15dd57, 0x6bd9f677, 0xbb1091f5,
+    0x6bd69412, 0xbb0b46bd,
+  0x6bd3316a, 0xbb05fbb0, 0x6bcfce80, 0xbb00b0ce, 0x6bcc6b53, 0xbafb6615,
+    0x6bc907e3, 0xbaf61b88,
+  0x6bc5a431, 0xbaf0d125, 0x6bc2403d, 0xbaeb86ed, 0x6bbedc06, 0xbae63cdf,
+    0x6bbb778d, 0xbae0f2fc,
+  0x6bb812d1, 0xbadba943, 0x6bb4add3, 0xbad65fb5, 0x6bb14892, 0xbad11652,
+    0x6bade30f, 0xbacbcd1a,
+  0x6baa7d49, 0xbac6840c, 0x6ba71741, 0xbac13b29, 0x6ba3b0f7, 0xbabbf270,
+    0x6ba04a6a, 0xbab6a9e3,
+  0x6b9ce39b, 0xbab16180, 0x6b997c8a, 0xbaac1948, 0x6b961536, 0xbaa6d13a,
+    0x6b92ada0, 0xbaa18958,
+  0x6b8f45c7, 0xba9c41a0, 0x6b8bddac, 0xba96fa13, 0x6b88754f, 0xba91b2b1,
+    0x6b850caf, 0xba8c6b79,
+  0x6b81a3cd, 0xba87246d, 0x6b7e3aa9, 0xba81dd8b, 0x6b7ad142, 0xba7c96d4,
+    0x6b776799, 0xba775048,
+  0x6b73fdae, 0xba7209e7, 0x6b709381, 0xba6cc3b1, 0x6b6d2911, 0xba677da6,
+    0x6b69be5f, 0xba6237c5,
+  0x6b66536b, 0xba5cf210, 0x6b62e834, 0xba57ac86, 0x6b5f7cbc, 0xba526726,
+    0x6b5c1101, 0xba4d21f2,
+  0x6b58a503, 0xba47dce8, 0x6b5538c4, 0xba42980a, 0x6b51cc42, 0xba3d5356,
+    0x6b4e5f7f, 0xba380ece,
+  0x6b4af279, 0xba32ca71, 0x6b478530, 0xba2d863e, 0x6b4417a6, 0xba284237,
+    0x6b40a9d9, 0xba22fe5b,
+  0x6b3d3bcb, 0xba1dbaaa, 0x6b39cd7a, 0xba187724, 0x6b365ee7, 0xba1333c9,
+    0x6b32f012, 0xba0df099,
+  0x6b2f80fb, 0xba08ad95, 0x6b2c11a1, 0xba036abb, 0x6b28a206, 0xb9fe280d,
+    0x6b253228, 0xb9f8e58a,
+  0x6b21c208, 0xb9f3a332, 0x6b1e51a7, 0xb9ee6106, 0x6b1ae103, 0xb9e91f04,
+    0x6b17701d, 0xb9e3dd2e,
+  0x6b13fef5, 0xb9de9b83, 0x6b108d8b, 0xb9d95a03, 0x6b0d1bdf, 0xb9d418af,
+    0x6b09a9f1, 0xb9ced786,
+  0x6b0637c1, 0xb9c99688, 0x6b02c54f, 0xb9c455b6, 0x6aff529a, 0xb9bf150e,
+    0x6afbdfa4, 0xb9b9d493,
+  0x6af86c6c, 0xb9b49442, 0x6af4f8f2, 0xb9af541d, 0x6af18536, 0xb9aa1423,
+    0x6aee1138, 0xb9a4d455,
+  0x6aea9cf8, 0xb99f94b2, 0x6ae72876, 0xb99a553a, 0x6ae3b3b2, 0xb99515ee,
+    0x6ae03eac, 0xb98fd6cd,
+  0x6adcc964, 0xb98a97d8, 0x6ad953db, 0xb985590e, 0x6ad5de0f, 0xb9801a70,
+    0x6ad26802, 0xb97adbfd,
+  0x6acef1b2, 0xb9759db6, 0x6acb7b21, 0xb9705f9a, 0x6ac8044e, 0xb96b21aa,
+    0x6ac48d39, 0xb965e3e5,
+  0x6ac115e2, 0xb960a64c, 0x6abd9e49, 0xb95b68de, 0x6aba266e, 0xb9562b9c,
+    0x6ab6ae52, 0xb950ee86,
+  0x6ab335f4, 0xb94bb19b, 0x6aafbd54, 0xb94674dc, 0x6aac4472, 0xb9413848,
+    0x6aa8cb4e, 0xb93bfbe0,
+  0x6aa551e9, 0xb936bfa4, 0x6aa1d841, 0xb9318393, 0x6a9e5e58, 0xb92c47ae,
+    0x6a9ae42e, 0xb9270bf5,
+  0x6a9769c1, 0xb921d067, 0x6a93ef13, 0xb91c9505, 0x6a907423, 0xb91759cf,
+    0x6a8cf8f1, 0xb9121ec5,
+  0x6a897d7d, 0xb90ce3e6, 0x6a8601c8, 0xb907a933, 0x6a8285d1, 0xb9026eac,
+    0x6a7f0999, 0xb8fd3451,
+  0x6a7b8d1e, 0xb8f7fa21, 0x6a781062, 0xb8f2c01d, 0x6a749365, 0xb8ed8646,
+    0x6a711625, 0xb8e84c99,
+  0x6a6d98a4, 0xb8e31319, 0x6a6a1ae2, 0xb8ddd9c5, 0x6a669cdd, 0xb8d8a09d,
+    0x6a631e97, 0xb8d367a0,
+  0x6a5fa010, 0xb8ce2ecf, 0x6a5c2147, 0xb8c8f62b, 0x6a58a23c, 0xb8c3bdb2,
+    0x6a5522ef, 0xb8be8565,
+  0x6a51a361, 0xb8b94d44, 0x6a4e2392, 0xb8b4154f, 0x6a4aa381, 0xb8aedd86,
+    0x6a47232e, 0xb8a9a5e9,
+  0x6a43a29a, 0xb8a46e78, 0x6a4021c4, 0xb89f3733, 0x6a3ca0ad, 0xb89a001a,
+    0x6a391f54, 0xb894c92d,
+  0x6a359db9, 0xb88f926d, 0x6a321bdd, 0xb88a5bd8, 0x6a2e99c0, 0xb885256f,
+    0x6a2b1761, 0xb87fef33,
+  0x6a2794c1, 0xb87ab922, 0x6a2411df, 0xb875833e, 0x6a208ebb, 0xb8704d85,
+    0x6a1d0b57, 0xb86b17f9,
+  0x6a1987b0, 0xb865e299, 0x6a1603c8, 0xb860ad66, 0x6a127f9f, 0xb85b785e,
+    0x6a0efb35, 0xb8564383,
+  0x6a0b7689, 0xb8510ed4, 0x6a07f19b, 0xb84bda51, 0x6a046c6c, 0xb846a5fa,
+    0x6a00e6fc, 0xb84171cf,
+  0x69fd614a, 0xb83c3dd1, 0x69f9db57, 0xb83709ff, 0x69f65523, 0xb831d659,
+    0x69f2cead, 0xb82ca2e0,
+  0x69ef47f6, 0xb8276f93, 0x69ebc0fe, 0xb8223c72, 0x69e839c4, 0xb81d097e,
+    0x69e4b249, 0xb817d6b6,
+  0x69e12a8c, 0xb812a41a, 0x69dda28f, 0xb80d71aa, 0x69da1a50, 0xb8083f67,
+    0x69d691cf, 0xb8030d51,
+  0x69d3090e, 0xb7fddb67, 0x69cf800b, 0xb7f8a9a9, 0x69cbf6c7, 0xb7f37818,
+    0x69c86d41, 0xb7ee46b3,
+  0x69c4e37a, 0xb7e9157a, 0x69c15973, 0xb7e3e46e, 0x69bdcf29, 0xb7deb38f,
+    0x69ba449f, 0xb7d982dc,
+  0x69b6b9d3, 0xb7d45255, 0x69b32ec7, 0xb7cf21fb, 0x69afa378, 0xb7c9f1ce,
+    0x69ac17e9, 0xb7c4c1cd,
+  0x69a88c19, 0xb7bf91f8, 0x69a50007, 0xb7ba6251, 0x69a173b5, 0xb7b532d6,
+    0x699de721, 0xb7b00387,
+  0x699a5a4c, 0xb7aad465, 0x6996cd35, 0xb7a5a570, 0x69933fde, 0xb7a076a7,
+    0x698fb246, 0xb79b480b,
+  0x698c246c, 0xb796199b, 0x69889651, 0xb790eb58, 0x698507f6, 0xb78bbd42,
+    0x69817959, 0xb7868f59,
+  0x697dea7b, 0xb781619c, 0x697a5b5c, 0xb77c340c, 0x6976cbfc, 0xb77706a9,
+    0x69733c5b, 0xb771d972,
+  0x696fac78, 0xb76cac69, 0x696c1c55, 0xb7677f8c, 0x69688bf1, 0xb76252db,
+    0x6964fb4c, 0xb75d2658,
+  0x69616a65, 0xb757fa01, 0x695dd93e, 0xb752cdd8, 0x695a47d6, 0xb74da1db,
+    0x6956b62d, 0xb748760b,
+  0x69532442, 0xb7434a67, 0x694f9217, 0xb73e1ef1, 0x694bffab, 0xb738f3a7,
+    0x69486cfe, 0xb733c88b,
+  0x6944da10, 0xb72e9d9b, 0x694146e1, 0xb72972d8, 0x693db371, 0xb7244842,
+    0x693a1fc0, 0xb71f1dd9,
+  0x69368bce, 0xb719f39e, 0x6932f79b, 0xb714c98e, 0x692f6328, 0xb70f9fac,
+    0x692bce73, 0xb70a75f7,
+  0x6928397e, 0xb7054c6f, 0x6924a448, 0xb7002314, 0x69210ed1, 0xb6faf9e6,
+    0x691d7919, 0xb6f5d0e5,
+  0x6919e320, 0xb6f0a812, 0x69164ce7, 0xb6eb7f6b, 0x6912b66c, 0xb6e656f1,
+    0x690f1fb1, 0xb6e12ea4,
+  0x690b88b5, 0xb6dc0685, 0x6907f178, 0xb6d6de92, 0x690459fb, 0xb6d1b6cd,
+    0x6900c23c, 0xb6cc8f35,
+  0x68fd2a3d, 0xb6c767ca, 0x68f991fd, 0xb6c2408c, 0x68f5f97d, 0xb6bd197c,
+    0x68f260bb, 0xb6b7f298,
+  0x68eec7b9, 0xb6b2cbe2, 0x68eb2e76, 0xb6ada559, 0x68e794f3, 0xb6a87efd,
+    0x68e3fb2e, 0xb6a358ce,
+  0x68e06129, 0xb69e32cd, 0x68dcc6e4, 0xb6990cf9, 0x68d92c5d, 0xb693e752,
+    0x68d59196, 0xb68ec1d9,
+  0x68d1f68f, 0xb6899c8d, 0x68ce5b46, 0xb684776e, 0x68cabfbd, 0xb67f527c,
+    0x68c723f3, 0xb67a2db8,
+  0x68c387e9, 0xb6750921, 0x68bfeb9e, 0xb66fe4b8, 0x68bc4f13, 0xb66ac07c,
+    0x68b8b247, 0xb6659c6d,
+  0x68b5153a, 0xb660788c, 0x68b177ed, 0xb65b54d8, 0x68adda5f, 0xb6563151,
+    0x68aa3c90, 0xb6510df8,
+  0x68a69e81, 0xb64beacd, 0x68a30031, 0xb646c7ce, 0x689f61a1, 0xb641a4fe,
+    0x689bc2d1, 0xb63c825b,
+  0x689823bf, 0xb6375fe5, 0x6894846e, 0xb6323d9d, 0x6890e4dc, 0xb62d1b82,
+    0x688d4509, 0xb627f995,
+  0x6889a4f6, 0xb622d7d6, 0x688604a2, 0xb61db644, 0x6882640e, 0xb61894df,
+    0x687ec339, 0xb61373a9,
+  0x687b2224, 0xb60e529f, 0x687780ce, 0xb60931c4, 0x6873df38, 0xb6041116,
+    0x68703d62, 0xb5fef095,
+  0x686c9b4b, 0xb5f9d043, 0x6868f8f4, 0xb5f4b01e, 0x6865565c, 0xb5ef9026,
+    0x6861b384, 0xb5ea705d,
+  0x685e106c, 0xb5e550c1, 0x685a6d13, 0xb5e03153, 0x6856c979, 0xb5db1212,
+    0x685325a0, 0xb5d5f2ff,
+  0x684f8186, 0xb5d0d41a, 0x684bdd2c, 0xb5cbb563, 0x68483891, 0xb5c696da,
+    0x684493b6, 0xb5c1787e,
+  0x6840ee9b, 0xb5bc5a50, 0x683d493f, 0xb5b73c50, 0x6839a3a4, 0xb5b21e7e,
+    0x6835fdc7, 0xb5ad00d9,
+  0x683257ab, 0xb5a7e362, 0x682eb14e, 0xb5a2c61a, 0x682b0ab1, 0xb59da8ff,
+    0x682763d4, 0xb5988c12,
+  0x6823bcb7, 0xb5936f53, 0x68201559, 0xb58e52c2, 0x681c6dbb, 0xb589365e,
+    0x6818c5dd, 0xb5841a29,
+  0x68151dbe, 0xb57efe22, 0x68117560, 0xb579e248, 0x680dccc1, 0xb574c69d,
+    0x680a23e2, 0xb56fab1f,
+  0x68067ac3, 0xb56a8fd0, 0x6802d164, 0xb56574ae, 0x67ff27c4, 0xb56059bb,
+    0x67fb7de5, 0xb55b3ef5,
+  0x67f7d3c5, 0xb556245e, 0x67f42965, 0xb55109f5, 0x67f07ec5, 0xb54befba,
+    0x67ecd3e5, 0xb546d5ac,
+  0x67e928c5, 0xb541bbcd, 0x67e57d64, 0xb53ca21c, 0x67e1d1c4, 0xb5378899,
+    0x67de25e3, 0xb5326f45,
+  0x67da79c3, 0xb52d561e, 0x67d6cd62, 0xb5283d26, 0x67d320c1, 0xb523245b,
+    0x67cf73e1, 0xb51e0bbf,
+  0x67cbc6c0, 0xb518f351, 0x67c8195f, 0xb513db12, 0x67c46bbe, 0xb50ec300,
+    0x67c0bddd, 0xb509ab1d,
+  0x67bd0fbd, 0xb5049368, 0x67b9615c, 0xb4ff7be1, 0x67b5b2bb, 0xb4fa6489,
+    0x67b203da, 0xb4f54d5f,
+  0x67ae54ba, 0xb4f03663, 0x67aaa559, 0xb4eb1f95, 0x67a6f5b8, 0xb4e608f6,
+    0x67a345d8, 0xb4e0f285,
+  0x679f95b7, 0xb4dbdc42, 0x679be557, 0xb4d6c62e, 0x679834b6, 0xb4d1b048,
+    0x679483d6, 0xb4cc9a90,
+  0x6790d2b6, 0xb4c78507, 0x678d2156, 0xb4c26fad, 0x67896fb6, 0xb4bd5a80,
+    0x6785bdd6, 0xb4b84582,
+  0x67820bb7, 0xb4b330b3, 0x677e5957, 0xb4ae1c12, 0x677aa6b8, 0xb4a9079f,
+    0x6776f3d9, 0xb4a3f35b,
+  0x677340ba, 0xb49edf45, 0x676f8d5b, 0xb499cb5e, 0x676bd9bd, 0xb494b7a6,
+    0x676825de, 0xb48fa41c,
+  0x676471c0, 0xb48a90c0, 0x6760bd62, 0xb4857d93, 0x675d08c4, 0xb4806a95,
+    0x675953e7, 0xb47b57c5,
+  0x67559eca, 0xb4764523, 0x6751e96d, 0xb47132b1, 0x674e33d0, 0xb46c206d,
+    0x674a7df4, 0xb4670e57,
+  0x6746c7d8, 0xb461fc70, 0x6743117c, 0xb45ceab8, 0x673f5ae0, 0xb457d92f,
+    0x673ba405, 0xb452c7d4,
+  0x6737ecea, 0xb44db6a8, 0x67343590, 0xb448a5aa, 0x67307df5, 0xb44394db,
+    0x672cc61c, 0xb43e843b,
+  0x67290e02, 0xb43973ca, 0x672555a9, 0xb4346387, 0x67219d10, 0xb42f5373,
+    0x671de438, 0xb42a438e,
+  0x671a2b20, 0xb42533d8, 0x671671c8, 0xb4202451, 0x6712b831, 0xb41b14f8,
+    0x670efe5a, 0xb41605ce,
+  0x670b4444, 0xb410f6d3, 0x670789ee, 0xb40be807, 0x6703cf58, 0xb406d969,
+    0x67001483, 0xb401cafb,
+  0x66fc596f, 0xb3fcbcbb, 0x66f89e1b, 0xb3f7aeaa, 0x66f4e287, 0xb3f2a0c9,
+    0x66f126b4, 0xb3ed9316,
+  0x66ed6aa1, 0xb3e88592, 0x66e9ae4f, 0xb3e3783d, 0x66e5f1be, 0xb3de6b17,
+    0x66e234ed, 0xb3d95e1f,
+  0x66de77dc, 0xb3d45157, 0x66daba8c, 0xb3cf44be, 0x66d6fcfd, 0xb3ca3854,
+    0x66d33f2e, 0xb3c52c19,
+  0x66cf8120, 0xb3c0200c, 0x66cbc2d2, 0xb3bb142f, 0x66c80445, 0xb3b60881,
+    0x66c44579, 0xb3b0fd02,
+  0x66c0866d, 0xb3abf1b2, 0x66bcc721, 0xb3a6e691, 0x66b90797, 0xb3a1dba0,
+    0x66b547cd, 0xb39cd0dd,
+  0x66b187c3, 0xb397c649, 0x66adc77b, 0xb392bbe5, 0x66aa06f3, 0xb38db1b0,
+    0x66a6462b, 0xb388a7aa,
+  0x66a28524, 0xb3839dd3, 0x669ec3de, 0xb37e942b, 0x669b0259, 0xb3798ab2,
+    0x66974095, 0xb3748169,
+  0x66937e91, 0xb36f784f, 0x668fbc4e, 0xb36a6f64, 0x668bf9cb, 0xb36566a8,
+    0x66883709, 0xb3605e1c,
+  0x66847408, 0xb35b55bf, 0x6680b0c8, 0xb3564d91, 0x667ced49, 0xb3514592,
+    0x6679298a, 0xb34c3dc3,
+  0x6675658c, 0xb3473623, 0x6671a14f, 0xb3422eb2, 0x666ddcd3, 0xb33d2771,
+    0x666a1818, 0xb338205f,
+  0x6666531d, 0xb333197c, 0x66628de4, 0xb32e12c9, 0x665ec86b, 0xb3290c45,
+    0x665b02b3, 0xb32405f1,
+  0x66573cbb, 0xb31effcc, 0x66537685, 0xb319f9d6, 0x664fb010, 0xb314f410,
+    0x664be95b, 0xb30fee79,
+  0x66482267, 0xb30ae912, 0x66445b35, 0xb305e3da, 0x664093c3, 0xb300ded2,
+    0x663ccc12, 0xb2fbd9f9,
+  0x66390422, 0xb2f6d550, 0x66353bf3, 0xb2f1d0d6, 0x66317385, 0xb2eccc8c,
+    0x662daad8, 0xb2e7c871,
+  0x6629e1ec, 0xb2e2c486, 0x662618c1, 0xb2ddc0ca, 0x66224f56, 0xb2d8bd3e,
+    0x661e85ad, 0xb2d3b9e2,
+  0x661abbc5, 0xb2ceb6b5, 0x6616f19e, 0xb2c9b3b8, 0x66132738, 0xb2c4b0ea,
+    0x660f5c93, 0xb2bfae4c,
+  0x660b91af, 0xb2baabde, 0x6607c68c, 0xb2b5a99f, 0x6603fb2a, 0xb2b0a790,
+    0x66002f89, 0xb2aba5b1,
+  0x65fc63a9, 0xb2a6a402, 0x65f8978b, 0xb2a1a282, 0x65f4cb2d, 0xb29ca132,
+    0x65f0fe91, 0xb297a011,
+  0x65ed31b5, 0xb2929f21, 0x65e9649b, 0xb28d9e60, 0x65e59742, 0xb2889dcf,
+    0x65e1c9aa, 0xb2839d6d,
+  0x65ddfbd3, 0xb27e9d3c, 0x65da2dbd, 0xb2799d3a, 0x65d65f69, 0xb2749d68,
+    0x65d290d6, 0xb26f9dc6,
+  0x65cec204, 0xb26a9e54, 0x65caf2f3, 0xb2659f12, 0x65c723a3, 0xb2609fff,
+    0x65c35415, 0xb25ba11d,
+  0x65bf8447, 0xb256a26a, 0x65bbb43b, 0xb251a3e7, 0x65b7e3f1, 0xb24ca594,
+    0x65b41367, 0xb247a771,
+  0x65b0429f, 0xb242a97e, 0x65ac7198, 0xb23dabbb, 0x65a8a052, 0xb238ae28,
+    0x65a4cece, 0xb233b0c5,
+  0x65a0fd0b, 0xb22eb392, 0x659d2b09, 0xb229b68f, 0x659958c9, 0xb224b9bc,
+    0x6595864a, 0xb21fbd19,
+  0x6591b38c, 0xb21ac0a6, 0x658de08f, 0xb215c463, 0x658a0d54, 0xb210c850,
+    0x658639db, 0xb20bcc6d,
+  0x65826622, 0xb206d0ba, 0x657e922b, 0xb201d537, 0x657abdf6, 0xb1fcd9e5,
+    0x6576e982, 0xb1f7dec2,
+  0x657314cf, 0xb1f2e3d0, 0x656f3fde, 0xb1ede90e, 0x656b6aae, 0xb1e8ee7c,
+    0x6567953f, 0xb1e3f41a,
+  0x6563bf92, 0xb1def9e9, 0x655fe9a7, 0xb1d9ffe7, 0x655c137d, 0xb1d50616,
+    0x65583d14, 0xb1d00c75,
+  0x6554666d, 0xb1cb1304, 0x65508f87, 0xb1c619c3, 0x654cb863, 0xb1c120b3,
+    0x6548e101, 0xb1bc27d3,
+  0x6545095f, 0xb1b72f23, 0x65413180, 0xb1b236a4, 0x653d5962, 0xb1ad3e55,
+    0x65398105, 0xb1a84636,
+  0x6535a86b, 0xb1a34e47, 0x6531cf91, 0xb19e5689, 0x652df679, 0xb1995efb,
+    0x652a1d23, 0xb194679e,
+  0x6526438f, 0xb18f7071, 0x652269bc, 0xb18a7974, 0x651e8faa, 0xb18582a8,
+    0x651ab55b, 0xb1808c0c,
+  0x6516dacd, 0xb17b95a0, 0x65130000, 0xb1769f65, 0x650f24f5, 0xb171a95b,
+    0x650b49ac, 0xb16cb380,
+  0x65076e25, 0xb167bdd7, 0x6503925f, 0xb162c85d, 0x64ffb65b, 0xb15dd315,
+    0x64fbda18, 0xb158ddfd,
+  0x64f7fd98, 0xb153e915, 0x64f420d9, 0xb14ef45e, 0x64f043dc, 0xb149ffd7,
+    0x64ec66a0, 0xb1450b81,
+  0x64e88926, 0xb140175b, 0x64e4ab6e, 0xb13b2367, 0x64e0cd78, 0xb1362fa2,
+    0x64dcef44, 0xb1313c0e,
+  0x64d910d1, 0xb12c48ab, 0x64d53220, 0xb1275579, 0x64d15331, 0xb1226277,
+    0x64cd7404, 0xb11d6fa6,
+  0x64c99498, 0xb1187d05, 0x64c5b4ef, 0xb1138a95, 0x64c1d507, 0xb10e9856,
+    0x64bdf4e1, 0xb109a648,
+  0x64ba147d, 0xb104b46a, 0x64b633da, 0xb0ffc2bd, 0x64b252fa, 0xb0fad140,
+    0x64ae71dc, 0xb0f5dff5,
+  0x64aa907f, 0xb0f0eeda, 0x64a6aee4, 0xb0ebfdf0, 0x64a2cd0c, 0xb0e70d37,
+    0x649eeaf5, 0xb0e21cae,
+  0x649b08a0, 0xb0dd2c56, 0x6497260d, 0xb0d83c2f, 0x6493433c, 0xb0d34c39,
+    0x648f602d, 0xb0ce5c74,
+  0x648b7ce0, 0xb0c96ce0, 0x64879955, 0xb0c47d7c, 0x6483b58c, 0xb0bf8e4a,
+    0x647fd185, 0xb0ba9f48,
+  0x647bed3f, 0xb0b5b077, 0x647808bc, 0xb0b0c1d7, 0x647423fb, 0xb0abd368,
+    0x64703efc, 0xb0a6e52a,
+  0x646c59bf, 0xb0a1f71d, 0x64687444, 0xb09d0941, 0x64648e8c, 0xb0981b96,
+    0x6460a895, 0xb0932e1b,
+  0x645cc260, 0xb08e40d2, 0x6458dbed, 0xb08953ba, 0x6454f53d, 0xb08466d3,
+    0x64510e4e, 0xb07f7a1c,
+  0x644d2722, 0xb07a8d97, 0x64493fb8, 0xb075a143, 0x64455810, 0xb070b520,
+    0x6441702a, 0xb06bc92e,
+  0x643d8806, 0xb066dd6d, 0x64399fa5, 0xb061f1de, 0x6435b706, 0xb05d067f,
+    0x6431ce28, 0xb0581b51,
+  0x642de50d, 0xb0533055, 0x6429fbb5, 0xb04e458a, 0x6426121e, 0xb0495af0,
+    0x6422284a, 0xb0447087,
+  0x641e3e38, 0xb03f864f, 0x641a53e8, 0xb03a9c49, 0x6416695a, 0xb035b273,
+    0x64127e8f, 0xb030c8cf,
+  0x640e9386, 0xb02bdf5c, 0x640aa83f, 0xb026f61b, 0x6406bcba, 0xb0220d0a,
+    0x6402d0f8, 0xb01d242b,
+  0x63fee4f8, 0xb0183b7d, 0x63faf8bb, 0xb0135301, 0x63f70c3f, 0xb00e6ab5,
+    0x63f31f86, 0xb009829c,
+  0x63ef3290, 0xb0049ab3, 0x63eb455c, 0xafffb2fc, 0x63e757ea, 0xaffacb76,
+    0x63e36a3a, 0xaff5e421,
+  0x63df7c4d, 0xaff0fcfe, 0x63db8e22, 0xafec160c, 0x63d79fba, 0xafe72f4c,
+    0x63d3b114, 0xafe248bd,
+  0x63cfc231, 0xafdd625f, 0x63cbd310, 0xafd87c33, 0x63c7e3b1, 0xafd39638,
+    0x63c3f415, 0xafceb06f,
+  0x63c0043b, 0xafc9cad7, 0x63bc1424, 0xafc4e571, 0x63b823cf, 0xafc0003c,
+    0x63b4333d, 0xafbb1b39,
+  0x63b0426d, 0xafb63667, 0x63ac5160, 0xafb151c7, 0x63a86015, 0xafac6d58,
+    0x63a46e8d, 0xafa7891b,
+  0x63a07cc7, 0xafa2a50f, 0x639c8ac4, 0xaf9dc135, 0x63989884, 0xaf98dd8d,
+    0x6394a606, 0xaf93fa16,
+  0x6390b34a, 0xaf8f16d1, 0x638cc051, 0xaf8a33bd, 0x6388cd1b, 0xaf8550db,
+    0x6384d9a7, 0xaf806e2b,
+  0x6380e5f6, 0xaf7b8bac, 0x637cf208, 0xaf76a95f, 0x6378fddc, 0xaf71c743,
+    0x63750973, 0xaf6ce55a,
+  0x637114cc, 0xaf6803a2, 0x636d1fe9, 0xaf63221c, 0x63692ac7, 0xaf5e40c7,
+    0x63653569, 0xaf595fa4,
+  0x63613fcd, 0xaf547eb3, 0x635d49f4, 0xaf4f9df4, 0x635953dd, 0xaf4abd66,
+    0x63555d8a, 0xaf45dd0b,
+  0x635166f9, 0xaf40fce1, 0x634d702b, 0xaf3c1ce9, 0x6349791f, 0xaf373d22,
+    0x634581d6, 0xaf325d8e,
+  0x63418a50, 0xaf2d7e2b, 0x633d928d, 0xaf289efa, 0x63399a8d, 0xaf23bffb,
+    0x6335a24f, 0xaf1ee12e,
+  0x6331a9d4, 0xaf1a0293, 0x632db11c, 0xaf15242a, 0x6329b827, 0xaf1045f3,
+    0x6325bef5, 0xaf0b67ed,
+  0x6321c585, 0xaf068a1a, 0x631dcbd9, 0xaf01ac78, 0x6319d1ef, 0xaefccf09,
+    0x6315d7c8, 0xaef7f1cb,
+  0x6311dd64, 0xaef314c0, 0x630de2c3, 0xaeee37e6, 0x6309e7e4, 0xaee95b3f,
+    0x6305ecc9, 0xaee47ec9,
+  0x6301f171, 0xaedfa285, 0x62fdf5db, 0xaedac674, 0x62f9fa09, 0xaed5ea95,
+    0x62f5fdf9, 0xaed10ee7,
+  0x62f201ac, 0xaecc336c, 0x62ee0523, 0xaec75823, 0x62ea085c, 0xaec27d0c,
+    0x62e60b58, 0xaebda227,
+  0x62e20e17, 0xaeb8c774, 0x62de109a, 0xaeb3ecf3, 0x62da12df, 0xaeaf12a4,
+    0x62d614e7, 0xaeaa3888,
+  0x62d216b3, 0xaea55e9e, 0x62ce1841, 0xaea084e6, 0x62ca1992, 0xae9bab60,
+    0x62c61aa7, 0xae96d20c,
+  0x62c21b7e, 0xae91f8eb, 0x62be1c19, 0xae8d1ffb, 0x62ba1c77, 0xae88473e,
+    0x62b61c98, 0xae836eb4,
+  0x62b21c7b, 0xae7e965b, 0x62ae1c23, 0xae79be35, 0x62aa1b8d, 0xae74e641,
+    0x62a61aba, 0xae700e80,
+  0x62a219aa, 0xae6b36f0, 0x629e185e, 0xae665f93, 0x629a16d5, 0xae618869,
+    0x6296150f, 0xae5cb171,
+  0x6292130c, 0xae57daab, 0x628e10cc, 0xae530417, 0x628a0e50, 0xae4e2db6,
+    0x62860b97, 0xae495787,
+  0x628208a1, 0xae44818b, 0x627e056e, 0xae3fabc1, 0x627a01fe, 0xae3ad629,
+    0x6275fe52, 0xae3600c4,
+  0x6271fa69, 0xae312b92, 0x626df643, 0xae2c5691, 0x6269f1e1, 0xae2781c4,
+    0x6265ed42, 0xae22ad29,
+  0x6261e866, 0xae1dd8c0, 0x625de34e, 0xae19048a, 0x6259ddf8, 0xae143086,
+    0x6255d866, 0xae0f5cb5,
+  0x6251d298, 0xae0a8916, 0x624dcc8d, 0xae05b5aa, 0x6249c645, 0xae00e271,
+    0x6245bfc0, 0xadfc0f6a,
+  0x6241b8ff, 0xadf73c96, 0x623db202, 0xadf269f4, 0x6239aac7, 0xaded9785,
+    0x6235a351, 0xade8c548,
+  0x62319b9d, 0xade3f33e, 0x622d93ad, 0xaddf2167, 0x62298b81, 0xadda4fc3,
+    0x62258317, 0xadd57e51,
+  0x62217a72, 0xadd0ad12, 0x621d7190, 0xadcbdc05, 0x62196871, 0xadc70b2c,
+    0x62155f16, 0xadc23a85,
+  0x6211557e, 0xadbd6a10, 0x620d4baa, 0xadb899cf, 0x62094199, 0xadb3c9c0,
+    0x6205374c, 0xadaef9e4,
+  0x62012cc2, 0xadaa2a3b, 0x61fd21fc, 0xada55ac4, 0x61f916f9, 0xada08b80,
+    0x61f50bba, 0xad9bbc70,
+  0x61f1003f, 0xad96ed92, 0x61ecf487, 0xad921ee6, 0x61e8e893, 0xad8d506e,
+    0x61e4dc62, 0xad888229,
+  0x61e0cff5, 0xad83b416, 0x61dcc34c, 0xad7ee636, 0x61d8b666, 0xad7a1889,
+    0x61d4a944, 0xad754b0f,
+  0x61d09be5, 0xad707dc8, 0x61cc8e4b, 0xad6bb0b4, 0x61c88074, 0xad66e3d3,
+    0x61c47260, 0xad621725,
+  0x61c06410, 0xad5d4aaa, 0x61bc5584, 0xad587e61, 0x61b846bc, 0xad53b24c,
+    0x61b437b7, 0xad4ee66a,
+  0x61b02876, 0xad4a1aba, 0x61ac18f9, 0xad454f3e, 0x61a80940, 0xad4083f5,
+    0x61a3f94a, 0xad3bb8df,
+  0x619fe918, 0xad36edfc, 0x619bd8aa, 0xad32234b, 0x6197c800, 0xad2d58ce,
+    0x6193b719, 0xad288e85,
+  0x618fa5f7, 0xad23c46e, 0x618b9498, 0xad1efa8a, 0x618782fd, 0xad1a30d9,
+    0x61837126, 0xad15675c,
+  0x617f5f12, 0xad109e12, 0x617b4cc3, 0xad0bd4fb, 0x61773a37, 0xad070c17,
+    0x61732770, 0xad024366,
+  0x616f146c, 0xacfd7ae8, 0x616b012c, 0xacf8b29e, 0x6166edb0, 0xacf3ea87,
+    0x6162d9f8, 0xacef22a3,
+  0x615ec603, 0xacea5af2, 0x615ab1d3, 0xace59375, 0x61569d67, 0xace0cc2b,
+    0x615288be, 0xacdc0514,
+  0x614e73da, 0xacd73e30, 0x614a5eba, 0xacd27780, 0x6146495d, 0xaccdb103,
+    0x614233c5, 0xacc8eab9,
+  0x613e1df0, 0xacc424a3, 0x613a07e0, 0xacbf5ec0, 0x6135f193, 0xacba9910,
+    0x6131db0b, 0xacb5d394,
+  0x612dc447, 0xacb10e4b, 0x6129ad46, 0xacac4935, 0x6125960a, 0xaca78453,
+    0x61217e92, 0xaca2bfa4,
+  0x611d66de, 0xac9dfb29, 0x61194eee, 0xac9936e1, 0x611536c2, 0xac9472cd,
+    0x61111e5b, 0xac8faeec,
+  0x610d05b7, 0xac8aeb3e, 0x6108ecd8, 0xac8627c4, 0x6104d3bc, 0xac81647e,
+    0x6100ba65, 0xac7ca16b,
+  0x60fca0d2, 0xac77de8b, 0x60f88703, 0xac731bdf, 0x60f46cf9, 0xac6e5967,
+    0x60f052b2, 0xac699722,
+  0x60ec3830, 0xac64d510, 0x60e81d72, 0xac601333, 0x60e40278, 0xac5b5189,
+    0x60dfe743, 0xac569012,
+  0x60dbcbd1, 0xac51cecf, 0x60d7b024, 0xac4d0dc0, 0x60d3943b, 0xac484ce4,
+    0x60cf7817, 0xac438c3c,
+  0x60cb5bb7, 0xac3ecbc7, 0x60c73f1b, 0xac3a0b87, 0x60c32243, 0xac354b7a,
+    0x60bf0530, 0xac308ba0,
+  0x60bae7e1, 0xac2bcbfa, 0x60b6ca56, 0xac270c88, 0x60b2ac8f, 0xac224d4a,
+    0x60ae8e8d, 0xac1d8e40,
+  0x60aa7050, 0xac18cf69, 0x60a651d7, 0xac1410c6, 0x60a23322, 0xac0f5256,
+    0x609e1431, 0xac0a941b,
+  0x6099f505, 0xac05d613, 0x6095d59d, 0xac01183f, 0x6091b5fa, 0xabfc5a9f,
+    0x608d961b, 0xabf79d33,
+  0x60897601, 0xabf2dffb, 0x608555ab, 0xabee22f6, 0x60813519, 0xabe96625,
+    0x607d144c, 0xabe4a988,
+  0x6078f344, 0xabdfed1f, 0x6074d200, 0xabdb30ea, 0x6070b080, 0xabd674e9,
+    0x606c8ec5, 0xabd1b91c,
+  0x60686ccf, 0xabccfd83, 0x60644a9d, 0xabc8421d, 0x6060282f, 0xabc386ec,
+    0x605c0587, 0xabbecbee,
+  0x6057e2a2, 0xabba1125, 0x6053bf82, 0xabb5568f, 0x604f9c27, 0xabb09c2e,
+    0x604b7891, 0xababe200,
+  0x604754bf, 0xaba72807, 0x604330b1, 0xaba26e41, 0x603f0c69, 0xab9db4b0,
+    0x603ae7e5, 0xab98fb52,
+  0x6036c325, 0xab944229, 0x60329e2a, 0xab8f8934, 0x602e78f4, 0xab8ad073,
+    0x602a5383, 0xab8617e6,
+  0x60262dd6, 0xab815f8d, 0x602207ee, 0xab7ca768, 0x601de1ca, 0xab77ef77,
+    0x6019bb6b, 0xab7337bb,
+  0x601594d1, 0xab6e8032, 0x60116dfc, 0xab69c8de, 0x600d46ec, 0xab6511be,
+    0x60091fa0, 0xab605ad2,
+  0x6004f819, 0xab5ba41a, 0x6000d057, 0xab56ed97, 0x5ffca859, 0xab523748,
+    0x5ff88021, 0xab4d812d,
+  0x5ff457ad, 0xab48cb46, 0x5ff02efe, 0xab441593, 0x5fec0613, 0xab3f6015,
+    0x5fe7dcee, 0xab3aaacb,
+  0x5fe3b38d, 0xab35f5b5, 0x5fdf89f2, 0xab3140d4, 0x5fdb601b, 0xab2c8c27,
+    0x5fd73609, 0xab27d7ae,
+  0x5fd30bbc, 0xab23236a, 0x5fcee133, 0xab1e6f5a, 0x5fcab670, 0xab19bb7e,
+    0x5fc68b72, 0xab1507d7,
+  0x5fc26038, 0xab105464, 0x5fbe34c4, 0xab0ba125, 0x5fba0914, 0xab06ee1b,
+    0x5fb5dd29, 0xab023b46,
+  0x5fb1b104, 0xaafd88a4, 0x5fad84a3, 0xaaf8d637, 0x5fa95807, 0xaaf423ff,
+    0x5fa52b31, 0xaaef71fb,
+  0x5fa0fe1f, 0xaaeac02c, 0x5f9cd0d2, 0xaae60e91, 0x5f98a34a, 0xaae15d2a,
+    0x5f947588, 0xaadcabf8,
+  0x5f90478a, 0xaad7fafb, 0x5f8c1951, 0xaad34a32, 0x5f87eade, 0xaace999d,
+    0x5f83bc2f, 0xaac9e93e,
+  0x5f7f8d46, 0xaac53912, 0x5f7b5e22, 0xaac0891c, 0x5f772ec2, 0xaabbd959,
+    0x5f72ff28, 0xaab729cc,
+  0x5f6ecf53, 0xaab27a73, 0x5f6a9f44, 0xaaadcb4f, 0x5f666ef9, 0xaaa91c5f,
+    0x5f623e73, 0xaaa46da4,
+  0x5f5e0db3, 0xaa9fbf1e, 0x5f59dcb8, 0xaa9b10cc, 0x5f55ab82, 0xaa9662af,
+    0x5f517a11, 0xaa91b4c7,
+  0x5f4d4865, 0xaa8d0713, 0x5f49167f, 0xaa885994, 0x5f44e45e, 0xaa83ac4a,
+    0x5f40b202, 0xaa7eff34,
+  0x5f3c7f6b, 0xaa7a5253, 0x5f384c9a, 0xaa75a5a8, 0x5f34198e, 0xaa70f930,
+    0x5f2fe647, 0xaa6c4cee,
+  0x5f2bb2c5, 0xaa67a0e0, 0x5f277f09, 0xaa62f507, 0x5f234b12, 0xaa5e4963,
+    0x5f1f16e0, 0xaa599df4,
+  0x5f1ae274, 0xaa54f2ba, 0x5f16adcc, 0xaa5047b4, 0x5f1278eb, 0xaa4b9ce3,
+    0x5f0e43ce, 0xaa46f248,
+  0x5f0a0e77, 0xaa4247e1, 0x5f05d8e6, 0xaa3d9daf, 0x5f01a31a, 0xaa38f3b1,
+    0x5efd6d13, 0xaa3449e9,
+  0x5ef936d1, 0xaa2fa056, 0x5ef50055, 0xaa2af6f7, 0x5ef0c99f, 0xaa264dce,
+    0x5eec92ae, 0xaa21a4d9,
+  0x5ee85b82, 0xaa1cfc1a, 0x5ee4241c, 0xaa18538f, 0x5edfec7b, 0xaa13ab3a,
+    0x5edbb49f, 0xaa0f0319,
+  0x5ed77c8a, 0xaa0a5b2e, 0x5ed34439, 0xaa05b377, 0x5ecf0baf, 0xaa010bf6,
+    0x5ecad2e9, 0xa9fc64a9,
+  0x5ec699e9, 0xa9f7bd92, 0x5ec260af, 0xa9f316b0, 0x5ebe273b, 0xa9ee7002,
+    0x5eb9ed8b, 0xa9e9c98a,
+  0x5eb5b3a2, 0xa9e52347, 0x5eb1797e, 0xa9e07d39, 0x5ead3f1f, 0xa9dbd761,
+    0x5ea90487, 0xa9d731bd,
+  0x5ea4c9b3, 0xa9d28c4e, 0x5ea08ea6, 0xa9cde715, 0x5e9c535e, 0xa9c94211,
+    0x5e9817dc, 0xa9c49d42,
+  0x5e93dc1f, 0xa9bff8a8, 0x5e8fa028, 0xa9bb5444, 0x5e8b63f7, 0xa9b6b014,
+    0x5e87278b, 0xa9b20c1a,
+  0x5e82eae5, 0xa9ad6855, 0x5e7eae05, 0xa9a8c4c5, 0x5e7a70ea, 0xa9a4216b,
+    0x5e763395, 0xa99f7e46,
+  0x5e71f606, 0xa99adb56, 0x5e6db83d, 0xa996389b, 0x5e697a39, 0xa9919616,
+    0x5e653bfc, 0xa98cf3c6,
+  0x5e60fd84, 0xa98851ac, 0x5e5cbed1, 0xa983afc6, 0x5e587fe5, 0xa97f0e16,
+    0x5e5440be, 0xa97a6c9c,
+  0x5e50015d, 0xa975cb57, 0x5e4bc1c2, 0xa9712a47, 0x5e4781ed, 0xa96c896c,
+    0x5e4341de, 0xa967e8c7,
+  0x5e3f0194, 0xa9634858, 0x5e3ac110, 0xa95ea81d, 0x5e368053, 0xa95a0819,
+    0x5e323f5b, 0xa9556849,
+  0x5e2dfe29, 0xa950c8b0, 0x5e29bcbd, 0xa94c294b, 0x5e257b17, 0xa9478a1c,
+    0x5e213936, 0xa942eb23,
+  0x5e1cf71c, 0xa93e4c5f, 0x5e18b4c8, 0xa939add1, 0x5e147239, 0xa9350f78,
+    0x5e102f71, 0xa9307155,
+  0x5e0bec6e, 0xa92bd367, 0x5e07a932, 0xa92735af, 0x5e0365bb, 0xa922982c,
+    0x5dff220b, 0xa91dfadf,
+  0x5dfade20, 0xa9195dc7, 0x5df699fc, 0xa914c0e6, 0x5df2559e, 0xa9102439,
+    0x5dee1105, 0xa90b87c3,
+  0x5de9cc33, 0xa906eb82, 0x5de58727, 0xa9024f76, 0x5de141e1, 0xa8fdb3a1,
+    0x5ddcfc61, 0xa8f91801,
+  0x5dd8b6a7, 0xa8f47c97, 0x5dd470b3, 0xa8efe162, 0x5dd02a85, 0xa8eb4663,
+    0x5dcbe41d, 0xa8e6ab9a,
+  0x5dc79d7c, 0xa8e21106, 0x5dc356a1, 0xa8dd76a9, 0x5dbf0f8c, 0xa8d8dc81,
+    0x5dbac83d, 0xa8d4428f,
+  0x5db680b4, 0xa8cfa8d2, 0x5db238f1, 0xa8cb0f4b, 0x5dadf0f5, 0xa8c675fb,
+    0x5da9a8bf, 0xa8c1dce0,
+  0x5da5604f, 0xa8bd43fa, 0x5da117a5, 0xa8b8ab4b, 0x5d9ccec2, 0xa8b412d1,
+    0x5d9885a5, 0xa8af7a8e,
+  0x5d943c4e, 0xa8aae280, 0x5d8ff2bd, 0xa8a64aa8, 0x5d8ba8f3, 0xa8a1b306,
+    0x5d875eef, 0xa89d1b99,
+  0x5d8314b1, 0xa8988463, 0x5d7eca39, 0xa893ed63, 0x5d7a7f88, 0xa88f5698,
+    0x5d76349d, 0xa88ac004,
+  0x5d71e979, 0xa88629a5, 0x5d6d9e1b, 0xa881937c, 0x5d695283, 0xa87cfd8a,
+    0x5d6506b2, 0xa87867cd,
+  0x5d60baa7, 0xa873d246, 0x5d5c6e62, 0xa86f3cf6, 0x5d5821e4, 0xa86aa7db,
+    0x5d53d52d, 0xa86612f6,
+  0x5d4f883b, 0xa8617e48, 0x5d4b3b10, 0xa85ce9cf, 0x5d46edac, 0xa858558d,
+    0x5d42a00e, 0xa853c180,
+  0x5d3e5237, 0xa84f2daa, 0x5d3a0426, 0xa84a9a0a, 0x5d35b5db, 0xa84606a0,
+    0x5d316757, 0xa841736c,
+  0x5d2d189a, 0xa83ce06e, 0x5d28c9a3, 0xa8384da6, 0x5d247a72, 0xa833bb14,
+    0x5d202b09, 0xa82f28b9,
+  0x5d1bdb65, 0xa82a9693, 0x5d178b89, 0xa82604a4, 0x5d133b72, 0xa82172eb,
+    0x5d0eeb23, 0xa81ce169,
+  0x5d0a9a9a, 0xa818501c, 0x5d0649d7, 0xa813bf06, 0x5d01f8dc, 0xa80f2e26,
+    0x5cfda7a7, 0xa80a9d7c,
+  0x5cf95638, 0xa8060d08, 0x5cf50490, 0xa8017ccb, 0x5cf0b2af, 0xa7fcecc4,
+    0x5cec6095, 0xa7f85cf3,
+  0x5ce80e41, 0xa7f3cd59, 0x5ce3bbb4, 0xa7ef3df5, 0x5cdf68ed, 0xa7eaaec7,
+    0x5cdb15ed, 0xa7e61fd0,
+  0x5cd6c2b5, 0xa7e1910f, 0x5cd26f42, 0xa7dd0284, 0x5cce1b97, 0xa7d8742f,
+    0x5cc9c7b2, 0xa7d3e611,
+  0x5cc57394, 0xa7cf582a, 0x5cc11f3d, 0xa7caca79, 0x5cbccaac, 0xa7c63cfe,
+    0x5cb875e3, 0xa7c1afb9,
+  0x5cb420e0, 0xa7bd22ac, 0x5cafcba4, 0xa7b895d4, 0x5cab762f, 0xa7b40933,
+    0x5ca72080, 0xa7af7cc8,
+  0x5ca2ca99, 0xa7aaf094, 0x5c9e7478, 0xa7a66497, 0x5c9a1e1e, 0xa7a1d8d0,
+    0x5c95c78b, 0xa79d4d3f,
+  0x5c9170bf, 0xa798c1e5, 0x5c8d19ba, 0xa79436c1, 0x5c88c27c, 0xa78fabd4,
+    0x5c846b05, 0xa78b211e,
+  0x5c801354, 0xa786969e, 0x5c7bbb6b, 0xa7820c55, 0x5c776348, 0xa77d8242,
+    0x5c730aed, 0xa778f866,
+  0x5c6eb258, 0xa7746ec0, 0x5c6a598b, 0xa76fe551, 0x5c660084, 0xa76b5c19,
+    0x5c61a745, 0xa766d317,
+  0x5c5d4dcc, 0xa7624a4d, 0x5c58f41a, 0xa75dc1b8, 0x5c549a30, 0xa759395b,
+    0x5c50400d, 0xa754b134,
+  0x5c4be5b0, 0xa7502943, 0x5c478b1b, 0xa74ba18a, 0x5c43304d, 0xa7471a07,
+    0x5c3ed545, 0xa74292bb,
+  0x5c3a7a05, 0xa73e0ba5, 0x5c361e8c, 0xa73984c7, 0x5c31c2db, 0xa734fe1f,
+    0x5c2d66f0, 0xa73077ae,
+  0x5c290acc, 0xa72bf174, 0x5c24ae70, 0xa7276b70, 0x5c2051db, 0xa722e5a3,
+    0x5c1bf50d, 0xa71e600d,
+  0x5c179806, 0xa719daae, 0x5c133ac6, 0xa7155586, 0x5c0edd4e, 0xa710d095,
+    0x5c0a7f9c, 0xa70c4bda,
+  0x5c0621b2, 0xa707c757, 0x5c01c38f, 0xa703430a, 0x5bfd6534, 0xa6febef4,
+    0x5bf906a0, 0xa6fa3b15,
+  0x5bf4a7d2, 0xa6f5b76d, 0x5bf048cd, 0xa6f133fc, 0x5bebe98e, 0xa6ecb0c2,
+    0x5be78a17, 0xa6e82dbe,
+  0x5be32a67, 0xa6e3aaf2, 0x5bdeca7f, 0xa6df285d, 0x5bda6a5d, 0xa6daa5fe,
+    0x5bd60a03, 0xa6d623d7,
+  0x5bd1a971, 0xa6d1a1e7, 0x5bcd48a6, 0xa6cd202d, 0x5bc8e7a2, 0xa6c89eab,
+    0x5bc48666, 0xa6c41d60,
+  0x5bc024f0, 0xa6bf9c4b, 0x5bbbc343, 0xa6bb1b6e, 0x5bb7615d, 0xa6b69ac8,
+    0x5bb2ff3e, 0xa6b21a59,
+  0x5bae9ce7, 0xa6ad9a21, 0x5baa3a57, 0xa6a91a20, 0x5ba5d78e, 0xa6a49a56,
+    0x5ba1748d, 0xa6a01ac4,
+  0x5b9d1154, 0xa69b9b68, 0x5b98ade2, 0xa6971c44, 0x5b944a37, 0xa6929d57,
+    0x5b8fe654, 0xa68e1ea1,
+  0x5b8b8239, 0xa689a022, 0x5b871de5, 0xa68521da, 0x5b82b958, 0xa680a3ca,
+    0x5b7e5493, 0xa67c25f0,
+  0x5b79ef96, 0xa677a84e, 0x5b758a60, 0xa6732ae3, 0x5b7124f2, 0xa66eadb0,
+    0x5b6cbf4c, 0xa66a30b3,
+  0x5b68596d, 0xa665b3ee, 0x5b63f355, 0xa6613760, 0x5b5f8d06, 0xa65cbb0a,
+    0x5b5b267e, 0xa6583eeb,
+  0x5b56bfbd, 0xa653c303, 0x5b5258c4, 0xa64f4752, 0x5b4df193, 0xa64acbd9,
+    0x5b498a2a, 0xa6465097,
+  0x5b452288, 0xa641d58c, 0x5b40baae, 0xa63d5ab9, 0x5b3c529c, 0xa638e01d,
+    0x5b37ea51, 0xa63465b9,
+  0x5b3381ce, 0xa62feb8b, 0x5b2f1913, 0xa62b7196, 0x5b2ab020, 0xa626f7d7,
+    0x5b2646f4, 0xa6227e50,
+  0x5b21dd90, 0xa61e0501, 0x5b1d73f4, 0xa6198be9, 0x5b190a20, 0xa6151308,
+    0x5b14a014, 0xa6109a5f,
+  0x5b1035cf, 0xa60c21ee, 0x5b0bcb52, 0xa607a9b4, 0x5b07609d, 0xa60331b1,
+    0x5b02f5b0, 0xa5feb9e6,
+  0x5afe8a8b, 0xa5fa4252, 0x5afa1f2e, 0xa5f5caf6, 0x5af5b398, 0xa5f153d2,
+    0x5af147ca, 0xa5ecdce5,
+  0x5aecdbc5, 0xa5e8662f, 0x5ae86f87, 0xa5e3efb1, 0x5ae40311, 0xa5df796b,
+    0x5adf9663, 0xa5db035c,
+  0x5adb297d, 0xa5d68d85, 0x5ad6bc5f, 0xa5d217e6, 0x5ad24f09, 0xa5cda27e,
+    0x5acde17b, 0xa5c92d4e,
+  0x5ac973b5, 0xa5c4b855, 0x5ac505b7, 0xa5c04395, 0x5ac09781, 0xa5bbcf0b,
+    0x5abc2912, 0xa5b75aba,
+  0x5ab7ba6c, 0xa5b2e6a0, 0x5ab34b8e, 0xa5ae72be, 0x5aaedc78, 0xa5a9ff14,
+    0x5aaa6d2b, 0xa5a58ba1,
+  0x5aa5fda5, 0xa5a11866, 0x5aa18de7, 0xa59ca563, 0x5a9d1df1, 0xa5983297,
+    0x5a98adc4, 0xa593c004,
+  0x5a943d5e, 0xa58f4da8, 0x5a8fccc1, 0xa58adb84, 0x5a8b5bec, 0xa5866997,
+    0x5a86eadf, 0xa581f7e3,
+  0x5a82799a, 0xa57d8666, 0x5a7e081d, 0xa5791521, 0x5a799669, 0xa574a414,
+    0x5a75247c, 0xa570333f,
+  0x5a70b258, 0xa56bc2a2, 0x5a6c3ffc, 0xa567523c, 0x5a67cd69, 0xa562e20f,
+    0x5a635a9d, 0xa55e7219,
+  0x5a5ee79a, 0xa55a025b, 0x5a5a745f, 0xa55592d5, 0x5a5600ec, 0xa5512388,
+    0x5a518d42, 0xa54cb472,
+  0x5a4d1960, 0xa5484594, 0x5a48a546, 0xa543d6ee, 0x5a4430f5, 0xa53f687f,
+    0x5a3fbc6b, 0xa53afa49,
+  0x5a3b47ab, 0xa5368c4b, 0x5a36d2b2, 0xa5321e85, 0x5a325d82, 0xa52db0f7,
+    0x5a2de81a, 0xa52943a1,
+  0x5a29727b, 0xa524d683, 0x5a24fca4, 0xa520699d, 0x5a208695, 0xa51bfcef,
+    0x5a1c104f, 0xa5179079,
+  0x5a1799d1, 0xa513243b, 0x5a13231b, 0xa50eb836, 0x5a0eac2e, 0xa50a4c68,
+    0x5a0a350a, 0xa505e0d2,
+  0x5a05bdae, 0xa5017575, 0x5a01461a, 0xa4fd0a50, 0x59fcce4f, 0xa4f89f63,
+    0x59f8564c, 0xa4f434ae,
+  0x59f3de12, 0xa4efca31, 0x59ef65a1, 0xa4eb5fec, 0x59eaecf8, 0xa4e6f5e0,
+    0x59e67417, 0xa4e28c0c,
+  0x59e1faff, 0xa4de2270, 0x59dd81b0, 0xa4d9b90c, 0x59d90829, 0xa4d54fe0,
+    0x59d48e6a, 0xa4d0e6ed,
+  0x59d01475, 0xa4cc7e32, 0x59cb9a47, 0xa4c815af, 0x59c71fe3, 0xa4c3ad64,
+    0x59c2a547, 0xa4bf4552,
+  0x59be2a74, 0xa4badd78, 0x59b9af69, 0xa4b675d6, 0x59b53427, 0xa4b20e6d,
+    0x59b0b8ae, 0xa4ada73c,
+  0x59ac3cfd, 0xa4a94043, 0x59a7c115, 0xa4a4d982, 0x59a344f6, 0xa4a072fa,
+    0x599ec8a0, 0xa49c0cab,
+  0x599a4c12, 0xa497a693, 0x5995cf4d, 0xa49340b4, 0x59915250, 0xa48edb0e,
+    0x598cd51d, 0xa48a75a0,
+  0x598857b2, 0xa486106a, 0x5983da10, 0xa481ab6d, 0x597f5c36, 0xa47d46a8,
+    0x597ade26, 0xa478e21b,
+  0x59765fde, 0xa4747dc7, 0x5971e15f, 0xa47019ac, 0x596d62a9, 0xa46bb5c9,
+    0x5968e3bc, 0xa467521e,
+  0x59646498, 0xa462eeac, 0x595fe53c, 0xa45e8b73, 0x595b65aa, 0xa45a2872,
+    0x5956e5e0, 0xa455c5a9,
+  0x595265df, 0xa4516319, 0x594de5a7, 0xa44d00c2, 0x59496538, 0xa4489ea3,
+    0x5944e492, 0xa4443cbd,
+  0x594063b5, 0xa43fdb10, 0x593be2a0, 0xa43b799a, 0x59376155, 0xa437185e,
+    0x5932dfd3, 0xa432b75a,
+  0x592e5e19, 0xa42e568f, 0x5929dc29, 0xa429f5fd, 0x59255a02, 0xa42595a3,
+    0x5920d7a3, 0xa4213581,
+  0x591c550e, 0xa41cd599, 0x5917d242, 0xa41875e9, 0x59134f3e, 0xa4141672,
+    0x590ecc04, 0xa40fb733,
+  0x590a4893, 0xa40b582e, 0x5905c4eb, 0xa406f960, 0x5901410c, 0xa4029acc,
+    0x58fcbcf6, 0xa3fe3c71,
+  0x58f838a9, 0xa3f9de4e, 0x58f3b426, 0xa3f58064, 0x58ef2f6b, 0xa3f122b2,
+    0x58eaaa7a, 0xa3ecc53a,
+  0x58e62552, 0xa3e867fa, 0x58e19ff3, 0xa3e40af3, 0x58dd1a5d, 0xa3dfae25,
+    0x58d89490, 0xa3db5190,
+  0x58d40e8c, 0xa3d6f534, 0x58cf8852, 0xa3d29910, 0x58cb01e1, 0xa3ce3d25,
+    0x58c67b39, 0xa3c9e174,
+  0x58c1f45b, 0xa3c585fb, 0x58bd6d45, 0xa3c12abb, 0x58b8e5f9, 0xa3bccfb3,
+    0x58b45e76, 0xa3b874e5,
+  0x58afd6bd, 0xa3b41a50, 0x58ab4ecc, 0xa3afbff3, 0x58a6c6a5, 0xa3ab65d0,
+    0x58a23e48, 0xa3a70be6,
+  0x589db5b3, 0xa3a2b234, 0x58992ce9, 0xa39e58bb, 0x5894a3e7, 0xa399ff7c,
+    0x58901aaf, 0xa395a675,
+  0x588b9140, 0xa3914da8, 0x5887079a, 0xa38cf513, 0x58827dbe, 0xa3889cb8,
+    0x587df3ab, 0xa3844495,
+  0x58796962, 0xa37fecac, 0x5874dee2, 0xa37b94fb, 0x5870542c, 0xa3773d84,
+    0x586bc93f, 0xa372e646,
+  0x58673e1b, 0xa36e8f41, 0x5862b2c1, 0xa36a3875, 0x585e2730, 0xa365e1e2,
+    0x58599b69, 0xa3618b88,
+  0x58550f6c, 0xa35d3567, 0x58508338, 0xa358df80, 0x584bf6cd, 0xa35489d1,
+    0x58476a2c, 0xa350345c,
+  0x5842dd54, 0xa34bdf20, 0x583e5047, 0xa3478a1d, 0x5839c302, 0xa3433554,
+    0x58353587, 0xa33ee0c3,
+  0x5830a7d6, 0xa33a8c6c, 0x582c19ef, 0xa336384e, 0x58278bd1, 0xa331e469,
+    0x5822fd7c, 0xa32d90be,
+  0x581e6ef1, 0xa3293d4b, 0x5819e030, 0xa324ea13, 0x58155139, 0xa3209713,
+    0x5810c20b, 0xa31c444c,
+  0x580c32a7, 0xa317f1bf, 0x5807a30d, 0xa3139f6b, 0x5803133c, 0xa30f4d51,
+    0x57fe8335, 0xa30afb70,
+  0x57f9f2f8, 0xa306a9c8, 0x57f56284, 0xa3025859, 0x57f0d1da, 0xa2fe0724,
+    0x57ec40fa, 0xa2f9b629,
+  0x57e7afe4, 0xa2f56566, 0x57e31e97, 0xa2f114dd, 0x57de8d15, 0xa2ecc48e,
+    0x57d9fb5c, 0xa2e87477,
+  0x57d5696d, 0xa2e4249b, 0x57d0d747, 0xa2dfd4f7, 0x57cc44ec, 0xa2db858e,
+    0x57c7b25a, 0xa2d7365d,
+  0x57c31f92, 0xa2d2e766, 0x57be8c94, 0xa2ce98a9, 0x57b9f960, 0xa2ca4a25,
+    0x57b565f6, 0xa2c5fbda,
+  0x57b0d256, 0xa2c1adc9, 0x57ac3e80, 0xa2bd5ff2, 0x57a7aa73, 0xa2b91254,
+    0x57a31631, 0xa2b4c4f0,
+  0x579e81b8, 0xa2b077c5, 0x5799ed0a, 0xa2ac2ad3, 0x57955825, 0xa2a7de1c,
+    0x5790c30a, 0xa2a3919e,
+  0x578c2dba, 0xa29f4559, 0x57879833, 0xa29af94e, 0x57830276, 0xa296ad7d,
+    0x577e6c84, 0xa29261e5,
+  0x5779d65b, 0xa28e1687, 0x57753ffc, 0xa289cb63, 0x5770a968, 0xa2858078,
+    0x576c129d, 0xa28135c7,
+  0x57677b9d, 0xa27ceb4f, 0x5762e467, 0xa278a111, 0x575e4cfa, 0xa274570d,
+    0x5759b558, 0xa2700d43,
+  0x57551d80, 0xa26bc3b2, 0x57508572, 0xa2677a5b, 0x574bed2f, 0xa263313e,
+    0x574754b5, 0xa25ee85b,
+  0x5742bc06, 0xa25a9fb1, 0x573e2320, 0xa2565741, 0x57398a05, 0xa2520f0b,
+    0x5734f0b5, 0xa24dc70f,
+  0x5730572e, 0xa2497f4c, 0x572bbd71, 0xa24537c3, 0x5727237f, 0xa240f074,
+    0x57228957, 0xa23ca95f,
+  0x571deefa, 0xa2386284, 0x57195466, 0xa2341be3, 0x5714b99d, 0xa22fd57b,
+    0x57101e9e, 0xa22b8f4d,
+  0x570b8369, 0xa2274959, 0x5706e7ff, 0xa223039f, 0x57024c5f, 0xa21ebe1f,
+    0x56fdb08a, 0xa21a78d9,
+  0x56f9147e, 0xa21633cd, 0x56f4783d, 0xa211eefb, 0x56efdbc7, 0xa20daa62,
+    0x56eb3f1a, 0xa2096604,
+  0x56e6a239, 0xa20521e0, 0x56e20521, 0xa200ddf5, 0x56dd67d4, 0xa1fc9a45,
+    0x56d8ca51, 0xa1f856ce,
+  0x56d42c99, 0xa1f41392, 0x56cf8eab, 0xa1efd08f, 0x56caf088, 0xa1eb8dc7,
+    0x56c6522f, 0xa1e74b38,
+  0x56c1b3a1, 0xa1e308e4, 0x56bd14dd, 0xa1dec6ca, 0x56b875e4, 0xa1da84e9,
+    0x56b3d6b5, 0xa1d64343,
+  0x56af3750, 0xa1d201d7, 0x56aa97b7, 0xa1cdc0a5, 0x56a5f7e7, 0xa1c97fad,
+    0x56a157e3, 0xa1c53ef0,
+  0x569cb7a8, 0xa1c0fe6c, 0x56981739, 0xa1bcbe22, 0x56937694, 0xa1b87e13,
+    0x568ed5b9, 0xa1b43e3e,
+  0x568a34a9, 0xa1affea3, 0x56859364, 0xa1abbf42, 0x5680f1ea, 0xa1a7801b,
+    0x567c503a, 0xa1a3412f,
+  0x5677ae54, 0xa19f027c, 0x56730c3a, 0xa19ac404, 0x566e69ea, 0xa19685c7,
+    0x5669c765, 0xa19247c3,
+  0x566524aa, 0xa18e09fa, 0x566081ba, 0xa189cc6b, 0x565bde95, 0xa1858f16,
+    0x56573b3b, 0xa18151fb,
+  0x565297ab, 0xa17d151b, 0x564df3e6, 0xa178d875, 0x56494fec, 0xa1749c09,
+    0x5644abbc, 0xa1705fd8,
+  0x56400758, 0xa16c23e1, 0x563b62be, 0xa167e824, 0x5636bdef, 0xa163aca2,
+    0x563218eb, 0xa15f715a,
+  0x562d73b2, 0xa15b364d, 0x5628ce43, 0xa156fb79, 0x5624289f, 0xa152c0e1,
+    0x561f82c7, 0xa14e8682,
+  0x561adcb9, 0xa14a4c5e, 0x56163676, 0xa1461275, 0x56118ffe, 0xa141d8c5,
+    0x560ce950, 0xa13d9f51,
+  0x5608426e, 0xa1396617, 0x56039b57, 0xa1352d17, 0x55fef40a, 0xa130f451,
+    0x55fa4c89, 0xa12cbbc7,
+  0x55f5a4d2, 0xa1288376, 0x55f0fce7, 0xa1244b61, 0x55ec54c6, 0xa1201385,
+    0x55e7ac71, 0xa11bdbe4,
+  0x55e303e6, 0xa117a47e, 0x55de5b27, 0xa1136d52, 0x55d9b232, 0xa10f3661,
+    0x55d50909, 0xa10affab,
+  0x55d05faa, 0xa106c92f, 0x55cbb617, 0xa10292ed, 0x55c70c4f, 0xa0fe5ce6,
+    0x55c26251, 0xa0fa271a,
+  0x55bdb81f, 0xa0f5f189, 0x55b90db8, 0xa0f1bc32, 0x55b4631d, 0xa0ed8715,
+    0x55afb84c, 0xa0e95234,
+  0x55ab0d46, 0xa0e51d8c, 0x55a6620c, 0xa0e0e920, 0x55a1b69d, 0xa0dcb4ee,
+    0x559d0af9, 0xa0d880f7,
+  0x55985f20, 0xa0d44d3b, 0x5593b312, 0xa0d019b9, 0x558f06d0, 0xa0cbe672,
+    0x558a5a58, 0xa0c7b366,
+  0x5585adad, 0xa0c38095, 0x558100cc, 0xa0bf4dfe, 0x557c53b6, 0xa0bb1ba2,
+    0x5577a66c, 0xa0b6e981,
+  0x5572f8ed, 0xa0b2b79b, 0x556e4b39, 0xa0ae85ef, 0x55699d51, 0xa0aa547e,
+    0x5564ef34, 0xa0a62348,
+  0x556040e2, 0xa0a1f24d, 0x555b925c, 0xa09dc18d, 0x5556e3a1, 0xa0999107,
+    0x555234b1, 0xa09560bc,
+  0x554d858d, 0xa09130ad, 0x5548d634, 0xa08d00d8, 0x554426a7, 0xa088d13e,
+    0x553f76e4, 0xa084a1de,
+  0x553ac6ee, 0xa08072ba, 0x553616c2, 0xa07c43d1, 0x55316663, 0xa0781522,
+    0x552cb5ce, 0xa073e6af,
+  0x55280505, 0xa06fb876, 0x55235408, 0xa06b8a78, 0x551ea2d6, 0xa0675cb6,
+    0x5519f16f, 0xa0632f2e,
+  0x55153fd4, 0xa05f01e1, 0x55108e05, 0xa05ad4cf, 0x550bdc01, 0xa056a7f9,
+    0x550729c9, 0xa0527b5d,
+  0x5502775c, 0xa04e4efc, 0x54fdc4ba, 0xa04a22d7, 0x54f911e5, 0xa045f6ec,
+    0x54f45edb, 0xa041cb3c,
+  0x54efab9c, 0xa03d9fc8, 0x54eaf829, 0xa039748e, 0x54e64482, 0xa0354990,
+    0x54e190a6, 0xa0311ecd,
+  0x54dcdc96, 0xa02cf444, 0x54d82852, 0xa028c9f7, 0x54d373d9, 0xa0249fe5,
+    0x54cebf2c, 0xa020760e,
+  0x54ca0a4b, 0xa01c4c73, 0x54c55535, 0xa0182312, 0x54c09feb, 0xa013f9ed,
+    0x54bbea6d, 0xa00fd102,
+  0x54b734ba, 0xa00ba853, 0x54b27ed3, 0xa0077fdf, 0x54adc8b8, 0xa00357a7,
+    0x54a91269, 0x9fff2fa9,
+  0x54a45be6, 0x9ffb07e7, 0x549fa52e, 0x9ff6e060, 0x549aee42, 0x9ff2b914,
+    0x54963722, 0x9fee9204,
+  0x54917fce, 0x9fea6b2f, 0x548cc845, 0x9fe64495, 0x54881089, 0x9fe21e36,
+    0x54835898, 0x9fddf812,
+  0x547ea073, 0x9fd9d22a, 0x5479e81a, 0x9fd5ac7d, 0x54752f8d, 0x9fd1870c,
+    0x547076cc, 0x9fcd61d6,
+  0x546bbdd7, 0x9fc93cdb, 0x546704ae, 0x9fc5181b, 0x54624b50, 0x9fc0f397,
+    0x545d91bf, 0x9fbccf4f,
+  0x5458d7f9, 0x9fb8ab41, 0x54541e00, 0x9fb4876f, 0x544f63d2, 0x9fb063d9,
+    0x544aa971, 0x9fac407e,
+  0x5445eedb, 0x9fa81d5e, 0x54413412, 0x9fa3fa79, 0x543c7914, 0x9f9fd7d1,
+    0x5437bde3, 0x9f9bb563,
+  0x5433027d, 0x9f979331, 0x542e46e4, 0x9f93713b, 0x54298b17, 0x9f8f4f80,
+    0x5424cf16, 0x9f8b2e00,
+  0x542012e1, 0x9f870cbc, 0x541b5678, 0x9f82ebb4, 0x541699db, 0x9f7ecae7,
+    0x5411dd0a, 0x9f7aaa55,
+  0x540d2005, 0x9f7689ff, 0x540862cd, 0x9f7269e5, 0x5403a561, 0x9f6e4a06,
+    0x53fee7c1, 0x9f6a2a63,
+  0x53fa29ed, 0x9f660afb, 0x53f56be5, 0x9f61ebcf, 0x53f0adaa, 0x9f5dccde,
+    0x53ebef3a, 0x9f59ae29,
+  0x53e73097, 0x9f558fb0, 0x53e271c0, 0x9f517173, 0x53ddb2b6, 0x9f4d5371,
+    0x53d8f378, 0x9f4935aa,
+  0x53d43406, 0x9f45181f, 0x53cf7460, 0x9f40fad0, 0x53cab486, 0x9f3cddbd,
+    0x53c5f479, 0x9f38c0e5,
+  0x53c13439, 0x9f34a449, 0x53bc73c4, 0x9f3087e9, 0x53b7b31c, 0x9f2c6bc5,
+    0x53b2f240, 0x9f284fdc,
+  0x53ae3131, 0x9f24342f, 0x53a96fee, 0x9f2018bd, 0x53a4ae77, 0x9f1bfd88,
+    0x539feccd, 0x9f17e28e,
+  0x539b2af0, 0x9f13c7d0, 0x539668de, 0x9f0fad4e, 0x5391a699, 0x9f0b9307,
+    0x538ce421, 0x9f0778fd,
+  0x53882175, 0x9f035f2e, 0x53835e95, 0x9eff459b, 0x537e9b82, 0x9efb2c44,
+    0x5379d83c, 0x9ef71328,
+  0x537514c2, 0x9ef2fa49, 0x53705114, 0x9eeee1a5, 0x536b8d33, 0x9eeac93e,
+    0x5366c91f, 0x9ee6b112,
+  0x536204d7, 0x9ee29922, 0x535d405c, 0x9ede816e, 0x53587bad, 0x9eda69f6,
+    0x5353b6cb, 0x9ed652ba,
+  0x534ef1b5, 0x9ed23bb9, 0x534a2c6c, 0x9ece24f5, 0x534566f0, 0x9eca0e6d,
+    0x5340a140, 0x9ec5f820,
+  0x533bdb5d, 0x9ec1e210, 0x53371547, 0x9ebdcc3b, 0x53324efd, 0x9eb9b6a3,
+    0x532d8880, 0x9eb5a146,
+  0x5328c1d0, 0x9eb18c26, 0x5323faec, 0x9ead7742, 0x531f33d5, 0x9ea96299,
+    0x531a6c8b, 0x9ea54e2d,
+  0x5315a50e, 0x9ea139fd, 0x5310dd5d, 0x9e9d2608, 0x530c1579, 0x9e991250,
+    0x53074d62, 0x9e94fed4,
+  0x53028518, 0x9e90eb94, 0x52fdbc9a, 0x9e8cd890, 0x52f8f3e9, 0x9e88c5c9,
+    0x52f42b05, 0x9e84b33d,
+  0x52ef61ee, 0x9e80a0ee, 0x52ea98a4, 0x9e7c8eda, 0x52e5cf27, 0x9e787d03,
+    0x52e10576, 0x9e746b68,
+  0x52dc3b92, 0x9e705a09, 0x52d7717b, 0x9e6c48e7, 0x52d2a732, 0x9e683800,
+    0x52cddcb5, 0x9e642756,
+  0x52c91204, 0x9e6016e8, 0x52c44721, 0x9e5c06b6, 0x52bf7c0b, 0x9e57f6c0,
+    0x52bab0c2, 0x9e53e707,
+  0x52b5e546, 0x9e4fd78a, 0x52b11996, 0x9e4bc849, 0x52ac4db4, 0x9e47b944,
+    0x52a7819f, 0x9e43aa7c,
+  0x52a2b556, 0x9e3f9bf0, 0x529de8db, 0x9e3b8da0, 0x52991c2d, 0x9e377f8c,
+    0x52944f4c, 0x9e3371b5,
+  0x528f8238, 0x9e2f641b, 0x528ab4f1, 0x9e2b56bc, 0x5285e777, 0x9e27499a,
+    0x528119ca, 0x9e233cb4,
+  0x527c4bea, 0x9e1f300b, 0x52777dd7, 0x9e1b239e, 0x5272af92, 0x9e17176d,
+    0x526de11a, 0x9e130b79,
+  0x5269126e, 0x9e0effc1, 0x52644390, 0x9e0af446, 0x525f7480, 0x9e06e907,
+    0x525aa53c, 0x9e02de04,
+  0x5255d5c5, 0x9dfed33e, 0x5251061c, 0x9dfac8b4, 0x524c3640, 0x9df6be67,
+    0x52476631, 0x9df2b456,
+  0x524295f0, 0x9deeaa82, 0x523dc57b, 0x9deaa0ea, 0x5238f4d4, 0x9de6978f,
+    0x523423fb, 0x9de28e70,
+  0x522f52ee, 0x9dde858e, 0x522a81af, 0x9dda7ce9, 0x5225b03d, 0x9dd6747f,
+    0x5220de99, 0x9dd26c53,
+  0x521c0cc2, 0x9dce6463, 0x52173ab8, 0x9dca5caf, 0x5212687b, 0x9dc65539,
+    0x520d960c, 0x9dc24dfe,
+  0x5208c36a, 0x9dbe4701, 0x5203f096, 0x9dba4040, 0x51ff1d8f, 0x9db639bb,
+    0x51fa4a56, 0x9db23373,
+  0x51f576ea, 0x9dae2d68, 0x51f0a34b, 0x9daa279a, 0x51ebcf7a, 0x9da62208,
+    0x51e6fb76, 0x9da21cb2,
+  0x51e22740, 0x9d9e179a, 0x51dd52d7, 0x9d9a12be, 0x51d87e3c, 0x9d960e1f,
+    0x51d3a96f, 0x9d9209bd,
+  0x51ced46e, 0x9d8e0597, 0x51c9ff3c, 0x9d8a01ae, 0x51c529d7, 0x9d85fe02,
+    0x51c0543f, 0x9d81fa92,
+  0x51bb7e75, 0x9d7df75f, 0x51b6a879, 0x9d79f469, 0x51b1d24a, 0x9d75f1b0,
+    0x51acfbe9, 0x9d71ef34,
+  0x51a82555, 0x9d6decf4, 0x51a34e8f, 0x9d69eaf1, 0x519e7797, 0x9d65e92b,
+    0x5199a06d, 0x9d61e7a2,
+  0x5194c910, 0x9d5de656, 0x518ff180, 0x9d59e546, 0x518b19bf, 0x9d55e473,
+    0x518641cb, 0x9d51e3dd,
+  0x518169a5, 0x9d4de385, 0x517c914c, 0x9d49e368, 0x5177b8c2, 0x9d45e389,
+    0x5172e005, 0x9d41e3e7,
+  0x516e0715, 0x9d3de482, 0x51692df4, 0x9d39e559, 0x516454a0, 0x9d35e66e,
+    0x515f7b1a, 0x9d31e7bf,
+  0x515aa162, 0x9d2de94d, 0x5155c778, 0x9d29eb19, 0x5150ed5c, 0x9d25ed21,
+    0x514c130d, 0x9d21ef66,
+  0x5147388c, 0x9d1df1e9, 0x51425dd9, 0x9d19f4a8, 0x513d82f4, 0x9d15f7a4,
+    0x5138a7dd, 0x9d11fadd,
+  0x5133cc94, 0x9d0dfe54, 0x512ef119, 0x9d0a0207, 0x512a156b, 0x9d0605f7,
+    0x5125398c, 0x9d020a25,
+  0x51205d7b, 0x9cfe0e8f, 0x511b8137, 0x9cfa1337, 0x5116a4c1, 0x9cf6181c,
+    0x5111c81a, 0x9cf21d3d,
+  0x510ceb40, 0x9cee229c, 0x51080e35, 0x9cea2838, 0x510330f7, 0x9ce62e11,
+    0x50fe5388, 0x9ce23427,
+  0x50f975e6, 0x9cde3a7b, 0x50f49813, 0x9cda410b, 0x50efba0d, 0x9cd647d9,
+    0x50eadbd6, 0x9cd24ee4,
+  0x50e5fd6d, 0x9cce562c, 0x50e11ed2, 0x9cca5db1, 0x50dc4005, 0x9cc66573,
+    0x50d76106, 0x9cc26d73,
+  0x50d281d5, 0x9cbe75b0, 0x50cda272, 0x9cba7e2a, 0x50c8c2de, 0x9cb686e1,
+    0x50c3e317, 0x9cb28fd5,
+  0x50bf031f, 0x9cae9907, 0x50ba22f5, 0x9caaa276, 0x50b5429a, 0x9ca6ac23,
+    0x50b0620c, 0x9ca2b60c,
+  0x50ab814d, 0x9c9ec033, 0x50a6a05c, 0x9c9aca97, 0x50a1bf39, 0x9c96d539,
+    0x509cdde4, 0x9c92e017,
+  0x5097fc5e, 0x9c8eeb34, 0x50931aa6, 0x9c8af68d, 0x508e38bd, 0x9c870224,
+    0x508956a1, 0x9c830df8,
+  0x50847454, 0x9c7f1a0a, 0x507f91d5, 0x9c7b2659, 0x507aaf25, 0x9c7732e5,
+    0x5075cc43, 0x9c733faf,
+  0x5070e92f, 0x9c6f4cb6, 0x506c05ea, 0x9c6b59fa, 0x50672273, 0x9c67677c,
+    0x50623ecb, 0x9c63753c,
+  0x505d5af1, 0x9c5f8339, 0x505876e5, 0x9c5b9173, 0x505392a8, 0x9c579feb,
+    0x504eae39, 0x9c53aea0,
+  0x5049c999, 0x9c4fbd93, 0x5044e4c7, 0x9c4bccc3, 0x503fffc4, 0x9c47dc31,
+    0x503b1a8f, 0x9c43ebdc,
+  0x50363529, 0x9c3ffbc5, 0x50314f91, 0x9c3c0beb, 0x502c69c8, 0x9c381c4f,
+    0x502783cd, 0x9c342cf0,
+  0x50229da1, 0x9c303dcf, 0x501db743, 0x9c2c4eec, 0x5018d0b4, 0x9c286046,
+    0x5013e9f4, 0x9c2471de,
+  0x500f0302, 0x9c2083b3, 0x500a1bdf, 0x9c1c95c6, 0x5005348a, 0x9c18a816,
+    0x50004d04, 0x9c14baa4,
+  0x4ffb654d, 0x9c10cd70, 0x4ff67d64, 0x9c0ce07a, 0x4ff1954b, 0x9c08f3c1,
+    0x4fecacff, 0x9c050745,
+  0x4fe7c483, 0x9c011b08, 0x4fe2dbd5, 0x9bfd2f08, 0x4fddf2f6, 0x9bf94346,
+    0x4fd909e5, 0x9bf557c1,
+  0x4fd420a4, 0x9bf16c7a, 0x4fcf3731, 0x9bed8171, 0x4fca4d8d, 0x9be996a6,
+    0x4fc563b7, 0x9be5ac18,
+  0x4fc079b1, 0x9be1c1c8, 0x4fbb8f79, 0x9bddd7b6, 0x4fb6a510, 0x9bd9ede2,
+    0x4fb1ba76, 0x9bd6044b,
+  0x4faccfab, 0x9bd21af3, 0x4fa7e4af, 0x9bce31d8, 0x4fa2f981, 0x9bca48fa,
+    0x4f9e0e22, 0x9bc6605b,
+  0x4f992293, 0x9bc277fa, 0x4f9436d2, 0x9bbe8fd6, 0x4f8f4ae0, 0x9bbaa7f0,
+    0x4f8a5ebd, 0x9bb6c048,
+  0x4f857269, 0x9bb2d8de, 0x4f8085e4, 0x9baef1b2, 0x4f7b992d, 0x9bab0ac3,
+    0x4f76ac46, 0x9ba72413,
+  0x4f71bf2e, 0x9ba33da0, 0x4f6cd1e5, 0x9b9f576b, 0x4f67e46a, 0x9b9b7174,
+    0x4f62f6bf, 0x9b978bbc,
+  0x4f5e08e3, 0x9b93a641, 0x4f591ad6, 0x9b8fc104, 0x4f542c98, 0x9b8bdc05,
+    0x4f4f3e29, 0x9b87f744,
+  0x4f4a4f89, 0x9b8412c1, 0x4f4560b8, 0x9b802e7b, 0x4f4071b6, 0x9b7c4a74,
+    0x4f3b8284, 0x9b7866ab,
+  0x4f369320, 0x9b748320, 0x4f31a38c, 0x9b709fd3, 0x4f2cb3c7, 0x9b6cbcc4,
+    0x4f27c3d1, 0x9b68d9f3,
+  0x4f22d3aa, 0x9b64f760, 0x4f1de352, 0x9b61150b, 0x4f18f2c9, 0x9b5d32f4,
+    0x4f140210, 0x9b59511c,
+  0x4f0f1126, 0x9b556f81, 0x4f0a200b, 0x9b518e24, 0x4f052ec0, 0x9b4dad06,
+    0x4f003d43, 0x9b49cc26,
+  0x4efb4b96, 0x9b45eb83, 0x4ef659b8, 0x9b420b1f, 0x4ef167aa, 0x9b3e2af9,
+    0x4eec756b, 0x9b3a4b11,
+  0x4ee782fb, 0x9b366b68, 0x4ee2905a, 0x9b328bfc, 0x4edd9d89, 0x9b2eaccf,
+    0x4ed8aa87, 0x9b2acde0,
+  0x4ed3b755, 0x9b26ef2f, 0x4ecec3f2, 0x9b2310bc, 0x4ec9d05e, 0x9b1f3288,
+    0x4ec4dc99, 0x9b1b5492,
+  0x4ebfe8a5, 0x9b1776da, 0x4ebaf47f, 0x9b139960, 0x4eb60029, 0x9b0fbc24,
+    0x4eb10ba2, 0x9b0bdf27,
+  0x4eac16eb, 0x9b080268, 0x4ea72203, 0x9b0425e8, 0x4ea22ceb, 0x9b0049a5,
+    0x4e9d37a3, 0x9afc6da1,
+  0x4e984229, 0x9af891db, 0x4e934c80, 0x9af4b654, 0x4e8e56a5, 0x9af0db0b,
+    0x4e89609b, 0x9aed0000,
+  0x4e846a60, 0x9ae92533, 0x4e7f73f4, 0x9ae54aa5, 0x4e7a7d58, 0x9ae17056,
+    0x4e75868c, 0x9add9644,
+  0x4e708f8f, 0x9ad9bc71, 0x4e6b9862, 0x9ad5e2dd, 0x4e66a105, 0x9ad20987,
+    0x4e61a977, 0x9ace306f,
+  0x4e5cb1b9, 0x9aca5795, 0x4e57b9ca, 0x9ac67efb, 0x4e52c1ab, 0x9ac2a69e,
+    0x4e4dc95c, 0x9abece80,
+  0x4e48d0dd, 0x9abaf6a1, 0x4e43d82d, 0x9ab71eff, 0x4e3edf4d, 0x9ab3479d,
+    0x4e39e63d, 0x9aaf7079,
+  0x4e34ecfc, 0x9aab9993, 0x4e2ff38b, 0x9aa7c2ec, 0x4e2af9ea, 0x9aa3ec83,
+    0x4e260019, 0x9aa01659,
+  0x4e210617, 0x9a9c406e, 0x4e1c0be6, 0x9a986ac1, 0x4e171184, 0x9a949552,
+    0x4e1216f2, 0x9a90c022,
+  0x4e0d1c30, 0x9a8ceb31, 0x4e08213e, 0x9a89167e, 0x4e03261b, 0x9a85420a,
+    0x4dfe2ac9, 0x9a816dd5,
+  0x4df92f46, 0x9a7d99de, 0x4df43393, 0x9a79c625, 0x4def37b0, 0x9a75f2ac,
+    0x4dea3b9d, 0x9a721f71,
+  0x4de53f5a, 0x9a6e4c74, 0x4de042e7, 0x9a6a79b6, 0x4ddb4644, 0x9a66a737,
+    0x4dd64971, 0x9a62d4f7,
+  0x4dd14c6e, 0x9a5f02f5, 0x4dcc4f3b, 0x9a5b3132, 0x4dc751d8, 0x9a575fae,
+    0x4dc25445, 0x9a538e68,
+  0x4dbd5682, 0x9a4fbd61, 0x4db8588f, 0x9a4bec99, 0x4db35a6c, 0x9a481c0f,
+    0x4dae5c19, 0x9a444bc5,
+  0x4da95d96, 0x9a407bb9, 0x4da45ee3, 0x9a3cabeb, 0x4d9f6001, 0x9a38dc5d,
+    0x4d9a60ee, 0x9a350d0d,
+  0x4d9561ac, 0x9a313dfc, 0x4d90623a, 0x9a2d6f2a, 0x4d8b6298, 0x9a29a097,
+    0x4d8662c6, 0x9a25d243,
+  0x4d8162c4, 0x9a22042d, 0x4d7c6293, 0x9a1e3656, 0x4d776231, 0x9a1a68be,
+    0x4d7261a0, 0x9a169b65,
+  0x4d6d60df, 0x9a12ce4b, 0x4d685fef, 0x9a0f016f, 0x4d635ece, 0x9a0b34d3,
+    0x4d5e5d7e, 0x9a076875,
+  0x4d595bfe, 0x9a039c57, 0x4d545a4f, 0x99ffd077, 0x4d4f5870, 0x99fc04d6,
+    0x4d4a5661, 0x99f83974,
+  0x4d455422, 0x99f46e51, 0x4d4051b4, 0x99f0a36d, 0x4d3b4f16, 0x99ecd8c8,
+    0x4d364c48, 0x99e90e62,
+  0x4d31494b, 0x99e5443b, 0x4d2c461e, 0x99e17a53, 0x4d2742c2, 0x99ddb0aa,
+    0x4d223f36, 0x99d9e73f,
+  0x4d1d3b7a, 0x99d61e14, 0x4d18378f, 0x99d25528, 0x4d133374, 0x99ce8c7b,
+    0x4d0e2f2a, 0x99cac40d,
+  0x4d092ab0, 0x99c6fbde, 0x4d042607, 0x99c333ee, 0x4cff212e, 0x99bf6c3d,
+    0x4cfa1c26, 0x99bba4cb,
+  0x4cf516ee, 0x99b7dd99, 0x4cf01187, 0x99b416a5, 0x4ceb0bf0, 0x99b04ff0,
+    0x4ce6062a, 0x99ac897b,
+  0x4ce10034, 0x99a8c345, 0x4cdbfa0f, 0x99a4fd4d, 0x4cd6f3bb, 0x99a13795,
+    0x4cd1ed37, 0x999d721c,
+  0x4ccce684, 0x9999ace3, 0x4cc7dfa1, 0x9995e7e8, 0x4cc2d88f, 0x9992232d,
+    0x4cbdd14e, 0x998e5eb1,
+  0x4cb8c9dd, 0x998a9a74, 0x4cb3c23d, 0x9986d676, 0x4caeba6e, 0x998312b7,
+    0x4ca9b26f, 0x997f4f38,
+  0x4ca4aa41, 0x997b8bf8, 0x4c9fa1e4, 0x9977c8f7, 0x4c9a9958, 0x99740635,
+    0x4c95909c, 0x997043b2,
+  0x4c9087b1, 0x996c816f, 0x4c8b7e97, 0x9968bf6b, 0x4c86754e, 0x9964fda7,
+    0x4c816bd5, 0x99613c22,
+  0x4c7c622d, 0x995d7adc, 0x4c775856, 0x9959b9d5, 0x4c724e50, 0x9955f90d,
+    0x4c6d441b, 0x99523885,
+  0x4c6839b7, 0x994e783d, 0x4c632f23, 0x994ab833, 0x4c5e2460, 0x9946f869,
+    0x4c59196f, 0x994338df,
+  0x4c540e4e, 0x993f7993, 0x4c4f02fe, 0x993bba87, 0x4c49f77f, 0x9937fbbb,
+    0x4c44ebd1, 0x99343d2e,
+  0x4c3fdff4, 0x99307ee0, 0x4c3ad3e7, 0x992cc0d2, 0x4c35c7ac, 0x99290303,
+    0x4c30bb42, 0x99254574,
+  0x4c2baea9, 0x99218824, 0x4c26a1e1, 0x991dcb13, 0x4c2194e9, 0x991a0e42,
+    0x4c1c87c3, 0x991651b1,
+  0x4c177a6e, 0x9912955f, 0x4c126cea, 0x990ed94c, 0x4c0d5f37, 0x990b1d79,
+    0x4c085156, 0x990761e5,
+  0x4c034345, 0x9903a691, 0x4bfe3505, 0x98ffeb7d, 0x4bf92697, 0x98fc30a8,
+    0x4bf417f9, 0x98f87612,
+  0x4bef092d, 0x98f4bbbc, 0x4be9fa32, 0x98f101a6, 0x4be4eb08, 0x98ed47cf,
+    0x4bdfdbaf, 0x98e98e38,
+  0x4bdacc28, 0x98e5d4e0, 0x4bd5bc72, 0x98e21bc8, 0x4bd0ac8d, 0x98de62f0,
+    0x4bcb9c79, 0x98daaa57,
+  0x4bc68c36, 0x98d6f1fe, 0x4bc17bc5, 0x98d339e4, 0x4bbc6b25, 0x98cf820b,
+    0x4bb75a56, 0x98cbca70,
+  0x4bb24958, 0x98c81316, 0x4bad382c, 0x98c45bfb, 0x4ba826d1, 0x98c0a520,
+    0x4ba31548, 0x98bcee84,
+  0x4b9e0390, 0x98b93828, 0x4b98f1a9, 0x98b5820c, 0x4b93df93, 0x98b1cc30,
+    0x4b8ecd4f, 0x98ae1693,
+  0x4b89badd, 0x98aa6136, 0x4b84a83b, 0x98a6ac19, 0x4b7f956b, 0x98a2f73c,
+    0x4b7a826d, 0x989f429e,
+  0x4b756f40, 0x989b8e40, 0x4b705be4, 0x9897da22, 0x4b6b485a, 0x98942643,
+    0x4b6634a2, 0x989072a5,
+  0x4b6120bb, 0x988cbf46, 0x4b5c0ca5, 0x98890c27, 0x4b56f861, 0x98855948,
+    0x4b51e3ee, 0x9881a6a9,
+  0x4b4ccf4d, 0x987df449, 0x4b47ba7e, 0x987a422a, 0x4b42a580, 0x9876904a,
+    0x4b3d9053, 0x9872deaa,
+  0x4b387af9, 0x986f2d4a, 0x4b336570, 0x986b7c2a, 0x4b2e4fb8, 0x9867cb4a,
+    0x4b2939d2, 0x98641aa9,
+  0x4b2423be, 0x98606a49, 0x4b1f0d7b, 0x985cba28, 0x4b19f70a, 0x98590a48,
+    0x4b14e06b, 0x98555aa7,
+  0x4b0fc99d, 0x9851ab46, 0x4b0ab2a1, 0x984dfc26, 0x4b059b77, 0x984a4d45,
+    0x4b00841f, 0x98469ea4,
+  0x4afb6c98, 0x9842f043, 0x4af654e3, 0x983f4223, 0x4af13d00, 0x983b9442,
+    0x4aec24ee, 0x9837e6a1,
+  0x4ae70caf, 0x98343940, 0x4ae1f441, 0x98308c1f, 0x4adcdba5, 0x982cdf3f,
+    0x4ad7c2da, 0x9829329e,
+  0x4ad2a9e2, 0x9825863d, 0x4acd90bb, 0x9821da1d, 0x4ac87767, 0x981e2e3c,
+    0x4ac35de4, 0x981a829c,
+  0x4abe4433, 0x9816d73b, 0x4ab92a54, 0x98132c1b, 0x4ab41046, 0x980f813b,
+    0x4aaef60b, 0x980bd69b,
+  0x4aa9dba2, 0x98082c3b, 0x4aa4c10b, 0x9804821b, 0x4a9fa645, 0x9800d83c,
+    0x4a9a8b52, 0x97fd2e9c,
+  0x4a957030, 0x97f9853d, 0x4a9054e1, 0x97f5dc1e, 0x4a8b3963, 0x97f2333f,
+    0x4a861db8, 0x97ee8aa0,
+  0x4a8101de, 0x97eae242, 0x4a7be5d7, 0x97e73a23, 0x4a76c9a2, 0x97e39245,
+    0x4a71ad3e, 0x97dfeaa7,
+  0x4a6c90ad, 0x97dc4349, 0x4a6773ee, 0x97d89c2c, 0x4a625701, 0x97d4f54f,
+    0x4a5d39e6, 0x97d14eb2,
+  0x4a581c9e, 0x97cda855, 0x4a52ff27, 0x97ca0239, 0x4a4de182, 0x97c65c5c,
+    0x4a48c3b0, 0x97c2b6c1,
+  0x4a43a5b0, 0x97bf1165, 0x4a3e8782, 0x97bb6c4a, 0x4a396926, 0x97b7c76f,
+    0x4a344a9d, 0x97b422d4,
+  0x4a2f2be6, 0x97b07e7a, 0x4a2a0d01, 0x97acda60, 0x4a24edee, 0x97a93687,
+    0x4a1fcead, 0x97a592ed,
+  0x4a1aaf3f, 0x97a1ef94, 0x4a158fa3, 0x979e4c7c, 0x4a106fda, 0x979aa9a4,
+    0x4a0b4fe2, 0x9797070c,
+  0x4a062fbd, 0x979364b5, 0x4a010f6b, 0x978fc29e, 0x49fbeeea, 0x978c20c8,
+    0x49f6ce3c, 0x97887f32,
+  0x49f1ad61, 0x9784dddc, 0x49ec8c57, 0x97813cc7, 0x49e76b21, 0x977d9bf2,
+    0x49e249bc, 0x9779fb5e,
+  0x49dd282a, 0x97765b0a, 0x49d8066b, 0x9772baf7, 0x49d2e47e, 0x976f1b24,
+    0x49cdc263, 0x976b7b92,
+  0x49c8a01b, 0x9767dc41, 0x49c37da5, 0x97643d2f, 0x49be5b02, 0x97609e5f,
+    0x49b93832, 0x975cffcf,
+  0x49b41533, 0x9759617f, 0x49aef208, 0x9755c370, 0x49a9ceaf, 0x975225a1,
+    0x49a4ab28, 0x974e8813,
+  0x499f8774, 0x974aeac6, 0x499a6393, 0x97474db9, 0x49953f84, 0x9743b0ed,
+    0x49901b48, 0x97401462,
+  0x498af6df, 0x973c7817, 0x4985d248, 0x9738dc0d, 0x4980ad84, 0x97354043,
+    0x497b8892, 0x9731a4ba,
+  0x49766373, 0x972e0971, 0x49713e27, 0x972a6e6a, 0x496c18ae, 0x9726d3a3,
+    0x4966f307, 0x9723391c,
+  0x4961cd33, 0x971f9ed7, 0x495ca732, 0x971c04d2, 0x49578103, 0x97186b0d,
+    0x49525aa7, 0x9714d18a,
+  0x494d341e, 0x97113847, 0x49480d68, 0x970d9f45, 0x4942e684, 0x970a0683,
+    0x493dbf74, 0x97066e03,
+  0x49389836, 0x9702d5c3, 0x493370cb, 0x96ff3dc4, 0x492e4933, 0x96fba605,
+    0x4929216e, 0x96f80e88,
+  0x4923f97b, 0x96f4774b, 0x491ed15c, 0x96f0e04f, 0x4919a90f, 0x96ed4994,
+    0x49148095, 0x96e9b319,
+  0x490f57ee, 0x96e61ce0, 0x490a2f1b, 0x96e286e7, 0x4905061a, 0x96def12f,
+    0x48ffdcec, 0x96db5bb8,
+  0x48fab391, 0x96d7c682, 0x48f58a09, 0x96d4318d, 0x48f06054, 0x96d09cd8,
+    0x48eb3672, 0x96cd0865,
+  0x48e60c62, 0x96c97432, 0x48e0e227, 0x96c5e040, 0x48dbb7be, 0x96c24c8f,
+    0x48d68d28, 0x96beb91f,
+  0x48d16265, 0x96bb25f0, 0x48cc3775, 0x96b79302, 0x48c70c59, 0x96b40055,
+    0x48c1e10f, 0x96b06de9,
+  0x48bcb599, 0x96acdbbe, 0x48b789f5, 0x96a949d3, 0x48b25e25, 0x96a5b82a,
+    0x48ad3228, 0x96a226c2,
+  0x48a805ff, 0x969e959b, 0x48a2d9a8, 0x969b04b4, 0x489dad25, 0x9697740f,
+    0x48988074, 0x9693e3ab,
+  0x48935397, 0x96905388, 0x488e268e, 0x968cc3a5, 0x4888f957, 0x96893404,
+    0x4883cbf4, 0x9685a4a4,
+  0x487e9e64, 0x96821585, 0x487970a7, 0x967e86a7, 0x487442be, 0x967af80a,
+    0x486f14a8, 0x967769af,
+  0x4869e665, 0x9673db94, 0x4864b7f5, 0x96704dba, 0x485f8959, 0x966cc022,
+    0x485a5a90, 0x966932cb,
+  0x48552b9b, 0x9665a5b4, 0x484ffc79, 0x966218df, 0x484acd2a, 0x965e8c4b,
+    0x48459daf, 0x965afff9,
+  0x48406e08, 0x965773e7, 0x483b3e33, 0x9653e817, 0x48360e32, 0x96505c88,
+    0x4830de05, 0x964cd139,
+  0x482badab, 0x9649462d, 0x48267d24, 0x9645bb61, 0x48214c71, 0x964230d7,
+    0x481c1b92, 0x963ea68d,
+  0x4816ea86, 0x963b1c86, 0x4811b94d, 0x963792bf, 0x480c87e8, 0x96340939,
+    0x48075657, 0x96307ff5,
+  0x48022499, 0x962cf6f2, 0x47fcf2af, 0x96296e31, 0x47f7c099, 0x9625e5b0,
+    0x47f28e56, 0x96225d71,
+  0x47ed5be6, 0x961ed574, 0x47e8294a, 0x961b4db7, 0x47e2f682, 0x9617c63c,
+    0x47ddc38e, 0x96143f02,
+  0x47d8906d, 0x9610b80a, 0x47d35d20, 0x960d3153, 0x47ce29a7, 0x9609aadd,
+    0x47c8f601, 0x960624a9,
+  0x47c3c22f, 0x96029eb6, 0x47be8e31, 0x95ff1904, 0x47b95a06, 0x95fb9394,
+    0x47b425af, 0x95f80e65,
+  0x47aef12c, 0x95f48977, 0x47a9bc7d, 0x95f104cb, 0x47a487a2, 0x95ed8061,
+    0x479f529a, 0x95e9fc38,
+  0x479a1d67, 0x95e67850, 0x4794e807, 0x95e2f4a9, 0x478fb27b, 0x95df7145,
+    0x478a7cc2, 0x95dbee21,
+  0x478546de, 0x95d86b3f, 0x478010cd, 0x95d4e89f, 0x477ada91, 0x95d16640,
+    0x4775a428, 0x95cde423,
+  0x47706d93, 0x95ca6247, 0x476b36d3, 0x95c6e0ac, 0x4765ffe6, 0x95c35f53,
+    0x4760c8cd, 0x95bfde3c,
+  0x475b9188, 0x95bc5d66, 0x47565a17, 0x95b8dcd2, 0x4751227a, 0x95b55c7f,
+    0x474beab1, 0x95b1dc6e,
+  0x4746b2bc, 0x95ae5c9f, 0x47417a9b, 0x95aadd11, 0x473c424e, 0x95a75dc4,
+    0x473709d5, 0x95a3deb9,
+  0x4731d131, 0x95a05ff0, 0x472c9860, 0x959ce169, 0x47275f63, 0x95996323,
+    0x4722263b, 0x9595e51e,
+  0x471cece7, 0x9592675c, 0x4717b367, 0x958ee9db, 0x471279ba, 0x958b6c9b,
+    0x470d3fe3, 0x9587ef9e,
+  0x470805df, 0x958472e2, 0x4702cbaf, 0x9580f667, 0x46fd9154, 0x957d7a2f,
+    0x46f856cd, 0x9579fe38,
+  0x46f31c1a, 0x95768283, 0x46ede13b, 0x9573070f, 0x46e8a631, 0x956f8bdd,
+    0x46e36afb, 0x956c10ed,
+  0x46de2f99, 0x9568963f, 0x46d8f40b, 0x95651bd2, 0x46d3b852, 0x9561a1a8,
+    0x46ce7c6d, 0x955e27bf,
+  0x46c9405c, 0x955aae17, 0x46c40420, 0x955734b2, 0x46bec7b8, 0x9553bb8e,
+    0x46b98b24, 0x955042ac,
+  0x46b44e65, 0x954cca0c, 0x46af117a, 0x954951ae, 0x46a9d464, 0x9545d992,
+    0x46a49722, 0x954261b7,
+  0x469f59b4, 0x953eea1e, 0x469a1c1b, 0x953b72c7, 0x4694de56, 0x9537fbb2,
+    0x468fa066, 0x953484df,
+  0x468a624a, 0x95310e4e, 0x46852403, 0x952d97fe, 0x467fe590, 0x952a21f1,
+    0x467aa6f2, 0x9526ac25,
+  0x46756828, 0x9523369c, 0x46702933, 0x951fc154, 0x466aea12, 0x951c4c4e,
+    0x4665aac6, 0x9518d78a,
+  0x46606b4e, 0x95156308, 0x465b2bab, 0x9511eec8, 0x4655ebdd, 0x950e7aca,
+    0x4650abe3, 0x950b070e,
+  0x464b6bbe, 0x95079394, 0x46462b6d, 0x9504205c, 0x4640eaf2, 0x9500ad66,
+    0x463baa4a, 0x94fd3ab1,
+  0x46366978, 0x94f9c83f, 0x4631287a, 0x94f6560f, 0x462be751, 0x94f2e421,
+    0x4626a5fd, 0x94ef7275,
+  0x4621647d, 0x94ec010b, 0x461c22d2, 0x94e88fe3, 0x4616e0fc, 0x94e51efd,
+    0x46119efa, 0x94e1ae59,
+  0x460c5cce, 0x94de3df8, 0x46071a76, 0x94dacdd8, 0x4601d7f3, 0x94d75dfa,
+    0x45fc9545, 0x94d3ee5f,
+  0x45f7526b, 0x94d07f05, 0x45f20f67, 0x94cd0fee, 0x45eccc37, 0x94c9a119,
+    0x45e788dc, 0x94c63286,
+  0x45e24556, 0x94c2c435, 0x45dd01a5, 0x94bf5627, 0x45d7bdc9, 0x94bbe85a,
+    0x45d279c2, 0x94b87ad0,
+  0x45cd358f, 0x94b50d87, 0x45c7f132, 0x94b1a081, 0x45c2acaa, 0x94ae33be,
+    0x45bd67f6, 0x94aac73c,
+  0x45b82318, 0x94a75afd, 0x45b2de0e, 0x94a3eeff, 0x45ad98da, 0x94a08344,
+    0x45a8537a, 0x949d17cc,
+  0x45a30df0, 0x9499ac95, 0x459dc83b, 0x949641a1, 0x4598825a, 0x9492d6ef,
+    0x45933c4f, 0x948f6c7f,
+  0x458df619, 0x948c0252, 0x4588afb8, 0x94889867, 0x4583692c, 0x94852ebe,
+    0x457e2275, 0x9481c557,
+  0x4578db93, 0x947e5c33, 0x45739487, 0x947af351, 0x456e4d4f, 0x94778ab1,
+    0x456905ed, 0x94742254,
+  0x4563be60, 0x9470ba39, 0x455e76a8, 0x946d5260, 0x45592ec6, 0x9469eaca,
+    0x4553e6b8, 0x94668376,
+  0x454e9e80, 0x94631c65, 0x4549561d, 0x945fb596, 0x45440d90, 0x945c4f09,
+    0x453ec4d7, 0x9458e8bf,
+  0x45397bf4, 0x945582b7, 0x453432e6, 0x94521cf1, 0x452ee9ae, 0x944eb76e,
+    0x4529a04b, 0x944b522d,
+  0x452456bd, 0x9447ed2f, 0x451f0d04, 0x94448873, 0x4519c321, 0x944123fa,
+    0x45147913, 0x943dbfc3,
+  0x450f2edb, 0x943a5bcf, 0x4509e478, 0x9436f81d, 0x450499eb, 0x943394ad,
+    0x44ff4f32, 0x94303180,
+  0x44fa0450, 0x942cce96, 0x44f4b943, 0x94296bee, 0x44ef6e0b, 0x94260989,
+    0x44ea22a9, 0x9422a766,
+  0x44e4d71c, 0x941f4585, 0x44df8b64, 0x941be3e8, 0x44da3f83, 0x9418828c,
+    0x44d4f376, 0x94152174,
+  0x44cfa740, 0x9411c09e, 0x44ca5adf, 0x940e600a, 0x44c50e53, 0x940affb9,
+    0x44bfc19d, 0x94079fab,
+  0x44ba74bd, 0x94043fdf, 0x44b527b2, 0x9400e056, 0x44afda7d, 0x93fd810f,
+    0x44aa8d1d, 0x93fa220b,
+  0x44a53f93, 0x93f6c34a, 0x449ff1df, 0x93f364cb, 0x449aa400, 0x93f0068f,
+    0x449555f7, 0x93eca896,
+  0x449007c4, 0x93e94adf, 0x448ab967, 0x93e5ed6b, 0x44856adf, 0x93e2903a,
+    0x44801c2d, 0x93df334c,
+  0x447acd50, 0x93dbd6a0, 0x44757e4a, 0x93d87a36, 0x44702f19, 0x93d51e10,
+    0x446adfbe, 0x93d1c22c,
+  0x44659039, 0x93ce668b, 0x44604089, 0x93cb0b2d, 0x445af0b0, 0x93c7b011,
+    0x4455a0ac, 0x93c45539,
+  0x4450507e, 0x93c0faa3, 0x444b0026, 0x93bda04f, 0x4445afa4, 0x93ba463f,
+    0x44405ef8, 0x93b6ec71,
+  0x443b0e21, 0x93b392e6, 0x4435bd21, 0x93b0399e, 0x44306bf6, 0x93ace099,
+    0x442b1aa2, 0x93a987d6,
+  0x4425c923, 0x93a62f57, 0x4420777b, 0x93a2d71a, 0x441b25a8, 0x939f7f20,
+    0x4415d3ab, 0x939c2769,
+  0x44108184, 0x9398cff5, 0x440b2f34, 0x939578c3, 0x4405dcb9, 0x939221d5,
+    0x44008a14, 0x938ecb29,
+  0x43fb3746, 0x938b74c1, 0x43f5e44d, 0x93881e9b, 0x43f0912b, 0x9384c8b8,
+    0x43eb3ddf, 0x93817318,
+  0x43e5ea68, 0x937e1dbb, 0x43e096c8, 0x937ac8a1, 0x43db42fe, 0x937773ca,
+    0x43d5ef0a, 0x93741f35,
+  0x43d09aed, 0x9370cae4, 0x43cb46a5, 0x936d76d6, 0x43c5f234, 0x936a230a,
+    0x43c09d99, 0x9366cf82,
+  0x43bb48d4, 0x93637c3d, 0x43b5f3e5, 0x9360293a, 0x43b09ecc, 0x935cd67b,
+    0x43ab498a, 0x935983ff,
+  0x43a5f41e, 0x935631c5, 0x43a09e89, 0x9352dfcf, 0x439b48c9, 0x934f8e1c,
+    0x4395f2e0, 0x934c3cab,
+  0x43909ccd, 0x9348eb7e, 0x438b4691, 0x93459a94, 0x4385f02a, 0x934249ed,
+    0x4380999b, 0x933ef989,
+  0x437b42e1, 0x933ba968, 0x4375ebfe, 0x9338598a, 0x437094f1, 0x933509f0,
+    0x436b3dbb, 0x9331ba98,
+  0x4365e65b, 0x932e6b84, 0x43608ed2, 0x932b1cb2, 0x435b371f, 0x9327ce24,
+    0x4355df42, 0x93247fd9,
+  0x4350873c, 0x932131d1, 0x434b2f0c, 0x931de40c, 0x4345d6b3, 0x931a968b,
+    0x43407e31, 0x9317494c,
+  0x433b2585, 0x9313fc51, 0x4335ccaf, 0x9310af99, 0x433073b0, 0x930d6324,
+    0x432b1a87, 0x930a16f3,
+  0x4325c135, 0x9306cb04, 0x432067ba, 0x93037f59, 0x431b0e15, 0x930033f1,
+    0x4315b447, 0x92fce8cc,
+  0x43105a50, 0x92f99deb, 0x430b002f, 0x92f6534c, 0x4305a5e5, 0x92f308f1,
+    0x43004b71, 0x92efbeda,
+  0x42faf0d4, 0x92ec7505, 0x42f5960e, 0x92e92b74, 0x42f03b1e, 0x92e5e226,
+    0x42eae005, 0x92e2991c,
+  0x42e584c3, 0x92df5054, 0x42e02958, 0x92dc07d0, 0x42dacdc3, 0x92d8bf90,
+    0x42d57205, 0x92d57792,
+  0x42d0161e, 0x92d22fd9, 0x42caba0e, 0x92cee862, 0x42c55dd4, 0x92cba12f,
+    0x42c00172, 0x92c85a3f,
+  0x42baa4e6, 0x92c51392, 0x42b54831, 0x92c1cd29, 0x42afeb53, 0x92be8703,
+    0x42aa8e4b, 0x92bb4121,
+  0x42a5311b, 0x92b7fb82, 0x429fd3c1, 0x92b4b626, 0x429a763f, 0x92b1710e,
+    0x42951893, 0x92ae2c3a,
+  0x428fbabe, 0x92aae7a8, 0x428a5cc0, 0x92a7a35a, 0x4284fe99, 0x92a45f50,
+    0x427fa049, 0x92a11b89,
+  0x427a41d0, 0x929dd806, 0x4274e32e, 0x929a94c6, 0x426f8463, 0x929751c9,
+    0x426a256f, 0x92940f10,
+  0x4264c653, 0x9290cc9b, 0x425f670d, 0x928d8a69, 0x425a079e, 0x928a487a,
+    0x4254a806, 0x928706cf,
+  0x424f4845, 0x9283c568, 0x4249e85c, 0x92808444, 0x42448849, 0x927d4363,
+    0x423f280e, 0x927a02c7,
+  0x4239c7aa, 0x9276c26d, 0x4234671d, 0x92738258, 0x422f0667, 0x92704286,
+    0x4229a588, 0x926d02f7,
+  0x42244481, 0x9269c3ac, 0x421ee350, 0x926684a5, 0x421981f7, 0x926345e1,
+    0x42142075, 0x92600761,
+  0x420ebecb, 0x925cc924, 0x42095cf7, 0x92598b2b, 0x4203fafb, 0x92564d76,
+    0x41fe98d6, 0x92531005,
+  0x41f93689, 0x924fd2d7, 0x41f3d413, 0x924c95ec, 0x41ee7174, 0x92495946,
+    0x41e90eac, 0x92461ce3,
+  0x41e3abbc, 0x9242e0c4, 0x41de48a3, 0x923fa4e8, 0x41d8e561, 0x923c6950,
+    0x41d381f7, 0x92392dfc,
+  0x41ce1e65, 0x9235f2ec, 0x41c8baa9, 0x9232b81f, 0x41c356c5, 0x922f7d96,
+    0x41bdf2b9, 0x922c4351,
+  0x41b88e84, 0x9229094f, 0x41b32a26, 0x9225cf91, 0x41adc5a0, 0x92229617,
+    0x41a860f1, 0x921f5ce1,
+  0x41a2fc1a, 0x921c23ef, 0x419d971b, 0x9218eb40, 0x419831f3, 0x9215b2d5,
+    0x4192cca2, 0x92127aae,
+  0x418d6729, 0x920f42cb, 0x41880188, 0x920c0b2c, 0x41829bbe, 0x9208d3d0,
+    0x417d35cb, 0x92059cb8,
+  0x4177cfb1, 0x920265e4, 0x4172696e, 0x91ff2f54, 0x416d0302, 0x91fbf908,
+    0x41679c6f, 0x91f8c300,
+  0x416235b2, 0x91f58d3b, 0x415ccece, 0x91f257bb, 0x415767c1, 0x91ef227e,
+    0x4152008c, 0x91ebed85,
+  0x414c992f, 0x91e8b8d0, 0x414731a9, 0x91e5845f, 0x4141c9fb, 0x91e25032,
+    0x413c6225, 0x91df1c49,
+  0x4136fa27, 0x91dbe8a4, 0x41319200, 0x91d8b542, 0x412c29b1, 0x91d58225,
+    0x4126c13a, 0x91d24f4c,
+  0x4121589b, 0x91cf1cb6, 0x411befd3, 0x91cbea65, 0x411686e4, 0x91c8b857,
+    0x41111dcc, 0x91c5868e,
+  0x410bb48c, 0x91c25508, 0x41064b24, 0x91bf23c7, 0x4100e194, 0x91bbf2c9,
+    0x40fb77dc, 0x91b8c210,
+  0x40f60dfb, 0x91b5919a, 0x40f0a3f3, 0x91b26169, 0x40eb39c3, 0x91af317c,
+    0x40e5cf6a, 0x91ac01d2,
+  0x40e064ea, 0x91a8d26d, 0x40dafa41, 0x91a5a34c, 0x40d58f71, 0x91a2746f,
+    0x40d02478, 0x919f45d6,
+  0x40cab958, 0x919c1781, 0x40c54e0f, 0x9198e970, 0x40bfe29f, 0x9195bba3,
+    0x40ba7706, 0x91928e1a,
+  0x40b50b46, 0x918f60d6, 0x40af9f5e, 0x918c33d5, 0x40aa334e, 0x91890719,
+    0x40a4c716, 0x9185daa1,
+  0x409f5ab6, 0x9182ae6d, 0x4099ee2e, 0x917f827d, 0x4094817f, 0x917c56d1,
+    0x408f14a7, 0x91792b6a,
+  0x4089a7a8, 0x91760047, 0x40843a81, 0x9172d567, 0x407ecd32, 0x916faacc,
+    0x40795fbc, 0x916c8076,
+  0x4073f21d, 0x91695663, 0x406e8457, 0x91662c95, 0x40691669, 0x9163030b,
+    0x4063a854, 0x915fd9c5,
+  0x405e3a16, 0x915cb0c3, 0x4058cbb1, 0x91598806, 0x40535d24, 0x91565f8d,
+    0x404dee70, 0x91533758,
+  0x40487f94, 0x91500f67, 0x40431090, 0x914ce7bb, 0x403da165, 0x9149c053,
+    0x40383212, 0x9146992f,
+  0x4032c297, 0x91437250, 0x402d52f5, 0x91404bb5, 0x4027e32b, 0x913d255e,
+    0x4022733a, 0x9139ff4b,
+  0x401d0321, 0x9136d97d, 0x401792e0, 0x9133b3f3, 0x40122278, 0x91308eae,
+    0x400cb1e9, 0x912d69ad,
+  0x40074132, 0x912a44f0, 0x4001d053, 0x91272078, 0x3ffc5f4d, 0x9123fc44,
+    0x3ff6ee1f, 0x9120d854,
+  0x3ff17cca, 0x911db4a9, 0x3fec0b4e, 0x911a9142, 0x3fe699aa, 0x91176e1f,
+    0x3fe127df, 0x91144b41,
+  0x3fdbb5ec, 0x911128a8, 0x3fd643d2, 0x910e0653, 0x3fd0d191, 0x910ae442,
+    0x3fcb5f28, 0x9107c276,
+  0x3fc5ec98, 0x9104a0ee, 0x3fc079e0, 0x91017faa, 0x3fbb0702, 0x90fe5eab,
+    0x3fb593fb, 0x90fb3df1,
+  0x3fb020ce, 0x90f81d7b, 0x3faaad79, 0x90f4fd4a, 0x3fa539fd, 0x90f1dd5d,
+    0x3f9fc65a, 0x90eebdb4,
+  0x3f9a5290, 0x90eb9e50, 0x3f94de9e, 0x90e87f31, 0x3f8f6a85, 0x90e56056,
+    0x3f89f645, 0x90e241bf,
+  0x3f8481dd, 0x90df236e, 0x3f7f0d4f, 0x90dc0560, 0x3f799899, 0x90d8e798,
+    0x3f7423bc, 0x90d5ca13,
+  0x3f6eaeb8, 0x90d2acd4, 0x3f69398d, 0x90cf8fd9, 0x3f63c43b, 0x90cc7322,
+    0x3f5e4ec2, 0x90c956b1,
+  0x3f58d921, 0x90c63a83, 0x3f53635a, 0x90c31e9b, 0x3f4ded6b, 0x90c002f7,
+    0x3f487755, 0x90bce797,
+  0x3f430119, 0x90b9cc7d, 0x3f3d8ab5, 0x90b6b1a6, 0x3f38142a, 0x90b39715,
+    0x3f329d79, 0x90b07cc8,
+  0x3f2d26a0, 0x90ad62c0, 0x3f27afa1, 0x90aa48fd, 0x3f22387a, 0x90a72f7e,
+    0x3f1cc12c, 0x90a41644,
+  0x3f1749b8, 0x90a0fd4e, 0x3f11d21d, 0x909de49e, 0x3f0c5a5a, 0x909acc32,
+    0x3f06e271, 0x9097b40a,
+  0x3f016a61, 0x90949c28, 0x3efbf22a, 0x9091848a, 0x3ef679cc, 0x908e6d31,
+    0x3ef10148, 0x908b561c,
+  0x3eeb889c, 0x90883f4d, 0x3ee60fca, 0x908528c2, 0x3ee096d1, 0x9082127c,
+    0x3edb1db1, 0x907efc7a,
+  0x3ed5a46b, 0x907be6be, 0x3ed02afd, 0x9078d146, 0x3ecab169, 0x9075bc13,
+    0x3ec537ae, 0x9072a725,
+  0x3ebfbdcd, 0x906f927c, 0x3eba43c4, 0x906c7e17, 0x3eb4c995, 0x906969f8,
+    0x3eaf4f40, 0x9066561d,
+  0x3ea9d4c3, 0x90634287, 0x3ea45a21, 0x90602f35, 0x3e9edf57, 0x905d1c29,
+    0x3e996467, 0x905a0962,
+  0x3e93e950, 0x9056f6df, 0x3e8e6e12, 0x9053e4a1, 0x3e88f2ae, 0x9050d2a9,
+    0x3e837724, 0x904dc0f5,
+  0x3e7dfb73, 0x904aaf86, 0x3e787f9b, 0x90479e5c, 0x3e73039d, 0x90448d76,
+    0x3e6d8778, 0x90417cd6,
+  0x3e680b2c, 0x903e6c7b, 0x3e628ebb, 0x903b5c64, 0x3e5d1222, 0x90384c93,
+    0x3e579564, 0x90353d06,
+  0x3e52187f, 0x90322dbf, 0x3e4c9b73, 0x902f1ebc, 0x3e471e41, 0x902c0fff,
+    0x3e41a0e8, 0x90290186,
+  0x3e3c2369, 0x9025f352, 0x3e36a5c4, 0x9022e564, 0x3e3127f9, 0x901fd7ba,
+    0x3e2baa07, 0x901cca55,
+  0x3e262bee, 0x9019bd36, 0x3e20adaf, 0x9016b05b, 0x3e1b2f4a, 0x9013a3c5,
+    0x3e15b0bf, 0x90109775,
+  0x3e10320d, 0x900d8b69, 0x3e0ab336, 0x900a7fa3, 0x3e053437, 0x90077422,
+    0x3dffb513, 0x900468e5,
+  0x3dfa35c8, 0x90015dee, 0x3df4b657, 0x8ffe533c, 0x3def36c0, 0x8ffb48cf,
+    0x3de9b703, 0x8ff83ea7,
+  0x3de4371f, 0x8ff534c4, 0x3ddeb716, 0x8ff22b26, 0x3dd936e6, 0x8fef21ce,
+    0x3dd3b690, 0x8fec18ba,
+  0x3dce3614, 0x8fe90fec, 0x3dc8b571, 0x8fe60763, 0x3dc334a9, 0x8fe2ff1f,
+    0x3dbdb3ba, 0x8fdff720,
+  0x3db832a6, 0x8fdcef66, 0x3db2b16b, 0x8fd9e7f2, 0x3dad300b, 0x8fd6e0c2,
+    0x3da7ae84, 0x8fd3d9d8,
+  0x3da22cd7, 0x8fd0d333, 0x3d9cab04, 0x8fcdccd3, 0x3d97290b, 0x8fcac6b9,
+    0x3d91a6ed, 0x8fc7c0e3,
+  0x3d8c24a8, 0x8fc4bb53, 0x3d86a23d, 0x8fc1b608, 0x3d811fac, 0x8fbeb103,
+    0x3d7b9cf6, 0x8fbbac42,
+  0x3d761a19, 0x8fb8a7c7, 0x3d709717, 0x8fb5a391, 0x3d6b13ee, 0x8fb29fa0,
+    0x3d6590a0, 0x8faf9bf5,
+  0x3d600d2c, 0x8fac988f, 0x3d5a8992, 0x8fa9956e, 0x3d5505d2, 0x8fa69293,
+    0x3d4f81ec, 0x8fa38ffc,
+  0x3d49fde1, 0x8fa08dab, 0x3d4479b0, 0x8f9d8ba0, 0x3d3ef559, 0x8f9a89da,
+    0x3d3970dc, 0x8f978859,
+  0x3d33ec39, 0x8f94871d, 0x3d2e6771, 0x8f918627, 0x3d28e282, 0x8f8e8576,
+    0x3d235d6f, 0x8f8b850a,
+  0x3d1dd835, 0x8f8884e4, 0x3d1852d6, 0x8f858503, 0x3d12cd51, 0x8f828568,
+    0x3d0d47a6, 0x8f7f8612,
+  0x3d07c1d6, 0x8f7c8701, 0x3d023be0, 0x8f798836, 0x3cfcb5c4, 0x8f7689b0,
+    0x3cf72f83, 0x8f738b70,
+  0x3cf1a91c, 0x8f708d75, 0x3cec2290, 0x8f6d8fbf, 0x3ce69bde, 0x8f6a924f,
+    0x3ce11507, 0x8f679525,
+  0x3cdb8e09, 0x8f649840, 0x3cd606e7, 0x8f619ba0, 0x3cd07f9f, 0x8f5e9f46,
+    0x3ccaf831, 0x8f5ba331,
+  0x3cc5709e, 0x8f58a761, 0x3cbfe8e5, 0x8f55abd8, 0x3cba6107, 0x8f52b093,
+    0x3cb4d904, 0x8f4fb595,
+  0x3caf50da, 0x8f4cbadb, 0x3ca9c88c, 0x8f49c067, 0x3ca44018, 0x8f46c639,
+    0x3c9eb77f, 0x8f43cc50,
+  0x3c992ec0, 0x8f40d2ad, 0x3c93a5dc, 0x8f3dd950, 0x3c8e1cd3, 0x8f3ae038,
+    0x3c8893a4, 0x8f37e765,
+  0x3c830a50, 0x8f34eed8, 0x3c7d80d6, 0x8f31f691, 0x3c77f737, 0x8f2efe8f,
+    0x3c726d73, 0x8f2c06d3,
+  0x3c6ce38a, 0x8f290f5c, 0x3c67597b, 0x8f26182b, 0x3c61cf48, 0x8f232140,
+    0x3c5c44ee, 0x8f202a9a,
+  0x3c56ba70, 0x8f1d343a, 0x3c512fcc, 0x8f1a3e1f, 0x3c4ba504, 0x8f17484b,
+    0x3c461a16, 0x8f1452bb,
+  0x3c408f03, 0x8f115d72, 0x3c3b03ca, 0x8f0e686e, 0x3c35786d, 0x8f0b73b0,
+    0x3c2fecea, 0x8f087f37,
+  0x3c2a6142, 0x8f058b04, 0x3c24d575, 0x8f029717, 0x3c1f4983, 0x8effa370,
+    0x3c19bd6c, 0x8efcb00e,
+  0x3c143130, 0x8ef9bcf2, 0x3c0ea4cf, 0x8ef6ca1c, 0x3c091849, 0x8ef3d78b,
+    0x3c038b9e, 0x8ef0e540,
+  0x3bfdfecd, 0x8eedf33b, 0x3bf871d8, 0x8eeb017c, 0x3bf2e4be, 0x8ee81002,
+    0x3bed577e, 0x8ee51ece,
+  0x3be7ca1a, 0x8ee22de0, 0x3be23c91, 0x8edf3d38, 0x3bdcaee3, 0x8edc4cd5,
+    0x3bd72110, 0x8ed95cb8,
+  0x3bd19318, 0x8ed66ce1, 0x3bcc04fb, 0x8ed37d50, 0x3bc676b9, 0x8ed08e05,
+    0x3bc0e853, 0x8ecd9eff,
+  0x3bbb59c7, 0x8ecab040, 0x3bb5cb17, 0x8ec7c1c6, 0x3bb03c42, 0x8ec4d392,
+    0x3baaad48, 0x8ec1e5a4,
+  0x3ba51e29, 0x8ebef7fb, 0x3b9f8ee5, 0x8ebc0a99, 0x3b99ff7d, 0x8eb91d7c,
+    0x3b946ff0, 0x8eb630a6,
+  0x3b8ee03e, 0x8eb34415, 0x3b895068, 0x8eb057ca, 0x3b83c06c, 0x8ead6bc5,
+    0x3b7e304c, 0x8eaa8006,
+  0x3b78a007, 0x8ea7948c, 0x3b730f9e, 0x8ea4a959, 0x3b6d7f10, 0x8ea1be6c,
+    0x3b67ee5d, 0x8e9ed3c4,
+  0x3b625d86, 0x8e9be963, 0x3b5ccc8a, 0x8e98ff47, 0x3b573b69, 0x8e961571,
+    0x3b51aa24, 0x8e932be2,
+  0x3b4c18ba, 0x8e904298, 0x3b46872c, 0x8e8d5994, 0x3b40f579, 0x8e8a70d7,
+    0x3b3b63a1, 0x8e87885f,
+  0x3b35d1a5, 0x8e84a02d, 0x3b303f84, 0x8e81b841, 0x3b2aad3f, 0x8e7ed09b,
+    0x3b251ad6, 0x8e7be93c,
+  0x3b1f8848, 0x8e790222, 0x3b19f595, 0x8e761b4e, 0x3b1462be, 0x8e7334c1,
+    0x3b0ecfc3, 0x8e704e79,
+  0x3b093ca3, 0x8e6d6877, 0x3b03a95e, 0x8e6a82bc, 0x3afe15f6, 0x8e679d47,
+    0x3af88269, 0x8e64b817,
+  0x3af2eeb7, 0x8e61d32e, 0x3aed5ae1, 0x8e5eee8b, 0x3ae7c6e7, 0x8e5c0a2e,
+    0x3ae232c9, 0x8e592617,
+  0x3adc9e86, 0x8e564246, 0x3ad70a1f, 0x8e535ebb, 0x3ad17593, 0x8e507b76,
+    0x3acbe0e3, 0x8e4d9878,
+  0x3ac64c0f, 0x8e4ab5bf, 0x3ac0b717, 0x8e47d34d, 0x3abb21fb, 0x8e44f121,
+    0x3ab58cba, 0x8e420f3b,
+  0x3aaff755, 0x8e3f2d9b, 0x3aaa61cc, 0x8e3c4c41, 0x3aa4cc1e, 0x8e396b2e,
+    0x3a9f364d, 0x8e368a61,
+  0x3a99a057, 0x8e33a9da, 0x3a940a3e, 0x8e30c999, 0x3a8e7400, 0x8e2de99e,
+    0x3a88dd9d, 0x8e2b09e9,
+  0x3a834717, 0x8e282a7b, 0x3a7db06d, 0x8e254b53, 0x3a78199f, 0x8e226c71,
+    0x3a7282ac, 0x8e1f8dd6,
+  0x3a6ceb96, 0x8e1caf80, 0x3a67545b, 0x8e19d171, 0x3a61bcfd, 0x8e16f3a9,
+    0x3a5c257a, 0x8e141626,
+  0x3a568dd4, 0x8e1138ea, 0x3a50f609, 0x8e0e5bf4, 0x3a4b5e1b, 0x8e0b7f44,
+    0x3a45c608, 0x8e08a2db,
+  0x3a402dd2, 0x8e05c6b7, 0x3a3a9577, 0x8e02eadb, 0x3a34fcf9, 0x8e000f44,
+    0x3a2f6457, 0x8dfd33f4,
+  0x3a29cb91, 0x8dfa58ea, 0x3a2432a7, 0x8df77e27, 0x3a1e9999, 0x8df4a3a9,
+    0x3a190068, 0x8df1c973,
+  0x3a136712, 0x8deeef82, 0x3a0dcd99, 0x8dec15d8, 0x3a0833fc, 0x8de93c74,
+    0x3a029a3b, 0x8de66357,
+  0x39fd0056, 0x8de38a80, 0x39f7664e, 0x8de0b1ef, 0x39f1cc21, 0x8dddd9a5,
+    0x39ec31d1, 0x8ddb01a1,
+  0x39e6975e, 0x8dd829e4, 0x39e0fcc6, 0x8dd5526d, 0x39db620b, 0x8dd27b3c,
+    0x39d5c72c, 0x8dcfa452,
+  0x39d02c2a, 0x8dcccdaf, 0x39ca9104, 0x8dc9f751, 0x39c4f5ba, 0x8dc7213b,
+    0x39bf5a4d, 0x8dc44b6a,
+  0x39b9bebc, 0x8dc175e0, 0x39b42307, 0x8dbea09d, 0x39ae872f, 0x8dbbcba0,
+    0x39a8eb33, 0x8db8f6ea,
+  0x39a34f13, 0x8db6227a, 0x399db2d0, 0x8db34e50, 0x3998166a, 0x8db07a6d,
+    0x399279e0, 0x8dada6d1,
+  0x398cdd32, 0x8daad37b, 0x39874061, 0x8da8006c, 0x3981a36d, 0x8da52da3,
+    0x397c0655, 0x8da25b21,
+  0x39766919, 0x8d9f88e5, 0x3970cbba, 0x8d9cb6f0, 0x396b2e38, 0x8d99e541,
+    0x39659092, 0x8d9713d9,
+  0x395ff2c9, 0x8d9442b8, 0x395a54dd, 0x8d9171dd, 0x3954b6cd, 0x8d8ea148,
+    0x394f1899, 0x8d8bd0fb,
+  0x39497a43, 0x8d8900f3, 0x3943dbc9, 0x8d863133, 0x393e3d2c, 0x8d8361b9,
+    0x39389e6b, 0x8d809286,
+  0x3932ff87, 0x8d7dc399, 0x392d6080, 0x8d7af4f3, 0x3927c155, 0x8d782694,
+    0x39222208, 0x8d75587b,
+  0x391c8297, 0x8d728aa9, 0x3916e303, 0x8d6fbd1d, 0x3911434b, 0x8d6cefd9,
+    0x390ba371, 0x8d6a22db,
+  0x39060373, 0x8d675623, 0x39006352, 0x8d6489b3, 0x38fac30e, 0x8d61bd89,
+    0x38f522a6, 0x8d5ef1a5,
+  0x38ef821c, 0x8d5c2609, 0x38e9e16e, 0x8d595ab3, 0x38e4409e, 0x8d568fa4,
+    0x38de9faa, 0x8d53c4db,
+  0x38d8fe93, 0x8d50fa59, 0x38d35d59, 0x8d4e301f, 0x38cdbbfc, 0x8d4b662a,
+    0x38c81a7c, 0x8d489c7d,
+  0x38c278d9, 0x8d45d316, 0x38bcd713, 0x8d4309f6, 0x38b7352a, 0x8d40411d,
+    0x38b1931e, 0x8d3d788b,
+  0x38abf0ef, 0x8d3ab03f, 0x38a64e9d, 0x8d37e83a, 0x38a0ac29, 0x8d35207d,
+    0x389b0991, 0x8d325905,
+  0x389566d6, 0x8d2f91d5, 0x388fc3f8, 0x8d2ccaec, 0x388a20f8, 0x8d2a0449,
+    0x38847dd5, 0x8d273ded,
+  0x387eda8e, 0x8d2477d8, 0x38793725, 0x8d21b20a, 0x38739399, 0x8d1eec83,
+    0x386defeb, 0x8d1c2742,
+  0x38684c19, 0x8d196249, 0x3862a825, 0x8d169d96, 0x385d040d, 0x8d13d92a,
+    0x38575fd4, 0x8d111505,
+  0x3851bb77, 0x8d0e5127, 0x384c16f7, 0x8d0b8d90, 0x38467255, 0x8d08ca40,
+    0x3840cd90, 0x8d060737,
+  0x383b28a9, 0x8d034474, 0x3835839f, 0x8d0081f9, 0x382fde72, 0x8cfdbfc4,
+    0x382a3922, 0x8cfafdd7,
+  0x382493b0, 0x8cf83c30, 0x381eee1b, 0x8cf57ad0, 0x38194864, 0x8cf2b9b8,
+    0x3813a28a, 0x8ceff8e6,
+  0x380dfc8d, 0x8ced385b, 0x3808566e, 0x8cea7818, 0x3802b02c, 0x8ce7b81b,
+    0x37fd09c8, 0x8ce4f865,
+  0x37f76341, 0x8ce238f6, 0x37f1bc97, 0x8cdf79ce, 0x37ec15cb, 0x8cdcbaee,
+    0x37e66edd, 0x8cd9fc54,
+  0x37e0c7cc, 0x8cd73e01, 0x37db2099, 0x8cd47ff6, 0x37d57943, 0x8cd1c231,
+    0x37cfd1cb, 0x8ccf04b3,
+  0x37ca2a30, 0x8ccc477d, 0x37c48273, 0x8cc98a8e, 0x37beda93, 0x8cc6cde5,
+    0x37b93292, 0x8cc41184,
+  0x37b38a6d, 0x8cc1556a, 0x37ade227, 0x8cbe9996, 0x37a839be, 0x8cbbde0a,
+    0x37a29132, 0x8cb922c6,
+  0x379ce885, 0x8cb667c8, 0x37973fb5, 0x8cb3ad11, 0x379196c3, 0x8cb0f2a1,
+    0x378bedae, 0x8cae3879,
+  0x37864477, 0x8cab7e98, 0x37809b1e, 0x8ca8c4fd, 0x377af1a3, 0x8ca60baa,
+    0x37754806, 0x8ca3529f,
+  0x376f9e46, 0x8ca099da, 0x3769f464, 0x8c9de15c, 0x37644a60, 0x8c9b2926,
+    0x375ea03a, 0x8c987137,
+  0x3758f5f2, 0x8c95b98f, 0x37534b87, 0x8c93022e, 0x374da0fa, 0x8c904b14,
+    0x3747f64c, 0x8c8d9442,
+  0x37424b7b, 0x8c8addb7, 0x373ca088, 0x8c882773, 0x3736f573, 0x8c857176,
+    0x37314a3c, 0x8c82bbc0,
+  0x372b9ee3, 0x8c800652, 0x3725f367, 0x8c7d512b, 0x372047ca, 0x8c7a9c4b,
+    0x371a9c0b, 0x8c77e7b3,
+  0x3714f02a, 0x8c753362, 0x370f4427, 0x8c727f58, 0x37099802, 0x8c6fcb95,
+    0x3703ebbb, 0x8c6d181a,
+  0x36fe3f52, 0x8c6a64e5, 0x36f892c7, 0x8c67b1f9, 0x36f2e61a, 0x8c64ff53,
+    0x36ed394b, 0x8c624cf5,
+  0x36e78c5b, 0x8c5f9ade, 0x36e1df48, 0x8c5ce90e, 0x36dc3214, 0x8c5a3786,
+    0x36d684be, 0x8c578645,
+  0x36d0d746, 0x8c54d54c, 0x36cb29ac, 0x8c522499, 0x36c57bf0, 0x8c4f742f,
+    0x36bfce13, 0x8c4cc40b,
+  0x36ba2014, 0x8c4a142f, 0x36b471f3, 0x8c47649a, 0x36aec3b0, 0x8c44b54d,
+    0x36a9154c, 0x8c420647,
+  0x36a366c6, 0x8c3f5788, 0x369db81e, 0x8c3ca911, 0x36980954, 0x8c39fae1,
+    0x36925a69, 0x8c374cf9,
+  0x368cab5c, 0x8c349f58, 0x3686fc2e, 0x8c31f1ff, 0x36814cde, 0x8c2f44ed,
+    0x367b9d6c, 0x8c2c9822,
+  0x3675edd9, 0x8c29eb9f, 0x36703e24, 0x8c273f63, 0x366a8e4d, 0x8c24936f,
+    0x3664de55, 0x8c21e7c2,
+  0x365f2e3b, 0x8c1f3c5d, 0x36597e00, 0x8c1c913f, 0x3653cda3, 0x8c19e669,
+    0x364e1d25, 0x8c173bda,
+  0x36486c86, 0x8c149192, 0x3642bbc4, 0x8c11e792, 0x363d0ae2, 0x8c0f3dda,
+    0x363759de, 0x8c0c9469,
+  0x3631a8b8, 0x8c09eb40, 0x362bf771, 0x8c07425e, 0x36264609, 0x8c0499c4,
+    0x3620947f, 0x8c01f171,
+  0x361ae2d3, 0x8bff4966, 0x36153107, 0x8bfca1a3, 0x360f7f19, 0x8bf9fa27,
+    0x3609cd0a, 0x8bf752f2,
+  0x36041ad9, 0x8bf4ac05, 0x35fe6887, 0x8bf20560, 0x35f8b614, 0x8bef5f02,
+    0x35f3037f, 0x8becb8ec,
+  0x35ed50c9, 0x8bea131e, 0x35e79df2, 0x8be76d97, 0x35e1eafa, 0x8be4c857,
+    0x35dc37e0, 0x8be22360,
+  0x35d684a6, 0x8bdf7eb0, 0x35d0d14a, 0x8bdcda47, 0x35cb1dcc, 0x8bda3626,
+    0x35c56a2e, 0x8bd7924d,
+  0x35bfb66e, 0x8bd4eebc, 0x35ba028e, 0x8bd24b72, 0x35b44e8c, 0x8bcfa870,
+    0x35ae9a69, 0x8bcd05b5,
+  0x35a8e625, 0x8bca6343, 0x35a331c0, 0x8bc7c117, 0x359d7d39, 0x8bc51f34,
+    0x3597c892, 0x8bc27d98,
+  0x359213c9, 0x8bbfdc44, 0x358c5ee0, 0x8bbd3b38, 0x3586a9d5, 0x8bba9a73,
+    0x3580f4aa, 0x8bb7f9f6,
+  0x357b3f5d, 0x8bb559c1, 0x357589f0, 0x8bb2b9d4, 0x356fd461, 0x8bb01a2e,
+    0x356a1eb2, 0x8bad7ad0,
+  0x356468e2, 0x8baadbba, 0x355eb2f0, 0x8ba83cec, 0x3558fcde, 0x8ba59e65,
+    0x355346ab, 0x8ba30026,
+  0x354d9057, 0x8ba0622f, 0x3547d9e2, 0x8b9dc480, 0x3542234c, 0x8b9b2718,
+    0x353c6c95, 0x8b9889f8,
+  0x3536b5be, 0x8b95ed21, 0x3530fec6, 0x8b935090, 0x352b47ad, 0x8b90b448,
+    0x35259073, 0x8b8e1848,
+  0x351fd918, 0x8b8b7c8f, 0x351a219c, 0x8b88e11e, 0x35146a00, 0x8b8645f5,
+    0x350eb243, 0x8b83ab14,
+  0x3508fa66, 0x8b81107b, 0x35034267, 0x8b7e7629, 0x34fd8a48, 0x8b7bdc20,
+    0x34f7d208, 0x8b79425e,
+  0x34f219a8, 0x8b76a8e4, 0x34ec6127, 0x8b740fb3, 0x34e6a885, 0x8b7176c8,
+    0x34e0efc2, 0x8b6ede26,
+  0x34db36df, 0x8b6c45cc, 0x34d57ddc, 0x8b69adba, 0x34cfc4b7, 0x8b6715ef,
+    0x34ca0b73, 0x8b647e6d,
+  0x34c4520d, 0x8b61e733, 0x34be9887, 0x8b5f5040, 0x34b8dee1, 0x8b5cb995,
+    0x34b3251a, 0x8b5a2333,
+  0x34ad6b32, 0x8b578d18, 0x34a7b12a, 0x8b54f745, 0x34a1f702, 0x8b5261ba,
+    0x349c3cb9, 0x8b4fcc77,
+  0x34968250, 0x8b4d377c, 0x3490c7c6, 0x8b4aa2ca, 0x348b0d1c, 0x8b480e5f,
+    0x34855251, 0x8b457a3c,
+  0x347f9766, 0x8b42e661, 0x3479dc5b, 0x8b4052ce, 0x3474212f, 0x8b3dbf83,
+    0x346e65e3, 0x8b3b2c80,
+  0x3468aa76, 0x8b3899c6, 0x3462eee9, 0x8b360753, 0x345d333c, 0x8b337528,
+    0x3457776f, 0x8b30e345,
+  0x3451bb81, 0x8b2e51ab, 0x344bff73, 0x8b2bc058, 0x34464345, 0x8b292f4e,
+    0x344086f6, 0x8b269e8b,
+  0x343aca87, 0x8b240e11, 0x34350df8, 0x8b217ddf, 0x342f5149, 0x8b1eedf4,
+    0x3429947a, 0x8b1c5e52,
+  0x3423d78a, 0x8b19cef8, 0x341e1a7b, 0x8b173fe6, 0x34185d4b, 0x8b14b11d,
+    0x34129ffb, 0x8b12229b,
+  0x340ce28b, 0x8b0f9462, 0x340724fb, 0x8b0d0670, 0x3401674a, 0x8b0a78c7,
+    0x33fba97a, 0x8b07eb66,
+  0x33f5eb89, 0x8b055e4d, 0x33f02d79, 0x8b02d17c, 0x33ea6f48, 0x8b0044f3,
+    0x33e4b0f8, 0x8afdb8b3,
+  0x33def287, 0x8afb2cbb, 0x33d933f7, 0x8af8a10b, 0x33d37546, 0x8af615a3,
+    0x33cdb676, 0x8af38a83,
+  0x33c7f785, 0x8af0ffac, 0x33c23875, 0x8aee751c, 0x33bc7944, 0x8aebead5,
+    0x33b6b9f4, 0x8ae960d6,
+  0x33b0fa84, 0x8ae6d720, 0x33ab3af4, 0x8ae44db1, 0x33a57b44, 0x8ae1c48b,
+    0x339fbb74, 0x8adf3bad,
+  0x3399fb85, 0x8adcb318, 0x33943b75, 0x8ada2aca, 0x338e7b46, 0x8ad7a2c5,
+    0x3388baf7, 0x8ad51b08,
+  0x3382fa88, 0x8ad29394, 0x337d39f9, 0x8ad00c67, 0x3377794b, 0x8acd8583,
+    0x3371b87d, 0x8acafee8,
+  0x336bf78f, 0x8ac87894, 0x33663682, 0x8ac5f289, 0x33607554, 0x8ac36cc6,
+    0x335ab407, 0x8ac0e74c,
+  0x3354f29b, 0x8abe6219, 0x334f310e, 0x8abbdd30, 0x33496f62, 0x8ab9588e,
+    0x3343ad97, 0x8ab6d435,
+  0x333debab, 0x8ab45024, 0x333829a1, 0x8ab1cc5c, 0x33326776, 0x8aaf48db,
+    0x332ca52c, 0x8aacc5a4,
+  0x3326e2c3, 0x8aaa42b4, 0x33212039, 0x8aa7c00d, 0x331b5d91, 0x8aa53daf,
+    0x33159ac8, 0x8aa2bb99,
+  0x330fd7e1, 0x8aa039cb, 0x330a14da, 0x8a9db845, 0x330451b3, 0x8a9b3708,
+    0x32fe8e6d, 0x8a98b614,
+  0x32f8cb07, 0x8a963567, 0x32f30782, 0x8a93b504, 0x32ed43de, 0x8a9134e8,
+    0x32e7801a, 0x8a8eb516,
+  0x32e1bc36, 0x8a8c358b, 0x32dbf834, 0x8a89b649, 0x32d63412, 0x8a873750,
+    0x32d06fd0, 0x8a84b89e,
+  0x32caab6f, 0x8a823a36, 0x32c4e6ef, 0x8a7fbc16, 0x32bf2250, 0x8a7d3e3e,
+    0x32b95d91, 0x8a7ac0af,
+  0x32b398b3, 0x8a784368, 0x32add3b6, 0x8a75c66a, 0x32a80e99, 0x8a7349b4,
+    0x32a2495d, 0x8a70cd47,
+  0x329c8402, 0x8a6e5123, 0x3296be88, 0x8a6bd547, 0x3290f8ef, 0x8a6959b3,
+    0x328b3336, 0x8a66de68,
+  0x32856d5e, 0x8a646365, 0x327fa767, 0x8a61e8ab, 0x3279e151, 0x8a5f6e3a,
+    0x32741b1c, 0x8a5cf411,
+  0x326e54c7, 0x8a5a7a31, 0x32688e54, 0x8a580099, 0x3262c7c1, 0x8a55874a,
+    0x325d0110, 0x8a530e43,
+  0x32573a3f, 0x8a509585, 0x3251734f, 0x8a4e1d10, 0x324bac40, 0x8a4ba4e3,
+    0x3245e512, 0x8a492cff,
+  0x32401dc6, 0x8a46b564, 0x323a565a, 0x8a443e11, 0x32348ecf, 0x8a41c706,
+    0x322ec725, 0x8a3f5045,
+  0x3228ff5c, 0x8a3cd9cc, 0x32233775, 0x8a3a639b, 0x321d6f6e, 0x8a37edb3,
+    0x3217a748, 0x8a357814,
+  0x3211df04, 0x8a3302be, 0x320c16a1, 0x8a308db0, 0x32064e1e, 0x8a2e18eb,
+    0x3200857d, 0x8a2ba46e,
+  0x31fabcbd, 0x8a29303b, 0x31f4f3df, 0x8a26bc50, 0x31ef2ae1, 0x8a2448ad,
+    0x31e961c5, 0x8a21d554,
+  0x31e39889, 0x8a1f6243, 0x31ddcf30, 0x8a1cef7a, 0x31d805b7, 0x8a1a7cfb,
+    0x31d23c1f, 0x8a180ac4,
+  0x31cc7269, 0x8a1598d6, 0x31c6a894, 0x8a132731, 0x31c0dea1, 0x8a10b5d4,
+    0x31bb148f, 0x8a0e44c0,
+  0x31b54a5e, 0x8a0bd3f5, 0x31af800e, 0x8a096373, 0x31a9b5a0, 0x8a06f339,
+    0x31a3eb13, 0x8a048348,
+  0x319e2067, 0x8a0213a0, 0x3198559d, 0x89ffa441, 0x31928ab4, 0x89fd352b,
+    0x318cbfad, 0x89fac65d,
+  0x3186f487, 0x89f857d8, 0x31812943, 0x89f5e99c, 0x317b5de0, 0x89f37ba9,
+    0x3175925e, 0x89f10dff,
+  0x316fc6be, 0x89eea09d, 0x3169fb00, 0x89ec3384, 0x31642f23, 0x89e9c6b4,
+    0x315e6328, 0x89e75a2d,
+  0x3158970e, 0x89e4edef, 0x3152cad5, 0x89e281fa, 0x314cfe7f, 0x89e0164d,
+    0x31473209, 0x89ddaae9,
+  0x31416576, 0x89db3fcf, 0x313b98c4, 0x89d8d4fd, 0x3135cbf4, 0x89d66a74,
+    0x312fff05, 0x89d40033,
+  0x312a31f8, 0x89d1963c, 0x312464cd, 0x89cf2c8e, 0x311e9783, 0x89ccc328,
+    0x3118ca1b, 0x89ca5a0c,
+  0x3112fc95, 0x89c7f138, 0x310d2ef0, 0x89c588ae, 0x3107612e, 0x89c3206c,
+    0x3101934d, 0x89c0b873,
+  0x30fbc54d, 0x89be50c3, 0x30f5f730, 0x89bbe95c, 0x30f028f4, 0x89b9823e,
+    0x30ea5a9a, 0x89b71b69,
+  0x30e48c22, 0x89b4b4dd, 0x30debd8c, 0x89b24e9a, 0x30d8eed8, 0x89afe8a0,
+    0x30d32006, 0x89ad82ef,
+  0x30cd5115, 0x89ab1d87, 0x30c78206, 0x89a8b868, 0x30c1b2da, 0x89a65391,
+    0x30bbe38f, 0x89a3ef04,
+  0x30b61426, 0x89a18ac0, 0x30b0449f, 0x899f26c5, 0x30aa74fa, 0x899cc313,
+    0x30a4a537, 0x899a5faa,
+  0x309ed556, 0x8997fc8a, 0x30990557, 0x899599b3, 0x3093353a, 0x89933725,
+    0x308d64ff, 0x8990d4e0,
+  0x308794a6, 0x898e72e4, 0x3081c42f, 0x898c1131, 0x307bf39b, 0x8989afc8,
+    0x307622e8, 0x89874ea7,
+  0x30705217, 0x8984edcf, 0x306a8129, 0x89828d41, 0x3064b01d, 0x89802cfc,
+    0x305edef3, 0x897dccff,
+  0x30590dab, 0x897b6d4c, 0x30533c45, 0x89790de2, 0x304d6ac1, 0x8976aec1,
+    0x30479920, 0x89744fe9,
+  0x3041c761, 0x8971f15a, 0x303bf584, 0x896f9315, 0x30362389, 0x896d3518,
+    0x30305171, 0x896ad765,
+  0x302a7f3a, 0x896879fb, 0x3024ace6, 0x89661cda, 0x301eda75, 0x8963c002,
+    0x301907e6, 0x89616373,
+  0x30133539, 0x895f072e, 0x300d626e, 0x895cab31, 0x30078f86, 0x895a4f7e,
+    0x3001bc80, 0x8957f414,
+  0x2ffbe95d, 0x895598f3, 0x2ff6161c, 0x89533e1c, 0x2ff042bd, 0x8950e38e,
+    0x2fea6f41, 0x894e8948,
+  0x2fe49ba7, 0x894c2f4c, 0x2fdec7f0, 0x8949d59a, 0x2fd8f41b, 0x89477c30,
+    0x2fd32028, 0x89452310,
+  0x2fcd4c19, 0x8942ca39, 0x2fc777eb, 0x894071ab, 0x2fc1a3a0, 0x893e1967,
+    0x2fbbcf38, 0x893bc16b,
+  0x2fb5fab2, 0x893969b9, 0x2fb0260f, 0x89371250, 0x2faa514f, 0x8934bb31,
+    0x2fa47c71, 0x8932645b,
+  0x2f9ea775, 0x89300dce, 0x2f98d25d, 0x892db78a, 0x2f92fd26, 0x892b6190,
+    0x2f8d27d3, 0x89290bdf,
+  0x2f875262, 0x8926b677, 0x2f817cd4, 0x89246159, 0x2f7ba729, 0x89220c84,
+    0x2f75d160, 0x891fb7f8,
+  0x2f6ffb7a, 0x891d63b5, 0x2f6a2577, 0x891b0fbc, 0x2f644f56, 0x8918bc0c,
+    0x2f5e7919, 0x891668a6,
+  0x2f58a2be, 0x89141589, 0x2f52cc46, 0x8911c2b5, 0x2f4cf5b0, 0x890f702b,
+    0x2f471efe, 0x890d1dea,
+  0x2f41482e, 0x890acbf2, 0x2f3b7141, 0x89087a44, 0x2f359a37, 0x890628df,
+    0x2f2fc310, 0x8903d7c4,
+  0x2f29ebcc, 0x890186f2, 0x2f24146b, 0x88ff3669, 0x2f1e3ced, 0x88fce62a,
+    0x2f186551, 0x88fa9634,
+  0x2f128d99, 0x88f84687, 0x2f0cb5c3, 0x88f5f724, 0x2f06ddd1, 0x88f3a80b,
+    0x2f0105c1, 0x88f1593b,
+  0x2efb2d95, 0x88ef0ab4, 0x2ef5554b, 0x88ecbc77, 0x2eef7ce5, 0x88ea6e83,
+    0x2ee9a461, 0x88e820d9,
+  0x2ee3cbc1, 0x88e5d378, 0x2eddf304, 0x88e38660, 0x2ed81a29, 0x88e13992,
+    0x2ed24132, 0x88deed0e,
+  0x2ecc681e, 0x88dca0d3, 0x2ec68eed, 0x88da54e1, 0x2ec0b5a0, 0x88d8093a,
+    0x2ebadc35, 0x88d5bddb,
+  0x2eb502ae, 0x88d372c6, 0x2eaf290a, 0x88d127fb, 0x2ea94f49, 0x88cedd79,
+    0x2ea3756b, 0x88cc9340,
+  0x2e9d9b70, 0x88ca4951, 0x2e97c159, 0x88c7ffac, 0x2e91e725, 0x88c5b650,
+    0x2e8c0cd4, 0x88c36d3e,
+  0x2e863267, 0x88c12475, 0x2e8057dd, 0x88bedbf6, 0x2e7a7d36, 0x88bc93c0,
+    0x2e74a272, 0x88ba4bd4,
+  0x2e6ec792, 0x88b80432, 0x2e68ec95, 0x88b5bcd9, 0x2e63117c, 0x88b375ca,
+    0x2e5d3646, 0x88b12f04,
+  0x2e575af3, 0x88aee888, 0x2e517f84, 0x88aca255, 0x2e4ba3f8, 0x88aa5c6c,
+    0x2e45c850, 0x88a816cd,
+  0x2e3fec8b, 0x88a5d177, 0x2e3a10aa, 0x88a38c6b, 0x2e3434ac, 0x88a147a9,
+    0x2e2e5891, 0x889f0330,
+  0x2e287c5a, 0x889cbf01, 0x2e22a007, 0x889a7b1b, 0x2e1cc397, 0x88983780,
+    0x2e16e70b, 0x8895f42d,
+  0x2e110a62, 0x8893b125, 0x2e0b2d9d, 0x88916e66, 0x2e0550bb, 0x888f2bf1,
+    0x2dff73bd, 0x888ce9c5,
+  0x2df996a3, 0x888aa7e3, 0x2df3b96c, 0x8888664b, 0x2deddc19, 0x888624fd,
+    0x2de7feaa, 0x8883e3f8,
+  0x2de2211e, 0x8881a33d, 0x2ddc4376, 0x887f62cb, 0x2dd665b2, 0x887d22a4,
+    0x2dd087d1, 0x887ae2c6,
+  0x2dcaa9d5, 0x8878a332, 0x2dc4cbbc, 0x887663e7, 0x2dbeed86, 0x887424e7,
+    0x2db90f35, 0x8871e630,
+  0x2db330c7, 0x886fa7c2, 0x2dad523d, 0x886d699f, 0x2da77397, 0x886b2bc5,
+    0x2da194d5, 0x8868ee35,
+  0x2d9bb5f6, 0x8866b0ef, 0x2d95d6fc, 0x886473f2, 0x2d8ff7e5, 0x88623740,
+    0x2d8a18b3, 0x885ffad7,
+  0x2d843964, 0x885dbeb8, 0x2d7e59f9, 0x885b82e3, 0x2d787a72, 0x88594757,
+    0x2d729acf, 0x88570c16,
+  0x2d6cbb10, 0x8854d11e, 0x2d66db35, 0x88529670, 0x2d60fb3e, 0x88505c0b,
+    0x2d5b1b2b, 0x884e21f1,
+  0x2d553afc, 0x884be821, 0x2d4f5ab1, 0x8849ae9a, 0x2d497a4a, 0x8847755d,
+    0x2d4399c7, 0x88453c6a,
+  0x2d3db928, 0x884303c1, 0x2d37d86d, 0x8840cb61, 0x2d31f797, 0x883e934c,
+    0x2d2c16a4, 0x883c5b81,
+  0x2d263596, 0x883a23ff, 0x2d20546b, 0x8837ecc7, 0x2d1a7325, 0x8835b5d9,
+    0x2d1491c4, 0x88337f35,
+  0x2d0eb046, 0x883148db, 0x2d08ceac, 0x882f12cb, 0x2d02ecf7, 0x882cdd04,
+    0x2cfd0b26, 0x882aa788,
+  0x2cf72939, 0x88287256, 0x2cf14731, 0x88263d6d, 0x2ceb650d, 0x882408ce,
+    0x2ce582cd, 0x8821d47a,
+  0x2cdfa071, 0x881fa06f, 0x2cd9bdfa, 0x881d6cae, 0x2cd3db67, 0x881b3937,
+    0x2ccdf8b8, 0x8819060a,
+  0x2cc815ee, 0x8816d327, 0x2cc23308, 0x8814a08f, 0x2cbc5006, 0x88126e40,
+    0x2cb66ce9, 0x88103c3b,
+  0x2cb089b1, 0x880e0a7f, 0x2caaa65c, 0x880bd90e, 0x2ca4c2ed, 0x8809a7e7,
+    0x2c9edf61, 0x8807770a,
+  0x2c98fbba, 0x88054677, 0x2c9317f8, 0x8803162e, 0x2c8d341a, 0x8800e62f,
+    0x2c875021, 0x87feb67a,
+  0x2c816c0c, 0x87fc870f, 0x2c7b87dc, 0x87fa57ee, 0x2c75a390, 0x87f82917,
+    0x2c6fbf29, 0x87f5fa8b,
+  0x2c69daa6, 0x87f3cc48, 0x2c63f609, 0x87f19e4f, 0x2c5e114f, 0x87ef70a0,
+    0x2c582c7b, 0x87ed433c,
+  0x2c52478a, 0x87eb1621, 0x2c4c627f, 0x87e8e950, 0x2c467d58, 0x87e6bcca,
+    0x2c409816, 0x87e4908e,
+  0x2c3ab2b9, 0x87e2649b, 0x2c34cd40, 0x87e038f3, 0x2c2ee7ad, 0x87de0d95,
+    0x2c2901fd, 0x87dbe281,
+  0x2c231c33, 0x87d9b7b7, 0x2c1d364e, 0x87d78d38, 0x2c17504d, 0x87d56302,
+    0x2c116a31, 0x87d33916,
+  0x2c0b83fa, 0x87d10f75, 0x2c059da7, 0x87cee61e, 0x2bffb73a, 0x87ccbd11,
+    0x2bf9d0b1, 0x87ca944e,
+  0x2bf3ea0d, 0x87c86bd5, 0x2bee034e, 0x87c643a6, 0x2be81c74, 0x87c41bc2,
+    0x2be2357f, 0x87c1f427,
+  0x2bdc4e6f, 0x87bfccd7, 0x2bd66744, 0x87bda5d1, 0x2bd07ffe, 0x87bb7f16,
+    0x2bca989d, 0x87b958a4,
+  0x2bc4b120, 0x87b7327d, 0x2bbec989, 0x87b50c9f, 0x2bb8e1d7, 0x87b2e70c,
+    0x2bb2fa0a, 0x87b0c1c4,
+  0x2bad1221, 0x87ae9cc5, 0x2ba72a1e, 0x87ac7811, 0x2ba14200, 0x87aa53a6,
+    0x2b9b59c7, 0x87a82f87,
+  0x2b957173, 0x87a60bb1, 0x2b8f8905, 0x87a3e825, 0x2b89a07b, 0x87a1c4e4,
+    0x2b83b7d7, 0x879fa1ed,
+  0x2b7dcf17, 0x879d7f41, 0x2b77e63d, 0x879b5cde, 0x2b71fd48, 0x87993ac6,
+    0x2b6c1438, 0x879718f8,
+  0x2b662b0e, 0x8794f774, 0x2b6041c9, 0x8792d63b, 0x2b5a5868, 0x8790b54c,
+    0x2b546eee, 0x878e94a7,
+  0x2b4e8558, 0x878c744d, 0x2b489ba8, 0x878a543d, 0x2b42b1dd, 0x87883477,
+    0x2b3cc7f7, 0x878614fb,
+  0x2b36ddf7, 0x8783f5ca, 0x2b30f3dc, 0x8781d6e3, 0x2b2b09a6, 0x877fb846,
+    0x2b251f56, 0x877d99f4,
+  0x2b1f34eb, 0x877b7bec, 0x2b194a66, 0x87795e2f, 0x2b135fc6, 0x877740bb,
+    0x2b0d750b, 0x87752392,
+  0x2b078a36, 0x877306b4, 0x2b019f46, 0x8770ea20, 0x2afbb43c, 0x876ecdd6,
+    0x2af5c917, 0x876cb1d6,
+  0x2aefddd8, 0x876a9621, 0x2ae9f27e, 0x87687ab7, 0x2ae4070a, 0x87665f96,
+    0x2ade1b7c, 0x876444c1,
+  0x2ad82fd2, 0x87622a35, 0x2ad2440f, 0x87600ff4, 0x2acc5831, 0x875df5fd,
+    0x2ac66c39, 0x875bdc51,
+  0x2ac08026, 0x8759c2ef, 0x2aba93f9, 0x8757a9d8, 0x2ab4a7b1, 0x8755910b,
+    0x2aaebb50, 0x87537888,
+  0x2aa8ced3, 0x87516050, 0x2aa2e23d, 0x874f4862, 0x2a9cf58c, 0x874d30bf,
+    0x2a9708c1, 0x874b1966,
+  0x2a911bdc, 0x87490258, 0x2a8b2edc, 0x8746eb94, 0x2a8541c3, 0x8744d51b,
+    0x2a7f548e, 0x8742beec,
+  0x2a796740, 0x8740a907, 0x2a7379d8, 0x873e936d, 0x2a6d8c55, 0x873c7e1e,
+    0x2a679eb8, 0x873a6919,
+  0x2a61b101, 0x8738545e, 0x2a5bc330, 0x87363fee, 0x2a55d545, 0x87342bc9,
+    0x2a4fe740, 0x873217ee,
+  0x2a49f920, 0x8730045d, 0x2a440ae7, 0x872df117, 0x2a3e1c93, 0x872bde1c,
+    0x2a382e25, 0x8729cb6b,
+  0x2a323f9e, 0x8727b905, 0x2a2c50fc, 0x8725a6e9, 0x2a266240, 0x87239518,
+    0x2a20736a, 0x87218391,
+  0x2a1a847b, 0x871f7255, 0x2a149571, 0x871d6163, 0x2a0ea64d, 0x871b50bc,
+    0x2a08b710, 0x87194060,
+  0x2a02c7b8, 0x8717304e, 0x29fcd847, 0x87152087, 0x29f6e8bb, 0x8713110a,
+    0x29f0f916, 0x871101d8,
+  0x29eb0957, 0x870ef2f1, 0x29e5197e, 0x870ce454, 0x29df298b, 0x870ad602,
+    0x29d9397f, 0x8708c7fa,
+  0x29d34958, 0x8706ba3d, 0x29cd5918, 0x8704acca, 0x29c768be, 0x87029fa3,
+    0x29c1784a, 0x870092c5,
+  0x29bb87bc, 0x86fe8633, 0x29b59715, 0x86fc79eb, 0x29afa654, 0x86fa6dee,
+    0x29a9b579, 0x86f8623b,
+  0x29a3c485, 0x86f656d3, 0x299dd377, 0x86f44bb6, 0x2997e24f, 0x86f240e3,
+    0x2991f10e, 0x86f0365c,
+  0x298bffb2, 0x86ee2c1e, 0x29860e3e, 0x86ec222c, 0x29801caf, 0x86ea1884,
+    0x297a2b07, 0x86e80f27,
+  0x29743946, 0x86e60614, 0x296e476b, 0x86e3fd4c, 0x29685576, 0x86e1f4cf,
+    0x29626368, 0x86dfec9d,
+  0x295c7140, 0x86dde4b5, 0x29567eff, 0x86dbdd18, 0x29508ca4, 0x86d9d5c6,
+    0x294a9a30, 0x86d7cebf,
+  0x2944a7a2, 0x86d5c802, 0x293eb4fb, 0x86d3c190, 0x2938c23a, 0x86d1bb69,
+    0x2932cf60, 0x86cfb58c,
+  0x292cdc6d, 0x86cdaffa, 0x2926e960, 0x86cbaab3, 0x2920f63a, 0x86c9a5b7,
+    0x291b02fa, 0x86c7a106,
+  0x29150fa1, 0x86c59c9f, 0x290f1c2f, 0x86c39883, 0x290928a3, 0x86c194b2,
+    0x290334ff, 0x86bf912c,
+  0x28fd4140, 0x86bd8df0, 0x28f74d69, 0x86bb8b00, 0x28f15978, 0x86b9885a,
+    0x28eb656e, 0x86b785ff,
+  0x28e5714b, 0x86b583ee, 0x28df7d0e, 0x86b38229, 0x28d988b8, 0x86b180ae,
+    0x28d3944a, 0x86af7f7e,
+  0x28cd9fc1, 0x86ad7e99, 0x28c7ab20, 0x86ab7dff, 0x28c1b666, 0x86a97db0,
+    0x28bbc192, 0x86a77dab,
+  0x28b5cca5, 0x86a57df2, 0x28afd7a0, 0x86a37e83, 0x28a9e281, 0x86a17f5f,
+    0x28a3ed49, 0x869f8086,
+  0x289df7f8, 0x869d81f8, 0x2898028e, 0x869b83b4, 0x28920d0a, 0x869985bc,
+    0x288c176e, 0x8697880f,
+  0x288621b9, 0x86958aac, 0x28802beb, 0x86938d94, 0x287a3604, 0x869190c7,
+    0x28744004, 0x868f9445,
+  0x286e49ea, 0x868d980e, 0x286853b8, 0x868b9c22, 0x28625d6d, 0x8689a081,
+    0x285c670a, 0x8687a52b,
+  0x2856708d, 0x8685aa20, 0x285079f7, 0x8683af5f, 0x284a8349, 0x8681b4ea,
+    0x28448c81, 0x867fbabf,
+  0x283e95a1, 0x867dc0e0, 0x28389ea8, 0x867bc74b, 0x2832a796, 0x8679ce01,
+    0x282cb06c, 0x8677d503,
+  0x2826b928, 0x8675dc4f, 0x2820c1cc, 0x8673e3e6, 0x281aca57, 0x8671ebc8,
+    0x2814d2c9, 0x866ff3f6,
+  0x280edb23, 0x866dfc6e, 0x2808e364, 0x866c0531, 0x2802eb8c, 0x866a0e3f,
+    0x27fcf39c, 0x86681798,
+  0x27f6fb92, 0x8666213c, 0x27f10371, 0x86642b2c, 0x27eb0b36, 0x86623566,
+    0x27e512e3, 0x86603feb,
+  0x27df1a77, 0x865e4abb, 0x27d921f3, 0x865c55d7, 0x27d32956, 0x865a613d,
+    0x27cd30a1, 0x86586cee,
+  0x27c737d3, 0x865678eb, 0x27c13eec, 0x86548532, 0x27bb45ed, 0x865291c4,
+    0x27b54cd6, 0x86509ea2,
+  0x27af53a6, 0x864eabcb, 0x27a95a5d, 0x864cb93e, 0x27a360fc, 0x864ac6fd,
+    0x279d6783, 0x8648d507,
+  0x27976df1, 0x8646e35c, 0x27917447, 0x8644f1fc, 0x278b7a84, 0x864300e7,
+    0x278580a9, 0x8641101d,
+  0x277f86b5, 0x863f1f9e, 0x27798caa, 0x863d2f6b, 0x27739285, 0x863b3f82,
+    0x276d9849, 0x86394fe5,
+  0x27679df4, 0x86376092, 0x2761a387, 0x8635718b, 0x275ba901, 0x863382cf,
+    0x2755ae64, 0x8631945e,
+  0x274fb3ae, 0x862fa638, 0x2749b8e0, 0x862db85e, 0x2743bdf9, 0x862bcace,
+    0x273dc2fa, 0x8629dd8a,
+  0x2737c7e3, 0x8627f091, 0x2731ccb4, 0x862603e3, 0x272bd16d, 0x86241780,
+    0x2725d60e, 0x86222b68,
+  0x271fda96, 0x86203f9c, 0x2719df06, 0x861e541a, 0x2713e35f, 0x861c68e4,
+    0x270de79f, 0x861a7df9,
+  0x2707ebc7, 0x86189359, 0x2701efd7, 0x8616a905, 0x26fbf3ce, 0x8614befb,
+    0x26f5f7ae, 0x8612d53d,
+  0x26effb76, 0x8610ebca, 0x26e9ff26, 0x860f02a3, 0x26e402bd, 0x860d19c6,
+    0x26de063d, 0x860b3135,
+  0x26d809a5, 0x860948ef, 0x26d20cf5, 0x860760f4, 0x26cc102d, 0x86057944,
+    0x26c6134d, 0x860391e0,
+  0x26c01655, 0x8601aac7, 0x26ba1945, 0x85ffc3f9, 0x26b41c1d, 0x85fddd76,
+    0x26ae1edd, 0x85fbf73f,
+  0x26a82186, 0x85fa1153, 0x26a22416, 0x85f82bb2, 0x269c268f, 0x85f6465c,
+    0x269628f0, 0x85f46152,
+  0x26902b39, 0x85f27c93, 0x268a2d6b, 0x85f09820, 0x26842f84, 0x85eeb3f7,
+    0x267e3186, 0x85ecd01a,
+  0x26783370, 0x85eaec88, 0x26723543, 0x85e90942, 0x266c36fe, 0x85e72647,
+    0x266638a1, 0x85e54397,
+  0x26603a2c, 0x85e36132, 0x265a3b9f, 0x85e17f19, 0x26543cfb, 0x85df9d4b,
+    0x264e3e40, 0x85ddbbc9,
+  0x26483f6c, 0x85dbda91, 0x26424082, 0x85d9f9a5, 0x263c417f, 0x85d81905,
+    0x26364265, 0x85d638b0,
+  0x26304333, 0x85d458a6, 0x262a43ea, 0x85d278e7, 0x26244489, 0x85d09974,
+    0x261e4511, 0x85ceba4d,
+  0x26184581, 0x85ccdb70, 0x261245da, 0x85cafcdf, 0x260c461b, 0x85c91e9a,
+    0x26064645, 0x85c740a0,
+  0x26004657, 0x85c562f1, 0x25fa4652, 0x85c3858d, 0x25f44635, 0x85c1a875,
+    0x25ee4601, 0x85bfcba9,
+  0x25e845b6, 0x85bdef28, 0x25e24553, 0x85bc12f2, 0x25dc44d9, 0x85ba3707,
+    0x25d64447, 0x85b85b68,
+  0x25d0439f, 0x85b68015, 0x25ca42de, 0x85b4a50d, 0x25c44207, 0x85b2ca50,
+    0x25be4118, 0x85b0efdf,
+  0x25b84012, 0x85af15b9, 0x25b23ef5, 0x85ad3bdf, 0x25ac3dc0, 0x85ab6250,
+    0x25a63c74, 0x85a9890d,
+  0x25a03b11, 0x85a7b015, 0x259a3997, 0x85a5d768, 0x25943806, 0x85a3ff07,
+    0x258e365d, 0x85a226f2,
+  0x2588349d, 0x85a04f28, 0x258232c6, 0x859e77a9, 0x257c30d8, 0x859ca076,
+    0x25762ed3, 0x859ac98f,
+  0x25702cb7, 0x8598f2f3, 0x256a2a83, 0x85971ca2, 0x25642839, 0x8595469d,
+    0x255e25d7, 0x859370e4,
+  0x2558235f, 0x85919b76, 0x255220cf, 0x858fc653, 0x254c1e28, 0x858df17c,
+    0x25461b6b, 0x858c1cf1,
+  0x25401896, 0x858a48b1, 0x253a15aa, 0x858874bd, 0x253412a8, 0x8586a114,
+    0x252e0f8e, 0x8584cdb7,
+  0x25280c5e, 0x8582faa5, 0x25220916, 0x858127df, 0x251c05b8, 0x857f5564,
+    0x25160243, 0x857d8335,
+  0x250ffeb7, 0x857bb152, 0x2509fb14, 0x8579dfba, 0x2503f75a, 0x85780e6e,
+    0x24fdf389, 0x85763d6d,
+  0x24f7efa2, 0x85746cb8, 0x24f1eba4, 0x85729c4e, 0x24ebe78f, 0x8570cc30,
+    0x24e5e363, 0x856efc5e,
+  0x24dfdf20, 0x856d2cd7, 0x24d9dac7, 0x856b5d9c, 0x24d3d657, 0x85698ead,
+    0x24cdd1d0, 0x8567c009,
+  0x24c7cd33, 0x8565f1b0, 0x24c1c87f, 0x856423a4, 0x24bbc3b4, 0x856255e3,
+    0x24b5bed2, 0x8560886d,
+  0x24afb9da, 0x855ebb44, 0x24a9b4cb, 0x855cee66, 0x24a3afa6, 0x855b21d3,
+    0x249daa6a, 0x8559558c,
+  0x2497a517, 0x85578991, 0x24919fae, 0x8555bde2, 0x248b9a2f, 0x8553f27e,
+    0x24859498, 0x85522766,
+  0x247f8eec, 0x85505c99, 0x24798928, 0x854e9219, 0x2473834f, 0x854cc7e3,
+    0x246d7d5e, 0x854afdfa,
+  0x24677758, 0x8549345c, 0x2461713a, 0x85476b0a, 0x245b6b07, 0x8545a204,
+    0x245564bd, 0x8543d949,
+  0x244f5e5c, 0x854210db, 0x244957e5, 0x854048b7, 0x24435158, 0x853e80e0,
+    0x243d4ab4, 0x853cb954,
+  0x243743fa, 0x853af214, 0x24313d2a, 0x85392b20, 0x242b3644, 0x85376477,
+    0x24252f47, 0x85359e1a,
+  0x241f2833, 0x8533d809, 0x2419210a, 0x85321244, 0x241319ca, 0x85304cca,
+    0x240d1274, 0x852e879d,
+  0x24070b08, 0x852cc2bb, 0x24010385, 0x852afe24, 0x23fafbec, 0x852939da,
+    0x23f4f43e, 0x852775db,
+  0x23eeec78, 0x8525b228, 0x23e8e49d, 0x8523eec1, 0x23e2dcac, 0x85222ba5,
+    0x23dcd4a4, 0x852068d6,
+  0x23d6cc87, 0x851ea652, 0x23d0c453, 0x851ce41a, 0x23cabc09, 0x851b222e,
+    0x23c4b3a9, 0x8519608d,
+  0x23beab33, 0x85179f39, 0x23b8a2a7, 0x8515de30, 0x23b29a05, 0x85141d73,
+    0x23ac914d, 0x85125d02,
+  0x23a6887f, 0x85109cdd, 0x23a07f9a, 0x850edd03, 0x239a76a0, 0x850d1d75,
+    0x23946d90, 0x850b5e34,
+  0x238e646a, 0x85099f3e, 0x23885b2e, 0x8507e094, 0x238251dd, 0x85062235,
+    0x237c4875, 0x85046423,
+  0x23763ef7, 0x8502a65c, 0x23703564, 0x8500e8e2, 0x236a2bba, 0x84ff2bb3,
+    0x236421fb, 0x84fd6ed0,
+  0x235e1826, 0x84fbb239, 0x23580e3b, 0x84f9f5ee, 0x2352043b, 0x84f839ee,
+    0x234bfa24, 0x84f67e3b,
+  0x2345eff8, 0x84f4c2d4, 0x233fe5b6, 0x84f307b8, 0x2339db5e, 0x84f14ce8,
+    0x2333d0f1, 0x84ef9265,
+  0x232dc66d, 0x84edd82d, 0x2327bbd5, 0x84ec1e41, 0x2321b126, 0x84ea64a1,
+    0x231ba662, 0x84e8ab4d,
+  0x23159b88, 0x84e6f244, 0x230f9098, 0x84e53988, 0x23098593, 0x84e38118,
+    0x23037a78, 0x84e1c8f3,
+  0x22fd6f48, 0x84e0111b, 0x22f76402, 0x84de598f, 0x22f158a7, 0x84dca24e,
+    0x22eb4d36, 0x84daeb5a,
+  0x22e541af, 0x84d934b1, 0x22df3613, 0x84d77e54, 0x22d92a61, 0x84d5c844,
+    0x22d31e9a, 0x84d4127f,
+  0x22cd12bd, 0x84d25d06, 0x22c706cb, 0x84d0a7da, 0x22c0fac4, 0x84cef2f9,
+    0x22baeea7, 0x84cd3e64,
+  0x22b4e274, 0x84cb8a1b, 0x22aed62c, 0x84c9d61f, 0x22a8c9cf, 0x84c8226e,
+    0x22a2bd5d, 0x84c66f09,
+  0x229cb0d5, 0x84c4bbf0, 0x2296a437, 0x84c30924, 0x22909785, 0x84c156a3,
+    0x228a8abd, 0x84bfa46e,
+  0x22847de0, 0x84bdf286, 0x227e70ed, 0x84bc40e9, 0x227863e5, 0x84ba8f98,
+    0x227256c8, 0x84b8de94,
+  0x226c4996, 0x84b72ddb, 0x22663c4e, 0x84b57d6f, 0x22602ef1, 0x84b3cd4f,
+    0x225a217f, 0x84b21d7a,
+  0x225413f8, 0x84b06df2, 0x224e065c, 0x84aebeb6, 0x2247f8aa, 0x84ad0fc6,
+    0x2241eae3, 0x84ab6122,
+  0x223bdd08, 0x84a9b2ca, 0x2235cf17, 0x84a804be, 0x222fc111, 0x84a656fe,
+    0x2229b2f6, 0x84a4a98a,
+  0x2223a4c5, 0x84a2fc62, 0x221d9680, 0x84a14f87, 0x22178826, 0x849fa2f7,
+    0x221179b7, 0x849df6b4,
+  0x220b6b32, 0x849c4abd, 0x22055c99, 0x849a9f12, 0x21ff4dea, 0x8498f3b3,
+    0x21f93f27, 0x849748a0,
+  0x21f3304f, 0x84959dd9, 0x21ed2162, 0x8493f35e, 0x21e71260, 0x84924930,
+    0x21e10349, 0x84909f4e,
+  0x21daf41d, 0x848ef5b7, 0x21d4e4dc, 0x848d4c6d, 0x21ced586, 0x848ba36f,
+    0x21c8c61c, 0x8489fabe,
+  0x21c2b69c, 0x84885258, 0x21bca708, 0x8486aa3e, 0x21b6975f, 0x84850271,
+    0x21b087a1, 0x84835af0,
+  0x21aa77cf, 0x8481b3bb, 0x21a467e7, 0x84800cd2, 0x219e57eb, 0x847e6636,
+    0x219847da, 0x847cbfe5,
+  0x219237b5, 0x847b19e1, 0x218c277a, 0x84797429, 0x2186172b, 0x8477cebd,
+    0x218006c8, 0x8476299e,
+  0x2179f64f, 0x847484ca, 0x2173e5c2, 0x8472e043, 0x216dd521, 0x84713c08,
+    0x2167c46b, 0x846f9819,
+  0x2161b3a0, 0x846df477, 0x215ba2c0, 0x846c5120, 0x215591cc, 0x846aae16,
+    0x214f80c4, 0x84690b58,
+  0x21496fa7, 0x846768e7, 0x21435e75, 0x8465c6c1, 0x213d4d2f, 0x846424e8,
+    0x21373bd4, 0x8462835b,
+  0x21312a65, 0x8460e21a, 0x212b18e1, 0x845f4126, 0x21250749, 0x845da07e,
+    0x211ef59d, 0x845c0022,
+  0x2118e3dc, 0x845a6012, 0x2112d206, 0x8458c04f, 0x210cc01d, 0x845720d8,
+    0x2106ae1e, 0x845581ad,
+  0x21009c0c, 0x8453e2cf, 0x20fa89e5, 0x8452443d, 0x20f477aa, 0x8450a5f7,
+    0x20ee655a, 0x844f07fd,
+  0x20e852f6, 0x844d6a50, 0x20e2407e, 0x844bccef, 0x20dc2df2, 0x844a2fda,
+    0x20d61b51, 0x84489311,
+  0x20d0089c, 0x8446f695, 0x20c9f5d3, 0x84455a66, 0x20c3e2f5, 0x8443be82,
+    0x20bdd003, 0x844222eb,
+  0x20b7bcfe, 0x844087a0, 0x20b1a9e4, 0x843eeca2, 0x20ab96b5, 0x843d51f0,
+    0x20a58373, 0x843bb78a,
+  0x209f701c, 0x843a1d70, 0x20995cb2, 0x843883a3, 0x20934933, 0x8436ea23,
+    0x208d35a0, 0x843550ee,
+  0x208721f9, 0x8433b806, 0x20810e3e, 0x84321f6b, 0x207afa6f, 0x8430871b,
+    0x2074e68c, 0x842eef18,
+  0x206ed295, 0x842d5762, 0x2068be8a, 0x842bbff8, 0x2062aa6b, 0x842a28da,
+    0x205c9638, 0x84289209,
+  0x205681f1, 0x8426fb84, 0x20506d96, 0x8425654b, 0x204a5927, 0x8423cf5f,
+    0x204444a4, 0x842239bf,
+  0x203e300d, 0x8420a46c, 0x20381b63, 0x841f0f65, 0x203206a4, 0x841d7aaa,
+    0x202bf1d2, 0x841be63c,
+  0x2025dcec, 0x841a521a, 0x201fc7f2, 0x8418be45, 0x2019b2e4, 0x84172abc,
+    0x20139dc2, 0x84159780,
+  0x200d888d, 0x84140490, 0x20077344, 0x841271ec, 0x20015de7, 0x8410df95,
+    0x1ffb4876, 0x840f4d8a,
+  0x1ff532f2, 0x840dbbcc, 0x1fef1d59, 0x840c2a5a, 0x1fe907ae, 0x840a9935,
+    0x1fe2f1ee, 0x8409085c,
+  0x1fdcdc1b, 0x840777d0, 0x1fd6c634, 0x8405e790, 0x1fd0b03a, 0x8404579d,
+    0x1fca9a2b, 0x8402c7f6,
+  0x1fc4840a, 0x8401389b, 0x1fbe6dd4, 0x83ffa98d, 0x1fb8578b, 0x83fe1acc,
+    0x1fb2412f, 0x83fc8c57,
+  0x1fac2abf, 0x83fafe2e, 0x1fa6143b, 0x83f97052, 0x1f9ffda4, 0x83f7e2c3,
+    0x1f99e6fa, 0x83f65580,
+  0x1f93d03c, 0x83f4c889, 0x1f8db96a, 0x83f33bdf, 0x1f87a285, 0x83f1af82,
+    0x1f818b8d, 0x83f02371,
+  0x1f7b7481, 0x83ee97ad, 0x1f755d61, 0x83ed0c35, 0x1f6f462f, 0x83eb810a,
+    0x1f692ee9, 0x83e9f62b,
+  0x1f63178f, 0x83e86b99, 0x1f5d0022, 0x83e6e153, 0x1f56e8a2, 0x83e5575a,
+    0x1f50d10e, 0x83e3cdad,
+  0x1f4ab968, 0x83e2444d, 0x1f44a1ad, 0x83e0bb3a, 0x1f3e89e0, 0x83df3273,
+    0x1f3871ff, 0x83dda9f9,
+  0x1f325a0b, 0x83dc21cb, 0x1f2c4204, 0x83da99ea, 0x1f2629ea, 0x83d91255,
+    0x1f2011bc, 0x83d78b0d,
+  0x1f19f97b, 0x83d60412, 0x1f13e127, 0x83d47d63, 0x1f0dc8c0, 0x83d2f701,
+    0x1f07b045, 0x83d170eb,
+  0x1f0197b8, 0x83cfeb22, 0x1efb7f17, 0x83ce65a6, 0x1ef56664, 0x83cce076,
+    0x1eef4d9d, 0x83cb5b93,
+  0x1ee934c3, 0x83c9d6fc, 0x1ee31bd6, 0x83c852b2, 0x1edd02d6, 0x83c6ceb5,
+    0x1ed6e9c3, 0x83c54b04,
+  0x1ed0d09d, 0x83c3c7a0, 0x1ecab763, 0x83c24488, 0x1ec49e17, 0x83c0c1be,
+    0x1ebe84b8, 0x83bf3f3f,
+  0x1eb86b46, 0x83bdbd0e, 0x1eb251c1, 0x83bc3b29, 0x1eac3829, 0x83bab991,
+    0x1ea61e7e, 0x83b93845,
+  0x1ea004c1, 0x83b7b746, 0x1e99eaf0, 0x83b63694, 0x1e93d10c, 0x83b4b62e,
+    0x1e8db716, 0x83b33616,
+  0x1e879d0d, 0x83b1b649, 0x1e8182f1, 0x83b036ca, 0x1e7b68c2, 0x83aeb797,
+    0x1e754e80, 0x83ad38b1,
+  0x1e6f342c, 0x83abba17, 0x1e6919c4, 0x83aa3bca, 0x1e62ff4a, 0x83a8bdca,
+    0x1e5ce4be, 0x83a74017,
+  0x1e56ca1e, 0x83a5c2b0, 0x1e50af6c, 0x83a44596, 0x1e4a94a7, 0x83a2c8c9,
+    0x1e4479cf, 0x83a14c48,
+  0x1e3e5ee5, 0x839fd014, 0x1e3843e8, 0x839e542d, 0x1e3228d9, 0x839cd893,
+    0x1e2c0db6, 0x839b5d45,
+  0x1e25f282, 0x8399e244, 0x1e1fd73a, 0x83986790, 0x1e19bbe0, 0x8396ed29,
+    0x1e13a074, 0x8395730e,
+  0x1e0d84f5, 0x8393f940, 0x1e076963, 0x83927fbf, 0x1e014dbf, 0x8391068a,
+    0x1dfb3208, 0x838f8da2,
+  0x1df5163f, 0x838e1507, 0x1deefa63, 0x838c9cb9, 0x1de8de75, 0x838b24b8,
+    0x1de2c275, 0x8389ad03,
+  0x1ddca662, 0x8388359b, 0x1dd68a3c, 0x8386be80, 0x1dd06e04, 0x838547b2,
+    0x1dca51ba, 0x8383d130,
+  0x1dc4355e, 0x83825afb, 0x1dbe18ef, 0x8380e513, 0x1db7fc6d, 0x837f6f78,
+    0x1db1dfda, 0x837dfa2a,
+  0x1dabc334, 0x837c8528, 0x1da5a67c, 0x837b1074, 0x1d9f89b1, 0x83799c0c,
+    0x1d996cd4, 0x837827f0,
+  0x1d934fe5, 0x8376b422, 0x1d8d32e4, 0x837540a1, 0x1d8715d0, 0x8373cd6c,
+    0x1d80f8ab, 0x83725a84,
+  0x1d7adb73, 0x8370e7e9, 0x1d74be29, 0x836f759b, 0x1d6ea0cc, 0x836e039a,
+    0x1d68835e, 0x836c91e5,
+  0x1d6265dd, 0x836b207d, 0x1d5c484b, 0x8369af63, 0x1d562aa6, 0x83683e95,
+    0x1d500cef, 0x8366ce14,
+  0x1d49ef26, 0x83655ddf, 0x1d43d14b, 0x8363edf8, 0x1d3db35e, 0x83627e5d,
+    0x1d37955e, 0x83610f10,
+  0x1d31774d, 0x835fa00f, 0x1d2b592a, 0x835e315b, 0x1d253af5, 0x835cc2f4,
+    0x1d1f1cae, 0x835b54da,
+  0x1d18fe54, 0x8359e70d, 0x1d12dfe9, 0x8358798c, 0x1d0cc16c, 0x83570c59,
+    0x1d06a2dd, 0x83559f72,
+  0x1d00843d, 0x835432d8, 0x1cfa658a, 0x8352c68c, 0x1cf446c5, 0x83515a8c,
+    0x1cee27ef, 0x834feed9,
+  0x1ce80906, 0x834e8373, 0x1ce1ea0c, 0x834d185a, 0x1cdbcb00, 0x834bad8e,
+    0x1cd5abe3, 0x834a430e,
+  0x1ccf8cb3, 0x8348d8dc, 0x1cc96d72, 0x83476ef6, 0x1cc34e1f, 0x8346055e,
+    0x1cbd2eba, 0x83449c12,
+  0x1cb70f43, 0x83433314, 0x1cb0efbb, 0x8341ca62, 0x1caad021, 0x834061fd,
+    0x1ca4b075, 0x833ef9e6,
+  0x1c9e90b8, 0x833d921b, 0x1c9870e9, 0x833c2a9d, 0x1c925109, 0x833ac36c,
+    0x1c8c3116, 0x83395c88,
+  0x1c861113, 0x8337f5f1, 0x1c7ff0fd, 0x83368fa7, 0x1c79d0d6, 0x833529aa,
+    0x1c73b09d, 0x8333c3fa,
+  0x1c6d9053, 0x83325e97, 0x1c676ff8, 0x8330f981, 0x1c614f8b, 0x832f94b8,
+    0x1c5b2f0c, 0x832e303c,
+  0x1c550e7c, 0x832ccc0d, 0x1c4eedda, 0x832b682b, 0x1c48cd27, 0x832a0496,
+    0x1c42ac62, 0x8328a14d,
+  0x1c3c8b8c, 0x83273e52, 0x1c366aa5, 0x8325dba4, 0x1c3049ac, 0x83247943,
+    0x1c2a28a2, 0x8323172f,
+  0x1c240786, 0x8321b568, 0x1c1de659, 0x832053ee, 0x1c17c51b, 0x831ef2c1,
+    0x1c11a3cb, 0x831d91e1,
+  0x1c0b826a, 0x831c314e, 0x1c0560f8, 0x831ad109, 0x1bff3f75, 0x83197110,
+    0x1bf91de0, 0x83181164,
+  0x1bf2fc3a, 0x8316b205, 0x1becda83, 0x831552f4, 0x1be6b8ba, 0x8313f42f,
+    0x1be096e0, 0x831295b7,
+  0x1bda74f6, 0x8311378d, 0x1bd452f9, 0x830fd9af, 0x1bce30ec, 0x830e7c1f,
+    0x1bc80ece, 0x830d1edc,
+  0x1bc1ec9e, 0x830bc1e6, 0x1bbbca5e, 0x830a653c, 0x1bb5a80c, 0x830908e0,
+    0x1baf85a9, 0x8307acd1,
+  0x1ba96335, 0x83065110, 0x1ba340b0, 0x8304f59b, 0x1b9d1e1a, 0x83039a73,
+    0x1b96fb73, 0x83023f98,
+  0x1b90d8bb, 0x8300e50b, 0x1b8ab5f2, 0x82ff8acb, 0x1b849317, 0x82fe30d7,
+    0x1b7e702c, 0x82fcd731,
+  0x1b784d30, 0x82fb7dd8, 0x1b722a23, 0x82fa24cc, 0x1b6c0705, 0x82f8cc0d,
+    0x1b65e3d7, 0x82f7739c,
+  0x1b5fc097, 0x82f61b77, 0x1b599d46, 0x82f4c3a0, 0x1b5379e5, 0x82f36c15,
+    0x1b4d5672, 0x82f214d8,
+  0x1b4732ef, 0x82f0bde8, 0x1b410f5b, 0x82ef6745, 0x1b3aebb6, 0x82ee10ef,
+    0x1b34c801, 0x82ecbae7,
+  0x1b2ea43a, 0x82eb652b, 0x1b288063, 0x82ea0fbd, 0x1b225c7b, 0x82e8ba9c,
+    0x1b1c3883, 0x82e765c8,
+  0x1b161479, 0x82e61141, 0x1b0ff05f, 0x82e4bd07, 0x1b09cc34, 0x82e3691b,
+    0x1b03a7f9, 0x82e2157c,
+  0x1afd83ad, 0x82e0c22a, 0x1af75f50, 0x82df6f25, 0x1af13ae3, 0x82de1c6d,
+    0x1aeb1665, 0x82dcca02,
+  0x1ae4f1d6, 0x82db77e5, 0x1adecd37, 0x82da2615, 0x1ad8a887, 0x82d8d492,
+    0x1ad283c7, 0x82d7835c,
+  0x1acc5ef6, 0x82d63274, 0x1ac63a14, 0x82d4e1d8, 0x1ac01522, 0x82d3918a,
+    0x1ab9f020, 0x82d24189,
+  0x1ab3cb0d, 0x82d0f1d5, 0x1aada5e9, 0x82cfa26f, 0x1aa780b6, 0x82ce5356,
+    0x1aa15b71, 0x82cd048a,
+  0x1a9b361d, 0x82cbb60b, 0x1a9510b7, 0x82ca67d9, 0x1a8eeb42, 0x82c919f5,
+    0x1a88c5bc, 0x82c7cc5e,
+  0x1a82a026, 0x82c67f14, 0x1a7c7a7f, 0x82c53217, 0x1a7654c8, 0x82c3e568,
+    0x1a702f01, 0x82c29906,
+  0x1a6a0929, 0x82c14cf1, 0x1a63e341, 0x82c00129, 0x1a5dbd49, 0x82beb5af,
+    0x1a579741, 0x82bd6a82,
+  0x1a517128, 0x82bc1fa2, 0x1a4b4aff, 0x82bad50f, 0x1a4524c6, 0x82b98aca,
+    0x1a3efe7c, 0x82b840d2,
+  0x1a38d823, 0x82b6f727, 0x1a32b1b9, 0x82b5adca, 0x1a2c8b3f, 0x82b464ba,
+    0x1a2664b5, 0x82b31bf7,
+  0x1a203e1b, 0x82b1d381, 0x1a1a1771, 0x82b08b59, 0x1a13f0b6, 0x82af437e,
+    0x1a0dc9ec, 0x82adfbf0,
+  0x1a07a311, 0x82acb4b0, 0x1a017c27, 0x82ab6dbd, 0x19fb552c, 0x82aa2717,
+    0x19f52e22, 0x82a8e0bf,
+  0x19ef0707, 0x82a79ab3, 0x19e8dfdc, 0x82a654f6, 0x19e2b8a2, 0x82a50f85,
+    0x19dc9157, 0x82a3ca62,
+  0x19d669fc, 0x82a2858c, 0x19d04292, 0x82a14104, 0x19ca1b17, 0x829ffcc8,
+    0x19c3f38d, 0x829eb8db,
+  0x19bdcbf3, 0x829d753a, 0x19b7a449, 0x829c31e7, 0x19b17c8f, 0x829aeee1,
+    0x19ab54c5, 0x8299ac29,
+  0x19a52ceb, 0x829869be, 0x199f0502, 0x829727a0, 0x1998dd09, 0x8295e5cf,
+    0x1992b4ff, 0x8294a44c,
+  0x198c8ce7, 0x82936317, 0x198664be, 0x8292222e, 0x19803c86, 0x8290e194,
+    0x197a143e, 0x828fa146,
+  0x1973ebe6, 0x828e6146, 0x196dc37e, 0x828d2193, 0x19679b07, 0x828be22e,
+    0x19617280, 0x828aa316,
+  0x195b49ea, 0x8289644b, 0x19552144, 0x828825ce, 0x194ef88e, 0x8286e79e,
+    0x1948cfc8, 0x8285a9bb,
+  0x1942a6f3, 0x82846c26, 0x193c7e0f, 0x82832edf, 0x1936551b, 0x8281f1e4,
+    0x19302c17, 0x8280b538,
+  0x192a0304, 0x827f78d8, 0x1923d9e1, 0x827e3cc6, 0x191db0af, 0x827d0102,
+    0x1917876d, 0x827bc58a,
+  0x19115e1c, 0x827a8a61, 0x190b34bb, 0x82794f84, 0x19050b4b, 0x827814f6,
+    0x18fee1cb, 0x8276dab4,
+  0x18f8b83c, 0x8275a0c0, 0x18f28e9e, 0x8274671a, 0x18ec64f0, 0x82732dc0,
+    0x18e63b33, 0x8271f4b5,
+  0x18e01167, 0x8270bbf7, 0x18d9e78b, 0x826f8386, 0x18d3bda0, 0x826e4b62,
+    0x18cd93a5, 0x826d138d,
+  0x18c7699b, 0x826bdc04, 0x18c13f82, 0x826aa4c9, 0x18bb155a, 0x82696ddc,
+    0x18b4eb22, 0x8268373c,
+  0x18aec0db, 0x826700e9, 0x18a89685, 0x8265cae4, 0x18a26c20, 0x8264952d,
+    0x189c41ab, 0x82635fc2,
+  0x18961728, 0x82622aa6, 0x188fec95, 0x8260f5d7, 0x1889c1f3, 0x825fc155,
+    0x18839742, 0x825e8d21,
+  0x187d6c82, 0x825d593a, 0x187741b2, 0x825c25a1, 0x187116d4, 0x825af255,
+    0x186aebe6, 0x8259bf57,
+  0x1864c0ea, 0x82588ca7, 0x185e95de, 0x82575a44, 0x18586ac3, 0x8256282e,
+    0x18523f9a, 0x8254f666,
+  0x184c1461, 0x8253c4eb, 0x1845e919, 0x825293be, 0x183fbdc3, 0x825162df,
+    0x1839925d, 0x8250324d,
+  0x183366e9, 0x824f0208, 0x182d3b65, 0x824dd211, 0x18270fd3, 0x824ca268,
+    0x1820e431, 0x824b730c,
+  0x181ab881, 0x824a43fe, 0x18148cc2, 0x8249153d, 0x180e60f4, 0x8247e6ca,
+    0x18083518, 0x8246b8a4,
+  0x1802092c, 0x82458acc, 0x17fbdd32, 0x82445d41, 0x17f5b129, 0x82433004,
+    0x17ef8511, 0x82420315,
+  0x17e958ea, 0x8240d673, 0x17e32cb5, 0x823faa1e, 0x17dd0070, 0x823e7e18,
+    0x17d6d41d, 0x823d525e,
+  0x17d0a7bc, 0x823c26f3, 0x17ca7b4c, 0x823afbd5, 0x17c44ecd, 0x8239d104,
+    0x17be223f, 0x8238a681,
+  0x17b7f5a3, 0x82377c4c, 0x17b1c8f8, 0x82365264, 0x17ab9c3e, 0x823528ca,
+    0x17a56f76, 0x8233ff7e,
+  0x179f429f, 0x8232d67f, 0x179915ba, 0x8231adce, 0x1792e8c6, 0x8230856a,
+    0x178cbbc4, 0x822f5d54,
+  0x17868eb3, 0x822e358b, 0x17806194, 0x822d0e10, 0x177a3466, 0x822be6e3,
+    0x17740729, 0x822ac004,
+  0x176dd9de, 0x82299971, 0x1767ac85, 0x8228732d, 0x17617f1d, 0x82274d36,
+    0x175b51a7, 0x8226278d,
+  0x17552422, 0x82250232, 0x174ef68f, 0x8223dd24, 0x1748c8ee, 0x8222b863,
+    0x17429b3e, 0x822193f1,
+  0x173c6d80, 0x82206fcc, 0x17363fb4, 0x821f4bf5, 0x173011d9, 0x821e286b,
+    0x1729e3f0, 0x821d052f,
+  0x1723b5f9, 0x821be240, 0x171d87f3, 0x821abfa0, 0x171759df, 0x82199d4d,
+    0x17112bbd, 0x82187b47,
+  0x170afd8d, 0x82175990, 0x1704cf4f, 0x82163826, 0x16fea102, 0x82151709,
+    0x16f872a7, 0x8213f63a,
+  0x16f2443e, 0x8212d5b9, 0x16ec15c7, 0x8211b586, 0x16e5e741, 0x821095a0,
+    0x16dfb8ae, 0x820f7608,
+  0x16d98a0c, 0x820e56be, 0x16d35b5c, 0x820d37c1, 0x16cd2c9f, 0x820c1912,
+    0x16c6fdd3, 0x820afab1,
+  0x16c0cef9, 0x8209dc9e, 0x16baa011, 0x8208bed8, 0x16b4711b, 0x8207a160,
+    0x16ae4217, 0x82068435,
+  0x16a81305, 0x82056758, 0x16a1e3e5, 0x82044ac9, 0x169bb4b7, 0x82032e88,
+    0x1695857b, 0x82021294,
+  0x168f5632, 0x8200f6ef, 0x168926da, 0x81ffdb96, 0x1682f774, 0x81fec08c,
+    0x167cc801, 0x81fda5cf,
+  0x1676987f, 0x81fc8b60, 0x167068f0, 0x81fb713f, 0x166a3953, 0x81fa576c,
+    0x166409a8, 0x81f93de6,
+  0x165dd9f0, 0x81f824ae, 0x1657aa29, 0x81f70bc3, 0x16517a55, 0x81f5f327,
+    0x164b4a73, 0x81f4dad8,
+  0x16451a83, 0x81f3c2d7, 0x163eea86, 0x81f2ab24, 0x1638ba7a, 0x81f193be,
+    0x16328a61, 0x81f07ca6,
+  0x162c5a3b, 0x81ef65dc, 0x16262a06, 0x81ee4f60, 0x161ff9c4, 0x81ed3932,
+    0x1619c975, 0x81ec2351,
+  0x16139918, 0x81eb0dbe, 0x160d68ad, 0x81e9f879, 0x16073834, 0x81e8e381,
+    0x160107ae, 0x81e7ced8,
+  0x15fad71b, 0x81e6ba7c, 0x15f4a679, 0x81e5a66e, 0x15ee75cb, 0x81e492ad,
+    0x15e8450e, 0x81e37f3b,
+  0x15e21445, 0x81e26c16, 0x15dbe36d, 0x81e1593f, 0x15d5b288, 0x81e046b6,
+    0x15cf8196, 0x81df347b,
+  0x15c95097, 0x81de228d, 0x15c31f89, 0x81dd10ee, 0x15bcee6f, 0x81dbff9c,
+    0x15b6bd47, 0x81daee98,
+  0x15b08c12, 0x81d9dde1, 0x15aa5acf, 0x81d8cd79, 0x15a4297f, 0x81d7bd5e,
+    0x159df821, 0x81d6ad92,
+  0x1597c6b7, 0x81d59e13, 0x1591953e, 0x81d48ee1, 0x158b63b9, 0x81d37ffe,
+    0x15853226, 0x81d27169,
+  0x157f0086, 0x81d16321, 0x1578ced9, 0x81d05527, 0x15729d1f, 0x81cf477b,
+    0x156c6b57, 0x81ce3a1d,
+  0x15663982, 0x81cd2d0c, 0x156007a0, 0x81cc204a, 0x1559d5b1, 0x81cb13d5,
+    0x1553a3b4, 0x81ca07af,
+  0x154d71aa, 0x81c8fbd6, 0x15473f94, 0x81c7f04b, 0x15410d70, 0x81c6e50d,
+    0x153adb3f, 0x81c5da1e,
+  0x1534a901, 0x81c4cf7d, 0x152e76b5, 0x81c3c529, 0x1528445d, 0x81c2bb23,
+    0x152211f8, 0x81c1b16b,
+  0x151bdf86, 0x81c0a801, 0x1515ad06, 0x81bf9ee5, 0x150f7a7a, 0x81be9617,
+    0x150947e1, 0x81bd8d97,
+  0x1503153a, 0x81bc8564, 0x14fce287, 0x81bb7d7f, 0x14f6afc7, 0x81ba75e9,
+    0x14f07cf9, 0x81b96ea0,
+  0x14ea4a1f, 0x81b867a5, 0x14e41738, 0x81b760f8, 0x14dde445, 0x81b65a99,
+    0x14d7b144, 0x81b55488,
+  0x14d17e36, 0x81b44ec4, 0x14cb4b1c, 0x81b3494f, 0x14c517f4, 0x81b24427,
+    0x14bee4c0, 0x81b13f4e,
+  0x14b8b17f, 0x81b03ac2, 0x14b27e32, 0x81af3684, 0x14ac4ad7, 0x81ae3294,
+    0x14a61770, 0x81ad2ef2,
+  0x149fe3fc, 0x81ac2b9e, 0x1499b07c, 0x81ab2898, 0x14937cee, 0x81aa25e0,
+    0x148d4954, 0x81a92376,
+  0x148715ae, 0x81a82159, 0x1480e1fa, 0x81a71f8b, 0x147aae3a, 0x81a61e0b,
+    0x14747a6d, 0x81a51cd8,
+  0x146e4694, 0x81a41bf4, 0x146812ae, 0x81a31b5d, 0x1461debc, 0x81a21b14,
+    0x145baabd, 0x81a11b1a,
+  0x145576b1, 0x81a01b6d, 0x144f4299, 0x819f1c0e, 0x14490e74, 0x819e1cfd,
+    0x1442da43, 0x819d1e3a,
+  0x143ca605, 0x819c1fc5, 0x143671bb, 0x819b219e, 0x14303d65, 0x819a23c5,
+    0x142a0902, 0x8199263a,
+  0x1423d492, 0x819828fd, 0x141da016, 0x81972c0e, 0x14176b8e, 0x81962f6d,
+    0x141136f9, 0x8195331a,
+  0x140b0258, 0x81943715, 0x1404cdaa, 0x81933b5e, 0x13fe98f1, 0x81923ff4,
+    0x13f8642a, 0x819144d9,
+  0x13f22f58, 0x81904a0c, 0x13ebfa79, 0x818f4f8d, 0x13e5c58e, 0x818e555c,
+    0x13df9097, 0x818d5b78,
+  0x13d95b93, 0x818c61e3, 0x13d32683, 0x818b689c, 0x13ccf167, 0x818a6fa3,
+    0x13c6bc3f, 0x818976f8,
+  0x13c0870a, 0x81887e9a, 0x13ba51ca, 0x8187868b, 0x13b41c7d, 0x81868eca,
+    0x13ade724, 0x81859757,
+  0x13a7b1bf, 0x8184a032, 0x13a17c4d, 0x8183a95b, 0x139b46d0, 0x8182b2d1,
+    0x13951146, 0x8181bc96,
+  0x138edbb1, 0x8180c6a9, 0x1388a60f, 0x817fd10a, 0x13827062, 0x817edbb9,
+    0x137c3aa8, 0x817de6b6,
+  0x137604e2, 0x817cf201, 0x136fcf10, 0x817bfd9b, 0x13699933, 0x817b0982,
+    0x13636349, 0x817a15b7,
+  0x135d2d53, 0x8179223a, 0x1356f752, 0x81782f0b, 0x1350c144, 0x81773c2b,
+    0x134a8b2b, 0x81764998,
+  0x13445505, 0x81755754, 0x133e1ed4, 0x8174655d, 0x1337e897, 0x817373b5,
+    0x1331b24e, 0x8172825a,
+  0x132b7bf9, 0x8171914e, 0x13254599, 0x8170a090, 0x131f0f2c, 0x816fb020,
+    0x1318d8b4, 0x816ebffe,
+  0x1312a230, 0x816dd02a, 0x130c6ba0, 0x816ce0a4, 0x13063505, 0x816bf16c,
+    0x12fffe5d, 0x816b0282,
+  0x12f9c7aa, 0x816a13e6, 0x12f390ec, 0x81692599, 0x12ed5a21, 0x81683799,
+    0x12e7234b, 0x816749e8,
+  0x12e0ec6a, 0x81665c84, 0x12dab57c, 0x81656f6f, 0x12d47e83, 0x816482a8,
+    0x12ce477f, 0x8163962f,
+  0x12c8106f, 0x8162aa04, 0x12c1d953, 0x8161be27, 0x12bba22b, 0x8160d298,
+    0x12b56af9, 0x815fe758,
+  0x12af33ba, 0x815efc65, 0x12a8fc70, 0x815e11c1, 0x12a2c51b, 0x815d276a,
+    0x129c8dba, 0x815c3d62,
+  0x1296564d, 0x815b53a8, 0x12901ed5, 0x815a6a3c, 0x1289e752, 0x8159811e,
+    0x1283afc3, 0x8158984e,
+  0x127d7829, 0x8157afcd, 0x12774083, 0x8156c799, 0x127108d2, 0x8155dfb4,
+    0x126ad116, 0x8154f81d,
+  0x1264994e, 0x815410d4, 0x125e617b, 0x815329d9, 0x1258299c, 0x8152432c,
+    0x1251f1b3, 0x81515ccd,
+  0x124bb9be, 0x815076bd, 0x124581bd, 0x814f90fb, 0x123f49b2, 0x814eab86,
+    0x1239119b, 0x814dc660,
+  0x1232d979, 0x814ce188, 0x122ca14b, 0x814bfcff, 0x12266913, 0x814b18c3,
+    0x122030cf, 0x814a34d6,
+  0x1219f880, 0x81495136, 0x1213c026, 0x81486de5, 0x120d87c1, 0x81478ae2,
+    0x12074f50, 0x8146a82e,
+  0x120116d5, 0x8145c5c7, 0x11fade4e, 0x8144e3ae, 0x11f4a5bd, 0x814401e4,
+    0x11ee6d20, 0x81432068,
+  0x11e83478, 0x81423f3a, 0x11e1fbc5, 0x81415e5a, 0x11dbc307, 0x81407dc9,
+    0x11d58a3e, 0x813f9d86,
+  0x11cf516a, 0x813ebd90, 0x11c9188b, 0x813ddde9, 0x11c2dfa2, 0x813cfe91,
+    0x11bca6ad, 0x813c1f86,
+  0x11b66dad, 0x813b40ca, 0x11b034a2, 0x813a625b, 0x11a9fb8d, 0x8139843b,
+    0x11a3c26c, 0x8138a66a,
+  0x119d8941, 0x8137c8e6, 0x1197500a, 0x8136ebb1, 0x119116c9, 0x81360ec9,
+    0x118add7d, 0x81353230,
+  0x1184a427, 0x813455e6, 0x117e6ac5, 0x813379e9, 0x11783159, 0x81329e3b,
+    0x1171f7e2, 0x8131c2db,
+  0x116bbe60, 0x8130e7c9, 0x116584d3, 0x81300d05, 0x115f4b3c, 0x812f3290,
+    0x1159119a, 0x812e5868,
+  0x1152d7ed, 0x812d7e8f, 0x114c9e35, 0x812ca505, 0x11466473, 0x812bcbc8,
+    0x11402aa6, 0x812af2da,
+  0x1139f0cf, 0x812a1a3a, 0x1133b6ed, 0x812941e8, 0x112d7d00, 0x812869e4,
+    0x11274309, 0x8127922f,
+  0x11210907, 0x8126bac8, 0x111acefb, 0x8125e3af, 0x111494e4, 0x81250ce4,
+    0x110e5ac2, 0x81243668,
+  0x11082096, 0x8123603a, 0x1101e65f, 0x81228a5a, 0x10fbac1e, 0x8121b4c8,
+    0x10f571d3, 0x8120df85,
+  0x10ef377d, 0x81200a90, 0x10e8fd1c, 0x811f35e9, 0x10e2c2b2, 0x811e6191,
+    0x10dc883c, 0x811d8d86,
+  0x10d64dbd, 0x811cb9ca, 0x10d01333, 0x811be65d, 0x10c9d89e, 0x811b133d,
+    0x10c39dff, 0x811a406c,
+  0x10bd6356, 0x81196de9, 0x10b728a3, 0x81189bb4, 0x10b0ede5, 0x8117c9ce,
+    0x10aab31d, 0x8116f836,
+  0x10a4784b, 0x811626ec, 0x109e3d6e, 0x811555f1, 0x10980287, 0x81148544,
+    0x1091c796, 0x8113b4e5,
+  0x108b8c9b, 0x8112e4d4, 0x10855195, 0x81121512, 0x107f1686, 0x8111459e,
+    0x1078db6c, 0x81107678,
+  0x1072a048, 0x810fa7a0, 0x106c651a, 0x810ed917, 0x106629e1, 0x810e0adc,
+    0x105fee9f, 0x810d3cf0,
+  0x1059b352, 0x810c6f52, 0x105377fc, 0x810ba202, 0x104d3c9b, 0x810ad500,
+    0x10470130, 0x810a084d,
+  0x1040c5bb, 0x81093be8, 0x103a8a3d, 0x81086fd1, 0x10344eb4, 0x8107a409,
+    0x102e1321, 0x8106d88f,
+  0x1027d784, 0x81060d63, 0x10219bdd, 0x81054286, 0x101b602d, 0x810477f7,
+    0x10152472, 0x8103adb6,
+  0x100ee8ad, 0x8102e3c4, 0x1008acdf, 0x81021a20, 0x10027107, 0x810150ca,
+    0xffc3524, 0x810087c3,
+  0xff5f938, 0x80ffbf0a, 0xfefbd42, 0x80fef69f, 0xfe98143, 0x80fe2e83,
+    0xfe34539, 0x80fd66b5,
+  0xfdd0926, 0x80fc9f35, 0xfd6cd08, 0x80fbd804, 0xfd090e1, 0x80fb1121,
+    0xfca54b1, 0x80fa4a8c,
+  0xfc41876, 0x80f98446, 0xfbddc32, 0x80f8be4e, 0xfb79fe4, 0x80f7f8a4,
+    0xfb1638d, 0x80f73349,
+  0xfab272b, 0x80f66e3c, 0xfa4eac0, 0x80f5a97e, 0xf9eae4c, 0x80f4e50e,
+    0xf9871ce, 0x80f420ec,
+  0xf923546, 0x80f35d19, 0xf8bf8b4, 0x80f29994, 0xf85bc19, 0x80f1d65d,
+    0xf7f7f75, 0x80f11375,
+  0xf7942c7, 0x80f050db, 0xf73060f, 0x80ef8e90, 0xf6cc94e, 0x80eecc93,
+    0xf668c83, 0x80ee0ae4,
+  0xf604faf, 0x80ed4984, 0xf5a12d1, 0x80ec8872, 0xf53d5ea, 0x80ebc7ae,
+    0xf4d98f9, 0x80eb0739,
+  0xf475bff, 0x80ea4712, 0xf411efb, 0x80e9873a, 0xf3ae1ee, 0x80e8c7b0,
+    0xf34a4d8, 0x80e80874,
+  0xf2e67b8, 0x80e74987, 0xf282a8f, 0x80e68ae8, 0xf21ed5d, 0x80e5cc98,
+    0xf1bb021, 0x80e50e96,
+  0xf1572dc, 0x80e450e2, 0xf0f358e, 0x80e3937d, 0xf08f836, 0x80e2d666,
+    0xf02bad5, 0x80e2199e,
+  0xefc7d6b, 0x80e15d24, 0xef63ff7, 0x80e0a0f8, 0xef0027b, 0x80dfe51b,
+    0xee9c4f5, 0x80df298c,
+  0xee38766, 0x80de6e4c, 0xedd49ce, 0x80ddb35a, 0xed70c2c, 0x80dcf8b7,
+    0xed0ce82, 0x80dc3e62,
+  0xeca90ce, 0x80db845b, 0xec45311, 0x80dacaa3, 0xebe154b, 0x80da1139,
+    0xeb7d77c, 0x80d9581e,
+  0xeb199a4, 0x80d89f51, 0xeab5bc3, 0x80d7e6d3, 0xea51dd8, 0x80d72ea3,
+    0xe9edfe5, 0x80d676c1,
+  0xe98a1e9, 0x80d5bf2e, 0xe9263e3, 0x80d507e9, 0xe8c25d5, 0x80d450f3,
+    0xe85e7be, 0x80d39a4b,
+  0xe7fa99e, 0x80d2e3f2, 0xe796b74, 0x80d22de7, 0xe732d42, 0x80d1782a,
+    0xe6cef07, 0x80d0c2bc,
+  0xe66b0c3, 0x80d00d9d, 0xe607277, 0x80cf58cc, 0xe5a3421, 0x80cea449,
+    0xe53f5c2, 0x80cdf015,
+  0xe4db75b, 0x80cd3c2f, 0xe4778eb, 0x80cc8898, 0xe413a72, 0x80cbd54f,
+    0xe3afbf0, 0x80cb2255,
+  0xe34bd66, 0x80ca6fa9, 0xe2e7ed2, 0x80c9bd4c, 0xe284036, 0x80c90b3d,
+    0xe220191, 0x80c8597c,
+  0xe1bc2e4, 0x80c7a80a, 0xe15842e, 0x80c6f6e7, 0xe0f456f, 0x80c64612,
+    0xe0906a7, 0x80c5958b,
+  0xe02c7d7, 0x80c4e553, 0xdfc88fe, 0x80c4356a, 0xdf64a1c, 0x80c385cf,
+    0xdf00b32, 0x80c2d682,
+  0xde9cc40, 0x80c22784, 0xde38d44, 0x80c178d4, 0xddd4e40, 0x80c0ca73,
+    0xdd70f34, 0x80c01c60,
+  0xdd0d01f, 0x80bf6e9c, 0xdca9102, 0x80bec127, 0xdc451dc, 0x80be13ff,
+    0xdbe12ad, 0x80bd6727,
+  0xdb7d376, 0x80bcba9d, 0xdb19437, 0x80bc0e61, 0xdab54ef, 0x80bb6274,
+    0xda5159f, 0x80bab6d5,
+  0xd9ed646, 0x80ba0b85, 0xd9896e5, 0x80b96083, 0xd92577b, 0x80b8b5d0,
+    0xd8c1809, 0x80b80b6c,
+  0xd85d88f, 0x80b76156, 0xd7f990c, 0x80b6b78e, 0xd795982, 0x80b60e15,
+    0xd7319ee, 0x80b564ea,
+  0xd6cda53, 0x80b4bc0e, 0xd669aaf, 0x80b41381, 0xd605b03, 0x80b36b42,
+    0xd5a1b4f, 0x80b2c351,
+  0xd53db92, 0x80b21baf, 0xd4d9bcd, 0x80b1745c, 0xd475c00, 0x80b0cd57,
+    0xd411c2b, 0x80b026a1,
+  0xd3adc4e, 0x80af8039, 0xd349c68, 0x80aeda20, 0xd2e5c7b, 0x80ae3455,
+    0xd281c85, 0x80ad8ed9,
+  0xd21dc87, 0x80ace9ab, 0xd1b9c81, 0x80ac44cc, 0xd155c73, 0x80aba03b,
+    0xd0f1c5d, 0x80aafbf9,
+  0xd08dc3f, 0x80aa5806, 0xd029c18, 0x80a9b461, 0xcfc5bea, 0x80a9110b,
+    0xcf61bb4, 0x80a86e03,
+  0xcefdb76, 0x80a7cb49, 0xce99b2f, 0x80a728df, 0xce35ae1, 0x80a686c2,
+    0xcdd1a8b, 0x80a5e4f5,
+  0xcd6da2d, 0x80a54376, 0xcd099c7, 0x80a4a245, 0xcca5959, 0x80a40163,
+    0xcc418e3, 0x80a360d0,
+  0xcbdd865, 0x80a2c08b, 0xcb797e0, 0x80a22095, 0xcb15752, 0x80a180ed,
+    0xcab16bd, 0x80a0e194,
+  0xca4d620, 0x80a04289, 0xc9e957b, 0x809fa3cd, 0xc9854cf, 0x809f0560,
+    0xc92141a, 0x809e6741,
+  0xc8bd35e, 0x809dc971, 0xc85929a, 0x809d2bef, 0xc7f51cf, 0x809c8ebc,
+    0xc7910fb, 0x809bf1d7,
+  0xc72d020, 0x809b5541, 0xc6c8f3e, 0x809ab8fa, 0xc664e53, 0x809a1d01,
+    0xc600d61, 0x80998157,
+  0xc59cc68, 0x8098e5fb, 0xc538b66, 0x80984aee, 0xc4d4a5d, 0x8097b030,
+    0xc47094d, 0x809715c0,
+  0xc40c835, 0x80967b9f, 0xc3a8715, 0x8095e1cc, 0xc3445ee, 0x80954848,
+    0xc2e04c0, 0x8094af13,
+  0xc27c389, 0x8094162c, 0xc21824c, 0x80937d93, 0xc1b4107, 0x8092e54a,
+    0xc14ffba, 0x80924d4f,
+  0xc0ebe66, 0x8091b5a2, 0xc087d0a, 0x80911e44, 0xc023ba7, 0x80908735,
+    0xbfbfa3d, 0x808ff074,
+  0xbf5b8cb, 0x808f5a02, 0xbef7752, 0x808ec3df, 0xbe935d2, 0x808e2e0a,
+    0xbe2f44a, 0x808d9884,
+  0xbdcb2bb, 0x808d034c, 0xbd67124, 0x808c6e63, 0xbd02f87, 0x808bd9c9,
+    0xbc9ede2, 0x808b457d,
+  0xbc3ac35, 0x808ab180, 0xbbd6a82, 0x808a1dd2, 0xbb728c7, 0x80898a72,
+    0xbb0e705, 0x8088f761,
+  0xbaaa53b, 0x8088649e, 0xba4636b, 0x8087d22a, 0xb9e2193, 0x80874005,
+    0xb97dfb5, 0x8086ae2e,
+  0xb919dcf, 0x80861ca6, 0xb8b5be1, 0x80858b6c, 0xb8519ed, 0x8084fa82,
+    0xb7ed7f2, 0x808469e5,
+  0xb7895f0, 0x8083d998, 0xb7253e6, 0x80834999, 0xb6c11d5, 0x8082b9e9,
+    0xb65cfbe, 0x80822a87,
+  0xb5f8d9f, 0x80819b74, 0xb594b7a, 0x80810cb0, 0xb53094d, 0x80807e3a,
+    0xb4cc719, 0x807ff013,
+  0xb4684df, 0x807f623b, 0xb40429d, 0x807ed4b1, 0xb3a0055, 0x807e4776,
+    0xb33be05, 0x807dba89,
+  0xb2d7baf, 0x807d2dec, 0xb273952, 0x807ca19c, 0xb20f6ee, 0x807c159c,
+    0xb1ab483, 0x807b89ea,
+  0xb147211, 0x807afe87, 0xb0e2f98, 0x807a7373, 0xb07ed19, 0x8079e8ad,
+    0xb01aa92, 0x80795e36,
+  0xafb6805, 0x8078d40d, 0xaf52571, 0x80784a33, 0xaeee2d7, 0x8077c0a8,
+    0xae8a036, 0x8077376c,
+  0xae25d8d, 0x8076ae7e, 0xadc1adf, 0x807625df, 0xad5d829, 0x80759d8e,
+    0xacf956d, 0x8075158c,
+  0xac952aa, 0x80748dd9, 0xac30fe1, 0x80740675, 0xabccd11, 0x80737f5f,
+    0xab68a3a, 0x8072f898,
+  0xab0475c, 0x8072721f, 0xaaa0478, 0x8071ebf6, 0xaa3c18e, 0x8071661a,
+    0xa9d7e9d, 0x8070e08e,
+  0xa973ba5, 0x80705b50, 0xa90f8a7, 0x806fd661, 0xa8ab5a2, 0x806f51c1,
+    0xa847297, 0x806ecd6f,
+  0xa7e2f85, 0x806e496c, 0xa77ec6d, 0x806dc5b8, 0xa71a94f, 0x806d4253,
+    0xa6b662a, 0x806cbf3c,
+  0xa6522fe, 0x806c3c74, 0xa5edfcc, 0x806bb9fa, 0xa589c94, 0x806b37cf,
+    0xa525955, 0x806ab5f3,
+  0xa4c1610, 0x806a3466, 0xa45d2c5, 0x8069b327, 0xa3f8f73, 0x80693237,
+    0xa394c1b, 0x8068b196,
+  0xa3308bd, 0x80683143, 0xa2cc558, 0x8067b13f, 0xa2681ed, 0x8067318a,
+    0xa203e7c, 0x8066b224,
+  0xa19fb04, 0x8066330c, 0xa13b787, 0x8065b443, 0xa0d7403, 0x806535c9,
+    0xa073079, 0x8064b79d,
+  0xa00ece8, 0x806439c0, 0x9faa952, 0x8063bc32, 0x9f465b5, 0x80633ef3,
+    0x9ee2213, 0x8062c202,
+  0x9e7de6a, 0x80624560, 0x9e19abb, 0x8061c90c, 0x9db5706, 0x80614d08,
+    0x9d5134b, 0x8060d152,
+  0x9cecf89, 0x806055eb, 0x9c88bc2, 0x805fdad2, 0x9c247f5, 0x805f6009,
+    0x9bc0421, 0x805ee58e,
+  0x9b5c048, 0x805e6b62, 0x9af7c69, 0x805df184, 0x9a93884, 0x805d77f5,
+    0x9a2f498, 0x805cfeb5,
+  0x99cb0a7, 0x805c85c4, 0x9966cb0, 0x805c0d21, 0x99028b3, 0x805b94ce,
+    0x989e4b0, 0x805b1cc8,
+  0x983a0a7, 0x805aa512, 0x97d5c99, 0x805a2daa, 0x9771884, 0x8059b692,
+    0x970d46a, 0x80593fc7,
+  0x96a9049, 0x8058c94c, 0x9644c23, 0x8058531f, 0x95e07f8, 0x8057dd41,
+    0x957c3c6, 0x805767b2,
+  0x9517f8f, 0x8056f272, 0x94b3b52, 0x80567d80, 0x944f70f, 0x805608dd,
+    0x93eb2c6, 0x80559489,
+  0x9386e78, 0x80552084, 0x9322a24, 0x8054accd, 0x92be5ca, 0x80543965,
+    0x925a16b, 0x8053c64c,
+  0x91f5d06, 0x80535381, 0x919189c, 0x8052e106, 0x912d42c, 0x80526ed9,
+    0x90c8fb6, 0x8051fcfb,
+  0x9064b3a, 0x80518b6b, 0x90006ba, 0x80511a2b, 0x8f9c233, 0x8050a939,
+    0x8f37da7, 0x80503896,
+  0x8ed3916, 0x804fc841, 0x8e6f47f, 0x804f583c, 0x8e0afe2, 0x804ee885,
+    0x8da6b40, 0x804e791d,
+  0x8d42699, 0x804e0a04, 0x8cde1ec, 0x804d9b39, 0x8c79d3a, 0x804d2cbd,
+    0x8c15882, 0x804cbe90,
+  0x8bb13c5, 0x804c50b2, 0x8b4cf02, 0x804be323, 0x8ae8a3a, 0x804b75e2,
+    0x8a8456d, 0x804b08f0,
+  0x8a2009a, 0x804a9c4d, 0x89bbbc3, 0x804a2ff9, 0x89576e5, 0x8049c3f3,
+    0x88f3203, 0x8049583d,
+  0x888ed1b, 0x8048ecd5, 0x882a82e, 0x804881bb, 0x87c633c, 0x804816f1,
+    0x8761e44, 0x8047ac75,
+  0x86fd947, 0x80474248, 0x8699445, 0x8046d86a, 0x8634f3e, 0x80466edb,
+    0x85d0a32, 0x8046059b,
+  0x856c520, 0x80459ca9, 0x850800a, 0x80453406, 0x84a3aee, 0x8044cbb2,
+    0x843f5cd, 0x804463ad,
+  0x83db0a7, 0x8043fbf6, 0x8376b7c, 0x8043948e, 0x831264c, 0x80432d75,
+    0x82ae117, 0x8042c6ab,
+  0x8249bdd, 0x80426030, 0x81e569d, 0x8041fa03, 0x8181159, 0x80419425,
+    0x811cc10, 0x80412e96,
+  0x80b86c2, 0x8040c956, 0x805416e, 0x80406465, 0x7fefc16, 0x803fffc2,
+    0x7f8b6b9, 0x803f9b6f,
+  0x7f27157, 0x803f376a, 0x7ec2bf0, 0x803ed3b3, 0x7e5e685, 0x803e704c,
+    0x7dfa114, 0x803e0d34,
+  0x7d95b9e, 0x803daa6a, 0x7d31624, 0x803d47ef, 0x7ccd0a5, 0x803ce5c3,
+    0x7c68b21, 0x803c83e5,
+  0x7c04598, 0x803c2257, 0x7ba000b, 0x803bc117, 0x7b3ba78, 0x803b6026,
+    0x7ad74e1, 0x803aff84,
+  0x7a72f45, 0x803a9f31, 0x7a0e9a5, 0x803a3f2d, 0x79aa400, 0x8039df77,
+    0x7945e56, 0x80398010,
+  0x78e18a7, 0x803920f8, 0x787d2f4, 0x8038c22f, 0x7818d3c, 0x803863b5,
+    0x77b4780, 0x80380589,
+  0x77501be, 0x8037a7ac, 0x76ebbf9, 0x80374a1f, 0x768762e, 0x8036ece0,
+    0x762305f, 0x80368fef,
+  0x75bea8c, 0x8036334e, 0x755a4b4, 0x8035d6fb, 0x74f5ed7, 0x80357af8,
+    0x74918f6, 0x80351f43,
+  0x742d311, 0x8034c3dd, 0x73c8d27, 0x803468c5, 0x7364738, 0x80340dfd,
+    0x7300145, 0x8033b383,
+  0x729bb4e, 0x80335959, 0x7237552, 0x8032ff7d, 0x71d2f52, 0x8032a5ef,
+    0x716e94e, 0x80324cb1,
+  0x710a345, 0x8031f3c2, 0x70a5d37, 0x80319b21, 0x7041726, 0x803142cf,
+    0x6fdd110, 0x8030eacd,
+  0x6f78af6, 0x80309318, 0x6f144d7, 0x80303bb3, 0x6eafeb4, 0x802fe49d,
+    0x6e4b88d, 0x802f8dd5,
+  0x6de7262, 0x802f375d, 0x6d82c32, 0x802ee133, 0x6d1e5fe, 0x802e8b58,
+    0x6cb9fc6, 0x802e35cb,
+  0x6c5598a, 0x802de08e, 0x6bf1349, 0x802d8ba0, 0x6b8cd05, 0x802d3700,
+    0x6b286bc, 0x802ce2af,
+  0x6ac406f, 0x802c8ead, 0x6a5fa1e, 0x802c3afa, 0x69fb3c9, 0x802be796,
+    0x6996d70, 0x802b9480,
+  0x6932713, 0x802b41ba, 0x68ce0b2, 0x802aef42, 0x6869a4c, 0x802a9d19,
+    0x68053e3, 0x802a4b3f,
+  0x67a0d76, 0x8029f9b4, 0x673c704, 0x8029a878, 0x66d808f, 0x8029578b,
+    0x6673a16, 0x802906ec,
+  0x660f398, 0x8028b69c, 0x65aad17, 0x8028669b, 0x6546692, 0x802816e9,
+    0x64e2009, 0x8027c786,
+  0x647d97c, 0x80277872, 0x64192eb, 0x802729ad, 0x63b4c57, 0x8026db36,
+    0x63505be, 0x80268d0e,
+  0x62ebf22, 0x80263f36, 0x6287882, 0x8025f1ac, 0x62231de, 0x8025a471,
+    0x61beb36, 0x80255784,
+  0x615a48b, 0x80250ae7, 0x60f5ddc, 0x8024be99, 0x6091729, 0x80247299,
+    0x602d072, 0x802426e8,
+  0x5fc89b8, 0x8023db86, 0x5f642fa, 0x80239073, 0x5effc38, 0x802345af,
+    0x5e9b572, 0x8022fb3a,
+  0x5e36ea9, 0x8022b114, 0x5dd27dd, 0x8022673c, 0x5d6e10c, 0x80221db3,
+    0x5d09a38, 0x8021d47a,
+  0x5ca5361, 0x80218b8f, 0x5c40c86, 0x802142f3, 0x5bdc5a7, 0x8020faa6,
+    0x5b77ec5, 0x8020b2a7,
+  0x5b137df, 0x80206af8, 0x5aaf0f6, 0x80202397, 0x5a4aa09, 0x801fdc86,
+    0x59e6319, 0x801f95c3,
+  0x5981c26, 0x801f4f4f, 0x591d52f, 0x801f092a, 0x58b8e34, 0x801ec354,
+    0x5854736, 0x801e7dcd,
+  0x57f0035, 0x801e3895, 0x578b930, 0x801df3ab, 0x5727228, 0x801daf11,
+    0x56c2b1c, 0x801d6ac5,
+  0x565e40d, 0x801d26c8, 0x55f9cfb, 0x801ce31a, 0x55955e6, 0x801c9fbb,
+    0x5530ecd, 0x801c5cab,
+  0x54cc7b1, 0x801c19ea, 0x5468092, 0x801bd777, 0x540396f, 0x801b9554,
+    0x539f249, 0x801b537f,
+  0x533ab20, 0x801b11fa, 0x52d63f4, 0x801ad0c3, 0x5271cc4, 0x801a8fdb,
+    0x520d592, 0x801a4f42,
+  0x51a8e5c, 0x801a0ef8, 0x5144723, 0x8019cefd, 0x50dffe7, 0x80198f50,
+    0x507b8a8, 0x80194ff3,
+  0x5017165, 0x801910e4, 0x4fb2a20, 0x8018d225, 0x4f4e2d8, 0x801893b4,
+    0x4ee9b8c, 0x80185592,
+  0x4e8543e, 0x801817bf, 0x4e20cec, 0x8017da3b, 0x4dbc597, 0x80179d06,
+    0x4d57e40, 0x80176020,
+  0x4cf36e5, 0x80172388, 0x4c8ef88, 0x8016e740, 0x4c2a827, 0x8016ab46,
+    0x4bc60c4, 0x80166f9c,
+  0x4b6195d, 0x80163440, 0x4afd1f4, 0x8015f933, 0x4a98a88, 0x8015be75,
+    0x4a34319, 0x80158406,
+  0x49cfba7, 0x801549e6, 0x496b432, 0x80151015, 0x4906cbb, 0x8014d693,
+    0x48a2540, 0x80149d5f,
+  0x483ddc3, 0x8014647b, 0x47d9643, 0x80142be5, 0x4774ec1, 0x8013f39e,
+    0x471073b, 0x8013bba7,
+  0x46abfb3, 0x801383fe, 0x4647828, 0x80134ca4, 0x45e309a, 0x80131599,
+    0x457e90a, 0x8012dedd,
+  0x451a177, 0x8012a86f, 0x44b59e1, 0x80127251, 0x4451249, 0x80123c82,
+    0x43ecaae, 0x80120701,
+  0x4388310, 0x8011d1d0, 0x4323b70, 0x80119ced, 0x42bf3cd, 0x80116859,
+    0x425ac28, 0x80113414,
+  0x41f6480, 0x8011001f, 0x4191cd5, 0x8010cc78, 0x412d528, 0x8010991f,
+    0x40c8d79, 0x80106616,
+  0x40645c7, 0x8010335c, 0x3fffe12, 0x801000f1, 0x3f9b65b, 0x800fced4,
+    0x3f36ea2, 0x800f9d07,
+  0x3ed26e6, 0x800f6b88, 0x3e6df28, 0x800f3a59, 0x3e09767, 0x800f0978,
+    0x3da4fa4, 0x800ed8e6,
+  0x3d407df, 0x800ea8a3, 0x3cdc017, 0x800e78af, 0x3c7784d, 0x800e490a,
+    0x3c13080, 0x800e19b4,
+  0x3bae8b2, 0x800deaad, 0x3b4a0e0, 0x800dbbf5, 0x3ae590d, 0x800d8d8b,
+    0x3a81137, 0x800d5f71,
+  0x3a1c960, 0x800d31a5, 0x39b8185, 0x800d0429, 0x39539a9, 0x800cd6fb,
+    0x38ef1ca, 0x800caa1c,
+  0x388a9ea, 0x800c7d8c, 0x3826207, 0x800c514c, 0x37c1a22, 0x800c255a,
+    0x375d23a, 0x800bf9b7,
+  0x36f8a51, 0x800bce63, 0x3694265, 0x800ba35d, 0x362fa78, 0x800b78a7,
+    0x35cb288, 0x800b4e40,
+  0x3566a96, 0x800b2427, 0x35022a2, 0x800afa5e, 0x349daac, 0x800ad0e3,
+    0x34392b4, 0x800aa7b8,
+  0x33d4abb, 0x800a7edb, 0x33702bf, 0x800a564e, 0x330bac1, 0x800a2e0f,
+    0x32a72c1, 0x800a061f,
+  0x3242abf, 0x8009de7e, 0x31de2bb, 0x8009b72c, 0x3179ab5, 0x80099029,
+    0x31152ae, 0x80096975,
+  0x30b0aa4, 0x80094310, 0x304c299, 0x80091cf9, 0x2fe7a8c, 0x8008f732,
+    0x2f8327d, 0x8008d1ba,
+  0x2f1ea6c, 0x8008ac90, 0x2eba259, 0x800887b6, 0x2e55a44, 0x8008632a,
+    0x2df122e, 0x80083eed,
+  0x2d8ca16, 0x80081b00, 0x2d281fc, 0x8007f761, 0x2cc39e1, 0x8007d411,
+    0x2c5f1c3, 0x8007b110,
+  0x2bfa9a4, 0x80078e5e, 0x2b96184, 0x80076bfb, 0x2b31961, 0x800749e7,
+    0x2acd13d, 0x80072822,
+  0x2a68917, 0x800706ac, 0x2a040f0, 0x8006e585, 0x299f8c7, 0x8006c4ac,
+    0x293b09c, 0x8006a423,
+  0x28d6870, 0x800683e8, 0x2872043, 0x800663fd, 0x280d813, 0x80064460,
+    0x27a8fe2, 0x80062513,
+  0x27447b0, 0x80060614, 0x26dff7c, 0x8005e764, 0x267b747, 0x8005c904,
+    0x2616f10, 0x8005aaf2,
+  0x25b26d7, 0x80058d2f, 0x254de9e, 0x80056fbb, 0x24e9662, 0x80055296,
+    0x2484e26, 0x800535c0,
+  0x24205e8, 0x80051939, 0x23bbda8, 0x8004fd00, 0x2357567, 0x8004e117,
+    0x22f2d25, 0x8004c57d,
+  0x228e4e2, 0x8004aa32, 0x2229c9d, 0x80048f35, 0x21c5457, 0x80047488,
+    0x2160c0f, 0x80045a29,
+  0x20fc3c6, 0x8004401a, 0x2097b7c, 0x80042659, 0x2033331, 0x80040ce7,
+    0x1fceae4, 0x8003f3c5,
+  0x1f6a297, 0x8003daf1, 0x1f05a48, 0x8003c26c, 0x1ea11f7, 0x8003aa36,
+    0x1e3c9a6, 0x8003924f,
+  0x1dd8154, 0x80037ab7, 0x1d73900, 0x8003636e, 0x1d0f0ab, 0x80034c74,
+    0x1caa855, 0x800335c9,
+  0x1c45ffe, 0x80031f6d, 0x1be17a6, 0x80030960, 0x1b7cf4d, 0x8002f3a1,
+    0x1b186f3, 0x8002de32,
+  0x1ab3e97, 0x8002c912, 0x1a4f63b, 0x8002b440, 0x19eaddd, 0x80029fbe,
+    0x198657f, 0x80028b8a,
+  0x1921d20, 0x800277a6, 0x18bd4bf, 0x80026410, 0x1858c5e, 0x800250c9,
+    0x17f43fc, 0x80023dd2,
+  0x178fb99, 0x80022b29, 0x172b335, 0x800218cf, 0x16c6ad0, 0x800206c4,
+    0x166226a, 0x8001f508,
+  0x15fda03, 0x8001e39b, 0x159919c, 0x8001d27d, 0x1534934, 0x8001c1ae,
+    0x14d00ca, 0x8001b12e,
+  0x146b860, 0x8001a0fd, 0x1406ff6, 0x8001911b, 0x13a278a, 0x80018187,
+    0x133df1e, 0x80017243,
+  0x12d96b1, 0x8001634e, 0x1274e43, 0x800154a7, 0x12105d5, 0x80014650,
+    0x11abd66, 0x80013847,
+  0x11474f6, 0x80012a8e, 0x10e2c85, 0x80011d23, 0x107e414, 0x80011008,
+    0x1019ba2, 0x8001033b,
+  0xfb5330, 0x8000f6bd, 0xf50abd, 0x8000ea8e, 0xeec249, 0x8000deaf, 0xe879d5,
+    0x8000d31e,
+  0xe23160, 0x8000c7dc, 0xdbe8eb, 0x8000bce9, 0xd5a075, 0x8000b245, 0xcf57ff,
+    0x8000a7f0,
+  0xc90f88, 0x80009dea, 0xc2c711, 0x80009433, 0xbc7e99, 0x80008aca, 0xb63621,
+    0x800081b1,
+  0xafeda8, 0x800078e7, 0xa9a52f, 0x8000706c, 0xa35cb5, 0x8000683f, 0x9d143b,
+    0x80006062,
+  0x96cbc1, 0x800058d4, 0x908346, 0x80005194, 0x8a3acb, 0x80004aa4, 0x83f250,
+    0x80004402,
+  0x7da9d4, 0x80003daf, 0x776159, 0x800037ac, 0x7118dc, 0x800031f7, 0x6ad060,
+    0x80002c91,
+  0x6487e3, 0x8000277a, 0x5e3f66, 0x800022b3, 0x57f6e9, 0x80001e3a, 0x51ae6b,
+    0x80001a10,
+  0x4b65ee, 0x80001635, 0x451d70, 0x800012a9, 0x3ed4f2, 0x80000f6c, 0x388c74,
+    0x80000c7e,
+  0x3243f5, 0x800009df, 0x2bfb77, 0x8000078e, 0x25b2f8, 0x8000058d, 0x1f6a7a,
+    0x800003db,
+  0x1921fb, 0x80000278, 0x12d97c, 0x80000163, 0xc90fe, 0x8000009e, 0x6487f,
+    0x80000027,
+
+};
+
+/**    
+* \par    
+* cosFactor tables are generated using the formula : 
cos_factors[n] = 2 * cos((2n+1)*pi/(4*N))
    
+* \par    
+* C command to generate the table    
+* 
    
+* for(i = 0; i< N; i++)    
+* {    
+*   cos_factors[i]= 2 * cos((2*i+1)*c/2);    
+* } 
    
+* \par    
+* where N is the number of factors to generate and c is pi/(2*N)    
+* \par    
+* Then converted to q31 format by multiplying with 2^31 and saturated if required.    
+*/
+
+
+static const q31_t cos_factorsQ31_128[128] = {
+  0x7fff6216, 0x7ffa72d1, 0x7ff09478, 0x7fe1c76b, 0x7fce0c3e, 0x7fb563b3,
+  0x7f97cebd, 0x7f754e80,
+  0x7f4de451, 0x7f2191b4, 0x7ef05860, 0x7eba3a39, 0x7e7f3957, 0x7e3f57ff,
+  0x7dfa98a8, 0x7db0fdf8,
+  0x7d628ac6, 0x7d0f4218, 0x7cb72724, 0x7c5a3d50, 0x7bf88830, 0x7b920b89,
+  0x7b26cb4f, 0x7ab6cba4,
+  0x7a4210d8, 0x79c89f6e, 0x794a7c12, 0x78c7aba2, 0x78403329, 0x77b417df,
+  0x77235f2d, 0x768e0ea6,
+  0x75f42c0b, 0x7555bd4c, 0x74b2c884, 0x740b53fb, 0x735f6626, 0x72af05a7,
+  0x71fa3949, 0x71410805,
+  0x708378ff, 0x6fc19385, 0x6efb5f12, 0x6e30e34a, 0x6d6227fa, 0x6c8f351c,
+  0x6bb812d1, 0x6adcc964,
+  0x69fd614a, 0x6919e320, 0x683257ab, 0x6746c7d8, 0x66573cbb, 0x6563bf92,
+  0x646c59bf, 0x637114cc,
+  0x6271fa69, 0x616f146c, 0x60686ccf, 0x5f5e0db3, 0x5e50015d, 0x5d3e5237,
+  0x5c290acc, 0x5b1035cf,
+  0x59f3de12, 0x58d40e8c, 0x57b0d256, 0x568a34a9, 0x556040e2, 0x5433027d,
+  0x53028518, 0x51ced46e,
+  0x5097fc5e, 0x4f5e08e3, 0x4e210617, 0x4ce10034, 0x4b9e0390, 0x4a581c9e,
+  0x490f57ee, 0x47c3c22f,
+  0x46756828, 0x452456bd, 0x43d09aed, 0x427a41d0, 0x4121589b, 0x3fc5ec98,
+  0x3e680b2c, 0x3d07c1d6,
+  0x3ba51e29, 0x3a402dd2, 0x38d8fe93, 0x376f9e46, 0x36041ad9, 0x34968250,
+  0x3326e2c3, 0x31b54a5e,
+  0x3041c761, 0x2ecc681e, 0x2d553afc, 0x2bdc4e6f, 0x2a61b101, 0x28e5714b,
+  0x27679df4, 0x25e845b6,
+  0x24677758, 0x22e541af, 0x2161b3a0, 0x1fdcdc1b, 0x1e56ca1e, 0x1ccf8cb3,
+  0x1b4732ef, 0x19bdcbf3,
+  0x183366e9, 0x16a81305, 0x151bdf86, 0x138edbb1, 0x120116d5, 0x1072a048,
+  0xee38766, 0xd53db92,
+  0xbc3ac35, 0xa3308bd, 0x8a2009a, 0x710a345, 0x57f0035, 0x3ed26e6, 0x25b26d7,
+  0xc90f88,
+};
+
+static const q31_t cos_factorsQ31_512[512] = {
+  0x7ffff621, 0x7fffa72c, 0x7fff0943, 0x7ffe1c65, 0x7ffce093, 0x7ffb55ce,
+  0x7ff97c18, 0x7ff75370,
+  0x7ff4dbd9, 0x7ff21553, 0x7feeffe1, 0x7feb9b85, 0x7fe7e841, 0x7fe3e616,
+  0x7fdf9508, 0x7fdaf519,
+  0x7fd6064c, 0x7fd0c8a3, 0x7fcb3c23, 0x7fc560cf, 0x7fbf36aa, 0x7fb8bdb8,
+  0x7fb1f5fc, 0x7faadf7c,
+  0x7fa37a3c, 0x7f9bc640, 0x7f93c38c, 0x7f8b7227, 0x7f82d214, 0x7f79e35a,
+  0x7f70a5fe, 0x7f671a05,
+  0x7f5d3f75, 0x7f531655, 0x7f489eaa, 0x7f3dd87c, 0x7f32c3d1, 0x7f2760af,
+  0x7f1baf1e, 0x7f0faf25,
+  0x7f0360cb, 0x7ef6c418, 0x7ee9d914, 0x7edc9fc6, 0x7ecf1837, 0x7ec14270,
+  0x7eb31e78, 0x7ea4ac58,
+  0x7e95ec1a, 0x7e86ddc6, 0x7e778166, 0x7e67d703, 0x7e57dea7, 0x7e47985b,
+  0x7e37042a, 0x7e26221f,
+  0x7e14f242, 0x7e0374a0, 0x7df1a942, 0x7ddf9034, 0x7dcd2981, 0x7dba7534,
+  0x7da77359, 0x7d9423fc,
+  0x7d808728, 0x7d6c9ce9, 0x7d58654d, 0x7d43e05e, 0x7d2f0e2b, 0x7d19eebf,
+  0x7d048228, 0x7ceec873,
+  0x7cd8c1ae, 0x7cc26de5, 0x7cabcd28, 0x7c94df83, 0x7c7da505, 0x7c661dbc,
+  0x7c4e49b7, 0x7c362904,
+  0x7c1dbbb3, 0x7c0501d2, 0x7bebfb70, 0x7bd2a89e, 0x7bb9096b, 0x7b9f1de6,
+  0x7b84e61f, 0x7b6a6227,
+  0x7b4f920e, 0x7b3475e5, 0x7b190dbc, 0x7afd59a4, 0x7ae159ae, 0x7ac50dec,
+  0x7aa8766f, 0x7a8b9348,
+  0x7a6e648a, 0x7a50ea47, 0x7a332490, 0x7a151378, 0x79f6b711, 0x79d80f6f,
+  0x79b91ca4, 0x7999dec4,
+  0x797a55e0, 0x795a820e, 0x793a6361, 0x7919f9ec, 0x78f945c3, 0x78d846fb,
+  0x78b6fda8, 0x789569df,
+  0x78738bb3, 0x7851633b, 0x782ef08b, 0x780c33b8, 0x77e92cd9, 0x77c5dc01,
+  0x77a24148, 0x777e5cc3,
+  0x775a2e89, 0x7735b6af, 0x7710f54c, 0x76ebea77, 0x76c69647, 0x76a0f8d2,
+  0x767b1231, 0x7654e279,
+  0x762e69c4, 0x7607a828, 0x75e09dbd, 0x75b94a9c, 0x7591aedd, 0x7569ca99,
+  0x75419de7, 0x751928e0,
+  0x74f06b9e, 0x74c7663a, 0x749e18cd, 0x74748371, 0x744aa63f, 0x74208150,
+  0x73f614c0, 0x73cb60a8,
+  0x73a06522, 0x73752249, 0x73499838, 0x731dc70a, 0x72f1aed9, 0x72c54fc1,
+  0x7298a9dd, 0x726bbd48,
+  0x723e8a20, 0x7211107e, 0x71e35080, 0x71b54a41, 0x7186fdde, 0x71586b74,
+  0x7129931f, 0x70fa74fc,
+  0x70cb1128, 0x709b67c0, 0x706b78e3, 0x703b44ad, 0x700acb3c, 0x6fda0cae,
+  0x6fa90921, 0x6f77c0b3,
+  0x6f463383, 0x6f1461b0, 0x6ee24b57, 0x6eaff099, 0x6e7d5193, 0x6e4a6e66,
+  0x6e174730, 0x6de3dc11,
+  0x6db02d29, 0x6d7c3a98, 0x6d48047e, 0x6d138afb, 0x6cdece2f, 0x6ca9ce3b,
+  0x6c748b3f, 0x6c3f055d,
+  0x6c093cb6, 0x6bd3316a, 0x6b9ce39b, 0x6b66536b, 0x6b2f80fb, 0x6af86c6c,
+  0x6ac115e2, 0x6a897d7d,
+  0x6a51a361, 0x6a1987b0, 0x69e12a8c, 0x69a88c19, 0x696fac78, 0x69368bce,
+  0x68fd2a3d, 0x68c387e9,
+  0x6889a4f6, 0x684f8186, 0x68151dbe, 0x67da79c3, 0x679f95b7, 0x676471c0,
+  0x67290e02, 0x66ed6aa1,
+  0x66b187c3, 0x6675658c, 0x66390422, 0x65fc63a9, 0x65bf8447, 0x65826622,
+  0x6545095f, 0x65076e25,
+  0x64c99498, 0x648b7ce0, 0x644d2722, 0x640e9386, 0x63cfc231, 0x6390b34a,
+  0x635166f9, 0x6311dd64,
+  0x62d216b3, 0x6292130c, 0x6251d298, 0x6211557e, 0x61d09be5, 0x618fa5f7,
+  0x614e73da, 0x610d05b7,
+  0x60cb5bb7, 0x60897601, 0x604754bf, 0x6004f819, 0x5fc26038, 0x5f7f8d46,
+  0x5f3c7f6b, 0x5ef936d1,
+  0x5eb5b3a2, 0x5e71f606, 0x5e2dfe29, 0x5de9cc33, 0x5da5604f, 0x5d60baa7,
+  0x5d1bdb65, 0x5cd6c2b5,
+  0x5c9170bf, 0x5c4be5b0, 0x5c0621b2, 0x5bc024f0, 0x5b79ef96, 0x5b3381ce,
+  0x5aecdbc5, 0x5aa5fda5,
+  0x5a5ee79a, 0x5a1799d1, 0x59d01475, 0x598857b2, 0x594063b5, 0x58f838a9,
+  0x58afd6bd, 0x58673e1b,
+  0x581e6ef1, 0x57d5696d, 0x578c2dba, 0x5742bc06, 0x56f9147e, 0x56af3750,
+  0x566524aa, 0x561adcb9,
+  0x55d05faa, 0x5585adad, 0x553ac6ee, 0x54efab9c, 0x54a45be6, 0x5458d7f9,
+  0x540d2005, 0x53c13439,
+  0x537514c2, 0x5328c1d0, 0x52dc3b92, 0x528f8238, 0x524295f0, 0x51f576ea,
+  0x51a82555, 0x515aa162,
+  0x510ceb40, 0x50bf031f, 0x5070e92f, 0x50229da1, 0x4fd420a4, 0x4f857269,
+  0x4f369320, 0x4ee782fb,
+  0x4e984229, 0x4e48d0dd, 0x4df92f46, 0x4da95d96, 0x4d595bfe, 0x4d092ab0,
+  0x4cb8c9dd, 0x4c6839b7,
+  0x4c177a6e, 0x4bc68c36, 0x4b756f40, 0x4b2423be, 0x4ad2a9e2, 0x4a8101de,
+  0x4a2f2be6, 0x49dd282a,
+  0x498af6df, 0x49389836, 0x48e60c62, 0x48935397, 0x48406e08, 0x47ed5be6,
+  0x479a1d67, 0x4746b2bc,
+  0x46f31c1a, 0x469f59b4, 0x464b6bbe, 0x45f7526b, 0x45a30df0, 0x454e9e80,
+  0x44fa0450, 0x44a53f93,
+  0x4450507e, 0x43fb3746, 0x43a5f41e, 0x4350873c, 0x42faf0d4, 0x42a5311b,
+  0x424f4845, 0x41f93689,
+  0x41a2fc1a, 0x414c992f, 0x40f60dfb, 0x409f5ab6, 0x40487f94, 0x3ff17cca,
+  0x3f9a5290, 0x3f430119,
+  0x3eeb889c, 0x3e93e950, 0x3e3c2369, 0x3de4371f, 0x3d8c24a8, 0x3d33ec39,
+  0x3cdb8e09, 0x3c830a50,
+  0x3c2a6142, 0x3bd19318, 0x3b78a007, 0x3b1f8848, 0x3ac64c0f, 0x3a6ceb96,
+  0x3a136712, 0x39b9bebc,
+  0x395ff2c9, 0x39060373, 0x38abf0ef, 0x3851bb77, 0x37f76341, 0x379ce885,
+  0x37424b7b, 0x36e78c5b,
+  0x368cab5c, 0x3631a8b8, 0x35d684a6, 0x357b3f5d, 0x351fd918, 0x34c4520d,
+  0x3468aa76, 0x340ce28b,
+  0x33b0fa84, 0x3354f29b, 0x32f8cb07, 0x329c8402, 0x32401dc6, 0x31e39889,
+  0x3186f487, 0x312a31f8,
+  0x30cd5115, 0x30705217, 0x30133539, 0x2fb5fab2, 0x2f58a2be, 0x2efb2d95,
+  0x2e9d9b70, 0x2e3fec8b,
+  0x2de2211e, 0x2d843964, 0x2d263596, 0x2cc815ee, 0x2c69daa6, 0x2c0b83fa,
+  0x2bad1221, 0x2b4e8558,
+  0x2aefddd8, 0x2a911bdc, 0x2a323f9e, 0x29d34958, 0x29743946, 0x29150fa1,
+  0x28b5cca5, 0x2856708d,
+  0x27f6fb92, 0x27976df1, 0x2737c7e3, 0x26d809a5, 0x26783370, 0x26184581,
+  0x25b84012, 0x2558235f,
+  0x24f7efa2, 0x2497a517, 0x243743fa, 0x23d6cc87, 0x23763ef7, 0x23159b88,
+  0x22b4e274, 0x225413f8,
+  0x21f3304f, 0x219237b5, 0x21312a65, 0x20d0089c, 0x206ed295, 0x200d888d,
+  0x1fac2abf, 0x1f4ab968,
+  0x1ee934c3, 0x1e879d0d, 0x1e25f282, 0x1dc4355e, 0x1d6265dd, 0x1d00843d,
+  0x1c9e90b8, 0x1c3c8b8c,
+  0x1bda74f6, 0x1b784d30, 0x1b161479, 0x1ab3cb0d, 0x1a517128, 0x19ef0707,
+  0x198c8ce7, 0x192a0304,
+  0x18c7699b, 0x1864c0ea, 0x1802092c, 0x179f429f, 0x173c6d80, 0x16d98a0c,
+  0x1676987f, 0x16139918,
+  0x15b08c12, 0x154d71aa, 0x14ea4a1f, 0x148715ae, 0x1423d492, 0x13c0870a,
+  0x135d2d53, 0x12f9c7aa,
+  0x1296564d, 0x1232d979, 0x11cf516a, 0x116bbe60, 0x11082096, 0x10a4784b,
+  0x1040c5bb, 0xfdd0926,
+  0xf7942c7, 0xf1572dc, 0xeb199a4, 0xe4db75b, 0xde9cc40, 0xd85d88f, 0xd21dc87,
+  0xcbdd865,
+  0xc59cc68, 0xbf5b8cb, 0xb919dcf, 0xb2d7baf, 0xac952aa, 0xa6522fe, 0xa00ece8,
+  0x99cb0a7,
+  0x9386e78, 0x8d42699, 0x86fd947, 0x80b86c2, 0x7a72f45, 0x742d311, 0x6de7262,
+  0x67a0d76,
+  0x615a48b, 0x5b137df, 0x54cc7b1, 0x4e8543e, 0x483ddc3, 0x41f6480, 0x3bae8b2,
+  0x3566a96,
+  0x2f1ea6c, 0x28d6870, 0x228e4e2, 0x1c45ffe, 0x15fda03, 0xfb5330, 0x96cbc1,
+  0x3243f5,
+};
+
+static const q31_t cos_factorsQ31_2048[2048] = {
+  0x7fffff62, 0x7ffffa73, 0x7ffff094, 0x7fffe1c6, 0x7fffce09, 0x7fffb55c,
+  0x7fff97c1, 0x7fff7536,
+  0x7fff4dbb, 0x7fff2151, 0x7ffeeff8, 0x7ffeb9b0, 0x7ffe7e79, 0x7ffe3e52,
+  0x7ffdf93c, 0x7ffdaf37,
+  0x7ffd6042, 0x7ffd0c5f, 0x7ffcb38c, 0x7ffc55ca, 0x7ffbf319, 0x7ffb8b78,
+  0x7ffb1ee9, 0x7ffaad6a,
+  0x7ffa36fc, 0x7ff9bba0, 0x7ff93b54, 0x7ff8b619, 0x7ff82bef, 0x7ff79cd6,
+  0x7ff708ce, 0x7ff66fd7,
+  0x7ff5d1f1, 0x7ff52f1d, 0x7ff48759, 0x7ff3daa6, 0x7ff32905, 0x7ff27275,
+  0x7ff1b6f6, 0x7ff0f688,
+  0x7ff0312c, 0x7fef66e1, 0x7fee97a7, 0x7fedc37e, 0x7fecea67, 0x7fec0c62,
+  0x7feb296d, 0x7fea418b,
+  0x7fe954ba, 0x7fe862fa, 0x7fe76c4c, 0x7fe670b0, 0x7fe57025, 0x7fe46aac,
+  0x7fe36045, 0x7fe250ef,
+  0x7fe13cac, 0x7fe0237a, 0x7fdf055a, 0x7fdde24d, 0x7fdcba51, 0x7fdb8d67,
+  0x7fda5b8f, 0x7fd924ca,
+  0x7fd7e917, 0x7fd6a875, 0x7fd562e7, 0x7fd4186a, 0x7fd2c900, 0x7fd174a8,
+  0x7fd01b63, 0x7fcebd31,
+  0x7fcd5a11, 0x7fcbf203, 0x7fca8508, 0x7fc91320, 0x7fc79c4b, 0x7fc62089,
+  0x7fc49fda, 0x7fc31a3d,
+  0x7fc18fb4, 0x7fc0003e, 0x7fbe6bdb, 0x7fbcd28b, 0x7fbb344e, 0x7fb99125,
+  0x7fb7e90f, 0x7fb63c0d,
+  0x7fb48a1e, 0x7fb2d343, 0x7fb1177b, 0x7faf56c7, 0x7fad9127, 0x7fabc69b,
+  0x7fa9f723, 0x7fa822bf,
+  0x7fa6496e, 0x7fa46b32, 0x7fa2880b, 0x7fa09ff7, 0x7f9eb2f8, 0x7f9cc10d,
+  0x7f9aca37, 0x7f98ce76,
+  0x7f96cdc9, 0x7f94c831, 0x7f92bdad, 0x7f90ae3f, 0x7f8e99e6, 0x7f8c80a1,
+  0x7f8a6272, 0x7f883f58,
+  0x7f861753, 0x7f83ea64, 0x7f81b88a, 0x7f7f81c6, 0x7f7d4617, 0x7f7b057e,
+  0x7f78bffb, 0x7f76758e,
+  0x7f742637, 0x7f71d1f6, 0x7f6f78cb, 0x7f6d1ab6, 0x7f6ab7b8, 0x7f684fd0,
+  0x7f65e2ff, 0x7f637144,
+  0x7f60faa0, 0x7f5e7f13, 0x7f5bfe9d, 0x7f59793e, 0x7f56eef5, 0x7f545fc5,
+  0x7f51cbab, 0x7f4f32a9,
+  0x7f4c94be, 0x7f49f1eb, 0x7f474a30, 0x7f449d8c, 0x7f41ec01, 0x7f3f358d,
+  0x7f3c7a31, 0x7f39b9ee,
+  0x7f36f4c3, 0x7f342ab1, 0x7f315bb7, 0x7f2e87d6, 0x7f2baf0d, 0x7f28d15d,
+  0x7f25eec7, 0x7f230749,
+  0x7f201ae5, 0x7f1d299a, 0x7f1a3368, 0x7f173850, 0x7f143852, 0x7f11336d,
+  0x7f0e29a3, 0x7f0b1af2,
+  0x7f08075c, 0x7f04eedf, 0x7f01d17d, 0x7efeaf36, 0x7efb8809, 0x7ef85bf7,
+  0x7ef52b00, 0x7ef1f524,
+  0x7eeeba62, 0x7eeb7abc, 0x7ee83632, 0x7ee4ecc3, 0x7ee19e6f, 0x7ede4b38,
+  0x7edaf31c, 0x7ed7961c,
+  0x7ed43438, 0x7ed0cd70, 0x7ecd61c5, 0x7ec9f137, 0x7ec67bc5, 0x7ec3016f,
+  0x7ebf8237, 0x7ebbfe1c,
+  0x7eb8751e, 0x7eb4e73d, 0x7eb1547a, 0x7eadbcd4, 0x7eaa204c, 0x7ea67ee2,
+  0x7ea2d896, 0x7e9f2d68,
+  0x7e9b7d58, 0x7e97c867, 0x7e940e94, 0x7e904fe0, 0x7e8c8c4b, 0x7e88c3d5,
+  0x7e84f67e, 0x7e812447,
+  0x7e7d4d2f, 0x7e797136, 0x7e75905d, 0x7e71aaa4, 0x7e6dc00c, 0x7e69d093,
+  0x7e65dc3b, 0x7e61e303,
+  0x7e5de4ec, 0x7e59e1f5, 0x7e55da20, 0x7e51cd6c, 0x7e4dbbd9, 0x7e49a567,
+  0x7e458a17, 0x7e4169e9,
+  0x7e3d44dd, 0x7e391af3, 0x7e34ec2b, 0x7e30b885, 0x7e2c8002, 0x7e2842a2,
+  0x7e240064, 0x7e1fb94a,
+  0x7e1b6d53, 0x7e171c7f, 0x7e12c6ce, 0x7e0e6c42, 0x7e0a0cd9, 0x7e05a894,
+  0x7e013f74, 0x7dfcd178,
+  0x7df85ea0, 0x7df3e6ee, 0x7def6a60, 0x7deae8f7, 0x7de662b3, 0x7de1d795,
+  0x7ddd479d, 0x7dd8b2ca,
+  0x7dd4191d, 0x7dcf7a96, 0x7dcad736, 0x7dc62efc, 0x7dc181e8, 0x7dbccffc,
+  0x7db81936, 0x7db35d98,
+  0x7dae9d21, 0x7da9d7d2, 0x7da50dab, 0x7da03eab, 0x7d9b6ad3, 0x7d969224,
+  0x7d91b49e, 0x7d8cd240,
+  0x7d87eb0a, 0x7d82fefe, 0x7d7e0e1c, 0x7d791862, 0x7d741dd2, 0x7d6f1e6c,
+  0x7d6a1a31, 0x7d65111f,
+  0x7d600338, 0x7d5af07b, 0x7d55d8e9, 0x7d50bc82, 0x7d4b9b46, 0x7d467536,
+  0x7d414a51, 0x7d3c1a98,
+  0x7d36e60b, 0x7d31acaa, 0x7d2c6e76, 0x7d272b6e, 0x7d21e393, 0x7d1c96e5,
+  0x7d174564, 0x7d11ef11,
+  0x7d0c93eb, 0x7d0733f3, 0x7d01cf29, 0x7cfc658d, 0x7cf6f720, 0x7cf183e1,
+  0x7cec0bd1, 0x7ce68ef0,
+  0x7ce10d3f, 0x7cdb86bd, 0x7cd5fb6a, 0x7cd06b48, 0x7ccad656, 0x7cc53c94,
+  0x7cbf9e03, 0x7cb9faa2,
+  0x7cb45272, 0x7caea574, 0x7ca8f3a7, 0x7ca33d0c, 0x7c9d81a3, 0x7c97c16b,
+  0x7c91fc66, 0x7c8c3294,
+  0x7c8663f4, 0x7c809088, 0x7c7ab84e, 0x7c74db48, 0x7c6ef976, 0x7c6912d7,
+  0x7c63276d, 0x7c5d3737,
+  0x7c574236, 0x7c514869, 0x7c4b49d2, 0x7c45466f, 0x7c3f3e42, 0x7c39314b,
+  0x7c331f8a, 0x7c2d08ff,
+  0x7c26edab, 0x7c20cd8d, 0x7c1aa8a6, 0x7c147ef6, 0x7c0e507e, 0x7c081d3d,
+  0x7c01e534, 0x7bfba863,
+  0x7bf566cb, 0x7bef206b, 0x7be8d544, 0x7be28556, 0x7bdc30a1, 0x7bd5d726,
+  0x7bcf78e5, 0x7bc915dd,
+  0x7bc2ae10, 0x7bbc417e, 0x7bb5d026, 0x7baf5a09, 0x7ba8df28, 0x7ba25f82,
+  0x7b9bdb18, 0x7b9551ea,
+  0x7b8ec3f8, 0x7b883143, 0x7b8199ca, 0x7b7afd8f, 0x7b745c91, 0x7b6db6d0,
+  0x7b670c4d, 0x7b605d09,
+  0x7b59a902, 0x7b52f03a, 0x7b4c32b1, 0x7b457068, 0x7b3ea95d, 0x7b37dd92,
+  0x7b310d07, 0x7b2a37bc,
+  0x7b235db2, 0x7b1c7ee8, 0x7b159b5f, 0x7b0eb318, 0x7b07c612, 0x7b00d44d,
+  0x7af9ddcb, 0x7af2e28b,
+  0x7aebe28d, 0x7ae4ddd2, 0x7addd45b, 0x7ad6c626, 0x7acfb336, 0x7ac89b89,
+  0x7ac17f20, 0x7aba5dfc,
+  0x7ab3381d, 0x7aac0d82, 0x7aa4de2d, 0x7a9daa1d, 0x7a967153, 0x7a8f33d0,
+  0x7a87f192, 0x7a80aa9c,
+  0x7a795eec, 0x7a720e84, 0x7a6ab963, 0x7a635f8a, 0x7a5c00f9, 0x7a549db0,
+  0x7a4d35b0, 0x7a45c8f9,
+  0x7a3e578b, 0x7a36e166, 0x7a2f668c, 0x7a27e6fb, 0x7a2062b5, 0x7a18d9b9,
+  0x7a114c09, 0x7a09b9a4,
+  0x7a02228a, 0x79fa86bc, 0x79f2e63a, 0x79eb4105, 0x79e3971c, 0x79dbe880,
+  0x79d43532, 0x79cc7d31,
+  0x79c4c07e, 0x79bcff19, 0x79b53903, 0x79ad6e3c, 0x79a59ec3, 0x799dca9a,
+  0x7995f1c1, 0x798e1438,
+  0x798631ff, 0x797e4b16, 0x79765f7f, 0x796e6f39, 0x79667a44, 0x795e80a1,
+  0x79568250, 0x794e7f52,
+  0x794677a6, 0x793e6b4e, 0x79365a49, 0x792e4497, 0x79262a3a, 0x791e0b31,
+  0x7915e77c, 0x790dbf1d,
+  0x79059212, 0x78fd605d, 0x78f529fe, 0x78eceef6, 0x78e4af44, 0x78dc6ae8,
+  0x78d421e4, 0x78cbd437,
+  0x78c381e2, 0x78bb2ae5, 0x78b2cf41, 0x78aa6ef5, 0x78a20a03, 0x7899a06a,
+  0x7891322a, 0x7888bf45,
+  0x788047ba, 0x7877cb89, 0x786f4ab4, 0x7866c53a, 0x785e3b1c, 0x7855ac5a,
+  0x784d18f4, 0x784480ea,
+  0x783be43e, 0x783342ef, 0x782a9cfe, 0x7821f26b, 0x78194336, 0x78108f60,
+  0x7807d6e9, 0x77ff19d1,
+  0x77f65819, 0x77ed91c0, 0x77e4c6c9, 0x77dbf732, 0x77d322fc, 0x77ca4a27,
+  0x77c16cb4, 0x77b88aa3,
+  0x77afa3f5, 0x77a6b8a9, 0x779dc8c0, 0x7794d43b, 0x778bdb19, 0x7782dd5c,
+  0x7779db03, 0x7770d40f,
+  0x7767c880, 0x775eb857, 0x7755a394, 0x774c8a36, 0x77436c40, 0x773a49b0,
+  0x77312287, 0x7727f6c6,
+  0x771ec66e, 0x7715917d, 0x770c57f5, 0x770319d6, 0x76f9d721, 0x76f08fd5,
+  0x76e743f4, 0x76ddf37c,
+  0x76d49e70, 0x76cb44cf, 0x76c1e699, 0x76b883d0, 0x76af1c72, 0x76a5b082,
+  0x769c3ffe, 0x7692cae8,
+  0x7689513f, 0x767fd304, 0x76765038, 0x766cc8db, 0x76633ced, 0x7659ac6f,
+  0x76501760, 0x76467dc2,
+  0x763cdf94, 0x76333cd8, 0x7629958c, 0x761fe9b3, 0x7616394c, 0x760c8457,
+  0x7602cad5, 0x75f90cc7,
+  0x75ef4a2c, 0x75e58305, 0x75dbb753, 0x75d1e715, 0x75c8124d, 0x75be38fa,
+  0x75b45b1d, 0x75aa78b6,
+  0x75a091c6, 0x7596a64d, 0x758cb64c, 0x7582c1c2, 0x7578c8b0, 0x756ecb18,
+  0x7564c8f8, 0x755ac251,
+  0x7550b725, 0x7546a772, 0x753c933a, 0x75327a7d, 0x75285d3b, 0x751e3b75,
+  0x7514152b, 0x7509ea5d,
+  0x74ffbb0d, 0x74f58739, 0x74eb4ee3, 0x74e1120c, 0x74d6d0b2, 0x74cc8ad8,
+  0x74c2407d, 0x74b7f1a1,
+  0x74ad9e46, 0x74a3466b, 0x7498ea11, 0x748e8938, 0x748423e0, 0x7479ba0b,
+  0x746f4bb8, 0x7464d8e8,
+  0x745a619b, 0x744fe5d2, 0x7445658d, 0x743ae0cc, 0x74305790, 0x7425c9da,
+  0x741b37a9, 0x7410a0fe,
+  0x740605d9, 0x73fb663c, 0x73f0c226, 0x73e61997, 0x73db6c91, 0x73d0bb13,
+  0x73c6051f, 0x73bb4ab3,
+  0x73b08bd1, 0x73a5c87a, 0x739b00ad, 0x7390346b, 0x738563b5, 0x737a8e8a,
+  0x736fb4ec, 0x7364d6da,
+  0x7359f456, 0x734f0d5f, 0x734421f6, 0x7339321b, 0x732e3dcf, 0x73234512,
+  0x731847e5, 0x730d4648,
+  0x7302403c, 0x72f735c0, 0x72ec26d6, 0x72e1137d, 0x72d5fbb7, 0x72cadf83,
+  0x72bfbee3, 0x72b499d6,
+  0x72a9705c, 0x729e4277, 0x72931027, 0x7287d96c, 0x727c9e47, 0x72715eb8,
+  0x72661abf, 0x725ad25d,
+  0x724f8593, 0x72443460, 0x7238dec5, 0x722d84c4, 0x7222265b, 0x7216c38c,
+  0x720b5c57, 0x71fff0bc,
+  0x71f480bc, 0x71e90c57, 0x71dd938f, 0x71d21662, 0x71c694d2, 0x71bb0edf,
+  0x71af848a, 0x71a3f5d2,
+  0x719862b9, 0x718ccb3f, 0x71812f65, 0x71758f29, 0x7169ea8f, 0x715e4194,
+  0x7152943b, 0x7146e284,
+  0x713b2c6e, 0x712f71fb, 0x7123b32b, 0x7117effe, 0x710c2875, 0x71005c90,
+  0x70f48c50, 0x70e8b7b5,
+  0x70dcdec0, 0x70d10171, 0x70c51fc8, 0x70b939c7, 0x70ad4f6d, 0x70a160ba,
+  0x70956db1, 0x70897650,
+  0x707d7a98, 0x70717a8a, 0x70657626, 0x70596d6d, 0x704d6060, 0x70414efd,
+  0x70353947, 0x70291f3e,
+  0x701d00e1, 0x7010de32, 0x7004b731, 0x6ff88bde, 0x6fec5c3b, 0x6fe02846,
+  0x6fd3f001, 0x6fc7b36d,
+  0x6fbb728a, 0x6faf2d57, 0x6fa2e3d7, 0x6f969608, 0x6f8a43ed, 0x6f7ded84,
+  0x6f7192cf, 0x6f6533ce,
+  0x6f58d082, 0x6f4c68eb, 0x6f3ffd09, 0x6f338cde, 0x6f271868, 0x6f1a9faa,
+  0x6f0e22a3, 0x6f01a155,
+  0x6ef51bbe, 0x6ee891e1, 0x6edc03bc, 0x6ecf7152, 0x6ec2daa2, 0x6eb63fad,
+  0x6ea9a073, 0x6e9cfcf5,
+  0x6e905534, 0x6e83a92f, 0x6e76f8e7, 0x6e6a445d, 0x6e5d8b91, 0x6e50ce84,
+  0x6e440d37, 0x6e3747a9,
+  0x6e2a7ddb, 0x6e1dafce, 0x6e10dd82, 0x6e0406f8, 0x6df72c30, 0x6dea4d2b,
+  0x6ddd69e9, 0x6dd0826a,
+  0x6dc396b0, 0x6db6a6ba, 0x6da9b28a, 0x6d9cba1f, 0x6d8fbd7a, 0x6d82bc9d,
+  0x6d75b786, 0x6d68ae37,
+  0x6d5ba0b0, 0x6d4e8ef2, 0x6d4178fd, 0x6d345ed1, 0x6d274070, 0x6d1a1dda,
+  0x6d0cf70f, 0x6cffcc0f,
+  0x6cf29cdc, 0x6ce56975, 0x6cd831dc, 0x6ccaf610, 0x6cbdb613, 0x6cb071e4,
+  0x6ca32985, 0x6c95dcf6,
+  0x6c888c36, 0x6c7b3748, 0x6c6dde2b, 0x6c6080e0, 0x6c531f67, 0x6c45b9c1,
+  0x6c384fef, 0x6c2ae1f0,
+  0x6c1d6fc6, 0x6c0ff971, 0x6c027ef1, 0x6bf50047, 0x6be77d74, 0x6bd9f677,
+  0x6bcc6b53, 0x6bbedc06,
+  0x6bb14892, 0x6ba3b0f7, 0x6b961536, 0x6b88754f, 0x6b7ad142, 0x6b6d2911,
+  0x6b5f7cbc, 0x6b51cc42,
+  0x6b4417a6, 0x6b365ee7, 0x6b28a206, 0x6b1ae103, 0x6b0d1bdf, 0x6aff529a,
+  0x6af18536, 0x6ae3b3b2,
+  0x6ad5de0f, 0x6ac8044e, 0x6aba266e, 0x6aac4472, 0x6a9e5e58, 0x6a907423,
+  0x6a8285d1, 0x6a749365,
+  0x6a669cdd, 0x6a58a23c, 0x6a4aa381, 0x6a3ca0ad, 0x6a2e99c0, 0x6a208ebb,
+  0x6a127f9f, 0x6a046c6c,
+  0x69f65523, 0x69e839c4, 0x69da1a50, 0x69cbf6c7, 0x69bdcf29, 0x69afa378,
+  0x69a173b5, 0x69933fde,
+  0x698507f6, 0x6976cbfc, 0x69688bf1, 0x695a47d6, 0x694bffab, 0x693db371,
+  0x692f6328, 0x69210ed1,
+  0x6912b66c, 0x690459fb, 0x68f5f97d, 0x68e794f3, 0x68d92c5d, 0x68cabfbd,
+  0x68bc4f13, 0x68adda5f,
+  0x689f61a1, 0x6890e4dc, 0x6882640e, 0x6873df38, 0x6865565c, 0x6856c979,
+  0x68483891, 0x6839a3a4,
+  0x682b0ab1, 0x681c6dbb, 0x680dccc1, 0x67ff27c4, 0x67f07ec5, 0x67e1d1c4,
+  0x67d320c1, 0x67c46bbe,
+  0x67b5b2bb, 0x67a6f5b8, 0x679834b6, 0x67896fb6, 0x677aa6b8, 0x676bd9bd,
+  0x675d08c4, 0x674e33d0,
+  0x673f5ae0, 0x67307df5, 0x67219d10, 0x6712b831, 0x6703cf58, 0x66f4e287,
+  0x66e5f1be, 0x66d6fcfd,
+  0x66c80445, 0x66b90797, 0x66aa06f3, 0x669b0259, 0x668bf9cb, 0x667ced49,
+  0x666ddcd3, 0x665ec86b,
+  0x664fb010, 0x664093c3, 0x66317385, 0x66224f56, 0x66132738, 0x6603fb2a,
+  0x65f4cb2d, 0x65e59742,
+  0x65d65f69, 0x65c723a3, 0x65b7e3f1, 0x65a8a052, 0x659958c9, 0x658a0d54,
+  0x657abdf6, 0x656b6aae,
+  0x655c137d, 0x654cb863, 0x653d5962, 0x652df679, 0x651e8faa, 0x650f24f5,
+  0x64ffb65b, 0x64f043dc,
+  0x64e0cd78, 0x64d15331, 0x64c1d507, 0x64b252fa, 0x64a2cd0c, 0x6493433c,
+  0x6483b58c, 0x647423fb,
+  0x64648e8c, 0x6454f53d, 0x64455810, 0x6435b706, 0x6426121e, 0x6416695a,
+  0x6406bcba, 0x63f70c3f,
+  0x63e757ea, 0x63d79fba, 0x63c7e3b1, 0x63b823cf, 0x63a86015, 0x63989884,
+  0x6388cd1b, 0x6378fddc,
+  0x63692ac7, 0x635953dd, 0x6349791f, 0x63399a8d, 0x6329b827, 0x6319d1ef,
+  0x6309e7e4, 0x62f9fa09,
+  0x62ea085c, 0x62da12df, 0x62ca1992, 0x62ba1c77, 0x62aa1b8d, 0x629a16d5,
+  0x628a0e50, 0x627a01fe,
+  0x6269f1e1, 0x6259ddf8, 0x6249c645, 0x6239aac7, 0x62298b81, 0x62196871,
+  0x62094199, 0x61f916f9,
+  0x61e8e893, 0x61d8b666, 0x61c88074, 0x61b846bc, 0x61a80940, 0x6197c800,
+  0x618782fd, 0x61773a37,
+  0x6166edb0, 0x61569d67, 0x6146495d, 0x6135f193, 0x6125960a, 0x611536c2,
+  0x6104d3bc, 0x60f46cf9,
+  0x60e40278, 0x60d3943b, 0x60c32243, 0x60b2ac8f, 0x60a23322, 0x6091b5fa,
+  0x60813519, 0x6070b080,
+  0x6060282f, 0x604f9c27, 0x603f0c69, 0x602e78f4, 0x601de1ca, 0x600d46ec,
+  0x5ffca859, 0x5fec0613,
+  0x5fdb601b, 0x5fcab670, 0x5fba0914, 0x5fa95807, 0x5f98a34a, 0x5f87eade,
+  0x5f772ec2, 0x5f666ef9,
+  0x5f55ab82, 0x5f44e45e, 0x5f34198e, 0x5f234b12, 0x5f1278eb, 0x5f01a31a,
+  0x5ef0c99f, 0x5edfec7b,
+  0x5ecf0baf, 0x5ebe273b, 0x5ead3f1f, 0x5e9c535e, 0x5e8b63f7, 0x5e7a70ea,
+  0x5e697a39, 0x5e587fe5,
+  0x5e4781ed, 0x5e368053, 0x5e257b17, 0x5e147239, 0x5e0365bb, 0x5df2559e,
+  0x5de141e1, 0x5dd02a85,
+  0x5dbf0f8c, 0x5dadf0f5, 0x5d9ccec2, 0x5d8ba8f3, 0x5d7a7f88, 0x5d695283,
+  0x5d5821e4, 0x5d46edac,
+  0x5d35b5db, 0x5d247a72, 0x5d133b72, 0x5d01f8dc, 0x5cf0b2af, 0x5cdf68ed,
+  0x5cce1b97, 0x5cbccaac,
+  0x5cab762f, 0x5c9a1e1e, 0x5c88c27c, 0x5c776348, 0x5c660084, 0x5c549a30,
+  0x5c43304d, 0x5c31c2db,
+  0x5c2051db, 0x5c0edd4e, 0x5bfd6534, 0x5bebe98e, 0x5bda6a5d, 0x5bc8e7a2,
+  0x5bb7615d, 0x5ba5d78e,
+  0x5b944a37, 0x5b82b958, 0x5b7124f2, 0x5b5f8d06, 0x5b4df193, 0x5b3c529c,
+  0x5b2ab020, 0x5b190a20,
+  0x5b07609d, 0x5af5b398, 0x5ae40311, 0x5ad24f09, 0x5ac09781, 0x5aaedc78,
+  0x5a9d1df1, 0x5a8b5bec,
+  0x5a799669, 0x5a67cd69, 0x5a5600ec, 0x5a4430f5, 0x5a325d82, 0x5a208695,
+  0x5a0eac2e, 0x59fcce4f,
+  0x59eaecf8, 0x59d90829, 0x59c71fe3, 0x59b53427, 0x59a344f6, 0x59915250,
+  0x597f5c36, 0x596d62a9,
+  0x595b65aa, 0x59496538, 0x59376155, 0x59255a02, 0x59134f3e, 0x5901410c,
+  0x58ef2f6b, 0x58dd1a5d,
+  0x58cb01e1, 0x58b8e5f9, 0x58a6c6a5, 0x5894a3e7, 0x58827dbe, 0x5870542c,
+  0x585e2730, 0x584bf6cd,
+  0x5839c302, 0x58278bd1, 0x58155139, 0x5803133c, 0x57f0d1da, 0x57de8d15,
+  0x57cc44ec, 0x57b9f960,
+  0x57a7aa73, 0x57955825, 0x57830276, 0x5770a968, 0x575e4cfa, 0x574bed2f,
+  0x57398a05, 0x5727237f,
+  0x5714b99d, 0x57024c5f, 0x56efdbc7, 0x56dd67d4, 0x56caf088, 0x56b875e4,
+  0x56a5f7e7, 0x56937694,
+  0x5680f1ea, 0x566e69ea, 0x565bde95, 0x56494fec, 0x5636bdef, 0x5624289f,
+  0x56118ffe, 0x55fef40a,
+  0x55ec54c6, 0x55d9b232, 0x55c70c4f, 0x55b4631d, 0x55a1b69d, 0x558f06d0,
+  0x557c53b6, 0x55699d51,
+  0x5556e3a1, 0x554426a7, 0x55316663, 0x551ea2d6, 0x550bdc01, 0x54f911e5,
+  0x54e64482, 0x54d373d9,
+  0x54c09feb, 0x54adc8b8, 0x549aee42, 0x54881089, 0x54752f8d, 0x54624b50,
+  0x544f63d2, 0x543c7914,
+  0x54298b17, 0x541699db, 0x5403a561, 0x53f0adaa, 0x53ddb2b6, 0x53cab486,
+  0x53b7b31c, 0x53a4ae77,
+  0x5391a699, 0x537e9b82, 0x536b8d33, 0x53587bad, 0x534566f0, 0x53324efd,
+  0x531f33d5, 0x530c1579,
+  0x52f8f3e9, 0x52e5cf27, 0x52d2a732, 0x52bf7c0b, 0x52ac4db4, 0x52991c2d,
+  0x5285e777, 0x5272af92,
+  0x525f7480, 0x524c3640, 0x5238f4d4, 0x5225b03d, 0x5212687b, 0x51ff1d8f,
+  0x51ebcf7a, 0x51d87e3c,
+  0x51c529d7, 0x51b1d24a, 0x519e7797, 0x518b19bf, 0x5177b8c2, 0x516454a0,
+  0x5150ed5c, 0x513d82f4,
+  0x512a156b, 0x5116a4c1, 0x510330f7, 0x50efba0d, 0x50dc4005, 0x50c8c2de,
+  0x50b5429a, 0x50a1bf39,
+  0x508e38bd, 0x507aaf25, 0x50672273, 0x505392a8, 0x503fffc4, 0x502c69c8,
+  0x5018d0b4, 0x5005348a,
+  0x4ff1954b, 0x4fddf2f6, 0x4fca4d8d, 0x4fb6a510, 0x4fa2f981, 0x4f8f4ae0,
+  0x4f7b992d, 0x4f67e46a,
+  0x4f542c98, 0x4f4071b6, 0x4f2cb3c7, 0x4f18f2c9, 0x4f052ec0, 0x4ef167aa,
+  0x4edd9d89, 0x4ec9d05e,
+  0x4eb60029, 0x4ea22ceb, 0x4e8e56a5, 0x4e7a7d58, 0x4e66a105, 0x4e52c1ab,
+  0x4e3edf4d, 0x4e2af9ea,
+  0x4e171184, 0x4e03261b, 0x4def37b0, 0x4ddb4644, 0x4dc751d8, 0x4db35a6c,
+  0x4d9f6001, 0x4d8b6298,
+  0x4d776231, 0x4d635ece, 0x4d4f5870, 0x4d3b4f16, 0x4d2742c2, 0x4d133374,
+  0x4cff212e, 0x4ceb0bf0,
+  0x4cd6f3bb, 0x4cc2d88f, 0x4caeba6e, 0x4c9a9958, 0x4c86754e, 0x4c724e50,
+  0x4c5e2460, 0x4c49f77f,
+  0x4c35c7ac, 0x4c2194e9, 0x4c0d5f37, 0x4bf92697, 0x4be4eb08, 0x4bd0ac8d,
+  0x4bbc6b25, 0x4ba826d1,
+  0x4b93df93, 0x4b7f956b, 0x4b6b485a, 0x4b56f861, 0x4b42a580, 0x4b2e4fb8,
+  0x4b19f70a, 0x4b059b77,
+  0x4af13d00, 0x4adcdba5, 0x4ac87767, 0x4ab41046, 0x4a9fa645, 0x4a8b3963,
+  0x4a76c9a2, 0x4a625701,
+  0x4a4de182, 0x4a396926, 0x4a24edee, 0x4a106fda, 0x49fbeeea, 0x49e76b21,
+  0x49d2e47e, 0x49be5b02,
+  0x49a9ceaf, 0x49953f84, 0x4980ad84, 0x496c18ae, 0x49578103, 0x4942e684,
+  0x492e4933, 0x4919a90f,
+  0x4905061a, 0x48f06054, 0x48dbb7be, 0x48c70c59, 0x48b25e25, 0x489dad25,
+  0x4888f957, 0x487442be,
+  0x485f8959, 0x484acd2a, 0x48360e32, 0x48214c71, 0x480c87e8, 0x47f7c099,
+  0x47e2f682, 0x47ce29a7,
+  0x47b95a06, 0x47a487a2, 0x478fb27b, 0x477ada91, 0x4765ffe6, 0x4751227a,
+  0x473c424e, 0x47275f63,
+  0x471279ba, 0x46fd9154, 0x46e8a631, 0x46d3b852, 0x46bec7b8, 0x46a9d464,
+  0x4694de56, 0x467fe590,
+  0x466aea12, 0x4655ebdd, 0x4640eaf2, 0x462be751, 0x4616e0fc, 0x4601d7f3,
+  0x45eccc37, 0x45d7bdc9,
+  0x45c2acaa, 0x45ad98da, 0x4598825a, 0x4583692c, 0x456e4d4f, 0x45592ec6,
+  0x45440d90, 0x452ee9ae,
+  0x4519c321, 0x450499eb, 0x44ef6e0b, 0x44da3f83, 0x44c50e53, 0x44afda7d,
+  0x449aa400, 0x44856adf,
+  0x44702f19, 0x445af0b0, 0x4445afa4, 0x44306bf6, 0x441b25a8, 0x4405dcb9,
+  0x43f0912b, 0x43db42fe,
+  0x43c5f234, 0x43b09ecc, 0x439b48c9, 0x4385f02a, 0x437094f1, 0x435b371f,
+  0x4345d6b3, 0x433073b0,
+  0x431b0e15, 0x4305a5e5, 0x42f03b1e, 0x42dacdc3, 0x42c55dd4, 0x42afeb53,
+  0x429a763f, 0x4284fe99,
+  0x426f8463, 0x425a079e, 0x42448849, 0x422f0667, 0x421981f7, 0x4203fafb,
+  0x41ee7174, 0x41d8e561,
+  0x41c356c5, 0x41adc5a0, 0x419831f3, 0x41829bbe, 0x416d0302, 0x415767c1,
+  0x4141c9fb, 0x412c29b1,
+  0x411686e4, 0x4100e194, 0x40eb39c3, 0x40d58f71, 0x40bfe29f, 0x40aa334e,
+  0x4094817f, 0x407ecd32,
+  0x40691669, 0x40535d24, 0x403da165, 0x4027e32b, 0x40122278, 0x3ffc5f4d,
+  0x3fe699aa, 0x3fd0d191,
+  0x3fbb0702, 0x3fa539fd, 0x3f8f6a85, 0x3f799899, 0x3f63c43b, 0x3f4ded6b,
+  0x3f38142a, 0x3f22387a,
+  0x3f0c5a5a, 0x3ef679cc, 0x3ee096d1, 0x3ecab169, 0x3eb4c995, 0x3e9edf57,
+  0x3e88f2ae, 0x3e73039d,
+  0x3e5d1222, 0x3e471e41, 0x3e3127f9, 0x3e1b2f4a, 0x3e053437, 0x3def36c0,
+  0x3dd936e6, 0x3dc334a9,
+  0x3dad300b, 0x3d97290b, 0x3d811fac, 0x3d6b13ee, 0x3d5505d2, 0x3d3ef559,
+  0x3d28e282, 0x3d12cd51,
+  0x3cfcb5c4, 0x3ce69bde, 0x3cd07f9f, 0x3cba6107, 0x3ca44018, 0x3c8e1cd3,
+  0x3c77f737, 0x3c61cf48,
+  0x3c4ba504, 0x3c35786d, 0x3c1f4983, 0x3c091849, 0x3bf2e4be, 0x3bdcaee3,
+  0x3bc676b9, 0x3bb03c42,
+  0x3b99ff7d, 0x3b83c06c, 0x3b6d7f10, 0x3b573b69, 0x3b40f579, 0x3b2aad3f,
+  0x3b1462be, 0x3afe15f6,
+  0x3ae7c6e7, 0x3ad17593, 0x3abb21fb, 0x3aa4cc1e, 0x3a8e7400, 0x3a78199f,
+  0x3a61bcfd, 0x3a4b5e1b,
+  0x3a34fcf9, 0x3a1e9999, 0x3a0833fc, 0x39f1cc21, 0x39db620b, 0x39c4f5ba,
+  0x39ae872f, 0x3998166a,
+  0x3981a36d, 0x396b2e38, 0x3954b6cd, 0x393e3d2c, 0x3927c155, 0x3911434b,
+  0x38fac30e, 0x38e4409e,
+  0x38cdbbfc, 0x38b7352a, 0x38a0ac29, 0x388a20f8, 0x38739399, 0x385d040d,
+  0x38467255, 0x382fde72,
+  0x38194864, 0x3802b02c, 0x37ec15cb, 0x37d57943, 0x37beda93, 0x37a839be,
+  0x379196c3, 0x377af1a3,
+  0x37644a60, 0x374da0fa, 0x3736f573, 0x372047ca, 0x37099802, 0x36f2e61a,
+  0x36dc3214, 0x36c57bf0,
+  0x36aec3b0, 0x36980954, 0x36814cde, 0x366a8e4d, 0x3653cda3, 0x363d0ae2,
+  0x36264609, 0x360f7f19,
+  0x35f8b614, 0x35e1eafa, 0x35cb1dcc, 0x35b44e8c, 0x359d7d39, 0x3586a9d5,
+  0x356fd461, 0x3558fcde,
+  0x3542234c, 0x352b47ad, 0x35146a00, 0x34fd8a48, 0x34e6a885, 0x34cfc4b7,
+  0x34b8dee1, 0x34a1f702,
+  0x348b0d1c, 0x3474212f, 0x345d333c, 0x34464345, 0x342f5149, 0x34185d4b,
+  0x3401674a, 0x33ea6f48,
+  0x33d37546, 0x33bc7944, 0x33a57b44, 0x338e7b46, 0x3377794b, 0x33607554,
+  0x33496f62, 0x33326776,
+  0x331b5d91, 0x330451b3, 0x32ed43de, 0x32d63412, 0x32bf2250, 0x32a80e99,
+  0x3290f8ef, 0x3279e151,
+  0x3262c7c1, 0x324bac40, 0x32348ecf, 0x321d6f6e, 0x32064e1e, 0x31ef2ae1,
+  0x31d805b7, 0x31c0dea1,
+  0x31a9b5a0, 0x31928ab4, 0x317b5de0, 0x31642f23, 0x314cfe7f, 0x3135cbf4,
+  0x311e9783, 0x3107612e,
+  0x30f028f4, 0x30d8eed8, 0x30c1b2da, 0x30aa74fa, 0x3093353a, 0x307bf39b,
+  0x3064b01d, 0x304d6ac1,
+  0x30362389, 0x301eda75, 0x30078f86, 0x2ff042bd, 0x2fd8f41b, 0x2fc1a3a0,
+  0x2faa514f, 0x2f92fd26,
+  0x2f7ba729, 0x2f644f56, 0x2f4cf5b0, 0x2f359a37, 0x2f1e3ced, 0x2f06ddd1,
+  0x2eef7ce5, 0x2ed81a29,
+  0x2ec0b5a0, 0x2ea94f49, 0x2e91e725, 0x2e7a7d36, 0x2e63117c, 0x2e4ba3f8,
+  0x2e3434ac, 0x2e1cc397,
+  0x2e0550bb, 0x2deddc19, 0x2dd665b2, 0x2dbeed86, 0x2da77397, 0x2d8ff7e5,
+  0x2d787a72, 0x2d60fb3e,
+  0x2d497a4a, 0x2d31f797, 0x2d1a7325, 0x2d02ecf7, 0x2ceb650d, 0x2cd3db67,
+  0x2cbc5006, 0x2ca4c2ed,
+  0x2c8d341a, 0x2c75a390, 0x2c5e114f, 0x2c467d58, 0x2c2ee7ad, 0x2c17504d,
+  0x2bffb73a, 0x2be81c74,
+  0x2bd07ffe, 0x2bb8e1d7, 0x2ba14200, 0x2b89a07b, 0x2b71fd48, 0x2b5a5868,
+  0x2b42b1dd, 0x2b2b09a6,
+  0x2b135fc6, 0x2afbb43c, 0x2ae4070a, 0x2acc5831, 0x2ab4a7b1, 0x2a9cf58c,
+  0x2a8541c3, 0x2a6d8c55,
+  0x2a55d545, 0x2a3e1c93, 0x2a266240, 0x2a0ea64d, 0x29f6e8bb, 0x29df298b,
+  0x29c768be, 0x29afa654,
+  0x2997e24f, 0x29801caf, 0x29685576, 0x29508ca4, 0x2938c23a, 0x2920f63a,
+  0x290928a3, 0x28f15978,
+  0x28d988b8, 0x28c1b666, 0x28a9e281, 0x28920d0a, 0x287a3604, 0x28625d6d,
+  0x284a8349, 0x2832a796,
+  0x281aca57, 0x2802eb8c, 0x27eb0b36, 0x27d32956, 0x27bb45ed, 0x27a360fc,
+  0x278b7a84, 0x27739285,
+  0x275ba901, 0x2743bdf9, 0x272bd16d, 0x2713e35f, 0x26fbf3ce, 0x26e402bd,
+  0x26cc102d, 0x26b41c1d,
+  0x269c268f, 0x26842f84, 0x266c36fe, 0x26543cfb, 0x263c417f, 0x26244489,
+  0x260c461b, 0x25f44635,
+  0x25dc44d9, 0x25c44207, 0x25ac3dc0, 0x25943806, 0x257c30d8, 0x25642839,
+  0x254c1e28, 0x253412a8,
+  0x251c05b8, 0x2503f75a, 0x24ebe78f, 0x24d3d657, 0x24bbc3b4, 0x24a3afa6,
+  0x248b9a2f, 0x2473834f,
+  0x245b6b07, 0x24435158, 0x242b3644, 0x241319ca, 0x23fafbec, 0x23e2dcac,
+  0x23cabc09, 0x23b29a05,
+  0x239a76a0, 0x238251dd, 0x236a2bba, 0x2352043b, 0x2339db5e, 0x2321b126,
+  0x23098593, 0x22f158a7,
+  0x22d92a61, 0x22c0fac4, 0x22a8c9cf, 0x22909785, 0x227863e5, 0x22602ef1,
+  0x2247f8aa, 0x222fc111,
+  0x22178826, 0x21ff4dea, 0x21e71260, 0x21ced586, 0x21b6975f, 0x219e57eb,
+  0x2186172b, 0x216dd521,
+  0x215591cc, 0x213d4d2f, 0x21250749, 0x210cc01d, 0x20f477aa, 0x20dc2df2,
+  0x20c3e2f5, 0x20ab96b5,
+  0x20934933, 0x207afa6f, 0x2062aa6b, 0x204a5927, 0x203206a4, 0x2019b2e4,
+  0x20015de7, 0x1fe907ae,
+  0x1fd0b03a, 0x1fb8578b, 0x1f9ffda4, 0x1f87a285, 0x1f6f462f, 0x1f56e8a2,
+  0x1f3e89e0, 0x1f2629ea,
+  0x1f0dc8c0, 0x1ef56664, 0x1edd02d6, 0x1ec49e17, 0x1eac3829, 0x1e93d10c,
+  0x1e7b68c2, 0x1e62ff4a,
+  0x1e4a94a7, 0x1e3228d9, 0x1e19bbe0, 0x1e014dbf, 0x1de8de75, 0x1dd06e04,
+  0x1db7fc6d, 0x1d9f89b1,
+  0x1d8715d0, 0x1d6ea0cc, 0x1d562aa6, 0x1d3db35e, 0x1d253af5, 0x1d0cc16c,
+  0x1cf446c5, 0x1cdbcb00,
+  0x1cc34e1f, 0x1caad021, 0x1c925109, 0x1c79d0d6, 0x1c614f8b, 0x1c48cd27,
+  0x1c3049ac, 0x1c17c51b,
+  0x1bff3f75, 0x1be6b8ba, 0x1bce30ec, 0x1bb5a80c, 0x1b9d1e1a, 0x1b849317,
+  0x1b6c0705, 0x1b5379e5,
+  0x1b3aebb6, 0x1b225c7b, 0x1b09cc34, 0x1af13ae3, 0x1ad8a887, 0x1ac01522,
+  0x1aa780b6, 0x1a8eeb42,
+  0x1a7654c8, 0x1a5dbd49, 0x1a4524c6, 0x1a2c8b3f, 0x1a13f0b6, 0x19fb552c,
+  0x19e2b8a2, 0x19ca1b17,
+  0x19b17c8f, 0x1998dd09, 0x19803c86, 0x19679b07, 0x194ef88e, 0x1936551b,
+  0x191db0af, 0x19050b4b,
+  0x18ec64f0, 0x18d3bda0, 0x18bb155a, 0x18a26c20, 0x1889c1f3, 0x187116d4,
+  0x18586ac3, 0x183fbdc3,
+  0x18270fd3, 0x180e60f4, 0x17f5b129, 0x17dd0070, 0x17c44ecd, 0x17ab9c3e,
+  0x1792e8c6, 0x177a3466,
+  0x17617f1d, 0x1748c8ee, 0x173011d9, 0x171759df, 0x16fea102, 0x16e5e741,
+  0x16cd2c9f, 0x16b4711b,
+  0x169bb4b7, 0x1682f774, 0x166a3953, 0x16517a55, 0x1638ba7a, 0x161ff9c4,
+  0x16073834, 0x15ee75cb,
+  0x15d5b288, 0x15bcee6f, 0x15a4297f, 0x158b63b9, 0x15729d1f, 0x1559d5b1,
+  0x15410d70, 0x1528445d,
+  0x150f7a7a, 0x14f6afc7, 0x14dde445, 0x14c517f4, 0x14ac4ad7, 0x14937cee,
+  0x147aae3a, 0x1461debc,
+  0x14490e74, 0x14303d65, 0x14176b8e, 0x13fe98f1, 0x13e5c58e, 0x13ccf167,
+  0x13b41c7d, 0x139b46d0,
+  0x13827062, 0x13699933, 0x1350c144, 0x1337e897, 0x131f0f2c, 0x13063505,
+  0x12ed5a21, 0x12d47e83,
+  0x12bba22b, 0x12a2c51b, 0x1289e752, 0x127108d2, 0x1258299c, 0x123f49b2,
+  0x12266913, 0x120d87c1,
+  0x11f4a5bd, 0x11dbc307, 0x11c2dfa2, 0x11a9fb8d, 0x119116c9, 0x11783159,
+  0x115f4b3c, 0x11466473,
+  0x112d7d00, 0x111494e4, 0x10fbac1e, 0x10e2c2b2, 0x10c9d89e, 0x10b0ede5,
+  0x10980287, 0x107f1686,
+  0x106629e1, 0x104d3c9b, 0x10344eb4, 0x101b602d, 0x10027107, 0xfe98143,
+  0xfd090e1, 0xfb79fe4,
+  0xf9eae4c, 0xf85bc19, 0xf6cc94e, 0xf53d5ea, 0xf3ae1ee, 0xf21ed5d, 0xf08f836,
+  0xef0027b,
+  0xed70c2c, 0xebe154b, 0xea51dd8, 0xe8c25d5, 0xe732d42, 0xe5a3421, 0xe413a72,
+  0xe284036,
+  0xe0f456f, 0xdf64a1c, 0xddd4e40, 0xdc451dc, 0xdab54ef, 0xd92577b, 0xd795982,
+  0xd605b03,
+  0xd475c00, 0xd2e5c7b, 0xd155c73, 0xcfc5bea, 0xce35ae1, 0xcca5959, 0xcb15752,
+  0xc9854cf,
+  0xc7f51cf, 0xc664e53, 0xc4d4a5d, 0xc3445ee, 0xc1b4107, 0xc023ba7, 0xbe935d2,
+  0xbd02f87,
+  0xbb728c7, 0xb9e2193, 0xb8519ed, 0xb6c11d5, 0xb53094d, 0xb3a0055, 0xb20f6ee,
+  0xb07ed19,
+  0xaeee2d7, 0xad5d829, 0xabccd11, 0xaa3c18e, 0xa8ab5a2, 0xa71a94f, 0xa589c94,
+  0xa3f8f73,
+  0xa2681ed, 0xa0d7403, 0x9f465b5, 0x9db5706, 0x9c247f5, 0x9a93884, 0x99028b3,
+  0x9771884,
+  0x95e07f8, 0x944f70f, 0x92be5ca, 0x912d42c, 0x8f9c233, 0x8e0afe2, 0x8c79d3a,
+  0x8ae8a3a,
+  0x89576e5, 0x87c633c, 0x8634f3e, 0x84a3aee, 0x831264c, 0x8181159, 0x7fefc16,
+  0x7e5e685,
+  0x7ccd0a5, 0x7b3ba78, 0x79aa400, 0x7818d3c, 0x768762e, 0x74f5ed7, 0x7364738,
+  0x71d2f52,
+  0x7041726, 0x6eafeb4, 0x6d1e5fe, 0x6b8cd05, 0x69fb3c9, 0x6869a4c, 0x66d808f,
+  0x6546692,
+  0x63b4c57, 0x62231de, 0x6091729, 0x5effc38, 0x5d6e10c, 0x5bdc5a7, 0x5a4aa09,
+  0x58b8e34,
+  0x5727228, 0x55955e6, 0x540396f, 0x5271cc4, 0x50dffe7, 0x4f4e2d8, 0x4dbc597,
+  0x4c2a827,
+  0x4a98a88, 0x4906cbb, 0x4774ec1, 0x45e309a, 0x4451249, 0x42bf3cd, 0x412d528,
+  0x3f9b65b,
+  0x3e09767, 0x3c7784d, 0x3ae590d, 0x39539a9, 0x37c1a22, 0x362fa78, 0x349daac,
+  0x330bac1,
+  0x3179ab5, 0x2fe7a8c, 0x2e55a44, 0x2cc39e1, 0x2b31961, 0x299f8c7, 0x280d813,
+  0x267b747,
+  0x24e9662, 0x2357567, 0x21c5457, 0x2033331, 0x1ea11f7, 0x1d0f0ab, 0x1b7cf4d,
+  0x19eaddd,
+  0x1858c5e, 0x16c6ad0, 0x1534934, 0x13a278a, 0x12105d5, 0x107e414, 0xeec249,
+  0xd5a075,
+  0xbc7e99, 0xa35cb5, 0x8a3acb, 0x7118dc, 0x57f6e9, 0x3ed4f2, 0x25b2f8,
+  0xc90fe,
+
+};
+
+static const q31_t cos_factorsQ31_8192[8192] = {
+  0x7ffffff6, 0x7fffffa7, 0x7fffff09, 0x7ffffe1c, 0x7ffffce1, 0x7ffffb56,
+    0x7ffff97c, 0x7ffff753,
+  0x7ffff4dc, 0x7ffff215, 0x7fffef00, 0x7fffeb9b, 0x7fffe7e8, 0x7fffe3e5,
+    0x7fffdf94, 0x7fffdaf3,
+  0x7fffd604, 0x7fffd0c6, 0x7fffcb39, 0x7fffc55c, 0x7fffbf31, 0x7fffb8b7,
+    0x7fffb1ee, 0x7fffaad6,
+  0x7fffa36f, 0x7fff9bb9, 0x7fff93b4, 0x7fff8b61, 0x7fff82be, 0x7fff79cc,
+    0x7fff708b, 0x7fff66fc,
+  0x7fff5d1d, 0x7fff52ef, 0x7fff4873, 0x7fff3da8, 0x7fff328d, 0x7fff2724,
+    0x7fff1b6b, 0x7fff0f64,
+  0x7fff030e, 0x7ffef669, 0x7ffee975, 0x7ffedc31, 0x7ffece9f, 0x7ffec0be,
+    0x7ffeb28e, 0x7ffea40f,
+  0x7ffe9542, 0x7ffe8625, 0x7ffe76b9, 0x7ffe66fe, 0x7ffe56f5, 0x7ffe469c,
+    0x7ffe35f4, 0x7ffe24fe,
+  0x7ffe13b8, 0x7ffe0224, 0x7ffdf040, 0x7ffdde0e, 0x7ffdcb8d, 0x7ffdb8bc,
+    0x7ffda59d, 0x7ffd922f,
+  0x7ffd7e72, 0x7ffd6a66, 0x7ffd560b, 0x7ffd4161, 0x7ffd2c68, 0x7ffd1720,
+    0x7ffd0189, 0x7ffceba4,
+  0x7ffcd56f, 0x7ffcbeeb, 0x7ffca819, 0x7ffc90f7, 0x7ffc7987, 0x7ffc61c7,
+    0x7ffc49b9, 0x7ffc315b,
+  0x7ffc18af, 0x7ffbffb4, 0x7ffbe66a, 0x7ffbccd0, 0x7ffbb2e8, 0x7ffb98b1,
+    0x7ffb7e2b, 0x7ffb6356,
+  0x7ffb4833, 0x7ffb2cc0, 0x7ffb10fe, 0x7ffaf4ed, 0x7ffad88e, 0x7ffabbdf,
+    0x7ffa9ee2, 0x7ffa8195,
+  0x7ffa63fa, 0x7ffa460f, 0x7ffa27d6, 0x7ffa094e, 0x7ff9ea76, 0x7ff9cb50,
+    0x7ff9abdb, 0x7ff98c17,
+  0x7ff96c04, 0x7ff94ba2, 0x7ff92af1, 0x7ff909f2, 0x7ff8e8a3, 0x7ff8c705,
+    0x7ff8a519, 0x7ff882dd,
+  0x7ff86053, 0x7ff83d79, 0x7ff81a51, 0x7ff7f6da, 0x7ff7d313, 0x7ff7aefe,
+    0x7ff78a9a, 0x7ff765e7,
+  0x7ff740e5, 0x7ff71b94, 0x7ff6f5f4, 0x7ff6d005, 0x7ff6a9c8, 0x7ff6833b,
+    0x7ff65c5f, 0x7ff63535,
+  0x7ff60dbb, 0x7ff5e5f3, 0x7ff5bddc, 0x7ff59576, 0x7ff56cc0, 0x7ff543bc,
+    0x7ff51a69, 0x7ff4f0c7,
+  0x7ff4c6d6, 0x7ff49c96, 0x7ff47208, 0x7ff4472a, 0x7ff41bfd, 0x7ff3f082,
+    0x7ff3c4b7, 0x7ff3989e,
+  0x7ff36c36, 0x7ff33f7e, 0x7ff31278, 0x7ff2e523, 0x7ff2b77f, 0x7ff2898c,
+    0x7ff25b4a, 0x7ff22cb9,
+  0x7ff1fdd9, 0x7ff1ceab, 0x7ff19f2d, 0x7ff16f61, 0x7ff13f45, 0x7ff10edb,
+    0x7ff0de22, 0x7ff0ad19,
+  0x7ff07bc2, 0x7ff04a1c, 0x7ff01827, 0x7fefe5e4, 0x7fefb351, 0x7fef806f,
+    0x7fef4d3e, 0x7fef19bf,
+  0x7feee5f0, 0x7feeb1d3, 0x7fee7d67, 0x7fee48ac, 0x7fee13a1, 0x7fedde48,
+    0x7feda8a0, 0x7fed72aa,
+  0x7fed3c64, 0x7fed05cf, 0x7fecceec, 0x7fec97b9, 0x7fec6038, 0x7fec2867,
+    0x7febf048, 0x7febb7da,
+  0x7feb7f1d, 0x7feb4611, 0x7feb0cb6, 0x7fead30c, 0x7fea9914, 0x7fea5ecc,
+    0x7fea2436, 0x7fe9e950,
+  0x7fe9ae1c, 0x7fe97299, 0x7fe936c7, 0x7fe8faa6, 0x7fe8be36, 0x7fe88177,
+    0x7fe84469, 0x7fe8070d,
+  0x7fe7c961, 0x7fe78b67, 0x7fe74d1e, 0x7fe70e85, 0x7fe6cf9e, 0x7fe69068,
+    0x7fe650e3, 0x7fe61110,
+  0x7fe5d0ed, 0x7fe5907b, 0x7fe54fbb, 0x7fe50eac, 0x7fe4cd4d, 0x7fe48ba0,
+    0x7fe449a4, 0x7fe40759,
+  0x7fe3c4bf, 0x7fe381d7, 0x7fe33e9f, 0x7fe2fb19, 0x7fe2b743, 0x7fe2731f,
+    0x7fe22eac, 0x7fe1e9ea,
+  0x7fe1a4d9, 0x7fe15f79, 0x7fe119cb, 0x7fe0d3cd, 0x7fe08d81, 0x7fe046e5,
+    0x7fdffffb, 0x7fdfb8c2,
+  0x7fdf713a, 0x7fdf2963, 0x7fdee13e, 0x7fde98c9, 0x7fde5006, 0x7fde06f3,
+    0x7fddbd92, 0x7fdd73e2,
+  0x7fdd29e3, 0x7fdcdf95, 0x7fdc94f9, 0x7fdc4a0d, 0x7fdbfed3, 0x7fdbb349,
+    0x7fdb6771, 0x7fdb1b4a,
+  0x7fdaced4, 0x7fda820f, 0x7fda34fc, 0x7fd9e799, 0x7fd999e8, 0x7fd94be8,
+    0x7fd8fd98, 0x7fd8aefa,
+  0x7fd8600e, 0x7fd810d2, 0x7fd7c147, 0x7fd7716e, 0x7fd72146, 0x7fd6d0cf,
+    0x7fd68009, 0x7fd62ef4,
+  0x7fd5dd90, 0x7fd58bdd, 0x7fd539dc, 0x7fd4e78c, 0x7fd494ed, 0x7fd441ff,
+    0x7fd3eec2, 0x7fd39b36,
+  0x7fd3475c, 0x7fd2f332, 0x7fd29eba, 0x7fd249f3, 0x7fd1f4dd, 0x7fd19f78,
+    0x7fd149c5, 0x7fd0f3c2,
+  0x7fd09d71, 0x7fd046d1, 0x7fcfefe2, 0x7fcf98a4, 0x7fcf4117, 0x7fcee93c,
+    0x7fce9112, 0x7fce3898,
+  0x7fcddfd0, 0x7fcd86b9, 0x7fcd2d54, 0x7fccd39f, 0x7fcc799c, 0x7fcc1f4a,
+    0x7fcbc4a9, 0x7fcb69b9,
+  0x7fcb0e7a, 0x7fcab2ed, 0x7fca5710, 0x7fc9fae5, 0x7fc99e6b, 0x7fc941a2,
+    0x7fc8e48b, 0x7fc88724,
+  0x7fc8296f, 0x7fc7cb6b, 0x7fc76d18, 0x7fc70e76, 0x7fc6af86, 0x7fc65046,
+    0x7fc5f0b8, 0x7fc590db,
+  0x7fc530af, 0x7fc4d035, 0x7fc46f6b, 0x7fc40e53, 0x7fc3acec, 0x7fc34b36,
+    0x7fc2e931, 0x7fc286de,
+  0x7fc2243b, 0x7fc1c14a, 0x7fc15e0a, 0x7fc0fa7b, 0x7fc0969e, 0x7fc03271,
+    0x7fbfcdf6, 0x7fbf692c,
+  0x7fbf0414, 0x7fbe9eac, 0x7fbe38f6, 0x7fbdd2f0, 0x7fbd6c9c, 0x7fbd05fa,
+    0x7fbc9f08, 0x7fbc37c8,
+  0x7fbbd039, 0x7fbb685b, 0x7fbb002e, 0x7fba97b2, 0x7fba2ee8, 0x7fb9c5cf,
+    0x7fb95c67, 0x7fb8f2b0,
+  0x7fb888ab, 0x7fb81e57, 0x7fb7b3b4, 0x7fb748c2, 0x7fb6dd81, 0x7fb671f2,
+    0x7fb60614, 0x7fb599e7,
+  0x7fb52d6b, 0x7fb4c0a1, 0x7fb45387, 0x7fb3e61f, 0x7fb37869, 0x7fb30a63,
+    0x7fb29c0f, 0x7fb22d6c,
+  0x7fb1be7a, 0x7fb14f39, 0x7fb0dfaa, 0x7fb06fcb, 0x7fafff9e, 0x7faf8f23,
+    0x7faf1e58, 0x7faead3f,
+  0x7fae3bd7, 0x7fadca20, 0x7fad581b, 0x7face5c6, 0x7fac7323, 0x7fac0031,
+    0x7fab8cf1, 0x7fab1962,
+  0x7faaa584, 0x7faa3157, 0x7fa9bcdb, 0x7fa94811, 0x7fa8d2f8, 0x7fa85d90,
+    0x7fa7e7d9, 0x7fa771d4,
+  0x7fa6fb80, 0x7fa684dd, 0x7fa60dec, 0x7fa596ac, 0x7fa51f1d, 0x7fa4a73f,
+    0x7fa42f12, 0x7fa3b697,
+  0x7fa33dcd, 0x7fa2c4b5, 0x7fa24b4d, 0x7fa1d197, 0x7fa15792, 0x7fa0dd3f,
+    0x7fa0629c, 0x7f9fe7ab,
+  0x7f9f6c6b, 0x7f9ef0dd, 0x7f9e7500, 0x7f9df8d4, 0x7f9d7c59, 0x7f9cff90,
+    0x7f9c8278, 0x7f9c0511,
+  0x7f9b875b, 0x7f9b0957, 0x7f9a8b04, 0x7f9a0c62, 0x7f998d72, 0x7f990e33,
+    0x7f988ea5, 0x7f980ec8,
+  0x7f978e9d, 0x7f970e23, 0x7f968d5b, 0x7f960c43, 0x7f958add, 0x7f950929,
+    0x7f948725, 0x7f9404d3,
+  0x7f938232, 0x7f92ff43, 0x7f927c04, 0x7f91f878, 0x7f91749c, 0x7f90f072,
+    0x7f906bf9, 0x7f8fe731,
+  0x7f8f621b, 0x7f8edcb6, 0x7f8e5702, 0x7f8dd0ff, 0x7f8d4aae, 0x7f8cc40f,
+    0x7f8c3d20, 0x7f8bb5e3,
+  0x7f8b2e57, 0x7f8aa67d, 0x7f8a1e54, 0x7f8995dc, 0x7f890d15, 0x7f888400,
+    0x7f87fa9c, 0x7f8770ea,
+  0x7f86e6e9, 0x7f865c99, 0x7f85d1fa, 0x7f85470d, 0x7f84bbd1, 0x7f843047,
+    0x7f83a46e, 0x7f831846,
+  0x7f828bcf, 0x7f81ff0a, 0x7f8171f6, 0x7f80e494, 0x7f8056e3, 0x7f7fc8e3,
+    0x7f7f3a95, 0x7f7eabf8,
+  0x7f7e1d0c, 0x7f7d8dd2, 0x7f7cfe49, 0x7f7c6e71, 0x7f7bde4b, 0x7f7b4dd6,
+    0x7f7abd13, 0x7f7a2c01,
+  0x7f799aa0, 0x7f7908f0, 0x7f7876f2, 0x7f77e4a6, 0x7f77520a, 0x7f76bf21,
+    0x7f762be8, 0x7f759861,
+  0x7f75048b, 0x7f747067, 0x7f73dbf4, 0x7f734732, 0x7f72b222, 0x7f721cc3,
+    0x7f718715, 0x7f70f119,
+  0x7f705ace, 0x7f6fc435, 0x7f6f2d4d, 0x7f6e9617, 0x7f6dfe91, 0x7f6d66be,
+    0x7f6cce9b, 0x7f6c362a,
+  0x7f6b9d6b, 0x7f6b045d, 0x7f6a6b00, 0x7f69d154, 0x7f69375a, 0x7f689d12,
+    0x7f68027b, 0x7f676795,
+  0x7f66cc61, 0x7f6630de, 0x7f65950c, 0x7f64f8ec, 0x7f645c7d, 0x7f63bfc0,
+    0x7f6322b4, 0x7f62855a,
+  0x7f61e7b1, 0x7f6149b9, 0x7f60ab73, 0x7f600cdf, 0x7f5f6dfb, 0x7f5ecec9,
+    0x7f5e2f49, 0x7f5d8f7a,
+  0x7f5cef5c, 0x7f5c4ef0, 0x7f5bae36, 0x7f5b0d2c, 0x7f5a6bd5, 0x7f59ca2e,
+    0x7f592839, 0x7f5885f6,
+  0x7f57e364, 0x7f574083, 0x7f569d54, 0x7f55f9d6, 0x7f55560a, 0x7f54b1ef,
+    0x7f540d86, 0x7f5368ce,
+  0x7f52c3c8, 0x7f521e73, 0x7f5178cf, 0x7f50d2dd, 0x7f502c9d, 0x7f4f860e,
+    0x7f4edf30, 0x7f4e3804,
+  0x7f4d9089, 0x7f4ce8c0, 0x7f4c40a8, 0x7f4b9842, 0x7f4aef8d, 0x7f4a468a,
+    0x7f499d38, 0x7f48f398,
+  0x7f4849a9, 0x7f479f6c, 0x7f46f4e0, 0x7f464a06, 0x7f459edd, 0x7f44f365,
+    0x7f44479f, 0x7f439b8b,
+  0x7f42ef28, 0x7f424277, 0x7f419577, 0x7f40e828, 0x7f403a8b, 0x7f3f8ca0,
+    0x7f3ede66, 0x7f3e2fde,
+  0x7f3d8107, 0x7f3cd1e2, 0x7f3c226e, 0x7f3b72ab, 0x7f3ac29b, 0x7f3a123b,
+    0x7f39618e, 0x7f38b091,
+  0x7f37ff47, 0x7f374dad, 0x7f369bc6, 0x7f35e990, 0x7f35370b, 0x7f348438,
+    0x7f33d116, 0x7f331da6,
+  0x7f3269e8, 0x7f31b5db, 0x7f31017f, 0x7f304cd6, 0x7f2f97dd, 0x7f2ee296,
+    0x7f2e2d01, 0x7f2d771e,
+  0x7f2cc0eb, 0x7f2c0a6b, 0x7f2b539c, 0x7f2a9c7e, 0x7f29e512, 0x7f292d58,
+    0x7f28754f, 0x7f27bcf8,
+  0x7f270452, 0x7f264b5e, 0x7f25921c, 0x7f24d88b, 0x7f241eab, 0x7f23647e,
+    0x7f22aa01, 0x7f21ef37,
+  0x7f21341e, 0x7f2078b6, 0x7f1fbd00, 0x7f1f00fc, 0x7f1e44a9, 0x7f1d8808,
+    0x7f1ccb18, 0x7f1c0dda,
+  0x7f1b504e, 0x7f1a9273, 0x7f19d44a, 0x7f1915d2, 0x7f18570c, 0x7f1797f8,
+    0x7f16d895, 0x7f1618e4,
+  0x7f1558e4, 0x7f149896, 0x7f13d7fa, 0x7f13170f, 0x7f1255d6, 0x7f11944f,
+    0x7f10d279, 0x7f101054,
+  0x7f0f4de2, 0x7f0e8b21, 0x7f0dc811, 0x7f0d04b3, 0x7f0c4107, 0x7f0b7d0d,
+    0x7f0ab8c4, 0x7f09f42d,
+  0x7f092f47, 0x7f086a13, 0x7f07a491, 0x7f06dec0, 0x7f0618a1, 0x7f055233,
+    0x7f048b78, 0x7f03c46d,
+  0x7f02fd15, 0x7f02356e, 0x7f016d79, 0x7f00a535, 0x7effdca4, 0x7eff13c3,
+    0x7efe4a95, 0x7efd8118,
+  0x7efcb74d, 0x7efbed33, 0x7efb22cb, 0x7efa5815, 0x7ef98d11, 0x7ef8c1be,
+    0x7ef7f61d, 0x7ef72a2d,
+  0x7ef65def, 0x7ef59163, 0x7ef4c489, 0x7ef3f760, 0x7ef329e9, 0x7ef25c24,
+    0x7ef18e10, 0x7ef0bfae,
+  0x7eeff0fe, 0x7eef21ff, 0x7eee52b2, 0x7eed8317, 0x7eecb32d, 0x7eebe2f6,
+    0x7eeb1270, 0x7eea419b,
+  0x7ee97079, 0x7ee89f08, 0x7ee7cd49, 0x7ee6fb3b, 0x7ee628df, 0x7ee55635,
+    0x7ee4833d, 0x7ee3aff6,
+  0x7ee2dc61, 0x7ee2087e, 0x7ee1344d, 0x7ee05fcd, 0x7edf8aff, 0x7edeb5e3,
+    0x7edde079, 0x7edd0ac0,
+  0x7edc34b9, 0x7edb5e64, 0x7eda87c0, 0x7ed9b0ce, 0x7ed8d98e, 0x7ed80200,
+    0x7ed72a24, 0x7ed651f9,
+  0x7ed57980, 0x7ed4a0b9, 0x7ed3c7a3, 0x7ed2ee40, 0x7ed2148e, 0x7ed13a8e,
+    0x7ed0603f, 0x7ecf85a3,
+  0x7eceaab8, 0x7ecdcf7f, 0x7eccf3f8, 0x7ecc1822, 0x7ecb3bff, 0x7eca5f8d,
+    0x7ec982cd, 0x7ec8a5bf,
+  0x7ec7c862, 0x7ec6eab7, 0x7ec60cbe, 0x7ec52e77, 0x7ec44fe2, 0x7ec370fe,
+    0x7ec291cd, 0x7ec1b24d,
+  0x7ec0d27f, 0x7ebff263, 0x7ebf11f8, 0x7ebe313f, 0x7ebd5039, 0x7ebc6ee4,
+    0x7ebb8d40, 0x7ebaab4f,
+  0x7eb9c910, 0x7eb8e682, 0x7eb803a6, 0x7eb7207c, 0x7eb63d04, 0x7eb5593d,
+    0x7eb47529, 0x7eb390c6,
+  0x7eb2ac15, 0x7eb1c716, 0x7eb0e1c9, 0x7eaffc2e, 0x7eaf1645, 0x7eae300d,
+    0x7ead4987, 0x7eac62b3,
+  0x7eab7b91, 0x7eaa9421, 0x7ea9ac63, 0x7ea8c457, 0x7ea7dbfc, 0x7ea6f353,
+    0x7ea60a5d, 0x7ea52118,
+  0x7ea43785, 0x7ea34da4, 0x7ea26374, 0x7ea178f7, 0x7ea08e2b, 0x7e9fa312,
+    0x7e9eb7aa, 0x7e9dcbf4,
+  0x7e9cdff0, 0x7e9bf39e, 0x7e9b06fe, 0x7e9a1a10, 0x7e992cd4, 0x7e983f49,
+    0x7e975171, 0x7e96634a,
+  0x7e9574d6, 0x7e948613, 0x7e939702, 0x7e92a7a3, 0x7e91b7f6, 0x7e90c7fb,
+    0x7e8fd7b2, 0x7e8ee71b,
+  0x7e8df636, 0x7e8d0502, 0x7e8c1381, 0x7e8b21b1, 0x7e8a2f94, 0x7e893d28,
+    0x7e884a6f, 0x7e875767,
+  0x7e866411, 0x7e85706d, 0x7e847c7c, 0x7e83883c, 0x7e8293ae, 0x7e819ed2,
+    0x7e80a9a8, 0x7e7fb430,
+  0x7e7ebe6a, 0x7e7dc856, 0x7e7cd1f4, 0x7e7bdb44, 0x7e7ae446, 0x7e79ecf9,
+    0x7e78f55f, 0x7e77fd77,
+  0x7e770541, 0x7e760cbd, 0x7e7513ea, 0x7e741aca, 0x7e73215c, 0x7e7227a0,
+    0x7e712d96, 0x7e70333d,
+  0x7e6f3897, 0x7e6e3da3, 0x7e6d4261, 0x7e6c46d1, 0x7e6b4af2, 0x7e6a4ec6,
+    0x7e69524c, 0x7e685584,
+  0x7e67586e, 0x7e665b0a, 0x7e655d58, 0x7e645f58, 0x7e63610a, 0x7e62626e,
+    0x7e616384, 0x7e60644c,
+  0x7e5f64c7, 0x7e5e64f3, 0x7e5d64d1, 0x7e5c6461, 0x7e5b63a4, 0x7e5a6298,
+    0x7e59613f, 0x7e585f97,
+  0x7e575da2, 0x7e565b5f, 0x7e5558ce, 0x7e5455ef, 0x7e5352c1, 0x7e524f46,
+    0x7e514b7e, 0x7e504767,
+  0x7e4f4302, 0x7e4e3e4f, 0x7e4d394f, 0x7e4c3400, 0x7e4b2e64, 0x7e4a287a,
+    0x7e492241, 0x7e481bbb,
+  0x7e4714e7, 0x7e460dc5, 0x7e450656, 0x7e43fe98, 0x7e42f68c, 0x7e41ee33,
+    0x7e40e58c, 0x7e3fdc97,
+  0x7e3ed353, 0x7e3dc9c3, 0x7e3cbfe4, 0x7e3bb5b7, 0x7e3aab3c, 0x7e39a074,
+    0x7e38955e, 0x7e3789fa,
+  0x7e367e48, 0x7e357248, 0x7e3465fa, 0x7e33595e, 0x7e324c75, 0x7e313f3e,
+    0x7e3031b9, 0x7e2f23e6,
+  0x7e2e15c5, 0x7e2d0756, 0x7e2bf89a, 0x7e2ae990, 0x7e29da38, 0x7e28ca92,
+    0x7e27ba9e, 0x7e26aa5d,
+  0x7e2599cd, 0x7e2488f0, 0x7e2377c5, 0x7e22664c, 0x7e215486, 0x7e204271,
+    0x7e1f300f, 0x7e1e1d5f,
+  0x7e1d0a61, 0x7e1bf716, 0x7e1ae37c, 0x7e19cf95, 0x7e18bb60, 0x7e17a6dd,
+    0x7e16920d, 0x7e157cee,
+  0x7e146782, 0x7e1351c9, 0x7e123bc1, 0x7e11256c, 0x7e100ec8, 0x7e0ef7d7,
+    0x7e0de099, 0x7e0cc90c,
+  0x7e0bb132, 0x7e0a990a, 0x7e098095, 0x7e0867d1, 0x7e074ec0, 0x7e063561,
+    0x7e051bb4, 0x7e0401ba,
+  0x7e02e772, 0x7e01ccdc, 0x7e00b1f9, 0x7dff96c7, 0x7dfe7b48, 0x7dfd5f7b,
+    0x7dfc4361, 0x7dfb26f9,
+  0x7dfa0a43, 0x7df8ed3f, 0x7df7cfee, 0x7df6b24f, 0x7df59462, 0x7df47628,
+    0x7df357a0, 0x7df238ca,
+  0x7df119a7, 0x7deffa35, 0x7deeda77, 0x7dedba6a, 0x7dec9a10, 0x7deb7968,
+    0x7dea5872, 0x7de9372f,
+  0x7de8159e, 0x7de6f3c0, 0x7de5d193, 0x7de4af1a, 0x7de38c52, 0x7de2693d,
+    0x7de145da, 0x7de02229,
+  0x7ddefe2b, 0x7dddd9e0, 0x7ddcb546, 0x7ddb905f, 0x7dda6b2a, 0x7dd945a8,
+    0x7dd81fd8, 0x7dd6f9ba,
+  0x7dd5d34f, 0x7dd4ac96, 0x7dd38590, 0x7dd25e3c, 0x7dd1369a, 0x7dd00eab,
+    0x7dcee66e, 0x7dcdbde3,
+  0x7dcc950b, 0x7dcb6be6, 0x7dca4272, 0x7dc918b1, 0x7dc7eea3, 0x7dc6c447,
+    0x7dc5999d, 0x7dc46ea6,
+  0x7dc34361, 0x7dc217cf, 0x7dc0ebef, 0x7dbfbfc1, 0x7dbe9346, 0x7dbd667d,
+    0x7dbc3967, 0x7dbb0c03,
+  0x7db9de52, 0x7db8b053, 0x7db78207, 0x7db6536d, 0x7db52485, 0x7db3f550,
+    0x7db2c5cd, 0x7db195fd,
+  0x7db065df, 0x7daf3574, 0x7dae04bb, 0x7dacd3b5, 0x7daba261, 0x7daa70c0,
+    0x7da93ed1, 0x7da80c95,
+  0x7da6da0b, 0x7da5a733, 0x7da4740e, 0x7da3409c, 0x7da20cdc, 0x7da0d8cf,
+    0x7d9fa474, 0x7d9e6fcb,
+  0x7d9d3ad6, 0x7d9c0592, 0x7d9ad001, 0x7d999a23, 0x7d9863f7, 0x7d972d7e,
+    0x7d95f6b7, 0x7d94bfa3,
+  0x7d938841, 0x7d925092, 0x7d911896, 0x7d8fe04c, 0x7d8ea7b4, 0x7d8d6ecf,
+    0x7d8c359d, 0x7d8afc1d,
+  0x7d89c250, 0x7d888835, 0x7d874dcd, 0x7d861317, 0x7d84d814, 0x7d839cc4,
+    0x7d826126, 0x7d81253a,
+  0x7d7fe902, 0x7d7eac7c, 0x7d7d6fa8, 0x7d7c3287, 0x7d7af519, 0x7d79b75d,
+    0x7d787954, 0x7d773afd,
+  0x7d75fc59, 0x7d74bd68, 0x7d737e29, 0x7d723e9d, 0x7d70fec4, 0x7d6fbe9d,
+    0x7d6e7e29, 0x7d6d3d67,
+  0x7d6bfc58, 0x7d6abafc, 0x7d697952, 0x7d68375b, 0x7d66f517, 0x7d65b285,
+    0x7d646fa6, 0x7d632c79,
+  0x7d61e8ff, 0x7d60a538, 0x7d5f6124, 0x7d5e1cc2, 0x7d5cd813, 0x7d5b9316,
+    0x7d5a4dcc, 0x7d590835,
+  0x7d57c251, 0x7d567c1f, 0x7d5535a0, 0x7d53eed3, 0x7d52a7ba, 0x7d516053,
+    0x7d50189e, 0x7d4ed09d,
+  0x7d4d884e, 0x7d4c3fb1, 0x7d4af6c8, 0x7d49ad91, 0x7d48640d, 0x7d471a3c,
+    0x7d45d01d, 0x7d4485b1,
+  0x7d433af8, 0x7d41eff1, 0x7d40a49e, 0x7d3f58fd, 0x7d3e0d0e, 0x7d3cc0d3,
+    0x7d3b744a, 0x7d3a2774,
+  0x7d38da51, 0x7d378ce0, 0x7d363f23, 0x7d34f118, 0x7d33a2bf, 0x7d32541a,
+    0x7d310527, 0x7d2fb5e7,
+  0x7d2e665a, 0x7d2d1680, 0x7d2bc659, 0x7d2a75e4, 0x7d292522, 0x7d27d413,
+    0x7d2682b6, 0x7d25310d,
+  0x7d23df16, 0x7d228cd2, 0x7d213a41, 0x7d1fe762, 0x7d1e9437, 0x7d1d40be,
+    0x7d1becf8, 0x7d1a98e5,
+  0x7d194485, 0x7d17efd8, 0x7d169add, 0x7d154595, 0x7d13f001, 0x7d129a1f,
+    0x7d1143ef, 0x7d0fed73,
+  0x7d0e96aa, 0x7d0d3f93, 0x7d0be82f, 0x7d0a907e, 0x7d093880, 0x7d07e035,
+    0x7d06879d, 0x7d052eb8,
+  0x7d03d585, 0x7d027c05, 0x7d012239, 0x7cffc81f, 0x7cfe6db8, 0x7cfd1304,
+    0x7cfbb803, 0x7cfa5cb4,
+  0x7cf90119, 0x7cf7a531, 0x7cf648fb, 0x7cf4ec79, 0x7cf38fa9, 0x7cf2328c,
+    0x7cf0d522, 0x7cef776b,
+  0x7cee1967, 0x7cecbb16, 0x7ceb5c78, 0x7ce9fd8d, 0x7ce89e55, 0x7ce73ed0,
+    0x7ce5defd, 0x7ce47ede,
+  0x7ce31e72, 0x7ce1bdb8, 0x7ce05cb2, 0x7cdefb5e, 0x7cdd99be, 0x7cdc37d0,
+    0x7cdad596, 0x7cd9730e,
+  0x7cd8103a, 0x7cd6ad18, 0x7cd549aa, 0x7cd3e5ee, 0x7cd281e5, 0x7cd11d90,
+    0x7ccfb8ed, 0x7cce53fe,
+  0x7ccceec1, 0x7ccb8937, 0x7cca2361, 0x7cc8bd3d, 0x7cc756cd, 0x7cc5f010,
+    0x7cc48905, 0x7cc321ae,
+  0x7cc1ba09, 0x7cc05218, 0x7cbee9da, 0x7cbd814f, 0x7cbc1877, 0x7cbaaf51,
+    0x7cb945df, 0x7cb7dc20,
+  0x7cb67215, 0x7cb507bc, 0x7cb39d16, 0x7cb23223, 0x7cb0c6e4, 0x7caf5b57,
+    0x7cadef7e, 0x7cac8358,
+  0x7cab16e4, 0x7ca9aa24, 0x7ca83d17, 0x7ca6cfbd, 0x7ca56216, 0x7ca3f423,
+    0x7ca285e2, 0x7ca11755,
+  0x7c9fa87a, 0x7c9e3953, 0x7c9cc9df, 0x7c9b5a1e, 0x7c99ea10, 0x7c9879b6,
+    0x7c97090e, 0x7c95981a,
+  0x7c9426d8, 0x7c92b54a, 0x7c91436f, 0x7c8fd148, 0x7c8e5ed3, 0x7c8cec12,
+    0x7c8b7903, 0x7c8a05a8,
+  0x7c889200, 0x7c871e0c, 0x7c85a9ca, 0x7c84353c, 0x7c82c060, 0x7c814b39,
+    0x7c7fd5c4, 0x7c7e6002,
+  0x7c7ce9f4, 0x7c7b7399, 0x7c79fcf1, 0x7c7885fc, 0x7c770eba, 0x7c75972c,
+    0x7c741f51, 0x7c72a729,
+  0x7c712eb5, 0x7c6fb5f3, 0x7c6e3ce5, 0x7c6cc38a, 0x7c6b49e3, 0x7c69cfee,
+    0x7c6855ad, 0x7c66db1f,
+  0x7c656045, 0x7c63e51e, 0x7c6269aa, 0x7c60ede9, 0x7c5f71db, 0x7c5df581,
+    0x7c5c78da, 0x7c5afbe6,
+  0x7c597ea6, 0x7c580119, 0x7c56833f, 0x7c550519, 0x7c5386a6, 0x7c5207e6,
+    0x7c5088d9, 0x7c4f0980,
+  0x7c4d89da, 0x7c4c09e8, 0x7c4a89a8, 0x7c49091c, 0x7c478844, 0x7c46071f,
+    0x7c4485ad, 0x7c4303ee,
+  0x7c4181e3, 0x7c3fff8b, 0x7c3e7ce7, 0x7c3cf9f5, 0x7c3b76b8, 0x7c39f32d,
+    0x7c386f56, 0x7c36eb33,
+  0x7c3566c2, 0x7c33e205, 0x7c325cfc, 0x7c30d7a6, 0x7c2f5203, 0x7c2dcc14,
+    0x7c2c45d8, 0x7c2abf4f,
+  0x7c29387a, 0x7c27b158, 0x7c2629ea, 0x7c24a22f, 0x7c231a28, 0x7c2191d4,
+    0x7c200933, 0x7c1e8046,
+  0x7c1cf70c, 0x7c1b6d86, 0x7c19e3b3, 0x7c185994, 0x7c16cf28, 0x7c15446f,
+    0x7c13b96a, 0x7c122e19,
+  0x7c10a27b, 0x7c0f1690, 0x7c0d8a59, 0x7c0bfdd5, 0x7c0a7105, 0x7c08e3e8,
+    0x7c07567f, 0x7c05c8c9,
+  0x7c043ac7, 0x7c02ac78, 0x7c011ddd, 0x7bff8ef5, 0x7bfdffc1, 0x7bfc7041,
+    0x7bfae073, 0x7bf9505a,
+  0x7bf7bff4, 0x7bf62f41, 0x7bf49e42, 0x7bf30cf6, 0x7bf17b5e, 0x7befe97a,
+    0x7bee5749, 0x7becc4cc,
+  0x7beb3202, 0x7be99eec, 0x7be80b89, 0x7be677da, 0x7be4e3df, 0x7be34f97,
+    0x7be1bb02, 0x7be02621,
+  0x7bde90f4, 0x7bdcfb7b, 0x7bdb65b5, 0x7bd9cfa2, 0x7bd83944, 0x7bd6a298,
+    0x7bd50ba1, 0x7bd3745d,
+  0x7bd1dccc, 0x7bd044f0, 0x7bceacc7, 0x7bcd1451, 0x7bcb7b8f, 0x7bc9e281,
+    0x7bc84927, 0x7bc6af80,
+  0x7bc5158c, 0x7bc37b4d, 0x7bc1e0c1, 0x7bc045e9, 0x7bbeaac4, 0x7bbd0f53,
+    0x7bbb7396, 0x7bb9d78c,
+  0x7bb83b36, 0x7bb69e94, 0x7bb501a5, 0x7bb3646a, 0x7bb1c6e3, 0x7bb02910,
+    0x7bae8af0, 0x7bacec84,
+  0x7bab4dcc, 0x7ba9aec7, 0x7ba80f76, 0x7ba66fd9, 0x7ba4cfef, 0x7ba32fba,
+    0x7ba18f38, 0x7b9fee69,
+  0x7b9e4d4f, 0x7b9cabe8, 0x7b9b0a35, 0x7b996836, 0x7b97c5ea, 0x7b962352,
+    0x7b94806e, 0x7b92dd3e,
+  0x7b9139c2, 0x7b8f95f9, 0x7b8df1e4, 0x7b8c4d83, 0x7b8aa8d6, 0x7b8903dc,
+    0x7b875e96, 0x7b85b904,
+  0x7b841326, 0x7b826cfc, 0x7b80c686, 0x7b7f1fc3, 0x7b7d78b4, 0x7b7bd159,
+    0x7b7a29b2, 0x7b7881be,
+  0x7b76d97f, 0x7b7530f3, 0x7b73881b, 0x7b71def7, 0x7b703587, 0x7b6e8bcb,
+    0x7b6ce1c2, 0x7b6b376e,
+  0x7b698ccd, 0x7b67e1e0, 0x7b6636a7, 0x7b648b22, 0x7b62df51, 0x7b613334,
+    0x7b5f86ca, 0x7b5dda15,
+  0x7b5c2d13, 0x7b5a7fc6, 0x7b58d22c, 0x7b572446, 0x7b557614, 0x7b53c796,
+    0x7b5218cc, 0x7b5069b6,
+  0x7b4eba53, 0x7b4d0aa5, 0x7b4b5aab, 0x7b49aa64, 0x7b47f9d2, 0x7b4648f3,
+    0x7b4497c9, 0x7b42e652,
+  0x7b413490, 0x7b3f8281, 0x7b3dd026, 0x7b3c1d80, 0x7b3a6a8d, 0x7b38b74e,
+    0x7b3703c3, 0x7b354fed,
+  0x7b339bca, 0x7b31e75b, 0x7b3032a0, 0x7b2e7d9a, 0x7b2cc847, 0x7b2b12a8,
+    0x7b295cbe, 0x7b27a687,
+  0x7b25f004, 0x7b243936, 0x7b22821b, 0x7b20cab5, 0x7b1f1302, 0x7b1d5b04,
+    0x7b1ba2b9, 0x7b19ea23,
+  0x7b183141, 0x7b167813, 0x7b14be99, 0x7b1304d3, 0x7b114ac1, 0x7b0f9063,
+    0x7b0dd5b9, 0x7b0c1ac4,
+  0x7b0a5f82, 0x7b08a3f5, 0x7b06e81b, 0x7b052bf6, 0x7b036f85, 0x7b01b2c8,
+    0x7afff5bf, 0x7afe386a,
+  0x7afc7aca, 0x7afabcdd, 0x7af8fea5, 0x7af74021, 0x7af58151, 0x7af3c235,
+    0x7af202cd, 0x7af0431a,
+  0x7aee831a, 0x7aecc2cf, 0x7aeb0238, 0x7ae94155, 0x7ae78026, 0x7ae5beac,
+    0x7ae3fce6, 0x7ae23ad4,
+  0x7ae07876, 0x7adeb5cc, 0x7adcf2d6, 0x7adb2f95, 0x7ad96c08, 0x7ad7a82f,
+    0x7ad5e40a, 0x7ad41f9a,
+  0x7ad25ade, 0x7ad095d6, 0x7aced082, 0x7acd0ae3, 0x7acb44f8, 0x7ac97ec1,
+    0x7ac7b83e, 0x7ac5f170,
+  0x7ac42a55, 0x7ac262ef, 0x7ac09b3e, 0x7abed341, 0x7abd0af7, 0x7abb4263,
+    0x7ab97982, 0x7ab7b056,
+  0x7ab5e6de, 0x7ab41d1b, 0x7ab2530b, 0x7ab088b0, 0x7aaebe0a, 0x7aacf318,
+    0x7aab27da, 0x7aa95c50,
+  0x7aa7907b, 0x7aa5c45a, 0x7aa3f7ed, 0x7aa22b35, 0x7aa05e31, 0x7a9e90e1,
+    0x7a9cc346, 0x7a9af55f,
+  0x7a99272d, 0x7a9758af, 0x7a9589e5, 0x7a93bad0, 0x7a91eb6f, 0x7a901bc2,
+    0x7a8e4bca, 0x7a8c7b87,
+  0x7a8aaaf7, 0x7a88da1c, 0x7a8708f6, 0x7a853784, 0x7a8365c6, 0x7a8193bd,
+    0x7a7fc168, 0x7a7deec8,
+  0x7a7c1bdc, 0x7a7a48a4, 0x7a787521, 0x7a76a153, 0x7a74cd38, 0x7a72f8d3,
+    0x7a712422, 0x7a6f4f25,
+  0x7a6d79dd, 0x7a6ba449, 0x7a69ce6a, 0x7a67f83f, 0x7a6621c9, 0x7a644b07,
+    0x7a6273fa, 0x7a609ca1,
+  0x7a5ec4fc, 0x7a5ced0d, 0x7a5b14d1, 0x7a593c4b, 0x7a576379, 0x7a558a5b,
+    0x7a53b0f2, 0x7a51d73d,
+  0x7a4ffd3d, 0x7a4e22f2, 0x7a4c485b, 0x7a4a6d78, 0x7a48924b, 0x7a46b6d1,
+    0x7a44db0d, 0x7a42fefd,
+  0x7a4122a1, 0x7a3f45fa, 0x7a3d6908, 0x7a3b8bca, 0x7a39ae41, 0x7a37d06d,
+    0x7a35f24d, 0x7a3413e2,
+  0x7a32352b, 0x7a305629, 0x7a2e76dc, 0x7a2c9743, 0x7a2ab75f, 0x7a28d72f,
+    0x7a26f6b4, 0x7a2515ee,
+  0x7a2334dd, 0x7a215380, 0x7a1f71d7, 0x7a1d8fe4, 0x7a1bada5, 0x7a19cb1b,
+    0x7a17e845, 0x7a160524,
+  0x7a1421b8, 0x7a123e01, 0x7a1059fe, 0x7a0e75b0, 0x7a0c9117, 0x7a0aac32,
+    0x7a08c702, 0x7a06e187,
+  0x7a04fbc1, 0x7a0315af, 0x7a012f52, 0x79ff48aa, 0x79fd61b6, 0x79fb7a77,
+    0x79f992ed, 0x79f7ab18,
+  0x79f5c2f8, 0x79f3da8c, 0x79f1f1d5, 0x79f008d3, 0x79ee1f86, 0x79ec35ed,
+    0x79ea4c09, 0x79e861da,
+  0x79e67760, 0x79e48c9b, 0x79e2a18a, 0x79e0b62e, 0x79deca87, 0x79dcde95,
+    0x79daf258, 0x79d905d0,
+  0x79d718fc, 0x79d52bdd, 0x79d33e73, 0x79d150be, 0x79cf62be, 0x79cd7473,
+    0x79cb85dc, 0x79c996fb,
+  0x79c7a7ce, 0x79c5b856, 0x79c3c893, 0x79c1d885, 0x79bfe82c, 0x79bdf788,
+    0x79bc0698, 0x79ba155e,
+  0x79b823d8, 0x79b63207, 0x79b43fec, 0x79b24d85, 0x79b05ad3, 0x79ae67d6,
+    0x79ac748e, 0x79aa80fb,
+  0x79a88d1d, 0x79a698f4, 0x79a4a480, 0x79a2afc1, 0x79a0bab6, 0x799ec561,
+    0x799ccfc1, 0x799ad9d5,
+  0x7998e39f, 0x7996ed1e, 0x7994f651, 0x7992ff3a, 0x799107d8, 0x798f102a,
+    0x798d1832, 0x798b1fef,
+  0x79892761, 0x79872e87, 0x79853563, 0x79833bf4, 0x7981423a, 0x797f4835,
+    0x797d4de5, 0x797b534a,
+  0x79795864, 0x79775d33, 0x797561b8, 0x797365f1, 0x797169df, 0x796f6d83,
+    0x796d70dc, 0x796b73e9,
+  0x796976ac, 0x79677924, 0x79657b51, 0x79637d33, 0x79617eca, 0x795f8017,
+    0x795d8118, 0x795b81cf,
+  0x7959823b, 0x7957825c, 0x79558232, 0x795381bd, 0x795180fe, 0x794f7ff3,
+    0x794d7e9e, 0x794b7cfe,
+  0x79497b13, 0x794778dd, 0x7945765d, 0x79437391, 0x7941707b, 0x793f6d1a,
+    0x793d696f, 0x793b6578,
+  0x79396137, 0x79375cab, 0x793557d4, 0x793352b2, 0x79314d46, 0x792f478f,
+    0x792d418d, 0x792b3b40,
+  0x792934a9, 0x79272dc7, 0x7925269a, 0x79231f22, 0x79211760, 0x791f0f53,
+    0x791d06fb, 0x791afe59,
+  0x7918f56c, 0x7916ec34, 0x7914e2b2, 0x7912d8e4, 0x7910cecc, 0x790ec46a,
+    0x790cb9bd, 0x790aaec5,
+  0x7908a382, 0x790697f5, 0x79048c1d, 0x79027ffa, 0x7900738d, 0x78fe66d5,
+    0x78fc59d3, 0x78fa4c86,
+  0x78f83eee, 0x78f6310c, 0x78f422df, 0x78f21467, 0x78f005a5, 0x78edf698,
+    0x78ebe741, 0x78e9d79f,
+  0x78e7c7b2, 0x78e5b77b, 0x78e3a6f9, 0x78e1962d, 0x78df8516, 0x78dd73b5,
+    0x78db6209, 0x78d95012,
+  0x78d73dd1, 0x78d52b46, 0x78d31870, 0x78d1054f, 0x78cef1e4, 0x78ccde2e,
+    0x78caca2e, 0x78c8b5e3,
+  0x78c6a14e, 0x78c48c6e, 0x78c27744, 0x78c061cf, 0x78be4c10, 0x78bc3606,
+    0x78ba1fb2, 0x78b80913,
+  0x78b5f22a, 0x78b3daf7, 0x78b1c379, 0x78afabb0, 0x78ad939d, 0x78ab7b40,
+    0x78a96298, 0x78a749a6,
+  0x78a53069, 0x78a316e2, 0x78a0fd11, 0x789ee2f5, 0x789cc88f, 0x789aadde,
+    0x789892e3, 0x7896779d,
+  0x78945c0d, 0x78924033, 0x7890240e, 0x788e07a0, 0x788beae6, 0x7889cde2,
+    0x7887b094, 0x788592fc,
+  0x78837519, 0x788156ec, 0x787f3875, 0x787d19b3, 0x787afaa7, 0x7878db50,
+    0x7876bbb0, 0x78749bc5,
+  0x78727b8f, 0x78705b10, 0x786e3a46, 0x786c1932, 0x7869f7d3, 0x7867d62a,
+    0x7865b437, 0x786391fa,
+  0x78616f72, 0x785f4ca1, 0x785d2984, 0x785b061e, 0x7858e26e, 0x7856be73,
+    0x78549a2e, 0x7852759e,
+  0x785050c5, 0x784e2ba1, 0x784c0633, 0x7849e07b, 0x7847ba79, 0x7845942c,
+    0x78436d96, 0x784146b5,
+  0x783f1f8a, 0x783cf815, 0x783ad055, 0x7838a84c, 0x78367ff8, 0x7834575a,
+    0x78322e72, 0x78300540,
+  0x782ddbc4, 0x782bb1fd, 0x782987ed, 0x78275d92, 0x782532ed, 0x782307fe,
+    0x7820dcc5, 0x781eb142,
+  0x781c8575, 0x781a595d, 0x78182cfc, 0x78160051, 0x7813d35b, 0x7811a61b,
+    0x780f7892, 0x780d4abe,
+  0x780b1ca0, 0x7808ee38, 0x7806bf86, 0x7804908a, 0x78026145, 0x780031b5,
+    0x77fe01db, 0x77fbd1b6,
+  0x77f9a148, 0x77f77090, 0x77f53f8e, 0x77f30e42, 0x77f0dcac, 0x77eeaacc,
+    0x77ec78a2, 0x77ea462e,
+  0x77e81370, 0x77e5e068, 0x77e3ad17, 0x77e1797b, 0x77df4595, 0x77dd1165,
+    0x77dadcec, 0x77d8a828,
+  0x77d6731a, 0x77d43dc3, 0x77d20822, 0x77cfd236, 0x77cd9c01, 0x77cb6582,
+    0x77c92eb9, 0x77c6f7a6,
+  0x77c4c04a, 0x77c288a3, 0x77c050b2, 0x77be1878, 0x77bbdff4, 0x77b9a726,
+    0x77b76e0e, 0x77b534ac,
+  0x77b2fb00, 0x77b0c10b, 0x77ae86cc, 0x77ac4c43, 0x77aa1170, 0x77a7d653,
+    0x77a59aec, 0x77a35f3c,
+  0x77a12342, 0x779ee6fe, 0x779caa70, 0x779a6d99, 0x77983077, 0x7795f30c,
+    0x7793b557, 0x77917759,
+  0x778f3910, 0x778cfa7e, 0x778abba2, 0x77887c7d, 0x77863d0d, 0x7783fd54,
+    0x7781bd52, 0x777f7d05,
+  0x777d3c6f, 0x777afb8f, 0x7778ba65, 0x777678f2, 0x77743735, 0x7771f52e,
+    0x776fb2de, 0x776d7044,
+  0x776b2d60, 0x7768ea33, 0x7766a6bc, 0x776462fb, 0x77621ef1, 0x775fda9d,
+    0x775d95ff, 0x775b5118,
+  0x77590be7, 0x7756c66c, 0x775480a8, 0x77523a9b, 0x774ff443, 0x774dada2,
+    0x774b66b8, 0x77491f84,
+  0x7746d806, 0x7744903f, 0x7742482e, 0x773fffd4, 0x773db730, 0x773b6e42,
+    0x7739250b, 0x7736db8b,
+  0x773491c0, 0x773247ad, 0x772ffd50, 0x772db2a9, 0x772b67b9, 0x77291c7f,
+    0x7726d0fc, 0x7724852f,
+  0x77223919, 0x771fecb9, 0x771da010, 0x771b531d, 0x771905e1, 0x7716b85b,
+    0x77146a8c, 0x77121c74,
+  0x770fce12, 0x770d7f66, 0x770b3072, 0x7708e133, 0x770691ab, 0x770441da,
+    0x7701f1c0, 0x76ffa15c,
+  0x76fd50ae, 0x76faffb8, 0x76f8ae78, 0x76f65cee, 0x76f40b1b, 0x76f1b8ff,
+    0x76ef6699, 0x76ed13ea,
+  0x76eac0f2, 0x76e86db0, 0x76e61a25, 0x76e3c650, 0x76e17233, 0x76df1dcb,
+    0x76dcc91b, 0x76da7421,
+  0x76d81ede, 0x76d5c952, 0x76d3737c, 0x76d11d5d, 0x76cec6f5, 0x76cc7043,
+    0x76ca1948, 0x76c7c204,
+  0x76c56a77, 0x76c312a0, 0x76c0ba80, 0x76be6217, 0x76bc0965, 0x76b9b069,
+    0x76b75724, 0x76b4fd96,
+  0x76b2a3bf, 0x76b0499e, 0x76adef34, 0x76ab9481, 0x76a93985, 0x76a6de40,
+    0x76a482b1, 0x76a226da,
+  0x769fcab9, 0x769d6e4f, 0x769b119b, 0x7698b49f, 0x76965759, 0x7693f9ca,
+    0x76919bf3, 0x768f3dd2,
+  0x768cdf67, 0x768a80b4, 0x768821b8, 0x7685c272, 0x768362e4, 0x7681030c,
+    0x767ea2eb, 0x767c4281,
+  0x7679e1ce, 0x767780d2, 0x76751f8d, 0x7672bdfe, 0x76705c27, 0x766dfa07,
+    0x766b979d, 0x766934eb,
+  0x7666d1ef, 0x76646eab, 0x76620b1d, 0x765fa747, 0x765d4327, 0x765adebe,
+    0x76587a0d, 0x76561512,
+  0x7653afce, 0x76514a42, 0x764ee46c, 0x764c7e4d, 0x764a17e6, 0x7647b135,
+    0x76454a3c, 0x7642e2f9,
+  0x76407b6e, 0x763e139a, 0x763bab7c, 0x76394316, 0x7636da67, 0x7634716f,
+    0x7632082e, 0x762f9ea4,
+  0x762d34d1, 0x762acab6, 0x76286051, 0x7625f5a3, 0x76238aad, 0x76211f6e,
+    0x761eb3e6, 0x761c4815,
+  0x7619dbfb, 0x76176f98, 0x761502ed, 0x761295f9, 0x761028bb, 0x760dbb35,
+    0x760b4d67, 0x7608df4f,
+  0x760670ee, 0x76040245, 0x76019353, 0x75ff2418, 0x75fcb495, 0x75fa44c8,
+    0x75f7d4b3, 0x75f56455,
+  0x75f2f3ae, 0x75f082bf, 0x75ee1187, 0x75eba006, 0x75e92e3c, 0x75e6bc2a,
+    0x75e449ce, 0x75e1d72b,
+  0x75df643e, 0x75dcf109, 0x75da7d8b, 0x75d809c4, 0x75d595b4, 0x75d3215c,
+    0x75d0acbc, 0x75ce37d2,
+  0x75cbc2a0, 0x75c94d25, 0x75c6d762, 0x75c46156, 0x75c1eb01, 0x75bf7464,
+    0x75bcfd7e, 0x75ba864f,
+  0x75b80ed8, 0x75b59718, 0x75b31f0f, 0x75b0a6be, 0x75ae2e25, 0x75abb542,
+    0x75a93c18, 0x75a6c2a4,
+  0x75a448e8, 0x75a1cee4, 0x759f5496, 0x759cda01, 0x759a5f22, 0x7597e3fc,
+    0x7595688c, 0x7592ecd4,
+  0x759070d4, 0x758df48b, 0x758b77fa, 0x7588fb20, 0x75867dfd, 0x75840093,
+    0x758182df, 0x757f04e3,
+  0x757c869f, 0x757a0812, 0x7577893d, 0x75750a1f, 0x75728ab9, 0x75700b0a,
+    0x756d8b13, 0x756b0ad3,
+  0x75688a4b, 0x7566097b, 0x75638862, 0x75610701, 0x755e8557, 0x755c0365,
+    0x7559812b, 0x7556fea8,
+  0x75547bdd, 0x7551f8c9, 0x754f756e, 0x754cf1c9, 0x754a6ddd, 0x7547e9a8,
+    0x7545652a, 0x7542e065,
+  0x75405b57, 0x753dd600, 0x753b5061, 0x7538ca7b, 0x7536444b, 0x7533bdd4,
+    0x75313714, 0x752eb00c,
+  0x752c28bb, 0x7529a122, 0x75271941, 0x75249118, 0x752208a7, 0x751f7fed,
+    0x751cf6eb, 0x751a6da0,
+  0x7517e40e, 0x75155a33, 0x7512d010, 0x751045a5, 0x750dbaf2, 0x750b2ff6,
+    0x7508a4b2, 0x75061926,
+  0x75038d52, 0x75010136, 0x74fe74d1, 0x74fbe825, 0x74f95b30, 0x74f6cdf3,
+    0x74f4406d, 0x74f1b2a0,
+  0x74ef248b, 0x74ec962d, 0x74ea0787, 0x74e7789a, 0x74e4e964, 0x74e259e6,
+    0x74dfca20, 0x74dd3a11,
+  0x74daa9bb, 0x74d8191d, 0x74d58836, 0x74d2f708, 0x74d06591, 0x74cdd3d2,
+    0x74cb41cc, 0x74c8af7d,
+  0x74c61ce6, 0x74c38a07, 0x74c0f6e0, 0x74be6372, 0x74bbcfbb, 0x74b93bbc,
+    0x74b6a775, 0x74b412e6,
+  0x74b17e0f, 0x74aee8f0, 0x74ac5389, 0x74a9bddb, 0x74a727e4, 0x74a491a5,
+    0x74a1fb1e, 0x749f6450,
+  0x749ccd39, 0x749a35db, 0x74979e34, 0x74950646, 0x74926e10, 0x748fd592,
+    0x748d3ccb, 0x748aa3be,
+  0x74880a68, 0x748570ca, 0x7482d6e4, 0x74803cb7, 0x747da242, 0x747b0784,
+    0x74786c7f, 0x7475d132,
+  0x7473359e, 0x747099c1, 0x746dfd9d, 0x746b6131, 0x7468c47c, 0x74662781,
+    0x74638a3d, 0x7460ecb2,
+  0x745e4ede, 0x745bb0c3, 0x74591261, 0x745673b6, 0x7453d4c4, 0x7451358a,
+    0x744e9608, 0x744bf63e,
+  0x7449562d, 0x7446b5d4, 0x74441533, 0x7441744b, 0x743ed31b, 0x743c31a3,
+    0x74398fe3, 0x7436eddc,
+  0x74344b8d, 0x7431a8f6, 0x742f0618, 0x742c62f2, 0x7429bf84, 0x74271bcf,
+    0x742477d2, 0x7421d38e,
+  0x741f2f01, 0x741c8a2d, 0x7419e512, 0x74173faf, 0x74149a04, 0x7411f412,
+    0x740f4dd8, 0x740ca756,
+  0x740a008d, 0x7407597d, 0x7404b224, 0x74020a85, 0x73ff629d, 0x73fcba6e,
+    0x73fa11f8, 0x73f7693a,
+  0x73f4c034, 0x73f216e7, 0x73ef6d53, 0x73ecc377, 0x73ea1953, 0x73e76ee8,
+    0x73e4c435, 0x73e2193b,
+  0x73df6df9, 0x73dcc270, 0x73da16a0, 0x73d76a88, 0x73d4be28, 0x73d21182,
+    0x73cf6493, 0x73ccb75d,
+  0x73ca09e0, 0x73c75c1c, 0x73c4ae10, 0x73c1ffbc, 0x73bf5121, 0x73bca23f,
+    0x73b9f315, 0x73b743a4,
+  0x73b493ec, 0x73b1e3ec, 0x73af33a5, 0x73ac8316, 0x73a9d240, 0x73a72123,
+    0x73a46fbf, 0x73a1be13,
+  0x739f0c20, 0x739c59e5, 0x7399a763, 0x7396f49a, 0x73944189, 0x73918e32,
+    0x738eda93, 0x738c26ac,
+  0x7389727f, 0x7386be0a, 0x7384094e, 0x7381544a, 0x737e9f00, 0x737be96e,
+    0x73793395, 0x73767d74,
+  0x7373c70d, 0x7371105e, 0x736e5968, 0x736ba22b, 0x7368eaa6, 0x736632db,
+    0x73637ac8, 0x7360c26e,
+  0x735e09cd, 0x735b50e4, 0x735897b5, 0x7355de3e, 0x73532481, 0x73506a7c,
+    0x734db030, 0x734af59d,
+  0x73483ac2, 0x73457fa1, 0x7342c438, 0x73400889, 0x733d4c92, 0x733a9054,
+    0x7337d3d0, 0x73351704,
+  0x733259f1, 0x732f9c97, 0x732cdef6, 0x732a210d, 0x732762de, 0x7324a468,
+    0x7321e5ab, 0x731f26a7,
+  0x731c675b, 0x7319a7c9, 0x7316e7f0, 0x731427cf, 0x73116768, 0x730ea6ba,
+    0x730be5c5, 0x73092489,
+  0x73066306, 0x7303a13b, 0x7300df2a, 0x72fe1cd2, 0x72fb5a34, 0x72f8974e,
+    0x72f5d421, 0x72f310ad,
+  0x72f04cf3, 0x72ed88f1, 0x72eac4a9, 0x72e8001a, 0x72e53b44, 0x72e27627,
+    0x72dfb0c3, 0x72dceb18,
+  0x72da2526, 0x72d75eee, 0x72d4986f, 0x72d1d1a9, 0x72cf0a9c, 0x72cc4348,
+    0x72c97bad, 0x72c6b3cc,
+  0x72c3eba4, 0x72c12335, 0x72be5a7f, 0x72bb9183, 0x72b8c83f, 0x72b5feb5,
+    0x72b334e4, 0x72b06acd,
+  0x72ada06f, 0x72aad5c9, 0x72a80ade, 0x72a53fab, 0x72a27432, 0x729fa872,
+    0x729cdc6b, 0x729a101e,
+  0x7297438a, 0x729476af, 0x7291a98e, 0x728edc26, 0x728c0e77, 0x72894082,
+    0x72867245, 0x7283a3c3,
+  0x7280d4f9, 0x727e05e9, 0x727b3693, 0x727866f6, 0x72759712, 0x7272c6e7,
+    0x726ff676, 0x726d25bf,
+  0x726a54c1, 0x7267837c, 0x7264b1f0, 0x7261e01e, 0x725f0e06, 0x725c3ba7,
+    0x72596901, 0x72569615,
+  0x7253c2e3, 0x7250ef6a, 0x724e1baa, 0x724b47a4, 0x72487357, 0x72459ec4,
+    0x7242c9ea, 0x723ff4ca,
+  0x723d1f63, 0x723a49b6, 0x723773c3, 0x72349d89, 0x7231c708, 0x722ef041,
+    0x722c1934, 0x722941e0,
+  0x72266a46, 0x72239266, 0x7220ba3f, 0x721de1d1, 0x721b091d, 0x72183023,
+    0x721556e3, 0x72127d5c,
+  0x720fa38e, 0x720cc97b, 0x7209ef21, 0x72071480, 0x7204399a, 0x72015e6d,
+    0x71fe82f9, 0x71fba740,
+  0x71f8cb40, 0x71f5eefa, 0x71f3126d, 0x71f0359a, 0x71ed5881, 0x71ea7b22,
+    0x71e79d7c, 0x71e4bf90,
+  0x71e1e15e, 0x71df02e5, 0x71dc2427, 0x71d94522, 0x71d665d6, 0x71d38645,
+    0x71d0a66d, 0x71cdc650,
+  0x71cae5ec, 0x71c80542, 0x71c52451, 0x71c2431b, 0x71bf619e, 0x71bc7fdb,
+    0x71b99dd2, 0x71b6bb83,
+  0x71b3d8ed, 0x71b0f612, 0x71ae12f0, 0x71ab2f89, 0x71a84bdb, 0x71a567e7,
+    0x71a283ad, 0x719f9f2c,
+  0x719cba66, 0x7199d55a, 0x7196f008, 0x71940a6f, 0x71912490, 0x718e3e6c,
+    0x718b5801, 0x71887151,
+  0x71858a5a, 0x7182a31d, 0x717fbb9a, 0x717cd3d2, 0x7179ebc3, 0x7177036e,
+    0x71741ad3, 0x717131f3,
+  0x716e48cc, 0x716b5f5f, 0x716875ad, 0x71658bb4, 0x7162a175, 0x715fb6f1,
+    0x715ccc26, 0x7159e116,
+  0x7156f5c0, 0x71540a24, 0x71511e42, 0x714e321a, 0x714b45ac, 0x714858f8,
+    0x71456bfe, 0x71427ebf,
+  0x713f9139, 0x713ca36e, 0x7139b55d, 0x7136c706, 0x7133d869, 0x7130e987,
+    0x712dfa5e, 0x712b0af0,
+  0x71281b3c, 0x71252b42, 0x71223b02, 0x711f4a7d, 0x711c59b2, 0x711968a1,
+    0x7116774a, 0x711385ad,
+  0x711093cb, 0x710da1a3, 0x710aaf35, 0x7107bc82, 0x7104c989, 0x7101d64a,
+    0x70fee2c5, 0x70fbeefb,
+  0x70f8faeb, 0x70f60695, 0x70f311fa, 0x70f01d19, 0x70ed27f2, 0x70ea3286,
+    0x70e73cd4, 0x70e446dc,
+  0x70e1509f, 0x70de5a1c, 0x70db6353, 0x70d86c45, 0x70d574f1, 0x70d27d58,
+    0x70cf8579, 0x70cc8d54,
+  0x70c994ea, 0x70c69c3a, 0x70c3a345, 0x70c0aa0a, 0x70bdb08a, 0x70bab6c4,
+    0x70b7bcb8, 0x70b4c267,
+  0x70b1c7d1, 0x70aeccf5, 0x70abd1d3, 0x70a8d66c, 0x70a5dac0, 0x70a2dece,
+    0x709fe296, 0x709ce619,
+  0x7099e957, 0x7096ec4f, 0x7093ef01, 0x7090f16e, 0x708df396, 0x708af579,
+    0x7087f715, 0x7084f86d,
+  0x7081f97f, 0x707efa4c, 0x707bfad3, 0x7078fb15, 0x7075fb11, 0x7072fac9,
+    0x706ffa3a, 0x706cf967,
+  0x7069f84e, 0x7066f6f0, 0x7063f54c, 0x7060f363, 0x705df135, 0x705aeec1,
+    0x7057ec08, 0x7054e90a,
+  0x7051e5c7, 0x704ee23e, 0x704bde70, 0x7048da5d, 0x7045d604, 0x7042d166,
+    0x703fcc83, 0x703cc75b,
+  0x7039c1ed, 0x7036bc3b, 0x7033b643, 0x7030b005, 0x702da983, 0x702aa2bb,
+    0x70279baf, 0x7024945d,
+  0x70218cc6, 0x701e84e9, 0x701b7cc8, 0x70187461, 0x70156bb5, 0x701262c4,
+    0x700f598e, 0x700c5013,
+  0x70094653, 0x70063c4e, 0x70033203, 0x70002774, 0x6ffd1c9f, 0x6ffa1185,
+    0x6ff70626, 0x6ff3fa82,
+  0x6ff0ee99, 0x6fede26b, 0x6fead5f8, 0x6fe7c940, 0x6fe4bc43, 0x6fe1af01,
+    0x6fdea17a, 0x6fdb93ae,
+  0x6fd8859d, 0x6fd57746, 0x6fd268ab, 0x6fcf59cb, 0x6fcc4aa6, 0x6fc93b3c,
+    0x6fc62b8d, 0x6fc31b99,
+  0x6fc00b60, 0x6fbcfae2, 0x6fb9ea20, 0x6fb6d918, 0x6fb3c7cb, 0x6fb0b63a,
+    0x6fada464, 0x6faa9248,
+  0x6fa77fe8, 0x6fa46d43, 0x6fa15a59, 0x6f9e472b, 0x6f9b33b7, 0x6f981fff,
+    0x6f950c01, 0x6f91f7bf,
+  0x6f8ee338, 0x6f8bce6c, 0x6f88b95c, 0x6f85a407, 0x6f828e6c, 0x6f7f788d,
+    0x6f7c626a, 0x6f794c01,
+  0x6f763554, 0x6f731e62, 0x6f70072b, 0x6f6cefb0, 0x6f69d7f0, 0x6f66bfeb,
+    0x6f63a7a1, 0x6f608f13,
+  0x6f5d7640, 0x6f5a5d28, 0x6f5743cb, 0x6f542a2a, 0x6f511044, 0x6f4df61a,
+    0x6f4adbab, 0x6f47c0f7,
+  0x6f44a5ff, 0x6f418ac2, 0x6f3e6f40, 0x6f3b537a, 0x6f38376f, 0x6f351b1f,
+    0x6f31fe8b, 0x6f2ee1b2,
+  0x6f2bc495, 0x6f28a733, 0x6f25898d, 0x6f226ba2, 0x6f1f4d72, 0x6f1c2efe,
+    0x6f191045, 0x6f15f148,
+  0x6f12d206, 0x6f0fb280, 0x6f0c92b6, 0x6f0972a6, 0x6f065253, 0x6f0331ba,
+    0x6f0010de, 0x6efcefbd,
+  0x6ef9ce57, 0x6ef6acad, 0x6ef38abe, 0x6ef0688b, 0x6eed4614, 0x6eea2358,
+    0x6ee70058, 0x6ee3dd13,
+  0x6ee0b98a, 0x6edd95bd, 0x6eda71ab, 0x6ed74d55, 0x6ed428ba, 0x6ed103db,
+    0x6ecddeb8, 0x6ecab950,
+  0x6ec793a4, 0x6ec46db4, 0x6ec1477f, 0x6ebe2106, 0x6ebafa49, 0x6eb7d347,
+    0x6eb4ac02, 0x6eb18477,
+  0x6eae5ca9, 0x6eab3496, 0x6ea80c3f, 0x6ea4e3a4, 0x6ea1bac4, 0x6e9e91a1,
+    0x6e9b6839, 0x6e983e8d,
+  0x6e95149c, 0x6e91ea67, 0x6e8ebfef, 0x6e8b9532, 0x6e886a30, 0x6e853eeb,
+    0x6e821361, 0x6e7ee794,
+  0x6e7bbb82, 0x6e788f2c, 0x6e756291, 0x6e7235b3, 0x6e6f0890, 0x6e6bdb2a,
+    0x6e68ad7f, 0x6e657f90,
+  0x6e62515d, 0x6e5f22e6, 0x6e5bf42b, 0x6e58c52c, 0x6e5595e9, 0x6e526662,
+    0x6e4f3696, 0x6e4c0687,
+  0x6e48d633, 0x6e45a59c, 0x6e4274c1, 0x6e3f43a1, 0x6e3c123e, 0x6e38e096,
+    0x6e35aeab, 0x6e327c7b,
+  0x6e2f4a08, 0x6e2c1750, 0x6e28e455, 0x6e25b115, 0x6e227d92, 0x6e1f49cb,
+    0x6e1c15c0, 0x6e18e171,
+  0x6e15acde, 0x6e127807, 0x6e0f42ec, 0x6e0c0d8e, 0x6e08d7eb, 0x6e05a205,
+    0x6e026bda, 0x6dff356c,
+  0x6dfbfeba, 0x6df8c7c4, 0x6df5908b, 0x6df2590d, 0x6def214c, 0x6debe947,
+    0x6de8b0fe, 0x6de57871,
+  0x6de23fa0, 0x6ddf068c, 0x6ddbcd34, 0x6dd89398, 0x6dd559b9, 0x6dd21f95,
+    0x6dcee52e, 0x6dcbaa83,
+  0x6dc86f95, 0x6dc53462, 0x6dc1f8ec, 0x6dbebd33, 0x6dbb8135, 0x6db844f4,
+    0x6db5086f, 0x6db1cba7,
+  0x6dae8e9b, 0x6dab514b, 0x6da813b8, 0x6da4d5e1, 0x6da197c6, 0x6d9e5968,
+    0x6d9b1ac6, 0x6d97dbe0,
+  0x6d949cb7, 0x6d915d4a, 0x6d8e1d9a, 0x6d8adda6, 0x6d879d6e, 0x6d845cf3,
+    0x6d811c35, 0x6d7ddb33,
+  0x6d7a99ed, 0x6d775864, 0x6d741697, 0x6d70d487, 0x6d6d9233, 0x6d6a4f9c,
+    0x6d670cc1, 0x6d63c9a3,
+  0x6d608641, 0x6d5d429c, 0x6d59feb3, 0x6d56ba87, 0x6d537617, 0x6d503164,
+    0x6d4cec6e, 0x6d49a734,
+  0x6d4661b7, 0x6d431bf6, 0x6d3fd5f2, 0x6d3c8fab, 0x6d394920, 0x6d360252,
+    0x6d32bb40, 0x6d2f73eb,
+  0x6d2c2c53, 0x6d28e477, 0x6d259c58, 0x6d2253f6, 0x6d1f0b50, 0x6d1bc267,
+    0x6d18793b, 0x6d152fcc,
+  0x6d11e619, 0x6d0e9c23, 0x6d0b51e9, 0x6d08076d, 0x6d04bcad, 0x6d0171aa,
+    0x6cfe2663, 0x6cfadada,
+  0x6cf78f0d, 0x6cf442fd, 0x6cf0f6aa, 0x6cedaa13, 0x6cea5d3a, 0x6ce7101d,
+    0x6ce3c2bd, 0x6ce0751a,
+  0x6cdd2733, 0x6cd9d90a, 0x6cd68a9d, 0x6cd33bed, 0x6ccfecfa, 0x6ccc9dc4,
+    0x6cc94e4b, 0x6cc5fe8f,
+  0x6cc2ae90, 0x6cbf5e4d, 0x6cbc0dc8, 0x6cb8bcff, 0x6cb56bf4, 0x6cb21aa5,
+    0x6caec913, 0x6cab773e,
+  0x6ca82527, 0x6ca4d2cc, 0x6ca1802e, 0x6c9e2d4d, 0x6c9ada29, 0x6c9786c2,
+    0x6c943318, 0x6c90df2c,
+  0x6c8d8afc, 0x6c8a3689, 0x6c86e1d3, 0x6c838cdb, 0x6c80379f, 0x6c7ce220,
+    0x6c798c5f, 0x6c76365b,
+  0x6c72e013, 0x6c6f8989, 0x6c6c32bc, 0x6c68dbac, 0x6c658459, 0x6c622cc4,
+    0x6c5ed4eb, 0x6c5b7cd0,
+  0x6c582472, 0x6c54cbd1, 0x6c5172ed, 0x6c4e19c6, 0x6c4ac05d, 0x6c4766b0,
+    0x6c440cc1, 0x6c40b28f,
+  0x6c3d581b, 0x6c39fd63, 0x6c36a269, 0x6c33472c, 0x6c2febad, 0x6c2c8fea,
+    0x6c2933e5, 0x6c25d79d,
+  0x6c227b13, 0x6c1f1e45, 0x6c1bc136, 0x6c1863e3, 0x6c15064e, 0x6c11a876,
+    0x6c0e4a5b, 0x6c0aebfe,
+  0x6c078d5e, 0x6c042e7b, 0x6c00cf56, 0x6bfd6fee, 0x6bfa1044, 0x6bf6b056,
+    0x6bf35027, 0x6befefb5,
+  0x6bec8f00, 0x6be92e08, 0x6be5ccce, 0x6be26b52, 0x6bdf0993, 0x6bdba791,
+    0x6bd8454d, 0x6bd4e2c6,
+  0x6bd17ffd, 0x6bce1cf1, 0x6bcab9a3, 0x6bc75613, 0x6bc3f23f, 0x6bc08e2a,
+    0x6bbd29d2, 0x6bb9c537,
+  0x6bb6605a, 0x6bb2fb3b, 0x6baf95d9, 0x6bac3034, 0x6ba8ca4e, 0x6ba56425,
+    0x6ba1fdb9, 0x6b9e970b,
+  0x6b9b301b, 0x6b97c8e8, 0x6b946173, 0x6b90f9bc, 0x6b8d91c2, 0x6b8a2986,
+    0x6b86c107, 0x6b835846,
+  0x6b7fef43, 0x6b7c85fe, 0x6b791c76, 0x6b75b2ac, 0x6b7248a0, 0x6b6ede51,
+    0x6b6b73c0, 0x6b6808ed,
+  0x6b649dd8, 0x6b613280, 0x6b5dc6e6, 0x6b5a5b0a, 0x6b56eeec, 0x6b53828b,
+    0x6b5015e9, 0x6b4ca904,
+  0x6b493bdd, 0x6b45ce73, 0x6b4260c8, 0x6b3ef2da, 0x6b3b84ab, 0x6b381639,
+    0x6b34a785, 0x6b31388e,
+  0x6b2dc956, 0x6b2a59dc, 0x6b26ea1f, 0x6b237a21, 0x6b2009e0, 0x6b1c995d,
+    0x6b192898, 0x6b15b791,
+  0x6b124648, 0x6b0ed4bd, 0x6b0b62f0, 0x6b07f0e1, 0x6b047e90, 0x6b010bfd,
+    0x6afd9928, 0x6afa2610,
+  0x6af6b2b7, 0x6af33f1c, 0x6aefcb3f, 0x6aec5720, 0x6ae8e2bf, 0x6ae56e1c,
+    0x6ae1f937, 0x6ade8410,
+  0x6adb0ea8, 0x6ad798fd, 0x6ad42311, 0x6ad0ace2, 0x6acd3672, 0x6ac9bfc0,
+    0x6ac648cb, 0x6ac2d195,
+  0x6abf5a1e, 0x6abbe264, 0x6ab86a68, 0x6ab4f22b, 0x6ab179ac, 0x6aae00eb,
+    0x6aaa87e8, 0x6aa70ea4,
+  0x6aa3951d, 0x6aa01b55, 0x6a9ca14b, 0x6a992700, 0x6a95ac72, 0x6a9231a3,
+    0x6a8eb692, 0x6a8b3b3f,
+  0x6a87bfab, 0x6a8443d5, 0x6a80c7bd, 0x6a7d4b64, 0x6a79cec8, 0x6a7651ec,
+    0x6a72d4cd, 0x6a6f576d,
+  0x6a6bd9cb, 0x6a685be8, 0x6a64ddc2, 0x6a615f5c, 0x6a5de0b3, 0x6a5a61c9,
+    0x6a56e29e, 0x6a536331,
+  0x6a4fe382, 0x6a4c6391, 0x6a48e360, 0x6a4562ec, 0x6a41e237, 0x6a3e6140,
+    0x6a3ae008, 0x6a375e8f,
+  0x6a33dcd4, 0x6a305ad7, 0x6a2cd899, 0x6a295619, 0x6a25d358, 0x6a225055,
+    0x6a1ecd11, 0x6a1b498c,
+  0x6a17c5c5, 0x6a1441bc, 0x6a10bd72, 0x6a0d38e7, 0x6a09b41a, 0x6a062f0c,
+    0x6a02a9bc, 0x69ff242b,
+  0x69fb9e59, 0x69f81845, 0x69f491f0, 0x69f10b5a, 0x69ed8482, 0x69e9fd69,
+    0x69e6760f, 0x69e2ee73,
+  0x69df6696, 0x69dbde77, 0x69d85618, 0x69d4cd77, 0x69d14494, 0x69cdbb71,
+    0x69ca320c, 0x69c6a866,
+  0x69c31e7f, 0x69bf9456, 0x69bc09ec, 0x69b87f41, 0x69b4f455, 0x69b16928,
+    0x69adddb9, 0x69aa5209,
+  0x69a6c618, 0x69a339e6, 0x699fad73, 0x699c20be, 0x699893c9, 0x69950692,
+    0x6991791a, 0x698deb61,
+  0x698a5d67, 0x6986cf2c, 0x698340af, 0x697fb1f2, 0x697c22f3, 0x697893b4,
+    0x69750433, 0x69717472,
+  0x696de46f, 0x696a542b, 0x6966c3a6, 0x696332e1, 0x695fa1da, 0x695c1092,
+    0x69587f09, 0x6954ed40,
+  0x69515b35, 0x694dc8e9, 0x694a365c, 0x6946a38f, 0x69431080, 0x693f7d31,
+    0x693be9a0, 0x693855cf,
+  0x6934c1bd, 0x69312d6a, 0x692d98d6, 0x692a0401, 0x69266eeb, 0x6922d995,
+    0x691f43fd, 0x691bae25,
+  0x6918180c, 0x691481b2, 0x6910eb17, 0x690d543b, 0x6909bd1f, 0x690625c2,
+    0x69028e24, 0x68fef645,
+  0x68fb5e25, 0x68f7c5c5, 0x68f42d24, 0x68f09442, 0x68ecfb20, 0x68e961bd,
+    0x68e5c819, 0x68e22e34,
+  0x68de940f, 0x68daf9a9, 0x68d75f02, 0x68d3c41b, 0x68d028f2, 0x68cc8d8a,
+    0x68c8f1e0, 0x68c555f6,
+  0x68c1b9cc, 0x68be1d61, 0x68ba80b5, 0x68b6e3c8, 0x68b3469b, 0x68afa92e,
+    0x68ac0b7f, 0x68a86d91,
+  0x68a4cf61, 0x68a130f1, 0x689d9241, 0x6899f350, 0x6896541f, 0x6892b4ad,
+    0x688f14fa, 0x688b7507,
+  0x6887d4d4, 0x68843460, 0x688093ab, 0x687cf2b6, 0x68795181, 0x6875b00b,
+    0x68720e55, 0x686e6c5e,
+  0x686aca27, 0x686727b0, 0x686384f8, 0x685fe200, 0x685c3ec7, 0x68589b4e,
+    0x6854f795, 0x6851539b,
+  0x684daf61, 0x684a0ae6, 0x6846662c, 0x6842c131, 0x683f1bf5, 0x683b7679,
+    0x6837d0bd, 0x68342ac1,
+  0x68308485, 0x682cde08, 0x6829374b, 0x6825904d, 0x6821e910, 0x681e4192,
+    0x681a99d4, 0x6816f1d6,
+  0x68134997, 0x680fa118, 0x680bf85a, 0x68084f5a, 0x6804a61b, 0x6800fc9c,
+    0x67fd52dc, 0x67f9a8dd,
+  0x67f5fe9d, 0x67f2541d, 0x67eea95d, 0x67eafe5d, 0x67e7531c, 0x67e3a79c,
+    0x67dffbdc, 0x67dc4fdb,
+  0x67d8a39a, 0x67d4f71a, 0x67d14a59, 0x67cd9d58, 0x67c9f017, 0x67c64297,
+    0x67c294d6, 0x67bee6d5,
+  0x67bb3894, 0x67b78a13, 0x67b3db53, 0x67b02c52, 0x67ac7d11, 0x67a8cd91,
+    0x67a51dd0, 0x67a16dcf,
+  0x679dbd8f, 0x679a0d0f, 0x67965c4e, 0x6792ab4e, 0x678efa0e, 0x678b488e,
+    0x678796ce, 0x6783e4cf,
+  0x6780328f, 0x677c8010, 0x6778cd50, 0x67751a51, 0x67716713, 0x676db394,
+    0x6769ffd5, 0x67664bd7,
+  0x67629799, 0x675ee31b, 0x675b2e5e, 0x67577960, 0x6753c423, 0x67500ea7,
+    0x674c58ea, 0x6748a2ee,
+  0x6744ecb2, 0x67413636, 0x673d7f7b, 0x6739c880, 0x67361145, 0x673259ca,
+    0x672ea210, 0x672aea17,
+  0x672731dd, 0x67237964, 0x671fc0ac, 0x671c07b4, 0x67184e7c, 0x67149504,
+    0x6710db4d, 0x670d2157,
+  0x67096721, 0x6705acab, 0x6701f1f6, 0x66fe3701, 0x66fa7bcd, 0x66f6c059,
+    0x66f304a6, 0x66ef48b3,
+  0x66eb8c80, 0x66e7d00f, 0x66e4135d, 0x66e0566c, 0x66dc993c, 0x66d8dbcd,
+    0x66d51e1d, 0x66d1602f,
+  0x66cda201, 0x66c9e393, 0x66c624e7, 0x66c265fa, 0x66bea6cf, 0x66bae764,
+    0x66b727ba, 0x66b367d0,
+  0x66afa7a7, 0x66abe73f, 0x66a82697, 0x66a465b0, 0x66a0a489, 0x669ce324,
+    0x6699217f, 0x66955f9b,
+  0x66919d77, 0x668ddb14, 0x668a1872, 0x66865591, 0x66829270, 0x667ecf11,
+    0x667b0b72, 0x66774793,
+  0x66738376, 0x666fbf19, 0x666bfa7d, 0x666835a2, 0x66647088, 0x6660ab2f,
+    0x665ce596, 0x66591fbf,
+  0x665559a8, 0x66519352, 0x664dccbd, 0x664a05e9, 0x66463ed6, 0x66427784,
+    0x663eaff2, 0x663ae822,
+  0x66372012, 0x663357c4, 0x662f8f36, 0x662bc66a, 0x6627fd5e, 0x66243413,
+    0x66206a8a, 0x661ca0c1,
+  0x6618d6b9, 0x66150c73, 0x661141ed, 0x660d7729, 0x6609ac25, 0x6605e0e3,
+    0x66021561, 0x65fe49a1,
+  0x65fa7da2, 0x65f6b164, 0x65f2e4e7, 0x65ef182b, 0x65eb4b30, 0x65e77df6,
+    0x65e3b07e, 0x65dfe2c6,
+  0x65dc14d0, 0x65d8469b, 0x65d47827, 0x65d0a975, 0x65ccda83, 0x65c90b53,
+    0x65c53be4, 0x65c16c36,
+  0x65bd9c49, 0x65b9cc1e, 0x65b5fbb4, 0x65b22b0b, 0x65ae5a23, 0x65aa88fd,
+    0x65a6b798, 0x65a2e5f4,
+  0x659f1412, 0x659b41f1, 0x65976f91, 0x65939cf3, 0x658fca15, 0x658bf6fa,
+    0x6588239f, 0x65845006,
+  0x65807c2f, 0x657ca818, 0x6578d3c4, 0x6574ff30, 0x65712a5e, 0x656d554d,
+    0x65697ffe, 0x6565aa71,
+  0x6561d4a4, 0x655dfe99, 0x655a2850, 0x655651c8, 0x65527b02, 0x654ea3fd,
+    0x654accba, 0x6546f538,
+  0x65431d77, 0x653f4579, 0x653b6d3b, 0x653794c0, 0x6533bc06, 0x652fe30d,
+    0x652c09d6, 0x65283061,
+  0x652456ad, 0x65207cbb, 0x651ca28a, 0x6518c81b, 0x6514ed6e, 0x65111283,
+    0x650d3759, 0x65095bf0,
+  0x6505804a, 0x6501a465, 0x64fdc841, 0x64f9ebe0, 0x64f60f40, 0x64f23262,
+    0x64ee5546, 0x64ea77eb,
+  0x64e69a52, 0x64e2bc7b, 0x64dede66, 0x64db0012, 0x64d72180, 0x64d342b0,
+    0x64cf63a2, 0x64cb8456,
+  0x64c7a4cb, 0x64c3c502, 0x64bfe4fc, 0x64bc04b6, 0x64b82433, 0x64b44372,
+    0x64b06273, 0x64ac8135,
+  0x64a89fba, 0x64a4be00, 0x64a0dc08, 0x649cf9d2, 0x6499175e, 0x649534ac,
+    0x649151bc, 0x648d6e8e,
+  0x64898b22, 0x6485a778, 0x6481c390, 0x647ddf6a, 0x6479fb06, 0x64761664,
+    0x64723184, 0x646e4c66,
+  0x646a670a, 0x64668170, 0x64629b98, 0x645eb582, 0x645acf2e, 0x6456e89d,
+    0x645301cd, 0x644f1ac0,
+  0x644b3375, 0x64474bec, 0x64436425, 0x643f7c20, 0x643b93dd, 0x6437ab5d,
+    0x6433c29f, 0x642fd9a3,
+  0x642bf069, 0x642806f1, 0x64241d3c, 0x64203348, 0x641c4917, 0x64185ea9,
+    0x641473fc, 0x64108912,
+  0x640c9dea, 0x6408b284, 0x6404c6e1, 0x6400db00, 0x63fceee1, 0x63f90285,
+    0x63f515eb, 0x63f12913,
+  0x63ed3bfd, 0x63e94eaa, 0x63e5611a, 0x63e1734b, 0x63dd853f, 0x63d996f6,
+    0x63d5a86f, 0x63d1b9aa,
+  0x63cdcaa8, 0x63c9db68, 0x63c5ebeb, 0x63c1fc30, 0x63be0c37, 0x63ba1c01,
+    0x63b62b8e, 0x63b23add,
+  0x63ae49ee, 0x63aa58c2, 0x63a66759, 0x63a275b2, 0x639e83cd, 0x639a91ac,
+    0x63969f4c, 0x6392acaf,
+  0x638eb9d5, 0x638ac6be, 0x6386d369, 0x6382dfd6, 0x637eec07, 0x637af7fa,
+    0x637703af, 0x63730f27,
+  0x636f1a62, 0x636b2560, 0x63673020, 0x63633aa3, 0x635f44e8, 0x635b4ef0,
+    0x635758bb, 0x63536249,
+  0x634f6b99, 0x634b74ad, 0x63477d82, 0x6343861b, 0x633f8e76, 0x633b9695,
+    0x63379e76, 0x6333a619,
+  0x632fad80, 0x632bb4a9, 0x6327bb96, 0x6323c245, 0x631fc8b7, 0x631bceeb,
+    0x6317d4e3, 0x6313da9e,
+  0x630fe01b, 0x630be55b, 0x6307ea5e, 0x6303ef25, 0x62fff3ae, 0x62fbf7fa,
+    0x62f7fc08, 0x62f3ffda,
+  0x62f0036f, 0x62ec06c7, 0x62e809e2, 0x62e40cbf, 0x62e00f60, 0x62dc11c4,
+    0x62d813eb, 0x62d415d4,
+  0x62d01781, 0x62cc18f1, 0x62c81a24, 0x62c41b1a, 0x62c01bd3, 0x62bc1c4f,
+    0x62b81c8f, 0x62b41c91,
+  0x62b01c57, 0x62ac1bdf, 0x62a81b2b, 0x62a41a3a, 0x62a0190c, 0x629c17a1,
+    0x629815fa, 0x62941415,
+  0x629011f4, 0x628c0f96, 0x62880cfb, 0x62840a23, 0x6280070f, 0x627c03be,
+    0x62780030, 0x6273fc65,
+  0x626ff85e, 0x626bf41a, 0x6267ef99, 0x6263eadc, 0x625fe5e1, 0x625be0ab,
+    0x6257db37, 0x6253d587,
+  0x624fcf9a, 0x624bc970, 0x6247c30a, 0x6243bc68, 0x623fb588, 0x623bae6c,
+    0x6237a714, 0x62339f7e,
+  0x622f97ad, 0x622b8f9e, 0x62278754, 0x62237ecc, 0x621f7608, 0x621b6d08,
+    0x621763cb, 0x62135a51,
+  0x620f509b, 0x620b46a9, 0x62073c7a, 0x6203320e, 0x61ff2766, 0x61fb1c82,
+    0x61f71161, 0x61f30604,
+  0x61eefa6b, 0x61eaee95, 0x61e6e282, 0x61e2d633, 0x61dec9a8, 0x61dabce0,
+    0x61d6afdd, 0x61d2a29c,
+  0x61ce9520, 0x61ca8767, 0x61c67971, 0x61c26b40, 0x61be5cd2, 0x61ba4e28,
+    0x61b63f41, 0x61b2301e,
+  0x61ae20bf, 0x61aa1124, 0x61a6014d, 0x61a1f139, 0x619de0e9, 0x6199d05d,
+    0x6195bf94, 0x6191ae90,
+  0x618d9d4f, 0x61898bd2, 0x61857a19, 0x61816824, 0x617d55f2, 0x61794385,
+    0x617530db, 0x61711df5,
+  0x616d0ad3, 0x6168f775, 0x6164e3db, 0x6160d005, 0x615cbbf3, 0x6158a7a4,
+    0x6154931a, 0x61507e54,
+  0x614c6951, 0x61485413, 0x61443e98, 0x614028e2, 0x613c12f0, 0x6137fcc1,
+    0x6133e657, 0x612fcfb0,
+  0x612bb8ce, 0x6127a1b0, 0x61238a56, 0x611f72c0, 0x611b5aee, 0x611742e0,
+    0x61132a96, 0x610f1210,
+  0x610af94f, 0x6106e051, 0x6102c718, 0x60feada3, 0x60fa93f2, 0x60f67a05,
+    0x60f25fdd, 0x60ee4579,
+  0x60ea2ad8, 0x60e60ffd, 0x60e1f4e5, 0x60ddd991, 0x60d9be02, 0x60d5a237,
+    0x60d18631, 0x60cd69ee,
+  0x60c94d70, 0x60c530b6, 0x60c113c1, 0x60bcf690, 0x60b8d923, 0x60b4bb7a,
+    0x60b09d96, 0x60ac7f76,
+  0x60a8611b, 0x60a44284, 0x60a023b1, 0x609c04a3, 0x6097e559, 0x6093c5d3,
+    0x608fa612, 0x608b8616,
+  0x608765dd, 0x6083456a, 0x607f24ba, 0x607b03d0, 0x6076e2a9, 0x6072c148,
+    0x606e9faa, 0x606a7dd2,
+  0x60665bbd, 0x6062396e, 0x605e16e2, 0x6059f41c, 0x6055d11a, 0x6051addc,
+    0x604d8a63, 0x604966af,
+  0x604542bf, 0x60411e94, 0x603cfa2e, 0x6038d58c, 0x6034b0af, 0x60308b97,
+    0x602c6643, 0x602840b4,
+  0x60241ae9, 0x601ff4e3, 0x601bcea2, 0x6017a826, 0x6013816e, 0x600f5a7b,
+    0x600b334d, 0x60070be4,
+  0x6002e43f, 0x5ffebc5f, 0x5ffa9444, 0x5ff66bee, 0x5ff2435d, 0x5fee1a90,
+    0x5fe9f188, 0x5fe5c845,
+  0x5fe19ec7, 0x5fdd750e, 0x5fd94b19, 0x5fd520ea, 0x5fd0f67f, 0x5fcccbd9,
+    0x5fc8a0f8, 0x5fc475dc,
+  0x5fc04a85, 0x5fbc1ef3, 0x5fb7f326, 0x5fb3c71e, 0x5faf9adb, 0x5fab6e5d,
+    0x5fa741a3, 0x5fa314af,
+  0x5f9ee780, 0x5f9aba16, 0x5f968c70, 0x5f925e90, 0x5f8e3075, 0x5f8a021f,
+    0x5f85d38e, 0x5f81a4c2,
+  0x5f7d75bb, 0x5f794679, 0x5f7516fd, 0x5f70e745, 0x5f6cb753, 0x5f688726,
+    0x5f6456be, 0x5f60261b,
+  0x5f5bf53d, 0x5f57c424, 0x5f5392d1, 0x5f4f6143, 0x5f4b2f7a, 0x5f46fd76,
+    0x5f42cb37, 0x5f3e98be,
+  0x5f3a660a, 0x5f36331b, 0x5f31fff1, 0x5f2dcc8d, 0x5f2998ee, 0x5f256515,
+    0x5f213100, 0x5f1cfcb1,
+  0x5f18c827, 0x5f149363, 0x5f105e64, 0x5f0c292a, 0x5f07f3b6, 0x5f03be07,
+    0x5eff881d, 0x5efb51f9,
+  0x5ef71b9b, 0x5ef2e501, 0x5eeeae2d, 0x5eea771f, 0x5ee63fd6, 0x5ee20853,
+    0x5eddd094, 0x5ed9989c,
+  0x5ed56069, 0x5ed127fb, 0x5eccef53, 0x5ec8b671, 0x5ec47d54, 0x5ec043fc,
+    0x5ebc0a6a, 0x5eb7d09e,
+  0x5eb39697, 0x5eaf5c56, 0x5eab21da, 0x5ea6e724, 0x5ea2ac34, 0x5e9e7109,
+    0x5e9a35a4, 0x5e95fa05,
+  0x5e91be2b, 0x5e8d8217, 0x5e8945c8, 0x5e85093f, 0x5e80cc7c, 0x5e7c8f7f,
+    0x5e785247, 0x5e7414d5,
+  0x5e6fd729, 0x5e6b9943, 0x5e675b22, 0x5e631cc7, 0x5e5ede32, 0x5e5a9f62,
+    0x5e566059, 0x5e522115,
+  0x5e4de197, 0x5e49a1df, 0x5e4561ed, 0x5e4121c0, 0x5e3ce15a, 0x5e38a0b9,
+    0x5e345fde, 0x5e301ec9,
+  0x5e2bdd7a, 0x5e279bf1, 0x5e235a2e, 0x5e1f1830, 0x5e1ad5f9, 0x5e169388,
+    0x5e1250dc, 0x5e0e0df7,
+  0x5e09cad7, 0x5e05877e, 0x5e0143ea, 0x5dfd001d, 0x5df8bc15, 0x5df477d4,
+    0x5df03359, 0x5debeea3,
+  0x5de7a9b4, 0x5de3648b, 0x5ddf1f28, 0x5ddad98b, 0x5dd693b4, 0x5dd24da3,
+    0x5dce0759, 0x5dc9c0d4,
+  0x5dc57a16, 0x5dc1331d, 0x5dbcebeb, 0x5db8a480, 0x5db45cda, 0x5db014fa,
+    0x5dabcce1, 0x5da7848e,
+  0x5da33c01, 0x5d9ef33b, 0x5d9aaa3a, 0x5d966100, 0x5d92178d, 0x5d8dcddf,
+    0x5d8983f8, 0x5d8539d7,
+  0x5d80ef7c, 0x5d7ca4e8, 0x5d785a1a, 0x5d740f12, 0x5d6fc3d1, 0x5d6b7856,
+    0x5d672ca2, 0x5d62e0b4,
+  0x5d5e948c, 0x5d5a482a, 0x5d55fb90, 0x5d51aebb, 0x5d4d61ad, 0x5d491465,
+    0x5d44c6e4, 0x5d40792a,
+  0x5d3c2b35, 0x5d37dd08, 0x5d338ea0, 0x5d2f4000, 0x5d2af125, 0x5d26a212,
+    0x5d2252c5, 0x5d1e033e,
+  0x5d19b37e, 0x5d156385, 0x5d111352, 0x5d0cc2e5, 0x5d087240, 0x5d042161,
+    0x5cffd048, 0x5cfb7ef7,
+  0x5cf72d6b, 0x5cf2dba7, 0x5cee89a9, 0x5cea3772, 0x5ce5e501, 0x5ce19258,
+    0x5cdd3f75, 0x5cd8ec58,
+  0x5cd49903, 0x5cd04574, 0x5ccbf1ab, 0x5cc79daa, 0x5cc3496f, 0x5cbef4fc,
+    0x5cbaa04f, 0x5cb64b68,
+  0x5cb1f649, 0x5cada0f0, 0x5ca94b5e, 0x5ca4f594, 0x5ca09f8f, 0x5c9c4952,
+    0x5c97f2dc, 0x5c939c2c,
+  0x5c8f4544, 0x5c8aee22, 0x5c8696c7, 0x5c823f34, 0x5c7de767, 0x5c798f61,
+    0x5c753722, 0x5c70deaa,
+  0x5c6c85f9, 0x5c682d0f, 0x5c63d3eb, 0x5c5f7a8f, 0x5c5b20fa, 0x5c56c72c,
+    0x5c526d25, 0x5c4e12e5,
+  0x5c49b86d, 0x5c455dbb, 0x5c4102d0, 0x5c3ca7ad, 0x5c384c50, 0x5c33f0bb,
+    0x5c2f94ec, 0x5c2b38e5,
+  0x5c26dca5, 0x5c22802c, 0x5c1e237b, 0x5c19c690, 0x5c15696d, 0x5c110c11,
+    0x5c0cae7c, 0x5c0850ae,
+  0x5c03f2a8, 0x5bff9469, 0x5bfb35f1, 0x5bf6d740, 0x5bf27857, 0x5bee1935,
+    0x5be9b9da, 0x5be55a46,
+  0x5be0fa7a, 0x5bdc9a75, 0x5bd83a37, 0x5bd3d9c1, 0x5bcf7912, 0x5bcb182b,
+    0x5bc6b70b, 0x5bc255b2,
+  0x5bbdf421, 0x5bb99257, 0x5bb53054, 0x5bb0ce19, 0x5bac6ba6, 0x5ba808f9,
+    0x5ba3a615, 0x5b9f42f7,
+  0x5b9adfa2, 0x5b967c13, 0x5b92184d, 0x5b8db44d, 0x5b895016, 0x5b84eba6,
+    0x5b8086fd, 0x5b7c221c,
+  0x5b77bd02, 0x5b7357b0, 0x5b6ef226, 0x5b6a8c63, 0x5b662668, 0x5b61c035,
+    0x5b5d59c9, 0x5b58f324,
+  0x5b548c48, 0x5b502533, 0x5b4bbde6, 0x5b475660, 0x5b42eea2, 0x5b3e86ac,
+    0x5b3a1e7e, 0x5b35b617,
+  0x5b314d78, 0x5b2ce4a1, 0x5b287b91, 0x5b241249, 0x5b1fa8c9, 0x5b1b3f11,
+    0x5b16d521, 0x5b126af8,
+  0x5b0e0098, 0x5b0995ff, 0x5b052b2e, 0x5b00c025, 0x5afc54e3, 0x5af7e96a,
+    0x5af37db8, 0x5aef11cf,
+  0x5aeaa5ad, 0x5ae63953, 0x5ae1ccc1, 0x5add5ff7, 0x5ad8f2f5, 0x5ad485bb,
+    0x5ad01849, 0x5acbaa9f,
+  0x5ac73cbd, 0x5ac2cea3, 0x5abe6050, 0x5ab9f1c6, 0x5ab58304, 0x5ab1140a,
+    0x5aaca4d8, 0x5aa8356f,
+  0x5aa3c5cd, 0x5a9f55f3, 0x5a9ae5e2, 0x5a967598, 0x5a920517, 0x5a8d945d,
+    0x5a89236c, 0x5a84b243,
+  0x5a8040e3, 0x5a7bcf4a, 0x5a775d7a, 0x5a72eb71, 0x5a6e7931, 0x5a6a06ba,
+    0x5a65940a, 0x5a612123,
+  0x5a5cae04, 0x5a583aad, 0x5a53c71e, 0x5a4f5358, 0x5a4adf5a, 0x5a466b24,
+    0x5a41f6b7, 0x5a3d8212,
+  0x5a390d35, 0x5a349821, 0x5a3022d5, 0x5a2bad51, 0x5a273796, 0x5a22c1a3,
+    0x5a1e4b79, 0x5a19d517,
+  0x5a155e7d, 0x5a10e7ac, 0x5a0c70a3, 0x5a07f963, 0x5a0381eb, 0x59ff0a3c,
+    0x59fa9255, 0x59f61a36,
+  0x59f1a1e0, 0x59ed2953, 0x59e8b08e, 0x59e43792, 0x59dfbe5e, 0x59db44f3,
+    0x59d6cb50, 0x59d25176,
+  0x59cdd765, 0x59c95d1c, 0x59c4e29c, 0x59c067e4, 0x59bbecf5, 0x59b771cf,
+    0x59b2f671, 0x59ae7add,
+  0x59a9ff10, 0x59a5830d, 0x59a106d2, 0x599c8a60, 0x59980db6, 0x599390d5,
+    0x598f13bd, 0x598a966e,
+  0x598618e8, 0x59819b2a, 0x597d1d35, 0x59789f09, 0x597420a6, 0x596fa20b,
+    0x596b233a, 0x5966a431,
+  0x596224f1, 0x595da57a, 0x595925cc, 0x5954a5e6, 0x595025ca, 0x594ba576,
+    0x594724ec, 0x5942a42a,
+  0x593e2331, 0x5939a202, 0x5935209b, 0x59309efd, 0x592c1d28, 0x59279b1c,
+    0x592318d9, 0x591e9660,
+  0x591a13af, 0x591590c7, 0x59110da8, 0x590c8a53, 0x590806c6, 0x59038302,
+    0x58feff08, 0x58fa7ad7,
+  0x58f5f66e, 0x58f171cf, 0x58ececf9, 0x58e867ed, 0x58e3e2a9, 0x58df5d2e,
+    0x58dad77d, 0x58d65195,
+  0x58d1cb76, 0x58cd4520, 0x58c8be94, 0x58c437d1, 0x58bfb0d7, 0x58bb29a6,
+    0x58b6a23e, 0x58b21aa0,
+  0x58ad92cb, 0x58a90ac0, 0x58a4827d, 0x589ffa04, 0x589b7155, 0x5896e86f,
+    0x58925f52, 0x588dd5fe,
+  0x58894c74, 0x5884c2b3, 0x588038bb, 0x587bae8d, 0x58772429, 0x5872998e,
+    0x586e0ebc, 0x586983b4,
+  0x5864f875, 0x58606d00, 0x585be154, 0x58575571, 0x5852c958, 0x584e3d09,
+    0x5849b083, 0x584523c7,
+  0x584096d4, 0x583c09ab, 0x58377c4c, 0x5832eeb6, 0x582e60e9, 0x5829d2e6,
+    0x582544ad, 0x5820b63e,
+  0x581c2798, 0x581798bb, 0x581309a9, 0x580e7a60, 0x5809eae1, 0x58055b2b,
+    0x5800cb3f, 0x57fc3b1d,
+  0x57f7aac5, 0x57f31a36, 0x57ee8971, 0x57e9f876, 0x57e56744, 0x57e0d5dd,
+    0x57dc443f, 0x57d7b26b,
+  0x57d32061, 0x57ce8e20, 0x57c9fbaa, 0x57c568fd, 0x57c0d61a, 0x57bc4301,
+    0x57b7afb2, 0x57b31c2d,
+  0x57ae8872, 0x57a9f480, 0x57a56059, 0x57a0cbfb, 0x579c3768, 0x5797a29e,
+    0x57930d9e, 0x578e7869,
+  0x5789e2fd, 0x57854d5b, 0x5780b784, 0x577c2176, 0x57778b32, 0x5772f4b9,
+    0x576e5e09, 0x5769c724,
+  0x57653009, 0x576098b7, 0x575c0130, 0x57576973, 0x5752d180, 0x574e3957,
+    0x5749a0f9, 0x57450864,
+  0x57406f9a, 0x573bd69a, 0x57373d64, 0x5732a3f8, 0x572e0a56, 0x5729707f,
+    0x5724d672, 0x57203c2f,
+  0x571ba1b7, 0x57170708, 0x57126c24, 0x570dd10a, 0x570935bb, 0x57049a36,
+    0x56fffe7b, 0x56fb628b,
+  0x56f6c664, 0x56f22a09, 0x56ed8d77, 0x56e8f0b0, 0x56e453b4, 0x56dfb681,
+    0x56db1919, 0x56d67b7c,
+  0x56d1dda9, 0x56cd3fa1, 0x56c8a162, 0x56c402ef, 0x56bf6446, 0x56bac567,
+    0x56b62653, 0x56b18709,
+  0x56ace78a, 0x56a847d6, 0x56a3a7ec, 0x569f07cc, 0x569a6777, 0x5695c6ed,
+    0x5691262d, 0x568c8538,
+  0x5687e40e, 0x568342ae, 0x567ea118, 0x5679ff4e, 0x56755d4e, 0x5670bb19,
+    0x566c18ae, 0x5667760e,
+  0x5662d339, 0x565e302e, 0x56598cee, 0x5654e979, 0x565045cf, 0x564ba1f0,
+    0x5646fddb, 0x56425991,
+  0x563db512, 0x5639105d, 0x56346b74, 0x562fc655, 0x562b2101, 0x56267b78,
+    0x5621d5ba, 0x561d2fc6,
+  0x5618899e, 0x5613e340, 0x560f3cae, 0x560a95e6, 0x5605eee9, 0x560147b7,
+    0x55fca050, 0x55f7f8b4,
+  0x55f350e3, 0x55eea8dd, 0x55ea00a2, 0x55e55832, 0x55e0af8d, 0x55dc06b3,
+    0x55d75da4, 0x55d2b460,
+  0x55ce0ae7, 0x55c96139, 0x55c4b757, 0x55c00d3f, 0x55bb62f3, 0x55b6b871,
+    0x55b20dbb, 0x55ad62d0,
+  0x55a8b7b0, 0x55a40c5b, 0x559f60d1, 0x559ab513, 0x55960920, 0x55915cf8,
+    0x558cb09b, 0x55880409,
+  0x55835743, 0x557eaa48, 0x5579fd18, 0x55754fb3, 0x5570a21a, 0x556bf44c,
+    0x55674649, 0x55629812,
+  0x555de9a6, 0x55593b05, 0x55548c30, 0x554fdd26, 0x554b2de7, 0x55467e74,
+    0x5541cecc, 0x553d1ef0,
+  0x55386edf, 0x5533be99, 0x552f0e1f, 0x552a5d70, 0x5525ac8d, 0x5520fb75,
+    0x551c4a29, 0x551798a8,
+  0x5512e6f3, 0x550e3509, 0x550982eb, 0x5504d099, 0x55001e12, 0x54fb6b56,
+    0x54f6b866, 0x54f20542,
+  0x54ed51e9, 0x54e89e5c, 0x54e3ea9a, 0x54df36a5, 0x54da827a, 0x54d5ce1c,
+    0x54d11989, 0x54cc64c2,
+  0x54c7afc6, 0x54c2fa96, 0x54be4532, 0x54b98f9a, 0x54b4d9cd, 0x54b023cc,
+    0x54ab6d97, 0x54a6b72e,
+  0x54a20090, 0x549d49bf, 0x549892b9, 0x5493db7f, 0x548f2410, 0x548a6c6e,
+    0x5485b497, 0x5480fc8c,
+  0x547c444d, 0x54778bda, 0x5472d333, 0x546e1a58, 0x54696149, 0x5464a805,
+    0x545fee8e, 0x545b34e3,
+  0x54567b03, 0x5451c0f0, 0x544d06a8, 0x54484c2d, 0x5443917d, 0x543ed699,
+    0x543a1b82, 0x54356037,
+  0x5430a4b7, 0x542be904, 0x54272d1d, 0x54227102, 0x541db4b3, 0x5418f830,
+    0x54143b79, 0x540f7e8e,
+  0x540ac170, 0x5406041d, 0x54014697, 0x53fc88dd, 0x53f7caef, 0x53f30cce,
+    0x53ee4e78, 0x53e98fef,
+  0x53e4d132, 0x53e01242, 0x53db531d, 0x53d693c5, 0x53d1d439, 0x53cd147a,
+    0x53c85486, 0x53c3945f,
+  0x53bed405, 0x53ba1377, 0x53b552b5, 0x53b091bf, 0x53abd096, 0x53a70f39,
+    0x53a24da9, 0x539d8be5,
+  0x5398c9ed, 0x539407c2, 0x538f4564, 0x538a82d1, 0x5385c00c, 0x5380fd12,
+    0x537c39e6, 0x53777685,
+  0x5372b2f2, 0x536def2a, 0x53692b30, 0x53646701, 0x535fa2a0, 0x535ade0b,
+    0x53561942, 0x53515447,
+  0x534c8f17, 0x5347c9b5, 0x5343041f, 0x533e3e55, 0x53397859, 0x5334b229,
+    0x532febc5, 0x532b252f,
+  0x53265e65, 0x53219767, 0x531cd037, 0x531808d3, 0x5313413c, 0x530e7972,
+    0x5309b174, 0x5304e943,
+  0x530020df, 0x52fb5848, 0x52f68f7e, 0x52f1c680, 0x52ecfd4f, 0x52e833ec,
+    0x52e36a55, 0x52dea08a,
+  0x52d9d68d, 0x52d50c5d, 0x52d041f9, 0x52cb7763, 0x52c6ac99, 0x52c1e19d,
+    0x52bd166d, 0x52b84b0a,
+  0x52b37f74, 0x52aeb3ac, 0x52a9e7b0, 0x52a51b81, 0x52a04f1f, 0x529b828a,
+    0x5296b5c3, 0x5291e8c8,
+  0x528d1b9b, 0x52884e3a, 0x528380a7, 0x527eb2e0, 0x5279e4e7, 0x527516bb,
+    0x5270485c, 0x526b79ca,
+  0x5266ab06, 0x5261dc0e, 0x525d0ce4, 0x52583d87, 0x52536df7, 0x524e9e34,
+    0x5249ce3f, 0x5244fe17,
+  0x52402dbc, 0x523b5d2e, 0x52368c6e, 0x5231bb7b, 0x522cea55, 0x522818fc,
+    0x52234771, 0x521e75b3,
+  0x5219a3c3, 0x5214d1a0, 0x520fff4a, 0x520b2cc2, 0x52065a07, 0x52018719,
+    0x51fcb3f9, 0x51f7e0a6,
+  0x51f30d21, 0x51ee3969, 0x51e9657e, 0x51e49162, 0x51dfbd12, 0x51dae890,
+    0x51d613dc, 0x51d13ef5,
+  0x51cc69db, 0x51c79490, 0x51c2bf11, 0x51bde960, 0x51b9137d, 0x51b43d68,
+    0x51af6720, 0x51aa90a5,
+  0x51a5b9f9, 0x51a0e31a, 0x519c0c08, 0x519734c4, 0x51925d4e, 0x518d85a6,
+    0x5188adcb, 0x5183d5be,
+  0x517efd7f, 0x517a250d, 0x51754c69, 0x51707393, 0x516b9a8b, 0x5166c150,
+    0x5161e7e4, 0x515d0e45,
+  0x51583473, 0x51535a70, 0x514e803b, 0x5149a5d3, 0x5144cb39, 0x513ff06d,
+    0x513b156f, 0x51363a3f,
+  0x51315edd, 0x512c8348, 0x5127a782, 0x5122cb8a, 0x511def5f, 0x51191302,
+    0x51143674, 0x510f59b3,
+  0x510a7cc1, 0x51059f9c, 0x5100c246, 0x50fbe4bd, 0x50f70703, 0x50f22916,
+    0x50ed4af8, 0x50e86ca8,
+  0x50e38e25, 0x50deaf71, 0x50d9d08b, 0x50d4f173, 0x50d0122a, 0x50cb32ae,
+    0x50c65301, 0x50c17322,
+  0x50bc9311, 0x50b7b2ce, 0x50b2d259, 0x50adf1b3, 0x50a910db, 0x50a42fd1,
+    0x509f4e95, 0x509a6d28,
+  0x50958b88, 0x5090a9b8, 0x508bc7b5, 0x5086e581, 0x5082031b, 0x507d2083,
+    0x50783dba, 0x50735abf,
+  0x506e7793, 0x50699435, 0x5064b0a5, 0x505fcce4, 0x505ae8f1, 0x505604cd,
+    0x50512077, 0x504c3bef,
+  0x50475736, 0x5042724c, 0x503d8d30, 0x5038a7e2, 0x5033c263, 0x502edcb2,
+    0x5029f6d1, 0x502510bd,
+  0x50202a78, 0x501b4402, 0x50165d5a, 0x50117681, 0x500c8f77, 0x5007a83b,
+    0x5002c0cd, 0x4ffdd92f,
+  0x4ff8f15f, 0x4ff4095e, 0x4fef212b, 0x4fea38c7, 0x4fe55032, 0x4fe0676c,
+    0x4fdb7e74, 0x4fd6954b,
+  0x4fd1abf0, 0x4fccc265, 0x4fc7d8a8, 0x4fc2eeba, 0x4fbe049b, 0x4fb91a4b,
+    0x4fb42fc9, 0x4faf4517,
+  0x4faa5a33, 0x4fa56f1e, 0x4fa083d8, 0x4f9b9861, 0x4f96acb8, 0x4f91c0df,
+    0x4f8cd4d4, 0x4f87e899,
+  0x4f82fc2c, 0x4f7e0f8f, 0x4f7922c0, 0x4f7435c0, 0x4f6f488f, 0x4f6a5b2e,
+    0x4f656d9b, 0x4f607fd7,
+  0x4f5b91e3, 0x4f56a3bd, 0x4f51b566, 0x4f4cc6df, 0x4f47d827, 0x4f42e93d,
+    0x4f3dfa23, 0x4f390ad8,
+  0x4f341b5c, 0x4f2f2baf, 0x4f2a3bd2, 0x4f254bc3, 0x4f205b84, 0x4f1b6b14,
+    0x4f167a73, 0x4f1189a1,
+  0x4f0c989f, 0x4f07a76b, 0x4f02b608, 0x4efdc473, 0x4ef8d2ad, 0x4ef3e0b7,
+    0x4eeeee90, 0x4ee9fc39,
+  0x4ee509b1, 0x4ee016f8, 0x4edb240e, 0x4ed630f4, 0x4ed13da9, 0x4ecc4a2e,
+    0x4ec75682, 0x4ec262a5,
+  0x4ebd6e98, 0x4eb87a5a, 0x4eb385ec, 0x4eae914d, 0x4ea99c7d, 0x4ea4a77d,
+    0x4e9fb24d, 0x4e9abcec,
+  0x4e95c75b, 0x4e90d199, 0x4e8bdba6, 0x4e86e583, 0x4e81ef30, 0x4e7cf8ac,
+    0x4e7801f8, 0x4e730b14,
+  0x4e6e13ff, 0x4e691cba, 0x4e642544, 0x4e5f2d9e, 0x4e5a35c7, 0x4e553dc1,
+    0x4e50458a, 0x4e4b4d22,
+  0x4e46548b, 0x4e415bc3, 0x4e3c62cb, 0x4e3769a2, 0x4e32704a, 0x4e2d76c1,
+    0x4e287d08, 0x4e23831e,
+  0x4e1e8905, 0x4e198ebb, 0x4e149441, 0x4e0f9997, 0x4e0a9ebd, 0x4e05a3b2,
+    0x4e00a878, 0x4dfbad0d,
+  0x4df6b173, 0x4df1b5a8, 0x4decb9ad, 0x4de7bd82, 0x4de2c127, 0x4dddc49c,
+    0x4dd8c7e1, 0x4dd3caf6,
+  0x4dcecdda, 0x4dc9d08f, 0x4dc4d314, 0x4dbfd569, 0x4dbad78e, 0x4db5d983,
+    0x4db0db48, 0x4dabdcdd,
+  0x4da6de43, 0x4da1df78, 0x4d9ce07d, 0x4d97e153, 0x4d92e1f9, 0x4d8de26f,
+    0x4d88e2b5, 0x4d83e2cb,
+  0x4d7ee2b1, 0x4d79e268, 0x4d74e1ef, 0x4d6fe146, 0x4d6ae06d, 0x4d65df64,
+    0x4d60de2c, 0x4d5bdcc4,
+  0x4d56db2d, 0x4d51d965, 0x4d4cd76e, 0x4d47d547, 0x4d42d2f1, 0x4d3dd06b,
+    0x4d38cdb5, 0x4d33cad0,
+  0x4d2ec7bb, 0x4d29c476, 0x4d24c102, 0x4d1fbd5e, 0x4d1ab98b, 0x4d15b588,
+    0x4d10b155, 0x4d0bacf3,
+  0x4d06a862, 0x4d01a3a0, 0x4cfc9eb0, 0x4cf79990, 0x4cf29440, 0x4ced8ec1,
+    0x4ce88913, 0x4ce38335,
+  0x4cde7d28, 0x4cd976eb, 0x4cd4707f, 0x4ccf69e3, 0x4cca6318, 0x4cc55c1e,
+    0x4cc054f4, 0x4cbb4d9b,
+  0x4cb64613, 0x4cb13e5b, 0x4cac3674, 0x4ca72e5e, 0x4ca22619, 0x4c9d1da4,
+    0x4c981500, 0x4c930c2d,
+  0x4c8e032a, 0x4c88f9f8, 0x4c83f097, 0x4c7ee707, 0x4c79dd48, 0x4c74d359,
+    0x4c6fc93b, 0x4c6abeef,
+  0x4c65b473, 0x4c60a9c8, 0x4c5b9eed, 0x4c5693e4, 0x4c5188ac, 0x4c4c7d44,
+    0x4c4771ae, 0x4c4265e8,
+  0x4c3d59f3, 0x4c384dd0, 0x4c33417d, 0x4c2e34fb, 0x4c29284b, 0x4c241b6b,
+    0x4c1f0e5c, 0x4c1a011f,
+  0x4c14f3b2, 0x4c0fe617, 0x4c0ad84c, 0x4c05ca53, 0x4c00bc2b, 0x4bfbadd4,
+    0x4bf69f4e, 0x4bf19099,
+  0x4bec81b5, 0x4be772a3, 0x4be26362, 0x4bdd53f2, 0x4bd84453, 0x4bd33485,
+    0x4bce2488, 0x4bc9145d,
+  0x4bc40403, 0x4bbef37b, 0x4bb9e2c3, 0x4bb4d1dd, 0x4bafc0c8, 0x4baaaf85,
+    0x4ba59e12, 0x4ba08c72,
+  0x4b9b7aa2, 0x4b9668a4, 0x4b915677, 0x4b8c441c, 0x4b873192, 0x4b821ed9,
+    0x4b7d0bf2, 0x4b77f8dc,
+  0x4b72e598, 0x4b6dd225, 0x4b68be84, 0x4b63aab4, 0x4b5e96b6, 0x4b598289,
+    0x4b546e2d, 0x4b4f59a4,
+  0x4b4a44eb, 0x4b453005, 0x4b401aef, 0x4b3b05ac, 0x4b35f03a, 0x4b30da9a,
+    0x4b2bc4cb, 0x4b26aece,
+  0x4b2198a2, 0x4b1c8248, 0x4b176bc0, 0x4b12550a, 0x4b0d3e25, 0x4b082712,
+    0x4b030fd1, 0x4afdf861,
+  0x4af8e0c3, 0x4af3c8f7, 0x4aeeb0fd, 0x4ae998d4, 0x4ae4807d, 0x4adf67f8,
+    0x4ada4f45, 0x4ad53664,
+  0x4ad01d54, 0x4acb0417, 0x4ac5eaab, 0x4ac0d111, 0x4abbb749, 0x4ab69d53,
+    0x4ab1832f, 0x4aac68dc,
+  0x4aa74e5c, 0x4aa233ae, 0x4a9d18d1, 0x4a97fdc7, 0x4a92e28e, 0x4a8dc728,
+    0x4a88ab93, 0x4a838fd1,
+  0x4a7e73e0, 0x4a7957c2, 0x4a743b76, 0x4a6f1efc, 0x4a6a0253, 0x4a64e57d,
+    0x4a5fc879, 0x4a5aab48,
+  0x4a558de8, 0x4a50705a, 0x4a4b529f, 0x4a4634b6, 0x4a41169f, 0x4a3bf85a,
+    0x4a36d9e7, 0x4a31bb47,
+  0x4a2c9c79, 0x4a277d7d, 0x4a225e53, 0x4a1d3efc, 0x4a181f77, 0x4a12ffc4,
+    0x4a0ddfe4, 0x4a08bfd5,
+  0x4a039f9a, 0x49fe7f30, 0x49f95e99, 0x49f43dd4, 0x49ef1ce2, 0x49e9fbc2,
+    0x49e4da74, 0x49dfb8f9,
+  0x49da9750, 0x49d5757a, 0x49d05376, 0x49cb3145, 0x49c60ee6, 0x49c0ec59,
+    0x49bbc9a0, 0x49b6a6b8,
+  0x49b183a3, 0x49ac6061, 0x49a73cf1, 0x49a21954, 0x499cf589, 0x4997d191,
+    0x4992ad6c, 0x498d8919,
+  0x49886499, 0x49833fec, 0x497e1b11, 0x4978f609, 0x4973d0d3, 0x496eab70,
+    0x496985e0, 0x49646023,
+  0x495f3a38, 0x495a1420, 0x4954eddb, 0x494fc768, 0x494aa0c9, 0x494579fc,
+    0x49405302, 0x493b2bdb,
+  0x49360486, 0x4930dd05, 0x492bb556, 0x49268d7a, 0x49216571, 0x491c3d3b,
+    0x491714d8, 0x4911ec47,
+  0x490cc38a, 0x49079aa0, 0x49027188, 0x48fd4844, 0x48f81ed2, 0x48f2f534,
+    0x48edcb68, 0x48e8a170,
+  0x48e3774a, 0x48de4cf8, 0x48d92278, 0x48d3f7cc, 0x48ceccf3, 0x48c9a1ed,
+    0x48c476b9, 0x48bf4b59,
+  0x48ba1fcd, 0x48b4f413, 0x48afc82c, 0x48aa9c19, 0x48a56fd9, 0x48a0436c,
+    0x489b16d2, 0x4895ea0b,
+  0x4890bd18, 0x488b8ff8, 0x488662ab, 0x48813531, 0x487c078b, 0x4876d9b8,
+    0x4871abb8, 0x486c7d8c,
+  0x48674f33, 0x486220ad, 0x485cf1fa, 0x4857c31b, 0x48529410, 0x484d64d7,
+    0x48483572, 0x484305e1,
+  0x483dd623, 0x4838a638, 0x48337621, 0x482e45dd, 0x4829156d, 0x4823e4d0,
+    0x481eb407, 0x48198311,
+  0x481451ef, 0x480f20a0, 0x4809ef25, 0x4804bd7e, 0x47ff8baa, 0x47fa59a9,
+    0x47f5277d, 0x47eff523,
+  0x47eac29e, 0x47e58fec, 0x47e05d0e, 0x47db2a03, 0x47d5f6cc, 0x47d0c369,
+    0x47cb8fd9, 0x47c65c1d,
+  0x47c12835, 0x47bbf421, 0x47b6bfe0, 0x47b18b74, 0x47ac56da, 0x47a72215,
+    0x47a1ed24, 0x479cb806,
+  0x479782bc, 0x47924d46, 0x478d17a4, 0x4787e1d6, 0x4782abdb, 0x477d75b5,
+    0x47783f62, 0x477308e3,
+  0x476dd239, 0x47689b62, 0x4763645f, 0x475e2d30, 0x4758f5d5, 0x4753be4e,
+    0x474e869b, 0x47494ebc,
+  0x474416b1, 0x473ede7a, 0x4739a617, 0x47346d89, 0x472f34ce, 0x4729fbe7,
+    0x4724c2d5, 0x471f8996,
+  0x471a502c, 0x47151696, 0x470fdcd4, 0x470aa2e6, 0x470568cd, 0x47002e87,
+    0x46faf416, 0x46f5b979,
+  0x46f07eb0, 0x46eb43bc, 0x46e6089b, 0x46e0cd4f, 0x46db91d8, 0x46d65634,
+    0x46d11a65, 0x46cbde6a,
+  0x46c6a244, 0x46c165f1, 0x46bc2974, 0x46b6ecca, 0x46b1aff5, 0x46ac72f4,
+    0x46a735c8, 0x46a1f870,
+  0x469cbaed, 0x46977d3e, 0x46923f63, 0x468d015d, 0x4687c32c, 0x468284cf,
+    0x467d4646, 0x46780792,
+  0x4672c8b3, 0x466d89a8, 0x46684a71, 0x46630b0f, 0x465dcb82, 0x46588bc9,
+    0x46534be5, 0x464e0bd6,
+  0x4648cb9b, 0x46438b35, 0x463e4aa3, 0x463909e7, 0x4633c8fe, 0x462e87eb,
+    0x462946ac, 0x46240542,
+  0x461ec3ad, 0x461981ec, 0x46144001, 0x460efde9, 0x4609bba7, 0x4604793a,
+    0x45ff36a1, 0x45f9f3dd,
+  0x45f4b0ee, 0x45ef6dd4, 0x45ea2a8f, 0x45e4e71f, 0x45dfa383, 0x45da5fbc,
+    0x45d51bcb, 0x45cfd7ae,
+  0x45ca9366, 0x45c54ef3, 0x45c00a55, 0x45bac58c, 0x45b58098, 0x45b03b79,
+    0x45aaf630, 0x45a5b0bb,
+  0x45a06b1b, 0x459b2550, 0x4595df5a, 0x45909939, 0x458b52ee, 0x45860c77,
+    0x4580c5d6, 0x457b7f0a,
+  0x45763813, 0x4570f0f1, 0x456ba9a4, 0x4566622c, 0x45611a8a, 0x455bd2bc,
+    0x45568ac4, 0x455142a2,
+  0x454bfa54, 0x4546b1dc, 0x45416939, 0x453c206b, 0x4536d773, 0x45318e4f,
+    0x452c4502, 0x4526fb89,
+  0x4521b1e6, 0x451c6818, 0x45171e20, 0x4511d3fd, 0x450c89af, 0x45073f37,
+    0x4501f494, 0x44fca9c6,
+  0x44f75ecf, 0x44f213ac, 0x44ecc85f, 0x44e77ce7, 0x44e23145, 0x44dce579,
+    0x44d79982, 0x44d24d60,
+  0x44cd0114, 0x44c7b49e, 0x44c267fd, 0x44bd1b32, 0x44b7ce3c, 0x44b2811c,
+    0x44ad33d2, 0x44a7e65d,
+  0x44a298be, 0x449d4af5, 0x4497fd01, 0x4492aee3, 0x448d609b, 0x44881228,
+    0x4482c38b, 0x447d74c4,
+  0x447825d2, 0x4472d6b7, 0x446d8771, 0x44683801, 0x4462e866, 0x445d98a2,
+    0x445848b3, 0x4452f89b,
+  0x444da858, 0x444857ea, 0x44430753, 0x443db692, 0x443865a7, 0x44331491,
+    0x442dc351, 0x442871e8,
+  0x44232054, 0x441dce96, 0x44187caf, 0x44132a9d, 0x440dd861, 0x440885fc,
+    0x4403336c, 0x43fde0b2,
+  0x43f88dcf, 0x43f33ac1, 0x43ede78a, 0x43e89429, 0x43e3409d, 0x43ddece8,
+    0x43d8990a, 0x43d34501,
+  0x43cdf0ce, 0x43c89c72, 0x43c347eb, 0x43bdf33b, 0x43b89e62, 0x43b3495e,
+    0x43adf431, 0x43a89ed9,
+  0x43a34959, 0x439df3ae, 0x43989dda, 0x439347dc, 0x438df1b4, 0x43889b63,
+    0x438344e8, 0x437dee43,
+  0x43789775, 0x4373407d, 0x436de95b, 0x43689210, 0x43633a9c, 0x435de2fd,
+    0x43588b36, 0x43533344,
+  0x434ddb29, 0x434882e5, 0x43432a77, 0x433dd1e0, 0x4338791f, 0x43332035,
+    0x432dc721, 0x43286de4,
+  0x4323147d, 0x431dbaed, 0x43186133, 0x43130751, 0x430dad44, 0x4308530f,
+    0x4302f8b0, 0x42fd9e28,
+  0x42f84376, 0x42f2e89b, 0x42ed8d97, 0x42e83269, 0x42e2d713, 0x42dd7b93,
+    0x42d81fe9, 0x42d2c417,
+  0x42cd681b, 0x42c80bf6, 0x42c2afa8, 0x42bd5331, 0x42b7f690, 0x42b299c7,
+    0x42ad3cd4, 0x42a7dfb8,
+  0x42a28273, 0x429d2505, 0x4297c76e, 0x429269ae, 0x428d0bc4, 0x4287adb2,
+    0x42824f76, 0x427cf112,
+  0x42779285, 0x427233ce, 0x426cd4ef, 0x426775e6, 0x426216b5, 0x425cb75a,
+    0x425757d7, 0x4251f82b,
+  0x424c9856, 0x42473858, 0x4241d831, 0x423c77e1, 0x42371769, 0x4231b6c7,
+    0x422c55fd, 0x4226f50a,
+  0x422193ee, 0x421c32a9, 0x4216d13c, 0x42116fa5, 0x420c0de6, 0x4206abfe,
+    0x420149ee, 0x41fbe7b5,
+  0x41f68553, 0x41f122c8, 0x41ebc015, 0x41e65d39, 0x41e0fa35, 0x41db9707,
+    0x41d633b1, 0x41d0d033,
+  0x41cb6c8c, 0x41c608bc, 0x41c0a4c4, 0x41bb40a3, 0x41b5dc5a, 0x41b077e8,
+    0x41ab134e, 0x41a5ae8b,
+  0x41a049a0, 0x419ae48c, 0x41957f4f, 0x419019eb, 0x418ab45d, 0x41854ea8,
+    0x417fe8ca, 0x417a82c3,
+  0x41751c94, 0x416fb63d, 0x416a4fbd, 0x4164e916, 0x415f8245, 0x415a1b4d,
+    0x4154b42c, 0x414f4ce2,
+  0x4149e571, 0x41447dd7, 0x413f1615, 0x4139ae2b, 0x41344618, 0x412edddd,
+    0x4129757b, 0x41240cef,
+  0x411ea43c, 0x41193b61, 0x4113d25d, 0x410e6931, 0x4108ffdd, 0x41039661,
+    0x40fe2cbd, 0x40f8c2f1,
+  0x40f358fc, 0x40edeee0, 0x40e8849b, 0x40e31a2f, 0x40ddaf9b, 0x40d844de,
+    0x40d2d9f9, 0x40cd6eed,
+  0x40c803b8, 0x40c2985c, 0x40bd2cd8, 0x40b7c12b, 0x40b25557, 0x40ace95b,
+    0x40a77d37, 0x40a210eb,
+  0x409ca477, 0x409737dc, 0x4091cb18, 0x408c5e2d, 0x4086f11a, 0x408183df,
+    0x407c167c, 0x4076a8f1,
+  0x40713b3f, 0x406bcd65, 0x40665f63, 0x4060f13a, 0x405b82e9, 0x40561470,
+    0x4050a5cf, 0x404b3707,
+  0x4045c817, 0x404058ff, 0x403ae9c0, 0x40357a59, 0x40300acb, 0x402a9b15,
+    0x40252b37, 0x401fbb32,
+  0x401a4b05, 0x4014dab1, 0x400f6a35, 0x4009f992, 0x400488c7, 0x3fff17d5,
+    0x3ff9a6bb, 0x3ff4357a,
+  0x3feec411, 0x3fe95281, 0x3fe3e0c9, 0x3fde6eeb, 0x3fd8fce4, 0x3fd38ab6,
+    0x3fce1861, 0x3fc8a5e5,
+  0x3fc33341, 0x3fbdc076, 0x3fb84d83, 0x3fb2da6a, 0x3fad6729, 0x3fa7f3c0,
+    0x3fa28031, 0x3f9d0c7a,
+  0x3f97989c, 0x3f922496, 0x3f8cb06a, 0x3f873c16, 0x3f81c79b, 0x3f7c52f9,
+    0x3f76de30, 0x3f71693f,
+  0x3f6bf428, 0x3f667ee9, 0x3f610983, 0x3f5b93f6, 0x3f561e42, 0x3f50a867,
+    0x3f4b3265, 0x3f45bc3c,
+  0x3f4045ec, 0x3f3acf75, 0x3f3558d7, 0x3f2fe211, 0x3f2a6b25, 0x3f24f412,
+    0x3f1f7cd8, 0x3f1a0577,
+  0x3f148def, 0x3f0f1640, 0x3f099e6b, 0x3f04266e, 0x3efeae4a, 0x3ef93600,
+    0x3ef3bd8f, 0x3eee44f7,
+  0x3ee8cc38, 0x3ee35352, 0x3eddda46, 0x3ed86113, 0x3ed2e7b9, 0x3ecd6e38,
+    0x3ec7f491, 0x3ec27ac2,
+  0x3ebd00cd, 0x3eb786b2, 0x3eb20c6f, 0x3eac9206, 0x3ea71777, 0x3ea19cc1,
+    0x3e9c21e4, 0x3e96a6e0,
+  0x3e912bb6, 0x3e8bb065, 0x3e8634ee, 0x3e80b950, 0x3e7b3d8c, 0x3e75c1a1,
+    0x3e70458f, 0x3e6ac957,
+  0x3e654cf8, 0x3e5fd073, 0x3e5a53c8, 0x3e54d6f6, 0x3e4f59fe, 0x3e49dcdf,
+    0x3e445f99, 0x3e3ee22e,
+  0x3e39649c, 0x3e33e6e3, 0x3e2e6904, 0x3e28eaff, 0x3e236cd4, 0x3e1dee82,
+    0x3e18700a, 0x3e12f16b,
+  0x3e0d72a6, 0x3e07f3bb, 0x3e0274aa, 0x3dfcf572, 0x3df77615, 0x3df1f691,
+    0x3dec76e6, 0x3de6f716,
+  0x3de1771f, 0x3ddbf703, 0x3dd676c0, 0x3dd0f656, 0x3dcb75c7, 0x3dc5f512,
+    0x3dc07436, 0x3dbaf335,
+  0x3db5720d, 0x3daff0c0, 0x3daa6f4c, 0x3da4edb2, 0x3d9f6bf2, 0x3d99ea0d,
+    0x3d946801, 0x3d8ee5cf,
+  0x3d896377, 0x3d83e0f9, 0x3d7e5e56, 0x3d78db8c, 0x3d73589d, 0x3d6dd587,
+    0x3d68524c, 0x3d62ceeb,
+  0x3d5d4b64, 0x3d57c7b7, 0x3d5243e4, 0x3d4cbfeb, 0x3d473bcd, 0x3d41b789,
+    0x3d3c331f, 0x3d36ae8f,
+  0x3d3129da, 0x3d2ba4fe, 0x3d261ffd, 0x3d209ad7, 0x3d1b158a, 0x3d159018,
+    0x3d100a80, 0x3d0a84c3,
+  0x3d04fee0, 0x3cff78d7, 0x3cf9f2a9, 0x3cf46c55, 0x3ceee5db, 0x3ce95f3c,
+    0x3ce3d877, 0x3cde518d,
+  0x3cd8ca7d, 0x3cd34347, 0x3ccdbbed, 0x3cc8346c, 0x3cc2acc6, 0x3cbd24fb,
+    0x3cb79d0a, 0x3cb214f4,
+  0x3cac8cb8, 0x3ca70457, 0x3ca17bd0, 0x3c9bf324, 0x3c966a53, 0x3c90e15c,
+    0x3c8b5840, 0x3c85cefe,
+  0x3c804598, 0x3c7abc0c, 0x3c75325a, 0x3c6fa883, 0x3c6a1e87, 0x3c649466,
+    0x3c5f0a20, 0x3c597fb4,
+  0x3c53f523, 0x3c4e6a6d, 0x3c48df91, 0x3c435491, 0x3c3dc96b, 0x3c383e20,
+    0x3c32b2b0, 0x3c2d271b,
+  0x3c279b61, 0x3c220f81, 0x3c1c837d, 0x3c16f753, 0x3c116b04, 0x3c0bde91,
+    0x3c0651f8, 0x3c00c53a,
+  0x3bfb3857, 0x3bf5ab50, 0x3bf01e23, 0x3bea90d1, 0x3be5035a, 0x3bdf75bf,
+    0x3bd9e7fe, 0x3bd45a19,
+  0x3bcecc0e, 0x3bc93ddf, 0x3bc3af8b, 0x3bbe2112, 0x3bb89274, 0x3bb303b1,
+    0x3bad74c9, 0x3ba7e5bd,
+  0x3ba2568c, 0x3b9cc736, 0x3b9737bb, 0x3b91a81c, 0x3b8c1857, 0x3b86886e,
+    0x3b80f861, 0x3b7b682e,
+  0x3b75d7d7, 0x3b70475c, 0x3b6ab6bb, 0x3b6525f6, 0x3b5f950c, 0x3b5a03fe,
+    0x3b5472cb, 0x3b4ee173,
+  0x3b494ff7, 0x3b43be57, 0x3b3e2c91, 0x3b389aa8, 0x3b330899, 0x3b2d7666,
+    0x3b27e40f, 0x3b225193,
+  0x3b1cbef3, 0x3b172c2e, 0x3b119945, 0x3b0c0637, 0x3b067305, 0x3b00dfaf,
+    0x3afb4c34, 0x3af5b894,
+  0x3af024d1, 0x3aea90e9, 0x3ae4fcdc, 0x3adf68ac, 0x3ad9d457, 0x3ad43fdd,
+    0x3aceab40, 0x3ac9167e,
+  0x3ac38198, 0x3abdec8d, 0x3ab8575f, 0x3ab2c20c, 0x3aad2c95, 0x3aa796fa,
+    0x3aa2013a, 0x3a9c6b57,
+  0x3a96d54f, 0x3a913f23, 0x3a8ba8d3, 0x3a86125f, 0x3a807bc7, 0x3a7ae50a,
+    0x3a754e2a, 0x3a6fb726,
+  0x3a6a1ffd, 0x3a6488b1, 0x3a5ef140, 0x3a5959ab, 0x3a53c1f3, 0x3a4e2a16,
+    0x3a489216, 0x3a42f9f2,
+  0x3a3d61a9, 0x3a37c93d, 0x3a3230ad, 0x3a2c97f9, 0x3a26ff21, 0x3a216625,
+    0x3a1bcd05, 0x3a1633c1,
+  0x3a109a5a, 0x3a0b00cf, 0x3a056720, 0x39ffcd4d, 0x39fa3356, 0x39f4993c,
+    0x39eefefe, 0x39e9649c,
+  0x39e3ca17, 0x39de2f6d, 0x39d894a0, 0x39d2f9b0, 0x39cd5e9b, 0x39c7c363,
+    0x39c22808, 0x39bc8c89,
+  0x39b6f0e6, 0x39b1551f, 0x39abb935, 0x39a61d28, 0x39a080f6, 0x399ae4a2,
+    0x39954829, 0x398fab8e,
+  0x398a0ece, 0x398471ec, 0x397ed4e5, 0x397937bc, 0x39739a6e, 0x396dfcfe,
+    0x39685f6a, 0x3962c1b2,
+  0x395d23d7, 0x395785d9, 0x3951e7b8, 0x394c4973, 0x3946ab0a, 0x39410c7f,
+    0x393b6dd0, 0x3935cefd,
+  0x39303008, 0x392a90ef, 0x3924f1b3, 0x391f5254, 0x3919b2d1, 0x3914132b,
+    0x390e7362, 0x3908d376,
+  0x39033367, 0x38fd9334, 0x38f7f2de, 0x38f25266, 0x38ecb1ca, 0x38e7110a,
+    0x38e17028, 0x38dbcf23,
+  0x38d62dfb, 0x38d08caf, 0x38caeb41, 0x38c549af, 0x38bfa7fb, 0x38ba0623,
+    0x38b46429, 0x38aec20b,
+  0x38a91fcb, 0x38a37d67, 0x389ddae1, 0x38983838, 0x3892956c, 0x388cf27d,
+    0x38874f6b, 0x3881ac36,
+  0x387c08de, 0x38766564, 0x3870c1c6, 0x386b1e06, 0x38657a23, 0x385fd61d,
+    0x385a31f5, 0x38548daa,
+  0x384ee93b, 0x384944ab, 0x38439ff7, 0x383dfb21, 0x38385628, 0x3832b10d,
+    0x382d0bce, 0x3827666d,
+  0x3821c0ea, 0x381c1b44, 0x3816757b, 0x3810cf90, 0x380b2982, 0x38058351,
+    0x37ffdcfe, 0x37fa3688,
+  0x37f48ff0, 0x37eee936, 0x37e94259, 0x37e39b59, 0x37ddf437, 0x37d84cf2,
+    0x37d2a58b, 0x37ccfe02,
+  0x37c75656, 0x37c1ae87, 0x37bc0697, 0x37b65e84, 0x37b0b64e, 0x37ab0df6,
+    0x37a5657c, 0x379fbce0,
+  0x379a1421, 0x37946b40, 0x378ec23d, 0x37891917, 0x37836fcf, 0x377dc665,
+    0x37781cd9, 0x3772732a,
+  0x376cc959, 0x37671f66, 0x37617551, 0x375bcb1a, 0x375620c1, 0x37507645,
+    0x374acba7, 0x374520e7,
+  0x373f7606, 0x3739cb02, 0x37341fdc, 0x372e7493, 0x3728c929, 0x37231d9d,
+    0x371d71ef, 0x3717c61f,
+  0x37121a2d, 0x370c6e19, 0x3706c1e2, 0x3701158a, 0x36fb6910, 0x36f5bc75,
+    0x36f00fb7, 0x36ea62d7,
+  0x36e4b5d6, 0x36df08b2, 0x36d95b6d, 0x36d3ae06, 0x36ce007d, 0x36c852d2,
+    0x36c2a506, 0x36bcf718,
+  0x36b74908, 0x36b19ad6, 0x36abec82, 0x36a63e0d, 0x36a08f76, 0x369ae0bd,
+    0x369531e3, 0x368f82e7,
+  0x3689d3c9, 0x3684248a, 0x367e7529, 0x3678c5a7, 0x36731602, 0x366d663d,
+    0x3667b655, 0x3662064c,
+  0x365c5622, 0x3656a5d6, 0x3650f569, 0x364b44da, 0x36459429, 0x363fe357,
+    0x363a3264, 0x3634814f,
+  0x362ed019, 0x36291ec1, 0x36236d48, 0x361dbbad, 0x361809f1, 0x36125814,
+    0x360ca615, 0x3606f3f5,
+  0x360141b4, 0x35fb8f52, 0x35f5dcce, 0x35f02a28, 0x35ea7762, 0x35e4c47a,
+    0x35df1171, 0x35d95e47,
+  0x35d3aafc, 0x35cdf78f, 0x35c84401, 0x35c29052, 0x35bcdc82, 0x35b72891,
+    0x35b1747e, 0x35abc04b,
+  0x35a60bf6, 0x35a05781, 0x359aa2ea, 0x3594ee32, 0x358f3959, 0x3589845f,
+    0x3583cf44, 0x357e1a08,
+  0x357864ab, 0x3572af2d, 0x356cf98e, 0x356743ce, 0x35618ded, 0x355bd7eb,
+    0x355621c9, 0x35506b85,
+  0x354ab520, 0x3544fe9b, 0x353f47f5, 0x3539912e, 0x3533da46, 0x352e233d,
+    0x35286c14, 0x3522b4c9,
+  0x351cfd5e, 0x351745d2, 0x35118e26, 0x350bd658, 0x35061e6a, 0x3500665c,
+    0x34faae2c, 0x34f4f5dc,
+  0x34ef3d6b, 0x34e984da, 0x34e3cc28, 0x34de1355, 0x34d85a62, 0x34d2a14e,
+    0x34cce819, 0x34c72ec4,
+  0x34c1754e, 0x34bbbbb8, 0x34b60202, 0x34b0482a, 0x34aa8e33, 0x34a4d41a,
+    0x349f19e2, 0x34995f88,
+  0x3493a50f, 0x348dea75, 0x34882fba, 0x348274e0, 0x347cb9e4, 0x3476fec9,
+    0x3471438d, 0x346b8830,
+  0x3465ccb4, 0x34601117, 0x345a5559, 0x3454997c, 0x344edd7e, 0x34492160,
+    0x34436521, 0x343da8c3,
+  0x3437ec44, 0x34322fa5, 0x342c72e6, 0x3426b606, 0x3420f907, 0x341b3be7,
+    0x34157ea7, 0x340fc147,
+  0x340a03c7, 0x34044626, 0x33fe8866, 0x33f8ca86, 0x33f30c85, 0x33ed4e65,
+    0x33e79024, 0x33e1d1c4,
+  0x33dc1343, 0x33d654a2, 0x33d095e2, 0x33cad701, 0x33c51801, 0x33bf58e1,
+    0x33b999a0, 0x33b3da40,
+  0x33ae1ac0, 0x33a85b20, 0x33a29b60, 0x339cdb81, 0x33971b81, 0x33915b62,
+    0x338b9b22, 0x3385dac4,
+  0x33801a45, 0x337a59a6, 0x337498e8, 0x336ed80a, 0x3369170c, 0x336355ef,
+    0x335d94b2, 0x3357d355,
+  0x335211d8, 0x334c503c, 0x33468e80, 0x3340cca5, 0x333b0aaa, 0x3335488f,
+    0x332f8655, 0x3329c3fb,
+  0x33240182, 0x331e3ee9, 0x33187c31, 0x3312b959, 0x330cf661, 0x3307334a,
+    0x33017014, 0x32fbacbe,
+  0x32f5e948, 0x32f025b4, 0x32ea61ff, 0x32e49e2c, 0x32deda39, 0x32d91626,
+    0x32d351f5, 0x32cd8da4,
+  0x32c7c933, 0x32c204a3, 0x32bc3ff4, 0x32b67b26, 0x32b0b638, 0x32aaf12b,
+    0x32a52bff, 0x329f66b4,
+  0x3299a149, 0x3293dbbf, 0x328e1616, 0x3288504e, 0x32828a67, 0x327cc460,
+    0x3276fe3a, 0x327137f6,
+  0x326b7192, 0x3265ab0f, 0x325fe46c, 0x325a1dab, 0x325456cb, 0x324e8fcc,
+    0x3248c8ad, 0x32430170,
+  0x323d3a14, 0x32377298, 0x3231aafe, 0x322be345, 0x32261b6c, 0x32205375,
+    0x321a8b5f, 0x3214c32a,
+  0x320efad6, 0x32093263, 0x320369d2, 0x31fda121, 0x31f7d852, 0x31f20f64,
+    0x31ec4657, 0x31e67d2b,
+  0x31e0b3e0, 0x31daea77, 0x31d520ef, 0x31cf5748, 0x31c98d83, 0x31c3c39e,
+    0x31bdf99b, 0x31b82f7a,
+  0x31b2653a, 0x31ac9adb, 0x31a6d05d, 0x31a105c1, 0x319b3b06, 0x3195702d,
+    0x318fa535, 0x3189da1e,
+  0x31840ee9, 0x317e4395, 0x31787823, 0x3172ac92, 0x316ce0e3, 0x31671515,
+    0x31614929, 0x315b7d1e,
+  0x3155b0f5, 0x314fe4ae, 0x314a1848, 0x31444bc3, 0x313e7f21, 0x3138b260,
+    0x3132e580, 0x312d1882,
+  0x31274b66, 0x31217e2c, 0x311bb0d3, 0x3115e35c, 0x311015c6, 0x310a4813,
+    0x31047a41, 0x30feac51,
+  0x30f8de42, 0x30f31016, 0x30ed41cb, 0x30e77362, 0x30e1a4db, 0x30dbd636,
+    0x30d60772, 0x30d03891,
+  0x30ca6991, 0x30c49a74, 0x30becb38, 0x30b8fbde, 0x30b32c66, 0x30ad5cd0,
+    0x30a78d1c, 0x30a1bd4a,
+  0x309bed5a, 0x30961d4c, 0x30904d20, 0x308a7cd6, 0x3084ac6e, 0x307edbe9,
+    0x30790b45, 0x30733a83,
+  0x306d69a4, 0x306798a7, 0x3061c78b, 0x305bf652, 0x305624fb, 0x30505387,
+    0x304a81f4, 0x3044b044,
+  0x303ede76, 0x30390c8a, 0x30333a80, 0x302d6859, 0x30279614, 0x3021c3b1,
+    0x301bf131, 0x30161e93,
+  0x30104bd7, 0x300a78fe, 0x3004a607, 0x2ffed2f2, 0x2ff8ffc0, 0x2ff32c70,
+    0x2fed5902, 0x2fe78577,
+  0x2fe1b1cf, 0x2fdbde09, 0x2fd60a25, 0x2fd03624, 0x2fca6206, 0x2fc48dc9,
+    0x2fbeb970, 0x2fb8e4f9,
+  0x2fb31064, 0x2fad3bb3, 0x2fa766e3, 0x2fa191f7, 0x2f9bbced, 0x2f95e7c5,
+    0x2f901280, 0x2f8a3d1e,
+  0x2f84679f, 0x2f7e9202, 0x2f78bc48, 0x2f72e671, 0x2f6d107c, 0x2f673a6a,
+    0x2f61643b, 0x2f5b8def,
+  0x2f55b785, 0x2f4fe0ff, 0x2f4a0a5b, 0x2f44339a, 0x2f3e5cbb, 0x2f3885c0,
+    0x2f32aea8, 0x2f2cd772,
+  0x2f27001f, 0x2f2128af, 0x2f1b5122, 0x2f157979, 0x2f0fa1b2, 0x2f09c9ce,
+    0x2f03f1cd, 0x2efe19ae,
+  0x2ef84173, 0x2ef2691b, 0x2eec90a7, 0x2ee6b815, 0x2ee0df66, 0x2edb069a,
+    0x2ed52db1, 0x2ecf54ac,
+  0x2ec97b89, 0x2ec3a24a, 0x2ebdc8ee, 0x2eb7ef75, 0x2eb215df, 0x2eac3c2d,
+    0x2ea6625d, 0x2ea08871,
+  0x2e9aae68, 0x2e94d443, 0x2e8efa00, 0x2e891fa1, 0x2e834525, 0x2e7d6a8d,
+    0x2e778fd8, 0x2e71b506,
+  0x2e6bda17, 0x2e65ff0c, 0x2e6023e5, 0x2e5a48a0, 0x2e546d3f, 0x2e4e91c2,
+    0x2e48b628, 0x2e42da71,
+  0x2e3cfe9e, 0x2e3722ae, 0x2e3146a2, 0x2e2b6a79, 0x2e258e34, 0x2e1fb1d3,
+    0x2e19d554, 0x2e13f8ba,
+  0x2e0e1c03, 0x2e083f30, 0x2e026240, 0x2dfc8534, 0x2df6a80b, 0x2df0cac6,
+    0x2deaed65, 0x2de50fe8,
+  0x2ddf324e, 0x2dd95498, 0x2dd376c5, 0x2dcd98d7, 0x2dc7bacc, 0x2dc1dca4,
+    0x2dbbfe61, 0x2db62001,
+  0x2db04186, 0x2daa62ee, 0x2da4843a, 0x2d9ea569, 0x2d98c67d, 0x2d92e774,
+    0x2d8d084f, 0x2d87290f,
+  0x2d8149b2, 0x2d7b6a39, 0x2d758aa4, 0x2d6faaf3, 0x2d69cb26, 0x2d63eb3d,
+    0x2d5e0b38, 0x2d582b17,
+  0x2d524ada, 0x2d4c6a81, 0x2d468a0c, 0x2d40a97b, 0x2d3ac8ce, 0x2d34e805,
+    0x2d2f0721, 0x2d292620,
+  0x2d234504, 0x2d1d63cc, 0x2d178278, 0x2d11a108, 0x2d0bbf7d, 0x2d05ddd5,
+    0x2cfffc12, 0x2cfa1a33,
+  0x2cf43839, 0x2cee5622, 0x2ce873f0, 0x2ce291a2, 0x2cdcaf39, 0x2cd6ccb4,
+    0x2cd0ea13, 0x2ccb0756,
+  0x2cc5247e, 0x2cbf418b, 0x2cb95e7b, 0x2cb37b51, 0x2cad980a, 0x2ca7b4a8,
+    0x2ca1d12a, 0x2c9bed91,
+  0x2c9609dd, 0x2c90260d, 0x2c8a4221, 0x2c845e1a, 0x2c7e79f7, 0x2c7895b9,
+    0x2c72b160, 0x2c6ccceb,
+  0x2c66e85b, 0x2c6103af, 0x2c5b1ee8, 0x2c553a06, 0x2c4f5508, 0x2c496fef,
+    0x2c438abb, 0x2c3da56b,
+  0x2c37c000, 0x2c31da7a, 0x2c2bf4d8, 0x2c260f1c, 0x2c202944, 0x2c1a4351,
+    0x2c145d42, 0x2c0e7719,
+  0x2c0890d4, 0x2c02aa74, 0x2bfcc3f9, 0x2bf6dd63, 0x2bf0f6b1, 0x2beb0fe5,
+    0x2be528fd, 0x2bdf41fb,
+  0x2bd95add, 0x2bd373a4, 0x2bcd8c51, 0x2bc7a4e2, 0x2bc1bd58, 0x2bbbd5b3,
+    0x2bb5edf4, 0x2bb00619,
+  0x2baa1e23, 0x2ba43613, 0x2b9e4de7, 0x2b9865a1, 0x2b927d3f, 0x2b8c94c3,
+    0x2b86ac2c, 0x2b80c37a,
+  0x2b7adaae, 0x2b74f1c6, 0x2b6f08c4, 0x2b691fa6, 0x2b63366f, 0x2b5d4d1c,
+    0x2b5763ae, 0x2b517a26,
+  0x2b4b9083, 0x2b45a6c6, 0x2b3fbced, 0x2b39d2fa, 0x2b33e8ed, 0x2b2dfec5,
+    0x2b281482, 0x2b222a24,
+  0x2b1c3fac, 0x2b165519, 0x2b106a6c, 0x2b0a7fa4, 0x2b0494c2, 0x2afea9c5,
+    0x2af8bead, 0x2af2d37b,
+  0x2aece82f, 0x2ae6fcc8, 0x2ae11146, 0x2adb25aa, 0x2ad539f4, 0x2acf4e23,
+    0x2ac96238, 0x2ac37633,
+  0x2abd8a13, 0x2ab79dd8, 0x2ab1b184, 0x2aabc515, 0x2aa5d88b, 0x2a9febe8,
+    0x2a99ff2a, 0x2a941252,
+  0x2a8e255f, 0x2a883853, 0x2a824b2c, 0x2a7c5deb, 0x2a76708f, 0x2a70831a,
+    0x2a6a958a, 0x2a64a7e0,
+  0x2a5eba1c, 0x2a58cc3e, 0x2a52de46, 0x2a4cf033, 0x2a470207, 0x2a4113c0,
+    0x2a3b2560, 0x2a3536e5,
+  0x2a2f4850, 0x2a2959a1, 0x2a236ad9, 0x2a1d7bf6, 0x2a178cf9, 0x2a119de2,
+    0x2a0baeb2, 0x2a05bf67,
+  0x29ffd003, 0x29f9e084, 0x29f3f0ec, 0x29ee013a, 0x29e8116e, 0x29e22188,
+    0x29dc3188, 0x29d6416f,
+  0x29d0513b, 0x29ca60ee, 0x29c47087, 0x29be8007, 0x29b88f6c, 0x29b29eb8,
+    0x29acadea, 0x29a6bd02,
+  0x29a0cc01, 0x299adae6, 0x2994e9b1, 0x298ef863, 0x298906fb, 0x2983157a,
+    0x297d23df, 0x2977322a,
+  0x2971405b, 0x296b4e74, 0x29655c72, 0x295f6a57, 0x29597823, 0x295385d5,
+    0x294d936d, 0x2947a0ec,
+  0x2941ae52, 0x293bbb9e, 0x2935c8d1, 0x292fd5ea, 0x2929e2ea, 0x2923efd0,
+    0x291dfc9d, 0x29180951,
+  0x291215eb, 0x290c226c, 0x29062ed4, 0x29003b23, 0x28fa4758, 0x28f45374,
+    0x28ee5f76, 0x28e86b5f,
+  0x28e27730, 0x28dc82e6, 0x28d68e84, 0x28d09a09, 0x28caa574, 0x28c4b0c6,
+    0x28bebbff, 0x28b8c71f,
+  0x28b2d226, 0x28acdd13, 0x28a6e7e8, 0x28a0f2a3, 0x289afd46, 0x289507cf,
+    0x288f123f, 0x28891c97,
+  0x288326d5, 0x287d30fa, 0x28773b07, 0x287144fa, 0x286b4ed5, 0x28655896,
+    0x285f623f, 0x28596bce,
+  0x28537545, 0x284d7ea3, 0x284787e8, 0x28419114, 0x283b9a28, 0x2835a322,
+    0x282fac04, 0x2829b4cd,
+  0x2823bd7d, 0x281dc615, 0x2817ce93, 0x2811d6f9, 0x280bdf46, 0x2805e77b,
+    0x27ffef97, 0x27f9f79a,
+  0x27f3ff85, 0x27ee0756, 0x27e80f10, 0x27e216b0, 0x27dc1e38, 0x27d625a8,
+    0x27d02cff, 0x27ca343d,
+  0x27c43b63, 0x27be4270, 0x27b84965, 0x27b25041, 0x27ac5705, 0x27a65db0,
+    0x27a06443, 0x279a6abd,
+  0x2794711f, 0x278e7768, 0x27887d99, 0x278283b2, 0x277c89b3, 0x27768f9b,
+    0x2770956a, 0x276a9b21,
+  0x2764a0c0, 0x275ea647, 0x2758abb6, 0x2752b10c, 0x274cb64a, 0x2746bb6f,
+    0x2740c07d, 0x273ac572,
+  0x2734ca4f, 0x272ecf14, 0x2728d3c0, 0x2722d855, 0x271cdcd1, 0x2716e136,
+    0x2710e582, 0x270ae9b6,
+  0x2704edd2, 0x26fef1d5, 0x26f8f5c1, 0x26f2f995, 0x26ecfd51, 0x26e700f5,
+    0x26e10480, 0x26db07f4,
+  0x26d50b50, 0x26cf0e94, 0x26c911c0, 0x26c314d4, 0x26bd17d0, 0x26b71ab4,
+    0x26b11d80, 0x26ab2034,
+  0x26a522d1, 0x269f2556, 0x269927c3, 0x26932a18, 0x268d2c55, 0x26872e7b,
+    0x26813088, 0x267b327e,
+  0x2675345d, 0x266f3623, 0x266937d2, 0x26633969, 0x265d3ae9, 0x26573c50,
+    0x26513da1, 0x264b3ed9,
+  0x26453ffa, 0x263f4103, 0x263941f5, 0x263342cf, 0x262d4392, 0x2627443d,
+    0x262144d0, 0x261b454c,
+  0x261545b0, 0x260f45fd, 0x26094633, 0x26034651, 0x25fd4657, 0x25f74646,
+    0x25f1461e, 0x25eb45de,
+  0x25e54587, 0x25df4519, 0x25d94493, 0x25d343f6, 0x25cd4341, 0x25c74276,
+    0x25c14192, 0x25bb4098,
+  0x25b53f86, 0x25af3e5d, 0x25a93d1d, 0x25a33bc6, 0x259d3a57, 0x259738d1,
+    0x25913734, 0x258b3580,
+  0x258533b5, 0x257f31d2, 0x25792fd8, 0x25732dc8, 0x256d2ba0, 0x25672961,
+    0x2561270b, 0x255b249e,
+  0x2555221a, 0x254f1f7e, 0x25491ccc, 0x25431a03, 0x253d1723, 0x2537142c,
+    0x2531111e, 0x252b0df9,
+  0x25250abd, 0x251f076a, 0x25190400, 0x25130080, 0x250cfce8, 0x2506f93a,
+    0x2500f574, 0x24faf198,
+  0x24f4eda6, 0x24eee99c, 0x24e8e57c, 0x24e2e144, 0x24dcdcf6, 0x24d6d892,
+    0x24d0d416, 0x24cacf84,
+  0x24c4cadb, 0x24bec61c, 0x24b8c146, 0x24b2bc59, 0x24acb756, 0x24a6b23b,
+    0x24a0ad0b, 0x249aa7c4,
+  0x2494a266, 0x248e9cf1, 0x24889766, 0x248291c5, 0x247c8c0d, 0x2476863e,
+    0x24708059, 0x246a7a5e,
+  0x2464744c, 0x245e6e23, 0x245867e4, 0x2452618f, 0x244c5b24, 0x244654a1,
+    0x24404e09, 0x243a475a,
+  0x24344095, 0x242e39ba, 0x242832c8, 0x24222bc0, 0x241c24a1, 0x24161d6d,
+    0x24101622, 0x240a0ec1,
+  0x24040749, 0x23fdffbc, 0x23f7f818, 0x23f1f05e, 0x23ebe88e, 0x23e5e0a7,
+    0x23dfd8ab, 0x23d9d098,
+  0x23d3c86f, 0x23cdc031, 0x23c7b7dc, 0x23c1af71, 0x23bba6f0, 0x23b59e59,
+    0x23af95ac, 0x23a98ce8,
+  0x23a3840f, 0x239d7b20, 0x2397721b, 0x23916900, 0x238b5fcf, 0x23855688,
+    0x237f4d2b, 0x237943b9,
+  0x23733a30, 0x236d3092, 0x236726dd, 0x23611d13, 0x235b1333, 0x2355093e,
+    0x234eff32, 0x2348f511,
+  0x2342eada, 0x233ce08d, 0x2336d62a, 0x2330cbb2, 0x232ac124, 0x2324b680,
+    0x231eabc7, 0x2318a0f8,
+  0x23129613, 0x230c8b19, 0x23068009, 0x230074e3, 0x22fa69a8, 0x22f45e57,
+    0x22ee52f1, 0x22e84775,
+  0x22e23be4, 0x22dc303d, 0x22d62480, 0x22d018ae, 0x22ca0cc7, 0x22c400ca,
+    0x22bdf4b8, 0x22b7e890,
+  0x22b1dc53, 0x22abd001, 0x22a5c399, 0x229fb71b, 0x2299aa89, 0x22939de1,
+    0x228d9123, 0x22878451,
+  0x22817769, 0x227b6a6c, 0x22755d59, 0x226f5032, 0x226942f5, 0x226335a2,
+    0x225d283b, 0x22571abe,
+  0x22510d2d, 0x224aff86, 0x2244f1c9, 0x223ee3f8, 0x2238d612, 0x2232c816,
+    0x222cba06, 0x2226abe0,
+  0x22209da5, 0x221a8f56, 0x221480f1, 0x220e7277, 0x220863e8, 0x22025544,
+    0x21fc468b, 0x21f637be,
+  0x21f028db, 0x21ea19e3, 0x21e40ad7, 0x21ddfbb5, 0x21d7ec7f, 0x21d1dd34,
+    0x21cbcdd3, 0x21c5be5e,
+  0x21bfaed5, 0x21b99f36, 0x21b38f83, 0x21ad7fba, 0x21a76fdd, 0x21a15fec,
+    0x219b4fe5, 0x21953fca,
+  0x218f2f9a, 0x21891f55, 0x21830efc, 0x217cfe8e, 0x2176ee0b, 0x2170dd74,
+    0x216accc8, 0x2164bc08,
+  0x215eab33, 0x21589a49, 0x2152894b, 0x214c7838, 0x21466710, 0x214055d4,
+    0x213a4484, 0x2134331f,
+  0x212e21a6, 0x21281018, 0x2121fe76, 0x211becbf, 0x2115daf4, 0x210fc914,
+    0x2109b720, 0x2103a518,
+  0x20fd92fb, 0x20f780ca, 0x20f16e84, 0x20eb5c2b, 0x20e549bd, 0x20df373a,
+    0x20d924a4, 0x20d311f9,
+  0x20ccff3a, 0x20c6ec66, 0x20c0d97f, 0x20bac683, 0x20b4b373, 0x20aea04f,
+    0x20a88d17, 0x20a279ca,
+  0x209c666a, 0x209652f5, 0x20903f6c, 0x208a2bcf, 0x2084181e, 0x207e0459,
+    0x2077f080, 0x2071dc93,
+  0x206bc892, 0x2065b47d, 0x205fa054, 0x20598c17, 0x205377c6, 0x204d6361,
+    0x20474ee8, 0x20413a5b,
+  0x203b25bb, 0x20351106, 0x202efc3e, 0x2028e761, 0x2022d271, 0x201cbd6d,
+    0x2016a856, 0x2010932a,
+  0x200a7deb, 0x20046898, 0x1ffe5331, 0x1ff83db6, 0x1ff22828, 0x1fec1286,
+    0x1fe5fcd0, 0x1fdfe707,
+  0x1fd9d12a, 0x1fd3bb39, 0x1fcda535, 0x1fc78f1d, 0x1fc178f1, 0x1fbb62b2,
+    0x1fb54c60, 0x1faf35f9,
+  0x1fa91f80, 0x1fa308f2, 0x1f9cf252, 0x1f96db9d, 0x1f90c4d5, 0x1f8aadfa,
+    0x1f84970b, 0x1f7e8009,
+  0x1f7868f4, 0x1f7251ca, 0x1f6c3a8e, 0x1f66233e, 0x1f600bdb, 0x1f59f465,
+    0x1f53dcdb, 0x1f4dc53d,
+  0x1f47ad8d, 0x1f4195c9, 0x1f3b7df2, 0x1f356608, 0x1f2f4e0a, 0x1f2935f9,
+    0x1f231dd5, 0x1f1d059e,
+  0x1f16ed54, 0x1f10d4f6, 0x1f0abc85, 0x1f04a401, 0x1efe8b6a, 0x1ef872c0,
+    0x1ef25a03, 0x1eec4132,
+  0x1ee6284f, 0x1ee00f58, 0x1ed9f64f, 0x1ed3dd32, 0x1ecdc402, 0x1ec7aac0,
+    0x1ec1916a, 0x1ebb7802,
+  0x1eb55e86, 0x1eaf44f8, 0x1ea92b56, 0x1ea311a2, 0x1e9cf7db, 0x1e96de01,
+    0x1e90c414, 0x1e8aaa14,
+  0x1e849001, 0x1e7e75dc, 0x1e785ba3, 0x1e724158, 0x1e6c26fa, 0x1e660c8a,
+    0x1e5ff206, 0x1e59d770,
+  0x1e53bcc7, 0x1e4da20c, 0x1e47873d, 0x1e416c5d, 0x1e3b5169, 0x1e353663,
+    0x1e2f1b4a, 0x1e29001e,
+  0x1e22e4e0, 0x1e1cc990, 0x1e16ae2c, 0x1e1092b6, 0x1e0a772e, 0x1e045b93,
+    0x1dfe3fe6, 0x1df82426,
+  0x1df20853, 0x1debec6f, 0x1de5d077, 0x1ddfb46e, 0x1dd99851, 0x1dd37c23,
+    0x1dcd5fe2, 0x1dc7438e,
+  0x1dc12729, 0x1dbb0ab0, 0x1db4ee26, 0x1daed189, 0x1da8b4da, 0x1da29819,
+    0x1d9c7b45, 0x1d965e5f,
+  0x1d904167, 0x1d8a245c, 0x1d840740, 0x1d7dea11, 0x1d77ccd0, 0x1d71af7d,
+    0x1d6b9217, 0x1d6574a0,
+  0x1d5f5716, 0x1d59397a, 0x1d531bcc, 0x1d4cfe0d, 0x1d46e03a, 0x1d40c256,
+    0x1d3aa460, 0x1d348658,
+  0x1d2e683e, 0x1d284a12, 0x1d222bd3, 0x1d1c0d83, 0x1d15ef21, 0x1d0fd0ad,
+    0x1d09b227, 0x1d03938f,
+  0x1cfd74e5, 0x1cf7562a, 0x1cf1375c, 0x1ceb187d, 0x1ce4f98c, 0x1cdeda89,
+    0x1cd8bb74, 0x1cd29c4d,
+  0x1ccc7d15, 0x1cc65dca, 0x1cc03e6e, 0x1cba1f01, 0x1cb3ff81, 0x1caddff0,
+    0x1ca7c04d, 0x1ca1a099,
+  0x1c9b80d3, 0x1c9560fb, 0x1c8f4112, 0x1c892117, 0x1c83010a, 0x1c7ce0ec,
+    0x1c76c0bc, 0x1c70a07b,
+  0x1c6a8028, 0x1c645fc3, 0x1c5e3f4d, 0x1c581ec6, 0x1c51fe2d, 0x1c4bdd83,
+    0x1c45bcc7, 0x1c3f9bf9,
+  0x1c397b1b, 0x1c335a2b, 0x1c2d3929, 0x1c271816, 0x1c20f6f2, 0x1c1ad5bc,
+    0x1c14b475, 0x1c0e931d,
+  0x1c0871b4, 0x1c025039, 0x1bfc2ead, 0x1bf60d0f, 0x1befeb60, 0x1be9c9a1,
+    0x1be3a7cf, 0x1bdd85ed,
+  0x1bd763fa, 0x1bd141f5, 0x1bcb1fdf, 0x1bc4fdb8, 0x1bbedb80, 0x1bb8b937,
+    0x1bb296dc, 0x1bac7471,
+  0x1ba651f5, 0x1ba02f67, 0x1b9a0cc8, 0x1b93ea19, 0x1b8dc758, 0x1b87a487,
+    0x1b8181a4, 0x1b7b5eb0,
+  0x1b753bac, 0x1b6f1897, 0x1b68f570, 0x1b62d239, 0x1b5caef1, 0x1b568b98,
+    0x1b50682e, 0x1b4a44b3,
+  0x1b442127, 0x1b3dfd8b, 0x1b37d9de, 0x1b31b620, 0x1b2b9251, 0x1b256e71,
+    0x1b1f4a81, 0x1b192680,
+  0x1b13026e, 0x1b0cde4c, 0x1b06ba19, 0x1b0095d5, 0x1afa7180, 0x1af44d1b,
+    0x1aee28a6, 0x1ae8041f,
+  0x1ae1df88, 0x1adbbae1, 0x1ad59629, 0x1acf7160, 0x1ac94c87, 0x1ac3279d,
+    0x1abd02a3, 0x1ab6dd98,
+  0x1ab0b87d, 0x1aaa9352, 0x1aa46e16, 0x1a9e48c9, 0x1a98236c, 0x1a91fdff,
+    0x1a8bd881, 0x1a85b2f3,
+  0x1a7f8d54, 0x1a7967a6, 0x1a7341e6, 0x1a6d1c17, 0x1a66f637, 0x1a60d047,
+    0x1a5aaa47, 0x1a548436,
+  0x1a4e5e15, 0x1a4837e4, 0x1a4211a3, 0x1a3beb52, 0x1a35c4f0, 0x1a2f9e7e,
+    0x1a2977fc, 0x1a23516a,
+  0x1a1d2ac8, 0x1a170416, 0x1a10dd53, 0x1a0ab681, 0x1a048f9e, 0x19fe68ac,
+    0x19f841a9, 0x19f21a96,
+  0x19ebf374, 0x19e5cc41, 0x19dfa4fe, 0x19d97dac, 0x19d35649, 0x19cd2ed7,
+    0x19c70754, 0x19c0dfc2,
+  0x19bab820, 0x19b4906e, 0x19ae68ac, 0x19a840da, 0x19a218f9, 0x199bf107,
+    0x1995c906, 0x198fa0f5,
+  0x198978d4, 0x198350a4, 0x197d2864, 0x19770014, 0x1970d7b4, 0x196aaf45,
+    0x196486c6, 0x195e5e37,
+  0x19583599, 0x19520ceb, 0x194be42d, 0x1945bb60, 0x193f9283, 0x19396997,
+    0x1933409b, 0x192d178f,
+  0x1926ee74, 0x1920c54a, 0x191a9c10, 0x191472c6, 0x190e496d, 0x19082005,
+    0x1901f68d, 0x18fbcd06,
+  0x18f5a36f, 0x18ef79c9, 0x18e95014, 0x18e3264f, 0x18dcfc7b, 0x18d6d297,
+    0x18d0a8a4, 0x18ca7ea2,
+  0x18c45491, 0x18be2a70, 0x18b80040, 0x18b1d601, 0x18ababb2, 0x18a58154,
+    0x189f56e8, 0x18992c6b,
+  0x189301e0, 0x188cd746, 0x1886ac9c, 0x188081e4, 0x187a571c, 0x18742c45,
+    0x186e015f, 0x1867d66a,
+  0x1861ab66, 0x185b8053, 0x18555530, 0x184f29ff, 0x1848febf, 0x1842d370,
+    0x183ca812, 0x18367ca5,
+  0x18305129, 0x182a259e, 0x1823fa04, 0x181dce5b, 0x1817a2a4, 0x181176dd,
+    0x180b4b08, 0x18051f24,
+  0x17fef331, 0x17f8c72f, 0x17f29b1e, 0x17ec6eff, 0x17e642d1, 0x17e01694,
+    0x17d9ea49, 0x17d3bdee,
+  0x17cd9186, 0x17c7650e, 0x17c13888, 0x17bb0bf3, 0x17b4df4f, 0x17aeb29d,
+    0x17a885dc, 0x17a2590d,
+  0x179c2c2f, 0x1795ff42, 0x178fd247, 0x1789a53d, 0x17837825, 0x177d4afe,
+    0x17771dc9, 0x1770f086,
+  0x176ac333, 0x176495d3, 0x175e6864, 0x17583ae7, 0x17520d5b, 0x174bdfc1,
+    0x1745b218, 0x173f8461,
+  0x1739569c, 0x173328c8, 0x172cfae6, 0x1726ccf6, 0x17209ef8, 0x171a70eb,
+    0x171442d0, 0x170e14a7,
+  0x1707e670, 0x1701b82a, 0x16fb89d6, 0x16f55b74, 0x16ef2d04, 0x16e8fe86,
+    0x16e2cff9, 0x16dca15f,
+  0x16d672b6, 0x16d043ff, 0x16ca153a, 0x16c3e667, 0x16bdb787, 0x16b78898,
+    0x16b1599b, 0x16ab2a90,
+  0x16a4fb77, 0x169ecc50, 0x16989d1b, 0x16926dd8, 0x168c3e87, 0x16860f29,
+    0x167fdfbc, 0x1679b042,
+  0x167380ba, 0x166d5123, 0x1667217f, 0x1660f1ce, 0x165ac20e, 0x16549241,
+    0x164e6266, 0x1648327d,
+  0x16420286, 0x163bd282, 0x1635a270, 0x162f7250, 0x16294222, 0x162311e7,
+    0x161ce19e, 0x1616b148,
+  0x161080e4, 0x160a5072, 0x16041ff3, 0x15fdef66, 0x15f7becc, 0x15f18e24,
+    0x15eb5d6e, 0x15e52cab,
+  0x15defbdb, 0x15d8cafd, 0x15d29a11, 0x15cc6918, 0x15c63812, 0x15c006fe,
+    0x15b9d5dd, 0x15b3a4ae,
+  0x15ad7372, 0x15a74228, 0x15a110d2, 0x159adf6e, 0x1594adfc, 0x158e7c7d,
+    0x15884af1, 0x15821958,
+  0x157be7b1, 0x1575b5fe, 0x156f843c, 0x1569526e, 0x15632093, 0x155ceeaa,
+    0x1556bcb4, 0x15508ab1,
+  0x154a58a1, 0x15442683, 0x153df459, 0x1537c221, 0x15318fdd, 0x152b5d8b,
+    0x15252b2c, 0x151ef8c0,
+  0x1518c648, 0x151293c2, 0x150c612f, 0x15062e8f, 0x14fffbe2, 0x14f9c928,
+    0x14f39662, 0x14ed638e,
+  0x14e730ae, 0x14e0fdc0, 0x14dacac6, 0x14d497bf, 0x14ce64ab, 0x14c8318a,
+    0x14c1fe5c, 0x14bbcb22,
+  0x14b597da, 0x14af6486, 0x14a93125, 0x14a2fdb8, 0x149cca3e, 0x149696b7,
+    0x14906323, 0x148a2f82,
+  0x1483fbd5, 0x147dc81c, 0x14779455, 0x14716082, 0x146b2ca3, 0x1464f8b7,
+    0x145ec4be, 0x145890b9,
+  0x14525ca7, 0x144c2888, 0x1445f45d, 0x143fc026, 0x14398be2, 0x14335792,
+    0x142d2335, 0x1426eecb,
+  0x1420ba56, 0x141a85d3, 0x14145145, 0x140e1caa, 0x1407e803, 0x1401b34f,
+    0x13fb7e8f, 0x13f549c3,
+  0x13ef14ea, 0x13e8e005, 0x13e2ab14, 0x13dc7616, 0x13d6410d, 0x13d00bf7,
+    0x13c9d6d4, 0x13c3a1a6,
+  0x13bd6c6b, 0x13b73725, 0x13b101d2, 0x13aacc73, 0x13a49707, 0x139e6190,
+    0x13982c0d, 0x1391f67d,
+  0x138bc0e1, 0x13858b3a, 0x137f5586, 0x13791fc6, 0x1372e9fb, 0x136cb423,
+    0x13667e3f, 0x13604850,
+  0x135a1254, 0x1353dc4c, 0x134da639, 0x1347701a, 0x134139ee, 0x133b03b7,
+    0x1334cd74, 0x132e9725,
+  0x132860ca, 0x13222a64, 0x131bf3f2, 0x1315bd73, 0x130f86ea, 0x13095054,
+    0x130319b3, 0x12fce305,
+  0x12f6ac4d, 0x12f07588, 0x12ea3eb8, 0x12e407dc, 0x12ddd0f4, 0x12d79a01,
+    0x12d16303, 0x12cb2bf8,
+  0x12c4f4e2, 0x12bebdc1, 0x12b88693, 0x12b24f5b, 0x12ac1817, 0x12a5e0c7,
+    0x129fa96c, 0x12997205,
+  0x12933a93, 0x128d0315, 0x1286cb8c, 0x128093f7, 0x127a5c57, 0x127424ac,
+    0x126decf5, 0x1267b533,
+  0x12617d66, 0x125b458d, 0x12550da9, 0x124ed5ba, 0x12489dbf, 0x124265b9,
+    0x123c2da8, 0x1235f58b,
+  0x122fbd63, 0x12298530, 0x12234cf2, 0x121d14a9, 0x1216dc54, 0x1210a3f5,
+    0x120a6b8a, 0x12043314,
+  0x11fdfa93, 0x11f7c207, 0x11f18970, 0x11eb50cd, 0x11e51820, 0x11dedf68,
+    0x11d8a6a4, 0x11d26dd6,
+  0x11cc34fc, 0x11c5fc18, 0x11bfc329, 0x11b98a2e, 0x11b35129, 0x11ad1819,
+    0x11a6defe, 0x11a0a5d8,
+  0x119a6ca7, 0x1194336b, 0x118dfa25, 0x1187c0d3, 0x11818777, 0x117b4e10,
+    0x1175149e, 0x116edb22,
+  0x1168a19b, 0x11626809, 0x115c2e6c, 0x1155f4c4, 0x114fbb12, 0x11498156,
+    0x1143478e, 0x113d0dbc,
+  0x1136d3df, 0x113099f8, 0x112a6006, 0x11242609, 0x111dec02, 0x1117b1f0,
+    0x111177d4, 0x110b3dad,
+  0x1105037c, 0x10fec940, 0x10f88efa, 0x10f254a9, 0x10ec1a4e, 0x10e5dfe8,
+    0x10dfa578, 0x10d96afe,
+  0x10d33079, 0x10ccf5ea, 0x10c6bb50, 0x10c080ac, 0x10ba45fe, 0x10b40b45,
+    0x10add082, 0x10a795b5,
+  0x10a15ade, 0x109b1ffc, 0x1094e510, 0x108eaa1a, 0x10886f19, 0x1082340f,
+    0x107bf8fa, 0x1075bddb,
+  0x106f82b2, 0x1069477f, 0x10630c41, 0x105cd0fa, 0x105695a8, 0x10505a4d,
+    0x104a1ee7, 0x1043e377,
+  0x103da7fd, 0x10376c79, 0x103130ec, 0x102af554, 0x1024b9b2, 0x101e7e06,
+    0x10184251, 0x10120691,
+  0x100bcac7, 0x10058ef4, 0xfff5317, 0xff91730, 0xff2db3e, 0xfec9f44,
+    0xfe6633f, 0xfe02730,
+  0xfd9eb18, 0xfd3aef6, 0xfcd72ca, 0xfc73695, 0xfc0fa55, 0xfbabe0c, 0xfb481ba,
+    0xfae455d,
+  0xfa808f7, 0xfa1cc87, 0xf9b900e, 0xf95538b, 0xf8f16fe, 0xf88da68, 0xf829dc8,
+    0xf7c611f,
+  0xf76246c, 0xf6fe7af, 0xf69aae9, 0xf636e1a, 0xf5d3141, 0xf56f45e, 0xf50b773,
+    0xf4a7a7d,
+  0xf443d7e, 0xf3e0076, 0xf37c365, 0xf318649, 0xf2b4925, 0xf250bf7, 0xf1ecec0,
+    0xf189180,
+  0xf125436, 0xf0c16e3, 0xf05d987, 0xeff9c21, 0xef95eb2, 0xef3213a, 0xeece3b9,
+    0xee6a62f,
+  0xee0689b, 0xeda2afe, 0xed3ed58, 0xecdafa9, 0xec771f1, 0xec1342f, 0xebaf665,
+    0xeb4b891,
+  0xeae7ab4, 0xea83ccf, 0xea1fee0, 0xe9bc0e8, 0xe9582e7, 0xe8f44dd, 0xe8906cb,
+    0xe82c8af,
+  0xe7c8a8a, 0xe764c5c, 0xe700e26, 0xe69cfe6, 0xe63919e, 0xe5d534d, 0xe5714f3,
+    0xe50d690,
+  0xe4a9824, 0xe4459af, 0xe3e1b32, 0xe37dcac, 0xe319e1d, 0xe2b5f85, 0xe2520e5,
+    0xe1ee23c,
+  0xe18a38a, 0xe1264cf, 0xe0c260c, 0xe05e740, 0xdffa86b, 0xdf9698e, 0xdf32aa8,
+    0xdecebba,
+  0xde6acc3, 0xde06dc3, 0xdda2ebb, 0xdd3efab, 0xdcdb091, 0xdc77170, 0xdc13245,
+    0xdbaf313,
+  0xdb4b3d7, 0xdae7494, 0xda83548, 0xda1f5f3, 0xd9bb696, 0xd957731, 0xd8f37c3,
+    0xd88f84d,
+  0xd82b8cf, 0xd7c7948, 0xd7639b9, 0xd6ffa22, 0xd69ba82, 0xd637ada, 0xd5d3b2a,
+    0xd56fb71,
+  0xd50bbb1, 0xd4a7be8, 0xd443c17, 0xd3dfc3e, 0xd37bc5c, 0xd317c73, 0xd2b3c81,
+    0xd24fc87,
+  0xd1ebc85, 0xd187c7b, 0xd123c69, 0xd0bfc4f, 0xd05bc2d, 0xcff7c02, 0xcf93bd0,
+    0xcf2fb96,
+  0xcecbb53, 0xce67b09, 0xce03ab7, 0xcd9fa5d, 0xcd3b9fb, 0xccd7991, 0xcc7391f,
+    0xcc0f8a5,
+  0xcbab824, 0xcb4779a, 0xcae3709, 0xca7f670, 0xca1b5cf, 0xc9b7526, 0xc953475,
+    0xc8ef3bd,
+  0xc88b2fd, 0xc827235, 0xc7c3166, 0xc75f08f, 0xc6fafb0, 0xc696ec9, 0xc632ddb,
+    0xc5cece5,
+  0xc56abe8, 0xc506ae3, 0xc4a29d6, 0xc43e8c2, 0xc3da7a6, 0xc376683, 0xc312558,
+    0xc2ae425,
+  0xc24a2eb, 0xc1e61aa, 0xc182061, 0xc11df11, 0xc0b9db9, 0xc055c5a, 0xbff1af3,
+    0xbf8d985,
+  0xbf29810, 0xbec5693, 0xbe6150f, 0xbdfd383, 0xbd991f0, 0xbd35056, 0xbcd0eb5,
+    0xbc6cd0c,
+  0xbc08b5c, 0xbba49a5, 0xbb407e7, 0xbadc621, 0xba78454, 0xba14280, 0xb9b00a5,
+    0xb94bec2,
+  0xb8e7cd9, 0xb883ae8, 0xb81f8f0, 0xb7bb6f2, 0xb7574ec, 0xb6f32df, 0xb68f0cb,
+    0xb62aeaf,
+  0xb5c6c8d, 0xb562a64, 0xb4fe834, 0xb49a5fd, 0xb4363bf, 0xb3d217a, 0xb36df2e,
+    0xb309cdb,
+  0xb2a5a81, 0xb241820, 0xb1dd5b9, 0xb17934b, 0xb1150d5, 0xb0b0e59, 0xb04cbd6,
+    0xafe894d,
+  0xaf846bc, 0xaf20425, 0xaebc187, 0xae57ee2, 0xadf3c37, 0xad8f985, 0xad2b6cc,
+    0xacc740c,
+  0xac63146, 0xabfee79, 0xab9aba6, 0xab368cc, 0xaad25eb, 0xaa6e304, 0xaa0a016,
+    0xa9a5d22,
+  0xa941a27, 0xa8dd725, 0xa87941d, 0xa81510f, 0xa7b0dfa, 0xa74cadf, 0xa6e87bd,
+    0xa684495,
+  0xa620166, 0xa5bbe31, 0xa557af5, 0xa4f37b3, 0xa48f46b, 0xa42b11d, 0xa3c6dc8,
+    0xa362a6d,
+  0xa2fe70b, 0xa29a3a3, 0xa236035, 0xa1d1cc1, 0xa16d946, 0xa1095c6, 0xa0a523f,
+    0xa040eb1,
+  0x9fdcb1e, 0x9f78784, 0x9f143e5, 0x9eb003f, 0x9e4bc93, 0x9de78e1, 0x9d83529,
+    0x9d1f16b,
+  0x9cbada7, 0x9c569dc, 0x9bf260c, 0x9b8e236, 0x9b29e59, 0x9ac5a77, 0x9a6168f,
+    0x99fd2a0,
+  0x9998eac, 0x9934ab2, 0x98d06b2, 0x986c2ac, 0x9807ea1, 0x97a3a8f, 0x973f678,
+    0x96db25a,
+  0x9676e37, 0x9612a0e, 0x95ae5e0, 0x954a1ab, 0x94e5d71, 0x9481931, 0x941d4eb,
+    0x93b90a0,
+  0x9354c4f, 0x92f07f8, 0x928c39b, 0x9227f39, 0x91c3ad2, 0x915f664, 0x90fb1f1,
+    0x9096d79,
+  0x90328fb, 0x8fce477, 0x8f69fee, 0x8f05b5f, 0x8ea16cb, 0x8e3d231, 0x8dd8d92,
+    0x8d748ed,
+  0x8d10443, 0x8cabf93, 0x8c47ade, 0x8be3624, 0x8b7f164, 0x8b1ac9f, 0x8ab67d4,
+    0x8a52304,
+  0x89ede2f, 0x8989955, 0x8925475, 0x88c0f90, 0x885caa5, 0x87f85b5, 0x87940c1,
+    0x872fbc6,
+  0x86cb6c7, 0x86671c2, 0x8602cb9, 0x859e7aa, 0x853a296, 0x84d5d7d, 0x847185e,
+    0x840d33b,
+  0x83a8e12, 0x83448e5, 0x82e03b2, 0x827be7a, 0x821793e, 0x81b33fc, 0x814eeb5,
+    0x80ea969,
+  0x8086419, 0x8021ec3, 0x7fbd968, 0x7f59409, 0x7ef4ea4, 0x7e9093b, 0x7e2c3cd,
+    0x7dc7e5a,
+  0x7d638e2, 0x7cff365, 0x7c9ade4, 0x7c3685d, 0x7bd22d2, 0x7b6dd42, 0x7b097ad,
+    0x7aa5214,
+  0x7a40c76, 0x79dc6d3, 0x797812b, 0x7913b7f, 0x78af5ce, 0x784b019, 0x77e6a5e,
+    0x77824a0,
+  0x771dedc, 0x76b9914, 0x7655347, 0x75f0d76, 0x758c7a1, 0x75281c6, 0x74c3be7,
+    0x745f604,
+  0x73fb01c, 0x7396a30, 0x733243f, 0x72cde4a, 0x7269851, 0x7205253, 0x71a0c50,
+    0x713c64a,
+  0x70d803f, 0x7073a2f, 0x700f41b, 0x6faae03, 0x6f467e7, 0x6ee21c6, 0x6e7dba1,
+    0x6e19578,
+  0x6db4f4a, 0x6d50919, 0x6cec2e3, 0x6c87ca9, 0x6c2366a, 0x6bbf028, 0x6b5a9e1,
+    0x6af6396,
+  0x6a91d47, 0x6a2d6f4, 0x69c909d, 0x6964a42, 0x69003e3, 0x689bd80, 0x6837718,
+    0x67d30ad,
+  0x676ea3d, 0x670a3ca, 0x66a5d53, 0x66416d8, 0x65dd058, 0x65789d5, 0x651434e,
+    0x64afcc3,
+  0x644b634, 0x63e6fa2, 0x638290b, 0x631e271, 0x62b9bd3, 0x6255531, 0x61f0e8b,
+    0x618c7e1,
+  0x6128134, 0x60c3a83, 0x605f3ce, 0x5ffad15, 0x5f96659, 0x5f31f99, 0x5ecd8d6,
+    0x5e6920e,
+  0x5e04b43, 0x5da0475, 0x5d3bda3, 0x5cd76cd, 0x5c72ff4, 0x5c0e917, 0x5baa237,
+    0x5b45b53,
+  0x5ae146b, 0x5a7cd80, 0x5a18692, 0x59b3fa0, 0x594f8aa, 0x58eb1b2, 0x5886ab5,
+    0x58223b6,
+  0x57bdcb3, 0x57595ac, 0x56f4ea2, 0x5690795, 0x562c085, 0x55c7971, 0x556325a,
+    0x54feb3f,
+  0x549a422, 0x5435d01, 0x53d15dd, 0x536ceb5, 0x530878a, 0x52a405d, 0x523f92c,
+    0x51db1f7,
+  0x5176ac0, 0x5112385, 0x50adc48, 0x5049507, 0x4fe4dc3, 0x4f8067c, 0x4f1bf32,
+    0x4eb77e5,
+  0x4e53095, 0x4dee942, 0x4d8a1ec, 0x4d25a93, 0x4cc1337, 0x4c5cbd8, 0x4bf8476,
+    0x4b93d11,
+  0x4b2f5a9, 0x4acae3e, 0x4a666d1, 0x4a01f60, 0x499d7ed, 0x4939077, 0x48d48fe,
+    0x4870182,
+  0x480ba04, 0x47a7282, 0x4742afe, 0x46de377, 0x4679bee, 0x4615461, 0x45b0cd2,
+    0x454c541,
+  0x44e7dac, 0x4483615, 0x441ee7c, 0x43ba6df, 0x4355f40, 0x42f179f, 0x428cffb,
+    0x4228854,
+  0x41c40ab, 0x415f8ff, 0x40fb151, 0x40969a0, 0x40321ed, 0x3fcda37, 0x3f6927f,
+    0x3f04ac4,
+  0x3ea0307, 0x3e3bb48, 0x3dd7386, 0x3d72bc2, 0x3d0e3fb, 0x3ca9c32, 0x3c45467,
+    0x3be0c99,
+  0x3b7c4c9, 0x3b17cf7, 0x3ab3523, 0x3a4ed4c, 0x39ea573, 0x3985d97, 0x39215ba,
+    0x38bcdda,
+  0x38585f8, 0x37f3e14, 0x378f62e, 0x372ae46, 0x36c665b, 0x3661e6f, 0x35fd680,
+    0x3598e8f,
+  0x353469c, 0x34cfea8, 0x346b6b1, 0x3406eb8, 0x33a26bd, 0x333dec0, 0x32d96c1,
+    0x3274ec0,
+  0x32106bd, 0x31abeb9, 0x31476b2, 0x30e2ea9, 0x307e69f, 0x3019e93, 0x2fb5684,
+    0x2f50e74,
+  0x2eec663, 0x2e87e4f, 0x2e2363a, 0x2dbee22, 0x2d5a609, 0x2cf5def, 0x2c915d2,
+    0x2c2cdb4,
+  0x2bc8594, 0x2b63d73, 0x2aff54f, 0x2a9ad2a, 0x2a36504, 0x29d1cdc, 0x296d4b2,
+    0x2908c87,
+  0x28a445a, 0x283fc2b, 0x27db3fb, 0x2776bc9, 0x2712396, 0x26adb62, 0x264932b,
+    0x25e4af4,
+  0x25802bb, 0x251ba80, 0x24b7244, 0x2452a07, 0x23ee1c8, 0x2389988, 0x2325147,
+    0x22c0904,
+  0x225c0bf, 0x21f787a, 0x2193033, 0x212e7eb, 0x20c9fa1, 0x2065757, 0x2000f0b,
+    0x1f9c6be,
+  0x1f37e6f, 0x1ed3620, 0x1e6edcf, 0x1e0a57d, 0x1da5d2a, 0x1d414d6, 0x1cdcc80,
+    0x1c7842a,
+  0x1c13bd2, 0x1baf37a, 0x1b4ab20, 0x1ae62c5, 0x1a81a69, 0x1a1d20c, 0x19b89ae,
+    0x1954150,
+  0x18ef8f0, 0x188b08f, 0x182682d, 0x17c1fcb, 0x175d767, 0x16f8f03, 0x169469d,
+    0x162fe37,
+  0x15cb5d0, 0x1566d68, 0x15024ff, 0x149dc96, 0x143942b, 0x13d4bc0, 0x1370354,
+    0x130bae7,
+  0x12a727a, 0x1242a0c, 0x11de19d, 0x117992e, 0x11150be, 0x10b084d, 0x104bfdb,
+    0xfe7769,
+  0xf82ef6, 0xf1e683, 0xeb9e0f, 0xe5559b, 0xdf0d26, 0xd8c4b0, 0xd27c3a,
+    0xcc33c3,
+  0xc5eb4c, 0xbfa2d5, 0xb95a5d, 0xb311e4, 0xacc96b, 0xa680f2, 0xa03878,
+    0x99effe,
+  0x93a784, 0x8d5f09, 0x87168e, 0x80ce12, 0x7a8597, 0x743d1a, 0x6df49e,
+    0x67ac21,
+  0x6163a5, 0x5b1b27, 0x54d2aa, 0x4e8a2c, 0x4841af, 0x41f931, 0x3bb0b3,
+    0x356835,
+  0x2f1fb6, 0x28d738, 0x228eb9, 0x1c463b, 0x15fdbc, 0xfb53d, 0x96cbe, 0x3243f,
+
+};
+
+/**    
+ * @brief  Initialization function for the Q31 DCT4/IDCT4.   
+ * @param[in,out] *S         points to an instance of Q31 DCT4/IDCT4 structure.   
+ * @param[in]     *S_RFFT    points to an instance of Q31 RFFT/RIFFT structure   
+ * @param[in]     *S_CFFT    points to an instance of Q31 CFFT/CIFFT structure   
+ * @param[in]     N          length of the DCT4.   
+ * @param[in]     Nby2       half of the length of the DCT4.   
+ * @param[in]     normalize  normalizing factor.   
+ * @return		  arm_status function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if N is not a supported transform length.   
+ * \par Normalizing factor:    
+ * The normalizing factor is sqrt(2/N), which depends on the size of transform N.    
+ * Normalizing factors in 1.31 format are mentioned in the table below for different DCT sizes:    
+ * \image html dct4NormalizingQ31Table.gif    
+ */
+
+arm_status arm_dct4_init_q31(
+  arm_dct4_instance_q31 * S,
+  arm_rfft_instance_q31 * S_RFFT,
+  arm_cfft_radix4_instance_q31 * S_CFFT,
+  uint16_t N,
+  uint16_t Nby2,
+  q31_t normalize)
+{
+  /*  Initialise the default arm status */
+  arm_status status = ARM_MATH_SUCCESS;
+
+  /* Initializing the pointer array with the weight table base addresses of different lengths */
+  q31_t *twiddlePtr[4] = { (q31_t *) WeightsQ31_128, (q31_t *) WeightsQ31_512,
+    (q31_t *) WeightsQ31_2048, (q31_t *) WeightsQ31_8192
+  };
+
+  /* Initializing the pointer array with the cos factor table base addresses of different lengths */
+  q31_t *pCosFactor[4] =
+    { (q31_t *) cos_factorsQ31_128, (q31_t *) cos_factorsQ31_512,
+    (q31_t *) cos_factorsQ31_2048, (q31_t *) cos_factorsQ31_8192
+  };
+
+  /* Initialize the DCT4 length */
+  S->N = N;
+
+  /* Initialize the half of DCT4 length */
+  S->Nby2 = Nby2;
+
+  /* Initialize the DCT4 Normalizing factor */
+  S->normalize = normalize;
+
+  /* Initialize Real FFT Instance */
+  S->pRfft = S_RFFT;
+
+  /* Initialize Complex FFT Instance */
+  S->pCfft = S_CFFT;
+
+  switch (N)
+  {
+    /* Initialize the table modifier values */
+  case 8192u:
+    S->pTwiddle = twiddlePtr[3];
+    S->pCosFactor = pCosFactor[3];
+    break;
+  case 2048u:
+    S->pTwiddle = twiddlePtr[2];
+    S->pCosFactor = pCosFactor[2];
+    break;
+  case 512u:
+    S->pTwiddle = twiddlePtr[1];
+    S->pCosFactor = pCosFactor[1];
+    break;
+  case 128u:
+    S->pTwiddle = twiddlePtr[0];
+    S->pCosFactor = pCosFactor[0];
+    break;
+  default:
+    status = ARM_MATH_ARGUMENT_ERROR;
+  }
+
+  /* Initialize the RFFT/RIFFT Function */
+  arm_rfft_init_q31(S->pRfft, S->pCfft, S->N, 0, 1);
+
+  /* return the status of DCT4 Init function */
+  return (status);
+}
+
+/**    
+   * @} end of DCT4_IDCT4 group    
+   */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_q15.c
new file mode 100644
index 000000000..feaa2ae3c
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_q15.c
@@ -0,0 +1,386 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_dct4_q15.c    
+*    
+* Description:	Processing function of DCT4 & IDCT4 Q15.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @addtogroup DCT4_IDCT4    
+ * @{    
+ */
+
+/**    
+ * @brief Processing function for the Q15 DCT4/IDCT4.   
+ * @param[in]       *S             points to an instance of the Q15 DCT4 structure.   
+ * @param[in]       *pState        points to state buffer.   
+ * @param[in,out]   *pInlineBuffer points to the in-place input and output buffer.   
+ * @return none.   
+ *     
+ * \par Input an output formats:    
+ * Internally inputs are downscaled in the RFFT process function to avoid overflows.    
+ * Number of bits downscaled, depends on the size of the transform.    
+ * The input and output formats for different DCT sizes and number of bits to upscale are mentioned in the table below:     
+ *    
+ * \image html dct4FormatsQ15Table.gif    
+ */
+
+void arm_dct4_q15(
+  const arm_dct4_instance_q15 * S,
+  q15_t * pState,
+  q15_t * pInlineBuffer)
+{
+  uint32_t i;                                    /* Loop counter */
+  q15_t *weights = S->pTwiddle;                  /* Pointer to the Weights table */
+  q15_t *cosFact = S->pCosFactor;                /* Pointer to the cos factors table */
+  q15_t *pS1, *pS2, *pbuff;                      /* Temporary pointers for input buffer and pState buffer */
+  q15_t in;                                      /* Temporary variable */
+
+
+  /* DCT4 computation involves DCT2 (which is calculated using RFFT)    
+   * along with some pre-processing and post-processing.    
+   * Computational procedure is explained as follows:    
+   * (a) Pre-processing involves multiplying input with cos factor,    
+   *     r(n) = 2 * u(n) * cos(pi*(2*n+1)/(4*n))    
+   *              where,    
+   *                 r(n) -- output of preprocessing    
+   *                 u(n) -- input to preprocessing(actual Source buffer)    
+   * (b) Calculation of DCT2 using FFT is divided into three steps:    
+   *                  Step1: Re-ordering of even and odd elements of input.    
+   *                  Step2: Calculating FFT of the re-ordered input.    
+   *                  Step3: Taking the real part of the product of FFT output and weights.    
+   * (c) Post-processing - DCT4 can be obtained from DCT2 output using the following equation:    
+   *                   Y4(k) = Y2(k) - Y4(k-1) and Y4(-1) = Y4(0)    
+   *                        where,    
+   *                           Y4 -- DCT4 output,   Y2 -- DCT2 output    
+   * (d) Multiplying the output with the normalizing factor sqrt(2/N).    
+   */
+
+        /*-------- Pre-processing ------------*/
+  /* Multiplying input with cos factor i.e. r(n) = 2 * x(n) * cos(pi*(2*n+1)/(4*n)) */
+  arm_mult_q15(pInlineBuffer, cosFact, pInlineBuffer, S->N);
+  arm_shift_q15(pInlineBuffer, 1, pInlineBuffer, S->N);
+
+  /* ----------------------------------------------------------------    
+   * Step1: Re-ordering of even and odd elements as    
+   *             pState[i] =  pInlineBuffer[2*i] and    
+   *             pState[N-i-1] = pInlineBuffer[2*i+1] where i = 0 to N/2    
+   ---------------------------------------------------------------------*/
+
+  /* pS1 initialized to pState */
+  pS1 = pState;
+
+  /* pS2 initialized to pState+N-1, so that it points to the end of the state buffer */
+  pS2 = pState + (S->N - 1u);
+
+  /* pbuff initialized to input buffer */
+  pbuff = pInlineBuffer;
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /* Initializing the loop counter to N/2 >> 2 for loop unrolling by 4 */
+  i = (uint32_t) S->Nby2 >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  do
+  {
+    /* Re-ordering of even and odd elements */
+    /* pState[i] =  pInlineBuffer[2*i] */
+    *pS1++ = *pbuff++;
+    /* pState[N-i-1] = pInlineBuffer[2*i+1] */
+    *pS2-- = *pbuff++;
+
+    *pS1++ = *pbuff++;
+    *pS2-- = *pbuff++;
+
+    *pS1++ = *pbuff++;
+    *pS2-- = *pbuff++;
+
+    *pS1++ = *pbuff++;
+    *pS2-- = *pbuff++;
+
+    /* Decrement the loop counter */
+    i--;
+  } while(i > 0u);
+
+  /* pbuff initialized to input buffer */
+  pbuff = pInlineBuffer;
+
+  /* pS1 initialized to pState */
+  pS1 = pState;
+
+  /* Initializing the loop counter to N/4 instead of N for loop unrolling */
+  i = (uint32_t) S->N >> 2u;
+
+  /* Processing with loop unrolling 4 times as N is always multiple of 4.    
+   * Compute 4 outputs at a time */
+  do
+  {
+    /* Writing the re-ordered output back to inplace input buffer */
+    *pbuff++ = *pS1++;
+    *pbuff++ = *pS1++;
+    *pbuff++ = *pS1++;
+    *pbuff++ = *pS1++;
+
+    /* Decrement the loop counter */
+    i--;
+  } while(i > 0u);
+
+
+  /* ---------------------------------------------------------    
+   *     Step2: Calculate RFFT for N-point input    
+   * ---------------------------------------------------------- */
+  /* pInlineBuffer is real input of length N , pState is the complex output of length 2N */
+  arm_rfft_q15(S->pRfft, pInlineBuffer, pState);
+
+ /*----------------------------------------------------------------------    
+  *  Step3: Multiply the FFT output with the weights.    
+  *----------------------------------------------------------------------*/
+  arm_cmplx_mult_cmplx_q15(pState, weights, pState, S->N);
+
+  /* The output of complex multiplication is in 3.13 format.    
+   * Hence changing the format of N (i.e. 2*N elements) complex numbers to 1.15 format by shifting left by 2 bits. */
+  arm_shift_q15(pState, 2, pState, S->N * 2);
+
+  /* ----------- Post-processing ---------- */
+  /* DCT-IV can be obtained from DCT-II by the equation,    
+   *       Y4(k) = Y2(k) - Y4(k-1) and Y4(-1) = Y4(0)    
+   *       Hence, Y4(0) = Y2(0)/2  */
+  /* Getting only real part from the output and Converting to DCT-IV */
+
+  /* Initializing the loop counter to N >> 2 for loop unrolling by 4 */
+  i = ((uint32_t) S->N - 1u) >> 2u;
+
+  /* pbuff initialized to input buffer. */
+  pbuff = pInlineBuffer;
+
+  /* pS1 initialized to pState */
+  pS1 = pState;
+
+  /* Calculating Y4(0) from Y2(0) using Y4(0) = Y2(0)/2 */
+  in = *pS1++ >> 1u;
+  /* input buffer acts as inplace, so output values are stored in the input itself. */
+  *pbuff++ = in;
+
+  /* pState pointer is incremented twice as the real values are located alternatively in the array */
+  pS1++;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  do
+  {
+    /* Calculating Y4(1) to Y4(N-1) from Y2 using equation Y4(k) = Y2(k) - Y4(k-1) */
+    /* pState pointer (pS1) is incremented twice as the real values are located alternatively in the array */
+    in = *pS1++ - in;
+    *pbuff++ = in;
+    /* points to the next real value */
+    pS1++;
+
+    in = *pS1++ - in;
+    *pbuff++ = in;
+    pS1++;
+
+    in = *pS1++ - in;
+    *pbuff++ = in;
+    pS1++;
+
+    in = *pS1++ - in;
+    *pbuff++ = in;
+    pS1++;
+
+    /* Decrement the loop counter */
+    i--;
+  } while(i > 0u);
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  i = ((uint32_t) S->N - 1u) % 0x4u;
+
+  while(i > 0u)
+  {
+    /* Calculating Y4(1) to Y4(N-1) from Y2 using equation Y4(k) = Y2(k) - Y4(k-1) */
+    /* pState pointer (pS1) is incremented twice as the real values are located alternatively in the array */
+    in = *pS1++ - in;
+    *pbuff++ = in;
+    /* points to the next real value */
+    pS1++;
+
+    /* Decrement the loop counter */
+    i--;
+  }
+
+
+   /*------------ Normalizing the output by multiplying with the normalizing factor ----------*/
+
+  /* Initializing the loop counter to N/4 instead of N for loop unrolling */
+  i = (uint32_t) S->N >> 2u;
+
+  /* pbuff initialized to the pInlineBuffer(now contains the output values) */
+  pbuff = pInlineBuffer;
+
+  /* Processing with loop unrolling 4 times as N is always multiple of 4.  Compute 4 outputs at a time */
+  do
+  {
+    /* Multiplying pInlineBuffer with the normalizing factor sqrt(2/N) */
+    in = *pbuff;
+    *pbuff++ = ((q15_t) (((q31_t) in * S->normalize) >> 15));
+
+    in = *pbuff;
+    *pbuff++ = ((q15_t) (((q31_t) in * S->normalize) >> 15));
+
+    in = *pbuff;
+    *pbuff++ = ((q15_t) (((q31_t) in * S->normalize) >> 15));
+
+    in = *pbuff;
+    *pbuff++ = ((q15_t) (((q31_t) in * S->normalize) >> 15));
+
+    /* Decrement the loop counter */
+    i--;
+  } while(i > 0u);
+
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Initializing the loop counter to N/2 */
+  i = (uint32_t) S->Nby2;
+
+  do
+  {
+    /* Re-ordering of even and odd elements */
+    /* pState[i] =  pInlineBuffer[2*i] */
+    *pS1++ = *pbuff++;
+    /* pState[N-i-1] = pInlineBuffer[2*i+1] */
+    *pS2-- = *pbuff++;
+
+    /* Decrement the loop counter */
+    i--;
+  } while(i > 0u);
+
+  /* pbuff initialized to input buffer */
+  pbuff = pInlineBuffer;
+
+  /* pS1 initialized to pState */
+  pS1 = pState;
+
+  /* Initializing the loop counter */
+  i = (uint32_t) S->N;
+
+  do
+  {
+    /* Writing the re-ordered output back to inplace input buffer */
+    *pbuff++ = *pS1++;
+
+    /* Decrement the loop counter */
+    i--;
+  } while(i > 0u);
+
+
+  /* ---------------------------------------------------------    
+   *     Step2: Calculate RFFT for N-point input    
+   * ---------------------------------------------------------- */
+  /* pInlineBuffer is real input of length N , pState is the complex output of length 2N */
+  arm_rfft_q15(S->pRfft, pInlineBuffer, pState);
+
+ /*----------------------------------------------------------------------    
+  *  Step3: Multiply the FFT output with the weights.    
+  *----------------------------------------------------------------------*/
+  arm_cmplx_mult_cmplx_q15(pState, weights, pState, S->N);
+
+  /* The output of complex multiplication is in 3.13 format.    
+   * Hence changing the format of N (i.e. 2*N elements) complex numbers to 1.15 format by shifting left by 2 bits. */
+  arm_shift_q15(pState, 2, pState, S->N * 2);
+
+  /* ----------- Post-processing ---------- */
+  /* DCT-IV can be obtained from DCT-II by the equation,    
+   *       Y4(k) = Y2(k) - Y4(k-1) and Y4(-1) = Y4(0)    
+   *       Hence, Y4(0) = Y2(0)/2  */
+  /* Getting only real part from the output and Converting to DCT-IV */
+
+  /* Initializing the loop counter */
+  i = ((uint32_t) S->N - 1u);
+
+  /* pbuff initialized to input buffer. */
+  pbuff = pInlineBuffer;
+
+  /* pS1 initialized to pState */
+  pS1 = pState;
+
+  /* Calculating Y4(0) from Y2(0) using Y4(0) = Y2(0)/2 */
+  in = *pS1++ >> 1u;
+  /* input buffer acts as inplace, so output values are stored in the input itself. */
+  *pbuff++ = in;
+
+  /* pState pointer is incremented twice as the real values are located alternatively in the array */
+  pS1++;
+
+  do
+  {
+    /* Calculating Y4(1) to Y4(N-1) from Y2 using equation Y4(k) = Y2(k) - Y4(k-1) */
+    /* pState pointer (pS1) is incremented twice as the real values are located alternatively in the array */
+    in = *pS1++ - in;
+    *pbuff++ = in;
+    /* points to the next real value */
+    pS1++;
+
+    /* Decrement the loop counter */
+    i--;
+  } while(i > 0u);
+
+   /*------------ Normalizing the output by multiplying with the normalizing factor ----------*/
+
+  /* Initializing the loop counter */
+  i = (uint32_t) S->N;
+
+  /* pbuff initialized to the pInlineBuffer(now contains the output values) */
+  pbuff = pInlineBuffer;
+
+  do
+  {
+    /* Multiplying pInlineBuffer with the normalizing factor sqrt(2/N) */
+    in = *pbuff;
+    *pbuff++ = ((q15_t) (((q31_t) in * S->normalize) >> 15));
+
+    /* Decrement the loop counter */
+    i--;
+  } while(i > 0u);
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/**    
+   * @} end of DCT4_IDCT4 group    
+   */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_q31.c
new file mode 100644
index 000000000..887cfb385
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_dct4_q31.c
@@ -0,0 +1,387 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_dct4_q31.c    
+*    
+* Description:	Processing function of DCT4 & IDCT4 Q31.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @addtogroup DCT4_IDCT4    
+ * @{    
+ */
+
+/**    
+ * @brief Processing function for the Q31 DCT4/IDCT4.   
+ * @param[in]       *S             points to an instance of the Q31 DCT4 structure.   
+ * @param[in]       *pState        points to state buffer.   
+ * @param[in,out]   *pInlineBuffer points to the in-place input and output buffer.   
+ * @return none.   
+ * \par Input an output formats:    
+ * Input samples need to be downscaled by 1 bit to avoid saturations in the Q31 DCT process,    
+ * as the conversion from DCT2 to DCT4 involves one subtraction.    
+ * Internally inputs are downscaled in the RFFT process function to avoid overflows.    
+ * Number of bits downscaled, depends on the size of the transform.    
+ * The input and output formats for different DCT sizes and number of bits to upscale are mentioned in the table below:     
+ *    
+ * \image html dct4FormatsQ31Table.gif    
+ */
+
+void arm_dct4_q31(
+  const arm_dct4_instance_q31 * S,
+  q31_t * pState,
+  q31_t * pInlineBuffer)
+{
+  uint16_t i;                                    /* Loop counter */
+  q31_t *weights = S->pTwiddle;                  /* Pointer to the Weights table */
+  q31_t *cosFact = S->pCosFactor;                /* Pointer to the cos factors table */
+  q31_t *pS1, *pS2, *pbuff;                      /* Temporary pointers for input buffer and pState buffer */
+  q31_t in;                                      /* Temporary variable */
+
+
+  /* DCT4 computation involves DCT2 (which is calculated using RFFT)    
+   * along with some pre-processing and post-processing.    
+   * Computational procedure is explained as follows:    
+   * (a) Pre-processing involves multiplying input with cos factor,    
+   *     r(n) = 2 * u(n) * cos(pi*(2*n+1)/(4*n))    
+   *              where,    
+   *                 r(n) -- output of preprocessing    
+   *                 u(n) -- input to preprocessing(actual Source buffer)    
+   * (b) Calculation of DCT2 using FFT is divided into three steps:    
+   *                  Step1: Re-ordering of even and odd elements of input.    
+   *                  Step2: Calculating FFT of the re-ordered input.    
+   *                  Step3: Taking the real part of the product of FFT output and weights.    
+   * (c) Post-processing - DCT4 can be obtained from DCT2 output using the following equation:    
+   *                   Y4(k) = Y2(k) - Y4(k-1) and Y4(-1) = Y4(0)    
+   *                        where,    
+   *                           Y4 -- DCT4 output,   Y2 -- DCT2 output    
+   * (d) Multiplying the output with the normalizing factor sqrt(2/N).    
+   */
+
+        /*-------- Pre-processing ------------*/
+  /* Multiplying input with cos factor i.e. r(n) = 2 * x(n) * cos(pi*(2*n+1)/(4*n)) */
+  arm_mult_q31(pInlineBuffer, cosFact, pInlineBuffer, S->N);
+  arm_shift_q31(pInlineBuffer, 1, pInlineBuffer, S->N);
+
+  /* ----------------------------------------------------------------    
+   * Step1: Re-ordering of even and odd elements as    
+   *             pState[i] =  pInlineBuffer[2*i] and    
+   *             pState[N-i-1] = pInlineBuffer[2*i+1] where i = 0 to N/2    
+   ---------------------------------------------------------------------*/
+
+  /* pS1 initialized to pState */
+  pS1 = pState;
+
+  /* pS2 initialized to pState+N-1, so that it points to the end of the state buffer */
+  pS2 = pState + (S->N - 1u);
+
+  /* pbuff initialized to input buffer */
+  pbuff = pInlineBuffer;
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /* Initializing the loop counter to N/2 >> 2 for loop unrolling by 4 */
+  i = S->Nby2 >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  do
+  {
+    /* Re-ordering of even and odd elements */
+    /* pState[i] =  pInlineBuffer[2*i] */
+    *pS1++ = *pbuff++;
+    /* pState[N-i-1] = pInlineBuffer[2*i+1] */
+    *pS2-- = *pbuff++;
+
+    *pS1++ = *pbuff++;
+    *pS2-- = *pbuff++;
+
+    *pS1++ = *pbuff++;
+    *pS2-- = *pbuff++;
+
+    *pS1++ = *pbuff++;
+    *pS2-- = *pbuff++;
+
+    /* Decrement the loop counter */
+    i--;
+  } while(i > 0u);
+
+  /* pbuff initialized to input buffer */
+  pbuff = pInlineBuffer;
+
+  /* pS1 initialized to pState */
+  pS1 = pState;
+
+  /* Initializing the loop counter to N/4 instead of N for loop unrolling */
+  i = S->N >> 2u;
+
+  /* Processing with loop unrolling 4 times as N is always multiple of 4.    
+   * Compute 4 outputs at a time */
+  do
+  {
+    /* Writing the re-ordered output back to inplace input buffer */
+    *pbuff++ = *pS1++;
+    *pbuff++ = *pS1++;
+    *pbuff++ = *pS1++;
+    *pbuff++ = *pS1++;
+
+    /* Decrement the loop counter */
+    i--;
+  } while(i > 0u);
+
+
+  /* ---------------------------------------------------------    
+   *     Step2: Calculate RFFT for N-point input    
+   * ---------------------------------------------------------- */
+  /* pInlineBuffer is real input of length N , pState is the complex output of length 2N */
+  arm_rfft_q31(S->pRfft, pInlineBuffer, pState);
+
+  /*----------------------------------------------------------------------    
+   *  Step3: Multiply the FFT output with the weights.    
+   *----------------------------------------------------------------------*/
+  arm_cmplx_mult_cmplx_q31(pState, weights, pState, S->N);
+
+  /* The output of complex multiplication is in 3.29 format.    
+   * Hence changing the format of N (i.e. 2*N elements) complex numbers to 1.31 format by shifting left by 2 bits. */
+  arm_shift_q31(pState, 2, pState, S->N * 2);
+
+  /* ----------- Post-processing ---------- */
+  /* DCT-IV can be obtained from DCT-II by the equation,    
+   *       Y4(k) = Y2(k) - Y4(k-1) and Y4(-1) = Y4(0)    
+   *       Hence, Y4(0) = Y2(0)/2  */
+  /* Getting only real part from the output and Converting to DCT-IV */
+
+  /* Initializing the loop counter to N >> 2 for loop unrolling by 4 */
+  i = (S->N - 1u) >> 2u;
+
+  /* pbuff initialized to input buffer. */
+  pbuff = pInlineBuffer;
+
+  /* pS1 initialized to pState */
+  pS1 = pState;
+
+  /* Calculating Y4(0) from Y2(0) using Y4(0) = Y2(0)/2 */
+  in = *pS1++ >> 1u;
+  /* input buffer acts as inplace, so output values are stored in the input itself. */
+  *pbuff++ = in;
+
+  /* pState pointer is incremented twice as the real values are located alternatively in the array */
+  pS1++;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.    
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  do
+  {
+    /* Calculating Y4(1) to Y4(N-1) from Y2 using equation Y4(k) = Y2(k) - Y4(k-1) */
+    /* pState pointer (pS1) is incremented twice as the real values are located alternatively in the array */
+    in = *pS1++ - in;
+    *pbuff++ = in;
+    /* points to the next real value */
+    pS1++;
+
+    in = *pS1++ - in;
+    *pbuff++ = in;
+    pS1++;
+
+    in = *pS1++ - in;
+    *pbuff++ = in;
+    pS1++;
+
+    in = *pS1++ - in;
+    *pbuff++ = in;
+    pS1++;
+
+    /* Decrement the loop counter */
+    i--;
+  } while(i > 0u);
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  i = (S->N - 1u) % 0x4u;
+
+  while(i > 0u)
+  {
+    /* Calculating Y4(1) to Y4(N-1) from Y2 using equation Y4(k) = Y2(k) - Y4(k-1) */
+    /* pState pointer (pS1) is incremented twice as the real values are located alternatively in the array */
+    in = *pS1++ - in;
+    *pbuff++ = in;
+    /* points to the next real value */
+    pS1++;
+
+    /* Decrement the loop counter */
+    i--;
+  }
+
+
+        /*------------ Normalizing the output by multiplying with the normalizing factor ----------*/
+
+  /* Initializing the loop counter to N/4 instead of N for loop unrolling */
+  i = S->N >> 2u;
+
+  /* pbuff initialized to the pInlineBuffer(now contains the output values) */
+  pbuff = pInlineBuffer;
+
+  /* Processing with loop unrolling 4 times as N is always multiple of 4.  Compute 4 outputs at a time */
+  do
+  {
+    /* Multiplying pInlineBuffer with the normalizing factor sqrt(2/N) */
+    in = *pbuff;
+    *pbuff++ = ((q31_t) (((q63_t) in * S->normalize) >> 31));
+
+    in = *pbuff;
+    *pbuff++ = ((q31_t) (((q63_t) in * S->normalize) >> 31));
+
+    in = *pbuff;
+    *pbuff++ = ((q31_t) (((q63_t) in * S->normalize) >> 31));
+
+    in = *pbuff;
+    *pbuff++ = ((q31_t) (((q63_t) in * S->normalize) >> 31));
+
+    /* Decrement the loop counter */
+    i--;
+  } while(i > 0u);
+
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Initializing the loop counter to N/2 */
+  i = S->Nby2;
+
+  do
+  {
+    /* Re-ordering of even and odd elements */
+    /* pState[i] =  pInlineBuffer[2*i] */
+    *pS1++ = *pbuff++;
+    /* pState[N-i-1] = pInlineBuffer[2*i+1] */
+    *pS2-- = *pbuff++;
+
+    /* Decrement the loop counter */
+    i--;
+  } while(i > 0u);
+
+  /* pbuff initialized to input buffer */
+  pbuff = pInlineBuffer;
+
+  /* pS1 initialized to pState */
+  pS1 = pState;
+
+  /* Initializing the loop counter */
+  i = S->N;
+
+  do
+  {
+    /* Writing the re-ordered output back to inplace input buffer */
+    *pbuff++ = *pS1++;
+
+    /* Decrement the loop counter */
+    i--;
+  } while(i > 0u);
+
+
+  /* ---------------------------------------------------------    
+   *     Step2: Calculate RFFT for N-point input    
+   * ---------------------------------------------------------- */
+  /* pInlineBuffer is real input of length N , pState is the complex output of length 2N */
+  arm_rfft_q31(S->pRfft, pInlineBuffer, pState);
+
+  /*----------------------------------------------------------------------    
+   *  Step3: Multiply the FFT output with the weights.    
+   *----------------------------------------------------------------------*/
+  arm_cmplx_mult_cmplx_q31(pState, weights, pState, S->N);
+
+  /* The output of complex multiplication is in 3.29 format.    
+   * Hence changing the format of N (i.e. 2*N elements) complex numbers to 1.31 format by shifting left by 2 bits. */
+  arm_shift_q31(pState, 2, pState, S->N * 2);
+
+  /* ----------- Post-processing ---------- */
+  /* DCT-IV can be obtained from DCT-II by the equation,    
+   *       Y4(k) = Y2(k) - Y4(k-1) and Y4(-1) = Y4(0)    
+   *       Hence, Y4(0) = Y2(0)/2  */
+  /* Getting only real part from the output and Converting to DCT-IV */
+
+  /* pbuff initialized to input buffer. */
+  pbuff = pInlineBuffer;
+
+  /* pS1 initialized to pState */
+  pS1 = pState;
+
+  /* Calculating Y4(0) from Y2(0) using Y4(0) = Y2(0)/2 */
+  in = *pS1++ >> 1u;
+  /* input buffer acts as inplace, so output values are stored in the input itself. */
+  *pbuff++ = in;
+
+  /* pState pointer is incremented twice as the real values are located alternatively in the array */
+  pS1++;
+
+  /* Initializing the loop counter */
+  i = (S->N - 1u);
+
+  while(i > 0u)
+  {
+    /* Calculating Y4(1) to Y4(N-1) from Y2 using equation Y4(k) = Y2(k) - Y4(k-1) */
+    /* pState pointer (pS1) is incremented twice as the real values are located alternatively in the array */
+    in = *pS1++ - in;
+    *pbuff++ = in;
+    /* points to the next real value */
+    pS1++;
+
+    /* Decrement the loop counter */
+    i--;
+  }
+
+
+        /*------------ Normalizing the output by multiplying with the normalizing factor ----------*/
+
+  /* Initializing the loop counter */
+  i = S->N;
+
+  /* pbuff initialized to the pInlineBuffer(now contains the output values) */
+  pbuff = pInlineBuffer;
+
+  do
+  {
+    /* Multiplying pInlineBuffer with the normalizing factor sqrt(2/N) */
+    in = *pbuff;
+    *pbuff++ = ((q31_t) (((q63_t) in * S->normalize) >> 31));
+
+    /* Decrement the loop counter */
+    i--;
+  } while(i > 0u);
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/**    
+   * @} end of DCT4_IDCT4 group    
+   */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_f32.c
new file mode 100644
index 000000000..2043a4e0d
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_f32.c
@@ -0,0 +1,382 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_rfft_f32.c    
+*    
+* Description:	RFFT & RIFFT Floating point process function    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupTransforms    
+ */
+
+/**    
+ * @defgroup RFFT_RIFFT Real FFT Functions    
+ *    
+ * \par    
+ * Complex FFT/IFFT typically assumes complex input and output. However many applications use real valued data in time domain.     
+ * Real FFT/IFFT efficiently process real valued sequences with the advantage of requirement of low memory and with less complexity.    
+ *    
+ * \par    
+ * This set of functions implements Real Fast Fourier Transforms(RFFT) and Real Inverse Fast Fourier Transform(RIFFT)    
+ * for Q15, Q31, and floating-point data types.      
+ *    
+ *    
+ * \par Algorithm:    
+ *    
+ * Real Fast Fourier Transform:    
+ * \par    
+ * Real FFT of N-point is calculated using CFFT of N/2-point and Split RFFT process as shown below figure.    
+ * \par    
+ * \image html RFFT.gif "Real Fast Fourier Transform"    
+ * \par    
+ * The RFFT functions operate on blocks of input and output data and each call to the function processes    
+ * fftLenR samples through the transform.  pSrc  points to input array containing fftLenR values.    
+ * pDst  points to output array containing 2*fftLenR values. \n   
+ * Input for real FFT is in the order of     
+ * 
{real[0], real[1], real[2], real[3], ..}
    
+ * Output for real FFT is complex and are in the order of    
+ * 
{real(0), imag(0), real(1), imag(1), ...}
     
+ *    
+ * Real Inverse Fast Fourier Transform:    
+ * \par    
+ * Real IFFT of N-point is calculated using Split RIFFT process and CFFT of N/2-point as shown below figure.    
+ * \par    
+ * \image html RIFFT.gif "Real Inverse Fast Fourier Transform"    
+ * \par    
+ * The RIFFT functions operate on blocks of input and output data and each call to the function processes    
+ * 2*fftLenR samples through the transform.  pSrc  points to input array containing 2*fftLenR values.    
+ * pDst  points to output array containing fftLenR values. \n    
+ * Input for real IFFT is complex and are in the order of   
+ * 
{real(0), imag(0), real(1), imag(1), ...}
   
+ *  Output for real IFFT is real and in the order of     
+ * 
{real[0], real[1], real[2], real[3], ..}
   
+ *    
+ * \par Lengths supported by the transform:   
+ * \par    
+ * Real FFT/IFFT supports the lengths [128, 512, 2048], as it internally uses CFFT/CIFFT.    
+ *    
+ * \par Instance Structure    
+ * A separate instance structure must be defined for each Instance but the twiddle factors can be reused.    
+ * There are separate instance structure declarations for each of the 3 supported data types.    
+ *    
+ * \par Initialization Functions    
+ * There is also an associated initialization function for each data type.    
+ * The initialization function performs the following operations:    
+ * - Sets the values of the internal structure fields.    
+ * - Initializes twiddle factor tables.   
+ * - Initializes CFFT data structure fields.     
+ * \par    
+ * Use of the initialization function is optional.    
+ * However, if the initialization function is used, then the instance structure cannot be placed into a const data section.    
+ * To place an instance structure into a const data section, the instance structure must be manually initialized.    
+ * Manually initialize the instance structure as follows:    
+ * 
    
+ *arm_rfft_instance_f32 S = {fftLenReal, fftLenBy2, ifftFlagR, bitReverseFlagR, twidCoefRModifier, pTwiddleAReal, pTwiddleBReal, pCfft};    
+ *arm_rfft_instance_q31 S = {fftLenReal, fftLenBy2, ifftFlagR, bitReverseFlagR, twidCoefRModifier, pTwiddleAReal, pTwiddleBReal, pCfft};    
+ *arm_rfft_instance_q15 S = {fftLenReal, fftLenBy2, ifftFlagR, bitReverseFlagR, twidCoefRModifier, pTwiddleAReal, pTwiddleBReal, pCfft};    
+ * 
    
+ * where fftLenReal length of RFFT/RIFFT; fftLenBy2 length of CFFT/CIFFT.     
+ * ifftFlagR Flag for selection of RFFT or RIFFT(Set ifftFlagR to calculate RIFFT otherwise calculates RFFT);    
+ * bitReverseFlagR Flag for selection of output order(Set bitReverseFlagR to output in normal order otherwise output in bit reversed order);     
+ * twidCoefRModifier modifier for twiddle factor table which supports 128, 512, 2048 RFFT lengths with same table;    
+ * pTwiddleARealpoints to A array of twiddle coefficients; pTwiddleBRealpoints to B array of twiddle coefficients;    
+ * pCfft points to the CFFT Instance structure. The CFFT structure also needs to be initialized, refer to arm_cfft_radix4_f32() for details regarding    
+ * static initialization of cfft structure.    
+ *    
+ * \par Fixed-Point Behavior    
+ * Care must be taken when using the fixed-point versions of the RFFT/RIFFT function.    
+ * Refer to the function specific documentation below for usage guidelines.    
+ */
+
+/*--------------------------------------------------------------------    
+ *		Internal functions prototypes    
+ *--------------------------------------------------------------------*/
+
+void arm_split_rfft_f32(
+  float32_t * pSrc,
+  uint32_t fftLen,
+  float32_t * pATable,
+  float32_t * pBTable,
+  float32_t * pDst,
+  uint32_t modifier);
+void arm_split_rifft_f32(
+  float32_t * pSrc,
+  uint32_t fftLen,
+  float32_t * pATable,
+  float32_t * pBTable,
+  float32_t * pDst,
+  uint32_t modifier);
+
+/**    
+ * @addtogroup RFFT_RIFFT    
+ * @{    
+ */
+
+/**    
+ * @brief Processing function for the floating-point RFFT/RIFFT.   
+ * @param[in]  *S    points to an instance of the floating-point RFFT/RIFFT structure.   
+ * @param[in]  *pSrc points to the input buffer.   
+ * @param[out] *pDst points to the output buffer.   
+ * @return none.   
+ */
+
+void arm_rfft_f32(
+  const arm_rfft_instance_f32 * S,
+  float32_t * pSrc,
+  float32_t * pDst)
+{
+  const arm_cfft_radix4_instance_f32 *S_CFFT = S->pCfft;
+
+
+  /* Calculation of Real IFFT of input */
+  if(S->ifftFlagR == 1u)
+  {
+    /*  Real IFFT core process */
+    arm_split_rifft_f32(pSrc, S->fftLenBy2, S->pTwiddleAReal,
+                        S->pTwiddleBReal, pDst, S->twidCoefRModifier);
+
+
+    /* Complex radix-4 IFFT process */
+    arm_radix4_butterfly_inverse_f32(pDst, S_CFFT->fftLen,
+                                     S_CFFT->pTwiddle,
+                                     S_CFFT->twidCoefModifier,
+                                     S_CFFT->onebyfftLen);
+
+    /* Bit reversal process */
+    if(S->bitReverseFlagR == 1u)
+    {
+      arm_bitreversal_f32(pDst, S_CFFT->fftLen,
+                          S_CFFT->bitRevFactor, S_CFFT->pBitRevTable);
+    }
+  }
+  else
+  {
+
+    /* Calculation of RFFT of input */
+
+    /* Complex radix-4 FFT process */
+    arm_radix4_butterfly_f32(pSrc, S_CFFT->fftLen,
+                             S_CFFT->pTwiddle, S_CFFT->twidCoefModifier);
+
+    /* Bit reversal process */
+    if(S->bitReverseFlagR == 1u)
+    {
+      arm_bitreversal_f32(pSrc, S_CFFT->fftLen,
+                          S_CFFT->bitRevFactor, S_CFFT->pBitRevTable);
+    }
+
+
+    /*  Real FFT core process */
+    arm_split_rfft_f32(pSrc, S->fftLenBy2, S->pTwiddleAReal,
+                       S->pTwiddleBReal, pDst, S->twidCoefRModifier);
+  }
+
+}
+
+/**    
+   * @} end of RFFT_RIFFT group    
+   */
+
+/**    
+ * @brief  Core Real FFT process    
+ * @param[in]   *pSrc 				points to the input buffer.    
+ * @param[in]   fftLen  			length of FFT.    
+ * @param[in]   *pATable 			points to the twiddle Coef A buffer.    
+ * @param[in]   *pBTable 			points to the twiddle Coef B buffer.    
+ * @param[out]  *pDst 				points to the output buffer.    
+ * @param[in]   modifier 	        twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.   
+ * @return none.    
+ */
+
+void arm_split_rfft_f32(
+  float32_t * pSrc,
+  uint32_t fftLen,
+  float32_t * pATable,
+  float32_t * pBTable,
+  float32_t * pDst,
+  uint32_t modifier)
+{
+  uint32_t i;                                    /* Loop Counter */
+  float32_t outR, outI;                          /* Temporary variables for output */
+  float32_t *pCoefA, *pCoefB;                    /* Temporary pointers for twiddle factors */
+  float32_t CoefA1, CoefA2, CoefB1;              /* Temporary variables for twiddle coefficients */
+  float32_t *pDst1 = &pDst[2], *pDst2 = &pDst[(4u * fftLen) - 1u];      /* temp pointers for output buffer */
+  float32_t *pSrc1 = &pSrc[2], *pSrc2 = &pSrc[(2u * fftLen) - 1u];      /* temp pointers for input buffer */
+
+  /* Init coefficient pointers */
+  pCoefA = &pATable[modifier * 2u];
+  pCoefB = &pBTable[modifier * 2u];
+
+  i = fftLen - 1u;
+
+  while(i > 0u)
+  {
+    /*    
+       outR = (pSrc[2 * i] * pATable[2 * i] - pSrc[2 * i + 1] * pATable[2 * i + 1]    
+       + pSrc[2 * n - 2 * i] * pBTable[2 * i] +    
+       pSrc[2 * n - 2 * i + 1] * pBTable[2 * i + 1]);    
+     */
+
+    /* outI = (pIn[2 * i + 1] * pATable[2 * i] + pIn[2 * i] * pATable[2 * i + 1] +    
+       pIn[2 * n - 2 * i] * pBTable[2 * i + 1] -    
+       pIn[2 * n - 2 * i + 1] * pBTable[2 * i]); */
+
+    /* read pATable[2 * i] */
+    CoefA1 = *pCoefA++;
+    /* pATable[2 * i + 1] */
+    CoefA2 = *pCoefA;
+
+    /* pSrc[2 * i] * pATable[2 * i] */
+    outR = *pSrc1 * CoefA1;
+    /* pSrc[2 * i] * CoefA2 */
+    outI = *pSrc1++ * CoefA2;
+
+    /* (pSrc[2 * i + 1] + pSrc[2 * fftLen - 2 * i + 1]) * CoefA2 */
+    outR -= (*pSrc1 + *pSrc2) * CoefA2;
+    /* pSrc[2 * i + 1] * CoefA1 */
+    outI += *pSrc1++ * CoefA1;
+
+    CoefB1 = *pCoefB;
+
+    /* pSrc[2 * fftLen - 2 * i + 1] * CoefB1 */
+    outI -= *pSrc2-- * CoefB1;
+    /* pSrc[2 * fftLen - 2 * i] * CoefA2 */
+    outI -= *pSrc2 * CoefA2;
+
+    /* pSrc[2 * fftLen - 2 * i] * CoefB1 */
+    outR += *pSrc2-- * CoefB1;
+
+    /* write output */
+    *pDst1++ = outR;
+    *pDst1++ = outI;
+
+    /* write complex conjugate output */
+    *pDst2-- = -outI;
+    *pDst2-- = outR;
+
+    /* update coefficient pointer */
+    pCoefB = pCoefB + (modifier * 2u);
+    pCoefA = pCoefA + ((modifier * 2u) - 1u);
+
+    i--;
+
+  }
+
+  pDst[2u * fftLen] = pSrc[0] - pSrc[1];
+  pDst[(2u * fftLen) + 1u] = 0.0f;
+
+  pDst[0] = pSrc[0] + pSrc[1];
+  pDst[1] = 0.0f;
+
+}
+
+
+/**    
+ * @brief  Core Real IFFT process    
+ * @param[in]   *pSrc 				points to the input buffer.    
+ * @param[in]   fftLen  			length of FFT.   
+ * @param[in]   *pATable 			points to the twiddle Coef A buffer.   
+ * @param[in]   *pBTable 			points to the twiddle Coef B buffer.   
+ * @param[out]  *pDst 				points to the output buffer.   
+ * @param[in]   modifier 	        twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.    
+ * @return none.    
+ */
+
+void arm_split_rifft_f32(
+  float32_t * pSrc,
+  uint32_t fftLen,
+  float32_t * pATable,
+  float32_t * pBTable,
+  float32_t * pDst,
+  uint32_t modifier)
+{
+  float32_t outR, outI;                          /* Temporary variables for output */
+  float32_t *pCoefA, *pCoefB;                    /* Temporary pointers for twiddle factors */
+  float32_t CoefA1, CoefA2, CoefB1;              /* Temporary variables for twiddle coefficients */
+  float32_t *pSrc1 = &pSrc[0], *pSrc2 = &pSrc[(2u * fftLen) + 1u];
+
+  pCoefA = &pATable[0];
+  pCoefB = &pBTable[0];
+
+  while(fftLen > 0u)
+  {
+    /*    
+       outR = (pIn[2 * i] * pATable[2 * i] + pIn[2 * i + 1] * pATable[2 * i + 1] +    
+       pIn[2 * n - 2 * i] * pBTable[2 * i] -    
+       pIn[2 * n - 2 * i + 1] * pBTable[2 * i + 1]);    
+
+       outI = (pIn[2 * i + 1] * pATable[2 * i] - pIn[2 * i] * pATable[2 * i + 1] -    
+       pIn[2 * n - 2 * i] * pBTable[2 * i + 1] -    
+       pIn[2 * n - 2 * i + 1] * pBTable[2 * i]);    
+
+     */
+
+    CoefA1 = *pCoefA++;
+    CoefA2 = *pCoefA;
+
+    /* outR = (pSrc[2 * i] * CoefA1 */
+    outR = *pSrc1 * CoefA1;
+
+    /* - pSrc[2 * i] * CoefA2 */
+    outI = -(*pSrc1++) * CoefA2;
+
+    /* (pSrc[2 * i + 1] + pSrc[2 * fftLen - 2 * i + 1]) * CoefA2 */
+    outR += (*pSrc1 + *pSrc2) * CoefA2;
+
+    /* pSrc[2 * i + 1] * CoefA1 */
+    outI += (*pSrc1++) * CoefA1;
+
+    CoefB1 = *pCoefB;
+
+    /* - pSrc[2 * fftLen - 2 * i + 1] * CoefB1 */
+    outI -= *pSrc2-- * CoefB1;
+
+    /* pSrc[2 * fftLen - 2 * i] * CoefB1 */
+    outR += *pSrc2 * CoefB1;
+
+    /* pSrc[2 * fftLen - 2 * i] * CoefA2 */
+    outI += *pSrc2-- * CoefA2;
+
+    /* write output */
+    *pDst++ = outR;
+    *pDst++ = outI;
+
+    /* update coefficient pointer */
+    pCoefB = pCoefB + (modifier * 2u);
+    pCoefA = pCoefA + ((modifier * 2u) - 1u);
+
+    /* Decrement loop count */
+    fftLen--;
+  }
+
+}
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_init_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_init_f32.c
new file mode 100644
index 000000000..7a54df6e2
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_init_f32.c
@@ -0,0 +1,8369 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_rfft_init_f32.c    
+*    
+* Description:	RFFT & RIFFT Floating point initialisation function    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* -------------------------------------------------------------------- */
+
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupTransforms    
+ */
+
+/**    
+ * @addtogroup RFFT_RIFFT    
+ * @{    
+ */
+
+/**    
+* \par    
+* Generation of realCoefA array:    
+* \par    
+* 	n = 4096    
+* 
for (i = 0; i < n; i++)    
+*  {    
+*    pATable[2 * i] = 0.5 * (1.0 - sin (2 * PI / (double) (2 * n) * (double) i));    
+*    pATable[2 * i + 1] = 0.5 * (-1.0 * cos (2 * PI / (double) (2 * n) * (double) i));    
+*  } 
    
+*/
+
+
+
+static const float32_t realCoefA[8192] = {
+  0.500000000000000f, -0.500000000000000f, 0.499616503715515f,
+    -0.499999850988388f,
+  0.499233007431030f, -0.499999403953552f, 0.498849511146545f,
+    -0.499998688697815f,
+  0.498466014862061f, -0.499997645616531f, 0.498082518577576f,
+    -0.499996334314346f,
+  0.497699022293091f, -0.499994695186615f, 0.497315555810928f,
+    -0.499992787837982f,
+  0.496932059526443f, -0.499990582466125f, 0.496548563241959f,
+    -0.499988079071045f,
+  0.496165096759796f, -0.499985307455063f, 0.495781600475311f,
+    -0.499982208013535f,
+  0.495398133993149f, -0.499978810548782f, 0.495014637708664f,
+    -0.499975144863129f,
+  0.494631171226501f, -0.499971181154251f, 0.494247704744339f,
+    -0.499966919422150f,
+  0.493864238262177f, -0.499962359666824f, 0.493480771780014f,
+    -0.499957501888275f,
+  0.493097305297852f, -0.499952346086502f, 0.492713838815689f,
+    -0.499946922063828f,
+  0.492330402135849f, -0.499941170215607f, 0.491946935653687f,
+    -0.499935150146484f,
+  0.491563498973846f, -0.499928832054138f, 0.491180062294006f,
+    -0.499922215938568f,
+  0.490796625614166f, -0.499915301799774f, 0.490413218736649f,
+    -0.499908089637756f,
+  0.490029782056808f, -0.499900579452515f, 0.489646375179291f,
+    -0.499892801046371f,
+  0.489262968301773f, -0.499884694814682f, 0.488879561424255f,
+    -0.499876320362091f,
+  0.488496154546738f, -0.499867647886276f, 0.488112777471542f,
+    -0.499858677387238f,
+  0.487729400396347f, -0.499849408864975f, 0.487346023321152f,
+    -0.499839842319489f,
+  0.486962646245956f, -0.499830007553101f, 0.486579269170761f,
+    -0.499819844961166f,
+  0.486195921897888f, -0.499809414148331f, 0.485812574625015f,
+    -0.499798685312271f,
+  0.485429257154465f, -0.499787658452988f, 0.485045909881592f,
+    -0.499776333570480f,
+  0.484662592411041f, -0.499764710664749f, 0.484279274940491f,
+    -0.499752789735794f,
+  0.483895987272263f, -0.499740600585938f, 0.483512699604034f,
+    -0.499728083610535f,
+  0.483129411935806f, -0.499715298414230f, 0.482746154069901f,
+    -0.499702215194702f,
+  0.482362866401672f, -0.499688833951950f, 0.481979638338089f,
+    -0.499675154685974f,
+  0.481596380472183f, -0.499661177396774f, 0.481213152408600f,
+    -0.499646931886673f,
+  0.480829954147339f, -0.499632388353348f, 0.480446726083755f,
+    -0.499617516994476f,
+  0.480063527822495f, -0.499602377414703f, 0.479680359363556f,
+    -0.499586939811707f,
+  0.479297190904617f, -0.499571204185486f, 0.478914022445679f,
+    -0.499555170536041f,
+  0.478530883789063f, -0.499538868665695f, 0.478147745132446f,
+    -0.499522238969803f,
+  0.477764606475830f, -0.499505341053009f, 0.477381497621536f,
+    -0.499488145112991f,
+  0.476998418569565f, -0.499470651149750f, 0.476615339517593f,
+    -0.499452859163284f,
+  0.476232260465622f, -0.499434769153595f, 0.475849211215973f,
+    -0.499416410923004f,
+  0.475466161966324f, -0.499397724866867f, 0.475083142518997f,
+    -0.499378770589828f,
+  0.474700123071671f, -0.499359518289566f, 0.474317133426666f,
+    -0.499339967966080f,
+  0.473934143781662f, -0.499320119619370f, 0.473551183938980f,
+    -0.499299973249435f,
+  0.473168224096298f, -0.499279528856277f, 0.472785294055939f,
+    -0.499258816242218f,
+  0.472402364015579f, -0.499237775802612f, 0.472019463777542f,
+    -0.499216467142105f,
+  0.471636593341827f, -0.499194860458374f, 0.471253722906113f,
+    -0.499172955751419f,
+  0.470870882272720f, -0.499150782823563f, 0.470488041639328f,
+    -0.499128282070160f,
+  0.470105201005936f, -0.499105513095856f, 0.469722419977188f,
+    -0.499082416296005f,
+  0.469339638948441f, -0.499059051275253f, 0.468956857919693f,
+    -0.499035388231277f,
+  0.468574106693268f, -0.499011427164078f, 0.468191385269165f,
+    -0.498987197875977f,
+  0.467808693647385f, -0.498962640762329f, 0.467426002025604f,
+    -0.498937815427780f,
+  0.467043310403824f, -0.498912662267685f, 0.466660678386688f,
+    -0.498887240886688f,
+  0.466278046369553f, -0.498861521482468f, 0.465895414352417f,
+    -0.498835533857346f,
+  0.465512841939926f, -0.498809218406677f, 0.465130269527435f,
+    -0.498782604932785f,
+  0.464747726917267f, -0.498755723237991f, 0.464365184307098f,
+    -0.498728543519974f,
+  0.463982671499252f, -0.498701065778732f, 0.463600188493729f,
+    -0.498673290014267f,
+  0.463217705488205f, -0.498645216226578f, 0.462835282087326f,
+    -0.498616874217987f,
+  0.462452858686447f, -0.498588204383850f, 0.462070435285568f,
+    -0.498559266328812f,
+  0.461688071489334f, -0.498530030250549f, 0.461305707693100f,
+    -0.498500496149063f,
+  0.460923373699188f, -0.498470664024353f, 0.460541069507599f,
+    -0.498440563678741f,
+  0.460158795118332f, -0.498410135507584f, 0.459776520729065f,
+    -0.498379439115524f,
+  0.459394276142120f, -0.498348444700241f, 0.459012061357498f,
+    -0.498317152261734f,
+  0.458629876375198f, -0.498285561800003f, 0.458247691392899f,
+    -0.498253703117371f,
+  0.457865566015244f, -0.498221516609192f, 0.457483440637589f,
+    -0.498189061880112f,
+  0.457101345062256f, -0.498156309127808f, 0.456719279289246f,
+    -0.498123258352280f,
+  0.456337243318558f, -0.498089909553528f, 0.455955207347870f,
+    -0.498056292533875f,
+  0.455573230981827f, -0.498022347688675f, 0.455191254615784f,
+    -0.497988134622574f,
+  0.454809308052063f, -0.497953623533249f, 0.454427421092987f,
+    -0.497918814420700f,
+  0.454045534133911f, -0.497883707284927f, 0.453663676977158f,
+    -0.497848302125931f,
+  0.453281819820404f, -0.497812628746033f, 0.452900022268295f,
+    -0.497776657342911f,
+  0.452518254518509f, -0.497740387916565f, 0.452136516571045f,
+    -0.497703820466995f,
+  0.451754778623581f, -0.497666954994202f, 0.451373100280762f,
+    -0.497629791498184f,
+  0.450991421937943f, -0.497592359781265f, 0.450609803199768f,
+    -0.497554630041122f,
+  0.450228184461594f, -0.497516602277756f, 0.449846625328064f,
+    -0.497478276491165f,
+  0.449465066194534f, -0.497439652681351f, 0.449083566665649f,
+    -0.497400760650635f,
+  0.448702067136765f, -0.497361570596695f, 0.448320597410202f,
+    -0.497322082519531f,
+  0.447939187288284f, -0.497282296419144f, 0.447557777166367f,
+    -0.497242212295532f,
+  0.447176426649094f, -0.497201830148697f, 0.446795076131821f,
+    -0.497161179780960f,
+  0.446413785219193f, -0.497120231389999f, 0.446032524108887f,
+    -0.497078984975815f,
+  0.445651292800903f, -0.497037440538406f, 0.445270061492920f,
+    -0.496995598077774f,
+  0.444888889789581f, -0.496953487396240f, 0.444507747888565f,
+    -0.496911078691483f,
+  0.444126635789871f, -0.496868371963501f, 0.443745553493500f,
+    -0.496825367212296f,
+  0.443364530801773f, -0.496782064437866f, 0.442983508110046f,
+    -0.496738493442535f,
+  0.442602545022964f, -0.496694594621658f, 0.442221581935883f,
+    -0.496650427579880f,
+  0.441840678453445f, -0.496605962514877f, 0.441459804773331f,
+    -0.496561229228973f,
+  0.441078960895538f, -0.496516168117523f, 0.440698176622391f,
+    -0.496470838785172f,
+  0.440317392349243f, -0.496425211429596f, 0.439936667680740f,
+    -0.496379286050797f,
+  0.439555943012238f, -0.496333062648773f, 0.439175277948380f,
+    -0.496286571025848f,
+  0.438794672489166f, -0.496239781379700f, 0.438414067029953f,
+    -0.496192663908005f,
+  0.438033521175385f, -0.496145308017731f, 0.437653005123138f,
+    -0.496097624301910f,
+  0.437272518873215f, -0.496049642562866f, 0.436892062425613f,
+    -0.496001392602921f,
+  0.436511665582657f, -0.495952844619751f, 0.436131268739700f,
+    -0.495903998613358f,
+  0.435750931501389f, -0.495854884386063f, 0.435370653867722f,
+    -0.495805442333221f,
+  0.434990376234055f, -0.495755732059479f, 0.434610158205032f,
+    -0.495705723762512f,
+  0.434229999780655f, -0.495655417442322f, 0.433849841356277f,
+    -0.495604842901230f,
+  0.433469742536545f, -0.495553970336914f, 0.433089673519135f,
+    -0.495502769947052f,
+  0.432709634304047f, -0.495451331138611f, 0.432329654693604f,
+    -0.495399564504623f,
+  0.431949704885483f, -0.495347499847412f, 0.431569814682007f,
+    -0.495295166969299f,
+  0.431189924478531f, -0.495242536067963f, 0.430810123682022f,
+    -0.495189607143402f,
+  0.430430322885513f, -0.495136409997940f, 0.430050581693649f,
+    -0.495082914829254f,
+  0.429670870304108f, -0.495029091835022f, 0.429291218519211f,
+    -0.494975030422211f,
+  0.428911596536636f, -0.494920641183853f, 0.428532034158707f,
+    -0.494865983724594f,
+  0.428152471780777f, -0.494810998439789f, 0.427772998809814f,
+    -0.494755744934082f,
+  0.427393525838852f, -0.494700223207474f, 0.427014142274857f,
+    -0.494644373655319f,
+  0.426634758710861f, -0.494588255882263f, 0.426255434751511f,
+    -0.494531840085983f,
+  0.425876170396805f, -0.494475126266479f, 0.425496935844421f,
+    -0.494418144226074f,
+  0.425117731094360f, -0.494360834360123f, 0.424738585948944f,
+    -0.494303256273270f,
+  0.424359470605850f, -0.494245409965515f, 0.423980414867401f,
+    -0.494187235832214f,
+  0.423601418733597f, -0.494128793478012f, 0.423222452402115f,
+    -0.494070053100586f,
+  0.422843515872955f, -0.494011014699936f, 0.422464638948441f,
+    -0.493951678276062f,
+  0.422085791826248f, -0.493892073631287f, 0.421707004308701f,
+    -0.493832170963287f,
+  0.421328276395798f, -0.493771970272064f, 0.420949578285217f,
+    -0.493711471557617f,
+  0.420570939779282f, -0.493650704622269f, 0.420192331075668f,
+    -0.493589639663696f,
+  0.419813781976700f, -0.493528276681900f, 0.419435262680054f,
+    -0.493466645479202f,
+  0.419056802988052f, -0.493404686450958f, 0.418678402900696f,
+    -0.493342459201813f,
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+  0.498466014862061f, 0.499997645616531f, 0.498849511146545f,
+    0.499998688697815f,
+  0.499233007431030f, 0.499999403953552f, 0.499616503715515f,
+    0.499999850988388f,
+};
+
+
+/**    
+* \par   
+* Generation of realCoefB array:    
+* \par   
+* n = 4096    
+* 
for (i = 0; i < n; i++)    
+* {    
+*    pBTable[2 * i] = 0.5 * (1.0 + sin (2 * PI / (double) (2 * n) * (double) i));    
+*    pBTable[2 * i + 1] = 0.5 * (1.0 * cos (2 * PI / (double) (2 * n) * (double) i));    
+*  } 
    
+*    
+*/
+static const float32_t realCoefB[8192] = {
+  0.500000000000000f, 0.500000000000000f, 0.500383496284485f,
+    0.499999850988388f,
+  0.500766992568970f, 0.499999403953552f, 0.501150488853455f,
+    0.499998688697815f,
+  0.501533985137939f, 0.499997645616531f, 0.501917481422424f,
+    0.499996334314346f,
+  0.502300977706909f, 0.499994695186615f, 0.502684473991394f,
+    0.499992787837982f,
+  0.503067970275879f, 0.499990582466125f, 0.503451406955719f,
+    0.499988079071045f,
+  0.503834903240204f, 0.499985307455063f, 0.504218399524689f,
+    0.499982208013535f,
+  0.504601895809174f, 0.499978810548782f, 0.504985332489014f,
+    0.499975144863129f,
+  0.505368828773499f, 0.499971181154251f, 0.505752325057983f,
+    0.499966919422150f,
+  0.506135761737823f, 0.499962359666824f, 0.506519258022308f,
+    0.499957501888275f,
+  0.506902694702148f, 0.499952346086502f, 0.507286131381989f,
+    0.499946922063828f,
+  0.507669627666473f, 0.499941170215607f, 0.508053064346313f,
+    0.499935150146484f,
+  0.508436501026154f, 0.499928832054138f, 0.508819937705994f,
+    0.499922215938568f,
+  0.509203374385834f, 0.499915301799774f, 0.509586811065674f,
+    0.499908089637756f,
+  0.509970188140869f, 0.499900579452515f, 0.510353624820709f,
+    0.499892801046371f,
+  0.510737061500549f, 0.499884694814682f, 0.511120438575745f,
+    0.499876320362091f,
+  0.511503815650940f, 0.499867647886276f, 0.511887252330780f,
+    0.499858677387238f,
+  0.512270629405975f, 0.499849408864975f, 0.512654006481171f,
+    0.499839842319489f,
+  0.513037383556366f, 0.499830007553101f, 0.513420701026917f,
+    0.499819844961166f,
+  0.513804078102112f, 0.499809414148331f, 0.514187395572662f,
+    0.499798685312271f,
+  0.514570772647858f, 0.499787658452988f, 0.514954090118408f,
+    0.499776333570480f,
+  0.515337407588959f, 0.499764710664749f, 0.515720725059509f,
+    0.499752789735794f,
+  0.516103982925415f, 0.499740600585938f, 0.516487300395966f,
+    0.499728083610535f,
+  0.516870558261871f, 0.499715298414230f, 0.517253875732422f,
+    0.499702215194702f,
+  0.517637133598328f, 0.499688833951950f, 0.518020391464233f,
+    0.499675154685974f,
+  0.518403589725494f, 0.499661177396774f, 0.518786847591400f,
+    0.499646931886673f,
+  0.519170045852661f, 0.499632388353348f, 0.519553244113922f,
+    0.499617516994476f,
+  0.519936442375183f, 0.499602377414703f, 0.520319640636444f,
+    0.499586939811707f,
+  0.520702838897705f, 0.499571204185486f, 0.521085977554321f,
+    0.499555170536041f,
+  0.521469116210938f, 0.499538868665695f, 0.521852254867554f,
+    0.499522238969803f,
+  0.522235393524170f, 0.499505341053009f, 0.522618472576141f,
+    0.499488145112991f,
+  0.523001611232758f, 0.499470651149750f, 0.523384690284729f,
+    0.499452859163284f,
+  0.523767769336700f, 0.499434769153595f, 0.524150788784027f,
+    0.499416410923004f,
+  0.524533808231354f, 0.499397724866867f, 0.524916887283325f,
+    0.499378770589828f,
+  0.525299847126007f, 0.499359518289566f, 0.525682866573334f,
+    0.499339967966080f,
+  0.526065826416016f, 0.499320119619370f, 0.526448845863342f,
+    0.499299973249435f,
+  0.526831746101379f, 0.499279528856277f, 0.527214705944061f,
+    0.499258816242218f,
+  0.527597606182098f, 0.499237775802612f, 0.527980506420136f,
+    0.499216467142105f,
+  0.528363406658173f, 0.499194860458374f, 0.528746306896210f,
+    0.499172955751419f,
+  0.529129147529602f, 0.499150782823563f, 0.529511988162994f,
+    0.499128282070160f,
+  0.529894769191742f, 0.499105513095856f, 0.530277609825134f,
+    0.499082416296005f,
+  0.530660390853882f, 0.499059051275253f, 0.531043112277985f,
+    0.499035388231277f,
+  0.531425893306732f, 0.499011427164078f, 0.531808614730835f,
+    0.498987197875977f,
+  0.532191336154938f, 0.498962640762329f, 0.532573997974396f,
+    0.498937815427780f,
+  0.532956659793854f, 0.498912662267685f, 0.533339321613312f,
+    0.498887240886688f,
+  0.533721983432770f, 0.498861521482468f, 0.534104585647583f,
+    0.498835533857346f,
+  0.534487187862396f, 0.498809218406677f, 0.534869730472565f,
+    0.498782604932785f,
+  0.535252273082733f, 0.498755723237991f, 0.535634815692902f,
+    0.498728543519974f,
+  0.536017298698425f, 0.498701065778732f, 0.536399841308594f,
+    0.498673290014267f,
+  0.536782264709473f, 0.498645216226578f, 0.537164747714996f,
+    0.498616874217987f,
+  0.537547171115875f, 0.498588204383850f, 0.537929534912109f,
+    0.498559266328812f,
+  0.538311958312988f, 0.498530030250549f, 0.538694262504578f,
+    0.498500496149063f,
+  0.539076626300812f, 0.498470664024353f, 0.539458930492401f,
+    0.498440563678741f,
+  0.539841234683990f, 0.498410135507584f, 0.540223479270935f,
+    0.498379439115524f,
+  0.540605723857880f, 0.498348444700241f, 0.540987968444824f,
+    0.498317152261734f,
+  0.541370153427124f, 0.498285561800003f, 0.541752278804779f,
+    0.498253703117371f,
+  0.542134463787079f, 0.498221516609192f, 0.542516589164734f,
+    0.498189061880112f,
+  0.542898654937744f, 0.498156309127808f, 0.543280720710754f,
+    0.498123258352280f,
+  0.543662786483765f, 0.498089909553528f, 0.544044792652130f,
+    0.498056292533875f,
+  0.544426798820496f, 0.498022347688675f, 0.544808745384216f,
+    0.497988134622574f,
+  0.545190691947937f, 0.497953623533249f, 0.545572578907013f,
+    0.497918814420700f,
+  0.545954465866089f, 0.497883707284927f, 0.546336352825165f,
+    0.497848302125931f,
+  0.546718180179596f, 0.497812628746033f, 0.547099947929382f,
+    0.497776657342911f,
+  0.547481775283813f, 0.497740387916565f, 0.547863483428955f,
+    0.497703820466995f,
+  0.548245191574097f, 0.497666954994202f, 0.548626899719238f,
+    0.497629791498184f,
+  0.549008548259735f, 0.497592359781265f, 0.549390196800232f,
+    0.497554630041122f,
+  0.549771785736084f, 0.497516602277756f, 0.550153374671936f,
+    0.497478276491165f,
+  0.550534904003143f, 0.497439652681351f, 0.550916433334351f,
+    0.497400760650635f,
+  0.551297962665558f, 0.497361570596695f, 0.551679372787476f,
+    0.497322082519531f,
+  0.552060842514038f, 0.497282296419144f, 0.552442193031311f,
+    0.497242212295532f,
+  0.552823603153229f, 0.497201830148697f, 0.553204894065857f,
+    0.497161179780960f,
+  0.553586184978485f, 0.497120231389999f, 0.553967475891113f,
+    0.497078984975815f,
+  0.554348707199097f, 0.497037440538406f, 0.554729938507080f,
+    0.496995598077774f,
+  0.555111110210419f, 0.496953487396240f, 0.555492222309113f,
+    0.496911078691483f,
+  0.555873334407806f, 0.496868371963501f, 0.556254446506500f,
+    0.496825367212296f,
+  0.556635499000549f, 0.496782064437866f, 0.557016491889954f,
+    0.496738493442535f,
+  0.557397484779358f, 0.496694594621658f, 0.557778418064117f,
+    0.496650427579880f,
+  0.558159291744232f, 0.496605962514877f, 0.558540165424347f,
+    0.496561229228973f,
+  0.558921039104462f, 0.496516168117523f, 0.559301853179932f,
+    0.496470838785172f,
+  0.559682607650757f, 0.496425211429596f, 0.560063362121582f,
+    0.496379286050797f,
+  0.560444056987762f, 0.496333062648773f, 0.560824692249298f,
+    0.496286571025848f,
+  0.561205327510834f, 0.496239781379700f, 0.561585903167725f,
+    0.496192663908005f,
+  0.561966478824615f, 0.496145308017731f, 0.562346994876862f,
+    0.496097624301910f,
+  0.562727510929108f, 0.496049642562866f, 0.563107967376709f,
+    0.496001392602921f,
+  0.563488364219666f, 0.495952844619751f, 0.563868701457977f,
+    0.495903998613358f,
+  0.564249038696289f, 0.495854884386063f, 0.564629375934601f,
+    0.495805442333221f,
+  0.565009593963623f, 0.495755732059479f, 0.565389811992645f,
+    0.495705723762512f,
+  0.565770030021667f, 0.495655417442322f, 0.566150128841400f,
+    0.495604842901230f,
+  0.566530287265778f, 0.495553970336914f, 0.566910326480865f,
+    0.495502769947052f,
+  0.567290365695953f, 0.495451331138611f, 0.567670345306396f,
+    0.495399564504623f,
+  0.568050265312195f, 0.495347499847412f, 0.568430185317993f,
+    0.495295166969299f,
+  0.568810045719147f, 0.495242536067963f, 0.569189906120300f,
+    0.495189607143402f,
+  0.569569647312164f, 0.495136409997940f, 0.569949388504028f,
+    0.495082914829254f,
+  0.570329129695892f, 0.495029091835022f, 0.570708811283112f,
+    0.494975030422211f,
+  0.571088373661041f, 0.494920641183853f, 0.571467995643616f,
+    0.494865983724594f,
+  0.571847498416901f, 0.494810998439789f, 0.572227001190186f,
+    0.494755744934082f,
+  0.572606444358826f, 0.494700223207474f, 0.572985887527466f,
+    0.494644373655319f,
+  0.573365211486816f, 0.494588255882263f, 0.573744535446167f,
+    0.494531840085983f,
+  0.574123859405518f, 0.494475126266479f, 0.574503064155579f,
+    0.494418144226074f,
+  0.574882268905640f, 0.494360834360123f, 0.575261414051056f,
+    0.494303256273270f,
+  0.575640499591827f, 0.494245409965515f, 0.576019585132599f,
+    0.494187235832214f,
+  0.576398611068726f, 0.494128793478012f, 0.576777577400208f,
+    0.494070053100586f,
+  0.577156484127045f, 0.494011014699936f, 0.577535390853882f,
+    0.493951678276062f,
+  0.577914178371429f, 0.493892073631287f, 0.578292965888977f,
+    0.493832170963287f,
+  0.578671753406525f, 0.493771970272064f, 0.579050421714783f,
+    0.493711471557617f,
+  0.579429090023041f, 0.493650704622269f, 0.579807698726654f,
+    0.493589639663696f,
+  0.580186247825623f, 0.493528276681900f, 0.580564737319946f,
+    0.493466645479202f,
+  0.580943167209625f, 0.493404686450958f, 0.581321597099304f,
+    0.493342459201813f,
+  0.581699967384338f, 0.493279963731766f, 0.582078278064728f,
+    0.493217140436172f,
+  0.582456588745117f, 0.493154048919678f, 0.582834780216217f,
+    0.493090659379959f,
+  0.583212971687317f, 0.493026971817017f, 0.583591103553772f,
+    0.492963016033173f,
+  0.583969175815582f, 0.492898762226105f, 0.584347188472748f,
+    0.492834210395813f,
+  0.584725141525269f, 0.492769360542297f, 0.585103094577789f,
+    0.492704242467880f,
+  0.585480928421021f, 0.492638826370239f, 0.585858762264252f,
+    0.492573112249374f,
+  0.586236536502838f, 0.492507129907608f, 0.586614251136780f,
+    0.492440819740295f,
+  0.586991965770721f, 0.492374241352081f, 0.587369561195374f,
+    0.492307394742966f,
+  0.587747097015381f, 0.492240220308304f, 0.588124632835388f,
+    0.492172777652740f,
+  0.588502109050751f, 0.492105036973953f, 0.588879525661469f,
+    0.492037028074265f,
+  0.589256882667542f, 0.491968721151352f, 0.589634180068970f,
+    0.491900116205215f,
+  0.590011477470398f, 0.491831213235855f, 0.590388655662537f,
+    0.491762012243271f,
+  0.590765833854675f, 0.491692543029785f, 0.591142892837524f,
+    0.491622805595398f,
+  0.591519951820374f, 0.491552740335464f, 0.591896951198578f,
+    0.491482406854630f,
+  0.592273890972137f, 0.491411775350571f, 0.592650771141052f,
+    0.491340845823288f,
+  0.593027591705322f, 0.491269648075104f, 0.593404352664948f,
+    0.491198152303696f,
+  0.593781054019928f, 0.491126358509064f, 0.594157755374908f,
+    0.491054296493530f,
+  0.594534337520599f, 0.490981936454773f, 0.594910860061646f,
+    0.490909278392792f,
+  0.595287382602692f, 0.490836352109909f, 0.595663845539093f,
+    0.490763127803802f,
+  0.596040189266205f, 0.490689605474472f, 0.596416532993317f,
+    0.490615785121918f,
+  0.596792817115784f, 0.490541696548462f, 0.597168982028961f,
+    0.490467309951782f,
+  0.597545146942139f, 0.490392625331879f, 0.597921252250671f,
+    0.490317672491074f,
+  0.598297297954559f, 0.490242421627045f, 0.598673284053802f,
+    0.490166902542114f,
+  0.599049210548401f, 0.490091055631638f, 0.599425077438354f,
+    0.490014940500259f,
+  0.599800884723663f, 0.489938557147980f, 0.600176632404327f,
+    0.489861875772476f,
+  0.600552320480347f, 0.489784896373749f, 0.600927948951721f,
+    0.489707618951797f,
+  0.601303517818451f, 0.489630073308945f, 0.601679027080536f,
+    0.489552229642868f,
+  0.602054476737976f, 0.489474087953568f, 0.602429866790771f,
+    0.489395678043365f,
+  0.602805197238922f, 0.489316970109940f, 0.603180468082428f,
+    0.489237964153290f,
+  0.603555679321289f, 0.489158689975739f, 0.603930830955505f,
+    0.489079117774963f,
+  0.604305922985077f, 0.488999247550964f, 0.604680955410004f,
+    0.488919109106064f,
+  0.605055928230286f, 0.488838672637939f, 0.605430841445923f,
+    0.488757967948914f,
+  0.605805635452271f, 0.488676935434341f, 0.606180429458618f,
+    0.488595664501190f,
+  0.606555163860321f, 0.488514065742493f, 0.606929838657379f,
+    0.488432198762894f,
+  0.607304394245148f, 0.488350033760071f, 0.607678949832916f,
+    0.488267600536346f,
+  0.608053386211395f, 0.488184869289398f, 0.608427822589874f,
+    0.488101840019226f,
+  0.608802139759064f, 0.488018542528152f, 0.609176397323608f,
+    0.487934947013855f,
+  0.609550595283508f, 0.487851053476334f, 0.609924793243408f,
+    0.487766891717911f,
+  0.610298871994019f, 0.487682431936264f, 0.610672831535339f,
+    0.487597703933716f,
+  0.611046791076660f, 0.487512677907944f, 0.611420691013336f,
+    0.487427353858948f,
+  0.611794531345367f, 0.487341761589050f, 0.612168252468109f,
+    0.487255871295929f,
+  0.612541973590851f, 0.487169682979584f, 0.612915575504303f,
+    0.487083226442337f,
+  0.613289117813110f, 0.486996471881866f, 0.613662600517273f,
+    0.486909449100494f,
+  0.614036023616791f, 0.486822128295898f, 0.614409387111664f,
+    0.486734509468079f,
+  0.614782691001892f, 0.486646622419357f, 0.615155875682831f,
+    0.486558437347412f,
+  0.615529060363770f, 0.486469984054565f, 0.615902125835419f,
+    0.486381232738495f,
+  0.616275131702423f, 0.486292183399200f, 0.616648077964783f,
+    0.486202865839005f,
+  0.617020964622498f, 0.486113250255585f, 0.617393791675568f,
+    0.486023366451263f,
+  0.617766559123993f, 0.485933154821396f, 0.618139207363129f,
+    0.485842704772949f,
+  0.618511795997620f, 0.485751956701279f, 0.618884325027466f,
+    0.485660910606384f,
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+    -0.499999850988388f,
+};
+
+
+
+/**    
+* @brief  Initialization function for the floating-point RFFT/RIFFT.   
+* @param[in,out] *S             points to an instance of the floating-point RFFT/RIFFT structure.   
+* @param[in,out] *S_CFFT        points to an instance of the floating-point CFFT/CIFFT structure.   
+* @param[in]     fftLenReal     length of the FFT.   
+* @param[in]     ifftFlagR      flag that selects forward (ifftFlagR=0) or inverse (ifftFlagR=1) transform.   
+* @param[in]     bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.   
+* @return		The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if fftLenReal is not a supported value.   
+*    
+* \par Description:   
+* \par   
+* The parameter fftLenReal	Specifies length of RFFT/RIFFT Process. Supported FFT Lengths are 128, 512, 2048.    
+* \par    
+* The parameter ifftFlagR controls whether a forward or inverse transform is computed.    
+* Set(=1) ifftFlagR to calculate RIFFT, otherwise RFFT is calculated.    
+* \par    
+* The parameter bitReverseFlag controls whether output is in normal order or bit reversed order.    
+* Set(=1) bitReverseFlag for output to be in normal order otherwise output is in bit reversed order.   
+* \par    
+* This function also initializes Twiddle factor table.     
+*/
+
+arm_status arm_rfft_init_f32(
+  arm_rfft_instance_f32 * S,
+  arm_cfft_radix4_instance_f32 * S_CFFT,
+  uint32_t fftLenReal,
+  uint32_t ifftFlagR,
+  uint32_t bitReverseFlag)
+{
+
+  /*  Initialise the default arm status */
+  arm_status status = ARM_MATH_SUCCESS;
+
+  /*  Initialize the Real FFT length */
+  S->fftLenReal = (uint16_t) fftLenReal;
+
+  /*  Initialize the Complex FFT length */
+  S->fftLenBy2 = (uint16_t) fftLenReal / 2u;
+
+  /*  Initialize the Twiddle coefficientA pointer */
+  S->pTwiddleAReal = (float32_t *) realCoefA;
+
+  /*  Initialize the Twiddle coefficientB pointer */
+  S->pTwiddleBReal = (float32_t *) realCoefB;
+
+  /*  Initialize the Flag for selection of RFFT or RIFFT */
+  S->ifftFlagR = (uint8_t) ifftFlagR;
+
+  /*  Initialize the Flag for calculation Bit reversal or not */
+  S->bitReverseFlagR = (uint8_t) bitReverseFlag;
+
+  /*  Initializations of structure parameters depending on the FFT length */
+  switch (S->fftLenReal)
+  {
+    /* Init table modifier value */
+  case 8192u:
+    S->twidCoefRModifier = 1u;
+    break;
+  case 2048u:
+    S->twidCoefRModifier = 4u;
+    break;
+  case 512u:
+    S->twidCoefRModifier = 16u;
+    break;
+  case 128u:
+    S->twidCoefRModifier = 64u;
+    break;
+  default:
+    /*  Reporting argument error if rfftSize is not valid value */
+    status = ARM_MATH_ARGUMENT_ERROR;
+    break;
+  }
+
+  /* Init Complex FFT Instance */
+  S->pCfft = S_CFFT;
+
+  if(S->ifftFlagR)
+  {
+    /* Initializes the CIFFT Module for fftLenreal/2 length */
+    arm_cfft_radix4_init_f32(S->pCfft, S->fftLenBy2, 1u, 0u);
+  }
+  else
+  {
+    /* Initializes the CFFT Module for fftLenreal/2 length */
+    arm_cfft_radix4_init_f32(S->pCfft, S->fftLenBy2, 0u, 0u);
+  }
+
+  /* return the status of RFFT Init function */
+  return (status);
+
+}
+
+  /**    
+   * @} end of RFFT_RIFFT group    
+   */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_init_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_init_q15.c
new file mode 100644
index 000000000..50b9d994d
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_init_q15.c
@@ -0,0 +1,2229 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_rfft_init_q15.c    
+*    
+* Description:	RFFT & RIFFT Q15 initialisation function    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* -------------------------------------------------------------------- */
+
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupTransforms    
+ */
+
+/**    
+ * @addtogroup RFFT_RIFFT    
+ * @{    
+ */
+
+
+
+/**    
+* \par    
+* Generation floating point real_CoefA array:    
+* \par    
+* n = 4096    
+* 
for (i = 0; i < n; i++)    
+*  {    
+*    pATable[2 * i] = 0.5 * (1.0 - sin (2 * PI / (double) (2 * n) * (double) i));    
+*    pATable[2 * i + 1] = 0.5 * (-1.0 * cos (2 * PI / (double) (2 * n) * (double) i));    
+*  } 
    
+* \par    
+* Convert to fixed point Q15 format    
+*       round(pATable[i] * pow(2, 15))    
+*/
+
+
+static const q15_t ALIGN4 realCoefAQ15[8192] = {
+  0x4000, 0xc000, 0x3ff3, 0xc000, 0x3fe7, 0xc000, 0x3fda, 0xc000,
+  0x3fce, 0xc000, 0x3fc1, 0xc000, 0x3fb5, 0xc000, 0x3fa8, 0xc000,
+  0x3f9b, 0xc000, 0x3f8f, 0xc000, 0x3f82, 0xc000, 0x3f76, 0xc001,
+  0x3f69, 0xc001, 0x3f5d, 0xc001, 0x3f50, 0xc001, 0x3f44, 0xc001,
+  0x3f37, 0xc001, 0x3f2a, 0xc001, 0x3f1e, 0xc002, 0x3f11, 0xc002,
+  0x3f05, 0xc002, 0x3ef8, 0xc002, 0x3eec, 0xc002, 0x3edf, 0xc003,
+  0x3ed2, 0xc003, 0x3ec6, 0xc003, 0x3eb9, 0xc003, 0x3ead, 0xc004,
+  0x3ea0, 0xc004, 0x3e94, 0xc004, 0x3e87, 0xc004, 0x3e7a, 0xc005,
+  0x3e6e, 0xc005, 0x3e61, 0xc005, 0x3e55, 0xc006, 0x3e48, 0xc006,
+  0x3e3c, 0xc006, 0x3e2f, 0xc007, 0x3e23, 0xc007, 0x3e16, 0xc007,
+  0x3e09, 0xc008, 0x3dfd, 0xc008, 0x3df0, 0xc009, 0x3de4, 0xc009,
+  0x3dd7, 0xc009, 0x3dcb, 0xc00a, 0x3dbe, 0xc00a, 0x3db2, 0xc00b,
+  0x3da5, 0xc00b, 0x3d98, 0xc00c, 0x3d8c, 0xc00c, 0x3d7f, 0xc00d,
+  0x3d73, 0xc00d, 0x3d66, 0xc00e, 0x3d5a, 0xc00e, 0x3d4d, 0xc00f,
+  0x3d40, 0xc00f, 0x3d34, 0xc010, 0x3d27, 0xc010, 0x3d1b, 0xc011,
+  0x3d0e, 0xc011, 0x3d02, 0xc012, 0x3cf5, 0xc013, 0x3ce9, 0xc013,
+  0x3cdc, 0xc014, 0x3cd0, 0xc014, 0x3cc3, 0xc015, 0x3cb6, 0xc016,
+  0x3caa, 0xc016, 0x3c9d, 0xc017, 0x3c91, 0xc018, 0x3c84, 0xc018,
+  0x3c78, 0xc019, 0x3c6b, 0xc01a, 0x3c5f, 0xc01a, 0x3c52, 0xc01b,
+  0x3c45, 0xc01c, 0x3c39, 0xc01d, 0x3c2c, 0xc01d, 0x3c20, 0xc01e,
+  0x3c13, 0xc01f, 0x3c07, 0xc020, 0x3bfa, 0xc020, 0x3bee, 0xc021,
+  0x3be1, 0xc022, 0x3bd5, 0xc023, 0x3bc8, 0xc024, 0x3bbc, 0xc024,
+  0x3baf, 0xc025, 0x3ba2, 0xc026, 0x3b96, 0xc027, 0x3b89, 0xc028,
+  0x3b7d, 0xc029, 0x3b70, 0xc02a, 0x3b64, 0xc02b, 0x3b57, 0xc02b,
+  0x3b4b, 0xc02c, 0x3b3e, 0xc02d, 0x3b32, 0xc02e, 0x3b25, 0xc02f,
+  0x3b19, 0xc030, 0x3b0c, 0xc031, 0x3b00, 0xc032, 0x3af3, 0xc033,
+  0x3ae6, 0xc034, 0x3ada, 0xc035, 0x3acd, 0xc036, 0x3ac1, 0xc037,
+  0x3ab4, 0xc038, 0x3aa8, 0xc039, 0x3a9b, 0xc03a, 0x3a8f, 0xc03b,
+  0x3a82, 0xc03c, 0x3a76, 0xc03d, 0x3a69, 0xc03f, 0x3a5d, 0xc040,
+  0x3a50, 0xc041, 0x3a44, 0xc042, 0x3a37, 0xc043, 0x3a2b, 0xc044,
+  0x3a1e, 0xc045, 0x3a12, 0xc047, 0x3a05, 0xc048, 0x39f9, 0xc049,
+  0x39ec, 0xc04a, 0x39e0, 0xc04b, 0x39d3, 0xc04c, 0x39c7, 0xc04e,
+  0x39ba, 0xc04f, 0x39ae, 0xc050, 0x39a1, 0xc051, 0x3995, 0xc053,
+  0x3988, 0xc054, 0x397c, 0xc055, 0x396f, 0xc056, 0x3963, 0xc058,
+  0x3956, 0xc059, 0x394a, 0xc05a, 0x393d, 0xc05c, 0x3931, 0xc05d,
+  0x3924, 0xc05e, 0x3918, 0xc060, 0x390b, 0xc061, 0x38ff, 0xc062,
+  0x38f2, 0xc064, 0x38e6, 0xc065, 0x38d9, 0xc067, 0x38cd, 0xc068,
+  0x38c0, 0xc069, 0x38b4, 0xc06b, 0x38a7, 0xc06c, 0x389b, 0xc06e,
+  0x388e, 0xc06f, 0x3882, 0xc071, 0x3875, 0xc072, 0x3869, 0xc074,
+  0x385c, 0xc075, 0x3850, 0xc077, 0x3843, 0xc078, 0x3837, 0xc07a,
+  0x382a, 0xc07b, 0x381e, 0xc07d, 0x3811, 0xc07e, 0x3805, 0xc080,
+  0x37f9, 0xc081, 0x37ec, 0xc083, 0x37e0, 0xc085, 0x37d3, 0xc086,
+  0x37c7, 0xc088, 0x37ba, 0xc089, 0x37ae, 0xc08b, 0x37a1, 0xc08d,
+  0x3795, 0xc08e, 0x3788, 0xc090, 0x377c, 0xc092, 0x376f, 0xc093,
+  0x3763, 0xc095, 0x3757, 0xc097, 0x374a, 0xc098, 0x373e, 0xc09a,
+  0x3731, 0xc09c, 0x3725, 0xc09e, 0x3718, 0xc09f, 0x370c, 0xc0a1,
+  0x36ff, 0xc0a3, 0x36f3, 0xc0a5, 0x36e7, 0xc0a6, 0x36da, 0xc0a8,
+  0x36ce, 0xc0aa, 0x36c1, 0xc0ac, 0x36b5, 0xc0ae, 0x36a8, 0xc0af,
+  0x369c, 0xc0b1, 0x3690, 0xc0b3, 0x3683, 0xc0b5, 0x3677, 0xc0b7,
+  0x366a, 0xc0b9, 0x365e, 0xc0bb, 0x3651, 0xc0bd, 0x3645, 0xc0be,
+  0x3639, 0xc0c0, 0x362c, 0xc0c2, 0x3620, 0xc0c4, 0x3613, 0xc0c6,
+  0x3607, 0xc0c8, 0x35fa, 0xc0ca, 0x35ee, 0xc0cc, 0x35e2, 0xc0ce,
+  0x35d5, 0xc0d0, 0x35c9, 0xc0d2, 0x35bc, 0xc0d4, 0x35b0, 0xc0d6,
+  0x35a4, 0xc0d8, 0x3597, 0xc0da, 0x358b, 0xc0dc, 0x357e, 0xc0de,
+  0x3572, 0xc0e0, 0x3566, 0xc0e2, 0x3559, 0xc0e4, 0x354d, 0xc0e7,
+  0x3540, 0xc0e9, 0x3534, 0xc0eb, 0x3528, 0xc0ed, 0x351b, 0xc0ef,
+  0x350f, 0xc0f1, 0x3503, 0xc0f3, 0x34f6, 0xc0f6, 0x34ea, 0xc0f8,
+  0x34dd, 0xc0fa, 0x34d1, 0xc0fc, 0x34c5, 0xc0fe, 0x34b8, 0xc100,
+  0x34ac, 0xc103, 0x34a0, 0xc105, 0x3493, 0xc107, 0x3487, 0xc109,
+  0x347b, 0xc10c, 0x346e, 0xc10e, 0x3462, 0xc110, 0x3455, 0xc113,
+  0x3449, 0xc115, 0x343d, 0xc117, 0x3430, 0xc119, 0x3424, 0xc11c,
+  0x3418, 0xc11e, 0x340b, 0xc120, 0x33ff, 0xc123, 0x33f3, 0xc125,
+  0x33e6, 0xc128, 0x33da, 0xc12a, 0x33ce, 0xc12c, 0x33c1, 0xc12f,
+  0x33b5, 0xc131, 0x33a9, 0xc134, 0x339c, 0xc136, 0x3390, 0xc138,
+  0x3384, 0xc13b, 0x3377, 0xc13d, 0x336b, 0xc140, 0x335f, 0xc142,
+  0x3352, 0xc145, 0x3346, 0xc147, 0x333a, 0xc14a, 0x332d, 0xc14c,
+  0x3321, 0xc14f, 0x3315, 0xc151, 0x3308, 0xc154, 0x32fc, 0xc156,
+  0x32f0, 0xc159, 0x32e4, 0xc15b, 0x32d7, 0xc15e, 0x32cb, 0xc161,
+  0x32bf, 0xc163, 0x32b2, 0xc166, 0x32a6, 0xc168, 0x329a, 0xc16b,
+  0x328e, 0xc16e, 0x3281, 0xc170, 0x3275, 0xc173, 0x3269, 0xc176,
+  0x325c, 0xc178, 0x3250, 0xc17b, 0x3244, 0xc17e, 0x3238, 0xc180,
+  0x322b, 0xc183, 0x321f, 0xc186, 0x3213, 0xc189, 0x3207, 0xc18b,
+  0x31fa, 0xc18e, 0x31ee, 0xc191, 0x31e2, 0xc194, 0x31d5, 0xc196,
+  0x31c9, 0xc199, 0x31bd, 0xc19c, 0x31b1, 0xc19f, 0x31a4, 0xc1a2,
+  0x3198, 0xc1a4, 0x318c, 0xc1a7, 0x3180, 0xc1aa, 0x3174, 0xc1ad,
+  0x3167, 0xc1b0, 0x315b, 0xc1b3, 0x314f, 0xc1b6, 0x3143, 0xc1b8,
+  0x3136, 0xc1bb, 0x312a, 0xc1be, 0x311e, 0xc1c1, 0x3112, 0xc1c4,
+  0x3105, 0xc1c7, 0x30f9, 0xc1ca, 0x30ed, 0xc1cd, 0x30e1, 0xc1d0,
+  0x30d5, 0xc1d3, 0x30c8, 0xc1d6, 0x30bc, 0xc1d9, 0x30b0, 0xc1dc,
+  0x30a4, 0xc1df, 0x3098, 0xc1e2, 0x308b, 0xc1e5, 0x307f, 0xc1e8,
+  0x3073, 0xc1eb, 0x3067, 0xc1ee, 0x305b, 0xc1f1, 0x304e, 0xc1f4,
+  0x3042, 0xc1f7, 0x3036, 0xc1fa, 0x302a, 0xc1fd, 0x301e, 0xc201,
+  0x3012, 0xc204, 0x3005, 0xc207, 0x2ff9, 0xc20a, 0x2fed, 0xc20d,
+  0x2fe1, 0xc210, 0x2fd5, 0xc213, 0x2fc9, 0xc217, 0x2fbc, 0xc21a,
+  0x2fb0, 0xc21d, 0x2fa4, 0xc220, 0x2f98, 0xc223, 0x2f8c, 0xc227,
+  0x2f80, 0xc22a, 0x2f74, 0xc22d, 0x2f67, 0xc230, 0x2f5b, 0xc234,
+  0x2f4f, 0xc237, 0x2f43, 0xc23a, 0x2f37, 0xc23e, 0x2f2b, 0xc241,
+  0x2f1f, 0xc244, 0x2f13, 0xc247, 0x2f06, 0xc24b, 0x2efa, 0xc24e,
+  0x2eee, 0xc251, 0x2ee2, 0xc255, 0x2ed6, 0xc258, 0x2eca, 0xc25c,
+  0x2ebe, 0xc25f, 0x2eb2, 0xc262, 0x2ea6, 0xc266, 0x2e99, 0xc269,
+  0x2e8d, 0xc26d, 0x2e81, 0xc270, 0x2e75, 0xc273, 0x2e69, 0xc277,
+  0x2e5d, 0xc27a, 0x2e51, 0xc27e, 0x2e45, 0xc281, 0x2e39, 0xc285,
+  0x2e2d, 0xc288, 0x2e21, 0xc28c, 0x2e15, 0xc28f, 0x2e09, 0xc293,
+  0x2dfc, 0xc296, 0x2df0, 0xc29a, 0x2de4, 0xc29d, 0x2dd8, 0xc2a1,
+  0x2dcc, 0xc2a5, 0x2dc0, 0xc2a8, 0x2db4, 0xc2ac, 0x2da8, 0xc2af,
+  0x2d9c, 0xc2b3, 0x2d90, 0xc2b7, 0x2d84, 0xc2ba, 0x2d78, 0xc2be,
+  0x2d6c, 0xc2c1, 0x2d60, 0xc2c5, 0x2d54, 0xc2c9, 0x2d48, 0xc2cc,
+  0x2d3c, 0xc2d0, 0x2d30, 0xc2d4, 0x2d24, 0xc2d8, 0x2d18, 0xc2db,
+  0x2d0c, 0xc2df, 0x2d00, 0xc2e3, 0x2cf4, 0xc2e6, 0x2ce8, 0xc2ea,
+  0x2cdc, 0xc2ee, 0x2cd0, 0xc2f2, 0x2cc4, 0xc2f5, 0x2cb8, 0xc2f9,
+  0x2cac, 0xc2fd, 0x2ca0, 0xc301, 0x2c94, 0xc305, 0x2c88, 0xc308,
+  0x2c7c, 0xc30c, 0x2c70, 0xc310, 0x2c64, 0xc314, 0x2c58, 0xc318,
+  0x2c4c, 0xc31c, 0x2c40, 0xc320, 0x2c34, 0xc323, 0x2c28, 0xc327,
+  0x2c1c, 0xc32b, 0x2c10, 0xc32f, 0x2c05, 0xc333, 0x2bf9, 0xc337,
+  0x2bed, 0xc33b, 0x2be1, 0xc33f, 0x2bd5, 0xc343, 0x2bc9, 0xc347,
+  0x2bbd, 0xc34b, 0x2bb1, 0xc34f, 0x2ba5, 0xc353, 0x2b99, 0xc357,
+  0x2b8d, 0xc35b, 0x2b81, 0xc35f, 0x2b75, 0xc363, 0x2b6a, 0xc367,
+  0x2b5e, 0xc36b, 0x2b52, 0xc36f, 0x2b46, 0xc373, 0x2b3a, 0xc377,
+  0x2b2e, 0xc37b, 0x2b22, 0xc37f, 0x2b16, 0xc383, 0x2b0a, 0xc387,
+  0x2aff, 0xc38c, 0x2af3, 0xc390, 0x2ae7, 0xc394, 0x2adb, 0xc398,
+  0x2acf, 0xc39c, 0x2ac3, 0xc3a0, 0x2ab7, 0xc3a5, 0x2aac, 0xc3a9,
+  0x2aa0, 0xc3ad, 0x2a94, 0xc3b1, 0x2a88, 0xc3b5, 0x2a7c, 0xc3ba,
+  0x2a70, 0xc3be, 0x2a65, 0xc3c2, 0x2a59, 0xc3c6, 0x2a4d, 0xc3ca,
+  0x2a41, 0xc3cf, 0x2a35, 0xc3d3, 0x2a29, 0xc3d7, 0x2a1e, 0xc3dc,
+  0x2a12, 0xc3e0, 0x2a06, 0xc3e4, 0x29fa, 0xc3e9, 0x29ee, 0xc3ed,
+  0x29e3, 0xc3f1, 0x29d7, 0xc3f6, 0x29cb, 0xc3fa, 0x29bf, 0xc3fe,
+  0x29b4, 0xc403, 0x29a8, 0xc407, 0x299c, 0xc40b, 0x2990, 0xc410,
+  0x2984, 0xc414, 0x2979, 0xc419, 0x296d, 0xc41d, 0x2961, 0xc422,
+  0x2955, 0xc426, 0x294a, 0xc42a, 0x293e, 0xc42f, 0x2932, 0xc433,
+  0x2926, 0xc438, 0x291b, 0xc43c, 0x290f, 0xc441, 0x2903, 0xc445,
+  0x28f7, 0xc44a, 0x28ec, 0xc44e, 0x28e0, 0xc453, 0x28d4, 0xc457,
+  0x28c9, 0xc45c, 0x28bd, 0xc461, 0x28b1, 0xc465, 0x28a5, 0xc46a,
+  0x289a, 0xc46e, 0x288e, 0xc473, 0x2882, 0xc478, 0x2877, 0xc47c,
+  0x286b, 0xc481, 0x285f, 0xc485, 0x2854, 0xc48a, 0x2848, 0xc48f,
+  0x283c, 0xc493, 0x2831, 0xc498, 0x2825, 0xc49d, 0x2819, 0xc4a1,
+  0x280e, 0xc4a6, 0x2802, 0xc4ab, 0x27f6, 0xc4b0, 0x27eb, 0xc4b4,
+  0x27df, 0xc4b9, 0x27d3, 0xc4be, 0x27c8, 0xc4c2, 0x27bc, 0xc4c7,
+  0x27b1, 0xc4cc, 0x27a5, 0xc4d1, 0x2799, 0xc4d6, 0x278e, 0xc4da,
+  0x2782, 0xc4df, 0x2777, 0xc4e4, 0x276b, 0xc4e9, 0x275f, 0xc4ee,
+  0x2754, 0xc4f2, 0x2748, 0xc4f7, 0x273d, 0xc4fc, 0x2731, 0xc501,
+  0x2725, 0xc506, 0x271a, 0xc50b, 0x270e, 0xc510, 0x2703, 0xc515,
+  0x26f7, 0xc51a, 0x26ec, 0xc51e, 0x26e0, 0xc523, 0x26d4, 0xc528,
+  0x26c9, 0xc52d, 0x26bd, 0xc532, 0x26b2, 0xc537, 0x26a6, 0xc53c,
+  0x269b, 0xc541, 0x268f, 0xc546, 0x2684, 0xc54b, 0x2678, 0xc550,
+  0x266d, 0xc555, 0x2661, 0xc55a, 0x2656, 0xc55f, 0x264a, 0xc564,
+  0x263f, 0xc569, 0x2633, 0xc56e, 0x2628, 0xc573, 0x261c, 0xc578,
+  0x2611, 0xc57e, 0x2605, 0xc583, 0x25fa, 0xc588, 0x25ee, 0xc58d,
+  0x25e3, 0xc592, 0x25d7, 0xc597, 0x25cc, 0xc59c, 0x25c0, 0xc5a1,
+  0x25b5, 0xc5a7, 0x25a9, 0xc5ac, 0x259e, 0xc5b1, 0x2592, 0xc5b6,
+  0x2587, 0xc5bb, 0x257c, 0xc5c1, 0x2570, 0xc5c6, 0x2565, 0xc5cb,
+  0x2559, 0xc5d0, 0x254e, 0xc5d5, 0x2542, 0xc5db, 0x2537, 0xc5e0,
+  0x252c, 0xc5e5, 0x2520, 0xc5ea, 0x2515, 0xc5f0, 0x2509, 0xc5f5,
+  0x24fe, 0xc5fa, 0x24f3, 0xc600, 0x24e7, 0xc605, 0x24dc, 0xc60a,
+  0x24d0, 0xc610, 0x24c5, 0xc615, 0x24ba, 0xc61a, 0x24ae, 0xc620,
+  0x24a3, 0xc625, 0x2498, 0xc62a, 0x248c, 0xc630, 0x2481, 0xc635,
+  0x2476, 0xc63b, 0x246a, 0xc640, 0x245f, 0xc645, 0x2454, 0xc64b,
+  0x2448, 0xc650, 0x243d, 0xc656, 0x2432, 0xc65b, 0x2426, 0xc661,
+  0x241b, 0xc666, 0x2410, 0xc66c, 0x2404, 0xc671, 0x23f9, 0xc677,
+  0x23ee, 0xc67c, 0x23e2, 0xc682, 0x23d7, 0xc687, 0x23cc, 0xc68d,
+  0x23c1, 0xc692, 0x23b5, 0xc698, 0x23aa, 0xc69d, 0x239f, 0xc6a3,
+  0x2394, 0xc6a8, 0x2388, 0xc6ae, 0x237d, 0xc6b4, 0x2372, 0xc6b9,
+  0x2367, 0xc6bf, 0x235b, 0xc6c5, 0x2350, 0xc6ca, 0x2345, 0xc6d0,
+  0x233a, 0xc6d5, 0x232e, 0xc6db, 0x2323, 0xc6e1, 0x2318, 0xc6e6,
+  0x230d, 0xc6ec, 0x2301, 0xc6f2, 0x22f6, 0xc6f7, 0x22eb, 0xc6fd,
+  0x22e0, 0xc703, 0x22d5, 0xc709, 0x22ca, 0xc70e, 0x22be, 0xc714,
+  0x22b3, 0xc71a, 0x22a8, 0xc720, 0x229d, 0xc725, 0x2292, 0xc72b,
+  0x2287, 0xc731, 0x227b, 0xc737, 0x2270, 0xc73d, 0x2265, 0xc742,
+  0x225a, 0xc748, 0x224f, 0xc74e, 0x2244, 0xc754, 0x2239, 0xc75a,
+  0x222d, 0xc75f, 0x2222, 0xc765, 0x2217, 0xc76b, 0x220c, 0xc771,
+  0x2201, 0xc777, 0x21f6, 0xc77d, 0x21eb, 0xc783, 0x21e0, 0xc789,
+  0x21d5, 0xc78f, 0x21ca, 0xc795, 0x21be, 0xc79a, 0x21b3, 0xc7a0,
+  0x21a8, 0xc7a6, 0x219d, 0xc7ac, 0x2192, 0xc7b2, 0x2187, 0xc7b8,
+  0x217c, 0xc7be, 0x2171, 0xc7c4, 0x2166, 0xc7ca, 0x215b, 0xc7d0,
+  0x2150, 0xc7d6, 0x2145, 0xc7dc, 0x213a, 0xc7e2, 0x212f, 0xc7e8,
+  0x2124, 0xc7ee, 0x2119, 0xc7f5, 0x210e, 0xc7fb, 0x2103, 0xc801,
+  0x20f8, 0xc807, 0x20ed, 0xc80d, 0x20e2, 0xc813, 0x20d7, 0xc819,
+  0x20cc, 0xc81f, 0x20c1, 0xc825, 0x20b6, 0xc82b, 0x20ab, 0xc832,
+  0x20a0, 0xc838, 0x2095, 0xc83e, 0x208a, 0xc844, 0x207f, 0xc84a,
+  0x2074, 0xc850, 0x2069, 0xc857, 0x205e, 0xc85d, 0x2054, 0xc863,
+  0x2049, 0xc869, 0x203e, 0xc870, 0x2033, 0xc876, 0x2028, 0xc87c,
+  0x201d, 0xc882, 0x2012, 0xc889, 0x2007, 0xc88f, 0x1ffc, 0xc895,
+  0x1ff1, 0xc89b, 0x1fe7, 0xc8a2, 0x1fdc, 0xc8a8, 0x1fd1, 0xc8ae,
+  0x1fc6, 0xc8b5, 0x1fbb, 0xc8bb, 0x1fb0, 0xc8c1, 0x1fa5, 0xc8c8,
+  0x1f9b, 0xc8ce, 0x1f90, 0xc8d4, 0x1f85, 0xc8db, 0x1f7a, 0xc8e1,
+  0x1f6f, 0xc8e8, 0x1f65, 0xc8ee, 0x1f5a, 0xc8f4, 0x1f4f, 0xc8fb,
+  0x1f44, 0xc901, 0x1f39, 0xc908, 0x1f2f, 0xc90e, 0x1f24, 0xc915,
+  0x1f19, 0xc91b, 0x1f0e, 0xc921, 0x1f03, 0xc928, 0x1ef9, 0xc92e,
+  0x1eee, 0xc935, 0x1ee3, 0xc93b, 0x1ed8, 0xc942, 0x1ece, 0xc948,
+  0x1ec3, 0xc94f, 0x1eb8, 0xc955, 0x1ead, 0xc95c, 0x1ea3, 0xc963,
+  0x1e98, 0xc969, 0x1e8d, 0xc970, 0x1e83, 0xc976, 0x1e78, 0xc97d,
+  0x1e6d, 0xc983, 0x1e62, 0xc98a, 0x1e58, 0xc991, 0x1e4d, 0xc997,
+  0x1e42, 0xc99e, 0x1e38, 0xc9a4, 0x1e2d, 0xc9ab, 0x1e22, 0xc9b2,
+  0x1e18, 0xc9b8, 0x1e0d, 0xc9bf, 0x1e02, 0xc9c6, 0x1df8, 0xc9cc,
+  0x1ded, 0xc9d3, 0x1de2, 0xc9da, 0x1dd8, 0xc9e0, 0x1dcd, 0xc9e7,
+  0x1dc3, 0xc9ee, 0x1db8, 0xc9f5, 0x1dad, 0xc9fb, 0x1da3, 0xca02,
+  0x1d98, 0xca09, 0x1d8e, 0xca10, 0x1d83, 0xca16, 0x1d78, 0xca1d,
+  0x1d6e, 0xca24, 0x1d63, 0xca2b, 0x1d59, 0xca32, 0x1d4e, 0xca38,
+  0x1d44, 0xca3f, 0x1d39, 0xca46, 0x1d2e, 0xca4d, 0x1d24, 0xca54,
+  0x1d19, 0xca5b, 0x1d0f, 0xca61, 0x1d04, 0xca68, 0x1cfa, 0xca6f,
+  0x1cef, 0xca76, 0x1ce5, 0xca7d, 0x1cda, 0xca84, 0x1cd0, 0xca8b,
+  0x1cc5, 0xca92, 0x1cbb, 0xca99, 0x1cb0, 0xca9f, 0x1ca6, 0xcaa6,
+  0x1c9b, 0xcaad, 0x1c91, 0xcab4, 0x1c86, 0xcabb, 0x1c7c, 0xcac2,
+  0x1c72, 0xcac9, 0x1c67, 0xcad0, 0x1c5d, 0xcad7, 0x1c52, 0xcade,
+  0x1c48, 0xcae5, 0x1c3d, 0xcaec, 0x1c33, 0xcaf3, 0x1c29, 0xcafa,
+  0x1c1e, 0xcb01, 0x1c14, 0xcb08, 0x1c09, 0xcb0f, 0x1bff, 0xcb16,
+  0x1bf5, 0xcb1e, 0x1bea, 0xcb25, 0x1be0, 0xcb2c, 0x1bd5, 0xcb33,
+  0x1bcb, 0xcb3a, 0x1bc1, 0xcb41, 0x1bb6, 0xcb48, 0x1bac, 0xcb4f,
+  0x1ba2, 0xcb56, 0x1b97, 0xcb5e, 0x1b8d, 0xcb65, 0x1b83, 0xcb6c,
+  0x1b78, 0xcb73, 0x1b6e, 0xcb7a, 0x1b64, 0xcb81, 0x1b59, 0xcb89,
+  0x1b4f, 0xcb90, 0x1b45, 0xcb97, 0x1b3b, 0xcb9e, 0x1b30, 0xcba5,
+  0x1b26, 0xcbad, 0x1b1c, 0xcbb4, 0x1b11, 0xcbbb, 0x1b07, 0xcbc2,
+  0x1afd, 0xcbca, 0x1af3, 0xcbd1, 0x1ae8, 0xcbd8, 0x1ade, 0xcbe0,
+  0x1ad4, 0xcbe7, 0x1aca, 0xcbee, 0x1abf, 0xcbf5, 0x1ab5, 0xcbfd,
+  0x1aab, 0xcc04, 0x1aa1, 0xcc0b, 0x1a97, 0xcc13, 0x1a8c, 0xcc1a,
+  0x1a82, 0xcc21, 0x1a78, 0xcc29, 0x1a6e, 0xcc30, 0x1a64, 0xcc38,
+  0x1a5a, 0xcc3f, 0x1a4f, 0xcc46, 0x1a45, 0xcc4e, 0x1a3b, 0xcc55,
+  0x1a31, 0xcc5d, 0x1a27, 0xcc64, 0x1a1d, 0xcc6b, 0x1a13, 0xcc73,
+  0x1a08, 0xcc7a, 0x19fe, 0xcc82, 0x19f4, 0xcc89, 0x19ea, 0xcc91,
+  0x19e0, 0xcc98, 0x19d6, 0xcca0, 0x19cc, 0xcca7, 0x19c2, 0xccaf,
+  0x19b8, 0xccb6, 0x19ae, 0xccbe, 0x19a4, 0xccc5, 0x199a, 0xcccd,
+  0x198f, 0xccd4, 0x1985, 0xccdc, 0x197b, 0xcce3, 0x1971, 0xcceb,
+  0x1967, 0xccf3, 0x195d, 0xccfa, 0x1953, 0xcd02, 0x1949, 0xcd09,
+  0x193f, 0xcd11, 0x1935, 0xcd19, 0x192b, 0xcd20, 0x1921, 0xcd28,
+  0x1917, 0xcd30, 0x190d, 0xcd37, 0x1903, 0xcd3f, 0x18f9, 0xcd46,
+  0x18ef, 0xcd4e, 0x18e6, 0xcd56, 0x18dc, 0xcd5d, 0x18d2, 0xcd65,
+  0x18c8, 0xcd6d, 0x18be, 0xcd75, 0x18b4, 0xcd7c, 0x18aa, 0xcd84,
+  0x18a0, 0xcd8c, 0x1896, 0xcd93, 0x188c, 0xcd9b, 0x1882, 0xcda3,
+  0x1878, 0xcdab, 0x186f, 0xcdb2, 0x1865, 0xcdba, 0x185b, 0xcdc2,
+  0x1851, 0xcdca, 0x1847, 0xcdd2, 0x183d, 0xcdd9, 0x1833, 0xcde1,
+  0x182a, 0xcde9, 0x1820, 0xcdf1, 0x1816, 0xcdf9, 0x180c, 0xce01,
+  0x1802, 0xce08, 0x17f8, 0xce10, 0x17ef, 0xce18, 0x17e5, 0xce20,
+  0x17db, 0xce28, 0x17d1, 0xce30, 0x17c8, 0xce38, 0x17be, 0xce40,
+  0x17b4, 0xce47, 0x17aa, 0xce4f, 0x17a0, 0xce57, 0x1797, 0xce5f,
+  0x178d, 0xce67, 0x1783, 0xce6f, 0x177a, 0xce77, 0x1770, 0xce7f,
+  0x1766, 0xce87, 0x175c, 0xce8f, 0x1753, 0xce97, 0x1749, 0xce9f,
+  0x173f, 0xcea7, 0x1736, 0xceaf, 0x172c, 0xceb7, 0x1722, 0xcebf,
+  0x1719, 0xcec7, 0x170f, 0xcecf, 0x1705, 0xced7, 0x16fc, 0xcedf,
+  0x16f2, 0xcee7, 0x16e8, 0xceef, 0x16df, 0xcef7, 0x16d5, 0xceff,
+  0x16cb, 0xcf07, 0x16c2, 0xcf10, 0x16b8, 0xcf18, 0x16af, 0xcf20,
+  0x16a5, 0xcf28, 0x169b, 0xcf30, 0x1692, 0xcf38, 0x1688, 0xcf40,
+  0x167f, 0xcf48, 0x1675, 0xcf51, 0x166c, 0xcf59, 0x1662, 0xcf61,
+  0x1659, 0xcf69, 0x164f, 0xcf71, 0x1645, 0xcf79, 0x163c, 0xcf82,
+  0x1632, 0xcf8a, 0x1629, 0xcf92, 0x161f, 0xcf9a, 0x1616, 0xcfa3,
+  0x160c, 0xcfab, 0x1603, 0xcfb3, 0x15f9, 0xcfbb, 0x15f0, 0xcfc4,
+  0x15e6, 0xcfcc, 0x15dd, 0xcfd4, 0x15d4, 0xcfdc, 0x15ca, 0xcfe5,
+  0x15c1, 0xcfed, 0x15b7, 0xcff5, 0x15ae, 0xcffe, 0x15a4, 0xd006,
+  0x159b, 0xd00e, 0x1592, 0xd016, 0x1588, 0xd01f, 0x157f, 0xd027,
+  0x1575, 0xd030, 0x156c, 0xd038, 0x1563, 0xd040, 0x1559, 0xd049,
+  0x1550, 0xd051, 0x1547, 0xd059, 0x153d, 0xd062, 0x1534, 0xd06a,
+  0x152a, 0xd073, 0x1521, 0xd07b, 0x1518, 0xd083, 0x150e, 0xd08c,
+  0x1505, 0xd094, 0x14fc, 0xd09d, 0x14f3, 0xd0a5, 0x14e9, 0xd0ae,
+  0x14e0, 0xd0b6, 0x14d7, 0xd0bf, 0x14cd, 0xd0c7, 0x14c4, 0xd0d0,
+  0x14bb, 0xd0d8, 0x14b2, 0xd0e0, 0x14a8, 0xd0e9, 0x149f, 0xd0f2,
+  0x1496, 0xd0fa, 0x148d, 0xd103, 0x1483, 0xd10b, 0x147a, 0xd114,
+  0x1471, 0xd11c, 0x1468, 0xd125, 0x145f, 0xd12d, 0x1455, 0xd136,
+  0x144c, 0xd13e, 0x1443, 0xd147, 0x143a, 0xd150, 0x1431, 0xd158,
+  0x1428, 0xd161, 0x141e, 0xd169, 0x1415, 0xd172, 0x140c, 0xd17b,
+  0x1403, 0xd183, 0x13fa, 0xd18c, 0x13f1, 0xd195, 0x13e8, 0xd19d,
+  0x13df, 0xd1a6, 0x13d5, 0xd1af, 0x13cc, 0xd1b7, 0x13c3, 0xd1c0,
+  0x13ba, 0xd1c9, 0x13b1, 0xd1d1, 0x13a8, 0xd1da, 0x139f, 0xd1e3,
+  0x1396, 0xd1eb, 0x138d, 0xd1f4, 0x1384, 0xd1fd, 0x137b, 0xd206,
+  0x1372, 0xd20e, 0x1369, 0xd217, 0x1360, 0xd220, 0x1357, 0xd229,
+  0x134e, 0xd231, 0x1345, 0xd23a, 0x133c, 0xd243, 0x1333, 0xd24c,
+  0x132a, 0xd255, 0x1321, 0xd25d, 0x1318, 0xd266, 0x130f, 0xd26f,
+  0x1306, 0xd278, 0x12fd, 0xd281, 0x12f4, 0xd28a, 0x12eb, 0xd292,
+  0x12e2, 0xd29b, 0x12d9, 0xd2a4, 0x12d1, 0xd2ad, 0x12c8, 0xd2b6,
+  0x12bf, 0xd2bf, 0x12b6, 0xd2c8, 0x12ad, 0xd2d1, 0x12a4, 0xd2d9,
+  0x129b, 0xd2e2, 0x1292, 0xd2eb, 0x128a, 0xd2f4, 0x1281, 0xd2fd,
+  0x1278, 0xd306, 0x126f, 0xd30f, 0x1266, 0xd318, 0x125d, 0xd321,
+  0x1255, 0xd32a, 0x124c, 0xd333, 0x1243, 0xd33c, 0x123a, 0xd345,
+  0x1231, 0xd34e, 0x1229, 0xd357, 0x1220, 0xd360, 0x1217, 0xd369,
+  0x120e, 0xd372, 0x1206, 0xd37b, 0x11fd, 0xd384, 0x11f4, 0xd38d,
+  0x11eb, 0xd396, 0x11e3, 0xd39f, 0x11da, 0xd3a8, 0x11d1, 0xd3b1,
+  0x11c9, 0xd3ba, 0x11c0, 0xd3c3, 0x11b7, 0xd3cc, 0x11af, 0xd3d5,
+  0x11a6, 0xd3df, 0x119d, 0xd3e8, 0x1195, 0xd3f1, 0x118c, 0xd3fa,
+  0x1183, 0xd403, 0x117b, 0xd40c, 0x1172, 0xd415, 0x1169, 0xd41e,
+  0x1161, 0xd428, 0x1158, 0xd431, 0x1150, 0xd43a, 0x1147, 0xd443,
+  0x113e, 0xd44c, 0x1136, 0xd455, 0x112d, 0xd45f, 0x1125, 0xd468,
+  0x111c, 0xd471, 0x1114, 0xd47a, 0x110b, 0xd483, 0x1103, 0xd48d,
+  0x10fa, 0xd496, 0x10f2, 0xd49f, 0x10e9, 0xd4a8, 0x10e0, 0xd4b2,
+  0x10d8, 0xd4bb, 0x10d0, 0xd4c4, 0x10c7, 0xd4cd, 0x10bf, 0xd4d7,
+  0x10b6, 0xd4e0, 0x10ae, 0xd4e9, 0x10a5, 0xd4f3, 0x109d, 0xd4fc,
+  0x1094, 0xd505, 0x108c, 0xd50e, 0x1083, 0xd518, 0x107b, 0xd521,
+  0x1073, 0xd52a, 0x106a, 0xd534, 0x1062, 0xd53d, 0x1059, 0xd547,
+  0x1051, 0xd550, 0x1049, 0xd559, 0x1040, 0xd563, 0x1038, 0xd56c,
+  0x1030, 0xd575, 0x1027, 0xd57f, 0x101f, 0xd588, 0x1016, 0xd592,
+  0x100e, 0xd59b, 0x1006, 0xd5a4, 0xffe, 0xd5ae, 0xff5, 0xd5b7,
+  0xfed, 0xd5c1, 0xfe5, 0xd5ca, 0xfdc, 0xd5d4, 0xfd4, 0xd5dd,
+  0xfcc, 0xd5e6, 0xfc4, 0xd5f0, 0xfbb, 0xd5f9, 0xfb3, 0xd603,
+  0xfab, 0xd60c, 0xfa3, 0xd616, 0xf9a, 0xd61f, 0xf92, 0xd629,
+  0xf8a, 0xd632, 0xf82, 0xd63c, 0xf79, 0xd645, 0xf71, 0xd64f,
+  0xf69, 0xd659, 0xf61, 0xd662, 0xf59, 0xd66c, 0xf51, 0xd675,
+  0xf48, 0xd67f, 0xf40, 0xd688, 0xf38, 0xd692, 0xf30, 0xd69b,
+  0xf28, 0xd6a5, 0xf20, 0xd6af, 0xf18, 0xd6b8, 0xf10, 0xd6c2,
+  0xf07, 0xd6cb, 0xeff, 0xd6d5, 0xef7, 0xd6df, 0xeef, 0xd6e8,
+  0xee7, 0xd6f2, 0xedf, 0xd6fc, 0xed7, 0xd705, 0xecf, 0xd70f,
+  0xec7, 0xd719, 0xebf, 0xd722, 0xeb7, 0xd72c, 0xeaf, 0xd736,
+  0xea7, 0xd73f, 0xe9f, 0xd749, 0xe97, 0xd753, 0xe8f, 0xd75c,
+  0xe87, 0xd766, 0xe7f, 0xd770, 0xe77, 0xd77a, 0xe6f, 0xd783,
+  0xe67, 0xd78d, 0xe5f, 0xd797, 0xe57, 0xd7a0, 0xe4f, 0xd7aa,
+  0xe47, 0xd7b4, 0xe40, 0xd7be, 0xe38, 0xd7c8, 0xe30, 0xd7d1,
+  0xe28, 0xd7db, 0xe20, 0xd7e5, 0xe18, 0xd7ef, 0xe10, 0xd7f8,
+  0xe08, 0xd802, 0xe01, 0xd80c, 0xdf9, 0xd816, 0xdf1, 0xd820,
+  0xde9, 0xd82a, 0xde1, 0xd833, 0xdd9, 0xd83d, 0xdd2, 0xd847,
+  0xdca, 0xd851, 0xdc2, 0xd85b, 0xdba, 0xd865, 0xdb2, 0xd86f,
+  0xdab, 0xd878, 0xda3, 0xd882, 0xd9b, 0xd88c, 0xd93, 0xd896,
+  0xd8c, 0xd8a0, 0xd84, 0xd8aa, 0xd7c, 0xd8b4, 0xd75, 0xd8be,
+  0xd6d, 0xd8c8, 0xd65, 0xd8d2, 0xd5d, 0xd8dc, 0xd56, 0xd8e6,
+  0xd4e, 0xd8ef, 0xd46, 0xd8f9, 0xd3f, 0xd903, 0xd37, 0xd90d,
+  0xd30, 0xd917, 0xd28, 0xd921, 0xd20, 0xd92b, 0xd19, 0xd935,
+  0xd11, 0xd93f, 0xd09, 0xd949, 0xd02, 0xd953, 0xcfa, 0xd95d,
+  0xcf3, 0xd967, 0xceb, 0xd971, 0xce3, 0xd97b, 0xcdc, 0xd985,
+  0xcd4, 0xd98f, 0xccd, 0xd99a, 0xcc5, 0xd9a4, 0xcbe, 0xd9ae,
+  0xcb6, 0xd9b8, 0xcaf, 0xd9c2, 0xca7, 0xd9cc, 0xca0, 0xd9d6,
+  0xc98, 0xd9e0, 0xc91, 0xd9ea, 0xc89, 0xd9f4, 0xc82, 0xd9fe,
+  0xc7a, 0xda08, 0xc73, 0xda13, 0xc6b, 0xda1d, 0xc64, 0xda27,
+  0xc5d, 0xda31, 0xc55, 0xda3b, 0xc4e, 0xda45, 0xc46, 0xda4f,
+  0xc3f, 0xda5a, 0xc38, 0xda64, 0xc30, 0xda6e, 0xc29, 0xda78,
+  0xc21, 0xda82, 0xc1a, 0xda8c, 0xc13, 0xda97, 0xc0b, 0xdaa1,
+  0xc04, 0xdaab, 0xbfd, 0xdab5, 0xbf5, 0xdabf, 0xbee, 0xdaca,
+  0xbe7, 0xdad4, 0xbe0, 0xdade, 0xbd8, 0xdae8, 0xbd1, 0xdaf3,
+  0xbca, 0xdafd, 0xbc2, 0xdb07, 0xbbb, 0xdb11, 0xbb4, 0xdb1c,
+  0xbad, 0xdb26, 0xba5, 0xdb30, 0xb9e, 0xdb3b, 0xb97, 0xdb45,
+  0xb90, 0xdb4f, 0xb89, 0xdb59, 0xb81, 0xdb64, 0xb7a, 0xdb6e,
+  0xb73, 0xdb78, 0xb6c, 0xdb83, 0xb65, 0xdb8d, 0xb5e, 0xdb97,
+  0xb56, 0xdba2, 0xb4f, 0xdbac, 0xb48, 0xdbb6, 0xb41, 0xdbc1,
+  0xb3a, 0xdbcb, 0xb33, 0xdbd5, 0xb2c, 0xdbe0, 0xb25, 0xdbea,
+  0xb1e, 0xdbf5, 0xb16, 0xdbff, 0xb0f, 0xdc09, 0xb08, 0xdc14,
+  0xb01, 0xdc1e, 0xafa, 0xdc29, 0xaf3, 0xdc33, 0xaec, 0xdc3d,
+  0xae5, 0xdc48, 0xade, 0xdc52, 0xad7, 0xdc5d, 0xad0, 0xdc67,
+  0xac9, 0xdc72, 0xac2, 0xdc7c, 0xabb, 0xdc86, 0xab4, 0xdc91,
+  0xaad, 0xdc9b, 0xaa6, 0xdca6, 0xa9f, 0xdcb0, 0xa99, 0xdcbb,
+  0xa92, 0xdcc5, 0xa8b, 0xdcd0, 0xa84, 0xdcda, 0xa7d, 0xdce5,
+  0xa76, 0xdcef, 0xa6f, 0xdcfa, 0xa68, 0xdd04, 0xa61, 0xdd0f,
+  0xa5b, 0xdd19, 0xa54, 0xdd24, 0xa4d, 0xdd2e, 0xa46, 0xdd39,
+  0xa3f, 0xdd44, 0xa38, 0xdd4e, 0xa32, 0xdd59, 0xa2b, 0xdd63,
+  0xa24, 0xdd6e, 0xa1d, 0xdd78, 0xa16, 0xdd83, 0xa10, 0xdd8e,
+  0xa09, 0xdd98, 0xa02, 0xdda3, 0x9fb, 0xddad, 0x9f5, 0xddb8,
+  0x9ee, 0xddc3, 0x9e7, 0xddcd, 0x9e0, 0xddd8, 0x9da, 0xdde2,
+  0x9d3, 0xdded, 0x9cc, 0xddf8, 0x9c6, 0xde02, 0x9bf, 0xde0d,
+  0x9b8, 0xde18, 0x9b2, 0xde22, 0x9ab, 0xde2d, 0x9a4, 0xde38,
+  0x99e, 0xde42, 0x997, 0xde4d, 0x991, 0xde58, 0x98a, 0xde62,
+  0x983, 0xde6d, 0x97d, 0xde78, 0x976, 0xde83, 0x970, 0xde8d,
+  0x969, 0xde98, 0x963, 0xdea3, 0x95c, 0xdead, 0x955, 0xdeb8,
+  0x94f, 0xdec3, 0x948, 0xdece, 0x942, 0xded8, 0x93b, 0xdee3,
+  0x935, 0xdeee, 0x92e, 0xdef9, 0x928, 0xdf03, 0x921, 0xdf0e,
+  0x91b, 0xdf19, 0x915, 0xdf24, 0x90e, 0xdf2f, 0x908, 0xdf39,
+  0x901, 0xdf44, 0x8fb, 0xdf4f, 0x8f4, 0xdf5a, 0x8ee, 0xdf65,
+  0x8e8, 0xdf6f, 0x8e1, 0xdf7a, 0x8db, 0xdf85, 0x8d4, 0xdf90,
+  0x8ce, 0xdf9b, 0x8c8, 0xdfa5, 0x8c1, 0xdfb0, 0x8bb, 0xdfbb,
+  0x8b5, 0xdfc6, 0x8ae, 0xdfd1, 0x8a8, 0xdfdc, 0x8a2, 0xdfe7,
+  0x89b, 0xdff1, 0x895, 0xdffc, 0x88f, 0xe007, 0x889, 0xe012,
+  0x882, 0xe01d, 0x87c, 0xe028, 0x876, 0xe033, 0x870, 0xe03e,
+  0x869, 0xe049, 0x863, 0xe054, 0x85d, 0xe05e, 0x857, 0xe069,
+  0x850, 0xe074, 0x84a, 0xe07f, 0x844, 0xe08a, 0x83e, 0xe095,
+  0x838, 0xe0a0, 0x832, 0xe0ab, 0x82b, 0xe0b6, 0x825, 0xe0c1,
+  0x81f, 0xe0cc, 0x819, 0xe0d7, 0x813, 0xe0e2, 0x80d, 0xe0ed,
+  0x807, 0xe0f8, 0x801, 0xe103, 0x7fb, 0xe10e, 0x7f5, 0xe119,
+  0x7ee, 0xe124, 0x7e8, 0xe12f, 0x7e2, 0xe13a, 0x7dc, 0xe145,
+  0x7d6, 0xe150, 0x7d0, 0xe15b, 0x7ca, 0xe166, 0x7c4, 0xe171,
+  0x7be, 0xe17c, 0x7b8, 0xe187, 0x7b2, 0xe192, 0x7ac, 0xe19d,
+  0x7a6, 0xe1a8, 0x7a0, 0xe1b3, 0x79a, 0xe1be, 0x795, 0xe1ca,
+  0x78f, 0xe1d5, 0x789, 0xe1e0, 0x783, 0xe1eb, 0x77d, 0xe1f6,
+  0x777, 0xe201, 0x771, 0xe20c, 0x76b, 0xe217, 0x765, 0xe222,
+  0x75f, 0xe22d, 0x75a, 0xe239, 0x754, 0xe244, 0x74e, 0xe24f,
+  0x748, 0xe25a, 0x742, 0xe265, 0x73d, 0xe270, 0x737, 0xe27b,
+  0x731, 0xe287, 0x72b, 0xe292, 0x725, 0xe29d, 0x720, 0xe2a8,
+  0x71a, 0xe2b3, 0x714, 0xe2be, 0x70e, 0xe2ca, 0x709, 0xe2d5,
+  0x703, 0xe2e0, 0x6fd, 0xe2eb, 0x6f7, 0xe2f6, 0x6f2, 0xe301,
+  0x6ec, 0xe30d, 0x6e6, 0xe318, 0x6e1, 0xe323, 0x6db, 0xe32e,
+  0x6d5, 0xe33a, 0x6d0, 0xe345, 0x6ca, 0xe350, 0x6c5, 0xe35b,
+  0x6bf, 0xe367, 0x6b9, 0xe372, 0x6b4, 0xe37d, 0x6ae, 0xe388,
+  0x6a8, 0xe394, 0x6a3, 0xe39f, 0x69d, 0xe3aa, 0x698, 0xe3b5,
+  0x692, 0xe3c1, 0x68d, 0xe3cc, 0x687, 0xe3d7, 0x682, 0xe3e2,
+  0x67c, 0xe3ee, 0x677, 0xe3f9, 0x671, 0xe404, 0x66c, 0xe410,
+  0x666, 0xe41b, 0x661, 0xe426, 0x65b, 0xe432, 0x656, 0xe43d,
+  0x650, 0xe448, 0x64b, 0xe454, 0x645, 0xe45f, 0x640, 0xe46a,
+  0x63b, 0xe476, 0x635, 0xe481, 0x630, 0xe48c, 0x62a, 0xe498,
+  0x625, 0xe4a3, 0x620, 0xe4ae, 0x61a, 0xe4ba, 0x615, 0xe4c5,
+  0x610, 0xe4d0, 0x60a, 0xe4dc, 0x605, 0xe4e7, 0x600, 0xe4f3,
+  0x5fa, 0xe4fe, 0x5f5, 0xe509, 0x5f0, 0xe515, 0x5ea, 0xe520,
+  0x5e5, 0xe52c, 0x5e0, 0xe537, 0x5db, 0xe542, 0x5d5, 0xe54e,
+  0x5d0, 0xe559, 0x5cb, 0xe565, 0x5c6, 0xe570, 0x5c1, 0xe57c,
+  0x5bb, 0xe587, 0x5b6, 0xe592, 0x5b1, 0xe59e, 0x5ac, 0xe5a9,
+  0x5a7, 0xe5b5, 0x5a1, 0xe5c0, 0x59c, 0xe5cc, 0x597, 0xe5d7,
+  0x592, 0xe5e3, 0x58d, 0xe5ee, 0x588, 0xe5fa, 0x583, 0xe605,
+  0x57e, 0xe611, 0x578, 0xe61c, 0x573, 0xe628, 0x56e, 0xe633,
+  0x569, 0xe63f, 0x564, 0xe64a, 0x55f, 0xe656, 0x55a, 0xe661,
+  0x555, 0xe66d, 0x550, 0xe678, 0x54b, 0xe684, 0x546, 0xe68f,
+  0x541, 0xe69b, 0x53c, 0xe6a6, 0x537, 0xe6b2, 0x532, 0xe6bd,
+  0x52d, 0xe6c9, 0x528, 0xe6d4, 0x523, 0xe6e0, 0x51e, 0xe6ec,
+  0x51a, 0xe6f7, 0x515, 0xe703, 0x510, 0xe70e, 0x50b, 0xe71a,
+  0x506, 0xe725, 0x501, 0xe731, 0x4fc, 0xe73d, 0x4f7, 0xe748,
+  0x4f2, 0xe754, 0x4ee, 0xe75f, 0x4e9, 0xe76b, 0x4e4, 0xe777,
+  0x4df, 0xe782, 0x4da, 0xe78e, 0x4d6, 0xe799, 0x4d1, 0xe7a5,
+  0x4cc, 0xe7b1, 0x4c7, 0xe7bc, 0x4c2, 0xe7c8, 0x4be, 0xe7d3,
+  0x4b9, 0xe7df, 0x4b4, 0xe7eb, 0x4b0, 0xe7f6, 0x4ab, 0xe802,
+  0x4a6, 0xe80e, 0x4a1, 0xe819, 0x49d, 0xe825, 0x498, 0xe831,
+  0x493, 0xe83c, 0x48f, 0xe848, 0x48a, 0xe854, 0x485, 0xe85f,
+  0x481, 0xe86b, 0x47c, 0xe877, 0x478, 0xe882, 0x473, 0xe88e,
+  0x46e, 0xe89a, 0x46a, 0xe8a5, 0x465, 0xe8b1, 0x461, 0xe8bd,
+  0x45c, 0xe8c9, 0x457, 0xe8d4, 0x453, 0xe8e0, 0x44e, 0xe8ec,
+  0x44a, 0xe8f7, 0x445, 0xe903, 0x441, 0xe90f, 0x43c, 0xe91b,
+  0x438, 0xe926, 0x433, 0xe932, 0x42f, 0xe93e, 0x42a, 0xe94a,
+  0x426, 0xe955, 0x422, 0xe961, 0x41d, 0xe96d, 0x419, 0xe979,
+  0x414, 0xe984, 0x410, 0xe990, 0x40b, 0xe99c, 0x407, 0xe9a8,
+  0x403, 0xe9b4, 0x3fe, 0xe9bf, 0x3fa, 0xe9cb, 0x3f6, 0xe9d7,
+  0x3f1, 0xe9e3, 0x3ed, 0xe9ee, 0x3e9, 0xe9fa, 0x3e4, 0xea06,
+  0x3e0, 0xea12, 0x3dc, 0xea1e, 0x3d7, 0xea29, 0x3d3, 0xea35,
+  0x3cf, 0xea41, 0x3ca, 0xea4d, 0x3c6, 0xea59, 0x3c2, 0xea65,
+  0x3be, 0xea70, 0x3ba, 0xea7c, 0x3b5, 0xea88, 0x3b1, 0xea94,
+  0x3ad, 0xeaa0, 0x3a9, 0xeaac, 0x3a5, 0xeab7, 0x3a0, 0xeac3,
+  0x39c, 0xeacf, 0x398, 0xeadb, 0x394, 0xeae7, 0x390, 0xeaf3,
+  0x38c, 0xeaff, 0x387, 0xeb0a, 0x383, 0xeb16, 0x37f, 0xeb22,
+  0x37b, 0xeb2e, 0x377, 0xeb3a, 0x373, 0xeb46, 0x36f, 0xeb52,
+  0x36b, 0xeb5e, 0x367, 0xeb6a, 0x363, 0xeb75, 0x35f, 0xeb81,
+  0x35b, 0xeb8d, 0x357, 0xeb99, 0x353, 0xeba5, 0x34f, 0xebb1,
+  0x34b, 0xebbd, 0x347, 0xebc9, 0x343, 0xebd5, 0x33f, 0xebe1,
+  0x33b, 0xebed, 0x337, 0xebf9, 0x333, 0xec05, 0x32f, 0xec10,
+  0x32b, 0xec1c, 0x327, 0xec28, 0x323, 0xec34, 0x320, 0xec40,
+  0x31c, 0xec4c, 0x318, 0xec58, 0x314, 0xec64, 0x310, 0xec70,
+  0x30c, 0xec7c, 0x308, 0xec88, 0x305, 0xec94, 0x301, 0xeca0,
+  0x2fd, 0xecac, 0x2f9, 0xecb8, 0x2f5, 0xecc4, 0x2f2, 0xecd0,
+  0x2ee, 0xecdc, 0x2ea, 0xece8, 0x2e6, 0xecf4, 0x2e3, 0xed00,
+  0x2df, 0xed0c, 0x2db, 0xed18, 0x2d8, 0xed24, 0x2d4, 0xed30,
+  0x2d0, 0xed3c, 0x2cc, 0xed48, 0x2c9, 0xed54, 0x2c5, 0xed60,
+  0x2c1, 0xed6c, 0x2be, 0xed78, 0x2ba, 0xed84, 0x2b7, 0xed90,
+  0x2b3, 0xed9c, 0x2af, 0xeda8, 0x2ac, 0xedb4, 0x2a8, 0xedc0,
+  0x2a5, 0xedcc, 0x2a1, 0xedd8, 0x29d, 0xede4, 0x29a, 0xedf0,
+  0x296, 0xedfc, 0x293, 0xee09, 0x28f, 0xee15, 0x28c, 0xee21,
+  0x288, 0xee2d, 0x285, 0xee39, 0x281, 0xee45, 0x27e, 0xee51,
+  0x27a, 0xee5d, 0x277, 0xee69, 0x273, 0xee75, 0x270, 0xee81,
+  0x26d, 0xee8d, 0x269, 0xee99, 0x266, 0xeea6, 0x262, 0xeeb2,
+  0x25f, 0xeebe, 0x25c, 0xeeca, 0x258, 0xeed6, 0x255, 0xeee2,
+  0x251, 0xeeee, 0x24e, 0xeefa, 0x24b, 0xef06, 0x247, 0xef13,
+  0x244, 0xef1f, 0x241, 0xef2b, 0x23e, 0xef37, 0x23a, 0xef43,
+  0x237, 0xef4f, 0x234, 0xef5b, 0x230, 0xef67, 0x22d, 0xef74,
+  0x22a, 0xef80, 0x227, 0xef8c, 0x223, 0xef98, 0x220, 0xefa4,
+  0x21d, 0xefb0, 0x21a, 0xefbc, 0x217, 0xefc9, 0x213, 0xefd5,
+  0x210, 0xefe1, 0x20d, 0xefed, 0x20a, 0xeff9, 0x207, 0xf005,
+  0x204, 0xf012, 0x201, 0xf01e, 0x1fd, 0xf02a, 0x1fa, 0xf036,
+  0x1f7, 0xf042, 0x1f4, 0xf04e, 0x1f1, 0xf05b, 0x1ee, 0xf067,
+  0x1eb, 0xf073, 0x1e8, 0xf07f, 0x1e5, 0xf08b, 0x1e2, 0xf098,
+  0x1df, 0xf0a4, 0x1dc, 0xf0b0, 0x1d9, 0xf0bc, 0x1d6, 0xf0c8,
+  0x1d3, 0xf0d5, 0x1d0, 0xf0e1, 0x1cd, 0xf0ed, 0x1ca, 0xf0f9,
+  0x1c7, 0xf105, 0x1c4, 0xf112, 0x1c1, 0xf11e, 0x1be, 0xf12a,
+  0x1bb, 0xf136, 0x1b8, 0xf143, 0x1b6, 0xf14f, 0x1b3, 0xf15b,
+  0x1b0, 0xf167, 0x1ad, 0xf174, 0x1aa, 0xf180, 0x1a7, 0xf18c,
+  0x1a4, 0xf198, 0x1a2, 0xf1a4, 0x19f, 0xf1b1, 0x19c, 0xf1bd,
+  0x199, 0xf1c9, 0x196, 0xf1d5, 0x194, 0xf1e2, 0x191, 0xf1ee,
+  0x18e, 0xf1fa, 0x18b, 0xf207, 0x189, 0xf213, 0x186, 0xf21f,
+  0x183, 0xf22b, 0x180, 0xf238, 0x17e, 0xf244, 0x17b, 0xf250,
+  0x178, 0xf25c, 0x176, 0xf269, 0x173, 0xf275, 0x170, 0xf281,
+  0x16e, 0xf28e, 0x16b, 0xf29a, 0x168, 0xf2a6, 0x166, 0xf2b2,
+  0x163, 0xf2bf, 0x161, 0xf2cb, 0x15e, 0xf2d7, 0x15b, 0xf2e4,
+  0x159, 0xf2f0, 0x156, 0xf2fc, 0x154, 0xf308, 0x151, 0xf315,
+  0x14f, 0xf321, 0x14c, 0xf32d, 0x14a, 0xf33a, 0x147, 0xf346,
+  0x145, 0xf352, 0x142, 0xf35f, 0x140, 0xf36b, 0x13d, 0xf377,
+  0x13b, 0xf384, 0x138, 0xf390, 0x136, 0xf39c, 0x134, 0xf3a9,
+  0x131, 0xf3b5, 0x12f, 0xf3c1, 0x12c, 0xf3ce, 0x12a, 0xf3da,
+  0x128, 0xf3e6, 0x125, 0xf3f3, 0x123, 0xf3ff, 0x120, 0xf40b,
+  0x11e, 0xf418, 0x11c, 0xf424, 0x119, 0xf430, 0x117, 0xf43d,
+  0x115, 0xf449, 0x113, 0xf455, 0x110, 0xf462, 0x10e, 0xf46e,
+  0x10c, 0xf47b, 0x109, 0xf487, 0x107, 0xf493, 0x105, 0xf4a0,
+  0x103, 0xf4ac, 0x100, 0xf4b8, 0xfe, 0xf4c5, 0xfc, 0xf4d1,
+  0xfa, 0xf4dd, 0xf8, 0xf4ea, 0xf6, 0xf4f6, 0xf3, 0xf503,
+  0xf1, 0xf50f, 0xef, 0xf51b, 0xed, 0xf528, 0xeb, 0xf534,
+  0xe9, 0xf540, 0xe7, 0xf54d, 0xe4, 0xf559, 0xe2, 0xf566,
+  0xe0, 0xf572, 0xde, 0xf57e, 0xdc, 0xf58b, 0xda, 0xf597,
+  0xd8, 0xf5a4, 0xd6, 0xf5b0, 0xd4, 0xf5bc, 0xd2, 0xf5c9,
+  0xd0, 0xf5d5, 0xce, 0xf5e2, 0xcc, 0xf5ee, 0xca, 0xf5fa,
+  0xc8, 0xf607, 0xc6, 0xf613, 0xc4, 0xf620, 0xc2, 0xf62c,
+  0xc0, 0xf639, 0xbe, 0xf645, 0xbd, 0xf651, 0xbb, 0xf65e,
+  0xb9, 0xf66a, 0xb7, 0xf677, 0xb5, 0xf683, 0xb3, 0xf690,
+  0xb1, 0xf69c, 0xaf, 0xf6a8, 0xae, 0xf6b5, 0xac, 0xf6c1,
+  0xaa, 0xf6ce, 0xa8, 0xf6da, 0xa6, 0xf6e7, 0xa5, 0xf6f3,
+  0xa3, 0xf6ff, 0xa1, 0xf70c, 0x9f, 0xf718, 0x9e, 0xf725,
+  0x9c, 0xf731, 0x9a, 0xf73e, 0x98, 0xf74a, 0x97, 0xf757,
+  0x95, 0xf763, 0x93, 0xf76f, 0x92, 0xf77c, 0x90, 0xf788,
+  0x8e, 0xf795, 0x8d, 0xf7a1, 0x8b, 0xf7ae, 0x89, 0xf7ba,
+  0x88, 0xf7c7, 0x86, 0xf7d3, 0x85, 0xf7e0, 0x83, 0xf7ec,
+  0x81, 0xf7f9, 0x80, 0xf805, 0x7e, 0xf811, 0x7d, 0xf81e,
+  0x7b, 0xf82a, 0x7a, 0xf837, 0x78, 0xf843, 0x77, 0xf850,
+  0x75, 0xf85c, 0x74, 0xf869, 0x72, 0xf875, 0x71, 0xf882,
+  0x6f, 0xf88e, 0x6e, 0xf89b, 0x6c, 0xf8a7, 0x6b, 0xf8b4,
+  0x69, 0xf8c0, 0x68, 0xf8cd, 0x67, 0xf8d9, 0x65, 0xf8e6,
+  0x64, 0xf8f2, 0x62, 0xf8ff, 0x61, 0xf90b, 0x60, 0xf918,
+  0x5e, 0xf924, 0x5d, 0xf931, 0x5c, 0xf93d, 0x5a, 0xf94a,
+  0x59, 0xf956, 0x58, 0xf963, 0x56, 0xf96f, 0x55, 0xf97c,
+  0x54, 0xf988, 0x53, 0xf995, 0x51, 0xf9a1, 0x50, 0xf9ae,
+  0x4f, 0xf9ba, 0x4e, 0xf9c7, 0x4c, 0xf9d3, 0x4b, 0xf9e0,
+  0x4a, 0xf9ec, 0x49, 0xf9f9, 0x48, 0xfa05, 0x47, 0xfa12,
+  0x45, 0xfa1e, 0x44, 0xfa2b, 0x43, 0xfa37, 0x42, 0xfa44,
+  0x41, 0xfa50, 0x40, 0xfa5d, 0x3f, 0xfa69, 0x3d, 0xfa76,
+  0x3c, 0xfa82, 0x3b, 0xfa8f, 0x3a, 0xfa9b, 0x39, 0xfaa8,
+  0x38, 0xfab4, 0x37, 0xfac1, 0x36, 0xfacd, 0x35, 0xfada,
+  0x34, 0xfae6, 0x33, 0xfaf3, 0x32, 0xfb00, 0x31, 0xfb0c,
+  0x30, 0xfb19, 0x2f, 0xfb25, 0x2e, 0xfb32, 0x2d, 0xfb3e,
+  0x2c, 0xfb4b, 0x2b, 0xfb57, 0x2b, 0xfb64, 0x2a, 0xfb70,
+  0x29, 0xfb7d, 0x28, 0xfb89, 0x27, 0xfb96, 0x26, 0xfba2,
+  0x25, 0xfbaf, 0x24, 0xfbbc, 0x24, 0xfbc8, 0x23, 0xfbd5,
+  0x22, 0xfbe1, 0x21, 0xfbee, 0x20, 0xfbfa, 0x20, 0xfc07,
+  0x1f, 0xfc13, 0x1e, 0xfc20, 0x1d, 0xfc2c, 0x1d, 0xfc39,
+  0x1c, 0xfc45, 0x1b, 0xfc52, 0x1a, 0xfc5f, 0x1a, 0xfc6b,
+  0x19, 0xfc78, 0x18, 0xfc84, 0x18, 0xfc91, 0x17, 0xfc9d,
+  0x16, 0xfcaa, 0x16, 0xfcb6, 0x15, 0xfcc3, 0x14, 0xfcd0,
+  0x14, 0xfcdc, 0x13, 0xfce9, 0x13, 0xfcf5, 0x12, 0xfd02,
+  0x11, 0xfd0e, 0x11, 0xfd1b, 0x10, 0xfd27, 0x10, 0xfd34,
+  0xf, 0xfd40, 0xf, 0xfd4d, 0xe, 0xfd5a, 0xe, 0xfd66,
+  0xd, 0xfd73, 0xd, 0xfd7f, 0xc, 0xfd8c, 0xc, 0xfd98,
+  0xb, 0xfda5, 0xb, 0xfdb2, 0xa, 0xfdbe, 0xa, 0xfdcb,
+  0x9, 0xfdd7, 0x9, 0xfde4, 0x9, 0xfdf0, 0x8, 0xfdfd,
+  0x8, 0xfe09, 0x7, 0xfe16, 0x7, 0xfe23, 0x7, 0xfe2f,
+  0x6, 0xfe3c, 0x6, 0xfe48, 0x6, 0xfe55, 0x5, 0xfe61,
+  0x5, 0xfe6e, 0x5, 0xfe7a, 0x4, 0xfe87, 0x4, 0xfe94,
+  0x4, 0xfea0, 0x4, 0xfead, 0x3, 0xfeb9, 0x3, 0xfec6,
+  0x3, 0xfed2, 0x3, 0xfedf, 0x2, 0xfeec, 0x2, 0xfef8,
+  0x2, 0xff05, 0x2, 0xff11, 0x2, 0xff1e, 0x1, 0xff2a,
+  0x1, 0xff37, 0x1, 0xff44, 0x1, 0xff50, 0x1, 0xff5d,
+  0x1, 0xff69, 0x1, 0xff76, 0x0, 0xff82, 0x0, 0xff8f,
+  0x0, 0xff9b, 0x0, 0xffa8, 0x0, 0xffb5, 0x0, 0xffc1,
+  0x0, 0xffce, 0x0, 0xffda, 0x0, 0xffe7, 0x0, 0xfff3,
+  0x0, 0x0, 0x0, 0xd, 0x0, 0x19, 0x0, 0x26,
+  0x0, 0x32, 0x0, 0x3f, 0x0, 0x4b, 0x0, 0x58,
+  0x0, 0x65, 0x0, 0x71, 0x0, 0x7e, 0x1, 0x8a,
+  0x1, 0x97, 0x1, 0xa3, 0x1, 0xb0, 0x1, 0xbc,
+  0x1, 0xc9, 0x1, 0xd6, 0x2, 0xe2, 0x2, 0xef,
+  0x2, 0xfb, 0x2, 0x108, 0x2, 0x114, 0x3, 0x121,
+  0x3, 0x12e, 0x3, 0x13a, 0x3, 0x147, 0x4, 0x153,
+  0x4, 0x160, 0x4, 0x16c, 0x4, 0x179, 0x5, 0x186,
+  0x5, 0x192, 0x5, 0x19f, 0x6, 0x1ab, 0x6, 0x1b8,
+  0x6, 0x1c4, 0x7, 0x1d1, 0x7, 0x1dd, 0x7, 0x1ea,
+  0x8, 0x1f7, 0x8, 0x203, 0x9, 0x210, 0x9, 0x21c,
+  0x9, 0x229, 0xa, 0x235, 0xa, 0x242, 0xb, 0x24e,
+  0xb, 0x25b, 0xc, 0x268, 0xc, 0x274, 0xd, 0x281,
+  0xd, 0x28d, 0xe, 0x29a, 0xe, 0x2a6, 0xf, 0x2b3,
+  0xf, 0x2c0, 0x10, 0x2cc, 0x10, 0x2d9, 0x11, 0x2e5,
+  0x11, 0x2f2, 0x12, 0x2fe, 0x13, 0x30b, 0x13, 0x317,
+  0x14, 0x324, 0x14, 0x330, 0x15, 0x33d, 0x16, 0x34a,
+  0x16, 0x356, 0x17, 0x363, 0x18, 0x36f, 0x18, 0x37c,
+  0x19, 0x388, 0x1a, 0x395, 0x1a, 0x3a1, 0x1b, 0x3ae,
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+  0x1bb, 0xeca, 0x1be, 0xed6, 0x1c1, 0xee2, 0x1c4, 0xeee,
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+  0x1d3, 0xf2b, 0x1d6, 0xf38, 0x1d9, 0xf44, 0x1dc, 0xf50,
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+  0x26d, 0x1173, 0x270, 0x117f, 0x273, 0x118b, 0x277, 0x1197,
+  0x27a, 0x11a3, 0x27e, 0x11af, 0x281, 0x11bb, 0x285, 0x11c7,
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+  0x38c, 0x1501, 0x390, 0x150d, 0x394, 0x1519, 0x398, 0x1525,
+  0x39c, 0x1531, 0x3a0, 0x153d, 0x3a5, 0x1549, 0x3a9, 0x1554,
+  0x3ad, 0x1560, 0x3b1, 0x156c, 0x3b5, 0x1578, 0x3ba, 0x1584,
+  0x3be, 0x1590, 0x3c2, 0x159b, 0x3c6, 0x15a7, 0x3ca, 0x15b3,
+  0x3cf, 0x15bf, 0x3d3, 0x15cb, 0x3d7, 0x15d7, 0x3dc, 0x15e2,
+  0x3e0, 0x15ee, 0x3e4, 0x15fa, 0x3e9, 0x1606, 0x3ed, 0x1612,
+  0x3f1, 0x161d, 0x3f6, 0x1629, 0x3fa, 0x1635, 0x3fe, 0x1641,
+  0x403, 0x164c, 0x407, 0x1658, 0x40b, 0x1664, 0x410, 0x1670,
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+  0x426, 0x16ab, 0x42a, 0x16b6, 0x42f, 0x16c2, 0x433, 0x16ce,
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+  0x481, 0x1795, 0x485, 0x17a1, 0x48a, 0x17ac, 0x48f, 0x17b8,
+  0x493, 0x17c4, 0x498, 0x17cf, 0x49d, 0x17db, 0x4a1, 0x17e7,
+  0x4a6, 0x17f2, 0x4ab, 0x17fe, 0x4b0, 0x180a, 0x4b4, 0x1815,
+  0x4b9, 0x1821, 0x4be, 0x182d, 0x4c2, 0x1838, 0x4c7, 0x1844,
+  0x4cc, 0x184f, 0x4d1, 0x185b, 0x4d6, 0x1867, 0x4da, 0x1872,
+  0x4df, 0x187e, 0x4e4, 0x1889, 0x4e9, 0x1895, 0x4ee, 0x18a1,
+  0x4f2, 0x18ac, 0x4f7, 0x18b8, 0x4fc, 0x18c3, 0x501, 0x18cf,
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+  0x52d, 0x1937, 0x532, 0x1943, 0x537, 0x194e, 0x53c, 0x195a,
+  0x541, 0x1965, 0x546, 0x1971, 0x54b, 0x197c, 0x550, 0x1988,
+  0x555, 0x1993, 0x55a, 0x199f, 0x55f, 0x19aa, 0x564, 0x19b6,
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+  0x592, 0x1a1d, 0x597, 0x1a29, 0x59c, 0x1a34, 0x5a1, 0x1a40,
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+  0x777, 0x1dff, 0x77d, 0x1e0a, 0x783, 0x1e15, 0x789, 0x1e20,
+  0x78f, 0x1e2b, 0x795, 0x1e36, 0x79a, 0x1e42, 0x7a0, 0x1e4d,
+  0x7a6, 0x1e58, 0x7ac, 0x1e63, 0x7b2, 0x1e6e, 0x7b8, 0x1e79,
+  0x7be, 0x1e84, 0x7c4, 0x1e8f, 0x7ca, 0x1e9a, 0x7d0, 0x1ea5,
+  0x7d6, 0x1eb0, 0x7dc, 0x1ebb, 0x7e2, 0x1ec6, 0x7e8, 0x1ed1,
+  0x7ee, 0x1edc, 0x7f5, 0x1ee7, 0x7fb, 0x1ef2, 0x801, 0x1efd,
+  0x807, 0x1f08, 0x80d, 0x1f13, 0x813, 0x1f1e, 0x819, 0x1f29,
+  0x81f, 0x1f34, 0x825, 0x1f3f, 0x82b, 0x1f4a, 0x832, 0x1f55,
+  0x838, 0x1f60, 0x83e, 0x1f6b, 0x844, 0x1f76, 0x84a, 0x1f81,
+  0x850, 0x1f8c, 0x857, 0x1f97, 0x85d, 0x1fa2, 0x863, 0x1fac,
+  0x869, 0x1fb7, 0x870, 0x1fc2, 0x876, 0x1fcd, 0x87c, 0x1fd8,
+  0x882, 0x1fe3, 0x889, 0x1fee, 0x88f, 0x1ff9, 0x895, 0x2004,
+  0x89b, 0x200f, 0x8a2, 0x2019, 0x8a8, 0x2024, 0x8ae, 0x202f,
+  0x8b5, 0x203a, 0x8bb, 0x2045, 0x8c1, 0x2050, 0x8c8, 0x205b,
+  0x8ce, 0x2065, 0x8d4, 0x2070, 0x8db, 0x207b, 0x8e1, 0x2086,
+  0x8e8, 0x2091, 0x8ee, 0x209b, 0x8f4, 0x20a6, 0x8fb, 0x20b1,
+  0x901, 0x20bc, 0x908, 0x20c7, 0x90e, 0x20d1, 0x915, 0x20dc,
+  0x91b, 0x20e7, 0x921, 0x20f2, 0x928, 0x20fd, 0x92e, 0x2107,
+  0x935, 0x2112, 0x93b, 0x211d, 0x942, 0x2128, 0x948, 0x2132,
+  0x94f, 0x213d, 0x955, 0x2148, 0x95c, 0x2153, 0x963, 0x215d,
+  0x969, 0x2168, 0x970, 0x2173, 0x976, 0x217d, 0x97d, 0x2188,
+  0x983, 0x2193, 0x98a, 0x219e, 0x991, 0x21a8, 0x997, 0x21b3,
+  0x99e, 0x21be, 0x9a4, 0x21c8, 0x9ab, 0x21d3, 0x9b2, 0x21de,
+  0x9b8, 0x21e8, 0x9bf, 0x21f3, 0x9c6, 0x21fe, 0x9cc, 0x2208,
+  0x9d3, 0x2213, 0x9da, 0x221e, 0x9e0, 0x2228, 0x9e7, 0x2233,
+  0x9ee, 0x223d, 0x9f5, 0x2248, 0x9fb, 0x2253, 0xa02, 0x225d,
+  0xa09, 0x2268, 0xa10, 0x2272, 0xa16, 0x227d, 0xa1d, 0x2288,
+  0xa24, 0x2292, 0xa2b, 0x229d, 0xa32, 0x22a7, 0xa38, 0x22b2,
+  0xa3f, 0x22bc, 0xa46, 0x22c7, 0xa4d, 0x22d2, 0xa54, 0x22dc,
+  0xa5b, 0x22e7, 0xa61, 0x22f1, 0xa68, 0x22fc, 0xa6f, 0x2306,
+  0xa76, 0x2311, 0xa7d, 0x231b, 0xa84, 0x2326, 0xa8b, 0x2330,
+  0xa92, 0x233b, 0xa99, 0x2345, 0xa9f, 0x2350, 0xaa6, 0x235a,
+  0xaad, 0x2365, 0xab4, 0x236f, 0xabb, 0x237a, 0xac2, 0x2384,
+  0xac9, 0x238e, 0xad0, 0x2399, 0xad7, 0x23a3, 0xade, 0x23ae,
+  0xae5, 0x23b8, 0xaec, 0x23c3, 0xaf3, 0x23cd, 0xafa, 0x23d7,
+  0xb01, 0x23e2, 0xb08, 0x23ec, 0xb0f, 0x23f7, 0xb16, 0x2401,
+  0xb1e, 0x240b, 0xb25, 0x2416, 0xb2c, 0x2420, 0xb33, 0x242b,
+  0xb3a, 0x2435, 0xb41, 0x243f, 0xb48, 0x244a, 0xb4f, 0x2454,
+  0xb56, 0x245e, 0xb5e, 0x2469, 0xb65, 0x2473, 0xb6c, 0x247d,
+  0xb73, 0x2488, 0xb7a, 0x2492, 0xb81, 0x249c, 0xb89, 0x24a7,
+  0xb90, 0x24b1, 0xb97, 0x24bb, 0xb9e, 0x24c5, 0xba5, 0x24d0,
+  0xbad, 0x24da, 0xbb4, 0x24e4, 0xbbb, 0x24ef, 0xbc2, 0x24f9,
+  0xbca, 0x2503, 0xbd1, 0x250d, 0xbd8, 0x2518, 0xbe0, 0x2522,
+  0xbe7, 0x252c, 0xbee, 0x2536, 0xbf5, 0x2541, 0xbfd, 0x254b,
+  0xc04, 0x2555, 0xc0b, 0x255f, 0xc13, 0x2569, 0xc1a, 0x2574,
+  0xc21, 0x257e, 0xc29, 0x2588, 0xc30, 0x2592, 0xc38, 0x259c,
+  0xc3f, 0x25a6, 0xc46, 0x25b1, 0xc4e, 0x25bb, 0xc55, 0x25c5,
+  0xc5d, 0x25cf, 0xc64, 0x25d9, 0xc6b, 0x25e3, 0xc73, 0x25ed,
+  0xc7a, 0x25f8, 0xc82, 0x2602, 0xc89, 0x260c, 0xc91, 0x2616,
+  0xc98, 0x2620, 0xca0, 0x262a, 0xca7, 0x2634, 0xcaf, 0x263e,
+  0xcb6, 0x2648, 0xcbe, 0x2652, 0xcc5, 0x265c, 0xccd, 0x2666,
+  0xcd4, 0x2671, 0xcdc, 0x267b, 0xce3, 0x2685, 0xceb, 0x268f,
+  0xcf3, 0x2699, 0xcfa, 0x26a3, 0xd02, 0x26ad, 0xd09, 0x26b7,
+  0xd11, 0x26c1, 0xd19, 0x26cb, 0xd20, 0x26d5, 0xd28, 0x26df,
+  0xd30, 0x26e9, 0xd37, 0x26f3, 0xd3f, 0x26fd, 0xd46, 0x2707,
+  0xd4e, 0x2711, 0xd56, 0x271a, 0xd5d, 0x2724, 0xd65, 0x272e,
+  0xd6d, 0x2738, 0xd75, 0x2742, 0xd7c, 0x274c, 0xd84, 0x2756,
+  0xd8c, 0x2760, 0xd93, 0x276a, 0xd9b, 0x2774, 0xda3, 0x277e,
+  0xdab, 0x2788, 0xdb2, 0x2791, 0xdba, 0x279b, 0xdc2, 0x27a5,
+  0xdca, 0x27af, 0xdd2, 0x27b9, 0xdd9, 0x27c3, 0xde1, 0x27cd,
+  0xde9, 0x27d6, 0xdf1, 0x27e0, 0xdf9, 0x27ea, 0xe01, 0x27f4,
+  0xe08, 0x27fe, 0xe10, 0x2808, 0xe18, 0x2811, 0xe20, 0x281b,
+  0xe28, 0x2825, 0xe30, 0x282f, 0xe38, 0x2838, 0xe40, 0x2842,
+  0xe47, 0x284c, 0xe4f, 0x2856, 0xe57, 0x2860, 0xe5f, 0x2869,
+  0xe67, 0x2873, 0xe6f, 0x287d, 0xe77, 0x2886, 0xe7f, 0x2890,
+  0xe87, 0x289a, 0xe8f, 0x28a4, 0xe97, 0x28ad, 0xe9f, 0x28b7,
+  0xea7, 0x28c1, 0xeaf, 0x28ca, 0xeb7, 0x28d4, 0xebf, 0x28de,
+  0xec7, 0x28e7, 0xecf, 0x28f1, 0xed7, 0x28fb, 0xedf, 0x2904,
+  0xee7, 0x290e, 0xeef, 0x2918, 0xef7, 0x2921, 0xeff, 0x292b,
+  0xf07, 0x2935, 0xf10, 0x293e, 0xf18, 0x2948, 0xf20, 0x2951,
+  0xf28, 0x295b, 0xf30, 0x2965, 0xf38, 0x296e, 0xf40, 0x2978,
+  0xf48, 0x2981, 0xf51, 0x298b, 0xf59, 0x2994, 0xf61, 0x299e,
+  0xf69, 0x29a7, 0xf71, 0x29b1, 0xf79, 0x29bb, 0xf82, 0x29c4,
+  0xf8a, 0x29ce, 0xf92, 0x29d7, 0xf9a, 0x29e1, 0xfa3, 0x29ea,
+  0xfab, 0x29f4, 0xfb3, 0x29fd, 0xfbb, 0x2a07, 0xfc4, 0x2a10,
+  0xfcc, 0x2a1a, 0xfd4, 0x2a23, 0xfdc, 0x2a2c, 0xfe5, 0x2a36,
+  0xfed, 0x2a3f, 0xff5, 0x2a49, 0xffe, 0x2a52, 0x1006, 0x2a5c,
+  0x100e, 0x2a65, 0x1016, 0x2a6e, 0x101f, 0x2a78, 0x1027, 0x2a81,
+  0x1030, 0x2a8b, 0x1038, 0x2a94, 0x1040, 0x2a9d, 0x1049, 0x2aa7,
+  0x1051, 0x2ab0, 0x1059, 0x2ab9, 0x1062, 0x2ac3, 0x106a, 0x2acc,
+  0x1073, 0x2ad6, 0x107b, 0x2adf, 0x1083, 0x2ae8, 0x108c, 0x2af2,
+  0x1094, 0x2afb, 0x109d, 0x2b04, 0x10a5, 0x2b0d, 0x10ae, 0x2b17,
+  0x10b6, 0x2b20, 0x10bf, 0x2b29, 0x10c7, 0x2b33, 0x10d0, 0x2b3c,
+  0x10d8, 0x2b45, 0x10e0, 0x2b4e, 0x10e9, 0x2b58, 0x10f2, 0x2b61,
+  0x10fa, 0x2b6a, 0x1103, 0x2b73, 0x110b, 0x2b7d, 0x1114, 0x2b86,
+  0x111c, 0x2b8f, 0x1125, 0x2b98, 0x112d, 0x2ba1, 0x1136, 0x2bab,
+  0x113e, 0x2bb4, 0x1147, 0x2bbd, 0x1150, 0x2bc6, 0x1158, 0x2bcf,
+  0x1161, 0x2bd8, 0x1169, 0x2be2, 0x1172, 0x2beb, 0x117b, 0x2bf4,
+  0x1183, 0x2bfd, 0x118c, 0x2c06, 0x1195, 0x2c0f, 0x119d, 0x2c18,
+  0x11a6, 0x2c21, 0x11af, 0x2c2b, 0x11b7, 0x2c34, 0x11c0, 0x2c3d,
+  0x11c9, 0x2c46, 0x11d1, 0x2c4f, 0x11da, 0x2c58, 0x11e3, 0x2c61,
+  0x11eb, 0x2c6a, 0x11f4, 0x2c73, 0x11fd, 0x2c7c, 0x1206, 0x2c85,
+  0x120e, 0x2c8e, 0x1217, 0x2c97, 0x1220, 0x2ca0, 0x1229, 0x2ca9,
+  0x1231, 0x2cb2, 0x123a, 0x2cbb, 0x1243, 0x2cc4, 0x124c, 0x2ccd,
+  0x1255, 0x2cd6, 0x125d, 0x2cdf, 0x1266, 0x2ce8, 0x126f, 0x2cf1,
+  0x1278, 0x2cfa, 0x1281, 0x2d03, 0x128a, 0x2d0c, 0x1292, 0x2d15,
+  0x129b, 0x2d1e, 0x12a4, 0x2d27, 0x12ad, 0x2d2f, 0x12b6, 0x2d38,
+  0x12bf, 0x2d41, 0x12c8, 0x2d4a, 0x12d1, 0x2d53, 0x12d9, 0x2d5c,
+  0x12e2, 0x2d65, 0x12eb, 0x2d6e, 0x12f4, 0x2d76, 0x12fd, 0x2d7f,
+  0x1306, 0x2d88, 0x130f, 0x2d91, 0x1318, 0x2d9a, 0x1321, 0x2da3,
+  0x132a, 0x2dab, 0x1333, 0x2db4, 0x133c, 0x2dbd, 0x1345, 0x2dc6,
+  0x134e, 0x2dcf, 0x1357, 0x2dd7, 0x1360, 0x2de0, 0x1369, 0x2de9,
+  0x1372, 0x2df2, 0x137b, 0x2dfa, 0x1384, 0x2e03, 0x138d, 0x2e0c,
+  0x1396, 0x2e15, 0x139f, 0x2e1d, 0x13a8, 0x2e26, 0x13b1, 0x2e2f,
+  0x13ba, 0x2e37, 0x13c3, 0x2e40, 0x13cc, 0x2e49, 0x13d5, 0x2e51,
+  0x13df, 0x2e5a, 0x13e8, 0x2e63, 0x13f1, 0x2e6b, 0x13fa, 0x2e74,
+  0x1403, 0x2e7d, 0x140c, 0x2e85, 0x1415, 0x2e8e, 0x141e, 0x2e97,
+  0x1428, 0x2e9f, 0x1431, 0x2ea8, 0x143a, 0x2eb0, 0x1443, 0x2eb9,
+  0x144c, 0x2ec2, 0x1455, 0x2eca, 0x145f, 0x2ed3, 0x1468, 0x2edb,
+  0x1471, 0x2ee4, 0x147a, 0x2eec, 0x1483, 0x2ef5, 0x148d, 0x2efd,
+  0x1496, 0x2f06, 0x149f, 0x2f0e, 0x14a8, 0x2f17, 0x14b2, 0x2f20,
+  0x14bb, 0x2f28, 0x14c4, 0x2f30, 0x14cd, 0x2f39, 0x14d7, 0x2f41,
+  0x14e0, 0x2f4a, 0x14e9, 0x2f52, 0x14f3, 0x2f5b, 0x14fc, 0x2f63,
+  0x1505, 0x2f6c, 0x150e, 0x2f74, 0x1518, 0x2f7d, 0x1521, 0x2f85,
+  0x152a, 0x2f8d, 0x1534, 0x2f96, 0x153d, 0x2f9e, 0x1547, 0x2fa7,
+  0x1550, 0x2faf, 0x1559, 0x2fb7, 0x1563, 0x2fc0, 0x156c, 0x2fc8,
+  0x1575, 0x2fd0, 0x157f, 0x2fd9, 0x1588, 0x2fe1, 0x1592, 0x2fea,
+  0x159b, 0x2ff2, 0x15a4, 0x2ffa, 0x15ae, 0x3002, 0x15b7, 0x300b,
+  0x15c1, 0x3013, 0x15ca, 0x301b, 0x15d4, 0x3024, 0x15dd, 0x302c,
+  0x15e6, 0x3034, 0x15f0, 0x303c, 0x15f9, 0x3045, 0x1603, 0x304d,
+  0x160c, 0x3055, 0x1616, 0x305d, 0x161f, 0x3066, 0x1629, 0x306e,
+  0x1632, 0x3076, 0x163c, 0x307e, 0x1645, 0x3087, 0x164f, 0x308f,
+  0x1659, 0x3097, 0x1662, 0x309f, 0x166c, 0x30a7, 0x1675, 0x30af,
+  0x167f, 0x30b8, 0x1688, 0x30c0, 0x1692, 0x30c8, 0x169b, 0x30d0,
+  0x16a5, 0x30d8, 0x16af, 0x30e0, 0x16b8, 0x30e8, 0x16c2, 0x30f0,
+  0x16cb, 0x30f9, 0x16d5, 0x3101, 0x16df, 0x3109, 0x16e8, 0x3111,
+  0x16f2, 0x3119, 0x16fc, 0x3121, 0x1705, 0x3129, 0x170f, 0x3131,
+  0x1719, 0x3139, 0x1722, 0x3141, 0x172c, 0x3149, 0x1736, 0x3151,
+  0x173f, 0x3159, 0x1749, 0x3161, 0x1753, 0x3169, 0x175c, 0x3171,
+  0x1766, 0x3179, 0x1770, 0x3181, 0x177a, 0x3189, 0x1783, 0x3191,
+  0x178d, 0x3199, 0x1797, 0x31a1, 0x17a0, 0x31a9, 0x17aa, 0x31b1,
+  0x17b4, 0x31b9, 0x17be, 0x31c0, 0x17c8, 0x31c8, 0x17d1, 0x31d0,
+  0x17db, 0x31d8, 0x17e5, 0x31e0, 0x17ef, 0x31e8, 0x17f8, 0x31f0,
+  0x1802, 0x31f8, 0x180c, 0x31ff, 0x1816, 0x3207, 0x1820, 0x320f,
+  0x182a, 0x3217, 0x1833, 0x321f, 0x183d, 0x3227, 0x1847, 0x322e,
+  0x1851, 0x3236, 0x185b, 0x323e, 0x1865, 0x3246, 0x186f, 0x324e,
+  0x1878, 0x3255, 0x1882, 0x325d, 0x188c, 0x3265, 0x1896, 0x326d,
+  0x18a0, 0x3274, 0x18aa, 0x327c, 0x18b4, 0x3284, 0x18be, 0x328b,
+  0x18c8, 0x3293, 0x18d2, 0x329b, 0x18dc, 0x32a3, 0x18e6, 0x32aa,
+  0x18ef, 0x32b2, 0x18f9, 0x32ba, 0x1903, 0x32c1, 0x190d, 0x32c9,
+  0x1917, 0x32d0, 0x1921, 0x32d8, 0x192b, 0x32e0, 0x1935, 0x32e7,
+  0x193f, 0x32ef, 0x1949, 0x32f7, 0x1953, 0x32fe, 0x195d, 0x3306,
+  0x1967, 0x330d, 0x1971, 0x3315, 0x197b, 0x331d, 0x1985, 0x3324,
+  0x198f, 0x332c, 0x199a, 0x3333, 0x19a4, 0x333b, 0x19ae, 0x3342,
+  0x19b8, 0x334a, 0x19c2, 0x3351, 0x19cc, 0x3359, 0x19d6, 0x3360,
+  0x19e0, 0x3368, 0x19ea, 0x336f, 0x19f4, 0x3377, 0x19fe, 0x337e,
+  0x1a08, 0x3386, 0x1a13, 0x338d, 0x1a1d, 0x3395, 0x1a27, 0x339c,
+  0x1a31, 0x33a3, 0x1a3b, 0x33ab, 0x1a45, 0x33b2, 0x1a4f, 0x33ba,
+  0x1a5a, 0x33c1, 0x1a64, 0x33c8, 0x1a6e, 0x33d0, 0x1a78, 0x33d7,
+  0x1a82, 0x33df, 0x1a8c, 0x33e6, 0x1a97, 0x33ed, 0x1aa1, 0x33f5,
+  0x1aab, 0x33fc, 0x1ab5, 0x3403, 0x1abf, 0x340b, 0x1aca, 0x3412,
+  0x1ad4, 0x3419, 0x1ade, 0x3420, 0x1ae8, 0x3428, 0x1af3, 0x342f,
+  0x1afd, 0x3436, 0x1b07, 0x343e, 0x1b11, 0x3445, 0x1b1c, 0x344c,
+  0x1b26, 0x3453, 0x1b30, 0x345b, 0x1b3b, 0x3462, 0x1b45, 0x3469,
+  0x1b4f, 0x3470, 0x1b59, 0x3477, 0x1b64, 0x347f, 0x1b6e, 0x3486,
+  0x1b78, 0x348d, 0x1b83, 0x3494, 0x1b8d, 0x349b, 0x1b97, 0x34a2,
+  0x1ba2, 0x34aa, 0x1bac, 0x34b1, 0x1bb6, 0x34b8, 0x1bc1, 0x34bf,
+  0x1bcb, 0x34c6, 0x1bd5, 0x34cd, 0x1be0, 0x34d4, 0x1bea, 0x34db,
+  0x1bf5, 0x34e2, 0x1bff, 0x34ea, 0x1c09, 0x34f1, 0x1c14, 0x34f8,
+  0x1c1e, 0x34ff, 0x1c29, 0x3506, 0x1c33, 0x350d, 0x1c3d, 0x3514,
+  0x1c48, 0x351b, 0x1c52, 0x3522, 0x1c5d, 0x3529, 0x1c67, 0x3530,
+  0x1c72, 0x3537, 0x1c7c, 0x353e, 0x1c86, 0x3545, 0x1c91, 0x354c,
+  0x1c9b, 0x3553, 0x1ca6, 0x355a, 0x1cb0, 0x3561, 0x1cbb, 0x3567,
+  0x1cc5, 0x356e, 0x1cd0, 0x3575, 0x1cda, 0x357c, 0x1ce5, 0x3583,
+  0x1cef, 0x358a, 0x1cfa, 0x3591, 0x1d04, 0x3598, 0x1d0f, 0x359f,
+  0x1d19, 0x35a5, 0x1d24, 0x35ac, 0x1d2e, 0x35b3, 0x1d39, 0x35ba,
+  0x1d44, 0x35c1, 0x1d4e, 0x35c8, 0x1d59, 0x35ce, 0x1d63, 0x35d5,
+  0x1d6e, 0x35dc, 0x1d78, 0x35e3, 0x1d83, 0x35ea, 0x1d8e, 0x35f0,
+  0x1d98, 0x35f7, 0x1da3, 0x35fe, 0x1dad, 0x3605, 0x1db8, 0x360b,
+  0x1dc3, 0x3612, 0x1dcd, 0x3619, 0x1dd8, 0x3620, 0x1de2, 0x3626,
+  0x1ded, 0x362d, 0x1df8, 0x3634, 0x1e02, 0x363a, 0x1e0d, 0x3641,
+  0x1e18, 0x3648, 0x1e22, 0x364e, 0x1e2d, 0x3655, 0x1e38, 0x365c,
+  0x1e42, 0x3662, 0x1e4d, 0x3669, 0x1e58, 0x366f, 0x1e62, 0x3676,
+  0x1e6d, 0x367d, 0x1e78, 0x3683, 0x1e83, 0x368a, 0x1e8d, 0x3690,
+  0x1e98, 0x3697, 0x1ea3, 0x369d, 0x1ead, 0x36a4, 0x1eb8, 0x36ab,
+  0x1ec3, 0x36b1, 0x1ece, 0x36b8, 0x1ed8, 0x36be, 0x1ee3, 0x36c5,
+  0x1eee, 0x36cb, 0x1ef9, 0x36d2, 0x1f03, 0x36d8, 0x1f0e, 0x36df,
+  0x1f19, 0x36e5, 0x1f24, 0x36eb, 0x1f2f, 0x36f2, 0x1f39, 0x36f8,
+  0x1f44, 0x36ff, 0x1f4f, 0x3705, 0x1f5a, 0x370c, 0x1f65, 0x3712,
+  0x1f6f, 0x3718, 0x1f7a, 0x371f, 0x1f85, 0x3725, 0x1f90, 0x372c,
+  0x1f9b, 0x3732, 0x1fa5, 0x3738, 0x1fb0, 0x373f, 0x1fbb, 0x3745,
+  0x1fc6, 0x374b, 0x1fd1, 0x3752, 0x1fdc, 0x3758, 0x1fe7, 0x375e,
+  0x1ff1, 0x3765, 0x1ffc, 0x376b, 0x2007, 0x3771, 0x2012, 0x3777,
+  0x201d, 0x377e, 0x2028, 0x3784, 0x2033, 0x378a, 0x203e, 0x3790,
+  0x2049, 0x3797, 0x2054, 0x379d, 0x205e, 0x37a3, 0x2069, 0x37a9,
+  0x2074, 0x37b0, 0x207f, 0x37b6, 0x208a, 0x37bc, 0x2095, 0x37c2,
+  0x20a0, 0x37c8, 0x20ab, 0x37ce, 0x20b6, 0x37d5, 0x20c1, 0x37db,
+  0x20cc, 0x37e1, 0x20d7, 0x37e7, 0x20e2, 0x37ed, 0x20ed, 0x37f3,
+  0x20f8, 0x37f9, 0x2103, 0x37ff, 0x210e, 0x3805, 0x2119, 0x380b,
+  0x2124, 0x3812, 0x212f, 0x3818, 0x213a, 0x381e, 0x2145, 0x3824,
+  0x2150, 0x382a, 0x215b, 0x3830, 0x2166, 0x3836, 0x2171, 0x383c,
+  0x217c, 0x3842, 0x2187, 0x3848, 0x2192, 0x384e, 0x219d, 0x3854,
+  0x21a8, 0x385a, 0x21b3, 0x3860, 0x21be, 0x3866, 0x21ca, 0x386b,
+  0x21d5, 0x3871, 0x21e0, 0x3877, 0x21eb, 0x387d, 0x21f6, 0x3883,
+  0x2201, 0x3889, 0x220c, 0x388f, 0x2217, 0x3895, 0x2222, 0x389b,
+  0x222d, 0x38a1, 0x2239, 0x38a6, 0x2244, 0x38ac, 0x224f, 0x38b2,
+  0x225a, 0x38b8, 0x2265, 0x38be, 0x2270, 0x38c3, 0x227b, 0x38c9,
+  0x2287, 0x38cf, 0x2292, 0x38d5, 0x229d, 0x38db, 0x22a8, 0x38e0,
+  0x22b3, 0x38e6, 0x22be, 0x38ec, 0x22ca, 0x38f2, 0x22d5, 0x38f7,
+  0x22e0, 0x38fd, 0x22eb, 0x3903, 0x22f6, 0x3909, 0x2301, 0x390e,
+  0x230d, 0x3914, 0x2318, 0x391a, 0x2323, 0x391f, 0x232e, 0x3925,
+  0x233a, 0x392b, 0x2345, 0x3930, 0x2350, 0x3936, 0x235b, 0x393b,
+  0x2367, 0x3941, 0x2372, 0x3947, 0x237d, 0x394c, 0x2388, 0x3952,
+  0x2394, 0x3958, 0x239f, 0x395d, 0x23aa, 0x3963, 0x23b5, 0x3968,
+  0x23c1, 0x396e, 0x23cc, 0x3973, 0x23d7, 0x3979, 0x23e2, 0x397e,
+  0x23ee, 0x3984, 0x23f9, 0x3989, 0x2404, 0x398f, 0x2410, 0x3994,
+  0x241b, 0x399a, 0x2426, 0x399f, 0x2432, 0x39a5, 0x243d, 0x39aa,
+  0x2448, 0x39b0, 0x2454, 0x39b5, 0x245f, 0x39bb, 0x246a, 0x39c0,
+  0x2476, 0x39c5, 0x2481, 0x39cb, 0x248c, 0x39d0, 0x2498, 0x39d6,
+  0x24a3, 0x39db, 0x24ae, 0x39e0, 0x24ba, 0x39e6, 0x24c5, 0x39eb,
+  0x24d0, 0x39f0, 0x24dc, 0x39f6, 0x24e7, 0x39fb, 0x24f3, 0x3a00,
+  0x24fe, 0x3a06, 0x2509, 0x3a0b, 0x2515, 0x3a10, 0x2520, 0x3a16,
+  0x252c, 0x3a1b, 0x2537, 0x3a20, 0x2542, 0x3a25, 0x254e, 0x3a2b,
+  0x2559, 0x3a30, 0x2565, 0x3a35, 0x2570, 0x3a3a, 0x257c, 0x3a3f,
+  0x2587, 0x3a45, 0x2592, 0x3a4a, 0x259e, 0x3a4f, 0x25a9, 0x3a54,
+  0x25b5, 0x3a59, 0x25c0, 0x3a5f, 0x25cc, 0x3a64, 0x25d7, 0x3a69,
+  0x25e3, 0x3a6e, 0x25ee, 0x3a73, 0x25fa, 0x3a78, 0x2605, 0x3a7d,
+  0x2611, 0x3a82, 0x261c, 0x3a88, 0x2628, 0x3a8d, 0x2633, 0x3a92,
+  0x263f, 0x3a97, 0x264a, 0x3a9c, 0x2656, 0x3aa1, 0x2661, 0x3aa6,
+  0x266d, 0x3aab, 0x2678, 0x3ab0, 0x2684, 0x3ab5, 0x268f, 0x3aba,
+  0x269b, 0x3abf, 0x26a6, 0x3ac4, 0x26b2, 0x3ac9, 0x26bd, 0x3ace,
+  0x26c9, 0x3ad3, 0x26d4, 0x3ad8, 0x26e0, 0x3add, 0x26ec, 0x3ae2,
+  0x26f7, 0x3ae6, 0x2703, 0x3aeb, 0x270e, 0x3af0, 0x271a, 0x3af5,
+  0x2725, 0x3afa, 0x2731, 0x3aff, 0x273d, 0x3b04, 0x2748, 0x3b09,
+  0x2754, 0x3b0e, 0x275f, 0x3b12, 0x276b, 0x3b17, 0x2777, 0x3b1c,
+  0x2782, 0x3b21, 0x278e, 0x3b26, 0x2799, 0x3b2a, 0x27a5, 0x3b2f,
+  0x27b1, 0x3b34, 0x27bc, 0x3b39, 0x27c8, 0x3b3e, 0x27d3, 0x3b42,
+  0x27df, 0x3b47, 0x27eb, 0x3b4c, 0x27f6, 0x3b50, 0x2802, 0x3b55,
+  0x280e, 0x3b5a, 0x2819, 0x3b5f, 0x2825, 0x3b63, 0x2831, 0x3b68,
+  0x283c, 0x3b6d, 0x2848, 0x3b71, 0x2854, 0x3b76, 0x285f, 0x3b7b,
+  0x286b, 0x3b7f, 0x2877, 0x3b84, 0x2882, 0x3b88, 0x288e, 0x3b8d,
+  0x289a, 0x3b92, 0x28a5, 0x3b96, 0x28b1, 0x3b9b, 0x28bd, 0x3b9f,
+  0x28c9, 0x3ba4, 0x28d4, 0x3ba9, 0x28e0, 0x3bad, 0x28ec, 0x3bb2,
+  0x28f7, 0x3bb6, 0x2903, 0x3bbb, 0x290f, 0x3bbf, 0x291b, 0x3bc4,
+  0x2926, 0x3bc8, 0x2932, 0x3bcd, 0x293e, 0x3bd1, 0x294a, 0x3bd6,
+  0x2955, 0x3bda, 0x2961, 0x3bde, 0x296d, 0x3be3, 0x2979, 0x3be7,
+  0x2984, 0x3bec, 0x2990, 0x3bf0, 0x299c, 0x3bf5, 0x29a8, 0x3bf9,
+  0x29b4, 0x3bfd, 0x29bf, 0x3c02, 0x29cb, 0x3c06, 0x29d7, 0x3c0a,
+  0x29e3, 0x3c0f, 0x29ee, 0x3c13, 0x29fa, 0x3c17, 0x2a06, 0x3c1c,
+  0x2a12, 0x3c20, 0x2a1e, 0x3c24, 0x2a29, 0x3c29, 0x2a35, 0x3c2d,
+  0x2a41, 0x3c31, 0x2a4d, 0x3c36, 0x2a59, 0x3c3a, 0x2a65, 0x3c3e,
+  0x2a70, 0x3c42, 0x2a7c, 0x3c46, 0x2a88, 0x3c4b, 0x2a94, 0x3c4f,
+  0x2aa0, 0x3c53, 0x2aac, 0x3c57, 0x2ab7, 0x3c5b, 0x2ac3, 0x3c60,
+  0x2acf, 0x3c64, 0x2adb, 0x3c68, 0x2ae7, 0x3c6c, 0x2af3, 0x3c70,
+  0x2aff, 0x3c74, 0x2b0a, 0x3c79, 0x2b16, 0x3c7d, 0x2b22, 0x3c81,
+  0x2b2e, 0x3c85, 0x2b3a, 0x3c89, 0x2b46, 0x3c8d, 0x2b52, 0x3c91,
+  0x2b5e, 0x3c95, 0x2b6a, 0x3c99, 0x2b75, 0x3c9d, 0x2b81, 0x3ca1,
+  0x2b8d, 0x3ca5, 0x2b99, 0x3ca9, 0x2ba5, 0x3cad, 0x2bb1, 0x3cb1,
+  0x2bbd, 0x3cb5, 0x2bc9, 0x3cb9, 0x2bd5, 0x3cbd, 0x2be1, 0x3cc1,
+  0x2bed, 0x3cc5, 0x2bf9, 0x3cc9, 0x2c05, 0x3ccd, 0x2c10, 0x3cd1,
+  0x2c1c, 0x3cd5, 0x2c28, 0x3cd9, 0x2c34, 0x3cdd, 0x2c40, 0x3ce0,
+  0x2c4c, 0x3ce4, 0x2c58, 0x3ce8, 0x2c64, 0x3cec, 0x2c70, 0x3cf0,
+  0x2c7c, 0x3cf4, 0x2c88, 0x3cf8, 0x2c94, 0x3cfb, 0x2ca0, 0x3cff,
+  0x2cac, 0x3d03, 0x2cb8, 0x3d07, 0x2cc4, 0x3d0b, 0x2cd0, 0x3d0e,
+  0x2cdc, 0x3d12, 0x2ce8, 0x3d16, 0x2cf4, 0x3d1a, 0x2d00, 0x3d1d,
+  0x2d0c, 0x3d21, 0x2d18, 0x3d25, 0x2d24, 0x3d28, 0x2d30, 0x3d2c,
+  0x2d3c, 0x3d30, 0x2d48, 0x3d34, 0x2d54, 0x3d37, 0x2d60, 0x3d3b,
+  0x2d6c, 0x3d3f, 0x2d78, 0x3d42, 0x2d84, 0x3d46, 0x2d90, 0x3d49,
+  0x2d9c, 0x3d4d, 0x2da8, 0x3d51, 0x2db4, 0x3d54, 0x2dc0, 0x3d58,
+  0x2dcc, 0x3d5b, 0x2dd8, 0x3d5f, 0x2de4, 0x3d63, 0x2df0, 0x3d66,
+  0x2dfc, 0x3d6a, 0x2e09, 0x3d6d, 0x2e15, 0x3d71, 0x2e21, 0x3d74,
+  0x2e2d, 0x3d78, 0x2e39, 0x3d7b, 0x2e45, 0x3d7f, 0x2e51, 0x3d82,
+  0x2e5d, 0x3d86, 0x2e69, 0x3d89, 0x2e75, 0x3d8d, 0x2e81, 0x3d90,
+  0x2e8d, 0x3d93, 0x2e99, 0x3d97, 0x2ea6, 0x3d9a, 0x2eb2, 0x3d9e,
+  0x2ebe, 0x3da1, 0x2eca, 0x3da4, 0x2ed6, 0x3da8, 0x2ee2, 0x3dab,
+  0x2eee, 0x3daf, 0x2efa, 0x3db2, 0x2f06, 0x3db5, 0x2f13, 0x3db9,
+  0x2f1f, 0x3dbc, 0x2f2b, 0x3dbf, 0x2f37, 0x3dc2, 0x2f43, 0x3dc6,
+  0x2f4f, 0x3dc9, 0x2f5b, 0x3dcc, 0x2f67, 0x3dd0, 0x2f74, 0x3dd3,
+  0x2f80, 0x3dd6, 0x2f8c, 0x3dd9, 0x2f98, 0x3ddd, 0x2fa4, 0x3de0,
+  0x2fb0, 0x3de3, 0x2fbc, 0x3de6, 0x2fc9, 0x3de9, 0x2fd5, 0x3ded,
+  0x2fe1, 0x3df0, 0x2fed, 0x3df3, 0x2ff9, 0x3df6, 0x3005, 0x3df9,
+  0x3012, 0x3dfc, 0x301e, 0x3dff, 0x302a, 0x3e03, 0x3036, 0x3e06,
+  0x3042, 0x3e09, 0x304e, 0x3e0c, 0x305b, 0x3e0f, 0x3067, 0x3e12,
+  0x3073, 0x3e15, 0x307f, 0x3e18, 0x308b, 0x3e1b, 0x3098, 0x3e1e,
+  0x30a4, 0x3e21, 0x30b0, 0x3e24, 0x30bc, 0x3e27, 0x30c8, 0x3e2a,
+  0x30d5, 0x3e2d, 0x30e1, 0x3e30, 0x30ed, 0x3e33, 0x30f9, 0x3e36,
+  0x3105, 0x3e39, 0x3112, 0x3e3c, 0x311e, 0x3e3f, 0x312a, 0x3e42,
+  0x3136, 0x3e45, 0x3143, 0x3e48, 0x314f, 0x3e4a, 0x315b, 0x3e4d,
+  0x3167, 0x3e50, 0x3174, 0x3e53, 0x3180, 0x3e56, 0x318c, 0x3e59,
+  0x3198, 0x3e5c, 0x31a4, 0x3e5e, 0x31b1, 0x3e61, 0x31bd, 0x3e64,
+  0x31c9, 0x3e67, 0x31d5, 0x3e6a, 0x31e2, 0x3e6c, 0x31ee, 0x3e6f,
+  0x31fa, 0x3e72, 0x3207, 0x3e75, 0x3213, 0x3e77, 0x321f, 0x3e7a,
+  0x322b, 0x3e7d, 0x3238, 0x3e80, 0x3244, 0x3e82, 0x3250, 0x3e85,
+  0x325c, 0x3e88, 0x3269, 0x3e8a, 0x3275, 0x3e8d, 0x3281, 0x3e90,
+  0x328e, 0x3e92, 0x329a, 0x3e95, 0x32a6, 0x3e98, 0x32b2, 0x3e9a,
+  0x32bf, 0x3e9d, 0x32cb, 0x3e9f, 0x32d7, 0x3ea2, 0x32e4, 0x3ea5,
+  0x32f0, 0x3ea7, 0x32fc, 0x3eaa, 0x3308, 0x3eac, 0x3315, 0x3eaf,
+  0x3321, 0x3eb1, 0x332d, 0x3eb4, 0x333a, 0x3eb6, 0x3346, 0x3eb9,
+  0x3352, 0x3ebb, 0x335f, 0x3ebe, 0x336b, 0x3ec0, 0x3377, 0x3ec3,
+  0x3384, 0x3ec5, 0x3390, 0x3ec8, 0x339c, 0x3eca, 0x33a9, 0x3ecc,
+  0x33b5, 0x3ecf, 0x33c1, 0x3ed1, 0x33ce, 0x3ed4, 0x33da, 0x3ed6,
+  0x33e6, 0x3ed8, 0x33f3, 0x3edb, 0x33ff, 0x3edd, 0x340b, 0x3ee0,
+  0x3418, 0x3ee2, 0x3424, 0x3ee4, 0x3430, 0x3ee7, 0x343d, 0x3ee9,
+  0x3449, 0x3eeb, 0x3455, 0x3eed, 0x3462, 0x3ef0, 0x346e, 0x3ef2,
+  0x347b, 0x3ef4, 0x3487, 0x3ef7, 0x3493, 0x3ef9, 0x34a0, 0x3efb,
+  0x34ac, 0x3efd, 0x34b8, 0x3f00, 0x34c5, 0x3f02, 0x34d1, 0x3f04,
+  0x34dd, 0x3f06, 0x34ea, 0x3f08, 0x34f6, 0x3f0a, 0x3503, 0x3f0d,
+  0x350f, 0x3f0f, 0x351b, 0x3f11, 0x3528, 0x3f13, 0x3534, 0x3f15,
+  0x3540, 0x3f17, 0x354d, 0x3f19, 0x3559, 0x3f1c, 0x3566, 0x3f1e,
+  0x3572, 0x3f20, 0x357e, 0x3f22, 0x358b, 0x3f24, 0x3597, 0x3f26,
+  0x35a4, 0x3f28, 0x35b0, 0x3f2a, 0x35bc, 0x3f2c, 0x35c9, 0x3f2e,
+  0x35d5, 0x3f30, 0x35e2, 0x3f32, 0x35ee, 0x3f34, 0x35fa, 0x3f36,
+  0x3607, 0x3f38, 0x3613, 0x3f3a, 0x3620, 0x3f3c, 0x362c, 0x3f3e,
+  0x3639, 0x3f40, 0x3645, 0x3f42, 0x3651, 0x3f43, 0x365e, 0x3f45,
+  0x366a, 0x3f47, 0x3677, 0x3f49, 0x3683, 0x3f4b, 0x3690, 0x3f4d,
+  0x369c, 0x3f4f, 0x36a8, 0x3f51, 0x36b5, 0x3f52, 0x36c1, 0x3f54,
+  0x36ce, 0x3f56, 0x36da, 0x3f58, 0x36e7, 0x3f5a, 0x36f3, 0x3f5b,
+  0x36ff, 0x3f5d, 0x370c, 0x3f5f, 0x3718, 0x3f61, 0x3725, 0x3f62,
+  0x3731, 0x3f64, 0x373e, 0x3f66, 0x374a, 0x3f68, 0x3757, 0x3f69,
+  0x3763, 0x3f6b, 0x376f, 0x3f6d, 0x377c, 0x3f6e, 0x3788, 0x3f70,
+  0x3795, 0x3f72, 0x37a1, 0x3f73, 0x37ae, 0x3f75, 0x37ba, 0x3f77,
+  0x37c7, 0x3f78, 0x37d3, 0x3f7a, 0x37e0, 0x3f7b, 0x37ec, 0x3f7d,
+  0x37f9, 0x3f7f, 0x3805, 0x3f80, 0x3811, 0x3f82, 0x381e, 0x3f83,
+  0x382a, 0x3f85, 0x3837, 0x3f86, 0x3843, 0x3f88, 0x3850, 0x3f89,
+  0x385c, 0x3f8b, 0x3869, 0x3f8c, 0x3875, 0x3f8e, 0x3882, 0x3f8f,
+  0x388e, 0x3f91, 0x389b, 0x3f92, 0x38a7, 0x3f94, 0x38b4, 0x3f95,
+  0x38c0, 0x3f97, 0x38cd, 0x3f98, 0x38d9, 0x3f99, 0x38e6, 0x3f9b,
+  0x38f2, 0x3f9c, 0x38ff, 0x3f9e, 0x390b, 0x3f9f, 0x3918, 0x3fa0,
+  0x3924, 0x3fa2, 0x3931, 0x3fa3, 0x393d, 0x3fa4, 0x394a, 0x3fa6,
+  0x3956, 0x3fa7, 0x3963, 0x3fa8, 0x396f, 0x3faa, 0x397c, 0x3fab,
+  0x3988, 0x3fac, 0x3995, 0x3fad, 0x39a1, 0x3faf, 0x39ae, 0x3fb0,
+  0x39ba, 0x3fb1, 0x39c7, 0x3fb2, 0x39d3, 0x3fb4, 0x39e0, 0x3fb5,
+  0x39ec, 0x3fb6, 0x39f9, 0x3fb7, 0x3a05, 0x3fb8, 0x3a12, 0x3fb9,
+  0x3a1e, 0x3fbb, 0x3a2b, 0x3fbc, 0x3a37, 0x3fbd, 0x3a44, 0x3fbe,
+  0x3a50, 0x3fbf, 0x3a5d, 0x3fc0, 0x3a69, 0x3fc1, 0x3a76, 0x3fc3,
+  0x3a82, 0x3fc4, 0x3a8f, 0x3fc5, 0x3a9b, 0x3fc6, 0x3aa8, 0x3fc7,
+  0x3ab4, 0x3fc8, 0x3ac1, 0x3fc9, 0x3acd, 0x3fca, 0x3ada, 0x3fcb,
+  0x3ae6, 0x3fcc, 0x3af3, 0x3fcd, 0x3b00, 0x3fce, 0x3b0c, 0x3fcf,
+  0x3b19, 0x3fd0, 0x3b25, 0x3fd1, 0x3b32, 0x3fd2, 0x3b3e, 0x3fd3,
+  0x3b4b, 0x3fd4, 0x3b57, 0x3fd5, 0x3b64, 0x3fd5, 0x3b70, 0x3fd6,
+  0x3b7d, 0x3fd7, 0x3b89, 0x3fd8, 0x3b96, 0x3fd9, 0x3ba2, 0x3fda,
+  0x3baf, 0x3fdb, 0x3bbc, 0x3fdc, 0x3bc8, 0x3fdc, 0x3bd5, 0x3fdd,
+  0x3be1, 0x3fde, 0x3bee, 0x3fdf, 0x3bfa, 0x3fe0, 0x3c07, 0x3fe0,
+  0x3c13, 0x3fe1, 0x3c20, 0x3fe2, 0x3c2c, 0x3fe3, 0x3c39, 0x3fe3,
+  0x3c45, 0x3fe4, 0x3c52, 0x3fe5, 0x3c5f, 0x3fe6, 0x3c6b, 0x3fe6,
+  0x3c78, 0x3fe7, 0x3c84, 0x3fe8, 0x3c91, 0x3fe8, 0x3c9d, 0x3fe9,
+  0x3caa, 0x3fea, 0x3cb6, 0x3fea, 0x3cc3, 0x3feb, 0x3cd0, 0x3fec,
+  0x3cdc, 0x3fec, 0x3ce9, 0x3fed, 0x3cf5, 0x3fed, 0x3d02, 0x3fee,
+  0x3d0e, 0x3fef, 0x3d1b, 0x3fef, 0x3d27, 0x3ff0, 0x3d34, 0x3ff0,
+  0x3d40, 0x3ff1, 0x3d4d, 0x3ff1, 0x3d5a, 0x3ff2, 0x3d66, 0x3ff2,
+  0x3d73, 0x3ff3, 0x3d7f, 0x3ff3, 0x3d8c, 0x3ff4, 0x3d98, 0x3ff4,
+  0x3da5, 0x3ff5, 0x3db2, 0x3ff5, 0x3dbe, 0x3ff6, 0x3dcb, 0x3ff6,
+  0x3dd7, 0x3ff7, 0x3de4, 0x3ff7, 0x3df0, 0x3ff7, 0x3dfd, 0x3ff8,
+  0x3e09, 0x3ff8, 0x3e16, 0x3ff9, 0x3e23, 0x3ff9, 0x3e2f, 0x3ff9,
+  0x3e3c, 0x3ffa, 0x3e48, 0x3ffa, 0x3e55, 0x3ffa, 0x3e61, 0x3ffb,
+  0x3e6e, 0x3ffb, 0x3e7a, 0x3ffb, 0x3e87, 0x3ffc, 0x3e94, 0x3ffc,
+  0x3ea0, 0x3ffc, 0x3ead, 0x3ffc, 0x3eb9, 0x3ffd, 0x3ec6, 0x3ffd,
+  0x3ed2, 0x3ffd, 0x3edf, 0x3ffd, 0x3eec, 0x3ffe, 0x3ef8, 0x3ffe,
+  0x3f05, 0x3ffe, 0x3f11, 0x3ffe, 0x3f1e, 0x3ffe, 0x3f2a, 0x3fff,
+  0x3f37, 0x3fff, 0x3f44, 0x3fff, 0x3f50, 0x3fff, 0x3f5d, 0x3fff,
+  0x3f69, 0x3fff, 0x3f76, 0x3fff, 0x3f82, 0x4000, 0x3f8f, 0x4000,
+  0x3f9b, 0x4000, 0x3fa8, 0x4000, 0x3fb5, 0x4000, 0x3fc1, 0x4000,
+  0x3fce, 0x4000, 0x3fda, 0x4000, 0x3fe7, 0x4000, 0x3ff3, 0x4000,
+};
+
+/**    
+* \par   
+* Generation of real_CoefB array:    
+* \par    
+* n = 4096    
+* 
for (i = 0; i < n; i++)    
+*  {    
+*    pBTable[2 * i] = 0.5 * (1.0 + sin (2 * PI / (double) (2 * n) * (double) i));    
+*    pBTable[2 * i + 1] = 0.5 * (1.0 * cos (2 * PI / (double) (2 * n) * (double) i));    
+*  } 
   
+* \par    
+* Convert to fixed point Q15 format    
+*       round(pBTable[i] * pow(2, 15))    
+*    
+*/
+
+static const q15_t ALIGN4 realCoefBQ15[8192] = {
+  0x4000, 0x4000, 0x400d, 0x4000, 0x4019, 0x4000, 0x4026, 0x4000,
+  0x4032, 0x4000, 0x403f, 0x4000, 0x404b, 0x4000, 0x4058, 0x4000,
+  0x4065, 0x4000, 0x4071, 0x4000, 0x407e, 0x4000, 0x408a, 0x3fff,
+  0x4097, 0x3fff, 0x40a3, 0x3fff, 0x40b0, 0x3fff, 0x40bc, 0x3fff,
+  0x40c9, 0x3fff, 0x40d6, 0x3fff, 0x40e2, 0x3ffe, 0x40ef, 0x3ffe,
+  0x40fb, 0x3ffe, 0x4108, 0x3ffe, 0x4114, 0x3ffe, 0x4121, 0x3ffd,
+  0x412e, 0x3ffd, 0x413a, 0x3ffd, 0x4147, 0x3ffd, 0x4153, 0x3ffc,
+  0x4160, 0x3ffc, 0x416c, 0x3ffc, 0x4179, 0x3ffc, 0x4186, 0x3ffb,
+  0x4192, 0x3ffb, 0x419f, 0x3ffb, 0x41ab, 0x3ffa, 0x41b8, 0x3ffa,
+  0x41c4, 0x3ffa, 0x41d1, 0x3ff9, 0x41dd, 0x3ff9, 0x41ea, 0x3ff9,
+  0x41f7, 0x3ff8, 0x4203, 0x3ff8, 0x4210, 0x3ff7, 0x421c, 0x3ff7,
+  0x4229, 0x3ff7, 0x4235, 0x3ff6, 0x4242, 0x3ff6, 0x424e, 0x3ff5,
+  0x425b, 0x3ff5, 0x4268, 0x3ff4, 0x4274, 0x3ff4, 0x4281, 0x3ff3,
+  0x428d, 0x3ff3, 0x429a, 0x3ff2, 0x42a6, 0x3ff2, 0x42b3, 0x3ff1,
+  0x42c0, 0x3ff1, 0x42cc, 0x3ff0, 0x42d9, 0x3ff0, 0x42e5, 0x3fef,
+  0x42f2, 0x3fef, 0x42fe, 0x3fee, 0x430b, 0x3fed, 0x4317, 0x3fed,
+  0x4324, 0x3fec, 0x4330, 0x3fec, 0x433d, 0x3feb, 0x434a, 0x3fea,
+  0x4356, 0x3fea, 0x4363, 0x3fe9, 0x436f, 0x3fe8, 0x437c, 0x3fe8,
+  0x4388, 0x3fe7, 0x4395, 0x3fe6, 0x43a1, 0x3fe6, 0x43ae, 0x3fe5,
+  0x43bb, 0x3fe4, 0x43c7, 0x3fe3, 0x43d4, 0x3fe3, 0x43e0, 0x3fe2,
+  0x43ed, 0x3fe1, 0x43f9, 0x3fe0, 0x4406, 0x3fe0, 0x4412, 0x3fdf,
+  0x441f, 0x3fde, 0x442b, 0x3fdd, 0x4438, 0x3fdc, 0x4444, 0x3fdc,
+  0x4451, 0x3fdb, 0x445e, 0x3fda, 0x446a, 0x3fd9, 0x4477, 0x3fd8,
+  0x4483, 0x3fd7, 0x4490, 0x3fd6, 0x449c, 0x3fd5, 0x44a9, 0x3fd5,
+  0x44b5, 0x3fd4, 0x44c2, 0x3fd3, 0x44ce, 0x3fd2, 0x44db, 0x3fd1,
+  0x44e7, 0x3fd0, 0x44f4, 0x3fcf, 0x4500, 0x3fce, 0x450d, 0x3fcd,
+  0x451a, 0x3fcc, 0x4526, 0x3fcb, 0x4533, 0x3fca, 0x453f, 0x3fc9,
+  0x454c, 0x3fc8, 0x4558, 0x3fc7, 0x4565, 0x3fc6, 0x4571, 0x3fc5,
+  0x457e, 0x3fc4, 0x458a, 0x3fc3, 0x4597, 0x3fc1, 0x45a3, 0x3fc0,
+  0x45b0, 0x3fbf, 0x45bc, 0x3fbe, 0x45c9, 0x3fbd, 0x45d5, 0x3fbc,
+  0x45e2, 0x3fbb, 0x45ee, 0x3fb9, 0x45fb, 0x3fb8, 0x4607, 0x3fb7,
+  0x4614, 0x3fb6, 0x4620, 0x3fb5, 0x462d, 0x3fb4, 0x4639, 0x3fb2,
+  0x4646, 0x3fb1, 0x4652, 0x3fb0, 0x465f, 0x3faf, 0x466b, 0x3fad,
+  0x4678, 0x3fac, 0x4684, 0x3fab, 0x4691, 0x3faa, 0x469d, 0x3fa8,
+  0x46aa, 0x3fa7, 0x46b6, 0x3fa6, 0x46c3, 0x3fa4, 0x46cf, 0x3fa3,
+  0x46dc, 0x3fa2, 0x46e8, 0x3fa0, 0x46f5, 0x3f9f, 0x4701, 0x3f9e,
+  0x470e, 0x3f9c, 0x471a, 0x3f9b, 0x4727, 0x3f99, 0x4733, 0x3f98,
+  0x4740, 0x3f97, 0x474c, 0x3f95, 0x4759, 0x3f94, 0x4765, 0x3f92,
+  0x4772, 0x3f91, 0x477e, 0x3f8f, 0x478b, 0x3f8e, 0x4797, 0x3f8c,
+  0x47a4, 0x3f8b, 0x47b0, 0x3f89, 0x47bd, 0x3f88, 0x47c9, 0x3f86,
+  0x47d6, 0x3f85, 0x47e2, 0x3f83, 0x47ef, 0x3f82, 0x47fb, 0x3f80,
+  0x4807, 0x3f7f, 0x4814, 0x3f7d, 0x4820, 0x3f7b, 0x482d, 0x3f7a,
+  0x4839, 0x3f78, 0x4846, 0x3f77, 0x4852, 0x3f75, 0x485f, 0x3f73,
+  0x486b, 0x3f72, 0x4878, 0x3f70, 0x4884, 0x3f6e, 0x4891, 0x3f6d,
+  0x489d, 0x3f6b, 0x48a9, 0x3f69, 0x48b6, 0x3f68, 0x48c2, 0x3f66,
+  0x48cf, 0x3f64, 0x48db, 0x3f62, 0x48e8, 0x3f61, 0x48f4, 0x3f5f,
+  0x4901, 0x3f5d, 0x490d, 0x3f5b, 0x4919, 0x3f5a, 0x4926, 0x3f58,
+  0x4932, 0x3f56, 0x493f, 0x3f54, 0x494b, 0x3f52, 0x4958, 0x3f51,
+  0x4964, 0x3f4f, 0x4970, 0x3f4d, 0x497d, 0x3f4b, 0x4989, 0x3f49,
+  0x4996, 0x3f47, 0x49a2, 0x3f45, 0x49af, 0x3f43, 0x49bb, 0x3f42,
+  0x49c7, 0x3f40, 0x49d4, 0x3f3e, 0x49e0, 0x3f3c, 0x49ed, 0x3f3a,
+  0x49f9, 0x3f38, 0x4a06, 0x3f36, 0x4a12, 0x3f34, 0x4a1e, 0x3f32,
+  0x4a2b, 0x3f30, 0x4a37, 0x3f2e, 0x4a44, 0x3f2c, 0x4a50, 0x3f2a,
+  0x4a5c, 0x3f28, 0x4a69, 0x3f26, 0x4a75, 0x3f24, 0x4a82, 0x3f22,
+  0x4a8e, 0x3f20, 0x4a9a, 0x3f1e, 0x4aa7, 0x3f1c, 0x4ab3, 0x3f19,
+  0x4ac0, 0x3f17, 0x4acc, 0x3f15, 0x4ad8, 0x3f13, 0x4ae5, 0x3f11,
+  0x4af1, 0x3f0f, 0x4afd, 0x3f0d, 0x4b0a, 0x3f0a, 0x4b16, 0x3f08,
+  0x4b23, 0x3f06, 0x4b2f, 0x3f04, 0x4b3b, 0x3f02, 0x4b48, 0x3f00,
+  0x4b54, 0x3efd, 0x4b60, 0x3efb, 0x4b6d, 0x3ef9, 0x4b79, 0x3ef7,
+  0x4b85, 0x3ef4, 0x4b92, 0x3ef2, 0x4b9e, 0x3ef0, 0x4bab, 0x3eed,
+  0x4bb7, 0x3eeb, 0x4bc3, 0x3ee9, 0x4bd0, 0x3ee7, 0x4bdc, 0x3ee4,
+  0x4be8, 0x3ee2, 0x4bf5, 0x3ee0, 0x4c01, 0x3edd, 0x4c0d, 0x3edb,
+  0x4c1a, 0x3ed8, 0x4c26, 0x3ed6, 0x4c32, 0x3ed4, 0x4c3f, 0x3ed1,
+  0x4c4b, 0x3ecf, 0x4c57, 0x3ecc, 0x4c64, 0x3eca, 0x4c70, 0x3ec8,
+  0x4c7c, 0x3ec5, 0x4c89, 0x3ec3, 0x4c95, 0x3ec0, 0x4ca1, 0x3ebe,
+  0x4cae, 0x3ebb, 0x4cba, 0x3eb9, 0x4cc6, 0x3eb6, 0x4cd3, 0x3eb4,
+  0x4cdf, 0x3eb1, 0x4ceb, 0x3eaf, 0x4cf8, 0x3eac, 0x4d04, 0x3eaa,
+  0x4d10, 0x3ea7, 0x4d1c, 0x3ea5, 0x4d29, 0x3ea2, 0x4d35, 0x3e9f,
+  0x4d41, 0x3e9d, 0x4d4e, 0x3e9a, 0x4d5a, 0x3e98, 0x4d66, 0x3e95,
+  0x4d72, 0x3e92, 0x4d7f, 0x3e90, 0x4d8b, 0x3e8d, 0x4d97, 0x3e8a,
+  0x4da4, 0x3e88, 0x4db0, 0x3e85, 0x4dbc, 0x3e82, 0x4dc8, 0x3e80,
+  0x4dd5, 0x3e7d, 0x4de1, 0x3e7a, 0x4ded, 0x3e77, 0x4df9, 0x3e75,
+  0x4e06, 0x3e72, 0x4e12, 0x3e6f, 0x4e1e, 0x3e6c, 0x4e2b, 0x3e6a,
+  0x4e37, 0x3e67, 0x4e43, 0x3e64, 0x4e4f, 0x3e61, 0x4e5c, 0x3e5e,
+  0x4e68, 0x3e5c, 0x4e74, 0x3e59, 0x4e80, 0x3e56, 0x4e8c, 0x3e53,
+  0x4e99, 0x3e50, 0x4ea5, 0x3e4d, 0x4eb1, 0x3e4a, 0x4ebd, 0x3e48,
+  0x4eca, 0x3e45, 0x4ed6, 0x3e42, 0x4ee2, 0x3e3f, 0x4eee, 0x3e3c,
+  0x4efb, 0x3e39, 0x4f07, 0x3e36, 0x4f13, 0x3e33, 0x4f1f, 0x3e30,
+  0x4f2b, 0x3e2d, 0x4f38, 0x3e2a, 0x4f44, 0x3e27, 0x4f50, 0x3e24,
+  0x4f5c, 0x3e21, 0x4f68, 0x3e1e, 0x4f75, 0x3e1b, 0x4f81, 0x3e18,
+  0x4f8d, 0x3e15, 0x4f99, 0x3e12, 0x4fa5, 0x3e0f, 0x4fb2, 0x3e0c,
+  0x4fbe, 0x3e09, 0x4fca, 0x3e06, 0x4fd6, 0x3e03, 0x4fe2, 0x3dff,
+  0x4fee, 0x3dfc, 0x4ffb, 0x3df9, 0x5007, 0x3df6, 0x5013, 0x3df3,
+  0x501f, 0x3df0, 0x502b, 0x3ded, 0x5037, 0x3de9, 0x5044, 0x3de6,
+  0x5050, 0x3de3, 0x505c, 0x3de0, 0x5068, 0x3ddd, 0x5074, 0x3dd9,
+  0x5080, 0x3dd6, 0x508c, 0x3dd3, 0x5099, 0x3dd0, 0x50a5, 0x3dcc,
+  0x50b1, 0x3dc9, 0x50bd, 0x3dc6, 0x50c9, 0x3dc2, 0x50d5, 0x3dbf,
+  0x50e1, 0x3dbc, 0x50ed, 0x3db9, 0x50fa, 0x3db5, 0x5106, 0x3db2,
+  0x5112, 0x3daf, 0x511e, 0x3dab, 0x512a, 0x3da8, 0x5136, 0x3da4,
+  0x5142, 0x3da1, 0x514e, 0x3d9e, 0x515a, 0x3d9a, 0x5167, 0x3d97,
+  0x5173, 0x3d93, 0x517f, 0x3d90, 0x518b, 0x3d8d, 0x5197, 0x3d89,
+  0x51a3, 0x3d86, 0x51af, 0x3d82, 0x51bb, 0x3d7f, 0x51c7, 0x3d7b,
+  0x51d3, 0x3d78, 0x51df, 0x3d74, 0x51eb, 0x3d71, 0x51f7, 0x3d6d,
+  0x5204, 0x3d6a, 0x5210, 0x3d66, 0x521c, 0x3d63, 0x5228, 0x3d5f,
+  0x5234, 0x3d5b, 0x5240, 0x3d58, 0x524c, 0x3d54, 0x5258, 0x3d51,
+  0x5264, 0x3d4d, 0x5270, 0x3d49, 0x527c, 0x3d46, 0x5288, 0x3d42,
+  0x5294, 0x3d3f, 0x52a0, 0x3d3b, 0x52ac, 0x3d37, 0x52b8, 0x3d34,
+  0x52c4, 0x3d30, 0x52d0, 0x3d2c, 0x52dc, 0x3d28, 0x52e8, 0x3d25,
+  0x52f4, 0x3d21, 0x5300, 0x3d1d, 0x530c, 0x3d1a, 0x5318, 0x3d16,
+  0x5324, 0x3d12, 0x5330, 0x3d0e, 0x533c, 0x3d0b, 0x5348, 0x3d07,
+  0x5354, 0x3d03, 0x5360, 0x3cff, 0x536c, 0x3cfb, 0x5378, 0x3cf8,
+  0x5384, 0x3cf4, 0x5390, 0x3cf0, 0x539c, 0x3cec, 0x53a8, 0x3ce8,
+  0x53b4, 0x3ce4, 0x53c0, 0x3ce0, 0x53cc, 0x3cdd, 0x53d8, 0x3cd9,
+  0x53e4, 0x3cd5, 0x53f0, 0x3cd1, 0x53fb, 0x3ccd, 0x5407, 0x3cc9,
+  0x5413, 0x3cc5, 0x541f, 0x3cc1, 0x542b, 0x3cbd, 0x5437, 0x3cb9,
+  0x5443, 0x3cb5, 0x544f, 0x3cb1, 0x545b, 0x3cad, 0x5467, 0x3ca9,
+  0x5473, 0x3ca5, 0x547f, 0x3ca1, 0x548b, 0x3c9d, 0x5496, 0x3c99,
+  0x54a2, 0x3c95, 0x54ae, 0x3c91, 0x54ba, 0x3c8d, 0x54c6, 0x3c89,
+  0x54d2, 0x3c85, 0x54de, 0x3c81, 0x54ea, 0x3c7d, 0x54f6, 0x3c79,
+  0x5501, 0x3c74, 0x550d, 0x3c70, 0x5519, 0x3c6c, 0x5525, 0x3c68,
+  0x5531, 0x3c64, 0x553d, 0x3c60, 0x5549, 0x3c5b, 0x5554, 0x3c57,
+  0x5560, 0x3c53, 0x556c, 0x3c4f, 0x5578, 0x3c4b, 0x5584, 0x3c46,
+  0x5590, 0x3c42, 0x559b, 0x3c3e, 0x55a7, 0x3c3a, 0x55b3, 0x3c36,
+  0x55bf, 0x3c31, 0x55cb, 0x3c2d, 0x55d7, 0x3c29, 0x55e2, 0x3c24,
+  0x55ee, 0x3c20, 0x55fa, 0x3c1c, 0x5606, 0x3c17, 0x5612, 0x3c13,
+  0x561d, 0x3c0f, 0x5629, 0x3c0a, 0x5635, 0x3c06, 0x5641, 0x3c02,
+  0x564c, 0x3bfd, 0x5658, 0x3bf9, 0x5664, 0x3bf5, 0x5670, 0x3bf0,
+  0x567c, 0x3bec, 0x5687, 0x3be7, 0x5693, 0x3be3, 0x569f, 0x3bde,
+  0x56ab, 0x3bda, 0x56b6, 0x3bd6, 0x56c2, 0x3bd1, 0x56ce, 0x3bcd,
+  0x56da, 0x3bc8, 0x56e5, 0x3bc4, 0x56f1, 0x3bbf, 0x56fd, 0x3bbb,
+  0x5709, 0x3bb6, 0x5714, 0x3bb2, 0x5720, 0x3bad, 0x572c, 0x3ba9,
+  0x5737, 0x3ba4, 0x5743, 0x3b9f, 0x574f, 0x3b9b, 0x575b, 0x3b96,
+  0x5766, 0x3b92, 0x5772, 0x3b8d, 0x577e, 0x3b88, 0x5789, 0x3b84,
+  0x5795, 0x3b7f, 0x57a1, 0x3b7b, 0x57ac, 0x3b76, 0x57b8, 0x3b71,
+  0x57c4, 0x3b6d, 0x57cf, 0x3b68, 0x57db, 0x3b63, 0x57e7, 0x3b5f,
+  0x57f2, 0x3b5a, 0x57fe, 0x3b55, 0x580a, 0x3b50, 0x5815, 0x3b4c,
+  0x5821, 0x3b47, 0x582d, 0x3b42, 0x5838, 0x3b3e, 0x5844, 0x3b39,
+  0x584f, 0x3b34, 0x585b, 0x3b2f, 0x5867, 0x3b2a, 0x5872, 0x3b26,
+  0x587e, 0x3b21, 0x5889, 0x3b1c, 0x5895, 0x3b17, 0x58a1, 0x3b12,
+  0x58ac, 0x3b0e, 0x58b8, 0x3b09, 0x58c3, 0x3b04, 0x58cf, 0x3aff,
+  0x58db, 0x3afa, 0x58e6, 0x3af5, 0x58f2, 0x3af0, 0x58fd, 0x3aeb,
+  0x5909, 0x3ae6, 0x5914, 0x3ae2, 0x5920, 0x3add, 0x592c, 0x3ad8,
+  0x5937, 0x3ad3, 0x5943, 0x3ace, 0x594e, 0x3ac9, 0x595a, 0x3ac4,
+  0x5965, 0x3abf, 0x5971, 0x3aba, 0x597c, 0x3ab5, 0x5988, 0x3ab0,
+  0x5993, 0x3aab, 0x599f, 0x3aa6, 0x59aa, 0x3aa1, 0x59b6, 0x3a9c,
+  0x59c1, 0x3a97, 0x59cd, 0x3a92, 0x59d8, 0x3a8d, 0x59e4, 0x3a88,
+  0x59ef, 0x3a82, 0x59fb, 0x3a7d, 0x5a06, 0x3a78, 0x5a12, 0x3a73,
+  0x5a1d, 0x3a6e, 0x5a29, 0x3a69, 0x5a34, 0x3a64, 0x5a40, 0x3a5f,
+  0x5a4b, 0x3a59, 0x5a57, 0x3a54, 0x5a62, 0x3a4f, 0x5a6e, 0x3a4a,
+  0x5a79, 0x3a45, 0x5a84, 0x3a3f, 0x5a90, 0x3a3a, 0x5a9b, 0x3a35,
+  0x5aa7, 0x3a30, 0x5ab2, 0x3a2b, 0x5abe, 0x3a25, 0x5ac9, 0x3a20,
+  0x5ad4, 0x3a1b, 0x5ae0, 0x3a16, 0x5aeb, 0x3a10, 0x5af7, 0x3a0b,
+  0x5b02, 0x3a06, 0x5b0d, 0x3a00, 0x5b19, 0x39fb, 0x5b24, 0x39f6,
+  0x5b30, 0x39f0, 0x5b3b, 0x39eb, 0x5b46, 0x39e6, 0x5b52, 0x39e0,
+  0x5b5d, 0x39db, 0x5b68, 0x39d6, 0x5b74, 0x39d0, 0x5b7f, 0x39cb,
+  0x5b8a, 0x39c5, 0x5b96, 0x39c0, 0x5ba1, 0x39bb, 0x5bac, 0x39b5,
+  0x5bb8, 0x39b0, 0x5bc3, 0x39aa, 0x5bce, 0x39a5, 0x5bda, 0x399f,
+  0x5be5, 0x399a, 0x5bf0, 0x3994, 0x5bfc, 0x398f, 0x5c07, 0x3989,
+  0x5c12, 0x3984, 0x5c1e, 0x397e, 0x5c29, 0x3979, 0x5c34, 0x3973,
+  0x5c3f, 0x396e, 0x5c4b, 0x3968, 0x5c56, 0x3963, 0x5c61, 0x395d,
+  0x5c6c, 0x3958, 0x5c78, 0x3952, 0x5c83, 0x394c, 0x5c8e, 0x3947,
+  0x5c99, 0x3941, 0x5ca5, 0x393b, 0x5cb0, 0x3936, 0x5cbb, 0x3930,
+  0x5cc6, 0x392b, 0x5cd2, 0x3925, 0x5cdd, 0x391f, 0x5ce8, 0x391a,
+  0x5cf3, 0x3914, 0x5cff, 0x390e, 0x5d0a, 0x3909, 0x5d15, 0x3903,
+  0x5d20, 0x38fd, 0x5d2b, 0x38f7, 0x5d36, 0x38f2, 0x5d42, 0x38ec,
+  0x5d4d, 0x38e6, 0x5d58, 0x38e0, 0x5d63, 0x38db, 0x5d6e, 0x38d5,
+  0x5d79, 0x38cf, 0x5d85, 0x38c9, 0x5d90, 0x38c3, 0x5d9b, 0x38be,
+  0x5da6, 0x38b8, 0x5db1, 0x38b2, 0x5dbc, 0x38ac, 0x5dc7, 0x38a6,
+  0x5dd3, 0x38a1, 0x5dde, 0x389b, 0x5de9, 0x3895, 0x5df4, 0x388f,
+  0x5dff, 0x3889, 0x5e0a, 0x3883, 0x5e15, 0x387d, 0x5e20, 0x3877,
+  0x5e2b, 0x3871, 0x5e36, 0x386b, 0x5e42, 0x3866, 0x5e4d, 0x3860,
+  0x5e58, 0x385a, 0x5e63, 0x3854, 0x5e6e, 0x384e, 0x5e79, 0x3848,
+  0x5e84, 0x3842, 0x5e8f, 0x383c, 0x5e9a, 0x3836, 0x5ea5, 0x3830,
+  0x5eb0, 0x382a, 0x5ebb, 0x3824, 0x5ec6, 0x381e, 0x5ed1, 0x3818,
+  0x5edc, 0x3812, 0x5ee7, 0x380b, 0x5ef2, 0x3805, 0x5efd, 0x37ff,
+  0x5f08, 0x37f9, 0x5f13, 0x37f3, 0x5f1e, 0x37ed, 0x5f29, 0x37e7,
+  0x5f34, 0x37e1, 0x5f3f, 0x37db, 0x5f4a, 0x37d5, 0x5f55, 0x37ce,
+  0x5f60, 0x37c8, 0x5f6b, 0x37c2, 0x5f76, 0x37bc, 0x5f81, 0x37b6,
+  0x5f8c, 0x37b0, 0x5f97, 0x37a9, 0x5fa2, 0x37a3, 0x5fac, 0x379d,
+  0x5fb7, 0x3797, 0x5fc2, 0x3790, 0x5fcd, 0x378a, 0x5fd8, 0x3784,
+  0x5fe3, 0x377e, 0x5fee, 0x3777, 0x5ff9, 0x3771, 0x6004, 0x376b,
+  0x600f, 0x3765, 0x6019, 0x375e, 0x6024, 0x3758, 0x602f, 0x3752,
+  0x603a, 0x374b, 0x6045, 0x3745, 0x6050, 0x373f, 0x605b, 0x3738,
+  0x6065, 0x3732, 0x6070, 0x372c, 0x607b, 0x3725, 0x6086, 0x371f,
+  0x6091, 0x3718, 0x609b, 0x3712, 0x60a6, 0x370c, 0x60b1, 0x3705,
+  0x60bc, 0x36ff, 0x60c7, 0x36f8, 0x60d1, 0x36f2, 0x60dc, 0x36eb,
+  0x60e7, 0x36e5, 0x60f2, 0x36df, 0x60fd, 0x36d8, 0x6107, 0x36d2,
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+  0x77e1, 0x1f34, 0x77e7, 0x1f29, 0x77ed, 0x1f1e, 0x77f3, 0x1f13,
+  0x77f9, 0x1f08, 0x77ff, 0x1efd, 0x7805, 0x1ef2, 0x780b, 0x1ee7,
+  0x7812, 0x1edc, 0x7818, 0x1ed1, 0x781e, 0x1ec6, 0x7824, 0x1ebb,
+  0x782a, 0x1eb0, 0x7830, 0x1ea5, 0x7836, 0x1e9a, 0x783c, 0x1e8f,
+  0x7842, 0x1e84, 0x7848, 0x1e79, 0x784e, 0x1e6e, 0x7854, 0x1e63,
+  0x785a, 0x1e58, 0x7860, 0x1e4d, 0x7866, 0x1e42, 0x786b, 0x1e36,
+  0x7871, 0x1e2b, 0x7877, 0x1e20, 0x787d, 0x1e15, 0x7883, 0x1e0a,
+  0x7889, 0x1dff, 0x788f, 0x1df4, 0x7895, 0x1de9, 0x789b, 0x1dde,
+  0x78a1, 0x1dd3, 0x78a6, 0x1dc7, 0x78ac, 0x1dbc, 0x78b2, 0x1db1,
+  0x78b8, 0x1da6, 0x78be, 0x1d9b, 0x78c3, 0x1d90, 0x78c9, 0x1d85,
+  0x78cf, 0x1d79, 0x78d5, 0x1d6e, 0x78db, 0x1d63, 0x78e0, 0x1d58,
+  0x78e6, 0x1d4d, 0x78ec, 0x1d42, 0x78f2, 0x1d36, 0x78f7, 0x1d2b,
+  0x78fd, 0x1d20, 0x7903, 0x1d15, 0x7909, 0x1d0a, 0x790e, 0x1cff,
+  0x7914, 0x1cf3, 0x791a, 0x1ce8, 0x791f, 0x1cdd, 0x7925, 0x1cd2,
+  0x792b, 0x1cc6, 0x7930, 0x1cbb, 0x7936, 0x1cb0, 0x793b, 0x1ca5,
+  0x7941, 0x1c99, 0x7947, 0x1c8e, 0x794c, 0x1c83, 0x7952, 0x1c78,
+  0x7958, 0x1c6c, 0x795d, 0x1c61, 0x7963, 0x1c56, 0x7968, 0x1c4b,
+  0x796e, 0x1c3f, 0x7973, 0x1c34, 0x7979, 0x1c29, 0x797e, 0x1c1e,
+  0x7984, 0x1c12, 0x7989, 0x1c07, 0x798f, 0x1bfc, 0x7994, 0x1bf0,
+  0x799a, 0x1be5, 0x799f, 0x1bda, 0x79a5, 0x1bce, 0x79aa, 0x1bc3,
+  0x79b0, 0x1bb8, 0x79b5, 0x1bac, 0x79bb, 0x1ba1, 0x79c0, 0x1b96,
+  0x79c5, 0x1b8a, 0x79cb, 0x1b7f, 0x79d0, 0x1b74, 0x79d6, 0x1b68,
+  0x79db, 0x1b5d, 0x79e0, 0x1b52, 0x79e6, 0x1b46, 0x79eb, 0x1b3b,
+  0x79f0, 0x1b30, 0x79f6, 0x1b24, 0x79fb, 0x1b19, 0x7a00, 0x1b0d,
+  0x7a06, 0x1b02, 0x7a0b, 0x1af7, 0x7a10, 0x1aeb, 0x7a16, 0x1ae0,
+  0x7a1b, 0x1ad4, 0x7a20, 0x1ac9, 0x7a25, 0x1abe, 0x7a2b, 0x1ab2,
+  0x7a30, 0x1aa7, 0x7a35, 0x1a9b, 0x7a3a, 0x1a90, 0x7a3f, 0x1a84,
+  0x7a45, 0x1a79, 0x7a4a, 0x1a6e, 0x7a4f, 0x1a62, 0x7a54, 0x1a57,
+  0x7a59, 0x1a4b, 0x7a5f, 0x1a40, 0x7a64, 0x1a34, 0x7a69, 0x1a29,
+  0x7a6e, 0x1a1d, 0x7a73, 0x1a12, 0x7a78, 0x1a06, 0x7a7d, 0x19fb,
+  0x7a82, 0x19ef, 0x7a88, 0x19e4, 0x7a8d, 0x19d8, 0x7a92, 0x19cd,
+  0x7a97, 0x19c1, 0x7a9c, 0x19b6, 0x7aa1, 0x19aa, 0x7aa6, 0x199f,
+  0x7aab, 0x1993, 0x7ab0, 0x1988, 0x7ab5, 0x197c, 0x7aba, 0x1971,
+  0x7abf, 0x1965, 0x7ac4, 0x195a, 0x7ac9, 0x194e, 0x7ace, 0x1943,
+  0x7ad3, 0x1937, 0x7ad8, 0x192c, 0x7add, 0x1920, 0x7ae2, 0x1914,
+  0x7ae6, 0x1909, 0x7aeb, 0x18fd, 0x7af0, 0x18f2, 0x7af5, 0x18e6,
+  0x7afa, 0x18db, 0x7aff, 0x18cf, 0x7b04, 0x18c3, 0x7b09, 0x18b8,
+  0x7b0e, 0x18ac, 0x7b12, 0x18a1, 0x7b17, 0x1895, 0x7b1c, 0x1889,
+  0x7b21, 0x187e, 0x7b26, 0x1872, 0x7b2a, 0x1867, 0x7b2f, 0x185b,
+  0x7b34, 0x184f, 0x7b39, 0x1844, 0x7b3e, 0x1838, 0x7b42, 0x182d,
+  0x7b47, 0x1821, 0x7b4c, 0x1815, 0x7b50, 0x180a, 0x7b55, 0x17fe,
+  0x7b5a, 0x17f2, 0x7b5f, 0x17e7, 0x7b63, 0x17db, 0x7b68, 0x17cf,
+  0x7b6d, 0x17c4, 0x7b71, 0x17b8, 0x7b76, 0x17ac, 0x7b7b, 0x17a1,
+  0x7b7f, 0x1795, 0x7b84, 0x1789, 0x7b88, 0x177e, 0x7b8d, 0x1772,
+  0x7b92, 0x1766, 0x7b96, 0x175b, 0x7b9b, 0x174f, 0x7b9f, 0x1743,
+  0x7ba4, 0x1737, 0x7ba9, 0x172c, 0x7bad, 0x1720, 0x7bb2, 0x1714,
+  0x7bb6, 0x1709, 0x7bbb, 0x16fd, 0x7bbf, 0x16f1, 0x7bc4, 0x16e5,
+  0x7bc8, 0x16da, 0x7bcd, 0x16ce, 0x7bd1, 0x16c2, 0x7bd6, 0x16b6,
+  0x7bda, 0x16ab, 0x7bde, 0x169f, 0x7be3, 0x1693, 0x7be7, 0x1687,
+  0x7bec, 0x167c, 0x7bf0, 0x1670, 0x7bf5, 0x1664, 0x7bf9, 0x1658,
+  0x7bfd, 0x164c, 0x7c02, 0x1641, 0x7c06, 0x1635, 0x7c0a, 0x1629,
+  0x7c0f, 0x161d, 0x7c13, 0x1612, 0x7c17, 0x1606, 0x7c1c, 0x15fa,
+  0x7c20, 0x15ee, 0x7c24, 0x15e2, 0x7c29, 0x15d7, 0x7c2d, 0x15cb,
+  0x7c31, 0x15bf, 0x7c36, 0x15b3, 0x7c3a, 0x15a7, 0x7c3e, 0x159b,
+  0x7c42, 0x1590, 0x7c46, 0x1584, 0x7c4b, 0x1578, 0x7c4f, 0x156c,
+  0x7c53, 0x1560, 0x7c57, 0x1554, 0x7c5b, 0x1549, 0x7c60, 0x153d,
+  0x7c64, 0x1531, 0x7c68, 0x1525, 0x7c6c, 0x1519, 0x7c70, 0x150d,
+  0x7c74, 0x1501, 0x7c79, 0x14f6, 0x7c7d, 0x14ea, 0x7c81, 0x14de,
+  0x7c85, 0x14d2, 0x7c89, 0x14c6, 0x7c8d, 0x14ba, 0x7c91, 0x14ae,
+  0x7c95, 0x14a2, 0x7c99, 0x1496, 0x7c9d, 0x148b, 0x7ca1, 0x147f,
+  0x7ca5, 0x1473, 0x7ca9, 0x1467, 0x7cad, 0x145b, 0x7cb1, 0x144f,
+  0x7cb5, 0x1443, 0x7cb9, 0x1437, 0x7cbd, 0x142b, 0x7cc1, 0x141f,
+  0x7cc5, 0x1413, 0x7cc9, 0x1407, 0x7ccd, 0x13fb, 0x7cd1, 0x13f0,
+  0x7cd5, 0x13e4, 0x7cd9, 0x13d8, 0x7cdd, 0x13cc, 0x7ce0, 0x13c0,
+  0x7ce4, 0x13b4, 0x7ce8, 0x13a8, 0x7cec, 0x139c, 0x7cf0, 0x1390,
+  0x7cf4, 0x1384, 0x7cf8, 0x1378, 0x7cfb, 0x136c, 0x7cff, 0x1360,
+  0x7d03, 0x1354, 0x7d07, 0x1348, 0x7d0b, 0x133c, 0x7d0e, 0x1330,
+  0x7d12, 0x1324, 0x7d16, 0x1318, 0x7d1a, 0x130c, 0x7d1d, 0x1300,
+  0x7d21, 0x12f4, 0x7d25, 0x12e8, 0x7d28, 0x12dc, 0x7d2c, 0x12d0,
+  0x7d30, 0x12c4, 0x7d34, 0x12b8, 0x7d37, 0x12ac, 0x7d3b, 0x12a0,
+  0x7d3f, 0x1294, 0x7d42, 0x1288, 0x7d46, 0x127c, 0x7d49, 0x1270,
+  0x7d4d, 0x1264, 0x7d51, 0x1258, 0x7d54, 0x124c, 0x7d58, 0x1240,
+  0x7d5b, 0x1234, 0x7d5f, 0x1228, 0x7d63, 0x121c, 0x7d66, 0x1210,
+  0x7d6a, 0x1204, 0x7d6d, 0x11f7, 0x7d71, 0x11eb, 0x7d74, 0x11df,
+  0x7d78, 0x11d3, 0x7d7b, 0x11c7, 0x7d7f, 0x11bb, 0x7d82, 0x11af,
+  0x7d86, 0x11a3, 0x7d89, 0x1197, 0x7d8d, 0x118b, 0x7d90, 0x117f,
+  0x7d93, 0x1173, 0x7d97, 0x1167, 0x7d9a, 0x115a, 0x7d9e, 0x114e,
+  0x7da1, 0x1142, 0x7da4, 0x1136, 0x7da8, 0x112a, 0x7dab, 0x111e,
+  0x7daf, 0x1112, 0x7db2, 0x1106, 0x7db5, 0x10fa, 0x7db9, 0x10ed,
+  0x7dbc, 0x10e1, 0x7dbf, 0x10d5, 0x7dc2, 0x10c9, 0x7dc6, 0x10bd,
+  0x7dc9, 0x10b1, 0x7dcc, 0x10a5, 0x7dd0, 0x1099, 0x7dd3, 0x108c,
+  0x7dd6, 0x1080, 0x7dd9, 0x1074, 0x7ddd, 0x1068, 0x7de0, 0x105c,
+  0x7de3, 0x1050, 0x7de6, 0x1044, 0x7de9, 0x1037, 0x7ded, 0x102b,
+  0x7df0, 0x101f, 0x7df3, 0x1013, 0x7df6, 0x1007, 0x7df9, 0xffb,
+  0x7dfc, 0xfee, 0x7dff, 0xfe2, 0x7e03, 0xfd6, 0x7e06, 0xfca,
+  0x7e09, 0xfbe, 0x7e0c, 0xfb2, 0x7e0f, 0xfa5, 0x7e12, 0xf99,
+  0x7e15, 0xf8d, 0x7e18, 0xf81, 0x7e1b, 0xf75, 0x7e1e, 0xf68,
+  0x7e21, 0xf5c, 0x7e24, 0xf50, 0x7e27, 0xf44, 0x7e2a, 0xf38,
+  0x7e2d, 0xf2b, 0x7e30, 0xf1f, 0x7e33, 0xf13, 0x7e36, 0xf07,
+  0x7e39, 0xefb, 0x7e3c, 0xeee, 0x7e3f, 0xee2, 0x7e42, 0xed6,
+  0x7e45, 0xeca, 0x7e48, 0xebd, 0x7e4a, 0xeb1, 0x7e4d, 0xea5,
+  0x7e50, 0xe99, 0x7e53, 0xe8c, 0x7e56, 0xe80, 0x7e59, 0xe74,
+  0x7e5c, 0xe68, 0x7e5e, 0xe5c, 0x7e61, 0xe4f, 0x7e64, 0xe43,
+  0x7e67, 0xe37, 0x7e6a, 0xe2b, 0x7e6c, 0xe1e, 0x7e6f, 0xe12,
+  0x7e72, 0xe06, 0x7e75, 0xdf9, 0x7e77, 0xded, 0x7e7a, 0xde1,
+  0x7e7d, 0xdd5, 0x7e80, 0xdc8, 0x7e82, 0xdbc, 0x7e85, 0xdb0,
+  0x7e88, 0xda4, 0x7e8a, 0xd97, 0x7e8d, 0xd8b, 0x7e90, 0xd7f,
+  0x7e92, 0xd72, 0x7e95, 0xd66, 0x7e98, 0xd5a, 0x7e9a, 0xd4e,
+  0x7e9d, 0xd41, 0x7e9f, 0xd35, 0x7ea2, 0xd29, 0x7ea5, 0xd1c,
+  0x7ea7, 0xd10, 0x7eaa, 0xd04, 0x7eac, 0xcf8, 0x7eaf, 0xceb,
+  0x7eb1, 0xcdf, 0x7eb4, 0xcd3, 0x7eb6, 0xcc6, 0x7eb9, 0xcba,
+  0x7ebb, 0xcae, 0x7ebe, 0xca1, 0x7ec0, 0xc95, 0x7ec3, 0xc89,
+  0x7ec5, 0xc7c, 0x7ec8, 0xc70, 0x7eca, 0xc64, 0x7ecc, 0xc57,
+  0x7ecf, 0xc4b, 0x7ed1, 0xc3f, 0x7ed4, 0xc32, 0x7ed6, 0xc26,
+  0x7ed8, 0xc1a, 0x7edb, 0xc0d, 0x7edd, 0xc01, 0x7ee0, 0xbf5,
+  0x7ee2, 0xbe8, 0x7ee4, 0xbdc, 0x7ee7, 0xbd0, 0x7ee9, 0xbc3,
+  0x7eeb, 0xbb7, 0x7eed, 0xbab, 0x7ef0, 0xb9e, 0x7ef2, 0xb92,
+  0x7ef4, 0xb85, 0x7ef7, 0xb79, 0x7ef9, 0xb6d, 0x7efb, 0xb60,
+  0x7efd, 0xb54, 0x7f00, 0xb48, 0x7f02, 0xb3b, 0x7f04, 0xb2f,
+  0x7f06, 0xb23, 0x7f08, 0xb16, 0x7f0a, 0xb0a, 0x7f0d, 0xafd,
+  0x7f0f, 0xaf1, 0x7f11, 0xae5, 0x7f13, 0xad8, 0x7f15, 0xacc,
+  0x7f17, 0xac0, 0x7f19, 0xab3, 0x7f1c, 0xaa7, 0x7f1e, 0xa9a,
+  0x7f20, 0xa8e, 0x7f22, 0xa82, 0x7f24, 0xa75, 0x7f26, 0xa69,
+  0x7f28, 0xa5c, 0x7f2a, 0xa50, 0x7f2c, 0xa44, 0x7f2e, 0xa37,
+  0x7f30, 0xa2b, 0x7f32, 0xa1e, 0x7f34, 0xa12, 0x7f36, 0xa06,
+  0x7f38, 0x9f9, 0x7f3a, 0x9ed, 0x7f3c, 0x9e0, 0x7f3e, 0x9d4,
+  0x7f40, 0x9c7, 0x7f42, 0x9bb, 0x7f43, 0x9af, 0x7f45, 0x9a2,
+  0x7f47, 0x996, 0x7f49, 0x989, 0x7f4b, 0x97d, 0x7f4d, 0x970,
+  0x7f4f, 0x964, 0x7f51, 0x958, 0x7f52, 0x94b, 0x7f54, 0x93f,
+  0x7f56, 0x932, 0x7f58, 0x926, 0x7f5a, 0x919, 0x7f5b, 0x90d,
+  0x7f5d, 0x901, 0x7f5f, 0x8f4, 0x7f61, 0x8e8, 0x7f62, 0x8db,
+  0x7f64, 0x8cf, 0x7f66, 0x8c2, 0x7f68, 0x8b6, 0x7f69, 0x8a9,
+  0x7f6b, 0x89d, 0x7f6d, 0x891, 0x7f6e, 0x884, 0x7f70, 0x878,
+  0x7f72, 0x86b, 0x7f73, 0x85f, 0x7f75, 0x852, 0x7f77, 0x846,
+  0x7f78, 0x839, 0x7f7a, 0x82d, 0x7f7b, 0x820, 0x7f7d, 0x814,
+  0x7f7f, 0x807, 0x7f80, 0x7fb, 0x7f82, 0x7ef, 0x7f83, 0x7e2,
+  0x7f85, 0x7d6, 0x7f86, 0x7c9, 0x7f88, 0x7bd, 0x7f89, 0x7b0,
+  0x7f8b, 0x7a4, 0x7f8c, 0x797, 0x7f8e, 0x78b, 0x7f8f, 0x77e,
+  0x7f91, 0x772, 0x7f92, 0x765, 0x7f94, 0x759, 0x7f95, 0x74c,
+  0x7f97, 0x740, 0x7f98, 0x733, 0x7f99, 0x727, 0x7f9b, 0x71a,
+  0x7f9c, 0x70e, 0x7f9e, 0x701, 0x7f9f, 0x6f5, 0x7fa0, 0x6e8,
+  0x7fa2, 0x6dc, 0x7fa3, 0x6cf, 0x7fa4, 0x6c3, 0x7fa6, 0x6b6,
+  0x7fa7, 0x6aa, 0x7fa8, 0x69d, 0x7faa, 0x691, 0x7fab, 0x684,
+  0x7fac, 0x678, 0x7fad, 0x66b, 0x7faf, 0x65f, 0x7fb0, 0x652,
+  0x7fb1, 0x646, 0x7fb2, 0x639, 0x7fb4, 0x62d, 0x7fb5, 0x620,
+  0x7fb6, 0x614, 0x7fb7, 0x607, 0x7fb8, 0x5fb, 0x7fb9, 0x5ee,
+  0x7fbb, 0x5e2, 0x7fbc, 0x5d5, 0x7fbd, 0x5c9, 0x7fbe, 0x5bc,
+  0x7fbf, 0x5b0, 0x7fc0, 0x5a3, 0x7fc1, 0x597, 0x7fc3, 0x58a,
+  0x7fc4, 0x57e, 0x7fc5, 0x571, 0x7fc6, 0x565, 0x7fc7, 0x558,
+  0x7fc8, 0x54c, 0x7fc9, 0x53f, 0x7fca, 0x533, 0x7fcb, 0x526,
+  0x7fcc, 0x51a, 0x7fcd, 0x50d, 0x7fce, 0x500, 0x7fcf, 0x4f4,
+  0x7fd0, 0x4e7, 0x7fd1, 0x4db, 0x7fd2, 0x4ce, 0x7fd3, 0x4c2,
+  0x7fd4, 0x4b5, 0x7fd5, 0x4a9, 0x7fd5, 0x49c, 0x7fd6, 0x490,
+  0x7fd7, 0x483, 0x7fd8, 0x477, 0x7fd9, 0x46a, 0x7fda, 0x45e,
+  0x7fdb, 0x451, 0x7fdc, 0x444, 0x7fdc, 0x438, 0x7fdd, 0x42b,
+  0x7fde, 0x41f, 0x7fdf, 0x412, 0x7fe0, 0x406, 0x7fe0, 0x3f9,
+  0x7fe1, 0x3ed, 0x7fe2, 0x3e0, 0x7fe3, 0x3d4, 0x7fe3, 0x3c7,
+  0x7fe4, 0x3bb, 0x7fe5, 0x3ae, 0x7fe6, 0x3a1, 0x7fe6, 0x395,
+  0x7fe7, 0x388, 0x7fe8, 0x37c, 0x7fe8, 0x36f, 0x7fe9, 0x363,
+  0x7fea, 0x356, 0x7fea, 0x34a, 0x7feb, 0x33d, 0x7fec, 0x330,
+  0x7fec, 0x324, 0x7fed, 0x317, 0x7fed, 0x30b, 0x7fee, 0x2fe,
+  0x7fef, 0x2f2, 0x7fef, 0x2e5, 0x7ff0, 0x2d9, 0x7ff0, 0x2cc,
+  0x7ff1, 0x2c0, 0x7ff1, 0x2b3, 0x7ff2, 0x2a6, 0x7ff2, 0x29a,
+  0x7ff3, 0x28d, 0x7ff3, 0x281, 0x7ff4, 0x274, 0x7ff4, 0x268,
+  0x7ff5, 0x25b, 0x7ff5, 0x24e, 0x7ff6, 0x242, 0x7ff6, 0x235,
+  0x7ff7, 0x229, 0x7ff7, 0x21c, 0x7ff7, 0x210, 0x7ff8, 0x203,
+  0x7ff8, 0x1f7, 0x7ff9, 0x1ea, 0x7ff9, 0x1dd, 0x7ff9, 0x1d1,
+  0x7ffa, 0x1c4, 0x7ffa, 0x1b8, 0x7ffa, 0x1ab, 0x7ffb, 0x19f,
+  0x7ffb, 0x192, 0x7ffb, 0x186, 0x7ffc, 0x179, 0x7ffc, 0x16c,
+  0x7ffc, 0x160, 0x7ffc, 0x153, 0x7ffd, 0x147, 0x7ffd, 0x13a,
+  0x7ffd, 0x12e, 0x7ffd, 0x121, 0x7ffe, 0x114, 0x7ffe, 0x108,
+  0x7ffe, 0xfb, 0x7ffe, 0xef, 0x7ffe, 0xe2, 0x7fff, 0xd6,
+  0x7fff, 0xc9, 0x7fff, 0xbc, 0x7fff, 0xb0, 0x7fff, 0xa3,
+  0x7fff, 0x97, 0x7fff, 0x8a, 0x7fff, 0x7e, 0x7fff, 0x71,
+  0x7fff, 0x65, 0x7fff, 0x58, 0x7fff, 0x4b, 0x7fff, 0x3f,
+  0x7fff, 0x32, 0x7fff, 0x26, 0x7fff, 0x19, 0x7fff, 0xd,
+  0x7fff, 0x0, 0x7fff, 0xfff3, 0x7fff, 0xffe7, 0x7fff, 0xffda,
+  0x7fff, 0xffce, 0x7fff, 0xffc1, 0x7fff, 0xffb5, 0x7fff, 0xffa8,
+  0x7fff, 0xff9b, 0x7fff, 0xff8f, 0x7fff, 0xff82, 0x7fff, 0xff76,
+  0x7fff, 0xff69, 0x7fff, 0xff5d, 0x7fff, 0xff50, 0x7fff, 0xff44,
+  0x7fff, 0xff37, 0x7fff, 0xff2a, 0x7ffe, 0xff1e, 0x7ffe, 0xff11,
+  0x7ffe, 0xff05, 0x7ffe, 0xfef8, 0x7ffe, 0xfeec, 0x7ffd, 0xfedf,
+  0x7ffd, 0xfed2, 0x7ffd, 0xfec6, 0x7ffd, 0xfeb9, 0x7ffc, 0xfead,
+  0x7ffc, 0xfea0, 0x7ffc, 0xfe94, 0x7ffc, 0xfe87, 0x7ffb, 0xfe7a,
+  0x7ffb, 0xfe6e, 0x7ffb, 0xfe61, 0x7ffa, 0xfe55, 0x7ffa, 0xfe48,
+  0x7ffa, 0xfe3c, 0x7ff9, 0xfe2f, 0x7ff9, 0xfe23, 0x7ff9, 0xfe16,
+  0x7ff8, 0xfe09, 0x7ff8, 0xfdfd, 0x7ff7, 0xfdf0, 0x7ff7, 0xfde4,
+  0x7ff7, 0xfdd7, 0x7ff6, 0xfdcb, 0x7ff6, 0xfdbe, 0x7ff5, 0xfdb2,
+  0x7ff5, 0xfda5, 0x7ff4, 0xfd98, 0x7ff4, 0xfd8c, 0x7ff3, 0xfd7f,
+  0x7ff3, 0xfd73, 0x7ff2, 0xfd66, 0x7ff2, 0xfd5a, 0x7ff1, 0xfd4d,
+  0x7ff1, 0xfd40, 0x7ff0, 0xfd34, 0x7ff0, 0xfd27, 0x7fef, 0xfd1b,
+  0x7fef, 0xfd0e, 0x7fee, 0xfd02, 0x7fed, 0xfcf5, 0x7fed, 0xfce9,
+  0x7fec, 0xfcdc, 0x7fec, 0xfcd0, 0x7feb, 0xfcc3, 0x7fea, 0xfcb6,
+  0x7fea, 0xfcaa, 0x7fe9, 0xfc9d, 0x7fe8, 0xfc91, 0x7fe8, 0xfc84,
+  0x7fe7, 0xfc78, 0x7fe6, 0xfc6b, 0x7fe6, 0xfc5f, 0x7fe5, 0xfc52,
+  0x7fe4, 0xfc45, 0x7fe3, 0xfc39, 0x7fe3, 0xfc2c, 0x7fe2, 0xfc20,
+  0x7fe1, 0xfc13, 0x7fe0, 0xfc07, 0x7fe0, 0xfbfa, 0x7fdf, 0xfbee,
+  0x7fde, 0xfbe1, 0x7fdd, 0xfbd5, 0x7fdc, 0xfbc8, 0x7fdc, 0xfbbc,
+  0x7fdb, 0xfbaf, 0x7fda, 0xfba2, 0x7fd9, 0xfb96, 0x7fd8, 0xfb89,
+  0x7fd7, 0xfb7d, 0x7fd6, 0xfb70, 0x7fd5, 0xfb64, 0x7fd5, 0xfb57,
+  0x7fd4, 0xfb4b, 0x7fd3, 0xfb3e, 0x7fd2, 0xfb32, 0x7fd1, 0xfb25,
+  0x7fd0, 0xfb19, 0x7fcf, 0xfb0c, 0x7fce, 0xfb00, 0x7fcd, 0xfaf3,
+  0x7fcc, 0xfae6, 0x7fcb, 0xfada, 0x7fca, 0xfacd, 0x7fc9, 0xfac1,
+  0x7fc8, 0xfab4, 0x7fc7, 0xfaa8, 0x7fc6, 0xfa9b, 0x7fc5, 0xfa8f,
+  0x7fc4, 0xfa82, 0x7fc3, 0xfa76, 0x7fc1, 0xfa69, 0x7fc0, 0xfa5d,
+  0x7fbf, 0xfa50, 0x7fbe, 0xfa44, 0x7fbd, 0xfa37, 0x7fbc, 0xfa2b,
+  0x7fbb, 0xfa1e, 0x7fb9, 0xfa12, 0x7fb8, 0xfa05, 0x7fb7, 0xf9f9,
+  0x7fb6, 0xf9ec, 0x7fb5, 0xf9e0, 0x7fb4, 0xf9d3, 0x7fb2, 0xf9c7,
+  0x7fb1, 0xf9ba, 0x7fb0, 0xf9ae, 0x7faf, 0xf9a1, 0x7fad, 0xf995,
+  0x7fac, 0xf988, 0x7fab, 0xf97c, 0x7faa, 0xf96f, 0x7fa8, 0xf963,
+  0x7fa7, 0xf956, 0x7fa6, 0xf94a, 0x7fa4, 0xf93d, 0x7fa3, 0xf931,
+  0x7fa2, 0xf924, 0x7fa0, 0xf918, 0x7f9f, 0xf90b, 0x7f9e, 0xf8ff,
+  0x7f9c, 0xf8f2, 0x7f9b, 0xf8e6, 0x7f99, 0xf8d9, 0x7f98, 0xf8cd,
+  0x7f97, 0xf8c0, 0x7f95, 0xf8b4, 0x7f94, 0xf8a7, 0x7f92, 0xf89b,
+  0x7f91, 0xf88e, 0x7f8f, 0xf882, 0x7f8e, 0xf875, 0x7f8c, 0xf869,
+  0x7f8b, 0xf85c, 0x7f89, 0xf850, 0x7f88, 0xf843, 0x7f86, 0xf837,
+  0x7f85, 0xf82a, 0x7f83, 0xf81e, 0x7f82, 0xf811, 0x7f80, 0xf805,
+  0x7f7f, 0xf7f9, 0x7f7d, 0xf7ec, 0x7f7b, 0xf7e0, 0x7f7a, 0xf7d3,
+  0x7f78, 0xf7c7, 0x7f77, 0xf7ba, 0x7f75, 0xf7ae, 0x7f73, 0xf7a1,
+  0x7f72, 0xf795, 0x7f70, 0xf788, 0x7f6e, 0xf77c, 0x7f6d, 0xf76f,
+  0x7f6b, 0xf763, 0x7f69, 0xf757, 0x7f68, 0xf74a, 0x7f66, 0xf73e,
+  0x7f64, 0xf731, 0x7f62, 0xf725, 0x7f61, 0xf718, 0x7f5f, 0xf70c,
+  0x7f5d, 0xf6ff, 0x7f5b, 0xf6f3, 0x7f5a, 0xf6e7, 0x7f58, 0xf6da,
+  0x7f56, 0xf6ce, 0x7f54, 0xf6c1, 0x7f52, 0xf6b5, 0x7f51, 0xf6a8,
+  0x7f4f, 0xf69c, 0x7f4d, 0xf690, 0x7f4b, 0xf683, 0x7f49, 0xf677,
+  0x7f47, 0xf66a, 0x7f45, 0xf65e, 0x7f43, 0xf651, 0x7f42, 0xf645,
+  0x7f40, 0xf639, 0x7f3e, 0xf62c, 0x7f3c, 0xf620, 0x7f3a, 0xf613,
+  0x7f38, 0xf607, 0x7f36, 0xf5fa, 0x7f34, 0xf5ee, 0x7f32, 0xf5e2,
+  0x7f30, 0xf5d5, 0x7f2e, 0xf5c9, 0x7f2c, 0xf5bc, 0x7f2a, 0xf5b0,
+  0x7f28, 0xf5a4, 0x7f26, 0xf597, 0x7f24, 0xf58b, 0x7f22, 0xf57e,
+  0x7f20, 0xf572, 0x7f1e, 0xf566, 0x7f1c, 0xf559, 0x7f19, 0xf54d,
+  0x7f17, 0xf540, 0x7f15, 0xf534, 0x7f13, 0xf528, 0x7f11, 0xf51b,
+  0x7f0f, 0xf50f, 0x7f0d, 0xf503, 0x7f0a, 0xf4f6, 0x7f08, 0xf4ea,
+  0x7f06, 0xf4dd, 0x7f04, 0xf4d1, 0x7f02, 0xf4c5, 0x7f00, 0xf4b8,
+  0x7efd, 0xf4ac, 0x7efb, 0xf4a0, 0x7ef9, 0xf493, 0x7ef7, 0xf487,
+  0x7ef4, 0xf47b, 0x7ef2, 0xf46e, 0x7ef0, 0xf462, 0x7eed, 0xf455,
+  0x7eeb, 0xf449, 0x7ee9, 0xf43d, 0x7ee7, 0xf430, 0x7ee4, 0xf424,
+  0x7ee2, 0xf418, 0x7ee0, 0xf40b, 0x7edd, 0xf3ff, 0x7edb, 0xf3f3,
+  0x7ed8, 0xf3e6, 0x7ed6, 0xf3da, 0x7ed4, 0xf3ce, 0x7ed1, 0xf3c1,
+  0x7ecf, 0xf3b5, 0x7ecc, 0xf3a9, 0x7eca, 0xf39c, 0x7ec8, 0xf390,
+  0x7ec5, 0xf384, 0x7ec3, 0xf377, 0x7ec0, 0xf36b, 0x7ebe, 0xf35f,
+  0x7ebb, 0xf352, 0x7eb9, 0xf346, 0x7eb6, 0xf33a, 0x7eb4, 0xf32d,
+  0x7eb1, 0xf321, 0x7eaf, 0xf315, 0x7eac, 0xf308, 0x7eaa, 0xf2fc,
+  0x7ea7, 0xf2f0, 0x7ea5, 0xf2e4, 0x7ea2, 0xf2d7, 0x7e9f, 0xf2cb,
+  0x7e9d, 0xf2bf, 0x7e9a, 0xf2b2, 0x7e98, 0xf2a6, 0x7e95, 0xf29a,
+  0x7e92, 0xf28e, 0x7e90, 0xf281, 0x7e8d, 0xf275, 0x7e8a, 0xf269,
+  0x7e88, 0xf25c, 0x7e85, 0xf250, 0x7e82, 0xf244, 0x7e80, 0xf238,
+  0x7e7d, 0xf22b, 0x7e7a, 0xf21f, 0x7e77, 0xf213, 0x7e75, 0xf207,
+  0x7e72, 0xf1fa, 0x7e6f, 0xf1ee, 0x7e6c, 0xf1e2, 0x7e6a, 0xf1d5,
+  0x7e67, 0xf1c9, 0x7e64, 0xf1bd, 0x7e61, 0xf1b1, 0x7e5e, 0xf1a4,
+  0x7e5c, 0xf198, 0x7e59, 0xf18c, 0x7e56, 0xf180, 0x7e53, 0xf174,
+  0x7e50, 0xf167, 0x7e4d, 0xf15b, 0x7e4a, 0xf14f, 0x7e48, 0xf143,
+  0x7e45, 0xf136, 0x7e42, 0xf12a, 0x7e3f, 0xf11e, 0x7e3c, 0xf112,
+  0x7e39, 0xf105, 0x7e36, 0xf0f9, 0x7e33, 0xf0ed, 0x7e30, 0xf0e1,
+  0x7e2d, 0xf0d5, 0x7e2a, 0xf0c8, 0x7e27, 0xf0bc, 0x7e24, 0xf0b0,
+  0x7e21, 0xf0a4, 0x7e1e, 0xf098, 0x7e1b, 0xf08b, 0x7e18, 0xf07f,
+  0x7e15, 0xf073, 0x7e12, 0xf067, 0x7e0f, 0xf05b, 0x7e0c, 0xf04e,
+  0x7e09, 0xf042, 0x7e06, 0xf036, 0x7e03, 0xf02a, 0x7dff, 0xf01e,
+  0x7dfc, 0xf012, 0x7df9, 0xf005, 0x7df6, 0xeff9, 0x7df3, 0xefed,
+  0x7df0, 0xefe1, 0x7ded, 0xefd5, 0x7de9, 0xefc9, 0x7de6, 0xefbc,
+  0x7de3, 0xefb0, 0x7de0, 0xefa4, 0x7ddd, 0xef98, 0x7dd9, 0xef8c,
+  0x7dd6, 0xef80, 0x7dd3, 0xef74, 0x7dd0, 0xef67, 0x7dcc, 0xef5b,
+  0x7dc9, 0xef4f, 0x7dc6, 0xef43, 0x7dc2, 0xef37, 0x7dbf, 0xef2b,
+  0x7dbc, 0xef1f, 0x7db9, 0xef13, 0x7db5, 0xef06, 0x7db2, 0xeefa,
+  0x7daf, 0xeeee, 0x7dab, 0xeee2, 0x7da8, 0xeed6, 0x7da4, 0xeeca,
+  0x7da1, 0xeebe, 0x7d9e, 0xeeb2, 0x7d9a, 0xeea6, 0x7d97, 0xee99,
+  0x7d93, 0xee8d, 0x7d90, 0xee81, 0x7d8d, 0xee75, 0x7d89, 0xee69,
+  0x7d86, 0xee5d, 0x7d82, 0xee51, 0x7d7f, 0xee45, 0x7d7b, 0xee39,
+  0x7d78, 0xee2d, 0x7d74, 0xee21, 0x7d71, 0xee15, 0x7d6d, 0xee09,
+  0x7d6a, 0xedfc, 0x7d66, 0xedf0, 0x7d63, 0xede4, 0x7d5f, 0xedd8,
+  0x7d5b, 0xedcc, 0x7d58, 0xedc0, 0x7d54, 0xedb4, 0x7d51, 0xeda8,
+  0x7d4d, 0xed9c, 0x7d49, 0xed90, 0x7d46, 0xed84, 0x7d42, 0xed78,
+  0x7d3f, 0xed6c, 0x7d3b, 0xed60, 0x7d37, 0xed54, 0x7d34, 0xed48,
+  0x7d30, 0xed3c, 0x7d2c, 0xed30, 0x7d28, 0xed24, 0x7d25, 0xed18,
+  0x7d21, 0xed0c, 0x7d1d, 0xed00, 0x7d1a, 0xecf4, 0x7d16, 0xece8,
+  0x7d12, 0xecdc, 0x7d0e, 0xecd0, 0x7d0b, 0xecc4, 0x7d07, 0xecb8,
+  0x7d03, 0xecac, 0x7cff, 0xeca0, 0x7cfb, 0xec94, 0x7cf8, 0xec88,
+  0x7cf4, 0xec7c, 0x7cf0, 0xec70, 0x7cec, 0xec64, 0x7ce8, 0xec58,
+  0x7ce4, 0xec4c, 0x7ce0, 0xec40, 0x7cdd, 0xec34, 0x7cd9, 0xec28,
+  0x7cd5, 0xec1c, 0x7cd1, 0xec10, 0x7ccd, 0xec05, 0x7cc9, 0xebf9,
+  0x7cc5, 0xebed, 0x7cc1, 0xebe1, 0x7cbd, 0xebd5, 0x7cb9, 0xebc9,
+  0x7cb5, 0xebbd, 0x7cb1, 0xebb1, 0x7cad, 0xeba5, 0x7ca9, 0xeb99,
+  0x7ca5, 0xeb8d, 0x7ca1, 0xeb81, 0x7c9d, 0xeb75, 0x7c99, 0xeb6a,
+  0x7c95, 0xeb5e, 0x7c91, 0xeb52, 0x7c8d, 0xeb46, 0x7c89, 0xeb3a,
+  0x7c85, 0xeb2e, 0x7c81, 0xeb22, 0x7c7d, 0xeb16, 0x7c79, 0xeb0a,
+  0x7c74, 0xeaff, 0x7c70, 0xeaf3, 0x7c6c, 0xeae7, 0x7c68, 0xeadb,
+  0x7c64, 0xeacf, 0x7c60, 0xeac3, 0x7c5b, 0xeab7, 0x7c57, 0xeaac,
+  0x7c53, 0xeaa0, 0x7c4f, 0xea94, 0x7c4b, 0xea88, 0x7c46, 0xea7c,
+  0x7c42, 0xea70, 0x7c3e, 0xea65, 0x7c3a, 0xea59, 0x7c36, 0xea4d,
+  0x7c31, 0xea41, 0x7c2d, 0xea35, 0x7c29, 0xea29, 0x7c24, 0xea1e,
+  0x7c20, 0xea12, 0x7c1c, 0xea06, 0x7c17, 0xe9fa, 0x7c13, 0xe9ee,
+  0x7c0f, 0xe9e3, 0x7c0a, 0xe9d7, 0x7c06, 0xe9cb, 0x7c02, 0xe9bf,
+  0x7bfd, 0xe9b4, 0x7bf9, 0xe9a8, 0x7bf5, 0xe99c, 0x7bf0, 0xe990,
+  0x7bec, 0xe984, 0x7be7, 0xe979, 0x7be3, 0xe96d, 0x7bde, 0xe961,
+  0x7bda, 0xe955, 0x7bd6, 0xe94a, 0x7bd1, 0xe93e, 0x7bcd, 0xe932,
+  0x7bc8, 0xe926, 0x7bc4, 0xe91b, 0x7bbf, 0xe90f, 0x7bbb, 0xe903,
+  0x7bb6, 0xe8f7, 0x7bb2, 0xe8ec, 0x7bad, 0xe8e0, 0x7ba9, 0xe8d4,
+  0x7ba4, 0xe8c9, 0x7b9f, 0xe8bd, 0x7b9b, 0xe8b1, 0x7b96, 0xe8a5,
+  0x7b92, 0xe89a, 0x7b8d, 0xe88e, 0x7b88, 0xe882, 0x7b84, 0xe877,
+  0x7b7f, 0xe86b, 0x7b7b, 0xe85f, 0x7b76, 0xe854, 0x7b71, 0xe848,
+  0x7b6d, 0xe83c, 0x7b68, 0xe831, 0x7b63, 0xe825, 0x7b5f, 0xe819,
+  0x7b5a, 0xe80e, 0x7b55, 0xe802, 0x7b50, 0xe7f6, 0x7b4c, 0xe7eb,
+  0x7b47, 0xe7df, 0x7b42, 0xe7d3, 0x7b3e, 0xe7c8, 0x7b39, 0xe7bc,
+  0x7b34, 0xe7b1, 0x7b2f, 0xe7a5, 0x7b2a, 0xe799, 0x7b26, 0xe78e,
+  0x7b21, 0xe782, 0x7b1c, 0xe777, 0x7b17, 0xe76b, 0x7b12, 0xe75f,
+  0x7b0e, 0xe754, 0x7b09, 0xe748, 0x7b04, 0xe73d, 0x7aff, 0xe731,
+  0x7afa, 0xe725, 0x7af5, 0xe71a, 0x7af0, 0xe70e, 0x7aeb, 0xe703,
+  0x7ae6, 0xe6f7, 0x7ae2, 0xe6ec, 0x7add, 0xe6e0, 0x7ad8, 0xe6d4,
+  0x7ad3, 0xe6c9, 0x7ace, 0xe6bd, 0x7ac9, 0xe6b2, 0x7ac4, 0xe6a6,
+  0x7abf, 0xe69b, 0x7aba, 0xe68f, 0x7ab5, 0xe684, 0x7ab0, 0xe678,
+  0x7aab, 0xe66d, 0x7aa6, 0xe661, 0x7aa1, 0xe656, 0x7a9c, 0xe64a,
+  0x7a97, 0xe63f, 0x7a92, 0xe633, 0x7a8d, 0xe628, 0x7a88, 0xe61c,
+  0x7a82, 0xe611, 0x7a7d, 0xe605, 0x7a78, 0xe5fa, 0x7a73, 0xe5ee,
+  0x7a6e, 0xe5e3, 0x7a69, 0xe5d7, 0x7a64, 0xe5cc, 0x7a5f, 0xe5c0,
+  0x7a59, 0xe5b5, 0x7a54, 0xe5a9, 0x7a4f, 0xe59e, 0x7a4a, 0xe592,
+  0x7a45, 0xe587, 0x7a3f, 0xe57c, 0x7a3a, 0xe570, 0x7a35, 0xe565,
+  0x7a30, 0xe559, 0x7a2b, 0xe54e, 0x7a25, 0xe542, 0x7a20, 0xe537,
+  0x7a1b, 0xe52c, 0x7a16, 0xe520, 0x7a10, 0xe515, 0x7a0b, 0xe509,
+  0x7a06, 0xe4fe, 0x7a00, 0xe4f3, 0x79fb, 0xe4e7, 0x79f6, 0xe4dc,
+  0x79f0, 0xe4d0, 0x79eb, 0xe4c5, 0x79e6, 0xe4ba, 0x79e0, 0xe4ae,
+  0x79db, 0xe4a3, 0x79d6, 0xe498, 0x79d0, 0xe48c, 0x79cb, 0xe481,
+  0x79c5, 0xe476, 0x79c0, 0xe46a, 0x79bb, 0xe45f, 0x79b5, 0xe454,
+  0x79b0, 0xe448, 0x79aa, 0xe43d, 0x79a5, 0xe432, 0x799f, 0xe426,
+  0x799a, 0xe41b, 0x7994, 0xe410, 0x798f, 0xe404, 0x7989, 0xe3f9,
+  0x7984, 0xe3ee, 0x797e, 0xe3e2, 0x7979, 0xe3d7, 0x7973, 0xe3cc,
+  0x796e, 0xe3c1, 0x7968, 0xe3b5, 0x7963, 0xe3aa, 0x795d, 0xe39f,
+  0x7958, 0xe394, 0x7952, 0xe388, 0x794c, 0xe37d, 0x7947, 0xe372,
+  0x7941, 0xe367, 0x793b, 0xe35b, 0x7936, 0xe350, 0x7930, 0xe345,
+  0x792b, 0xe33a, 0x7925, 0xe32e, 0x791f, 0xe323, 0x791a, 0xe318,
+  0x7914, 0xe30d, 0x790e, 0xe301, 0x7909, 0xe2f6, 0x7903, 0xe2eb,
+  0x78fd, 0xe2e0, 0x78f7, 0xe2d5, 0x78f2, 0xe2ca, 0x78ec, 0xe2be,
+  0x78e6, 0xe2b3, 0x78e0, 0xe2a8, 0x78db, 0xe29d, 0x78d5, 0xe292,
+  0x78cf, 0xe287, 0x78c9, 0xe27b, 0x78c3, 0xe270, 0x78be, 0xe265,
+  0x78b8, 0xe25a, 0x78b2, 0xe24f, 0x78ac, 0xe244, 0x78a6, 0xe239,
+  0x78a1, 0xe22d, 0x789b, 0xe222, 0x7895, 0xe217, 0x788f, 0xe20c,
+  0x7889, 0xe201, 0x7883, 0xe1f6, 0x787d, 0xe1eb, 0x7877, 0xe1e0,
+  0x7871, 0xe1d5, 0x786b, 0xe1ca, 0x7866, 0xe1be, 0x7860, 0xe1b3,
+  0x785a, 0xe1a8, 0x7854, 0xe19d, 0x784e, 0xe192, 0x7848, 0xe187,
+  0x7842, 0xe17c, 0x783c, 0xe171, 0x7836, 0xe166, 0x7830, 0xe15b,
+  0x782a, 0xe150, 0x7824, 0xe145, 0x781e, 0xe13a, 0x7818, 0xe12f,
+  0x7812, 0xe124, 0x780b, 0xe119, 0x7805, 0xe10e, 0x77ff, 0xe103,
+  0x77f9, 0xe0f8, 0x77f3, 0xe0ed, 0x77ed, 0xe0e2, 0x77e7, 0xe0d7,
+  0x77e1, 0xe0cc, 0x77db, 0xe0c1, 0x77d5, 0xe0b6, 0x77ce, 0xe0ab,
+  0x77c8, 0xe0a0, 0x77c2, 0xe095, 0x77bc, 0xe08a, 0x77b6, 0xe07f,
+  0x77b0, 0xe074, 0x77a9, 0xe069, 0x77a3, 0xe05e, 0x779d, 0xe054,
+  0x7797, 0xe049, 0x7790, 0xe03e, 0x778a, 0xe033, 0x7784, 0xe028,
+  0x777e, 0xe01d, 0x7777, 0xe012, 0x7771, 0xe007, 0x776b, 0xdffc,
+  0x7765, 0xdff1, 0x775e, 0xdfe7, 0x7758, 0xdfdc, 0x7752, 0xdfd1,
+  0x774b, 0xdfc6, 0x7745, 0xdfbb, 0x773f, 0xdfb0, 0x7738, 0xdfa5,
+  0x7732, 0xdf9b, 0x772c, 0xdf90, 0x7725, 0xdf85, 0x771f, 0xdf7a,
+  0x7718, 0xdf6f, 0x7712, 0xdf65, 0x770c, 0xdf5a, 0x7705, 0xdf4f,
+  0x76ff, 0xdf44, 0x76f8, 0xdf39, 0x76f2, 0xdf2f, 0x76eb, 0xdf24,
+  0x76e5, 0xdf19, 0x76df, 0xdf0e, 0x76d8, 0xdf03, 0x76d2, 0xdef9,
+  0x76cb, 0xdeee, 0x76c5, 0xdee3, 0x76be, 0xded8, 0x76b8, 0xdece,
+  0x76b1, 0xdec3, 0x76ab, 0xdeb8, 0x76a4, 0xdead, 0x769d, 0xdea3,
+  0x7697, 0xde98, 0x7690, 0xde8d, 0x768a, 0xde83, 0x7683, 0xde78,
+  0x767d, 0xde6d, 0x7676, 0xde62, 0x766f, 0xde58, 0x7669, 0xde4d,
+  0x7662, 0xde42, 0x765c, 0xde38, 0x7655, 0xde2d, 0x764e, 0xde22,
+  0x7648, 0xde18, 0x7641, 0xde0d, 0x763a, 0xde02, 0x7634, 0xddf8,
+  0x762d, 0xdded, 0x7626, 0xdde2, 0x7620, 0xddd8, 0x7619, 0xddcd,
+  0x7612, 0xddc3, 0x760b, 0xddb8, 0x7605, 0xddad, 0x75fe, 0xdda3,
+  0x75f7, 0xdd98, 0x75f0, 0xdd8e, 0x75ea, 0xdd83, 0x75e3, 0xdd78,
+  0x75dc, 0xdd6e, 0x75d5, 0xdd63, 0x75ce, 0xdd59, 0x75c8, 0xdd4e,
+  0x75c1, 0xdd44, 0x75ba, 0xdd39, 0x75b3, 0xdd2e, 0x75ac, 0xdd24,
+  0x75a5, 0xdd19, 0x759f, 0xdd0f, 0x7598, 0xdd04, 0x7591, 0xdcfa,
+  0x758a, 0xdcef, 0x7583, 0xdce5, 0x757c, 0xdcda, 0x7575, 0xdcd0,
+  0x756e, 0xdcc5, 0x7567, 0xdcbb, 0x7561, 0xdcb0, 0x755a, 0xdca6,
+  0x7553, 0xdc9b, 0x754c, 0xdc91, 0x7545, 0xdc86, 0x753e, 0xdc7c,
+  0x7537, 0xdc72, 0x7530, 0xdc67, 0x7529, 0xdc5d, 0x7522, 0xdc52,
+  0x751b, 0xdc48, 0x7514, 0xdc3d, 0x750d, 0xdc33, 0x7506, 0xdc29,
+  0x74ff, 0xdc1e, 0x74f8, 0xdc14, 0x74f1, 0xdc09, 0x74ea, 0xdbff,
+  0x74e2, 0xdbf5, 0x74db, 0xdbea, 0x74d4, 0xdbe0, 0x74cd, 0xdbd5,
+  0x74c6, 0xdbcb, 0x74bf, 0xdbc1, 0x74b8, 0xdbb6, 0x74b1, 0xdbac,
+  0x74aa, 0xdba2, 0x74a2, 0xdb97, 0x749b, 0xdb8d, 0x7494, 0xdb83,
+  0x748d, 0xdb78, 0x7486, 0xdb6e, 0x747f, 0xdb64, 0x7477, 0xdb59,
+  0x7470, 0xdb4f, 0x7469, 0xdb45, 0x7462, 0xdb3b, 0x745b, 0xdb30,
+  0x7453, 0xdb26, 0x744c, 0xdb1c, 0x7445, 0xdb11, 0x743e, 0xdb07,
+  0x7436, 0xdafd, 0x742f, 0xdaf3, 0x7428, 0xdae8, 0x7420, 0xdade,
+  0x7419, 0xdad4, 0x7412, 0xdaca, 0x740b, 0xdabf, 0x7403, 0xdab5,
+  0x73fc, 0xdaab, 0x73f5, 0xdaa1, 0x73ed, 0xda97, 0x73e6, 0xda8c,
+  0x73df, 0xda82, 0x73d7, 0xda78, 0x73d0, 0xda6e, 0x73c8, 0xda64,
+  0x73c1, 0xda5a, 0x73ba, 0xda4f, 0x73b2, 0xda45, 0x73ab, 0xda3b,
+  0x73a3, 0xda31, 0x739c, 0xda27, 0x7395, 0xda1d, 0x738d, 0xda13,
+  0x7386, 0xda08, 0x737e, 0xd9fe, 0x7377, 0xd9f4, 0x736f, 0xd9ea,
+  0x7368, 0xd9e0, 0x7360, 0xd9d6, 0x7359, 0xd9cc, 0x7351, 0xd9c2,
+  0x734a, 0xd9b8, 0x7342, 0xd9ae, 0x733b, 0xd9a4, 0x7333, 0xd99a,
+  0x732c, 0xd98f, 0x7324, 0xd985, 0x731d, 0xd97b, 0x7315, 0xd971,
+  0x730d, 0xd967, 0x7306, 0xd95d, 0x72fe, 0xd953, 0x72f7, 0xd949,
+  0x72ef, 0xd93f, 0x72e7, 0xd935, 0x72e0, 0xd92b, 0x72d8, 0xd921,
+  0x72d0, 0xd917, 0x72c9, 0xd90d, 0x72c1, 0xd903, 0x72ba, 0xd8f9,
+  0x72b2, 0xd8ef, 0x72aa, 0xd8e6, 0x72a3, 0xd8dc, 0x729b, 0xd8d2,
+  0x7293, 0xd8c8, 0x728b, 0xd8be, 0x7284, 0xd8b4, 0x727c, 0xd8aa,
+  0x7274, 0xd8a0, 0x726d, 0xd896, 0x7265, 0xd88c, 0x725d, 0xd882,
+  0x7255, 0xd878, 0x724e, 0xd86f, 0x7246, 0xd865, 0x723e, 0xd85b,
+  0x7236, 0xd851, 0x722e, 0xd847, 0x7227, 0xd83d, 0x721f, 0xd833,
+  0x7217, 0xd82a, 0x720f, 0xd820, 0x7207, 0xd816, 0x71ff, 0xd80c,
+  0x71f8, 0xd802, 0x71f0, 0xd7f8, 0x71e8, 0xd7ef, 0x71e0, 0xd7e5,
+  0x71d8, 0xd7db, 0x71d0, 0xd7d1, 0x71c8, 0xd7c8, 0x71c0, 0xd7be,
+  0x71b9, 0xd7b4, 0x71b1, 0xd7aa, 0x71a9, 0xd7a0, 0x71a1, 0xd797,
+  0x7199, 0xd78d, 0x7191, 0xd783, 0x7189, 0xd77a, 0x7181, 0xd770,
+  0x7179, 0xd766, 0x7171, 0xd75c, 0x7169, 0xd753, 0x7161, 0xd749,
+  0x7159, 0xd73f, 0x7151, 0xd736, 0x7149, 0xd72c, 0x7141, 0xd722,
+  0x7139, 0xd719, 0x7131, 0xd70f, 0x7129, 0xd705, 0x7121, 0xd6fc,
+  0x7119, 0xd6f2, 0x7111, 0xd6e8, 0x7109, 0xd6df, 0x7101, 0xd6d5,
+  0x70f9, 0xd6cb, 0x70f0, 0xd6c2, 0x70e8, 0xd6b8, 0x70e0, 0xd6af,
+  0x70d8, 0xd6a5, 0x70d0, 0xd69b, 0x70c8, 0xd692, 0x70c0, 0xd688,
+  0x70b8, 0xd67f, 0x70af, 0xd675, 0x70a7, 0xd66c, 0x709f, 0xd662,
+  0x7097, 0xd659, 0x708f, 0xd64f, 0x7087, 0xd645, 0x707e, 0xd63c,
+  0x7076, 0xd632, 0x706e, 0xd629, 0x7066, 0xd61f, 0x705d, 0xd616,
+  0x7055, 0xd60c, 0x704d, 0xd603, 0x7045, 0xd5f9, 0x703c, 0xd5f0,
+  0x7034, 0xd5e6, 0x702c, 0xd5dd, 0x7024, 0xd5d4, 0x701b, 0xd5ca,
+  0x7013, 0xd5c1, 0x700b, 0xd5b7, 0x7002, 0xd5ae, 0x6ffa, 0xd5a4,
+  0x6ff2, 0xd59b, 0x6fea, 0xd592, 0x6fe1, 0xd588, 0x6fd9, 0xd57f,
+  0x6fd0, 0xd575, 0x6fc8, 0xd56c, 0x6fc0, 0xd563, 0x6fb7, 0xd559,
+  0x6faf, 0xd550, 0x6fa7, 0xd547, 0x6f9e, 0xd53d, 0x6f96, 0xd534,
+  0x6f8d, 0xd52a, 0x6f85, 0xd521, 0x6f7d, 0xd518, 0x6f74, 0xd50e,
+  0x6f6c, 0xd505, 0x6f63, 0xd4fc, 0x6f5b, 0xd4f3, 0x6f52, 0xd4e9,
+  0x6f4a, 0xd4e0, 0x6f41, 0xd4d7, 0x6f39, 0xd4cd, 0x6f30, 0xd4c4,
+  0x6f28, 0xd4bb, 0x6f20, 0xd4b2, 0x6f17, 0xd4a8, 0x6f0e, 0xd49f,
+  0x6f06, 0xd496, 0x6efd, 0xd48d, 0x6ef5, 0xd483, 0x6eec, 0xd47a,
+  0x6ee4, 0xd471, 0x6edb, 0xd468, 0x6ed3, 0xd45f, 0x6eca, 0xd455,
+  0x6ec2, 0xd44c, 0x6eb9, 0xd443, 0x6eb0, 0xd43a, 0x6ea8, 0xd431,
+  0x6e9f, 0xd428, 0x6e97, 0xd41e, 0x6e8e, 0xd415, 0x6e85, 0xd40c,
+  0x6e7d, 0xd403, 0x6e74, 0xd3fa, 0x6e6b, 0xd3f1, 0x6e63, 0xd3e8,
+  0x6e5a, 0xd3df, 0x6e51, 0xd3d5, 0x6e49, 0xd3cc, 0x6e40, 0xd3c3,
+  0x6e37, 0xd3ba, 0x6e2f, 0xd3b1, 0x6e26, 0xd3a8, 0x6e1d, 0xd39f,
+  0x6e15, 0xd396, 0x6e0c, 0xd38d, 0x6e03, 0xd384, 0x6dfa, 0xd37b,
+  0x6df2, 0xd372, 0x6de9, 0xd369, 0x6de0, 0xd360, 0x6dd7, 0xd357,
+  0x6dcf, 0xd34e, 0x6dc6, 0xd345, 0x6dbd, 0xd33c, 0x6db4, 0xd333,
+  0x6dab, 0xd32a, 0x6da3, 0xd321, 0x6d9a, 0xd318, 0x6d91, 0xd30f,
+  0x6d88, 0xd306, 0x6d7f, 0xd2fd, 0x6d76, 0xd2f4, 0x6d6e, 0xd2eb,
+  0x6d65, 0xd2e2, 0x6d5c, 0xd2d9, 0x6d53, 0xd2d1, 0x6d4a, 0xd2c8,
+  0x6d41, 0xd2bf, 0x6d38, 0xd2b6, 0x6d2f, 0xd2ad, 0x6d27, 0xd2a4,
+  0x6d1e, 0xd29b, 0x6d15, 0xd292, 0x6d0c, 0xd28a, 0x6d03, 0xd281,
+  0x6cfa, 0xd278, 0x6cf1, 0xd26f, 0x6ce8, 0xd266, 0x6cdf, 0xd25d,
+  0x6cd6, 0xd255, 0x6ccd, 0xd24c, 0x6cc4, 0xd243, 0x6cbb, 0xd23a,
+  0x6cb2, 0xd231, 0x6ca9, 0xd229, 0x6ca0, 0xd220, 0x6c97, 0xd217,
+  0x6c8e, 0xd20e, 0x6c85, 0xd206, 0x6c7c, 0xd1fd, 0x6c73, 0xd1f4,
+  0x6c6a, 0xd1eb, 0x6c61, 0xd1e3, 0x6c58, 0xd1da, 0x6c4f, 0xd1d1,
+  0x6c46, 0xd1c9, 0x6c3d, 0xd1c0, 0x6c34, 0xd1b7, 0x6c2b, 0xd1af,
+  0x6c21, 0xd1a6, 0x6c18, 0xd19d, 0x6c0f, 0xd195, 0x6c06, 0xd18c,
+  0x6bfd, 0xd183, 0x6bf4, 0xd17b, 0x6beb, 0xd172, 0x6be2, 0xd169,
+  0x6bd8, 0xd161, 0x6bcf, 0xd158, 0x6bc6, 0xd150, 0x6bbd, 0xd147,
+  0x6bb4, 0xd13e, 0x6bab, 0xd136, 0x6ba1, 0xd12d, 0x6b98, 0xd125,
+  0x6b8f, 0xd11c, 0x6b86, 0xd114, 0x6b7d, 0xd10b, 0x6b73, 0xd103,
+  0x6b6a, 0xd0fa, 0x6b61, 0xd0f2, 0x6b58, 0xd0e9, 0x6b4e, 0xd0e0,
+  0x6b45, 0xd0d8, 0x6b3c, 0xd0d0, 0x6b33, 0xd0c7, 0x6b29, 0xd0bf,
+  0x6b20, 0xd0b6, 0x6b17, 0xd0ae, 0x6b0d, 0xd0a5, 0x6b04, 0xd09d,
+  0x6afb, 0xd094, 0x6af2, 0xd08c, 0x6ae8, 0xd083, 0x6adf, 0xd07b,
+  0x6ad6, 0xd073, 0x6acc, 0xd06a, 0x6ac3, 0xd062, 0x6ab9, 0xd059,
+  0x6ab0, 0xd051, 0x6aa7, 0xd049, 0x6a9d, 0xd040, 0x6a94, 0xd038,
+  0x6a8b, 0xd030, 0x6a81, 0xd027, 0x6a78, 0xd01f, 0x6a6e, 0xd016,
+  0x6a65, 0xd00e, 0x6a5c, 0xd006, 0x6a52, 0xcffe, 0x6a49, 0xcff5,
+  0x6a3f, 0xcfed, 0x6a36, 0xcfe5, 0x6a2c, 0xcfdc, 0x6a23, 0xcfd4,
+  0x6a1a, 0xcfcc, 0x6a10, 0xcfc4, 0x6a07, 0xcfbb, 0x69fd, 0xcfb3,
+  0x69f4, 0xcfab, 0x69ea, 0xcfa3, 0x69e1, 0xcf9a, 0x69d7, 0xcf92,
+  0x69ce, 0xcf8a, 0x69c4, 0xcf82, 0x69bb, 0xcf79, 0x69b1, 0xcf71,
+  0x69a7, 0xcf69, 0x699e, 0xcf61, 0x6994, 0xcf59, 0x698b, 0xcf51,
+  0x6981, 0xcf48, 0x6978, 0xcf40, 0x696e, 0xcf38, 0x6965, 0xcf30,
+  0x695b, 0xcf28, 0x6951, 0xcf20, 0x6948, 0xcf18, 0x693e, 0xcf10,
+  0x6935, 0xcf07, 0x692b, 0xceff, 0x6921, 0xcef7, 0x6918, 0xceef,
+  0x690e, 0xcee7, 0x6904, 0xcedf, 0x68fb, 0xced7, 0x68f1, 0xcecf,
+  0x68e7, 0xcec7, 0x68de, 0xcebf, 0x68d4, 0xceb7, 0x68ca, 0xceaf,
+  0x68c1, 0xcea7, 0x68b7, 0xce9f, 0x68ad, 0xce97, 0x68a4, 0xce8f,
+  0x689a, 0xce87, 0x6890, 0xce7f, 0x6886, 0xce77, 0x687d, 0xce6f,
+  0x6873, 0xce67, 0x6869, 0xce5f, 0x6860, 0xce57, 0x6856, 0xce4f,
+  0x684c, 0xce47, 0x6842, 0xce40, 0x6838, 0xce38, 0x682f, 0xce30,
+  0x6825, 0xce28, 0x681b, 0xce20, 0x6811, 0xce18, 0x6808, 0xce10,
+  0x67fe, 0xce08, 0x67f4, 0xce01, 0x67ea, 0xcdf9, 0x67e0, 0xcdf1,
+  0x67d6, 0xcde9, 0x67cd, 0xcde1, 0x67c3, 0xcdd9, 0x67b9, 0xcdd2,
+  0x67af, 0xcdca, 0x67a5, 0xcdc2, 0x679b, 0xcdba, 0x6791, 0xcdb2,
+  0x6788, 0xcdab, 0x677e, 0xcda3, 0x6774, 0xcd9b, 0x676a, 0xcd93,
+  0x6760, 0xcd8c, 0x6756, 0xcd84, 0x674c, 0xcd7c, 0x6742, 0xcd75,
+  0x6738, 0xcd6d, 0x672e, 0xcd65, 0x6724, 0xcd5d, 0x671a, 0xcd56,
+  0x6711, 0xcd4e, 0x6707, 0xcd46, 0x66fd, 0xcd3f, 0x66f3, 0xcd37,
+  0x66e9, 0xcd30, 0x66df, 0xcd28, 0x66d5, 0xcd20, 0x66cb, 0xcd19,
+  0x66c1, 0xcd11, 0x66b7, 0xcd09, 0x66ad, 0xcd02, 0x66a3, 0xccfa,
+  0x6699, 0xccf3, 0x668f, 0xcceb, 0x6685, 0xcce3, 0x667b, 0xccdc,
+  0x6671, 0xccd4, 0x6666, 0xcccd, 0x665c, 0xccc5, 0x6652, 0xccbe,
+  0x6648, 0xccb6, 0x663e, 0xccaf, 0x6634, 0xcca7, 0x662a, 0xcca0,
+  0x6620, 0xcc98, 0x6616, 0xcc91, 0x660c, 0xcc89, 0x6602, 0xcc82,
+  0x65f8, 0xcc7a, 0x65ed, 0xcc73, 0x65e3, 0xcc6b, 0x65d9, 0xcc64,
+  0x65cf, 0xcc5d, 0x65c5, 0xcc55, 0x65bb, 0xcc4e, 0x65b1, 0xcc46,
+  0x65a6, 0xcc3f, 0x659c, 0xcc38, 0x6592, 0xcc30, 0x6588, 0xcc29,
+  0x657e, 0xcc21, 0x6574, 0xcc1a, 0x6569, 0xcc13, 0x655f, 0xcc0b,
+  0x6555, 0xcc04, 0x654b, 0xcbfd, 0x6541, 0xcbf5, 0x6536, 0xcbee,
+  0x652c, 0xcbe7, 0x6522, 0xcbe0, 0x6518, 0xcbd8, 0x650d, 0xcbd1,
+  0x6503, 0xcbca, 0x64f9, 0xcbc2, 0x64ef, 0xcbbb, 0x64e4, 0xcbb4,
+  0x64da, 0xcbad, 0x64d0, 0xcba5, 0x64c5, 0xcb9e, 0x64bb, 0xcb97,
+  0x64b1, 0xcb90, 0x64a7, 0xcb89, 0x649c, 0xcb81, 0x6492, 0xcb7a,
+  0x6488, 0xcb73, 0x647d, 0xcb6c, 0x6473, 0xcb65, 0x6469, 0xcb5e,
+  0x645e, 0xcb56, 0x6454, 0xcb4f, 0x644a, 0xcb48, 0x643f, 0xcb41,
+  0x6435, 0xcb3a, 0x642b, 0xcb33, 0x6420, 0xcb2c, 0x6416, 0xcb25,
+  0x640b, 0xcb1e, 0x6401, 0xcb16, 0x63f7, 0xcb0f, 0x63ec, 0xcb08,
+  0x63e2, 0xcb01, 0x63d7, 0xcafa, 0x63cd, 0xcaf3, 0x63c3, 0xcaec,
+  0x63b8, 0xcae5, 0x63ae, 0xcade, 0x63a3, 0xcad7, 0x6399, 0xcad0,
+  0x638e, 0xcac9, 0x6384, 0xcac2, 0x637a, 0xcabb, 0x636f, 0xcab4,
+  0x6365, 0xcaad, 0x635a, 0xcaa6, 0x6350, 0xca9f, 0x6345, 0xca99,
+  0x633b, 0xca92, 0x6330, 0xca8b, 0x6326, 0xca84, 0x631b, 0xca7d,
+  0x6311, 0xca76, 0x6306, 0xca6f, 0x62fc, 0xca68, 0x62f1, 0xca61,
+  0x62e7, 0xca5b, 0x62dc, 0xca54, 0x62d2, 0xca4d, 0x62c7, 0xca46,
+  0x62bc, 0xca3f, 0x62b2, 0xca38, 0x62a7, 0xca32, 0x629d, 0xca2b,
+  0x6292, 0xca24, 0x6288, 0xca1d, 0x627d, 0xca16, 0x6272, 0xca10,
+  0x6268, 0xca09, 0x625d, 0xca02, 0x6253, 0xc9fb, 0x6248, 0xc9f5,
+  0x623d, 0xc9ee, 0x6233, 0xc9e7, 0x6228, 0xc9e0, 0x621e, 0xc9da,
+  0x6213, 0xc9d3, 0x6208, 0xc9cc, 0x61fe, 0xc9c6, 0x61f3, 0xc9bf,
+  0x61e8, 0xc9b8, 0x61de, 0xc9b2, 0x61d3, 0xc9ab, 0x61c8, 0xc9a4,
+  0x61be, 0xc99e, 0x61b3, 0xc997, 0x61a8, 0xc991, 0x619e, 0xc98a,
+  0x6193, 0xc983, 0x6188, 0xc97d, 0x617d, 0xc976, 0x6173, 0xc970,
+  0x6168, 0xc969, 0x615d, 0xc963, 0x6153, 0xc95c, 0x6148, 0xc955,
+  0x613d, 0xc94f, 0x6132, 0xc948, 0x6128, 0xc942, 0x611d, 0xc93b,
+  0x6112, 0xc935, 0x6107, 0xc92e, 0x60fd, 0xc928, 0x60f2, 0xc921,
+  0x60e7, 0xc91b, 0x60dc, 0xc915, 0x60d1, 0xc90e, 0x60c7, 0xc908,
+  0x60bc, 0xc901, 0x60b1, 0xc8fb, 0x60a6, 0xc8f4, 0x609b, 0xc8ee,
+  0x6091, 0xc8e8, 0x6086, 0xc8e1, 0x607b, 0xc8db, 0x6070, 0xc8d4,
+  0x6065, 0xc8ce, 0x605b, 0xc8c8, 0x6050, 0xc8c1, 0x6045, 0xc8bb,
+  0x603a, 0xc8b5, 0x602f, 0xc8ae, 0x6024, 0xc8a8, 0x6019, 0xc8a2,
+  0x600f, 0xc89b, 0x6004, 0xc895, 0x5ff9, 0xc88f, 0x5fee, 0xc889,
+  0x5fe3, 0xc882, 0x5fd8, 0xc87c, 0x5fcd, 0xc876, 0x5fc2, 0xc870,
+  0x5fb7, 0xc869, 0x5fac, 0xc863, 0x5fa2, 0xc85d, 0x5f97, 0xc857,
+  0x5f8c, 0xc850, 0x5f81, 0xc84a, 0x5f76, 0xc844, 0x5f6b, 0xc83e,
+  0x5f60, 0xc838, 0x5f55, 0xc832, 0x5f4a, 0xc82b, 0x5f3f, 0xc825,
+  0x5f34, 0xc81f, 0x5f29, 0xc819, 0x5f1e, 0xc813, 0x5f13, 0xc80d,
+  0x5f08, 0xc807, 0x5efd, 0xc801, 0x5ef2, 0xc7fb, 0x5ee7, 0xc7f5,
+  0x5edc, 0xc7ee, 0x5ed1, 0xc7e8, 0x5ec6, 0xc7e2, 0x5ebb, 0xc7dc,
+  0x5eb0, 0xc7d6, 0x5ea5, 0xc7d0, 0x5e9a, 0xc7ca, 0x5e8f, 0xc7c4,
+  0x5e84, 0xc7be, 0x5e79, 0xc7b8, 0x5e6e, 0xc7b2, 0x5e63, 0xc7ac,
+  0x5e58, 0xc7a6, 0x5e4d, 0xc7a0, 0x5e42, 0xc79a, 0x5e36, 0xc795,
+  0x5e2b, 0xc78f, 0x5e20, 0xc789, 0x5e15, 0xc783, 0x5e0a, 0xc77d,
+  0x5dff, 0xc777, 0x5df4, 0xc771, 0x5de9, 0xc76b, 0x5dde, 0xc765,
+  0x5dd3, 0xc75f, 0x5dc7, 0xc75a, 0x5dbc, 0xc754, 0x5db1, 0xc74e,
+  0x5da6, 0xc748, 0x5d9b, 0xc742, 0x5d90, 0xc73d, 0x5d85, 0xc737,
+  0x5d79, 0xc731, 0x5d6e, 0xc72b, 0x5d63, 0xc725, 0x5d58, 0xc720,
+  0x5d4d, 0xc71a, 0x5d42, 0xc714, 0x5d36, 0xc70e, 0x5d2b, 0xc709,
+  0x5d20, 0xc703, 0x5d15, 0xc6fd, 0x5d0a, 0xc6f7, 0x5cff, 0xc6f2,
+  0x5cf3, 0xc6ec, 0x5ce8, 0xc6e6, 0x5cdd, 0xc6e1, 0x5cd2, 0xc6db,
+  0x5cc6, 0xc6d5, 0x5cbb, 0xc6d0, 0x5cb0, 0xc6ca, 0x5ca5, 0xc6c5,
+  0x5c99, 0xc6bf, 0x5c8e, 0xc6b9, 0x5c83, 0xc6b4, 0x5c78, 0xc6ae,
+  0x5c6c, 0xc6a8, 0x5c61, 0xc6a3, 0x5c56, 0xc69d, 0x5c4b, 0xc698,
+  0x5c3f, 0xc692, 0x5c34, 0xc68d, 0x5c29, 0xc687, 0x5c1e, 0xc682,
+  0x5c12, 0xc67c, 0x5c07, 0xc677, 0x5bfc, 0xc671, 0x5bf0, 0xc66c,
+  0x5be5, 0xc666, 0x5bda, 0xc661, 0x5bce, 0xc65b, 0x5bc3, 0xc656,
+  0x5bb8, 0xc650, 0x5bac, 0xc64b, 0x5ba1, 0xc645, 0x5b96, 0xc640,
+  0x5b8a, 0xc63b, 0x5b7f, 0xc635, 0x5b74, 0xc630, 0x5b68, 0xc62a,
+  0x5b5d, 0xc625, 0x5b52, 0xc620, 0x5b46, 0xc61a, 0x5b3b, 0xc615,
+  0x5b30, 0xc610, 0x5b24, 0xc60a, 0x5b19, 0xc605, 0x5b0d, 0xc600,
+  0x5b02, 0xc5fa, 0x5af7, 0xc5f5, 0x5aeb, 0xc5f0, 0x5ae0, 0xc5ea,
+  0x5ad4, 0xc5e5, 0x5ac9, 0xc5e0, 0x5abe, 0xc5db, 0x5ab2, 0xc5d5,
+  0x5aa7, 0xc5d0, 0x5a9b, 0xc5cb, 0x5a90, 0xc5c6, 0x5a84, 0xc5c1,
+  0x5a79, 0xc5bb, 0x5a6e, 0xc5b6, 0x5a62, 0xc5b1, 0x5a57, 0xc5ac,
+  0x5a4b, 0xc5a7, 0x5a40, 0xc5a1, 0x5a34, 0xc59c, 0x5a29, 0xc597,
+  0x5a1d, 0xc592, 0x5a12, 0xc58d, 0x5a06, 0xc588, 0x59fb, 0xc583,
+  0x59ef, 0xc57e, 0x59e4, 0xc578, 0x59d8, 0xc573, 0x59cd, 0xc56e,
+  0x59c1, 0xc569, 0x59b6, 0xc564, 0x59aa, 0xc55f, 0x599f, 0xc55a,
+  0x5993, 0xc555, 0x5988, 0xc550, 0x597c, 0xc54b, 0x5971, 0xc546,
+  0x5965, 0xc541, 0x595a, 0xc53c, 0x594e, 0xc537, 0x5943, 0xc532,
+  0x5937, 0xc52d, 0x592c, 0xc528, 0x5920, 0xc523, 0x5914, 0xc51e,
+  0x5909, 0xc51a, 0x58fd, 0xc515, 0x58f2, 0xc510, 0x58e6, 0xc50b,
+  0x58db, 0xc506, 0x58cf, 0xc501, 0x58c3, 0xc4fc, 0x58b8, 0xc4f7,
+  0x58ac, 0xc4f2, 0x58a1, 0xc4ee, 0x5895, 0xc4e9, 0x5889, 0xc4e4,
+  0x587e, 0xc4df, 0x5872, 0xc4da, 0x5867, 0xc4d6, 0x585b, 0xc4d1,
+  0x584f, 0xc4cc, 0x5844, 0xc4c7, 0x5838, 0xc4c2, 0x582d, 0xc4be,
+  0x5821, 0xc4b9, 0x5815, 0xc4b4, 0x580a, 0xc4b0, 0x57fe, 0xc4ab,
+  0x57f2, 0xc4a6, 0x57e7, 0xc4a1, 0x57db, 0xc49d, 0x57cf, 0xc498,
+  0x57c4, 0xc493, 0x57b8, 0xc48f, 0x57ac, 0xc48a, 0x57a1, 0xc485,
+  0x5795, 0xc481, 0x5789, 0xc47c, 0x577e, 0xc478, 0x5772, 0xc473,
+  0x5766, 0xc46e, 0x575b, 0xc46a, 0x574f, 0xc465, 0x5743, 0xc461,
+  0x5737, 0xc45c, 0x572c, 0xc457, 0x5720, 0xc453, 0x5714, 0xc44e,
+  0x5709, 0xc44a, 0x56fd, 0xc445, 0x56f1, 0xc441, 0x56e5, 0xc43c,
+  0x56da, 0xc438, 0x56ce, 0xc433, 0x56c2, 0xc42f, 0x56b6, 0xc42a,
+  0x56ab, 0xc426, 0x569f, 0xc422, 0x5693, 0xc41d, 0x5687, 0xc419,
+  0x567c, 0xc414, 0x5670, 0xc410, 0x5664, 0xc40b, 0x5658, 0xc407,
+  0x564c, 0xc403, 0x5641, 0xc3fe, 0x5635, 0xc3fa, 0x5629, 0xc3f6,
+  0x561d, 0xc3f1, 0x5612, 0xc3ed, 0x5606, 0xc3e9, 0x55fa, 0xc3e4,
+  0x55ee, 0xc3e0, 0x55e2, 0xc3dc, 0x55d7, 0xc3d7, 0x55cb, 0xc3d3,
+  0x55bf, 0xc3cf, 0x55b3, 0xc3ca, 0x55a7, 0xc3c6, 0x559b, 0xc3c2,
+  0x5590, 0xc3be, 0x5584, 0xc3ba, 0x5578, 0xc3b5, 0x556c, 0xc3b1,
+  0x5560, 0xc3ad, 0x5554, 0xc3a9, 0x5549, 0xc3a5, 0x553d, 0xc3a0,
+  0x5531, 0xc39c, 0x5525, 0xc398, 0x5519, 0xc394, 0x550d, 0xc390,
+  0x5501, 0xc38c, 0x54f6, 0xc387, 0x54ea, 0xc383, 0x54de, 0xc37f,
+  0x54d2, 0xc37b, 0x54c6, 0xc377, 0x54ba, 0xc373, 0x54ae, 0xc36f,
+  0x54a2, 0xc36b, 0x5496, 0xc367, 0x548b, 0xc363, 0x547f, 0xc35f,
+  0x5473, 0xc35b, 0x5467, 0xc357, 0x545b, 0xc353, 0x544f, 0xc34f,
+  0x5443, 0xc34b, 0x5437, 0xc347, 0x542b, 0xc343, 0x541f, 0xc33f,
+  0x5413, 0xc33b, 0x5407, 0xc337, 0x53fb, 0xc333, 0x53f0, 0xc32f,
+  0x53e4, 0xc32b, 0x53d8, 0xc327, 0x53cc, 0xc323, 0x53c0, 0xc320,
+  0x53b4, 0xc31c, 0x53a8, 0xc318, 0x539c, 0xc314, 0x5390, 0xc310,
+  0x5384, 0xc30c, 0x5378, 0xc308, 0x536c, 0xc305, 0x5360, 0xc301,
+  0x5354, 0xc2fd, 0x5348, 0xc2f9, 0x533c, 0xc2f5, 0x5330, 0xc2f2,
+  0x5324, 0xc2ee, 0x5318, 0xc2ea, 0x530c, 0xc2e6, 0x5300, 0xc2e3,
+  0x52f4, 0xc2df, 0x52e8, 0xc2db, 0x52dc, 0xc2d8, 0x52d0, 0xc2d4,
+  0x52c4, 0xc2d0, 0x52b8, 0xc2cc, 0x52ac, 0xc2c9, 0x52a0, 0xc2c5,
+  0x5294, 0xc2c1, 0x5288, 0xc2be, 0x527c, 0xc2ba, 0x5270, 0xc2b7,
+  0x5264, 0xc2b3, 0x5258, 0xc2af, 0x524c, 0xc2ac, 0x5240, 0xc2a8,
+  0x5234, 0xc2a5, 0x5228, 0xc2a1, 0x521c, 0xc29d, 0x5210, 0xc29a,
+  0x5204, 0xc296, 0x51f7, 0xc293, 0x51eb, 0xc28f, 0x51df, 0xc28c,
+  0x51d3, 0xc288, 0x51c7, 0xc285, 0x51bb, 0xc281, 0x51af, 0xc27e,
+  0x51a3, 0xc27a, 0x5197, 0xc277, 0x518b, 0xc273, 0x517f, 0xc270,
+  0x5173, 0xc26d, 0x5167, 0xc269, 0x515a, 0xc266, 0x514e, 0xc262,
+  0x5142, 0xc25f, 0x5136, 0xc25c, 0x512a, 0xc258, 0x511e, 0xc255,
+  0x5112, 0xc251, 0x5106, 0xc24e, 0x50fa, 0xc24b, 0x50ed, 0xc247,
+  0x50e1, 0xc244, 0x50d5, 0xc241, 0x50c9, 0xc23e, 0x50bd, 0xc23a,
+  0x50b1, 0xc237, 0x50a5, 0xc234, 0x5099, 0xc230, 0x508c, 0xc22d,
+  0x5080, 0xc22a, 0x5074, 0xc227, 0x5068, 0xc223, 0x505c, 0xc220,
+  0x5050, 0xc21d, 0x5044, 0xc21a, 0x5037, 0xc217, 0x502b, 0xc213,
+  0x501f, 0xc210, 0x5013, 0xc20d, 0x5007, 0xc20a, 0x4ffb, 0xc207,
+  0x4fee, 0xc204, 0x4fe2, 0xc201, 0x4fd6, 0xc1fd, 0x4fca, 0xc1fa,
+  0x4fbe, 0xc1f7, 0x4fb2, 0xc1f4, 0x4fa5, 0xc1f1, 0x4f99, 0xc1ee,
+  0x4f8d, 0xc1eb, 0x4f81, 0xc1e8, 0x4f75, 0xc1e5, 0x4f68, 0xc1e2,
+  0x4f5c, 0xc1df, 0x4f50, 0xc1dc, 0x4f44, 0xc1d9, 0x4f38, 0xc1d6,
+  0x4f2b, 0xc1d3, 0x4f1f, 0xc1d0, 0x4f13, 0xc1cd, 0x4f07, 0xc1ca,
+  0x4efb, 0xc1c7, 0x4eee, 0xc1c4, 0x4ee2, 0xc1c1, 0x4ed6, 0xc1be,
+  0x4eca, 0xc1bb, 0x4ebd, 0xc1b8, 0x4eb1, 0xc1b6, 0x4ea5, 0xc1b3,
+  0x4e99, 0xc1b0, 0x4e8c, 0xc1ad, 0x4e80, 0xc1aa, 0x4e74, 0xc1a7,
+  0x4e68, 0xc1a4, 0x4e5c, 0xc1a2, 0x4e4f, 0xc19f, 0x4e43, 0xc19c,
+  0x4e37, 0xc199, 0x4e2b, 0xc196, 0x4e1e, 0xc194, 0x4e12, 0xc191,
+  0x4e06, 0xc18e, 0x4df9, 0xc18b, 0x4ded, 0xc189, 0x4de1, 0xc186,
+  0x4dd5, 0xc183, 0x4dc8, 0xc180, 0x4dbc, 0xc17e, 0x4db0, 0xc17b,
+  0x4da4, 0xc178, 0x4d97, 0xc176, 0x4d8b, 0xc173, 0x4d7f, 0xc170,
+  0x4d72, 0xc16e, 0x4d66, 0xc16b, 0x4d5a, 0xc168, 0x4d4e, 0xc166,
+  0x4d41, 0xc163, 0x4d35, 0xc161, 0x4d29, 0xc15e, 0x4d1c, 0xc15b,
+  0x4d10, 0xc159, 0x4d04, 0xc156, 0x4cf8, 0xc154, 0x4ceb, 0xc151,
+  0x4cdf, 0xc14f, 0x4cd3, 0xc14c, 0x4cc6, 0xc14a, 0x4cba, 0xc147,
+  0x4cae, 0xc145, 0x4ca1, 0xc142, 0x4c95, 0xc140, 0x4c89, 0xc13d,
+  0x4c7c, 0xc13b, 0x4c70, 0xc138, 0x4c64, 0xc136, 0x4c57, 0xc134,
+  0x4c4b, 0xc131, 0x4c3f, 0xc12f, 0x4c32, 0xc12c, 0x4c26, 0xc12a,
+  0x4c1a, 0xc128, 0x4c0d, 0xc125, 0x4c01, 0xc123, 0x4bf5, 0xc120,
+  0x4be8, 0xc11e, 0x4bdc, 0xc11c, 0x4bd0, 0xc119, 0x4bc3, 0xc117,
+  0x4bb7, 0xc115, 0x4bab, 0xc113, 0x4b9e, 0xc110, 0x4b92, 0xc10e,
+  0x4b85, 0xc10c, 0x4b79, 0xc109, 0x4b6d, 0xc107, 0x4b60, 0xc105,
+  0x4b54, 0xc103, 0x4b48, 0xc100, 0x4b3b, 0xc0fe, 0x4b2f, 0xc0fc,
+  0x4b23, 0xc0fa, 0x4b16, 0xc0f8, 0x4b0a, 0xc0f6, 0x4afd, 0xc0f3,
+  0x4af1, 0xc0f1, 0x4ae5, 0xc0ef, 0x4ad8, 0xc0ed, 0x4acc, 0xc0eb,
+  0x4ac0, 0xc0e9, 0x4ab3, 0xc0e7, 0x4aa7, 0xc0e4, 0x4a9a, 0xc0e2,
+  0x4a8e, 0xc0e0, 0x4a82, 0xc0de, 0x4a75, 0xc0dc, 0x4a69, 0xc0da,
+  0x4a5c, 0xc0d8, 0x4a50, 0xc0d6, 0x4a44, 0xc0d4, 0x4a37, 0xc0d2,
+  0x4a2b, 0xc0d0, 0x4a1e, 0xc0ce, 0x4a12, 0xc0cc, 0x4a06, 0xc0ca,
+  0x49f9, 0xc0c8, 0x49ed, 0xc0c6, 0x49e0, 0xc0c4, 0x49d4, 0xc0c2,
+  0x49c7, 0xc0c0, 0x49bb, 0xc0be, 0x49af, 0xc0bd, 0x49a2, 0xc0bb,
+  0x4996, 0xc0b9, 0x4989, 0xc0b7, 0x497d, 0xc0b5, 0x4970, 0xc0b3,
+  0x4964, 0xc0b1, 0x4958, 0xc0af, 0x494b, 0xc0ae, 0x493f, 0xc0ac,
+  0x4932, 0xc0aa, 0x4926, 0xc0a8, 0x4919, 0xc0a6, 0x490d, 0xc0a5,
+  0x4901, 0xc0a3, 0x48f4, 0xc0a1, 0x48e8, 0xc09f, 0x48db, 0xc09e,
+  0x48cf, 0xc09c, 0x48c2, 0xc09a, 0x48b6, 0xc098, 0x48a9, 0xc097,
+  0x489d, 0xc095, 0x4891, 0xc093, 0x4884, 0xc092, 0x4878, 0xc090,
+  0x486b, 0xc08e, 0x485f, 0xc08d, 0x4852, 0xc08b, 0x4846, 0xc089,
+  0x4839, 0xc088, 0x482d, 0xc086, 0x4820, 0xc085, 0x4814, 0xc083,
+  0x4807, 0xc081, 0x47fb, 0xc080, 0x47ef, 0xc07e, 0x47e2, 0xc07d,
+  0x47d6, 0xc07b, 0x47c9, 0xc07a, 0x47bd, 0xc078, 0x47b0, 0xc077,
+  0x47a4, 0xc075, 0x4797, 0xc074, 0x478b, 0xc072, 0x477e, 0xc071,
+  0x4772, 0xc06f, 0x4765, 0xc06e, 0x4759, 0xc06c, 0x474c, 0xc06b,
+  0x4740, 0xc069, 0x4733, 0xc068, 0x4727, 0xc067, 0x471a, 0xc065,
+  0x470e, 0xc064, 0x4701, 0xc062, 0x46f5, 0xc061, 0x46e8, 0xc060,
+  0x46dc, 0xc05e, 0x46cf, 0xc05d, 0x46c3, 0xc05c, 0x46b6, 0xc05a,
+  0x46aa, 0xc059, 0x469d, 0xc058, 0x4691, 0xc056, 0x4684, 0xc055,
+  0x4678, 0xc054, 0x466b, 0xc053, 0x465f, 0xc051, 0x4652, 0xc050,
+  0x4646, 0xc04f, 0x4639, 0xc04e, 0x462d, 0xc04c, 0x4620, 0xc04b,
+  0x4614, 0xc04a, 0x4607, 0xc049, 0x45fb, 0xc048, 0x45ee, 0xc047,
+  0x45e2, 0xc045, 0x45d5, 0xc044, 0x45c9, 0xc043, 0x45bc, 0xc042,
+  0x45b0, 0xc041, 0x45a3, 0xc040, 0x4597, 0xc03f, 0x458a, 0xc03d,
+  0x457e, 0xc03c, 0x4571, 0xc03b, 0x4565, 0xc03a, 0x4558, 0xc039,
+  0x454c, 0xc038, 0x453f, 0xc037, 0x4533, 0xc036, 0x4526, 0xc035,
+  0x451a, 0xc034, 0x450d, 0xc033, 0x4500, 0xc032, 0x44f4, 0xc031,
+  0x44e7, 0xc030, 0x44db, 0xc02f, 0x44ce, 0xc02e, 0x44c2, 0xc02d,
+  0x44b5, 0xc02c, 0x44a9, 0xc02b, 0x449c, 0xc02b, 0x4490, 0xc02a,
+  0x4483, 0xc029, 0x4477, 0xc028, 0x446a, 0xc027, 0x445e, 0xc026,
+  0x4451, 0xc025, 0x4444, 0xc024, 0x4438, 0xc024, 0x442b, 0xc023,
+  0x441f, 0xc022, 0x4412, 0xc021, 0x4406, 0xc020, 0x43f9, 0xc020,
+  0x43ed, 0xc01f, 0x43e0, 0xc01e, 0x43d4, 0xc01d, 0x43c7, 0xc01d,
+  0x43bb, 0xc01c, 0x43ae, 0xc01b, 0x43a1, 0xc01a, 0x4395, 0xc01a,
+  0x4388, 0xc019, 0x437c, 0xc018, 0x436f, 0xc018, 0x4363, 0xc017,
+  0x4356, 0xc016, 0x434a, 0xc016, 0x433d, 0xc015, 0x4330, 0xc014,
+  0x4324, 0xc014, 0x4317, 0xc013, 0x430b, 0xc013, 0x42fe, 0xc012,
+  0x42f2, 0xc011, 0x42e5, 0xc011, 0x42d9, 0xc010, 0x42cc, 0xc010,
+  0x42c0, 0xc00f, 0x42b3, 0xc00f, 0x42a6, 0xc00e, 0x429a, 0xc00e,
+  0x428d, 0xc00d, 0x4281, 0xc00d, 0x4274, 0xc00c, 0x4268, 0xc00c,
+  0x425b, 0xc00b, 0x424e, 0xc00b, 0x4242, 0xc00a, 0x4235, 0xc00a,
+  0x4229, 0xc009, 0x421c, 0xc009, 0x4210, 0xc009, 0x4203, 0xc008,
+  0x41f7, 0xc008, 0x41ea, 0xc007, 0x41dd, 0xc007, 0x41d1, 0xc007,
+  0x41c4, 0xc006, 0x41b8, 0xc006, 0x41ab, 0xc006, 0x419f, 0xc005,
+  0x4192, 0xc005, 0x4186, 0xc005, 0x4179, 0xc004, 0x416c, 0xc004,
+  0x4160, 0xc004, 0x4153, 0xc004, 0x4147, 0xc003, 0x413a, 0xc003,
+  0x412e, 0xc003, 0x4121, 0xc003, 0x4114, 0xc002, 0x4108, 0xc002,
+  0x40fb, 0xc002, 0x40ef, 0xc002, 0x40e2, 0xc002, 0x40d6, 0xc001,
+  0x40c9, 0xc001, 0x40bc, 0xc001, 0x40b0, 0xc001, 0x40a3, 0xc001,
+  0x4097, 0xc001, 0x408a, 0xc001, 0x407e, 0xc000, 0x4071, 0xc000,
+  0x4065, 0xc000, 0x4058, 0xc000, 0x404b, 0xc000, 0x403f, 0xc000,
+  0x4032, 0xc000, 0x4026, 0xc000, 0x4019, 0xc000, 0x400d, 0xc000,
+};
+
+/**    
+* @brief  Initialization function for the Q15 RFFT/RIFFT.   
+* @param[in, out] *S             points to an instance of the Q15 RFFT/RIFFT structure.   
+* @param[in]      *S_CFFT        points to an instance of the Q15 CFFT/CIFFT structure.   
+* @param[in]      fftLenReal     length of the FFT.   
+* @param[in]      ifftFlagR      flag that selects forward (ifftFlagR=0) or inverse (ifftFlagR=1) transform.   
+* @param[in]      bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.   
+* @return		The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if fftLenReal is not a supported value.   
+*    
+* \par Description:   
+* \par   
+* The parameter fftLenReal	Specifies length of RFFT/RIFFT Process. Supported FFT Lengths are 128, 512, 2048.    
+* \par    
+* The parameter ifftFlagR controls whether a forward or inverse transform is computed.    
+* Set(=1) ifftFlagR to calculate RIFFT, otherwise RFFT is calculated.    
+* \par    
+* The parameter bitReverseFlag controls whether output is in normal order or bit reversed order.    
+* Set(=1) bitReverseFlag for output to be in normal order otherwise output is in bit reversed order.   
+* \par    
+* This function also initializes Twiddle factor table.     
+*/
+
+arm_status arm_rfft_init_q15(
+  arm_rfft_instance_q15 * S,
+  arm_cfft_radix4_instance_q15 * S_CFFT,
+  uint32_t fftLenReal,
+  uint32_t ifftFlagR,
+  uint32_t bitReverseFlag)
+{
+
+  /*  Initialise the default arm status */
+  arm_status status = ARM_MATH_SUCCESS;
+
+  /*  Initialize the Real FFT length */
+  S->fftLenReal = (uint16_t) fftLenReal;
+
+  /*  Initialize the Complex FFT length */
+  S->fftLenBy2 = (uint16_t) fftLenReal / 2u;
+
+  /*  Initialize the Twiddle coefficientA pointer */
+  S->pTwiddleAReal = (q15_t *) realCoefAQ15;
+
+  /*  Initialize the Twiddle coefficientB pointer */
+  S->pTwiddleBReal = (q15_t *) realCoefBQ15;
+
+  /*  Initialize the Flag for selection of RFFT or RIFFT */
+  S->ifftFlagR = (uint8_t) ifftFlagR;
+
+  /*  Initialize the Flag for calculation Bit reversal or not */
+  S->bitReverseFlagR = (uint8_t) bitReverseFlag;
+
+  /*  Initialization of coef modifier depending on the FFT length */
+  switch (S->fftLenReal)
+  {
+  case 8192:
+    S->twidCoefRModifier = 1u;
+    break;
+  case 2048u:
+    S->twidCoefRModifier = 4u;
+    break;
+  case 512u:
+    S->twidCoefRModifier = 16u;
+    break;
+  case 128u:
+    S->twidCoefRModifier = 64u;
+    break;
+  default:
+    /*  Reporting argument error if rfftSize is not valid value */
+    status = ARM_MATH_ARGUMENT_ERROR;
+    break;
+  }
+
+  /* Init Complex FFT Instance */
+  S->pCfft = S_CFFT;
+
+  if(S->ifftFlagR)
+  {
+    /* Initializes the CIFFT Module for fftLenreal/2 length */
+    arm_cfft_radix4_init_q15(S->pCfft, S->fftLenBy2, 1u, 1u);
+  }
+  else
+  {
+    /* Initializes the CFFT Module for fftLenreal/2 length */
+    arm_cfft_radix4_init_q15(S->pCfft, S->fftLenBy2, 0u, 1u);
+  }
+
+  /* return the status of RFFT Init function */
+  return (status);
+
+}
+
+  /**    
+   * @} end of RFFT_RIFFT group    
+   */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_init_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_init_q31.c
new file mode 100644
index 000000000..400fe586c
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_init_q31.c
@@ -0,0 +1,4274 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_rfft_init_q31.c    
+*    
+* Description:	RFFT & RIFFT Q31 initialisation function    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**    
+ * @ingroup groupTransforms    
+ */
+
+/**    
+ * @addtogroup RFFT_RIFFT    
+ * @{    
+ */
+
+/**    
+* \par    
+* Generation floating point realCoefAQ31 array:    
+* \par    
+* n = 4096    
+* 
for (i = 0; i < n; i++)    
+* {    
+*    pATable[2 * i] = 0.5 * (1.0 - sin (2 * PI / (double) (2 * n) * (double) i));    
+*    pATable[2 * i + 1] = 0.5 * (-1.0 * cos (2 * PI / (double) (2 * n) * (double) i));    
+* }
    
+* \par    
+* Convert to fixed point Q31 format    
+*     round(pATable[i] * pow(2, 31))    
+*/
+
+
+static const q31_t realCoefAQ31[8192] = {
+  0x40000000, 0xc0000000, 0x3ff36f02, 0xc000013c,
+  0x3fe6de05, 0xc00004ef, 0x3fda4d09, 0xc0000b1a,
+  0x3fcdbc0f, 0xc00013bd, 0x3fc12b16, 0xc0001ed8,
+  0x3fb49a1f, 0xc0002c6a, 0x3fa8092c, 0xc0003c74,
+  0x3f9b783c, 0xc0004ef5, 0x3f8ee750, 0xc00063ee,
+  0x3f825668, 0xc0007b5f, 0x3f75c585, 0xc0009547,
+  0x3f6934a8, 0xc000b1a7, 0x3f5ca3d0, 0xc000d07e,
+  0x3f5012fe, 0xc000f1ce, 0x3f438234, 0xc0011594,
+  0x3f36f170, 0xc0013bd3, 0x3f2a60b4, 0xc0016489,
+  0x3f1dd001, 0xc0018fb6, 0x3f113f56, 0xc001bd5c,
+  0x3f04aeb5, 0xc001ed78, 0x3ef81e1d, 0xc002200d,
+  0x3eeb8d8f, 0xc0025519, 0x3edefd0c, 0xc0028c9c,
+  0x3ed26c94, 0xc002c697, 0x3ec5dc28, 0xc003030a,
+  0x3eb94bc8, 0xc00341f4, 0x3eacbb74, 0xc0038356,
+  0x3ea02b2e, 0xc003c72f, 0x3e939af5, 0xc0040d80,
+  0x3e870aca, 0xc0045648, 0x3e7a7aae, 0xc004a188,
+  0x3e6deaa1, 0xc004ef3f, 0x3e615aa3, 0xc0053f6e,
+  0x3e54cab5, 0xc0059214, 0x3e483ad8, 0xc005e731,
+  0x3e3bab0b, 0xc0063ec6, 0x3e2f1b50, 0xc00698d3,
+  0x3e228ba7, 0xc006f556, 0x3e15fc11, 0xc0075452,
+  0x3e096c8d, 0xc007b5c4, 0x3dfcdd1d, 0xc00819ae,
+  0x3df04dc0, 0xc008800f, 0x3de3be78, 0xc008e8e8,
+  0x3dd72f45, 0xc0095438, 0x3dcaa027, 0xc009c1ff,
+  0x3dbe111e, 0xc00a323d, 0x3db1822c, 0xc00aa4f3,
+  0x3da4f351, 0xc00b1a20, 0x3d98648d, 0xc00b91c4,
+  0x3d8bd5e1, 0xc00c0be0, 0x3d7f474d, 0xc00c8872,
+  0x3d72b8d2, 0xc00d077c, 0x3d662a70, 0xc00d88fd,
+  0x3d599c28, 0xc00e0cf5, 0x3d4d0df9, 0xc00e9364,
+  0x3d407fe6, 0xc00f1c4a, 0x3d33f1ed, 0xc00fa7a8,
+  0x3d276410, 0xc010357c, 0x3d1ad650, 0xc010c5c7,
+  0x3d0e48ab, 0xc011588a, 0x3d01bb24, 0xc011edc3,
+  0x3cf52dbb, 0xc0128574, 0x3ce8a06f, 0xc0131f9b,
+  0x3cdc1342, 0xc013bc39, 0x3ccf8634, 0xc0145b4e,
+  0x3cc2f945, 0xc014fcda, 0x3cb66c77, 0xc015a0dd,
+  0x3ca9dfc8, 0xc0164757, 0x3c9d533b, 0xc016f047,
+  0x3c90c6cf, 0xc0179bae, 0x3c843a85, 0xc018498c,
+  0x3c77ae5e, 0xc018f9e1, 0x3c6b2259, 0xc019acac,
+  0x3c5e9678, 0xc01a61ee, 0x3c520aba, 0xc01b19a7,
+  0x3c457f21, 0xc01bd3d6, 0x3c38f3ac, 0xc01c907c,
+  0x3c2c685d, 0xc01d4f99, 0x3c1fdd34, 0xc01e112b,
+  0x3c135231, 0xc01ed535, 0x3c06c754, 0xc01f9bb5,
+  0x3bfa3c9f, 0xc02064ab, 0x3bedb212, 0xc0213018,
+  0x3be127ac, 0xc021fdfb, 0x3bd49d70, 0xc022ce54,
+  0x3bc8135c, 0xc023a124, 0x3bbb8973, 0xc024766a,
+  0x3baeffb3, 0xc0254e27, 0x3ba2761e, 0xc0262859,
+  0x3b95ecb4, 0xc0270502, 0x3b896375, 0xc027e421,
+  0x3b7cda63, 0xc028c5b6, 0x3b70517d, 0xc029a9c1,
+  0x3b63c8c4, 0xc02a9042, 0x3b574039, 0xc02b7939,
+  0x3b4ab7db, 0xc02c64a6, 0x3b3e2fac, 0xc02d5289,
+  0x3b31a7ac, 0xc02e42e2, 0x3b251fdc, 0xc02f35b1,
+  0x3b18983b, 0xc0302af5, 0x3b0c10cb, 0xc03122b0,
+  0x3aff898c, 0xc0321ce0, 0x3af3027e, 0xc0331986,
+  0x3ae67ba2, 0xc03418a2, 0x3ad9f4f8, 0xc0351a33,
+  0x3acd6e81, 0xc0361e3a, 0x3ac0e83d, 0xc03724b6,
+  0x3ab4622d, 0xc0382da8, 0x3aa7dc52, 0xc0393910,
+  0x3a9b56ab, 0xc03a46ed, 0x3a8ed139, 0xc03b573f,
+  0x3a824bfd, 0xc03c6a07, 0x3a75c6f8, 0xc03d7f44,
+  0x3a694229, 0xc03e96f6, 0x3a5cbd91, 0xc03fb11d,
+  0x3a503930, 0xc040cdba, 0x3a43b508, 0xc041eccc,
+  0x3a373119, 0xc0430e53, 0x3a2aad62, 0xc044324f,
+  0x3a1e29e5, 0xc04558c0, 0x3a11a6a3, 0xc04681a6,
+  0x3a05239a, 0xc047ad01, 0x39f8a0cd, 0xc048dad1,
+  0x39ec1e3b, 0xc04a0b16, 0x39df9be6, 0xc04b3dcf,
+  0x39d319cc, 0xc04c72fe, 0x39c697f0, 0xc04daaa1,
+  0x39ba1651, 0xc04ee4b8, 0x39ad94f0, 0xc0502145,
+  0x39a113cd, 0xc0516045, 0x399492ea, 0xc052a1bb,
+  0x39881245, 0xc053e5a5, 0x397b91e1, 0xc0552c03,
+  0x396f11bc, 0xc05674d6, 0x396291d9, 0xc057c01d,
+  0x39561237, 0xc0590dd8, 0x394992d7, 0xc05a5e07,
+  0x393d13b8, 0xc05bb0ab, 0x393094dd, 0xc05d05c3,
+  0x39241645, 0xc05e5d4e, 0x391797f0, 0xc05fb74e,
+  0x390b19e0, 0xc06113c2, 0x38fe9c15, 0xc06272aa,
+  0x38f21e8e, 0xc063d405, 0x38e5a14d, 0xc06537d4,
+  0x38d92452, 0xc0669e18, 0x38cca79e, 0xc06806ce,
+  0x38c02b31, 0xc06971f9, 0x38b3af0c, 0xc06adf97,
+  0x38a7332e, 0xc06c4fa8, 0x389ab799, 0xc06dc22e,
+  0x388e3c4d, 0xc06f3726, 0x3881c14b, 0xc070ae92,
+  0x38754692, 0xc0722871, 0x3868cc24, 0xc073a4c3,
+  0x385c5201, 0xc0752389, 0x384fd829, 0xc076a4c2,
+  0x38435e9d, 0xc078286e, 0x3836e55d, 0xc079ae8c,
+  0x382a6c6a, 0xc07b371e, 0x381df3c5, 0xc07cc223,
+  0x38117b6d, 0xc07e4f9b, 0x38050364, 0xc07fdf85,
+  0x37f88ba9, 0xc08171e2, 0x37ec143e, 0xc08306b2,
+  0x37df9d22, 0xc0849df4, 0x37d32657, 0xc08637a9,
+  0x37c6afdc, 0xc087d3d0, 0x37ba39b3, 0xc089726a,
+  0x37adc3db, 0xc08b1376, 0x37a14e55, 0xc08cb6f5,
+  0x3794d922, 0xc08e5ce5, 0x37886442, 0xc0900548,
+  0x377befb5, 0xc091b01d, 0x376f7b7d, 0xc0935d64,
+  0x37630799, 0xc0950d1d, 0x3756940a, 0xc096bf48,
+  0x374a20d0, 0xc09873e4, 0x373daded, 0xc09a2af3,
+  0x37313b60, 0xc09be473, 0x3724c92a, 0xc09da065,
+  0x3718574b, 0xc09f5ec8, 0x370be5c4, 0xc0a11f9d,
+  0x36ff7496, 0xc0a2e2e3, 0x36f303c0, 0xc0a4a89b,
+  0x36e69344, 0xc0a670c4, 0x36da2321, 0xc0a83b5e,
+  0x36cdb359, 0xc0aa086a, 0x36c143ec, 0xc0abd7e6,
+  0x36b4d4d9, 0xc0ada9d4, 0x36a86623, 0xc0af7e33,
+  0x369bf7c9, 0xc0b15502, 0x368f89cb, 0xc0b32e42,
+  0x36831c2b, 0xc0b509f3, 0x3676aee8, 0xc0b6e815,
+  0x366a4203, 0xc0b8c8a7, 0x365dd57d, 0xc0baabaa,
+  0x36516956, 0xc0bc911d, 0x3644fd8f, 0xc0be7901,
+  0x36389228, 0xc0c06355, 0x362c2721, 0xc0c25019,
+  0x361fbc7b, 0xc0c43f4d, 0x36135237, 0xc0c630f2,
+  0x3606e854, 0xc0c82506, 0x35fa7ed4, 0xc0ca1b8a,
+  0x35ee15b7, 0xc0cc147f, 0x35e1acfd, 0xc0ce0fe3,
+  0x35d544a7, 0xc0d00db6, 0x35c8dcb6, 0xc0d20dfa,
+  0x35bc7529, 0xc0d410ad, 0x35b00e02, 0xc0d615cf,
+  0x35a3a740, 0xc0d81d61, 0x359740e5, 0xc0da2762,
+  0x358adaf0, 0xc0dc33d2, 0x357e7563, 0xc0de42b2,
+  0x3572103d, 0xc0e05401, 0x3565ab80, 0xc0e267be,
+  0x3559472b, 0xc0e47deb, 0x354ce33f, 0xc0e69686,
+  0x35407fbd, 0xc0e8b190, 0x35341ca5, 0xc0eacf09,
+  0x3527b9f7, 0xc0eceef1, 0x351b57b5, 0xc0ef1147,
+  0x350ef5de, 0xc0f1360b, 0x35029473, 0xc0f35d3e,
+  0x34f63374, 0xc0f586df, 0x34e9d2e3, 0xc0f7b2ee,
+  0x34dd72be, 0xc0f9e16b, 0x34d11308, 0xc0fc1257,
+  0x34c4b3c0, 0xc0fe45b0, 0x34b854e7, 0xc1007b77,
+  0x34abf67e, 0xc102b3ac, 0x349f9884, 0xc104ee4f,
+  0x34933afa, 0xc1072b5f, 0x3486dde1, 0xc1096add,
+  0x347a8139, 0xc10bacc8, 0x346e2504, 0xc10df120,
+  0x3461c940, 0xc11037e6, 0x34556def, 0xc1128119,
+  0x34491311, 0xc114ccb9, 0x343cb8a7, 0xc1171ac6,
+  0x34305eb0, 0xc1196b3f, 0x3424052f, 0xc11bbe26,
+  0x3417ac22, 0xc11e1379, 0x340b538b, 0xc1206b39,
+  0x33fefb6a, 0xc122c566, 0x33f2a3bf, 0xc12521ff,
+  0x33e64c8c, 0xc1278104, 0x33d9f5cf, 0xc129e276,
+  0x33cd9f8b, 0xc12c4653, 0x33c149bf, 0xc12eac9d,
+  0x33b4f46c, 0xc1311553, 0x33a89f92, 0xc1338075,
+  0x339c4b32, 0xc135ee02, 0x338ff74d, 0xc1385dfb,
+  0x3383a3e2, 0xc13ad060, 0x337750f2, 0xc13d4530,
+  0x336afe7e, 0xc13fbc6c, 0x335eac86, 0xc1423613,
+  0x33525b0b, 0xc144b225, 0x33460a0d, 0xc14730a3,
+  0x3339b98d, 0xc149b18b, 0x332d698a, 0xc14c34df,
+  0x33211a07, 0xc14eba9d, 0x3314cb02, 0xc15142c6,
+  0x33087c7d, 0xc153cd5a, 0x32fc2e77, 0xc1565a58,
+  0x32efe0f2, 0xc158e9c1, 0x32e393ef, 0xc15b7b94,
+  0x32d7476c, 0xc15e0fd1, 0x32cafb6b, 0xc160a678,
+  0x32beafed, 0xc1633f8a, 0x32b264f2, 0xc165db05,
+  0x32a61a7a, 0xc16878eb, 0x3299d085, 0xc16b193a,
+  0x328d8715, 0xc16dbbf3, 0x32813e2a, 0xc1706115,
+  0x3274f5c3, 0xc17308a1, 0x3268ade3, 0xc175b296,
+  0x325c6688, 0xc1785ef4, 0x32501fb5, 0xc17b0dbb,
+  0x3243d968, 0xc17dbeec, 0x323793a3, 0xc1807285,
+  0x322b4e66, 0xc1832888, 0x321f09b1, 0xc185e0f3,
+  0x3212c585, 0xc1889bc6, 0x320681e3, 0xc18b5903,
+  0x31fa3ecb, 0xc18e18a7, 0x31edfc3d, 0xc190dab4,
+  0x31e1ba3a, 0xc1939f29, 0x31d578c2, 0xc1966606,
+  0x31c937d6, 0xc1992f4c, 0x31bcf777, 0xc19bfaf9,
+  0x31b0b7a4, 0xc19ec90d, 0x31a4785e, 0xc1a1998a,
+  0x319839a6, 0xc1a46c6e, 0x318bfb7d, 0xc1a741b9,
+  0x317fbde2, 0xc1aa196c, 0x317380d6, 0xc1acf386,
+  0x31674459, 0xc1afd007, 0x315b086d, 0xc1b2aef0,
+  0x314ecd11, 0xc1b5903f, 0x31429247, 0xc1b873f5,
+  0x3136580d, 0xc1bb5a11, 0x312a1e66, 0xc1be4294,
+  0x311de551, 0xc1c12d7e, 0x3111accf, 0xc1c41ace,
+  0x310574e0, 0xc1c70a84, 0x30f93d86, 0xc1c9fca0,
+  0x30ed06bf, 0xc1ccf122, 0x30e0d08d, 0xc1cfe80a,
+  0x30d49af1, 0xc1d2e158, 0x30c865ea, 0xc1d5dd0c,
+  0x30bc317a, 0xc1d8db25, 0x30affda0, 0xc1dbdba3,
+  0x30a3ca5d, 0xc1dede87, 0x309797b2, 0xc1e1e3d0,
+  0x308b659f, 0xc1e4eb7e, 0x307f3424, 0xc1e7f591,
+  0x30730342, 0xc1eb0209, 0x3066d2fa, 0xc1ee10e5,
+  0x305aa34c, 0xc1f12227, 0x304e7438, 0xc1f435cc,
+  0x304245c0, 0xc1f74bd6, 0x303617e2, 0xc1fa6445,
+  0x3029eaa1, 0xc1fd7f17, 0x301dbdfb, 0xc2009c4e,
+  0x301191f3, 0xc203bbe8, 0x30056687, 0xc206dde6,
+  0x2ff93bba, 0xc20a0248, 0x2fed118a, 0xc20d290d,
+  0x2fe0e7f9, 0xc2105236, 0x2fd4bf08, 0xc2137dc2,
+  0x2fc896b5, 0xc216abb1, 0x2fbc6f03, 0xc219dc03,
+  0x2fb047f2, 0xc21d0eb8, 0x2fa42181, 0xc22043d0,
+  0x2f97fbb2, 0xc2237b4b, 0x2f8bd685, 0xc226b528,
+  0x2f7fb1fa, 0xc229f167, 0x2f738e12, 0xc22d3009,
+  0x2f676ace, 0xc230710d, 0x2f5b482d, 0xc233b473,
+  0x2f4f2630, 0xc236fa3b, 0x2f4304d8, 0xc23a4265,
+  0x2f36e426, 0xc23d8cf1, 0x2f2ac419, 0xc240d9de,
+  0x2f1ea4b2, 0xc244292c, 0x2f1285f2, 0xc2477adc,
+  0x2f0667d9, 0xc24aceed, 0x2efa4a67, 0xc24e255e,
+  0x2eee2d9d, 0xc2517e31, 0x2ee2117c, 0xc254d965,
+  0x2ed5f604, 0xc25836f9, 0x2ec9db35, 0xc25b96ee,
+  0x2ebdc110, 0xc25ef943, 0x2eb1a796, 0xc2625df8,
+  0x2ea58ec6, 0xc265c50e, 0x2e9976a1, 0xc2692e83,
+  0x2e8d5f29, 0xc26c9a58, 0x2e81485c, 0xc270088e,
+  0x2e75323c, 0xc2737922, 0x2e691cc9, 0xc276ec16,
+  0x2e5d0804, 0xc27a616a, 0x2e50f3ed, 0xc27dd91c,
+  0x2e44e084, 0xc281532e, 0x2e38cdcb, 0xc284cf9f,
+  0x2e2cbbc1, 0xc2884e6e, 0x2e20aa67, 0xc28bcf9c,
+  0x2e1499bd, 0xc28f5329, 0x2e0889c4, 0xc292d914,
+  0x2dfc7a7c, 0xc296615d, 0x2df06be6, 0xc299ec05,
+  0x2de45e03, 0xc29d790a, 0x2dd850d2, 0xc2a1086d,
+  0x2dcc4454, 0xc2a49a2e, 0x2dc0388a, 0xc2a82e4d,
+  0x2db42d74, 0xc2abc4c9, 0x2da82313, 0xc2af5da2,
+  0x2d9c1967, 0xc2b2f8d8, 0x2d901070, 0xc2b6966c,
+  0x2d84082f, 0xc2ba365c, 0x2d7800a5, 0xc2bdd8a9,
+  0x2d6bf9d1, 0xc2c17d52, 0x2d5ff3b5, 0xc2c52459,
+  0x2d53ee51, 0xc2c8cdbb, 0x2d47e9a5, 0xc2cc7979,
+  0x2d3be5b1, 0xc2d02794, 0x2d2fe277, 0xc2d3d80a,
+  0x2d23dff7, 0xc2d78add, 0x2d17de31, 0xc2db400a,
+  0x2d0bdd25, 0xc2def794, 0x2cffdcd4, 0xc2e2b178,
+  0x2cf3dd3f, 0xc2e66db8, 0x2ce7de66, 0xc2ea2c53,
+  0x2cdbe04a, 0xc2eded49, 0x2ccfe2ea, 0xc2f1b099,
+  0x2cc3e648, 0xc2f57644, 0x2cb7ea63, 0xc2f93e4a,
+  0x2cabef3d, 0xc2fd08a9, 0x2c9ff4d6, 0xc300d563,
+  0x2c93fb2e, 0xc304a477, 0x2c880245, 0xc30875e5,
+  0x2c7c0a1d, 0xc30c49ad, 0x2c7012b5, 0xc3101fce,
+  0x2c641c0e, 0xc313f848, 0x2c582629, 0xc317d31c,
+  0x2c4c3106, 0xc31bb049, 0x2c403ca5, 0xc31f8fcf,
+  0x2c344908, 0xc32371ae, 0x2c28562d, 0xc32755e5,
+  0x2c1c6417, 0xc32b3c75, 0x2c1072c4, 0xc32f255e,
+  0x2c048237, 0xc333109e, 0x2bf8926f, 0xc336fe37,
+  0x2beca36c, 0xc33aee27, 0x2be0b52f, 0xc33ee070,
+  0x2bd4c7ba, 0xc342d510, 0x2bc8db0b, 0xc346cc07,
+  0x2bbcef23, 0xc34ac556, 0x2bb10404, 0xc34ec0fc,
+  0x2ba519ad, 0xc352bef9, 0x2b99301f, 0xc356bf4d,
+  0x2b8d475b, 0xc35ac1f7, 0x2b815f60, 0xc35ec6f8,
+  0x2b75782f, 0xc362ce50, 0x2b6991ca, 0xc366d7fd,
+  0x2b5dac2f, 0xc36ae401, 0x2b51c760, 0xc36ef25b,
+  0x2b45e35d, 0xc373030a, 0x2b3a0027, 0xc377160f,
+  0x2b2e1dbe, 0xc37b2b6a, 0x2b223c22, 0xc37f4319,
+  0x2b165b54, 0xc3835d1e, 0x2b0a7b54, 0xc3877978,
+  0x2afe9c24, 0xc38b9827, 0x2af2bdc3, 0xc38fb92a,
+  0x2ae6e031, 0xc393dc82, 0x2adb0370, 0xc398022f,
+  0x2acf277f, 0xc39c2a2f, 0x2ac34c60, 0xc3a05484,
+  0x2ab77212, 0xc3a4812c, 0x2aab9896, 0xc3a8b028,
+  0x2a9fbfed, 0xc3ace178, 0x2a93e817, 0xc3b1151b,
+  0x2a881114, 0xc3b54b11, 0x2a7c3ae5, 0xc3b9835a,
+  0x2a70658a, 0xc3bdbdf6, 0x2a649105, 0xc3c1fae5,
+  0x2a58bd54, 0xc3c63a26, 0x2a4cea79, 0xc3ca7bba,
+  0x2a411874, 0xc3cebfa0, 0x2a354746, 0xc3d305d8,
+  0x2a2976ef, 0xc3d74e62, 0x2a1da770, 0xc3db993e,
+  0x2a11d8c8, 0xc3dfe66c, 0x2a060af9, 0xc3e435ea,
+  0x29fa3e03, 0xc3e887bb, 0x29ee71e6, 0xc3ecdbdc,
+  0x29e2a6a3, 0xc3f1324e, 0x29d6dc3b, 0xc3f58b10,
+  0x29cb12ad, 0xc3f9e624, 0x29bf49fa, 0xc3fe4388,
+  0x29b38223, 0xc402a33c, 0x29a7bb28, 0xc4070540,
+  0x299bf509, 0xc40b6994, 0x29902fc7, 0xc40fd037,
+  0x29846b63, 0xc414392b, 0x2978a7dd, 0xc418a46d,
+  0x296ce535, 0xc41d11ff, 0x2961236c, 0xc42181e0,
+  0x29556282, 0xc425f410, 0x2949a278, 0xc42a688f,
+  0x293de34e, 0xc42edf5c, 0x29322505, 0xc4335877,
+  0x2926679c, 0xc437d3e1, 0x291aab16, 0xc43c5199,
+  0x290eef71, 0xc440d19e, 0x290334af, 0xc44553f2,
+  0x28f77acf, 0xc449d892, 0x28ebc1d3, 0xc44e5f80,
+  0x28e009ba, 0xc452e8bc, 0x28d45286, 0xc4577444,
+  0x28c89c37, 0xc45c0219, 0x28bce6cd, 0xc460923b,
+  0x28b13248, 0xc46524a9, 0x28a57ea9, 0xc469b963,
+  0x2899cbf1, 0xc46e5069, 0x288e1a20, 0xc472e9bc,
+  0x28826936, 0xc477855a, 0x2876b934, 0xc47c2344,
+  0x286b0a1a, 0xc480c379, 0x285f5be9, 0xc48565f9,
+  0x2853aea1, 0xc48a0ac4, 0x28480243, 0xc48eb1db,
+  0x283c56cf, 0xc4935b3c, 0x2830ac45, 0xc49806e7,
+  0x282502a7, 0xc49cb4dd, 0x281959f4, 0xc4a1651c,
+  0x280db22d, 0xc4a617a6, 0x28020b52, 0xc4aacc7a,
+  0x27f66564, 0xc4af8397, 0x27eac063, 0xc4b43cfd,
+  0x27df1c50, 0xc4b8f8ad, 0x27d3792b, 0xc4bdb6a6,
+  0x27c7d6f4, 0xc4c276e8, 0x27bc35ad, 0xc4c73972,
+  0x27b09555, 0xc4cbfe45, 0x27a4f5ed, 0xc4d0c560,
+  0x27995776, 0xc4d58ec3, 0x278db9ef, 0xc4da5a6f,
+  0x27821d59, 0xc4df2862, 0x277681b6, 0xc4e3f89c,
+  0x276ae704, 0xc4e8cb1e, 0x275f4d45, 0xc4ed9fe7,
+  0x2753b479, 0xc4f276f7, 0x27481ca1, 0xc4f7504e,
+  0x273c85bc, 0xc4fc2bec, 0x2730efcc, 0xc50109d0,
+  0x27255ad1, 0xc505e9fb, 0x2719c6cb, 0xc50acc6b,
+  0x270e33bb, 0xc50fb121, 0x2702a1a1, 0xc514981d,
+  0x26f7107e, 0xc519815f, 0x26eb8052, 0xc51e6ce6,
+  0x26dff11d, 0xc5235ab2, 0x26d462e1, 0xc5284ac3,
+  0x26c8d59c, 0xc52d3d18, 0x26bd4951, 0xc53231b3,
+  0x26b1bdff, 0xc5372891, 0x26a633a6, 0xc53c21b4,
+  0x269aaa48, 0xc5411d1b, 0x268f21e5, 0xc5461ac6,
+  0x26839a7c, 0xc54b1ab4, 0x26781410, 0xc5501ce5,
+  0x266c8e9f, 0xc555215a, 0x26610a2a, 0xc55a2812,
+  0x265586b3, 0xc55f310d, 0x264a0438, 0xc5643c4a,
+  0x263e82bc, 0xc56949ca, 0x2633023e, 0xc56e598c,
+  0x262782be, 0xc5736b90, 0x261c043d, 0xc5787fd6,
+  0x261086bc, 0xc57d965d, 0x26050a3b, 0xc582af26,
+  0x25f98ebb, 0xc587ca31, 0x25ee143b, 0xc58ce77c,
+  0x25e29abc, 0xc5920708, 0x25d72240, 0xc59728d5,
+  0x25cbaac5, 0xc59c4ce3, 0x25c0344d, 0xc5a17330,
+  0x25b4bed8, 0xc5a69bbe, 0x25a94a67, 0xc5abc68c,
+  0x259dd6f9, 0xc5b0f399, 0x25926490, 0xc5b622e6,
+  0x2586f32c, 0xc5bb5472, 0x257b82cd, 0xc5c0883d,
+  0x25701374, 0xc5c5be47, 0x2564a521, 0xc5caf690,
+  0x255937d5, 0xc5d03118, 0x254dcb8f, 0xc5d56ddd,
+  0x25426051, 0xc5daace1, 0x2536f61b, 0xc5dfee22,
+  0x252b8cee, 0xc5e531a1, 0x252024c9, 0xc5ea775e,
+  0x2514bdad, 0xc5efbf58, 0x2509579b, 0xc5f5098f,
+  0x24fdf294, 0xc5fa5603, 0x24f28e96, 0xc5ffa4b3,
+  0x24e72ba4, 0xc604f5a0, 0x24dbc9bd, 0xc60a48c9,
+  0x24d068e2, 0xc60f9e2e, 0x24c50914, 0xc614f5cf,
+  0x24b9aa52, 0xc61a4fac, 0x24ae4c9d, 0xc61fabc4,
+  0x24a2eff6, 0xc6250a18, 0x2497945d, 0xc62a6aa6,
+  0x248c39d3, 0xc62fcd6f, 0x2480e057, 0xc6353273,
+  0x247587eb, 0xc63a99b1, 0x246a308f, 0xc6400329,
+  0x245eda43, 0xc6456edb, 0x24538507, 0xc64adcc7,
+  0x244830dd, 0xc6504ced, 0x243cddc4, 0xc655bf4c,
+  0x24318bbe, 0xc65b33e4, 0x24263ac9, 0xc660aab5,
+  0x241aeae8, 0xc66623be, 0x240f9c1a, 0xc66b9f01,
+  0x24044e60, 0xc6711c7b, 0x23f901ba, 0xc6769c2e,
+  0x23edb628, 0xc67c1e18, 0x23e26bac, 0xc681a23a,
+  0x23d72245, 0xc6872894, 0x23cbd9f4, 0xc68cb124,
+  0x23c092b9, 0xc6923bec, 0x23b54c95, 0xc697c8eb,
+  0x23aa0788, 0xc69d5820, 0x239ec393, 0xc6a2e98b,
+  0x239380b6, 0xc6a87d2d, 0x23883ef2, 0xc6ae1304,
+  0x237cfe47, 0xc6b3ab12, 0x2371beb5, 0xc6b94554,
+  0x2366803c, 0xc6bee1cd, 0x235b42df, 0xc6c4807a,
+  0x2350069b, 0xc6ca215c, 0x2344cb73, 0xc6cfc472,
+  0x23399167, 0xc6d569be, 0x232e5876, 0xc6db113d,
+  0x232320a2, 0xc6e0baf0, 0x2317e9eb, 0xc6e666d7,
+  0x230cb451, 0xc6ec14f2, 0x23017fd5, 0xc6f1c540,
+  0x22f64c77, 0xc6f777c1, 0x22eb1a37, 0xc6fd2c75,
+  0x22dfe917, 0xc702e35c, 0x22d4b916, 0xc7089c75,
+  0x22c98a35, 0xc70e57c0, 0x22be5c74, 0xc714153e,
+  0x22b32fd4, 0xc719d4ed, 0x22a80456, 0xc71f96ce,
+  0x229cd9f8, 0xc7255ae0, 0x2291b0bd, 0xc72b2123,
+  0x228688a4, 0xc730e997, 0x227b61af, 0xc736b43c,
+  0x22703bdc, 0xc73c8111, 0x2265172e, 0xc7425016,
+  0x2259f3a3, 0xc748214c, 0x224ed13d, 0xc74df4b1,
+  0x2243affc, 0xc753ca46, 0x22388fe1, 0xc759a20a,
+  0x222d70eb, 0xc75f7bfe, 0x2222531c, 0xc7655820,
+  0x22173674, 0xc76b3671, 0x220c1af3, 0xc77116f0,
+  0x22010099, 0xc776f99d, 0x21f5e768, 0xc77cde79,
+  0x21eacf5f, 0xc782c582, 0x21dfb87f, 0xc788aeb9,
+  0x21d4a2c8, 0xc78e9a1d, 0x21c98e3b, 0xc79487ae,
+  0x21be7ad8, 0xc79a776c, 0x21b368a0, 0xc7a06957,
+  0x21a85793, 0xc7a65d6e, 0x219d47b1, 0xc7ac53b1,
+  0x219238fb, 0xc7b24c20, 0x21872b72, 0xc7b846ba,
+  0x217c1f15, 0xc7be4381, 0x217113e5, 0xc7c44272,
+  0x216609e3, 0xc7ca438f, 0x215b0110, 0xc7d046d6,
+  0x214ff96a, 0xc7d64c47, 0x2144f2f3, 0xc7dc53e3,
+  0x2139edac, 0xc7e25daa, 0x212ee995, 0xc7e8699a,
+  0x2123e6ad, 0xc7ee77b3, 0x2118e4f6, 0xc7f487f6,
+  0x210de470, 0xc7fa9a62, 0x2102e51c, 0xc800aef7,
+  0x20f7e6f9, 0xc806c5b5, 0x20ecea09, 0xc80cde9b,
+  0x20e1ee4b, 0xc812f9a9, 0x20d6f3c1, 0xc81916df,
+  0x20cbfa6a, 0xc81f363d, 0x20c10247, 0xc82557c3,
+  0x20b60b58, 0xc82b7b70, 0x20ab159e, 0xc831a143,
+  0x20a0211a, 0xc837c93e, 0x20952dcb, 0xc83df35f,
+  0x208a3bb2, 0xc8441fa6, 0x207f4acf, 0xc84a4e14,
+  0x20745b24, 0xc8507ea7, 0x20696cb0, 0xc856b160,
+  0x205e7f74, 0xc85ce63e, 0x2053936f, 0xc8631d42,
+  0x2048a8a4, 0xc869566a, 0x203dbf11, 0xc86f91b7,
+  0x2032d6b8, 0xc875cf28, 0x2027ef99, 0xc87c0ebd,
+  0x201d09b4, 0xc8825077, 0x2012250a, 0xc8889454,
+  0x2007419b, 0xc88eda54, 0x1ffc5f67, 0xc8952278,
+  0x1ff17e70, 0xc89b6cbf, 0x1fe69eb4, 0xc8a1b928,
+  0x1fdbc036, 0xc8a807b4, 0x1fd0e2f5, 0xc8ae5862,
+  0x1fc606f1, 0xc8b4ab32, 0x1fbb2c2c, 0xc8bb0023,
+  0x1fb052a5, 0xc8c15736, 0x1fa57a5d, 0xc8c7b06b,
+  0x1f9aa354, 0xc8ce0bc0, 0x1f8fcd8b, 0xc8d46936,
+  0x1f84f902, 0xc8dac8cd, 0x1f7a25ba, 0xc8e12a84,
+  0x1f6f53b3, 0xc8e78e5b, 0x1f6482ed, 0xc8edf452,
+  0x1f59b369, 0xc8f45c68, 0x1f4ee527, 0xc8fac69e,
+  0x1f441828, 0xc90132f2, 0x1f394c6b, 0xc907a166,
+  0x1f2e81f3, 0xc90e11f7, 0x1f23b8be, 0xc91484a8,
+  0x1f18f0ce, 0xc91af976, 0x1f0e2a22, 0xc9217062,
+  0x1f0364bc, 0xc927e96b, 0x1ef8a09b, 0xc92e6492,
+  0x1eedddc0, 0xc934e1d6, 0x1ee31c2b, 0xc93b6137,
+  0x1ed85bdd, 0xc941e2b4, 0x1ecd9cd7, 0xc948664d,
+  0x1ec2df18, 0xc94eec03, 0x1eb822a1, 0xc95573d4,
+  0x1ead6773, 0xc95bfdc1, 0x1ea2ad8d, 0xc96289c9,
+  0x1e97f4f1, 0xc96917ec, 0x1e8d3d9e, 0xc96fa82a,
+  0x1e828796, 0xc9763a83, 0x1e77d2d8, 0xc97ccef5,
+  0x1e6d1f65, 0xc9836582, 0x1e626d3e, 0xc989fe29,
+  0x1e57bc62, 0xc99098e9, 0x1e4d0cd2, 0xc99735c2,
+  0x1e425e8f, 0xc99dd4b4, 0x1e37b199, 0xc9a475bf,
+  0x1e2d05f1, 0xc9ab18e3, 0x1e225b96, 0xc9b1be1e,
+  0x1e17b28a, 0xc9b86572, 0x1e0d0acc, 0xc9bf0edd,
+  0x1e02645d, 0xc9c5ba60, 0x1df7bf3e, 0xc9cc67fa,
+  0x1ded1b6e, 0xc9d317ab, 0x1de278ef, 0xc9d9c973,
+  0x1dd7d7c1, 0xc9e07d51, 0x1dcd37e4, 0xc9e73346,
+  0x1dc29958, 0xc9edeb50, 0x1db7fc1e, 0xc9f4a570,
+  0x1dad6036, 0xc9fb61a5, 0x1da2c5a2, 0xca021fef,
+  0x1d982c60, 0xca08e04f, 0x1d8d9472, 0xca0fa2c3,
+  0x1d82fdd8, 0xca16674b, 0x1d786892, 0xca1d2de7,
+  0x1d6dd4a2, 0xca23f698, 0x1d634206, 0xca2ac15b,
+  0x1d58b0c0, 0xca318e32, 0x1d4e20d0, 0xca385d1d,
+  0x1d439236, 0xca3f2e19, 0x1d3904f4, 0xca460129,
+  0x1d2e7908, 0xca4cd64b, 0x1d23ee74, 0xca53ad7e,
+  0x1d196538, 0xca5a86c4, 0x1d0edd55, 0xca61621b,
+  0x1d0456ca, 0xca683f83, 0x1cf9d199, 0xca6f1efc,
+  0x1cef4dc2, 0xca760086, 0x1ce4cb44, 0xca7ce420,
+  0x1cda4a21, 0xca83c9ca, 0x1ccfca59, 0xca8ab184,
+  0x1cc54bec, 0xca919b4e, 0x1cbacedb, 0xca988727,
+  0x1cb05326, 0xca9f750f, 0x1ca5d8cd, 0xcaa66506,
+  0x1c9b5fd2, 0xcaad570c, 0x1c90e834, 0xcab44b1f,
+  0x1c8671f3, 0xcabb4141, 0x1c7bfd11, 0xcac23971,
+  0x1c71898d, 0xcac933ae, 0x1c671768, 0xcad02ff8,
+  0x1c5ca6a2, 0xcad72e4f, 0x1c52373c, 0xcade2eb3,
+  0x1c47c936, 0xcae53123, 0x1c3d5c91, 0xcaec35a0,
+  0x1c32f14d, 0xcaf33c28, 0x1c28876a, 0xcafa44bc,
+  0x1c1e1ee9, 0xcb014f5b, 0x1c13b7c9, 0xcb085c05,
+  0x1c09520d, 0xcb0f6aba, 0x1bfeedb3, 0xcb167b79,
+  0x1bf48abd, 0xcb1d8e43, 0x1bea292b, 0xcb24a316,
+  0x1bdfc8fc, 0xcb2bb9f4, 0x1bd56a32, 0xcb32d2da,
+  0x1bcb0cce, 0xcb39edca, 0x1bc0b0ce, 0xcb410ac3,
+  0x1bb65634, 0xcb4829c4, 0x1babfd01, 0xcb4f4acd,
+  0x1ba1a534, 0xcb566ddf, 0x1b974ece, 0xcb5d92f8,
+  0x1b8cf9cf, 0xcb64ba19, 0x1b82a638, 0xcb6be341,
+  0x1b785409, 0xcb730e70, 0x1b6e0342, 0xcb7a3ba5,
+  0x1b63b3e5, 0xcb816ae1, 0x1b5965f1, 0xcb889c23,
+  0x1b4f1967, 0xcb8fcf6b, 0x1b44ce46, 0xcb9704b9,
+  0x1b3a8491, 0xcb9e3c0b, 0x1b303c46, 0xcba57563,
+  0x1b25f566, 0xcbacb0bf, 0x1b1baff2, 0xcbb3ee20,
+  0x1b116beb, 0xcbbb2d85, 0x1b072950, 0xcbc26eee,
+  0x1afce821, 0xcbc9b25a, 0x1af2a860, 0xcbd0f7ca,
+  0x1ae86a0d, 0xcbd83f3d, 0x1ade2d28, 0xcbdf88b3,
+  0x1ad3f1b1, 0xcbe6d42b, 0x1ac9b7a9, 0xcbee21a5,
+  0x1abf7f11, 0xcbf57121, 0x1ab547e8, 0xcbfcc29f,
+  0x1aab122f, 0xcc04161e, 0x1aa0dde7, 0xcc0b6b9e,
+  0x1a96ab0f, 0xcc12c31f, 0x1a8c79a9, 0xcc1a1ca0,
+  0x1a8249b4, 0xcc217822, 0x1a781b31, 0xcc28d5a3,
+  0x1a6dee21, 0xcc303524, 0x1a63c284, 0xcc3796a5,
+  0x1a599859, 0xcc3efa25, 0x1a4f6fa3, 0xcc465fa3,
+  0x1a454860, 0xcc4dc720, 0x1a3b2292, 0xcc55309b,
+  0x1a30fe38, 0xcc5c9c14, 0x1a26db54, 0xcc64098b,
+  0x1a1cb9e5, 0xcc6b78ff, 0x1a1299ec, 0xcc72ea70,
+  0x1a087b69, 0xcc7a5dde, 0x19fe5e5e, 0xcc81d349,
+  0x19f442c9, 0xcc894aaf, 0x19ea28ac, 0xcc90c412,
+  0x19e01006, 0xcc983f70, 0x19d5f8d9, 0xcc9fbcca,
+  0x19cbe325, 0xcca73c1e, 0x19c1cee9, 0xccaebd6e,
+  0x19b7bc27, 0xccb640b8, 0x19adaadf, 0xccbdc5fc,
+  0x19a39b11, 0xccc54d3a, 0x19998cbe, 0xccccd671,
+  0x198f7fe6, 0xccd461a2, 0x19857489, 0xccdbeecc,
+  0x197b6aa8, 0xcce37def, 0x19716243, 0xcceb0f0a,
+  0x19675b5a, 0xccf2a21d, 0x195d55ef, 0xccfa3729,
+  0x19535201, 0xcd01ce2b, 0x19494f90, 0xcd096725,
+  0x193f4e9e, 0xcd110216, 0x19354f2a, 0xcd189efe,
+  0x192b5135, 0xcd203ddc, 0x192154bf, 0xcd27deb0,
+  0x191759c9, 0xcd2f817b, 0x190d6053, 0xcd37263a,
+  0x1903685d, 0xcd3eccef, 0x18f971e8, 0xcd467599,
+  0x18ef7cf4, 0xcd4e2037, 0x18e58982, 0xcd55ccca,
+  0x18db9792, 0xcd5d7b50, 0x18d1a724, 0xcd652bcb,
+  0x18c7b838, 0xcd6cde39, 0x18bdcad0, 0xcd74929a,
+  0x18b3deeb, 0xcd7c48ee, 0x18a9f48a, 0xcd840134,
+  0x18a00bae, 0xcd8bbb6d, 0x18962456, 0xcd937798,
+  0x188c3e83, 0xcd9b35b4, 0x18825a35, 0xcda2f5c2,
+  0x1878776d, 0xcdaab7c0, 0x186e962b, 0xcdb27bb0,
+  0x1864b670, 0xcdba4190, 0x185ad83c, 0xcdc20960,
+  0x1850fb8e, 0xcdc9d320, 0x18472069, 0xcdd19ed0,
+  0x183d46cc, 0xcdd96c6f, 0x18336eb7, 0xcde13bfd,
+  0x1829982b, 0xcde90d79, 0x181fc328, 0xcdf0e0e4,
+  0x1815efae, 0xcdf8b63d, 0x180c1dbf, 0xce008d84,
+  0x18024d59, 0xce0866b8, 0x17f87e7f, 0xce1041d9,
+  0x17eeb130, 0xce181ee8, 0x17e4e56c, 0xce1ffde2,
+  0x17db1b34, 0xce27dec9, 0x17d15288, 0xce2fc19c,
+  0x17c78b68, 0xce37a65b, 0x17bdc5d6, 0xce3f8d05,
+  0x17b401d1, 0xce47759a, 0x17aa3f5a, 0xce4f6019,
+  0x17a07e70, 0xce574c84, 0x1796bf16, 0xce5f3ad8,
+  0x178d014a, 0xce672b16, 0x1783450d, 0xce6f1d3d,
+  0x17798a60, 0xce77114e, 0x176fd143, 0xce7f0748,
+  0x176619b6, 0xce86ff2a, 0x175c63ba, 0xce8ef8f4,
+  0x1752af4f, 0xce96f4a7, 0x1748fc75, 0xce9ef241,
+  0x173f4b2e, 0xcea6f1c2, 0x17359b78, 0xceaef32b,
+  0x172bed55, 0xceb6f67a, 0x172240c5, 0xcebefbb0,
+  0x171895c9, 0xcec702cb, 0x170eec60, 0xcecf0bcd,
+  0x1705448b, 0xced716b4, 0x16fb9e4b, 0xcedf2380,
+  0x16f1f99f, 0xcee73231, 0x16e85689, 0xceef42c7,
+  0x16deb508, 0xcef75541, 0x16d5151d, 0xceff699f,
+  0x16cb76c9, 0xcf077fe1, 0x16c1da0b, 0xcf0f9805,
+  0x16b83ee4, 0xcf17b20d, 0x16aea555, 0xcf1fcdf8,
+  0x16a50d5d, 0xcf27ebc5, 0x169b76fe, 0xcf300b74,
+  0x1691e237, 0xcf382d05, 0x16884f09, 0xcf405077,
+  0x167ebd74, 0xcf4875ca, 0x16752d79, 0xcf509cfe,
+  0x166b9f18, 0xcf58c613, 0x16621251, 0xcf60f108,
+  0x16588725, 0xcf691ddd, 0x164efd94, 0xcf714c91,
+  0x1645759f, 0xcf797d24, 0x163bef46, 0xcf81af97,
+  0x16326a88, 0xcf89e3e8, 0x1628e767, 0xcf921a17,
+  0x161f65e4, 0xcf9a5225, 0x1615e5fd, 0xcfa28c10,
+  0x160c67b4, 0xcfaac7d8, 0x1602eb0a, 0xcfb3057d,
+  0x15f96ffd, 0xcfbb4500, 0x15eff690, 0xcfc3865e,
+  0x15e67ec1, 0xcfcbc999, 0x15dd0892, 0xcfd40eaf,
+  0x15d39403, 0xcfdc55a1, 0x15ca2115, 0xcfe49e6d,
+  0x15c0afc6, 0xcfece915, 0x15b74019, 0xcff53597,
+  0x15add20d, 0xcffd83f4, 0x15a465a3, 0xd005d42a,
+  0x159afadb, 0xd00e2639, 0x159191b5, 0xd0167a22,
+  0x15882a32, 0xd01ecfe4, 0x157ec452, 0xd027277e,
+  0x15756016, 0xd02f80f1, 0x156bfd7d, 0xd037dc3b,
+  0x15629c89, 0xd040395d, 0x15593d3a, 0xd0489856,
+  0x154fdf8f, 0xd050f926, 0x15468389, 0xd0595bcd,
+  0x153d292a, 0xd061c04a, 0x1533d070, 0xd06a269d,
+  0x152a795d, 0xd0728ec6, 0x152123f0, 0xd07af8c4,
+  0x1517d02b, 0xd0836497, 0x150e7e0d, 0xd08bd23f,
+  0x15052d97, 0xd09441bb, 0x14fbdec9, 0xd09cb30b,
+  0x14f291a4, 0xd0a5262f, 0x14e94627, 0xd0ad9b26,
+  0x14dffc54, 0xd0b611f1, 0x14d6b42b, 0xd0be8a8d,
+  0x14cd6dab, 0xd0c704fd, 0x14c428d6, 0xd0cf813e,
+  0x14bae5ab, 0xd0d7ff51, 0x14b1a42c, 0xd0e07f36,
+  0x14a86458, 0xd0e900ec, 0x149f2630, 0xd0f18472,
+  0x1495e9b3, 0xd0fa09c9, 0x148caee4, 0xd10290f0,
+  0x148375c1, 0xd10b19e7, 0x147a3e4b, 0xd113a4ad,
+  0x14710883, 0xd11c3142, 0x1467d469, 0xd124bfa6,
+  0x145ea1fd, 0xd12d4fd9, 0x14557140, 0xd135e1d9,
+  0x144c4232, 0xd13e75a8, 0x144314d3, 0xd1470b44,
+  0x1439e923, 0xd14fa2ad, 0x1430bf24, 0xd1583be2,
+  0x142796d5, 0xd160d6e5, 0x141e7037, 0xd16973b3,
+  0x14154b4a, 0xd172124d, 0x140c280e, 0xd17ab2b3,
+  0x14030684, 0xd18354e4, 0x13f9e6ad, 0xd18bf8e0,
+  0x13f0c887, 0xd1949ea6, 0x13e7ac15, 0xd19d4636,
+  0x13de9156, 0xd1a5ef90, 0x13d5784a, 0xd1ae9ab4,
+  0x13cc60f2, 0xd1b747a0, 0x13c34b4f, 0xd1bff656,
+  0x13ba3760, 0xd1c8a6d4, 0x13b12526, 0xd1d1591a,
+  0x13a814a2, 0xd1da0d28, 0x139f05d3, 0xd1e2c2fd,
+  0x1395f8ba, 0xd1eb7a9a, 0x138ced57, 0xd1f433fd,
+  0x1383e3ab, 0xd1fcef27, 0x137adbb6, 0xd205ac17,
+  0x1371d579, 0xd20e6acc, 0x1368d0f3, 0xd2172b48,
+  0x135fce26, 0xd21fed88, 0x1356cd11, 0xd228b18d,
+  0x134dcdb4, 0xd2317756, 0x1344d011, 0xd23a3ee4,
+  0x133bd427, 0xd2430835, 0x1332d9f7, 0xd24bd34a,
+  0x1329e181, 0xd254a021, 0x1320eac6, 0xd25d6ebc,
+  0x1317f5c6, 0xd2663f19, 0x130f0280, 0xd26f1138,
+  0x130610f7, 0xd277e518, 0x12fd2129, 0xd280babb,
+  0x12f43318, 0xd289921e, 0x12eb46c3, 0xd2926b41,
+  0x12e25c2b, 0xd29b4626, 0x12d97350, 0xd2a422ca,
+  0x12d08c33, 0xd2ad012e, 0x12c7a6d4, 0xd2b5e151,
+  0x12bec333, 0xd2bec333, 0x12b5e151, 0xd2c7a6d4,
+  0x12ad012e, 0xd2d08c33, 0x12a422ca, 0xd2d97350,
+  0x129b4626, 0xd2e25c2b, 0x12926b41, 0xd2eb46c3,
+  0x1289921e, 0xd2f43318, 0x1280babb, 0xd2fd2129,
+  0x1277e518, 0xd30610f7, 0x126f1138, 0xd30f0280,
+  0x12663f19, 0xd317f5c6, 0x125d6ebc, 0xd320eac6,
+  0x1254a021, 0xd329e181, 0x124bd34a, 0xd332d9f7,
+  0x12430835, 0xd33bd427, 0x123a3ee4, 0xd344d011,
+  0x12317756, 0xd34dcdb4, 0x1228b18d, 0xd356cd11,
+  0x121fed88, 0xd35fce26, 0x12172b48, 0xd368d0f3,
+  0x120e6acc, 0xd371d579, 0x1205ac17, 0xd37adbb6,
+  0x11fcef27, 0xd383e3ab, 0x11f433fd, 0xd38ced57,
+  0x11eb7a9a, 0xd395f8ba, 0x11e2c2fd, 0xd39f05d3,
+  0x11da0d28, 0xd3a814a2, 0x11d1591a, 0xd3b12526,
+  0x11c8a6d4, 0xd3ba3760, 0x11bff656, 0xd3c34b4f,
+  0x11b747a0, 0xd3cc60f2, 0x11ae9ab4, 0xd3d5784a,
+  0x11a5ef90, 0xd3de9156, 0x119d4636, 0xd3e7ac15,
+  0x11949ea6, 0xd3f0c887, 0x118bf8e0, 0xd3f9e6ad,
+  0x118354e4, 0xd4030684, 0x117ab2b3, 0xd40c280e,
+  0x1172124d, 0xd4154b4a, 0x116973b3, 0xd41e7037,
+  0x1160d6e5, 0xd42796d5, 0x11583be2, 0xd430bf24,
+  0x114fa2ad, 0xd439e923, 0x11470b44, 0xd44314d3,
+  0x113e75a8, 0xd44c4232, 0x1135e1d9, 0xd4557140,
+  0x112d4fd9, 0xd45ea1fd, 0x1124bfa6, 0xd467d469,
+  0x111c3142, 0xd4710883, 0x1113a4ad, 0xd47a3e4b,
+  0x110b19e7, 0xd48375c1, 0x110290f0, 0xd48caee4,
+  0x10fa09c9, 0xd495e9b3, 0x10f18472, 0xd49f2630,
+  0x10e900ec, 0xd4a86458, 0x10e07f36, 0xd4b1a42c,
+  0x10d7ff51, 0xd4bae5ab, 0x10cf813e, 0xd4c428d6,
+  0x10c704fd, 0xd4cd6dab, 0x10be8a8d, 0xd4d6b42b,
+  0x10b611f1, 0xd4dffc54, 0x10ad9b26, 0xd4e94627,
+  0x10a5262f, 0xd4f291a4, 0x109cb30b, 0xd4fbdec9,
+  0x109441bb, 0xd5052d97, 0x108bd23f, 0xd50e7e0d,
+  0x10836497, 0xd517d02b, 0x107af8c4, 0xd52123f0,
+  0x10728ec6, 0xd52a795d, 0x106a269d, 0xd533d070,
+  0x1061c04a, 0xd53d292a, 0x10595bcd, 0xd5468389,
+  0x1050f926, 0xd54fdf8f, 0x10489856, 0xd5593d3a,
+  0x1040395d, 0xd5629c89, 0x1037dc3b, 0xd56bfd7d,
+  0x102f80f1, 0xd5756016, 0x1027277e, 0xd57ec452,
+  0x101ecfe4, 0xd5882a32, 0x10167a22, 0xd59191b5,
+  0x100e2639, 0xd59afadb, 0x1005d42a, 0xd5a465a3,
+  0xffd83f4, 0xd5add20d, 0xff53597, 0xd5b74019,
+  0xfece915, 0xd5c0afc6, 0xfe49e6d, 0xd5ca2115,
+  0xfdc55a1, 0xd5d39403, 0xfd40eaf, 0xd5dd0892,
+  0xfcbc999, 0xd5e67ec1, 0xfc3865e, 0xd5eff690,
+  0xfbb4500, 0xd5f96ffd, 0xfb3057d, 0xd602eb0a,
+  0xfaac7d8, 0xd60c67b4, 0xfa28c10, 0xd615e5fd,
+  0xf9a5225, 0xd61f65e4, 0xf921a17, 0xd628e767,
+  0xf89e3e8, 0xd6326a88, 0xf81af97, 0xd63bef46,
+  0xf797d24, 0xd645759f, 0xf714c91, 0xd64efd94,
+  0xf691ddd, 0xd6588725, 0xf60f108, 0xd6621251,
+  0xf58c613, 0xd66b9f18, 0xf509cfe, 0xd6752d79,
+  0xf4875ca, 0xd67ebd74, 0xf405077, 0xd6884f09,
+  0xf382d05, 0xd691e237, 0xf300b74, 0xd69b76fe,
+  0xf27ebc5, 0xd6a50d5d, 0xf1fcdf8, 0xd6aea555,
+  0xf17b20d, 0xd6b83ee4, 0xf0f9805, 0xd6c1da0b,
+  0xf077fe1, 0xd6cb76c9, 0xeff699f, 0xd6d5151d,
+  0xef75541, 0xd6deb508, 0xeef42c7, 0xd6e85689,
+  0xee73231, 0xd6f1f99f, 0xedf2380, 0xd6fb9e4b,
+  0xed716b4, 0xd705448b, 0xecf0bcd, 0xd70eec60,
+  0xec702cb, 0xd71895c9, 0xebefbb0, 0xd72240c5,
+  0xeb6f67a, 0xd72bed55, 0xeaef32b, 0xd7359b78,
+  0xea6f1c2, 0xd73f4b2e, 0xe9ef241, 0xd748fc75,
+  0xe96f4a7, 0xd752af4f, 0xe8ef8f4, 0xd75c63ba,
+  0xe86ff2a, 0xd76619b6, 0xe7f0748, 0xd76fd143,
+  0xe77114e, 0xd7798a60, 0xe6f1d3d, 0xd783450d,
+  0xe672b16, 0xd78d014a, 0xe5f3ad8, 0xd796bf16,
+  0xe574c84, 0xd7a07e70, 0xe4f6019, 0xd7aa3f5a,
+  0xe47759a, 0xd7b401d1, 0xe3f8d05, 0xd7bdc5d6,
+  0xe37a65b, 0xd7c78b68, 0xe2fc19c, 0xd7d15288,
+  0xe27dec9, 0xd7db1b34, 0xe1ffde2, 0xd7e4e56c,
+  0xe181ee8, 0xd7eeb130, 0xe1041d9, 0xd7f87e7f,
+  0xe0866b8, 0xd8024d59, 0xe008d84, 0xd80c1dbf,
+  0xdf8b63d, 0xd815efae, 0xdf0e0e4, 0xd81fc328,
+  0xde90d79, 0xd829982b, 0xde13bfd, 0xd8336eb7,
+  0xdd96c6f, 0xd83d46cc, 0xdd19ed0, 0xd8472069,
+  0xdc9d320, 0xd850fb8e, 0xdc20960, 0xd85ad83c,
+  0xdba4190, 0xd864b670, 0xdb27bb0, 0xd86e962b,
+  0xdaab7c0, 0xd878776d, 0xda2f5c2, 0xd8825a35,
+  0xd9b35b4, 0xd88c3e83, 0xd937798, 0xd8962456,
+  0xd8bbb6d, 0xd8a00bae, 0xd840134, 0xd8a9f48a,
+  0xd7c48ee, 0xd8b3deeb, 0xd74929a, 0xd8bdcad0,
+  0xd6cde39, 0xd8c7b838, 0xd652bcb, 0xd8d1a724,
+  0xd5d7b50, 0xd8db9792, 0xd55ccca, 0xd8e58982,
+  0xd4e2037, 0xd8ef7cf4, 0xd467599, 0xd8f971e8,
+  0xd3eccef, 0xd903685d, 0xd37263a, 0xd90d6053,
+  0xd2f817b, 0xd91759c9, 0xd27deb0, 0xd92154bf,
+  0xd203ddc, 0xd92b5135, 0xd189efe, 0xd9354f2a,
+  0xd110216, 0xd93f4e9e, 0xd096725, 0xd9494f90,
+  0xd01ce2b, 0xd9535201, 0xcfa3729, 0xd95d55ef,
+  0xcf2a21d, 0xd9675b5a, 0xceb0f0a, 0xd9716243,
+  0xce37def, 0xd97b6aa8, 0xcdbeecc, 0xd9857489,
+  0xcd461a2, 0xd98f7fe6, 0xcccd671, 0xd9998cbe,
+  0xcc54d3a, 0xd9a39b11, 0xcbdc5fc, 0xd9adaadf,
+  0xcb640b8, 0xd9b7bc27, 0xcaebd6e, 0xd9c1cee9,
+  0xca73c1e, 0xd9cbe325, 0xc9fbcca, 0xd9d5f8d9,
+  0xc983f70, 0xd9e01006, 0xc90c412, 0xd9ea28ac,
+  0xc894aaf, 0xd9f442c9, 0xc81d349, 0xd9fe5e5e,
+  0xc7a5dde, 0xda087b69, 0xc72ea70, 0xda1299ec,
+  0xc6b78ff, 0xda1cb9e5, 0xc64098b, 0xda26db54,
+  0xc5c9c14, 0xda30fe38, 0xc55309b, 0xda3b2292,
+  0xc4dc720, 0xda454860, 0xc465fa3, 0xda4f6fa3,
+  0xc3efa25, 0xda599859, 0xc3796a5, 0xda63c284,
+  0xc303524, 0xda6dee21, 0xc28d5a3, 0xda781b31,
+  0xc217822, 0xda8249b4, 0xc1a1ca0, 0xda8c79a9,
+  0xc12c31f, 0xda96ab0f, 0xc0b6b9e, 0xdaa0dde7,
+  0xc04161e, 0xdaab122f, 0xbfcc29f, 0xdab547e8,
+  0xbf57121, 0xdabf7f11, 0xbee21a5, 0xdac9b7a9,
+  0xbe6d42b, 0xdad3f1b1, 0xbdf88b3, 0xdade2d28,
+  0xbd83f3d, 0xdae86a0d, 0xbd0f7ca, 0xdaf2a860,
+  0xbc9b25a, 0xdafce821, 0xbc26eee, 0xdb072950,
+  0xbbb2d85, 0xdb116beb, 0xbb3ee20, 0xdb1baff2,
+  0xbacb0bf, 0xdb25f566, 0xba57563, 0xdb303c46,
+  0xb9e3c0b, 0xdb3a8491, 0xb9704b9, 0xdb44ce46,
+  0xb8fcf6b, 0xdb4f1967, 0xb889c23, 0xdb5965f1,
+  0xb816ae1, 0xdb63b3e5, 0xb7a3ba5, 0xdb6e0342,
+  0xb730e70, 0xdb785409, 0xb6be341, 0xdb82a638,
+  0xb64ba19, 0xdb8cf9cf, 0xb5d92f8, 0xdb974ece,
+  0xb566ddf, 0xdba1a534, 0xb4f4acd, 0xdbabfd01,
+  0xb4829c4, 0xdbb65634, 0xb410ac3, 0xdbc0b0ce,
+  0xb39edca, 0xdbcb0cce, 0xb32d2da, 0xdbd56a32,
+  0xb2bb9f4, 0xdbdfc8fc, 0xb24a316, 0xdbea292b,
+  0xb1d8e43, 0xdbf48abd, 0xb167b79, 0xdbfeedb3,
+  0xb0f6aba, 0xdc09520d, 0xb085c05, 0xdc13b7c9,
+  0xb014f5b, 0xdc1e1ee9, 0xafa44bc, 0xdc28876a,
+  0xaf33c28, 0xdc32f14d, 0xaec35a0, 0xdc3d5c91,
+  0xae53123, 0xdc47c936, 0xade2eb3, 0xdc52373c,
+  0xad72e4f, 0xdc5ca6a2, 0xad02ff8, 0xdc671768,
+  0xac933ae, 0xdc71898d, 0xac23971, 0xdc7bfd11,
+  0xabb4141, 0xdc8671f3, 0xab44b1f, 0xdc90e834,
+  0xaad570c, 0xdc9b5fd2, 0xaa66506, 0xdca5d8cd,
+  0xa9f750f, 0xdcb05326, 0xa988727, 0xdcbacedb,
+  0xa919b4e, 0xdcc54bec, 0xa8ab184, 0xdccfca59,
+  0xa83c9ca, 0xdcda4a21, 0xa7ce420, 0xdce4cb44,
+  0xa760086, 0xdcef4dc2, 0xa6f1efc, 0xdcf9d199,
+  0xa683f83, 0xdd0456ca, 0xa61621b, 0xdd0edd55,
+  0xa5a86c4, 0xdd196538, 0xa53ad7e, 0xdd23ee74,
+  0xa4cd64b, 0xdd2e7908, 0xa460129, 0xdd3904f4,
+  0xa3f2e19, 0xdd439236, 0xa385d1d, 0xdd4e20d0,
+  0xa318e32, 0xdd58b0c0, 0xa2ac15b, 0xdd634206,
+  0xa23f698, 0xdd6dd4a2, 0xa1d2de7, 0xdd786892,
+  0xa16674b, 0xdd82fdd8, 0xa0fa2c3, 0xdd8d9472,
+  0xa08e04f, 0xdd982c60, 0xa021fef, 0xdda2c5a2,
+  0x9fb61a5, 0xddad6036, 0x9f4a570, 0xddb7fc1e,
+  0x9edeb50, 0xddc29958, 0x9e73346, 0xddcd37e4,
+  0x9e07d51, 0xddd7d7c1, 0x9d9c973, 0xdde278ef,
+  0x9d317ab, 0xdded1b6e, 0x9cc67fa, 0xddf7bf3e,
+  0x9c5ba60, 0xde02645d, 0x9bf0edd, 0xde0d0acc,
+  0x9b86572, 0xde17b28a, 0x9b1be1e, 0xde225b96,
+  0x9ab18e3, 0xde2d05f1, 0x9a475bf, 0xde37b199,
+  0x99dd4b4, 0xde425e8f, 0x99735c2, 0xde4d0cd2,
+  0x99098e9, 0xde57bc62, 0x989fe29, 0xde626d3e,
+  0x9836582, 0xde6d1f65, 0x97ccef5, 0xde77d2d8,
+  0x9763a83, 0xde828796, 0x96fa82a, 0xde8d3d9e,
+  0x96917ec, 0xde97f4f1, 0x96289c9, 0xdea2ad8d,
+  0x95bfdc1, 0xdead6773, 0x95573d4, 0xdeb822a1,
+  0x94eec03, 0xdec2df18, 0x948664d, 0xdecd9cd7,
+  0x941e2b4, 0xded85bdd, 0x93b6137, 0xdee31c2b,
+  0x934e1d6, 0xdeedddc0, 0x92e6492, 0xdef8a09b,
+  0x927e96b, 0xdf0364bc, 0x9217062, 0xdf0e2a22,
+  0x91af976, 0xdf18f0ce, 0x91484a8, 0xdf23b8be,
+  0x90e11f7, 0xdf2e81f3, 0x907a166, 0xdf394c6b,
+  0x90132f2, 0xdf441828, 0x8fac69e, 0xdf4ee527,
+  0x8f45c68, 0xdf59b369, 0x8edf452, 0xdf6482ed,
+  0x8e78e5b, 0xdf6f53b3, 0x8e12a84, 0xdf7a25ba,
+  0x8dac8cd, 0xdf84f902, 0x8d46936, 0xdf8fcd8b,
+  0x8ce0bc0, 0xdf9aa354, 0x8c7b06b, 0xdfa57a5d,
+  0x8c15736, 0xdfb052a5, 0x8bb0023, 0xdfbb2c2c,
+  0x8b4ab32, 0xdfc606f1, 0x8ae5862, 0xdfd0e2f5,
+  0x8a807b4, 0xdfdbc036, 0x8a1b928, 0xdfe69eb4,
+  0x89b6cbf, 0xdff17e70, 0x8952278, 0xdffc5f67,
+  0x88eda54, 0xe007419b, 0x8889454, 0xe012250a,
+  0x8825077, 0xe01d09b4, 0x87c0ebd, 0xe027ef99,
+  0x875cf28, 0xe032d6b8, 0x86f91b7, 0xe03dbf11,
+  0x869566a, 0xe048a8a4, 0x8631d42, 0xe053936f,
+  0x85ce63e, 0xe05e7f74, 0x856b160, 0xe0696cb0,
+  0x8507ea7, 0xe0745b24, 0x84a4e14, 0xe07f4acf,
+  0x8441fa6, 0xe08a3bb2, 0x83df35f, 0xe0952dcb,
+  0x837c93e, 0xe0a0211a, 0x831a143, 0xe0ab159e,
+  0x82b7b70, 0xe0b60b58, 0x82557c3, 0xe0c10247,
+  0x81f363d, 0xe0cbfa6a, 0x81916df, 0xe0d6f3c1,
+  0x812f9a9, 0xe0e1ee4b, 0x80cde9b, 0xe0ecea09,
+  0x806c5b5, 0xe0f7e6f9, 0x800aef7, 0xe102e51c,
+  0x7fa9a62, 0xe10de470, 0x7f487f6, 0xe118e4f6,
+  0x7ee77b3, 0xe123e6ad, 0x7e8699a, 0xe12ee995,
+  0x7e25daa, 0xe139edac, 0x7dc53e3, 0xe144f2f3,
+  0x7d64c47, 0xe14ff96a, 0x7d046d6, 0xe15b0110,
+  0x7ca438f, 0xe16609e3, 0x7c44272, 0xe17113e5,
+  0x7be4381, 0xe17c1f15, 0x7b846ba, 0xe1872b72,
+  0x7b24c20, 0xe19238fb, 0x7ac53b1, 0xe19d47b1,
+  0x7a65d6e, 0xe1a85793, 0x7a06957, 0xe1b368a0,
+  0x79a776c, 0xe1be7ad8, 0x79487ae, 0xe1c98e3b,
+  0x78e9a1d, 0xe1d4a2c8, 0x788aeb9, 0xe1dfb87f,
+  0x782c582, 0xe1eacf5f, 0x77cde79, 0xe1f5e768,
+  0x776f99d, 0xe2010099, 0x77116f0, 0xe20c1af3,
+  0x76b3671, 0xe2173674, 0x7655820, 0xe222531c,
+  0x75f7bfe, 0xe22d70eb, 0x759a20a, 0xe2388fe1,
+  0x753ca46, 0xe243affc, 0x74df4b1, 0xe24ed13d,
+  0x748214c, 0xe259f3a3, 0x7425016, 0xe265172e,
+  0x73c8111, 0xe2703bdc, 0x736b43c, 0xe27b61af,
+  0x730e997, 0xe28688a4, 0x72b2123, 0xe291b0bd,
+  0x7255ae0, 0xe29cd9f8, 0x71f96ce, 0xe2a80456,
+  0x719d4ed, 0xe2b32fd4, 0x714153e, 0xe2be5c74,
+  0x70e57c0, 0xe2c98a35, 0x7089c75, 0xe2d4b916,
+  0x702e35c, 0xe2dfe917, 0x6fd2c75, 0xe2eb1a37,
+  0x6f777c1, 0xe2f64c77, 0x6f1c540, 0xe3017fd5,
+  0x6ec14f2, 0xe30cb451, 0x6e666d7, 0xe317e9eb,
+  0x6e0baf0, 0xe32320a2, 0x6db113d, 0xe32e5876,
+  0x6d569be, 0xe3399167, 0x6cfc472, 0xe344cb73,
+  0x6ca215c, 0xe350069b, 0x6c4807a, 0xe35b42df,
+  0x6bee1cd, 0xe366803c, 0x6b94554, 0xe371beb5,
+  0x6b3ab12, 0xe37cfe47, 0x6ae1304, 0xe3883ef2,
+  0x6a87d2d, 0xe39380b6, 0x6a2e98b, 0xe39ec393,
+  0x69d5820, 0xe3aa0788, 0x697c8eb, 0xe3b54c95,
+  0x6923bec, 0xe3c092b9, 0x68cb124, 0xe3cbd9f4,
+  0x6872894, 0xe3d72245, 0x681a23a, 0xe3e26bac,
+  0x67c1e18, 0xe3edb628, 0x6769c2e, 0xe3f901ba,
+  0x6711c7b, 0xe4044e60, 0x66b9f01, 0xe40f9c1a,
+  0x66623be, 0xe41aeae8, 0x660aab5, 0xe4263ac9,
+  0x65b33e4, 0xe4318bbe, 0x655bf4c, 0xe43cddc4,
+  0x6504ced, 0xe44830dd, 0x64adcc7, 0xe4538507,
+  0x6456edb, 0xe45eda43, 0x6400329, 0xe46a308f,
+  0x63a99b1, 0xe47587eb, 0x6353273, 0xe480e057,
+  0x62fcd6f, 0xe48c39d3, 0x62a6aa6, 0xe497945d,
+  0x6250a18, 0xe4a2eff6, 0x61fabc4, 0xe4ae4c9d,
+  0x61a4fac, 0xe4b9aa52, 0x614f5cf, 0xe4c50914,
+  0x60f9e2e, 0xe4d068e2, 0x60a48c9, 0xe4dbc9bd,
+  0x604f5a0, 0xe4e72ba4, 0x5ffa4b3, 0xe4f28e96,
+  0x5fa5603, 0xe4fdf294, 0x5f5098f, 0xe509579b,
+  0x5efbf58, 0xe514bdad, 0x5ea775e, 0xe52024c9,
+  0x5e531a1, 0xe52b8cee, 0x5dfee22, 0xe536f61b,
+  0x5daace1, 0xe5426051, 0x5d56ddd, 0xe54dcb8f,
+  0x5d03118, 0xe55937d5, 0x5caf690, 0xe564a521,
+  0x5c5be47, 0xe5701374, 0x5c0883d, 0xe57b82cd,
+  0x5bb5472, 0xe586f32c, 0x5b622e6, 0xe5926490,
+  0x5b0f399, 0xe59dd6f9, 0x5abc68c, 0xe5a94a67,
+  0x5a69bbe, 0xe5b4bed8, 0x5a17330, 0xe5c0344d,
+  0x59c4ce3, 0xe5cbaac5, 0x59728d5, 0xe5d72240,
+  0x5920708, 0xe5e29abc, 0x58ce77c, 0xe5ee143b,
+  0x587ca31, 0xe5f98ebb, 0x582af26, 0xe6050a3b,
+  0x57d965d, 0xe61086bc, 0x5787fd6, 0xe61c043d,
+  0x5736b90, 0xe62782be, 0x56e598c, 0xe633023e,
+  0x56949ca, 0xe63e82bc, 0x5643c4a, 0xe64a0438,
+  0x55f310d, 0xe65586b3, 0x55a2812, 0xe6610a2a,
+  0x555215a, 0xe66c8e9f, 0x5501ce5, 0xe6781410,
+  0x54b1ab4, 0xe6839a7c, 0x5461ac6, 0xe68f21e5,
+  0x5411d1b, 0xe69aaa48, 0x53c21b4, 0xe6a633a6,
+  0x5372891, 0xe6b1bdff, 0x53231b3, 0xe6bd4951,
+  0x52d3d18, 0xe6c8d59c, 0x5284ac3, 0xe6d462e1,
+  0x5235ab2, 0xe6dff11d, 0x51e6ce6, 0xe6eb8052,
+  0x519815f, 0xe6f7107e, 0x514981d, 0xe702a1a1,
+  0x50fb121, 0xe70e33bb, 0x50acc6b, 0xe719c6cb,
+  0x505e9fb, 0xe7255ad1, 0x50109d0, 0xe730efcc,
+  0x4fc2bec, 0xe73c85bc, 0x4f7504e, 0xe7481ca1,
+  0x4f276f7, 0xe753b479, 0x4ed9fe7, 0xe75f4d45,
+  0x4e8cb1e, 0xe76ae704, 0x4e3f89c, 0xe77681b6,
+  0x4df2862, 0xe7821d59, 0x4da5a6f, 0xe78db9ef,
+  0x4d58ec3, 0xe7995776, 0x4d0c560, 0xe7a4f5ed,
+  0x4cbfe45, 0xe7b09555, 0x4c73972, 0xe7bc35ad,
+  0x4c276e8, 0xe7c7d6f4, 0x4bdb6a6, 0xe7d3792b,
+  0x4b8f8ad, 0xe7df1c50, 0x4b43cfd, 0xe7eac063,
+  0x4af8397, 0xe7f66564, 0x4aacc7a, 0xe8020b52,
+  0x4a617a6, 0xe80db22d, 0x4a1651c, 0xe81959f4,
+  0x49cb4dd, 0xe82502a7, 0x49806e7, 0xe830ac45,
+  0x4935b3c, 0xe83c56cf, 0x48eb1db, 0xe8480243,
+  0x48a0ac4, 0xe853aea1, 0x48565f9, 0xe85f5be9,
+  0x480c379, 0xe86b0a1a, 0x47c2344, 0xe876b934,
+  0x477855a, 0xe8826936, 0x472e9bc, 0xe88e1a20,
+  0x46e5069, 0xe899cbf1, 0x469b963, 0xe8a57ea9,
+  0x46524a9, 0xe8b13248, 0x460923b, 0xe8bce6cd,
+  0x45c0219, 0xe8c89c37, 0x4577444, 0xe8d45286,
+  0x452e8bc, 0xe8e009ba, 0x44e5f80, 0xe8ebc1d3,
+  0x449d892, 0xe8f77acf, 0x44553f2, 0xe90334af,
+  0x440d19e, 0xe90eef71, 0x43c5199, 0xe91aab16,
+  0x437d3e1, 0xe926679c, 0x4335877, 0xe9322505,
+  0x42edf5c, 0xe93de34e, 0x42a688f, 0xe949a278,
+  0x425f410, 0xe9556282, 0x42181e0, 0xe961236c,
+  0x41d11ff, 0xe96ce535, 0x418a46d, 0xe978a7dd,
+  0x414392b, 0xe9846b63, 0x40fd037, 0xe9902fc7,
+  0x40b6994, 0xe99bf509, 0x4070540, 0xe9a7bb28,
+  0x402a33c, 0xe9b38223, 0x3fe4388, 0xe9bf49fa,
+  0x3f9e624, 0xe9cb12ad, 0x3f58b10, 0xe9d6dc3b,
+  0x3f1324e, 0xe9e2a6a3, 0x3ecdbdc, 0xe9ee71e6,
+  0x3e887bb, 0xe9fa3e03, 0x3e435ea, 0xea060af9,
+  0x3dfe66c, 0xea11d8c8, 0x3db993e, 0xea1da770,
+  0x3d74e62, 0xea2976ef, 0x3d305d8, 0xea354746,
+  0x3cebfa0, 0xea411874, 0x3ca7bba, 0xea4cea79,
+  0x3c63a26, 0xea58bd54, 0x3c1fae5, 0xea649105,
+  0x3bdbdf6, 0xea70658a, 0x3b9835a, 0xea7c3ae5,
+  0x3b54b11, 0xea881114, 0x3b1151b, 0xea93e817,
+  0x3ace178, 0xea9fbfed, 0x3a8b028, 0xeaab9896,
+  0x3a4812c, 0xeab77212, 0x3a05484, 0xeac34c60,
+  0x39c2a2f, 0xeacf277f, 0x398022f, 0xeadb0370,
+  0x393dc82, 0xeae6e031, 0x38fb92a, 0xeaf2bdc3,
+  0x38b9827, 0xeafe9c24, 0x3877978, 0xeb0a7b54,
+  0x3835d1e, 0xeb165b54, 0x37f4319, 0xeb223c22,
+  0x37b2b6a, 0xeb2e1dbe, 0x377160f, 0xeb3a0027,
+  0x373030a, 0xeb45e35d, 0x36ef25b, 0xeb51c760,
+  0x36ae401, 0xeb5dac2f, 0x366d7fd, 0xeb6991ca,
+  0x362ce50, 0xeb75782f, 0x35ec6f8, 0xeb815f60,
+  0x35ac1f7, 0xeb8d475b, 0x356bf4d, 0xeb99301f,
+  0x352bef9, 0xeba519ad, 0x34ec0fc, 0xebb10404,
+  0x34ac556, 0xebbcef23, 0x346cc07, 0xebc8db0b,
+  0x342d510, 0xebd4c7ba, 0x33ee070, 0xebe0b52f,
+  0x33aee27, 0xebeca36c, 0x336fe37, 0xebf8926f,
+  0x333109e, 0xec048237, 0x32f255e, 0xec1072c4,
+  0x32b3c75, 0xec1c6417, 0x32755e5, 0xec28562d,
+  0x32371ae, 0xec344908, 0x31f8fcf, 0xec403ca5,
+  0x31bb049, 0xec4c3106, 0x317d31c, 0xec582629,
+  0x313f848, 0xec641c0e, 0x3101fce, 0xec7012b5,
+  0x30c49ad, 0xec7c0a1d, 0x30875e5, 0xec880245,
+  0x304a477, 0xec93fb2e, 0x300d563, 0xec9ff4d6,
+  0x2fd08a9, 0xecabef3d, 0x2f93e4a, 0xecb7ea63,
+  0x2f57644, 0xecc3e648, 0x2f1b099, 0xeccfe2ea,
+  0x2eded49, 0xecdbe04a, 0x2ea2c53, 0xece7de66,
+  0x2e66db8, 0xecf3dd3f, 0x2e2b178, 0xecffdcd4,
+  0x2def794, 0xed0bdd25, 0x2db400a, 0xed17de31,
+  0x2d78add, 0xed23dff7, 0x2d3d80a, 0xed2fe277,
+  0x2d02794, 0xed3be5b1, 0x2cc7979, 0xed47e9a5,
+  0x2c8cdbb, 0xed53ee51, 0x2c52459, 0xed5ff3b5,
+  0x2c17d52, 0xed6bf9d1, 0x2bdd8a9, 0xed7800a5,
+  0x2ba365c, 0xed84082f, 0x2b6966c, 0xed901070,
+  0x2b2f8d8, 0xed9c1967, 0x2af5da2, 0xeda82313,
+  0x2abc4c9, 0xedb42d74, 0x2a82e4d, 0xedc0388a,
+  0x2a49a2e, 0xedcc4454, 0x2a1086d, 0xedd850d2,
+  0x29d790a, 0xede45e03, 0x299ec05, 0xedf06be6,
+  0x296615d, 0xedfc7a7c, 0x292d914, 0xee0889c4,
+  0x28f5329, 0xee1499bd, 0x28bcf9c, 0xee20aa67,
+  0x2884e6e, 0xee2cbbc1, 0x284cf9f, 0xee38cdcb,
+  0x281532e, 0xee44e084, 0x27dd91c, 0xee50f3ed,
+  0x27a616a, 0xee5d0804, 0x276ec16, 0xee691cc9,
+  0x2737922, 0xee75323c, 0x270088e, 0xee81485c,
+  0x26c9a58, 0xee8d5f29, 0x2692e83, 0xee9976a1,
+  0x265c50e, 0xeea58ec6, 0x2625df8, 0xeeb1a796,
+  0x25ef943, 0xeebdc110, 0x25b96ee, 0xeec9db35,
+  0x25836f9, 0xeed5f604, 0x254d965, 0xeee2117c,
+  0x2517e31, 0xeeee2d9d, 0x24e255e, 0xeefa4a67,
+  0x24aceed, 0xef0667d9, 0x2477adc, 0xef1285f2,
+  0x244292c, 0xef1ea4b2, 0x240d9de, 0xef2ac419,
+  0x23d8cf1, 0xef36e426, 0x23a4265, 0xef4304d8,
+  0x236fa3b, 0xef4f2630, 0x233b473, 0xef5b482d,
+  0x230710d, 0xef676ace, 0x22d3009, 0xef738e12,
+  0x229f167, 0xef7fb1fa, 0x226b528, 0xef8bd685,
+  0x2237b4b, 0xef97fbb2, 0x22043d0, 0xefa42181,
+  0x21d0eb8, 0xefb047f2, 0x219dc03, 0xefbc6f03,
+  0x216abb1, 0xefc896b5, 0x2137dc2, 0xefd4bf08,
+  0x2105236, 0xefe0e7f9, 0x20d290d, 0xefed118a,
+  0x20a0248, 0xeff93bba, 0x206dde6, 0xf0056687,
+  0x203bbe8, 0xf01191f3, 0x2009c4e, 0xf01dbdfb,
+  0x1fd7f17, 0xf029eaa1, 0x1fa6445, 0xf03617e2,
+  0x1f74bd6, 0xf04245c0, 0x1f435cc, 0xf04e7438,
+  0x1f12227, 0xf05aa34c, 0x1ee10e5, 0xf066d2fa,
+  0x1eb0209, 0xf0730342, 0x1e7f591, 0xf07f3424,
+  0x1e4eb7e, 0xf08b659f, 0x1e1e3d0, 0xf09797b2,
+  0x1dede87, 0xf0a3ca5d, 0x1dbdba3, 0xf0affda0,
+  0x1d8db25, 0xf0bc317a, 0x1d5dd0c, 0xf0c865ea,
+  0x1d2e158, 0xf0d49af1, 0x1cfe80a, 0xf0e0d08d,
+  0x1ccf122, 0xf0ed06bf, 0x1c9fca0, 0xf0f93d86,
+  0x1c70a84, 0xf10574e0, 0x1c41ace, 0xf111accf,
+  0x1c12d7e, 0xf11de551, 0x1be4294, 0xf12a1e66,
+  0x1bb5a11, 0xf136580d, 0x1b873f5, 0xf1429247,
+  0x1b5903f, 0xf14ecd11, 0x1b2aef0, 0xf15b086d,
+  0x1afd007, 0xf1674459, 0x1acf386, 0xf17380d6,
+  0x1aa196c, 0xf17fbde2, 0x1a741b9, 0xf18bfb7d,
+  0x1a46c6e, 0xf19839a6, 0x1a1998a, 0xf1a4785e,
+  0x19ec90d, 0xf1b0b7a4, 0x19bfaf9, 0xf1bcf777,
+  0x1992f4c, 0xf1c937d6, 0x1966606, 0xf1d578c2,
+  0x1939f29, 0xf1e1ba3a, 0x190dab4, 0xf1edfc3d,
+  0x18e18a7, 0xf1fa3ecb, 0x18b5903, 0xf20681e3,
+  0x1889bc6, 0xf212c585, 0x185e0f3, 0xf21f09b1,
+  0x1832888, 0xf22b4e66, 0x1807285, 0xf23793a3,
+  0x17dbeec, 0xf243d968, 0x17b0dbb, 0xf2501fb5,
+  0x1785ef4, 0xf25c6688, 0x175b296, 0xf268ade3,
+  0x17308a1, 0xf274f5c3, 0x1706115, 0xf2813e2a,
+  0x16dbbf3, 0xf28d8715, 0x16b193a, 0xf299d085,
+  0x16878eb, 0xf2a61a7a, 0x165db05, 0xf2b264f2,
+  0x1633f8a, 0xf2beafed, 0x160a678, 0xf2cafb6b,
+  0x15e0fd1, 0xf2d7476c, 0x15b7b94, 0xf2e393ef,
+  0x158e9c1, 0xf2efe0f2, 0x1565a58, 0xf2fc2e77,
+  0x153cd5a, 0xf3087c7d, 0x15142c6, 0xf314cb02,
+  0x14eba9d, 0xf3211a07, 0x14c34df, 0xf32d698a,
+  0x149b18b, 0xf339b98d, 0x14730a3, 0xf3460a0d,
+  0x144b225, 0xf3525b0b, 0x1423613, 0xf35eac86,
+  0x13fbc6c, 0xf36afe7e, 0x13d4530, 0xf37750f2,
+  0x13ad060, 0xf383a3e2, 0x1385dfb, 0xf38ff74d,
+  0x135ee02, 0xf39c4b32, 0x1338075, 0xf3a89f92,
+  0x1311553, 0xf3b4f46c, 0x12eac9d, 0xf3c149bf,
+  0x12c4653, 0xf3cd9f8b, 0x129e276, 0xf3d9f5cf,
+  0x1278104, 0xf3e64c8c, 0x12521ff, 0xf3f2a3bf,
+  0x122c566, 0xf3fefb6a, 0x1206b39, 0xf40b538b,
+  0x11e1379, 0xf417ac22, 0x11bbe26, 0xf424052f,
+  0x1196b3f, 0xf4305eb0, 0x1171ac6, 0xf43cb8a7,
+  0x114ccb9, 0xf4491311, 0x1128119, 0xf4556def,
+  0x11037e6, 0xf461c940, 0x10df120, 0xf46e2504,
+  0x10bacc8, 0xf47a8139, 0x1096add, 0xf486dde1,
+  0x1072b5f, 0xf4933afa, 0x104ee4f, 0xf49f9884,
+  0x102b3ac, 0xf4abf67e, 0x1007b77, 0xf4b854e7,
+  0xfe45b0, 0xf4c4b3c0, 0xfc1257, 0xf4d11308,
+  0xf9e16b, 0xf4dd72be, 0xf7b2ee, 0xf4e9d2e3,
+  0xf586df, 0xf4f63374, 0xf35d3e, 0xf5029473,
+  0xf1360b, 0xf50ef5de, 0xef1147, 0xf51b57b5,
+  0xeceef1, 0xf527b9f7, 0xeacf09, 0xf5341ca5,
+  0xe8b190, 0xf5407fbd, 0xe69686, 0xf54ce33f,
+  0xe47deb, 0xf559472b, 0xe267be, 0xf565ab80,
+  0xe05401, 0xf572103d, 0xde42b2, 0xf57e7563,
+  0xdc33d2, 0xf58adaf0, 0xda2762, 0xf59740e5,
+  0xd81d61, 0xf5a3a740, 0xd615cf, 0xf5b00e02,
+  0xd410ad, 0xf5bc7529, 0xd20dfa, 0xf5c8dcb6,
+  0xd00db6, 0xf5d544a7, 0xce0fe3, 0xf5e1acfd,
+  0xcc147f, 0xf5ee15b7, 0xca1b8a, 0xf5fa7ed4,
+  0xc82506, 0xf606e854, 0xc630f2, 0xf6135237,
+  0xc43f4d, 0xf61fbc7b, 0xc25019, 0xf62c2721,
+  0xc06355, 0xf6389228, 0xbe7901, 0xf644fd8f,
+  0xbc911d, 0xf6516956, 0xbaabaa, 0xf65dd57d,
+  0xb8c8a7, 0xf66a4203, 0xb6e815, 0xf676aee8,
+  0xb509f3, 0xf6831c2b, 0xb32e42, 0xf68f89cb,
+  0xb15502, 0xf69bf7c9, 0xaf7e33, 0xf6a86623,
+  0xada9d4, 0xf6b4d4d9, 0xabd7e6, 0xf6c143ec,
+  0xaa086a, 0xf6cdb359, 0xa83b5e, 0xf6da2321,
+  0xa670c4, 0xf6e69344, 0xa4a89b, 0xf6f303c0,
+  0xa2e2e3, 0xf6ff7496, 0xa11f9d, 0xf70be5c4,
+  0x9f5ec8, 0xf718574b, 0x9da065, 0xf724c92a,
+  0x9be473, 0xf7313b60, 0x9a2af3, 0xf73daded,
+  0x9873e4, 0xf74a20d0, 0x96bf48, 0xf756940a,
+  0x950d1d, 0xf7630799, 0x935d64, 0xf76f7b7d,
+  0x91b01d, 0xf77befb5, 0x900548, 0xf7886442,
+  0x8e5ce5, 0xf794d922, 0x8cb6f5, 0xf7a14e55,
+  0x8b1376, 0xf7adc3db, 0x89726a, 0xf7ba39b3,
+  0x87d3d0, 0xf7c6afdc, 0x8637a9, 0xf7d32657,
+  0x849df4, 0xf7df9d22, 0x8306b2, 0xf7ec143e,
+  0x8171e2, 0xf7f88ba9, 0x7fdf85, 0xf8050364,
+  0x7e4f9b, 0xf8117b6d, 0x7cc223, 0xf81df3c5,
+  0x7b371e, 0xf82a6c6a, 0x79ae8c, 0xf836e55d,
+  0x78286e, 0xf8435e9d, 0x76a4c2, 0xf84fd829,
+  0x752389, 0xf85c5201, 0x73a4c3, 0xf868cc24,
+  0x722871, 0xf8754692, 0x70ae92, 0xf881c14b,
+  0x6f3726, 0xf88e3c4d, 0x6dc22e, 0xf89ab799,
+  0x6c4fa8, 0xf8a7332e, 0x6adf97, 0xf8b3af0c,
+  0x6971f9, 0xf8c02b31, 0x6806ce, 0xf8cca79e,
+  0x669e18, 0xf8d92452, 0x6537d4, 0xf8e5a14d,
+  0x63d405, 0xf8f21e8e, 0x6272aa, 0xf8fe9c15,
+  0x6113c2, 0xf90b19e0, 0x5fb74e, 0xf91797f0,
+  0x5e5d4e, 0xf9241645, 0x5d05c3, 0xf93094dd,
+  0x5bb0ab, 0xf93d13b8, 0x5a5e07, 0xf94992d7,
+  0x590dd8, 0xf9561237, 0x57c01d, 0xf96291d9,
+  0x5674d6, 0xf96f11bc, 0x552c03, 0xf97b91e1,
+  0x53e5a5, 0xf9881245, 0x52a1bb, 0xf99492ea,
+  0x516045, 0xf9a113cd, 0x502145, 0xf9ad94f0,
+  0x4ee4b8, 0xf9ba1651, 0x4daaa1, 0xf9c697f0,
+  0x4c72fe, 0xf9d319cc, 0x4b3dcf, 0xf9df9be6,
+  0x4a0b16, 0xf9ec1e3b, 0x48dad1, 0xf9f8a0cd,
+  0x47ad01, 0xfa05239a, 0x4681a6, 0xfa11a6a3,
+  0x4558c0, 0xfa1e29e5, 0x44324f, 0xfa2aad62,
+  0x430e53, 0xfa373119, 0x41eccc, 0xfa43b508,
+  0x40cdba, 0xfa503930, 0x3fb11d, 0xfa5cbd91,
+  0x3e96f6, 0xfa694229, 0x3d7f44, 0xfa75c6f8,
+  0x3c6a07, 0xfa824bfd, 0x3b573f, 0xfa8ed139,
+  0x3a46ed, 0xfa9b56ab, 0x393910, 0xfaa7dc52,
+  0x382da8, 0xfab4622d, 0x3724b6, 0xfac0e83d,
+  0x361e3a, 0xfacd6e81, 0x351a33, 0xfad9f4f8,
+  0x3418a2, 0xfae67ba2, 0x331986, 0xfaf3027e,
+  0x321ce0, 0xfaff898c, 0x3122b0, 0xfb0c10cb,
+  0x302af5, 0xfb18983b, 0x2f35b1, 0xfb251fdc,
+  0x2e42e2, 0xfb31a7ac, 0x2d5289, 0xfb3e2fac,
+  0x2c64a6, 0xfb4ab7db, 0x2b7939, 0xfb574039,
+  0x2a9042, 0xfb63c8c4, 0x29a9c1, 0xfb70517d,
+  0x28c5b6, 0xfb7cda63, 0x27e421, 0xfb896375,
+  0x270502, 0xfb95ecb4, 0x262859, 0xfba2761e,
+  0x254e27, 0xfbaeffb3, 0x24766a, 0xfbbb8973,
+  0x23a124, 0xfbc8135c, 0x22ce54, 0xfbd49d70,
+  0x21fdfb, 0xfbe127ac, 0x213018, 0xfbedb212,
+  0x2064ab, 0xfbfa3c9f, 0x1f9bb5, 0xfc06c754,
+  0x1ed535, 0xfc135231, 0x1e112b, 0xfc1fdd34,
+  0x1d4f99, 0xfc2c685d, 0x1c907c, 0xfc38f3ac,
+  0x1bd3d6, 0xfc457f21, 0x1b19a7, 0xfc520aba,
+  0x1a61ee, 0xfc5e9678, 0x19acac, 0xfc6b2259,
+  0x18f9e1, 0xfc77ae5e, 0x18498c, 0xfc843a85,
+  0x179bae, 0xfc90c6cf, 0x16f047, 0xfc9d533b,
+  0x164757, 0xfca9dfc8, 0x15a0dd, 0xfcb66c77,
+  0x14fcda, 0xfcc2f945, 0x145b4e, 0xfccf8634,
+  0x13bc39, 0xfcdc1342, 0x131f9b, 0xfce8a06f,
+  0x128574, 0xfcf52dbb, 0x11edc3, 0xfd01bb24,
+  0x11588a, 0xfd0e48ab, 0x10c5c7, 0xfd1ad650,
+  0x10357c, 0xfd276410, 0xfa7a8, 0xfd33f1ed,
+  0xf1c4a, 0xfd407fe6, 0xe9364, 0xfd4d0df9,
+  0xe0cf5, 0xfd599c28, 0xd88fd, 0xfd662a70,
+  0xd077c, 0xfd72b8d2, 0xc8872, 0xfd7f474d,
+  0xc0be0, 0xfd8bd5e1, 0xb91c4, 0xfd98648d,
+  0xb1a20, 0xfda4f351, 0xaa4f3, 0xfdb1822c,
+  0xa323d, 0xfdbe111e, 0x9c1ff, 0xfdcaa027,
+  0x95438, 0xfdd72f45, 0x8e8e8, 0xfde3be78,
+  0x8800f, 0xfdf04dc0, 0x819ae, 0xfdfcdd1d,
+  0x7b5c4, 0xfe096c8d, 0x75452, 0xfe15fc11,
+  0x6f556, 0xfe228ba7, 0x698d3, 0xfe2f1b50,
+  0x63ec6, 0xfe3bab0b, 0x5e731, 0xfe483ad8,
+  0x59214, 0xfe54cab5, 0x53f6e, 0xfe615aa3,
+  0x4ef3f, 0xfe6deaa1, 0x4a188, 0xfe7a7aae,
+  0x45648, 0xfe870aca, 0x40d80, 0xfe939af5,
+  0x3c72f, 0xfea02b2e, 0x38356, 0xfeacbb74,
+  0x341f4, 0xfeb94bc8, 0x3030a, 0xfec5dc28,
+  0x2c697, 0xfed26c94, 0x28c9c, 0xfedefd0c,
+  0x25519, 0xfeeb8d8f, 0x2200d, 0xfef81e1d,
+  0x1ed78, 0xff04aeb5, 0x1bd5c, 0xff113f56,
+  0x18fb6, 0xff1dd001, 0x16489, 0xff2a60b4,
+  0x13bd3, 0xff36f170, 0x11594, 0xff438234,
+  0xf1ce, 0xff5012fe, 0xd07e, 0xff5ca3d0,
+  0xb1a7, 0xff6934a8, 0x9547, 0xff75c585,
+  0x7b5f, 0xff825668, 0x63ee, 0xff8ee750,
+  0x4ef5, 0xff9b783c, 0x3c74, 0xffa8092c,
+  0x2c6a, 0xffb49a1f, 0x1ed8, 0xffc12b16,
+  0x13bd, 0xffcdbc0f, 0xb1a, 0xffda4d09,
+  0x4ef, 0xffe6de05, 0x13c, 0xfff36f02,
+  0x0, 0x0, 0x13c, 0xc90fe,
+  0x4ef, 0x1921fb, 0xb1a, 0x25b2f7,
+  0x13bd, 0x3243f1, 0x1ed8, 0x3ed4ea,
+  0x2c6a, 0x4b65e1, 0x3c74, 0x57f6d4,
+  0x4ef5, 0x6487c4, 0x63ee, 0x7118b0,
+  0x7b5f, 0x7da998, 0x9547, 0x8a3a7b,
+  0xb1a7, 0x96cb58, 0xd07e, 0xa35c30,
+  0xf1ce, 0xafed02, 0x11594, 0xbc7dcc,
+  0x13bd3, 0xc90e90, 0x16489, 0xd59f4c,
+  0x18fb6, 0xe22fff, 0x1bd5c, 0xeec0aa,
+  0x1ed78, 0xfb514b, 0x2200d, 0x107e1e3,
+  0x25519, 0x1147271, 0x28c9c, 0x12102f4,
+  0x2c697, 0x12d936c, 0x3030a, 0x13a23d8,
+  0x341f4, 0x146b438, 0x38356, 0x153448c,
+  0x3c72f, 0x15fd4d2, 0x40d80, 0x16c650b,
+  0x45648, 0x178f536, 0x4a188, 0x1858552,
+  0x4ef3f, 0x192155f, 0x53f6e, 0x19ea55d,
+  0x59214, 0x1ab354b, 0x5e731, 0x1b7c528,
+  0x63ec6, 0x1c454f5, 0x698d3, 0x1d0e4b0,
+  0x6f556, 0x1dd7459, 0x75452, 0x1ea03ef,
+  0x7b5c4, 0x1f69373, 0x819ae, 0x20322e3,
+  0x8800f, 0x20fb240, 0x8e8e8, 0x21c4188,
+  0x95438, 0x228d0bb, 0x9c1ff, 0x2355fd9,
+  0xa323d, 0x241eee2, 0xaa4f3, 0x24e7dd4,
+  0xb1a20, 0x25b0caf, 0xb91c4, 0x2679b73,
+  0xc0be0, 0x2742a1f, 0xc8872, 0x280b8b3,
+  0xd077c, 0x28d472e, 0xd88fd, 0x299d590,
+  0xe0cf5, 0x2a663d8, 0xe9364, 0x2b2f207,
+  0xf1c4a, 0x2bf801a, 0xfa7a8, 0x2cc0e13,
+  0x10357c, 0x2d89bf0, 0x10c5c7, 0x2e529b0,
+  0x11588a, 0x2f1b755, 0x11edc3, 0x2fe44dc,
+  0x128574, 0x30ad245, 0x131f9b, 0x3175f91,
+  0x13bc39, 0x323ecbe, 0x145b4e, 0x33079cc,
+  0x14fcda, 0x33d06bb, 0x15a0dd, 0x3499389,
+  0x164757, 0x3562038, 0x16f047, 0x362acc5,
+  0x179bae, 0x36f3931, 0x18498c, 0x37bc57b,
+  0x18f9e1, 0x38851a2, 0x19acac, 0x394dda7,
+  0x1a61ee, 0x3a16988, 0x1b19a7, 0x3adf546,
+  0x1bd3d6, 0x3ba80df, 0x1c907c, 0x3c70c54,
+  0x1d4f99, 0x3d397a3, 0x1e112b, 0x3e022cc,
+  0x1ed535, 0x3ecadcf, 0x1f9bb5, 0x3f938ac,
+  0x2064ab, 0x405c361, 0x213018, 0x4124dee,
+  0x21fdfb, 0x41ed854, 0x22ce54, 0x42b6290,
+  0x23a124, 0x437eca4, 0x24766a, 0x444768d,
+  0x254e27, 0x451004d, 0x262859, 0x45d89e2,
+  0x270502, 0x46a134c, 0x27e421, 0x4769c8b,
+  0x28c5b6, 0x483259d, 0x29a9c1, 0x48fae83,
+  0x2a9042, 0x49c373c, 0x2b7939, 0x4a8bfc7,
+  0x2c64a6, 0x4b54825, 0x2d5289, 0x4c1d054,
+  0x2e42e2, 0x4ce5854, 0x2f35b1, 0x4dae024,
+  0x302af5, 0x4e767c5, 0x3122b0, 0x4f3ef35,
+  0x321ce0, 0x5007674, 0x331986, 0x50cfd82,
+  0x3418a2, 0x519845e, 0x351a33, 0x5260b08,
+  0x361e3a, 0x532917f, 0x3724b6, 0x53f17c3,
+  0x382da8, 0x54b9dd3, 0x393910, 0x55823ae,
+  0x3a46ed, 0x564a955, 0x3b573f, 0x5712ec7,
+  0x3c6a07, 0x57db403, 0x3d7f44, 0x58a3908,
+  0x3e96f6, 0x596bdd7, 0x3fb11d, 0x5a3426f,
+  0x40cdba, 0x5afc6d0, 0x41eccc, 0x5bc4af8,
+  0x430e53, 0x5c8cee7, 0x44324f, 0x5d5529e,
+  0x4558c0, 0x5e1d61b, 0x4681a6, 0x5ee595d,
+  0x47ad01, 0x5fadc66, 0x48dad1, 0x6075f33,
+  0x4a0b16, 0x613e1c5, 0x4b3dcf, 0x620641a,
+  0x4c72fe, 0x62ce634, 0x4daaa1, 0x6396810,
+  0x4ee4b8, 0x645e9af, 0x502145, 0x6526b10,
+  0x516045, 0x65eec33, 0x52a1bb, 0x66b6d16,
+  0x53e5a5, 0x677edbb, 0x552c03, 0x6846e1f,
+  0x5674d6, 0x690ee44, 0x57c01d, 0x69d6e27,
+  0x590dd8, 0x6a9edc9, 0x5a5e07, 0x6b66d29,
+  0x5bb0ab, 0x6c2ec48, 0x5d05c3, 0x6cf6b23,
+  0x5e5d4e, 0x6dbe9bb, 0x5fb74e, 0x6e86810,
+  0x6113c2, 0x6f4e620, 0x6272aa, 0x70163eb,
+  0x63d405, 0x70de172, 0x6537d4, 0x71a5eb3,
+  0x669e18, 0x726dbae, 0x6806ce, 0x7335862,
+  0x6971f9, 0x73fd4cf, 0x6adf97, 0x74c50f4,
+  0x6c4fa8, 0x758ccd2, 0x6dc22e, 0x7654867,
+  0x6f3726, 0x771c3b3, 0x70ae92, 0x77e3eb5,
+  0x722871, 0x78ab96e, 0x73a4c3, 0x79733dc,
+  0x752389, 0x7a3adff, 0x76a4c2, 0x7b027d7,
+  0x78286e, 0x7bca163, 0x79ae8c, 0x7c91aa3,
+  0x7b371e, 0x7d59396, 0x7cc223, 0x7e20c3b,
+  0x7e4f9b, 0x7ee8493, 0x7fdf85, 0x7fafc9c,
+  0x8171e2, 0x8077457, 0x8306b2, 0x813ebc2,
+  0x849df4, 0x82062de, 0x8637a9, 0x82cd9a9,
+  0x87d3d0, 0x8395024, 0x89726a, 0x845c64d,
+  0x8b1376, 0x8523c25, 0x8cb6f5, 0x85eb1ab,
+  0x8e5ce5, 0x86b26de, 0x900548, 0x8779bbe,
+  0x91b01d, 0x884104b, 0x935d64, 0x8908483,
+  0x950d1d, 0x89cf867, 0x96bf48, 0x8a96bf6,
+  0x9873e4, 0x8b5df30, 0x9a2af3, 0x8c25213,
+  0x9be473, 0x8cec4a0, 0x9da065, 0x8db36d6,
+  0x9f5ec8, 0x8e7a8b5, 0xa11f9d, 0x8f41a3c,
+  0xa2e2e3, 0x9008b6a, 0xa4a89b, 0x90cfc40,
+  0xa670c4, 0x9196cbc, 0xa83b5e, 0x925dcdf,
+  0xaa086a, 0x9324ca7, 0xabd7e6, 0x93ebc14,
+  0xada9d4, 0x94b2b27, 0xaf7e33, 0x95799dd,
+  0xb15502, 0x9640837, 0xb32e42, 0x9707635,
+  0xb509f3, 0x97ce3d5, 0xb6e815, 0x9895118,
+  0xb8c8a7, 0x995bdfd, 0xbaabaa, 0x9a22a83,
+  0xbc911d, 0x9ae96aa, 0xbe7901, 0x9bb0271,
+  0xc06355, 0x9c76dd8, 0xc25019, 0x9d3d8df,
+  0xc43f4d, 0x9e04385, 0xc630f2, 0x9ecadc9,
+  0xc82506, 0x9f917ac, 0xca1b8a, 0xa05812c,
+  0xcc147f, 0xa11ea49, 0xce0fe3, 0xa1e5303,
+  0xd00db6, 0xa2abb59, 0xd20dfa, 0xa37234a,
+  0xd410ad, 0xa438ad7, 0xd615cf, 0xa4ff1fe,
+  0xd81d61, 0xa5c58c0, 0xda2762, 0xa68bf1b,
+  0xdc33d2, 0xa752510, 0xde42b2, 0xa818a9d,
+  0xe05401, 0xa8defc3, 0xe267be, 0xa9a5480,
+  0xe47deb, 0xaa6b8d5, 0xe69686, 0xab31cc1,
+  0xe8b190, 0xabf8043, 0xeacf09, 0xacbe35b,
+  0xeceef1, 0xad84609, 0xef1147, 0xae4a84b,
+  0xf1360b, 0xaf10a22, 0xf35d3e, 0xafd6b8d,
+  0xf586df, 0xb09cc8c, 0xf7b2ee, 0xb162d1d,
+  0xf9e16b, 0xb228d42, 0xfc1257, 0xb2eecf8,
+  0xfe45b0, 0xb3b4c40, 0x1007b77, 0xb47ab19,
+  0x102b3ac, 0xb540982, 0x104ee4f, 0xb60677c,
+  0x1072b5f, 0xb6cc506, 0x1096add, 0xb79221f,
+  0x10bacc8, 0xb857ec7, 0x10df120, 0xb91dafc,
+  0x11037e6, 0xb9e36c0, 0x1128119, 0xbaa9211,
+  0x114ccb9, 0xbb6ecef, 0x1171ac6, 0xbc34759,
+  0x1196b3f, 0xbcfa150, 0x11bbe26, 0xbdbfad1,
+  0x11e1379, 0xbe853de, 0x1206b39, 0xbf4ac75,
+  0x122c566, 0xc010496, 0x12521ff, 0xc0d5c41,
+  0x1278104, 0xc19b374, 0x129e276, 0xc260a31,
+  0x12c4653, 0xc326075, 0x12eac9d, 0xc3eb641,
+  0x1311553, 0xc4b0b94, 0x1338075, 0xc57606e,
+  0x135ee02, 0xc63b4ce, 0x1385dfb, 0xc7008b3,
+  0x13ad060, 0xc7c5c1e, 0x13d4530, 0xc88af0e,
+  0x13fbc6c, 0xc950182, 0x1423613, 0xca1537a,
+  0x144b225, 0xcada4f5, 0x14730a3, 0xcb9f5f3,
+  0x149b18b, 0xcc64673, 0x14c34df, 0xcd29676,
+  0x14eba9d, 0xcdee5f9, 0x15142c6, 0xceb34fe,
+  0x153cd5a, 0xcf78383, 0x1565a58, 0xd03d189,
+  0x158e9c1, 0xd101f0e, 0x15b7b94, 0xd1c6c11,
+  0x15e0fd1, 0xd28b894, 0x160a678, 0xd350495,
+  0x1633f8a, 0xd415013, 0x165db05, 0xd4d9b0e,
+  0x16878eb, 0xd59e586, 0x16b193a, 0xd662f7b,
+  0x16dbbf3, 0xd7278eb, 0x1706115, 0xd7ec1d6,
+  0x17308a1, 0xd8b0a3d, 0x175b296, 0xd97521d,
+  0x1785ef4, 0xda39978, 0x17b0dbb, 0xdafe04b,
+  0x17dbeec, 0xdbc2698, 0x1807285, 0xdc86c5d,
+  0x1832888, 0xdd4b19a, 0x185e0f3, 0xde0f64f,
+  0x1889bc6, 0xded3a7b, 0x18b5903, 0xdf97e1d,
+  0x18e18a7, 0xe05c135, 0x190dab4, 0xe1203c3,
+  0x1939f29, 0xe1e45c6, 0x1966606, 0xe2a873e,
+  0x1992f4c, 0xe36c82a, 0x19bfaf9, 0xe430889,
+  0x19ec90d, 0xe4f485c, 0x1a1998a, 0xe5b87a2,
+  0x1a46c6e, 0xe67c65a, 0x1a741b9, 0xe740483,
+  0x1aa196c, 0xe80421e, 0x1acf386, 0xe8c7f2a,
+  0x1afd007, 0xe98bba7, 0x1b2aef0, 0xea4f793,
+  0x1b5903f, 0xeb132ef, 0x1b873f5, 0xebd6db9,
+  0x1bb5a11, 0xec9a7f3, 0x1be4294, 0xed5e19a,
+  0x1c12d7e, 0xee21aaf, 0x1c41ace, 0xeee5331,
+  0x1c70a84, 0xefa8b20, 0x1c9fca0, 0xf06c27a,
+  0x1ccf122, 0xf12f941, 0x1cfe80a, 0xf1f2f73,
+  0x1d2e158, 0xf2b650f, 0x1d5dd0c, 0xf379a16,
+  0x1d8db25, 0xf43ce86, 0x1dbdba3, 0xf500260,
+  0x1dede87, 0xf5c35a3, 0x1e1e3d0, 0xf68684e,
+  0x1e4eb7e, 0xf749a61, 0x1e7f591, 0xf80cbdc,
+  0x1eb0209, 0xf8cfcbe, 0x1ee10e5, 0xf992d06,
+  0x1f12227, 0xfa55cb4, 0x1f435cc, 0xfb18bc8,
+  0x1f74bd6, 0xfbdba40, 0x1fa6445, 0xfc9e81e,
+  0x1fd7f17, 0xfd6155f, 0x2009c4e, 0xfe24205,
+  0x203bbe8, 0xfee6e0d, 0x206dde6, 0xffa9979,
+  0x20a0248, 0x1006c446, 0x20d290d, 0x1012ee76,
+  0x2105236, 0x101f1807, 0x2137dc2, 0x102b40f8,
+  0x216abb1, 0x1037694b, 0x219dc03, 0x104390fd,
+  0x21d0eb8, 0x104fb80e, 0x22043d0, 0x105bde7f,
+  0x2237b4b, 0x1068044e, 0x226b528, 0x1074297b,
+  0x229f167, 0x10804e06, 0x22d3009, 0x108c71ee,
+  0x230710d, 0x10989532, 0x233b473, 0x10a4b7d3,
+  0x236fa3b, 0x10b0d9d0, 0x23a4265, 0x10bcfb28,
+  0x23d8cf1, 0x10c91bda, 0x240d9de, 0x10d53be7,
+  0x244292c, 0x10e15b4e, 0x2477adc, 0x10ed7a0e,
+  0x24aceed, 0x10f99827, 0x24e255e, 0x1105b599,
+  0x2517e31, 0x1111d263, 0x254d965, 0x111dee84,
+  0x25836f9, 0x112a09fc, 0x25b96ee, 0x113624cb,
+  0x25ef943, 0x11423ef0, 0x2625df8, 0x114e586a,
+  0x265c50e, 0x115a713a, 0x2692e83, 0x1166895f,
+  0x26c9a58, 0x1172a0d7, 0x270088e, 0x117eb7a4,
+  0x2737922, 0x118acdc4, 0x276ec16, 0x1196e337,
+  0x27a616a, 0x11a2f7fc, 0x27dd91c, 0x11af0c13,
+  0x281532e, 0x11bb1f7c, 0x284cf9f, 0x11c73235,
+  0x2884e6e, 0x11d3443f, 0x28bcf9c, 0x11df5599,
+  0x28f5329, 0x11eb6643, 0x292d914, 0x11f7763c,
+  0x296615d, 0x12038584, 0x299ec05, 0x120f941a,
+  0x29d790a, 0x121ba1fd, 0x2a1086d, 0x1227af2e,
+  0x2a49a2e, 0x1233bbac, 0x2a82e4d, 0x123fc776,
+  0x2abc4c9, 0x124bd28c, 0x2af5da2, 0x1257dced,
+  0x2b2f8d8, 0x1263e699, 0x2b6966c, 0x126fef90,
+  0x2ba365c, 0x127bf7d1, 0x2bdd8a9, 0x1287ff5b,
+  0x2c17d52, 0x1294062f, 0x2c52459, 0x12a00c4b,
+  0x2c8cdbb, 0x12ac11af, 0x2cc7979, 0x12b8165b,
+  0x2d02794, 0x12c41a4f, 0x2d3d80a, 0x12d01d89,
+  0x2d78add, 0x12dc2009, 0x2db400a, 0x12e821cf,
+  0x2def794, 0x12f422db, 0x2e2b178, 0x1300232c,
+  0x2e66db8, 0x130c22c1, 0x2ea2c53, 0x1318219a,
+  0x2eded49, 0x13241fb6, 0x2f1b099, 0x13301d16,
+  0x2f57644, 0x133c19b8, 0x2f93e4a, 0x1348159d,
+  0x2fd08a9, 0x135410c3, 0x300d563, 0x13600b2a,
+  0x304a477, 0x136c04d2, 0x30875e5, 0x1377fdbb,
+  0x30c49ad, 0x1383f5e3, 0x3101fce, 0x138fed4b,
+  0x313f848, 0x139be3f2, 0x317d31c, 0x13a7d9d7,
+  0x31bb049, 0x13b3cefa, 0x31f8fcf, 0x13bfc35b,
+  0x32371ae, 0x13cbb6f8, 0x32755e5, 0x13d7a9d3,
+  0x32b3c75, 0x13e39be9, 0x32f255e, 0x13ef8d3c,
+  0x333109e, 0x13fb7dc9, 0x336fe37, 0x14076d91,
+  0x33aee27, 0x14135c94, 0x33ee070, 0x141f4ad1,
+  0x342d510, 0x142b3846, 0x346cc07, 0x143724f5,
+  0x34ac556, 0x144310dd, 0x34ec0fc, 0x144efbfc,
+  0x352bef9, 0x145ae653, 0x356bf4d, 0x1466cfe1,
+  0x35ac1f7, 0x1472b8a5, 0x35ec6f8, 0x147ea0a0,
+  0x362ce50, 0x148a87d1, 0x366d7fd, 0x14966e36,
+  0x36ae401, 0x14a253d1, 0x36ef25b, 0x14ae38a0,
+  0x373030a, 0x14ba1ca3, 0x377160f, 0x14c5ffd9,
+  0x37b2b6a, 0x14d1e242, 0x37f4319, 0x14ddc3de,
+  0x3835d1e, 0x14e9a4ac, 0x3877978, 0x14f584ac,
+  0x38b9827, 0x150163dc, 0x38fb92a, 0x150d423d,
+  0x393dc82, 0x15191fcf, 0x398022f, 0x1524fc90,
+  0x39c2a2f, 0x1530d881, 0x3a05484, 0x153cb3a0,
+  0x3a4812c, 0x15488dee, 0x3a8b028, 0x1554676a,
+  0x3ace178, 0x15604013, 0x3b1151b, 0x156c17e9,
+  0x3b54b11, 0x1577eeec, 0x3b9835a, 0x1583c51b,
+  0x3bdbdf6, 0x158f9a76, 0x3c1fae5, 0x159b6efb,
+  0x3c63a26, 0x15a742ac, 0x3ca7bba, 0x15b31587,
+  0x3cebfa0, 0x15bee78c, 0x3d305d8, 0x15cab8ba,
+  0x3d74e62, 0x15d68911, 0x3db993e, 0x15e25890,
+  0x3dfe66c, 0x15ee2738, 0x3e435ea, 0x15f9f507,
+  0x3e887bb, 0x1605c1fd, 0x3ecdbdc, 0x16118e1a,
+  0x3f1324e, 0x161d595d, 0x3f58b10, 0x162923c5,
+  0x3f9e624, 0x1634ed53, 0x3fe4388, 0x1640b606,
+  0x402a33c, 0x164c7ddd, 0x4070540, 0x165844d8,
+  0x40b6994, 0x16640af7, 0x40fd037, 0x166fd039,
+  0x414392b, 0x167b949d, 0x418a46d, 0x16875823,
+  0x41d11ff, 0x16931acb, 0x42181e0, 0x169edc94,
+  0x425f410, 0x16aa9d7e, 0x42a688f, 0x16b65d88,
+  0x42edf5c, 0x16c21cb2, 0x4335877, 0x16cddafb,
+  0x437d3e1, 0x16d99864, 0x43c5199, 0x16e554ea,
+  0x440d19e, 0x16f1108f, 0x44553f2, 0x16fccb51,
+  0x449d892, 0x17088531, 0x44e5f80, 0x17143e2d,
+  0x452e8bc, 0x171ff646, 0x4577444, 0x172bad7a,
+  0x45c0219, 0x173763c9, 0x460923b, 0x17431933,
+  0x46524a9, 0x174ecdb8, 0x469b963, 0x175a8157,
+  0x46e5069, 0x1766340f, 0x472e9bc, 0x1771e5e0,
+  0x477855a, 0x177d96ca, 0x47c2344, 0x178946cc,
+  0x480c379, 0x1794f5e6, 0x48565f9, 0x17a0a417,
+  0x48a0ac4, 0x17ac515f, 0x48eb1db, 0x17b7fdbd,
+  0x4935b3c, 0x17c3a931, 0x49806e7, 0x17cf53bb,
+  0x49cb4dd, 0x17dafd59, 0x4a1651c, 0x17e6a60c,
+  0x4a617a6, 0x17f24dd3, 0x4aacc7a, 0x17fdf4ae,
+  0x4af8397, 0x18099a9c, 0x4b43cfd, 0x18153f9d,
+  0x4b8f8ad, 0x1820e3b0, 0x4bdb6a6, 0x182c86d5,
+  0x4c276e8, 0x1838290c, 0x4c73972, 0x1843ca53,
+  0x4cbfe45, 0x184f6aab, 0x4d0c560, 0x185b0a13,
+  0x4d58ec3, 0x1866a88a, 0x4da5a6f, 0x18724611,
+  0x4df2862, 0x187de2a7, 0x4e3f89c, 0x18897e4a,
+  0x4e8cb1e, 0x189518fc, 0x4ed9fe7, 0x18a0b2bb,
+  0x4f276f7, 0x18ac4b87, 0x4f7504e, 0x18b7e35f,
+  0x4fc2bec, 0x18c37a44, 0x50109d0, 0x18cf1034,
+  0x505e9fb, 0x18daa52f, 0x50acc6b, 0x18e63935,
+  0x50fb121, 0x18f1cc45, 0x514981d, 0x18fd5e5f,
+  0x519815f, 0x1908ef82, 0x51e6ce6, 0x19147fae,
+  0x5235ab2, 0x19200ee3, 0x5284ac3, 0x192b9d1f,
+  0x52d3d18, 0x19372a64, 0x53231b3, 0x1942b6af,
+  0x5372891, 0x194e4201, 0x53c21b4, 0x1959cc5a,
+  0x5411d1b, 0x196555b8, 0x5461ac6, 0x1970de1b,
+  0x54b1ab4, 0x197c6584, 0x5501ce5, 0x1987ebf0,
+  0x555215a, 0x19937161, 0x55a2812, 0x199ef5d6,
+  0x55f310d, 0x19aa794d, 0x5643c4a, 0x19b5fbc8,
+  0x56949ca, 0x19c17d44, 0x56e598c, 0x19ccfdc2,
+  0x5736b90, 0x19d87d42, 0x5787fd6, 0x19e3fbc3,
+  0x57d965d, 0x19ef7944, 0x582af26, 0x19faf5c5,
+  0x587ca31, 0x1a067145, 0x58ce77c, 0x1a11ebc5,
+  0x5920708, 0x1a1d6544, 0x59728d5, 0x1a28ddc0,
+  0x59c4ce3, 0x1a34553b, 0x5a17330, 0x1a3fcbb3,
+  0x5a69bbe, 0x1a4b4128, 0x5abc68c, 0x1a56b599,
+  0x5b0f399, 0x1a622907, 0x5b622e6, 0x1a6d9b70,
+  0x5bb5472, 0x1a790cd4, 0x5c0883d, 0x1a847d33,
+  0x5c5be47, 0x1a8fec8c, 0x5caf690, 0x1a9b5adf,
+  0x5d03118, 0x1aa6c82b, 0x5d56ddd, 0x1ab23471,
+  0x5daace1, 0x1abd9faf, 0x5dfee22, 0x1ac909e5,
+  0x5e531a1, 0x1ad47312, 0x5ea775e, 0x1adfdb37,
+  0x5efbf58, 0x1aeb4253, 0x5f5098f, 0x1af6a865,
+  0x5fa5603, 0x1b020d6c, 0x5ffa4b3, 0x1b0d716a,
+  0x604f5a0, 0x1b18d45c, 0x60a48c9, 0x1b243643,
+  0x60f9e2e, 0x1b2f971e, 0x614f5cf, 0x1b3af6ec,
+  0x61a4fac, 0x1b4655ae, 0x61fabc4, 0x1b51b363,
+  0x6250a18, 0x1b5d100a, 0x62a6aa6, 0x1b686ba3,
+  0x62fcd6f, 0x1b73c62d, 0x6353273, 0x1b7f1fa9,
+  0x63a99b1, 0x1b8a7815, 0x6400329, 0x1b95cf71,
+  0x6456edb, 0x1ba125bd, 0x64adcc7, 0x1bac7af9,
+  0x6504ced, 0x1bb7cf23, 0x655bf4c, 0x1bc3223c,
+  0x65b33e4, 0x1bce7442, 0x660aab5, 0x1bd9c537,
+  0x66623be, 0x1be51518, 0x66b9f01, 0x1bf063e6,
+  0x6711c7b, 0x1bfbb1a0, 0x6769c2e, 0x1c06fe46,
+  0x67c1e18, 0x1c1249d8, 0x681a23a, 0x1c1d9454,
+  0x6872894, 0x1c28ddbb, 0x68cb124, 0x1c34260c,
+  0x6923bec, 0x1c3f6d47, 0x697c8eb, 0x1c4ab36b,
+  0x69d5820, 0x1c55f878, 0x6a2e98b, 0x1c613c6d,
+  0x6a87d2d, 0x1c6c7f4a, 0x6ae1304, 0x1c77c10e,
+  0x6b3ab12, 0x1c8301b9, 0x6b94554, 0x1c8e414b,
+  0x6bee1cd, 0x1c997fc4, 0x6c4807a, 0x1ca4bd21,
+  0x6ca215c, 0x1caff965, 0x6cfc472, 0x1cbb348d,
+  0x6d569be, 0x1cc66e99, 0x6db113d, 0x1cd1a78a,
+  0x6e0baf0, 0x1cdcdf5e, 0x6e666d7, 0x1ce81615,
+  0x6ec14f2, 0x1cf34baf, 0x6f1c540, 0x1cfe802b,
+  0x6f777c1, 0x1d09b389, 0x6fd2c75, 0x1d14e5c9,
+  0x702e35c, 0x1d2016e9, 0x7089c75, 0x1d2b46ea,
+  0x70e57c0, 0x1d3675cb, 0x714153e, 0x1d41a38c,
+  0x719d4ed, 0x1d4cd02c, 0x71f96ce, 0x1d57fbaa,
+  0x7255ae0, 0x1d632608, 0x72b2123, 0x1d6e4f43,
+  0x730e997, 0x1d79775c, 0x736b43c, 0x1d849e51,
+  0x73c8111, 0x1d8fc424, 0x7425016, 0x1d9ae8d2,
+  0x748214c, 0x1da60c5d, 0x74df4b1, 0x1db12ec3,
+  0x753ca46, 0x1dbc5004, 0x759a20a, 0x1dc7701f,
+  0x75f7bfe, 0x1dd28f15, 0x7655820, 0x1dddace4,
+  0x76b3671, 0x1de8c98c, 0x77116f0, 0x1df3e50d,
+  0x776f99d, 0x1dfeff67, 0x77cde79, 0x1e0a1898,
+  0x782c582, 0x1e1530a1, 0x788aeb9, 0x1e204781,
+  0x78e9a1d, 0x1e2b5d38, 0x79487ae, 0x1e3671c5,
+  0x79a776c, 0x1e418528, 0x7a06957, 0x1e4c9760,
+  0x7a65d6e, 0x1e57a86d, 0x7ac53b1, 0x1e62b84f,
+  0x7b24c20, 0x1e6dc705, 0x7b846ba, 0x1e78d48e,
+  0x7be4381, 0x1e83e0eb, 0x7c44272, 0x1e8eec1b,
+  0x7ca438f, 0x1e99f61d, 0x7d046d6, 0x1ea4fef0,
+  0x7d64c47, 0x1eb00696, 0x7dc53e3, 0x1ebb0d0d,
+  0x7e25daa, 0x1ec61254, 0x7e8699a, 0x1ed1166b,
+  0x7ee77b3, 0x1edc1953, 0x7f487f6, 0x1ee71b0a,
+  0x7fa9a62, 0x1ef21b90, 0x800aef7, 0x1efd1ae4,
+  0x806c5b5, 0x1f081907, 0x80cde9b, 0x1f1315f7,
+  0x812f9a9, 0x1f1e11b5, 0x81916df, 0x1f290c3f,
+  0x81f363d, 0x1f340596, 0x82557c3, 0x1f3efdb9,
+  0x82b7b70, 0x1f49f4a8, 0x831a143, 0x1f54ea62,
+  0x837c93e, 0x1f5fdee6, 0x83df35f, 0x1f6ad235,
+  0x8441fa6, 0x1f75c44e, 0x84a4e14, 0x1f80b531,
+  0x8507ea7, 0x1f8ba4dc, 0x856b160, 0x1f969350,
+  0x85ce63e, 0x1fa1808c, 0x8631d42, 0x1fac6c91,
+  0x869566a, 0x1fb7575c, 0x86f91b7, 0x1fc240ef,
+  0x875cf28, 0x1fcd2948, 0x87c0ebd, 0x1fd81067,
+  0x8825077, 0x1fe2f64c, 0x8889454, 0x1feddaf6,
+  0x88eda54, 0x1ff8be65, 0x8952278, 0x2003a099,
+  0x89b6cbf, 0x200e8190, 0x8a1b928, 0x2019614c,
+  0x8a807b4, 0x20243fca, 0x8ae5862, 0x202f1d0b,
+  0x8b4ab32, 0x2039f90f, 0x8bb0023, 0x2044d3d4,
+  0x8c15736, 0x204fad5b, 0x8c7b06b, 0x205a85a3,
+  0x8ce0bc0, 0x20655cac, 0x8d46936, 0x20703275,
+  0x8dac8cd, 0x207b06fe, 0x8e12a84, 0x2085da46,
+  0x8e78e5b, 0x2090ac4d, 0x8edf452, 0x209b7d13,
+  0x8f45c68, 0x20a64c97, 0x8fac69e, 0x20b11ad9,
+  0x90132f2, 0x20bbe7d8, 0x907a166, 0x20c6b395,
+  0x90e11f7, 0x20d17e0d, 0x91484a8, 0x20dc4742,
+  0x91af976, 0x20e70f32, 0x9217062, 0x20f1d5de,
+  0x927e96b, 0x20fc9b44, 0x92e6492, 0x21075f65,
+  0x934e1d6, 0x21122240, 0x93b6137, 0x211ce3d5,
+  0x941e2b4, 0x2127a423, 0x948664d, 0x21326329,
+  0x94eec03, 0x213d20e8, 0x95573d4, 0x2147dd5f,
+  0x95bfdc1, 0x2152988d, 0x96289c9, 0x215d5273,
+  0x96917ec, 0x21680b0f, 0x96fa82a, 0x2172c262,
+  0x9763a83, 0x217d786a, 0x97ccef5, 0x21882d28,
+  0x9836582, 0x2192e09b, 0x989fe29, 0x219d92c2,
+  0x99098e9, 0x21a8439e, 0x99735c2, 0x21b2f32e,
+  0x99dd4b4, 0x21bda171, 0x9a475bf, 0x21c84e67,
+  0x9ab18e3, 0x21d2fa0f, 0x9b1be1e, 0x21dda46a,
+  0x9b86572, 0x21e84d76, 0x9bf0edd, 0x21f2f534,
+  0x9c5ba60, 0x21fd9ba3, 0x9cc67fa, 0x220840c2,
+  0x9d317ab, 0x2212e492, 0x9d9c973, 0x221d8711,
+  0x9e07d51, 0x2228283f, 0x9e73346, 0x2232c81c,
+  0x9edeb50, 0x223d66a8, 0x9f4a570, 0x224803e2,
+  0x9fb61a5, 0x22529fca, 0xa021fef, 0x225d3a5e,
+  0xa08e04f, 0x2267d3a0, 0xa0fa2c3, 0x22726b8e,
+  0xa16674b, 0x227d0228, 0xa1d2de7, 0x2287976e,
+  0xa23f698, 0x22922b5e, 0xa2ac15b, 0x229cbdfa,
+  0xa318e32, 0x22a74f40, 0xa385d1d, 0x22b1df30,
+  0xa3f2e19, 0x22bc6dca, 0xa460129, 0x22c6fb0c,
+  0xa4cd64b, 0x22d186f8, 0xa53ad7e, 0x22dc118c,
+  0xa5a86c4, 0x22e69ac8, 0xa61621b, 0x22f122ab,
+  0xa683f83, 0x22fba936, 0xa6f1efc, 0x23062e67,
+  0xa760086, 0x2310b23e, 0xa7ce420, 0x231b34bc,
+  0xa83c9ca, 0x2325b5df, 0xa8ab184, 0x233035a7,
+  0xa919b4e, 0x233ab414, 0xa988727, 0x23453125,
+  0xa9f750f, 0x234facda, 0xaa66506, 0x235a2733,
+  0xaad570c, 0x2364a02e, 0xab44b1f, 0x236f17cc,
+  0xabb4141, 0x23798e0d, 0xac23971, 0x238402ef,
+  0xac933ae, 0x238e7673, 0xad02ff8, 0x2398e898,
+  0xad72e4f, 0x23a3595e, 0xade2eb3, 0x23adc8c4,
+  0xae53123, 0x23b836ca, 0xaec35a0, 0x23c2a36f,
+  0xaf33c28, 0x23cd0eb3, 0xafa44bc, 0x23d77896,
+  0xb014f5b, 0x23e1e117, 0xb085c05, 0x23ec4837,
+  0xb0f6aba, 0x23f6adf3, 0xb167b79, 0x2401124d,
+  0xb1d8e43, 0x240b7543, 0xb24a316, 0x2415d6d5,
+  0xb2bb9f4, 0x24203704, 0xb32d2da, 0x242a95ce,
+  0xb39edca, 0x2434f332, 0xb410ac3, 0x243f4f32,
+  0xb4829c4, 0x2449a9cc, 0xb4f4acd, 0x245402ff,
+  0xb566ddf, 0x245e5acc, 0xb5d92f8, 0x2468b132,
+  0xb64ba19, 0x24730631, 0xb6be341, 0x247d59c8,
+  0xb730e70, 0x2487abf7, 0xb7a3ba5, 0x2491fcbe,
+  0xb816ae1, 0x249c4c1b, 0xb889c23, 0x24a69a0f,
+  0xb8fcf6b, 0x24b0e699, 0xb9704b9, 0x24bb31ba,
+  0xb9e3c0b, 0x24c57b6f, 0xba57563, 0x24cfc3ba,
+  0xbacb0bf, 0x24da0a9a, 0xbb3ee20, 0x24e4500e,
+  0xbbb2d85, 0x24ee9415, 0xbc26eee, 0x24f8d6b0,
+  0xbc9b25a, 0x250317df, 0xbd0f7ca, 0x250d57a0,
+  0xbd83f3d, 0x251795f3, 0xbdf88b3, 0x2521d2d8,
+  0xbe6d42b, 0x252c0e4f, 0xbee21a5, 0x25364857,
+  0xbf57121, 0x254080ef, 0xbfcc29f, 0x254ab818,
+  0xc04161e, 0x2554edd1, 0xc0b6b9e, 0x255f2219,
+  0xc12c31f, 0x256954f1, 0xc1a1ca0, 0x25738657,
+  0xc217822, 0x257db64c, 0xc28d5a3, 0x2587e4cf,
+  0xc303524, 0x259211df, 0xc3796a5, 0x259c3d7c,
+  0xc3efa25, 0x25a667a7, 0xc465fa3, 0x25b0905d,
+  0xc4dc720, 0x25bab7a0, 0xc55309b, 0x25c4dd6e,
+  0xc5c9c14, 0x25cf01c8, 0xc64098b, 0x25d924ac,
+  0xc6b78ff, 0x25e3461b, 0xc72ea70, 0x25ed6614,
+  0xc7a5dde, 0x25f78497, 0xc81d349, 0x2601a1a2,
+  0xc894aaf, 0x260bbd37, 0xc90c412, 0x2615d754,
+  0xc983f70, 0x261feffa, 0xc9fbcca, 0x262a0727,
+  0xca73c1e, 0x26341cdb, 0xcaebd6e, 0x263e3117,
+  0xcb640b8, 0x264843d9, 0xcbdc5fc, 0x26525521,
+  0xcc54d3a, 0x265c64ef, 0xcccd671, 0x26667342,
+  0xcd461a2, 0x2670801a, 0xcdbeecc, 0x267a8b77,
+  0xce37def, 0x26849558, 0xceb0f0a, 0x268e9dbd,
+  0xcf2a21d, 0x2698a4a6, 0xcfa3729, 0x26a2aa11,
+  0xd01ce2b, 0x26acadff, 0xd096725, 0x26b6b070,
+  0xd110216, 0x26c0b162, 0xd189efe, 0x26cab0d6,
+  0xd203ddc, 0x26d4aecb, 0xd27deb0, 0x26deab41,
+  0xd2f817b, 0x26e8a637, 0xd37263a, 0x26f29fad,
+  0xd3eccef, 0x26fc97a3, 0xd467599, 0x27068e18,
+  0xd4e2037, 0x2710830c, 0xd55ccca, 0x271a767e,
+  0xd5d7b50, 0x2724686e, 0xd652bcb, 0x272e58dc,
+  0xd6cde39, 0x273847c8, 0xd74929a, 0x27423530,
+  0xd7c48ee, 0x274c2115, 0xd840134, 0x27560b76,
+  0xd8bbb6d, 0x275ff452, 0xd937798, 0x2769dbaa,
+  0xd9b35b4, 0x2773c17d, 0xda2f5c2, 0x277da5cb,
+  0xdaab7c0, 0x27878893, 0xdb27bb0, 0x279169d5,
+  0xdba4190, 0x279b4990, 0xdc20960, 0x27a527c4,
+  0xdc9d320, 0x27af0472, 0xdd19ed0, 0x27b8df97,
+  0xdd96c6f, 0x27c2b934, 0xde13bfd, 0x27cc9149,
+  0xde90d79, 0x27d667d5, 0xdf0e0e4, 0x27e03cd8,
+  0xdf8b63d, 0x27ea1052, 0xe008d84, 0x27f3e241,
+  0xe0866b8, 0x27fdb2a7, 0xe1041d9, 0x28078181,
+  0xe181ee8, 0x28114ed0, 0xe1ffde2, 0x281b1a94,
+  0xe27dec9, 0x2824e4cc, 0xe2fc19c, 0x282ead78,
+  0xe37a65b, 0x28387498, 0xe3f8d05, 0x28423a2a,
+  0xe47759a, 0x284bfe2f, 0xe4f6019, 0x2855c0a6,
+  0xe574c84, 0x285f8190, 0xe5f3ad8, 0x286940ea,
+  0xe672b16, 0x2872feb6, 0xe6f1d3d, 0x287cbaf3,
+  0xe77114e, 0x288675a0, 0xe7f0748, 0x28902ebd,
+  0xe86ff2a, 0x2899e64a, 0xe8ef8f4, 0x28a39c46,
+  0xe96f4a7, 0x28ad50b1, 0xe9ef241, 0x28b7038b,
+  0xea6f1c2, 0x28c0b4d2, 0xeaef32b, 0x28ca6488,
+  0xeb6f67a, 0x28d412ab, 0xebefbb0, 0x28ddbf3b,
+  0xec702cb, 0x28e76a37, 0xecf0bcd, 0x28f113a0,
+  0xed716b4, 0x28fabb75, 0xedf2380, 0x290461b5,
+  0xee73231, 0x290e0661, 0xeef42c7, 0x2917a977,
+  0xef75541, 0x29214af8, 0xeff699f, 0x292aeae3,
+  0xf077fe1, 0x29348937, 0xf0f9805, 0x293e25f5,
+  0xf17b20d, 0x2947c11c, 0xf1fcdf8, 0x29515aab,
+  0xf27ebc5, 0x295af2a3, 0xf300b74, 0x29648902,
+  0xf382d05, 0x296e1dc9, 0xf405077, 0x2977b0f7,
+  0xf4875ca, 0x2981428c, 0xf509cfe, 0x298ad287,
+  0xf58c613, 0x299460e8, 0xf60f108, 0x299dedaf,
+  0xf691ddd, 0x29a778db, 0xf714c91, 0x29b1026c,
+  0xf797d24, 0x29ba8a61, 0xf81af97, 0x29c410ba,
+  0xf89e3e8, 0x29cd9578, 0xf921a17, 0x29d71899,
+  0xf9a5225, 0x29e09a1c, 0xfa28c10, 0x29ea1a03,
+  0xfaac7d8, 0x29f3984c, 0xfb3057d, 0x29fd14f6,
+  0xfbb4500, 0x2a069003, 0xfc3865e, 0x2a100970,
+  0xfcbc999, 0x2a19813f, 0xfd40eaf, 0x2a22f76e,
+  0xfdc55a1, 0x2a2c6bfd, 0xfe49e6d, 0x2a35deeb,
+  0xfece915, 0x2a3f503a, 0xff53597, 0x2a48bfe7,
+  0xffd83f4, 0x2a522df3, 0x1005d42a, 0x2a5b9a5d,
+  0x100e2639, 0x2a650525, 0x10167a22, 0x2a6e6e4b,
+  0x101ecfe4, 0x2a77d5ce, 0x1027277e, 0x2a813bae,
+  0x102f80f1, 0x2a8a9fea, 0x1037dc3b, 0x2a940283,
+  0x1040395d, 0x2a9d6377, 0x10489856, 0x2aa6c2c6,
+  0x1050f926, 0x2ab02071, 0x10595bcd, 0x2ab97c77,
+  0x1061c04a, 0x2ac2d6d6, 0x106a269d, 0x2acc2f90,
+  0x10728ec6, 0x2ad586a3, 0x107af8c4, 0x2adedc10,
+  0x10836497, 0x2ae82fd5, 0x108bd23f, 0x2af181f3,
+  0x109441bb, 0x2afad269, 0x109cb30b, 0x2b042137,
+  0x10a5262f, 0x2b0d6e5c, 0x10ad9b26, 0x2b16b9d9,
+  0x10b611f1, 0x2b2003ac, 0x10be8a8d, 0x2b294bd5,
+  0x10c704fd, 0x2b329255, 0x10cf813e, 0x2b3bd72a,
+  0x10d7ff51, 0x2b451a55, 0x10e07f36, 0x2b4e5bd4,
+  0x10e900ec, 0x2b579ba8, 0x10f18472, 0x2b60d9d0,
+  0x10fa09c9, 0x2b6a164d, 0x110290f0, 0x2b73511c,
+  0x110b19e7, 0x2b7c8a3f, 0x1113a4ad, 0x2b85c1b5,
+  0x111c3142, 0x2b8ef77d, 0x1124bfa6, 0x2b982b97,
+  0x112d4fd9, 0x2ba15e03, 0x1135e1d9, 0x2baa8ec0,
+  0x113e75a8, 0x2bb3bdce, 0x11470b44, 0x2bbceb2d,
+  0x114fa2ad, 0x2bc616dd, 0x11583be2, 0x2bcf40dc,
+  0x1160d6e5, 0x2bd8692b, 0x116973b3, 0x2be18fc9,
+  0x1172124d, 0x2beab4b6, 0x117ab2b3, 0x2bf3d7f2,
+  0x118354e4, 0x2bfcf97c, 0x118bf8e0, 0x2c061953,
+  0x11949ea6, 0x2c0f3779, 0x119d4636, 0x2c1853eb,
+  0x11a5ef90, 0x2c216eaa, 0x11ae9ab4, 0x2c2a87b6,
+  0x11b747a0, 0x2c339f0e, 0x11bff656, 0x2c3cb4b1,
+  0x11c8a6d4, 0x2c45c8a0, 0x11d1591a, 0x2c4edada,
+  0x11da0d28, 0x2c57eb5e, 0x11e2c2fd, 0x2c60fa2d,
+  0x11eb7a9a, 0x2c6a0746, 0x11f433fd, 0x2c7312a9,
+  0x11fcef27, 0x2c7c1c55, 0x1205ac17, 0x2c85244a,
+  0x120e6acc, 0x2c8e2a87, 0x12172b48, 0x2c972f0d,
+  0x121fed88, 0x2ca031da, 0x1228b18d, 0x2ca932ef,
+  0x12317756, 0x2cb2324c, 0x123a3ee4, 0x2cbb2fef,
+  0x12430835, 0x2cc42bd9, 0x124bd34a, 0x2ccd2609,
+  0x1254a021, 0x2cd61e7f, 0x125d6ebc, 0x2cdf153a,
+  0x12663f19, 0x2ce80a3a, 0x126f1138, 0x2cf0fd80,
+  0x1277e518, 0x2cf9ef09, 0x1280babb, 0x2d02ded7,
+  0x1289921e, 0x2d0bcce8, 0x12926b41, 0x2d14b93d,
+  0x129b4626, 0x2d1da3d5, 0x12a422ca, 0x2d268cb0,
+  0x12ad012e, 0x2d2f73cd, 0x12b5e151, 0x2d38592c,
+  0x12bec333, 0x2d413ccd, 0x12c7a6d4, 0x2d4a1eaf,
+  0x12d08c33, 0x2d52fed2, 0x12d97350, 0x2d5bdd36,
+  0x12e25c2b, 0x2d64b9da, 0x12eb46c3, 0x2d6d94bf,
+  0x12f43318, 0x2d766de2, 0x12fd2129, 0x2d7f4545,
+  0x130610f7, 0x2d881ae8, 0x130f0280, 0x2d90eec8,
+  0x1317f5c6, 0x2d99c0e7, 0x1320eac6, 0x2da29144,
+  0x1329e181, 0x2dab5fdf, 0x1332d9f7, 0x2db42cb6,
+  0x133bd427, 0x2dbcf7cb, 0x1344d011, 0x2dc5c11c,
+  0x134dcdb4, 0x2dce88aa, 0x1356cd11, 0x2dd74e73,
+  0x135fce26, 0x2de01278, 0x1368d0f3, 0x2de8d4b8,
+  0x1371d579, 0x2df19534, 0x137adbb6, 0x2dfa53e9,
+  0x1383e3ab, 0x2e0310d9, 0x138ced57, 0x2e0bcc03,
+  0x1395f8ba, 0x2e148566, 0x139f05d3, 0x2e1d3d03,
+  0x13a814a2, 0x2e25f2d8, 0x13b12526, 0x2e2ea6e6,
+  0x13ba3760, 0x2e37592c, 0x13c34b4f, 0x2e4009aa,
+  0x13cc60f2, 0x2e48b860, 0x13d5784a, 0x2e51654c,
+  0x13de9156, 0x2e5a1070, 0x13e7ac15, 0x2e62b9ca,
+  0x13f0c887, 0x2e6b615a, 0x13f9e6ad, 0x2e740720,
+  0x14030684, 0x2e7cab1c, 0x140c280e, 0x2e854d4d,
+  0x14154b4a, 0x2e8dedb3, 0x141e7037, 0x2e968c4d,
+  0x142796d5, 0x2e9f291b, 0x1430bf24, 0x2ea7c41e,
+  0x1439e923, 0x2eb05d53, 0x144314d3, 0x2eb8f4bc,
+  0x144c4232, 0x2ec18a58, 0x14557140, 0x2eca1e27,
+  0x145ea1fd, 0x2ed2b027, 0x1467d469, 0x2edb405a,
+  0x14710883, 0x2ee3cebe, 0x147a3e4b, 0x2eec5b53,
+  0x148375c1, 0x2ef4e619, 0x148caee4, 0x2efd6f10,
+  0x1495e9b3, 0x2f05f637, 0x149f2630, 0x2f0e7b8e,
+  0x14a86458, 0x2f16ff14, 0x14b1a42c, 0x2f1f80ca,
+  0x14bae5ab, 0x2f2800af, 0x14c428d6, 0x2f307ec2,
+  0x14cd6dab, 0x2f38fb03, 0x14d6b42b, 0x2f417573,
+  0x14dffc54, 0x2f49ee0f, 0x14e94627, 0x2f5264da,
+  0x14f291a4, 0x2f5ad9d1, 0x14fbdec9, 0x2f634cf5,
+  0x15052d97, 0x2f6bbe45, 0x150e7e0d, 0x2f742dc1,
+  0x1517d02b, 0x2f7c9b69, 0x152123f0, 0x2f85073c,
+  0x152a795d, 0x2f8d713a, 0x1533d070, 0x2f95d963,
+  0x153d292a, 0x2f9e3fb6, 0x15468389, 0x2fa6a433,
+  0x154fdf8f, 0x2faf06da, 0x15593d3a, 0x2fb767aa,
+  0x15629c89, 0x2fbfc6a3, 0x156bfd7d, 0x2fc823c5,
+  0x15756016, 0x2fd07f0f, 0x157ec452, 0x2fd8d882,
+  0x15882a32, 0x2fe1301c, 0x159191b5, 0x2fe985de,
+  0x159afadb, 0x2ff1d9c7, 0x15a465a3, 0x2ffa2bd6,
+  0x15add20d, 0x30027c0c, 0x15b74019, 0x300aca69,
+  0x15c0afc6, 0x301316eb, 0x15ca2115, 0x301b6193,
+  0x15d39403, 0x3023aa5f, 0x15dd0892, 0x302bf151,
+  0x15e67ec1, 0x30343667, 0x15eff690, 0x303c79a2,
+  0x15f96ffd, 0x3044bb00, 0x1602eb0a, 0x304cfa83,
+  0x160c67b4, 0x30553828, 0x1615e5fd, 0x305d73f0,
+  0x161f65e4, 0x3065addb, 0x1628e767, 0x306de5e9,
+  0x16326a88, 0x30761c18, 0x163bef46, 0x307e5069,
+  0x1645759f, 0x308682dc, 0x164efd94, 0x308eb36f,
+  0x16588725, 0x3096e223, 0x16621251, 0x309f0ef8,
+  0x166b9f18, 0x30a739ed, 0x16752d79, 0x30af6302,
+  0x167ebd74, 0x30b78a36, 0x16884f09, 0x30bfaf89,
+  0x1691e237, 0x30c7d2fb, 0x169b76fe, 0x30cff48c,
+  0x16a50d5d, 0x30d8143b, 0x16aea555, 0x30e03208,
+  0x16b83ee4, 0x30e84df3, 0x16c1da0b, 0x30f067fb,
+  0x16cb76c9, 0x30f8801f, 0x16d5151d, 0x31009661,
+  0x16deb508, 0x3108aabf, 0x16e85689, 0x3110bd39,
+  0x16f1f99f, 0x3118cdcf, 0x16fb9e4b, 0x3120dc80,
+  0x1705448b, 0x3128e94c, 0x170eec60, 0x3130f433,
+  0x171895c9, 0x3138fd35, 0x172240c5, 0x31410450,
+  0x172bed55, 0x31490986, 0x17359b78, 0x31510cd5,
+  0x173f4b2e, 0x31590e3e, 0x1748fc75, 0x31610dbf,
+  0x1752af4f, 0x31690b59, 0x175c63ba, 0x3171070c,
+  0x176619b6, 0x317900d6, 0x176fd143, 0x3180f8b8,
+  0x17798a60, 0x3188eeb2, 0x1783450d, 0x3190e2c3,
+  0x178d014a, 0x3198d4ea, 0x1796bf16, 0x31a0c528,
+  0x17a07e70, 0x31a8b37c, 0x17aa3f5a, 0x31b09fe7,
+  0x17b401d1, 0x31b88a66, 0x17bdc5d6, 0x31c072fb,
+  0x17c78b68, 0x31c859a5, 0x17d15288, 0x31d03e64,
+  0x17db1b34, 0x31d82137, 0x17e4e56c, 0x31e0021e,
+  0x17eeb130, 0x31e7e118, 0x17f87e7f, 0x31efbe27,
+  0x18024d59, 0x31f79948, 0x180c1dbf, 0x31ff727c,
+  0x1815efae, 0x320749c3, 0x181fc328, 0x320f1f1c,
+  0x1829982b, 0x3216f287, 0x18336eb7, 0x321ec403,
+  0x183d46cc, 0x32269391, 0x18472069, 0x322e6130,
+  0x1850fb8e, 0x32362ce0, 0x185ad83c, 0x323df6a0,
+  0x1864b670, 0x3245be70, 0x186e962b, 0x324d8450,
+  0x1878776d, 0x32554840, 0x18825a35, 0x325d0a3e,
+  0x188c3e83, 0x3264ca4c, 0x18962456, 0x326c8868,
+  0x18a00bae, 0x32744493, 0x18a9f48a, 0x327bfecc,
+  0x18b3deeb, 0x3283b712, 0x18bdcad0, 0x328b6d66,
+  0x18c7b838, 0x329321c7, 0x18d1a724, 0x329ad435,
+  0x18db9792, 0x32a284b0, 0x18e58982, 0x32aa3336,
+  0x18ef7cf4, 0x32b1dfc9, 0x18f971e8, 0x32b98a67,
+  0x1903685d, 0x32c13311, 0x190d6053, 0x32c8d9c6,
+  0x191759c9, 0x32d07e85, 0x192154bf, 0x32d82150,
+  0x192b5135, 0x32dfc224, 0x19354f2a, 0x32e76102,
+  0x193f4e9e, 0x32eefdea, 0x19494f90, 0x32f698db,
+  0x19535201, 0x32fe31d5, 0x195d55ef, 0x3305c8d7,
+  0x19675b5a, 0x330d5de3, 0x19716243, 0x3314f0f6,
+  0x197b6aa8, 0x331c8211, 0x19857489, 0x33241134,
+  0x198f7fe6, 0x332b9e5e, 0x19998cbe, 0x3333298f,
+  0x19a39b11, 0x333ab2c6, 0x19adaadf, 0x33423a04,
+  0x19b7bc27, 0x3349bf48, 0x19c1cee9, 0x33514292,
+  0x19cbe325, 0x3358c3e2, 0x19d5f8d9, 0x33604336,
+  0x19e01006, 0x3367c090, 0x19ea28ac, 0x336f3bee,
+  0x19f442c9, 0x3376b551, 0x19fe5e5e, 0x337e2cb7,
+  0x1a087b69, 0x3385a222, 0x1a1299ec, 0x338d1590,
+  0x1a1cb9e5, 0x33948701, 0x1a26db54, 0x339bf675,
+  0x1a30fe38, 0x33a363ec, 0x1a3b2292, 0x33aacf65,
+  0x1a454860, 0x33b238e0, 0x1a4f6fa3, 0x33b9a05d,
+  0x1a599859, 0x33c105db, 0x1a63c284, 0x33c8695b,
+  0x1a6dee21, 0x33cfcadc, 0x1a781b31, 0x33d72a5d,
+  0x1a8249b4, 0x33de87de, 0x1a8c79a9, 0x33e5e360,
+  0x1a96ab0f, 0x33ed3ce1, 0x1aa0dde7, 0x33f49462,
+  0x1aab122f, 0x33fbe9e2, 0x1ab547e8, 0x34033d61,
+  0x1abf7f11, 0x340a8edf, 0x1ac9b7a9, 0x3411de5b,
+  0x1ad3f1b1, 0x34192bd5, 0x1ade2d28, 0x3420774d,
+  0x1ae86a0d, 0x3427c0c3, 0x1af2a860, 0x342f0836,
+  0x1afce821, 0x34364da6, 0x1b072950, 0x343d9112,
+  0x1b116beb, 0x3444d27b, 0x1b1baff2, 0x344c11e0,
+  0x1b25f566, 0x34534f41, 0x1b303c46, 0x345a8a9d,
+  0x1b3a8491, 0x3461c3f5, 0x1b44ce46, 0x3468fb47,
+  0x1b4f1967, 0x34703095, 0x1b5965f1, 0x347763dd,
+  0x1b63b3e5, 0x347e951f, 0x1b6e0342, 0x3485c45b,
+  0x1b785409, 0x348cf190, 0x1b82a638, 0x34941cbf,
+  0x1b8cf9cf, 0x349b45e7, 0x1b974ece, 0x34a26d08,
+  0x1ba1a534, 0x34a99221, 0x1babfd01, 0x34b0b533,
+  0x1bb65634, 0x34b7d63c, 0x1bc0b0ce, 0x34bef53d,
+  0x1bcb0cce, 0x34c61236, 0x1bd56a32, 0x34cd2d26,
+  0x1bdfc8fc, 0x34d4460c, 0x1bea292b, 0x34db5cea,
+  0x1bf48abd, 0x34e271bd, 0x1bfeedb3, 0x34e98487,
+  0x1c09520d, 0x34f09546, 0x1c13b7c9, 0x34f7a3fb,
+  0x1c1e1ee9, 0x34feb0a5, 0x1c28876a, 0x3505bb44,
+  0x1c32f14d, 0x350cc3d8, 0x1c3d5c91, 0x3513ca60,
+  0x1c47c936, 0x351acedd, 0x1c52373c, 0x3521d14d,
+  0x1c5ca6a2, 0x3528d1b1, 0x1c671768, 0x352fd008,
+  0x1c71898d, 0x3536cc52, 0x1c7bfd11, 0x353dc68f,
+  0x1c8671f3, 0x3544bebf, 0x1c90e834, 0x354bb4e1,
+  0x1c9b5fd2, 0x3552a8f4, 0x1ca5d8cd, 0x35599afa,
+  0x1cb05326, 0x35608af1, 0x1cbacedb, 0x356778d9,
+  0x1cc54bec, 0x356e64b2, 0x1ccfca59, 0x35754e7c,
+  0x1cda4a21, 0x357c3636, 0x1ce4cb44, 0x35831be0,
+  0x1cef4dc2, 0x3589ff7a, 0x1cf9d199, 0x3590e104,
+  0x1d0456ca, 0x3597c07d, 0x1d0edd55, 0x359e9de5,
+  0x1d196538, 0x35a5793c, 0x1d23ee74, 0x35ac5282,
+  0x1d2e7908, 0x35b329b5, 0x1d3904f4, 0x35b9fed7,
+  0x1d439236, 0x35c0d1e7, 0x1d4e20d0, 0x35c7a2e3,
+  0x1d58b0c0, 0x35ce71ce, 0x1d634206, 0x35d53ea5,
+  0x1d6dd4a2, 0x35dc0968, 0x1d786892, 0x35e2d219,
+  0x1d82fdd8, 0x35e998b5, 0x1d8d9472, 0x35f05d3d,
+  0x1d982c60, 0x35f71fb1, 0x1da2c5a2, 0x35fde011,
+  0x1dad6036, 0x36049e5b, 0x1db7fc1e, 0x360b5a90,
+  0x1dc29958, 0x361214b0, 0x1dcd37e4, 0x3618ccba,
+  0x1dd7d7c1, 0x361f82af, 0x1de278ef, 0x3626368d,
+  0x1ded1b6e, 0x362ce855, 0x1df7bf3e, 0x36339806,
+  0x1e02645d, 0x363a45a0, 0x1e0d0acc, 0x3640f123,
+  0x1e17b28a, 0x36479a8e, 0x1e225b96, 0x364e41e2,
+  0x1e2d05f1, 0x3654e71d, 0x1e37b199, 0x365b8a41,
+  0x1e425e8f, 0x36622b4c, 0x1e4d0cd2, 0x3668ca3e,
+  0x1e57bc62, 0x366f6717, 0x1e626d3e, 0x367601d7,
+  0x1e6d1f65, 0x367c9a7e, 0x1e77d2d8, 0x3683310b,
+  0x1e828796, 0x3689c57d, 0x1e8d3d9e, 0x369057d6,
+  0x1e97f4f1, 0x3696e814, 0x1ea2ad8d, 0x369d7637,
+  0x1ead6773, 0x36a4023f, 0x1eb822a1, 0x36aa8c2c,
+  0x1ec2df18, 0x36b113fd, 0x1ecd9cd7, 0x36b799b3,
+  0x1ed85bdd, 0x36be1d4c, 0x1ee31c2b, 0x36c49ec9,
+  0x1eedddc0, 0x36cb1e2a, 0x1ef8a09b, 0x36d19b6e,
+  0x1f0364bc, 0x36d81695, 0x1f0e2a22, 0x36de8f9e,
+  0x1f18f0ce, 0x36e5068a, 0x1f23b8be, 0x36eb7b58,
+  0x1f2e81f3, 0x36f1ee09, 0x1f394c6b, 0x36f85e9a,
+  0x1f441828, 0x36fecd0e, 0x1f4ee527, 0x37053962,
+  0x1f59b369, 0x370ba398, 0x1f6482ed, 0x37120bae,
+  0x1f6f53b3, 0x371871a5, 0x1f7a25ba, 0x371ed57c,
+  0x1f84f902, 0x37253733, 0x1f8fcd8b, 0x372b96ca,
+  0x1f9aa354, 0x3731f440, 0x1fa57a5d, 0x37384f95,
+  0x1fb052a5, 0x373ea8ca, 0x1fbb2c2c, 0x3744ffdd,
+  0x1fc606f1, 0x374b54ce, 0x1fd0e2f5, 0x3751a79e,
+  0x1fdbc036, 0x3757f84c, 0x1fe69eb4, 0x375e46d8,
+  0x1ff17e70, 0x37649341, 0x1ffc5f67, 0x376add88,
+  0x2007419b, 0x377125ac, 0x2012250a, 0x37776bac,
+  0x201d09b4, 0x377daf89, 0x2027ef99, 0x3783f143,
+  0x2032d6b8, 0x378a30d8, 0x203dbf11, 0x37906e49,
+  0x2048a8a4, 0x3796a996, 0x2053936f, 0x379ce2be,
+  0x205e7f74, 0x37a319c2, 0x20696cb0, 0x37a94ea0,
+  0x20745b24, 0x37af8159, 0x207f4acf, 0x37b5b1ec,
+  0x208a3bb2, 0x37bbe05a, 0x20952dcb, 0x37c20ca1,
+  0x20a0211a, 0x37c836c2, 0x20ab159e, 0x37ce5ebd,
+  0x20b60b58, 0x37d48490, 0x20c10247, 0x37daa83d,
+  0x20cbfa6a, 0x37e0c9c3, 0x20d6f3c1, 0x37e6e921,
+  0x20e1ee4b, 0x37ed0657, 0x20ecea09, 0x37f32165,
+  0x20f7e6f9, 0x37f93a4b, 0x2102e51c, 0x37ff5109,
+  0x210de470, 0x3805659e, 0x2118e4f6, 0x380b780a,
+  0x2123e6ad, 0x3811884d, 0x212ee995, 0x38179666,
+  0x2139edac, 0x381da256, 0x2144f2f3, 0x3823ac1d,
+  0x214ff96a, 0x3829b3b9, 0x215b0110, 0x382fb92a,
+  0x216609e3, 0x3835bc71, 0x217113e5, 0x383bbd8e,
+  0x217c1f15, 0x3841bc7f, 0x21872b72, 0x3847b946,
+  0x219238fb, 0x384db3e0, 0x219d47b1, 0x3853ac4f,
+  0x21a85793, 0x3859a292, 0x21b368a0, 0x385f96a9,
+  0x21be7ad8, 0x38658894, 0x21c98e3b, 0x386b7852,
+  0x21d4a2c8, 0x387165e3, 0x21dfb87f, 0x38775147,
+  0x21eacf5f, 0x387d3a7e, 0x21f5e768, 0x38832187,
+  0x22010099, 0x38890663, 0x220c1af3, 0x388ee910,
+  0x22173674, 0x3894c98f, 0x2222531c, 0x389aa7e0,
+  0x222d70eb, 0x38a08402, 0x22388fe1, 0x38a65df6,
+  0x2243affc, 0x38ac35ba, 0x224ed13d, 0x38b20b4f,
+  0x2259f3a3, 0x38b7deb4, 0x2265172e, 0x38bdafea,
+  0x22703bdc, 0x38c37eef, 0x227b61af, 0x38c94bc4,
+  0x228688a4, 0x38cf1669, 0x2291b0bd, 0x38d4dedd,
+  0x229cd9f8, 0x38daa520, 0x22a80456, 0x38e06932,
+  0x22b32fd4, 0x38e62b13, 0x22be5c74, 0x38ebeac2,
+  0x22c98a35, 0x38f1a840, 0x22d4b916, 0x38f7638b,
+  0x22dfe917, 0x38fd1ca4, 0x22eb1a37, 0x3902d38b,
+  0x22f64c77, 0x3908883f, 0x23017fd5, 0x390e3ac0,
+  0x230cb451, 0x3913eb0e, 0x2317e9eb, 0x39199929,
+  0x232320a2, 0x391f4510, 0x232e5876, 0x3924eec3,
+  0x23399167, 0x392a9642, 0x2344cb73, 0x39303b8e,
+  0x2350069b, 0x3935dea4, 0x235b42df, 0x393b7f86,
+  0x2366803c, 0x39411e33, 0x2371beb5, 0x3946baac,
+  0x237cfe47, 0x394c54ee, 0x23883ef2, 0x3951ecfc,
+  0x239380b6, 0x395782d3, 0x239ec393, 0x395d1675,
+  0x23aa0788, 0x3962a7e0, 0x23b54c95, 0x39683715,
+  0x23c092b9, 0x396dc414, 0x23cbd9f4, 0x39734edc,
+  0x23d72245, 0x3978d76c, 0x23e26bac, 0x397e5dc6,
+  0x23edb628, 0x3983e1e8, 0x23f901ba, 0x398963d2,
+  0x24044e60, 0x398ee385, 0x240f9c1a, 0x399460ff,
+  0x241aeae8, 0x3999dc42, 0x24263ac9, 0x399f554b,
+  0x24318bbe, 0x39a4cc1c, 0x243cddc4, 0x39aa40b4,
+  0x244830dd, 0x39afb313, 0x24538507, 0x39b52339,
+  0x245eda43, 0x39ba9125, 0x246a308f, 0x39bffcd7,
+  0x247587eb, 0x39c5664f, 0x2480e057, 0x39cacd8d,
+  0x248c39d3, 0x39d03291, 0x2497945d, 0x39d5955a,
+  0x24a2eff6, 0x39daf5e8, 0x24ae4c9d, 0x39e0543c,
+  0x24b9aa52, 0x39e5b054, 0x24c50914, 0x39eb0a31,
+  0x24d068e2, 0x39f061d2, 0x24dbc9bd, 0x39f5b737,
+  0x24e72ba4, 0x39fb0a60, 0x24f28e96, 0x3a005b4d,
+  0x24fdf294, 0x3a05a9fd, 0x2509579b, 0x3a0af671,
+  0x2514bdad, 0x3a1040a8, 0x252024c9, 0x3a1588a2,
+  0x252b8cee, 0x3a1ace5f, 0x2536f61b, 0x3a2011de,
+  0x25426051, 0x3a25531f, 0x254dcb8f, 0x3a2a9223,
+  0x255937d5, 0x3a2fcee8, 0x2564a521, 0x3a350970,
+  0x25701374, 0x3a3a41b9, 0x257b82cd, 0x3a3f77c3,
+  0x2586f32c, 0x3a44ab8e, 0x25926490, 0x3a49dd1a,
+  0x259dd6f9, 0x3a4f0c67, 0x25a94a67, 0x3a543974,
+  0x25b4bed8, 0x3a596442, 0x25c0344d, 0x3a5e8cd0,
+  0x25cbaac5, 0x3a63b31d, 0x25d72240, 0x3a68d72b,
+  0x25e29abc, 0x3a6df8f8, 0x25ee143b, 0x3a731884,
+  0x25f98ebb, 0x3a7835cf, 0x26050a3b, 0x3a7d50da,
+  0x261086bc, 0x3a8269a3, 0x261c043d, 0x3a87802a,
+  0x262782be, 0x3a8c9470, 0x2633023e, 0x3a91a674,
+  0x263e82bc, 0x3a96b636, 0x264a0438, 0x3a9bc3b6,
+  0x265586b3, 0x3aa0cef3, 0x26610a2a, 0x3aa5d7ee,
+  0x266c8e9f, 0x3aaadea6, 0x26781410, 0x3aafe31b,
+  0x26839a7c, 0x3ab4e54c, 0x268f21e5, 0x3ab9e53a,
+  0x269aaa48, 0x3abee2e5, 0x26a633a6, 0x3ac3de4c,
+  0x26b1bdff, 0x3ac8d76f, 0x26bd4951, 0x3acdce4d,
+  0x26c8d59c, 0x3ad2c2e8, 0x26d462e1, 0x3ad7b53d,
+  0x26dff11d, 0x3adca54e, 0x26eb8052, 0x3ae1931a,
+  0x26f7107e, 0x3ae67ea1, 0x2702a1a1, 0x3aeb67e3,
+  0x270e33bb, 0x3af04edf, 0x2719c6cb, 0x3af53395,
+  0x27255ad1, 0x3afa1605, 0x2730efcc, 0x3afef630,
+  0x273c85bc, 0x3b03d414, 0x27481ca1, 0x3b08afb2,
+  0x2753b479, 0x3b0d8909, 0x275f4d45, 0x3b126019,
+  0x276ae704, 0x3b1734e2, 0x277681b6, 0x3b1c0764,
+  0x27821d59, 0x3b20d79e, 0x278db9ef, 0x3b25a591,
+  0x27995776, 0x3b2a713d, 0x27a4f5ed, 0x3b2f3aa0,
+  0x27b09555, 0x3b3401bb, 0x27bc35ad, 0x3b38c68e,
+  0x27c7d6f4, 0x3b3d8918, 0x27d3792b, 0x3b42495a,
+  0x27df1c50, 0x3b470753, 0x27eac063, 0x3b4bc303,
+  0x27f66564, 0x3b507c69, 0x28020b52, 0x3b553386,
+  0x280db22d, 0x3b59e85a, 0x281959f4, 0x3b5e9ae4,
+  0x282502a7, 0x3b634b23, 0x2830ac45, 0x3b67f919,
+  0x283c56cf, 0x3b6ca4c4, 0x28480243, 0x3b714e25,
+  0x2853aea1, 0x3b75f53c, 0x285f5be9, 0x3b7a9a07,
+  0x286b0a1a, 0x3b7f3c87, 0x2876b934, 0x3b83dcbc,
+  0x28826936, 0x3b887aa6, 0x288e1a20, 0x3b8d1644,
+  0x2899cbf1, 0x3b91af97, 0x28a57ea9, 0x3b96469d,
+  0x28b13248, 0x3b9adb57, 0x28bce6cd, 0x3b9f6dc5,
+  0x28c89c37, 0x3ba3fde7, 0x28d45286, 0x3ba88bbc,
+  0x28e009ba, 0x3bad1744, 0x28ebc1d3, 0x3bb1a080,
+  0x28f77acf, 0x3bb6276e, 0x290334af, 0x3bbaac0e,
+  0x290eef71, 0x3bbf2e62, 0x291aab16, 0x3bc3ae67,
+  0x2926679c, 0x3bc82c1f, 0x29322505, 0x3bcca789,
+  0x293de34e, 0x3bd120a4, 0x2949a278, 0x3bd59771,
+  0x29556282, 0x3bda0bf0, 0x2961236c, 0x3bde7e20,
+  0x296ce535, 0x3be2ee01, 0x2978a7dd, 0x3be75b93,
+  0x29846b63, 0x3bebc6d5, 0x29902fc7, 0x3bf02fc9,
+  0x299bf509, 0x3bf4966c, 0x29a7bb28, 0x3bf8fac0,
+  0x29b38223, 0x3bfd5cc4, 0x29bf49fa, 0x3c01bc78,
+  0x29cb12ad, 0x3c0619dc, 0x29d6dc3b, 0x3c0a74f0,
+  0x29e2a6a3, 0x3c0ecdb2, 0x29ee71e6, 0x3c132424,
+  0x29fa3e03, 0x3c177845, 0x2a060af9, 0x3c1bca16,
+  0x2a11d8c8, 0x3c201994, 0x2a1da770, 0x3c2466c2,
+  0x2a2976ef, 0x3c28b19e, 0x2a354746, 0x3c2cfa28,
+  0x2a411874, 0x3c314060, 0x2a4cea79, 0x3c358446,
+  0x2a58bd54, 0x3c39c5da, 0x2a649105, 0x3c3e051b,
+  0x2a70658a, 0x3c42420a, 0x2a7c3ae5, 0x3c467ca6,
+  0x2a881114, 0x3c4ab4ef, 0x2a93e817, 0x3c4eeae5,
+  0x2a9fbfed, 0x3c531e88, 0x2aab9896, 0x3c574fd8,
+  0x2ab77212, 0x3c5b7ed4, 0x2ac34c60, 0x3c5fab7c,
+  0x2acf277f, 0x3c63d5d1, 0x2adb0370, 0x3c67fdd1,
+  0x2ae6e031, 0x3c6c237e, 0x2af2bdc3, 0x3c7046d6,
+  0x2afe9c24, 0x3c7467d9, 0x2b0a7b54, 0x3c788688,
+  0x2b165b54, 0x3c7ca2e2, 0x2b223c22, 0x3c80bce7,
+  0x2b2e1dbe, 0x3c84d496, 0x2b3a0027, 0x3c88e9f1,
+  0x2b45e35d, 0x3c8cfcf6, 0x2b51c760, 0x3c910da5,
+  0x2b5dac2f, 0x3c951bff, 0x2b6991ca, 0x3c992803,
+  0x2b75782f, 0x3c9d31b0, 0x2b815f60, 0x3ca13908,
+  0x2b8d475b, 0x3ca53e09, 0x2b99301f, 0x3ca940b3,
+  0x2ba519ad, 0x3cad4107, 0x2bb10404, 0x3cb13f04,
+  0x2bbcef23, 0x3cb53aaa, 0x2bc8db0b, 0x3cb933f9,
+  0x2bd4c7ba, 0x3cbd2af0, 0x2be0b52f, 0x3cc11f90,
+  0x2beca36c, 0x3cc511d9, 0x2bf8926f, 0x3cc901c9,
+  0x2c048237, 0x3cccef62, 0x2c1072c4, 0x3cd0daa2,
+  0x2c1c6417, 0x3cd4c38b, 0x2c28562d, 0x3cd8aa1b,
+  0x2c344908, 0x3cdc8e52, 0x2c403ca5, 0x3ce07031,
+  0x2c4c3106, 0x3ce44fb7, 0x2c582629, 0x3ce82ce4,
+  0x2c641c0e, 0x3cec07b8, 0x2c7012b5, 0x3cefe032,
+  0x2c7c0a1d, 0x3cf3b653, 0x2c880245, 0x3cf78a1b,
+  0x2c93fb2e, 0x3cfb5b89, 0x2c9ff4d6, 0x3cff2a9d,
+  0x2cabef3d, 0x3d02f757, 0x2cb7ea63, 0x3d06c1b6,
+  0x2cc3e648, 0x3d0a89bc, 0x2ccfe2ea, 0x3d0e4f67,
+  0x2cdbe04a, 0x3d1212b7, 0x2ce7de66, 0x3d15d3ad,
+  0x2cf3dd3f, 0x3d199248, 0x2cffdcd4, 0x3d1d4e88,
+  0x2d0bdd25, 0x3d21086c, 0x2d17de31, 0x3d24bff6,
+  0x2d23dff7, 0x3d287523, 0x2d2fe277, 0x3d2c27f6,
+  0x2d3be5b1, 0x3d2fd86c, 0x2d47e9a5, 0x3d338687,
+  0x2d53ee51, 0x3d373245, 0x2d5ff3b5, 0x3d3adba7,
+  0x2d6bf9d1, 0x3d3e82ae, 0x2d7800a5, 0x3d422757,
+  0x2d84082f, 0x3d45c9a4, 0x2d901070, 0x3d496994,
+  0x2d9c1967, 0x3d4d0728, 0x2da82313, 0x3d50a25e,
+  0x2db42d74, 0x3d543b37, 0x2dc0388a, 0x3d57d1b3,
+  0x2dcc4454, 0x3d5b65d2, 0x2dd850d2, 0x3d5ef793,
+  0x2de45e03, 0x3d6286f6, 0x2df06be6, 0x3d6613fb,
+  0x2dfc7a7c, 0x3d699ea3, 0x2e0889c4, 0x3d6d26ec,
+  0x2e1499bd, 0x3d70acd7, 0x2e20aa67, 0x3d743064,
+  0x2e2cbbc1, 0x3d77b192, 0x2e38cdcb, 0x3d7b3061,
+  0x2e44e084, 0x3d7eacd2, 0x2e50f3ed, 0x3d8226e4,
+  0x2e5d0804, 0x3d859e96, 0x2e691cc9, 0x3d8913ea,
+  0x2e75323c, 0x3d8c86de, 0x2e81485c, 0x3d8ff772,
+  0x2e8d5f29, 0x3d9365a8, 0x2e9976a1, 0x3d96d17d,
+  0x2ea58ec6, 0x3d9a3af2, 0x2eb1a796, 0x3d9da208,
+  0x2ebdc110, 0x3da106bd, 0x2ec9db35, 0x3da46912,
+  0x2ed5f604, 0x3da7c907, 0x2ee2117c, 0x3dab269b,
+  0x2eee2d9d, 0x3dae81cf, 0x2efa4a67, 0x3db1daa2,
+  0x2f0667d9, 0x3db53113, 0x2f1285f2, 0x3db88524,
+  0x2f1ea4b2, 0x3dbbd6d4, 0x2f2ac419, 0x3dbf2622,
+  0x2f36e426, 0x3dc2730f, 0x2f4304d8, 0x3dc5bd9b,
+  0x2f4f2630, 0x3dc905c5, 0x2f5b482d, 0x3dcc4b8d,
+  0x2f676ace, 0x3dcf8ef3, 0x2f738e12, 0x3dd2cff7,
+  0x2f7fb1fa, 0x3dd60e99, 0x2f8bd685, 0x3dd94ad8,
+  0x2f97fbb2, 0x3ddc84b5, 0x2fa42181, 0x3ddfbc30,
+  0x2fb047f2, 0x3de2f148, 0x2fbc6f03, 0x3de623fd,
+  0x2fc896b5, 0x3de9544f, 0x2fd4bf08, 0x3dec823e,
+  0x2fe0e7f9, 0x3defadca, 0x2fed118a, 0x3df2d6f3,
+  0x2ff93bba, 0x3df5fdb8, 0x30056687, 0x3df9221a,
+  0x301191f3, 0x3dfc4418, 0x301dbdfb, 0x3dff63b2,
+  0x3029eaa1, 0x3e0280e9, 0x303617e2, 0x3e059bbb,
+  0x304245c0, 0x3e08b42a, 0x304e7438, 0x3e0bca34,
+  0x305aa34c, 0x3e0eddd9, 0x3066d2fa, 0x3e11ef1b,
+  0x30730342, 0x3e14fdf7, 0x307f3424, 0x3e180a6f,
+  0x308b659f, 0x3e1b1482, 0x309797b2, 0x3e1e1c30,
+  0x30a3ca5d, 0x3e212179, 0x30affda0, 0x3e24245d,
+  0x30bc317a, 0x3e2724db, 0x30c865ea, 0x3e2a22f4,
+  0x30d49af1, 0x3e2d1ea8, 0x30e0d08d, 0x3e3017f6,
+  0x30ed06bf, 0x3e330ede, 0x30f93d86, 0x3e360360,
+  0x310574e0, 0x3e38f57c, 0x3111accf, 0x3e3be532,
+  0x311de551, 0x3e3ed282, 0x312a1e66, 0x3e41bd6c,
+  0x3136580d, 0x3e44a5ef, 0x31429247, 0x3e478c0b,
+  0x314ecd11, 0x3e4a6fc1, 0x315b086d, 0x3e4d5110,
+  0x31674459, 0x3e502ff9, 0x317380d6, 0x3e530c7a,
+  0x317fbde2, 0x3e55e694, 0x318bfb7d, 0x3e58be47,
+  0x319839a6, 0x3e5b9392, 0x31a4785e, 0x3e5e6676,
+  0x31b0b7a4, 0x3e6136f3, 0x31bcf777, 0x3e640507,
+  0x31c937d6, 0x3e66d0b4, 0x31d578c2, 0x3e6999fa,
+  0x31e1ba3a, 0x3e6c60d7, 0x31edfc3d, 0x3e6f254c,
+  0x31fa3ecb, 0x3e71e759, 0x320681e3, 0x3e74a6fd,
+  0x3212c585, 0x3e77643a, 0x321f09b1, 0x3e7a1f0d,
+  0x322b4e66, 0x3e7cd778, 0x323793a3, 0x3e7f8d7b,
+  0x3243d968, 0x3e824114, 0x32501fb5, 0x3e84f245,
+  0x325c6688, 0x3e87a10c, 0x3268ade3, 0x3e8a4d6a,
+  0x3274f5c3, 0x3e8cf75f, 0x32813e2a, 0x3e8f9eeb,
+  0x328d8715, 0x3e92440d, 0x3299d085, 0x3e94e6c6,
+  0x32a61a7a, 0x3e978715, 0x32b264f2, 0x3e9a24fb,
+  0x32beafed, 0x3e9cc076, 0x32cafb6b, 0x3e9f5988,
+  0x32d7476c, 0x3ea1f02f, 0x32e393ef, 0x3ea4846c,
+  0x32efe0f2, 0x3ea7163f, 0x32fc2e77, 0x3ea9a5a8,
+  0x33087c7d, 0x3eac32a6, 0x3314cb02, 0x3eaebd3a,
+  0x33211a07, 0x3eb14563, 0x332d698a, 0x3eb3cb21,
+  0x3339b98d, 0x3eb64e75, 0x33460a0d, 0x3eb8cf5d,
+  0x33525b0b, 0x3ebb4ddb, 0x335eac86, 0x3ebdc9ed,
+  0x336afe7e, 0x3ec04394, 0x337750f2, 0x3ec2bad0,
+  0x3383a3e2, 0x3ec52fa0, 0x338ff74d, 0x3ec7a205,
+  0x339c4b32, 0x3eca11fe, 0x33a89f92, 0x3ecc7f8b,
+  0x33b4f46c, 0x3eceeaad, 0x33c149bf, 0x3ed15363,
+  0x33cd9f8b, 0x3ed3b9ad, 0x33d9f5cf, 0x3ed61d8a,
+  0x33e64c8c, 0x3ed87efc, 0x33f2a3bf, 0x3edade01,
+  0x33fefb6a, 0x3edd3a9a, 0x340b538b, 0x3edf94c7,
+  0x3417ac22, 0x3ee1ec87, 0x3424052f, 0x3ee441da,
+  0x34305eb0, 0x3ee694c1, 0x343cb8a7, 0x3ee8e53a,
+  0x34491311, 0x3eeb3347, 0x34556def, 0x3eed7ee7,
+  0x3461c940, 0x3eefc81a, 0x346e2504, 0x3ef20ee0,
+  0x347a8139, 0x3ef45338, 0x3486dde1, 0x3ef69523,
+  0x34933afa, 0x3ef8d4a1, 0x349f9884, 0x3efb11b1,
+  0x34abf67e, 0x3efd4c54, 0x34b854e7, 0x3eff8489,
+  0x34c4b3c0, 0x3f01ba50, 0x34d11308, 0x3f03eda9,
+  0x34dd72be, 0x3f061e95, 0x34e9d2e3, 0x3f084d12,
+  0x34f63374, 0x3f0a7921, 0x35029473, 0x3f0ca2c2,
+  0x350ef5de, 0x3f0ec9f5, 0x351b57b5, 0x3f10eeb9,
+  0x3527b9f7, 0x3f13110f, 0x35341ca5, 0x3f1530f7,
+  0x35407fbd, 0x3f174e70, 0x354ce33f, 0x3f19697a,
+  0x3559472b, 0x3f1b8215, 0x3565ab80, 0x3f1d9842,
+  0x3572103d, 0x3f1fabff, 0x357e7563, 0x3f21bd4e,
+  0x358adaf0, 0x3f23cc2e, 0x359740e5, 0x3f25d89e,
+  0x35a3a740, 0x3f27e29f, 0x35b00e02, 0x3f29ea31,
+  0x35bc7529, 0x3f2bef53, 0x35c8dcb6, 0x3f2df206,
+  0x35d544a7, 0x3f2ff24a, 0x35e1acfd, 0x3f31f01d,
+  0x35ee15b7, 0x3f33eb81, 0x35fa7ed4, 0x3f35e476,
+  0x3606e854, 0x3f37dafa, 0x36135237, 0x3f39cf0e,
+  0x361fbc7b, 0x3f3bc0b3, 0x362c2721, 0x3f3dafe7,
+  0x36389228, 0x3f3f9cab, 0x3644fd8f, 0x3f4186ff,
+  0x36516956, 0x3f436ee3, 0x365dd57d, 0x3f455456,
+  0x366a4203, 0x3f473759, 0x3676aee8, 0x3f4917eb,
+  0x36831c2b, 0x3f4af60d, 0x368f89cb, 0x3f4cd1be,
+  0x369bf7c9, 0x3f4eaafe, 0x36a86623, 0x3f5081cd,
+  0x36b4d4d9, 0x3f52562c, 0x36c143ec, 0x3f54281a,
+  0x36cdb359, 0x3f55f796, 0x36da2321, 0x3f57c4a2,
+  0x36e69344, 0x3f598f3c, 0x36f303c0, 0x3f5b5765,
+  0x36ff7496, 0x3f5d1d1d, 0x370be5c4, 0x3f5ee063,
+  0x3718574b, 0x3f60a138, 0x3724c92a, 0x3f625f9b,
+  0x37313b60, 0x3f641b8d, 0x373daded, 0x3f65d50d,
+  0x374a20d0, 0x3f678c1c, 0x3756940a, 0x3f6940b8,
+  0x37630799, 0x3f6af2e3, 0x376f7b7d, 0x3f6ca29c,
+  0x377befb5, 0x3f6e4fe3, 0x37886442, 0x3f6ffab8,
+  0x3794d922, 0x3f71a31b, 0x37a14e55, 0x3f73490b,
+  0x37adc3db, 0x3f74ec8a, 0x37ba39b3, 0x3f768d96,
+  0x37c6afdc, 0x3f782c30, 0x37d32657, 0x3f79c857,
+  0x37df9d22, 0x3f7b620c, 0x37ec143e, 0x3f7cf94e,
+  0x37f88ba9, 0x3f7e8e1e, 0x38050364, 0x3f80207b,
+  0x38117b6d, 0x3f81b065, 0x381df3c5, 0x3f833ddd,
+  0x382a6c6a, 0x3f84c8e2, 0x3836e55d, 0x3f865174,
+  0x38435e9d, 0x3f87d792, 0x384fd829, 0x3f895b3e,
+  0x385c5201, 0x3f8adc77, 0x3868cc24, 0x3f8c5b3d,
+  0x38754692, 0x3f8dd78f, 0x3881c14b, 0x3f8f516e,
+  0x388e3c4d, 0x3f90c8da, 0x389ab799, 0x3f923dd2,
+  0x38a7332e, 0x3f93b058, 0x38b3af0c, 0x3f952069,
+  0x38c02b31, 0x3f968e07, 0x38cca79e, 0x3f97f932,
+  0x38d92452, 0x3f9961e8, 0x38e5a14d, 0x3f9ac82c,
+  0x38f21e8e, 0x3f9c2bfb, 0x38fe9c15, 0x3f9d8d56,
+  0x390b19e0, 0x3f9eec3e, 0x391797f0, 0x3fa048b2,
+  0x39241645, 0x3fa1a2b2, 0x393094dd, 0x3fa2fa3d,
+  0x393d13b8, 0x3fa44f55, 0x394992d7, 0x3fa5a1f9,
+  0x39561237, 0x3fa6f228, 0x396291d9, 0x3fa83fe3,
+  0x396f11bc, 0x3fa98b2a, 0x397b91e1, 0x3faad3fd,
+  0x39881245, 0x3fac1a5b, 0x399492ea, 0x3fad5e45,
+  0x39a113cd, 0x3fae9fbb, 0x39ad94f0, 0x3fafdebb,
+  0x39ba1651, 0x3fb11b48, 0x39c697f0, 0x3fb2555f,
+  0x39d319cc, 0x3fb38d02, 0x39df9be6, 0x3fb4c231,
+  0x39ec1e3b, 0x3fb5f4ea, 0x39f8a0cd, 0x3fb7252f,
+  0x3a05239a, 0x3fb852ff, 0x3a11a6a3, 0x3fb97e5a,
+  0x3a1e29e5, 0x3fbaa740, 0x3a2aad62, 0x3fbbcdb1,
+  0x3a373119, 0x3fbcf1ad, 0x3a43b508, 0x3fbe1334,
+  0x3a503930, 0x3fbf3246, 0x3a5cbd91, 0x3fc04ee3,
+  0x3a694229, 0x3fc1690a, 0x3a75c6f8, 0x3fc280bc,
+  0x3a824bfd, 0x3fc395f9, 0x3a8ed139, 0x3fc4a8c1,
+  0x3a9b56ab, 0x3fc5b913, 0x3aa7dc52, 0x3fc6c6f0,
+  0x3ab4622d, 0x3fc7d258, 0x3ac0e83d, 0x3fc8db4a,
+  0x3acd6e81, 0x3fc9e1c6, 0x3ad9f4f8, 0x3fcae5cd,
+  0x3ae67ba2, 0x3fcbe75e, 0x3af3027e, 0x3fcce67a,
+  0x3aff898c, 0x3fcde320, 0x3b0c10cb, 0x3fcedd50,
+  0x3b18983b, 0x3fcfd50b, 0x3b251fdc, 0x3fd0ca4f,
+  0x3b31a7ac, 0x3fd1bd1e, 0x3b3e2fac, 0x3fd2ad77,
+  0x3b4ab7db, 0x3fd39b5a, 0x3b574039, 0x3fd486c7,
+  0x3b63c8c4, 0x3fd56fbe, 0x3b70517d, 0x3fd6563f,
+  0x3b7cda63, 0x3fd73a4a, 0x3b896375, 0x3fd81bdf,
+  0x3b95ecb4, 0x3fd8fafe, 0x3ba2761e, 0x3fd9d7a7,
+  0x3baeffb3, 0x3fdab1d9, 0x3bbb8973, 0x3fdb8996,
+  0x3bc8135c, 0x3fdc5edc, 0x3bd49d70, 0x3fdd31ac,
+  0x3be127ac, 0x3fde0205, 0x3bedb212, 0x3fdecfe8,
+  0x3bfa3c9f, 0x3fdf9b55, 0x3c06c754, 0x3fe0644b,
+  0x3c135231, 0x3fe12acb, 0x3c1fdd34, 0x3fe1eed5,
+  0x3c2c685d, 0x3fe2b067, 0x3c38f3ac, 0x3fe36f84,
+  0x3c457f21, 0x3fe42c2a, 0x3c520aba, 0x3fe4e659,
+  0x3c5e9678, 0x3fe59e12, 0x3c6b2259, 0x3fe65354,
+  0x3c77ae5e, 0x3fe7061f, 0x3c843a85, 0x3fe7b674,
+  0x3c90c6cf, 0x3fe86452, 0x3c9d533b, 0x3fe90fb9,
+  0x3ca9dfc8, 0x3fe9b8a9, 0x3cb66c77, 0x3fea5f23,
+  0x3cc2f945, 0x3feb0326, 0x3ccf8634, 0x3feba4b2,
+  0x3cdc1342, 0x3fec43c7, 0x3ce8a06f, 0x3fece065,
+  0x3cf52dbb, 0x3fed7a8c, 0x3d01bb24, 0x3fee123d,
+  0x3d0e48ab, 0x3feea776, 0x3d1ad650, 0x3fef3a39,
+  0x3d276410, 0x3fefca84, 0x3d33f1ed, 0x3ff05858,
+  0x3d407fe6, 0x3ff0e3b6, 0x3d4d0df9, 0x3ff16c9c,
+  0x3d599c28, 0x3ff1f30b, 0x3d662a70, 0x3ff27703,
+  0x3d72b8d2, 0x3ff2f884, 0x3d7f474d, 0x3ff3778e,
+  0x3d8bd5e1, 0x3ff3f420, 0x3d98648d, 0x3ff46e3c,
+  0x3da4f351, 0x3ff4e5e0, 0x3db1822c, 0x3ff55b0d,
+  0x3dbe111e, 0x3ff5cdc3, 0x3dcaa027, 0x3ff63e01,
+  0x3dd72f45, 0x3ff6abc8, 0x3de3be78, 0x3ff71718,
+  0x3df04dc0, 0x3ff77ff1, 0x3dfcdd1d, 0x3ff7e652,
+  0x3e096c8d, 0x3ff84a3c, 0x3e15fc11, 0x3ff8abae,
+  0x3e228ba7, 0x3ff90aaa, 0x3e2f1b50, 0x3ff9672d,
+  0x3e3bab0b, 0x3ff9c13a, 0x3e483ad8, 0x3ffa18cf,
+  0x3e54cab5, 0x3ffa6dec, 0x3e615aa3, 0x3ffac092,
+  0x3e6deaa1, 0x3ffb10c1, 0x3e7a7aae, 0x3ffb5e78,
+  0x3e870aca, 0x3ffba9b8, 0x3e939af5, 0x3ffbf280,
+  0x3ea02b2e, 0x3ffc38d1, 0x3eacbb74, 0x3ffc7caa,
+  0x3eb94bc8, 0x3ffcbe0c, 0x3ec5dc28, 0x3ffcfcf6,
+  0x3ed26c94, 0x3ffd3969, 0x3edefd0c, 0x3ffd7364,
+  0x3eeb8d8f, 0x3ffdaae7, 0x3ef81e1d, 0x3ffddff3,
+  0x3f04aeb5, 0x3ffe1288, 0x3f113f56, 0x3ffe42a4,
+  0x3f1dd001, 0x3ffe704a, 0x3f2a60b4, 0x3ffe9b77,
+  0x3f36f170, 0x3ffec42d, 0x3f438234, 0x3ffeea6c,
+  0x3f5012fe, 0x3fff0e32, 0x3f5ca3d0, 0x3fff2f82,
+  0x3f6934a8, 0x3fff4e59, 0x3f75c585, 0x3fff6ab9,
+  0x3f825668, 0x3fff84a1, 0x3f8ee750, 0x3fff9c12,
+  0x3f9b783c, 0x3fffb10b, 0x3fa8092c, 0x3fffc38c,
+  0x3fb49a1f, 0x3fffd396, 0x3fc12b16, 0x3fffe128,
+  0x3fcdbc0f, 0x3fffec43, 0x3fda4d09, 0x3ffff4e6,
+  0x3fe6de05, 0x3ffffb11, 0x3ff36f02, 0x3ffffec4,
+};
+
+
+/**    
+* \par   
+* Generation of realCoefBQ31 array:    
+* \par    
+*  n = 4096        
+* 
for (i = 0; i < n; i++)    
+* {    
+*    pBTable[2 * i] = 0.5 * (1.0 + sin (2 * PI / (double) (2 * n) * (double) i));    
+*    pBTable[2 * i + 1] = 0.5 * (1.0 * cos (2 * PI / (double) (2 * n) * (double) i));    
+* } 
    
+* \par    
+* Convert to fixed point Q31 format    
+*     round(pBTable[i] * pow(2, 31))    
+*    
+*/
+
+static const q31_t realCoefBQ31[8192] = {
+  0x40000000, 0x40000000, 0x400c90fe, 0x3ffffec4,
+  0x401921fb, 0x3ffffb11, 0x4025b2f7, 0x3ffff4e6,
+  0x403243f1, 0x3fffec43, 0x403ed4ea, 0x3fffe128,
+  0x404b65e1, 0x3fffd396, 0x4057f6d4, 0x3fffc38c,
+  0x406487c4, 0x3fffb10b, 0x407118b0, 0x3fff9c12,
+  0x407da998, 0x3fff84a1, 0x408a3a7b, 0x3fff6ab9,
+  0x4096cb58, 0x3fff4e59, 0x40a35c30, 0x3fff2f82,
+  0x40afed02, 0x3fff0e32, 0x40bc7dcc, 0x3ffeea6c,
+  0x40c90e90, 0x3ffec42d, 0x40d59f4c, 0x3ffe9b77,
+  0x40e22fff, 0x3ffe704a, 0x40eec0aa, 0x3ffe42a4,
+  0x40fb514b, 0x3ffe1288, 0x4107e1e3, 0x3ffddff3,
+  0x41147271, 0x3ffdaae7, 0x412102f4, 0x3ffd7364,
+  0x412d936c, 0x3ffd3969, 0x413a23d8, 0x3ffcfcf6,
+  0x4146b438, 0x3ffcbe0c, 0x4153448c, 0x3ffc7caa,
+  0x415fd4d2, 0x3ffc38d1, 0x416c650b, 0x3ffbf280,
+  0x4178f536, 0x3ffba9b8, 0x41858552, 0x3ffb5e78,
+  0x4192155f, 0x3ffb10c1, 0x419ea55d, 0x3ffac092,
+  0x41ab354b, 0x3ffa6dec, 0x41b7c528, 0x3ffa18cf,
+  0x41c454f5, 0x3ff9c13a, 0x41d0e4b0, 0x3ff9672d,
+  0x41dd7459, 0x3ff90aaa, 0x41ea03ef, 0x3ff8abae,
+  0x41f69373, 0x3ff84a3c, 0x420322e3, 0x3ff7e652,
+  0x420fb240, 0x3ff77ff1, 0x421c4188, 0x3ff71718,
+  0x4228d0bb, 0x3ff6abc8, 0x42355fd9, 0x3ff63e01,
+  0x4241eee2, 0x3ff5cdc3, 0x424e7dd4, 0x3ff55b0d,
+  0x425b0caf, 0x3ff4e5e0, 0x42679b73, 0x3ff46e3c,
+  0x42742a1f, 0x3ff3f420, 0x4280b8b3, 0x3ff3778e,
+  0x428d472e, 0x3ff2f884, 0x4299d590, 0x3ff27703,
+  0x42a663d8, 0x3ff1f30b, 0x42b2f207, 0x3ff16c9c,
+  0x42bf801a, 0x3ff0e3b6, 0x42cc0e13, 0x3ff05858,
+  0x42d89bf0, 0x3fefca84, 0x42e529b0, 0x3fef3a39,
+  0x42f1b755, 0x3feea776, 0x42fe44dc, 0x3fee123d,
+  0x430ad245, 0x3fed7a8c, 0x43175f91, 0x3fece065,
+  0x4323ecbe, 0x3fec43c7, 0x433079cc, 0x3feba4b2,
+  0x433d06bb, 0x3feb0326, 0x43499389, 0x3fea5f23,
+  0x43562038, 0x3fe9b8a9, 0x4362acc5, 0x3fe90fb9,
+  0x436f3931, 0x3fe86452, 0x437bc57b, 0x3fe7b674,
+  0x438851a2, 0x3fe7061f, 0x4394dda7, 0x3fe65354,
+  0x43a16988, 0x3fe59e12, 0x43adf546, 0x3fe4e659,
+  0x43ba80df, 0x3fe42c2a, 0x43c70c54, 0x3fe36f84,
+  0x43d397a3, 0x3fe2b067, 0x43e022cc, 0x3fe1eed5,
+  0x43ecadcf, 0x3fe12acb, 0x43f938ac, 0x3fe0644b,
+  0x4405c361, 0x3fdf9b55, 0x44124dee, 0x3fdecfe8,
+  0x441ed854, 0x3fde0205, 0x442b6290, 0x3fdd31ac,
+  0x4437eca4, 0x3fdc5edc, 0x4444768d, 0x3fdb8996,
+  0x4451004d, 0x3fdab1d9, 0x445d89e2, 0x3fd9d7a7,
+  0x446a134c, 0x3fd8fafe, 0x44769c8b, 0x3fd81bdf,
+  0x4483259d, 0x3fd73a4a, 0x448fae83, 0x3fd6563f,
+  0x449c373c, 0x3fd56fbe, 0x44a8bfc7, 0x3fd486c7,
+  0x44b54825, 0x3fd39b5a, 0x44c1d054, 0x3fd2ad77,
+  0x44ce5854, 0x3fd1bd1e, 0x44dae024, 0x3fd0ca4f,
+  0x44e767c5, 0x3fcfd50b, 0x44f3ef35, 0x3fcedd50,
+  0x45007674, 0x3fcde320, 0x450cfd82, 0x3fcce67a,
+  0x4519845e, 0x3fcbe75e, 0x45260b08, 0x3fcae5cd,
+  0x4532917f, 0x3fc9e1c6, 0x453f17c3, 0x3fc8db4a,
+  0x454b9dd3, 0x3fc7d258, 0x455823ae, 0x3fc6c6f0,
+  0x4564a955, 0x3fc5b913, 0x45712ec7, 0x3fc4a8c1,
+  0x457db403, 0x3fc395f9, 0x458a3908, 0x3fc280bc,
+  0x4596bdd7, 0x3fc1690a, 0x45a3426f, 0x3fc04ee3,
+  0x45afc6d0, 0x3fbf3246, 0x45bc4af8, 0x3fbe1334,
+  0x45c8cee7, 0x3fbcf1ad, 0x45d5529e, 0x3fbbcdb1,
+  0x45e1d61b, 0x3fbaa740, 0x45ee595d, 0x3fb97e5a,
+  0x45fadc66, 0x3fb852ff, 0x46075f33, 0x3fb7252f,
+  0x4613e1c5, 0x3fb5f4ea, 0x4620641a, 0x3fb4c231,
+  0x462ce634, 0x3fb38d02, 0x46396810, 0x3fb2555f,
+  0x4645e9af, 0x3fb11b48, 0x46526b10, 0x3fafdebb,
+  0x465eec33, 0x3fae9fbb, 0x466b6d16, 0x3fad5e45,
+  0x4677edbb, 0x3fac1a5b, 0x46846e1f, 0x3faad3fd,
+  0x4690ee44, 0x3fa98b2a, 0x469d6e27, 0x3fa83fe3,
+  0x46a9edc9, 0x3fa6f228, 0x46b66d29, 0x3fa5a1f9,
+  0x46c2ec48, 0x3fa44f55, 0x46cf6b23, 0x3fa2fa3d,
+  0x46dbe9bb, 0x3fa1a2b2, 0x46e86810, 0x3fa048b2,
+  0x46f4e620, 0x3f9eec3e, 0x470163eb, 0x3f9d8d56,
+  0x470de172, 0x3f9c2bfb, 0x471a5eb3, 0x3f9ac82c,
+  0x4726dbae, 0x3f9961e8, 0x47335862, 0x3f97f932,
+  0x473fd4cf, 0x3f968e07, 0x474c50f4, 0x3f952069,
+  0x4758ccd2, 0x3f93b058, 0x47654867, 0x3f923dd2,
+  0x4771c3b3, 0x3f90c8da, 0x477e3eb5, 0x3f8f516e,
+  0x478ab96e, 0x3f8dd78f, 0x479733dc, 0x3f8c5b3d,
+  0x47a3adff, 0x3f8adc77, 0x47b027d7, 0x3f895b3e,
+  0x47bca163, 0x3f87d792, 0x47c91aa3, 0x3f865174,
+  0x47d59396, 0x3f84c8e2, 0x47e20c3b, 0x3f833ddd,
+  0x47ee8493, 0x3f81b065, 0x47fafc9c, 0x3f80207b,
+  0x48077457, 0x3f7e8e1e, 0x4813ebc2, 0x3f7cf94e,
+  0x482062de, 0x3f7b620c, 0x482cd9a9, 0x3f79c857,
+  0x48395024, 0x3f782c30, 0x4845c64d, 0x3f768d96,
+  0x48523c25, 0x3f74ec8a, 0x485eb1ab, 0x3f73490b,
+  0x486b26de, 0x3f71a31b, 0x48779bbe, 0x3f6ffab8,
+  0x4884104b, 0x3f6e4fe3, 0x48908483, 0x3f6ca29c,
+  0x489cf867, 0x3f6af2e3, 0x48a96bf6, 0x3f6940b8,
+  0x48b5df30, 0x3f678c1c, 0x48c25213, 0x3f65d50d,
+  0x48cec4a0, 0x3f641b8d, 0x48db36d6, 0x3f625f9b,
+  0x48e7a8b5, 0x3f60a138, 0x48f41a3c, 0x3f5ee063,
+  0x49008b6a, 0x3f5d1d1d, 0x490cfc40, 0x3f5b5765,
+  0x49196cbc, 0x3f598f3c, 0x4925dcdf, 0x3f57c4a2,
+  0x49324ca7, 0x3f55f796, 0x493ebc14, 0x3f54281a,
+  0x494b2b27, 0x3f52562c, 0x495799dd, 0x3f5081cd,
+  0x49640837, 0x3f4eaafe, 0x49707635, 0x3f4cd1be,
+  0x497ce3d5, 0x3f4af60d, 0x49895118, 0x3f4917eb,
+  0x4995bdfd, 0x3f473759, 0x49a22a83, 0x3f455456,
+  0x49ae96aa, 0x3f436ee3, 0x49bb0271, 0x3f4186ff,
+  0x49c76dd8, 0x3f3f9cab, 0x49d3d8df, 0x3f3dafe7,
+  0x49e04385, 0x3f3bc0b3, 0x49ecadc9, 0x3f39cf0e,
+  0x49f917ac, 0x3f37dafa, 0x4a05812c, 0x3f35e476,
+  0x4a11ea49, 0x3f33eb81, 0x4a1e5303, 0x3f31f01d,
+  0x4a2abb59, 0x3f2ff24a, 0x4a37234a, 0x3f2df206,
+  0x4a438ad7, 0x3f2bef53, 0x4a4ff1fe, 0x3f29ea31,
+  0x4a5c58c0, 0x3f27e29f, 0x4a68bf1b, 0x3f25d89e,
+  0x4a752510, 0x3f23cc2e, 0x4a818a9d, 0x3f21bd4e,
+  0x4a8defc3, 0x3f1fabff, 0x4a9a5480, 0x3f1d9842,
+  0x4aa6b8d5, 0x3f1b8215, 0x4ab31cc1, 0x3f19697a,
+  0x4abf8043, 0x3f174e70, 0x4acbe35b, 0x3f1530f7,
+  0x4ad84609, 0x3f13110f, 0x4ae4a84b, 0x3f10eeb9,
+  0x4af10a22, 0x3f0ec9f5, 0x4afd6b8d, 0x3f0ca2c2,
+  0x4b09cc8c, 0x3f0a7921, 0x4b162d1d, 0x3f084d12,
+  0x4b228d42, 0x3f061e95, 0x4b2eecf8, 0x3f03eda9,
+  0x4b3b4c40, 0x3f01ba50, 0x4b47ab19, 0x3eff8489,
+  0x4b540982, 0x3efd4c54, 0x4b60677c, 0x3efb11b1,
+  0x4b6cc506, 0x3ef8d4a1, 0x4b79221f, 0x3ef69523,
+  0x4b857ec7, 0x3ef45338, 0x4b91dafc, 0x3ef20ee0,
+  0x4b9e36c0, 0x3eefc81a, 0x4baa9211, 0x3eed7ee7,
+  0x4bb6ecef, 0x3eeb3347, 0x4bc34759, 0x3ee8e53a,
+  0x4bcfa150, 0x3ee694c1, 0x4bdbfad1, 0x3ee441da,
+  0x4be853de, 0x3ee1ec87, 0x4bf4ac75, 0x3edf94c7,
+  0x4c010496, 0x3edd3a9a, 0x4c0d5c41, 0x3edade01,
+  0x4c19b374, 0x3ed87efc, 0x4c260a31, 0x3ed61d8a,
+  0x4c326075, 0x3ed3b9ad, 0x4c3eb641, 0x3ed15363,
+  0x4c4b0b94, 0x3eceeaad, 0x4c57606e, 0x3ecc7f8b,
+  0x4c63b4ce, 0x3eca11fe, 0x4c7008b3, 0x3ec7a205,
+  0x4c7c5c1e, 0x3ec52fa0, 0x4c88af0e, 0x3ec2bad0,
+  0x4c950182, 0x3ec04394, 0x4ca1537a, 0x3ebdc9ed,
+  0x4cada4f5, 0x3ebb4ddb, 0x4cb9f5f3, 0x3eb8cf5d,
+  0x4cc64673, 0x3eb64e75, 0x4cd29676, 0x3eb3cb21,
+  0x4cdee5f9, 0x3eb14563, 0x4ceb34fe, 0x3eaebd3a,
+  0x4cf78383, 0x3eac32a6, 0x4d03d189, 0x3ea9a5a8,
+  0x4d101f0e, 0x3ea7163f, 0x4d1c6c11, 0x3ea4846c,
+  0x4d28b894, 0x3ea1f02f, 0x4d350495, 0x3e9f5988,
+  0x4d415013, 0x3e9cc076, 0x4d4d9b0e, 0x3e9a24fb,
+  0x4d59e586, 0x3e978715, 0x4d662f7b, 0x3e94e6c6,
+  0x4d7278eb, 0x3e92440d, 0x4d7ec1d6, 0x3e8f9eeb,
+  0x4d8b0a3d, 0x3e8cf75f, 0x4d97521d, 0x3e8a4d6a,
+  0x4da39978, 0x3e87a10c, 0x4dafe04b, 0x3e84f245,
+  0x4dbc2698, 0x3e824114, 0x4dc86c5d, 0x3e7f8d7b,
+  0x4dd4b19a, 0x3e7cd778, 0x4de0f64f, 0x3e7a1f0d,
+  0x4ded3a7b, 0x3e77643a, 0x4df97e1d, 0x3e74a6fd,
+  0x4e05c135, 0x3e71e759, 0x4e1203c3, 0x3e6f254c,
+  0x4e1e45c6, 0x3e6c60d7, 0x4e2a873e, 0x3e6999fa,
+  0x4e36c82a, 0x3e66d0b4, 0x4e430889, 0x3e640507,
+  0x4e4f485c, 0x3e6136f3, 0x4e5b87a2, 0x3e5e6676,
+  0x4e67c65a, 0x3e5b9392, 0x4e740483, 0x3e58be47,
+  0x4e80421e, 0x3e55e694, 0x4e8c7f2a, 0x3e530c7a,
+  0x4e98bba7, 0x3e502ff9, 0x4ea4f793, 0x3e4d5110,
+  0x4eb132ef, 0x3e4a6fc1, 0x4ebd6db9, 0x3e478c0b,
+  0x4ec9a7f3, 0x3e44a5ef, 0x4ed5e19a, 0x3e41bd6c,
+  0x4ee21aaf, 0x3e3ed282, 0x4eee5331, 0x3e3be532,
+  0x4efa8b20, 0x3e38f57c, 0x4f06c27a, 0x3e360360,
+  0x4f12f941, 0x3e330ede, 0x4f1f2f73, 0x3e3017f6,
+  0x4f2b650f, 0x3e2d1ea8, 0x4f379a16, 0x3e2a22f4,
+  0x4f43ce86, 0x3e2724db, 0x4f500260, 0x3e24245d,
+  0x4f5c35a3, 0x3e212179, 0x4f68684e, 0x3e1e1c30,
+  0x4f749a61, 0x3e1b1482, 0x4f80cbdc, 0x3e180a6f,
+  0x4f8cfcbe, 0x3e14fdf7, 0x4f992d06, 0x3e11ef1b,
+  0x4fa55cb4, 0x3e0eddd9, 0x4fb18bc8, 0x3e0bca34,
+  0x4fbdba40, 0x3e08b42a, 0x4fc9e81e, 0x3e059bbb,
+  0x4fd6155f, 0x3e0280e9, 0x4fe24205, 0x3dff63b2,
+  0x4fee6e0d, 0x3dfc4418, 0x4ffa9979, 0x3df9221a,
+  0x5006c446, 0x3df5fdb8, 0x5012ee76, 0x3df2d6f3,
+  0x501f1807, 0x3defadca, 0x502b40f8, 0x3dec823e,
+  0x5037694b, 0x3de9544f, 0x504390fd, 0x3de623fd,
+  0x504fb80e, 0x3de2f148, 0x505bde7f, 0x3ddfbc30,
+  0x5068044e, 0x3ddc84b5, 0x5074297b, 0x3dd94ad8,
+  0x50804e06, 0x3dd60e99, 0x508c71ee, 0x3dd2cff7,
+  0x50989532, 0x3dcf8ef3, 0x50a4b7d3, 0x3dcc4b8d,
+  0x50b0d9d0, 0x3dc905c5, 0x50bcfb28, 0x3dc5bd9b,
+  0x50c91bda, 0x3dc2730f, 0x50d53be7, 0x3dbf2622,
+  0x50e15b4e, 0x3dbbd6d4, 0x50ed7a0e, 0x3db88524,
+  0x50f99827, 0x3db53113, 0x5105b599, 0x3db1daa2,
+  0x5111d263, 0x3dae81cf, 0x511dee84, 0x3dab269b,
+  0x512a09fc, 0x3da7c907, 0x513624cb, 0x3da46912,
+  0x51423ef0, 0x3da106bd, 0x514e586a, 0x3d9da208,
+  0x515a713a, 0x3d9a3af2, 0x5166895f, 0x3d96d17d,
+  0x5172a0d7, 0x3d9365a8, 0x517eb7a4, 0x3d8ff772,
+  0x518acdc4, 0x3d8c86de, 0x5196e337, 0x3d8913ea,
+  0x51a2f7fc, 0x3d859e96, 0x51af0c13, 0x3d8226e4,
+  0x51bb1f7c, 0x3d7eacd2, 0x51c73235, 0x3d7b3061,
+  0x51d3443f, 0x3d77b192, 0x51df5599, 0x3d743064,
+  0x51eb6643, 0x3d70acd7, 0x51f7763c, 0x3d6d26ec,
+  0x52038584, 0x3d699ea3, 0x520f941a, 0x3d6613fb,
+  0x521ba1fd, 0x3d6286f6, 0x5227af2e, 0x3d5ef793,
+  0x5233bbac, 0x3d5b65d2, 0x523fc776, 0x3d57d1b3,
+  0x524bd28c, 0x3d543b37, 0x5257dced, 0x3d50a25e,
+  0x5263e699, 0x3d4d0728, 0x526fef90, 0x3d496994,
+  0x527bf7d1, 0x3d45c9a4, 0x5287ff5b, 0x3d422757,
+  0x5294062f, 0x3d3e82ae, 0x52a00c4b, 0x3d3adba7,
+  0x52ac11af, 0x3d373245, 0x52b8165b, 0x3d338687,
+  0x52c41a4f, 0x3d2fd86c, 0x52d01d89, 0x3d2c27f6,
+  0x52dc2009, 0x3d287523, 0x52e821cf, 0x3d24bff6,
+  0x52f422db, 0x3d21086c, 0x5300232c, 0x3d1d4e88,
+  0x530c22c1, 0x3d199248, 0x5318219a, 0x3d15d3ad,
+  0x53241fb6, 0x3d1212b7, 0x53301d16, 0x3d0e4f67,
+  0x533c19b8, 0x3d0a89bc, 0x5348159d, 0x3d06c1b6,
+  0x535410c3, 0x3d02f757, 0x53600b2a, 0x3cff2a9d,
+  0x536c04d2, 0x3cfb5b89, 0x5377fdbb, 0x3cf78a1b,
+  0x5383f5e3, 0x3cf3b653, 0x538fed4b, 0x3cefe032,
+  0x539be3f2, 0x3cec07b8, 0x53a7d9d7, 0x3ce82ce4,
+  0x53b3cefa, 0x3ce44fb7, 0x53bfc35b, 0x3ce07031,
+  0x53cbb6f8, 0x3cdc8e52, 0x53d7a9d3, 0x3cd8aa1b,
+  0x53e39be9, 0x3cd4c38b, 0x53ef8d3c, 0x3cd0daa2,
+  0x53fb7dc9, 0x3cccef62, 0x54076d91, 0x3cc901c9,
+  0x54135c94, 0x3cc511d9, 0x541f4ad1, 0x3cc11f90,
+  0x542b3846, 0x3cbd2af0, 0x543724f5, 0x3cb933f9,
+  0x544310dd, 0x3cb53aaa, 0x544efbfc, 0x3cb13f04,
+  0x545ae653, 0x3cad4107, 0x5466cfe1, 0x3ca940b3,
+  0x5472b8a5, 0x3ca53e09, 0x547ea0a0, 0x3ca13908,
+  0x548a87d1, 0x3c9d31b0, 0x54966e36, 0x3c992803,
+  0x54a253d1, 0x3c951bff, 0x54ae38a0, 0x3c910da5,
+  0x54ba1ca3, 0x3c8cfcf6, 0x54c5ffd9, 0x3c88e9f1,
+  0x54d1e242, 0x3c84d496, 0x54ddc3de, 0x3c80bce7,
+  0x54e9a4ac, 0x3c7ca2e2, 0x54f584ac, 0x3c788688,
+  0x550163dc, 0x3c7467d9, 0x550d423d, 0x3c7046d6,
+  0x55191fcf, 0x3c6c237e, 0x5524fc90, 0x3c67fdd1,
+  0x5530d881, 0x3c63d5d1, 0x553cb3a0, 0x3c5fab7c,
+  0x55488dee, 0x3c5b7ed4, 0x5554676a, 0x3c574fd8,
+  0x55604013, 0x3c531e88, 0x556c17e9, 0x3c4eeae5,
+  0x5577eeec, 0x3c4ab4ef, 0x5583c51b, 0x3c467ca6,
+  0x558f9a76, 0x3c42420a, 0x559b6efb, 0x3c3e051b,
+  0x55a742ac, 0x3c39c5da, 0x55b31587, 0x3c358446,
+  0x55bee78c, 0x3c314060, 0x55cab8ba, 0x3c2cfa28,
+  0x55d68911, 0x3c28b19e, 0x55e25890, 0x3c2466c2,
+  0x55ee2738, 0x3c201994, 0x55f9f507, 0x3c1bca16,
+  0x5605c1fd, 0x3c177845, 0x56118e1a, 0x3c132424,
+  0x561d595d, 0x3c0ecdb2, 0x562923c5, 0x3c0a74f0,
+  0x5634ed53, 0x3c0619dc, 0x5640b606, 0x3c01bc78,
+  0x564c7ddd, 0x3bfd5cc4, 0x565844d8, 0x3bf8fac0,
+  0x56640af7, 0x3bf4966c, 0x566fd039, 0x3bf02fc9,
+  0x567b949d, 0x3bebc6d5, 0x56875823, 0x3be75b93,
+  0x56931acb, 0x3be2ee01, 0x569edc94, 0x3bde7e20,
+  0x56aa9d7e, 0x3bda0bf0, 0x56b65d88, 0x3bd59771,
+  0x56c21cb2, 0x3bd120a4, 0x56cddafb, 0x3bcca789,
+  0x56d99864, 0x3bc82c1f, 0x56e554ea, 0x3bc3ae67,
+  0x56f1108f, 0x3bbf2e62, 0x56fccb51, 0x3bbaac0e,
+  0x57088531, 0x3bb6276e, 0x57143e2d, 0x3bb1a080,
+  0x571ff646, 0x3bad1744, 0x572bad7a, 0x3ba88bbc,
+  0x573763c9, 0x3ba3fde7, 0x57431933, 0x3b9f6dc5,
+  0x574ecdb8, 0x3b9adb57, 0x575a8157, 0x3b96469d,
+  0x5766340f, 0x3b91af97, 0x5771e5e0, 0x3b8d1644,
+  0x577d96ca, 0x3b887aa6, 0x578946cc, 0x3b83dcbc,
+  0x5794f5e6, 0x3b7f3c87, 0x57a0a417, 0x3b7a9a07,
+  0x57ac515f, 0x3b75f53c, 0x57b7fdbd, 0x3b714e25,
+  0x57c3a931, 0x3b6ca4c4, 0x57cf53bb, 0x3b67f919,
+  0x57dafd59, 0x3b634b23, 0x57e6a60c, 0x3b5e9ae4,
+  0x57f24dd3, 0x3b59e85a, 0x57fdf4ae, 0x3b553386,
+  0x58099a9c, 0x3b507c69, 0x58153f9d, 0x3b4bc303,
+  0x5820e3b0, 0x3b470753, 0x582c86d5, 0x3b42495a,
+  0x5838290c, 0x3b3d8918, 0x5843ca53, 0x3b38c68e,
+  0x584f6aab, 0x3b3401bb, 0x585b0a13, 0x3b2f3aa0,
+  0x5866a88a, 0x3b2a713d, 0x58724611, 0x3b25a591,
+  0x587de2a7, 0x3b20d79e, 0x58897e4a, 0x3b1c0764,
+  0x589518fc, 0x3b1734e2, 0x58a0b2bb, 0x3b126019,
+  0x58ac4b87, 0x3b0d8909, 0x58b7e35f, 0x3b08afb2,
+  0x58c37a44, 0x3b03d414, 0x58cf1034, 0x3afef630,
+  0x58daa52f, 0x3afa1605, 0x58e63935, 0x3af53395,
+  0x58f1cc45, 0x3af04edf, 0x58fd5e5f, 0x3aeb67e3,
+  0x5908ef82, 0x3ae67ea1, 0x59147fae, 0x3ae1931a,
+  0x59200ee3, 0x3adca54e, 0x592b9d1f, 0x3ad7b53d,
+  0x59372a64, 0x3ad2c2e8, 0x5942b6af, 0x3acdce4d,
+  0x594e4201, 0x3ac8d76f, 0x5959cc5a, 0x3ac3de4c,
+  0x596555b8, 0x3abee2e5, 0x5970de1b, 0x3ab9e53a,
+  0x597c6584, 0x3ab4e54c, 0x5987ebf0, 0x3aafe31b,
+  0x59937161, 0x3aaadea6, 0x599ef5d6, 0x3aa5d7ee,
+  0x59aa794d, 0x3aa0cef3, 0x59b5fbc8, 0x3a9bc3b6,
+  0x59c17d44, 0x3a96b636, 0x59ccfdc2, 0x3a91a674,
+  0x59d87d42, 0x3a8c9470, 0x59e3fbc3, 0x3a87802a,
+  0x59ef7944, 0x3a8269a3, 0x59faf5c5, 0x3a7d50da,
+  0x5a067145, 0x3a7835cf, 0x5a11ebc5, 0x3a731884,
+  0x5a1d6544, 0x3a6df8f8, 0x5a28ddc0, 0x3a68d72b,
+  0x5a34553b, 0x3a63b31d, 0x5a3fcbb3, 0x3a5e8cd0,
+  0x5a4b4128, 0x3a596442, 0x5a56b599, 0x3a543974,
+  0x5a622907, 0x3a4f0c67, 0x5a6d9b70, 0x3a49dd1a,
+  0x5a790cd4, 0x3a44ab8e, 0x5a847d33, 0x3a3f77c3,
+  0x5a8fec8c, 0x3a3a41b9, 0x5a9b5adf, 0x3a350970,
+  0x5aa6c82b, 0x3a2fcee8, 0x5ab23471, 0x3a2a9223,
+  0x5abd9faf, 0x3a25531f, 0x5ac909e5, 0x3a2011de,
+  0x5ad47312, 0x3a1ace5f, 0x5adfdb37, 0x3a1588a2,
+  0x5aeb4253, 0x3a1040a8, 0x5af6a865, 0x3a0af671,
+  0x5b020d6c, 0x3a05a9fd, 0x5b0d716a, 0x3a005b4d,
+  0x5b18d45c, 0x39fb0a60, 0x5b243643, 0x39f5b737,
+  0x5b2f971e, 0x39f061d2, 0x5b3af6ec, 0x39eb0a31,
+  0x5b4655ae, 0x39e5b054, 0x5b51b363, 0x39e0543c,
+  0x5b5d100a, 0x39daf5e8, 0x5b686ba3, 0x39d5955a,
+  0x5b73c62d, 0x39d03291, 0x5b7f1fa9, 0x39cacd8d,
+  0x5b8a7815, 0x39c5664f, 0x5b95cf71, 0x39bffcd7,
+  0x5ba125bd, 0x39ba9125, 0x5bac7af9, 0x39b52339,
+  0x5bb7cf23, 0x39afb313, 0x5bc3223c, 0x39aa40b4,
+  0x5bce7442, 0x39a4cc1c, 0x5bd9c537, 0x399f554b,
+  0x5be51518, 0x3999dc42, 0x5bf063e6, 0x399460ff,
+  0x5bfbb1a0, 0x398ee385, 0x5c06fe46, 0x398963d2,
+  0x5c1249d8, 0x3983e1e8, 0x5c1d9454, 0x397e5dc6,
+  0x5c28ddbb, 0x3978d76c, 0x5c34260c, 0x39734edc,
+  0x5c3f6d47, 0x396dc414, 0x5c4ab36b, 0x39683715,
+  0x5c55f878, 0x3962a7e0, 0x5c613c6d, 0x395d1675,
+  0x5c6c7f4a, 0x395782d3, 0x5c77c10e, 0x3951ecfc,
+  0x5c8301b9, 0x394c54ee, 0x5c8e414b, 0x3946baac,
+  0x5c997fc4, 0x39411e33, 0x5ca4bd21, 0x393b7f86,
+  0x5caff965, 0x3935dea4, 0x5cbb348d, 0x39303b8e,
+  0x5cc66e99, 0x392a9642, 0x5cd1a78a, 0x3924eec3,
+  0x5cdcdf5e, 0x391f4510, 0x5ce81615, 0x39199929,
+  0x5cf34baf, 0x3913eb0e, 0x5cfe802b, 0x390e3ac0,
+  0x5d09b389, 0x3908883f, 0x5d14e5c9, 0x3902d38b,
+  0x5d2016e9, 0x38fd1ca4, 0x5d2b46ea, 0x38f7638b,
+  0x5d3675cb, 0x38f1a840, 0x5d41a38c, 0x38ebeac2,
+  0x5d4cd02c, 0x38e62b13, 0x5d57fbaa, 0x38e06932,
+  0x5d632608, 0x38daa520, 0x5d6e4f43, 0x38d4dedd,
+  0x5d79775c, 0x38cf1669, 0x5d849e51, 0x38c94bc4,
+  0x5d8fc424, 0x38c37eef, 0x5d9ae8d2, 0x38bdafea,
+  0x5da60c5d, 0x38b7deb4, 0x5db12ec3, 0x38b20b4f,
+  0x5dbc5004, 0x38ac35ba, 0x5dc7701f, 0x38a65df6,
+  0x5dd28f15, 0x38a08402, 0x5dddace4, 0x389aa7e0,
+  0x5de8c98c, 0x3894c98f, 0x5df3e50d, 0x388ee910,
+  0x5dfeff67, 0x38890663, 0x5e0a1898, 0x38832187,
+  0x5e1530a1, 0x387d3a7e, 0x5e204781, 0x38775147,
+  0x5e2b5d38, 0x387165e3, 0x5e3671c5, 0x386b7852,
+  0x5e418528, 0x38658894, 0x5e4c9760, 0x385f96a9,
+  0x5e57a86d, 0x3859a292, 0x5e62b84f, 0x3853ac4f,
+  0x5e6dc705, 0x384db3e0, 0x5e78d48e, 0x3847b946,
+  0x5e83e0eb, 0x3841bc7f, 0x5e8eec1b, 0x383bbd8e,
+  0x5e99f61d, 0x3835bc71, 0x5ea4fef0, 0x382fb92a,
+  0x5eb00696, 0x3829b3b9, 0x5ebb0d0d, 0x3823ac1d,
+  0x5ec61254, 0x381da256, 0x5ed1166b, 0x38179666,
+  0x5edc1953, 0x3811884d, 0x5ee71b0a, 0x380b780a,
+  0x5ef21b90, 0x3805659e, 0x5efd1ae4, 0x37ff5109,
+  0x5f081907, 0x37f93a4b, 0x5f1315f7, 0x37f32165,
+  0x5f1e11b5, 0x37ed0657, 0x5f290c3f, 0x37e6e921,
+  0x5f340596, 0x37e0c9c3, 0x5f3efdb9, 0x37daa83d,
+  0x5f49f4a8, 0x37d48490, 0x5f54ea62, 0x37ce5ebd,
+  0x5f5fdee6, 0x37c836c2, 0x5f6ad235, 0x37c20ca1,
+  0x5f75c44e, 0x37bbe05a, 0x5f80b531, 0x37b5b1ec,
+  0x5f8ba4dc, 0x37af8159, 0x5f969350, 0x37a94ea0,
+  0x5fa1808c, 0x37a319c2, 0x5fac6c91, 0x379ce2be,
+  0x5fb7575c, 0x3796a996, 0x5fc240ef, 0x37906e49,
+  0x5fcd2948, 0x378a30d8, 0x5fd81067, 0x3783f143,
+  0x5fe2f64c, 0x377daf89, 0x5feddaf6, 0x37776bac,
+  0x5ff8be65, 0x377125ac, 0x6003a099, 0x376add88,
+  0x600e8190, 0x37649341, 0x6019614c, 0x375e46d8,
+  0x60243fca, 0x3757f84c, 0x602f1d0b, 0x3751a79e,
+  0x6039f90f, 0x374b54ce, 0x6044d3d4, 0x3744ffdd,
+  0x604fad5b, 0x373ea8ca, 0x605a85a3, 0x37384f95,
+  0x60655cac, 0x3731f440, 0x60703275, 0x372b96ca,
+  0x607b06fe, 0x37253733, 0x6085da46, 0x371ed57c,
+  0x6090ac4d, 0x371871a5, 0x609b7d13, 0x37120bae,
+  0x60a64c97, 0x370ba398, 0x60b11ad9, 0x37053962,
+  0x60bbe7d8, 0x36fecd0e, 0x60c6b395, 0x36f85e9a,
+  0x60d17e0d, 0x36f1ee09, 0x60dc4742, 0x36eb7b58,
+  0x60e70f32, 0x36e5068a, 0x60f1d5de, 0x36de8f9e,
+  0x60fc9b44, 0x36d81695, 0x61075f65, 0x36d19b6e,
+  0x61122240, 0x36cb1e2a, 0x611ce3d5, 0x36c49ec9,
+  0x6127a423, 0x36be1d4c, 0x61326329, 0x36b799b3,
+  0x613d20e8, 0x36b113fd, 0x6147dd5f, 0x36aa8c2c,
+  0x6152988d, 0x36a4023f, 0x615d5273, 0x369d7637,
+  0x61680b0f, 0x3696e814, 0x6172c262, 0x369057d6,
+  0x617d786a, 0x3689c57d, 0x61882d28, 0x3683310b,
+  0x6192e09b, 0x367c9a7e, 0x619d92c2, 0x367601d7,
+  0x61a8439e, 0x366f6717, 0x61b2f32e, 0x3668ca3e,
+  0x61bda171, 0x36622b4c, 0x61c84e67, 0x365b8a41,
+  0x61d2fa0f, 0x3654e71d, 0x61dda46a, 0x364e41e2,
+  0x61e84d76, 0x36479a8e, 0x61f2f534, 0x3640f123,
+  0x61fd9ba3, 0x363a45a0, 0x620840c2, 0x36339806,
+  0x6212e492, 0x362ce855, 0x621d8711, 0x3626368d,
+  0x6228283f, 0x361f82af, 0x6232c81c, 0x3618ccba,
+  0x623d66a8, 0x361214b0, 0x624803e2, 0x360b5a90,
+  0x62529fca, 0x36049e5b, 0x625d3a5e, 0x35fde011,
+  0x6267d3a0, 0x35f71fb1, 0x62726b8e, 0x35f05d3d,
+  0x627d0228, 0x35e998b5, 0x6287976e, 0x35e2d219,
+  0x62922b5e, 0x35dc0968, 0x629cbdfa, 0x35d53ea5,
+  0x62a74f40, 0x35ce71ce, 0x62b1df30, 0x35c7a2e3,
+  0x62bc6dca, 0x35c0d1e7, 0x62c6fb0c, 0x35b9fed7,
+  0x62d186f8, 0x35b329b5, 0x62dc118c, 0x35ac5282,
+  0x62e69ac8, 0x35a5793c, 0x62f122ab, 0x359e9de5,
+  0x62fba936, 0x3597c07d, 0x63062e67, 0x3590e104,
+  0x6310b23e, 0x3589ff7a, 0x631b34bc, 0x35831be0,
+  0x6325b5df, 0x357c3636, 0x633035a7, 0x35754e7c,
+  0x633ab414, 0x356e64b2, 0x63453125, 0x356778d9,
+  0x634facda, 0x35608af1, 0x635a2733, 0x35599afa,
+  0x6364a02e, 0x3552a8f4, 0x636f17cc, 0x354bb4e1,
+  0x63798e0d, 0x3544bebf, 0x638402ef, 0x353dc68f,
+  0x638e7673, 0x3536cc52, 0x6398e898, 0x352fd008,
+  0x63a3595e, 0x3528d1b1, 0x63adc8c4, 0x3521d14d,
+  0x63b836ca, 0x351acedd, 0x63c2a36f, 0x3513ca60,
+  0x63cd0eb3, 0x350cc3d8, 0x63d77896, 0x3505bb44,
+  0x63e1e117, 0x34feb0a5, 0x63ec4837, 0x34f7a3fb,
+  0x63f6adf3, 0x34f09546, 0x6401124d, 0x34e98487,
+  0x640b7543, 0x34e271bd, 0x6415d6d5, 0x34db5cea,
+  0x64203704, 0x34d4460c, 0x642a95ce, 0x34cd2d26,
+  0x6434f332, 0x34c61236, 0x643f4f32, 0x34bef53d,
+  0x6449a9cc, 0x34b7d63c, 0x645402ff, 0x34b0b533,
+  0x645e5acc, 0x34a99221, 0x6468b132, 0x34a26d08,
+  0x64730631, 0x349b45e7, 0x647d59c8, 0x34941cbf,
+  0x6487abf7, 0x348cf190, 0x6491fcbe, 0x3485c45b,
+  0x649c4c1b, 0x347e951f, 0x64a69a0f, 0x347763dd,
+  0x64b0e699, 0x34703095, 0x64bb31ba, 0x3468fb47,
+  0x64c57b6f, 0x3461c3f5, 0x64cfc3ba, 0x345a8a9d,
+  0x64da0a9a, 0x34534f41, 0x64e4500e, 0x344c11e0,
+  0x64ee9415, 0x3444d27b, 0x64f8d6b0, 0x343d9112,
+  0x650317df, 0x34364da6, 0x650d57a0, 0x342f0836,
+  0x651795f3, 0x3427c0c3, 0x6521d2d8, 0x3420774d,
+  0x652c0e4f, 0x34192bd5, 0x65364857, 0x3411de5b,
+  0x654080ef, 0x340a8edf, 0x654ab818, 0x34033d61,
+  0x6554edd1, 0x33fbe9e2, 0x655f2219, 0x33f49462,
+  0x656954f1, 0x33ed3ce1, 0x65738657, 0x33e5e360,
+  0x657db64c, 0x33de87de, 0x6587e4cf, 0x33d72a5d,
+  0x659211df, 0x33cfcadc, 0x659c3d7c, 0x33c8695b,
+  0x65a667a7, 0x33c105db, 0x65b0905d, 0x33b9a05d,
+  0x65bab7a0, 0x33b238e0, 0x65c4dd6e, 0x33aacf65,
+  0x65cf01c8, 0x33a363ec, 0x65d924ac, 0x339bf675,
+  0x65e3461b, 0x33948701, 0x65ed6614, 0x338d1590,
+  0x65f78497, 0x3385a222, 0x6601a1a2, 0x337e2cb7,
+  0x660bbd37, 0x3376b551, 0x6615d754, 0x336f3bee,
+  0x661feffa, 0x3367c090, 0x662a0727, 0x33604336,
+  0x66341cdb, 0x3358c3e2, 0x663e3117, 0x33514292,
+  0x664843d9, 0x3349bf48, 0x66525521, 0x33423a04,
+  0x665c64ef, 0x333ab2c6, 0x66667342, 0x3333298f,
+  0x6670801a, 0x332b9e5e, 0x667a8b77, 0x33241134,
+  0x66849558, 0x331c8211, 0x668e9dbd, 0x3314f0f6,
+  0x6698a4a6, 0x330d5de3, 0x66a2aa11, 0x3305c8d7,
+  0x66acadff, 0x32fe31d5, 0x66b6b070, 0x32f698db,
+  0x66c0b162, 0x32eefdea, 0x66cab0d6, 0x32e76102,
+  0x66d4aecb, 0x32dfc224, 0x66deab41, 0x32d82150,
+  0x66e8a637, 0x32d07e85, 0x66f29fad, 0x32c8d9c6,
+  0x66fc97a3, 0x32c13311, 0x67068e18, 0x32b98a67,
+  0x6710830c, 0x32b1dfc9, 0x671a767e, 0x32aa3336,
+  0x6724686e, 0x32a284b0, 0x672e58dc, 0x329ad435,
+  0x673847c8, 0x329321c7, 0x67423530, 0x328b6d66,
+  0x674c2115, 0x3283b712, 0x67560b76, 0x327bfecc,
+  0x675ff452, 0x32744493, 0x6769dbaa, 0x326c8868,
+  0x6773c17d, 0x3264ca4c, 0x677da5cb, 0x325d0a3e,
+  0x67878893, 0x32554840, 0x679169d5, 0x324d8450,
+  0x679b4990, 0x3245be70, 0x67a527c4, 0x323df6a0,
+  0x67af0472, 0x32362ce0, 0x67b8df97, 0x322e6130,
+  0x67c2b934, 0x32269391, 0x67cc9149, 0x321ec403,
+  0x67d667d5, 0x3216f287, 0x67e03cd8, 0x320f1f1c,
+  0x67ea1052, 0x320749c3, 0x67f3e241, 0x31ff727c,
+  0x67fdb2a7, 0x31f79948, 0x68078181, 0x31efbe27,
+  0x68114ed0, 0x31e7e118, 0x681b1a94, 0x31e0021e,
+  0x6824e4cc, 0x31d82137, 0x682ead78, 0x31d03e64,
+  0x68387498, 0x31c859a5, 0x68423a2a, 0x31c072fb,
+  0x684bfe2f, 0x31b88a66, 0x6855c0a6, 0x31b09fe7,
+  0x685f8190, 0x31a8b37c, 0x686940ea, 0x31a0c528,
+  0x6872feb6, 0x3198d4ea, 0x687cbaf3, 0x3190e2c3,
+  0x688675a0, 0x3188eeb2, 0x68902ebd, 0x3180f8b8,
+  0x6899e64a, 0x317900d6, 0x68a39c46, 0x3171070c,
+  0x68ad50b1, 0x31690b59, 0x68b7038b, 0x31610dbf,
+  0x68c0b4d2, 0x31590e3e, 0x68ca6488, 0x31510cd5,
+  0x68d412ab, 0x31490986, 0x68ddbf3b, 0x31410450,
+  0x68e76a37, 0x3138fd35, 0x68f113a0, 0x3130f433,
+  0x68fabb75, 0x3128e94c, 0x690461b5, 0x3120dc80,
+  0x690e0661, 0x3118cdcf, 0x6917a977, 0x3110bd39,
+  0x69214af8, 0x3108aabf, 0x692aeae3, 0x31009661,
+  0x69348937, 0x30f8801f, 0x693e25f5, 0x30f067fb,
+  0x6947c11c, 0x30e84df3, 0x69515aab, 0x30e03208,
+  0x695af2a3, 0x30d8143b, 0x69648902, 0x30cff48c,
+  0x696e1dc9, 0x30c7d2fb, 0x6977b0f7, 0x30bfaf89,
+  0x6981428c, 0x30b78a36, 0x698ad287, 0x30af6302,
+  0x699460e8, 0x30a739ed, 0x699dedaf, 0x309f0ef8,
+  0x69a778db, 0x3096e223, 0x69b1026c, 0x308eb36f,
+  0x69ba8a61, 0x308682dc, 0x69c410ba, 0x307e5069,
+  0x69cd9578, 0x30761c18, 0x69d71899, 0x306de5e9,
+  0x69e09a1c, 0x3065addb, 0x69ea1a03, 0x305d73f0,
+  0x69f3984c, 0x30553828, 0x69fd14f6, 0x304cfa83,
+  0x6a069003, 0x3044bb00, 0x6a100970, 0x303c79a2,
+  0x6a19813f, 0x30343667, 0x6a22f76e, 0x302bf151,
+  0x6a2c6bfd, 0x3023aa5f, 0x6a35deeb, 0x301b6193,
+  0x6a3f503a, 0x301316eb, 0x6a48bfe7, 0x300aca69,
+  0x6a522df3, 0x30027c0c, 0x6a5b9a5d, 0x2ffa2bd6,
+  0x6a650525, 0x2ff1d9c7, 0x6a6e6e4b, 0x2fe985de,
+  0x6a77d5ce, 0x2fe1301c, 0x6a813bae, 0x2fd8d882,
+  0x6a8a9fea, 0x2fd07f0f, 0x6a940283, 0x2fc823c5,
+  0x6a9d6377, 0x2fbfc6a3, 0x6aa6c2c6, 0x2fb767aa,
+  0x6ab02071, 0x2faf06da, 0x6ab97c77, 0x2fa6a433,
+  0x6ac2d6d6, 0x2f9e3fb6, 0x6acc2f90, 0x2f95d963,
+  0x6ad586a3, 0x2f8d713a, 0x6adedc10, 0x2f85073c,
+  0x6ae82fd5, 0x2f7c9b69, 0x6af181f3, 0x2f742dc1,
+  0x6afad269, 0x2f6bbe45, 0x6b042137, 0x2f634cf5,
+  0x6b0d6e5c, 0x2f5ad9d1, 0x6b16b9d9, 0x2f5264da,
+  0x6b2003ac, 0x2f49ee0f, 0x6b294bd5, 0x2f417573,
+  0x6b329255, 0x2f38fb03, 0x6b3bd72a, 0x2f307ec2,
+  0x6b451a55, 0x2f2800af, 0x6b4e5bd4, 0x2f1f80ca,
+  0x6b579ba8, 0x2f16ff14, 0x6b60d9d0, 0x2f0e7b8e,
+  0x6b6a164d, 0x2f05f637, 0x6b73511c, 0x2efd6f10,
+  0x6b7c8a3f, 0x2ef4e619, 0x6b85c1b5, 0x2eec5b53,
+  0x6b8ef77d, 0x2ee3cebe, 0x6b982b97, 0x2edb405a,
+  0x6ba15e03, 0x2ed2b027, 0x6baa8ec0, 0x2eca1e27,
+  0x6bb3bdce, 0x2ec18a58, 0x6bbceb2d, 0x2eb8f4bc,
+  0x6bc616dd, 0x2eb05d53, 0x6bcf40dc, 0x2ea7c41e,
+  0x6bd8692b, 0x2e9f291b, 0x6be18fc9, 0x2e968c4d,
+  0x6beab4b6, 0x2e8dedb3, 0x6bf3d7f2, 0x2e854d4d,
+  0x6bfcf97c, 0x2e7cab1c, 0x6c061953, 0x2e740720,
+  0x6c0f3779, 0x2e6b615a, 0x6c1853eb, 0x2e62b9ca,
+  0x6c216eaa, 0x2e5a1070, 0x6c2a87b6, 0x2e51654c,
+  0x6c339f0e, 0x2e48b860, 0x6c3cb4b1, 0x2e4009aa,
+  0x6c45c8a0, 0x2e37592c, 0x6c4edada, 0x2e2ea6e6,
+  0x6c57eb5e, 0x2e25f2d8, 0x6c60fa2d, 0x2e1d3d03,
+  0x6c6a0746, 0x2e148566, 0x6c7312a9, 0x2e0bcc03,
+  0x6c7c1c55, 0x2e0310d9, 0x6c85244a, 0x2dfa53e9,
+  0x6c8e2a87, 0x2df19534, 0x6c972f0d, 0x2de8d4b8,
+  0x6ca031da, 0x2de01278, 0x6ca932ef, 0x2dd74e73,
+  0x6cb2324c, 0x2dce88aa, 0x6cbb2fef, 0x2dc5c11c,
+  0x6cc42bd9, 0x2dbcf7cb, 0x6ccd2609, 0x2db42cb6,
+  0x6cd61e7f, 0x2dab5fdf, 0x6cdf153a, 0x2da29144,
+  0x6ce80a3a, 0x2d99c0e7, 0x6cf0fd80, 0x2d90eec8,
+  0x6cf9ef09, 0x2d881ae8, 0x6d02ded7, 0x2d7f4545,
+  0x6d0bcce8, 0x2d766de2, 0x6d14b93d, 0x2d6d94bf,
+  0x6d1da3d5, 0x2d64b9da, 0x6d268cb0, 0x2d5bdd36,
+  0x6d2f73cd, 0x2d52fed2, 0x6d38592c, 0x2d4a1eaf,
+  0x6d413ccd, 0x2d413ccd, 0x6d4a1eaf, 0x2d38592c,
+  0x6d52fed2, 0x2d2f73cd, 0x6d5bdd36, 0x2d268cb0,
+  0x6d64b9da, 0x2d1da3d5, 0x6d6d94bf, 0x2d14b93d,
+  0x6d766de2, 0x2d0bcce8, 0x6d7f4545, 0x2d02ded7,
+  0x6d881ae8, 0x2cf9ef09, 0x6d90eec8, 0x2cf0fd80,
+  0x6d99c0e7, 0x2ce80a3a, 0x6da29144, 0x2cdf153a,
+  0x6dab5fdf, 0x2cd61e7f, 0x6db42cb6, 0x2ccd2609,
+  0x6dbcf7cb, 0x2cc42bd9, 0x6dc5c11c, 0x2cbb2fef,
+  0x6dce88aa, 0x2cb2324c, 0x6dd74e73, 0x2ca932ef,
+  0x6de01278, 0x2ca031da, 0x6de8d4b8, 0x2c972f0d,
+  0x6df19534, 0x2c8e2a87, 0x6dfa53e9, 0x2c85244a,
+  0x6e0310d9, 0x2c7c1c55, 0x6e0bcc03, 0x2c7312a9,
+  0x6e148566, 0x2c6a0746, 0x6e1d3d03, 0x2c60fa2d,
+  0x6e25f2d8, 0x2c57eb5e, 0x6e2ea6e6, 0x2c4edada,
+  0x6e37592c, 0x2c45c8a0, 0x6e4009aa, 0x2c3cb4b1,
+  0x6e48b860, 0x2c339f0e, 0x6e51654c, 0x2c2a87b6,
+  0x6e5a1070, 0x2c216eaa, 0x6e62b9ca, 0x2c1853eb,
+  0x6e6b615a, 0x2c0f3779, 0x6e740720, 0x2c061953,
+  0x6e7cab1c, 0x2bfcf97c, 0x6e854d4d, 0x2bf3d7f2,
+  0x6e8dedb3, 0x2beab4b6, 0x6e968c4d, 0x2be18fc9,
+  0x6e9f291b, 0x2bd8692b, 0x6ea7c41e, 0x2bcf40dc,
+  0x6eb05d53, 0x2bc616dd, 0x6eb8f4bc, 0x2bbceb2d,
+  0x6ec18a58, 0x2bb3bdce, 0x6eca1e27, 0x2baa8ec0,
+  0x6ed2b027, 0x2ba15e03, 0x6edb405a, 0x2b982b97,
+  0x6ee3cebe, 0x2b8ef77d, 0x6eec5b53, 0x2b85c1b5,
+  0x6ef4e619, 0x2b7c8a3f, 0x6efd6f10, 0x2b73511c,
+  0x6f05f637, 0x2b6a164d, 0x6f0e7b8e, 0x2b60d9d0,
+  0x6f16ff14, 0x2b579ba8, 0x6f1f80ca, 0x2b4e5bd4,
+  0x6f2800af, 0x2b451a55, 0x6f307ec2, 0x2b3bd72a,
+  0x6f38fb03, 0x2b329255, 0x6f417573, 0x2b294bd5,
+  0x6f49ee0f, 0x2b2003ac, 0x6f5264da, 0x2b16b9d9,
+  0x6f5ad9d1, 0x2b0d6e5c, 0x6f634cf5, 0x2b042137,
+  0x6f6bbe45, 0x2afad269, 0x6f742dc1, 0x2af181f3,
+  0x6f7c9b69, 0x2ae82fd5, 0x6f85073c, 0x2adedc10,
+  0x6f8d713a, 0x2ad586a3, 0x6f95d963, 0x2acc2f90,
+  0x6f9e3fb6, 0x2ac2d6d6, 0x6fa6a433, 0x2ab97c77,
+  0x6faf06da, 0x2ab02071, 0x6fb767aa, 0x2aa6c2c6,
+  0x6fbfc6a3, 0x2a9d6377, 0x6fc823c5, 0x2a940283,
+  0x6fd07f0f, 0x2a8a9fea, 0x6fd8d882, 0x2a813bae,
+  0x6fe1301c, 0x2a77d5ce, 0x6fe985de, 0x2a6e6e4b,
+  0x6ff1d9c7, 0x2a650525, 0x6ffa2bd6, 0x2a5b9a5d,
+  0x70027c0c, 0x2a522df3, 0x700aca69, 0x2a48bfe7,
+  0x701316eb, 0x2a3f503a, 0x701b6193, 0x2a35deeb,
+  0x7023aa5f, 0x2a2c6bfd, 0x702bf151, 0x2a22f76e,
+  0x70343667, 0x2a19813f, 0x703c79a2, 0x2a100970,
+  0x7044bb00, 0x2a069003, 0x704cfa83, 0x29fd14f6,
+  0x70553828, 0x29f3984c, 0x705d73f0, 0x29ea1a03,
+  0x7065addb, 0x29e09a1c, 0x706de5e9, 0x29d71899,
+  0x70761c18, 0x29cd9578, 0x707e5069, 0x29c410ba,
+  0x708682dc, 0x29ba8a61, 0x708eb36f, 0x29b1026c,
+  0x7096e223, 0x29a778db, 0x709f0ef8, 0x299dedaf,
+  0x70a739ed, 0x299460e8, 0x70af6302, 0x298ad287,
+  0x70b78a36, 0x2981428c, 0x70bfaf89, 0x2977b0f7,
+  0x70c7d2fb, 0x296e1dc9, 0x70cff48c, 0x29648902,
+  0x70d8143b, 0x295af2a3, 0x70e03208, 0x29515aab,
+  0x70e84df3, 0x2947c11c, 0x70f067fb, 0x293e25f5,
+  0x70f8801f, 0x29348937, 0x71009661, 0x292aeae3,
+  0x7108aabf, 0x29214af8, 0x7110bd39, 0x2917a977,
+  0x7118cdcf, 0x290e0661, 0x7120dc80, 0x290461b5,
+  0x7128e94c, 0x28fabb75, 0x7130f433, 0x28f113a0,
+  0x7138fd35, 0x28e76a37, 0x71410450, 0x28ddbf3b,
+  0x71490986, 0x28d412ab, 0x71510cd5, 0x28ca6488,
+  0x71590e3e, 0x28c0b4d2, 0x71610dbf, 0x28b7038b,
+  0x71690b59, 0x28ad50b1, 0x7171070c, 0x28a39c46,
+  0x717900d6, 0x2899e64a, 0x7180f8b8, 0x28902ebd,
+  0x7188eeb2, 0x288675a0, 0x7190e2c3, 0x287cbaf3,
+  0x7198d4ea, 0x2872feb6, 0x71a0c528, 0x286940ea,
+  0x71a8b37c, 0x285f8190, 0x71b09fe7, 0x2855c0a6,
+  0x71b88a66, 0x284bfe2f, 0x71c072fb, 0x28423a2a,
+  0x71c859a5, 0x28387498, 0x71d03e64, 0x282ead78,
+  0x71d82137, 0x2824e4cc, 0x71e0021e, 0x281b1a94,
+  0x71e7e118, 0x28114ed0, 0x71efbe27, 0x28078181,
+  0x71f79948, 0x27fdb2a7, 0x71ff727c, 0x27f3e241,
+  0x720749c3, 0x27ea1052, 0x720f1f1c, 0x27e03cd8,
+  0x7216f287, 0x27d667d5, 0x721ec403, 0x27cc9149,
+  0x72269391, 0x27c2b934, 0x722e6130, 0x27b8df97,
+  0x72362ce0, 0x27af0472, 0x723df6a0, 0x27a527c4,
+  0x7245be70, 0x279b4990, 0x724d8450, 0x279169d5,
+  0x72554840, 0x27878893, 0x725d0a3e, 0x277da5cb,
+  0x7264ca4c, 0x2773c17d, 0x726c8868, 0x2769dbaa,
+  0x72744493, 0x275ff452, 0x727bfecc, 0x27560b76,
+  0x7283b712, 0x274c2115, 0x728b6d66, 0x27423530,
+  0x729321c7, 0x273847c8, 0x729ad435, 0x272e58dc,
+  0x72a284b0, 0x2724686e, 0x72aa3336, 0x271a767e,
+  0x72b1dfc9, 0x2710830c, 0x72b98a67, 0x27068e18,
+  0x72c13311, 0x26fc97a3, 0x72c8d9c6, 0x26f29fad,
+  0x72d07e85, 0x26e8a637, 0x72d82150, 0x26deab41,
+  0x72dfc224, 0x26d4aecb, 0x72e76102, 0x26cab0d6,
+  0x72eefdea, 0x26c0b162, 0x72f698db, 0x26b6b070,
+  0x72fe31d5, 0x26acadff, 0x7305c8d7, 0x26a2aa11,
+  0x730d5de3, 0x2698a4a6, 0x7314f0f6, 0x268e9dbd,
+  0x731c8211, 0x26849558, 0x73241134, 0x267a8b77,
+  0x732b9e5e, 0x2670801a, 0x7333298f, 0x26667342,
+  0x733ab2c6, 0x265c64ef, 0x73423a04, 0x26525521,
+  0x7349bf48, 0x264843d9, 0x73514292, 0x263e3117,
+  0x7358c3e2, 0x26341cdb, 0x73604336, 0x262a0727,
+  0x7367c090, 0x261feffa, 0x736f3bee, 0x2615d754,
+  0x7376b551, 0x260bbd37, 0x737e2cb7, 0x2601a1a2,
+  0x7385a222, 0x25f78497, 0x738d1590, 0x25ed6614,
+  0x73948701, 0x25e3461b, 0x739bf675, 0x25d924ac,
+  0x73a363ec, 0x25cf01c8, 0x73aacf65, 0x25c4dd6e,
+  0x73b238e0, 0x25bab7a0, 0x73b9a05d, 0x25b0905d,
+  0x73c105db, 0x25a667a7, 0x73c8695b, 0x259c3d7c,
+  0x73cfcadc, 0x259211df, 0x73d72a5d, 0x2587e4cf,
+  0x73de87de, 0x257db64c, 0x73e5e360, 0x25738657,
+  0x73ed3ce1, 0x256954f1, 0x73f49462, 0x255f2219,
+  0x73fbe9e2, 0x2554edd1, 0x74033d61, 0x254ab818,
+  0x740a8edf, 0x254080ef, 0x7411de5b, 0x25364857,
+  0x74192bd5, 0x252c0e4f, 0x7420774d, 0x2521d2d8,
+  0x7427c0c3, 0x251795f3, 0x742f0836, 0x250d57a0,
+  0x74364da6, 0x250317df, 0x743d9112, 0x24f8d6b0,
+  0x7444d27b, 0x24ee9415, 0x744c11e0, 0x24e4500e,
+  0x74534f41, 0x24da0a9a, 0x745a8a9d, 0x24cfc3ba,
+  0x7461c3f5, 0x24c57b6f, 0x7468fb47, 0x24bb31ba,
+  0x74703095, 0x24b0e699, 0x747763dd, 0x24a69a0f,
+  0x747e951f, 0x249c4c1b, 0x7485c45b, 0x2491fcbe,
+  0x748cf190, 0x2487abf7, 0x74941cbf, 0x247d59c8,
+  0x749b45e7, 0x24730631, 0x74a26d08, 0x2468b132,
+  0x74a99221, 0x245e5acc, 0x74b0b533, 0x245402ff,
+  0x74b7d63c, 0x2449a9cc, 0x74bef53d, 0x243f4f32,
+  0x74c61236, 0x2434f332, 0x74cd2d26, 0x242a95ce,
+  0x74d4460c, 0x24203704, 0x74db5cea, 0x2415d6d5,
+  0x74e271bd, 0x240b7543, 0x74e98487, 0x2401124d,
+  0x74f09546, 0x23f6adf3, 0x74f7a3fb, 0x23ec4837,
+  0x74feb0a5, 0x23e1e117, 0x7505bb44, 0x23d77896,
+  0x750cc3d8, 0x23cd0eb3, 0x7513ca60, 0x23c2a36f,
+  0x751acedd, 0x23b836ca, 0x7521d14d, 0x23adc8c4,
+  0x7528d1b1, 0x23a3595e, 0x752fd008, 0x2398e898,
+  0x7536cc52, 0x238e7673, 0x753dc68f, 0x238402ef,
+  0x7544bebf, 0x23798e0d, 0x754bb4e1, 0x236f17cc,
+  0x7552a8f4, 0x2364a02e, 0x75599afa, 0x235a2733,
+  0x75608af1, 0x234facda, 0x756778d9, 0x23453125,
+  0x756e64b2, 0x233ab414, 0x75754e7c, 0x233035a7,
+  0x757c3636, 0x2325b5df, 0x75831be0, 0x231b34bc,
+  0x7589ff7a, 0x2310b23e, 0x7590e104, 0x23062e67,
+  0x7597c07d, 0x22fba936, 0x759e9de5, 0x22f122ab,
+  0x75a5793c, 0x22e69ac8, 0x75ac5282, 0x22dc118c,
+  0x75b329b5, 0x22d186f8, 0x75b9fed7, 0x22c6fb0c,
+  0x75c0d1e7, 0x22bc6dca, 0x75c7a2e3, 0x22b1df30,
+  0x75ce71ce, 0x22a74f40, 0x75d53ea5, 0x229cbdfa,
+  0x75dc0968, 0x22922b5e, 0x75e2d219, 0x2287976e,
+  0x75e998b5, 0x227d0228, 0x75f05d3d, 0x22726b8e,
+  0x75f71fb1, 0x2267d3a0, 0x75fde011, 0x225d3a5e,
+  0x76049e5b, 0x22529fca, 0x760b5a90, 0x224803e2,
+  0x761214b0, 0x223d66a8, 0x7618ccba, 0x2232c81c,
+  0x761f82af, 0x2228283f, 0x7626368d, 0x221d8711,
+  0x762ce855, 0x2212e492, 0x76339806, 0x220840c2,
+  0x763a45a0, 0x21fd9ba3, 0x7640f123, 0x21f2f534,
+  0x76479a8e, 0x21e84d76, 0x764e41e2, 0x21dda46a,
+  0x7654e71d, 0x21d2fa0f, 0x765b8a41, 0x21c84e67,
+  0x76622b4c, 0x21bda171, 0x7668ca3e, 0x21b2f32e,
+  0x766f6717, 0x21a8439e, 0x767601d7, 0x219d92c2,
+  0x767c9a7e, 0x2192e09b, 0x7683310b, 0x21882d28,
+  0x7689c57d, 0x217d786a, 0x769057d6, 0x2172c262,
+  0x7696e814, 0x21680b0f, 0x769d7637, 0x215d5273,
+  0x76a4023f, 0x2152988d, 0x76aa8c2c, 0x2147dd5f,
+  0x76b113fd, 0x213d20e8, 0x76b799b3, 0x21326329,
+  0x76be1d4c, 0x2127a423, 0x76c49ec9, 0x211ce3d5,
+  0x76cb1e2a, 0x21122240, 0x76d19b6e, 0x21075f65,
+  0x76d81695, 0x20fc9b44, 0x76de8f9e, 0x20f1d5de,
+  0x76e5068a, 0x20e70f32, 0x76eb7b58, 0x20dc4742,
+  0x76f1ee09, 0x20d17e0d, 0x76f85e9a, 0x20c6b395,
+  0x76fecd0e, 0x20bbe7d8, 0x77053962, 0x20b11ad9,
+  0x770ba398, 0x20a64c97, 0x77120bae, 0x209b7d13,
+  0x771871a5, 0x2090ac4d, 0x771ed57c, 0x2085da46,
+  0x77253733, 0x207b06fe, 0x772b96ca, 0x20703275,
+  0x7731f440, 0x20655cac, 0x77384f95, 0x205a85a3,
+  0x773ea8ca, 0x204fad5b, 0x7744ffdd, 0x2044d3d4,
+  0x774b54ce, 0x2039f90f, 0x7751a79e, 0x202f1d0b,
+  0x7757f84c, 0x20243fca, 0x775e46d8, 0x2019614c,
+  0x77649341, 0x200e8190, 0x776add88, 0x2003a099,
+  0x777125ac, 0x1ff8be65, 0x77776bac, 0x1feddaf6,
+  0x777daf89, 0x1fe2f64c, 0x7783f143, 0x1fd81067,
+  0x778a30d8, 0x1fcd2948, 0x77906e49, 0x1fc240ef,
+  0x7796a996, 0x1fb7575c, 0x779ce2be, 0x1fac6c91,
+  0x77a319c2, 0x1fa1808c, 0x77a94ea0, 0x1f969350,
+  0x77af8159, 0x1f8ba4dc, 0x77b5b1ec, 0x1f80b531,
+  0x77bbe05a, 0x1f75c44e, 0x77c20ca1, 0x1f6ad235,
+  0x77c836c2, 0x1f5fdee6, 0x77ce5ebd, 0x1f54ea62,
+  0x77d48490, 0x1f49f4a8, 0x77daa83d, 0x1f3efdb9,
+  0x77e0c9c3, 0x1f340596, 0x77e6e921, 0x1f290c3f,
+  0x77ed0657, 0x1f1e11b5, 0x77f32165, 0x1f1315f7,
+  0x77f93a4b, 0x1f081907, 0x77ff5109, 0x1efd1ae4,
+  0x7805659e, 0x1ef21b90, 0x780b780a, 0x1ee71b0a,
+  0x7811884d, 0x1edc1953, 0x78179666, 0x1ed1166b,
+  0x781da256, 0x1ec61254, 0x7823ac1d, 0x1ebb0d0d,
+  0x7829b3b9, 0x1eb00696, 0x782fb92a, 0x1ea4fef0,
+  0x7835bc71, 0x1e99f61d, 0x783bbd8e, 0x1e8eec1b,
+  0x7841bc7f, 0x1e83e0eb, 0x7847b946, 0x1e78d48e,
+  0x784db3e0, 0x1e6dc705, 0x7853ac4f, 0x1e62b84f,
+  0x7859a292, 0x1e57a86d, 0x785f96a9, 0x1e4c9760,
+  0x78658894, 0x1e418528, 0x786b7852, 0x1e3671c5,
+  0x787165e3, 0x1e2b5d38, 0x78775147, 0x1e204781,
+  0x787d3a7e, 0x1e1530a1, 0x78832187, 0x1e0a1898,
+  0x78890663, 0x1dfeff67, 0x788ee910, 0x1df3e50d,
+  0x7894c98f, 0x1de8c98c, 0x789aa7e0, 0x1dddace4,
+  0x78a08402, 0x1dd28f15, 0x78a65df6, 0x1dc7701f,
+  0x78ac35ba, 0x1dbc5004, 0x78b20b4f, 0x1db12ec3,
+  0x78b7deb4, 0x1da60c5d, 0x78bdafea, 0x1d9ae8d2,
+  0x78c37eef, 0x1d8fc424, 0x78c94bc4, 0x1d849e51,
+  0x78cf1669, 0x1d79775c, 0x78d4dedd, 0x1d6e4f43,
+  0x78daa520, 0x1d632608, 0x78e06932, 0x1d57fbaa,
+  0x78e62b13, 0x1d4cd02c, 0x78ebeac2, 0x1d41a38c,
+  0x78f1a840, 0x1d3675cb, 0x78f7638b, 0x1d2b46ea,
+  0x78fd1ca4, 0x1d2016e9, 0x7902d38b, 0x1d14e5c9,
+  0x7908883f, 0x1d09b389, 0x790e3ac0, 0x1cfe802b,
+  0x7913eb0e, 0x1cf34baf, 0x79199929, 0x1ce81615,
+  0x791f4510, 0x1cdcdf5e, 0x7924eec3, 0x1cd1a78a,
+  0x792a9642, 0x1cc66e99, 0x79303b8e, 0x1cbb348d,
+  0x7935dea4, 0x1caff965, 0x793b7f86, 0x1ca4bd21,
+  0x79411e33, 0x1c997fc4, 0x7946baac, 0x1c8e414b,
+  0x794c54ee, 0x1c8301b9, 0x7951ecfc, 0x1c77c10e,
+  0x795782d3, 0x1c6c7f4a, 0x795d1675, 0x1c613c6d,
+  0x7962a7e0, 0x1c55f878, 0x79683715, 0x1c4ab36b,
+  0x796dc414, 0x1c3f6d47, 0x79734edc, 0x1c34260c,
+  0x7978d76c, 0x1c28ddbb, 0x797e5dc6, 0x1c1d9454,
+  0x7983e1e8, 0x1c1249d8, 0x798963d2, 0x1c06fe46,
+  0x798ee385, 0x1bfbb1a0, 0x799460ff, 0x1bf063e6,
+  0x7999dc42, 0x1be51518, 0x799f554b, 0x1bd9c537,
+  0x79a4cc1c, 0x1bce7442, 0x79aa40b4, 0x1bc3223c,
+  0x79afb313, 0x1bb7cf23, 0x79b52339, 0x1bac7af9,
+  0x79ba9125, 0x1ba125bd, 0x79bffcd7, 0x1b95cf71,
+  0x79c5664f, 0x1b8a7815, 0x79cacd8d, 0x1b7f1fa9,
+  0x79d03291, 0x1b73c62d, 0x79d5955a, 0x1b686ba3,
+  0x79daf5e8, 0x1b5d100a, 0x79e0543c, 0x1b51b363,
+  0x79e5b054, 0x1b4655ae, 0x79eb0a31, 0x1b3af6ec,
+  0x79f061d2, 0x1b2f971e, 0x79f5b737, 0x1b243643,
+  0x79fb0a60, 0x1b18d45c, 0x7a005b4d, 0x1b0d716a,
+  0x7a05a9fd, 0x1b020d6c, 0x7a0af671, 0x1af6a865,
+  0x7a1040a8, 0x1aeb4253, 0x7a1588a2, 0x1adfdb37,
+  0x7a1ace5f, 0x1ad47312, 0x7a2011de, 0x1ac909e5,
+  0x7a25531f, 0x1abd9faf, 0x7a2a9223, 0x1ab23471,
+  0x7a2fcee8, 0x1aa6c82b, 0x7a350970, 0x1a9b5adf,
+  0x7a3a41b9, 0x1a8fec8c, 0x7a3f77c3, 0x1a847d33,
+  0x7a44ab8e, 0x1a790cd4, 0x7a49dd1a, 0x1a6d9b70,
+  0x7a4f0c67, 0x1a622907, 0x7a543974, 0x1a56b599,
+  0x7a596442, 0x1a4b4128, 0x7a5e8cd0, 0x1a3fcbb3,
+  0x7a63b31d, 0x1a34553b, 0x7a68d72b, 0x1a28ddc0,
+  0x7a6df8f8, 0x1a1d6544, 0x7a731884, 0x1a11ebc5,
+  0x7a7835cf, 0x1a067145, 0x7a7d50da, 0x19faf5c5,
+  0x7a8269a3, 0x19ef7944, 0x7a87802a, 0x19e3fbc3,
+  0x7a8c9470, 0x19d87d42, 0x7a91a674, 0x19ccfdc2,
+  0x7a96b636, 0x19c17d44, 0x7a9bc3b6, 0x19b5fbc8,
+  0x7aa0cef3, 0x19aa794d, 0x7aa5d7ee, 0x199ef5d6,
+  0x7aaadea6, 0x19937161, 0x7aafe31b, 0x1987ebf0,
+  0x7ab4e54c, 0x197c6584, 0x7ab9e53a, 0x1970de1b,
+  0x7abee2e5, 0x196555b8, 0x7ac3de4c, 0x1959cc5a,
+  0x7ac8d76f, 0x194e4201, 0x7acdce4d, 0x1942b6af,
+  0x7ad2c2e8, 0x19372a64, 0x7ad7b53d, 0x192b9d1f,
+  0x7adca54e, 0x19200ee3, 0x7ae1931a, 0x19147fae,
+  0x7ae67ea1, 0x1908ef82, 0x7aeb67e3, 0x18fd5e5f,
+  0x7af04edf, 0x18f1cc45, 0x7af53395, 0x18e63935,
+  0x7afa1605, 0x18daa52f, 0x7afef630, 0x18cf1034,
+  0x7b03d414, 0x18c37a44, 0x7b08afb2, 0x18b7e35f,
+  0x7b0d8909, 0x18ac4b87, 0x7b126019, 0x18a0b2bb,
+  0x7b1734e2, 0x189518fc, 0x7b1c0764, 0x18897e4a,
+  0x7b20d79e, 0x187de2a7, 0x7b25a591, 0x18724611,
+  0x7b2a713d, 0x1866a88a, 0x7b2f3aa0, 0x185b0a13,
+  0x7b3401bb, 0x184f6aab, 0x7b38c68e, 0x1843ca53,
+  0x7b3d8918, 0x1838290c, 0x7b42495a, 0x182c86d5,
+  0x7b470753, 0x1820e3b0, 0x7b4bc303, 0x18153f9d,
+  0x7b507c69, 0x18099a9c, 0x7b553386, 0x17fdf4ae,
+  0x7b59e85a, 0x17f24dd3, 0x7b5e9ae4, 0x17e6a60c,
+  0x7b634b23, 0x17dafd59, 0x7b67f919, 0x17cf53bb,
+  0x7b6ca4c4, 0x17c3a931, 0x7b714e25, 0x17b7fdbd,
+  0x7b75f53c, 0x17ac515f, 0x7b7a9a07, 0x17a0a417,
+  0x7b7f3c87, 0x1794f5e6, 0x7b83dcbc, 0x178946cc,
+  0x7b887aa6, 0x177d96ca, 0x7b8d1644, 0x1771e5e0,
+  0x7b91af97, 0x1766340f, 0x7b96469d, 0x175a8157,
+  0x7b9adb57, 0x174ecdb8, 0x7b9f6dc5, 0x17431933,
+  0x7ba3fde7, 0x173763c9, 0x7ba88bbc, 0x172bad7a,
+  0x7bad1744, 0x171ff646, 0x7bb1a080, 0x17143e2d,
+  0x7bb6276e, 0x17088531, 0x7bbaac0e, 0x16fccb51,
+  0x7bbf2e62, 0x16f1108f, 0x7bc3ae67, 0x16e554ea,
+  0x7bc82c1f, 0x16d99864, 0x7bcca789, 0x16cddafb,
+  0x7bd120a4, 0x16c21cb2, 0x7bd59771, 0x16b65d88,
+  0x7bda0bf0, 0x16aa9d7e, 0x7bde7e20, 0x169edc94,
+  0x7be2ee01, 0x16931acb, 0x7be75b93, 0x16875823,
+  0x7bebc6d5, 0x167b949d, 0x7bf02fc9, 0x166fd039,
+  0x7bf4966c, 0x16640af7, 0x7bf8fac0, 0x165844d8,
+  0x7bfd5cc4, 0x164c7ddd, 0x7c01bc78, 0x1640b606,
+  0x7c0619dc, 0x1634ed53, 0x7c0a74f0, 0x162923c5,
+  0x7c0ecdb2, 0x161d595d, 0x7c132424, 0x16118e1a,
+  0x7c177845, 0x1605c1fd, 0x7c1bca16, 0x15f9f507,
+  0x7c201994, 0x15ee2738, 0x7c2466c2, 0x15e25890,
+  0x7c28b19e, 0x15d68911, 0x7c2cfa28, 0x15cab8ba,
+  0x7c314060, 0x15bee78c, 0x7c358446, 0x15b31587,
+  0x7c39c5da, 0x15a742ac, 0x7c3e051b, 0x159b6efb,
+  0x7c42420a, 0x158f9a76, 0x7c467ca6, 0x1583c51b,
+  0x7c4ab4ef, 0x1577eeec, 0x7c4eeae5, 0x156c17e9,
+  0x7c531e88, 0x15604013, 0x7c574fd8, 0x1554676a,
+  0x7c5b7ed4, 0x15488dee, 0x7c5fab7c, 0x153cb3a0,
+  0x7c63d5d1, 0x1530d881, 0x7c67fdd1, 0x1524fc90,
+  0x7c6c237e, 0x15191fcf, 0x7c7046d6, 0x150d423d,
+  0x7c7467d9, 0x150163dc, 0x7c788688, 0x14f584ac,
+  0x7c7ca2e2, 0x14e9a4ac, 0x7c80bce7, 0x14ddc3de,
+  0x7c84d496, 0x14d1e242, 0x7c88e9f1, 0x14c5ffd9,
+  0x7c8cfcf6, 0x14ba1ca3, 0x7c910da5, 0x14ae38a0,
+  0x7c951bff, 0x14a253d1, 0x7c992803, 0x14966e36,
+  0x7c9d31b0, 0x148a87d1, 0x7ca13908, 0x147ea0a0,
+  0x7ca53e09, 0x1472b8a5, 0x7ca940b3, 0x1466cfe1,
+  0x7cad4107, 0x145ae653, 0x7cb13f04, 0x144efbfc,
+  0x7cb53aaa, 0x144310dd, 0x7cb933f9, 0x143724f5,
+  0x7cbd2af0, 0x142b3846, 0x7cc11f90, 0x141f4ad1,
+  0x7cc511d9, 0x14135c94, 0x7cc901c9, 0x14076d91,
+  0x7cccef62, 0x13fb7dc9, 0x7cd0daa2, 0x13ef8d3c,
+  0x7cd4c38b, 0x13e39be9, 0x7cd8aa1b, 0x13d7a9d3,
+  0x7cdc8e52, 0x13cbb6f8, 0x7ce07031, 0x13bfc35b,
+  0x7ce44fb7, 0x13b3cefa, 0x7ce82ce4, 0x13a7d9d7,
+  0x7cec07b8, 0x139be3f2, 0x7cefe032, 0x138fed4b,
+  0x7cf3b653, 0x1383f5e3, 0x7cf78a1b, 0x1377fdbb,
+  0x7cfb5b89, 0x136c04d2, 0x7cff2a9d, 0x13600b2a,
+  0x7d02f757, 0x135410c3, 0x7d06c1b6, 0x1348159d,
+  0x7d0a89bc, 0x133c19b8, 0x7d0e4f67, 0x13301d16,
+  0x7d1212b7, 0x13241fb6, 0x7d15d3ad, 0x1318219a,
+  0x7d199248, 0x130c22c1, 0x7d1d4e88, 0x1300232c,
+  0x7d21086c, 0x12f422db, 0x7d24bff6, 0x12e821cf,
+  0x7d287523, 0x12dc2009, 0x7d2c27f6, 0x12d01d89,
+  0x7d2fd86c, 0x12c41a4f, 0x7d338687, 0x12b8165b,
+  0x7d373245, 0x12ac11af, 0x7d3adba7, 0x12a00c4b,
+  0x7d3e82ae, 0x1294062f, 0x7d422757, 0x1287ff5b,
+  0x7d45c9a4, 0x127bf7d1, 0x7d496994, 0x126fef90,
+  0x7d4d0728, 0x1263e699, 0x7d50a25e, 0x1257dced,
+  0x7d543b37, 0x124bd28c, 0x7d57d1b3, 0x123fc776,
+  0x7d5b65d2, 0x1233bbac, 0x7d5ef793, 0x1227af2e,
+  0x7d6286f6, 0x121ba1fd, 0x7d6613fb, 0x120f941a,
+  0x7d699ea3, 0x12038584, 0x7d6d26ec, 0x11f7763c,
+  0x7d70acd7, 0x11eb6643, 0x7d743064, 0x11df5599,
+  0x7d77b192, 0x11d3443f, 0x7d7b3061, 0x11c73235,
+  0x7d7eacd2, 0x11bb1f7c, 0x7d8226e4, 0x11af0c13,
+  0x7d859e96, 0x11a2f7fc, 0x7d8913ea, 0x1196e337,
+  0x7d8c86de, 0x118acdc4, 0x7d8ff772, 0x117eb7a4,
+  0x7d9365a8, 0x1172a0d7, 0x7d96d17d, 0x1166895f,
+  0x7d9a3af2, 0x115a713a, 0x7d9da208, 0x114e586a,
+  0x7da106bd, 0x11423ef0, 0x7da46912, 0x113624cb,
+  0x7da7c907, 0x112a09fc, 0x7dab269b, 0x111dee84,
+  0x7dae81cf, 0x1111d263, 0x7db1daa2, 0x1105b599,
+  0x7db53113, 0x10f99827, 0x7db88524, 0x10ed7a0e,
+  0x7dbbd6d4, 0x10e15b4e, 0x7dbf2622, 0x10d53be7,
+  0x7dc2730f, 0x10c91bda, 0x7dc5bd9b, 0x10bcfb28,
+  0x7dc905c5, 0x10b0d9d0, 0x7dcc4b8d, 0x10a4b7d3,
+  0x7dcf8ef3, 0x10989532, 0x7dd2cff7, 0x108c71ee,
+  0x7dd60e99, 0x10804e06, 0x7dd94ad8, 0x1074297b,
+  0x7ddc84b5, 0x1068044e, 0x7ddfbc30, 0x105bde7f,
+  0x7de2f148, 0x104fb80e, 0x7de623fd, 0x104390fd,
+  0x7de9544f, 0x1037694b, 0x7dec823e, 0x102b40f8,
+  0x7defadca, 0x101f1807, 0x7df2d6f3, 0x1012ee76,
+  0x7df5fdb8, 0x1006c446, 0x7df9221a, 0xffa9979,
+  0x7dfc4418, 0xfee6e0d, 0x7dff63b2, 0xfe24205,
+  0x7e0280e9, 0xfd6155f, 0x7e059bbb, 0xfc9e81e,
+  0x7e08b42a, 0xfbdba40, 0x7e0bca34, 0xfb18bc8,
+  0x7e0eddd9, 0xfa55cb4, 0x7e11ef1b, 0xf992d06,
+  0x7e14fdf7, 0xf8cfcbe, 0x7e180a6f, 0xf80cbdc,
+  0x7e1b1482, 0xf749a61, 0x7e1e1c30, 0xf68684e,
+  0x7e212179, 0xf5c35a3, 0x7e24245d, 0xf500260,
+  0x7e2724db, 0xf43ce86, 0x7e2a22f4, 0xf379a16,
+  0x7e2d1ea8, 0xf2b650f, 0x7e3017f6, 0xf1f2f73,
+  0x7e330ede, 0xf12f941, 0x7e360360, 0xf06c27a,
+  0x7e38f57c, 0xefa8b20, 0x7e3be532, 0xeee5331,
+  0x7e3ed282, 0xee21aaf, 0x7e41bd6c, 0xed5e19a,
+  0x7e44a5ef, 0xec9a7f3, 0x7e478c0b, 0xebd6db9,
+  0x7e4a6fc1, 0xeb132ef, 0x7e4d5110, 0xea4f793,
+  0x7e502ff9, 0xe98bba7, 0x7e530c7a, 0xe8c7f2a,
+  0x7e55e694, 0xe80421e, 0x7e58be47, 0xe740483,
+  0x7e5b9392, 0xe67c65a, 0x7e5e6676, 0xe5b87a2,
+  0x7e6136f3, 0xe4f485c, 0x7e640507, 0xe430889,
+  0x7e66d0b4, 0xe36c82a, 0x7e6999fa, 0xe2a873e,
+  0x7e6c60d7, 0xe1e45c6, 0x7e6f254c, 0xe1203c3,
+  0x7e71e759, 0xe05c135, 0x7e74a6fd, 0xdf97e1d,
+  0x7e77643a, 0xded3a7b, 0x7e7a1f0d, 0xde0f64f,
+  0x7e7cd778, 0xdd4b19a, 0x7e7f8d7b, 0xdc86c5d,
+  0x7e824114, 0xdbc2698, 0x7e84f245, 0xdafe04b,
+  0x7e87a10c, 0xda39978, 0x7e8a4d6a, 0xd97521d,
+  0x7e8cf75f, 0xd8b0a3d, 0x7e8f9eeb, 0xd7ec1d6,
+  0x7e92440d, 0xd7278eb, 0x7e94e6c6, 0xd662f7b,
+  0x7e978715, 0xd59e586, 0x7e9a24fb, 0xd4d9b0e,
+  0x7e9cc076, 0xd415013, 0x7e9f5988, 0xd350495,
+  0x7ea1f02f, 0xd28b894, 0x7ea4846c, 0xd1c6c11,
+  0x7ea7163f, 0xd101f0e, 0x7ea9a5a8, 0xd03d189,
+  0x7eac32a6, 0xcf78383, 0x7eaebd3a, 0xceb34fe,
+  0x7eb14563, 0xcdee5f9, 0x7eb3cb21, 0xcd29676,
+  0x7eb64e75, 0xcc64673, 0x7eb8cf5d, 0xcb9f5f3,
+  0x7ebb4ddb, 0xcada4f5, 0x7ebdc9ed, 0xca1537a,
+  0x7ec04394, 0xc950182, 0x7ec2bad0, 0xc88af0e,
+  0x7ec52fa0, 0xc7c5c1e, 0x7ec7a205, 0xc7008b3,
+  0x7eca11fe, 0xc63b4ce, 0x7ecc7f8b, 0xc57606e,
+  0x7eceeaad, 0xc4b0b94, 0x7ed15363, 0xc3eb641,
+  0x7ed3b9ad, 0xc326075, 0x7ed61d8a, 0xc260a31,
+  0x7ed87efc, 0xc19b374, 0x7edade01, 0xc0d5c41,
+  0x7edd3a9a, 0xc010496, 0x7edf94c7, 0xbf4ac75,
+  0x7ee1ec87, 0xbe853de, 0x7ee441da, 0xbdbfad1,
+  0x7ee694c1, 0xbcfa150, 0x7ee8e53a, 0xbc34759,
+  0x7eeb3347, 0xbb6ecef, 0x7eed7ee7, 0xbaa9211,
+  0x7eefc81a, 0xb9e36c0, 0x7ef20ee0, 0xb91dafc,
+  0x7ef45338, 0xb857ec7, 0x7ef69523, 0xb79221f,
+  0x7ef8d4a1, 0xb6cc506, 0x7efb11b1, 0xb60677c,
+  0x7efd4c54, 0xb540982, 0x7eff8489, 0xb47ab19,
+  0x7f01ba50, 0xb3b4c40, 0x7f03eda9, 0xb2eecf8,
+  0x7f061e95, 0xb228d42, 0x7f084d12, 0xb162d1d,
+  0x7f0a7921, 0xb09cc8c, 0x7f0ca2c2, 0xafd6b8d,
+  0x7f0ec9f5, 0xaf10a22, 0x7f10eeb9, 0xae4a84b,
+  0x7f13110f, 0xad84609, 0x7f1530f7, 0xacbe35b,
+  0x7f174e70, 0xabf8043, 0x7f19697a, 0xab31cc1,
+  0x7f1b8215, 0xaa6b8d5, 0x7f1d9842, 0xa9a5480,
+  0x7f1fabff, 0xa8defc3, 0x7f21bd4e, 0xa818a9d,
+  0x7f23cc2e, 0xa752510, 0x7f25d89e, 0xa68bf1b,
+  0x7f27e29f, 0xa5c58c0, 0x7f29ea31, 0xa4ff1fe,
+  0x7f2bef53, 0xa438ad7, 0x7f2df206, 0xa37234a,
+  0x7f2ff24a, 0xa2abb59, 0x7f31f01d, 0xa1e5303,
+  0x7f33eb81, 0xa11ea49, 0x7f35e476, 0xa05812c,
+  0x7f37dafa, 0x9f917ac, 0x7f39cf0e, 0x9ecadc9,
+  0x7f3bc0b3, 0x9e04385, 0x7f3dafe7, 0x9d3d8df,
+  0x7f3f9cab, 0x9c76dd8, 0x7f4186ff, 0x9bb0271,
+  0x7f436ee3, 0x9ae96aa, 0x7f455456, 0x9a22a83,
+  0x7f473759, 0x995bdfd, 0x7f4917eb, 0x9895118,
+  0x7f4af60d, 0x97ce3d5, 0x7f4cd1be, 0x9707635,
+  0x7f4eaafe, 0x9640837, 0x7f5081cd, 0x95799dd,
+  0x7f52562c, 0x94b2b27, 0x7f54281a, 0x93ebc14,
+  0x7f55f796, 0x9324ca7, 0x7f57c4a2, 0x925dcdf,
+  0x7f598f3c, 0x9196cbc, 0x7f5b5765, 0x90cfc40,
+  0x7f5d1d1d, 0x9008b6a, 0x7f5ee063, 0x8f41a3c,
+  0x7f60a138, 0x8e7a8b5, 0x7f625f9b, 0x8db36d6,
+  0x7f641b8d, 0x8cec4a0, 0x7f65d50d, 0x8c25213,
+  0x7f678c1c, 0x8b5df30, 0x7f6940b8, 0x8a96bf6,
+  0x7f6af2e3, 0x89cf867, 0x7f6ca29c, 0x8908483,
+  0x7f6e4fe3, 0x884104b, 0x7f6ffab8, 0x8779bbe,
+  0x7f71a31b, 0x86b26de, 0x7f73490b, 0x85eb1ab,
+  0x7f74ec8a, 0x8523c25, 0x7f768d96, 0x845c64d,
+  0x7f782c30, 0x8395024, 0x7f79c857, 0x82cd9a9,
+  0x7f7b620c, 0x82062de, 0x7f7cf94e, 0x813ebc2,
+  0x7f7e8e1e, 0x8077457, 0x7f80207b, 0x7fafc9c,
+  0x7f81b065, 0x7ee8493, 0x7f833ddd, 0x7e20c3b,
+  0x7f84c8e2, 0x7d59396, 0x7f865174, 0x7c91aa3,
+  0x7f87d792, 0x7bca163, 0x7f895b3e, 0x7b027d7,
+  0x7f8adc77, 0x7a3adff, 0x7f8c5b3d, 0x79733dc,
+  0x7f8dd78f, 0x78ab96e, 0x7f8f516e, 0x77e3eb5,
+  0x7f90c8da, 0x771c3b3, 0x7f923dd2, 0x7654867,
+  0x7f93b058, 0x758ccd2, 0x7f952069, 0x74c50f4,
+  0x7f968e07, 0x73fd4cf, 0x7f97f932, 0x7335862,
+  0x7f9961e8, 0x726dbae, 0x7f9ac82c, 0x71a5eb3,
+  0x7f9c2bfb, 0x70de172, 0x7f9d8d56, 0x70163eb,
+  0x7f9eec3e, 0x6f4e620, 0x7fa048b2, 0x6e86810,
+  0x7fa1a2b2, 0x6dbe9bb, 0x7fa2fa3d, 0x6cf6b23,
+  0x7fa44f55, 0x6c2ec48, 0x7fa5a1f9, 0x6b66d29,
+  0x7fa6f228, 0x6a9edc9, 0x7fa83fe3, 0x69d6e27,
+  0x7fa98b2a, 0x690ee44, 0x7faad3fd, 0x6846e1f,
+  0x7fac1a5b, 0x677edbb, 0x7fad5e45, 0x66b6d16,
+  0x7fae9fbb, 0x65eec33, 0x7fafdebb, 0x6526b10,
+  0x7fb11b48, 0x645e9af, 0x7fb2555f, 0x6396810,
+  0x7fb38d02, 0x62ce634, 0x7fb4c231, 0x620641a,
+  0x7fb5f4ea, 0x613e1c5, 0x7fb7252f, 0x6075f33,
+  0x7fb852ff, 0x5fadc66, 0x7fb97e5a, 0x5ee595d,
+  0x7fbaa740, 0x5e1d61b, 0x7fbbcdb1, 0x5d5529e,
+  0x7fbcf1ad, 0x5c8cee7, 0x7fbe1334, 0x5bc4af8,
+  0x7fbf3246, 0x5afc6d0, 0x7fc04ee3, 0x5a3426f,
+  0x7fc1690a, 0x596bdd7, 0x7fc280bc, 0x58a3908,
+  0x7fc395f9, 0x57db403, 0x7fc4a8c1, 0x5712ec7,
+  0x7fc5b913, 0x564a955, 0x7fc6c6f0, 0x55823ae,
+  0x7fc7d258, 0x54b9dd3, 0x7fc8db4a, 0x53f17c3,
+  0x7fc9e1c6, 0x532917f, 0x7fcae5cd, 0x5260b08,
+  0x7fcbe75e, 0x519845e, 0x7fcce67a, 0x50cfd82,
+  0x7fcde320, 0x5007674, 0x7fcedd50, 0x4f3ef35,
+  0x7fcfd50b, 0x4e767c5, 0x7fd0ca4f, 0x4dae024,
+  0x7fd1bd1e, 0x4ce5854, 0x7fd2ad77, 0x4c1d054,
+  0x7fd39b5a, 0x4b54825, 0x7fd486c7, 0x4a8bfc7,
+  0x7fd56fbe, 0x49c373c, 0x7fd6563f, 0x48fae83,
+  0x7fd73a4a, 0x483259d, 0x7fd81bdf, 0x4769c8b,
+  0x7fd8fafe, 0x46a134c, 0x7fd9d7a7, 0x45d89e2,
+  0x7fdab1d9, 0x451004d, 0x7fdb8996, 0x444768d,
+  0x7fdc5edc, 0x437eca4, 0x7fdd31ac, 0x42b6290,
+  0x7fde0205, 0x41ed854, 0x7fdecfe8, 0x4124dee,
+  0x7fdf9b55, 0x405c361, 0x7fe0644b, 0x3f938ac,
+  0x7fe12acb, 0x3ecadcf, 0x7fe1eed5, 0x3e022cc,
+  0x7fe2b067, 0x3d397a3, 0x7fe36f84, 0x3c70c54,
+  0x7fe42c2a, 0x3ba80df, 0x7fe4e659, 0x3adf546,
+  0x7fe59e12, 0x3a16988, 0x7fe65354, 0x394dda7,
+  0x7fe7061f, 0x38851a2, 0x7fe7b674, 0x37bc57b,
+  0x7fe86452, 0x36f3931, 0x7fe90fb9, 0x362acc5,
+  0x7fe9b8a9, 0x3562038, 0x7fea5f23, 0x3499389,
+  0x7feb0326, 0x33d06bb, 0x7feba4b2, 0x33079cc,
+  0x7fec43c7, 0x323ecbe, 0x7fece065, 0x3175f91,
+  0x7fed7a8c, 0x30ad245, 0x7fee123d, 0x2fe44dc,
+  0x7feea776, 0x2f1b755, 0x7fef3a39, 0x2e529b0,
+  0x7fefca84, 0x2d89bf0, 0x7ff05858, 0x2cc0e13,
+  0x7ff0e3b6, 0x2bf801a, 0x7ff16c9c, 0x2b2f207,
+  0x7ff1f30b, 0x2a663d8, 0x7ff27703, 0x299d590,
+  0x7ff2f884, 0x28d472e, 0x7ff3778e, 0x280b8b3,
+  0x7ff3f420, 0x2742a1f, 0x7ff46e3c, 0x2679b73,
+  0x7ff4e5e0, 0x25b0caf, 0x7ff55b0d, 0x24e7dd4,
+  0x7ff5cdc3, 0x241eee2, 0x7ff63e01, 0x2355fd9,
+  0x7ff6abc8, 0x228d0bb, 0x7ff71718, 0x21c4188,
+  0x7ff77ff1, 0x20fb240, 0x7ff7e652, 0x20322e3,
+  0x7ff84a3c, 0x1f69373, 0x7ff8abae, 0x1ea03ef,
+  0x7ff90aaa, 0x1dd7459, 0x7ff9672d, 0x1d0e4b0,
+  0x7ff9c13a, 0x1c454f5, 0x7ffa18cf, 0x1b7c528,
+  0x7ffa6dec, 0x1ab354b, 0x7ffac092, 0x19ea55d,
+  0x7ffb10c1, 0x192155f, 0x7ffb5e78, 0x1858552,
+  0x7ffba9b8, 0x178f536, 0x7ffbf280, 0x16c650b,
+  0x7ffc38d1, 0x15fd4d2, 0x7ffc7caa, 0x153448c,
+  0x7ffcbe0c, 0x146b438, 0x7ffcfcf6, 0x13a23d8,
+  0x7ffd3969, 0x12d936c, 0x7ffd7364, 0x12102f4,
+  0x7ffdaae7, 0x1147271, 0x7ffddff3, 0x107e1e3,
+  0x7ffe1288, 0xfb514b, 0x7ffe42a4, 0xeec0aa,
+  0x7ffe704a, 0xe22fff, 0x7ffe9b77, 0xd59f4c,
+  0x7ffec42d, 0xc90e90, 0x7ffeea6c, 0xbc7dcc,
+  0x7fff0e32, 0xafed02, 0x7fff2f82, 0xa35c30,
+  0x7fff4e59, 0x96cb58, 0x7fff6ab9, 0x8a3a7b,
+  0x7fff84a1, 0x7da998, 0x7fff9c12, 0x7118b0,
+  0x7fffb10b, 0x6487c4, 0x7fffc38c, 0x57f6d4,
+  0x7fffd396, 0x4b65e1, 0x7fffe128, 0x3ed4ea,
+  0x7fffec43, 0x3243f1, 0x7ffff4e6, 0x25b2f7,
+  0x7ffffb11, 0x1921fb, 0x7ffffec4, 0xc90fe,
+  0x7fffffff, 0x0, 0x7ffffec4, 0xfff36f02,
+  0x7ffffb11, 0xffe6de05, 0x7ffff4e6, 0xffda4d09,
+  0x7fffec43, 0xffcdbc0f, 0x7fffe128, 0xffc12b16,
+  0x7fffd396, 0xffb49a1f, 0x7fffc38c, 0xffa8092c,
+  0x7fffb10b, 0xff9b783c, 0x7fff9c12, 0xff8ee750,
+  0x7fff84a1, 0xff825668, 0x7fff6ab9, 0xff75c585,
+  0x7fff4e59, 0xff6934a8, 0x7fff2f82, 0xff5ca3d0,
+  0x7fff0e32, 0xff5012fe, 0x7ffeea6c, 0xff438234,
+  0x7ffec42d, 0xff36f170, 0x7ffe9b77, 0xff2a60b4,
+  0x7ffe704a, 0xff1dd001, 0x7ffe42a4, 0xff113f56,
+  0x7ffe1288, 0xff04aeb5, 0x7ffddff3, 0xfef81e1d,
+  0x7ffdaae7, 0xfeeb8d8f, 0x7ffd7364, 0xfedefd0c,
+  0x7ffd3969, 0xfed26c94, 0x7ffcfcf6, 0xfec5dc28,
+  0x7ffcbe0c, 0xfeb94bc8, 0x7ffc7caa, 0xfeacbb74,
+  0x7ffc38d1, 0xfea02b2e, 0x7ffbf280, 0xfe939af5,
+  0x7ffba9b8, 0xfe870aca, 0x7ffb5e78, 0xfe7a7aae,
+  0x7ffb10c1, 0xfe6deaa1, 0x7ffac092, 0xfe615aa3,
+  0x7ffa6dec, 0xfe54cab5, 0x7ffa18cf, 0xfe483ad8,
+  0x7ff9c13a, 0xfe3bab0b, 0x7ff9672d, 0xfe2f1b50,
+  0x7ff90aaa, 0xfe228ba7, 0x7ff8abae, 0xfe15fc11,
+  0x7ff84a3c, 0xfe096c8d, 0x7ff7e652, 0xfdfcdd1d,
+  0x7ff77ff1, 0xfdf04dc0, 0x7ff71718, 0xfde3be78,
+  0x7ff6abc8, 0xfdd72f45, 0x7ff63e01, 0xfdcaa027,
+  0x7ff5cdc3, 0xfdbe111e, 0x7ff55b0d, 0xfdb1822c,
+  0x7ff4e5e0, 0xfda4f351, 0x7ff46e3c, 0xfd98648d,
+  0x7ff3f420, 0xfd8bd5e1, 0x7ff3778e, 0xfd7f474d,
+  0x7ff2f884, 0xfd72b8d2, 0x7ff27703, 0xfd662a70,
+  0x7ff1f30b, 0xfd599c28, 0x7ff16c9c, 0xfd4d0df9,
+  0x7ff0e3b6, 0xfd407fe6, 0x7ff05858, 0xfd33f1ed,
+  0x7fefca84, 0xfd276410, 0x7fef3a39, 0xfd1ad650,
+  0x7feea776, 0xfd0e48ab, 0x7fee123d, 0xfd01bb24,
+  0x7fed7a8c, 0xfcf52dbb, 0x7fece065, 0xfce8a06f,
+  0x7fec43c7, 0xfcdc1342, 0x7feba4b2, 0xfccf8634,
+  0x7feb0326, 0xfcc2f945, 0x7fea5f23, 0xfcb66c77,
+  0x7fe9b8a9, 0xfca9dfc8, 0x7fe90fb9, 0xfc9d533b,
+  0x7fe86452, 0xfc90c6cf, 0x7fe7b674, 0xfc843a85,
+  0x7fe7061f, 0xfc77ae5e, 0x7fe65354, 0xfc6b2259,
+  0x7fe59e12, 0xfc5e9678, 0x7fe4e659, 0xfc520aba,
+  0x7fe42c2a, 0xfc457f21, 0x7fe36f84, 0xfc38f3ac,
+  0x7fe2b067, 0xfc2c685d, 0x7fe1eed5, 0xfc1fdd34,
+  0x7fe12acb, 0xfc135231, 0x7fe0644b, 0xfc06c754,
+  0x7fdf9b55, 0xfbfa3c9f, 0x7fdecfe8, 0xfbedb212,
+  0x7fde0205, 0xfbe127ac, 0x7fdd31ac, 0xfbd49d70,
+  0x7fdc5edc, 0xfbc8135c, 0x7fdb8996, 0xfbbb8973,
+  0x7fdab1d9, 0xfbaeffb3, 0x7fd9d7a7, 0xfba2761e,
+  0x7fd8fafe, 0xfb95ecb4, 0x7fd81bdf, 0xfb896375,
+  0x7fd73a4a, 0xfb7cda63, 0x7fd6563f, 0xfb70517d,
+  0x7fd56fbe, 0xfb63c8c4, 0x7fd486c7, 0xfb574039,
+  0x7fd39b5a, 0xfb4ab7db, 0x7fd2ad77, 0xfb3e2fac,
+  0x7fd1bd1e, 0xfb31a7ac, 0x7fd0ca4f, 0xfb251fdc,
+  0x7fcfd50b, 0xfb18983b, 0x7fcedd50, 0xfb0c10cb,
+  0x7fcde320, 0xfaff898c, 0x7fcce67a, 0xfaf3027e,
+  0x7fcbe75e, 0xfae67ba2, 0x7fcae5cd, 0xfad9f4f8,
+  0x7fc9e1c6, 0xfacd6e81, 0x7fc8db4a, 0xfac0e83d,
+  0x7fc7d258, 0xfab4622d, 0x7fc6c6f0, 0xfaa7dc52,
+  0x7fc5b913, 0xfa9b56ab, 0x7fc4a8c1, 0xfa8ed139,
+  0x7fc395f9, 0xfa824bfd, 0x7fc280bc, 0xfa75c6f8,
+  0x7fc1690a, 0xfa694229, 0x7fc04ee3, 0xfa5cbd91,
+  0x7fbf3246, 0xfa503930, 0x7fbe1334, 0xfa43b508,
+  0x7fbcf1ad, 0xfa373119, 0x7fbbcdb1, 0xfa2aad62,
+  0x7fbaa740, 0xfa1e29e5, 0x7fb97e5a, 0xfa11a6a3,
+  0x7fb852ff, 0xfa05239a, 0x7fb7252f, 0xf9f8a0cd,
+  0x7fb5f4ea, 0xf9ec1e3b, 0x7fb4c231, 0xf9df9be6,
+  0x7fb38d02, 0xf9d319cc, 0x7fb2555f, 0xf9c697f0,
+  0x7fb11b48, 0xf9ba1651, 0x7fafdebb, 0xf9ad94f0,
+  0x7fae9fbb, 0xf9a113cd, 0x7fad5e45, 0xf99492ea,
+  0x7fac1a5b, 0xf9881245, 0x7faad3fd, 0xf97b91e1,
+  0x7fa98b2a, 0xf96f11bc, 0x7fa83fe3, 0xf96291d9,
+  0x7fa6f228, 0xf9561237, 0x7fa5a1f9, 0xf94992d7,
+  0x7fa44f55, 0xf93d13b8, 0x7fa2fa3d, 0xf93094dd,
+  0x7fa1a2b2, 0xf9241645, 0x7fa048b2, 0xf91797f0,
+  0x7f9eec3e, 0xf90b19e0, 0x7f9d8d56, 0xf8fe9c15,
+  0x7f9c2bfb, 0xf8f21e8e, 0x7f9ac82c, 0xf8e5a14d,
+  0x7f9961e8, 0xf8d92452, 0x7f97f932, 0xf8cca79e,
+  0x7f968e07, 0xf8c02b31, 0x7f952069, 0xf8b3af0c,
+  0x7f93b058, 0xf8a7332e, 0x7f923dd2, 0xf89ab799,
+  0x7f90c8da, 0xf88e3c4d, 0x7f8f516e, 0xf881c14b,
+  0x7f8dd78f, 0xf8754692, 0x7f8c5b3d, 0xf868cc24,
+  0x7f8adc77, 0xf85c5201, 0x7f895b3e, 0xf84fd829,
+  0x7f87d792, 0xf8435e9d, 0x7f865174, 0xf836e55d,
+  0x7f84c8e2, 0xf82a6c6a, 0x7f833ddd, 0xf81df3c5,
+  0x7f81b065, 0xf8117b6d, 0x7f80207b, 0xf8050364,
+  0x7f7e8e1e, 0xf7f88ba9, 0x7f7cf94e, 0xf7ec143e,
+  0x7f7b620c, 0xf7df9d22, 0x7f79c857, 0xf7d32657,
+  0x7f782c30, 0xf7c6afdc, 0x7f768d96, 0xf7ba39b3,
+  0x7f74ec8a, 0xf7adc3db, 0x7f73490b, 0xf7a14e55,
+  0x7f71a31b, 0xf794d922, 0x7f6ffab8, 0xf7886442,
+  0x7f6e4fe3, 0xf77befb5, 0x7f6ca29c, 0xf76f7b7d,
+  0x7f6af2e3, 0xf7630799, 0x7f6940b8, 0xf756940a,
+  0x7f678c1c, 0xf74a20d0, 0x7f65d50d, 0xf73daded,
+  0x7f641b8d, 0xf7313b60, 0x7f625f9b, 0xf724c92a,
+  0x7f60a138, 0xf718574b, 0x7f5ee063, 0xf70be5c4,
+  0x7f5d1d1d, 0xf6ff7496, 0x7f5b5765, 0xf6f303c0,
+  0x7f598f3c, 0xf6e69344, 0x7f57c4a2, 0xf6da2321,
+  0x7f55f796, 0xf6cdb359, 0x7f54281a, 0xf6c143ec,
+  0x7f52562c, 0xf6b4d4d9, 0x7f5081cd, 0xf6a86623,
+  0x7f4eaafe, 0xf69bf7c9, 0x7f4cd1be, 0xf68f89cb,
+  0x7f4af60d, 0xf6831c2b, 0x7f4917eb, 0xf676aee8,
+  0x7f473759, 0xf66a4203, 0x7f455456, 0xf65dd57d,
+  0x7f436ee3, 0xf6516956, 0x7f4186ff, 0xf644fd8f,
+  0x7f3f9cab, 0xf6389228, 0x7f3dafe7, 0xf62c2721,
+  0x7f3bc0b3, 0xf61fbc7b, 0x7f39cf0e, 0xf6135237,
+  0x7f37dafa, 0xf606e854, 0x7f35e476, 0xf5fa7ed4,
+  0x7f33eb81, 0xf5ee15b7, 0x7f31f01d, 0xf5e1acfd,
+  0x7f2ff24a, 0xf5d544a7, 0x7f2df206, 0xf5c8dcb6,
+  0x7f2bef53, 0xf5bc7529, 0x7f29ea31, 0xf5b00e02,
+  0x7f27e29f, 0xf5a3a740, 0x7f25d89e, 0xf59740e5,
+  0x7f23cc2e, 0xf58adaf0, 0x7f21bd4e, 0xf57e7563,
+  0x7f1fabff, 0xf572103d, 0x7f1d9842, 0xf565ab80,
+  0x7f1b8215, 0xf559472b, 0x7f19697a, 0xf54ce33f,
+  0x7f174e70, 0xf5407fbd, 0x7f1530f7, 0xf5341ca5,
+  0x7f13110f, 0xf527b9f7, 0x7f10eeb9, 0xf51b57b5,
+  0x7f0ec9f5, 0xf50ef5de, 0x7f0ca2c2, 0xf5029473,
+  0x7f0a7921, 0xf4f63374, 0x7f084d12, 0xf4e9d2e3,
+  0x7f061e95, 0xf4dd72be, 0x7f03eda9, 0xf4d11308,
+  0x7f01ba50, 0xf4c4b3c0, 0x7eff8489, 0xf4b854e7,
+  0x7efd4c54, 0xf4abf67e, 0x7efb11b1, 0xf49f9884,
+  0x7ef8d4a1, 0xf4933afa, 0x7ef69523, 0xf486dde1,
+  0x7ef45338, 0xf47a8139, 0x7ef20ee0, 0xf46e2504,
+  0x7eefc81a, 0xf461c940, 0x7eed7ee7, 0xf4556def,
+  0x7eeb3347, 0xf4491311, 0x7ee8e53a, 0xf43cb8a7,
+  0x7ee694c1, 0xf4305eb0, 0x7ee441da, 0xf424052f,
+  0x7ee1ec87, 0xf417ac22, 0x7edf94c7, 0xf40b538b,
+  0x7edd3a9a, 0xf3fefb6a, 0x7edade01, 0xf3f2a3bf,
+  0x7ed87efc, 0xf3e64c8c, 0x7ed61d8a, 0xf3d9f5cf,
+  0x7ed3b9ad, 0xf3cd9f8b, 0x7ed15363, 0xf3c149bf,
+  0x7eceeaad, 0xf3b4f46c, 0x7ecc7f8b, 0xf3a89f92,
+  0x7eca11fe, 0xf39c4b32, 0x7ec7a205, 0xf38ff74d,
+  0x7ec52fa0, 0xf383a3e2, 0x7ec2bad0, 0xf37750f2,
+  0x7ec04394, 0xf36afe7e, 0x7ebdc9ed, 0xf35eac86,
+  0x7ebb4ddb, 0xf3525b0b, 0x7eb8cf5d, 0xf3460a0d,
+  0x7eb64e75, 0xf339b98d, 0x7eb3cb21, 0xf32d698a,
+  0x7eb14563, 0xf3211a07, 0x7eaebd3a, 0xf314cb02,
+  0x7eac32a6, 0xf3087c7d, 0x7ea9a5a8, 0xf2fc2e77,
+  0x7ea7163f, 0xf2efe0f2, 0x7ea4846c, 0xf2e393ef,
+  0x7ea1f02f, 0xf2d7476c, 0x7e9f5988, 0xf2cafb6b,
+  0x7e9cc076, 0xf2beafed, 0x7e9a24fb, 0xf2b264f2,
+  0x7e978715, 0xf2a61a7a, 0x7e94e6c6, 0xf299d085,
+  0x7e92440d, 0xf28d8715, 0x7e8f9eeb, 0xf2813e2a,
+  0x7e8cf75f, 0xf274f5c3, 0x7e8a4d6a, 0xf268ade3,
+  0x7e87a10c, 0xf25c6688, 0x7e84f245, 0xf2501fb5,
+  0x7e824114, 0xf243d968, 0x7e7f8d7b, 0xf23793a3,
+  0x7e7cd778, 0xf22b4e66, 0x7e7a1f0d, 0xf21f09b1,
+  0x7e77643a, 0xf212c585, 0x7e74a6fd, 0xf20681e3,
+  0x7e71e759, 0xf1fa3ecb, 0x7e6f254c, 0xf1edfc3d,
+  0x7e6c60d7, 0xf1e1ba3a, 0x7e6999fa, 0xf1d578c2,
+  0x7e66d0b4, 0xf1c937d6, 0x7e640507, 0xf1bcf777,
+  0x7e6136f3, 0xf1b0b7a4, 0x7e5e6676, 0xf1a4785e,
+  0x7e5b9392, 0xf19839a6, 0x7e58be47, 0xf18bfb7d,
+  0x7e55e694, 0xf17fbde2, 0x7e530c7a, 0xf17380d6,
+  0x7e502ff9, 0xf1674459, 0x7e4d5110, 0xf15b086d,
+  0x7e4a6fc1, 0xf14ecd11, 0x7e478c0b, 0xf1429247,
+  0x7e44a5ef, 0xf136580d, 0x7e41bd6c, 0xf12a1e66,
+  0x7e3ed282, 0xf11de551, 0x7e3be532, 0xf111accf,
+  0x7e38f57c, 0xf10574e0, 0x7e360360, 0xf0f93d86,
+  0x7e330ede, 0xf0ed06bf, 0x7e3017f6, 0xf0e0d08d,
+  0x7e2d1ea8, 0xf0d49af1, 0x7e2a22f4, 0xf0c865ea,
+  0x7e2724db, 0xf0bc317a, 0x7e24245d, 0xf0affda0,
+  0x7e212179, 0xf0a3ca5d, 0x7e1e1c30, 0xf09797b2,
+  0x7e1b1482, 0xf08b659f, 0x7e180a6f, 0xf07f3424,
+  0x7e14fdf7, 0xf0730342, 0x7e11ef1b, 0xf066d2fa,
+  0x7e0eddd9, 0xf05aa34c, 0x7e0bca34, 0xf04e7438,
+  0x7e08b42a, 0xf04245c0, 0x7e059bbb, 0xf03617e2,
+  0x7e0280e9, 0xf029eaa1, 0x7dff63b2, 0xf01dbdfb,
+  0x7dfc4418, 0xf01191f3, 0x7df9221a, 0xf0056687,
+  0x7df5fdb8, 0xeff93bba, 0x7df2d6f3, 0xefed118a,
+  0x7defadca, 0xefe0e7f9, 0x7dec823e, 0xefd4bf08,
+  0x7de9544f, 0xefc896b5, 0x7de623fd, 0xefbc6f03,
+  0x7de2f148, 0xefb047f2, 0x7ddfbc30, 0xefa42181,
+  0x7ddc84b5, 0xef97fbb2, 0x7dd94ad8, 0xef8bd685,
+  0x7dd60e99, 0xef7fb1fa, 0x7dd2cff7, 0xef738e12,
+  0x7dcf8ef3, 0xef676ace, 0x7dcc4b8d, 0xef5b482d,
+  0x7dc905c5, 0xef4f2630, 0x7dc5bd9b, 0xef4304d8,
+  0x7dc2730f, 0xef36e426, 0x7dbf2622, 0xef2ac419,
+  0x7dbbd6d4, 0xef1ea4b2, 0x7db88524, 0xef1285f2,
+  0x7db53113, 0xef0667d9, 0x7db1daa2, 0xeefa4a67,
+  0x7dae81cf, 0xeeee2d9d, 0x7dab269b, 0xeee2117c,
+  0x7da7c907, 0xeed5f604, 0x7da46912, 0xeec9db35,
+  0x7da106bd, 0xeebdc110, 0x7d9da208, 0xeeb1a796,
+  0x7d9a3af2, 0xeea58ec6, 0x7d96d17d, 0xee9976a1,
+  0x7d9365a8, 0xee8d5f29, 0x7d8ff772, 0xee81485c,
+  0x7d8c86de, 0xee75323c, 0x7d8913ea, 0xee691cc9,
+  0x7d859e96, 0xee5d0804, 0x7d8226e4, 0xee50f3ed,
+  0x7d7eacd2, 0xee44e084, 0x7d7b3061, 0xee38cdcb,
+  0x7d77b192, 0xee2cbbc1, 0x7d743064, 0xee20aa67,
+  0x7d70acd7, 0xee1499bd, 0x7d6d26ec, 0xee0889c4,
+  0x7d699ea3, 0xedfc7a7c, 0x7d6613fb, 0xedf06be6,
+  0x7d6286f6, 0xede45e03, 0x7d5ef793, 0xedd850d2,
+  0x7d5b65d2, 0xedcc4454, 0x7d57d1b3, 0xedc0388a,
+  0x7d543b37, 0xedb42d74, 0x7d50a25e, 0xeda82313,
+  0x7d4d0728, 0xed9c1967, 0x7d496994, 0xed901070,
+  0x7d45c9a4, 0xed84082f, 0x7d422757, 0xed7800a5,
+  0x7d3e82ae, 0xed6bf9d1, 0x7d3adba7, 0xed5ff3b5,
+  0x7d373245, 0xed53ee51, 0x7d338687, 0xed47e9a5,
+  0x7d2fd86c, 0xed3be5b1, 0x7d2c27f6, 0xed2fe277,
+  0x7d287523, 0xed23dff7, 0x7d24bff6, 0xed17de31,
+  0x7d21086c, 0xed0bdd25, 0x7d1d4e88, 0xecffdcd4,
+  0x7d199248, 0xecf3dd3f, 0x7d15d3ad, 0xece7de66,
+  0x7d1212b7, 0xecdbe04a, 0x7d0e4f67, 0xeccfe2ea,
+  0x7d0a89bc, 0xecc3e648, 0x7d06c1b6, 0xecb7ea63,
+  0x7d02f757, 0xecabef3d, 0x7cff2a9d, 0xec9ff4d6,
+  0x7cfb5b89, 0xec93fb2e, 0x7cf78a1b, 0xec880245,
+  0x7cf3b653, 0xec7c0a1d, 0x7cefe032, 0xec7012b5,
+  0x7cec07b8, 0xec641c0e, 0x7ce82ce4, 0xec582629,
+  0x7ce44fb7, 0xec4c3106, 0x7ce07031, 0xec403ca5,
+  0x7cdc8e52, 0xec344908, 0x7cd8aa1b, 0xec28562d,
+  0x7cd4c38b, 0xec1c6417, 0x7cd0daa2, 0xec1072c4,
+  0x7cccef62, 0xec048237, 0x7cc901c9, 0xebf8926f,
+  0x7cc511d9, 0xebeca36c, 0x7cc11f90, 0xebe0b52f,
+  0x7cbd2af0, 0xebd4c7ba, 0x7cb933f9, 0xebc8db0b,
+  0x7cb53aaa, 0xebbcef23, 0x7cb13f04, 0xebb10404,
+  0x7cad4107, 0xeba519ad, 0x7ca940b3, 0xeb99301f,
+  0x7ca53e09, 0xeb8d475b, 0x7ca13908, 0xeb815f60,
+  0x7c9d31b0, 0xeb75782f, 0x7c992803, 0xeb6991ca,
+  0x7c951bff, 0xeb5dac2f, 0x7c910da5, 0xeb51c760,
+  0x7c8cfcf6, 0xeb45e35d, 0x7c88e9f1, 0xeb3a0027,
+  0x7c84d496, 0xeb2e1dbe, 0x7c80bce7, 0xeb223c22,
+  0x7c7ca2e2, 0xeb165b54, 0x7c788688, 0xeb0a7b54,
+  0x7c7467d9, 0xeafe9c24, 0x7c7046d6, 0xeaf2bdc3,
+  0x7c6c237e, 0xeae6e031, 0x7c67fdd1, 0xeadb0370,
+  0x7c63d5d1, 0xeacf277f, 0x7c5fab7c, 0xeac34c60,
+  0x7c5b7ed4, 0xeab77212, 0x7c574fd8, 0xeaab9896,
+  0x7c531e88, 0xea9fbfed, 0x7c4eeae5, 0xea93e817,
+  0x7c4ab4ef, 0xea881114, 0x7c467ca6, 0xea7c3ae5,
+  0x7c42420a, 0xea70658a, 0x7c3e051b, 0xea649105,
+  0x7c39c5da, 0xea58bd54, 0x7c358446, 0xea4cea79,
+  0x7c314060, 0xea411874, 0x7c2cfa28, 0xea354746,
+  0x7c28b19e, 0xea2976ef, 0x7c2466c2, 0xea1da770,
+  0x7c201994, 0xea11d8c8, 0x7c1bca16, 0xea060af9,
+  0x7c177845, 0xe9fa3e03, 0x7c132424, 0xe9ee71e6,
+  0x7c0ecdb2, 0xe9e2a6a3, 0x7c0a74f0, 0xe9d6dc3b,
+  0x7c0619dc, 0xe9cb12ad, 0x7c01bc78, 0xe9bf49fa,
+  0x7bfd5cc4, 0xe9b38223, 0x7bf8fac0, 0xe9a7bb28,
+  0x7bf4966c, 0xe99bf509, 0x7bf02fc9, 0xe9902fc7,
+  0x7bebc6d5, 0xe9846b63, 0x7be75b93, 0xe978a7dd,
+  0x7be2ee01, 0xe96ce535, 0x7bde7e20, 0xe961236c,
+  0x7bda0bf0, 0xe9556282, 0x7bd59771, 0xe949a278,
+  0x7bd120a4, 0xe93de34e, 0x7bcca789, 0xe9322505,
+  0x7bc82c1f, 0xe926679c, 0x7bc3ae67, 0xe91aab16,
+  0x7bbf2e62, 0xe90eef71, 0x7bbaac0e, 0xe90334af,
+  0x7bb6276e, 0xe8f77acf, 0x7bb1a080, 0xe8ebc1d3,
+  0x7bad1744, 0xe8e009ba, 0x7ba88bbc, 0xe8d45286,
+  0x7ba3fde7, 0xe8c89c37, 0x7b9f6dc5, 0xe8bce6cd,
+  0x7b9adb57, 0xe8b13248, 0x7b96469d, 0xe8a57ea9,
+  0x7b91af97, 0xe899cbf1, 0x7b8d1644, 0xe88e1a20,
+  0x7b887aa6, 0xe8826936, 0x7b83dcbc, 0xe876b934,
+  0x7b7f3c87, 0xe86b0a1a, 0x7b7a9a07, 0xe85f5be9,
+  0x7b75f53c, 0xe853aea1, 0x7b714e25, 0xe8480243,
+  0x7b6ca4c4, 0xe83c56cf, 0x7b67f919, 0xe830ac45,
+  0x7b634b23, 0xe82502a7, 0x7b5e9ae4, 0xe81959f4,
+  0x7b59e85a, 0xe80db22d, 0x7b553386, 0xe8020b52,
+  0x7b507c69, 0xe7f66564, 0x7b4bc303, 0xe7eac063,
+  0x7b470753, 0xe7df1c50, 0x7b42495a, 0xe7d3792b,
+  0x7b3d8918, 0xe7c7d6f4, 0x7b38c68e, 0xe7bc35ad,
+  0x7b3401bb, 0xe7b09555, 0x7b2f3aa0, 0xe7a4f5ed,
+  0x7b2a713d, 0xe7995776, 0x7b25a591, 0xe78db9ef,
+  0x7b20d79e, 0xe7821d59, 0x7b1c0764, 0xe77681b6,
+  0x7b1734e2, 0xe76ae704, 0x7b126019, 0xe75f4d45,
+  0x7b0d8909, 0xe753b479, 0x7b08afb2, 0xe7481ca1,
+  0x7b03d414, 0xe73c85bc, 0x7afef630, 0xe730efcc,
+  0x7afa1605, 0xe7255ad1, 0x7af53395, 0xe719c6cb,
+  0x7af04edf, 0xe70e33bb, 0x7aeb67e3, 0xe702a1a1,
+  0x7ae67ea1, 0xe6f7107e, 0x7ae1931a, 0xe6eb8052,
+  0x7adca54e, 0xe6dff11d, 0x7ad7b53d, 0xe6d462e1,
+  0x7ad2c2e8, 0xe6c8d59c, 0x7acdce4d, 0xe6bd4951,
+  0x7ac8d76f, 0xe6b1bdff, 0x7ac3de4c, 0xe6a633a6,
+  0x7abee2e5, 0xe69aaa48, 0x7ab9e53a, 0xe68f21e5,
+  0x7ab4e54c, 0xe6839a7c, 0x7aafe31b, 0xe6781410,
+  0x7aaadea6, 0xe66c8e9f, 0x7aa5d7ee, 0xe6610a2a,
+  0x7aa0cef3, 0xe65586b3, 0x7a9bc3b6, 0xe64a0438,
+  0x7a96b636, 0xe63e82bc, 0x7a91a674, 0xe633023e,
+  0x7a8c9470, 0xe62782be, 0x7a87802a, 0xe61c043d,
+  0x7a8269a3, 0xe61086bc, 0x7a7d50da, 0xe6050a3b,
+  0x7a7835cf, 0xe5f98ebb, 0x7a731884, 0xe5ee143b,
+  0x7a6df8f8, 0xe5e29abc, 0x7a68d72b, 0xe5d72240,
+  0x7a63b31d, 0xe5cbaac5, 0x7a5e8cd0, 0xe5c0344d,
+  0x7a596442, 0xe5b4bed8, 0x7a543974, 0xe5a94a67,
+  0x7a4f0c67, 0xe59dd6f9, 0x7a49dd1a, 0xe5926490,
+  0x7a44ab8e, 0xe586f32c, 0x7a3f77c3, 0xe57b82cd,
+  0x7a3a41b9, 0xe5701374, 0x7a350970, 0xe564a521,
+  0x7a2fcee8, 0xe55937d5, 0x7a2a9223, 0xe54dcb8f,
+  0x7a25531f, 0xe5426051, 0x7a2011de, 0xe536f61b,
+  0x7a1ace5f, 0xe52b8cee, 0x7a1588a2, 0xe52024c9,
+  0x7a1040a8, 0xe514bdad, 0x7a0af671, 0xe509579b,
+  0x7a05a9fd, 0xe4fdf294, 0x7a005b4d, 0xe4f28e96,
+  0x79fb0a60, 0xe4e72ba4, 0x79f5b737, 0xe4dbc9bd,
+  0x79f061d2, 0xe4d068e2, 0x79eb0a31, 0xe4c50914,
+  0x79e5b054, 0xe4b9aa52, 0x79e0543c, 0xe4ae4c9d,
+  0x79daf5e8, 0xe4a2eff6, 0x79d5955a, 0xe497945d,
+  0x79d03291, 0xe48c39d3, 0x79cacd8d, 0xe480e057,
+  0x79c5664f, 0xe47587eb, 0x79bffcd7, 0xe46a308f,
+  0x79ba9125, 0xe45eda43, 0x79b52339, 0xe4538507,
+  0x79afb313, 0xe44830dd, 0x79aa40b4, 0xe43cddc4,
+  0x79a4cc1c, 0xe4318bbe, 0x799f554b, 0xe4263ac9,
+  0x7999dc42, 0xe41aeae8, 0x799460ff, 0xe40f9c1a,
+  0x798ee385, 0xe4044e60, 0x798963d2, 0xe3f901ba,
+  0x7983e1e8, 0xe3edb628, 0x797e5dc6, 0xe3e26bac,
+  0x7978d76c, 0xe3d72245, 0x79734edc, 0xe3cbd9f4,
+  0x796dc414, 0xe3c092b9, 0x79683715, 0xe3b54c95,
+  0x7962a7e0, 0xe3aa0788, 0x795d1675, 0xe39ec393,
+  0x795782d3, 0xe39380b6, 0x7951ecfc, 0xe3883ef2,
+  0x794c54ee, 0xe37cfe47, 0x7946baac, 0xe371beb5,
+  0x79411e33, 0xe366803c, 0x793b7f86, 0xe35b42df,
+  0x7935dea4, 0xe350069b, 0x79303b8e, 0xe344cb73,
+  0x792a9642, 0xe3399167, 0x7924eec3, 0xe32e5876,
+  0x791f4510, 0xe32320a2, 0x79199929, 0xe317e9eb,
+  0x7913eb0e, 0xe30cb451, 0x790e3ac0, 0xe3017fd5,
+  0x7908883f, 0xe2f64c77, 0x7902d38b, 0xe2eb1a37,
+  0x78fd1ca4, 0xe2dfe917, 0x78f7638b, 0xe2d4b916,
+  0x78f1a840, 0xe2c98a35, 0x78ebeac2, 0xe2be5c74,
+  0x78e62b13, 0xe2b32fd4, 0x78e06932, 0xe2a80456,
+  0x78daa520, 0xe29cd9f8, 0x78d4dedd, 0xe291b0bd,
+  0x78cf1669, 0xe28688a4, 0x78c94bc4, 0xe27b61af,
+  0x78c37eef, 0xe2703bdc, 0x78bdafea, 0xe265172e,
+  0x78b7deb4, 0xe259f3a3, 0x78b20b4f, 0xe24ed13d,
+  0x78ac35ba, 0xe243affc, 0x78a65df6, 0xe2388fe1,
+  0x78a08402, 0xe22d70eb, 0x789aa7e0, 0xe222531c,
+  0x7894c98f, 0xe2173674, 0x788ee910, 0xe20c1af3,
+  0x78890663, 0xe2010099, 0x78832187, 0xe1f5e768,
+  0x787d3a7e, 0xe1eacf5f, 0x78775147, 0xe1dfb87f,
+  0x787165e3, 0xe1d4a2c8, 0x786b7852, 0xe1c98e3b,
+  0x78658894, 0xe1be7ad8, 0x785f96a9, 0xe1b368a0,
+  0x7859a292, 0xe1a85793, 0x7853ac4f, 0xe19d47b1,
+  0x784db3e0, 0xe19238fb, 0x7847b946, 0xe1872b72,
+  0x7841bc7f, 0xe17c1f15, 0x783bbd8e, 0xe17113e5,
+  0x7835bc71, 0xe16609e3, 0x782fb92a, 0xe15b0110,
+  0x7829b3b9, 0xe14ff96a, 0x7823ac1d, 0xe144f2f3,
+  0x781da256, 0xe139edac, 0x78179666, 0xe12ee995,
+  0x7811884d, 0xe123e6ad, 0x780b780a, 0xe118e4f6,
+  0x7805659e, 0xe10de470, 0x77ff5109, 0xe102e51c,
+  0x77f93a4b, 0xe0f7e6f9, 0x77f32165, 0xe0ecea09,
+  0x77ed0657, 0xe0e1ee4b, 0x77e6e921, 0xe0d6f3c1,
+  0x77e0c9c3, 0xe0cbfa6a, 0x77daa83d, 0xe0c10247,
+  0x77d48490, 0xe0b60b58, 0x77ce5ebd, 0xe0ab159e,
+  0x77c836c2, 0xe0a0211a, 0x77c20ca1, 0xe0952dcb,
+  0x77bbe05a, 0xe08a3bb2, 0x77b5b1ec, 0xe07f4acf,
+  0x77af8159, 0xe0745b24, 0x77a94ea0, 0xe0696cb0,
+  0x77a319c2, 0xe05e7f74, 0x779ce2be, 0xe053936f,
+  0x7796a996, 0xe048a8a4, 0x77906e49, 0xe03dbf11,
+  0x778a30d8, 0xe032d6b8, 0x7783f143, 0xe027ef99,
+  0x777daf89, 0xe01d09b4, 0x77776bac, 0xe012250a,
+  0x777125ac, 0xe007419b, 0x776add88, 0xdffc5f67,
+  0x77649341, 0xdff17e70, 0x775e46d8, 0xdfe69eb4,
+  0x7757f84c, 0xdfdbc036, 0x7751a79e, 0xdfd0e2f5,
+  0x774b54ce, 0xdfc606f1, 0x7744ffdd, 0xdfbb2c2c,
+  0x773ea8ca, 0xdfb052a5, 0x77384f95, 0xdfa57a5d,
+  0x7731f440, 0xdf9aa354, 0x772b96ca, 0xdf8fcd8b,
+  0x77253733, 0xdf84f902, 0x771ed57c, 0xdf7a25ba,
+  0x771871a5, 0xdf6f53b3, 0x77120bae, 0xdf6482ed,
+  0x770ba398, 0xdf59b369, 0x77053962, 0xdf4ee527,
+  0x76fecd0e, 0xdf441828, 0x76f85e9a, 0xdf394c6b,
+  0x76f1ee09, 0xdf2e81f3, 0x76eb7b58, 0xdf23b8be,
+  0x76e5068a, 0xdf18f0ce, 0x76de8f9e, 0xdf0e2a22,
+  0x76d81695, 0xdf0364bc, 0x76d19b6e, 0xdef8a09b,
+  0x76cb1e2a, 0xdeedddc0, 0x76c49ec9, 0xdee31c2b,
+  0x76be1d4c, 0xded85bdd, 0x76b799b3, 0xdecd9cd7,
+  0x76b113fd, 0xdec2df18, 0x76aa8c2c, 0xdeb822a1,
+  0x76a4023f, 0xdead6773, 0x769d7637, 0xdea2ad8d,
+  0x7696e814, 0xde97f4f1, 0x769057d6, 0xde8d3d9e,
+  0x7689c57d, 0xde828796, 0x7683310b, 0xde77d2d8,
+  0x767c9a7e, 0xde6d1f65, 0x767601d7, 0xde626d3e,
+  0x766f6717, 0xde57bc62, 0x7668ca3e, 0xde4d0cd2,
+  0x76622b4c, 0xde425e8f, 0x765b8a41, 0xde37b199,
+  0x7654e71d, 0xde2d05f1, 0x764e41e2, 0xde225b96,
+  0x76479a8e, 0xde17b28a, 0x7640f123, 0xde0d0acc,
+  0x763a45a0, 0xde02645d, 0x76339806, 0xddf7bf3e,
+  0x762ce855, 0xdded1b6e, 0x7626368d, 0xdde278ef,
+  0x761f82af, 0xddd7d7c1, 0x7618ccba, 0xddcd37e4,
+  0x761214b0, 0xddc29958, 0x760b5a90, 0xddb7fc1e,
+  0x76049e5b, 0xddad6036, 0x75fde011, 0xdda2c5a2,
+  0x75f71fb1, 0xdd982c60, 0x75f05d3d, 0xdd8d9472,
+  0x75e998b5, 0xdd82fdd8, 0x75e2d219, 0xdd786892,
+  0x75dc0968, 0xdd6dd4a2, 0x75d53ea5, 0xdd634206,
+  0x75ce71ce, 0xdd58b0c0, 0x75c7a2e3, 0xdd4e20d0,
+  0x75c0d1e7, 0xdd439236, 0x75b9fed7, 0xdd3904f4,
+  0x75b329b5, 0xdd2e7908, 0x75ac5282, 0xdd23ee74,
+  0x75a5793c, 0xdd196538, 0x759e9de5, 0xdd0edd55,
+  0x7597c07d, 0xdd0456ca, 0x7590e104, 0xdcf9d199,
+  0x7589ff7a, 0xdcef4dc2, 0x75831be0, 0xdce4cb44,
+  0x757c3636, 0xdcda4a21, 0x75754e7c, 0xdccfca59,
+  0x756e64b2, 0xdcc54bec, 0x756778d9, 0xdcbacedb,
+  0x75608af1, 0xdcb05326, 0x75599afa, 0xdca5d8cd,
+  0x7552a8f4, 0xdc9b5fd2, 0x754bb4e1, 0xdc90e834,
+  0x7544bebf, 0xdc8671f3, 0x753dc68f, 0xdc7bfd11,
+  0x7536cc52, 0xdc71898d, 0x752fd008, 0xdc671768,
+  0x7528d1b1, 0xdc5ca6a2, 0x7521d14d, 0xdc52373c,
+  0x751acedd, 0xdc47c936, 0x7513ca60, 0xdc3d5c91,
+  0x750cc3d8, 0xdc32f14d, 0x7505bb44, 0xdc28876a,
+  0x74feb0a5, 0xdc1e1ee9, 0x74f7a3fb, 0xdc13b7c9,
+  0x74f09546, 0xdc09520d, 0x74e98487, 0xdbfeedb3,
+  0x74e271bd, 0xdbf48abd, 0x74db5cea, 0xdbea292b,
+  0x74d4460c, 0xdbdfc8fc, 0x74cd2d26, 0xdbd56a32,
+  0x74c61236, 0xdbcb0cce, 0x74bef53d, 0xdbc0b0ce,
+  0x74b7d63c, 0xdbb65634, 0x74b0b533, 0xdbabfd01,
+  0x74a99221, 0xdba1a534, 0x74a26d08, 0xdb974ece,
+  0x749b45e7, 0xdb8cf9cf, 0x74941cbf, 0xdb82a638,
+  0x748cf190, 0xdb785409, 0x7485c45b, 0xdb6e0342,
+  0x747e951f, 0xdb63b3e5, 0x747763dd, 0xdb5965f1,
+  0x74703095, 0xdb4f1967, 0x7468fb47, 0xdb44ce46,
+  0x7461c3f5, 0xdb3a8491, 0x745a8a9d, 0xdb303c46,
+  0x74534f41, 0xdb25f566, 0x744c11e0, 0xdb1baff2,
+  0x7444d27b, 0xdb116beb, 0x743d9112, 0xdb072950,
+  0x74364da6, 0xdafce821, 0x742f0836, 0xdaf2a860,
+  0x7427c0c3, 0xdae86a0d, 0x7420774d, 0xdade2d28,
+  0x74192bd5, 0xdad3f1b1, 0x7411de5b, 0xdac9b7a9,
+  0x740a8edf, 0xdabf7f11, 0x74033d61, 0xdab547e8,
+  0x73fbe9e2, 0xdaab122f, 0x73f49462, 0xdaa0dde7,
+  0x73ed3ce1, 0xda96ab0f, 0x73e5e360, 0xda8c79a9,
+  0x73de87de, 0xda8249b4, 0x73d72a5d, 0xda781b31,
+  0x73cfcadc, 0xda6dee21, 0x73c8695b, 0xda63c284,
+  0x73c105db, 0xda599859, 0x73b9a05d, 0xda4f6fa3,
+  0x73b238e0, 0xda454860, 0x73aacf65, 0xda3b2292,
+  0x73a363ec, 0xda30fe38, 0x739bf675, 0xda26db54,
+  0x73948701, 0xda1cb9e5, 0x738d1590, 0xda1299ec,
+  0x7385a222, 0xda087b69, 0x737e2cb7, 0xd9fe5e5e,
+  0x7376b551, 0xd9f442c9, 0x736f3bee, 0xd9ea28ac,
+  0x7367c090, 0xd9e01006, 0x73604336, 0xd9d5f8d9,
+  0x7358c3e2, 0xd9cbe325, 0x73514292, 0xd9c1cee9,
+  0x7349bf48, 0xd9b7bc27, 0x73423a04, 0xd9adaadf,
+  0x733ab2c6, 0xd9a39b11, 0x7333298f, 0xd9998cbe,
+  0x732b9e5e, 0xd98f7fe6, 0x73241134, 0xd9857489,
+  0x731c8211, 0xd97b6aa8, 0x7314f0f6, 0xd9716243,
+  0x730d5de3, 0xd9675b5a, 0x7305c8d7, 0xd95d55ef,
+  0x72fe31d5, 0xd9535201, 0x72f698db, 0xd9494f90,
+  0x72eefdea, 0xd93f4e9e, 0x72e76102, 0xd9354f2a,
+  0x72dfc224, 0xd92b5135, 0x72d82150, 0xd92154bf,
+  0x72d07e85, 0xd91759c9, 0x72c8d9c6, 0xd90d6053,
+  0x72c13311, 0xd903685d, 0x72b98a67, 0xd8f971e8,
+  0x72b1dfc9, 0xd8ef7cf4, 0x72aa3336, 0xd8e58982,
+  0x72a284b0, 0xd8db9792, 0x729ad435, 0xd8d1a724,
+  0x729321c7, 0xd8c7b838, 0x728b6d66, 0xd8bdcad0,
+  0x7283b712, 0xd8b3deeb, 0x727bfecc, 0xd8a9f48a,
+  0x72744493, 0xd8a00bae, 0x726c8868, 0xd8962456,
+  0x7264ca4c, 0xd88c3e83, 0x725d0a3e, 0xd8825a35,
+  0x72554840, 0xd878776d, 0x724d8450, 0xd86e962b,
+  0x7245be70, 0xd864b670, 0x723df6a0, 0xd85ad83c,
+  0x72362ce0, 0xd850fb8e, 0x722e6130, 0xd8472069,
+  0x72269391, 0xd83d46cc, 0x721ec403, 0xd8336eb7,
+  0x7216f287, 0xd829982b, 0x720f1f1c, 0xd81fc328,
+  0x720749c3, 0xd815efae, 0x71ff727c, 0xd80c1dbf,
+  0x71f79948, 0xd8024d59, 0x71efbe27, 0xd7f87e7f,
+  0x71e7e118, 0xd7eeb130, 0x71e0021e, 0xd7e4e56c,
+  0x71d82137, 0xd7db1b34, 0x71d03e64, 0xd7d15288,
+  0x71c859a5, 0xd7c78b68, 0x71c072fb, 0xd7bdc5d6,
+  0x71b88a66, 0xd7b401d1, 0x71b09fe7, 0xd7aa3f5a,
+  0x71a8b37c, 0xd7a07e70, 0x71a0c528, 0xd796bf16,
+  0x7198d4ea, 0xd78d014a, 0x7190e2c3, 0xd783450d,
+  0x7188eeb2, 0xd7798a60, 0x7180f8b8, 0xd76fd143,
+  0x717900d6, 0xd76619b6, 0x7171070c, 0xd75c63ba,
+  0x71690b59, 0xd752af4f, 0x71610dbf, 0xd748fc75,
+  0x71590e3e, 0xd73f4b2e, 0x71510cd5, 0xd7359b78,
+  0x71490986, 0xd72bed55, 0x71410450, 0xd72240c5,
+  0x7138fd35, 0xd71895c9, 0x7130f433, 0xd70eec60,
+  0x7128e94c, 0xd705448b, 0x7120dc80, 0xd6fb9e4b,
+  0x7118cdcf, 0xd6f1f99f, 0x7110bd39, 0xd6e85689,
+  0x7108aabf, 0xd6deb508, 0x71009661, 0xd6d5151d,
+  0x70f8801f, 0xd6cb76c9, 0x70f067fb, 0xd6c1da0b,
+  0x70e84df3, 0xd6b83ee4, 0x70e03208, 0xd6aea555,
+  0x70d8143b, 0xd6a50d5d, 0x70cff48c, 0xd69b76fe,
+  0x70c7d2fb, 0xd691e237, 0x70bfaf89, 0xd6884f09,
+  0x70b78a36, 0xd67ebd74, 0x70af6302, 0xd6752d79,
+  0x70a739ed, 0xd66b9f18, 0x709f0ef8, 0xd6621251,
+  0x7096e223, 0xd6588725, 0x708eb36f, 0xd64efd94,
+  0x708682dc, 0xd645759f, 0x707e5069, 0xd63bef46,
+  0x70761c18, 0xd6326a88, 0x706de5e9, 0xd628e767,
+  0x7065addb, 0xd61f65e4, 0x705d73f0, 0xd615e5fd,
+  0x70553828, 0xd60c67b4, 0x704cfa83, 0xd602eb0a,
+  0x7044bb00, 0xd5f96ffd, 0x703c79a2, 0xd5eff690,
+  0x70343667, 0xd5e67ec1, 0x702bf151, 0xd5dd0892,
+  0x7023aa5f, 0xd5d39403, 0x701b6193, 0xd5ca2115,
+  0x701316eb, 0xd5c0afc6, 0x700aca69, 0xd5b74019,
+  0x70027c0c, 0xd5add20d, 0x6ffa2bd6, 0xd5a465a3,
+  0x6ff1d9c7, 0xd59afadb, 0x6fe985de, 0xd59191b5,
+  0x6fe1301c, 0xd5882a32, 0x6fd8d882, 0xd57ec452,
+  0x6fd07f0f, 0xd5756016, 0x6fc823c5, 0xd56bfd7d,
+  0x6fbfc6a3, 0xd5629c89, 0x6fb767aa, 0xd5593d3a,
+  0x6faf06da, 0xd54fdf8f, 0x6fa6a433, 0xd5468389,
+  0x6f9e3fb6, 0xd53d292a, 0x6f95d963, 0xd533d070,
+  0x6f8d713a, 0xd52a795d, 0x6f85073c, 0xd52123f0,
+  0x6f7c9b69, 0xd517d02b, 0x6f742dc1, 0xd50e7e0d,
+  0x6f6bbe45, 0xd5052d97, 0x6f634cf5, 0xd4fbdec9,
+  0x6f5ad9d1, 0xd4f291a4, 0x6f5264da, 0xd4e94627,
+  0x6f49ee0f, 0xd4dffc54, 0x6f417573, 0xd4d6b42b,
+  0x6f38fb03, 0xd4cd6dab, 0x6f307ec2, 0xd4c428d6,
+  0x6f2800af, 0xd4bae5ab, 0x6f1f80ca, 0xd4b1a42c,
+  0x6f16ff14, 0xd4a86458, 0x6f0e7b8e, 0xd49f2630,
+  0x6f05f637, 0xd495e9b3, 0x6efd6f10, 0xd48caee4,
+  0x6ef4e619, 0xd48375c1, 0x6eec5b53, 0xd47a3e4b,
+  0x6ee3cebe, 0xd4710883, 0x6edb405a, 0xd467d469,
+  0x6ed2b027, 0xd45ea1fd, 0x6eca1e27, 0xd4557140,
+  0x6ec18a58, 0xd44c4232, 0x6eb8f4bc, 0xd44314d3,
+  0x6eb05d53, 0xd439e923, 0x6ea7c41e, 0xd430bf24,
+  0x6e9f291b, 0xd42796d5, 0x6e968c4d, 0xd41e7037,
+  0x6e8dedb3, 0xd4154b4a, 0x6e854d4d, 0xd40c280e,
+  0x6e7cab1c, 0xd4030684, 0x6e740720, 0xd3f9e6ad,
+  0x6e6b615a, 0xd3f0c887, 0x6e62b9ca, 0xd3e7ac15,
+  0x6e5a1070, 0xd3de9156, 0x6e51654c, 0xd3d5784a,
+  0x6e48b860, 0xd3cc60f2, 0x6e4009aa, 0xd3c34b4f,
+  0x6e37592c, 0xd3ba3760, 0x6e2ea6e6, 0xd3b12526,
+  0x6e25f2d8, 0xd3a814a2, 0x6e1d3d03, 0xd39f05d3,
+  0x6e148566, 0xd395f8ba, 0x6e0bcc03, 0xd38ced57,
+  0x6e0310d9, 0xd383e3ab, 0x6dfa53e9, 0xd37adbb6,
+  0x6df19534, 0xd371d579, 0x6de8d4b8, 0xd368d0f3,
+  0x6de01278, 0xd35fce26, 0x6dd74e73, 0xd356cd11,
+  0x6dce88aa, 0xd34dcdb4, 0x6dc5c11c, 0xd344d011,
+  0x6dbcf7cb, 0xd33bd427, 0x6db42cb6, 0xd332d9f7,
+  0x6dab5fdf, 0xd329e181, 0x6da29144, 0xd320eac6,
+  0x6d99c0e7, 0xd317f5c6, 0x6d90eec8, 0xd30f0280,
+  0x6d881ae8, 0xd30610f7, 0x6d7f4545, 0xd2fd2129,
+  0x6d766de2, 0xd2f43318, 0x6d6d94bf, 0xd2eb46c3,
+  0x6d64b9da, 0xd2e25c2b, 0x6d5bdd36, 0xd2d97350,
+  0x6d52fed2, 0xd2d08c33, 0x6d4a1eaf, 0xd2c7a6d4,
+  0x6d413ccd, 0xd2bec333, 0x6d38592c, 0xd2b5e151,
+  0x6d2f73cd, 0xd2ad012e, 0x6d268cb0, 0xd2a422ca,
+  0x6d1da3d5, 0xd29b4626, 0x6d14b93d, 0xd2926b41,
+  0x6d0bcce8, 0xd289921e, 0x6d02ded7, 0xd280babb,
+  0x6cf9ef09, 0xd277e518, 0x6cf0fd80, 0xd26f1138,
+  0x6ce80a3a, 0xd2663f19, 0x6cdf153a, 0xd25d6ebc,
+  0x6cd61e7f, 0xd254a021, 0x6ccd2609, 0xd24bd34a,
+  0x6cc42bd9, 0xd2430835, 0x6cbb2fef, 0xd23a3ee4,
+  0x6cb2324c, 0xd2317756, 0x6ca932ef, 0xd228b18d,
+  0x6ca031da, 0xd21fed88, 0x6c972f0d, 0xd2172b48,
+  0x6c8e2a87, 0xd20e6acc, 0x6c85244a, 0xd205ac17,
+  0x6c7c1c55, 0xd1fcef27, 0x6c7312a9, 0xd1f433fd,
+  0x6c6a0746, 0xd1eb7a9a, 0x6c60fa2d, 0xd1e2c2fd,
+  0x6c57eb5e, 0xd1da0d28, 0x6c4edada, 0xd1d1591a,
+  0x6c45c8a0, 0xd1c8a6d4, 0x6c3cb4b1, 0xd1bff656,
+  0x6c339f0e, 0xd1b747a0, 0x6c2a87b6, 0xd1ae9ab4,
+  0x6c216eaa, 0xd1a5ef90, 0x6c1853eb, 0xd19d4636,
+  0x6c0f3779, 0xd1949ea6, 0x6c061953, 0xd18bf8e0,
+  0x6bfcf97c, 0xd18354e4, 0x6bf3d7f2, 0xd17ab2b3,
+  0x6beab4b6, 0xd172124d, 0x6be18fc9, 0xd16973b3,
+  0x6bd8692b, 0xd160d6e5, 0x6bcf40dc, 0xd1583be2,
+  0x6bc616dd, 0xd14fa2ad, 0x6bbceb2d, 0xd1470b44,
+  0x6bb3bdce, 0xd13e75a8, 0x6baa8ec0, 0xd135e1d9,
+  0x6ba15e03, 0xd12d4fd9, 0x6b982b97, 0xd124bfa6,
+  0x6b8ef77d, 0xd11c3142, 0x6b85c1b5, 0xd113a4ad,
+  0x6b7c8a3f, 0xd10b19e7, 0x6b73511c, 0xd10290f0,
+  0x6b6a164d, 0xd0fa09c9, 0x6b60d9d0, 0xd0f18472,
+  0x6b579ba8, 0xd0e900ec, 0x6b4e5bd4, 0xd0e07f36,
+  0x6b451a55, 0xd0d7ff51, 0x6b3bd72a, 0xd0cf813e,
+  0x6b329255, 0xd0c704fd, 0x6b294bd5, 0xd0be8a8d,
+  0x6b2003ac, 0xd0b611f1, 0x6b16b9d9, 0xd0ad9b26,
+  0x6b0d6e5c, 0xd0a5262f, 0x6b042137, 0xd09cb30b,
+  0x6afad269, 0xd09441bb, 0x6af181f3, 0xd08bd23f,
+  0x6ae82fd5, 0xd0836497, 0x6adedc10, 0xd07af8c4,
+  0x6ad586a3, 0xd0728ec6, 0x6acc2f90, 0xd06a269d,
+  0x6ac2d6d6, 0xd061c04a, 0x6ab97c77, 0xd0595bcd,
+  0x6ab02071, 0xd050f926, 0x6aa6c2c6, 0xd0489856,
+  0x6a9d6377, 0xd040395d, 0x6a940283, 0xd037dc3b,
+  0x6a8a9fea, 0xd02f80f1, 0x6a813bae, 0xd027277e,
+  0x6a77d5ce, 0xd01ecfe4, 0x6a6e6e4b, 0xd0167a22,
+  0x6a650525, 0xd00e2639, 0x6a5b9a5d, 0xd005d42a,
+  0x6a522df3, 0xcffd83f4, 0x6a48bfe7, 0xcff53597,
+  0x6a3f503a, 0xcfece915, 0x6a35deeb, 0xcfe49e6d,
+  0x6a2c6bfd, 0xcfdc55a1, 0x6a22f76e, 0xcfd40eaf,
+  0x6a19813f, 0xcfcbc999, 0x6a100970, 0xcfc3865e,
+  0x6a069003, 0xcfbb4500, 0x69fd14f6, 0xcfb3057d,
+  0x69f3984c, 0xcfaac7d8, 0x69ea1a03, 0xcfa28c10,
+  0x69e09a1c, 0xcf9a5225, 0x69d71899, 0xcf921a17,
+  0x69cd9578, 0xcf89e3e8, 0x69c410ba, 0xcf81af97,
+  0x69ba8a61, 0xcf797d24, 0x69b1026c, 0xcf714c91,
+  0x69a778db, 0xcf691ddd, 0x699dedaf, 0xcf60f108,
+  0x699460e8, 0xcf58c613, 0x698ad287, 0xcf509cfe,
+  0x6981428c, 0xcf4875ca, 0x6977b0f7, 0xcf405077,
+  0x696e1dc9, 0xcf382d05, 0x69648902, 0xcf300b74,
+  0x695af2a3, 0xcf27ebc5, 0x69515aab, 0xcf1fcdf8,
+  0x6947c11c, 0xcf17b20d, 0x693e25f5, 0xcf0f9805,
+  0x69348937, 0xcf077fe1, 0x692aeae3, 0xceff699f,
+  0x69214af8, 0xcef75541, 0x6917a977, 0xceef42c7,
+  0x690e0661, 0xcee73231, 0x690461b5, 0xcedf2380,
+  0x68fabb75, 0xced716b4, 0x68f113a0, 0xcecf0bcd,
+  0x68e76a37, 0xcec702cb, 0x68ddbf3b, 0xcebefbb0,
+  0x68d412ab, 0xceb6f67a, 0x68ca6488, 0xceaef32b,
+  0x68c0b4d2, 0xcea6f1c2, 0x68b7038b, 0xce9ef241,
+  0x68ad50b1, 0xce96f4a7, 0x68a39c46, 0xce8ef8f4,
+  0x6899e64a, 0xce86ff2a, 0x68902ebd, 0xce7f0748,
+  0x688675a0, 0xce77114e, 0x687cbaf3, 0xce6f1d3d,
+  0x6872feb6, 0xce672b16, 0x686940ea, 0xce5f3ad8,
+  0x685f8190, 0xce574c84, 0x6855c0a6, 0xce4f6019,
+  0x684bfe2f, 0xce47759a, 0x68423a2a, 0xce3f8d05,
+  0x68387498, 0xce37a65b, 0x682ead78, 0xce2fc19c,
+  0x6824e4cc, 0xce27dec9, 0x681b1a94, 0xce1ffde2,
+  0x68114ed0, 0xce181ee8, 0x68078181, 0xce1041d9,
+  0x67fdb2a7, 0xce0866b8, 0x67f3e241, 0xce008d84,
+  0x67ea1052, 0xcdf8b63d, 0x67e03cd8, 0xcdf0e0e4,
+  0x67d667d5, 0xcde90d79, 0x67cc9149, 0xcde13bfd,
+  0x67c2b934, 0xcdd96c6f, 0x67b8df97, 0xcdd19ed0,
+  0x67af0472, 0xcdc9d320, 0x67a527c4, 0xcdc20960,
+  0x679b4990, 0xcdba4190, 0x679169d5, 0xcdb27bb0,
+  0x67878893, 0xcdaab7c0, 0x677da5cb, 0xcda2f5c2,
+  0x6773c17d, 0xcd9b35b4, 0x6769dbaa, 0xcd937798,
+  0x675ff452, 0xcd8bbb6d, 0x67560b76, 0xcd840134,
+  0x674c2115, 0xcd7c48ee, 0x67423530, 0xcd74929a,
+  0x673847c8, 0xcd6cde39, 0x672e58dc, 0xcd652bcb,
+  0x6724686e, 0xcd5d7b50, 0x671a767e, 0xcd55ccca,
+  0x6710830c, 0xcd4e2037, 0x67068e18, 0xcd467599,
+  0x66fc97a3, 0xcd3eccef, 0x66f29fad, 0xcd37263a,
+  0x66e8a637, 0xcd2f817b, 0x66deab41, 0xcd27deb0,
+  0x66d4aecb, 0xcd203ddc, 0x66cab0d6, 0xcd189efe,
+  0x66c0b162, 0xcd110216, 0x66b6b070, 0xcd096725,
+  0x66acadff, 0xcd01ce2b, 0x66a2aa11, 0xccfa3729,
+  0x6698a4a6, 0xccf2a21d, 0x668e9dbd, 0xcceb0f0a,
+  0x66849558, 0xcce37def, 0x667a8b77, 0xccdbeecc,
+  0x6670801a, 0xccd461a2, 0x66667342, 0xccccd671,
+  0x665c64ef, 0xccc54d3a, 0x66525521, 0xccbdc5fc,
+  0x664843d9, 0xccb640b8, 0x663e3117, 0xccaebd6e,
+  0x66341cdb, 0xcca73c1e, 0x662a0727, 0xcc9fbcca,
+  0x661feffa, 0xcc983f70, 0x6615d754, 0xcc90c412,
+  0x660bbd37, 0xcc894aaf, 0x6601a1a2, 0xcc81d349,
+  0x65f78497, 0xcc7a5dde, 0x65ed6614, 0xcc72ea70,
+  0x65e3461b, 0xcc6b78ff, 0x65d924ac, 0xcc64098b,
+  0x65cf01c8, 0xcc5c9c14, 0x65c4dd6e, 0xcc55309b,
+  0x65bab7a0, 0xcc4dc720, 0x65b0905d, 0xcc465fa3,
+  0x65a667a7, 0xcc3efa25, 0x659c3d7c, 0xcc3796a5,
+  0x659211df, 0xcc303524, 0x6587e4cf, 0xcc28d5a3,
+  0x657db64c, 0xcc217822, 0x65738657, 0xcc1a1ca0,
+  0x656954f1, 0xcc12c31f, 0x655f2219, 0xcc0b6b9e,
+  0x6554edd1, 0xcc04161e, 0x654ab818, 0xcbfcc29f,
+  0x654080ef, 0xcbf57121, 0x65364857, 0xcbee21a5,
+  0x652c0e4f, 0xcbe6d42b, 0x6521d2d8, 0xcbdf88b3,
+  0x651795f3, 0xcbd83f3d, 0x650d57a0, 0xcbd0f7ca,
+  0x650317df, 0xcbc9b25a, 0x64f8d6b0, 0xcbc26eee,
+  0x64ee9415, 0xcbbb2d85, 0x64e4500e, 0xcbb3ee20,
+  0x64da0a9a, 0xcbacb0bf, 0x64cfc3ba, 0xcba57563,
+  0x64c57b6f, 0xcb9e3c0b, 0x64bb31ba, 0xcb9704b9,
+  0x64b0e699, 0xcb8fcf6b, 0x64a69a0f, 0xcb889c23,
+  0x649c4c1b, 0xcb816ae1, 0x6491fcbe, 0xcb7a3ba5,
+  0x6487abf7, 0xcb730e70, 0x647d59c8, 0xcb6be341,
+  0x64730631, 0xcb64ba19, 0x6468b132, 0xcb5d92f8,
+  0x645e5acc, 0xcb566ddf, 0x645402ff, 0xcb4f4acd,
+  0x6449a9cc, 0xcb4829c4, 0x643f4f32, 0xcb410ac3,
+  0x6434f332, 0xcb39edca, 0x642a95ce, 0xcb32d2da,
+  0x64203704, 0xcb2bb9f4, 0x6415d6d5, 0xcb24a316,
+  0x640b7543, 0xcb1d8e43, 0x6401124d, 0xcb167b79,
+  0x63f6adf3, 0xcb0f6aba, 0x63ec4837, 0xcb085c05,
+  0x63e1e117, 0xcb014f5b, 0x63d77896, 0xcafa44bc,
+  0x63cd0eb3, 0xcaf33c28, 0x63c2a36f, 0xcaec35a0,
+  0x63b836ca, 0xcae53123, 0x63adc8c4, 0xcade2eb3,
+  0x63a3595e, 0xcad72e4f, 0x6398e898, 0xcad02ff8,
+  0x638e7673, 0xcac933ae, 0x638402ef, 0xcac23971,
+  0x63798e0d, 0xcabb4141, 0x636f17cc, 0xcab44b1f,
+  0x6364a02e, 0xcaad570c, 0x635a2733, 0xcaa66506,
+  0x634facda, 0xca9f750f, 0x63453125, 0xca988727,
+  0x633ab414, 0xca919b4e, 0x633035a7, 0xca8ab184,
+  0x6325b5df, 0xca83c9ca, 0x631b34bc, 0xca7ce420,
+  0x6310b23e, 0xca760086, 0x63062e67, 0xca6f1efc,
+  0x62fba936, 0xca683f83, 0x62f122ab, 0xca61621b,
+  0x62e69ac8, 0xca5a86c4, 0x62dc118c, 0xca53ad7e,
+  0x62d186f8, 0xca4cd64b, 0x62c6fb0c, 0xca460129,
+  0x62bc6dca, 0xca3f2e19, 0x62b1df30, 0xca385d1d,
+  0x62a74f40, 0xca318e32, 0x629cbdfa, 0xca2ac15b,
+  0x62922b5e, 0xca23f698, 0x6287976e, 0xca1d2de7,
+  0x627d0228, 0xca16674b, 0x62726b8e, 0xca0fa2c3,
+  0x6267d3a0, 0xca08e04f, 0x625d3a5e, 0xca021fef,
+  0x62529fca, 0xc9fb61a5, 0x624803e2, 0xc9f4a570,
+  0x623d66a8, 0xc9edeb50, 0x6232c81c, 0xc9e73346,
+  0x6228283f, 0xc9e07d51, 0x621d8711, 0xc9d9c973,
+  0x6212e492, 0xc9d317ab, 0x620840c2, 0xc9cc67fa,
+  0x61fd9ba3, 0xc9c5ba60, 0x61f2f534, 0xc9bf0edd,
+  0x61e84d76, 0xc9b86572, 0x61dda46a, 0xc9b1be1e,
+  0x61d2fa0f, 0xc9ab18e3, 0x61c84e67, 0xc9a475bf,
+  0x61bda171, 0xc99dd4b4, 0x61b2f32e, 0xc99735c2,
+  0x61a8439e, 0xc99098e9, 0x619d92c2, 0xc989fe29,
+  0x6192e09b, 0xc9836582, 0x61882d28, 0xc97ccef5,
+  0x617d786a, 0xc9763a83, 0x6172c262, 0xc96fa82a,
+  0x61680b0f, 0xc96917ec, 0x615d5273, 0xc96289c9,
+  0x6152988d, 0xc95bfdc1, 0x6147dd5f, 0xc95573d4,
+  0x613d20e8, 0xc94eec03, 0x61326329, 0xc948664d,
+  0x6127a423, 0xc941e2b4, 0x611ce3d5, 0xc93b6137,
+  0x61122240, 0xc934e1d6, 0x61075f65, 0xc92e6492,
+  0x60fc9b44, 0xc927e96b, 0x60f1d5de, 0xc9217062,
+  0x60e70f32, 0xc91af976, 0x60dc4742, 0xc91484a8,
+  0x60d17e0d, 0xc90e11f7, 0x60c6b395, 0xc907a166,
+  0x60bbe7d8, 0xc90132f2, 0x60b11ad9, 0xc8fac69e,
+  0x60a64c97, 0xc8f45c68, 0x609b7d13, 0xc8edf452,
+  0x6090ac4d, 0xc8e78e5b, 0x6085da46, 0xc8e12a84,
+  0x607b06fe, 0xc8dac8cd, 0x60703275, 0xc8d46936,
+  0x60655cac, 0xc8ce0bc0, 0x605a85a3, 0xc8c7b06b,
+  0x604fad5b, 0xc8c15736, 0x6044d3d4, 0xc8bb0023,
+  0x6039f90f, 0xc8b4ab32, 0x602f1d0b, 0xc8ae5862,
+  0x60243fca, 0xc8a807b4, 0x6019614c, 0xc8a1b928,
+  0x600e8190, 0xc89b6cbf, 0x6003a099, 0xc8952278,
+  0x5ff8be65, 0xc88eda54, 0x5feddaf6, 0xc8889454,
+  0x5fe2f64c, 0xc8825077, 0x5fd81067, 0xc87c0ebd,
+  0x5fcd2948, 0xc875cf28, 0x5fc240ef, 0xc86f91b7,
+  0x5fb7575c, 0xc869566a, 0x5fac6c91, 0xc8631d42,
+  0x5fa1808c, 0xc85ce63e, 0x5f969350, 0xc856b160,
+  0x5f8ba4dc, 0xc8507ea7, 0x5f80b531, 0xc84a4e14,
+  0x5f75c44e, 0xc8441fa6, 0x5f6ad235, 0xc83df35f,
+  0x5f5fdee6, 0xc837c93e, 0x5f54ea62, 0xc831a143,
+  0x5f49f4a8, 0xc82b7b70, 0x5f3efdb9, 0xc82557c3,
+  0x5f340596, 0xc81f363d, 0x5f290c3f, 0xc81916df,
+  0x5f1e11b5, 0xc812f9a9, 0x5f1315f7, 0xc80cde9b,
+  0x5f081907, 0xc806c5b5, 0x5efd1ae4, 0xc800aef7,
+  0x5ef21b90, 0xc7fa9a62, 0x5ee71b0a, 0xc7f487f6,
+  0x5edc1953, 0xc7ee77b3, 0x5ed1166b, 0xc7e8699a,
+  0x5ec61254, 0xc7e25daa, 0x5ebb0d0d, 0xc7dc53e3,
+  0x5eb00696, 0xc7d64c47, 0x5ea4fef0, 0xc7d046d6,
+  0x5e99f61d, 0xc7ca438f, 0x5e8eec1b, 0xc7c44272,
+  0x5e83e0eb, 0xc7be4381, 0x5e78d48e, 0xc7b846ba,
+  0x5e6dc705, 0xc7b24c20, 0x5e62b84f, 0xc7ac53b1,
+  0x5e57a86d, 0xc7a65d6e, 0x5e4c9760, 0xc7a06957,
+  0x5e418528, 0xc79a776c, 0x5e3671c5, 0xc79487ae,
+  0x5e2b5d38, 0xc78e9a1d, 0x5e204781, 0xc788aeb9,
+  0x5e1530a1, 0xc782c582, 0x5e0a1898, 0xc77cde79,
+  0x5dfeff67, 0xc776f99d, 0x5df3e50d, 0xc77116f0,
+  0x5de8c98c, 0xc76b3671, 0x5dddace4, 0xc7655820,
+  0x5dd28f15, 0xc75f7bfe, 0x5dc7701f, 0xc759a20a,
+  0x5dbc5004, 0xc753ca46, 0x5db12ec3, 0xc74df4b1,
+  0x5da60c5d, 0xc748214c, 0x5d9ae8d2, 0xc7425016,
+  0x5d8fc424, 0xc73c8111, 0x5d849e51, 0xc736b43c,
+  0x5d79775c, 0xc730e997, 0x5d6e4f43, 0xc72b2123,
+  0x5d632608, 0xc7255ae0, 0x5d57fbaa, 0xc71f96ce,
+  0x5d4cd02c, 0xc719d4ed, 0x5d41a38c, 0xc714153e,
+  0x5d3675cb, 0xc70e57c0, 0x5d2b46ea, 0xc7089c75,
+  0x5d2016e9, 0xc702e35c, 0x5d14e5c9, 0xc6fd2c75,
+  0x5d09b389, 0xc6f777c1, 0x5cfe802b, 0xc6f1c540,
+  0x5cf34baf, 0xc6ec14f2, 0x5ce81615, 0xc6e666d7,
+  0x5cdcdf5e, 0xc6e0baf0, 0x5cd1a78a, 0xc6db113d,
+  0x5cc66e99, 0xc6d569be, 0x5cbb348d, 0xc6cfc472,
+  0x5caff965, 0xc6ca215c, 0x5ca4bd21, 0xc6c4807a,
+  0x5c997fc4, 0xc6bee1cd, 0x5c8e414b, 0xc6b94554,
+  0x5c8301b9, 0xc6b3ab12, 0x5c77c10e, 0xc6ae1304,
+  0x5c6c7f4a, 0xc6a87d2d, 0x5c613c6d, 0xc6a2e98b,
+  0x5c55f878, 0xc69d5820, 0x5c4ab36b, 0xc697c8eb,
+  0x5c3f6d47, 0xc6923bec, 0x5c34260c, 0xc68cb124,
+  0x5c28ddbb, 0xc6872894, 0x5c1d9454, 0xc681a23a,
+  0x5c1249d8, 0xc67c1e18, 0x5c06fe46, 0xc6769c2e,
+  0x5bfbb1a0, 0xc6711c7b, 0x5bf063e6, 0xc66b9f01,
+  0x5be51518, 0xc66623be, 0x5bd9c537, 0xc660aab5,
+  0x5bce7442, 0xc65b33e4, 0x5bc3223c, 0xc655bf4c,
+  0x5bb7cf23, 0xc6504ced, 0x5bac7af9, 0xc64adcc7,
+  0x5ba125bd, 0xc6456edb, 0x5b95cf71, 0xc6400329,
+  0x5b8a7815, 0xc63a99b1, 0x5b7f1fa9, 0xc6353273,
+  0x5b73c62d, 0xc62fcd6f, 0x5b686ba3, 0xc62a6aa6,
+  0x5b5d100a, 0xc6250a18, 0x5b51b363, 0xc61fabc4,
+  0x5b4655ae, 0xc61a4fac, 0x5b3af6ec, 0xc614f5cf,
+  0x5b2f971e, 0xc60f9e2e, 0x5b243643, 0xc60a48c9,
+  0x5b18d45c, 0xc604f5a0, 0x5b0d716a, 0xc5ffa4b3,
+  0x5b020d6c, 0xc5fa5603, 0x5af6a865, 0xc5f5098f,
+  0x5aeb4253, 0xc5efbf58, 0x5adfdb37, 0xc5ea775e,
+  0x5ad47312, 0xc5e531a1, 0x5ac909e5, 0xc5dfee22,
+  0x5abd9faf, 0xc5daace1, 0x5ab23471, 0xc5d56ddd,
+  0x5aa6c82b, 0xc5d03118, 0x5a9b5adf, 0xc5caf690,
+  0x5a8fec8c, 0xc5c5be47, 0x5a847d33, 0xc5c0883d,
+  0x5a790cd4, 0xc5bb5472, 0x5a6d9b70, 0xc5b622e6,
+  0x5a622907, 0xc5b0f399, 0x5a56b599, 0xc5abc68c,
+  0x5a4b4128, 0xc5a69bbe, 0x5a3fcbb3, 0xc5a17330,
+  0x5a34553b, 0xc59c4ce3, 0x5a28ddc0, 0xc59728d5,
+  0x5a1d6544, 0xc5920708, 0x5a11ebc5, 0xc58ce77c,
+  0x5a067145, 0xc587ca31, 0x59faf5c5, 0xc582af26,
+  0x59ef7944, 0xc57d965d, 0x59e3fbc3, 0xc5787fd6,
+  0x59d87d42, 0xc5736b90, 0x59ccfdc2, 0xc56e598c,
+  0x59c17d44, 0xc56949ca, 0x59b5fbc8, 0xc5643c4a,
+  0x59aa794d, 0xc55f310d, 0x599ef5d6, 0xc55a2812,
+  0x59937161, 0xc555215a, 0x5987ebf0, 0xc5501ce5,
+  0x597c6584, 0xc54b1ab4, 0x5970de1b, 0xc5461ac6,
+  0x596555b8, 0xc5411d1b, 0x5959cc5a, 0xc53c21b4,
+  0x594e4201, 0xc5372891, 0x5942b6af, 0xc53231b3,
+  0x59372a64, 0xc52d3d18, 0x592b9d1f, 0xc5284ac3,
+  0x59200ee3, 0xc5235ab2, 0x59147fae, 0xc51e6ce6,
+  0x5908ef82, 0xc519815f, 0x58fd5e5f, 0xc514981d,
+  0x58f1cc45, 0xc50fb121, 0x58e63935, 0xc50acc6b,
+  0x58daa52f, 0xc505e9fb, 0x58cf1034, 0xc50109d0,
+  0x58c37a44, 0xc4fc2bec, 0x58b7e35f, 0xc4f7504e,
+  0x58ac4b87, 0xc4f276f7, 0x58a0b2bb, 0xc4ed9fe7,
+  0x589518fc, 0xc4e8cb1e, 0x58897e4a, 0xc4e3f89c,
+  0x587de2a7, 0xc4df2862, 0x58724611, 0xc4da5a6f,
+  0x5866a88a, 0xc4d58ec3, 0x585b0a13, 0xc4d0c560,
+  0x584f6aab, 0xc4cbfe45, 0x5843ca53, 0xc4c73972,
+  0x5838290c, 0xc4c276e8, 0x582c86d5, 0xc4bdb6a6,
+  0x5820e3b0, 0xc4b8f8ad, 0x58153f9d, 0xc4b43cfd,
+  0x58099a9c, 0xc4af8397, 0x57fdf4ae, 0xc4aacc7a,
+  0x57f24dd3, 0xc4a617a6, 0x57e6a60c, 0xc4a1651c,
+  0x57dafd59, 0xc49cb4dd, 0x57cf53bb, 0xc49806e7,
+  0x57c3a931, 0xc4935b3c, 0x57b7fdbd, 0xc48eb1db,
+  0x57ac515f, 0xc48a0ac4, 0x57a0a417, 0xc48565f9,
+  0x5794f5e6, 0xc480c379, 0x578946cc, 0xc47c2344,
+  0x577d96ca, 0xc477855a, 0x5771e5e0, 0xc472e9bc,
+  0x5766340f, 0xc46e5069, 0x575a8157, 0xc469b963,
+  0x574ecdb8, 0xc46524a9, 0x57431933, 0xc460923b,
+  0x573763c9, 0xc45c0219, 0x572bad7a, 0xc4577444,
+  0x571ff646, 0xc452e8bc, 0x57143e2d, 0xc44e5f80,
+  0x57088531, 0xc449d892, 0x56fccb51, 0xc44553f2,
+  0x56f1108f, 0xc440d19e, 0x56e554ea, 0xc43c5199,
+  0x56d99864, 0xc437d3e1, 0x56cddafb, 0xc4335877,
+  0x56c21cb2, 0xc42edf5c, 0x56b65d88, 0xc42a688f,
+  0x56aa9d7e, 0xc425f410, 0x569edc94, 0xc42181e0,
+  0x56931acb, 0xc41d11ff, 0x56875823, 0xc418a46d,
+  0x567b949d, 0xc414392b, 0x566fd039, 0xc40fd037,
+  0x56640af7, 0xc40b6994, 0x565844d8, 0xc4070540,
+  0x564c7ddd, 0xc402a33c, 0x5640b606, 0xc3fe4388,
+  0x5634ed53, 0xc3f9e624, 0x562923c5, 0xc3f58b10,
+  0x561d595d, 0xc3f1324e, 0x56118e1a, 0xc3ecdbdc,
+  0x5605c1fd, 0xc3e887bb, 0x55f9f507, 0xc3e435ea,
+  0x55ee2738, 0xc3dfe66c, 0x55e25890, 0xc3db993e,
+  0x55d68911, 0xc3d74e62, 0x55cab8ba, 0xc3d305d8,
+  0x55bee78c, 0xc3cebfa0, 0x55b31587, 0xc3ca7bba,
+  0x55a742ac, 0xc3c63a26, 0x559b6efb, 0xc3c1fae5,
+  0x558f9a76, 0xc3bdbdf6, 0x5583c51b, 0xc3b9835a,
+  0x5577eeec, 0xc3b54b11, 0x556c17e9, 0xc3b1151b,
+  0x55604013, 0xc3ace178, 0x5554676a, 0xc3a8b028,
+  0x55488dee, 0xc3a4812c, 0x553cb3a0, 0xc3a05484,
+  0x5530d881, 0xc39c2a2f, 0x5524fc90, 0xc398022f,
+  0x55191fcf, 0xc393dc82, 0x550d423d, 0xc38fb92a,
+  0x550163dc, 0xc38b9827, 0x54f584ac, 0xc3877978,
+  0x54e9a4ac, 0xc3835d1e, 0x54ddc3de, 0xc37f4319,
+  0x54d1e242, 0xc37b2b6a, 0x54c5ffd9, 0xc377160f,
+  0x54ba1ca3, 0xc373030a, 0x54ae38a0, 0xc36ef25b,
+  0x54a253d1, 0xc36ae401, 0x54966e36, 0xc366d7fd,
+  0x548a87d1, 0xc362ce50, 0x547ea0a0, 0xc35ec6f8,
+  0x5472b8a5, 0xc35ac1f7, 0x5466cfe1, 0xc356bf4d,
+  0x545ae653, 0xc352bef9, 0x544efbfc, 0xc34ec0fc,
+  0x544310dd, 0xc34ac556, 0x543724f5, 0xc346cc07,
+  0x542b3846, 0xc342d510, 0x541f4ad1, 0xc33ee070,
+  0x54135c94, 0xc33aee27, 0x54076d91, 0xc336fe37,
+  0x53fb7dc9, 0xc333109e, 0x53ef8d3c, 0xc32f255e,
+  0x53e39be9, 0xc32b3c75, 0x53d7a9d3, 0xc32755e5,
+  0x53cbb6f8, 0xc32371ae, 0x53bfc35b, 0xc31f8fcf,
+  0x53b3cefa, 0xc31bb049, 0x53a7d9d7, 0xc317d31c,
+  0x539be3f2, 0xc313f848, 0x538fed4b, 0xc3101fce,
+  0x5383f5e3, 0xc30c49ad, 0x5377fdbb, 0xc30875e5,
+  0x536c04d2, 0xc304a477, 0x53600b2a, 0xc300d563,
+  0x535410c3, 0xc2fd08a9, 0x5348159d, 0xc2f93e4a,
+  0x533c19b8, 0xc2f57644, 0x53301d16, 0xc2f1b099,
+  0x53241fb6, 0xc2eded49, 0x5318219a, 0xc2ea2c53,
+  0x530c22c1, 0xc2e66db8, 0x5300232c, 0xc2e2b178,
+  0x52f422db, 0xc2def794, 0x52e821cf, 0xc2db400a,
+  0x52dc2009, 0xc2d78add, 0x52d01d89, 0xc2d3d80a,
+  0x52c41a4f, 0xc2d02794, 0x52b8165b, 0xc2cc7979,
+  0x52ac11af, 0xc2c8cdbb, 0x52a00c4b, 0xc2c52459,
+  0x5294062f, 0xc2c17d52, 0x5287ff5b, 0xc2bdd8a9,
+  0x527bf7d1, 0xc2ba365c, 0x526fef90, 0xc2b6966c,
+  0x5263e699, 0xc2b2f8d8, 0x5257dced, 0xc2af5da2,
+  0x524bd28c, 0xc2abc4c9, 0x523fc776, 0xc2a82e4d,
+  0x5233bbac, 0xc2a49a2e, 0x5227af2e, 0xc2a1086d,
+  0x521ba1fd, 0xc29d790a, 0x520f941a, 0xc299ec05,
+  0x52038584, 0xc296615d, 0x51f7763c, 0xc292d914,
+  0x51eb6643, 0xc28f5329, 0x51df5599, 0xc28bcf9c,
+  0x51d3443f, 0xc2884e6e, 0x51c73235, 0xc284cf9f,
+  0x51bb1f7c, 0xc281532e, 0x51af0c13, 0xc27dd91c,
+  0x51a2f7fc, 0xc27a616a, 0x5196e337, 0xc276ec16,
+  0x518acdc4, 0xc2737922, 0x517eb7a4, 0xc270088e,
+  0x5172a0d7, 0xc26c9a58, 0x5166895f, 0xc2692e83,
+  0x515a713a, 0xc265c50e, 0x514e586a, 0xc2625df8,
+  0x51423ef0, 0xc25ef943, 0x513624cb, 0xc25b96ee,
+  0x512a09fc, 0xc25836f9, 0x511dee84, 0xc254d965,
+  0x5111d263, 0xc2517e31, 0x5105b599, 0xc24e255e,
+  0x50f99827, 0xc24aceed, 0x50ed7a0e, 0xc2477adc,
+  0x50e15b4e, 0xc244292c, 0x50d53be7, 0xc240d9de,
+  0x50c91bda, 0xc23d8cf1, 0x50bcfb28, 0xc23a4265,
+  0x50b0d9d0, 0xc236fa3b, 0x50a4b7d3, 0xc233b473,
+  0x50989532, 0xc230710d, 0x508c71ee, 0xc22d3009,
+  0x50804e06, 0xc229f167, 0x5074297b, 0xc226b528,
+  0x5068044e, 0xc2237b4b, 0x505bde7f, 0xc22043d0,
+  0x504fb80e, 0xc21d0eb8, 0x504390fd, 0xc219dc03,
+  0x5037694b, 0xc216abb1, 0x502b40f8, 0xc2137dc2,
+  0x501f1807, 0xc2105236, 0x5012ee76, 0xc20d290d,
+  0x5006c446, 0xc20a0248, 0x4ffa9979, 0xc206dde6,
+  0x4fee6e0d, 0xc203bbe8, 0x4fe24205, 0xc2009c4e,
+  0x4fd6155f, 0xc1fd7f17, 0x4fc9e81e, 0xc1fa6445,
+  0x4fbdba40, 0xc1f74bd6, 0x4fb18bc8, 0xc1f435cc,
+  0x4fa55cb4, 0xc1f12227, 0x4f992d06, 0xc1ee10e5,
+  0x4f8cfcbe, 0xc1eb0209, 0x4f80cbdc, 0xc1e7f591,
+  0x4f749a61, 0xc1e4eb7e, 0x4f68684e, 0xc1e1e3d0,
+  0x4f5c35a3, 0xc1dede87, 0x4f500260, 0xc1dbdba3,
+  0x4f43ce86, 0xc1d8db25, 0x4f379a16, 0xc1d5dd0c,
+  0x4f2b650f, 0xc1d2e158, 0x4f1f2f73, 0xc1cfe80a,
+  0x4f12f941, 0xc1ccf122, 0x4f06c27a, 0xc1c9fca0,
+  0x4efa8b20, 0xc1c70a84, 0x4eee5331, 0xc1c41ace,
+  0x4ee21aaf, 0xc1c12d7e, 0x4ed5e19a, 0xc1be4294,
+  0x4ec9a7f3, 0xc1bb5a11, 0x4ebd6db9, 0xc1b873f5,
+  0x4eb132ef, 0xc1b5903f, 0x4ea4f793, 0xc1b2aef0,
+  0x4e98bba7, 0xc1afd007, 0x4e8c7f2a, 0xc1acf386,
+  0x4e80421e, 0xc1aa196c, 0x4e740483, 0xc1a741b9,
+  0x4e67c65a, 0xc1a46c6e, 0x4e5b87a2, 0xc1a1998a,
+  0x4e4f485c, 0xc19ec90d, 0x4e430889, 0xc19bfaf9,
+  0x4e36c82a, 0xc1992f4c, 0x4e2a873e, 0xc1966606,
+  0x4e1e45c6, 0xc1939f29, 0x4e1203c3, 0xc190dab4,
+  0x4e05c135, 0xc18e18a7, 0x4df97e1d, 0xc18b5903,
+  0x4ded3a7b, 0xc1889bc6, 0x4de0f64f, 0xc185e0f3,
+  0x4dd4b19a, 0xc1832888, 0x4dc86c5d, 0xc1807285,
+  0x4dbc2698, 0xc17dbeec, 0x4dafe04b, 0xc17b0dbb,
+  0x4da39978, 0xc1785ef4, 0x4d97521d, 0xc175b296,
+  0x4d8b0a3d, 0xc17308a1, 0x4d7ec1d6, 0xc1706115,
+  0x4d7278eb, 0xc16dbbf3, 0x4d662f7b, 0xc16b193a,
+  0x4d59e586, 0xc16878eb, 0x4d4d9b0e, 0xc165db05,
+  0x4d415013, 0xc1633f8a, 0x4d350495, 0xc160a678,
+  0x4d28b894, 0xc15e0fd1, 0x4d1c6c11, 0xc15b7b94,
+  0x4d101f0e, 0xc158e9c1, 0x4d03d189, 0xc1565a58,
+  0x4cf78383, 0xc153cd5a, 0x4ceb34fe, 0xc15142c6,
+  0x4cdee5f9, 0xc14eba9d, 0x4cd29676, 0xc14c34df,
+  0x4cc64673, 0xc149b18b, 0x4cb9f5f3, 0xc14730a3,
+  0x4cada4f5, 0xc144b225, 0x4ca1537a, 0xc1423613,
+  0x4c950182, 0xc13fbc6c, 0x4c88af0e, 0xc13d4530,
+  0x4c7c5c1e, 0xc13ad060, 0x4c7008b3, 0xc1385dfb,
+  0x4c63b4ce, 0xc135ee02, 0x4c57606e, 0xc1338075,
+  0x4c4b0b94, 0xc1311553, 0x4c3eb641, 0xc12eac9d,
+  0x4c326075, 0xc12c4653, 0x4c260a31, 0xc129e276,
+  0x4c19b374, 0xc1278104, 0x4c0d5c41, 0xc12521ff,
+  0x4c010496, 0xc122c566, 0x4bf4ac75, 0xc1206b39,
+  0x4be853de, 0xc11e1379, 0x4bdbfad1, 0xc11bbe26,
+  0x4bcfa150, 0xc1196b3f, 0x4bc34759, 0xc1171ac6,
+  0x4bb6ecef, 0xc114ccb9, 0x4baa9211, 0xc1128119,
+  0x4b9e36c0, 0xc11037e6, 0x4b91dafc, 0xc10df120,
+  0x4b857ec7, 0xc10bacc8, 0x4b79221f, 0xc1096add,
+  0x4b6cc506, 0xc1072b5f, 0x4b60677c, 0xc104ee4f,
+  0x4b540982, 0xc102b3ac, 0x4b47ab19, 0xc1007b77,
+  0x4b3b4c40, 0xc0fe45b0, 0x4b2eecf8, 0xc0fc1257,
+  0x4b228d42, 0xc0f9e16b, 0x4b162d1d, 0xc0f7b2ee,
+  0x4b09cc8c, 0xc0f586df, 0x4afd6b8d, 0xc0f35d3e,
+  0x4af10a22, 0xc0f1360b, 0x4ae4a84b, 0xc0ef1147,
+  0x4ad84609, 0xc0eceef1, 0x4acbe35b, 0xc0eacf09,
+  0x4abf8043, 0xc0e8b190, 0x4ab31cc1, 0xc0e69686,
+  0x4aa6b8d5, 0xc0e47deb, 0x4a9a5480, 0xc0e267be,
+  0x4a8defc3, 0xc0e05401, 0x4a818a9d, 0xc0de42b2,
+  0x4a752510, 0xc0dc33d2, 0x4a68bf1b, 0xc0da2762,
+  0x4a5c58c0, 0xc0d81d61, 0x4a4ff1fe, 0xc0d615cf,
+  0x4a438ad7, 0xc0d410ad, 0x4a37234a, 0xc0d20dfa,
+  0x4a2abb59, 0xc0d00db6, 0x4a1e5303, 0xc0ce0fe3,
+  0x4a11ea49, 0xc0cc147f, 0x4a05812c, 0xc0ca1b8a,
+  0x49f917ac, 0xc0c82506, 0x49ecadc9, 0xc0c630f2,
+  0x49e04385, 0xc0c43f4d, 0x49d3d8df, 0xc0c25019,
+  0x49c76dd8, 0xc0c06355, 0x49bb0271, 0xc0be7901,
+  0x49ae96aa, 0xc0bc911d, 0x49a22a83, 0xc0baabaa,
+  0x4995bdfd, 0xc0b8c8a7, 0x49895118, 0xc0b6e815,
+  0x497ce3d5, 0xc0b509f3, 0x49707635, 0xc0b32e42,
+  0x49640837, 0xc0b15502, 0x495799dd, 0xc0af7e33,
+  0x494b2b27, 0xc0ada9d4, 0x493ebc14, 0xc0abd7e6,
+  0x49324ca7, 0xc0aa086a, 0x4925dcdf, 0xc0a83b5e,
+  0x49196cbc, 0xc0a670c4, 0x490cfc40, 0xc0a4a89b,
+  0x49008b6a, 0xc0a2e2e3, 0x48f41a3c, 0xc0a11f9d,
+  0x48e7a8b5, 0xc09f5ec8, 0x48db36d6, 0xc09da065,
+  0x48cec4a0, 0xc09be473, 0x48c25213, 0xc09a2af3,
+  0x48b5df30, 0xc09873e4, 0x48a96bf6, 0xc096bf48,
+  0x489cf867, 0xc0950d1d, 0x48908483, 0xc0935d64,
+  0x4884104b, 0xc091b01d, 0x48779bbe, 0xc0900548,
+  0x486b26de, 0xc08e5ce5, 0x485eb1ab, 0xc08cb6f5,
+  0x48523c25, 0xc08b1376, 0x4845c64d, 0xc089726a,
+  0x48395024, 0xc087d3d0, 0x482cd9a9, 0xc08637a9,
+  0x482062de, 0xc0849df4, 0x4813ebc2, 0xc08306b2,
+  0x48077457, 0xc08171e2, 0x47fafc9c, 0xc07fdf85,
+  0x47ee8493, 0xc07e4f9b, 0x47e20c3b, 0xc07cc223,
+  0x47d59396, 0xc07b371e, 0x47c91aa3, 0xc079ae8c,
+  0x47bca163, 0xc078286e, 0x47b027d7, 0xc076a4c2,
+  0x47a3adff, 0xc0752389, 0x479733dc, 0xc073a4c3,
+  0x478ab96e, 0xc0722871, 0x477e3eb5, 0xc070ae92,
+  0x4771c3b3, 0xc06f3726, 0x47654867, 0xc06dc22e,
+  0x4758ccd2, 0xc06c4fa8, 0x474c50f4, 0xc06adf97,
+  0x473fd4cf, 0xc06971f9, 0x47335862, 0xc06806ce,
+  0x4726dbae, 0xc0669e18, 0x471a5eb3, 0xc06537d4,
+  0x470de172, 0xc063d405, 0x470163eb, 0xc06272aa,
+  0x46f4e620, 0xc06113c2, 0x46e86810, 0xc05fb74e,
+  0x46dbe9bb, 0xc05e5d4e, 0x46cf6b23, 0xc05d05c3,
+  0x46c2ec48, 0xc05bb0ab, 0x46b66d29, 0xc05a5e07,
+  0x46a9edc9, 0xc0590dd8, 0x469d6e27, 0xc057c01d,
+  0x4690ee44, 0xc05674d6, 0x46846e1f, 0xc0552c03,
+  0x4677edbb, 0xc053e5a5, 0x466b6d16, 0xc052a1bb,
+  0x465eec33, 0xc0516045, 0x46526b10, 0xc0502145,
+  0x4645e9af, 0xc04ee4b8, 0x46396810, 0xc04daaa1,
+  0x462ce634, 0xc04c72fe, 0x4620641a, 0xc04b3dcf,
+  0x4613e1c5, 0xc04a0b16, 0x46075f33, 0xc048dad1,
+  0x45fadc66, 0xc047ad01, 0x45ee595d, 0xc04681a6,
+  0x45e1d61b, 0xc04558c0, 0x45d5529e, 0xc044324f,
+  0x45c8cee7, 0xc0430e53, 0x45bc4af8, 0xc041eccc,
+  0x45afc6d0, 0xc040cdba, 0x45a3426f, 0xc03fb11d,
+  0x4596bdd7, 0xc03e96f6, 0x458a3908, 0xc03d7f44,
+  0x457db403, 0xc03c6a07, 0x45712ec7, 0xc03b573f,
+  0x4564a955, 0xc03a46ed, 0x455823ae, 0xc0393910,
+  0x454b9dd3, 0xc0382da8, 0x453f17c3, 0xc03724b6,
+  0x4532917f, 0xc0361e3a, 0x45260b08, 0xc0351a33,
+  0x4519845e, 0xc03418a2, 0x450cfd82, 0xc0331986,
+  0x45007674, 0xc0321ce0, 0x44f3ef35, 0xc03122b0,
+  0x44e767c5, 0xc0302af5, 0x44dae024, 0xc02f35b1,
+  0x44ce5854, 0xc02e42e2, 0x44c1d054, 0xc02d5289,
+  0x44b54825, 0xc02c64a6, 0x44a8bfc7, 0xc02b7939,
+  0x449c373c, 0xc02a9042, 0x448fae83, 0xc029a9c1,
+  0x4483259d, 0xc028c5b6, 0x44769c8b, 0xc027e421,
+  0x446a134c, 0xc0270502, 0x445d89e2, 0xc0262859,
+  0x4451004d, 0xc0254e27, 0x4444768d, 0xc024766a,
+  0x4437eca4, 0xc023a124, 0x442b6290, 0xc022ce54,
+  0x441ed854, 0xc021fdfb, 0x44124dee, 0xc0213018,
+  0x4405c361, 0xc02064ab, 0x43f938ac, 0xc01f9bb5,
+  0x43ecadcf, 0xc01ed535, 0x43e022cc, 0xc01e112b,
+  0x43d397a3, 0xc01d4f99, 0x43c70c54, 0xc01c907c,
+  0x43ba80df, 0xc01bd3d6, 0x43adf546, 0xc01b19a7,
+  0x43a16988, 0xc01a61ee, 0x4394dda7, 0xc019acac,
+  0x438851a2, 0xc018f9e1, 0x437bc57b, 0xc018498c,
+  0x436f3931, 0xc0179bae, 0x4362acc5, 0xc016f047,
+  0x43562038, 0xc0164757, 0x43499389, 0xc015a0dd,
+  0x433d06bb, 0xc014fcda, 0x433079cc, 0xc0145b4e,
+  0x4323ecbe, 0xc013bc39, 0x43175f91, 0xc0131f9b,
+  0x430ad245, 0xc0128574, 0x42fe44dc, 0xc011edc3,
+  0x42f1b755, 0xc011588a, 0x42e529b0, 0xc010c5c7,
+  0x42d89bf0, 0xc010357c, 0x42cc0e13, 0xc00fa7a8,
+  0x42bf801a, 0xc00f1c4a, 0x42b2f207, 0xc00e9364,
+  0x42a663d8, 0xc00e0cf5, 0x4299d590, 0xc00d88fd,
+  0x428d472e, 0xc00d077c, 0x4280b8b3, 0xc00c8872,
+  0x42742a1f, 0xc00c0be0, 0x42679b73, 0xc00b91c4,
+  0x425b0caf, 0xc00b1a20, 0x424e7dd4, 0xc00aa4f3,
+  0x4241eee2, 0xc00a323d, 0x42355fd9, 0xc009c1ff,
+  0x4228d0bb, 0xc0095438, 0x421c4188, 0xc008e8e8,
+  0x420fb240, 0xc008800f, 0x420322e3, 0xc00819ae,
+  0x41f69373, 0xc007b5c4, 0x41ea03ef, 0xc0075452,
+  0x41dd7459, 0xc006f556, 0x41d0e4b0, 0xc00698d3,
+  0x41c454f5, 0xc0063ec6, 0x41b7c528, 0xc005e731,
+  0x41ab354b, 0xc0059214, 0x419ea55d, 0xc0053f6e,
+  0x4192155f, 0xc004ef3f, 0x41858552, 0xc004a188,
+  0x4178f536, 0xc0045648, 0x416c650b, 0xc0040d80,
+  0x415fd4d2, 0xc003c72f, 0x4153448c, 0xc0038356,
+  0x4146b438, 0xc00341f4, 0x413a23d8, 0xc003030a,
+  0x412d936c, 0xc002c697, 0x412102f4, 0xc0028c9c,
+  0x41147271, 0xc0025519, 0x4107e1e3, 0xc002200d,
+  0x40fb514b, 0xc001ed78, 0x40eec0aa, 0xc001bd5c,
+  0x40e22fff, 0xc0018fb6, 0x40d59f4c, 0xc0016489,
+  0x40c90e90, 0xc0013bd3, 0x40bc7dcc, 0xc0011594,
+  0x40afed02, 0xc000f1ce, 0x40a35c30, 0xc000d07e,
+  0x4096cb58, 0xc000b1a7, 0x408a3a7b, 0xc0009547,
+  0x407da998, 0xc0007b5f, 0x407118b0, 0xc00063ee,
+  0x406487c4, 0xc0004ef5, 0x4057f6d4, 0xc0003c74,
+  0x404b65e1, 0xc0002c6a, 0x403ed4ea, 0xc0001ed8,
+  0x403243f1, 0xc00013bd, 0x4025b2f7, 0xc0000b1a,
+  0x401921fb, 0xc00004ef, 0x400c90fe, 0xc000013c,
+};
+
+/**    
+* @brief  Initialization function for the Q31 RFFT/RIFFT.   
+* @param[in, out] *S             points to an instance of the Q31 RFFT/RIFFT structure.   
+* @param[in, out] *S_CFFT        points to an instance of the Q31 CFFT/CIFFT structure.   
+* @param[in]      fftLenReal     length of the FFT.   
+* @param[in]      ifftFlagR      flag that selects forward (ifftFlagR=0) or inverse (ifftFlagR=1) transform.   
+* @param[in]      bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.   
+* @return		The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if fftLenReal is not a supported value.   
+*    
+* \par Description:   
+* \par   
+* The parameter fftLenReal	Specifies length of RFFT/RIFFT Process. Supported FFT Lengths are 128, 512, 2048.    
+* \par    
+* The parameter ifftFlagR controls whether a forward or inverse transform is computed.    
+* Set(=1) ifftFlagR to calculate RIFFT, otherwise RFFT is calculated.    
+* \par    
+* The parameter bitReverseFlag controls whether output is in normal order or bit reversed order.    
+* Set(=1) bitReverseFlag for output to be in normal order otherwise output is in bit reversed order.   
+* \par    
+* This function also initializes Twiddle factor table.    
+*/
+
+arm_status arm_rfft_init_q31(
+  arm_rfft_instance_q31 * S,
+  arm_cfft_radix4_instance_q31 * S_CFFT,
+  uint32_t fftLenReal,
+  uint32_t ifftFlagR,
+  uint32_t bitReverseFlag)
+{
+  /*  Initialise the default arm status */
+  arm_status status = ARM_MATH_SUCCESS;
+
+  /*  Initialize the Real FFT length */
+  S->fftLenReal = (uint16_t) fftLenReal;
+
+  /*  Initialize the Complex FFT length */
+  S->fftLenBy2 = (uint16_t) fftLenReal / 2u;
+
+  /*  Initialize the Twiddle coefficientA pointer */
+  S->pTwiddleAReal = (q31_t *) realCoefAQ31;
+
+  /*  Initialize the Twiddle coefficientB pointer */
+  S->pTwiddleBReal = (q31_t *) realCoefBQ31;
+
+  /*  Initialize the Flag for selection of RFFT or RIFFT */
+  S->ifftFlagR = (uint8_t) ifftFlagR;
+
+  /*  Initialize the Flag for calculation Bit reversal or not */
+  S->bitReverseFlagR = (uint8_t) bitReverseFlag;
+
+  /*  Initialization of coef modifier depending on the FFT length */
+  switch (S->fftLenReal)
+  {
+  case 8192:
+    S->twidCoefRModifier = 1u;
+    break;
+  case 2048u:
+    S->twidCoefRModifier = 4u;
+    break;
+  case 512u:
+    S->twidCoefRModifier = 16u;
+    break;
+  case 128u:
+    S->twidCoefRModifier = 64u;
+    break;
+  default:
+    /*  Reporting argument error if rfftSize is not valid value */
+    status = ARM_MATH_ARGUMENT_ERROR;
+    break;
+  }
+
+  /* Init Complex FFT Instance */
+  S->pCfft = S_CFFT;
+
+  if(S->ifftFlagR)
+  {
+    /* Initializes the CIFFT Module for fftLenreal/2 length */
+    arm_cfft_radix4_init_q31(S->pCfft, (uint16_t) S->fftLenBy2, 1u, 1u);
+  }
+  else
+  {
+    /* Initializes the CFFT Module for fftLenreal/2 length */
+    arm_cfft_radix4_init_q31(S->pCfft, (uint16_t) S->fftLenBy2, 0u, 1u);
+  }
+
+  /* return the status of RFFT Init function */
+  return (status);
+
+}
+
+  /**    
+   * @} end of RFFT_RIFFT group    
+   */
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_q15.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_q15.c
new file mode 100644
index 000000000..c0c201277
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_q15.c
@@ -0,0 +1,460 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_rfft_q15.c    
+*    
+* Description:	RFFT & RIFFT Q15 process function    
+*    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* -------------------------------------------------------------------- */
+
+
+#include "arm_math.h"
+
+/*--------------------------------------------------------------------    
+*		Internal functions prototypes    
+--------------------------------------------------------------------*/
+
+void arm_split_rfft_q15(
+  q15_t * pSrc,
+  uint32_t fftLen,
+  q15_t * pATable,
+  q15_t * pBTable,
+  q15_t * pDst,
+  uint32_t modifier);
+
+void arm_split_rifft_q15(
+  q15_t * pSrc,
+  uint32_t fftLen,
+  q15_t * pATable,
+  q15_t * pBTable,
+  q15_t * pDst,
+  uint32_t modifier);
+
+/**    
+ * @addtogroup RFFT_RIFFT    
+ * @{    
+ */
+
+/**    
+ * @brief Processing function for the Q15 RFFT/RIFFT.   
+ * @param[in]  *S    points to an instance of the Q15 RFFT/RIFFT structure.   
+ * @param[in]  *pSrc points to the input buffer.   
+ * @param[out] *pDst points to the output buffer.   
+ * @return none.   
+ *    
+ * \par Input an output formats:   
+ * \par    
+ * Internally input is downscaled by 2 for every stage to avoid saturations inside CFFT/CIFFT process.    
+ * Hence the output format is different for different RFFT sizes.    
+ * The input and output formats for different RFFT sizes and number of bits to upscale are mentioned in the tables below for RFFT and RIFFT:   
+ * \par    
+ * \image html RFFTQ15.gif "Input and Output Formats for Q15 RFFT"    
+ * \par    
+ * \image html RIFFTQ15.gif "Input and Output Formats for Q15 RIFFT"    
+ */
+
+void arm_rfft_q15(
+  const arm_rfft_instance_q15 * S,
+  q15_t * pSrc,
+  q15_t * pDst)
+{
+  const arm_cfft_radix4_instance_q15 *S_CFFT = S->pCfft;
+
+  /* Calculation of RIFFT of input */
+  if(S->ifftFlagR == 1u)
+  {
+    /*  Real IFFT core process */
+    arm_split_rifft_q15(pSrc, S->fftLenBy2, S->pTwiddleAReal,
+                        S->pTwiddleBReal, pDst, S->twidCoefRModifier);
+
+    /* Complex readix-4 IFFT process */
+    arm_radix4_butterfly_inverse_q15(pDst, S_CFFT->fftLen,
+                                     S_CFFT->pTwiddle,
+                                     S_CFFT->twidCoefModifier);
+
+    /* Bit reversal process */
+    if(S->bitReverseFlagR == 1u)
+    {
+      arm_bitreversal_q15(pDst, S_CFFT->fftLen,
+                          S_CFFT->bitRevFactor, S_CFFT->pBitRevTable);
+    }
+  }
+  else
+  {
+    /* Calculation of RFFT of input */
+
+    /* Complex readix-4 FFT process */
+    arm_radix4_butterfly_q15(pSrc, S_CFFT->fftLen,
+                             S_CFFT->pTwiddle, S_CFFT->twidCoefModifier);
+
+    /* Bit reversal process */
+    if(S->bitReverseFlagR == 1u)
+    {
+      arm_bitreversal_q15(pSrc, S_CFFT->fftLen,
+                          S_CFFT->bitRevFactor, S_CFFT->pBitRevTable);
+    }
+
+    arm_split_rfft_q15(pSrc, S->fftLenBy2, S->pTwiddleAReal,
+                       S->pTwiddleBReal, pDst, S->twidCoefRModifier);
+  }
+
+}
+
+  /**    
+   * @} end of RFFT_RIFFT group    
+   */
+
+/**    
+ * @brief  Core Real FFT process    
+ * @param  *pSrc 				points to the input buffer.   
+ * @param  fftLen  				length of FFT.   
+ * @param  *pATable 			points to the A twiddle Coef buffer.    
+ * @param  *pBTable 			points to the B twiddle Coef buffer.   
+ * @param  *pDst 				points to the output buffer.   
+ * @param  modifier 	        twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.   
+ * @return none.    
+ * The function implements a Real FFT    
+ */
+
+void arm_split_rfft_q15(
+  q15_t * pSrc,
+  uint32_t fftLen,
+  q15_t * pATable,
+  q15_t * pBTable,
+  q15_t * pDst,
+  uint32_t modifier)
+{
+  uint32_t i;                                    /* Loop Counter */
+  q31_t outR, outI;                              /* Temporary variables for output */
+  q15_t *pCoefA, *pCoefB;                        /* Temporary pointers for twiddle factors */
+  q15_t *pSrc1, *pSrc2;
+
+
+//  pSrc[2u * fftLen] = pSrc[0]; 
+//  pSrc[(2u * fftLen) + 1u] = pSrc[1]; 
+
+  pCoefA = &pATable[modifier * 2u];
+  pCoefB = &pBTable[modifier * 2u];
+
+  pSrc1 = &pSrc[2];
+  pSrc2 = &pSrc[(2u * fftLen) - 2u];
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  i = 1u;
+
+  while(i < fftLen)
+  {
+    /*    
+       outR = (pSrc[2 * i] * pATable[2 * i] - pSrc[2 * i + 1] * pATable[2 * i + 1]    
+       + pSrc[2 * n - 2 * i] * pBTable[2 * i] +    
+       pSrc[2 * n - 2 * i + 1] * pBTable[2 * i + 1]);    
+     */
+
+    /* outI = (pIn[2 * i + 1] * pATable[2 * i] + pIn[2 * i] * pATable[2 * i + 1] +    
+       pIn[2 * n - 2 * i] * pBTable[2 * i + 1] -    
+       pIn[2 * n - 2 * i + 1] * pBTable[2 * i]); */
+
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+    /* pSrc[2 * i] * pATable[2 * i] - pSrc[2 * i + 1] * pATable[2 * i + 1] */
+    outR = __SMUSD(*__SIMD32(pSrc1), *__SIMD32(pCoefA));
+
+#else
+
+    /* -(pSrc[2 * i + 1] * pATable[2 * i + 1] - pSrc[2 * i] * pATable[2 * i]) */
+    outR = -(__SMUSD(*__SIMD32(pSrc1), *__SIMD32(pCoefA)));
+
+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
+
+    /* pSrc[2 * n - 2 * i] * pBTable[2 * i] +    
+       pSrc[2 * n - 2 * i + 1] * pBTable[2 * i + 1]) */
+    outR = __SMLAD(*__SIMD32(pSrc2), *__SIMD32(pCoefB), outR) >> 15u;
+
+    /* pIn[2 * n - 2 * i] * pBTable[2 * i + 1] -    
+       pIn[2 * n - 2 * i + 1] * pBTable[2 * i] */
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+    outI = __SMUSDX(*__SIMD32(pSrc2)--, *__SIMD32(pCoefB));
+
+#else
+
+    outI = __SMUSDX(*__SIMD32(pCoefB), *__SIMD32(pSrc2)--);
+
+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
+
+    /* (pIn[2 * i + 1] * pATable[2 * i] + pIn[2 * i] * pATable[2 * i + 1] */
+    outI = __SMLADX(*__SIMD32(pSrc1)++, *__SIMD32(pCoefA), outI);
+
+    /* write output */
+    pDst[2u * i] = (q15_t) outR;
+    pDst[(2u * i) + 1u] = outI >> 15u;
+
+    /* write complex conjugate output */
+    pDst[(4u * fftLen) - (2u * i)] = (q15_t) outR;
+    pDst[((4u * fftLen) - (2u * i)) + 1u] = -(outI >> 15u);
+
+    /* update coefficient pointer */
+    pCoefB = pCoefB + (2u * modifier);
+    pCoefA = pCoefA + (2u * modifier);
+
+    i++;
+
+  }
+
+  pDst[2u * fftLen] = pSrc[0] - pSrc[1];
+  pDst[(2u * fftLen) + 1u] = 0;
+
+  pDst[0] = pSrc[0] + pSrc[1];
+  pDst[1] = 0;
+
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  i = 1u;
+
+  while(i < fftLen)
+  {
+    /*    
+       outR = (pSrc[2 * i] * pATable[2 * i] - pSrc[2 * i + 1] * pATable[2 * i + 1]    
+       + pSrc[2 * n - 2 * i] * pBTable[2 * i] +    
+       pSrc[2 * n - 2 * i + 1] * pBTable[2 * i + 1]);    
+     */
+
+    outR = *pSrc1 * *pCoefA;
+    outR = outR - (*(pSrc1 + 1) * *(pCoefA + 1));
+    outR = outR + (*pSrc2 * *pCoefB);
+    outR = (outR + (*(pSrc2 + 1) * *(pCoefB + 1))) >> 15;
+
+
+    /* outI = (pIn[2 * i + 1] * pATable[2 * i] + pIn[2 * i] * pATable[2 * i + 1] +    
+       pIn[2 * n - 2 * i] * pBTable[2 * i + 1] -    
+       pIn[2 * n - 2 * i + 1] * pBTable[2 * i]);   
+     */
+
+    outI = *pSrc2 * *(pCoefB + 1);
+    outI = outI - (*(pSrc2 + 1) * *pCoefB);
+    outI = outI + (*(pSrc1 + 1) * *pCoefA);
+    outI = outI + (*pSrc1 * *(pCoefA + 1));
+
+    /* update input pointers */
+    pSrc1 += 2u;
+    pSrc2 -= 2u;
+
+    /* write output */
+    pDst[2u * i] = (q15_t) outR;
+    pDst[(2u * i) + 1u] = outI >> 15u;
+
+    /* write complex conjugate output */
+    pDst[(4u * fftLen) - (2u * i)] = (q15_t) outR;
+    pDst[((4u * fftLen) - (2u * i)) + 1u] = -(outI >> 15u);
+
+    /* update coefficient pointer */
+    pCoefB = pCoefB + (2u * modifier);
+    pCoefA = pCoefA + (2u * modifier);
+
+    i++;
+
+  }
+
+  pDst[2u * fftLen] = pSrc[0] - pSrc[1];
+  pDst[(2u * fftLen) + 1u] = 0;
+
+  pDst[0] = pSrc[0] + pSrc[1];
+  pDst[1] = 0;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+
+/**    
+ * @brief  Core Real IFFT process    
+ * @param[in]   *pSrc 				points to the input buffer.    
+ * @param[in]   fftLen  		    length of FFT.   
+ * @param[in]   *pATable 			points to the twiddle Coef A buffer.   
+ * @param[in]   *pBTable 			points to the twiddle Coef B buffer.    
+ * @param[out]  *pDst 				points to the output buffer.   
+ * @param[in]   modifier 	        twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.   
+ * @return none.    
+ * The function implements a Real IFFT    
+ */
+void arm_split_rifft_q15(
+  q15_t * pSrc,
+  uint32_t fftLen,
+  q15_t * pATable,
+  q15_t * pBTable,
+  q15_t * pDst,
+  uint32_t modifier)
+{
+  uint32_t i;                                    /* Loop Counter */
+  q31_t outR, outI;                              /* Temporary variables for output */
+  q15_t *pCoefA, *pCoefB;                        /* Temporary pointers for twiddle factors */
+  q15_t *pSrc1, *pSrc2;
+  q15_t *pDst1 = &pDst[0];
+
+  pCoefA = &pATable[0];
+  pCoefB = &pBTable[0];
+
+  pSrc1 = &pSrc[0];
+  pSrc2 = &pSrc[2u * fftLen];
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  i = fftLen;
+
+  while(i > 0u)
+  {
+
+    /*    
+       outR = (pIn[2 * i] * pATable[2 * i] + pIn[2 * i + 1] * pATable[2 * i + 1] +    
+       pIn[2 * n - 2 * i] * pBTable[2 * i] -    
+       pIn[2 * n - 2 * i + 1] * pBTable[2 * i + 1]);    
+
+       outI = (pIn[2 * i + 1] * pATable[2 * i] - pIn[2 * i] * pATable[2 * i + 1] -    
+       pIn[2 * n - 2 * i] * pBTable[2 * i + 1] -    
+       pIn[2 * n - 2 * i + 1] * pBTable[2 * i]);    
+
+     */
+
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+    /* pIn[2 * n - 2 * i] * pBTable[2 * i] -    
+       pIn[2 * n - 2 * i + 1] * pBTable[2 * i + 1]) */
+    outR = __SMUSD(*__SIMD32(pSrc2), *__SIMD32(pCoefB));
+
+#else
+
+    /* -(-pIn[2 * n - 2 * i] * pBTable[2 * i] +  
+       pIn[2 * n - 2 * i + 1] * pBTable[2 * i + 1])) */
+    outR = -(__SMUSD(*__SIMD32(pSrc2), *__SIMD32(pCoefB)));
+
+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
+
+    /* pIn[2 * i] * pATable[2 * i] + pIn[2 * i + 1] * pATable[2 * i + 1] +    
+       pIn[2 * n - 2 * i] * pBTable[2 * i] */
+    outR = __SMLAD(*__SIMD32(pSrc1), *__SIMD32(pCoefA), outR) >> 15u;
+
+    /*    
+       -pIn[2 * n - 2 * i] * pBTable[2 * i + 1] +    
+       pIn[2 * n - 2 * i + 1] * pBTable[2 * i] */
+    outI = __SMUADX(*__SIMD32(pSrc2)--, *__SIMD32(pCoefB));
+
+    /* pIn[2 * i + 1] * pATable[2 * i] - pIn[2 * i] * pATable[2 * i + 1] */
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+    outI = __SMLSDX(*__SIMD32(pCoefA), *__SIMD32(pSrc1)++, -outI);
+
+#else
+
+    outI = __SMLSDX(*__SIMD32(pSrc1)++, *__SIMD32(pCoefA), -outI);
+
+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
+    /* write output */
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+    *__SIMD32(pDst1)++ = __PKHBT(outR, (outI >> 15u), 16);
+
+#else
+
+    *__SIMD32(pDst1)++ = __PKHBT((outI >> 15u), outR, 16);
+
+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
+
+    /* update coefficient pointer */
+    pCoefB = pCoefB + (2u * modifier);
+    pCoefA = pCoefA + (2u * modifier);
+
+    i--;
+
+  }
+
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  i = fftLen;
+
+  while(i > 0u)
+  {
+
+    /*    
+       outR = (pIn[2 * i] * pATable[2 * i] + pIn[2 * i + 1] * pATable[2 * i + 1] +    
+       pIn[2 * n - 2 * i] * pBTable[2 * i] -    
+       pIn[2 * n - 2 * i + 1] * pBTable[2 * i + 1]);    
+     */
+
+    outR = *pSrc2 * *pCoefB;
+    outR = outR - (*(pSrc2 + 1) * *(pCoefB + 1));
+    outR = outR + (*pSrc1 * *pCoefA);
+    outR = (outR + (*(pSrc1 + 1) * *(pCoefA + 1))) >> 15;
+
+    /*   
+       outI = (pIn[2 * i + 1] * pATable[2 * i] - pIn[2 * i] * pATable[2 * i + 1] -   
+       pIn[2 * n - 2 * i] * pBTable[2 * i + 1] -   
+       pIn[2 * n - 2 * i + 1] * pBTable[2 * i]);   
+     */
+
+    outI = *(pSrc1 + 1) * *pCoefA;
+    outI = outI - (*pSrc1 * *(pCoefA + 1));
+    outI = outI - (*pSrc2 * *(pCoefB + 1));
+    outI = outI - (*(pSrc2 + 1) * *(pCoefB));
+
+    /* update input pointers */
+    pSrc1 += 2u;
+    pSrc2 -= 2u;
+
+    /* write output */
+    *pDst1++ = (q15_t) outR;
+    *pDst1++ = (q15_t) (outI >> 15);
+
+    /* update coefficient pointer */
+    pCoefB = pCoefB + (2u * modifier);
+    pCoefA = pCoefA + (2u * modifier);
+
+    i--;
+
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_q31.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_q31.c
new file mode 100644
index 000000000..afcb47041
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/TransformFunctions/arm_rfft_q31.c
@@ -0,0 +1,326 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_rfft_q31.c    
+*    
+* Description:	RFFT & RIFFT Q31 process function    
+*    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.7  2010/06/10     
+*    Misra-C changes done    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/*--------------------------------------------------------------------    
+*		Internal functions prototypes    
+--------------------------------------------------------------------*/
+
+void arm_split_rfft_q31(
+  q31_t * pSrc,
+  uint32_t fftLen,
+  q31_t * pATable,
+  q31_t * pBTable,
+  q31_t * pDst,
+  uint32_t modifier);
+
+void arm_split_rifft_q31(
+  q31_t * pSrc,
+  uint32_t fftLen,
+  q31_t * pATable,
+  q31_t * pBTable,
+  q31_t * pDst,
+  uint32_t modifier);
+
+/**    
+ * @addtogroup RFFT_RIFFT    
+ * @{    
+ */
+
+/**    
+ * @brief Processing function for the Q31 RFFT/RIFFT.   
+ * @param[in]  *S    points to an instance of the Q31 RFFT/RIFFT structure.   
+ * @param[in]  *pSrc points to the input buffer.   
+ * @param[out] *pDst points to the output buffer.   
+ * @return none.   
+ *    
+ * \par Input an output formats:   
+ * \par    
+ * Internally input is downscaled by 2 for every stage to avoid saturations inside CFFT/CIFFT process.   
+ * Hence the output format is different for different RFFT sizes.    
+ * The input and output formats for different RFFT sizes and number of bits to upscale are mentioned in the tables below for RFFT and RIFFT:   
+ * \par    
+ * \image html RFFTQ31.gif "Input and Output Formats for Q31 RFFT"    
+ *    
+ * \par    
+ * \image html RIFFTQ31.gif "Input and Output Formats for Q31 RIFFT"    
+ */
+
+void arm_rfft_q31(
+  const arm_rfft_instance_q31 * S,
+  q31_t * pSrc,
+  q31_t * pDst)
+{
+  const arm_cfft_radix4_instance_q31 *S_CFFT = S->pCfft;
+
+  /* Calculation of RIFFT of input */
+  if(S->ifftFlagR == 1u)
+  {
+    /*  Real IFFT core process */
+    arm_split_rifft_q31(pSrc, S->fftLenBy2, S->pTwiddleAReal,
+                        S->pTwiddleBReal, pDst, S->twidCoefRModifier);
+
+    /* Complex readix-4 IFFT process */
+    arm_radix4_butterfly_inverse_q31(pDst, S_CFFT->fftLen,
+                                     S_CFFT->pTwiddle,
+                                     S_CFFT->twidCoefModifier);
+    /* Bit reversal process */
+    if(S->bitReverseFlagR == 1u)
+    {
+      arm_bitreversal_q31(pDst, S_CFFT->fftLen,
+                          S_CFFT->bitRevFactor, S_CFFT->pBitRevTable);
+    }
+  }
+  else
+  {
+    /* Calculation of RFFT of input */
+
+    /* Complex readix-4 FFT process */
+    arm_radix4_butterfly_q31(pSrc, S_CFFT->fftLen,
+                             S_CFFT->pTwiddle, S_CFFT->twidCoefModifier);
+
+    /* Bit reversal process */
+    if(S->bitReverseFlagR == 1u)
+    {
+      arm_bitreversal_q31(pSrc, S_CFFT->fftLen,
+                          S_CFFT->bitRevFactor, S_CFFT->pBitRevTable);
+    }
+
+    /*  Real FFT core process */
+    arm_split_rfft_q31(pSrc, S->fftLenBy2, S->pTwiddleAReal,
+                       S->pTwiddleBReal, pDst, S->twidCoefRModifier);
+  }
+
+}
+
+
+  /**    
+   * @} end of RFFT_RIFFT group    
+   */
+
+/**    
+ * @brief  Core Real FFT process    
+ * @param[in]   *pSrc 				points to the input buffer.    
+ * @param[in]   fftLen  			length of FFT.   
+ * @param[in]   *pATable 			points to the twiddle Coef A buffer.    
+ * @param[in]   *pBTable 			points to the twiddle Coef B buffer.    
+ * @param[out]  *pDst 				points to the output buffer.    
+ * @param[in]   modifier 	        twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.   
+ * @return none.    
+ */
+
+void arm_split_rfft_q31(
+  q31_t * pSrc,
+  uint32_t fftLen,
+  q31_t * pATable,
+  q31_t * pBTable,
+  q31_t * pDst,
+  uint32_t modifier)
+{
+  uint32_t i;                                    /* Loop Counter */
+  q31_t outR, outI;                              /* Temporary variables for output */
+  q31_t *pCoefA, *pCoefB;                        /* Temporary pointers for twiddle factors */
+  q31_t CoefA1, CoefA2, CoefB1;                  /* Temporary variables for twiddle coefficients */
+  q31_t *pOut1 = &pDst[2], *pOut2 = &pDst[(4u * fftLen) - 1u];
+  q31_t *pIn1 = &pSrc[2], *pIn2 = &pSrc[(2u * fftLen) - 1u];
+
+  /* Init coefficient pointers */
+  pCoefA = &pATable[modifier * 2u];
+  pCoefB = &pBTable[modifier * 2u];
+
+  i = fftLen - 1u;
+
+  while(i > 0u)
+  {
+    /*    
+       outR = (pSrc[2 * i] * pATable[2 * i] - pSrc[2 * i + 1] * pATable[2 * i + 1]    
+       + pSrc[2 * n - 2 * i] * pBTable[2 * i] +    
+       pSrc[2 * n - 2 * i + 1] * pBTable[2 * i + 1]);    
+     */
+
+    /* outI = (pIn[2 * i + 1] * pATable[2 * i] + pIn[2 * i] * pATable[2 * i + 1] +    
+       pIn[2 * n - 2 * i] * pBTable[2 * i + 1] -    
+       pIn[2 * n - 2 * i + 1] * pBTable[2 * i]); */
+
+    CoefA1 = *pCoefA++;
+    CoefA2 = *pCoefA;
+
+    /* outR = (pSrc[2 * i] * pATable[2 * i] */
+    outR = ((int32_t) (((q63_t) * pIn1 * CoefA1) >> 32));
+
+    /* outI = pIn[2 * i] * pATable[2 * i + 1] */
+    outI = ((int32_t) (((q63_t) * pIn1++ * CoefA2) >> 32));
+
+    /* - pSrc[2 * i + 1] * pATable[2 * i + 1] */
+    outR =
+      (q31_t) ((((q63_t) outR << 32) + ((q63_t) * pIn1 * (-CoefA2))) >> 32);
+
+    /* (pIn[2 * i + 1] * pATable[2 * i] */
+    outI =
+      (q31_t) ((((q63_t) outI << 32) + ((q63_t) * pIn1++ * (CoefA1))) >> 32);
+
+    /* pSrc[2 * n - 2 * i] * pBTable[2 * i]  */
+    outR =
+      (q31_t) ((((q63_t) outR << 32) + ((q63_t) * pIn2 * (-CoefA2))) >> 32);
+    CoefB1 = *pCoefB;
+
+    /* pIn[2 * n - 2 * i] * pBTable[2 * i + 1] */
+    outI =
+      (q31_t) ((((q63_t) outI << 32) + ((q63_t) * pIn2-- * (-CoefB1))) >> 32);
+
+    /* pSrc[2 * n - 2 * i + 1] * pBTable[2 * i + 1] */
+    outR =
+      (q31_t) ((((q63_t) outR << 32) + ((q63_t) * pIn2 * (CoefB1))) >> 32);
+
+    /* pIn[2 * n - 2 * i + 1] * pBTable[2 * i] */
+    outI =
+      (q31_t) ((((q63_t) outI << 32) + ((q63_t) * pIn2-- * (-CoefA2))) >> 32);
+
+    /* write output */
+    *pOut1++ = (outR << 1u);
+    *pOut1++ = (outI << 1u);
+
+    /* write complex conjugate output */
+    *pOut2-- = -(outI << 1u);
+    *pOut2-- = (outR << 1u);
+
+    /* update coefficient pointer */
+    pCoefB = pCoefB + (modifier * 2u);
+    pCoefA = pCoefA + ((modifier * 2u) - 1u);
+
+    i--;
+
+  }
+
+  pDst[2u * fftLen] = pSrc[0] - pSrc[1];
+  pDst[(2u * fftLen) + 1u] = 0;
+
+  pDst[0] = pSrc[0] + pSrc[1];
+  pDst[1] = 0;
+
+}
+
+
+/**    
+ * @brief  Core Real IFFT process    
+ * @param[in]   *pSrc 				points to the input buffer.   
+ * @param[in]   fftLen  			length of FFT.    
+ * @param[in]   *pATable 			points to the twiddle Coef A buffer.   
+ * @param[in]   *pBTable 			points to the twiddle Coef B buffer.    
+ * @param[out]  *pDst 				points to the output buffer.   
+ * @param[in]   modifier 	        twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.   
+ * @return none.    
+ */
+
+void arm_split_rifft_q31(
+  q31_t * pSrc,
+  uint32_t fftLen,
+  q31_t * pATable,
+  q31_t * pBTable,
+  q31_t * pDst,
+  uint32_t modifier)
+{
+  q31_t outR, outI;                              /* Temporary variables for output */
+  q31_t *pCoefA, *pCoefB;                        /* Temporary pointers for twiddle factors */
+  q31_t CoefA1, CoefA2, CoefB1;                  /* Temporary variables for twiddle coefficients */
+  q31_t *pIn1 = &pSrc[0], *pIn2 = &pSrc[(2u * fftLen) + 1u];
+
+  pCoefA = &pATable[0];
+  pCoefB = &pBTable[0];
+
+  while(fftLen > 0u)
+  {
+    /*    
+       outR = (pIn[2 * i] * pATable[2 * i] + pIn[2 * i + 1] * pATable[2 * i + 1] +    
+       pIn[2 * n - 2 * i] * pBTable[2 * i] -    
+       pIn[2 * n - 2 * i + 1] * pBTable[2 * i + 1]);    
+
+       outI = (pIn[2 * i + 1] * pATable[2 * i] - pIn[2 * i] * pATable[2 * i + 1] -    
+       pIn[2 * n - 2 * i] * pBTable[2 * i + 1] -    
+       pIn[2 * n - 2 * i + 1] * pBTable[2 * i]);    
+
+     */
+    CoefA1 = *pCoefA++;
+    CoefA2 = *pCoefA;
+
+    /* outR = (pIn[2 * i] * pATable[2 * i] */
+    outR = ((int32_t) (((q63_t) * pIn1 * CoefA1) >> 32));
+
+    /* - pIn[2 * i] * pATable[2 * i + 1] */
+    outI = -((int32_t) (((q63_t) * pIn1++ * CoefA2) >> 32));
+
+    /* pIn[2 * i + 1] * pATable[2 * i + 1] */
+    outR =
+      (q31_t) ((((q63_t) outR << 32) + ((q63_t) * pIn1 * (CoefA2))) >> 32);
+
+    /* pIn[2 * i + 1] * pATable[2 * i] */
+    outI =
+      (q31_t) ((((q63_t) outI << 32) + ((q63_t) * pIn1++ * (CoefA1))) >> 32);
+
+    /* pIn[2 * n - 2 * i] * pBTable[2 * i] */
+    outR =
+      (q31_t) ((((q63_t) outR << 32) + ((q63_t) * pIn2 * (CoefA2))) >> 32);
+
+    CoefB1 = *pCoefB;
+
+    /* pIn[2 * n - 2 * i] * pBTable[2 * i + 1] */
+    outI =
+      (q31_t) ((((q63_t) outI << 32) - ((q63_t) * pIn2-- * (CoefB1))) >> 32);
+
+    /* pIn[2 * n - 2 * i + 1] * pBTable[2 * i + 1] */
+    outR =
+      (q31_t) ((((q63_t) outR << 32) + ((q63_t) * pIn2 * (CoefB1))) >> 32);
+
+    /* pIn[2 * n - 2 * i + 1] * pBTable[2 * i] */
+    outI =
+      (q31_t) ((((q63_t) outI << 32) + ((q63_t) * pIn2-- * (CoefA2))) >> 32);
+
+    /* write output */
+    *pDst++ = (outR << 1u);
+    *pDst++ = (outI << 1u);
+
+    /* update coefficient pointer */
+    pCoefB = pCoefB + (modifier * 2u);
+    pCoefA = pCoefA + ((modifier * 2u) - 1u);
+
+    /* Decrement loop count */
+    fftLen--;
+
+  }
+
+
+}
diff --git a/src/modules/mathlib/CMSIS/Device/ARM/ARMCM3/Include/ARMCM3.h b/src/modules/mathlib/CMSIS/Device/ARM/ARMCM3/Include/ARMCM3.h
new file mode 100644
index 000000000..8f39acd9d
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/Device/ARM/ARMCM3/Include/ARMCM3.h
@@ -0,0 +1,264 @@
+/**************************************************************************//**
+ * @file     ARMCM3.h
+ * @brief    CMSIS Core Peripheral Access Layer Header File for
+ *           ARMCM3 Device Series
+ * @version  V1.07
+ * @date     30. January 2012
+ *
+ * @note
+ * Copyright (C) 2012 ARM Limited. All rights reserved.
+ *
+ * @par
+ * ARM Limited (ARM) is supplying this software for use with Cortex-M 
+ * processor based microcontrollers.  This file can be freely distributed 
+ * within development tools that are supporting such ARM based processors. 
+ *
+ * @par
+ * THIS SOFTWARE IS PROVIDED "AS IS".  NO WARRANTIES, WHETHER EXPRESS, IMPLIED
+ * OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
+ * ARM SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR
+ * CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
+ *
+ ******************************************************************************/
+
+#ifndef ARMCM3_H
+#define ARMCM3_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+/* -------------------------  Interrupt Number Definition  ------------------------ */
+
+typedef enum IRQn
+{
+/* -------------------  Cortex-M3 Processor Exceptions Numbers  ------------------- */
+  NonMaskableInt_IRQn           = -14,      /*!<  2 Non Maskable Interrupt          */
+  HardFault_IRQn                = -13,      /*!<  3 HardFault Interrupt             */
+  MemoryManagement_IRQn         = -12,      /*!<  4 Memory Management Interrupt     */
+  BusFault_IRQn                 = -11,      /*!<  5 Bus Fault Interrupt             */
+  UsageFault_IRQn               = -10,      /*!<  6 Usage Fault Interrupt           */
+  SVCall_IRQn                   =  -5,      /*!< 11 SV Call Interrupt               */
+  DebugMonitor_IRQn             =  -4,      /*!< 12 Debug Monitor Interrupt         */
+  PendSV_IRQn                   =  -2,      /*!< 14 Pend SV Interrupt               */
+  SysTick_IRQn                  =  -1,      /*!< 15 System Tick Interrupt           */
+
+/* ----------------------  ARMCM3 Specific Interrupt Numbers  --------------------- */
+  WDT_IRQn                      =   0,      /*!< Watchdog Timer Interrupt           */
+  RTC_IRQn                      =   1,      /*!< Real Time Clock Interrupt          */
+  TIM0_IRQn                     =   2,      /*!< Timer0 / Timer1 Interrupt          */
+  TIM2_IRQn                     =   3,      /*!< Timer2 / Timer3 Interrupt          */
+  MCIA_IRQn                     =   4,      /*!< MCIa Interrupt                     */
+  MCIB_IRQn                     =   5,      /*!< MCIb Interrupt                     */
+  UART0_IRQn                    =   6,      /*!< UART0 Interrupt                    */
+  UART1_IRQn                    =   7,      /*!< UART1 Interrupt                    */
+  UART2_IRQn                    =   8,      /*!< UART2 Interrupt                    */
+  UART4_IRQn                    =   9,      /*!< UART4 Interrupt                    */
+  AACI_IRQn                     =  10,      /*!< AACI / AC97 Interrupt              */
+  CLCD_IRQn                     =  11,      /*!< CLCD Combined Interrupt            */
+  ENET_IRQn                     =  12,      /*!< Ethernet Interrupt                 */
+  USBDC_IRQn                    =  13,      /*!< USB Device Interrupt               */
+  USBHC_IRQn                    =  14,      /*!< USB Host Controller Interrupt      */
+  CHLCD_IRQn                    =  15,      /*!< Character LCD Interrupt            */
+  FLEXRAY_IRQn                  =  16,      /*!< Flexray Interrupt                  */
+  CAN_IRQn                      =  17,      /*!< CAN Interrupt                      */
+  LIN_IRQn                      =  18,      /*!< LIN Interrupt                      */
+  I2C_IRQn                      =  19,      /*!< I2C ADC/DAC Interrupt              */
+  CPU_CLCD_IRQn                 =  28,      /*!< CPU CLCD Combined Interrupt        */
+  UART3_IRQn                    =  30,      /*!< UART3 Interrupt                    */
+  SPI_IRQn                      =  31,      /*!< SPI Touchscreen Interrupt          */
+} IRQn_Type;
+
+
+/* ================================================================================ */
+/* ================      Processor and Core Peripheral Section     ================ */
+/* ================================================================================ */
+
+/* --------  Configuration of the Cortex-M4 Processor and Core Peripherals  ------- */
+#define __CM3_REV                 0x0201    /*!< Core revision r2p1                              */
+#define __MPU_PRESENT             1         /*!< MPU present or not                              */
+#define __NVIC_PRIO_BITS          3         /*!< Number of Bits used for Priority Levels         */
+#define __Vendor_SysTickConfig    0         /*!< Set to 1 if different SysTick Config is used    */
+
+#include                        /* Processor and core peripherals                    */
+/* NuttX */
+//#include "system_ARMCM3.h"                  /* System Header                                     */
+
+
+/* ================================================================================ */
+/* ================       Device Specific Peripheral Section       ================ */
+/* ================================================================================ */
+
+/* -------------------  Start of section using anonymous unions  ------------------ */
+#if defined(__CC_ARM)
+  #pragma push
+  #pragma anon_unions
+#elif defined(__ICCARM__)
+  #pragma language=extended
+#elif defined(__GNUC__)
+  /* anonymous unions are enabled by default */
+#elif defined(__TMS470__)
+/* anonymous unions are enabled by default */
+#elif defined(__TASKING__)
+  #pragma warning 586
+#else
+  #warning Not supported compiler type
+#endif
+
+
+
+/* ================================================================================ */
+/* ================            CPU FPGA System (CPU_SYS)           ================ */
+/* ================================================================================ */
+typedef struct
+{
+  __I  uint32_t ID;               /* Offset: 0x000 (R/ )  Board and FPGA Identifier */
+  __IO uint32_t MEMCFG;           /* Offset: 0x004 (R/W)  Remap and Alias Memory Control */
+  __I  uint32_t SW;               /* Offset: 0x008 (R/ )  Switch States */
+  __IO uint32_t LED;              /* Offset: 0x00C (R/W)  LED Output States */
+  __I  uint32_t TS;               /* Offset: 0x010 (R/ )  Touchscreen Register */
+  __IO uint32_t CTRL1;            /* Offset: 0x014 (R/W)  Misc Control Functions */
+       uint32_t RESERVED0[2];
+  __IO uint32_t CLKCFG;           /* Offset: 0x020 (R/W)  System Clock Configuration */
+  __IO uint32_t WSCFG;            /* Offset: 0x024 (R/W)  Flash Waitstate Configuration */
+  __IO uint32_t CPUCFG;           /* Offset: 0x028 (R/W)  Processor Configuration */
+       uint32_t RESERVED1[3];
+  __IO uint32_t BASE;             /* Offset: 0x038 (R/W)  ROM Table base Address */
+  __IO uint32_t ID2;              /* Offset: 0x03C (R/W)  Secondary Identification Register */
+} ARM_CPU_SYS_TypeDef;
+
+
+/* ================================================================================ */
+/* ================            DUT FPGA System (DUT_SYS)           ================ */
+/* ================================================================================ */
+typedef struct
+{
+  __I  uint32_t ID;               /* Offset: 0x000 (R/ )  Board and FPGA Identifier */
+  __IO uint32_t PERCFG;           /* Offset: 0x004 (R/W)  Peripheral Control Signals */
+  __I  uint32_t SW;               /* Offset: 0x008 (R/ )  Switch States */
+  __IO uint32_t LED;              /* Offset: 0x00C (R/W)  LED Output States */
+  __IO uint32_t SEG7;             /* Offset: 0x010 (R/W)  7-segment LED Output States */
+  __I  uint32_t CNT25MHz;         /* Offset: 0x014 (R/ )  Freerunning counter incrementing at 25MHz */
+  __I  uint32_t CNT100Hz;         /* Offset: 0x018 (R/ )  Freerunning counter incrementing at 100Hz */
+} ARM_DUT_SYS_TypeDef;
+
+
+/* ================================================================================ */
+/* ================                   Timer (TIM)                  ================ */
+/* ================================================================================ */
+typedef struct
+{
+  __IO uint32_t Timer1Load;       /* Offset: 0x000 (R/W)  Timer 1 Load */
+  __I  uint32_t Timer1Value;      /* Offset: 0x004 (R/ )  Timer 1 Counter Current Value */
+  __IO uint32_t Timer1Control;    /* Offset: 0x008 (R/W)  Timer 1 Control */
+  __O  uint32_t Timer1IntClr;     /* Offset: 0x00C ( /W)  Timer 1 Interrupt Clear */
+  __I  uint32_t Timer1RIS;        /* Offset: 0x010 (R/ )  Timer 1 Raw Interrupt Status */
+  __I  uint32_t Timer1MIS;        /* Offset: 0x014 (R/ )  Timer 1 Masked Interrupt Status */
+  __IO uint32_t Timer1BGLoad;     /* Offset: 0x018 (R/W)  Background Load Register */
+       uint32_t RESERVED0[1];
+  __IO uint32_t Timer2Load;       /* Offset: 0x020 (R/W)  Timer 2 Load */
+  __I  uint32_t Timer2Value;      /* Offset: 0x024 (R/ )  Timer 2 Counter Current Value */
+  __IO uint32_t Timer2Control;    /* Offset: 0x028 (R/W)  Timer 2 Control */
+  __O  uint32_t Timer2IntClr;     /* Offset: 0x02C ( /W)  Timer 2 Interrupt Clear */
+  __I  uint32_t Timer2RIS;        /* Offset: 0x030 (R/ )  Timer 2 Raw Interrupt Status */
+  __I  uint32_t Timer2MIS;        /* Offset: 0x034 (R/ )  Timer 2 Masked Interrupt Status */
+  __IO uint32_t Timer2BGLoad;     /* Offset: 0x038 (R/W)  Background Load Register */
+} ARM_TIM_TypeDef;
+
+
+/* ================================================================================ */
+/* ============== Universal Asyncronous Receiver / Transmitter (UART) ============= */
+/* ================================================================================ */
+typedef struct
+{
+  __IO uint32_t DR;               /* Offset: 0x000 (R/W)  Data */ 
+  union {
+  __I  uint32_t RSR;              /* Offset: 0x000 (R/ )  Receive Status */
+  __O  uint32_t ECR;              /* Offset: 0x000 ( /W)  Error Clear */
+  };
+       uint32_t RESERVED0[4];
+  __IO uint32_t FR;               /* Offset: 0x018 (R/W)  Flags */
+       uint32_t RESERVED1[1];
+  __IO uint32_t ILPR;             /* Offset: 0x020 (R/W)  IrDA Low-power Counter */
+  __IO uint32_t IBRD;             /* Offset: 0x024 (R/W)  Interger Baud Rate */
+  __IO uint32_t FBRD;             /* Offset: 0x028 (R/W)  Fractional Baud Rate */
+  __IO uint32_t LCR_H;            /* Offset: 0x02C (R/W)  Line Control */
+  __IO uint32_t CR;               /* Offset: 0x030 (R/W)  Control */
+  __IO uint32_t IFLS;             /* Offset: 0x034 (R/W)  Interrupt FIFO Level Select */
+  __IO uint32_t IMSC;             /* Offset: 0x038 (R/W)  Interrupt Mask Set / Clear */
+  __IO uint32_t RIS;              /* Offset: 0x03C (R/W)  Raw Interrupt Status */
+  __IO uint32_t MIS;              /* Offset: 0x040 (R/W)  Masked Interrupt Status */
+  __O  uint32_t ICR;              /* Offset: 0x044 ( /W)  Interrupt Clear */
+  __IO uint32_t DMACR;            /* Offset: 0x048 (R/W)  DMA Control */
+} ARM_UART_TypeDef;
+
+
+/* --------------------  End of section using anonymous unions  ------------------- */
+#if defined(__CC_ARM)
+  #pragma pop
+#elif defined(__ICCARM__)
+  /* leave anonymous unions enabled */
+#elif defined(__GNUC__)
+  /* anonymous unions are enabled by default */
+#elif defined(__TMS470__)
+  /* anonymous unions are enabled by default */
+#elif defined(__TASKING__)
+  #pragma warning restore
+#else
+  #warning Not supported compiler type
+#endif
+
+
+
+
+/* ================================================================================ */
+/* ================              Peripheral memory map             ================ */
+/* ================================================================================ */
+/* --------------------------  CPU FPGA memory map  ------------------------------- */
+#define ARM_FLASH_BASE            (0x00000000UL)
+#define ARM_RAM_BASE              (0x20000000UL)
+#define ARM_RAM_FPGA_BASE         (0x1EFF0000UL)
+#define ARM_CPU_CFG_BASE          (0xDFFF0000UL)
+
+#define ARM_CPU_SYS_BASE          (ARM_CPU_CFG_BASE  + 0x00000)
+#define ARM_UART3_BASE            (ARM_CPU_CFG_BASE  + 0x05000)
+
+/* --------------------------  DUT FPGA memory map  ------------------------------- */
+#define ARM_APB_BASE              (0x40000000UL)
+#define ARM_AHB_BASE              (0x4FF00000UL)
+#define ARM_DMC_BASE              (0x60000000UL)
+#define ARM_SMC_BASE              (0xA0000000UL)
+
+#define ARM_TIM0_BASE             (ARM_APB_BASE      + 0x02000)
+#define ARM_TIM2_BASE             (ARM_APB_BASE      + 0x03000)
+#define ARM_DUT_SYS_BASE          (ARM_APB_BASE      + 0x04000)
+#define ARM_UART0_BASE            (ARM_APB_BASE      + 0x06000)
+#define ARM_UART1_BASE            (ARM_APB_BASE      + 0x07000)
+#define ARM_UART2_BASE            (ARM_APB_BASE      + 0x08000)
+#define ARM_UART4_BASE            (ARM_APB_BASE      + 0x09000)
+
+
+/* ================================================================================ */
+/* ================             Peripheral declaration             ================ */
+/* ================================================================================ */
+/* --------------------------  CPU FPGA Peripherals  ------------------------------ */
+#define ARM_CPU_SYS               ((ARM_CPU_SYS_TypeDef *)  ARM_CPU_SYS_BASE)
+#define ARM_UART3                 ((   ARM_UART_TypeDef *)    ARM_UART3_BASE)
+
+/* --------------------------  DUT FPGA Peripherals  ------------------------------ */
+#define ARM_DUT_SYS               ((ARM_DUT_SYS_TypeDef *)  ARM_DUT_SYS_BASE)
+#define ARM_TIM0                  ((    ARM_TIM_TypeDef *)     ARM_TIM0_BASE)
+#define ARM_TIM2                  ((    ARM_TIM_TypeDef *)     ARM_TIM2_BASE)
+#define ARM_UART0                 ((   ARM_UART_TypeDef *)    ARM_UART0_BASE)
+#define ARM_UART1                 ((   ARM_UART_TypeDef *)    ARM_UART1_BASE)
+#define ARM_UART2                 ((   ARM_UART_TypeDef *)    ARM_UART2_BASE)
+#define ARM_UART4                 ((   ARM_UART_TypeDef *)    ARM_UART4_BASE)
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  /* ARMCM3_H */
diff --git a/src/modules/mathlib/CMSIS/Device/ARM/ARMCM4/Include/ARMCM4.h b/src/modules/mathlib/CMSIS/Device/ARM/ARMCM4/Include/ARMCM4.h
new file mode 100644
index 000000000..181b7e433
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/Device/ARM/ARMCM4/Include/ARMCM4.h
@@ -0,0 +1,265 @@
+/**************************************************************************//**
+ * @file     ARMCM4.h
+ * @brief    CMSIS Core Peripheral Access Layer Header File for
+ *           ARMCM4 Device Series
+ * @version  V1.07
+ * @date     30. January 2012
+ *
+ * @note
+ * Copyright (C) 2012 ARM Limited. All rights reserved.
+ *
+ * @par
+ * ARM Limited (ARM) is supplying this software for use with Cortex-M 
+ * processor based microcontrollers.  This file can be freely distributed 
+ * within development tools that are supporting such ARM based processors. 
+ *
+ * @par
+ * THIS SOFTWARE IS PROVIDED "AS IS".  NO WARRANTIES, WHETHER EXPRESS, IMPLIED
+ * OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
+ * ARM SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR
+ * CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
+ *
+ ******************************************************************************/
+
+#ifndef ARMCM4_H
+#define ARMCM4_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+/* -------------------------  Interrupt Number Definition  ------------------------ */
+
+typedef enum IRQn
+{
+/* -------------------  Cortex-M4 Processor Exceptions Numbers  ------------------- */
+  NonMaskableInt_IRQn           = -14,      /*!<  2 Non Maskable Interrupt          */
+  HardFault_IRQn                = -13,      /*!<  3 HardFault Interrupt             */
+  MemoryManagement_IRQn         = -12,      /*!<  4 Memory Management Interrupt     */
+  BusFault_IRQn                 = -11,      /*!<  5 Bus Fault Interrupt             */
+  UsageFault_IRQn               = -10,      /*!<  6 Usage Fault Interrupt           */
+  SVCall_IRQn                   =  -5,      /*!< 11 SV Call Interrupt               */
+  DebugMonitor_IRQn             =  -4,      /*!< 12 Debug Monitor Interrupt         */
+  PendSV_IRQn                   =  -2,      /*!< 14 Pend SV Interrupt               */
+  SysTick_IRQn                  =  -1,      /*!< 15 System Tick Interrupt           */
+
+/* ----------------------  ARMCM4 Specific Interrupt Numbers  --------------------- */
+  WDT_IRQn                      =   0,      /*!< Watchdog Timer Interrupt           */
+  RTC_IRQn                      =   1,      /*!< Real Time Clock Interrupt          */
+  TIM0_IRQn                     =   2,      /*!< Timer0 / Timer1 Interrupt          */
+  TIM2_IRQn                     =   3,      /*!< Timer2 / Timer3 Interrupt          */
+  MCIA_IRQn                     =   4,      /*!< MCIa Interrupt                     */
+  MCIB_IRQn                     =   5,      /*!< MCIb Interrupt                     */
+  UART0_IRQn                    =   6,      /*!< UART0 Interrupt                    */
+  UART1_IRQn                    =   7,      /*!< UART1 Interrupt                    */
+  UART2_IRQn                    =   8,      /*!< UART2 Interrupt                    */
+  UART4_IRQn                    =   9,      /*!< UART4 Interrupt                    */
+  AACI_IRQn                     =  10,      /*!< AACI / AC97 Interrupt              */
+  CLCD_IRQn                     =  11,      /*!< CLCD Combined Interrupt            */
+  ENET_IRQn                     =  12,      /*!< Ethernet Interrupt                 */
+  USBDC_IRQn                    =  13,      /*!< USB Device Interrupt               */
+  USBHC_IRQn                    =  14,      /*!< USB Host Controller Interrupt      */
+  CHLCD_IRQn                    =  15,      /*!< Character LCD Interrupt            */
+  FLEXRAY_IRQn                  =  16,      /*!< Flexray Interrupt                  */
+  CAN_IRQn                      =  17,      /*!< CAN Interrupt                      */
+  LIN_IRQn                      =  18,      /*!< LIN Interrupt                      */
+  I2C_IRQn                      =  19,      /*!< I2C ADC/DAC Interrupt              */
+  CPU_CLCD_IRQn                 =  28,      /*!< CPU CLCD Combined Interrupt        */
+  UART3_IRQn                    =  30,      /*!< UART3 Interrupt                    */
+  SPI_IRQn                      =  31,      /*!< SPI Touchscreen Interrupt          */
+} IRQn_Type;
+
+
+/* ================================================================================ */
+/* ================      Processor and Core Peripheral Section     ================ */
+/* ================================================================================ */
+
+/* --------  Configuration of the Cortex-M4 Processor and Core Peripherals  ------- */
+#define __CM4_REV                 0x0001    /*!< Core revision r0p1                              */
+#define __MPU_PRESENT             1         /*!< MPU present or not                              */
+#define __NVIC_PRIO_BITS          3         /*!< Number of Bits used for Priority Levels         */
+#define __Vendor_SysTickConfig    0         /*!< Set to 1 if different SysTick Config is used    */
+#define __FPU_PRESENT             1         /*!< FPU present or not                              */
+
+#include                        /* Processor and core peripherals                    */
+/* NuttX */
+//#include "system_ARMCM4.h"                  /* System Header                                     */
+
+
+/* ================================================================================ */
+/* ================       Device Specific Peripheral Section       ================ */
+/* ================================================================================ */
+
+/* -------------------  Start of section using anonymous unions  ------------------ */
+#if defined(__CC_ARM)
+  #pragma push
+  #pragma anon_unions
+#elif defined(__ICCARM__)
+  #pragma language=extended
+#elif defined(__GNUC__)
+  /* anonymous unions are enabled by default */
+#elif defined(__TMS470__)
+/* anonymous unions are enabled by default */
+#elif defined(__TASKING__)
+  #pragma warning 586
+#else
+  #warning Not supported compiler type
+#endif
+
+
+
+/* ================================================================================ */
+/* ================            CPU FPGA System (CPU_SYS)           ================ */
+/* ================================================================================ */
+typedef struct
+{
+  __I  uint32_t ID;               /* Offset: 0x000 (R/ )  Board and FPGA Identifier */
+  __IO uint32_t MEMCFG;           /* Offset: 0x004 (R/W)  Remap and Alias Memory Control */
+  __I  uint32_t SW;               /* Offset: 0x008 (R/ )  Switch States */
+  __IO uint32_t LED;              /* Offset: 0x00C (R/W)  LED Output States */
+  __I  uint32_t TS;               /* Offset: 0x010 (R/ )  Touchscreen Register */
+  __IO uint32_t CTRL1;            /* Offset: 0x014 (R/W)  Misc Control Functions */
+       uint32_t RESERVED0[2];
+  __IO uint32_t CLKCFG;           /* Offset: 0x020 (R/W)  System Clock Configuration */
+  __IO uint32_t WSCFG;            /* Offset: 0x024 (R/W)  Flash Waitstate Configuration */
+  __IO uint32_t CPUCFG;           /* Offset: 0x028 (R/W)  Processor Configuration */
+       uint32_t RESERVED1[3];
+  __IO uint32_t BASE;             /* Offset: 0x038 (R/W)  ROM Table base Address */
+  __IO uint32_t ID2;              /* Offset: 0x03C (R/W)  Secondary Identification Register */
+} ARM_CPU_SYS_TypeDef;
+
+
+/* ================================================================================ */
+/* ================            DUT FPGA System (DUT_SYS)           ================ */
+/* ================================================================================ */
+typedef struct
+{
+  __I  uint32_t ID;               /* Offset: 0x000 (R/ )  Board and FPGA Identifier */
+  __IO uint32_t PERCFG;           /* Offset: 0x004 (R/W)  Peripheral Control Signals */
+  __I  uint32_t SW;               /* Offset: 0x008 (R/ )  Switch States */
+  __IO uint32_t LED;              /* Offset: 0x00C (R/W)  LED Output States */
+  __IO uint32_t SEG7;             /* Offset: 0x010 (R/W)  7-segment LED Output States */
+  __I  uint32_t CNT25MHz;         /* Offset: 0x014 (R/ )  Freerunning counter incrementing at 25MHz */
+  __I  uint32_t CNT100Hz;         /* Offset: 0x018 (R/ )  Freerunning counter incrementing at 100Hz */
+} ARM_DUT_SYS_TypeDef;
+
+
+/* ================================================================================ */
+/* ================                   Timer (TIM)                  ================ */
+/* ================================================================================ */
+typedef struct
+{
+  __IO uint32_t Timer1Load;       /* Offset: 0x000 (R/W)  Timer 1 Load */
+  __I  uint32_t Timer1Value;      /* Offset: 0x004 (R/ )  Timer 1 Counter Current Value */
+  __IO uint32_t Timer1Control;    /* Offset: 0x008 (R/W)  Timer 1 Control */
+  __O  uint32_t Timer1IntClr;     /* Offset: 0x00C ( /W)  Timer 1 Interrupt Clear */
+  __I  uint32_t Timer1RIS;        /* Offset: 0x010 (R/ )  Timer 1 Raw Interrupt Status */
+  __I  uint32_t Timer1MIS;        /* Offset: 0x014 (R/ )  Timer 1 Masked Interrupt Status */
+  __IO uint32_t Timer1BGLoad;     /* Offset: 0x018 (R/W)  Background Load Register */
+       uint32_t RESERVED0[1];
+  __IO uint32_t Timer2Load;       /* Offset: 0x020 (R/W)  Timer 2 Load */
+  __I  uint32_t Timer2Value;      /* Offset: 0x024 (R/ )  Timer 2 Counter Current Value */
+  __IO uint32_t Timer2Control;    /* Offset: 0x028 (R/W)  Timer 2 Control */
+  __O  uint32_t Timer2IntClr;     /* Offset: 0x02C ( /W)  Timer 2 Interrupt Clear */
+  __I  uint32_t Timer2RIS;        /* Offset: 0x030 (R/ )  Timer 2 Raw Interrupt Status */
+  __I  uint32_t Timer2MIS;        /* Offset: 0x034 (R/ )  Timer 2 Masked Interrupt Status */
+  __IO uint32_t Timer2BGLoad;     /* Offset: 0x038 (R/W)  Background Load Register */
+} ARM_TIM_TypeDef;
+
+
+/* ================================================================================ */
+/* ============== Universal Asyncronous Receiver / Transmitter (UART) ============= */
+/* ================================================================================ */
+typedef struct
+{
+  __IO uint32_t DR;               /* Offset: 0x000 (R/W)  Data */ 
+  union {
+  __I  uint32_t RSR;              /* Offset: 0x000 (R/ )  Receive Status */
+  __O  uint32_t ECR;              /* Offset: 0x000 ( /W)  Error Clear */
+  };
+       uint32_t RESERVED0[4];
+  __IO uint32_t FR;               /* Offset: 0x018 (R/W)  Flags */
+       uint32_t RESERVED1[1];
+  __IO uint32_t ILPR;             /* Offset: 0x020 (R/W)  IrDA Low-power Counter */
+  __IO uint32_t IBRD;             /* Offset: 0x024 (R/W)  Interger Baud Rate */
+  __IO uint32_t FBRD;             /* Offset: 0x028 (R/W)  Fractional Baud Rate */
+  __IO uint32_t LCR_H;            /* Offset: 0x02C (R/W)  Line Control */
+  __IO uint32_t CR;               /* Offset: 0x030 (R/W)  Control */
+  __IO uint32_t IFLS;             /* Offset: 0x034 (R/W)  Interrupt FIFO Level Select */
+  __IO uint32_t IMSC;             /* Offset: 0x038 (R/W)  Interrupt Mask Set / Clear */
+  __IO uint32_t RIS;              /* Offset: 0x03C (R/W)  Raw Interrupt Status */
+  __IO uint32_t MIS;              /* Offset: 0x040 (R/W)  Masked Interrupt Status */
+  __O  uint32_t ICR;              /* Offset: 0x044 ( /W)  Interrupt Clear */
+  __IO uint32_t DMACR;            /* Offset: 0x048 (R/W)  DMA Control */
+} ARM_UART_TypeDef;
+
+
+/* --------------------  End of section using anonymous unions  ------------------- */
+#if defined(__CC_ARM)
+  #pragma pop
+#elif defined(__ICCARM__)
+  /* leave anonymous unions enabled */
+#elif defined(__GNUC__)
+  /* anonymous unions are enabled by default */
+#elif defined(__TMS470__)
+  /* anonymous unions are enabled by default */
+#elif defined(__TASKING__)
+  #pragma warning restore
+#else
+  #warning Not supported compiler type
+#endif
+
+
+
+
+/* ================================================================================ */
+/* ================              Peripheral memory map             ================ */
+/* ================================================================================ */
+/* --------------------------  CPU FPGA memory map  ------------------------------- */
+#define ARM_FLASH_BASE            (0x00000000UL)
+#define ARM_RAM_BASE              (0x20000000UL)
+#define ARM_RAM_FPGA_BASE         (0x1EFF0000UL)
+#define ARM_CPU_CFG_BASE          (0xDFFF0000UL)
+
+#define ARM_CPU_SYS_BASE          (ARM_CPU_CFG_BASE  + 0x00000)
+#define ARM_UART3_BASE            (ARM_CPU_CFG_BASE  + 0x05000)
+
+/* --------------------------  DUT FPGA memory map  ------------------------------- */
+#define ARM_APB_BASE              (0x40000000UL)
+#define ARM_AHB_BASE              (0x4FF00000UL)
+#define ARM_DMC_BASE              (0x60000000UL)
+#define ARM_SMC_BASE              (0xA0000000UL)
+
+#define ARM_TIM0_BASE             (ARM_APB_BASE      + 0x02000)
+#define ARM_TIM2_BASE             (ARM_APB_BASE      + 0x03000)
+#define ARM_DUT_SYS_BASE          (ARM_APB_BASE      + 0x04000)
+#define ARM_UART0_BASE            (ARM_APB_BASE      + 0x06000)
+#define ARM_UART1_BASE            (ARM_APB_BASE      + 0x07000)
+#define ARM_UART2_BASE            (ARM_APB_BASE      + 0x08000)
+#define ARM_UART4_BASE            (ARM_APB_BASE      + 0x09000)
+
+
+/* ================================================================================ */
+/* ================             Peripheral declaration             ================ */
+/* ================================================================================ */
+/* --------------------------  CPU FPGA Peripherals  ------------------------------ */
+#define ARM_CPU_SYS               ((ARM_CPU_SYS_TypeDef *)  ARM_CPU_SYS_BASE)
+#define ARM_UART3                 ((   ARM_UART_TypeDef *)    ARM_UART3_BASE)
+
+/* --------------------------  DUT FPGA Peripherals  ------------------------------ */
+#define ARM_DUT_SYS               ((ARM_DUT_SYS_TypeDef *)  ARM_DUT_SYS_BASE)
+#define ARM_TIM0                  ((    ARM_TIM_TypeDef *)     ARM_TIM0_BASE)
+#define ARM_TIM2                  ((    ARM_TIM_TypeDef *)     ARM_TIM2_BASE)
+#define ARM_UART0                 ((   ARM_UART_TypeDef *)    ARM_UART0_BASE)
+#define ARM_UART1                 ((   ARM_UART_TypeDef *)    ARM_UART1_BASE)
+#define ARM_UART2                 ((   ARM_UART_TypeDef *)    ARM_UART2_BASE)
+#define ARM_UART4                 ((   ARM_UART_TypeDef *)    ARM_UART4_BASE)
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  /* ARMCM4_H */
diff --git a/src/modules/mathlib/CMSIS/Include/arm_common_tables.h b/src/modules/mathlib/CMSIS/Include/arm_common_tables.h
new file mode 100644
index 000000000..5fd6ff4af
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/Include/arm_common_tables.h
@@ -0,0 +1,38 @@
+/* ---------------------------------------------------------------------- 
+* Copyright (C) 2010 ARM Limited. All rights reserved. 
+* 
+* $Date:        11. November 2010  
+* $Revision: 	V1.0.2  
+* 
+* Project: 	    CMSIS DSP Library 
+* Title:	    arm_common_tables.h 
+* 
+* Description:	This file has extern declaration for common tables like Bitreverse, reciprocal etc which are used across different functions 
+* 
+* Target Processor: Cortex-M4/Cortex-M3
+*  
+* Version 1.0.2 2010/11/11 
+*    Documentation updated.  
+* 
+* Version 1.0.1 2010/10/05  
+*    Production release and review comments incorporated. 
+* 
+* Version 1.0.0 2010/09/20  
+*    Production release and review comments incorporated. 
+* -------------------------------------------------------------------- */
+
+#ifndef _ARM_COMMON_TABLES_H
+#define _ARM_COMMON_TABLES_H
+
+#include "arm_math.h"
+
+extern const uint16_t armBitRevTable[1024];
+extern const q15_t armRecipTableQ15[64];
+extern const q31_t armRecipTableQ31[64];
+extern const q31_t realCoefAQ31[1024];
+extern const q31_t realCoefBQ31[1024];
+extern const float32_t twiddleCoef[6144];
+extern const q31_t twiddleCoefQ31[6144];
+extern const q15_t twiddleCoefQ15[6144];
+
+#endif /*  ARM_COMMON_TABLES_H */
diff --git a/src/modules/mathlib/CMSIS/Include/arm_math.h b/src/modules/mathlib/CMSIS/Include/arm_math.h
new file mode 100644
index 000000000..f224d3eb0
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/Include/arm_math.h
@@ -0,0 +1,7569 @@
+/* ----------------------------------------------------------------------   
+ * Copyright (C) 2010-2011 ARM Limited. All rights reserved.   
+ *   
+ * $Date:        15. February 2012  
+ * $Revision: 	V1.1.0  
+ *   
+ * Project: 	    CMSIS DSP Library   
+ * Title:	     	arm_math.h
+ *   
+ * Description:	 Public header file for CMSIS DSP Library
+ *   
+ * Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+ *  
+ * Version 1.1.0 2012/02/15 
+ *    Updated with more optimizations, bug fixes and minor API changes.  
+ *  
+ * Version 1.0.10 2011/7/15 
+ *    Big Endian support added and Merged M0 and M3/M4 Source code.  
+ *   
+ * Version 1.0.3 2010/11/29  
+ *    Re-organized the CMSIS folders and updated documentation.   
+ *    
+ * Version 1.0.2 2010/11/11   
+ *    Documentation updated.    
+ *   
+ * Version 1.0.1 2010/10/05    
+ *    Production release and review comments incorporated.   
+ *   
+ * Version 1.0.0 2010/09/20    
+ *    Production release and review comments incorporated.   
+ * -------------------------------------------------------------------- */
+
+/**
+   \mainpage CMSIS DSP Software Library
+   *
+   * Introduction
+   *
+   * This user manual describes the CMSIS DSP software library, 
+   * a suite of common signal processing functions for use on Cortex-M processor based devices.
+   *
+   * The library is divided into a number of functions each covering a specific category:  
+   * - Basic math functions
+   * - Fast math functions
+   * - Complex math functions
+   * - Filters
+   * - Matrix functions
+   * - Transforms
+   * - Motor control functions
+   * - Statistical functions
+   * - Support functions
+   * - Interpolation functions
+   *
+   * The library has separate functions for operating on 8-bit integers, 16-bit integers,
+   * 32-bit integer and 32-bit floating-point values. 
+   *
+   * Pre-processor Macros 
+   * 
+   * Each library project have differant pre-processor macros. 
+   * 
+   * - UNALIGNED_SUPPORT_DISABLE: 
+   * 
+   * Define macro UNALIGNED_SUPPORT_DISABLE, If the silicon does not support unaligned memory access    
+   * 
+   * - ARM_MATH_BIG_ENDIAN: 
+   * 
+   * Define macro ARM_MATH_BIG_ENDIAN to build the library for big endian targets. By default library builds for little endian targets. 
+   * 
+   * - ARM_MATH_MATRIX_CHECK: 
+   * 
+   * Define macro ARM_MATH_MATRIX_CHECK for checking on the input and output sizes of matrices 
+   * 
+   * - ARM_MATH_ROUNDING: 
+   * 
+   * Define macro ARM_MATH_ROUNDING for rounding on support functions
+   *
+   * - ARM_MATH_CMx:
+   *
+   * Define macro ARM_MATH_CM4 for building the library on Cortex-M4 target, ARM_MATH_CM3 for building library on Cortex-M3 target
+   * and ARM_MATH_CM0 for building library on cortex-M0 target.
+   * 
+   * - __FPU_PRESENT:
+   *
+   * Initialize macro __FPU_PRESENT = 1 when building on FPU supported Targets. Enable this macro for M4bf and M4lf libraries 
+   *
+   * Toolchain Support
+   *
+   * The library has been developed and tested with MDK-ARM version 4.23. 
+   * The library is being tested in GCC and IAR toolchains and updates on this activity will be made available shortly.
+   *
+   * Using the Library
+   *
+   * The library installer contains prebuilt versions of the libraries in the Lib folder.
+   * - arm_cortexM4lf_math.lib (Little endian and Floating Point Unit on Cortex-M4)
+   * - arm_cortexM4bf_math.lib (Big endian and Floating Point Unit on Cortex-M4)
+   * - arm_cortexM4l_math.lib (Little endian on Cortex-M4)
+   * - arm_cortexM4b_math.lib (Big endian on Cortex-M4)
+   * - arm_cortexM3l_math.lib (Little endian on Cortex-M3)
+   * - arm_cortexM3b_math.lib (Big endian on Cortex-M3)
+   * - arm_cortexM0l_math.lib (Little endian on Cortex-M0)
+   * - arm_cortexM0b_math.lib (Big endian on Cortex-M3)
+   *
+   * The library functions are declared in the public file arm_math.h which is placed in the Include folder.
+   * Simply include this file and link the appropriate library in the application and begin calling the library functions. The Library supports single 
+   * public header file  arm_math.h for Cortex-M4/M3/M0 with little endian and big endian. Same header file will be used for floating point unit(FPU) variants. 
+   * Define the appropriate pre processor MACRO ARM_MATH_CM4 or  ARM_MATH_CM3 or 
+   * ARM_MATH_CM0 depending on the target processor in the application.
+   *
+   * Examples
+   *
+   * The library ships with a number of examples which demonstrate how to use the library functions.
+   *
+   * Building the Library
+   *
+   * The library installer contains project files to re build libraries on MDK Tool chain in the CMSIS\\DSP_Lib\\Source\\ARM folder.
+   * - arm_cortexM0b_math.uvproj
+   * - arm_cortexM0l_math.uvproj
+   * - arm_cortexM3b_math.uvproj
+   * - arm_cortexM3l_math.uvproj  
+   * - arm_cortexM4b_math.uvproj
+   * - arm_cortexM4l_math.uvproj
+   * - arm_cortexM4bf_math.uvproj
+   * - arm_cortexM4lf_math.uvproj
+   *
+   *
+   * The project can be built by opening the appropriate project in MDK-ARM 4.23 chain and defining the optional pre processor MACROs detailed above.
+   *
+   * Copyright Notice
+   *
+   * Copyright (C) 2010 ARM Limited. All rights reserved.
+   */
+
+
+/**
+ * @defgroup groupMath Basic Math Functions
+ */
+
+/**
+ * @defgroup groupFastMath Fast Math Functions
+ * This set of functions provides a fast approximation to sine, cosine, and square root.
+ * As compared to most of the other functions in the CMSIS math library, the fast math functions
+ * operate on individual values and not arrays.
+ * There are separate functions for Q15, Q31, and floating-point data.
+ *
+ */
+
+/**
+ * @defgroup groupCmplxMath Complex Math Functions
+ * This set of functions operates on complex data vectors.
+ * The data in the complex arrays is stored in an interleaved fashion
+ * (real, imag, real, imag, ...).
+ * In the API functions, the number of samples in a complex array refers
+ * to the number of complex values; the array contains twice this number of
+ * real values.
+ */
+
+/**
+ * @defgroup groupFilters Filtering Functions
+ */
+
+/**
+ * @defgroup groupMatrix Matrix Functions
+ *
+ * This set of functions provides basic matrix math operations.
+ * The functions operate on matrix data structures.  For example,
+ * the type
+ * definition for the floating-point matrix structure is shown
+ * below:
+ * 
+ *     typedef struct
+ *     {
+ *       uint16_t numRows;     // number of rows of the matrix.
+ *       uint16_t numCols;     // number of columns of the matrix.
+ *       float32_t *pData;     // points to the data of the matrix.
+ *     } arm_matrix_instance_f32;
+ * 

+ * There are similar definitions for Q15 and Q31 data types.
+ *
+ * The structure specifies the size of the matrix and then points to
+ * an array of data.  The array is of size numRows X numCols
+ * and the values are arranged in row order.  That is, the
+ * matrix element (i, j) is stored at:
+ * 
+ *     pData[i*numCols + j]
+ * 

+ *
+ * \par Init Functions
+ * There is an associated initialization function for each type of matrix
+ * data structure.
+ * The initialization function sets the values of the internal structure fields.
+ * Refer to the function arm_mat_init_f32(), arm_mat_init_q31()
+ * and arm_mat_init_q15() for floating-point, Q31 and Q15 types,  respectively.
+ *
+ * \par
+ * Use of the initialization function is optional. However, if initialization function is used
+ * then the instance structure cannot be placed into a const data section.
+ * To place the instance structure in a const data
+ * section, manually initialize the data structure.  For example:
+ * 
+ * arm_matrix_instance_f32 S = {nRows, nColumns, pData};
+ * arm_matrix_instance_q31 S = {nRows, nColumns, pData};
+ * arm_matrix_instance_q15 S = {nRows, nColumns, pData};
+ * 

+ * where nRows specifies the number of rows, nColumns
+ * specifies the number of columns, and pData points to the
+ * data array.
+ *
+ * \par Size Checking
+ * By default all of the matrix functions perform size checking on the input and
+ * output matrices.  For example, the matrix addition function verifies that the
+ * two input matrices and the output matrix all have the same number of rows and
+ * columns.  If the size check fails the functions return:
+ * 
+ *     ARM_MATH_SIZE_MISMATCH
+ * 

+ * Otherwise the functions return
+ * 
+ *     ARM_MATH_SUCCESS
+ * 

+ * There is some overhead associated with this matrix size checking.
+ * The matrix size checking is enabled via the \#define
+ * 
+ *     ARM_MATH_MATRIX_CHECK
+ * 

+ * within the library project settings.  By default this macro is defined
+ * and size checking is enabled.  By changing the project settings and
+ * undefining this macro size checking is eliminated and the functions
+ * run a bit faster.  With size checking disabled the functions always
+ * return ARM_MATH_SUCCESS.
+ */
+
+/**
+ * @defgroup groupTransforms Transform Functions
+ */
+
+/**
+ * @defgroup groupController Controller Functions
+ */
+
+/**
+ * @defgroup groupStats Statistics Functions
+ */
+/**
+ * @defgroup groupSupport Support Functions
+ */
+
+/**
+ * @defgroup groupInterpolation Interpolation Functions
+ * These functions perform 1- and 2-dimensional interpolation of data.
+ * Linear interpolation is used for 1-dimensional data and
+ * bilinear interpolation is used for 2-dimensional data.
+ */
+
+/**
+ * @defgroup groupExamples Examples
+ */
+#ifndef _ARM_MATH_H
+#define _ARM_MATH_H
+
+#define __CMSIS_GENERIC         /* disable NVIC and Systick functions */
+
+/* NuttX */
+#include 
+#ifdef CONFIG_ARCH_CORTEXM4
+# define ARM_MATH_CM4 1
+#endif
+#ifdef CONFIG_ARCH_CORTEXM3
+# define ARM_MATH_CM3 1
+#endif
+#ifdef CONFIG_ARCH_FPU
+# define __FPU_PRESENT 1
+#endif
+
+#if defined (ARM_MATH_CM4)
+#include "core_cm4.h"
+#elif defined (ARM_MATH_CM3)
+#include "core_cm3.h"
+#elif defined (ARM_MATH_CM0)
+#include "core_cm0.h"
+#else
+#include "ARMCM4.h"
+#warning "Define either ARM_MATH_CM4 OR ARM_MATH_CM3...By Default building on ARM_MATH_CM4....."
+#endif
+
+#undef  __CMSIS_GENERIC         /* enable NVIC and Systick functions */
+#include "string.h"
+#include "math.h"
+#ifdef	__cplusplus
+extern "C"
+{
+#endif
+
+
+  /**
+   * @brief Macros required for reciprocal calculation in Normalized LMS
+   */
+
+#define DELTA_Q31 			(0x100)
+#define DELTA_Q15 			0x5
+#define INDEX_MASK 			0x0000003F
+#ifndef PI
+#define PI					3.14159265358979f
+#endif
+
+  /**
+   * @brief Macros required for SINE and COSINE Fast math approximations
+   */
+
+#define TABLE_SIZE			256
+#define TABLE_SPACING_Q31	0x800000
+#define TABLE_SPACING_Q15	0x80
+
+  /**
+   * @brief Macros required for SINE and COSINE Controller functions
+   */
+  /* 1.31(q31) Fixed value of 2/360 */
+  /* -1 to +1 is divided into 360 values so total spacing is (2/360) */
+#define INPUT_SPACING			0xB60B61
+
+  /**
+   * @brief Macro for Unaligned Support
+   */
+#ifndef UNALIGNED_SUPPORT_DISABLE
+    #define ALIGN4
+#else
+  #if defined  (__GNUC__)
+    #define ALIGN4 __attribute__((aligned(4)))
+  #else
+    #define ALIGN4 __align(4)
+  #endif
+#endif	/*	#ifndef UNALIGNED_SUPPORT_DISABLE	*/
+
+  /**
+   * @brief Error status returned by some functions in the library.
+   */
+
+  typedef enum
+  {
+    ARM_MATH_SUCCESS = 0,                /**< No error */
+    ARM_MATH_ARGUMENT_ERROR = -1,        /**< One or more arguments are incorrect */
+    ARM_MATH_LENGTH_ERROR = -2,          /**< Length of data buffer is incorrect */
+    ARM_MATH_SIZE_MISMATCH = -3,         /**< Size of matrices is not compatible with the operation. */
+    ARM_MATH_NANINF = -4,                /**< Not-a-number (NaN) or infinity is generated */
+    ARM_MATH_SINGULAR = -5,              /**< Generated by matrix inversion if the input matrix is singular and cannot be inverted. */
+    ARM_MATH_TEST_FAILURE = -6           /**< Test Failed  */
+  } arm_status;
+
+  /**
+   * @brief 8-bit fractional data type in 1.7 format.
+   */
+  typedef int8_t q7_t;
+
+  /**
+   * @brief 16-bit fractional data type in 1.15 format.
+   */
+  typedef int16_t q15_t;
+
+  /**
+   * @brief 32-bit fractional data type in 1.31 format.
+   */
+  typedef int32_t q31_t;
+
+  /**
+   * @brief 64-bit fractional data type in 1.63 format.
+   */
+  typedef int64_t q63_t;
+
+  /**
+   * @brief 32-bit floating-point type definition.
+   */
+  typedef float float32_t;
+
+  /**
+   * @brief 64-bit floating-point type definition.
+   */
+  typedef double float64_t;
+
+  /**
+   * @brief definition to read/write two 16 bit values.
+   */
+#if defined  (__GNUC__)
+  #define __SIMD32(addr)         (*( int32_t **) & (addr))
+  #define  _SIMD32_OFFSET(addr)  (*( int32_t * )   (addr))
+#else
+  #define __SIMD32(addr)         (*(__packed                    int32_t **) & (addr))
+  #define  _SIMD32_OFFSET(addr)  (*(__packed                    int32_t * )   (addr))
+#endif 
+
+  #define __SIMD64(addr)  (*(int64_t **) & (addr))
+
+#if defined (ARM_MATH_CM3) || defined (ARM_MATH_CM0)
+  /**
+   * @brief definition to pack two 16 bit values.
+   */
+#define __PKHBT(ARG1, ARG2, ARG3)      ( (((int32_t)(ARG1) <<  0) & (int32_t)0x0000FFFF) | \
+                                         (((int32_t)(ARG2) << ARG3) & (int32_t)0xFFFF0000)  )
+#define __PKHTB(ARG1, ARG2, ARG3)      ( (((int32_t)(ARG1) <<  0) & (int32_t)0xFFFF0000) | \
+                                         (((int32_t)(ARG2) >> ARG3) & (int32_t)0x0000FFFF)  )
+
+#endif
+
+
+   /**
+   * @brief definition to pack four 8 bit values.
+   */
+#ifndef ARM_MATH_BIG_ENDIAN
+
+#define __PACKq7(v0,v1,v2,v3) ( (((int32_t)(v0) <<  0) & (int32_t)0x000000FF) |	\
+                                (((int32_t)(v1) <<  8) & (int32_t)0x0000FF00) |	\
+							    (((int32_t)(v2) << 16) & (int32_t)0x00FF0000) |	\
+							    (((int32_t)(v3) << 24) & (int32_t)0xFF000000)  )
+#else
+
+#define __PACKq7(v0,v1,v2,v3) ( (((int32_t)(v3) <<  0) & (int32_t)0x000000FF) |	\
+                                (((int32_t)(v2) <<  8) & (int32_t)0x0000FF00) |	\
+							    (((int32_t)(v1) << 16) & (int32_t)0x00FF0000) |	\
+							    (((int32_t)(v0) << 24) & (int32_t)0xFF000000)  )
+
+#endif
+
+
+  /**
+   * @brief Clips Q63 to Q31 values.
+   */
+  __STATIC_INLINE q31_t clip_q63_to_q31(
+  q63_t x)
+  {
+    return ((q31_t) (x >> 32) != ((q31_t) x >> 31)) ?
+      ((0x7FFFFFFF ^ ((q31_t) (x >> 63)))) : (q31_t) x;
+  }
+
+  /**
+   * @brief Clips Q63 to Q15 values.
+   */
+  __STATIC_INLINE q15_t clip_q63_to_q15(
+  q63_t x)
+  {
+    return ((q31_t) (x >> 32) != ((q31_t) x >> 31)) ?
+      ((0x7FFF ^ ((q15_t) (x >> 63)))) : (q15_t) (x >> 15);
+  }
+
+  /**
+   * @brief Clips Q31 to Q7 values.
+   */
+  __STATIC_INLINE q7_t clip_q31_to_q7(
+  q31_t x)
+  {
+    return ((q31_t) (x >> 24) != ((q31_t) x >> 23)) ?
+      ((0x7F ^ ((q7_t) (x >> 31)))) : (q7_t) x;
+  }
+
+  /**
+   * @brief Clips Q31 to Q15 values.
+   */
+  __STATIC_INLINE q15_t clip_q31_to_q15(
+  q31_t x)
+  {
+    return ((q31_t) (x >> 16) != ((q31_t) x >> 15)) ?
+      ((0x7FFF ^ ((q15_t) (x >> 31)))) : (q15_t) x;
+  }
+
+  /**
+   * @brief Multiplies 32 X 64 and returns 32 bit result in 2.30 format.
+   */
+
+  __STATIC_INLINE q63_t mult32x64(
+  q63_t x,
+  q31_t y)
+  {
+    return ((((q63_t) (x & 0x00000000FFFFFFFF) * y) >> 32) +
+            (((q63_t) (x >> 32) * y)));
+  }
+
+
+#if defined (ARM_MATH_CM0) && defined ( __CC_ARM   )
+#define __CLZ __clz
+#endif
+
+#if defined (ARM_MATH_CM0) && defined ( __TASKING__ )
+/* No need to redefine __CLZ */
+#endif
+
+#if defined (ARM_MATH_CM0) && ((defined (__ICCARM__)) ||(defined (__GNUC__)) )
+
+  __STATIC_INLINE  uint32_t __CLZ(q31_t data);
+
+
+  __STATIC_INLINE uint32_t __CLZ(q31_t data)
+  {
+    uint32_t count = 0;
+    uint32_t mask = 0x80000000;
+
+    while((data & mask) == 0)
+    {
+      count += 1u;
+      mask = mask >> 1u;
+    }
+
+    return (count);
+
+  }
+
+#endif
+
+  /**
+   * @brief Function to Calculates 1/in(reciprocal) value of Q31 Data type.
+   */
+
+  __STATIC_INLINE uint32_t arm_recip_q31(
+  q31_t in,
+  q31_t * dst,
+  q31_t * pRecipTable)
+  {
+
+    uint32_t out, tempVal;
+    uint32_t index, i;
+    uint32_t signBits;
+
+    if(in > 0)
+    {
+      signBits = __CLZ(in) - 1;
+    }
+    else
+    {
+      signBits = __CLZ(-in) - 1;
+    }
+
+    /* Convert input sample to 1.31 format */
+    in = in << signBits;
+
+    /* calculation of index for initial approximated Val */
+    index = (uint32_t) (in >> 24u);
+    index = (index & INDEX_MASK);
+
+    /* 1.31 with exp 1 */
+    out = pRecipTable[index];
+
+    /* calculation of reciprocal value */
+    /* running approximation for two iterations */
+    for (i = 0u; i < 2u; i++)
+    {
+      tempVal = (q31_t) (((q63_t) in * out) >> 31u);
+      tempVal = 0x7FFFFFFF - tempVal;
+      /*      1.31 with exp 1 */
+      //out = (q31_t) (((q63_t) out * tempVal) >> 30u);
+      out = (q31_t) clip_q63_to_q31(((q63_t) out * tempVal) >> 30u);
+    }
+
+    /* write output */
+    *dst = out;
+
+    /* return num of signbits of out = 1/in value */
+    return (signBits + 1u);
+
+  }
+
+  /**
+   * @brief Function to Calculates 1/in(reciprocal) value of Q15 Data type.
+   */
+  __STATIC_INLINE uint32_t arm_recip_q15(
+  q15_t in,
+  q15_t * dst,
+  q15_t * pRecipTable)
+  {
+
+    uint32_t out = 0, tempVal = 0;
+    uint32_t index = 0, i = 0;
+    uint32_t signBits = 0;
+
+    if(in > 0)
+    {
+      signBits = __CLZ(in) - 17;
+    }
+    else
+    {
+      signBits = __CLZ(-in) - 17;
+    }
+
+    /* Convert input sample to 1.15 format */
+    in = in << signBits;
+
+    /* calculation of index for initial approximated Val */
+    index = in >> 8;
+    index = (index & INDEX_MASK);
+
+    /*      1.15 with exp 1  */
+    out = pRecipTable[index];
+
+    /* calculation of reciprocal value */
+    /* running approximation for two iterations */
+    for (i = 0; i < 2; i++)
+    {
+      tempVal = (q15_t) (((q31_t) in * out) >> 15);
+      tempVal = 0x7FFF - tempVal;
+      /*      1.15 with exp 1 */
+      out = (q15_t) (((q31_t) out * tempVal) >> 14);
+    }
+
+    /* write output */
+    *dst = out;
+
+    /* return num of signbits of out = 1/in value */
+    return (signBits + 1);
+
+  }
+
+
+  /*
+   * @brief C custom defined intrinisic function for only M0 processors
+   */
+#if defined(ARM_MATH_CM0)
+
+  __STATIC_INLINE q31_t __SSAT(
+  q31_t x,
+  uint32_t y)
+  {
+    int32_t posMax, negMin;
+    uint32_t i;
+
+    posMax = 1;
+    for (i = 0; i < (y - 1); i++)
+    {
+      posMax = posMax * 2;
+    }
+
+    if(x > 0)
+    {
+      posMax = (posMax - 1);
+
+      if(x > posMax)
+      {
+        x = posMax;
+      }
+    }
+    else
+    {
+      negMin = -posMax;
+
+      if(x < negMin)
+      {
+        x = negMin;
+      }
+    }
+    return (x);
+
+
+  }
+
+#endif /* end of ARM_MATH_CM0 */
+
+
+
+  /*
+   * @brief C custom defined intrinsic function for M3 and M0 processors
+   */
+#if defined (ARM_MATH_CM3) || defined (ARM_MATH_CM0)
+
+  /*
+   * @brief C custom defined QADD8 for M3 and M0 processors
+   */
+  __STATIC_INLINE q31_t __QADD8(
+  q31_t x,
+  q31_t y)
+  {
+
+    q31_t sum;
+    q7_t r, s, t, u;
+
+    r = (q7_t) x;
+    s = (q7_t) y;
+
+    r = __SSAT((q31_t) (r + s), 8);
+    s = __SSAT(((q31_t) (((x << 16) >> 24) + ((y << 16) >> 24))), 8);
+    t = __SSAT(((q31_t) (((x << 8) >> 24) + ((y << 8) >> 24))), 8);
+    u = __SSAT(((q31_t) ((x >> 24) + (y >> 24))), 8);
+
+    sum =
+      (((q31_t) u << 24) & 0xFF000000) | (((q31_t) t << 16) & 0x00FF0000) |
+      (((q31_t) s << 8) & 0x0000FF00) | (r & 0x000000FF);
+
+    return sum;
+
+  }
+
+  /*
+   * @brief C custom defined QSUB8 for M3 and M0 processors
+   */
+  __STATIC_INLINE q31_t __QSUB8(
+  q31_t x,
+  q31_t y)
+  {
+
+    q31_t sum;
+    q31_t r, s, t, u;
+
+    r = (q7_t) x;
+    s = (q7_t) y;
+
+    r = __SSAT((r - s), 8);
+    s = __SSAT(((q31_t) (((x << 16) >> 24) - ((y << 16) >> 24))), 8) << 8;
+    t = __SSAT(((q31_t) (((x << 8) >> 24) - ((y << 8) >> 24))), 8) << 16;
+    u = __SSAT(((q31_t) ((x >> 24) - (y >> 24))), 8) << 24;
+
+    sum =
+      (u & 0xFF000000) | (t & 0x00FF0000) | (s & 0x0000FF00) | (r &
+                                                                0x000000FF);
+
+    return sum;
+  }
+
+  /*
+   * @brief C custom defined QADD16 for M3 and M0 processors
+   */
+
+  /*
+   * @brief C custom defined QADD16 for M3 and M0 processors
+   */
+  __STATIC_INLINE q31_t __QADD16(
+  q31_t x,
+  q31_t y)
+  {
+
+    q31_t sum;
+    q31_t r, s;
+
+    r = (short) x;
+    s = (short) y;
+
+    r = __SSAT(r + s, 16);
+    s = __SSAT(((q31_t) ((x >> 16) + (y >> 16))), 16) << 16;
+
+    sum = (s & 0xFFFF0000) | (r & 0x0000FFFF);
+
+    return sum;
+
+  }
+
+  /*
+   * @brief C custom defined SHADD16 for M3 and M0 processors
+   */
+  __STATIC_INLINE q31_t __SHADD16(
+  q31_t x,
+  q31_t y)
+  {
+
+    q31_t sum;
+    q31_t r, s;
+
+    r = (short) x;
+    s = (short) y;
+
+    r = ((r >> 1) + (s >> 1));
+    s = ((q31_t) ((x >> 17) + (y >> 17))) << 16;
+
+    sum = (s & 0xFFFF0000) | (r & 0x0000FFFF);
+
+    return sum;
+
+  }
+
+  /*
+   * @brief C custom defined QSUB16 for M3 and M0 processors
+   */
+  __STATIC_INLINE q31_t __QSUB16(
+  q31_t x,
+  q31_t y)
+  {
+
+    q31_t sum;
+    q31_t r, s;
+
+    r = (short) x;
+    s = (short) y;
+
+    r = __SSAT(r - s, 16);
+    s = __SSAT(((q31_t) ((x >> 16) - (y >> 16))), 16) << 16;
+
+    sum = (s & 0xFFFF0000) | (r & 0x0000FFFF);
+
+    return sum;
+  }
+
+  /*
+   * @brief C custom defined SHSUB16 for M3 and M0 processors
+   */
+  __STATIC_INLINE q31_t __SHSUB16(
+  q31_t x,
+  q31_t y)
+  {
+
+    q31_t diff;
+    q31_t r, s;
+
+    r = (short) x;
+    s = (short) y;
+
+    r = ((r >> 1) - (s >> 1));
+    s = (((x >> 17) - (y >> 17)) << 16);
+
+    diff = (s & 0xFFFF0000) | (r & 0x0000FFFF);
+
+    return diff;
+  }
+
+  /*
+   * @brief C custom defined QASX for M3 and M0 processors
+   */
+  __STATIC_INLINE q31_t __QASX(
+  q31_t x,
+  q31_t y)
+  {
+
+    q31_t sum = 0;
+
+    sum =
+      ((sum +
+        clip_q31_to_q15((q31_t) ((short) (x >> 16) + (short) y))) << 16) +
+      clip_q31_to_q15((q31_t) ((short) x - (short) (y >> 16)));
+
+    return sum;
+  }
+
+  /*
+   * @brief C custom defined SHASX for M3 and M0 processors
+   */
+  __STATIC_INLINE q31_t __SHASX(
+  q31_t x,
+  q31_t y)
+  {
+
+    q31_t sum;
+    q31_t r, s;
+
+    r = (short) x;
+    s = (short) y;
+
+    r = ((r >> 1) - (y >> 17));
+    s = (((x >> 17) + (s >> 1)) << 16);
+
+    sum = (s & 0xFFFF0000) | (r & 0x0000FFFF);
+
+    return sum;
+  }
+
+
+  /*
+   * @brief C custom defined QSAX for M3 and M0 processors
+   */
+  __STATIC_INLINE q31_t __QSAX(
+  q31_t x,
+  q31_t y)
+  {
+
+    q31_t sum = 0;
+
+    sum =
+      ((sum +
+        clip_q31_to_q15((q31_t) ((short) (x >> 16) - (short) y))) << 16) +
+      clip_q31_to_q15((q31_t) ((short) x + (short) (y >> 16)));
+
+    return sum;
+  }
+
+  /*
+   * @brief C custom defined SHSAX for M3 and M0 processors
+   */
+  __STATIC_INLINE q31_t __SHSAX(
+  q31_t x,
+  q31_t y)
+  {
+
+    q31_t sum;
+    q31_t r, s;
+
+    r = (short) x;
+    s = (short) y;
+
+    r = ((r >> 1) + (y >> 17));
+    s = (((x >> 17) - (s >> 1)) << 16);
+
+    sum = (s & 0xFFFF0000) | (r & 0x0000FFFF);
+
+    return sum;
+  }
+
+  /*
+   * @brief C custom defined SMUSDX for M3 and M0 processors
+   */
+  __STATIC_INLINE q31_t __SMUSDX(
+  q31_t x,
+  q31_t y)
+  {
+
+    return ((q31_t) (((short) x * (short) (y >> 16)) -
+                     ((short) (x >> 16) * (short) y)));
+  }
+
+  /*
+   * @brief C custom defined SMUADX for M3 and M0 processors
+   */
+  __STATIC_INLINE q31_t __SMUADX(
+  q31_t x,
+  q31_t y)
+  {
+
+    return ((q31_t) (((short) x * (short) (y >> 16)) +
+                     ((short) (x >> 16) * (short) y)));
+  }
+
+  /*
+   * @brief C custom defined QADD for M3 and M0 processors
+   */
+  __STATIC_INLINE q31_t __QADD(
+  q31_t x,
+  q31_t y)
+  {
+    return clip_q63_to_q31((q63_t) x + y);
+  }
+
+  /*
+   * @brief C custom defined QSUB for M3 and M0 processors
+   */
+  __STATIC_INLINE q31_t __QSUB(
+  q31_t x,
+  q31_t y)
+  {
+    return clip_q63_to_q31((q63_t) x - y);
+  }
+
+  /*
+   * @brief C custom defined SMLAD for M3 and M0 processors
+   */
+  __STATIC_INLINE q31_t __SMLAD(
+  q31_t x,
+  q31_t y,
+  q31_t sum)
+  {
+
+    return (sum + ((short) (x >> 16) * (short) (y >> 16)) +
+            ((short) x * (short) y));
+  }
+
+  /*
+   * @brief C custom defined SMLADX for M3 and M0 processors
+   */
+  __STATIC_INLINE q31_t __SMLADX(
+  q31_t x,
+  q31_t y,
+  q31_t sum)
+  {
+
+    return (sum + ((short) (x >> 16) * (short) (y)) +
+            ((short) x * (short) (y >> 16)));
+  }
+
+  /*
+   * @brief C custom defined SMLSDX for M3 and M0 processors
+   */
+  __STATIC_INLINE q31_t __SMLSDX(
+  q31_t x,
+  q31_t y,
+  q31_t sum)
+  {
+
+    return (sum - ((short) (x >> 16) * (short) (y)) +
+            ((short) x * (short) (y >> 16)));
+  }
+
+  /*
+   * @brief C custom defined SMLALD for M3 and M0 processors
+   */
+  __STATIC_INLINE q63_t __SMLALD(
+  q31_t x,
+  q31_t y,
+  q63_t sum)
+  {
+
+    return (sum + ((short) (x >> 16) * (short) (y >> 16)) +
+            ((short) x * (short) y));
+  }
+
+  /*
+   * @brief C custom defined SMLALDX for M3 and M0 processors
+   */
+  __STATIC_INLINE q63_t __SMLALDX(
+  q31_t x,
+  q31_t y,
+  q63_t sum)
+  {
+
+    return (sum + ((short) (x >> 16) * (short) y)) +
+      ((short) x * (short) (y >> 16));
+  }
+
+  /*
+   * @brief C custom defined SMUAD for M3 and M0 processors
+   */
+  __STATIC_INLINE q31_t __SMUAD(
+  q31_t x,
+  q31_t y)
+  {
+
+    return (((x >> 16) * (y >> 16)) +
+            (((x << 16) >> 16) * ((y << 16) >> 16)));
+  }
+
+  /*
+   * @brief C custom defined SMUSD for M3 and M0 processors
+   */
+  __STATIC_INLINE q31_t __SMUSD(
+  q31_t x,
+  q31_t y)
+  {
+
+    return (-((x >> 16) * (y >> 16)) +
+            (((x << 16) >> 16) * ((y << 16) >> 16)));
+  }
+
+
+  /*
+   * @brief C custom defined SXTB16 for M3 and M0 processors
+   */
+  __STATIC_INLINE q31_t __SXTB16(
+  q31_t x)
+  {
+
+    return ((((x << 24) >> 24) & 0x0000FFFF) |
+            (((x << 8) >> 8) & 0xFFFF0000));
+  }
+
+
+#endif /* defined (ARM_MATH_CM3) || defined (ARM_MATH_CM0) */
+
+
+  /**
+   * @brief Instance structure for the Q7 FIR filter.
+   */
+  typedef struct
+  {
+    uint16_t numTaps;        /**< number of filter coefficients in the filter. */
+    q7_t *pState;            /**< points to the state variable array. The array is of length numTaps+blockSize-1. */
+    q7_t *pCoeffs;           /**< points to the coefficient array. The array is of length numTaps.*/
+  } arm_fir_instance_q7;
+
+  /**
+   * @brief Instance structure for the Q15 FIR filter.
+   */
+  typedef struct
+  {
+    uint16_t numTaps;         /**< number of filter coefficients in the filter. */
+    q15_t *pState;            /**< points to the state variable array. The array is of length numTaps+blockSize-1. */
+    q15_t *pCoeffs;           /**< points to the coefficient array. The array is of length numTaps.*/
+  } arm_fir_instance_q15;
+
+  /**
+   * @brief Instance structure for the Q31 FIR filter.
+   */
+  typedef struct
+  {
+    uint16_t numTaps;         /**< number of filter coefficients in the filter. */
+    q31_t *pState;            /**< points to the state variable array. The array is of length numTaps+blockSize-1. */
+    q31_t *pCoeffs;           /**< points to the coefficient array. The array is of length numTaps. */
+  } arm_fir_instance_q31;
+
+  /**
+   * @brief Instance structure for the floating-point FIR filter.
+   */
+  typedef struct
+  {
+    uint16_t numTaps;     /**< number of filter coefficients in the filter. */
+    float32_t *pState;    /**< points to the state variable array. The array is of length numTaps+blockSize-1. */
+    float32_t *pCoeffs;   /**< points to the coefficient array. The array is of length numTaps. */
+  } arm_fir_instance_f32;
+
+
+  /**
+   * @brief Processing function for the Q7 FIR filter.
+   * @param[in] *S points to an instance of the Q7 FIR filter structure.
+   * @param[in] *pSrc points to the block of input data.
+   * @param[out] *pDst points to the block of output data.
+   * @param[in] blockSize number of samples to process.
+   * @return none.
+   */
+  void arm_fir_q7(
+  const arm_fir_instance_q7 * S,
+  q7_t * pSrc,
+  q7_t * pDst,
+  uint32_t blockSize);
+
+
+  /**
+   * @brief  Initialization function for the Q7 FIR filter.
+   * @param[in,out] *S points to an instance of the Q7 FIR structure.
+   * @param[in] numTaps  Number of filter coefficients in the filter.
+   * @param[in] *pCoeffs points to the filter coefficients.
+   * @param[in] *pState points to the state buffer.
+   * @param[in] blockSize number of samples that are processed.
+   * @return none
+   */
+  void arm_fir_init_q7(
+  arm_fir_instance_q7 * S,
+  uint16_t numTaps,
+  q7_t * pCoeffs,
+  q7_t * pState,
+  uint32_t blockSize);
+
+
+  /**
+   * @brief Processing function for the Q15 FIR filter.
+   * @param[in] *S points to an instance of the Q15 FIR structure.
+   * @param[in] *pSrc points to the block of input data.
+   * @param[out] *pDst points to the block of output data.
+   * @param[in] blockSize number of samples to process.
+   * @return none.
+   */
+  void arm_fir_q15(
+  const arm_fir_instance_q15 * S,
+  q15_t * pSrc,
+  q15_t * pDst,
+  uint32_t blockSize);
+
+  /**
+   * @brief Processing function for the fast Q15 FIR filter for Cortex-M3 and Cortex-M4.
+   * @param[in] *S points to an instance of the Q15 FIR filter structure.
+   * @param[in] *pSrc points to the block of input data.
+   * @param[out] *pDst points to the block of output data.
+   * @param[in] blockSize number of samples to process.
+   * @return none.
+   */
+  void arm_fir_fast_q15(
+  const arm_fir_instance_q15 * S,
+  q15_t * pSrc,
+  q15_t * pDst,
+  uint32_t blockSize);
+
+  /**
+   * @brief  Initialization function for the Q15 FIR filter.
+   * @param[in,out] *S points to an instance of the Q15 FIR filter structure.
+   * @param[in] numTaps  Number of filter coefficients in the filter. Must be even and greater than or equal to 4.
+   * @param[in] *pCoeffs points to the filter coefficients.
+   * @param[in] *pState points to the state buffer.
+   * @param[in] blockSize number of samples that are processed at a time.
+   * @return The function returns ARM_MATH_SUCCESS if initialization was successful or ARM_MATH_ARGUMENT_ERROR if
+   * numTaps is not a supported value.
+   */
+
+  arm_status arm_fir_init_q15(
+  arm_fir_instance_q15 * S,
+  uint16_t numTaps,
+  q15_t * pCoeffs,
+  q15_t * pState,
+  uint32_t blockSize);
+
+  /**
+   * @brief Processing function for the Q31 FIR filter.
+   * @param[in] *S points to an instance of the Q31 FIR filter structure.
+   * @param[in] *pSrc points to the block of input data.
+   * @param[out] *pDst points to the block of output data.
+   * @param[in] blockSize number of samples to process.
+   * @return none.
+   */
+  void arm_fir_q31(
+  const arm_fir_instance_q31 * S,
+  q31_t * pSrc,
+  q31_t * pDst,
+  uint32_t blockSize);
+
+  /**
+   * @brief Processing function for the fast Q31 FIR filter for Cortex-M3 and Cortex-M4.
+   * @param[in] *S points to an instance of the Q31 FIR structure.
+   * @param[in] *pSrc points to the block of input data.
+   * @param[out] *pDst points to the block of output data.
+   * @param[in] blockSize number of samples to process.
+   * @return none.
+   */
+  void arm_fir_fast_q31(
+  const arm_fir_instance_q31 * S,
+  q31_t * pSrc,
+  q31_t * pDst,
+  uint32_t blockSize);
+
+  /**
+   * @brief  Initialization function for the Q31 FIR filter.
+   * @param[in,out] *S points to an instance of the Q31 FIR structure.
+   * @param[in] 	numTaps  Number of filter coefficients in the filter.
+   * @param[in] 	*pCoeffs points to the filter coefficients.
+   * @param[in] 	*pState points to the state buffer.
+   * @param[in] 	blockSize number of samples that are processed at a time.
+   * @return 		none.
+   */
+  void arm_fir_init_q31(
+  arm_fir_instance_q31 * S,
+  uint16_t numTaps,
+  q31_t * pCoeffs,
+  q31_t * pState,
+  uint32_t blockSize);
+
+  /**
+   * @brief Processing function for the floating-point FIR filter.
+   * @param[in] *S points to an instance of the floating-point FIR structure.
+   * @param[in] *pSrc points to the block of input data.
+   * @param[out] *pDst points to the block of output data.
+   * @param[in] blockSize number of samples to process.
+   * @return none.
+   */
+  void arm_fir_f32(
+  const arm_fir_instance_f32 * S,
+  float32_t * pSrc,
+  float32_t * pDst,
+  uint32_t blockSize);
+
+  /**
+   * @brief  Initialization function for the floating-point FIR filter.
+   * @param[in,out] *S points to an instance of the floating-point FIR filter structure.
+   * @param[in] 	numTaps  Number of filter coefficients in the filter.
+   * @param[in] 	*pCoeffs points to the filter coefficients.
+   * @param[in] 	*pState points to the state buffer.
+   * @param[in] 	blockSize number of samples that are processed at a time.
+   * @return    	none.
+   */
+  void arm_fir_init_f32(
+  arm_fir_instance_f32 * S,
+  uint16_t numTaps,
+  float32_t * pCoeffs,
+  float32_t * pState,
+  uint32_t blockSize);
+
+
+  /**
+   * @brief Instance structure for the Q15 Biquad cascade filter.
+   */
+  typedef struct
+  {
+    int8_t numStages;         /**< number of 2nd order stages in the filter.  Overall order is 2*numStages. */
+    q15_t *pState;            /**< Points to the array of state coefficients.  The array is of length 4*numStages. */
+    q15_t *pCoeffs;           /**< Points to the array of coefficients.  The array is of length 5*numStages. */
+    int8_t postShift;         /**< Additional shift, in bits, applied to each output sample. */
+
+  } arm_biquad_casd_df1_inst_q15;
+
+
+  /**
+   * @brief Instance structure for the Q31 Biquad cascade filter.
+   */
+  typedef struct
+  {
+    uint32_t numStages;      /**< number of 2nd order stages in the filter.  Overall order is 2*numStages. */
+    q31_t *pState;           /**< Points to the array of state coefficients.  The array is of length 4*numStages. */
+    q31_t *pCoeffs;          /**< Points to the array of coefficients.  The array is of length 5*numStages. */
+    uint8_t postShift;       /**< Additional shift, in bits, applied to each output sample. */
+
+  } arm_biquad_casd_df1_inst_q31;
+
+  /**
+   * @brief Instance structure for the floating-point Biquad cascade filter.
+   */
+  typedef struct
+  {
+    uint32_t numStages;         /**< number of 2nd order stages in the filter.  Overall order is 2*numStages. */
+    float32_t *pState;          /**< Points to the array of state coefficients.  The array is of length 4*numStages. */
+    float32_t *pCoeffs;         /**< Points to the array of coefficients.  The array is of length 5*numStages. */
+
+
+  } arm_biquad_casd_df1_inst_f32;
+
+
+
+  /**
+   * @brief Processing function for the Q15 Biquad cascade filter.
+   * @param[in]  *S points to an instance of the Q15 Biquad cascade structure.
+   * @param[in]  *pSrc points to the block of input data.
+   * @param[out] *pDst points to the block of output data.
+   * @param[in]  blockSize number of samples to process.
+   * @return     none.
+   */
+
+  void arm_biquad_cascade_df1_q15(
+  const arm_biquad_casd_df1_inst_q15 * S,
+  q15_t * pSrc,
+  q15_t * pDst,
+  uint32_t blockSize);
+
+  /**
+   * @brief  Initialization function for the Q15 Biquad cascade filter.
+   * @param[in,out] *S           points to an instance of the Q15 Biquad cascade structure.
+   * @param[in]     numStages    number of 2nd order stages in the filter.
+   * @param[in]     *pCoeffs     points to the filter coefficients.
+   * @param[in]     *pState      points to the state buffer.
+   * @param[in]     postShift    Shift to be applied to the output. Varies according to the coefficients format
+   * @return        none
+   */
+
+  void arm_biquad_cascade_df1_init_q15(
+  arm_biquad_casd_df1_inst_q15 * S,
+  uint8_t numStages,
+  q15_t * pCoeffs,
+  q15_t * pState,
+  int8_t postShift);
+
+
+  /**
+   * @brief Fast but less precise processing function for the Q15 Biquad cascade filter for Cortex-M3 and Cortex-M4.
+   * @param[in]  *S points to an instance of the Q15 Biquad cascade structure.
+   * @param[in]  *pSrc points to the block of input data.
+   * @param[out] *pDst points to the block of output data.
+   * @param[in]  blockSize number of samples to process.
+   * @return     none.
+   */
+
+  void arm_biquad_cascade_df1_fast_q15(
+  const arm_biquad_casd_df1_inst_q15 * S,
+  q15_t * pSrc,
+  q15_t * pDst,
+  uint32_t blockSize);
+
+
+  /**
+   * @brief Processing function for the Q31 Biquad cascade filter
+   * @param[in]  *S         points to an instance of the Q31 Biquad cascade structure.
+   * @param[in]  *pSrc      points to the block of input data.
+   * @param[out] *pDst      points to the block of output data.
+   * @param[in]  blockSize  number of samples to process.
+   * @return     none.
+   */
+
+  void arm_biquad_cascade_df1_q31(
+  const arm_biquad_casd_df1_inst_q31 * S,
+  q31_t * pSrc,
+  q31_t * pDst,
+  uint32_t blockSize);
+
+  /**
+   * @brief Fast but less precise processing function for the Q31 Biquad cascade filter for Cortex-M3 and Cortex-M4.
+   * @param[in]  *S         points to an instance of the Q31 Biquad cascade structure.
+   * @param[in]  *pSrc      points to the block of input data.
+   * @param[out] *pDst      points to the block of output data.
+   * @param[in]  blockSize  number of samples to process.
+   * @return     none.
+   */
+
+  void arm_biquad_cascade_df1_fast_q31(
+  const arm_biquad_casd_df1_inst_q31 * S,
+  q31_t * pSrc,
+  q31_t * pDst,
+  uint32_t blockSize);
+
+  /**
+   * @brief  Initialization function for the Q31 Biquad cascade filter.
+   * @param[in,out] *S           points to an instance of the Q31 Biquad cascade structure.
+   * @param[in]     numStages      number of 2nd order stages in the filter.
+   * @param[in]     *pCoeffs     points to the filter coefficients.
+   * @param[in]     *pState      points to the state buffer.
+   * @param[in]     postShift    Shift to be applied to the output. Varies according to the coefficients format
+   * @return        none
+   */
+
+  void arm_biquad_cascade_df1_init_q31(
+  arm_biquad_casd_df1_inst_q31 * S,
+  uint8_t numStages,
+  q31_t * pCoeffs,
+  q31_t * pState,
+  int8_t postShift);
+
+  /**
+   * @brief Processing function for the floating-point Biquad cascade filter.
+   * @param[in]  *S         points to an instance of the floating-point Biquad cascade structure.
+   * @param[in]  *pSrc      points to the block of input data.
+   * @param[out] *pDst      points to the block of output data.
+   * @param[in]  blockSize  number of samples to process.
+   * @return     none.
+   */
+
+  void arm_biquad_cascade_df1_f32(
+  const arm_biquad_casd_df1_inst_f32 * S,
+  float32_t * pSrc,
+  float32_t * pDst,
+  uint32_t blockSize);
+
+  /**
+   * @brief  Initialization function for the floating-point Biquad cascade filter.
+   * @param[in,out] *S           points to an instance of the floating-point Biquad cascade structure.
+   * @param[in]     numStages    number of 2nd order stages in the filter.
+   * @param[in]     *pCoeffs     points to the filter coefficients.
+   * @param[in]     *pState      points to the state buffer.
+   * @return        none
+   */
+
+  void arm_biquad_cascade_df1_init_f32(
+  arm_biquad_casd_df1_inst_f32 * S,
+  uint8_t numStages,
+  float32_t * pCoeffs,
+  float32_t * pState);
+
+
+  /**
+   * @brief Instance structure for the floating-point matrix structure.
+   */
+
+  typedef struct
+  {
+    uint16_t numRows;     /**< number of rows of the matrix.     */
+    uint16_t numCols;     /**< number of columns of the matrix.  */
+    float32_t *pData;     /**< points to the data of the matrix. */
+  } arm_matrix_instance_f32;
+
+  /**
+   * @brief Instance structure for the Q15 matrix structure.
+   */
+
+  typedef struct
+  {
+    uint16_t numRows;     /**< number of rows of the matrix.     */
+    uint16_t numCols;     /**< number of columns of the matrix.  */
+    q15_t *pData;         /**< points to the data of the matrix. */
+
+  } arm_matrix_instance_q15;
+
+  /**
+   * @brief Instance structure for the Q31 matrix structure.
+   */
+
+  typedef struct
+  {
+    uint16_t numRows;     /**< number of rows of the matrix.     */
+    uint16_t numCols;     /**< number of columns of the matrix.  */
+    q31_t *pData;         /**< points to the data of the matrix. */
+
+  } arm_matrix_instance_q31;
+
+
+
+  /**
+   * @brief Floating-point matrix addition.
+   * @param[in]       *pSrcA points to the first input matrix structure
+   * @param[in]       *pSrcB points to the second input matrix structure
+   * @param[out]      *pDst points to output matrix structure
+   * @return     The function returns either
+   * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.
+   */
+
+  arm_status arm_mat_add_f32(
+  const arm_matrix_instance_f32 * pSrcA,
+  const arm_matrix_instance_f32 * pSrcB,
+  arm_matrix_instance_f32 * pDst);
+
+  /**
+   * @brief Q15 matrix addition.
+   * @param[in]       *pSrcA points to the first input matrix structure
+   * @param[in]       *pSrcB points to the second input matrix structure
+   * @param[out]      *pDst points to output matrix structure
+   * @return     The function returns either
+   * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.
+   */
+
+  arm_status arm_mat_add_q15(
+  const arm_matrix_instance_q15 * pSrcA,
+  const arm_matrix_instance_q15 * pSrcB,
+  arm_matrix_instance_q15 * pDst);
+
+  /**
+   * @brief Q31 matrix addition.
+   * @param[in]       *pSrcA points to the first input matrix structure
+   * @param[in]       *pSrcB points to the second input matrix structure
+   * @param[out]      *pDst points to output matrix structure
+   * @return     The function returns either
+   * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.
+   */
+
+  arm_status arm_mat_add_q31(
+  const arm_matrix_instance_q31 * pSrcA,
+  const arm_matrix_instance_q31 * pSrcB,
+  arm_matrix_instance_q31 * pDst);
+
+
+  /**
+   * @brief Floating-point matrix transpose.
+   * @param[in]  *pSrc points to the input matrix
+   * @param[out] *pDst points to the output matrix
+   * @return 	The function returns either  ARM_MATH_SIZE_MISMATCH
+   * or ARM_MATH_SUCCESS based on the outcome of size checking.
+   */
+
+  arm_status arm_mat_trans_f32(
+  const arm_matrix_instance_f32 * pSrc,
+  arm_matrix_instance_f32 * pDst);
+
+
+  /**
+   * @brief Q15 matrix transpose.
+   * @param[in]  *pSrc points to the input matrix
+   * @param[out] *pDst points to the output matrix
+   * @return 	The function returns either  ARM_MATH_SIZE_MISMATCH
+   * or ARM_MATH_SUCCESS based on the outcome of size checking.
+   */
+
+  arm_status arm_mat_trans_q15(
+  const arm_matrix_instance_q15 * pSrc,
+  arm_matrix_instance_q15 * pDst);
+
+  /**
+   * @brief Q31 matrix transpose.
+   * @param[in]  *pSrc points to the input matrix
+   * @param[out] *pDst points to the output matrix
+   * @return 	The function returns either  ARM_MATH_SIZE_MISMATCH
+   * or ARM_MATH_SUCCESS based on the outcome of size checking.
+   */
+
+  arm_status arm_mat_trans_q31(
+  const arm_matrix_instance_q31 * pSrc,
+  arm_matrix_instance_q31 * pDst);
+
+
+  /**
+   * @brief Floating-point matrix multiplication
+   * @param[in]       *pSrcA points to the first input matrix structure
+   * @param[in]       *pSrcB points to the second input matrix structure
+   * @param[out]      *pDst points to output matrix structure
+   * @return     The function returns either
+   * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.
+   */
+
+  arm_status arm_mat_mult_f32(
+  const arm_matrix_instance_f32 * pSrcA,
+  const arm_matrix_instance_f32 * pSrcB,
+  arm_matrix_instance_f32 * pDst);
+
+  /**
+   * @brief Q15 matrix multiplication
+   * @param[in]       *pSrcA points to the first input matrix structure
+   * @param[in]       *pSrcB points to the second input matrix structure
+   * @param[out]      *pDst points to output matrix structure
+   * @return     The function returns either
+   * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.
+   */
+
+  arm_status arm_mat_mult_q15(
+  const arm_matrix_instance_q15 * pSrcA,
+  const arm_matrix_instance_q15 * pSrcB,
+  arm_matrix_instance_q15 * pDst,
+  q15_t * pState);
+
+  /**
+   * @brief Q15 matrix multiplication (fast variant) for Cortex-M3 and Cortex-M4
+   * @param[in]       *pSrcA  points to the first input matrix structure
+   * @param[in]       *pSrcB  points to the second input matrix structure
+   * @param[out]      *pDst   points to output matrix structure
+   * @param[in]		  *pState points to the array for storing intermediate results  
+   * @return     The function returns either
+   * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.
+   */
+
+  arm_status arm_mat_mult_fast_q15(
+  const arm_matrix_instance_q15 * pSrcA,
+  const arm_matrix_instance_q15 * pSrcB,
+  arm_matrix_instance_q15 * pDst,
+  q15_t * pState);
+
+  /**
+   * @brief Q31 matrix multiplication
+   * @param[in]       *pSrcA points to the first input matrix structure
+   * @param[in]       *pSrcB points to the second input matrix structure
+   * @param[out]      *pDst points to output matrix structure
+   * @return     The function returns either
+   * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.
+   */
+
+  arm_status arm_mat_mult_q31(
+  const arm_matrix_instance_q31 * pSrcA,
+  const arm_matrix_instance_q31 * pSrcB,
+  arm_matrix_instance_q31 * pDst);
+
+  /**
+   * @brief Q31 matrix multiplication (fast variant) for Cortex-M3 and Cortex-M4
+   * @param[in]       *pSrcA points to the first input matrix structure
+   * @param[in]       *pSrcB points to the second input matrix structure
+   * @param[out]      *pDst points to output matrix structure
+   * @return     The function returns either
+   * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.
+   */
+
+  arm_status arm_mat_mult_fast_q31(
+  const arm_matrix_instance_q31 * pSrcA,
+  const arm_matrix_instance_q31 * pSrcB,
+  arm_matrix_instance_q31 * pDst);
+
+
+  /**
+   * @brief Floating-point matrix subtraction
+   * @param[in]       *pSrcA points to the first input matrix structure
+   * @param[in]       *pSrcB points to the second input matrix structure
+   * @param[out]      *pDst points to output matrix structure
+   * @return     The function returns either
+   * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.
+   */
+
+  arm_status arm_mat_sub_f32(
+  const arm_matrix_instance_f32 * pSrcA,
+  const arm_matrix_instance_f32 * pSrcB,
+  arm_matrix_instance_f32 * pDst);
+
+  /**
+   * @brief Q15 matrix subtraction
+   * @param[in]       *pSrcA points to the first input matrix structure
+   * @param[in]       *pSrcB points to the second input matrix structure
+   * @param[out]      *pDst points to output matrix structure
+   * @return     The function returns either
+   * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.
+   */
+
+  arm_status arm_mat_sub_q15(
+  const arm_matrix_instance_q15 * pSrcA,
+  const arm_matrix_instance_q15 * pSrcB,
+  arm_matrix_instance_q15 * pDst);
+
+  /**
+   * @brief Q31 matrix subtraction
+   * @param[in]       *pSrcA points to the first input matrix structure
+   * @param[in]       *pSrcB points to the second input matrix structure
+   * @param[out]      *pDst points to output matrix structure
+   * @return     The function returns either
+   * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.
+   */
+
+  arm_status arm_mat_sub_q31(
+  const arm_matrix_instance_q31 * pSrcA,
+  const arm_matrix_instance_q31 * pSrcB,
+  arm_matrix_instance_q31 * pDst);
+
+  /**
+   * @brief Floating-point matrix scaling.
+   * @param[in]  *pSrc points to the input matrix
+   * @param[in]  scale scale factor
+   * @param[out] *pDst points to the output matrix
+   * @return     The function returns either
+   * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.
+   */
+
+  arm_status arm_mat_scale_f32(
+  const arm_matrix_instance_f32 * pSrc,
+  float32_t scale,
+  arm_matrix_instance_f32 * pDst);
+
+  /**
+   * @brief Q15 matrix scaling.
+   * @param[in]       *pSrc points to input matrix
+   * @param[in]       scaleFract fractional portion of the scale factor
+   * @param[in]       shift number of bits to shift the result by
+   * @param[out]      *pDst points to output matrix
+   * @return     The function returns either
+   * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.
+   */
+
+  arm_status arm_mat_scale_q15(
+  const arm_matrix_instance_q15 * pSrc,
+  q15_t scaleFract,
+  int32_t shift,
+  arm_matrix_instance_q15 * pDst);
+
+  /**
+   * @brief Q31 matrix scaling.
+   * @param[in]       *pSrc points to input matrix
+   * @param[in]       scaleFract fractional portion of the scale factor
+   * @param[in]       shift number of bits to shift the result by
+   * @param[out]      *pDst points to output matrix structure
+   * @return     The function returns either
+   * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.
+   */
+
+  arm_status arm_mat_scale_q31(
+  const arm_matrix_instance_q31 * pSrc,
+  q31_t scaleFract,
+  int32_t shift,
+  arm_matrix_instance_q31 * pDst);
+
+
+  /**
+   * @brief  Q31 matrix initialization.
+   * @param[in,out] *S             points to an instance of the floating-point matrix structure.
+   * @param[in]     nRows          number of rows in the matrix.
+   * @param[in]     nColumns       number of columns in the matrix.
+   * @param[in]     *pData	       points to the matrix data array.
+   * @return        none
+   */
+
+  void arm_mat_init_q31(
+  arm_matrix_instance_q31 * S,
+  uint16_t nRows,
+  uint16_t nColumns,
+  q31_t * pData);
+
+  /**
+   * @brief  Q15 matrix initialization.
+   * @param[in,out] *S             points to an instance of the floating-point matrix structure.
+   * @param[in]     nRows          number of rows in the matrix.
+   * @param[in]     nColumns       number of columns in the matrix.
+   * @param[in]     *pData	       points to the matrix data array.
+   * @return        none
+   */
+
+  void arm_mat_init_q15(
+  arm_matrix_instance_q15 * S,
+  uint16_t nRows,
+  uint16_t nColumns,
+  q15_t * pData);
+
+  /**
+   * @brief  Floating-point matrix initialization.
+   * @param[in,out] *S             points to an instance of the floating-point matrix structure.
+   * @param[in]     nRows          number of rows in the matrix.
+   * @param[in]     nColumns       number of columns in the matrix.
+   * @param[in]     *pData	       points to the matrix data array.
+   * @return        none
+   */
+
+  void arm_mat_init_f32(
+  arm_matrix_instance_f32 * S,
+  uint16_t nRows,
+  uint16_t nColumns,
+  float32_t * pData);
+
+
+
+  /**
+   * @brief Instance structure for the Q15 PID Control.
+   */
+  typedef struct
+  {
+    q15_t A0;    /**< The derived gain, A0 = Kp + Ki + Kd . */
+#ifdef ARM_MATH_CM0
+    q15_t A1;
+    q15_t A2;
+#else
+    q31_t A1;           /**< The derived gain A1 = -Kp - 2Kd | Kd.*/
+#endif
+    q15_t state[3];       /**< The state array of length 3. */
+    q15_t Kp;           /**< The proportional gain. */
+    q15_t Ki;           /**< The integral gain. */
+    q15_t Kd;           /**< The derivative gain. */
+  } arm_pid_instance_q15;
+
+  /**
+   * @brief Instance structure for the Q31 PID Control.
+   */
+  typedef struct
+  {
+    q31_t A0;            /**< The derived gain, A0 = Kp + Ki + Kd . */
+    q31_t A1;            /**< The derived gain, A1 = -Kp - 2Kd. */
+    q31_t A2;            /**< The derived gain, A2 = Kd . */
+    q31_t state[3];      /**< The state array of length 3. */
+    q31_t Kp;            /**< The proportional gain. */
+    q31_t Ki;            /**< The integral gain. */
+    q31_t Kd;            /**< The derivative gain. */
+
+  } arm_pid_instance_q31;
+
+  /**
+   * @brief Instance structure for the floating-point PID Control.
+   */
+  typedef struct
+  {
+    float32_t A0;          /**< The derived gain, A0 = Kp + Ki + Kd . */
+    float32_t A1;          /**< The derived gain, A1 = -Kp - 2Kd. */
+    float32_t A2;          /**< The derived gain, A2 = Kd . */
+    float32_t state[3];    /**< The state array of length 3. */
+    float32_t Kp;               /**< The proportional gain. */
+    float32_t Ki;               /**< The integral gain. */
+    float32_t Kd;               /**< The derivative gain. */
+  } arm_pid_instance_f32;
+
+
+
+  /**
+   * @brief  Initialization function for the floating-point PID Control.
+   * @param[in,out] *S      points to an instance of the PID structure.
+   * @param[in]     resetStateFlag  flag to reset the state. 0 = no change in state 1 = reset the state.
+   * @return none.
+   */
+  void arm_pid_init_f32(
+  arm_pid_instance_f32 * S,
+  int32_t resetStateFlag);
+
+  /**
+   * @brief  Reset function for the floating-point PID Control.
+   * @param[in,out] *S is an instance of the floating-point PID Control structure
+   * @return none
+   */
+  void arm_pid_reset_f32(
+  arm_pid_instance_f32 * S);
+
+
+  /**
+   * @brief  Initialization function for the Q31 PID Control.
+   * @param[in,out] *S points to an instance of the Q15 PID structure.
+   * @param[in]     resetStateFlag  flag to reset the state. 0 = no change in state 1 = reset the state.
+   * @return none.
+   */
+  void arm_pid_init_q31(
+  arm_pid_instance_q31 * S,
+  int32_t resetStateFlag);
+
+
+  /**
+   * @brief  Reset function for the Q31 PID Control.
+   * @param[in,out] *S points to an instance of the Q31 PID Control structure
+   * @return none
+   */
+
+  void arm_pid_reset_q31(
+  arm_pid_instance_q31 * S);
+
+  /**
+   * @brief  Initialization function for the Q15 PID Control.
+   * @param[in,out] *S points to an instance of the Q15 PID structure.
+   * @param[in] resetStateFlag  flag to reset the state. 0 = no change in state 1 = reset the state.
+   * @return none.
+   */
+  void arm_pid_init_q15(
+  arm_pid_instance_q15 * S,
+  int32_t resetStateFlag);
+
+  /**
+   * @brief  Reset function for the Q15 PID Control.
+   * @param[in,out] *S points to an instance of the q15 PID Control structure
+   * @return none
+   */
+  void arm_pid_reset_q15(
+  arm_pid_instance_q15 * S);
+
+
+  /**
+   * @brief Instance structure for the floating-point Linear Interpolate function.
+   */
+  typedef struct
+  {
+    uint32_t nValues;           /**< nValues */
+    float32_t x1;               /**< x1 */
+    float32_t xSpacing;         /**< xSpacing */
+    float32_t *pYData;          /**< pointer to the table of Y values */
+  } arm_linear_interp_instance_f32;
+
+  /**
+   * @brief Instance structure for the floating-point bilinear interpolation function.
+   */
+
+  typedef struct
+  {
+    uint16_t numRows;   /**< number of rows in the data table. */
+    uint16_t numCols;   /**< number of columns in the data table. */
+    float32_t *pData;   /**< points to the data table. */
+  } arm_bilinear_interp_instance_f32;
+
+   /**
+   * @brief Instance structure for the Q31 bilinear interpolation function.
+   */
+
+  typedef struct
+  {
+    uint16_t numRows;   /**< number of rows in the data table. */
+    uint16_t numCols;   /**< number of columns in the data table. */
+    q31_t *pData;       /**< points to the data table. */
+  } arm_bilinear_interp_instance_q31;
+
+   /**
+   * @brief Instance structure for the Q15 bilinear interpolation function.
+   */
+
+  typedef struct
+  {
+    uint16_t numRows;   /**< number of rows in the data table. */
+    uint16_t numCols;   /**< number of columns in the data table. */
+    q15_t *pData;       /**< points to the data table. */
+  } arm_bilinear_interp_instance_q15;
+
+   /**
+   * @brief Instance structure for the Q15 bilinear interpolation function.
+   */
+
+  typedef struct
+  {
+    uint16_t numRows;   /**< number of rows in the data table. */
+    uint16_t numCols;   /**< number of columns in the data table. */
+    q7_t *pData;                /**< points to the data table. */
+  } arm_bilinear_interp_instance_q7;
+
+
+  /**
+   * @brief Q7 vector multiplication.
+   * @param[in]       *pSrcA points to the first input vector
+   * @param[in]       *pSrcB points to the second input vector
+   * @param[out]      *pDst  points to the output vector
+   * @param[in]       blockSize number of samples in each vector
+   * @return none.
+   */
+
+  void arm_mult_q7(
+  q7_t * pSrcA,
+  q7_t * pSrcB,
+  q7_t * pDst,
+  uint32_t blockSize);
+
+  /**
+   * @brief Q15 vector multiplication.
+   * @param[in]       *pSrcA points to the first input vector
+   * @param[in]       *pSrcB points to the second input vector
+   * @param[out]      *pDst  points to the output vector
+   * @param[in]       blockSize number of samples in each vector
+   * @return none.
+   */
+
+  void arm_mult_q15(
+  q15_t * pSrcA,
+  q15_t * pSrcB,
+  q15_t * pDst,
+  uint32_t blockSize);
+
+  /**
+   * @brief Q31 vector multiplication.
+   * @param[in]       *pSrcA points to the first input vector
+   * @param[in]       *pSrcB points to the second input vector
+   * @param[out]      *pDst points to the output vector
+   * @param[in]       blockSize number of samples in each vector
+   * @return none.
+   */
+
+  void arm_mult_q31(
+  q31_t * pSrcA,
+  q31_t * pSrcB,
+  q31_t * pDst,
+  uint32_t blockSize);
+
+  /**
+   * @brief Floating-point vector multiplication.
+   * @param[in]       *pSrcA points to the first input vector
+   * @param[in]       *pSrcB points to the second input vector
+   * @param[out]      *pDst points to the output vector
+   * @param[in]       blockSize number of samples in each vector
+   * @return none.
+   */
+
+  void arm_mult_f32(
+  float32_t * pSrcA,
+  float32_t * pSrcB,
+  float32_t * pDst,
+  uint32_t blockSize);
+
+
+  /**
+   * @brief Instance structure for the Q15 CFFT/CIFFT function.
+   */
+
+  typedef struct
+  {
+    uint16_t fftLen;                 /**< length of the FFT. */
+    uint8_t ifftFlag;                /**< flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform. */
+    uint8_t bitReverseFlag;          /**< flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output. */
+    q15_t *pTwiddle;                 /**< points to the twiddle factor table. */
+    uint16_t *pBitRevTable;          /**< points to the bit reversal table. */
+    uint16_t twidCoefModifier;       /**< twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. */
+    uint16_t bitRevFactor;           /**< bit reversal modifier that supports different size FFTs with the same bit reversal table. */
+  } arm_cfft_radix4_instance_q15;
+
+  /**
+   * @brief Instance structure for the Q31 CFFT/CIFFT function.
+   */
+
+  typedef struct
+  {
+    uint16_t fftLen;                 /**< length of the FFT. */
+    uint8_t ifftFlag;                /**< flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform. */
+    uint8_t bitReverseFlag;          /**< flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output. */
+    q31_t *pTwiddle;                 /**< points to the twiddle factor table. */
+    uint16_t *pBitRevTable;          /**< points to the bit reversal table. */
+    uint16_t twidCoefModifier;       /**< twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. */
+    uint16_t bitRevFactor;           /**< bit reversal modifier that supports different size FFTs with the same bit reversal table. */
+  } arm_cfft_radix4_instance_q31;
+
+
+  /**
+   * @brief Instance structure for the floating-point CFFT/CIFFT function.
+   */
+
+  typedef struct
+  {
+    uint16_t fftLen;                   /**< length of the FFT. */
+    uint8_t ifftFlag;                  /**< flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform. */
+    uint8_t bitReverseFlag;            /**< flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output. */
+    float32_t *pTwiddle;               /**< points to the twiddle factor table. */
+    uint16_t *pBitRevTable;            /**< points to the bit reversal table. */
+    uint16_t twidCoefModifier;         /**< twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. */
+    uint16_t bitRevFactor;             /**< bit reversal modifier that supports different size FFTs with the same bit reversal table. */
+    float32_t onebyfftLen;                 /**< value of 1/fftLen. */
+  } arm_cfft_radix4_instance_f32;
+
+
+  /**
+   * @brief Instance structure for the Q15 CFFT/CIFFT function.
+   */
+
+  typedef struct
+  {
+    uint16_t fftLen;                 /**< length of the FFT. */
+    uint8_t ifftFlag;                /**< flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform. */
+    uint8_t bitReverseFlag;          /**< flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output. */
+    q15_t *pTwiddle;                     /**< points to the Sin twiddle factor table. */
+    uint16_t *pBitRevTable;          /**< points to the bit reversal table. */
+    uint16_t twidCoefModifier;       /**< twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. */
+    uint16_t bitRevFactor;           /**< bit reversal modifier that supports different size FFTs with the same bit reversal table. */
+  } arm_cfft_radix2_instance_q15;
+
+  /**
+   * @brief Instance structure for the Radix-2 Q31 CFFT/CIFFT function.
+   */
+
+  typedef struct
+  {
+    uint16_t fftLen;                 /**< length of the FFT. */
+    uint8_t ifftFlag;                /**< flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform. */
+    uint8_t bitReverseFlag;          /**< flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output. */
+    q31_t *pTwiddle;                     /**< points to the Twiddle factor table. */
+    uint16_t *pBitRevTable;          /**< points to the bit reversal table. */
+    uint16_t twidCoefModifier;       /**< twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. */
+    uint16_t bitRevFactor;           /**< bit reversal modifier that supports different size FFTs with the same bit reversal table. */
+  } arm_cfft_radix2_instance_q31;
+
+  /**
+   * @brief Instance structure for the floating-point CFFT/CIFFT function.
+   */
+
+  typedef struct
+  {
+    uint16_t fftLen;                   /**< length of the FFT. */
+    uint8_t ifftFlag;                  /**< flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform. */
+    uint8_t bitReverseFlag;            /**< flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output. */
+    float32_t *pTwiddle;               /**< points to the Twiddle factor table. */
+    uint16_t *pBitRevTable;            /**< points to the bit reversal table. */
+    uint16_t twidCoefModifier;         /**< twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. */
+    uint16_t bitRevFactor;             /**< bit reversal modifier that supports different size FFTs with the same bit reversal table. */
+    float32_t onebyfftLen;                 /**< value of 1/fftLen. */
+  } arm_cfft_radix2_instance_f32;
+
+
+  /**
+   * @brief Processing function for the Q15 CFFT/CIFFT.
+   * @param[in]      *S    points to an instance of the Q15 CFFT/CIFFT structure.
+   * @param[in, out] *pSrc points to the complex data buffer. Processing occurs in-place.
+   * @return none.
+   */
+
+  void arm_cfft_radix4_q15(
+  const arm_cfft_radix4_instance_q15 * S,
+  q15_t * pSrc);
+
+  /**
+   * @brief Processing function for the Q15 CFFT/CIFFT.
+   * @param[in]      *S    points to an instance of the Q15 CFFT/CIFFT structure.
+   * @param[in, out] *pSrc points to the complex data buffer. Processing occurs in-place.
+   * @return none.
+   */
+
+  void arm_cfft_radix2_q15(
+  const arm_cfft_radix2_instance_q15 * S,
+  q15_t * pSrc);
+
+  /**
+   * @brief Initialization function for the Q15 CFFT/CIFFT.
+   * @param[in,out] *S             points to an instance of the Q15 CFFT/CIFFT structure.
+   * @param[in]     fftLen         length of the FFT.
+   * @param[in]     ifftFlag       flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform.
+   * @param[in]     bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.
+   * @return        arm_status     function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if fftLen is not a supported value.
+   */
+
+  arm_status arm_cfft_radix4_init_q15(
+  arm_cfft_radix4_instance_q15 * S,
+  uint16_t fftLen,
+  uint8_t ifftFlag,
+  uint8_t bitReverseFlag);
+
+  /**
+   * @brief Initialization function for the Q15 CFFT/CIFFT.
+   * @param[in,out] *S             points to an instance of the Q15 CFFT/CIFFT structure.
+   * @param[in]     fftLen         length of the FFT.
+   * @param[in]     ifftFlag       flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform.
+   * @param[in]     bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.
+   * @return        arm_status     function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if fftLen is not a supported value.
+   */
+
+  arm_status arm_cfft_radix2_init_q15(
+  arm_cfft_radix2_instance_q15 * S,
+  uint16_t fftLen,
+  uint8_t ifftFlag,
+  uint8_t bitReverseFlag);
+
+  /**
+   * @brief Processing function for the Q31 CFFT/CIFFT.
+   * @param[in]      *S    points to an instance of the Q31 CFFT/CIFFT structure.
+   * @param[in, out] *pSrc points to the complex data buffer. Processing occurs in-place.
+   * @return none.
+   */
+
+  void arm_cfft_radix4_q31(
+  const arm_cfft_radix4_instance_q31 * S,
+  q31_t * pSrc);
+
+  /**
+   * @brief  Initialization function for the Q31 CFFT/CIFFT.
+   * @param[in,out] *S             points to an instance of the Q31 CFFT/CIFFT structure.
+   * @param[in]     fftLen         length of the FFT.
+   * @param[in]     ifftFlag       flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform.
+   * @param[in]     bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.
+   * @return        arm_status     function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if fftLen is not a supported value.
+   */
+
+  arm_status arm_cfft_radix4_init_q31(
+  arm_cfft_radix4_instance_q31 * S,
+  uint16_t fftLen,
+  uint8_t ifftFlag,
+  uint8_t bitReverseFlag);
+
+  /**
+   * @brief Processing function for the Radix-2 Q31 CFFT/CIFFT.
+   * @param[in]      *S    points to an instance of the Radix-2 Q31 CFFT/CIFFT structure.
+   * @param[in, out] *pSrc points to the complex data buffer. Processing occurs in-place.
+   * @return none.
+   */
+
+  void arm_cfft_radix2_q31(
+  const arm_cfft_radix2_instance_q31 * S,
+  q31_t * pSrc);
+
+  /**
+   * @brief  Initialization function for the Radix-2 Q31 CFFT/CIFFT.
+   * @param[in,out] *S             points to an instance of the Radix-2 Q31 CFFT/CIFFT structure.
+   * @param[in]     fftLen         length of the FFT.
+   * @param[in]     ifftFlag       flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform.
+   * @param[in]     bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.
+   * @return        arm_status     function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if fftLen is not a supported value.
+   */
+
+  arm_status arm_cfft_radix2_init_q31(
+  arm_cfft_radix2_instance_q31 * S,
+  uint16_t fftLen,
+  uint8_t ifftFlag,
+  uint8_t bitReverseFlag);
+
+
+
+  /**
+   * @brief Processing function for the floating-point CFFT/CIFFT.
+   * @param[in]      *S    points to an instance of the floating-point CFFT/CIFFT structure.
+   * @param[in, out] *pSrc points to the complex data buffer. Processing occurs in-place.
+   * @return none.
+   */
+
+  void arm_cfft_radix2_f32(
+  const arm_cfft_radix2_instance_f32 * S,
+  float32_t * pSrc);
+
+  /**
+   * @brief  Initialization function for the floating-point CFFT/CIFFT.
+   * @param[in,out] *S             points to an instance of the floating-point CFFT/CIFFT structure.
+   * @param[in]     fftLen         length of the FFT.
+   * @param[in]     ifftFlag       flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform.
+   * @param[in]     bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.
+   * @return        The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if fftLen is not a supported value.
+   */
+
+  arm_status arm_cfft_radix2_init_f32(
+  arm_cfft_radix2_instance_f32 * S,
+  uint16_t fftLen,
+  uint8_t ifftFlag,
+  uint8_t bitReverseFlag);
+
+  /**
+   * @brief Processing function for the floating-point CFFT/CIFFT.
+   * @param[in]      *S    points to an instance of the floating-point CFFT/CIFFT structure.
+   * @param[in, out] *pSrc points to the complex data buffer. Processing occurs in-place.
+   * @return none.
+   */
+
+  void arm_cfft_radix4_f32(
+  const arm_cfft_radix4_instance_f32 * S,
+  float32_t * pSrc);
+
+  /**
+   * @brief  Initialization function for the floating-point CFFT/CIFFT.
+   * @param[in,out] *S             points to an instance of the floating-point CFFT/CIFFT structure.
+   * @param[in]     fftLen         length of the FFT.
+   * @param[in]     ifftFlag       flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform.
+   * @param[in]     bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.
+   * @return        The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if fftLen is not a supported value.
+   */
+
+  arm_status arm_cfft_radix4_init_f32(
+  arm_cfft_radix4_instance_f32 * S,
+  uint16_t fftLen,
+  uint8_t ifftFlag,
+  uint8_t bitReverseFlag);
+
+
+
+  /*----------------------------------------------------------------------
+   *		Internal functions prototypes FFT function
+   ----------------------------------------------------------------------*/
+
+  /**
+   * @brief  Core function for the floating-point CFFT butterfly process.
+   * @param[in, out] *pSrc            points to the in-place buffer of floating-point data type.
+   * @param[in]      fftLen           length of the FFT.
+   * @param[in]      *pCoef           points to the twiddle coefficient buffer.
+   * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.
+   * @return none.
+   */
+
+  void arm_radix4_butterfly_f32(
+  float32_t * pSrc,
+  uint16_t fftLen,
+  float32_t * pCoef,
+  uint16_t twidCoefModifier);
+
+  /**
+   * @brief  Core function for the floating-point CIFFT butterfly process.
+   * @param[in, out] *pSrc            points to the in-place buffer of floating-point data type.
+   * @param[in]      fftLen           length of the FFT.
+   * @param[in]      *pCoef           points to twiddle coefficient buffer.
+   * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.
+   * @param[in]      onebyfftLen      value of 1/fftLen.
+   * @return none.
+   */
+
+  void arm_radix4_butterfly_inverse_f32(
+  float32_t * pSrc,
+  uint16_t fftLen,
+  float32_t * pCoef,
+  uint16_t twidCoefModifier,
+  float32_t onebyfftLen);
+
+  /**
+   * @brief  In-place bit reversal function.
+   * @param[in, out] *pSrc        points to the in-place buffer of floating-point data type.
+   * @param[in]      fftSize      length of the FFT.
+   * @param[in]      bitRevFactor bit reversal modifier that supports different size FFTs with the same bit reversal table.
+   * @param[in]      *pBitRevTab  points to the bit reversal table.
+   * @return none.
+   */
+
+  void arm_bitreversal_f32(
+  float32_t * pSrc,
+  uint16_t fftSize,
+  uint16_t bitRevFactor,
+  uint16_t * pBitRevTab);
+
+  /**
+   * @brief  Core function for the Q31 CFFT butterfly process.
+   * @param[in, out] *pSrc            points to the in-place buffer of Q31 data type.
+   * @param[in]      fftLen           length of the FFT.
+   * @param[in]      *pCoef           points to Twiddle coefficient buffer.
+   * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.
+   * @return none.
+   */
+
+  void arm_radix4_butterfly_q31(
+  q31_t * pSrc,
+  uint32_t fftLen,
+  q31_t * pCoef,
+  uint32_t twidCoefModifier);
+
+  /**
+   * @brief  Core function for the f32 FFT butterfly process.
+   * @param[in, out] *pSrc            points to the in-place buffer of f32 data type.
+   * @param[in]      fftLen           length of the FFT.
+   * @param[in]      *pCoef        	  points to Twiddle coefficient buffer.
+   * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.
+   * @return none.
+   */
+
+  void arm_radix2_butterfly_f32(
+  float32_t * pSrc,
+  uint32_t fftLen,
+  float32_t * pCoef,
+  uint16_t twidCoefModifier);
+
+        /**  
+	 * @brief  Core function for the Radix-2 Q31 CFFT butterfly process. 
+	 * @param[in, out] *pSrc            points to the in-place buffer of Q31 data type. 
+	 * @param[in]      fftLen           length of the FFT. 
+	 * @param[in]      *pCoef         	points to Twiddle coefficient buffer.
+	 * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. 
+	 * @return none. 
+	 */
+
+  void arm_radix2_butterfly_q31(
+  q31_t * pSrc,
+  uint32_t fftLen,
+  q31_t * pCoef,
+  uint16_t twidCoefModifier);
+
+        /**  
+	 * @brief  Core function for the Radix-2 Q15 CFFT butterfly process. 
+	 * @param[in, out] *pSrc            points to the in-place buffer of Q15 data type. 
+	 * @param[in]      fftLen           length of the FFT. 
+	 * @param[in]      *pCoef           points to Twiddle coefficient buffer.
+	 * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. 
+	 * @return none. 
+	 */
+
+  void arm_radix2_butterfly_q15(
+  q15_t * pSrc,
+  uint32_t fftLen,
+  q15_t * pCoef,
+  uint16_t twidCoefModifier);
+
+        /**  
+	 * @brief  Core function for the Radix-2 Q15 CFFT Inverse butterfly process. 
+	 * @param[in, out] *pSrc            points to the in-place buffer of Q15 data type. 
+	 * @param[in]      fftLen           length of the FFT. 
+	 * @param[in]      *pCoef       	points to Twiddle coefficient buffer.
+	 * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. 
+	 * @return none. 
+	 */
+
+  void arm_radix2_butterfly_inverse_q15(
+  q15_t * pSrc,
+  uint32_t fftLen,
+  q15_t * pCoef,
+  uint16_t twidCoefModifier);
+
+        /**  
+	 * @brief  Core function for the Radix-2 Q31 CFFT Inverse butterfly process. 
+	 * @param[in, out] *pSrc            points to the in-place buffer of Q31 data type. 
+	 * @param[in]      fftLen           length of the FFT. 
+	 * @param[in]      *pCoef         	points to Twiddle coefficient buffer.
+	 * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. 
+	 * @return none. 
+	 */
+
+  void arm_radix2_butterfly_inverse_q31(
+  q31_t * pSrc,
+  uint32_t fftLen,
+  q31_t * pCoef,
+  uint16_t twidCoefModifier);
+
+  /**
+   * @brief  Core function for the f32 IFFT butterfly process.
+   * @param[in, out] *pSrc            points to the in-place buffer of f32 data type.
+   * @param[in]      fftLen           length of the FFT.
+   * @param[in]      *pCoef        	  points to Twiddle coefficient buffer.
+   * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.
+   * @param[in]		 onebyfftLen	  1/fftLenfth
+   * @return none.
+   */
+
+  void arm_radix2_butterfly_inverse_f32(
+  float32_t * pSrc,
+  uint32_t fftLen,
+  float32_t * pCoef,
+  uint16_t twidCoefModifier,
+  float32_t onebyfftLen);
+
+                                                                /**
+   * @brief  Core function for the Q31 CIFFT butterfly process.
+   * @param[in, out] *pSrc            points to the in-place buffer of Q31 data type.
+   * @param[in]      fftLen           length of the FFT.
+   * @param[in]      *pCoef           points to twiddle coefficient buffer.
+   * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.
+   * @return none.
+   */
+
+  void arm_radix4_butterfly_inverse_q31(
+  q31_t * pSrc,
+  uint32_t fftLen,
+  q31_t * pCoef,
+  uint32_t twidCoefModifier);
+
+  /**
+   * @brief  In-place bit reversal function.
+   * @param[in, out] *pSrc        points to the in-place buffer of Q31 data type.
+   * @param[in]      fftLen       length of the FFT.
+   * @param[in]      bitRevFactor bit reversal modifier that supports different size FFTs with the same bit reversal table
+   * @param[in]      *pBitRevTab  points to bit reversal table.
+   * @return none.
+   */
+
+  void arm_bitreversal_q31(
+  q31_t * pSrc,
+  uint32_t fftLen,
+  uint16_t bitRevFactor,
+  uint16_t * pBitRevTab);
+
+  /**
+   * @brief  Core function for the Q15 CFFT butterfly process.
+   * @param[in, out] *pSrc16          points to the in-place buffer of Q15 data type.
+   * @param[in]      fftLen           length of the FFT.
+   * @param[in]      *pCoef16         points to twiddle coefficient buffer.
+   * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.
+   * @return none.
+   */
+
+  void arm_radix4_butterfly_q15(
+  q15_t * pSrc16,
+  uint32_t fftLen,
+  q15_t * pCoef16,
+  uint32_t twidCoefModifier);
+
+
+  /**
+   * @brief  Core function for the Q15 CIFFT butterfly process.
+   * @param[in, out] *pSrc16          points to the in-place buffer of Q15 data type.
+   * @param[in]      fftLen           length of the FFT.
+   * @param[in]      *pCoef16         points to twiddle coefficient buffer.
+   * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.
+   * @return none.
+   */
+
+  void arm_radix4_butterfly_inverse_q15(
+  q15_t * pSrc16,
+  uint32_t fftLen,
+  q15_t * pCoef16,
+  uint32_t twidCoefModifier);
+
+  /**
+   * @brief  In-place bit reversal function.
+   * @param[in, out] *pSrc        points to the in-place buffer of Q15 data type.
+   * @param[in]      fftLen       length of the FFT.
+   * @param[in]      bitRevFactor bit reversal modifier that supports different size FFTs with the same bit reversal table
+   * @param[in]      *pBitRevTab  points to bit reversal table.
+   * @return none.
+   */
+
+  void arm_bitreversal_q15(
+  q15_t * pSrc,
+  uint32_t fftLen,
+  uint16_t bitRevFactor,
+  uint16_t * pBitRevTab);
+
+
+  /**
+   * @brief Instance structure for the Q15 RFFT/RIFFT function.
+   */
+
+  typedef struct
+  {
+    uint32_t fftLenReal;                      /**< length of the real FFT. */
+    uint32_t fftLenBy2;                       /**< length of the complex FFT. */
+    uint8_t ifftFlagR;                        /**< flag that selects forward (ifftFlagR=0) or inverse (ifftFlagR=1) transform. */
+    uint8_t bitReverseFlagR;                      /**< flag that enables (bitReverseFlagR=1) or disables (bitReverseFlagR=0) bit reversal of output. */
+    uint32_t twidCoefRModifier;               /**< twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. */
+    q15_t *pTwiddleAReal;                     /**< points to the real twiddle factor table. */
+    q15_t *pTwiddleBReal;                     /**< points to the imag twiddle factor table. */
+    arm_cfft_radix4_instance_q15 *pCfft;          /**< points to the complex FFT instance. */
+  } arm_rfft_instance_q15;
+
+  /**
+   * @brief Instance structure for the Q31 RFFT/RIFFT function.
+   */
+
+  typedef struct
+  {
+    uint32_t fftLenReal;                        /**< length of the real FFT. */
+    uint32_t fftLenBy2;                         /**< length of the complex FFT. */
+    uint8_t ifftFlagR;                          /**< flag that selects forward (ifftFlagR=0) or inverse (ifftFlagR=1) transform. */
+    uint8_t bitReverseFlagR;                        /**< flag that enables (bitReverseFlagR=1) or disables (bitReverseFlagR=0) bit reversal of output. */
+    uint32_t twidCoefRModifier;                 /**< twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. */
+    q31_t *pTwiddleAReal;                       /**< points to the real twiddle factor table. */
+    q31_t *pTwiddleBReal;                       /**< points to the imag twiddle factor table. */
+    arm_cfft_radix4_instance_q31 *pCfft;        /**< points to the complex FFT instance. */
+  } arm_rfft_instance_q31;
+
+  /**
+   * @brief Instance structure for the floating-point RFFT/RIFFT function.
+   */
+
+  typedef struct
+  {
+    uint32_t fftLenReal;                        /**< length of the real FFT. */
+    uint16_t fftLenBy2;                         /**< length of the complex FFT. */
+    uint8_t ifftFlagR;                          /**< flag that selects forward (ifftFlagR=0) or inverse (ifftFlagR=1) transform. */
+    uint8_t bitReverseFlagR;                    /**< flag that enables (bitReverseFlagR=1) or disables (bitReverseFlagR=0) bit reversal of output. */
+    uint32_t twidCoefRModifier;                     /**< twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. */
+    float32_t *pTwiddleAReal;                   /**< points to the real twiddle factor table. */
+    float32_t *pTwiddleBReal;                   /**< points to the imag twiddle factor table. */
+    arm_cfft_radix4_instance_f32 *pCfft;        /**< points to the complex FFT instance. */
+  } arm_rfft_instance_f32;
+
+  /**
+   * @brief Processing function for the Q15 RFFT/RIFFT.
+   * @param[in]  *S    points to an instance of the Q15 RFFT/RIFFT structure.
+   * @param[in]  *pSrc points to the input buffer.
+   * @param[out] *pDst points to the output buffer.
+   * @return none.
+   */
+
+  void arm_rfft_q15(
+  const arm_rfft_instance_q15 * S,
+  q15_t * pSrc,
+  q15_t * pDst);
+
+  /**
+   * @brief  Initialization function for the Q15 RFFT/RIFFT.
+   * @param[in, out] *S             points to an instance of the Q15 RFFT/RIFFT structure.
+   * @param[in]      *S_CFFT        points to an instance of the Q15 CFFT/CIFFT structure.
+   * @param[in]      fftLenReal     length of the FFT.
+   * @param[in]      ifftFlagR      flag that selects forward (ifftFlagR=0) or inverse (ifftFlagR=1) transform.
+   * @param[in]      bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.
+   * @return		The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if fftLenReal is not a supported value.
+   */
+
+  arm_status arm_rfft_init_q15(
+  arm_rfft_instance_q15 * S,
+  arm_cfft_radix4_instance_q15 * S_CFFT,
+  uint32_t fftLenReal,
+  uint32_t ifftFlagR,
+  uint32_t bitReverseFlag);
+
+  /**
+   * @brief Processing function for the Q31 RFFT/RIFFT.
+   * @param[in]  *S    points to an instance of the Q31 RFFT/RIFFT structure.
+   * @param[in]  *pSrc points to the input buffer.
+   * @param[out] *pDst points to the output buffer.
+   * @return none.
+   */
+
+  void arm_rfft_q31(
+  const arm_rfft_instance_q31 * S,
+  q31_t * pSrc,
+  q31_t * pDst);
+
+  /**
+   * @brief  Initialization function for the Q31 RFFT/RIFFT.
+   * @param[in, out] *S             points to an instance of the Q31 RFFT/RIFFT structure.
+   * @param[in, out] *S_CFFT        points to an instance of the Q31 CFFT/CIFFT structure.
+   * @param[in]      fftLenReal     length of the FFT.
+   * @param[in]      ifftFlagR      flag that selects forward (ifftFlagR=0) or inverse (ifftFlagR=1) transform.
+   * @param[in]      bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.
+   * @return		The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if fftLenReal is not a supported value.
+   */
+
+  arm_status arm_rfft_init_q31(
+  arm_rfft_instance_q31 * S,
+  arm_cfft_radix4_instance_q31 * S_CFFT,
+  uint32_t fftLenReal,
+  uint32_t ifftFlagR,
+  uint32_t bitReverseFlag);
+
+  /**
+   * @brief  Initialization function for the floating-point RFFT/RIFFT.
+   * @param[in,out] *S             points to an instance of the floating-point RFFT/RIFFT structure.
+   * @param[in,out] *S_CFFT        points to an instance of the floating-point CFFT/CIFFT structure.
+   * @param[in]     fftLenReal     length of the FFT.
+   * @param[in]     ifftFlagR      flag that selects forward (ifftFlagR=0) or inverse (ifftFlagR=1) transform.
+   * @param[in]     bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.
+   * @return		The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if fftLenReal is not a supported value.
+   */
+
+  arm_status arm_rfft_init_f32(
+  arm_rfft_instance_f32 * S,
+  arm_cfft_radix4_instance_f32 * S_CFFT,
+  uint32_t fftLenReal,
+  uint32_t ifftFlagR,
+  uint32_t bitReverseFlag);
+
+  /**
+   * @brief Processing function for the floating-point RFFT/RIFFT.
+   * @param[in]  *S    points to an instance of the floating-point RFFT/RIFFT structure.
+   * @param[in]  *pSrc points to the input buffer.
+   * @param[out] *pDst points to the output buffer.
+   * @return none.
+   */
+
+  void arm_rfft_f32(
+  const arm_rfft_instance_f32 * S,
+  float32_t * pSrc,
+  float32_t * pDst);
+
+  /**
+   * @brief Instance structure for the floating-point DCT4/IDCT4 function.
+   */
+
+  typedef struct
+  {
+    uint16_t N;                         /**< length of the DCT4. */
+    uint16_t Nby2;                      /**< half of the length of the DCT4. */
+    float32_t normalize;                /**< normalizing factor. */
+    float32_t *pTwiddle;                /**< points to the twiddle factor table. */
+    float32_t *pCosFactor;              /**< points to the cosFactor table. */
+    arm_rfft_instance_f32 *pRfft;        /**< points to the real FFT instance. */
+    arm_cfft_radix4_instance_f32 *pCfft; /**< points to the complex FFT instance. */
+  } arm_dct4_instance_f32;
+
+  /**
+   * @brief  Initialization function for the floating-point DCT4/IDCT4.
+   * @param[in,out] *S         points to an instance of floating-point DCT4/IDCT4 structure.
+   * @param[in]     *S_RFFT    points to an instance of floating-point RFFT/RIFFT structure.
+   * @param[in]     *S_CFFT    points to an instance of floating-point CFFT/CIFFT structure.
+   * @param[in]     N          length of the DCT4.
+   * @param[in]     Nby2       half of the length of the DCT4.
+   * @param[in]     normalize  normalizing factor.
+   * @return		arm_status function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if fftLenReal is not a supported transform length.
+   */
+
+  arm_status arm_dct4_init_f32(
+  arm_dct4_instance_f32 * S,
+  arm_rfft_instance_f32 * S_RFFT,
+  arm_cfft_radix4_instance_f32 * S_CFFT,
+  uint16_t N,
+  uint16_t Nby2,
+  float32_t normalize);
+
+  /**
+   * @brief Processing function for the floating-point DCT4/IDCT4.
+   * @param[in]       *S             points to an instance of the floating-point DCT4/IDCT4 structure.
+   * @param[in]       *pState        points to state buffer.
+   * @param[in,out]   *pInlineBuffer points to the in-place input and output buffer.
+   * @return none.
+   */
+
+  void arm_dct4_f32(
+  const arm_dct4_instance_f32 * S,
+  float32_t * pState,
+  float32_t * pInlineBuffer);
+
+  /**
+   * @brief Instance structure for the Q31 DCT4/IDCT4 function.
+   */
+
+  typedef struct
+  {
+    uint16_t N;                         /**< length of the DCT4. */
+    uint16_t Nby2;                      /**< half of the length of the DCT4. */
+    q31_t normalize;                    /**< normalizing factor. */
+    q31_t *pTwiddle;                    /**< points to the twiddle factor table. */
+    q31_t *pCosFactor;                  /**< points to the cosFactor table. */
+    arm_rfft_instance_q31 *pRfft;        /**< points to the real FFT instance. */
+    arm_cfft_radix4_instance_q31 *pCfft; /**< points to the complex FFT instance. */
+  } arm_dct4_instance_q31;
+
+  /**
+   * @brief  Initialization function for the Q31 DCT4/IDCT4.
+   * @param[in,out] *S         points to an instance of Q31 DCT4/IDCT4 structure.
+   * @param[in]     *S_RFFT    points to an instance of Q31 RFFT/RIFFT structure
+   * @param[in]     *S_CFFT    points to an instance of Q31 CFFT/CIFFT structure
+   * @param[in]     N          length of the DCT4.
+   * @param[in]     Nby2       half of the length of the DCT4.
+   * @param[in]     normalize  normalizing factor.
+   * @return		arm_status function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if N is not a supported transform length.
+   */
+
+  arm_status arm_dct4_init_q31(
+  arm_dct4_instance_q31 * S,
+  arm_rfft_instance_q31 * S_RFFT,
+  arm_cfft_radix4_instance_q31 * S_CFFT,
+  uint16_t N,
+  uint16_t Nby2,
+  q31_t normalize);
+
+  /**
+   * @brief Processing function for the Q31 DCT4/IDCT4.
+   * @param[in]       *S             points to an instance of the Q31 DCT4 structure.
+   * @param[in]       *pState        points to state buffer.
+   * @param[in,out]   *pInlineBuffer points to the in-place input and output buffer.
+   * @return none.
+   */
+
+  void arm_dct4_q31(
+  const arm_dct4_instance_q31 * S,
+  q31_t * pState,
+  q31_t * pInlineBuffer);
+
+  /**
+   * @brief Instance structure for the Q15 DCT4/IDCT4 function.
+   */
+
+  typedef struct
+  {
+    uint16_t N;                         /**< length of the DCT4. */
+    uint16_t Nby2;                      /**< half of the length of the DCT4. */
+    q15_t normalize;                    /**< normalizing factor. */
+    q15_t *pTwiddle;                    /**< points to the twiddle factor table. */
+    q15_t *pCosFactor;                  /**< points to the cosFactor table. */
+    arm_rfft_instance_q15 *pRfft;        /**< points to the real FFT instance. */
+    arm_cfft_radix4_instance_q15 *pCfft; /**< points to the complex FFT instance. */
+  } arm_dct4_instance_q15;
+
+  /**
+   * @brief  Initialization function for the Q15 DCT4/IDCT4.
+   * @param[in,out] *S         points to an instance of Q15 DCT4/IDCT4 structure.
+   * @param[in]     *S_RFFT    points to an instance of Q15 RFFT/RIFFT structure.
+   * @param[in]     *S_CFFT    points to an instance of Q15 CFFT/CIFFT structure.
+   * @param[in]     N          length of the DCT4.
+   * @param[in]     Nby2       half of the length of the DCT4.
+   * @param[in]     normalize  normalizing factor.
+   * @return		arm_status function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if N is not a supported transform length.
+   */
+
+  arm_status arm_dct4_init_q15(
+  arm_dct4_instance_q15 * S,
+  arm_rfft_instance_q15 * S_RFFT,
+  arm_cfft_radix4_instance_q15 * S_CFFT,
+  uint16_t N,
+  uint16_t Nby2,
+  q15_t normalize);
+
+  /**
+   * @brief Processing function for the Q15 DCT4/IDCT4.
+   * @param[in]       *S             points to an instance of the Q15 DCT4 structure.
+   * @param[in]       *pState        points to state buffer.
+   * @param[in,out]   *pInlineBuffer points to the in-place input and output buffer.
+   * @return none.
+   */
+
+  void arm_dct4_q15(
+  const arm_dct4_instance_q15 * S,
+  q15_t * pState,
+  q15_t * pInlineBuffer);
+
+  /**
+   * @brief Floating-point vector addition.
+   * @param[in]       *pSrcA points to the first input vector
+   * @param[in]       *pSrcB points to the second input vector
+   * @param[out]      *pDst points to the output vector
+   * @param[in]       blockSize number of samples in each vector
+   * @return none.
+   */
+
+  void arm_add_f32(
+  float32_t * pSrcA,
+  float32_t * pSrcB,
+  float32_t * pDst,
+  uint32_t blockSize);
+
+  /**
+   * @brief Q7 vector addition.
+   * @param[in]       *pSrcA points to the first input vector
+   * @param[in]       *pSrcB points to the second input vector
+   * @param[out]      *pDst points to the output vector
+   * @param[in]       blockSize number of samples in each vector
+   * @return none.
+   */
+
+  void arm_add_q7(
+  q7_t * pSrcA,
+  q7_t * pSrcB,
+  q7_t * pDst,
+  uint32_t blockSize);
+
+  /**
+   * @brief Q15 vector addition.
+   * @param[in]       *pSrcA points to the first input vector
+   * @param[in]       *pSrcB points to the second input vector
+   * @param[out]      *pDst points to the output vector
+   * @param[in]       blockSize number of samples in each vector
+   * @return none.
+   */
+
+  void arm_add_q15(
+  q15_t * pSrcA,
+  q15_t * pSrcB,
+  q15_t * pDst,
+  uint32_t blockSize);
+
+  /**
+   * @brief Q31 vector addition.
+   * @param[in]       *pSrcA points to the first input vector
+   * @param[in]       *pSrcB points to the second input vector
+   * @param[out]      *pDst points to the output vector
+   * @param[in]       blockSize number of samples in each vector
+   * @return none.
+   */
+
+  void arm_add_q31(
+  q31_t * pSrcA,
+  q31_t * pSrcB,
+  q31_t * pDst,
+  uint32_t blockSize);
+
+  /**
+   * @brief Floating-point vector subtraction.
+   * @param[in]       *pSrcA points to the first input vector
+   * @param[in]       *pSrcB points to the second input vector
+   * @param[out]      *pDst points to the output vector
+   * @param[in]       blockSize number of samples in each vector
+   * @return none.
+   */
+
+  void arm_sub_f32(
+  float32_t * pSrcA,
+  float32_t * pSrcB,
+  float32_t * pDst,
+  uint32_t blockSize);
+
+  /**
+   * @brief Q7 vector subtraction.
+   * @param[in]       *pSrcA points to the first input vector
+   * @param[in]       *pSrcB points to the second input vector
+   * @param[out]      *pDst points to the output vector
+   * @param[in]       blockSize number of samples in each vector
+   * @return none.
+   */
+
+  void arm_sub_q7(
+  q7_t * pSrcA,
+  q7_t * pSrcB,
+  q7_t * pDst,
+  uint32_t blockSize);
+
+  /**
+   * @brief Q15 vector subtraction.
+   * @param[in]       *pSrcA points to the first input vector
+   * @param[in]       *pSrcB points to the second input vector
+   * @param[out]      *pDst points to the output vector
+   * @param[in]       blockSize number of samples in each vector
+   * @return none.
+   */
+
+  void arm_sub_q15(
+  q15_t * pSrcA,
+  q15_t * pSrcB,
+  q15_t * pDst,
+  uint32_t blockSize);
+
+  /**
+   * @brief Q31 vector subtraction.
+   * @param[in]       *pSrcA points to the first input vector
+   * @param[in]       *pSrcB points to the second input vector
+   * @param[out]      *pDst points to the output vector
+   * @param[in]       blockSize number of samples in each vector
+   * @return none.
+   */
+
+  void arm_sub_q31(
+  q31_t * pSrcA,
+  q31_t * pSrcB,
+  q31_t * pDst,
+  uint32_t blockSize);
+
+  /**
+   * @brief Multiplies a floating-point vector by a scalar.
+   * @param[in]       *pSrc points to the input vector
+   * @param[in]       scale scale factor to be applied
+   * @param[out]      *pDst points to the output vector
+   * @param[in]       blockSize number of samples in the vector
+   * @return none.
+   */
+
+  void arm_scale_f32(
+  float32_t * pSrc,
+  float32_t scale,
+  float32_t * pDst,
+  uint32_t blockSize);
+
+  /**
+   * @brief Multiplies a Q7 vector by a scalar.
+   * @param[in]       *pSrc points to the input vector
+   * @param[in]       scaleFract fractional portion of the scale value
+   * @param[in]       shift number of bits to shift the result by
+   * @param[out]      *pDst points to the output vector
+   * @param[in]       blockSize number of samples in the vector
+   * @return none.
+   */
+
+  void arm_scale_q7(
+  q7_t * pSrc,
+  q7_t scaleFract,
+  int8_t shift,
+  q7_t * pDst,
+  uint32_t blockSize);
+
+  /**
+   * @brief Multiplies a Q15 vector by a scalar.
+   * @param[in]       *pSrc points to the input vector
+   * @param[in]       scaleFract fractional portion of the scale value
+   * @param[in]       shift number of bits to shift the result by
+   * @param[out]      *pDst points to the output vector
+   * @param[in]       blockSize number of samples in the vector
+   * @return none.
+   */
+
+  void arm_scale_q15(
+  q15_t * pSrc,
+  q15_t scaleFract,
+  int8_t shift,
+  q15_t * pDst,
+  uint32_t blockSize);
+
+  /**
+   * @brief Multiplies a Q31 vector by a scalar.
+   * @param[in]       *pSrc points to the input vector
+   * @param[in]       scaleFract fractional portion of the scale value
+   * @param[in]       shift number of bits to shift the result by
+   * @param[out]      *pDst points to the output vector
+   * @param[in]       blockSize number of samples in the vector
+   * @return none.
+   */
+
+  void arm_scale_q31(
+  q31_t * pSrc,
+  q31_t scaleFract,
+  int8_t shift,
+  q31_t * pDst,
+  uint32_t blockSize);
+
+  /**
+   * @brief Q7 vector absolute value.
+   * @param[in]       *pSrc points to the input buffer
+   * @param[out]      *pDst points to the output buffer
+   * @param[in]       blockSize number of samples in each vector
+   * @return none.
+   */
+
+  void arm_abs_q7(
+  q7_t * pSrc,
+  q7_t * pDst,
+  uint32_t blockSize);
+
+  /**
+   * @brief Floating-point vector absolute value.
+   * @param[in]       *pSrc points to the input buffer
+   * @param[out]      *pDst points to the output buffer
+   * @param[in]       blockSize number of samples in each vector
+   * @return none.
+   */
+
+  void arm_abs_f32(
+  float32_t * pSrc,
+  float32_t * pDst,
+  uint32_t blockSize);
+
+  /**
+   * @brief Q15 vector absolute value.
+   * @param[in]       *pSrc points to the input buffer
+   * @param[out]      *pDst points to the output buffer
+   * @param[in]       blockSize number of samples in each vector
+   * @return none.
+   */
+
+  void arm_abs_q15(
+  q15_t * pSrc,
+  q15_t * pDst,
+  uint32_t blockSize);
+
+  /**
+   * @brief Q31 vector absolute value.
+   * @param[in]       *pSrc points to the input buffer
+   * @param[out]      *pDst points to the output buffer
+   * @param[in]       blockSize number of samples in each vector
+   * @return none.
+   */
+
+  void arm_abs_q31(
+  q31_t * pSrc,
+  q31_t * pDst,
+  uint32_t blockSize);
+
+  /**
+   * @brief Dot product of floating-point vectors.
+   * @param[in]       *pSrcA points to the first input vector
+   * @param[in]       *pSrcB points to the second input vector
+   * @param[in]       blockSize number of samples in each vector
+   * @param[out]      *result output result returned here
+   * @return none.
+   */
+
+  void arm_dot_prod_f32(
+  float32_t * pSrcA,
+  float32_t * pSrcB,
+  uint32_t blockSize,
+  float32_t * result);
+
+  /**
+   * @brief Dot product of Q7 vectors.
+   * @param[in]       *pSrcA points to the first input vector
+   * @param[in]       *pSrcB points to the second input vector
+   * @param[in]       blockSize number of samples in each vector
+   * @param[out]      *result output result returned here
+   * @return none.
+   */
+
+  void arm_dot_prod_q7(
+  q7_t * pSrcA,
+  q7_t * pSrcB,
+  uint32_t blockSize,
+  q31_t * result);
+
+  /**
+   * @brief Dot product of Q15 vectors.
+   * @param[in]       *pSrcA points to the first input vector
+   * @param[in]       *pSrcB points to the second input vector
+   * @param[in]       blockSize number of samples in each vector
+   * @param[out]      *result output result returned here
+   * @return none.
+   */
+
+  void arm_dot_prod_q15(
+  q15_t * pSrcA,
+  q15_t * pSrcB,
+  uint32_t blockSize,
+  q63_t * result);
+
+  /**
+   * @brief Dot product of Q31 vectors.
+   * @param[in]       *pSrcA points to the first input vector
+   * @param[in]       *pSrcB points to the second input vector
+   * @param[in]       blockSize number of samples in each vector
+   * @param[out]      *result output result returned here
+   * @return none.
+   */
+
+  void arm_dot_prod_q31(
+  q31_t * pSrcA,
+  q31_t * pSrcB,
+  uint32_t blockSize,
+  q63_t * result);
+
+  /**
+   * @brief  Shifts the elements of a Q7 vector a specified number of bits.
+   * @param[in]  *pSrc points to the input vector
+   * @param[in]  shiftBits number of bits to shift.  A positive value shifts left; a negative value shifts right.
+   * @param[out]  *pDst points to the output vector
+   * @param[in]  blockSize number of samples in the vector
+   * @return none.
+   */
+
+  void arm_shift_q7(
+  q7_t * pSrc,
+  int8_t shiftBits,
+  q7_t * pDst,
+  uint32_t blockSize);
+
+  /**
+   * @brief  Shifts the elements of a Q15 vector a specified number of bits.
+   * @param[in]  *pSrc points to the input vector
+   * @param[in]  shiftBits number of bits to shift.  A positive value shifts left; a negative value shifts right.
+   * @param[out]  *pDst points to the output vector
+   * @param[in]  blockSize number of samples in the vector
+   * @return none.
+   */
+
+  void arm_shift_q15(
+  q15_t * pSrc,
+  int8_t shiftBits,
+  q15_t * pDst,
+  uint32_t blockSize);
+
+  /**
+   * @brief  Shifts the elements of a Q31 vector a specified number of bits.
+   * @param[in]  *pSrc points to the input vector
+   * @param[in]  shiftBits number of bits to shift.  A positive value shifts left; a negative value shifts right.
+   * @param[out]  *pDst points to the output vector
+   * @param[in]  blockSize number of samples in the vector
+   * @return none.
+   */
+
+  void arm_shift_q31(
+  q31_t * pSrc,
+  int8_t shiftBits,
+  q31_t * pDst,
+  uint32_t blockSize);
+
+  /**
+   * @brief  Adds a constant offset to a floating-point vector.
+   * @param[in]  *pSrc points to the input vector
+   * @param[in]  offset is the offset to be added
+   * @param[out]  *pDst points to the output vector
+   * @param[in]  blockSize number of samples in the vector
+   * @return none.
+   */
+
+  void arm_offset_f32(
+  float32_t * pSrc,
+  float32_t offset,
+  float32_t * pDst,
+  uint32_t blockSize);
+
+  /**
+   * @brief  Adds a constant offset to a Q7 vector.
+   * @param[in]  *pSrc points to the input vector
+   * @param[in]  offset is the offset to be added
+   * @param[out]  *pDst points to the output vector
+   * @param[in]  blockSize number of samples in the vector
+   * @return none.
+   */
+
+  void arm_offset_q7(
+  q7_t * pSrc,
+  q7_t offset,
+  q7_t * pDst,
+  uint32_t blockSize);
+
+  /**
+   * @brief  Adds a constant offset to a Q15 vector.
+   * @param[in]  *pSrc points to the input vector
+   * @param[in]  offset is the offset to be added
+   * @param[out]  *pDst points to the output vector
+   * @param[in]  blockSize number of samples in the vector
+   * @return none.
+   */
+
+  void arm_offset_q15(
+  q15_t * pSrc,
+  q15_t offset,
+  q15_t * pDst,
+  uint32_t blockSize);
+
+  /**
+   * @brief  Adds a constant offset to a Q31 vector.
+   * @param[in]  *pSrc points to the input vector
+   * @param[in]  offset is the offset to be added
+   * @param[out]  *pDst points to the output vector
+   * @param[in]  blockSize number of samples in the vector
+   * @return none.
+   */
+
+  void arm_offset_q31(
+  q31_t * pSrc,
+  q31_t offset,
+  q31_t * pDst,
+  uint32_t blockSize);
+
+  /**
+   * @brief  Negates the elements of a floating-point vector.
+   * @param[in]  *pSrc points to the input vector
+   * @param[out]  *pDst points to the output vector
+   * @param[in]  blockSize number of samples in the vector
+   * @return none.
+   */
+
+  void arm_negate_f32(
+  float32_t * pSrc,
+  float32_t * pDst,
+  uint32_t blockSize);
+
+  /**
+   * @brief  Negates the elements of a Q7 vector.
+   * @param[in]  *pSrc points to the input vector
+   * @param[out]  *pDst points to the output vector
+   * @param[in]  blockSize number of samples in the vector
+   * @return none.
+   */
+
+  void arm_negate_q7(
+  q7_t * pSrc,
+  q7_t * pDst,
+  uint32_t blockSize);
+
+  /**
+   * @brief  Negates the elements of a Q15 vector.
+   * @param[in]  *pSrc points to the input vector
+   * @param[out]  *pDst points to the output vector
+   * @param[in]  blockSize number of samples in the vector
+   * @return none.
+   */
+
+  void arm_negate_q15(
+  q15_t * pSrc,
+  q15_t * pDst,
+  uint32_t blockSize);
+
+  /**
+   * @brief  Negates the elements of a Q31 vector.
+   * @param[in]  *pSrc points to the input vector
+   * @param[out]  *pDst points to the output vector
+   * @param[in]  blockSize number of samples in the vector
+   * @return none.
+   */
+
+  void arm_negate_q31(
+  q31_t * pSrc,
+  q31_t * pDst,
+  uint32_t blockSize);
+  /**
+   * @brief  Copies the elements of a floating-point vector. 
+   * @param[in]  *pSrc input pointer
+   * @param[out]  *pDst output pointer
+   * @param[in]  blockSize number of samples to process
+   * @return none.
+   */
+  void arm_copy_f32(
+  float32_t * pSrc,
+  float32_t * pDst,
+  uint32_t blockSize);
+
+  /**
+   * @brief  Copies the elements of a Q7 vector. 
+   * @param[in]  *pSrc input pointer
+   * @param[out]  *pDst output pointer
+   * @param[in]  blockSize number of samples to process
+   * @return none.
+   */
+  void arm_copy_q7(
+  q7_t * pSrc,
+  q7_t * pDst,
+  uint32_t blockSize);
+
+  /**
+   * @brief  Copies the elements of a Q15 vector. 
+   * @param[in]  *pSrc input pointer
+   * @param[out]  *pDst output pointer
+   * @param[in]  blockSize number of samples to process
+   * @return none.
+   */
+  void arm_copy_q15(
+  q15_t * pSrc,
+  q15_t * pDst,
+  uint32_t blockSize);
+
+  /**
+   * @brief  Copies the elements of a Q31 vector. 
+   * @param[in]  *pSrc input pointer
+   * @param[out]  *pDst output pointer
+   * @param[in]  blockSize number of samples to process
+   * @return none.
+   */
+  void arm_copy_q31(
+  q31_t * pSrc,
+  q31_t * pDst,
+  uint32_t blockSize);
+  /**
+   * @brief  Fills a constant value into a floating-point vector. 
+   * @param[in]  value input value to be filled
+   * @param[out]  *pDst output pointer
+   * @param[in]  blockSize number of samples to process
+   * @return none.
+   */
+  void arm_fill_f32(
+  float32_t value,
+  float32_t * pDst,
+  uint32_t blockSize);
+
+  /**
+   * @brief  Fills a constant value into a Q7 vector. 
+   * @param[in]  value input value to be filled
+   * @param[out]  *pDst output pointer
+   * @param[in]  blockSize number of samples to process
+   * @return none.
+   */
+  void arm_fill_q7(
+  q7_t value,
+  q7_t * pDst,
+  uint32_t blockSize);
+
+  /**
+   * @brief  Fills a constant value into a Q15 vector. 
+   * @param[in]  value input value to be filled
+   * @param[out]  *pDst output pointer
+   * @param[in]  blockSize number of samples to process
+   * @return none.
+   */
+  void arm_fill_q15(
+  q15_t value,
+  q15_t * pDst,
+  uint32_t blockSize);
+
+  /**
+   * @brief  Fills a constant value into a Q31 vector. 
+   * @param[in]  value input value to be filled
+   * @param[out]  *pDst output pointer
+   * @param[in]  blockSize number of samples to process
+   * @return none.
+   */
+  void arm_fill_q31(
+  q31_t value,
+  q31_t * pDst,
+  uint32_t blockSize);
+
+/**  
+ * @brief Convolution of floating-point sequences.  
+ * @param[in] *pSrcA points to the first input sequence.  
+ * @param[in] srcALen length of the first input sequence.  
+ * @param[in] *pSrcB points to the second input sequence.  
+ * @param[in] srcBLen length of the second input sequence.  
+ * @param[out] *pDst points to the location where the output result is written.  Length srcALen+srcBLen-1.  
+ * @return none.  
+ */
+
+  void arm_conv_f32(
+  float32_t * pSrcA,
+  uint32_t srcALen,
+  float32_t * pSrcB,
+  uint32_t srcBLen,
+  float32_t * pDst);
+
+  
+  /**   
+   * @brief Convolution of Q15 sequences.   
+   * @param[in] *pSrcA points to the first input sequence.   
+   * @param[in] srcALen length of the first input sequence.   
+   * @param[in] *pSrcB points to the second input sequence.   
+   * @param[in] srcBLen length of the second input sequence.   
+   * @param[out] *pDst points to the block of output data  Length srcALen+srcBLen-1.   
+   * @param[in]  *pScratch1 points to scratch buffer of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2.   
+   * @param[in]  *pScratch2 points to scratch buffer of size min(srcALen, srcBLen).   
+   * @return none.   
+   */
+
+
+  void arm_conv_opt_q15(
+  q15_t * pSrcA,
+  uint32_t srcALen,
+  q15_t * pSrcB,
+  uint32_t srcBLen,
+  q15_t * pDst,
+  q15_t * pScratch1,
+  q15_t * pScratch2);
+
+
+/**  
+ * @brief Convolution of Q15 sequences.  
+ * @param[in] *pSrcA points to the first input sequence.  
+ * @param[in] srcALen length of the first input sequence.  
+ * @param[in] *pSrcB points to the second input sequence.  
+ * @param[in] srcBLen length of the second input sequence.  
+ * @param[out] *pDst points to the location where the output result is written.  Length srcALen+srcBLen-1.  
+ * @return none.  
+ */
+
+  void arm_conv_q15(
+  q15_t * pSrcA,
+  uint32_t srcALen,
+  q15_t * pSrcB,
+  uint32_t srcBLen,
+  q15_t * pDst);
+
+  /**
+   * @brief Convolution of Q15 sequences (fast version) for Cortex-M3 and Cortex-M4
+   * @param[in] *pSrcA points to the first input sequence.
+   * @param[in] srcALen length of the first input sequence.
+   * @param[in] *pSrcB points to the second input sequence.
+   * @param[in] srcBLen length of the second input sequence.
+   * @param[out] *pDst points to the block of output data  Length srcALen+srcBLen-1.
+   * @return none.
+   */
+
+  void arm_conv_fast_q15(
+			  q15_t * pSrcA,
+			 uint32_t srcALen,
+			  q15_t * pSrcB,
+			 uint32_t srcBLen,
+			 q15_t * pDst);
+
+  /**
+   * @brief Convolution of Q15 sequences (fast version) for Cortex-M3 and Cortex-M4
+   * @param[in] *pSrcA points to the first input sequence.
+   * @param[in] srcALen length of the first input sequence.
+   * @param[in] *pSrcB points to the second input sequence.
+   * @param[in] srcBLen length of the second input sequence.
+   * @param[out] *pDst points to the block of output data  Length srcALen+srcBLen-1.
+   * @param[in]  *pScratch1 points to scratch buffer of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2.   
+   * @param[in]  *pScratch2 points to scratch buffer of size min(srcALen, srcBLen).   
+   * @return none.   
+   */
+
+  void arm_conv_fast_opt_q15(
+  q15_t * pSrcA,
+  uint32_t srcALen,
+  q15_t * pSrcB,
+  uint32_t srcBLen,
+  q15_t * pDst,
+  q15_t * pScratch1,
+  q15_t * pScratch2);
+
+
+
+  /**
+   * @brief Convolution of Q31 sequences.
+   * @param[in] *pSrcA points to the first input sequence.
+   * @param[in] srcALen length of the first input sequence.
+   * @param[in] *pSrcB points to the second input sequence.
+   * @param[in] srcBLen length of the second input sequence.
+   * @param[out] *pDst points to the block of output data  Length srcALen+srcBLen-1.
+   * @return none.
+   */
+
+  void arm_conv_q31(
+  q31_t * pSrcA,
+  uint32_t srcALen,
+  q31_t * pSrcB,
+  uint32_t srcBLen,
+  q31_t * pDst);
+
+  /**
+   * @brief Convolution of Q31 sequences (fast version) for Cortex-M3 and Cortex-M4
+   * @param[in] *pSrcA points to the first input sequence.
+   * @param[in] srcALen length of the first input sequence.
+   * @param[in] *pSrcB points to the second input sequence.
+   * @param[in] srcBLen length of the second input sequence.
+   * @param[out] *pDst points to the block of output data  Length srcALen+srcBLen-1.
+   * @return none.
+   */
+
+  void arm_conv_fast_q31(
+  q31_t * pSrcA,
+  uint32_t srcALen,
+  q31_t * pSrcB,
+  uint32_t srcBLen,
+  q31_t * pDst);
+
+
+    /**   
+   * @brief Convolution of Q7 sequences.   
+   * @param[in] *pSrcA points to the first input sequence.   
+   * @param[in] srcALen length of the first input sequence.   
+   * @param[in] *pSrcB points to the second input sequence.   
+   * @param[in] srcBLen length of the second input sequence.   
+   * @param[out] *pDst points to the block of output data  Length srcALen+srcBLen-1.   
+   * @param[in]  *pScratch1 points to scratch buffer(of type q15_t) of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2.   
+   * @param[in]  *pScratch2 points to scratch buffer (of type q15_t) of size min(srcALen, srcBLen).   
+   * @return none.   
+   */
+
+  void arm_conv_opt_q7(
+  q7_t * pSrcA,
+  uint32_t srcALen,
+  q7_t * pSrcB,
+  uint32_t srcBLen,
+  q7_t * pDst,
+  q15_t * pScratch1,
+  q15_t * pScratch2);
+
+
+
+  /**
+   * @brief Convolution of Q7 sequences.
+   * @param[in] *pSrcA points to the first input sequence.
+   * @param[in] srcALen length of the first input sequence.
+   * @param[in] *pSrcB points to the second input sequence.
+   * @param[in] srcBLen length of the second input sequence.
+   * @param[out] *pDst points to the block of output data  Length srcALen+srcBLen-1.
+   * @return none.
+   */
+
+  void arm_conv_q7(
+  q7_t * pSrcA,
+  uint32_t srcALen,
+  q7_t * pSrcB,
+  uint32_t srcBLen,
+  q7_t * pDst);
+
+
+  /**
+   * @brief Partial convolution of floating-point sequences.
+   * @param[in]       *pSrcA points to the first input sequence.
+   * @param[in]       srcALen length of the first input sequence.
+   * @param[in]       *pSrcB points to the second input sequence.
+   * @param[in]       srcBLen length of the second input sequence.
+   * @param[out]      *pDst points to the block of output data
+   * @param[in]       firstIndex is the first output sample to start with.
+   * @param[in]       numPoints is the number of output points to be computed.
+   * @return  Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].
+   */
+
+  arm_status arm_conv_partial_f32(
+  float32_t * pSrcA,
+  uint32_t srcALen,
+  float32_t * pSrcB,
+  uint32_t srcBLen,
+  float32_t * pDst,
+  uint32_t firstIndex,
+  uint32_t numPoints);
+
+    /**   
+   * @brief Partial convolution of Q15 sequences.   
+   * @param[in]       *pSrcA points to the first input sequence.   
+   * @param[in]       srcALen length of the first input sequence.   
+   * @param[in]       *pSrcB points to the second input sequence.   
+   * @param[in]       srcBLen length of the second input sequence.   
+   * @param[out]      *pDst points to the block of output data   
+   * @param[in]       firstIndex is the first output sample to start with.   
+   * @param[in]       numPoints is the number of output points to be computed.   
+   * @param[in]       * pScratch1 points to scratch buffer of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2.   
+   * @param[in]       * pScratch2 points to scratch buffer of size min(srcALen, srcBLen).   
+   * @return  Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].   
+   */
+
+  arm_status arm_conv_partial_opt_q15(
+  q15_t * pSrcA,
+  uint32_t srcALen,
+  q15_t * pSrcB,
+  uint32_t srcBLen,
+  q15_t * pDst,
+  uint32_t firstIndex,
+  uint32_t numPoints,
+  q15_t * pScratch1,
+  q15_t * pScratch2);
+
+
+/**
+   * @brief Partial convolution of Q15 sequences.
+   * @param[in]       *pSrcA points to the first input sequence.
+   * @param[in]       srcALen length of the first input sequence.
+   * @param[in]       *pSrcB points to the second input sequence.
+   * @param[in]       srcBLen length of the second input sequence.
+   * @param[out]      *pDst points to the block of output data
+   * @param[in]       firstIndex is the first output sample to start with.
+   * @param[in]       numPoints is the number of output points to be computed.
+   * @return  Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].
+   */
+
+  arm_status arm_conv_partial_q15(
+  q15_t * pSrcA,
+  uint32_t srcALen,
+  q15_t * pSrcB,
+  uint32_t srcBLen,
+  q15_t * pDst,
+  uint32_t firstIndex,
+  uint32_t numPoints);
+
+  /**
+   * @brief Partial convolution of Q15 sequences (fast version) for Cortex-M3 and Cortex-M4
+   * @param[in]       *pSrcA points to the first input sequence.
+   * @param[in]       srcALen length of the first input sequence.
+   * @param[in]       *pSrcB points to the second input sequence.
+   * @param[in]       srcBLen length of the second input sequence.
+   * @param[out]      *pDst points to the block of output data
+   * @param[in]       firstIndex is the first output sample to start with.
+   * @param[in]       numPoints is the number of output points to be computed.
+   * @return  Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].
+   */
+
+  arm_status arm_conv_partial_fast_q15(
+				        q15_t * pSrcA,
+				       uint32_t srcALen,
+				        q15_t * pSrcB,
+				       uint32_t srcBLen,
+				       q15_t * pDst,
+				       uint32_t firstIndex,
+				       uint32_t numPoints);
+
+
+  /**
+   * @brief Partial convolution of Q15 sequences (fast version) for Cortex-M3 and Cortex-M4
+   * @param[in]       *pSrcA points to the first input sequence.
+   * @param[in]       srcALen length of the first input sequence.
+   * @param[in]       *pSrcB points to the second input sequence.
+   * @param[in]       srcBLen length of the second input sequence.
+   * @param[out]      *pDst points to the block of output data
+   * @param[in]       firstIndex is the first output sample to start with.
+   * @param[in]       numPoints is the number of output points to be computed.
+   * @param[in]       * pScratch1 points to scratch buffer of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2.   
+   * @param[in]       * pScratch2 points to scratch buffer of size min(srcALen, srcBLen).   
+   * @return  Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].   
+   */
+
+  arm_status arm_conv_partial_fast_opt_q15(
+  q15_t * pSrcA,
+  uint32_t srcALen,
+  q15_t * pSrcB,
+  uint32_t srcBLen,
+  q15_t * pDst,
+  uint32_t firstIndex,
+  uint32_t numPoints,
+  q15_t * pScratch1,
+  q15_t * pScratch2);
+
+
+  /**
+   * @brief Partial convolution of Q31 sequences.
+   * @param[in]       *pSrcA points to the first input sequence.
+   * @param[in]       srcALen length of the first input sequence.
+   * @param[in]       *pSrcB points to the second input sequence.
+   * @param[in]       srcBLen length of the second input sequence.
+   * @param[out]      *pDst points to the block of output data
+   * @param[in]       firstIndex is the first output sample to start with.
+   * @param[in]       numPoints is the number of output points to be computed.
+   * @return  Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].
+   */
+
+  arm_status arm_conv_partial_q31(
+  q31_t * pSrcA,
+  uint32_t srcALen,
+  q31_t * pSrcB,
+  uint32_t srcBLen,
+  q31_t * pDst,
+  uint32_t firstIndex,
+  uint32_t numPoints);
+
+
+  /**
+   * @brief Partial convolution of Q31 sequences (fast version) for Cortex-M3 and Cortex-M4
+   * @param[in]       *pSrcA points to the first input sequence.
+   * @param[in]       srcALen length of the first input sequence.
+   * @param[in]       *pSrcB points to the second input sequence.
+   * @param[in]       srcBLen length of the second input sequence.
+   * @param[out]      *pDst points to the block of output data
+   * @param[in]       firstIndex is the first output sample to start with.
+   * @param[in]       numPoints is the number of output points to be computed.
+   * @return  Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].
+   */
+
+  arm_status arm_conv_partial_fast_q31(
+  q31_t * pSrcA,
+  uint32_t srcALen,
+  q31_t * pSrcB,
+  uint32_t srcBLen,
+  q31_t * pDst,
+  uint32_t firstIndex,
+  uint32_t numPoints);
+
+
+  /**   
+   * @brief Partial convolution of Q7 sequences   
+   * @param[in]       *pSrcA points to the first input sequence.   
+   * @param[in]       srcALen length of the first input sequence.   
+   * @param[in]       *pSrcB points to the second input sequence.   
+   * @param[in]       srcBLen length of the second input sequence.   
+   * @param[out]      *pDst points to the block of output data   
+   * @param[in]       firstIndex is the first output sample to start with.   
+   * @param[in]       numPoints is the number of output points to be computed.   
+   * @param[in]  *pScratch1 points to scratch buffer(of type q15_t) of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2.   
+   * @param[in]  *pScratch2 points to scratch buffer (of type q15_t) of size min(srcALen, srcBLen).   
+   * @return  Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].   
+   */
+
+  arm_status arm_conv_partial_opt_q7(
+  q7_t * pSrcA,
+  uint32_t srcALen,
+  q7_t * pSrcB,
+  uint32_t srcBLen,
+  q7_t * pDst,
+  uint32_t firstIndex,
+  uint32_t numPoints,
+  q15_t * pScratch1,
+  q15_t * pScratch2);
+
+
+/**
+   * @brief Partial convolution of Q7 sequences.
+   * @param[in]       *pSrcA points to the first input sequence.
+   * @param[in]       srcALen length of the first input sequence.
+   * @param[in]       *pSrcB points to the second input sequence.
+   * @param[in]       srcBLen length of the second input sequence.
+   * @param[out]      *pDst points to the block of output data
+   * @param[in]       firstIndex is the first output sample to start with.
+   * @param[in]       numPoints is the number of output points to be computed.
+   * @return  Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].
+   */
+
+  arm_status arm_conv_partial_q7(
+  q7_t * pSrcA,
+  uint32_t srcALen,
+  q7_t * pSrcB,
+  uint32_t srcBLen,
+  q7_t * pDst,
+  uint32_t firstIndex,
+  uint32_t numPoints);
+
+
+
+  /**
+   * @brief Instance structure for the Q15 FIR decimator.
+   */
+
+  typedef struct
+  {
+    uint8_t M;                      /**< decimation factor. */
+    uint16_t numTaps;               /**< number of coefficients in the filter. */
+    q15_t *pCoeffs;                  /**< points to the coefficient array. The array is of length numTaps.*/
+    q15_t *pState;                   /**< points to the state variable array. The array is of length numTaps+blockSize-1. */
+  } arm_fir_decimate_instance_q15;
+
+  /**
+   * @brief Instance structure for the Q31 FIR decimator.
+   */
+
+  typedef struct
+  {
+    uint8_t M;                  /**< decimation factor. */
+    uint16_t numTaps;           /**< number of coefficients in the filter. */
+    q31_t *pCoeffs;              /**< points to the coefficient array. The array is of length numTaps.*/
+    q31_t *pState;               /**< points to the state variable array. The array is of length numTaps+blockSize-1. */
+
+  } arm_fir_decimate_instance_q31;
+
+  /**
+   * @brief Instance structure for the floating-point FIR decimator.
+   */
+
+  typedef struct
+  {
+    uint8_t M;                          /**< decimation factor. */
+    uint16_t numTaps;                   /**< number of coefficients in the filter. */
+    float32_t *pCoeffs;                  /**< points to the coefficient array. The array is of length numTaps.*/
+    float32_t *pState;                   /**< points to the state variable array. The array is of length numTaps+blockSize-1. */
+
+  } arm_fir_decimate_instance_f32;
+
+
+
+  /**
+   * @brief Processing function for the floating-point FIR decimator.
+   * @param[in] *S points to an instance of the floating-point FIR decimator structure.
+   * @param[in] *pSrc points to the block of input data.
+   * @param[out] *pDst points to the block of output data
+   * @param[in] blockSize number of input samples to process per call.
+   * @return none
+   */
+
+  void arm_fir_decimate_f32(
+  const arm_fir_decimate_instance_f32 * S,
+  float32_t * pSrc,
+  float32_t * pDst,
+  uint32_t blockSize);
+
+
+  /**
+   * @brief  Initialization function for the floating-point FIR decimator.
+   * @param[in,out] *S points to an instance of the floating-point FIR decimator structure.
+   * @param[in] numTaps  number of coefficients in the filter.
+   * @param[in] M  decimation factor.
+   * @param[in] *pCoeffs points to the filter coefficients.
+   * @param[in] *pState points to the state buffer.
+   * @param[in] blockSize number of input samples to process per call.
+   * @return    The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_LENGTH_ERROR if
+   * blockSize is not a multiple of M.
+   */
+
+  arm_status arm_fir_decimate_init_f32(
+  arm_fir_decimate_instance_f32 * S,
+  uint16_t numTaps,
+  uint8_t M,
+  float32_t * pCoeffs,
+  float32_t * pState,
+  uint32_t blockSize);
+
+  /**
+   * @brief Processing function for the Q15 FIR decimator.
+   * @param[in] *S points to an instance of the Q15 FIR decimator structure.
+   * @param[in] *pSrc points to the block of input data.
+   * @param[out] *pDst points to the block of output data
+   * @param[in] blockSize number of input samples to process per call.
+   * @return none
+   */
+
+  void arm_fir_decimate_q15(
+  const arm_fir_decimate_instance_q15 * S,
+  q15_t * pSrc,
+  q15_t * pDst,
+  uint32_t blockSize);
+
+  /**
+   * @brief Processing function for the Q15 FIR decimator (fast variant) for Cortex-M3 and Cortex-M4.
+   * @param[in] *S points to an instance of the Q15 FIR decimator structure.
+   * @param[in] *pSrc points to the block of input data.
+   * @param[out] *pDst points to the block of output data
+   * @param[in] blockSize number of input samples to process per call.
+   * @return none
+   */
+
+  void arm_fir_decimate_fast_q15(
+  const arm_fir_decimate_instance_q15 * S,
+  q15_t * pSrc,
+  q15_t * pDst,
+  uint32_t blockSize);
+
+
+
+  /**
+   * @brief  Initialization function for the Q15 FIR decimator.
+   * @param[in,out] *S points to an instance of the Q15 FIR decimator structure.
+   * @param[in] numTaps  number of coefficients in the filter.
+   * @param[in] M  decimation factor.
+   * @param[in] *pCoeffs points to the filter coefficients.
+   * @param[in] *pState points to the state buffer.
+   * @param[in] blockSize number of input samples to process per call.
+   * @return    The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_LENGTH_ERROR if
+   * blockSize is not a multiple of M.
+   */
+
+  arm_status arm_fir_decimate_init_q15(
+  arm_fir_decimate_instance_q15 * S,
+  uint16_t numTaps,
+  uint8_t M,
+  q15_t * pCoeffs,
+  q15_t * pState,
+  uint32_t blockSize);
+
+  /**
+   * @brief Processing function for the Q31 FIR decimator.
+   * @param[in] *S points to an instance of the Q31 FIR decimator structure.
+   * @param[in] *pSrc points to the block of input data.
+   * @param[out] *pDst points to the block of output data
+   * @param[in] blockSize number of input samples to process per call.
+   * @return none
+   */
+
+  void arm_fir_decimate_q31(
+  const arm_fir_decimate_instance_q31 * S,
+  q31_t * pSrc,
+  q31_t * pDst,
+  uint32_t blockSize);
+
+  /**
+   * @brief Processing function for the Q31 FIR decimator (fast variant) for Cortex-M3 and Cortex-M4.
+   * @param[in] *S points to an instance of the Q31 FIR decimator structure.
+   * @param[in] *pSrc points to the block of input data.
+   * @param[out] *pDst points to the block of output data
+   * @param[in] blockSize number of input samples to process per call.
+   * @return none
+   */
+
+  void arm_fir_decimate_fast_q31(
+  arm_fir_decimate_instance_q31 * S,
+  q31_t * pSrc,
+  q31_t * pDst,
+  uint32_t blockSize);
+
+
+  /**
+   * @brief  Initialization function for the Q31 FIR decimator.
+   * @param[in,out] *S points to an instance of the Q31 FIR decimator structure.
+   * @param[in] numTaps  number of coefficients in the filter.
+   * @param[in] M  decimation factor.
+   * @param[in] *pCoeffs points to the filter coefficients.
+   * @param[in] *pState points to the state buffer.
+   * @param[in] blockSize number of input samples to process per call.
+   * @return    The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_LENGTH_ERROR if
+   * blockSize is not a multiple of M.
+   */
+
+  arm_status arm_fir_decimate_init_q31(
+  arm_fir_decimate_instance_q31 * S,
+  uint16_t numTaps,
+  uint8_t M,
+  q31_t * pCoeffs,
+  q31_t * pState,
+  uint32_t blockSize);
+
+
+
+  /**
+   * @brief Instance structure for the Q15 FIR interpolator.
+   */
+
+  typedef struct
+  {
+    uint8_t L;                      /**< upsample factor. */
+    uint16_t phaseLength;           /**< length of each polyphase filter component. */
+    q15_t *pCoeffs;                 /**< points to the coefficient array. The array is of length L*phaseLength. */
+    q15_t *pState;                  /**< points to the state variable array. The array is of length blockSize+phaseLength-1. */
+  } arm_fir_interpolate_instance_q15;
+
+  /**
+   * @brief Instance structure for the Q31 FIR interpolator.
+   */
+
+  typedef struct
+  {
+    uint8_t L;                      /**< upsample factor. */
+    uint16_t phaseLength;           /**< length of each polyphase filter component. */
+    q31_t *pCoeffs;                  /**< points to the coefficient array. The array is of length L*phaseLength. */
+    q31_t *pState;                   /**< points to the state variable array. The array is of length blockSize+phaseLength-1. */
+  } arm_fir_interpolate_instance_q31;
+
+  /**
+   * @brief Instance structure for the floating-point FIR interpolator.
+   */
+
+  typedef struct
+  {
+    uint8_t L;                     /**< upsample factor. */
+    uint16_t phaseLength;          /**< length of each polyphase filter component. */
+    float32_t *pCoeffs;             /**< points to the coefficient array. The array is of length L*phaseLength. */
+    float32_t *pState;              /**< points to the state variable array. The array is of length phaseLength+numTaps-1. */
+  } arm_fir_interpolate_instance_f32;
+
+
+  /**
+   * @brief Processing function for the Q15 FIR interpolator.
+   * @param[in] *S        points to an instance of the Q15 FIR interpolator structure.
+   * @param[in] *pSrc     points to the block of input data.
+   * @param[out] *pDst    points to the block of output data.
+   * @param[in] blockSize number of input samples to process per call.
+   * @return none.
+   */
+
+  void arm_fir_interpolate_q15(
+  const arm_fir_interpolate_instance_q15 * S,
+  q15_t * pSrc,
+  q15_t * pDst,
+  uint32_t blockSize);
+
+
+  /**
+   * @brief  Initialization function for the Q15 FIR interpolator.
+   * @param[in,out] *S        points to an instance of the Q15 FIR interpolator structure.
+   * @param[in]     L         upsample factor.
+   * @param[in]     numTaps   number of filter coefficients in the filter.
+   * @param[in]     *pCoeffs  points to the filter coefficient buffer.
+   * @param[in]     *pState   points to the state buffer.
+   * @param[in]     blockSize number of input samples to process per call.
+   * @return        The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_LENGTH_ERROR if
+   * the filter length numTaps is not a multiple of the interpolation factor L.
+   */
+
+  arm_status arm_fir_interpolate_init_q15(
+  arm_fir_interpolate_instance_q15 * S,
+  uint8_t L,
+  uint16_t numTaps,
+  q15_t * pCoeffs,
+  q15_t * pState,
+  uint32_t blockSize);
+
+  /**
+   * @brief Processing function for the Q31 FIR interpolator.
+   * @param[in] *S        points to an instance of the Q15 FIR interpolator structure.
+   * @param[in] *pSrc     points to the block of input data.
+   * @param[out] *pDst    points to the block of output data.
+   * @param[in] blockSize number of input samples to process per call.
+   * @return none.
+   */
+
+  void arm_fir_interpolate_q31(
+  const arm_fir_interpolate_instance_q31 * S,
+  q31_t * pSrc,
+  q31_t * pDst,
+  uint32_t blockSize);
+
+  /**
+   * @brief  Initialization function for the Q31 FIR interpolator.
+   * @param[in,out] *S        points to an instance of the Q31 FIR interpolator structure.
+   * @param[in]     L         upsample factor.
+   * @param[in]     numTaps   number of filter coefficients in the filter.
+   * @param[in]     *pCoeffs  points to the filter coefficient buffer.
+   * @param[in]     *pState   points to the state buffer.
+   * @param[in]     blockSize number of input samples to process per call.
+   * @return        The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_LENGTH_ERROR if
+   * the filter length numTaps is not a multiple of the interpolation factor L.
+   */
+
+  arm_status arm_fir_interpolate_init_q31(
+  arm_fir_interpolate_instance_q31 * S,
+  uint8_t L,
+  uint16_t numTaps,
+  q31_t * pCoeffs,
+  q31_t * pState,
+  uint32_t blockSize);
+
+
+  /**
+   * @brief Processing function for the floating-point FIR interpolator.
+   * @param[in] *S        points to an instance of the floating-point FIR interpolator structure.
+   * @param[in] *pSrc     points to the block of input data.
+   * @param[out] *pDst    points to the block of output data.
+   * @param[in] blockSize number of input samples to process per call.
+   * @return none.
+   */
+
+  void arm_fir_interpolate_f32(
+  const arm_fir_interpolate_instance_f32 * S,
+  float32_t * pSrc,
+  float32_t * pDst,
+  uint32_t blockSize);
+
+  /**
+   * @brief  Initialization function for the floating-point FIR interpolator.
+   * @param[in,out] *S        points to an instance of the floating-point FIR interpolator structure.
+   * @param[in]     L         upsample factor.
+   * @param[in]     numTaps   number of filter coefficients in the filter.
+   * @param[in]     *pCoeffs  points to the filter coefficient buffer.
+   * @param[in]     *pState   points to the state buffer.
+   * @param[in]     blockSize number of input samples to process per call.
+   * @return        The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_LENGTH_ERROR if
+   * the filter length numTaps is not a multiple of the interpolation factor L.
+   */
+
+  arm_status arm_fir_interpolate_init_f32(
+  arm_fir_interpolate_instance_f32 * S,
+  uint8_t L,
+  uint16_t numTaps,
+  float32_t * pCoeffs,
+  float32_t * pState,
+  uint32_t blockSize);
+
+  /**
+   * @brief Instance structure for the high precision Q31 Biquad cascade filter.
+   */
+
+  typedef struct
+  {
+    uint8_t numStages;       /**< number of 2nd order stages in the filter.  Overall order is 2*numStages. */
+    q63_t *pState;           /**< points to the array of state coefficients.  The array is of length 4*numStages. */
+    q31_t *pCoeffs;          /**< points to the array of coefficients.  The array is of length 5*numStages. */
+    uint8_t postShift;       /**< additional shift, in bits, applied to each output sample. */
+
+  } arm_biquad_cas_df1_32x64_ins_q31;
+
+
+  /**
+   * @param[in]  *S        points to an instance of the high precision Q31 Biquad cascade filter structure.
+   * @param[in]  *pSrc     points to the block of input data.
+   * @param[out] *pDst     points to the block of output data
+   * @param[in]  blockSize number of samples to process.
+   * @return none.
+   */
+
+  void arm_biquad_cas_df1_32x64_q31(
+  const arm_biquad_cas_df1_32x64_ins_q31 * S,
+  q31_t * pSrc,
+  q31_t * pDst,
+  uint32_t blockSize);
+
+
+  /**
+   * @param[in,out] *S           points to an instance of the high precision Q31 Biquad cascade filter structure.
+   * @param[in]     numStages    number of 2nd order stages in the filter.
+   * @param[in]     *pCoeffs     points to the filter coefficients.
+   * @param[in]     *pState      points to the state buffer.
+   * @param[in]     postShift    shift to be applied to the output. Varies according to the coefficients format
+   * @return        none
+   */
+
+  void arm_biquad_cas_df1_32x64_init_q31(
+  arm_biquad_cas_df1_32x64_ins_q31 * S,
+  uint8_t numStages,
+  q31_t * pCoeffs,
+  q63_t * pState,
+  uint8_t postShift);
+
+
+
+  /**
+   * @brief Instance structure for the floating-point transposed direct form II Biquad cascade filter.
+   */
+
+  typedef struct
+  {
+    uint8_t numStages;         /**< number of 2nd order stages in the filter.  Overall order is 2*numStages. */
+    float32_t *pState;         /**< points to the array of state coefficients.  The array is of length 2*numStages. */
+    float32_t *pCoeffs;        /**< points to the array of coefficients.  The array is of length 5*numStages. */
+  } arm_biquad_cascade_df2T_instance_f32;
+
+
+  /**
+   * @brief Processing function for the floating-point transposed direct form II Biquad cascade filter.
+   * @param[in]  *S        points to an instance of the filter data structure.
+   * @param[in]  *pSrc     points to the block of input data.
+   * @param[out] *pDst     points to the block of output data
+   * @param[in]  blockSize number of samples to process.
+   * @return none.
+   */
+
+  void arm_biquad_cascade_df2T_f32(
+  const arm_biquad_cascade_df2T_instance_f32 * S,
+  float32_t * pSrc,
+  float32_t * pDst,
+  uint32_t blockSize);
+
+
+  /**
+   * @brief  Initialization function for the floating-point transposed direct form II Biquad cascade filter.
+   * @param[in,out] *S           points to an instance of the filter data structure.
+   * @param[in]     numStages    number of 2nd order stages in the filter.
+   * @param[in]     *pCoeffs     points to the filter coefficients.
+   * @param[in]     *pState      points to the state buffer.
+   * @return        none
+   */
+
+  void arm_biquad_cascade_df2T_init_f32(
+  arm_biquad_cascade_df2T_instance_f32 * S,
+  uint8_t numStages,
+  float32_t * pCoeffs,
+  float32_t * pState);
+
+
+
+  /**
+   * @brief Instance structure for the Q15 FIR lattice filter.
+   */
+
+  typedef struct
+  {
+    uint16_t numStages;                          /**< number of filter stages. */
+    q15_t *pState;                               /**< points to the state variable array. The array is of length numStages. */
+    q15_t *pCoeffs;                              /**< points to the coefficient array. The array is of length numStages. */
+  } arm_fir_lattice_instance_q15;
+
+  /**
+   * @brief Instance structure for the Q31 FIR lattice filter.
+   */
+
+  typedef struct
+  {
+    uint16_t numStages;                          /**< number of filter stages. */
+    q31_t *pState;                               /**< points to the state variable array. The array is of length numStages. */
+    q31_t *pCoeffs;                              /**< points to the coefficient array. The array is of length numStages. */
+  } arm_fir_lattice_instance_q31;
+
+  /**
+   * @brief Instance structure for the floating-point FIR lattice filter.
+   */
+
+  typedef struct
+  {
+    uint16_t numStages;                  /**< number of filter stages. */
+    float32_t *pState;                   /**< points to the state variable array. The array is of length numStages. */
+    float32_t *pCoeffs;                  /**< points to the coefficient array. The array is of length numStages. */
+  } arm_fir_lattice_instance_f32;
+
+  /**
+   * @brief Initialization function for the Q15 FIR lattice filter.
+   * @param[in] *S points to an instance of the Q15 FIR lattice structure.
+   * @param[in] numStages  number of filter stages.
+   * @param[in] *pCoeffs points to the coefficient buffer.  The array is of length numStages. 
+   * @param[in] *pState points to the state buffer.  The array is of length numStages. 
+   * @return none.
+   */
+
+  void arm_fir_lattice_init_q15(
+  arm_fir_lattice_instance_q15 * S,
+  uint16_t numStages,
+  q15_t * pCoeffs,
+  q15_t * pState);
+
+
+  /**
+   * @brief Processing function for the Q15 FIR lattice filter.
+   * @param[in] *S points to an instance of the Q15 FIR lattice structure.
+   * @param[in] *pSrc points to the block of input data.
+   * @param[out] *pDst points to the block of output data.
+   * @param[in] blockSize number of samples to process.
+   * @return none.
+   */
+  void arm_fir_lattice_q15(
+  const arm_fir_lattice_instance_q15 * S,
+  q15_t * pSrc,
+  q15_t * pDst,
+  uint32_t blockSize);
+
+  /**
+   * @brief Initialization function for the Q31 FIR lattice filter.
+   * @param[in] *S points to an instance of the Q31 FIR lattice structure.
+   * @param[in] numStages  number of filter stages.
+   * @param[in] *pCoeffs points to the coefficient buffer.  The array is of length numStages.
+   * @param[in] *pState points to the state buffer.   The array is of length numStages.
+   * @return none.
+   */
+
+  void arm_fir_lattice_init_q31(
+  arm_fir_lattice_instance_q31 * S,
+  uint16_t numStages,
+  q31_t * pCoeffs,
+  q31_t * pState);
+
+
+  /**
+   * @brief Processing function for the Q31 FIR lattice filter.
+   * @param[in]  *S        points to an instance of the Q31 FIR lattice structure.
+   * @param[in]  *pSrc     points to the block of input data.
+   * @param[out] *pDst     points to the block of output data
+   * @param[in]  blockSize number of samples to process.
+   * @return none.
+   */
+
+  void arm_fir_lattice_q31(
+  const arm_fir_lattice_instance_q31 * S,
+  q31_t * pSrc,
+  q31_t * pDst,
+  uint32_t blockSize);
+
+/**
+ * @brief Initialization function for the floating-point FIR lattice filter.
+ * @param[in] *S points to an instance of the floating-point FIR lattice structure.
+ * @param[in] numStages  number of filter stages.
+ * @param[in] *pCoeffs points to the coefficient buffer.  The array is of length numStages.
+ * @param[in] *pState points to the state buffer.  The array is of length numStages.
+ * @return none.
+ */
+
+  void arm_fir_lattice_init_f32(
+  arm_fir_lattice_instance_f32 * S,
+  uint16_t numStages,
+  float32_t * pCoeffs,
+  float32_t * pState);
+
+  /**
+   * @brief Processing function for the floating-point FIR lattice filter.
+   * @param[in]  *S        points to an instance of the floating-point FIR lattice structure.
+   * @param[in]  *pSrc     points to the block of input data.
+   * @param[out] *pDst     points to the block of output data
+   * @param[in]  blockSize number of samples to process.
+   * @return none.
+   */
+
+  void arm_fir_lattice_f32(
+  const arm_fir_lattice_instance_f32 * S,
+  float32_t * pSrc,
+  float32_t * pDst,
+  uint32_t blockSize);
+
+  /**
+   * @brief Instance structure for the Q15 IIR lattice filter.
+   */
+  typedef struct
+  {
+    uint16_t numStages;                         /**< number of stages in the filter. */
+    q15_t *pState;                              /**< points to the state variable array. The array is of length numStages+blockSize. */
+    q15_t *pkCoeffs;                            /**< points to the reflection coefficient array. The array is of length numStages. */
+    q15_t *pvCoeffs;                            /**< points to the ladder coefficient array. The array is of length numStages+1. */
+  } arm_iir_lattice_instance_q15;
+
+  /**
+   * @brief Instance structure for the Q31 IIR lattice filter.
+   */
+  typedef struct
+  {
+    uint16_t numStages;                         /**< number of stages in the filter. */
+    q31_t *pState;                              /**< points to the state variable array. The array is of length numStages+blockSize. */
+    q31_t *pkCoeffs;                            /**< points to the reflection coefficient array. The array is of length numStages. */
+    q31_t *pvCoeffs;                            /**< points to the ladder coefficient array. The array is of length numStages+1. */
+  } arm_iir_lattice_instance_q31;
+
+  /**
+   * @brief Instance structure for the floating-point IIR lattice filter.
+   */
+  typedef struct
+  {
+    uint16_t numStages;                         /**< number of stages in the filter. */
+    float32_t *pState;                          /**< points to the state variable array. The array is of length numStages+blockSize. */
+    float32_t *pkCoeffs;                        /**< points to the reflection coefficient array. The array is of length numStages. */
+    float32_t *pvCoeffs;                        /**< points to the ladder coefficient array. The array is of length numStages+1. */
+  } arm_iir_lattice_instance_f32;
+
+  /**
+   * @brief Processing function for the floating-point IIR lattice filter.
+   * @param[in] *S points to an instance of the floating-point IIR lattice structure.
+   * @param[in] *pSrc points to the block of input data.
+   * @param[out] *pDst points to the block of output data.
+   * @param[in] blockSize number of samples to process.
+   * @return none.
+   */
+
+  void arm_iir_lattice_f32(
+  const arm_iir_lattice_instance_f32 * S,
+  float32_t * pSrc,
+  float32_t * pDst,
+  uint32_t blockSize);
+
+  /**
+   * @brief Initialization function for the floating-point IIR lattice filter.
+   * @param[in] *S points to an instance of the floating-point IIR lattice structure.
+   * @param[in] numStages number of stages in the filter.
+   * @param[in] *pkCoeffs points to the reflection coefficient buffer.  The array is of length numStages.
+   * @param[in] *pvCoeffs points to the ladder coefficient buffer.  The array is of length numStages+1.
+   * @param[in] *pState points to the state buffer.  The array is of length numStages+blockSize-1.
+   * @param[in] blockSize number of samples to process.
+   * @return none.
+   */
+
+  void arm_iir_lattice_init_f32(
+  arm_iir_lattice_instance_f32 * S,
+  uint16_t numStages,
+  float32_t * pkCoeffs,
+  float32_t * pvCoeffs,
+  float32_t * pState,
+  uint32_t blockSize);
+
+
+  /**
+   * @brief Processing function for the Q31 IIR lattice filter.
+   * @param[in] *S points to an instance of the Q31 IIR lattice structure.
+   * @param[in] *pSrc points to the block of input data.
+   * @param[out] *pDst points to the block of output data.
+   * @param[in] blockSize number of samples to process.
+   * @return none.
+   */
+
+  void arm_iir_lattice_q31(
+  const arm_iir_lattice_instance_q31 * S,
+  q31_t * pSrc,
+  q31_t * pDst,
+  uint32_t blockSize);
+
+
+  /**
+   * @brief Initialization function for the Q31 IIR lattice filter.
+   * @param[in] *S points to an instance of the Q31 IIR lattice structure.
+   * @param[in] numStages number of stages in the filter.
+   * @param[in] *pkCoeffs points to the reflection coefficient buffer.  The array is of length numStages.
+   * @param[in] *pvCoeffs points to the ladder coefficient buffer.  The array is of length numStages+1.
+   * @param[in] *pState points to the state buffer.  The array is of length numStages+blockSize.
+   * @param[in] blockSize number of samples to process.
+   * @return none.
+   */
+
+  void arm_iir_lattice_init_q31(
+  arm_iir_lattice_instance_q31 * S,
+  uint16_t numStages,
+  q31_t * pkCoeffs,
+  q31_t * pvCoeffs,
+  q31_t * pState,
+  uint32_t blockSize);
+
+
+  /**
+   * @brief Processing function for the Q15 IIR lattice filter.
+   * @param[in] *S points to an instance of the Q15 IIR lattice structure.
+   * @param[in] *pSrc points to the block of input data.
+   * @param[out] *pDst points to the block of output data.
+   * @param[in] blockSize number of samples to process.
+   * @return none.
+   */
+
+  void arm_iir_lattice_q15(
+  const arm_iir_lattice_instance_q15 * S,
+  q15_t * pSrc,
+  q15_t * pDst,
+  uint32_t blockSize);
+
+
+/**
+ * @brief Initialization function for the Q15 IIR lattice filter.
+ * @param[in] *S points to an instance of the fixed-point Q15 IIR lattice structure.
+ * @param[in] numStages  number of stages in the filter.
+ * @param[in] *pkCoeffs points to reflection coefficient buffer.  The array is of length numStages.
+ * @param[in] *pvCoeffs points to ladder coefficient buffer.  The array is of length numStages+1.
+ * @param[in] *pState points to state buffer.  The array is of length numStages+blockSize.
+ * @param[in] blockSize number of samples to process per call.
+ * @return none.
+ */
+
+  void arm_iir_lattice_init_q15(
+  arm_iir_lattice_instance_q15 * S,
+  uint16_t numStages,
+  q15_t * pkCoeffs,
+  q15_t * pvCoeffs,
+  q15_t * pState,
+  uint32_t blockSize);
+
+  /**
+   * @brief Instance structure for the floating-point LMS filter.
+   */
+
+  typedef struct
+  {
+    uint16_t numTaps;    /**< number of coefficients in the filter. */
+    float32_t *pState;   /**< points to the state variable array. The array is of length numTaps+blockSize-1. */
+    float32_t *pCoeffs;  /**< points to the coefficient array. The array is of length numTaps. */
+    float32_t mu;        /**< step size that controls filter coefficient updates. */
+  } arm_lms_instance_f32;
+
+  /**
+   * @brief Processing function for floating-point LMS filter.
+   * @param[in]  *S points to an instance of the floating-point LMS filter structure.
+   * @param[in]  *pSrc points to the block of input data.
+   * @param[in]  *pRef points to the block of reference data.
+   * @param[out] *pOut points to the block of output data.
+   * @param[out] *pErr points to the block of error data.
+   * @param[in]  blockSize number of samples to process.
+   * @return     none.
+   */
+
+  void arm_lms_f32(
+  const arm_lms_instance_f32 * S,
+  float32_t * pSrc,
+  float32_t * pRef,
+  float32_t * pOut,
+  float32_t * pErr,
+  uint32_t blockSize);
+
+  /**
+   * @brief Initialization function for floating-point LMS filter.
+   * @param[in] *S points to an instance of the floating-point LMS filter structure.
+   * @param[in] numTaps  number of filter coefficients.
+   * @param[in] *pCoeffs points to the coefficient buffer.
+   * @param[in] *pState points to state buffer.
+   * @param[in] mu step size that controls filter coefficient updates.
+   * @param[in] blockSize number of samples to process.
+   * @return none.
+   */
+
+  void arm_lms_init_f32(
+  arm_lms_instance_f32 * S,
+  uint16_t numTaps,
+  float32_t * pCoeffs,
+  float32_t * pState,
+  float32_t mu,
+  uint32_t blockSize);
+
+  /**
+   * @brief Instance structure for the Q15 LMS filter.
+   */
+
+  typedef struct
+  {
+    uint16_t numTaps;    /**< number of coefficients in the filter. */
+    q15_t *pState;       /**< points to the state variable array. The array is of length numTaps+blockSize-1. */
+    q15_t *pCoeffs;      /**< points to the coefficient array. The array is of length numTaps. */
+    q15_t mu;            /**< step size that controls filter coefficient updates. */
+    uint32_t postShift;  /**< bit shift applied to coefficients. */
+  } arm_lms_instance_q15;
+
+
+  /**
+   * @brief Initialization function for the Q15 LMS filter.
+   * @param[in] *S points to an instance of the Q15 LMS filter structure.
+   * @param[in] numTaps  number of filter coefficients.
+   * @param[in] *pCoeffs points to the coefficient buffer.
+   * @param[in] *pState points to the state buffer.
+   * @param[in] mu step size that controls filter coefficient updates.
+   * @param[in] blockSize number of samples to process.
+   * @param[in] postShift bit shift applied to coefficients.
+   * @return    none.
+   */
+
+  void arm_lms_init_q15(
+  arm_lms_instance_q15 * S,
+  uint16_t numTaps,
+  q15_t * pCoeffs,
+  q15_t * pState,
+  q15_t mu,
+  uint32_t blockSize,
+  uint32_t postShift);
+
+  /**
+   * @brief Processing function for Q15 LMS filter.
+   * @param[in] *S points to an instance of the Q15 LMS filter structure.
+   * @param[in] *pSrc points to the block of input data.
+   * @param[in] *pRef points to the block of reference data.
+   * @param[out] *pOut points to the block of output data.
+   * @param[out] *pErr points to the block of error data.
+   * @param[in] blockSize number of samples to process.
+   * @return none.
+   */
+
+  void arm_lms_q15(
+  const arm_lms_instance_q15 * S,
+  q15_t * pSrc,
+  q15_t * pRef,
+  q15_t * pOut,
+  q15_t * pErr,
+  uint32_t blockSize);
+
+
+  /**
+   * @brief Instance structure for the Q31 LMS filter.
+   */
+
+  typedef struct
+  {
+    uint16_t numTaps;    /**< number of coefficients in the filter. */
+    q31_t *pState;       /**< points to the state variable array. The array is of length numTaps+blockSize-1. */
+    q31_t *pCoeffs;      /**< points to the coefficient array. The array is of length numTaps. */
+    q31_t mu;            /**< step size that controls filter coefficient updates. */
+    uint32_t postShift;  /**< bit shift applied to coefficients. */
+
+  } arm_lms_instance_q31;
+
+  /**
+   * @brief Processing function for Q31 LMS filter.
+   * @param[in]  *S points to an instance of the Q15 LMS filter structure.
+   * @param[in]  *pSrc points to the block of input data.
+   * @param[in]  *pRef points to the block of reference data.
+   * @param[out] *pOut points to the block of output data.
+   * @param[out] *pErr points to the block of error data.
+   * @param[in]  blockSize number of samples to process.
+   * @return     none.
+   */
+
+  void arm_lms_q31(
+  const arm_lms_instance_q31 * S,
+  q31_t * pSrc,
+  q31_t * pRef,
+  q31_t * pOut,
+  q31_t * pErr,
+  uint32_t blockSize);
+
+  /**
+   * @brief Initialization function for Q31 LMS filter.
+   * @param[in] *S points to an instance of the Q31 LMS filter structure.
+   * @param[in] numTaps  number of filter coefficients.
+   * @param[in] *pCoeffs points to coefficient buffer.
+   * @param[in] *pState points to state buffer.
+   * @param[in] mu step size that controls filter coefficient updates.
+   * @param[in] blockSize number of samples to process.
+   * @param[in] postShift bit shift applied to coefficients.
+   * @return none.
+   */
+
+  void arm_lms_init_q31(
+  arm_lms_instance_q31 * S,
+  uint16_t numTaps,
+  q31_t * pCoeffs,
+  q31_t * pState,
+  q31_t mu,
+  uint32_t blockSize,
+  uint32_t postShift);
+
+  /**
+   * @brief Instance structure for the floating-point normalized LMS filter.
+   */
+
+  typedef struct
+  {
+    uint16_t numTaps;     /**< number of coefficients in the filter. */
+    float32_t *pState;    /**< points to the state variable array. The array is of length numTaps+blockSize-1. */
+    float32_t *pCoeffs;   /**< points to the coefficient array. The array is of length numTaps. */
+    float32_t mu;        /**< step size that control filter coefficient updates. */
+    float32_t energy;    /**< saves previous frame energy. */
+    float32_t x0;        /**< saves previous input sample. */
+  } arm_lms_norm_instance_f32;
+
+  /**
+   * @brief Processing function for floating-point normalized LMS filter.
+   * @param[in] *S points to an instance of the floating-point normalized LMS filter structure.
+   * @param[in] *pSrc points to the block of input data.
+   * @param[in] *pRef points to the block of reference data.
+   * @param[out] *pOut points to the block of output data.
+   * @param[out] *pErr points to the block of error data.
+   * @param[in] blockSize number of samples to process.
+   * @return none.
+   */
+
+  void arm_lms_norm_f32(
+  arm_lms_norm_instance_f32 * S,
+  float32_t * pSrc,
+  float32_t * pRef,
+  float32_t * pOut,
+  float32_t * pErr,
+  uint32_t blockSize);
+
+  /**
+   * @brief Initialization function for floating-point normalized LMS filter.
+   * @param[in] *S points to an instance of the floating-point LMS filter structure.
+   * @param[in] numTaps  number of filter coefficients.
+   * @param[in] *pCoeffs points to coefficient buffer.
+   * @param[in] *pState points to state buffer.
+   * @param[in] mu step size that controls filter coefficient updates.
+   * @param[in] blockSize number of samples to process.
+   * @return none.
+   */
+
+  void arm_lms_norm_init_f32(
+  arm_lms_norm_instance_f32 * S,
+  uint16_t numTaps,
+  float32_t * pCoeffs,
+  float32_t * pState,
+  float32_t mu,
+  uint32_t blockSize);
+
+
+  /**
+   * @brief Instance structure for the Q31 normalized LMS filter.
+   */
+  typedef struct
+  {
+    uint16_t numTaps;     /**< number of coefficients in the filter. */
+    q31_t *pState;        /**< points to the state variable array. The array is of length numTaps+blockSize-1. */
+    q31_t *pCoeffs;       /**< points to the coefficient array. The array is of length numTaps. */
+    q31_t mu;             /**< step size that controls filter coefficient updates. */
+    uint8_t postShift;    /**< bit shift applied to coefficients. */
+    q31_t *recipTable;    /**< points to the reciprocal initial value table. */
+    q31_t energy;         /**< saves previous frame energy. */
+    q31_t x0;             /**< saves previous input sample. */
+  } arm_lms_norm_instance_q31;
+
+  /**
+   * @brief Processing function for Q31 normalized LMS filter.
+   * @param[in] *S points to an instance of the Q31 normalized LMS filter structure.
+   * @param[in] *pSrc points to the block of input data.
+   * @param[in] *pRef points to the block of reference data.
+   * @param[out] *pOut points to the block of output data.
+   * @param[out] *pErr points to the block of error data.
+   * @param[in] blockSize number of samples to process.
+   * @return none.
+   */
+
+  void arm_lms_norm_q31(
+  arm_lms_norm_instance_q31 * S,
+  q31_t * pSrc,
+  q31_t * pRef,
+  q31_t * pOut,
+  q31_t * pErr,
+  uint32_t blockSize);
+
+  /**
+   * @brief Initialization function for Q31 normalized LMS filter.
+   * @param[in] *S points to an instance of the Q31 normalized LMS filter structure.
+   * @param[in] numTaps  number of filter coefficients.
+   * @param[in] *pCoeffs points to coefficient buffer.
+   * @param[in] *pState points to state buffer.
+   * @param[in] mu step size that controls filter coefficient updates.
+   * @param[in] blockSize number of samples to process.
+   * @param[in] postShift bit shift applied to coefficients.
+   * @return none.
+   */
+
+  void arm_lms_norm_init_q31(
+  arm_lms_norm_instance_q31 * S,
+  uint16_t numTaps,
+  q31_t * pCoeffs,
+  q31_t * pState,
+  q31_t mu,
+  uint32_t blockSize,
+  uint8_t postShift);
+
+  /**
+   * @brief Instance structure for the Q15 normalized LMS filter.
+   */
+
+  typedef struct
+  {
+    uint16_t numTaps;    /**< Number of coefficients in the filter. */
+    q15_t *pState;        /**< points to the state variable array. The array is of length numTaps+blockSize-1. */
+    q15_t *pCoeffs;       /**< points to the coefficient array. The array is of length numTaps. */
+    q15_t mu;            /**< step size that controls filter coefficient updates. */
+    uint8_t postShift;   /**< bit shift applied to coefficients. */
+    q15_t *recipTable;   /**< Points to the reciprocal initial value table. */
+    q15_t energy;        /**< saves previous frame energy. */
+    q15_t x0;            /**< saves previous input sample. */
+  } arm_lms_norm_instance_q15;
+
+  /**
+   * @brief Processing function for Q15 normalized LMS filter.
+   * @param[in] *S points to an instance of the Q15 normalized LMS filter structure.
+   * @param[in] *pSrc points to the block of input data.
+   * @param[in] *pRef points to the block of reference data.
+   * @param[out] *pOut points to the block of output data.
+   * @param[out] *pErr points to the block of error data.
+   * @param[in] blockSize number of samples to process.
+   * @return none.
+   */
+
+  void arm_lms_norm_q15(
+  arm_lms_norm_instance_q15 * S,
+  q15_t * pSrc,
+  q15_t * pRef,
+  q15_t * pOut,
+  q15_t * pErr,
+  uint32_t blockSize);
+
+
+  /**
+   * @brief Initialization function for Q15 normalized LMS filter.
+   * @param[in] *S points to an instance of the Q15 normalized LMS filter structure.
+   * @param[in] numTaps  number of filter coefficients.
+   * @param[in] *pCoeffs points to coefficient buffer.
+   * @param[in] *pState points to state buffer.
+   * @param[in] mu step size that controls filter coefficient updates.
+   * @param[in] blockSize number of samples to process.
+   * @param[in] postShift bit shift applied to coefficients.
+   * @return none.
+   */
+
+  void arm_lms_norm_init_q15(
+  arm_lms_norm_instance_q15 * S,
+  uint16_t numTaps,
+  q15_t * pCoeffs,
+  q15_t * pState,
+  q15_t mu,
+  uint32_t blockSize,
+  uint8_t postShift);
+
+  /**
+   * @brief Correlation of floating-point sequences.
+   * @param[in] *pSrcA points to the first input sequence.
+   * @param[in] srcALen length of the first input sequence.
+   * @param[in] *pSrcB points to the second input sequence.
+   * @param[in] srcBLen length of the second input sequence.
+   * @param[out] *pDst points to the block of output data  Length 2 * max(srcALen, srcBLen) - 1.
+   * @return none.
+   */
+
+  void arm_correlate_f32(
+  float32_t * pSrcA,
+  uint32_t srcALen,
+  float32_t * pSrcB,
+  uint32_t srcBLen,
+  float32_t * pDst);
+
+
+   /**   
+   * @brief Correlation of Q15 sequences   
+   * @param[in] *pSrcA points to the first input sequence.   
+   * @param[in] srcALen length of the first input sequence.   
+   * @param[in] *pSrcB points to the second input sequence.   
+   * @param[in] srcBLen length of the second input sequence.   
+   * @param[out] *pDst points to the block of output data  Length 2 * max(srcALen, srcBLen) - 1.   
+   * @param[in]  *pScratch points to scratch buffer of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2.   
+   * @return none.   
+   */
+  void arm_correlate_opt_q15(
+  q15_t * pSrcA,
+  uint32_t srcALen,
+  q15_t * pSrcB,
+  uint32_t srcBLen,
+  q15_t * pDst,
+  q15_t * pScratch);
+
+
+  /**
+   * @brief Correlation of Q15 sequences.
+   * @param[in] *pSrcA points to the first input sequence.
+   * @param[in] srcALen length of the first input sequence.
+   * @param[in] *pSrcB points to the second input sequence.
+   * @param[in] srcBLen length of the second input sequence.
+   * @param[out] *pDst points to the block of output data  Length 2 * max(srcALen, srcBLen) - 1.
+   * @return none.
+   */
+
+  void arm_correlate_q15(
+  q15_t * pSrcA,
+  uint32_t srcALen,
+  q15_t * pSrcB,
+  uint32_t srcBLen,
+  q15_t * pDst);
+
+  /**
+   * @brief Correlation of Q15 sequences (fast version) for Cortex-M3 and Cortex-M4.
+   * @param[in] *pSrcA points to the first input sequence.
+   * @param[in] srcALen length of the first input sequence.
+   * @param[in] *pSrcB points to the second input sequence.
+   * @param[in] srcBLen length of the second input sequence.
+   * @param[out] *pDst points to the block of output data  Length 2 * max(srcALen, srcBLen) - 1.
+   * @return none.
+   */
+
+  void arm_correlate_fast_q15(
+			       q15_t * pSrcA,
+			      uint32_t srcALen,
+			       q15_t * pSrcB,
+			      uint32_t srcBLen,
+			      q15_t * pDst);
+
+
+
+  /**
+   * @brief Correlation of Q15 sequences (fast version) for Cortex-M3 and Cortex-M4.
+   * @param[in] *pSrcA points to the first input sequence.
+   * @param[in] srcALen length of the first input sequence.
+   * @param[in] *pSrcB points to the second input sequence.
+   * @param[in] srcBLen length of the second input sequence.
+   * @param[out] *pDst points to the block of output data  Length 2 * max(srcALen, srcBLen) - 1.
+   * @param[in]  *pScratch points to scratch buffer of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2.   
+   * @return none.
+   */
+
+  void arm_correlate_fast_opt_q15(
+  q15_t * pSrcA,
+  uint32_t srcALen,
+  q15_t * pSrcB,
+  uint32_t srcBLen,
+  q15_t * pDst,
+  q15_t * pScratch);
+
+  /**
+   * @brief Correlation of Q31 sequences.
+   * @param[in] *pSrcA points to the first input sequence.
+   * @param[in] srcALen length of the first input sequence.
+   * @param[in] *pSrcB points to the second input sequence.
+   * @param[in] srcBLen length of the second input sequence.
+   * @param[out] *pDst points to the block of output data  Length 2 * max(srcALen, srcBLen) - 1.
+   * @return none.
+   */
+
+  void arm_correlate_q31(
+  q31_t * pSrcA,
+  uint32_t srcALen,
+  q31_t * pSrcB,
+  uint32_t srcBLen,
+  q31_t * pDst);
+
+  /**
+   * @brief Correlation of Q31 sequences (fast version) for Cortex-M3 and Cortex-M4
+   * @param[in] *pSrcA points to the first input sequence.
+   * @param[in] srcALen length of the first input sequence.
+   * @param[in] *pSrcB points to the second input sequence.
+   * @param[in] srcBLen length of the second input sequence.
+   * @param[out] *pDst points to the block of output data  Length 2 * max(srcALen, srcBLen) - 1.
+   * @return none.
+   */
+
+  void arm_correlate_fast_q31(
+  q31_t * pSrcA,
+  uint32_t srcALen,
+  q31_t * pSrcB,
+  uint32_t srcBLen,
+  q31_t * pDst);
+
+
+
+ /**   
+   * @brief Correlation of Q7 sequences.   
+   * @param[in] *pSrcA points to the first input sequence.   
+   * @param[in] srcALen length of the first input sequence.   
+   * @param[in] *pSrcB points to the second input sequence.   
+   * @param[in] srcBLen length of the second input sequence.   
+   * @param[out] *pDst points to the block of output data  Length 2 * max(srcALen, srcBLen) - 1.   
+   * @param[in]  *pScratch1 points to scratch buffer(of type q15_t) of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2.   
+   * @param[in]  *pScratch2 points to scratch buffer (of type q15_t) of size min(srcALen, srcBLen).   
+   * @return none.   
+   */
+
+  void arm_correlate_opt_q7(
+  q7_t * pSrcA,
+  uint32_t srcALen,
+  q7_t * pSrcB,
+  uint32_t srcBLen,
+  q7_t * pDst,
+  q15_t * pScratch1,
+  q15_t * pScratch2);
+
+
+  /**
+   * @brief Correlation of Q7 sequences.
+   * @param[in] *pSrcA points to the first input sequence.
+   * @param[in] srcALen length of the first input sequence.
+   * @param[in] *pSrcB points to the second input sequence.
+   * @param[in] srcBLen length of the second input sequence.
+   * @param[out] *pDst points to the block of output data  Length 2 * max(srcALen, srcBLen) - 1.
+   * @return none.
+   */
+
+  void arm_correlate_q7(
+  q7_t * pSrcA,
+  uint32_t srcALen,
+  q7_t * pSrcB,
+  uint32_t srcBLen,
+  q7_t * pDst);
+
+
+  /**
+   * @brief Instance structure for the floating-point sparse FIR filter.
+   */
+  typedef struct
+  {
+    uint16_t numTaps;             /**< number of coefficients in the filter. */
+    uint16_t stateIndex;          /**< state buffer index.  Points to the oldest sample in the state buffer. */
+    float32_t *pState;            /**< points to the state buffer array. The array is of length maxDelay+blockSize-1. */
+    float32_t *pCoeffs;           /**< points to the coefficient array. The array is of length numTaps.*/
+    uint16_t maxDelay;            /**< maximum offset specified by the pTapDelay array. */
+    int32_t *pTapDelay;           /**< points to the array of delay values.  The array is of length numTaps. */
+  } arm_fir_sparse_instance_f32;
+
+  /**
+   * @brief Instance structure for the Q31 sparse FIR filter.
+   */
+
+  typedef struct
+  {
+    uint16_t numTaps;             /**< number of coefficients in the filter. */
+    uint16_t stateIndex;          /**< state buffer index.  Points to the oldest sample in the state buffer. */
+    q31_t *pState;                /**< points to the state buffer array. The array is of length maxDelay+blockSize-1. */
+    q31_t *pCoeffs;               /**< points to the coefficient array. The array is of length numTaps.*/
+    uint16_t maxDelay;            /**< maximum offset specified by the pTapDelay array. */
+    int32_t *pTapDelay;           /**< points to the array of delay values.  The array is of length numTaps. */
+  } arm_fir_sparse_instance_q31;
+
+  /**
+   * @brief Instance structure for the Q15 sparse FIR filter.
+   */
+
+  typedef struct
+  {
+    uint16_t numTaps;             /**< number of coefficients in the filter. */
+    uint16_t stateIndex;          /**< state buffer index.  Points to the oldest sample in the state buffer. */
+    q15_t *pState;                /**< points to the state buffer array. The array is of length maxDelay+blockSize-1. */
+    q15_t *pCoeffs;               /**< points to the coefficient array. The array is of length numTaps.*/
+    uint16_t maxDelay;            /**< maximum offset specified by the pTapDelay array. */
+    int32_t *pTapDelay;           /**< points to the array of delay values.  The array is of length numTaps. */
+  } arm_fir_sparse_instance_q15;
+
+  /**
+   * @brief Instance structure for the Q7 sparse FIR filter.
+   */
+
+  typedef struct
+  {
+    uint16_t numTaps;             /**< number of coefficients in the filter. */
+    uint16_t stateIndex;          /**< state buffer index.  Points to the oldest sample in the state buffer. */
+    q7_t *pState;                 /**< points to the state buffer array. The array is of length maxDelay+blockSize-1. */
+    q7_t *pCoeffs;                /**< points to the coefficient array. The array is of length numTaps.*/
+    uint16_t maxDelay;            /**< maximum offset specified by the pTapDelay array. */
+    int32_t *pTapDelay;           /**< points to the array of delay values.  The array is of length numTaps. */
+  } arm_fir_sparse_instance_q7;
+
+  /**
+   * @brief Processing function for the floating-point sparse FIR filter.
+   * @param[in]  *S          points to an instance of the floating-point sparse FIR structure.
+   * @param[in]  *pSrc       points to the block of input data.
+   * @param[out] *pDst       points to the block of output data
+   * @param[in]  *pScratchIn points to a temporary buffer of size blockSize.
+   * @param[in]  blockSize   number of input samples to process per call.
+   * @return none.
+   */
+
+  void arm_fir_sparse_f32(
+  arm_fir_sparse_instance_f32 * S,
+  float32_t * pSrc,
+  float32_t * pDst,
+  float32_t * pScratchIn,
+  uint32_t blockSize);
+
+  /**
+   * @brief  Initialization function for the floating-point sparse FIR filter.
+   * @param[in,out] *S         points to an instance of the floating-point sparse FIR structure.
+   * @param[in]     numTaps    number of nonzero coefficients in the filter.
+   * @param[in]     *pCoeffs   points to the array of filter coefficients.
+   * @param[in]     *pState    points to the state buffer.
+   * @param[in]     *pTapDelay points to the array of offset times.
+   * @param[in]     maxDelay   maximum offset time supported.
+   * @param[in]     blockSize  number of samples that will be processed per block.
+   * @return none
+   */
+
+  void arm_fir_sparse_init_f32(
+  arm_fir_sparse_instance_f32 * S,
+  uint16_t numTaps,
+  float32_t * pCoeffs,
+  float32_t * pState,
+  int32_t * pTapDelay,
+  uint16_t maxDelay,
+  uint32_t blockSize);
+
+  /**
+   * @brief Processing function for the Q31 sparse FIR filter.
+   * @param[in]  *S          points to an instance of the Q31 sparse FIR structure.
+   * @param[in]  *pSrc       points to the block of input data.
+   * @param[out] *pDst       points to the block of output data
+   * @param[in]  *pScratchIn points to a temporary buffer of size blockSize.
+   * @param[in]  blockSize   number of input samples to process per call.
+   * @return none.
+   */
+
+  void arm_fir_sparse_q31(
+  arm_fir_sparse_instance_q31 * S,
+  q31_t * pSrc,
+  q31_t * pDst,
+  q31_t * pScratchIn,
+  uint32_t blockSize);
+
+  /**
+   * @brief  Initialization function for the Q31 sparse FIR filter.
+   * @param[in,out] *S         points to an instance of the Q31 sparse FIR structure.
+   * @param[in]     numTaps    number of nonzero coefficients in the filter.
+   * @param[in]     *pCoeffs   points to the array of filter coefficients.
+   * @param[in]     *pState    points to the state buffer.
+   * @param[in]     *pTapDelay points to the array of offset times.
+   * @param[in]     maxDelay   maximum offset time supported.
+   * @param[in]     blockSize  number of samples that will be processed per block.
+   * @return none
+   */
+
+  void arm_fir_sparse_init_q31(
+  arm_fir_sparse_instance_q31 * S,
+  uint16_t numTaps,
+  q31_t * pCoeffs,
+  q31_t * pState,
+  int32_t * pTapDelay,
+  uint16_t maxDelay,
+  uint32_t blockSize);
+
+  /**
+   * @brief Processing function for the Q15 sparse FIR filter.
+   * @param[in]  *S           points to an instance of the Q15 sparse FIR structure.
+   * @param[in]  *pSrc        points to the block of input data.
+   * @param[out] *pDst        points to the block of output data
+   * @param[in]  *pScratchIn  points to a temporary buffer of size blockSize.
+   * @param[in]  *pScratchOut points to a temporary buffer of size blockSize.
+   * @param[in]  blockSize    number of input samples to process per call.
+   * @return none.
+   */
+
+  void arm_fir_sparse_q15(
+  arm_fir_sparse_instance_q15 * S,
+  q15_t * pSrc,
+  q15_t * pDst,
+  q15_t * pScratchIn,
+  q31_t * pScratchOut,
+  uint32_t blockSize);
+
+
+  /**
+   * @brief  Initialization function for the Q15 sparse FIR filter.
+   * @param[in,out] *S         points to an instance of the Q15 sparse FIR structure.
+   * @param[in]     numTaps    number of nonzero coefficients in the filter.
+   * @param[in]     *pCoeffs   points to the array of filter coefficients.
+   * @param[in]     *pState    points to the state buffer.
+   * @param[in]     *pTapDelay points to the array of offset times.
+   * @param[in]     maxDelay   maximum offset time supported.
+   * @param[in]     blockSize  number of samples that will be processed per block.
+   * @return none
+   */
+
+  void arm_fir_sparse_init_q15(
+  arm_fir_sparse_instance_q15 * S,
+  uint16_t numTaps,
+  q15_t * pCoeffs,
+  q15_t * pState,
+  int32_t * pTapDelay,
+  uint16_t maxDelay,
+  uint32_t blockSize);
+
+  /**
+   * @brief Processing function for the Q7 sparse FIR filter.
+   * @param[in]  *S           points to an instance of the Q7 sparse FIR structure.
+   * @param[in]  *pSrc        points to the block of input data.
+   * @param[out] *pDst        points to the block of output data
+   * @param[in]  *pScratchIn  points to a temporary buffer of size blockSize.
+   * @param[in]  *pScratchOut points to a temporary buffer of size blockSize.
+   * @param[in]  blockSize    number of input samples to process per call.
+   * @return none.
+   */
+
+  void arm_fir_sparse_q7(
+  arm_fir_sparse_instance_q7 * S,
+  q7_t * pSrc,
+  q7_t * pDst,
+  q7_t * pScratchIn,
+  q31_t * pScratchOut,
+  uint32_t blockSize);
+
+  /**
+   * @brief  Initialization function for the Q7 sparse FIR filter.
+   * @param[in,out] *S         points to an instance of the Q7 sparse FIR structure.
+   * @param[in]     numTaps    number of nonzero coefficients in the filter.
+   * @param[in]     *pCoeffs   points to the array of filter coefficients.
+   * @param[in]     *pState    points to the state buffer.
+   * @param[in]     *pTapDelay points to the array of offset times.
+   * @param[in]     maxDelay   maximum offset time supported.
+   * @param[in]     blockSize  number of samples that will be processed per block.
+   * @return none
+   */
+
+  void arm_fir_sparse_init_q7(
+  arm_fir_sparse_instance_q7 * S,
+  uint16_t numTaps,
+  q7_t * pCoeffs,
+  q7_t * pState,
+  int32_t * pTapDelay,
+  uint16_t maxDelay,
+  uint32_t blockSize);
+
+
+  /*
+   * @brief  Floating-point sin_cos function.
+   * @param[in]  theta    input value in degrees 
+   * @param[out] *pSinVal points to the processed sine output. 
+   * @param[out] *pCosVal points to the processed cos output. 
+   * @return none.
+   */
+
+  void arm_sin_cos_f32(
+  float32_t theta,
+  float32_t * pSinVal,
+  float32_t * pCcosVal);
+
+  /*
+   * @brief  Q31 sin_cos function.
+   * @param[in]  theta    scaled input value in degrees 
+   * @param[out] *pSinVal points to the processed sine output. 
+   * @param[out] *pCosVal points to the processed cosine output. 
+   * @return none.
+   */
+
+  void arm_sin_cos_q31(
+  q31_t theta,
+  q31_t * pSinVal,
+  q31_t * pCosVal);
+
+
+  /**
+   * @brief  Floating-point complex conjugate.
+   * @param[in]  *pSrc points to the input vector
+   * @param[out]  *pDst points to the output vector
+   * @param[in]  numSamples number of complex samples in each vector
+   * @return none.
+   */
+
+  void arm_cmplx_conj_f32(
+  float32_t * pSrc,
+  float32_t * pDst,
+  uint32_t numSamples);
+
+  /**
+   * @brief  Q31 complex conjugate.
+   * @param[in]  *pSrc points to the input vector
+   * @param[out]  *pDst points to the output vector
+   * @param[in]  numSamples number of complex samples in each vector
+   * @return none.
+   */
+
+  void arm_cmplx_conj_q31(
+  q31_t * pSrc,
+  q31_t * pDst,
+  uint32_t numSamples);
+
+  /**
+   * @brief  Q15 complex conjugate.
+   * @param[in]  *pSrc points to the input vector
+   * @param[out]  *pDst points to the output vector
+   * @param[in]  numSamples number of complex samples in each vector
+   * @return none.
+   */
+
+  void arm_cmplx_conj_q15(
+  q15_t * pSrc,
+  q15_t * pDst,
+  uint32_t numSamples);
+
+
+
+  /**
+   * @brief  Floating-point complex magnitude squared
+   * @param[in]  *pSrc points to the complex input vector
+   * @param[out]  *pDst points to the real output vector
+   * @param[in]  numSamples number of complex samples in the input vector
+   * @return none.
+   */
+
+  void arm_cmplx_mag_squared_f32(
+  float32_t * pSrc,
+  float32_t * pDst,
+  uint32_t numSamples);
+
+  /**
+   * @brief  Q31 complex magnitude squared
+   * @param[in]  *pSrc points to the complex input vector
+   * @param[out]  *pDst points to the real output vector
+   * @param[in]  numSamples number of complex samples in the input vector
+   * @return none.
+   */
+
+  void arm_cmplx_mag_squared_q31(
+  q31_t * pSrc,
+  q31_t * pDst,
+  uint32_t numSamples);
+
+  /**
+   * @brief  Q15 complex magnitude squared
+   * @param[in]  *pSrc points to the complex input vector
+   * @param[out]  *pDst points to the real output vector
+   * @param[in]  numSamples number of complex samples in the input vector
+   * @return none.
+   */
+
+  void arm_cmplx_mag_squared_q15(
+  q15_t * pSrc,
+  q15_t * pDst,
+  uint32_t numSamples);
+
+
+ /**
+   * @ingroup groupController
+   */
+
+  /**
+   * @defgroup PID PID Motor Control
+   *
+   * A Proportional Integral Derivative (PID) controller is a generic feedback control 
+   * loop mechanism widely used in industrial control systems.
+   * A PID controller is the most commonly used type of feedback controller.
+   *
+   * This set of functions implements (PID) controllers
+   * for Q15, Q31, and floating-point data types.  The functions operate on a single sample
+   * of data and each call to the function returns a single processed value.
+   * S points to an instance of the PID control data structure.  in
+   * is the input sample value. The functions return the output value.
+   *
+   * \par Algorithm:
+   * 
+   *    y[n] = y[n-1] + A0 * x[n] + A1 * x[n-1] + A2 * x[n-2]
+   *    A0 = Kp + Ki + Kd
+   *    A1 = (-Kp ) - (2 * Kd )
+   *    A2 = Kd  

+   *
+   * \par
+   * where \c Kp is proportional constant, \c Ki is Integral constant and \c Kd is Derivative constant
+   * 
+   * \par 
+   * \image html PID.gif "Proportional Integral Derivative Controller" 
+   *
+   * \par
+   * The PID controller calculates an "error" value as the difference between
+   * the measured output and the reference input.
+   * The controller attempts to minimize the error by adjusting the process control inputs.  
+   * The proportional value determines the reaction to the current error, 
+   * the integral value determines the reaction based on the sum of recent errors, 
+   * and the derivative value determines the reaction based on the rate at which the error has been changing.
+   *
+   * \par Instance Structure 
+   * The Gains A0, A1, A2 and state variables for a PID controller are stored together in an instance data structure. 
+   * A separate instance structure must be defined for each PID Controller. 
+   * There are separate instance structure declarations for each of the 3 supported data types. 
+   * 
+   * \par Reset Functions 
+   * There is also an associated reset function for each data type which clears the state array. 
+   *
+   * \par Initialization Functions 
+   * There is also an associated initialization function for each data type. 
+   * The initialization function performs the following operations: 
+   * - Initializes the Gains A0, A1, A2 from Kp,Ki, Kd gains.
+   * - Zeros out the values in the state buffer.   
+   * 
+   * \par 
+   * Instance structure cannot be placed into a const data section and it is recommended to use the initialization function. 
+   *
+   * \par Fixed-Point Behavior 
+   * Care must be taken when using the fixed-point versions of the PID Controller functions. 
+   * In particular, the overflow and saturation behavior of the accumulator used in each function must be considered. 
+   * Refer to the function specific documentation below for usage guidelines. 
+   */
+
+  /**
+   * @addtogroup PID
+   * @{
+   */
+
+  /**
+   * @brief  Process function for the floating-point PID Control.
+   * @param[in,out] *S is an instance of the floating-point PID Control structure
+   * @param[in] in input sample to process
+   * @return out processed output sample.
+   */
+
+
+  __STATIC_INLINE float32_t arm_pid_f32(
+  arm_pid_instance_f32 * S,
+  float32_t in)
+  {
+    float32_t out;
+
+    /* y[n] = y[n-1] + A0 * x[n] + A1 * x[n-1] + A2 * x[n-2]  */
+    out = (S->A0 * in) +
+      (S->A1 * S->state[0]) + (S->A2 * S->state[1]) + (S->state[2]);
+
+    /* Update state */
+    S->state[1] = S->state[0];
+    S->state[0] = in;
+    S->state[2] = out;
+
+    /* return to application */
+    return (out);
+
+  }
+
+  /**
+   * @brief  Process function for the Q31 PID Control.
+   * @param[in,out] *S points to an instance of the Q31 PID Control structure
+   * @param[in] in input sample to process
+   * @return out processed output sample.
+   *
+   * Scaling and Overflow Behavior: 
+   * \par 
+   * The function is implemented using an internal 64-bit accumulator. 
+   * The accumulator has a 2.62 format and maintains full precision of the intermediate multiplication results but provides only a single guard bit. 
+   * Thus, if the accumulator result overflows it wraps around rather than clip. 
+   * In order to avoid overflows completely the input signal must be scaled down by 2 bits as there are four additions. 
+   * After all multiply-accumulates are performed, the 2.62 accumulator is truncated to 1.32 format and then saturated to 1.31 format. 
+   */
+
+  __STATIC_INLINE q31_t arm_pid_q31(
+  arm_pid_instance_q31 * S,
+  q31_t in)
+  {
+    q63_t acc;
+    q31_t out;
+
+    /* acc = A0 * x[n]  */
+    acc = (q63_t) S->A0 * in;
+
+    /* acc += A1 * x[n-1] */
+    acc += (q63_t) S->A1 * S->state[0];
+
+    /* acc += A2 * x[n-2]  */
+    acc += (q63_t) S->A2 * S->state[1];
+
+    /* convert output to 1.31 format to add y[n-1] */
+    out = (q31_t) (acc >> 31u);
+
+    /* out += y[n-1] */
+    out += S->state[2];
+
+    /* Update state */
+    S->state[1] = S->state[0];
+    S->state[0] = in;
+    S->state[2] = out;
+
+    /* return to application */
+    return (out);
+
+  }
+
+  /**
+   * @brief  Process function for the Q15 PID Control.
+   * @param[in,out] *S points to an instance of the Q15 PID Control structure
+   * @param[in] in input sample to process
+   * @return out processed output sample.
+   *
+   * Scaling and Overflow Behavior: 
+   * \par 
+   * The function is implemented using a 64-bit internal accumulator. 
+   * Both Gains and state variables are represented in 1.15 format and multiplications yield a 2.30 result. 
+   * The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format. 
+   * There is no risk of internal overflow with this approach and the full precision of intermediate multiplications is preserved. 
+   * After all additions have been performed, the accumulator is truncated to 34.15 format by discarding low 15 bits. 
+   * Lastly, the accumulator is saturated to yield a result in 1.15 format.
+   */
+
+  __STATIC_INLINE q15_t arm_pid_q15(
+  arm_pid_instance_q15 * S,
+  q15_t in)
+  {
+    q63_t acc;
+    q15_t out;
+
+    /* Implementation of PID controller */
+
+#ifdef ARM_MATH_CM0
+
+    /* acc = A0 * x[n]  */
+    acc = ((q31_t) S->A0) * in;
+
+#else
+
+    /* acc = A0 * x[n]  */
+    acc = (q31_t) __SMUAD(S->A0, in);
+
+#endif
+
+#ifdef ARM_MATH_CM0
+
+    /* acc += A1 * x[n-1] + A2 * x[n-2]  */
+    acc += (q31_t) S->A1 * S->state[0];
+    acc += (q31_t) S->A2 * S->state[1];
+
+#else
+
+    /* acc += A1 * x[n-1] + A2 * x[n-2]  */
+    acc = __SMLALD(S->A1, (q31_t) __SIMD32(S->state), acc);
+
+#endif
+
+    /* acc += y[n-1] */
+    acc += (q31_t) S->state[2] << 15;
+
+    /* saturate the output */
+    out = (q15_t) (__SSAT((acc >> 15), 16));
+
+    /* Update state */
+    S->state[1] = S->state[0];
+    S->state[0] = in;
+    S->state[2] = out;
+
+    /* return to application */
+    return (out);
+
+  }
+
+  /**
+   * @} end of PID group
+   */
+
+
+  /**
+   * @brief Floating-point matrix inverse.
+   * @param[in]  *src points to the instance of the input floating-point matrix structure.
+   * @param[out] *dst points to the instance of the output floating-point matrix structure.
+   * @return The function returns ARM_MATH_SIZE_MISMATCH, if the dimensions do not match.
+   * If the input matrix is singular (does not have an inverse), then the algorithm terminates and returns error status ARM_MATH_SINGULAR.
+   */
+
+  arm_status arm_mat_inverse_f32(
+  const arm_matrix_instance_f32 * src,
+  arm_matrix_instance_f32 * dst);
+
+
+
+  /**
+   * @ingroup groupController
+   */
+
+
+  /**
+   * @defgroup clarke Vector Clarke Transform
+   * Forward Clarke transform converts the instantaneous stator phases into a two-coordinate time invariant vector.
+   * Generally the Clarke transform uses three-phase currents Ia, Ib and Ic to calculate currents
+   * in the two-phase orthogonal stator axis Ialpha and Ibeta.
+   * When Ialpha is superposed with Ia as shown in the figure below
+   * \image html clarke.gif Stator current space vector and its components in (a,b).
+   * and Ia + Ib + Ic = 0, in this condition Ialpha and Ibeta
+   * can be calculated using only Ia and Ib.
+   *
+   * The function operates on a single sample of data and each call to the function returns the processed output. 
+   * The library provides separate functions for Q31 and floating-point data types.
+   * \par Algorithm
+   * \image html clarkeFormula.gif
+   * where Ia and Ib are the instantaneous stator phases and
+   * pIalpha and pIbeta are the two coordinates of time invariant vector.
+   * \par Fixed-Point Behavior
+   * Care must be taken when using the Q31 version of the Clarke transform.
+   * In particular, the overflow and saturation behavior of the accumulator used must be considered.
+   * Refer to the function specific documentation below for usage guidelines.
+   */
+
+  /**
+   * @addtogroup clarke
+   * @{
+   */
+
+  /**
+   *
+   * @brief  Floating-point Clarke transform
+   * @param[in]       Ia       input three-phase coordinate a
+   * @param[in]       Ib       input three-phase coordinate b
+   * @param[out]      *pIalpha points to output two-phase orthogonal vector axis alpha
+   * @param[out]      *pIbeta  points to output two-phase orthogonal vector axis beta
+   * @return none.
+   */
+
+  __STATIC_INLINE void arm_clarke_f32(
+  float32_t Ia,
+  float32_t Ib,
+  float32_t * pIalpha,
+  float32_t * pIbeta)
+  {
+    /* Calculate pIalpha using the equation, pIalpha = Ia */
+    *pIalpha = Ia;
+
+    /* Calculate pIbeta using the equation, pIbeta = (1/sqrt(3)) * Ia + (2/sqrt(3)) * Ib */
+    *pIbeta =
+      ((float32_t) 0.57735026919 * Ia + (float32_t) 1.15470053838 * Ib);
+
+  }
+
+  /**
+   * @brief  Clarke transform for Q31 version
+   * @param[in]       Ia       input three-phase coordinate a
+   * @param[in]       Ib       input three-phase coordinate b
+   * @param[out]      *pIalpha points to output two-phase orthogonal vector axis alpha
+   * @param[out]      *pIbeta  points to output two-phase orthogonal vector axis beta
+   * @return none.
+   *
+   * Scaling and Overflow Behavior:
+   * \par
+   * The function is implemented using an internal 32-bit accumulator.
+   * The accumulator maintains 1.31 format by truncating lower 31 bits of the intermediate multiplication in 2.62 format.
+   * There is saturation on the addition, hence there is no risk of overflow.
+   */
+
+  __STATIC_INLINE void arm_clarke_q31(
+  q31_t Ia,
+  q31_t Ib,
+  q31_t * pIalpha,
+  q31_t * pIbeta)
+  {
+    q31_t product1, product2;                    /* Temporary variables used to store intermediate results */
+
+    /* Calculating pIalpha from Ia by equation pIalpha = Ia */
+    *pIalpha = Ia;
+
+    /* Intermediate product is calculated by (1/(sqrt(3)) * Ia) */
+    product1 = (q31_t) (((q63_t) Ia * 0x24F34E8B) >> 30);
+
+    /* Intermediate product is calculated by (2/sqrt(3) * Ib) */
+    product2 = (q31_t) (((q63_t) Ib * 0x49E69D16) >> 30);
+
+    /* pIbeta is calculated by adding the intermediate products */
+    *pIbeta = __QADD(product1, product2);
+  }
+
+  /**
+   * @} end of clarke group
+   */
+
+  /**
+   * @brief  Converts the elements of the Q7 vector to Q31 vector.
+   * @param[in]  *pSrc     input pointer
+   * @param[out]  *pDst    output pointer
+   * @param[in]  blockSize number of samples to process
+   * @return none.
+   */
+  void arm_q7_to_q31(
+  q7_t * pSrc,
+  q31_t * pDst,
+  uint32_t blockSize);
+
+
+
+
+  /**
+   * @ingroup groupController
+   */
+
+  /**
+   * @defgroup inv_clarke Vector Inverse Clarke Transform
+   * Inverse Clarke transform converts the two-coordinate time invariant vector into instantaneous stator phases.
+   * 
+   * The function operates on a single sample of data and each call to the function returns the processed output. 
+   * The library provides separate functions for Q31 and floating-point data types.
+   * \par Algorithm
+   * \image html clarkeInvFormula.gif
+   * where pIa and pIb are the instantaneous stator phases and
+   * Ialpha and Ibeta are the two coordinates of time invariant vector.
+   * \par Fixed-Point Behavior
+   * Care must be taken when using the Q31 version of the Clarke transform.
+   * In particular, the overflow and saturation behavior of the accumulator used must be considered.
+   * Refer to the function specific documentation below for usage guidelines.
+   */
+
+  /**
+   * @addtogroup inv_clarke
+   * @{
+   */
+
+   /**
+   * @brief  Floating-point Inverse Clarke transform
+   * @param[in]       Ialpha  input two-phase orthogonal vector axis alpha
+   * @param[in]       Ibeta   input two-phase orthogonal vector axis beta
+   * @param[out]      *pIa    points to output three-phase coordinate a
+   * @param[out]      *pIb    points to output three-phase coordinate b
+   * @return none.
+   */
+
+
+  __STATIC_INLINE void arm_inv_clarke_f32(
+  float32_t Ialpha,
+  float32_t Ibeta,
+  float32_t * pIa,
+  float32_t * pIb)
+  {
+    /* Calculating pIa from Ialpha by equation pIa = Ialpha */
+    *pIa = Ialpha;
+
+    /* Calculating pIb from Ialpha and Ibeta by equation pIb = -(1/2) * Ialpha + (sqrt(3)/2) * Ibeta */
+    *pIb = -0.5f * Ialpha + (float32_t) 0.8660254039f *Ibeta;
+
+  }
+
+  /**
+   * @brief  Inverse Clarke transform for Q31 version 
+   * @param[in]       Ialpha  input two-phase orthogonal vector axis alpha
+   * @param[in]       Ibeta   input two-phase orthogonal vector axis beta
+   * @param[out]      *pIa    points to output three-phase coordinate a
+   * @param[out]      *pIb    points to output three-phase coordinate b
+   * @return none.
+   *
+   * Scaling and Overflow Behavior:
+   * \par
+   * The function is implemented using an internal 32-bit accumulator.
+   * The accumulator maintains 1.31 format by truncating lower 31 bits of the intermediate multiplication in 2.62 format.
+   * There is saturation on the subtraction, hence there is no risk of overflow.
+   */
+
+  __STATIC_INLINE void arm_inv_clarke_q31(
+  q31_t Ialpha,
+  q31_t Ibeta,
+  q31_t * pIa,
+  q31_t * pIb)
+  {
+    q31_t product1, product2;                    /* Temporary variables used to store intermediate results */
+
+    /* Calculating pIa from Ialpha by equation pIa = Ialpha */
+    *pIa = Ialpha;
+
+    /* Intermediate product is calculated by (1/(2*sqrt(3)) * Ia) */
+    product1 = (q31_t) (((q63_t) (Ialpha) * (0x40000000)) >> 31);
+
+    /* Intermediate product is calculated by (1/sqrt(3) * pIb) */
+    product2 = (q31_t) (((q63_t) (Ibeta) * (0x6ED9EBA1)) >> 31);
+
+    /* pIb is calculated by subtracting the products */
+    *pIb = __QSUB(product2, product1);
+
+  }
+
+  /**
+   * @} end of inv_clarke group
+   */
+
+  /**
+   * @brief  Converts the elements of the Q7 vector to Q15 vector.
+   * @param[in]  *pSrc     input pointer
+   * @param[out] *pDst     output pointer
+   * @param[in]  blockSize number of samples to process
+   * @return none.
+   */
+  void arm_q7_to_q15(
+  q7_t * pSrc,
+  q15_t * pDst,
+  uint32_t blockSize);
+
+
+
+  /**
+   * @ingroup groupController
+   */
+
+  /**
+   * @defgroup park Vector Park Transform
+   *
+   * Forward Park transform converts the input two-coordinate vector to flux and torque components.
+   * The Park transform can be used to realize the transformation of the Ialpha and the Ibeta currents 
+   * from the stationary to the moving reference frame and control the spatial relationship between 
+   * the stator vector current and rotor flux vector.
+   * If we consider the d axis aligned with the rotor flux, the diagram below shows the 
+   * current vector and the relationship from the two reference frames:
+   * \image html park.gif "Stator current space vector and its component in (a,b) and in the d,q rotating reference frame"
+   *
+   * The function operates on a single sample of data and each call to the function returns the processed output. 
+   * The library provides separate functions for Q31 and floating-point data types.
+   * \par Algorithm
+   * \image html parkFormula.gif
+   * where Ialpha and Ibeta are the stator vector components,  
+   * pId and pIq are rotor vector components and cosVal and sinVal are the 
+   * cosine and sine values of theta (rotor flux position).
+   * \par Fixed-Point Behavior
+   * Care must be taken when using the Q31 version of the Park transform.
+   * In particular, the overflow and saturation behavior of the accumulator used must be considered.
+   * Refer to the function specific documentation below for usage guidelines.
+   */
+
+  /**
+   * @addtogroup park
+   * @{
+   */
+
+  /**
+   * @brief Floating-point Park transform
+   * @param[in]       Ialpha input two-phase vector coordinate alpha
+   * @param[in]       Ibeta  input two-phase vector coordinate beta
+   * @param[out]      *pId   points to output	rotor reference frame d
+   * @param[out]      *pIq   points to output	rotor reference frame q
+   * @param[in]       sinVal sine value of rotation angle theta
+   * @param[in]       cosVal cosine value of rotation angle theta
+   * @return none.
+   *
+   * The function implements the forward Park transform.
+   *
+   */
+
+  __STATIC_INLINE void arm_park_f32(
+  float32_t Ialpha,
+  float32_t Ibeta,
+  float32_t * pId,
+  float32_t * pIq,
+  float32_t sinVal,
+  float32_t cosVal)
+  {
+    /* Calculate pId using the equation, pId = Ialpha * cosVal + Ibeta * sinVal */
+    *pId = Ialpha * cosVal + Ibeta * sinVal;
+
+    /* Calculate pIq using the equation, pIq = - Ialpha * sinVal + Ibeta * cosVal */
+    *pIq = -Ialpha * sinVal + Ibeta * cosVal;
+
+  }
+
+  /**
+   * @brief  Park transform for Q31 version 
+   * @param[in]       Ialpha input two-phase vector coordinate alpha
+   * @param[in]       Ibeta  input two-phase vector coordinate beta
+   * @param[out]      *pId   points to output rotor reference frame d
+   * @param[out]      *pIq   points to output rotor reference frame q
+   * @param[in]       sinVal sine value of rotation angle theta
+   * @param[in]       cosVal cosine value of rotation angle theta
+   * @return none.
+   *
+   * Scaling and Overflow Behavior:
+   * \par
+   * The function is implemented using an internal 32-bit accumulator.
+   * The accumulator maintains 1.31 format by truncating lower 31 bits of the intermediate multiplication in 2.62 format.
+   * There is saturation on the addition and subtraction, hence there is no risk of overflow.
+   */
+
+
+  __STATIC_INLINE void arm_park_q31(
+  q31_t Ialpha,
+  q31_t Ibeta,
+  q31_t * pId,
+  q31_t * pIq,
+  q31_t sinVal,
+  q31_t cosVal)
+  {
+    q31_t product1, product2;                    /* Temporary variables used to store intermediate results */
+    q31_t product3, product4;                    /* Temporary variables used to store intermediate results */
+
+    /* Intermediate product is calculated by (Ialpha * cosVal) */
+    product1 = (q31_t) (((q63_t) (Ialpha) * (cosVal)) >> 31);
+
+    /* Intermediate product is calculated by (Ibeta * sinVal) */
+    product2 = (q31_t) (((q63_t) (Ibeta) * (sinVal)) >> 31);
+
+
+    /* Intermediate product is calculated by (Ialpha * sinVal) */
+    product3 = (q31_t) (((q63_t) (Ialpha) * (sinVal)) >> 31);
+
+    /* Intermediate product is calculated by (Ibeta * cosVal) */
+    product4 = (q31_t) (((q63_t) (Ibeta) * (cosVal)) >> 31);
+
+    /* Calculate pId by adding the two intermediate products 1 and 2 */
+    *pId = __QADD(product1, product2);
+
+    /* Calculate pIq by subtracting the two intermediate products 3 from 4 */
+    *pIq = __QSUB(product4, product3);
+  }
+
+  /**
+   * @} end of park group
+   */
+
+  /**
+   * @brief  Converts the elements of the Q7 vector to floating-point vector.
+   * @param[in]  *pSrc is input pointer
+   * @param[out]  *pDst is output pointer
+   * @param[in]  blockSize is the number of samples to process
+   * @return none.
+   */
+  void arm_q7_to_float(
+  q7_t * pSrc,
+  float32_t * pDst,
+  uint32_t blockSize);
+
+
+  /**
+   * @ingroup groupController
+   */
+
+  /**
+   * @defgroup inv_park Vector Inverse Park transform
+   * Inverse Park transform converts the input flux and torque components to two-coordinate vector.
+   *
+   * The function operates on a single sample of data and each call to the function returns the processed output. 
+   * The library provides separate functions for Q31 and floating-point data types.
+   * \par Algorithm
+   * \image html parkInvFormula.gif
+   * where pIalpha and pIbeta are the stator vector components,  
+   * Id and Iq are rotor vector components and cosVal and sinVal are the 
+   * cosine and sine values of theta (rotor flux position).
+   * \par Fixed-Point Behavior
+   * Care must be taken when using the Q31 version of the Park transform.
+   * In particular, the overflow and saturation behavior of the accumulator used must be considered.
+   * Refer to the function specific documentation below for usage guidelines.
+   */
+
+  /**
+   * @addtogroup inv_park
+   * @{
+   */
+
+   /**
+   * @brief  Floating-point Inverse Park transform
+   * @param[in]       Id        input coordinate of rotor reference frame d
+   * @param[in]       Iq        input coordinate of rotor reference frame q
+   * @param[out]      *pIalpha  points to output two-phase orthogonal vector axis alpha
+   * @param[out]      *pIbeta   points to output two-phase orthogonal vector axis beta
+   * @param[in]       sinVal    sine value of rotation angle theta
+   * @param[in]       cosVal    cosine value of rotation angle theta
+   * @return none.
+   */
+
+  __STATIC_INLINE void arm_inv_park_f32(
+  float32_t Id,
+  float32_t Iq,
+  float32_t * pIalpha,
+  float32_t * pIbeta,
+  float32_t sinVal,
+  float32_t cosVal)
+  {
+    /* Calculate pIalpha using the equation, pIalpha = Id * cosVal - Iq * sinVal */
+    *pIalpha = Id * cosVal - Iq * sinVal;
+
+    /* Calculate pIbeta using the equation, pIbeta = Id * sinVal + Iq * cosVal */
+    *pIbeta = Id * sinVal + Iq * cosVal;
+
+  }
+
+
+  /**
+   * @brief  Inverse Park transform for	Q31 version 
+   * @param[in]       Id        input coordinate of rotor reference frame d
+   * @param[in]       Iq        input coordinate of rotor reference frame q
+   * @param[out]      *pIalpha  points to output two-phase orthogonal vector axis alpha
+   * @param[out]      *pIbeta   points to output two-phase orthogonal vector axis beta
+   * @param[in]       sinVal    sine value of rotation angle theta
+   * @param[in]       cosVal    cosine value of rotation angle theta
+   * @return none.
+   *
+   * Scaling and Overflow Behavior:
+   * \par
+   * The function is implemented using an internal 32-bit accumulator.
+   * The accumulator maintains 1.31 format by truncating lower 31 bits of the intermediate multiplication in 2.62 format.
+   * There is saturation on the addition, hence there is no risk of overflow.
+   */
+
+
+  __STATIC_INLINE void arm_inv_park_q31(
+  q31_t Id,
+  q31_t Iq,
+  q31_t * pIalpha,
+  q31_t * pIbeta,
+  q31_t sinVal,
+  q31_t cosVal)
+  {
+    q31_t product1, product2;                    /* Temporary variables used to store intermediate results */
+    q31_t product3, product4;                    /* Temporary variables used to store intermediate results */
+
+    /* Intermediate product is calculated by (Id * cosVal) */
+    product1 = (q31_t) (((q63_t) (Id) * (cosVal)) >> 31);
+
+    /* Intermediate product is calculated by (Iq * sinVal) */
+    product2 = (q31_t) (((q63_t) (Iq) * (sinVal)) >> 31);
+
+
+    /* Intermediate product is calculated by (Id * sinVal) */
+    product3 = (q31_t) (((q63_t) (Id) * (sinVal)) >> 31);
+
+    /* Intermediate product is calculated by (Iq * cosVal) */
+    product4 = (q31_t) (((q63_t) (Iq) * (cosVal)) >> 31);
+
+    /* Calculate pIalpha by using the two intermediate products 1 and 2 */
+    *pIalpha = __QSUB(product1, product2);
+
+    /* Calculate pIbeta by using the two intermediate products 3 and 4 */
+    *pIbeta = __QADD(product4, product3);
+
+  }
+
+  /**
+   * @} end of Inverse park group
+   */
+
+
+  /**
+   * @brief  Converts the elements of the Q31 vector to floating-point vector.
+   * @param[in]  *pSrc is input pointer
+   * @param[out]  *pDst is output pointer
+   * @param[in]  blockSize is the number of samples to process
+   * @return none.
+   */
+  void arm_q31_to_float(
+  q31_t * pSrc,
+  float32_t * pDst,
+  uint32_t blockSize);
+
+  /**
+   * @ingroup groupInterpolation
+   */
+
+  /**
+   * @defgroup LinearInterpolate Linear Interpolation
+   *
+   * Linear interpolation is a method of curve fitting using linear polynomials.
+   * Linear interpolation works by effectively drawing a straight line between two neighboring samples and returning the appropriate point along that line
+   *
+   * \par 
+   * \image html LinearInterp.gif "Linear interpolation"
+   *
+   * \par
+   * A  Linear Interpolate function calculates an output value(y), for the input(x)
+   * using linear interpolation of the input values x0, x1( nearest input values) and the output values y0 and y1(nearest output values)
+   *
+   * \par Algorithm:
+   * 
+   *       y = y0 + (x - x0) * ((y1 - y0)/(x1-x0))
+   *       where x0, x1 are nearest values of input x
+   *             y0, y1 are nearest values to output y
+   * 

+   *
+   * \par
+   * This set of functions implements Linear interpolation process
+   * for Q7, Q15, Q31, and floating-point data types.  The functions operate on a single
+   * sample of data and each call to the function returns a single processed value.
+   * S points to an instance of the Linear Interpolate function data structure.
+   * x is the input sample value. The functions returns the output value.
+   * 
+   * \par
+   * if x is outside of the table boundary, Linear interpolation returns first value of the table 
+   * if x is below input range and returns last value of table if x is above range.  
+   */
+
+  /**
+   * @addtogroup LinearInterpolate
+   * @{
+   */
+
+  /**
+   * @brief  Process function for the floating-point Linear Interpolation Function.
+   * @param[in,out] *S is an instance of the floating-point Linear Interpolation structure
+   * @param[in] x input sample to process
+   * @return y processed output sample.
+   *
+   */
+
+  __STATIC_INLINE float32_t arm_linear_interp_f32(
+  arm_linear_interp_instance_f32 * S,
+  float32_t x)
+  {
+
+    float32_t y;
+    float32_t x0, x1;                            /* Nearest input values */
+    float32_t y0, y1;                            /* Nearest output values */
+    float32_t xSpacing = S->xSpacing;            /* spacing between input values */
+    int32_t i;                                   /* Index variable */
+    float32_t *pYData = S->pYData;               /* pointer to output table */
+
+    /* Calculation of index */
+    i = (x - S->x1) / xSpacing;
+
+    if(i < 0)
+    {
+      /* Iniatilize output for below specified range as least output value of table */
+      y = pYData[0];
+    }
+    else if((unsigned)i >= S->nValues)
+    {
+      /* Iniatilize output for above specified range as last output value of table */
+      y = pYData[S->nValues - 1];
+    }
+    else
+    {
+      /* Calculation of nearest input values */
+      x0 = S->x1 + i * xSpacing;
+      x1 = S->x1 + (i + 1) * xSpacing;
+
+      /* Read of nearest output values */
+      y0 = pYData[i];
+      y1 = pYData[i + 1];
+
+      /* Calculation of output */
+      y = y0 + (x - x0) * ((y1 - y0) / (x1 - x0));
+
+    }
+
+    /* returns output value */
+    return (y);
+  }
+
+   /**
+   *
+   * @brief  Process function for the Q31 Linear Interpolation Function.
+   * @param[in] *pYData  pointer to Q31 Linear Interpolation table
+   * @param[in] x input sample to process
+   * @param[in] nValues number of table values
+   * @return y processed output sample.
+   *
+   * \par
+   * Input sample x is in 12.20 format which contains 12 bits for table index and 20 bits for fractional part.
+   * This function can support maximum of table size 2^12.
+   *
+   */
+
+
+  __STATIC_INLINE q31_t arm_linear_interp_q31(
+  q31_t * pYData,
+  q31_t x,
+  uint32_t nValues)
+  {
+    q31_t y;                                     /* output */
+    q31_t y0, y1;                                /* Nearest output values */
+    q31_t fract;                                 /* fractional part */
+    int32_t index;                               /* Index to read nearest output values */
+
+    /* Input is in 12.20 format */
+    /* 12 bits for the table index */
+    /* Index value calculation */
+    index = ((x & 0xFFF00000) >> 20);
+
+    if(index >= (nValues - 1))
+    {
+      return (pYData[nValues - 1]);
+    }
+    else if(index < 0)
+    {
+      return (pYData[0]);
+    }
+    else
+    {
+
+      /* 20 bits for the fractional part */
+      /* shift left by 11 to keep fract in 1.31 format */
+      fract = (x & 0x000FFFFF) << 11;
+
+      /* Read two nearest output values from the index in 1.31(q31) format */
+      y0 = pYData[index];
+      y1 = pYData[index + 1u];
+
+      /* Calculation of y0 * (1-fract) and y is in 2.30 format */
+      y = ((q31_t) ((q63_t) y0 * (0x7FFFFFFF - fract) >> 32));
+
+      /* Calculation of y0 * (1-fract) + y1 *fract and y is in 2.30 format */
+      y += ((q31_t) (((q63_t) y1 * fract) >> 32));
+
+      /* Convert y to 1.31 format */
+      return (y << 1u);
+
+    }
+
+  }
+
+  /**
+   *
+   * @brief  Process function for the Q15 Linear Interpolation Function.
+   * @param[in] *pYData  pointer to Q15 Linear Interpolation table
+   * @param[in] x input sample to process
+   * @param[in] nValues number of table values
+   * @return y processed output sample.
+   *
+   * \par
+   * Input sample x is in 12.20 format which contains 12 bits for table index and 20 bits for fractional part.
+   * This function can support maximum of table size 2^12. 
+   *
+   */
+
+
+  __STATIC_INLINE q15_t arm_linear_interp_q15(
+  q15_t * pYData,
+  q31_t x,
+  uint32_t nValues)
+  {
+    q63_t y;                                     /* output */
+    q15_t y0, y1;                                /* Nearest output values */
+    q31_t fract;                                 /* fractional part */
+    int32_t index;                               /* Index to read nearest output values */
+
+    /* Input is in 12.20 format */
+    /* 12 bits for the table index */
+    /* Index value calculation */
+    index = ((x & 0xFFF00000) >> 20u);
+
+    if(index >= (nValues - 1))
+    {
+      return (pYData[nValues - 1]);
+    }
+    else if(index < 0)
+    {
+      return (pYData[0]);
+    }
+    else
+    {
+      /* 20 bits for the fractional part */
+      /* fract is in 12.20 format */
+      fract = (x & 0x000FFFFF);
+
+      /* Read two nearest output values from the index */
+      y0 = pYData[index];
+      y1 = pYData[index + 1u];
+
+      /* Calculation of y0 * (1-fract) and y is in 13.35 format */
+      y = ((q63_t) y0 * (0xFFFFF - fract));
+
+      /* Calculation of (y0 * (1-fract) + y1 * fract) and y is in 13.35 format */
+      y += ((q63_t) y1 * (fract));
+
+      /* convert y to 1.15 format */
+      return (y >> 20);
+    }
+
+
+  }
+
+  /**
+   *
+   * @brief  Process function for the Q7 Linear Interpolation Function.
+   * @param[in] *pYData  pointer to Q7 Linear Interpolation table
+   * @param[in] x input sample to process
+   * @param[in] nValues number of table values
+   * @return y processed output sample.
+   *
+   * \par
+   * Input sample x is in 12.20 format which contains 12 bits for table index and 20 bits for fractional part.
+   * This function can support maximum of table size 2^12.
+   */
+
+
+  __STATIC_INLINE q7_t arm_linear_interp_q7(
+  q7_t * pYData,
+  q31_t x,
+  uint32_t nValues)
+  {
+    q31_t y;                                     /* output */
+    q7_t y0, y1;                                 /* Nearest output values */
+    q31_t fract;                                 /* fractional part */
+    int32_t index;                               /* Index to read nearest output values */
+
+    /* Input is in 12.20 format */
+    /* 12 bits for the table index */
+    /* Index value calculation */
+    index = ((x & 0xFFF00000) >> 20u);
+
+
+    if(index >= (nValues - 1))
+    {
+      return (pYData[nValues - 1]);
+    }
+    else if(index < 0)
+    {
+      return (pYData[0]);
+    }
+    else
+    {
+
+      /* 20 bits for the fractional part */
+      /* fract is in 12.20 format */
+      fract = (x & 0x000FFFFF);
+
+      /* Read two nearest output values from the index and are in 1.7(q7) format */
+      y0 = pYData[index];
+      y1 = pYData[index + 1u];
+
+      /* Calculation of y0 * (1-fract ) and y is in 13.27(q27) format */
+      y = ((y0 * (0xFFFFF - fract)));
+
+      /* Calculation of y1 * fract + y0 * (1-fract) and y is in 13.27(q27) format */
+      y += (y1 * fract);
+
+      /* convert y to 1.7(q7) format */
+      return (y >> 20u);
+
+    }
+
+  }
+  /**
+   * @} end of LinearInterpolate group
+   */
+
+  /**
+   * @brief  Fast approximation to the trigonometric sine function for floating-point data.
+   * @param[in] x input value in radians.
+   * @return  sin(x).
+   */
+
+  float32_t arm_sin_f32(
+  float32_t x);
+
+  /**
+   * @brief  Fast approximation to the trigonometric sine function for Q31 data.
+   * @param[in] x Scaled input value in radians.
+   * @return  sin(x).
+   */
+
+  q31_t arm_sin_q31(
+  q31_t x);
+
+  /**
+   * @brief  Fast approximation to the trigonometric sine function for Q15 data.
+   * @param[in] x Scaled input value in radians.
+   * @return  sin(x).
+   */
+
+  q15_t arm_sin_q15(
+  q15_t x);
+
+  /**
+   * @brief  Fast approximation to the trigonometric cosine function for floating-point data.
+   * @param[in] x input value in radians.
+   * @return  cos(x).
+   */
+
+  float32_t arm_cos_f32(
+  float32_t x);
+
+  /**
+   * @brief Fast approximation to the trigonometric cosine function for Q31 data.
+   * @param[in] x Scaled input value in radians.
+   * @return  cos(x).
+   */
+
+  q31_t arm_cos_q31(
+  q31_t x);
+
+  /**
+   * @brief  Fast approximation to the trigonometric cosine function for Q15 data.
+   * @param[in] x Scaled input value in radians.
+   * @return  cos(x).
+   */
+
+  q15_t arm_cos_q15(
+  q15_t x);
+
+
+  /**
+   * @ingroup groupFastMath
+   */
+
+
+  /**
+   * @defgroup SQRT Square Root
+   *
+   * Computes the square root of a number.
+   * There are separate functions for Q15, Q31, and floating-point data types.  
+   * The square root function is computed using the Newton-Raphson algorithm.
+   * This is an iterative algorithm of the form:
+   * 
+   *      x1 = x0 - f(x0)/f'(x0)
+   * 

+   * where x1 is the current estimate,
+   * x0 is the previous estimate and
+   * f'(x0) is the derivative of f() evaluated at x0.
+   * For the square root function, the algorithm reduces to:
+   * 
+   *     x0 = in/2                         [initial guess]
+   *     x1 = 1/2 * ( x0 + in / x0)        [each iteration]
+   * 

+   */
+
+
+  /**
+   * @addtogroup SQRT
+   * @{
+   */
+
+  /**
+   * @brief  Floating-point square root function.
+   * @param[in]  in     input value.
+   * @param[out] *pOut  square root of input value.
+   * @return The function returns ARM_MATH_SUCCESS if input value is positive value or ARM_MATH_ARGUMENT_ERROR if
+   * in is negative value and returns zero output for negative values.
+   */
+
+  __STATIC_INLINE arm_status arm_sqrt_f32(
+  float32_t in,
+  float32_t * pOut)
+  {
+    if(in > 0)
+    {
+
+//    #if __FPU_USED
+    #if (__FPU_USED == 1) && defined ( __CC_ARM   )
+        *pOut = __sqrtf(in);
+    #elif (__FPU_USED == 1) && defined ( __TMS_740 )
+        *pOut = __builtin_sqrtf(in);
+    #else
+        *pOut = sqrtf(in);
+    #endif
+
+      return (ARM_MATH_SUCCESS);
+    }
+    else
+    {
+      *pOut = 0.0f;
+      return (ARM_MATH_ARGUMENT_ERROR);
+    }
+
+  }
+
+
+  /**
+   * @brief Q31 square root function.
+   * @param[in]   in    input value.  The range of the input value is [0 +1) or 0x00000000 to 0x7FFFFFFF.
+   * @param[out]  *pOut square root of input value.
+   * @return The function returns ARM_MATH_SUCCESS if input value is positive value or ARM_MATH_ARGUMENT_ERROR if
+   * in is negative value and returns zero output for negative values.
+   */
+  arm_status arm_sqrt_q31(
+  q31_t in,
+  q31_t * pOut);
+
+  /**
+   * @brief  Q15 square root function.
+   * @param[in]   in     input value.  The range of the input value is [0 +1) or 0x0000 to 0x7FFF.
+   * @param[out]  *pOut  square root of input value.
+   * @return The function returns ARM_MATH_SUCCESS if input value is positive value or ARM_MATH_ARGUMENT_ERROR if
+   * in is negative value and returns zero output for negative values.
+   */
+  arm_status arm_sqrt_q15(
+  q15_t in,
+  q15_t * pOut);
+
+  /**
+   * @} end of SQRT group
+   */
+
+
+
+
+
+
+  /**
+   * @brief floating-point Circular write function.
+   */
+
+  __STATIC_INLINE void arm_circularWrite_f32(
+  int32_t * circBuffer,
+  int32_t L,
+  uint16_t * writeOffset,
+  int32_t bufferInc,
+  const int32_t * src,
+  int32_t srcInc,
+  uint32_t blockSize)
+  {
+    uint32_t i = 0u;
+    int32_t wOffset;
+
+    /* Copy the value of Index pointer that points
+     * to the current location where the input samples to be copied */
+    wOffset = *writeOffset;
+
+    /* Loop over the blockSize */
+    i = blockSize;
+
+    while(i > 0u)
+    {
+      /* copy the input sample to the circular buffer */
+      circBuffer[wOffset] = *src;
+
+      /* Update the input pointer */
+      src += srcInc;
+
+      /* Circularly update wOffset.  Watch out for positive and negative value */
+      wOffset += bufferInc;
+      if(wOffset >= L)
+        wOffset -= L;
+
+      /* Decrement the loop counter */
+      i--;
+    }
+
+    /* Update the index pointer */
+    *writeOffset = wOffset;
+  }
+
+
+
+  /**
+   * @brief floating-point Circular Read function.
+   */
+  __STATIC_INLINE void arm_circularRead_f32(
+  int32_t * circBuffer,
+  int32_t L,
+  int32_t * readOffset,
+  int32_t bufferInc,
+  int32_t * dst,
+  int32_t * dst_base,
+  int32_t dst_length,
+  int32_t dstInc,
+  uint32_t blockSize)
+  {
+    uint32_t i = 0u;
+    int32_t rOffset, dst_end;
+
+    /* Copy the value of Index pointer that points
+     * to the current location from where the input samples to be read */
+    rOffset = *readOffset;
+    dst_end = (int32_t) (dst_base + dst_length);
+
+    /* Loop over the blockSize */
+    i = blockSize;
+
+    while(i > 0u)
+    {
+      /* copy the sample from the circular buffer to the destination buffer */
+      *dst = circBuffer[rOffset];
+
+      /* Update the input pointer */
+      dst += dstInc;
+
+      if(dst == (int32_t *) dst_end)
+      {
+        dst = dst_base;
+      }
+
+      /* Circularly update rOffset.  Watch out for positive and negative value  */
+      rOffset += bufferInc;
+
+      if(rOffset >= L)
+      {
+        rOffset -= L;
+      }
+
+      /* Decrement the loop counter */
+      i--;
+    }
+
+    /* Update the index pointer */
+    *readOffset = rOffset;
+  }
+
+  /**
+   * @brief Q15 Circular write function.
+   */
+
+  __STATIC_INLINE void arm_circularWrite_q15(
+  q15_t * circBuffer,
+  int32_t L,
+  uint16_t * writeOffset,
+  int32_t bufferInc,
+  const q15_t * src,
+  int32_t srcInc,
+  uint32_t blockSize)
+  {
+    uint32_t i = 0u;
+    int32_t wOffset;
+
+    /* Copy the value of Index pointer that points
+     * to the current location where the input samples to be copied */
+    wOffset = *writeOffset;
+
+    /* Loop over the blockSize */
+    i = blockSize;
+
+    while(i > 0u)
+    {
+      /* copy the input sample to the circular buffer */
+      circBuffer[wOffset] = *src;
+
+      /* Update the input pointer */
+      src += srcInc;
+
+      /* Circularly update wOffset.  Watch out for positive and negative value */
+      wOffset += bufferInc;
+      if(wOffset >= L)
+        wOffset -= L;
+
+      /* Decrement the loop counter */
+      i--;
+    }
+
+    /* Update the index pointer */
+    *writeOffset = wOffset;
+  }
+
+
+
+  /**
+   * @brief Q15 Circular Read function.
+   */
+  __STATIC_INLINE void arm_circularRead_q15(
+  q15_t * circBuffer,
+  int32_t L,
+  int32_t * readOffset,
+  int32_t bufferInc,
+  q15_t * dst,
+  q15_t * dst_base,
+  int32_t dst_length,
+  int32_t dstInc,
+  uint32_t blockSize)
+  {
+    uint32_t i = 0;
+    int32_t rOffset, dst_end;
+
+    /* Copy the value of Index pointer that points
+     * to the current location from where the input samples to be read */
+    rOffset = *readOffset;
+
+    dst_end = (int32_t) (dst_base + dst_length);
+
+    /* Loop over the blockSize */
+    i = blockSize;
+
+    while(i > 0u)
+    {
+      /* copy the sample from the circular buffer to the destination buffer */
+      *dst = circBuffer[rOffset];
+
+      /* Update the input pointer */
+      dst += dstInc;
+
+      if(dst == (q15_t *) dst_end)
+      {
+        dst = dst_base;
+      }
+
+      /* Circularly update wOffset.  Watch out for positive and negative value */
+      rOffset += bufferInc;
+
+      if(rOffset >= L)
+      {
+        rOffset -= L;
+      }
+
+      /* Decrement the loop counter */
+      i--;
+    }
+
+    /* Update the index pointer */
+    *readOffset = rOffset;
+  }
+
+
+  /**
+   * @brief Q7 Circular write function.
+   */
+
+  __STATIC_INLINE void arm_circularWrite_q7(
+  q7_t * circBuffer,
+  int32_t L,
+  uint16_t * writeOffset,
+  int32_t bufferInc,
+  const q7_t * src,
+  int32_t srcInc,
+  uint32_t blockSize)
+  {
+    uint32_t i = 0u;
+    int32_t wOffset;
+
+    /* Copy the value of Index pointer that points
+     * to the current location where the input samples to be copied */
+    wOffset = *writeOffset;
+
+    /* Loop over the blockSize */
+    i = blockSize;
+
+    while(i > 0u)
+    {
+      /* copy the input sample to the circular buffer */
+      circBuffer[wOffset] = *src;
+
+      /* Update the input pointer */
+      src += srcInc;
+
+      /* Circularly update wOffset.  Watch out for positive and negative value */
+      wOffset += bufferInc;
+      if(wOffset >= L)
+        wOffset -= L;
+
+      /* Decrement the loop counter */
+      i--;
+    }
+
+    /* Update the index pointer */
+    *writeOffset = wOffset;
+  }
+
+
+
+  /**
+   * @brief Q7 Circular Read function.
+   */
+  __STATIC_INLINE void arm_circularRead_q7(
+  q7_t * circBuffer,
+  int32_t L,
+  int32_t * readOffset,
+  int32_t bufferInc,
+  q7_t * dst,
+  q7_t * dst_base,
+  int32_t dst_length,
+  int32_t dstInc,
+  uint32_t blockSize)
+  {
+    uint32_t i = 0;
+    int32_t rOffset, dst_end;
+
+    /* Copy the value of Index pointer that points
+     * to the current location from where the input samples to be read */
+    rOffset = *readOffset;
+
+    dst_end = (int32_t) (dst_base + dst_length);
+
+    /* Loop over the blockSize */
+    i = blockSize;
+
+    while(i > 0u)
+    {
+      /* copy the sample from the circular buffer to the destination buffer */
+      *dst = circBuffer[rOffset];
+
+      /* Update the input pointer */
+      dst += dstInc;
+
+      if(dst == (q7_t *) dst_end)
+      {
+        dst = dst_base;
+      }
+
+      /* Circularly update rOffset.  Watch out for positive and negative value */
+      rOffset += bufferInc;
+
+      if(rOffset >= L)
+      {
+        rOffset -= L;
+      }
+
+      /* Decrement the loop counter */
+      i--;
+    }
+
+    /* Update the index pointer */
+    *readOffset = rOffset;
+  }
+
+
+  /**
+   * @brief  Sum of the squares of the elements of a Q31 vector.
+   * @param[in]  *pSrc is input pointer
+   * @param[in]  blockSize is the number of samples to process
+   * @param[out]  *pResult is output value.
+   * @return none.
+   */
+
+  void arm_power_q31(
+  q31_t * pSrc,
+  uint32_t blockSize,
+  q63_t * pResult);
+
+  /**
+   * @brief  Sum of the squares of the elements of a floating-point vector.
+   * @param[in]  *pSrc is input pointer
+   * @param[in]  blockSize is the number of samples to process
+   * @param[out]  *pResult is output value.
+   * @return none.
+   */
+
+  void arm_power_f32(
+  float32_t * pSrc,
+  uint32_t blockSize,
+  float32_t * pResult);
+
+  /**
+   * @brief  Sum of the squares of the elements of a Q15 vector.
+   * @param[in]  *pSrc is input pointer
+   * @param[in]  blockSize is the number of samples to process
+   * @param[out]  *pResult is output value.
+   * @return none.
+   */
+
+  void arm_power_q15(
+  q15_t * pSrc,
+  uint32_t blockSize,
+  q63_t * pResult);
+
+  /**
+   * @brief  Sum of the squares of the elements of a Q7 vector.
+   * @param[in]  *pSrc is input pointer
+   * @param[in]  blockSize is the number of samples to process
+   * @param[out]  *pResult is output value.
+   * @return none.
+   */
+
+  void arm_power_q7(
+  q7_t * pSrc,
+  uint32_t blockSize,
+  q31_t * pResult);
+
+  /**
+   * @brief  Mean value of a Q7 vector.
+   * @param[in]  *pSrc is input pointer
+   * @param[in]  blockSize is the number of samples to process
+   * @param[out]  *pResult is output value.
+   * @return none.
+   */
+
+  void arm_mean_q7(
+  q7_t * pSrc,
+  uint32_t blockSize,
+  q7_t * pResult);
+
+  /**
+   * @brief  Mean value of a Q15 vector.
+   * @param[in]  *pSrc is input pointer
+   * @param[in]  blockSize is the number of samples to process
+   * @param[out]  *pResult is output value.
+   * @return none.
+   */
+  void arm_mean_q15(
+  q15_t * pSrc,
+  uint32_t blockSize,
+  q15_t * pResult);
+
+  /**
+   * @brief  Mean value of a Q31 vector.
+   * @param[in]  *pSrc is input pointer
+   * @param[in]  blockSize is the number of samples to process
+   * @param[out]  *pResult is output value.
+   * @return none.
+   */
+  void arm_mean_q31(
+  q31_t * pSrc,
+  uint32_t blockSize,
+  q31_t * pResult);
+
+  /**
+   * @brief  Mean value of a floating-point vector.
+   * @param[in]  *pSrc is input pointer
+   * @param[in]  blockSize is the number of samples to process
+   * @param[out]  *pResult is output value.
+   * @return none.
+   */
+  void arm_mean_f32(
+  float32_t * pSrc,
+  uint32_t blockSize,
+  float32_t * pResult);
+
+  /**
+   * @brief  Variance of the elements of a floating-point vector.
+   * @param[in]  *pSrc is input pointer
+   * @param[in]  blockSize is the number of samples to process
+   * @param[out]  *pResult is output value.
+   * @return none.
+   */
+
+  void arm_var_f32(
+  float32_t * pSrc,
+  uint32_t blockSize,
+  float32_t * pResult);
+
+  /**
+   * @brief  Variance of the elements of a Q31 vector.
+   * @param[in]  *pSrc is input pointer
+   * @param[in]  blockSize is the number of samples to process
+   * @param[out]  *pResult is output value.
+   * @return none.
+   */
+
+  void arm_var_q31(
+  q31_t * pSrc,
+  uint32_t blockSize,
+  q63_t * pResult);
+
+  /**
+   * @brief  Variance of the elements of a Q15 vector.
+   * @param[in]  *pSrc is input pointer
+   * @param[in]  blockSize is the number of samples to process
+   * @param[out]  *pResult is output value.
+   * @return none.
+   */
+
+  void arm_var_q15(
+  q15_t * pSrc,
+  uint32_t blockSize,
+  q31_t * pResult);
+
+  /**
+   * @brief  Root Mean Square of the elements of a floating-point vector.
+   * @param[in]  *pSrc is input pointer
+   * @param[in]  blockSize is the number of samples to process
+   * @param[out]  *pResult is output value.
+   * @return none.
+   */
+
+  void arm_rms_f32(
+  float32_t * pSrc,
+  uint32_t blockSize,
+  float32_t * pResult);
+
+  /**
+   * @brief  Root Mean Square of the elements of a Q31 vector.
+   * @param[in]  *pSrc is input pointer
+   * @param[in]  blockSize is the number of samples to process
+   * @param[out]  *pResult is output value.
+   * @return none.
+   */
+
+  void arm_rms_q31(
+  q31_t * pSrc,
+  uint32_t blockSize,
+  q31_t * pResult);
+
+  /**
+   * @brief  Root Mean Square of the elements of a Q15 vector.
+   * @param[in]  *pSrc is input pointer
+   * @param[in]  blockSize is the number of samples to process
+   * @param[out]  *pResult is output value.
+   * @return none.
+   */
+
+  void arm_rms_q15(
+  q15_t * pSrc,
+  uint32_t blockSize,
+  q15_t * pResult);
+
+  /**
+   * @brief  Standard deviation of the elements of a floating-point vector.
+   * @param[in]  *pSrc is input pointer
+   * @param[in]  blockSize is the number of samples to process
+   * @param[out]  *pResult is output value.
+   * @return none.
+   */
+
+  void arm_std_f32(
+  float32_t * pSrc,
+  uint32_t blockSize,
+  float32_t * pResult);
+
+  /**
+   * @brief  Standard deviation of the elements of a Q31 vector.
+   * @param[in]  *pSrc is input pointer
+   * @param[in]  blockSize is the number of samples to process
+   * @param[out]  *pResult is output value.
+   * @return none.
+   */
+
+  void arm_std_q31(
+  q31_t * pSrc,
+  uint32_t blockSize,
+  q31_t * pResult);
+
+  /**
+   * @brief  Standard deviation of the elements of a Q15 vector.
+   * @param[in]  *pSrc is input pointer
+   * @param[in]  blockSize is the number of samples to process
+   * @param[out]  *pResult is output value.
+   * @return none.
+   */
+
+  void arm_std_q15(
+  q15_t * pSrc,
+  uint32_t blockSize,
+  q15_t * pResult);
+
+  /**
+   * @brief  Floating-point complex magnitude
+   * @param[in]  *pSrc points to the complex input vector
+   * @param[out]  *pDst points to the real output vector
+   * @param[in]  numSamples number of complex samples in the input vector
+   * @return none.
+   */
+
+  void arm_cmplx_mag_f32(
+  float32_t * pSrc,
+  float32_t * pDst,
+  uint32_t numSamples);
+
+  /**
+   * @brief  Q31 complex magnitude
+   * @param[in]  *pSrc points to the complex input vector
+   * @param[out]  *pDst points to the real output vector
+   * @param[in]  numSamples number of complex samples in the input vector
+   * @return none.
+   */
+
+  void arm_cmplx_mag_q31(
+  q31_t * pSrc,
+  q31_t * pDst,
+  uint32_t numSamples);
+
+  /**
+   * @brief  Q15 complex magnitude
+   * @param[in]  *pSrc points to the complex input vector
+   * @param[out]  *pDst points to the real output vector
+   * @param[in]  numSamples number of complex samples in the input vector
+   * @return none.
+   */
+
+  void arm_cmplx_mag_q15(
+  q15_t * pSrc,
+  q15_t * pDst,
+  uint32_t numSamples);
+
+  /**
+   * @brief  Q15 complex dot product
+   * @param[in]  *pSrcA points to the first input vector
+   * @param[in]  *pSrcB points to the second input vector
+   * @param[in]  numSamples number of complex samples in each vector
+   * @param[out]  *realResult real part of the result returned here
+   * @param[out]  *imagResult imaginary part of the result returned here
+   * @return none.
+   */
+
+  void arm_cmplx_dot_prod_q15(
+  q15_t * pSrcA,
+  q15_t * pSrcB,
+  uint32_t numSamples,
+  q31_t * realResult,
+  q31_t * imagResult);
+
+  /**
+   * @brief  Q31 complex dot product
+   * @param[in]  *pSrcA points to the first input vector
+   * @param[in]  *pSrcB points to the second input vector
+   * @param[in]  numSamples number of complex samples in each vector
+   * @param[out]  *realResult real part of the result returned here
+   * @param[out]  *imagResult imaginary part of the result returned here
+   * @return none.
+   */
+
+  void arm_cmplx_dot_prod_q31(
+  q31_t * pSrcA,
+  q31_t * pSrcB,
+  uint32_t numSamples,
+  q63_t * realResult,
+  q63_t * imagResult);
+
+  /**
+   * @brief  Floating-point complex dot product
+   * @param[in]  *pSrcA points to the first input vector
+   * @param[in]  *pSrcB points to the second input vector
+   * @param[in]  numSamples number of complex samples in each vector
+   * @param[out]  *realResult real part of the result returned here
+   * @param[out]  *imagResult imaginary part of the result returned here
+   * @return none.
+   */
+
+  void arm_cmplx_dot_prod_f32(
+  float32_t * pSrcA,
+  float32_t * pSrcB,
+  uint32_t numSamples,
+  float32_t * realResult,
+  float32_t * imagResult);
+
+  /**
+   * @brief  Q15 complex-by-real multiplication
+   * @param[in]  *pSrcCmplx points to the complex input vector
+   * @param[in]  *pSrcReal points to the real input vector
+   * @param[out]  *pCmplxDst points to the complex output vector
+   * @param[in]  numSamples number of samples in each vector
+   * @return none.
+   */
+
+  void arm_cmplx_mult_real_q15(
+  q15_t * pSrcCmplx,
+  q15_t * pSrcReal,
+  q15_t * pCmplxDst,
+  uint32_t numSamples);
+
+  /**
+   * @brief  Q31 complex-by-real multiplication
+   * @param[in]  *pSrcCmplx points to the complex input vector
+   * @param[in]  *pSrcReal points to the real input vector
+   * @param[out]  *pCmplxDst points to the complex output vector
+   * @param[in]  numSamples number of samples in each vector
+   * @return none.
+   */
+
+  void arm_cmplx_mult_real_q31(
+  q31_t * pSrcCmplx,
+  q31_t * pSrcReal,
+  q31_t * pCmplxDst,
+  uint32_t numSamples);
+
+  /**
+   * @brief  Floating-point complex-by-real multiplication
+   * @param[in]  *pSrcCmplx points to the complex input vector
+   * @param[in]  *pSrcReal points to the real input vector
+   * @param[out]  *pCmplxDst points to the complex output vector
+   * @param[in]  numSamples number of samples in each vector
+   * @return none.
+   */
+
+  void arm_cmplx_mult_real_f32(
+  float32_t * pSrcCmplx,
+  float32_t * pSrcReal,
+  float32_t * pCmplxDst,
+  uint32_t numSamples);
+
+  /**
+   * @brief  Minimum value of a Q7 vector.
+   * @param[in]  *pSrc is input pointer
+   * @param[in]  blockSize is the number of samples to process
+   * @param[out]  *result is output pointer
+   * @param[in]  index is the array index of the minimum value in the input buffer.
+   * @return none.
+   */
+
+  void arm_min_q7(
+  q7_t * pSrc,
+  uint32_t blockSize,
+  q7_t * result,
+  uint32_t * index);
+
+  /**
+   * @brief  Minimum value of a Q15 vector.
+   * @param[in]  *pSrc is input pointer
+   * @param[in]  blockSize is the number of samples to process
+   * @param[out]  *pResult is output pointer
+   * @param[in]  *pIndex is the array index of the minimum value in the input buffer.
+   * @return none.
+   */
+
+  void arm_min_q15(
+  q15_t * pSrc,
+  uint32_t blockSize,
+  q15_t * pResult,
+  uint32_t * pIndex);
+
+  /**
+   * @brief  Minimum value of a Q31 vector.
+   * @param[in]  *pSrc is input pointer
+   * @param[in]  blockSize is the number of samples to process
+   * @param[out]  *pResult is output pointer
+   * @param[out]  *pIndex is the array index of the minimum value in the input buffer.
+   * @return none.
+   */
+  void arm_min_q31(
+  q31_t * pSrc,
+  uint32_t blockSize,
+  q31_t * pResult,
+  uint32_t * pIndex);
+
+  /**
+   * @brief  Minimum value of a floating-point vector.
+   * @param[in]  *pSrc is input pointer
+   * @param[in]  blockSize is the number of samples to process
+   * @param[out]  *pResult is output pointer
+   * @param[out]  *pIndex is the array index of the minimum value in the input buffer.
+   * @return none.
+   */
+
+  void arm_min_f32(
+  float32_t * pSrc,
+  uint32_t blockSize,
+  float32_t * pResult,
+  uint32_t * pIndex);
+
+/**
+ * @brief Maximum value of a Q7 vector.
+ * @param[in]       *pSrc points to the input buffer
+ * @param[in]       blockSize length of the input vector
+ * @param[out]      *pResult maximum value returned here
+ * @param[out]      *pIndex index of maximum value returned here
+ * @return none.
+ */
+
+  void arm_max_q7(
+  q7_t * pSrc,
+  uint32_t blockSize,
+  q7_t * pResult,
+  uint32_t * pIndex);
+
+/**
+ * @brief Maximum value of a Q15 vector.
+ * @param[in]       *pSrc points to the input buffer
+ * @param[in]       blockSize length of the input vector
+ * @param[out]      *pResult maximum value returned here
+ * @param[out]      *pIndex index of maximum value returned here
+ * @return none.
+ */
+
+  void arm_max_q15(
+  q15_t * pSrc,
+  uint32_t blockSize,
+  q15_t * pResult,
+  uint32_t * pIndex);
+
+/**
+ * @brief Maximum value of a Q31 vector.
+ * @param[in]       *pSrc points to the input buffer
+ * @param[in]       blockSize length of the input vector
+ * @param[out]      *pResult maximum value returned here
+ * @param[out]      *pIndex index of maximum value returned here
+ * @return none.
+ */
+
+  void arm_max_q31(
+  q31_t * pSrc,
+  uint32_t blockSize,
+  q31_t * pResult,
+  uint32_t * pIndex);
+
+/**
+ * @brief Maximum value of a floating-point vector.
+ * @param[in]       *pSrc points to the input buffer
+ * @param[in]       blockSize length of the input vector
+ * @param[out]      *pResult maximum value returned here
+ * @param[out]      *pIndex index of maximum value returned here
+ * @return none.
+ */
+
+  void arm_max_f32(
+  float32_t * pSrc,
+  uint32_t blockSize,
+  float32_t * pResult,
+  uint32_t * pIndex);
+
+  /**
+   * @brief  Q15 complex-by-complex multiplication
+   * @param[in]  *pSrcA points to the first input vector
+   * @param[in]  *pSrcB points to the second input vector
+   * @param[out]  *pDst  points to the output vector
+   * @param[in]  numSamples number of complex samples in each vector
+   * @return none.
+   */
+
+  void arm_cmplx_mult_cmplx_q15(
+  q15_t * pSrcA,
+  q15_t * pSrcB,
+  q15_t * pDst,
+  uint32_t numSamples);
+
+  /**
+   * @brief  Q31 complex-by-complex multiplication
+   * @param[in]  *pSrcA points to the first input vector
+   * @param[in]  *pSrcB points to the second input vector
+   * @param[out]  *pDst  points to the output vector
+   * @param[in]  numSamples number of complex samples in each vector
+   * @return none.
+   */
+
+  void arm_cmplx_mult_cmplx_q31(
+  q31_t * pSrcA,
+  q31_t * pSrcB,
+  q31_t * pDst,
+  uint32_t numSamples);
+
+  /**
+   * @brief  Floating-point complex-by-complex multiplication
+   * @param[in]  *pSrcA points to the first input vector
+   * @param[in]  *pSrcB points to the second input vector
+   * @param[out]  *pDst  points to the output vector
+   * @param[in]  numSamples number of complex samples in each vector
+   * @return none.
+   */
+
+  void arm_cmplx_mult_cmplx_f32(
+  float32_t * pSrcA,
+  float32_t * pSrcB,
+  float32_t * pDst,
+  uint32_t numSamples);
+
+  /**
+   * @brief Converts the elements of the floating-point vector to Q31 vector. 
+   * @param[in]       *pSrc points to the floating-point input vector 
+   * @param[out]      *pDst points to the Q31 output vector
+   * @param[in]       blockSize length of the input vector 
+   * @return none. 
+   */
+  void arm_float_to_q31(
+  float32_t * pSrc,
+  q31_t * pDst,
+  uint32_t blockSize);
+
+  /**
+   * @brief Converts the elements of the floating-point vector to Q15 vector. 
+   * @param[in]       *pSrc points to the floating-point input vector 
+   * @param[out]      *pDst points to the Q15 output vector
+   * @param[in]       blockSize length of the input vector 
+   * @return          none
+   */
+  void arm_float_to_q15(
+  float32_t * pSrc,
+  q15_t * pDst,
+  uint32_t blockSize);
+
+  /**
+   * @brief Converts the elements of the floating-point vector to Q7 vector. 
+   * @param[in]       *pSrc points to the floating-point input vector 
+   * @param[out]      *pDst points to the Q7 output vector
+   * @param[in]       blockSize length of the input vector 
+   * @return          none
+   */
+  void arm_float_to_q7(
+  float32_t * pSrc,
+  q7_t * pDst,
+  uint32_t blockSize);
+
+
+  /**
+   * @brief  Converts the elements of the Q31 vector to Q15 vector.
+   * @param[in]  *pSrc is input pointer
+   * @param[out]  *pDst is output pointer
+   * @param[in]  blockSize is the number of samples to process
+   * @return none.
+   */
+  void arm_q31_to_q15(
+  q31_t * pSrc,
+  q15_t * pDst,
+  uint32_t blockSize);
+
+  /**
+   * @brief  Converts the elements of the Q31 vector to Q7 vector.
+   * @param[in]  *pSrc is input pointer
+   * @param[out]  *pDst is output pointer
+   * @param[in]  blockSize is the number of samples to process
+   * @return none.
+   */
+  void arm_q31_to_q7(
+  q31_t * pSrc,
+  q7_t * pDst,
+  uint32_t blockSize);
+
+  /**
+   * @brief  Converts the elements of the Q15 vector to floating-point vector.
+   * @param[in]  *pSrc is input pointer
+   * @param[out]  *pDst is output pointer
+   * @param[in]  blockSize is the number of samples to process
+   * @return none.
+   */
+  void arm_q15_to_float(
+  q15_t * pSrc,
+  float32_t * pDst,
+  uint32_t blockSize);
+
+
+  /**
+   * @brief  Converts the elements of the Q15 vector to Q31 vector.
+   * @param[in]  *pSrc is input pointer
+   * @param[out]  *pDst is output pointer
+   * @param[in]  blockSize is the number of samples to process
+   * @return none.
+   */
+  void arm_q15_to_q31(
+  q15_t * pSrc,
+  q31_t * pDst,
+  uint32_t blockSize);
+
+
+  /**
+   * @brief  Converts the elements of the Q15 vector to Q7 vector.
+   * @param[in]  *pSrc is input pointer
+   * @param[out]  *pDst is output pointer
+   * @param[in]  blockSize is the number of samples to process
+   * @return none.
+   */
+  void arm_q15_to_q7(
+  q15_t * pSrc,
+  q7_t * pDst,
+  uint32_t blockSize);
+
+
+  /**
+   * @ingroup groupInterpolation
+   */
+
+  /**
+   * @defgroup BilinearInterpolate Bilinear Interpolation
+   *
+   * Bilinear interpolation is an extension of linear interpolation applied to a two dimensional grid.
+   * The underlying function f(x, y) is sampled on a regular grid and the interpolation process
+   * determines values between the grid points.
+   * Bilinear interpolation is equivalent to two step linear interpolation, first in the x-dimension and then in the y-dimension.
+   * Bilinear interpolation is often used in image processing to rescale images.
+   * The CMSIS DSP library provides bilinear interpolation functions for Q7, Q15, Q31, and floating-point data types.
+   *
+   * Algorithm
+   * \par
+   * The instance structure used by the bilinear interpolation functions describes a two dimensional data table.
+   * For floating-point, the instance structure is defined as:
+   * 
+   *   typedef struct
+   *   {
+   *     uint16_t numRows;
+   *     uint16_t numCols;
+   *     float32_t *pData;
+   * } arm_bilinear_interp_instance_f32;
+   * 

+   *
+   * \par
+   * where numRows specifies the number of rows in the table;
+   * numCols specifies the number of columns in the table;
+   * and pData points to an array of size numRows*numCols values.
+   * The data table pTable is organized in row order and the supplied data values fall on integer indexes.
+   * That is, table element (x,y) is located at pTable[x + y*numCols] where x and y are integers.
+   *
+   * \par
+   * Let (x, y) specify the desired interpolation point.  Then define:
+   * 
+   *     XF = floor(x)
+   *     YF = floor(y)
+   * 

+   * \par
+   * The interpolated output point is computed as:
+   * 
+   *  f(x, y) = f(XF, YF) * (1-(x-XF)) * (1-(y-YF))
+   *           + f(XF+1, YF) * (x-XF)*(1-(y-YF))
+   *           + f(XF, YF+1) * (1-(x-XF))*(y-YF)
+   *           + f(XF+1, YF+1) * (x-XF)*(y-YF)
+   * 

+   * Note that the coordinates (x, y) contain integer and fractional components.  
+   * The integer components specify which portion of the table to use while the
+   * fractional components control the interpolation processor.
+   *
+   * \par
+   * if (x,y) are outside of the table boundary, Bilinear interpolation returns zero output. 
+   */
+
+  /**
+   * @addtogroup BilinearInterpolate
+   * @{
+   */
+
+  /**
+  *
+  * @brief  Floating-point bilinear interpolation.
+  * @param[in,out] *S points to an instance of the interpolation structure.
+  * @param[in] X interpolation coordinate.
+  * @param[in] Y interpolation coordinate.
+  * @return out interpolated value.
+  */
+
+
+  __STATIC_INLINE float32_t arm_bilinear_interp_f32(
+  const arm_bilinear_interp_instance_f32 * S,
+  float32_t X,
+  float32_t Y)
+  {
+    float32_t out;
+    float32_t f00, f01, f10, f11;
+    float32_t *pData = S->pData;
+    int32_t xIndex, yIndex, index;
+    float32_t xdiff, ydiff;
+    float32_t b1, b2, b3, b4;
+
+    xIndex = (int32_t) X;
+    yIndex = (int32_t) Y;
+
+    /* Care taken for table outside boundary */
+    /* Returns zero output when values are outside table boundary */
+    if(xIndex < 0 || xIndex > (S->numRows - 1) || yIndex < 0
+       || yIndex > (S->numCols - 1))
+    {
+      return (0);
+    }
+
+    /* Calculation of index for two nearest points in X-direction */
+    index = (xIndex - 1) + (yIndex - 1) * S->numCols;
+
+
+    /* Read two nearest points in X-direction */
+    f00 = pData[index];
+    f01 = pData[index + 1];
+
+    /* Calculation of index for two nearest points in Y-direction */
+    index = (xIndex - 1) + (yIndex) * S->numCols;
+
+
+    /* Read two nearest points in Y-direction */
+    f10 = pData[index];
+    f11 = pData[index + 1];
+
+    /* Calculation of intermediate values */
+    b1 = f00;
+    b2 = f01 - f00;
+    b3 = f10 - f00;
+    b4 = f00 - f01 - f10 + f11;
+
+    /* Calculation of fractional part in X */
+    xdiff = X - xIndex;
+
+    /* Calculation of fractional part in Y */
+    ydiff = Y - yIndex;
+
+    /* Calculation of bi-linear interpolated output */
+    out = b1 + b2 * xdiff + b3 * ydiff + b4 * xdiff * ydiff;
+
+    /* return to application */
+    return (out);
+
+  }
+
+  /**
+  *
+  * @brief  Q31 bilinear interpolation.
+  * @param[in,out] *S points to an instance of the interpolation structure.
+  * @param[in] X interpolation coordinate in 12.20 format.
+  * @param[in] Y interpolation coordinate in 12.20 format.
+  * @return out interpolated value.
+  */
+
+  __STATIC_INLINE q31_t arm_bilinear_interp_q31(
+  arm_bilinear_interp_instance_q31 * S,
+  q31_t X,
+  q31_t Y)
+  {
+    q31_t out;                                   /* Temporary output */
+    q31_t acc = 0;                               /* output */
+    q31_t xfract, yfract;                        /* X, Y fractional parts */
+    q31_t x1, x2, y1, y2;                        /* Nearest output values */
+    int32_t rI, cI;                              /* Row and column indices */
+    q31_t *pYData = S->pData;                    /* pointer to output table values */
+    uint32_t nCols = S->numCols;                 /* num of rows */
+
+
+    /* Input is in 12.20 format */
+    /* 12 bits for the table index */
+    /* Index value calculation */
+    rI = ((X & 0xFFF00000) >> 20u);
+
+    /* Input is in 12.20 format */
+    /* 12 bits for the table index */
+    /* Index value calculation */
+    cI = ((Y & 0xFFF00000) >> 20u);
+
+    /* Care taken for table outside boundary */
+    /* Returns zero output when values are outside table boundary */
+    if(rI < 0 || rI > (S->numRows - 1) || cI < 0 || cI > (S->numCols - 1))
+    {
+      return (0);
+    }
+
+    /* 20 bits for the fractional part */
+    /* shift left xfract by 11 to keep 1.31 format */
+    xfract = (X & 0x000FFFFF) << 11u;
+
+    /* Read two nearest output values from the index */
+    x1 = pYData[(rI) + nCols * (cI)];
+    x2 = pYData[(rI) + nCols * (cI) + 1u];
+
+    /* 20 bits for the fractional part */
+    /* shift left yfract by 11 to keep 1.31 format */
+    yfract = (Y & 0x000FFFFF) << 11u;
+
+    /* Read two nearest output values from the index */
+    y1 = pYData[(rI) + nCols * (cI + 1)];
+    y2 = pYData[(rI) + nCols * (cI + 1) + 1u];
+
+    /* Calculation of x1 * (1-xfract ) * (1-yfract) and acc is in 3.29(q29) format */
+    out = ((q31_t) (((q63_t) x1 * (0x7FFFFFFF - xfract)) >> 32));
+    acc = ((q31_t) (((q63_t) out * (0x7FFFFFFF - yfract)) >> 32));
+
+    /* x2 * (xfract) * (1-yfract)  in 3.29(q29) and adding to acc */
+    out = ((q31_t) ((q63_t) x2 * (0x7FFFFFFF - yfract) >> 32));
+    acc += ((q31_t) ((q63_t) out * (xfract) >> 32));
+
+    /* y1 * (1 - xfract) * (yfract)  in 3.29(q29) and adding to acc */
+    out = ((q31_t) ((q63_t) y1 * (0x7FFFFFFF - xfract) >> 32));
+    acc += ((q31_t) ((q63_t) out * (yfract) >> 32));
+
+    /* y2 * (xfract) * (yfract)  in 3.29(q29) and adding to acc */
+    out = ((q31_t) ((q63_t) y2 * (xfract) >> 32));
+    acc += ((q31_t) ((q63_t) out * (yfract) >> 32));
+
+    /* Convert acc to 1.31(q31) format */
+    return (acc << 2u);
+
+  }
+
+  /**
+  * @brief  Q15 bilinear interpolation.
+  * @param[in,out] *S points to an instance of the interpolation structure.
+  * @param[in] X interpolation coordinate in 12.20 format.
+  * @param[in] Y interpolation coordinate in 12.20 format.
+  * @return out interpolated value.
+  */
+
+  __STATIC_INLINE q15_t arm_bilinear_interp_q15(
+  arm_bilinear_interp_instance_q15 * S,
+  q31_t X,
+  q31_t Y)
+  {
+    q63_t acc = 0;                               /* output */
+    q31_t out;                                   /* Temporary output */
+    q15_t x1, x2, y1, y2;                        /* Nearest output values */
+    q31_t xfract, yfract;                        /* X, Y fractional parts */
+    int32_t rI, cI;                              /* Row and column indices */
+    q15_t *pYData = S->pData;                    /* pointer to output table values */
+    uint32_t nCols = S->numCols;                 /* num of rows */
+
+    /* Input is in 12.20 format */
+    /* 12 bits for the table index */
+    /* Index value calculation */
+    rI = ((X & 0xFFF00000) >> 20);
+
+    /* Input is in 12.20 format */
+    /* 12 bits for the table index */
+    /* Index value calculation */
+    cI = ((Y & 0xFFF00000) >> 20);
+
+    /* Care taken for table outside boundary */
+    /* Returns zero output when values are outside table boundary */
+    if(rI < 0 || rI > (S->numRows - 1) || cI < 0 || cI > (S->numCols - 1))
+    {
+      return (0);
+    }
+
+    /* 20 bits for the fractional part */
+    /* xfract should be in 12.20 format */
+    xfract = (X & 0x000FFFFF);
+
+    /* Read two nearest output values from the index */
+    x1 = pYData[(rI) + nCols * (cI)];
+    x2 = pYData[(rI) + nCols * (cI) + 1u];
+
+
+    /* 20 bits for the fractional part */
+    /* yfract should be in 12.20 format */
+    yfract = (Y & 0x000FFFFF);
+
+    /* Read two nearest output values from the index */
+    y1 = pYData[(rI) + nCols * (cI + 1)];
+    y2 = pYData[(rI) + nCols * (cI + 1) + 1u];
+
+    /* Calculation of x1 * (1-xfract ) * (1-yfract) and acc is in 13.51 format */
+
+    /* x1 is in 1.15(q15), xfract in 12.20 format and out is in 13.35 format */
+    /* convert 13.35 to 13.31 by right shifting  and out is in 1.31 */
+    out = (q31_t) (((q63_t) x1 * (0xFFFFF - xfract)) >> 4u);
+    acc = ((q63_t) out * (0xFFFFF - yfract));
+
+    /* x2 * (xfract) * (1-yfract)  in 1.51 and adding to acc */
+    out = (q31_t) (((q63_t) x2 * (0xFFFFF - yfract)) >> 4u);
+    acc += ((q63_t) out * (xfract));
+
+    /* y1 * (1 - xfract) * (yfract)  in 1.51 and adding to acc */
+    out = (q31_t) (((q63_t) y1 * (0xFFFFF - xfract)) >> 4u);
+    acc += ((q63_t) out * (yfract));
+
+    /* y2 * (xfract) * (yfract)  in 1.51 and adding to acc */
+    out = (q31_t) (((q63_t) y2 * (xfract)) >> 4u);
+    acc += ((q63_t) out * (yfract));
+
+    /* acc is in 13.51 format and down shift acc by 36 times */
+    /* Convert out to 1.15 format */
+    return (acc >> 36);
+
+  }
+
+  /**
+  * @brief  Q7 bilinear interpolation.
+  * @param[in,out] *S points to an instance of the interpolation structure.
+  * @param[in] X interpolation coordinate in 12.20 format.
+  * @param[in] Y interpolation coordinate in 12.20 format.
+  * @return out interpolated value.
+  */
+
+  __STATIC_INLINE q7_t arm_bilinear_interp_q7(
+  arm_bilinear_interp_instance_q7 * S,
+  q31_t X,
+  q31_t Y)
+  {
+    q63_t acc = 0;                               /* output */
+    q31_t out;                                   /* Temporary output */
+    q31_t xfract, yfract;                        /* X, Y fractional parts */
+    q7_t x1, x2, y1, y2;                         /* Nearest output values */
+    int32_t rI, cI;                              /* Row and column indices */
+    q7_t *pYData = S->pData;                     /* pointer to output table values */
+    uint32_t nCols = S->numCols;                 /* num of rows */
+
+    /* Input is in 12.20 format */
+    /* 12 bits for the table index */
+    /* Index value calculation */
+    rI = ((X & 0xFFF00000) >> 20);
+
+    /* Input is in 12.20 format */
+    /* 12 bits for the table index */
+    /* Index value calculation */
+    cI = ((Y & 0xFFF00000) >> 20);
+
+    /* Care taken for table outside boundary */
+    /* Returns zero output when values are outside table boundary */
+    if(rI < 0 || rI > (S->numRows - 1) || cI < 0 || cI > (S->numCols - 1))
+    {
+      return (0);
+    }
+
+    /* 20 bits for the fractional part */
+    /* xfract should be in 12.20 format */
+    xfract = (X & 0x000FFFFF);
+
+    /* Read two nearest output values from the index */
+    x1 = pYData[(rI) + nCols * (cI)];
+    x2 = pYData[(rI) + nCols * (cI) + 1u];
+
+
+    /* 20 bits for the fractional part */
+    /* yfract should be in 12.20 format */
+    yfract = (Y & 0x000FFFFF);
+
+    /* Read two nearest output values from the index */
+    y1 = pYData[(rI) + nCols * (cI + 1)];
+    y2 = pYData[(rI) + nCols * (cI + 1) + 1u];
+
+    /* Calculation of x1 * (1-xfract ) * (1-yfract) and acc is in 16.47 format */
+    out = ((x1 * (0xFFFFF - xfract)));
+    acc = (((q63_t) out * (0xFFFFF - yfract)));
+
+    /* x2 * (xfract) * (1-yfract)  in 2.22 and adding to acc */
+    out = ((x2 * (0xFFFFF - yfract)));
+    acc += (((q63_t) out * (xfract)));
+
+    /* y1 * (1 - xfract) * (yfract)  in 2.22 and adding to acc */
+    out = ((y1 * (0xFFFFF - xfract)));
+    acc += (((q63_t) out * (yfract)));
+
+    /* y2 * (xfract) * (yfract)  in 2.22 and adding to acc */
+    out = ((y2 * (yfract)));
+    acc += (((q63_t) out * (xfract)));
+
+    /* acc in 16.47 format and down shift by 40 to convert to 1.7 format */
+    return (acc >> 40);
+
+  }
+
+  /**
+   * @} end of BilinearInterpolate group
+   */
+
+
+
+
+
+
+#ifdef	__cplusplus
+}
+#endif
+
+
+#endif /* _ARM_MATH_H */
+
+
+/**
+ *
+ * End of file.
+ */
diff --git a/src/modules/mathlib/CMSIS/Include/core_cm3.h b/src/modules/mathlib/CMSIS/Include/core_cm3.h
new file mode 100644
index 000000000..733d6be53
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/Include/core_cm3.h
@@ -0,0 +1,1612 @@
+/**************************************************************************//**
+ * @file     core_cm3.h
+ * @brief    CMSIS Cortex-M3 Core Peripheral Access Layer Header File
+ * @version  V3.01
+ * @date     22. March 2012
+ *
+ * @note
+ * Copyright (C) 2009-2012 ARM Limited. All rights reserved.
+ *
+ * @par
+ * ARM Limited (ARM) is supplying this software for use with Cortex-M
+ * processor based microcontrollers.  This file can be freely distributed
+ * within development tools that are supporting such ARM based processors.
+ *
+ * @par
+ * THIS SOFTWARE IS PROVIDED "AS IS".  NO WARRANTIES, WHETHER EXPRESS, IMPLIED
+ * OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
+ * ARM SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR
+ * CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
+ *
+ ******************************************************************************/
+#if defined ( __ICCARM__ )
+ #pragma system_include  /* treat file as system include file for MISRA check */
+#endif
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+#ifndef __CORE_CM3_H_GENERIC
+#define __CORE_CM3_H_GENERIC
+
+/** \page CMSIS_MISRA_Exceptions  MISRA-C:2004 Compliance Exceptions
+  CMSIS violates the following MISRA-C:2004 rules:
+
+   \li Required Rule 8.5, object/function definition in header file.

+     Function definitions in header files are used to allow 'inlining'.
+
+   \li Required Rule 18.4, declaration of union type or object of union type: '{...}'.

+     Unions are used for effective representation of core registers.
+
+   \li Advisory Rule 19.7, Function-like macro defined.

+     Function-like macros are used to allow more efficient code.
+ */
+
+
+/*******************************************************************************
+ *                 CMSIS definitions
+ ******************************************************************************/
+/** \ingroup Cortex_M3
+  @{
+ */
+
+/*  CMSIS CM3 definitions */
+#define __CM3_CMSIS_VERSION_MAIN  (0x03)                                   /*!< [31:16] CMSIS HAL main version   */
+#define __CM3_CMSIS_VERSION_SUB   (0x01)                                   /*!< [15:0]  CMSIS HAL sub version    */
+#define __CM3_CMSIS_VERSION       ((__CM3_CMSIS_VERSION_MAIN << 16) | \
+                                    __CM3_CMSIS_VERSION_SUB          )     /*!< CMSIS HAL version number         */
+
+#define __CORTEX_M                (0x03)                                   /*!< Cortex-M Core                    */
+
+
+#if   defined ( __CC_ARM )
+  #define __ASM            __asm                                      /*!< asm keyword for ARM Compiler          */
+  #define __INLINE         __inline                                   /*!< inline keyword for ARM Compiler       */
+  #define __STATIC_INLINE  static __inline
+
+#elif defined ( __ICCARM__ )
+  #define __ASM            __asm                                      /*!< asm keyword for IAR Compiler          */
+  #define __INLINE         inline                                     /*!< inline keyword for IAR Compiler. Only available in High optimization mode! */
+  #define __STATIC_INLINE  static inline
+
+#elif defined ( __TMS470__ )
+  #define __ASM            __asm                                      /*!< asm keyword for TI CCS Compiler       */
+  #define __STATIC_INLINE  static inline
+
+#elif defined ( __GNUC__ )
+  #define __ASM            __asm                                      /*!< asm keyword for GNU Compiler          */
+  #define __INLINE         inline                                     /*!< inline keyword for GNU Compiler       */
+  #define __STATIC_INLINE  static inline
+
+#elif defined ( __TASKING__ )
+  #define __ASM            __asm                                      /*!< asm keyword for TASKING Compiler      */
+  #define __INLINE         inline                                     /*!< inline keyword for TASKING Compiler   */
+  #define __STATIC_INLINE  static inline
+
+#endif
+
+/** __FPU_USED indicates whether an FPU is used or not. This core does not support an FPU at all
+*/
+#define __FPU_USED       0
+
+#if defined ( __CC_ARM )
+  #if defined __TARGET_FPU_VFP
+    #warning "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
+  #endif
+
+#elif defined ( __ICCARM__ )
+  #if defined __ARMVFP__
+    #warning "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
+  #endif
+
+#elif defined ( __TMS470__ )
+  #if defined __TI__VFP_SUPPORT____
+    #warning "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
+  #endif
+
+#elif defined ( __GNUC__ )
+  #if defined (__VFP_FP__) && !defined(__SOFTFP__)
+    #warning "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
+  #endif
+
+#elif defined ( __TASKING__ )
+  #if defined __FPU_VFP__
+    #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
+  #endif
+#endif
+
+#include                       /* standard types definitions                      */
+#include "core_cmInstr.h"                /* Core Instruction Access                         */
+#include "core_cmFunc.h"                 /* Core Function Access                            */
+
+#endif /* __CORE_CM3_H_GENERIC */
+
+#ifndef __CMSIS_GENERIC
+
+#ifndef __CORE_CM3_H_DEPENDANT
+#define __CORE_CM3_H_DEPENDANT
+
+/* check device defines and use defaults */
+#if defined __CHECK_DEVICE_DEFINES
+  #ifndef __CM3_REV
+    #define __CM3_REV               0x0200
+    #warning "__CM3_REV not defined in device header file; using default!"
+  #endif
+
+  #ifndef __MPU_PRESENT
+    #define __MPU_PRESENT             0
+    #warning "__MPU_PRESENT not defined in device header file; using default!"
+  #endif
+
+  #ifndef __NVIC_PRIO_BITS
+    #define __NVIC_PRIO_BITS          4
+    #warning "__NVIC_PRIO_BITS not defined in device header file; using default!"
+  #endif
+
+  #ifndef __Vendor_SysTickConfig
+    #define __Vendor_SysTickConfig    0
+    #warning "__Vendor_SysTickConfig not defined in device header file; using default!"
+  #endif
+#endif
+
+/* IO definitions (access restrictions to peripheral registers) */
+/**
+    \defgroup CMSIS_glob_defs CMSIS Global Defines
+
+    IO Type Qualifiers are used
+    \li to specify the access to peripheral variables.
+    \li for automatic generation of peripheral register debug information.
+*/
+#ifdef __cplusplus
+  #define   __I     volatile             /*!< Defines 'read only' permissions                 */
+#else
+  #define   __I     volatile const       /*!< Defines 'read only' permissions                 */
+#endif
+#define     __O     volatile             /*!< Defines 'write only' permissions                */
+#define     __IO    volatile             /*!< Defines 'read / write' permissions              */
+
+/*@} end of group Cortex_M3 */
+
+
+
+/*******************************************************************************
+ *                 Register Abstraction
+  Core Register contain:
+  - Core Register
+  - Core NVIC Register
+  - Core SCB Register
+  - Core SysTick Register
+  - Core Debug Register
+  - Core MPU Register
+ ******************************************************************************/
+/** \defgroup CMSIS_core_register Defines and Type Definitions
+    \brief Type definitions and defines for Cortex-M processor based devices.
+*/
+
+/** \ingroup    CMSIS_core_register
+    \defgroup   CMSIS_CORE  Status and Control Registers
+    \brief  Core Register type definitions.
+  @{
+ */
+
+/** \brief  Union type to access the Application Program Status Register (APSR).
+ */
+typedef union
+{
+  struct
+  {
+#if (__CORTEX_M != 0x04)
+    uint32_t _reserved0:27;              /*!< bit:  0..26  Reserved                           */
+#else
+    uint32_t _reserved0:16;              /*!< bit:  0..15  Reserved                           */
+    uint32_t GE:4;                       /*!< bit: 16..19  Greater than or Equal flags        */
+    uint32_t _reserved1:7;               /*!< bit: 20..26  Reserved                           */
+#endif
+    uint32_t Q:1;                        /*!< bit:     27  Saturation condition flag          */
+    uint32_t V:1;                        /*!< bit:     28  Overflow condition code flag       */
+    uint32_t C:1;                        /*!< bit:     29  Carry condition code flag          */
+    uint32_t Z:1;                        /*!< bit:     30  Zero condition code flag           */
+    uint32_t N:1;                        /*!< bit:     31  Negative condition code flag       */
+  } b;                                   /*!< Structure used for bit  access                  */
+  uint32_t w;                            /*!< Type      used for word access                  */
+} APSR_Type;
+
+
+/** \brief  Union type to access the Interrupt Program Status Register (IPSR).
+ */
+typedef union
+{
+  struct
+  {
+    uint32_t ISR:9;                      /*!< bit:  0.. 8  Exception number                   */
+    uint32_t _reserved0:23;              /*!< bit:  9..31  Reserved                           */
+  } b;                                   /*!< Structure used for bit  access                  */
+  uint32_t w;                            /*!< Type      used for word access                  */
+} IPSR_Type;
+
+
+/** \brief  Union type to access the Special-Purpose Program Status Registers (xPSR).
+ */
+typedef union
+{
+  struct
+  {
+    uint32_t ISR:9;                      /*!< bit:  0.. 8  Exception number                   */
+#if (__CORTEX_M != 0x04)
+    uint32_t _reserved0:15;              /*!< bit:  9..23  Reserved                           */
+#else
+    uint32_t _reserved0:7;               /*!< bit:  9..15  Reserved                           */
+    uint32_t GE:4;                       /*!< bit: 16..19  Greater than or Equal flags        */
+    uint32_t _reserved1:4;               /*!< bit: 20..23  Reserved                           */
+#endif
+    uint32_t T:1;                        /*!< bit:     24  Thumb bit        (read 0)          */
+    uint32_t IT:2;                       /*!< bit: 25..26  saved IT state   (read 0)          */
+    uint32_t Q:1;                        /*!< bit:     27  Saturation condition flag          */
+    uint32_t V:1;                        /*!< bit:     28  Overflow condition code flag       */
+    uint32_t C:1;                        /*!< bit:     29  Carry condition code flag          */
+    uint32_t Z:1;                        /*!< bit:     30  Zero condition code flag           */
+    uint32_t N:1;                        /*!< bit:     31  Negative condition code flag       */
+  } b;                                   /*!< Structure used for bit  access                  */
+  uint32_t w;                            /*!< Type      used for word access                  */
+} xPSR_Type;
+
+
+/** \brief  Union type to access the Control Registers (CONTROL).
+ */
+typedef union
+{
+  struct
+  {
+    uint32_t nPRIV:1;                    /*!< bit:      0  Execution privilege in Thread mode */
+    uint32_t SPSEL:1;                    /*!< bit:      1  Stack to be used                   */
+    uint32_t FPCA:1;                     /*!< bit:      2  FP extension active flag           */
+    uint32_t _reserved0:29;              /*!< bit:  3..31  Reserved                           */
+  } b;                                   /*!< Structure used for bit  access                  */
+  uint32_t w;                            /*!< Type      used for word access                  */
+} CONTROL_Type;
+
+/*@} end of group CMSIS_CORE */
+
+
+/** \ingroup    CMSIS_core_register
+    \defgroup   CMSIS_NVIC  Nested Vectored Interrupt Controller (NVIC)
+    \brief      Type definitions for the NVIC Registers
+  @{
+ */
+
+/** \brief  Structure type to access the Nested Vectored Interrupt Controller (NVIC).
+ */
+typedef struct
+{
+  __IO uint32_t ISER[8];                 /*!< Offset: 0x000 (R/W)  Interrupt Set Enable Register           */
+       uint32_t RESERVED0[24];
+  __IO uint32_t ICER[8];                 /*!< Offset: 0x080 (R/W)  Interrupt Clear Enable Register         */
+       uint32_t RSERVED1[24];
+  __IO uint32_t ISPR[8];                 /*!< Offset: 0x100 (R/W)  Interrupt Set Pending Register          */
+       uint32_t RESERVED2[24];
+  __IO uint32_t ICPR[8];                 /*!< Offset: 0x180 (R/W)  Interrupt Clear Pending Register        */
+       uint32_t RESERVED3[24];
+  __IO uint32_t IABR[8];                 /*!< Offset: 0x200 (R/W)  Interrupt Active bit Register           */
+       uint32_t RESERVED4[56];
+  __IO uint8_t  IP[240];                 /*!< Offset: 0x300 (R/W)  Interrupt Priority Register (8Bit wide) */
+       uint32_t RESERVED5[644];
+  __O  uint32_t STIR;                    /*!< Offset: 0xE00 ( /W)  Software Trigger Interrupt Register     */
+}  NVIC_Type;
+
+/* Software Triggered Interrupt Register Definitions */
+#define NVIC_STIR_INTID_Pos                 0                                          /*!< STIR: INTLINESNUM Position */
+#define NVIC_STIR_INTID_Msk                (0x1FFUL << NVIC_STIR_INTID_Pos)            /*!< STIR: INTLINESNUM Mask */
+
+/*@} end of group CMSIS_NVIC */
+
+
+/** \ingroup  CMSIS_core_register
+    \defgroup CMSIS_SCB     System Control Block (SCB)
+    \brief      Type definitions for the System Control Block Registers
+  @{
+ */
+
+/** \brief  Structure type to access the System Control Block (SCB).
+ */
+typedef struct
+{
+  __I  uint32_t CPUID;                   /*!< Offset: 0x000 (R/ )  CPUID Base Register                                   */
+  __IO uint32_t ICSR;                    /*!< Offset: 0x004 (R/W)  Interrupt Control and State Register                  */
+  __IO uint32_t VTOR;                    /*!< Offset: 0x008 (R/W)  Vector Table Offset Register                          */
+  __IO uint32_t AIRCR;                   /*!< Offset: 0x00C (R/W)  Application Interrupt and Reset Control Register      */
+  __IO uint32_t SCR;                     /*!< Offset: 0x010 (R/W)  System Control Register                               */
+  __IO uint32_t CCR;                     /*!< Offset: 0x014 (R/W)  Configuration Control Register                        */
+  __IO uint8_t  SHP[12];                 /*!< Offset: 0x018 (R/W)  System Handlers Priority Registers (4-7, 8-11, 12-15) */
+  __IO uint32_t SHCSR;                   /*!< Offset: 0x024 (R/W)  System Handler Control and State Register             */
+  __IO uint32_t CFSR;                    /*!< Offset: 0x028 (R/W)  Configurable Fault Status Register                    */
+  __IO uint32_t HFSR;                    /*!< Offset: 0x02C (R/W)  HardFault Status Register                             */
+  __IO uint32_t DFSR;                    /*!< Offset: 0x030 (R/W)  Debug Fault Status Register                           */
+  __IO uint32_t MMFAR;                   /*!< Offset: 0x034 (R/W)  MemManage Fault Address Register                      */
+  __IO uint32_t BFAR;                    /*!< Offset: 0x038 (R/W)  BusFault Address Register                             */
+  __IO uint32_t AFSR;                    /*!< Offset: 0x03C (R/W)  Auxiliary Fault Status Register                       */
+  __I  uint32_t PFR[2];                  /*!< Offset: 0x040 (R/ )  Processor Feature Register                            */
+  __I  uint32_t DFR;                     /*!< Offset: 0x048 (R/ )  Debug Feature Register                                */
+  __I  uint32_t ADR;                     /*!< Offset: 0x04C (R/ )  Auxiliary Feature Register                            */
+  __I  uint32_t MMFR[4];                 /*!< Offset: 0x050 (R/ )  Memory Model Feature Register                         */
+  __I  uint32_t ISAR[5];                 /*!< Offset: 0x060 (R/ )  Instruction Set Attributes Register                   */
+       uint32_t RESERVED0[5];
+  __IO uint32_t CPACR;                   /*!< Offset: 0x088 (R/W)  Coprocessor Access Control Register                   */
+} SCB_Type;
+
+/* SCB CPUID Register Definitions */
+#define SCB_CPUID_IMPLEMENTER_Pos          24                                             /*!< SCB CPUID: IMPLEMENTER Position */
+#define SCB_CPUID_IMPLEMENTER_Msk          (0xFFUL << SCB_CPUID_IMPLEMENTER_Pos)          /*!< SCB CPUID: IMPLEMENTER Mask */
+
+#define SCB_CPUID_VARIANT_Pos              20                                             /*!< SCB CPUID: VARIANT Position */
+#define SCB_CPUID_VARIANT_Msk              (0xFUL << SCB_CPUID_VARIANT_Pos)               /*!< SCB CPUID: VARIANT Mask */
+
+#define SCB_CPUID_ARCHITECTURE_Pos         16                                             /*!< SCB CPUID: ARCHITECTURE Position */
+#define SCB_CPUID_ARCHITECTURE_Msk         (0xFUL << SCB_CPUID_ARCHITECTURE_Pos)          /*!< SCB CPUID: ARCHITECTURE Mask */
+
+#define SCB_CPUID_PARTNO_Pos                4                                             /*!< SCB CPUID: PARTNO Position */
+#define SCB_CPUID_PARTNO_Msk               (0xFFFUL << SCB_CPUID_PARTNO_Pos)              /*!< SCB CPUID: PARTNO Mask */
+
+#define SCB_CPUID_REVISION_Pos              0                                             /*!< SCB CPUID: REVISION Position */
+#define SCB_CPUID_REVISION_Msk             (0xFUL << SCB_CPUID_REVISION_Pos)              /*!< SCB CPUID: REVISION Mask */
+
+/* SCB Interrupt Control State Register Definitions */
+#define SCB_ICSR_NMIPENDSET_Pos            31                                             /*!< SCB ICSR: NMIPENDSET Position */
+#define SCB_ICSR_NMIPENDSET_Msk            (1UL << SCB_ICSR_NMIPENDSET_Pos)               /*!< SCB ICSR: NMIPENDSET Mask */
+
+#define SCB_ICSR_PENDSVSET_Pos             28                                             /*!< SCB ICSR: PENDSVSET Position */
+#define SCB_ICSR_PENDSVSET_Msk             (1UL << SCB_ICSR_PENDSVSET_Pos)                /*!< SCB ICSR: PENDSVSET Mask */
+
+#define SCB_ICSR_PENDSVCLR_Pos             27                                             /*!< SCB ICSR: PENDSVCLR Position */
+#define SCB_ICSR_PENDSVCLR_Msk             (1UL << SCB_ICSR_PENDSVCLR_Pos)                /*!< SCB ICSR: PENDSVCLR Mask */
+
+#define SCB_ICSR_PENDSTSET_Pos             26                                             /*!< SCB ICSR: PENDSTSET Position */
+#define SCB_ICSR_PENDSTSET_Msk             (1UL << SCB_ICSR_PENDSTSET_Pos)                /*!< SCB ICSR: PENDSTSET Mask */
+
+#define SCB_ICSR_PENDSTCLR_Pos             25                                             /*!< SCB ICSR: PENDSTCLR Position */
+#define SCB_ICSR_PENDSTCLR_Msk             (1UL << SCB_ICSR_PENDSTCLR_Pos)                /*!< SCB ICSR: PENDSTCLR Mask */
+
+#define SCB_ICSR_ISRPREEMPT_Pos            23                                             /*!< SCB ICSR: ISRPREEMPT Position */
+#define SCB_ICSR_ISRPREEMPT_Msk            (1UL << SCB_ICSR_ISRPREEMPT_Pos)               /*!< SCB ICSR: ISRPREEMPT Mask */
+
+#define SCB_ICSR_ISRPENDING_Pos            22                                             /*!< SCB ICSR: ISRPENDING Position */
+#define SCB_ICSR_ISRPENDING_Msk            (1UL << SCB_ICSR_ISRPENDING_Pos)               /*!< SCB ICSR: ISRPENDING Mask */
+
+#define SCB_ICSR_VECTPENDING_Pos           12                                             /*!< SCB ICSR: VECTPENDING Position */
+#define SCB_ICSR_VECTPENDING_Msk           (0x1FFUL << SCB_ICSR_VECTPENDING_Pos)          /*!< SCB ICSR: VECTPENDING Mask */
+
+#define SCB_ICSR_RETTOBASE_Pos             11                                             /*!< SCB ICSR: RETTOBASE Position */
+#define SCB_ICSR_RETTOBASE_Msk             (1UL << SCB_ICSR_RETTOBASE_Pos)                /*!< SCB ICSR: RETTOBASE Mask */
+
+#define SCB_ICSR_VECTACTIVE_Pos             0                                             /*!< SCB ICSR: VECTACTIVE Position */
+#define SCB_ICSR_VECTACTIVE_Msk            (0x1FFUL << SCB_ICSR_VECTACTIVE_Pos)           /*!< SCB ICSR: VECTACTIVE Mask */
+
+/* SCB Vector Table Offset Register Definitions */
+#if (__CM3_REV < 0x0201)                   /* core r2p1 */
+#define SCB_VTOR_TBLBASE_Pos               29                                             /*!< SCB VTOR: TBLBASE Position */
+#define SCB_VTOR_TBLBASE_Msk               (1UL << SCB_VTOR_TBLBASE_Pos)                  /*!< SCB VTOR: TBLBASE Mask */
+
+#define SCB_VTOR_TBLOFF_Pos                 7                                             /*!< SCB VTOR: TBLOFF Position */
+#define SCB_VTOR_TBLOFF_Msk                (0x3FFFFFUL << SCB_VTOR_TBLOFF_Pos)            /*!< SCB VTOR: TBLOFF Mask */
+#else
+#define SCB_VTOR_TBLOFF_Pos                 7                                             /*!< SCB VTOR: TBLOFF Position */
+#define SCB_VTOR_TBLOFF_Msk                (0x1FFFFFFUL << SCB_VTOR_TBLOFF_Pos)           /*!< SCB VTOR: TBLOFF Mask */
+#endif
+
+/* SCB Application Interrupt and Reset Control Register Definitions */
+#define SCB_AIRCR_VECTKEY_Pos              16                                             /*!< SCB AIRCR: VECTKEY Position */
+#define SCB_AIRCR_VECTKEY_Msk              (0xFFFFUL << SCB_AIRCR_VECTKEY_Pos)            /*!< SCB AIRCR: VECTKEY Mask */
+
+#define SCB_AIRCR_VECTKEYSTAT_Pos          16                                             /*!< SCB AIRCR: VECTKEYSTAT Position */
+#define SCB_AIRCR_VECTKEYSTAT_Msk          (0xFFFFUL << SCB_AIRCR_VECTKEYSTAT_Pos)        /*!< SCB AIRCR: VECTKEYSTAT Mask */
+
+#define SCB_AIRCR_ENDIANESS_Pos            15                                             /*!< SCB AIRCR: ENDIANESS Position */
+#define SCB_AIRCR_ENDIANESS_Msk            (1UL << SCB_AIRCR_ENDIANESS_Pos)               /*!< SCB AIRCR: ENDIANESS Mask */
+
+#define SCB_AIRCR_PRIGROUP_Pos              8                                             /*!< SCB AIRCR: PRIGROUP Position */
+#define SCB_AIRCR_PRIGROUP_Msk             (7UL << SCB_AIRCR_PRIGROUP_Pos)                /*!< SCB AIRCR: PRIGROUP Mask */
+
+#define SCB_AIRCR_SYSRESETREQ_Pos           2                                             /*!< SCB AIRCR: SYSRESETREQ Position */
+#define SCB_AIRCR_SYSRESETREQ_Msk          (1UL << SCB_AIRCR_SYSRESETREQ_Pos)             /*!< SCB AIRCR: SYSRESETREQ Mask */
+
+#define SCB_AIRCR_VECTCLRACTIVE_Pos         1                                             /*!< SCB AIRCR: VECTCLRACTIVE Position */
+#define SCB_AIRCR_VECTCLRACTIVE_Msk        (1UL << SCB_AIRCR_VECTCLRACTIVE_Pos)           /*!< SCB AIRCR: VECTCLRACTIVE Mask */
+
+#define SCB_AIRCR_VECTRESET_Pos             0                                             /*!< SCB AIRCR: VECTRESET Position */
+#define SCB_AIRCR_VECTRESET_Msk            (1UL << SCB_AIRCR_VECTRESET_Pos)               /*!< SCB AIRCR: VECTRESET Mask */
+
+/* SCB System Control Register Definitions */
+#define SCB_SCR_SEVONPEND_Pos               4                                             /*!< SCB SCR: SEVONPEND Position */
+#define SCB_SCR_SEVONPEND_Msk              (1UL << SCB_SCR_SEVONPEND_Pos)                 /*!< SCB SCR: SEVONPEND Mask */
+
+#define SCB_SCR_SLEEPDEEP_Pos               2                                             /*!< SCB SCR: SLEEPDEEP Position */
+#define SCB_SCR_SLEEPDEEP_Msk              (1UL << SCB_SCR_SLEEPDEEP_Pos)                 /*!< SCB SCR: SLEEPDEEP Mask */
+
+#define SCB_SCR_SLEEPONEXIT_Pos             1                                             /*!< SCB SCR: SLEEPONEXIT Position */
+#define SCB_SCR_SLEEPONEXIT_Msk            (1UL << SCB_SCR_SLEEPONEXIT_Pos)               /*!< SCB SCR: SLEEPONEXIT Mask */
+
+/* SCB Configuration Control Register Definitions */
+#define SCB_CCR_STKALIGN_Pos                9                                             /*!< SCB CCR: STKALIGN Position */
+#define SCB_CCR_STKALIGN_Msk               (1UL << SCB_CCR_STKALIGN_Pos)                  /*!< SCB CCR: STKALIGN Mask */
+
+#define SCB_CCR_BFHFNMIGN_Pos               8                                             /*!< SCB CCR: BFHFNMIGN Position */
+#define SCB_CCR_BFHFNMIGN_Msk              (1UL << SCB_CCR_BFHFNMIGN_Pos)                 /*!< SCB CCR: BFHFNMIGN Mask */
+
+#define SCB_CCR_DIV_0_TRP_Pos               4                                             /*!< SCB CCR: DIV_0_TRP Position */
+#define SCB_CCR_DIV_0_TRP_Msk              (1UL << SCB_CCR_DIV_0_TRP_Pos)                 /*!< SCB CCR: DIV_0_TRP Mask */
+
+#define SCB_CCR_UNALIGN_TRP_Pos             3                                             /*!< SCB CCR: UNALIGN_TRP Position */
+#define SCB_CCR_UNALIGN_TRP_Msk            (1UL << SCB_CCR_UNALIGN_TRP_Pos)               /*!< SCB CCR: UNALIGN_TRP Mask */
+
+#define SCB_CCR_USERSETMPEND_Pos            1                                             /*!< SCB CCR: USERSETMPEND Position */
+#define SCB_CCR_USERSETMPEND_Msk           (1UL << SCB_CCR_USERSETMPEND_Pos)              /*!< SCB CCR: USERSETMPEND Mask */
+
+#define SCB_CCR_NONBASETHRDENA_Pos          0                                             /*!< SCB CCR: NONBASETHRDENA Position */
+#define SCB_CCR_NONBASETHRDENA_Msk         (1UL << SCB_CCR_NONBASETHRDENA_Pos)            /*!< SCB CCR: NONBASETHRDENA Mask */
+
+/* SCB System Handler Control and State Register Definitions */
+#define SCB_SHCSR_USGFAULTENA_Pos          18                                             /*!< SCB SHCSR: USGFAULTENA Position */
+#define SCB_SHCSR_USGFAULTENA_Msk          (1UL << SCB_SHCSR_USGFAULTENA_Pos)             /*!< SCB SHCSR: USGFAULTENA Mask */
+
+#define SCB_SHCSR_BUSFAULTENA_Pos          17                                             /*!< SCB SHCSR: BUSFAULTENA Position */
+#define SCB_SHCSR_BUSFAULTENA_Msk          (1UL << SCB_SHCSR_BUSFAULTENA_Pos)             /*!< SCB SHCSR: BUSFAULTENA Mask */
+
+#define SCB_SHCSR_MEMFAULTENA_Pos          16                                             /*!< SCB SHCSR: MEMFAULTENA Position */
+#define SCB_SHCSR_MEMFAULTENA_Msk          (1UL << SCB_SHCSR_MEMFAULTENA_Pos)             /*!< SCB SHCSR: MEMFAULTENA Mask */
+
+#define SCB_SHCSR_SVCALLPENDED_Pos         15                                             /*!< SCB SHCSR: SVCALLPENDED Position */
+#define SCB_SHCSR_SVCALLPENDED_Msk         (1UL << SCB_SHCSR_SVCALLPENDED_Pos)            /*!< SCB SHCSR: SVCALLPENDED Mask */
+
+#define SCB_SHCSR_BUSFAULTPENDED_Pos       14                                             /*!< SCB SHCSR: BUSFAULTPENDED Position */
+#define SCB_SHCSR_BUSFAULTPENDED_Msk       (1UL << SCB_SHCSR_BUSFAULTPENDED_Pos)          /*!< SCB SHCSR: BUSFAULTPENDED Mask */
+
+#define SCB_SHCSR_MEMFAULTPENDED_Pos       13                                             /*!< SCB SHCSR: MEMFAULTPENDED Position */
+#define SCB_SHCSR_MEMFAULTPENDED_Msk       (1UL << SCB_SHCSR_MEMFAULTPENDED_Pos)          /*!< SCB SHCSR: MEMFAULTPENDED Mask */
+
+#define SCB_SHCSR_USGFAULTPENDED_Pos       12                                             /*!< SCB SHCSR: USGFAULTPENDED Position */
+#define SCB_SHCSR_USGFAULTPENDED_Msk       (1UL << SCB_SHCSR_USGFAULTPENDED_Pos)          /*!< SCB SHCSR: USGFAULTPENDED Mask */
+
+#define SCB_SHCSR_SYSTICKACT_Pos           11                                             /*!< SCB SHCSR: SYSTICKACT Position */
+#define SCB_SHCSR_SYSTICKACT_Msk           (1UL << SCB_SHCSR_SYSTICKACT_Pos)              /*!< SCB SHCSR: SYSTICKACT Mask */
+
+#define SCB_SHCSR_PENDSVACT_Pos            10                                             /*!< SCB SHCSR: PENDSVACT Position */
+#define SCB_SHCSR_PENDSVACT_Msk            (1UL << SCB_SHCSR_PENDSVACT_Pos)               /*!< SCB SHCSR: PENDSVACT Mask */
+
+#define SCB_SHCSR_MONITORACT_Pos            8                                             /*!< SCB SHCSR: MONITORACT Position */
+#define SCB_SHCSR_MONITORACT_Msk           (1UL << SCB_SHCSR_MONITORACT_Pos)              /*!< SCB SHCSR: MONITORACT Mask */
+
+#define SCB_SHCSR_SVCALLACT_Pos             7                                             /*!< SCB SHCSR: SVCALLACT Position */
+#define SCB_SHCSR_SVCALLACT_Msk            (1UL << SCB_SHCSR_SVCALLACT_Pos)               /*!< SCB SHCSR: SVCALLACT Mask */
+
+#define SCB_SHCSR_USGFAULTACT_Pos           3                                             /*!< SCB SHCSR: USGFAULTACT Position */
+#define SCB_SHCSR_USGFAULTACT_Msk          (1UL << SCB_SHCSR_USGFAULTACT_Pos)             /*!< SCB SHCSR: USGFAULTACT Mask */
+
+#define SCB_SHCSR_BUSFAULTACT_Pos           1                                             /*!< SCB SHCSR: BUSFAULTACT Position */
+#define SCB_SHCSR_BUSFAULTACT_Msk          (1UL << SCB_SHCSR_BUSFAULTACT_Pos)             /*!< SCB SHCSR: BUSFAULTACT Mask */
+
+#define SCB_SHCSR_MEMFAULTACT_Pos           0                                             /*!< SCB SHCSR: MEMFAULTACT Position */
+#define SCB_SHCSR_MEMFAULTACT_Msk          (1UL << SCB_SHCSR_MEMFAULTACT_Pos)             /*!< SCB SHCSR: MEMFAULTACT Mask */
+
+/* SCB Configurable Fault Status Registers Definitions */
+#define SCB_CFSR_USGFAULTSR_Pos            16                                             /*!< SCB CFSR: Usage Fault Status Register Position */
+#define SCB_CFSR_USGFAULTSR_Msk            (0xFFFFUL << SCB_CFSR_USGFAULTSR_Pos)          /*!< SCB CFSR: Usage Fault Status Register Mask */
+
+#define SCB_CFSR_BUSFAULTSR_Pos             8                                             /*!< SCB CFSR: Bus Fault Status Register Position */
+#define SCB_CFSR_BUSFAULTSR_Msk            (0xFFUL << SCB_CFSR_BUSFAULTSR_Pos)            /*!< SCB CFSR: Bus Fault Status Register Mask */
+
+#define SCB_CFSR_MEMFAULTSR_Pos             0                                             /*!< SCB CFSR: Memory Manage Fault Status Register Position */
+#define SCB_CFSR_MEMFAULTSR_Msk            (0xFFUL << SCB_CFSR_MEMFAULTSR_Pos)            /*!< SCB CFSR: Memory Manage Fault Status Register Mask */
+
+/* SCB Hard Fault Status Registers Definitions */
+#define SCB_HFSR_DEBUGEVT_Pos              31                                             /*!< SCB HFSR: DEBUGEVT Position */
+#define SCB_HFSR_DEBUGEVT_Msk              (1UL << SCB_HFSR_DEBUGEVT_Pos)                 /*!< SCB HFSR: DEBUGEVT Mask */
+
+#define SCB_HFSR_FORCED_Pos                30                                             /*!< SCB HFSR: FORCED Position */
+#define SCB_HFSR_FORCED_Msk                (1UL << SCB_HFSR_FORCED_Pos)                   /*!< SCB HFSR: FORCED Mask */
+
+#define SCB_HFSR_VECTTBL_Pos                1                                             /*!< SCB HFSR: VECTTBL Position */
+#define SCB_HFSR_VECTTBL_Msk               (1UL << SCB_HFSR_VECTTBL_Pos)                  /*!< SCB HFSR: VECTTBL Mask */
+
+/* SCB Debug Fault Status Register Definitions */
+#define SCB_DFSR_EXTERNAL_Pos               4                                             /*!< SCB DFSR: EXTERNAL Position */
+#define SCB_DFSR_EXTERNAL_Msk              (1UL << SCB_DFSR_EXTERNAL_Pos)                 /*!< SCB DFSR: EXTERNAL Mask */
+
+#define SCB_DFSR_VCATCH_Pos                 3                                             /*!< SCB DFSR: VCATCH Position */
+#define SCB_DFSR_VCATCH_Msk                (1UL << SCB_DFSR_VCATCH_Pos)                   /*!< SCB DFSR: VCATCH Mask */
+
+#define SCB_DFSR_DWTTRAP_Pos                2                                             /*!< SCB DFSR: DWTTRAP Position */
+#define SCB_DFSR_DWTTRAP_Msk               (1UL << SCB_DFSR_DWTTRAP_Pos)                  /*!< SCB DFSR: DWTTRAP Mask */
+
+#define SCB_DFSR_BKPT_Pos                   1                                             /*!< SCB DFSR: BKPT Position */
+#define SCB_DFSR_BKPT_Msk                  (1UL << SCB_DFSR_BKPT_Pos)                     /*!< SCB DFSR: BKPT Mask */
+
+#define SCB_DFSR_HALTED_Pos                 0                                             /*!< SCB DFSR: HALTED Position */
+#define SCB_DFSR_HALTED_Msk                (1UL << SCB_DFSR_HALTED_Pos)                   /*!< SCB DFSR: HALTED Mask */
+
+/*@} end of group CMSIS_SCB */
+
+
+/** \ingroup  CMSIS_core_register
+    \defgroup CMSIS_SCnSCB System Controls not in SCB (SCnSCB)
+    \brief      Type definitions for the System Control and ID Register not in the SCB
+  @{
+ */
+
+/** \brief  Structure type to access the System Control and ID Register not in the SCB.
+ */
+typedef struct
+{
+       uint32_t RESERVED0[1];
+  __I  uint32_t ICTR;                    /*!< Offset: 0x004 (R/ )  Interrupt Controller Type Register      */
+#if ((defined __CM3_REV) && (__CM3_REV >= 0x200))
+  __IO uint32_t ACTLR;                   /*!< Offset: 0x008 (R/W)  Auxiliary Control Register      */
+#else
+       uint32_t RESERVED1[1];
+#endif
+} SCnSCB_Type;
+
+/* Interrupt Controller Type Register Definitions */
+#define SCnSCB_ICTR_INTLINESNUM_Pos         0                                          /*!< ICTR: INTLINESNUM Position */
+#define SCnSCB_ICTR_INTLINESNUM_Msk        (0xFUL << SCnSCB_ICTR_INTLINESNUM_Pos)      /*!< ICTR: INTLINESNUM Mask */
+
+/* Auxiliary Control Register Definitions */
+
+#define SCnSCB_ACTLR_DISFOLD_Pos            2                                          /*!< ACTLR: DISFOLD Position */
+#define SCnSCB_ACTLR_DISFOLD_Msk           (1UL << SCnSCB_ACTLR_DISFOLD_Pos)           /*!< ACTLR: DISFOLD Mask */
+
+#define SCnSCB_ACTLR_DISDEFWBUF_Pos         1                                          /*!< ACTLR: DISDEFWBUF Position */
+#define SCnSCB_ACTLR_DISDEFWBUF_Msk        (1UL << SCnSCB_ACTLR_DISDEFWBUF_Pos)        /*!< ACTLR: DISDEFWBUF Mask */
+
+#define SCnSCB_ACTLR_DISMCYCINT_Pos         0                                          /*!< ACTLR: DISMCYCINT Position */
+#define SCnSCB_ACTLR_DISMCYCINT_Msk        (1UL << SCnSCB_ACTLR_DISMCYCINT_Pos)        /*!< ACTLR: DISMCYCINT Mask */
+
+/*@} end of group CMSIS_SCnotSCB */
+
+
+/** \ingroup  CMSIS_core_register
+    \defgroup CMSIS_SysTick     System Tick Timer (SysTick)
+    \brief      Type definitions for the System Timer Registers.
+  @{
+ */
+
+/** \brief  Structure type to access the System Timer (SysTick).
+ */
+typedef struct
+{
+  __IO uint32_t CTRL;                    /*!< Offset: 0x000 (R/W)  SysTick Control and Status Register */
+  __IO uint32_t LOAD;                    /*!< Offset: 0x004 (R/W)  SysTick Reload Value Register       */
+  __IO uint32_t VAL;                     /*!< Offset: 0x008 (R/W)  SysTick Current Value Register      */
+  __I  uint32_t CALIB;                   /*!< Offset: 0x00C (R/ )  SysTick Calibration Register        */
+} SysTick_Type;
+
+/* SysTick Control / Status Register Definitions */
+#define SysTick_CTRL_COUNTFLAG_Pos         16                                             /*!< SysTick CTRL: COUNTFLAG Position */
+#define SysTick_CTRL_COUNTFLAG_Msk         (1UL << SysTick_CTRL_COUNTFLAG_Pos)            /*!< SysTick CTRL: COUNTFLAG Mask */
+
+#define SysTick_CTRL_CLKSOURCE_Pos          2                                             /*!< SysTick CTRL: CLKSOURCE Position */
+#define SysTick_CTRL_CLKSOURCE_Msk         (1UL << SysTick_CTRL_CLKSOURCE_Pos)            /*!< SysTick CTRL: CLKSOURCE Mask */
+
+#define SysTick_CTRL_TICKINT_Pos            1                                             /*!< SysTick CTRL: TICKINT Position */
+#define SysTick_CTRL_TICKINT_Msk           (1UL << SysTick_CTRL_TICKINT_Pos)              /*!< SysTick CTRL: TICKINT Mask */
+
+#define SysTick_CTRL_ENABLE_Pos             0                                             /*!< SysTick CTRL: ENABLE Position */
+#define SysTick_CTRL_ENABLE_Msk            (1UL << SysTick_CTRL_ENABLE_Pos)               /*!< SysTick CTRL: ENABLE Mask */
+
+/* SysTick Reload Register Definitions */
+#define SysTick_LOAD_RELOAD_Pos             0                                             /*!< SysTick LOAD: RELOAD Position */
+#define SysTick_LOAD_RELOAD_Msk            (0xFFFFFFUL << SysTick_LOAD_RELOAD_Pos)        /*!< SysTick LOAD: RELOAD Mask */
+
+/* SysTick Current Register Definitions */
+#define SysTick_VAL_CURRENT_Pos             0                                             /*!< SysTick VAL: CURRENT Position */
+#define SysTick_VAL_CURRENT_Msk            (0xFFFFFFUL << SysTick_VAL_CURRENT_Pos)        /*!< SysTick VAL: CURRENT Mask */
+
+/* SysTick Calibration Register Definitions */
+#define SysTick_CALIB_NOREF_Pos            31                                             /*!< SysTick CALIB: NOREF Position */
+#define SysTick_CALIB_NOREF_Msk            (1UL << SysTick_CALIB_NOREF_Pos)               /*!< SysTick CALIB: NOREF Mask */
+
+#define SysTick_CALIB_SKEW_Pos             30                                             /*!< SysTick CALIB: SKEW Position */
+#define SysTick_CALIB_SKEW_Msk             (1UL << SysTick_CALIB_SKEW_Pos)                /*!< SysTick CALIB: SKEW Mask */
+
+#define SysTick_CALIB_TENMS_Pos             0                                             /*!< SysTick CALIB: TENMS Position */
+#define SysTick_CALIB_TENMS_Msk            (0xFFFFFFUL << SysTick_VAL_CURRENT_Pos)        /*!< SysTick CALIB: TENMS Mask */
+
+/*@} end of group CMSIS_SysTick */
+
+
+/** \ingroup  CMSIS_core_register
+    \defgroup CMSIS_ITM     Instrumentation Trace Macrocell (ITM)
+    \brief      Type definitions for the Instrumentation Trace Macrocell (ITM)
+  @{
+ */
+
+/** \brief  Structure type to access the Instrumentation Trace Macrocell Register (ITM).
+ */
+typedef struct
+{
+  __O  union
+  {
+    __O  uint8_t    u8;                  /*!< Offset: 0x000 ( /W)  ITM Stimulus Port 8-bit                   */
+    __O  uint16_t   u16;                 /*!< Offset: 0x000 ( /W)  ITM Stimulus Port 16-bit                  */
+    __O  uint32_t   u32;                 /*!< Offset: 0x000 ( /W)  ITM Stimulus Port 32-bit                  */
+  }  PORT [32];                          /*!< Offset: 0x000 ( /W)  ITM Stimulus Port Registers               */
+       uint32_t RESERVED0[864];
+  __IO uint32_t TER;                     /*!< Offset: 0xE00 (R/W)  ITM Trace Enable Register                 */
+       uint32_t RESERVED1[15];
+  __IO uint32_t TPR;                     /*!< Offset: 0xE40 (R/W)  ITM Trace Privilege Register              */
+       uint32_t RESERVED2[15];
+  __IO uint32_t TCR;                     /*!< Offset: 0xE80 (R/W)  ITM Trace Control Register                */
+       uint32_t RESERVED3[29];                                  
+  __O  uint32_t IWR;                     /*!< Offset: 0xEF8 ( /W)  ITM Integration Write Register            */
+  __I  uint32_t IRR;                     /*!< Offset: 0xEFC (R/ )  ITM Integration Read Register             */
+  __IO uint32_t IMCR;                    /*!< Offset: 0xF00 (R/W)  ITM Integration Mode Control Register     */
+       uint32_t RESERVED4[43];                                  
+  __O  uint32_t LAR;                     /*!< Offset: 0xFB0 ( /W)  ITM Lock Access Register                  */
+  __I  uint32_t LSR;                     /*!< Offset: 0xFB4 (R/ )  ITM Lock Status Register                  */
+       uint32_t RESERVED5[6];                                   
+  __I  uint32_t PID4;                    /*!< Offset: 0xFD0 (R/ )  ITM Peripheral Identification Register #4 */
+  __I  uint32_t PID5;                    /*!< Offset: 0xFD4 (R/ )  ITM Peripheral Identification Register #5 */
+  __I  uint32_t PID6;                    /*!< Offset: 0xFD8 (R/ )  ITM Peripheral Identification Register #6 */
+  __I  uint32_t PID7;                    /*!< Offset: 0xFDC (R/ )  ITM Peripheral Identification Register #7 */
+  __I  uint32_t PID0;                    /*!< Offset: 0xFE0 (R/ )  ITM Peripheral Identification Register #0 */
+  __I  uint32_t PID1;                    /*!< Offset: 0xFE4 (R/ )  ITM Peripheral Identification Register #1 */
+  __I  uint32_t PID2;                    /*!< Offset: 0xFE8 (R/ )  ITM Peripheral Identification Register #2 */
+  __I  uint32_t PID3;                    /*!< Offset: 0xFEC (R/ )  ITM Peripheral Identification Register #3 */
+  __I  uint32_t CID0;                    /*!< Offset: 0xFF0 (R/ )  ITM Component  Identification Register #0 */
+  __I  uint32_t CID1;                    /*!< Offset: 0xFF4 (R/ )  ITM Component  Identification Register #1 */
+  __I  uint32_t CID2;                    /*!< Offset: 0xFF8 (R/ )  ITM Component  Identification Register #2 */
+  __I  uint32_t CID3;                    /*!< Offset: 0xFFC (R/ )  ITM Component  Identification Register #3 */
+} ITM_Type;
+
+/* ITM Trace Privilege Register Definitions */
+#define ITM_TPR_PRIVMASK_Pos                0                                             /*!< ITM TPR: PRIVMASK Position */
+#define ITM_TPR_PRIVMASK_Msk               (0xFUL << ITM_TPR_PRIVMASK_Pos)                /*!< ITM TPR: PRIVMASK Mask */
+
+/* ITM Trace Control Register Definitions */
+#define ITM_TCR_BUSY_Pos                   23                                             /*!< ITM TCR: BUSY Position */
+#define ITM_TCR_BUSY_Msk                   (1UL << ITM_TCR_BUSY_Pos)                      /*!< ITM TCR: BUSY Mask */
+
+#define ITM_TCR_TraceBusID_Pos             16                                             /*!< ITM TCR: ATBID Position */
+#define ITM_TCR_TraceBusID_Msk             (0x7FUL << ITM_TCR_TraceBusID_Pos)             /*!< ITM TCR: ATBID Mask */
+
+#define ITM_TCR_GTSFREQ_Pos                10                                             /*!< ITM TCR: Global timestamp frequency Position */
+#define ITM_TCR_GTSFREQ_Msk                (3UL << ITM_TCR_GTSFREQ_Pos)                   /*!< ITM TCR: Global timestamp frequency Mask */
+
+#define ITM_TCR_TSPrescale_Pos              8                                             /*!< ITM TCR: TSPrescale Position */
+#define ITM_TCR_TSPrescale_Msk             (3UL << ITM_TCR_TSPrescale_Pos)                /*!< ITM TCR: TSPrescale Mask */
+
+#define ITM_TCR_SWOENA_Pos                  4                                             /*!< ITM TCR: SWOENA Position */
+#define ITM_TCR_SWOENA_Msk                 (1UL << ITM_TCR_SWOENA_Pos)                    /*!< ITM TCR: SWOENA Mask */
+
+#define ITM_TCR_DWTENA_Pos                  3                                             /*!< ITM TCR: DWTENA Position */
+#define ITM_TCR_DWTENA_Msk                 (1UL << ITM_TCR_DWTENA_Pos)                    /*!< ITM TCR: DWTENA Mask */
+
+#define ITM_TCR_SYNCENA_Pos                 2                                             /*!< ITM TCR: SYNCENA Position */
+#define ITM_TCR_SYNCENA_Msk                (1UL << ITM_TCR_SYNCENA_Pos)                   /*!< ITM TCR: SYNCENA Mask */
+
+#define ITM_TCR_TSENA_Pos                   1                                             /*!< ITM TCR: TSENA Position */
+#define ITM_TCR_TSENA_Msk                  (1UL << ITM_TCR_TSENA_Pos)                     /*!< ITM TCR: TSENA Mask */
+
+#define ITM_TCR_ITMENA_Pos                  0                                             /*!< ITM TCR: ITM Enable bit Position */
+#define ITM_TCR_ITMENA_Msk                 (1UL << ITM_TCR_ITMENA_Pos)                    /*!< ITM TCR: ITM Enable bit Mask */
+
+/* ITM Integration Write Register Definitions */
+#define ITM_IWR_ATVALIDM_Pos                0                                             /*!< ITM IWR: ATVALIDM Position */
+#define ITM_IWR_ATVALIDM_Msk               (1UL << ITM_IWR_ATVALIDM_Pos)                  /*!< ITM IWR: ATVALIDM Mask */
+
+/* ITM Integration Read Register Definitions */
+#define ITM_IRR_ATREADYM_Pos                0                                             /*!< ITM IRR: ATREADYM Position */
+#define ITM_IRR_ATREADYM_Msk               (1UL << ITM_IRR_ATREADYM_Pos)                  /*!< ITM IRR: ATREADYM Mask */
+
+/* ITM Integration Mode Control Register Definitions */
+#define ITM_IMCR_INTEGRATION_Pos            0                                             /*!< ITM IMCR: INTEGRATION Position */
+#define ITM_IMCR_INTEGRATION_Msk           (1UL << ITM_IMCR_INTEGRATION_Pos)              /*!< ITM IMCR: INTEGRATION Mask */
+
+/* ITM Lock Status Register Definitions */
+#define ITM_LSR_ByteAcc_Pos                 2                                             /*!< ITM LSR: ByteAcc Position */
+#define ITM_LSR_ByteAcc_Msk                (1UL << ITM_LSR_ByteAcc_Pos)                   /*!< ITM LSR: ByteAcc Mask */
+
+#define ITM_LSR_Access_Pos                  1                                             /*!< ITM LSR: Access Position */
+#define ITM_LSR_Access_Msk                 (1UL << ITM_LSR_Access_Pos)                    /*!< ITM LSR: Access Mask */
+
+#define ITM_LSR_Present_Pos                 0                                             /*!< ITM LSR: Present Position */
+#define ITM_LSR_Present_Msk                (1UL << ITM_LSR_Present_Pos)                   /*!< ITM LSR: Present Mask */
+
+/*@}*/ /* end of group CMSIS_ITM */
+
+
+/** \ingroup  CMSIS_core_register
+    \defgroup CMSIS_DWT     Data Watchpoint and Trace (DWT)
+    \brief      Type definitions for the Data Watchpoint and Trace (DWT)
+  @{
+ */
+
+/** \brief  Structure type to access the Data Watchpoint and Trace Register (DWT).
+ */
+typedef struct
+{
+  __IO uint32_t CTRL;                    /*!< Offset: 0x000 (R/W)  Control Register                          */
+  __IO uint32_t CYCCNT;                  /*!< Offset: 0x004 (R/W)  Cycle Count Register                      */
+  __IO uint32_t CPICNT;                  /*!< Offset: 0x008 (R/W)  CPI Count Register                        */
+  __IO uint32_t EXCCNT;                  /*!< Offset: 0x00C (R/W)  Exception Overhead Count Register         */
+  __IO uint32_t SLEEPCNT;                /*!< Offset: 0x010 (R/W)  Sleep Count Register                      */
+  __IO uint32_t LSUCNT;                  /*!< Offset: 0x014 (R/W)  LSU Count Register                        */
+  __IO uint32_t FOLDCNT;                 /*!< Offset: 0x018 (R/W)  Folded-instruction Count Register         */
+  __I  uint32_t PCSR;                    /*!< Offset: 0x01C (R/ )  Program Counter Sample Register           */
+  __IO uint32_t COMP0;                   /*!< Offset: 0x020 (R/W)  Comparator Register 0                     */
+  __IO uint32_t MASK0;                   /*!< Offset: 0x024 (R/W)  Mask Register 0                           */
+  __IO uint32_t FUNCTION0;               /*!< Offset: 0x028 (R/W)  Function Register 0                       */
+       uint32_t RESERVED0[1];
+  __IO uint32_t COMP1;                   /*!< Offset: 0x030 (R/W)  Comparator Register 1                     */
+  __IO uint32_t MASK1;                   /*!< Offset: 0x034 (R/W)  Mask Register 1                           */
+  __IO uint32_t FUNCTION1;               /*!< Offset: 0x038 (R/W)  Function Register 1                       */
+       uint32_t RESERVED1[1];
+  __IO uint32_t COMP2;                   /*!< Offset: 0x040 (R/W)  Comparator Register 2                     */
+  __IO uint32_t MASK2;                   /*!< Offset: 0x044 (R/W)  Mask Register 2                           */
+  __IO uint32_t FUNCTION2;               /*!< Offset: 0x048 (R/W)  Function Register 2                       */
+       uint32_t RESERVED2[1];
+  __IO uint32_t COMP3;                   /*!< Offset: 0x050 (R/W)  Comparator Register 3                     */
+  __IO uint32_t MASK3;                   /*!< Offset: 0x054 (R/W)  Mask Register 3                           */
+  __IO uint32_t FUNCTION3;               /*!< Offset: 0x058 (R/W)  Function Register 3                       */
+} DWT_Type;
+
+/* DWT Control Register Definitions */
+#define DWT_CTRL_NUMCOMP_Pos               28                                          /*!< DWT CTRL: NUMCOMP Position */
+#define DWT_CTRL_NUMCOMP_Msk               (0xFUL << DWT_CTRL_NUMCOMP_Pos)             /*!< DWT CTRL: NUMCOMP Mask */
+
+#define DWT_CTRL_NOTRCPKT_Pos              27                                          /*!< DWT CTRL: NOTRCPKT Position */
+#define DWT_CTRL_NOTRCPKT_Msk              (0x1UL << DWT_CTRL_NOTRCPKT_Pos)            /*!< DWT CTRL: NOTRCPKT Mask */
+
+#define DWT_CTRL_NOEXTTRIG_Pos             26                                          /*!< DWT CTRL: NOEXTTRIG Position */
+#define DWT_CTRL_NOEXTTRIG_Msk             (0x1UL << DWT_CTRL_NOEXTTRIG_Pos)           /*!< DWT CTRL: NOEXTTRIG Mask */
+
+#define DWT_CTRL_NOCYCCNT_Pos              25                                          /*!< DWT CTRL: NOCYCCNT Position */
+#define DWT_CTRL_NOCYCCNT_Msk              (0x1UL << DWT_CTRL_NOCYCCNT_Pos)            /*!< DWT CTRL: NOCYCCNT Mask */
+
+#define DWT_CTRL_NOPRFCNT_Pos              24                                          /*!< DWT CTRL: NOPRFCNT Position */
+#define DWT_CTRL_NOPRFCNT_Msk              (0x1UL << DWT_CTRL_NOPRFCNT_Pos)            /*!< DWT CTRL: NOPRFCNT Mask */
+
+#define DWT_CTRL_CYCEVTENA_Pos             22                                          /*!< DWT CTRL: CYCEVTENA Position */
+#define DWT_CTRL_CYCEVTENA_Msk             (0x1UL << DWT_CTRL_CYCEVTENA_Pos)           /*!< DWT CTRL: CYCEVTENA Mask */
+
+#define DWT_CTRL_FOLDEVTENA_Pos            21                                          /*!< DWT CTRL: FOLDEVTENA Position */
+#define DWT_CTRL_FOLDEVTENA_Msk            (0x1UL << DWT_CTRL_FOLDEVTENA_Pos)          /*!< DWT CTRL: FOLDEVTENA Mask */
+
+#define DWT_CTRL_LSUEVTENA_Pos             20                                          /*!< DWT CTRL: LSUEVTENA Position */
+#define DWT_CTRL_LSUEVTENA_Msk             (0x1UL << DWT_CTRL_LSUEVTENA_Pos)           /*!< DWT CTRL: LSUEVTENA Mask */
+
+#define DWT_CTRL_SLEEPEVTENA_Pos           19                                          /*!< DWT CTRL: SLEEPEVTENA Position */
+#define DWT_CTRL_SLEEPEVTENA_Msk           (0x1UL << DWT_CTRL_SLEEPEVTENA_Pos)         /*!< DWT CTRL: SLEEPEVTENA Mask */
+
+#define DWT_CTRL_EXCEVTENA_Pos             18                                          /*!< DWT CTRL: EXCEVTENA Position */
+#define DWT_CTRL_EXCEVTENA_Msk             (0x1UL << DWT_CTRL_EXCEVTENA_Pos)           /*!< DWT CTRL: EXCEVTENA Mask */
+
+#define DWT_CTRL_CPIEVTENA_Pos             17                                          /*!< DWT CTRL: CPIEVTENA Position */
+#define DWT_CTRL_CPIEVTENA_Msk             (0x1UL << DWT_CTRL_CPIEVTENA_Pos)           /*!< DWT CTRL: CPIEVTENA Mask */
+
+#define DWT_CTRL_EXCTRCENA_Pos             16                                          /*!< DWT CTRL: EXCTRCENA Position */
+#define DWT_CTRL_EXCTRCENA_Msk             (0x1UL << DWT_CTRL_EXCTRCENA_Pos)           /*!< DWT CTRL: EXCTRCENA Mask */
+
+#define DWT_CTRL_PCSAMPLENA_Pos            12                                          /*!< DWT CTRL: PCSAMPLENA Position */
+#define DWT_CTRL_PCSAMPLENA_Msk            (0x1UL << DWT_CTRL_PCSAMPLENA_Pos)          /*!< DWT CTRL: PCSAMPLENA Mask */
+
+#define DWT_CTRL_SYNCTAP_Pos               10                                          /*!< DWT CTRL: SYNCTAP Position */
+#define DWT_CTRL_SYNCTAP_Msk               (0x3UL << DWT_CTRL_SYNCTAP_Pos)             /*!< DWT CTRL: SYNCTAP Mask */
+
+#define DWT_CTRL_CYCTAP_Pos                 9                                          /*!< DWT CTRL: CYCTAP Position */
+#define DWT_CTRL_CYCTAP_Msk                (0x1UL << DWT_CTRL_CYCTAP_Pos)              /*!< DWT CTRL: CYCTAP Mask */
+
+#define DWT_CTRL_POSTINIT_Pos               5                                          /*!< DWT CTRL: POSTINIT Position */
+#define DWT_CTRL_POSTINIT_Msk              (0xFUL << DWT_CTRL_POSTINIT_Pos)            /*!< DWT CTRL: POSTINIT Mask */
+
+#define DWT_CTRL_POSTPRESET_Pos             1                                          /*!< DWT CTRL: POSTPRESET Position */
+#define DWT_CTRL_POSTPRESET_Msk            (0xFUL << DWT_CTRL_POSTPRESET_Pos)          /*!< DWT CTRL: POSTPRESET Mask */
+
+#define DWT_CTRL_CYCCNTENA_Pos              0                                          /*!< DWT CTRL: CYCCNTENA Position */
+#define DWT_CTRL_CYCCNTENA_Msk             (0x1UL << DWT_CTRL_CYCCNTENA_Pos)           /*!< DWT CTRL: CYCCNTENA Mask */
+
+/* DWT CPI Count Register Definitions */
+#define DWT_CPICNT_CPICNT_Pos               0                                          /*!< DWT CPICNT: CPICNT Position */
+#define DWT_CPICNT_CPICNT_Msk              (0xFFUL << DWT_CPICNT_CPICNT_Pos)           /*!< DWT CPICNT: CPICNT Mask */
+
+/* DWT Exception Overhead Count Register Definitions */
+#define DWT_EXCCNT_EXCCNT_Pos               0                                          /*!< DWT EXCCNT: EXCCNT Position */
+#define DWT_EXCCNT_EXCCNT_Msk              (0xFFUL << DWT_EXCCNT_EXCCNT_Pos)           /*!< DWT EXCCNT: EXCCNT Mask */
+
+/* DWT Sleep Count Register Definitions */
+#define DWT_SLEEPCNT_SLEEPCNT_Pos           0                                          /*!< DWT SLEEPCNT: SLEEPCNT Position */
+#define DWT_SLEEPCNT_SLEEPCNT_Msk          (0xFFUL << DWT_SLEEPCNT_SLEEPCNT_Pos)       /*!< DWT SLEEPCNT: SLEEPCNT Mask */
+
+/* DWT LSU Count Register Definitions */
+#define DWT_LSUCNT_LSUCNT_Pos               0                                          /*!< DWT LSUCNT: LSUCNT Position */
+#define DWT_LSUCNT_LSUCNT_Msk              (0xFFUL << DWT_LSUCNT_LSUCNT_Pos)           /*!< DWT LSUCNT: LSUCNT Mask */
+
+/* DWT Folded-instruction Count Register Definitions */
+#define DWT_FOLDCNT_FOLDCNT_Pos             0                                          /*!< DWT FOLDCNT: FOLDCNT Position */
+#define DWT_FOLDCNT_FOLDCNT_Msk            (0xFFUL << DWT_FOLDCNT_FOLDCNT_Pos)         /*!< DWT FOLDCNT: FOLDCNT Mask */
+
+/* DWT Comparator Mask Register Definitions */
+#define DWT_MASK_MASK_Pos                   0                                          /*!< DWT MASK: MASK Position */
+#define DWT_MASK_MASK_Msk                  (0x1FUL << DWT_MASK_MASK_Pos)               /*!< DWT MASK: MASK Mask */
+
+/* DWT Comparator Function Register Definitions */
+#define DWT_FUNCTION_MATCHED_Pos           24                                          /*!< DWT FUNCTION: MATCHED Position */
+#define DWT_FUNCTION_MATCHED_Msk           (0x1UL << DWT_FUNCTION_MATCHED_Pos)         /*!< DWT FUNCTION: MATCHED Mask */
+
+#define DWT_FUNCTION_DATAVADDR1_Pos        16                                          /*!< DWT FUNCTION: DATAVADDR1 Position */
+#define DWT_FUNCTION_DATAVADDR1_Msk        (0xFUL << DWT_FUNCTION_DATAVADDR1_Pos)      /*!< DWT FUNCTION: DATAVADDR1 Mask */
+
+#define DWT_FUNCTION_DATAVADDR0_Pos        12                                          /*!< DWT FUNCTION: DATAVADDR0 Position */
+#define DWT_FUNCTION_DATAVADDR0_Msk        (0xFUL << DWT_FUNCTION_DATAVADDR0_Pos)      /*!< DWT FUNCTION: DATAVADDR0 Mask */
+
+#define DWT_FUNCTION_DATAVSIZE_Pos         10                                          /*!< DWT FUNCTION: DATAVSIZE Position */
+#define DWT_FUNCTION_DATAVSIZE_Msk         (0x3UL << DWT_FUNCTION_DATAVSIZE_Pos)       /*!< DWT FUNCTION: DATAVSIZE Mask */
+
+#define DWT_FUNCTION_LNK1ENA_Pos            9                                          /*!< DWT FUNCTION: LNK1ENA Position */
+#define DWT_FUNCTION_LNK1ENA_Msk           (0x1UL << DWT_FUNCTION_LNK1ENA_Pos)         /*!< DWT FUNCTION: LNK1ENA Mask */
+
+#define DWT_FUNCTION_DATAVMATCH_Pos         8                                          /*!< DWT FUNCTION: DATAVMATCH Position */
+#define DWT_FUNCTION_DATAVMATCH_Msk        (0x1UL << DWT_FUNCTION_DATAVMATCH_Pos)      /*!< DWT FUNCTION: DATAVMATCH Mask */
+
+#define DWT_FUNCTION_CYCMATCH_Pos           7                                          /*!< DWT FUNCTION: CYCMATCH Position */
+#define DWT_FUNCTION_CYCMATCH_Msk          (0x1UL << DWT_FUNCTION_CYCMATCH_Pos)        /*!< DWT FUNCTION: CYCMATCH Mask */
+
+#define DWT_FUNCTION_EMITRANGE_Pos          5                                          /*!< DWT FUNCTION: EMITRANGE Position */
+#define DWT_FUNCTION_EMITRANGE_Msk         (0x1UL << DWT_FUNCTION_EMITRANGE_Pos)       /*!< DWT FUNCTION: EMITRANGE Mask */
+
+#define DWT_FUNCTION_FUNCTION_Pos           0                                          /*!< DWT FUNCTION: FUNCTION Position */
+#define DWT_FUNCTION_FUNCTION_Msk          (0xFUL << DWT_FUNCTION_FUNCTION_Pos)        /*!< DWT FUNCTION: FUNCTION Mask */
+
+/*@}*/ /* end of group CMSIS_DWT */
+
+
+/** \ingroup  CMSIS_core_register
+    \defgroup CMSIS_TPI     Trace Port Interface (TPI)
+    \brief      Type definitions for the Trace Port Interface (TPI)
+  @{
+ */
+
+/** \brief  Structure type to access the Trace Port Interface Register (TPI).
+ */
+typedef struct
+{
+  __IO uint32_t SSPSR;                   /*!< Offset: 0x000 (R/ )  Supported Parallel Port Size Register     */
+  __IO uint32_t CSPSR;                   /*!< Offset: 0x004 (R/W)  Current Parallel Port Size Register */
+       uint32_t RESERVED0[2];
+  __IO uint32_t ACPR;                    /*!< Offset: 0x010 (R/W)  Asynchronous Clock Prescaler Register */
+       uint32_t RESERVED1[55];
+  __IO uint32_t SPPR;                    /*!< Offset: 0x0F0 (R/W)  Selected Pin Protocol Register */
+       uint32_t RESERVED2[131];
+  __I  uint32_t FFSR;                    /*!< Offset: 0x300 (R/ )  Formatter and Flush Status Register */
+  __IO uint32_t FFCR;                    /*!< Offset: 0x304 (R/W)  Formatter and Flush Control Register */
+  __I  uint32_t FSCR;                    /*!< Offset: 0x308 (R/ )  Formatter Synchronization Counter Register */
+       uint32_t RESERVED3[759];
+  __I  uint32_t TRIGGER;                 /*!< Offset: 0xEE8 (R/ )  TRIGGER */
+  __I  uint32_t FIFO0;                   /*!< Offset: 0xEEC (R/ )  Integration ETM Data */
+  __I  uint32_t ITATBCTR2;               /*!< Offset: 0xEF0 (R/ )  ITATBCTR2 */
+       uint32_t RESERVED4[1];
+  __I  uint32_t ITATBCTR0;               /*!< Offset: 0xEF8 (R/ )  ITATBCTR0 */
+  __I  uint32_t FIFO1;                   /*!< Offset: 0xEFC (R/ )  Integration ITM Data */
+  __IO uint32_t ITCTRL;                  /*!< Offset: 0xF00 (R/W)  Integration Mode Control */
+       uint32_t RESERVED5[39];
+  __IO uint32_t CLAIMSET;                /*!< Offset: 0xFA0 (R/W)  Claim tag set */
+  __IO uint32_t CLAIMCLR;                /*!< Offset: 0xFA4 (R/W)  Claim tag clear */
+       uint32_t RESERVED7[8];
+  __I  uint32_t DEVID;                   /*!< Offset: 0xFC8 (R/ )  TPIU_DEVID */
+  __I  uint32_t DEVTYPE;                 /*!< Offset: 0xFCC (R/ )  TPIU_DEVTYPE */
+} TPI_Type;
+
+/* TPI Asynchronous Clock Prescaler Register Definitions */
+#define TPI_ACPR_PRESCALER_Pos              0                                          /*!< TPI ACPR: PRESCALER Position */
+#define TPI_ACPR_PRESCALER_Msk             (0x1FFFUL << TPI_ACPR_PRESCALER_Pos)        /*!< TPI ACPR: PRESCALER Mask */
+
+/* TPI Selected Pin Protocol Register Definitions */
+#define TPI_SPPR_TXMODE_Pos                 0                                          /*!< TPI SPPR: TXMODE Position */
+#define TPI_SPPR_TXMODE_Msk                (0x3UL << TPI_SPPR_TXMODE_Pos)              /*!< TPI SPPR: TXMODE Mask */
+
+/* TPI Formatter and Flush Status Register Definitions */
+#define TPI_FFSR_FtNonStop_Pos              3                                          /*!< TPI FFSR: FtNonStop Position */
+#define TPI_FFSR_FtNonStop_Msk             (0x1UL << TPI_FFSR_FtNonStop_Pos)           /*!< TPI FFSR: FtNonStop Mask */
+
+#define TPI_FFSR_TCPresent_Pos              2                                          /*!< TPI FFSR: TCPresent Position */
+#define TPI_FFSR_TCPresent_Msk             (0x1UL << TPI_FFSR_TCPresent_Pos)           /*!< TPI FFSR: TCPresent Mask */
+
+#define TPI_FFSR_FtStopped_Pos              1                                          /*!< TPI FFSR: FtStopped Position */
+#define TPI_FFSR_FtStopped_Msk             (0x1UL << TPI_FFSR_FtStopped_Pos)           /*!< TPI FFSR: FtStopped Mask */
+
+#define TPI_FFSR_FlInProg_Pos               0                                          /*!< TPI FFSR: FlInProg Position */
+#define TPI_FFSR_FlInProg_Msk              (0x1UL << TPI_FFSR_FlInProg_Pos)            /*!< TPI FFSR: FlInProg Mask */
+
+/* TPI Formatter and Flush Control Register Definitions */
+#define TPI_FFCR_TrigIn_Pos                 8                                          /*!< TPI FFCR: TrigIn Position */
+#define TPI_FFCR_TrigIn_Msk                (0x1UL << TPI_FFCR_TrigIn_Pos)              /*!< TPI FFCR: TrigIn Mask */
+
+#define TPI_FFCR_EnFCont_Pos                1                                          /*!< TPI FFCR: EnFCont Position */
+#define TPI_FFCR_EnFCont_Msk               (0x1UL << TPI_FFCR_EnFCont_Pos)             /*!< TPI FFCR: EnFCont Mask */
+
+/* TPI TRIGGER Register Definitions */
+#define TPI_TRIGGER_TRIGGER_Pos             0                                          /*!< TPI TRIGGER: TRIGGER Position */
+#define TPI_TRIGGER_TRIGGER_Msk            (0x1UL << TPI_TRIGGER_TRIGGER_Pos)          /*!< TPI TRIGGER: TRIGGER Mask */
+
+/* TPI Integration ETM Data Register Definitions (FIFO0) */
+#define TPI_FIFO0_ITM_ATVALID_Pos          29                                          /*!< TPI FIFO0: ITM_ATVALID Position */
+#define TPI_FIFO0_ITM_ATVALID_Msk          (0x3UL << TPI_FIFO0_ITM_ATVALID_Pos)        /*!< TPI FIFO0: ITM_ATVALID Mask */
+
+#define TPI_FIFO0_ITM_bytecount_Pos        27                                          /*!< TPI FIFO0: ITM_bytecount Position */
+#define TPI_FIFO0_ITM_bytecount_Msk        (0x3UL << TPI_FIFO0_ITM_bytecount_Pos)      /*!< TPI FIFO0: ITM_bytecount Mask */
+
+#define TPI_FIFO0_ETM_ATVALID_Pos          26                                          /*!< TPI FIFO0: ETM_ATVALID Position */
+#define TPI_FIFO0_ETM_ATVALID_Msk          (0x3UL << TPI_FIFO0_ETM_ATVALID_Pos)        /*!< TPI FIFO0: ETM_ATVALID Mask */
+
+#define TPI_FIFO0_ETM_bytecount_Pos        24                                          /*!< TPI FIFO0: ETM_bytecount Position */
+#define TPI_FIFO0_ETM_bytecount_Msk        (0x3UL << TPI_FIFO0_ETM_bytecount_Pos)      /*!< TPI FIFO0: ETM_bytecount Mask */
+
+#define TPI_FIFO0_ETM2_Pos                 16                                          /*!< TPI FIFO0: ETM2 Position */
+#define TPI_FIFO0_ETM2_Msk                 (0xFFUL << TPI_FIFO0_ETM2_Pos)              /*!< TPI FIFO0: ETM2 Mask */
+
+#define TPI_FIFO0_ETM1_Pos                  8                                          /*!< TPI FIFO0: ETM1 Position */
+#define TPI_FIFO0_ETM1_Msk                 (0xFFUL << TPI_FIFO0_ETM1_Pos)              /*!< TPI FIFO0: ETM1 Mask */
+
+#define TPI_FIFO0_ETM0_Pos                  0                                          /*!< TPI FIFO0: ETM0 Position */
+#define TPI_FIFO0_ETM0_Msk                 (0xFFUL << TPI_FIFO0_ETM0_Pos)              /*!< TPI FIFO0: ETM0 Mask */
+
+/* TPI ITATBCTR2 Register Definitions */
+#define TPI_ITATBCTR2_ATREADY_Pos           0                                          /*!< TPI ITATBCTR2: ATREADY Position */
+#define TPI_ITATBCTR2_ATREADY_Msk          (0x1UL << TPI_ITATBCTR2_ATREADY_Pos)        /*!< TPI ITATBCTR2: ATREADY Mask */
+
+/* TPI Integration ITM Data Register Definitions (FIFO1) */
+#define TPI_FIFO1_ITM_ATVALID_Pos          29                                          /*!< TPI FIFO1: ITM_ATVALID Position */
+#define TPI_FIFO1_ITM_ATVALID_Msk          (0x3UL << TPI_FIFO1_ITM_ATVALID_Pos)        /*!< TPI FIFO1: ITM_ATVALID Mask */
+
+#define TPI_FIFO1_ITM_bytecount_Pos        27                                          /*!< TPI FIFO1: ITM_bytecount Position */
+#define TPI_FIFO1_ITM_bytecount_Msk        (0x3UL << TPI_FIFO1_ITM_bytecount_Pos)      /*!< TPI FIFO1: ITM_bytecount Mask */
+
+#define TPI_FIFO1_ETM_ATVALID_Pos          26                                          /*!< TPI FIFO1: ETM_ATVALID Position */
+#define TPI_FIFO1_ETM_ATVALID_Msk          (0x3UL << TPI_FIFO1_ETM_ATVALID_Pos)        /*!< TPI FIFO1: ETM_ATVALID Mask */
+
+#define TPI_FIFO1_ETM_bytecount_Pos        24                                          /*!< TPI FIFO1: ETM_bytecount Position */
+#define TPI_FIFO1_ETM_bytecount_Msk        (0x3UL << TPI_FIFO1_ETM_bytecount_Pos)      /*!< TPI FIFO1: ETM_bytecount Mask */
+
+#define TPI_FIFO1_ITM2_Pos                 16                                          /*!< TPI FIFO1: ITM2 Position */
+#define TPI_FIFO1_ITM2_Msk                 (0xFFUL << TPI_FIFO1_ITM2_Pos)              /*!< TPI FIFO1: ITM2 Mask */
+
+#define TPI_FIFO1_ITM1_Pos                  8                                          /*!< TPI FIFO1: ITM1 Position */
+#define TPI_FIFO1_ITM1_Msk                 (0xFFUL << TPI_FIFO1_ITM1_Pos)              /*!< TPI FIFO1: ITM1 Mask */
+
+#define TPI_FIFO1_ITM0_Pos                  0                                          /*!< TPI FIFO1: ITM0 Position */
+#define TPI_FIFO1_ITM0_Msk                 (0xFFUL << TPI_FIFO1_ITM0_Pos)              /*!< TPI FIFO1: ITM0 Mask */
+
+/* TPI ITATBCTR0 Register Definitions */
+#define TPI_ITATBCTR0_ATREADY_Pos           0                                          /*!< TPI ITATBCTR0: ATREADY Position */
+#define TPI_ITATBCTR0_ATREADY_Msk          (0x1UL << TPI_ITATBCTR0_ATREADY_Pos)        /*!< TPI ITATBCTR0: ATREADY Mask */
+
+/* TPI Integration Mode Control Register Definitions */
+#define TPI_ITCTRL_Mode_Pos                 0                                          /*!< TPI ITCTRL: Mode Position */
+#define TPI_ITCTRL_Mode_Msk                (0x1UL << TPI_ITCTRL_Mode_Pos)              /*!< TPI ITCTRL: Mode Mask */
+
+/* TPI DEVID Register Definitions */
+#define TPI_DEVID_NRZVALID_Pos             11                                          /*!< TPI DEVID: NRZVALID Position */
+#define TPI_DEVID_NRZVALID_Msk             (0x1UL << TPI_DEVID_NRZVALID_Pos)           /*!< TPI DEVID: NRZVALID Mask */
+
+#define TPI_DEVID_MANCVALID_Pos            10                                          /*!< TPI DEVID: MANCVALID Position */
+#define TPI_DEVID_MANCVALID_Msk            (0x1UL << TPI_DEVID_MANCVALID_Pos)          /*!< TPI DEVID: MANCVALID Mask */
+
+#define TPI_DEVID_PTINVALID_Pos             9                                          /*!< TPI DEVID: PTINVALID Position */
+#define TPI_DEVID_PTINVALID_Msk            (0x1UL << TPI_DEVID_PTINVALID_Pos)          /*!< TPI DEVID: PTINVALID Mask */
+
+#define TPI_DEVID_MinBufSz_Pos              6                                          /*!< TPI DEVID: MinBufSz Position */
+#define TPI_DEVID_MinBufSz_Msk             (0x7UL << TPI_DEVID_MinBufSz_Pos)           /*!< TPI DEVID: MinBufSz Mask */
+
+#define TPI_DEVID_AsynClkIn_Pos             5                                          /*!< TPI DEVID: AsynClkIn Position */
+#define TPI_DEVID_AsynClkIn_Msk            (0x1UL << TPI_DEVID_AsynClkIn_Pos)          /*!< TPI DEVID: AsynClkIn Mask */
+
+#define TPI_DEVID_NrTraceInput_Pos          0                                          /*!< TPI DEVID: NrTraceInput Position */
+#define TPI_DEVID_NrTraceInput_Msk         (0x1FUL << TPI_DEVID_NrTraceInput_Pos)      /*!< TPI DEVID: NrTraceInput Mask */
+
+/* TPI DEVTYPE Register Definitions */
+#define TPI_DEVTYPE_SubType_Pos             0                                          /*!< TPI DEVTYPE: SubType Position */
+#define TPI_DEVTYPE_SubType_Msk            (0xFUL << TPI_DEVTYPE_SubType_Pos)          /*!< TPI DEVTYPE: SubType Mask */
+
+#define TPI_DEVTYPE_MajorType_Pos           4                                          /*!< TPI DEVTYPE: MajorType Position */
+#define TPI_DEVTYPE_MajorType_Msk          (0xFUL << TPI_DEVTYPE_MajorType_Pos)        /*!< TPI DEVTYPE: MajorType Mask */
+
+/*@}*/ /* end of group CMSIS_TPI */
+
+
+#if (__MPU_PRESENT == 1)
+/** \ingroup  CMSIS_core_register
+    \defgroup CMSIS_MPU     Memory Protection Unit (MPU)
+    \brief      Type definitions for the Memory Protection Unit (MPU)
+  @{
+ */
+
+/** \brief  Structure type to access the Memory Protection Unit (MPU).
+ */
+typedef struct
+{
+  __I  uint32_t TYPE;                    /*!< Offset: 0x000 (R/ )  MPU Type Register                              */
+  __IO uint32_t CTRL;                    /*!< Offset: 0x004 (R/W)  MPU Control Register                           */
+  __IO uint32_t RNR;                     /*!< Offset: 0x008 (R/W)  MPU Region RNRber Register                     */
+  __IO uint32_t RBAR;                    /*!< Offset: 0x00C (R/W)  MPU Region Base Address Register               */
+  __IO uint32_t RASR;                    /*!< Offset: 0x010 (R/W)  MPU Region Attribute and Size Register         */
+  __IO uint32_t RBAR_A1;                 /*!< Offset: 0x014 (R/W)  MPU Alias 1 Region Base Address Register       */
+  __IO uint32_t RASR_A1;                 /*!< Offset: 0x018 (R/W)  MPU Alias 1 Region Attribute and Size Register */
+  __IO uint32_t RBAR_A2;                 /*!< Offset: 0x01C (R/W)  MPU Alias 2 Region Base Address Register       */
+  __IO uint32_t RASR_A2;                 /*!< Offset: 0x020 (R/W)  MPU Alias 2 Region Attribute and Size Register */
+  __IO uint32_t RBAR_A3;                 /*!< Offset: 0x024 (R/W)  MPU Alias 3 Region Base Address Register       */
+  __IO uint32_t RASR_A3;                 /*!< Offset: 0x028 (R/W)  MPU Alias 3 Region Attribute and Size Register */
+} MPU_Type;
+
+/* MPU Type Register */
+#define MPU_TYPE_IREGION_Pos               16                                             /*!< MPU TYPE: IREGION Position */
+#define MPU_TYPE_IREGION_Msk               (0xFFUL << MPU_TYPE_IREGION_Pos)               /*!< MPU TYPE: IREGION Mask */
+
+#define MPU_TYPE_DREGION_Pos                8                                             /*!< MPU TYPE: DREGION Position */
+#define MPU_TYPE_DREGION_Msk               (0xFFUL << MPU_TYPE_DREGION_Pos)               /*!< MPU TYPE: DREGION Mask */
+
+#define MPU_TYPE_SEPARATE_Pos               0                                             /*!< MPU TYPE: SEPARATE Position */
+#define MPU_TYPE_SEPARATE_Msk              (1UL << MPU_TYPE_SEPARATE_Pos)                 /*!< MPU TYPE: SEPARATE Mask */
+
+/* MPU Control Register */
+#define MPU_CTRL_PRIVDEFENA_Pos             2                                             /*!< MPU CTRL: PRIVDEFENA Position */
+#define MPU_CTRL_PRIVDEFENA_Msk            (1UL << MPU_CTRL_PRIVDEFENA_Pos)               /*!< MPU CTRL: PRIVDEFENA Mask */
+
+#define MPU_CTRL_HFNMIENA_Pos               1                                             /*!< MPU CTRL: HFNMIENA Position */
+#define MPU_CTRL_HFNMIENA_Msk              (1UL << MPU_CTRL_HFNMIENA_Pos)                 /*!< MPU CTRL: HFNMIENA Mask */
+
+#define MPU_CTRL_ENABLE_Pos                 0                                             /*!< MPU CTRL: ENABLE Position */
+#define MPU_CTRL_ENABLE_Msk                (1UL << MPU_CTRL_ENABLE_Pos)                   /*!< MPU CTRL: ENABLE Mask */
+
+/* MPU Region Number Register */
+#define MPU_RNR_REGION_Pos                  0                                             /*!< MPU RNR: REGION Position */
+#define MPU_RNR_REGION_Msk                 (0xFFUL << MPU_RNR_REGION_Pos)                 /*!< MPU RNR: REGION Mask */
+
+/* MPU Region Base Address Register */
+#define MPU_RBAR_ADDR_Pos                   5                                             /*!< MPU RBAR: ADDR Position */
+#define MPU_RBAR_ADDR_Msk                  (0x7FFFFFFUL << MPU_RBAR_ADDR_Pos)             /*!< MPU RBAR: ADDR Mask */
+
+#define MPU_RBAR_VALID_Pos                  4                                             /*!< MPU RBAR: VALID Position */
+#define MPU_RBAR_VALID_Msk                 (1UL << MPU_RBAR_VALID_Pos)                    /*!< MPU RBAR: VALID Mask */
+
+#define MPU_RBAR_REGION_Pos                 0                                             /*!< MPU RBAR: REGION Position */
+#define MPU_RBAR_REGION_Msk                (0xFUL << MPU_RBAR_REGION_Pos)                 /*!< MPU RBAR: REGION Mask */
+
+/* MPU Region Attribute and Size Register */
+#define MPU_RASR_ATTRS_Pos                 16                                             /*!< MPU RASR: MPU Region Attribute field Position */
+#define MPU_RASR_ATTRS_Msk                 (0xFFFFUL << MPU_RASR_ATTRS_Pos)               /*!< MPU RASR: MPU Region Attribute field Mask */
+
+#define MPU_RASR_XN_Pos                    28                                             /*!< MPU RASR: ATTRS.XN Position */
+#define MPU_RASR_XN_Msk                    (1UL << MPU_RASR_XN_Pos)                       /*!< MPU RASR: ATTRS.XN Mask */
+
+#define MPU_RASR_AP_Pos                    24                                             /*!< MPU RASR: ATTRS.AP Position */
+#define MPU_RASR_AP_Msk                    (0x7UL << MPU_RASR_AP_Pos)                     /*!< MPU RASR: ATTRS.AP Mask */
+
+#define MPU_RASR_TEX_Pos                   19                                             /*!< MPU RASR: ATTRS.TEX Position */
+#define MPU_RASR_TEX_Msk                   (0x7UL << MPU_RASR_TEX_Pos)                    /*!< MPU RASR: ATTRS.TEX Mask */
+
+#define MPU_RASR_S_Pos                     18                                             /*!< MPU RASR: ATTRS.S Position */
+#define MPU_RASR_S_Msk                     (1UL << MPU_RASR_S_Pos)                        /*!< MPU RASR: ATTRS.S Mask */
+
+#define MPU_RASR_C_Pos                     17                                             /*!< MPU RASR: ATTRS.C Position */
+#define MPU_RASR_C_Msk                     (1UL << MPU_RASR_C_Pos)                        /*!< MPU RASR: ATTRS.C Mask */
+
+#define MPU_RASR_B_Pos                     16                                             /*!< MPU RASR: ATTRS.B Position */
+#define MPU_RASR_B_Msk                     (1UL << MPU_RASR_B_Pos)                        /*!< MPU RASR: ATTRS.B Mask */
+
+#define MPU_RASR_SRD_Pos                    8                                             /*!< MPU RASR: Sub-Region Disable Position */
+#define MPU_RASR_SRD_Msk                   (0xFFUL << MPU_RASR_SRD_Pos)                   /*!< MPU RASR: Sub-Region Disable Mask */
+
+#define MPU_RASR_SIZE_Pos                   1                                             /*!< MPU RASR: Region Size Field Position */
+#define MPU_RASR_SIZE_Msk                  (0x1FUL << MPU_RASR_SIZE_Pos)                  /*!< MPU RASR: Region Size Field Mask */
+
+#define MPU_RASR_ENABLE_Pos                 0                                             /*!< MPU RASR: Region enable bit Position */
+#define MPU_RASR_ENABLE_Msk                (1UL << MPU_RASR_ENABLE_Pos)                   /*!< MPU RASR: Region enable bit Disable Mask */
+
+/*@} end of group CMSIS_MPU */
+#endif
+
+
+/** \ingroup  CMSIS_core_register
+    \defgroup CMSIS_CoreDebug       Core Debug Registers (CoreDebug)
+    \brief      Type definitions for the Core Debug Registers
+  @{
+ */
+
+/** \brief  Structure type to access the Core Debug Register (CoreDebug).
+ */
+typedef struct
+{
+  __IO uint32_t DHCSR;                   /*!< Offset: 0x000 (R/W)  Debug Halting Control and Status Register    */
+  __O  uint32_t DCRSR;                   /*!< Offset: 0x004 ( /W)  Debug Core Register Selector Register        */
+  __IO uint32_t DCRDR;                   /*!< Offset: 0x008 (R/W)  Debug Core Register Data Register            */
+  __IO uint32_t DEMCR;                   /*!< Offset: 0x00C (R/W)  Debug Exception and Monitor Control Register */
+} CoreDebug_Type;
+
+/* Debug Halting Control and Status Register */
+#define CoreDebug_DHCSR_DBGKEY_Pos         16                                             /*!< CoreDebug DHCSR: DBGKEY Position */
+#define CoreDebug_DHCSR_DBGKEY_Msk         (0xFFFFUL << CoreDebug_DHCSR_DBGKEY_Pos)       /*!< CoreDebug DHCSR: DBGKEY Mask */
+
+#define CoreDebug_DHCSR_S_RESET_ST_Pos     25                                             /*!< CoreDebug DHCSR: S_RESET_ST Position */
+#define CoreDebug_DHCSR_S_RESET_ST_Msk     (1UL << CoreDebug_DHCSR_S_RESET_ST_Pos)        /*!< CoreDebug DHCSR: S_RESET_ST Mask */
+
+#define CoreDebug_DHCSR_S_RETIRE_ST_Pos    24                                             /*!< CoreDebug DHCSR: S_RETIRE_ST Position */
+#define CoreDebug_DHCSR_S_RETIRE_ST_Msk    (1UL << CoreDebug_DHCSR_S_RETIRE_ST_Pos)       /*!< CoreDebug DHCSR: S_RETIRE_ST Mask */
+
+#define CoreDebug_DHCSR_S_LOCKUP_Pos       19                                             /*!< CoreDebug DHCSR: S_LOCKUP Position */
+#define CoreDebug_DHCSR_S_LOCKUP_Msk       (1UL << CoreDebug_DHCSR_S_LOCKUP_Pos)          /*!< CoreDebug DHCSR: S_LOCKUP Mask */
+
+#define CoreDebug_DHCSR_S_SLEEP_Pos        18                                             /*!< CoreDebug DHCSR: S_SLEEP Position */
+#define CoreDebug_DHCSR_S_SLEEP_Msk        (1UL << CoreDebug_DHCSR_S_SLEEP_Pos)           /*!< CoreDebug DHCSR: S_SLEEP Mask */
+
+#define CoreDebug_DHCSR_S_HALT_Pos         17                                             /*!< CoreDebug DHCSR: S_HALT Position */
+#define CoreDebug_DHCSR_S_HALT_Msk         (1UL << CoreDebug_DHCSR_S_HALT_Pos)            /*!< CoreDebug DHCSR: S_HALT Mask */
+
+#define CoreDebug_DHCSR_S_REGRDY_Pos       16                                             /*!< CoreDebug DHCSR: S_REGRDY Position */
+#define CoreDebug_DHCSR_S_REGRDY_Msk       (1UL << CoreDebug_DHCSR_S_REGRDY_Pos)          /*!< CoreDebug DHCSR: S_REGRDY Mask */
+
+#define CoreDebug_DHCSR_C_SNAPSTALL_Pos     5                                             /*!< CoreDebug DHCSR: C_SNAPSTALL Position */
+#define CoreDebug_DHCSR_C_SNAPSTALL_Msk    (1UL << CoreDebug_DHCSR_C_SNAPSTALL_Pos)       /*!< CoreDebug DHCSR: C_SNAPSTALL Mask */
+
+#define CoreDebug_DHCSR_C_MASKINTS_Pos      3                                             /*!< CoreDebug DHCSR: C_MASKINTS Position */
+#define CoreDebug_DHCSR_C_MASKINTS_Msk     (1UL << CoreDebug_DHCSR_C_MASKINTS_Pos)        /*!< CoreDebug DHCSR: C_MASKINTS Mask */
+
+#define CoreDebug_DHCSR_C_STEP_Pos          2                                             /*!< CoreDebug DHCSR: C_STEP Position */
+#define CoreDebug_DHCSR_C_STEP_Msk         (1UL << CoreDebug_DHCSR_C_STEP_Pos)            /*!< CoreDebug DHCSR: C_STEP Mask */
+
+#define CoreDebug_DHCSR_C_HALT_Pos          1                                             /*!< CoreDebug DHCSR: C_HALT Position */
+#define CoreDebug_DHCSR_C_HALT_Msk         (1UL << CoreDebug_DHCSR_C_HALT_Pos)            /*!< CoreDebug DHCSR: C_HALT Mask */
+
+#define CoreDebug_DHCSR_C_DEBUGEN_Pos       0                                             /*!< CoreDebug DHCSR: C_DEBUGEN Position */
+#define CoreDebug_DHCSR_C_DEBUGEN_Msk      (1UL << CoreDebug_DHCSR_C_DEBUGEN_Pos)         /*!< CoreDebug DHCSR: C_DEBUGEN Mask */
+
+/* Debug Core Register Selector Register */
+#define CoreDebug_DCRSR_REGWnR_Pos         16                                             /*!< CoreDebug DCRSR: REGWnR Position */
+#define CoreDebug_DCRSR_REGWnR_Msk         (1UL << CoreDebug_DCRSR_REGWnR_Pos)            /*!< CoreDebug DCRSR: REGWnR Mask */
+
+#define CoreDebug_DCRSR_REGSEL_Pos          0                                             /*!< CoreDebug DCRSR: REGSEL Position */
+#define CoreDebug_DCRSR_REGSEL_Msk         (0x1FUL << CoreDebug_DCRSR_REGSEL_Pos)         /*!< CoreDebug DCRSR: REGSEL Mask */
+
+/* Debug Exception and Monitor Control Register */
+#define CoreDebug_DEMCR_TRCENA_Pos         24                                             /*!< CoreDebug DEMCR: TRCENA Position */
+#define CoreDebug_DEMCR_TRCENA_Msk         (1UL << CoreDebug_DEMCR_TRCENA_Pos)            /*!< CoreDebug DEMCR: TRCENA Mask */
+
+#define CoreDebug_DEMCR_MON_REQ_Pos        19                                             /*!< CoreDebug DEMCR: MON_REQ Position */
+#define CoreDebug_DEMCR_MON_REQ_Msk        (1UL << CoreDebug_DEMCR_MON_REQ_Pos)           /*!< CoreDebug DEMCR: MON_REQ Mask */
+
+#define CoreDebug_DEMCR_MON_STEP_Pos       18                                             /*!< CoreDebug DEMCR: MON_STEP Position */
+#define CoreDebug_DEMCR_MON_STEP_Msk       (1UL << CoreDebug_DEMCR_MON_STEP_Pos)          /*!< CoreDebug DEMCR: MON_STEP Mask */
+
+#define CoreDebug_DEMCR_MON_PEND_Pos       17                                             /*!< CoreDebug DEMCR: MON_PEND Position */
+#define CoreDebug_DEMCR_MON_PEND_Msk       (1UL << CoreDebug_DEMCR_MON_PEND_Pos)          /*!< CoreDebug DEMCR: MON_PEND Mask */
+
+#define CoreDebug_DEMCR_MON_EN_Pos         16                                             /*!< CoreDebug DEMCR: MON_EN Position */
+#define CoreDebug_DEMCR_MON_EN_Msk         (1UL << CoreDebug_DEMCR_MON_EN_Pos)            /*!< CoreDebug DEMCR: MON_EN Mask */
+
+#define CoreDebug_DEMCR_VC_HARDERR_Pos     10                                             /*!< CoreDebug DEMCR: VC_HARDERR Position */
+#define CoreDebug_DEMCR_VC_HARDERR_Msk     (1UL << CoreDebug_DEMCR_VC_HARDERR_Pos)        /*!< CoreDebug DEMCR: VC_HARDERR Mask */
+
+#define CoreDebug_DEMCR_VC_INTERR_Pos       9                                             /*!< CoreDebug DEMCR: VC_INTERR Position */
+#define CoreDebug_DEMCR_VC_INTERR_Msk      (1UL << CoreDebug_DEMCR_VC_INTERR_Pos)         /*!< CoreDebug DEMCR: VC_INTERR Mask */
+
+#define CoreDebug_DEMCR_VC_BUSERR_Pos       8                                             /*!< CoreDebug DEMCR: VC_BUSERR Position */
+#define CoreDebug_DEMCR_VC_BUSERR_Msk      (1UL << CoreDebug_DEMCR_VC_BUSERR_Pos)         /*!< CoreDebug DEMCR: VC_BUSERR Mask */
+
+#define CoreDebug_DEMCR_VC_STATERR_Pos      7                                             /*!< CoreDebug DEMCR: VC_STATERR Position */
+#define CoreDebug_DEMCR_VC_STATERR_Msk     (1UL << CoreDebug_DEMCR_VC_STATERR_Pos)        /*!< CoreDebug DEMCR: VC_STATERR Mask */
+
+#define CoreDebug_DEMCR_VC_CHKERR_Pos       6                                             /*!< CoreDebug DEMCR: VC_CHKERR Position */
+#define CoreDebug_DEMCR_VC_CHKERR_Msk      (1UL << CoreDebug_DEMCR_VC_CHKERR_Pos)         /*!< CoreDebug DEMCR: VC_CHKERR Mask */
+
+#define CoreDebug_DEMCR_VC_NOCPERR_Pos      5                                             /*!< CoreDebug DEMCR: VC_NOCPERR Position */
+#define CoreDebug_DEMCR_VC_NOCPERR_Msk     (1UL << CoreDebug_DEMCR_VC_NOCPERR_Pos)        /*!< CoreDebug DEMCR: VC_NOCPERR Mask */
+
+#define CoreDebug_DEMCR_VC_MMERR_Pos        4                                             /*!< CoreDebug DEMCR: VC_MMERR Position */
+#define CoreDebug_DEMCR_VC_MMERR_Msk       (1UL << CoreDebug_DEMCR_VC_MMERR_Pos)          /*!< CoreDebug DEMCR: VC_MMERR Mask */
+
+#define CoreDebug_DEMCR_VC_CORERESET_Pos    0                                             /*!< CoreDebug DEMCR: VC_CORERESET Position */
+#define CoreDebug_DEMCR_VC_CORERESET_Msk   (1UL << CoreDebug_DEMCR_VC_CORERESET_Pos)      /*!< CoreDebug DEMCR: VC_CORERESET Mask */
+
+/*@} end of group CMSIS_CoreDebug */
+
+
+/** \ingroup    CMSIS_core_register
+    \defgroup   CMSIS_core_base     Core Definitions
+    \brief      Definitions for base addresses, unions, and structures.
+  @{
+ */
+
+/* Memory mapping of Cortex-M3 Hardware */
+#define SCS_BASE            (0xE000E000UL)                            /*!< System Control Space Base Address  */
+#define ITM_BASE            (0xE0000000UL)                            /*!< ITM Base Address                   */
+#define DWT_BASE            (0xE0001000UL)                            /*!< DWT Base Address                   */
+#define TPI_BASE            (0xE0040000UL)                            /*!< TPI Base Address                   */
+#define CoreDebug_BASE      (0xE000EDF0UL)                            /*!< Core Debug Base Address            */
+#define SysTick_BASE        (SCS_BASE +  0x0010UL)                    /*!< SysTick Base Address               */
+#define NVIC_BASE           (SCS_BASE +  0x0100UL)                    /*!< NVIC Base Address                  */
+#define SCB_BASE            (SCS_BASE +  0x0D00UL)                    /*!< System Control Block Base Address  */
+
+#define SCnSCB              ((SCnSCB_Type    *)     SCS_BASE      )   /*!< System control Register not in SCB */
+#define SCB                 ((SCB_Type       *)     SCB_BASE      )   /*!< SCB configuration struct           */
+#define SysTick             ((SysTick_Type   *)     SysTick_BASE  )   /*!< SysTick configuration struct       */
+#define NVIC                ((NVIC_Type      *)     NVIC_BASE     )   /*!< NVIC configuration struct          */
+#define ITM                 ((ITM_Type       *)     ITM_BASE      )   /*!< ITM configuration struct           */
+#define DWT                 ((DWT_Type       *)     DWT_BASE      )   /*!< DWT configuration struct           */
+#define TPI                 ((TPI_Type       *)     TPI_BASE      )   /*!< TPI configuration struct           */
+#define CoreDebug           ((CoreDebug_Type *)     CoreDebug_BASE)   /*!< Core Debug configuration struct    */
+
+#if (__MPU_PRESENT == 1)
+  #define MPU_BASE          (SCS_BASE +  0x0D90UL)                    /*!< Memory Protection Unit             */
+  #define MPU               ((MPU_Type       *)     MPU_BASE      )   /*!< Memory Protection Unit             */
+#endif
+
+/*@} */
+
+
+
+/*******************************************************************************
+ *                Hardware Abstraction Layer
+  Core Function Interface contains:
+  - Core NVIC Functions
+  - Core SysTick Functions
+  - Core Debug Functions
+  - Core Register Access Functions
+ ******************************************************************************/
+/** \defgroup CMSIS_Core_FunctionInterface Functions and Instructions Reference
+*/
+
+
+
+/* ##########################   NVIC functions  #################################### */
+/** \ingroup  CMSIS_Core_FunctionInterface
+    \defgroup CMSIS_Core_NVICFunctions NVIC Functions
+    \brief      Functions that manage interrupts and exceptions via the NVIC.
+    @{
+ */
+
+/** \brief  Set Priority Grouping
+
+  The function sets the priority grouping field using the required unlock sequence.
+  The parameter PriorityGroup is assigned to the field SCB->AIRCR [10:8] PRIGROUP field.
+  Only values from 0..7 are used.
+  In case of a conflict between priority grouping and available
+  priority bits (__NVIC_PRIO_BITS), the smallest possible priority group is set.
+
+    \param [in]      PriorityGroup  Priority grouping field.
+ */
+__STATIC_INLINE void NVIC_SetPriorityGrouping(uint32_t PriorityGroup)
+{
+  uint32_t reg_value;
+  uint32_t PriorityGroupTmp = (PriorityGroup & (uint32_t)0x07);               /* only values 0..7 are used          */
+
+  reg_value  =  SCB->AIRCR;                                                   /* read old register configuration    */
+  reg_value &= ~(SCB_AIRCR_VECTKEY_Msk | SCB_AIRCR_PRIGROUP_Msk);             /* clear bits to change               */
+  reg_value  =  (reg_value                                 |
+                ((uint32_t)0x5FA << SCB_AIRCR_VECTKEY_Pos) |
+                (PriorityGroupTmp << 8));                                     /* Insert write key and priorty group */
+  SCB->AIRCR =  reg_value;
+}
+
+
+/** \brief  Get Priority Grouping
+
+  The function reads the priority grouping field from the NVIC Interrupt Controller.
+
+    \return                Priority grouping field (SCB->AIRCR [10:8] PRIGROUP field).
+ */
+__STATIC_INLINE uint32_t NVIC_GetPriorityGrouping(void)
+{
+  return ((SCB->AIRCR & SCB_AIRCR_PRIGROUP_Msk) >> SCB_AIRCR_PRIGROUP_Pos);   /* read priority grouping field */
+}
+
+
+/** \brief  Enable External Interrupt
+
+    The function enables a device-specific interrupt in the NVIC interrupt controller.
+
+    \param [in]      IRQn  External interrupt number. Value cannot be negative.
+ */
+__STATIC_INLINE void NVIC_EnableIRQ(IRQn_Type IRQn)
+{
+  NVIC->ISER[((uint32_t)(IRQn) >> 5)] = (1 << ((uint32_t)(IRQn) & 0x1F)); /* enable interrupt */
+}
+
+
+/** \brief  Disable External Interrupt
+
+    The function disables a device-specific interrupt in the NVIC interrupt controller.
+
+    \param [in]      IRQn  External interrupt number. Value cannot be negative.
+ */
+__STATIC_INLINE void NVIC_DisableIRQ(IRQn_Type IRQn)
+{
+  NVIC->ICER[((uint32_t)(IRQn) >> 5)] = (1 << ((uint32_t)(IRQn) & 0x1F)); /* disable interrupt */
+}
+
+
+/** \brief  Get Pending Interrupt
+
+    The function reads the pending register in the NVIC and returns the pending bit
+    for the specified interrupt.
+
+    \param [in]      IRQn  Interrupt number.
+
+    \return             0  Interrupt status is not pending.
+    \return             1  Interrupt status is pending.
+ */
+__STATIC_INLINE uint32_t NVIC_GetPendingIRQ(IRQn_Type IRQn)
+{
+  return((uint32_t) ((NVIC->ISPR[(uint32_t)(IRQn) >> 5] & (1 << ((uint32_t)(IRQn) & 0x1F)))?1:0)); /* Return 1 if pending else 0 */
+}
+
+
+/** \brief  Set Pending Interrupt
+
+    The function sets the pending bit of an external interrupt.
+
+    \param [in]      IRQn  Interrupt number. Value cannot be negative.
+ */
+__STATIC_INLINE void NVIC_SetPendingIRQ(IRQn_Type IRQn)
+{
+  NVIC->ISPR[((uint32_t)(IRQn) >> 5)] = (1 << ((uint32_t)(IRQn) & 0x1F)); /* set interrupt pending */
+}
+
+
+/** \brief  Clear Pending Interrupt
+
+    The function clears the pending bit of an external interrupt.
+
+    \param [in]      IRQn  External interrupt number. Value cannot be negative.
+ */
+__STATIC_INLINE void NVIC_ClearPendingIRQ(IRQn_Type IRQn)
+{
+  NVIC->ICPR[((uint32_t)(IRQn) >> 5)] = (1 << ((uint32_t)(IRQn) & 0x1F)); /* Clear pending interrupt */
+}
+
+
+/** \brief  Get Active Interrupt
+
+    The function reads the active register in NVIC and returns the active bit.
+
+    \param [in]      IRQn  Interrupt number.
+
+    \return             0  Interrupt status is not active.
+    \return             1  Interrupt status is active.
+ */
+__STATIC_INLINE uint32_t NVIC_GetActive(IRQn_Type IRQn)
+{
+  return((uint32_t)((NVIC->IABR[(uint32_t)(IRQn) >> 5] & (1 << ((uint32_t)(IRQn) & 0x1F)))?1:0)); /* Return 1 if active else 0 */
+}
+
+
+/** \brief  Set Interrupt Priority
+
+    The function sets the priority of an interrupt.
+
+    \note The priority cannot be set for every core interrupt.
+
+    \param [in]      IRQn  Interrupt number.
+    \param [in]  priority  Priority to set.
+ */
+__STATIC_INLINE void NVIC_SetPriority(IRQn_Type IRQn, uint32_t priority)
+{
+  if(IRQn < 0) {
+    SCB->SHP[((uint32_t)(IRQn) & 0xF)-4] = ((priority << (8 - __NVIC_PRIO_BITS)) & 0xff); } /* set Priority for Cortex-M  System Interrupts */
+  else {
+    NVIC->IP[(uint32_t)(IRQn)] = ((priority << (8 - __NVIC_PRIO_BITS)) & 0xff);    }        /* set Priority for device specific Interrupts  */
+}
+
+
+/** \brief  Get Interrupt Priority
+
+    The function reads the priority of an interrupt. The interrupt
+    number can be positive to specify an external (device specific)
+    interrupt, or negative to specify an internal (core) interrupt.
+
+
+    \param [in]   IRQn  Interrupt number.
+    \return             Interrupt Priority. Value is aligned automatically to the implemented
+                        priority bits of the microcontroller.
+ */
+__STATIC_INLINE uint32_t NVIC_GetPriority(IRQn_Type IRQn)
+{
+
+  if(IRQn < 0) {
+    return((uint32_t)(SCB->SHP[((uint32_t)(IRQn) & 0xF)-4] >> (8 - __NVIC_PRIO_BITS)));  } /* get priority for Cortex-M  system interrupts */
+  else {
+    return((uint32_t)(NVIC->IP[(uint32_t)(IRQn)]           >> (8 - __NVIC_PRIO_BITS)));  } /* get priority for device specific interrupts  */
+}
+
+
+/** \brief  Encode Priority
+
+    The function encodes the priority for an interrupt with the given priority group,
+    preemptive priority value, and subpriority value.
+    In case of a conflict between priority grouping and available
+    priority bits (__NVIC_PRIO_BITS), the samllest possible priority group is set.
+
+    \param [in]     PriorityGroup  Used priority group.
+    \param [in]   PreemptPriority  Preemptive priority value (starting from 0).
+    \param [in]       SubPriority  Subpriority value (starting from 0).
+    \return                        Encoded priority. Value can be used in the function \ref NVIC_SetPriority().
+ */
+__STATIC_INLINE uint32_t NVIC_EncodePriority (uint32_t PriorityGroup, uint32_t PreemptPriority, uint32_t SubPriority)
+{
+  uint32_t PriorityGroupTmp = (PriorityGroup & 0x07);          /* only values 0..7 are used          */
+  uint32_t PreemptPriorityBits;
+  uint32_t SubPriorityBits;
+
+  PreemptPriorityBits = ((7 - PriorityGroupTmp) > __NVIC_PRIO_BITS) ? __NVIC_PRIO_BITS : 7 - PriorityGroupTmp;
+  SubPriorityBits     = ((PriorityGroupTmp + __NVIC_PRIO_BITS) < 7) ? 0 : PriorityGroupTmp - 7 + __NVIC_PRIO_BITS;
+
+  return (
+           ((PreemptPriority & ((1 << (PreemptPriorityBits)) - 1)) << SubPriorityBits) |
+           ((SubPriority     & ((1 << (SubPriorityBits    )) - 1)))
+         );
+}
+
+
+/** \brief  Decode Priority
+
+    The function decodes an interrupt priority value with a given priority group to
+    preemptive priority value and subpriority value.
+    In case of a conflict between priority grouping and available
+    priority bits (__NVIC_PRIO_BITS) the samllest possible priority group is set.
+
+    \param [in]         Priority   Priority value, which can be retrieved with the function \ref NVIC_GetPriority().
+    \param [in]     PriorityGroup  Used priority group.
+    \param [out] pPreemptPriority  Preemptive priority value (starting from 0).
+    \param [out]     pSubPriority  Subpriority value (starting from 0).
+ */
+__STATIC_INLINE void NVIC_DecodePriority (uint32_t Priority, uint32_t PriorityGroup, uint32_t* pPreemptPriority, uint32_t* pSubPriority)
+{
+  uint32_t PriorityGroupTmp = (PriorityGroup & 0x07);          /* only values 0..7 are used          */
+  uint32_t PreemptPriorityBits;
+  uint32_t SubPriorityBits;
+
+  PreemptPriorityBits = ((7 - PriorityGroupTmp) > __NVIC_PRIO_BITS) ? __NVIC_PRIO_BITS : 7 - PriorityGroupTmp;
+  SubPriorityBits     = ((PriorityGroupTmp + __NVIC_PRIO_BITS) < 7) ? 0 : PriorityGroupTmp - 7 + __NVIC_PRIO_BITS;
+
+  *pPreemptPriority = (Priority >> SubPriorityBits) & ((1 << (PreemptPriorityBits)) - 1);
+  *pSubPriority     = (Priority                   ) & ((1 << (SubPriorityBits    )) - 1);
+}
+
+
+/** \brief  System Reset
+
+    The function initiates a system reset request to reset the MCU.
+ */
+__STATIC_INLINE void NVIC_SystemReset(void)
+{
+  __DSB();                                                     /* Ensure all outstanding memory accesses included
+                                                                  buffered write are completed before reset */
+  SCB->AIRCR  = ((0x5FA << SCB_AIRCR_VECTKEY_Pos)      |
+                 (SCB->AIRCR & SCB_AIRCR_PRIGROUP_Msk) |
+                 SCB_AIRCR_SYSRESETREQ_Msk);                   /* Keep priority group unchanged */
+  __DSB();                                                     /* Ensure completion of memory access */
+  while(1);                                                    /* wait until reset */
+}
+
+/*@} end of CMSIS_Core_NVICFunctions */
+
+
+
+/* ##################################    SysTick function  ############################################ */
+/** \ingroup  CMSIS_Core_FunctionInterface
+    \defgroup CMSIS_Core_SysTickFunctions SysTick Functions
+    \brief      Functions that configure the System.
+  @{
+ */
+
+#if (__Vendor_SysTickConfig == 0)
+
+/** \brief  System Tick Configuration
+
+    The function initializes the System Timer and its interrupt, and starts the System Tick Timer.
+    Counter is in free running mode to generate periodic interrupts.
+
+    \param [in]  ticks  Number of ticks between two interrupts.
+
+    \return          0  Function succeeded.
+    \return          1  Function failed.
+
+    \note     When the variable __Vendor_SysTickConfig is set to 1, then the
+    function SysTick_Config is not included. In this case, the file device.h
+    must contain a vendor-specific implementation of this function.
+
+ */
+__STATIC_INLINE uint32_t SysTick_Config(uint32_t ticks)
+{
+  if (ticks > SysTick_LOAD_RELOAD_Msk)  return (1);            /* Reload value impossible */
+
+  SysTick->LOAD  = (ticks & SysTick_LOAD_RELOAD_Msk) - 1;      /* set reload register */
+  NVIC_SetPriority (SysTick_IRQn, (1<<__NVIC_PRIO_BITS) - 1);  /* set Priority for Systick Interrupt */
+  SysTick->VAL   = 0;                                          /* Load the SysTick Counter Value */
+  SysTick->CTRL  = SysTick_CTRL_CLKSOURCE_Msk |
+                   SysTick_CTRL_TICKINT_Msk   |
+                   SysTick_CTRL_ENABLE_Msk;                    /* Enable SysTick IRQ and SysTick Timer */
+  return (0);                                                  /* Function successful */
+}
+
+#endif
+
+/*@} end of CMSIS_Core_SysTickFunctions */
+
+
+
+/* ##################################### Debug In/Output function ########################################### */
+/** \ingroup  CMSIS_Core_FunctionInterface
+    \defgroup CMSIS_core_DebugFunctions ITM Functions
+    \brief   Functions that access the ITM debug interface.
+  @{
+ */
+
+extern volatile int32_t ITM_RxBuffer;                    /*!< External variable to receive characters.                         */
+#define                 ITM_RXBUFFER_EMPTY    0x5AA55AA5 /*!< Value identifying \ref ITM_RxBuffer is ready for next character. */
+
+
+/** \brief  ITM Send Character
+
+    The function transmits a character via the ITM channel 0, and
+    \li Just returns when no debugger is connected that has booked the output.
+    \li Is blocking when a debugger is connected, but the previous character sent has not been transmitted.
+
+    \param [in]     ch  Character to transmit.
+
+    \returns            Character to transmit.
+ */
+__STATIC_INLINE uint32_t ITM_SendChar (uint32_t ch)
+{
+  if ((ITM->TCR & ITM_TCR_ITMENA_Msk)                  &&      /* ITM enabled */
+      (ITM->TER & (1UL << 0)        )                    )     /* ITM Port #0 enabled */
+  {
+    while (ITM->PORT[0].u32 == 0);
+    ITM->PORT[0].u8 = (uint8_t) ch;
+  }
+  return (ch);
+}
+
+
+/** \brief  ITM Receive Character
+
+    The function inputs a character via the external variable \ref ITM_RxBuffer.
+
+    \return             Received character.
+    \return         -1  No character pending.
+ */
+__STATIC_INLINE int32_t ITM_ReceiveChar (void) {
+  int32_t ch = -1;                           /* no character available */
+
+  if (ITM_RxBuffer != ITM_RXBUFFER_EMPTY) {
+    ch = ITM_RxBuffer;
+    ITM_RxBuffer = ITM_RXBUFFER_EMPTY;       /* ready for next character */
+  }
+
+  return (ch);
+}
+
+
+/** \brief  ITM Check Character
+
+    The function checks whether a character is pending for reading in the variable \ref ITM_RxBuffer.
+
+    \return          0  No character available.
+    \return          1  Character available.
+ */
+__STATIC_INLINE int32_t ITM_CheckChar (void) {
+
+  if (ITM_RxBuffer == ITM_RXBUFFER_EMPTY) {
+    return (0);                                 /* no character available */
+  } else {
+    return (1);                                 /*    character available */
+  }
+}
+
+/*@} end of CMSIS_core_DebugFunctions */
+
+#endif /* __CORE_CM3_H_DEPENDANT */
+
+#endif /* __CMSIS_GENERIC */
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/src/modules/mathlib/CMSIS/Include/core_cm4.h b/src/modules/mathlib/CMSIS/Include/core_cm4.h
new file mode 100644
index 000000000..5f3b7d619
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/Include/core_cm4.h
@@ -0,0 +1,1757 @@
+/**************************************************************************//**
+ * @file     core_cm4.h
+ * @brief    CMSIS Cortex-M4 Core Peripheral Access Layer Header File
+ * @version  V3.01
+ * @date     22. March 2012
+ *
+ * @note
+ * Copyright (C) 2009-2012 ARM Limited. All rights reserved.
+ *
+ * @par
+ * ARM Limited (ARM) is supplying this software for use with Cortex-M
+ * processor based microcontrollers.  This file can be freely distributed
+ * within development tools that are supporting such ARM based processors.
+ *
+ * @par
+ * THIS SOFTWARE IS PROVIDED "AS IS".  NO WARRANTIES, WHETHER EXPRESS, IMPLIED
+ * OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
+ * ARM SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR
+ * CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
+ *
+ ******************************************************************************/
+#if defined ( __ICCARM__ )
+ #pragma system_include  /* treat file as system include file for MISRA check */
+#endif
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+#ifndef __CORE_CM4_H_GENERIC
+#define __CORE_CM4_H_GENERIC
+
+/** \page CMSIS_MISRA_Exceptions  MISRA-C:2004 Compliance Exceptions
+  CMSIS violates the following MISRA-C:2004 rules:
+
+   \li Required Rule 8.5, object/function definition in header file.

+     Function definitions in header files are used to allow 'inlining'.
+
+   \li Required Rule 18.4, declaration of union type or object of union type: '{...}'.

+     Unions are used for effective representation of core registers.
+
+   \li Advisory Rule 19.7, Function-like macro defined.

+     Function-like macros are used to allow more efficient code.
+ */
+
+
+/*******************************************************************************
+ *                 CMSIS definitions
+ ******************************************************************************/
+/** \ingroup Cortex_M4
+  @{
+ */
+
+/*  CMSIS CM4 definitions */
+#define __CM4_CMSIS_VERSION_MAIN  (0x03)                                   /*!< [31:16] CMSIS HAL main version   */
+#define __CM4_CMSIS_VERSION_SUB   (0x01)                                   /*!< [15:0]  CMSIS HAL sub version    */
+#define __CM4_CMSIS_VERSION       ((__CM4_CMSIS_VERSION_MAIN << 16) | \
+                                    __CM4_CMSIS_VERSION_SUB          )     /*!< CMSIS HAL version number         */
+
+#define __CORTEX_M                (0x04)                                   /*!< Cortex-M Core                    */
+
+
+#if   defined ( __CC_ARM )
+  #define __ASM            __asm                                      /*!< asm keyword for ARM Compiler          */
+  #define __INLINE         __inline                                   /*!< inline keyword for ARM Compiler       */
+  #define __STATIC_INLINE  static __inline
+
+#elif defined ( __ICCARM__ )
+  #define __ASM            __asm                                      /*!< asm keyword for IAR Compiler          */
+  #define __INLINE         inline                                     /*!< inline keyword for IAR Compiler. Only available in High optimization mode! */
+  #define __STATIC_INLINE  static inline
+
+#elif defined ( __TMS470__ )
+  #define __ASM            __asm                                      /*!< asm keyword for TI CCS Compiler       */
+  #define __STATIC_INLINE  static inline
+
+#elif defined ( __GNUC__ )
+  #define __ASM            __asm                                      /*!< asm keyword for GNU Compiler          */
+  #define __INLINE         inline                                     /*!< inline keyword for GNU Compiler       */
+  #define __STATIC_INLINE  static inline
+
+#elif defined ( __TASKING__ )
+  #define __ASM            __asm                                      /*!< asm keyword for TASKING Compiler      */
+  #define __INLINE         inline                                     /*!< inline keyword for TASKING Compiler   */
+  #define __STATIC_INLINE  static inline
+
+#endif
+
+/** __FPU_USED indicates whether an FPU is used or not. For this, __FPU_PRESENT has to be checked prior to making use of FPU specific registers and functions.
+*/
+#if defined ( __CC_ARM )
+  #if defined __TARGET_FPU_VFP
+    #if (__FPU_PRESENT == 1)
+      #define __FPU_USED       1
+    #else
+      #warning "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
+      #define __FPU_USED       0
+    #endif
+  #else
+    #define __FPU_USED         0
+  #endif
+
+#elif defined ( __ICCARM__ )
+  #if defined __ARMVFP__
+    #if (__FPU_PRESENT == 1)
+      #define __FPU_USED       1
+    #else
+      #warning "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
+      #define __FPU_USED       0
+    #endif
+  #else
+    #define __FPU_USED         0
+  #endif
+
+#elif defined ( __TMS470__ )
+  #if defined __TI_VFP_SUPPORT__
+    #if (__FPU_PRESENT == 1)
+      #define __FPU_USED       1
+    #else
+      #warning "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
+      #define __FPU_USED       0
+    #endif
+  #else
+    #define __FPU_USED         0
+  #endif
+
+#elif defined ( __GNUC__ )
+  #if defined (__VFP_FP__) && !defined(__SOFTFP__)
+    #if (__FPU_PRESENT == 1)
+      #define __FPU_USED       1
+    #else
+      #warning "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
+      #define __FPU_USED       0
+    #endif
+  #else
+    #define __FPU_USED         0
+  #endif
+
+#elif defined ( __TASKING__ )
+  #if defined __FPU_VFP__
+    #if (__FPU_PRESENT == 1)
+      #define __FPU_USED       1
+    #else
+      #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
+      #define __FPU_USED       0
+    #endif
+  #else
+    #define __FPU_USED         0
+  #endif
+#endif
+
+#include                       /* standard types definitions                      */
+#include "core_cmInstr.h"                /* Core Instruction Access                         */
+#include "core_cmFunc.h"                 /* Core Function Access                            */
+#include "core_cm4_simd.h"               /* Compiler specific SIMD Intrinsics               */
+
+#endif /* __CORE_CM4_H_GENERIC */
+
+#ifndef __CMSIS_GENERIC
+
+#ifndef __CORE_CM4_H_DEPENDANT
+#define __CORE_CM4_H_DEPENDANT
+
+/* check device defines and use defaults */
+#if defined __CHECK_DEVICE_DEFINES
+  #ifndef __CM4_REV
+    #define __CM4_REV               0x0000
+    #warning "__CM4_REV not defined in device header file; using default!"
+  #endif
+
+  #ifndef __FPU_PRESENT
+    #define __FPU_PRESENT             0
+    #warning "__FPU_PRESENT not defined in device header file; using default!"
+  #endif
+
+  #ifndef __MPU_PRESENT
+    #define __MPU_PRESENT             0
+    #warning "__MPU_PRESENT not defined in device header file; using default!"
+  #endif
+
+  #ifndef __NVIC_PRIO_BITS
+    #define __NVIC_PRIO_BITS          4
+    #warning "__NVIC_PRIO_BITS not defined in device header file; using default!"
+  #endif
+
+  #ifndef __Vendor_SysTickConfig
+    #define __Vendor_SysTickConfig    0
+    #warning "__Vendor_SysTickConfig not defined in device header file; using default!"
+  #endif
+#endif
+
+/* IO definitions (access restrictions to peripheral registers) */
+/**
+    \defgroup CMSIS_glob_defs CMSIS Global Defines
+
+    IO Type Qualifiers are used
+    \li to specify the access to peripheral variables.
+    \li for automatic generation of peripheral register debug information.
+*/
+#ifdef __cplusplus
+  #define   __I     volatile             /*!< Defines 'read only' permissions                 */
+#else
+  #define   __I     volatile const       /*!< Defines 'read only' permissions                 */
+#endif
+#define     __O     volatile             /*!< Defines 'write only' permissions                */
+#define     __IO    volatile             /*!< Defines 'read / write' permissions              */
+
+/*@} end of group Cortex_M4 */
+
+
+
+/*******************************************************************************
+ *                 Register Abstraction
+  Core Register contain:
+  - Core Register
+  - Core NVIC Register
+  - Core SCB Register
+  - Core SysTick Register
+  - Core Debug Register
+  - Core MPU Register
+  - Core FPU Register
+ ******************************************************************************/
+/** \defgroup CMSIS_core_register Defines and Type Definitions
+    \brief Type definitions and defines for Cortex-M processor based devices.
+*/
+
+/** \ingroup    CMSIS_core_register
+    \defgroup   CMSIS_CORE  Status and Control Registers
+    \brief  Core Register type definitions.
+  @{
+ */
+
+/** \brief  Union type to access the Application Program Status Register (APSR).
+ */
+typedef union
+{
+  struct
+  {
+#if (__CORTEX_M != 0x04)
+    uint32_t _reserved0:27;              /*!< bit:  0..26  Reserved                           */
+#else
+    uint32_t _reserved0:16;              /*!< bit:  0..15  Reserved                           */
+    uint32_t GE:4;                       /*!< bit: 16..19  Greater than or Equal flags        */
+    uint32_t _reserved1:7;               /*!< bit: 20..26  Reserved                           */
+#endif
+    uint32_t Q:1;                        /*!< bit:     27  Saturation condition flag          */
+    uint32_t V:1;                        /*!< bit:     28  Overflow condition code flag       */
+    uint32_t C:1;                        /*!< bit:     29  Carry condition code flag          */
+    uint32_t Z:1;                        /*!< bit:     30  Zero condition code flag           */
+    uint32_t N:1;                        /*!< bit:     31  Negative condition code flag       */
+  } b;                                   /*!< Structure used for bit  access                  */
+  uint32_t w;                            /*!< Type      used for word access                  */
+} APSR_Type;
+
+
+/** \brief  Union type to access the Interrupt Program Status Register (IPSR).
+ */
+typedef union
+{
+  struct
+  {
+    uint32_t ISR:9;                      /*!< bit:  0.. 8  Exception number                   */
+    uint32_t _reserved0:23;              /*!< bit:  9..31  Reserved                           */
+  } b;                                   /*!< Structure used for bit  access                  */
+  uint32_t w;                            /*!< Type      used for word access                  */
+} IPSR_Type;
+
+
+/** \brief  Union type to access the Special-Purpose Program Status Registers (xPSR).
+ */
+typedef union
+{
+  struct
+  {
+    uint32_t ISR:9;                      /*!< bit:  0.. 8  Exception number                   */
+#if (__CORTEX_M != 0x04)
+    uint32_t _reserved0:15;              /*!< bit:  9..23  Reserved                           */
+#else
+    uint32_t _reserved0:7;               /*!< bit:  9..15  Reserved                           */
+    uint32_t GE:4;                       /*!< bit: 16..19  Greater than or Equal flags        */
+    uint32_t _reserved1:4;               /*!< bit: 20..23  Reserved                           */
+#endif
+    uint32_t T:1;                        /*!< bit:     24  Thumb bit        (read 0)          */
+    uint32_t IT:2;                       /*!< bit: 25..26  saved IT state   (read 0)          */
+    uint32_t Q:1;                        /*!< bit:     27  Saturation condition flag          */
+    uint32_t V:1;                        /*!< bit:     28  Overflow condition code flag       */
+    uint32_t C:1;                        /*!< bit:     29  Carry condition code flag          */
+    uint32_t Z:1;                        /*!< bit:     30  Zero condition code flag           */
+    uint32_t N:1;                        /*!< bit:     31  Negative condition code flag       */
+  } b;                                   /*!< Structure used for bit  access                  */
+  uint32_t w;                            /*!< Type      used for word access                  */
+} xPSR_Type;
+
+
+/** \brief  Union type to access the Control Registers (CONTROL).
+ */
+typedef union
+{
+  struct
+  {
+    uint32_t nPRIV:1;                    /*!< bit:      0  Execution privilege in Thread mode */
+    uint32_t SPSEL:1;                    /*!< bit:      1  Stack to be used                   */
+    uint32_t FPCA:1;                     /*!< bit:      2  FP extension active flag           */
+    uint32_t _reserved0:29;              /*!< bit:  3..31  Reserved                           */
+  } b;                                   /*!< Structure used for bit  access                  */
+  uint32_t w;                            /*!< Type      used for word access                  */
+} CONTROL_Type;
+
+/*@} end of group CMSIS_CORE */
+
+
+/** \ingroup    CMSIS_core_register
+    \defgroup   CMSIS_NVIC  Nested Vectored Interrupt Controller (NVIC)
+    \brief      Type definitions for the NVIC Registers
+  @{
+ */
+
+/** \brief  Structure type to access the Nested Vectored Interrupt Controller (NVIC).
+ */
+typedef struct
+{
+  __IO uint32_t ISER[8];                 /*!< Offset: 0x000 (R/W)  Interrupt Set Enable Register           */
+       uint32_t RESERVED0[24];
+  __IO uint32_t ICER[8];                 /*!< Offset: 0x080 (R/W)  Interrupt Clear Enable Register         */
+       uint32_t RSERVED1[24];
+  __IO uint32_t ISPR[8];                 /*!< Offset: 0x100 (R/W)  Interrupt Set Pending Register          */
+       uint32_t RESERVED2[24];
+  __IO uint32_t ICPR[8];                 /*!< Offset: 0x180 (R/W)  Interrupt Clear Pending Register        */
+       uint32_t RESERVED3[24];
+  __IO uint32_t IABR[8];                 /*!< Offset: 0x200 (R/W)  Interrupt Active bit Register           */
+       uint32_t RESERVED4[56];
+  __IO uint8_t  IP[240];                 /*!< Offset: 0x300 (R/W)  Interrupt Priority Register (8Bit wide) */
+       uint32_t RESERVED5[644];
+  __O  uint32_t STIR;                    /*!< Offset: 0xE00 ( /W)  Software Trigger Interrupt Register     */
+}  NVIC_Type;
+
+/* Software Triggered Interrupt Register Definitions */
+#define NVIC_STIR_INTID_Pos                 0                                          /*!< STIR: INTLINESNUM Position */
+#define NVIC_STIR_INTID_Msk                (0x1FFUL << NVIC_STIR_INTID_Pos)            /*!< STIR: INTLINESNUM Mask */
+
+/*@} end of group CMSIS_NVIC */
+
+
+/** \ingroup  CMSIS_core_register
+    \defgroup CMSIS_SCB     System Control Block (SCB)
+    \brief      Type definitions for the System Control Block Registers
+  @{
+ */
+
+/** \brief  Structure type to access the System Control Block (SCB).
+ */
+typedef struct
+{
+  __I  uint32_t CPUID;                   /*!< Offset: 0x000 (R/ )  CPUID Base Register                                   */
+  __IO uint32_t ICSR;                    /*!< Offset: 0x004 (R/W)  Interrupt Control and State Register                  */
+  __IO uint32_t VTOR;                    /*!< Offset: 0x008 (R/W)  Vector Table Offset Register                          */
+  __IO uint32_t AIRCR;                   /*!< Offset: 0x00C (R/W)  Application Interrupt and Reset Control Register      */
+  __IO uint32_t SCR;                     /*!< Offset: 0x010 (R/W)  System Control Register                               */
+  __IO uint32_t CCR;                     /*!< Offset: 0x014 (R/W)  Configuration Control Register                        */
+  __IO uint8_t  SHP[12];                 /*!< Offset: 0x018 (R/W)  System Handlers Priority Registers (4-7, 8-11, 12-15) */
+  __IO uint32_t SHCSR;                   /*!< Offset: 0x024 (R/W)  System Handler Control and State Register             */
+  __IO uint32_t CFSR;                    /*!< Offset: 0x028 (R/W)  Configurable Fault Status Register                    */
+  __IO uint32_t HFSR;                    /*!< Offset: 0x02C (R/W)  HardFault Status Register                             */
+  __IO uint32_t DFSR;                    /*!< Offset: 0x030 (R/W)  Debug Fault Status Register                           */
+  __IO uint32_t MMFAR;                   /*!< Offset: 0x034 (R/W)  MemManage Fault Address Register                      */
+  __IO uint32_t BFAR;                    /*!< Offset: 0x038 (R/W)  BusFault Address Register                             */
+  __IO uint32_t AFSR;                    /*!< Offset: 0x03C (R/W)  Auxiliary Fault Status Register                       */
+  __I  uint32_t PFR[2];                  /*!< Offset: 0x040 (R/ )  Processor Feature Register                            */
+  __I  uint32_t DFR;                     /*!< Offset: 0x048 (R/ )  Debug Feature Register                                */
+  __I  uint32_t ADR;                     /*!< Offset: 0x04C (R/ )  Auxiliary Feature Register                            */
+  __I  uint32_t MMFR[4];                 /*!< Offset: 0x050 (R/ )  Memory Model Feature Register                         */
+  __I  uint32_t ISAR[5];                 /*!< Offset: 0x060 (R/ )  Instruction Set Attributes Register                   */
+       uint32_t RESERVED0[5];
+  __IO uint32_t CPACR;                   /*!< Offset: 0x088 (R/W)  Coprocessor Access Control Register                   */
+} SCB_Type;
+
+/* SCB CPUID Register Definitions */
+#define SCB_CPUID_IMPLEMENTER_Pos          24                                             /*!< SCB CPUID: IMPLEMENTER Position */
+#define SCB_CPUID_IMPLEMENTER_Msk          (0xFFUL << SCB_CPUID_IMPLEMENTER_Pos)          /*!< SCB CPUID: IMPLEMENTER Mask */
+
+#define SCB_CPUID_VARIANT_Pos              20                                             /*!< SCB CPUID: VARIANT Position */
+#define SCB_CPUID_VARIANT_Msk              (0xFUL << SCB_CPUID_VARIANT_Pos)               /*!< SCB CPUID: VARIANT Mask */
+
+#define SCB_CPUID_ARCHITECTURE_Pos         16                                             /*!< SCB CPUID: ARCHITECTURE Position */
+#define SCB_CPUID_ARCHITECTURE_Msk         (0xFUL << SCB_CPUID_ARCHITECTURE_Pos)          /*!< SCB CPUID: ARCHITECTURE Mask */
+
+#define SCB_CPUID_PARTNO_Pos                4                                             /*!< SCB CPUID: PARTNO Position */
+#define SCB_CPUID_PARTNO_Msk               (0xFFFUL << SCB_CPUID_PARTNO_Pos)              /*!< SCB CPUID: PARTNO Mask */
+
+#define SCB_CPUID_REVISION_Pos              0                                             /*!< SCB CPUID: REVISION Position */
+#define SCB_CPUID_REVISION_Msk             (0xFUL << SCB_CPUID_REVISION_Pos)              /*!< SCB CPUID: REVISION Mask */
+
+/* SCB Interrupt Control State Register Definitions */
+#define SCB_ICSR_NMIPENDSET_Pos            31                                             /*!< SCB ICSR: NMIPENDSET Position */
+#define SCB_ICSR_NMIPENDSET_Msk            (1UL << SCB_ICSR_NMIPENDSET_Pos)               /*!< SCB ICSR: NMIPENDSET Mask */
+
+#define SCB_ICSR_PENDSVSET_Pos             28                                             /*!< SCB ICSR: PENDSVSET Position */
+#define SCB_ICSR_PENDSVSET_Msk             (1UL << SCB_ICSR_PENDSVSET_Pos)                /*!< SCB ICSR: PENDSVSET Mask */
+
+#define SCB_ICSR_PENDSVCLR_Pos             27                                             /*!< SCB ICSR: PENDSVCLR Position */
+#define SCB_ICSR_PENDSVCLR_Msk             (1UL << SCB_ICSR_PENDSVCLR_Pos)                /*!< SCB ICSR: PENDSVCLR Mask */
+
+#define SCB_ICSR_PENDSTSET_Pos             26                                             /*!< SCB ICSR: PENDSTSET Position */
+#define SCB_ICSR_PENDSTSET_Msk             (1UL << SCB_ICSR_PENDSTSET_Pos)                /*!< SCB ICSR: PENDSTSET Mask */
+
+#define SCB_ICSR_PENDSTCLR_Pos             25                                             /*!< SCB ICSR: PENDSTCLR Position */
+#define SCB_ICSR_PENDSTCLR_Msk             (1UL << SCB_ICSR_PENDSTCLR_Pos)                /*!< SCB ICSR: PENDSTCLR Mask */
+
+#define SCB_ICSR_ISRPREEMPT_Pos            23                                             /*!< SCB ICSR: ISRPREEMPT Position */
+#define SCB_ICSR_ISRPREEMPT_Msk            (1UL << SCB_ICSR_ISRPREEMPT_Pos)               /*!< SCB ICSR: ISRPREEMPT Mask */
+
+#define SCB_ICSR_ISRPENDING_Pos            22                                             /*!< SCB ICSR: ISRPENDING Position */
+#define SCB_ICSR_ISRPENDING_Msk            (1UL << SCB_ICSR_ISRPENDING_Pos)               /*!< SCB ICSR: ISRPENDING Mask */
+
+#define SCB_ICSR_VECTPENDING_Pos           12                                             /*!< SCB ICSR: VECTPENDING Position */
+#define SCB_ICSR_VECTPENDING_Msk           (0x1FFUL << SCB_ICSR_VECTPENDING_Pos)          /*!< SCB ICSR: VECTPENDING Mask */
+
+#define SCB_ICSR_RETTOBASE_Pos             11                                             /*!< SCB ICSR: RETTOBASE Position */
+#define SCB_ICSR_RETTOBASE_Msk             (1UL << SCB_ICSR_RETTOBASE_Pos)                /*!< SCB ICSR: RETTOBASE Mask */
+
+#define SCB_ICSR_VECTACTIVE_Pos             0                                             /*!< SCB ICSR: VECTACTIVE Position */
+#define SCB_ICSR_VECTACTIVE_Msk            (0x1FFUL << SCB_ICSR_VECTACTIVE_Pos)           /*!< SCB ICSR: VECTACTIVE Mask */
+
+/* SCB Vector Table Offset Register Definitions */
+#define SCB_VTOR_TBLOFF_Pos                 7                                             /*!< SCB VTOR: TBLOFF Position */
+#define SCB_VTOR_TBLOFF_Msk                (0x1FFFFFFUL << SCB_VTOR_TBLOFF_Pos)           /*!< SCB VTOR: TBLOFF Mask */
+
+/* SCB Application Interrupt and Reset Control Register Definitions */
+#define SCB_AIRCR_VECTKEY_Pos              16                                             /*!< SCB AIRCR: VECTKEY Position */
+#define SCB_AIRCR_VECTKEY_Msk              (0xFFFFUL << SCB_AIRCR_VECTKEY_Pos)            /*!< SCB AIRCR: VECTKEY Mask */
+
+#define SCB_AIRCR_VECTKEYSTAT_Pos          16                                             /*!< SCB AIRCR: VECTKEYSTAT Position */
+#define SCB_AIRCR_VECTKEYSTAT_Msk          (0xFFFFUL << SCB_AIRCR_VECTKEYSTAT_Pos)        /*!< SCB AIRCR: VECTKEYSTAT Mask */
+
+#define SCB_AIRCR_ENDIANESS_Pos            15                                             /*!< SCB AIRCR: ENDIANESS Position */
+#define SCB_AIRCR_ENDIANESS_Msk            (1UL << SCB_AIRCR_ENDIANESS_Pos)               /*!< SCB AIRCR: ENDIANESS Mask */
+
+#define SCB_AIRCR_PRIGROUP_Pos              8                                             /*!< SCB AIRCR: PRIGROUP Position */
+#define SCB_AIRCR_PRIGROUP_Msk             (7UL << SCB_AIRCR_PRIGROUP_Pos)                /*!< SCB AIRCR: PRIGROUP Mask */
+
+#define SCB_AIRCR_SYSRESETREQ_Pos           2                                             /*!< SCB AIRCR: SYSRESETREQ Position */
+#define SCB_AIRCR_SYSRESETREQ_Msk          (1UL << SCB_AIRCR_SYSRESETREQ_Pos)             /*!< SCB AIRCR: SYSRESETREQ Mask */
+
+#define SCB_AIRCR_VECTCLRACTIVE_Pos         1                                             /*!< SCB AIRCR: VECTCLRACTIVE Position */
+#define SCB_AIRCR_VECTCLRACTIVE_Msk        (1UL << SCB_AIRCR_VECTCLRACTIVE_Pos)           /*!< SCB AIRCR: VECTCLRACTIVE Mask */
+
+#define SCB_AIRCR_VECTRESET_Pos             0                                             /*!< SCB AIRCR: VECTRESET Position */
+#define SCB_AIRCR_VECTRESET_Msk            (1UL << SCB_AIRCR_VECTRESET_Pos)               /*!< SCB AIRCR: VECTRESET Mask */
+
+/* SCB System Control Register Definitions */
+#define SCB_SCR_SEVONPEND_Pos               4                                             /*!< SCB SCR: SEVONPEND Position */
+#define SCB_SCR_SEVONPEND_Msk              (1UL << SCB_SCR_SEVONPEND_Pos)                 /*!< SCB SCR: SEVONPEND Mask */
+
+#define SCB_SCR_SLEEPDEEP_Pos               2                                             /*!< SCB SCR: SLEEPDEEP Position */
+#define SCB_SCR_SLEEPDEEP_Msk              (1UL << SCB_SCR_SLEEPDEEP_Pos)                 /*!< SCB SCR: SLEEPDEEP Mask */
+
+#define SCB_SCR_SLEEPONEXIT_Pos             1                                             /*!< SCB SCR: SLEEPONEXIT Position */
+#define SCB_SCR_SLEEPONEXIT_Msk            (1UL << SCB_SCR_SLEEPONEXIT_Pos)               /*!< SCB SCR: SLEEPONEXIT Mask */
+
+/* SCB Configuration Control Register Definitions */
+#define SCB_CCR_STKALIGN_Pos                9                                             /*!< SCB CCR: STKALIGN Position */
+#define SCB_CCR_STKALIGN_Msk               (1UL << SCB_CCR_STKALIGN_Pos)                  /*!< SCB CCR: STKALIGN Mask */
+
+#define SCB_CCR_BFHFNMIGN_Pos               8                                             /*!< SCB CCR: BFHFNMIGN Position */
+#define SCB_CCR_BFHFNMIGN_Msk              (1UL << SCB_CCR_BFHFNMIGN_Pos)                 /*!< SCB CCR: BFHFNMIGN Mask */
+
+#define SCB_CCR_DIV_0_TRP_Pos               4                                             /*!< SCB CCR: DIV_0_TRP Position */
+#define SCB_CCR_DIV_0_TRP_Msk              (1UL << SCB_CCR_DIV_0_TRP_Pos)                 /*!< SCB CCR: DIV_0_TRP Mask */
+
+#define SCB_CCR_UNALIGN_TRP_Pos             3                                             /*!< SCB CCR: UNALIGN_TRP Position */
+#define SCB_CCR_UNALIGN_TRP_Msk            (1UL << SCB_CCR_UNALIGN_TRP_Pos)               /*!< SCB CCR: UNALIGN_TRP Mask */
+
+#define SCB_CCR_USERSETMPEND_Pos            1                                             /*!< SCB CCR: USERSETMPEND Position */
+#define SCB_CCR_USERSETMPEND_Msk           (1UL << SCB_CCR_USERSETMPEND_Pos)              /*!< SCB CCR: USERSETMPEND Mask */
+
+#define SCB_CCR_NONBASETHRDENA_Pos          0                                             /*!< SCB CCR: NONBASETHRDENA Position */
+#define SCB_CCR_NONBASETHRDENA_Msk         (1UL << SCB_CCR_NONBASETHRDENA_Pos)            /*!< SCB CCR: NONBASETHRDENA Mask */
+
+/* SCB System Handler Control and State Register Definitions */
+#define SCB_SHCSR_USGFAULTENA_Pos          18                                             /*!< SCB SHCSR: USGFAULTENA Position */
+#define SCB_SHCSR_USGFAULTENA_Msk          (1UL << SCB_SHCSR_USGFAULTENA_Pos)             /*!< SCB SHCSR: USGFAULTENA Mask */
+
+#define SCB_SHCSR_BUSFAULTENA_Pos          17                                             /*!< SCB SHCSR: BUSFAULTENA Position */
+#define SCB_SHCSR_BUSFAULTENA_Msk          (1UL << SCB_SHCSR_BUSFAULTENA_Pos)             /*!< SCB SHCSR: BUSFAULTENA Mask */
+
+#define SCB_SHCSR_MEMFAULTENA_Pos          16                                             /*!< SCB SHCSR: MEMFAULTENA Position */
+#define SCB_SHCSR_MEMFAULTENA_Msk          (1UL << SCB_SHCSR_MEMFAULTENA_Pos)             /*!< SCB SHCSR: MEMFAULTENA Mask */
+
+#define SCB_SHCSR_SVCALLPENDED_Pos         15                                             /*!< SCB SHCSR: SVCALLPENDED Position */
+#define SCB_SHCSR_SVCALLPENDED_Msk         (1UL << SCB_SHCSR_SVCALLPENDED_Pos)            /*!< SCB SHCSR: SVCALLPENDED Mask */
+
+#define SCB_SHCSR_BUSFAULTPENDED_Pos       14                                             /*!< SCB SHCSR: BUSFAULTPENDED Position */
+#define SCB_SHCSR_BUSFAULTPENDED_Msk       (1UL << SCB_SHCSR_BUSFAULTPENDED_Pos)          /*!< SCB SHCSR: BUSFAULTPENDED Mask */
+
+#define SCB_SHCSR_MEMFAULTPENDED_Pos       13                                             /*!< SCB SHCSR: MEMFAULTPENDED Position */
+#define SCB_SHCSR_MEMFAULTPENDED_Msk       (1UL << SCB_SHCSR_MEMFAULTPENDED_Pos)          /*!< SCB SHCSR: MEMFAULTPENDED Mask */
+
+#define SCB_SHCSR_USGFAULTPENDED_Pos       12                                             /*!< SCB SHCSR: USGFAULTPENDED Position */
+#define SCB_SHCSR_USGFAULTPENDED_Msk       (1UL << SCB_SHCSR_USGFAULTPENDED_Pos)          /*!< SCB SHCSR: USGFAULTPENDED Mask */
+
+#define SCB_SHCSR_SYSTICKACT_Pos           11                                             /*!< SCB SHCSR: SYSTICKACT Position */
+#define SCB_SHCSR_SYSTICKACT_Msk           (1UL << SCB_SHCSR_SYSTICKACT_Pos)              /*!< SCB SHCSR: SYSTICKACT Mask */
+
+#define SCB_SHCSR_PENDSVACT_Pos            10                                             /*!< SCB SHCSR: PENDSVACT Position */
+#define SCB_SHCSR_PENDSVACT_Msk            (1UL << SCB_SHCSR_PENDSVACT_Pos)               /*!< SCB SHCSR: PENDSVACT Mask */
+
+#define SCB_SHCSR_MONITORACT_Pos            8                                             /*!< SCB SHCSR: MONITORACT Position */
+#define SCB_SHCSR_MONITORACT_Msk           (1UL << SCB_SHCSR_MONITORACT_Pos)              /*!< SCB SHCSR: MONITORACT Mask */
+
+#define SCB_SHCSR_SVCALLACT_Pos             7                                             /*!< SCB SHCSR: SVCALLACT Position */
+#define SCB_SHCSR_SVCALLACT_Msk            (1UL << SCB_SHCSR_SVCALLACT_Pos)               /*!< SCB SHCSR: SVCALLACT Mask */
+
+#define SCB_SHCSR_USGFAULTACT_Pos           3                                             /*!< SCB SHCSR: USGFAULTACT Position */
+#define SCB_SHCSR_USGFAULTACT_Msk          (1UL << SCB_SHCSR_USGFAULTACT_Pos)             /*!< SCB SHCSR: USGFAULTACT Mask */
+
+#define SCB_SHCSR_BUSFAULTACT_Pos           1                                             /*!< SCB SHCSR: BUSFAULTACT Position */
+#define SCB_SHCSR_BUSFAULTACT_Msk          (1UL << SCB_SHCSR_BUSFAULTACT_Pos)             /*!< SCB SHCSR: BUSFAULTACT Mask */
+
+#define SCB_SHCSR_MEMFAULTACT_Pos           0                                             /*!< SCB SHCSR: MEMFAULTACT Position */
+#define SCB_SHCSR_MEMFAULTACT_Msk          (1UL << SCB_SHCSR_MEMFAULTACT_Pos)             /*!< SCB SHCSR: MEMFAULTACT Mask */
+
+/* SCB Configurable Fault Status Registers Definitions */
+#define SCB_CFSR_USGFAULTSR_Pos            16                                             /*!< SCB CFSR: Usage Fault Status Register Position */
+#define SCB_CFSR_USGFAULTSR_Msk            (0xFFFFUL << SCB_CFSR_USGFAULTSR_Pos)          /*!< SCB CFSR: Usage Fault Status Register Mask */
+
+#define SCB_CFSR_BUSFAULTSR_Pos             8                                             /*!< SCB CFSR: Bus Fault Status Register Position */
+#define SCB_CFSR_BUSFAULTSR_Msk            (0xFFUL << SCB_CFSR_BUSFAULTSR_Pos)            /*!< SCB CFSR: Bus Fault Status Register Mask */
+
+#define SCB_CFSR_MEMFAULTSR_Pos             0                                             /*!< SCB CFSR: Memory Manage Fault Status Register Position */
+#define SCB_CFSR_MEMFAULTSR_Msk            (0xFFUL << SCB_CFSR_MEMFAULTSR_Pos)            /*!< SCB CFSR: Memory Manage Fault Status Register Mask */
+
+/* SCB Hard Fault Status Registers Definitions */
+#define SCB_HFSR_DEBUGEVT_Pos              31                                             /*!< SCB HFSR: DEBUGEVT Position */
+#define SCB_HFSR_DEBUGEVT_Msk              (1UL << SCB_HFSR_DEBUGEVT_Pos)                 /*!< SCB HFSR: DEBUGEVT Mask */
+
+#define SCB_HFSR_FORCED_Pos                30                                             /*!< SCB HFSR: FORCED Position */
+#define SCB_HFSR_FORCED_Msk                (1UL << SCB_HFSR_FORCED_Pos)                   /*!< SCB HFSR: FORCED Mask */
+
+#define SCB_HFSR_VECTTBL_Pos                1                                             /*!< SCB HFSR: VECTTBL Position */
+#define SCB_HFSR_VECTTBL_Msk               (1UL << SCB_HFSR_VECTTBL_Pos)                  /*!< SCB HFSR: VECTTBL Mask */
+
+/* SCB Debug Fault Status Register Definitions */
+#define SCB_DFSR_EXTERNAL_Pos               4                                             /*!< SCB DFSR: EXTERNAL Position */
+#define SCB_DFSR_EXTERNAL_Msk              (1UL << SCB_DFSR_EXTERNAL_Pos)                 /*!< SCB DFSR: EXTERNAL Mask */
+
+#define SCB_DFSR_VCATCH_Pos                 3                                             /*!< SCB DFSR: VCATCH Position */
+#define SCB_DFSR_VCATCH_Msk                (1UL << SCB_DFSR_VCATCH_Pos)                   /*!< SCB DFSR: VCATCH Mask */
+
+#define SCB_DFSR_DWTTRAP_Pos                2                                             /*!< SCB DFSR: DWTTRAP Position */
+#define SCB_DFSR_DWTTRAP_Msk               (1UL << SCB_DFSR_DWTTRAP_Pos)                  /*!< SCB DFSR: DWTTRAP Mask */
+
+#define SCB_DFSR_BKPT_Pos                   1                                             /*!< SCB DFSR: BKPT Position */
+#define SCB_DFSR_BKPT_Msk                  (1UL << SCB_DFSR_BKPT_Pos)                     /*!< SCB DFSR: BKPT Mask */
+
+#define SCB_DFSR_HALTED_Pos                 0                                             /*!< SCB DFSR: HALTED Position */
+#define SCB_DFSR_HALTED_Msk                (1UL << SCB_DFSR_HALTED_Pos)                   /*!< SCB DFSR: HALTED Mask */
+
+/*@} end of group CMSIS_SCB */
+
+
+/** \ingroup  CMSIS_core_register
+    \defgroup CMSIS_SCnSCB System Controls not in SCB (SCnSCB)
+    \brief      Type definitions for the System Control and ID Register not in the SCB
+  @{
+ */
+
+/** \brief  Structure type to access the System Control and ID Register not in the SCB.
+ */
+typedef struct
+{
+       uint32_t RESERVED0[1];
+  __I  uint32_t ICTR;                    /*!< Offset: 0x004 (R/ )  Interrupt Controller Type Register      */
+  __IO uint32_t ACTLR;                   /*!< Offset: 0x008 (R/W)  Auxiliary Control Register              */
+} SCnSCB_Type;
+
+/* Interrupt Controller Type Register Definitions */
+#define SCnSCB_ICTR_INTLINESNUM_Pos         0                                          /*!< ICTR: INTLINESNUM Position */
+#define SCnSCB_ICTR_INTLINESNUM_Msk        (0xFUL << SCnSCB_ICTR_INTLINESNUM_Pos)      /*!< ICTR: INTLINESNUM Mask */
+
+/* Auxiliary Control Register Definitions */
+#define SCnSCB_ACTLR_DISOOFP_Pos            9                                          /*!< ACTLR: DISOOFP Position */
+#define SCnSCB_ACTLR_DISOOFP_Msk           (1UL << SCnSCB_ACTLR_DISOOFP_Pos)           /*!< ACTLR: DISOOFP Mask */
+
+#define SCnSCB_ACTLR_DISFPCA_Pos            8                                          /*!< ACTLR: DISFPCA Position */
+#define SCnSCB_ACTLR_DISFPCA_Msk           (1UL << SCnSCB_ACTLR_DISFPCA_Pos)           /*!< ACTLR: DISFPCA Mask */
+
+#define SCnSCB_ACTLR_DISFOLD_Pos            2                                          /*!< ACTLR: DISFOLD Position */
+#define SCnSCB_ACTLR_DISFOLD_Msk           (1UL << SCnSCB_ACTLR_DISFOLD_Pos)           /*!< ACTLR: DISFOLD Mask */
+
+#define SCnSCB_ACTLR_DISDEFWBUF_Pos         1                                          /*!< ACTLR: DISDEFWBUF Position */
+#define SCnSCB_ACTLR_DISDEFWBUF_Msk        (1UL << SCnSCB_ACTLR_DISDEFWBUF_Pos)        /*!< ACTLR: DISDEFWBUF Mask */
+
+#define SCnSCB_ACTLR_DISMCYCINT_Pos         0                                          /*!< ACTLR: DISMCYCINT Position */
+#define SCnSCB_ACTLR_DISMCYCINT_Msk        (1UL << SCnSCB_ACTLR_DISMCYCINT_Pos)        /*!< ACTLR: DISMCYCINT Mask */
+
+/*@} end of group CMSIS_SCnotSCB */
+
+
+/** \ingroup  CMSIS_core_register
+    \defgroup CMSIS_SysTick     System Tick Timer (SysTick)
+    \brief      Type definitions for the System Timer Registers.
+  @{
+ */
+
+/** \brief  Structure type to access the System Timer (SysTick).
+ */
+typedef struct
+{
+  __IO uint32_t CTRL;                    /*!< Offset: 0x000 (R/W)  SysTick Control and Status Register */
+  __IO uint32_t LOAD;                    /*!< Offset: 0x004 (R/W)  SysTick Reload Value Register       */
+  __IO uint32_t VAL;                     /*!< Offset: 0x008 (R/W)  SysTick Current Value Register      */
+  __I  uint32_t CALIB;                   /*!< Offset: 0x00C (R/ )  SysTick Calibration Register        */
+} SysTick_Type;
+
+/* SysTick Control / Status Register Definitions */
+#define SysTick_CTRL_COUNTFLAG_Pos         16                                             /*!< SysTick CTRL: COUNTFLAG Position */
+#define SysTick_CTRL_COUNTFLAG_Msk         (1UL << SysTick_CTRL_COUNTFLAG_Pos)            /*!< SysTick CTRL: COUNTFLAG Mask */
+
+#define SysTick_CTRL_CLKSOURCE_Pos          2                                             /*!< SysTick CTRL: CLKSOURCE Position */
+#define SysTick_CTRL_CLKSOURCE_Msk         (1UL << SysTick_CTRL_CLKSOURCE_Pos)            /*!< SysTick CTRL: CLKSOURCE Mask */
+
+#define SysTick_CTRL_TICKINT_Pos            1                                             /*!< SysTick CTRL: TICKINT Position */
+#define SysTick_CTRL_TICKINT_Msk           (1UL << SysTick_CTRL_TICKINT_Pos)              /*!< SysTick CTRL: TICKINT Mask */
+
+#define SysTick_CTRL_ENABLE_Pos             0                                             /*!< SysTick CTRL: ENABLE Position */
+#define SysTick_CTRL_ENABLE_Msk            (1UL << SysTick_CTRL_ENABLE_Pos)               /*!< SysTick CTRL: ENABLE Mask */
+
+/* SysTick Reload Register Definitions */
+#define SysTick_LOAD_RELOAD_Pos             0                                             /*!< SysTick LOAD: RELOAD Position */
+#define SysTick_LOAD_RELOAD_Msk            (0xFFFFFFUL << SysTick_LOAD_RELOAD_Pos)        /*!< SysTick LOAD: RELOAD Mask */
+
+/* SysTick Current Register Definitions */
+#define SysTick_VAL_CURRENT_Pos             0                                             /*!< SysTick VAL: CURRENT Position */
+#define SysTick_VAL_CURRENT_Msk            (0xFFFFFFUL << SysTick_VAL_CURRENT_Pos)        /*!< SysTick VAL: CURRENT Mask */
+
+/* SysTick Calibration Register Definitions */
+#define SysTick_CALIB_NOREF_Pos            31                                             /*!< SysTick CALIB: NOREF Position */
+#define SysTick_CALIB_NOREF_Msk            (1UL << SysTick_CALIB_NOREF_Pos)               /*!< SysTick CALIB: NOREF Mask */
+
+#define SysTick_CALIB_SKEW_Pos             30                                             /*!< SysTick CALIB: SKEW Position */
+#define SysTick_CALIB_SKEW_Msk             (1UL << SysTick_CALIB_SKEW_Pos)                /*!< SysTick CALIB: SKEW Mask */
+
+#define SysTick_CALIB_TENMS_Pos             0                                             /*!< SysTick CALIB: TENMS Position */
+#define SysTick_CALIB_TENMS_Msk            (0xFFFFFFUL << SysTick_VAL_CURRENT_Pos)        /*!< SysTick CALIB: TENMS Mask */
+
+/*@} end of group CMSIS_SysTick */
+
+
+/** \ingroup  CMSIS_core_register
+    \defgroup CMSIS_ITM     Instrumentation Trace Macrocell (ITM)
+    \brief      Type definitions for the Instrumentation Trace Macrocell (ITM)
+  @{
+ */
+
+/** \brief  Structure type to access the Instrumentation Trace Macrocell Register (ITM).
+ */
+typedef struct
+{
+  __O  union
+  {
+    __O  uint8_t    u8;                  /*!< Offset: 0x000 ( /W)  ITM Stimulus Port 8-bit                   */
+    __O  uint16_t   u16;                 /*!< Offset: 0x000 ( /W)  ITM Stimulus Port 16-bit                  */
+    __O  uint32_t   u32;                 /*!< Offset: 0x000 ( /W)  ITM Stimulus Port 32-bit                  */
+  }  PORT [32];                          /*!< Offset: 0x000 ( /W)  ITM Stimulus Port Registers               */
+       uint32_t RESERVED0[864];
+  __IO uint32_t TER;                     /*!< Offset: 0xE00 (R/W)  ITM Trace Enable Register                 */
+       uint32_t RESERVED1[15];
+  __IO uint32_t TPR;                     /*!< Offset: 0xE40 (R/W)  ITM Trace Privilege Register              */
+       uint32_t RESERVED2[15];
+  __IO uint32_t TCR;                     /*!< Offset: 0xE80 (R/W)  ITM Trace Control Register                */
+       uint32_t RESERVED3[29];                                  
+  __O  uint32_t IWR;                     /*!< Offset: 0xEF8 ( /W)  ITM Integration Write Register            */
+  __I  uint32_t IRR;                     /*!< Offset: 0xEFC (R/ )  ITM Integration Read Register             */
+  __IO uint32_t IMCR;                    /*!< Offset: 0xF00 (R/W)  ITM Integration Mode Control Register     */
+       uint32_t RESERVED4[43];                                  
+  __O  uint32_t LAR;                     /*!< Offset: 0xFB0 ( /W)  ITM Lock Access Register                  */
+  __I  uint32_t LSR;                     /*!< Offset: 0xFB4 (R/ )  ITM Lock Status Register                  */
+       uint32_t RESERVED5[6];                                   
+  __I  uint32_t PID4;                    /*!< Offset: 0xFD0 (R/ )  ITM Peripheral Identification Register #4 */
+  __I  uint32_t PID5;                    /*!< Offset: 0xFD4 (R/ )  ITM Peripheral Identification Register #5 */
+  __I  uint32_t PID6;                    /*!< Offset: 0xFD8 (R/ )  ITM Peripheral Identification Register #6 */
+  __I  uint32_t PID7;                    /*!< Offset: 0xFDC (R/ )  ITM Peripheral Identification Register #7 */
+  __I  uint32_t PID0;                    /*!< Offset: 0xFE0 (R/ )  ITM Peripheral Identification Register #0 */
+  __I  uint32_t PID1;                    /*!< Offset: 0xFE4 (R/ )  ITM Peripheral Identification Register #1 */
+  __I  uint32_t PID2;                    /*!< Offset: 0xFE8 (R/ )  ITM Peripheral Identification Register #2 */
+  __I  uint32_t PID3;                    /*!< Offset: 0xFEC (R/ )  ITM Peripheral Identification Register #3 */
+  __I  uint32_t CID0;                    /*!< Offset: 0xFF0 (R/ )  ITM Component  Identification Register #0 */
+  __I  uint32_t CID1;                    /*!< Offset: 0xFF4 (R/ )  ITM Component  Identification Register #1 */
+  __I  uint32_t CID2;                    /*!< Offset: 0xFF8 (R/ )  ITM Component  Identification Register #2 */
+  __I  uint32_t CID3;                    /*!< Offset: 0xFFC (R/ )  ITM Component  Identification Register #3 */
+} ITM_Type;
+
+/* ITM Trace Privilege Register Definitions */
+#define ITM_TPR_PRIVMASK_Pos                0                                             /*!< ITM TPR: PRIVMASK Position */
+#define ITM_TPR_PRIVMASK_Msk               (0xFUL << ITM_TPR_PRIVMASK_Pos)                /*!< ITM TPR: PRIVMASK Mask */
+
+/* ITM Trace Control Register Definitions */
+#define ITM_TCR_BUSY_Pos                   23                                             /*!< ITM TCR: BUSY Position */
+#define ITM_TCR_BUSY_Msk                   (1UL << ITM_TCR_BUSY_Pos)                      /*!< ITM TCR: BUSY Mask */
+
+#define ITM_TCR_TraceBusID_Pos             16                                             /*!< ITM TCR: ATBID Position */
+#define ITM_TCR_TraceBusID_Msk             (0x7FUL << ITM_TCR_TraceBusID_Pos)             /*!< ITM TCR: ATBID Mask */
+
+#define ITM_TCR_GTSFREQ_Pos                10                                             /*!< ITM TCR: Global timestamp frequency Position */
+#define ITM_TCR_GTSFREQ_Msk                (3UL << ITM_TCR_GTSFREQ_Pos)                   /*!< ITM TCR: Global timestamp frequency Mask */
+
+#define ITM_TCR_TSPrescale_Pos              8                                             /*!< ITM TCR: TSPrescale Position */
+#define ITM_TCR_TSPrescale_Msk             (3UL << ITM_TCR_TSPrescale_Pos)                /*!< ITM TCR: TSPrescale Mask */
+
+#define ITM_TCR_SWOENA_Pos                  4                                             /*!< ITM TCR: SWOENA Position */
+#define ITM_TCR_SWOENA_Msk                 (1UL << ITM_TCR_SWOENA_Pos)                    /*!< ITM TCR: SWOENA Mask */
+
+#define ITM_TCR_DWTENA_Pos                  3                                             /*!< ITM TCR: DWTENA Position */
+#define ITM_TCR_DWTENA_Msk                 (1UL << ITM_TCR_DWTENA_Pos)                    /*!< ITM TCR: DWTENA Mask */
+
+#define ITM_TCR_SYNCENA_Pos                 2                                             /*!< ITM TCR: SYNCENA Position */
+#define ITM_TCR_SYNCENA_Msk                (1UL << ITM_TCR_SYNCENA_Pos)                   /*!< ITM TCR: SYNCENA Mask */
+
+#define ITM_TCR_TSENA_Pos                   1                                             /*!< ITM TCR: TSENA Position */
+#define ITM_TCR_TSENA_Msk                  (1UL << ITM_TCR_TSENA_Pos)                     /*!< ITM TCR: TSENA Mask */
+
+#define ITM_TCR_ITMENA_Pos                  0                                             /*!< ITM TCR: ITM Enable bit Position */
+#define ITM_TCR_ITMENA_Msk                 (1UL << ITM_TCR_ITMENA_Pos)                    /*!< ITM TCR: ITM Enable bit Mask */
+
+/* ITM Integration Write Register Definitions */
+#define ITM_IWR_ATVALIDM_Pos                0                                             /*!< ITM IWR: ATVALIDM Position */
+#define ITM_IWR_ATVALIDM_Msk               (1UL << ITM_IWR_ATVALIDM_Pos)                  /*!< ITM IWR: ATVALIDM Mask */
+
+/* ITM Integration Read Register Definitions */
+#define ITM_IRR_ATREADYM_Pos                0                                             /*!< ITM IRR: ATREADYM Position */
+#define ITM_IRR_ATREADYM_Msk               (1UL << ITM_IRR_ATREADYM_Pos)                  /*!< ITM IRR: ATREADYM Mask */
+
+/* ITM Integration Mode Control Register Definitions */
+#define ITM_IMCR_INTEGRATION_Pos            0                                             /*!< ITM IMCR: INTEGRATION Position */
+#define ITM_IMCR_INTEGRATION_Msk           (1UL << ITM_IMCR_INTEGRATION_Pos)              /*!< ITM IMCR: INTEGRATION Mask */
+
+/* ITM Lock Status Register Definitions */
+#define ITM_LSR_ByteAcc_Pos                 2                                             /*!< ITM LSR: ByteAcc Position */
+#define ITM_LSR_ByteAcc_Msk                (1UL << ITM_LSR_ByteAcc_Pos)                   /*!< ITM LSR: ByteAcc Mask */
+
+#define ITM_LSR_Access_Pos                  1                                             /*!< ITM LSR: Access Position */
+#define ITM_LSR_Access_Msk                 (1UL << ITM_LSR_Access_Pos)                    /*!< ITM LSR: Access Mask */
+
+#define ITM_LSR_Present_Pos                 0                                             /*!< ITM LSR: Present Position */
+#define ITM_LSR_Present_Msk                (1UL << ITM_LSR_Present_Pos)                   /*!< ITM LSR: Present Mask */
+
+/*@}*/ /* end of group CMSIS_ITM */
+
+
+/** \ingroup  CMSIS_core_register
+    \defgroup CMSIS_DWT     Data Watchpoint and Trace (DWT)
+    \brief      Type definitions for the Data Watchpoint and Trace (DWT)
+  @{
+ */
+
+/** \brief  Structure type to access the Data Watchpoint and Trace Register (DWT).
+ */
+typedef struct
+{
+  __IO uint32_t CTRL;                    /*!< Offset: 0x000 (R/W)  Control Register                          */
+  __IO uint32_t CYCCNT;                  /*!< Offset: 0x004 (R/W)  Cycle Count Register                      */
+  __IO uint32_t CPICNT;                  /*!< Offset: 0x008 (R/W)  CPI Count Register                        */
+  __IO uint32_t EXCCNT;                  /*!< Offset: 0x00C (R/W)  Exception Overhead Count Register         */
+  __IO uint32_t SLEEPCNT;                /*!< Offset: 0x010 (R/W)  Sleep Count Register                      */
+  __IO uint32_t LSUCNT;                  /*!< Offset: 0x014 (R/W)  LSU Count Register                        */
+  __IO uint32_t FOLDCNT;                 /*!< Offset: 0x018 (R/W)  Folded-instruction Count Register         */
+  __I  uint32_t PCSR;                    /*!< Offset: 0x01C (R/ )  Program Counter Sample Register           */
+  __IO uint32_t COMP0;                   /*!< Offset: 0x020 (R/W)  Comparator Register 0                     */
+  __IO uint32_t MASK0;                   /*!< Offset: 0x024 (R/W)  Mask Register 0                           */
+  __IO uint32_t FUNCTION0;               /*!< Offset: 0x028 (R/W)  Function Register 0                       */
+       uint32_t RESERVED0[1];
+  __IO uint32_t COMP1;                   /*!< Offset: 0x030 (R/W)  Comparator Register 1                     */
+  __IO uint32_t MASK1;                   /*!< Offset: 0x034 (R/W)  Mask Register 1                           */
+  __IO uint32_t FUNCTION1;               /*!< Offset: 0x038 (R/W)  Function Register 1                       */
+       uint32_t RESERVED1[1];
+  __IO uint32_t COMP2;                   /*!< Offset: 0x040 (R/W)  Comparator Register 2                     */
+  __IO uint32_t MASK2;                   /*!< Offset: 0x044 (R/W)  Mask Register 2                           */
+  __IO uint32_t FUNCTION2;               /*!< Offset: 0x048 (R/W)  Function Register 2                       */
+       uint32_t RESERVED2[1];
+  __IO uint32_t COMP3;                   /*!< Offset: 0x050 (R/W)  Comparator Register 3                     */
+  __IO uint32_t MASK3;                   /*!< Offset: 0x054 (R/W)  Mask Register 3                           */
+  __IO uint32_t FUNCTION3;               /*!< Offset: 0x058 (R/W)  Function Register 3                       */
+} DWT_Type;
+
+/* DWT Control Register Definitions */
+#define DWT_CTRL_NUMCOMP_Pos               28                                          /*!< DWT CTRL: NUMCOMP Position */
+#define DWT_CTRL_NUMCOMP_Msk               (0xFUL << DWT_CTRL_NUMCOMP_Pos)             /*!< DWT CTRL: NUMCOMP Mask */
+
+#define DWT_CTRL_NOTRCPKT_Pos              27                                          /*!< DWT CTRL: NOTRCPKT Position */
+#define DWT_CTRL_NOTRCPKT_Msk              (0x1UL << DWT_CTRL_NOTRCPKT_Pos)            /*!< DWT CTRL: NOTRCPKT Mask */
+
+#define DWT_CTRL_NOEXTTRIG_Pos             26                                          /*!< DWT CTRL: NOEXTTRIG Position */
+#define DWT_CTRL_NOEXTTRIG_Msk             (0x1UL << DWT_CTRL_NOEXTTRIG_Pos)           /*!< DWT CTRL: NOEXTTRIG Mask */
+
+#define DWT_CTRL_NOCYCCNT_Pos              25                                          /*!< DWT CTRL: NOCYCCNT Position */
+#define DWT_CTRL_NOCYCCNT_Msk              (0x1UL << DWT_CTRL_NOCYCCNT_Pos)            /*!< DWT CTRL: NOCYCCNT Mask */
+
+#define DWT_CTRL_NOPRFCNT_Pos              24                                          /*!< DWT CTRL: NOPRFCNT Position */
+#define DWT_CTRL_NOPRFCNT_Msk              (0x1UL << DWT_CTRL_NOPRFCNT_Pos)            /*!< DWT CTRL: NOPRFCNT Mask */
+
+#define DWT_CTRL_CYCEVTENA_Pos             22                                          /*!< DWT CTRL: CYCEVTENA Position */
+#define DWT_CTRL_CYCEVTENA_Msk             (0x1UL << DWT_CTRL_CYCEVTENA_Pos)           /*!< DWT CTRL: CYCEVTENA Mask */
+
+#define DWT_CTRL_FOLDEVTENA_Pos            21                                          /*!< DWT CTRL: FOLDEVTENA Position */
+#define DWT_CTRL_FOLDEVTENA_Msk            (0x1UL << DWT_CTRL_FOLDEVTENA_Pos)          /*!< DWT CTRL: FOLDEVTENA Mask */
+
+#define DWT_CTRL_LSUEVTENA_Pos             20                                          /*!< DWT CTRL: LSUEVTENA Position */
+#define DWT_CTRL_LSUEVTENA_Msk             (0x1UL << DWT_CTRL_LSUEVTENA_Pos)           /*!< DWT CTRL: LSUEVTENA Mask */
+
+#define DWT_CTRL_SLEEPEVTENA_Pos           19                                          /*!< DWT CTRL: SLEEPEVTENA Position */
+#define DWT_CTRL_SLEEPEVTENA_Msk           (0x1UL << DWT_CTRL_SLEEPEVTENA_Pos)         /*!< DWT CTRL: SLEEPEVTENA Mask */
+
+#define DWT_CTRL_EXCEVTENA_Pos             18                                          /*!< DWT CTRL: EXCEVTENA Position */
+#define DWT_CTRL_EXCEVTENA_Msk             (0x1UL << DWT_CTRL_EXCEVTENA_Pos)           /*!< DWT CTRL: EXCEVTENA Mask */
+
+#define DWT_CTRL_CPIEVTENA_Pos             17                                          /*!< DWT CTRL: CPIEVTENA Position */
+#define DWT_CTRL_CPIEVTENA_Msk             (0x1UL << DWT_CTRL_CPIEVTENA_Pos)           /*!< DWT CTRL: CPIEVTENA Mask */
+
+#define DWT_CTRL_EXCTRCENA_Pos             16                                          /*!< DWT CTRL: EXCTRCENA Position */
+#define DWT_CTRL_EXCTRCENA_Msk             (0x1UL << DWT_CTRL_EXCTRCENA_Pos)           /*!< DWT CTRL: EXCTRCENA Mask */
+
+#define DWT_CTRL_PCSAMPLENA_Pos            12                                          /*!< DWT CTRL: PCSAMPLENA Position */
+#define DWT_CTRL_PCSAMPLENA_Msk            (0x1UL << DWT_CTRL_PCSAMPLENA_Pos)          /*!< DWT CTRL: PCSAMPLENA Mask */
+
+#define DWT_CTRL_SYNCTAP_Pos               10                                          /*!< DWT CTRL: SYNCTAP Position */
+#define DWT_CTRL_SYNCTAP_Msk               (0x3UL << DWT_CTRL_SYNCTAP_Pos)             /*!< DWT CTRL: SYNCTAP Mask */
+
+#define DWT_CTRL_CYCTAP_Pos                 9                                          /*!< DWT CTRL: CYCTAP Position */
+#define DWT_CTRL_CYCTAP_Msk                (0x1UL << DWT_CTRL_CYCTAP_Pos)              /*!< DWT CTRL: CYCTAP Mask */
+
+#define DWT_CTRL_POSTINIT_Pos               5                                          /*!< DWT CTRL: POSTINIT Position */
+#define DWT_CTRL_POSTINIT_Msk              (0xFUL << DWT_CTRL_POSTINIT_Pos)            /*!< DWT CTRL: POSTINIT Mask */
+
+#define DWT_CTRL_POSTPRESET_Pos             1                                          /*!< DWT CTRL: POSTPRESET Position */
+#define DWT_CTRL_POSTPRESET_Msk            (0xFUL << DWT_CTRL_POSTPRESET_Pos)          /*!< DWT CTRL: POSTPRESET Mask */
+
+#define DWT_CTRL_CYCCNTENA_Pos              0                                          /*!< DWT CTRL: CYCCNTENA Position */
+#define DWT_CTRL_CYCCNTENA_Msk             (0x1UL << DWT_CTRL_CYCCNTENA_Pos)           /*!< DWT CTRL: CYCCNTENA Mask */
+
+/* DWT CPI Count Register Definitions */
+#define DWT_CPICNT_CPICNT_Pos               0                                          /*!< DWT CPICNT: CPICNT Position */
+#define DWT_CPICNT_CPICNT_Msk              (0xFFUL << DWT_CPICNT_CPICNT_Pos)           /*!< DWT CPICNT: CPICNT Mask */
+
+/* DWT Exception Overhead Count Register Definitions */
+#define DWT_EXCCNT_EXCCNT_Pos               0                                          /*!< DWT EXCCNT: EXCCNT Position */
+#define DWT_EXCCNT_EXCCNT_Msk              (0xFFUL << DWT_EXCCNT_EXCCNT_Pos)           /*!< DWT EXCCNT: EXCCNT Mask */
+
+/* DWT Sleep Count Register Definitions */
+#define DWT_SLEEPCNT_SLEEPCNT_Pos           0                                          /*!< DWT SLEEPCNT: SLEEPCNT Position */
+#define DWT_SLEEPCNT_SLEEPCNT_Msk          (0xFFUL << DWT_SLEEPCNT_SLEEPCNT_Pos)       /*!< DWT SLEEPCNT: SLEEPCNT Mask */
+
+/* DWT LSU Count Register Definitions */
+#define DWT_LSUCNT_LSUCNT_Pos               0                                          /*!< DWT LSUCNT: LSUCNT Position */
+#define DWT_LSUCNT_LSUCNT_Msk              (0xFFUL << DWT_LSUCNT_LSUCNT_Pos)           /*!< DWT LSUCNT: LSUCNT Mask */
+
+/* DWT Folded-instruction Count Register Definitions */
+#define DWT_FOLDCNT_FOLDCNT_Pos             0                                          /*!< DWT FOLDCNT: FOLDCNT Position */
+#define DWT_FOLDCNT_FOLDCNT_Msk            (0xFFUL << DWT_FOLDCNT_FOLDCNT_Pos)         /*!< DWT FOLDCNT: FOLDCNT Mask */
+
+/* DWT Comparator Mask Register Definitions */
+#define DWT_MASK_MASK_Pos                   0                                          /*!< DWT MASK: MASK Position */
+#define DWT_MASK_MASK_Msk                  (0x1FUL << DWT_MASK_MASK_Pos)               /*!< DWT MASK: MASK Mask */
+
+/* DWT Comparator Function Register Definitions */
+#define DWT_FUNCTION_MATCHED_Pos           24                                          /*!< DWT FUNCTION: MATCHED Position */
+#define DWT_FUNCTION_MATCHED_Msk           (0x1UL << DWT_FUNCTION_MATCHED_Pos)         /*!< DWT FUNCTION: MATCHED Mask */
+
+#define DWT_FUNCTION_DATAVADDR1_Pos        16                                          /*!< DWT FUNCTION: DATAVADDR1 Position */
+#define DWT_FUNCTION_DATAVADDR1_Msk        (0xFUL << DWT_FUNCTION_DATAVADDR1_Pos)      /*!< DWT FUNCTION: DATAVADDR1 Mask */
+
+#define DWT_FUNCTION_DATAVADDR0_Pos        12                                          /*!< DWT FUNCTION: DATAVADDR0 Position */
+#define DWT_FUNCTION_DATAVADDR0_Msk        (0xFUL << DWT_FUNCTION_DATAVADDR0_Pos)      /*!< DWT FUNCTION: DATAVADDR0 Mask */
+
+#define DWT_FUNCTION_DATAVSIZE_Pos         10                                          /*!< DWT FUNCTION: DATAVSIZE Position */
+#define DWT_FUNCTION_DATAVSIZE_Msk         (0x3UL << DWT_FUNCTION_DATAVSIZE_Pos)       /*!< DWT FUNCTION: DATAVSIZE Mask */
+
+#define DWT_FUNCTION_LNK1ENA_Pos            9                                          /*!< DWT FUNCTION: LNK1ENA Position */
+#define DWT_FUNCTION_LNK1ENA_Msk           (0x1UL << DWT_FUNCTION_LNK1ENA_Pos)         /*!< DWT FUNCTION: LNK1ENA Mask */
+
+#define DWT_FUNCTION_DATAVMATCH_Pos         8                                          /*!< DWT FUNCTION: DATAVMATCH Position */
+#define DWT_FUNCTION_DATAVMATCH_Msk        (0x1UL << DWT_FUNCTION_DATAVMATCH_Pos)      /*!< DWT FUNCTION: DATAVMATCH Mask */
+
+#define DWT_FUNCTION_CYCMATCH_Pos           7                                          /*!< DWT FUNCTION: CYCMATCH Position */
+#define DWT_FUNCTION_CYCMATCH_Msk          (0x1UL << DWT_FUNCTION_CYCMATCH_Pos)        /*!< DWT FUNCTION: CYCMATCH Mask */
+
+#define DWT_FUNCTION_EMITRANGE_Pos          5                                          /*!< DWT FUNCTION: EMITRANGE Position */
+#define DWT_FUNCTION_EMITRANGE_Msk         (0x1UL << DWT_FUNCTION_EMITRANGE_Pos)       /*!< DWT FUNCTION: EMITRANGE Mask */
+
+#define DWT_FUNCTION_FUNCTION_Pos           0                                          /*!< DWT FUNCTION: FUNCTION Position */
+#define DWT_FUNCTION_FUNCTION_Msk          (0xFUL << DWT_FUNCTION_FUNCTION_Pos)        /*!< DWT FUNCTION: FUNCTION Mask */
+
+/*@}*/ /* end of group CMSIS_DWT */
+
+
+/** \ingroup  CMSIS_core_register
+    \defgroup CMSIS_TPI     Trace Port Interface (TPI)
+    \brief      Type definitions for the Trace Port Interface (TPI)
+  @{
+ */
+
+/** \brief  Structure type to access the Trace Port Interface Register (TPI).
+ */
+typedef struct
+{
+  __IO uint32_t SSPSR;                   /*!< Offset: 0x000 (R/ )  Supported Parallel Port Size Register     */
+  __IO uint32_t CSPSR;                   /*!< Offset: 0x004 (R/W)  Current Parallel Port Size Register */
+       uint32_t RESERVED0[2];
+  __IO uint32_t ACPR;                    /*!< Offset: 0x010 (R/W)  Asynchronous Clock Prescaler Register */
+       uint32_t RESERVED1[55];
+  __IO uint32_t SPPR;                    /*!< Offset: 0x0F0 (R/W)  Selected Pin Protocol Register */
+       uint32_t RESERVED2[131];
+  __I  uint32_t FFSR;                    /*!< Offset: 0x300 (R/ )  Formatter and Flush Status Register */
+  __IO uint32_t FFCR;                    /*!< Offset: 0x304 (R/W)  Formatter and Flush Control Register */
+  __I  uint32_t FSCR;                    /*!< Offset: 0x308 (R/ )  Formatter Synchronization Counter Register */
+       uint32_t RESERVED3[759];
+  __I  uint32_t TRIGGER;                 /*!< Offset: 0xEE8 (R/ )  TRIGGER */
+  __I  uint32_t FIFO0;                   /*!< Offset: 0xEEC (R/ )  Integration ETM Data */
+  __I  uint32_t ITATBCTR2;               /*!< Offset: 0xEF0 (R/ )  ITATBCTR2 */
+       uint32_t RESERVED4[1];
+  __I  uint32_t ITATBCTR0;               /*!< Offset: 0xEF8 (R/ )  ITATBCTR0 */
+  __I  uint32_t FIFO1;                   /*!< Offset: 0xEFC (R/ )  Integration ITM Data */
+  __IO uint32_t ITCTRL;                  /*!< Offset: 0xF00 (R/W)  Integration Mode Control */
+       uint32_t RESERVED5[39];
+  __IO uint32_t CLAIMSET;                /*!< Offset: 0xFA0 (R/W)  Claim tag set */
+  __IO uint32_t CLAIMCLR;                /*!< Offset: 0xFA4 (R/W)  Claim tag clear */
+       uint32_t RESERVED7[8];
+  __I  uint32_t DEVID;                   /*!< Offset: 0xFC8 (R/ )  TPIU_DEVID */
+  __I  uint32_t DEVTYPE;                 /*!< Offset: 0xFCC (R/ )  TPIU_DEVTYPE */
+} TPI_Type;
+
+/* TPI Asynchronous Clock Prescaler Register Definitions */
+#define TPI_ACPR_PRESCALER_Pos              0                                          /*!< TPI ACPR: PRESCALER Position */
+#define TPI_ACPR_PRESCALER_Msk             (0x1FFFUL << TPI_ACPR_PRESCALER_Pos)        /*!< TPI ACPR: PRESCALER Mask */
+
+/* TPI Selected Pin Protocol Register Definitions */
+#define TPI_SPPR_TXMODE_Pos                 0                                          /*!< TPI SPPR: TXMODE Position */
+#define TPI_SPPR_TXMODE_Msk                (0x3UL << TPI_SPPR_TXMODE_Pos)              /*!< TPI SPPR: TXMODE Mask */
+
+/* TPI Formatter and Flush Status Register Definitions */
+#define TPI_FFSR_FtNonStop_Pos              3                                          /*!< TPI FFSR: FtNonStop Position */
+#define TPI_FFSR_FtNonStop_Msk             (0x1UL << TPI_FFSR_FtNonStop_Pos)           /*!< TPI FFSR: FtNonStop Mask */
+
+#define TPI_FFSR_TCPresent_Pos              2                                          /*!< TPI FFSR: TCPresent Position */
+#define TPI_FFSR_TCPresent_Msk             (0x1UL << TPI_FFSR_TCPresent_Pos)           /*!< TPI FFSR: TCPresent Mask */
+
+#define TPI_FFSR_FtStopped_Pos              1                                          /*!< TPI FFSR: FtStopped Position */
+#define TPI_FFSR_FtStopped_Msk             (0x1UL << TPI_FFSR_FtStopped_Pos)           /*!< TPI FFSR: FtStopped Mask */
+
+#define TPI_FFSR_FlInProg_Pos               0                                          /*!< TPI FFSR: FlInProg Position */
+#define TPI_FFSR_FlInProg_Msk              (0x1UL << TPI_FFSR_FlInProg_Pos)            /*!< TPI FFSR: FlInProg Mask */
+
+/* TPI Formatter and Flush Control Register Definitions */
+#define TPI_FFCR_TrigIn_Pos                 8                                          /*!< TPI FFCR: TrigIn Position */
+#define TPI_FFCR_TrigIn_Msk                (0x1UL << TPI_FFCR_TrigIn_Pos)              /*!< TPI FFCR: TrigIn Mask */
+
+#define TPI_FFCR_EnFCont_Pos                1                                          /*!< TPI FFCR: EnFCont Position */
+#define TPI_FFCR_EnFCont_Msk               (0x1UL << TPI_FFCR_EnFCont_Pos)             /*!< TPI FFCR: EnFCont Mask */
+
+/* TPI TRIGGER Register Definitions */
+#define TPI_TRIGGER_TRIGGER_Pos             0                                          /*!< TPI TRIGGER: TRIGGER Position */
+#define TPI_TRIGGER_TRIGGER_Msk            (0x1UL << TPI_TRIGGER_TRIGGER_Pos)          /*!< TPI TRIGGER: TRIGGER Mask */
+
+/* TPI Integration ETM Data Register Definitions (FIFO0) */
+#define TPI_FIFO0_ITM_ATVALID_Pos          29                                          /*!< TPI FIFO0: ITM_ATVALID Position */
+#define TPI_FIFO0_ITM_ATVALID_Msk          (0x3UL << TPI_FIFO0_ITM_ATVALID_Pos)        /*!< TPI FIFO0: ITM_ATVALID Mask */
+
+#define TPI_FIFO0_ITM_bytecount_Pos        27                                          /*!< TPI FIFO0: ITM_bytecount Position */
+#define TPI_FIFO0_ITM_bytecount_Msk        (0x3UL << TPI_FIFO0_ITM_bytecount_Pos)      /*!< TPI FIFO0: ITM_bytecount Mask */
+
+#define TPI_FIFO0_ETM_ATVALID_Pos          26                                          /*!< TPI FIFO0: ETM_ATVALID Position */
+#define TPI_FIFO0_ETM_ATVALID_Msk          (0x3UL << TPI_FIFO0_ETM_ATVALID_Pos)        /*!< TPI FIFO0: ETM_ATVALID Mask */
+
+#define TPI_FIFO0_ETM_bytecount_Pos        24                                          /*!< TPI FIFO0: ETM_bytecount Position */
+#define TPI_FIFO0_ETM_bytecount_Msk        (0x3UL << TPI_FIFO0_ETM_bytecount_Pos)      /*!< TPI FIFO0: ETM_bytecount Mask */
+
+#define TPI_FIFO0_ETM2_Pos                 16                                          /*!< TPI FIFO0: ETM2 Position */
+#define TPI_FIFO0_ETM2_Msk                 (0xFFUL << TPI_FIFO0_ETM2_Pos)              /*!< TPI FIFO0: ETM2 Mask */
+
+#define TPI_FIFO0_ETM1_Pos                  8                                          /*!< TPI FIFO0: ETM1 Position */
+#define TPI_FIFO0_ETM1_Msk                 (0xFFUL << TPI_FIFO0_ETM1_Pos)              /*!< TPI FIFO0: ETM1 Mask */
+
+#define TPI_FIFO0_ETM0_Pos                  0                                          /*!< TPI FIFO0: ETM0 Position */
+#define TPI_FIFO0_ETM0_Msk                 (0xFFUL << TPI_FIFO0_ETM0_Pos)              /*!< TPI FIFO0: ETM0 Mask */
+
+/* TPI ITATBCTR2 Register Definitions */
+#define TPI_ITATBCTR2_ATREADY_Pos           0                                          /*!< TPI ITATBCTR2: ATREADY Position */
+#define TPI_ITATBCTR2_ATREADY_Msk          (0x1UL << TPI_ITATBCTR2_ATREADY_Pos)        /*!< TPI ITATBCTR2: ATREADY Mask */
+
+/* TPI Integration ITM Data Register Definitions (FIFO1) */
+#define TPI_FIFO1_ITM_ATVALID_Pos          29                                          /*!< TPI FIFO1: ITM_ATVALID Position */
+#define TPI_FIFO1_ITM_ATVALID_Msk          (0x3UL << TPI_FIFO1_ITM_ATVALID_Pos)        /*!< TPI FIFO1: ITM_ATVALID Mask */
+
+#define TPI_FIFO1_ITM_bytecount_Pos        27                                          /*!< TPI FIFO1: ITM_bytecount Position */
+#define TPI_FIFO1_ITM_bytecount_Msk        (0x3UL << TPI_FIFO1_ITM_bytecount_Pos)      /*!< TPI FIFO1: ITM_bytecount Mask */
+
+#define TPI_FIFO1_ETM_ATVALID_Pos          26                                          /*!< TPI FIFO1: ETM_ATVALID Position */
+#define TPI_FIFO1_ETM_ATVALID_Msk          (0x3UL << TPI_FIFO1_ETM_ATVALID_Pos)        /*!< TPI FIFO1: ETM_ATVALID Mask */
+
+#define TPI_FIFO1_ETM_bytecount_Pos        24                                          /*!< TPI FIFO1: ETM_bytecount Position */
+#define TPI_FIFO1_ETM_bytecount_Msk        (0x3UL << TPI_FIFO1_ETM_bytecount_Pos)      /*!< TPI FIFO1: ETM_bytecount Mask */
+
+#define TPI_FIFO1_ITM2_Pos                 16                                          /*!< TPI FIFO1: ITM2 Position */
+#define TPI_FIFO1_ITM2_Msk                 (0xFFUL << TPI_FIFO1_ITM2_Pos)              /*!< TPI FIFO1: ITM2 Mask */
+
+#define TPI_FIFO1_ITM1_Pos                  8                                          /*!< TPI FIFO1: ITM1 Position */
+#define TPI_FIFO1_ITM1_Msk                 (0xFFUL << TPI_FIFO1_ITM1_Pos)              /*!< TPI FIFO1: ITM1 Mask */
+
+#define TPI_FIFO1_ITM0_Pos                  0                                          /*!< TPI FIFO1: ITM0 Position */
+#define TPI_FIFO1_ITM0_Msk                 (0xFFUL << TPI_FIFO1_ITM0_Pos)              /*!< TPI FIFO1: ITM0 Mask */
+
+/* TPI ITATBCTR0 Register Definitions */
+#define TPI_ITATBCTR0_ATREADY_Pos           0                                          /*!< TPI ITATBCTR0: ATREADY Position */
+#define TPI_ITATBCTR0_ATREADY_Msk          (0x1UL << TPI_ITATBCTR0_ATREADY_Pos)        /*!< TPI ITATBCTR0: ATREADY Mask */
+
+/* TPI Integration Mode Control Register Definitions */
+#define TPI_ITCTRL_Mode_Pos                 0                                          /*!< TPI ITCTRL: Mode Position */
+#define TPI_ITCTRL_Mode_Msk                (0x1UL << TPI_ITCTRL_Mode_Pos)              /*!< TPI ITCTRL: Mode Mask */
+
+/* TPI DEVID Register Definitions */
+#define TPI_DEVID_NRZVALID_Pos             11                                          /*!< TPI DEVID: NRZVALID Position */
+#define TPI_DEVID_NRZVALID_Msk             (0x1UL << TPI_DEVID_NRZVALID_Pos)           /*!< TPI DEVID: NRZVALID Mask */
+
+#define TPI_DEVID_MANCVALID_Pos            10                                          /*!< TPI DEVID: MANCVALID Position */
+#define TPI_DEVID_MANCVALID_Msk            (0x1UL << TPI_DEVID_MANCVALID_Pos)          /*!< TPI DEVID: MANCVALID Mask */
+
+#define TPI_DEVID_PTINVALID_Pos             9                                          /*!< TPI DEVID: PTINVALID Position */
+#define TPI_DEVID_PTINVALID_Msk            (0x1UL << TPI_DEVID_PTINVALID_Pos)          /*!< TPI DEVID: PTINVALID Mask */
+
+#define TPI_DEVID_MinBufSz_Pos              6                                          /*!< TPI DEVID: MinBufSz Position */
+#define TPI_DEVID_MinBufSz_Msk             (0x7UL << TPI_DEVID_MinBufSz_Pos)           /*!< TPI DEVID: MinBufSz Mask */
+
+#define TPI_DEVID_AsynClkIn_Pos             5                                          /*!< TPI DEVID: AsynClkIn Position */
+#define TPI_DEVID_AsynClkIn_Msk            (0x1UL << TPI_DEVID_AsynClkIn_Pos)          /*!< TPI DEVID: AsynClkIn Mask */
+
+#define TPI_DEVID_NrTraceInput_Pos          0                                          /*!< TPI DEVID: NrTraceInput Position */
+#define TPI_DEVID_NrTraceInput_Msk         (0x1FUL << TPI_DEVID_NrTraceInput_Pos)      /*!< TPI DEVID: NrTraceInput Mask */
+
+/* TPI DEVTYPE Register Definitions */
+#define TPI_DEVTYPE_SubType_Pos             0                                          /*!< TPI DEVTYPE: SubType Position */
+#define TPI_DEVTYPE_SubType_Msk            (0xFUL << TPI_DEVTYPE_SubType_Pos)          /*!< TPI DEVTYPE: SubType Mask */
+
+#define TPI_DEVTYPE_MajorType_Pos           4                                          /*!< TPI DEVTYPE: MajorType Position */
+#define TPI_DEVTYPE_MajorType_Msk          (0xFUL << TPI_DEVTYPE_MajorType_Pos)        /*!< TPI DEVTYPE: MajorType Mask */
+
+/*@}*/ /* end of group CMSIS_TPI */
+
+
+#if (__MPU_PRESENT == 1)
+/** \ingroup  CMSIS_core_register
+    \defgroup CMSIS_MPU     Memory Protection Unit (MPU)
+    \brief      Type definitions for the Memory Protection Unit (MPU)
+  @{
+ */
+
+/** \brief  Structure type to access the Memory Protection Unit (MPU).
+ */
+typedef struct
+{
+  __I  uint32_t TYPE;                    /*!< Offset: 0x000 (R/ )  MPU Type Register                              */
+  __IO uint32_t CTRL;                    /*!< Offset: 0x004 (R/W)  MPU Control Register                           */
+  __IO uint32_t RNR;                     /*!< Offset: 0x008 (R/W)  MPU Region RNRber Register                     */
+  __IO uint32_t RBAR;                    /*!< Offset: 0x00C (R/W)  MPU Region Base Address Register               */
+  __IO uint32_t RASR;                    /*!< Offset: 0x010 (R/W)  MPU Region Attribute and Size Register         */
+  __IO uint32_t RBAR_A1;                 /*!< Offset: 0x014 (R/W)  MPU Alias 1 Region Base Address Register       */
+  __IO uint32_t RASR_A1;                 /*!< Offset: 0x018 (R/W)  MPU Alias 1 Region Attribute and Size Register */
+  __IO uint32_t RBAR_A2;                 /*!< Offset: 0x01C (R/W)  MPU Alias 2 Region Base Address Register       */
+  __IO uint32_t RASR_A2;                 /*!< Offset: 0x020 (R/W)  MPU Alias 2 Region Attribute and Size Register */
+  __IO uint32_t RBAR_A3;                 /*!< Offset: 0x024 (R/W)  MPU Alias 3 Region Base Address Register       */
+  __IO uint32_t RASR_A3;                 /*!< Offset: 0x028 (R/W)  MPU Alias 3 Region Attribute and Size Register */
+} MPU_Type;
+
+/* MPU Type Register */
+#define MPU_TYPE_IREGION_Pos               16                                             /*!< MPU TYPE: IREGION Position */
+#define MPU_TYPE_IREGION_Msk               (0xFFUL << MPU_TYPE_IREGION_Pos)               /*!< MPU TYPE: IREGION Mask */
+
+#define MPU_TYPE_DREGION_Pos                8                                             /*!< MPU TYPE: DREGION Position */
+#define MPU_TYPE_DREGION_Msk               (0xFFUL << MPU_TYPE_DREGION_Pos)               /*!< MPU TYPE: DREGION Mask */
+
+#define MPU_TYPE_SEPARATE_Pos               0                                             /*!< MPU TYPE: SEPARATE Position */
+#define MPU_TYPE_SEPARATE_Msk              (1UL << MPU_TYPE_SEPARATE_Pos)                 /*!< MPU TYPE: SEPARATE Mask */
+
+/* MPU Control Register */
+#define MPU_CTRL_PRIVDEFENA_Pos             2                                             /*!< MPU CTRL: PRIVDEFENA Position */
+#define MPU_CTRL_PRIVDEFENA_Msk            (1UL << MPU_CTRL_PRIVDEFENA_Pos)               /*!< MPU CTRL: PRIVDEFENA Mask */
+
+#define MPU_CTRL_HFNMIENA_Pos               1                                             /*!< MPU CTRL: HFNMIENA Position */
+#define MPU_CTRL_HFNMIENA_Msk              (1UL << MPU_CTRL_HFNMIENA_Pos)                 /*!< MPU CTRL: HFNMIENA Mask */
+
+#define MPU_CTRL_ENABLE_Pos                 0                                             /*!< MPU CTRL: ENABLE Position */
+#define MPU_CTRL_ENABLE_Msk                (1UL << MPU_CTRL_ENABLE_Pos)                   /*!< MPU CTRL: ENABLE Mask */
+
+/* MPU Region Number Register */
+#define MPU_RNR_REGION_Pos                  0                                             /*!< MPU RNR: REGION Position */
+#define MPU_RNR_REGION_Msk                 (0xFFUL << MPU_RNR_REGION_Pos)                 /*!< MPU RNR: REGION Mask */
+
+/* MPU Region Base Address Register */
+#define MPU_RBAR_ADDR_Pos                   5                                             /*!< MPU RBAR: ADDR Position */
+#define MPU_RBAR_ADDR_Msk                  (0x7FFFFFFUL << MPU_RBAR_ADDR_Pos)             /*!< MPU RBAR: ADDR Mask */
+
+#define MPU_RBAR_VALID_Pos                  4                                             /*!< MPU RBAR: VALID Position */
+#define MPU_RBAR_VALID_Msk                 (1UL << MPU_RBAR_VALID_Pos)                    /*!< MPU RBAR: VALID Mask */
+
+#define MPU_RBAR_REGION_Pos                 0                                             /*!< MPU RBAR: REGION Position */
+#define MPU_RBAR_REGION_Msk                (0xFUL << MPU_RBAR_REGION_Pos)                 /*!< MPU RBAR: REGION Mask */
+
+/* MPU Region Attribute and Size Register */
+#define MPU_RASR_ATTRS_Pos                 16                                             /*!< MPU RASR: MPU Region Attribute field Position */
+#define MPU_RASR_ATTRS_Msk                 (0xFFFFUL << MPU_RASR_ATTRS_Pos)               /*!< MPU RASR: MPU Region Attribute field Mask */
+
+#define MPU_RASR_XN_Pos                    28                                             /*!< MPU RASR: ATTRS.XN Position */
+#define MPU_RASR_XN_Msk                    (1UL << MPU_RASR_XN_Pos)                       /*!< MPU RASR: ATTRS.XN Mask */
+
+#define MPU_RASR_AP_Pos                    24                                             /*!< MPU RASR: ATTRS.AP Position */
+#define MPU_RASR_AP_Msk                    (0x7UL << MPU_RASR_AP_Pos)                     /*!< MPU RASR: ATTRS.AP Mask */
+
+#define MPU_RASR_TEX_Pos                   19                                             /*!< MPU RASR: ATTRS.TEX Position */
+#define MPU_RASR_TEX_Msk                   (0x7UL << MPU_RASR_TEX_Pos)                    /*!< MPU RASR: ATTRS.TEX Mask */
+
+#define MPU_RASR_S_Pos                     18                                             /*!< MPU RASR: ATTRS.S Position */
+#define MPU_RASR_S_Msk                     (1UL << MPU_RASR_S_Pos)                        /*!< MPU RASR: ATTRS.S Mask */
+
+#define MPU_RASR_C_Pos                     17                                             /*!< MPU RASR: ATTRS.C Position */
+#define MPU_RASR_C_Msk                     (1UL << MPU_RASR_C_Pos)                        /*!< MPU RASR: ATTRS.C Mask */
+
+#define MPU_RASR_B_Pos                     16                                             /*!< MPU RASR: ATTRS.B Position */
+#define MPU_RASR_B_Msk                     (1UL << MPU_RASR_B_Pos)                        /*!< MPU RASR: ATTRS.B Mask */
+
+#define MPU_RASR_SRD_Pos                    8                                             /*!< MPU RASR: Sub-Region Disable Position */
+#define MPU_RASR_SRD_Msk                   (0xFFUL << MPU_RASR_SRD_Pos)                   /*!< MPU RASR: Sub-Region Disable Mask */
+
+#define MPU_RASR_SIZE_Pos                   1                                             /*!< MPU RASR: Region Size Field Position */
+#define MPU_RASR_SIZE_Msk                  (0x1FUL << MPU_RASR_SIZE_Pos)                  /*!< MPU RASR: Region Size Field Mask */
+
+#define MPU_RASR_ENABLE_Pos                 0                                             /*!< MPU RASR: Region enable bit Position */
+#define MPU_RASR_ENABLE_Msk                (1UL << MPU_RASR_ENABLE_Pos)                   /*!< MPU RASR: Region enable bit Disable Mask */
+
+/*@} end of group CMSIS_MPU */
+#endif
+
+
+#if (__FPU_PRESENT == 1)
+/** \ingroup  CMSIS_core_register
+    \defgroup CMSIS_FPU     Floating Point Unit (FPU)
+    \brief      Type definitions for the Floating Point Unit (FPU)
+  @{
+ */
+
+/** \brief  Structure type to access the Floating Point Unit (FPU).
+ */
+typedef struct
+{
+       uint32_t RESERVED0[1];
+  __IO uint32_t FPCCR;                   /*!< Offset: 0x004 (R/W)  Floating-Point Context Control Register               */
+  __IO uint32_t FPCAR;                   /*!< Offset: 0x008 (R/W)  Floating-Point Context Address Register               */
+  __IO uint32_t FPDSCR;                  /*!< Offset: 0x00C (R/W)  Floating-Point Default Status Control Register        */
+  __I  uint32_t MVFR0;                   /*!< Offset: 0x010 (R/ )  Media and FP Feature Register 0                       */
+  __I  uint32_t MVFR1;                   /*!< Offset: 0x014 (R/ )  Media and FP Feature Register 1                       */
+} FPU_Type;
+
+/* Floating-Point Context Control Register */
+#define FPU_FPCCR_ASPEN_Pos                31                                             /*!< FPCCR: ASPEN bit Position */
+#define FPU_FPCCR_ASPEN_Msk                (1UL << FPU_FPCCR_ASPEN_Pos)                   /*!< FPCCR: ASPEN bit Mask */
+
+#define FPU_FPCCR_LSPEN_Pos                30                                             /*!< FPCCR: LSPEN Position */
+#define FPU_FPCCR_LSPEN_Msk                (1UL << FPU_FPCCR_LSPEN_Pos)                   /*!< FPCCR: LSPEN bit Mask */
+
+#define FPU_FPCCR_MONRDY_Pos                8                                             /*!< FPCCR: MONRDY Position */
+#define FPU_FPCCR_MONRDY_Msk               (1UL << FPU_FPCCR_MONRDY_Pos)                  /*!< FPCCR: MONRDY bit Mask */
+
+#define FPU_FPCCR_BFRDY_Pos                 6                                             /*!< FPCCR: BFRDY Position */
+#define FPU_FPCCR_BFRDY_Msk                (1UL << FPU_FPCCR_BFRDY_Pos)                   /*!< FPCCR: BFRDY bit Mask */
+
+#define FPU_FPCCR_MMRDY_Pos                 5                                             /*!< FPCCR: MMRDY Position */
+#define FPU_FPCCR_MMRDY_Msk                (1UL << FPU_FPCCR_MMRDY_Pos)                   /*!< FPCCR: MMRDY bit Mask */
+
+#define FPU_FPCCR_HFRDY_Pos                 4                                             /*!< FPCCR: HFRDY Position */
+#define FPU_FPCCR_HFRDY_Msk                (1UL << FPU_FPCCR_HFRDY_Pos)                   /*!< FPCCR: HFRDY bit Mask */
+
+#define FPU_FPCCR_THREAD_Pos                3                                             /*!< FPCCR: processor mode bit Position */
+#define FPU_FPCCR_THREAD_Msk               (1UL << FPU_FPCCR_THREAD_Pos)                  /*!< FPCCR: processor mode active bit Mask */
+
+#define FPU_FPCCR_USER_Pos                  1                                             /*!< FPCCR: privilege level bit Position */
+#define FPU_FPCCR_USER_Msk                 (1UL << FPU_FPCCR_USER_Pos)                    /*!< FPCCR: privilege level bit Mask */
+
+#define FPU_FPCCR_LSPACT_Pos                0                                             /*!< FPCCR: Lazy state preservation active bit Position */
+#define FPU_FPCCR_LSPACT_Msk               (1UL << FPU_FPCCR_LSPACT_Pos)                  /*!< FPCCR: Lazy state preservation active bit Mask */
+
+/* Floating-Point Context Address Register */
+#define FPU_FPCAR_ADDRESS_Pos               3                                             /*!< FPCAR: ADDRESS bit Position */
+#define FPU_FPCAR_ADDRESS_Msk              (0x1FFFFFFFUL << FPU_FPCAR_ADDRESS_Pos)        /*!< FPCAR: ADDRESS bit Mask */
+
+/* Floating-Point Default Status Control Register */
+#define FPU_FPDSCR_AHP_Pos                 26                                             /*!< FPDSCR: AHP bit Position */
+#define FPU_FPDSCR_AHP_Msk                 (1UL << FPU_FPDSCR_AHP_Pos)                    /*!< FPDSCR: AHP bit Mask */
+
+#define FPU_FPDSCR_DN_Pos                  25                                             /*!< FPDSCR: DN bit Position */
+#define FPU_FPDSCR_DN_Msk                  (1UL << FPU_FPDSCR_DN_Pos)                     /*!< FPDSCR: DN bit Mask */
+
+#define FPU_FPDSCR_FZ_Pos                  24                                             /*!< FPDSCR: FZ bit Position */
+#define FPU_FPDSCR_FZ_Msk                  (1UL << FPU_FPDSCR_FZ_Pos)                     /*!< FPDSCR: FZ bit Mask */
+
+#define FPU_FPDSCR_RMode_Pos               22                                             /*!< FPDSCR: RMode bit Position */
+#define FPU_FPDSCR_RMode_Msk               (3UL << FPU_FPDSCR_RMode_Pos)                  /*!< FPDSCR: RMode bit Mask */
+
+/* Media and FP Feature Register 0 */
+#define FPU_MVFR0_FP_rounding_modes_Pos    28                                             /*!< MVFR0: FP rounding modes bits Position */
+#define FPU_MVFR0_FP_rounding_modes_Msk    (0xFUL << FPU_MVFR0_FP_rounding_modes_Pos)     /*!< MVFR0: FP rounding modes bits Mask */
+
+#define FPU_MVFR0_Short_vectors_Pos        24                                             /*!< MVFR0: Short vectors bits Position */
+#define FPU_MVFR0_Short_vectors_Msk        (0xFUL << FPU_MVFR0_Short_vectors_Pos)         /*!< MVFR0: Short vectors bits Mask */
+
+#define FPU_MVFR0_Square_root_Pos          20                                             /*!< MVFR0: Square root bits Position */
+#define FPU_MVFR0_Square_root_Msk          (0xFUL << FPU_MVFR0_Square_root_Pos)           /*!< MVFR0: Square root bits Mask */
+
+#define FPU_MVFR0_Divide_Pos               16                                             /*!< MVFR0: Divide bits Position */
+#define FPU_MVFR0_Divide_Msk               (0xFUL << FPU_MVFR0_Divide_Pos)                /*!< MVFR0: Divide bits Mask */
+
+#define FPU_MVFR0_FP_excep_trapping_Pos    12                                             /*!< MVFR0: FP exception trapping bits Position */
+#define FPU_MVFR0_FP_excep_trapping_Msk    (0xFUL << FPU_MVFR0_FP_excep_trapping_Pos)     /*!< MVFR0: FP exception trapping bits Mask */
+
+#define FPU_MVFR0_Double_precision_Pos      8                                             /*!< MVFR0: Double-precision bits Position */
+#define FPU_MVFR0_Double_precision_Msk     (0xFUL << FPU_MVFR0_Double_precision_Pos)      /*!< MVFR0: Double-precision bits Mask */
+
+#define FPU_MVFR0_Single_precision_Pos      4                                             /*!< MVFR0: Single-precision bits Position */
+#define FPU_MVFR0_Single_precision_Msk     (0xFUL << FPU_MVFR0_Single_precision_Pos)      /*!< MVFR0: Single-precision bits Mask */
+
+#define FPU_MVFR0_A_SIMD_registers_Pos      0                                             /*!< MVFR0: A_SIMD registers bits Position */
+#define FPU_MVFR0_A_SIMD_registers_Msk     (0xFUL << FPU_MVFR0_A_SIMD_registers_Pos)      /*!< MVFR0: A_SIMD registers bits Mask */
+
+/* Media and FP Feature Register 1 */
+#define FPU_MVFR1_FP_fused_MAC_Pos         28                                             /*!< MVFR1: FP fused MAC bits Position */
+#define FPU_MVFR1_FP_fused_MAC_Msk         (0xFUL << FPU_MVFR1_FP_fused_MAC_Pos)          /*!< MVFR1: FP fused MAC bits Mask */
+
+#define FPU_MVFR1_FP_HPFP_Pos              24                                             /*!< MVFR1: FP HPFP bits Position */
+#define FPU_MVFR1_FP_HPFP_Msk              (0xFUL << FPU_MVFR1_FP_HPFP_Pos)               /*!< MVFR1: FP HPFP bits Mask */
+
+#define FPU_MVFR1_D_NaN_mode_Pos            4                                             /*!< MVFR1: D_NaN mode bits Position */
+#define FPU_MVFR1_D_NaN_mode_Msk           (0xFUL << FPU_MVFR1_D_NaN_mode_Pos)            /*!< MVFR1: D_NaN mode bits Mask */
+
+#define FPU_MVFR1_FtZ_mode_Pos              0                                             /*!< MVFR1: FtZ mode bits Position */
+#define FPU_MVFR1_FtZ_mode_Msk             (0xFUL << FPU_MVFR1_FtZ_mode_Pos)              /*!< MVFR1: FtZ mode bits Mask */
+
+/*@} end of group CMSIS_FPU */
+#endif
+
+
+/** \ingroup  CMSIS_core_register
+    \defgroup CMSIS_CoreDebug       Core Debug Registers (CoreDebug)
+    \brief      Type definitions for the Core Debug Registers
+  @{
+ */
+
+/** \brief  Structure type to access the Core Debug Register (CoreDebug).
+ */
+typedef struct
+{
+  __IO uint32_t DHCSR;                   /*!< Offset: 0x000 (R/W)  Debug Halting Control and Status Register    */
+  __O  uint32_t DCRSR;                   /*!< Offset: 0x004 ( /W)  Debug Core Register Selector Register        */
+  __IO uint32_t DCRDR;                   /*!< Offset: 0x008 (R/W)  Debug Core Register Data Register            */
+  __IO uint32_t DEMCR;                   /*!< Offset: 0x00C (R/W)  Debug Exception and Monitor Control Register */
+} CoreDebug_Type;
+
+/* Debug Halting Control and Status Register */
+#define CoreDebug_DHCSR_DBGKEY_Pos         16                                             /*!< CoreDebug DHCSR: DBGKEY Position */
+#define CoreDebug_DHCSR_DBGKEY_Msk         (0xFFFFUL << CoreDebug_DHCSR_DBGKEY_Pos)       /*!< CoreDebug DHCSR: DBGKEY Mask */
+
+#define CoreDebug_DHCSR_S_RESET_ST_Pos     25                                             /*!< CoreDebug DHCSR: S_RESET_ST Position */
+#define CoreDebug_DHCSR_S_RESET_ST_Msk     (1UL << CoreDebug_DHCSR_S_RESET_ST_Pos)        /*!< CoreDebug DHCSR: S_RESET_ST Mask */
+
+#define CoreDebug_DHCSR_S_RETIRE_ST_Pos    24                                             /*!< CoreDebug DHCSR: S_RETIRE_ST Position */
+#define CoreDebug_DHCSR_S_RETIRE_ST_Msk    (1UL << CoreDebug_DHCSR_S_RETIRE_ST_Pos)       /*!< CoreDebug DHCSR: S_RETIRE_ST Mask */
+
+#define CoreDebug_DHCSR_S_LOCKUP_Pos       19                                             /*!< CoreDebug DHCSR: S_LOCKUP Position */
+#define CoreDebug_DHCSR_S_LOCKUP_Msk       (1UL << CoreDebug_DHCSR_S_LOCKUP_Pos)          /*!< CoreDebug DHCSR: S_LOCKUP Mask */
+
+#define CoreDebug_DHCSR_S_SLEEP_Pos        18                                             /*!< CoreDebug DHCSR: S_SLEEP Position */
+#define CoreDebug_DHCSR_S_SLEEP_Msk        (1UL << CoreDebug_DHCSR_S_SLEEP_Pos)           /*!< CoreDebug DHCSR: S_SLEEP Mask */
+
+#define CoreDebug_DHCSR_S_HALT_Pos         17                                             /*!< CoreDebug DHCSR: S_HALT Position */
+#define CoreDebug_DHCSR_S_HALT_Msk         (1UL << CoreDebug_DHCSR_S_HALT_Pos)            /*!< CoreDebug DHCSR: S_HALT Mask */
+
+#define CoreDebug_DHCSR_S_REGRDY_Pos       16                                             /*!< CoreDebug DHCSR: S_REGRDY Position */
+#define CoreDebug_DHCSR_S_REGRDY_Msk       (1UL << CoreDebug_DHCSR_S_REGRDY_Pos)          /*!< CoreDebug DHCSR: S_REGRDY Mask */
+
+#define CoreDebug_DHCSR_C_SNAPSTALL_Pos     5                                             /*!< CoreDebug DHCSR: C_SNAPSTALL Position */
+#define CoreDebug_DHCSR_C_SNAPSTALL_Msk    (1UL << CoreDebug_DHCSR_C_SNAPSTALL_Pos)       /*!< CoreDebug DHCSR: C_SNAPSTALL Mask */
+
+#define CoreDebug_DHCSR_C_MASKINTS_Pos      3                                             /*!< CoreDebug DHCSR: C_MASKINTS Position */
+#define CoreDebug_DHCSR_C_MASKINTS_Msk     (1UL << CoreDebug_DHCSR_C_MASKINTS_Pos)        /*!< CoreDebug DHCSR: C_MASKINTS Mask */
+
+#define CoreDebug_DHCSR_C_STEP_Pos          2                                             /*!< CoreDebug DHCSR: C_STEP Position */
+#define CoreDebug_DHCSR_C_STEP_Msk         (1UL << CoreDebug_DHCSR_C_STEP_Pos)            /*!< CoreDebug DHCSR: C_STEP Mask */
+
+#define CoreDebug_DHCSR_C_HALT_Pos          1                                             /*!< CoreDebug DHCSR: C_HALT Position */
+#define CoreDebug_DHCSR_C_HALT_Msk         (1UL << CoreDebug_DHCSR_C_HALT_Pos)            /*!< CoreDebug DHCSR: C_HALT Mask */
+
+#define CoreDebug_DHCSR_C_DEBUGEN_Pos       0                                             /*!< CoreDebug DHCSR: C_DEBUGEN Position */
+#define CoreDebug_DHCSR_C_DEBUGEN_Msk      (1UL << CoreDebug_DHCSR_C_DEBUGEN_Pos)         /*!< CoreDebug DHCSR: C_DEBUGEN Mask */
+
+/* Debug Core Register Selector Register */
+#define CoreDebug_DCRSR_REGWnR_Pos         16                                             /*!< CoreDebug DCRSR: REGWnR Position */
+#define CoreDebug_DCRSR_REGWnR_Msk         (1UL << CoreDebug_DCRSR_REGWnR_Pos)            /*!< CoreDebug DCRSR: REGWnR Mask */
+
+#define CoreDebug_DCRSR_REGSEL_Pos          0                                             /*!< CoreDebug DCRSR: REGSEL Position */
+#define CoreDebug_DCRSR_REGSEL_Msk         (0x1FUL << CoreDebug_DCRSR_REGSEL_Pos)         /*!< CoreDebug DCRSR: REGSEL Mask */
+
+/* Debug Exception and Monitor Control Register */
+#define CoreDebug_DEMCR_TRCENA_Pos         24                                             /*!< CoreDebug DEMCR: TRCENA Position */
+#define CoreDebug_DEMCR_TRCENA_Msk         (1UL << CoreDebug_DEMCR_TRCENA_Pos)            /*!< CoreDebug DEMCR: TRCENA Mask */
+
+#define CoreDebug_DEMCR_MON_REQ_Pos        19                                             /*!< CoreDebug DEMCR: MON_REQ Position */
+#define CoreDebug_DEMCR_MON_REQ_Msk        (1UL << CoreDebug_DEMCR_MON_REQ_Pos)           /*!< CoreDebug DEMCR: MON_REQ Mask */
+
+#define CoreDebug_DEMCR_MON_STEP_Pos       18                                             /*!< CoreDebug DEMCR: MON_STEP Position */
+#define CoreDebug_DEMCR_MON_STEP_Msk       (1UL << CoreDebug_DEMCR_MON_STEP_Pos)          /*!< CoreDebug DEMCR: MON_STEP Mask */
+
+#define CoreDebug_DEMCR_MON_PEND_Pos       17                                             /*!< CoreDebug DEMCR: MON_PEND Position */
+#define CoreDebug_DEMCR_MON_PEND_Msk       (1UL << CoreDebug_DEMCR_MON_PEND_Pos)          /*!< CoreDebug DEMCR: MON_PEND Mask */
+
+#define CoreDebug_DEMCR_MON_EN_Pos         16                                             /*!< CoreDebug DEMCR: MON_EN Position */
+#define CoreDebug_DEMCR_MON_EN_Msk         (1UL << CoreDebug_DEMCR_MON_EN_Pos)            /*!< CoreDebug DEMCR: MON_EN Mask */
+
+#define CoreDebug_DEMCR_VC_HARDERR_Pos     10                                             /*!< CoreDebug DEMCR: VC_HARDERR Position */
+#define CoreDebug_DEMCR_VC_HARDERR_Msk     (1UL << CoreDebug_DEMCR_VC_HARDERR_Pos)        /*!< CoreDebug DEMCR: VC_HARDERR Mask */
+
+#define CoreDebug_DEMCR_VC_INTERR_Pos       9                                             /*!< CoreDebug DEMCR: VC_INTERR Position */
+#define CoreDebug_DEMCR_VC_INTERR_Msk      (1UL << CoreDebug_DEMCR_VC_INTERR_Pos)         /*!< CoreDebug DEMCR: VC_INTERR Mask */
+
+#define CoreDebug_DEMCR_VC_BUSERR_Pos       8                                             /*!< CoreDebug DEMCR: VC_BUSERR Position */
+#define CoreDebug_DEMCR_VC_BUSERR_Msk      (1UL << CoreDebug_DEMCR_VC_BUSERR_Pos)         /*!< CoreDebug DEMCR: VC_BUSERR Mask */
+
+#define CoreDebug_DEMCR_VC_STATERR_Pos      7                                             /*!< CoreDebug DEMCR: VC_STATERR Position */
+#define CoreDebug_DEMCR_VC_STATERR_Msk     (1UL << CoreDebug_DEMCR_VC_STATERR_Pos)        /*!< CoreDebug DEMCR: VC_STATERR Mask */
+
+#define CoreDebug_DEMCR_VC_CHKERR_Pos       6                                             /*!< CoreDebug DEMCR: VC_CHKERR Position */
+#define CoreDebug_DEMCR_VC_CHKERR_Msk      (1UL << CoreDebug_DEMCR_VC_CHKERR_Pos)         /*!< CoreDebug DEMCR: VC_CHKERR Mask */
+
+#define CoreDebug_DEMCR_VC_NOCPERR_Pos      5                                             /*!< CoreDebug DEMCR: VC_NOCPERR Position */
+#define CoreDebug_DEMCR_VC_NOCPERR_Msk     (1UL << CoreDebug_DEMCR_VC_NOCPERR_Pos)        /*!< CoreDebug DEMCR: VC_NOCPERR Mask */
+
+#define CoreDebug_DEMCR_VC_MMERR_Pos        4                                             /*!< CoreDebug DEMCR: VC_MMERR Position */
+#define CoreDebug_DEMCR_VC_MMERR_Msk       (1UL << CoreDebug_DEMCR_VC_MMERR_Pos)          /*!< CoreDebug DEMCR: VC_MMERR Mask */
+
+#define CoreDebug_DEMCR_VC_CORERESET_Pos    0                                             /*!< CoreDebug DEMCR: VC_CORERESET Position */
+#define CoreDebug_DEMCR_VC_CORERESET_Msk   (1UL << CoreDebug_DEMCR_VC_CORERESET_Pos)      /*!< CoreDebug DEMCR: VC_CORERESET Mask */
+
+/*@} end of group CMSIS_CoreDebug */
+
+
+/** \ingroup    CMSIS_core_register
+    \defgroup   CMSIS_core_base     Core Definitions
+    \brief      Definitions for base addresses, unions, and structures.
+  @{
+ */
+
+/* Memory mapping of Cortex-M4 Hardware */
+#define SCS_BASE            (0xE000E000UL)                            /*!< System Control Space Base Address  */
+#define ITM_BASE            (0xE0000000UL)                            /*!< ITM Base Address                   */
+#define DWT_BASE            (0xE0001000UL)                            /*!< DWT Base Address                   */
+#define TPI_BASE            (0xE0040000UL)                            /*!< TPI Base Address                   */
+#define CoreDebug_BASE      (0xE000EDF0UL)                            /*!< Core Debug Base Address            */
+#define SysTick_BASE        (SCS_BASE +  0x0010UL)                    /*!< SysTick Base Address               */
+#define NVIC_BASE           (SCS_BASE +  0x0100UL)                    /*!< NVIC Base Address                  */
+#define SCB_BASE            (SCS_BASE +  0x0D00UL)                    /*!< System Control Block Base Address  */
+
+#define SCnSCB              ((SCnSCB_Type    *)     SCS_BASE      )   /*!< System control Register not in SCB */
+#define SCB                 ((SCB_Type       *)     SCB_BASE      )   /*!< SCB configuration struct           */
+#define SysTick             ((SysTick_Type   *)     SysTick_BASE  )   /*!< SysTick configuration struct       */
+#define NVIC                ((NVIC_Type      *)     NVIC_BASE     )   /*!< NVIC configuration struct          */
+#define ITM                 ((ITM_Type       *)     ITM_BASE      )   /*!< ITM configuration struct           */
+#define DWT                 ((DWT_Type       *)     DWT_BASE      )   /*!< DWT configuration struct           */
+#define TPI                 ((TPI_Type       *)     TPI_BASE      )   /*!< TPI configuration struct           */
+#define CoreDebug           ((CoreDebug_Type *)     CoreDebug_BASE)   /*!< Core Debug configuration struct    */
+
+#if (__MPU_PRESENT == 1)
+  #define MPU_BASE          (SCS_BASE +  0x0D90UL)                    /*!< Memory Protection Unit             */
+  #define MPU               ((MPU_Type       *)     MPU_BASE      )   /*!< Memory Protection Unit             */
+#endif
+
+#if (__FPU_PRESENT == 1)
+  #define FPU_BASE          (SCS_BASE +  0x0F30UL)                    /*!< Floating Point Unit                */
+  #define FPU               ((FPU_Type       *)     FPU_BASE      )   /*!< Floating Point Unit                */
+#endif
+
+/*@} */
+
+
+
+/*******************************************************************************
+ *                Hardware Abstraction Layer
+  Core Function Interface contains:
+  - Core NVIC Functions
+  - Core SysTick Functions
+  - Core Debug Functions
+  - Core Register Access Functions
+ ******************************************************************************/
+/** \defgroup CMSIS_Core_FunctionInterface Functions and Instructions Reference
+*/
+
+
+
+/* ##########################   NVIC functions  #################################### */
+/** \ingroup  CMSIS_Core_FunctionInterface
+    \defgroup CMSIS_Core_NVICFunctions NVIC Functions
+    \brief      Functions that manage interrupts and exceptions via the NVIC.
+    @{
+ */
+
+/** \brief  Set Priority Grouping
+
+  The function sets the priority grouping field using the required unlock sequence.
+  The parameter PriorityGroup is assigned to the field SCB->AIRCR [10:8] PRIGROUP field.
+  Only values from 0..7 are used.
+  In case of a conflict between priority grouping and available
+  priority bits (__NVIC_PRIO_BITS), the smallest possible priority group is set.
+
+    \param [in]      PriorityGroup  Priority grouping field.
+ */
+__STATIC_INLINE void NVIC_SetPriorityGrouping(uint32_t PriorityGroup)
+{
+  uint32_t reg_value;
+  uint32_t PriorityGroupTmp = (PriorityGroup & (uint32_t)0x07);               /* only values 0..7 are used          */
+
+  reg_value  =  SCB->AIRCR;                                                   /* read old register configuration    */
+  reg_value &= ~(SCB_AIRCR_VECTKEY_Msk | SCB_AIRCR_PRIGROUP_Msk);             /* clear bits to change               */
+  reg_value  =  (reg_value                                 |
+                ((uint32_t)0x5FA << SCB_AIRCR_VECTKEY_Pos) |
+                (PriorityGroupTmp << 8));                                     /* Insert write key and priorty group */
+  SCB->AIRCR =  reg_value;
+}
+
+
+/** \brief  Get Priority Grouping
+
+  The function reads the priority grouping field from the NVIC Interrupt Controller.
+
+    \return                Priority grouping field (SCB->AIRCR [10:8] PRIGROUP field).
+ */
+__STATIC_INLINE uint32_t NVIC_GetPriorityGrouping(void)
+{
+  return ((SCB->AIRCR & SCB_AIRCR_PRIGROUP_Msk) >> SCB_AIRCR_PRIGROUP_Pos);   /* read priority grouping field */
+}
+
+
+/** \brief  Enable External Interrupt
+
+    The function enables a device-specific interrupt in the NVIC interrupt controller.
+
+    \param [in]      IRQn  External interrupt number. Value cannot be negative.
+ */
+__STATIC_INLINE void NVIC_EnableIRQ(IRQn_Type IRQn)
+{
+/*  NVIC->ISER[((uint32_t)(IRQn) >> 5)] = (1 << ((uint32_t)(IRQn) & 0x1F));  enable interrupt */
+  NVIC->ISER[(uint32_t)((int32_t)IRQn) >> 5] = (uint32_t)(1 << ((uint32_t)((int32_t)IRQn) & (uint32_t)0x1F)); /* enable interrupt */
+}
+
+
+/** \brief  Disable External Interrupt
+
+    The function disables a device-specific interrupt in the NVIC interrupt controller.
+
+    \param [in]      IRQn  External interrupt number. Value cannot be negative.
+ */
+__STATIC_INLINE void NVIC_DisableIRQ(IRQn_Type IRQn)
+{
+  NVIC->ICER[((uint32_t)(IRQn) >> 5)] = (1 << ((uint32_t)(IRQn) & 0x1F)); /* disable interrupt */
+}
+
+
+/** \brief  Get Pending Interrupt
+
+    The function reads the pending register in the NVIC and returns the pending bit
+    for the specified interrupt.
+
+    \param [in]      IRQn  Interrupt number.
+
+    \return             0  Interrupt status is not pending.
+    \return             1  Interrupt status is pending.
+ */
+__STATIC_INLINE uint32_t NVIC_GetPendingIRQ(IRQn_Type IRQn)
+{
+  return((uint32_t) ((NVIC->ISPR[(uint32_t)(IRQn) >> 5] & (1 << ((uint32_t)(IRQn) & 0x1F)))?1:0)); /* Return 1 if pending else 0 */
+}
+
+
+/** \brief  Set Pending Interrupt
+
+    The function sets the pending bit of an external interrupt.
+
+    \param [in]      IRQn  Interrupt number. Value cannot be negative.
+ */
+__STATIC_INLINE void NVIC_SetPendingIRQ(IRQn_Type IRQn)
+{
+  NVIC->ISPR[((uint32_t)(IRQn) >> 5)] = (1 << ((uint32_t)(IRQn) & 0x1F)); /* set interrupt pending */
+}
+
+
+/** \brief  Clear Pending Interrupt
+
+    The function clears the pending bit of an external interrupt.
+
+    \param [in]      IRQn  External interrupt number. Value cannot be negative.
+ */
+__STATIC_INLINE void NVIC_ClearPendingIRQ(IRQn_Type IRQn)
+{
+  NVIC->ICPR[((uint32_t)(IRQn) >> 5)] = (1 << ((uint32_t)(IRQn) & 0x1F)); /* Clear pending interrupt */
+}
+
+
+/** \brief  Get Active Interrupt
+
+    The function reads the active register in NVIC and returns the active bit.
+
+    \param [in]      IRQn  Interrupt number.
+
+    \return             0  Interrupt status is not active.
+    \return             1  Interrupt status is active.
+ */
+__STATIC_INLINE uint32_t NVIC_GetActive(IRQn_Type IRQn)
+{
+  return((uint32_t)((NVIC->IABR[(uint32_t)(IRQn) >> 5] & (1 << ((uint32_t)(IRQn) & 0x1F)))?1:0)); /* Return 1 if active else 0 */
+}
+
+
+/** \brief  Set Interrupt Priority
+
+    The function sets the priority of an interrupt.
+
+    \note The priority cannot be set for every core interrupt.
+
+    \param [in]      IRQn  Interrupt number.
+    \param [in]  priority  Priority to set.
+ */
+__STATIC_INLINE void NVIC_SetPriority(IRQn_Type IRQn, uint32_t priority)
+{
+  if(IRQn < 0) {
+    SCB->SHP[((uint32_t)(IRQn) & 0xF)-4] = ((priority << (8 - __NVIC_PRIO_BITS)) & 0xff); } /* set Priority for Cortex-M  System Interrupts */
+  else {
+    NVIC->IP[(uint32_t)(IRQn)] = ((priority << (8 - __NVIC_PRIO_BITS)) & 0xff);    }        /* set Priority for device specific Interrupts  */
+}
+
+
+/** \brief  Get Interrupt Priority
+
+    The function reads the priority of an interrupt. The interrupt
+    number can be positive to specify an external (device specific)
+    interrupt, or negative to specify an internal (core) interrupt.
+
+
+    \param [in]   IRQn  Interrupt number.
+    \return             Interrupt Priority. Value is aligned automatically to the implemented
+                        priority bits of the microcontroller.
+ */
+__STATIC_INLINE uint32_t NVIC_GetPriority(IRQn_Type IRQn)
+{
+
+  if(IRQn < 0) {
+    return((uint32_t)(SCB->SHP[((uint32_t)(IRQn) & 0xF)-4] >> (8 - __NVIC_PRIO_BITS)));  } /* get priority for Cortex-M  system interrupts */
+  else {
+    return((uint32_t)(NVIC->IP[(uint32_t)(IRQn)]           >> (8 - __NVIC_PRIO_BITS)));  } /* get priority for device specific interrupts  */
+}
+
+
+/** \brief  Encode Priority
+
+    The function encodes the priority for an interrupt with the given priority group,
+    preemptive priority value, and subpriority value.
+    In case of a conflict between priority grouping and available
+    priority bits (__NVIC_PRIO_BITS), the samllest possible priority group is set.
+
+    \param [in]     PriorityGroup  Used priority group.
+    \param [in]   PreemptPriority  Preemptive priority value (starting from 0).
+    \param [in]       SubPriority  Subpriority value (starting from 0).
+    \return                        Encoded priority. Value can be used in the function \ref NVIC_SetPriority().
+ */
+__STATIC_INLINE uint32_t NVIC_EncodePriority (uint32_t PriorityGroup, uint32_t PreemptPriority, uint32_t SubPriority)
+{
+  uint32_t PriorityGroupTmp = (PriorityGroup & 0x07);          /* only values 0..7 are used          */
+  uint32_t PreemptPriorityBits;
+  uint32_t SubPriorityBits;
+
+  PreemptPriorityBits = ((7 - PriorityGroupTmp) > __NVIC_PRIO_BITS) ? __NVIC_PRIO_BITS : 7 - PriorityGroupTmp;
+  SubPriorityBits     = ((PriorityGroupTmp + __NVIC_PRIO_BITS) < 7) ? 0 : PriorityGroupTmp - 7 + __NVIC_PRIO_BITS;
+
+  return (
+           ((PreemptPriority & ((1 << (PreemptPriorityBits)) - 1)) << SubPriorityBits) |
+           ((SubPriority     & ((1 << (SubPriorityBits    )) - 1)))
+         );
+}
+
+
+/** \brief  Decode Priority
+
+    The function decodes an interrupt priority value with a given priority group to
+    preemptive priority value and subpriority value.
+    In case of a conflict between priority grouping and available
+    priority bits (__NVIC_PRIO_BITS) the samllest possible priority group is set.
+
+    \param [in]         Priority   Priority value, which can be retrieved with the function \ref NVIC_GetPriority().
+    \param [in]     PriorityGroup  Used priority group.
+    \param [out] pPreemptPriority  Preemptive priority value (starting from 0).
+    \param [out]     pSubPriority  Subpriority value (starting from 0).
+ */
+__STATIC_INLINE void NVIC_DecodePriority (uint32_t Priority, uint32_t PriorityGroup, uint32_t* pPreemptPriority, uint32_t* pSubPriority)
+{
+  uint32_t PriorityGroupTmp = (PriorityGroup & 0x07);          /* only values 0..7 are used          */
+  uint32_t PreemptPriorityBits;
+  uint32_t SubPriorityBits;
+
+  PreemptPriorityBits = ((7 - PriorityGroupTmp) > __NVIC_PRIO_BITS) ? __NVIC_PRIO_BITS : 7 - PriorityGroupTmp;
+  SubPriorityBits     = ((PriorityGroupTmp + __NVIC_PRIO_BITS) < 7) ? 0 : PriorityGroupTmp - 7 + __NVIC_PRIO_BITS;
+
+  *pPreemptPriority = (Priority >> SubPriorityBits) & ((1 << (PreemptPriorityBits)) - 1);
+  *pSubPriority     = (Priority                   ) & ((1 << (SubPriorityBits    )) - 1);
+}
+
+
+/** \brief  System Reset
+
+    The function initiates a system reset request to reset the MCU.
+ */
+__STATIC_INLINE void NVIC_SystemReset(void)
+{
+  __DSB();                                                     /* Ensure all outstanding memory accesses included
+                                                                  buffered write are completed before reset */
+  SCB->AIRCR  = ((0x5FA << SCB_AIRCR_VECTKEY_Pos)      |
+                 (SCB->AIRCR & SCB_AIRCR_PRIGROUP_Msk) |
+                 SCB_AIRCR_SYSRESETREQ_Msk);                   /* Keep priority group unchanged */
+  __DSB();                                                     /* Ensure completion of memory access */
+  while(1);                                                    /* wait until reset */
+}
+
+/*@} end of CMSIS_Core_NVICFunctions */
+
+
+
+/* ##################################    SysTick function  ############################################ */
+/** \ingroup  CMSIS_Core_FunctionInterface
+    \defgroup CMSIS_Core_SysTickFunctions SysTick Functions
+    \brief      Functions that configure the System.
+  @{
+ */
+
+#if (__Vendor_SysTickConfig == 0)
+
+/** \brief  System Tick Configuration
+
+    The function initializes the System Timer and its interrupt, and starts the System Tick Timer.
+    Counter is in free running mode to generate periodic interrupts.
+
+    \param [in]  ticks  Number of ticks between two interrupts.
+
+    \return          0  Function succeeded.
+    \return          1  Function failed.
+
+    \note     When the variable __Vendor_SysTickConfig is set to 1, then the
+    function SysTick_Config is not included. In this case, the file device.h
+    must contain a vendor-specific implementation of this function.
+
+ */
+__STATIC_INLINE uint32_t SysTick_Config(uint32_t ticks)
+{
+  if (ticks > SysTick_LOAD_RELOAD_Msk)  return (1);            /* Reload value impossible */
+
+  SysTick->LOAD  = (ticks & SysTick_LOAD_RELOAD_Msk) - 1;      /* set reload register */
+  NVIC_SetPriority (SysTick_IRQn, (1<<__NVIC_PRIO_BITS) - 1);  /* set Priority for Systick Interrupt */
+  SysTick->VAL   = 0;                                          /* Load the SysTick Counter Value */
+  SysTick->CTRL  = SysTick_CTRL_CLKSOURCE_Msk |
+                   SysTick_CTRL_TICKINT_Msk   |
+                   SysTick_CTRL_ENABLE_Msk;                    /* Enable SysTick IRQ and SysTick Timer */
+  return (0);                                                  /* Function successful */
+}
+
+#endif
+
+/*@} end of CMSIS_Core_SysTickFunctions */
+
+
+
+/* ##################################### Debug In/Output function ########################################### */
+/** \ingroup  CMSIS_Core_FunctionInterface
+    \defgroup CMSIS_core_DebugFunctions ITM Functions
+    \brief   Functions that access the ITM debug interface.
+  @{
+ */
+
+extern volatile int32_t ITM_RxBuffer;                    /*!< External variable to receive characters.                         */
+#define                 ITM_RXBUFFER_EMPTY    0x5AA55AA5 /*!< Value identifying \ref ITM_RxBuffer is ready for next character. */
+
+
+/** \brief  ITM Send Character
+
+    The function transmits a character via the ITM channel 0, and
+    \li Just returns when no debugger is connected that has booked the output.
+    \li Is blocking when a debugger is connected, but the previous character sent has not been transmitted.
+
+    \param [in]     ch  Character to transmit.
+
+    \returns            Character to transmit.
+ */
+__STATIC_INLINE uint32_t ITM_SendChar (uint32_t ch)
+{
+  if ((ITM->TCR & ITM_TCR_ITMENA_Msk)                  &&      /* ITM enabled */
+      (ITM->TER & (1UL << 0)        )                    )     /* ITM Port #0 enabled */
+  {
+    while (ITM->PORT[0].u32 == 0);
+    ITM->PORT[0].u8 = (uint8_t) ch;
+  }
+  return (ch);
+}
+
+
+/** \brief  ITM Receive Character
+
+    The function inputs a character via the external variable \ref ITM_RxBuffer.
+
+    \return             Received character.
+    \return         -1  No character pending.
+ */
+__STATIC_INLINE int32_t ITM_ReceiveChar (void) {
+  int32_t ch = -1;                           /* no character available */
+
+  if (ITM_RxBuffer != ITM_RXBUFFER_EMPTY) {
+    ch = ITM_RxBuffer;
+    ITM_RxBuffer = ITM_RXBUFFER_EMPTY;       /* ready for next character */
+  }
+
+  return (ch);
+}
+
+
+/** \brief  ITM Check Character
+
+    The function checks whether a character is pending for reading in the variable \ref ITM_RxBuffer.
+
+    \return          0  No character available.
+    \return          1  Character available.
+ */
+__STATIC_INLINE int32_t ITM_CheckChar (void) {
+
+  if (ITM_RxBuffer == ITM_RXBUFFER_EMPTY) {
+    return (0);                                 /* no character available */
+  } else {
+    return (1);                                 /*    character available */
+  }
+}
+
+/*@} end of CMSIS_core_DebugFunctions */
+
+#endif /* __CORE_CM4_H_DEPENDANT */
+
+#endif /* __CMSIS_GENERIC */
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/src/modules/mathlib/CMSIS/Include/core_cm4_simd.h b/src/modules/mathlib/CMSIS/Include/core_cm4_simd.h
new file mode 100644
index 000000000..b5140073f
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/Include/core_cm4_simd.h
@@ -0,0 +1,649 @@
+/**************************************************************************//**
+ * @file     core_cm4_simd.h
+ * @brief    CMSIS Cortex-M4 SIMD Header File
+ * @version  V3.01
+ * @date     06. March 2012
+ *
+ * @note
+ * Copyright (C) 2010-2012 ARM Limited. All rights reserved.
+ *
+ * @par
+ * ARM Limited (ARM) is supplying this software for use with Cortex-M
+ * processor based microcontrollers.  This file can be freely distributed
+ * within development tools that are supporting such ARM based processors.
+ *
+ * @par
+ * THIS SOFTWARE IS PROVIDED "AS IS".  NO WARRANTIES, WHETHER EXPRESS, IMPLIED
+ * OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
+ * ARM SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR
+ * CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
+ *
+ ******************************************************************************/
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+#ifndef __CORE_CM4_SIMD_H
+#define __CORE_CM4_SIMD_H
+
+
+/*******************************************************************************
+ *                Hardware Abstraction Layer
+ ******************************************************************************/
+
+
+/* ###################  Compiler specific Intrinsics  ########################### */
+/** \defgroup CMSIS_SIMD_intrinsics CMSIS SIMD Intrinsics
+  Access to dedicated SIMD instructions
+  @{
+*/
+
+#if   defined ( __CC_ARM ) /*------------------RealView Compiler -----------------*/
+/* ARM armcc specific functions */
+
+/*------ CM4 SIMD Intrinsics -----------------------------------------------------*/
+#define __SADD8                           __sadd8
+#define __QADD8                           __qadd8
+#define __SHADD8                          __shadd8
+#define __UADD8                           __uadd8
+#define __UQADD8                          __uqadd8
+#define __UHADD8                          __uhadd8
+#define __SSUB8                           __ssub8
+#define __QSUB8                           __qsub8
+#define __SHSUB8                          __shsub8
+#define __USUB8                           __usub8
+#define __UQSUB8                          __uqsub8
+#define __UHSUB8                          __uhsub8
+#define __SADD16                          __sadd16
+#define __QADD16                          __qadd16
+#define __SHADD16                         __shadd16
+#define __UADD16                          __uadd16
+#define __UQADD16                         __uqadd16
+#define __UHADD16                         __uhadd16
+#define __SSUB16                          __ssub16
+#define __QSUB16                          __qsub16
+#define __SHSUB16                         __shsub16
+#define __USUB16                          __usub16
+#define __UQSUB16                         __uqsub16
+#define __UHSUB16                         __uhsub16
+#define __SASX                            __sasx
+#define __QASX                            __qasx
+#define __SHASX                           __shasx
+#define __UASX                            __uasx
+#define __UQASX                           __uqasx
+#define __UHASX                           __uhasx
+#define __SSAX                            __ssax
+#define __QSAX                            __qsax
+#define __SHSAX                           __shsax
+#define __USAX                            __usax
+#define __UQSAX                           __uqsax
+#define __UHSAX                           __uhsax
+#define __USAD8                           __usad8
+#define __USADA8                          __usada8
+#define __SSAT16                          __ssat16
+#define __USAT16                          __usat16
+#define __UXTB16                          __uxtb16
+#define __UXTAB16                         __uxtab16
+#define __SXTB16                          __sxtb16
+#define __SXTAB16                         __sxtab16
+#define __SMUAD                           __smuad
+#define __SMUADX                          __smuadx
+#define __SMLAD                           __smlad
+#define __SMLADX                          __smladx
+#define __SMLALD                          __smlald
+#define __SMLALDX                         __smlaldx
+#define __SMUSD                           __smusd
+#define __SMUSDX                          __smusdx
+#define __SMLSD                           __smlsd
+#define __SMLSDX                          __smlsdx
+#define __SMLSLD                          __smlsld
+#define __SMLSLDX                         __smlsldx
+#define __SEL                             __sel
+#define __QADD                            __qadd
+#define __QSUB                            __qsub
+
+#define __PKHBT(ARG1,ARG2,ARG3)          ( ((((uint32_t)(ARG1))          ) & 0x0000FFFFUL) |  \
+                                           ((((uint32_t)(ARG2)) << (ARG3)) & 0xFFFF0000UL)  )
+
+#define __PKHTB(ARG1,ARG2,ARG3)          ( ((((uint32_t)(ARG1))          ) & 0xFFFF0000UL) |  \
+                                           ((((uint32_t)(ARG2)) >> (ARG3)) & 0x0000FFFFUL)  )
+
+
+/*-- End CM4 SIMD Intrinsics -----------------------------------------------------*/
+
+
+
+#elif defined ( __ICCARM__ ) /*------------------ ICC Compiler -------------------*/
+/* IAR iccarm specific functions */
+
+/*------ CM4 SIMD Intrinsics -----------------------------------------------------*/
+#include 
+
+/*-- End CM4 SIMD Intrinsics -----------------------------------------------------*/
+
+
+
+#elif defined ( __TMS470__ ) /*---------------- TI CCS Compiler ------------------*/
+/* TI CCS specific functions */
+
+/*------ CM4 SIMD Intrinsics -----------------------------------------------------*/
+#include 
+
+/*-- End CM4 SIMD Intrinsics -----------------------------------------------------*/
+
+
+
+#elif defined ( __GNUC__ ) /*------------------ GNU Compiler ---------------------*/
+/* GNU gcc specific functions */
+
+/*------ CM4 SIMD Intrinsics -----------------------------------------------------*/
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SADD8(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("sadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __QADD8(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("qadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SHADD8(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("shadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __UADD8(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("uadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __UQADD8(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("uqadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __UHADD8(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("uhadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SSUB8(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("ssub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __QSUB8(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("qsub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SHSUB8(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("shsub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __USUB8(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("usub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __UQSUB8(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("uqsub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __UHSUB8(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("uhsub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SADD16(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("sadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __QADD16(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("qadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SHADD16(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("shadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __UADD16(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("uadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __UQADD16(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("uqadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __UHADD16(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("uhadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SSUB16(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("ssub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __QSUB16(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("qsub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SHSUB16(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("shsub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __USUB16(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("usub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __UQSUB16(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("uqsub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __UHSUB16(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("uhsub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SASX(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("sasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __QASX(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("qasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SHASX(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("shasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __UASX(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("uasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __UQASX(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("uqasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __UHASX(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("uhasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SSAX(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("ssax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __QSAX(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("qsax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SHSAX(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("shsax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __USAX(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("usax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __UQSAX(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("uqsax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __UHSAX(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("uhsax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __USAD8(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("usad8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __USADA8(uint32_t op1, uint32_t op2, uint32_t op3)
+{
+  uint32_t result;
+
+  __ASM volatile ("usada8 %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) );
+  return(result);
+}
+
+#define __SSAT16(ARG1,ARG2) \
+({                          \
+  uint32_t __RES, __ARG1 = (ARG1); \
+  __ASM ("ssat16 %0, %1, %2" : "=r" (__RES) :  "I" (ARG2), "r" (__ARG1) ); \
+  __RES; \
+ })
+
+#define __USAT16(ARG1,ARG2) \
+({                          \
+  uint32_t __RES, __ARG1 = (ARG1); \
+  __ASM ("usat16 %0, %1, %2" : "=r" (__RES) :  "I" (ARG2), "r" (__ARG1) ); \
+  __RES; \
+ })
+
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __UXTB16(uint32_t op1)
+{
+  uint32_t result;
+
+  __ASM volatile ("uxtb16 %0, %1" : "=r" (result) : "r" (op1));
+  return(result);
+}
+
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __UXTAB16(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("uxtab16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SXTB16(uint32_t op1)
+{
+  uint32_t result;
+
+  __ASM volatile ("sxtb16 %0, %1" : "=r" (result) : "r" (op1));
+  return(result);
+}
+
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SXTAB16(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("sxtab16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SMUAD  (uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("smuad %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SMUADX (uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("smuadx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SMLAD (uint32_t op1, uint32_t op2, uint32_t op3)
+{
+  uint32_t result;
+
+  __ASM volatile ("smlad %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) );
+  return(result);
+}
+
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SMLADX (uint32_t op1, uint32_t op2, uint32_t op3)
+{
+  uint32_t result;
+
+  __ASM volatile ("smladx %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) );
+  return(result);
+}
+
+#define __SMLALD(ARG1,ARG2,ARG3) \
+({ \
+  uint32_t __ARG1 = (ARG1), __ARG2 = (ARG2), __ARG3_H = (uint32_t)((uint64_t)(ARG3) >> 32), __ARG3_L = (uint32_t)((uint64_t)(ARG3) & 0xFFFFFFFFUL); \
+  __ASM volatile ("smlald %0, %1, %2, %3" : "=r" (__ARG3_L), "=r" (__ARG3_H) : "r" (__ARG1), "r" (__ARG2), "0" (__ARG3_L), "1" (__ARG3_H) ); \
+  (uint64_t)(((uint64_t)__ARG3_H << 32) | __ARG3_L); \
+ })
+
+#define __SMLALDX(ARG1,ARG2,ARG3) \
+({ \
+  uint32_t __ARG1 = (ARG1), __ARG2 = (ARG2), __ARG3_H = (uint32_t)((uint64_t)(ARG3) >> 32), __ARG3_L = (uint32_t)((uint64_t)(ARG3) & 0xFFFFFFFFUL); \
+  __ASM volatile ("smlaldx %0, %1, %2, %3" : "=r" (__ARG3_L), "=r" (__ARG3_H) : "r" (__ARG1), "r" (__ARG2), "0" (__ARG3_L), "1" (__ARG3_H) ); \
+  (uint64_t)(((uint64_t)__ARG3_H << 32) | __ARG3_L); \
+ })
+
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SMUSD  (uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("smusd %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SMUSDX (uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("smusdx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SMLSD (uint32_t op1, uint32_t op2, uint32_t op3)
+{
+  uint32_t result;
+
+  __ASM volatile ("smlsd %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) );
+  return(result);
+}
+
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SMLSDX (uint32_t op1, uint32_t op2, uint32_t op3)
+{
+  uint32_t result;
+
+  __ASM volatile ("smlsdx %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) );
+  return(result);
+}
+
+#define __SMLSLD(ARG1,ARG2,ARG3) \
+({ \
+  uint32_t __ARG1 = (ARG1), __ARG2 = (ARG2), __ARG3_H = (uint32_t)((ARG3) >> 32), __ARG3_L = (uint32_t)((ARG3) & 0xFFFFFFFFUL); \
+  __ASM volatile ("smlsld %0, %1, %2, %3" : "=r" (__ARG3_L), "=r" (__ARG3_H) : "r" (__ARG1), "r" (__ARG2), "0" (__ARG3_L), "1" (__ARG3_H) ); \
+  (uint64_t)(((uint64_t)__ARG3_H << 32) | __ARG3_L); \
+ })
+
+#define __SMLSLDX(ARG1,ARG2,ARG3) \
+({ \
+  uint32_t __ARG1 = (ARG1), __ARG2 = (ARG2), __ARG3_H = (uint32_t)((ARG3) >> 32), __ARG3_L = (uint32_t)((ARG3) & 0xFFFFFFFFUL); \
+  __ASM volatile ("smlsldx %0, %1, %2, %3" : "=r" (__ARG3_L), "=r" (__ARG3_H) : "r" (__ARG1), "r" (__ARG2), "0" (__ARG3_L), "1" (__ARG3_H) ); \
+  (uint64_t)(((uint64_t)__ARG3_H << 32) | __ARG3_L); \
+ })
+
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __SEL  (uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("sel %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __QADD(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("qadd %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __QSUB(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+
+  __ASM volatile ("qsub %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) );
+  return(result);
+}
+
+#define __PKHBT(ARG1,ARG2,ARG3) \
+({                          \
+  uint32_t __RES, __ARG1 = (ARG1), __ARG2 = (ARG2); \
+  __ASM ("pkhbt %0, %1, %2, lsl %3" : "=r" (__RES) :  "r" (__ARG1), "r" (__ARG2), "I" (ARG3)  ); \
+  __RES; \
+ })
+
+#define __PKHTB(ARG1,ARG2,ARG3) \
+({                          \
+  uint32_t __RES, __ARG1 = (ARG1), __ARG2 = (ARG2); \
+  if (ARG3 == 0) \
+    __ASM ("pkhtb %0, %1, %2" : "=r" (__RES) :  "r" (__ARG1), "r" (__ARG2)  ); \
+  else \
+    __ASM ("pkhtb %0, %1, %2, asr %3" : "=r" (__RES) :  "r" (__ARG1), "r" (__ARG2), "I" (ARG3)  ); \
+  __RES; \
+ })
+
+/*-- End CM4 SIMD Intrinsics -----------------------------------------------------*/
+
+
+
+#elif defined ( __TASKING__ ) /*------------------ TASKING Compiler --------------*/
+/* TASKING carm specific functions */
+
+
+/*------ CM4 SIMD Intrinsics -----------------------------------------------------*/
+/* not yet supported */
+/*-- End CM4 SIMD Intrinsics -----------------------------------------------------*/
+
+
+#endif
+
+/*@} end of group CMSIS_SIMD_intrinsics */
+
+
+#endif /* __CORE_CM4_SIMD_H */
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/src/modules/mathlib/CMSIS/Include/core_cmFunc.h b/src/modules/mathlib/CMSIS/Include/core_cmFunc.h
new file mode 100644
index 000000000..adb07b5d3
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/Include/core_cmFunc.h
@@ -0,0 +1,616 @@
+/**************************************************************************//**
+ * @file     core_cmFunc.h
+ * @brief    CMSIS Cortex-M Core Function Access Header File
+ * @version  V3.01
+ * @date     06. March 2012
+ *
+ * @note
+ * Copyright (C) 2009-2012 ARM Limited. All rights reserved.
+ *
+ * @par
+ * ARM Limited (ARM) is supplying this software for use with Cortex-M
+ * processor based microcontrollers.  This file can be freely distributed
+ * within development tools that are supporting such ARM based processors.
+ *
+ * @par
+ * THIS SOFTWARE IS PROVIDED "AS IS".  NO WARRANTIES, WHETHER EXPRESS, IMPLIED
+ * OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
+ * ARM SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR
+ * CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
+ *
+ ******************************************************************************/
+
+#ifndef __CORE_CMFUNC_H
+#define __CORE_CMFUNC_H
+
+
+/* ###########################  Core Function Access  ########################### */
+/** \ingroup  CMSIS_Core_FunctionInterface
+    \defgroup CMSIS_Core_RegAccFunctions CMSIS Core Register Access Functions
+  @{
+ */
+
+#if   defined ( __CC_ARM ) /*------------------RealView Compiler -----------------*/
+/* ARM armcc specific functions */
+
+#if (__ARMCC_VERSION < 400677)
+  #error "Please use ARM Compiler Toolchain V4.0.677 or later!"
+#endif
+
+/* intrinsic void __enable_irq();     */
+/* intrinsic void __disable_irq();    */
+
+/** \brief  Get Control Register
+
+    This function returns the content of the Control Register.
+
+    \return               Control Register value
+ */
+__STATIC_INLINE uint32_t __get_CONTROL(void)
+{
+  register uint32_t __regControl         __ASM("control");
+  return(__regControl);
+}
+
+
+/** \brief  Set Control Register
+
+    This function writes the given value to the Control Register.
+
+    \param [in]    control  Control Register value to set
+ */
+__STATIC_INLINE void __set_CONTROL(uint32_t control)
+{
+  register uint32_t __regControl         __ASM("control");
+  __regControl = control;
+}
+
+
+/** \brief  Get IPSR Register
+
+    This function returns the content of the IPSR Register.
+
+    \return               IPSR Register value
+ */
+__STATIC_INLINE uint32_t __get_IPSR(void)
+{
+  register uint32_t __regIPSR          __ASM("ipsr");
+  return(__regIPSR);
+}
+
+
+/** \brief  Get APSR Register
+
+    This function returns the content of the APSR Register.
+
+    \return               APSR Register value
+ */
+__STATIC_INLINE uint32_t __get_APSR(void)
+{
+  register uint32_t __regAPSR          __ASM("apsr");
+  return(__regAPSR);
+}
+
+
+/** \brief  Get xPSR Register
+
+    This function returns the content of the xPSR Register.
+
+    \return               xPSR Register value
+ */
+__STATIC_INLINE uint32_t __get_xPSR(void)
+{
+  register uint32_t __regXPSR          __ASM("xpsr");
+  return(__regXPSR);
+}
+
+
+/** \brief  Get Process Stack Pointer
+
+    This function returns the current value of the Process Stack Pointer (PSP).
+
+    \return               PSP Register value
+ */
+__STATIC_INLINE uint32_t __get_PSP(void)
+{
+  register uint32_t __regProcessStackPointer  __ASM("psp");
+  return(__regProcessStackPointer);
+}
+
+
+/** \brief  Set Process Stack Pointer
+
+    This function assigns the given value to the Process Stack Pointer (PSP).
+
+    \param [in]    topOfProcStack  Process Stack Pointer value to set
+ */
+__STATIC_INLINE void __set_PSP(uint32_t topOfProcStack)
+{
+  register uint32_t __regProcessStackPointer  __ASM("psp");
+  __regProcessStackPointer = topOfProcStack;
+}
+
+
+/** \brief  Get Main Stack Pointer
+
+    This function returns the current value of the Main Stack Pointer (MSP).
+
+    \return               MSP Register value
+ */
+__STATIC_INLINE uint32_t __get_MSP(void)
+{
+  register uint32_t __regMainStackPointer     __ASM("msp");
+  return(__regMainStackPointer);
+}
+
+
+/** \brief  Set Main Stack Pointer
+
+    This function assigns the given value to the Main Stack Pointer (MSP).
+
+    \param [in]    topOfMainStack  Main Stack Pointer value to set
+ */
+__STATIC_INLINE void __set_MSP(uint32_t topOfMainStack)
+{
+  register uint32_t __regMainStackPointer     __ASM("msp");
+  __regMainStackPointer = topOfMainStack;
+}
+
+
+/** \brief  Get Priority Mask
+
+    This function returns the current state of the priority mask bit from the Priority Mask Register.
+
+    \return               Priority Mask value
+ */
+__STATIC_INLINE uint32_t __get_PRIMASK(void)
+{
+  register uint32_t __regPriMask         __ASM("primask");
+  return(__regPriMask);
+}
+
+
+/** \brief  Set Priority Mask
+
+    This function assigns the given value to the Priority Mask Register.
+
+    \param [in]    priMask  Priority Mask
+ */
+__STATIC_INLINE void __set_PRIMASK(uint32_t priMask)
+{
+  register uint32_t __regPriMask         __ASM("primask");
+  __regPriMask = (priMask);
+}
+
+
+#if       (__CORTEX_M >= 0x03)
+
+/** \brief  Enable FIQ
+
+    This function enables FIQ interrupts by clearing the F-bit in the CPSR.
+    Can only be executed in Privileged modes.
+ */
+#define __enable_fault_irq                __enable_fiq
+
+
+/** \brief  Disable FIQ
+
+    This function disables FIQ interrupts by setting the F-bit in the CPSR.
+    Can only be executed in Privileged modes.
+ */
+#define __disable_fault_irq               __disable_fiq
+
+
+/** \brief  Get Base Priority
+
+    This function returns the current value of the Base Priority register.
+
+    \return               Base Priority register value
+ */
+__STATIC_INLINE uint32_t  __get_BASEPRI(void)
+{
+  register uint32_t __regBasePri         __ASM("basepri");
+  return(__regBasePri);
+}
+
+
+/** \brief  Set Base Priority
+
+    This function assigns the given value to the Base Priority register.
+
+    \param [in]    basePri  Base Priority value to set
+ */
+__STATIC_INLINE void __set_BASEPRI(uint32_t basePri)
+{
+  register uint32_t __regBasePri         __ASM("basepri");
+  __regBasePri = (basePri & 0xff);
+}
+
+
+/** \brief  Get Fault Mask
+
+    This function returns the current value of the Fault Mask register.
+
+    \return               Fault Mask register value
+ */
+__STATIC_INLINE uint32_t __get_FAULTMASK(void)
+{
+  register uint32_t __regFaultMask       __ASM("faultmask");
+  return(__regFaultMask);
+}
+
+
+/** \brief  Set Fault Mask
+
+    This function assigns the given value to the Fault Mask register.
+
+    \param [in]    faultMask  Fault Mask value to set
+ */
+__STATIC_INLINE void __set_FAULTMASK(uint32_t faultMask)
+{
+  register uint32_t __regFaultMask       __ASM("faultmask");
+  __regFaultMask = (faultMask & (uint32_t)1);
+}
+
+#endif /* (__CORTEX_M >= 0x03) */
+
+
+#if       (__CORTEX_M == 0x04)
+
+/** \brief  Get FPSCR
+
+    This function returns the current value of the Floating Point Status/Control register.
+
+    \return               Floating Point Status/Control register value
+ */
+__STATIC_INLINE uint32_t __get_FPSCR(void)
+{
+#if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
+  register uint32_t __regfpscr         __ASM("fpscr");
+  return(__regfpscr);
+#else
+   return(0);
+#endif
+}
+
+
+/** \brief  Set FPSCR
+
+    This function assigns the given value to the Floating Point Status/Control register.
+
+    \param [in]    fpscr  Floating Point Status/Control value to set
+ */
+__STATIC_INLINE void __set_FPSCR(uint32_t fpscr)
+{
+#if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
+  register uint32_t __regfpscr         __ASM("fpscr");
+  __regfpscr = (fpscr);
+#endif
+}
+
+#endif /* (__CORTEX_M == 0x04) */
+
+
+#elif defined ( __ICCARM__ ) /*------------------ ICC Compiler -------------------*/
+/* IAR iccarm specific functions */
+
+#include 
+
+
+#elif defined ( __TMS470__ ) /*---------------- TI CCS Compiler ------------------*/
+/* TI CCS specific functions */
+
+#include 
+
+
+#elif defined ( __GNUC__ ) /*------------------ GNU Compiler ---------------------*/
+/* GNU gcc specific functions */
+
+/** \brief  Enable IRQ Interrupts
+
+  This function enables IRQ interrupts by clearing the I-bit in the CPSR.
+  Can only be executed in Privileged modes.
+ */
+__attribute__( ( always_inline ) ) __STATIC_INLINE void __enable_irq(void)
+{
+  __ASM volatile ("cpsie i");
+}
+
+
+/** \brief  Disable IRQ Interrupts
+
+  This function disables IRQ interrupts by setting the I-bit in the CPSR.
+  Can only be executed in Privileged modes.
+ */
+__attribute__( ( always_inline ) ) __STATIC_INLINE void __disable_irq(void)
+{
+  __ASM volatile ("cpsid i");
+}
+
+
+/** \brief  Get Control Register
+
+    This function returns the content of the Control Register.
+
+    \return               Control Register value
+ */
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __get_CONTROL(void)
+{
+  uint32_t result;
+
+  __ASM volatile ("MRS %0, control" : "=r" (result) );
+  return(result);
+}
+
+
+/** \brief  Set Control Register
+
+    This function writes the given value to the Control Register.
+
+    \param [in]    control  Control Register value to set
+ */
+__attribute__( ( always_inline ) ) __STATIC_INLINE void __set_CONTROL(uint32_t control)
+{
+  __ASM volatile ("MSR control, %0" : : "r" (control) );
+}
+
+
+/** \brief  Get IPSR Register
+
+    This function returns the content of the IPSR Register.
+
+    \return               IPSR Register value
+ */
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __get_IPSR(void)
+{
+  uint32_t result;
+
+  __ASM volatile ("MRS %0, ipsr" : "=r" (result) );
+  return(result);
+}
+
+
+/** \brief  Get APSR Register
+
+    This function returns the content of the APSR Register.
+
+    \return               APSR Register value
+ */
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __get_APSR(void)
+{
+  uint32_t result;
+
+  __ASM volatile ("MRS %0, apsr" : "=r" (result) );
+  return(result);
+}
+
+
+/** \brief  Get xPSR Register
+
+    This function returns the content of the xPSR Register.
+
+    \return               xPSR Register value
+ */
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __get_xPSR(void)
+{
+  uint32_t result;
+
+  __ASM volatile ("MRS %0, xpsr" : "=r" (result) );
+  return(result);
+}
+
+
+/** \brief  Get Process Stack Pointer
+
+    This function returns the current value of the Process Stack Pointer (PSP).
+
+    \return               PSP Register value
+ */
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __get_PSP(void)
+{
+  register uint32_t result;
+
+  __ASM volatile ("MRS %0, psp\n"  : "=r" (result) );
+  return(result);
+}
+
+
+/** \brief  Set Process Stack Pointer
+
+    This function assigns the given value to the Process Stack Pointer (PSP).
+
+    \param [in]    topOfProcStack  Process Stack Pointer value to set
+ */
+__attribute__( ( always_inline ) ) __STATIC_INLINE void __set_PSP(uint32_t topOfProcStack)
+{
+  __ASM volatile ("MSR psp, %0\n" : : "r" (topOfProcStack) );
+}
+
+
+/** \brief  Get Main Stack Pointer
+
+    This function returns the current value of the Main Stack Pointer (MSP).
+
+    \return               MSP Register value
+ */
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __get_MSP(void)
+{
+  register uint32_t result;
+
+  __ASM volatile ("MRS %0, msp\n" : "=r" (result) );
+  return(result);
+}
+
+
+/** \brief  Set Main Stack Pointer
+
+    This function assigns the given value to the Main Stack Pointer (MSP).
+
+    \param [in]    topOfMainStack  Main Stack Pointer value to set
+ */
+__attribute__( ( always_inline ) ) __STATIC_INLINE void __set_MSP(uint32_t topOfMainStack)
+{
+  __ASM volatile ("MSR msp, %0\n" : : "r" (topOfMainStack) );
+}
+
+
+/** \brief  Get Priority Mask
+
+    This function returns the current state of the priority mask bit from the Priority Mask Register.
+
+    \return               Priority Mask value
+ */
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __get_PRIMASK(void)
+{
+  uint32_t result;
+
+  __ASM volatile ("MRS %0, primask" : "=r" (result) );
+  return(result);
+}
+
+
+/** \brief  Set Priority Mask
+
+    This function assigns the given value to the Priority Mask Register.
+
+    \param [in]    priMask  Priority Mask
+ */
+__attribute__( ( always_inline ) ) __STATIC_INLINE void __set_PRIMASK(uint32_t priMask)
+{
+  __ASM volatile ("MSR primask, %0" : : "r" (priMask) );
+}
+
+
+#if       (__CORTEX_M >= 0x03)
+
+/** \brief  Enable FIQ
+
+    This function enables FIQ interrupts by clearing the F-bit in the CPSR.
+    Can only be executed in Privileged modes.
+ */
+__attribute__( ( always_inline ) ) __STATIC_INLINE void __enable_fault_irq(void)
+{
+  __ASM volatile ("cpsie f");
+}
+
+
+/** \brief  Disable FIQ
+
+    This function disables FIQ interrupts by setting the F-bit in the CPSR.
+    Can only be executed in Privileged modes.
+ */
+__attribute__( ( always_inline ) ) __STATIC_INLINE void __disable_fault_irq(void)
+{
+  __ASM volatile ("cpsid f");
+}
+
+
+/** \brief  Get Base Priority
+
+    This function returns the current value of the Base Priority register.
+
+    \return               Base Priority register value
+ */
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __get_BASEPRI(void)
+{
+  uint32_t result;
+
+  __ASM volatile ("MRS %0, basepri_max" : "=r" (result) );
+  return(result);
+}
+
+
+/** \brief  Set Base Priority
+
+    This function assigns the given value to the Base Priority register.
+
+    \param [in]    basePri  Base Priority value to set
+ */
+__attribute__( ( always_inline ) ) __STATIC_INLINE void __set_BASEPRI(uint32_t value)
+{
+  __ASM volatile ("MSR basepri, %0" : : "r" (value) );
+}
+
+
+/** \brief  Get Fault Mask
+
+    This function returns the current value of the Fault Mask register.
+
+    \return               Fault Mask register value
+ */
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __get_FAULTMASK(void)
+{
+  uint32_t result;
+
+  __ASM volatile ("MRS %0, faultmask" : "=r" (result) );
+  return(result);
+}
+
+
+/** \brief  Set Fault Mask
+
+    This function assigns the given value to the Fault Mask register.
+
+    \param [in]    faultMask  Fault Mask value to set
+ */
+__attribute__( ( always_inline ) ) __STATIC_INLINE void __set_FAULTMASK(uint32_t faultMask)
+{
+  __ASM volatile ("MSR faultmask, %0" : : "r" (faultMask) );
+}
+
+#endif /* (__CORTEX_M >= 0x03) */
+
+
+#if       (__CORTEX_M == 0x04)
+
+/** \brief  Get FPSCR
+
+    This function returns the current value of the Floating Point Status/Control register.
+
+    \return               Floating Point Status/Control register value
+ */
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __get_FPSCR(void)
+{
+#if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
+  uint32_t result;
+
+  __ASM volatile ("VMRS %0, fpscr" : "=r" (result) );
+  return(result);
+#else
+   return(0);
+#endif
+}
+
+
+/** \brief  Set FPSCR
+
+    This function assigns the given value to the Floating Point Status/Control register.
+
+    \param [in]    fpscr  Floating Point Status/Control value to set
+ */
+__attribute__( ( always_inline ) ) __STATIC_INLINE void __set_FPSCR(uint32_t fpscr)
+{
+#if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
+  __ASM volatile ("VMSR fpscr, %0" : : "r" (fpscr) );
+#endif
+}
+
+#endif /* (__CORTEX_M == 0x04) */
+
+
+#elif defined ( __TASKING__ ) /*------------------ TASKING Compiler --------------*/
+/* TASKING carm specific functions */
+
+/*
+ * The CMSIS functions have been implemented as intrinsics in the compiler.
+ * Please use "carm -?i" to get an up to date list of all instrinsics,
+ * Including the CMSIS ones.
+ */
+
+#endif
+
+/*@} end of CMSIS_Core_RegAccFunctions */
+
+
+#endif /* __CORE_CMFUNC_H */
diff --git a/src/modules/mathlib/CMSIS/Include/core_cmInstr.h b/src/modules/mathlib/CMSIS/Include/core_cmInstr.h
new file mode 100644
index 000000000..624c175fd
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/Include/core_cmInstr.h
@@ -0,0 +1,618 @@
+/**************************************************************************//**
+ * @file     core_cmInstr.h
+ * @brief    CMSIS Cortex-M Core Instruction Access Header File
+ * @version  V3.01
+ * @date     06. March 2012
+ *
+ * @note
+ * Copyright (C) 2009-2012 ARM Limited. All rights reserved.
+ *
+ * @par
+ * ARM Limited (ARM) is supplying this software for use with Cortex-M
+ * processor based microcontrollers.  This file can be freely distributed
+ * within development tools that are supporting such ARM based processors.
+ *
+ * @par
+ * THIS SOFTWARE IS PROVIDED "AS IS".  NO WARRANTIES, WHETHER EXPRESS, IMPLIED
+ * OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
+ * ARM SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR
+ * CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
+ *
+ ******************************************************************************/
+
+#ifndef __CORE_CMINSTR_H
+#define __CORE_CMINSTR_H
+
+
+/* ##########################  Core Instruction Access  ######################### */
+/** \defgroup CMSIS_Core_InstructionInterface CMSIS Core Instruction Interface
+  Access to dedicated instructions
+  @{
+*/
+
+#if   defined ( __CC_ARM ) /*------------------RealView Compiler -----------------*/
+/* ARM armcc specific functions */
+
+#if (__ARMCC_VERSION < 400677)
+  #error "Please use ARM Compiler Toolchain V4.0.677 or later!"
+#endif
+
+
+/** \brief  No Operation
+
+    No Operation does nothing. This instruction can be used for code alignment purposes.
+ */
+#define __NOP                             __nop
+
+
+/** \brief  Wait For Interrupt
+
+    Wait For Interrupt is a hint instruction that suspends execution
+    until one of a number of events occurs.
+ */
+#define __WFI                             __wfi
+
+
+/** \brief  Wait For Event
+
+    Wait For Event is a hint instruction that permits the processor to enter
+    a low-power state until one of a number of events occurs.
+ */
+#define __WFE                             __wfe
+
+
+/** \brief  Send Event
+
+    Send Event is a hint instruction. It causes an event to be signaled to the CPU.
+ */
+#define __SEV                             __sev
+
+
+/** \brief  Instruction Synchronization Barrier
+
+    Instruction Synchronization Barrier flushes the pipeline in the processor,
+    so that all instructions following the ISB are fetched from cache or
+    memory, after the instruction has been completed.
+ */
+#define __ISB()                           __isb(0xF)
+
+
+/** \brief  Data Synchronization Barrier
+
+    This function acts as a special kind of Data Memory Barrier.
+    It completes when all explicit memory accesses before this instruction complete.
+ */
+#define __DSB()                           __dsb(0xF)
+
+
+/** \brief  Data Memory Barrier
+
+    This function ensures the apparent order of the explicit memory operations before
+    and after the instruction, without ensuring their completion.
+ */
+#define __DMB()                           __dmb(0xF)
+
+
+/** \brief  Reverse byte order (32 bit)
+
+    This function reverses the byte order in integer value.
+
+    \param [in]    value  Value to reverse
+    \return               Reversed value
+ */
+#define __REV                             __rev
+
+
+/** \brief  Reverse byte order (16 bit)
+
+    This function reverses the byte order in two unsigned short values.
+
+    \param [in]    value  Value to reverse
+    \return               Reversed value
+ */
+__attribute__((section(".rev16_text"))) __STATIC_INLINE __ASM uint32_t __REV16(uint32_t value)
+{
+  rev16 r0, r0
+  bx lr
+}
+
+
+/** \brief  Reverse byte order in signed short value
+
+    This function reverses the byte order in a signed short value with sign extension to integer.
+
+    \param [in]    value  Value to reverse
+    \return               Reversed value
+ */
+__attribute__((section(".revsh_text"))) __STATIC_INLINE __ASM int32_t __REVSH(int32_t value)
+{
+  revsh r0, r0
+  bx lr
+}
+
+
+/** \brief  Rotate Right in unsigned value (32 bit)
+
+    This function Rotate Right (immediate) provides the value of the contents of a register rotated by a variable number of bits.
+
+    \param [in]    value  Value to rotate
+    \param [in]    value  Number of Bits to rotate
+    \return               Rotated value
+ */
+#define __ROR                             __ror
+
+
+#if       (__CORTEX_M >= 0x03)
+
+/** \brief  Reverse bit order of value
+
+    This function reverses the bit order of the given value.
+
+    \param [in]    value  Value to reverse
+    \return               Reversed value
+ */
+#define __RBIT                            __rbit
+
+
+/** \brief  LDR Exclusive (8 bit)
+
+    This function performs a exclusive LDR command for 8 bit value.
+
+    \param [in]    ptr  Pointer to data
+    \return             value of type uint8_t at (*ptr)
+ */
+#define __LDREXB(ptr)                     ((uint8_t ) __ldrex(ptr))
+
+
+/** \brief  LDR Exclusive (16 bit)
+
+    This function performs a exclusive LDR command for 16 bit values.
+
+    \param [in]    ptr  Pointer to data
+    \return        value of type uint16_t at (*ptr)
+ */
+#define __LDREXH(ptr)                     ((uint16_t) __ldrex(ptr))
+
+
+/** \brief  LDR Exclusive (32 bit)
+
+    This function performs a exclusive LDR command for 32 bit values.
+
+    \param [in]    ptr  Pointer to data
+    \return        value of type uint32_t at (*ptr)
+ */
+#define __LDREXW(ptr)                     ((uint32_t ) __ldrex(ptr))
+
+
+/** \brief  STR Exclusive (8 bit)
+
+    This function performs a exclusive STR command for 8 bit values.
+
+    \param [in]  value  Value to store
+    \param [in]    ptr  Pointer to location
+    \return          0  Function succeeded
+    \return          1  Function failed
+ */
+#define __STREXB(value, ptr)              __strex(value, ptr)
+
+
+/** \brief  STR Exclusive (16 bit)
+
+    This function performs a exclusive STR command for 16 bit values.
+
+    \param [in]  value  Value to store
+    \param [in]    ptr  Pointer to location
+    \return          0  Function succeeded
+    \return          1  Function failed
+ */
+#define __STREXH(value, ptr)              __strex(value, ptr)
+
+
+/** \brief  STR Exclusive (32 bit)
+
+    This function performs a exclusive STR command for 32 bit values.
+
+    \param [in]  value  Value to store
+    \param [in]    ptr  Pointer to location
+    \return          0  Function succeeded
+    \return          1  Function failed
+ */
+#define __STREXW(value, ptr)              __strex(value, ptr)
+
+
+/** \brief  Remove the exclusive lock
+
+    This function removes the exclusive lock which is created by LDREX.
+
+ */
+#define __CLREX                           __clrex
+
+
+/** \brief  Signed Saturate
+
+    This function saturates a signed value.
+
+    \param [in]  value  Value to be saturated
+    \param [in]    sat  Bit position to saturate to (1..32)
+    \return             Saturated value
+ */
+#define __SSAT                            __ssat
+
+
+/** \brief  Unsigned Saturate
+
+    This function saturates an unsigned value.
+
+    \param [in]  value  Value to be saturated
+    \param [in]    sat  Bit position to saturate to (0..31)
+    \return             Saturated value
+ */
+#define __USAT                            __usat
+
+
+/** \brief  Count leading zeros
+
+    This function counts the number of leading zeros of a data value.
+
+    \param [in]  value  Value to count the leading zeros
+    \return             number of leading zeros in value
+ */
+#define __CLZ                             __clz
+
+#endif /* (__CORTEX_M >= 0x03) */
+
+
+
+#elif defined ( __ICCARM__ ) /*------------------ ICC Compiler -------------------*/
+/* IAR iccarm specific functions */
+
+#include 
+
+
+#elif defined ( __TMS470__ ) /*---------------- TI CCS Compiler ------------------*/
+/* TI CCS specific functions */
+
+#include 
+
+
+#elif defined ( __GNUC__ ) /*------------------ GNU Compiler ---------------------*/
+/* GNU gcc specific functions */
+
+/** \brief  No Operation
+
+    No Operation does nothing. This instruction can be used for code alignment purposes.
+ */
+__attribute__( ( always_inline ) ) __STATIC_INLINE void __NOP(void)
+{
+  __ASM volatile ("nop");
+}
+
+
+/** \brief  Wait For Interrupt
+
+    Wait For Interrupt is a hint instruction that suspends execution
+    until one of a number of events occurs.
+ */
+__attribute__( ( always_inline ) ) __STATIC_INLINE void __WFI(void)
+{
+  __ASM volatile ("wfi");
+}
+
+
+/** \brief  Wait For Event
+
+    Wait For Event is a hint instruction that permits the processor to enter
+    a low-power state until one of a number of events occurs.
+ */
+__attribute__( ( always_inline ) ) __STATIC_INLINE void __WFE(void)
+{
+  __ASM volatile ("wfe");
+}
+
+
+/** \brief  Send Event
+
+    Send Event is a hint instruction. It causes an event to be signaled to the CPU.
+ */
+__attribute__( ( always_inline ) ) __STATIC_INLINE void __SEV(void)
+{
+  __ASM volatile ("sev");
+}
+
+
+/** \brief  Instruction Synchronization Barrier
+
+    Instruction Synchronization Barrier flushes the pipeline in the processor,
+    so that all instructions following the ISB are fetched from cache or
+    memory, after the instruction has been completed.
+ */
+__attribute__( ( always_inline ) ) __STATIC_INLINE void __ISB(void)
+{
+  __ASM volatile ("isb");
+}
+
+
+/** \brief  Data Synchronization Barrier
+
+    This function acts as a special kind of Data Memory Barrier.
+    It completes when all explicit memory accesses before this instruction complete.
+ */
+__attribute__( ( always_inline ) ) __STATIC_INLINE void __DSB(void)
+{
+  __ASM volatile ("dsb");
+}
+
+
+/** \brief  Data Memory Barrier
+
+    This function ensures the apparent order of the explicit memory operations before
+    and after the instruction, without ensuring their completion.
+ */
+__attribute__( ( always_inline ) ) __STATIC_INLINE void __DMB(void)
+{
+  __ASM volatile ("dmb");
+}
+
+
+/** \brief  Reverse byte order (32 bit)
+
+    This function reverses the byte order in integer value.
+
+    \param [in]    value  Value to reverse
+    \return               Reversed value
+ */
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __REV(uint32_t value)
+{
+  uint32_t result;
+
+  __ASM volatile ("rev %0, %1" : "=r" (result) : "r" (value) );
+  return(result);
+}
+
+
+/** \brief  Reverse byte order (16 bit)
+
+    This function reverses the byte order in two unsigned short values.
+
+    \param [in]    value  Value to reverse
+    \return               Reversed value
+ */
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __REV16(uint32_t value)
+{
+  uint32_t result;
+
+  __ASM volatile ("rev16 %0, %1" : "=r" (result) : "r" (value) );
+  return(result);
+}
+
+
+/** \brief  Reverse byte order in signed short value
+
+    This function reverses the byte order in a signed short value with sign extension to integer.
+
+    \param [in]    value  Value to reverse
+    \return               Reversed value
+ */
+__attribute__( ( always_inline ) ) __STATIC_INLINE int32_t __REVSH(int32_t value)
+{
+  uint32_t result;
+
+  __ASM volatile ("revsh %0, %1" : "=r" (result) : "r" (value) );
+  return(result);
+}
+
+
+/** \brief  Rotate Right in unsigned value (32 bit)
+
+    This function Rotate Right (immediate) provides the value of the contents of a register rotated by a variable number of bits.
+
+    \param [in]    value  Value to rotate
+    \param [in]    value  Number of Bits to rotate
+    \return               Rotated value
+ */
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __ROR(uint32_t op1, uint32_t op2)
+{
+
+  __ASM volatile ("ror %0, %0, %1" : "+r" (op1) : "r" (op2) );
+  return(op1);
+}
+
+
+#if       (__CORTEX_M >= 0x03)
+
+/** \brief  Reverse bit order of value
+
+    This function reverses the bit order of the given value.
+
+    \param [in]    value  Value to reverse
+    \return               Reversed value
+ */
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __RBIT(uint32_t value)
+{
+  uint32_t result;
+
+   __ASM volatile ("rbit %0, %1" : "=r" (result) : "r" (value) );
+   return(result);
+}
+
+
+/** \brief  LDR Exclusive (8 bit)
+
+    This function performs a exclusive LDR command for 8 bit value.
+
+    \param [in]    ptr  Pointer to data
+    \return             value of type uint8_t at (*ptr)
+ */
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint8_t __LDREXB(volatile uint8_t *addr)
+{
+    uint8_t result;
+
+   __ASM volatile ("ldrexb %0, [%1]" : "=r" (result) : "r" (addr) );
+   return(result);
+}
+
+
+/** \brief  LDR Exclusive (16 bit)
+
+    This function performs a exclusive LDR command for 16 bit values.
+
+    \param [in]    ptr  Pointer to data
+    \return        value of type uint16_t at (*ptr)
+ */
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint16_t __LDREXH(volatile uint16_t *addr)
+{
+    uint16_t result;
+
+   __ASM volatile ("ldrexh %0, [%1]" : "=r" (result) : "r" (addr) );
+   return(result);
+}
+
+
+/** \brief  LDR Exclusive (32 bit)
+
+    This function performs a exclusive LDR command for 32 bit values.
+
+    \param [in]    ptr  Pointer to data
+    \return        value of type uint32_t at (*ptr)
+ */
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __LDREXW(volatile uint32_t *addr)
+{
+    uint32_t result;
+
+   __ASM volatile ("ldrex %0, [%1]" : "=r" (result) : "r" (addr) );
+   return(result);
+}
+
+
+/** \brief  STR Exclusive (8 bit)
+
+    This function performs a exclusive STR command for 8 bit values.
+
+    \param [in]  value  Value to store
+    \param [in]    ptr  Pointer to location
+    \return          0  Function succeeded
+    \return          1  Function failed
+ */
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __STREXB(uint8_t value, volatile uint8_t *addr)
+{
+   uint32_t result;
+
+   __ASM volatile ("strexb %0, %2, [%1]" : "=&r" (result) : "r" (addr), "r" (value) );
+   return(result);
+}
+
+
+/** \brief  STR Exclusive (16 bit)
+
+    This function performs a exclusive STR command for 16 bit values.
+
+    \param [in]  value  Value to store
+    \param [in]    ptr  Pointer to location
+    \return          0  Function succeeded
+    \return          1  Function failed
+ */
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __STREXH(uint16_t value, volatile uint16_t *addr)
+{
+   uint32_t result;
+
+   __ASM volatile ("strexh %0, %2, [%1]" : "=&r" (result) : "r" (addr), "r" (value) );
+   return(result);
+}
+
+
+/** \brief  STR Exclusive (32 bit)
+
+    This function performs a exclusive STR command for 32 bit values.
+
+    \param [in]  value  Value to store
+    \param [in]    ptr  Pointer to location
+    \return          0  Function succeeded
+    \return          1  Function failed
+ */
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __STREXW(uint32_t value, volatile uint32_t *addr)
+{
+   uint32_t result;
+
+   __ASM volatile ("strex %0, %2, [%1]" : "=&r" (result) : "r" (addr), "r" (value) );
+   return(result);
+}
+
+
+/** \brief  Remove the exclusive lock
+
+    This function removes the exclusive lock which is created by LDREX.
+
+ */
+__attribute__( ( always_inline ) ) __STATIC_INLINE void __CLREX(void)
+{
+  __ASM volatile ("clrex");
+}
+
+
+/** \brief  Signed Saturate
+
+    This function saturates a signed value.
+
+    \param [in]  value  Value to be saturated
+    \param [in]    sat  Bit position to saturate to (1..32)
+    \return             Saturated value
+ */
+#define __SSAT(ARG1,ARG2) \
+({                          \
+  uint32_t __RES, __ARG1 = (ARG1); \
+  __ASM ("ssat %0, %1, %2" : "=r" (__RES) :  "I" (ARG2), "r" (__ARG1) ); \
+  __RES; \
+ })
+
+
+/** \brief  Unsigned Saturate
+
+    This function saturates an unsigned value.
+
+    \param [in]  value  Value to be saturated
+    \param [in]    sat  Bit position to saturate to (0..31)
+    \return             Saturated value
+ */
+#define __USAT(ARG1,ARG2) \
+({                          \
+  uint32_t __RES, __ARG1 = (ARG1); \
+  __ASM ("usat %0, %1, %2" : "=r" (__RES) :  "I" (ARG2), "r" (__ARG1) ); \
+  __RES; \
+ })
+
+
+/** \brief  Count leading zeros
+
+    This function counts the number of leading zeros of a data value.
+
+    \param [in]  value  Value to count the leading zeros
+    \return             number of leading zeros in value
+ */
+__attribute__( ( always_inline ) ) __STATIC_INLINE uint8_t __CLZ(uint32_t value)
+{
+  uint8_t result;
+
+  __ASM volatile ("clz %0, %1" : "=r" (result) : "r" (value) );
+  return(result);
+}
+
+#endif /* (__CORTEX_M >= 0x03) */
+
+
+
+
+#elif defined ( __TASKING__ ) /*------------------ TASKING Compiler --------------*/
+/* TASKING carm specific functions */
+
+/*
+ * The CMSIS functions have been implemented as intrinsics in the compiler.
+ * Please use "carm -?i" to get an up to date list of all intrinsics,
+ * Including the CMSIS ones.
+ */
+
+#endif
+
+/*@}*/ /* end of group CMSIS_Core_InstructionInterface */
+
+#endif /* __CORE_CMINSTR_H */
diff --git a/src/modules/mathlib/CMSIS/module.mk b/src/modules/mathlib/CMSIS/module.mk
new file mode 100644
index 000000000..c676f3261
--- /dev/null
+++ b/src/modules/mathlib/CMSIS/module.mk
@@ -0,0 +1,59 @@
+############################################################################
+#
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# ARM CMSIS DSP library
+#
+
+#
+# Find sources
+#
+DSPLIB_SRCDIR		:= $(PX4_MODULE_SRC)/modules/mathlib/CMSIS
+ABS_SRCS		:= $(wildcard $(DSPLIB_SRCDIR)/DSP_Lib/Source/*/*.c)
+
+INCLUDE_DIRS		+= $(DSPLIB_SRCDIR)/Include \
+			   $(DSPLIB_SRCDIR)/Device/ARM/ARMCM4/Include \
+			   $(DSPLIB_SRCDIR)/Device/ARM/ARMCM3/Include
+
+# Suppress some warnings that ARM should fix, but haven't.
+EXTRADEFINES		+= -Wno-unsuffixed-float-constants \
+			   -Wno-sign-compare \
+			   -Wno-shadow \
+			   -Wno-float-equal \
+			   -Wno-unused-variable
+
+#
+# Override the default visibility for symbols, since the CMSIS DSPLib doesn't
+# have anything we can use to mark exported symbols.
+#
+DEFAULT_VISIBILITY	 = YES
diff --git a/src/modules/mathlib/math/Dcm.cpp b/src/modules/mathlib/math/Dcm.cpp
new file mode 100644
index 000000000..c3742e288
--- /dev/null
+++ b/src/modules/mathlib/math/Dcm.cpp
@@ -0,0 +1,165 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Dcm.cpp
+ *
+ * math direction cosine matrix
+ */
+
+#include 
+
+#include "Dcm.hpp"
+#include "Quaternion.hpp"
+#include "EulerAngles.hpp"
+#include "Vector3.hpp"
+
+namespace math
+{
+
+Dcm::Dcm() :
+	Matrix(Matrix::identity(3))
+{
+}
+
+Dcm::Dcm(float c00, float c01, float c02,
+	 float c10, float c11, float c12,
+	 float c20, float c21, float c22) :
+	Matrix(3, 3)
+{
+	Dcm &dcm = *this;
+	dcm(0, 0) = c00;
+	dcm(0, 1) = c01;
+	dcm(0, 2) = c02;
+	dcm(1, 0) = c10;
+	dcm(1, 1) = c11;
+	dcm(1, 2) = c12;
+	dcm(2, 0) = c20;
+	dcm(2, 1) = c21;
+	dcm(2, 2) = c22;
+}
+
+Dcm::Dcm(const float *data) :
+	Matrix(3, 3, data)
+{
+}
+
+Dcm::Dcm(const Quaternion &q) :
+	Matrix(3, 3)
+{
+	Dcm &dcm = *this;
+	double a = q.getA();
+	double b = q.getB();
+	double c = q.getC();
+	double d = q.getD();
+	double aSq = a * a;
+	double bSq = b * b;
+	double cSq = c * c;
+	double dSq = d * d;
+	dcm(0, 0) = aSq + bSq - cSq - dSq;
+	dcm(0, 1) = 2.0 * (b * c - a * d);
+	dcm(0, 2) = 2.0 * (a * c + b * d);
+	dcm(1, 0) = 2.0 * (b * c + a * d);
+	dcm(1, 1) = aSq - bSq + cSq - dSq;
+	dcm(1, 2) = 2.0 * (c * d - a * b);
+	dcm(2, 0) = 2.0 * (b * d - a * c);
+	dcm(2, 1) = 2.0 * (a * b + c * d);
+	dcm(2, 2) = aSq - bSq - cSq + dSq;
+}
+
+Dcm::Dcm(const EulerAngles &euler) :
+	Matrix(3, 3)
+{
+	Dcm &dcm = *this;
+	double cosPhi = cos(euler.getPhi());
+	double sinPhi = sin(euler.getPhi());
+	double cosThe = cos(euler.getTheta());
+	double sinThe = sin(euler.getTheta());
+	double cosPsi = cos(euler.getPsi());
+	double sinPsi = sin(euler.getPsi());
+
+	dcm(0, 0) = cosThe * cosPsi;
+	dcm(0, 1) = -cosPhi * sinPsi + sinPhi * sinThe * cosPsi;
+	dcm(0, 2) = sinPhi * sinPsi + cosPhi * sinThe * cosPsi;
+
+	dcm(1, 0) = cosThe * sinPsi;
+	dcm(1, 1) = cosPhi * cosPsi + sinPhi * sinThe * sinPsi;
+	dcm(1, 2) = -sinPhi * cosPsi + cosPhi * sinThe * sinPsi;
+
+	dcm(2, 0) = -sinThe;
+	dcm(2, 1) = sinPhi * cosThe;
+	dcm(2, 2) = cosPhi * cosThe;
+}
+
+Dcm::Dcm(const Dcm &right) :
+	Matrix(right)
+{
+}
+
+Dcm::~Dcm()
+{
+}
+
+int __EXPORT dcmTest()
+{
+	printf("Test DCM\t\t: ");
+	// default ctor
+	ASSERT(matrixEqual(Dcm(),
+			   Matrix::identity(3)));
+	// quaternion ctor
+	ASSERT(matrixEqual(
+		       Dcm(Quaternion(0.983347f, 0.034271f, 0.106021f, 0.143572f)),
+		       Dcm(0.9362934f, -0.2750958f,  0.2183507f,
+			   0.2896295f,  0.9564251f, -0.0369570f,
+			   -0.1986693f,  0.0978434f,  0.9751703f)));
+	// euler angle ctor
+	ASSERT(matrixEqual(
+		       Dcm(EulerAngles(0.1f, 0.2f, 0.3f)),
+		       Dcm(0.9362934f, -0.2750958f,  0.2183507f,
+			   0.2896295f,  0.9564251f, -0.0369570f,
+			   -0.1986693f,  0.0978434f,  0.9751703f)));
+	// rotations
+	Vector3 vB(1, 2, 3);
+	ASSERT(vectorEqual(Vector3(-2.0f, 1.0f, 3.0f),
+			   Dcm(EulerAngles(0.0f, 0.0f, M_PI_2_F))*vB));
+	ASSERT(vectorEqual(Vector3(3.0f, 2.0f, -1.0f),
+			   Dcm(EulerAngles(0.0f, M_PI_2_F, 0.0f))*vB));
+	ASSERT(vectorEqual(Vector3(1.0f, -3.0f, 2.0f),
+			   Dcm(EulerAngles(M_PI_2_F, 0.0f, 0.0f))*vB));
+	ASSERT(vectorEqual(Vector3(3.0f, 2.0f, -1.0f),
+			   Dcm(EulerAngles(
+				       M_PI_2_F, M_PI_2_F, M_PI_2_F))*vB));
+	printf("PASS\n");
+	return 0;
+}
+} // namespace math
diff --git a/src/modules/mathlib/math/Dcm.hpp b/src/modules/mathlib/math/Dcm.hpp
new file mode 100644
index 000000000..28d840b10
--- /dev/null
+++ b/src/modules/mathlib/math/Dcm.hpp
@@ -0,0 +1,103 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Dcm.hpp
+ *
+ * math direction cosine matrix
+ */
+
+//#pragma once
+
+#include "Vector.hpp"
+#include "Matrix.hpp"
+
+namespace math
+{
+
+class Quaternion;
+class EulerAngles;
+
+/**
+ * This is a Tait Bryan, Body 3-2-1 sequence.
+ * (yaw)-(pitch)-(roll)
+ * The Dcm transforms a vector in the body frame
+ * to the navigation frame, typically represented
+ * as C_nb. C_bn can be obtained through use
+ * of the transpose() method.
+ */
+class __EXPORT Dcm : public Matrix
+{
+public:
+	/**
+	 * default ctor
+	 */
+	Dcm();
+
+	/**
+	 * scalar ctor
+	 */
+	Dcm(float c00, float c01, float c02,
+	    float c10, float c11, float c12,
+	    float c20, float c21, float c22);
+
+	/**
+	 * data ctor
+	 */
+	Dcm(const float *data);
+
+	/**
+	 * quaternion ctor
+	 */
+	Dcm(const Quaternion &q);
+
+	/**
+	 * euler angles ctor
+	 */
+	Dcm(const EulerAngles &euler);
+
+	/**
+	 * copy ctor (deep)
+	 */
+	Dcm(const Dcm &right);
+
+	/**
+	 * dtor
+	 */
+	virtual ~Dcm();
+};
+
+int __EXPORT dcmTest();
+
+} // math
+
diff --git a/src/modules/mathlib/math/EulerAngles.cpp b/src/modules/mathlib/math/EulerAngles.cpp
new file mode 100644
index 000000000..e733d23bb
--- /dev/null
+++ b/src/modules/mathlib/math/EulerAngles.cpp
@@ -0,0 +1,126 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Vector.cpp
+ *
+ * math vector
+ */
+
+#include "test/test.hpp"
+
+#include "EulerAngles.hpp"
+#include "Quaternion.hpp"
+#include "Dcm.hpp"
+#include "Vector3.hpp"
+
+namespace math
+{
+
+EulerAngles::EulerAngles() :
+	Vector(3)
+{
+	setPhi(0.0f);
+	setTheta(0.0f);
+	setPsi(0.0f);
+}
+
+EulerAngles::EulerAngles(float phi, float theta, float psi) :
+	Vector(3)
+{
+	setPhi(phi);
+	setTheta(theta);
+	setPsi(psi);
+}
+
+EulerAngles::EulerAngles(const Quaternion &q) :
+	Vector(3)
+{
+	(*this) = EulerAngles(Dcm(q));
+}
+
+EulerAngles::EulerAngles(const Dcm &dcm) :
+	Vector(3)
+{
+	setTheta(asinf(-dcm(2, 0)));
+
+	if (fabsf(getTheta() - M_PI_2_F) < 1.0e-3f) {
+		setPhi(0.0f);
+		setPsi(atan2f(dcm(1, 2) - dcm(0, 1),
+			      dcm(0, 2) + dcm(1, 1)) + getPhi());
+
+	} else if (fabsf(getTheta() + M_PI_2_F) < 1.0e-3f) {
+		setPhi(0.0f);
+		setPsi(atan2f(dcm(1, 2) - dcm(0, 1),
+			      dcm(0, 2) + dcm(1, 1)) - getPhi());
+
+	} else {
+		setPhi(atan2f(dcm(2, 1), dcm(2, 2)));
+		setPsi(atan2f(dcm(1, 0), dcm(0, 0)));
+	}
+}
+
+EulerAngles::~EulerAngles()
+{
+}
+
+int __EXPORT eulerAnglesTest()
+{
+	printf("Test EulerAngles\t: ");
+	EulerAngles euler(0.1f, 0.2f, 0.3f);
+
+	// test ctor
+	ASSERT(vectorEqual(Vector3(0.1f, 0.2f, 0.3f), euler));
+	ASSERT(equal(euler.getPhi(), 0.1f));
+	ASSERT(equal(euler.getTheta(), 0.2f));
+	ASSERT(equal(euler.getPsi(), 0.3f));
+
+	// test dcm ctor
+	euler = Dcm(EulerAngles(0.1f, 0.2f, 0.3f));
+	ASSERT(vectorEqual(Vector3(0.1f, 0.2f, 0.3f), euler));
+
+	// test quat ctor
+	euler = Quaternion(EulerAngles(0.1f, 0.2f, 0.3f));
+	ASSERT(vectorEqual(Vector3(0.1f, 0.2f, 0.3f), euler));
+
+	// test assignment
+	euler.setPhi(0.4f);
+	euler.setTheta(0.5f);
+	euler.setPsi(0.6f);
+	ASSERT(vectorEqual(Vector3(0.4f, 0.5f, 0.6f), euler));
+
+	printf("PASS\n");
+	return 0;
+}
+
+} // namespace math
diff --git a/src/modules/mathlib/math/EulerAngles.hpp b/src/modules/mathlib/math/EulerAngles.hpp
new file mode 100644
index 000000000..399eecfa7
--- /dev/null
+++ b/src/modules/mathlib/math/EulerAngles.hpp
@@ -0,0 +1,74 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Vector.h
+ *
+ * math vector
+ */
+
+#pragma once
+
+#include "Vector.hpp"
+
+namespace math
+{
+
+class Quaternion;
+class Dcm;
+
+class __EXPORT EulerAngles : public Vector
+{
+public:
+	EulerAngles();
+	EulerAngles(float phi, float theta, float psi);
+	EulerAngles(const Quaternion &q);
+	EulerAngles(const Dcm &dcm);
+	virtual ~EulerAngles();
+
+	// alias
+	void setPhi(float phi) { (*this)(0) = phi; }
+	void setTheta(float theta) { (*this)(1) = theta; }
+	void setPsi(float psi) { (*this)(2) = psi; }
+
+	// const accessors
+	const float &getPhi() const { return (*this)(0); }
+	const float &getTheta() const { return (*this)(1); }
+	const float &getPsi() const { return (*this)(2); }
+
+};
+
+int __EXPORT eulerAnglesTest();
+
+} // math
+
diff --git a/src/modules/mathlib/math/Matrix.cpp b/src/modules/mathlib/math/Matrix.cpp
new file mode 100644
index 000000000..ebd1aeda3
--- /dev/null
+++ b/src/modules/mathlib/math/Matrix.cpp
@@ -0,0 +1,193 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Matrix.cpp
+ *
+ * matrix code
+ */
+
+#include "test/test.hpp"
+#include 
+
+#include "Matrix.hpp"
+
+namespace math
+{
+
+static const float data_testA[] = {
+	1, 2, 3,
+	4, 5, 6
+};
+static Matrix testA(2, 3, data_testA);
+
+static const float data_testB[] = {
+	0, 1, 3,
+	7, -1, 2
+};
+static Matrix testB(2, 3, data_testB);
+
+static const float data_testC[] = {
+	0, 1,
+	2, 1,
+	3, 2
+};
+static Matrix testC(3, 2, data_testC);
+
+static const float data_testD[] = {
+	0, 1, 2,
+	2, 1, 4,
+	5, 2, 0
+};
+static Matrix testD(3, 3, data_testD);
+
+static const float data_testE[] = {
+	1, -1, 2,
+	0, 2, 3,
+	2, -1, 1
+};
+static Matrix testE(3, 3, data_testE);
+
+static const float data_testF[] = {
+	3.777e006f, 2.915e007f, 0.000e000f,
+	2.938e007f, 2.267e008f, 0.000e000f,
+	0.000e000f, 0.000e000f, 6.033e008f
+};
+static Matrix testF(3, 3, data_testF);
+
+int __EXPORT matrixTest()
+{
+	matrixAddTest();
+	matrixSubTest();
+	matrixMultTest();
+	matrixInvTest();
+	matrixDivTest();
+	return 0;
+}
+
+int matrixAddTest()
+{
+	printf("Test Matrix Add\t\t: ");
+	Matrix r = testA + testB;
+	float data_test[] = {
+		1.0f, 3.0f, 6.0f,
+		11.0f, 4.0f, 8.0f
+	};
+	ASSERT(matrixEqual(Matrix(2, 3, data_test), r));
+	printf("PASS\n");
+	return 0;
+}
+
+int matrixSubTest()
+{
+	printf("Test Matrix Sub\t\t: ");
+	Matrix r = testA - testB;
+	float data_test[] = {
+		1.0f, 1.0f, 0.0f,
+		-3.0f, 6.0f, 4.0f
+	};
+	ASSERT(matrixEqual(Matrix(2, 3, data_test), r));
+	printf("PASS\n");
+	return 0;
+}
+
+int matrixMultTest()
+{
+	printf("Test Matrix Mult\t: ");
+	Matrix r = testC * testB;
+	float data_test[] = {
+		7.0f, -1.0f,  2.0f,
+		7.0f,  1.0f,  8.0f,
+		14.0f,  1.0f, 13.0f
+	};
+	ASSERT(matrixEqual(Matrix(3, 3, data_test), r));
+	printf("PASS\n");
+	return 0;
+}
+
+int matrixInvTest()
+{
+	printf("Test Matrix Inv\t\t: ");
+	Matrix origF = testF;
+	Matrix r = testF.inverse();
+	float data_test[] = {
+		-0.0012518f,  0.0001610f, 0.0000000f,
+		0.0001622f, -0.0000209f, 0.0000000f,
+		0.0000000f,  0.0000000f, 1.6580e-9f
+	};
+	ASSERT(matrixEqual(Matrix(3, 3, data_test), r));
+	// make sure F in unchanged
+	ASSERT(matrixEqual(origF, testF));
+	printf("PASS\n");
+	return 0;
+}
+
+int matrixDivTest()
+{
+	printf("Test Matrix Div\t\t: ");
+	Matrix r = testD / testE;
+	float data_test[] = {
+		0.2222222f, 0.5555556f, -0.1111111f,
+		0.0f,       1.0f,         1.0,
+		-4.1111111f, 1.2222222f,  4.5555556f
+	};
+	ASSERT(matrixEqual(Matrix(3, 3, data_test), r));
+	printf("PASS\n");
+	return 0;
+}
+
+bool matrixEqual(const Matrix &a, const Matrix &b, float eps)
+{
+	if (a.getRows() != b.getRows()) {
+		printf("row number not equal a: %d, b:%d\n", a.getRows(), b.getRows());
+		return false;
+
+	} else if (a.getCols() != b.getCols()) {
+		printf("column number not equal a: %d, b:%d\n", a.getCols(), b.getCols());
+		return false;
+	}
+
+	bool ret = true;
+
+	for (size_t i = 0; i < a.getRows(); i++)
+		for (size_t j = 0; j < a.getCols(); j++) {
+			if (!equal(a(i, j), b(i, j), eps)) {
+				printf("element mismatch (%d, %d)\n", i, j);
+				ret = false;
+			}
+		}
+
+	return ret;
+}
+
+} // namespace math
diff --git a/src/modules/mathlib/math/Matrix.hpp b/src/modules/mathlib/math/Matrix.hpp
new file mode 100644
index 000000000..f19db15ec
--- /dev/null
+++ b/src/modules/mathlib/math/Matrix.hpp
@@ -0,0 +1,61 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Matrix.h
+ *
+ * matrix code
+ */
+
+#pragma once
+
+#include 
+
+#if defined(CONFIG_ARCH_CORTEXM4) && defined(CONFIG_ARCH_FPU)
+#include "arm/Matrix.hpp"
+#else
+#include "generic/Matrix.hpp"
+#endif
+
+namespace math
+{
+class Matrix;
+int matrixTest();
+int matrixAddTest();
+int matrixSubTest();
+int matrixMultTest();
+int matrixInvTest();
+int matrixDivTest();
+int matrixArmTest();
+bool matrixEqual(const Matrix &a, const Matrix &b, float eps = 1.0e-5f);
+} // namespace math
diff --git a/src/modules/mathlib/math/Quaternion.cpp b/src/modules/mathlib/math/Quaternion.cpp
new file mode 100644
index 000000000..02fec4ca6
--- /dev/null
+++ b/src/modules/mathlib/math/Quaternion.cpp
@@ -0,0 +1,174 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Quaternion.cpp
+ *
+ * math vector
+ */
+
+#include "test/test.hpp"
+
+
+#include "Quaternion.hpp"
+#include "Dcm.hpp"
+#include "EulerAngles.hpp"
+
+namespace math
+{
+
+Quaternion::Quaternion() :
+	Vector(4)
+{
+	setA(1.0f);
+	setB(0.0f);
+	setC(0.0f);
+	setD(0.0f);
+}
+
+Quaternion::Quaternion(float a, float b,
+		       float c, float d) :
+	Vector(4)
+{
+	setA(a);
+	setB(b);
+	setC(c);
+	setD(d);
+}
+
+Quaternion::Quaternion(const float *data) :
+	Vector(4, data)
+{
+}
+
+Quaternion::Quaternion(const Vector &v) :
+	Vector(v)
+{
+}
+
+Quaternion::Quaternion(const Dcm &dcm) :
+	Vector(4)
+{
+	// avoiding singularities by not using
+	// division equations
+	setA(0.5 * sqrt(1.0 +
+			double(dcm(0, 0) + dcm(1, 1) + dcm(2, 2))));
+	setB(0.5 * sqrt(1.0 +
+			double(dcm(0, 0) - dcm(1, 1) - dcm(2, 2))));
+	setC(0.5 * sqrt(1.0 +
+			double(-dcm(0, 0) + dcm(1, 1) - dcm(2, 2))));
+	setD(0.5 * sqrt(1.0 +
+			double(-dcm(0, 0) - dcm(1, 1) + dcm(2, 2))));
+}
+
+Quaternion::Quaternion(const EulerAngles &euler) :
+	Vector(4)
+{
+	double cosPhi_2 = cos(double(euler.getPhi()) / 2.0);
+	double sinPhi_2 = sin(double(euler.getPhi()) / 2.0);
+	double cosTheta_2 = cos(double(euler.getTheta()) / 2.0);
+	double sinTheta_2 = sin(double(euler.getTheta()) / 2.0);
+	double cosPsi_2 = cos(double(euler.getPsi()) / 2.0);
+	double sinPsi_2 = sin(double(euler.getPsi()) / 2.0);
+	setA(cosPhi_2 * cosTheta_2 * cosPsi_2 +
+	     sinPhi_2 * sinTheta_2 * sinPsi_2);
+	setB(sinPhi_2 * cosTheta_2 * cosPsi_2 -
+	     cosPhi_2 * sinTheta_2 * sinPsi_2);
+	setC(cosPhi_2 * sinTheta_2 * cosPsi_2 +
+	     sinPhi_2 * cosTheta_2 * sinPsi_2);
+	setD(cosPhi_2 * cosTheta_2 * sinPsi_2 -
+	     sinPhi_2 * sinTheta_2 * cosPsi_2);
+}
+
+Quaternion::Quaternion(const Quaternion &right) :
+	Vector(right)
+{
+}
+
+Quaternion::~Quaternion()
+{
+}
+
+Vector Quaternion::derivative(const Vector &w)
+{
+#ifdef QUATERNION_ASSERT
+	ASSERT(w.getRows() == 3);
+#endif
+	float dataQ[] = {
+		getA(), -getB(), -getC(), -getD(),
+		getB(),  getA(), -getD(),  getC(),
+		getC(),  getD(),  getA(), -getB(),
+		getD(), -getC(),  getB(),  getA()
+	};
+	Vector v(4);
+	v(0) = 0.0f;
+	v(1) = w(0);
+	v(2) = w(1);
+	v(3) = w(2);
+	Matrix Q(4, 4, dataQ);
+	return Q * v * 0.5f;
+}
+
+int __EXPORT quaternionTest()
+{
+	printf("Test Quaternion\t\t: ");
+	// test default ctor
+	Quaternion q;
+	ASSERT(equal(q.getA(), 1.0f));
+	ASSERT(equal(q.getB(), 0.0f));
+	ASSERT(equal(q.getC(), 0.0f));
+	ASSERT(equal(q.getD(), 0.0f));
+	// test float ctor
+	q = Quaternion(0.1825742f, 0.3651484f, 0.5477226f, 0.7302967f);
+	ASSERT(equal(q.getA(), 0.1825742f));
+	ASSERT(equal(q.getB(), 0.3651484f));
+	ASSERT(equal(q.getC(), 0.5477226f));
+	ASSERT(equal(q.getD(), 0.7302967f));
+	// test euler ctor
+	q = Quaternion(EulerAngles(0.1f, 0.2f, 0.3f));
+	ASSERT(vectorEqual(q, Quaternion(0.983347f, 0.034271f, 0.106021f, 0.143572f)));
+	// test dcm ctor
+	q = Quaternion(Dcm());
+	ASSERT(vectorEqual(q, Quaternion(1.0f, 0.0f, 0.0f, 0.0f)));
+	// TODO test derivative
+	// test accessors
+	q.setA(0.1f);
+	q.setB(0.2f);
+	q.setC(0.3f);
+	q.setD(0.4f);
+	ASSERT(vectorEqual(q, Quaternion(0.1f, 0.2f, 0.3f, 0.4f)));
+	printf("PASS\n");
+	return 0;
+}
+
+} // namespace math
diff --git a/src/modules/mathlib/math/Quaternion.hpp b/src/modules/mathlib/math/Quaternion.hpp
new file mode 100644
index 000000000..4b4e959d8
--- /dev/null
+++ b/src/modules/mathlib/math/Quaternion.hpp
@@ -0,0 +1,115 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Quaternion.hpp
+ *
+ * math quaternion lib
+ */
+
+//#pragma once
+
+#include "Vector.hpp"
+#include "Matrix.hpp"
+
+namespace math
+{
+
+class Dcm;
+class EulerAngles;
+
+class __EXPORT Quaternion : public Vector
+{
+public:
+
+	/**
+	 * default ctor
+	 */
+	Quaternion();
+
+	/**
+	 * ctor from floats
+	 */
+	Quaternion(float a, float b, float c, float d);
+
+	/**
+	 * ctor from data
+	 */
+	Quaternion(const float *data);
+
+	/**
+	 * ctor from Vector
+	 */
+	Quaternion(const Vector &v);
+
+	/**
+	 * ctor from EulerAngles
+	 */
+	Quaternion(const EulerAngles &euler);
+
+	/**
+	 * ctor from Dcm
+	 */
+	Quaternion(const Dcm &dcm);
+
+	/**
+	 * deep copy ctor
+	 */
+	Quaternion(const Quaternion &right);
+
+	/**
+	 * dtor
+	 */
+	virtual ~Quaternion();
+
+	/**
+	 * derivative
+	 */
+	Vector derivative(const Vector &w);
+
+	/**
+	 * accessors
+	 */
+	void setA(float a) { (*this)(0) = a; }
+	void setB(float b) { (*this)(1) = b; }
+	void setC(float c) { (*this)(2) = c; }
+	void setD(float d) { (*this)(3) = d; }
+	const float &getA() const { return (*this)(0); }
+	const float &getB() const { return (*this)(1); }
+	const float &getC() const { return (*this)(2); }
+	const float &getD() const { return (*this)(3); }
+};
+
+int __EXPORT quaternionTest();
+} // math
+
diff --git a/src/modules/mathlib/math/Vector.cpp b/src/modules/mathlib/math/Vector.cpp
new file mode 100644
index 000000000..35158a396
--- /dev/null
+++ b/src/modules/mathlib/math/Vector.cpp
@@ -0,0 +1,100 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Vector.cpp
+ *
+ * math vector
+ */
+
+#include "test/test.hpp"
+
+#include "Vector.hpp"
+
+namespace math
+{
+
+static const float data_testA[] = {1, 3};
+static const float data_testB[] = {4, 1};
+
+static Vector testA(2, data_testA);
+static Vector testB(2, data_testB);
+
+int __EXPORT vectorTest()
+{
+	vectorAddTest();
+	vectorSubTest();
+	return 0;
+}
+
+int vectorAddTest()
+{
+	printf("Test Vector Add\t\t: ");
+	Vector r = testA + testB;
+	float data_test[] = {5.0f, 4.0f};
+	ASSERT(vectorEqual(Vector(2, data_test), r));
+	printf("PASS\n");
+	return 0;
+}
+
+int vectorSubTest()
+{
+	printf("Test Vector Sub\t\t: ");
+	Vector r(2);
+	r = testA - testB;
+	float data_test[] = { -3.0f, 2.0f};
+	ASSERT(vectorEqual(Vector(2, data_test), r));
+	printf("PASS\n");
+	return 0;
+}
+
+bool vectorEqual(const Vector &a, const Vector &b, float eps)
+{
+	if (a.getRows() != b.getRows()) {
+		printf("row number not equal a: %d, b:%d\n", a.getRows(), b.getRows());
+		return false;
+	}
+
+	bool ret = true;
+
+	for (size_t i = 0; i < a.getRows(); i++) {
+		if (!equal(a(i), b(i), eps)) {
+			printf("element mismatch (%d)\n", i);
+			ret = false;
+		}
+	}
+
+	return ret;
+}
+
+} // namespace math
diff --git a/src/modules/mathlib/math/Vector.hpp b/src/modules/mathlib/math/Vector.hpp
new file mode 100644
index 000000000..73de793d5
--- /dev/null
+++ b/src/modules/mathlib/math/Vector.hpp
@@ -0,0 +1,57 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Vector.h
+ *
+ * math vector
+ */
+
+#pragma once
+
+#include 
+
+#if defined(CONFIG_ARCH_CORTEXM4) && defined(CONFIG_ARCH_FPU)
+#include "arm/Vector.hpp"
+#else
+#include "generic/Vector.hpp"
+#endif
+
+namespace math
+{
+class Vector;
+int __EXPORT vectorTest();
+int __EXPORT vectorAddTest();
+int __EXPORT vectorSubTest();
+bool vectorEqual(const Vector &a, const Vector &b, float eps = 1.0e-5f);
+} // math
diff --git a/src/modules/mathlib/math/Vector3.cpp b/src/modules/mathlib/math/Vector3.cpp
new file mode 100644
index 000000000..61fcc442f
--- /dev/null
+++ b/src/modules/mathlib/math/Vector3.cpp
@@ -0,0 +1,99 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Vector3.cpp
+ *
+ * math vector
+ */
+
+#include "test/test.hpp"
+
+#include "Vector3.hpp"
+
+namespace math
+{
+
+Vector3::Vector3() :
+	Vector(3)
+{
+}
+
+Vector3::Vector3(const Vector &right) :
+	Vector(right)
+{
+#ifdef VECTOR_ASSERT
+	ASSERT(right.getRows() == 3);
+#endif
+}
+
+Vector3::Vector3(float x, float y, float z) :
+	Vector(3)
+{
+	setX(x);
+	setY(y);
+	setZ(z);
+}
+
+Vector3::Vector3(const float *data) :
+	Vector(3, data)
+{
+}
+
+Vector3::~Vector3()
+{
+}
+
+Vector3 Vector3::cross(const Vector3 &b)
+{
+	Vector3 &a = *this;
+	Vector3 result;
+	result(0) = a(1) * b(2) - a(2) * b(1);
+	result(1) = a(2) * b(0) - a(0) * b(2);
+	result(2) = a(0) * b(1) - a(1) * b(0);
+	return result;
+}
+
+int __EXPORT vector3Test()
+{
+	printf("Test Vector3\t\t: ");
+	// test float ctor
+	Vector3 v(1, 2, 3);
+	ASSERT(equal(v(0), 1));
+	ASSERT(equal(v(1), 2));
+	ASSERT(equal(v(2), 3));
+	printf("PASS\n");
+	return 0;
+}
+
+} // namespace math
diff --git a/src/modules/mathlib/math/Vector3.hpp b/src/modules/mathlib/math/Vector3.hpp
new file mode 100644
index 000000000..8c36ac134
--- /dev/null
+++ b/src/modules/mathlib/math/Vector3.hpp
@@ -0,0 +1,71 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Vector3.hpp
+ *
+ * math 3 vector
+ */
+
+#pragma once
+
+#include "Vector.hpp"
+
+namespace math
+{
+
+class __EXPORT Vector3 :
+	public Vector
+{
+public:
+	Vector3();
+	Vector3(const Vector &right);
+	Vector3(float x, float y, float z);
+	Vector3(const float *data);
+	virtual ~Vector3();
+	Vector3 cross(const Vector3 &b);
+
+	/**
+	 * accessors
+	 */
+	void setX(float x) { (*this)(0) = x; }
+	void setY(float y) { (*this)(1) = y; }
+	void setZ(float z) { (*this)(2) = z; }
+	const float &getX() const { return (*this)(0); }
+	const float &getY() const { return (*this)(1); }
+	const float &getZ() const { return (*this)(2); }
+};
+
+int __EXPORT vector3Test();
+} // math
+
diff --git a/src/modules/mathlib/math/arm/Matrix.cpp b/src/modules/mathlib/math/arm/Matrix.cpp
new file mode 100644
index 000000000..21661622a
--- /dev/null
+++ b/src/modules/mathlib/math/arm/Matrix.cpp
@@ -0,0 +1,40 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Matrix.cpp
+ *
+ * matrix code
+ */
+
+#include "Matrix.hpp"
diff --git a/src/modules/mathlib/math/arm/Matrix.hpp b/src/modules/mathlib/math/arm/Matrix.hpp
new file mode 100644
index 000000000..715fd3a5e
--- /dev/null
+++ b/src/modules/mathlib/math/arm/Matrix.hpp
@@ -0,0 +1,292 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Matrix.h
+ *
+ * matrix code
+ */
+
+#pragma once
+
+
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+
+#include "../Vector.hpp"
+#include "../Matrix.hpp"
+
+// arm specific
+#include "../../CMSIS/Include/arm_math.h"
+
+namespace math
+{
+
+class __EXPORT Matrix
+{
+public:
+	// constructor
+	Matrix(size_t rows, size_t cols) :
+		_matrix() {
+		arm_mat_init_f32(&_matrix,
+				 rows, cols,
+				 (float *)calloc(rows * cols, sizeof(float)));
+	}
+	Matrix(size_t rows, size_t cols, const float *data) :
+		_matrix() {
+		arm_mat_init_f32(&_matrix,
+				 rows, cols,
+				 (float *)malloc(rows * cols * sizeof(float)));
+		memcpy(getData(), data, getSize());
+	}
+	// deconstructor
+	virtual ~Matrix() {
+		delete [] _matrix.pData;
+	}
+	// copy constructor (deep)
+	Matrix(const Matrix &right) :
+		_matrix() {
+		arm_mat_init_f32(&_matrix,
+				 right.getRows(), right.getCols(),
+				 (float *)malloc(right.getRows()*
+						 right.getCols()*sizeof(float)));
+		memcpy(getData(), right.getData(),
+		       getSize());
+	}
+	// assignment
+	inline Matrix &operator=(const Matrix &right) {
+#ifdef MATRIX_ASSERT
+		ASSERT(getRows() == right.getRows());
+		ASSERT(getCols() == right.getCols());
+#endif
+
+		if (this != &right) {
+			memcpy(getData(), right.getData(),
+			       right.getSize());
+		}
+
+		return *this;
+	}
+	// element accessors
+	inline float &operator()(size_t i, size_t j) {
+#ifdef MATRIX_ASSERT
+		ASSERT(i < getRows());
+		ASSERT(j < getCols());
+#endif
+		return getData()[i * getCols() + j];
+	}
+	inline const float &operator()(size_t i, size_t j) const {
+#ifdef MATRIX_ASSERT
+		ASSERT(i < getRows());
+		ASSERT(j < getCols());
+#endif
+		return getData()[i * getCols() + j];
+	}
+	// output
+	inline void print() const {
+		for (size_t i = 0; i < getRows(); i++) {
+			for (size_t j = 0; j < getCols(); j++) {
+				float sig;
+				int exp;
+				float num = (*this)(i, j);
+				float2SigExp(num, sig, exp);
+				printf("%6.3fe%03.3d,", (double)sig, exp);
+			}
+
+			printf("\n");
+		}
+	}
+	// boolean ops
+	inline bool operator==(const Matrix &right) const {
+		for (size_t i = 0; i < getRows(); i++) {
+			for (size_t j = 0; j < getCols(); j++) {
+				if (fabsf((*this)(i, j) - right(i, j)) > 1e-30f)
+					return false;
+			}
+		}
+
+		return true;
+	}
+	// scalar ops
+	inline Matrix operator+(float right) const {
+		Matrix result(getRows(), getCols());
+		arm_offset_f32((float *)getData(), right,
+			       (float *)result.getData(), getRows()*getCols());
+		return result;
+	}
+	inline Matrix operator-(float right) const {
+		Matrix result(getRows(), getCols());
+		arm_offset_f32((float *)getData(), -right,
+			       (float *)result.getData(), getRows()*getCols());
+		return result;
+	}
+	inline Matrix operator*(float right) const {
+		Matrix result(getRows(), getCols());
+		arm_mat_scale_f32(&_matrix, right,
+				  &(result._matrix));
+		return result;
+	}
+	inline Matrix operator/(float right) const {
+		Matrix result(getRows(), getCols());
+		arm_mat_scale_f32(&_matrix, 1.0f / right,
+				  &(result._matrix));
+		return result;
+	}
+	// vector ops
+	inline Vector operator*(const Vector &right) const {
+#ifdef MATRIX_ASSERT
+		ASSERT(getCols() == right.getRows());
+#endif
+		Matrix resultMat = (*this) *
+				   Matrix(right.getRows(), 1, right.getData());
+		return Vector(getRows(), resultMat.getData());
+	}
+	// matrix ops
+	inline Matrix operator+(const Matrix &right) const {
+#ifdef MATRIX_ASSERT
+		ASSERT(getRows() == right.getRows());
+		ASSERT(getCols() == right.getCols());
+#endif
+		Matrix result(getRows(), getCols());
+		arm_mat_add_f32(&_matrix, &(right._matrix),
+				&(result._matrix));
+		return result;
+	}
+	inline Matrix operator-(const Matrix &right) const {
+#ifdef MATRIX_ASSERT
+		ASSERT(getRows() == right.getRows());
+		ASSERT(getCols() == right.getCols());
+#endif
+		Matrix result(getRows(), getCols());
+		arm_mat_sub_f32(&_matrix, &(right._matrix),
+				&(result._matrix));
+		return result;
+	}
+	inline Matrix operator*(const Matrix &right) const {
+#ifdef MATRIX_ASSERT
+		ASSERT(getCols() == right.getRows());
+#endif
+		Matrix result(getRows(), right.getCols());
+		arm_mat_mult_f32(&_matrix, &(right._matrix),
+				 &(result._matrix));
+		return result;
+	}
+	inline Matrix operator/(const Matrix &right) const {
+#ifdef MATRIX_ASSERT
+		ASSERT(right.getRows() == right.getCols());
+		ASSERT(getCols() == right.getCols());
+#endif
+		return (*this) * right.inverse();
+	}
+	// other functions
+	inline Matrix transpose() const {
+		Matrix result(getCols(), getRows());
+		arm_mat_trans_f32(&_matrix, &(result._matrix));
+		return result;
+	}
+	inline void swapRows(size_t a, size_t b) {
+		if (a == b) return;
+
+		for (size_t j = 0; j < getCols(); j++) {
+			float tmp = (*this)(a, j);
+			(*this)(a, j) = (*this)(b, j);
+			(*this)(b, j) = tmp;
+		}
+	}
+	inline void swapCols(size_t a, size_t b) {
+		if (a == b) return;
+
+		for (size_t i = 0; i < getRows(); i++) {
+			float tmp = (*this)(i, a);
+			(*this)(i, a) = (*this)(i, b);
+			(*this)(i, b) = tmp;
+		}
+	}
+	/**
+	 * inverse based on LU factorization with partial pivotting
+	 */
+	Matrix inverse() const {
+#ifdef MATRIX_ASSERT
+		ASSERT(getRows() == getCols());
+#endif
+		Matrix result(getRows(), getCols());
+		Matrix work = (*this);
+		arm_mat_inverse_f32(&(work._matrix),
+				    &(result._matrix));
+		return result;
+	}
+	inline void setAll(const float &val) {
+		for (size_t i = 0; i < getRows(); i++) {
+			for (size_t j = 0; j < getCols(); j++) {
+				(*this)(i, j) = val;
+			}
+		}
+	}
+	inline void set(const float *data) {
+		memcpy(getData(), data, getSize());
+	}
+	inline size_t getRows() const { return _matrix.numRows; }
+	inline size_t getCols() const { return _matrix.numCols; }
+	inline static Matrix identity(size_t size) {
+		Matrix result(size, size);
+
+		for (size_t i = 0; i < size; i++) {
+			result(i, i) = 1.0f;
+		}
+
+		return result;
+	}
+	inline static Matrix zero(size_t size) {
+		Matrix result(size, size);
+		result.setAll(0.0f);
+		return result;
+	}
+	inline static Matrix zero(size_t m, size_t n) {
+		Matrix result(m, n);
+		result.setAll(0.0f);
+		return result;
+	}
+protected:
+	inline size_t getSize() const { return sizeof(float) * getRows() * getCols(); }
+	inline float *getData() { return _matrix.pData; }
+	inline const float *getData() const { return _matrix.pData; }
+	inline void setData(float *data) { _matrix.pData = data; }
+private:
+	arm_matrix_instance_f32 _matrix;
+};
+
+} // namespace math
diff --git a/src/modules/mathlib/math/arm/Vector.cpp b/src/modules/mathlib/math/arm/Vector.cpp
new file mode 100644
index 000000000..7ea6496bb
--- /dev/null
+++ b/src/modules/mathlib/math/arm/Vector.cpp
@@ -0,0 +1,40 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Vector.cpp
+ *
+ * math vector
+ */
+
+#include "Vector.hpp"
diff --git a/src/modules/mathlib/math/arm/Vector.hpp b/src/modules/mathlib/math/arm/Vector.hpp
new file mode 100644
index 000000000..58d51107d
--- /dev/null
+++ b/src/modules/mathlib/math/arm/Vector.hpp
@@ -0,0 +1,220 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Vector.h
+ *
+ * math vector
+ */
+
+#pragma once
+
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+
+#include "../Vector.hpp"
+#include "../test/test.hpp"
+
+// arm specific
+#include "../../CMSIS/Include/arm_math.h"
+
+namespace math
+{
+
+class __EXPORT Vector
+{
+public:
+	// constructor
+	Vector(size_t rows) :
+		_rows(rows),
+		_data((float *)calloc(rows, sizeof(float))) {
+	}
+	Vector(size_t rows, const float *data) :
+		_rows(rows),
+		_data((float *)malloc(getSize())) {
+		memcpy(getData(), data, getSize());
+	}
+	// deconstructor
+	virtual ~Vector() {
+		delete [] getData();
+	}
+	// copy constructor (deep)
+	Vector(const Vector &right) :
+		_rows(right.getRows()),
+		_data((float *)malloc(getSize())) {
+		memcpy(getData(), right.getData(),
+		       right.getSize());
+	}
+	// assignment
+	inline Vector &operator=(const Vector &right) {
+#ifdef VECTOR_ASSERT
+		ASSERT(getRows() == right.getRows());
+#endif
+
+		if (this != &right) {
+			memcpy(getData(), right.getData(),
+			       right.getSize());
+		}
+
+		return *this;
+	}
+	// element accessors
+	inline float &operator()(size_t i) {
+#ifdef VECTOR_ASSERT
+		ASSERT(i < getRows());
+#endif
+		return getData()[i];
+	}
+	inline const float &operator()(size_t i) const {
+#ifdef VECTOR_ASSERT
+		ASSERT(i < getRows());
+#endif
+		return getData()[i];
+	}
+	// output
+	inline void print() const {
+		for (size_t i = 0; i < getRows(); i++) {
+			float sig;
+			int exp;
+			float num = (*this)(i);
+			float2SigExp(num, sig, exp);
+			printf("%6.3fe%03.3d,", (double)sig, exp);
+		}
+
+		printf("\n");
+	}
+	// boolean ops
+	inline bool operator==(const Vector &right) const {
+		for (size_t i = 0; i < getRows(); i++) {
+			if (fabsf(((*this)(i) - right(i))) > 1e-30f)
+				return false;
+		}
+
+		return true;
+	}
+	// scalar ops
+	inline Vector operator+(float right) const {
+		Vector result(getRows());
+		arm_offset_f32((float *)getData(),
+			       right, result.getData(),
+			       getRows());
+		return result;
+	}
+	inline Vector operator-(float right) const {
+		Vector result(getRows());
+		arm_offset_f32((float *)getData(),
+			       -right, result.getData(),
+			       getRows());
+		return result;
+	}
+	inline Vector operator*(float right) const {
+		Vector result(getRows());
+		arm_scale_f32((float *)getData(),
+			      right, result.getData(),
+			      getRows());
+		return result;
+	}
+	inline Vector operator/(float right) const {
+		Vector result(getRows());
+		arm_scale_f32((float *)getData(),
+			      1.0f / right, result.getData(),
+			      getRows());
+		return result;
+	}
+	// vector ops
+	inline Vector operator+(const Vector &right) const {
+#ifdef VECTOR_ASSERT
+		ASSERT(getRows() == right.getRows());
+#endif
+		Vector result(getRows());
+		arm_add_f32((float *)getData(),
+			    (float *)right.getData(),
+			    result.getData(),
+			    getRows());
+		return result;
+	}
+	inline Vector operator-(const Vector &right) const {
+#ifdef VECTOR_ASSERT
+		ASSERT(getRows() == right.getRows());
+#endif
+		Vector result(getRows());
+		arm_sub_f32((float *)getData(),
+			    (float *)right.getData(),
+			    result.getData(),
+			    getRows());
+		return result;
+	}
+	// other functions
+	inline float dot(const Vector &right) {
+		float result = 0;
+		arm_dot_prod_f32((float *)getData(),
+				 (float *)right.getData(),
+				 getRows(),
+				 &result);
+		return result;
+	}
+	inline float norm() {
+		return sqrtf(dot(*this));
+	}
+	inline Vector unit() {
+		return (*this) / norm();
+	}
+	inline static Vector zero(size_t rows) {
+		Vector result(rows);
+		// calloc returns zeroed memory
+		return result;
+	}
+	inline void setAll(const float &val) {
+		for (size_t i = 0; i < getRows(); i++) {
+			(*this)(i) = val;
+		}
+	}
+	inline void set(const float *data) {
+		memcpy(getData(), data, getSize());
+	}
+	inline size_t getRows() const { return _rows; }
+	inline const float *getData() const { return _data; }
+protected:
+	inline size_t getSize() const { return sizeof(float) * getRows(); }
+	inline float *getData() { return _data; }
+	inline void setData(float *data) { _data = data; }
+private:
+	size_t _rows;
+	float *_data;
+};
+
+} // math
diff --git a/src/modules/mathlib/math/generic/Matrix.cpp b/src/modules/mathlib/math/generic/Matrix.cpp
new file mode 100644
index 000000000..21661622a
--- /dev/null
+++ b/src/modules/mathlib/math/generic/Matrix.cpp
@@ -0,0 +1,40 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Matrix.cpp
+ *
+ * matrix code
+ */
+
+#include "Matrix.hpp"
diff --git a/src/modules/mathlib/math/generic/Matrix.hpp b/src/modules/mathlib/math/generic/Matrix.hpp
new file mode 100644
index 000000000..5601a3447
--- /dev/null
+++ b/src/modules/mathlib/math/generic/Matrix.hpp
@@ -0,0 +1,437 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Matrix.h
+ *
+ * matrix code
+ */
+
+#pragma once
+
+
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+
+#include "../Vector.hpp"
+#include "../Matrix.hpp"
+
+namespace math
+{
+
+class __EXPORT Matrix
+{
+public:
+	// constructor
+	Matrix(size_t rows, size_t cols) :
+		_rows(rows),
+		_cols(cols),
+		_data((float *)calloc(rows *cols, sizeof(float))) {
+	}
+	Matrix(size_t rows, size_t cols, const float *data) :
+		_rows(rows),
+		_cols(cols),
+		_data((float *)malloc(getSize())) {
+		memcpy(getData(), data, getSize());
+	}
+	// deconstructor
+	virtual ~Matrix() {
+		delete [] getData();
+	}
+	// copy constructor (deep)
+	Matrix(const Matrix &right) :
+		_rows(right.getRows()),
+		_cols(right.getCols()),
+		_data((float *)malloc(getSize())) {
+		memcpy(getData(), right.getData(),
+		       right.getSize());
+	}
+	// assignment
+	inline Matrix &operator=(const Matrix &right) {
+#ifdef MATRIX_ASSERT
+		ASSERT(getRows() == right.getRows());
+		ASSERT(getCols() == right.getCols());
+#endif
+
+		if (this != &right) {
+			memcpy(getData(), right.getData(),
+			       right.getSize());
+		}
+
+		return *this;
+	}
+	// element accessors
+	inline float &operator()(size_t i, size_t j) {
+#ifdef MATRIX_ASSERT
+		ASSERT(i < getRows());
+		ASSERT(j < getCols());
+#endif
+		return getData()[i * getCols() + j];
+	}
+	inline const float &operator()(size_t i, size_t j) const {
+#ifdef MATRIX_ASSERT
+		ASSERT(i < getRows());
+		ASSERT(j < getCols());
+#endif
+		return getData()[i * getCols() + j];
+	}
+	// output
+	inline void print() const {
+		for (size_t i = 0; i < getRows(); i++) {
+			for (size_t j = 0; j < getCols(); j++) {
+				float sig;
+				int exp;
+				float num = (*this)(i, j);
+				float2SigExp(num, sig, exp);
+				printf("%6.3fe%03.3d,", (double)sig, exp);
+			}
+
+			printf("\n");
+		}
+	}
+	// boolean ops
+	inline bool operator==(const Matrix &right) const {
+		for (size_t i = 0; i < getRows(); i++) {
+			for (size_t j = 0; j < getCols(); j++) {
+				if (fabsf((*this)(i, j) - right(i, j)) > 1e-30f)
+					return false;
+			}
+		}
+
+		return true;
+	}
+	// scalar ops
+	inline Matrix operator+(const float &right) const {
+		Matrix result(getRows(), getCols());
+
+		for (size_t i = 0; i < getRows(); i++) {
+			for (size_t j = 0; j < getCols(); j++) {
+				result(i, j) = (*this)(i, j) + right;
+			}
+		}
+
+		return result;
+	}
+	inline Matrix operator-(const float &right) const {
+		Matrix result(getRows(), getCols());
+
+		for (size_t i = 0; i < getRows(); i++) {
+			for (size_t j = 0; j < getCols(); j++) {
+				result(i, j) = (*this)(i, j) - right;
+			}
+		}
+
+		return result;
+	}
+	inline Matrix operator*(const float &right) const {
+		Matrix result(getRows(), getCols());
+
+		for (size_t i = 0; i < getRows(); i++) {
+			for (size_t j = 0; j < getCols(); j++) {
+				result(i, j) = (*this)(i, j) * right;
+			}
+		}
+
+		return result;
+	}
+	inline Matrix operator/(const float &right) const {
+		Matrix result(getRows(), getCols());
+
+		for (size_t i = 0; i < getRows(); i++) {
+			for (size_t j = 0; j < getCols(); j++) {
+				result(i, j) = (*this)(i, j) / right;
+			}
+		}
+
+		return result;
+	}
+	// vector ops
+	inline Vector operator*(const Vector &right) const {
+#ifdef MATRIX_ASSERT
+		ASSERT(getCols() == right.getRows());
+#endif
+		Vector result(getRows());
+
+		for (size_t i = 0; i < getRows(); i++) {
+			for (size_t j = 0; j < getCols(); j++) {
+				result(i) += (*this)(i, j) * right(j);
+			}
+		}
+
+		return result;
+	}
+	// matrix ops
+	inline Matrix operator+(const Matrix &right) const {
+#ifdef MATRIX_ASSERT
+		ASSERT(getRows() == right.getRows());
+		ASSERT(getCols() == right.getCols());
+#endif
+		Matrix result(getRows(), getCols());
+
+		for (size_t i = 0; i < getRows(); i++) {
+			for (size_t j = 0; j < getCols(); j++) {
+				result(i, j) = (*this)(i, j) + right(i, j);
+			}
+		}
+
+		return result;
+	}
+	inline Matrix operator-(const Matrix &right) const {
+#ifdef MATRIX_ASSERT
+		ASSERT(getRows() == right.getRows());
+		ASSERT(getCols() == right.getCols());
+#endif
+		Matrix result(getRows(), getCols());
+
+		for (size_t i = 0; i < getRows(); i++) {
+			for (size_t j = 0; j < getCols(); j++) {
+				result(i, j) = (*this)(i, j) - right(i, j);
+			}
+		}
+
+		return result;
+	}
+	inline Matrix operator*(const Matrix &right) const {
+#ifdef MATRIX_ASSERT
+		ASSERT(getCols() == right.getRows());
+#endif
+		Matrix result(getRows(), right.getCols());
+
+		for (size_t i = 0; i < getRows(); i++) {
+			for (size_t j = 0; j < right.getCols(); j++) {
+				for (size_t k = 0; k < right.getRows(); k++) {
+					result(i, j) += (*this)(i, k) * right(k, j);
+				}
+			}
+		}
+
+		return result;
+	}
+	inline Matrix operator/(const Matrix &right) const {
+#ifdef MATRIX_ASSERT
+		ASSERT(right.getRows() == right.getCols());
+		ASSERT(getCols() == right.getCols());
+#endif
+		return (*this) * right.inverse();
+	}
+	// other functions
+	inline Matrix transpose() const {
+		Matrix result(getCols(), getRows());
+
+		for (size_t i = 0; i < getRows(); i++) {
+			for (size_t j = 0; j < getCols(); j++) {
+				result(j, i) = (*this)(i, j);
+			}
+		}
+
+		return result;
+	}
+	inline void swapRows(size_t a, size_t b) {
+		if (a == b) return;
+
+		for (size_t j = 0; j < getCols(); j++) {
+			float tmp = (*this)(a, j);
+			(*this)(a, j) = (*this)(b, j);
+			(*this)(b, j) = tmp;
+		}
+	}
+	inline void swapCols(size_t a, size_t b) {
+		if (a == b) return;
+
+		for (size_t i = 0; i < getRows(); i++) {
+			float tmp = (*this)(i, a);
+			(*this)(i, a) = (*this)(i, b);
+			(*this)(i, b) = tmp;
+		}
+	}
+	/**
+	 * inverse based on LU factorization with partial pivotting
+	 */
+	Matrix inverse() const {
+#ifdef MATRIX_ASSERT
+		ASSERT(getRows() == getCols());
+#endif
+		size_t N = getRows();
+		Matrix L = identity(N);
+		const Matrix &A = (*this);
+		Matrix U = A;
+		Matrix P = identity(N);
+
+		//printf("A:\n"); A.print();
+
+		// for all diagonal elements
+		for (size_t n = 0; n < N; n++) {
+
+			// if diagonal is zero, swap with row below
+			if (fabsf(U(n, n)) < 1e-8f) {
+				//printf("trying pivot for row %d\n",n);
+				for (size_t i = 0; i < N; i++) {
+					if (i == n) continue;
+
+					//printf("\ttrying row %d\n",i);
+					if (fabsf(U(i, n)) > 1e-8f) {
+						//printf("swapped %d\n",i);
+						U.swapRows(i, n);
+						P.swapRows(i, n);
+					}
+				}
+			}
+
+#ifdef MATRIX_ASSERT
+			//printf("A:\n"); A.print();
+			//printf("U:\n"); U.print();
+			//printf("P:\n"); P.print();
+			//fflush(stdout);
+			ASSERT(fabsf(U(n, n)) > 1e-8f);
+#endif
+
+			// failsafe, return zero matrix
+			if (fabsf(U(n, n)) < 1e-8f) {
+				return Matrix::zero(n);
+			}
+
+			// for all rows below diagonal
+			for (size_t i = (n + 1); i < N; i++) {
+				L(i, n) = U(i, n) / U(n, n);
+
+				// add i-th row and n-th row
+				// multiplied by: -a(i,n)/a(n,n)
+				for (size_t k = n; k < N; k++) {
+					U(i, k) -= L(i, n) * U(n, k);
+				}
+			}
+		}
+
+		//printf("L:\n"); L.print();
+		//printf("U:\n"); U.print();
+
+		// solve LY=P*I for Y by forward subst
+		Matrix Y = P;
+
+		// for all columns of Y
+		for (size_t c = 0; c < N; c++) {
+			// for all rows of L
+			for (size_t i = 0; i < N; i++) {
+				// for all columns of L
+				for (size_t j = 0; j < i; j++) {
+					// for all existing y
+					// subtract the component they
+					// contribute to the solution
+					Y(i, c) -= L(i, j) * Y(j, c);
+				}
+
+				// divide by the factor
+				// on current
+				// term to be solved
+				// Y(i,c) /= L(i,i);
+				// but L(i,i) = 1.0
+			}
+		}
+
+		//printf("Y:\n"); Y.print();
+
+		// solve Ux=y for x by back subst
+		Matrix X = Y;
+
+		// for all columns of X
+		for (size_t c = 0; c < N; c++) {
+			// for all rows of U
+			for (size_t k = 0; k < N; k++) {
+				// have to go in reverse order
+				size_t i = N - 1 - k;
+
+				// for all columns of U
+				for (size_t j = i + 1; j < N; j++) {
+					// for all existing x
+					// subtract the component they
+					// contribute to the solution
+					X(i, c) -= U(i, j) * X(j, c);
+				}
+
+				// divide by the factor
+				// on current
+				// term to be solved
+				X(i, c) /= U(i, i);
+			}
+		}
+
+		//printf("X:\n"); X.print();
+		return X;
+	}
+	inline void setAll(const float &val) {
+		for (size_t i = 0; i < getRows(); i++) {
+			for (size_t j = 0; j < getCols(); j++) {
+				(*this)(i, j) = val;
+			}
+		}
+	}
+	inline void set(const float *data) {
+		memcpy(getData(), data, getSize());
+	}
+	inline size_t getRows() const { return _rows; }
+	inline size_t getCols() const { return _cols; }
+	inline static Matrix identity(size_t size) {
+		Matrix result(size, size);
+
+		for (size_t i = 0; i < size; i++) {
+			result(i, i) = 1.0f;
+		}
+
+		return result;
+	}
+	inline static Matrix zero(size_t size) {
+		Matrix result(size, size);
+		result.setAll(0.0f);
+		return result;
+	}
+	inline static Matrix zero(size_t m, size_t n) {
+		Matrix result(m, n);
+		result.setAll(0.0f);
+		return result;
+	}
+protected:
+	inline size_t getSize() const { return sizeof(float) * getRows() * getCols(); }
+	inline float *getData() { return _data; }
+	inline const float *getData() const { return _data; }
+	inline void setData(float *data) { _data = data; }
+private:
+	size_t _rows;
+	size_t _cols;
+	float *_data;
+};
+
+} // namespace math
diff --git a/src/modules/mathlib/math/generic/Vector.cpp b/src/modules/mathlib/math/generic/Vector.cpp
new file mode 100644
index 000000000..7ea6496bb
--- /dev/null
+++ b/src/modules/mathlib/math/generic/Vector.cpp
@@ -0,0 +1,40 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Vector.cpp
+ *
+ * math vector
+ */
+
+#include "Vector.hpp"
diff --git a/src/modules/mathlib/math/generic/Vector.hpp b/src/modules/mathlib/math/generic/Vector.hpp
new file mode 100644
index 000000000..1a7363779
--- /dev/null
+++ b/src/modules/mathlib/math/generic/Vector.hpp
@@ -0,0 +1,227 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Vector.h
+ *
+ * math vector
+ */
+
+#pragma once
+
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+
+#include "../Vector.hpp"
+
+namespace math
+{
+
+class __EXPORT Vector
+{
+public:
+	// constructor
+	Vector(size_t rows) :
+		_rows(rows),
+		_data((float *)calloc(rows, sizeof(float))) {
+	}
+	Vector(size_t rows, const float *data) :
+		_rows(rows),
+		_data((float *)malloc(getSize())) {
+		memcpy(getData(), data, getSize());
+	}
+	// deconstructor
+	virtual ~Vector() {
+		delete [] getData();
+	}
+	// copy constructor (deep)
+	Vector(const Vector &right) :
+		_rows(right.getRows()),
+		_data((float *)malloc(getSize())) {
+		memcpy(getData(), right.getData(),
+		       right.getSize());
+	}
+	// assignment
+	inline Vector &operator=(const Vector &right) {
+#ifdef VECTOR_ASSERT
+		ASSERT(getRows() == right.getRows());
+#endif
+
+		if (this != &right) {
+			memcpy(getData(), right.getData(),
+			       right.getSize());
+		}
+
+		return *this;
+	}
+	// element accessors
+	inline float &operator()(size_t i) {
+#ifdef VECTOR_ASSERT
+		ASSERT(i < getRows());
+#endif
+		return getData()[i];
+	}
+	inline const float &operator()(size_t i) const {
+#ifdef VECTOR_ASSERT
+		ASSERT(i < getRows());
+#endif
+		return getData()[i];
+	}
+	// output
+	inline void print() const {
+		for (size_t i = 0; i < getRows(); i++) {
+			float sig;
+			int exp;
+			float num = (*this)(i);
+			float2SigExp(num, sig, exp);
+			printf("%6.3fe%03.3d,", (double)sig, exp);
+		}
+
+		printf("\n");
+	}
+	// boolean ops
+	inline bool operator==(const Vector &right) const {
+		for (size_t i = 0; i < getRows(); i++) {
+			if (fabsf(((*this)(i) - right(i))) > 1e-30f)
+				return false;
+		}
+
+		return true;
+	}
+	// scalar ops
+	inline Vector operator+(const float &right) const {
+		Vector result(getRows());
+
+		for (size_t i = 0; i < getRows(); i++) {
+			result(i) = (*this)(i) + right;
+		}
+
+		return result;
+	}
+	inline Vector operator-(const float &right) const {
+		Vector result(getRows());
+
+		for (size_t i = 0; i < getRows(); i++) {
+			result(i) = (*this)(i) - right;
+		}
+
+		return result;
+	}
+	inline Vector operator*(const float &right) const {
+		Vector result(getRows());
+
+		for (size_t i = 0; i < getRows(); i++) {
+			result(i) = (*this)(i) * right;
+		}
+
+		return result;
+	}
+	inline Vector operator/(const float &right) const {
+		Vector result(getRows());
+
+		for (size_t i = 0; i < getRows(); i++) {
+			result(i) = (*this)(i) / right;
+		}
+
+		return result;
+	}
+	// vector ops
+	inline Vector operator+(const Vector &right) const {
+#ifdef VECTOR_ASSERT
+		ASSERT(getRows() == right.getRows());
+#endif
+		Vector result(getRows());
+
+		for (size_t i = 0; i < getRows(); i++) {
+			result(i) = (*this)(i) + right(i);
+		}
+
+		return result;
+	}
+	inline Vector operator-(const Vector &right) const {
+#ifdef VECTOR_ASSERT
+		ASSERT(getRows() == right.getRows());
+#endif
+		Vector result(getRows());
+
+		for (size_t i = 0; i < getRows(); i++) {
+			result(i) = (*this)(i) - right(i);
+		}
+
+		return result;
+	}
+	// other functions
+	inline float dot(const Vector &right) {
+		float result = 0;
+
+		for (size_t i = 0; i < getRows(); i++) {
+			result += (*this)(i) * (*this)(i);
+		}
+
+		return result;
+	}
+	inline float norm() {
+		return sqrtf(dot(*this));
+	}
+	inline Vector unit() {
+		return (*this) / norm();
+	}
+	inline static Vector zero(size_t rows) {
+		Vector result(rows);
+		// calloc returns zeroed memory
+		return result;
+	}
+	inline void setAll(const float &val) {
+		for (size_t i = 0; i < getRows(); i++) {
+			(*this)(i) = val;
+		}
+	}
+	inline void set(const float *data) {
+		memcpy(getData(), data, getSize());
+	}
+	inline size_t getRows() const { return _rows; }
+protected:
+	inline size_t getSize() const { return sizeof(float) * getRows(); }
+	inline float *getData() { return _data; }
+	inline const float *getData() const { return _data; }
+	inline void setData(float *data) { _data = data; }
+private:
+	size_t _rows;
+	float *_data;
+};
+
+} // math
diff --git a/src/modules/mathlib/math/nasa_rotation_def.pdf b/src/modules/mathlib/math/nasa_rotation_def.pdf
new file mode 100644
index 000000000..eb67a4bfc
Binary files /dev/null and b/src/modules/mathlib/math/nasa_rotation_def.pdf differ
diff --git a/src/modules/mathlib/math/test/test.cpp b/src/modules/mathlib/math/test/test.cpp
new file mode 100644
index 000000000..2fa2f7e7c
--- /dev/null
+++ b/src/modules/mathlib/math/test/test.cpp
@@ -0,0 +1,94 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file test.cpp
+ *
+ * Test library code
+ */
+
+#include 
+#include 
+#include 
+
+#include "test.hpp"
+
+bool __EXPORT equal(float a, float b, float epsilon)
+{
+	float diff = fabsf(a - b);
+
+	if (diff > epsilon) {
+		printf("not equal ->\n\ta: %12.8f\n\tb: %12.8f\n", double(a), double(b));
+		return false;
+
+	} else return true;
+}
+
+void __EXPORT float2SigExp(
+	const float &num,
+	float &sig,
+	int &exp)
+{
+	if (isnan(num) || isinf(num)) {
+		sig = 0.0f;
+		exp = -99;
+		return;
+	}
+
+	if (fabsf(num) < 1.0e-38f) {
+		sig = 0;
+		exp = 0;
+		return;
+	}
+
+	exp = log10f(fabsf(num));
+
+	if (exp > 0) {
+		exp = ceil(exp);
+
+	} else {
+		exp = floor(exp);
+	}
+
+	sig = num;
+
+	// cheap power since it is integer
+	if (exp > 0) {
+		for (int i = 0; i < abs(exp); i++) sig /= 10;
+
+	} else {
+		for (int i = 0; i < abs(exp); i++) sig *= 10;
+	}
+}
+
+
diff --git a/src/modules/mathlib/math/test/test.hpp b/src/modules/mathlib/math/test/test.hpp
new file mode 100644
index 000000000..2027bb827
--- /dev/null
+++ b/src/modules/mathlib/math/test/test.hpp
@@ -0,0 +1,50 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file test.hpp
+ *
+ * Controller library code
+ */
+
+#pragma once
+
+//#include 
+//#include 
+//#include 
+
+bool equal(float a, float b, float eps = 1e-5);
+void float2SigExp(
+	const float &num,
+	float &sig,
+	int &exp);
diff --git a/src/modules/mathlib/math/test_math.sce b/src/modules/mathlib/math/test_math.sce
new file mode 100644
index 000000000..c3fba4729
--- /dev/null
+++ b/src/modules/mathlib/math/test_math.sce
@@ -0,0 +1,63 @@
+clc
+clear
+function out = float_truncate(in, digits)
+    out = round(in*10^digits)
+    out = out/10^digits
+endfunction
+
+phi = 0.1
+theta = 0.2
+psi = 0.3
+
+cosPhi = cos(phi)
+cosPhi_2 = cos(phi/2)
+sinPhi = sin(phi)
+sinPhi_2 = sin(phi/2)
+
+cosTheta = cos(theta)
+cosTheta_2 = cos(theta/2)
+sinTheta = sin(theta)
+sinTheta_2 = sin(theta/2)
+
+cosPsi = cos(psi)
+cosPsi_2 = cos(psi/2)
+sinPsi = sin(psi)
+sinPsi_2 = sin(psi/2)
+
+C_nb = [cosTheta*cosPsi, -cosPhi*sinPsi + sinPhi*sinTheta*cosPsi, sinPhi*sinPsi + cosPhi*sinTheta*cosPsi;
+        cosTheta*sinPsi, cosPhi*cosPsi + sinPhi*sinTheta*sinPsi, -sinPhi*cosPsi + cosPhi*sinTheta*sinPsi;
+        -sinTheta, sinPhi*cosTheta, cosPhi*cosTheta]
+    
+disp(C_nb)
+//C_nb = float_truncate(C_nb,3)
+//disp(C_nb)
+
+theta = asin(-C_nb(3,1))
+phi = atan(C_nb(3,2), C_nb(3,3))
+psi = atan(C_nb(2,1), C_nb(1,1))
+printf('phi %f\n', phi)
+printf('theta %f\n', theta)
+printf('psi %f\n', psi)
+
+q = [cosPhi_2*cosTheta_2*cosPsi_2 + sinPhi_2*sinTheta_2*sinPsi_2;
+     sinPhi_2*cosTheta_2*cosPsi_2 - cosPhi_2*sinTheta_2*sinPsi_2;
+     cosPhi_2*sinTheta_2*cosPsi_2 + sinPhi_2*cosTheta_2*sinPsi_2;
+     cosPhi_2*cosTheta_2*sinPsi_2 - sinPhi_2*sinTheta_2*cosPsi_2]
+     
+//q = float_truncate(q,3)
+
+a = q(1)
+b = q(2)
+c = q(3)
+d = q(4)
+printf('q: %f %f %f %f\n', a, b, c, d)
+a2 = a*a
+b2 = b*b
+c2 = c*c
+d2 = d*d
+
+C2_nb = [a2 + b2 - c2 - d2, 2*(b*c - a*d), 2*(b*d + a*c);
+         2*(b*c + a*d), a2 - b2 + c2 - d2, 2*(c*d - a*b);
+         2*(b*d - a*c), 2*(c*d + a*b), a2 - b2 - c2 + d2]
+
+disp(C2_nb)
diff --git a/src/modules/mathlib/mathlib.h b/src/modules/mathlib/mathlib.h
new file mode 100644
index 000000000..b919d53db
--- /dev/null
+++ b/src/modules/mathlib/mathlib.h
@@ -0,0 +1,55 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file mathlib.h
+ *
+ * Common header for mathlib exports.
+ */
+
+#ifdef __cplusplus
+
+#include "math/Dcm.hpp"
+#include "math/EulerAngles.hpp"
+#include "math/Matrix.hpp"
+#include "math/Quaternion.hpp"
+#include "math/Vector.hpp"
+#include "math/Vector3.hpp"
+
+#endif
+
+#ifdef CONFIG_ARCH_ARM
+
+#include "CMSIS/Include/arm_math.h"
+
+#endif
\ No newline at end of file
diff --git a/src/modules/mathlib/module.mk b/src/modules/mathlib/module.mk
new file mode 100644
index 000000000..bcdb2afe5
--- /dev/null
+++ b/src/modules/mathlib/module.mk
@@ -0,0 +1,60 @@
+############################################################################
+#
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Math library
+#
+SRCS		 = math/test/test.cpp \
+		   math/Vector.cpp \
+		   math/Vector3.cpp \
+		   math/EulerAngles.cpp \
+		   math/Quaternion.cpp \
+		   math/Dcm.cpp \
+		   math/Matrix.cpp
+
+#
+# In order to include .config we first have to save off the
+# current makefile name, since app.mk needs it.
+#
+APP_MAKEFILE	:= $(lastword $(MAKEFILE_LIST))
+-include $(TOPDIR)/.config
+
+ifeq ($(CONFIG_ARCH_CORTEXM4)$(CONFIG_ARCH_FPU),yy)
+INCLUDE_DIRS	+= math/arm
+SRCS		+= math/arm/Vector.cpp \
+		   math/arm/Matrix.cpp
+else
+#INCLUDE_DIRS	+= math/generic
+#SRCS		+= math/generic/Vector.cpp \
+#		   math/generic/Matrix.cpp
+endif
diff --git a/src/modules/px4iofirmware/hx_stream.c b/src/modules/px4iofirmware/hx_stream.c
deleted file mode 100644
index 8d77f14a8..000000000
--- a/src/modules/px4iofirmware/hx_stream.c
+++ /dev/null
@@ -1,250 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file hx_stream.c
- *
- * A simple serial line framing protocol based on HDLC
- * with 32-bit CRC protection.
- */
-
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-
-#include "perf_counter.h"
-
-#include "hx_stream.h"
-
-
-struct hx_stream {
-	uint8_t			buf[HX_STREAM_MAX_FRAME + 4];
-	unsigned		frame_bytes;
-	bool			escaped;
-	bool			txerror;
-
-	int			fd;
-	hx_stream_rx_callback	callback;
-	void			*callback_arg;
-
-	perf_counter_t		pc_tx_frames;
-	perf_counter_t		pc_rx_frames;
-	perf_counter_t		pc_rx_errors;
-};
-
-/*
- * Protocol magic numbers, straight out of HDLC.
- */
-#define FBO	0x7e	/**< Frame Boundary Octet */
-#define CEO	0x7c	/**< Control Escape Octet */
-
-static void	hx_tx_raw(hx_stream_t stream, uint8_t c);
-static void	hx_tx_raw(hx_stream_t stream, uint8_t c);
-static int	hx_rx_frame(hx_stream_t stream);
-
-static void
-hx_tx_raw(hx_stream_t stream, uint8_t c)
-{
-	if (write(stream->fd, &c, 1) != 1)
-		stream->txerror = true;
-}
-
-static void
-hx_tx_byte(hx_stream_t stream, uint8_t c)
-{
-	switch (c) {
-	case FBO:
-	case CEO:
-		hx_tx_raw(stream, CEO);
-		c ^= 0x20;
-		break;
-	}
-
-	hx_tx_raw(stream, c);
-}
-
-static int
-hx_rx_frame(hx_stream_t stream)
-{
-	union {
-		uint8_t	b[4];
-		uint32_t w;
-	} u;
-	unsigned length = stream->frame_bytes;
-
-	/* reset the stream */
-	stream->frame_bytes = 0;
-	stream->escaped = false;
-
-	/* not a real frame - too short */
-	if (length < 4) {
-		if (length > 1)
-			perf_count(stream->pc_rx_errors);
-
-		return 0;
-	}
-
-	length -= 4;
-
-	/* compute expected CRC */
-	u.w = crc32(&stream->buf[0], length);
-
-	/* compare computed and actual CRC */
-	for (unsigned i = 0; i < 4; i++) {
-		if (u.b[i] != stream->buf[length + i]) {
-			perf_count(stream->pc_rx_errors);
-			return 0;
-		}
-	}
-
-	/* frame is good */
-	perf_count(stream->pc_rx_frames);
-	stream->callback(stream->callback_arg, &stream->buf[0], length);
-	return 1;
-}
-
-hx_stream_t
-hx_stream_init(int fd,
-	       hx_stream_rx_callback callback,
-	       void *arg)
-{
-	hx_stream_t stream;
-
-	stream = (hx_stream_t)malloc(sizeof(struct hx_stream));
-
-	if (stream != NULL) {
-		memset(stream, 0, sizeof(struct hx_stream));
-		stream->fd = fd;
-		stream->callback = callback;
-		stream->callback_arg = arg;
-	}
-
-	return stream;
-}
-
-void
-hx_stream_free(hx_stream_t stream)
-{
-	/* free perf counters (OK if they are NULL) */
-	perf_free(stream->pc_tx_frames);
-	perf_free(stream->pc_rx_frames);
-	perf_free(stream->pc_rx_errors);
-
-	free(stream);
-}
-
-void
-hx_stream_set_counters(hx_stream_t stream,
-		       perf_counter_t tx_frames,
-		       perf_counter_t rx_frames,
-		       perf_counter_t rx_errors)
-{
-	stream->pc_tx_frames = tx_frames;
-	stream->pc_rx_frames = rx_frames;
-	stream->pc_rx_errors = rx_errors;
-}
-
-int
-hx_stream_send(hx_stream_t stream,
-	       const void *data,
-	       size_t count)
-{
-	union {
-		uint8_t	b[4];
-		uint32_t w;
-	} u;
-	const uint8_t *p = (const uint8_t *)data;
-	unsigned resid = count;
-
-	if (resid > HX_STREAM_MAX_FRAME)
-		return -EINVAL;
-
-	/* start the frame */
-	hx_tx_raw(stream, FBO);
-
-	/* transmit the data */
-	while (resid--)
-		hx_tx_byte(stream, *p++);
-
-	/* compute the CRC */
-	u.w = crc32(data, count);
-
-	/* send the CRC */
-	p = &u.b[0];
-	resid = 4;
-
-	while (resid--)
-		hx_tx_byte(stream, *p++);
-
-	/* and the trailing frame separator */
-	hx_tx_raw(stream, FBO);
-
-	/* check for transmit error */
-	if (stream->txerror) {
-		stream->txerror = false;
-		return -EIO;
-	}
-
-	perf_count(stream->pc_tx_frames);
-	return 0;
-}
-
-void
-hx_stream_rx(hx_stream_t stream, uint8_t c)
-{
-	/* frame end? */
-	if (c == FBO) {
-		hx_rx_frame(stream);
-		return;
-	}
-
-	/* escaped? */
-	if (stream->escaped) {
-		stream->escaped = false;
-		c ^= 0x20;
-
-	} else if (c == CEO) {
-		/* now escaped, ignore the byte */
-		stream->escaped = true;
-		return;
-	}
-
-	/* save for later */
-	if (stream->frame_bytes < sizeof(stream->buf))
-		stream->buf[stream->frame_bytes++] = c;
-}
diff --git a/src/modules/px4iofirmware/hx_stream.h b/src/modules/px4iofirmware/hx_stream.h
deleted file mode 100644
index 128689953..000000000
--- a/src/modules/px4iofirmware/hx_stream.h
+++ /dev/null
@@ -1,122 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file hx_stream.h
- *
- * A simple serial line framing protocol based on HDLC
- * with 32-bit CRC protection.
- */
-
-#ifndef _SYSTEMLIB_HX_STREAM_H
-#define _SYSTEMLIB_HX_STREAM_H
-
-#include 
-
-#include "perf_counter.h"
-
-struct hx_stream;
-typedef struct hx_stream *hx_stream_t;
-
-#define HX_STREAM_MAX_FRAME	64
-
-typedef void (* hx_stream_rx_callback)(void *arg, const void *data, size_t length);
-
-__BEGIN_DECLS
-
-/**
- * Allocate a new hx_stream object.
- *
- * @param fd		The file handle over which the protocol will
- *			communicate.
- * @param callback	Called when a frame is received.
- * @param callback_arg	Passed to the callback.
- * @return		A handle to the stream, or NULL if memory could
- *			not be allocated.
- */
-__EXPORT extern hx_stream_t	hx_stream_init(int fd,
-		hx_stream_rx_callback callback,
-		void *arg);
-
-/**
- * Free a hx_stream object.
- *
- * @param stream	A handle returned from hx_stream_init.
- */
-__EXPORT extern void		hx_stream_free(hx_stream_t stream);
-
-/**
- * Set performance counters for the stream.
- *
- * Any counter may be set to NULL to disable counting that datum.
- *
- * @param tx_frames	Counter for transmitted frames.
- * @param rx_frames	Counter for received frames.
- * @param rx_errors	Counter for short and corrupt received frames.
- */
-__EXPORT extern void		hx_stream_set_counters(hx_stream_t stream,
-		perf_counter_t tx_frames,
-		perf_counter_t rx_frames,
-		perf_counter_t rx_errors);
-
-/**
- * Send a frame.
- *
- * This function will block until all frame bytes are sent if
- * the descriptor passed to hx_stream_init is marked blocking,
- * otherwise it will return -1 (but may transmit a
- * runt frame at the same time).
- *
- * @todo Handling of non-blocking streams needs to be better.
- *
- * @param stream	A handle returned from hx_stream_init.
- * @param data		Pointer to the data to send.
- * @param count		The number of bytes to send.
- * @return		Zero on success, -errno on error.
- */
-__EXPORT extern int		hx_stream_send(hx_stream_t stream,
-		const void *data,
-		size_t count);
-
-/**
- * Handle a byte from the stream.
- *
- * @param stream	A handle returned from hx_stream_init.
- * @param c		The character to process.
- */
-__EXPORT extern void		hx_stream_rx(hx_stream_t stream,
-		uint8_t c);
-
-__END_DECLS
-
-#endif
diff --git a/src/modules/px4iofirmware/module.mk b/src/modules/px4iofirmware/module.mk
index 085697fbb..82b8f16d3 100644
--- a/src/modules/px4iofirmware/module.mk
+++ b/src/modules/px4iofirmware/module.mk
@@ -1,4 +1,18 @@
 
 
-SRCS = adc.c controls.c dsm.c i2c.c mixer.cpp px4io.c registers.c safety.c sbus.c \
-       up_cxxinitialize.c hx_stream.c perf_counter.c
+SRCS		= adc.c \
+		  controls.c \
+		  dsm.c \
+		  i2c.c \
+		  px4io.c \
+		  registers.c \
+		  safety.c \
+		  sbus.c \
+		  mixer.cpp \
+		  ../systemlib/mixer/mixer.cpp \
+		  ../systemlib/mixer/mixer_group.cpp \
+		  ../systemlib/mixer/mixer_multirotor.cpp \
+		  ../systemlib/mixer/mixer_simple.cpp \
+		  ../systemlib/up_cxxinitialize.c \
+		  ../systemlib/hx_stream.c \
+		  ../systemlib/perf_counter.c
diff --git a/src/modules/px4iofirmware/perf_counter.c b/src/modules/px4iofirmware/perf_counter.c
deleted file mode 100644
index 879f4715a..000000000
--- a/src/modules/px4iofirmware/perf_counter.c
+++ /dev/null
@@ -1,317 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file perf_counter.c
- *
- * @brief Performance measuring tools.
- */
-
-#include 
-#include 
-#include 
-#include 
-
-#include "perf_counter.h"
-
-/**
- * Header common to all counters.
- */
-struct perf_ctr_header {
-	sq_entry_t		link;	/**< list linkage */
-	enum perf_counter_type	type;	/**< counter type */
-	const char		*name;	/**< counter name */
-};
-
-/**
- * PC_EVENT counter.
- */
-struct perf_ctr_count {
-	struct perf_ctr_header	hdr;
-	uint64_t		event_count;
-};
-
-/**
- * PC_ELAPSED counter.
- */
-struct perf_ctr_elapsed {
-	struct perf_ctr_header	hdr;
-	uint64_t		event_count;
-	uint64_t		time_start;
-	uint64_t		time_total;
-	uint64_t		time_least;
-	uint64_t		time_most;
-};
-
-/**
- * PC_INTERVAL counter.
- */
-struct perf_ctr_interval {
-	struct perf_ctr_header	hdr;
-	uint64_t		event_count;
-	uint64_t		time_event;
-	uint64_t		time_first;
-	uint64_t		time_last;
-	uint64_t		time_least;
-	uint64_t		time_most;
-
-};
-
-/**
- * List of all known counters.
- */
-static sq_queue_t	perf_counters;
-
-
-perf_counter_t
-perf_alloc(enum perf_counter_type type, const char *name)
-{
-	perf_counter_t ctr = NULL;
-
-	switch (type) {
-	case PC_COUNT:
-		ctr = (perf_counter_t)calloc(sizeof(struct perf_ctr_count), 1);
-		break;
-
-	case PC_ELAPSED:
-		ctr = (perf_counter_t)calloc(sizeof(struct perf_ctr_elapsed), 1);
-		break;
-
-	case PC_INTERVAL:
-		ctr = (perf_counter_t)calloc(sizeof(struct perf_ctr_interval), 1);
-		break;
-
-	default:
-		break;
-	}
-
-	if (ctr != NULL) {
-		ctr->type = type;
-		ctr->name = name;
-		sq_addfirst(&ctr->link, &perf_counters);
-	}
-
-	return ctr;
-}
-
-void
-perf_free(perf_counter_t handle)
-{
-	if (handle == NULL)
-		return;
-
-	sq_rem(&handle->link, &perf_counters);
-	free(handle);
-}
-
-void
-perf_count(perf_counter_t handle)
-{
-	if (handle == NULL)
-		return;
-
-	switch (handle->type) {
-	case PC_COUNT:
-		((struct perf_ctr_count *)handle)->event_count++;
-		break;
-
-	case PC_INTERVAL: {
-		struct perf_ctr_interval *pci = (struct perf_ctr_interval *)handle;
-		hrt_abstime now = hrt_absolute_time();
-
-		switch (pci->event_count) {
-		case 0:
-			pci->time_first = now;
-			break;
-		case 1:
-			pci->time_least = now - pci->time_last;
-			pci->time_most = now - pci->time_last;
-			break;
-		default: {
-			hrt_abstime interval = now - pci->time_last;
-			if (interval < pci->time_least)
-				pci->time_least = interval;
-			if (interval > pci->time_most)
-				pci->time_most = interval;
-			break;
-		}
-		}
-		pci->time_last = now;
-		pci->event_count++;
-		break;
-	}
-
-	default:
-		break;
-	}
-}
-
-void
-perf_begin(perf_counter_t handle)
-{
-	if (handle == NULL)
-		return;
-
-	switch (handle->type) {
-	case PC_ELAPSED:
-		((struct perf_ctr_elapsed *)handle)->time_start = hrt_absolute_time();
-		break;
-
-	default:
-		break;
-	}
-}
-
-void
-perf_end(perf_counter_t handle)
-{
-	if (handle == NULL)
-		return;
-
-	switch (handle->type) {
-	case PC_ELAPSED: {
-			struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle;
-			hrt_abstime elapsed = hrt_absolute_time() - pce->time_start;
-
-			pce->event_count++;
-			pce->time_total += elapsed;
-
-			if ((pce->time_least > elapsed) || (pce->time_least == 0))
-				pce->time_least = elapsed;
-
-			if (pce->time_most < elapsed)
-				pce->time_most = elapsed;
-		}
-
-	default:
-		break;
-	}
-}
-
-void
-perf_reset(perf_counter_t handle)
-{
-	if (handle == NULL)
-		return;
-
-	switch (handle->type) {
-	case PC_COUNT:
-		((struct perf_ctr_count *)handle)->event_count = 0;
-		break;
-
-	case PC_ELAPSED: {
-		struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle;
-		pce->event_count = 0;
-		pce->time_start = 0;
-		pce->time_total = 0;
-		pce->time_least = 0;
-		pce->time_most = 0;
-		break;
-	}
-
-	case PC_INTERVAL: {
-		struct perf_ctr_interval *pci = (struct perf_ctr_interval *)handle;
-		pci->event_count = 0;
-		pci->time_event = 0;
-		pci->time_first = 0;
-		pci->time_last = 0;
-		pci->time_least = 0;
-		pci->time_most = 0;
-		break;
-	}
-	}
-}
-
-void
-perf_print_counter(perf_counter_t handle)
-{
-	if (handle == NULL)
-		return;
-
-	switch (handle->type) {
-	case PC_COUNT:
-		printf("%s: %llu events\n",
-		       handle->name,
-		       ((struct perf_ctr_count *)handle)->event_count);
-		break;
-
-	case PC_ELAPSED: {
-		struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle;
-
-		printf("%s: %llu events, %lluus elapsed, min %lluus max %lluus\n",
-		       handle->name,
-		       pce->event_count,
-		       pce->time_total,
-		       pce->time_least,
-		       pce->time_most);
-		break;
-	}
-
-	case PC_INTERVAL: {
-		struct perf_ctr_interval *pci = (struct perf_ctr_interval *)handle;
-
-		printf("%s: %llu events, %llu avg, min %lluus max %lluus\n",
-		       handle->name,
-		       pci->event_count,
-		       (pci->time_last - pci->time_first) / pci->event_count,
-		       pci->time_least,
-		       pci->time_most);
-		break;
-	}
-
-	default:
-		break;
-	}
-}
-
-void
-perf_print_all(void)
-{
-	perf_counter_t handle = (perf_counter_t)sq_peek(&perf_counters);
-
-	while (handle != NULL) {
-		perf_print_counter(handle);
-		handle = (perf_counter_t)sq_next(&handle->link);
-	}
-}
-
-void
-perf_reset_all(void)
-{
-	perf_counter_t handle = (perf_counter_t)sq_peek(&perf_counters);
-
-	while (handle != NULL) {
-		perf_reset(handle);
-		handle = (perf_counter_t)sq_next(&handle->link);
-	}
-}
diff --git a/src/modules/px4iofirmware/perf_counter.h b/src/modules/px4iofirmware/perf_counter.h
deleted file mode 100644
index 5c2cb15b2..000000000
--- a/src/modules/px4iofirmware/perf_counter.h
+++ /dev/null
@@ -1,128 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file perf_counter.h
- * Performance measuring tools.
- */
-
-#ifndef _SYSTEMLIB_PERF_COUNTER_H
-#define _SYSTEMLIB_PERF_COUNTER_H value
-
-/**
- * Counter types.
- */
-enum perf_counter_type {
-	PC_COUNT,		/**< count the number of times an event occurs */
-	PC_ELAPSED,		/**< measure the time elapsed performing an event */
-	PC_INTERVAL		/**< measure the interval between instances of an event */
-};
-
-struct perf_ctr_header;
-typedef struct perf_ctr_header	*perf_counter_t;
-
-__BEGIN_DECLS
-
-/**
- * Create a new counter.
- *
- * @param type			The type of the new counter.
- * @param name			The counter name.
- * @return			Handle for the new counter, or NULL if a counter
- *				could not be allocated.
- */
-__EXPORT extern perf_counter_t	perf_alloc(enum perf_counter_type type, const char *name);
-
-/**
- * Free a counter.
- *
- * @param handle		The performance counter's handle.
- */
-__EXPORT extern void		perf_free(perf_counter_t handle);
-
-/**
- * Count a performance event.
- *
- * This call only affects counters that take single events; PC_COUNT etc.
- *
- * @param handle		The handle returned from perf_alloc.
- */
-__EXPORT extern void		perf_count(perf_counter_t handle);
-
-/**
- * Begin a performance event.
- *
- * This call applies to counters that operate over ranges of time; PC_ELAPSED etc.
- *
- * @param handle		The handle returned from perf_alloc.
- */
-__EXPORT extern void		perf_begin(perf_counter_t handle);
-
-/**
- * End a performance event.
- *
- * This call applies to counters that operate over ranges of time; PC_ELAPSED etc.
- *
- * @param handle		The handle returned from perf_alloc.
- */
-__EXPORT extern void		perf_end(perf_counter_t handle);
-
-/**
- * Reset a performance event.
- *
- * This call resets performance counter to initial state
- *
- * @param handle		The handle returned from perf_alloc.
- */
-__EXPORT extern void		perf_reset(perf_counter_t handle);
-
-/**
- * Print one performance counter.
- *
- * @param handle		The counter to print.
- */
-__EXPORT extern void		perf_print_counter(perf_counter_t handle);
-
-/**
- * Print all of the performance counters.
- */
-__EXPORT extern void		perf_print_all(void);
-
-/**
- * Reset all of the performance counters.
- */
-__EXPORT extern void		perf_reset_all(void);
-
-__END_DECLS
-
-#endif
diff --git a/src/modules/px4iofirmware/up_cxxinitialize.c b/src/modules/px4iofirmware/up_cxxinitialize.c
deleted file mode 100644
index c78f29570..000000000
--- a/src/modules/px4iofirmware/up_cxxinitialize.c
+++ /dev/null
@@ -1,150 +0,0 @@
-/************************************************************************************
- * configs/stm32f4discovery/src/up_cxxinitialize.c
- * arch/arm/src/board/up_cxxinitialize.c
- *
- *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt 
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ************************************************************************************/
-
-/************************************************************************************
- * Included Files
- ************************************************************************************/
-
-#include 
-
-#include 
-
-#include 
-
-//#include 
-//#include "chip.h"
-
-/************************************************************************************
- * Definitions
- ************************************************************************************/
-/* Debug ****************************************************************************/
-/* Non-standard debug that may be enabled just for testing the static constructors */
-
-#ifndef CONFIG_DEBUG
-#  undef CONFIG_DEBUG_CXX
-#endif
-
-#ifdef CONFIG_DEBUG_CXX
-#  define cxxdbg              dbg
-#  define cxxlldbg            lldbg
-#  ifdef CONFIG_DEBUG_VERBOSE
-#    define cxxvdbg           vdbg
-#    define cxxllvdbg         llvdbg
-#  else
-#    define cxxvdbg(x...)
-#    define cxxllvdbg(x...)
-#  endif
-#else
-#  define cxxdbg(x...)
-#  define cxxlldbg(x...)
-#  define cxxvdbg(x...)
-#  define cxxllvdbg(x...)
-#endif
-
-/************************************************************************************
- * Private Types
- ************************************************************************************/
-/* This type defines one entry in initialization array */
-
-typedef void (*initializer_t)(void);
-
-/************************************************************************************
- * External references
- ************************************************************************************/
-/* _sinit and _einit are symbols exported by the linker script that mark the
- * beginning and the end of the C++ initialization section.
- */
-
-extern initializer_t _sinit;
-extern initializer_t _einit;
-
-/* _stext and _etext are symbols exported by the linker script that mark the
- * beginning and the end of text.
- */
-
-extern uint32_t _stext;
-extern uint32_t _etext;
-
-/************************************************************************************
- * Private Functions
- ************************************************************************************/
-
-/************************************************************************************
- * Public Functions
- ************************************************************************************/
-
-/****************************************************************************
- * Name: up_cxxinitialize
- *
- * Description:
- *   If C++ and C++ static constructors are supported, then this function
- *   must be provided by board-specific logic in order to perform
- *   initialization of the static C++ class instances.
- *
- *   This function should then be called in the application-specific
- *   user_start logic in order to perform the C++ initialization.  NOTE
- *   that no component of the core NuttX RTOS logic is involved; This
- *   function defintion only provides the 'contract' between application
- *   specific C++ code and platform-specific toolchain support
- *
- ***************************************************************************/
-
-__EXPORT void up_cxxinitialize(void)
-{
-  initializer_t *initp;
-
-  cxxdbg("_sinit: %p _einit: %p _stext: %p _etext: %p\n",
-         &_sinit, &_einit, &_stext, &_etext);
-
-  /* Visit each entry in the initialzation table */
-
-  for (initp = &_sinit; initp != &_einit; initp++)
-    {
-      initializer_t initializer = *initp;
-      cxxdbg("initp: %p initializer: %p\n", initp, initializer);
-
-      /* Make sure that the address is non-NULL and lies in the text region
-       * defined by the linker script.  Some toolchains may put NULL values
-       * or counts in the initialization table
-       */
-
-      if ((void*)initializer > (void*)&_stext && (void*)initializer < (void*)&_etext)
-        {
-          cxxdbg("Calling %p\n", initializer);
-          initializer();
-        }
-    }
-}
diff --git a/src/modules/systemlib/airspeed.c b/src/modules/systemlib/airspeed.c
new file mode 100644
index 000000000..264287b10
--- /dev/null
+++ b/src/modules/systemlib/airspeed.c
@@ -0,0 +1,111 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
+ *   Author: Lorenz Meier 
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file airspeed.c
+ * Airspeed estimation
+ *
+ * @author Lorenz Meier 
+ *
+ */
+
+#include 
+#include 
+#include "conversions.h"
+#include "airspeed.h"
+
+
+/**
+ * Calculate indicated airspeed.
+ *
+ * Note that the indicated airspeed is not the true airspeed because it
+ * lacks the air density compensation. Use the calc_true_airspeed functions to get
+ * the true airspeed.
+ *
+ * @param differential_pressure total_ pressure - static pressure
+ * @return indicated airspeed in m/s
+ */
+float calc_indicated_airspeed(float differential_pressure)
+{
+
+	if (differential_pressure > 0) {
+		return sqrtf((2.0f*differential_pressure) / CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C);
+	} else {
+		return -sqrtf((2.0f*fabs(differential_pressure)) / CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C);
+	}
+
+}
+ 
+/**
+ * Calculate true airspeed from indicated airspeed.
+ *
+ * Note that the true airspeed is NOT the groundspeed, because of the effects of wind
+ *
+ * @param speed_indicated current indicated airspeed
+ * @param pressure_ambient pressure at the side of the tube/airplane
+ * @param temperature_celsius air temperature in degrees celcius
+ * @return true airspeed in m/s
+ */
+float calc_true_airspeed_from_indicated(float speed_indicated, float pressure_ambient, float temperature_celsius)
+{
+	return speed_indicated * sqrtf(CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C / get_air_density(pressure_ambient, temperature_celsius));
+}
+ 
+/**
+ * Directly calculate true airspeed
+ *
+ * Note that the true airspeed is NOT the groundspeed, because of the effects of wind
+ *
+ * @param total_pressure pressure inside the pitot/prandtl tube
+ * @param static_pressure pressure at the side of the tube/airplane
+ * @param temperature_celsius air temperature in degrees celcius
+ * @return true airspeed in m/s
+ */
+float calc_true_airspeed(float total_pressure, float static_pressure, float temperature_celsius)
+{
+	float density = get_air_density(static_pressure, temperature_celsius);
+	if (density < 0.0001f || !isfinite(density)) {
+	 density = CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C;
+	 printf("[airspeed] Invalid air density, using density at sea level\n");
+	}
+
+	float pressure_difference = total_pressure - static_pressure;
+
+	if(pressure_difference > 0) {
+		return sqrtf((2.0f*(pressure_difference)) / density);
+	} else
+	{
+		return -sqrtf((2.0f*fabs(pressure_difference)) / density);
+	}
+}
diff --git a/src/modules/systemlib/airspeed.h b/src/modules/systemlib/airspeed.h
new file mode 100644
index 000000000..def53f0c1
--- /dev/null
+++ b/src/modules/systemlib/airspeed.h
@@ -0,0 +1,90 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
+ *   Author: Lorenz Meier 
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file airspeed.h
+ * Airspeed estimation declarations
+ *
+ * @author Lorenz Meier 
+ *
+ */
+
+#ifndef AIRSPEED_H_
+#define AIRSPEED_H_
+
+#include "math.h"
+#include "conversions.h"
+
+ __BEGIN_DECLS
+ 
+ /**
+  * Calculate indicated airspeed.
+  *
+  * Note that the indicated airspeed is not the true airspeed because it
+  * lacks the air density compensation. Use the calc_true_airspeed functions to get
+  * the true airspeed.
+  *
+  * @param total_pressure pressure inside the pitot/prandtl tube
+  * @param static_pressure pressure at the side of the tube/airplane
+  * @return indicated airspeed in m/s
+  */
+ __EXPORT float calc_indicated_airspeed(float differential_pressure);
+ 
+ /**
+  * Calculate true airspeed from indicated airspeed.
+  *
+  * Note that the true airspeed is NOT the groundspeed, because of the effects of wind
+  *
+  * @param speed_indicated current indicated airspeed
+  * @param pressure_ambient pressure at the side of the tube/airplane
+  * @param temperature_celsius air temperature in degrees celcius
+  * @return true airspeed in m/s
+  */
+ __EXPORT float calc_true_airspeed_from_indicated(float speed_indicated, float pressure_ambient, float temperature_celsius);
+ 
+ /**
+  * Directly calculate true airspeed
+  *
+  * Note that the true airspeed is NOT the groundspeed, because of the effects of wind
+  *
+  * @param total_pressure pressure inside the pitot/prandtl tube
+  * @param static_pressure pressure at the side of the tube/airplane
+  * @param temperature_celsius air temperature in degrees celcius
+  * @return true airspeed in m/s
+  */
+ __EXPORT float calc_true_airspeed(float total_pressure, float static_pressure, float temperature_celsius);
+
+__END_DECLS
+
+#endif
diff --git a/src/modules/systemlib/bson/tinybson.c b/src/modules/systemlib/bson/tinybson.c
new file mode 100644
index 000000000..8aca6a25d
--- /dev/null
+++ b/src/modules/systemlib/bson/tinybson.c
@@ -0,0 +1,517 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file tinybson.c
+ *
+ * A simple subset SAX-style BSON parser and generator.
+ */
+
+#include 
+#include 
+#include 
+#include 
+
+#include "tinybson.h"
+
+#if 0
+# define debug(fmt, args...)		do { warnx("BSON: " fmt, ##args); } while(0)
+#else
+# define debug(fmt, args...)		do { } while(0)
+#endif
+
+#define CODER_CHECK(_c)		do { if (_c->dead) { debug("coder dead"); return -1; }} while(0)
+#define CODER_KILL(_c, _reason)	do { debug("killed: %s", _reason); _c->dead = true; return -1; } while(0)
+
+static int
+read_x(bson_decoder_t decoder, void *p, size_t s)
+{
+	CODER_CHECK(decoder);
+
+	if (decoder->fd > -1)
+		return (read(decoder->fd, p, s) == (int)s) ? 0 : -1;
+
+	if (decoder->buf != NULL) {
+		/* staged operations to avoid integer overflow for corrupt data */
+		if (s >= decoder->bufsize)
+			CODER_KILL(decoder, "buffer too small for read");
+		if ((decoder->bufsize - s) < decoder->bufpos)
+			CODER_KILL(decoder, "not enough data for read");
+		memcpy(p, (decoder->buf + decoder->bufpos), s);
+		decoder->bufpos += s;
+		return 0;
+	}
+	debug("no source");
+	return -1;
+}
+
+static int
+read_int8(bson_decoder_t decoder, int8_t *b)
+{
+	return read_x(decoder, b, sizeof(*b));
+}
+
+static int
+read_int32(bson_decoder_t decoder, int32_t *i)
+{
+	return read_x(decoder, i, sizeof(*i));
+}
+
+static int
+read_int64(bson_decoder_t decoder, int64_t *i)
+{
+	return read_x(decoder, i, sizeof(*i));
+}
+
+static int
+read_double(bson_decoder_t decoder, double *d)
+{
+	return read_x(decoder, d, sizeof(*d));
+}
+
+int
+bson_decoder_init_file(bson_decoder_t decoder, int fd, bson_decoder_callback callback, void *private)
+{
+	int32_t	junk;
+
+	decoder->fd = fd;
+	decoder->buf = NULL;
+	decoder->dead = false;
+	decoder->callback = callback;
+	decoder->private = private;
+	decoder->nesting = 1;
+	decoder->pending = 0;
+	decoder->node.type = BSON_UNDEFINED;
+
+	/* read and discard document size */
+	if (read_int32(decoder, &junk))
+		CODER_KILL(decoder, "failed discarding length");
+
+	/* ready for decoding */
+	return 0;
+}
+
+int
+bson_decoder_init_buf(bson_decoder_t decoder, void *buf, unsigned bufsize, bson_decoder_callback callback, void *private)
+{
+	int32_t	len;
+
+	/* argument sanity */
+	if ((buf == NULL) || (callback == NULL))
+		return -1;
+
+	decoder->fd = -1;
+	decoder->buf = (uint8_t *)buf;
+	decoder->dead = false;
+	if (bufsize == 0) {
+		decoder->bufsize = *(uint32_t *)buf;
+		debug("auto-detected %u byte object", decoder->bufsize);
+	} else {
+		decoder->bufsize = bufsize;
+	}
+	decoder->bufpos = 0;
+	decoder->callback = callback;
+	decoder->private = private;
+	decoder->nesting = 1;
+	decoder->pending = 0;
+	decoder->node.type = BSON_UNDEFINED;
+
+	/* read and discard document size */
+	if (read_int32(decoder, &len))
+		CODER_KILL(decoder, "failed reading length");
+	if ((len > 0) && (len > (int)decoder->bufsize))
+		CODER_KILL(decoder, "document length larger than buffer");
+
+	/* ready for decoding */
+	return 0;
+}
+
+int
+bson_decoder_next(bson_decoder_t decoder)
+{
+	int8_t	tbyte;
+	int32_t tint;
+	unsigned nlen;
+
+	CODER_CHECK(decoder);
+
+	/* if the previous node was EOO, pop a nesting level */
+	if (decoder->node.type == BSON_EOO) {
+		if (decoder->nesting > 0)
+			decoder->nesting--;
+
+		/* if the nesting level is now zero, the top-level document is done */
+		if (decoder->nesting == 0) {
+			/* like kill but not an error */
+			debug("nesting is zero, document is done");
+			decoder->fd = -1;
+
+			/* return end-of-file to the caller */
+			return 0;
+		}
+	}
+
+	/* if there are unread bytes pending in the stream, discard them */
+	while (decoder->pending > 0) {
+		if (read_int8(decoder, &tbyte))
+			CODER_KILL(decoder, "read error discarding pending bytes");
+
+		decoder->pending--;
+	}
+
+	/* get the type byte */
+	if (read_int8(decoder, &tbyte))
+		CODER_KILL(decoder, "read error on type byte");
+
+	decoder->node.type = tbyte;
+	decoder->pending = 0;
+
+	debug("got type byte 0x%02x", decoder->node.type);
+
+	/* EOO is special; it has no name/data following */
+	if (decoder->node.type == BSON_EOO) {
+		decoder->node.name[0] = '\0';
+	} else {
+
+		/* get the node name */
+		nlen = 0;
+
+		for (;;) {
+			if (nlen >= BSON_MAXNAME)
+				CODER_KILL(decoder, "node name overflow");
+
+			if (read_int8(decoder, (int8_t *)&decoder->node.name[nlen]))
+				CODER_KILL(decoder, "read error on node name");
+
+			if (decoder->node.name[nlen] == '\0')
+				break;
+
+			nlen++;
+		}
+
+		debug("got name '%s'", decoder->node.name);
+
+		switch (decoder->node.type) {
+		case BSON_BOOL:
+			if (read_int8(decoder, &tbyte))
+				CODER_KILL(decoder, "read error on BSON_BOOL");
+			decoder->node.b = (tbyte != 0);
+			break;
+
+		case BSON_INT32:
+			if (read_int32(decoder, &tint))
+				CODER_KILL(decoder, "read error on BSON_INT");
+			decoder->node.i = tint;
+			break;
+
+		case BSON_INT64:
+			if (read_int64(decoder, &decoder->node.i))
+				CODER_KILL(decoder, "read error on BSON_INT");
+
+			break;
+
+		case BSON_DOUBLE:
+			if (read_double(decoder, &decoder->node.d))
+				CODER_KILL(decoder, "read error on BSON_DOUBLE");
+
+			break;
+
+		case BSON_STRING:
+			if (read_int32(decoder, &decoder->pending))
+				CODER_KILL(decoder, "read error on BSON_STRING length");
+			break;
+
+		case BSON_BINDATA:
+			if (read_int32(decoder, &decoder->pending))
+				CODER_KILL(decoder, "read error on BSON_BINDATA size");
+
+			if (read_int8(decoder, &tbyte))
+				CODER_KILL(decoder, "read error on BSON_BINDATA subtype");
+
+			decoder->node.subtype = tbyte;
+			break;
+
+			/* XXX currently not supporting other types */
+		default:
+			CODER_KILL(decoder, "unsupported node type");
+		}
+	}
+
+	/* call the callback and pass its results back */
+	return decoder->callback(decoder, decoder->private, &decoder->node);
+}
+
+int
+bson_decoder_copy_data(bson_decoder_t decoder, void *buf)
+{
+	int result;
+
+	CODER_CHECK(decoder);
+
+	/* copy data */
+	result = read_x(decoder, buf, decoder->pending);
+
+	if (result != 0)
+		CODER_KILL(decoder, "read error on copy_data");
+
+	/* pending count is discharged */
+	decoder->pending = 0;
+	return 0;
+}
+
+size_t
+bson_decoder_data_pending(bson_decoder_t decoder)
+{
+	return decoder->pending;
+}
+
+static int
+write_x(bson_encoder_t encoder, const void *p, size_t s)
+{
+	CODER_CHECK(encoder);
+
+	if (encoder->fd > -1)
+		return (write(encoder->fd, p, s) == (int)s) ? 0 : -1;
+
+	/* do we need to extend the buffer? */
+	while ((encoder->bufpos + s) > encoder->bufsize) {
+		if (!encoder->realloc_ok)
+			CODER_KILL(encoder, "fixed-size buffer overflow");
+
+		uint8_t *newbuf = realloc(encoder->buf, encoder->bufsize + BSON_BUF_INCREMENT);
+		if (newbuf == NULL)
+			CODER_KILL(encoder, "could not grow buffer");
+
+		encoder->buf = newbuf;
+		encoder->bufsize += BSON_BUF_INCREMENT;
+		debug("allocated %d bytes", BSON_BUF_INCREMENT);
+	}
+
+	memcpy(encoder->buf + encoder->bufpos, p, s);
+	encoder->bufpos += s;
+	debug("appended %d bytes", s);
+
+	return 0;
+}
+
+static int
+write_int8(bson_encoder_t encoder, int8_t b)
+{
+	return write_x(encoder, &b, sizeof(b));
+}
+
+static int
+write_int32(bson_encoder_t encoder, int32_t i)
+{
+	return write_x(encoder, &i, sizeof(i));
+}
+
+static int
+write_int64(bson_encoder_t encoder, int64_t i)
+{
+	return write_x(encoder, &i, sizeof(i));
+}
+
+static int
+write_double(bson_encoder_t encoder, double d)
+{
+	return write_x(encoder, &d, sizeof(d));
+}
+
+static int
+write_name(bson_encoder_t encoder, const char *name)
+{
+	size_t len = strlen(name);
+
+	if (len > BSON_MAXNAME)
+		CODER_KILL(encoder, "node name too long");
+
+	return write_x(encoder, name, len + 1);
+}
+
+int
+bson_encoder_init_file(bson_encoder_t encoder, int fd)
+{
+	encoder->fd = fd;
+	encoder->buf = NULL;
+	encoder->dead = false;
+
+	if (write_int32(encoder, 0))
+		CODER_KILL(encoder, "write error on document length");
+
+	return 0;
+}
+
+int
+bson_encoder_init_buf(bson_encoder_t encoder, void *buf, unsigned bufsize)
+{
+	encoder->fd = -1;
+	encoder->buf = (uint8_t *)buf;
+	encoder->bufpos = 0;
+	encoder->dead = false;
+	if (encoder->buf == NULL) {
+		encoder->bufsize = 0;
+		encoder->realloc_ok = true;
+	} else {
+		encoder->bufsize = bufsize;
+		encoder->realloc_ok = false;
+	}
+
+	if (write_int32(encoder, 0))
+		CODER_KILL(encoder, "write error on document length");
+
+	return 0;		
+}
+
+int
+bson_encoder_fini(bson_encoder_t encoder)
+{
+	CODER_CHECK(encoder);
+
+	if (write_int8(encoder, BSON_EOO))
+		CODER_KILL(encoder, "write error on document terminator");
+
+	/* hack to fix up length for in-buffer documents */
+	if (encoder->buf != NULL) {
+		int32_t len = bson_encoder_buf_size(encoder);
+		memcpy(encoder->buf, &len, sizeof(len));
+	}
+
+	return 0;
+}
+
+int
+bson_encoder_buf_size(bson_encoder_t encoder)
+{
+	CODER_CHECK(encoder);
+
+	if (encoder->fd > -1)
+		return -1;
+
+	return encoder->bufpos;
+}
+
+void *
+bson_encoder_buf_data(bson_encoder_t encoder)
+{
+	/* note, no CODER_CHECK here as the caller has to clean up dead buffers */
+
+	if (encoder->fd > -1)
+		return NULL;
+
+	return encoder->buf;
+}
+
+int bson_encoder_append_bool(bson_encoder_t encoder, const char *name, bool value)
+{
+	CODER_CHECK(encoder);
+
+	if (write_int8(encoder, BSON_BOOL) ||
+	    write_name(encoder, name) ||
+	    write_int8(encoder, value ? 1 : 0))
+		CODER_KILL(encoder, "write error on BSON_BOOL");
+
+	return 0;
+}
+
+int
+bson_encoder_append_int(bson_encoder_t encoder, const char *name, int64_t value)
+{
+	bool result;
+
+	CODER_CHECK(encoder);
+
+	/* use the smallest encoding that will hold the value */
+	if (value == (int32_t)value) {
+		debug("encoding %lld as int32", value);
+		result = write_int8(encoder, BSON_INT32) ||
+			 write_name(encoder, name) ||
+			 write_int32(encoder, value);
+	} else {
+		debug("encoding %lld as int64", value);
+		result = write_int8(encoder, BSON_INT64) ||
+			 write_name(encoder, name) ||
+			 write_int64(encoder, value);
+	}
+	if (result)
+		CODER_KILL(encoder, "write error on BSON_INT");
+
+	return 0;
+}
+
+int
+bson_encoder_append_double(bson_encoder_t encoder, const char *name, double value)
+{
+	CODER_CHECK(encoder);
+
+	if (write_int8(encoder, BSON_DOUBLE) ||
+	    write_name(encoder, name) ||
+	    write_double(encoder, value))
+		CODER_KILL(encoder, "write error on BSON_DOUBLE");
+
+
+	return 0;
+}
+
+int
+bson_encoder_append_string(bson_encoder_t encoder, const char *name, const char *string)
+{
+	size_t len;
+
+	CODER_CHECK(encoder);
+
+	len = strlen(string) + 1;	/* include trailing nul */
+
+	if (write_int8(encoder, BSON_STRING) ||
+	    write_name(encoder, name) ||
+	    write_int32(encoder, len) ||
+	    write_x(encoder, string, len))
+		CODER_KILL(encoder, "write error on BSON_STRING");
+
+	return 0;
+}
+
+int
+bson_encoder_append_binary(bson_encoder_t encoder, const char *name, bson_binary_subtype_t subtype, size_t size, const void *data)
+{
+	CODER_CHECK(encoder);
+
+	if (write_int8(encoder, BSON_BINDATA) ||
+	    write_name(encoder, name) ||
+	    write_int32(encoder, size) ||
+	    write_int8(encoder, subtype) ||
+	    write_x(encoder, data, size))
+		CODER_KILL(encoder, "write error on BSON_BINDATA");
+
+	return 0;
+}
diff --git a/src/modules/systemlib/bson/tinybson.h b/src/modules/systemlib/bson/tinybson.h
new file mode 100644
index 000000000..666f8191a
--- /dev/null
+++ b/src/modules/systemlib/bson/tinybson.h
@@ -0,0 +1,275 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+* @file tinybson.h
+*
+* A simple subset SAX-style BSON parser and generator. See http://bsonspec.org
+*
+* Some types and defines taken from the standalone BSON parser/generator
+* in the Mongo C connector.
+*/
+
+#ifndef _TINYBSON_H
+#define _TINYBSON_H
+
+#include 
+#include 
+#include 
+
+/** subset of the BSON node types we might care about */
+typedef enum {
+	BSON_EOO = 0,
+	BSON_DOUBLE = 1,
+	BSON_STRING = 2,
+	BSON_OBJECT = 3,
+	BSON_ARRAY = 4,
+	BSON_BINDATA = 5,
+	BSON_UNDEFINED = 6,
+	BSON_BOOL = 8,
+	BSON_DATE = 9,
+	BSON_NULL = 10,
+	BSON_INT32 = 16,
+	BSON_INT64 = 18
+} bson_type_t;
+
+typedef enum bson_binary_subtype {
+	BSON_BIN_BINARY = 0,
+	BSON_BIN_USER = 128
+} bson_binary_subtype_t;
+
+/**
+ * Maximum node name length.
+ */
+#define BSON_MAXNAME		32
+
+/**
+ * Buffer growth increment when writing to a buffer.
+ */
+#define BSON_BUF_INCREMENT	128
+
+/**
+ * Node structure passed to the callback.
+ */
+typedef struct bson_node_s {
+	char			name[BSON_MAXNAME];
+	bson_type_t		type;
+	bson_binary_subtype_t	subtype;
+	union {
+		int64_t		i;
+		double		d;
+		bool		b;
+	};
+} *bson_node_t;
+
+typedef struct bson_decoder_s *bson_decoder_t;
+
+/**
+ * Node callback.
+ *
+ * The node callback function's return value is returned by bson_decoder_next.
+ */
+typedef int	(* bson_decoder_callback)(bson_decoder_t decoder, void *private, bson_node_t node);
+
+struct bson_decoder_s {
+	/* file reader state */
+	int			fd;
+
+	/* buffer reader state */
+	uint8_t			*buf;
+	size_t			bufsize;
+	unsigned		bufpos;
+
+	bool			dead;
+	bson_decoder_callback	callback;
+	void			*private;
+	unsigned		nesting;
+	struct bson_node_s	node;
+	int32_t			pending;
+};
+
+/**
+ * Initialise the decoder to read from a file.
+ *
+ * @param decoder		Decoder state structure to be initialised.
+ * @param fd			File to read BSON data from.
+ * @param callback		Callback to be invoked by bson_decoder_next
+ * @param private		Callback private data, stored in node.
+ * @return			Zero on success.
+ */
+__EXPORT int bson_decoder_init_file(bson_decoder_t decoder, int fd, bson_decoder_callback callback, void *private);
+
+/**
+ * Initialise the decoder to read from a buffer in memory.
+ *
+ * @param decoder		Decoder state structure to be initialised.
+ * @param buf			Buffer to read from.
+ * @param bufsize		Size of the buffer (BSON object may be smaller).  May be
+ *				passed as zero if the buffer size should be extracted from the
+ *				BSON header only.
+ * @param callback		Callback to be invoked by bson_decoder_next
+ * @param private		Callback private data, stored in node.
+ * @return			Zero on success.
+ */
+__EXPORT int bson_decoder_init_buf(bson_decoder_t decoder, void *buf, unsigned bufsize, bson_decoder_callback callback, void *private);
+
+/**
+ * Process the next node from the stream and invoke the callback.
+ *
+ * @param decoder		Decoder state, must have been initialised with bson_decoder_init.
+ * @return			-1 if parsing encountered an error, 0 if the BSON stream has ended,
+ *				otherwise the return value from the callback.
+ */
+__EXPORT int bson_decoder_next(bson_decoder_t decoder);
+
+/**
+ * Copy node data.
+ *
+ * @param decoder		Decoder state, must have been initialised with bson_decoder_init.
+ */
+__EXPORT int bson_decoder_copy_data(bson_decoder_t decoder, void *buf);
+
+/**
+ * Report copyable data size.
+ *
+ * @param decoder		Decoder state, must have been initialised with bson_decoder_init.
+ */
+__EXPORT size_t bson_decoder_data_pending(bson_decoder_t decoder);
+
+/**
+ * Encoder state structure.
+ */
+typedef struct bson_encoder_s {
+	/* file writer state */
+	int		fd;
+
+	/* buffer writer state */
+	uint8_t		*buf;
+	unsigned	bufsize;
+	unsigned	bufpos;
+
+	bool		realloc_ok;
+	bool		dead;
+
+} *bson_encoder_t;
+
+/**
+ * Initialze the encoder for writing to a file.
+ *
+ * @param encoder		Encoder state structure to be initialised.
+ * @param fd			File to write to.
+ * @return			Zero on success.
+ */
+__EXPORT int bson_encoder_init_file(bson_encoder_t encoder, int fd);
+
+/**
+ * Initialze the encoder for writing to a buffer.
+ *
+ * @param encoder		Encoder state structure to be initialised.
+ * @param buf			Buffer pointer to use, or NULL if the buffer
+ *				should be allocated by the encoder.
+ * @param bufsize		Maximum buffer size, or zero for no limit. If 
+ *				the buffer is supplied, the size of the supplied buffer.
+ * @return			Zero on success.
+ */
+__EXPORT int bson_encoder_init_buf(bson_encoder_t encoder, void *buf, unsigned bufsize);
+
+/**
+ * Finalise the encoded stream.
+ *
+ * @param encoder		The encoder to finalise.
+ */
+__EXPORT int bson_encoder_fini(bson_encoder_t encoder);
+
+/**
+ * Fetch the size of the encoded object; only valid for buffer operations.
+ */
+__EXPORT int bson_encoder_buf_size(bson_encoder_t encoder);
+
+/**
+ * Get a pointer to the encoded object buffer.
+ *
+ * Note that if the buffer was allocated by the encoder, it is the caller's responsibility
+ * to free this buffer.
+ */
+__EXPORT void *bson_encoder_buf_data(bson_encoder_t encoder);
+
+/**
+ * Append a boolean to the encoded stream.
+ *
+ * @param encoder		Encoder state.
+ * @param name			Node name.
+ * @param value			Value to be encoded.
+ */
+__EXPORT int bson_encoder_append_bool(bson_encoder_t encoder, const char *name, bool value);
+
+/**
+ * Append an integer to the encoded stream.
+ *
+ * @param encoder		Encoder state.
+ * @param name			Node name.
+ * @param value			Value to be encoded. 
+ */
+__EXPORT int bson_encoder_append_int(bson_encoder_t encoder, const char *name, int64_t value);
+
+/**
+ * Append a double to the encoded stream
+ *
+ * @param encoder		Encoder state.
+ * @param name			Node name.
+ * @param value			Value to be encoded.
+ */
+__EXPORT int bson_encoder_append_double(bson_encoder_t encoder, const char *name, double value);
+
+/**
+ * Append a string to the encoded stream.
+ *
+ * @param encoder		Encoder state.
+ * @param name			Node name.
+ * @param string		Nul-terminated C string.
+ */
+__EXPORT int bson_encoder_append_string(bson_encoder_t encoder, const char *name, const char *string);
+
+/**
+ * Append a binary blob to the encoded stream.
+ *
+ * @param encoder		Encoder state.
+ * @param name			Node name.
+ * @param subtype		Binary data subtype.
+ * @param size			Data size.
+ * @param data			Buffer containing data to be encoded.
+ */
+__EXPORT int bson_encoder_append_binary(bson_encoder_t encoder, const char *name, bson_binary_subtype_t subtype, size_t size, const void *data);
+
+
+#endif
diff --git a/src/modules/systemlib/conversions.c b/src/modules/systemlib/conversions.c
new file mode 100644
index 000000000..ac94252c5
--- /dev/null
+++ b/src/modules/systemlib/conversions.c
@@ -0,0 +1,154 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Lorenz Meier 
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file conversions.c
+ * Implementation of commonly used conversions.
+ */
+
+#include 
+#include 
+
+#include "conversions.h"
+
+int16_t
+int16_t_from_bytes(uint8_t bytes[])
+{
+	union {
+		uint8_t    b[2];
+		int16_t    w;
+	} u;
+
+	u.b[1] = bytes[0];
+	u.b[0] = bytes[1];
+
+	return u.w;
+}
+
+void rot2quat(const float R[9], float Q[4])
+{
+	float q0_2;
+	float q1_2;
+	float q2_2;
+	float q3_2;
+	int32_t idx;
+
+	/* conversion of rotation matrix to quaternion
+	 * choose the largest component to begin with */
+	q0_2 = (((1.0F + R[0]) + R[4]) + R[8]) / 4.0F;
+	q1_2 = (((1.0F + R[0]) - R[4]) - R[8]) / 4.0F;
+	q2_2 = (((1.0F - R[0]) + R[4]) - R[8]) / 4.0F;
+	q3_2 = (((1.0F - R[0]) - R[4]) + R[8]) / 4.0F;
+
+	idx = 0;
+
+	if (q0_2 < q1_2) {
+		q0_2 = q1_2;
+
+		idx = 1;
+	}
+
+	if (q0_2 < q2_2) {
+		q0_2 = q2_2;
+		idx = 2;
+	}
+
+	if (q0_2 < q3_2) {
+		q0_2 = q3_2;
+		idx = 3;
+	}
+
+	q0_2 = sqrtf(q0_2);
+
+	/* solve for the remaining three components */
+	if (idx == 0) {
+		q1_2 = q0_2;
+		q2_2 = (R[5] - R[7]) / 4.0F / q0_2;
+		q3_2 = (R[6] - R[2]) / 4.0F / q0_2;
+		q0_2 = (R[1] - R[3]) / 4.0F / q0_2;
+
+	} else if (idx == 1) {
+		q2_2 = q0_2;
+		q1_2 = (R[5] - R[7]) / 4.0F / q0_2;
+		q3_2 = (R[3] + R[1]) / 4.0F / q0_2;
+		q0_2 = (R[6] + R[2]) / 4.0F / q0_2;
+
+	} else if (idx == 2) {
+		q3_2 = q0_2;
+		q1_2 = (R[6] - R[2]) / 4.0F / q0_2;
+		q2_2 = (R[3] + R[1]) / 4.0F / q0_2;
+		q0_2 = (R[7] + R[5]) / 4.0F / q0_2;
+
+	} else {
+		q1_2 = (R[1] - R[3]) / 4.0F / q0_2;
+		q2_2 = (R[6] + R[2]) / 4.0F / q0_2;
+		q3_2 = (R[7] + R[5]) / 4.0F / q0_2;
+	}
+
+	/* return values */
+	Q[0] = q1_2;
+	Q[1] = q2_2;
+	Q[2] = q3_2;
+	Q[3] = q0_2;
+}
+
+void quat2rot(const float Q[4], float R[9])
+{
+	float q0_2;
+	float q1_2;
+	float q2_2;
+	float q3_2;
+
+	memset(&R[0], 0, 9U * sizeof(float));
+
+	q0_2 = Q[0] * Q[0];
+	q1_2 = Q[1] * Q[1];
+	q2_2 = Q[2] * Q[2];
+	q3_2 = Q[3] * Q[3];
+
+	R[0] = ((q0_2 + q1_2) - q2_2) - q3_2;
+	R[3] = 2.0F * (Q[1] * Q[2] - Q[0] * Q[3]);
+	R[6] = 2.0F * (Q[1] * Q[3] + Q[0] * Q[2]);
+	R[1] = 2.0F * (Q[1] * Q[2] + Q[0] * Q[3]);
+	R[4] = ((q0_2 + q2_2) - q1_2) - q3_2;
+	R[7] = 2.0F * (Q[2] * Q[3] - Q[0] * Q[1]);
+	R[2] = 2.0F * (Q[1] * Q[3] - Q[0] * Q[2]);
+	R[5] = 2.0F * (Q[2] * Q[3] + Q[0] * Q[1]);
+	R[8] = ((q0_2 + q3_2) - q1_2) - q2_2;
+}
+
+float get_air_density(float static_pressure, float temperature_celsius)
+{
+	return static_pressure / (CONSTANTS_AIR_GAS_CONST * (temperature_celsius - CONSTANTS_ABSOLUTE_NULL_CELSIUS));
+}
diff --git a/src/modules/systemlib/conversions.h b/src/modules/systemlib/conversions.h
new file mode 100644
index 000000000..5d485b01f
--- /dev/null
+++ b/src/modules/systemlib/conversions.h
@@ -0,0 +1,94 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: Lorenz Meier 
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file conversions.h
+ * Definition of commonly used conversions.
+ *
+ * Includes bit / byte / geo representation and unit conversions.
+ */
+
+#ifndef CONVERSIONS_H_
+#define CONVERSIONS_H_
+#include 
+#include 
+
+#define CONSTANTS_ONE_G						9.80665f		// m/s^2
+#define CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C	1.225f			// kg/m^3
+#define CONSTANTS_AIR_GAS_CONST				287.1f 			// J/(kg * K)
+#define CONSTANTS_ABSOLUTE_NULL_CELSIUS		-273.15f		// °C
+
+__BEGIN_DECLS
+
+/**
+ * Converts a signed 16 bit integer from big endian to little endian.
+ *
+ * This function is for commonly used 16 bit big endian sensor data,
+ * delivered by driver routines as two 8 bit numbers in big endian order.
+ * Common vendors with big endian representation are Invense, Bosch and
+ * Honeywell. ST micro devices tend to use a little endian representation.
+ */
+__EXPORT int16_t int16_t_from_bytes(uint8_t bytes[]);
+
+/**
+ * Converts a 3 x 3 rotation matrix to an unit quaternion.
+ *
+ * All orientations are expressed in NED frame.
+ *
+ * @param R rotation matrix to convert
+ * @param Q quaternion to write back to
+ */
+__EXPORT void rot2quat(const float R[9], float Q[4]);
+
+/**
+ * Converts an unit quaternion to a 3 x 3 rotation matrix.
+ *
+ * All orientations are expressed in NED frame.
+ *
+ * @param Q quaternion to convert
+ * @param R rotation matrix to write back to
+ */
+__EXPORT void quat2rot(const float Q[4], float R[9]);
+
+/**
+ * Calculates air density.
+ *
+ * @param static_pressure ambient pressure in millibar
+ * @param temperature_celcius air / ambient temperature in celcius
+ */
+__EXPORT float get_air_density(float static_pressure, float temperature_celsius);
+
+__END_DECLS
+
+#endif /* CONVERSIONS_H_ */
diff --git a/src/modules/systemlib/cpuload.c b/src/modules/systemlib/cpuload.c
new file mode 100644
index 000000000..20b711fa6
--- /dev/null
+++ b/src/modules/systemlib/cpuload.c
@@ -0,0 +1,176 @@
+/****************************************************************************
+ * configs/px4fmu/src/up_leds.c
+ * arch/arm/src/board/up_leds.c
+ *
+ *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt 
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include 
+
+#include 
+#include 
+#include 
+
+#include 
+#include 
+
+#include 
+#include 
+
+#include "cpuload.h"
+
+#ifdef CONFIG_SCHED_INSTRUMENTATION
+
+/****************************************************************************
+ * Definitions
+ ****************************************************************************/
+
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+__EXPORT void sched_note_start(FAR _TCB *tcb);
+__EXPORT void sched_note_stop(FAR _TCB *tcb);
+__EXPORT void sched_note_switch(FAR _TCB *pFromTcb, FAR _TCB *pToTcb);
+
+/****************************************************************************
+ * Name:
+ ****************************************************************************/
+
+__EXPORT struct system_load_s system_load;
+
+extern FAR _TCB *sched_gettcb(pid_t pid);
+
+void cpuload_initialize_once()
+{
+//	if (!system_load.initialized)
+//	{
+	system_load.start_time = hrt_absolute_time();
+	int i;
+
+	for (i = 0; i < CONFIG_MAX_TASKS; i++) {
+		system_load.tasks[i].valid = false;
+	}
+
+	system_load.total_count = 0;
+
+	uint64_t now = hrt_absolute_time();
+
+	/* initialize idle thread statically */
+	system_load.tasks[0].start_time = now;
+	system_load.tasks[0].total_runtime = 0;
+	system_load.tasks[0].curr_start_time = 0;
+	system_load.tasks[0].tcb = sched_gettcb(0);
+	system_load.tasks[0].valid = true;
+	system_load.total_count++;
+
+	/* initialize init thread statically */
+	system_load.tasks[1].start_time = now;
+	system_load.tasks[1].total_runtime = 0;
+	system_load.tasks[1].curr_start_time = 0;
+	system_load.tasks[1].tcb = sched_gettcb(1);
+	system_load.tasks[1].valid = true;
+	/* count init thread */
+	system_load.total_count++;
+	//	}
+}
+
+void sched_note_start(FAR _TCB *tcb)
+{
+	/* search first free slot */
+	int i;
+
+	for (i = 1; i < CONFIG_MAX_TASKS; i++) {
+		if (!system_load.tasks[i].valid) {
+			/* slot is available */
+			system_load.tasks[i].start_time = hrt_absolute_time();
+			system_load.tasks[i].total_runtime = 0;
+			system_load.tasks[i].curr_start_time = 0;
+			system_load.tasks[i].tcb = tcb;
+			system_load.tasks[i].valid = true;
+			system_load.total_count++;
+			break;
+		}
+	}
+}
+
+void sched_note_stop(FAR _TCB *tcb)
+{
+	int i;
+
+	for (i = 1; i < CONFIG_MAX_TASKS; i++) {
+		if (system_load.tasks[i].tcb->pid == tcb->pid) {
+			/* mark slot as fee */
+			system_load.tasks[i].valid = false;
+			system_load.tasks[i].total_runtime = 0;
+			system_load.tasks[i].curr_start_time = 0;
+			system_load.tasks[i].tcb = NULL;
+			system_load.total_count--;
+			break;
+		}
+	}
+}
+
+void sched_note_switch(FAR _TCB *pFromTcb, FAR _TCB *pToTcb)
+{
+	uint64_t new_time = hrt_absolute_time();
+
+	/* Kind of inefficient: find both tasks and update times */
+	uint8_t both_found = 0;
+
+	for (int i = 0; i < CONFIG_MAX_TASKS; i++) {
+		/* Task ending its current scheduling run */
+		if (system_load.tasks[i].tcb->pid == pFromTcb->pid) {
+			//if (system_load.tasks[i].curr_start_time != 0)
+			{
+				system_load.tasks[i].total_runtime += new_time - system_load.tasks[i].curr_start_time;
+			}
+			both_found++;
+
+		} else if (system_load.tasks[i].tcb->pid == pToTcb->pid) {
+			system_load.tasks[i].curr_start_time = new_time;
+			both_found++;
+		}
+
+		/* Do only iterate as long as needed */
+		if (both_found == 2) {
+			break;
+		}
+	}
+}
+
+#endif /* CONFIG_SCHED_INSTRUMENTATION */
diff --git a/src/modules/systemlib/cpuload.h b/src/modules/systemlib/cpuload.h
new file mode 100644
index 000000000..a97047ea8
--- /dev/null
+++ b/src/modules/systemlib/cpuload.h
@@ -0,0 +1,63 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#ifdef CONFIG_SCHED_INSTRUMENTATION
+
+__BEGIN_DECLS
+
+#include 
+
+struct system_load_taskinfo_s {
+	uint64_t total_runtime;      ///< Runtime since start (start_time - total_runtime)/(start_time - current_time) = load
+	uint64_t curr_start_time;     ///< Start time of the current scheduling slot
+	uint64_t start_time;         ///< FIRST start time of task
+	FAR struct _TCB *tcb;               ///<
+	bool valid;                  ///< Task is currently active / valid
+};
+
+struct system_load_s {
+	uint64_t start_time;         ///< Global start time of measurements
+	struct system_load_taskinfo_s tasks[CONFIG_MAX_TASKS];
+	uint8_t initialized;
+	int total_count;
+	int running_count;
+	int sleeping_count;
+};
+
+__EXPORT extern struct system_load_s system_load;
+
+__EXPORT void cpuload_initialize_once(void);
+
+#endif
diff --git a/src/modules/systemlib/err.c b/src/modules/systemlib/err.c
new file mode 100644
index 000000000..daf17ef8b
--- /dev/null
+++ b/src/modules/systemlib/err.c
@@ -0,0 +1,193 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file err.c
+ *
+ * Simple error/warning functions, heavily inspired by the BSD functions of
+ * the same names.
+ */
+
+#include 
+
+#include 
+#include 
+#include 
+
+#include "err.h"
+
+#define NOCODE		1000	/* larger than maximum errno */
+
+#if CONFIG_NFILE_STREAMS > 0
+#  include 
+#elif defined(CONFIG_ARCH_LOWPUTC)
+#  include 
+extern int lib_lowvprintf(const char *fmt, va_list ap);
+#else
+#  warning Cannot output without one of CONFIG_NFILE_STREAMS or CONFIG_ARCH_LOWPUTC
+#endif
+
+const char *
+getprogname(void)
+{
+#if CONFIG_TASK_NAME_SIZE > 0
+	_TCB	*thisproc = sched_self();
+
+	return thisproc->name;
+#else
+	return "app";
+#endif
+}
+
+static void
+warnerr_core(int errcode, const char *fmt, va_list args)
+{
+#if CONFIG_NFILE_STREAMS > 0
+	fprintf(stderr, "%s: ", getprogname());
+	vfprintf(stderr, fmt, args);
+
+	/* convenience as many parts of NuttX use negative errno */
+	if (errcode < 0)
+		errcode = -errcode;
+
+	if (errcode < NOCODE)
+		fprintf(stderr, ": %s", strerror(errcode));
+
+	fprintf(stderr, "\n");
+#elif CONFIG_ARCH_LOWPUTC
+	lowsyslog("%s: ", getprogname());
+	lowvyslog(fmt, args);
+
+	/* convenience as many parts of NuttX use negative errno */
+	if (errcode < 0)
+		errcode = -errcode;
+
+	if (errcode < NOCODE)
+		lowsyslog(": %s", strerror(errcode));
+
+	lowsyslog("\n");
+#endif
+}
+
+void
+err(int exitcode, const char *fmt, ...)
+{
+	va_list	args;
+
+	va_start(args, fmt);
+	verr(exitcode, fmt, args);
+}
+
+void
+verr(int exitcode, const char *fmt, va_list args)
+{
+	warnerr_core(errno, fmt, args);
+	exit(exitcode);
+}
+
+void
+errc(int exitcode, int errcode, const char *fmt, ...)
+{
+	va_list args;
+
+	va_start(args, fmt);
+	verrc(exitcode, errcode, fmt, args);
+}
+
+void
+verrc(int exitcode, int errcode, const char *fmt, va_list args)
+{
+	warnerr_core(errcode, fmt, args);
+	exit(exitcode);
+}
+
+void
+errx(int exitcode, const char *fmt, ...)
+{
+	va_list args;
+
+	va_start(args, fmt);
+	verrx(exitcode, fmt, args);
+}
+
+void
+verrx(int exitcode, const char *fmt, va_list args)
+{
+	warnerr_core(NOCODE, fmt, args);
+	exit(exitcode);
+}
+
+void
+warn(const char *fmt, ...)
+{
+	va_list args;
+
+	va_start(args, fmt);
+	vwarn(fmt, args);
+}
+
+void
+vwarn(const char *fmt, va_list args)
+{
+	warnerr_core(errno, fmt, args);
+}
+
+void
+warnc(int errcode, const char *fmt, ...)
+{
+	va_list args;
+
+	va_start(args, fmt);
+	vwarnc(errcode, fmt, args);
+}
+
+void
+vwarnc(int errcode, const char *fmt, va_list args)
+{
+	warnerr_core(errcode, fmt, args);
+}
+
+void
+warnx(const char *fmt, ...)
+{
+	va_list args;
+
+	va_start(args, fmt);
+	vwarnx(fmt, args);
+}
+
+void
+vwarnx(const char *fmt, va_list args)
+{
+	warnerr_core(NOCODE, fmt, args);
+}
diff --git a/src/modules/systemlib/err.h b/src/modules/systemlib/err.h
new file mode 100644
index 000000000..ca13d6265
--- /dev/null
+++ b/src/modules/systemlib/err.h
@@ -0,0 +1,89 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file err.h
+ *
+ * Simple error/warning functions, heavily inspired by the BSD functions of
+ * the same names.
+ *
+ * The err() and warn() family of functions display a formatted error
+ * message on the standard error output.  In all cases, the last
+ * component of the program name, a colon character, and a space are
+ * output.  If the fmt argument is not NULL, the printf(3)-like formatted
+ * error message is output.  The output is terminated by a newline
+ * character.
+ *
+ * The err(), errc(), verr(), verrc(), warn(), warnc(), vwarn(), and
+ * vwarnc() functions append an error message obtained from strerror(3)
+ * based on a supplied error code value or the global variable errno,
+ * preceded by another colon and space unless the fmt argument is NULL.
+ *
+ * In the case of the errc(), verrc(), warnc(), and vwarnc() functions,
+ * the code argument is used to look up the error message.
+ *
+ * The err(), verr(), warn(), and vwarn() functions use the global
+ * variable errno to look up the error message.
+ *
+ * The errx() and warnx() functions do not append an error message.
+ *
+ * The err(), verr(), errc(), verrc(), errx(), and verrx() functions do
+ * not return, but exit with the value of the argument eval.
+ *
+ */
+
+#ifndef _SYSTEMLIB_ERR_H
+#define _SYSTEMLIB_ERR_H
+
+#include 
+
+__BEGIN_DECLS
+
+__EXPORT const char *getprogname(void);
+
+__EXPORT void	err(int eval, const char *fmt, ...)		__attribute__((noreturn, format(printf, 2, 3)));
+__EXPORT void	verr(int eval, const char *fmt, va_list)	__attribute__((noreturn, format(printf, 2, 0)));
+__EXPORT void	errc(int eval, int code, const char *fmt, ...)	__attribute__((noreturn, format(printf, 3, 4)));
+__EXPORT void	verrc(int eval, int code, const char *fmt, va_list) __attribute__((noreturn, format(printf, 3, 0)));
+__EXPORT void	errx(int eval, const char *fmt, ...) 		__attribute__((noreturn, format(printf, 2, 3)));
+__EXPORT void	verrx(int eval, const char *fmt, va_list)	__attribute__((noreturn, format(printf, 2, 0)));
+__EXPORT void	warn(const char *fmt, ...)			__attribute__((format(printf, 1, 2)));
+__EXPORT void	vwarn(const char *fmt, va_list)			__attribute__((format(printf, 1, 0)));
+__EXPORT void	warnc(int code, const char *fmt, ...)		__attribute__((format(printf, 2, 3)));
+__EXPORT void	vwarnc(int code, const char *fmt, va_list)	__attribute__((format(printf, 2, 0)));
+__EXPORT void	warnx(const char *fmt, ...)			__attribute__((format(printf, 1, 2)));
+__EXPORT void	vwarnx(const char *fmt, va_list)		__attribute__((format(printf, 1, 0)));
+
+__END_DECLS
+
+#endif
diff --git a/src/modules/systemlib/geo/geo.c b/src/modules/systemlib/geo/geo.c
new file mode 100644
index 000000000..6746e8ff3
--- /dev/null
+++ b/src/modules/systemlib/geo/geo.c
@@ -0,0 +1,439 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: Thomas Gubler 
+ *           Julian Oes 
+ *           Lorenz Meier 
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file geo.c
+ *
+ * Geo / math functions to perform geodesic calculations
+ *
+ * @author Thomas Gubler 
+ * @author Julian Oes 
+ * @author Lorenz Meier 
+ */
+
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+
+
+/* values for map projection */
+static double phi_1;
+static double sin_phi_1;
+static double cos_phi_1;
+static double lambda_0;
+static double scale;
+
+__EXPORT void map_projection_init(double lat_0, double lon_0) //lat_0, lon_0 are expected to be in correct format: -> 47.1234567 and not 471234567
+{
+	/* notation and formulas according to: http://mathworld.wolfram.com/AzimuthalEquidistantProjection.html */
+	phi_1 = lat_0 / 180.0 * M_PI;
+	lambda_0 = lon_0 / 180.0 * M_PI;
+
+	sin_phi_1 = sin(phi_1);
+	cos_phi_1 = cos(phi_1);
+
+	/* calculate local scale by using the relation of true distance and the distance on plane */ //TODO: this is a quick solution, there are probably easier ways to determine the scale
+
+	/* 1) calculate true distance d on sphere to a point: http://www.movable-type.co.uk/scripts/latlong.html */
+	const double r_earth = 6371000;
+
+	double lat1 = phi_1;
+	double lon1 = lambda_0;
+
+	double lat2 = phi_1 + 0.5 / 180 * M_PI;
+	double lon2 = lambda_0 + 0.5 / 180 * M_PI;
+	double sin_lat_2 = sin(lat2);
+	double cos_lat_2 = cos(lat2);
+	double d = acos(sin(lat1) * sin_lat_2 + cos(lat1) * cos_lat_2 * cos(lon2 - lon1)) * r_earth;
+
+	/* 2) calculate distance rho on plane */
+	double k_bar = 0;
+	double c =  acos(sin_phi_1 * sin_lat_2 + cos_phi_1 * cos_lat_2 * cos(lon2 - lambda_0));
+
+	if (0 != c)
+		k_bar = c / sin(c);
+
+	double x2 = k_bar * (cos_lat_2 * sin(lon2 - lambda_0)); //Projection of point 2 on plane
+	double y2 = k_bar * ((cos_phi_1 * sin_lat_2 - sin_phi_1 * cos_lat_2 * cos(lon2 - lambda_0)));
+	double rho = sqrt(pow(x2, 2) + pow(y2, 2));
+
+	scale = d / rho;
+
+}
+
+__EXPORT void map_projection_project(double lat, double lon, float *x, float *y)
+{
+	/* notation and formulas accoring to: http://mathworld.wolfram.com/AzimuthalEquidistantProjection.html */
+	double phi = lat / 180.0 * M_PI;
+	double lambda = lon / 180.0 * M_PI;
+
+	double sin_phi = sin(phi);
+	double cos_phi = cos(phi);
+
+	double k_bar = 0;
+	/* using small angle approximation (formula in comment is without aproximation) */
+	double c =  acos(sin_phi_1 * sin_phi + cos_phi_1 * cos_phi * (1 - pow((lambda - lambda_0), 2) / 2)); //double c =  acos( sin_phi_1 * sin_phi + cos_phi_1 * cos_phi * cos(lambda - lambda_0) );
+
+	if (0 != c)
+		k_bar = c / sin(c);
+
+	/* using small angle approximation (formula in comment is without aproximation) */
+	*y = k_bar * (cos_phi * (lambda - lambda_0)) * scale;//*y = k_bar * (cos_phi * sin(lambda - lambda_0)) * scale;
+	*x = k_bar * ((cos_phi_1 * sin_phi - sin_phi_1 * cos_phi * (1 - pow((lambda - lambda_0), 2) / 2))) * scale; //	*x = k_bar * ((cos_phi_1 * sin_phi - sin_phi_1 * cos_phi * cos(lambda - lambda_0))) * scale;
+
+//	printf("%phi_1=%.10f, lambda_0 =%.10f\n", phi_1, lambda_0);
+}
+
+__EXPORT void map_projection_reproject(float x, float y, double *lat, double *lon)
+{
+	/* notation and formulas accoring to: http://mathworld.wolfram.com/AzimuthalEquidistantProjection.html */
+
+	double x_descaled = x / scale;
+	double y_descaled = y / scale;
+
+	double c = sqrt(pow(x_descaled, 2) + pow(y_descaled, 2));
+	double sin_c = sin(c);
+	double cos_c = cos(c);
+
+	double lat_sphere = 0;
+
+	if (c != 0)
+		lat_sphere = asin(cos_c * sin_phi_1 + (x_descaled * sin_c * cos_phi_1) / c);
+	else
+		lat_sphere = asin(cos_c * sin_phi_1);
+
+//	printf("lat_sphere = %.10f\n",lat_sphere);
+
+	double lon_sphere = 0;
+
+	if (phi_1  == M_PI / 2) {
+		//using small angle approximation (formula in comment is without aproximation)
+		lon_sphere = (lambda_0 - y_descaled / x_descaled); //lon_sphere = (lambda_0 + atan2(-y_descaled, x_descaled));
+
+	} else if (phi_1 == -M_PI / 2) {
+		//using small angle approximation (formula in comment is without aproximation)
+		lon_sphere = (lambda_0 + y_descaled / x_descaled); //lon_sphere = (lambda_0 + atan2(y_descaled, x_descaled));
+
+	} else {
+
+		lon_sphere = (lambda_0 + atan2(y_descaled * sin_c , c * cos_phi_1 * cos_c - x_descaled * sin_phi_1 * sin_c));
+		//using small angle approximation
+//    	double denominator = (c * cos_phi_1 * cos_c - x_descaled * sin_phi_1 * sin_c);
+//    	if(denominator != 0)
+//    	{
+//    		lon_sphere = (lambda_0 + (y_descaled * sin_c) / denominator);
+//    	}
+//    	else
+//    	{
+//    	...
+//    	}
+	}
+
+//	printf("lon_sphere = %.10f\n",lon_sphere);
+
+	*lat = lat_sphere * 180.0 / M_PI;
+	*lon = lon_sphere * 180.0 / M_PI;
+
+}
+
+
+__EXPORT float get_distance_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next)
+{
+	double lat_now_rad = lat_now / 180.0d * M_PI;
+	double lon_now_rad = lon_now / 180.0d * M_PI;
+	double lat_next_rad = lat_next / 180.0d * M_PI;
+	double lon_next_rad = lon_next / 180.0d * M_PI;
+
+
+	double d_lat = lat_next_rad - lat_now_rad;
+	double d_lon = lon_next_rad - lon_now_rad;
+
+	double a = sin(d_lat / 2.0d) * sin(d_lat / 2.0) + sin(d_lon / 2.0d) * sin(d_lon / 2.0d) * cos(lat_now_rad) * cos(lat_next_rad);
+	double c = 2.0d * atan2(sqrt(a), sqrt(1.0d - a));
+
+	const double radius_earth = 6371000.0d;
+
+	return radius_earth * c;
+}
+
+__EXPORT float get_bearing_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next)
+{
+	double lat_now_rad = lat_now * M_DEG_TO_RAD;
+	double lon_now_rad = lon_now * M_DEG_TO_RAD;
+	double lat_next_rad = lat_next * M_DEG_TO_RAD;
+	double lon_next_rad = lon_next * M_DEG_TO_RAD;
+
+	double d_lat = lat_next_rad - lat_now_rad;
+	double d_lon = lon_next_rad - lon_now_rad;
+
+	/* conscious mix of double and float trig function to maximize speed and efficiency */
+	float theta = atan2f(sin(d_lon) * cos(lat_next_rad) , cos(lat_now_rad) * sin(lat_next_rad) - sin(lat_now_rad) * cos(lat_next_rad) * cos(d_lon));
+
+	theta = _wrap_pi(theta);
+
+	return theta;
+}
+
+// Additional functions - @author Doug Weibel 
+
+__EXPORT int get_distance_to_line(struct crosstrack_error_s * crosstrack_error, double lat_now, double lon_now, double lat_start, double lon_start, double lat_end, double lon_end)
+{
+// This function returns the distance to the nearest point on the track line.  Distance is positive if current
+// position is right of the track and negative if left of the track as seen from a point on the track line
+// headed towards the end point.
+
+	float dist_to_end;
+	float bearing_end;
+	float bearing_track;
+	float bearing_diff;
+
+	int return_value = ERROR;	// Set error flag, cleared when valid result calculated.
+	crosstrack_error->past_end = false;
+	crosstrack_error->distance = 0.0f;
+	crosstrack_error->bearing = 0.0f;
+
+	// Return error if arguments are bad
+	if (lat_now == 0.0d || lon_now == 0.0d || lat_start == 0.0d || lon_start == 0.0d || lat_end == 0.0d || lon_end == 0.0d) return return_value;
+
+	bearing_end = get_bearing_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
+	bearing_track = get_bearing_to_next_waypoint(lat_start, lon_start, lat_end, lon_end);
+	bearing_diff = bearing_track - bearing_end;
+	bearing_diff = _wrap_pi(bearing_diff);
+
+	// Return past_end = true if past end point of line
+	if (bearing_diff > M_PI_2_F || bearing_diff < -M_PI_2_F) {
+		crosstrack_error->past_end = true;
+		return_value = OK;
+		return return_value;
+	}
+
+	dist_to_end = get_distance_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
+	crosstrack_error->distance = (dist_to_end) * sin(bearing_diff);
+
+	if (sin(bearing_diff) >= 0) {
+		crosstrack_error->bearing = _wrap_pi(bearing_track - M_PI_2_F);
+
+	} else {
+		crosstrack_error->bearing = _wrap_pi(bearing_track + M_PI_2_F);
+	}
+
+	return_value = OK;
+
+	return return_value;
+
+}
+
+
+__EXPORT int get_distance_to_arc(struct crosstrack_error_s * crosstrack_error, double lat_now, double lon_now, double lat_center, double lon_center,
+		float radius, float arc_start_bearing, float arc_sweep)
+{
+	// This function returns the distance to the nearest point on the track arc.  Distance is positive if current
+	// position is right of the arc and negative if left of the arc as seen from the closest point on the arc and
+	// headed towards the end point.
+
+	// Determine if the current position is inside or outside the sector between the line from the center
+	// to the arc start and the line from the center to the arc end
+	float	bearing_sector_start;
+	float	bearing_sector_end;
+	float	bearing_now = get_bearing_to_next_waypoint(lat_now, lon_now, lat_center, lon_center);
+	bool	in_sector;
+
+	int return_value = ERROR;		// Set error flag, cleared when valid result calculated.
+	crosstrack_error->past_end = false;
+	crosstrack_error->distance = 0.0f;
+	crosstrack_error->bearing = 0.0f;
+
+	// Return error if arguments are bad
+	if (lat_now == 0.0d || lon_now == 0.0d || lat_center == 0.0d || lon_center == 0.0d || radius == 0.0d) return return_value;
+
+
+	if (arc_sweep >= 0) {
+		bearing_sector_start = arc_start_bearing;
+		bearing_sector_end = arc_start_bearing + arc_sweep;
+
+		if (bearing_sector_end > 2.0f * M_PI_F) bearing_sector_end -= M_TWOPI_F;
+
+	} else {
+		bearing_sector_end = arc_start_bearing;
+		bearing_sector_start = arc_start_bearing - arc_sweep;
+
+		if (bearing_sector_start < 0.0f) bearing_sector_start += M_TWOPI_F;
+	}
+
+	in_sector = false;
+
+	// Case where sector does not span zero
+	if (bearing_sector_end >= bearing_sector_start && bearing_now >= bearing_sector_start && bearing_now <= bearing_sector_end) in_sector = true;
+
+	// Case where sector does span zero
+	if (bearing_sector_end < bearing_sector_start && (bearing_now > bearing_sector_start || bearing_now < bearing_sector_end)) in_sector = true;
+
+	// If in the sector then calculate distance and bearing to closest point
+	if (in_sector) {
+		crosstrack_error->past_end = false;
+		float dist_to_center = get_distance_to_next_waypoint(lat_now, lon_now, lat_center, lon_center);
+
+		if (dist_to_center <= radius) {
+			crosstrack_error->distance = radius - dist_to_center;
+			crosstrack_error->bearing = bearing_now + M_PI_F;
+
+		} else {
+			crosstrack_error->distance = dist_to_center - radius;
+			crosstrack_error->bearing = bearing_now;
+		}
+
+		// If out of the sector then calculate dist and bearing to start or end point
+
+	} else {
+
+		// Use the approximation  that 111,111 meters in the y direction is 1 degree (of latitude)
+		// and 111,111 * cos(latitude) meters in the x direction is 1 degree (of longitude) to
+		// calculate the position of the start and end points.  We should not be doing this often
+		// as this function generally will not be called repeatedly when we are out of the sector.
+
+		// TO DO - this is messed up and won't compile
+		float start_disp_x = radius * sin(arc_start_bearing);
+		float start_disp_y = radius * cos(arc_start_bearing);
+		float end_disp_x = radius * sin(_wrapPI(arc_start_bearing + arc_sweep));
+		float end_disp_y = radius * cos(_wrapPI(arc_start_bearing + arc_sweep));
+		float lon_start = lon_now + start_disp_x / 111111.0d;
+		float lat_start = lat_now + start_disp_y * cos(lat_now) / 111111.0d;
+		float lon_end = lon_now + end_disp_x / 111111.0d;
+		float lat_end = lat_now + end_disp_y * cos(lat_now) / 111111.0d;
+		float dist_to_start = get_distance_to_next_waypoint(lat_now, lon_now, lat_start, lon_start);
+		float dist_to_end = get_distance_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
+
+
+		if (dist_to_start < dist_to_end) {
+			crosstrack_error->distance = dist_to_start;
+			crosstrack_error->bearing = get_bearing_to_next_waypoint(lat_now, lon_now, lat_start, lon_start);
+
+		} else {
+			crosstrack_error->past_end = true;
+			crosstrack_error->distance = dist_to_end;
+			crosstrack_error->bearing = get_bearing_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
+		}
+
+	}
+
+	crosstrack_error->bearing = _wrapPI(crosstrack_error->bearing);
+	return_value = OK;
+	return return_value;
+}
+
+__EXPORT float _wrap_pi(float bearing)
+{
+	/* value is inf or NaN */
+	if (!isfinite(bearing) || bearing == 0) {
+		return bearing;
+	}
+
+	int c = 0;
+
+	while (bearing > M_PI_F && c < 30) {
+		bearing -= M_TWOPI_F;
+		c++;
+	}
+
+	c = 0;
+
+	while (bearing <=  -M_PI_F && c < 30) {
+		bearing += M_TWOPI_F;
+		c++;
+	}
+
+	return bearing;
+}
+
+__EXPORT float _wrap_2pi(float bearing)
+{
+	/* value is inf or NaN */
+	if (!isfinite(bearing)) {
+		return bearing;
+	}
+
+	while (bearing >= M_TWOPI_F) {
+		bearing = bearing - M_TWOPI_F;
+	}
+
+	while (bearing <  0.0f) {
+		bearing = bearing + M_TWOPI_F;
+	}
+
+	return bearing;
+}
+
+__EXPORT float _wrap_180(float bearing)
+{
+	/* value is inf or NaN */
+	if (!isfinite(bearing)) {
+		return bearing;
+	}
+
+	while (bearing > 180.0f) {
+		bearing = bearing - 360.0f;
+	}
+
+	while (bearing <=  -180.0f) {
+		bearing = bearing + 360.0f;
+	}
+
+	return bearing;
+}
+
+__EXPORT float _wrap_360(float bearing)
+{
+	/* value is inf or NaN */
+	if (!isfinite(bearing)) {
+		return bearing;
+	}
+
+	while (bearing >= 360.0f) {
+		bearing = bearing - 360.0f;
+	}
+
+	while (bearing <  0.0f) {
+		bearing = bearing + 360.0f;
+	}
+
+	return bearing;
+}
+
+
diff --git a/src/modules/systemlib/geo/geo.h b/src/modules/systemlib/geo/geo.h
new file mode 100644
index 000000000..0c0b5c533
--- /dev/null
+++ b/src/modules/systemlib/geo/geo.h
@@ -0,0 +1,97 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: Thomas Gubler 
+ *           Julian Oes 
+ *           Lorenz Meier 
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file geo.h
+ *
+ * Definition of geo / math functions to perform geodesic calculations
+ *
+ * @author Thomas Gubler 
+ * @author Julian Oes 
+ * @author Lorenz Meier 
+ * Additional functions - @author Doug Weibel 
+ */
+
+
+#include 
+
+struct crosstrack_error_s {
+	bool past_end;		// Flag indicating we are past the end of the line/arc segment
+	float distance;		// Distance in meters to closest point on line/arc
+	float bearing;		// Bearing in radians to closest point on line/arc
+} ;
+
+/**
+ * Initializes the map transformation.
+ *
+ * Initializes the transformation between the geographic coordinate system and the azimuthal equidistant plane
+ * @param lat in degrees (47.1234567°, not 471234567°)
+ * @param lon in degrees (8.1234567°, not 81234567°)
+ */
+__EXPORT void map_projection_init(double lat_0, double lon_0);
+
+/**
+ * Transforms a point in the geographic coordinate system to the local azimuthal equidistant plane
+ * @param x north
+ * @param y east
+ * @param lat in degrees (47.1234567°, not 471234567°)
+ * @param lon in degrees (8.1234567°, not 81234567°)
+ */
+__EXPORT void map_projection_project(double lat, double lon, float *x, float *y);
+
+/**
+ * Transforms a point in the local azimuthal equidistant plane to the geographic coordinate system
+ *
+ * @param x north
+ * @param y east
+ * @param lat in degrees (47.1234567°, not 471234567°)
+ * @param lon in degrees (8.1234567°, not 81234567°)
+ */
+__EXPORT void map_projection_reproject(float x, float y, double *lat, double *lon);
+
+__EXPORT float get_distance_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next);
+
+__EXPORT float get_bearing_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next);
+
+__EXPORT int get_distance_to_line(struct crosstrack_error_s * crosstrack_error, double lat_now, double lon_now, double lat_start, double lon_start, double lat_end, double lon_end);
+
+__EXPORT int get_distance_to_arc(struct crosstrack_error_s * crosstrack_error, double lat_now, double lon_now, double lat_center, double lon_center,
+		float radius, float arc_start_bearing, float arc_sweep);
+
+__EXPORT float _wrap_180(float bearing);
+__EXPORT float _wrap_360(float bearing);
+__EXPORT float _wrap_pi(float bearing);
+__EXPORT float _wrap_2pi(float bearing);
diff --git a/src/modules/systemlib/getopt_long.c b/src/modules/systemlib/getopt_long.c
new file mode 100644
index 000000000..27c38635f
--- /dev/null
+++ b/src/modules/systemlib/getopt_long.c
@@ -0,0 +1,404 @@
+/****************************************************************************
+
+getopt.c - Read command line options
+
+AUTHOR: Gregory Pietsch
+CREATED Fri Jan 10 21:13:05 1997
+
+DESCRIPTION:
+
+The getopt() function parses the command line arguments.  Its arguments argc
+and argv are the argument count and array as passed to the main() function
+on program invocation.  The argument optstring is a list of available option
+characters.  If such a character is followed by a colon (`:'), the option
+takes an argument, which is placed in optarg.  If such a character is
+followed by two colons, the option takes an optional argument, which is
+placed in optarg.  If the option does not take an argument, optarg is NULL.
+
+The external variable optind is the index of the next array element of argv
+to be processed; it communicates from one call to the next which element to
+process.
+
+The getopt_long() function works like getopt() except that it also accepts
+long options started by two dashes `--'.  If these take values, it is either
+in the form
+
+--arg=value
+
+ or
+
+--arg value
+
+It takes the additional arguments longopts which is a pointer to the first
+element of an array of type GETOPT_LONG_OPTION_T.  The last element of the
+array has to be filled with NULL for the name field.
+
+The longind pointer points to the index of the current long option relative
+to longopts if it is non-NULL.
+
+The getopt() function returns the option character if the option was found
+successfully, `:' if there was a missing parameter for one of the options,
+`?' for an unknown option character, and EOF for the end of the option list.
+
+The getopt_long() function's return value is described in the header file.
+
+The function getopt_long_only() is identical to getopt_long(), except that a
+plus sign `+' can introduce long options as well as `--'.
+
+The following describes how to deal with options that follow non-option
+argv-elements.
+
+If the caller did not specify anything, the default is REQUIRE_ORDER if the
+environment variable POSIXLY_CORRECT is defined, PERMUTE otherwise.
+
+REQUIRE_ORDER means don't recognize them as options; stop option processing
+when the first non-option is seen.  This is what Unix does.  This mode of
+operation is selected by either setting the environment variable
+POSIXLY_CORRECT, or using `+' as the first character of the optstring
+parameter.
+
+PERMUTE is the default.  We permute the contents of ARGV as we scan, so that
+eventually all the non-options are at the end.  This allows options to be
+given in any order, even with programs that were not written to expect this.
+
+RETURN_IN_ORDER is an option available to programs that were written to
+expect options and other argv-elements in any order and that care about the
+ordering of the two.  We describe each non-option argv-element as if it were
+the argument of an option with character code 1.  Using `-' as the first
+character of the optstring parameter selects this mode of operation.
+
+The special argument `--' forces an end of option-scanning regardless of the
+value of ordering.  In the case of RETURN_IN_ORDER, only `--' can cause
+getopt() and friends to return EOF with optind != argc.
+
+COPYRIGHT NOTICE AND DISCLAIMER:
+
+Copyright (C) 1997 Gregory Pietsch
+
+This file and the accompanying getopt.h header file are hereby placed in the 
+public domain without restrictions.  Just give the author credit, don't
+claim you wrote it or prevent anyone else from using it.
+
+Gregory Pietsch's current e-mail address:
+gpietsch@comcast.net
+****************************************************************************/
+
+/* include files */
+#include 
+#include 
+#include 
+#include "getopt_long.h"
+
+/* macros */
+
+/* types */
+typedef enum GETOPT_ORDERING_T
+{
+  PERMUTE,
+  RETURN_IN_ORDER,
+  REQUIRE_ORDER
+} GETOPT_ORDERING_T;
+
+/* globally-defined variables */
+char *optarg = NULL;
+int optind = 0;
+int opterr = 1;
+int optopt = '?';
+
+/* functions */
+
+/* reverse_argv_elements:  reverses num elements starting at argv */
+static void
+reverse_argv_elements (char **argv, int num)
+{
+  int i;
+  char *tmp;
+
+  for (i = 0; i < (num >> 1); i++)
+    {
+      tmp = argv[i];
+      argv[i] = argv[num - i - 1];
+      argv[num - i - 1] = tmp;
+    }
+}
+
+/* permute: swap two blocks of argv-elements given their lengths */
+static void
+permute (char **argv, int len1, int len2)
+{
+  reverse_argv_elements (argv, len1);
+  reverse_argv_elements (argv, len1 + len2);
+  reverse_argv_elements (argv, len2);
+}
+
+/* is_option: is this argv-element an option or the end of the option list? */
+static int
+is_option (char *argv_element, int only)
+{
+  return ((argv_element == NULL)
+          || (argv_element[0] == '-') || (only && argv_element[0] == '+'));
+}
+
+/* getopt_internal:  the function that does all the dirty work */
+static int
+getopt_internal (int argc, char **argv, const char *shortopts,
+                 const GETOPT_LONG_OPTION_T * longopts, int *longind, int only)
+{
+  GETOPT_ORDERING_T ordering = PERMUTE;
+  static size_t optwhere = 0;
+  size_t permute_from = 0;
+  int num_nonopts = 0;
+  int optindex = 0;
+  size_t match_chars = 0;
+  char *possible_arg = NULL;
+  int longopt_match = -1;
+  int has_arg = -1;
+  char *cp = NULL;
+  int arg_next = 0;
+
+  /* first, deal with silly parameters and easy stuff */
+  if (argc == 0 || argv == NULL || (shortopts == NULL && longopts == NULL)
+    || optind >= argc || argv[optind] == NULL)
+    return EOF;
+  if (strcmp (argv[optind], "--") == 0)
+    {
+      optind++;
+      return EOF;
+    }
+  /* if this is our first time through */
+  if (optind == 0)
+    optind = optwhere = 1;
+
+  /* define ordering */
+  if (shortopts != NULL && (*shortopts == '-' || *shortopts == '+'))
+    {
+      ordering = (*shortopts == '-') ? RETURN_IN_ORDER : REQUIRE_ORDER;
+      shortopts++;
+    }
+  else
+    ordering = /*(getenv ("POSIXLY_CORRECT") != NULL) ? REQUIRE_ORDER :*/ PERMUTE;
+
+  /*
+   * based on ordering, find our next option, if we're at the beginning of
+   * one
+   */
+  if (optwhere == 1)
+    {
+      switch (ordering)
+        {
+        default:                /* shouldn't happen */
+        case PERMUTE:
+          permute_from = optind;
+          num_nonopts = 0;
+          while (!is_option (argv[optind], only))
+            {
+              optind++;
+              num_nonopts++;
+            }
+          if (argv[optind] == NULL)
+            {
+              /* no more options */
+              optind = permute_from;
+              return EOF;
+            }
+          else if (strcmp (argv[optind], "--") == 0)
+            {
+              /* no more options, but have to get `--' out of the way */
+              permute (argv + permute_from, num_nonopts, 1);
+              optind = permute_from + 1;
+              return EOF;
+            }
+          break;
+        case RETURN_IN_ORDER:
+          if (!is_option (argv[optind], only))
+            {
+              optarg = argv[optind++];
+              return (optopt = 1);
+            }
+          break;
+        case REQUIRE_ORDER:
+          if (!is_option (argv[optind], only))
+            return EOF;
+          break;
+        }
+    }
+  /* we've got an option, so parse it */
+
+  /* first, is it a long option? */
+  if (longopts != NULL
+      && (memcmp (argv[optind], "--", 2) == 0
+          || (only && argv[optind][0] == '+')) && optwhere == 1)
+    {
+      /* handle long options */
+      if (memcmp (argv[optind], "--", 2) == 0)
+        optwhere = 2;
+      longopt_match = -1;
+      possible_arg = strchr (argv[optind] + optwhere, '=');
+      if (possible_arg == NULL)
+        {
+          /* no =, so next argv might be arg */
+          match_chars = strlen (argv[optind]);
+          possible_arg = argv[optind] + match_chars;
+          match_chars = match_chars - optwhere;
+        }
+      else
+        match_chars = (possible_arg - argv[optind]) - optwhere;
+      for (optindex = 0; longopts[optindex].name != NULL; optindex++)
+        {
+          if (memcmp (argv[optind] + optwhere,
+                      longopts[optindex].name, match_chars) == 0)
+            {
+              /* do we have an exact match? */
+              if (match_chars == (unsigned) (strlen (longopts[optindex].name)))
+                {
+                  longopt_match = optindex;
+                  break;
+                }
+              /* do any characters match? */
+              else
+                {
+                  if (longopt_match < 0)
+                    longopt_match = optindex;
+                  else
+                    {
+                      /* we have ambiguous options */
+                      if (opterr)
+                        fprintf (stderr, "%s: option `%s' is ambiguous "
+                                 "(could be `--%s' or `--%s')\n",
+                                 argv[0],
+                                 argv[optind],
+                                 longopts[longopt_match].name,
+                                 longopts[optindex].name);
+                      return (optopt = '?');
+                    }
+                }
+            }
+        }
+      if (longopt_match >= 0)
+        has_arg = longopts[longopt_match].has_arg;
+    }
+  /* if we didn't find a long option, is it a short option? */
+  if (longopt_match < 0 && shortopts != NULL)
+    {
+      cp = strchr (shortopts, argv[optind][optwhere]);
+      if (cp == NULL)
+        {
+          /* couldn't find option in shortopts */
+          if (opterr)
+            fprintf (stderr,
+                     "%s: invalid option -- `-%c'\n",
+                     argv[0], argv[optind][optwhere]);
+          optwhere++;
+          if (argv[optind][optwhere] == '\0')
+            {
+              optind++;
+              optwhere = 1;
+            }
+          return (optopt = '?');
+        }
+      has_arg = ((cp[1] == ':')
+                 ? ((cp[2] == ':') ? OPTIONAL_ARG : REQUIRED_ARG) : NO_ARG);
+      possible_arg = argv[optind] + optwhere + 1;
+      optopt = *cp;
+    }
+  /* get argument and reset optwhere */
+  arg_next = 0;
+  switch (has_arg)
+    {
+    case OPTIONAL_ARG:
+      if (*possible_arg == '=')
+        possible_arg++;
+      optarg = (*possible_arg != '\0') ? possible_arg : 0;
+      optwhere = 1;
+      break;
+    case REQUIRED_ARG:
+      if (*possible_arg == '=')
+        possible_arg++;
+      if (*possible_arg != '\0')
+        {
+          optarg = possible_arg;
+          optwhere = 1;
+        }
+      else if (optind + 1 >= argc)
+        {
+          if (opterr)
+            {
+              fprintf (stderr, "%s: argument required for option `", argv[0]);
+              if (longopt_match >= 0)
+                fprintf (stderr, "--%s'\n", longopts[longopt_match].name);
+              else
+                fprintf (stderr, "-%c'\n", *cp);
+            }
+          optind++;
+          return (optopt = ':');
+        }
+      else
+        {
+          optarg = argv[optind + 1];
+          arg_next = 1;
+          optwhere = 1;
+        }
+      break;
+    default:                    /* shouldn't happen */
+    case NO_ARG:
+      if (longopt_match < 0)
+        {
+          optwhere++;
+          if (argv[optind][optwhere] == '\0')
+            optwhere = 1;
+        }
+      else
+        optwhere = 1;
+      optarg = NULL;
+      break;
+    }
+
+  /* do we have to permute or otherwise modify optind? */
+  if (ordering == PERMUTE && optwhere == 1 && num_nonopts != 0)
+    {
+      permute (argv + permute_from, num_nonopts, 1 + arg_next);
+      optind = permute_from + 1 + arg_next;
+    }
+  else if (optwhere == 1)
+    optind = optind + 1 + arg_next;
+
+  /* finally return */
+  if (longopt_match >= 0)
+    {
+      if (longind != NULL)
+        *longind = longopt_match;
+      if (longopts[longopt_match].flag != NULL)
+        {
+          *(longopts[longopt_match].flag) = longopts[longopt_match].val;
+          return 0;
+        }
+      else
+        return longopts[longopt_match].val;
+    }
+  else
+    return optopt;
+}
+
+#if 0
+int
+getopt (int argc, char **argv, char *optstring)
+{
+  return getopt_internal (argc, argv, optstring, NULL, NULL, 0);
+}
+#endif
+
+int
+getopt_long (int argc, char **argv, const char *shortopts,
+             const GETOPT_LONG_OPTION_T * longopts, int *longind)
+{
+  return getopt_internal (argc, argv, shortopts, longopts, longind, 0);
+}
+
+int
+getopt_long_only (int argc, char **argv, const char *shortopts,
+                  const GETOPT_LONG_OPTION_T * longopts, int *longind)
+{
+  return getopt_internal (argc, argv, shortopts, longopts, longind, 1);
+}
+
+/* end of file GETOPT.C */
diff --git a/src/modules/systemlib/getopt_long.h b/src/modules/systemlib/getopt_long.h
new file mode 100644
index 000000000..61e8e76f3
--- /dev/null
+++ b/src/modules/systemlib/getopt_long.h
@@ -0,0 +1,139 @@
+/****************************************************************************
+
+getopt.h - Read command line options
+
+AUTHOR: Gregory Pietsch
+CREATED Thu Jan 09 22:37:00 1997
+
+DESCRIPTION:
+
+The getopt() function parses the command line arguments.  Its arguments argc
+and argv are the argument count and array as passed to the main() function
+on program invocation.  The argument optstring is a list of available option
+characters.  If such a character is followed by a colon (`:'), the option
+takes an argument, which is placed in optarg.  If such a character is
+followed by two colons, the option takes an optional argument, which is
+placed in optarg.  If the option does not take an argument, optarg is NULL.
+
+The external variable optind is the index of the next array element of argv
+to be processed; it communicates from one call to the next which element to
+process.
+
+The getopt_long() function works like getopt() except that it also accepts
+long options started by two dashes `--'.  If these take values, it is either
+in the form
+
+--arg=value
+
+ or
+
+--arg value
+
+It takes the additional arguments longopts which is a pointer to the first
+element of an array of type GETOPT_LONG_OPTION_T, defined below.  The last
+element of the array has to be filled with NULL for the name field.
+
+The longind pointer points to the index of the current long option relative
+to longopts if it is non-NULL.
+
+The getopt() function returns the option character if the option was found
+successfully, `:' if there was a missing parameter for one of the options,
+`?' for an unknown option character, and EOF for the end of the option list.
+
+The getopt_long() function's return value is described below.
+
+The function getopt_long_only() is identical to getopt_long(), except that a
+plus sign `+' can introduce long options as well as `--'.
+
+Describe how to deal with options that follow non-option ARGV-elements.
+
+If the caller did not specify anything, the default is REQUIRE_ORDER if the
+environment variable POSIXLY_CORRECT is defined, PERMUTE otherwise.
+
+REQUIRE_ORDER means don't recognize them as options; stop option processing
+when the first non-option is seen.  This is what Unix does.  This mode of
+operation is selected by either setting the environment variable
+POSIXLY_CORRECT, or using `+' as the first character of the optstring
+parameter.
+
+PERMUTE is the default.  We permute the contents of ARGV as we scan, so that
+eventually all the non-options are at the end.  This allows options to be
+given in any order, even with programs that were not written to expect this.
+
+RETURN_IN_ORDER is an option available to programs that were written to
+expect options and other ARGV-elements in any order and that care about the
+ordering of the two.  We describe each non-option ARGV-element as if it were
+the argument of an option with character code 1.  Using `-' as the first
+character of the optstring parameter selects this mode of operation.
+
+The special argument `--' forces an end of option-scanning regardless of the
+value of `ordering'.  In the case of RETURN_IN_ORDER, only `--' can cause
+getopt() and friends to return EOF with optind != argc.
+
+COPYRIGHT NOTICE AND DISCLAIMER:
+
+Copyright (C) 1997 Gregory Pietsch
+
+This file and the accompanying getopt.c implementation file are hereby 
+placed in the public domain without restrictions.  Just give the author 
+credit, don't claim you wrote it or prevent anyone else from using it.
+
+Gregory Pietsch's current e-mail address:
+gpietsch@comcast.net
+****************************************************************************/
+
+#ifndef GETOPT_H
+#define GETOPT_H
+
+/* include files needed by this include file */
+
+/* macros defined by this include file */
+#define NO_ARG          0
+#define REQUIRED_ARG    1
+#define OPTIONAL_ARG    2
+
+/* types defined by this include file */
+
+/* GETOPT_LONG_OPTION_T: The type of long option */
+typedef struct GETOPT_LONG_OPTION_T
+{
+  char *name;                   /* the name of the long option */
+  int has_arg;                  /* one of the above macros */
+  int *flag;                    /* determines if getopt_long() returns a
+                                 * value for a long option; if it is
+                                 * non-NULL, 0 is returned as a function
+                                 * value and the value of val is stored in
+                                 * the area pointed to by flag.  Otherwise,
+                                 * val is returned. */
+  int val;                      /* determines the value to return if flag is
+                                 * NULL. */
+} GETOPT_LONG_OPTION_T;
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+  /* externally-defined variables */
+  extern char *optarg;
+  extern int optind;
+  extern int opterr;
+  extern int optopt;
+
+  /* function prototypes */
+#if 0
+  int getopt (int argc, char **argv, char *optstring);
+#endif
+  __EXPORT int getopt_long (int argc, char **argv, const char *shortopts,
+                   const GETOPT_LONG_OPTION_T * longopts, int *longind);
+  __EXPORT int getopt_long_only (int argc, char **argv, const char *shortopts,
+                        const GETOPT_LONG_OPTION_T * longopts, int *longind);
+
+#ifdef __cplusplus
+};
+
+#endif
+
+#endif /* GETOPT_H */
+
+/* END OF FILE getopt.h */
diff --git a/src/modules/systemlib/hx_stream.c b/src/modules/systemlib/hx_stream.c
new file mode 100644
index 000000000..8d77f14a8
--- /dev/null
+++ b/src/modules/systemlib/hx_stream.c
@@ -0,0 +1,250 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file hx_stream.c
+ *
+ * A simple serial line framing protocol based on HDLC
+ * with 32-bit CRC protection.
+ */
+
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+
+#include "perf_counter.h"
+
+#include "hx_stream.h"
+
+
+struct hx_stream {
+	uint8_t			buf[HX_STREAM_MAX_FRAME + 4];
+	unsigned		frame_bytes;
+	bool			escaped;
+	bool			txerror;
+
+	int			fd;
+	hx_stream_rx_callback	callback;
+	void			*callback_arg;
+
+	perf_counter_t		pc_tx_frames;
+	perf_counter_t		pc_rx_frames;
+	perf_counter_t		pc_rx_errors;
+};
+
+/*
+ * Protocol magic numbers, straight out of HDLC.
+ */
+#define FBO	0x7e	/**< Frame Boundary Octet */
+#define CEO	0x7c	/**< Control Escape Octet */
+
+static void	hx_tx_raw(hx_stream_t stream, uint8_t c);
+static void	hx_tx_raw(hx_stream_t stream, uint8_t c);
+static int	hx_rx_frame(hx_stream_t stream);
+
+static void
+hx_tx_raw(hx_stream_t stream, uint8_t c)
+{
+	if (write(stream->fd, &c, 1) != 1)
+		stream->txerror = true;
+}
+
+static void
+hx_tx_byte(hx_stream_t stream, uint8_t c)
+{
+	switch (c) {
+	case FBO:
+	case CEO:
+		hx_tx_raw(stream, CEO);
+		c ^= 0x20;
+		break;
+	}
+
+	hx_tx_raw(stream, c);
+}
+
+static int
+hx_rx_frame(hx_stream_t stream)
+{
+	union {
+		uint8_t	b[4];
+		uint32_t w;
+	} u;
+	unsigned length = stream->frame_bytes;
+
+	/* reset the stream */
+	stream->frame_bytes = 0;
+	stream->escaped = false;
+
+	/* not a real frame - too short */
+	if (length < 4) {
+		if (length > 1)
+			perf_count(stream->pc_rx_errors);
+
+		return 0;
+	}
+
+	length -= 4;
+
+	/* compute expected CRC */
+	u.w = crc32(&stream->buf[0], length);
+
+	/* compare computed and actual CRC */
+	for (unsigned i = 0; i < 4; i++) {
+		if (u.b[i] != stream->buf[length + i]) {
+			perf_count(stream->pc_rx_errors);
+			return 0;
+		}
+	}
+
+	/* frame is good */
+	perf_count(stream->pc_rx_frames);
+	stream->callback(stream->callback_arg, &stream->buf[0], length);
+	return 1;
+}
+
+hx_stream_t
+hx_stream_init(int fd,
+	       hx_stream_rx_callback callback,
+	       void *arg)
+{
+	hx_stream_t stream;
+
+	stream = (hx_stream_t)malloc(sizeof(struct hx_stream));
+
+	if (stream != NULL) {
+		memset(stream, 0, sizeof(struct hx_stream));
+		stream->fd = fd;
+		stream->callback = callback;
+		stream->callback_arg = arg;
+	}
+
+	return stream;
+}
+
+void
+hx_stream_free(hx_stream_t stream)
+{
+	/* free perf counters (OK if they are NULL) */
+	perf_free(stream->pc_tx_frames);
+	perf_free(stream->pc_rx_frames);
+	perf_free(stream->pc_rx_errors);
+
+	free(stream);
+}
+
+void
+hx_stream_set_counters(hx_stream_t stream,
+		       perf_counter_t tx_frames,
+		       perf_counter_t rx_frames,
+		       perf_counter_t rx_errors)
+{
+	stream->pc_tx_frames = tx_frames;
+	stream->pc_rx_frames = rx_frames;
+	stream->pc_rx_errors = rx_errors;
+}
+
+int
+hx_stream_send(hx_stream_t stream,
+	       const void *data,
+	       size_t count)
+{
+	union {
+		uint8_t	b[4];
+		uint32_t w;
+	} u;
+	const uint8_t *p = (const uint8_t *)data;
+	unsigned resid = count;
+
+	if (resid > HX_STREAM_MAX_FRAME)
+		return -EINVAL;
+
+	/* start the frame */
+	hx_tx_raw(stream, FBO);
+
+	/* transmit the data */
+	while (resid--)
+		hx_tx_byte(stream, *p++);
+
+	/* compute the CRC */
+	u.w = crc32(data, count);
+
+	/* send the CRC */
+	p = &u.b[0];
+	resid = 4;
+
+	while (resid--)
+		hx_tx_byte(stream, *p++);
+
+	/* and the trailing frame separator */
+	hx_tx_raw(stream, FBO);
+
+	/* check for transmit error */
+	if (stream->txerror) {
+		stream->txerror = false;
+		return -EIO;
+	}
+
+	perf_count(stream->pc_tx_frames);
+	return 0;
+}
+
+void
+hx_stream_rx(hx_stream_t stream, uint8_t c)
+{
+	/* frame end? */
+	if (c == FBO) {
+		hx_rx_frame(stream);
+		return;
+	}
+
+	/* escaped? */
+	if (stream->escaped) {
+		stream->escaped = false;
+		c ^= 0x20;
+
+	} else if (c == CEO) {
+		/* now escaped, ignore the byte */
+		stream->escaped = true;
+		return;
+	}
+
+	/* save for later */
+	if (stream->frame_bytes < sizeof(stream->buf))
+		stream->buf[stream->frame_bytes++] = c;
+}
diff --git a/src/modules/systemlib/hx_stream.h b/src/modules/systemlib/hx_stream.h
new file mode 100644
index 000000000..128689953
--- /dev/null
+++ b/src/modules/systemlib/hx_stream.h
@@ -0,0 +1,122 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file hx_stream.h
+ *
+ * A simple serial line framing protocol based on HDLC
+ * with 32-bit CRC protection.
+ */
+
+#ifndef _SYSTEMLIB_HX_STREAM_H
+#define _SYSTEMLIB_HX_STREAM_H
+
+#include 
+
+#include "perf_counter.h"
+
+struct hx_stream;
+typedef struct hx_stream *hx_stream_t;
+
+#define HX_STREAM_MAX_FRAME	64
+
+typedef void (* hx_stream_rx_callback)(void *arg, const void *data, size_t length);
+
+__BEGIN_DECLS
+
+/**
+ * Allocate a new hx_stream object.
+ *
+ * @param fd		The file handle over which the protocol will
+ *			communicate.
+ * @param callback	Called when a frame is received.
+ * @param callback_arg	Passed to the callback.
+ * @return		A handle to the stream, or NULL if memory could
+ *			not be allocated.
+ */
+__EXPORT extern hx_stream_t	hx_stream_init(int fd,
+		hx_stream_rx_callback callback,
+		void *arg);
+
+/**
+ * Free a hx_stream object.
+ *
+ * @param stream	A handle returned from hx_stream_init.
+ */
+__EXPORT extern void		hx_stream_free(hx_stream_t stream);
+
+/**
+ * Set performance counters for the stream.
+ *
+ * Any counter may be set to NULL to disable counting that datum.
+ *
+ * @param tx_frames	Counter for transmitted frames.
+ * @param rx_frames	Counter for received frames.
+ * @param rx_errors	Counter for short and corrupt received frames.
+ */
+__EXPORT extern void		hx_stream_set_counters(hx_stream_t stream,
+		perf_counter_t tx_frames,
+		perf_counter_t rx_frames,
+		perf_counter_t rx_errors);
+
+/**
+ * Send a frame.
+ *
+ * This function will block until all frame bytes are sent if
+ * the descriptor passed to hx_stream_init is marked blocking,
+ * otherwise it will return -1 (but may transmit a
+ * runt frame at the same time).
+ *
+ * @todo Handling of non-blocking streams needs to be better.
+ *
+ * @param stream	A handle returned from hx_stream_init.
+ * @param data		Pointer to the data to send.
+ * @param count		The number of bytes to send.
+ * @return		Zero on success, -errno on error.
+ */
+__EXPORT extern int		hx_stream_send(hx_stream_t stream,
+		const void *data,
+		size_t count);
+
+/**
+ * Handle a byte from the stream.
+ *
+ * @param stream	A handle returned from hx_stream_init.
+ * @param c		The character to process.
+ */
+__EXPORT extern void		hx_stream_rx(hx_stream_t stream,
+		uint8_t c);
+
+__END_DECLS
+
+#endif
diff --git a/src/modules/systemlib/mixer/mixer.cpp b/src/modules/systemlib/mixer/mixer.cpp
new file mode 100644
index 000000000..df0dfe838
--- /dev/null
+++ b/src/modules/systemlib/mixer/mixer.cpp
@@ -0,0 +1,152 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file mixer.cpp
+ *
+ * Programmable multi-channel mixer library.
+ */
+
+#include 
+
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+
+#include "mixer.h"
+
+Mixer::Mixer(ControlCallback control_cb, uintptr_t cb_handle) :
+	_next(nullptr),
+	_control_cb(control_cb),
+	_cb_handle(cb_handle)
+{
+}
+
+float
+Mixer::get_control(uint8_t group, uint8_t index)
+{
+	float	value;
+
+	_control_cb(_cb_handle, group, index, value);
+
+	return value;
+}
+
+
+float
+Mixer::scale(const mixer_scaler_s &scaler, float input)
+{
+	float output;
+
+	if (input < 0.0f) {
+		output = (input * scaler.negative_scale) + scaler.offset;
+
+	} else {
+		output = (input * scaler.positive_scale) + scaler.offset;
+	}
+
+	if (output > scaler.max_output) {
+		output = scaler.max_output;
+
+	} else if (output < scaler.min_output) {
+		output = scaler.min_output;
+	}
+
+	return output;
+}
+
+int
+Mixer::scale_check(struct mixer_scaler_s &scaler)
+{
+	if (scaler.offset > 1.001f)
+		return 1;
+
+	if (scaler.offset < -1.001f)
+		return 2;
+
+	if (scaler.min_output > scaler.max_output)
+		return 3;
+
+	if (scaler.min_output < -1.001f)
+		return 4;
+
+	if (scaler.max_output > 1.001f)
+		return 5;
+
+	return 0;
+}
+
+/****************************************************************************/
+
+NullMixer::NullMixer() :
+	Mixer(nullptr, 0)
+{
+}
+
+unsigned
+NullMixer::mix(float *outputs, unsigned space)
+{
+	if (space > 0) {
+		*outputs = 0.0f;
+		return 1;
+	}
+
+	return 0;
+}
+
+void
+NullMixer::groups_required(uint32_t &groups)
+{
+
+}
+
+NullMixer *
+NullMixer::from_text(const char *buf, unsigned &buflen)
+{
+	NullMixer *nm = nullptr;
+
+	if ((buflen >= 2) && (buf[0] == 'Z') && (buf[1] == ':')) {
+		nm = new NullMixer;
+		buflen -= 2;
+	}
+
+	return nm;
+}
diff --git a/src/modules/systemlib/mixer/mixer.h b/src/modules/systemlib/mixer/mixer.h
new file mode 100644
index 000000000..40d37fce2
--- /dev/null
+++ b/src/modules/systemlib/mixer/mixer.h
@@ -0,0 +1,499 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file mixer.h
+ *
+ * Generic, programmable, procedural control signal mixers.
+ *
+ * This library implements a generic mixer interface that can be used
+ * by any driver or subsytem that wants to combine several control signals
+ * into a single output.
+ *
+ * Terminology
+ * ===========
+ *
+ * control value
+ *	A mixer input value, typically provided by some controlling
+ *	component of the system.
+ *
+ * control group
+ * 	A collection of controls provided by a single controlling component.
+ *
+ * actuator
+ *	The mixer output value.
+ *
+ *
+ * Mixing basics
+ * =============
+ *
+ * An actuator derives its value from the combination of one or more
+ * control values. Each of the control values is scaled according to
+ * the actuator's configuration and then combined to produce the
+ * actuator value, which may then be further scaled to suit the specific
+ * output type.
+ *
+ * Internally, all scaling is performed using floating point values.
+ * Inputs and outputs are clamped to the range -1.0 to 1.0.
+ *
+ * control    control   control
+ *    |          |         |
+ *    v          v         v
+ *  scale      scale     scale
+ *    |          |         |
+ *    |          v         |
+ *    +-------> mix <------+
+ *               |
+ *             scale
+ *               |
+ *               v
+ *              out
+ *
+ * Scaling
+ * -------
+ *
+ * Each scaler allows the input value to be scaled independently for
+ * inputs greater/less than zero. An offset can be applied to the output,
+ * as well as lower and upper boundary constraints.
+ * Negative scaling factors cause the output to be inverted (negative input
+ * produces positive output).
+ *
+ * Scaler pseudocode:
+ *
+ * if (input < 0)
+ *     output = (input * NEGATIVE_SCALE) + OFFSET
+ * else
+ *     output = (input * POSITIVE_SCALE) + OFFSET
+ *
+ * if (output < LOWER_LIMIT)
+ *     output = LOWER_LIMIT
+ * if (output > UPPER_LIMIT)
+ *     output = UPPER_LIMIT
+ *
+ *
+ * Mixing
+ * ------
+ *
+ * Mixing behaviour varies based on the specific mixer class; each
+ * mixer class describes its behaviour in more detail.
+ *
+ *
+ * Controls
+ * --------
+ *
+ * The precise assignment of controls may vary depending on the
+ * application, but the following assignments should be used
+ * when appropriate.  Some mixer classes have specific assumptions
+ * about the assignment of controls.
+ *
+ * control | standard meaning
+ * --------+-----------------------
+ *     0   | roll
+ *     1   | pitch
+ *     2   | yaw
+ *     3   | primary thrust
+ */
+
+
+#ifndef _SYSTEMLIB_MIXER_MIXER_H
+#define _SYSTEMLIB_MIXER_MIXER_H value
+
+#include "drivers/drv_mixer.h"
+
+/**
+ * Abstract class defining a mixer mixing zero or more inputs to
+ * one or more outputs.
+ */
+class __EXPORT Mixer
+{
+public:
+	/** next mixer in a list */
+	Mixer				*_next;
+
+	/**
+	 * Fetch a control value.
+	 *
+	 * @param handle		Token passed when the callback is registered.
+	 * @param control_group		The group to fetch the control from.
+	 * @param control_index		The group-relative index to fetch the control from.
+	 * @param control		The returned control
+	 * @return			Zero if the value was fetched, nonzero otherwise.
+	 */
+	typedef int	(* ControlCallback)(uintptr_t handle,
+					    uint8_t control_group,
+					    uint8_t control_index,
+					    float &control);
+
+	/**
+	 * Constructor.
+	 *
+	 * @param control_cb		Callback invoked when reading controls.
+	 */
+	Mixer(ControlCallback control_cb, uintptr_t cb_handle);
+	virtual ~Mixer() {};
+
+	/**
+	 * Perform the mixing function.
+	 *
+	 * @param outputs		Array into which mixed output(s) should be placed.
+	 * @param space			The number of available entries in the output array;
+	 * @return			The number of entries in the output array that were populated.
+	 */
+	virtual unsigned		mix(float *outputs, unsigned space) = 0;
+
+	/**
+	 * Analyses the mix configuration and updates a bitmask of groups
+	 * that are required.
+	 *
+	 * @param groups		A bitmask of groups (0-31) that the mixer requires.
+	 */
+	virtual void			groups_required(uint32_t &groups) = 0;
+
+protected:
+	/** client-supplied callback used when fetching control values */
+	ControlCallback			_control_cb;
+	uintptr_t			_cb_handle;
+
+	/**
+	 * Invoke the client callback to fetch a control value.
+	 *
+	 * @param group			Control group to fetch from.
+	 * @param index			Control index to fetch.
+	 * @return			The control value.
+	 */
+	float				get_control(uint8_t group, uint8_t index);
+
+	/**
+	 * Perform simpler linear scaling.
+	 *
+	 * @param scaler		The scaler configuration.
+	 * @param input			The value to be scaled.
+	 * @return			The scaled value.
+	 */
+	static float			scale(const mixer_scaler_s &scaler, float input);
+
+	/**
+	 * Validate a scaler
+	 *
+	 * @param scaler		The scaler to be validated.
+	 * @return			Zero if good, nonzero otherwise.
+	 */
+	static int			scale_check(struct mixer_scaler_s &scaler);
+
+private:
+};
+
+/**
+ * Group of mixers, built up from single mixers and processed
+ * in order when mixing.
+ */
+class __EXPORT MixerGroup : public Mixer
+{
+public:
+	MixerGroup(ControlCallback control_cb, uintptr_t cb_handle);
+	~MixerGroup();
+
+	virtual unsigned		mix(float *outputs, unsigned space);
+	virtual void			groups_required(uint32_t &groups);
+
+	/**
+	 * Add a mixer to the group.
+	 *
+	 * @param mixer			The mixer to be added.
+	 */
+	void				add_mixer(Mixer *mixer);
+
+	/**
+	 * Remove all the mixers from the group.
+	 */
+	void				reset();
+
+	/**
+	 * Adds mixers to the group based on a text description in a buffer.
+	 *
+	 * Mixer definitions begin with a single capital letter and a colon.
+	 * The actual format of the mixer definition varies with the individual
+	 * mixers; they are summarised here, but see ROMFS/mixers/README for
+	 * more details.
+	 *
+	 * Null Mixer
+	 * ..........
+	 *
+	 * The null mixer definition has the form:
+	 *
+	 *   Z:
+	 *
+	 * Simple Mixer
+	 * ............
+	 *
+	 * A simple mixer definition begins with:
+	 *
+	 *   M: 
+	 *   O: <-ve scale> <+ve scale>   
+	 *
+	 * The definition continues with  entries describing the control
+	 * inputs and their scaling, in the form:
+	 *
+	 *   S:   <-ve scale> <+ve scale>   
+	 *
+	 * Multirotor Mixer
+	 * ................
+	 *
+	 * The multirotor mixer definition is a single line of the form:
+	 *
+	 * R:     
+	 *
+	 * @param buf			The mixer configuration buffer.
+	 * @param buflen		The length of the buffer, updated to reflect
+	 *				bytes as they are consumed.
+	 * @return			Zero on successful load, nonzero otherwise.
+	 */
+	int				load_from_buf(const char *buf, unsigned &buflen);
+
+private:
+	Mixer				*_first;	/**< linked list of mixers */
+};
+
+/**
+ * Null mixer; returns zero.
+ *
+ * Used as a placeholder for output channels that are unassigned in groups.
+ */
+class __EXPORT NullMixer : public Mixer
+{
+public:
+	NullMixer();
+	~NullMixer() {};
+
+	/**
+	 * Factory method.
+	 *
+	 * Given a pointer to a buffer containing a text description of the mixer,
+	 * returns a pointer to a new instance of the mixer.
+	 *
+	 * @param buf			Buffer containing a text description of
+	 *				the mixer.
+	 * @param buflen		Length of the buffer in bytes, adjusted
+	 *				to reflect the bytes consumed.
+	 * @return			A new NullMixer instance, or nullptr
+	 *				if the text format is bad.
+	 */
+	static NullMixer		*from_text(const char *buf, unsigned &buflen);
+
+	virtual unsigned		mix(float *outputs, unsigned space);
+	virtual void			groups_required(uint32_t &groups);
+};
+
+/**
+ * Simple summing mixer.
+ *
+ * Collects zero or more inputs and mixes them to a single output.
+ */
+class __EXPORT SimpleMixer : public Mixer
+{
+public:
+	/**
+	 * Constructor
+	 *
+	 * @param mixinfo		Mixer configuration.  The pointer passed
+	 *				becomes the property of the mixer and
+	 *				will be freed when the mixer is deleted.
+	 */
+	SimpleMixer(ControlCallback control_cb,
+		    uintptr_t cb_handle,
+		    mixer_simple_s *mixinfo);
+	~SimpleMixer();
+
+	/**
+	 * Factory method with full external configuration.
+	 *
+	 * Given a pointer to a buffer containing a text description of the mixer,
+	 * returns a pointer to a new instance of the mixer.
+	 *
+	 * @param control_cb		The callback to invoke when fetching a
+	 *				control value.
+	 * @param cb_handle		Handle passed to the control callback.
+	 * @param buf			Buffer containing a text description of
+	 *				the mixer.
+	 * @param buflen		Length of the buffer in bytes, adjusted
+	 *				to reflect the bytes consumed.
+	 * @return			A new SimpleMixer instance, or nullptr
+	 *				if the text format is bad.
+	 */
+	static SimpleMixer		*from_text(Mixer::ControlCallback control_cb,
+			uintptr_t cb_handle,
+			const char *buf,
+			unsigned &buflen);
+
+	/**
+	 * Factory method for PWM/PPM input to internal float representation.
+	 *
+	 * @param control_cb		The callback to invoke when fetching a
+	 *				control value.
+	 * @param cb_handle		Handle passed to the control callback.
+	 * @param input			The control index used when fetching the input.
+	 * @param min			The PWM/PPM value considered to be "minimum" (gives -1.0 out)
+	 * @param mid			The PWM/PPM value considered to be the midpoint (gives 0.0 out)
+	 * @param max			The PWM/PPM value considered to be "maximum" (gives 1.0 out)
+	 * @return			A new SimpleMixer instance, or nullptr if one could not be
+	 *				allocated.
+	 */
+	static SimpleMixer		*pwm_input(Mixer::ControlCallback control_cb,
+			uintptr_t cb_handle,
+			unsigned input,
+			uint16_t min,
+			uint16_t mid,
+			uint16_t max);
+
+	virtual unsigned		mix(float *outputs, unsigned space);
+	virtual void			groups_required(uint32_t &groups);
+
+	/**
+	 * Check that the mixer configuration as loaded is sensible.
+	 *
+	 * Note that this function will call control_cb, but only cares about
+	 * error returns, not the input value.
+	 *
+	 * @return			Zero if the mixer makes sense, nonzero otherwise.
+	 */
+	int				check();
+
+protected:
+
+private:
+	mixer_simple_s			*_info;
+
+	static int			parse_output_scaler(const char *buf, unsigned &buflen, mixer_scaler_s &scaler);
+	static int			parse_control_scaler(const char *buf,
+			unsigned &buflen,
+			mixer_scaler_s &scaler,
+			uint8_t &control_group,
+			uint8_t &control_index);
+};
+
+/**
+ * Multi-rotor mixer for pre-defined vehicle geometries.
+ *
+ * Collects four inputs (roll, pitch, yaw, thrust) and mixes them to
+ * a set of outputs based on the configured geometry.
+ */
+class __EXPORT MultirotorMixer : public Mixer
+{
+public:
+	/**
+	 * Supported multirotor geometries.
+	 *
+	 * XXX add more
+	 */
+	enum Geometry {
+		QUAD_X = 0,	/**< quad in X configuration */
+		QUAD_PLUS,	/**< quad in + configuration */
+		QUAD_V,		/**< quad in V configuration */
+		HEX_X,		/**< hex in X configuration */
+		HEX_PLUS,	/**< hex in + configuration */
+		OCTA_X,
+		OCTA_PLUS,
+
+		MAX_GEOMETRY
+	};
+
+	/**
+	 * Precalculated rotor mix.
+	 */
+	struct Rotor {
+		float	roll_scale;	/**< scales roll for this rotor */
+		float	pitch_scale;	/**< scales pitch for this rotor */
+		float	yaw_scale;	/**< scales yaw for this rotor */
+	};
+
+	/**
+	 * Constructor.
+	 *
+	 * @param control_cb		Callback invoked to read inputs.
+	 * @param cb_handle		Passed to control_cb.
+	 * @param geometry		The selected geometry.
+	 * @param roll_scale		Scaling factor applied to roll inputs
+	 *				compared to thrust.
+	 * @param pitch_scale		Scaling factor applied to pitch inputs
+	 *				compared to thrust.
+	 * @param yaw_wcale		Scaling factor applied to yaw inputs compared
+	 *				to thrust.
+	 * @param deadband		Minumum rotor control output value; usually
+	 *				tuned to ensure that rotors never stall at the
+	 * 				low end of their control range.
+	 */
+	MultirotorMixer(ControlCallback control_cb,
+			uintptr_t cb_handle,
+			Geometry geometry,
+			float roll_scale,
+			float pitch_scale,
+			float yaw_scale,
+			float deadband);
+	~MultirotorMixer();
+
+	/**
+	 * Factory method.
+	 *
+	 * Given a pointer to a buffer containing a text description of the mixer,
+	 * returns a pointer to a new instance of the mixer.
+	 *
+	 * @param control_cb		The callback to invoke when fetching a
+	 *				control value.
+	 * @param cb_handle		Handle passed to the control callback.
+	 * @param buf			Buffer containing a text description of
+	 *				the mixer.
+	 * @param buflen		Length of the buffer in bytes, adjusted
+	 *				to reflect the bytes consumed.
+	 * @return			A new MultirotorMixer instance, or nullptr
+	 *				if the text format is bad.
+	 */
+	static MultirotorMixer		*from_text(Mixer::ControlCallback control_cb,
+			uintptr_t cb_handle,
+			const char *buf,
+			unsigned &buflen);
+
+	virtual unsigned		mix(float *outputs, unsigned space);
+	virtual void			groups_required(uint32_t &groups);
+
+private:
+	float				_roll_scale;
+	float				_pitch_scale;
+	float				_yaw_scale;
+	float				_deadband;
+
+	unsigned			_rotor_count;
+	const Rotor			*_rotors;
+
+};
+
+#endif
diff --git a/src/modules/systemlib/mixer/mixer_group.cpp b/src/modules/systemlib/mixer/mixer_group.cpp
new file mode 100644
index 000000000..1dbc512cd
--- /dev/null
+++ b/src/modules/systemlib/mixer/mixer_group.cpp
@@ -0,0 +1,185 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file mixer_group.cpp
+ *
+ * Mixer collection.
+ */
+
+#include 
+
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+
+#include "mixer.h"
+
+#define debug(fmt, args...)	do { } while(0)
+//#define debug(fmt, args...)	do { printf("[mixer] " fmt "\n", ##args); } while(0)
+//#include 
+//#define debug(fmt, args...)	lowsyslog(fmt "\n", ##args)
+
+MixerGroup::MixerGroup(ControlCallback control_cb, uintptr_t cb_handle) :
+	Mixer(control_cb, cb_handle),
+	_first(nullptr)
+{
+}
+
+MixerGroup::~MixerGroup()
+{
+	reset();
+}
+
+void
+MixerGroup::add_mixer(Mixer *mixer)
+{
+	Mixer **mpp;
+
+	mpp = &_first;
+
+	while (*mpp != nullptr)
+		mpp = &((*mpp)->_next);
+
+	*mpp = mixer;
+	mixer->_next = nullptr;
+}
+
+void
+MixerGroup::reset()
+{
+	Mixer *mixer;
+
+	/* discard sub-mixers */
+	while (_first != nullptr) {
+		mixer = _first;
+		_first = mixer->_next;
+		delete mixer;
+		mixer = nullptr;
+	}
+}
+
+unsigned
+MixerGroup::mix(float *outputs, unsigned space)
+{
+	Mixer	*mixer = _first;
+	unsigned index = 0;
+
+	while ((mixer != nullptr) && (index < space)) {
+		index += mixer->mix(outputs + index, space - index);
+		mixer = mixer->_next;
+	}
+
+	return index;
+}
+
+void
+MixerGroup::groups_required(uint32_t &groups)
+{
+	Mixer	*mixer = _first;
+
+	while (mixer != nullptr) {
+		mixer->groups_required(groups);
+		mixer = mixer->_next;
+	}
+}
+
+int
+MixerGroup::load_from_buf(const char *buf, unsigned &buflen)
+{
+	int ret = -1;
+	const char *end = buf + buflen;
+
+	/*
+	 * Loop until either we have emptied the buffer, or we have failed to
+	 * allocate something when we expected to.
+	 */
+	while (buflen > 0) {
+		Mixer *m = nullptr;
+		const char *p = end - buflen;
+		unsigned resid = buflen;
+
+		/*
+		 * Use the next character as a hint to decide which mixer class to construct.
+		 */
+		switch (*p) {
+		case 'Z':
+			m = NullMixer::from_text(p, resid);
+			break;
+
+		case 'M':
+			m = SimpleMixer::from_text(_control_cb, _cb_handle, p, resid);
+			break;
+
+		case 'R':
+			m = MultirotorMixer::from_text(_control_cb, _cb_handle, p, resid);
+			break;
+
+		default:
+			/* it's probably junk or whitespace, skip a byte and retry */
+			buflen--;
+			continue;
+		}
+
+		/*
+		 * If we constructed something, add it to the group.
+		 */
+		if (m != nullptr) {
+			add_mixer(m);
+
+			/* we constructed something */
+			ret = 0;
+
+			/* only adjust buflen if parsing was successful */
+			buflen = resid;
+		} else {
+
+			/*
+			 * There is data in the buffer that we expected to parse, but it didn't,
+			 * so give up for now.
+			 */
+			break;
+		}
+	}
+
+	/* nothing more in the buffer for us now */
+	return ret;
+}
diff --git a/src/modules/systemlib/mixer/mixer_multirotor.cpp b/src/modules/systemlib/mixer/mixer_multirotor.cpp
new file mode 100644
index 000000000..d79811c0f
--- /dev/null
+++ b/src/modules/systemlib/mixer/mixer_multirotor.cpp
@@ -0,0 +1,301 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file mixer_multirotor.cpp
+ *
+ * Multi-rotor mixers.
+ */
+
+#include 
+
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+
+#include "mixer.h"
+
+#define debug(fmt, args...)	do { } while(0)
+//#define debug(fmt, args...)	do { printf("[mixer] " fmt "\n", ##args); } while(0)
+//#include 
+//#define debug(fmt, args...)	lowsyslog(fmt "\n", ##args)
+
+/*
+ * Clockwise: 1
+ * Counter-clockwise: -1
+ */
+
+namespace
+{
+
+/*
+ * These tables automatically generated by multi_tables - do not edit.
+ */
+const MultirotorMixer::Rotor _config_quad_x[] = {
+	{ -0.707107,  0.707107,  1.00 },
+	{  0.707107, -0.707107,  1.00 },
+	{  0.707107,  0.707107, -1.00 },
+	{ -0.707107, -0.707107, -1.00 },
+};
+const MultirotorMixer::Rotor _config_quad_plus[] = {
+	{ -1.000000,  0.000000,  1.00 },
+	{  1.000000,  0.000000,  1.00 },
+	{  0.000000,  1.000000, -1.00 },
+	{ -0.000000, -1.000000, -1.00 },
+};
+const MultirotorMixer::Rotor _config_quad_v[] = {
+	{ -0.927184,  0.374607,  1.00 },
+	{  0.694658, -0.719340,  1.00 },
+	{  0.927184,  0.374607, -1.00 },
+	{ -0.694658, -0.719340, -1.00 },
+};
+const MultirotorMixer::Rotor _config_hex_x[] = {
+	{ -1.000000,  0.000000, -1.00 },
+	{  1.000000,  0.000000,  1.00 },
+	{  0.500000,  0.866025, -1.00 },
+	{ -0.500000, -0.866025,  1.00 },
+	{ -0.500000,  0.866025,  1.00 },
+	{  0.500000, -0.866025, -1.00 },
+};
+const MultirotorMixer::Rotor _config_hex_plus[] = {
+	{  0.000000,  1.000000, -1.00 },
+	{ -0.000000, -1.000000,  1.00 },
+	{  0.866025, -0.500000, -1.00 },
+	{ -0.866025,  0.500000,  1.00 },
+	{  0.866025,  0.500000,  1.00 },
+	{ -0.866025, -0.500000, -1.00 },
+};
+const MultirotorMixer::Rotor _config_octa_x[] = {
+	{ -0.382683,  0.923880, -1.00 },
+	{  0.382683, -0.923880, -1.00 },
+	{ -0.923880,  0.382683,  1.00 },
+	{ -0.382683, -0.923880,  1.00 },
+	{  0.382683,  0.923880,  1.00 },
+	{  0.923880, -0.382683,  1.00 },
+	{  0.923880,  0.382683, -1.00 },
+	{ -0.923880, -0.382683, -1.00 },
+};
+const MultirotorMixer::Rotor _config_octa_plus[] = {
+	{  0.000000,  1.000000, -1.00 },
+	{ -0.000000, -1.000000, -1.00 },
+	{ -0.707107,  0.707107,  1.00 },
+	{ -0.707107, -0.707107,  1.00 },
+	{  0.707107,  0.707107,  1.00 },
+	{  0.707107, -0.707107,  1.00 },
+	{  1.000000,  0.000000, -1.00 },
+	{ -1.000000,  0.000000, -1.00 },
+};
+const MultirotorMixer::Rotor *_config_index[MultirotorMixer::Geometry::MAX_GEOMETRY] = {
+	&_config_quad_x[0],
+	&_config_quad_plus[0],
+	&_config_quad_v[0],
+	&_config_hex_x[0],
+	&_config_hex_plus[0],
+	&_config_octa_x[0],
+	&_config_octa_plus[0],
+};
+const unsigned _config_rotor_count[MultirotorMixer::Geometry::MAX_GEOMETRY] = {
+	4, /* quad_x */
+	4, /* quad_plus */
+	4, /* quad_v */
+	6, /* hex_x */
+	6, /* hex_plus */
+	8, /* octa_x */
+	8, /* octa_plus */
+};
+
+}
+
+MultirotorMixer::MultirotorMixer(ControlCallback control_cb,
+				 uintptr_t cb_handle,
+				 Geometry geometry,
+				 float roll_scale,
+				 float pitch_scale,
+				 float yaw_scale,
+				 float deadband) :
+	Mixer(control_cb, cb_handle),
+	_roll_scale(roll_scale),
+	_pitch_scale(pitch_scale),
+	_yaw_scale(yaw_scale),
+	_deadband(-1.0f + deadband),	/* shift to output range here to avoid runtime calculation */
+	_rotor_count(_config_rotor_count[geometry]),
+	_rotors(_config_index[geometry])
+{
+}
+
+MultirotorMixer::~MultirotorMixer()
+{
+}
+
+MultirotorMixer *
+MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handle, const char *buf, unsigned &buflen)
+{
+	MultirotorMixer::Geometry geometry;
+	char geomname[8];
+	int s[4];
+	int used;
+
+	if (sscanf(buf, "R: %s %d %d %d %d%n", geomname, &s[0], &s[1], &s[2], &s[3], &used) != 5) {
+		debug("multirotor parse failed on '%s'", buf);
+		return nullptr;
+	}
+
+	if (used > (int)buflen) {
+		debug("multirotor spec used %d of %u", used, buflen);
+		return nullptr;
+	}
+
+	buflen -= used;
+
+	if (!strcmp(geomname, "4+")) {
+		geometry = MultirotorMixer::QUAD_PLUS;
+
+	} else if (!strcmp(geomname, "4x")) {
+		geometry = MultirotorMixer::QUAD_X;
+
+	} else if (!strcmp(geomname, "4v")) {
+		geometry = MultirotorMixer::QUAD_V;
+
+	} else if (!strcmp(geomname, "6+")) {
+		geometry = MultirotorMixer::HEX_PLUS;
+
+	} else if (!strcmp(geomname, "6x")) {
+		geometry = MultirotorMixer::HEX_X;
+
+	} else if (!strcmp(geomname, "8+")) {
+		geometry = MultirotorMixer::OCTA_PLUS;
+
+	} else if (!strcmp(geomname, "8x")) {
+		geometry = MultirotorMixer::OCTA_X;
+
+	} else {
+		debug("unrecognised geometry '%s'", geomname);
+		return nullptr;
+	}
+
+	debug("adding multirotor mixer '%s'", geomname);
+
+	return new MultirotorMixer(
+		       control_cb,
+		       cb_handle,
+		       geometry,
+		       s[0] / 10000.0f,
+		       s[1] / 10000.0f,
+		       s[2] / 10000.0f,
+		       s[3] / 10000.0f);
+}
+
+unsigned
+MultirotorMixer::mix(float *outputs, unsigned space)
+{
+	float		roll    = get_control(0, 0) * _roll_scale;
+	//lowsyslog("roll: %d, get_control0: %d, %d\n", (int)(roll), (int)(get_control(0, 0)), (int)(_roll_scale));
+	float		pitch   = get_control(0, 1) * _pitch_scale;
+	float		yaw     = get_control(0, 2) * _yaw_scale;
+	float		thrust  = get_control(0, 3);
+	//lowsyslog("thrust: %d, get_control3: %d\n", (int)(thrust), (int)(get_control(0, 3)));
+	float		max     = 0.0f;
+	float		fixup_scale;
+
+	/* use an output factor to prevent too strong control signals at low throttle */
+	float min_thrust = 0.05f;
+	float max_thrust = 1.0f;
+	float startpoint_full_control = 0.40f;
+	float output_factor;
+
+	/* keep roll, pitch and yaw control to 0 below min thrust */
+	if (thrust <= min_thrust) {
+		output_factor = 0.0f;
+		/* linearly increase the output factor from 0 to 1 between min_thrust and startpoint_full_control */
+
+	} else if (thrust < startpoint_full_control && thrust > min_thrust) {
+		output_factor = (thrust / max_thrust) / (startpoint_full_control - min_thrust);
+		/* and then stay at full control */
+
+	} else {
+		output_factor = max_thrust;
+	}
+
+	roll *= output_factor;
+	pitch *= output_factor;
+	yaw *= output_factor;
+
+
+	/* perform initial mix pass yielding un-bounded outputs */
+	for (unsigned i = 0; i < _rotor_count; i++) {
+		float tmp = roll  * _rotors[i].roll_scale +
+			    pitch * _rotors[i].pitch_scale +
+			    yaw   * _rotors[i].yaw_scale +
+			    thrust;
+
+		if (tmp > max)
+			max = tmp;
+
+		outputs[i] = tmp;
+	}
+
+	/* scale values into the -1.0 - 1.0 range */
+	if (max > 1.0f) {
+		fixup_scale = 2.0f / max;
+
+	} else {
+		fixup_scale = 2.0f;
+	}
+
+	for (unsigned i = 0; i < _rotor_count; i++)
+		outputs[i] = -1.0f + (outputs[i] * fixup_scale);
+
+	/* ensure outputs are out of the deadband */
+	for (unsigned i = 0; i < _rotor_count; i++)
+		if (outputs[i] < _deadband)
+			outputs[i] = _deadband;
+
+	return _rotor_count;
+}
+
+void
+MultirotorMixer::groups_required(uint32_t &groups)
+{
+	/* XXX for now, hardcoded to indexes 0-3 in control group zero */
+	groups |= (1 << 0);
+}
+
diff --git a/src/modules/systemlib/mixer/mixer_simple.cpp b/src/modules/systemlib/mixer/mixer_simple.cpp
new file mode 100644
index 000000000..07dc5f37f
--- /dev/null
+++ b/src/modules/systemlib/mixer/mixer_simple.cpp
@@ -0,0 +1,334 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file mixer_simple.cpp
+ *
+ * Simple summing mixer.
+ */
+
+#include 
+
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+
+#include "mixer.h"
+
+#define debug(fmt, args...)	do { } while(0)
+//#define debug(fmt, args...)	do { printf("[mixer] " fmt "\n", ##args); } while(0)
+
+SimpleMixer::SimpleMixer(ControlCallback control_cb,
+			 uintptr_t cb_handle,
+			 mixer_simple_s *mixinfo) :
+	Mixer(control_cb, cb_handle),
+	_info(mixinfo)
+{
+}
+
+SimpleMixer::~SimpleMixer()
+{
+	if (_info != nullptr)
+		free(_info);
+}
+
+static const char *
+findtag(const char *buf, unsigned &buflen, char tag)
+{
+	while (buflen >= 2) {
+		if ((buf[0] == tag) && (buf[1] == ':'))
+			return buf;
+		buf++;
+		buflen--;
+	}
+	return nullptr;
+}
+
+static void
+skipline(const char *buf, unsigned &buflen)
+{
+	const char *p;
+
+	/* if we can find a CR or NL in the buffer, skip up to it */
+	if ((p = (const char *)memchr(buf, '\r', buflen)) || (p = (const char *)memchr(buf, '\n', buflen)))
+		buflen -= (p - buf);
+}
+
+int
+SimpleMixer::parse_output_scaler(const char *buf, unsigned &buflen, mixer_scaler_s &scaler)
+{
+	int ret;
+	int s[5];
+	
+	buf = findtag(buf, buflen, 'O');
+	if ((buf == nullptr) || (buflen < 12))
+		return -1;
+
+	if ((ret = sscanf(buf, "O: %d %d %d %d %d",
+			  &s[0], &s[1], &s[2], &s[3], &s[4])) != 5) {
+		debug("scaler parse failed on '%s' (got %d)", buf, ret);
+		return -1;
+	}
+	skipline(buf, buflen);
+
+	scaler.negative_scale	= s[0] / 10000.0f;
+	scaler.positive_scale	= s[1] / 10000.0f;
+	scaler.offset		= s[2] / 10000.0f;
+	scaler.min_output	= s[3] / 10000.0f;
+	scaler.max_output	= s[4] / 10000.0f;
+
+	return 0;
+}
+
+int
+SimpleMixer::parse_control_scaler(const char *buf, unsigned &buflen, mixer_scaler_s &scaler, uint8_t &control_group, uint8_t &control_index)
+{
+	unsigned u[2];
+	int s[5];
+
+	buf = findtag(buf, buflen, 'S');
+	if ((buf == nullptr) || (buflen < 16))
+		return -1;
+
+	if (sscanf(buf, "S: %u %u %d %d %d %d %d",
+		   &u[0], &u[1], &s[0], &s[1], &s[2], &s[3], &s[4]) != 7) {
+		debug("control parse failed on '%s'", buf);
+		return -1;
+	}
+	skipline(buf, buflen);
+
+	control_group		= u[0];
+	control_index		= u[1];
+	scaler.negative_scale	= s[0] / 10000.0f;
+	scaler.positive_scale	= s[1] / 10000.0f;
+	scaler.offset		= s[2] / 10000.0f;
+	scaler.min_output	= s[3] / 10000.0f;
+	scaler.max_output	= s[4] / 10000.0f;
+
+	return 0;
+}
+
+SimpleMixer *
+SimpleMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handle, const char *buf, unsigned &buflen)
+{
+	SimpleMixer *sm = nullptr;
+	mixer_simple_s *mixinfo = nullptr;
+	unsigned inputs;
+	int used;
+	const char *end = buf + buflen;
+
+	/* get the base info for the mixer */
+	if (sscanf(buf, "M: %u%n", &inputs, &used) != 1) {
+		debug("simple parse failed on '%s'", buf);
+		goto out;
+	}
+
+	buflen -= used;
+
+	mixinfo = (mixer_simple_s *)malloc(MIXER_SIMPLE_SIZE(inputs));
+
+	if (mixinfo == nullptr) {
+		debug("could not allocate memory for mixer info");
+		goto out;
+	}
+
+	mixinfo->control_count = inputs;
+
+	if (parse_output_scaler(end - buflen, buflen, mixinfo->output_scaler))
+		goto out;
+
+	for (unsigned i = 0; i < inputs; i++) {
+		if (parse_control_scaler(end - buflen, buflen,
+					 mixinfo->controls[i].scaler,
+					 mixinfo->controls[i].control_group,
+					 mixinfo->controls[i].control_index))
+			goto out;
+	}
+
+	sm = new SimpleMixer(control_cb, cb_handle, mixinfo);
+
+	if (sm != nullptr) {
+		mixinfo = nullptr;
+		debug("loaded mixer with %d inputs", inputs);
+
+	} else {
+		debug("could not allocate memory for mixer");
+	}
+
+out:
+
+	if (mixinfo != nullptr)
+		free(mixinfo);
+
+	return sm;
+}
+
+SimpleMixer *
+SimpleMixer::pwm_input(Mixer::ControlCallback control_cb, uintptr_t cb_handle, unsigned input, uint16_t min, uint16_t mid, uint16_t max)
+{
+	SimpleMixer *sm = nullptr;
+	mixer_simple_s *mixinfo = nullptr;
+
+	mixinfo = (mixer_simple_s *)malloc(MIXER_SIMPLE_SIZE(1));
+
+	if (mixinfo == nullptr) {
+		debug("could not allocate memory for mixer info");
+		goto out;
+	}
+
+	mixinfo->control_count = 1;
+
+	/*
+	 * Always pull from group 0, with the input value giving the channel.
+	 */
+	mixinfo->controls[0].control_group = 0;
+	mixinfo->controls[0].control_index = input;
+
+	/*
+	 * Conversion uses both the input and output side of the mixer.
+	 *
+	 * The input side is used to slide the control value such that the min argument
+	 * results in a value of zero.
+	 *
+	 * The output side is used to apply the scaling for the min/max values so that
+	 * the resulting output is a -1.0 ... 1.0 value for the min...max range.
+	 */
+	mixinfo->controls[0].scaler.negative_scale = 1.0f;
+	mixinfo->controls[0].scaler.positive_scale = 1.0f;
+	mixinfo->controls[0].scaler.offset = -mid;
+	mixinfo->controls[0].scaler.min_output = -(mid - min);
+	mixinfo->controls[0].scaler.max_output = (max - mid);
+
+	mixinfo->output_scaler.negative_scale = 500.0f / (mid - min);
+	mixinfo->output_scaler.positive_scale = 500.0f / (max - mid);
+	mixinfo->output_scaler.offset = 0.0f;
+	mixinfo->output_scaler.min_output = -1.0f;
+	mixinfo->output_scaler.max_output = 1.0f;
+
+	sm = new SimpleMixer(control_cb, cb_handle, mixinfo);
+
+	if (sm != nullptr) {
+		mixinfo = nullptr;
+		debug("PWM input mixer for %d", input);
+
+	} else {
+		debug("could not allocate memory for PWM input mixer");
+	}
+
+out:
+
+	if (mixinfo != nullptr)
+		free(mixinfo);
+
+	return sm;
+}
+
+unsigned
+SimpleMixer::mix(float *outputs, unsigned space)
+{
+	float		sum = 0.0f;
+
+	if (_info == nullptr)
+		return 0;
+
+	if (space < 1)
+		return 0;
+
+	for (unsigned i = 0; i < _info->control_count; i++) {
+		float input;
+
+		_control_cb(_cb_handle,
+			    _info->controls[i].control_group,
+			    _info->controls[i].control_index,
+			    input);
+
+		sum += scale(_info->controls[i].scaler, input);
+	}
+
+	*outputs = scale(_info->output_scaler, sum);
+	return 1;
+}
+
+void
+SimpleMixer::groups_required(uint32_t &groups)
+{
+	for (unsigned i = 0; i < _info->control_count; i++)
+		groups |= 1 << _info->controls[i].control_group;
+}
+
+int
+SimpleMixer::check()
+{
+	int ret;
+	float junk;
+
+	/* sanity that presumes that a mixer includes a control no more than once */
+	/* max of 32 groups due to groups_required API */
+	if (_info->control_count > 32)
+		return -2;
+
+	/* validate the output scaler */
+	ret = scale_check(_info->output_scaler);
+
+	if (ret != 0)
+		return ret;
+
+	/* validate input scalers */
+	for (unsigned i = 0; i < _info->control_count; i++) {
+
+		/* verify that we can fetch the control */
+		if (_control_cb(_cb_handle,
+				_info->controls[i].control_group,
+				_info->controls[i].control_index,
+				junk) != 0) {
+			return -3;
+		}
+
+		/* validate the scaler */
+		ret = scale_check(_info->controls[i].scaler);
+
+		if (ret != 0)
+			return (10 * i + ret);
+	}
+
+	return 0;
+}
diff --git a/src/modules/systemlib/mixer/module.mk b/src/modules/systemlib/mixer/module.mk
new file mode 100644
index 000000000..4d45e1c50
--- /dev/null
+++ b/src/modules/systemlib/mixer/module.mk
@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# mixer library
+#
+LIBNAME	= mixerlib
+
+SRCS		= mixer.cpp \
+		  mixer_group.cpp \
+		  mixer_multirotor.cpp \
+		  mixer_simple.cpp
diff --git a/src/modules/systemlib/mixer/multi_tables b/src/modules/systemlib/mixer/multi_tables
new file mode 100755
index 000000000..19a8239a6
--- /dev/null
+++ b/src/modules/systemlib/mixer/multi_tables
@@ -0,0 +1,100 @@
+#!/usr/bin/tclsh
+#
+# Generate multirotor mixer scale tables compatible with the ArduCopter layout
+#
+
+proc rad {a} { expr ($a / 360.0) * 2 * acos(-1) }
+proc rcos {a} { expr cos([rad $a])}
+
+set quad_x {
+	  45 CCW
+	-135 CCW
+	 -45 CW
+	 135 CW
+}
+
+set quad_plus {
+	  90 CCW
+	 -90 CCW
+	   0 CW
+	 180 CW
+}
+
+set quad_v {
+	  68 CCW
+	-136 CCW
+	 -68 CW
+	 136 CW
+}
+
+set hex_x {
+	  90 CW
+	 -90 CCW
+	 -30 CW
+	 150 CCW
+	  30 CCW
+	-150 CW
+}
+
+set hex_plus {
+	   0 CW
+	 180 CCW
+	-120 CW
+	  60 CCW
+	 -60 CCW
+	 120 CW
+}
+
+set octa_x {
+	  22.5 CW
+	-157.5 CW
+	  67.5 CCW
+	 157.5 CCW
+	 -22.5 CCW
+	-112.5 CCW
+	 -67.5 CW
+	 112.5 CW
+}
+
+set octa_plus {
+	   0 CW
+	 180 CW
+	  45 CCW
+	 135 CCW
+	 -45 CCW
+	-135 CCW
+	 -90 CW
+	  90 CW
+}
+
+set tables {quad_x quad_plus quad_v hex_x hex_plus octa_x octa_plus}
+
+proc factors {a d} { puts [format "\t{ %9.6f, %9.6f, %5.2f }," [rcos [expr $a + 90]] [rcos $a] [expr -$d]]}
+
+foreach table $tables {
+	puts [format "const MultirotorMixer::Rotor _config_%s\[\] = {" $table]
+
+	upvar #0 $table angles
+	foreach {angle dir} $angles {
+		if {$dir == "CW"} {
+			set dd 1.0
+		} else {
+			set dd -1.0
+		}
+		factors $angle $dd
+	}
+	puts "};"
+}
+
+puts "const MultirotorMixer::Rotor *_config_index\[MultirotorMixer::Geometry::MAX_GEOMETRY\] = {"
+foreach table $tables {
+	puts [format "\t&_config_%s\[0\]," $table]
+}
+puts "};"
+
+puts "const unsigned _config_rotor_count\[MultirotorMixer::Geometry::MAX_GEOMETRY\] = {"
+foreach table $tables {
+	upvar #0 $table angles
+	puts [format "\t%u, /* %s */" [expr [llength $angles] / 2] $table]
+}
+puts "};"
diff --git a/src/modules/systemlib/module.mk b/src/modules/systemlib/module.mk
new file mode 100644
index 000000000..fd0289c9a
--- /dev/null
+++ b/src/modules/systemlib/module.mk
@@ -0,0 +1,50 @@
+############################################################################
+#
+#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# System utility library
+#
+
+SRCS		 = err.c \
+		   hx_stream.c \
+		   perf_counter.c \
+		   param/param.c \
+		   bson/tinybson.c \
+		   conversions.c \
+		   cpuload.c \
+		   getopt_long.c \
+		   up_cxxinitialize.c \
+		   pid/pid.c \
+		   geo/geo.c \
+		   systemlib.c \
+		   airspeed.c
diff --git a/src/modules/systemlib/param/param.c b/src/modules/systemlib/param/param.c
new file mode 100644
index 000000000..69a9bdf9b
--- /dev/null
+++ b/src/modules/systemlib/param/param.c
@@ -0,0 +1,805 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file param.c
+ *
+ * Global parameter store.
+ *
+ * Note that it might make sense to convert this into a driver.  That would
+ * offer some interesting options regarding state for e.g. ORB advertisements
+ * and background parameter saving.
+ */
+
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+
+#include 
+
+#include 
+
+#include "systemlib/param/param.h"
+#include "systemlib/uthash/utarray.h"
+#include "systemlib/bson/tinybson.h"
+
+#include "uORB/uORB.h"
+#include "uORB/topics/parameter_update.h"
+
+#if 1
+# define debug(fmt, args...)		do { warnx(fmt, ##args); } while(0)
+#else
+# define debug(fmt, args...)		do { } while(0)
+#endif
+
+/**
+ * Array of static parameter info.
+ */
+extern char __param_start, __param_end;
+static const struct param_info_s	*param_info_base = (struct param_info_s *) &__param_start;
+static const struct param_info_s	*param_info_limit = (struct param_info_s *) &__param_end;
+#define	param_info_count		((unsigned)(param_info_limit - param_info_base))
+
+/**
+ * Storage for modified parameters.
+ */
+struct param_wbuf_s {
+	param_t			param;
+	union param_value_u	val;
+	bool			unsaved;
+};
+
+/** flexible array holding modified parameter values */
+UT_array	*param_values;
+
+/** array info for the modified parameters array */
+const UT_icd	param_icd = {sizeof(struct param_wbuf_s), NULL, NULL, NULL};
+
+/** parameter update topic */
+ORB_DEFINE(parameter_update, struct parameter_update_s);
+
+/** parameter update topic handle */
+static orb_advert_t param_topic = -1;
+
+/** lock the parameter store */
+static void
+param_lock(void)
+{
+	/* XXX */
+}
+
+/** unlock the parameter store */
+static void
+param_unlock(void)
+{
+	/* XXX */
+}
+
+/** assert that the parameter store is locked */
+static void
+param_assert_locked(void)
+{
+	/* XXX */
+}
+
+/**
+ * Test whether a param_t is value.
+ *
+ * @param param			The parameter handle to test.
+ * @return			True if the handle is valid.
+ */
+static bool
+handle_in_range(param_t param)
+{
+	return (param < param_info_count);
+}
+
+/**
+ * Compare two modifid parameter structures to determine ordering.
+ *
+ * This function is suitable for passing to qsort or bsearch.
+ */
+static int
+param_compare_values(const void *a, const void *b)
+{
+	struct param_wbuf_s *pa = (struct param_wbuf_s *)a;
+	struct param_wbuf_s *pb = (struct param_wbuf_s *)b;
+
+	if (pa->param < pb->param)
+		return -1;
+
+	if (pa->param > pb->param)
+		return 1;
+
+	return 0;
+}
+
+/**
+ * Locate the modified parameter structure for a parameter, if it exists.
+ *
+ * @param param			The parameter being searched.
+ * @return			The structure holding the modified value, or
+ *				NULL if the parameter has not been modified.
+ */
+static struct param_wbuf_s *
+param_find_changed(param_t param) {
+	struct param_wbuf_s	*s = NULL;
+
+	param_assert_locked();
+
+	if (param_values != NULL) {
+#if 0	/* utarray_find requires bsearch, not available */
+		struct param_wbuf_s key;
+		key.param = param;
+		s = utarray_find(param_values, &key, param_compare_values);
+#else
+
+		while ((s = (struct param_wbuf_s *)utarray_next(param_values, s)) != NULL) {
+			if (s->param == param)
+				break;
+		}
+
+#endif
+	}
+
+	return s;
+}
+
+static void
+param_notify_changes(void)
+{
+	struct parameter_update_s pup = { .timestamp = hrt_absolute_time() };
+
+	/*
+	 * If we don't have a handle to our topic, create one now; otherwise
+	 * just publish.
+	 */
+	if (param_topic == -1) {
+		param_topic = orb_advertise(ORB_ID(parameter_update), &pup);
+
+	} else {
+		orb_publish(ORB_ID(parameter_update), param_topic, &pup);
+	}
+}
+
+param_t
+param_find(const char *name)
+{
+	param_t param;
+
+	/* perform a linear search of the known parameters */
+	for (param = 0; handle_in_range(param); param++) {
+		if (!strcmp(param_info_base[param].name, name))
+			return param;
+	}
+
+	/* not found */
+	return PARAM_INVALID;
+}
+
+unsigned
+param_count(void)
+{
+	return param_info_count;
+}
+
+param_t
+param_for_index(unsigned index)
+{
+	if (index < param_info_count)
+		return (param_t)index;
+
+	return PARAM_INVALID;
+}
+
+int
+param_get_index(param_t param)
+{
+	if (handle_in_range(param))
+		return (unsigned)param;
+
+	return -1;
+}
+
+const char *
+param_name(param_t param)
+{
+	if (handle_in_range(param))
+		return param_info_base[param].name;
+
+	return NULL;
+}
+
+bool
+param_value_is_default(param_t param)
+{
+	return param_find_changed(param) ? false : true;
+}
+
+bool
+param_value_unsaved(param_t param)
+{
+	static struct param_wbuf_s *s;
+
+	s = param_find_changed(param);
+
+	if (s && s->unsaved)
+		return true;
+
+	return false;
+}
+
+enum param_type_e
+param_type(param_t param)
+{
+	if (handle_in_range(param))
+		return param_info_base[param].type;
+
+	return PARAM_TYPE_UNKNOWN;
+}
+
+size_t
+param_size(param_t param)
+{
+	if (handle_in_range(param)) {
+		switch (param_type(param)) {
+		case PARAM_TYPE_INT32:
+		case PARAM_TYPE_FLOAT:
+			return 4;
+
+		case PARAM_TYPE_STRUCT ... PARAM_TYPE_STRUCT_MAX:
+			/* decode structure size from type value */
+			return param_type(param) - PARAM_TYPE_STRUCT;
+
+		default:
+			return 0;
+		}
+	}
+
+	return 0;
+}
+
+/**
+ * Obtain a pointer to the storage allocated for a parameter.
+ *
+ * @param param			The parameter whose storage is sought.
+ * @return			A pointer to the parameter value, or NULL
+ *				if the parameter does not exist.
+ */
+static const void *
+param_get_value_ptr(param_t param)
+{
+	const void *result = NULL;
+
+	param_assert_locked();
+
+	if (handle_in_range(param)) {
+
+		const union param_value_u *v;
+
+		/* work out whether we're fetching the default or a written value */
+		struct param_wbuf_s *s = param_find_changed(param);
+
+		if (s != NULL) {
+			v = &s->val;
+
+		} else {
+			v = ¶m_info_base[param].val;
+		}
+
+		if (param_type(param) == PARAM_TYPE_STRUCT) {
+			result = v->p;
+
+		} else {
+			result = v;
+		}
+	}
+
+	return result;
+}
+
+int
+param_get(param_t param, void *val)
+{
+	int result = -1;
+
+	param_lock();
+
+	const void *v = param_get_value_ptr(param);
+
+	if (val != NULL) {
+		memcpy(val, v, param_size(param));
+		result = 0;
+	}
+
+	param_unlock();
+
+	return result;
+}
+
+static int
+param_set_internal(param_t param, const void *val, bool mark_saved)
+{
+	int result = -1;
+	bool params_changed = false;
+
+	param_lock();
+
+	if (param_values == NULL)
+		utarray_new(param_values, ¶m_icd);
+
+	if (param_values == NULL) {
+		debug("failed to allocate modified values array");
+		goto out;
+	}
+
+	if (handle_in_range(param)) {
+
+		struct param_wbuf_s *s = param_find_changed(param);
+
+		if (s == NULL) {
+
+			/* construct a new parameter */
+			struct param_wbuf_s buf = {
+				.param = param,
+				.val.p = NULL,
+				.unsaved = false
+			};
+
+			/* add it to the array and sort */
+			utarray_push_back(param_values, &buf);
+			utarray_sort(param_values, param_compare_values);
+
+			/* find it after sorting */
+			s = param_find_changed(param);
+		}
+
+		/* update the changed value */
+		switch (param_type(param)) {
+		case PARAM_TYPE_INT32:
+			s->val.i = *(int32_t *)val;
+			break;
+
+		case PARAM_TYPE_FLOAT:
+			s->val.f = *(float *)val;
+			break;
+
+		case PARAM_TYPE_STRUCT ... PARAM_TYPE_STRUCT_MAX:
+			if (s->val.p == NULL) {
+				s->val.p = malloc(param_size(param));
+
+				if (s->val.p == NULL) {
+					debug("failed to allocate parameter storage");
+					goto out;
+				}
+			}
+
+			memcpy(s->val.p, val, param_size(param));
+			break;
+
+		default:
+			goto out;
+		}
+
+		s->unsaved = !mark_saved;
+		params_changed = true;
+		result = 0;
+	}
+
+out:
+	param_unlock();
+
+	/*
+	 * If we set something, now that we have unlocked, go ahead and advertise that
+	 * a thing has been set.
+	 */
+	if (params_changed)
+		param_notify_changes();
+
+	return result;
+}
+
+int
+param_set(param_t param, const void *val)
+{
+	return param_set_internal(param, val, false);
+}
+
+void
+param_reset(param_t param)
+{
+	struct param_wbuf_s *s = NULL;
+
+	param_lock();
+
+	if (handle_in_range(param)) {
+
+		/* look for a saved value */
+		s = param_find_changed(param);
+
+		/* if we found one, erase it */
+		if (s != NULL) {
+			int pos = utarray_eltidx(param_values, s);
+			utarray_erase(param_values, pos, 1);
+		}
+	}
+
+	param_unlock();
+
+	if (s != NULL)
+		param_notify_changes();
+}
+
+void
+param_reset_all(void)
+{
+	param_lock();
+
+	if (param_values != NULL) {
+		utarray_free(param_values);
+	}
+
+	/* mark as reset / deleted */
+	param_values = NULL;
+
+	param_unlock();
+
+	param_notify_changes();
+}
+
+static const char *param_default_file = "/eeprom/parameters";
+static char *param_user_file = NULL;
+
+int
+param_set_default_file(const char* filename)
+{
+	if (param_user_file != NULL) {
+		free(param_user_file);
+		param_user_file = NULL;
+	}
+	if (filename)
+		param_user_file = strdup(filename);
+	return 0;
+}
+
+const char *
+param_get_default_file(void)
+{
+	return (param_user_file != NULL) ? param_user_file : param_default_file;
+}
+
+int
+param_save_default(void)
+{
+	/* delete the file in case it exists */
+	unlink(param_get_default_file());
+
+	/* create the file */
+	int fd = open(param_get_default_file(), O_WRONLY | O_CREAT | O_EXCL);
+
+	if (fd < 0) {
+		warn("opening '%s' for writing failed", param_get_default_file());
+		return -1;
+	}
+
+	int result = param_export(fd, false);
+	close(fd);
+
+	if (result != 0) {
+		warn("error exporting parameters to '%s'", param_get_default_file());
+		unlink(param_get_default_file());
+		return -2;
+	}
+
+	return 0;
+}
+
+/**
+ * @return 0 on success, 1 if all params have not yet been stored, -1 if device open failed, -2 if writing parameters failed
+ */
+int
+param_load_default(void)
+{
+	int fd = open(param_get_default_file(), O_RDONLY);
+
+	if (fd < 0) {
+		/* no parameter file is OK, otherwise this is an error */
+		if (errno != ENOENT) {
+			warn("open '%s' for reading failed", param_get_default_file());
+			return -1;
+		}
+		return 1;
+	}
+
+	int result = param_load(fd);
+	close(fd);
+
+	if (result != 0) {
+		warn("error reading parameters from '%s'", param_get_default_file());
+		return -2;
+	}
+
+	return 0;
+}
+
+int
+param_export(int fd, bool only_unsaved)
+{
+	struct param_wbuf_s *s = NULL;
+	struct bson_encoder_s encoder;
+	int	result = -1;
+
+	param_lock();
+
+	bson_encoder_init_file(&encoder, fd);
+
+	/* no modified parameters -> we are done */
+	if (param_values == NULL) {
+		result = 0;
+		goto out;
+	}
+
+	while ((s = (struct param_wbuf_s *)utarray_next(param_values, s)) != NULL) {
+
+		int32_t	i;
+		float	f;
+
+		/*
+		 * If we are only saving values changed since last save, and this
+		 * one hasn't, then skip it
+		 */
+		if (only_unsaved && !s->unsaved)
+			continue;
+
+		s->unsaved = false;
+
+		/* append the appropriate BSON type object */
+		switch (param_type(s->param)) {
+		case PARAM_TYPE_INT32:
+			param_get(s->param, &i);
+
+			if (bson_encoder_append_int(&encoder, param_name(s->param), i)) {
+				debug("BSON append failed for '%s'", param_name(s->param));
+				goto out;
+			}
+
+			break;
+
+		case PARAM_TYPE_FLOAT:
+			param_get(s->param, &f);
+
+			if (bson_encoder_append_double(&encoder, param_name(s->param), f)) {
+				debug("BSON append failed for '%s'", param_name(s->param));
+				goto out;
+			}
+
+			break;
+
+		case PARAM_TYPE_STRUCT ... PARAM_TYPE_STRUCT_MAX:
+			if (bson_encoder_append_binary(&encoder,
+						       param_name(s->param),
+						       BSON_BIN_BINARY,
+						       param_size(s->param),
+						       param_get_value_ptr(s->param))) {
+				debug("BSON append failed for '%s'", param_name(s->param));
+				goto out;
+			}
+
+			break;
+
+		default:
+			debug("unrecognized parameter type");
+			goto out;
+		}
+	}
+
+	result = 0;
+
+out:
+	param_unlock();
+
+	if (result == 0)
+		result = bson_encoder_fini(&encoder);
+
+	return result;
+}
+
+struct param_import_state {
+	bool mark_saved;
+};
+
+static int
+param_import_callback(bson_decoder_t decoder, void *private, bson_node_t node)
+{
+	float f;
+	int32_t i;
+	void *v, *tmp = NULL;
+	int result = -1;
+	struct param_import_state *state = (struct param_import_state *)private;
+
+	/*
+	 * EOO means the end of the parameter object. (Currently not supporting
+	 * nested BSON objects).
+	 */
+	if (node->type == BSON_EOO) {
+		debug("end of parameters");
+		return 0;
+	}
+
+	/*
+	 * Find the parameter this node represents.  If we don't know it,
+	 * ignore the node.
+	 */
+	param_t param = param_find(node->name);
+
+	if (param == PARAM_INVALID) {
+		debug("ignoring unrecognised parameter '%s'", node->name);
+		return 1;
+	}
+
+	/*
+	 * Handle setting the parameter from the node
+	 */
+
+	switch (node->type) {
+	case BSON_INT32:
+		if (param_type(param) != PARAM_TYPE_INT32) {
+			debug("unexpected type for '%s", node->name);
+			goto out;
+		}
+
+		i = node->i;
+		v = &i;
+		break;
+
+	case BSON_DOUBLE:
+		if (param_type(param) != PARAM_TYPE_FLOAT) {
+			debug("unexpected type for '%s", node->name);
+			goto out;
+		}
+
+		f = node->d;
+		v = &f;
+		break;
+
+	case BSON_BINDATA:
+		if (node->subtype != BSON_BIN_BINARY) {
+			debug("unexpected subtype for '%s", node->name);
+			goto out;
+		}
+
+		if (bson_decoder_data_pending(decoder) != param_size(param)) {
+			debug("bad size for '%s'", node->name);
+			goto out;
+		}
+
+		/* XXX check actual file data size? */
+		tmp = malloc(param_size(param));
+
+		if (tmp == NULL) {
+			debug("failed allocating for '%s'", node->name);
+			goto out;
+		}
+
+		if (bson_decoder_copy_data(decoder, tmp)) {
+			debug("failed copying data for '%s'", node->name);
+			goto out;
+		}
+
+		v = tmp;
+		break;
+
+	default:
+		debug("unrecognised node type");
+		goto out;
+	}
+
+	if (param_set_internal(param, v, state->mark_saved)) {
+		debug("error setting value for '%s'", node->name);
+		goto out;
+	}
+
+	if (tmp != NULL) {
+		free(tmp);
+		tmp = NULL;
+	}
+
+	/* don't return zero, that means EOF */
+	result = 1;
+
+out:
+
+	if (tmp != NULL)
+		free(tmp);
+
+	return result;
+}
+
+static int
+param_import_internal(int fd, bool mark_saved)
+{
+	struct bson_decoder_s decoder;
+	int result = -1;
+	struct param_import_state state;
+
+	if (bson_decoder_init_file(&decoder, fd, param_import_callback, &state)) {
+		debug("decoder init failed");
+		goto out;
+	}
+
+	state.mark_saved = mark_saved;
+
+	do {
+		result = bson_decoder_next(&decoder);
+
+	} while (result > 0);
+
+out:
+
+	if (result < 0)
+		debug("BSON error decoding parameters");
+
+	return result;
+}
+
+int
+param_import(int fd)
+{
+	return param_import_internal(fd, false);
+}
+
+int
+param_load(int fd)
+{
+	param_reset_all();
+	return param_import_internal(fd, true);
+}
+
+void
+param_foreach(void (*func)(void *arg, param_t param), void *arg, bool only_changed)
+{
+	param_t	param;
+
+	for (param = 0; handle_in_range(param); param++) {
+
+		/* if requested, skip unchanged values */
+		if (only_changed && (param_find_changed(param) == NULL))
+			continue;
+
+		func(arg, param);
+	}
+}
diff --git a/src/modules/systemlib/param/param.h b/src/modules/systemlib/param/param.h
new file mode 100644
index 000000000..084cd931a
--- /dev/null
+++ b/src/modules/systemlib/param/param.h
@@ -0,0 +1,336 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file param.h
+ *
+ * Global parameter store.
+ *
+ * Note that a number of API members are marked const or pure; these
+ * assume that the set of parameters cannot change, or that a parameter
+ * cannot change type or size over its lifetime.  If any of these assumptions
+ * are invalidated, the attributes should be re-evaluated.
+ */
+
+#ifndef _SYSTEMLIB_PARAM_PARAM_H
+#define _SYSTEMLIB_PARAM_PARAM_H
+
+#include 
+#include 
+#include 
+
+/** Maximum size of the parameter backing file */
+#define PARAM_FILE_MAXSIZE	4096
+
+__BEGIN_DECLS
+
+/**
+ * Parameter types.
+ */
+typedef enum param_type_e {
+	/* globally-known parameter types */
+	PARAM_TYPE_INT32 = 0,
+	PARAM_TYPE_FLOAT,
+
+	/* structure parameters; size is encoded in the type value */
+	PARAM_TYPE_STRUCT = 100,
+	PARAM_TYPE_STRUCT_MAX = 16384 + PARAM_TYPE_STRUCT,
+
+	PARAM_TYPE_UNKNOWN = 0xffff
+} param_type_t;
+
+/**
+ * Parameter handle.
+ *
+ * Parameters are represented by parameter handles, which can
+ * be obtained by looking up (or creating?) parameters.
+ */
+typedef uintptr_t	param_t;
+
+/**
+ * Handle returned when a parameter cannot be found.
+ */
+#define PARAM_INVALID	((uintptr_t)0xffffffff)
+
+/**
+ * Look up a parameter by name.
+ *
+ * @param name		The canonical name of the parameter being looked up.
+ * @return		A handle to the parameter, or PARAM_INVALID if the parameter does not exist.
+ */
+__EXPORT param_t	param_find(const char *name);
+
+/**
+ * Return the total number of parameters.
+ *
+ * @return		The number of parameters.
+ */
+__EXPORT unsigned	param_count(void);
+
+/**
+ * Look up a parameter by index.
+ *
+ * @param index		An index from 0 to n, where n is param_count()-1.
+ * @return		A handle to the parameter, or PARAM_INVALID if the index is out of range.
+ */
+__EXPORT param_t	param_for_index(unsigned index);
+
+/**
+ * Look up the index of a parameter.
+ *
+ * @param param		The parameter to obtain the index for.
+ * @return		The index, or -1 if the parameter does not exist.
+ */
+__EXPORT int		param_get_index(param_t param);
+
+/**
+ * Obtain the name of a parameter.
+ *
+ * @param param		A handle returned by param_find or passed by param_foreach.
+ * @return		The name assigned to the parameter, or NULL if the handle is invalid.
+ */
+__EXPORT const char	*param_name(param_t param);
+
+/**
+ * Test whether a parameter's value has changed from the default.
+ *
+ * @return		If true, the parameter's value has not been changed from the default.
+ */
+__EXPORT bool		param_value_is_default(param_t param);
+
+/**
+ * Test whether a parameter's value has been changed but not saved.
+ *
+ * @return		If true, the parameter's value has not been saved.
+ */
+__EXPORT bool		param_value_unsaved(param_t param);
+
+/**
+ * Obtain the type of a parameter.
+ *
+ * @param param		A handle returned by param_find or passed by param_foreach.
+ * @return		The type assigned to the parameter.
+ */
+__EXPORT param_type_t	param_type(param_t param);
+
+/**
+ * Determine the size of a parameter.
+ *
+ * @param param		A handle returned by param_find or passed by param_foreach.
+ * @return		The size of the parameter's value.
+ */
+__EXPORT size_t		param_size(param_t param);
+
+/**
+ * Copy the value of a parameter.
+ *
+ * @param param		A handle returned by param_find or passed by param_foreach.
+ * @param val		Where to return the value, assumed to point to suitable storage for the parameter type.
+ *			For structures, a bitwise copy of the structure is performed to this address.
+ * @return		Zero if the parameter's value could be returned, nonzero otherwise.
+ */
+__EXPORT int		param_get(param_t param, void *val);
+
+/**
+ * Set the value of a parameter.
+ *
+ * @param param		A handle returned by param_find or passed by param_foreach.
+ * @param val		The value to set; assumed to point to a variable of the parameter type.
+ *			For structures, the pointer is assumed to point to a structure to be copied.
+ * @return		Zero if the parameter's value could be set from a scalar, nonzero otherwise.
+ */
+__EXPORT int		param_set(param_t param, const void *val);
+
+/**
+ * Reset a parameter to its default value.
+ *
+ * This function frees any storage used by struct parameters, and returns the parameter
+ * to its default value.
+ *
+ * @param param		A handle returned by param_find or passed by param_foreach.
+ */
+__EXPORT void		param_reset(param_t param);
+
+/**
+ * Reset all parameters to their default values.
+ *
+ * This function also releases the storage used by struct parameters.
+ */
+__EXPORT void		param_reset_all(void);
+
+/**
+ * Export changed parameters to a file.
+ *
+ * @param fd		File descriptor to export to.
+ * @param only_unsaved	Only export changed parameters that have not yet been exported.
+ * @return		Zero on success, nonzero on failure.
+ */
+__EXPORT int		param_export(int fd, bool only_unsaved);
+
+/**
+ * Import parameters from a file, discarding any unrecognized parameters.
+ *
+ * This function merges the imported parameters with the current parameter set.
+ *
+ * @param fd		File descriptor to import from.  (Currently expected to be a file.)
+ * @return		Zero on success, nonzero if an error occurred during import.
+ *			Note that in the failure case, parameters may be inconsistent.
+ */
+__EXPORT int		param_import(int fd);
+
+/**
+ * Load parameters from a file.
+ *
+ * This function resets all parameters to their default values, then loads new
+ * values from a file.
+ *
+ * @param fd		File descriptor to import from.  (Currently expected to be a file.)
+ * @return		Zero on success, nonzero if an error occurred during import.
+ *			Note that in the failure case, parameters may be inconsistent.
+ */
+__EXPORT int		param_load(int fd);
+
+/**
+ * Apply a function to each parameter.
+ *
+ * Note that the parameter set is not locked during the traversal. It also does
+ * not hold an internal state, so the callback function can block or sleep between
+ * parameter callbacks.
+ *
+ * @param func		The function to invoke for each parameter.
+ * @param arg		Argument passed to the function.
+ * @param only_changed	If true, the function is only called for parameters whose values have
+ *			been changed from the default.
+ */
+__EXPORT void		param_foreach(void (*func)(void *arg, param_t param), void *arg, bool only_changed);
+
+/**
+ * Set the default parameter file name.
+ *
+ * @param filename	Path to the default parameter file.  The file is not require to
+ *			exist.
+ * @return		Zero on success.
+ */
+__EXPORT int 		param_set_default_file(const char* filename);
+
+/**
+ * Get the default parameter file name.
+ *
+ * @return		The path to the current default parameter file; either as
+ *			a result of a call to param_set_default_file, or the 
+ *			built-in default.
+ */
+__EXPORT const char*	param_get_default_file(void);
+
+/**
+ * Save parameters to the default file.
+ *
+ * This function saves all parameters with non-default values.
+ *
+ * @return		Zero on success.
+ */
+__EXPORT int 		param_save_default(void);
+
+/**
+ * Load parameters from the default parameter file.
+ *
+ * @return		Zero on success.
+ */
+__EXPORT int 		param_load_default(void);
+
+/*
+ * Macros creating static parameter definitions.
+ *
+ * Note that these structures are not known by name; they are
+ * collected into a section that is iterated by the parameter
+ * code.
+ *
+ * Note that these macros cannot be used in C++ code due to
+ * their use of designated initializers.  They should probably
+ * be refactored to avoid the use of a union for param_value_u.
+ */
+
+/** define an int32 parameter */
+#define PARAM_DEFINE_INT32(_name, _default)		\
+	static const					\
+	__attribute__((used, section("__param")))	\
+	struct param_info_s __param__##_name = {	\
+		#_name,					\
+		PARAM_TYPE_INT32,			\
+		.val.i = _default			\
+	}
+
+/** define a float parameter */
+#define PARAM_DEFINE_FLOAT(_name, _default)		\
+	static const					\
+	__attribute__((used, section("__param")))	\
+	struct param_info_s __param__##_name = {	\
+		#_name,					\
+		PARAM_TYPE_FLOAT,			\
+		.val.f = _default			\
+	}
+
+/** define a parameter that points to a structure */
+#define PARAM_DEFINE_STRUCT(_name, _default)		\
+	static const					\
+	__attribute__((used, section("__param")))	\
+	struct param_info_s __param__##_name = {	\
+		#_name,					\
+		PARAM_TYPE_STRUCT + sizeof(_default),	\
+		.val.p = &_default;			\
+	}
+
+/**
+ * Parameter value union.
+ */
+union param_value_u {
+	void		*p;
+	int32_t		i;
+	float		f;
+};
+
+/**
+ * Static parameter definition structure.
+ *
+ * This is normally not used by user code; see the PARAM_DEFINE macros
+ * instead.
+ */
+struct param_info_s {
+	const char	*name;
+	param_type_t	type;
+	union param_value_u val;
+};
+
+__END_DECLS
+
+#endif
diff --git a/src/modules/systemlib/perf_counter.c b/src/modules/systemlib/perf_counter.c
new file mode 100644
index 000000000..879f4715a
--- /dev/null
+++ b/src/modules/systemlib/perf_counter.c
@@ -0,0 +1,317 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file perf_counter.c
+ *
+ * @brief Performance measuring tools.
+ */
+
+#include 
+#include 
+#include 
+#include 
+
+#include "perf_counter.h"
+
+/**
+ * Header common to all counters.
+ */
+struct perf_ctr_header {
+	sq_entry_t		link;	/**< list linkage */
+	enum perf_counter_type	type;	/**< counter type */
+	const char		*name;	/**< counter name */
+};
+
+/**
+ * PC_EVENT counter.
+ */
+struct perf_ctr_count {
+	struct perf_ctr_header	hdr;
+	uint64_t		event_count;
+};
+
+/**
+ * PC_ELAPSED counter.
+ */
+struct perf_ctr_elapsed {
+	struct perf_ctr_header	hdr;
+	uint64_t		event_count;
+	uint64_t		time_start;
+	uint64_t		time_total;
+	uint64_t		time_least;
+	uint64_t		time_most;
+};
+
+/**
+ * PC_INTERVAL counter.
+ */
+struct perf_ctr_interval {
+	struct perf_ctr_header	hdr;
+	uint64_t		event_count;
+	uint64_t		time_event;
+	uint64_t		time_first;
+	uint64_t		time_last;
+	uint64_t		time_least;
+	uint64_t		time_most;
+
+};
+
+/**
+ * List of all known counters.
+ */
+static sq_queue_t	perf_counters;
+
+
+perf_counter_t
+perf_alloc(enum perf_counter_type type, const char *name)
+{
+	perf_counter_t ctr = NULL;
+
+	switch (type) {
+	case PC_COUNT:
+		ctr = (perf_counter_t)calloc(sizeof(struct perf_ctr_count), 1);
+		break;
+
+	case PC_ELAPSED:
+		ctr = (perf_counter_t)calloc(sizeof(struct perf_ctr_elapsed), 1);
+		break;
+
+	case PC_INTERVAL:
+		ctr = (perf_counter_t)calloc(sizeof(struct perf_ctr_interval), 1);
+		break;
+
+	default:
+		break;
+	}
+
+	if (ctr != NULL) {
+		ctr->type = type;
+		ctr->name = name;
+		sq_addfirst(&ctr->link, &perf_counters);
+	}
+
+	return ctr;
+}
+
+void
+perf_free(perf_counter_t handle)
+{
+	if (handle == NULL)
+		return;
+
+	sq_rem(&handle->link, &perf_counters);
+	free(handle);
+}
+
+void
+perf_count(perf_counter_t handle)
+{
+	if (handle == NULL)
+		return;
+
+	switch (handle->type) {
+	case PC_COUNT:
+		((struct perf_ctr_count *)handle)->event_count++;
+		break;
+
+	case PC_INTERVAL: {
+		struct perf_ctr_interval *pci = (struct perf_ctr_interval *)handle;
+		hrt_abstime now = hrt_absolute_time();
+
+		switch (pci->event_count) {
+		case 0:
+			pci->time_first = now;
+			break;
+		case 1:
+			pci->time_least = now - pci->time_last;
+			pci->time_most = now - pci->time_last;
+			break;
+		default: {
+			hrt_abstime interval = now - pci->time_last;
+			if (interval < pci->time_least)
+				pci->time_least = interval;
+			if (interval > pci->time_most)
+				pci->time_most = interval;
+			break;
+		}
+		}
+		pci->time_last = now;
+		pci->event_count++;
+		break;
+	}
+
+	default:
+		break;
+	}
+}
+
+void
+perf_begin(perf_counter_t handle)
+{
+	if (handle == NULL)
+		return;
+
+	switch (handle->type) {
+	case PC_ELAPSED:
+		((struct perf_ctr_elapsed *)handle)->time_start = hrt_absolute_time();
+		break;
+
+	default:
+		break;
+	}
+}
+
+void
+perf_end(perf_counter_t handle)
+{
+	if (handle == NULL)
+		return;
+
+	switch (handle->type) {
+	case PC_ELAPSED: {
+			struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle;
+			hrt_abstime elapsed = hrt_absolute_time() - pce->time_start;
+
+			pce->event_count++;
+			pce->time_total += elapsed;
+
+			if ((pce->time_least > elapsed) || (pce->time_least == 0))
+				pce->time_least = elapsed;
+
+			if (pce->time_most < elapsed)
+				pce->time_most = elapsed;
+		}
+
+	default:
+		break;
+	}
+}
+
+void
+perf_reset(perf_counter_t handle)
+{
+	if (handle == NULL)
+		return;
+
+	switch (handle->type) {
+	case PC_COUNT:
+		((struct perf_ctr_count *)handle)->event_count = 0;
+		break;
+
+	case PC_ELAPSED: {
+		struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle;
+		pce->event_count = 0;
+		pce->time_start = 0;
+		pce->time_total = 0;
+		pce->time_least = 0;
+		pce->time_most = 0;
+		break;
+	}
+
+	case PC_INTERVAL: {
+		struct perf_ctr_interval *pci = (struct perf_ctr_interval *)handle;
+		pci->event_count = 0;
+		pci->time_event = 0;
+		pci->time_first = 0;
+		pci->time_last = 0;
+		pci->time_least = 0;
+		pci->time_most = 0;
+		break;
+	}
+	}
+}
+
+void
+perf_print_counter(perf_counter_t handle)
+{
+	if (handle == NULL)
+		return;
+
+	switch (handle->type) {
+	case PC_COUNT:
+		printf("%s: %llu events\n",
+		       handle->name,
+		       ((struct perf_ctr_count *)handle)->event_count);
+		break;
+
+	case PC_ELAPSED: {
+		struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle;
+
+		printf("%s: %llu events, %lluus elapsed, min %lluus max %lluus\n",
+		       handle->name,
+		       pce->event_count,
+		       pce->time_total,
+		       pce->time_least,
+		       pce->time_most);
+		break;
+	}
+
+	case PC_INTERVAL: {
+		struct perf_ctr_interval *pci = (struct perf_ctr_interval *)handle;
+
+		printf("%s: %llu events, %llu avg, min %lluus max %lluus\n",
+		       handle->name,
+		       pci->event_count,
+		       (pci->time_last - pci->time_first) / pci->event_count,
+		       pci->time_least,
+		       pci->time_most);
+		break;
+	}
+
+	default:
+		break;
+	}
+}
+
+void
+perf_print_all(void)
+{
+	perf_counter_t handle = (perf_counter_t)sq_peek(&perf_counters);
+
+	while (handle != NULL) {
+		perf_print_counter(handle);
+		handle = (perf_counter_t)sq_next(&handle->link);
+	}
+}
+
+void
+perf_reset_all(void)
+{
+	perf_counter_t handle = (perf_counter_t)sq_peek(&perf_counters);
+
+	while (handle != NULL) {
+		perf_reset(handle);
+		handle = (perf_counter_t)sq_next(&handle->link);
+	}
+}
diff --git a/src/modules/systemlib/perf_counter.h b/src/modules/systemlib/perf_counter.h
new file mode 100644
index 000000000..5c2cb15b2
--- /dev/null
+++ b/src/modules/systemlib/perf_counter.h
@@ -0,0 +1,128 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file perf_counter.h
+ * Performance measuring tools.
+ */
+
+#ifndef _SYSTEMLIB_PERF_COUNTER_H
+#define _SYSTEMLIB_PERF_COUNTER_H value
+
+/**
+ * Counter types.
+ */
+enum perf_counter_type {
+	PC_COUNT,		/**< count the number of times an event occurs */
+	PC_ELAPSED,		/**< measure the time elapsed performing an event */
+	PC_INTERVAL		/**< measure the interval between instances of an event */
+};
+
+struct perf_ctr_header;
+typedef struct perf_ctr_header	*perf_counter_t;
+
+__BEGIN_DECLS
+
+/**
+ * Create a new counter.
+ *
+ * @param type			The type of the new counter.
+ * @param name			The counter name.
+ * @return			Handle for the new counter, or NULL if a counter
+ *				could not be allocated.
+ */
+__EXPORT extern perf_counter_t	perf_alloc(enum perf_counter_type type, const char *name);
+
+/**
+ * Free a counter.
+ *
+ * @param handle		The performance counter's handle.
+ */
+__EXPORT extern void		perf_free(perf_counter_t handle);
+
+/**
+ * Count a performance event.
+ *
+ * This call only affects counters that take single events; PC_COUNT etc.
+ *
+ * @param handle		The handle returned from perf_alloc.
+ */
+__EXPORT extern void		perf_count(perf_counter_t handle);
+
+/**
+ * Begin a performance event.
+ *
+ * This call applies to counters that operate over ranges of time; PC_ELAPSED etc.
+ *
+ * @param handle		The handle returned from perf_alloc.
+ */
+__EXPORT extern void		perf_begin(perf_counter_t handle);
+
+/**
+ * End a performance event.
+ *
+ * This call applies to counters that operate over ranges of time; PC_ELAPSED etc.
+ *
+ * @param handle		The handle returned from perf_alloc.
+ */
+__EXPORT extern void		perf_end(perf_counter_t handle);
+
+/**
+ * Reset a performance event.
+ *
+ * This call resets performance counter to initial state
+ *
+ * @param handle		The handle returned from perf_alloc.
+ */
+__EXPORT extern void		perf_reset(perf_counter_t handle);
+
+/**
+ * Print one performance counter.
+ *
+ * @param handle		The counter to print.
+ */
+__EXPORT extern void		perf_print_counter(perf_counter_t handle);
+
+/**
+ * Print all of the performance counters.
+ */
+__EXPORT extern void		perf_print_all(void);
+
+/**
+ * Reset all of the performance counters.
+ */
+__EXPORT extern void		perf_reset_all(void);
+
+__END_DECLS
+
+#endif
diff --git a/src/modules/systemlib/pid/pid.c b/src/modules/systemlib/pid/pid.c
new file mode 100644
index 000000000..49315cdc9
--- /dev/null
+++ b/src/modules/systemlib/pid/pid.c
@@ -0,0 +1,191 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Laurens Mackay 
+ *           @author Tobias Naegeli 
+ *           @author Martin Rutschmann 
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file pid.c
+ * Implementation of generic PID control interface
+ */
+
+#include "pid.h"
+#include 
+
+__EXPORT void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax,
+		       float limit, uint8_t mode)
+{
+	pid->kp = kp;
+	pid->ki = ki;
+	pid->kd = kd;
+	pid->intmax = intmax;
+	pid->limit = limit;
+	pid->mode = mode;
+	pid->count = 0;
+	pid->saturated = 0;
+	pid->last_output = 0;
+
+	pid->sp = 0;
+	pid->error_previous = 0;
+	pid->integral = 0;
+}
+__EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax, float limit)
+{
+	int ret = 0;
+
+	if (isfinite(kp)) {
+		pid->kp = kp;
+
+	} else {
+		ret = 1;
+	}
+
+	if (isfinite(ki)) {
+		pid->ki = ki;
+
+	} else {
+		ret = 1;
+	}
+
+	if (isfinite(kd)) {
+		pid->kd = kd;
+
+	} else {
+		ret = 1;
+	}
+
+	if (isfinite(intmax)) {
+		pid->intmax = intmax;
+
+	}  else {
+		ret = 1;
+	}
+
+	if (isfinite(limit)) {
+		pid->limit = limit;
+
+	}  else {
+		ret = 1;
+	}
+
+	return ret;
+}
+
+//void pid_set(PID_t *pid, float sp)
+//{
+//	pid->sp = sp;
+//	pid->error_previous = 0;
+//	pid->integral = 0;
+//}
+
+/**
+ *
+ * @param pid
+ * @param val
+ * @param dt
+ * @return
+ */
+__EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt)
+{
+	/*  error = setpoint - actual_position
+	 integral = integral + (error*dt)
+	 derivative = (error - previous_error)/dt
+	 output = (Kp*error) + (Ki*integral) + (Kd*derivative)
+	 previous_error = error
+	 wait(dt)
+	 goto start
+	 */
+
+	if (!isfinite(sp) || !isfinite(val) || !isfinite(val_dot) || !isfinite(dt)) {
+		return pid->last_output;
+	}
+
+	float i, d;
+	pid->sp = sp;
+
+	// Calculated current error value
+	float error = pid->sp - val;
+
+	if (isfinite(error)) {				// Why is this necessary?  DEW
+		pid->error_previous = error;
+	}
+
+	// Calculate or measured current error derivative
+
+	if (pid->mode == PID_MODE_DERIVATIV_CALC) {
+		d = (error - pid->error_previous) / dt;
+
+	} else if (pid->mode == PID_MODE_DERIVATIV_SET) {
+		d = -val_dot;
+
+	} else {
+		d = 0.0f;
+	}
+
+	// Calculate the error integral and check for saturation
+	i = pid->integral + (error * dt);
+
+	if (fabsf((error * pid->kp) + (i * pid->ki) + (d * pid->kd)) > pid->limit ||
+	    fabsf(i) > pid->intmax) {
+		i = pid->integral;		// If saturated then do not update integral value
+		pid->saturated = 1;
+
+	} else {
+		if (!isfinite(i)) {
+			i = 0;
+		}
+
+		pid->integral = i;
+		pid->saturated = 0;
+	}
+
+	// Calculate the output.  Limit output magnitude to pid->limit
+	float output = (pid->error_previous * pid->kp) + (i * pid->ki) + (d * pid->kd);
+
+	if (output > pid->limit) output = pid->limit;
+
+	if (output < -pid->limit) output = -pid->limit;
+
+	if (isfinite(output)) {
+		pid->last_output = output;
+	}
+
+
+	return pid->last_output;
+}
+
+
+__EXPORT void pid_reset_integral(PID_t *pid)
+{
+	pid->integral = 0;
+}
diff --git a/src/modules/systemlib/pid/pid.h b/src/modules/systemlib/pid/pid.h
new file mode 100644
index 000000000..64d668867
--- /dev/null
+++ b/src/modules/systemlib/pid/pid.h
@@ -0,0 +1,78 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Laurens Mackay 
+ *           @author Tobias Naegeli 
+ *           @author Martin Rutschmann 
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file pid.h
+ * Definition of generic PID control interface
+ */
+
+#ifndef PID_H_
+#define PID_H_
+
+#include 
+
+/* PID_MODE_DERIVATIV_CALC calculates discrete derivative from previous error
+ * val_dot in pid_calculate() will be ignored */
+#define PID_MODE_DERIVATIV_CALC	0
+/* Use PID_MODE_DERIVATIV_SET if you have the derivative already (Gyros, Kalman) */
+#define PID_MODE_DERIVATIV_SET	1
+// Use PID_MODE_DERIVATIV_NONE for a PI controller (vs PID)
+#define PID_MODE_DERIVATIV_NONE 9
+
+typedef struct {
+	float kp;
+	float ki;
+	float kd;
+	float intmax;
+	float sp;
+	float integral;
+	float error_previous;
+	float last_output;
+	float limit;
+	uint8_t mode;
+	uint8_t count;
+	uint8_t saturated;
+} PID_t;
+
+__EXPORT void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax, float limit, uint8_t mode);
+__EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax, float limit);
+//void pid_set(PID_t *pid, float sp);
+__EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt);
+
+__EXPORT void pid_reset_integral(PID_t *pid);
+
+
+#endif /* PID_H_ */
diff --git a/src/modules/systemlib/ppm_decode.c b/src/modules/systemlib/ppm_decode.c
new file mode 100644
index 000000000..a5d2f738d
--- /dev/null
+++ b/src/modules/systemlib/ppm_decode.c
@@ -0,0 +1,248 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file ppm_decode.c
+ *
+ * PPM input decoder.
+ */
+
+#include 
+
+#include 
+#include 
+
+#include 
+
+#include "ppm_decode.h"
+
+/*
+ * PPM decoder tuning parameters.
+ *
+ * The PPM decoder works as follows.
+ *
+ * Initially, the decoder waits in the UNSYNCH state for two edges
+ * separated by PPM_MIN_START.  Once the second edge is detected,
+ * the decoder moves to the ARM state.
+ *
+ * The ARM state expects an edge within PPM_MAX_PULSE_WIDTH, being the
+ * timing mark for the first channel.  If this is detected, it moves to
+ * the INACTIVE state.
+ *
+ * The INACTIVE phase waits for and discards the next edge, as it is not
+ * significant.  Once the edge is detected, it moves to the ACTIVE stae.
+ *
+ * The ACTIVE state expects an edge within PPM_MAX_PULSE_WIDTH, and when
+ * received calculates the time from the previous mark and records
+ * this time as the value for the next channel.
+ *
+ * If at any time waiting for an edge, the delay from the previous edge
+ * exceeds PPM_MIN_START the frame is deemed to have ended and the recorded
+ * values are advertised to clients.
+ */
+#define PPM_MAX_PULSE_WIDTH	500		/* maximum width of a pulse */
+#define PPM_MIN_CHANNEL_VALUE	800		/* shortest valid channel signal */
+#define PPM_MAX_CHANNEL_VALUE	2200		/* longest valid channel signal */
+#define PPM_MIN_START		2500		/* shortest valid start gap */
+
+/* Input timeout - after this interval we assume signal is lost */
+#define PPM_INPUT_TIMEOUT	100 * 1000	/* 100ms */
+
+/* Number of same-sized frames required to 'lock' */
+#define PPM_CHANNEL_LOCK	3		/* should be less than the input timeout */
+
+/* decoded PPM buffer */
+#define PPM_MIN_CHANNELS	4
+#define PPM_MAX_CHANNELS	12
+
+/*
+ * Public decoder state
+ */
+uint16_t	ppm_buffer[PPM_MAX_CHANNELS];
+unsigned	ppm_decoded_channels;
+hrt_abstime	ppm_last_valid_decode;
+
+static uint16_t ppm_temp_buffer[PPM_MAX_CHANNELS];
+
+/* PPM decoder state machine */
+static struct {
+	uint16_t	last_edge;	/* last capture time */
+	uint16_t	last_mark;	/* last significant edge */
+	unsigned	next_channel;
+	unsigned	count_max;
+	enum {
+		UNSYNCH = 0,
+		ARM,
+		ACTIVE,
+		INACTIVE
+	} phase;
+} ppm;
+
+
+void
+ppm_input_init(unsigned count_max)
+{
+	ppm_decoded_channels = 0;
+	ppm_last_valid_decode = 0;
+
+	memset(&ppm, 0, sizeof(ppm));
+	ppm.count_max = count_max;
+}
+
+void
+ppm_input_decode(bool reset, unsigned count)
+{
+	uint16_t width;
+	uint16_t interval;
+	unsigned i;
+
+	/* if we missed an edge, we have to give up */
+	if (reset)
+		goto error;
+
+	/* how long since the last edge? */
+	width = count - ppm.last_edge;
+
+	if (count < ppm.last_edge)
+		width += ppm.count_max;	/* handle wrapped count */
+
+	ppm.last_edge = count;
+
+	/*
+	 * If this looks like a start pulse, then push the last set of values
+	 * and reset the state machine.
+	 *
+	 * Note that this is not a "high performance" design; it implies a whole
+	 * frame of latency between the pulses being received and their being
+	 * considered valid.
+	 */
+	if (width >= PPM_MIN_START) {
+
+		/*
+		 * If the number of channels changes unexpectedly, we don't want
+		 * to just immediately jump on the new count as it may be a result
+		 * of noise or dropped edges.  Instead, take a few frames to settle.
+		 */
+		if (ppm.next_channel != ppm_decoded_channels) {
+			static unsigned new_channel_count;
+			static unsigned new_channel_holdoff;
+
+			if (new_channel_count != ppm.next_channel) {
+				/* start the lock counter for the new channel count */
+				new_channel_count = ppm.next_channel;
+				new_channel_holdoff = PPM_CHANNEL_LOCK;
+
+			} else if (new_channel_holdoff > 0) {
+				/* this frame matched the last one, decrement the lock counter */
+				new_channel_holdoff--;
+
+			} else {
+				/* we have seen PPM_CHANNEL_LOCK frames with the new count, accept it */
+				ppm_decoded_channels = new_channel_count;
+				new_channel_count = 0;
+			}
+
+		} else {
+			/* frame channel count matches expected, let's use it */
+			if (ppm.next_channel > PPM_MIN_CHANNELS) {
+				for (i = 0; i < ppm.next_channel; i++)
+					ppm_buffer[i] = ppm_temp_buffer[i];
+
+				ppm_last_valid_decode = hrt_absolute_time();
+			}
+		}
+
+		/* reset for the next frame */
+		ppm.next_channel = 0;
+
+		/* next edge is the reference for the first channel */
+		ppm.phase = ARM;
+
+		return;
+	}
+
+	switch (ppm.phase) {
+	case UNSYNCH:
+		/* we are waiting for a start pulse - nothing useful to do here */
+		return;
+
+	case ARM:
+
+		/* we expect a pulse giving us the first mark */
+		if (width > PPM_MAX_PULSE_WIDTH)
+			goto error;		/* pulse was too long */
+
+		/* record the mark timing, expect an inactive edge */
+		ppm.last_mark = count;
+		ppm.phase = INACTIVE;
+		return;
+
+	case INACTIVE:
+		/* this edge is not interesting, but now we are ready for the next mark */
+		ppm.phase = ACTIVE;
+
+		/* note that we don't bother looking at the timing of this edge */
+
+		return;
+
+	case ACTIVE:
+
+		/* we expect a well-formed pulse */
+		if (width > PPM_MAX_PULSE_WIDTH)
+			goto error;		/* pulse was too long */
+
+		/* determine the interval from the last mark */
+		interval = count - ppm.last_mark;
+		ppm.last_mark = count;
+
+		/* if the mark-mark timing is out of bounds, abandon the frame */
+		if ((interval < PPM_MIN_CHANNEL_VALUE) || (interval > PPM_MAX_CHANNEL_VALUE))
+			goto error;
+
+		/* if we have room to store the value, do so */
+		if (ppm.next_channel < PPM_MAX_CHANNELS)
+			ppm_temp_buffer[ppm.next_channel++] = interval;
+
+		ppm.phase = INACTIVE;
+		return;
+
+	}
+
+	/* the state machine is corrupted; reset it */
+
+error:
+	/* we don't like the state of the decoder, reset it and try again */
+	ppm.phase = UNSYNCH;
+	ppm_decoded_channels = 0;
+}
+
diff --git a/src/modules/systemlib/ppm_decode.h b/src/modules/systemlib/ppm_decode.h
new file mode 100644
index 000000000..6c5e15345
--- /dev/null
+++ b/src/modules/systemlib/ppm_decode.h
@@ -0,0 +1,85 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file ppm_decode.h
+ *
+ * PPM input decoder.
+ */
+
+#pragma once
+
+#include 
+
+/**
+ * Maximum number of channels that we will decode.
+ */
+#define PPM_MAX_CHANNELS	12
+
+/* PPM input nominal min/max values */
+#define PPM_MIN 1000
+#define PPM_MAX 2000
+#define PPM_MID ((PPM_MIN + PPM_MAX) / 2)
+
+__BEGIN_DECLS
+
+/*
+ * PPM decoder state
+ */
+__EXPORT extern uint16_t	ppm_buffer[PPM_MAX_CHANNELS];	/**< decoded PPM channel values */
+__EXPORT extern unsigned	ppm_decoded_channels;	/**< count of decoded channels */
+__EXPORT extern hrt_abstime	ppm_last_valid_decode;	/**< timestamp of the last valid decode */
+
+/**
+ * Initialise the PPM input decoder.
+ *
+ * @param count_max		The maximum value of the counter passed to
+ *				ppm_input_decode, used to determine how to
+ *				handle counter wrap.
+ */
+__EXPORT void		ppm_input_init(unsigned count_max);
+
+/**
+ * Inform the decoder of an edge on the PPM input.
+ *
+ * This function can be registered with the HRT as the PPM edge handler.
+ *
+ * @param reset			If set, the edge detector has missed one or
+ *				more edges and the decoder needs to be reset.
+ * @param count			A microsecond timestamp corresponding to the
+ *				edge, in the range 0-count_max.  This value
+ *				is expected to wrap.
+ */
+__EXPORT void		ppm_input_decode(bool reset, unsigned count);
+
+__END_DECLS
\ No newline at end of file
diff --git a/src/modules/systemlib/scheduling_priorities.h b/src/modules/systemlib/scheduling_priorities.h
new file mode 100644
index 000000000..be1dbfcd8
--- /dev/null
+++ b/src/modules/systemlib/scheduling_priorities.h
@@ -0,0 +1,48 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include 
+
+/*      SCHED_PRIORITY_MAX    */
+#define SCHED_PRIORITY_FAST_DRIVER           SCHED_PRIORITY_MAX
+#define SCHED_PRIORITY_WATCHDOG             (SCHED_PRIORITY_MAX - 5)
+#define SCHED_PRIORITY_ACTUATOR_OUTPUTS     (SCHED_PRIORITY_MAX - 15)
+#define SCHED_PRIORITY_ATTITUDE_CONTROL     (SCHED_PRIORITY_MAX - 25)
+#define SCHED_PRIORITY_SLOW_DRIVER          (SCHED_PRIORITY_MAX - 35)
+#define SCHED_PRIORITY_POSITION_CONTROL     (SCHED_PRIORITY_MAX - 40)
+/*      SCHED_PRIORITY_DEFAULT    */
+#define SCHED_PRIORITY_LOGGING              (SCHED_PRIORITY_DEFAULT - 10)
+#define SCHED_PRIORITY_PARAMS               (SCHED_PRIORITY_DEFAULT - 15)
+/*      SCHED_PRIORITY_IDLE    */
diff --git a/src/modules/systemlib/systemlib.c b/src/modules/systemlib/systemlib.c
new file mode 100644
index 000000000..afb7eca29
--- /dev/null
+++ b/src/modules/systemlib/systemlib.c
@@ -0,0 +1,91 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Lorenz Meier 
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file systemlib.c
+ * Implementation of commonly used low-level system-call like functions.
+ */
+
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+
+#include "systemlib.h"
+
+static void kill_task(FAR _TCB *tcb, FAR void *arg);
+
+void killall()
+{
+//	printf("Sending SIGUSR1 to all processes now\n");
+
+	/* iterate through all tasks and send kill signal */
+	sched_foreach(kill_task, NULL);
+}
+
+static void kill_task(FAR _TCB *tcb, FAR void *arg)
+{
+	kill(tcb->pid, SIGUSR1);
+}
+
+int task_spawn(const char *name, int scheduler, int priority, int stack_size, main_t entry, const char *argv[])
+{
+	int pid;
+
+	sched_lock();
+
+	/* create the task */
+	pid = task_create(name, priority, stack_size, entry, argv);
+
+	if (pid > 0) {
+
+		/* configure the scheduler */
+		struct sched_param param;
+
+		param.sched_priority = priority;
+		sched_setscheduler(pid, scheduler, ¶m);
+
+		/* XXX do any other private task accounting here before the task starts */
+	}
+
+	sched_unlock();
+
+	return pid;
+}
diff --git a/src/modules/systemlib/systemlib.h b/src/modules/systemlib/systemlib.h
new file mode 100644
index 000000000..2c53c648b
--- /dev/null
+++ b/src/modules/systemlib/systemlib.h
@@ -0,0 +1,122 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: Lorenz Meier 
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file systemlib.h
+ * Definition of commonly used low-level system-call like functions.
+ */
+
+#ifndef SYSTEMLIB_H_
+#define SYSTEMLIB_H_
+#include 
+#include 
+
+__BEGIN_DECLS
+
+/** Reboots the board */
+extern void up_systemreset(void) noreturn_function;
+
+/** Sends SIGUSR1 to all processes */
+__EXPORT void killall(void);
+
+/** Default scheduler type */
+#if CONFIG_RR_INTERVAL > 0
+# define SCHED_DEFAULT	SCHED_RR
+#else
+# define SCHED_DEFAULT	SCHED_FIFO
+#endif
+
+/** Starts a task and performs any specific accounting, scheduler setup, etc. */
+__EXPORT int task_spawn(const char *name,
+			int priority,
+			int scheduler,
+			int stack_size,
+			main_t entry,
+			const char *argv[]);
+
+enum MULT_PORTS {
+	MULT_0_US2_RXTX = 0,
+	MULT_1_US2_FLOW,
+	MULT_2_GPIO_12,
+	MULT_COUNT
+};
+
+/* Check max multi port count */
+#if (MULT_COUNT > 33)
+#error "MULT_COUNT HAS TO BE LESS THAN OR EQUAL 33"
+#endif
+
+/* FMU board info, to be stored in the first 64 bytes of the FMU EEPROM */
+#pragma pack(push,1)
+struct fmu_board_info_s {
+	char header[3];				/**< {'P', 'X', '4'} */
+	char board_name[20];			/**< Human readable board name, \0 terminated */
+	uint8_t board_id;			/**< board ID, constantly increasing number per board */
+	uint8_t board_version;			/**< board version, major * 10 + minor: v1.7 = 17 */
+	uint8_t multi_port_config[MULT_COUNT];	/**< Configuration of multi ports 1-3		  */
+	uint8_t reserved[33 - MULT_COUNT];	/**< Reserved space for more multi ports	  */
+	uint16_t production_year;
+	uint8_t production_month;
+	uint8_t production_day;
+	uint8_t production_fab;
+	uint8_t production_tester;
+}; /**< stores autopilot board information meta data from EEPROM */
+#pragma pack(pop)
+
+/* Carrier board info, to be stored in the 128 byte board info EEPROM */
+#pragma pack(push,1)
+struct carrier_board_info_s {
+	char header[3];				/**< {'P', 'X', '4'} */
+	char board_name[20];			/**< Human readable board name, \0 terminated */
+	uint8_t board_id;			/**< board ID, constantly increasing number per board */
+	uint8_t board_version;			/**< board version, major * 10 + minor: v1.7 = 17 */
+	uint8_t multi_port_config[MULT_COUNT];	/**< Configuration of multi ports 1-3		  */
+	uint8_t reserved[33 - MULT_COUNT];	/**< Reserved space for more multi ports	  */
+	uint16_t production_year;
+	uint8_t production_month;
+	uint8_t production_day;
+	uint8_t production_fab;
+	uint8_t production_tester;
+	char board_custom_data[64];
+}; /**< stores carrier board information meta data from EEPROM */
+#pragma pack(pop)
+
+struct __multiport_info {
+	const char *port_names[MULT_COUNT];
+};
+__EXPORT extern const struct __multiport_info multiport_info;
+
+__END_DECLS
+
+#endif /* SYSTEMLIB_H_ */
diff --git a/src/modules/systemlib/up_cxxinitialize.c b/src/modules/systemlib/up_cxxinitialize.c
new file mode 100644
index 000000000..c78f29570
--- /dev/null
+++ b/src/modules/systemlib/up_cxxinitialize.c
@@ -0,0 +1,150 @@
+/************************************************************************************
+ * configs/stm32f4discovery/src/up_cxxinitialize.c
+ * arch/arm/src/board/up_cxxinitialize.c
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt 
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ************************************************************************************/
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include 
+
+#include 
+
+#include 
+
+//#include 
+//#include "chip.h"
+
+/************************************************************************************
+ * Definitions
+ ************************************************************************************/
+/* Debug ****************************************************************************/
+/* Non-standard debug that may be enabled just for testing the static constructors */
+
+#ifndef CONFIG_DEBUG
+#  undef CONFIG_DEBUG_CXX
+#endif
+
+#ifdef CONFIG_DEBUG_CXX
+#  define cxxdbg              dbg
+#  define cxxlldbg            lldbg
+#  ifdef CONFIG_DEBUG_VERBOSE
+#    define cxxvdbg           vdbg
+#    define cxxllvdbg         llvdbg
+#  else
+#    define cxxvdbg(x...)
+#    define cxxllvdbg(x...)
+#  endif
+#else
+#  define cxxdbg(x...)
+#  define cxxlldbg(x...)
+#  define cxxvdbg(x...)
+#  define cxxllvdbg(x...)
+#endif
+
+/************************************************************************************
+ * Private Types
+ ************************************************************************************/
+/* This type defines one entry in initialization array */
+
+typedef void (*initializer_t)(void);
+
+/************************************************************************************
+ * External references
+ ************************************************************************************/
+/* _sinit and _einit are symbols exported by the linker script that mark the
+ * beginning and the end of the C++ initialization section.
+ */
+
+extern initializer_t _sinit;
+extern initializer_t _einit;
+
+/* _stext and _etext are symbols exported by the linker script that mark the
+ * beginning and the end of text.
+ */
+
+extern uint32_t _stext;
+extern uint32_t _etext;
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/****************************************************************************
+ * Name: up_cxxinitialize
+ *
+ * Description:
+ *   If C++ and C++ static constructors are supported, then this function
+ *   must be provided by board-specific logic in order to perform
+ *   initialization of the static C++ class instances.
+ *
+ *   This function should then be called in the application-specific
+ *   user_start logic in order to perform the C++ initialization.  NOTE
+ *   that no component of the core NuttX RTOS logic is involved; This
+ *   function defintion only provides the 'contract' between application
+ *   specific C++ code and platform-specific toolchain support
+ *
+ ***************************************************************************/
+
+__EXPORT void up_cxxinitialize(void)
+{
+  initializer_t *initp;
+
+  cxxdbg("_sinit: %p _einit: %p _stext: %p _etext: %p\n",
+         &_sinit, &_einit, &_stext, &_etext);
+
+  /* Visit each entry in the initialzation table */
+
+  for (initp = &_sinit; initp != &_einit; initp++)
+    {
+      initializer_t initializer = *initp;
+      cxxdbg("initp: %p initializer: %p\n", initp, initializer);
+
+      /* Make sure that the address is non-NULL and lies in the text region
+       * defined by the linker script.  Some toolchains may put NULL values
+       * or counts in the initialization table
+       */
+
+      if ((void*)initializer > (void*)&_stext && (void*)initializer < (void*)&_etext)
+        {
+          cxxdbg("Calling %p\n", initializer);
+          initializer();
+        }
+    }
+}
diff --git a/src/modules/systemlib/uthash/doc/userguide.txt b/src/modules/systemlib/uthash/doc/userguide.txt
new file mode 100644
index 000000000..3e65a52fc
--- /dev/null
+++ b/src/modules/systemlib/uthash/doc/userguide.txt
@@ -0,0 +1,1682 @@
+uthash User Guide
+=================
+Troy D. Hanson 
+v1.9.6, April 2012
+
+include::sflogo.txt[]
+include::topnav.txt[]
+
+A hash in C
+-----------
+include::toc.txt[]
+
+This document is written for C programmers. Since you're reading this, chances
+are that you know a hash is used for looking up items using a key. In scripting
+languages like Perl, hashes are used all the time.  In C, hashes don't exist in
+the language itself. This software provides a hash table for C structures.  
+
+What can it do?
+~~~~~~~~~~~~~~~~~
+This software supports these operations on items in a hash table:
+
+1. add
+2. find
+3. delete
+4. count
+5. iterate
+6. sort
+7. select 
+
+Is it fast?
+~~~~~~~~~~~
+Add, find and delete are normally constant-time operations. This is influenced
+by your key domain and the hash function. 
+
+This hash aims to be minimalistic and efficient. It's around 900 lines of C.
+It inlines automatically because it's implemented as macros. It's fast as long
+as the hash function is suited to your keys. You can use the default hash
+function, or easily compare performance and choose from among several other
+<>. 
+
+Is it a library?
+~~~~~~~~~~~~~~~~
+No, it's just a single header file: `uthash.h`.  All you need to do is copy
+the header file into your project, and:
+
+    #include "uthash.h"
+
+Since uthash is a header file only, there is no library code to link against.
+
+C/C++ and platforms
+~~~~~~~~~~~~~~~~~~~
+This software can be used in C and C++ programs.  It has been tested on:
+
+ * Linux
+ * Mac OS X
+ * Windows using Visual Studio 2008 and 2010
+ * Solaris 
+ * OpenBSD
+ * FreeBSD
+
+Test suite
+^^^^^^^^^^
+To run the test suite, enter the `tests` directory. Then,
+
+ * on Unix platforms, run `make` 
+ * on Windows, run the "do_tests_win32.cmd" batch file. (You may edit the
+   batch file if your Visual Studio is installed in a non-standard location).
+
+BSD licensed
+~~~~~~~~~~~~
+This software is made available under the 
+link:license.html[revised BSD license]. 
+It is free and open source. 
+
+Obtaining uthash
+~~~~~~~~~~~~~~~~
+Please follow the link to download on the 
+http://uthash.sourceforge.net[uthash website] at http://uthash.sourceforge.net.
+
+A number of platforms include uthash in their package repositories. For example,
+Debian/Ubuntu users may simply `aptitude install uthash-dev`.
+
+Getting help
+~~~~~~~~~~~~
+Feel free to mailto:tdh@tkhanson.net[email the author] at
+tdh@tkhanson.net.
+
+Resources
+~~~~~~~~~
+Users of uthash may wish to follow the news feed for information about new
+releases. Also, there are some extra bonus headers included with uthash.
+
+News::
+ The author has a news feed for http://troydhanson.wordpress.com/[software updates] image:img/rss.png[(RSS)].
+Extras included with uthash::
+ uthash ships with these "extras"-- independent headers similar to uthash. 
+ First link:utlist.html[utlist.h] provides linked list macros for C structures.
+ Second, link:utarray.html[utarray.h] implements dynamic arrays using macros. 
+ Third, link:utstring.html[utstring.h] implements a basic dynamic string.
+Other software::
+ Other open-source software by the author is listed at http://tkhanson.net.
+
+Who's using it?
+~~~~~~~~~~~~~~~
+Since releasing uthash in 2006, it has been downloaded thousands of times,
+incorporated into commercial software, academic research, and into other
+open-source software.  
+
+Your structure
+--------------
+
+In uthash, a hash table is comprised of structures. Each structure represents a
+key-value association. One or more of the structure fields constitute the key.
+The structure pointer itself is the value.
+
+.Defining a structure that can be hashed
+----------------------------------------------------------------------
+#include "uthash.h"
+
+struct my_struct {
+    int id;                    /* key */
+    char name[10];             
+    UT_hash_handle hh;         /* makes this structure hashable */
+};
+----------------------------------------------------------------------
+
+Note that, in uthash, your structure will never be moved or copied into another
+location when you add it into a hash table. This means that you can keep other
+data structures that safely point to your structure-- regardless of whether you
+add or delete it from a hash table during your program's lifetime.
+
+The key
+~~~~~~~
+There are no restrictions on the data type or name of the key field. The key
+can also comprise multiple contiguous fields, having any names and data types.
+
+.Any data type... really?
+*****************************************************************************
+Yes, your key and structure can have any data type. Unlike function calls with
+fixed prototypes, uthash consists of macros-- whose arguments are untyped-- and
+thus able to work with any type of structure or key.  
+*****************************************************************************
+
+Unique keys
+^^^^^^^^^^^
+As with any hash, every item must have a unique key.  Your application must
+enforce key uniqueness. Before you add an item to the hash table, you must
+first know (if in doubt, check!) that the key is not already in use.  You
+can check whether a key already exists in the hash table using `HASH_FIND`.
+
+The hash handle
+~~~~~~~~~~~~~~~
+The `UT_hash_handle` field must be present in your structure.  It is used for
+the internal bookkeeping that makes the hash work.  It does not require
+initialization. It can be named anything, but you can simplify matters by
+naming it `hh`. This allows you to use the easier "convenience" macros to add,
+find and delete items.
+
+A word about memory
+~~~~~~~~~~~~~~~~~~~
+Some have asked how uthash cleans up its internal memory. The answer is simple:
+'when you delete the final item' from a hash table, uthash releases all the
+internal memory associated with that hash table, and sets its pointer to NULL.
+
+Hash operations
+---------------
+
+This section introduces the uthash macros by example. For a more succinct
+listing, see <>. 
+
+.Convenience vs. general macros:
+*****************************************************************************
+The uthash macros fall into two categories. The 'convenience' macros can be used
+with integer, pointer or string keys (and require that you chose the conventional
+name `hh` for the `UT_hash_handle` field).  The convenience macros take fewer
+arguments than the general macros, making their usage a bit simpler for these
+common types of keys. 
+
+The 'general' macros can be used for any types of keys, or for multi-field keys,
+or when the `UT_hash_handle` has been named something other than `hh`. These
+macros take more arguments and offer greater flexibility in return. But if the
+convenience macros suit your needs, use them-- your code will be more readable.
+*****************************************************************************
+
+Declare the hash
+~~~~~~~~~~~~~~~~
+Your hash must be declared as a `NULL`-initialized pointer to your structure.
+
+  struct my_struct *users = NULL;    /* important! initialize to NULL */
+
+Add item
+~~~~~~~~
+Allocate and initialize your structure as you see fit. The only aspect
+of this that matters to uthash is that your key must be initialized to
+a unique value. Then call `HASH_ADD`. (Here we use the convenience macro
+`HASH_ADD_INT`, which offers simplified usage for keys of type `int`).
+
+.Add an item to a hash
+----------------------------------------------------------------------
+void add_user(int user_id, char *name) {
+    struct my_struct *s;
+
+    s = malloc(sizeof(struct my_struct));
+    s->id = user_id;
+    strcpy(s->name, name);
+    HASH_ADD_INT( users, id, s );  /* id: name of key field */
+}
+----------------------------------------------------------------------
+
+The first parameter to `HASH_ADD_INT` is the hash table, and the
+second parameter is the 'name' of the key field. Here, this is `id`. The
+last parameter is a pointer to the structure being added.
+
+[[validc]]
+.Wait.. the field name is a parameter?
+*******************************************************************************
+If you find it strange that `id`, which is the 'name of a field' in the
+structure, can be passed as a parameter, welcome to the world of macros. Don't
+worry- the C preprocessor expands this to valid C code. 
+*******************************************************************************
+
+Key must not be modified while in-use
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Once a structure has been added to the hash, do not change the value of its key.
+Instead, delete the item from the hash, change the key, and then re-add it.
+
+Passing the hash pointer into functions
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+In the example above `users` is a global variable, but what if the caller wanted
+to pass the hash pointer 'into' the `add_user` function? At first glance it would 
+appear that you could simply pass `users` as an argument, but that won't work
+right. 
+
+  /* bad */
+  void add_user(struct my_struct *users, int user_id, char *name) { 
+    ...
+    HASH_ADD_INT( users, id, s );  
+  }
+
+You really need to pass 'a pointer' to the hash pointer: 
+
+  /* good */
+  void add_user(struct my_struct **users, int user_id, char *name) { ...
+    ...
+    HASH_ADD_INT( *users, id, s );
+  }
+
+Note that we dereferenced the pointer in the `HASH_ADD` also.
+
+The reason it's necessary to deal with a pointer to the hash pointer is simple:
+the hash macros modify it (in other words, they modify the 'pointer itself' not
+just what it points to). 
+
+Find item 
+~~~~~~~~~
+To look up a structure in a hash, you need its key.  Then call `HASH_FIND`.
+(Here we use the convenience macro `HASH_FIND_INT` for keys of type `int`).
+
+.Find a structure using its key
+----------------------------------------------------------------------
+struct my_struct *find_user(int user_id) {
+    struct my_struct *s;
+
+    HASH_FIND_INT( users, &user_id, s );  /* s: output pointer */
+    return s;
+}
+----------------------------------------------------------------------
+
+Here, the hash table is `users`, and `&user_id` points to the key (an integer
+in this case).  Last, `s` is the 'output' variable of `HASH_FIND_INT`. The 
+final result is that `s` points to the structure with the given key, or
+is `NULL` if the key wasn't found in the hash.
+
+[NOTE]
+The middle argument is a 'pointer' to the key. You can't pass a literal key
+value to `HASH_FIND`. Instead assign the literal value to a variable, and pass
+a pointer to the variable.
+
+
+Delete item
+~~~~~~~~~~~
+To delete a structure from a hash, you must have a pointer to it. (If you only
+have the key, first do a `HASH_FIND` to get the structure pointer).
+
+.Delete an item from a hash
+----------------------------------------------------------------------
+void delete_user(struct my_struct *user) {
+    HASH_DEL( users, user);  /* user: pointer to deletee */
+    free(user);              /* optional; it's up to you! */
+}
+----------------------------------------------------------------------
+
+Here again, `users` is the hash table, and `user` is a pointer to the
+structure we want to remove from the hash.
+
+uthash never frees your structure
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Deleting a structure just removes it from the hash table-- it doesn't `free`
+it.  The choice of when to free your structure is entirely up to you; uthash
+will never free your structure.
+
+Delete can change the pointer
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+The hash table pointer (which initially points to the first item added to the
+hash) can change in response to `HASH_DEL` (i.e. if you delete the first item
+in the hash table).
+
+Iterative deletion
+^^^^^^^^^^^^^^^^^^
+The `HASH_ITER` macro is a deletion-safe iteration construct which expands
+to a simple 'for' loop.
+
+.Delete all items from a hash
+----------------------------------------------------------------------
+void delete_all() {
+  struct my_struct *current_user, *tmp; 
+
+  HASH_ITER(hh, users, current_user, tmp) {
+    HASH_DEL(users,current_user);  /* delete; users advances to next */
+    free(current_user);            /* optional- if you want to free  */
+  } 
+}
+----------------------------------------------------------------------
+
+All-at-once deletion
+^^^^^^^^^^^^^^^^^^^^
+If you only want to delete all the items, but not free them or do any
+per-element clean up, you can do this more efficiently in a single operation:
+
+  HASH_CLEAR(hh,users);
+
+Afterward, the list head (here, `users`) will be set to `NULL`.
+
+Count items
+~~~~~~~~~~~
+
+The number of items in the hash table can be obtained using `HASH_COUNT`:
+
+.Count of items in the hash table
+----------------------------------------------------------------------
+unsigned int num_users;
+num_users = HASH_COUNT(users);
+printf("there are %u users\n", num_users);
+----------------------------------------------------------------------
+
+Incidentally, this works even the list (`users`, here) is `NULL`, in 
+which case the count is 0.
+
+Iterating and sorting 
+~~~~~~~~~~~~~~~~~~~~~
+
+You can loop over the items in the hash by starting from the beginning and
+following the `hh.next` pointer.
+
+.Iterating over all the items in a hash
+----------------------------------------------------------------------
+void print_users() {
+    struct my_struct *s;
+
+    for(s=users; s != NULL; s=s->hh.next) {
+        printf("user id %d: name %s\n", s->id, s->name);
+    }
+}
+----------------------------------------------------------------------
+
+There is also an `hh.prev` pointer you could use to iterate backwards through
+the hash, starting from any known item.
+
+[[deletesafe]]
+Deletion-safe iteration
+^^^^^^^^^^^^^^^^^^^^^^^
+In the example above, it would not be safe to delete and free `s` in the body
+of the 'for' loop, (because `s` is derefenced each time the loop iterates).
+This is easy to rewrite correctly (by copying the `s->hh.next` pointer to a
+temporary variable 'before' freeing `s`), but it comes up often enough that a
+deletion-safe iteration macro, `HASH_ITER`, is included. It expands to a
+`for`-loop header. Here is how it could be used to rewrite the last example:
+
+    struct my_struct *s, *tmp;
+
+    HASH_ITER(hh, users, s, tmp) {
+        printf("user id %d: name %s\n", s->id, s->name);
+        /* ... it is safe to delete and free s here */
+    }
+
+.A hash is also a doubly-linked list.
+*******************************************************************************
+Iterating backward and forward through the items in the hash is possible
+because of the `hh.prev` and `hh.next` fields. All the items in the hash can
+be reached by repeatedly following these pointers, thus the hash is also a
+doubly-linked list. 
+*******************************************************************************
+
+If you're using uthash in a C++ program, you need an extra cast on the `for`
+iterator, e.g., `s=(struct my_struct*)s->hh.next`.
+
+Sorted iteration
+^^^^^^^^^^^^^^^^
+The items in the hash are, by default, traversed in the order they were added
+("insertion order") when you follow the `hh.next` pointer. But you can sort
+the items into a new order using `HASH_SORT`. E.g.,
+
+    HASH_SORT( users, name_sort );
+
+The second argument is a pointer to a comparison function. It must accept two
+arguments which are pointers to two items to compare. Its return value should
+be less than zero, zero, or greater than zero, if the first item sorts before,
+equal to, or after the second item, respectively. (Just like `strcmp`).
+
+.Sorting the items in the hash
+----------------------------------------------------------------------
+int name_sort(struct my_struct *a, struct my_struct *b) {
+    return strcmp(a->name,b->name);
+}
+
+int id_sort(struct my_struct *a, struct my_struct *b) {
+    return (a->id - b->id);
+}
+
+void sort_by_name() {
+    HASH_SORT(users, name_sort);
+}
+
+void sort_by_id() {
+    HASH_SORT(users, id_sort);
+}
+----------------------------------------------------------------------
+
+When the items in the hash are sorted, the first item may change position.  In
+the example above, `users` may point to a different structure after calling
+`HASH_SORT`.
+
+A complete example
+~~~~~~~~~~~~~~~~~~
+
+We'll repeat all the code and embellish it with a `main()` function to form a
+working example. 
+
+If this code was placed in a file called `example.c` in the same directory as
+`uthash.h`, it could be compiled and run like this:
+
+    cc -o example example.c
+    ./example
+
+Follow the prompts to try the program.
+
+.A complete program 
+----------------------------------------------------------------------
+#include    /* gets */
+#include   /* atoi, malloc */
+#include   /* strcpy */
+#include "uthash.h"
+
+struct my_struct {
+    int id;                    /* key */
+    char name[10];             
+    UT_hash_handle hh;         /* makes this structure hashable */
+};
+
+struct my_struct *users = NULL;
+
+void add_user(int user_id, char *name) {
+    struct my_struct *s;
+
+    s = (struct my_struct*)malloc(sizeof(struct my_struct));
+    s->id = user_id;
+    strcpy(s->name, name);
+    HASH_ADD_INT( users, id, s );  /* id: name of key field */
+}
+
+struct my_struct *find_user(int user_id) {
+    struct my_struct *s;
+
+    HASH_FIND_INT( users, &user_id, s );  /* s: output pointer */
+    return s;
+}
+
+void delete_user(struct my_struct *user) {
+    HASH_DEL( users, user);  /* user: pointer to deletee */
+    free(user);
+}
+
+void delete_all() {
+  struct my_struct *current_user, *tmp; 
+
+  HASH_ITER(hh, users, current_user, tmp) {
+    HASH_DEL(users,current_user);  /* delete it (users advances to next) */
+    free(current_user);            /* free it */
+  } 
+}
+
+void print_users() {
+    struct my_struct *s;
+
+    for(s=users; s != NULL; s=(struct my_struct*)(s->hh.next)) {
+        printf("user id %d: name %s\n", s->id, s->name);
+    }
+}
+
+int name_sort(struct my_struct *a, struct my_struct *b) {
+    return strcmp(a->name,b->name);
+}
+
+int id_sort(struct my_struct *a, struct my_struct *b) {
+    return (a->id - b->id);
+}
+
+void sort_by_name() {
+    HASH_SORT(users, name_sort);
+}
+
+void sort_by_id() {
+    HASH_SORT(users, id_sort);
+}
+
+int main(int argc, char *argv[]) {
+    char in[10];
+    int id=1, running=1;
+    struct my_struct *s;
+    unsigned num_users;
+
+    while (running) {
+        printf("1. add user\n");
+        printf("2. find user\n");
+        printf("3. delete user\n");
+        printf("4. delete all users\n");
+        printf("5. sort items by name\n");
+        printf("6. sort items by id\n");
+        printf("7. print users\n");
+        printf("8. count users\n");
+        printf("9. quit\n");
+        gets(in);
+        switch(atoi(in)) {
+            case 1:
+                printf("name?\n");
+                add_user(id++, gets(in));
+                break;
+            case 2:
+                printf("id?\n");
+                s = find_user(atoi(gets(in)));
+                printf("user: %s\n", s ? s->name : "unknown");
+                break;
+            case 3:
+                printf("id?\n");
+                s = find_user(atoi(gets(in)));
+                if (s) delete_user(s);
+                else printf("id unknown\n");
+                break;
+            case 4:
+                delete_all();
+                break;
+            case 5:
+                sort_by_name();
+                break;
+            case 6:
+                sort_by_id();
+                break;
+            case 7:
+                print_users();
+                break;
+            case 8:
+                num_users=HASH_COUNT(users);
+                printf("there are %u users\n", num_users);
+                break;
+            case 9:
+                running=0;
+                break;
+        }
+    }
+
+    delete_all();  /* free any structures */
+    return 0;
+}
+----------------------------------------------------------------------
+
+This program is included in the distribution in `tests/example.c`. You can run
+`make example` in that directory to compile it easily.
+
+Standard key types
+------------------
+This section goes into specifics of how to work with different kinds of keys.
+You can use nearly any type of key-- integers, strings, pointers, structures, etc. 
+
+[NOTE]
+.A note about float
+================================================================================
+You can use floating point keys. This comes with the same caveats as with any
+program that tests floating point equality. In other words, even the tiniest
+difference in two floating point numbers makes them distinct keys.
+================================================================================
+
+Integer keys
+~~~~~~~~~~~~
+The preceding examples demonstrated use of integer keys. To recap, use the
+convenience macros `HASH_ADD_INT` and `HASH_FIND_INT` for structures with
+integer keys. (The other operations such as `HASH_DELETE` and `HASH_SORT` are
+the same for all types of keys).
+
+String keys
+~~~~~~~~~~~
+If your structure has a string key, the operations to use depend on whether your
+structure 'points to' the key (`char *`) or the string resides `within` the
+structure (`char a[10]`).  *This distinction is important*.  As we'll see below,
+you need to use `HASH_ADD_KEYPTR` when your structure 'points' to a key (that is,
+the key itself is 'outside' of the structure); in contrast, use `HASH_ADD_STR`
+for a string key that is contained *within* your structure.
+
+[NOTE]
+.char[ ] vs. char* 
+================================================================================
+The string is 'within' the structure in the first example below-- `name` is a
+`char[10]` field.  In the second example, the key is 'outside' of the
+structure-- `name` is a `char *`. So the first example uses `HASH_ADD_STR` but
+the second example uses `HASH_ADD_KEYPTR`.  For information on this macro, see
+the <>.
+================================================================================
+
+String 'within' structure
+^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.A string-keyed hash (string within structure)
+----------------------------------------------------------------------
+#include   /* strcpy */
+#include   /* malloc */
+#include    /* printf */
+#include "uthash.h"
+
+struct my_struct {
+    char name[10];             /* key (string is WITHIN the structure) */
+    int id;                    
+    UT_hash_handle hh;         /* makes this structure hashable */
+};
+
+
+int main(int argc, char *argv[]) {
+    const char **n, *names[] = { "joe", "bob", "betty", NULL };
+    struct my_struct *s, *tmp, *users = NULL;
+    int i=0;
+
+    for (n = names; *n != NULL; n++) {
+        s = (struct my_struct*)malloc(sizeof(struct my_struct));
+        strncpy(s->name, *n,10);
+        s->id = i++;
+        HASH_ADD_STR( users, name, s );  
+    }
+
+    HASH_FIND_STR( users, "betty", s);
+    if (s) printf("betty's id is %d\n", s->id);
+
+    /* free the hash table contents */
+    HASH_ITER(hh, users, s, tmp) {
+      HASH_DEL(users, s);
+      free(s);
+    }
+    return 0;
+}
+----------------------------------------------------------------------
+
+This example is included in the distribution in `tests/test15.c`. It prints:
+
+    betty's id is 2
+
+String 'pointer' in structure
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Now, here is the same example but using a `char *` key instead of `char [ ]`:
+
+.A string-keyed hash (structure points to string)
+----------------------------------------------------------------------
+#include   /* strcpy */
+#include   /* malloc */
+#include    /* printf */
+#include "uthash.h"
+
+struct my_struct {
+    const char *name;          /* key */
+    int id;                    
+    UT_hash_handle hh;         /* makes this structure hashable */
+};
+
+
+int main(int argc, char *argv[]) {
+    const char **n, *names[] = { "joe", "bob", "betty", NULL };
+    struct my_struct *s, *tmp, *users = NULL;
+    int i=0;
+
+    for (n = names; *n != NULL; n++) {
+        s = (struct my_struct*)malloc(sizeof(struct my_struct));
+        s->name = *n;
+        s->id = i++;
+        HASH_ADD_KEYPTR( hh, users, s->name, strlen(s->name), s );  
+    }
+
+    HASH_FIND_STR( users, "betty", s);
+    if (s) printf("betty's id is %d\n", s->id);
+
+    /* free the hash table contents */
+    HASH_ITER(hh, users, s, tmp) {
+      HASH_DEL(users, s);
+      free(s);
+    }
+    return 0;
+}
+----------------------------------------------------------------------
+
+This example is included in `tests/test40.c`.
+
+Pointer keys
+~~~~~~~~~~~~
+Your key can be a pointer. To be very clear, this means the 'pointer itself'
+can be the key (in contrast, if the thing 'pointed to' is the key, this is a
+different use case handled by `HASH_ADD_KEYPTR`).
+
+Here is a simple example where a structure has a pointer member, called `key`.
+
+.A pointer key
+----------------------------------------------------------------------
+#include 
+#include 
+#include "uthash.h"
+
+typedef struct {
+  void *key;
+  int i;
+  UT_hash_handle hh;
+} el_t;
+
+el_t *hash = NULL;
+char *someaddr = NULL;
+
+int main() {
+  el_t *d;
+  el_t *e = (el_t*)malloc(sizeof(el_t));
+  if (!e) return -1;
+  e->key = (void*)someaddr;
+  e->i = 1;
+  HASH_ADD_PTR(hash,key,e);
+  HASH_FIND_PTR(hash, &someaddr, d);
+  if (d) printf("found\n");
+
+  /* release memory */
+  HASH_DEL(hash,e);
+  free(e);
+  return 0;
+}
+----------------------------------------------------------------------
+
+This example is included in `tests/test57.c`. Note that the end of the program
+deletes the element out of the hash, (and since no more elements remain in the
+hash), uthash releases its internal memory.
+
+Structure keys
+~~~~~~~~~~~~~~
+Your key field can have any data type. To uthash, it is just a sequence of
+bytes.  Therefore, even a nested structure can be used as a key. We'll use the
+general macros `HASH_ADD` and `HASH_FIND` to demonstrate.
+
+NOTE: Structures contain padding (wasted internal space used to fulfill
+alignment requirements for the members of the structure). These padding bytes
+'must be zeroed' before adding an item to the hash or looking up an item.
+Therefore always zero the whole structure before setting the members of
+interest. The example below does this-- see the two calls to `memset`.
+
+.A key which is a structure
+----------------------------------------------------------------------
+#include 
+#include 
+#include "uthash.h"
+
+typedef struct {
+  char a;
+  int b;
+} record_key_t;
+
+typedef struct {
+    record_key_t key;
+    /* ... other data ... */
+    UT_hash_handle hh;
+} record_t;
+
+int main(int argc, char *argv[]) {
+    record_t l, *p, *r, *tmp, *records = NULL;
+
+    r = (record_t*)malloc( sizeof(record_t) );
+    memset(r, 0, sizeof(record_t));
+    r->key.a = 'a';
+    r->key.b = 1;
+    HASH_ADD(hh, records, key, sizeof(record_key_t), r);
+
+    memset(&l, 0, sizeof(record_t));
+    l.key.a = 'a';
+    l.key.b = 1;
+    HASH_FIND(hh, records, &l.key, sizeof(record_key_t), p);
+
+    if (p) printf("found %c %d\n", p->key.a, p->key.b);
+
+    HASH_ITER(hh, records, p, tmp) {
+      HASH_DEL(records, p);
+      free(p);
+    }
+    return 0;
+}
+
+----------------------------------------------------------------------
+
+This usage is nearly the same as use of a compound key explained below.
+
+Note that the general macros require the name of the `UT_hash_handle` to be
+passed as the first argument (here, this is `hh`). The general macros are 
+documented in <>. 
+
+Advanced Topics
+---------------
+
+Compound keys
+~~~~~~~~~~~~~
+Your key can even comprise multiple contiguous fields. 
+
+.A multi-field key
+----------------------------------------------------------------------
+#include     /* malloc       */
+#include     /* offsetof     */
+#include      /* printf       */
+#include     /* memset       */
+#include "uthash.h"
+
+#define UTF32 1
+
+typedef struct {
+  UT_hash_handle hh;
+  int len;
+  char encoding;      /* these two fields */
+  int text[];         /* comprise the key */
+} msg_t;
+
+typedef struct {
+    char encoding; 
+    int text[]; 
+} lookup_key_t;
+
+int main(int argc, char *argv[]) {
+    unsigned keylen;
+    msg_t *msg, *tmp, *msgs = NULL;
+    lookup_key_t *lookup_key;
+
+    int beijing[] = {0x5317, 0x4eac};   /* UTF-32LE for 北京 */
+
+    /* allocate and initialize our structure */
+    msg = (msg_t*)malloc( sizeof(msg_t) + sizeof(beijing) );
+    memset(msg, 0, sizeof(msg_t)+sizeof(beijing)); /* zero fill */
+    msg->len = sizeof(beijing);
+    msg->encoding = UTF32;
+    memcpy(msg->text, beijing, sizeof(beijing));
+
+    /* calculate the key length including padding, using formula */
+    keylen =   offsetof(msg_t, text)       /* offset of last key field */
+             + sizeof(beijing)             /* size of last key field */
+             - offsetof(msg_t, encoding);  /* offset of first key field */
+
+    /* add our structure to the hash table */
+    HASH_ADD( hh, msgs, encoding, keylen, msg);
+
+    /* look it up to prove that it worked :-) */
+    msg=NULL;
+
+    lookup_key = (lookup_key_t*)malloc(sizeof(*lookup_key) + sizeof(beijing));
+    memset(lookup_key, 0, sizeof(*lookup_key) + sizeof(beijing));
+    lookup_key->encoding = UTF32;
+    memcpy(lookup_key->text, beijing, sizeof(beijing));
+    HASH_FIND( hh, msgs, &lookup_key->encoding, keylen, msg );
+    if (msg) printf("found \n");
+    free(lookup_key);
+
+    HASH_ITER(hh, msgs, msg, tmp) {
+      HASH_DEL(msgs, msg);
+      free(msg);
+    }
+    return 0;
+}
+----------------------------------------------------------------------
+
+This example is included in the distribution in `tests/test22.c`.
+
+If you use multi-field keys, recognize that the compiler pads adjacent fields
+(by inserting unused space between them) in order to fulfill the alignment
+requirement of each field. For example a structure containing a `char` followed
+by an `int` will normally have 3 "wasted" bytes of padding after the char, in
+order to make the `int` field start on a multiple-of-4 address (4 is the length
+of the int). 
+
+.Calculating the length of a multi-field key:
+*******************************************************************************
+To determine the key length when using a multi-field key, you must include any
+intervening structure padding the compiler adds for alignment purposes.
+
+An easy way to calculate the key length is to use the `offsetof` macro from
+``.  The formula is:
+
+     key length =   offsetof(last_key_field) 
+                  + sizeof(last_key_field) 
+                  - offsetof(first_key_field)
+
+In the example above, the `keylen` variable is set using this formula.
+*******************************************************************************
+
+When dealing with a multi-field key, you must zero-fill your structure before
+`HASH_ADD`'ing it to a hash table, or using its fields in a `HASH_FIND` key.
+
+In the previous example, `memset` is used to initialize the structure by
+zero-filling it. This zeroes out any padding between the key fields. If we
+didn't zero-fill the structure, this padding would contain random values.  The
+random values would lead to `HASH_FIND` failures; as two "identical" keys will
+appear to mismatch if there are any differences within their padding.
+
+[[multilevel]]
+Multi-level hash tables
+~~~~~~~~~~~~~~~~~~~~~~~
+A multi-level hash table arises when each element of a hash table contains its
+own secondary hash table. There can be any number of levels. In a scripting
+language you might see:
+
+  $items{bob}{age}=37
+  
+The C program below builds this example in uthash: the hash table is called
+`items`. It contains one element (`bob`) whose own hash table contains one
+element (`age`) with value 37.  No special functions are necessary to build
+a multi-level hash table. 
+
+While this example represents both levels (`bob` and `age`) using the same
+structure, it would also be fine to use two different structure definitions.
+It would also be fine if there were three or more levels instead of two.
+
+.Multi-level hash table
+----------------------------------------------------------------------
+#include 
+#include 
+#include 
+#include "uthash.h"
+
+/* hash of hashes */
+typedef struct item {
+  char name[10];
+  struct item *sub;
+  int val;
+  UT_hash_handle hh;
+} item_t;
+
+item_t *items=NULL;
+
+int main(int argc, char *argvp[]) {
+  item_t *item1, *item2, *tmp1, *tmp2;
+
+  /* make initial element */
+  item_t *i = malloc(sizeof(*i));
+  strcpy(i->name, "bob");
+  i->sub = NULL;
+  i->val = 0;
+  HASH_ADD_STR(items, name, i);
+
+  /* add a sub hash table off this element */
+  item_t *s = malloc(sizeof(*s));
+  strcpy(s->name, "age");
+  s->sub = NULL;
+  s->val = 37;
+  HASH_ADD_STR(i->sub, name, s);
+
+  /* iterate over hash elements  */
+  HASH_ITER(hh, items, item1, tmp1) {
+    HASH_ITER(hh, item1->sub, item2, tmp2) {
+      printf("$items{%s}{%s} = %d\n", item1->name, item2->name, item2->val);
+    }
+  }
+
+  /* clean up both hash tables */
+  HASH_ITER(hh, items, item1, tmp1) {
+    HASH_ITER(hh, item1->sub, item2, tmp2) {
+      HASH_DEL(item1->sub, item2);
+      free(item2);
+    }
+    HASH_DEL(items, item1);
+    free(item1);
+  }
+
+  return 0;
+}
+----------------------------------------------------------------------
+The example above is included in `tests/test59.c`.  
+
+[[multihash]]
+Items in several hash tables
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+A structure can be added to more than one hash table. A few reasons you might do
+this include:
+
+- each hash table may use an alternative key; 
+- each hash table may have its own sort order; 
+- or you might simply use multiple hash tables for grouping purposes.  E.g.,
+  you could have users in an `admin_users` and a `users` hash table. 
+
+Your structure needs to have a `UT_hash_handle` field for each hash table to
+which it might be added. You can name them anything. E.g.,
+
+  UT_hash_handle hh1, hh2;
+
+Items with alternative keys
+~~~~~~~~~~~~~~~~~~~~~~~~~~~
+You might create a hash table keyed on an ID field, and another hash table keyed
+on username (if usernames are unique). You can add the same user structure to
+both hash tables (without duplication of the structure), allowing lookup of a
+user structure by their name or ID.  The way to achieve this is to have a
+separate `UT_hash_handle` for each hash to which the structure may be added.
+
+.A structure with two alternative keys
+----------------------------------------------------------------------
+struct my_struct {
+    int id;                    /* usual key */
+    char username[10];         /* alternative key */
+    UT_hash_handle hh1;        /* handle for first hash table */
+    UT_hash_handle hh2;        /* handle for second hash table */
+};
+----------------------------------------------------------------------
+
+In the example above, the structure can now be added to two separate hash
+tables. In one hash, `id` is its key, while in the other hash, `username` is
+its key.  (There is no requirement that the two hashes have different key
+fields. They could both use the same key, such as `id`).
+
+Notice the structure has two hash handles (`hh1` and `hh2`).  In the code
+below, notice that each hash handle is used exclusively with a particular hash
+table.  (`hh1` is always used with the `users_by_id` hash, while `hh2` is
+always used with the `users_by_name` hash table).
+
+.Two keys on a structure
+----------------------------------------------------------------------
+    struct my_struct *users_by_id = NULL, *users_by_name = NULL, *s;
+    int i;
+    char *name;
+
+    s = malloc(sizeof(struct my_struct));
+    s->id = 1;
+    strcpy(s->username, "thanson");
+
+    /* add the structure to both hash tables */
+    HASH_ADD(hh1, users_by_id, id, sizeof(int), s);
+    HASH_ADD(hh2, users_by_name, username, strlen(s->username), s);
+
+    /* lookup user by ID in the "users_by_id" hash table */
+    i=1;
+    HASH_FIND(hh1, users_by_id, &i, sizeof(int), s);
+    if (s) printf("found id %d: %s\n", i, s->username);
+
+    /* lookup user by username in the "users_by_name" hash table */
+    name = "thanson";
+    HASH_FIND(hh2, users_by_name, name, strlen(name), s);
+    if (s) printf("found user %s: %d\n", name, s->id);
+----------------------------------------------------------------------
+
+
+Several sort orders
+~~~~~~~~~~~~~~~~~~~
+It comes as no suprise that two hash tables can have different sort orders, but
+this fact can also be used advantageously to sort the 'same items' in several
+ways. This is based on the ability to store a structure in several hash tables.
+
+Extending the previous example, suppose we have many users. We have added each
+user structure to the `users_by_id` hash table and the `users_by_name` hash table.
+(To reiterate, this is done without the need to have two copies of each structure).
+Now we can define two sort functions, then use `HASH_SRT`.
+
+  int sort_by_id(struct my_struct *a, struct my_struct *b) {
+    if (a->id == b->id) return 0;
+    return (a->id < b->id) ? -1 : 1;
+  }
+
+  int sort_by_name(struct my_struct *a, struct my_struct *b) {
+    return strcmp(a->username,b->username);
+  }
+
+  HASH_SRT(hh1, users_by_id, sort_by_id);
+  HASH_SRT(hh2, users_by_name, sort_by_name);
+
+Now iterating over the items in `users_by_id` will traverse them in id-order
+while, naturally, iterating over `users_by_name` will traverse them in
+name-order. The items are fully forward-and-backward linked in each order.
+So even for one set of users, we might store them in two hash tables to provide
+easy iteration in two different sort orders.
+
+Bloom filter (faster misses)
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+Programs that generate a fair miss rate (`HASH_FIND` that result in `NULL`) may
+benefit from the built-in Bloom filter support. This is disabled by default,
+because programs that generate only hits would incur a slight penalty from it.
+Also, programs that do deletes should not use the Bloom filter. While the
+program would operate correctly, deletes diminish the benefit of the filter.
+To enable the Bloom filter, simply compile with `-DHASH_BLOOM=n` like:
+
+  -DHASH_BLOOM=27
+
+where the number can be any value up to 32 which determines the amount of memory
+used by the filter, as shown below. Using more memory makes the filter more
+accurate and has the potential to speed up your program by making misses bail
+out faster. 
+
+.Bloom filter sizes for selected values of n
+[width="50%",cols="10m,30",grid="none",options="header"]
+|=====================================================================
+| n   | Bloom filter size (per hash table)
+| 16  | 8 kilobytes
+| 20  | 128 kilobytes
+| 24  | 2 megabytes
+| 28  | 32 megabytes
+| 32  | 512 megabytes
+|=====================================================================
+
+Bloom filters are only a performance feature; they do not change the results of
+hash operations in any way. The only way to gauge whether or not a Bloom filter
+is right for your program is to test it. Reasonable values for the size of the
+Bloom filter are 16-32 bits.
+
+Select
+~~~~~~
+An experimental 'select' operation is provided that inserts those items from a
+source hash that satisfy a given condition into a destination hash. This
+insertion is done with somewhat more efficiency than if this were using
+`HASH_ADD`, namely because the hash function is not recalculated for keys of the
+selected items.  This operation does not remove any items from the source hash.
+Rather the selected items obtain dual presence in both hashes.  The destination
+hash may already have items in it; the selected items are added to it. In order
+for a structure to be usable with `HASH_SELECT`, it must have two or more hash
+handles. (As described <>, a structure can exist in many
+hash tables at the same time; it must have a separate hash handle for each one).
+
+  user_t *users=NULL, *admins=NULL; /* two hash tables */
+
+  typedef struct {
+      int id;
+      UT_hash_handle hh;  /* handle for users hash */
+      UT_hash_handle ah;  /* handle for admins hash */
+  } user_t;
+
+Now suppose we have added some users, and want to select just the administrator
+users who have id's less than 1024.
+
+  #define is_admin(x) (((user_t*)x)->id < 1024)
+  HASH_SELECT(ah,admins,hh,users,is_admin);
+
+The first two parameters are the 'destination' hash handle and hash table, the
+second two parameters are the 'source' hash handle and hash table, and the last
+parameter is the 'select condition'. Here we used a macro `is_admin()` but we
+could just as well have used a function.
+
+  int is_admin(void *userv) {
+    user_t *user = (user_t*)userv; 
+    return (user->id < 1024) ? 1 : 0;
+  }
+
+If the select condition always evaluates to true, this operation is
+essentially a 'merge' of the source hash into the destination hash. Of course,
+the source hash remains unchanged under any use of `HASH_SELECT`. It only adds
+items to the destination hash selectively.
+
+The two hash handles must differ. An example of using `HASH_SELECT` is included
+in `tests/test36.c`.
+
+
+[[hash_functions]]
+Built-in hash functions
+~~~~~~~~~~~~~~~~~~~~~~~
+Internally, a hash function transforms a key into a bucket number.  You don't
+have to take any action to use the default hash function, currently Jenkin's.
+
+Some programs may benefit from using another of the built-in hash functions.
+There is a simple analysis utility included with uthash to help you determine
+if another hash function will give you better performance.
+
+You can use a different hash function by compiling your program with
+`-DHASH_FUNCTION=HASH_xyz` where `xyz` is one of the symbolic names listed
+below. E.g., 
+
+    cc -DHASH_FUNCTION=HASH_BER -o program program.c
+
+.Built-in hash functions
+[width="50%",cols="^5m,20",grid="none",options="header"]
+|===============================================================================
+|Symbol |   Name    
+|JEN    |   Jenkins (default)
+|BER    |   Bernstein
+|SAX    |   Shift-Add-Xor
+|OAT    |   One-at-a-time
+|FNV    |   Fowler/Noll/Vo
+|SFH    |   Paul Hsieh 
+|MUR    |   MurmurHash v3 (see note)
+|===============================================================================
+
+[NOTE]
+.MurmurHash
+================================================================================
+A special symbol must be defined if you intend to use MurmurHash. To use it, add
+`-DHASH_USING_NO_STRICT_ALIASING` to your `CFLAGS`. And, if you are using
+the gcc compiler with optimization, add `-fno-strict-aliasing` to your `CFLAGS`.
+================================================================================
+
+Which hash function is best?
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+You can easily determine the best hash function for your key domain. To do so,
+you'll need to run your program once in a data-collection pass, and then run
+the collected data through an included analysis utility.
+
+First you must build the analysis utility. From the top-level directory,
+
+    cd tests/
+    make
+
+We'll use `test14.c` to demonstrate the data-collection and analysis steps
+(here using `sh` syntax to redirect file descriptor 3 to a file):
+
+.Using keystats
+--------------------------------------------------------------------------------
+% cc -DHASH_EMIT_KEYS=3 -I../src -o test14 test14.c
+% ./test14 3>test14.keys
+% ./keystats test14.keys
+fcn  ideal%     #items   #buckets  dup%  fl   add_usec  find_usec  del-all usec
+---  ------ ---------- ---------- -----  -- ---------- ----------  ------------
+SFH   91.6%       1219        256    0%  ok         92        131            25
+FNV   90.3%       1219        512    0%  ok        107         97            31
+SAX   88.7%       1219        512    0%  ok        111        109            32
+OAT   87.2%       1219        256    0%  ok         99        138            26
+JEN   86.7%       1219        256    0%  ok         87        130            27
+BER   86.2%       1219        256    0%  ok        121        129            27
+--------------------------------------------------------------------------------
+
+[NOTE]
+The number 3 in `-DHASH_EMIT_KEYS=3` is a file descriptor. Any file descriptor
+that your program doesn't use for its own purposes can be used instead of 3. 
+The data-collection mode enabled by `-DHASH_EMIT_KEYS=x` should not be used in
+production code. 
+
+Usually, you should just pick the first hash function that is listed. Here, this
+is `SFH`.  This is the function that provides the most even distribution for
+your keys. If several have the same `ideal%`, then choose the fastest one
+according to the `find_usec` column.
+
+keystats column reference
+^^^^^^^^^^^^^^^^^^^^^^^^^
+fcn::
+    symbolic name of hash function
+ideal%::
+    The percentage of items in the hash table which can be looked up within an
+    ideal number of steps. (Further explained below).
+#items::
+    the number of keys that were read in from the emitted key file
+#buckets::
+    the number of buckets in the hash after all the keys were added
+dup%::
+    the percent of duplicate keys encountered in the emitted key file.
+    Duplicates keys are filtered out to maintain key uniqueness. (Duplicates
+    are normal.  For example, if the application adds an item to a hash,
+    deletes it, then re-adds it, the key is written twice to the emitted file.)  
+flags::
+    this is either `ok`, or `nx` (noexpand) if the expansion inhibited flag is
+    set, described in <>.  It is not recommended
+    to use a hash function that has the `noexpand` flag set.
+add_usec::
+    the clock time in microseconds required to add all the keys to a hash
+find_usec::
+    the clock time in microseconds required to look up every key in the hash
+del-all usec::
+    the clock time in microseconds required to delete every item in the hash
+
+[[ideal]]
+ideal%
+^^^^^^
+
+.What is ideal%?
+*****************************************************************************
+The 'n' items in a hash are distributed into 'k' buckets. Ideally each bucket
+would contain an equal share '(n/k)' of the items. In other words, the maximum
+linear position of any item in a bucket chain would be 'n/k' if every bucket is
+equally used. If some buckets are overused and others are underused, the
+overused buckets will contain items whose linear position surpasses 'n/k'.
+Such items are considered non-ideal. 
+
+As you might guess, `ideal%` is the percentage of ideal items in the hash. These
+items have favorable linear positions in their bucket chains.  As `ideal%`
+approaches 100%, the hash table approaches constant-time lookup performance.
+*****************************************************************************
+
+[[hashscan]]
+hashscan
+~~~~~~~~
+NOTE: This utility is only available on Linux, and on FreeBSD (8.1 and up).
+
+A utility called `hashscan` is included in the `tests/` directory. It
+is built automatically when you run `make` in that directory. This tool
+examines a running process and reports on the uthash tables that it finds in
+that program's memory. It can also save the keys from each table in a format
+that can be fed into `keystats`.
+
+Here is an example of using `hashscan`. First ensure that it is built:
+
+    cd tests/
+    make
+
+Since `hashscan` needs a running program to inspect, we'll start up a simple
+program that makes a hash table and then sleeps as our test subject:
+
+    ./test_sleep &
+    pid: 9711
+
+Now that we have a test program, let's run `hashscan` on it:
+
+  ./hashscan 9711
+  Address            ideal    items  buckets mc fl bloom/sat fcn keys saved to
+  ------------------ ----- -------- -------- -- -- --------- --- -------------
+  0x862e038            81%    10000     4096 11 ok 16    14% JEN 
+
+If we wanted to copy out all its keys for external analysis using `keystats`,
+add the `-k` flag:
+
+  ./hashscan -k 9711
+  Address            ideal    items  buckets mc fl bloom/sat fcn keys saved to
+  ------------------ ----- -------- -------- -- -- --------- --- -------------
+  0x862e038            81%    10000     4096 11 ok 16    14% JEN /tmp/9711-0.key
+
+Now we could run `./keystats /tmp/9711-0.key` to analyze which hash function
+has the best characteristics on this set of keys.
+
+hashscan column reference
+^^^^^^^^^^^^^^^^^^^^^^^^^
+Address::
+    virtual address of the hash table
+ideal::
+    The percentage of items in the table which can be looked up within an ideal
+    number of steps. See <> in the `keystats` section.
+items::
+    number of items in the hash table
+buckets::
+    number of buckets in the hash table
+mc::
+    the maximum chain length found in the hash table (uthash usually tries to
+    keep fewer than 10 items in each bucket, or in some cases a multiple of 10)
+fl::
+    flags (either `ok`, or `NX` if the expansion-inhibited flag is set)
+bloom/sat::
+    if the hash table uses a Bloom filter, this is the size (as a power of two)
+    of the filter (e.g. 16 means the filter is 2^16 bits in size). The second
+    number is the "saturation" of the bits expressed as a percentage. The lower
+    the percentage, the more potential benefit to identify cache misses quickly. 
+fcn::
+    symbolic name of hash function 
+keys saved to::
+    file to which keys were saved, if any
+
+.How hashscan works
+*****************************************************************************
+When hashscan runs, it attaches itself to the target process, which suspends
+the target process momentarily. During this brief suspension, it scans the
+target's virtual memory for the signature of a uthash hash table. It then 
+checks if a valid hash table structure accompanies the signature and reports
+what it finds. When it detaches, the target process resumes running normally.
+The hashscan is performed "read-only"-- the target process is not modified.
+Since hashscan is analyzing a momentary snapshot of a running process, it may
+return different results from one run to another. 
+*****************************************************************************
+
+[[expansion]]
+Expansion internals
+~~~~~~~~~~~~~~~~~~~
+Internally this hash manages the number of buckets, with the goal of having
+enough buckets so that each one contains only a small number of items.  
+
+.Why does the number of buckets matter?
+********************************************************************************
+When looking up an item by its key, this hash scans linearly through the items
+in the appropriate bucket. In order for the linear scan to run in constant
+time, the number of items in each bucket must be bounded. This is accomplished
+by increasing the number of buckets as needed.
+********************************************************************************
+
+Normal expansion
+^^^^^^^^^^^^^^^^
+This hash attempts to keep fewer than 10 items in each bucket. When an item is
+added that would cause a bucket to exceed this number, the number of buckets in
+the hash is doubled and the items are redistributed into the new buckets. In an
+ideal world, each bucket will then contain half as many items as it did before.
+
+Bucket expansion occurs automatically and invisibly as needed. There is
+no need for the application to know when it occurs. 
+
+Per-bucket expansion threshold
+++++++++++++++++++++++++++++++
+Normally all buckets share the same threshold (10 items) at which point bucket
+expansion is triggered. During the process of bucket expansion, uthash can
+adjust this expansion-trigger threshold on a per-bucket basis if it sees that
+certain buckets are over-utilized. 
+
+When this threshold is adjusted, it goes from 10 to a multiple of 10 (for that
+particular bucket).  The multiple is based on how many times greater the actual
+chain length is than the ideal length. It is a practical measure to reduce
+excess bucket expansion in the case where a hash function over-utilizes a few
+buckets but has good overall distribution. However, if the overall distribution
+gets too bad, uthash changes tactics.
+
+Inhibited expansion
+^^^^^^^^^^^^^^^^^^^
+You usually don't need to know or worry about this, particularly if you used
+the `keystats` utility during development to select a good hash for your keys.
+
+A hash function may yield an uneven distribution of items across the buckets.
+In moderation this is not a problem. Normal bucket expansion takes place as
+the chain lengths grow. But when significant imbalance occurs (because the hash
+function is not well suited to the key domain), bucket expansion may be
+ineffective at reducing the chain lengths. 
+
+Imagine a very bad hash function which always puts every item in bucket 0. No
+matter how many times the number of buckets is doubled, the chain length of
+bucket 0 stays the same. In a situation like this, the best behavior is to 
+stop expanding, and accept O(n) lookup performance. This is what uthash
+does. It degrades gracefully if the hash function is ill-suited to the keys.
+
+If two consecutive bucket expansions yield `ideal%` values below 50%, uthash
+inhibits expansion for that hash table.  Once set, the 'bucket expansion
+inhibited' flag remains in effect as long as the hash has items in it.  
+Inhibited expansion may cause `HASH_FIND` to exhibit worse than constant-time
+performance. 
+
+Hooks
+~~~~~
+You don't need to use these hooks- they are only here if you want to modify
+the behavior of uthash.  Hooks can be used to change how uthash allocates 
+memory, and to run code in response to certain internal events. 
+
+malloc/free
+^^^^^^^^^^^
+By default this hash implementation uses `malloc` and `free` to manage memory.
+If your application uses its own custom allocator, this hash can use them too.
+
+.Specifying alternate memory management functions
+----------------------------------------------------------------------------
+#include "uthash.h"
+
+/* undefine the defaults */
+#undef uthash_malloc
+#undef uthash_free
+
+/* re-define, specifying alternate functions */
+#define uthash_malloc(sz) my_malloc(sz) 
+#define uthash_free(ptr,sz) my_free(ptr)    
+
+...
+----------------------------------------------------------------------------
+
+Notice that `uthash_free` receives two parameters. The `sz` parameter is for
+convenience on embedded platforms that manage their own memory.
+
+Out of memory
+^^^^^^^^^^^^^
+If memory allocation fails (i.e., the malloc function returned `NULL`), the
+default behavior is to terminate the process by calling `exit(-1)`. This can
+be modified by re-defining the `uthash_fatal` macro.
+ 
+    #undef uthash_fatal
+    #define uthash_fatal(msg) my_fatal_function(msg);
+
+The fatal function should terminate the process or `longjmp` back to a safe
+place. Uthash does not support "returning a failure" if memory cannot be
+allocated.
+
+Internal events
+^^^^^^^^^^^^^^^
+There is no need for the application to set these hooks or take action in
+response to these events. They are mainly for diagnostic purposes.
+
+These two hooks are "notification" hooks which get executed if uthash is
+expanding buckets, or setting the 'bucket expansion inhibited' flag. Normally
+both of these hooks are undefined and thus compile away to nothing. 
+
+Expansion
++++++++++
+There is a hook for the bucket expansion event.  
+
+.Bucket expansion hook
+----------------------------------------------------------------------------
+#include "uthash.h"
+
+#undef uthash_expand_fyi 
+#define uthash_expand_fyi(tbl) printf("expanded to %d buckets\n", tbl->num_buckets)
+
+...
+----------------------------------------------------------------------------
+
+Expansion-inhibition
+++++++++++++++++++++
+This hook can be defined to code to execute in the event that uthash decides to
+set the 'bucket expansion inhibited' flag. 
+
+.Bucket expansion inhibited hook
+----------------------------------------------------------------------------
+#include "uthash.h"
+
+#undef uthash_noexpand_fyi
+#define uthash_noexpand_fyi printf("warning: bucket expansion inhibited\n");
+
+...
+----------------------------------------------------------------------------
+
+
+Debug mode
+~~~~~~~~~~
+If a program that uses this hash is compiled with `-DHASH_DEBUG=1`, a special
+internal consistency-checking mode is activated.  In this mode, the integrity
+of the whole hash is checked following every add or delete operation.  This is
+for debugging the uthash software only, not for use in production code. 
+
+In the `tests/` directory, running `make debug` will run all the tests in
+this mode.
+
+In this mode, any internal errors in the hash data structure will cause a
+message to be printed to `stderr` and the program to exit.
+
+The `UT_hash_handle` data structure includes `next`, `prev`, `hh_next` and
+`hh_prev` fields.  The former two fields determine the "application" ordering
+(that is, insertion order-- the order the items were added).  The latter two
+fields determine the "bucket chain" order.  These link the `UT_hash_handles`
+together in a doubly-linked list that is a bucket chain.
+
+Checks performed in `-DHASH_DEBUG=1` mode:
+
+- the hash is walked in its entirety twice: once in 'bucket' order and a
+  second time in 'application' order
+- the total number of items encountered in both walks is checked against the
+  stored number
+- during the walk in 'bucket' order, each item's `hh_prev` pointer is compared
+  for equality with the last visited item
+- during the walk in 'application' order, each item's `prev` pointer is compared
+  for equality with the last visited item
+
+.Macro debugging:
+********************************************************************************
+Sometimes it's difficult to interpret a compiler warning on a line which
+contains a macro call.  In the case of uthash, one macro can expand to dozens of
+lines. In this case, it is helpful to expand the macros and then recompile.
+By doing so, the warning message will refer to the exact line within the macro.
+
+Here is an example of how to expand the macros and then recompile. This uses the
+`test1.c` program in the `tests/` subdirectory.
+
+  gcc -E -I../src test1.c > /tmp/a.c
+  egrep -v '^#' /tmp/a.c > /tmp/b.c
+  indent /tmp/b.c
+  gcc -o /tmp/b /tmp/b.c
+
+The last line compiles the original program (test1.c) with all macros expanded.
+If there was a warning, the referenced line number can be checked in `/tmp/b.c`.
+********************************************************************************
+
+Thread safety
+~~~~~~~~~~~~~
+You can use uthash in a threaded program. But you must do the locking. Use a
+read-write lock to protect against concurrent writes. It is ok to have
+concurrent readers (since uthash 1.5). 
+
+For example using pthreads you can create an rwlock like this:
+
+  pthread_rwlock_t lock;
+  if (pthread_rwlock_init(&lock,NULL) != 0) fatal("can't create rwlock");
+
+Then, readers must acquire the read lock before doing any `HASH_FIND` calls or
+before iterating over the hash elements:
+
+  if (pthread_rwlock_rdlock(&lock) != 0) fatal("can't get rdlock");
+  HASH_FIND_INT(elts, &i, e);
+  pthread_rwlock_unlock(&lock);
+  
+Writers must acquire the exclusive write lock before doing any update. Add,
+delete, and sort are all updates that must be locked.
+
+  if (pthread_rwlock_wrlock(&lock) != 0) fatal("can't get wrlock");
+  HASH_DEL(elts, e);
+  pthread_rwlock_unlock(&lock);
+
+If you prefer, you can use a mutex instead of a read-write lock, but this will
+reduce reader concurrency to a single thread at a time. 
+
+An example program using uthash with a read-write lock is included in
+`tests/threads/test1.c`.
+
+[[Macro_reference]]
+Macro reference
+---------------
+
+Convenience macros
+~~~~~~~~~~~~~~~~~~
+The convenience macros do the same thing as the generalized macros, but
+require fewer arguments.  
+
+In order to use the convenience macros, 
+
+1. the structure's `UT_hash_handle` field must be named `hh`, and
+2. for add or find, the key field must be of type `int` or `char[]` or pointer
+
+.Convenience macros
+[width="90%",cols="10m,30m",grid="none",options="header"]
+|===============================================================================
+|macro         | arguments
+|HASH_ADD_INT  | (head, keyfield_name, item_ptr)
+|HASH_FIND_INT | (head, key_ptr, item_ptr)
+|HASH_ADD_STR  | (head, keyfield_name, item_ptr)
+|HASH_FIND_STR | (head, key_ptr, item_ptr)
+|HASH_ADD_PTR  | (head, keyfield_name, item_ptr)
+|HASH_FIND_PTR | (head, key_ptr, item_ptr)
+|HASH_DEL      | (head, item_ptr)
+|HASH_SORT     | (head, cmp)
+|HASH_COUNT    | (head)
+|===============================================================================
+
+General macros
+~~~~~~~~~~~~~~
+
+These macros add, find, delete and sort the items in a hash.  You need to 
+use the general macros if your `UT_hash_handle` is named something other
+than `hh`, or if your key's data type isn't `int` or `char[]`.
+
+.General macros
+[width="90%",cols="10m,30m",grid="none",options="header"]
+|===============================================================================
+|macro          | arguments
+|HASH_ADD       | (hh_name, head, keyfield_name, key_len, item_ptr)
+|HASH_ADD_KEYPTR| (hh_name, head, key_ptr, key_len, item_ptr)
+|HASH_FIND      | (hh_name, head, key_ptr, key_len, item_ptr)
+|HASH_DELETE    | (hh_name, head, item_ptr)
+|HASH_SRT       | (hh_name, head, cmp)
+|HASH_CNT       | (hh_name, head)
+|HASH_CLEAR     | (hh_name, head)
+|HASH_SELECT    | (dst_hh_name, dst_head, src_hh_name, src_head, condition)
+|HASH_ITER      | (hh_name, head, item_ptr, tmp_item_ptr)
+|===============================================================================
+
+[NOTE]
+`HASH_ADD_KEYPTR` is used when the structure contains a pointer to the
+key, rather than the key itself. 
+
+
+Argument descriptions
+^^^^^^^^^^^^^^^^^^^^^
+hh_name::
+    name of the `UT_hash_handle` field in the structure. Conventionally called
+    `hh`.
+head::
+    the structure pointer variable which acts as the "head" of the hash. So
+    named because it initially points to the first item that is added to the hash.
+keyfield_name::
+    the name of the key field in the structure. (In the case of a multi-field
+    key, this is the first field of the key). If you're new to macros, it
+    might seem strange to pass the name of a field as a parameter. See
+    <>.
+key_len::
+    the length of the key field in bytes. E.g. for an integer key, this is
+    `sizeof(int)`, while for a string key it's `strlen(key)`. (For a
+    multi-field key, see the notes in this guide on calculating key length).
+key_ptr::
+    for `HASH_FIND`, this is a pointer to the key to look up in the hash
+    (since it's a pointer, you can't directly pass a literal value here). For
+    `HASH_ADD_KEYPTR`, this is the address of the key of the item being added.
+item_ptr::
+    pointer to the structure being added, deleted, or looked up, or the current
+    pointer during iteration. This is an input parameter for `HASH_ADD` and
+    `HASH_DELETE` macros, and an output parameter for `HASH_FIND` and
+    `HASH_ITER`. (When using `HASH_ITER` to iterate, `tmp_item_ptr`
+    is another variable of the same type as `item_ptr`, used internally).
+cmp::
+    pointer to comparison function which accepts two arguments (pointers to
+    items to compare) and returns an int specifying whether the first item
+    should sort before, equal to, or after the second item (like `strcmp`).
+condition::
+    a function or macro which accepts a single argument-- a void pointer to a
+    structure, which needs to be cast to the appropriate structure type. The
+    function or macro should return (or evaluate to) a non-zero value if the
+    structure should be "selected" for addition to the destination hash.
+
+// vim: set tw=80 wm=2 syntax=asciidoc: 
+
diff --git a/src/modules/systemlib/uthash/doc/utarray.txt b/src/modules/systemlib/uthash/doc/utarray.txt
new file mode 100644
index 000000000..37830f124
--- /dev/null
+++ b/src/modules/systemlib/uthash/doc/utarray.txt
@@ -0,0 +1,376 @@
+utarray: dynamic array macros for C 
+===================================
+Troy D. Hanson 
+v1.9.5, November 2011
+
+include::sflogo.txt[]
+include::topnav_utarray.txt[]
+
+Introduction
+------------
+include::toc.txt[]
+
+A set of general-purpose dynamic array macros for C structures are included with
+uthash in `utarray.h`.  To use these macros in your own C program, just
+copy `utarray.h` into your source directory and use it in your programs.
+
+  #include "utarray.h"
+
+The dynamic array supports basic operations such as push, pop, and erase on the
+array elements. These array elements can be any simple datatype or structure.
+The array <> are based loosely on the C++ STL vector methods.
+
+Internally the dynamic array contains a contiguous memory region into which
+the elements are copied. This buffer is grown as needed using `realloc` to
+accomodate all the data that is pushed into it.
+
+Download
+~~~~~~~~
+To download the `utarray.h` header file, follow the link on the
+http://uthash.sourceforge.net[uthash home page]. 
+
+BSD licensed
+~~~~~~~~~~~~
+This software is made available under the 
+link:license.html[revised BSD license]. 
+It is free and open source. 
+
+Platforms
+~~~~~~~~~
+The 'utarray' macros have been tested on:
+
+ * Linux, 
+ * Mac OS X, 
+ * Windows, using Visual Studio 2008 and Visual Studio 2010
+
+Usage 
+-----
+
+Declaration
+~~~~~~~~~~~
+
+The array itself has the data type `UT_array`, regardless of the type of
+elements to be stored in it. It is declared like,
+
+  UT_array *nums;
+
+New and free
+~~~~~~~~~~~~
+The next step is to create the array using `utarray_new`. Later when you're
+done with the array, `utarray_free` will free it and all its elements. 
+
+Push, pop, etc
+~~~~~~~~~~~~~~
+The central features of the utarray involve putting elements into it, taking
+them out, and iterating over them. There are several <>
+to pick from that deal with either single elements or ranges of elements at a
+time. In the examples below we will use only the push operation to insert
+elements. 
+
+Elements
+--------
+
+Support for dynamic arrays of integers or strings is especially easy. These are
+best shown by example:
+
+Integers
+~~~~~~~~
+This example makes a utarray of integers, pushes 0-9 into it, then prints it.
+Lastly it frees it.
+
+.Integer elements
+-------------------------------------------------------------------------------
+#include 
+#include "utarray.h"
+
+int main() {
+  UT_array *nums;
+  int i, *p;
+
+  utarray_new(nums,&ut_int_icd);  
+  for(i=0; i < 10; i++) utarray_push_back(nums,&i);
+
+  for(p=(int*)utarray_front(nums); 
+      p!=NULL; 
+      p=(int*)utarray_next(nums,p)) {
+    printf("%d\n",*p);
+  }
+
+  utarray_free(nums);
+
+  return 0;
+}
+-------------------------------------------------------------------------------
+
+The second argument to `utarray_push_back` is always a 'pointer' to the type
+(so a literal cannot be used). So for integers, it is an `int*`.
+
+Strings
+~~~~~~~
+In this example we make a utarray of strings, push two strings into it, print
+it and free it.
+
+.String elements
+-------------------------------------------------------------------------------
+#include 
+#include "utarray.h"
+
+int main() {
+  UT_array *strs;
+  char *s, **p;
+
+  utarray_new(strs,&ut_str_icd);
+
+  s = "hello"; utarray_push_back(strs, &s);
+  s = "world"; utarray_push_back(strs, &s);
+  p = NULL;
+  while ( (p=(char**)utarray_next(strs,p))) {
+    printf("%s\n",*p);
+  }
+
+  utarray_free(strs);
+
+  return 0;
+}
+-------------------------------------------------------------------------------
+
+In this example, since the element is a `char*`, we pass a pointer to it
+(`char**`) as the second argument to `utarray_push_back`. Note that "push" makes
+a copy of the source string and pushes that copy into the array.
+
+About UT_icd
+~~~~~~~~~~~~
+
+Arrays be made of any type of element, not just integers and strings.  The
+elements can be basic types or structures. Unless you're dealing with integers
+and strings (which use pre-defined `ut_int_icd` and `ut_str_icd`), you'll need
+to define a `UT_icd` helper structure. This structure contains everything that
+utarray needs to initialize, copy or destruct elements.
+
+  typedef struct {
+      size_t sz;
+      init_f *init;
+      ctor_f *copy;
+      dtor_f *dtor;
+  } UT_icd;
+
+The three function pointers `init`, `copy`, and `dtor` have these prototypes:
+
+  typedef void (ctor_f)(void *dst, const void *src);
+  typedef void (dtor_f)(void *elt);
+  typedef void (init_f)(void *elt);
+
+The `sz` is just the size of the element being stored in the array.
+
+The `init` function will be invoked whenever utarray needs to initialize an
+empty element. This only happens as a byproduct of `utarray_resize` or
+`utarray_extend_back`. If `init` is `NULL`, it defaults to zero filling the
+new element using memset.
+
+The `copy` function is used whenever an element is copied into the array.
+It is invoked during `utarray_push_back`, `utarray_insert`, `utarray_inserta`,
+or `utarray_concat`. If `copy` is `NULL`, it defaults to a bitwise copy using
+memcpy.
+
+The `dtor` function is used to clean up an element that is being removed from
+the array. It may be invoked due to `utarray_resize`, `utarray_pop_back`,
+`utarray_erase`, `utarray_clear`, `utarray_done` or `utarray_free`. If the
+elements need no cleanup upon destruction, `dtor` may be `NULL`.
+
+Scalar types
+~~~~~~~~~~~~
+
+The next example uses `UT_icd` with all its defaults to make a utarray of
+`long` elements. This example pushes two longs, prints them, and frees the
+array.
+
+.long elements
+-------------------------------------------------------------------------------
+#include 
+#include "utarray.h"
+
+UT_icd long_icd = {sizeof(long), NULL, NULL, NULL };
+
+int main() {
+  UT_array *nums;
+  long l, *p;
+  utarray_new(nums, &long_icd);
+
+  l=1; utarray_push_back(nums, &l);
+  l=2; utarray_push_back(nums, &l);
+
+  p=NULL;
+  while( (p=(long*)utarray_next(nums,p))) printf("%ld\n", *p);
+
+  utarray_free(nums);
+  return 0;
+}
+-------------------------------------------------------------------------------
+
+Structures
+~~~~~~~~~~
+
+Structures can be used as utarray elements. If the structure requires no
+special effort to initialize, copy or destruct, we can use `UT_icd` with all
+its defaults. This example shows a structure that consists of two integers. Here
+we push two values, print them and free the array.
+
+.Structure (simple)
+-------------------------------------------------------------------------------
+#include 
+#include "utarray.h"
+
+typedef struct {
+    int a;
+    int b;
+} intpair_t;
+
+UT_icd intpair_icd = {sizeof(intpair_t), NULL, NULL, NULL};
+
+int main() {
+
+  UT_array *pairs;
+  intpair_t ip, *p;
+  utarray_new(pairs,&intpair_icd);
+
+  ip.a=1;  ip.b=2;  utarray_push_back(pairs, &ip);
+  ip.a=10; ip.b=20; utarray_push_back(pairs, &ip);
+
+  for(p=(intpair_t*)utarray_front(pairs);
+      p!=NULL;
+      p=(intpair_t*)utarray_next(pairs,p)) {
+    printf("%d %d\n", p->a, p->b);
+  }
+
+  utarray_free(pairs);
+  return 0;
+}
+-------------------------------------------------------------------------------
+
+The real utility of `UT_icd` is apparent when the elements of the utarray are
+structures that require special work to initialize, copy or destruct. 
+
+For example, when a structure contains pointers to related memory areas that
+need to be copied when the structure is copied (and freed when the structure is
+freed), we can use custom `init`, `copy`, and `dtor` members in the `UT_icd`.
+
+Here we take an example of a structure that contains an integer and a string.
+When this element is copied (such as when an element is pushed into the array),
+we want to "deep copy" the `s` pointer (so the original element and the new
+element point to their own copies of `s`). When an element is destructed, we
+want to "deep free" its copy of `s`. Lastly, this example is written to work
+even if `s` has the value `NULL`.
+
+.Structure (complex)
+-------------------------------------------------------------------------------
+#include 
+#include 
+#include "utarray.h"
+
+typedef struct {
+    int a;
+    char *s;
+} intchar_t;
+
+void intchar_copy(void *_dst, const void *_src) {
+  intchar_t *dst = (intchar_t*)_dst, *src = (intchar_t*)_src;
+  dst->a = src->a;
+  dst->s = src->s ? strdup(src->s) : NULL;
+}
+
+void intchar_dtor(void *_elt) {
+  intchar_t *elt = (intchar_t*)_elt;
+  if (elt->s) free(elt->s);
+}
+
+UT_icd intchar_icd = {sizeof(intchar_t), NULL, intchar_copy, intchar_dtor};
+
+int main() {
+  UT_array *intchars;
+  intchar_t ic, *p;
+  utarray_new(intchars, &intchar_icd);
+
+  ic.a=1; ic.s="hello"; utarray_push_back(intchars, &ic);
+  ic.a=2; ic.s="world"; utarray_push_back(intchars, &ic);
+
+  p=NULL;
+  while( (p=(intchar_t*)utarray_next(intchars,p))) {
+    printf("%d %s\n", p->a, (p->s ? p->s : "null"));
+  }
+
+  utarray_free(intchars);
+  return 0;
+}
+
+-------------------------------------------------------------------------------
+
+[[operations]]
+Reference
+---------
+This table lists all the utarray operations. These are loosely based on the C++
+vector class.
+
+Operations
+~~~~~~~~~~
+
+[width="100%",cols="50
+v1.9.5, November 2011
+
+include::sflogo.txt[]
+include::topnav_utlist.txt[]
+
+Introduction
+------------
+include::toc.txt[]
+
+A set of general-purpose 'linked list' macros for C structures are included with
+uthash in `utlist.h`.  To use these macros in your own C program, just
+copy `utlist.h` into your source directory and use it in your programs.
+
+  #include "utlist.h"
+
+These macros support the basic linked list operations: adding and deleting
+elements, sorting them and iterating over them.
+
+Download
+~~~~~~~~
+To download the `utlist.h` header file, follow the link on the
+http://uthash.sourceforge.net[uthash home page]. 
+
+BSD licensed
+~~~~~~~~~~~~
+This software is made available under the 
+link:license.html[revised BSD license]. 
+It is free and open source. 
+
+Platforms
+~~~~~~~~~
+The 'utlist' macros have been tested on:
+
+ * Linux, 
+ * Mac OS X, and 
+ * Windows, using Visual Studio 2008, Visual Studio 2010, or Cygwin/MinGW.
+
+Using utlist
+------------
+
+Types of lists
+~~~~~~~~~~~~~~
+Three types of linked lists are supported:
+
+- *singly-linked* lists,
+- *doubly-linked* lists, and
+- *circular, doubly-linked* lists
+
+Efficiency
+^^^^^^^^^^
+For all types of lists, prepending elements and deleting elements are
+constant-time operations. Appending to a singly-linked list is an 'O(n)'
+operation but appending to a doubly-linked list is constant time using these
+macros.  (This is because, in the utlist implementation of the doubly-linked
+list, the head element's `prev` member points back to the list tail, even when
+the list is non-circular). Sorting is an 'O(n log(n))' operation. Iteration
+and searching are `O(n)` for all list types.
+
+List elements
+~~~~~~~~~~~~~
+You can use any structure with these macros, as long as the structure 
+contains a `next` pointer. If you want to make a doubly-linked list, 
+the element also needs to have a `prev` pointer.
+
+  typedef struct element {
+      char *name;
+      struct element *prev; /* needed for a doubly-linked list only */
+      struct element *next; /* needed for singly- or doubly-linked lists */
+  } element;
+
+You can name your structure anything. In the example above it is called `element`.
+Within a particular list, all elements must be of the same type. 
+
+List head
+~~~~~~~~~
+The list head is simply a pointer to your element structure. You can name it
+anything. *It must be initialized to `NULL`*.
+
+  element *head = NULL;
+
+List operations
+~~~~~~~~~~~~~~~
+The lists support inserting or deleting elements, sorting the elements and 
+iterating over them.
+
+[width="100%",cols="10
+#include 
+#include 
+#include "utlist.h"
+
+#define BUFLEN 20
+
+typedef struct el {
+    char bname[BUFLEN];
+    struct el *next, *prev;
+} el;
+
+int namecmp(el *a, el *b) {
+    return strcmp(a->bname,b->bname);
+}
+
+el *head = NULL; /* important- initialize to NULL! */
+
+int main(int argc, char *argv[]) {
+    el *name, *elt, *tmp, etmp;
+
+    char linebuf[BUFLEN];
+    FILE *file;
+
+    if ( (file = fopen( "test11.dat", "r" )) == NULL ) {
+        perror("can't open: "); 
+        exit(-1);
+    }
+
+    while (fgets(linebuf,BUFLEN,file) != NULL) {
+        if ( (name = (el*)malloc(sizeof(el))) == NULL) exit(-1);
+        strncpy(name->bname,linebuf,BUFLEN);
+        DL_APPEND(head, name);
+    }
+    DL_SORT(head, namecmp);
+    DL_FOREACH(head,elt) printf("%s", elt->bname);
+
+    memcpy(&etmp.bname, "WES\n", 5);
+    DL_SEARCH(head,elt,&etmp,namecmp);
+    if (elt) printf("found %s\n", elt->bname);
+
+    /* now delete each element, use the safe iterator */
+    DL_FOREACH_SAFE(head,elt,tmp) {
+      DL_DELETE(head,elt);
+    }
+
+    fclose(file);
+
+    return 0;
+}
+--------------------------------------------------------------------------------
+
+// vim: set nowrap syntax=asciidoc: 
+
diff --git a/src/modules/systemlib/uthash/doc/utstring.txt b/src/modules/systemlib/uthash/doc/utstring.txt
new file mode 100644
index 000000000..abfdcd107
--- /dev/null
+++ b/src/modules/systemlib/uthash/doc/utstring.txt
@@ -0,0 +1,178 @@
+utstring: dynamic string macros for C 
+=====================================
+Troy D. Hanson 
+v1.9.5, November 2011
+
+include::sflogo.txt[]
+include::topnav_utstring.txt[]
+
+Introduction
+------------
+include::toc.txt[]
+
+A set of very basic dynamic string macros for C programs are included with
+uthash in `utstring.h`.  To use these macros in your own C program, just
+copy `utstring.h` into your source directory and use it in your programs.
+
+  #include "utstring.h"
+
+The dynamic string supports basic operations such as inserting data (including
+binary data-- despite its name, utstring is not limited to string content),
+concatenation, getting the length and content, and clearing it.  The string
+<> are listed below.
+
+Download
+~~~~~~~~
+To download the `utstring.h` header file, follow the link on the
+http://uthash.sourceforge.net[uthash home page]. 
+
+BSD licensed
+~~~~~~~~~~~~
+This software is made available under the 
+link:license.html[revised BSD license]. 
+It is free and open source. 
+
+Platforms
+~~~~~~~~~
+The 'utstring' macros have been tested on:
+
+ * Linux, 
+ * Windows, using Visual Studio 2008 and Visual Studio 2010
+
+Usage 
+-----
+
+Declaration
+~~~~~~~~~~~
+
+The dynamic string itself has the data type `UT_string`.  It is declared like,
+
+  UT_string *str;
+
+New and free
+~~~~~~~~~~~~
+The next step is to create the string using `utstring_new`. Later when you're
+done with it, `utstring_free` will free it and all its content. 
+
+Manipulation
+~~~~~~~~~~~~
+The `utstring_printf` or `utstring_bincpy` operations insert (copy) data into
+the string. To concatenate one utstring to another, use `utstring_concat`.  To
+clear the content of the string, use `utstring_clear`. The length of the string
+is available from `utstring_len`, and its content from `utstring_body`. This 
+evaluates to a `char*`.  The buffer it points to is always null-terminated.
+So, it can be used directly with external functions that expect a string.
+This automatic null terminator is not counted in the length of the string.
+
+Samples
+~~~~~~~
+
+These examples show how to use utstring.
+
+.Sample 1
+-------------------------------------------------------------------------------
+#include 
+#include "utstring.h"
+
+int main() {
+    UT_string *s;
+
+    utstring_new(s);
+    utstring_printf(s, "hello world!" );
+    printf("%s\n", utstring_body(s));
+
+    utstring_free(s);
+    return 0;
+}
+-------------------------------------------------------------------------------
+
+The next example is meant to demonstrate that printf 'appends' to the string.
+It also shows concatenation.
+
+.Sample 2
+-------------------------------------------------------------------------------
+#include 
+#include "utstring.h"
+
+int main() {
+    UT_string *s, *t;
+
+    utstring_new(s);
+    utstring_new(t);
+
+    utstring_printf(s, "hello " );
+    utstring_printf(s, "world " );
+
+    utstring_printf(t, "hi " );
+    utstring_printf(t, "there " );
+
+    utstring_concat(s, t);
+    printf("length: %u\n", utstring_len(s));
+    printf("%s\n", utstring_body(s));
+
+    utstring_free(s);
+    utstring_free(t);
+    return 0;
+}
+-------------------------------------------------------------------------------
+
+The last example shows how binary data can be inserted into the string. It also
+clears the string and prints new data into it.
+
+.Sample 3
+-------------------------------------------------------------------------------
+#include 
+#include "utstring.h"
+
+int main() {
+    UT_string *s;
+    char binary[] = "\xff\xff";
+
+    utstring_new(s);
+    utstring_bincpy(s, binary, sizeof(binary));
+    printf("length is %u\n", utstring_len(s));
+
+    utstring_clear(s);
+    utstring_printf(s,"number %d", 10);
+    printf("%s\n", utstring_body(s));
+
+    utstring_free(s);
+    return 0;
+}
+-------------------------------------------------------------------------------
+
+[[operations]]
+Reference
+---------
+These are the utstring operations. 
+
+Operations
+~~~~~~~~~~
+
+[width="100%",cols="50  /* size_t */
+#include   /* memset, etc */
+#include   /* exit */
+
+#define oom() exit(-1)
+
+typedef void (ctor_f)(void *dst, const void *src);
+typedef void (dtor_f)(void *elt);
+typedef void (init_f)(void *elt);
+typedef struct {
+    size_t sz;
+    init_f *init;
+    ctor_f *copy;
+    dtor_f *dtor;
+} UT_icd;
+
+typedef struct {
+    unsigned i,n;/* i: index of next available slot, n: num slots */
+    UT_icd icd;  /* initializer, copy and destructor functions */
+    char *d;     /* n slots of size icd->sz*/
+} UT_array;
+
+#define utarray_init(a,_icd) do {                                             \
+  memset(a,0,sizeof(UT_array));                                               \
+  (a)->icd=*_icd;                                                             \
+} while(0)
+
+#define utarray_done(a) do {                                                  \
+  if ((a)->n) {                                                               \
+    if ((a)->icd.dtor) {                                                      \
+      size_t _ut_i;                                                           \
+      for(_ut_i=0; _ut_i < (a)->i; _ut_i++) {                                 \
+        (a)->icd.dtor(utarray_eltptr(a,_ut_i));                               \
+      }                                                                       \
+    }                                                                         \
+    free((a)->d);                                                             \
+  }                                                                           \
+  (a)->n=0;                                                                   \
+} while(0)
+
+#define utarray_new(a,_icd) do {                                              \
+  a=(UT_array*)malloc(sizeof(UT_array));                                      \
+  utarray_init(a,_icd);                                                       \
+} while(0)
+
+#define utarray_free(a) do {                                                  \
+  utarray_done(a);                                                            \
+  free(a);                                                                    \
+} while(0)
+
+#define utarray_reserve(a,by) do {                                            \
+  if (((a)->i+by) > ((a)->n)) {                                               \
+    while(((a)->i+by) > ((a)->n)) { (a)->n = ((a)->n ? (2*(a)->n) : 8); }     \
+    if ( ((a)->d=(char*)realloc((a)->d, (a)->n*(a)->icd.sz)) == NULL) oom();  \
+  }                                                                           \
+} while(0)
+
+#define utarray_push_back(a,p) do {                                           \
+  utarray_reserve(a,1);                                                       \
+  if ((a)->icd.copy) { (a)->icd.copy( _utarray_eltptr(a,(a)->i++), p); }      \
+  else { memcpy(_utarray_eltptr(a,(a)->i++), p, (a)->icd.sz); };              \
+} while(0)
+
+#define utarray_pop_back(a) do {                                              \
+  if ((a)->icd.dtor) { (a)->icd.dtor( _utarray_eltptr(a,--((a)->i))); }       \
+  else { (a)->i--; }                                                          \
+} while(0)
+
+#define utarray_extend_back(a) do {                                           \
+  utarray_reserve(a,1);                                                       \
+  if ((a)->icd.init) { (a)->icd.init(_utarray_eltptr(a,(a)->i)); }            \
+  else { memset(_utarray_eltptr(a,(a)->i),0,(a)->icd.sz); }                   \
+  (a)->i++;                                                                   \
+} while(0)
+
+#define utarray_len(a) ((a)->i)
+
+#define utarray_eltptr(a,j) (((j) < (a)->i) ? _utarray_eltptr(a,j) : NULL)
+#define _utarray_eltptr(a,j) ((char*)((a)->d + ((a)->icd.sz*(j) )))
+
+#define utarray_insert(a,p,j) do {                                            \
+  utarray_reserve(a,1);                                                       \
+  if (j > (a)->i) break;                                                      \
+  if ((j) < (a)->i) {                                                         \
+    memmove( _utarray_eltptr(a,(j)+1), _utarray_eltptr(a,j),                  \
+             ((a)->i - (j))*((a)->icd.sz));                                   \
+  }                                                                           \
+  if ((a)->icd.copy) { (a)->icd.copy( _utarray_eltptr(a,j), p); }             \
+  else { memcpy(_utarray_eltptr(a,j), p, (a)->icd.sz); };                     \
+  (a)->i++;                                                                   \
+} while(0)
+
+#define utarray_inserta(a,w,j) do {                                           \
+  if (utarray_len(w) == 0) break;                                             \
+  if (j > (a)->i) break;                                                      \
+  utarray_reserve(a,utarray_len(w));                                          \
+  if ((j) < (a)->i) {                                                         \
+    memmove(_utarray_eltptr(a,(j)+utarray_len(w)),                            \
+            _utarray_eltptr(a,j),                                             \
+            ((a)->i - (j))*((a)->icd.sz));                                    \
+  }                                                                           \
+  if ((a)->icd.copy) {                                                        \
+    size_t _ut_i;                                                             \
+    for(_ut_i=0;_ut_i<(w)->i;_ut_i++) {                                       \
+      (a)->icd.copy(_utarray_eltptr(a,j+_ut_i), _utarray_eltptr(w,_ut_i));    \
+    }                                                                         \
+  } else {                                                                    \
+    memcpy(_utarray_eltptr(a,j), _utarray_eltptr(w,0),                        \
+           utarray_len(w)*((a)->icd.sz));                                     \
+  }                                                                           \
+  (a)->i += utarray_len(w);                                                   \
+} while(0)
+
+#define utarray_resize(dst,num) do {                                          \
+  size_t _ut_i;                                                               \
+  if (dst->i > (size_t)(num)) {                                               \
+    if ((dst)->icd.dtor) {                                                    \
+      for(_ut_i=num; _ut_i < dst->i; _ut_i++) {                               \
+        (dst)->icd.dtor(utarray_eltptr(dst,_ut_i));                           \
+      }                                                                       \
+    }                                                                         \
+  } else if (dst->i < (size_t)(num)) {                                        \
+    utarray_reserve(dst,num-dst->i);                                          \
+    if ((dst)->icd.init) {                                                    \
+      for(_ut_i=dst->i; _ut_i < num; _ut_i++) {                               \
+        (dst)->icd.init(utarray_eltptr(dst,_ut_i));                           \
+      }                                                                       \
+    } else {                                                                  \
+      memset(_utarray_eltptr(dst,dst->i),0,(dst)->icd.sz*(num-dst->i));       \
+    }                                                                         \
+  }                                                                           \
+  dst->i = num;                                                               \
+} while(0)
+
+#define utarray_concat(dst,src) do {                                          \
+  utarray_inserta((dst),(src),utarray_len(dst));                              \
+} while(0)
+
+#define utarray_erase(a,pos,len) do {                                         \
+  if ((a)->icd.dtor) {                                                        \
+    size_t _ut_i;                                                             \
+    for(_ut_i=0; _ut_i < len; _ut_i++) {                                      \
+      (a)->icd.dtor(utarray_eltptr((a),pos+_ut_i));                           \
+    }                                                                         \
+  }                                                                           \
+  if ((a)->i > (pos+len)) {                                                   \
+    memmove( _utarray_eltptr((a),pos), _utarray_eltptr((a),pos+len),          \
+            (((a)->i)-(pos+len))*((a)->icd.sz));                              \
+  }                                                                           \
+  (a)->i -= (len);                                                            \
+} while(0)
+
+#define utarray_renew(a,u) do {                                               \
+  if (a) utarray_clear(a); \
+  else utarray_new((a),(u));   \
+} while(0) 
+
+#define utarray_clear(a) do {                                                 \
+  if ((a)->i > 0) {                                                           \
+    if ((a)->icd.dtor) {                                                      \
+      size_t _ut_i;                                                           \
+      for(_ut_i=0; _ut_i < (a)->i; _ut_i++) {                                 \
+        (a)->icd.dtor(utarray_eltptr(a,_ut_i));                               \
+      }                                                                       \
+    }                                                                         \
+    (a)->i = 0;                                                               \
+  }                                                                           \
+} while(0)
+
+#define utarray_sort(a,cmp) do {                                              \
+  qsort((a)->d, (a)->i, (a)->icd.sz, cmp);                                    \
+} while(0)
+
+#define utarray_find(a,v,cmp) bsearch((v),(a)->d,(a)->i,(a)->icd.sz,cmp)
+
+#define utarray_front(a) (((a)->i) ? (_utarray_eltptr(a,0)) : NULL)
+#define utarray_next(a,e) (((e)==NULL) ? utarray_front(a) : ((((a)->i) > (utarray_eltidx(a,e)+1)) ? _utarray_eltptr(a,utarray_eltidx(a,e)+1) : NULL))
+#define utarray_prev(a,e) (((e)==NULL) ? utarray_back(a) : ((utarray_eltidx(a,e) > 0) ? _utarray_eltptr(a,utarray_eltidx(a,e)-1) : NULL))
+#define utarray_back(a) (((a)->i) ? (_utarray_eltptr(a,(a)->i-1)) : NULL)
+#define utarray_eltidx(a,e) (((char*)(e) >= (char*)((a)->d)) ? (((char*)(e) - (char*)((a)->d))/(a)->icd.sz) : -1)
+
+/* last we pre-define a few icd for common utarrays of ints and strings */
+static void utarray_str_cpy(void *dst, const void *src) {
+  char **_src = (char**)src, **_dst = (char**)dst;
+  *_dst = (*_src == NULL) ? NULL : strdup(*_src);
+}
+static void utarray_str_dtor(void *elt) {
+  char **eltc = (char**)elt;
+  if (*eltc) free(*eltc);
+}
+static const UT_icd ut_str_icd _UNUSED_ = {sizeof(char*),NULL,utarray_str_cpy,utarray_str_dtor};
+static const UT_icd ut_int_icd _UNUSED_ = {sizeof(int),NULL,NULL,NULL};
+static const UT_icd ut_ptr_icd _UNUSED_ = {sizeof(void*),NULL,NULL,NULL};
+
+
+#endif /* UTARRAY_H */
diff --git a/src/modules/systemlib/uthash/uthash.h b/src/modules/systemlib/uthash/uthash.h
new file mode 100644
index 000000000..9f83fc34f
--- /dev/null
+++ b/src/modules/systemlib/uthash/uthash.h
@@ -0,0 +1,915 @@
+/*
+Copyright (c) 2003-2012, Troy D. Hanson     http://uthash.sourceforge.net
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
+IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
+PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER
+OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef UTHASH_H
+#define UTHASH_H 
+
+#include    /* memcmp,strlen */
+#include    /* ptrdiff_t */
+#include    /* exit() */
+
+/* These macros use decltype or the earlier __typeof GNU extension.
+   As decltype is only available in newer compilers (VS2010 or gcc 4.3+
+   when compiling c++ source) this code uses whatever method is needed
+   or, for VS2008 where neither is available, uses casting workarounds. */
+#ifdef _MSC_VER         /* MS compiler */
+#if _MSC_VER >= 1600 && defined(__cplusplus)  /* VS2010 or newer in C++ mode */
+#define DECLTYPE(x) (decltype(x))
+#else                   /* VS2008 or older (or VS2010 in C mode) */
+#define NO_DECLTYPE
+#define DECLTYPE(x)
+#endif
+#else                   /* GNU, Sun and other compilers */
+#define DECLTYPE(x) (__typeof(x))
+#endif
+
+#ifdef NO_DECLTYPE
+#define DECLTYPE_ASSIGN(dst,src)                                                 \
+do {                                                                             \
+  char **_da_dst = (char**)(&(dst));                                             \
+  *_da_dst = (char*)(src);                                                       \
+} while(0)
+#else 
+#define DECLTYPE_ASSIGN(dst,src)                                                 \
+do {                                                                             \
+  (dst) = DECLTYPE(dst)(src);                                                    \
+} while(0)
+#endif
+
+/* a number of the hash function use uint32_t which isn't defined on win32 */
+#ifdef _MSC_VER
+typedef unsigned int uint32_t;
+typedef unsigned char uint8_t;
+#else
+#include    /* uint32_t */
+#endif
+
+#define UTHASH_VERSION 1.9.6
+
+#ifndef uthash_fatal
+#define uthash_fatal(msg) exit(-1)        /* fatal error (out of memory,etc) */
+#endif
+#ifndef uthash_malloc
+#define uthash_malloc(sz) malloc(sz)      /* malloc fcn                      */
+#endif
+#ifndef uthash_free
+#define uthash_free(ptr,sz) free(ptr)     /* free fcn                        */
+#endif
+
+#ifndef uthash_noexpand_fyi
+#define uthash_noexpand_fyi(tbl)          /* can be defined to log noexpand  */
+#endif
+#ifndef uthash_expand_fyi
+#define uthash_expand_fyi(tbl)            /* can be defined to log expands   */
+#endif
+
+/* initial number of buckets */
+#define HASH_INITIAL_NUM_BUCKETS 32      /* initial number of buckets        */
+#define HASH_INITIAL_NUM_BUCKETS_LOG2 5  /* lg2 of initial number of buckets */
+#define HASH_BKT_CAPACITY_THRESH 10      /* expand when bucket count reaches */
+
+/* calculate the element whose hash handle address is hhe */
+#define ELMT_FROM_HH(tbl,hhp) ((void*)(((char*)(hhp)) - ((tbl)->hho)))
+
+#define HASH_FIND(hh,head,keyptr,keylen,out)                                     \
+do {                                                                             \
+  unsigned _hf_bkt,_hf_hashv;                                                    \
+  out=NULL;                                                                      \
+  if (head) {                                                                    \
+     HASH_FCN(keyptr,keylen, (head)->hh.tbl->num_buckets, _hf_hashv, _hf_bkt);   \
+     if (HASH_BLOOM_TEST((head)->hh.tbl, _hf_hashv)) {                           \
+       HASH_FIND_IN_BKT((head)->hh.tbl, hh, (head)->hh.tbl->buckets[ _hf_bkt ],  \
+                        keyptr,keylen,out);                                      \
+     }                                                                           \
+  }                                                                              \
+} while (0)
+
+#ifdef HASH_BLOOM
+#define HASH_BLOOM_BITLEN (1ULL << HASH_BLOOM)
+#define HASH_BLOOM_BYTELEN (HASH_BLOOM_BITLEN/8) + ((HASH_BLOOM_BITLEN%8) ? 1:0)
+#define HASH_BLOOM_MAKE(tbl)                                                     \
+do {                                                                             \
+  (tbl)->bloom_nbits = HASH_BLOOM;                                               \
+  (tbl)->bloom_bv = (uint8_t*)uthash_malloc(HASH_BLOOM_BYTELEN);                 \
+  if (!((tbl)->bloom_bv))  { uthash_fatal( "out of memory"); }                   \
+  memset((tbl)->bloom_bv, 0, HASH_BLOOM_BYTELEN);                                \
+  (tbl)->bloom_sig = HASH_BLOOM_SIGNATURE;                                       \
+} while (0) 
+
+#define HASH_BLOOM_FREE(tbl)                                                     \
+do {                                                                             \
+  uthash_free((tbl)->bloom_bv, HASH_BLOOM_BYTELEN);                              \
+} while (0) 
+
+#define HASH_BLOOM_BITSET(bv,idx) (bv[(idx)/8] |= (1U << ((idx)%8)))
+#define HASH_BLOOM_BITTEST(bv,idx) (bv[(idx)/8] & (1U << ((idx)%8)))
+
+#define HASH_BLOOM_ADD(tbl,hashv)                                                \
+  HASH_BLOOM_BITSET((tbl)->bloom_bv, (hashv & (uint32_t)((1ULL << (tbl)->bloom_nbits) - 1)))
+
+#define HASH_BLOOM_TEST(tbl,hashv)                                               \
+  HASH_BLOOM_BITTEST((tbl)->bloom_bv, (hashv & (uint32_t)((1ULL << (tbl)->bloom_nbits) - 1)))
+
+#else
+#define HASH_BLOOM_MAKE(tbl) 
+#define HASH_BLOOM_FREE(tbl) 
+#define HASH_BLOOM_ADD(tbl,hashv) 
+#define HASH_BLOOM_TEST(tbl,hashv) (1)
+#endif
+
+#define HASH_MAKE_TABLE(hh,head)                                                 \
+do {                                                                             \
+  (head)->hh.tbl = (UT_hash_table*)uthash_malloc(                                \
+                  sizeof(UT_hash_table));                                        \
+  if (!((head)->hh.tbl))  { uthash_fatal( "out of memory"); }                    \
+  memset((head)->hh.tbl, 0, sizeof(UT_hash_table));                              \
+  (head)->hh.tbl->tail = &((head)->hh);                                          \
+  (head)->hh.tbl->num_buckets = HASH_INITIAL_NUM_BUCKETS;                        \
+  (head)->hh.tbl->log2_num_buckets = HASH_INITIAL_NUM_BUCKETS_LOG2;              \
+  (head)->hh.tbl->hho = (char*)(&(head)->hh) - (char*)(head);                    \
+  (head)->hh.tbl->buckets = (UT_hash_bucket*)uthash_malloc(                      \
+          HASH_INITIAL_NUM_BUCKETS*sizeof(struct UT_hash_bucket));               \
+  if (! (head)->hh.tbl->buckets) { uthash_fatal( "out of memory"); }             \
+  memset((head)->hh.tbl->buckets, 0,                                             \
+          HASH_INITIAL_NUM_BUCKETS*sizeof(struct UT_hash_bucket));               \
+  HASH_BLOOM_MAKE((head)->hh.tbl);                                               \
+  (head)->hh.tbl->signature = HASH_SIGNATURE;                                    \
+} while(0)
+
+#define HASH_ADD(hh,head,fieldname,keylen_in,add)                                \
+        HASH_ADD_KEYPTR(hh,head,&((add)->fieldname),keylen_in,add)
+ 
+#define HASH_ADD_KEYPTR(hh,head,keyptr,keylen_in,add)                            \
+do {                                                                             \
+ unsigned _ha_bkt;                                                               \
+ (add)->hh.next = NULL;                                                          \
+ (add)->hh.key = (char*)keyptr;                                                  \
+ (add)->hh.keylen = (unsigned)keylen_in;                                                   \
+ if (!(head)) {                                                                  \
+    head = (add);                                                                \
+    (head)->hh.prev = NULL;                                                      \
+    HASH_MAKE_TABLE(hh,head);                                                    \
+ } else {                                                                        \
+    (head)->hh.tbl->tail->next = (add);                                          \
+    (add)->hh.prev = ELMT_FROM_HH((head)->hh.tbl, (head)->hh.tbl->tail);         \
+    (head)->hh.tbl->tail = &((add)->hh);                                         \
+ }                                                                               \
+ (head)->hh.tbl->num_items++;                                                    \
+ (add)->hh.tbl = (head)->hh.tbl;                                                 \
+ HASH_FCN(keyptr,keylen_in, (head)->hh.tbl->num_buckets,                         \
+         (add)->hh.hashv, _ha_bkt);                                              \
+ HASH_ADD_TO_BKT((head)->hh.tbl->buckets[_ha_bkt],&(add)->hh);                   \
+ HASH_BLOOM_ADD((head)->hh.tbl,(add)->hh.hashv);                                 \
+ HASH_EMIT_KEY(hh,head,keyptr,keylen_in);                                        \
+ HASH_FSCK(hh,head);                                                             \
+} while(0)
+
+#define HASH_TO_BKT( hashv, num_bkts, bkt )                                      \
+do {                                                                             \
+  bkt = ((hashv) & ((num_bkts) - 1));                                            \
+} while(0)
+
+/* delete "delptr" from the hash table.
+ * "the usual" patch-up process for the app-order doubly-linked-list.
+ * The use of _hd_hh_del below deserves special explanation.
+ * These used to be expressed using (delptr) but that led to a bug
+ * if someone used the same symbol for the head and deletee, like
+ *  HASH_DELETE(hh,users,users);
+ * We want that to work, but by changing the head (users) below
+ * we were forfeiting our ability to further refer to the deletee (users)
+ * in the patch-up process. Solution: use scratch space to
+ * copy the deletee pointer, then the latter references are via that
+ * scratch pointer rather than through the repointed (users) symbol.
+ */
+#define HASH_DELETE(hh,head,delptr)                                              \
+do {                                                                             \
+    unsigned _hd_bkt;                                                            \
+    struct UT_hash_handle *_hd_hh_del;                                           \
+    if ( ((delptr)->hh.prev == NULL) && ((delptr)->hh.next == NULL) )  {         \
+        uthash_free((head)->hh.tbl->buckets,                                     \
+                    (head)->hh.tbl->num_buckets*sizeof(struct UT_hash_bucket) ); \
+        HASH_BLOOM_FREE((head)->hh.tbl);                                         \
+        uthash_free((head)->hh.tbl, sizeof(UT_hash_table));                      \
+        head = NULL;                                                             \
+    } else {                                                                     \
+        _hd_hh_del = &((delptr)->hh);                                            \
+        if ((delptr) == ELMT_FROM_HH((head)->hh.tbl,(head)->hh.tbl->tail)) {     \
+            (head)->hh.tbl->tail =                                               \
+                (UT_hash_handle*)((char*)((delptr)->hh.prev) +                   \
+                (head)->hh.tbl->hho);                                            \
+        }                                                                        \
+        if ((delptr)->hh.prev) {                                                 \
+            ((UT_hash_handle*)((char*)((delptr)->hh.prev) +                      \
+                    (head)->hh.tbl->hho))->next = (delptr)->hh.next;             \
+        } else {                                                                 \
+            DECLTYPE_ASSIGN(head,(delptr)->hh.next);                             \
+        }                                                                        \
+        if (_hd_hh_del->next) {                                                  \
+            ((UT_hash_handle*)((char*)_hd_hh_del->next +                         \
+                    (head)->hh.tbl->hho))->prev =                                \
+                    _hd_hh_del->prev;                                            \
+        }                                                                        \
+        HASH_TO_BKT( _hd_hh_del->hashv, (head)->hh.tbl->num_buckets, _hd_bkt);   \
+        HASH_DEL_IN_BKT(hh,(head)->hh.tbl->buckets[_hd_bkt], _hd_hh_del);        \
+        (head)->hh.tbl->num_items--;                                             \
+    }                                                                            \
+    HASH_FSCK(hh,head);                                                          \
+} while (0)
+
+
+/* convenience forms of HASH_FIND/HASH_ADD/HASH_DEL */
+#define HASH_FIND_STR(head,findstr,out)                                          \
+    HASH_FIND(hh,head,findstr,strlen(findstr),out)
+#define HASH_ADD_STR(head,strfield,add)                                          \
+    HASH_ADD(hh,head,strfield,strlen(add->strfield),add)
+#define HASH_FIND_INT(head,findint,out)                                          \
+    HASH_FIND(hh,head,findint,sizeof(int),out)
+#define HASH_ADD_INT(head,intfield,add)                                          \
+    HASH_ADD(hh,head,intfield,sizeof(int),add)
+#define HASH_FIND_PTR(head,findptr,out)                                          \
+    HASH_FIND(hh,head,findptr,sizeof(void *),out)
+#define HASH_ADD_PTR(head,ptrfield,add)                                          \
+    HASH_ADD(hh,head,ptrfield,sizeof(void *),add)
+#define HASH_DEL(head,delptr)                                                    \
+    HASH_DELETE(hh,head,delptr)
+
+/* HASH_FSCK checks hash integrity on every add/delete when HASH_DEBUG is defined.
+ * This is for uthash developer only; it compiles away if HASH_DEBUG isn't defined.
+ */
+#ifdef HASH_DEBUG
+#define HASH_OOPS(...) do { fprintf(stderr,__VA_ARGS__); exit(-1); } while (0)
+#define HASH_FSCK(hh,head)                                                       \
+do {                                                                             \
+    unsigned _bkt_i;                                                             \
+    unsigned _count, _bkt_count;                                                 \
+    char *_prev;                                                                 \
+    struct UT_hash_handle *_thh;                                                 \
+    if (head) {                                                                  \
+        _count = 0;                                                              \
+        for( _bkt_i = 0; _bkt_i < (head)->hh.tbl->num_buckets; _bkt_i++) {       \
+            _bkt_count = 0;                                                      \
+            _thh = (head)->hh.tbl->buckets[_bkt_i].hh_head;                      \
+            _prev = NULL;                                                        \
+            while (_thh) {                                                       \
+               if (_prev != (char*)(_thh->hh_prev)) {                            \
+                   HASH_OOPS("invalid hh_prev %p, actual %p\n",                  \
+                    _thh->hh_prev, _prev );                                      \
+               }                                                                 \
+               _bkt_count++;                                                     \
+               _prev = (char*)(_thh);                                            \
+               _thh = _thh->hh_next;                                             \
+            }                                                                    \
+            _count += _bkt_count;                                                \
+            if ((head)->hh.tbl->buckets[_bkt_i].count !=  _bkt_count) {          \
+               HASH_OOPS("invalid bucket count %d, actual %d\n",                 \
+                (head)->hh.tbl->buckets[_bkt_i].count, _bkt_count);              \
+            }                                                                    \
+        }                                                                        \
+        if (_count != (head)->hh.tbl->num_items) {                               \
+            HASH_OOPS("invalid hh item count %d, actual %d\n",                   \
+                (head)->hh.tbl->num_items, _count );                             \
+        }                                                                        \
+        /* traverse hh in app order; check next/prev integrity, count */         \
+        _count = 0;                                                              \
+        _prev = NULL;                                                            \
+        _thh =  &(head)->hh;                                                     \
+        while (_thh) {                                                           \
+           _count++;                                                             \
+           if (_prev !=(char*)(_thh->prev)) {                                    \
+              HASH_OOPS("invalid prev %p, actual %p\n",                          \
+                    _thh->prev, _prev );                                         \
+           }                                                                     \
+           _prev = (char*)ELMT_FROM_HH((head)->hh.tbl, _thh);                    \
+           _thh = ( _thh->next ?  (UT_hash_handle*)((char*)(_thh->next) +        \
+                                  (head)->hh.tbl->hho) : NULL );                 \
+        }                                                                        \
+        if (_count != (head)->hh.tbl->num_items) {                               \
+            HASH_OOPS("invalid app item count %d, actual %d\n",                  \
+                (head)->hh.tbl->num_items, _count );                             \
+        }                                                                        \
+    }                                                                            \
+} while (0)
+#else
+#define HASH_FSCK(hh,head) 
+#endif
+
+/* When compiled with -DHASH_EMIT_KEYS, length-prefixed keys are emitted to 
+ * the descriptor to which this macro is defined for tuning the hash function.
+ * The app can #include  to get the prototype for write(2). */
+#ifdef HASH_EMIT_KEYS
+#define HASH_EMIT_KEY(hh,head,keyptr,fieldlen)                                   \
+do {                                                                             \
+    unsigned _klen = fieldlen;                                                   \
+    write(HASH_EMIT_KEYS, &_klen, sizeof(_klen));                                \
+    write(HASH_EMIT_KEYS, keyptr, fieldlen);                                     \
+} while (0)
+#else 
+#define HASH_EMIT_KEY(hh,head,keyptr,fieldlen)                    
+#endif
+
+/* default to Jenkin's hash unless overridden e.g. DHASH_FUNCTION=HASH_SAX */
+#ifdef HASH_FUNCTION 
+#define HASH_FCN HASH_FUNCTION
+#else
+#define HASH_FCN HASH_JEN
+#endif
+
+/* The Bernstein hash function, used in Perl prior to v5.6 */
+#define HASH_BER(key,keylen,num_bkts,hashv,bkt)                                  \
+do {                                                                             \
+  unsigned _hb_keylen=keylen;                                                    \
+  char *_hb_key=(char*)(key);                                                    \
+  (hashv) = 0;                                                                   \
+  while (_hb_keylen--)  { (hashv) = ((hashv) * 33) + *_hb_key++; }               \
+  bkt = (hashv) & (num_bkts-1);                                                  \
+} while (0)
+
+
+/* SAX/FNV/OAT/JEN hash functions are macro variants of those listed at 
+ * http://eternallyconfuzzled.com/tuts/algorithms/jsw_tut_hashing.aspx */
+#define HASH_SAX(key,keylen,num_bkts,hashv,bkt)                                  \
+do {                                                                             \
+  unsigned _sx_i;                                                                \
+  char *_hs_key=(char*)(key);                                                    \
+  hashv = 0;                                                                     \
+  for(_sx_i=0; _sx_i < keylen; _sx_i++)                                          \
+      hashv ^= (hashv << 5) + (hashv >> 2) + _hs_key[_sx_i];                     \
+  bkt = hashv & (num_bkts-1);                                                    \
+} while (0)
+
+#define HASH_FNV(key,keylen,num_bkts,hashv,bkt)                                  \
+do {                                                                             \
+  unsigned _fn_i;                                                                \
+  char *_hf_key=(char*)(key);                                                    \
+  hashv = 2166136261UL;                                                          \
+  for(_fn_i=0; _fn_i < keylen; _fn_i++)                                          \
+      hashv = (hashv * 16777619) ^ _hf_key[_fn_i];                               \
+  bkt = hashv & (num_bkts-1);                                                    \
+} while(0) 
+ 
+#define HASH_OAT(key,keylen,num_bkts,hashv,bkt)                                  \
+do {                                                                             \
+  unsigned _ho_i;                                                                \
+  char *_ho_key=(char*)(key);                                                    \
+  hashv = 0;                                                                     \
+  for(_ho_i=0; _ho_i < keylen; _ho_i++) {                                        \
+      hashv += _ho_key[_ho_i];                                                   \
+      hashv += (hashv << 10);                                                    \
+      hashv ^= (hashv >> 6);                                                     \
+  }                                                                              \
+  hashv += (hashv << 3);                                                         \
+  hashv ^= (hashv >> 11);                                                        \
+  hashv += (hashv << 15);                                                        \
+  bkt = hashv & (num_bkts-1);                                                    \
+} while(0)
+
+#define HASH_JEN_MIX(a,b,c)                                                      \
+do {                                                                             \
+  a -= b; a -= c; a ^= ( c >> 13 );                                              \
+  b -= c; b -= a; b ^= ( a << 8 );                                               \
+  c -= a; c -= b; c ^= ( b >> 13 );                                              \
+  a -= b; a -= c; a ^= ( c >> 12 );                                              \
+  b -= c; b -= a; b ^= ( a << 16 );                                              \
+  c -= a; c -= b; c ^= ( b >> 5 );                                               \
+  a -= b; a -= c; a ^= ( c >> 3 );                                               \
+  b -= c; b -= a; b ^= ( a << 10 );                                              \
+  c -= a; c -= b; c ^= ( b >> 15 );                                              \
+} while (0)
+
+#define HASH_JEN(key,keylen,num_bkts,hashv,bkt)                                  \
+do {                                                                             \
+  unsigned _hj_i,_hj_j,_hj_k;                                                    \
+  char *_hj_key=(char*)(key);                                                    \
+  hashv = 0xfeedbeef;                                                            \
+  _hj_i = _hj_j = 0x9e3779b9;                                                    \
+  _hj_k = (unsigned)keylen;                                                                \
+  while (_hj_k >= 12) {                                                          \
+    _hj_i +=    (_hj_key[0] + ( (unsigned)_hj_key[1] << 8 )                      \
+        + ( (unsigned)_hj_key[2] << 16 )                                         \
+        + ( (unsigned)_hj_key[3] << 24 ) );                                      \
+    _hj_j +=    (_hj_key[4] + ( (unsigned)_hj_key[5] << 8 )                      \
+        + ( (unsigned)_hj_key[6] << 16 )                                         \
+        + ( (unsigned)_hj_key[7] << 24 ) );                                      \
+    hashv += (_hj_key[8] + ( (unsigned)_hj_key[9] << 8 )                         \
+        + ( (unsigned)_hj_key[10] << 16 )                                        \
+        + ( (unsigned)_hj_key[11] << 24 ) );                                     \
+                                                                                 \
+     HASH_JEN_MIX(_hj_i, _hj_j, hashv);                                          \
+                                                                                 \
+     _hj_key += 12;                                                              \
+     _hj_k -= 12;                                                                \
+  }                                                                              \
+  hashv += keylen;                                                               \
+  switch ( _hj_k ) {                                                             \
+     case 11: hashv += ( (unsigned)_hj_key[10] << 24 );                          \
+     case 10: hashv += ( (unsigned)_hj_key[9] << 16 );                           \
+     case 9:  hashv += ( (unsigned)_hj_key[8] << 8 );                            \
+     case 8:  _hj_j += ( (unsigned)_hj_key[7] << 24 );                           \
+     case 7:  _hj_j += ( (unsigned)_hj_key[6] << 16 );                           \
+     case 6:  _hj_j += ( (unsigned)_hj_key[5] << 8 );                            \
+     case 5:  _hj_j += _hj_key[4];                                               \
+     case 4:  _hj_i += ( (unsigned)_hj_key[3] << 24 );                           \
+     case 3:  _hj_i += ( (unsigned)_hj_key[2] << 16 );                           \
+     case 2:  _hj_i += ( (unsigned)_hj_key[1] << 8 );                            \
+     case 1:  _hj_i += _hj_key[0];                                               \
+  }                                                                              \
+  HASH_JEN_MIX(_hj_i, _hj_j, hashv);                                             \
+  bkt = hashv & (num_bkts-1);                                                    \
+} while(0)
+
+/* The Paul Hsieh hash function */
+#undef get16bits
+#if (defined(__GNUC__) && defined(__i386__)) || defined(__WATCOMC__)             \
+  || defined(_MSC_VER) || defined (__BORLANDC__) || defined (__TURBOC__)
+#define get16bits(d) (*((const uint16_t *) (d)))
+#endif
+
+#if !defined (get16bits)
+#define get16bits(d) ((((uint32_t)(((const uint8_t *)(d))[1])) << 8)             \
+                       +(uint32_t)(((const uint8_t *)(d))[0]) )
+#endif
+#define HASH_SFH(key,keylen,num_bkts,hashv,bkt)                                  \
+do {                                                                             \
+  char *_sfh_key=(char*)(key);                                                   \
+  uint32_t _sfh_tmp, _sfh_len = keylen;                                          \
+                                                                                 \
+  int _sfh_rem = _sfh_len & 3;                                                   \
+  _sfh_len >>= 2;                                                                \
+  hashv = 0xcafebabe;                                                            \
+                                                                                 \
+  /* Main loop */                                                                \
+  for (;_sfh_len > 0; _sfh_len--) {                                              \
+    hashv    += get16bits (_sfh_key);                                            \
+    _sfh_tmp       = (get16bits (_sfh_key+2) << 11) ^ hashv;                     \
+    hashv     = (hashv << 16) ^ _sfh_tmp;                                        \
+    _sfh_key += 2*sizeof (uint16_t);                                             \
+    hashv    += hashv >> 11;                                                     \
+  }                                                                              \
+                                                                                 \
+  /* Handle end cases */                                                         \
+  switch (_sfh_rem) {                                                            \
+    case 3: hashv += get16bits (_sfh_key);                                       \
+            hashv ^= hashv << 16;                                                \
+            hashv ^= _sfh_key[sizeof (uint16_t)] << 18;                          \
+            hashv += hashv >> 11;                                                \
+            break;                                                               \
+    case 2: hashv += get16bits (_sfh_key);                                       \
+            hashv ^= hashv << 11;                                                \
+            hashv += hashv >> 17;                                                \
+            break;                                                               \
+    case 1: hashv += *_sfh_key;                                                  \
+            hashv ^= hashv << 10;                                                \
+            hashv += hashv >> 1;                                                 \
+  }                                                                              \
+                                                                                 \
+    /* Force "avalanching" of final 127 bits */                                  \
+    hashv ^= hashv << 3;                                                         \
+    hashv += hashv >> 5;                                                         \
+    hashv ^= hashv << 4;                                                         \
+    hashv += hashv >> 17;                                                        \
+    hashv ^= hashv << 25;                                                        \
+    hashv += hashv >> 6;                                                         \
+    bkt = hashv & (num_bkts-1);                                                  \
+} while(0) 
+
+#ifdef HASH_USING_NO_STRICT_ALIASING
+/* The MurmurHash exploits some CPU's (x86,x86_64) tolerance for unaligned reads.
+ * For other types of CPU's (e.g. Sparc) an unaligned read causes a bus error.
+ * MurmurHash uses the faster approach only on CPU's where we know it's safe. 
+ *
+ * Note the preprocessor built-in defines can be emitted using:
+ *
+ *   gcc -m64 -dM -E - < /dev/null                  (on gcc)
+ *   cc -## a.c (where a.c is a simple test file)   (Sun Studio)
+ */
+#if (defined(__i386__) || defined(__x86_64__)) 
+#define MUR_GETBLOCK(p,i) p[i]
+#else /* non intel */
+#define MUR_PLUS0_ALIGNED(p) (((unsigned long)p & 0x3) == 0)
+#define MUR_PLUS1_ALIGNED(p) (((unsigned long)p & 0x3) == 1)
+#define MUR_PLUS2_ALIGNED(p) (((unsigned long)p & 0x3) == 2)
+#define MUR_PLUS3_ALIGNED(p) (((unsigned long)p & 0x3) == 3)
+#define WP(p) ((uint32_t*)((unsigned long)(p) & ~3UL))
+#if (defined(__BIG_ENDIAN__) || defined(SPARC) || defined(__ppc__) || defined(__ppc64__))
+#define MUR_THREE_ONE(p) ((((*WP(p))&0x00ffffff) << 8) | (((*(WP(p)+1))&0xff000000) >> 24))
+#define MUR_TWO_TWO(p)   ((((*WP(p))&0x0000ffff) <<16) | (((*(WP(p)+1))&0xffff0000) >> 16))
+#define MUR_ONE_THREE(p) ((((*WP(p))&0x000000ff) <<24) | (((*(WP(p)+1))&0xffffff00) >>  8))
+#else /* assume little endian non-intel */
+#define MUR_THREE_ONE(p) ((((*WP(p))&0xffffff00) >> 8) | (((*(WP(p)+1))&0x000000ff) << 24))
+#define MUR_TWO_TWO(p)   ((((*WP(p))&0xffff0000) >>16) | (((*(WP(p)+1))&0x0000ffff) << 16))
+#define MUR_ONE_THREE(p) ((((*WP(p))&0xff000000) >>24) | (((*(WP(p)+1))&0x00ffffff) <<  8))
+#endif
+#define MUR_GETBLOCK(p,i) (MUR_PLUS0_ALIGNED(p) ? ((p)[i]) :           \
+                            (MUR_PLUS1_ALIGNED(p) ? MUR_THREE_ONE(p) : \
+                             (MUR_PLUS2_ALIGNED(p) ? MUR_TWO_TWO(p) :  \
+                                                      MUR_ONE_THREE(p))))
+#endif
+#define MUR_ROTL32(x,r) (((x) << (r)) | ((x) >> (32 - (r))))
+#define MUR_FMIX(_h) \
+do {                 \
+  _h ^= _h >> 16;    \
+  _h *= 0x85ebca6b;  \
+  _h ^= _h >> 13;    \
+  _h *= 0xc2b2ae35l; \
+  _h ^= _h >> 16;    \
+} while(0)
+
+#define HASH_MUR(key,keylen,num_bkts,hashv,bkt)                        \
+do {                                                                   \
+  const uint8_t *_mur_data = (const uint8_t*)(key);                    \
+  const int _mur_nblocks = (keylen) / 4;                               \
+  uint32_t _mur_h1 = 0xf88D5353;                                       \
+  uint32_t _mur_c1 = 0xcc9e2d51;                                       \
+  uint32_t _mur_c2 = 0x1b873593;                                       \
+  const uint32_t *_mur_blocks = (const uint32_t*)(_mur_data+_mur_nblocks*4); \
+  int _mur_i;                                                          \
+  for(_mur_i = -_mur_nblocks; _mur_i; _mur_i++) {                      \
+    uint32_t _mur_k1 = MUR_GETBLOCK(_mur_blocks,_mur_i);               \
+    _mur_k1 *= _mur_c1;                                                \
+    _mur_k1 = MUR_ROTL32(_mur_k1,15);                                  \
+    _mur_k1 *= _mur_c2;                                                \
+                                                                       \
+    _mur_h1 ^= _mur_k1;                                                \
+    _mur_h1 = MUR_ROTL32(_mur_h1,13);                                  \
+    _mur_h1 = _mur_h1*5+0xe6546b64;                                    \
+  }                                                                    \
+  const uint8_t *_mur_tail = (const uint8_t*)(_mur_data + _mur_nblocks*4); \
+  uint32_t _mur_k1=0;                                                  \
+  switch((keylen) & 3) {                                               \
+    case 3: _mur_k1 ^= _mur_tail[2] << 16;                             \
+    case 2: _mur_k1 ^= _mur_tail[1] << 8;                              \
+    case 1: _mur_k1 ^= _mur_tail[0];                                   \
+    _mur_k1 *= _mur_c1;                                                \
+    _mur_k1 = MUR_ROTL32(_mur_k1,15);                                  \
+    _mur_k1 *= _mur_c2;                                                \
+    _mur_h1 ^= _mur_k1;                                                \
+  }                                                                    \
+  _mur_h1 ^= (keylen);                                                 \
+  MUR_FMIX(_mur_h1);                                                   \
+  hashv = _mur_h1;                                                     \
+  bkt = hashv & (num_bkts-1);                                          \
+} while(0)
+#endif  /* HASH_USING_NO_STRICT_ALIASING */
+
+/* key comparison function; return 0 if keys equal */
+#define HASH_KEYCMP(a,b,len) memcmp(a,b,len) 
+
+/* iterate over items in a known bucket to find desired item */
+#define HASH_FIND_IN_BKT(tbl,hh,head,keyptr,keylen_in,out)                       \
+do {                                                                             \
+ if (head.hh_head) DECLTYPE_ASSIGN(out,ELMT_FROM_HH(tbl,head.hh_head));          \
+ else out=NULL;                                                                  \
+ while (out) {                                                                   \
+    if ((out)->hh.keylen == keylen_in) {                                           \
+        if ((HASH_KEYCMP((out)->hh.key,keyptr,keylen_in)) == 0) break;             \
+    }                                                                            \
+    if ((out)->hh.hh_next) DECLTYPE_ASSIGN(out,ELMT_FROM_HH(tbl,(out)->hh.hh_next)); \
+    else out = NULL;                                                             \
+ }                                                                               \
+} while(0)
+
+/* add an item to a bucket  */
+#define HASH_ADD_TO_BKT(head,addhh)                                              \
+do {                                                                             \
+ head.count++;                                                                   \
+ (addhh)->hh_next = head.hh_head;                                                \
+ (addhh)->hh_prev = NULL;                                                        \
+ if (head.hh_head) { (head).hh_head->hh_prev = (addhh); }                        \
+ (head).hh_head=addhh;                                                           \
+ if (head.count >= ((head.expand_mult+1) * HASH_BKT_CAPACITY_THRESH)             \
+     && (addhh)->tbl->noexpand != 1) {                                           \
+       HASH_EXPAND_BUCKETS((addhh)->tbl);                                        \
+ }                                                                               \
+} while(0)
+
+/* remove an item from a given bucket */
+#define HASH_DEL_IN_BKT(hh,head,hh_del)                                          \
+    (head).count--;                                                              \
+    if ((head).hh_head == hh_del) {                                              \
+      (head).hh_head = hh_del->hh_next;                                          \
+    }                                                                            \
+    if (hh_del->hh_prev) {                                                       \
+        hh_del->hh_prev->hh_next = hh_del->hh_next;                              \
+    }                                                                            \
+    if (hh_del->hh_next) {                                                       \
+        hh_del->hh_next->hh_prev = hh_del->hh_prev;                              \
+    }                                                                
+
+/* Bucket expansion has the effect of doubling the number of buckets
+ * and redistributing the items into the new buckets. Ideally the
+ * items will distribute more or less evenly into the new buckets
+ * (the extent to which this is true is a measure of the quality of
+ * the hash function as it applies to the key domain). 
+ * 
+ * With the items distributed into more buckets, the chain length
+ * (item count) in each bucket is reduced. Thus by expanding buckets
+ * the hash keeps a bound on the chain length. This bounded chain 
+ * length is the essence of how a hash provides constant time lookup.
+ * 
+ * The calculation of tbl->ideal_chain_maxlen below deserves some
+ * explanation. First, keep in mind that we're calculating the ideal
+ * maximum chain length based on the *new* (doubled) bucket count.
+ * In fractions this is just n/b (n=number of items,b=new num buckets).
+ * Since the ideal chain length is an integer, we want to calculate 
+ * ceil(n/b). We don't depend on floating point arithmetic in this
+ * hash, so to calculate ceil(n/b) with integers we could write
+ * 
+ *      ceil(n/b) = (n/b) + ((n%b)?1:0)
+ * 
+ * and in fact a previous version of this hash did just that.
+ * But now we have improved things a bit by recognizing that b is
+ * always a power of two. We keep its base 2 log handy (call it lb),
+ * so now we can write this with a bit shift and logical AND:
+ * 
+ *      ceil(n/b) = (n>>lb) + ( (n & (b-1)) ? 1:0)
+ * 
+ */
+#define HASH_EXPAND_BUCKETS(tbl)                                                 \
+do {                                                                             \
+    unsigned _he_bkt;                                                            \
+    unsigned _he_bkt_i;                                                          \
+    struct UT_hash_handle *_he_thh, *_he_hh_nxt;                                 \
+    UT_hash_bucket *_he_new_buckets, *_he_newbkt;                                \
+    _he_new_buckets = (UT_hash_bucket*)uthash_malloc(                            \
+             2 * tbl->num_buckets * sizeof(struct UT_hash_bucket));              \
+    if (!_he_new_buckets) { uthash_fatal( "out of memory"); }                    \
+    memset(_he_new_buckets, 0,                                                   \
+            2 * tbl->num_buckets * sizeof(struct UT_hash_bucket));               \
+    tbl->ideal_chain_maxlen =                                                    \
+       (tbl->num_items >> (tbl->log2_num_buckets+1)) +                           \
+       ((tbl->num_items & ((tbl->num_buckets*2)-1)) ? 1 : 0);                    \
+    tbl->nonideal_items = 0;                                                     \
+    for(_he_bkt_i = 0; _he_bkt_i < tbl->num_buckets; _he_bkt_i++)                \
+    {                                                                            \
+        _he_thh = tbl->buckets[ _he_bkt_i ].hh_head;                             \
+        while (_he_thh) {                                                        \
+           _he_hh_nxt = _he_thh->hh_next;                                        \
+           HASH_TO_BKT( _he_thh->hashv, tbl->num_buckets*2, _he_bkt);            \
+           _he_newbkt = &(_he_new_buckets[ _he_bkt ]);                           \
+           if (++(_he_newbkt->count) > tbl->ideal_chain_maxlen) {                \
+             tbl->nonideal_items++;                                              \
+             _he_newbkt->expand_mult = _he_newbkt->count /                       \
+                                        tbl->ideal_chain_maxlen;                 \
+           }                                                                     \
+           _he_thh->hh_prev = NULL;                                              \
+           _he_thh->hh_next = _he_newbkt->hh_head;                               \
+           if (_he_newbkt->hh_head) _he_newbkt->hh_head->hh_prev =               \
+                _he_thh;                                                         \
+           _he_newbkt->hh_head = _he_thh;                                        \
+           _he_thh = _he_hh_nxt;                                                 \
+        }                                                                        \
+    }                                                                            \
+    uthash_free( tbl->buckets, tbl->num_buckets*sizeof(struct UT_hash_bucket) ); \
+    tbl->num_buckets *= 2;                                                       \
+    tbl->log2_num_buckets++;                                                     \
+    tbl->buckets = _he_new_buckets;                                              \
+    tbl->ineff_expands = (tbl->nonideal_items > (tbl->num_items >> 1)) ?         \
+        (tbl->ineff_expands+1) : 0;                                              \
+    if (tbl->ineff_expands > 1) {                                                \
+        tbl->noexpand=1;                                                         \
+        uthash_noexpand_fyi(tbl);                                                \
+    }                                                                            \
+    uthash_expand_fyi(tbl);                                                      \
+} while(0)
+
+
+/* This is an adaptation of Simon Tatham's O(n log(n)) mergesort */
+/* Note that HASH_SORT assumes the hash handle name to be hh. 
+ * HASH_SRT was added to allow the hash handle name to be passed in. */
+#define HASH_SORT(head,cmpfcn) HASH_SRT(hh,head,cmpfcn)
+#define HASH_SRT(hh,head,cmpfcn)                                                 \
+do {                                                                             \
+  unsigned _hs_i;                                                                \
+  unsigned _hs_looping,_hs_nmerges,_hs_insize,_hs_psize,_hs_qsize;               \
+  struct UT_hash_handle *_hs_p, *_hs_q, *_hs_e, *_hs_list, *_hs_tail;            \
+  if (head) {                                                                    \
+      _hs_insize = 1;                                                            \
+      _hs_looping = 1;                                                           \
+      _hs_list = &((head)->hh);                                                  \
+      while (_hs_looping) {                                                      \
+          _hs_p = _hs_list;                                                      \
+          _hs_list = NULL;                                                       \
+          _hs_tail = NULL;                                                       \
+          _hs_nmerges = 0;                                                       \
+          while (_hs_p) {                                                        \
+              _hs_nmerges++;                                                     \
+              _hs_q = _hs_p;                                                     \
+              _hs_psize = 0;                                                     \
+              for ( _hs_i = 0; _hs_i  < _hs_insize; _hs_i++ ) {                  \
+                  _hs_psize++;                                                   \
+                  _hs_q = (UT_hash_handle*)((_hs_q->next) ?                      \
+                          ((void*)((char*)(_hs_q->next) +                        \
+                          (head)->hh.tbl->hho)) : NULL);                         \
+                  if (! (_hs_q) ) break;                                         \
+              }                                                                  \
+              _hs_qsize = _hs_insize;                                            \
+              while ((_hs_psize > 0) || ((_hs_qsize > 0) && _hs_q )) {           \
+                  if (_hs_psize == 0) {                                          \
+                      _hs_e = _hs_q;                                             \
+                      _hs_q = (UT_hash_handle*)((_hs_q->next) ?                  \
+                              ((void*)((char*)(_hs_q->next) +                    \
+                              (head)->hh.tbl->hho)) : NULL);                     \
+                      _hs_qsize--;                                               \
+                  } else if ( (_hs_qsize == 0) || !(_hs_q) ) {                   \
+                      _hs_e = _hs_p;                                             \
+                      _hs_p = (UT_hash_handle*)((_hs_p->next) ?                  \
+                              ((void*)((char*)(_hs_p->next) +                    \
+                              (head)->hh.tbl->hho)) : NULL);                     \
+                      _hs_psize--;                                               \
+                  } else if ((                                                   \
+                      cmpfcn(DECLTYPE(head)(ELMT_FROM_HH((head)->hh.tbl,_hs_p)), \
+                             DECLTYPE(head)(ELMT_FROM_HH((head)->hh.tbl,_hs_q))) \
+                             ) <= 0) {                                           \
+                      _hs_e = _hs_p;                                             \
+                      _hs_p = (UT_hash_handle*)((_hs_p->next) ?                  \
+                              ((void*)((char*)(_hs_p->next) +                    \
+                              (head)->hh.tbl->hho)) : NULL);                     \
+                      _hs_psize--;                                               \
+                  } else {                                                       \
+                      _hs_e = _hs_q;                                             \
+                      _hs_q = (UT_hash_handle*)((_hs_q->next) ?                  \
+                              ((void*)((char*)(_hs_q->next) +                    \
+                              (head)->hh.tbl->hho)) : NULL);                     \
+                      _hs_qsize--;                                               \
+                  }                                                              \
+                  if ( _hs_tail ) {                                              \
+                      _hs_tail->next = ((_hs_e) ?                                \
+                            ELMT_FROM_HH((head)->hh.tbl,_hs_e) : NULL);          \
+                  } else {                                                       \
+                      _hs_list = _hs_e;                                          \
+                  }                                                              \
+                  _hs_e->prev = ((_hs_tail) ?                                    \
+                     ELMT_FROM_HH((head)->hh.tbl,_hs_tail) : NULL);              \
+                  _hs_tail = _hs_e;                                              \
+              }                                                                  \
+              _hs_p = _hs_q;                                                     \
+          }                                                                      \
+          _hs_tail->next = NULL;                                                 \
+          if ( _hs_nmerges <= 1 ) {                                              \
+              _hs_looping=0;                                                     \
+              (head)->hh.tbl->tail = _hs_tail;                                   \
+              DECLTYPE_ASSIGN(head,ELMT_FROM_HH((head)->hh.tbl, _hs_list));      \
+          }                                                                      \
+          _hs_insize *= 2;                                                       \
+      }                                                                          \
+      HASH_FSCK(hh,head);                                                        \
+ }                                                                               \
+} while (0)
+
+/* This function selects items from one hash into another hash. 
+ * The end result is that the selected items have dual presence 
+ * in both hashes. There is no copy of the items made; rather 
+ * they are added into the new hash through a secondary hash 
+ * hash handle that must be present in the structure. */
+#define HASH_SELECT(hh_dst, dst, hh_src, src, cond)                              \
+do {                                                                             \
+  unsigned _src_bkt, _dst_bkt;                                                   \
+  void *_last_elt=NULL, *_elt;                                                   \
+  UT_hash_handle *_src_hh, *_dst_hh, *_last_elt_hh=NULL;                         \
+  ptrdiff_t _dst_hho = ((char*)(&(dst)->hh_dst) - (char*)(dst));                 \
+  if (src) {                                                                     \
+    for(_src_bkt=0; _src_bkt < (src)->hh_src.tbl->num_buckets; _src_bkt++) {     \
+      for(_src_hh = (src)->hh_src.tbl->buckets[_src_bkt].hh_head;                \
+          _src_hh;                                                               \
+          _src_hh = _src_hh->hh_next) {                                          \
+          _elt = ELMT_FROM_HH((src)->hh_src.tbl, _src_hh);                       \
+          if (cond(_elt)) {                                                      \
+            _dst_hh = (UT_hash_handle*)(((char*)_elt) + _dst_hho);               \
+            _dst_hh->key = _src_hh->key;                                         \
+            _dst_hh->keylen = _src_hh->keylen;                                   \
+            _dst_hh->hashv = _src_hh->hashv;                                     \
+            _dst_hh->prev = _last_elt;                                           \
+            _dst_hh->next = NULL;                                                \
+            if (_last_elt_hh) { _last_elt_hh->next = _elt; }                     \
+            if (!dst) {                                                          \
+              DECLTYPE_ASSIGN(dst,_elt);                                         \
+              HASH_MAKE_TABLE(hh_dst,dst);                                       \
+            } else {                                                             \
+              _dst_hh->tbl = (dst)->hh_dst.tbl;                                  \
+            }                                                                    \
+            HASH_TO_BKT(_dst_hh->hashv, _dst_hh->tbl->num_buckets, _dst_bkt);    \
+            HASH_ADD_TO_BKT(_dst_hh->tbl->buckets[_dst_bkt],_dst_hh);            \
+            (dst)->hh_dst.tbl->num_items++;                                      \
+            _last_elt = _elt;                                                    \
+            _last_elt_hh = _dst_hh;                                              \
+          }                                                                      \
+      }                                                                          \
+    }                                                                            \
+  }                                                                              \
+  HASH_FSCK(hh_dst,dst);                                                         \
+} while (0)
+
+#define HASH_CLEAR(hh,head)                                                      \
+do {                                                                             \
+  if (head) {                                                                    \
+    uthash_free((head)->hh.tbl->buckets,                                         \
+                (head)->hh.tbl->num_buckets*sizeof(struct UT_hash_bucket));      \
+    HASH_BLOOM_FREE((head)->hh.tbl);                                             \
+    uthash_free((head)->hh.tbl, sizeof(UT_hash_table));                          \
+    (head)=NULL;                                                                 \
+  }                                                                              \
+} while(0)
+
+#ifdef NO_DECLTYPE
+#define HASH_ITER(hh,head,el,tmp)                                                \
+for((el)=(head), (*(char**)(&(tmp)))=(char*)((head)?(head)->hh.next:NULL);       \
+  el; (el)=(tmp),(*(char**)(&(tmp)))=(char*)((tmp)?(tmp)->hh.next:NULL)) 
+#else
+#define HASH_ITER(hh,head,el,tmp)                                                \
+for((el)=(head),(tmp)=DECLTYPE(el)((head)?(head)->hh.next:NULL);                 \
+  el; (el)=(tmp),(tmp)=DECLTYPE(el)((tmp)?(tmp)->hh.next:NULL))
+#endif
+
+/* obtain a count of items in the hash */
+#define HASH_COUNT(head) HASH_CNT(hh,head) 
+#define HASH_CNT(hh,head) ((head)?((head)->hh.tbl->num_items):0)
+
+typedef struct UT_hash_bucket {
+   struct UT_hash_handle *hh_head;
+   unsigned count;
+
+   /* expand_mult is normally set to 0. In this situation, the max chain length
+    * threshold is enforced at its default value, HASH_BKT_CAPACITY_THRESH. (If
+    * the bucket's chain exceeds this length, bucket expansion is triggered). 
+    * However, setting expand_mult to a non-zero value delays bucket expansion
+    * (that would be triggered by additions to this particular bucket)
+    * until its chain length reaches a *multiple* of HASH_BKT_CAPACITY_THRESH.
+    * (The multiplier is simply expand_mult+1). The whole idea of this
+    * multiplier is to reduce bucket expansions, since they are expensive, in
+    * situations where we know that a particular bucket tends to be overused.
+    * It is better to let its chain length grow to a longer yet-still-bounded
+    * value, than to do an O(n) bucket expansion too often. 
+    */
+   unsigned expand_mult;
+
+} UT_hash_bucket;
+
+/* random signature used only to find hash tables in external analysis */
+#define HASH_SIGNATURE 0xa0111fe1
+#define HASH_BLOOM_SIGNATURE 0xb12220f2
+
+typedef struct UT_hash_table {
+   UT_hash_bucket *buckets;
+   unsigned num_buckets, log2_num_buckets;
+   unsigned num_items;
+   struct UT_hash_handle *tail; /* tail hh in app order, for fast append    */
+   ptrdiff_t hho; /* hash handle offset (byte pos of hash handle in element */
+
+   /* in an ideal situation (all buckets used equally), no bucket would have
+    * more than ceil(#items/#buckets) items. that's the ideal chain length. */
+   unsigned ideal_chain_maxlen;
+
+   /* nonideal_items is the number of items in the hash whose chain position
+    * exceeds the ideal chain maxlen. these items pay the penalty for an uneven
+    * hash distribution; reaching them in a chain traversal takes >ideal steps */
+   unsigned nonideal_items;
+
+   /* ineffective expands occur when a bucket doubling was performed, but 
+    * afterward, more than half the items in the hash had nonideal chain
+    * positions. If this happens on two consecutive expansions we inhibit any
+    * further expansion, as it's not helping; this happens when the hash
+    * function isn't a good fit for the key domain. When expansion is inhibited
+    * the hash will still work, albeit no longer in constant time. */
+   unsigned ineff_expands, noexpand;
+
+   uint32_t signature; /* used only to find hash tables in external analysis */
+#ifdef HASH_BLOOM
+   uint32_t bloom_sig; /* used only to test bloom exists in external analysis */
+   uint8_t *bloom_bv;
+   char bloom_nbits;
+#endif
+
+} UT_hash_table;
+
+typedef struct UT_hash_handle {
+   struct UT_hash_table *tbl;
+   void *prev;                       /* prev element in app order      */
+   void *next;                       /* next element in app order      */
+   struct UT_hash_handle *hh_prev;   /* previous hh in bucket order    */
+   struct UT_hash_handle *hh_next;   /* next hh in bucket order        */
+   void *key;                        /* ptr to enclosing struct's key  */
+   unsigned keylen;                  /* enclosing struct's key len     */
+   unsigned hashv;                   /* result of hash-fcn(key)        */
+} UT_hash_handle;
+
+#endif /* UTHASH_H */
diff --git a/src/modules/systemlib/uthash/utlist.h b/src/modules/systemlib/uthash/utlist.h
new file mode 100644
index 000000000..1578acad2
--- /dev/null
+++ b/src/modules/systemlib/uthash/utlist.h
@@ -0,0 +1,522 @@
+/*
+Copyright (c) 2007-2012, Troy D. Hanson   http://uthash.sourceforge.net
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
+IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
+PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER
+OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef UTLIST_H
+#define UTLIST_H
+
+#define UTLIST_VERSION 1.9.6
+
+#include 
+
+/* 
+ * This file contains macros to manipulate singly and doubly-linked lists.
+ *
+ * 1. LL_ macros:  singly-linked lists.
+ * 2. DL_ macros:  doubly-linked lists.
+ * 3. CDL_ macros: circular doubly-linked lists.
+ *
+ * To use singly-linked lists, your structure must have a "next" pointer.
+ * To use doubly-linked lists, your structure must "prev" and "next" pointers.
+ * Either way, the pointer to the head of the list must be initialized to NULL.
+ * 
+ * ----------------.EXAMPLE -------------------------
+ * struct item {
+ *      int id;
+ *      struct item *prev, *next;
+ * }
+ *
+ * struct item *list = NULL:
+ *
+ * int main() {
+ *      struct item *item;
+ *      ... allocate and populate item ...
+ *      DL_APPEND(list, item);
+ * }
+ * --------------------------------------------------
+ *
+ * For doubly-linked lists, the append and delete macros are O(1)
+ * For singly-linked lists, append and delete are O(n) but prepend is O(1)
+ * The sort macro is O(n log(n)) for all types of single/double/circular lists.
+ */
+
+/* These macros use decltype or the earlier __typeof GNU extension.
+   As decltype is only available in newer compilers (VS2010 or gcc 4.3+
+   when compiling c++ code), this code uses whatever method is needed
+   or, for VS2008 where neither is available, uses casting workarounds. */
+#ifdef _MSC_VER            /* MS compiler */
+#if _MSC_VER >= 1600 && defined(__cplusplus)  /* VS2010 or newer in C++ mode */
+#define LDECLTYPE(x) decltype(x)
+#else                     /* VS2008 or older (or VS2010 in C mode) */
+#define NO_DECLTYPE
+#define LDECLTYPE(x) char*
+#endif
+#else                      /* GNU, Sun and other compilers */
+#define LDECLTYPE(x) __typeof(x)
+#endif
+
+/* for VS2008 we use some workarounds to get around the lack of decltype,
+ * namely, we always reassign our tmp variable to the list head if we need
+ * to dereference its prev/next pointers, and save/restore the real head.*/
+#ifdef NO_DECLTYPE
+#define _SV(elt,list) _tmp = (char*)(list); {char **_alias = (char**)&(list); *_alias = (elt); }
+#define _NEXT(elt,list) ((char*)((list)->next))
+#define _NEXTASGN(elt,list,to) { char **_alias = (char**)&((list)->next); *_alias=(char*)(to); }
+#define _PREV(elt,list) ((char*)((list)->prev))
+#define _PREVASGN(elt,list,to) { char **_alias = (char**)&((list)->prev); *_alias=(char*)(to); }
+#define _RS(list) { char **_alias = (char**)&(list); *_alias=_tmp; }
+#define _CASTASGN(a,b) { char **_alias = (char**)&(a); *_alias=(char*)(b); }
+#else 
+#define _SV(elt,list)
+#define _NEXT(elt,list) ((elt)->next)
+#define _NEXTASGN(elt,list,to) ((elt)->next)=(to)
+#define _PREV(elt,list) ((elt)->prev)
+#define _PREVASGN(elt,list,to) ((elt)->prev)=(to)
+#define _RS(list)
+#define _CASTASGN(a,b) (a)=(b)
+#endif
+
+/******************************************************************************
+ * The sort macro is an adaptation of Simon Tatham's O(n log(n)) mergesort    *
+ * Unwieldy variable names used here to avoid shadowing passed-in variables.  *
+ *****************************************************************************/
+#define LL_SORT(list, cmp)                                                                     \
+do {                                                                                           \
+  LDECLTYPE(list) _ls_p;                                                                       \
+  LDECLTYPE(list) _ls_q;                                                                       \
+  LDECLTYPE(list) _ls_e;                                                                       \
+  LDECLTYPE(list) _ls_tail;                                                                    \
+  LDECLTYPE(list) _ls_oldhead;                                                                 \
+  LDECLTYPE(list) _tmp;                                                                        \
+  int _ls_insize, _ls_nmerges, _ls_psize, _ls_qsize, _ls_i, _ls_looping;                       \
+  if (list) {                                                                                  \
+    _ls_insize = 1;                                                                            \
+    _ls_looping = 1;                                                                           \
+    while (_ls_looping) {                                                                      \
+      _CASTASGN(_ls_p,list);                                                                   \
+      _CASTASGN(_ls_oldhead,list);                                                             \
+      list = NULL;                                                                             \
+      _ls_tail = NULL;                                                                         \
+      _ls_nmerges = 0;                                                                         \
+      while (_ls_p) {                                                                          \
+        _ls_nmerges++;                                                                         \
+        _ls_q = _ls_p;                                                                         \
+        _ls_psize = 0;                                                                         \
+        for (_ls_i = 0; _ls_i < _ls_insize; _ls_i++) {                                         \
+          _ls_psize++;                                                                         \
+          _SV(_ls_q,list); _ls_q = _NEXT(_ls_q,list); _RS(list);                               \
+          if (!_ls_q) break;                                                                   \
+        }                                                                                      \
+        _ls_qsize = _ls_insize;                                                                \
+        while (_ls_psize > 0 || (_ls_qsize > 0 && _ls_q)) {                                    \
+          if (_ls_psize == 0) {                                                                \
+            _ls_e = _ls_q; _SV(_ls_q,list); _ls_q = _NEXT(_ls_q,list); _RS(list); _ls_qsize--; \
+          } else if (_ls_qsize == 0 || !_ls_q) {                                               \
+            _ls_e = _ls_p; _SV(_ls_p,list); _ls_p = _NEXT(_ls_p,list); _RS(list); _ls_psize--; \
+          } else if (cmp(_ls_p,_ls_q) <= 0) {                                                  \
+            _ls_e = _ls_p; _SV(_ls_p,list); _ls_p = _NEXT(_ls_p,list); _RS(list); _ls_psize--; \
+          } else {                                                                             \
+            _ls_e = _ls_q; _SV(_ls_q,list); _ls_q = _NEXT(_ls_q,list); _RS(list); _ls_qsize--; \
+          }                                                                                    \
+          if (_ls_tail) {                                                                      \
+            _SV(_ls_tail,list); _NEXTASGN(_ls_tail,list,_ls_e); _RS(list);                     \
+          } else {                                                                             \
+            _CASTASGN(list,_ls_e);                                                             \
+          }                                                                                    \
+          _ls_tail = _ls_e;                                                                    \
+        }                                                                                      \
+        _ls_p = _ls_q;                                                                         \
+      }                                                                                        \
+      _SV(_ls_tail,list); _NEXTASGN(_ls_tail,list,NULL); _RS(list);                            \
+      if (_ls_nmerges <= 1) {                                                                  \
+        _ls_looping=0;                                                                         \
+      }                                                                                        \
+      _ls_insize *= 2;                                                                         \
+    }                                                                                          \
+  } else _tmp=NULL; /* quiet gcc unused variable warning */                                    \
+} while (0)
+
+#define DL_SORT(list, cmp)                                                                     \
+do {                                                                                           \
+  LDECLTYPE(list) _ls_p;                                                                       \
+  LDECLTYPE(list) _ls_q;                                                                       \
+  LDECLTYPE(list) _ls_e;                                                                       \
+  LDECLTYPE(list) _ls_tail;                                                                    \
+  LDECLTYPE(list) _ls_oldhead;                                                                 \
+  LDECLTYPE(list) _tmp;                                                                        \
+  int _ls_insize, _ls_nmerges, _ls_psize, _ls_qsize, _ls_i, _ls_looping;                       \
+  if (list) {                                                                                  \
+    _ls_insize = 1;                                                                            \
+    _ls_looping = 1;                                                                           \
+    while (_ls_looping) {                                                                      \
+      _CASTASGN(_ls_p,list);                                                                   \
+      _CASTASGN(_ls_oldhead,list);                                                             \
+      list = NULL;                                                                             \
+      _ls_tail = NULL;                                                                         \
+      _ls_nmerges = 0;                                                                         \
+      while (_ls_p) {                                                                          \
+        _ls_nmerges++;                                                                         \
+        _ls_q = _ls_p;                                                                         \
+        _ls_psize = 0;                                                                         \
+        for (_ls_i = 0; _ls_i < _ls_insize; _ls_i++) {                                         \
+          _ls_psize++;                                                                         \
+          _SV(_ls_q,list); _ls_q = _NEXT(_ls_q,list); _RS(list);                               \
+          if (!_ls_q) break;                                                                   \
+        }                                                                                      \
+        _ls_qsize = _ls_insize;                                                                \
+        while (_ls_psize > 0 || (_ls_qsize > 0 && _ls_q)) {                                    \
+          if (_ls_psize == 0) {                                                                \
+            _ls_e = _ls_q; _SV(_ls_q,list); _ls_q = _NEXT(_ls_q,list); _RS(list); _ls_qsize--; \
+          } else if (_ls_qsize == 0 || !_ls_q) {                                               \
+            _ls_e = _ls_p; _SV(_ls_p,list); _ls_p = _NEXT(_ls_p,list); _RS(list); _ls_psize--; \
+          } else if (cmp(_ls_p,_ls_q) <= 0) {                                                  \
+            _ls_e = _ls_p; _SV(_ls_p,list); _ls_p = _NEXT(_ls_p,list); _RS(list); _ls_psize--; \
+          } else {                                                                             \
+            _ls_e = _ls_q; _SV(_ls_q,list); _ls_q = _NEXT(_ls_q,list); _RS(list); _ls_qsize--; \
+          }                                                                                    \
+          if (_ls_tail) {                                                                      \
+            _SV(_ls_tail,list); _NEXTASGN(_ls_tail,list,_ls_e); _RS(list);                     \
+          } else {                                                                             \
+            _CASTASGN(list,_ls_e);                                                             \
+          }                                                                                    \
+          _SV(_ls_e,list); _PREVASGN(_ls_e,list,_ls_tail); _RS(list);                          \
+          _ls_tail = _ls_e;                                                                    \
+        }                                                                                      \
+        _ls_p = _ls_q;                                                                         \
+      }                                                                                        \
+      _CASTASGN(list->prev, _ls_tail);                                                         \
+      _SV(_ls_tail,list); _NEXTASGN(_ls_tail,list,NULL); _RS(list);                            \
+      if (_ls_nmerges <= 1) {                                                                  \
+        _ls_looping=0;                                                                         \
+      }                                                                                        \
+      _ls_insize *= 2;                                                                         \
+    }                                                                                          \
+  } else _tmp=NULL; /* quiet gcc unused variable warning */                                    \
+} while (0)
+
+#define CDL_SORT(list, cmp)                                                                    \
+do {                                                                                           \
+  LDECLTYPE(list) _ls_p;                                                                       \
+  LDECLTYPE(list) _ls_q;                                                                       \
+  LDECLTYPE(list) _ls_e;                                                                       \
+  LDECLTYPE(list) _ls_tail;                                                                    \
+  LDECLTYPE(list) _ls_oldhead;                                                                 \
+  LDECLTYPE(list) _tmp;                                                                        \
+  LDECLTYPE(list) _tmp2;                                                                       \
+  int _ls_insize, _ls_nmerges, _ls_psize, _ls_qsize, _ls_i, _ls_looping;                       \
+  if (list) {                                                                                  \
+    _ls_insize = 1;                                                                            \
+    _ls_looping = 1;                                                                           \
+    while (_ls_looping) {                                                                      \
+      _CASTASGN(_ls_p,list);                                                                   \
+      _CASTASGN(_ls_oldhead,list);                                                             \
+      list = NULL;                                                                             \
+      _ls_tail = NULL;                                                                         \
+      _ls_nmerges = 0;                                                                         \
+      while (_ls_p) {                                                                          \
+        _ls_nmerges++;                                                                         \
+        _ls_q = _ls_p;                                                                         \
+        _ls_psize = 0;                                                                         \
+        for (_ls_i = 0; _ls_i < _ls_insize; _ls_i++) {                                         \
+          _ls_psize++;                                                                         \
+          _SV(_ls_q,list);                                                                     \
+          if (_NEXT(_ls_q,list) == _ls_oldhead) {                                              \
+            _ls_q = NULL;                                                                      \
+          } else {                                                                             \
+            _ls_q = _NEXT(_ls_q,list);                                                         \
+          }                                                                                    \
+          _RS(list);                                                                           \
+          if (!_ls_q) break;                                                                   \
+        }                                                                                      \
+        _ls_qsize = _ls_insize;                                                                \
+        while (_ls_psize > 0 || (_ls_qsize > 0 && _ls_q)) {                                    \
+          if (_ls_psize == 0) {                                                                \
+            _ls_e = _ls_q; _SV(_ls_q,list); _ls_q = _NEXT(_ls_q,list); _RS(list); _ls_qsize--; \
+            if (_ls_q == _ls_oldhead) { _ls_q = NULL; }                                        \
+          } else if (_ls_qsize == 0 || !_ls_q) {                                               \
+            _ls_e = _ls_p; _SV(_ls_p,list); _ls_p = _NEXT(_ls_p,list); _RS(list); _ls_psize--; \
+            if (_ls_p == _ls_oldhead) { _ls_p = NULL; }                                        \
+          } else if (cmp(_ls_p,_ls_q) <= 0) {                                                  \
+            _ls_e = _ls_p; _SV(_ls_p,list); _ls_p = _NEXT(_ls_p,list); _RS(list); _ls_psize--; \
+            if (_ls_p == _ls_oldhead) { _ls_p = NULL; }                                        \
+          } else {                                                                             \
+            _ls_e = _ls_q; _SV(_ls_q,list); _ls_q = _NEXT(_ls_q,list); _RS(list); _ls_qsize--; \
+            if (_ls_q == _ls_oldhead) { _ls_q = NULL; }                                        \
+          }                                                                                    \
+          if (_ls_tail) {                                                                      \
+            _SV(_ls_tail,list); _NEXTASGN(_ls_tail,list,_ls_e); _RS(list);                     \
+          } else {                                                                             \
+            _CASTASGN(list,_ls_e);                                                             \
+          }                                                                                    \
+          _SV(_ls_e,list); _PREVASGN(_ls_e,list,_ls_tail); _RS(list);                          \
+          _ls_tail = _ls_e;                                                                    \
+        }                                                                                      \
+        _ls_p = _ls_q;                                                                         \
+      }                                                                                        \
+      _CASTASGN(list->prev,_ls_tail);                                                          \
+      _CASTASGN(_tmp2,list);                                                                   \
+      _SV(_ls_tail,list); _NEXTASGN(_ls_tail,list,_tmp2); _RS(list);                           \
+      if (_ls_nmerges <= 1) {                                                                  \
+        _ls_looping=0;                                                                         \
+      }                                                                                        \
+      _ls_insize *= 2;                                                                         \
+    }                                                                                          \
+  } else _tmp=NULL; /* quiet gcc unused variable warning */                                    \
+} while (0)
+
+/******************************************************************************
+ * singly linked list macros (non-circular)                                   *
+ *****************************************************************************/
+#define LL_PREPEND(head,add)                                                                   \
+do {                                                                                           \
+  (add)->next = head;                                                                          \
+  head = add;                                                                                  \
+} while (0)
+
+#define LL_CONCAT(head1,head2)                                                                 \
+do {                                                                                           \
+  LDECLTYPE(head1) _tmp;                                                                       \
+  if (head1) {                                                                                 \
+    _tmp = head1;                                                                              \
+    while (_tmp->next) { _tmp = _tmp->next; }                                                  \
+    _tmp->next=(head2);                                                                        \
+  } else {                                                                                     \
+    (head1)=(head2);                                                                           \
+  }                                                                                            \
+} while (0)
+
+#define LL_APPEND(head,add)                                                                    \
+do {                                                                                           \
+  LDECLTYPE(head) _tmp;                                                                        \
+  (add)->next=NULL;                                                                            \
+  if (head) {                                                                                  \
+    _tmp = head;                                                                               \
+    while (_tmp->next) { _tmp = _tmp->next; }                                                  \
+    _tmp->next=(add);                                                                          \
+  } else {                                                                                     \
+    (head)=(add);                                                                              \
+  }                                                                                            \
+} while (0)
+
+#define LL_DELETE(head,del)                                                                    \
+do {                                                                                           \
+  LDECLTYPE(head) _tmp;                                                                        \
+  if ((head) == (del)) {                                                                       \
+    (head)=(head)->next;                                                                       \
+  } else {                                                                                     \
+    _tmp = head;                                                                               \
+    while (_tmp->next && (_tmp->next != (del))) {                                              \
+      _tmp = _tmp->next;                                                                       \
+    }                                                                                          \
+    if (_tmp->next) {                                                                          \
+      _tmp->next = ((del)->next);                                                              \
+    }                                                                                          \
+  }                                                                                            \
+} while (0)
+
+/* Here are VS2008 replacements for LL_APPEND and LL_DELETE */
+#define LL_APPEND_VS2008(head,add)                                                             \
+do {                                                                                           \
+  if (head) {                                                                                  \
+    (add)->next = head;     /* use add->next as a temp variable */                             \
+    while ((add)->next->next) { (add)->next = (add)->next->next; }                             \
+    (add)->next->next=(add);                                                                   \
+  } else {                                                                                     \
+    (head)=(add);                                                                              \
+  }                                                                                            \
+  (add)->next=NULL;                                                                            \
+} while (0)
+
+#define LL_DELETE_VS2008(head,del)                                                             \
+do {                                                                                           \
+  if ((head) == (del)) {                                                                       \
+    (head)=(head)->next;                                                                       \
+  } else {                                                                                     \
+    char *_tmp = (char*)(head);                                                                \
+    while ((head)->next && ((head)->next != (del))) {                                          \
+      head = (head)->next;                                                                     \
+    }                                                                                          \
+    if ((head)->next) {                                                                        \
+      (head)->next = ((del)->next);                                                            \
+    }                                                                                          \
+    {                                                                                          \
+      char **_head_alias = (char**)&(head);                                                    \
+      *_head_alias = _tmp;                                                                     \
+    }                                                                                          \
+  }                                                                                            \
+} while (0)
+#ifdef NO_DECLTYPE
+#undef LL_APPEND
+#define LL_APPEND LL_APPEND_VS2008
+#undef LL_DELETE
+#define LL_DELETE LL_DELETE_VS2008
+#undef LL_CONCAT /* no LL_CONCAT_VS2008 */
+#undef DL_CONCAT /* no DL_CONCAT_VS2008 */
+#endif
+/* end VS2008 replacements */
+
+#define LL_FOREACH(head,el)                                                                    \
+    for(el=head;el;el=(el)->next)
+
+#define LL_FOREACH_SAFE(head,el,tmp)                                                           \
+  for((el)=(head);(el) && (tmp = (el)->next, 1); (el) = tmp)
+
+#define LL_SEARCH_SCALAR(head,out,field,val)                                                   \
+do {                                                                                           \
+    LL_FOREACH(head,out) {                                                                     \
+      if ((out)->field == (val)) break;                                                        \
+    }                                                                                          \
+} while(0) 
+
+#define LL_SEARCH(head,out,elt,cmp)                                                            \
+do {                                                                                           \
+    LL_FOREACH(head,out) {                                                                     \
+      if ((cmp(out,elt))==0) break;                                                            \
+    }                                                                                          \
+} while(0) 
+
+/******************************************************************************
+ * doubly linked list macros (non-circular)                                   *
+ *****************************************************************************/
+#define DL_PREPEND(head,add)                                                                   \
+do {                                                                                           \
+ (add)->next = head;                                                                           \
+ if (head) {                                                                                   \
+   (add)->prev = (head)->prev;                                                                 \
+   (head)->prev = (add);                                                                       \
+ } else {                                                                                      \
+   (add)->prev = (add);                                                                        \
+ }                                                                                             \
+ (head) = (add);                                                                               \
+} while (0)
+
+#define DL_APPEND(head,add)                                                                    \
+do {                                                                                           \
+  if (head) {                                                                                  \
+      (add)->prev = (head)->prev;                                                              \
+      (head)->prev->next = (add);                                                              \
+      (head)->prev = (add);                                                                    \
+      (add)->next = NULL;                                                                      \
+  } else {                                                                                     \
+      (head)=(add);                                                                            \
+      (head)->prev = (head);                                                                   \
+      (head)->next = NULL;                                                                     \
+  }                                                                                            \
+} while (0) 
+
+#define DL_CONCAT(head1,head2)                                                                 \
+do {                                                                                           \
+  LDECLTYPE(head1) _tmp;                                                                       \
+  if (head2) {                                                                                 \
+    if (head1) {                                                                               \
+        _tmp = (head2)->prev;                                                                  \
+        (head2)->prev = (head1)->prev;                                                         \
+        (head1)->prev->next = (head2);                                                         \
+        (head1)->prev = _tmp;                                                                  \
+    } else {                                                                                   \
+        (head1)=(head2);                                                                       \
+    }                                                                                          \
+  }                                                                                            \
+} while (0) 
+
+#define DL_DELETE(head,del)                                                                    \
+do {                                                                                           \
+  assert((del)->prev != NULL);                                                                 \
+  if ((del)->prev == (del)) {                                                                  \
+      (head)=NULL;                                                                             \
+  } else if ((del)==(head)) {                                                                  \
+      (del)->next->prev = (del)->prev;                                                         \
+      (head) = (del)->next;                                                                    \
+  } else {                                                                                     \
+      (del)->prev->next = (del)->next;                                                         \
+      if ((del)->next) {                                                                       \
+          (del)->next->prev = (del)->prev;                                                     \
+      } else {                                                                                 \
+          (head)->prev = (del)->prev;                                                          \
+      }                                                                                        \
+  }                                                                                            \
+} while (0) 
+
+
+#define DL_FOREACH(head,el)                                                                    \
+    for(el=head;el;el=(el)->next)
+
+/* this version is safe for deleting the elements during iteration */
+#define DL_FOREACH_SAFE(head,el,tmp)                                                           \
+  for((el)=(head);(el) && (tmp = (el)->next, 1); (el) = tmp)
+
+/* these are identical to their singly-linked list counterparts */
+#define DL_SEARCH_SCALAR LL_SEARCH_SCALAR
+#define DL_SEARCH LL_SEARCH
+
+/******************************************************************************
+ * circular doubly linked list macros                                         *
+ *****************************************************************************/
+#define CDL_PREPEND(head,add)                                                                  \
+do {                                                                                           \
+ if (head) {                                                                                   \
+   (add)->prev = (head)->prev;                                                                 \
+   (add)->next = (head);                                                                       \
+   (head)->prev = (add);                                                                       \
+   (add)->prev->next = (add);                                                                  \
+ } else {                                                                                      \
+   (add)->prev = (add);                                                                        \
+   (add)->next = (add);                                                                        \
+ }                                                                                             \
+(head)=(add);                                                                                  \
+} while (0)
+
+#define CDL_DELETE(head,del)                                                                   \
+do {                                                                                           \
+  if ( ((head)==(del)) && ((head)->next == (head))) {                                          \
+      (head) = 0L;                                                                             \
+  } else {                                                                                     \
+     (del)->next->prev = (del)->prev;                                                          \
+     (del)->prev->next = (del)->next;                                                          \
+     if ((del) == (head)) (head)=(del)->next;                                                  \
+  }                                                                                            \
+} while (0) 
+
+#define CDL_FOREACH(head,el)                                                                   \
+    for(el=head;el;el=((el)->next==head ? 0L : (el)->next)) 
+
+#define CDL_FOREACH_SAFE(head,el,tmp1,tmp2)                                                    \
+  for((el)=(head), ((tmp1)=(head)?((head)->prev):NULL);                                        \
+      (el) && ((tmp2)=(el)->next, 1);                                                          \
+      ((el) = (((el)==(tmp1)) ? 0L : (tmp2))))
+
+#define CDL_SEARCH_SCALAR(head,out,field,val)                                                  \
+do {                                                                                           \
+    CDL_FOREACH(head,out) {                                                                    \
+      if ((out)->field == (val)) break;                                                        \
+    }                                                                                          \
+} while(0) 
+
+#define CDL_SEARCH(head,out,elt,cmp)                                                           \
+do {                                                                                           \
+    CDL_FOREACH(head,out) {                                                                    \
+      if ((cmp(out,elt))==0) break;                                                            \
+    }                                                                                          \
+} while(0) 
+
+#endif /* UTLIST_H */
+
diff --git a/src/modules/systemlib/uthash/utstring.h b/src/modules/systemlib/uthash/utstring.h
new file mode 100644
index 000000000..a181ad778
--- /dev/null
+++ b/src/modules/systemlib/uthash/utstring.h
@@ -0,0 +1,148 @@
+/*
+Copyright (c) 2008-2012, Troy D. Hanson   http://uthash.sourceforge.net
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
+IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
+PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER
+OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+/* a dynamic string implementation using macros 
+ * see http://uthash.sourceforge.net/utstring
+ */
+#ifndef UTSTRING_H
+#define UTSTRING_H
+
+#define UTSTRING_VERSION 1.9.6
+
+#ifdef __GNUC__
+#define _UNUSED_ __attribute__ ((__unused__)) 
+#else
+#define _UNUSED_ 
+#endif
+
+#include 
+#include 
+#include 
+#define oom() exit(-1)
+
+typedef struct {
+    char *d;
+    size_t n; /* allocd size */
+    size_t i; /* index of first unused byte */
+} UT_string;
+
+#define utstring_reserve(s,amt)                            \
+do {                                                       \
+  if (((s)->n - (s)->i) < (size_t)(amt)) {                 \
+     (s)->d = (char*)realloc((s)->d, (s)->n + amt);        \
+     if ((s)->d == NULL) oom();                            \
+     (s)->n += amt;                                        \
+  }                                                        \
+} while(0)
+
+#define utstring_init(s)                                   \
+do {                                                       \
+  (s)->n = 0; (s)->i = 0; (s)->d = NULL;                   \
+  utstring_reserve(s,100);                                 \
+  (s)->d[0] = '\0'; \
+} while(0)
+
+#define utstring_done(s)                                   \
+do {                                                       \
+  if ((s)->d != NULL) free((s)->d);                        \
+  (s)->n = 0;                                              \
+} while(0)
+
+#define utstring_free(s)                                   \
+do {                                                       \
+  utstring_done(s);                                        \
+  free(s);                                                 \
+} while(0)
+
+#define utstring_new(s)                                    \
+do {                                                       \
+   s = (UT_string*)calloc(sizeof(UT_string),1);            \
+   if (!s) oom();                                          \
+   utstring_init(s);                                       \
+} while(0)
+
+#define utstring_renew(s)                                  \
+do {                                                       \
+   if (s) {                                                \
+     utstring_clear(s);                                    \
+   } else {                                                \
+     utstring_new(s);                                      \
+   }                                                       \
+} while(0)
+
+#define utstring_clear(s)                                  \
+do {                                                       \
+  (s)->i = 0;                                              \
+  (s)->d[0] = '\0';                                        \
+} while(0)
+
+#define utstring_bincpy(s,b,l)                             \
+do {                                                       \
+  utstring_reserve((s),(l)+1);                               \
+  if (l) memcpy(&(s)->d[(s)->i], b, l);                    \
+  (s)->i += l;                                               \
+  (s)->d[(s)->i]='\0';                                         \
+} while(0)
+
+#define utstring_concat(dst,src)                                 \
+do {                                                             \
+  utstring_reserve((dst),((src)->i)+1);                          \
+  if ((src)->i) memcpy(&(dst)->d[(dst)->i], (src)->d, (src)->i); \
+  (dst)->i += (src)->i;                                          \
+  (dst)->d[(dst)->i]='\0';                                       \
+} while(0)
+
+#define utstring_len(s) ((unsigned)((s)->i))
+
+#define utstring_body(s) ((s)->d)
+
+_UNUSED_ static void utstring_printf_va(UT_string *s, const char *fmt, va_list ap) {
+   int n;
+   va_list cp;
+   while (1) {
+#ifdef _WIN32
+      cp = ap;
+#else
+      va_copy(cp, ap);
+#endif
+      n = vsnprintf (&s->d[s->i], s->n-s->i, fmt, cp);
+      va_end(cp);
+
+      if ((n > -1) && (n < (int)(s->n-s->i))) {
+        s->i += n;
+        return;
+      }
+
+      /* Else try again with more space. */
+      if (n > -1) utstring_reserve(s,n+1); /* exact */
+      else utstring_reserve(s,(s->n)*2);   /* 2x */
+   }
+}
+_UNUSED_ static void utstring_printf(UT_string *s, const char *fmt, ...) {
+   va_list ap;
+   va_start(ap,fmt);
+   utstring_printf_va(s,fmt,ap);
+   va_end(ap);
+}
+
+#endif /* UTSTRING_H */
diff --git a/src/modules/systemlib/visibility.h b/src/modules/systemlib/visibility.h
new file mode 100644
index 000000000..2c6adc062
--- /dev/null
+++ b/src/modules/systemlib/visibility.h
@@ -0,0 +1,62 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file visibility.h
+ *
+ * Definitions controlling symbol naming and visibility.
+ *
+ * This file is normally included automatically by the build system.
+ */
+
+#ifndef __SYSTEMLIB_VISIBILITY_H
+#define __SYSTEMLIB_VISIBILITY_H
+
+#ifdef __EXPORT
+#  undef __EXPORT
+#endif
+#define __EXPORT __attribute__ ((visibility ("default")))
+
+#ifdef __PRIVATE
+#  undef __PRIVATE
+#endif
+#define __PRIVATE __attribute__ ((visibility ("hidden")))
+
+#ifdef __cplusplus
+#  define __BEGIN_DECLS		extern "C" {
+#  define __END_DECLS		}
+#else
+#  define __BEGIN_DECLS
+#  define __END_DECLS
+#endif
+#endif
\ No newline at end of file
diff --git a/src/modules/uORB/.context b/src/modules/uORB/.context
new file mode 100644
index 000000000..e69de29bb
diff --git a/src/modules/uORB/module.mk b/src/modules/uORB/module.mk
new file mode 100644
index 000000000..5ec31ab01
--- /dev/null
+++ b/src/modules/uORB/module.mk
@@ -0,0 +1,44 @@
+############################################################################
+#
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Makefile to build uORB
+#
+
+MODULE_COMMAND		= uorb
+
+# XXX probably excessive, 2048 should be sufficient
+MODULE_STACKSIZE	= 4096
+
+SRCS			= uORB.cpp \
+			  objects_common.cpp
diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp
new file mode 100644
index 000000000..136375140
--- /dev/null
+++ b/src/modules/uORB/objects_common.cpp
@@ -0,0 +1,153 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file objects_common.cpp
+ *
+ * Common object definitions without a better home.
+ */
+
+#include 
+
+#include 
+
+#include 
+ORB_DEFINE(sensor_mag, struct mag_report);
+
+#include 
+ORB_DEFINE(sensor_accel, struct accel_report);
+
+#include 
+ORB_DEFINE(sensor_gyro, struct gyro_report);
+
+#include 
+ORB_DEFINE(sensor_baro, struct baro_report);
+
+#include 
+ORB_DEFINE(sensor_range_finder, struct range_finder_report);
+
+#include 
+ORB_DEFINE(output_pwm, struct pwm_output_values);
+
+#include 
+ORB_DEFINE(input_rc, struct rc_input_values);
+
+#include "topics/vehicle_attitude.h"
+ORB_DEFINE(vehicle_attitude, struct vehicle_attitude_s);
+
+#include "topics/sensor_combined.h"
+ORB_DEFINE(sensor_combined, struct sensor_combined_s);
+
+#include "topics/vehicle_gps_position.h"
+ORB_DEFINE(vehicle_gps_position, struct vehicle_gps_position_s);
+
+#include "topics/home_position.h"
+ORB_DEFINE(home_position, struct home_position_s);
+
+#include "topics/vehicle_status.h"
+ORB_DEFINE(vehicle_status, struct vehicle_status_s);
+
+#include "topics/battery_status.h"
+ORB_DEFINE(battery_status, struct battery_status_s);
+
+#include "topics/vehicle_global_position.h"
+ORB_DEFINE(vehicle_global_position, struct vehicle_global_position_s);
+
+#include "topics/vehicle_local_position.h"
+ORB_DEFINE(vehicle_local_position, struct vehicle_local_position_s);
+
+#include "topics/vehicle_vicon_position.h"
+ORB_DEFINE(vehicle_vicon_position, struct vehicle_vicon_position_s);
+
+#include "topics/vehicle_rates_setpoint.h"
+ORB_DEFINE(vehicle_rates_setpoint, struct vehicle_rates_setpoint_s);
+
+#include "topics/rc_channels.h"
+ORB_DEFINE(rc_channels, struct rc_channels_s);
+
+#include "topics/vehicle_command.h"
+ORB_DEFINE(vehicle_command, struct vehicle_command_s);
+
+#include "topics/vehicle_local_position_setpoint.h"
+ORB_DEFINE(vehicle_local_position_setpoint, struct vehicle_local_position_setpoint_s);
+
+#include "topics/vehicle_global_position_setpoint.h"
+ORB_DEFINE(vehicle_global_position_setpoint, struct vehicle_global_position_setpoint_s);
+
+#include "topics/vehicle_global_position_set_triplet.h"
+ORB_DEFINE(vehicle_global_position_set_triplet, struct vehicle_global_position_set_triplet_s);
+
+#include "topics/vehicle_attitude_setpoint.h"
+ORB_DEFINE(vehicle_attitude_setpoint, struct vehicle_attitude_setpoint_s);
+
+#include "topics/manual_control_setpoint.h"
+ORB_DEFINE(manual_control_setpoint, struct manual_control_setpoint_s);
+
+#include "topics/offboard_control_setpoint.h"
+ORB_DEFINE(offboard_control_setpoint, struct offboard_control_setpoint_s);
+
+#include "topics/optical_flow.h"
+ORB_DEFINE(optical_flow, struct optical_flow_s);
+
+#include "topics/omnidirectional_flow.h"
+ORB_DEFINE(omnidirectional_flow, struct omnidirectional_flow_s);
+
+#include "topics/differential_pressure.h"
+ORB_DEFINE(differential_pressure, struct differential_pressure_s);
+
+#include "topics/subsystem_info.h"
+ORB_DEFINE(subsystem_info, struct subsystem_info_s);
+
+/* actuator controls, as requested by controller */
+#include "topics/actuator_controls.h"
+ORB_DEFINE(actuator_controls_0, struct actuator_controls_s);
+ORB_DEFINE(actuator_controls_1, struct actuator_controls_s);
+ORB_DEFINE(actuator_controls_2, struct actuator_controls_s);
+ORB_DEFINE(actuator_controls_3, struct actuator_controls_s);
+ORB_DEFINE(actuator_armed, struct actuator_armed_s);
+
+/* actuator controls, as set by actuators / mixers after limiting */
+#include "topics/actuator_controls_effective.h"
+ORB_DEFINE(actuator_controls_effective_0, struct actuator_controls_effective_s);
+ORB_DEFINE(actuator_controls_effective_1, struct actuator_controls_effective_s);
+ORB_DEFINE(actuator_controls_effective_2, struct actuator_controls_effective_s);
+ORB_DEFINE(actuator_controls_effective_3, struct actuator_controls_effective_s);
+
+#include "topics/actuator_outputs.h"
+ORB_DEFINE(actuator_outputs_0, struct actuator_outputs_s);
+ORB_DEFINE(actuator_outputs_1, struct actuator_outputs_s);
+ORB_DEFINE(actuator_outputs_2, struct actuator_outputs_s);
+ORB_DEFINE(actuator_outputs_3, struct actuator_outputs_s);
+
+#include "topics/debug_key_value.h"
+ORB_DEFINE(debug_key_value, struct debug_key_value_s);
diff --git a/src/modules/uORB/topics/actuator_controls.h b/src/modules/uORB/topics/actuator_controls.h
new file mode 100644
index 000000000..0b50a29ac
--- /dev/null
+++ b/src/modules/uORB/topics/actuator_controls.h
@@ -0,0 +1,77 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file actuator_controls.h
+ *
+ * Actuator control topics - mixer inputs.
+ *
+ * Values published to these topics are the outputs of the vehicle control
+ * system, and are expected to be mixed and used to drive the actuators
+ * (servos, speed controls, etc.) that operate the vehicle.
+ *
+ * Each topic can be published by a single controller
+ */
+
+#ifndef TOPIC_ACTUATOR_CONTROLS_H
+#define TOPIC_ACTUATOR_CONTROLS_H
+
+#include 
+#include "../uORB.h"
+
+#define NUM_ACTUATOR_CONTROLS		8
+#define NUM_ACTUATOR_CONTROL_GROUPS	4	/**< for sanity checking */
+
+struct actuator_controls_s {
+	uint64_t timestamp;
+	float	control[NUM_ACTUATOR_CONTROLS];
+};
+
+/* actuator control sets; this list can be expanded as more controllers emerge */
+ORB_DECLARE(actuator_controls_0);
+ORB_DECLARE(actuator_controls_1);
+ORB_DECLARE(actuator_controls_2);
+ORB_DECLARE(actuator_controls_3);
+
+/* control sets with pre-defined applications */
+#define ORB_ID_VEHICLE_ATTITUDE_CONTROLS	ORB_ID(actuator_controls_0)
+
+/** global 'actuator output is live' control. */
+struct actuator_armed_s {
+	bool	armed;		/**< Set to true if system is armed */
+	bool	lockdown;	/**< Set to true if actuators are forced to being disabled (due to emergency or HIL) */
+};
+
+ORB_DECLARE(actuator_armed);
+
+#endif
\ No newline at end of file
diff --git a/src/modules/uORB/topics/actuator_controls_effective.h b/src/modules/uORB/topics/actuator_controls_effective.h
new file mode 100644
index 000000000..088c4fc8f
--- /dev/null
+++ b/src/modules/uORB/topics/actuator_controls_effective.h
@@ -0,0 +1,70 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file actuator_controls_effective.h
+ *
+ * Actuator control topics - mixer inputs.
+ *
+ * Values published to these topics are the outputs of the vehicle control
+ * system and mixing process; they are the control-scale values that are
+ * then fed to the actual actuator driver.
+ *
+ * Each topic can be published by a single controller
+ */
+
+#ifndef TOPIC_ACTUATOR_CONTROLS_EFFECTIVE_H
+#define TOPIC_ACTUATOR_CONTROLS_EFFECTIVE_H
+
+#include 
+#include "../uORB.h"
+#include "actuator_controls.h"
+
+#define NUM_ACTUATOR_CONTROLS_EFFECTIVE		NUM_ACTUATOR_CONTROLS
+#define NUM_ACTUATOR_CONTROL_GROUPS_EFFECTIVE	NUM_ACTUATOR_CONTROL_GROUPS	/**< for sanity checking */
+
+struct actuator_controls_effective_s {
+	uint64_t timestamp;
+	float	control_effective[NUM_ACTUATOR_CONTROLS_EFFECTIVE];
+};
+
+/* actuator control sets; this list can be expanded as more controllers emerge */
+ORB_DECLARE(actuator_controls_effective_0);
+ORB_DECLARE(actuator_controls_effective_1);
+ORB_DECLARE(actuator_controls_effective_2);
+ORB_DECLARE(actuator_controls_effective_3);
+
+/* control sets with pre-defined applications */
+#define ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE	ORB_ID(actuator_controls_effective_0)
+
+#endif /* TOPIC_ACTUATOR_CONTROLS_EFFECTIVE_H */
\ No newline at end of file
diff --git a/src/modules/uORB/topics/actuator_outputs.h b/src/modules/uORB/topics/actuator_outputs.h
new file mode 100644
index 000000000..bbe429073
--- /dev/null
+++ b/src/modules/uORB/topics/actuator_outputs.h
@@ -0,0 +1,70 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file actuator_outputs.h
+ *
+ * Actuator output values.
+ *
+ * Values published to these topics are the outputs of the control mixing
+ * system as sent to the actuators (servos, motors, etc.) that operate
+ * the vehicle.
+ *
+ * Each topic can be published by a single output driver.
+ */
+
+#ifndef TOPIC_ACTUATOR_OUTPUTS_H
+#define TOPIC_ACTUATOR_OUTPUTS_H
+
+#include 
+#include "../uORB.h"
+
+#define NUM_ACTUATOR_OUTPUTS		16
+#define NUM_ACTUATOR_OUTPUT_GROUPS	4	/**< for sanity checking */
+
+struct actuator_outputs_s {
+	uint64_t timestamp;				/**< output timestamp in us since system boot */
+	float	output[NUM_ACTUATOR_OUTPUTS];		/**< output data, in natural output units */
+	int noutputs;					/**< valid outputs */
+};
+
+/* actuator output sets; this list can be expanded as more drivers emerge */
+ORB_DECLARE(actuator_outputs_0);
+ORB_DECLARE(actuator_outputs_1);
+ORB_DECLARE(actuator_outputs_2);
+ORB_DECLARE(actuator_outputs_3);
+
+/* output sets with pre-defined applications */
+#define ORB_ID_VEHICLE_CONTROLS		ORB_ID(actuator_outputs_0)
+
+#endif
\ No newline at end of file
diff --git a/src/modules/uORB/topics/battery_status.h b/src/modules/uORB/topics/battery_status.h
new file mode 100644
index 000000000..c40d0d4e5
--- /dev/null
+++ b/src/modules/uORB/topics/battery_status.h
@@ -0,0 +1,68 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file battery_status.h
+ *
+ * Definition of the battery status uORB topic.
+ */
+
+#ifndef BATTERY_STATUS_H_
+#define BATTERY_STATUS_H_
+
+#include "../uORB.h"
+#include 
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * Battery voltages and status
+ */
+struct battery_status_s {
+	uint64_t	timestamp;		/**< microseconds since system boot, needed to integrate */
+	float   	voltage_v;		/**< Battery voltage in volts, filtered           	 */
+	float		current_a;		/**< Battery current in amperes, filtered, -1 if unknown */
+	float		discharged_mah;		/**< Discharged amount in mAh, filtered, -1 if unknown	 */
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(battery_status);
+
+#endif
\ No newline at end of file
diff --git a/src/modules/uORB/topics/debug_key_value.h b/src/modules/uORB/topics/debug_key_value.h
new file mode 100644
index 000000000..a9d1b83fd
--- /dev/null
+++ b/src/modules/uORB/topics/debug_key_value.h
@@ -0,0 +1,75 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Lorenz Meier 
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file debug_key_value.h
+ * Definition of the debug named value uORB topic. Allows to send a 10-char key
+ * with a float as value.
+ */
+
+#ifndef TOPIC_DEBUG_KEY_VALUE_H_
+#define TOPIC_DEBUG_KEY_VALUE_H_
+
+#include 
+#include 
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ */
+
+/**
+ * Key/value pair for debugging
+ */
+struct debug_key_value_s {
+
+	/*
+	 * Actual data, this is specific to the type of data which is stored in this struct
+	 * A line containing L0GME will be added by the Python logging code generator to the
+	 * logged dataset.
+	 */
+	uint32_t timestamp_ms;		/**< in milliseconds since system start */
+	char key[10];				/**< max. 10 characters as key / name */
+	float value;				/**< the value to send as debug output */
+
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(debug_key_value);
+
+#endif
diff --git a/src/modules/uORB/topics/differential_pressure.h b/src/modules/uORB/topics/differential_pressure.h
new file mode 100644
index 000000000..d5e4bf37e
--- /dev/null
+++ b/src/modules/uORB/topics/differential_pressure.h
@@ -0,0 +1,71 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file differential_pressure.h
+ *
+ * Definition of differential pressure topic
+ */
+
+#ifndef TOPIC_DIFFERENTIAL_PRESSURE_H_
+#define TOPIC_DIFFERENTIAL_PRESSURE_H_
+
+#include "../uORB.h"
+#include 
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * Differential pressure and airspeed
+ */
+struct differential_pressure_s {
+	uint64_t	timestamp;					/**< microseconds since system boot, needed to integrate */
+	float   	static_pressure_mbar;		/**< Static / environment pressure */
+	float		differential_pressure_mbar;	/**< Differential pressure reading */
+	float		temperature_celcius;		/**< ambient temperature in celcius, -1 if unknown */
+	float		indicated_airspeed_m_s;		/**< indicated airspeed in meters per second, -1 if unknown	 */
+	float		true_airspeed_m_s;			/**< true airspeed in meters per second, -1 if unknown */
+	float		voltage;					/**< Voltage from the airspeed sensor (voltage divider already compensated) */
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(differential_pressure);
+
+#endif
diff --git a/src/modules/uORB/topics/home_position.h b/src/modules/uORB/topics/home_position.h
new file mode 100644
index 000000000..7e1b82a0f
--- /dev/null
+++ b/src/modules/uORB/topics/home_position.h
@@ -0,0 +1,77 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
+ *   Author: Lorenz Meier 
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file home_position.h
+ * Definition of the GPS home position uORB topic.
+ *
+ * @author Lorenz Meier 
+ */
+
+#ifndef TOPIC_HOME_POSITION_H_
+#define TOPIC_HOME_POSITION_H_
+
+#include 
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * GPS home position in WGS84 coordinates.
+ */
+struct home_position_s
+{
+	uint64_t timestamp;             /**< Timestamp (microseconds since system boot)   */
+	uint64_t time_gps_usec;         /**< Timestamp (microseconds in GPS format), this is the timestamp from the gps module   */
+	
+	int32_t lat;                    /**< Latitude in 1E7 degrees */
+	int32_t lon;                    /**< Longitude in 1E7 degrees */
+	int32_t alt;                    /**< Altitude in 1E3 meters (millimeters) above MSL */
+	float eph_m;                   /**< GPS HDOP horizontal dilution of position in m */
+	float epv_m;                   /**< GPS VDOP horizontal dilution of position in m */
+	float s_variance_m_s;               /**< speed accuracy estimate m/s */
+	float p_variance_m;               /**< position accuracy estimate m */
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(home_position);
+
+#endif
diff --git a/src/modules/uORB/topics/manual_control_setpoint.h b/src/modules/uORB/topics/manual_control_setpoint.h
new file mode 100644
index 000000000..261a8a4ad
--- /dev/null
+++ b/src/modules/uORB/topics/manual_control_setpoint.h
@@ -0,0 +1,88 @@
+/****************************************************************************
+ *
+ *	 Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
+ *	 Author: @author Lorenz Meier 
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *		notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *		notice, this list of conditions and the following disclaimer in
+ *		the documentation and/or other materials provided with the
+ *		distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *		used to endorse or promote products derived from this software
+ *		without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file manual_control_setpoint.h
+ * Definition of the manual_control_setpoint uORB topic.
+ */
+
+#ifndef TOPIC_MANUAL_CONTROL_SETPOINT_H_
+#define TOPIC_MANUAL_CONTROL_SETPOINT_H_
+
+#include 
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+struct manual_control_setpoint_s {
+	uint64_t timestamp;
+
+	float roll;			 	/**< ailerons roll / roll rate input */
+	float pitch;				/**< elevator / pitch / pitch rate */
+	float yaw;				/**< rudder / yaw rate / yaw */
+	float throttle;				/**< throttle / collective thrust / altitude */
+
+	float manual_override_switch;		/**< manual override mode (mandatory) */
+	float auto_mode_switch;			/**< auto mode switch (mandatory) */
+
+	/**
+	 * Any of the channels below may not be available and be set to NaN
+	 * to indicate that it does not contain valid data.
+	 */
+	float manual_mode_switch;		/**< manual mode (man, sas, alt) switch (optional) */
+	float manual_sas_switch;		/**< sas mode (rates / attitude) switch (optional) */
+	float return_to_launch_switch;		/**< return to launch switch (0 = disabled, 1 = enabled) */
+	float auto_offboard_input_switch;	/**< controller setpoint source (0 = onboard, 1 = offboard) */
+
+	float flaps;				/**< flap position */
+
+	float aux1;				/**< default function: camera yaw / azimuth */
+	float aux2;				/**< default function: camera pitch / tilt */
+	float aux3;				/**< default function: camera trigger */
+	float aux4;				/**< default function: camera roll */
+	float aux5;				/**< default function: payload drop */
+
+}; /**< manual control inputs */
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(manual_control_setpoint);
+
+#endif
diff --git a/src/modules/uORB/topics/offboard_control_setpoint.h b/src/modules/uORB/topics/offboard_control_setpoint.h
new file mode 100644
index 000000000..2e895c59c
--- /dev/null
+++ b/src/modules/uORB/topics/offboard_control_setpoint.h
@@ -0,0 +1,94 @@
+/****************************************************************************
+ *
+ *	 Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
+ *	 Author: @author Lorenz Meier 
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *		notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *		notice, this list of conditions and the following disclaimer in
+ *		the documentation and/or other materials provided with the
+ *		distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *		used to endorse or promote products derived from this software
+ *		without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file offboard_control_setpoint.h
+ * Definition of the manual_control_setpoint uORB topic.
+ */
+
+#ifndef TOPIC_OFFBOARD_CONTROL_SETPOINT_H_
+#define TOPIC_OFFBOARD_CONTROL_SETPOINT_H_
+
+#include 
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * Off-board control inputs.
+ * 
+ * Typically sent by a ground control station / joystick or by
+ * some off-board controller via C or SIMULINK.
+ */
+enum OFFBOARD_CONTROL_MODE
+{
+	OFFBOARD_CONTROL_MODE_DIRECT = 0,
+	OFFBOARD_CONTROL_MODE_DIRECT_RATES = 1,
+	OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE = 2,
+	OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY = 3,
+	OFFBOARD_CONTROL_MODE_DIRECT_POSITION = 4,
+	OFFBOARD_CONTROL_MODE_ATT_YAW_RATE = 5,
+	OFFBOARD_CONTROL_MODE_ATT_YAW_POS = 6,
+	OFFBOARD_CONTROL_MODE_MULTIROTOR_SIMPLE = 7, /**< roll / pitch rotated aligned to the takeoff orientation, throttle stabilized, yaw pos */
+};
+
+struct offboard_control_setpoint_s {
+	uint64_t timestamp;
+
+	enum OFFBOARD_CONTROL_MODE mode;		 /**< The current control inputs mode */
+	bool armed;	/**< Armed flag set, yes / no */
+	float p1;	/**< ailerons roll / roll rate input */
+	float p2;	/**< elevator / pitch / pitch rate */
+	float p3;	/**< rudder / yaw rate / yaw */
+	float p4;	/**< throttle / collective thrust / altitude */
+
+	float override_mode_switch;
+
+	float aux1_cam_pan_flaps;
+	float aux2_cam_tilt;
+	float aux3_cam_zoom;
+	float aux4_cam_roll;
+
+}; /**< offboard control inputs */
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(offboard_control_setpoint);
+
+#endif
diff --git a/src/modules/uORB/topics/omnidirectional_flow.h b/src/modules/uORB/topics/omnidirectional_flow.h
new file mode 100644
index 000000000..8f4be3b3f
--- /dev/null
+++ b/src/modules/uORB/topics/omnidirectional_flow.h
@@ -0,0 +1,75 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Lorenz Meier 
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file optical_flow.h
+ * Definition of the optical flow uORB topic.
+ */
+
+#ifndef TOPIC_OMNIDIRECTIONAL_FLOW_H_
+#define TOPIC_OMNIDIRECTIONAL_FLOW_H_
+
+#include 
+#include 
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ */
+
+/**
+ * Omnidirectional optical flow in NED body frame in SI units.
+ *
+ * @see http://en.wikipedia.org/wiki/International_System_of_Units
+ */
+struct omnidirectional_flow_s {
+
+	uint64_t timestamp;		/**< in microseconds since system start          */
+
+	uint16_t left[10];		/**< Left flow, in decipixels */
+	uint16_t right[10];		/**< Right flow, in decipixels */
+	float front_distance_m;		/**< Altitude / distance to object front in meters */
+	uint8_t	quality;		/**< Quality of the measurement, 0: bad quality, 255: maximum quality */
+	uint8_t sensor_id;		/**< id of the sensor emitting the flow value */
+
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(omnidirectional_flow);
+
+#endif
diff --git a/src/modules/uORB/topics/optical_flow.h b/src/modules/uORB/topics/optical_flow.h
new file mode 100644
index 000000000..c854f0079
--- /dev/null
+++ b/src/modules/uORB/topics/optical_flow.h
@@ -0,0 +1,77 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Lorenz Meier 
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file optical_flow.h
+ * Definition of the optical flow uORB topic.
+ */
+
+#ifndef TOPIC_OPTICAL_FLOW_H_
+#define TOPIC_OPTICAL_FLOW_H_
+
+#include 
+#include 
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ */
+
+/**
+ * Optical flow in NED body frame in SI units.
+ *
+ * @see http://en.wikipedia.org/wiki/International_System_of_Units
+ */
+struct optical_flow_s {
+
+	uint64_t timestamp;		/**< in microseconds since system start          */
+
+	uint16_t flow_raw_x;		/**< flow in pixels in X direction, not rotation-compensated */
+	uint16_t flow_raw_y;		/**< flow in pixels in Y direction, not rotation-compensated */
+	float flow_comp_x_m;		/**< speed over ground in meters, rotation-compensated */
+	float flow_comp_y_m;		/**< speed over ground in meters, rotation-compensated */
+	float ground_distance_m;	/**< Altitude / distance to ground in meters */
+	uint8_t	quality;		/**< Quality of the measurement, 0: bad quality, 255: maximum quality */
+	uint8_t sensor_id;		/**< id of the sensor emitting the flow value */
+
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(optical_flow);
+
+#endif
diff --git a/src/modules/uORB/topics/parameter_update.h b/src/modules/uORB/topics/parameter_update.h
new file mode 100644
index 000000000..300e895c7
--- /dev/null
+++ b/src/modules/uORB/topics/parameter_update.h
@@ -0,0 +1,52 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file parameter_update.h
+ * Notification about a parameter update.
+ */
+
+#ifndef TOPIC_PARAMETER_UPDATE_H
+#define TOPIC_PARAMETER_UPDATE_H
+
+#include 
+#include "../uORB.h"
+
+struct parameter_update_s {
+	/** time at which the latest parameter was updated */
+	uint64_t	timestamp;
+};
+
+ORB_DECLARE(parameter_update);
+
+#endif
\ No newline at end of file
diff --git a/src/modules/uORB/topics/rc_channels.h b/src/modules/uORB/topics/rc_channels.h
new file mode 100644
index 000000000..9dd54df91
--- /dev/null
+++ b/src/modules/uORB/topics/rc_channels.h
@@ -0,0 +1,108 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Nils Wenzler 
+ *           @author Ivan Ovinnikov 
+ *           @author Lorenz Meier 
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file rc_channels.h
+ * Definition of the rc_channels uORB topic.
+ */
+
+#ifndef RC_CHANNELS_H_
+#define RC_CHANNELS_H_
+
+#include 
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * The number of RC channel inputs supported.
+ * Current (Q1/2013) radios support up to 18 channels,
+ * leaving at a sane value of 14.
+ */
+#define RC_CHANNELS_MAX   14
+
+/** 
+ * This defines the mapping of the RC functions.
+ * The value assigned to the specific function corresponds to the entry of
+ * the channel array chan[].
+ */
+enum RC_CHANNELS_FUNCTION
+{
+  THROTTLE = 0,
+  ROLL     = 1,
+  PITCH    = 2,
+  YAW      = 3,
+  OVERRIDE = 4,
+  AUTO_MODE = 5,
+  MANUAL_MODE = 6,
+  SAS_MODE = 7,
+  RTL = 8,
+  OFFBOARD_MODE = 9,
+  FLAPS   = 10,
+  AUX_1   = 11,
+  AUX_2   = 12,
+  AUX_3   = 13,
+  AUX_4   = 14,
+  AUX_5   = 15,
+  RC_CHANNELS_FUNCTION_MAX /**< indicates the number of functions. There can be more functions than RC channels. */
+};
+
+struct rc_channels_s {
+
+	uint64_t timestamp;                 /**< In microseconds since boot time. */
+  uint64_t timestamp_last_valid;      /**< timestamp of last valid RC signal. */
+  struct {
+    float scaled;                     /**< Scaled to -1..1 (throttle: 0..1) */
+  } chan[RC_CHANNELS_MAX];
+  uint8_t chan_count;                 /**< number of valid channels */
+
+  /*String array to store the names of the functions*/
+  char function_name[RC_CHANNELS_FUNCTION_MAX][20];
+  int8_t function[RC_CHANNELS_FUNCTION_MAX];
+  uint8_t rssi;                       /**< Overall receive signal strength */
+}; /**< radio control channels. */
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(rc_channels);
+
+#endif
diff --git a/src/modules/uORB/topics/sensor_combined.h b/src/modules/uORB/topics/sensor_combined.h
new file mode 100644
index 000000000..961ee8b4a
--- /dev/null
+++ b/src/modules/uORB/topics/sensor_combined.h
@@ -0,0 +1,115 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Thomas Gubler 
+ *           @author Julian Oes 
+ *           @author Lorenz Meier 
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file sensor_combined.h
+ * Definition of the sensor_combined uORB topic.
+ */
+
+#ifndef SENSOR_COMBINED_H_
+#define SENSOR_COMBINED_H_
+
+#include 
+#include 
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+enum MAGNETOMETER_MODE {
+	MAGNETOMETER_MODE_NORMAL = 0,
+	MAGNETOMETER_MODE_POSITIVE_BIAS,
+	MAGNETOMETER_MODE_NEGATIVE_BIAS
+};
+
+/**
+ * Sensor readings in raw and SI-unit form.
+ *
+ * These values are read from the sensors. Raw values are in sensor-specific units,
+ * the scaled values are in SI-units, as visible from the ending of the variable
+ * or the comments. The use of the SI fields is in general advised, as these fields
+ * are scaled and offset-compensated where possible and do not change with board
+ * revisions and sensor updates.
+ *
+ */
+struct sensor_combined_s {
+
+	/*
+	 * Actual data, this is specific to the type of data which is stored in this struct
+	 * A line containing L0GME will be added by the Python logging code generator to the
+	 * logged dataset.
+	 */
+
+	/* NOTE: Ordering of fields optimized to align to 32 bit / 4 bytes Change with consideration only   */
+
+	uint64_t timestamp;			/**< Timestamp in microseconds since boot         */
+
+	int16_t	gyro_raw[3];			/**< Raw sensor values of angular velocity        */
+	uint16_t gyro_counter;			/**< Number of raw measurments taken              */
+	float gyro_rad_s[3];			/**< Angular velocity in radian per seconds       */
+	
+	int16_t accelerometer_raw[3];		/**< Raw acceleration in NED body frame           */
+	uint32_t accelerometer_counter;		/**< Number of raw acc measurements taken         */
+	float accelerometer_m_s2[3];		/**< Acceleration in NED body frame, in m/s^2     */
+	int accelerometer_mode;			/**< Accelerometer measurement mode */
+	float accelerometer_range_m_s2;		/**< Accelerometer measurement range in m/s^2 */
+
+	int16_t	magnetometer_raw[3];		/**< Raw magnetic field in NED body frame         */
+	float magnetometer_ga[3];		/**< Magnetic field in NED body frame, in Gauss   */
+	int magnetometer_mode;			/**< Magnetometer measurement mode */
+	float magnetometer_range_ga;		/**< ± measurement range in Gauss */
+	float magnetometer_cuttoff_freq_hz;	/**< Internal analog low pass frequency of sensor */
+	uint32_t magnetometer_counter;		/**< Number of raw mag measurements taken         */
+	
+	float baro_pres_mbar;			/**< Barometric pressure, already temp. comp.     */
+	float baro_alt_meter;			/**< Altitude, already temp. comp.                */
+	float baro_temp_celcius;		/**< Temperature in degrees celsius               */
+	float adc_voltage_v[4];			/**< ADC voltages of ADC Chan 10/11/12/13 or -1      */
+	float mcu_temp_celcius;			/**< Internal temperature measurement of MCU */
+	uint32_t baro_counter;			/**< Number of raw baro measurements taken        */
+
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(sensor_combined);
+
+#endif
diff --git a/src/modules/uORB/topics/subsystem_info.h b/src/modules/uORB/topics/subsystem_info.h
new file mode 100644
index 000000000..c415e832e
--- /dev/null
+++ b/src/modules/uORB/topics/subsystem_info.h
@@ -0,0 +1,97 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: Lorenz Meier 
+ *           Thomas Gubler 
+ *           Julian Oes 
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file subsystem_info.h
+ * Definition of the subsystem info topic.
+ *
+ * @author Lorenz Meier 
+ * @author Thomas Gubler 
+ * @author Julian Oes 
+ */
+
+#ifndef TOPIC_SUBSYSTEM_INFO_H_
+#define TOPIC_SUBSYSTEM_INFO_H_
+
+#include 
+#include 
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ */
+
+enum SUBSYSTEM_TYPE
+{
+	SUBSYSTEM_TYPE_GYRO = 1,
+	SUBSYSTEM_TYPE_ACC = 2,
+	SUBSYSTEM_TYPE_MAG = 4,
+	SUBSYSTEM_TYPE_ABSPRESSURE = 8,
+	SUBSYSTEM_TYPE_DIFFPRESSURE = 16,
+	SUBSYSTEM_TYPE_GPS = 32,
+	SUBSYSTEM_TYPE_OPTICALFLOW = 64,
+	SUBSYSTEM_TYPE_CVPOSITION = 128,
+	SUBSYSTEM_TYPE_LASERPOSITION = 256,
+	SUBSYSTEM_TYPE_EXTERNALGROUNDTRUTH = 512,
+	SUBSYSTEM_TYPE_ANGULARRATECONTROL = 1024,
+	SUBSYSTEM_TYPE_ATTITUDESTABILIZATION = 2048,
+	SUBSYSTEM_TYPE_YAWPOSITION = 4096,
+	SUBSYSTEM_TYPE_ALTITUDECONTROL = 16384,
+	SUBSYSTEM_TYPE_POSITIONCONTROL = 32768,
+	SUBSYSTEM_TYPE_MOTORCONTROL = 65536,
+	SUBSYSTEM_TYPE_RANGEFINDER = 131072
+};
+
+/**
+ * State of individual sub systems
+ */
+struct subsystem_info_s {
+	bool present;
+	bool enabled;
+	bool ok;
+
+	enum SUBSYSTEM_TYPE subsystem_type;
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(subsystem_info);
+
+#endif /* TOPIC_SUBSYSTEM_INFO_H_ */
+
diff --git a/src/modules/uORB/topics/vehicle_attitude.h b/src/modules/uORB/topics/vehicle_attitude.h
new file mode 100755
index 000000000..c31c81d0c
--- /dev/null
+++ b/src/modules/uORB/topics/vehicle_attitude.h
@@ -0,0 +1,90 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Thomas Gubler 
+ *           @author Julian Oes 
+ *           @author Lorenz Meier 
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file vehicle_attitude.h
+ * Definition of the attitude uORB topic.
+ */
+
+#ifndef VEHICLE_ATTITUDE_H_
+#define VEHICLE_ATTITUDE_H_
+
+#include 
+#include 
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ */
+
+/**
+ * Attitude in NED body frame in SI units.
+ *
+ * @see http://en.wikipedia.org/wiki/International_System_of_Units
+ */
+struct vehicle_attitude_s {
+
+	uint64_t timestamp;	/**< in microseconds since system start          */
+
+	/* This is similar to the mavlink message ATTITUDE, but for onboard use */
+
+	/** @warning roll, pitch and yaw have always to be valid, the rotation matrix and quaternion are optional */
+
+	float roll;		/**< Roll angle (rad, Tait-Bryan, NED)				*/
+	float pitch;		/**< Pitch angle (rad, Tait-Bryan, NED)				*/
+	float yaw;		/**< Yaw angle (rad, Tait-Bryan, NED)				*/
+	float rollspeed;	/**< Roll angular speed (rad/s, Tait-Bryan, NED)		*/
+	float pitchspeed;	/**< Pitch angular speed (rad/s, Tait-Bryan, NED)		*/
+	float yawspeed;		/**< Yaw angular speed (rad/s, Tait-Bryan, NED)			*/
+	float rollacc;		/**< Roll angular accelration (rad/s, Tait-Bryan, NED)		*/
+	float pitchacc;		/**< Pitch angular acceleration (rad/s, Tait-Bryan, NED)	*/
+	float yawacc;		/**< Yaw angular acceleration (rad/s, Tait-Bryan, NED)		*/
+	float rate_offsets[3];	/**< Offsets of the body angular rates from zero		*/
+	float R[3][3];		/**< Rotation matrix body to world, (Tait-Bryan, NED)		*/
+	float q[4];		/**< Quaternion (NED)						*/
+	bool R_valid;		/**< Rotation matrix valid					*/
+	bool q_valid;		/**< Quaternion valid						*/
+
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(vehicle_attitude);
+
+#endif
diff --git a/src/modules/uORB/topics/vehicle_attitude_setpoint.h b/src/modules/uORB/topics/vehicle_attitude_setpoint.h
new file mode 100644
index 000000000..a7cda34a8
--- /dev/null
+++ b/src/modules/uORB/topics/vehicle_attitude_setpoint.h
@@ -0,0 +1,78 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Lorenz Meier 
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file vehicle_attitude_setpoint.h
+ * Definition of the vehicle attitude setpoint uORB topic.
+ */
+
+#ifndef TOPIC_VEHICLE_ATTITUDE_SETPOINT_H_
+#define TOPIC_VEHICLE_ATTITUDE_SETPOINT_H_
+
+#include 
+#include 
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * vehicle attitude setpoint.
+ */
+struct vehicle_attitude_setpoint_s
+{
+	uint64_t timestamp;		/**< in microseconds since system start, is set whenever the writing thread stores new data */
+
+	float roll_body;				/**< body angle in NED frame		*/
+	float pitch_body;				/**< body angle in NED frame		*/
+	float yaw_body;					/**< body angle in NED frame		*/
+	//float body_valid;				/**< Set to true if body angles are valid */
+
+	float R_body[9];				/**< Rotation matrix describing the setpoint as rotation from the current body frame */
+	bool R_valid;					/**< Set to true if rotation matrix is valid */
+
+	float thrust;					/**< Thrust in Newton the power system should generate */
+
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(vehicle_attitude_setpoint);
+
+#endif /* TOPIC_ARDRONE_CONTROL_H_ */
diff --git a/src/modules/uORB/topics/vehicle_command.h b/src/modules/uORB/topics/vehicle_command.h
new file mode 100644
index 000000000..fac571659
--- /dev/null
+++ b/src/modules/uORB/topics/vehicle_command.h
@@ -0,0 +1,140 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Thomas Gubler 
+ *           @author Julian Oes 
+ *           @author Lorenz Meier 
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file vehicle_command.h
+ * Definition of the vehicle command uORB topic.
+ */
+
+#ifndef TOPIC_VEHICLE_COMMAND_H_
+#define TOPIC_VEHICLE_COMMAND_H_
+
+#include 
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * Commands for commander app.
+ *
+ * Should contain all commands from MAVLink's VEHICLE_CMD ENUM,
+ * but can contain additional ones.
+ */
+enum VEHICLE_CMD
+{
+	VEHICLE_CMD_NAV_WAYPOINT=16, /* Navigate to MISSION. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)| Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached)| 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at MISSION (rotary wing)| Latitude| Longitude| Altitude|  */
+	VEHICLE_CMD_NAV_LOITER_UNLIM=17, /* Loiter around this MISSION an unlimited amount of time |Empty| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
+	VEHICLE_CMD_NAV_LOITER_TURNS=18, /* Loiter around this MISSION for X turns |Turns| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
+	VEHICLE_CMD_NAV_LOITER_TIME=19, /* Loiter around this MISSION for X seconds |Seconds (decimal)| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
+	VEHICLE_CMD_NAV_RETURN_TO_LAUNCH=20, /* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_NAV_LAND=21, /* Land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude|  */
+	VEHICLE_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude|  */
+	VEHICLE_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z|  */
+	VEHICLE_CMD_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal|  */
+	VEHICLE_CMD_NAV_LAST=95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_CONDITION_DELAY=112, /* Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_CONDITION_CHANGE_ALT=113, /* Ascend/descend at rate.  Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude|  */
+	VEHICLE_CMD_CONDITION_DISTANCE=114, /* Delay mission state machine until within desired distance of next NAV point. |Distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_CONDITION_YAW=115, /* Reach a certain target angle. |target angle: [0-360], 0 is north| speed during yaw change:[deg per second]| direction: negative: counter clockwise, positive: clockwise [-1,1]| relative offset or absolute angle: [ 1,0]| Empty| Empty| Empty|  */
+	VEHICLE_CMD_CONDITION_LAST=159, /* NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_SET_MODE=176, /* Set system mode. |Mode, as defined by ENUM MAV_MODE| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_JUMP=177, /* Jump to the desired command in the mission list.  Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_CHANGE_SPEED=178, /* Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed)| Speed  (m/s, -1 indicates no change)| Throttle  ( Percent, -1 indicates no change)| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_SET_HOME=179, /* Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude|  */
+	VEHICLE_CMD_DO_SET_PARAMETER=180, /* Set a system parameter.  Caution!  Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number| Parameter value| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_SET_RELAY=181, /* Set a relay to a condition. |Relay number| Setting (1=on, 0=off, others possible depending on system hardware)| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_REPEAT_RELAY=182, /* Cycle a relay on and off for a desired number of cyles with a desired period. |Relay number| Cycle count| Cycle time (seconds, decimal)| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_SET_SERVO=183, /* Set a servo to a desired PWM value. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_REPEAT_SERVO=184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Accelerometer calibration: 0: no, 1: yes| Empty| Empty|  */
+	VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units|  */
+	VEHICLE_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty|  */
+	VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246, /* Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty|  */
+	VEHICLE_CMD_OVERRIDE_GOTO=252, /* Hold / continue the current action |MAV_GOTO_DO_HOLD: hold MAV_GOTO_DO_CONTINUE: continue with next item in mission plan| MAV_GOTO_HOLD_AT_CURRENT_POSITION: Hold at current position MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position| MAV_FRAME coordinate frame of hold point| Desired yaw angle in degrees| Latitude / X position| Longitude / Y position| Altitude / Z position|  */
+	VEHICLE_CMD_MISSION_START=300, /* start running a mission |first_item: the first mission item to run| last_item:  the last mission item to run (after this item is run, the mission ends)|  */
+	VEHICLE_CMD_COMPONENT_ARM_DISARM=400, /* Arms / Disarms a component |1 to arm, 0 to disarm|  */
+	VEHICLE_CMD_ENUM_END=401, /*  | */
+};
+
+/**
+ * Commands for commander app.
+ *
+ * Should contain all of MAVLink's VEHICLE_CMD_RESULT values
+ * but can contain additional ones.
+ */
+enum VEHICLE_CMD_RESULT
+{
+	VEHICLE_CMD_RESULT_ACCEPTED=0, /* Command ACCEPTED and EXECUTED | */
+	VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED=1, /* Command TEMPORARY REJECTED/DENIED | */
+	VEHICLE_CMD_RESULT_DENIED=2, /* Command PERMANENTLY DENIED | */
+	VEHICLE_CMD_RESULT_UNSUPPORTED=3, /* Command UNKNOWN/UNSUPPORTED | */
+	VEHICLE_CMD_RESULT_FAILED=4, /* Command executed, but failed | */
+	VEHICLE_CMD_RESULT_ENUM_END=5, /*  | */
+};
+
+
+struct vehicle_command_s
+{
+	float param1;			/**< Parameter 1, as defined by MAVLink VEHICLE_CMD enum.   */
+	float param2;			/**< Parameter 2, as defined by MAVLink VEHICLE_CMD enum.   */
+	float param3;			/**< Parameter 3, as defined by MAVLink VEHICLE_CMD enum.   */
+	float param4;			/**< Parameter 4, as defined by MAVLink VEHICLE_CMD enum.   */
+	float param5;			/**< Parameter 5, as defined by MAVLink VEHICLE_CMD enum.   */
+	float param6;			/**< Parameter 6, as defined by MAVLink VEHICLE_CMD enum.   */
+	float param7;			/**< Parameter 7, as defined by MAVLink VEHICLE_CMD enum.   */
+	uint16_t command;		/**< Command ID, as defined MAVLink by VEHICLE_CMD enum.   */
+	uint8_t target_system;		/**< System which should execute the command  */
+	uint8_t target_component;	/**< Component which should execute the command, 0 for all components  */
+	uint8_t source_system;		/**< System sending the command  */
+	uint8_t source_component;	/**< Component sending the command  */
+	uint8_t confirmation;		/**< 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) */
+}; /**< command sent to vehicle */
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(vehicle_command);
+
+
+
+#endif
diff --git a/src/modules/uORB/topics/vehicle_global_position.h b/src/modules/uORB/topics/vehicle_global_position.h
new file mode 100644
index 000000000..f036c7223
--- /dev/null
+++ b/src/modules/uORB/topics/vehicle_global_position.h
@@ -0,0 +1,86 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Thomas Gubler 
+ *           @author Julian Oes 
+ *           @author Lorenz Meier 
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file vehicle_global_position.h
+ * Definition of the global fused WGS84 position uORB topic.
+ */
+
+#ifndef VEHICLE_GLOBAL_POSITION_T_H_
+#define VEHICLE_GLOBAL_POSITION_T_H_
+
+#include 
+#include 
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+ /**
+ * Fused global position in WGS84.
+ *
+ * This struct contains the system's believ about its position. It is not the raw GPS
+ * measurement (@see vehicle_gps_position). This topic is usually published by the position
+ * estimator, which will take more sources of information into account than just GPS,
+ * e.g. control inputs of the vehicle in a Kalman-filter implementation.
+ */
+struct vehicle_global_position_s
+{
+	uint64_t timestamp;		/**< time of this estimate, in microseconds since system start */
+	uint64_t time_gps_usec; /**< GPS timestamp in microseconds							  */
+	bool valid;				/**< true if position satisfies validity criteria of estimator */
+
+	int32_t lat;			/**< Latitude in 1E7 degrees							LOGME */
+	int32_t lon;			/**< Longitude in 1E7 degrees							LOGME */
+	float alt;				/**< Altitude in meters									LOGME */
+	float relative_alt;		/**< Altitude above home position in meters, 			LOGME */
+	float vx; 				/**< Ground X Speed (Latitude), m/s in ENU				LOGME */
+	float vy;				/**< Ground Y Speed (Longitude), m/s in ENU				LOGME */
+	float vz;				/**< Ground Z Speed (Altitude), m/s	in ENU				LOGME */
+	float hdg; 				/**< Compass heading in radians -PI..+PI.					  */
+
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(vehicle_global_position);
+
+#endif
diff --git a/src/modules/uORB/topics/vehicle_global_position_set_triplet.h b/src/modules/uORB/topics/vehicle_global_position_set_triplet.h
new file mode 100644
index 000000000..318abba89
--- /dev/null
+++ b/src/modules/uORB/topics/vehicle_global_position_set_triplet.h
@@ -0,0 +1,78 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Thomas Gubler 
+ *           @author Julian Oes 
+ *           @author Lorenz Meier 
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file vehicle_global_position_setpoint.h
+ * Definition of the global WGS84 position setpoint uORB topic.
+ */
+
+#ifndef TOPIC_VEHICLE_GLOBAL_POSITION_SET_TRIPLET_H_
+#define TOPIC_VEHICLE_GLOBAL_POSITION_SET_TRIPLET_H_
+
+#include 
+#include 
+#include "../uORB.h"
+
+#include "vehicle_global_position_setpoint.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * Global position setpoint triplet in WGS84 coordinates.
+ *
+ * This are the three next waypoints (or just the next two or one).
+ */
+struct vehicle_global_position_set_triplet_s
+{
+	bool previous_valid;
+	bool next_valid;
+
+	struct vehicle_global_position_setpoint_s previous;
+	struct vehicle_global_position_setpoint_s current;
+	struct vehicle_global_position_setpoint_s next;
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(vehicle_global_position_set_triplet);
+
+#endif
diff --git a/src/modules/uORB/topics/vehicle_global_position_setpoint.h b/src/modules/uORB/topics/vehicle_global_position_setpoint.h
new file mode 100644
index 000000000..eec6a8229
--- /dev/null
+++ b/src/modules/uORB/topics/vehicle_global_position_setpoint.h
@@ -0,0 +1,78 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Thomas Gubler 
+ *           @author Julian Oes 
+ *           @author Lorenz Meier 
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file vehicle_global_position_setpoint.h
+ * Definition of the global WGS84 position setpoint uORB topic.
+ */
+
+#ifndef TOPIC_VEHICLE_GLOBAL_POSITION_SETPOINT_H_
+#define TOPIC_VEHICLE_GLOBAL_POSITION_SETPOINT_H_
+
+#include 
+#include 
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * Global position setpoint in WGS84 coordinates.
+ *
+ * This is the position the MAV is heading towards. If it of type loiter,
+ * the MAV is circling around it with the given loiter radius in meters.
+ */
+struct vehicle_global_position_setpoint_s
+{
+	bool altitude_is_relative;	/**< true if altitude is relative from start point	*/
+	int32_t lat;			/**< latitude in degrees * 1E7				*/
+	int32_t lon;			/**< longitude in degrees * 1E7				*/
+	float altitude;			/**< altitude in meters					*/
+	float yaw;			/**< in radians NED -PI..+PI 				*/
+	float loiter_radius;		/**< loiter radius in meters, 0 for a VTOL to hover     */
+	bool is_loiter;			/**< true if loitering is enabled			*/
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(vehicle_global_position_setpoint);
+
+#endif
diff --git a/src/modules/uORB/topics/vehicle_gps_position.h b/src/modules/uORB/topics/vehicle_gps_position.h
new file mode 100644
index 000000000..0a7fb4e9d
--- /dev/null
+++ b/src/modules/uORB/topics/vehicle_gps_position.h
@@ -0,0 +1,100 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Thomas Gubler 
+ *           @author Julian Oes 
+ *           @author Lorenz Meier 
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file vehicle_gps_position.h
+ * Definition of the GPS WGS84 uORB topic.
+ */
+
+#ifndef TOPIC_VEHICLE_GPS_H_
+#define TOPIC_VEHICLE_GPS_H_
+
+#include 
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * GPS position in WGS84 coordinates.
+ */
+struct vehicle_gps_position_s
+{
+	uint64_t timestamp_position;			/**< Timestamp for position information */
+	int32_t lat;					/**< Latitude in 1E7 degrees */
+	int32_t lon;					/**< Longitude in 1E7 degrees */
+	int32_t alt;					/**< Altitude in 1E3 meters (millimeters) above MSL  */
+	
+	uint64_t timestamp_variance;
+	float s_variance_m_s;				/**< speed accuracy estimate m/s */
+	float p_variance_m;				/**< position accuracy estimate m */
+	float c_variance_rad;				/**< course accuracy estimate rad */
+	uint8_t fix_type; 				/**< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.   */
+
+	float eph_m;					/**< GPS HDOP horizontal dilution of position in m */
+	float epv_m;					/**< GPS VDOP horizontal dilution of position in m */
+
+	uint64_t timestamp_velocity;			/**< Timestamp for velocity informations */
+	float vel_m_s;					/**< GPS ground speed (m/s) */
+	float vel_n_m_s;				/**< GPS ground speed in m/s */
+	float vel_e_m_s;				/**< GPS ground speed in m/s */
+	float vel_d_m_s;				/**< GPS ground speed in m/s */
+	float cog_rad;					/**< Course over ground (NOT heading, but direction of movement) in rad, -PI..PI */
+	bool vel_ned_valid;				/**< Flag to indicate if NED speed is valid */
+
+	uint64_t timestamp_time;			/**< Timestamp for time information */
+	uint64_t time_gps_usec;				/**< Timestamp (microseconds in GPS format), this is the timestamp which comes from the gps module   */
+
+	uint64_t timestamp_satellites;			/**< Timestamp for sattelite information */
+	uint8_t satellites_visible;			/**< Number of satellites visible. If unknown, set to 255 */
+	uint8_t satellite_prn[20]; 			/**< Global satellite ID */
+	uint8_t satellite_used[20];			/**< 0: Satellite not used, 1: used for localization */
+	uint8_t satellite_elevation[20]; 		/**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */
+	uint8_t satellite_azimuth[20];			/**< Direction of satellite, 0: 0 deg, 255: 360 deg. */
+	uint8_t satellite_snr[20];			/**< Signal to noise ratio of satellite   */
+	bool satellite_info_available;			/**< 0 for no info, 1 for info available */
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(vehicle_gps_position);
+
+#endif
diff --git a/src/modules/uORB/topics/vehicle_local_position.h b/src/modules/uORB/topics/vehicle_local_position.h
new file mode 100644
index 000000000..76eddeacd
--- /dev/null
+++ b/src/modules/uORB/topics/vehicle_local_position.h
@@ -0,0 +1,87 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Lorenz Meier 
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file vehicle_local_position.h
+ * Definition of the local fused NED position uORB topic.
+ */
+
+#ifndef TOPIC_VEHICLE_LOCAL_POSITION_H_
+#define TOPIC_VEHICLE_LOCAL_POSITION_H_
+
+#include 
+#include 
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * Fused local position in NED.
+ */
+struct vehicle_local_position_s
+{
+	uint64_t timestamp;			/**< time of this estimate, in microseconds since system start */
+	bool valid;				/**< true if position satisfies validity criteria of estimator */
+
+	float x;				/**< X positin in meters in NED earth-fixed frame */
+	float y;				/**< X positin in meters in NED earth-fixed frame */
+	float z;				/**< Z positin in meters in NED earth-fixed frame (negative altitude) */
+	float absolute_alt;			/**< Altitude as defined by pressure / GPS, 			LOGME */
+	float vx; 				/**< Ground X Speed (Latitude), m/s in NED				LOGME */
+	float vy;				/**< Ground Y Speed (Longitude), m/s in NED				LOGME */
+	float vz;				/**< Ground Z Speed (Altitude), m/s	in NED				LOGME */
+	float hdg; 				/**< Compass heading in radians -PI..+PI.					  */
+
+	// TODO Add covariances here
+
+	/* Reference position in GPS / WGS84 frame */
+	uint64_t home_timestamp;/**< Time when home position was set						  */
+	int32_t home_lat;		/**< Latitude in 1E7 degrees							LOGME */
+	int32_t home_lon;		/**< Longitude in 1E7 degrees							LOGME */
+	float home_alt;			/**< Altitude in meters									LOGME */
+	float home_hdg; 		/**< Compass heading in radians -PI..+PI.					  */
+
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(vehicle_local_position);
+
+#endif
diff --git a/src/modules/uORB/topics/vehicle_local_position_setpoint.h b/src/modules/uORB/topics/vehicle_local_position_setpoint.h
new file mode 100644
index 000000000..d24d81e3a
--- /dev/null
+++ b/src/modules/uORB/topics/vehicle_local_position_setpoint.h
@@ -0,0 +1,67 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Thomas Gubler 
+ *           @author Julian Oes 
+ *           @author Lorenz Meier 
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file vehicle_local_position_setpoint.h
+ * Definition of the local NED position setpoint uORB topic.
+ */
+
+#ifndef TOPIC_VEHICLE_LOCAL_POSITION_SETPOINT_H_
+#define TOPIC_VEHICLE_LOCAL_POSITION_SETPOINT_H_
+
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+struct vehicle_local_position_setpoint_s
+{
+	float x;		/**< in meters NED			  		*/
+	float y;		/**< in meters NED			  		*/
+	float z;		/**< in meters NED			  		*/
+	float yaw;		/**< in radians NED -PI..+PI  		*/
+}; /**< Local position in NED frame to go to */
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(vehicle_local_position_setpoint);
+
+#endif
diff --git a/src/modules/uORB/topics/vehicle_rates_setpoint.h b/src/modules/uORB/topics/vehicle_rates_setpoint.h
new file mode 100644
index 000000000..46e62c4b7
--- /dev/null
+++ b/src/modules/uORB/topics/vehicle_rates_setpoint.h
@@ -0,0 +1,68 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Lorenz Meier 
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file vehicle_rates_setpoint.h
+ * Definition of the vehicle rates setpoint topic
+ */
+
+#ifndef TOPIC_VEHICLE_RATES_SETPOINT_H_
+#define TOPIC_VEHICLE_RATES_SETPOINT_H_
+
+#include 
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+struct vehicle_rates_setpoint_s
+{
+	uint64_t timestamp; /**< in microseconds since system start */
+
+	float roll;	/**< body angular rates in NED frame		*/
+	float pitch;	/**< body angular rates in NED frame		*/
+	float yaw;	/**< body angular rates in NED frame		*/
+	float thrust;	/**< thrust normalized to 0..1			*/
+
+}; /**< vehicle_rates_setpoint */
+
+ /**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(vehicle_rates_setpoint);
+
+#endif
diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h
new file mode 100644
index 000000000..c7c1048f6
--- /dev/null
+++ b/src/modules/uORB/topics/vehicle_status.h
@@ -0,0 +1,226 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Lorenz Meier 
+ *           @author Petri Tanskanen 
+ *           @author Thomas Gubler 
+ *           @author Julian Oes 
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file vehicle_status.h
+ * Definition of the vehicle_status uORB topic.
+ *
+ * Published the state machine and the system status bitfields
+ * (see SYS_STATUS mavlink message), published only by commander app.
+ *
+ * All apps should write to subsystem_info:
+ *
+ *  (any app) --> subsystem_info (published) --> (commander app state machine)  --> vehicle_status --> (mavlink app)
+ */
+
+#ifndef VEHICLE_STATUS_H_
+#define VEHICLE_STATUS_H_
+
+#include 
+#include 
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics @{
+ */
+
+/* State Machine */
+typedef enum
+{
+	SYSTEM_STATE_PREFLIGHT = 0,
+	SYSTEM_STATE_STANDBY = 1,
+	SYSTEM_STATE_GROUND_READY = 2,
+	SYSTEM_STATE_MANUAL = 3,
+	SYSTEM_STATE_STABILIZED = 4,
+	SYSTEM_STATE_AUTO = 5,
+	SYSTEM_STATE_MISSION_ABORT = 6,
+	SYSTEM_STATE_EMCY_LANDING = 7,
+	SYSTEM_STATE_EMCY_CUTOFF = 8,
+	SYSTEM_STATE_GROUND_ERROR = 9,
+	SYSTEM_STATE_REBOOT= 10,
+
+} commander_state_machine_t;
+
+enum VEHICLE_MODE_FLAG {
+	VEHICLE_MODE_FLAG_SAFETY_ARMED = 128,
+	VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED = 64,
+	VEHICLE_MODE_FLAG_HIL_ENABLED = 32,
+	VEHICLE_MODE_FLAG_STABILIZED_ENABLED = 16,
+	VEHICLE_MODE_FLAG_GUIDED_ENABLED = 8,
+	VEHICLE_MODE_FLAG_AUTO_ENABLED = 4,
+	VEHICLE_MODE_FLAG_TEST_ENABLED = 2,
+	VEHICLE_MODE_FLAG_CUSTOM_MODE_ENABLED = 1
+}; /**< Same as MAV_MODE_FLAG of MAVLink 1.0 protocol */
+
+enum VEHICLE_FLIGHT_MODE {
+	VEHICLE_FLIGHT_MODE_MANUAL = 0,		/**< direct manual control, exact mode determined by VEHICLE_MANUAL_CONTROL_MODE */
+	VEHICLE_FLIGHT_MODE_STAB,		/**< attitude or rate stabilization plus velocity or position stabilization */
+	VEHICLE_FLIGHT_MODE_HOLD,		/**< hold current position (hover or loiter around position when switched) */
+	VEHICLE_FLIGHT_MODE_AUTO		/**< attitude or rate stabilization plus absolute position control and waypoints */
+};
+
+enum VEHICLE_MANUAL_CONTROL_MODE {
+	VEHICLE_MANUAL_CONTROL_MODE_DIRECT = 0,	/**< no attitude control, direct stick input mixing (only fixed wing) */
+	VEHICLE_MANUAL_CONTROL_MODE_RATES,	/**< body rates control mode */
+	VEHICLE_MANUAL_CONTROL_MODE_SAS		/**< stability augmented system (SAS) mode */
+};
+
+enum VEHICLE_MANUAL_SAS_MODE {
+	VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS = 0,	/**< roll, pitch and yaw absolute */
+	VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_RATE,	/**< roll and pitch absolute, yaw rate */
+	VEHICLE_MANUAL_SAS_MODE_SIMPLE,				/**< simple mode (includes altitude hold) */
+	VEHICLE_MANUAL_SAS_MODE_ALTITUDE			/**< altitude hold */
+};
+
+/**
+ * Should match 1:1 MAVLink's MAV_TYPE ENUM
+ */
+enum VEHICLE_TYPE {
+	VEHICLE_TYPE_GENERIC=0, /* Generic micro air vehicle. | */
+	VEHICLE_TYPE_FIXED_WING=1, /* Fixed wing aircraft. | */
+	VEHICLE_TYPE_QUADROTOR=2, /* Quadrotor | */
+	VEHICLE_TYPE_COAXIAL=3, /* Coaxial helicopter | */
+	VEHICLE_TYPE_HELICOPTER=4, /* Normal helicopter with tail rotor. | */
+	VEHICLE_TYPE_ANTENNA_TRACKER=5, /* Ground installation | */
+	VEHICLE_TYPE_GCS=6, /* Operator control unit / ground control station | */
+	VEHICLE_TYPE_AIRSHIP=7, /* Airship, controlled | */
+	VEHICLE_TYPE_FREE_BALLOON=8, /* Free balloon, uncontrolled | */
+	VEHICLE_TYPE_ROCKET=9, /* Rocket | */
+	VEHICLE_TYPE_GROUND_ROVER=10, /* Ground rover | */
+	VEHICLE_TYPE_SURFACE_BOAT=11, /* Surface vessel, boat, ship | */
+	VEHICLE_TYPE_SUBMARINE=12, /* Submarine | */
+	VEHICLE_TYPE_HEXAROTOR=13, /* Hexarotor | */
+	VEHICLE_TYPE_OCTOROTOR=14, /* Octorotor | */
+	VEHICLE_TYPE_TRICOPTER=15, /* Octorotor | */
+	VEHICLE_TYPE_FLAPPING_WING=16, /* Flapping wing | */
+	VEHICLE_TYPE_KITE=17, /* Kite | */
+	VEHICLE_TYPE_ENUM_END=18, /*  | */
+};
+
+enum VEHICLE_BATTERY_WARNING {
+    VEHICLE_BATTERY_WARNING_NONE = 0,    /**< no battery low voltage warning active */
+    VEHICLE_BATTERY_WARNING_WARNING,        /**< warning of low voltage 1. stage */
+    VEHICLE_BATTERY_WARNING_ALERT            /**< aleting of low voltage 2. stage */
+};
+
+
+/**
+ * state machine / state of vehicle.
+ *
+ * Encodes the complete system state and is set by the commander app.
+ */
+struct vehicle_status_s
+{
+	/* use of a counter and timestamp recommended (but not necessary) */
+
+	uint16_t counter;   /**< incremented by the writing thread everytime new data is stored */
+	uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */
+	uint64_t failsave_lowlevel_start_time;		/**< time when the lowlevel failsafe flag was set */
+	//uint64_t failsave_highlevel_begin; TO BE COMPLETED
+
+	commander_state_machine_t state_machine;	/**< current flight state, main state machine */
+	enum VEHICLE_FLIGHT_MODE flight_mode;		/**< current flight mode, as defined by mode switch */
+	enum VEHICLE_MANUAL_CONTROL_MODE manual_control_mode;	/**< current attitude control mode, as defined by VEHICLE_ATTITUDE_MODE enum */
+	enum VEHICLE_MANUAL_SAS_MODE	manual_sas_mode;	/**< current stabilization mode */
+	int32_t system_type;				/**< system type, inspired by MAVLink's VEHICLE_TYPE enum */
+	int32_t	system_id;				/**< system id, inspired by MAVLink's system ID field */
+	int32_t component_id;				/**< subsystem / component id, inspired by MAVLink's component ID field */
+
+	/* system flags - these represent the state predicates */
+
+	bool flag_system_armed;				/**< true is motors / actuators are armed */
+	bool flag_control_manual_enabled;		/**< true if manual input is mixed in */
+	bool flag_control_offboard_enabled;		/**< true if offboard control input is on */
+	bool flag_hil_enabled;				/**< true if hardware in the loop simulation is enabled */
+
+	bool flag_control_rates_enabled;		/**< true if rates are stabilized */
+	bool flag_control_attitude_enabled;		/**< true if attitude stabilization is mixed in */
+	bool flag_control_velocity_enabled;		/**< true if speed (implies direction) is controlled */
+	bool flag_control_position_enabled;		/**< true if position is controlled */
+
+	bool flag_preflight_gyro_calibration;		/**< true if gyro calibration is requested */
+	bool flag_preflight_mag_calibration;		/**< true if mag calibration is requested */
+	bool flag_preflight_accel_calibration;
+	bool flag_preflight_airspeed_calibration;
+
+	bool rc_signal_found_once;
+	bool rc_signal_lost;				/**< true if RC reception is terminally lost */
+	bool rc_signal_cutting_off;			/**< true if RC reception is weak / cutting off */
+	uint64_t rc_signal_lost_interval;		/**< interval in microseconds since when no RC signal is available */
+
+	bool offboard_control_signal_found_once;
+	bool offboard_control_signal_lost;
+	bool offboard_control_signal_weak;
+	uint64_t offboard_control_signal_lost_interval;	/**< interval in microseconds without an offboard control message */
+
+	bool failsave_lowlevel;				/**< Set to true if low-level failsafe mode is enabled */
+	//bool failsave_highlevel;
+
+	/* see SYS_STATUS mavlink message for the following */
+	uint32_t onboard_control_sensors_present;
+	uint32_t onboard_control_sensors_enabled;
+	uint32_t onboard_control_sensors_health;
+	float load;
+	float voltage_battery;
+	float current_battery;
+	float battery_remaining;
+	enum VEHICLE_BATTERY_WARNING battery_warning;    /**< current battery warning mode, as defined by VEHICLE_BATTERY_WARNING enum */
+	uint16_t drop_rate_comm;
+	uint16_t errors_comm;
+	uint16_t errors_count1;
+	uint16_t errors_count2;
+	uint16_t errors_count3;
+	uint16_t errors_count4;
+
+	bool flag_global_position_valid;		/**< set to true by the commander app if the quality of the gps signal is good enough to use it in the position estimator */
+	bool flag_local_position_valid;
+	bool flag_vector_flight_mode_ok;		/**< position estimation, battery voltage and other critical subsystems are good for autonomous flight */
+	bool flag_auto_flight_mode_ok;			/**< conditions of vector flight mode apply plus a valid takeoff position lock has been aquired */
+	bool flag_external_manual_override_ok;		/**< external override non-fatal for system. Only true for fixed wing */
+	bool flag_valid_launch_position;		/**< indicates a valid launch position */
+	bool flag_valid_home_position;			/**< indicates a valid home position (a valid home position is not always a valid launch) */
+	bool flag_airspeed_valid;			/**< set to true by the commander app if there is a valid airspeed measurement available */
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(vehicle_status);
+
+#endif
diff --git a/src/modules/uORB/topics/vehicle_vicon_position.h b/src/modules/uORB/topics/vehicle_vicon_position.h
new file mode 100644
index 000000000..0822fa89a
--- /dev/null
+++ b/src/modules/uORB/topics/vehicle_vicon_position.h
@@ -0,0 +1,78 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Lorenz Meier 
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file vehicle_vicon_position.h
+ * Definition of the raw VICON Motion Capture position
+ */
+
+#ifndef TOPIC_VEHICLE_VICON_POSITION_H_
+#define TOPIC_VEHICLE_VICON_POSITION_H_
+
+#include 
+#include 
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * Fused local position in NED.
+ */
+struct vehicle_vicon_position_s
+{
+	uint64_t timestamp;			/**< time of this estimate, in microseconds since system start */
+	bool valid;				/**< true if position satisfies validity criteria of estimator */
+
+	float x;				/**< X positin in meters in NED earth-fixed frame */
+	float y;				/**< X positin in meters in NED earth-fixed frame */
+	float z;				/**< Z positin in meters in NED earth-fixed frame (negative altitude) */
+	float roll;
+	float pitch;
+	float yaw;
+
+	// TODO Add covariances here
+
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(vehicle_vicon_position);
+
+#endif
diff --git a/src/modules/uORB/uORB.cpp b/src/modules/uORB/uORB.cpp
new file mode 100644
index 000000000..7abbf42ae
--- /dev/null
+++ b/src/modules/uORB/uORB.cpp
@@ -0,0 +1,1006 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file uORB.cpp
+ * A lightweight object broker.
+ */
+
+#include 
+
+#include 
+
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+
+#include 
+#include 
+#include 
+
+#include 
+
+#include 
+
+#include "uORB.h"
+
+/**
+ * Utility functions.
+ */
+namespace
+{
+
+static const unsigned orb_maxpath = 64;
+
+/* oddly, ERROR is not defined for c++ */
+#ifdef ERROR
+# undef ERROR
+#endif
+const int ERROR = -1;
+
+enum Flavor {
+	PUBSUB,
+	PARAM
+};
+
+int
+node_mkpath(char *buf, Flavor f, const struct orb_metadata *meta)
+{
+	unsigned len;
+
+	len = snprintf(buf, orb_maxpath, "/%s/%s",
+		       (f == PUBSUB) ? "obj" : "param",
+		       meta->o_name);
+
+	if (len >= orb_maxpath)
+		return -ENAMETOOLONG;
+
+	return OK;
+}
+
+}
+
+/**
+ * Per-object device instance.
+ */
+class ORBDevNode : public device::CDev
+{
+public:
+	ORBDevNode(const struct orb_metadata *meta, const char *name, const char *path);
+	~ORBDevNode();
+
+	virtual int		open(struct file *filp);
+	virtual int		close(struct file *filp);
+	virtual ssize_t		read(struct file *filp, char *buffer, size_t buflen);
+	virtual ssize_t		write(struct file *filp, const char *buffer, size_t buflen);
+	virtual int		ioctl(struct file *filp, int cmd, unsigned long arg);
+
+	static ssize_t		publish(const orb_metadata *meta, orb_advert_t handle, const void *data);
+
+protected:
+	virtual pollevent_t	poll_state(struct file *filp);
+	virtual void		poll_notify_one(struct pollfd *fds, pollevent_t events);
+
+private:
+	struct SubscriberData {
+		unsigned	generation;	/**< last generation the subscriber has seen */
+		unsigned	update_interval; /**< if nonzero minimum interval between updates */
+		struct hrt_call	update_call;	/**< deferred wakeup call if update_period is nonzero */
+		void		*poll_priv;	/**< saved copy of fds->f_priv while poll is active */
+		bool		update_reported; /**< true if we have reported the update via poll/check */
+	};
+
+	const struct orb_metadata *_meta;	/**< object metadata information */
+	uint8_t			*_data;		/**< allocated object buffer */
+	hrt_abstime		_last_update;	/**< time the object was last updated */
+	volatile unsigned 	_generation;	/**< object generation count */
+	pid_t			_publisher;	/**< if nonzero, current publisher */
+
+	SubscriberData		*filp_to_sd(struct file *filp) {
+		SubscriberData *sd = (SubscriberData *)(filp->f_priv);
+		return sd;
+	}
+
+	/**
+	 * Perform a deferred update for a rate-limited subscriber.
+	 */
+	void			update_deferred();
+
+	/**
+	 * Bridge from hrt_call to update_deferred
+	 *
+	 * void *arg		ORBDevNode pointer for which the deferred update is performed.
+	 */
+	static void		update_deferred_trampoline(void *arg);
+
+	/**
+	 * Check whether a topic appears updated to a subscriber.
+	 *
+	 * @param sd		The subscriber for whom to check.
+	 * @return		True if the topic should appear updated to the subscriber
+	 */
+	bool			appears_updated(SubscriberData *sd);
+};
+
+ORBDevNode::ORBDevNode(const struct orb_metadata *meta, const char *name, const char *path) :
+	CDev(name, path),
+	_meta(meta),
+	_data(nullptr),
+	_last_update(0),
+	_generation(0),
+	_publisher(0)
+{
+	// enable debug() calls
+	_debug_enabled = true;
+}
+
+ORBDevNode::~ORBDevNode()
+{
+	if (_data != nullptr)
+		delete[] _data;
+}
+
+int
+ORBDevNode::open(struct file *filp)
+{
+	int ret;
+
+	/* is this a publisher? */
+	if (filp->f_oflags == O_WRONLY) {
+
+		/* become the publisher if we can */
+		lock();
+
+		if (_publisher == 0) {
+			_publisher = getpid();
+			ret = OK;
+
+		} else {
+			ret = -EBUSY;
+		}
+
+		unlock();
+
+		/* now complete the open */
+		if (ret == OK) {
+			ret = CDev::open(filp);
+
+			/* open failed - not the publisher anymore */
+			if (ret != OK)
+				_publisher = 0;
+		}
+
+		return ret;
+	}
+
+	/* is this a new subscriber? */
+	if (filp->f_oflags == O_RDONLY) {
+
+		/* allocate subscriber data */
+		SubscriberData *sd = new SubscriberData;
+
+		if (nullptr == sd)
+			return -ENOMEM;
+
+		memset(sd, 0, sizeof(*sd));
+
+		/* default to no pending update */
+		sd->generation = _generation;
+
+		filp->f_priv = (void *)sd;
+
+		ret = CDev::open(filp);
+
+		if (ret != OK)
+			free(sd);
+
+		return ret;
+	}
+
+	/* can only be pub or sub, not both */
+	return -EINVAL;
+}
+
+int
+ORBDevNode::close(struct file *filp)
+{
+	/* is this the publisher closing? */
+	if (getpid() == _publisher) {
+		_publisher = 0;
+
+	} else {
+		SubscriberData *sd = filp_to_sd(filp);
+
+		if (sd != nullptr)
+			delete sd;
+	}
+
+	return CDev::close(filp);
+}
+
+ssize_t
+ORBDevNode::read(struct file *filp, char *buffer, size_t buflen)
+{
+	SubscriberData *sd = (SubscriberData *)filp_to_sd(filp);
+
+	/* if the object has not been written yet, return zero */
+	if (_data == nullptr)
+		return 0;
+
+	/* if the caller's buffer is the wrong size, that's an error */
+	if (buflen != _meta->o_size)
+		return -EIO;
+
+	/*
+	 * Perform an atomic copy & state update
+	 */
+	irqstate_t flags = irqsave();
+
+	/* if the caller doesn't want the data, don't give it to them */
+	if (nullptr != buffer)
+		memcpy(buffer, _data, _meta->o_size);
+
+	/* track the last generation that the file has seen */
+	sd->generation = _generation;
+
+	/*
+	 * Clear the flag that indicates that an update has been reported, as
+	 * we have just collected it.
+	 */
+	sd->update_reported = false;
+
+	irqrestore(flags);
+
+	return _meta->o_size;
+}
+
+ssize_t
+ORBDevNode::write(struct file *filp, const char *buffer, size_t buflen)
+{
+	/*
+	 * Writes are legal from interrupt context as long as the
+	 * object has already been initialised from thread context.
+	 *
+	 * Writes outside interrupt context will allocate the object
+	 * if it has not yet been allocated.
+	 *
+	 * Note that filp will usually be NULL.
+	 */
+	if (nullptr == _data) {
+		if (!up_interrupt_context()) {
+
+			lock();
+
+			/* re-check size */
+			if (nullptr == _data)
+				_data = new uint8_t[_meta->o_size];
+
+			unlock();
+		}
+
+		/* failed or could not allocate */
+		if (nullptr == _data)
+			return -ENOMEM;
+	}
+
+	/* If write size does not match, that is an error */
+	if (_meta->o_size != buflen)
+		return -EIO;
+
+	/* Perform an atomic copy. */
+	irqstate_t flags = irqsave();
+	memcpy(_data, buffer, _meta->o_size);
+	irqrestore(flags);
+
+	/* update the timestamp and generation count */
+	_last_update = hrt_absolute_time();
+	_generation++;
+
+	/* notify any poll waiters */
+	poll_notify(POLLIN);
+
+	return _meta->o_size;
+}
+
+int
+ORBDevNode::ioctl(struct file *filp, int cmd, unsigned long arg)
+{
+	SubscriberData *sd = filp_to_sd(filp);
+
+	switch (cmd) {
+	case ORBIOCLASTUPDATE:
+		*(hrt_abstime *)arg = _last_update;
+		return OK;
+
+	case ORBIOCUPDATED:
+		*(bool *)arg = appears_updated(sd);
+		return OK;
+
+	case ORBIOCSETINTERVAL:
+		sd->update_interval = arg;
+		return OK;
+
+	case ORBIOCGADVERTISER:
+		*(uintptr_t *)arg = (uintptr_t)this;
+		return OK;
+
+	default:
+		/* give it to the superclass */
+		return CDev::ioctl(filp, cmd, arg);
+	}
+}
+
+ssize_t
+ORBDevNode::publish(const orb_metadata *meta, orb_advert_t handle, const void *data)
+{
+	ORBDevNode *devnode = (ORBDevNode *)handle;
+	int ret;
+
+	/* this is a bit risky, since we are trusting the handle in order to deref it */
+	if (devnode->_meta != meta) {
+		errno = EINVAL;
+		return ERROR;
+	}
+
+	/* call the devnode write method with no file pointer */
+	ret = devnode->write(nullptr, (const char *)data, meta->o_size);
+
+	if (ret < 0)
+		return ERROR;
+
+	if (ret != (int)meta->o_size) {
+		errno = EIO;
+		return ERROR;
+	}
+
+	return OK;
+}
+
+pollevent_t
+ORBDevNode::poll_state(struct file *filp)
+{
+	SubscriberData *sd = filp_to_sd(filp);
+
+	/*
+	 * If the topic appears updated to the subscriber, say so.
+	 */
+	if (appears_updated(sd))
+		return POLLIN;
+
+	return 0;
+}
+
+void
+ORBDevNode::poll_notify_one(struct pollfd *fds, pollevent_t events)
+{
+	SubscriberData *sd = filp_to_sd((struct file *)fds->priv);
+
+	/*
+	 * If the topic looks updated to the subscriber, go ahead and notify them.
+	 */
+	if (appears_updated(sd))
+		CDev::poll_notify_one(fds, events);
+}
+
+bool
+ORBDevNode::appears_updated(SubscriberData *sd)
+{
+	/* assume it doesn't look updated */
+	bool ret = false;
+
+	/* avoid racing between interrupt and non-interrupt context calls */
+	irqstate_t state = irqsave();
+
+	/* check if this topic has been published yet, if not bail out */
+	if (_data == nullptr) {
+		ret = false;
+		goto out;
+	}
+
+	/*
+	 * If the subscriber's generation count matches the update generation
+	 * count, there has been no update from their perspective; if they
+	 * don't match then we might have a visible update.
+	 */
+	while (sd->generation != _generation) {
+
+		/*
+		 * Handle non-rate-limited subscribers.
+		 */
+		if (sd->update_interval == 0) {
+			ret = true;
+			break;
+		}
+
+		/*
+		 * If we have previously told the subscriber that there is data,
+		 * and they have not yet collected it, continue to tell them
+		 * that there has been an update.  This mimics the non-rate-limited
+		 * behaviour where checking / polling continues to report an update
+		 * until the topic is read.
+		 */
+		if (sd->update_reported) {
+			ret = true;
+			break;
+		}
+
+		/*
+		 * If the interval timer is still running, the topic should not
+		 * appear updated, even though at this point we know that it has.
+		 * We have previously been through here, so the subscriber
+		 * must have collected the update we reported, otherwise
+		 * update_reported would still be true.
+		 */
+		if (!hrt_called(&sd->update_call))
+			break;
+
+		/*
+		 * Make sure that we don't consider the topic to be updated again
+		 * until the interval has passed once more by restarting the interval
+		 * timer and thereby re-scheduling a poll notification at that time.
+		 */
+		hrt_call_after(&sd->update_call,
+			       sd->update_interval,
+			       &ORBDevNode::update_deferred_trampoline,
+			       (void *)this);
+
+		/*
+		 * Remember that we have told the subscriber that there is data.
+		 */
+		sd->update_reported = true;
+		ret = true;
+
+		break;
+	}
+
+out:
+	irqrestore(state);
+
+	/* consider it updated */
+	return ret;
+}
+
+void
+ORBDevNode::update_deferred()
+{
+	/*
+	 * Instigate a poll notification; any subscribers whose intervals have
+	 * expired will be woken.
+	 */
+	poll_notify(POLLIN);
+}
+
+void
+ORBDevNode::update_deferred_trampoline(void *arg)
+{
+	ORBDevNode *node = (ORBDevNode *)arg;
+
+	node->update_deferred();
+}
+
+/**
+ * Master control device for ObjDev.
+ *
+ * Used primarily to create new objects via the ORBIOCCREATE
+ * ioctl.
+ */
+class ORBDevMaster : public device::CDev
+{
+public:
+	ORBDevMaster(Flavor f);
+	~ORBDevMaster();
+
+	virtual int		ioctl(struct file *filp, int cmd, unsigned long arg);
+private:
+	Flavor			_flavor;
+};
+
+ORBDevMaster::ORBDevMaster(Flavor f) :
+	CDev((f == PUBSUB) ? "obj_master" : "param_master",
+	     (f == PUBSUB) ? TOPIC_MASTER_DEVICE_PATH : PARAM_MASTER_DEVICE_PATH),
+	_flavor(f)
+{
+	// enable debug() calls
+	_debug_enabled = true;
+
+}
+
+ORBDevMaster::~ORBDevMaster()
+{
+}
+
+int
+ORBDevMaster::ioctl(struct file *filp, int cmd, unsigned long arg)
+{
+	int ret;
+
+	switch (cmd) {
+	case ORBIOCADVERTISE: {
+			const struct orb_metadata *meta = (const struct orb_metadata *)arg;
+			const char *objname;
+			char nodepath[orb_maxpath];
+			ORBDevNode *node;
+
+			/* construct a path to the node - this also checks the node name */
+			ret = node_mkpath(nodepath, _flavor, meta);
+
+			if (ret != OK)
+				return ret;
+
+			/* driver wants a permanent copy of the node name, so make one here */
+			objname = strdup(meta->o_name);
+
+			if (objname == nullptr)
+				return -ENOMEM;
+
+			/* construct the new node */
+			node = new ORBDevNode(meta, objname, nodepath);
+
+			/* initialise the node - this may fail if e.g. a node with this name already exists */
+			if (node != nullptr)
+				ret = node->init();
+
+			/* if we didn't get a device, that's bad */
+			if (node == nullptr)
+				return -ENOMEM;
+
+			/* if init failed, discard the node and its name */
+			if (ret != OK) {
+				delete node;
+				free((void *)objname);
+			}
+
+			return ret;
+		}
+
+	default:
+		/* give it to the superclass */
+		return CDev::ioctl(filp, cmd, arg);
+	}
+}
+
+
+/**
+ * Local functions in support of the shell command.
+ */
+
+namespace
+{
+
+ORBDevMaster	*g_dev;
+
+struct orb_test {
+	int val;
+};
+
+ORB_DEFINE(orb_test, struct orb_test);
+
+int
+test_fail(const char *fmt, ...)
+{
+	va_list ap;
+
+	fprintf(stderr, "FAIL: ");
+	va_start(ap, fmt);
+	vfprintf(stderr, fmt, ap);
+	va_end(ap);
+	fprintf(stderr, "\n");
+	fflush(stderr);
+	return ERROR;
+}
+
+int
+test_note(const char *fmt, ...)
+{
+	va_list ap;
+
+	fprintf(stderr, "note: ");
+	va_start(ap, fmt);
+	vfprintf(stderr, fmt, ap);
+	va_end(ap);
+	fprintf(stderr, "\n");
+	fflush(stderr);
+	return OK;
+}
+
+ORB_DECLARE(sensor_combined);
+
+int
+test()
+{
+	struct orb_test t, u;
+	int pfd, sfd;
+	bool updated;
+
+	t.val = 0;
+	pfd = orb_advertise(ORB_ID(orb_test), &t);
+
+	if (pfd < 0)
+		return test_fail("advertise failed: %d", errno);
+
+	test_note("publish handle 0x%08x", pfd);
+	sfd = orb_subscribe(ORB_ID(orb_test));
+
+	if (sfd < 0)
+		return test_fail("subscribe failed: %d", errno);
+
+	test_note("subscribe fd %d", sfd);
+	u.val = 1;
+
+	if (OK != orb_copy(ORB_ID(orb_test), sfd, &u))
+		return test_fail("copy(1) failed: %d", errno);
+
+	if (u.val != t.val)
+		return test_fail("copy(1) mismatch: %d expected %d", u.val, t.val);
+
+	if (OK != orb_check(sfd, &updated))
+		return test_fail("check(1) failed");
+
+	if (updated)
+		return test_fail("spurious updated flag");
+
+	t.val = 2;
+	test_note("try publish");
+
+	if (OK != orb_publish(ORB_ID(orb_test), pfd, &t))
+		return test_fail("publish failed");
+
+	if (OK != orb_check(sfd, &updated))
+		return test_fail("check(2) failed");
+
+	if (!updated)
+		return test_fail("missing updated flag");
+
+	if (OK != orb_copy(ORB_ID(orb_test), sfd, &u))
+		return test_fail("copy(2) failed: %d", errno);
+
+	if (u.val != t.val)
+		return test_fail("copy(2) mismatch: %d expected %d", u.val, t.val);
+
+	orb_unsubscribe(sfd);
+	close(pfd);
+
+#if 0
+	/* this is a hacky test that exploits the sensors app to test rate-limiting */
+
+	sfd = orb_subscribe(ORB_ID(sensor_combined));
+
+	hrt_abstime start, end;
+	unsigned count;
+
+	start = hrt_absolute_time();
+	count = 0;
+
+	do {
+		orb_check(sfd, &updated);
+
+		if (updated) {
+			orb_copy(ORB_ID(sensor_combined), sfd, nullptr);
+			count++;
+		}
+	} while (count < 100);
+
+	end = hrt_absolute_time();
+	test_note("full-speed, 100 updates in %llu", end - start);
+
+	orb_set_interval(sfd, 10);
+
+	start = hrt_absolute_time();
+	count = 0;
+
+	do {
+		orb_check(sfd, &updated);
+
+		if (updated) {
+			orb_copy(ORB_ID(sensor_combined), sfd, nullptr);
+			count++;
+		}
+	} while (count < 100);
+
+	end = hrt_absolute_time();
+	test_note("100Hz, 100 updates in %llu", end - start);
+
+	orb_unsubscribe(sfd);
+#endif
+
+	return test_note("PASS");
+}
+
+int
+info()
+{
+	return OK;
+}
+
+
+} // namespace
+
+/*
+ * uORB server 'main'.
+ */
+extern "C" { __EXPORT int uorb_main(int argc, char *argv[]); }
+
+int
+uorb_main(int argc, char *argv[])
+{
+	/*
+	 * Start/load the driver.
+	 *
+	 * XXX it would be nice to have a wrapper for this...
+	 */
+	if (!strcmp(argv[1], "start")) {
+
+		if (g_dev != nullptr) {
+			fprintf(stderr, "[uorb] already loaded\n");
+			/* user wanted to start uorb, its already running, no error */
+			return 0;
+		}
+
+		/* create the driver */
+		g_dev = new ORBDevMaster(PUBSUB);
+
+		if (g_dev == nullptr) {
+			fprintf(stderr, "[uorb] driver alloc failed\n");
+			return -ENOMEM;
+		}
+
+		if (OK != g_dev->init()) {
+			fprintf(stderr, "[uorb] driver init failed\n");
+			delete g_dev;
+			g_dev = nullptr;
+			return -EIO;
+		}
+
+		printf("[uorb] ready\n");
+		return OK;
+	}
+
+	/*
+	 * Test the driver/device.
+	 */
+	if (!strcmp(argv[1], "test"))
+		return test();
+
+	/*
+	 * Print driver information.
+	 */
+	if (!strcmp(argv[1], "status"))
+		return info();
+
+	fprintf(stderr, "unrecognised command, try 'start', 'test' or 'status'\n");
+	return -EINVAL;
+}
+
+/*
+ * Library functions.
+ */
+namespace
+{
+
+void debug(const char *fmt, ...)
+{
+	va_list ap;
+
+	va_start(ap, fmt);
+	vfprintf(stderr, fmt, ap);
+	va_end(ap);
+	fprintf(stderr, "\n");
+	fflush(stderr);
+	usleep(100000);
+}
+
+/**
+ * Advertise a node; don't consider it an error if the node has
+ * already been advertised.
+ *
+ * @todo verify that the existing node is the same as the one
+ *       we tried to advertise.
+ */
+int
+node_advertise(const struct orb_metadata *meta)
+{
+	int fd = -1;
+	int ret = ERROR;
+
+	/* open the control device */
+	fd = open(TOPIC_MASTER_DEVICE_PATH, 0);
+
+	if (fd < 0)
+		goto out;
+
+	/* advertise the object */
+	ret = ioctl(fd, ORBIOCADVERTISE, (unsigned long)(uintptr_t)meta);
+
+	/* it's OK if it already exists */
+	if ((OK != ret) && (EEXIST == errno))
+		ret = OK;
+
+out:
+
+	if (fd >= 0)
+		close(fd);
+
+	return ret;
+}
+
+/**
+ * Common implementation for orb_advertise and orb_subscribe.
+ *
+ * Handles creation of the object and the initial publication for
+ * advertisers.
+ */
+int
+node_open(Flavor f, const struct orb_metadata *meta, const void *data, bool advertiser)
+{
+	char path[orb_maxpath];
+	int fd, ret;
+
+	/*
+	 * If meta is null, the object was not defined, i.e. it is not
+	 * known to the system.  We can't advertise/subscribe such a thing.
+	 */
+	if (nullptr == meta) {
+		errno = ENOENT;
+		return ERROR;
+	}
+
+	/*
+	 * Advertiser must publish an initial value.
+	 */
+	if (advertiser && (data == nullptr)) {
+		errno = EINVAL;
+		return ERROR;
+	}
+
+	/*
+	 * Generate the path to the node and try to open it.
+	 */
+	ret = node_mkpath(path, f, meta);
+
+	if (ret != OK) {
+		errno = -ret;
+		return ERROR;
+	}
+
+	/* open the path as either the advertiser or the subscriber */
+	fd = open(path, (advertiser) ? O_WRONLY : O_RDONLY);
+
+	/* we may need to advertise the node... */
+	if (fd < 0) {
+
+		/* try to create the node */
+		ret = node_advertise(meta);
+
+		/* on success, try the open again */
+		if (ret == OK)
+			fd = open(path, (advertiser) ? O_WRONLY : O_RDONLY);
+	}
+
+	if (fd < 0) {
+		errno = EIO;
+		return ERROR;
+	}
+
+	/* everything has been OK, we can return the handle now */
+	return fd;
+}
+
+} // namespace
+
+orb_advert_t
+orb_advertise(const struct orb_metadata *meta, const void *data)
+{
+	int result, fd;
+	orb_advert_t advertiser;
+
+	/* open the node as an advertiser */
+	fd = node_open(PUBSUB, meta, data, true);
+	if (fd == ERROR)
+		return ERROR;
+
+	/* get the advertiser handle and close the node */
+	result = ioctl(fd, ORBIOCGADVERTISER, (unsigned long)&advertiser);
+	close(fd);
+	if (result == ERROR)
+		return ERROR;
+
+	/* the advertiser must perform an initial publish to initialise the object */
+	result= orb_publish(meta, advertiser, data);
+	if (result == ERROR)
+		return ERROR;
+
+	return advertiser;
+}
+
+int
+orb_subscribe(const struct orb_metadata *meta)
+{
+	return node_open(PUBSUB, meta, nullptr, false);
+}
+
+int
+orb_unsubscribe(int handle)
+{
+	return close(handle);
+}
+
+int
+orb_publish(const struct orb_metadata *meta, orb_advert_t handle, const void *data)
+{
+	return ORBDevNode::publish(meta, handle, data);
+}
+
+int
+orb_copy(const struct orb_metadata *meta, int handle, void *buffer)
+{
+	int ret;
+
+	ret = read(handle, buffer, meta->o_size);
+
+	if (ret < 0)
+		return ERROR;
+
+	if (ret != (int)meta->o_size) {
+		errno = EIO;
+		return ERROR;
+	}
+
+	return OK;
+}
+
+int
+orb_check(int handle, bool *updated)
+{
+	return ioctl(handle, ORBIOCUPDATED, (unsigned long)(uintptr_t)updated);
+}
+
+int
+orb_stat(int handle, uint64_t *time)
+{
+	return ioctl(handle, ORBIOCLASTUPDATE, (unsigned long)(uintptr_t)time);
+}
+
+int
+orb_set_interval(int handle, unsigned interval)
+{
+	return ioctl(handle, ORBIOCSETINTERVAL, interval * 1000);
+}
+
diff --git a/src/modules/uORB/uORB.h b/src/modules/uORB/uORB.h
new file mode 100644
index 000000000..82ff46ad2
--- /dev/null
+++ b/src/modules/uORB/uORB.h
@@ -0,0 +1,264 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#ifndef _UORB_UORB_H
+#define _UORB_UORB_H
+
+/**
+ * @file uORB.h
+ * API for the uORB lightweight object broker.
+ */
+
+#include 
+#include 
+#include 
+
+// Hack until everything is using this header
+#include 
+
+/**
+ * Object metadata.
+ */
+struct orb_metadata {
+	const char *o_name;		/**< unique object name */
+	const size_t o_size;		/**< object size */
+};
+
+typedef const struct orb_metadata *orb_id_t;
+
+/**
+ * Generates a pointer to the uORB metadata structure for
+ * a given topic.
+ *
+ * The topic must have been declared previously in scope
+ * with ORB_DECLARE().
+ *
+ * @param _name		The name of the topic.
+ */
+#define ORB_ID(_name)		&__orb_##_name
+
+/**
+ * Declare (prototype) the uORB metadata for a topic.
+ *
+ * Note that optional topics are declared weak; this allows a potential
+ * subscriber to attempt to subscribe to a topic that is not known to the
+ * system at runtime.  The ORB_ID() macro will return NULL/nullptr for
+ * such a topic, and attempts to advertise or subscribe to it will
+ * return -1/ENOENT (see below).
+ *
+ * @param _name		The name of the topic.
+ */
+#if defined(__cplusplus)
+# define ORB_DECLARE(_name)		extern "C" const struct orb_metadata __orb_##_name __EXPORT
+# define ORB_DECLARE_OPTIONAL(_name)	extern "C" const struct orb_metadata __orb_##_name __EXPORT __attribute__((weak))
+#else
+# define ORB_DECLARE(_name)		extern const struct orb_metadata __orb_##_name __EXPORT
+# define ORB_DECLARE_OPTIONAL(_name)	extern const struct orb_metadata __orb_##_name __EXPORT __attribute__((weak))
+#endif
+
+/**
+ * Define (instantiate) the uORB metadata for a topic.
+ *
+ * The uORB metadata is used to help ensure that updates and
+ * copies are accessing the right data.
+ *
+ * Note that there must be no more than one instance of this macro
+ * for each topic.
+ *
+ * @param _name		The name of the topic.
+ * @param _struct	The structure the topic provides.
+ */
+#define ORB_DEFINE(_name, _struct)			\
+	const struct orb_metadata __orb_##_name = {	\
+		#_name,					\
+		sizeof(_struct)				\
+	}; struct hack
+
+__BEGIN_DECLS
+
+/**
+ * ORB topic advertiser handle.
+ *
+ * Advertiser handles are global; once obtained they can be shared freely
+ * and do not need to be closed or released.
+ *
+ * This permits publication from interrupt context and other contexts where
+ * a file-descriptor-based handle would not otherwise be in scope for the
+ * publisher.
+ */
+typedef intptr_t	orb_advert_t;
+
+/**
+ * Advertise as the publisher of a topic.
+ *
+ * This performs the initial advertisement of a topic; it creates the topic
+ * node in /obj if required and publishes the initial data.
+ *
+ * Any number of advertisers may publish to a topic; publications are atomic
+ * but co-ordination between publishers is not provided by the ORB. 
+ *
+ * @param meta		The uORB metadata (usually from the ORB_ID() macro)
+ *			for the topic.
+ * @param data		A pointer to the initial data to be published.
+ *			For topics updated by interrupt handlers, the advertisement
+ *			must be performed from non-interrupt context.
+ * @return		ERROR on error, otherwise returns a handle
+ *			that can be used to publish to the topic.
+ *			If the topic in question is not known (due to an
+ *			ORB_DEFINE with no corresponding ORB_DECLARE)
+ *			this function will return -1 and set errno to ENOENT.
+ */
+extern orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *data) __EXPORT;
+
+/**
+ * Publish new data to a topic.
+ *
+ * The data is atomically published to the topic and any waiting subscribers
+ * will be notified.  Subscribers that are not waiting can check the topic
+ * for updates using orb_check and/or orb_stat.
+ *
+ * @param meta		The uORB metadata (usually from the ORB_ID() macro)
+ *			for the topic.
+ * @handle		The handle returned from orb_advertise.
+ * @param data		A pointer to the data to be published.
+ * @return		OK on success, ERROR otherwise with errno set accordingly.
+ */
+extern int	orb_publish(const struct orb_metadata *meta, orb_advert_t handle, const void *data) __EXPORT;
+
+/**
+ * Subscribe to a topic.
+ *
+ * The returned value is a file descriptor that can be passed to poll()
+ * in order to wait for updates to a topic, as well as topic_read,
+ * orb_check and orb_stat.
+ *
+ * Subscription will succeed even if the topic has not been advertised;
+ * in this case the topic will have a timestamp of zero, it will never
+ * signal a poll() event, checking will always return false and it cannot
+ * be copied. When the topic is subsequently advertised, poll, check,
+ * stat and copy calls will react to the initial publication that is
+ * performed as part of the advertisement.
+ *
+ * Subscription will fail if the topic is not known to the system, i.e.
+ * there is nothing in the system that has declared the topic and thus it
+ * can never be published.
+ *
+ * @param meta		The uORB metadata (usually from the ORB_ID() macro)
+ *			for the topic.
+ * @return		ERROR on error, otherwise returns a handle
+ *			that can be used to read and update the topic.
+ *			If the topic in question is not known (due to an
+ *			ORB_DEFINE_OPTIONAL with no corresponding ORB_DECLARE)
+ *			this function will return -1 and set errno to ENOENT.
+ */
+extern int	orb_subscribe(const struct orb_metadata *meta) __EXPORT;
+
+/**
+ * Unsubscribe from a topic.
+ *
+ * @param handle	A handle returned from orb_subscribe.
+ * @return		OK on success, ERROR otherwise with errno set accordingly.
+ */
+extern int	orb_unsubscribe(int handle) __EXPORT;
+
+/**
+ * Fetch data from a topic.
+ *
+ * This is the only operation that will reset the internal marker that
+ * indicates that a topic has been updated for a subscriber. Once poll
+ * or check return indicating that an updaet is available, this call
+ * must be used to update the subscription.
+ *
+ * @param meta		The uORB metadata (usually from the ORB_ID() macro)
+ *			for the topic.
+ * @param handle	A handle returned from orb_subscribe.
+ * @param buffer	Pointer to the buffer receiving the data, or NULL
+ *			if the caller wants to clear the updated flag without
+ *			using the data.
+ * @return		OK on success, ERROR otherwise with errno set accordingly.
+ */
+extern int	orb_copy(const struct orb_metadata *meta, int handle, void *buffer) __EXPORT;
+
+/**
+ * Check whether a topic has been published to since the last orb_copy.
+ *
+ * This check can be used to determine whether to copy the topic when
+ * not using poll(), or to avoid the overhead of calling poll() when the
+ * topic is likely to have updated.
+ *
+ * Updates are tracked on a per-handle basis; this call will continue to
+ * return true until orb_copy is called using the same handle. This interface
+ * should be preferred over calling orb_stat due to the race window between
+ * stat and copy that can lead to missed updates.
+ *
+ * @param handle	A handle returned from orb_subscribe.
+ * @param updated	Set to true if the topic has been updated since the
+ *			last time it was copied using this handle.
+ * @return		OK if the check was successful, ERROR otherwise with
+ *			errno set accordingly.
+ */
+extern int	orb_check(int handle, bool *updated) __EXPORT;
+
+/**
+ * Return the last time that the topic was updated.
+ *
+ * @param handle	A handle returned from orb_subscribe.
+ * @param time		Returns the absolute time that the topic was updated, or zero if it has
+ *			never been updated. Time is measured in microseconds.
+ * @return		OK on success, ERROR otherwise with errno set accordingly.
+ */
+extern int	orb_stat(int handle, uint64_t *time) __EXPORT;
+
+/**
+ * Set the minimum interval between which updates are seen for a subscription.
+ *
+ * If this interval is set, the subscriber will not see more than one update
+ * within the period.
+ *
+ * Specifically, the first time an update is reported to the subscriber a timer
+ * is started. The update will continue to be reported via poll and orb_check, but
+ * once fetched via orb_copy another update will not be reported until the timer
+ * expires.
+ *
+ * This feature can be used to pace a subscriber that is watching a topic that
+ * would otherwise update too quickly.
+ *
+ * @param handle	A handle returned from orb_subscribe.
+ * @param interval	An interval period in milliseconds.
+ * @return		OK on success, ERROR otherwise with ERRNO set accordingly.
+ */
+extern int	orb_set_interval(int handle, unsigned interval) __EXPORT;
+
+__END_DECLS
+
+#endif /* _UORB_UORB_H */
-- 
cgit v1.2.3


From 25612cebc2c4ecfc131e545c926f6ff581e11030 Mon Sep 17 00:00:00 2001
From: Lorenz Meier 
Date: Sun, 28 Apr 2013 10:37:07 +0200
Subject: Cleaned up NuttX appconfig, added examples to config

---
 apps/examples/px4_deamon_app/Makefile              |  42 ----
 apps/examples/px4_deamon_app/px4_deamon_app.c      | 137 ------------
 apps/examples/px4_mavlink_debug/Makefile           |  42 ----
 .../examples/px4_mavlink_debug/px4_mavlink_debug.c |  74 -------
 apps/examples/px4_simple_app/Makefile              |  42 ----
 apps/examples/px4_simple_app/px4_simple_app.c      | 115 ----------
 apps/mk/app.mk                                     | 237 ---------------------
 makefiles/config_px4fmu_default.mk                 |  11 +
 nuttx/configs/px4fmu/nsh/appconfig                 |  87 --------
 src/examples/px4_daemon_app/module.mk              |  40 ++++
 src/examples/px4_daemon_app/px4_daemon_app.c       | 137 ++++++++++++
 src/examples/px4_mavlink_debug/module.mk           |  40 ++++
 src/examples/px4_mavlink_debug/px4_mavlink_debug.c |  74 +++++++
 src/examples/px4_simple_app/module.mk              |  40 ++++
 src/examples/px4_simple_app/px4_simple_app.c       | 115 ++++++++++
 15 files changed, 457 insertions(+), 776 deletions(-)
 delete mode 100644 apps/examples/px4_deamon_app/Makefile
 delete mode 100644 apps/examples/px4_deamon_app/px4_deamon_app.c
 delete mode 100644 apps/examples/px4_mavlink_debug/Makefile
 delete mode 100644 apps/examples/px4_mavlink_debug/px4_mavlink_debug.c
 delete mode 100644 apps/examples/px4_simple_app/Makefile
 delete mode 100644 apps/examples/px4_simple_app/px4_simple_app.c
 delete mode 100644 apps/mk/app.mk
 create mode 100644 src/examples/px4_daemon_app/module.mk
 create mode 100644 src/examples/px4_daemon_app/px4_daemon_app.c
 create mode 100644 src/examples/px4_mavlink_debug/module.mk
 create mode 100644 src/examples/px4_mavlink_debug/px4_mavlink_debug.c
 create mode 100644 src/examples/px4_simple_app/module.mk
 create mode 100644 src/examples/px4_simple_app/px4_simple_app.c

(limited to 'src')

diff --git a/apps/examples/px4_deamon_app/Makefile b/apps/examples/px4_deamon_app/Makefile
deleted file mode 100644
index e4c169872..000000000
--- a/apps/examples/px4_deamon_app/Makefile
+++ /dev/null
@@ -1,42 +0,0 @@
-############################################################################
-#
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-#
-# Basic example application
-#
-
-APPNAME		 = px4_deamon_app
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
-
-include $(APPDIR)/mk/app.mk
diff --git a/apps/examples/px4_deamon_app/px4_deamon_app.c b/apps/examples/px4_deamon_app/px4_deamon_app.c
deleted file mode 100644
index a5d847777..000000000
--- a/apps/examples/px4_deamon_app/px4_deamon_app.c
+++ /dev/null
@@ -1,137 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Example User 
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file px4_deamon_app.c
- * Deamon application example for PX4 autopilot
- */
-
-#include 
-#include 
-#include 
-
-static bool thread_should_exit = false;		/**< Deamon exit flag */
-static bool thread_running = false;		/**< Deamon status flag */
-static int deamon_task;				/**< Handle of deamon task / thread */
-
-/**
- * Deamon management function.
- */
-__EXPORT int px4_deamon_app_main(int argc, char *argv[]);
-
-/**
- * Mainloop of deamon.
- */
-int px4_deamon_thread_main(int argc, char *argv[]);
-
-/**
- * Print the correct usage.
- */
-static void usage(const char *reason);
-
-static void
-usage(const char *reason)
-{
-	if (reason)
-		fprintf(stderr, "%s\n", reason);
-	fprintf(stderr, "usage: deamon {start|stop|status} [-p ]\n\n");
-	exit(1);
-}
-
-/**
- * The deamon app only briefly exists to start
- * the background job. The stack size assigned in the
- * Makefile does only apply to this management task.
- * 
- * The actual stack size should be set in the call
- * to task_create().
- */
-int px4_deamon_app_main(int argc, char *argv[])
-{
-	if (argc < 1)
-		usage("missing command");
-
-	if (!strcmp(argv[1], "start")) {
-
-		if (thread_running) {
-			printf("deamon already running\n");
-			/* this is not an error */
-			exit(0);
-		}
-
-		thread_should_exit = false;
-		deamon_task = task_spawn("deamon",
-					 SCHED_DEFAULT,
-					 SCHED_PRIORITY_DEFAULT,
-					 4096,
-					 px4_deamon_thread_main,
-					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
-		exit(0);
-	}
-
-	if (!strcmp(argv[1], "stop")) {
-		thread_should_exit = true;
-		exit(0);
-	}
-
-	if (!strcmp(argv[1], "status")) {
-		if (thread_running) {
-			printf("\tdeamon app is running\n");
-		} else {
-			printf("\tdeamon app not started\n");
-		}
-		exit(0);
-	}
-
-	usage("unrecognized command");
-	exit(1);
-}
-
-int px4_deamon_thread_main(int argc, char *argv[]) {
-
-	printf("[deamon] starting\n");
-
-	thread_running = true;
-
-	while (!thread_should_exit) {
-		printf("Hello Deamon!\n");
-		sleep(10);
-	}
-
-	printf("[deamon] exiting.\n");
-
-	thread_running = false;
-
-	return 0;
-}
diff --git a/apps/examples/px4_mavlink_debug/Makefile b/apps/examples/px4_mavlink_debug/Makefile
deleted file mode 100644
index f59aef16f..000000000
--- a/apps/examples/px4_mavlink_debug/Makefile
+++ /dev/null
@@ -1,42 +0,0 @@
-############################################################################
-#
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-#
-# Basic example application
-#
-
-APPNAME		 = px4_mavlink_debug
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
-
-include $(APPDIR)/mk/app.mk
diff --git a/apps/examples/px4_mavlink_debug/px4_mavlink_debug.c b/apps/examples/px4_mavlink_debug/px4_mavlink_debug.c
deleted file mode 100644
index aa1eb5ed8..000000000
--- a/apps/examples/px4_mavlink_debug/px4_mavlink_debug.c
+++ /dev/null
@@ -1,74 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Example User 
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file px4_mavlink_debug.c
- * Debug application example for PX4 autopilot
- */
-
-#include 
-#include 
-#include 
-#include 
-
-#include 
-
-#include 
-#include 
-
-__EXPORT int px4_mavlink_debug_main(int argc, char *argv[]);
-
-int px4_mavlink_debug_main(int argc, char *argv[])
-{
-	printf("Hello Debug!\n");
-
-	/* advertise debug value */
-	struct debug_key_value_s dbg = { .key = "velx", .value = 0.0f };
-	orb_advert_t pub_dbg = orb_advertise(ORB_ID(debug_key_value), &dbg);
-
-	int value_counter = 0;
-
-	while (value_counter < 100) {
-		/* send one value */
-		dbg.value = value_counter;
-		orb_publish(ORB_ID(debug_key_value), pub_dbg, &dbg);
-
-		warnx("sent one more value..");
-
-		value_counter++;
-		usleep(500000);
-	}
-
-	return 0;
-}
diff --git a/apps/examples/px4_simple_app/Makefile b/apps/examples/px4_simple_app/Makefile
deleted file mode 100644
index 102f51fd4..000000000
--- a/apps/examples/px4_simple_app/Makefile
+++ /dev/null
@@ -1,42 +0,0 @@
-############################################################################
-#
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-#
-# Basic example application
-#
-
-APPNAME		 = px4_simple_app
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
-
-include $(APPDIR)/mk/app.mk
diff --git a/apps/examples/px4_simple_app/px4_simple_app.c b/apps/examples/px4_simple_app/px4_simple_app.c
deleted file mode 100644
index 7f655964d..000000000
--- a/apps/examples/px4_simple_app/px4_simple_app.c
+++ /dev/null
@@ -1,115 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Example User 
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file px4_simple_app.c
- * Minimal application example for PX4 autopilot
- */
-
-#include 
-#include 
-#include 
-#include 
-
-#include 
-#include 
-#include 
-
-__EXPORT int px4_simple_app_main(int argc, char *argv[]);
-
-int px4_simple_app_main(int argc, char *argv[])
-{
-	printf("Hello Sky!\n");
-
-	/* subscribe to sensor_combined topic */
-	int sensor_sub_fd = orb_subscribe(ORB_ID(sensor_combined));
-	orb_set_interval(sensor_sub_fd, 1000);
-
-	/* advertise attitude topic */
-	struct vehicle_attitude_s att;
-	memset(&att, 0, sizeof(att));
-	orb_advert_t att_pub = orb_advertise(ORB_ID(vehicle_attitude), &att);
-
-	/* one could wait for multiple topics with this technique, just using one here */
-	struct pollfd fds[] = {
-		{ .fd = sensor_sub_fd,   .events = POLLIN },
-		/* there could be more file descriptors here, in the form like:
-		 * { .fd = other_sub_fd,   .events = POLLIN },
-		 */
-	};
-
-	int error_counter = 0;
-
-	while (true) {
-		/* wait for sensor update of 1 file descriptor for 1000 ms (1 second) */
-		int poll_ret = poll(fds, 1, 1000);
-	 
-		/* handle the poll result */
-		if (poll_ret == 0) {
-			/* this means none of our providers is giving us data */
-			printf("[px4_simple_app] Got no data within a second\n");
-		} else if (poll_ret < 0) {
-			/* this is seriously bad - should be an emergency */
-			if (error_counter < 10 || error_counter % 50 == 0) {
-				/* use a counter to prevent flooding (and slowing us down) */
-				printf("[px4_simple_app] ERROR return value from poll(): %d\n"
-					, poll_ret);
-			}
-			error_counter++;
-		} else {
-	 
-			if (fds[0].revents & POLLIN) {
-				/* obtained data for the first file descriptor */
-				struct sensor_combined_s raw;
-				/* copy sensors raw data into local buffer */
-				orb_copy(ORB_ID(sensor_combined), sensor_sub_fd, &raw);
-				printf("[px4_simple_app] Accelerometer:\t%8.4f\t%8.4f\t%8.4f\n",
-					(double)raw.accelerometer_m_s2[0],
-					(double)raw.accelerometer_m_s2[1],
-					(double)raw.accelerometer_m_s2[2]);
-
-				/* set att and publish this information for other apps */
-				att.roll = raw.accelerometer_m_s2[0];
-				att.pitch = raw.accelerometer_m_s2[1];
-				att.yaw = raw.accelerometer_m_s2[2];
-				orb_publish(ORB_ID(vehicle_attitude), att_pub, &att);
-			}
-			/* there could be more file descriptors here, in the form like:
-			 * if (fds[1..n].revents & POLLIN) {}
-			 */
-		}
-	}
-
-	return 0;
-}
diff --git a/apps/mk/app.mk b/apps/mk/app.mk
deleted file mode 100644
index fa4a12cab..000000000
--- a/apps/mk/app.mk
+++ /dev/null
@@ -1,237 +0,0 @@
-############################################################################
-#
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-#
-# Common Makefile for nsh command modules and utility libraries; should be 
-# included by the module-specific Makefile.
-#
-# To build an app that appears as an nsh external command, the caller 
-# must define:
-#
-# APPNAME	- the name of the application, defaults to the name
-#		  of the parent directory.
-#
-# If APPNAME is not defined, a utility library is built instead. The library
-# name is normally automatically determined, but it can be overridden by
-# setting:
-#
-# LIBNAME	- the name of the library, defaults to the name of the
-#		  directory
-#
-# The calling makefile may also set:
-#
-# ASRCS		- list of assembly source files, defaults to all .S 
-#		  files in the directory
-#
-# CSRCS		- list of C source files, defaults to all .c files
-#		  in the directory
-#
-# CXXSRCS	- list of C++ source files, defaults to all .cpp
-#		  files in the directory
-#
-# INCLUDES	- list of directories to be added to the include
-#		  search path
-#
-# PRIORITY	- thread priority for the command (defaults to 
-#		  SCHED_PRIORITY_DEFAULT)
-#
-# STACKSIZE	- stack size for the command (defaults to 
-#		  CONFIG_PTHREAD_STACK_DEFAULT)
-#
-# Symbols in the module are private to the module unless deliberately exported
-# using the __EXPORT tag, or DEFAULT_VISIBILITY is set
-#
-
-############################################################################
-# No user-serviceable parts below
-############################################################################
-
-
-############################################################################
-# Work out who included us so we can report decent errors
-#
-THIS_MAKEFILE	:= $(lastword $(MAKEFILE_LIST))
-ifeq ($(APP_MAKEFILE),)
-APP_MAKEFILE	:= $(lastword $(filter-out $(THIS_MAKEFILE),$(MAKEFILE_LIST)))
-endif
-
-############################################################################
-# Get configuration
-#
--include $(TOPDIR)/.config
--include $(TOPDIR)/Make.defs
-include $(APPDIR)/Make.defs
-
-############################################################################
-# Sanity-check the information we've been given and set any defaults
-#
-SRCDIR		?= $(dir $(APP_MAKEFILE))
-PRIORITY	?= SCHED_PRIORITY_DEFAULT
-STACKSIZE	?= CONFIG_PTHREAD_STACK_DEFAULT
-
-INCLUDES	+= $(APPDIR)
-
-ASRCS		?= $(wildcard $(SRCDIR)/*.S)
-CSRCS		?= $(wildcard $(SRCDIR)/*.c)
-CHDRS		?= $(wildcard $(SRCDIR)/*.h)
-CXXSRCS		?= $(wildcard $(SRCDIR)/*.cpp)
-CXXHDRS		?= $(wildcard $(SRCDIR)/*.hpp)
-
-# if APPNAME is not set, this is a library
-ifeq ($(APPNAME),)
-LIBNAME		?= $(lastword $(subst /, ,$(realpath $(SRCDIR))))
-endif
-
-# there has to be a source file
-ifeq ($(ASRCS)$(CSRCS)$(CXXSRCS),)
-$(error $(realpath $(APP_MAKEFILE)): at least one of ASRCS, CSRCS or CXXSRCS must be set)
-endif
-
-# check that C++ is configured if we have C++ source files and we are building
-ifneq ($(CXXSRCS),)
-ifneq ($(CONFIG_HAVE_CXX),y)
-ifeq ($(MAKECMDGOALS),build)
-$(error $(realpath $(APP_MAKEFILE)): cannot set CXXSRCS if CONFIG_HAVE_CXX not set in configuration)
-endif
-endif
-endif
-
-############################################################################
-# Adjust compilation flags to implement EXPORT
-#
-
-ifeq ($(DEFAULT_VISIBILITY),)
-DEFAULT_VISIBILITY = hidden
-else
-DEFAULT_VISIBILITY = default
-endif
-
-CFLAGS		+= -fvisibility=$(DEFAULT_VISIBILITY) -include $(APPDIR)/systemlib/visibility.h
-CXXFLAGS	+= -fvisibility=$(DEFAULT_VISIBILITY) -include $(APPDIR)/systemlib/visibility.h
-
-############################################################################
-# Add extra include directories
-#
-CFLAGS		+= $(addprefix -I,$(INCLUDES))
-CXXFLAGS	+= $(addprefix -I,$(INCLUDES))
-
-############################################################################
-# Things we are going to build
-#
-
-SRCS		 = $(ASRCS) $(CSRCS) $(CXXSRCS)
-AOBJS		 = $(patsubst %.S,%.o,$(ASRCS))
-COBJS		 = $(patsubst %.c,%.o,$(CSRCS))
-CXXOBJS		 = $(patsubst %.cpp,%.o,$(CXXSRCS))
-OBJS		 = $(AOBJS) $(COBJS) $(CXXOBJS)
-
-# Automatic depdendency generation
-DEPS		 = $(OBJS:$(OBJEXT)=.d)
-CFLAGS		+= -MD
-CXXFLAGS	+= -MD
-
-# The prelinked object that we are ultimately going to build
-ifneq ($(APPNAME),)
-PRELINKOBJ	 = $(APPNAME).pre.o
-else
-PRELINKOBJ	 = $(LIBNAME).pre.o
-endif
-
-# The archive the prelinked object will be linked into
-# XXX does WINTOOL ever get set?
-ifeq ($(WINTOOL),y)
-  INCDIROPT	= -w
-  BIN		 = "$(shell cygpath -w  $(APPDIR)/libapps$(LIBEXT))"
-else
-  BIN		 = "$(APPDIR)/libapps$(LIBEXT)"
-endif
-
-############################################################################
-# Rules for building things
-#
-
-all:		.built
-.PHONY:		clean depend distclean
-
-#
-# Top-level build; add prelinked object to the apps archive
-#
-.built:		$(PRELINKOBJ)
-	@$(call ARCHIVE, $(BIN), $(PRELINKOBJ))
-	@touch $@
-
-#
-# Source dependencies
-#
-depend:
-	@exit 0
-
-ifneq ($(APPNAME),)
-#
-# App registration
-#
-context:	.context
-.context:	$(MAKEFILE_LIST)
-	$(call REGISTER,$(APPNAME),$(PRIORITY),$(STACKSIZE),$(APPNAME)_main)
-	@touch $@
-else
-context:
-	@exit 0
-endif
-
-#
-# Object files
-#
-$(PRELINKOBJ):	$(OBJS)
-	$(call PRELINK, $@, $(OBJS))
-
-$(AOBJS): %.o : %.S $(MAKEFILE_LIST)
-	$(call ASSEMBLE, $<, $@)
-
-$(COBJS): %.o : %.c $(MAKEFILE_LIST)
-	$(call COMPILE, $<, $@)
-
-$(CXXOBJS): %.o : %.cpp $(MAKEFILE_LIST)
-	$(call COMPILEXX, $<, $@)
-
-#
-# Tidying up
-#
-clean:
-	@rm -f $(OBJS) $(DEPS) $(PRELINKOBJ) .built
-	$(call CLEAN)
-
-distclean:	clean
-	@rm -f Make.dep .depend
-
--include $(DEPS)
diff --git a/makefiles/config_px4fmu_default.mk b/makefiles/config_px4fmu_default.mk
index bc3031cd6..52b7e7e48 100644
--- a/makefiles/config_px4fmu_default.mk
+++ b/makefiles/config_px4fmu_default.mk
@@ -89,6 +89,17 @@ MODULES		+= modules/uORB
 # Demo apps
 #
 MODULES		+= examples/math_demo
+# Tutorial code from
+# https://pixhawk.ethz.ch/px4/dev/hello_sky
+MODULES		+= examples/px4_simple_app
+
+# Tutorial code from
+# https://pixhawk.ethz.ch/px4/dev/daemon
+MODULES		+= examples/px4_daemon_app
+
+# Tutorial code from
+# https://pixhawk.ethz.ch/px4/dev/debug_values
+MODULES		+= examples/px4_mavlink_debug
 
 #
 # Transitional support - add commands from the NuttX export archive.
diff --git a/nuttx/configs/px4fmu/nsh/appconfig b/nuttx/configs/px4fmu/nsh/appconfig
index 6e91f3d1a..0e18aa8ef 100644
--- a/nuttx/configs/px4fmu/nsh/appconfig
+++ b/nuttx/configs/px4fmu/nsh/appconfig
@@ -41,93 +41,6 @@ CONFIGURED_APPS	+= examples/nsh
 CONFIGURED_APPS += nshlib
 CONFIGURED_APPS += system/readline
 
-# System library - utility functions
-CONFIGURED_APPS += systemlib
-CONFIGURED_APPS += systemlib/mixer
-
-# Math library
-ifneq ($(CONFIG_APM),y)
-CONFIGURED_APPS += mathlib
-CONFIGURED_APPS += mathlib/CMSIS
-CONFIGURED_APPS += examples/math_demo
-endif
-
-# Control library
-ifneq ($(CONFIG_APM),y)
-CONFIGURED_APPS	+= controllib
-CONFIGURED_APPS += examples/control_demo
-CONFIGURED_APPS += examples/kalman_demo
-endif
-
-# System utility commands
-CONFIGURED_APPS += systemcmds/reboot
-CONFIGURED_APPS += systemcmds/perf
-CONFIGURED_APPS += systemcmds/top
-CONFIGURED_APPS += systemcmds/boardinfo
-CONFIGURED_APPS += systemcmds/mixer
-CONFIGURED_APPS += systemcmds/param
-CONFIGURED_APPS += systemcmds/pwm
-CONFIGURED_APPS += systemcmds/bl_update
-CONFIGURED_APPS += systemcmds/preflight_check
-CONFIGURED_APPS += systemcmds/delay_test
-
-# Tutorial code from
-# https://pixhawk.ethz.ch/px4/dev/hello_sky
-# CONFIGURED_APPS += examples/px4_simple_app
-
-# Tutorial code from
-# https://pixhawk.ethz.ch/px4/dev/deamon
-# CONFIGURED_APPS += examples/px4_deamon_app
-
-# Tutorial code from
-# https://pixhawk.ethz.ch/px4/dev/debug_values
-# CONFIGURED_APPS += examples/px4_mavlink_debug
-
-# Shared object broker; required by many parts of the system.
-CONFIGURED_APPS += uORB
-
-CONFIGURED_APPS += mavlink
-CONFIGURED_APPS += mavlink_onboard
-CONFIGURED_APPS += commander
-CONFIGURED_APPS += sdlog
-CONFIGURED_APPS += sensors
-
-ifneq ($(CONFIG_APM),y)
-CONFIGURED_APPS += ardrone_interface
-CONFIGURED_APPS += multirotor_att_control
-CONFIGURED_APPS += multirotor_pos_control
-CONFIGURED_APPS += position_estimator_mc
-CONFIGURED_APPS += fixedwing_att_control
-CONFIGURED_APPS += fixedwing_pos_control
-CONFIGURED_APPS += position_estimator
-CONFIGURED_APPS += attitude_estimator_ekf
-CONFIGURED_APPS += hott_telemetry
-endif
-
-# Hacking tools
-#CONFIGURED_APPS += system/i2c
-CONFIGURED_APPS += systemcmds/i2c
-
-# Communication and Drivers
-#CONFIGURED_APPS += drivers/boards/px4fmu
-CONFIGURED_APPS	+= drivers/device
-CONFIGURED_APPS += drivers/ms5611
-CONFIGURED_APPS += drivers/hmc5883
-CONFIGURED_APPS += drivers/mpu6000
-CONFIGURED_APPS += drivers/bma180
-CONFIGURED_APPS	+= drivers/px4io
-CONFIGURED_APPS += drivers/stm32
-#CONFIGURED_APPS += drivers/led
-CONFIGURED_APPS += drivers/blinkm
-CONFIGURED_APPS += drivers/stm32/tone_alarm
-CONFIGURED_APPS += drivers/stm32/adc
-CONFIGURED_APPS += drivers/hil
-CONFIGURED_APPS += drivers/gps
-CONFIGURED_APPS += drivers/mb12xx
-
-# Testing stuff
-CONFIGURED_APPS += px4/sensors_bringup
-
 ifeq ($(CONFIG_CAN),y)
 #CONFIGURED_APPS += examples/can
 endif
diff --git a/src/examples/px4_daemon_app/module.mk b/src/examples/px4_daemon_app/module.mk
new file mode 100644
index 000000000..d23c19b75
--- /dev/null
+++ b/src/examples/px4_daemon_app/module.mk
@@ -0,0 +1,40 @@
+############################################################################
+#
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Daemon application
+#
+
+MODULE_COMMAND		= px4_daemon_app
+
+SRCS				= px4_daemon_app.c
diff --git a/src/examples/px4_daemon_app/px4_daemon_app.c b/src/examples/px4_daemon_app/px4_daemon_app.c
new file mode 100644
index 000000000..a5d847777
--- /dev/null
+++ b/src/examples/px4_daemon_app/px4_daemon_app.c
@@ -0,0 +1,137 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Example User 
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file px4_deamon_app.c
+ * Deamon application example for PX4 autopilot
+ */
+
+#include 
+#include 
+#include 
+
+static bool thread_should_exit = false;		/**< Deamon exit flag */
+static bool thread_running = false;		/**< Deamon status flag */
+static int deamon_task;				/**< Handle of deamon task / thread */
+
+/**
+ * Deamon management function.
+ */
+__EXPORT int px4_deamon_app_main(int argc, char *argv[]);
+
+/**
+ * Mainloop of deamon.
+ */
+int px4_deamon_thread_main(int argc, char *argv[]);
+
+/**
+ * Print the correct usage.
+ */
+static void usage(const char *reason);
+
+static void
+usage(const char *reason)
+{
+	if (reason)
+		fprintf(stderr, "%s\n", reason);
+	fprintf(stderr, "usage: deamon {start|stop|status} [-p ]\n\n");
+	exit(1);
+}
+
+/**
+ * The deamon app only briefly exists to start
+ * the background job. The stack size assigned in the
+ * Makefile does only apply to this management task.
+ * 
+ * The actual stack size should be set in the call
+ * to task_create().
+ */
+int px4_deamon_app_main(int argc, char *argv[])
+{
+	if (argc < 1)
+		usage("missing command");
+
+	if (!strcmp(argv[1], "start")) {
+
+		if (thread_running) {
+			printf("deamon already running\n");
+			/* this is not an error */
+			exit(0);
+		}
+
+		thread_should_exit = false;
+		deamon_task = task_spawn("deamon",
+					 SCHED_DEFAULT,
+					 SCHED_PRIORITY_DEFAULT,
+					 4096,
+					 px4_deamon_thread_main,
+					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "stop")) {
+		thread_should_exit = true;
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "status")) {
+		if (thread_running) {
+			printf("\tdeamon app is running\n");
+		} else {
+			printf("\tdeamon app not started\n");
+		}
+		exit(0);
+	}
+
+	usage("unrecognized command");
+	exit(1);
+}
+
+int px4_deamon_thread_main(int argc, char *argv[]) {
+
+	printf("[deamon] starting\n");
+
+	thread_running = true;
+
+	while (!thread_should_exit) {
+		printf("Hello Deamon!\n");
+		sleep(10);
+	}
+
+	printf("[deamon] exiting.\n");
+
+	thread_running = false;
+
+	return 0;
+}
diff --git a/src/examples/px4_mavlink_debug/module.mk b/src/examples/px4_mavlink_debug/module.mk
new file mode 100644
index 000000000..3d400fdbf
--- /dev/null
+++ b/src/examples/px4_mavlink_debug/module.mk
@@ -0,0 +1,40 @@
+############################################################################
+#
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Basic example application
+#
+
+MODULE_COMMAND		= px4_mavlink_debug
+
+SRCS				= px4_mavlink_debug.c
\ No newline at end of file
diff --git a/src/examples/px4_mavlink_debug/px4_mavlink_debug.c b/src/examples/px4_mavlink_debug/px4_mavlink_debug.c
new file mode 100644
index 000000000..aa1eb5ed8
--- /dev/null
+++ b/src/examples/px4_mavlink_debug/px4_mavlink_debug.c
@@ -0,0 +1,74 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Example User 
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file px4_mavlink_debug.c
+ * Debug application example for PX4 autopilot
+ */
+
+#include 
+#include 
+#include 
+#include 
+
+#include 
+
+#include 
+#include 
+
+__EXPORT int px4_mavlink_debug_main(int argc, char *argv[]);
+
+int px4_mavlink_debug_main(int argc, char *argv[])
+{
+	printf("Hello Debug!\n");
+
+	/* advertise debug value */
+	struct debug_key_value_s dbg = { .key = "velx", .value = 0.0f };
+	orb_advert_t pub_dbg = orb_advertise(ORB_ID(debug_key_value), &dbg);
+
+	int value_counter = 0;
+
+	while (value_counter < 100) {
+		/* send one value */
+		dbg.value = value_counter;
+		orb_publish(ORB_ID(debug_key_value), pub_dbg, &dbg);
+
+		warnx("sent one more value..");
+
+		value_counter++;
+		usleep(500000);
+	}
+
+	return 0;
+}
diff --git a/src/examples/px4_simple_app/module.mk b/src/examples/px4_simple_app/module.mk
new file mode 100644
index 000000000..2c102fa50
--- /dev/null
+++ b/src/examples/px4_simple_app/module.mk
@@ -0,0 +1,40 @@
+############################################################################
+#
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Basic example application
+#
+
+MODULE_COMMAND		= px4_simple_app
+
+SRCS				= px4_simple_app.c
diff --git a/src/examples/px4_simple_app/px4_simple_app.c b/src/examples/px4_simple_app/px4_simple_app.c
new file mode 100644
index 000000000..7f655964d
--- /dev/null
+++ b/src/examples/px4_simple_app/px4_simple_app.c
@@ -0,0 +1,115 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Example User 
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file px4_simple_app.c
+ * Minimal application example for PX4 autopilot
+ */
+
+#include 
+#include 
+#include 
+#include 
+
+#include 
+#include 
+#include 
+
+__EXPORT int px4_simple_app_main(int argc, char *argv[]);
+
+int px4_simple_app_main(int argc, char *argv[])
+{
+	printf("Hello Sky!\n");
+
+	/* subscribe to sensor_combined topic */
+	int sensor_sub_fd = orb_subscribe(ORB_ID(sensor_combined));
+	orb_set_interval(sensor_sub_fd, 1000);
+
+	/* advertise attitude topic */
+	struct vehicle_attitude_s att;
+	memset(&att, 0, sizeof(att));
+	orb_advert_t att_pub = orb_advertise(ORB_ID(vehicle_attitude), &att);
+
+	/* one could wait for multiple topics with this technique, just using one here */
+	struct pollfd fds[] = {
+		{ .fd = sensor_sub_fd,   .events = POLLIN },
+		/* there could be more file descriptors here, in the form like:
+		 * { .fd = other_sub_fd,   .events = POLLIN },
+		 */
+	};
+
+	int error_counter = 0;
+
+	while (true) {
+		/* wait for sensor update of 1 file descriptor for 1000 ms (1 second) */
+		int poll_ret = poll(fds, 1, 1000);
+	 
+		/* handle the poll result */
+		if (poll_ret == 0) {
+			/* this means none of our providers is giving us data */
+			printf("[px4_simple_app] Got no data within a second\n");
+		} else if (poll_ret < 0) {
+			/* this is seriously bad - should be an emergency */
+			if (error_counter < 10 || error_counter % 50 == 0) {
+				/* use a counter to prevent flooding (and slowing us down) */
+				printf("[px4_simple_app] ERROR return value from poll(): %d\n"
+					, poll_ret);
+			}
+			error_counter++;
+		} else {
+	 
+			if (fds[0].revents & POLLIN) {
+				/* obtained data for the first file descriptor */
+				struct sensor_combined_s raw;
+				/* copy sensors raw data into local buffer */
+				orb_copy(ORB_ID(sensor_combined), sensor_sub_fd, &raw);
+				printf("[px4_simple_app] Accelerometer:\t%8.4f\t%8.4f\t%8.4f\n",
+					(double)raw.accelerometer_m_s2[0],
+					(double)raw.accelerometer_m_s2[1],
+					(double)raw.accelerometer_m_s2[2]);
+
+				/* set att and publish this information for other apps */
+				att.roll = raw.accelerometer_m_s2[0];
+				att.pitch = raw.accelerometer_m_s2[1];
+				att.yaw = raw.accelerometer_m_s2[2];
+				orb_publish(ORB_ID(vehicle_attitude), att_pub, &att);
+			}
+			/* there could be more file descriptors here, in the form like:
+			 * if (fds[1..n].revents & POLLIN) {}
+			 */
+		}
+	}
+
+	return 0;
+}
-- 
cgit v1.2.3


From 6479ebcc735a96b316bc0624a8b3795bc5677d4e Mon Sep 17 00:00:00 2001
From: Lorenz Meier 
Date: Sun, 28 Apr 2013 14:54:06 +0200
Subject: General app cleanup for FMU

---
 apps/examples/Makefile             |  1 -
 makefiles/config_px4fmu_default.mk |  4 +---
 makefiles/setup.mk                 |  3 ---
 src/drivers/led/Makefile           | 38 --------------------------------------
 src/drivers/led/module.mk          | 38 ++++++++++++++++++++++++++++++++++++++
 5 files changed, 39 insertions(+), 45 deletions(-)
 delete mode 100644 src/drivers/led/Makefile
 create mode 100644 src/drivers/led/module.mk

(limited to 'src')

diff --git a/apps/examples/Makefile b/apps/examples/Makefile
index 201be955b..6b614b1aa 100644
--- a/apps/examples/Makefile
+++ b/apps/examples/Makefile
@@ -38,7 +38,6 @@
 # Sub-directories
 
 SUBDIRS  = adc can cdcacm nsh
-SUBDIRS += math_demo control_demo kalman_demo px4_deamon_app 
 
 #SUBDIRS  = adc buttons can cdcacm composite cxxtest dhcpd discover elf ftpc
 #SUBDIRS += ftpd hello helloxx hidkbd igmp json keypadtest lcdrw mm modbus mount
diff --git a/makefiles/config_px4fmu_default.mk b/makefiles/config_px4fmu_default.mk
index d196ccaf8..043c8af40 100644
--- a/makefiles/config_px4fmu_default.mk
+++ b/makefiles/config_px4fmu_default.mk
@@ -115,7 +115,5 @@ endef
 
 #                  command                 priority                   stack  entrypoint
 BUILTIN_COMMANDS := \
-	$(call _B, math_demo,              ,                          8192,  math_demo_main             ) \
 	$(call _B, sercon,                 ,                          2048,  sercon_main                ) \
-	$(call _B, serdis,                 ,                          2048,  serdis_main                ) \
-	$(call _B, uorb,                   ,                          4096,  uorb_main                  )
+	$(call _B, serdis,                 ,                          2048,  serdis_main                )
diff --git a/makefiles/setup.mk b/makefiles/setup.mk
index 3c910bcfa..8072ec791 100644
--- a/makefiles/setup.mk
+++ b/makefiles/setup.mk
@@ -59,9 +59,6 @@ export INCLUDE_DIRS	:= $(PX4_MODULE_SRC) \
 			   $(PX4_MODULE_SRC)/modules/ \
 			   $(PX4_INCLUDE_DIR)
 
-# Include from legacy app/library path
-export INCLUDE_DIRS	+= $(NUTTX_APP_SRC)
-
 #
 # Tools
 #
diff --git a/src/drivers/led/Makefile b/src/drivers/led/Makefile
deleted file mode 100644
index 7de188259..000000000
--- a/src/drivers/led/Makefile
+++ /dev/null
@@ -1,38 +0,0 @@
-############################################################################
-#
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-#
-# Makefile to build the LED driver.
-#
-
-include $(APPDIR)/mk/app.mk
diff --git a/src/drivers/led/module.mk b/src/drivers/led/module.mk
new file mode 100644
index 000000000..777f3e442
--- /dev/null
+++ b/src/drivers/led/module.mk
@@ -0,0 +1,38 @@
+############################################################################
+#
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Build the LED driver.
+#
+
+SRCS		= led.cpp
-- 
cgit v1.2.3


From 0eafc2ade1dce974d5f7bdf05ca7678fa0b59ab0 Mon Sep 17 00:00:00 2001
From: Lorenz Meier 
Date: Sun, 28 Apr 2013 14:54:44 +0200
Subject: IO compiling

---
 nuttx/configs/px4io/include/board.h       | 11 +++++++++++
 nuttx/configs/px4io/io/appconfig          |  8 --------
 src/drivers/boards/px4io/px4io_init.c     |  8 ++++++++
 src/drivers/boards/px4io/px4io_internal.h |  4 +++-
 src/modules/px4iofirmware/controls.c      |  4 ++--
 src/modules/px4iofirmware/module.mk       | 11 ++++++-----
 src/modules/px4iofirmware/px4io.c         |  8 +++++++-
 src/modules/px4iofirmware/px4io.h         | 25 ++++++++++++++++++-------
 src/modules/px4iofirmware/registers.c     |  2 +-
 9 files changed, 56 insertions(+), 25 deletions(-)

(limited to 'src')

diff --git a/nuttx/configs/px4io/include/board.h b/nuttx/configs/px4io/include/board.h
index d941985b4..fcbc93620 100755
--- a/nuttx/configs/px4io/include/board.h
+++ b/nuttx/configs/px4io/include/board.h
@@ -100,12 +100,19 @@
  * Some of the USART pins are not available; override the GPIO
  * definitions with an invalid pin configuration.
  */
+#undef GPIO_USART2_CTS
 #define GPIO_USART2_CTS	0xffffffff
+#undef GPIO_USART2_RTS
 #define GPIO_USART2_RTS	0xffffffff
+#undef GPIO_USART2_CK
 #define GPIO_USART2_CK 	0xffffffff
+#undef GPIO_USART3_TX
 #define GPIO_USART3_TX 	0xffffffff
+#undef GPIO_USART3_CK
 #define GPIO_USART3_CK 	0xffffffff
+#undef GPIO_USART3_CTS
 #define GPIO_USART3_CTS	0xffffffff
+#undef GPIO_USART3_RTS
 #define GPIO_USART3_RTS	0xffffffff
 
 /* 
@@ -156,6 +163,10 @@ extern "C" {
  ************************************************************************************/
 
 EXTERN void stm32_boardinitialize(void);
+    
+#if defined(__cplusplus)
+}
+#endif
 
 #endif /* __ASSEMBLY__ */
 #endif  /* __ARCH_BOARD_BOARD_H */
diff --git a/nuttx/configs/px4io/io/appconfig b/nuttx/configs/px4io/io/appconfig
index 628607a51..48a41bcdb 100644
--- a/nuttx/configs/px4io/io/appconfig
+++ b/nuttx/configs/px4io/io/appconfig
@@ -30,11 +30,3 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
-
-CONFIGURED_APPS += drivers/boards/px4io
-CONFIGURED_APPS += drivers/stm32
-
-CONFIGURED_APPS += px4io
-
-# Mixer library from systemlib
-CONFIGURED_APPS += systemlib/mixer
diff --git a/src/drivers/boards/px4io/px4io_init.c b/src/drivers/boards/px4io/px4io_init.c
index 14e8dc13a..d36353c6f 100644
--- a/src/drivers/boards/px4io/px4io_init.c
+++ b/src/drivers/boards/px4io/px4io_init.c
@@ -86,9 +86,17 @@ __EXPORT void stm32_boardinitialize(void)
 	stm32_configgpio(GPIO_SERVO_PWR_EN);
 	stm32_configgpio(GPIO_RELAY1_EN);
 	stm32_configgpio(GPIO_RELAY2_EN);
+
+    	/* turn off - all leds are active low */
+	stm32_gpiowrite(GPIO_LED1, true);
+	stm32_gpiowrite(GPIO_LED2, true);
+	stm32_gpiowrite(GPIO_LED3, true);
+
+	/* LED config */
 	stm32_configgpio(GPIO_LED1);
 	stm32_configgpio(GPIO_LED2);
 	stm32_configgpio(GPIO_LED3);
+
 	stm32_configgpio(GPIO_ACC_OC_DETECT);
 	stm32_configgpio(GPIO_SERVO_OC_DETECT);
 	stm32_configgpio(GPIO_BTN_SAFETY);
diff --git a/src/drivers/boards/px4io/px4io_internal.h b/src/drivers/boards/px4io/px4io_internal.h
index 44bb98513..eb2820bb7 100644
--- a/src/drivers/boards/px4io/px4io_internal.h
+++ b/src/drivers/boards/px4io/px4io_internal.h
@@ -32,7 +32,9 @@
  ****************************************************************************/
  
 /**
- * @file PX4IO hardware definitions.
+ * @file px4io_internal.h
+ * 
+ * PX4IO hardware definitions.
  */
 
 #pragma once
diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c
index dc36f6c93..25eeca3be 100644
--- a/src/modules/px4iofirmware/controls.c
+++ b/src/modules/px4iofirmware/controls.c
@@ -288,8 +288,8 @@ controls_tick() {
 			r_status_flags |= PX4IO_P_STATUS_FLAGS_OVERRIDE;
 
 			/* mix new RC input control values to servos */
-			if (dsm_updated || sbus_updated || ppm_updated)
-				mixer_tick();
+			//if (dsm_updated || sbus_updated || ppm_updated)
+			//	mixer_tick();
 
 		} else {
 			r_status_flags &= ~PX4IO_P_STATUS_FLAGS_OVERRIDE;
diff --git a/src/modules/px4iofirmware/module.mk b/src/modules/px4iofirmware/module.mk
index 82b8f16d3..53d1ec2b9 100644
--- a/src/modules/px4iofirmware/module.mk
+++ b/src/modules/px4iofirmware/module.mk
@@ -8,11 +8,12 @@ SRCS		= adc.c \
 		  registers.c \
 		  safety.c \
 		  sbus.c \
-		  mixer.cpp \
-		  ../systemlib/mixer/mixer.cpp \
-		  ../systemlib/mixer/mixer_group.cpp \
-		  ../systemlib/mixer/mixer_multirotor.cpp \
-		  ../systemlib/mixer/mixer_simple.cpp \
 		  ../systemlib/up_cxxinitialize.c \
 		  ../systemlib/hx_stream.c \
 		  ../systemlib/perf_counter.c
+
+#		  mixer.cpp \
+#		  ../systemlib/mixer/mixer.cpp \
+#		  ../systemlib/mixer/mixer_group.cpp \
+#		  ../systemlib/mixer/mixer_multirotor.cpp \
+#		  ../systemlib/mixer/mixer_simple.cpp \
\ No newline at end of file
diff --git a/src/modules/px4iofirmware/px4io.c b/src/modules/px4iofirmware/px4io.c
index 9de37e118..6244b1551 100644
--- a/src/modules/px4iofirmware/px4io.c
+++ b/src/modules/px4iofirmware/px4io.c
@@ -64,8 +64,10 @@ struct sys_state_s 	system_state;
 
 static struct hrt_call serial_dma_call;
 
+#ifdef CONFIG_STM32_I2C1
 /* store i2c reset count XXX this should be a register, together with other error counters */
 volatile uint32_t i2c_loop_resets = 0;
+#endif
 
 /*
  * a set of debug buffers to allow us to send debug information from ISRs
@@ -133,7 +135,9 @@ user_start(int argc, char *argv[])
 	 * Poll at 1ms intervals for received bytes that have not triggered
 	 * a DMA event.
 	 */
+#ifdef CONFIG_ARCH_DMA
 	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
+#endif
 
 	/* print some startup info */
 	lowsyslog("\nPX4IO: starting\n");
@@ -155,8 +159,10 @@ user_start(int argc, char *argv[])
 	/* initialise the control inputs */
 	controls_init();
 
+#ifdef CONFIG_STM32_I2C1
 	/* start the i2c handler */
 	i2c_init();
+#endif
 
 	/* add a performance counter for mixing */
 	perf_counter_t mixer_perf = perf_alloc(PC_ELAPSED, "mix");
@@ -201,7 +207,7 @@ user_start(int argc, char *argv[])
 
 		/* kick the mixer */
 		perf_begin(mixer_perf);
-		mixer_tick();
+		// mixer_tick();
 		perf_end(mixer_perf);
 
 		/* kick the control inputs */
diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h
index 202e9d9d9..3647842c0 100644
--- a/src/modules/px4iofirmware/px4io.h
+++ b/src/modules/px4iofirmware/px4io.h
@@ -124,10 +124,18 @@ extern struct sys_state_s system_state;
 #define LED_SAFETY(_s)		stm32_gpiowrite(GPIO_LED3, !(_s))
 
 #define POWER_SERVO(_s)		stm32_gpiowrite(GPIO_SERVO_PWR_EN, (_s))
-#define POWER_ACC1(_s)		stm32_gpiowrite(GPIO_ACC1_PWR_EN, (_s))
-#define POWER_ACC2(_s)		stm32_gpiowrite(GPIO_ACC2_PWR_EN, (_s))
-#define POWER_RELAY1(_s)	stm32_gpiowrite(GPIO_RELAY1_EN, (_s))
-#define POWER_RELAY2(_s)	stm32_gpiowrite(GPIO_RELAY2_EN, (_s))
+#ifdef GPIO_ACC1_PWR_EN
+    #define POWER_ACC1(_s)		stm32_gpiowrite(GPIO_ACC1_PWR_EN, (_s))
+#endif
+#ifdef GPIO_ACC2_PWR_EN
+    #define POWER_ACC2(_s)		stm32_gpiowrite(GPIO_ACC2_PWR_EN, (_s))
+#endif
+#ifdef GPIO_RELAY1_EN
+    #define POWER_RELAY1(_s)	stm32_gpiowrite(GPIO_RELAY1_EN, (_s))
+#endif
+#ifdef GPIO_RELAY2_EN
+    #define POWER_RELAY2(_s)	stm32_gpiowrite(GPIO_RELAY2_EN, (_s))
+#endif
 
 #define OVERCURRENT_ACC		(!stm32_gpioread(GPIO_ACC_OC_DETECT))
 #define OVERCURRENT_SERVO	(!stm32_gpioread(GPIO_SERVO_OC_DETECT))
@@ -140,18 +148,20 @@ extern struct sys_state_s system_state;
 /*
  * Mixer
  */
-extern void	mixer_tick(void);
-extern void	mixer_handle_text(const void *buffer, size_t length);
+//extern void	mixer_tick(void);
+//extern void	mixer_handle_text(const void *buffer, size_t length);
 
 /**
  * Safety switch/LED.
  */
 extern void	safety_init(void);
 
+#ifdef CONFIG_STM32_I2C1
 /**
  * FMU communications
  */
 extern void	i2c_init(void);
+#endif
 
 /**
  * Register space
@@ -183,6 +193,7 @@ extern volatile uint8_t debug_level;
 /* send a debug message to the console */
 extern void isr_debug(uint8_t level, const char *fmt, ...);
 
+#ifdef CONFIG_STM32_I2C1
 void i2c_dump(void);
 void i2c_reset(void);
-
+#endif
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c
index 6c09def9e..64a87a58b 100644
--- a/src/modules/px4iofirmware/registers.c
+++ b/src/modules/px4iofirmware/registers.c
@@ -245,7 +245,7 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
 
 		/* handle text going to the mixer parser */
 	case PX4IO_PAGE_MIXERLOAD:
-		mixer_handle_text(values, num_values * sizeof(*values));
+		//mixer_handle_text(values, num_values * sizeof(*values));
 		break;
 
 	default:
-- 
cgit v1.2.3


From dc2c3cad3e8897d7ae299d41d16845000efe3c69 Mon Sep 17 00:00:00 2001
From: Lorenz Meier 
Date: Sun, 28 Apr 2013 14:59:42 +0200
Subject: Re-enabled mixer

---
 src/modules/px4iofirmware/controls.c  |  4 ++--
 src/modules/px4iofirmware/module.mk   | 14 +++++++-------
 src/modules/px4iofirmware/px4io.c     |  2 +-
 src/modules/px4iofirmware/px4io.h     |  4 ++--
 src/modules/px4iofirmware/registers.c |  2 +-
 5 files changed, 13 insertions(+), 13 deletions(-)

(limited to 'src')

diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c
index 25eeca3be..dc36f6c93 100644
--- a/src/modules/px4iofirmware/controls.c
+++ b/src/modules/px4iofirmware/controls.c
@@ -288,8 +288,8 @@ controls_tick() {
 			r_status_flags |= PX4IO_P_STATUS_FLAGS_OVERRIDE;
 
 			/* mix new RC input control values to servos */
-			//if (dsm_updated || sbus_updated || ppm_updated)
-			//	mixer_tick();
+			if (dsm_updated || sbus_updated || ppm_updated)
+				mixer_tick();
 
 		} else {
 			r_status_flags &= ~PX4IO_P_STATUS_FLAGS_OVERRIDE;
diff --git a/src/modules/px4iofirmware/module.mk b/src/modules/px4iofirmware/module.mk
index 53d1ec2b9..6379366f4 100644
--- a/src/modules/px4iofirmware/module.mk
+++ b/src/modules/px4iofirmware/module.mk
@@ -10,10 +10,10 @@ SRCS		= adc.c \
 		  sbus.c \
 		  ../systemlib/up_cxxinitialize.c \
 		  ../systemlib/hx_stream.c \
-		  ../systemlib/perf_counter.c
-
-#		  mixer.cpp \
-#		  ../systemlib/mixer/mixer.cpp \
-#		  ../systemlib/mixer/mixer_group.cpp \
-#		  ../systemlib/mixer/mixer_multirotor.cpp \
-#		  ../systemlib/mixer/mixer_simple.cpp \
\ No newline at end of file
+		  ../systemlib/perf_counter.c \
+		  mixer.cpp \
+		  ../systemlib/mixer/mixer.cpp \
+		  ../systemlib/mixer/mixer_group.cpp \
+		  ../systemlib/mixer/mixer_multirotor.cpp \
+		  ../systemlib/mixer/mixer_simple.cpp \
+		  
\ No newline at end of file
diff --git a/src/modules/px4iofirmware/px4io.c b/src/modules/px4iofirmware/px4io.c
index 6244b1551..bc8dfc116 100644
--- a/src/modules/px4iofirmware/px4io.c
+++ b/src/modules/px4iofirmware/px4io.c
@@ -207,7 +207,7 @@ user_start(int argc, char *argv[])
 
 		/* kick the mixer */
 		perf_begin(mixer_perf);
-		// mixer_tick();
+		mixer_tick();
 		perf_end(mixer_perf);
 
 		/* kick the control inputs */
diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h
index 3647842c0..272cdb7bf 100644
--- a/src/modules/px4iofirmware/px4io.h
+++ b/src/modules/px4iofirmware/px4io.h
@@ -148,8 +148,8 @@ extern struct sys_state_s system_state;
 /*
  * Mixer
  */
-//extern void	mixer_tick(void);
-//extern void	mixer_handle_text(const void *buffer, size_t length);
+extern void	mixer_tick(void);
+extern void	mixer_handle_text(const void *buffer, size_t length);
 
 /**
  * Safety switch/LED.
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c
index 64a87a58b..6c09def9e 100644
--- a/src/modules/px4iofirmware/registers.c
+++ b/src/modules/px4iofirmware/registers.c
@@ -245,7 +245,7 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
 
 		/* handle text going to the mixer parser */
 	case PX4IO_PAGE_MIXERLOAD:
-		//mixer_handle_text(values, num_values * sizeof(*values));
+		mixer_handle_text(values, num_values * sizeof(*values));
 		break;
 
 	default:
-- 
cgit v1.2.3


From 8d3a738b7011ab77bab7ac89c5314fdc7c663890 Mon Sep 17 00:00:00 2001
From: px4dev 
Date: Sun, 28 Apr 2013 13:00:32 -0700
Subject: Remove some trash files.

---
 src/modules/position_estimator/.context | 0
 src/modules/uORB/.context               | 0
 2 files changed, 0 insertions(+), 0 deletions(-)
 delete mode 100644 src/modules/position_estimator/.context
 delete mode 100644 src/modules/uORB/.context

(limited to 'src')

diff --git a/src/modules/position_estimator/.context b/src/modules/position_estimator/.context
deleted file mode 100644
index e69de29bb..000000000
diff --git a/src/modules/uORB/.context b/src/modules/uORB/.context
deleted file mode 100644
index e69de29bb..000000000
-- 
cgit v1.2.3


From d0122dccfc28869414f0e9cd2cb1d9f131c3fd20 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell 
Date: Sat, 4 May 2013 18:44:37 +1000
Subject: hmc5883: fixed use of onboard I2C compass

---
 src/drivers/hmc5883/hmc5883.cpp | 14 ++++++++++----
 1 file changed, 10 insertions(+), 4 deletions(-)

(limited to 'src')

diff --git a/src/drivers/hmc5883/hmc5883.cpp b/src/drivers/hmc5883/hmc5883.cpp
index c406a7588..78eda327c 100644
--- a/src/drivers/hmc5883/hmc5883.cpp
+++ b/src/drivers/hmc5883/hmc5883.cpp
@@ -1225,19 +1225,25 @@ start()
 
 	/* create the driver, attempt expansion bus first */
 	g_dev = new HMC5883(PX4_I2C_BUS_EXPANSION);
+	if (g_dev != nullptr && OK != g_dev->init()) {
+		delete g_dev;
+		g_dev = nullptr;
+	}
+			
 
 #ifdef PX4_I2C_BUS_ONBOARD
 	/* if this failed, attempt onboard sensor */
-	if (g_dev == nullptr)
+	if (g_dev == nullptr) {
 		g_dev = new HMC5883(PX4_I2C_BUS_ONBOARD);
+		if (g_dev != nullptr && OK != g_dev->init()) {
+			goto fail;
+		}
+	}
 #endif
 
 	if (g_dev == nullptr)
 		goto fail;
 
-	if (OK != g_dev->init())
-		goto fail;
-
 	/* set the poll rate to default, starts automatic data collection */
 	fd = open(MAG_DEVICE_PATH, O_RDONLY);
 
-- 
cgit v1.2.3


From 421253e6db6c5e716c84ac505a8caef679ea97ee Mon Sep 17 00:00:00 2001
From: Andrew Tridgell 
Date: Sun, 21 Apr 2013 14:28:56 +1000
Subject: px4io: allow set of output rates above 400 and below 50

let the IO board decide if the rate is reasonable, and limit it there

this fixes the rates on ArduCopter, which try for 490
---
 src/drivers/px4io/px4io.cpp | 6 +-----
 1 file changed, 1 insertion(+), 5 deletions(-)

(limited to 'src')

diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 4c2f1736f..d8b5c51c4 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -1336,11 +1336,7 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
 
 	case PWM_SERVO_SET_UPDATE_RATE:
 		/* set the requested alternate rate */
-		if ((arg >= 50) && (arg <= 400)) {	/* TODO: we could go higher for e.g. TurboPWM */
-			ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_ALTRATE, arg);
-		} else {
-			ret = -EINVAL;
-		}
+		ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_ALTRATE, arg);
 		break;
 
 	case PWM_SERVO_SELECT_UPDATE_RATE: {
-- 
cgit v1.2.3


From fc572906b7693d910ded443632e8608b200a7933 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell 
Date: Thu, 25 Apr 2013 20:11:25 +1000
Subject: px4io: ensure upload device is closed after use

this should release it for PWM use
---
 src/drivers/px4io/uploader.cpp | 17 ++++++++++++++++-
 1 file changed, 16 insertions(+), 1 deletion(-)

(limited to 'src')

diff --git a/src/drivers/px4io/uploader.cpp b/src/drivers/px4io/uploader.cpp
index 9a67875e8..15524c3ae 100644
--- a/src/drivers/px4io/uploader.cpp
+++ b/src/drivers/px4io/uploader.cpp
@@ -127,6 +127,8 @@ PX4IO_Uploader::upload(const char *filenames[])
 	if (ret != OK) {
 		/* this is immediately fatal */
 		log("bootloader not responding");
+		close(_io_fd);
+		_io_fd = -1;
 		return -EIO;
 	}
 
@@ -145,18 +147,25 @@ PX4IO_Uploader::upload(const char *filenames[])
 
 	if (filename == NULL) {
 		log("no firmware found");
+		close(_io_fd);
+		_io_fd = -1;
 		return -ENOENT;
 	}
 
 	struct stat st;
 	if (stat(filename, &st) != 0) {
 		log("Failed to stat %s - %d\n", filename, (int)errno);
+		close(_io_fd);
+		_io_fd = -1;
 		return -errno;
 	}
 	fw_size = st.st_size;
 
-	if (_fw_fd == -1)
+	if (_fw_fd == -1) {
+		close(_io_fd);
+		_io_fd = -1;
 		return -ENOENT;
+	}
 
 	/* do the usual program thing - allow for failure */
 	for (unsigned retries = 0; retries < 1; retries++) {
@@ -167,6 +176,8 @@ PX4IO_Uploader::upload(const char *filenames[])
 			if (ret != OK) {
 				/* this is immediately fatal */
 				log("bootloader not responding");
+				close(_io_fd);
+				_io_fd = -1;
 				return -EIO;
 			}
 		}
@@ -178,6 +189,8 @@ PX4IO_Uploader::upload(const char *filenames[])
 				log("found bootloader revision: %d", bl_rev);
 			} else {
 				log("found unsupported bootloader revision %d, exiting", bl_rev);
+				close(_io_fd);
+				_io_fd = -1;
 				return OK;
 			}
 		}
@@ -221,6 +234,8 @@ PX4IO_Uploader::upload(const char *filenames[])
 	}
 
 	close(_fw_fd);
+	close(_io_fd);
+	_io_fd = -1;
 	return ret;
 }
 
-- 
cgit v1.2.3


From ff7712ca3e752141e54f3cbf15198a62429617f7 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell 
Date: Thu, 25 Apr 2013 20:13:03 +1000
Subject: pwm: added -m option

this allows setting of the channel mask directly, which is useful for
testing
---
 src/systemcmds/pwm/pwm.c | 19 +++++++++++++++++--
 1 file changed, 17 insertions(+), 2 deletions(-)

(limited to 'src')

diff --git a/src/systemcmds/pwm/pwm.c b/src/systemcmds/pwm/pwm.c
index de7a53199..08e6c88df 100644
--- a/src/systemcmds/pwm/pwm.c
+++ b/src/systemcmds/pwm/pwm.c
@@ -71,13 +71,14 @@ usage(const char *reason)
 		warnx("%s", reason);
 	errx(1, 
 		"usage:\n"
-		"pwm [-v] [-d ] [-u ] [-c ] [arm|disarm] [ ...]\n"
+		"pwm [-v] [-d ] [-u ] [-c ] [-m chanmask ] [arm|disarm] [ ...]\n"
 		"  -v                 Print information about the PWM device\n"
 		"             PWM output device (defaults to " PWM_OUTPUT_DEVICE_PATH ")\n"
 		"           PWM update rate for channels in \n"
 		"      Channel group that should update at the alternate rate (may be specified more than once)\n"
 		"  arm | disarm       Arm or disarm the ouptut\n"
 		"  ... PWM output values in microseconds to assign to the PWM outputs\n"
+	        "           Directly supply alt rate channel mask\n"
 		"\n"
 		"When -c is specified, any channel groups not listed with -c will update at the default rate.\n"
 		);
@@ -96,11 +97,12 @@ pwm_main(int argc, char *argv[])
 	int ret;
 	char *ep;
 	unsigned group;
+	int32_t set_mask = -1;
 
 	if (argc < 2)
 		usage(NULL);
 
-	while ((ch = getopt(argc, argv, "c:d:u:v")) != EOF) {
+	while ((ch = getopt(argc, argv, "c:d:u:vm:")) != EOF) {
 		switch (ch) {
 		case 'c':
 			group = strtoul(optarg, &ep, 0);
@@ -120,6 +122,12 @@ pwm_main(int argc, char *argv[])
 				usage("bad alt_rate value");
 			break;
 
+		case 'm':
+			set_mask = strtol(optarg, &ep, 0);
+			if (*ep != '\0')
+				usage("bad set_mask value");
+			break;
+
 		case 'v':
 			print_info = true;
 			break;
@@ -143,6 +151,13 @@ pwm_main(int argc, char *argv[])
 			err(1, "PWM_SERVO_SET_UPDATE_RATE (check rate for sanity)");
 	}
 
+	/* directly supplied channel mask */
+	if (set_mask != -1) {
+		ret = ioctl(fd, PWM_SERVO_SELECT_UPDATE_RATE, set_mask);
+		if (ret != OK)
+			err(1, "PWM_SERVO_SELECT_UPDATE_RATE");
+	}
+
 	/* assign alternate rate to channel groups */
 	if (alt_channels_set) {
 		uint32_t mask = 0;
-- 
cgit v1.2.3


From 44015d69154062d42ecc3aa0c9b25d7019bd5a71 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell 
Date: Wed, 1 May 2013 15:06:13 +1000
Subject: px4io: return raw ADC value for current

we don't know how to scale it as we have no info on what sensor is
attached. As we are returning a uint16_t it is better to let the FMU
sort it out or we'll just lose precision.
---
 src/modules/px4iofirmware/protocol.h  |  4 +---
 src/modules/px4iofirmware/registers.c | 16 ++++++++--------
 2 files changed, 9 insertions(+), 11 deletions(-)

(limited to 'src')

diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h
index 8d8b7e941..b80551a07 100644
--- a/src/modules/px4iofirmware/protocol.h
+++ b/src/modules/px4iofirmware/protocol.h
@@ -115,7 +115,7 @@
 #define PX4IO_P_STATUS_ALARMS_PWM_ERROR		(1 << 6) /* PWM configuration or output was bad */
 
 #define PX4IO_P_STATUS_VBATT			4	/* battery voltage in mV */
-#define PX4IO_P_STATUS_IBATT			5	/* battery current in cA */
+#define PX4IO_P_STATUS_IBATT			5	/* battery current (raw ADC) */
 
 /* array of post-mix actuator outputs, -10000..10000 */
 #define PX4IO_PAGE_ACTUATORS		2		/* 0..CONFIG_ACTUATOR_COUNT-1 */
@@ -155,8 +155,6 @@
 #define PX4IO_P_SETUP_PWM_ALTRATE		4	/* 'high' PWM frame output rate in Hz */
 #define PX4IO_P_SETUP_RELAYS			5	/* bitmask of relay/switch outputs, 0 = off, 1 = on */
 #define PX4IO_P_SETUP_VBATT_SCALE		6	/* battery voltage correction factor (float) */
-#define PX4IO_P_SETUP_IBATT_SCALE		7	/* battery current scaling factor (float) */
-#define PX4IO_P_SETUP_IBATT_BIAS		8	/* battery current bias value */
 #define PX4IO_P_SETUP_SET_DEBUG			9	/* debug level for IO board */
 
 /* autopilot control values, -10000..10000 */
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c
index 6c09def9e..9f9c50048 100644
--- a/src/modules/px4iofirmware/registers.c
+++ b/src/modules/px4iofirmware/registers.c
@@ -138,8 +138,6 @@ volatile uint16_t	r_page_setup[] =
 	[PX4IO_P_SETUP_PWM_ALTRATE]		= 200,
 	[PX4IO_P_SETUP_RELAYS]			= 0,
 	[PX4IO_P_SETUP_VBATT_SCALE]		= 10000,
-	[PX4IO_P_SETUP_IBATT_SCALE]		= 0,
-	[PX4IO_P_SETUP_IBATT_BIAS]		= 0,
 	[PX4IO_P_SETUP_SET_DEBUG]		= 0,
 };
 
@@ -516,12 +514,14 @@ registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_val
 
 		/* PX4IO_P_STATUS_IBATT */
 		{
-			unsigned counts = adc_measure(ADC_VBATT);
-			unsigned scaled = (counts * r_page_setup[PX4IO_P_SETUP_IBATT_SCALE]) / 10000;
-			int corrected = scaled + REG_TO_SIGNED(r_page_setup[PX4IO_P_SETUP_IBATT_BIAS]);
-			if (corrected < 0)
-				corrected = 0;
-			r_page_status[PX4IO_P_STATUS_IBATT] = corrected;
+			/*
+			  note that we have no idea what sort of
+			  current sensor is attached, so we just
+			  return the raw 12 bit ADC value and let the
+			  FMU sort it out, with user selectable
+			  configuration for their sensor
+			 */
+			r_page_status[PX4IO_P_STATUS_IBATT] = adc_measure(ADC_IN5);
 		}
 
 		SELECT_PAGE(r_page_status);
-- 
cgit v1.2.3


From af27101ffecf2ad4642b1ced23640ff133c7246f Mon Sep 17 00:00:00 2001
From: Andrew Tridgell 
Date: Thu, 2 May 2013 21:27:20 +1000
Subject: px4io: changed adc_measure() to return 0xffff on error, and lower
 timeout

the timeout of 1ms was far too long, and could impact flight
performance

Returning 0xffff on error matches the FMU code, and allows bad values
to be discarded
---
 src/modules/px4iofirmware/adc.c | 10 +++++++---
 1 file changed, 7 insertions(+), 3 deletions(-)

(limited to 'src')

diff --git a/src/modules/px4iofirmware/adc.c b/src/modules/px4iofirmware/adc.c
index 670b8d635..f744698be 100644
--- a/src/modules/px4iofirmware/adc.c
+++ b/src/modules/px4iofirmware/adc.c
@@ -135,6 +135,9 @@ adc_init(void)
 	return 0;
 }
 
+/*
+  return one measurement, or 0xffff on error
+ */
 uint16_t
 adc_measure(unsigned channel)
 {
@@ -154,9 +157,10 @@ adc_measure(unsigned channel)
 	while (!(rSR & ADC_SR_EOC)) {
 
 		/* never spin forever - this will give a bogus result though */
-		if (hrt_elapsed_time(&now) > 1000) {
+		if (hrt_elapsed_time(&now) > 100) {
 			debug("adc timeout");
-			break;
+			perf_end(adc_perf);
+			return 0xffff;
 		}
 	}
 
@@ -165,4 +169,4 @@ adc_measure(unsigned channel)
 
 	perf_end(adc_perf);
 	return result;
-}
\ No newline at end of file
+}
-- 
cgit v1.2.3


From d7e04a361909fb65839fb8f2ab515ea17e5f6d77 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell 
Date: Thu, 2 May 2013 21:28:55 +1000
Subject: px4io: fixed voltage/current output and add discharged_mah
 calculation

this integrates the current over time to calculate discharged_mah, and
allows the scaling of the current and the bias to be set with the
px4io command
---
 src/drivers/px4io/px4io.cpp | 70 +++++++++++++++++++++++++++++++++++++--------
 1 file changed, 58 insertions(+), 12 deletions(-)

(limited to 'src')

diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index d8b5c51c4..b4703839b 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -108,6 +108,14 @@ public:
 	*/
 	int      set_update_rate(int rate);
 
+	/**
+	* Set the battery current scaling and bias
+	*
+	* @param amp_per_volt
+	* @param amp_bias
+	*/
+	void      set_battery_current_scaling(float amp_per_volt, float amp_bias);
+
 	/**
 	* Print the current status of IO
 	*/
@@ -151,6 +159,10 @@ private:
 
 	bool			_primary_pwm_device;	///< true if we are the default PWM output
 
+	float			_battery_amp_per_volt;
+	float			_battery_amp_bias;
+	float			_battery_mamphour_total;
+	uint64_t		_battery_last_timestamp;
 
 	/**
 	 * Trampoline to the worker task
@@ -314,6 +326,10 @@ PX4IO::PX4IO() :
 	_to_actuators_effective(0),
 	_to_outputs(0),
 	_to_battery(0),
+	_battery_amp_per_volt(90.0f/5.0f), // this matches the 3DR current sensor
+	_battery_amp_bias(0),
+	_battery_mamphour_total(0),
+	_battery_last_timestamp(0),
 	_primary_pwm_device(false)
 {
 	/* we need this potentially before it could be set in task_main */
@@ -884,11 +900,22 @@ PX4IO::io_get_status()
 		/* voltage is scaled to mV */
 		battery_status.voltage_v = regs[2] / 1000.0f;
 
-		/* current scaling should be to cA in order to avoid limiting at 65A */
-		battery_status.current_a = regs[3] / 100.f;
+		/*
+		  regs[3] contains the raw ADC count, as 12 bit ADC
+		  value, with full range being 3.3v
+		 */
+		battery_status.current_a = regs[3] * (3.3f/4096.0f) * _battery_amp_per_volt;
+		battery_status.current_a += _battery_amp_bias;
 
-		/* this requires integration over time - not currently implemented */
-		battery_status.discharged_mah = -1.0f;
+		/*
+		  integrate battery over time to get total mAh used
+		 */
+		if (_battery_last_timestamp != 0) {
+			_battery_mamphour_total += battery_status.current_a * 
+				(battery_status.timestamp - _battery_last_timestamp) * 1.0e-3f / 3600;
+		}
+		battery_status.discharged_mah = _battery_mamphour_total;
+		_battery_last_timestamp = battery_status.timestamp;
 
 		/* lazily publish the battery voltage */
 		if (_to_battery > 0) {
@@ -1245,9 +1272,14 @@ PX4IO::print_status()
 		((alarms & PX4IO_P_STATUS_ALARMS_FMU_LOST)      ? " FMU_LOST" : ""),
 		((alarms & PX4IO_P_STATUS_ALARMS_RC_LOST)       ? " RC_LOST" : ""),
 		((alarms & PX4IO_P_STATUS_ALARMS_PWM_ERROR)     ? " PWM_ERROR" : ""));
-	printf("vbatt %u ibatt %u\n",
-		io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_VBATT),
-		io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_IBATT));
+	printf("vbatt %u ibatt %u vbatt scale %u\n",
+	       io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_VBATT),
+	       io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_IBATT),
+	       io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VBATT_SCALE));
+	printf("amp_per_volt %.3f amp_offset %.3f mAhDischarged %.3f\n",
+	       _battery_amp_per_volt,
+	       _battery_amp_bias,
+	       _battery_mamphour_total);
 	printf("actuators");
 	for (unsigned i = 0; i < _max_actuators; i++)
 		printf(" %u", io_reg_get(PX4IO_PAGE_ACTUATORS, i));
@@ -1288,10 +1320,6 @@ PX4IO::print_status()
 		io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_DEFAULTRATE),
 		io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_ALTRATE),
 		io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS));
-	printf("vbatt scale %u ibatt scale %u ibatt bias %u\n",
-		io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VBATT_SCALE),
-		io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_IBATT_SCALE),
-		io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_IBATT_BIAS));
 	printf("debuglevel %u\n", io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SET_DEBUG));
 	printf("controls");
 	for (unsigned i = 0; i < _max_controls; i++)
@@ -1521,6 +1549,12 @@ PX4IO::set_update_rate(int rate)
 	return 0;
 }
 
+void
+PX4IO::set_battery_current_scaling(float amp_per_volt, float amp_bias)
+{
+	_battery_amp_per_volt = amp_per_volt;
+	_battery_amp_bias = amp_bias;
+}
 
 extern "C" __EXPORT int px4io_main(int argc, char *argv[]);
 
@@ -1658,6 +1692,18 @@ px4io_main(int argc, char *argv[])
 		exit(0);
 	}
 
+	if (!strcmp(argv[1], "current")) {
+		if (g_dev != nullptr) {
+			if ((argc > 3)) {
+				g_dev->set_battery_current_scaling(atof(argv[2]), atof(argv[3]));
+			} else {
+				errx(1, "missing argument (apm_per_volt, amp_offset)");
+				return 1;
+			}
+		}
+		exit(0);
+	}
+
 	if (!strcmp(argv[1], "recovery")) {
 
 		if (g_dev != nullptr) {
@@ -1785,5 +1831,5 @@ px4io_main(int argc, char *argv[])
 		monitor();
 
 	out:
-	errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug', 'recovery', 'limit' or 'update'");
+	errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug', 'recovery', 'limit', 'current' or 'update'");
 }
-- 
cgit v1.2.3


From 5b75519925a46165b108f1a6d59b6325e1022adc Mon Sep 17 00:00:00 2001
From: Andrew Tridgell 
Date: Thu, 2 May 2013 21:29:30 +1000
Subject: px4io: handle errors from adc_measure()

don't update the voltage/current values on error
---
 src/modules/px4iofirmware/registers.c | 13 +++++++++----
 1 file changed, 9 insertions(+), 4 deletions(-)

(limited to 'src')

diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c
index 9f9c50048..4f3addfea 100644
--- a/src/modules/px4iofirmware/registers.c
+++ b/src/modules/px4iofirmware/registers.c
@@ -506,10 +506,12 @@ registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_val
 			 * Intercept corrected for best results @ 12V.
 			 */
 			unsigned counts = adc_measure(ADC_VBATT);
-			unsigned mV = (4150 + (counts * 46)) / 10 - 200;
-			unsigned corrected = (mV * r_page_setup[PX4IO_P_SETUP_VBATT_SCALE]) / 10000;
+			if (counts != 0xffff) {
+				unsigned mV = (4150 + (counts * 46)) / 10 - 200;
+				unsigned corrected = (mV * r_page_setup[PX4IO_P_SETUP_VBATT_SCALE]) / 10000;
 
-			r_page_status[PX4IO_P_STATUS_VBATT] = corrected;
+				r_page_status[PX4IO_P_STATUS_VBATT] = corrected;
+			}
 		}
 
 		/* PX4IO_P_STATUS_IBATT */
@@ -521,7 +523,10 @@ registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_val
 			  FMU sort it out, with user selectable
 			  configuration for their sensor
 			 */
-			r_page_status[PX4IO_P_STATUS_IBATT] = adc_measure(ADC_IN5);
+			unsigned counts = adc_measure(ADC_IN5);
+			if (counts != 0xffff) {
+				r_page_status[PX4IO_P_STATUS_IBATT] = counts;
+			}
 		}
 
 		SELECT_PAGE(r_page_status);
-- 
cgit v1.2.3


From 8c6abe717db1f50c5d4b89f18e27f89608a9a1b8 Mon Sep 17 00:00:00 2001
From: Lorenz Meier 
Date: Sun, 5 May 2013 11:24:31 +0200
Subject: Moved BLCTRL driver to new world

---
 apps/drivers/mkblctrl/Makefile     |   44 --
 apps/drivers/mkblctrl/mkblctrl.cpp | 1442 ------------------------------------
 makefiles/config_px4fmu_default.mk |    1 +
 src/drivers/mkblctrl/mkblctrl.cpp  | 1442 ++++++++++++++++++++++++++++++++++++
 src/drivers/mkblctrl/module.mk     |   42 ++
 5 files changed, 1485 insertions(+), 1486 deletions(-)
 delete mode 100644 apps/drivers/mkblctrl/Makefile
 delete mode 100644 apps/drivers/mkblctrl/mkblctrl.cpp
 create mode 100644 src/drivers/mkblctrl/mkblctrl.cpp
 create mode 100644 src/drivers/mkblctrl/module.mk

(limited to 'src')

diff --git a/apps/drivers/mkblctrl/Makefile b/apps/drivers/mkblctrl/Makefile
deleted file mode 100644
index b3be2c468..000000000
--- a/apps/drivers/mkblctrl/Makefile
+++ /dev/null
@@ -1,44 +0,0 @@
-############################################################################
-#
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-#
-# Interface driver for the Mikrokopter BLCtrl
-#
-
-APPNAME		 = mkblctrl
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
-
-INCLUDES	 = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
-
-include $(APPDIR)/mk/app.mk
diff --git a/apps/drivers/mkblctrl/mkblctrl.cpp b/apps/drivers/mkblctrl/mkblctrl.cpp
deleted file mode 100644
index 3a735e26f..000000000
--- a/apps/drivers/mkblctrl/mkblctrl.cpp
+++ /dev/null
@@ -1,1442 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012,2013 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file mkblctrl.cpp
- *
- * Driver/configurator for the Mikrokopter BL-Ctrl.
- * Marco Bauer
- *
- */
-
-#include 
-
-#include 
-
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-
-#include 
-#include 
-
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-
-#include 
-#include 
-#include 
-#include 
-
-#include 
-#include 
-#include 
-
-#include 
-#include 
-
-#define I2C_BUS_SPEED					400000
-#define UPDATE_RATE						400
-#define MAX_MOTORS 						8
-#define BLCTRL_BASE_ADDR 				0x29
-#define BLCTRL_OLD 						0
-#define BLCTRL_NEW 						1
-#define BLCTRL_MIN_VALUE				-0.920F
-#define MOTOR_STATE_PRESENT_MASK		0x80
-#define MOTOR_STATE_ERROR_MASK		0x7F
-#define MOTOR_SPINUP_COUNTER			2500
-
-
-class MK : public device::I2C
-{
-public:
-	enum Mode {
-		MODE_2PWM,
-		MODE_4PWM,
-		MODE_NONE
-	};
-
-	enum MappingMode {
-		MAPPING_MK = 0,
-		MAPPING_PX4,
-	};
-
-	enum FrameType {
-		FRAME_PLUS = 0,
-		FRAME_X,
-	};
-
-	MK(int bus);
-	~MK();
-
-	virtual int	ioctl(file *filp, int cmd, unsigned long arg);
-	virtual int	init(unsigned motors);
-
-	int		set_mode(Mode mode);
-	int		set_pwm_rate(unsigned rate);
-	int		set_motor_count(unsigned count);
-	int		set_motor_test(bool motortest);
-	int		set_px4mode(int px4mode);
-	int		set_frametype(int frametype);
-	unsigned int		mk_check_for_blctrl(unsigned int count, bool showOutput);
-
-private:
-	static const unsigned _max_actuators = MAX_MOTORS;
-	static const bool	showDebug = false;
-
-	Mode		_mode;
-	int 		_update_rate;
-	int 		_current_update_rate;
-	int		_task;
-	int		_t_actuators;
-	int		_t_armed;
-	unsigned int		_motor;
-	int    _px4mode;
-	int    _frametype;
-	orb_advert_t	_t_outputs;
-	orb_advert_t	_t_actuators_effective;
-	unsigned int	_num_outputs;
-	bool		_primary_pwm_device;
-	bool     _motortest;
-
-	volatile bool	_task_should_exit;
-	bool		_armed;
-
-	unsigned long	debugCounter;
-
-	MixerGroup	*_mixers;
-
-	actuator_controls_s _controls;
-
-	static void	task_main_trampoline(int argc, char *argv[]);
-	void		task_main() __attribute__((noreturn));
-
-	static int	control_callback(uintptr_t handle,
-					 uint8_t control_group,
-					 uint8_t control_index,
-					 float &input);
-
-	int		pwm_ioctl(file *filp, int cmd, unsigned long arg);
-
-	struct GPIOConfig {
-		uint32_t	input;
-		uint32_t	output;
-		uint32_t	alt;
-	};
-
-	static const GPIOConfig	_gpio_tab[];
-	static const unsigned	_ngpio;
-
-	void		gpio_reset(void);
-	void		gpio_set_function(uint32_t gpios, int function);
-	void		gpio_write(uint32_t gpios, int function);
-	uint32_t	gpio_read(void);
-	int		gpio_ioctl(file *filp, int cmd, unsigned long arg);
-	int			mk_servo_arm(bool status);
-
-	int 		mk_servo_set(unsigned int chan, float val);
-	int 		mk_servo_set_test(unsigned int chan, float val);
-	int 		mk_servo_test(unsigned int chan);
-
-
-};
-
-const MK::GPIOConfig MK::_gpio_tab[] = {
-	{GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0},
-	{GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0},
-	{GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, GPIO_USART2_CTS_1},
-	{GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, GPIO_USART2_RTS_1},
-	{GPIO_GPIO4_INPUT, GPIO_GPIO4_OUTPUT, GPIO_USART2_TX_1},
-	{GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, GPIO_USART2_RX_1},
-	{GPIO_GPIO6_INPUT, GPIO_GPIO6_OUTPUT, GPIO_CAN2_TX_2},
-	{GPIO_GPIO7_INPUT, GPIO_GPIO7_OUTPUT, GPIO_CAN2_RX_2},
-};
-
-const unsigned MK::_ngpio = sizeof(MK::_gpio_tab) / sizeof(MK::_gpio_tab[0]);
-
-const int blctrlAddr_quad_plus[] = { 2, 2, -2, -2, 0, 0, 0, 0 };	// Addresstranslator for Quad + configuration
-const int blctrlAddr_hexa_plus[] = { 0, 2, 2, -2, 1, -3, 0, 0 };	// Addresstranslator for Hexa + configuration
-const int blctrlAddr_octo_plus[] = { 0, 3, -1, 0, 3, 0, 0, -5 };	// Addresstranslator for Octo + configuration
-
-const int blctrlAddr_quad_x[] = { 2, 2, -2, -2, 0, 0, 0, 0 };	// Addresstranslator for Quad X configuration
-const int blctrlAddr_hexa_x[] = { 2, 4, -2, 0, -3, -1, 0, 0 };	// Addresstranslator for Hexa X configuration
-const int blctrlAddr_octo_x[] = { 1, 4, 0, 1, -4, 1, 1, -4 };	// Addresstranslator for Octo X configuration
-
-const int blctrlAddr_px4[]  = { 0, 0, 0, 0, 0, 0, 0, 0};
-
-int addrTranslator[] = {0,0,0,0,0,0,0,0};
-
-struct MotorData_t
-{
-	unsigned int Version;                        // the version of the BL (0 = old)
-  unsigned int SetPoint;                       // written by attitude controller
-  unsigned int SetPointLowerBits;      // for higher Resolution of new BLs
-  unsigned int State;                          // 7 bit for I2C error counter, highest bit indicates if motor is present
-  unsigned int ReadMode;                       // select data to read
-  // the following bytes must be exactly in that order!
-  unsigned int Current;                        // in 0.1 A steps, read back from BL
-  unsigned int MaxPWM;                         // read back from BL is less than 255 if BL is in current limit
-  unsigned int Temperature;            // old BL-Ctrl will return a 255 here, the new version the temp. in
-  unsigned int RoundCount;
-};
-
-MotorData_t Motor[MAX_MOTORS];
-
-
-namespace
-{
-
-MK	*g_mk;
-
-} // namespace
-
-MK::MK(int bus) :
-	I2C("mkblctrl", "/dev/mkblctrl", bus, 0, I2C_BUS_SPEED),
-	_mode(MODE_NONE),
-	_update_rate(50),
-	_task(-1),
-	_t_actuators(-1),
-	_t_armed(-1),
-	_t_outputs(0),
-	_t_actuators_effective(0),
-	_num_outputs(0),
-	_motortest(false),
-	_motor(-1),
-	_px4mode(MAPPING_MK),
-	_frametype(FRAME_PLUS),
-	_primary_pwm_device(false),
-	_task_should_exit(false),
-	_armed(false),
-	_mixers(nullptr)
-{
-	_debug_enabled = true;
-}
-
-MK::~MK()
-{
-	if (_task != -1) {
-		/* tell the task we want it to go away */
-		_task_should_exit = true;
-
-		unsigned i = 10;
-
-		do {
-			/* wait 50ms - it should wake every 100ms or so worst-case */
-			usleep(50000);
-
-			/* if we have given up, kill it */
-			if (--i == 0) {
-				task_delete(_task);
-				break;
-			}
-
-		} while (_task != -1);
-	}
-
-	/* clean up the alternate device node */
-	if (_primary_pwm_device)
-		unregister_driver(PWM_OUTPUT_DEVICE_PATH);
-
-	g_mk = nullptr;
-}
-
-int
-MK::init(unsigned motors)
-{
-	_num_outputs = motors;
-	debugCounter = 0;
-	int ret;
-	ASSERT(_task == -1);
-
-	ret = I2C::init();
-
-	if (ret != OK) {
-		warnx("I2C init failed");
-		return ret;
-	}
-
-	usleep(500000);
-
-	/* try to claim the generic PWM output device node as well - it's OK if we fail at this */
-	ret = register_driver(PWM_OUTPUT_DEVICE_PATH, &fops, 0666, (void *)this);
-
-	if (ret == OK) {
-		log("default PWM output device");
-		_primary_pwm_device = true;
-	}
-
-	/* reset GPIOs */
-	gpio_reset();
-
-	/* start the IO interface task */
-	_task = task_spawn("mkblctrl",
-			   SCHED_DEFAULT,
-			   SCHED_PRIORITY_MAX -20,
-			   2048,
-			   (main_t)&MK::task_main_trampoline,
-			   nullptr);
-
-
-	if (_task < 0) {
-		debug("task start failed: %d", errno);
-		return -errno;
-	}
-
-	return OK;
-}
-
-void
-MK::task_main_trampoline(int argc, char *argv[])
-{
-	g_mk->task_main();
-}
-
-int
-MK::set_mode(Mode mode)
-{
-	/*
-	 * Configure for PWM output.
-	 *
-	 * Note that regardless of the configured mode, the task is always
-	 * listening and mixing; the mode just selects which of the channels
-	 * are presented on the output pins.
-	 */
-	switch (mode) {
-	case MODE_2PWM:
-		if(_num_outputs == 4) {
-			//debug("MODE_QUAD");
-		} else if(_num_outputs == 6) {
-			//debug("MODE_HEXA");
-		} else if(_num_outputs == 8) {
-			//debug("MODE_OCTO");
-		}
-		//up_pwm_servo_init(0x3);
-		up_pwm_servo_deinit();
-		_update_rate = UPDATE_RATE;	/* default output rate */
-		break;
-
-	case MODE_4PWM:
-		if(_num_outputs == 4) {
-			//debug("MODE_QUADRO");
-		} else if(_num_outputs == 6) {
-			//debug("MODE_HEXA");
-		} else if(_num_outputs == 8) {
-			//debug("MODE_OCTO");
-		}
-		//up_pwm_servo_init(0xf);
-		up_pwm_servo_deinit();
-		_update_rate = UPDATE_RATE;	/* default output rate */
-		break;
-
-	case MODE_NONE:
-		debug("MODE_NONE");
-		/* disable servo outputs and set a very low update rate */
-		up_pwm_servo_deinit();
-		_update_rate = UPDATE_RATE;
-		break;
-
-	default:
-		return -EINVAL;
-	}
-
-	_mode = mode;
-	return OK;
-}
-
-int
-MK::set_pwm_rate(unsigned rate)
-{
-	if ((rate > 500) || (rate < 10))
-		return -EINVAL;
-
-	_update_rate = rate;
-	return OK;
-}
-
-int
-MK::set_px4mode(int px4mode)
-{
-	_px4mode = px4mode;
-}
-
-int
-MK::set_frametype(int frametype)
-{
-	_frametype = frametype;
-}
-
-
-int
-MK::set_motor_count(unsigned count)
-{
-	if(count > 0) {
-
-		_num_outputs = count;
-
-		if(_px4mode == MAPPING_MK) {
-			if(_frametype == FRAME_PLUS) {
-				fprintf(stderr, "[mkblctrl] addresstanslator for Mikrokopter addressing used. Frametype: +\n");
-			} else if(_frametype == FRAME_X) {
-				fprintf(stderr, "[mkblctrl] addresstanslator for Mikrokopter addressing used. Frametype: X\n");
-			}
-			if(_num_outputs == 4) {
-				if(_frametype == FRAME_PLUS) {
-					memcpy(&addrTranslator, &blctrlAddr_quad_plus, sizeof(blctrlAddr_quad_plus));
-				} else if(_frametype == FRAME_X) {
-					memcpy(&addrTranslator, &blctrlAddr_quad_x, sizeof(blctrlAddr_quad_x));
-				}
-			} else if(_num_outputs == 6) {
-				if(_frametype == FRAME_PLUS) {
-					memcpy(&addrTranslator, &blctrlAddr_hexa_plus, sizeof(blctrlAddr_hexa_plus));
-				} else if(_frametype == FRAME_X) {
-					memcpy(&addrTranslator, &blctrlAddr_hexa_x, sizeof(blctrlAddr_hexa_x));
-				}
-			} else if(_num_outputs == 8) {
-				if(_frametype == FRAME_PLUS) {
-					memcpy(&addrTranslator, &blctrlAddr_octo_plus, sizeof(blctrlAddr_octo_plus));
-				} else if(_frametype == FRAME_X) {
-					memcpy(&addrTranslator, &blctrlAddr_octo_x, sizeof(blctrlAddr_octo_x));
-				}
-			}
-		} else {
-			fprintf(stderr, "[mkblctrl] PX4 native addressing used.\n");
-			memcpy(&addrTranslator, &blctrlAddr_px4, sizeof(blctrlAddr_px4));
-		}
-
-		if(_num_outputs == 4) {
-			fprintf(stderr, "[mkblctrl] Quadrocopter Mode (4)\n");
-		} else 	if(_num_outputs == 6) {
-			fprintf(stderr, "[mkblctrl] Hexacopter Mode (6)\n");
-		} else 	if(_num_outputs == 8) {
-			fprintf(stderr, "[mkblctrl] Octocopter Mode (8)\n");
-		}
-
-		return OK;
-
-	} else {
-		return -1;
-	}
-
-}
-
-int
-MK::set_motor_test(bool motortest)
-{
-	_motortest = motortest;
-	return OK;
-}
-
-
-void
-MK::task_main()
-{
-	/*
-	 * Subscribe to the appropriate PWM output topic based on whether we are the
-	 * primary PWM output or not.
-	 */
-	_t_actuators = orb_subscribe(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS :
-				     ORB_ID(actuator_controls_1));
-	/* force a reset of the update rate */
-	_current_update_rate = 0;
-
-	_t_armed = orb_subscribe(ORB_ID(actuator_armed));
-	orb_set_interval(_t_armed, 200);		/* 5Hz update rate */
-
-	/* advertise the mixed control outputs */
-	actuator_outputs_s outputs;
-	memset(&outputs, 0, sizeof(outputs));
-	/* advertise the mixed control outputs */
-	_t_outputs = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1),
-				   &outputs);
-
-	/* advertise the effective control inputs */
-	actuator_controls_effective_s controls_effective;
-	memset(&controls_effective, 0, sizeof(controls_effective));
-	/* advertise the effective control inputs */
-	_t_actuators_effective = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : ORB_ID(actuator_controls_effective_1),
-				   &controls_effective);
-
-	pollfd fds[2];
-	fds[0].fd = _t_actuators;
-	fds[0].events = POLLIN;
-	fds[1].fd = _t_armed;
-	fds[1].events = POLLIN;
-
-	// rc input, published to ORB
-	struct rc_input_values rc_in;
-	orb_advert_t to_input_rc = 0;
-
-	memset(&rc_in, 0, sizeof(rc_in));
-	rc_in.input_source = RC_INPUT_SOURCE_PX4FMU_PPM;
-	
-	log("starting");
-	long update_rate_in_us = 0;
-
-	/* loop until killed */
-	while (!_task_should_exit) {
-
-		/* handle update rate changes */
-		if (_current_update_rate != _update_rate) {
-			int update_rate_in_ms = int(1000 / _update_rate);
-			update_rate_in_us = long(1000000 / _update_rate);
-
-			/* reject faster than 500 Hz updates */
-			if (update_rate_in_ms < 2) {
-				update_rate_in_ms = 2;
-				_update_rate = 500;
-			}
-			/* reject slower than 50 Hz updates */
-			if (update_rate_in_ms > 20) {
-				update_rate_in_ms = 20;
-				_update_rate = 50;
-			}
-
-			orb_set_interval(_t_actuators, update_rate_in_ms);
-			up_pwm_servo_set_rate(_update_rate);
-			_current_update_rate = _update_rate;
-		}
-
-		/* sleep waiting for data, but no more than a second */
-		int ret = ::poll(&fds[0], 2, 1000);
-
-		/* this would be bad... */
-		if (ret < 0) {
-			log("poll error %d", errno);
-			usleep(1000000);
-			continue;
-		}
-
-		/* do we have a control update? */
-		if (fds[0].revents & POLLIN) {
-
-			/* get controls - must always do this to avoid spinning */
-			orb_copy(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS : ORB_ID(actuator_controls_1), _t_actuators, &_controls);
-
-			/* can we mix? */
-			if (_mixers != nullptr) {
-
-				/* do mixing */
-				outputs.noutputs = _mixers->mix(&outputs.output[0], _num_outputs);
-				outputs.timestamp = hrt_absolute_time();
-
-				// XXX output actual limited values
-				memcpy(&controls_effective, &_controls, sizeof(controls_effective));
-
-				orb_publish(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : ORB_ID(actuator_controls_effective_1), _t_actuators_effective, &controls_effective);
-
-				/* iterate actuators */
-				for (unsigned int i = 0; i < _num_outputs; i++) {
-
-					/* last resort: catch NaN, INF and out-of-band errors */
-					if (i < outputs.noutputs &&
-						isfinite(outputs.output[i]) &&
-						outputs.output[i] >= -1.0f &&
-						outputs.output[i] <= 1.0f) {
-						/* scale for PWM output 900 - 2100us */
-						//outputs.output[i] = 1500 + (600 * outputs.output[i]);
-						//outputs.output[i] = 127 + (127 * outputs.output[i]);
-					} else {
-						/*
-						 * Value is NaN, INF or out of band - set to the minimum value.
-						 * This will be clearly visible on the servo status and will limit the risk of accidentally
-						 * spinning motors. It would be deadly in flight.
-						 */
-						if(outputs.output[i] < -1.0f) {
-							outputs.output[i] = -1.0f;
-						} else if(outputs.output[i] > 1.0f) {
-							outputs.output[i] = 1.0f;
-						} else {
-							outputs.output[i] = -1.0f;
-						}
-					}
-
-					/* don't go under BLCTRL_MIN_VALUE */
-					if(outputs.output[i] < BLCTRL_MIN_VALUE) {
-						outputs.output[i] = BLCTRL_MIN_VALUE;
-					}
-					//_motortest = true;
-					/* output to BLCtrl's */
-					if(_motortest == true) {
-						mk_servo_test(i);
-					} else {
-						//mk_servo_set(i, outputs.output[i]);
-						mk_servo_set_test(i, outputs.output[i]);	// 8Bit
-					}
-
-
-				}
-
-				/* and publish for anyone that cares to see */
-				orb_publish(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1), _t_outputs, &outputs);
-			}
-		}
-
-		/* how about an arming update? */
-		if (fds[1].revents & POLLIN) {
-			actuator_armed_s aa;
-
-			/* get new value */
-			orb_copy(ORB_ID(actuator_armed), _t_armed, &aa);
-
-			/* update PWM servo armed status if armed and not locked down */
-			////up_pwm_servo_arm(aa.armed && !aa.lockdown);
-			mk_servo_arm(aa.armed && !aa.lockdown);
-		}
-
-		// see if we have new PPM input data
-		if (ppm_last_valid_decode != rc_in.timestamp) {
-			// we have a new PPM frame. Publish it.
-			rc_in.channel_count = ppm_decoded_channels;
-			if (rc_in.channel_count > RC_INPUT_MAX_CHANNELS) {
-				rc_in.channel_count = RC_INPUT_MAX_CHANNELS;
-			}
-			for (uint8_t i=0; i 2047) {
-		tmpVal = 2047;
-	}
-
-
-	Motor[chan].SetPoint = (uint8_t) tmpVal / 3;	// divide 8
-	Motor[chan].SetPointLowerBits = (uint8_t) tmpVal % 8;	// rest of divide 8
-	//rod = (uint8_t) tmpVal % 8;
-	//Motor[chan].SetPointLowerBits = rod<<1;	// rest of divide 8
-	Motor[chan].SetPointLowerBits = 0;
-
-	if(_armed == false) {
-		Motor[chan].SetPoint = 0;
-		Motor[chan].SetPointLowerBits = 0;
-	}
-
-	//if(Motor[chan].State & MOTOR_STATE_PRESENT_MASK) {
-		set_address(BLCTRL_BASE_ADDR + (chan + addrTranslator[chan]));
-
-		if(Motor[chan].Version == BLCTRL_OLD) {
-			/*
-			*	Old BL-Ctrl 8Bit served. Version < 2.0
-			*/
-			msg[0] = Motor[chan].SetPoint;
-			if(Motor[chan].RoundCount >= 16) {
-				// on each 16th cyle we read out the status messages from the blctrl
-				if (OK == transfer(&msg[0], 1, &result[0], 2)) {
-					Motor[chan].Current = result[0];
-					Motor[chan].MaxPWM = result[1];
-					Motor[chan].Temperature = 255;;
-				} else {
-					if((Motor[chan].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[chan].State++;	// error
-				}
-				Motor[chan].RoundCount = 0;
-			} else {
-				if (OK != transfer(&msg[0], 1, nullptr, 0)) {
-					if((Motor[chan].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[chan].State++;	// error
-				}
-			}
-
-		} else {
-			/*
-			*	New BL-Ctrl 11Bit served. Version >= 2.0
-			*/
-			msg[0] = Motor[chan].SetPoint;
-			msg[1] = Motor[chan].SetPointLowerBits;
-
-			if(Motor[chan].SetPointLowerBits == 0) {
-				bytesToSendBL2 = 1;	// if setpoint lower bits are zero, we send only the higher bits - this saves time
-			}
-
-			if(Motor[chan].RoundCount >= 16) {
-				// on each 16th cyle we read out the status messages from the blctrl
-				if (OK == transfer(&msg[0], bytesToSendBL2, &result[0], 3)) {
-					Motor[chan].Current = result[0];
-					Motor[chan].MaxPWM = result[1];
-					Motor[chan].Temperature = result[2];
-				} else {
-					if((Motor[chan].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[chan].State++;	// error
-				}
-				Motor[chan].RoundCount = 0;
-			} else {
-				if (OK != transfer(&msg[0], bytesToSendBL2, nullptr, 0)) {
-					if((Motor[chan].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[chan].State++;	// error
-				}
-			}
-
-		}
-
-		Motor[chan].RoundCount++;
-	//}
-
-	if(showDebug == true) {
-		debugCounter++;
-		if(debugCounter == 2000) {
-			debugCounter = 0;
-			for(int i=0; i<_num_outputs; i++){
-				if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) {
-					fprintf(stderr, "[mkblctrl] #%i:\tVer: %i\tVal: %i\tCurr: %i\tMaxPWM: %i\tTemp: %i\tState: %i\n", i, Motor[i].Version, Motor[i].SetPoint, Motor[i].Current, Motor[i].MaxPWM, Motor[i].Temperature, Motor[i].State);
-				}
-			}
-			fprintf(stderr, "\n");
-		}
-	}
-	return 0;
-}
-
-int
-MK::mk_servo_set_test(unsigned int chan, float val)
-{
-	_retries = 0;
-	int ret;
-
-	float tmpVal = 0;
-
-	uint8_t msg[2] = { 0,0 };
-
-	tmpVal = (1023 + (1023 * val));
-	if(tmpVal > 2048) {
-		tmpVal = 2048;
-	}
-
-	Motor[chan].SetPoint = (uint8_t) (tmpVal / 8);
-
-	if(_armed == false) {
-		Motor[chan].SetPoint = 0;
-		Motor[chan].SetPointLowerBits = 0;
-	}
-
-	msg[0] = Motor[chan].SetPoint;
-
-	set_address(BLCTRL_BASE_ADDR + (chan + addrTranslator[chan]));
-	ret = transfer(&msg[0], 1, nullptr, 0);
-
-	ret = OK;
-
-	return ret;
-}
-
-
-int
-MK::mk_servo_test(unsigned int chan)
-{
-	int ret=0;
-	float tmpVal = 0;
-	float val = -1;
-	_retries = 0;
-	uint8_t msg[2] = { 0,0 };
-
-	if(debugCounter >= MOTOR_SPINUP_COUNTER) {
-		debugCounter = 0;
-		_motor++;
-
-		if(_motor < _num_outputs) {
-			fprintf(stderr, "[mkblctrl] Motortest - #%i:\tspinup\n", _motor);
-		}
-
-		if(_motor >= _num_outputs) {
-			_motor = -1;
-			_motortest = false;
-		}
-
-	}
-	debugCounter++;
-
-	if(_motor == chan) {
-		val = BLCTRL_MIN_VALUE;
-	} else {
-		val = -1;
-	}
-
-	tmpVal = (1023 + (1023 * val));
-	if(tmpVal > 2048) {
-		tmpVal = 2048;
-	}
-
-	//Motor[chan].SetPoint = (uint8_t) (tmpVal / 8);
-	//Motor[chan].SetPointLowerBits = (uint8_t) (tmpVal % 8) & 0x07;
-	Motor[chan].SetPoint = (uint8_t) tmpVal>>3;
-	Motor[chan].SetPointLowerBits = (uint8_t) tmpVal & 0x07;
-
-	if(_motor != chan) {
-		Motor[chan].SetPoint = 0;
-		Motor[chan].SetPointLowerBits = 0;
-	}
-
-	if(Motor[chan].Version == BLCTRL_OLD) {
-		msg[0] = Motor[chan].SetPoint;
-	} else {
-		msg[0] = Motor[chan].SetPoint;
-		msg[1] = Motor[chan].SetPointLowerBits;
-	}
-
-	set_address(BLCTRL_BASE_ADDR + (chan + addrTranslator[chan]));
-	if(Motor[chan].Version == BLCTRL_OLD) {
-		ret = transfer(&msg[0], 1, nullptr, 0);
-	} else {
-		ret = transfer(&msg[0], 2, nullptr, 0);
-	}
-
-	return ret;
-}
-
-
-int
-MK::control_callback(uintptr_t handle,
-			 uint8_t control_group,
-			 uint8_t control_index,
-			 float &input)
-{
-	const actuator_controls_s *controls = (actuator_controls_s *)handle;
-
-	input = controls->control[control_index];
-	return 0;
-}
-
-int
-MK::ioctl(file *filp, int cmd, unsigned long arg)
-{
-	int ret;
-
-	// XXX disabled, confusing users
-	//debug("ioctl 0x%04x 0x%08x", cmd, arg);
-
-	/* try it as a GPIO ioctl first */
-	ret = gpio_ioctl(filp, cmd, arg);
-
-	if (ret != -ENOTTY)
-		return ret;
-
-	/* if we are in valid PWM mode, try it as a PWM ioctl as well */
-	switch (_mode) {
-	case MODE_2PWM:
-	case MODE_4PWM:
-		ret = pwm_ioctl(filp, cmd, arg);
-		break;
-
-	default:
-		debug("not in a PWM mode");
-		break;
-	}
-
-	/* if nobody wants it, let CDev have it */
-	if (ret == -ENOTTY)
-		ret = CDev::ioctl(filp, cmd, arg);
-
-	return ret;
-}
-
-int
-MK::pwm_ioctl(file *filp, int cmd, unsigned long arg)
-{
-	int ret = OK;
-	int channel;
-
-	lock();
-
-	switch (cmd) {
-	case PWM_SERVO_ARM:
-		////up_pwm_servo_arm(true);
-		mk_servo_arm(true);
-		break;
-
-	case PWM_SERVO_DISARM:
-		////up_pwm_servo_arm(false);
-		mk_servo_arm(false);
-		break;
-
-	case PWM_SERVO_SET_UPDATE_RATE:
-		set_pwm_rate(arg);
-		break;
-
-
-	case PWM_SERVO_SET(0) ... PWM_SERVO_SET(_max_actuators - 1):
-
-		/* fake an update to the selected 'servo' channel */
-		if ((arg >= 0) && (arg <= 255)) {
-			channel = cmd - PWM_SERVO_SET(0);
-			//mk_servo_set(channel, arg);
-		} else {
-			ret = -EINVAL;
-		}
-
-		break;
-
-	case PWM_SERVO_GET(0) ... PWM_SERVO_GET(_max_actuators - 1):
-		/* copy the current output value from the channel */
-		*(servo_position_t *)arg = cmd - PWM_SERVO_GET(0);
-		break;
-
-	case MIXERIOCGETOUTPUTCOUNT:
-		/*
-		if (_mode == MODE_4PWM) {
-			*(unsigned *)arg = 4;
-		} else {
-			*(unsigned *)arg = 2;
-		}
-		 */
-
-		*(unsigned *)arg = _num_outputs;
-
-		break;
-
-	case MIXERIOCRESET:
-		if (_mixers != nullptr) {
-			delete _mixers;
-			_mixers = nullptr;
-		}
-
-		break;
-
-	case MIXERIOCADDSIMPLE: {
-			mixer_simple_s *mixinfo = (mixer_simple_s *)arg;
-
-			SimpleMixer *mixer = new SimpleMixer(control_callback,
-							     (uintptr_t)&_controls, mixinfo);
-
-			if (mixer->check()) {
-				delete mixer;
-				ret = -EINVAL;
-
-			} else {
-				if (_mixers == nullptr)
-					_mixers = new MixerGroup(control_callback,
-								 (uintptr_t)&_controls);
-
-				_mixers->add_mixer(mixer);
-			}
-
-			break;
-		}
-
-	case MIXERIOCLOADBUF: {
-			const char *buf = (const char *)arg;
-			unsigned buflen = strnlen(buf, 1024);
-
-			if (_mixers == nullptr)
-				_mixers = new MixerGroup(control_callback, (uintptr_t)&_controls);
-
-			if (_mixers == nullptr) {
-				ret = -ENOMEM;
-
-			} else {
-
-				ret = _mixers->load_from_buf(buf, buflen);
-
-				if (ret != 0) {
-					debug("mixer load failed with %d", ret);
-					delete _mixers;
-					_mixers = nullptr;
-					ret = -EINVAL;
-				}
-			}
-			break;
-		}
-
-	default:
-		ret = -ENOTTY;
-		break;
-	}
-
-	unlock();
-
-	return ret;
-}
-
-void
-MK::gpio_reset(void)
-{
-	/*
-	 * Setup default GPIO config - all pins as GPIOs, GPIO driver chip
-	 * to input mode.
-	 */
-	for (unsigned i = 0; i < _ngpio; i++)
-		stm32_configgpio(_gpio_tab[i].input);
-
-	stm32_gpiowrite(GPIO_GPIO_DIR, 0);
-	stm32_configgpio(GPIO_GPIO_DIR);
-}
-
-void
-MK::gpio_set_function(uint32_t gpios, int function)
-{
-	/*
-	 * GPIOs 0 and 1 must have the same direction as they are buffered
-	 * by a shared 2-port driver.  Any attempt to set either sets both.
-	 */
-	if (gpios & 3) {
-		gpios |= 3;
-
-		/* flip the buffer to output mode if required */
-		if (GPIO_SET_OUTPUT == function)
-			stm32_gpiowrite(GPIO_GPIO_DIR, 1);
-	}
-
-	/* configure selected GPIOs as required */
-	for (unsigned i = 0; i < _ngpio; i++) {
-		if (gpios & (1 << i)) {
-			switch (function) {
-			case GPIO_SET_INPUT:
-				stm32_configgpio(_gpio_tab[i].input);
-				break;
-
-			case GPIO_SET_OUTPUT:
-				stm32_configgpio(_gpio_tab[i].output);
-				break;
-
-			case GPIO_SET_ALT_1:
-				if (_gpio_tab[i].alt != 0)
-					stm32_configgpio(_gpio_tab[i].alt);
-
-				break;
-			}
-		}
-	}
-
-	/* flip buffer to input mode if required */
-	if ((GPIO_SET_INPUT == function) && (gpios & 3))
-		stm32_gpiowrite(GPIO_GPIO_DIR, 0);
-}
-
-void
-MK::gpio_write(uint32_t gpios, int function)
-{
-	int value = (function == GPIO_SET) ? 1 : 0;
-
-	for (unsigned i = 0; i < _ngpio; i++)
-		if (gpios & (1 << i))
-			stm32_gpiowrite(_gpio_tab[i].output, value);
-}
-
-uint32_t
-MK::gpio_read(void)
-{
-	uint32_t bits = 0;
-
-	for (unsigned i = 0; i < _ngpio; i++)
-		if (stm32_gpioread(_gpio_tab[i].input))
-			bits |= (1 << i);
-
-	return bits;
-}
-
-int
-MK::gpio_ioctl(struct file *filp, int cmd, unsigned long arg)
-{
-	int	ret = OK;
-
-	lock();
-
-	switch (cmd) {
-
-	case GPIO_RESET:
-		gpio_reset();
-		break;
-
-	case GPIO_SET_OUTPUT:
-	case GPIO_SET_INPUT:
-	case GPIO_SET_ALT_1:
-		gpio_set_function(arg, cmd);
-		break;
-
-	case GPIO_SET_ALT_2:
-	case GPIO_SET_ALT_3:
-	case GPIO_SET_ALT_4:
-		ret = -EINVAL;
-		break;
-
-	case GPIO_SET:
-	case GPIO_CLEAR:
-		gpio_write(arg, cmd);
-		break;
-
-	case GPIO_GET:
-		*(uint32_t *)arg = gpio_read();
-		break;
-
-	default:
-		ret = -ENOTTY;
-	}
-
-	unlock();
-
-	return ret;
-}
-
-namespace
-{
-
-enum PortMode {
-	PORT_MODE_UNSET = 0,
-	PORT_FULL_GPIO,
-	PORT_FULL_SERIAL,
-	PORT_FULL_PWM,
-	PORT_GPIO_AND_SERIAL,
-	PORT_PWM_AND_SERIAL,
-	PORT_PWM_AND_GPIO,
-};
-
-enum MappingMode {
-	MAPPING_MK = 0,
-	MAPPING_PX4,
-};
-
-	enum FrameType {
-		FRAME_PLUS = 0,
-		FRAME_X,
-	};
-
-PortMode g_port_mode;
-
-int
-mk_new_mode(PortMode new_mode, int update_rate, int motorcount, bool motortest, int px4mode, int frametype)
-{
-	uint32_t gpio_bits;
-	int shouldStop = 0;
-	MK::Mode servo_mode;
-
-	/* reset to all-inputs */
-	g_mk->ioctl(0, GPIO_RESET, 0);
-
-	gpio_bits = 0;
-	servo_mode = MK::MODE_NONE;
-
-	switch (new_mode) {
-	case PORT_FULL_GPIO:
-	case PORT_MODE_UNSET:
-		/* nothing more to do here */
-		break;
-
-	case PORT_FULL_SERIAL:
-		/* set all multi-GPIOs to serial mode */
-		gpio_bits = GPIO_MULTI_1 | GPIO_MULTI_2 | GPIO_MULTI_3 | GPIO_MULTI_4;
-		break;
-
-	case PORT_FULL_PWM:
-		/* select 4-pin PWM mode */
-		servo_mode = MK::MODE_4PWM;
-		break;
-
-	case PORT_GPIO_AND_SERIAL:
-		/* set RX/TX multi-GPIOs to serial mode */
-		gpio_bits = GPIO_MULTI_3 | GPIO_MULTI_4;
-		break;
-
-	case PORT_PWM_AND_SERIAL:
-		/* select 2-pin PWM mode */
-		servo_mode = MK::MODE_2PWM;
-		/* set RX/TX multi-GPIOs to serial mode */
-		gpio_bits = GPIO_MULTI_3 | GPIO_MULTI_4;
-		break;
-
-	case PORT_PWM_AND_GPIO:
-		/* select 2-pin PWM mode */
-		servo_mode = MK::MODE_2PWM;
-		break;
-	}
-
-	/* adjust GPIO config for serial mode(s) */
-	if (gpio_bits != 0)
-		g_mk->ioctl(0, GPIO_SET_ALT_1, gpio_bits);
-
-	/* native PX4 addressing) */
-	g_mk->set_px4mode(px4mode);
-
-	/* set frametype (geometry) */
-	g_mk->set_frametype(frametype);
-
-	/* motortest if enabled */
-	g_mk->set_motor_test(motortest);
-
-
-	/* (re)set count of used motors */
-	////g_mk->set_motor_count(motorcount);
-	/* count used motors */
-
-	do {
-		if(g_mk->mk_check_for_blctrl(8, false) != 0) {
-			shouldStop = 4;
-		} else {
-			shouldStop++;
-		}
-		sleep(1);
-	} while ( shouldStop < 3);
-
-	g_mk->set_motor_count(g_mk->mk_check_for_blctrl(8, true));
-
-	/* (re)set the PWM output mode */
-	g_mk->set_mode(servo_mode);
-
-
-	if ((servo_mode != MK::MODE_NONE) && (update_rate != 0))
-		g_mk->set_pwm_rate(update_rate);
-
-	return OK;
-}
-
-int
-mk_start(unsigned bus, unsigned motors)
-{
-	int ret = OK;
-
-	if (g_mk == nullptr) {
-
-		g_mk = new MK(bus);
-
-		if (g_mk == nullptr) {
-			ret = -ENOMEM;
-
-		} else {
-			ret = g_mk->init(motors);
-
-			if (ret != OK) {
-				delete g_mk;
-				g_mk = nullptr;
-			}
-		}
-	}
-
-	return ret;
-}
-
-
-} // namespace
-
-extern "C" __EXPORT int mkblctrl_main(int argc, char *argv[]);
-
-int
-mkblctrl_main(int argc, char *argv[])
-{
-	PortMode port_mode = PORT_FULL_PWM;
-	int pwm_update_rate_in_hz = UPDATE_RATE;
-	int motorcount = 8;
-	int bus = 1;
-	int px4mode = MAPPING_PX4;
-	int frametype = FRAME_PLUS;	// + plus is default
-	bool motortest = false;
-	bool showHelp = false;
-	bool newMode = false;
-
-	/*
-	 * optional parameters
-	 */
-	for (int i = 1; i < argc; i++) {
-
-		/* look for the optional i2c bus parameter */
-		if (strcmp(argv[i], "-b") == 0 || strcmp(argv[i], "--bus") == 0) {
-			if (argc > i + 1) {
-				bus = atoi(argv[i + 1]);
-				newMode = true;
-				} else {
-				errx(1, "missing argument for i2c bus (-b)");
-				return 1;
-			}
-		}
-
-		/* look for the optional frame parameter */
-		if (strcmp(argv[i], "-mkmode") == 0 || strcmp(argv[i], "--mkmode") == 0) {
-			if (argc > i + 1) {
-				if(strcmp(argv[i + 1], "+") == 0 || strcmp(argv[i + 1], "x") == 0 || strcmp(argv[i + 1], "X") == 0) {
-					px4mode = MAPPING_MK;
-					newMode = true;
-					if(strcmp(argv[i + 1], "+") == 0) {
-						frametype = FRAME_PLUS;
-					} else {
-						frametype = FRAME_X;
-					}
-				} else {
-					errx(1, "only + or x for frametype supported !");
-				}
-			} else {
-				errx(1, "missing argument for mkmode (-mkmode)");
-				return 1;
-			}
-		}
-
-		/* look for the optional test parameter */
-		if (strcmp(argv[i], "-t") == 0) {
-			motortest = true;
-			newMode = true;
-		}
-
-		/* look for the optional -h --help parameter */
-		if (strcmp(argv[i], "-h") == 0 || strcmp(argv[i], "--help") == 0) {
-			showHelp == true;
-		}
-
-	}
-
-	if(showHelp) {
-		fprintf(stderr, "mkblctrl: help:\n");
-		fprintf(stderr, "  [-mkmode frame{+/x}] [-b i2c_bus_number] [-t motortest] [-h / --help]\n");
-		exit(1);
-	}
-
-
-	if (g_mk == nullptr) {
-		if (mk_start(bus, motorcount) != OK) {
-			errx(1, "failed to start the MK-BLCtrl driver");
-		} else {
-			newMode = true;
-		}
-	}
-
-
-	/* parameter set ? */
-	if (newMode) {
-		/* switch parameter */
-		return mk_new_mode(port_mode, pwm_update_rate_in_hz, motorcount, motortest, px4mode, frametype);
-	}
-
-	/* test, etc. here g*/
-
-	exit(1);
-}
diff --git a/makefiles/config_px4fmu_default.mk b/makefiles/config_px4fmu_default.mk
index 043c8af40..07f9bdbc3 100644
--- a/makefiles/config_px4fmu_default.mk
+++ b/makefiles/config_px4fmu_default.mk
@@ -28,6 +28,7 @@ MODULES		+= drivers/gps
 MODULES		+= drivers/hil
 MODULES		+= drivers/hott_telemetry
 MODULES		+= drivers/blinkm
+MODULES		+= drivers/mkblctrl
 MODULES		+= modules/sensors
 
 #
diff --git a/src/drivers/mkblctrl/mkblctrl.cpp b/src/drivers/mkblctrl/mkblctrl.cpp
new file mode 100644
index 000000000..3a735e26f
--- /dev/null
+++ b/src/drivers/mkblctrl/mkblctrl.cpp
@@ -0,0 +1,1442 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012,2013 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file mkblctrl.cpp
+ *
+ * Driver/configurator for the Mikrokopter BL-Ctrl.
+ * Marco Bauer
+ *
+ */
+
+#include 
+
+#include 
+
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+
+#include 
+#include 
+
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+
+#include 
+#include 
+#include 
+#include 
+
+#include 
+#include 
+#include 
+
+#include 
+#include 
+
+#define I2C_BUS_SPEED					400000
+#define UPDATE_RATE						400
+#define MAX_MOTORS 						8
+#define BLCTRL_BASE_ADDR 				0x29
+#define BLCTRL_OLD 						0
+#define BLCTRL_NEW 						1
+#define BLCTRL_MIN_VALUE				-0.920F
+#define MOTOR_STATE_PRESENT_MASK		0x80
+#define MOTOR_STATE_ERROR_MASK		0x7F
+#define MOTOR_SPINUP_COUNTER			2500
+
+
+class MK : public device::I2C
+{
+public:
+	enum Mode {
+		MODE_2PWM,
+		MODE_4PWM,
+		MODE_NONE
+	};
+
+	enum MappingMode {
+		MAPPING_MK = 0,
+		MAPPING_PX4,
+	};
+
+	enum FrameType {
+		FRAME_PLUS = 0,
+		FRAME_X,
+	};
+
+	MK(int bus);
+	~MK();
+
+	virtual int	ioctl(file *filp, int cmd, unsigned long arg);
+	virtual int	init(unsigned motors);
+
+	int		set_mode(Mode mode);
+	int		set_pwm_rate(unsigned rate);
+	int		set_motor_count(unsigned count);
+	int		set_motor_test(bool motortest);
+	int		set_px4mode(int px4mode);
+	int		set_frametype(int frametype);
+	unsigned int		mk_check_for_blctrl(unsigned int count, bool showOutput);
+
+private:
+	static const unsigned _max_actuators = MAX_MOTORS;
+	static const bool	showDebug = false;
+
+	Mode		_mode;
+	int 		_update_rate;
+	int 		_current_update_rate;
+	int		_task;
+	int		_t_actuators;
+	int		_t_armed;
+	unsigned int		_motor;
+	int    _px4mode;
+	int    _frametype;
+	orb_advert_t	_t_outputs;
+	orb_advert_t	_t_actuators_effective;
+	unsigned int	_num_outputs;
+	bool		_primary_pwm_device;
+	bool     _motortest;
+
+	volatile bool	_task_should_exit;
+	bool		_armed;
+
+	unsigned long	debugCounter;
+
+	MixerGroup	*_mixers;
+
+	actuator_controls_s _controls;
+
+	static void	task_main_trampoline(int argc, char *argv[]);
+	void		task_main() __attribute__((noreturn));
+
+	static int	control_callback(uintptr_t handle,
+					 uint8_t control_group,
+					 uint8_t control_index,
+					 float &input);
+
+	int		pwm_ioctl(file *filp, int cmd, unsigned long arg);
+
+	struct GPIOConfig {
+		uint32_t	input;
+		uint32_t	output;
+		uint32_t	alt;
+	};
+
+	static const GPIOConfig	_gpio_tab[];
+	static const unsigned	_ngpio;
+
+	void		gpio_reset(void);
+	void		gpio_set_function(uint32_t gpios, int function);
+	void		gpio_write(uint32_t gpios, int function);
+	uint32_t	gpio_read(void);
+	int		gpio_ioctl(file *filp, int cmd, unsigned long arg);
+	int			mk_servo_arm(bool status);
+
+	int 		mk_servo_set(unsigned int chan, float val);
+	int 		mk_servo_set_test(unsigned int chan, float val);
+	int 		mk_servo_test(unsigned int chan);
+
+
+};
+
+const MK::GPIOConfig MK::_gpio_tab[] = {
+	{GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0},
+	{GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0},
+	{GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, GPIO_USART2_CTS_1},
+	{GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, GPIO_USART2_RTS_1},
+	{GPIO_GPIO4_INPUT, GPIO_GPIO4_OUTPUT, GPIO_USART2_TX_1},
+	{GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, GPIO_USART2_RX_1},
+	{GPIO_GPIO6_INPUT, GPIO_GPIO6_OUTPUT, GPIO_CAN2_TX_2},
+	{GPIO_GPIO7_INPUT, GPIO_GPIO7_OUTPUT, GPIO_CAN2_RX_2},
+};
+
+const unsigned MK::_ngpio = sizeof(MK::_gpio_tab) / sizeof(MK::_gpio_tab[0]);
+
+const int blctrlAddr_quad_plus[] = { 2, 2, -2, -2, 0, 0, 0, 0 };	// Addresstranslator for Quad + configuration
+const int blctrlAddr_hexa_plus[] = { 0, 2, 2, -2, 1, -3, 0, 0 };	// Addresstranslator for Hexa + configuration
+const int blctrlAddr_octo_plus[] = { 0, 3, -1, 0, 3, 0, 0, -5 };	// Addresstranslator for Octo + configuration
+
+const int blctrlAddr_quad_x[] = { 2, 2, -2, -2, 0, 0, 0, 0 };	// Addresstranslator for Quad X configuration
+const int blctrlAddr_hexa_x[] = { 2, 4, -2, 0, -3, -1, 0, 0 };	// Addresstranslator for Hexa X configuration
+const int blctrlAddr_octo_x[] = { 1, 4, 0, 1, -4, 1, 1, -4 };	// Addresstranslator for Octo X configuration
+
+const int blctrlAddr_px4[]  = { 0, 0, 0, 0, 0, 0, 0, 0};
+
+int addrTranslator[] = {0,0,0,0,0,0,0,0};
+
+struct MotorData_t
+{
+	unsigned int Version;                        // the version of the BL (0 = old)
+  unsigned int SetPoint;                       // written by attitude controller
+  unsigned int SetPointLowerBits;      // for higher Resolution of new BLs
+  unsigned int State;                          // 7 bit for I2C error counter, highest bit indicates if motor is present
+  unsigned int ReadMode;                       // select data to read
+  // the following bytes must be exactly in that order!
+  unsigned int Current;                        // in 0.1 A steps, read back from BL
+  unsigned int MaxPWM;                         // read back from BL is less than 255 if BL is in current limit
+  unsigned int Temperature;            // old BL-Ctrl will return a 255 here, the new version the temp. in
+  unsigned int RoundCount;
+};
+
+MotorData_t Motor[MAX_MOTORS];
+
+
+namespace
+{
+
+MK	*g_mk;
+
+} // namespace
+
+MK::MK(int bus) :
+	I2C("mkblctrl", "/dev/mkblctrl", bus, 0, I2C_BUS_SPEED),
+	_mode(MODE_NONE),
+	_update_rate(50),
+	_task(-1),
+	_t_actuators(-1),
+	_t_armed(-1),
+	_t_outputs(0),
+	_t_actuators_effective(0),
+	_num_outputs(0),
+	_motortest(false),
+	_motor(-1),
+	_px4mode(MAPPING_MK),
+	_frametype(FRAME_PLUS),
+	_primary_pwm_device(false),
+	_task_should_exit(false),
+	_armed(false),
+	_mixers(nullptr)
+{
+	_debug_enabled = true;
+}
+
+MK::~MK()
+{
+	if (_task != -1) {
+		/* tell the task we want it to go away */
+		_task_should_exit = true;
+
+		unsigned i = 10;
+
+		do {
+			/* wait 50ms - it should wake every 100ms or so worst-case */
+			usleep(50000);
+
+			/* if we have given up, kill it */
+			if (--i == 0) {
+				task_delete(_task);
+				break;
+			}
+
+		} while (_task != -1);
+	}
+
+	/* clean up the alternate device node */
+	if (_primary_pwm_device)
+		unregister_driver(PWM_OUTPUT_DEVICE_PATH);
+
+	g_mk = nullptr;
+}
+
+int
+MK::init(unsigned motors)
+{
+	_num_outputs = motors;
+	debugCounter = 0;
+	int ret;
+	ASSERT(_task == -1);
+
+	ret = I2C::init();
+
+	if (ret != OK) {
+		warnx("I2C init failed");
+		return ret;
+	}
+
+	usleep(500000);
+
+	/* try to claim the generic PWM output device node as well - it's OK if we fail at this */
+	ret = register_driver(PWM_OUTPUT_DEVICE_PATH, &fops, 0666, (void *)this);
+
+	if (ret == OK) {
+		log("default PWM output device");
+		_primary_pwm_device = true;
+	}
+
+	/* reset GPIOs */
+	gpio_reset();
+
+	/* start the IO interface task */
+	_task = task_spawn("mkblctrl",
+			   SCHED_DEFAULT,
+			   SCHED_PRIORITY_MAX -20,
+			   2048,
+			   (main_t)&MK::task_main_trampoline,
+			   nullptr);
+
+
+	if (_task < 0) {
+		debug("task start failed: %d", errno);
+		return -errno;
+	}
+
+	return OK;
+}
+
+void
+MK::task_main_trampoline(int argc, char *argv[])
+{
+	g_mk->task_main();
+}
+
+int
+MK::set_mode(Mode mode)
+{
+	/*
+	 * Configure for PWM output.
+	 *
+	 * Note that regardless of the configured mode, the task is always
+	 * listening and mixing; the mode just selects which of the channels
+	 * are presented on the output pins.
+	 */
+	switch (mode) {
+	case MODE_2PWM:
+		if(_num_outputs == 4) {
+			//debug("MODE_QUAD");
+		} else if(_num_outputs == 6) {
+			//debug("MODE_HEXA");
+		} else if(_num_outputs == 8) {
+			//debug("MODE_OCTO");
+		}
+		//up_pwm_servo_init(0x3);
+		up_pwm_servo_deinit();
+		_update_rate = UPDATE_RATE;	/* default output rate */
+		break;
+
+	case MODE_4PWM:
+		if(_num_outputs == 4) {
+			//debug("MODE_QUADRO");
+		} else if(_num_outputs == 6) {
+			//debug("MODE_HEXA");
+		} else if(_num_outputs == 8) {
+			//debug("MODE_OCTO");
+		}
+		//up_pwm_servo_init(0xf);
+		up_pwm_servo_deinit();
+		_update_rate = UPDATE_RATE;	/* default output rate */
+		break;
+
+	case MODE_NONE:
+		debug("MODE_NONE");
+		/* disable servo outputs and set a very low update rate */
+		up_pwm_servo_deinit();
+		_update_rate = UPDATE_RATE;
+		break;
+
+	default:
+		return -EINVAL;
+	}
+
+	_mode = mode;
+	return OK;
+}
+
+int
+MK::set_pwm_rate(unsigned rate)
+{
+	if ((rate > 500) || (rate < 10))
+		return -EINVAL;
+
+	_update_rate = rate;
+	return OK;
+}
+
+int
+MK::set_px4mode(int px4mode)
+{
+	_px4mode = px4mode;
+}
+
+int
+MK::set_frametype(int frametype)
+{
+	_frametype = frametype;
+}
+
+
+int
+MK::set_motor_count(unsigned count)
+{
+	if(count > 0) {
+
+		_num_outputs = count;
+
+		if(_px4mode == MAPPING_MK) {
+			if(_frametype == FRAME_PLUS) {
+				fprintf(stderr, "[mkblctrl] addresstanslator for Mikrokopter addressing used. Frametype: +\n");
+			} else if(_frametype == FRAME_X) {
+				fprintf(stderr, "[mkblctrl] addresstanslator for Mikrokopter addressing used. Frametype: X\n");
+			}
+			if(_num_outputs == 4) {
+				if(_frametype == FRAME_PLUS) {
+					memcpy(&addrTranslator, &blctrlAddr_quad_plus, sizeof(blctrlAddr_quad_plus));
+				} else if(_frametype == FRAME_X) {
+					memcpy(&addrTranslator, &blctrlAddr_quad_x, sizeof(blctrlAddr_quad_x));
+				}
+			} else if(_num_outputs == 6) {
+				if(_frametype == FRAME_PLUS) {
+					memcpy(&addrTranslator, &blctrlAddr_hexa_plus, sizeof(blctrlAddr_hexa_plus));
+				} else if(_frametype == FRAME_X) {
+					memcpy(&addrTranslator, &blctrlAddr_hexa_x, sizeof(blctrlAddr_hexa_x));
+				}
+			} else if(_num_outputs == 8) {
+				if(_frametype == FRAME_PLUS) {
+					memcpy(&addrTranslator, &blctrlAddr_octo_plus, sizeof(blctrlAddr_octo_plus));
+				} else if(_frametype == FRAME_X) {
+					memcpy(&addrTranslator, &blctrlAddr_octo_x, sizeof(blctrlAddr_octo_x));
+				}
+			}
+		} else {
+			fprintf(stderr, "[mkblctrl] PX4 native addressing used.\n");
+			memcpy(&addrTranslator, &blctrlAddr_px4, sizeof(blctrlAddr_px4));
+		}
+
+		if(_num_outputs == 4) {
+			fprintf(stderr, "[mkblctrl] Quadrocopter Mode (4)\n");
+		} else 	if(_num_outputs == 6) {
+			fprintf(stderr, "[mkblctrl] Hexacopter Mode (6)\n");
+		} else 	if(_num_outputs == 8) {
+			fprintf(stderr, "[mkblctrl] Octocopter Mode (8)\n");
+		}
+
+		return OK;
+
+	} else {
+		return -1;
+	}
+
+}
+
+int
+MK::set_motor_test(bool motortest)
+{
+	_motortest = motortest;
+	return OK;
+}
+
+
+void
+MK::task_main()
+{
+	/*
+	 * Subscribe to the appropriate PWM output topic based on whether we are the
+	 * primary PWM output or not.
+	 */
+	_t_actuators = orb_subscribe(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS :
+				     ORB_ID(actuator_controls_1));
+	/* force a reset of the update rate */
+	_current_update_rate = 0;
+
+	_t_armed = orb_subscribe(ORB_ID(actuator_armed));
+	orb_set_interval(_t_armed, 200);		/* 5Hz update rate */
+
+	/* advertise the mixed control outputs */
+	actuator_outputs_s outputs;
+	memset(&outputs, 0, sizeof(outputs));
+	/* advertise the mixed control outputs */
+	_t_outputs = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1),
+				   &outputs);
+
+	/* advertise the effective control inputs */
+	actuator_controls_effective_s controls_effective;
+	memset(&controls_effective, 0, sizeof(controls_effective));
+	/* advertise the effective control inputs */
+	_t_actuators_effective = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : ORB_ID(actuator_controls_effective_1),
+				   &controls_effective);
+
+	pollfd fds[2];
+	fds[0].fd = _t_actuators;
+	fds[0].events = POLLIN;
+	fds[1].fd = _t_armed;
+	fds[1].events = POLLIN;
+
+	// rc input, published to ORB
+	struct rc_input_values rc_in;
+	orb_advert_t to_input_rc = 0;
+
+	memset(&rc_in, 0, sizeof(rc_in));
+	rc_in.input_source = RC_INPUT_SOURCE_PX4FMU_PPM;
+	
+	log("starting");
+	long update_rate_in_us = 0;
+
+	/* loop until killed */
+	while (!_task_should_exit) {
+
+		/* handle update rate changes */
+		if (_current_update_rate != _update_rate) {
+			int update_rate_in_ms = int(1000 / _update_rate);
+			update_rate_in_us = long(1000000 / _update_rate);
+
+			/* reject faster than 500 Hz updates */
+			if (update_rate_in_ms < 2) {
+				update_rate_in_ms = 2;
+				_update_rate = 500;
+			}
+			/* reject slower than 50 Hz updates */
+			if (update_rate_in_ms > 20) {
+				update_rate_in_ms = 20;
+				_update_rate = 50;
+			}
+
+			orb_set_interval(_t_actuators, update_rate_in_ms);
+			up_pwm_servo_set_rate(_update_rate);
+			_current_update_rate = _update_rate;
+		}
+
+		/* sleep waiting for data, but no more than a second */
+		int ret = ::poll(&fds[0], 2, 1000);
+
+		/* this would be bad... */
+		if (ret < 0) {
+			log("poll error %d", errno);
+			usleep(1000000);
+			continue;
+		}
+
+		/* do we have a control update? */
+		if (fds[0].revents & POLLIN) {
+
+			/* get controls - must always do this to avoid spinning */
+			orb_copy(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS : ORB_ID(actuator_controls_1), _t_actuators, &_controls);
+
+			/* can we mix? */
+			if (_mixers != nullptr) {
+
+				/* do mixing */
+				outputs.noutputs = _mixers->mix(&outputs.output[0], _num_outputs);
+				outputs.timestamp = hrt_absolute_time();
+
+				// XXX output actual limited values
+				memcpy(&controls_effective, &_controls, sizeof(controls_effective));
+
+				orb_publish(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : ORB_ID(actuator_controls_effective_1), _t_actuators_effective, &controls_effective);
+
+				/* iterate actuators */
+				for (unsigned int i = 0; i < _num_outputs; i++) {
+
+					/* last resort: catch NaN, INF and out-of-band errors */
+					if (i < outputs.noutputs &&
+						isfinite(outputs.output[i]) &&
+						outputs.output[i] >= -1.0f &&
+						outputs.output[i] <= 1.0f) {
+						/* scale for PWM output 900 - 2100us */
+						//outputs.output[i] = 1500 + (600 * outputs.output[i]);
+						//outputs.output[i] = 127 + (127 * outputs.output[i]);
+					} else {
+						/*
+						 * Value is NaN, INF or out of band - set to the minimum value.
+						 * This will be clearly visible on the servo status and will limit the risk of accidentally
+						 * spinning motors. It would be deadly in flight.
+						 */
+						if(outputs.output[i] < -1.0f) {
+							outputs.output[i] = -1.0f;
+						} else if(outputs.output[i] > 1.0f) {
+							outputs.output[i] = 1.0f;
+						} else {
+							outputs.output[i] = -1.0f;
+						}
+					}
+
+					/* don't go under BLCTRL_MIN_VALUE */
+					if(outputs.output[i] < BLCTRL_MIN_VALUE) {
+						outputs.output[i] = BLCTRL_MIN_VALUE;
+					}
+					//_motortest = true;
+					/* output to BLCtrl's */
+					if(_motortest == true) {
+						mk_servo_test(i);
+					} else {
+						//mk_servo_set(i, outputs.output[i]);
+						mk_servo_set_test(i, outputs.output[i]);	// 8Bit
+					}
+
+
+				}
+
+				/* and publish for anyone that cares to see */
+				orb_publish(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1), _t_outputs, &outputs);
+			}
+		}
+
+		/* how about an arming update? */
+		if (fds[1].revents & POLLIN) {
+			actuator_armed_s aa;
+
+			/* get new value */
+			orb_copy(ORB_ID(actuator_armed), _t_armed, &aa);
+
+			/* update PWM servo armed status if armed and not locked down */
+			////up_pwm_servo_arm(aa.armed && !aa.lockdown);
+			mk_servo_arm(aa.armed && !aa.lockdown);
+		}
+
+		// see if we have new PPM input data
+		if (ppm_last_valid_decode != rc_in.timestamp) {
+			// we have a new PPM frame. Publish it.
+			rc_in.channel_count = ppm_decoded_channels;
+			if (rc_in.channel_count > RC_INPUT_MAX_CHANNELS) {
+				rc_in.channel_count = RC_INPUT_MAX_CHANNELS;
+			}
+			for (uint8_t i=0; i 2047) {
+		tmpVal = 2047;
+	}
+
+
+	Motor[chan].SetPoint = (uint8_t) tmpVal / 3;	// divide 8
+	Motor[chan].SetPointLowerBits = (uint8_t) tmpVal % 8;	// rest of divide 8
+	//rod = (uint8_t) tmpVal % 8;
+	//Motor[chan].SetPointLowerBits = rod<<1;	// rest of divide 8
+	Motor[chan].SetPointLowerBits = 0;
+
+	if(_armed == false) {
+		Motor[chan].SetPoint = 0;
+		Motor[chan].SetPointLowerBits = 0;
+	}
+
+	//if(Motor[chan].State & MOTOR_STATE_PRESENT_MASK) {
+		set_address(BLCTRL_BASE_ADDR + (chan + addrTranslator[chan]));
+
+		if(Motor[chan].Version == BLCTRL_OLD) {
+			/*
+			*	Old BL-Ctrl 8Bit served. Version < 2.0
+			*/
+			msg[0] = Motor[chan].SetPoint;
+			if(Motor[chan].RoundCount >= 16) {
+				// on each 16th cyle we read out the status messages from the blctrl
+				if (OK == transfer(&msg[0], 1, &result[0], 2)) {
+					Motor[chan].Current = result[0];
+					Motor[chan].MaxPWM = result[1];
+					Motor[chan].Temperature = 255;;
+				} else {
+					if((Motor[chan].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[chan].State++;	// error
+				}
+				Motor[chan].RoundCount = 0;
+			} else {
+				if (OK != transfer(&msg[0], 1, nullptr, 0)) {
+					if((Motor[chan].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[chan].State++;	// error
+				}
+			}
+
+		} else {
+			/*
+			*	New BL-Ctrl 11Bit served. Version >= 2.0
+			*/
+			msg[0] = Motor[chan].SetPoint;
+			msg[1] = Motor[chan].SetPointLowerBits;
+
+			if(Motor[chan].SetPointLowerBits == 0) {
+				bytesToSendBL2 = 1;	// if setpoint lower bits are zero, we send only the higher bits - this saves time
+			}
+
+			if(Motor[chan].RoundCount >= 16) {
+				// on each 16th cyle we read out the status messages from the blctrl
+				if (OK == transfer(&msg[0], bytesToSendBL2, &result[0], 3)) {
+					Motor[chan].Current = result[0];
+					Motor[chan].MaxPWM = result[1];
+					Motor[chan].Temperature = result[2];
+				} else {
+					if((Motor[chan].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[chan].State++;	// error
+				}
+				Motor[chan].RoundCount = 0;
+			} else {
+				if (OK != transfer(&msg[0], bytesToSendBL2, nullptr, 0)) {
+					if((Motor[chan].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[chan].State++;	// error
+				}
+			}
+
+		}
+
+		Motor[chan].RoundCount++;
+	//}
+
+	if(showDebug == true) {
+		debugCounter++;
+		if(debugCounter == 2000) {
+			debugCounter = 0;
+			for(int i=0; i<_num_outputs; i++){
+				if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) {
+					fprintf(stderr, "[mkblctrl] #%i:\tVer: %i\tVal: %i\tCurr: %i\tMaxPWM: %i\tTemp: %i\tState: %i\n", i, Motor[i].Version, Motor[i].SetPoint, Motor[i].Current, Motor[i].MaxPWM, Motor[i].Temperature, Motor[i].State);
+				}
+			}
+			fprintf(stderr, "\n");
+		}
+	}
+	return 0;
+}
+
+int
+MK::mk_servo_set_test(unsigned int chan, float val)
+{
+	_retries = 0;
+	int ret;
+
+	float tmpVal = 0;
+
+	uint8_t msg[2] = { 0,0 };
+
+	tmpVal = (1023 + (1023 * val));
+	if(tmpVal > 2048) {
+		tmpVal = 2048;
+	}
+
+	Motor[chan].SetPoint = (uint8_t) (tmpVal / 8);
+
+	if(_armed == false) {
+		Motor[chan].SetPoint = 0;
+		Motor[chan].SetPointLowerBits = 0;
+	}
+
+	msg[0] = Motor[chan].SetPoint;
+
+	set_address(BLCTRL_BASE_ADDR + (chan + addrTranslator[chan]));
+	ret = transfer(&msg[0], 1, nullptr, 0);
+
+	ret = OK;
+
+	return ret;
+}
+
+
+int
+MK::mk_servo_test(unsigned int chan)
+{
+	int ret=0;
+	float tmpVal = 0;
+	float val = -1;
+	_retries = 0;
+	uint8_t msg[2] = { 0,0 };
+
+	if(debugCounter >= MOTOR_SPINUP_COUNTER) {
+		debugCounter = 0;
+		_motor++;
+
+		if(_motor < _num_outputs) {
+			fprintf(stderr, "[mkblctrl] Motortest - #%i:\tspinup\n", _motor);
+		}
+
+		if(_motor >= _num_outputs) {
+			_motor = -1;
+			_motortest = false;
+		}
+
+	}
+	debugCounter++;
+
+	if(_motor == chan) {
+		val = BLCTRL_MIN_VALUE;
+	} else {
+		val = -1;
+	}
+
+	tmpVal = (1023 + (1023 * val));
+	if(tmpVal > 2048) {
+		tmpVal = 2048;
+	}
+
+	//Motor[chan].SetPoint = (uint8_t) (tmpVal / 8);
+	//Motor[chan].SetPointLowerBits = (uint8_t) (tmpVal % 8) & 0x07;
+	Motor[chan].SetPoint = (uint8_t) tmpVal>>3;
+	Motor[chan].SetPointLowerBits = (uint8_t) tmpVal & 0x07;
+
+	if(_motor != chan) {
+		Motor[chan].SetPoint = 0;
+		Motor[chan].SetPointLowerBits = 0;
+	}
+
+	if(Motor[chan].Version == BLCTRL_OLD) {
+		msg[0] = Motor[chan].SetPoint;
+	} else {
+		msg[0] = Motor[chan].SetPoint;
+		msg[1] = Motor[chan].SetPointLowerBits;
+	}
+
+	set_address(BLCTRL_BASE_ADDR + (chan + addrTranslator[chan]));
+	if(Motor[chan].Version == BLCTRL_OLD) {
+		ret = transfer(&msg[0], 1, nullptr, 0);
+	} else {
+		ret = transfer(&msg[0], 2, nullptr, 0);
+	}
+
+	return ret;
+}
+
+
+int
+MK::control_callback(uintptr_t handle,
+			 uint8_t control_group,
+			 uint8_t control_index,
+			 float &input)
+{
+	const actuator_controls_s *controls = (actuator_controls_s *)handle;
+
+	input = controls->control[control_index];
+	return 0;
+}
+
+int
+MK::ioctl(file *filp, int cmd, unsigned long arg)
+{
+	int ret;
+
+	// XXX disabled, confusing users
+	//debug("ioctl 0x%04x 0x%08x", cmd, arg);
+
+	/* try it as a GPIO ioctl first */
+	ret = gpio_ioctl(filp, cmd, arg);
+
+	if (ret != -ENOTTY)
+		return ret;
+
+	/* if we are in valid PWM mode, try it as a PWM ioctl as well */
+	switch (_mode) {
+	case MODE_2PWM:
+	case MODE_4PWM:
+		ret = pwm_ioctl(filp, cmd, arg);
+		break;
+
+	default:
+		debug("not in a PWM mode");
+		break;
+	}
+
+	/* if nobody wants it, let CDev have it */
+	if (ret == -ENOTTY)
+		ret = CDev::ioctl(filp, cmd, arg);
+
+	return ret;
+}
+
+int
+MK::pwm_ioctl(file *filp, int cmd, unsigned long arg)
+{
+	int ret = OK;
+	int channel;
+
+	lock();
+
+	switch (cmd) {
+	case PWM_SERVO_ARM:
+		////up_pwm_servo_arm(true);
+		mk_servo_arm(true);
+		break;
+
+	case PWM_SERVO_DISARM:
+		////up_pwm_servo_arm(false);
+		mk_servo_arm(false);
+		break;
+
+	case PWM_SERVO_SET_UPDATE_RATE:
+		set_pwm_rate(arg);
+		break;
+
+
+	case PWM_SERVO_SET(0) ... PWM_SERVO_SET(_max_actuators - 1):
+
+		/* fake an update to the selected 'servo' channel */
+		if ((arg >= 0) && (arg <= 255)) {
+			channel = cmd - PWM_SERVO_SET(0);
+			//mk_servo_set(channel, arg);
+		} else {
+			ret = -EINVAL;
+		}
+
+		break;
+
+	case PWM_SERVO_GET(0) ... PWM_SERVO_GET(_max_actuators - 1):
+		/* copy the current output value from the channel */
+		*(servo_position_t *)arg = cmd - PWM_SERVO_GET(0);
+		break;
+
+	case MIXERIOCGETOUTPUTCOUNT:
+		/*
+		if (_mode == MODE_4PWM) {
+			*(unsigned *)arg = 4;
+		} else {
+			*(unsigned *)arg = 2;
+		}
+		 */
+
+		*(unsigned *)arg = _num_outputs;
+
+		break;
+
+	case MIXERIOCRESET:
+		if (_mixers != nullptr) {
+			delete _mixers;
+			_mixers = nullptr;
+		}
+
+		break;
+
+	case MIXERIOCADDSIMPLE: {
+			mixer_simple_s *mixinfo = (mixer_simple_s *)arg;
+
+			SimpleMixer *mixer = new SimpleMixer(control_callback,
+							     (uintptr_t)&_controls, mixinfo);
+
+			if (mixer->check()) {
+				delete mixer;
+				ret = -EINVAL;
+
+			} else {
+				if (_mixers == nullptr)
+					_mixers = new MixerGroup(control_callback,
+								 (uintptr_t)&_controls);
+
+				_mixers->add_mixer(mixer);
+			}
+
+			break;
+		}
+
+	case MIXERIOCLOADBUF: {
+			const char *buf = (const char *)arg;
+			unsigned buflen = strnlen(buf, 1024);
+
+			if (_mixers == nullptr)
+				_mixers = new MixerGroup(control_callback, (uintptr_t)&_controls);
+
+			if (_mixers == nullptr) {
+				ret = -ENOMEM;
+
+			} else {
+
+				ret = _mixers->load_from_buf(buf, buflen);
+
+				if (ret != 0) {
+					debug("mixer load failed with %d", ret);
+					delete _mixers;
+					_mixers = nullptr;
+					ret = -EINVAL;
+				}
+			}
+			break;
+		}
+
+	default:
+		ret = -ENOTTY;
+		break;
+	}
+
+	unlock();
+
+	return ret;
+}
+
+void
+MK::gpio_reset(void)
+{
+	/*
+	 * Setup default GPIO config - all pins as GPIOs, GPIO driver chip
+	 * to input mode.
+	 */
+	for (unsigned i = 0; i < _ngpio; i++)
+		stm32_configgpio(_gpio_tab[i].input);
+
+	stm32_gpiowrite(GPIO_GPIO_DIR, 0);
+	stm32_configgpio(GPIO_GPIO_DIR);
+}
+
+void
+MK::gpio_set_function(uint32_t gpios, int function)
+{
+	/*
+	 * GPIOs 0 and 1 must have the same direction as they are buffered
+	 * by a shared 2-port driver.  Any attempt to set either sets both.
+	 */
+	if (gpios & 3) {
+		gpios |= 3;
+
+		/* flip the buffer to output mode if required */
+		if (GPIO_SET_OUTPUT == function)
+			stm32_gpiowrite(GPIO_GPIO_DIR, 1);
+	}
+
+	/* configure selected GPIOs as required */
+	for (unsigned i = 0; i < _ngpio; i++) {
+		if (gpios & (1 << i)) {
+			switch (function) {
+			case GPIO_SET_INPUT:
+				stm32_configgpio(_gpio_tab[i].input);
+				break;
+
+			case GPIO_SET_OUTPUT:
+				stm32_configgpio(_gpio_tab[i].output);
+				break;
+
+			case GPIO_SET_ALT_1:
+				if (_gpio_tab[i].alt != 0)
+					stm32_configgpio(_gpio_tab[i].alt);
+
+				break;
+			}
+		}
+	}
+
+	/* flip buffer to input mode if required */
+	if ((GPIO_SET_INPUT == function) && (gpios & 3))
+		stm32_gpiowrite(GPIO_GPIO_DIR, 0);
+}
+
+void
+MK::gpio_write(uint32_t gpios, int function)
+{
+	int value = (function == GPIO_SET) ? 1 : 0;
+
+	for (unsigned i = 0; i < _ngpio; i++)
+		if (gpios & (1 << i))
+			stm32_gpiowrite(_gpio_tab[i].output, value);
+}
+
+uint32_t
+MK::gpio_read(void)
+{
+	uint32_t bits = 0;
+
+	for (unsigned i = 0; i < _ngpio; i++)
+		if (stm32_gpioread(_gpio_tab[i].input))
+			bits |= (1 << i);
+
+	return bits;
+}
+
+int
+MK::gpio_ioctl(struct file *filp, int cmd, unsigned long arg)
+{
+	int	ret = OK;
+
+	lock();
+
+	switch (cmd) {
+
+	case GPIO_RESET:
+		gpio_reset();
+		break;
+
+	case GPIO_SET_OUTPUT:
+	case GPIO_SET_INPUT:
+	case GPIO_SET_ALT_1:
+		gpio_set_function(arg, cmd);
+		break;
+
+	case GPIO_SET_ALT_2:
+	case GPIO_SET_ALT_3:
+	case GPIO_SET_ALT_4:
+		ret = -EINVAL;
+		break;
+
+	case GPIO_SET:
+	case GPIO_CLEAR:
+		gpio_write(arg, cmd);
+		break;
+
+	case GPIO_GET:
+		*(uint32_t *)arg = gpio_read();
+		break;
+
+	default:
+		ret = -ENOTTY;
+	}
+
+	unlock();
+
+	return ret;
+}
+
+namespace
+{
+
+enum PortMode {
+	PORT_MODE_UNSET = 0,
+	PORT_FULL_GPIO,
+	PORT_FULL_SERIAL,
+	PORT_FULL_PWM,
+	PORT_GPIO_AND_SERIAL,
+	PORT_PWM_AND_SERIAL,
+	PORT_PWM_AND_GPIO,
+};
+
+enum MappingMode {
+	MAPPING_MK = 0,
+	MAPPING_PX4,
+};
+
+	enum FrameType {
+		FRAME_PLUS = 0,
+		FRAME_X,
+	};
+
+PortMode g_port_mode;
+
+int
+mk_new_mode(PortMode new_mode, int update_rate, int motorcount, bool motortest, int px4mode, int frametype)
+{
+	uint32_t gpio_bits;
+	int shouldStop = 0;
+	MK::Mode servo_mode;
+
+	/* reset to all-inputs */
+	g_mk->ioctl(0, GPIO_RESET, 0);
+
+	gpio_bits = 0;
+	servo_mode = MK::MODE_NONE;
+
+	switch (new_mode) {
+	case PORT_FULL_GPIO:
+	case PORT_MODE_UNSET:
+		/* nothing more to do here */
+		break;
+
+	case PORT_FULL_SERIAL:
+		/* set all multi-GPIOs to serial mode */
+		gpio_bits = GPIO_MULTI_1 | GPIO_MULTI_2 | GPIO_MULTI_3 | GPIO_MULTI_4;
+		break;
+
+	case PORT_FULL_PWM:
+		/* select 4-pin PWM mode */
+		servo_mode = MK::MODE_4PWM;
+		break;
+
+	case PORT_GPIO_AND_SERIAL:
+		/* set RX/TX multi-GPIOs to serial mode */
+		gpio_bits = GPIO_MULTI_3 | GPIO_MULTI_4;
+		break;
+
+	case PORT_PWM_AND_SERIAL:
+		/* select 2-pin PWM mode */
+		servo_mode = MK::MODE_2PWM;
+		/* set RX/TX multi-GPIOs to serial mode */
+		gpio_bits = GPIO_MULTI_3 | GPIO_MULTI_4;
+		break;
+
+	case PORT_PWM_AND_GPIO:
+		/* select 2-pin PWM mode */
+		servo_mode = MK::MODE_2PWM;
+		break;
+	}
+
+	/* adjust GPIO config for serial mode(s) */
+	if (gpio_bits != 0)
+		g_mk->ioctl(0, GPIO_SET_ALT_1, gpio_bits);
+
+	/* native PX4 addressing) */
+	g_mk->set_px4mode(px4mode);
+
+	/* set frametype (geometry) */
+	g_mk->set_frametype(frametype);
+
+	/* motortest if enabled */
+	g_mk->set_motor_test(motortest);
+
+
+	/* (re)set count of used motors */
+	////g_mk->set_motor_count(motorcount);
+	/* count used motors */
+
+	do {
+		if(g_mk->mk_check_for_blctrl(8, false) != 0) {
+			shouldStop = 4;
+		} else {
+			shouldStop++;
+		}
+		sleep(1);
+	} while ( shouldStop < 3);
+
+	g_mk->set_motor_count(g_mk->mk_check_for_blctrl(8, true));
+
+	/* (re)set the PWM output mode */
+	g_mk->set_mode(servo_mode);
+
+
+	if ((servo_mode != MK::MODE_NONE) && (update_rate != 0))
+		g_mk->set_pwm_rate(update_rate);
+
+	return OK;
+}
+
+int
+mk_start(unsigned bus, unsigned motors)
+{
+	int ret = OK;
+
+	if (g_mk == nullptr) {
+
+		g_mk = new MK(bus);
+
+		if (g_mk == nullptr) {
+			ret = -ENOMEM;
+
+		} else {
+			ret = g_mk->init(motors);
+
+			if (ret != OK) {
+				delete g_mk;
+				g_mk = nullptr;
+			}
+		}
+	}
+
+	return ret;
+}
+
+
+} // namespace
+
+extern "C" __EXPORT int mkblctrl_main(int argc, char *argv[]);
+
+int
+mkblctrl_main(int argc, char *argv[])
+{
+	PortMode port_mode = PORT_FULL_PWM;
+	int pwm_update_rate_in_hz = UPDATE_RATE;
+	int motorcount = 8;
+	int bus = 1;
+	int px4mode = MAPPING_PX4;
+	int frametype = FRAME_PLUS;	// + plus is default
+	bool motortest = false;
+	bool showHelp = false;
+	bool newMode = false;
+
+	/*
+	 * optional parameters
+	 */
+	for (int i = 1; i < argc; i++) {
+
+		/* look for the optional i2c bus parameter */
+		if (strcmp(argv[i], "-b") == 0 || strcmp(argv[i], "--bus") == 0) {
+			if (argc > i + 1) {
+				bus = atoi(argv[i + 1]);
+				newMode = true;
+				} else {
+				errx(1, "missing argument for i2c bus (-b)");
+				return 1;
+			}
+		}
+
+		/* look for the optional frame parameter */
+		if (strcmp(argv[i], "-mkmode") == 0 || strcmp(argv[i], "--mkmode") == 0) {
+			if (argc > i + 1) {
+				if(strcmp(argv[i + 1], "+") == 0 || strcmp(argv[i + 1], "x") == 0 || strcmp(argv[i + 1], "X") == 0) {
+					px4mode = MAPPING_MK;
+					newMode = true;
+					if(strcmp(argv[i + 1], "+") == 0) {
+						frametype = FRAME_PLUS;
+					} else {
+						frametype = FRAME_X;
+					}
+				} else {
+					errx(1, "only + or x for frametype supported !");
+				}
+			} else {
+				errx(1, "missing argument for mkmode (-mkmode)");
+				return 1;
+			}
+		}
+
+		/* look for the optional test parameter */
+		if (strcmp(argv[i], "-t") == 0) {
+			motortest = true;
+			newMode = true;
+		}
+
+		/* look for the optional -h --help parameter */
+		if (strcmp(argv[i], "-h") == 0 || strcmp(argv[i], "--help") == 0) {
+			showHelp == true;
+		}
+
+	}
+
+	if(showHelp) {
+		fprintf(stderr, "mkblctrl: help:\n");
+		fprintf(stderr, "  [-mkmode frame{+/x}] [-b i2c_bus_number] [-t motortest] [-h / --help]\n");
+		exit(1);
+	}
+
+
+	if (g_mk == nullptr) {
+		if (mk_start(bus, motorcount) != OK) {
+			errx(1, "failed to start the MK-BLCtrl driver");
+		} else {
+			newMode = true;
+		}
+	}
+
+
+	/* parameter set ? */
+	if (newMode) {
+		/* switch parameter */
+		return mk_new_mode(port_mode, pwm_update_rate_in_hz, motorcount, motortest, px4mode, frametype);
+	}
+
+	/* test, etc. here g*/
+
+	exit(1);
+}
diff --git a/src/drivers/mkblctrl/module.mk b/src/drivers/mkblctrl/module.mk
new file mode 100644
index 000000000..3ac263b00
--- /dev/null
+++ b/src/drivers/mkblctrl/module.mk
@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (c) 2012,2013 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Interface driver for the Mikrokopter BLCtrl
+#
+
+MODULE_COMMAND		= mkblctrl
+
+SRCS				= mkblctrl.cpp
+
+INCLUDE_DIRS		+= $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
-- 
cgit v1.2.3


From bb94847511e76c34cf0fbebe874ed4fd6efe1c0c Mon Sep 17 00:00:00 2001
From: Lorenz Meier 
Date: Sun, 5 May 2013 11:43:29 +0200
Subject: Allowed parsing of floating point params from scripts

---
 src/systemcmds/param/param.c | 20 ++++++++++----------
 1 file changed, 10 insertions(+), 10 deletions(-)

(limited to 'src')

diff --git a/src/systemcmds/param/param.c b/src/systemcmds/param/param.c
index 56f5317e3..60e61d07b 100644
--- a/src/systemcmds/param/param.c
+++ b/src/systemcmds/param/param.c
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
  *   Author: Lorenz Meier 
  *
  * Redistribution and use in source and binary forms, with or without
@@ -34,6 +34,7 @@
 
 /**
  * @file param.c
+ * @author Lorenz Meier 
  *
  * Parameter tool.
  */
@@ -262,7 +263,7 @@ do_set(const char* name, const char* val)
 	switch (param_type(param)) {
 	case PARAM_TYPE_INT32:
 		if (!param_get(param, &i)) {
-			printf("old: %d", i);
+			printf("curr: %d", i);
 
 			/* convert string */
 			char* end;
@@ -276,14 +277,13 @@ do_set(const char* name, const char* val)
 
 	case PARAM_TYPE_FLOAT:
 		if (!param_get(param, &f)) {
-			printf("float values are not yet supported.");
-			// printf("old: %4.4f", (double)f);
-
-			// /* convert string */
-			// char* end;
-			// f = strtof(val,&end);
-			// param_set(param, &f);
-			// printf(" -> new: %4.4f\n", f);
+			printf("curr: %4.4f", (double)f);
+
+			/* convert string */
+			char* end;
+			f = strtod(val,&end);
+			param_set(param, &f);
+			printf(" -> new: %f\n", f);
 
 		}
 
-- 
cgit v1.2.3


From 1ca535b94145c94db04d0655c2f4fb25c76a717a Mon Sep 17 00:00:00 2001
From: px4dev 
Date: Sun, 5 May 2013 16:52:26 -0700
Subject: Fix whitespace damage, update help text to indicate the -m option is
 for debug use only.

---
 src/systemcmds/pwm/pwm.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'src')

diff --git a/src/systemcmds/pwm/pwm.c b/src/systemcmds/pwm/pwm.c
index 08e6c88df..ff733df52 100644
--- a/src/systemcmds/pwm/pwm.c
+++ b/src/systemcmds/pwm/pwm.c
@@ -78,7 +78,7 @@ usage(const char *reason)
 		"      Channel group that should update at the alternate rate (may be specified more than once)\n"
 		"  arm | disarm       Arm or disarm the ouptut\n"
 		"  ... PWM output values in microseconds to assign to the PWM outputs\n"
-	        "           Directly supply alt rate channel mask\n"
+		"           Directly supply alt rate channel mask (debug use only)\n"
 		"\n"
 		"When -c is specified, any channel groups not listed with -c will update at the default rate.\n"
 		);
-- 
cgit v1.2.3


From eac9e10a83ab2f897e4d0c2c6c8cd9f9f55b29cb Mon Sep 17 00:00:00 2001
From: Lorenz Meier 
Date: Mon, 6 May 2013 23:50:14 +0200
Subject: Moved calibration

---
 apps/commander/accelerometer_calibration.c        | 416 ----------------------
 apps/commander/accelerometer_calibration.h        |  16 -
 src/modules/commander/accelerometer_calibration.c | 416 ++++++++++++++++++++++
 src/modules/commander/accelerometer_calibration.h |  16 +
 src/modules/commander/module.mk                   |  10 +-
 5 files changed, 438 insertions(+), 436 deletions(-)
 delete mode 100644 apps/commander/accelerometer_calibration.c
 delete mode 100644 apps/commander/accelerometer_calibration.h
 create mode 100644 src/modules/commander/accelerometer_calibration.c
 create mode 100644 src/modules/commander/accelerometer_calibration.h

(limited to 'src')

diff --git a/apps/commander/accelerometer_calibration.c b/apps/commander/accelerometer_calibration.c
deleted file mode 100644
index 991145d73..000000000
--- a/apps/commander/accelerometer_calibration.c
+++ /dev/null
@@ -1,416 +0,0 @@
-/*
- * accelerometer_calibration.c
- *
- *   Copyright (C) 2013 Anton Babushkin. All rights reserved.
- *   Author: 	Anton Babushkin	
- *
- * Transform acceleration vector to true orientation and scale
- *
- * * * * Model * * *
- * accel_corr = accel_T * (accel_raw - accel_offs)
- *
- * accel_corr[3] - fully corrected acceleration vector in body frame
- * accel_T[3][3] - accelerometers transform matrix, rotation and scaling transform
- * accel_raw[3]  - raw acceleration vector
- * accel_offs[3] - acceleration offset vector
- *
- * * * * Calibration * * *
- *
- * Reference vectors
- * accel_corr_ref[6][3] = [  g  0  0 ]     // nose up
- *                        | -g  0  0 |     // nose down
- *                        |  0  g  0 |     // left side down
- *                        |  0 -g  0 |     // right side down
- *                        |  0  0  g |     // on back
- *                        [  0  0 -g ]     // level
- * accel_raw_ref[6][3]
- *
- * accel_corr_ref[i] = accel_T * (accel_raw_ref[i] - accel_offs), i = 0...5
- *
- * 6 reference vectors * 3 axes = 18 equations
- * 9 (accel_T) + 3 (accel_offs) = 12 unknown constants
- *
- * Find accel_offs
- *
- * accel_offs[i] = (accel_raw_ref[i*2][i] + accel_raw_ref[i*2+1][i]) / 2
- *
- *
- * Find accel_T
- *
- * 9 unknown constants
- * need 9 equations -> use 3 of 6 measurements -> 3 * 3 = 9 equations
- *
- * accel_corr_ref[i*2] = accel_T * (accel_raw_ref[i*2] - accel_offs), i = 0...2
- *
- * Solve separate system for each row of accel_T:
- *
- * accel_corr_ref[j*2][i] = accel_T[i] * (accel_raw_ref[j*2] - accel_offs), j = 0...2
- *
- * A * x = b
- *
- * x = [ accel_T[0][i] ]
- *     | accel_T[1][i] |
- *     [ accel_T[2][i] ]
- *
- * b = [ accel_corr_ref[0][i] ]	// One measurement per axis is enough
- *     | accel_corr_ref[2][i] |
- *     [ accel_corr_ref[4][i] ]
- *
- * a[i][j] = accel_raw_ref[i][j] - accel_offs[j], i = 0;2;4, j = 0...2
- *
- * Matrix A is common for all three systems:
- * A = [ a[0][0]  a[0][1]  a[0][2] ]
- *     | a[2][0]  a[2][1]  a[2][2] |
- *     [ a[4][0]  a[4][1]  a[4][2] ]
- *
- * x = A^-1 * b
- *
- * accel_T = A^-1 * g
- * g = 9.80665
- */
-
-#include "accelerometer_calibration.h"
-
-#include 
-#include 
-#include 
-#include 
-#include 
-#include 
-
-void do_accel_calibration(int status_pub, struct vehicle_status_s *status, int mavlink_fd);
-int do_accel_calibration_mesurements(int mavlink_fd, float accel_offs[3], float accel_scale[3]);
-int detect_orientation(int mavlink_fd, int sub_sensor_combined);
-int read_accelerometer_avg(int sensor_combined_sub, float accel_avg[3], int samples_num);
-int mat_invert3(float src[3][3], float dst[3][3]);
-int calculate_calibration_values(float accel_ref[6][3], float accel_T[3][3], float accel_offs[3], float g);
-
-void do_accel_calibration(int status_pub, struct vehicle_status_s *status, int mavlink_fd) {
-	/* announce change */
-	mavlink_log_info(mavlink_fd, "accel calibration started");
-	/* set to accel calibration mode */
-	status->flag_preflight_accel_calibration = true;
-	state_machine_publish(status_pub, status, mavlink_fd);
-
-	/* measure and calculate offsets & scales */
-	float accel_offs[3];
-	float accel_scale[3];
-	int res = do_accel_calibration_mesurements(mavlink_fd, accel_offs, accel_scale);
-
-	if (res == OK) {
-		/* measurements complete successfully, set parameters */
-		if (param_set(param_find("SENS_ACC_XOFF"), &(accel_offs[0]))
-			|| param_set(param_find("SENS_ACC_YOFF"), &(accel_offs[1]))
-			|| param_set(param_find("SENS_ACC_ZOFF"), &(accel_offs[2]))
-			|| param_set(param_find("SENS_ACC_XSCALE"), &(accel_scale[0]))
-			|| param_set(param_find("SENS_ACC_YSCALE"), &(accel_scale[1]))
-			|| param_set(param_find("SENS_ACC_ZSCALE"), &(accel_scale[2]))) {
-			mavlink_log_critical(mavlink_fd, "ERROR: setting offs or scale failed");
-		}
-
-		int fd = open(ACCEL_DEVICE_PATH, 0);
-		struct accel_scale ascale = {
-			accel_offs[0],
-			accel_scale[0],
-			accel_offs[1],
-			accel_scale[1],
-			accel_offs[2],
-			accel_scale[2],
-		};
-
-		if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale))
-			warn("WARNING: failed to set scale / offsets for accel");
-
-		close(fd);
-
-		/* auto-save to EEPROM */
-		int save_ret = param_save_default();
-
-		if (save_ret != 0) {
-			warn("WARNING: auto-save of params to storage failed");
-		}
-
-		mavlink_log_info(mavlink_fd, "accel calibration done");
-		tune_confirm();
-		sleep(2);
-		tune_confirm();
-		sleep(2);
-		/* third beep by cal end routine */
-	} else {
-		/* measurements error */
-		mavlink_log_info(mavlink_fd, "accel calibration aborted");
-		tune_error();
-		sleep(2);
-	}
-
-	/* exit accel calibration mode */
-	status->flag_preflight_accel_calibration = false;
-	state_machine_publish(status_pub, status, mavlink_fd);
-}
-
-int do_accel_calibration_mesurements(int mavlink_fd, float accel_offs[3], float accel_scale[3]) {
-	const int samples_num = 2500;
-	float accel_ref[6][3];
-	bool data_collected[6] = { false, false, false, false, false, false };
-	const char *orientation_strs[6] = { "x+", "x-", "y+", "y-", "z+", "z-" };
-
-	/* reset existing calibration */
-	int fd = open(ACCEL_DEVICE_PATH, 0);
-	struct accel_scale ascale_null = {
-		0.0f,
-		1.0f,
-		0.0f,
-		1.0f,
-		0.0f,
-		1.0f,
-	};
-	int ioctl_res = ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale_null);
-	close(fd);
-
-	if (OK != ioctl_res) {
-		warn("ERROR: failed to set scale / offsets for accel");
-		return ERROR;
-	}
-
-	int sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined));
-	while (true) {
-		bool done = true;
-		char str[80];
-		int str_ptr;
-		str_ptr = sprintf(str, "keep vehicle still:");
-		for (int i = 0; i < 6; i++) {
-			if (!data_collected[i]) {
-				str_ptr += sprintf(&(str[str_ptr]), " %s", orientation_strs[i]);
-				done = false;
-			}
-		}
-		if (done)
-			break;
-		mavlink_log_info(mavlink_fd, str);
-
-		int orient = detect_orientation(mavlink_fd, sensor_combined_sub);
-		if (orient < 0)
-			return ERROR;
-
-		sprintf(str, "meas started: %s", orientation_strs[orient]);
-		mavlink_log_info(mavlink_fd, str);
-		read_accelerometer_avg(sensor_combined_sub, &(accel_ref[orient][0]), samples_num);
-		str_ptr = sprintf(str, "meas result for %s: [ %.2f %.2f %.2f ]", orientation_strs[orient], accel_ref[orient][0], accel_ref[orient][1], accel_ref[orient][2]);
-		mavlink_log_info(mavlink_fd, str);
-		data_collected[orient] = true;
-		tune_confirm();
-	}
-	close(sensor_combined_sub);
-
-	/* calculate offsets and rotation+scale matrix */
-	float accel_T[3][3];
-	int res = calculate_calibration_values(accel_ref, accel_T, accel_offs, CONSTANTS_ONE_G);
-	if (res != 0) {
-		mavlink_log_info(mavlink_fd, "ERROR: calibration values calc error");
-		return ERROR;
-	}
-
-	/* convert accel transform matrix to scales,
-	 * rotation part of transform matrix is not used by now
-	 */
-	for (int i = 0; i < 3; i++) {
-		accel_scale[i] = accel_T[i][i];
-	}
-
-	return OK;
-}
-
-/*
- * Wait for vehicle become still and detect it's orientation.
- *
- * @return 0..5 according to orientation when vehicle is still and ready for measurements,
- * ERROR if vehicle is not still after 30s or orientation error is more than 5m/s^2
- */
-int detect_orientation(int mavlink_fd, int sub_sensor_combined) {
-	struct sensor_combined_s sensor;
-	/* exponential moving average of accel */
-	float accel_ema[3] = { 0.0f, 0.0f, 0.0f };
-	/* max-hold dispersion of accel */
-	float accel_disp[3] = { 0.0f, 0.0f, 0.0f };
-	float accel_len2 = 0.0f;
-	/* EMA time constant in seconds*/
-	float ema_len = 0.2f;
-	/* set "still" threshold to 0.1 m/s^2 */
-	float still_thr2 = pow(0.1f, 2);
-	/* set accel error threshold to 5m/s^2 */
-	float accel_err_thr = 5.0f;
-	/* still time required in us */
-	int64_t still_time = 2000000;
-	struct pollfd fds[1] = { { .fd = sub_sensor_combined, .events = POLLIN } };
-
-	hrt_abstime t_start = hrt_absolute_time();
-	/* set timeout to 30s */
-	hrt_abstime timeout = 30000000;
-	hrt_abstime t_timeout = t_start + timeout;
-	hrt_abstime t = t_start;
-	hrt_abstime t_prev = t_start;
-	hrt_abstime t_still = 0;
-	while (true) {
-		/* wait blocking for new data */
-		int poll_ret = poll(fds, 1, 1000);
-		if (poll_ret) {
-			orb_copy(ORB_ID(sensor_combined), sub_sensor_combined, &sensor);
-			t = hrt_absolute_time();
-			float dt = (t - t_prev) / 1000000.0f;
-			t_prev = t;
-			float w = dt / ema_len;
-			for (int i = 0; i < 3; i++) {
-				accel_ema[i] = accel_ema[i] * (1.0f - w) + sensor.accelerometer_m_s2[i] * w;
-				float d = (float) sensor.accelerometer_m_s2[i] - accel_ema[i];
-				d = d * d;
-				accel_disp[i] = accel_disp[i] * (1.0f - w);
-				if (d > accel_disp[i])
-					accel_disp[i] = d;
-			}
-			/* still detector with hysteresis */
-			if (  accel_disp[0] < still_thr2 &&
-				  accel_disp[1] < still_thr2 &&
-				  accel_disp[2] < still_thr2 ) {
-				/* is still now */
-				if (t_still == 0) {
-					/* first time */
-					mavlink_log_info(mavlink_fd, "still...");
-					t_still = t;
-					t_timeout = t + timeout;
-				} else {
-					/* still since t_still */
-					if ((int64_t) t - (int64_t) t_still > still_time) {
-						/* vehicle is still, exit from the loop to detection of its orientation */
-						break;
-					}
-				}
-			} else if ( accel_disp[0] > still_thr2 * 2.0f ||
-					    accel_disp[1] > still_thr2 * 2.0f ||
-					    accel_disp[2] > still_thr2 * 2.0f) {
-				/* not still, reset still start time */
-				if (t_still != 0) {
-					mavlink_log_info(mavlink_fd, "moving...");
-					t_still = 0;
-				}
-			}
-		} else if (poll_ret == 0) {
-			/* any poll failure for 1s is a reason to abort */
-			mavlink_log_info(mavlink_fd, "ERROR: poll failure");
-			return -3;
-		}
-		if (t > t_timeout) {
-			mavlink_log_info(mavlink_fd, "ERROR: timeout");
-			return -1;
-		}
-	}
-
-	float accel_len = sqrt(accel_len2);
-	if (  fabs(accel_ema[0] - accel_len) < accel_err_thr &&
-		  fabs(accel_ema[1]) < accel_err_thr &&
-		  fabs(accel_ema[2]) < accel_err_thr  )
-		return 0;	// [ g, 0, 0 ]
-	if (  fabs(accel_ema[0] + accel_len) < accel_err_thr &&
-		  fabs(accel_ema[1]) < accel_err_thr &&
-		  fabs(accel_ema[2]) < accel_err_thr  )
-		return 1;	// [ -g, 0, 0 ]
-	if (  fabs(accel_ema[0]) < accel_err_thr &&
-		  fabs(accel_ema[1] - accel_len) < accel_err_thr &&
-		  fabs(accel_ema[2]) < accel_err_thr  )
-		return 2;	// [ 0, g, 0 ]
-	if (  fabs(accel_ema[0]) < accel_err_thr &&
-		  fabs(accel_ema[1] + accel_len) < accel_err_thr &&
-		  fabs(accel_ema[2]) < accel_err_thr  )
-		return 3;	// [ 0, -g, 0 ]
-	if (  fabs(accel_ema[0]) < accel_err_thr &&
-		  fabs(accel_ema[1]) < accel_err_thr &&
-		  fabs(accel_ema[2] - accel_len) < accel_err_thr  )
-		return 4;	// [ 0, 0, g ]
-	if (  fabs(accel_ema[0]) < accel_err_thr &&
-		  fabs(accel_ema[1]) < accel_err_thr &&
-		  fabs(accel_ema[2] + accel_len) < accel_err_thr  )
-		return 5;	// [ 0, 0, -g ]
-
-	mavlink_log_info(mavlink_fd, "ERROR: invalid orientation");
-
-	return -2;	// Can't detect orientation
-}
-
-/*
- * Read specified number of accelerometer samples, calculate average and dispersion.
- */
-int read_accelerometer_avg(int sensor_combined_sub, float accel_avg[3], int samples_num) {
-	struct pollfd fds[1] = { { .fd = sensor_combined_sub, .events = POLLIN } };
-	int count = 0;
-	float accel_sum[3] = { 0.0f, 0.0f, 0.0f };
-
-	while (count < samples_num) {
-		int poll_ret = poll(fds, 1, 1000);
-		if (poll_ret == 1) {
-			struct sensor_combined_s sensor;
-			orb_copy(ORB_ID(sensor_combined), sensor_combined_sub, &sensor);
-			for (int i = 0; i < 3; i++)
-				accel_sum[i] += sensor.accelerometer_m_s2[i];
-			count++;
-		} else {
-			return ERROR;
-		}
-	}
-
-	for (int i = 0; i < 3; i++) {
-		accel_avg[i] = accel_sum[i] / count;
-	}
-
-	return OK;
-}
-
-int mat_invert3(float src[3][3], float dst[3][3]) {
-	float det = src[0][0] * (src[1][1] * src[2][2] - src[1][2] * src[2][1]) -
-			    src[0][1] * (src[1][0] * src[2][2] - src[1][2] * src[2][0]) +
-			    src[0][2] * (src[1][0] * src[2][1] - src[1][1] * src[2][0]);
-	if (det == 0.0)
-		return ERROR;	// Singular matrix
-
-	dst[0][0] = (src[1][1] * src[2][2] - src[1][2] * src[2][1]) / det;
-	dst[1][0] = (src[1][2] * src[2][0] - src[1][0] * src[2][2]) / det;
-	dst[2][0] = (src[1][0] * src[2][1] - src[1][1] * src[2][0]) / det;
-	dst[0][1] = (src[0][2] * src[2][1] - src[0][1] * src[2][2]) / det;
-	dst[1][1] = (src[0][0] * src[2][2] - src[0][2] * src[2][0]) / det;
-	dst[2][1] = (src[0][1] * src[2][0] - src[0][0] * src[2][1]) / det;
-	dst[0][2] = (src[0][1] * src[1][2] - src[0][2] * src[1][1]) / det;
-	dst[1][2] = (src[0][2] * src[1][0] - src[0][0] * src[1][2]) / det;
-	dst[2][2] = (src[0][0] * src[1][1] - src[0][1] * src[1][0]) / det;
-
-	return OK;
-}
-
-int calculate_calibration_values(float accel_ref[6][3], float accel_T[3][3], float accel_offs[3], float g) {
-	/* calculate offsets */
-	for (int i = 0; i < 3; i++) {
-		accel_offs[i] = (accel_ref[i * 2][i] + accel_ref[i * 2 + 1][i]) / 2;
-	}
-
-	/* fill matrix A for linear equations system*/
-	float mat_A[3][3];
-	memset(mat_A, 0, sizeof(mat_A));
-	for (int i = 0; i < 3; i++) {
-		for (int j = 0; j < 3; j++) {
-			float a = accel_ref[i * 2][j] - accel_offs[j];
-			mat_A[i][j] = a;
-		}
-	}
-
-	/* calculate inverse matrix for A */
-	float mat_A_inv[3][3];
-	if (mat_invert3(mat_A, mat_A_inv) != OK)
-		return ERROR;
-
-	/* copy results to accel_T */
-	for (int i = 0; i < 3; i++) {
-		for (int j = 0; j < 3; j++) {
-			/* simplify matrices mult because b has only one non-zero element == g at index i */
-			accel_T[j][i] = mat_A_inv[j][i] * g;
-		}
-	}
-
-	return OK;
-}
diff --git a/apps/commander/accelerometer_calibration.h b/apps/commander/accelerometer_calibration.h
deleted file mode 100644
index c0169c2a1..000000000
--- a/apps/commander/accelerometer_calibration.h
+++ /dev/null
@@ -1,16 +0,0 @@
-/*
- * accelerometer_calibration.h
- *
- *  Created on: 25.04.2013
- *      Author: ton
- */
-
-#ifndef ACCELEROMETER_CALIBRATION_H_
-#define ACCELEROMETER_CALIBRATION_H_
-
-#include 
-#include 
-
-void do_accel_calibration(int status_pub, struct vehicle_status_s *status, int mavlink_fd);
-
-#endif /* ACCELEROMETER_CALIBRATION_H_ */
diff --git a/src/modules/commander/accelerometer_calibration.c b/src/modules/commander/accelerometer_calibration.c
new file mode 100644
index 000000000..991145d73
--- /dev/null
+++ b/src/modules/commander/accelerometer_calibration.c
@@ -0,0 +1,416 @@
+/*
+ * accelerometer_calibration.c
+ *
+ *   Copyright (C) 2013 Anton Babushkin. All rights reserved.
+ *   Author: 	Anton Babushkin	
+ *
+ * Transform acceleration vector to true orientation and scale
+ *
+ * * * * Model * * *
+ * accel_corr = accel_T * (accel_raw - accel_offs)
+ *
+ * accel_corr[3] - fully corrected acceleration vector in body frame
+ * accel_T[3][3] - accelerometers transform matrix, rotation and scaling transform
+ * accel_raw[3]  - raw acceleration vector
+ * accel_offs[3] - acceleration offset vector
+ *
+ * * * * Calibration * * *
+ *
+ * Reference vectors
+ * accel_corr_ref[6][3] = [  g  0  0 ]     // nose up
+ *                        | -g  0  0 |     // nose down
+ *                        |  0  g  0 |     // left side down
+ *                        |  0 -g  0 |     // right side down
+ *                        |  0  0  g |     // on back
+ *                        [  0  0 -g ]     // level
+ * accel_raw_ref[6][3]
+ *
+ * accel_corr_ref[i] = accel_T * (accel_raw_ref[i] - accel_offs), i = 0...5
+ *
+ * 6 reference vectors * 3 axes = 18 equations
+ * 9 (accel_T) + 3 (accel_offs) = 12 unknown constants
+ *
+ * Find accel_offs
+ *
+ * accel_offs[i] = (accel_raw_ref[i*2][i] + accel_raw_ref[i*2+1][i]) / 2
+ *
+ *
+ * Find accel_T
+ *
+ * 9 unknown constants
+ * need 9 equations -> use 3 of 6 measurements -> 3 * 3 = 9 equations
+ *
+ * accel_corr_ref[i*2] = accel_T * (accel_raw_ref[i*2] - accel_offs), i = 0...2
+ *
+ * Solve separate system for each row of accel_T:
+ *
+ * accel_corr_ref[j*2][i] = accel_T[i] * (accel_raw_ref[j*2] - accel_offs), j = 0...2
+ *
+ * A * x = b
+ *
+ * x = [ accel_T[0][i] ]
+ *     | accel_T[1][i] |
+ *     [ accel_T[2][i] ]
+ *
+ * b = [ accel_corr_ref[0][i] ]	// One measurement per axis is enough
+ *     | accel_corr_ref[2][i] |
+ *     [ accel_corr_ref[4][i] ]
+ *
+ * a[i][j] = accel_raw_ref[i][j] - accel_offs[j], i = 0;2;4, j = 0...2
+ *
+ * Matrix A is common for all three systems:
+ * A = [ a[0][0]  a[0][1]  a[0][2] ]
+ *     | a[2][0]  a[2][1]  a[2][2] |
+ *     [ a[4][0]  a[4][1]  a[4][2] ]
+ *
+ * x = A^-1 * b
+ *
+ * accel_T = A^-1 * g
+ * g = 9.80665
+ */
+
+#include "accelerometer_calibration.h"
+
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+
+void do_accel_calibration(int status_pub, struct vehicle_status_s *status, int mavlink_fd);
+int do_accel_calibration_mesurements(int mavlink_fd, float accel_offs[3], float accel_scale[3]);
+int detect_orientation(int mavlink_fd, int sub_sensor_combined);
+int read_accelerometer_avg(int sensor_combined_sub, float accel_avg[3], int samples_num);
+int mat_invert3(float src[3][3], float dst[3][3]);
+int calculate_calibration_values(float accel_ref[6][3], float accel_T[3][3], float accel_offs[3], float g);
+
+void do_accel_calibration(int status_pub, struct vehicle_status_s *status, int mavlink_fd) {
+	/* announce change */
+	mavlink_log_info(mavlink_fd, "accel calibration started");
+	/* set to accel calibration mode */
+	status->flag_preflight_accel_calibration = true;
+	state_machine_publish(status_pub, status, mavlink_fd);
+
+	/* measure and calculate offsets & scales */
+	float accel_offs[3];
+	float accel_scale[3];
+	int res = do_accel_calibration_mesurements(mavlink_fd, accel_offs, accel_scale);
+
+	if (res == OK) {
+		/* measurements complete successfully, set parameters */
+		if (param_set(param_find("SENS_ACC_XOFF"), &(accel_offs[0]))
+			|| param_set(param_find("SENS_ACC_YOFF"), &(accel_offs[1]))
+			|| param_set(param_find("SENS_ACC_ZOFF"), &(accel_offs[2]))
+			|| param_set(param_find("SENS_ACC_XSCALE"), &(accel_scale[0]))
+			|| param_set(param_find("SENS_ACC_YSCALE"), &(accel_scale[1]))
+			|| param_set(param_find("SENS_ACC_ZSCALE"), &(accel_scale[2]))) {
+			mavlink_log_critical(mavlink_fd, "ERROR: setting offs or scale failed");
+		}
+
+		int fd = open(ACCEL_DEVICE_PATH, 0);
+		struct accel_scale ascale = {
+			accel_offs[0],
+			accel_scale[0],
+			accel_offs[1],
+			accel_scale[1],
+			accel_offs[2],
+			accel_scale[2],
+		};
+
+		if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale))
+			warn("WARNING: failed to set scale / offsets for accel");
+
+		close(fd);
+
+		/* auto-save to EEPROM */
+		int save_ret = param_save_default();
+
+		if (save_ret != 0) {
+			warn("WARNING: auto-save of params to storage failed");
+		}
+
+		mavlink_log_info(mavlink_fd, "accel calibration done");
+		tune_confirm();
+		sleep(2);
+		tune_confirm();
+		sleep(2);
+		/* third beep by cal end routine */
+	} else {
+		/* measurements error */
+		mavlink_log_info(mavlink_fd, "accel calibration aborted");
+		tune_error();
+		sleep(2);
+	}
+
+	/* exit accel calibration mode */
+	status->flag_preflight_accel_calibration = false;
+	state_machine_publish(status_pub, status, mavlink_fd);
+}
+
+int do_accel_calibration_mesurements(int mavlink_fd, float accel_offs[3], float accel_scale[3]) {
+	const int samples_num = 2500;
+	float accel_ref[6][3];
+	bool data_collected[6] = { false, false, false, false, false, false };
+	const char *orientation_strs[6] = { "x+", "x-", "y+", "y-", "z+", "z-" };
+
+	/* reset existing calibration */
+	int fd = open(ACCEL_DEVICE_PATH, 0);
+	struct accel_scale ascale_null = {
+		0.0f,
+		1.0f,
+		0.0f,
+		1.0f,
+		0.0f,
+		1.0f,
+	};
+	int ioctl_res = ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale_null);
+	close(fd);
+
+	if (OK != ioctl_res) {
+		warn("ERROR: failed to set scale / offsets for accel");
+		return ERROR;
+	}
+
+	int sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined));
+	while (true) {
+		bool done = true;
+		char str[80];
+		int str_ptr;
+		str_ptr = sprintf(str, "keep vehicle still:");
+		for (int i = 0; i < 6; i++) {
+			if (!data_collected[i]) {
+				str_ptr += sprintf(&(str[str_ptr]), " %s", orientation_strs[i]);
+				done = false;
+			}
+		}
+		if (done)
+			break;
+		mavlink_log_info(mavlink_fd, str);
+
+		int orient = detect_orientation(mavlink_fd, sensor_combined_sub);
+		if (orient < 0)
+			return ERROR;
+
+		sprintf(str, "meas started: %s", orientation_strs[orient]);
+		mavlink_log_info(mavlink_fd, str);
+		read_accelerometer_avg(sensor_combined_sub, &(accel_ref[orient][0]), samples_num);
+		str_ptr = sprintf(str, "meas result for %s: [ %.2f %.2f %.2f ]", orientation_strs[orient], accel_ref[orient][0], accel_ref[orient][1], accel_ref[orient][2]);
+		mavlink_log_info(mavlink_fd, str);
+		data_collected[orient] = true;
+		tune_confirm();
+	}
+	close(sensor_combined_sub);
+
+	/* calculate offsets and rotation+scale matrix */
+	float accel_T[3][3];
+	int res = calculate_calibration_values(accel_ref, accel_T, accel_offs, CONSTANTS_ONE_G);
+	if (res != 0) {
+		mavlink_log_info(mavlink_fd, "ERROR: calibration values calc error");
+		return ERROR;
+	}
+
+	/* convert accel transform matrix to scales,
+	 * rotation part of transform matrix is not used by now
+	 */
+	for (int i = 0; i < 3; i++) {
+		accel_scale[i] = accel_T[i][i];
+	}
+
+	return OK;
+}
+
+/*
+ * Wait for vehicle become still and detect it's orientation.
+ *
+ * @return 0..5 according to orientation when vehicle is still and ready for measurements,
+ * ERROR if vehicle is not still after 30s or orientation error is more than 5m/s^2
+ */
+int detect_orientation(int mavlink_fd, int sub_sensor_combined) {
+	struct sensor_combined_s sensor;
+	/* exponential moving average of accel */
+	float accel_ema[3] = { 0.0f, 0.0f, 0.0f };
+	/* max-hold dispersion of accel */
+	float accel_disp[3] = { 0.0f, 0.0f, 0.0f };
+	float accel_len2 = 0.0f;
+	/* EMA time constant in seconds*/
+	float ema_len = 0.2f;
+	/* set "still" threshold to 0.1 m/s^2 */
+	float still_thr2 = pow(0.1f, 2);
+	/* set accel error threshold to 5m/s^2 */
+	float accel_err_thr = 5.0f;
+	/* still time required in us */
+	int64_t still_time = 2000000;
+	struct pollfd fds[1] = { { .fd = sub_sensor_combined, .events = POLLIN } };
+
+	hrt_abstime t_start = hrt_absolute_time();
+	/* set timeout to 30s */
+	hrt_abstime timeout = 30000000;
+	hrt_abstime t_timeout = t_start + timeout;
+	hrt_abstime t = t_start;
+	hrt_abstime t_prev = t_start;
+	hrt_abstime t_still = 0;
+	while (true) {
+		/* wait blocking for new data */
+		int poll_ret = poll(fds, 1, 1000);
+		if (poll_ret) {
+			orb_copy(ORB_ID(sensor_combined), sub_sensor_combined, &sensor);
+			t = hrt_absolute_time();
+			float dt = (t - t_prev) / 1000000.0f;
+			t_prev = t;
+			float w = dt / ema_len;
+			for (int i = 0; i < 3; i++) {
+				accel_ema[i] = accel_ema[i] * (1.0f - w) + sensor.accelerometer_m_s2[i] * w;
+				float d = (float) sensor.accelerometer_m_s2[i] - accel_ema[i];
+				d = d * d;
+				accel_disp[i] = accel_disp[i] * (1.0f - w);
+				if (d > accel_disp[i])
+					accel_disp[i] = d;
+			}
+			/* still detector with hysteresis */
+			if (  accel_disp[0] < still_thr2 &&
+				  accel_disp[1] < still_thr2 &&
+				  accel_disp[2] < still_thr2 ) {
+				/* is still now */
+				if (t_still == 0) {
+					/* first time */
+					mavlink_log_info(mavlink_fd, "still...");
+					t_still = t;
+					t_timeout = t + timeout;
+				} else {
+					/* still since t_still */
+					if ((int64_t) t - (int64_t) t_still > still_time) {
+						/* vehicle is still, exit from the loop to detection of its orientation */
+						break;
+					}
+				}
+			} else if ( accel_disp[0] > still_thr2 * 2.0f ||
+					    accel_disp[1] > still_thr2 * 2.0f ||
+					    accel_disp[2] > still_thr2 * 2.0f) {
+				/* not still, reset still start time */
+				if (t_still != 0) {
+					mavlink_log_info(mavlink_fd, "moving...");
+					t_still = 0;
+				}
+			}
+		} else if (poll_ret == 0) {
+			/* any poll failure for 1s is a reason to abort */
+			mavlink_log_info(mavlink_fd, "ERROR: poll failure");
+			return -3;
+		}
+		if (t > t_timeout) {
+			mavlink_log_info(mavlink_fd, "ERROR: timeout");
+			return -1;
+		}
+	}
+
+	float accel_len = sqrt(accel_len2);
+	if (  fabs(accel_ema[0] - accel_len) < accel_err_thr &&
+		  fabs(accel_ema[1]) < accel_err_thr &&
+		  fabs(accel_ema[2]) < accel_err_thr  )
+		return 0;	// [ g, 0, 0 ]
+	if (  fabs(accel_ema[0] + accel_len) < accel_err_thr &&
+		  fabs(accel_ema[1]) < accel_err_thr &&
+		  fabs(accel_ema[2]) < accel_err_thr  )
+		return 1;	// [ -g, 0, 0 ]
+	if (  fabs(accel_ema[0]) < accel_err_thr &&
+		  fabs(accel_ema[1] - accel_len) < accel_err_thr &&
+		  fabs(accel_ema[2]) < accel_err_thr  )
+		return 2;	// [ 0, g, 0 ]
+	if (  fabs(accel_ema[0]) < accel_err_thr &&
+		  fabs(accel_ema[1] + accel_len) < accel_err_thr &&
+		  fabs(accel_ema[2]) < accel_err_thr  )
+		return 3;	// [ 0, -g, 0 ]
+	if (  fabs(accel_ema[0]) < accel_err_thr &&
+		  fabs(accel_ema[1]) < accel_err_thr &&
+		  fabs(accel_ema[2] - accel_len) < accel_err_thr  )
+		return 4;	// [ 0, 0, g ]
+	if (  fabs(accel_ema[0]) < accel_err_thr &&
+		  fabs(accel_ema[1]) < accel_err_thr &&
+		  fabs(accel_ema[2] + accel_len) < accel_err_thr  )
+		return 5;	// [ 0, 0, -g ]
+
+	mavlink_log_info(mavlink_fd, "ERROR: invalid orientation");
+
+	return -2;	// Can't detect orientation
+}
+
+/*
+ * Read specified number of accelerometer samples, calculate average and dispersion.
+ */
+int read_accelerometer_avg(int sensor_combined_sub, float accel_avg[3], int samples_num) {
+	struct pollfd fds[1] = { { .fd = sensor_combined_sub, .events = POLLIN } };
+	int count = 0;
+	float accel_sum[3] = { 0.0f, 0.0f, 0.0f };
+
+	while (count < samples_num) {
+		int poll_ret = poll(fds, 1, 1000);
+		if (poll_ret == 1) {
+			struct sensor_combined_s sensor;
+			orb_copy(ORB_ID(sensor_combined), sensor_combined_sub, &sensor);
+			for (int i = 0; i < 3; i++)
+				accel_sum[i] += sensor.accelerometer_m_s2[i];
+			count++;
+		} else {
+			return ERROR;
+		}
+	}
+
+	for (int i = 0; i < 3; i++) {
+		accel_avg[i] = accel_sum[i] / count;
+	}
+
+	return OK;
+}
+
+int mat_invert3(float src[3][3], float dst[3][3]) {
+	float det = src[0][0] * (src[1][1] * src[2][2] - src[1][2] * src[2][1]) -
+			    src[0][1] * (src[1][0] * src[2][2] - src[1][2] * src[2][0]) +
+			    src[0][2] * (src[1][0] * src[2][1] - src[1][1] * src[2][0]);
+	if (det == 0.0)
+		return ERROR;	// Singular matrix
+
+	dst[0][0] = (src[1][1] * src[2][2] - src[1][2] * src[2][1]) / det;
+	dst[1][0] = (src[1][2] * src[2][0] - src[1][0] * src[2][2]) / det;
+	dst[2][0] = (src[1][0] * src[2][1] - src[1][1] * src[2][0]) / det;
+	dst[0][1] = (src[0][2] * src[2][1] - src[0][1] * src[2][2]) / det;
+	dst[1][1] = (src[0][0] * src[2][2] - src[0][2] * src[2][0]) / det;
+	dst[2][1] = (src[0][1] * src[2][0] - src[0][0] * src[2][1]) / det;
+	dst[0][2] = (src[0][1] * src[1][2] - src[0][2] * src[1][1]) / det;
+	dst[1][2] = (src[0][2] * src[1][0] - src[0][0] * src[1][2]) / det;
+	dst[2][2] = (src[0][0] * src[1][1] - src[0][1] * src[1][0]) / det;
+
+	return OK;
+}
+
+int calculate_calibration_values(float accel_ref[6][3], float accel_T[3][3], float accel_offs[3], float g) {
+	/* calculate offsets */
+	for (int i = 0; i < 3; i++) {
+		accel_offs[i] = (accel_ref[i * 2][i] + accel_ref[i * 2 + 1][i]) / 2;
+	}
+
+	/* fill matrix A for linear equations system*/
+	float mat_A[3][3];
+	memset(mat_A, 0, sizeof(mat_A));
+	for (int i = 0; i < 3; i++) {
+		for (int j = 0; j < 3; j++) {
+			float a = accel_ref[i * 2][j] - accel_offs[j];
+			mat_A[i][j] = a;
+		}
+	}
+
+	/* calculate inverse matrix for A */
+	float mat_A_inv[3][3];
+	if (mat_invert3(mat_A, mat_A_inv) != OK)
+		return ERROR;
+
+	/* copy results to accel_T */
+	for (int i = 0; i < 3; i++) {
+		for (int j = 0; j < 3; j++) {
+			/* simplify matrices mult because b has only one non-zero element == g at index i */
+			accel_T[j][i] = mat_A_inv[j][i] * g;
+		}
+	}
+
+	return OK;
+}
diff --git a/src/modules/commander/accelerometer_calibration.h b/src/modules/commander/accelerometer_calibration.h
new file mode 100644
index 000000000..c0169c2a1
--- /dev/null
+++ b/src/modules/commander/accelerometer_calibration.h
@@ -0,0 +1,16 @@
+/*
+ * accelerometer_calibration.h
+ *
+ *  Created on: 25.04.2013
+ *      Author: ton
+ */
+
+#ifndef ACCELEROMETER_CALIBRATION_H_
+#define ACCELEROMETER_CALIBRATION_H_
+
+#include 
+#include 
+
+void do_accel_calibration(int status_pub, struct vehicle_status_s *status, int mavlink_fd);
+
+#endif /* ACCELEROMETER_CALIBRATION_H_ */
diff --git a/src/modules/commander/module.mk b/src/modules/commander/module.mk
index 556d5c2df..fe44e955a 100644
--- a/src/modules/commander/module.mk
+++ b/src/modules/commander/module.mk
@@ -35,7 +35,9 @@
 # Main system state machine
 #
 
-MODULE_COMMAND	 = commander
-SRCS		 = commander.c \
-			   state_machine_helper.c \
-			   calibration_routines.c
+MODULE_COMMAND	 	= commander
+SRCS		 	= commander.c \
+			state_machine_helper.c \
+			calibration_routines.c \
+			accelerometer_calibration.c
+
-- 
cgit v1.2.3


From 296a19072d26dfb814f7ca164e508b9203d51ac1 Mon Sep 17 00:00:00 2001
From: Lorenz Meier 
Date: Thu, 9 May 2013 15:39:54 +0200
Subject: Enabled leds on FMU again

---
 makefiles/config_px4fmu_default.mk      |  1 +
 src/drivers/boards/px4fmu/module.mk     |  3 ++-
 src/drivers/boards/px4fmu/px4fmu_init.c | 27 ++++++++++++++++++++-------
 src/drivers/boards/px4fmu/px4fmu_led.c  | 28 ++++++++++++++++++----------
 src/drivers/led/led.cpp                 | 21 +++++++++++++--------
 5 files changed, 54 insertions(+), 26 deletions(-)

(limited to 'src')

diff --git a/makefiles/config_px4fmu_default.mk b/makefiles/config_px4fmu_default.mk
index 07f9bdbc3..7f12ca731 100644
--- a/makefiles/config_px4fmu_default.mk
+++ b/makefiles/config_px4fmu_default.mk
@@ -14,6 +14,7 @@ MODULES		+= drivers/device
 MODULES		+= drivers/stm32
 MODULES		+= drivers/stm32/adc
 MODULES		+= drivers/stm32/tone_alarm
+MODULES		+= drivers/led
 MODULES		+= drivers/px4io
 MODULES		+= drivers/px4fmu
 MODULES		+= drivers/boards/px4fmu
diff --git a/src/drivers/boards/px4fmu/module.mk b/src/drivers/boards/px4fmu/module.mk
index 2cb261d30..66b776917 100644
--- a/src/drivers/boards/px4fmu/module.mk
+++ b/src/drivers/boards/px4fmu/module.mk
@@ -6,4 +6,5 @@ SRCS		 = px4fmu_can.c \
 		   px4fmu_init.c \
 		   px4fmu_pwm_servo.c \
 		   px4fmu_spi.c \
-		   px4fmu_usb.c
+		   px4fmu_usb.c \
+		   px4fmu_led.c
diff --git a/src/drivers/boards/px4fmu/px4fmu_init.c b/src/drivers/boards/px4fmu/px4fmu_init.c
index 5dd70c3f9..69edc23ab 100644
--- a/src/drivers/boards/px4fmu/px4fmu_init.c
+++ b/src/drivers/boards/px4fmu/px4fmu_init.c
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -91,6 +91,19 @@
 #  endif
 #endif
 
+/*
+ * Ideally we'd be able to get these from up_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init();
+extern void led_on(int led);
+extern void led_off(int led);
+__END_DECLS
+
 /****************************************************************************
  * Protected Functions
  ****************************************************************************/
@@ -114,7 +127,7 @@ __EXPORT void stm32_boardinitialize(void)
 	/* configure SPI interfaces */
 	stm32_spiinitialize();
 
-	/* configure LEDs */
+	/* configure LEDs (empty call to NuttX' ledinit) */
 	up_ledinit();
 }
 
@@ -178,11 +191,11 @@ __EXPORT int nsh_archinitialize(void)
 		       (hrt_callout)stm32_serial_dma_poll,
 		       NULL);
 
-	// initial LED state
-//	drv_led_start();
-	up_ledoff(LED_BLUE);
-	up_ledoff(LED_AMBER);
-	up_ledon(LED_BLUE);
+	/* initial LED state */
+	drv_led_start();
+	led_off(LED_AMBER);
+	led_on(LED_BLUE);
+
 
 	/* Configure SPI-based devices */
 
diff --git a/src/drivers/boards/px4fmu/px4fmu_led.c b/src/drivers/boards/px4fmu/px4fmu_led.c
index fd1e159aa..34fd194c3 100644
--- a/src/drivers/boards/px4fmu/px4fmu_led.c
+++ b/src/drivers/boards/px4fmu/px4fmu_led.c
@@ -39,19 +39,27 @@
 
 #include 
 
-#include 
 #include 
-#include 
 
-#include 
-
-#include "chip.h"
-#include "up_arch.h"
-#include "up_internal.h"
 #include "stm32_internal.h"
 #include "px4fmu_internal.h"
 
-__EXPORT void up_ledinit()
+#include 
+
+/*
+ * Ideally we'd be able to get these from up_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init();
+extern void led_on(int led);
+extern void led_off(int led);
+__END_DECLS
+
+__EXPORT void led_init()
 {
 	/* Configure LED1-2 GPIOs for output */
 
@@ -59,7 +67,7 @@ __EXPORT void up_ledinit()
 	stm32_configgpio(GPIO_LED2);
 }
 
-__EXPORT void up_ledon(int led)
+__EXPORT void led_on(int led)
 {
 	if (led == 0)
 	{
@@ -73,7 +81,7 @@ __EXPORT void up_ledon(int led)
 	}
 }
 
-__EXPORT void up_ledoff(int led)
+__EXPORT void led_off(int led)
 {
 	if (led == 0)
 	{
diff --git a/src/drivers/led/led.cpp b/src/drivers/led/led.cpp
index c7c45525e..04b565358 100644
--- a/src/drivers/led/led.cpp
+++ b/src/drivers/led/led.cpp
@@ -41,12 +41,17 @@
 #include 
 #include 
 
-/* Ideally we'd be able to get these from up_internal.h */
-//#include 
+/*
+ * Ideally we'd be able to get these from up_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
 __BEGIN_DECLS
-extern void up_ledinit();
-extern void up_ledon(int led);
-extern void up_ledoff(int led);
+extern void led_init();
+extern void led_on(int led);
+extern void led_off(int led);
 __END_DECLS
 
 class LED : device::CDev
@@ -74,7 +79,7 @@ int
 LED::init()
 {
 	CDev::init();
-	up_ledinit();
+	led_init();
 
 	return 0;
 }
@@ -86,11 +91,11 @@ LED::ioctl(struct file *filp, int cmd, unsigned long arg)
 
 	switch (cmd) {
 	case LED_ON:
-		up_ledon(arg);
+		led_on(arg);
 		break;
 
 	case LED_OFF:
-		up_ledoff(arg);
+		led_off(arg);
 		break;
 
 	default:
-- 
cgit v1.2.3


From 3ec536a876a66f4e56549957e81ed4547c92a0c3 Mon Sep 17 00:00:00 2001
From: Lorenz Meier 
Date: Thu, 9 May 2013 17:13:38 +0200
Subject: Improved GPS update rate calculation

---
 src/drivers/gps/gps.cpp        |  4 ++--
 src/drivers/gps/gps_helper.cpp | 11 +++++++++--
 src/drivers/gps/gps_helper.h   |  4 ++++
 3 files changed, 15 insertions(+), 4 deletions(-)

(limited to 'src')

diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp
index 7db257816..38835418b 100644
--- a/src/drivers/gps/gps.cpp
+++ b/src/drivers/gps/gps.cpp
@@ -288,7 +288,6 @@ GPS::task_main()
 
 			// GPS is obviously detected successfully, reset statistics
 			_Helper->reset_update_rates();
-			warnx("module configuration successful");
 
 			while (_Helper->receive(TIMEOUT_5HZ) > 0 && !_task_should_exit) {
 //				lock();
@@ -306,6 +305,8 @@ GPS::task_main()
 					_rate = last_rate_count / ((float)((hrt_absolute_time() - last_rate_measurement)) / 1000000.0f);
 					last_rate_measurement = hrt_absolute_time();
 					last_rate_count = 0;
+					_Helper->store_update_rates();
+					_Helper->reset_update_rates();
 				}
 
 				if (!_healthy) {
@@ -381,7 +382,6 @@ GPS::print_info()
 		warnx("rate velocity: \t%6.2f Hz", (double)_Helper->get_velocity_update_rate());
 		warnx("rate publication:\t%6.2f Hz", (double)_rate);
 
-		_Helper->reset_update_rates();
 	}
 
 	usleep(100000);
diff --git a/src/drivers/gps/gps_helper.cpp b/src/drivers/gps/gps_helper.cpp
index 54ac90dab..ba86d370a 100644
--- a/src/drivers/gps/gps_helper.cpp
+++ b/src/drivers/gps/gps_helper.cpp
@@ -46,13 +46,13 @@
 float
 GPS_Helper::get_position_update_rate()
 {
-	return _rate_count_lat_lon / (((float)(hrt_absolute_time() - _interval_rate_start)) / 1000000.0f);
+	return _rate_lat_lon;
 }
 
 float
 GPS_Helper::get_velocity_update_rate()
 {
-	return _rate_count_vel / (((float)(hrt_absolute_time() - _interval_rate_start)) / 1000000.0f);
+	return _rate_vel;
 }
 
 float
@@ -63,6 +63,13 @@ GPS_Helper::reset_update_rates()
 	_interval_rate_start = hrt_absolute_time();
 }
 
+float
+GPS_Helper::store_update_rates()
+{
+	_rate_vel = _rate_count_vel / (((float)(hrt_absolute_time() - _interval_rate_start)) / 1000000.0f);
+	_rate_lat_lon = _rate_count_lat_lon / (((float)(hrt_absolute_time() - _interval_rate_start)) / 1000000.0f);
+}
+
 int
 GPS_Helper::set_baudrate(const int &fd, unsigned baud)
 {
diff --git a/src/drivers/gps/gps_helper.h b/src/drivers/gps/gps_helper.h
index 7e456a6aa..defc1a074 100644
--- a/src/drivers/gps/gps_helper.h
+++ b/src/drivers/gps/gps_helper.h
@@ -52,11 +52,15 @@ public:
 	float				get_position_update_rate();
 	float				get_velocity_update_rate();
 	float				reset_update_rates();
+	float				store_update_rates();
 
 protected:
 	uint8_t _rate_count_lat_lon;
 	uint8_t _rate_count_vel;
 
+	float _rate_lat_lon;
+	float _rate_vel;
+
 	uint64_t _interval_rate_start;
 };
 
-- 
cgit v1.2.3


From fa1b7388f3485d8c7af42607b154f529d43153ea Mon Sep 17 00:00:00 2001
From: Lorenz Meier 
Date: Thu, 9 May 2013 17:34:00 +0200
Subject: Implemented new led status proposal

---
 src/modules/commander/commander.c | 30 ++++++++++++++++++++++++------
 1 file changed, 24 insertions(+), 6 deletions(-)

(limited to 'src')

diff --git a/src/modules/commander/commander.c b/src/modules/commander/commander.c
index 01ab9e3d9..cd2ef8137 100644
--- a/src/modules/commander/commander.c
+++ b/src/modules/commander/commander.c
@@ -1503,22 +1503,40 @@ int commander_thread_main(int argc, char *argv[])
 			if ((current_status.state_machine == SYSTEM_STATE_GROUND_READY ||
 			     current_status.state_machine == SYSTEM_STATE_AUTO  ||
 			     current_status.state_machine == SYSTEM_STATE_MANUAL)) {
-				/* armed */
-				led_toggle(LED_BLUE);
+				/* armed, solid */
+				led_on(LED_AMBER);
 
 			} else if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) {
 				/* not armed */
-				led_toggle(LED_BLUE);
+				led_toggle(LED_AMBER);
+			}
+
+			if (hrt_absolute_time() - gps_position.timestamp_position < 2000000) {
+
+				/* toggle GPS (blue) led at 1 Hz if GPS present but no lock, make is solid once locked */
+				if ((hrt_absolute_time() - gps_position.timestamp_position < 2000000)
+					&& (gps_position.fix_type == GPS_FIX_TYPE_3D)) {
+					/* GPS lock */
+					led_on(LED_BLUE);
+
+				} else if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) {
+					/* no GPS lock, but GPS module is aquiring lock */
+					led_toggle(LED_BLUE);
+				}
+
+			} else {
+				/* no GPS info, don't light the blue led */
+				led_off(LED_BLUE);
 			}
 
-			/* toggle error led at 5 Hz in HIL mode */
+			/* toggle GPS led at 5 Hz in HIL mode */
 			if (current_status.flag_hil_enabled) {
 				/* hil enabled */
-				led_toggle(LED_AMBER);
+				led_toggle(LED_BLUE);
 
 			} else if (bat_remain < 0.3f && (low_voltage_counter > LOW_VOLTAGE_BATTERY_COUNTER_LIMIT)) {
 				/* toggle error (red) at 5 Hz on low battery or error */
-				led_toggle(LED_AMBER);
+				led_toggle(LED_BLUE);
 
 			} else {
 				// /* Constant error indication in standby mode without GPS */
-- 
cgit v1.2.3


From 26efba2ff365b1463ca9f6aaaf936557a92c4eb1 Mon Sep 17 00:00:00 2001
From: Lorenz Meier 
Date: Thu, 9 May 2013 17:38:12 +0200
Subject: New blink patterns for safety switch, removed GPS lock indicator

---
 src/drivers/px4io/px4io.cpp          | 11 ++---------
 src/modules/px4iofirmware/protocol.h |  1 -
 src/modules/px4iofirmware/safety.c   |  9 +++------
 3 files changed, 5 insertions(+), 16 deletions(-)

(limited to 'src')

diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index b4703839b..e69fbebf7 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -502,8 +502,7 @@ PX4IO::init()
 		io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 
 			PX4IO_P_SETUP_ARMING_ARM_OK |
 			PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK |
-			PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK |
-			PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK, 0);
+			PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK, 0);
 
 		/* publish RC config to IO */
 		ret = io_set_rc_config();
@@ -707,11 +706,6 @@ PX4IO::io_set_arming_state()
 	} else {
 		clear |= PX4IO_P_SETUP_ARMING_ARM_OK;
 	}
-	if (vstatus.flag_vector_flight_mode_ok) {
-		set |= PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK;
-	} else {
-		clear |= PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK;					
-	}
 	if (vstatus.flag_external_manual_override_ok) {
 		set |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK;
 	} else {
@@ -1309,11 +1303,10 @@ PX4IO::print_status()
 	/* setup and state */
 	printf("features 0x%04x\n", io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES));
 	uint16_t arming = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING);
-	printf("arming 0x%04x%s%s%s%s\n",
+	printf("arming 0x%04x%s%s%s\n",
 		arming,
 		((arming & PX4IO_P_SETUP_ARMING_ARM_OK)             ? " ARM_OK" : ""),
 		((arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) ? " MANUAL_OVERRIDE_OK" : ""),
-		((arming & PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK)   ? " VECTOR_FLIGHT_OK" : ""),
 		((arming & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK)   ? " INAIR_RESTART_OK" : ""));
 	printf("rates 0x%04x default %u alt %u relays 0x%04x\n",
 		io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_RATES),
diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h
index b80551a07..d015fb629 100644
--- a/src/modules/px4iofirmware/protocol.h
+++ b/src/modules/px4iofirmware/protocol.h
@@ -147,7 +147,6 @@
 #define PX4IO_P_SETUP_ARMING			1	 /* arming controls */
 #define PX4IO_P_SETUP_ARMING_ARM_OK		(1 << 0) /* OK to arm */
 #define PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK	(1 << 2) /* OK to switch to manual override via override RC channel */
-#define PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK	(1 << 3) /* OK to perform position / vector control (= position lock) */
 #define PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK	(1 << 4) /* OK to try in-air restart */
 
 #define PX4IO_P_SETUP_PWM_RATES			2	/* bitmask, 0 = low rate, 1 = high rate */
diff --git a/src/modules/px4iofirmware/safety.c b/src/modules/px4iofirmware/safety.c
index 5495d5ae1..a2880d2ef 100644
--- a/src/modules/px4iofirmware/safety.c
+++ b/src/modules/px4iofirmware/safety.c
@@ -56,11 +56,10 @@ static unsigned counter = 0;
 /*
  * Define the various LED flash sequences for each system state.
  */
-#define LED_PATTERN_SAFE 			0xffff		/**< always on 				*/
-#define LED_PATTERN_VECTOR_FLIGHT_MODE_OK 	0xFFFE		/**< always on with short break 	*/
-#define LED_PATTERN_FMU_ARMED 			0x4444		/**< slow blinking			*/
+#define LED_PATTERN_SAFE 			0x000f		/**< always on 				*/
+#define LED_PATTERN_FMU_ARMED 			0x5555		/**< slow blinking			*/
 #define LED_PATTERN_IO_ARMED 			0x5555		/**< fast blinking 			*/
-#define LED_PATTERN_IO_FMU_ARMED 		0x5050		/**< long off then double blink 	*/
+#define LED_PATTERN_IO_FMU_ARMED 		0xffff		/**< long off then double blink 	*/
 
 static unsigned blink_counter = 0;
 
@@ -151,8 +150,6 @@ safety_check_button(void *arg)
 	} else if (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) {
 		pattern = LED_PATTERN_FMU_ARMED;
 
-	} else if (r_setup_arming & PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK) {
-		pattern = LED_PATTERN_VECTOR_FLIGHT_MODE_OK;
 	}
 
 	/* Turn the LED on if we have a 1 at the current bit position */
-- 
cgit v1.2.3


From b7a9e0778359b9da7eb27e1292557e7a0f9a7278 Mon Sep 17 00:00:00 2001
From: Lorenz Meier 
Date: Thu, 9 May 2013 19:03:24 +0200
Subject: Hotfix: Wrong capitalization on header file name

---
 src/drivers/md25/md25_main.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

(limited to 'src')

diff --git a/src/drivers/md25/md25_main.cpp b/src/drivers/md25/md25_main.cpp
index 85aaab7f6..80850e708 100644
--- a/src/drivers/md25/md25_main.cpp
+++ b/src/drivers/md25/md25_main.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -55,7 +55,7 @@
 #include 
 
 #include 
-#include "MD25.hpp"
+#include "md25.hpp"
 
 static bool thread_should_exit = false;     /**< Deamon exit flag */
 static bool thread_running = false;     /**< Deamon status flag */
-- 
cgit v1.2.3


From 304ce63f00e72cf8a8162abad295a52a5773265d Mon Sep 17 00:00:00 2001
From: Lorenz Meier 
Date: Thu, 9 May 2013 19:03:24 +0200
Subject: Hotfix: Wrong capitalization on header file name

---
 src/drivers/md25/md25_main.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

(limited to 'src')

diff --git a/src/drivers/md25/md25_main.cpp b/src/drivers/md25/md25_main.cpp
index 85aaab7f6..80850e708 100644
--- a/src/drivers/md25/md25_main.cpp
+++ b/src/drivers/md25/md25_main.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -55,7 +55,7 @@
 #include 
 
 #include 
-#include "MD25.hpp"
+#include "md25.hpp"
 
 static bool thread_should_exit = false;     /**< Deamon exit flag */
 static bool thread_running = false;     /**< Deamon status flag */
-- 
cgit v1.2.3


From 196ee8b16fcd42fca04d1fb7e11ec46dd45c8421 Mon Sep 17 00:00:00 2001
From: px4dev 
Date: Sat, 11 May 2013 11:32:05 -0700
Subject: Change the way modules are built so that object paths are relative
 and use vpath for locating sources (so source paths are also shorter).

Add some basic documentation for the build system files while we're at it.
---
 makefiles/README.txt                | 71 +++++++++++++++++++++++++++++++++++++
 makefiles/firmware.mk               |  7 ++--
 makefiles/module.mk                 | 51 +++++++++++++++-----------
 src/modules/mathlib/CMSIS/module.mk |  5 +--
 4 files changed, 110 insertions(+), 24 deletions(-)
 create mode 100644 makefiles/README.txt

(limited to 'src')

diff --git a/makefiles/README.txt b/makefiles/README.txt
new file mode 100644
index 000000000..8b84e4c40
--- /dev/null
+++ b/makefiles/README.txt
@@ -0,0 +1,71 @@
+PX4 Build System
+================
+
+The files in this directory implement the PX4 runtime firmware build system
+and configuration for the standard PX4 boards and software, in conjunction
+with Makefile in the parent directory.
+
+../Makefile
+
+	Top-level makefile for the PX4 build system. This makefile supports
+	building NuttX archives, as well as supervising the building of all
+	of the defined PX4 firmware configurations.
+
+	Try 'make help' in the parent directory for documentation.
+
+firmware.mk
+
+	Manages the build for one specific firmware configuration. 
+	See the comments at the top of this file for detailed documentation.
+
+	Builds modules, builtin command lists and the ROMFS (if configured).
+
+	This is the makefile directly used by external build systems; it can
+	be configured to compile modules both inside and outside the PX4
+	source tree. When used in this mode, at least BOARD, MODULES and 
+	CONFIG_FILE must be set.
+
+module.mk
+
+	Called by firmware.mk to build individual modules.
+	See the comments at the top of this file for detailed documentation.
+
+	Not normally used other than by firmware.mk.
+
+nuttx.mk
+
+	Called by ../Makefile to build or download the NuttX archives.
+
+upload.mk
+
+	Called by ../Makefile to upload files to a target board. Can be used
+	by external build systems as well.
+
+setup.mk
+
+	Provides common path and tool definitions. Implements host system-specific
+	compatibility hacks.
+
+board_.mk
+
+	Board-specific configuration for . Typically sets CONFIG_ARCH
+	and then includes the toolchain definition for the board.
+
+config__.mk
+
+	Parameters for a specific configuration on a specific board.
+	The board name is derived from the filename.  Sets MODULES to select
+	source modules to be included in the configuration, may also set
+	ROMFS_ROOT to build a ROMFS and BUILTIN_COMMANDS to include non-module
+	commands (e.g. from NuttX)
+
+toolchain_.mk
+
+	Provides macros used to compile and link source files.
+	Accepts EXTRADEFINES to add additional pre-processor symbol definitions,
+	EXTRACFLAGS, EXTRACXXFLAGS, EXTRAAFLAGS and EXTRALDFLAGS to pass
+	additional flags to the C compiler, C++ compiler, assembler and linker
+	respectively.
+
+	Defines the COMPILE, COMPILEXX, ASSEMBLE, PRELINK, ARCHIVE and LINK
+	macros that are used elsewhere in the build system.
diff --git a/makefiles/firmware.mk b/makefiles/firmware.mk
index b63aa28d7..e6a45a4e8 100644
--- a/makefiles/firmware.mk
+++ b/makefiles/firmware.mk
@@ -223,12 +223,15 @@ MODULE_OBJS		:= $(foreach path,$(dir $(MODULE_MKFILES)),$(WORK_DIR)$(path)module
 .PHONY: $(MODULE_OBJS)
 $(MODULE_OBJS):		relpath = $(patsubst $(WORK_DIR)%,%,$@)
 $(MODULE_OBJS):		mkfile = $(patsubst %module.pre.o,%module.mk,$(relpath))
+$(MODULE_OBJS):		workdir = $(@D)
 $(MODULE_OBJS):		$(GLOBAL_DEPS) $(NUTTX_CONFIG_HEADER)
+	$(Q) $(MKDIR) -p $(workdir)
 	$(Q) $(MAKE) -r -f $(PX4_MK_DIR)module.mk \
-		MODULE_WORK_DIR=$(dir $@) \
+		-C $(workdir) \
+		MODULE_WORK_DIR=$(workdir) \
 		MODULE_OBJ=$@ \
 		MODULE_MK=$(mkfile) \
-		MODULE_NAME=$(lastword $(subst /, ,$(@D))) \
+		MODULE_NAME=$(lastword $(subst /, ,$(workdir))) \
 		module
 
 # make a list of phony clean targets for modules
diff --git a/makefiles/module.mk b/makefiles/module.mk
index 0fe6f0ffe..db6f4e15e 100644
--- a/makefiles/module.mk
+++ b/makefiles/module.mk
@@ -39,6 +39,10 @@
 # symbols, as the global namespace is shared between all modules. Normally an 
 # module will just export one or more _main functions.
 #
+# IMPORTANT NOTE:
+#
+# This makefile assumes it is being invoked in the module's output directory.
+#
 
 #
 # Variables that can be set by the module's module.mk:
@@ -179,26 +183,30 @@ CXXFLAGS	+= -fvisibility=$(DEFAULT_VISIBILITY) -include $(PX4_INCLUDE_DIR)visibi
 #
 module:			$(MODULE_OBJ) $(MODULE_COMMAND_FILES)
 
+##
+## Locate sources (allows relative source paths in module.mk)
+##
+#define SRC_SEARCH
+#	$(abspath $(firstword $(wildcard $1) $(wildcard $(MODULE_SRC)/$1) MISSING_$1))
+#endef
 #
-# Locate sources (allows relative source paths in module.mk)
+#ABS_SRCS		?= $(foreach src,$(SRCS),$(call SRC_SEARCH,$(src)))
+#MISSING_SRCS		:= $(subst MISSING_,,$(filter MISSING_%,$(ABS_SRCS)))
+#ifneq ($(MISSING_SRCS),)
+#$(error $(MODULE_MK): missing in SRCS: $(MISSING_SRCS))
+#endif
+#ifeq ($(ABS_SRCS),)
+#$(error $(MODULE_MK): nothing to compile in SRCS)
+#endif
 #
-define SRC_SEARCH
-	$(abspath $(firstword $(wildcard $1) $(wildcard $(MODULE_SRC)/$1) MISSING_$1))
-endef
+##
+## Object files we will generate from sources
+##
+#OBJS			:= $(foreach src,$(ABS_SRCS),$(MODULE_WORK_DIR)$(src).o)
 
-ABS_SRCS		?= $(foreach src,$(SRCS),$(call SRC_SEARCH,$(src)))
-MISSING_SRCS		:= $(subst MISSING_,,$(filter MISSING_%,$(ABS_SRCS)))
-ifneq ($(MISSING_SRCS),)
-$(error $(MODULE_MK): missing in SRCS: $(MISSING_SRCS))
-endif
-ifeq ($(ABS_SRCS),)
-$(error $(MODULE_MK): nothing to compile in SRCS)
-endif
-
-#
-# Object files we will generate from sources
-#
-OBJS			:= $(foreach src,$(ABS_SRCS),$(MODULE_WORK_DIR)$(src).o)
+OBJS		 = $(addsuffix .o,$(SRCS))
+$(info SRCS $(SRCS))
+$(info OBJS $(OBJS))
 
 #
 # SRCS -> OBJS rules
@@ -206,13 +214,16 @@ OBJS			:= $(foreach src,$(ABS_SRCS),$(MODULE_WORK_DIR)$(src).o)
 
 $(OBJS):		$(GLOBAL_DEPS)
 
-$(filter %.c.o,$(OBJS)): $(MODULE_WORK_DIR)%.c.o: %.c $(GLOBAL_DEPS)
+vpath %.c $(MODULE_SRC)
+$(filter %.c.o,$(OBJS)): %.c.o: %.c $(GLOBAL_DEPS)
 	$(call COMPILE,$<,$@)
 
-$(filter %.cpp.o,$(OBJS)): $(MODULE_WORK_DIR)%.cpp.o: %.cpp $(GLOBAL_DEPS)
+vpath %.cpp $(MODULE_SRC)
+$(filter %.cpp.o,$(OBJS)): %.cpp.o: %.cpp $(GLOBAL_DEPS)
 	$(call COMPILEXX,$<,$@)
 
-$(filter %.S.o,$(OBJS)): $(MODULE_WORK_DIR)%.S.o: %.S $(GLOBAL_DEPS)
+vpath %.S $(MODULE_SRC)
+$(filter %.S.o,$(OBJS)): %.S.o: %.S $(GLOBAL_DEPS)
 	$(call ASSEMBLE,$<,$@)
 
 #
diff --git a/src/modules/mathlib/CMSIS/module.mk b/src/modules/mathlib/CMSIS/module.mk
index c676f3261..ba45b159e 100644
--- a/src/modules/mathlib/CMSIS/module.mk
+++ b/src/modules/mathlib/CMSIS/module.mk
@@ -38,8 +38,9 @@
 #
 # Find sources
 #
-DSPLIB_SRCDIR		:= $(PX4_MODULE_SRC)/modules/mathlib/CMSIS
-ABS_SRCS		:= $(wildcard $(DSPLIB_SRCDIR)/DSP_Lib/Source/*/*.c)
+DSPLIB_SRCDIR		:= $(dir $(lastword $(MAKEFILE_LIST)))
+SRCLIST			:= $(wildcard $(DSPLIB_SRCDIR)DSP_Lib/Source/*/*.c)
+SRCS			:= $(patsubst $(DSPLIB_SRCDIR)%,%,$(SRCLIST)) zork.c
 
 INCLUDE_DIRS		+= $(DSPLIB_SRCDIR)/Include \
 			   $(DSPLIB_SRCDIR)/Device/ARM/ARMCM4/Include \
-- 
cgit v1.2.3


From 555d42e0cd2724225391bede58629d3bcea175db Mon Sep 17 00:00:00 2001
From: px4dev 
Date: Sat, 11 May 2013 16:46:52 -0700
Subject: Oops, left in some test code.

---
 src/modules/mathlib/CMSIS/module.mk | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'src')

diff --git a/src/modules/mathlib/CMSIS/module.mk b/src/modules/mathlib/CMSIS/module.mk
index ba45b159e..5e1abe642 100644
--- a/src/modules/mathlib/CMSIS/module.mk
+++ b/src/modules/mathlib/CMSIS/module.mk
@@ -40,7 +40,7 @@
 #
 DSPLIB_SRCDIR		:= $(dir $(lastword $(MAKEFILE_LIST)))
 SRCLIST			:= $(wildcard $(DSPLIB_SRCDIR)DSP_Lib/Source/*/*.c)
-SRCS			:= $(patsubst $(DSPLIB_SRCDIR)%,%,$(SRCLIST)) zork.c
+SRCS			:= $(patsubst $(DSPLIB_SRCDIR)%,%,$(SRCLIST))
 
 INCLUDE_DIRS		+= $(DSPLIB_SRCDIR)/Include \
 			   $(DSPLIB_SRCDIR)/Device/ARM/ARMCM4/Include \
-- 
cgit v1.2.3


From 0c43da3b6424dbc877c464b6898f18fe650c703f Mon Sep 17 00:00:00 2001
From: Lorenz Meier 
Date: Sun, 12 May 2013 13:11:12 +0200
Subject: Tested with PX4FMU and PX4IO with GPS and arming

---
 src/modules/commander/commander.c | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

(limited to 'src')

diff --git a/src/modules/commander/commander.c b/src/modules/commander/commander.c
index cd2ef8137..aab8f3e04 100644
--- a/src/modules/commander/commander.c
+++ b/src/modules/commander/commander.c
@@ -1519,7 +1519,7 @@ int commander_thread_main(int argc, char *argv[])
 					/* GPS lock */
 					led_on(LED_BLUE);
 
-				} else if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) {
+				} else if ((counter + 4) % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) {
 					/* no GPS lock, but GPS module is aquiring lock */
 					led_toggle(LED_BLUE);
 				}
@@ -1535,8 +1535,8 @@ int commander_thread_main(int argc, char *argv[])
 				led_toggle(LED_BLUE);
 
 			} else if (bat_remain < 0.3f && (low_voltage_counter > LOW_VOLTAGE_BATTERY_COUNTER_LIMIT)) {
-				/* toggle error (red) at 5 Hz on low battery or error */
-				led_toggle(LED_BLUE);
+				/* toggle arming (red) at 5 Hz on low battery or error */
+				led_toggle(LED_AMBER);
 
 			} else {
 				// /* Constant error indication in standby mode without GPS */
-- 
cgit v1.2.3


From 79f9b61aff0570d1ab98dc5a4c7e6a71eec5009b Mon Sep 17 00:00:00 2001
From: Lorenz Meier 
Date: Sun, 12 May 2013 20:05:20 +0200
Subject: Fixed led patterns to be up to the latest specs

---
 src/drivers/px4io/px4io.cpp                  | 32 +++++++++++++++++-----------
 src/modules/commander/state_machine_helper.c |  5 +++++
 src/modules/px4iofirmware/protocol.h         |  3 ++-
 src/modules/px4iofirmware/safety.c           | 26 +++++++++++-----------
 src/modules/uORB/topics/actuator_controls.h  |  1 +
 5 files changed, 41 insertions(+), 26 deletions(-)

(limited to 'src')

diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index e69fbebf7..3006cf885 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -416,7 +416,7 @@ PX4IO::init()
 	 * already armed, and has been configured for in-air restart
 	 */
 	if ((reg & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK) &&
-	    (reg & PX4IO_P_SETUP_ARMING_ARM_OK)) {
+	    (reg & PX4IO_P_SETUP_ARMING_FMU_ARMED)) {
 
 	    	mavlink_log_emergency(_mavlink_fd, "[IO] RECOVERING FROM FMU IN-AIR RESTART");
 
@@ -500,7 +500,7 @@ PX4IO::init()
 
 		/* dis-arm IO before touching anything */
 		io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 
-			PX4IO_P_SETUP_ARMING_ARM_OK |
+			PX4IO_P_SETUP_ARMING_FMU_ARMED |
 			PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK |
 			PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK, 0);
 
@@ -701,11 +701,18 @@ PX4IO::io_set_arming_state()
 	uint16_t set = 0;
 	uint16_t clear = 0;
 
-	if (armed.armed) {
-		set |= PX4IO_P_SETUP_ARMING_ARM_OK;
+	if (armed.armed && !armed.lockdown) {
+		set |= PX4IO_P_SETUP_ARMING_FMU_ARMED;
 	} else {
-		clear |= PX4IO_P_SETUP_ARMING_ARM_OK;
+		clear |= PX4IO_P_SETUP_ARMING_FMU_ARMED;
 	}
+
+	if (armed.ready_to_arm) {
+		set |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
+	} else {
+		clear |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
+	}
+
 	if (vstatus.flag_external_manual_override_ok) {
 		set |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK;
 	} else {
@@ -1271,9 +1278,9 @@ PX4IO::print_status()
 	       io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_IBATT),
 	       io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VBATT_SCALE));
 	printf("amp_per_volt %.3f amp_offset %.3f mAhDischarged %.3f\n",
-	       _battery_amp_per_volt,
-	       _battery_amp_bias,
-	       _battery_mamphour_total);
+	       (double)_battery_amp_per_volt,
+	       (double)_battery_amp_bias,
+	       (double)_battery_mamphour_total);
 	printf("actuators");
 	for (unsigned i = 0; i < _max_actuators; i++)
 		printf(" %u", io_reg_get(PX4IO_PAGE_ACTUATORS, i));
@@ -1303,9 +1310,10 @@ PX4IO::print_status()
 	/* setup and state */
 	printf("features 0x%04x\n", io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES));
 	uint16_t arming = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING);
-	printf("arming 0x%04x%s%s%s\n",
+	printf("arming 0x%04x%s%s%s%s\n",
 		arming,
-		((arming & PX4IO_P_SETUP_ARMING_ARM_OK)             ? " ARM_OK" : ""),
+		((arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)          ? " FMU_ARMED" : ""),
+		((arming & PX4IO_P_SETUP_ARMING_IO_ARM_OK)	    ? " IO_ARM_OK" : ""),
 		((arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) ? " MANUAL_OVERRIDE_OK" : ""),
 		((arming & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK)   ? " INAIR_RESTART_OK" : ""));
 	printf("rates 0x%04x default %u alt %u relays 0x%04x\n",
@@ -1347,12 +1355,12 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
 	switch (cmd) {
 	case PWM_SERVO_ARM:
 		/* set the 'armed' bit */
-		ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_ARM_OK);
+		ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_FMU_ARMED);
 		break;
 
 	case PWM_SERVO_DISARM:
 		/* clear the 'armed' bit */
-		ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_ARM_OK, 0);
+		ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_FMU_ARMED, 0);
 		break;
 
 	case PWM_SERVO_SET_UPDATE_RATE:
diff --git a/src/modules/commander/state_machine_helper.c b/src/modules/commander/state_machine_helper.c
index bea388a10..ab728c7bb 100644
--- a/src/modules/commander/state_machine_helper.c
+++ b/src/modules/commander/state_machine_helper.c
@@ -249,6 +249,11 @@ void publish_armed_status(const struct vehicle_status_s *current_status)
 {
 	struct actuator_armed_s armed;
 	armed.armed = current_status->flag_system_armed;
+
+	/* XXX allow arming by external components on multicopters only if not yet armed by RC */
+	/* XXX allow arming only if core sensors are ok */
+	armed.ready_to_arm = true;
+
 	/* lock down actuators if required, only in HIL */
 	armed.lockdown = (current_status->flag_hil_enabled) ? true : false;
 	orb_advert_t armed_pub = orb_advertise(ORB_ID(actuator_armed), &armed);
diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h
index d015fb629..e575bd841 100644
--- a/src/modules/px4iofirmware/protocol.h
+++ b/src/modules/px4iofirmware/protocol.h
@@ -145,7 +145,8 @@
 #define PX4IO_P_SETUP_FEATURES			0
 
 #define PX4IO_P_SETUP_ARMING			1	 /* arming controls */
-#define PX4IO_P_SETUP_ARMING_ARM_OK		(1 << 0) /* OK to arm */
+#define PX4IO_P_SETUP_ARMING_IO_ARM_OK		(1 << 0) /* OK to arm the IO side */
+#define PX4IO_P_SETUP_ARMING_FMU_ARMED		(1 << 1) /* FMU is already armed */
 #define PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK	(1 << 2) /* OK to switch to manual override via override RC channel */
 #define PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK	(1 << 4) /* OK to try in-air restart */
 
diff --git a/src/modules/px4iofirmware/safety.c b/src/modules/px4iofirmware/safety.c
index a2880d2ef..f6cd5fb45 100644
--- a/src/modules/px4iofirmware/safety.c
+++ b/src/modules/px4iofirmware/safety.c
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -32,7 +32,8 @@
  ****************************************************************************/
 
 /**
- * @file Safety button logic.
+ * @file safety.c
+ * Safety button logic.
  */
 
 #include 
@@ -56,10 +57,10 @@ static unsigned counter = 0;
 /*
  * Define the various LED flash sequences for each system state.
  */
-#define LED_PATTERN_SAFE 			0x000f		/**< always on 				*/
-#define LED_PATTERN_FMU_ARMED 			0x5555		/**< slow blinking			*/
-#define LED_PATTERN_IO_ARMED 			0x5555		/**< fast blinking 			*/
-#define LED_PATTERN_IO_FMU_ARMED 		0xffff		/**< long off then double blink 	*/
+#define LED_PATTERN_FMU_OK_TO_ARM 		0x0003		/**< slow blinking			*/
+#define LED_PATTERN_FMU_REFUSE_TO_ARM 		0x5555		/**< fast blinking			*/
+#define LED_PATTERN_IO_ARMED 			0x5050		/**< long off, then double blink 	*/
+#define LED_PATTERN_IO_FMU_ARMED 		0xffff		/**< constantly on			*/
 
 static unsigned blink_counter = 0;
 
@@ -108,7 +109,8 @@ safety_check_button(void *arg)
 	 * state machine, keep ARM_COUNTER_THRESHOLD the same
 	 * length in all cases of the if/else struct below.
 	 */
-	if (safety_button_pressed && !(r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) {
+	if (safety_button_pressed && !(r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) &&
+		(r_setup_arming & PX4IO_P_SETUP_ARMING_IO_ARM_OK)) {
 
 		if (counter < ARM_COUNTER_THRESHOLD) {
 			counter++;
@@ -119,8 +121,6 @@ safety_check_button(void *arg)
 			counter++;
 		}
 
-		/* Disarm quickly */
-
 	} else if (safety_button_pressed && (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) {
 
 		if (counter < ARM_COUNTER_THRESHOLD) {
@@ -137,18 +137,18 @@ safety_check_button(void *arg)
 	}
 
 	/* Select the appropriate LED flash pattern depending on the current IO/FMU arm state */
-	uint16_t pattern = LED_PATTERN_SAFE;
+	uint16_t pattern = LED_PATTERN_FMU_REFUSE_TO_ARM;
 
 	if (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) {
-		if (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) {
+		if (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) {
 			pattern = LED_PATTERN_IO_FMU_ARMED;
 
 		} else {
 			pattern = LED_PATTERN_IO_ARMED;
 		}
 
-	} else if (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) {
-		pattern = LED_PATTERN_FMU_ARMED;
+	} else if (r_setup_arming & PX4IO_P_SETUP_ARMING_IO_ARM_OK) {
+		pattern = LED_PATTERN_FMU_OK_TO_ARM;
 
 	}
 
diff --git a/src/modules/uORB/topics/actuator_controls.h b/src/modules/uORB/topics/actuator_controls.h
index 0b50a29ac..b7c4196c0 100644
--- a/src/modules/uORB/topics/actuator_controls.h
+++ b/src/modules/uORB/topics/actuator_controls.h
@@ -69,6 +69,7 @@ ORB_DECLARE(actuator_controls_3);
 /** global 'actuator output is live' control. */
 struct actuator_armed_s {
 	bool	armed;		/**< Set to true if system is armed */
+	bool	ready_to_arm;	/**< Set to true if system is ready to be armed */
 	bool	lockdown;	/**< Set to true if actuators are forced to being disabled (due to emergency or HIL) */
 };
 
-- 
cgit v1.2.3


From 6ea204c8136a3e4c81e2e542e56a865c57f381e7 Mon Sep 17 00:00:00 2001
From: Lorenz Meier 
Date: Sun, 12 May 2013 20:08:09 +0200
Subject: Added fixed wing controller example

---
 makefiles/config_px4fmu_default.mk       |   4 +
 src/examples/fixedwing_control/main.c    | 474 +++++++++++++++++++++++++++++++
 src/examples/fixedwing_control/module.mk |  41 +++
 src/examples/fixedwing_control/params.c  |  77 +++++
 src/examples/fixedwing_control/params.h  |  65 +++++
 5 files changed, 661 insertions(+)
 create mode 100644 src/examples/fixedwing_control/main.c
 create mode 100644 src/examples/fixedwing_control/module.mk
 create mode 100644 src/examples/fixedwing_control/params.c
 create mode 100644 src/examples/fixedwing_control/params.h

(limited to 'src')

diff --git a/makefiles/config_px4fmu_default.mk b/makefiles/config_px4fmu_default.mk
index 00d402c4a..27bf0f973 100644
--- a/makefiles/config_px4fmu_default.mk
+++ b/makefiles/config_px4fmu_default.mk
@@ -105,6 +105,10 @@ MODULES		+= modules/uORB
 # https://pixhawk.ethz.ch/px4/dev/debug_values
 #MODULES		+= examples/px4_mavlink_debug
 
+# Tutorial code from
+# https://pixhawk.ethz.ch/px4/dev/example_fixedwing_control
+MODULES		+= examples/fixedwing_control
+
 #
 # Transitional support - add commands from the NuttX export archive.
 #
diff --git a/src/examples/fixedwing_control/main.c b/src/examples/fixedwing_control/main.c
new file mode 100644
index 000000000..1753070e2
--- /dev/null
+++ b/src/examples/fixedwing_control/main.c
@@ -0,0 +1,474 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *   Author: 	Lorenz Meier 
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+/**
+ * @file main.c
+ * Implementation of a fixed wing attitude controller. This file is a complete
+ * fixed wing controller flying manual attitude control or auto waypoint control.
+ * There is no need to touch any other system components to extend / modify the
+ * complete control architecture.
+ */
+
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+
+/* process-specific header files */
+#include "params.h"
+
+/* Prototypes */
+/**
+ * Daemon management function.
+ */
+__EXPORT int ex_fixedwing_control_main(int argc, char *argv[]);
+
+/**
+ * Mainloop of daemon.
+ */
+int fixedwing_control_thread_main(int argc, char *argv[]);
+
+/**
+ * Print the correct usage.
+ */
+static void usage(const char *reason);
+
+void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att,
+	float speed_body[], float gyro[], struct vehicle_rates_setpoint_s *rates_sp, 
+	struct actuator_controls_s *actuators);
+
+void control_heading(const struct vehicle_global_position_s *pos, const struct vehicle_global_position_setpoint_s *sp,
+	const struct vehicle_attitude_s *att, struct vehicle_attitude_setpoint_s *att_sp);
+
+/* Variables */
+static bool thread_should_exit = false;		/**< Daemon exit flag */
+static bool thread_running = false;		/**< Daemon status flag */
+static int deamon_task;				/**< Handle of deamon task / thread */
+static struct params p;
+static struct param_handles ph;
+
+void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att,
+	float speed_body[], float gyro[], struct vehicle_rates_setpoint_s *rates_sp, 
+	struct actuator_controls_s *actuators)
+{
+
+	/* 
+	 * The PX4 architecture provides a mixer outside of the controller.
+	 * The mixer is fed with a default vector of actuator controls, representing
+	 * moments applied to the vehicle frame. This vector
+	 * is structured as:
+	 *
+	 * Control Group 0 (attitude):
+	 * 
+	 *    0  -  roll   (-1..+1)
+	 *    1  -  pitch  (-1..+1)
+	 *    2  -  yaw    (-1..+1)
+	 *    3  -  thrust ( 0..+1)
+	 *    4  -  flaps  (-1..+1)
+	 *    ...
+	 *
+	 * Control Group 1 (payloads / special):
+	 *
+	 *    ...
+	 */
+
+	/*
+	 * Calculate roll error and apply P gain
+	 */
+	float roll_err = att->roll - att_sp->roll_body;
+	actuators->control[0] = roll_err * p.roll_p;
+
+	/*
+	 * Calculate pitch error and apply P gain
+	 */
+	float pitch_err = att->pitch - att_sp->pitch_body;
+	actuators->control[1] = pitch_err * p.pitch_p;
+}
+
+void control_heading(const struct vehicle_global_position_s *pos, const struct vehicle_global_position_setpoint_s *sp,
+	const struct vehicle_attitude_s *att, struct vehicle_attitude_setpoint_s *att_sp)
+{
+
+	/*
+	 * Calculate heading error of current position to desired position
+	 */
+
+	/* PX4 uses 1e7 scaled integers to represent global coordinates for max resolution */
+	float bearing = get_bearing_to_next_waypoint(pos->lat/1e7d, pos->lon/1e7d, sp->lat/1e7d, sp->lon/1e7d);
+
+	/* calculate heading error */
+	float yaw_err = att->yaw - bearing;
+	/* apply control gain */
+	att_sp->roll_body = yaw_err * p.hdng_p;
+}
+
+/* Main Thread */
+int fixedwing_control_thread_main(int argc, char *argv[])
+{
+	/* read arguments */
+	bool verbose = false;
+
+	for (int i = 1; i < argc; i++) {
+		if (strcmp(argv[i], "-v") == 0 || strcmp(argv[i], "--verbose") == 0) {
+			verbose = true;
+		}
+	}
+
+	/* welcome user (warnx prints a line, including an appended\n, with variable arguments */
+	warnx("[example fixedwing control] started");
+
+	/* initialize parameters, first the handles, then the values */
+	parameters_init(&ph);
+	parameters_update(&ph, &p);
+
+	/* declare and safely initialize all structs to zero */
+	struct vehicle_attitude_s att;
+	memset(&att, 0, sizeof(att));
+	struct vehicle_attitude_setpoint_s att_sp;
+	memset(&att_sp, 0, sizeof(att_sp));
+	struct vehicle_rates_setpoint_s rates_sp;
+	memset(&rates_sp, 0, sizeof(rates_sp));
+	struct vehicle_global_position_s global_pos;
+	memset(&global_pos, 0, sizeof(global_pos));
+	struct manual_control_setpoint_s manual_sp;
+	memset(&manual_sp, 0, sizeof(manual_sp));
+	struct vehicle_status_s vstatus;
+	memset(&vstatus, 0, sizeof(vstatus));
+	struct vehicle_global_position_setpoint_s global_sp;
+	memset(&global_sp, 0, sizeof(global_sp));
+
+	/* output structs */
+	struct actuator_controls_s actuators;
+	memset(&actuators, 0, sizeof(actuators));
+
+
+	/* publish actuator controls */
+	for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) {
+		actuators.control[i] = 0.0f;
+	}
+
+	orb_advert_t actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators);
+	orb_advert_t rates_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp);
+
+	/* subscribe */
+	int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
+	int att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
+	int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
+	int manual_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
+	int vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
+	int global_sp_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint));
+	int param_sub = orb_subscribe(ORB_ID(parameter_update));
+
+	/* Setup of loop */
+	float gyro[3] = {0.0f, 0.0f, 0.0f};
+	float speed_body[3] = {0.0f, 0.0f, 0.0f};
+	struct pollfd fds[2] = {{ .fd = param_sub, .events = POLLIN },
+				{ .fd = att_sub, .events = POLLIN }};
+
+	while (!thread_should_exit) {
+
+		/*
+		 * Wait for a sensor or param update, check for exit condition every 500 ms.
+		 * This means that the execution will block here without consuming any resources,
+		 * but will continue to execute the very moment a new attitude measurement or
+		 * a param update is published. So no latency in contrast to the polling
+		 * design pattern (do not confuse the poll() system call with polling).
+		 *
+		 * This design pattern makes the controller also agnostic of the attitude
+		 * update speed - it runs as fast as the attitude updates with minimal latency.
+		 */
+		int ret = poll(fds, 2, 500);
+
+		if (ret < 0) {
+			/* poll error, this will not really happen in practice */
+			warnx("poll error");
+
+		} else if (ret == 0) {
+			/* no return value = nothing changed for 500 ms, ignore */
+		} else {
+
+			/* only update parameters if they changed */
+			if (fds[0].revents & POLLIN) {
+				/* read from param to clear updated flag (uORB API requirement) */
+				struct parameter_update_s update;
+				orb_copy(ORB_ID(parameter_update), param_sub, &update);
+
+				/* if a param update occured, re-read our parameters */
+				parameters_update(&ph, &p);
+			}
+
+			/* only run controller if attitude changed */
+			if (fds[1].revents & POLLIN) {
+
+
+				/* Check if there is a new position measurement or position setpoint */
+				bool pos_updated;
+				orb_check(global_pos_sub, &pos_updated);
+				bool global_sp_updated;
+				orb_check(global_sp_sub, &global_sp_updated);
+
+				/* get a local copy of attitude */
+				orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
+
+				if (global_sp_updated)
+					orb_copy(ORB_ID(vehicle_global_position_setpoint), global_sp_sub, &global_sp);
+
+				if (pos_updated) {
+					orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos);
+
+					if (att.R_valid) {
+						speed_body[0] = att.R[0][0] * global_pos.vx + att.R[0][1] * global_pos.vy + att.R[0][2] * global_pos.vz;
+						speed_body[1] = att.R[1][0] * global_pos.vx + att.R[1][1] * global_pos.vy + att.R[1][2] * global_pos.vz;
+						speed_body[2] = att.R[2][0] * global_pos.vx + att.R[2][1] * global_pos.vy + att.R[2][2] * global_pos.vz;
+
+					} else {
+						speed_body[0] = 0;
+						speed_body[1] = 0;
+						speed_body[2] = 0;
+
+						warnx("Did not get a valid R\n");
+					}
+				}
+
+				orb_copy(ORB_ID(manual_control_setpoint), manual_sp_sub, &manual_sp);
+				orb_copy(ORB_ID(vehicle_status), vstatus_sub, &vstatus);
+
+				gyro[0] = att.rollspeed;
+				gyro[1] = att.pitchspeed;
+				gyro[2] = att.yawspeed;
+
+				/* control */
+
+				if (vstatus.state_machine == SYSTEM_STATE_AUTO ||
+				    vstatus.state_machine == SYSTEM_STATE_STABILIZED) {
+
+				    	/* simple heading control */
+				    	control_heading(&global_pos, &global_sp, &att, &att_sp);
+
+				    	/* nail pitch and yaw (rudder) to zero. This example only controls roll (index 0) */
+				    	actuators.control[1] = 0.0f;
+				    	actuators.control[2] = 0.0f;
+					
+					/* simple attitude control */
+					control_attitude(&att_sp, &att, speed_body, gyro, &rates_sp, &actuators);
+
+					/* pass through throttle */
+					actuators.control[3] = att_sp.thrust;
+
+					/* set flaps to zero */
+					actuators.control[4] = 0.0f;
+
+				} else if (vstatus.state_machine == SYSTEM_STATE_MANUAL) {
+					if (vstatus.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS) {
+
+						/* if the RC signal is lost, try to stay level and go slowly back down to ground */
+						if (vstatus.rc_signal_lost) {
+
+							/* put plane into loiter */
+							att_sp.roll_body = 0.3f;
+							att_sp.pitch_body = 0.0f;
+
+							/* limit throttle to 60 % of last value if sane */
+							if (isfinite(manual_sp.throttle) &&
+							    (manual_sp.throttle >= 0.0f) &&
+							    (manual_sp.throttle <= 1.0f)) {
+								att_sp.thrust = 0.6f * manual_sp.throttle;
+
+							} else {
+								att_sp.thrust = 0.0f;
+							}
+
+							att_sp.yaw_body = 0;
+
+							// XXX disable yaw control, loiter
+
+						} else {
+
+							att_sp.roll_body = manual_sp.roll;
+							att_sp.pitch_body = manual_sp.pitch;
+							att_sp.yaw_body = 0;
+							att_sp.thrust = manual_sp.throttle;
+						}
+
+						att_sp.timestamp = hrt_absolute_time();
+
+						/* attitude control */
+						control_attitude(&att_sp, &att, speed_body, gyro, &rates_sp, &actuators);
+
+						/* pass through throttle */
+						actuators.control[3] = att_sp.thrust;
+
+						/* pass through flaps */
+						if (isfinite(manual_sp.flaps)) {
+							actuators.control[4] = manual_sp.flaps;
+
+						} else {
+							actuators.control[4] = 0.0f;
+						}
+
+					} else if (vstatus.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_DIRECT) {
+						/* directly pass through values */
+						actuators.control[0] = manual_sp.roll;
+						/* positive pitch means negative actuator -> pull up */
+						actuators.control[1] = manual_sp.pitch;
+						actuators.control[2] = manual_sp.yaw;
+						actuators.control[3] = manual_sp.throttle;
+
+						if (isfinite(manual_sp.flaps)) {
+							actuators.control[4] = manual_sp.flaps;
+
+						} else {
+							actuators.control[4] = 0.0f;
+						}
+					}
+				}
+
+				/* publish rates */
+				orb_publish(ORB_ID(vehicle_rates_setpoint), rates_pub, &rates_sp);
+
+				/* sanity check and publish actuator outputs */
+				if (isfinite(actuators.control[0]) &&
+				    isfinite(actuators.control[1]) &&
+				    isfinite(actuators.control[2]) &&
+				    isfinite(actuators.control[3])) {
+					orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
+				}
+			}
+		}
+	}
+
+	printf("[ex_fixedwing_control] exiting, stopping all motors.\n");
+	thread_running = false;
+
+	/* kill all outputs */
+	for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++)
+		actuators.control[i] = 0.0f;
+
+	orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
+
+	fflush(stdout);
+
+	return 0;
+}
+
+/* Startup Functions */
+
+static void
+usage(const char *reason)
+{
+	if (reason)
+		fprintf(stderr, "%s\n", reason);
+
+	fprintf(stderr, "usage: ex_fixedwing_control {start|stop|status}\n\n");
+	exit(1);
+}
+
+/**
+ * The daemon app only briefly exists to start
+ * the background job. The stack size assigned in the
+ * Makefile does only apply to this management task.
+ *
+ * The actual stack size should be set in the call
+ * to task_create().
+ */
+int ex_fixedwing_control_main(int argc, char *argv[])
+{
+	if (argc < 1)
+		usage("missing command");
+
+	if (!strcmp(argv[1], "start")) {
+
+		if (thread_running) {
+			printf("ex_fixedwing_control already running\n");
+			/* this is not an error */
+			exit(0);
+		}
+
+		thread_should_exit = false;
+		deamon_task = task_spawn("ex_fixedwing_control",
+					 SCHED_DEFAULT,
+					 SCHED_PRIORITY_MAX - 20,
+					 2048,
+					 fixedwing_control_thread_main,
+					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
+		thread_running = true;
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "stop")) {
+		thread_should_exit = true;
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "status")) {
+		if (thread_running) {
+			printf("\tex_fixedwing_control is running\n");
+
+		} else {
+			printf("\tex_fixedwing_control not started\n");
+		}
+
+		exit(0);
+	}
+
+	usage("unrecognized command");
+	exit(1);
+}
+
+
+
diff --git a/src/examples/fixedwing_control/module.mk b/src/examples/fixedwing_control/module.mk
new file mode 100644
index 000000000..d2c48934f
--- /dev/null
+++ b/src/examples/fixedwing_control/module.mk
@@ -0,0 +1,41 @@
+############################################################################
+#
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Fixedwing Attitude Control Demo / Example Application
+#
+
+MODULE_COMMAND	= ex_fixedwing_control
+
+SRCS		= main.c \
+		  params.c
diff --git a/src/examples/fixedwing_control/params.c b/src/examples/fixedwing_control/params.c
new file mode 100644
index 000000000..8042c74f5
--- /dev/null
+++ b/src/examples/fixedwing_control/params.c
@@ -0,0 +1,77 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *   Author: Lorenz Meier 
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/*
+ * @file params.c
+ * 
+ * Parameters for fixedwing demo
+ */
+
+#include "params.h"
+
+/* controller parameters, use max. 15 characters for param name! */
+
+/**
+ *
+ */
+PARAM_DEFINE_FLOAT(EXFW_HDNG_P, 0.2f);
+
+/**
+ *
+ */
+PARAM_DEFINE_FLOAT(EXFW_ROLL_P, 0.2f);
+
+/**
+ *
+ */
+PARAM_DEFINE_FLOAT(EXFW_PITCH_P, 0.2f);
+
+int parameters_init(struct param_handles *h)
+{
+	/* PID parameters */
+	h->hdng_p 	=	param_find("EXFW_HDNG_P");
+	h->roll_p 	=	param_find("EXFW_ROLL_P");
+	h->pitch_p 	=	param_find("EXFW_PITCH_P");
+
+	return OK;
+}
+
+int parameters_update(const struct param_handles *h, struct params *p)
+{
+	param_get(h->hdng_p, &(p->hdng_p));
+	param_get(h->roll_p, &(p->roll_p));
+	param_get(h->pitch_p, &(p->pitch_p));
+
+	return OK;
+}
diff --git a/src/examples/fixedwing_control/params.h b/src/examples/fixedwing_control/params.h
new file mode 100644
index 000000000..4ae8e90ec
--- /dev/null
+++ b/src/examples/fixedwing_control/params.h
@@ -0,0 +1,65 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *   Author: Lorenz Meier 
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/*
+ * @file params.h
+ * 
+ * Definition of parameters for fixedwing example
+ */
+
+#include 
+
+struct params {
+	float hdng_p;
+	float roll_p;
+	float pitch_p;
+};
+
+struct param_handles {
+	param_t hdng_p;
+	param_t roll_p;
+	param_t pitch_p;
+};
+
+/**
+ * Initialize all parameter handles and values
+ *
+ */
+int parameters_init(struct param_handles *h);
+
+/**
+ * Update all parameters
+ *
+ */
+int parameters_update(const struct param_handles *h, struct params *p);
-- 
cgit v1.2.3


From 1ff6c80866775b48bf38de5cdf5dea5f99691fc0 Mon Sep 17 00:00:00 2001
From: Lorenz Meier 
Date: Mon, 13 May 2013 08:28:36 +0200
Subject: More example fixes

---
 makefiles/config_px4fmu_default.mk       | 2 +-
 src/examples/px4_daemon_app/module.mk    | 2 +-
 src/examples/px4_mavlink_debug/module.mk | 2 +-
 src/examples/px4_simple_app/module.mk    | 2 +-
 4 files changed, 4 insertions(+), 4 deletions(-)

(limited to 'src')

diff --git a/makefiles/config_px4fmu_default.mk b/makefiles/config_px4fmu_default.mk
index 27bf0f973..ae62b7034 100644
--- a/makefiles/config_px4fmu_default.mk
+++ b/makefiles/config_px4fmu_default.mk
@@ -107,7 +107,7 @@ MODULES		+= modules/uORB
 
 # Tutorial code from
 # https://pixhawk.ethz.ch/px4/dev/example_fixedwing_control
-MODULES		+= examples/fixedwing_control
+MODULES			+= examples/fixedwing_control
 
 #
 # Transitional support - add commands from the NuttX export archive.
diff --git a/src/examples/px4_daemon_app/module.mk b/src/examples/px4_daemon_app/module.mk
index d23c19b75..5f8aa73d5 100644
--- a/src/examples/px4_daemon_app/module.mk
+++ b/src/examples/px4_daemon_app/module.mk
@@ -37,4 +37,4 @@
 
 MODULE_COMMAND		= px4_daemon_app
 
-SRCS				= px4_daemon_app.c
+SRCS			= px4_daemon_app.c
diff --git a/src/examples/px4_mavlink_debug/module.mk b/src/examples/px4_mavlink_debug/module.mk
index 3d400fdbf..fefd61496 100644
--- a/src/examples/px4_mavlink_debug/module.mk
+++ b/src/examples/px4_mavlink_debug/module.mk
@@ -37,4 +37,4 @@
 
 MODULE_COMMAND		= px4_mavlink_debug
 
-SRCS				= px4_mavlink_debug.c
\ No newline at end of file
+SRCS			= px4_mavlink_debug.c
\ No newline at end of file
diff --git a/src/examples/px4_simple_app/module.mk b/src/examples/px4_simple_app/module.mk
index 2c102fa50..32b06c3a5 100644
--- a/src/examples/px4_simple_app/module.mk
+++ b/src/examples/px4_simple_app/module.mk
@@ -37,4 +37,4 @@
 
 MODULE_COMMAND		= px4_simple_app
 
-SRCS				= px4_simple_app.c
+SRCS			= px4_simple_app.c
-- 
cgit v1.2.3


From 69571c48c4fa742cfbfe9ce2333fc3d9c1f06034 Mon Sep 17 00:00:00 2001
From: Lorenz Meier 
Date: Mon, 13 May 2013 10:02:15 +0200
Subject: Fixed compile and logic errors, behaving now

---
 src/modules/px4iofirmware/mixer.cpp   | 4 ++--
 src/modules/px4iofirmware/registers.c | 9 +++++----
 2 files changed, 7 insertions(+), 6 deletions(-)

(limited to 'src')

diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp
index f38593d2a..5ada1b220 100644
--- a/src/modules/px4iofirmware/mixer.cpp
+++ b/src/modules/px4iofirmware/mixer.cpp
@@ -174,7 +174,7 @@ mixer_tick(void)
 	 * here.
 	 */
 	bool should_arm = (
-	    /* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) &&
+	    /* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) &&
 	 	/* IO is armed */  (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) &&
 		/* there is valid input */ (r_status_flags & (PX4IO_P_STATUS_FLAGS_RAW_PWM | PX4IO_P_STATUS_FLAGS_MIXER_OK)) &&
 		/* IO initialised without error */  (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK) &&
@@ -246,7 +246,7 @@ void
 mixer_handle_text(const void *buffer, size_t length)
 {
 	/* do not allow a mixer change while fully armed */
-	if (/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) &&
+	if (/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) &&
 	    /* IO is armed */  (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) {
 		return;
 	}
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c
index 4f3addfea..61049c8b6 100644
--- a/src/modules/px4iofirmware/registers.c
+++ b/src/modules/px4iofirmware/registers.c
@@ -142,9 +142,10 @@ volatile uint16_t	r_page_setup[] =
 };
 
 #define PX4IO_P_SETUP_FEATURES_VALID	(0)
-#define PX4IO_P_SETUP_ARMING_VALID	(PX4IO_P_SETUP_ARMING_ARM_OK | \
+#define PX4IO_P_SETUP_ARMING_VALID	(PX4IO_P_SETUP_ARMING_FMU_ARMED | \
 					 PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK | \
-					 PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK)
+					 PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK | \
+					 PX4IO_P_SETUP_ARMING_IO_ARM_OK)
 #define PX4IO_P_SETUP_RATES_VALID	((1 << IO_SERVO_COUNT) - 1)
 #define PX4IO_P_SETUP_RELAYS_VALID	((1 << PX4IO_RELAY_CHANNELS) - 1)
 
@@ -311,7 +312,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
 			 * so that an in-air reset of FMU can not lead to a
 			 * lockup of the IO arming state.
 			 */
-			if ((r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) && !(value & PX4IO_P_SETUP_ARMING_ARM_OK)) {
+			if ((r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) && !(value & PX4IO_P_SETUP_ARMING_FMU_ARMED)) {
 				r_status_flags &= ~PX4IO_P_STATUS_FLAGS_ARMED;
 			}
 
@@ -362,7 +363,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
 	case PX4IO_PAGE_RC_CONFIG: {
 
 		/* do not allow a RC config change while fully armed */
-		if (/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) &&
+		if (/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) &&
 		    /* IO is armed */  (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) {
 			break;
 		}
-- 
cgit v1.2.3


From 3ac76c4476038b170c319cfccd4a934363e1aca4 Mon Sep 17 00:00:00 2001
From: Lorenz Meier 
Date: Mon, 13 May 2013 10:15:36 +0200
Subject: Blink pattern fixes

---
 src/modules/px4iofirmware/safety.c | 3 +++
 1 file changed, 3 insertions(+)

(limited to 'src')

diff --git a/src/modules/px4iofirmware/safety.c b/src/modules/px4iofirmware/safety.c
index f6cd5fb45..4dbecc274 100644
--- a/src/modules/px4iofirmware/safety.c
+++ b/src/modules/px4iofirmware/safety.c
@@ -60,6 +60,7 @@ static unsigned counter = 0;
 #define LED_PATTERN_FMU_OK_TO_ARM 		0x0003		/**< slow blinking			*/
 #define LED_PATTERN_FMU_REFUSE_TO_ARM 		0x5555		/**< fast blinking			*/
 #define LED_PATTERN_IO_ARMED 			0x5050		/**< long off, then double blink 	*/
+#define LED_PATTERN_FMU_ARMED 			0x5500		/**< long off, then quad blink 		*/
 #define LED_PATTERN_IO_FMU_ARMED 		0xffff		/**< constantly on			*/
 
 static unsigned blink_counter = 0;
@@ -147,6 +148,8 @@ safety_check_button(void *arg)
 			pattern = LED_PATTERN_IO_ARMED;
 		}
 
+	} else if (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) {
+		pattern = LED_PATTERN_FMU_ARMED;
 	} else if (r_setup_arming & PX4IO_P_SETUP_ARMING_IO_ARM_OK) {
 		pattern = LED_PATTERN_FMU_OK_TO_ARM;
 
-- 
cgit v1.2.3


From 9a07788d58dd6f1ca6657e18048bf88eae5f6e10 Mon Sep 17 00:00:00 2001
From: Lorenz Meier 
Date: Mon, 13 May 2013 23:25:18 +0200
Subject: Hotfix: Off-by-one fix in overflow check

---
 src/drivers/ardrone_interface/ardrone_motor_control.c | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

(limited to 'src')

diff --git a/src/drivers/ardrone_interface/ardrone_motor_control.c b/src/drivers/ardrone_interface/ardrone_motor_control.c
index f15c74a22..ecd31a073 100644
--- a/src/drivers/ardrone_interface/ardrone_motor_control.c
+++ b/src/drivers/ardrone_interface/ardrone_motor_control.c
@@ -482,10 +482,10 @@ void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls
 	motor_pwm[3] = (motor_pwm[3] > 0) ? motor_pwm[3] : 10;
 
 	/* Failsafe logic - should never be necessary */
-	motor_pwm[0] = (motor_pwm[0] <= 512) ? motor_pwm[0] : 512;
-	motor_pwm[1] = (motor_pwm[1] <= 512) ? motor_pwm[1] : 512;
-	motor_pwm[2] = (motor_pwm[2] <= 512) ? motor_pwm[2] : 512;
-	motor_pwm[3] = (motor_pwm[3] <= 512) ? motor_pwm[3] : 512;
+	motor_pwm[0] = (motor_pwm[0] <= 511) ? motor_pwm[0] : 511;
+	motor_pwm[1] = (motor_pwm[1] <= 511) ? motor_pwm[1] : 511;
+	motor_pwm[2] = (motor_pwm[2] <= 511) ? motor_pwm[2] : 511;
+	motor_pwm[3] = (motor_pwm[3] <= 511) ? motor_pwm[3] : 511;
 
 	/* send motors via UART */
 	ardrone_write_motor_commands(ardrone_write, motor_pwm[0], motor_pwm[1], motor_pwm[2], motor_pwm[3]);
-- 
cgit v1.2.3


From fa816d0fd65da461fd5bf8803cf00caebaf23c5c Mon Sep 17 00:00:00 2001
From: Andrew Tridgell 
Date: Thu, 16 May 2013 16:21:33 +1000
Subject: arming: added PWM_SERVO_SET_ARM_OK and PWM_SERVO_CLEAR_ARM_OK

these new ioctls allow for the flight code to tell the IO board that
arming can proceed
---
 src/drivers/drv_pwm_output.h |  6 ++++++
 src/drivers/px4fmu/fmu.cpp   |  5 +++++
 src/drivers/px4io/px4io.cpp  | 10 ++++++++++
 3 files changed, 21 insertions(+)

(limited to 'src')

diff --git a/src/drivers/drv_pwm_output.h b/src/drivers/drv_pwm_output.h
index 07831f20c..56af71059 100644
--- a/src/drivers/drv_pwm_output.h
+++ b/src/drivers/drv_pwm_output.h
@@ -109,6 +109,12 @@ ORB_DECLARE(output_pwm);
 /** selects servo update rates, one bit per servo. 0 = default (50Hz), 1 = alternate */
 #define PWM_SERVO_SELECT_UPDATE_RATE _IOC(_PWM_SERVO_BASE, 4)
 
+/** set the 'ARM ok' bit, which activates the safety switch */
+#define PWM_SERVO_SET_ARM_OK	_IOC(_PWM_SERVO_BASE, 5)
+
+/** clear the 'ARM ok' bit, which deactivates the safety switch */
+#define PWM_SERVO_CLEAR_ARM_OK	_IOC(_PWM_SERVO_BASE, 6)
+
 /** set a single servo to a specific value */
 #define PWM_SERVO_SET(_servo)	_IOC(_PWM_SERVO_BASE, 0x20 + _servo)
 
diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp
index 761a23c42..bf72892eb 100644
--- a/src/drivers/px4fmu/fmu.cpp
+++ b/src/drivers/px4fmu/fmu.cpp
@@ -606,6 +606,11 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 		up_pwm_servo_arm(true);
 		break;
 
+	case PWM_SERVO_SET_ARM_OK:
+	case PWM_SERVO_CLEAR_ARM_OK:
+		// these are no-ops, as no safety switch
+		break;
+
 	case PWM_SERVO_DISARM:
 		up_pwm_servo_arm(false);
 		break;
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 3006cf885..a40142792 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -1358,6 +1358,16 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
 		ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_FMU_ARMED);
 		break;
 
+	case PWM_SERVO_SET_ARM_OK:
+		/* set the 'OK to arm' bit */
+		ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_IO_ARM_OK);
+		break;
+
+	case PWM_SERVO_CLEAR_ARM_OK:
+		/* clear the 'OK to arm' bit */
+		ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_IO_ARM_OK, 0);
+		break;
+
 	case PWM_SERVO_DISARM:
 		/* clear the 'armed' bit */
 		ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_FMU_ARMED, 0);
-- 
cgit v1.2.3